2025-10-28T16:24:22.587Z,1761668662.587 [CommandExec](IMPORTANT): got command schedule resume 2025-10-28T16:24:22.587Z,1761668662.587 [CommandExec](IMPORTANT): Scheduling is resumed 2025-10-28T16:24:22.587Z,1761668662.587 [CommandExec](IMPORTANT): got command restart logs 2025-10-28T16:24:22.811Z,1761668662.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780721,0.624575,0.019522],[-0.623310,0.776165,0.095150],[0.044276,-0.086454,0.995272]] 2025-10-28T16:24:23.215Z,1761668663.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777992,0.628034,0.017333],[-0.626280,0.773033,0.100958],[0.050006,-0.089400,0.994740]] 2025-10-28T16:24:23.619Z,1761668663.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774317,0.632436,-0.021377],[-0.625639,0.770188,0.124041],[0.094913,-0.082673,0.992047]] 2025-10-28T16:24:24.023Z,1761668664.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785558,0.616766,-0.049977],[-0.608685,0.784743,0.116964],[0.111358,-0.061462,0.991878]] 2025-10-28T16:24:24.427Z,1761668664.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800112,0.599850,-0.000150],[-0.597004,0.796341,0.097093],[0.058361,-0.077596,0.995275]] 2025-10-28T16:24:24.836Z,1761668664.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784788,0.618697,0.036344],[-0.618425,0.777893,0.111503],[0.040715,-0.109982,0.993099]] 2025-10-28T16:24:25.241Z,1761668665.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802457,0.591481,0.078824],[-0.595731,0.786555,0.162591],[0.034170,-0.177431,0.983540]] 2025-10-28T16:24:25.644Z,1761668665.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793018,0.599085,0.110544],[-0.609122,0.782626,0.128325],[-0.009637,-0.169099,0.985552]] 2025-10-28T16:24:26.047Z,1761668666.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760112,0.647064,0.059488],[-0.649267,0.752627,0.109565],[0.026123,-0.121905,0.992198]] 2025-10-28T16:24:26.450Z,1761668666.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764696,0.643832,0.026819],[-0.643536,0.760878,0.083220],[0.033174,-0.080898,0.996170]] 2025-10-28T16:24:26.853Z,1761668666.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774703,0.630454,0.048625],[-0.632325,0.772490,0.058508],[-0.000676,-0.076073,0.997102]] 2025-10-28T16:24:27.255Z,1761668667.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758247,0.647685,0.074597],[-0.651966,0.753460,0.085083],[-0.001099,-0.113148,0.993578]] 2025-10-28T16:24:27.659Z,1761668667.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748897,0.658260,0.076464],[-0.662294,0.739485,0.120536],[0.022800,-0.140910,0.989760]] 2025-10-28T16:24:28.064Z,1761668668.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748385,0.655972,0.098090],[-0.663150,0.737269,0.129100],[0.012368,-0.161665,0.986768]] 2025-10-28T16:24:28.467Z,1761668668.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735077,0.670708,0.099055],[-0.677951,0.728585,0.097710],[-0.006635,-0.138979,0.990273]] 2025-10-28T16:24:28.871Z,1761668668.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726933,0.684978,0.048723],[-0.686052,0.721307,0.095120],[0.030011,-0.102572,0.994273]] 2025-10-28T16:24:29.275Z,1761668669.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731558,0.681606,-0.015371],[-0.679744,0.730929,0.060743],[0.052638,-0.033989,0.998035]] 2025-10-28T16:24:29.679Z,1761668669.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726321,0.687242,0.012506],[-0.687348,0.726106,0.017959],[0.003261,-0.021640,0.999761]] 2025-10-28T16:24:30.083Z,1761668670.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725820,0.687271,0.029036],[-0.687823,0.725672,0.017312],[-0.009173,-0.032537,0.999428]] 2025-10-28T16:24:30.487Z,1761668670.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713823,0.700196,-0.013506],[-0.695640,0.711141,0.101800],[0.080885,-0.063272,0.994713]] 2025-10-28T16:24:30.891Z,1761668670.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713068,0.700951,-0.014163],[-0.688077,0.703561,0.177629],[0.134474,-0.116917,0.983996]] 2025-10-28T16:24:31.294Z,1761668671.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721034,0.690176,0.061372],[-0.689672,0.706316,0.159594],[0.066800,-0.157399,0.985273]] 2025-10-28T16:24:31.699Z,1761668671.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726534,0.681486,0.087890],[-0.687093,0.719196,0.103251],[0.007154,-0.135404,0.990765]] 2025-10-28T16:24:32.103Z,1761668672.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731883,0.679952,0.044864],[-0.681295,0.728836,0.068081],[0.013593,-0.080393,0.996671]] 2025-10-28T16:24:32.507Z,1761668672.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715486,0.697775,-0.034503],[-0.694697,0.715824,0.070651],[0.073996,-0.026581,0.996904]] 2025-10-28T16:24:32.911Z,1761668672.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707417,0.704307,-0.059264],[-0.698927,0.709555,0.089624],[0.105173,-0.021980,0.994211]] 2025-10-28T16:24:33.315Z,1761668673.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698924,0.714940,-0.019150],[-0.707455,0.695040,0.128168],[0.104942,-0.076032,0.991568]] 2025-10-28T16:24:33.719Z,1761668673.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709232,0.703612,0.043827],[-0.700661,0.696659,0.154080],[0.077880,-0.139986,0.987086]] 2025-10-28T16:24:34.127Z,1761668674.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692669,0.712005,0.115150],[-0.720692,0.676935,0.149543],[0.028526,-0.186571,0.982027]] 2025-10-28T16:24:34.527Z,1761668674.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675911,0.726700,0.122681],[-0.736898,0.668930,0.097537],[-0.011184,-0.156330,0.987642]] 2025-10-28T16:24:34.935Z,1761668674.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693558,0.717444,0.065202],[-0.720034,0.693247,0.030976],[-0.022978,-0.068431,0.997391]] 2025-10-28T16:24:35.336Z,1761668675.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699626,0.714050,0.025591],[-0.714192,0.699934,-0.004728],[-0.021288,-0.014969,0.999661]] 2025-10-28T16:24:35.739Z,1761668675.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704728,0.709455,-0.005735],[-0.709356,0.704435,-0.024196],[-0.013126,0.021119,0.999691]] 2025-10-28T16:24:36.200Z,1761668676.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677611,0.735151,-0.019902],[-0.734898,0.677902,0.019321],[0.027695,0.001534,0.999615]] 2025-10-28T16:24:36.547Z,1761668676.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664506,0.747057,-0.018378],[-0.743688,0.663519,0.081670],[0.073207,-0.040603,0.996490]] 2025-10-28T16:24:36.951Z,1761668676.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698379,0.713539,0.055933],[-0.715020,0.692079,0.098860],[0.031830,-0.109035,0.993528]] 2025-10-28T16:24:37.354Z,1761668677.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686699,0.709309,0.159139],[-0.726925,0.671522,0.143662],[-0.004964,-0.214335,0.976748]] 2025-10-28T16:24:37.761Z,1761668677.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654216,0.731699,0.191357],[-0.755633,0.621676,0.206246],[0.031948,-0.279525,0.959607]] 2025-10-28T16:24:38.113Z,1761668678.113 [DataOverHttps](INFO): Sending 323 bytes from file Logs/20251028T160946/Express0019.lzma 2025-10-28T16:24:38.198Z,1761668678.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654068,0.733822,0.183575],[-0.755516,0.621775,0.206379],[0.037303,-0.273680,0.961097]] 2025-10-28T16:24:38.567Z,1761668678.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654826,0.735908,0.172169],[-0.755764,0.636123,0.155465],[0.004887,-0.231922,0.972722]] 2025-10-28T16:24:38.972Z,1761668678.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660254,0.738269,0.137925],[-0.750788,0.653589,0.095599],[-0.019569,-0.166672,0.985818]] 2025-10-28T16:24:39.114Z,1761668679.114 [DataOverHttps](INFO): Moved sent file to Logs/20251028T160946/Express0019.lzma.bak 2025-10-28T16:24:39.114Z,1761668679.114 [DataOverHttps](INFO): SBD MOMSN=26261600 2025-10-28T16:24:39.376Z,1761668679.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631547,0.770593,0.085646],[-0.774924,0.630953,0.037286],[-0.025306,-0.089917,0.995628]] 2025-10-28T16:24:39.778Z,1761668679.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631008,0.775775,0.001325],[-0.775300,0.630680,-0.033953],[-0.027176,0.020397,0.999423]] 2025-10-28T16:24:40.217Z,1761668680.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654098,0.755705,-0.032654],[-0.755384,0.650354,-0.080218],[-0.039384,0.077137,0.996242]] 2025-10-28T16:24:40.587Z,1761668680.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647821,0.761434,-0.023377],[-0.761707,0.646984,-0.034839],[-0.011403,0.040376,0.999119]] 2025-10-28T16:24:40.994Z,1761668680.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634602,0.772805,0.007226],[-0.772168,0.633634,0.047584],[0.032195,-0.035777,0.998841]] 2025-10-28T16:24:41.395Z,1761668681.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612389,0.787665,0.067555],[-0.789429,0.604718,0.105438],[0.042198,-0.117898,0.992129]] 2025-10-28T16:24:41.798Z,1761668681.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633713,0.769133,0.082722],[-0.771886,0.621659,0.133166],[0.050997,-0.148241,0.987636]] 2025-10-28T16:24:42.211Z,1761668682.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649631,0.756309,0.077300],[-0.757957,0.636427,0.143045],[0.058991,-0.151517,0.986693]] 2025-10-28T16:24:42.607Z,1761668682.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625500,0.777067,0.070117],[-0.779791,0.619627,0.089378],[0.026006,-0.110583,0.993527]] 2025-10-28T16:24:43.012Z,1761668683.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600457,0.798294,0.046672],[-0.799554,0.600293,0.019015],[-0.012837,-0.048734,0.998729]] 2025-10-28T16:24:43.415Z,1761668683.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596638,0.802503,-0.003308],[-0.802181,0.596506,0.026186],[0.022988,-0.012970,0.999652]] 2025-10-28T16:24:43.822Z,1761668683.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602686,0.797976,0.001715],[-0.795341,0.600518,0.082526],[0.064824,-0.051102,0.996587]] 2025-10-28T16:24:44.223Z,1761668684.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592522,0.803067,0.063253],[-0.805292,0.588498,0.071935],[0.020544,-0.093560,0.995402]] 2025-10-28T16:24:44.627Z,1761668684.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575723,0.811099,0.103258],[-0.816912,0.575947,0.030651],[-0.034610,-0.101999,0.994182]] 2025-10-28T16:24:45.034Z,1761668685.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600238,0.795563,0.082424],[-0.799791,0.597918,0.053186],[-0.006970,-0.097846,0.995177]] 2025-10-28T16:24:45.436Z,1761668685.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602759,0.797675,0.019901],[-0.795080,0.598320,0.099302],[0.067304,-0.075678,0.994858]] 2025-10-28T16:24:45.839Z,1761668685.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598874,0.800807,-0.007678],[-0.794810,0.595509,0.116818],[0.098122,-0.063857,0.993124]] 2025-10-28T16:24:46.243Z,1761668686.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602234,0.798310,0.003898],[-0.796097,0.600187,0.077495],[0.059525,-0.049773,0.996985]] 2025-10-28T16:24:46.646Z,1761668686.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601495,0.797804,0.041384],[-0.798796,0.599892,0.045329],[0.011338,-0.060323,0.998115]] 2025-10-28T16:24:47.051Z,1761668687.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611556,0.788196,0.068896],[-0.791045,0.607382,0.073045],[0.015728,-0.099171,0.994946]] 2025-10-28T16:24:47.455Z,1761668687.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589782,0.802749,0.088037],[-0.805542,0.577095,0.134402],[0.057085,-0.150186,0.987008]] 2025-10-28T16:24:47.858Z,1761668687.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574743,0.814845,0.075479],[-0.815966,0.563627,0.128543],[0.062201,-0.135467,0.988827]] 2025-10-28T16:24:48.264Z,1761668688.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602341,0.792750,0.093447],[-0.798037,0.600681,0.048154],[-0.017958,-0.103579,0.994459]] 2025-10-28T16:24:48.667Z,1761668688.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597343,0.791902,0.126782],[-0.800400,0.598601,0.032181],[-0.050408,-0.120699,0.991408]] 2025-10-28T16:24:49.071Z,1761668689.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565290,0.816559,0.116960],[-0.824452,0.554645,0.112463],[0.026961,-0.160002,0.986748]] 2025-10-28T16:24:49.474Z,1761668689.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553912,0.829972,0.065789],[-0.828452,0.541592,0.142640],[0.082756,-0.133513,0.987586]] 2025-10-28T16:24:49.881Z,1761668689.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558262,0.827311,0.062455],[-0.828494,0.551895,0.094914],[0.044055,-0.104731,0.993524]] 2025-10-28T16:24:50.282Z,1761668690.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548880,0.833103,0.068333],[-0.835779,0.545570,0.061859],[0.014254,-0.091065,0.995743]] 2025-10-28T16:24:50.686Z,1761668690.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538447,0.840088,0.065778],[-0.841994,0.533280,0.081603],[0.033476,-0.099324,0.994492]] 2025-10-28T16:24:51.091Z,1761668691.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535178,0.842381,0.063084],[-0.844267,0.530887,0.073298],[0.028255,-0.092487,0.995313]] 2025-10-28T16:24:51.497Z,1761668691.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526737,0.847823,0.061187],[-0.849763,0.523410,0.062804],[0.021221,-0.085075,0.996149]] 2025-10-28T16:24:51.899Z,1761668691.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513416,0.857115,0.041933],[-0.857919,0.511562,0.047731],[0.019460,-0.060481,0.997980]] 2025-10-28T16:24:52.303Z,1761668692.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499164,0.865665,0.038206],[-0.866496,0.498897,0.016902],[-0.004430,-0.041542,0.999127]] 2025-10-28T16:24:52.707Z,1761668692.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503896,0.863205,0.031083],[-0.863751,0.503360,0.023727],[0.004835,-0.038803,0.999235]] 2025-10-28T16:24:53.112Z,1761668693.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501937,0.864852,0.009490],[-0.862951,0.500036,0.072659],[0.058094,-0.044660,0.997312]] 2025-10-28T16:24:53.117Z,1761668693.117 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:24:53.515Z,1761668693.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486318,0.873368,0.026888],[-0.870594,0.481688,0.100213],[0.074571,-0.072144,0.994603]] 2025-10-28T16:24:53.919Z,1761668693.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487805,0.870123,0.070227],[-0.871746,0.481323,0.091584],[0.045888,-0.105895,0.993318]] 2025-10-28T16:24:54.323Z,1761668694.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497456,0.856005,0.140686],[-0.867410,0.488643,0.093955],[0.011681,-0.168771,0.985586]] 2025-10-28T16:24:54.728Z,1761668694.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501765,0.845866,0.180946],[-0.864985,0.492045,0.098454],[-0.005755,-0.205917,0.978553]] 2025-10-28T16:24:55.132Z,1761668695.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486732,0.862226,0.140208],[-0.873220,0.484658,0.050920],[-0.024049,-0.147217,0.988812]] 2025-10-28T16:24:55.534Z,1761668695.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476656,0.877265,0.056619],[-0.879090,0.475657,0.030838],[0.000122,-0.064473,0.997919]] 2025-10-28T16:24:55.691Z,1761668695.691 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251028T160946/Courier0021.lzma 2025-10-28T16:24:55.938Z,1761668695.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461988,0.886694,-0.018430],[-0.885417,0.462319,0.047943],[0.051032,-0.005831,0.998680]] 2025-10-28T16:24:56.342Z,1761668696.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472824,0.880081,-0.043535],[-0.877802,0.474756,0.063806],[0.076822,0.008046,0.997012]] 2025-10-28T16:24:56.694Z,1761668696.694 [DataOverHttps](INFO): Moved sent file to Logs/20251028T160946/Courier0021.lzma.bak 2025-10-28T16:24:56.694Z,1761668696.694 [DataOverHttps](INFO): SBD MOMSN=26261607 2025-10-28T16:24:56.773Z,1761668696.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495637,0.868388,0.015700],[-0.867175,0.493774,0.064766],[0.048489,-0.045715,0.997777]] 2025-10-28T16:24:57.151Z,1761668697.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477651,0.868198,0.134468],[-0.878319,0.475408,0.050434],[-0.020140,-0.142195,0.989634]] 2025-10-28T16:24:57.555Z,1761668697.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443443,0.878539,0.177563],[-0.896277,0.436141,0.080428],[-0.006784,-0.194811,0.980817]] 2025-10-28T16:24:57.959Z,1761668697.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438061,0.888219,0.138456],[-0.897451,0.423238,0.124304],[0.051809,-0.178710,0.982537]] 2025-10-28T16:24:58.363Z,1761668698.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453123,0.885343,0.104150],[-0.888747,0.439569,0.130030],[0.069340,-0.151483,0.986025]] 2025-10-28T16:24:58.766Z,1761668698.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435360,0.897058,0.075824],[-0.898949,0.428644,0.090307],[0.048509,-0.107478,0.993023]] 2025-10-28T16:24:59.170Z,1761668699.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420414,0.906582,0.036892],[-0.907333,0.420058,0.017304],[0.000191,-0.040748,0.999169]] 2025-10-28T16:24:59.576Z,1761668699.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422179,0.906379,0.015535],[-0.906347,0.422368,-0.011886],[-0.017334,-0.009062,0.999809]] 2025-10-28T16:24:59.979Z,1761668699.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424401,0.904732,0.036642],[-0.905459,0.424284,0.011304],[-0.005320,-0.037975,0.999265]] 2025-10-28T16:25:00.383Z,1761668700.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417157,0.906114,0.070264],[-0.908499,0.413653,0.059343],[0.024706,-0.088590,0.995762]] 2025-10-28T16:25:00.788Z,1761668700.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383006,0.920936,0.072002],[-0.919577,0.372721,0.124327],[0.087660,-0.113829,0.989625]] 2025-10-28T16:25:01.192Z,1761668701.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380402,0.920541,0.088877],[-0.922050,0.370073,0.113444],[0.071539,-0.125103,0.989561]] 2025-10-28T16:25:01.594Z,1761668701.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388465,0.913028,0.124401],[-0.920313,0.377683,0.101879],[0.046034,-0.154064,0.986988]] 2025-10-28T16:25:01.999Z,1761668701.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409727,0.902861,0.130257],[-0.911833,0.401263,0.086888],[0.026181,-0.154373,0.987666]] 2025-10-28T16:25:02.405Z,1761668702.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395789,0.911221,0.114139],[-0.918329,0.392078,0.054277],[0.004707,-0.126299,0.991981]] 2025-10-28T16:25:02.807Z,1761668702.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373887,0.924364,0.075895],[-0.927474,0.372536,0.031773],[0.001096,-0.082271,0.996609]] 2025-10-28T16:25:03.211Z,1761668703.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385764,0.922068,0.031249],[-0.922460,0.386071,-0.004228],[-0.015963,-0.027196,0.999503]] 2025-10-28T16:25:03.614Z,1761668703.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362882,0.930875,0.042295],[-0.930964,0.364131,-0.026732],[-0.040285,-0.029675,0.998747]] 2025-10-28T16:25:04.020Z,1761668704.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335816,0.940470,0.052386],[-0.941382,0.336995,-0.015327],[-0.032068,-0.044168,0.998509]] 2025-10-28T16:25:04.430Z,1761668704.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322254,0.943759,0.073967],[-0.946568,0.320188,0.038597],[0.012744,-0.082453,0.996514]] 2025-10-28T16:25:04.826Z,1761668704.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345145,0.933452,0.097682],[-0.935707,0.334138,0.113154],[0.072984,-0.130456,0.988764]] 2025-10-28T16:25:05.230Z,1761668705.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374473,0.921288,0.104872],[-0.919907,0.354935,0.166709],[0.116364,-0.158901,0.980413]] 2025-10-28T16:25:05.637Z,1761668705.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368255,0.924877,0.094821],[-0.925685,0.355247,0.130025],[0.086572,-0.135657,0.986966]] 2025-10-28T16:25:06.038Z,1761668706.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348098,0.934633,0.072724],[-0.937362,0.345905,0.041253],[0.013401,-0.082529,0.996499]] 2025-10-28T16:25:06.482Z,1761668706.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355418,0.933574,0.046008],[-0.934700,0.354782,0.021593],[0.003836,-0.050678,0.998708]] 2025-10-28T16:25:06.847Z,1761668706.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393754,0.918675,0.031518],[-0.918528,0.391903,0.052132],[0.035540,-0.049477,0.998143]] 2025-10-28T16:25:07.250Z,1761668707.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392422,0.918001,0.057272],[-0.918774,0.388310,0.071200],[0.043122,-0.080560,0.995817]] 2025-10-28T16:25:07.655Z,1761668707.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356948,0.929986,0.087825],[-0.933400,0.351391,0.072722],[0.036770,-0.107934,0.993478]] 2025-10-28T16:25:08.086Z,1761668708.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378700,0.922571,0.073815],[-0.925218,0.375335,0.055638],[0.023625,-0.089365,0.995719]] 2025-10-28T16:25:08.466Z,1761668708.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406887,0.908707,0.093247],[-0.913101,0.401661,0.070099],[0.026246,-0.113666,0.993172]] 2025-10-28T16:25:08.867Z,1761668708.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388557,0.915382,0.105352],[-0.920134,0.379418,0.096934],[0.048759,-0.134603,0.989699]] 2025-10-28T16:25:09.271Z,1761668709.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371478,0.922903,0.101264],[-0.926303,0.361013,0.107850],[0.062977,-0.133865,0.988997]] 2025-10-28T16:25:09.675Z,1761668709.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375014,0.923941,0.075480],[-0.926925,0.372568,0.044765],[0.013239,-0.086752,0.996142]] 2025-10-28T16:25:10.085Z,1761668710.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370900,0.922591,0.106107],[-0.926574,0.375316,-0.024467],[-0.062397,-0.089241,0.994054]] 2025-10-28T16:25:10.490Z,1761668710.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381644,0.915812,0.125045],[-0.923522,0.372230,0.092478],[0.038147,-0.150775,0.987832]] 2025-10-28T16:25:10.892Z,1761668710.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365138,0.922806,0.122896],[-0.930289,0.356697,0.085617],[0.035172,-0.145591,0.988720]] 2025-10-28T16:25:11.296Z,1761668711.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363283,0.928221,0.080199],[-0.931521,0.360288,0.049609],[0.017153,-0.092729,0.995544]] 2025-10-28T16:25:11.701Z,1761668711.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377376,0.925025,0.043781],[-0.924825,0.374010,0.069383],[0.047807,-0.066673,0.996629]] 2025-10-28T16:25:12.101Z,1761668712.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387565,0.921148,0.035769],[-0.919473,0.383498,0.086599],[0.066053,-0.066452,0.995601]] 2025-10-28T16:25:12.503Z,1761668712.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375664,0.925078,0.055740],[-0.926399,0.373171,0.050282],[0.025715,-0.070527,0.997178]] 2025-10-28T16:25:12.907Z,1761668712.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367109,0.928113,0.061949],[-0.930159,0.365864,0.030791],[0.005913,-0.068926,0.997604]] 2025-10-28T16:25:13.235Z,1761668713.235 [DataOverHttps](INFO): Sending 108 bytes from file Logs/20251028T160946/Express0022.lzma 2025-10-28T16:25:13.312Z,1761668713.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411569,0.910716,0.034737],[-0.910237,0.408848,0.065657],[0.045592,-0.058642,0.997237]] 2025-10-28T16:25:13.714Z,1761668713.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409638,0.911031,0.047110],[-0.910482,0.405087,0.083231],[0.056742,-0.076987,0.995416]] 2025-10-28T16:25:14.123Z,1761668714.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415582,0.908266,0.048421],[-0.909310,0.413644,0.045313],[0.021127,-0.062861,0.997799]] 2025-10-28T16:25:14.238Z,1761668714.238 [DataOverHttps](INFO): Moved sent file to Logs/20251028T160946/Express0022.lzma.bak 2025-10-28T16:25:14.238Z,1761668714.238 [DataOverHttps](INFO): SBD MOMSN=26261611 2025-10-28T16:25:14.523Z,1761668714.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444322,0.895531,0.024564],[-0.895116,0.442659,0.053114],[0.036691,-0.045587,0.998286]] 2025-10-28T16:25:14.928Z,1761668714.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457431,0.889242,-0.002353],[-0.884898,0.455455,0.097553],[0.087820,-0.042542,0.995228]] 2025-10-28T16:25:15.331Z,1761668715.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455822,0.889893,0.017807],[-0.884613,0.450724,0.119617],[0.098421,-0.070276,0.992660]] 2025-10-28T16:25:15.735Z,1761668715.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461913,0.883701,0.075559],[-0.885893,0.455590,0.087356],[0.042773,-0.107289,0.993307]] 2025-10-28T16:25:16.165Z,1761668716.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478139,0.873033,0.095902],[-0.878017,0.472440,0.076724],[0.021675,-0.120889,0.992429]] 2025-10-28T16:25:16.239Z,1761668716.239 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T16:25:16.240Z,1761668716.240 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T16:25:16.240Z,1761668716.240 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T16:25:16.546Z,1761668716.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447906,0.888382,0.100784],[-0.893611,0.441166,0.082652],[0.028964,-0.127082,0.991469]] 2025-10-28T16:25:16.946Z,1761668716.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427253,0.896919,0.113981],[-0.904073,0.422384,0.065139],[0.010281,-0.130878,0.991345]] 2025-10-28T16:25:17.351Z,1761668717.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467154,0.876903,0.113178],[-0.883849,0.466619,0.032820],[-0.024031,-0.115364,0.993033]] 2025-10-28T16:25:17.755Z,1761668717.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503017,0.860428,0.081471],[-0.864068,0.498584,0.069289],[0.018998,-0.105250,0.994264]] 2025-10-28T16:25:18.202Z,1761668718.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506832,0.861939,0.013478],[-0.857265,0.502317,0.113022],[0.090648,-0.068837,0.993501]] 2025-10-28T16:25:18.562Z,1761668718.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494636,0.869091,0.004103],[-0.867760,0.493605,0.057851],[0.048253,-0.032176,0.998317]] 2025-10-28T16:25:18.967Z,1761668718.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473966,0.879375,0.045337],[-0.880439,0.474074,0.009026],[-0.013556,-0.044194,0.998931]] 2025-10-28T16:25:19.371Z,1761668719.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486862,0.870314,0.074287],[-0.873479,0.485027,0.042229],[0.000722,-0.085448,0.996342]] 2025-10-28T16:25:19.776Z,1761668719.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516134,0.848401,0.117564],[-0.856376,0.508764,0.088202],[0.015018,-0.146203,0.989141]] 2025-10-28T16:25:20.212Z,1761668720.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525126,0.842019,0.123479],[-0.850936,0.517421,0.090461],[0.012280,-0.152576,0.988215]] 2025-10-28T16:25:20.583Z,1761668720.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523274,0.849553,0.066670],[-0.852163,0.521542,0.042553],[0.001380,-0.079081,0.996867]] 2025-10-28T16:25:20.987Z,1761668720.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521675,0.853132,0.004482],[-0.852963,0.521449,0.023367],[0.017598,-0.016013,0.999717]] 2025-10-28T16:25:21.391Z,1761668721.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515699,0.855934,-0.037846],[-0.852467,0.517030,0.077334],[0.085760,-0.007618,0.996287]] 2025-10-28T16:25:21.798Z,1761668721.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529169,0.848059,-0.027875],[-0.839422,0.528011,0.128745],[0.123901,-0.044729,0.991286]] 2025-10-28T16:25:22.207Z,1761668722.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536023,0.843168,0.041808],[-0.840926,0.528927,0.114367],[0.074317,-0.096461,0.992558]] 2025-10-28T16:25:22.603Z,1761668722.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546480,0.826717,0.133787],[-0.837389,0.541652,0.073433],[-0.011758,-0.152162,0.988286]] 2025-10-28T16:25:23.007Z,1761668723.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545674,0.820443,0.170628],[-0.837344,0.541867,0.072355],[-0.033094,-0.182357,0.982675]] 2025-10-28T16:25:23.413Z,1761668723.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530246,0.840229,0.113379],[-0.847844,0.525427,0.071324],[0.000356,-0.133947,0.990988]] 2025-10-28T16:25:23.815Z,1761668723.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517552,0.855587,0.010517],[-0.855146,0.516785,0.040734],[0.029417,-0.030076,0.999115]] 2025-10-28T16:25:24.012Z,1761668724.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:25:24.218Z,1761668724.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555717,0.828873,-0.064415],[-0.829751,0.557802,0.019258],[0.051893,0.042746,0.997737]] 2025-10-28T16:25:24.622Z,1761668724.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590351,0.805567,-0.050467],[-0.806533,0.591185,0.002012],[0.031456,0.039516,0.998724]] 2025-10-28T16:25:25.032Z,1761668725.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568114,0.822294,0.032861],[-0.822947,0.567560,0.025156],[0.002035,-0.041334,0.999143]] 2025-10-28T16:25:25.430Z,1761668725.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550020,0.826871,0.117311],[-0.835084,0.542730,0.089885],[0.010655,-0.147403,0.989019]] 2025-10-28T16:25:25.834Z,1761668725.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562019,0.810641,0.164306],[-0.826558,0.543090,0.147836],[0.030609,-0.218895,0.975268]] 2025-10-28T16:25:26.239Z,1761668726.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580302,0.796271,0.170885],[-0.814234,0.563018,0.141539],[0.016492,-0.221275,0.975072]] 2025-10-28T16:25:26.644Z,1761668726.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588122,0.797490,0.134615],[-0.808741,0.581362,0.089199],[-0.007125,-0.161329,0.986875]] 2025-10-28T16:25:27.046Z,1761668727.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568998,0.820205,0.059213],[-0.821986,0.565167,0.070175],[0.024093,-0.088601,0.995776]] 2025-10-28T16:25:27.451Z,1761668727.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541425,0.840697,0.009339],[-0.838854,0.539427,0.073091],[0.056410,-0.047407,0.997281]] 2025-10-28T16:25:27.855Z,1761668727.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548508,0.836104,0.008341],[-0.834331,0.546633,0.071298],[0.055053,-0.046066,0.997420]] 2025-10-28T16:25:28.260Z,1761668728.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552093,0.832987,0.036421],[-0.832209,0.547841,0.085431],[0.051210,-0.077475,0.995678]] 2025-10-28T16:25:28.663Z,1761668728.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556217,0.828392,0.066252],[-0.829754,0.549163,0.099640],[0.046158,-0.110395,0.992815]] 2025-10-28T16:25:29.066Z,1761668729.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570357,0.816595,0.088685],[-0.820196,0.560359,0.115225],[0.044397,-0.138459,0.989373]] 2025-10-28T16:25:29.470Z,1761668729.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562761,0.823514,0.071587],[-0.824137,0.552257,0.125737],[0.064012,-0.129758,0.989477]] 2025-10-28T16:25:29.875Z,1761668729.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551299,0.833715,0.031462],[-0.831382,0.545819,0.104336],[0.069814,-0.083677,0.994044]] 2025-10-28T16:25:30.278Z,1761668730.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541331,0.840703,0.013409],[-0.839712,0.539741,0.059696],[0.042949,-0.043575,0.998127]] 2025-10-28T16:25:30.683Z,1761668730.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554298,0.832105,0.018870],[-0.831501,0.552606,0.056863],[0.036889,-0.047210,0.998204]] 2025-10-28T16:25:31.089Z,1761668731.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569322,0.820334,0.054090],[-0.821810,0.566085,0.064623],[0.022393,-0.081243,0.996443]] 2025-10-28T16:25:31.491Z,1761668731.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533115,0.840393,0.097613],[-0.845980,0.530916,0.049448],[-0.010269,-0.108941,0.993995]] 2025-10-28T16:25:31.894Z,1761668731.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517932,0.851520,0.081613],[-0.855320,0.516980,0.034046],[-0.013202,-0.087439,0.996082]] 2025-10-28T16:25:32.299Z,1761668732.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509936,0.858374,0.056200],[-0.860202,0.509163,0.028387],[-0.004249,-0.062819,0.998016]] 2025-10-28T16:25:32.668Z,1761668732.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:25:32.706Z,1761668732.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526205,0.848999,0.048048],[-0.849832,0.527026,-0.005374],[-0.029885,-0.038004,0.998831]] 2025-10-28T16:25:33.106Z,1761668733.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547617,0.835636,0.042751],[-0.836000,0.548558,-0.013725],[-0.034920,-0.028224,0.998991]] 2025-10-28T16:25:33.511Z,1761668733.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538064,0.841759,0.043921],[-0.842901,0.537455,0.025685],[-0.001985,-0.050841,0.998705]] 2025-10-28T16:25:33.915Z,1761668733.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514364,0.857400,0.017156],[-0.855713,0.511830,0.076053],[0.056427,-0.053800,0.996956]] 2025-10-28T16:25:34.319Z,1761668734.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538703,0.840923,-0.051451],[-0.835600,0.541094,0.094818],[0.107574,-0.008086,0.994164]] 2025-10-28T16:25:34.723Z,1761668734.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533117,0.843970,-0.059177],[-0.835035,0.536138,0.123585],[0.136029,-0.016470,0.990568]] 2025-10-28T16:25:35.127Z,1761668735.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522544,0.852577,0.007749],[-0.850138,0.520314,0.080860],[0.064908,-0.048840,0.996695]] 2025-10-28T16:25:35.532Z,1761668735.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556950,0.829510,0.041473],[-0.830356,0.557197,0.006408],[-0.017794,-0.038006,0.999119]] 2025-10-28T16:25:35.940Z,1761668735.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572967,0.819458,0.014025],[-0.819456,0.572502,0.027079],[0.014161,-0.027008,0.999535]] 2025-10-28T16:25:36.339Z,1761668736.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576484,0.816958,-0.015702],[-0.813640,0.575699,0.080998],[0.075212,-0.033918,0.996591]] 2025-10-28T16:25:36.743Z,1761668736.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577567,0.815969,0.024735],[-0.813590,0.572867,0.099474],[0.066998,-0.077576,0.994733]] 2025-10-28T16:25:37.149Z,1761668737.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567199,0.821391,0.060011],[-0.822154,0.560425,0.099930],[0.048450,-0.106018,0.993183]] 2025-10-28T16:25:37.551Z,1761668737.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557600,0.825458,0.087758],[-0.830025,0.552904,0.073187],[0.011891,-0.113650,0.993450]] 2025-10-28T16:25:37.956Z,1761668737.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588726,0.805394,0.068858],[-0.808318,0.586075,0.056008],[0.004753,-0.088633,0.996053]] 2025-10-28T16:25:38.359Z,1761668738.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631700,0.774272,0.038175],[-0.775033,0.629726,0.052628],[0.016709,-0.062832,0.997884]] 2025-10-28T16:25:38.763Z,1761668738.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601205,0.798390,0.033565],[-0.799094,0.600616,0.026617],[0.001091,-0.042824,0.999082]] 2025-10-28T16:25:39.166Z,1761668739.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601556,0.798822,-0.003647],[-0.798500,0.601432,0.026037],[0.022992,-0.012751,0.999654]] 2025-10-28T16:25:39.571Z,1761668739.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629615,0.776512,-0.024792],[-0.775883,0.630102,0.031250],[0.039888,-0.000440,0.999204]] 2025-10-28T16:25:39.976Z,1761668739.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632771,0.774246,0.011990],[-0.772623,0.630262,0.076308],[0.051524,-0.057549,0.997012]] 2025-10-28T16:25:40.379Z,1761668740.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639262,0.763829,0.088939],[-0.768846,0.632623,0.093080],[0.014832,-0.127882,0.991678]] 2025-10-28T16:25:41.010Z,1761668741.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665431,0.740431,0.094676],[-0.745558,0.653026,0.133045],[0.036685,-0.159119,0.986578]] 2025-10-28T16:25:41.353Z,1761668741.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674726,0.737157,0.036674],[-0.734102,0.665127,0.136749],[0.076412,-0.119191,0.989927]] 2025-10-28T16:25:41.508Z,1761668741.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:25:42.039Z,1761668742.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681930,0.730920,0.026980],[-0.730904,0.679605,0.062582],[0.027406,-0.062396,0.997675]] 2025-10-28T16:25:42.444Z,1761668742.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670176,0.740830,0.045102],[-0.741910,0.670379,0.012710],[-0.020820,-0.041980,0.998901]] 2025-10-28T16:25:42.846Z,1761668742.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672357,0.738271,0.053769],[-0.739585,0.673024,0.007263],[-0.030826,-0.044650,0.998527]] 2025-10-28T16:25:43.252Z,1761668743.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699484,0.712910,0.049809],[-0.714610,0.697027,0.059036],[0.007369,-0.076889,0.997012]] 2025-10-28T16:25:43.655Z,1761668743.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690569,0.721057,0.056489],[-0.722030,0.682716,0.112127],[0.042284,-0.118218,0.992087]] 2025-10-28T16:25:44.060Z,1761668744.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678401,0.733385,0.043807],[-0.734174,0.674478,0.077896],[0.027581,-0.085007,0.995999]] 2025-10-28T16:25:44.463Z,1761668744.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698732,0.715138,0.018709],[-0.715379,0.698404,0.021559],[0.002351,-0.028448,0.999593]] 2025-10-28T16:25:44.867Z,1761668744.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733094,0.680126,0.000842],[-0.680088,0.733039,0.011552],[0.007240,-0.009042,0.999933]] 2025-10-28T16:25:45.273Z,1761668745.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735813,0.677183,0.001362],[-0.676701,0.735211,0.039255],[0.025581,-0.029806,0.999228]] 2025-10-28T16:25:45.677Z,1761668745.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719782,0.693470,0.031843],[-0.692244,0.713556,0.107872],[0.052084,-0.099688,0.993655]] 2025-10-28T16:25:46.078Z,1761668746.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729402,0.680551,0.069448],[-0.681306,0.713544,0.163331],[0.061601,-0.166450,0.984124]] 2025-10-28T16:25:46.484Z,1761668746.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749285,0.653689,0.106122],[-0.661523,0.731299,0.166099],[0.030970,-0.194658,0.980382]] 2025-10-28T16:25:46.887Z,1761668746.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759570,0.641390,0.108034],[-0.650390,0.747242,0.136463],[0.006798,-0.173918,0.984737]] 2025-10-28T16:25:47.291Z,1761668747.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766001,0.639840,0.062023],[-0.642787,0.761127,0.086670],[0.008248,-0.106257,0.994304]] 2025-10-28T16:25:47.695Z,1761668747.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768815,0.639396,-0.009762],[-0.638099,0.768076,0.053745],[0.041862,-0.035091,0.998507]] 2025-10-28T16:25:48.101Z,1761668748.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776245,0.628956,-0.043107],[-0.623886,0.776214,0.090873],[0.090615,-0.043646,0.994929]] 2025-10-28T16:25:48.503Z,1761668748.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774730,0.632108,-0.015241],[-0.626149,0.770333,0.120518],[0.087921,-0.083826,0.992594]] 2025-10-28T16:25:48.906Z,1761668748.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778980,0.624549,0.055931],[-0.626865,0.773485,0.093605],[0.015199,-0.107978,0.994037]] 2025-10-28T16:25:49.311Z,1761668749.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771412,0.624692,0.121179],[-0.634425,0.769770,0.070422],[-0.049288,-0.131203,0.990130]] 2025-10-28T16:25:49.714Z,1761668749.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783125,0.616254,0.083343],[-0.621803,0.774109,0.118813],[0.008702,-0.144868,0.989413]] 2025-10-28T16:25:50.125Z,1761668750.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801808,0.597440,0.012982],[-0.591919,0.791040,0.154555],[0.082068,-0.131608,0.987899]] 2025-10-28T16:25:50.526Z,1761668750.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803771,0.594922,0.004554],[-0.591454,0.798212,0.114189],[0.064298,-0.094475,0.993449]] 2025-10-28T16:25:50.933Z,1761668750.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797414,0.601339,0.050229],[-0.602928,0.797385,0.025578],[-0.024670,-0.050681,0.998410]] 2025-10-28T16:25:51.228Z,1761668751.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:25:51.337Z,1761668751.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804136,0.593780,0.028117],[-0.594443,0.803360,0.035362],[-0.001591,-0.045150,0.998979]] 2025-10-28T16:25:51.739Z,1761668751.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804074,0.594523,0.002726],[-0.591796,0.799929,0.099455],[0.056948,-0.081582,0.995038]] 2025-10-28T16:25:52.178Z,1761668752.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806851,0.590547,0.015638],[-0.586090,0.796880,0.146565],[0.074092,-0.127421,0.989077]] 2025-10-28T16:25:52.546Z,1761668752.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816967,0.572046,0.073003],[-0.576556,0.807539,0.124353],[0.012183,-0.143683,0.989549]] 2025-10-28T16:25:52.947Z,1761668752.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821623,0.562127,0.094600],[-0.569695,0.815455,0.102380],[-0.019592,-0.138010,0.990237]] 2025-10-28T16:25:53.351Z,1761668753.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822630,0.565817,0.055954],[-0.568534,0.819782,0.068751],[-0.006969,-0.088368,0.996064]] 2025-10-28T16:25:53.754Z,1761668753.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814789,0.579539,0.015928],[-0.579614,0.813665,0.044685],[0.012936,-0.045641,0.998874]] 2025-10-28T16:25:54.202Z,1761668754.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821832,0.569454,-0.017721],[-0.569315,0.822023,0.012612],[0.021749,-0.000276,0.999763]] 2025-10-28T16:25:54.564Z,1761668754.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840704,0.541368,-0.011752],[-0.541495,0.840520,-0.017603],[0.000348,0.021162,0.999776]] 2025-10-28T16:25:54.966Z,1761668754.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843507,0.536817,0.017998],[-0.536978,0.843579,0.005390],[-0.012289,-0.014212,0.999823]] 2025-10-28T16:25:55.372Z,1761668755.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837402,0.543778,0.055350],[-0.546587,0.833191,0.083880],[-0.000505,-0.100495,0.994937]] 2025-10-28T16:25:55.775Z,1761668755.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814694,0.577742,0.049882],[-0.577590,0.800794,0.158490],[0.051621,-0.157932,0.986100]] 2025-10-28T16:25:56.202Z,1761668756.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824187,0.565813,0.023900],[-0.559495,0.807001,0.188984],[0.087642,-0.169131,0.981689]] 2025-10-28T16:25:56.583Z,1761668756.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847128,0.530722,0.026634],[-0.528785,0.836960,0.141015],[0.052548,-0.133541,0.989649]] 2025-10-28T16:25:56.987Z,1761668756.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832141,0.552016,0.053089],[-0.554546,0.827531,0.087584],[0.004415,-0.102322,0.994741]] 2025-10-28T16:25:57.393Z,1761668757.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808750,0.586025,0.049971],[-0.587609,0.801430,0.111476],[0.025279,-0.119520,0.992510]] 2025-10-28T16:25:57.795Z,1761668757.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824615,0.563989,0.043892],[-0.564122,0.814063,0.138085],[0.042147,-0.138627,0.989447]] 2025-10-28T16:25:58.206Z,1761668758.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831527,0.550446,0.074652],[-0.553997,0.811948,0.183924],[0.040626,-0.194294,0.980102]] 2025-10-28T16:25:58.603Z,1761668758.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819133,0.567783,0.081501],[-0.572365,0.799744,0.181129],[0.037662,-0.195017,0.980076]] 2025-10-28T16:25:59.009Z,1761668759.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799239,0.598066,0.059446],[-0.600848,0.792790,0.102299],[0.014054,-0.117479,0.992976]] 2025-10-28T16:25:59.410Z,1761668759.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776467,0.630149,0.003170],[-0.629790,0.775833,0.038037],[0.021510,-0.031531,0.999271]] 2025-10-28T16:25:59.814Z,1761668759.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774478,0.631205,-0.042000],[-0.631387,0.775397,0.010475],[0.039178,0.018406,0.999063]] 2025-10-28T16:25:59.920Z,1761668759.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:26:00.219Z,1761668760.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793967,0.607803,-0.013845],[-0.607454,0.794029,0.022740],[0.024815,-0.009645,0.999646]] 2025-10-28T16:26:00.624Z,1761668760.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813353,0.578196,0.064394],[-0.581689,0.810101,0.073311],[-0.009778,-0.097085,0.995228]] 2025-10-28T16:26:01.026Z,1761668761.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796038,0.594006,0.116104],[-0.605189,0.783842,0.139063],[-0.008403,-0.180965,0.983454]] 2025-10-28T16:26:01.431Z,1761668761.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760866,0.642742,0.089245],[-0.645584,0.735872,0.204238],[0.065599,-0.213013,0.974845]] 2025-10-28T16:26:01.835Z,1761668761.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750326,0.658562,0.057499],[-0.655394,0.729695,0.194946],[0.086427,-0.183958,0.979127]] 2025-10-28T16:26:02.241Z,1761668762.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754754,0.653553,0.056697],[-0.655199,0.746714,0.114598],[0.032559,-0.123641,0.991793]] 2025-10-28T16:26:02.665Z,1761668762.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759736,0.647865,0.055426],[-0.650019,0.758903,0.039258],[-0.016629,-0.065854,0.997691]] 2025-10-28T16:26:03.067Z,1761668763.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758405,0.648179,0.068450],[-0.651056,0.758329,0.032606],[-0.030773,-0.069293,0.997122]] 2025-10-28T16:26:03.465Z,1761668763.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747497,0.660526,0.070382],[-0.663893,0.746418,0.045890],[-0.022223,-0.081029,0.996464]] 2025-10-28T16:26:03.870Z,1761668763.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728282,0.681582,0.071070],[-0.685277,0.724391,0.075183],[-0.000239,-0.103457,0.994634]] 2025-10-28T16:26:04.278Z,1761668764.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728006,0.683342,0.055235],[-0.685243,0.722801,0.089443],[0.021197,-0.102965,0.994459]] 2025-10-28T16:26:04.686Z,1761668764.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726242,0.687176,0.019038],[-0.684521,0.720332,0.112039],[0.063277,-0.094399,0.993521]] 2025-10-28T16:26:05.091Z,1761668765.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724134,0.689547,0.012481],[-0.687875,0.720840,0.084958],[0.049586,-0.070106,0.996306]] 2025-10-28T16:26:05.495Z,1761668765.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725403,0.686282,0.052983],[-0.688150,0.724801,0.033376],[-0.015497,-0.060672,0.998037]] 2025-10-28T16:26:05.898Z,1761668765.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713783,0.697240,0.066101],[-0.700353,0.710003,0.073491],[0.004309,-0.098751,0.995103]] 2025-10-28T16:26:06.307Z,1761668766.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694697,0.718950,0.022510],[-0.711127,0.681761,0.171757],[0.108138,-0.135327,0.984882]] 2025-10-28T16:26:06.706Z,1761668766.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698038,0.715278,0.033485],[-0.709357,0.684362,0.168706],[0.097756,-0.141516,0.985097]] 2025-10-28T16:26:07.110Z,1761668767.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703043,0.705014,0.093199],[-0.711146,0.697173,0.090670],[-0.001052,-0.130024,0.991510]] 2025-10-28T16:26:07.515Z,1761668767.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697365,0.710317,0.095561],[-0.716697,0.692099,0.085699],[-0.005264,-0.128252,0.991728]] 2025-10-28T16:26:07.919Z,1761668767.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693578,0.719235,0.040628],[-0.717605,0.684858,0.126544],[0.063190,-0.116923,0.991129]] 2025-10-28T16:26:08.322Z,1761668768.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700972,0.713004,0.016255],[-0.708968,0.694166,0.124491],[0.077479,-0.098789,0.992088]] 2025-10-28T16:26:08.727Z,1761668768.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696817,0.717192,0.009044],[-0.714755,0.693289,0.092066],[0.059758,-0.070617,0.995712]] 2025-10-28T16:26:09.131Z,1761668769.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673586,0.739104,-0.002592],[-0.735813,0.670909,0.091982],[0.069723,-0.060051,0.995757]] 2025-10-28T16:26:09.537Z,1761668769.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663076,0.748529,0.005862],[-0.746203,0.660356,0.084333],[0.059254,-0.060293,0.996420]] 2025-10-28T16:26:09.939Z,1761668769.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687550,0.725051,0.039691],[-0.726132,0.686308,0.041396],[0.002774,-0.057283,0.998354]] 2025-10-28T16:26:10.343Z,1761668770.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700184,0.711635,0.057603],[-0.713850,0.699224,0.038788],[-0.012674,-0.068278,0.997586]] 2025-10-28T16:26:10.748Z,1761668770.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668939,0.740928,0.059555],[-0.743313,0.667065,0.050102],[-0.002605,-0.077783,0.996967]] 2025-10-28T16:26:10.913Z,1761668770.913 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:26:11.154Z,1761668771.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665601,0.745441,0.035952],[-0.746262,0.664255,0.043116],[0.008259,-0.055528,0.998423]] 2025-10-28T16:26:11.555Z,1761668771.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666161,0.745729,0.010816],[-0.745617,0.665594,0.032247],[0.016849,-0.029546,0.999421]] 2025-10-28T16:26:11.958Z,1761668771.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655669,0.754791,0.019707],[-0.754941,0.654914,0.033933],[0.012707,-0.037126,0.999230]] 2025-10-28T16:26:12.363Z,1761668772.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673698,0.738526,0.026647],[-0.738998,0.673078,0.029119],[0.003570,-0.039310,0.999221]] 2025-10-28T16:26:12.769Z,1761668772.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686769,0.725250,0.048583],[-0.726820,0.686007,0.033573],[-0.008980,-0.058368,0.998255]] 2025-10-28T16:26:13.171Z,1761668773.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665046,0.744820,0.054378],[-0.746207,0.659845,0.088199],[0.029811,-0.099234,0.994617]] 2025-10-28T16:26:13.575Z,1761668773.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635576,0.770636,0.046511],[-0.767678,0.624443,0.144020],[0.081943,-0.127241,0.988481]] 2025-10-28T16:26:13.979Z,1761668773.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644271,0.764713,0.011353],[-0.758118,0.636617,0.141337],[0.100855,-0.099666,0.989896]] 2025-10-28T16:26:14.384Z,1761668774.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672230,0.737959,0.059350],[-0.739819,0.666579,0.091327],[0.027834,-0.105301,0.994051]] 2025-10-28T16:26:14.789Z,1761668774.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650617,0.748416,0.128728],[-0.759404,0.640864,0.112242],[0.001507,-0.170783,0.985308]] 2025-10-28T16:26:15.191Z,1761668775.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632569,0.765612,0.117025],[-0.772641,0.613327,0.163878],[0.053692,-0.194082,0.979515]] 2025-10-28T16:26:15.595Z,1761668775.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624987,0.777771,0.066809],[-0.774088,0.606409,0.181814],[0.100896,-0.165348,0.981061]] 2025-10-28T16:26:16.001Z,1761668776.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629596,0.776852,0.010491],[-0.771647,0.623693,0.124776],[0.090389,-0.086654,0.992129]] 2025-10-28T16:26:16.402Z,1761668776.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632824,0.774108,0.017040],[-0.773523,0.631057,0.058561],[0.034579,-0.050239,0.998138]] 2025-10-28T16:26:16.827Z,1761668776.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615942,0.786295,0.048538],[-0.787719,0.615551,0.024413],[-0.010682,-0.053271,0.998523]] 2025-10-28T16:26:17.211Z,1761668777.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611136,0.790582,0.038636],[-0.790947,0.608094,0.068009],[0.030272,-0.072122,0.996936]] 2025-10-28T16:26:17.616Z,1761668777.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612827,0.790102,0.013453],[-0.784259,0.606032,0.132899],[0.096851,-0.091995,0.991038]] 2025-10-28T16:26:18.018Z,1761668778.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595519,0.803248,0.012274],[-0.796371,0.588275,0.140449],[0.105595,-0.093415,0.990012]] 2025-10-28T16:26:18.423Z,1761668778.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591540,0.805793,0.027903],[-0.803278,0.586006,0.106495],[0.069462,-0.085410,0.993922]] 2025-10-28T16:26:18.430Z,1761668778.430 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T162617 2025-10-28T16:26:18.827Z,1761668778.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606331,0.793491,0.052292],[-0.795095,0.603798,0.057023],[0.013673,-0.076153,0.997002]] 2025-10-28T16:26:19.232Z,1761668779.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598775,0.797868,0.069824],[-0.800327,0.592707,0.090423],[0.030760,-0.110025,0.993453]] 2025-10-28T16:26:19.635Z,1761668779.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606705,0.792863,0.057245],[-0.791918,0.596579,0.130225],[0.069099,-0.124341,0.989831]] 2025-10-28T16:26:20.038Z,1761668780.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589705,0.806975,0.032251],[-0.805805,0.585236,0.090432],[0.054102,-0.079316,0.995380]] 2025-10-28T16:26:20.446Z,1761668780.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586429,0.809987,-0.004587],[-0.809734,0.586372,0.022348],[0.020791,-0.009391,0.999740]] 2025-10-28T16:26:20.849Z,1761668780.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620704,0.782919,-0.041996],[-0.783732,0.621079,-0.005023],[0.022151,0.036031,0.999105]] 2025-10-28T16:26:21.250Z,1761668781.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637750,0.766943,-0.071221],[-0.765459,0.641364,0.052204],[0.085716,0.021223,0.996094]] 2025-10-28T16:26:21.655Z,1761668781.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643753,0.764966,-0.020238],[-0.759106,0.641715,0.109359],[0.096643,-0.055037,0.993796]] 2025-10-28T16:26:22.059Z,1761668782.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633284,0.769087,0.086352],[-0.773410,0.624866,0.106673],[0.028082,-0.134339,0.990537]] 2025-10-28T16:26:22.464Z,1761668782.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628120,0.766363,0.134733],[-0.778112,0.618029,0.112174],[0.002697,-0.175295,0.984512]] 2025-10-28T16:26:22.867Z,1761668782.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653622,0.746035,0.127317],[-0.756765,0.646294,0.098028],[-0.009152,-0.160422,0.987006]] 2025-10-28T16:26:23.271Z,1761668783.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654778,0.744547,0.130062],[-0.755645,0.648580,0.091348],[-0.016343,-0.158093,0.987289]] 2025-10-28T16:26:23.675Z,1761668783.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630273,0.771993,0.082362],[-0.775827,0.622294,0.104132],[0.029136,-0.129530,0.991147]] 2025-10-28T16:26:24.080Z,1761668784.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640091,0.768225,0.010673],[-0.763865,0.634845,0.116112],[0.082424,-0.082475,0.993179]] 2025-10-28T16:26:24.483Z,1761668784.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660565,0.750692,-0.010741],[-0.745790,0.657762,0.105578],[0.086322,-0.061731,0.994353]] 2025-10-28T16:26:24.886Z,1761668784.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644843,0.763648,0.031920],[-0.762244,0.639462,0.100359],[0.056227,-0.089047,0.994439]] 2025-10-28T16:26:25.291Z,1761668785.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647634,0.761020,0.037672],[-0.761743,0.645507,0.055393],[0.017838,-0.064571,0.997754]] 2025-10-28T16:26:25.697Z,1761668785.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667529,0.744579,0.002586],[-0.744228,0.667099,0.033202],[0.022997,-0.024088,0.999445]] 2025-10-28T16:26:26.098Z,1761668786.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675753,0.736977,-0.014907],[-0.735490,0.675461,0.052976],[0.049111,-0.024835,0.998484]] 2025-10-28T16:26:26.264Z,1761668786.264 [DataOverHttps](INFO): Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4m2zm 1 2 2025-10-28T16:26:26.284Z,1761668786.284 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4m2zm 1 2.000000 2025-10-28T16:26:26.285Z,1761668786.285 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4m2zm 2025-10-28T16:26:26.286Z,1761668786.286 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4m2zm'): "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min", ASAP 2025-10-28T16:26:26.503Z,1761668786.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669195,0.742895,0.016862],[-0.742160,0.667057,0.065061],[0.037085,-0.056053,0.997739]] 2025-10-28T16:26:26.907Z,1761668786.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675143,0.733920,0.074454],[-0.737568,0.673403,0.050217],[-0.013283,-0.088819,0.995959]] 2025-10-28T16:26:27.266Z,1761668787.266 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T162626 2025-10-28T16:26:27.314Z,1761668787.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679647,0.723008,0.123854],[-0.732164,0.678969,0.054200],[-0.044906,-0.127519,0.990819]] 2025-10-28T16:26:27.714Z,1761668787.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670064,0.734556,0.106969],[-0.741912,0.667400,0.064373],[-0.024105,-0.122495,0.992176]] 2025-10-28T16:26:28.122Z,1761668788.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678754,0.732380,0.053967],[-0.733888,0.673829,0.085810],[0.026481,-0.097850,0.994849]] 2025-10-28T16:26:28.523Z,1761668788.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691972,0.720394,0.046983],[-0.721455,0.687708,0.081001],[0.026043,-0.089947,0.995606]] 2025-10-28T16:26:28.928Z,1761668788.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686790,0.722964,0.075115],[-0.726855,0.683275,0.069410],[-0.001143,-0.102268,0.994756]] 2025-10-28T16:26:29.331Z,1761668789.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671847,0.738489,0.057067],[-0.740635,0.668858,0.063947],[0.009054,-0.085228,0.996320]] 2025-10-28T16:26:29.734Z,1761668789.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665065,0.745285,0.047314],[-0.746364,0.661225,0.075648],[0.025094,-0.085624,0.996011]] 2025-10-28T16:26:30.181Z,1761668790.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672410,0.739235,0.037369],[-0.739158,0.667976,0.086336],[0.038861,-0.085674,0.995565]] 2025-10-28T16:26:30.545Z,1761668790.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687583,0.723206,0.064830],[-0.725105,0.679206,0.113589],[0.038115,-0.125110,0.991410]] 2025-10-28T16:26:30.947Z,1761668790.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684300,0.723707,0.089346],[-0.728682,0.674041,0.121207],[0.027495,-0.148046,0.988598]] 2025-10-28T16:26:31.351Z,1761668791.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670793,0.736392,0.088113],[-0.741638,0.666546,0.075430],[-0.003186,-0.115946,0.993250]] 2025-10-28T16:26:31.755Z,1761668791.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671681,0.740074,0.033677],[-0.740675,0.669879,0.051600],[0.015628,-0.059602,0.998100]] 2025-10-28T16:26:32.209Z,1761668792.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689597,0.721140,0.066432],[-0.723681,0.689655,0.025736],[-0.027256,-0.065823,0.997459]] 2025-10-28T16:26:32.967Z,1761668792.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645274,0.758225,0.093362],[-0.763951,0.640350,0.079568],[0.000546,-0.122667,0.992448]] 2025-10-28T16:26:33.375Z,1761668793.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663470,0.744581,0.073535],[-0.745985,0.650740,0.141573],[0.057561,-0.148785,0.987193]] 2025-10-28T16:26:33.781Z,1761668793.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674782,0.722568,0.150214],[-0.737999,0.662080,0.130414],[-0.005221,-0.198859,0.980014]] 2025-10-28T16:26:34.203Z,1761668794.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651887,0.749491,0.115356],[-0.757261,0.635383,0.151139],[0.039982,-0.185880,0.981759]] 2025-10-28T16:26:34.587Z,1761668794.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654622,0.755360,0.030010],[-0.750808,0.645027,0.142223],[0.088072,-0.115634,0.989380]] 2025-10-28T16:26:34.892Z,1761668794.892 [DataOverHttps](INFO): Received command: sched asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4m2zm 2 2 2025-10-28T16:26:34.916Z,1761668794.916 [CommandExec](IMPORTANT): got command schedule asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4m2zm 2 2.000000 2025-10-28T16:26:34.917Z,1761668794.917 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4m2zm 2025-10-28T16:26:34.918Z,1761668794.918 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4m2zm'): "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAP 2025-10-28T16:26:34.998Z,1761668794.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647255,0.762273,0.001124],[-0.756696,0.642340,0.121701],[0.092048,-0.079622,0.992566]] 2025-10-28T16:26:35.054Z,1761668795.054 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl 2025-10-28T16:26:35.055Z,1761668795.055 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl 2025-10-28T16:26:35.056Z,1761668795.056 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl 2025-10-28T16:26:35.066Z,1761668795.066 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl 2025-10-28T16:26:35.391Z,1761668795.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650352,0.759630,-0.002018],[-0.756593,0.647984,0.087660],[0.067897,-0.055483,0.996148]] 2025-10-28T16:26:35.796Z,1761668795.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624085,0.781350,0.003017],[-0.780288,0.623026,0.054664],[0.040832,-0.036470,0.998500]] 2025-10-28T16:26:36.206Z,1761668796.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599631,0.800236,0.008018],[-0.798960,0.598040,0.063337],[0.045890,-0.044385,0.997960]] 2025-10-28T16:26:36.603Z,1761668796.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620563,0.783713,0.026370],[-0.782503,0.616722,0.085693],[0.050896,-0.073812,0.995973]] 2025-10-28T16:26:36.896Z,1761668796.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:26:37.007Z,1761668797.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635148,0.768563,0.076801],[-0.772254,0.630018,0.081856],[0.014525,-0.111301,0.993681]] 2025-10-28T16:26:37.412Z,1761668797.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619142,0.778558,0.102527],[-0.784678,0.608262,0.119575],[0.030732,-0.154485,0.987517]] 2025-10-28T16:26:37.815Z,1761668797.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590079,0.803719,0.076439],[-0.803919,0.576221,0.147250],[0.074302,-0.148339,0.986141]] 2025-10-28T16:26:38.219Z,1761668798.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584451,0.810810,0.031692],[-0.809591,0.580055,0.089993],[0.054584,-0.078254,0.995438]] 2025-10-28T16:26:38.623Z,1761668798.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587321,0.808551,0.036055],[-0.808919,0.587883,-0.006586],[-0.026521,-0.025297,0.999328]] 2025-10-28T16:26:39.029Z,1761668799.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575590,0.816882,0.037417],[-0.815536,0.576794,-0.047010],[-0.059984,-0.003457,0.998193]] 2025-10-28T16:26:39.431Z,1761668799.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577613,0.815844,0.027614],[-0.816260,0.577624,0.008381],[-0.009113,-0.027382,0.999583]] 2025-10-28T16:26:39.835Z,1761668799.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581400,0.812745,0.037670],[-0.810329,0.574270,0.116537],[0.073082,-0.098280,0.992472]] 2025-10-28T16:26:40.240Z,1761668800.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559914,0.827612,0.039419],[-0.815922,0.542481,0.199966],[0.144110,-0.144126,0.979010]] 2025-10-28T16:26:40.644Z,1761668800.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543485,0.838948,0.028104],[-0.826407,0.528888,0.193205],[0.147225,-0.128230,0.980756]] 2025-10-28T16:26:41.047Z,1761668801.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546982,0.836234,0.039032],[-0.835494,0.542383,0.088146],[0.052540,-0.080825,0.995343]] 2025-10-28T16:26:41.451Z,1761668801.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542104,0.839025,0.046484],[-0.840022,0.542538,0.003801],[-0.022030,-0.041108,0.998912]] 2025-10-28T16:26:41.725Z,1761668801.725 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into: 4 1 8 10 NaN 36.81544 -121.82506 0 0 50 240 10 0 4 1 30 20 60 5 1 10 0 NaN 0.010 1.5 0 1 0 0 0 0 Got test_good : and temp var is modem _.others_observations none_str SendData: sent send_observations : to nearby vehicles. Elapsed time Upadating ContactLabel 0 Speed timeout reached. Stopping vehicle (speed ). Updating heading Updating rudder angle 2025-10-28T16:26:41.753Z,1761668801.753 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h 2025-10-28T16:26:41.761Z,1761668801.761 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h 2025-10-28T16:26:41.764Z,1761668801.764 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count 2025-10-28T16:26:41.771Z,1761668801.771 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count 2025-10-28T16:26:41.804Z,1761668801.804 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m 2025-10-28T16:26:41.807Z,1761668801.807 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg 2025-10-28T16:26:41.854Z,1761668801.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538860,0.841963,0.026989],[-0.841493,0.536523,0.063504],[0.038988,-0.056931,0.997617]] 2025-10-28T16:26:41.873Z,1761668801.873 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg 2025-10-28T16:26:41.897Z,1761668801.897 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m 2025-10-28T16:26:41.912Z,1761668801.912 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m 2025-10-28T16:26:41.915Z,1761668801.915 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m 2025-10-28T16:26:41.927Z,1761668801.927 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s 2025-10-28T16:26:41.956Z,1761668801.956 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s 2025-10-28T16:26:41.959Z,1761668801.959 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count 2025-10-28T16:26:41.971Z,1761668801.971 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h 2025-10-28T16:26:41.982Z,1761668801.982 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min 2025-10-28T16:26:41.990Z,1761668801.990 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s 2025-10-28T16:26:42.009Z,1761668802.009 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m 2025-10-28T16:26:42.021Z,1761668802.021 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m 2025-10-28T16:26:42.032Z,1761668802.032 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m 2025-10-28T16:26:42.035Z,1761668802.035 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool 2025-10-28T16:26:42.042Z,1761668802.042 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool 2025-10-28T16:26:42.057Z,1761668802.057 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count 2025-10-28T16:26:42.069Z,1761668802.069 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m 2025-10-28T16:26:42.078Z,1761668802.078 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool 2025-10-28T16:26:42.081Z,1761668802.081 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s 2025-10-28T16:26:42.089Z,1761668802.089 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str 2025-10-28T16:26:42.105Z,1761668802.105 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m 2025-10-28T16:26:42.117Z,1761668802.117 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km 2025-10-28T16:26:42.125Z,1761668802.125 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count 2025-10-28T16:26:42.146Z,1761668802.146 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count 2025-10-28T16:26:42.178Z,1761668802.178 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg 2025-10-28T16:26:42.198Z,1761668802.198 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg 2025-10-28T16:26:42.213Z,1761668802.213 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s 2025-10-28T16:26:42.221Z,1761668802.221 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s 2025-10-28T16:26:42.221Z,1761668802.221 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-10-28T16:26:42.222Z,1761668802.222 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-10-28T16:26:42.223Z,1761668802.223 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-10-28T16:26:42.260Z,1761668802.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547056,0.834903,0.060549],[-0.834731,0.538648,0.114381],[0.062882,-0.113114,0.991590]] 2025-10-28T16:26:42.414Z,1761668802.414 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-10-28T16:26:42.442Z,1761668802.442 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h 2025-10-28T16:26:42.457Z,1761668802.457 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-10-28T16:26:42.459Z,1761668802.459 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-10-28T16:26:42.475Z,1761668802.475 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout 2025-10-28T16:26:42.623Z,1761668802.623 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-10-28T16:26:42.623Z,1761668802.623 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-10-28T16:26:42.633Z,1761668802.633 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-10-28T16:26:42.662Z,1761668802.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515300,0.845601,0.139377],[-0.856898,0.511008,0.067807],[-0.013886,-0.154373,0.987915]] 2025-10-28T16:26:43.079Z,1761668803.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492236,0.855948,0.158293],[-0.868855,0.494180,0.029624],[-0.052869,-0.152115,0.986948]] 2025-10-28T16:26:43.392Z,1761668803.392 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1500 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-10-28T16:26:43.414Z,1761668803.414 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h 2025-10-28T16:26:43.422Z,1761668803.422 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min 2025-10-28T16:26:43.437Z,1761668803.437 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-10-28T16:26:43.444Z,1761668803.444 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s 2025-10-28T16:26:43.447Z,1761668803.447 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-10-28T16:26:43.470Z,1761668803.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500561,0.858452,0.111798],[-0.865280,0.500155,0.033690],[-0.026995,-0.113600,0.993160]] 2025-10-28T16:26:43.482Z,1761668803.482 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1500.000000 s 2025-10-28T16:26:43.502Z,1761668803.502 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min 2025-10-28T16:26:43.521Z,1761668803.521 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min 2025-10-28T16:26:43.547Z,1761668803.547 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-10-28T16:26:43.627Z,1761668803.627 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:26:43.627Z,1761668803.627 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:26:43.636Z,1761668803.636 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:26:43.837Z,1761668803.837 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-28T16:26:43.850Z,1761668803.850 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-28T16:26:43.875Z,1761668803.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514514,0.855100,0.063866],[-0.857473,0.512742,0.042846],[0.003891,-0.076808,0.997038]] 2025-10-28T16:26:43.901Z,1761668803.901 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-28T16:26:43.916Z,1761668803.916 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-28T16:26:43.919Z,1761668803.919 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-28T16:26:43.937Z,1761668803.937 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-28T16:26:43.973Z,1761668803.973 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-28T16:26:43.999Z,1761668803.999 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-28T16:26:44.156Z,1761668804.156 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-28T16:26:44.157Z,1761668804.157 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-28T16:26:44.202Z,1761668804.202 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-28T16:26:44.279Z,1761668804.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504522,0.862990,0.026579],[-0.861768,0.501438,0.076914],[0.053048,-0.061710,0.996683]] 2025-10-28T16:26:44.682Z,1761668804.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466454,0.884403,-0.015876],[-0.882820,0.466590,0.054055],[0.055214,-0.011198,0.998412]] 2025-10-28T16:26:45.087Z,1761668805.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460027,0.887603,-0.023165],[-0.887526,0.458912,-0.041197],[-0.025936,0.039511,0.998882]] 2025-10-28T16:26:45.491Z,1761668805.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470006,0.882636,0.006875],[-0.881779,0.469870,-0.041093],[-0.039500,0.013252,0.999132]] 2025-10-28T16:26:45.895Z,1761668805.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455957,0.889409,0.032469],[-0.887614,0.451761,0.089745],[0.065152,-0.069740,0.995435]] 2025-10-28T16:26:46.703Z,1761668806.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434050,0.896483,0.088991],[-0.900889,0.431864,0.043511],[0.000575,-0.099057,0.995082]] 2025-10-28T16:26:47.106Z,1761668807.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448805,0.884816,0.125198],[-0.889373,0.455920,-0.033950],[-0.087120,-0.096110,0.991551]] 2025-10-28T16:26:47.511Z,1761668807.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468023,0.878745,0.093606],[-0.883614,0.463723,0.064710],[0.013457,-0.112997,0.993504]] 2025-10-28T16:26:47.915Z,1761668807.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448899,0.892737,0.038874],[-0.887975,0.440793,0.131153],[0.099950,-0.093394,0.990600]] 2025-10-28T16:26:48.319Z,1761668808.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464268,0.885190,0.029893],[-0.884350,0.461441,0.070685],[0.048776,-0.059252,0.997051]] 2025-10-28T16:26:48.723Z,1761668808.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464703,0.883316,0.061679],[-0.885466,0.463505,0.033355],[0.000875,-0.070115,0.997539]] 2025-10-28T16:26:49.127Z,1761668809.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430226,0.899943,0.070773],[-0.901334,0.423899,0.088919],[0.050021,-0.102045,0.993521]] 2025-10-28T16:26:49.532Z,1761668809.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421657,0.903159,0.080674],[-0.903693,0.411262,0.119173],[0.074454,-0.123154,0.989591]] 2025-10-28T16:26:49.748Z,1761668809.748 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois PeakPlanktivoreLMavgROIAvgProfiles = . PeakPlanktivoreLMavgROIDepthAvgProfiles = EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-28T16:26:49.777Z,1761668809.777 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool 2025-10-28T16:26:49.798Z,1761668809.798 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-28T16:26:49.813Z,1761668809.813 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool 2025-10-28T16:26:49.824Z,1761668809.824 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min 2025-10-28T16:26:49.827Z,1761668809.827 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool 2025-10-28T16:26:49.830Z,1761668809.830 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool 2025-10-28T16:26:49.845Z,1761668809.845 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool 2025-10-28T16:26:49.852Z,1761668809.852 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool 2025-10-28T16:26:49.855Z,1761668809.855 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count 2025-10-28T16:26:49.862Z,1761668809.862 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-28T16:26:49.870Z,1761668809.870 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-28T16:26:49.877Z,1761668809.877 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool 2025-10-28T16:26:49.879Z,1761668809.879 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool 2025-10-28T16:26:49.886Z,1761668809.886 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool 2025-10-28T16:26:49.905Z,1761668809.905 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool 2025-10-28T16:26:49.912Z,1761668809.912 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:26:49.915Z,1761668809.915 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:26:49.935Z,1761668809.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453195,0.885010,0.106636],[-0.891326,0.448240,0.067965],[0.012351,-0.125849,0.991972]] 2025-10-28T16:26:49.950Z,1761668809.950 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:26:49.954Z,1761668809.954 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T16:26:49.973Z,1761668809.973 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T16:26:49.984Z,1761668809.984 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T16:26:49.987Z,1761668809.987 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T16:26:49.994Z,1761668809.994 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T16:26:50.009Z,1761668810.009 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T16:26:50.018Z,1761668810.018 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-28T16:26:50.054Z,1761668810.054 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool 2025-10-28T16:26:50.066Z,1761668810.066 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool 2025-10-28T16:26:50.081Z,1761668810.081 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool 2025-10-28T16:26:50.089Z,1761668810.089 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool 2025-10-28T16:26:50.114Z,1761668810.114 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-28T16:26:50.127Z,1761668810.127 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-28T16:26:50.151Z,1761668810.151 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool 2025-10-28T16:26:50.176Z,1761668810.176 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count 2025-10-28T16:26:50.195Z,1761668810.195 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count 2025-10-28T16:26:50.202Z,1761668810.202 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m 2025-10-28T16:26:50.217Z,1761668810.217 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m 2025-10-28T16:26:50.224Z,1761668810.224 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-28T16:26:50.227Z,1761668810.227 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan % 2025-10-28T16:26:50.235Z,1761668810.235 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan % 2025-10-28T16:26:50.240Z,1761668810.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:26:50.249Z,1761668810.249 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-28T16:26:50.256Z,1761668810.256 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count 2025-10-28T16:26:50.259Z,1761668810.259 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool 2025-10-28T16:26:50.262Z,1761668810.262 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l 2025-10-28T16:26:50.265Z,1761668810.265 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l 2025-10-28T16:26:50.284Z,1761668810.284 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count 2025-10-28T16:26:50.287Z,1761668810.287 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-28T16:26:50.290Z,1761668810.290 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-28T16:26:50.293Z,1761668810.293 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-28T16:26:50.307Z,1761668810.307 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-28T16:26:50.310Z,1761668810.310 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool 2025-10-28T16:26:50.314Z,1761668810.314 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l 2025-10-28T16:26:50.340Z,1761668810.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457245,0.884643,0.091288],[-0.889297,0.455829,0.037028],[-0.008855,-0.098113,0.995136]] 2025-10-28T16:26:50.365Z,1761668810.365 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m 2025-10-28T16:26:50.376Z,1761668810.376 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC 2025-10-28T16:26:50.380Z,1761668810.380 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg 2025-10-28T16:26:50.387Z,1761668810.387 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg 2025-10-28T16:26:50.403Z,1761668810.403 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l 2025-10-28T16:26:50.411Z,1761668810.411 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m 2025-10-28T16:26:50.427Z,1761668810.427 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l 2025-10-28T16:26:50.446Z,1761668810.446 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m 2025-10-28T16:26:50.455Z,1761668810.455 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC 2025-10-28T16:26:50.467Z,1761668810.467 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg 2025-10-28T16:26:50.478Z,1761668810.478 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg 2025-10-28T16:26:50.486Z,1761668810.486 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l 2025-10-28T16:26:50.493Z,1761668810.493 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m 2025-10-28T16:26:50.503Z,1761668810.503 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg 2025-10-28T16:26:50.506Z,1761668810.506 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg 2025-10-28T16:26:50.517Z,1761668810.517 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3 2025-10-28T16:26:50.524Z,1761668810.524 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m 2025-10-28T16:26:50.527Z,1761668810.527 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg 2025-10-28T16:26:50.538Z,1761668810.538 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg 2025-10-28T16:26:50.542Z,1761668810.542 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb 2025-10-28T16:26:50.546Z,1761668810.546 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m 2025-10-28T16:26:50.557Z,1761668810.557 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC 2025-10-28T16:26:50.565Z,1761668810.565 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg 2025-10-28T16:26:50.572Z,1761668810.572 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg 2025-10-28T16:26:50.575Z,1761668810.575 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu 2025-10-28T16:26:50.583Z,1761668810.583 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m 2025-10-28T16:26:50.598Z,1761668810.598 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC 2025-10-28T16:26:50.617Z,1761668810.617 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg 2025-10-28T16:26:50.628Z,1761668810.628 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg 2025-10-28T16:26:50.631Z,1761668810.631 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-28T16:26:50.639Z,1761668810.639 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-28T16:26:50.646Z,1761668810.646 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-28T16:26:50.654Z,1761668810.654 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T16:26:50.665Z,1761668810.665 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T16:26:50.673Z,1761668810.673 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s 2025-10-28T16:26:50.680Z,1761668810.680 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m 2025-10-28T16:26:50.688Z,1761668810.688 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-28T16:26:50.691Z,1761668810.691 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-28T16:26:50.699Z,1761668810.699 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-28T16:26:50.703Z,1761668810.703 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T16:26:50.718Z,1761668810.718 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T16:26:50.723Z,1761668810.723 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-28T16:26:50.743Z,1761668810.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424338,0.904365,0.045404],[-0.905236,0.422461,0.045535],[0.021999,-0.060424,0.997930]] 2025-10-28T16:26:50.770Z,1761668810.770 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-28T16:26:50.778Z,1761668810.778 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-28T16:26:50.798Z,1761668810.798 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T16:26:50.805Z,1761668810.805 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T16:26:50.821Z,1761668810.821 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-28T16:26:50.829Z,1761668810.829 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-28T16:26:50.853Z,1761668810.853 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-28T16:26:50.857Z,1761668810.857 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T16:26:50.873Z,1761668810.873 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T16:26:50.880Z,1761668810.880 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-28T16:26:50.883Z,1761668810.883 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-28T16:26:50.891Z,1761668810.891 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-28T16:26:50.894Z,1761668810.894 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T16:26:50.906Z,1761668810.906 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T16:26:50.909Z,1761668810.909 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-28T16:26:50.925Z,1761668810.925 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-28T16:26:50.932Z,1761668810.932 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-28T16:26:50.935Z,1761668810.935 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T16:26:50.943Z,1761668810.943 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T16:26:50.950Z,1761668810.950 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-28T16:26:50.970Z,1761668810.970 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-28T16:26:50.977Z,1761668810.977 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T16:26:50.984Z,1761668810.984 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T16:26:50.993Z,1761668810.993 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T16:26:50.998Z,1761668810.998 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-28T16:26:51.002Z,1761668811.002 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-28T16:26:51.010Z,1761668811.010 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T16:26:51.021Z,1761668811.021 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T16:26:51.029Z,1761668811.029 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T16:26:51.036Z,1761668811.036 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l 2025-10-28T16:26:51.042Z,1761668811.042 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m 2025-10-28T16:26:51.046Z,1761668811.046 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg 2025-10-28T16:26:51.050Z,1761668811.050 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg 2025-10-28T16:26:51.061Z,1761668811.061 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m 2025-10-28T16:26:51.065Z,1761668811.065 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu 2025-10-28T16:26:51.077Z,1761668811.077 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m 2025-10-28T16:26:51.085Z,1761668811.085 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg 2025-10-28T16:26:51.092Z,1761668811.092 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg 2025-10-28T16:26:51.095Z,1761668811.095 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m 2025-10-28T16:26:51.107Z,1761668811.107 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu 2025-10-28T16:26:51.120Z,1761668811.120 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m 2025-10-28T16:26:51.123Z,1761668811.123 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg 2025-10-28T16:26:51.131Z,1761668811.131 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg 2025-10-28T16:26:51.148Z,1761668811.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410608,0.911802,-0.004279],[-0.911460,0.410576,0.025841],[0.025319,-0.006711,0.999657]] 2025-10-28T16:26:51.166Z,1761668811.166 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m 2025-10-28T16:26:51.177Z,1761668811.177 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool 2025-10-28T16:26:51.201Z,1761668811.201 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l 2025-10-28T16:26:51.263Z,1761668811.263 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.305Z,1761668811.305 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:26:51.356Z,1761668811.356 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:26:51.387Z,1761668811.387 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:26:51.420Z,1761668811.420 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.440Z,1761668811.440 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.466Z,1761668811.466 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:26:51.501Z,1761668811.501 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.526Z,1761668811.526 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.551Z,1761668811.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429763,0.902925,-0.005539],[-0.902887,0.429661,-0.013618],[-0.009916,0.010854,0.999892]] 2025-10-28T16:26:51.605Z,1761668811.605 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:26:51.665Z,1761668811.665 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.696Z,1761668811.696 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:26:51.752Z,1761668811.752 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:26:51.775Z,1761668811.775 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.826Z,1761668811.826 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:26:51.885Z,1761668811.885 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:51.907Z,1761668811.907 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:26:51.955Z,1761668811.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444096,0.895823,0.016730],[-0.895846,0.444274,-0.008960],[-0.015460,-0.011008,0.999820]] 2025-10-28T16:26:51.990Z,1761668811.990 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:26:52.032Z,1761668812.032 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:26:52.078Z,1761668812.078 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-28T16:26:52.093Z,1761668812.093 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-28T16:26:52.093Z,1761668812.093 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-28T16:26:52.095Z,1761668812.095 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-28T16:26:52.170Z,1761668812.170 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-28T16:26:52.195Z,1761668812.195 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool 2025-10-28T16:26:52.206Z,1761668812.206 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-28T16:26:52.224Z,1761668812.224 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-28T16:26:52.224Z,1761668812.224 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-28T16:26:52.225Z,1761668812.225 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-28T16:26:52.359Z,1761668812.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417879,0.906498,0.060319],[-0.908494,0.417233,0.023545],[-0.003823,-0.064639,0.997901]] 2025-10-28T16:26:52.649Z,1761668812.649 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-28T16:26:52.667Z,1761668812.667 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool 2025-10-28T16:26:52.678Z,1761668812.678 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool 2025-10-28T16:26:52.701Z,1761668812.701 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool 2025-10-28T16:26:52.716Z,1761668812.716 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool 2025-10-28T16:26:52.732Z,1761668812.732 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-28T16:26:52.764Z,1761668812.764 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-28T16:26:52.768Z,1761668812.768 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-10-28T16:26:52.783Z,1761668812.783 [marl:JoystickControl:B.Pitch](DEBUG): Construct. 2025-10-28T16:26:52.818Z,1761668812.818 [marl:JoystickControl:C.Pitch](DEBUG): Construct. 2025-10-28T16:26:52.839Z,1761668812.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393643,0.915959,0.077870],[-0.919218,0.391367,0.043255],[0.009144,-0.088606,0.996025]] 2025-10-28T16:26:52.849Z,1761668812.849 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct. 2025-10-28T16:26:52.883Z,1761668812.883 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct. 2025-10-28T16:26:52.934Z,1761668812.934 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct. 2025-10-28T16:26:53.165Z,1761668813.165 [MissionManager](DEBUG): mission marl { """ This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only. """ arguments { # Mission-wide settings MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 1 hour """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ # You probably need to change these. ContactLabel = 8 count """ The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch. tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12 """ SendDataLabel = 10 count """ The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch. """ ContactDepth = NaN meter """ The asset's depth to be tracked """ CenterLatitude = 36.81544 degree """ The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterLongitude = -121.82506 degree """ The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterNorthingsDelta = 0 meter """ Desired change in latitude to achieve, expressed as a distance. """ CenterEastingsDelta = 0 meter """ Desired change in longitude to achieve, expressed as a distance. """ CircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ SpeedUpdateTimeout = 240 second """ Max time allowed between speed command updates. """ StateUpdateDelay = 10 second """ Minimum time delay between state updates to avoid rapid changes. """ HorizontalCommandMode = 0 count """ Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. """ AcousticContactTimeout = 4 hour """" If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ SendObservationDataInterval = 1 minute """ How often to send back some a-comms data """ TrackingUpdatePeriod = 30 second """ How long to wait between acoustic queries """ # parameters for constant depth trajectory Depth = 20 meter """ Depth of flat and level flight during the mission. """ MaxDepth = 60 meter """ Maximum depth for the entire mission. """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ # You probably do not need to change these. NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ CircleMaxError = 10 meter """ If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """ CircleTurnToPort = false """ If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """ Speed = 0 meter_per_second """ Vehicle speed. """ MyTempVar = NaN none_str """ A custom variable from the backseat driver interface. """ # You are even less likely to need to change these. KwpHeading = 0.010 radian_per_meter """ Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ } output { HeadingMode = 0 count """ Heading angle command mode enumaration. """ RudderMode = 1 count """ Rudder angle command mode enumaration. """ Heading = 0 degree """ Commanded vehicle heading. Mission will init Heading to current vehicle heading. """ RudderAngle = 0 degree """ Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode. """ TimeLastSendData = 0 second ElapsedSinceLastSendData = 0 second """ Time elapsed since last Send Data fix. """ } # Missions should always start with a timeout. timeout duration=MissionTimeout # Add tracking directive high in the stack (above NeedComms to enable tracking from surface). insert Insert/AbortDrift.tl { redefineArg AcousticTimeout = AcousticContactTimeout } behavior Estimation:TrackAcousticContact { run in parallel set contactDepthSetting = ContactDepth set contactLabelSetting = ContactLabel set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } #assign in sequence customUri "_.others_observations" = "999" aggregate SendObservationData { run when ( elapsed (MyTempVar) >= SendObservationDataInterval ) syslog info "Got test_good : " + customUri "_.send_observations"~none_str + " and temp var is " + MyTempVar~none_str assign in sequence ElapsedSinceLastSendData = elapsed (MyTempVar) assign in sequence MyTempVar = customUri "_.send_observations" behavior Sensor:SendDirect { run in parallel set destType = "modem" set destId = SendDataLabel set destName = "_.others_observations" set value = MyTempVar set unit = "none_str" } syslog info "SendData: sent send_observations : " + MyTempVar~none_str + " to nearby vehicles. Elapsed time " + ElapsedSinceLastSendData~minute } aggregate UpdateContactLabel { run when ( elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) ) ) assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" ) syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # Add guidance update directives high in the stack. aggregate SpeedTimeout { run when ( elapsed ( Speed ) >= SpeedUpdateTimeout ) assign in sequence Speed = 0 meter_per_second syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")." } aggregate UpdateSpeed { run when ( elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) ) and (elapsed ( Speed) > StateUpdateDelay) ) assign in sequence Speed = customUri "_.speedCmd" #syslog info "Updating vehicle speed " + Speed~meter_per_second } aggregate UpdateCommandMode { run when ( elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) ) and ( customUri "_.horizontalCmdMode" == HeadingMode or ( customUri "_.horizontalCmdMode" == RudderMode ) ) and (elapsed ( HorizontalCommandMode) > StateUpdateDelay) ) assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode" #syslog info "Updating horizontal command mode " + HorizontalCommandMode~count } aggregate UpdateHeading { run when ( elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) ) and (elapsed ( Heading) > StateUpdateDelay) ) assign in sequence Heading = customUri "_.headingCmd" syslog info "Updating heading " + Heading~degree } aggregate UpdateRudder { run when ( elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) ) and (elapsed ( RudderAngle) > StateUpdateDelay) ) assign in sequence RudderAngle = customUri "_.rudderAngleCmd" syslog info "Updating rudder angle " + RudderAngle~degree } insert id="Science" Insert/Science.tl # Power the Backseat payload. insert Insert/BackseatDriver.tl assign in sequence BackseatDriver:EnableBackseat = true insert Insert/PowerOnly.tl # Check for additional instructions first. call id="StartingMission" priorityHere=false refId="NeedComms" aggregate JoystickControl { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate CmdHeading { run while ( HorizontalCommandMode == HeadingMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set heading = Heading } } aggregate CmdRudder { run while ( HorizontalCommandMode == RudderMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set rudderAngle = RudderAngle } } } } 2025-10-28T16:26:53.166Z,1761668813.166 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl 2025-10-28T16:26:53.198Z,1761668813.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415906,0.907395,0.060469],[-0.908456,0.411512,0.073246],[0.041579,-0.085397,0.995479]] 2025-10-28T16:26:53.594Z,1761668813.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427133,0.902788,0.050315],[-0.901830,0.421342,0.095780],[0.065269,-0.086286,0.994130]] 2025-10-28T16:26:53.998Z,1761668813.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415131,0.906128,0.081233],[-0.908311,0.407774,0.093226],[0.051350,-0.112486,0.992326]] 2025-10-28T16:26:54.807Z,1761668814.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435774,0.899968,0.012572],[-0.897508,0.433448,0.081249],[0.067672,-0.046690,0.996615]] 2025-10-28T16:26:55.210Z,1761668815.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439985,0.897960,-0.009059],[-0.897378,0.440032,0.032931],[0.033557,-0.006360,0.999417]] 2025-10-28T16:26:55.615Z,1761668815.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446261,0.894778,0.014961],[-0.894040,0.446502,-0.036441],[-0.039287,0.002886,0.999224]] 2025-10-28T16:26:56.021Z,1761668816.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452263,0.890245,0.054053],[-0.891023,0.453659,-0.016495],[-0.039206,-0.040702,0.998402]] 2025-10-28T16:26:56.423Z,1761668816.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455180,0.887599,0.070567],[-0.889602,0.449987,0.078238],[0.037689,-0.098389,0.994434]] 2025-10-28T16:26:56.853Z,1761668816.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461174,0.883778,0.079093],[-0.886440,0.454942,0.085155],[0.039275,-0.109383,0.993223]] 2025-10-28T16:26:57.231Z,1761668817.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456971,0.884771,0.091419],[-0.889458,0.455292,0.039675],[-0.006519,-0.099443,0.995022]] 2025-10-28T16:26:57.637Z,1761668817.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440065,0.894553,0.078214],[-0.897902,0.439396,0.026506],[-0.010656,-0.081893,0.996584]] 2025-10-28T16:26:58.039Z,1761668818.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432971,0.899352,0.060841],[-0.900516,0.428556,0.073553],[0.040076,-0.086635,0.995434]] 2025-10-28T16:26:58.444Z,1761668818.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452318,0.889956,0.058201],[-0.890951,0.447955,0.074454],[0.040190,-0.085532,0.995525]] 2025-10-28T16:26:58.847Z,1761668818.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456162,0.886569,0.076886],[-0.889889,0.454093,0.043563],[0.003709,-0.088292,0.996088]] 2025-10-28T16:26:59.251Z,1761668819.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444026,0.892755,0.076350],[-0.895979,0.441638,0.046668],[0.007944,-0.089130,0.995988]] 2025-10-28T16:26:59.656Z,1761668819.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427729,0.903338,0.032057],[-0.903695,0.426592,0.036796],[0.019564,-0.044708,0.998809]] 2025-10-28T16:27:00.060Z,1761668820.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438887,0.897520,-0.042855],[-0.897331,0.440273,0.030950],[0.046646,0.024871,0.998602]] 2025-10-28T16:27:00.463Z,1761668820.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470346,0.881025,-0.050694],[-0.880904,0.472163,0.032709],[0.052754,0.029272,0.998178]] 2025-10-28T16:27:00.867Z,1761668820.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474259,0.880385,-0.000952],[-0.879487,0.473823,0.044656],[0.039765,-0.020341,0.999002]] 2025-10-28T16:27:01.271Z,1761668821.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456388,0.885889,0.083133],[-0.889550,0.452147,0.065299],[0.020259,-0.103752,0.994397]] 2025-10-28T16:27:01.676Z,1761668821.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446593,0.883092,0.143886],[-0.894424,0.436369,0.097919],[0.023684,-0.172425,0.984738]] 2025-10-28T16:27:02.079Z,1761668822.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461055,0.871084,0.169237],[-0.886865,0.445891,0.121042],[0.029977,-0.205897,0.978114]] 2025-10-28T16:27:02.484Z,1761668822.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461206,0.873717,0.154622],[-0.887022,0.449705,0.104679],[0.021926,-0.185432,0.982413]] 2025-10-28T16:27:02.886Z,1761668822.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462075,0.882863,0.083907],[-0.886826,0.460539,0.037992],[-0.005101,-0.091966,0.995749]] 2025-10-28T16:27:03.291Z,1761668823.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485272,0.874363,-0.000351],[-0.874239,0.485197,-0.017024],[-0.014715,0.008568,0.999855]] 2025-10-28T16:27:03.696Z,1761668823.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472330,0.880102,-0.048209],[-0.880612,0.473534,0.016980],[0.037773,0.034434,0.998693]] 2025-10-28T16:27:04.100Z,1761668824.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449218,0.892936,-0.029468],[-0.886195,0.449528,0.112169],[0.113406,-0.024274,0.993252]] 2025-10-28T16:27:04.113Z,1761668824.113 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:27:04.503Z,1761668824.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465240,0.884818,0.025489],[-0.878056,0.457654,0.139891],[0.112112,-0.087464,0.989839]] 2025-10-28T16:27:04.907Z,1761668824.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470074,0.873477,0.126758],[-0.882559,0.463380,0.079803],[0.010969,-0.149384,0.988718]] 2025-10-28T16:27:05.312Z,1761668825.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467432,0.866854,0.173411],[-0.883437,0.465221,0.055757],[-0.032341,-0.179261,0.983270]] 2025-10-28T16:27:05.716Z,1761668825.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451853,0.882098,0.133158],[-0.892064,0.445595,0.075277],[0.007068,-0.152800,0.988232]] 2025-10-28T16:27:06.171Z,1761668826.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440064,0.895554,0.065778],[-0.897222,0.435536,0.072807],[0.036553,-0.091057,0.995175]] 2025-10-28T16:27:06.524Z,1761668826.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462624,0.885632,0.040442],[-0.886056,0.460353,0.054599],[0.029737,-0.061093,0.997689]] 2025-10-28T16:27:06.927Z,1761668826.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446637,0.893841,0.039534],[-0.894692,0.445867,0.027005],[0.006511,-0.047432,0.998853]] 2025-10-28T16:27:07.331Z,1761668827.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427473,0.903686,0.024878],[-0.904018,0.427434,0.007146],[-0.004176,-0.025545,0.999665]] 2025-10-28T16:27:07.735Z,1761668827.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450034,0.892745,0.021836],[-0.892553,0.448884,0.043040],[0.028622,-0.038860,0.998835]] 2025-10-28T16:27:08.195Z,1761668828.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473923,0.879822,0.036187],[-0.876940,0.467847,0.109980],[0.079833,-0.083856,0.993275]] 2025-10-28T16:27:08.543Z,1761668828.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467211,0.880333,0.082025],[-0.880363,0.454632,0.135170],[0.081704,-0.135365,0.987421]] 2025-10-28T16:27:08.947Z,1761668828.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436928,0.893583,0.102974],[-0.899444,0.432788,0.060794],[0.009758,-0.119182,0.992824]] 2025-10-28T16:27:09.351Z,1761668829.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440690,0.893858,0.082520],[-0.897195,0.441554,0.008453],[-0.028881,-0.077761,0.996554]] 2025-10-28T16:27:09.757Z,1761668829.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479154,0.877631,0.013232],[-0.877353,0.478450,0.036572],[0.025766,-0.029133,0.999243]] 2025-10-28T16:27:10.199Z,1761668830.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494527,0.869159,0.002290],[-0.866689,0.492919,0.076688],[0.065525,-0.039909,0.997053]] 2025-10-28T16:27:10.563Z,1761668830.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466438,0.883696,0.038952],[-0.882997,0.462553,0.079762],[0.052468,-0.071598,0.996053]] 2025-10-28T16:27:10.967Z,1761668830.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458499,0.887620,0.043694],[-0.886648,0.453556,0.090231],[0.060273,-0.080112,0.994962]] 2025-10-28T16:27:11.373Z,1761668831.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473578,0.880203,0.031091],[-0.878129,0.469151,0.093740],[0.067924,-0.071695,0.995111]] 2025-10-28T16:27:11.775Z,1761668831.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478483,0.877443,0.033864],[-0.876120,0.474465,0.085424],[0.058888,-0.070542,0.995769]] 2025-10-28T16:27:12.198Z,1761668832.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479886,0.875405,0.058096],[-0.876292,0.475044,0.080285],[0.042684,-0.089436,0.995077]] 2025-10-28T16:27:12.583Z,1761668832.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473120,0.878201,0.070149],[-0.880036,0.467382,0.084206],[0.041163,-0.101573,0.993976]] 2025-10-28T16:27:12.987Z,1761668832.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471023,0.879224,0.071435],[-0.880734,0.464198,0.093962],[0.049453,-0.107174,0.993010]] 2025-10-28T16:27:13.391Z,1761668833.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483987,0.874244,0.038133],[-0.874149,0.481010,0.067036],[0.040264,-0.065778,0.997022]] 2025-10-28T16:27:13.795Z,1761668833.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485343,0.874256,0.010901],[-0.873401,0.484220,0.051985],[0.040169,-0.034751,0.998588]] 2025-10-28T16:27:14.207Z,1761668834.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477607,0.878412,0.016861],[-0.875430,0.474189,0.093638],[0.074258,-0.059482,0.995463]] 2025-10-28T16:27:14.603Z,1761668834.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485194,0.873907,0.029537],[-0.866945,0.476376,0.146535],[0.113987,-0.096705,0.988764]] 2025-10-28T16:27:15.007Z,1761668835.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487085,0.870435,0.071352],[-0.868445,0.474077,0.145104],[0.092478,-0.132643,0.986840]] 2025-10-28T16:27:15.411Z,1761668835.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486581,0.867745,0.101280],[-0.872924,0.478228,0.096446],[0.035256,-0.135339,0.990172]] 2025-10-28T16:27:15.821Z,1761668835.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493396,0.864795,0.093218],[-0.869796,0.491030,0.048422],[-0.003897,-0.104972,0.994468]] 2025-10-28T16:27:16.224Z,1761668836.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504428,0.860729,0.068541],[-0.862955,0.499850,0.073880],[0.029330,-0.096414,0.994909]] 2025-10-28T16:27:16.572Z,1761668836.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:27:16.627Z,1761668836.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499465,0.864220,0.060492],[-0.862874,0.490021,0.123810],[0.077357,-0.114036,0.990460]] 2025-10-28T16:27:17.031Z,1761668837.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490519,0.869975,0.050354],[-0.867999,0.482647,0.116750],[0.077266,-0.100975,0.991884]] 2025-10-28T16:27:17.436Z,1761668837.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482258,0.872356,0.080143],[-0.875848,0.478272,0.064396],[0.017846,-0.101248,0.994701]] 2025-10-28T16:27:17.837Z,1761668837.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489892,0.868653,0.073817],[-0.871708,0.489204,0.028373],[-0.011465,-0.078247,0.996868]] 2025-10-28T16:27:18.239Z,1761668838.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520371,0.851735,0.061323],[-0.853934,0.519301,0.033516],[-0.003298,-0.069807,0.997555]] 2025-10-28T16:27:18.643Z,1761668838.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517211,0.855041,0.037373],[-0.855446,0.515116,0.053544],[0.026531,-0.059665,0.997866]] 2025-10-28T16:27:19.048Z,1761668839.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490795,0.870800,0.028768],[-0.871045,0.489638,0.039188],[0.020039,-0.044291,0.998818]] 2025-10-28T16:27:19.451Z,1761668839.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476795,0.878585,0.027454],[-0.878932,0.476093,0.028523],[0.011990,-0.037730,0.999216]] 2025-10-28T16:27:19.505Z,1761668839.505 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 20 minute 2025-10-28T16:27:19.506Z,1761668839.506 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count 2025-10-28T16:27:19.507Z,1761668839.507 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree 2025-10-28T16:27:19.507Z,1761668839.507 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree 2025-10-28T16:27:19.548Z,1761668839.548 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute 2025-10-28T16:27:19.855Z,1761668839.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484455,0.873869,0.040689],[-0.874200,0.481845,0.059999],[0.032825,-0.064637,0.997369]] 2025-10-28T16:27:20.260Z,1761668840.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492940,0.866112,0.082822],[-0.866290,0.479717,0.139332],[0.080946,-0.140430,0.986776]] 2025-10-28T16:27:20.663Z,1761668840.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497285,0.858498,0.125256],[-0.858726,0.466468,0.212124],[0.123680,-0.213047,0.969182]] 2025-10-28T16:27:21.067Z,1761668841.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506021,0.854037,0.120684],[-0.854916,0.478085,0.201377],[0.114286,-0.205076,0.972051]] 2025-10-28T16:27:21.471Z,1761668841.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493821,0.865936,0.079345],[-0.865729,0.481033,0.138273],[0.081568,-0.136973,0.987211]] 2025-10-28T16:27:21.875Z,1761668841.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502829,0.863820,0.031273],[-0.863554,0.500429,0.062006],[0.037912,-0.058184,0.997586]] 2025-10-28T16:27:22.279Z,1761668842.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532364,0.846504,-0.004469],[-0.845894,0.532167,0.035523],[0.032448,-0.015131,0.999359]] 2025-10-28T16:27:22.683Z,1761668842.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535336,0.844628,-0.004371],[-0.844596,0.535354,0.007372],[0.008567,-0.000254,0.999963]] 2025-10-28T16:27:23.087Z,1761668843.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513430,0.857733,0.026152],[-0.856622,0.514096,-0.043643],[-0.050879,0.000005,0.998705]] 2025-10-28T16:27:23.491Z,1761668843.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522800,0.851872,0.031546],[-0.850150,0.523748,-0.054156],[-0.062656,0.001494,0.998034]] 2025-10-28T16:27:23.895Z,1761668843.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526105,0.848794,0.052559],[-0.849357,0.527532,-0.017416],[-0.042509,-0.035479,0.998466]] 2025-10-28T16:27:24.299Z,1761668844.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536627,0.841016,0.068730],[-0.843515,0.536838,0.016934],[-0.022655,-0.067061,0.997492]] 2025-10-28T16:27:24.704Z,1761668844.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545415,0.835528,0.066445],[-0.837422,0.539876,0.085198],[0.035313,-0.102111,0.994146]] 2025-10-28T16:27:25.111Z,1761668845.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535660,0.841963,0.064546],[-0.844046,0.531529,0.071157],[0.025604,-0.092596,0.995375]] 2025-10-28T16:27:25.510Z,1761668845.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526014,0.845673,0.090253],[-0.849670,0.527167,0.012492],[-0.037015,-0.083256,0.995840]] 2025-10-28T16:27:25.915Z,1761668845.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555700,0.826880,0.086408],[-0.831330,0.553827,0.046540],[-0.009373,-0.097696,0.995172]] 2025-10-28T16:27:26.319Z,1761668846.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581979,0.811697,0.049478],[-0.808648,0.571215,0.140721],[0.085960,-0.121907,0.988812]] 2025-10-28T16:27:26.723Z,1761668846.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584057,0.810264,0.048482],[-0.803210,0.568284,0.178627],[0.117184,-0.143270,0.982722]] 2025-10-28T16:27:27.128Z,1761668847.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565758,0.821636,0.069522],[-0.823305,0.558207,0.102826],[0.045678,-0.115412,0.992267]] 2025-10-28T16:27:27.531Z,1761668847.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555491,0.829593,0.056614],[-0.831060,0.551621,0.071092],[0.027748,-0.086540,0.995862]] 2025-10-28T16:27:27.935Z,1761668847.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572378,0.819800,0.017650],[-0.816465,0.567792,0.104867],[0.075948,-0.074434,0.994330]] 2025-10-28T16:27:28.339Z,1761668848.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596751,0.802325,0.012781],[-0.797802,0.591529,0.116638],[0.086021,-0.079801,0.993092]] 2025-10-28T16:27:28.743Z,1761668848.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602249,0.796847,0.048270],[-0.796525,0.595766,0.103008],[0.053324,-0.100485,0.993509]] 2025-10-28T16:27:29.068Z,1761668849.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:27:29.153Z,1761668849.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594994,0.799687,0.080514],[-0.803393,0.588852,0.088391],[0.023275,-0.117277,0.992826]] 2025-10-28T16:27:29.552Z,1761668849.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598529,0.795757,0.092385],[-0.801023,0.596088,0.055140],[-0.011192,-0.107005,0.994195]] 2025-10-28T16:27:29.955Z,1761668849.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595042,0.795534,0.114237],[-0.801964,0.597055,0.019475],[-0.052713,-0.103202,0.993263]] 2025-10-28T16:27:30.359Z,1761668850.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595179,0.797710,0.097061],[-0.803534,0.592245,0.059822],[-0.009763,-0.113597,0.993479]] 2025-10-28T16:27:30.763Z,1761668850.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605909,0.792993,0.063541],[-0.793328,0.596354,0.122443],[0.059204,-0.124598,0.990439]] 2025-10-28T16:27:31.168Z,1761668851.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609505,0.790946,0.053926],[-0.790030,0.600320,0.124372],[0.065999,-0.118408,0.990769]] 2025-10-28T16:27:31.571Z,1761668851.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602863,0.796336,0.049037],[-0.796924,0.598076,0.084959],[0.038328,-0.090298,0.995177]] 2025-10-28T16:27:31.975Z,1761668851.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582836,0.811608,0.039928],[-0.812113,0.580106,0.062852],[0.027848,-0.069058,0.997224]] 2025-10-28T16:27:32.379Z,1761668852.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614705,0.787797,0.038910],[-0.788378,0.612134,0.061250],[0.024434,-0.068327,0.997364]] 2025-10-28T16:27:32.783Z,1761668852.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629211,0.771880,0.091079],[-0.777108,0.622663,0.091616],[0.014005,-0.128424,0.991621]] 2025-10-28T16:27:33.187Z,1761668853.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591714,0.796525,0.124189],[-0.805576,0.578434,0.128301],[0.030360,-0.175961,0.983929]] 2025-10-28T16:27:33.591Z,1761668853.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583550,0.800761,0.135094],[-0.811795,0.570832,0.123042],[0.021411,-0.181470,0.983163]] 2025-10-28T16:27:33.995Z,1761668853.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587821,0.800151,0.119268],[-0.808756,0.577673,0.110487],[0.019508,-0.161405,0.986695]] 2025-10-28T16:27:34.399Z,1761668854.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594054,0.800400,0.080368],[-0.802981,0.584036,0.118843],[0.048184,-0.135133,0.989655]] 2025-10-28T16:27:34.803Z,1761668854.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608169,0.791652,0.058452],[-0.791344,0.598840,0.123145],[0.062484,-0.121149,0.990666]] 2025-10-28T16:27:35.207Z,1761668855.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600393,0.797626,0.057625],[-0.799410,0.596657,0.070310],[0.021698,-0.088280,0.995859]] 2025-10-28T16:27:35.611Z,1761668855.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569690,0.819562,0.061407],[-0.821079,0.570813,-0.000918],[-0.035804,-0.049897,0.998112]] 2025-10-28T16:27:36.017Z,1761668856.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571840,0.819748,0.031818],[-0.820364,0.571470,0.020606],[-0.001291,-0.037885,0.999281]] 2025-10-28T16:27:36.419Z,1761668856.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599217,0.800542,0.008475],[-0.798424,0.596788,0.079763],[0.058796,-0.054562,0.996778]] 2025-10-28T16:27:36.823Z,1761668856.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597502,0.801665,0.018011],[-0.797268,0.591523,0.120270],[0.085762,-0.086221,0.992578]] 2025-10-28T16:27:37.228Z,1761668857.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578613,0.813577,0.057435],[-0.812629,0.569065,0.125695],[0.069578,-0.119402,0.990405]] 2025-10-28T16:27:37.631Z,1761668857.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578552,0.809963,0.096109],[-0.815585,0.575908,0.056125],[-0.009891,-0.110856,0.993787]] 2025-10-28T16:27:38.035Z,1761668858.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588850,0.799964,0.115383],[-0.806883,0.590115,0.026540],[-0.046858,-0.108729,0.992966]] 2025-10-28T16:27:38.439Z,1761668858.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589547,0.804559,0.071550],[-0.807269,0.583885,0.086000],[0.027415,-0.108461,0.993723]] 2025-10-28T16:27:38.843Z,1761668858.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592901,0.803908,0.046906],[-0.800949,0.582685,0.137696],[0.083363,-0.119210,0.989363]] 2025-10-28T16:27:39.247Z,1761668859.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600482,0.797665,0.056142],[-0.797996,0.593272,0.105973],[0.051224,-0.108436,0.992783]] 2025-10-28T16:27:39.651Z,1761668859.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604355,0.795019,0.051967],[-0.796649,0.602176,0.052284],[0.010274,-0.072998,0.997279]] 2025-10-28T16:27:40.055Z,1761668860.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595402,0.802367,0.041283],[-0.803302,0.593613,0.048260],[0.014216,-0.061897,0.997981]] 2025-10-28T16:27:40.459Z,1761668860.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586583,0.808858,0.040851],[-0.809598,0.584274,0.056342],[0.021705,-0.066123,0.997575]] 2025-10-28T16:27:40.864Z,1761668860.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593588,0.802384,0.061922],[-0.804621,0.590244,0.064783],[0.015432,-0.088278,0.995976]] 2025-10-28T16:27:41.267Z,1761668861.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610376,0.785643,0.101028],[-0.792033,0.607128,0.063867],[-0.011160,-0.119001,0.992831]] 2025-10-28T16:27:41.671Z,1761668861.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601341,0.791541,0.108864],[-0.798992,0.595661,0.082459],[0.000424,-0.136567,0.990631]] 2025-10-28T16:27:41.740Z,1761668861.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:27:42.075Z,1761668862.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559823,0.824610,0.081338],[-0.827832,0.552338,0.098063],[0.035937,-0.122232,0.991851]] 2025-10-28T16:27:42.481Z,1761668862.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551007,0.832271,0.060958],[-0.833413,0.545091,0.091097],[0.042590,-0.100999,0.993975]] 2025-10-28T16:27:42.883Z,1761668862.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572116,0.817835,0.061882],[-0.818527,0.564564,0.106214],[0.051929,-0.111419,0.992416]] 2025-10-28T16:27:43.287Z,1761668863.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581297,0.810622,0.070614],[-0.812076,0.572488,0.113094],[0.051250,-0.123085,0.991072]] 2025-10-28T16:27:43.691Z,1761668863.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572089,0.818381,0.054476],[-0.818969,0.566349,0.092401],[0.044766,-0.097476,0.994231]] 2025-10-28T16:27:44.096Z,1761668864.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555107,0.830991,0.036197],[-0.830292,0.550989,0.083823],[0.049712,-0.076585,0.995823]] 2025-10-28T16:27:44.499Z,1761668864.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566657,0.823881,0.010972],[-0.821355,0.563763,0.086873],[0.065387,-0.058239,0.996159]] 2025-10-28T16:27:44.903Z,1761668864.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590850,0.806231,0.029777],[-0.805372,0.587236,0.080805],[0.047661,-0.071725,0.996285]] 2025-10-28T16:27:45.307Z,1761668865.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610857,0.790816,0.038267],[-0.791681,0.609498,0.041884],[0.009798,-0.055880,0.998389]] 2025-10-28T16:27:45.713Z,1761668865.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601782,0.797260,0.047280],[-0.798581,0.599835,0.049660],[0.011232,-0.067642,0.997646]] 2025-10-28T16:27:46.119Z,1761668866.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566978,0.822890,0.037256],[-0.820478,0.560143,0.114261],[0.073155,-0.095351,0.992752]] 2025-10-28T16:27:46.519Z,1761668866.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544965,0.837361,0.042906],[-0.833538,0.535520,0.135764],[0.090706,-0.109750,0.989812]] 2025-10-28T16:27:46.923Z,1761668866.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560031,0.825179,0.073797],[-0.827120,0.551806,0.106692],[0.047318,-0.120790,0.991550]] 2025-10-28T16:27:47.328Z,1761668867.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580427,0.805993,0.116099],[-0.814295,0.575405,0.076371],[-0.005249,-0.138867,0.990297]] 2025-10-28T16:27:47.731Z,1761668867.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570099,0.805767,0.160398],[-0.819362,0.571945,0.039044],[-0.060279,-0.153683,0.986280]] 2025-10-28T16:27:48.206Z,1761668868.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538093,0.830132,0.146070],[-0.840988,0.540380,0.026994],[-0.056525,-0.137368,0.988906]] 2025-10-28T16:27:48.577Z,1761668868.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543627,0.838010,0.047003],[-0.836963,0.537045,0.105244],[0.062953,-0.096553,0.993335]] 2025-10-28T16:27:49.031Z,1761668869.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540097,0.840745,-0.037994],[-0.831054,0.539909,0.133593],[0.132831,-0.040578,0.990308]] 2025-10-28T16:27:49.382Z,1761668869.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534472,0.844261,-0.039545],[-0.841738,0.535930,0.065240],[0.076273,-0.001583,0.997086]] 2025-10-28T16:27:49.778Z,1761668869.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540318,0.841460,0.001308],[-0.841396,0.540256,0.013299],[0.010484,-0.008286,0.999911]] 2025-10-28T16:27:50.227Z,1761668870.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540390,0.839744,0.053006],[-0.841356,0.538536,0.045804],[0.009919,-0.069349,0.997543]] 2025-10-28T16:27:50.323Z,1761668870.323 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour 2025-10-28T16:27:50.340Z,1761668870.340 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 200 minute 2025-10-28T16:27:50.341Z,1761668870.341 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 60 second 2025-10-28T16:27:50.341Z,1761668870.341 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter 2025-10-28T16:27:50.342Z,1761668870.342 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter 2025-10-28T16:27:50.343Z,1761668870.343 [CommandExec](IMPORTANT): got command run 2025-10-28T16:27:50.359Z,1761668870.359 [CommandExec](IMPORTANT): Running 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock] Stopped 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock:SurfaceDefault] Stopped 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T16:27:50.410Z,1761668870.410 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T16:27:50.411Z,1761668870.411 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T16:27:50.411Z,1761668870.411 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T16:27:50.411Z,1761668870.411 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T16:27:50.411Z,1761668870.411 [MissionManager](IMPORTANT): Started mission marl 2025-10-28T16:27:50.411Z,1761668870.411 [marl] Running Loop=1 2025-10-28T16:27:50.411Z,1761668870.411 [marl](DEBUG): Aggregate::initialize marl 2025-10-28T16:27:50.411Z,1761668870.411 [marl:AbortDrift] Running Loop=1 2025-10-28T16:27:50.411Z,1761668870.411 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift 2025-10-28T16:27:50.412Z,1761668870.412 [marl:AbortDrift:A] Running Loop=1 2025-10-28T16:27:50.424Z,1761668870.424 [marl:B.] Running Loop=1 2025-10-28T16:27:50.424Z,1761668870.424 [marl:B.](INFO): Initializing TrackAcousticContact. 2025-10-28T16:27:50.424Z,1761668870.424 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T16:27:50.424Z,1761668870.424 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes 2025-10-28T16:27:50.424Z,1761668870.424 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T16:27:50.424Z,1761668870.424 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-28T16:27:50.425Z,1761668870.425 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-28T16:27:50.425Z,1761668870.425 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science](DEBUG): Aggregate::initialize marl:Science 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science:A] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science:B] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science:C] Running Loop=1 2025-10-28T16:27:50.425Z,1761668870.425 [marl:Science:D] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:E] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:F] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:Read_Oil] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:PeakDetectChl] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:PeakDetectChl:A] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:EdgeDetectChl] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:EdgeDetectChl:A] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:HighestChlPeakReport] Running Loop=1 2025-10-28T16:27:50.426Z,1761668870.426 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:PeakDetectNO3] Running Loop=1 2025-10-28T16:27:50.427Z,1761668870.427 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3 2025-10-28T16:27:50.428Z,1761668870.428 [marl:Science:PeakDetectNO3:A] Running Loop=1 2025-10-28T16:27:50.440Z,1761668870.440 [marl:Science:PeakDetectOil] Running Loop=1 2025-10-28T16:27:50.440Z,1761668870.440 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil 2025-10-28T16:27:50.440Z,1761668870.440 [marl:Science:PeakDetectOil:A] Running Loop=1 2025-10-28T16:27:50.440Z,1761668870.440 [marl:Science:HighestOilPeakReport] Running Loop=1 2025-10-28T16:27:50.440Z,1761668870.440 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport 2025-10-28T16:27:50.441Z,1761668870.441 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:27:50.441Z,1761668870.441 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectFDOM] Running Loop=1 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectSalinity] Running Loop=1 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:HighestSaltPeakReport] Running Loop=1 2025-10-28T16:27:50.442Z,1761668870.442 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:27:50.443Z,1761668870.443 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T16:27:50.444Z,1761668870.444 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:27:50.444Z,1761668870.444 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:27:50.456Z,1761668870.456 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T16:27:50.456Z,1761668870.456 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:27:50.456Z,1761668870.456 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T16:27:50.456Z,1761668870.456 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T16:27:50.457Z,1761668870.457 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:ChlThreshTrigger] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-28T16:27:50.458Z,1761668870.458 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-28T16:27:50.459Z,1761668870.459 [marl:Science:OceanCurrent] Running Loop=1 2025-10-28T16:27:50.459Z,1761668870.459 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent 2025-10-28T16:27:50.459Z,1761668870.459 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T16:27:50.459Z,1761668870.459 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-28T16:27:50.459Z,1761668870.459 [marl:BackseatDriver] Running Loop=1 2025-10-28T16:27:50.459Z,1761668870.459 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver 2025-10-28T16:27:50.459Z,1761668870.459 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-28T16:27:50.460Z,1761668870.460 [marl:PowerOnly] Running Loop=1 2025-10-28T16:27:50.460Z,1761668870.460 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:A] Running Loop=1 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:B] Running Loop=1 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:C] Running Loop=1 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:D] Running Loop=1 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:E.Wait] Running Loop=1 2025-10-28T16:27:50.472Z,1761668870.472 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-28T16:27:50.473Z,1761668870.473 [marl:F] Running Loop=1 2025-10-28T16:27:50.474Z,1761668870.474 [marl:PowerOnly] Running Loop=1 2025-10-28T16:27:50.474Z,1761668870.474 [marl:PowerOnly:D] Stopped 2025-10-28T16:27:50.474Z,1761668870.474 [marl:PowerOnly:C] Stopped 2025-10-28T16:27:50.474Z,1761668870.474 [marl:PowerOnly:B] Stopped 2025-10-28T16:27:50.474Z,1761668870.474 [marl:PowerOnly:A] Stopped 2025-10-28T16:27:50.475Z,1761668870.475 [marl:BackseatDriver] Running Loop=1 2025-10-28T16:27:50.475Z,1761668870.475 [marl:Science] Running Loop=1 2025-10-28T16:27:50.492Z,1761668870.492 [marl:Science:ChlThreshTrigger] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T16:27:50.493Z,1761668870.493 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:27:50.494Z,1761668870.494 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:HighestSaltPeakReport] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectSalinity] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectSalinity:A] Stopped 2025-10-28T16:27:50.495Z,1761668870.495 [marl:Science:PeakDetectFDOM] Stopped 2025-10-28T16:27:50.496Z,1761668870.496 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM 2025-10-28T16:27:50.496Z,1761668870.496 [marl:Science:PeakDetectFDOM:A] Stopped 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:HighestOilPeakReport] Stopped 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:PeakDetectOil] Stopped 2025-10-28T16:27:50.508Z,1761668870.508 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDetectOil:A] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDetectNO3] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDetectNO3:A] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:HighestChlPeakReport] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:EdgeDetectChl] Stopped 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl 2025-10-28T16:27:50.509Z,1761668870.509 [marl:Science:EdgeDetectChl:A] Stopped 2025-10-28T16:27:50.510Z,1761668870.510 [marl:Science:PeakDetectChl] Stopped 2025-10-28T16:27:50.510Z,1761668870.510 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl 2025-10-28T16:27:50.510Z,1761668870.510 [marl:Science:PeakDetectChl:A] Stopped 2025-10-28T16:27:50.510Z,1761668870.510 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T16:27:50.511Z,1761668870.511 [marl:Science:Read_Oil] Stopped 2025-10-28T16:27:50.511Z,1761668870.511 [marl:Science:F] Stopped 2025-10-28T16:27:50.511Z,1761668870.511 [marl:Science:E] Running Loop=1 2025-10-28T16:27:50.524Z,1761668870.524 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-10-28T16:27:50.524Z,1761668870.524 [marl:Science:D] Stopped 2025-10-28T16:27:50.524Z,1761668870.524 [marl:Science:C] Running Loop=1 2025-10-28T16:27:50.525Z,1761668870.525 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-10-28T16:27:50.526Z,1761668870.526 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-10-28T16:27:50.526Z,1761668870.526 [marl:Science:B] Running Loop=1 2025-10-28T16:27:50.526Z,1761668870.526 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-10-28T16:27:50.527Z,1761668870.527 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-10-28T16:27:50.527Z,1761668870.527 [marl:Science:A] Stopped 2025-10-28T16:27:50.527Z,1761668870.527 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T16:27:50.527Z,1761668870.527 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T16:27:50.527Z,1761668870.527 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T16:27:50.540Z,1761668870.540 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T16:27:50.541Z,1761668870.541 [marl:F] Stopped 2025-10-28T16:27:50.541Z,1761668870.541 [marl:H] Running Loop=1 2025-10-28T16:27:50.541Z,1761668870.541 [marl:B.] Running Loop=1 2025-10-28T16:27:50.542Z,1761668870.542 [marl:AbortDrift] Running Loop=1 2025-10-28T16:27:50.542Z,1761668870.542 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to 0.500000 h . 2025-10-28T16:27:50.543Z,1761668870.543 [marl:AbortDrift:A] Stopped 2025-10-28T16:27:50.543Z,1761668870.543 [marl:AbortDrift:B.AbortDrift] Running Loop=1 2025-10-28T16:27:50.543Z,1761668870.543 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift. 2025-10-28T16:27:50.543Z,1761668870.543 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours. 2025-10-28T16:27:50.691Z,1761668870.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521075,0.844998,0.120247],[-0.852672,0.509124,0.117233],[0.037841,-0.163618,0.985798]] 2025-10-28T16:27:50.747Z,1761668870.747 [marl:H] Stopped 2025-10-28T16:27:50.747Z,1761668870.747 [marl:I] Running Loop=1 2025-10-28T16:27:50.761Z,1761668870.761 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761668608.00. Resetting abort timer. 2025-10-28T16:27:51.040Z,1761668871.040 [WetLabsBB2FL](INFO): Powering up 2025-10-28T16:27:51.133Z,1761668871.133 [marl:I] Stopped 2025-10-28T16:27:51.133Z,1761668871.133 [marl:J] Running Loop=1 2025-10-28T16:27:51.426Z,1761668871.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506337,0.848819,0.152085],[-0.862318,0.499513,0.083028],[-0.005492,-0.173186,0.984874]] 2025-10-28T16:27:51.502Z,1761668871.502 [marl:J] Stopped 2025-10-28T16:27:51.502Z,1761668871.502 [marl:U] Running Loop=1 2025-10-28T16:27:51.833Z,1761668871.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495460,0.859838,0.123279],[-0.866811,0.498600,0.006120],[-0.056204,-0.109892,0.992353]] 2025-10-28T16:27:51.898Z,1761668871.898 [marl:U] Stopped 2025-10-28T16:27:51.898Z,1761668871.898 [marl:StartingMission] Running Loop=1 2025-10-28T16:27:51.898Z,1761668871.898 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission 2025-10-28T16:27:51.898Z,1761668871.898 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2025-10-28T16:27:52.117Z,1761668872.117 [BackseatComponent](INFO): Powering up 2025-10-28T16:27:52.117Z,1761668872.117 [BackseatComponent](INFO): Subscribing to LCM channels. 2025-10-28T16:27:52.235Z,1761668872.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505568,0.860868,0.057518],[-0.860210,0.508085,-0.043455],[-0.066633,-0.027508,0.997398]] 2025-10-28T16:27:52.311Z,1761668872.311 [marl:NeedComms] Running Loop=1 2025-10-28T16:27:52.312Z,1761668872.312 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T16:27:52.312Z,1761668872.312 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T16:27:52.328Z,1761668872.328 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T16:27:52.328Z,1761668872.328 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T16:27:52.329Z,1761668872.329 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T16:27:52.329Z,1761668872.329 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T16:27:52.329Z,1761668872.329 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T16:27:52.330Z,1761668872.330 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T16:27:52.330Z,1761668872.330 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T16:27:52.330Z,1761668872.330 [marl:NeedComms:A] Running Loop=1 2025-10-28T16:27:52.331Z,1761668872.331 [marl:NeedComms:A](INFO): last time_fix was: 1761668647.000000 second since 1970/01/01T00:00:00Z 2025-10-28T16:27:52.332Z,1761668872.332 [marl:NeedComms:A] Stopped 2025-10-28T16:27:52.640Z,1761668872.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520854,0.853130,0.029679],[-0.851561,0.521696,-0.051741],[-0.059625,0.001676,0.998219]] 2025-10-28T16:27:52.684Z,1761668872.684 [marl:NeedComms:C] Running Loop=1 2025-10-28T16:27:53.045Z,1761668873.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518090,0.854359,0.040655],[-0.854327,0.519196,-0.023660],[-0.041322,-0.022475,0.998893]] 2025-10-28T16:27:53.094Z,1761668873.094 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T16:27:53.447Z,1761668873.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513264,0.856173,0.059405],[-0.858217,0.511634,0.041152],[0.004839,-0.072104,0.997385]] 2025-10-28T16:27:53.829Z,1761668873.829 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-28T16:27:53.868Z,1761668873.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519775,0.849662,0.088930],[-0.852815,0.509910,0.112688],[0.050400,-0.134413,0.989643]] 2025-10-28T16:27:54.665Z,1761668874.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479937,0.874653,0.068130],[-0.875074,0.471740,0.108201],[0.062498,-0.111549,0.991792]] 2025-10-28T16:27:54.671Z,1761668874.671 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162753.00,A,3646.62428,N,12151.98432,W,0.952,56.35,281025,,,D*45 2025-10-28T16:27:54.673Z,1761668874.673 [NAL9602](INFO): GPS fix at 20251028T162753: (36.777071, -121.866405) 2025-10-28T16:27:54.712Z,1761668874.712 [marl:NeedComms:C] Stopped 2025-10-28T16:27:54.713Z,1761668874.713 [marl:NeedComms:D] Running Loop=1 2025-10-28T16:27:54.714Z,1761668874.714 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761668864.00. Resetting abort timer. 2025-10-28T16:27:55.067Z,1761668875.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496705,0.867747,0.017290],[-0.864144,0.492589,0.103010],[0.080869,-0.066107,0.994530]] 2025-10-28T16:27:55.128Z,1761668875.128 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-28T16:27:55.474Z,1761668875.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524930,0.851079,0.010677],[-0.848924,0.522612,0.078770],[0.061459,-0.050413,0.996836]] 2025-10-28T16:27:55.897Z,1761668875.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522125,0.852369,0.029198],[-0.851388,0.518897,0.076713],[0.050237,-0.064912,0.996626]] 2025-10-28T16:27:56.278Z,1761668876.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477201,0.877967,0.038118],[-0.875047,0.470717,0.112779],[0.081074,-0.087173,0.992889]] 2025-10-28T16:27:56.681Z,1761668876.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449886,0.891584,0.051775],[-0.891641,0.445106,0.082811],[0.050788,-0.083420,0.995219]] 2025-10-28T16:27:57.083Z,1761668877.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459583,0.884759,0.077365],[-0.887950,0.455967,0.060318],[0.018091,-0.096417,0.995177]] 2025-10-28T16:27:57.487Z,1761668877.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480865,0.868366,0.121283],[-0.876602,0.479038,0.045739],[-0.018381,-0.128311,0.991564]] 2025-10-28T16:27:57.898Z,1761668877.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469624,0.873311,0.129542],[-0.882167,0.470013,0.029487],[-0.035135,-0.128125,0.991135]] 2025-10-28T16:27:58.294Z,1761668878.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439385,0.893211,0.095476],[-0.897827,0.433222,0.078899],[0.029111,-0.120388,0.992300]] 2025-10-28T16:27:58.698Z,1761668878.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446443,0.894367,0.028201],[-0.892779,0.443084,0.081379],[0.060287,-0.061508,0.996284]] 2025-10-28T16:27:59.107Z,1761668879.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458551,0.888029,0.033699],[-0.888662,0.458080,0.021039],[0.003247,-0.039594,0.999211]] 2025-10-28T16:27:59.514Z,1761668879.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446930,0.890635,0.083801],[-0.893948,0.448146,0.004748],[-0.033326,-0.077036,0.996471]] 2025-10-28T16:27:59.912Z,1761668879.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424527,0.898522,0.111516],[-0.905177,0.424010,0.029502],[-0.020776,-0.113466,0.993325]] 2025-10-28T16:28:00.316Z,1761668880.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412673,0.903939,0.112229],[-0.910719,0.407145,0.069451],[0.017086,-0.130869,0.991252]] 2025-10-28T16:28:00.720Z,1761668880.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416087,0.902485,0.111320],[-0.908167,0.406255,0.100941],[0.045873,-0.143097,0.988645]] 2025-10-28T16:28:01.127Z,1761668881.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416825,0.905228,0.082572],[-0.908116,0.410730,0.081403],[0.039774,-0.108916,0.993255]] 2025-10-28T16:28:01.932Z,1761668881.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417100,0.908519,0.024909],[-0.908094,0.415466,0.052463],[0.037315,-0.044502,0.998312]] 2025-10-28T16:28:02.335Z,1761668882.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416275,0.908993,0.021137],[-0.907596,0.414014,0.069732],[0.054635,-0.048211,0.997342]] 2025-10-28T16:28:02.742Z,1761668882.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405848,0.913463,0.029552],[-0.911072,0.401803,0.092204],[0.072351,-0.064345,0.995302]] 2025-10-28T16:28:03.166Z,1761668883.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401726,0.913966,0.057293],[-0.913174,0.395109,0.100008],[0.068767,-0.092494,0.993336]] 2025-10-28T16:28:03.558Z,1761668883.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402962,0.911671,0.080480],[-0.914821,0.398642,0.064707],[0.026908,-0.099699,0.994654]] 2025-10-28T16:28:03.967Z,1761668883.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405061,0.910509,0.083062],[-0.914285,0.403096,0.039949],[0.002892,-0.092124,0.995743]] 2025-10-28T16:28:04.371Z,1761668884.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412632,0.906685,0.087505],[-0.910865,0.409891,0.048108],[0.007751,-0.099556,0.995002]] 2025-10-28T16:28:04.780Z,1761668884.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395000,0.913495,0.097474],[-0.918425,0.390157,0.065366],[0.021681,-0.115342,0.993089]] 2025-10-28T16:28:05.186Z,1761668885.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396769,0.913796,0.086897],[-0.916893,0.390073,0.084557],[0.043372,-0.113225,0.992622]] 2025-10-28T16:28:05.589Z,1761668885.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398440,0.914140,0.074792],[-0.915798,0.392011,0.087413],[0.050588,-0.103323,0.993360]] 2025-10-28T16:28:05.996Z,1761668885.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369362,0.926033,0.077690],[-0.929236,0.367187,0.041155],[0.009584,-0.087393,0.996128]] 2025-10-28T16:28:06.065Z,1761668886.065 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20251028T162422/Courier0000.lzma 2025-10-28T16:28:06.394Z,1761668886.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385693,0.921656,0.042326],[-0.922624,0.385403,0.015135],[-0.002364,-0.044889,0.998989]] 2025-10-28T16:28:06.799Z,1761668886.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423121,0.906031,-0.008742],[-0.904481,0.422929,0.055189],[0.053700,-0.015444,0.998438]] 2025-10-28T16:28:07.066Z,1761668887.066 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0000.lzma.bak 2025-10-28T16:28:07.066Z,1761668887.066 [DataOverHttps](INFO): SBD MOMSN=26261639 2025-10-28T16:28:07.206Z,1761668887.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411677,0.911167,-0.017233],[-0.906373,0.411334,0.096393],[0.094918,-0.024063,0.995194]] 2025-10-28T16:28:07.607Z,1761668887.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395715,0.918367,-0.003359],[-0.912392,0.393552,0.112501],[0.104639,-0.041453,0.993646]] 2025-10-28T16:28:08.015Z,1761668888.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396473,0.917922,0.015117],[-0.913672,0.392925,0.103984],[0.089509,-0.055038,0.994464]] 2025-10-28T16:28:08.415Z,1761668888.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403909,0.912774,0.060839],[-0.913626,0.399131,0.077341],[0.046312,-0.086823,0.995147]] 2025-10-28T16:28:08.819Z,1761668888.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424969,0.898047,0.113634],[-0.904964,0.418583,0.076342],[0.020993,-0.135277,0.990585]] 2025-10-28T16:28:09.223Z,1761668889.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445089,0.888084,0.114905],[-0.895338,0.439005,0.075126],[0.016274,-0.136317,0.990532]] 2025-10-28T16:28:09.627Z,1761668889.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428501,0.901212,0.064839],[-0.903541,0.427331,0.031653],[0.000819,-0.072148,0.997394]] 2025-10-28T16:28:10.033Z,1761668890.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427681,0.903926,0.002671],[-0.903762,0.427656,-0.018024],[-0.017434,0.005295,0.999834]] 2025-10-28T16:28:10.436Z,1761668890.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424483,0.905421,0.005274],[-0.903875,0.424085,-0.056230],[-0.053148,0.019102,0.998404]] 2025-10-28T16:28:10.839Z,1761668890.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438359,0.898153,0.034095],[-0.898740,0.438451,0.005131],[-0.010341,-0.032892,0.999405]] 2025-10-28T16:28:11.239Z,1761668891.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455959,0.887887,0.061302],[-0.887603,0.448598,0.104502],[0.065286,-0.102060,0.992634]] 2025-10-28T16:28:11.644Z,1761668891.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440971,0.893530,0.084549],[-0.895401,0.431501,0.109841],[0.061663,-0.124141,0.990347]] 2025-10-28T16:28:12.047Z,1761668892.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437420,0.896601,0.069069],[-0.898812,0.433492,0.064982],[0.028322,-0.090505,0.995493]] 2025-10-28T16:28:12.451Z,1761668892.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459449,0.887846,0.025209],[-0.887357,0.457587,0.056669],[0.038778,-0.048406,0.998075]] 2025-10-28T16:28:12.855Z,1761668892.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490562,0.871313,0.012742],[-0.869498,0.488468,0.073291],[0.057636,-0.047033,0.997229]] 2025-10-28T16:28:13.267Z,1761668893.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498865,0.864891,0.055653],[-0.866585,0.496834,0.046753],[0.012786,-0.071551,0.997355]] 2025-10-28T16:28:13.663Z,1761668893.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488694,0.868724,0.080608],[-0.872048,0.483553,0.075557],[0.026660,-0.107219,0.993878]] 2025-10-28T16:28:14.067Z,1761668894.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478954,0.873951,0.082542],[-0.875397,0.468494,0.119139],[0.065451,-0.129319,0.989441]] 2025-10-28T16:28:14.473Z,1761668894.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486318,0.867805,0.102026],[-0.873711,0.481462,0.069456],[0.011153,-0.122919,0.992354]] 2025-10-28T16:28:14.891Z,1761668894.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503108,0.855942,0.119358],[-0.864136,0.500205,0.055352],[-0.012325,-0.130989,0.991307]] 2025-10-28T16:28:14.903Z,1761668894.903 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=3290, MT Status=1, MTMSN=44 2025-10-28T16:28:14.903Z,1761668894.903 [NAL9602](INFO): Data available in MT queue 2025-10-28T16:28:15.295Z,1761668895.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520015,0.848438,0.098677],[-0.852593,0.508598,0.120055],[0.051672,-0.146562,0.987851]] 2025-10-28T16:28:15.645Z,1761668895.645 [NAL9602](INFO): Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4m2tw 1 2 2025-10-28T16:28:15.652Z,1761668895.652 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4m2tw 1 2.000000 2025-10-28T16:28:15.653Z,1761668895.653 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4m2tw 2025-10-28T16:28:15.654Z,1761668895.654 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='4m2tw'): "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min", ASAP 2025-10-28T16:28:16.040Z,1761668896.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472361,0.873778,0.115699],[-0.881405,0.468331,0.061569],[-0.000387,-0.131060,0.991374]] 2025-10-28T16:28:16.678Z,1761668896.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505166,0.862100,0.039878],[-0.861322,0.500734,0.085962],[0.054140,-0.077773,0.995500]] 2025-10-28T16:28:17.088Z,1761668897.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518695,0.854929,-0.007144],[-0.849852,0.516491,0.104827],[0.093310,-0.048302,0.994465]] 2025-10-28T16:28:17.500Z,1761668897.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529588,0.848215,-0.008213],[-0.848183,0.529645,0.007847],[0.011006,0.002810,0.999936]] 2025-10-28T16:28:17.900Z,1761668897.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525197,0.850954,-0.006804],[-0.850851,0.525239,0.013257],[0.014855,-0.001173,0.999889]] 2025-10-28T16:28:18.299Z,1761668898.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535031,0.844730,0.013153],[-0.842604,0.532426,0.080874],[0.061314,-0.054353,0.996638]] 2025-10-28T16:28:18.702Z,1761668898.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543629,0.836105,0.073451],[-0.837738,0.535140,0.108718],[0.051593,-0.120635,0.991355]] 2025-10-28T16:28:19.105Z,1761668899.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533548,0.836587,0.124290],[-0.845665,0.525377,0.093966],[0.013312,-0.155243,0.987787]] 2025-10-28T16:28:19.508Z,1761668899.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534396,0.838895,0.103321],[-0.844872,0.526586,0.094327],[0.024723,-0.137701,0.990165]] 2025-10-28T16:28:19.911Z,1761668899.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533408,0.844974,0.038656],[-0.843287,0.527672,0.102125],[0.065895,-0.087072,0.994020]] 2025-10-28T16:28:20.315Z,1761668900.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545880,0.837846,-0.005361],[-0.834089,0.544016,0.091333],[0.079439,-0.045385,0.995806]] 2025-10-28T16:28:20.719Z,1761668900.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544132,0.838956,-0.008584],[-0.834261,0.542115,0.100599],[0.089052,-0.047578,0.994890]] 2025-10-28T16:28:21.123Z,1761668901.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541451,0.840732,-0.000780],[-0.832555,0.536313,0.138636],[0.116974,-0.074415,0.990343]] 2025-10-28T16:28:21.528Z,1761668901.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550991,0.834124,0.025416],[-0.830324,0.544924,0.116708],[0.083499,-0.085409,0.992841]] 2025-10-28T16:28:21.931Z,1761668901.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548376,0.833704,0.064975],[-0.835957,0.544545,0.068175],[0.021456,-0.091702,0.995555]] 2025-10-28T16:28:22.335Z,1761668902.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573340,0.817622,0.052693],[-0.819079,0.570435,0.060935],[0.019764,-0.078096,0.996750]] 2025-10-28T16:28:22.739Z,1761668902.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579547,0.814726,0.018614],[-0.813389,0.576887,0.074830],[0.050228,-0.058508,0.997023]] 2025-10-28T16:28:23.146Z,1761668903.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567682,0.822843,0.025800],[-0.822978,0.566416,0.043349],[0.021056,-0.045842,0.998727]] 2025-10-28T16:28:23.547Z,1761668903.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566998,0.823263,0.027415],[-0.823611,0.567148,0.002714],[-0.013314,-0.024118,0.999620]] 2025-10-28T16:28:23.950Z,1761668903.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593127,0.803921,0.043721],[-0.805043,0.592899,0.019404],[-0.010323,-0.046707,0.998855]] 2025-10-28T16:28:24.362Z,1761668904.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595742,0.800140,0.069774],[-0.803082,0.592091,0.066983],[0.012284,-0.095939,0.995311]] 2025-10-28T16:28:24.429Z,1761668904.429 [DataOverHttps](INFO): Sending 1034 bytes from file Logs/20251028T162422/Express0001.lzma 2025-10-28T16:28:24.769Z,1761668904.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587470,0.805493,0.077848],[-0.808126,0.578876,0.108793],[0.042567,-0.126824,0.991012]] 2025-10-28T16:28:25.166Z,1761668905.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596559,0.800736,0.054218],[-0.799477,0.586978,0.127643],[0.070384,-0.119493,0.990337]] 2025-10-28T16:28:25.430Z,1761668905.430 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0001.lzma.bak 2025-10-28T16:28:25.430Z,1761668905.430 [DataOverHttps](INFO): SBD MOMSN=26261643 2025-10-28T16:28:25.570Z,1761668905.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611701,0.788520,0.063707],[-0.790590,0.606469,0.084634],[0.028099,-0.102137,0.994373]] 2025-10-28T16:28:25.986Z,1761668905.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603357,0.792573,0.088255],[-0.796170,0.604992,0.009903],[-0.045545,-0.076241,0.996049]] 2025-10-28T16:28:26.387Z,1761668906.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604355,0.795459,0.044715],[-0.796299,0.604900,0.001656],[-0.025731,-0.036607,0.998998]] 2025-10-28T16:28:26.786Z,1761668906.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598289,0.800839,-0.026592],[-0.798007,0.598514,0.070465],[0.072347,-0.020937,0.997160]] 2025-10-28T16:28:27.187Z,1761668907.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608549,0.792929,-0.030513],[-0.787777,0.608317,0.096739],[0.095269,-0.034832,0.994842]] 2025-10-28T16:28:27.591Z,1761668907.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629007,0.775785,0.050077],[-0.777070,0.625557,0.069577],[0.022651,-0.082678,0.996319]] 2025-10-28T16:28:27.999Z,1761668907.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637966,0.762318,0.108947],[-0.770046,0.632495,0.083535],[-0.005228,-0.137187,0.990531]] 2025-10-28T16:28:28.399Z,1761668908.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650358,0.753287,0.097947],[-0.758412,0.636606,0.139799],[0.042956,-0.165204,0.985324]] 2025-10-28T16:28:28.803Z,1761668908.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629318,0.774330,0.066114],[-0.771280,0.611869,0.175338],[0.095316,-0.161335,0.982286]] 2025-10-28T16:28:29.209Z,1761668909.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618163,0.786044,-0.003041],[-0.774450,0.609699,0.168806],[0.134543,-0.101994,0.985645]] 2025-10-28T16:28:29.611Z,1761668909.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632114,0.774849,-0.006348],[-0.770906,0.629683,0.095933],[0.078331,-0.055747,0.995368]] 2025-10-28T16:28:30.015Z,1761668910.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634097,0.772185,0.040645],[-0.773064,0.631900,0.055439],[0.017126,-0.066575,0.997634]] 2025-10-28T16:28:30.420Z,1761668910.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650110,0.759505,0.022546],[-0.755681,0.643167,0.123627],[0.079394,-0.097409,0.992073]] 2025-10-28T16:28:30.823Z,1761668910.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658084,0.752942,-0.001941],[-0.743893,0.650569,0.152917],[0.116400,-0.099188,0.988237]] 2025-10-28T16:28:31.228Z,1761668911.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656227,0.754546,0.005145],[-0.752546,0.653959,0.077540],[0.055143,-0.054756,0.996976]] 2025-10-28T16:28:31.631Z,1761668911.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657149,0.753611,0.015002],[-0.753160,0.657290,-0.026832],[-0.030082,0.006333,0.999527]] 2025-10-28T16:28:32.035Z,1761668912.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667894,0.744133,0.013552],[-0.744119,0.668010,-0.007035],[-0.014288,-0.005386,0.999883]] 2025-10-28T16:28:32.441Z,1761668912.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679762,0.732875,0.028587],[-0.732310,0.676051,0.081714],[0.040560,-0.076480,0.996246]] 2025-10-28T16:28:32.843Z,1761668912.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676317,0.731388,0.087564],[-0.735476,0.663891,0.135363],[0.040870,-0.155949,0.986919]] 2025-10-28T16:28:33.246Z,1761668913.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693297,0.710725,0.119199],[-0.720459,0.679741,0.137446],[0.016662,-0.181169,0.983311]] 2025-10-28T16:28:33.650Z,1761668913.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699639,0.705361,0.113891],[-0.714480,0.691774,0.104724],[-0.004918,-0.154642,0.987958]] 2025-10-28T16:28:34.059Z,1761668914.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691524,0.718859,0.070968],[-0.722336,0.687470,0.074934],[0.005079,-0.103081,0.994660]] 2025-10-28T16:28:34.466Z,1761668914.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700233,0.713177,0.032444],[-0.713672,0.700457,0.005753],[-0.018622,-0.027183,0.999457]] 2025-10-28T16:28:34.862Z,1761668914.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709522,0.704476,0.017094],[-0.704124,0.709716,-0.022626],[-0.028071,0.004017,0.999598]] 2025-10-28T16:28:35.267Z,1761668915.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711656,0.702496,-0.006732],[-0.701524,0.711118,0.046649],[0.037558,-0.028476,0.998889]] 2025-10-28T16:28:35.673Z,1761668915.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720035,0.693800,-0.013802],[-0.687421,0.715852,0.122511],[0.094878,-0.078725,0.992371]] 2025-10-28T16:28:36.074Z,1761668916.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736788,0.675053,0.038027],[-0.673006,0.726835,0.137018],[0.064855,-0.126546,0.989838]] 2025-10-28T16:28:36.479Z,1761668916.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726046,0.678285,0.113080],[-0.685830,0.702326,0.190721],[0.049944,-0.216026,0.975109]] 2025-10-28T16:28:36.882Z,1761668916.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739905,0.657070,0.144224],[-0.670751,0.704238,0.232683],[0.051322,-0.268902,0.961799]] 2025-10-28T16:28:37.288Z,1761668917.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747443,0.648731,0.143097],[-0.663288,0.716725,0.215300],[0.037110,-0.255839,0.966007]] 2025-10-28T16:28:37.701Z,1761668917.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740422,0.664499,0.101074],[-0.672032,0.729166,0.129187],[0.012145,-0.163577,0.986456]] 2025-10-28T16:28:38.095Z,1761668918.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760872,0.647519,0.042345],[-0.648835,0.760109,0.035324],[-0.009314,-0.054352,0.998478]] 2025-10-28T16:28:38.499Z,1761668918.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758907,0.650764,-0.023825],[-0.649625,0.759108,0.041745],[0.045252,-0.016203,0.998844]] 2025-10-28T16:28:38.906Z,1761668918.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739581,0.669535,-0.068876],[-0.663611,0.742455,0.091550],[0.112433,-0.022002,0.993416]] 2025-10-28T16:28:39.306Z,1761668919.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751246,0.659542,-0.025171],[-0.657037,0.750928,0.066405],[0.062699,-0.033348,0.997475]] 2025-10-28T16:28:39.711Z,1761668919.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768214,0.634924,0.081967],[-0.638531,0.769133,0.026700],[-0.046091,-0.072850,0.996277]] 2025-10-28T16:28:40.119Z,1761668920.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771432,0.624690,0.121059],[-0.634558,0.769370,0.073528],[-0.047207,-0.133540,0.989918]] 2025-10-28T16:28:40.527Z,1761668920.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765569,0.639757,0.067936],[-0.641037,0.749591,0.164880],[0.054559,-0.169777,0.983971]] 2025-10-28T16:28:40.923Z,1761668920.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767611,0.640767,0.013819],[-0.632800,0.754294,0.174943],[0.101674,-0.143033,0.984482]] 2025-10-28T16:28:41.327Z,1761668921.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781894,0.622759,0.028521],[-0.622913,0.778621,0.075687],[0.024928,-0.076945,0.996724]] 2025-10-28T16:28:41.731Z,1761668921.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782628,0.619311,0.062834],[-0.621403,0.783233,0.020094],[-0.036769,-0.054772,0.997822]] 2025-10-28T16:28:42.173Z,1761668922.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788630,0.613138,0.046095],[-0.613896,0.789382,0.002951],[-0.034577,-0.030625,0.998933]] 2025-10-28T16:28:42.540Z,1761668922.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794359,0.607338,0.011607],[-0.607428,0.794028,0.023490],[0.005050,-0.025710,0.999657]] 2025-10-28T16:28:42.907Z,1761668922.907 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20251028T162422/Express0004.lzma 2025-10-28T16:28:42.949Z,1761668922.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797432,0.603380,0.005903],[-0.602836,0.796211,0.051341],[0.026278,-0.044500,0.998664]] 2025-10-28T16:28:43.348Z,1761668923.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800066,0.599907,-0.002659],[-0.594864,0.793899,0.125938],[0.077662,-0.099177,0.992035]] 2025-10-28T16:28:43.753Z,1761668923.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812908,0.582348,0.007086],[-0.573052,0.797643,0.188088],[0.103881,-0.156959,0.982127]] 2025-10-28T16:28:43.910Z,1761668923.910 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0004.lzma.bak 2025-10-28T16:28:43.911Z,1761668923.911 [DataOverHttps](INFO): SBD MOMSN=26261672 2025-10-28T16:28:44.181Z,1761668924.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813961,0.577233,0.065346],[-0.579247,0.797936,0.166647],[0.044053,-0.173496,0.983849]] 2025-10-28T16:28:44.560Z,1761668924.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800481,0.591725,0.095355],[-0.599167,0.786013,0.152257],[0.015144,-0.179012,0.983730]] 2025-10-28T16:28:44.968Z,1761668924.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795342,0.602982,0.062000],[-0.605383,0.784975,0.131625],[0.030699,-0.142221,0.989359]] 2025-10-28T16:28:45.367Z,1761668925.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799342,0.600561,0.019474],[-0.599951,0.795894,0.081315],[0.033336,-0.076682,0.996498]] 2025-10-28T16:28:45.774Z,1761668925.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806673,0.590842,0.013587],[-0.590926,0.806721,0.002864],[-0.009269,-0.010339,0.999904]] 2025-10-28T16:28:45.823Z,1761668925.823 [marl:NeedComms:D] Stopped 2025-10-28T16:28:45.824Z,1761668925.824 [marl:NeedComms:E] Running Loop=1 2025-10-28T16:28:46.198Z,1761668926.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805880,0.590939,0.036726],[-0.589599,0.806631,-0.041468],[-0.054129,0.011764,0.998465]] 2025-10-28T16:28:46.201Z,1761668926.201 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:28:46.256Z,1761668926.256 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T16:28:46.580Z,1761668926.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808020,0.588800,0.020453],[-0.589010,0.808104,0.005888],[-0.013061,-0.016805,0.999774]] 2025-10-28T16:28:46.983Z,1761668926.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808202,0.588876,0.005799],[-0.587164,0.805018,0.084761],[0.045245,-0.071909,0.996385]] 2025-10-28T16:28:47.387Z,1761668927.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808788,0.588024,0.009534],[-0.583708,0.800663,0.134994],[0.071746,-0.114747,0.990800]] 2025-10-28T16:28:47.793Z,1761668927.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817432,0.574510,0.041753],[-0.573811,0.805798,0.146395],[0.050461,-0.143626,0.988345]] 2025-10-28T16:28:47.799Z,1761668927.799 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162847.00,A,3646.62637,N,12151.98425,W,0.564,56.09,281025,,,D*43 2025-10-28T16:28:47.801Z,1761668927.801 [NAL9602](INFO): GPS fix at 20251028T162847: (36.777106, -121.866404) 2025-10-28T16:28:47.856Z,1761668927.856 [marl:NeedComms:E] Stopped 2025-10-28T16:28:47.865Z,1761668927.865 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T16:28:47.865Z,1761668927.865 [marl:NeedComms] Stopped 2025-10-28T16:28:47.865Z,1761668927.865 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T16:28:47.865Z,1761668927.865 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T16:28:47.865Z,1761668927.865 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T16:28:47.866Z,1761668927.866 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761668864.00. Resetting abort timer. 2025-10-28T16:28:48.228Z,1761668928.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824296,0.562147,0.067282],[-0.566098,0.816619,0.112544],[0.008322,-0.130858,0.991366]] 2025-10-28T16:28:48.333Z,1761668928.333 [marl:StartingMission](INFO): Completed marl:StartingMission 2025-10-28T16:28:48.333Z,1761668928.333 [marl:StartingMission] Stopped 2025-10-28T16:28:48.333Z,1761668928.333 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl] Running Loop=1 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T16:28:48.333Z,1761668928.333 [marl:JoystickControl:B.Pitch](DEBUG): Initialize. 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:C.Pitch](DEBUG): Initialize. 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize. 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T16:28:48.334Z,1761668928.334 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize. 2025-10-28T16:28:48.335Z,1761668928.335 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T16:28:48.335Z,1761668928.335 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder 2025-10-28T16:28:48.335Z,1761668928.335 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T16:28:48.335Z,1761668928.335 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize. 2025-10-28T16:28:48.599Z,1761668928.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823867,0.565422,0.039252],[-0.566223,0.818001,0.101322],[0.025181,-0.105701,0.994079]] 2025-10-28T16:28:48.634Z,1761668928.634 [marl:JoystickControl:CmdRudder] Stopped 2025-10-28T16:28:48.635Z,1761668928.635 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder 2025-10-28T16:28:48.635Z,1761668928.635 [marl:JoystickControl:CmdRudder:A.Point] Stopped 2025-10-28T16:28:48.635Z,1761668928.635 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T16:28:48.635Z,1761668928.635 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T16:28:48.636Z,1761668928.636 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T16:28:48.640Z,1761668928.640 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T16:28:48.640Z,1761668928.640 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T16:28:48.641Z,1761668928.641 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T16:28:49.003Z,1761668929.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814595,0.579451,-0.025917],[-0.570047,0.808029,0.148784],[0.107155,-0.106424,0.988530]] 2025-10-28T16:28:49.407Z,1761668929.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823242,0.565219,-0.052913],[-0.552770,0.819345,0.152053],[0.129297,-0.095928,0.986955]] 2025-10-28T16:28:49.813Z,1761668929.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837064,0.547096,-0.002924],[-0.544177,0.833125,0.098862],[0.056523,-0.081163,0.995097]] 2025-10-28T16:28:50.251Z,1761668930.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812906,0.580290,0.049467],[-0.581478,0.803931,0.124816],[0.032661,-0.130227,0.990946]] 2025-10-28T16:28:50.439Z,1761668930.439 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:28:50.589Z,1761668930.589 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:28:50.589Z,1761668930.589 [DAT](INFO): setting remote address to 0 2025-10-28T16:28:50.651Z,1761668930.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804345,0.591372,0.057515],[-0.591315,0.787268,0.174802],[0.058093,-0.174611,0.982922]] 2025-10-28T16:28:50.841Z,1761668930.841 [DAT](INFO): DAT read: user:6> 2025-10-28T16:28:50.842Z,1761668930.842 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-28T16:28:50.842Z,1761668930.842 [DAT](INFO): set remote address to 0 2025-10-28T16:28:50.842Z,1761668930.842 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:28:50.843Z,1761668930.843 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:28:51.047Z,1761668931.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814327,0.571438,0.101631],[-0.580285,0.798007,0.162648],[0.011841,-0.191424,0.981436]] 2025-10-28T16:28:51.093Z,1761668931.093 [DAT](INFO): DAT read: user:7> 2025-10-28T16:28:51.093Z,1761668931.093 [DAT](INFO): DAT read: Tx time:16:28:50.8658 2025-10-28T16:28:51.094Z,1761668931.094 [DAT](INFO): Ping request sent. 2025-10-28T16:28:51.094Z,1761668931.094 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:28:51.094Z,1761668931.094 [DAT](INFO): publishing transmit ping time 2025-10-28T16:28:51.095Z,1761668931.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000926 2025-10-28T16:28:51.345Z,1761668931.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251211 2025-10-28T16:28:51.453Z,1761668931.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819222,0.561839,0.114946],[-0.573075,0.809532,0.127444],[-0.021449,-0.170277,0.985163]] 2025-10-28T16:28:51.597Z,1761668931.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503124 2025-10-28T16:28:51.849Z,1761668931.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755358 2025-10-28T16:28:51.857Z,1761668931.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811208,0.577768,0.090140],[-0.583533,0.809805,0.060870],[-0.037827,-0.101978,0.994067]] 2025-10-28T16:28:52.101Z,1761668932.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007200 2025-10-28T16:28:52.369Z,1761668932.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275123 2025-10-28T16:28:52.621Z,1761668932.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527254 2025-10-28T16:28:52.662Z,1761668932.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798402,0.600990,-0.036959],[-0.602035,0.797839,-0.031726],[0.010420,0.047581,0.998813]] 2025-10-28T16:28:52.873Z,1761668932.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779481 2025-10-28T16:28:53.066Z,1761668933.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788711,0.612521,-0.052464],[-0.614489,0.788035,-0.037474],[0.018391,0.061795,0.997919]] 2025-10-28T16:28:53.126Z,1761668933.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032608 2025-10-28T16:28:53.377Z,1761668933.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283072 2025-10-28T16:28:53.474Z,1761668933.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788958,0.613574,-0.032742],[-0.612774,0.789622,0.031708],[0.045309,-0.004953,0.998961]] 2025-10-28T16:28:53.629Z,1761668933.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535141 2025-10-28T16:28:53.881Z,1761668933.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787108 2025-10-28T16:28:54.135Z,1761668934.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041186 2025-10-28T16:28:54.283Z,1761668934.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791264,0.608732,0.057859],[-0.610890,0.782821,0.118346],[0.026748,-0.128988,0.991285]] 2025-10-28T16:28:54.385Z,1761668934.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291165 2025-10-28T16:28:54.637Z,1761668934.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543055 2025-10-28T16:28:54.693Z,1761668934.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793338,0.601599,0.093237],[-0.608699,0.786379,0.105324],[-0.009957,-0.140311,0.990057]] 2025-10-28T16:28:54.889Z,1761668934.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795080 2025-10-28T16:28:55.103Z,1761668935.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790097,0.611076,0.048296],[-0.612102,0.782290,0.115562],[0.032836,-0.120867,0.992125]] 2025-10-28T16:28:55.141Z,1761668935.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047488 2025-10-28T16:28:55.393Z,1761668935.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299045 2025-10-28T16:28:55.464Z,1761668935.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:28:55.495Z,1761668935.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787084,0.616614,-0.016905],[-0.608276,0.780411,0.144774],[0.102463,-0.103667,0.989320]] 2025-10-28T16:28:55.645Z,1761668935.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.551066 2025-10-28T16:28:55.897Z,1761668935.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.803218 2025-10-28T16:28:55.901Z,1761668935.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791764,0.610666,-0.014023],[-0.607477,0.789616,0.086482],[0.063884,-0.059955,0.996155]] 2025-10-28T16:28:56.152Z,1761668936.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.057551 2025-10-28T16:28:56.402Z,1761668936.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.308018 2025-10-28T16:28:56.653Z,1761668936.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559130 2025-10-28T16:28:56.706Z,1761668936.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794482,0.607287,0.001191],[-0.605951,0.792601,0.067870],[0.040273,-0.054643,0.997693]] 2025-10-28T16:28:56.906Z,1761668936.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.811873 2025-10-28T16:28:57.157Z,1761668937.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063177 2025-10-28T16:28:57.410Z,1761668937.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.315950 2025-10-28T16:28:57.521Z,1761668937.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784357,0.620172,0.013108],[-0.616341,0.776776,0.129396],[0.070066,-0.109572,0.991506]] 2025-10-28T16:28:57.661Z,1761668937.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567128 2025-10-28T16:28:57.914Z,1761668937.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819942 2025-10-28T16:28:57.941Z,1761668937.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791605,0.607793,0.062837],[-0.610434,0.782084,0.125358],[0.027048,-0.137592,0.990120]] 2025-10-28T16:28:58.168Z,1761668938.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.073798 2025-10-28T16:28:58.418Z,1761668938.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323637 2025-10-28T16:28:58.669Z,1761668938.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575140 2025-10-28T16:28:58.732Z,1761668938.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788003,0.613594,0.050536],[-0.614911,0.780296,0.114120],[0.030591,-0.121002,0.992181]] 2025-10-28T16:28:58.922Z,1761668938.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827977 2025-10-28T16:28:59.143Z,1761668939.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771186,0.631454,0.080852],[-0.635913,0.770043,0.051456],[-0.029767,-0.091097,0.995397]] 2025-10-28T16:28:59.176Z,1761668939.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082631 2025-10-28T16:28:59.429Z,1761668939.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.335338 2025-10-28T16:28:59.542Z,1761668939.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765977,0.642549,0.020260],[-0.639222,0.757903,0.130303],[0.068371,-0.112759,0.991267]] 2025-10-28T16:28:59.681Z,1761668939.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.587196 2025-10-28T16:28:59.934Z,1761668939.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.840117 2025-10-28T16:28:59.946Z,1761668939.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786469,0.617307,0.019975],[-0.610657,0.772337,0.174909],[0.092545,-0.149759,0.984382]] 2025-10-28T16:29:00.189Z,1761668940.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094850 2025-10-28T16:29:00.347Z,1761668940.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782461,0.618493,0.072257],[-0.622551,0.774457,0.112454],[0.013592,-0.132975,0.991026]] 2025-10-28T16:29:00.437Z,1761668940.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343049 2025-10-28T16:29:00.689Z,1761668940.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595164 2025-10-28T16:29:00.759Z,1761668940.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784795,0.612534,0.094331],[-0.615474,0.788152,0.002657],[-0.072719,-0.060143,0.995537]] 2025-10-28T16:29:00.941Z,1761668940.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.847135 2025-10-28T16:29:01.151Z,1761668941.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784737,0.615853,0.070090],[-0.617283,0.786740,-0.001591],[-0.056122,-0.042017,0.997539]] 2025-10-28T16:29:01.193Z,1761668941.193 [DAT](INFO): Reached modem response timeout 2025-10-28T16:29:01.554Z,1761668941.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753036,0.657975,0.002361],[-0.654317,0.748462,0.108043],[0.069323,-0.082905,0.994143]] 2025-10-28T16:29:02.362Z,1761668942.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765525,0.643356,0.008057],[-0.632439,0.750115,0.193255],[0.118288,-0.153037,0.981115]] 2025-10-28T16:29:02.771Z,1761668942.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753213,0.650580,0.097035],[-0.656720,0.735418,0.166972],[0.037267,-0.189490,0.981175]] 2025-10-28T16:29:03.170Z,1761668943.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728035,0.673464,0.128109],[-0.685489,0.717439,0.124041],[-0.008373,-0.178123,0.983972]] 2025-10-28T16:29:03.465Z,1761668943.465 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:29:03.465Z,1761668943.465 [DAT](INFO): response not received 2025-10-28T16:29:03.465Z,1761668943.465 [DAT](ERROR): No response from remote modem. 2025-10-28T16:29:03.577Z,1761668943.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720873,0.689251,0.072633],[-0.693065,0.717154,0.073146],[-0.001673,-0.103068,0.994673]] 2025-10-28T16:29:03.980Z,1761668943.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721527,0.692386,-0.000737],[-0.691388,0.720543,0.052918],[0.037170,-0.037672,0.998599]] 2025-10-28T16:29:04.382Z,1761668944.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725666,0.687476,-0.028026],[-0.686144,0.726086,0.044785],[0.051138,-0.013269,0.998603]] 2025-10-28T16:29:04.745Z,1761668944.745 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:29:04.789Z,1761668944.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713081,0.699971,0.039445],[-0.700922,0.712990,0.018794],[-0.014968,-0.041050,0.999045]] 2025-10-28T16:29:05.191Z,1761668945.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707994,0.700975,0.085906],[-0.701494,0.712082,-0.029083],[-0.081558,-0.039672,0.995879]] 2025-10-28T16:29:05.594Z,1761668945.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713462,0.695991,0.081054],[-0.697653,0.716362,-0.010266],[-0.065209,-0.049224,0.996657]] 2025-10-28T16:29:06.001Z,1761668946.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722907,0.689599,0.043106],[-0.690292,0.718105,0.088440],[0.030034,-0.093690,0.995148]] 2025-10-28T16:29:06.410Z,1761668946.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735486,0.676656,0.034611],[-0.674130,0.725711,0.137448],[0.067888,-0.124424,0.989904]] 2025-10-28T16:29:06.807Z,1761668946.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724530,0.687314,0.051541],[-0.688332,0.717702,0.105373],[0.035433,-0.111823,0.993096]] 2025-10-28T16:29:07.218Z,1761668947.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707721,0.705343,0.040272],[-0.705729,0.703159,0.086682],[0.032823,-0.089768,0.995422]] 2025-10-28T16:29:07.615Z,1761668947.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696721,0.716665,0.031150],[-0.716065,0.692236,0.089774],[0.042775,-0.084853,0.995475]] 2025-10-28T16:29:08.020Z,1761668948.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694872,0.717862,0.042750],[-0.718258,0.689866,0.090505],[0.035478,-0.093595,0.994978]] 2025-10-28T16:29:08.425Z,1761668948.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696716,0.714869,0.059575],[-0.717026,0.691512,0.087665],[0.021473,-0.103794,0.994367]] 2025-10-28T16:29:08.828Z,1761668948.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687536,0.722600,0.071717],[-0.726132,0.684857,0.060859],[-0.005139,-0.093919,0.995567]] 2025-10-28T16:29:09.231Z,1761668949.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691936,0.719076,0.064456],[-0.720475,0.693477,-0.002175],[-0.046263,-0.044934,0.997918]] 2025-10-28T16:29:09.635Z,1761668949.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690532,0.720983,0.057873],[-0.722078,0.691806,-0.002806],[-0.042060,-0.039851,0.998320]] 2025-10-28T16:29:10.039Z,1761668950.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691351,0.722199,0.021486],[-0.722161,0.689768,0.051991],[0.022728,-0.051460,0.998416]] 2025-10-28T16:29:10.443Z,1761668950.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683513,0.728629,0.043693],[-0.728428,0.677027,0.105010],[0.046932,-0.103603,0.993511]] 2025-10-28T16:29:10.847Z,1761668950.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682577,0.727251,0.072072],[-0.728714,0.669828,0.142501],[0.055358,-0.149788,0.987167]] 2025-10-28T16:29:11.251Z,1761668951.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681006,0.726313,0.093273],[-0.731378,0.668316,0.135796],[0.036294,-0.160696,0.986336]] 2025-10-28T16:29:11.655Z,1761668951.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654684,0.746210,0.120667],[-0.755854,0.648065,0.093254],[-0.008613,-0.152259,0.988303]] 2025-10-28T16:29:12.462Z,1761668952.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670850,0.741289,-0.021229],[-0.740094,0.671039,0.044351],[0.047123,-0.014041,0.998790]] 2025-10-28T16:29:12.868Z,1761668952.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664190,0.744651,-0.065925],[-0.744823,0.666722,0.026858],[0.063953,0.031264,0.997463]] 2025-10-28T16:29:13.270Z,1761668953.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655472,0.754331,-0.036624],[-0.754866,0.655877,-0.001250],[0.023078,0.028466,0.999328]] 2025-10-28T16:29:13.675Z,1761668953.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649593,0.760160,0.013611],[-0.760272,0.649388,0.016786],[0.003921,-0.021252,0.999766]] 2025-10-28T16:29:14.080Z,1761668954.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654222,0.754665,0.049751],[-0.755604,0.649373,0.085896],[0.032516,-0.093787,0.995061]] 2025-10-28T16:29:14.157Z,1761668954.157 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:29:14.484Z,1761668954.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659398,0.748247,0.072950],[-0.750130,0.648380,0.130033],[0.049997,-0.140466,0.988822]] 2025-10-28T16:29:14.894Z,1761668954.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672400,0.733568,0.098773],[-0.739661,0.660874,0.127070],[0.027938,-0.158500,0.986964]] 2025-10-28T16:29:15.290Z,1761668955.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643574,0.759508,0.094660],[-0.762251,0.624840,0.168960],[0.069179,-0.180892,0.981067]] 2025-10-28T16:29:15.694Z,1761668955.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612822,0.788426,0.053236],[-0.778710,0.591066,0.210358],[0.134385,-0.170367,0.976174]] 2025-10-28T16:29:16.101Z,1761668956.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625163,0.778340,0.057945],[-0.775085,0.610392,0.163296],[0.091731,-0.146999,0.984874]] 2025-10-28T16:29:16.503Z,1761668956.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621924,0.777205,0.095726],[-0.782966,0.615112,0.092743],[0.013198,-0.132629,0.991078]] 2025-10-28T16:29:16.910Z,1761668956.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598027,0.794343,0.106689],[-0.801390,0.594599,0.065019],[-0.011790,-0.124383,0.992164]] 2025-10-28T16:29:17.310Z,1761668957.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596683,0.798070,0.083988],[-0.802195,0.595972,0.036063],[-0.021274,-0.088893,0.995814]] 2025-10-28T16:29:17.717Z,1761668957.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604984,0.795413,0.036239],[-0.796113,0.605067,0.009872],[-0.014075,-0.034822,0.999294]] 2025-10-28T16:29:18.123Z,1761668958.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592841,0.805075,0.019877],[-0.805298,0.592463,0.021980],[0.005919,-0.029038,0.999561]] 2025-10-28T16:29:18.170Z,1761668958.170 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=3291, MT Status=1, MTMSN=45 2025-10-28T16:29:18.170Z,1761668958.170 [NAL9602](INFO): Data available in MT queue 2025-10-28T16:29:18.523Z,1761668958.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574882,0.817609,0.032020],[-0.817880,0.573037,0.051974],[0.024146,-0.056067,0.998135]] 2025-10-28T16:29:18.810Z,1761668958.810 [NAL9602](INFO): Received command: sched asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4m2tw 2 2 2025-10-28T16:29:18.882Z,1761668958.882 [CommandExec](IMPORTANT): got command schedule asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4m2tw 2 2.000000 2025-10-28T16:29:18.883Z,1761668958.883 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4m2tw 2025-10-28T16:29:18.884Z,1761668958.884 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='4m2tw'): "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAP 2025-10-28T16:29:19.010Z,1761668959.010 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl 2025-10-28T16:29:19.010Z,1761668959.010 [MissionManager](INFO): Uninitializing Mission marl 2025-10-28T16:29:19.010Z,1761668959.010 [marl] Stopped 2025-10-28T16:29:19.010Z,1761668959.010 [marl](DEBUG): Aggregate::uninitialize marl 2025-10-28T16:29:19.010Z,1761668959.010 [marl:AbortDrift] Stopped 2025-10-28T16:29:19.010Z,1761668959.010 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift 2025-10-28T16:29:19.010Z,1761668959.010 [marl:AbortDrift:B.AbortDrift] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift. 2025-10-28T16:29:19.011Z,1761668959.011 [marl:B.] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:B.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-28T16:29:19.011Z,1761668959.011 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-28T16:29:19.011Z,1761668959.011 [marl:Science] Stopped 2025-10-28T16:29:19.012Z,1761668959.012 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:B] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:C] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:E] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:OceanCurrent] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent 2025-10-28T16:29:19.024Z,1761668959.024 [marl:Science:OceanCurrent:A.] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:BackseatDriver] Stopped 2025-10-28T16:29:19.024Z,1761668959.024 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver 2025-10-28T16:29:19.025Z,1761668959.025 [marl:BackseatDriver:A.BackseatDriver] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:PowerOnly] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly 2025-10-28T16:29:19.025Z,1761668959.025 [marl:PowerOnly:E.Wait] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:A.Buoyancy] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:B.Pitch] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:C.Pitch] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:D.SetSpeed] Stopped 2025-10-28T16:29:19.025Z,1761668959.025 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize. 2025-10-28T16:29:19.026Z,1761668959.026 [marl:JoystickControl:CmdHeading] Stopped 2025-10-28T16:29:19.026Z,1761668959.026 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading 2025-10-28T16:29:19.026Z,1761668959.026 [marl:JoystickControl:CmdHeading:A.Point] Stopped 2025-10-28T16:29:19.030Z,1761668959.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571434,0.815920,0.087969],[-0.820633,0.568787,0.055168],[-0.005023,-0.103715,0.994594]] 2025-10-28T16:29:19.372Z,1761668959.372 [WetLabsBB2FL](INFO): Powering down 2025-10-28T16:29:19.377Z,1761668959.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554944,0.822243,0.126307],[-0.831854,0.547124,0.093133],[0.007472,-0.156752,0.987610]] 2025-10-28T16:29:19.416Z,1761668959.416 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl 2025-10-28T16:29:19.416Z,1761668959.416 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl 2025-10-28T16:29:19.433Z,1761668959.433 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl 2025-10-28T16:29:19.784Z,1761668959.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557753,0.818343,0.138657],[-0.829920,0.547440,0.107436],[0.012013,-0.174997,0.984496]] 2025-10-28T16:29:20.202Z,1761668960.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566401,0.812283,0.139239],[-0.824090,0.559907,0.085910],[-0.008177,-0.163405,0.986525]] 2025-10-28T16:29:20.588Z,1761668960.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541771,0.833327,0.109774],[-0.840500,0.536077,0.078617],[0.006666,-0.134858,0.990842]] 2025-10-28T16:29:20.705Z,1761668960.705 [BackseatComponent](INFO): Sent LCM shutdown request. 2025-10-28T16:29:20.706Z,1761668960.706 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2025-10-28T16:29:20.991Z,1761668960.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528805,0.847030,0.053903],[-0.847597,0.523725,0.085391],[0.044099,-0.090843,0.994888]] 2025-10-28T16:29:21.396Z,1761668961.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521241,0.853284,0.014645],[-0.850371,0.517862,0.093210],[0.071951,-0.061039,0.995539]] 2025-10-28T16:29:21.799Z,1761668961.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523296,0.852077,-0.011237],[-0.850304,0.522984,0.058910],[0.056073,-0.021272,0.998200]] 2025-10-28T16:29:22.607Z,1761668962.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501250,0.864862,0.027606],[-0.864101,0.498618,0.068629],[0.045590,-0.058255,0.997260]] 2025-10-28T16:29:23.011Z,1761668963.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516686,0.853913,0.062196],[-0.852656,0.506623,0.127715],[0.077548,-0.119020,0.989859]] 2025-10-28T16:29:23.416Z,1761668963.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507296,0.856950,0.091042],[-0.859615,0.495723,0.123777],[0.060939,-0.141053,0.988125]] 2025-10-28T16:29:23.821Z,1761668963.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483683,0.871753,0.078093],[-0.875213,0.480993,0.051461],[0.007299,-0.093238,0.995617]] 2025-10-28T16:29:24.223Z,1761668964.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486461,0.873300,0.026525],[-0.873599,0.486646,-0.000614],[-0.013445,-0.022873,0.999648]] 2025-10-28T16:29:24.627Z,1761668964.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480410,0.877026,0.005686],[-0.876124,0.480193,-0.042670],[-0.040153,0.015517,0.999073]] 2025-10-28T16:29:25.031Z,1761668965.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487916,0.871598,0.047484],[-0.870055,0.489992,-0.053957],[-0.070296,-0.014987,0.997414]] 2025-10-28T16:29:25.344Z,1761668965.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:29:25.438Z,1761668965.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471124,0.876084,0.102566],[-0.880268,0.474396,-0.008728],[-0.056303,-0.086174,0.994688]] 2025-10-28T16:29:25.838Z,1761668965.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441154,0.886539,0.139400],[-0.896461,0.442552,0.022508],[-0.041737,-0.134896,0.989980]] 2025-10-28T16:29:26.243Z,1761668966.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444494,0.885583,0.134786],[-0.893728,0.448610,-0.000186],[-0.060631,-0.120379,0.990875]] 2025-10-28T16:29:26.647Z,1761668966.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464537,0.880365,0.095726],[-0.884609,0.466314,0.004262],[-0.040886,-0.086660,0.995399]] 2025-10-28T16:29:26.750Z,1761668966.750 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into: 4 1 8 10 NaN 36.81544 -121.82506 0 0 50 240 10 0 4 1 30 20 60 5 1 10 0 NaN 0.010 1.5 0 1 0 0 0 0 Got test_good : and temp var is modem _.others_observations none_str SendData: sent send_observations : to nearby vehicles. Elapsed time Upadating ContactLabel 0 Speed timeout reached. Stopping vehicle (speed ). Updating heading Updating rudder angle 2025-10-28T16:29:26.766Z,1761668966.766 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h 2025-10-28T16:29:26.768Z,1761668966.768 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h 2025-10-28T16:29:26.770Z,1761668966.770 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count 2025-10-28T16:29:26.773Z,1761668966.773 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count 2025-10-28T16:29:26.775Z,1761668966.775 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m 2025-10-28T16:29:26.777Z,1761668966.777 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg 2025-10-28T16:29:26.779Z,1761668966.779 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg 2025-10-28T16:29:26.782Z,1761668966.782 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m 2025-10-28T16:29:26.784Z,1761668966.784 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m 2025-10-28T16:29:26.786Z,1761668966.786 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m 2025-10-28T16:29:26.809Z,1761668966.809 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s 2025-10-28T16:29:26.811Z,1761668966.811 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s 2025-10-28T16:29:26.813Z,1761668966.813 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count 2025-10-28T16:29:26.816Z,1761668966.816 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h 2025-10-28T16:29:26.827Z,1761668966.827 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min 2025-10-28T16:29:26.837Z,1761668966.837 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s 2025-10-28T16:29:26.839Z,1761668966.839 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m 2025-10-28T16:29:26.846Z,1761668966.846 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m 2025-10-28T16:29:26.854Z,1761668966.854 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m 2025-10-28T16:29:26.867Z,1761668966.867 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool 2025-10-28T16:29:26.886Z,1761668966.886 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool 2025-10-28T16:29:26.891Z,1761668966.891 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count 2025-10-28T16:29:26.901Z,1761668966.901 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m 2025-10-28T16:29:26.903Z,1761668966.903 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool 2025-10-28T16:29:26.910Z,1761668966.910 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s 2025-10-28T16:29:26.916Z,1761668966.916 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str 2025-10-28T16:29:26.918Z,1761668966.918 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m 2025-10-28T16:29:26.933Z,1761668966.933 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km 2025-10-28T16:29:26.935Z,1761668966.935 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count 2025-10-28T16:29:26.942Z,1761668966.942 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count 2025-10-28T16:29:26.976Z,1761668966.976 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg 2025-10-28T16:29:26.978Z,1761668966.978 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg 2025-10-28T16:29:26.985Z,1761668966.985 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s 2025-10-28T16:29:26.987Z,1761668966.987 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s 2025-10-28T16:29:26.992Z,1761668966.992 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-10-28T16:29:26.992Z,1761668966.992 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-10-28T16:29:26.994Z,1761668966.994 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-10-28T16:29:27.051Z,1761668967.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463016,0.884177,0.062024],[-0.886295,0.462633,0.021263],[-0.009894,-0.064817,0.997848]] 2025-10-28T16:29:27.123Z,1761668967.123 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-10-28T16:29:27.163Z,1761668967.163 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h 2025-10-28T16:29:27.184Z,1761668967.184 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-10-28T16:29:27.186Z,1761668967.186 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-10-28T16:29:27.216Z,1761668967.216 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout 2025-10-28T16:29:27.286Z,1761668967.286 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-10-28T16:29:27.286Z,1761668967.286 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-10-28T16:29:27.288Z,1761668967.288 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-10-28T16:29:27.456Z,1761668967.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462154,0.886524,0.022094],[-0.886780,0.461835,0.018149],[0.005886,-0.027981,0.999591]] 2025-10-28T16:29:27.742Z,1761668967.742 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1500 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-10-28T16:29:27.751Z,1761668967.751 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h 2025-10-28T16:29:27.757Z,1761668967.757 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min 2025-10-28T16:29:27.759Z,1761668967.759 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-10-28T16:29:27.765Z,1761668967.765 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s 2025-10-28T16:29:27.768Z,1761668967.768 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-10-28T16:29:27.774Z,1761668967.774 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1500.000000 s 2025-10-28T16:29:27.780Z,1761668967.780 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min 2025-10-28T16:29:27.783Z,1761668967.783 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min 2025-10-28T16:29:27.825Z,1761668967.825 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-10-28T16:29:27.862Z,1761668967.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479590,0.877473,0.005835],[-0.877463,0.479509,0.011376],[0.007184,-0.010576,0.999918]] 2025-10-28T16:29:27.906Z,1761668967.906 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:29:27.906Z,1761668967.906 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:29:27.908Z,1761668967.908 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-28T16:29:28.094Z,1761668968.094 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-28T16:29:28.102Z,1761668968.102 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-28T16:29:28.118Z,1761668968.118 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-28T16:29:28.124Z,1761668968.124 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-28T16:29:28.134Z,1761668968.134 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-28T16:29:28.170Z,1761668968.170 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-28T16:29:28.215Z,1761668968.215 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-28T16:29:28.237Z,1761668968.237 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-28T16:29:28.266Z,1761668968.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470699,0.881705,0.032228],[-0.882246,0.469981,0.027569],[0.009162,-0.041410,0.999100]] 2025-10-28T16:29:28.343Z,1761668968.343 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-28T16:29:28.343Z,1761668968.343 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-28T16:29:28.389Z,1761668968.389 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-28T16:29:28.667Z,1761668968.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476093,0.876644,0.069501],[-0.879130,0.472522,0.062073],[0.021575,-0.090653,0.995649]] 2025-10-28T16:29:29.071Z,1761668969.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479402,0.871654,0.101942],[-0.876876,0.471065,0.095846],[0.035524,-0.135339,0.990162]] 2025-10-28T16:29:29.476Z,1761668969.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487797,0.866441,0.106462],[-0.872508,0.479995,0.091297],[0.028003,-0.137424,0.990116]] 2025-10-28T16:29:29.881Z,1761668969.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496976,0.861463,0.104384],[-0.867685,0.491699,0.073180],[0.011716,-0.126941,0.991841]] 2025-10-28T16:29:30.283Z,1761668970.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480000,0.873121,0.085200],[-0.877054,0.479762,0.024602],[-0.019395,-0.086534,0.996060]] 2025-10-28T16:29:30.687Z,1761668970.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467779,0.883243,0.032626],[-0.883232,0.468511,-0.019973],[-0.032926,-0.019473,0.999268]] 2025-10-28T16:29:31.091Z,1761668971.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489572,0.871963,-0.000202],[-0.871960,0.489572,0.002227],[0.002041,-0.000914,0.999997]] 2025-10-28T16:29:31.496Z,1761668971.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490744,0.871295,-0.003858],[-0.867500,0.489010,0.091173],[0.081325,-0.041396,0.995828]] 2025-10-28T16:29:31.901Z,1761668971.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472971,0.880918,0.016819],[-0.868344,0.462817,0.178267],[0.149255,-0.098920,0.983838]] 2025-10-28T16:29:32.708Z,1761668972.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468327,0.879222,0.087400],[-0.883146,0.462804,0.076584],[0.026885,-0.113053,0.993225]] 2025-10-28T16:29:33.111Z,1761668973.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490833,0.868015,0.075055],[-0.871176,0.487812,0.055600],[0.011649,-0.092676,0.995628]] 2025-10-28T16:29:33.515Z,1761668973.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516542,0.854970,0.047007],[-0.855443,0.512871,0.071972],[0.037425,-0.077388,0.996298]] 2025-10-28T16:29:33.919Z,1761668973.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495892,0.867570,0.037591],[-0.867668,0.493261,0.062019],[0.035264,-0.063372,0.997367]] 2025-10-28T16:29:34.324Z,1761668974.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482581,0.874814,0.042617],[-0.875838,0.482269,0.018017],[-0.004791,-0.046021,0.998929]] 2025-10-28T16:29:34.727Z,1761668974.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505944,0.861486,0.043164],[-0.862563,0.505459,0.022287],[-0.002618,-0.048507,0.998819]] 2025-10-28T16:29:35.131Z,1761668975.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535288,0.844368,0.022565],[-0.842719,0.532046,0.082164],[0.057371,-0.062997,0.996363]] 2025-10-28T16:29:35.535Z,1761668975.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550314,0.834385,0.030937],[-0.827876,0.540457,0.150092],[0.108514,-0.108209,0.988188]] 2025-10-28T16:29:35.863Z,1761668975.862 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois PeakPlanktivoreLMavgROIAvgProfiles = . PeakPlanktivoreLMavgROIDepthAvgProfiles = EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-28T16:29:35.904Z,1761668975.904 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool 2025-10-28T16:29:35.906Z,1761668975.906 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-28T16:29:35.907Z,1761668975.907 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool 2025-10-28T16:29:35.910Z,1761668975.910 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min 2025-10-28T16:29:35.911Z,1761668975.911 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool 2025-10-28T16:29:35.913Z,1761668975.913 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool 2025-10-28T16:29:35.915Z,1761668975.915 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool 2025-10-28T16:29:35.917Z,1761668975.917 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool 2025-10-28T16:29:35.919Z,1761668975.919 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count 2025-10-28T16:29:35.922Z,1761668975.922 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-28T16:29:35.945Z,1761668975.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550501,0.832563,0.061538],[-0.830798,0.539109,0.138331],[0.081994,-0.127277,0.988472]] 2025-10-28T16:29:35.968Z,1761668975.968 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-28T16:29:35.977Z,1761668975.977 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool 2025-10-28T16:29:35.979Z,1761668975.979 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool 2025-10-28T16:29:35.997Z,1761668975.997 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool 2025-10-28T16:29:35.999Z,1761668975.999 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool 2025-10-28T16:29:36.013Z,1761668976.013 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:29:36.014Z,1761668976.014 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:29:36.026Z,1761668976.026 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T16:29:36.027Z,1761668976.027 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T16:29:36.042Z,1761668976.042 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T16:29:36.043Z,1761668976.043 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T16:29:36.050Z,1761668976.050 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T16:29:36.054Z,1761668976.054 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T16:29:36.068Z,1761668976.068 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T16:29:36.070Z,1761668976.070 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-28T16:29:36.077Z,1761668976.077 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool 2025-10-28T16:29:36.080Z,1761668976.080 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool 2025-10-28T16:29:36.086Z,1761668976.086 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool 2025-10-28T16:29:36.093Z,1761668976.093 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool 2025-10-28T16:29:36.095Z,1761668976.095 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-28T16:29:36.102Z,1761668976.102 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-28T16:29:36.107Z,1761668976.107 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool 2025-10-28T16:29:36.118Z,1761668976.118 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count 2025-10-28T16:29:36.121Z,1761668976.121 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count 2025-10-28T16:29:36.123Z,1761668976.123 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m 2025-10-28T16:29:36.138Z,1761668976.138 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m 2025-10-28T16:29:36.153Z,1761668976.153 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-28T16:29:36.163Z,1761668976.163 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan % 2025-10-28T16:29:36.200Z,1761668976.200 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan % 2025-10-28T16:29:36.203Z,1761668976.203 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-28T16:29:36.213Z,1761668976.213 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count 2025-10-28T16:29:36.215Z,1761668976.215 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool 2025-10-28T16:29:36.221Z,1761668976.221 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l 2025-10-28T16:29:36.223Z,1761668976.223 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l 2025-10-28T16:29:36.242Z,1761668976.242 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count 2025-10-28T16:29:36.256Z,1761668976.256 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-28T16:29:36.258Z,1761668976.258 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-28T16:29:36.277Z,1761668976.277 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-28T16:29:36.280Z,1761668976.280 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-28T16:29:36.290Z,1761668976.290 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool 2025-10-28T16:29:36.299Z,1761668976.299 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l 2025-10-28T16:29:36.310Z,1761668976.310 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m 2025-10-28T16:29:36.316Z,1761668976.316 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC 2025-10-28T16:29:36.319Z,1761668976.319 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg 2025-10-28T16:29:36.325Z,1761668976.325 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg 2025-10-28T16:29:36.343Z,1761668976.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535552,0.840069,0.086417],[-0.844256,0.530113,0.078816],[0.020400,-0.115168,0.993137]] 2025-10-28T16:29:36.376Z,1761668976.376 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l 2025-10-28T16:29:36.378Z,1761668976.378 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m 2025-10-28T16:29:36.389Z,1761668976.389 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l 2025-10-28T16:29:36.391Z,1761668976.391 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m 2025-10-28T16:29:36.402Z,1761668976.402 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC 2025-10-28T16:29:36.416Z,1761668976.416 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg 2025-10-28T16:29:36.419Z,1761668976.419 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg 2025-10-28T16:29:36.425Z,1761668976.425 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l 2025-10-28T16:29:36.427Z,1761668976.427 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m 2025-10-28T16:29:36.446Z,1761668976.446 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg 2025-10-28T16:29:36.456Z,1761668976.456 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg 2025-10-28T16:29:36.459Z,1761668976.459 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3 2025-10-28T16:29:36.469Z,1761668976.469 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m 2025-10-28T16:29:36.471Z,1761668976.471 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg 2025-10-28T16:29:36.482Z,1761668976.482 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg 2025-10-28T16:29:36.496Z,1761668976.496 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb 2025-10-28T16:29:36.499Z,1761668976.499 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m 2025-10-28T16:29:36.507Z,1761668976.507 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC 2025-10-28T16:29:36.525Z,1761668976.525 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg 2025-10-28T16:29:36.528Z,1761668976.528 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg 2025-10-28T16:29:36.538Z,1761668976.538 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu 2025-10-28T16:29:36.549Z,1761668976.549 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m 2025-10-28T16:29:36.551Z,1761668976.551 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC 2025-10-28T16:29:36.569Z,1761668976.569 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg 2025-10-28T16:29:36.571Z,1761668976.571 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg 2025-10-28T16:29:36.595Z,1761668976.595 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-28T16:29:36.605Z,1761668976.605 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-28T16:29:36.608Z,1761668976.608 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-28T16:29:36.618Z,1761668976.618 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T16:29:36.637Z,1761668976.637 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T16:29:36.639Z,1761668976.639 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s 2025-10-28T16:29:36.649Z,1761668976.649 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m 2025-10-28T16:29:36.651Z,1761668976.651 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-28T16:29:36.658Z,1761668976.658 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-28T16:29:36.677Z,1761668976.677 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-28T16:29:36.679Z,1761668976.679 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T16:29:36.686Z,1761668976.686 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T16:29:36.691Z,1761668976.691 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-28T16:29:36.725Z,1761668976.725 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-28T16:29:36.727Z,1761668976.727 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-28T16:29:36.742Z,1761668976.742 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T16:29:36.752Z,1761668976.752 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T16:29:36.754Z,1761668976.754 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-28T16:29:36.759Z,1761668976.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550483,0.831309,0.076769],[-0.834843,0.547883,0.053496],[0.002411,-0.093539,0.995613]] 2025-10-28T16:29:36.765Z,1761668976.765 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-28T16:29:36.767Z,1761668976.767 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-28T16:29:36.783Z,1761668976.783 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T16:29:36.798Z,1761668976.798 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T16:29:36.812Z,1761668976.812 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-28T16:29:36.815Z,1761668976.815 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-28T16:29:36.823Z,1761668976.823 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-28T16:29:36.842Z,1761668976.842 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T16:29:36.845Z,1761668976.845 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T16:29:36.868Z,1761668976.868 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-28T16:29:36.871Z,1761668976.871 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-28T16:29:36.884Z,1761668976.884 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-28T16:29:36.887Z,1761668976.887 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T16:29:36.893Z,1761668976.893 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T16:29:36.895Z,1761668976.895 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-28T16:29:36.909Z,1761668976.909 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-28T16:29:36.911Z,1761668976.911 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T16:29:36.918Z,1761668976.918 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T16:29:36.924Z,1761668976.924 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T16:29:36.926Z,1761668976.926 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-28T16:29:36.933Z,1761668976.933 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-28T16:29:36.935Z,1761668976.935 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T16:29:36.942Z,1761668976.942 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T16:29:36.948Z,1761668976.948 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T16:29:36.951Z,1761668976.951 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l 2025-10-28T16:29:37.008Z,1761668977.008 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m 2025-10-28T16:29:37.011Z,1761668977.011 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg 2025-10-28T16:29:37.021Z,1761668977.021 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg 2025-10-28T16:29:37.023Z,1761668977.023 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m 2025-10-28T16:29:37.035Z,1761668977.035 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu 2025-10-28T16:29:37.042Z,1761668977.042 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m 2025-10-28T16:29:37.048Z,1761668977.048 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg 2025-10-28T16:29:37.050Z,1761668977.050 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg 2025-10-28T16:29:37.057Z,1761668977.057 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m 2025-10-28T16:29:37.059Z,1761668977.059 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu 2025-10-28T16:29:37.066Z,1761668977.066 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m 2025-10-28T16:29:37.080Z,1761668977.080 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg 2025-10-28T16:29:37.082Z,1761668977.082 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg 2025-10-28T16:29:37.085Z,1761668977.085 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m 2025-10-28T16:29:37.087Z,1761668977.087 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool 2025-10-28T16:29:37.098Z,1761668977.098 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l 2025-10-28T16:29:37.151Z,1761668977.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582458,0.808648,0.082645],[-0.812346,0.582690,0.023789],[-0.028919,-0.080992,0.996295]] 2025-10-28T16:29:37.162Z,1761668977.162 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.234Z,1761668977.234 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:29:37.293Z,1761668977.293 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:29:37.317Z,1761668977.317 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:29:37.341Z,1761668977.341 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.368Z,1761668977.368 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.398Z,1761668977.398 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:29:37.429Z,1761668977.429 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.459Z,1761668977.459 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.499Z,1761668977.499 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:29:37.531Z,1761668977.531 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.555Z,1761668977.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587243,0.803265,0.099555],[-0.807115,0.590388,-0.002671],[-0.060921,-0.078784,0.995028]] 2025-10-28T16:29:37.609Z,1761668977.609 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:29:37.681Z,1761668977.681 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T16:29:37.709Z,1761668977.709 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.737Z,1761668977.737 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:29:37.779Z,1761668977.779 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.806Z,1761668977.806 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:29:37.853Z,1761668977.853 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T16:29:37.877Z,1761668977.877 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T16:29:37.905Z,1761668977.905 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-28T16:29:37.912Z,1761668977.912 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-28T16:29:37.912Z,1761668977.912 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-28T16:29:37.913Z,1761668977.913 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-28T16:29:37.931Z,1761668977.931 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-28T16:29:37.934Z,1761668977.934 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool 2025-10-28T16:29:37.936Z,1761668977.936 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-28T16:29:37.940Z,1761668977.940 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-28T16:29:37.940Z,1761668977.940 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-28T16:29:37.941Z,1761668977.941 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-28T16:29:37.959Z,1761668977.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588502,0.804970,0.075426],[-0.806886,0.590653,-0.007998],[-0.050989,-0.056153,0.997119]] 2025-10-28T16:29:38.171Z,1761668978.171 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-28T16:29:38.188Z,1761668978.188 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool 2025-10-28T16:29:38.197Z,1761668978.197 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool 2025-10-28T16:29:38.199Z,1761668978.199 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool 2025-10-28T16:29:38.201Z,1761668978.201 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool 2025-10-28T16:29:38.203Z,1761668978.203 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-28T16:29:38.210Z,1761668978.210 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-28T16:29:38.213Z,1761668978.213 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-10-28T16:29:38.215Z,1761668978.215 [marl:JoystickControl:B.Pitch](DEBUG): Construct. 2025-10-28T16:29:38.221Z,1761668978.221 [marl:JoystickControl:C.Pitch](DEBUG): Construct. 2025-10-28T16:29:38.254Z,1761668978.254 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct. 2025-10-28T16:29:38.261Z,1761668978.261 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct. 2025-10-28T16:29:38.267Z,1761668978.267 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct. 2025-10-28T16:29:38.280Z,1761668978.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:29:38.337Z,1761668978.337 [MissionManager](DEBUG): mission marl { """ This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only. """ arguments { # Mission-wide settings MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 1 hour """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ # You probably need to change these. ContactLabel = 8 count """ The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch. tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12 """ SendDataLabel = 10 count """ The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch. """ ContactDepth = NaN meter """ The asset's depth to be tracked """ CenterLatitude = 36.81544 degree """ The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterLongitude = -121.82506 degree """ The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterNorthingsDelta = 0 meter """ Desired change in latitude to achieve, expressed as a distance. """ CenterEastingsDelta = 0 meter """ Desired change in longitude to achieve, expressed as a distance. """ CircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ SpeedUpdateTimeout = 240 second """ Max time allowed between speed command updates. """ StateUpdateDelay = 10 second """ Minimum time delay between state updates to avoid rapid changes. """ HorizontalCommandMode = 0 count """ Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. """ AcousticContactTimeout = 4 hour """" If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ SendObservationDataInterval = 1 minute """ How often to send back some a-comms data """ TrackingUpdatePeriod = 30 second """ How long to wait between acoustic queries """ # parameters for constant depth trajectory Depth = 20 meter """ Depth of flat and level flight during the mission. """ MaxDepth = 60 meter """ Maximum depth for the entire mission. """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ # You probably do not need to change these. NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ CircleMaxError = 10 meter """ If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """ CircleTurnToPort = false """ If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """ Speed = 0 meter_per_second """ Vehicle speed. """ MyTempVar = NaN none_str """ A custom variable from the backseat driver interface. """ # You are even less likely to need to change these. KwpHeading = 0.010 radian_per_meter """ Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ } output { HeadingMode = 0 count """ Heading angle command mode enumaration. """ RudderMode = 1 count """ Rudder angle command mode enumaration. """ Heading = 0 degree """ Commanded vehicle heading. Mission will init Heading to current vehicle heading. """ RudderAngle = 0 degree """ Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode. """ TimeLastSendData = 0 second ElapsedSinceLastSendData = 0 second """ Time elapsed since last Send Data fix. """ } # Missions should always start with a timeout. timeout duration=MissionTimeout # Add tracking directive high in the stack (above NeedComms to enable tracking from surface). insert Insert/AbortDrift.tl { redefineArg AcousticTimeout = AcousticContactTimeout } behavior Estimation:TrackAcousticContact { run in parallel set contactDepthSetting = ContactDepth set contactLabelSetting = ContactLabel set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } #assign in sequence customUri "_.others_observations" = "999" aggregate SendObservationData { run when ( elapsed (MyTempVar) >= SendObservationDataInterval ) syslog info "Got test_good : " + customUri "_.send_observations"~none_str + " and temp var is " + MyTempVar~none_str assign in sequence ElapsedSinceLastSendData = elapsed (MyTempVar) assign in sequence MyTempVar = customUri "_.send_observations" behavior Sensor:SendDirect { run in parallel set destType = "modem" set destId = SendDataLabel set destName = "_.others_observations" set value = MyTempVar set unit = "none_str" } syslog info "SendData: sent send_observations : " + MyTempVar~none_str + " to nearby vehicles. Elapsed time " + ElapsedSinceLastSendData~minute } aggregate UpdateContactLabel { run when ( elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) ) ) assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" ) syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # Add guidance update directives high in the stack. aggregate SpeedTimeout { run when ( elapsed ( Speed ) >= SpeedUpdateTimeout ) assign in sequence Speed = 0 meter_per_second syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")." } aggregate UpdateSpeed { run when ( elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) ) and (elapsed ( Speed) > StateUpdateDelay) ) assign in sequence Speed = customUri "_.speedCmd" #syslog info "Updating vehicle speed " + Speed~meter_per_second } aggregate UpdateCommandMode { run when ( elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) ) and ( customUri "_.horizontalCmdMode" == HeadingMode or ( customUri "_.horizontalCmdMode" == RudderMode ) ) and (elapsed ( HorizontalCommandMode) > StateUpdateDelay) ) assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode" #syslog info "Updating horizontal command mode " + HorizontalCommandMode~count } aggregate UpdateHeading { run when ( elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) ) and (elapsed ( Heading) > StateUpdateDelay) ) assign in sequence Heading = customUri "_.headingCmd" syslog info "Updating heading " + Heading~degree } aggregate UpdateRudder { run when ( elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) ) and (elapsed ( RudderAngle) > StateUpdateDelay) ) assign in sequence RudderAngle = customUri "_.rudderAngleCmd" syslog info "Updating rudder angle " + RudderAngle~degree } insert id="Science" Insert/Science.tl # Power the Backseat payload. insert Insert/BackseatDriver.tl assign in sequence BackseatDriver:EnableBackseat = true insert Insert/PowerOnly.tl # Check for additional instructions first. call id="StartingMission" priorityHere=false refId="NeedComms" aggregate JoystickControl { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate CmdHeading { run while ( HorizontalCommandMode == HeadingMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set heading = Heading } } aggregate CmdRudder { run while ( HorizontalCommandMode == RudderMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set rudderAngle = RudderAngle } } } } 2025-10-28T16:29:38.338Z,1761668978.338 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl 2025-10-28T16:29:38.363Z,1761668978.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606590,0.792814,0.059109],[-0.794181,0.607681,-0.000611],[-0.036404,-0.046573,0.998251]] 2025-10-28T16:29:38.447Z,1761668978.447 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-28T16:29:38.447Z,1761668978.447 [DefaultWithUndock] Running Loop=1 2025-10-28T16:29:38.447Z,1761668978.447 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-28T16:29:38.447Z,1761668978.447 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-28T16:29:38.447Z,1761668978.447 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-28T16:29:38.767Z,1761668978.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618689,0.781659,0.078941],[-0.784807,0.619522,0.016425],[-0.036067,-0.072116,0.996744]] 2025-10-28T16:29:38.864Z,1761668978.864 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2025-10-28T16:29:38.865Z,1761668978.865 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2025-10-28T16:29:38.865Z,1761668978.865 [LcmPublisher](INFO): Deactivating messaging. 2025-10-28T16:29:39.177Z,1761668979.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610734,0.787217,0.085402],[-0.791737,0.605392,0.081567],[0.012509,-0.117432,0.993002]] 2025-10-28T16:29:39.582Z,1761668979.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606610,0.791612,0.073312],[-0.790475,0.590763,0.161708],[0.084700,-0.156045,0.984112]] 2025-10-28T16:29:39.983Z,1761668979.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623225,0.778068,0.078749],[-0.780698,0.613088,0.120970],[0.045843,-0.136871,0.989528]] 2025-10-28T16:29:40.387Z,1761668980.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641324,0.765241,0.055768],[-0.766405,0.635453,0.093934],[0.036444,-0.102983,0.994015]] 2025-10-28T16:29:40.792Z,1761668980.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636056,0.770748,0.037144],[-0.770708,0.632181,0.079729],[0.037970,-0.079340,0.996124]] 2025-10-28T16:29:41.194Z,1761668981.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630758,0.775122,0.036467],[-0.775377,0.627721,0.068968],[0.030567,-0.071778,0.996952]] 2025-10-28T16:29:41.595Z,1761668981.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640292,0.767327,0.035140],[-0.767876,0.638231,0.055026],[0.019795,-0.062215,0.997866]] 2025-10-28T16:29:42.403Z,1761668982.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652742,0.753269,0.080712],[-0.757580,0.648929,0.070450],[0.000691,-0.107132,0.994245]] 2025-10-28T16:29:42.807Z,1761668982.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637776,0.766022,0.080317],[-0.770219,0.634036,0.068998],[0.001930,-0.105867,0.994378]] 2025-10-28T16:29:43.211Z,1761668983.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642124,0.765261,0.045300],[-0.766003,0.638168,0.077338],[0.030275,-0.084361,0.995975]] 2025-10-28T16:29:43.615Z,1761668983.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648590,0.761135,-0.001908],[-0.759177,0.647098,0.070106],[0.054595,-0.044022,0.997538]] 2025-10-28T16:29:44.019Z,1761668984.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663860,0.747854,-0.001899],[-0.747596,0.663694,0.024706],[0.019737,-0.014982,0.999693]] 2025-10-28T16:29:44.423Z,1761668984.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661225,0.749706,0.026889],[-0.750135,0.661177,0.011913],[-0.008847,-0.028047,0.999567]] 2025-10-28T16:29:44.827Z,1761668984.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652895,0.757323,0.013807],[-0.756128,0.650572,0.070895],[0.044708,-0.056727,0.997388]] 2025-10-28T16:29:45.231Z,1761668985.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661777,0.749697,-0.002326],[-0.743088,0.656347,0.130494],[0.099358,-0.084630,0.991446]] 2025-10-28T16:29:45.635Z,1761668985.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675721,0.737158,0.000217],[-0.728076,0.667350,0.156686],[0.115357,-0.106034,0.987648]] 2025-10-28T16:29:46.040Z,1761668986.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660554,0.750076,0.032475],[-0.743401,0.647401,0.168010],[0.104996,-0.135121,0.985250]] 2025-10-28T16:29:46.443Z,1761668986.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656170,0.753922,0.032279],[-0.747076,0.642991,0.168642],[0.106388,-0.134773,0.985149]] 2025-10-28T16:29:46.847Z,1761668986.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680385,0.732189,0.031234],[-0.728049,0.670435,0.143041],[0.083793,-0.120063,0.989224]] 2025-10-28T16:29:47.251Z,1761668987.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669965,0.741562,0.035097],[-0.738412,0.660740,0.134797],[0.076770,-0.116226,0.990251]] 2025-10-28T16:29:47.655Z,1761668987.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671831,0.739785,0.036899],[-0.738578,0.665297,0.109004],[0.056091,-0.100485,0.993356]] 2025-10-28T16:29:48.059Z,1761668988.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681159,0.729611,0.060757],[-0.732124,0.679268,0.050880],[-0.004148,-0.079139,0.996855]] 2025-10-28T16:29:48.463Z,1761668988.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671777,0.738839,0.053219],[-0.740744,0.670390,0.043301],[-0.003685,-0.068511,0.997644]] 2025-10-28T16:29:48.867Z,1761668988.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670171,0.740775,0.046086],[-0.741916,0.666878,0.069526],[0.020769,-0.080786,0.996515]] 2025-10-28T16:29:49.271Z,1761668989.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664050,0.745212,0.060802],[-0.746043,0.655001,0.119973],[0.049580,-0.125029,0.990913]] 2025-10-28T16:29:49.277Z,1761668989.277 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:29:49.675Z,1761668989.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662310,0.745982,0.069692],[-0.746336,0.648722,0.148805],[0.065795,-0.150568,0.986408]] 2025-10-28T16:29:50.079Z,1761668990.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684961,0.719862,0.112367],[-0.728565,0.675778,0.111882],[0.004605,-0.158501,0.987348]] 2025-10-28T16:29:50.484Z,1761668990.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693424,0.707829,0.134690],[-0.719522,0.690134,0.077484],[-0.038109,-0.150641,0.987854]] 2025-10-28T16:29:50.504Z,1761668990.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:29:50.886Z,1761668990.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677744,0.730022,0.087926],[-0.735133,0.670192,0.102092],[0.015602,-0.133829,0.990882]] 2025-10-28T16:29:51.290Z,1761668991.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665596,0.746160,0.015106],[-0.740894,0.658193,0.133637],[0.089772,-0.100141,0.990915]] 2025-10-28T16:29:51.695Z,1761668991.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669084,0.742594,-0.029676],[-0.733289,0.666141,0.136172],[0.120889,-0.069350,0.990241]] 2025-10-28T16:29:52.504Z,1761668992.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670411,0.738737,0.069403],[-0.741910,0.668774,0.048070],[-0.010903,-0.083717,0.996430]] 2025-10-28T16:29:52.907Z,1761668992.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652337,0.751200,0.100774],[-0.757850,0.648396,0.072426],[-0.010935,-0.123618,0.992270]] 2025-10-28T16:29:53.311Z,1761668993.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645831,0.762409,0.040433],[-0.761411,0.639279,0.107589],[0.056179,-0.100270,0.993373]] 2025-10-28T16:29:53.715Z,1761668993.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645473,0.763744,-0.007705],[-0.759959,0.643216,0.093460],[0.076335,-0.054471,0.995593]] 2025-10-28T16:29:54.127Z,1761668994.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650261,0.759642,-0.010210],[-0.759320,0.650299,0.023320],[0.024354,-0.007412,0.999676]] 2025-10-28T16:29:54.523Z,1761668994.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637754,0.770218,0.005862],[-0.769498,0.636787,0.048744],[0.033811,-0.035597,0.998794]] 2025-10-28T16:29:54.927Z,1761668994.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606625,0.794841,-0.015296],[-0.780454,0.599086,0.178850],[0.151321,-0.096557,0.983757]] 2025-10-28T16:29:55.331Z,1761668995.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597796,0.801043,-0.031149],[-0.774948,0.587394,0.233289],[0.205172,-0.115320,0.971908]] 2025-10-28T16:29:55.736Z,1761668995.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606292,0.795213,-0.006767],[-0.786517,0.600876,0.142615],[0.117476,-0.081144,0.989755]] 2025-10-28T16:29:56.203Z,1761668996.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584353,0.809035,0.063205],[-0.810777,0.578772,0.087539],[0.034241,-0.102399,0.994154]] 2025-10-28T16:29:56.543Z,1761668996.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572581,0.814358,0.094721],[-0.819484,0.565050,0.095731],[0.024438,-0.132436,0.990890]] 2025-10-28T16:29:56.947Z,1761668996.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579172,0.804634,0.130861],[-0.814962,0.575415,0.068807],[-0.019935,-0.146498,0.989010]] 2025-10-28T16:29:57.353Z,1761668997.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572948,0.809914,0.125574],[-0.818127,0.574327,0.028581],[-0.048972,-0.119111,0.991673]] 2025-10-28T16:29:57.755Z,1761668997.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550027,0.830402,0.088897],[-0.832301,0.553819,-0.023676],[-0.068894,-0.060967,0.995759]] 2025-10-28T16:29:58.201Z,1761668998.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538253,0.842007,0.036162],[-0.839538,0.539448,-0.064590],[-0.073893,0.004406,0.997256]] 2025-10-28T16:29:58.563Z,1761668998.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535941,0.844253,-0.001902],[-0.843235,0.535181,-0.050360],[-0.041499,0.028594,0.998729]] 2025-10-28T16:29:58.970Z,1761668998.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536244,0.844047,-0.005162],[-0.844036,0.536266,0.004697],[0.006732,0.001838,0.999976]] 2025-10-28T16:29:59.371Z,1761668999.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533837,0.845515,0.011009],[-0.844624,0.532563,0.054652],[0.040346,-0.038474,0.998445]] 2025-10-28T16:29:59.775Z,1761668999.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533220,0.843405,0.065916],[-0.845926,0.530716,0.052438],[0.009244,-0.083721,0.996446]] 2025-10-28T16:30:00.202Z,1761669000.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524557,0.846370,0.092185],[-0.851128,0.518711,0.080748],[0.020525,-0.120819,0.992462]] 2025-10-28T16:30:00.584Z,1761669000.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506297,0.858916,0.076990],[-0.857503,0.491974,0.150497],[0.091388,-0.142215,0.985608]] 2025-10-28T16:30:00.988Z,1761669000.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507180,0.860234,0.052596],[-0.854850,0.494371,0.157575],[0.109549,-0.124881,0.986105]] 2025-10-28T16:30:01.393Z,1761669001.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508111,0.860122,0.044874],[-0.860756,0.505267,0.061682],[0.030381,-0.069967,0.997087]] 2025-10-28T16:30:01.807Z,1761669001.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493436,0.867424,0.064002],[-0.868369,0.495491,-0.020569],[-0.049555,-0.045428,0.997738]] 2025-10-28T16:30:02.607Z,1761669002.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490814,0.871245,0.005799],[-0.863887,0.485783,0.133095],[0.113142,-0.070335,0.991086]] 2025-10-28T16:30:02.741Z,1761669002.741 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:30:03.015Z,1761669003.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492692,0.870186,0.005656],[-0.860704,0.486345,0.150523],[0.128232,-0.079030,0.988590]] 2025-10-28T16:30:03.423Z,1761669003.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497897,0.866405,0.037965],[-0.864136,0.491943,0.106120],[0.073267,-0.085644,0.993628]] 2025-10-28T16:30:03.827Z,1761669003.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479785,0.876398,0.041635],[-0.874159,0.473416,0.108273],[0.075180,-0.088343,0.993249]] 2025-10-28T16:30:04.232Z,1761669004.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473932,0.880022,0.030805],[-0.875760,0.467411,0.120716],[0.091834,-0.084189,0.992209]] 2025-10-28T16:30:04.635Z,1761669004.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496527,0.867761,0.021251],[-0.863604,0.491385,0.112824],[0.087462,-0.074372,0.993388]] 2025-10-28T16:30:05.039Z,1761669005.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502355,0.863771,0.039237],[-0.862208,0.496997,0.097936],[0.065094,-0.083029,0.994419]] 2025-10-28T16:30:05.451Z,1761669005.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478964,0.873059,0.091443],[-0.876939,0.471167,0.094762],[0.039648,-0.125577,0.991291]] 2025-10-28T16:30:05.519Z,1761669005.519 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 20 minute 2025-10-28T16:30:05.545Z,1761669005.545 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count 2025-10-28T16:30:05.546Z,1761669005.546 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree 2025-10-28T16:30:05.547Z,1761669005.547 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree 2025-10-28T16:30:05.548Z,1761669005.548 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute 2025-10-28T16:30:05.847Z,1761669005.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473116,0.872296,0.123532],[-0.880984,0.467603,0.072206],[0.005221,-0.142992,0.989710]] 2025-10-28T16:30:06.251Z,1761669006.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438940,0.889498,0.126984],[-0.898153,0.438376,0.033873],[-0.025537,-0.128919,0.991326]] 2025-10-28T16:30:06.655Z,1761669006.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426402,0.900551,0.084792],[-0.904528,0.424847,0.036510],[-0.003145,-0.092265,0.995730]] 2025-10-28T16:30:07.062Z,1761669007.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439435,0.896784,0.051728],[-0.898226,0.438083,0.035695],[0.009350,-0.062149,0.998023]] 2025-10-28T16:30:07.464Z,1761669007.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428430,0.901955,0.054085],[-0.900963,0.430974,-0.050276],[-0.068656,-0.027189,0.997270]] 2025-10-28T16:30:07.867Z,1761669007.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421525,0.904921,0.058611],[-0.905113,0.423813,-0.033939],[-0.055552,-0.038743,0.997704]] 2025-10-28T16:30:08.271Z,1761669008.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429345,0.902293,0.039120],[-0.899853,0.423688,0.103699],[0.076993,-0.079725,0.993839]] 2025-10-28T16:30:08.675Z,1761669008.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422593,0.905361,0.041672],[-0.898581,0.412546,0.149522],[0.118180,-0.100633,0.987880]] 2025-10-28T16:30:08.770Z,1761669008.770 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-28T16:30:08.770Z,1761669008.770 [DefaultWithUndock:A.Wait] Stopped 2025-10-28T16:30:08.770Z,1761669008.770 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T16:30:08.770Z,1761669008.770 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-28T16:30:08.770Z,1761669008.770 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-28T16:30:08.771Z,1761669008.771 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T16:30:08.771Z,1761669008.771 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-28T16:30:08.771Z,1761669008.771 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-28T16:30:08.771Z,1761669008.771 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T16:30:08.771Z,1761669008.771 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T16:30:09.080Z,1761669009.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393625,0.914510,0.093441],[-0.919271,0.391484,0.041013],[0.000926,-0.102041,0.994780]] 2025-10-28T16:30:09.120Z,1761669009.120 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T16:30:09.120Z,1761669009.120 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T16:30:09.121Z,1761669009.121 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.137116 m. 2025-10-28T16:30:09.122Z,1761669009.122 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-28T16:30:09.122Z,1761669009.122 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T16:30:09.483Z,1761669009.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399086,0.910430,0.108846],[-0.915946,0.401297,0.001738],[-0.042097,-0.100391,0.994057]] 2025-10-28T16:30:09.527Z,1761669009.527 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-28T16:30:09.887Z,1761669009.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450191,0.890291,0.068626],[-0.892045,0.444988,0.079000],[0.039795,-0.096783,0.994510]] 2025-10-28T16:30:09.938Z,1761669009.938 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-28T16:30:10.053Z,1761669010.053 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-28T16:30:10.291Z,1761669010.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467395,0.883094,0.041064],[-0.878324,0.458591,0.135060],[0.100439,-0.099194,0.989986]] 2025-10-28T16:30:10.696Z,1761669010.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440783,0.896614,0.042343],[-0.889461,0.429950,0.154930],[0.120708,-0.105953,0.987018]] 2025-10-28T16:30:11.099Z,1761669011.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429707,0.901912,0.043662],[-0.899930,0.423796,0.102584],[0.074018,-0.083374,0.993766]] 2025-10-28T16:30:11.503Z,1761669011.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446407,0.892690,0.061851],[-0.894790,0.445974,0.021411],[-0.008470,-0.064902,0.997856]] 2025-10-28T16:30:11.907Z,1761669011.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465852,0.880573,0.087024],[-0.884852,0.464063,0.041013],[-0.004269,-0.096109,0.995362]] 2025-10-28T16:30:12.715Z,1761669012.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496311,0.865621,0.066147],[-0.860621,0.480569,0.168477],[0.114049,-0.140545,0.983483]] 2025-10-28T16:30:13.118Z,1761669013.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495711,0.866398,0.060208],[-0.862032,0.482406,0.155514],[0.105692,-0.128991,0.985997]] 2025-10-28T16:30:13.523Z,1761669013.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485993,0.872104,0.056973],[-0.871499,0.478700,0.106474],[0.065584,-0.101398,0.992682]] 2025-10-28T16:30:13.928Z,1761669013.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476435,0.876691,0.066498],[-0.878784,0.472488,0.067030],[0.027346,-0.090373,0.995533]] 2025-10-28T16:30:14.331Z,1761669014.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485194,0.870527,0.082276],[-0.874369,0.483889,0.036458],[-0.008075,-0.089629,0.995943]] 2025-10-28T16:30:14.734Z,1761669014.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500218,0.857592,0.119657],[-0.865298,0.500225,0.032164],[-0.032271,-0.119628,0.992294]] 2025-10-28T16:30:15.139Z,1761669015.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504510,0.852823,0.134765],[-0.863308,0.500620,0.063867],[-0.012999,-0.148565,0.988817]] 2025-10-28T16:30:15.543Z,1761669015.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479593,0.871169,0.105146],[-0.876932,0.471560,0.092851],[0.031307,-0.136737,0.990113]] 2025-10-28T16:30:15.832Z,1761669015.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:30:15.946Z,1761669015.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458435,0.887108,0.053632],[-0.888167,0.455167,0.063110],[0.031574,-0.076566,0.996565]] 2025-10-28T16:30:16.351Z,1761669016.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470688,0.882290,0.004219],[-0.882293,0.470697,-0.001643],[-0.003436,-0.002949,0.999990]] 2025-10-28T16:30:16.756Z,1761669016.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489259,0.871988,-0.016215],[-0.872129,0.489254,-0.004540],[0.003975,0.016362,0.999858]] 2025-10-28T16:30:17.159Z,1761669017.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493896,0.868955,-0.031357],[-0.867098,0.494890,0.056785],[0.064862,-0.000856,0.997894]] 2025-10-28T16:30:17.564Z,1761669017.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495394,0.868660,-0.003851],[-0.860312,0.491238,0.136191],[0.120195,-0.064156,0.990675]] 2025-10-28T16:30:17.967Z,1761669017.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498045,0.866121,0.042265],[-0.854128,0.481566,0.196365],[0.149723,-0.133899,0.979619]] 2025-10-28T16:30:18.371Z,1761669018.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517649,0.853683,0.057139],[-0.841860,0.496286,0.212067],[0.152680,-0.157880,0.975583]] 2025-10-28T16:30:18.775Z,1761669018.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507769,0.857843,0.079219],[-0.854432,0.489724,0.173542],[0.110076,-0.155806,0.981635]] 2025-10-28T16:30:19.180Z,1761669019.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485587,0.869054,0.094607],[-0.872270,0.474511,0.118255],[0.057878,-0.139946,0.988466]] 2025-10-28T16:30:19.583Z,1761669019.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510854,0.854133,0.097395],[-0.859667,0.507491,0.058528],[0.000564,-0.113627,0.993523]] 2025-10-28T16:30:19.987Z,1761669019.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523857,0.846675,0.093353],[-0.851779,0.521553,0.049544],[-0.006741,-0.105470,0.994400]] 2025-10-28T16:30:20.391Z,1761669020.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498634,0.864023,0.069482],[-0.866564,0.494966,0.063841],[0.020769,-0.092044,0.995538]] 2025-10-28T16:30:20.797Z,1761669020.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489364,0.871352,0.035615],[-0.872050,0.488604,0.028194],[0.007166,-0.044855,0.998968]] 2025-10-28T16:30:21.199Z,1761669021.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519442,0.854402,0.013320],[-0.854352,0.519581,-0.010878],[-0.016214,-0.005729,0.999852]] 2025-10-28T16:30:21.603Z,1761669021.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523339,0.851164,0.040448],[-0.851493,0.524189,-0.013629],[-0.032803,-0.027309,0.999089]] 2025-10-28T16:30:22.034Z,1761669022.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530301,0.841716,0.101465],[-0.847808,0.526667,0.061997],[-0.001255,-0.118900,0.992905]] 2025-10-28T16:30:22.815Z,1761669022.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527432,0.841780,0.114984],[-0.847811,0.512710,0.135445],[0.055062,-0.168922,0.984090]] 2025-10-28T16:30:23.224Z,1761669023.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527367,0.841754,0.115473],[-0.845946,0.507549,0.163611],[0.079112,-0.183967,0.979744]] 2025-10-28T16:30:23.629Z,1761669023.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529967,0.841803,0.102481],[-0.848017,0.525861,0.065860],[0.001550,-0.121809,0.992552]] 2025-10-28T16:30:24.033Z,1761669024.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532798,0.842321,0.081375],[-0.845694,0.533446,0.015372],[-0.030461,-0.077009,0.996565]] 2025-10-28T16:30:24.435Z,1761669024.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547238,0.834678,0.061991],[-0.836752,0.547307,0.017371],[-0.019429,-0.061377,0.997926]] 2025-10-28T16:30:24.839Z,1761669024.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544895,0.836777,0.053796],[-0.838316,0.542291,0.056097],[0.017767,-0.075665,0.996975]] 2025-10-28T16:30:25.240Z,1761669025.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546283,0.836617,0.040569],[-0.836759,0.542924,0.071189],[0.037532,-0.072836,0.996637]] 2025-10-28T16:30:25.644Z,1761669025.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564078,0.824380,0.047051],[-0.825375,0.561275,0.061037],[0.023909,-0.073264,0.997026]] 2025-10-28T16:30:26.047Z,1761669026.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579953,0.812818,0.054608],[-0.814416,0.576874,0.062799],[0.019542,-0.080894,0.996531]] 2025-10-28T16:30:26.451Z,1761669026.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565357,0.821995,0.068524],[-0.823987,0.559026,0.092388],[0.037636,-0.108696,0.993362]] 2025-10-28T16:30:26.855Z,1761669026.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553323,0.827244,0.097472],[-0.832329,0.544523,0.103554],[0.032589,-0.138428,0.989836]] 2025-10-28T16:30:27.260Z,1761669027.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568391,0.813938,0.120151],[-0.822586,0.559184,0.103277],[0.016875,-0.157537,0.987369]] 2025-10-28T16:30:27.662Z,1761669027.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579811,0.807653,0.107311],[-0.814251,0.569793,0.111045],[0.028541,-0.151763,0.988005]] 2025-10-28T16:30:28.066Z,1761669028.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591997,0.802730,0.071867],[-0.804223,0.582565,0.117656],[0.052579,-0.127449,0.990451]] 2025-10-28T16:30:28.471Z,1761669028.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602032,0.797647,0.036289],[-0.796784,0.597186,0.092215],[0.051884,-0.084431,0.995078]] 2025-10-28T16:30:28.593Z,1761669028.593 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:30:28.876Z,1761669028.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596755,0.802351,0.010794],[-0.802227,0.596257,0.030155],[0.017759,-0.026654,0.999487]] 2025-10-28T16:30:29.278Z,1761669029.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583399,0.811972,0.018635],[-0.812153,0.583427,0.004476],[-0.007238,-0.017746,0.999816]] 2025-10-28T16:30:29.683Z,1761669029.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580408,0.813818,0.028752],[-0.814309,0.580258,0.014165],[-0.005156,-0.031635,0.999486]] 2025-10-28T16:30:29.706Z,1761669029.706 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby. 2025-10-28T16:30:30.088Z,1761669030.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601385,0.796769,0.059120],[-0.798654,0.601552,0.016921],[-0.022082,-0.057393,0.998107]] 2025-10-28T16:30:30.114Z,1761669030.114 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-28T16:30:30.491Z,1761669030.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602958,0.788002,0.124472],[-0.795448,0.605740,0.018459],[-0.060852,-0.110142,0.992051]] 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:LeaveDock] Stopped 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-28T16:30:30.584Z,1761669030.584 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T16:30:30.585Z,1761669030.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T16:30:30.585Z,1761669030.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T16:30:30.585Z,1761669030.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T16:30:30.586Z,1761669030.586 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T16:30:30.586Z,1761669030.586 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T16:30:30.586Z,1761669030.586 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T16:30:30.895Z,1761669030.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586217,0.798240,0.138429],[-0.809200,0.585205,0.052253],[-0.039299,-0.142648,0.988993]] 2025-10-28T16:30:30.949Z,1761669030.949 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-28T16:30:30.949Z,1761669030.949 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T16:30:30.950Z,1761669030.950 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T16:30:31.301Z,1761669031.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583719,0.806125,0.097135],[-0.811932,0.578586,0.077494],[0.006269,-0.124102,0.992250]] 2025-10-28T16:30:31.703Z,1761669031.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583033,0.808899,0.075865],[-0.812445,0.580760,0.051495],[-0.002406,-0.091659,0.995788]] 2025-10-28T16:30:32.107Z,1761669032.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594902,0.802201,0.050656],[-0.803777,0.594162,0.030227],[-0.005850,-0.058698,0.998259]] 2025-10-28T16:30:32.511Z,1761669032.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590167,0.806986,0.021818],[-0.806971,0.588976,0.043651],[0.022375,-0.043368,0.998809]] 2025-10-28T16:30:32.915Z,1761669032.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587005,0.808789,0.035844],[-0.809440,0.585493,0.044779],[0.015230,-0.055299,0.998354]] 2025-10-28T16:30:32.923Z,1761669032.923 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163032.00,A,3646.63160,N,12151.98297,W,0.797,9.39,281025,,,D*74 2025-10-28T16:30:32.925Z,1761669032.925 [NAL9602](INFO): GPS fix at 20251028T163032: (36.777193, -121.866383) 2025-10-28T16:30:32.985Z,1761669032.985 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T16:30:32.985Z,1761669032.985 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T16:30:33.319Z,1761669033.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602758,0.796807,0.042202],[-0.797619,0.600224,0.059456],[0.022045,-0.069499,0.997338]] 2025-10-28T16:30:34.229Z,1761669034.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564207,0.820405,0.092767],[-0.823733,0.551725,0.130625],[0.055984,-0.150115,0.987082]] 2025-10-28T16:30:34.660Z,1761669034.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582687,0.804150,0.117547],[-0.812689,0.577177,0.080020],[-0.003498,-0.142156,0.989838]] 2025-10-28T16:30:35.031Z,1761669035.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592397,0.794071,0.136080],[-0.804819,0.590940,0.055293],[-0.036509,-0.142275,0.989154]] 2025-10-28T16:30:35.435Z,1761669035.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570813,0.812561,0.117971],[-0.820652,0.559958,0.113916],[0.026505,-0.161838,0.986461]] 2025-10-28T16:30:35.839Z,1761669035.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583195,0.809575,0.066868],[-0.811488,0.576861,0.093372],[0.037018,-0.108717,0.993383]] 2025-10-28T16:30:36.244Z,1761669036.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600373,0.797786,0.055593],[-0.799706,0.599327,0.035738],[-0.004807,-0.065914,0.997814]] 2025-10-28T16:30:36.647Z,1761669036.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589911,0.805565,0.055402],[-0.807451,0.588954,0.033995],[-0.005244,-0.064789,0.997885]] 2025-10-28T16:30:37.051Z,1761669037.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586261,0.805440,0.086972],[-0.809115,0.587499,0.013305],[-0.040380,-0.078171,0.996122]] 2025-10-28T16:30:37.345Z,1761669037.345 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour 2025-10-28T16:30:37.345Z,1761669037.345 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 200 minute 2025-10-28T16:30:37.346Z,1761669037.346 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 60 second 2025-10-28T16:30:37.347Z,1761669037.347 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter 2025-10-28T16:30:37.347Z,1761669037.347 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter 2025-10-28T16:30:37.352Z,1761669037.352 [CommandExec](IMPORTANT): got command run 2025-10-28T16:30:37.354Z,1761669037.354 [CommandExec](IMPORTANT): Running 2025-10-28T16:30:37.454Z,1761669037.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563001,0.818130,0.117016],[-0.825558,0.563323,0.033487],[-0.038521,-0.115456,0.992565]] 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock] Stopped 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault] Stopped 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T16:30:37.501Z,1761669037.501 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T16:30:37.502Z,1761669037.502 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T16:30:37.502Z,1761669037.502 [MissionManager](IMPORTANT): Started mission marl 2025-10-28T16:30:37.502Z,1761669037.502 [marl] Running Loop=1 2025-10-28T16:30:37.502Z,1761669037.502 [marl](DEBUG): Aggregate::initialize marl 2025-10-28T16:30:37.502Z,1761669037.502 [marl:AbortDrift] Running Loop=1 2025-10-28T16:30:37.502Z,1761669037.502 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift 2025-10-28T16:30:37.502Z,1761669037.502 [marl:AbortDrift:A] Running Loop=1 2025-10-28T16:30:37.502Z,1761669037.502 [marl:B.] Running Loop=1 2025-10-28T16:30:37.503Z,1761669037.503 [marl:B.](INFO): Initializing TrackAcousticContact. 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T16:30:37.503Z,1761669037.503 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-28T16:30:37.504Z,1761669037.504 [marl:Science] Running Loop=1 2025-10-28T16:30:37.504Z,1761669037.504 [marl:Science](DEBUG): Aggregate::initialize marl:Science 2025-10-28T16:30:37.504Z,1761669037.504 [marl:Science:A] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:B] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:C] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:D] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:E] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:F] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:Read_Oil] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:PeakDetectChl] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:PeakDetectChl:A] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:EdgeDetectChl] Running Loop=1 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl 2025-10-28T16:30:37.505Z,1761669037.505 [marl:Science:EdgeDetectChl:A] Running Loop=1 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:HighestChlPeakReport] Running Loop=1 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-28T16:30:37.506Z,1761669037.506 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectNO3] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectNO3:A] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectOil] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:PeakDetectOil:A] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:HighestOilPeakReport] Running Loop=1 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport 2025-10-28T16:30:37.507Z,1761669037.507 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:30:37.508Z,1761669037.508 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:30:37.516Z,1761669037.516 [marl:Science:PeakDetectFDOM] Running Loop=1 2025-10-28T16:30:37.516Z,1761669037.516 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:PeakDetectSalinity] Running Loop=1 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:HighestSaltPeakReport] Running Loop=1 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T16:30:37.517Z,1761669037.517 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1 2025-10-28T16:30:37.518Z,1761669037.518 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T16:30:37.519Z,1761669037.519 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T16:30:37.520Z,1761669037.520 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T16:30:37.528Z,1761669037.528 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:ChlThreshTrigger] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-28T16:30:37.529Z,1761669037.529 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-28T16:30:37.530Z,1761669037.530 [marl:Science:OceanCurrent] Running Loop=1 2025-10-28T16:30:37.530Z,1761669037.530 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent 2025-10-28T16:30:37.530Z,1761669037.530 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T16:30:37.530Z,1761669037.530 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-28T16:30:37.530Z,1761669037.530 [marl:BackseatDriver] Running Loop=1 2025-10-28T16:30:37.530Z,1761669037.530 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver 2025-10-28T16:30:37.530Z,1761669037.530 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-28T16:30:37.530Z,1761669037.530 [marl:PowerOnly] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:A] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:B] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:C] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:D] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:E.Wait] Running Loop=1 2025-10-28T16:30:37.531Z,1761669037.531 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-28T16:30:37.531Z,1761669037.531 [marl:F] Running Loop=1 2025-10-28T16:30:37.541Z,1761669037.541 [marl:PowerOnly] Running Loop=1 2025-10-28T16:30:37.541Z,1761669037.541 [marl:PowerOnly:D] Stopped 2025-10-28T16:30:37.541Z,1761669037.541 [marl:PowerOnly:C] Stopped 2025-10-28T16:30:37.541Z,1761669037.541 [marl:PowerOnly:B] Stopped 2025-10-28T16:30:37.541Z,1761669037.541 [marl:PowerOnly:A] Stopped 2025-10-28T16:30:37.541Z,1761669037.541 [marl:BackseatDriver] Running Loop=1 2025-10-28T16:30:37.542Z,1761669037.542 [marl:Science] Running Loop=1 2025-10-28T16:30:37.543Z,1761669037.543 [marl:Science:ChlThreshTrigger] Stopped 2025-10-28T16:30:37.543Z,1761669037.543 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger 2025-10-28T16:30:37.543Z,1761669037.543 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-28T16:30:37.544Z,1761669037.544 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-28T16:30:37.544Z,1761669037.544 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-28T16:30:37.552Z,1761669037.552 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:30:37.553Z,1761669037.553 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:HighestSaltPeakReport] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectSalinity] Stopped 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity 2025-10-28T16:30:37.554Z,1761669037.554 [marl:Science:PeakDetectSalinity:A] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectFDOM] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectFDOM:A] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:HighestOilPeakReport] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectOil] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectOil:A] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectNO3] Stopped 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3 2025-10-28T16:30:37.555Z,1761669037.555 [marl:Science:PeakDetectNO3:A] Stopped 2025-10-28T16:30:37.556Z,1761669037.556 [marl:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-28T16:30:37.564Z,1761669037.564 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T16:30:37.568Z,1761669037.568 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:HighestChlPeakReport] Stopped 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:EdgeDetectChl] Stopped 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:EdgeDetectChl:A] Stopped 2025-10-28T16:30:37.576Z,1761669037.576 [marl:Science:PeakDetectChl] Stopped 2025-10-28T16:30:37.577Z,1761669037.577 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl 2025-10-28T16:30:37.577Z,1761669037.577 [marl:Science:PeakDetectChl:A] Stopped 2025-10-28T16:30:37.577Z,1761669037.577 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T16:30:37.578Z,1761669037.578 [marl:Science:Read_Oil] Stopped 2025-10-28T16:30:37.578Z,1761669037.578 [marl:Science:F] Stopped 2025-10-28T16:30:37.578Z,1761669037.578 [marl:Science:E] Running Loop=1 2025-10-28T16:30:37.580Z,1761669037.580 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-10-28T16:30:37.580Z,1761669037.580 [marl:Science:D] Stopped 2025-10-28T16:30:37.580Z,1761669037.580 [marl:Science:C] Running Loop=1 2025-10-28T16:30:37.581Z,1761669037.581 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-10-28T16:30:37.581Z,1761669037.581 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-10-28T16:30:37.581Z,1761669037.581 [marl:Science:B] Running Loop=1 2025-10-28T16:30:37.582Z,1761669037.582 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-10-28T16:30:37.582Z,1761669037.582 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-10-28T16:30:37.582Z,1761669037.582 [marl:Science:A] Stopped 2025-10-28T16:30:37.582Z,1761669037.582 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T16:30:37.582Z,1761669037.582 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T16:30:37.583Z,1761669037.583 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T16:30:37.583Z,1761669037.583 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T16:30:37.588Z,1761669037.588 [marl:F] Stopped 2025-10-28T16:30:37.588Z,1761669037.588 [marl:H] Running Loop=1 2025-10-28T16:30:37.588Z,1761669037.588 [marl:B.] Running Loop=1 2025-10-28T16:30:37.589Z,1761669037.589 [marl:AbortDrift] Running Loop=1 2025-10-28T16:30:37.589Z,1761669037.589 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to 0.500000 h . 2025-10-28T16:30:37.589Z,1761669037.589 [marl:AbortDrift:A] Stopped 2025-10-28T16:30:37.589Z,1761669037.589 [marl:AbortDrift:B.AbortDrift] Running Loop=1 2025-10-28T16:30:37.590Z,1761669037.590 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift. 2025-10-28T16:30:37.590Z,1761669037.590 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours. 2025-10-28T16:30:37.859Z,1761669037.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568421,0.814545,0.115818],[-0.822251,0.557586,0.114020],[0.028296,-0.160043,0.986704]] 2025-10-28T16:30:37.925Z,1761669037.925 [marl:H] Stopped 2025-10-28T16:30:37.925Z,1761669037.925 [marl:I] Running Loop=1 2025-10-28T16:30:37.927Z,1761669037.927 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761668992.00. Resetting abort timer. 2025-10-28T16:30:38.263Z,1761669038.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585819,0.800588,0.125997],[-0.810241,0.575088,0.113064],[0.018058,-0.168323,0.985566]] 2025-10-28T16:30:38.369Z,1761669038.369 [marl:I] Stopped 2025-10-28T16:30:38.369Z,1761669038.369 [marl:J] Running Loop=1 2025-10-28T16:30:38.494Z,1761669038.494 [WetLabsBB2FL](INFO): Powering up 2025-10-28T16:30:38.666Z,1761669038.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565303,0.814375,0.131249],[-0.824075,0.564595,0.046176],[-0.036498,-0.134262,0.990273]] 2025-10-28T16:30:38.695Z,1761669038.695 [marl:J] Stopped 2025-10-28T16:30:38.695Z,1761669038.695 [marl:U] Running Loop=1 2025-10-28T16:30:39.071Z,1761669039.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550840,0.831011,0.077429],[-0.834530,0.549705,0.037209],[-0.011642,-0.085113,0.996303]] 2025-10-28T16:30:39.102Z,1761669039.102 [marl:U] Stopped 2025-10-28T16:30:39.102Z,1761669039.102 [marl:StartingMission] Running Loop=1 2025-10-28T16:30:39.103Z,1761669039.103 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission 2025-10-28T16:30:39.103Z,1761669039.103 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2025-10-28T16:30:39.364Z,1761669039.364 [BackseatComponent](INFO): Powering up 2025-10-28T16:30:39.364Z,1761669039.364 [BackseatComponent](INFO): Subscribing to LCM channels. 2025-10-28T16:30:39.475Z,1761669039.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559071,0.829105,0.004951],[-0.827154,0.557325,0.072145],[0.057056,-0.044430,0.997382]] 2025-10-28T16:30:39.504Z,1761669039.504 [marl:NeedComms] Running Loop=1 2025-10-28T16:30:39.504Z,1761669039.504 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T16:30:39.504Z,1761669039.504 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T16:30:39.504Z,1761669039.504 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T16:30:39.505Z,1761669039.505 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T16:30:39.505Z,1761669039.505 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T16:30:39.506Z,1761669039.506 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T16:30:39.506Z,1761669039.506 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T16:30:39.506Z,1761669039.506 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T16:30:39.506Z,1761669039.506 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T16:30:39.507Z,1761669039.507 [marl:NeedComms:A] Running Loop=1 2025-10-28T16:30:39.508Z,1761669039.508 [marl:NeedComms:A](INFO): last time_fix was: 1761669032.000000 second since 1970/01/01T00:00:00Z 2025-10-28T16:30:39.508Z,1761669039.508 [marl:NeedComms:A] Stopped 2025-10-28T16:30:39.878Z,1761669039.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566046,0.824307,-0.010470],[-0.820973,0.564818,0.083571],[0.074802,-0.038709,0.996447]] 2025-10-28T16:30:39.909Z,1761669039.909 [marl:NeedComms:C] Running Loop=1 2025-10-28T16:30:40.283Z,1761669040.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556226,0.831015,0.005241],[-0.828413,0.553962,0.082813],[0.065916,-0.050404,0.996551]] 2025-10-28T16:30:40.344Z,1761669040.344 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T16:30:40.557Z,1761669040.557 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-28T16:30:40.689Z,1761669040.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547376,0.832961,0.080969],[-0.836668,0.542450,0.075734],[0.019162,-0.109199,0.993835]] 2025-10-28T16:30:41.091Z,1761669041.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530597,0.832677,0.158478],[-0.846788,0.529031,0.055470],[-0.037652,-0.163630,0.985803]] 2025-10-28T16:30:41.498Z,1761669041.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524422,0.837711,0.152386],[-0.850758,0.522790,0.053871],[-0.034537,-0.157895,0.986852]] 2025-10-28T16:30:41.642Z,1761669041.642 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:30:41.898Z,1761669041.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550151,0.828966,0.100745],[-0.835008,0.547505,0.054771],[-0.009755,-0.114255,0.993404]] 2025-10-28T16:30:42.304Z,1761669042.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532305,0.845113,0.049353],[-0.846551,0.531526,0.028855],[-0.001846,-0.057139,0.998364]] 2025-10-28T16:30:42.708Z,1761669042.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511854,0.859031,0.008422],[-0.858599,0.511873,-0.028176],[-0.028515,0.007191,0.999568]] 2025-10-28T16:30:43.111Z,1761669043.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514056,0.857563,-0.018233],[-0.857211,0.512855,-0.046578],[-0.030593,0.039573,0.998748]] 2025-10-28T16:30:43.515Z,1761669043.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494372,0.869250,0.000699],[-0.869125,0.494314,-0.016600],[-0.014775,0.007599,0.999862]] 2025-10-28T16:30:43.921Z,1761669043.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495767,0.866731,0.054706],[-0.868396,0.495485,0.019549],[-0.010162,-0.057198,0.998311]] 2025-10-28T16:30:44.323Z,1761669044.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519981,0.844334,0.129304],[-0.853943,0.517395,0.055524],[-0.020021,-0.139289,0.990049]] 2025-10-28T16:30:44.727Z,1761669044.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514841,0.838861,0.176780],[-0.857121,0.499629,0.125360],[0.016836,-0.216062,0.976234]] 2025-10-28T16:30:45.132Z,1761669045.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486037,0.857822,0.167059],[-0.871989,0.463252,0.158215],[0.058330,-0.222572,0.973170]] 2025-10-28T16:30:45.536Z,1761669045.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481843,0.873374,0.071030],[-0.869849,0.466959,0.159099],[0.105785,-0.138446,0.984704]] 2025-10-28T16:30:45.939Z,1761669045.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494668,0.868233,-0.038398],[-0.857430,0.494770,0.141476],[0.141832,-0.037060,0.989197]] 2025-10-28T16:30:46.343Z,1761669046.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479482,0.873949,-0.079441],[-0.867830,0.485661,0.104901],[0.130260,0.018643,0.991305]] 2025-10-28T16:30:46.748Z,1761669046.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474428,0.879144,-0.044989],[-0.878314,0.476168,0.042756],[0.059011,0.019230,0.998072]] 2025-10-28T16:30:47.152Z,1761669047.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509416,0.860272,-0.020654],[-0.859862,0.509819,0.026881],[0.033655,0.004066,0.999425]] 2025-10-28T16:30:47.555Z,1761669047.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510898,0.859574,0.010733],[-0.857622,0.508803,0.074860],[0.058887,-0.047451,0.997136]] 2025-10-28T16:30:47.967Z,1761669047.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506922,0.859435,0.066341],[-0.861752,0.503462,0.062519],[0.020331,-0.088862,0.995836]] 2025-10-28T16:30:48.362Z,1761669048.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517546,0.850787,0.091143],[-0.855651,0.514285,0.058062],[0.002525,-0.108036,0.994144]] 2025-10-28T16:30:48.771Z,1761669048.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533249,0.842971,0.071031],[-0.845571,0.528581,0.074919],[0.025609,-0.100013,0.994657]] 2025-10-28T16:30:49.171Z,1761669049.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524720,0.850069,0.045304],[-0.850661,0.521576,0.065840],[0.032339,-0.073086,0.996801]] 2025-10-28T16:30:49.576Z,1761669049.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534801,0.843872,0.043222],[-0.844975,0.533965,0.029980],[0.002220,-0.052555,0.998616]] 2025-10-28T16:30:49.599Z,1761669049.599 [NAL9602](INFO): SBD MO Status=0, MOMSN=3292, MT Status=0, MTMSN=0 2025-10-28T16:30:49.599Z,1761669049.599 [NAL9602](INFO): No messages in MT queue 2025-10-28T16:30:49.985Z,1761669049.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544249,0.836705,0.060976],[-0.838830,0.543833,0.024673],[-0.012517,-0.064577,0.997834]] 2025-10-28T16:30:50.383Z,1761669050.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552763,0.831633,0.053286],[-0.831340,0.545883,0.104332],[0.057678,-0.101970,0.993114]] 2025-10-28T16:30:50.790Z,1761669050.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547351,0.834313,0.065797],[-0.834020,0.537256,0.125565],[0.069410,-0.123604,0.989901]] 2025-10-28T16:30:50.792Z,1761669050.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:30:50.803Z,1761669050.803 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163050.00,A,3646.63195,N,12151.98287,W,0.641,264.26,281025,,,D*76 2025-10-28T16:30:50.805Z,1761669050.805 [NAL9602](INFO): GPS fix at 20251028T163050: (36.777199, -121.866381) 2025-10-28T16:30:50.823Z,1761669050.823 [marl:NeedComms:C] Stopped 2025-10-28T16:30:50.823Z,1761669050.823 [marl:NeedComms:D] Running Loop=1 2025-10-28T16:30:50.824Z,1761669050.824 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761668992.00. Resetting abort timer. 2025-10-28T16:30:51.190Z,1761669051.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516949,0.854546,0.050137],[-0.855997,0.515665,0.036844],[0.005631,-0.061964,0.998063]] 2025-10-28T16:30:51.243Z,1761669051.243 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-28T16:30:51.616Z,1761669051.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544441,0.838689,0.013615],[-0.838521,0.544607,-0.016910],[-0.021597,-0.002209,0.999764]] 2025-10-28T16:30:52.011Z,1761669052.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600408,0.799661,-0.007298],[-0.799634,0.600450,0.006730],[0.009763,0.001795,0.999951]] 2025-10-28T16:30:52.827Z,1761669052.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582851,0.811152,0.048135],[-0.808155,0.572487,0.138362],[0.084676,-0.119545,0.989211]] 2025-10-28T16:30:53.223Z,1761669053.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584137,0.809575,0.058076],[-0.806367,0.570689,0.155198],[0.092501,-0.137488,0.986175]] 2025-10-28T16:30:53.630Z,1761669053.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609677,0.790294,0.061070],[-0.791155,0.601990,0.108084],[0.048655,-0.114212,0.992264]] 2025-10-28T16:30:54.033Z,1761669054.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618783,0.779647,0.096219],[-0.784694,0.619202,0.029058],[-0.036924,-0.093483,0.994936]] 2025-10-28T16:30:54.438Z,1761669054.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610801,0.786676,0.089789],[-0.791783,0.606667,0.070959],[0.001350,-0.114435,0.993430]] 2025-10-28T16:30:55.244Z,1761669055.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627529,0.778552,0.007953],[-0.775544,0.624136,0.094793],[0.068838,-0.065653,0.995465]] 2025-10-28T16:30:55.650Z,1761669055.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643079,0.765313,0.027301],[-0.765183,0.643583,-0.017201],[-0.030734,-0.009828,0.999479]] 2025-10-28T16:30:56.051Z,1761669056.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648919,0.760672,0.016794],[-0.760840,0.648595,0.021158],[0.005202,-0.026507,0.999635]] 2025-10-28T16:30:56.467Z,1761669056.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651158,0.758520,0.025313],[-0.753521,0.642168,0.140807],[0.090550,-0.110761,0.989713]] 2025-10-28T16:30:56.865Z,1761669056.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646708,0.752972,0.121666],[-0.762198,0.631975,0.140219],[0.028691,-0.183415,0.982617]] 2025-10-28T16:30:57.274Z,1761669057.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642644,0.755334,0.128370],[-0.765107,0.623887,0.159299],[0.040235,-0.200589,0.978849]] 2025-10-28T16:30:57.675Z,1761669057.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654488,0.748386,0.107535],[-0.754793,0.638469,0.150483],[0.043961,-0.179656,0.982747]] 2025-10-28T16:30:57.995Z,1761669057.995 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251028T162422/Courier0006.lzma 2025-10-28T16:30:58.074Z,1761669058.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669453,0.739495,0.070569],[-0.742356,0.662500,0.100010],[0.027205,-0.119339,0.992481]] 2025-10-28T16:30:58.480Z,1761669058.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669248,0.742786,0.019375],[-0.740337,0.664366,0.102565],[0.063311,-0.082985,0.994538]] 2025-10-28T16:30:58.878Z,1761669058.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654241,0.756146,-0.014565],[-0.750525,0.651509,0.110667],[0.093169,-0.061472,0.993751]] 2025-10-28T16:30:58.998Z,1761669058.998 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0006.lzma.bak 2025-10-28T16:30:58.998Z,1761669058.998 [DataOverHttps](INFO): SBD MOMSN=26261676 2025-10-28T16:30:59.283Z,1761669059.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642564,0.766060,0.016240],[-0.765279,0.640565,0.063438],[0.038194,-0.053191,0.997854]] 2025-10-28T16:30:59.701Z,1761669059.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659128,0.750922,0.040817],[-0.752030,0.658064,0.037449],[0.001261,-0.055379,0.998465]] 2025-10-28T16:31:00.091Z,1761669060.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679983,0.731422,0.051424],[-0.733209,0.677796,0.054744],[0.005186,-0.074930,0.997175]] 2025-10-28T16:31:00.495Z,1761669060.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670359,0.739788,0.057727],[-0.740686,0.662419,0.112184],[0.044753,-0.117961,0.992009]] 2025-10-28T16:31:00.899Z,1761669060.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653161,0.755771,0.046802],[-0.752796,0.641433,0.147859],[0.081728,-0.131808,0.987900]] 2025-10-28T16:31:01.304Z,1761669061.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648181,0.759688,0.052299],[-0.759149,0.639288,0.122491],[0.059621,-0.119099,0.991091]] 2025-10-28T16:31:01.710Z,1761669061.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663522,0.745871,0.058443],[-0.748150,0.661840,0.047336],[-0.003373,-0.075132,0.997168]] 2025-10-28T16:31:02.115Z,1761669062.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661300,0.747541,0.062171],[-0.749282,0.662207,0.007609],[-0.035482,-0.051616,0.998037]] 2025-10-28T16:31:02.515Z,1761669062.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665426,0.745111,0.044920],[-0.746338,0.665213,0.021713],[-0.013703,-0.047974,0.998755]] 2025-10-28T16:31:02.921Z,1761669062.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681099,0.729639,0.061092],[-0.731538,0.681643,0.014673],[-0.030937,-0.054685,0.998024]] 2025-10-28T16:31:03.323Z,1761669063.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684006,0.724803,0.082447],[-0.727113,0.686512,-0.002870],[-0.058681,-0.057985,0.996591]] 2025-10-28T16:31:03.730Z,1761669063.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688825,0.721092,0.074475],[-0.724265,0.688947,0.028162],[-0.031002,-0.073338,0.996825]] 2025-10-28T16:31:04.149Z,1761669064.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704820,0.706692,0.061770],[-0.709378,0.701713,0.066195],[0.003434,-0.090474,0.995893]] 2025-10-28T16:31:04.536Z,1761669064.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689717,0.715824,0.109025],[-0.724007,0.683911,0.089883],[-0.010223,-0.140929,0.989967]] 2025-10-28T16:31:04.945Z,1761669064.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668334,0.736249,0.106145],[-0.743838,0.662609,0.087495],[-0.005914,-0.137431,0.990494]] 2025-10-28T16:31:05.348Z,1761669065.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681693,0.728571,0.066927],[-0.731602,0.677883,0.072341],[0.007336,-0.098278,0.995132]] 2025-10-28T16:31:05.761Z,1761669065.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694584,0.717817,0.047873],[-0.718752,0.689559,0.088907],[0.030807,-0.096162,0.994889]] 2025-10-28T16:31:06.189Z,1761669066.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693507,0.719650,0.033941],[-0.714622,0.681153,0.159201],[0.091450,-0.134661,0.986663]] 2025-10-28T16:31:06.560Z,1761669066.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682207,0.729736,0.045596],[-0.723604,0.664902,0.185207],[0.104835,-0.159344,0.981641]] 2025-10-28T16:31:06.963Z,1761669066.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688021,0.723060,0.061729],[-0.724099,0.678394,0.124346],[0.048033,-0.130250,0.990317]] 2025-10-28T16:31:07.368Z,1761669067.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697651,0.713731,0.062227],[-0.716314,0.693276,0.079141],[0.013345,-0.099787,0.994919]] 2025-10-28T16:31:07.774Z,1761669067.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697292,0.715681,0.039802],[-0.716126,0.693189,0.081567],[0.030786,-0.085379,0.995873]] 2025-10-28T16:31:08.194Z,1761669068.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690324,0.723448,-0.008685],[-0.721223,0.689054,0.071005],[0.057353,-0.042752,0.997438]] 2025-10-28T16:31:08.580Z,1761669068.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684467,0.725172,-0.075040],[-0.722413,0.688489,0.064042],[0.098105,0.010375,0.995122]] 2025-10-28T16:31:08.984Z,1761669068.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698631,0.713792,-0.049145],[-0.710260,0.700178,0.072674],[0.086285,-0.015867,0.996144]] 2025-10-28T16:31:09.386Z,1761669069.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695025,0.718494,0.026588],[-0.716270,0.688716,0.112369],[0.062425,-0.097144,0.993311]] 2025-10-28T16:31:09.796Z,1761669069.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698731,0.714091,0.043001],[-0.710289,0.685339,0.160623],[0.085229,-0.142775,0.986079]] 2025-10-28T16:31:10.206Z,1761669070.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708793,0.704970,0.025076],[-0.697262,0.694768,0.176416],[0.106946,-0.142527,0.983996]] 2025-10-28T16:31:10.603Z,1761669070.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687706,0.725723,0.019668],[-0.719750,0.678000,0.149252],[0.094980,-0.116797,0.988604]] 2025-10-28T16:31:11.006Z,1761669071.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684474,0.729005,0.006835],[-0.726779,0.681587,0.085041],[0.057337,-0.063176,0.996354]] 2025-10-28T16:31:11.414Z,1761669071.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714810,0.699319,0.000094],[-0.699263,0.714750,0.012784],[0.008873,-0.009204,0.999918]] 2025-10-28T16:31:11.815Z,1761669071.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736934,0.675924,-0.007329],[-0.675964,0.736884,-0.008598],[-0.000411,0.011290,0.999936]] 2025-10-28T16:31:12.220Z,1761669072.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724761,0.688873,0.013262],[-0.688911,0.724224,0.030011],[0.011069,-0.030887,0.999462]] 2025-10-28T16:31:12.622Z,1761669072.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709846,0.702326,0.053443],[-0.704272,0.706539,0.069307],[0.010917,-0.086836,0.996163]] 2025-10-28T16:31:13.027Z,1761669073.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739300,0.669522,0.071950],[-0.672985,0.730996,0.112856],[0.022965,-0.131855,0.991003]] 2025-10-28T16:31:13.437Z,1761669073.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754399,0.654540,0.049599],[-0.653181,0.741041,0.155605],[0.065095,-0.149786,0.986573]] 2025-10-28T16:31:13.840Z,1761669073.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740856,0.670898,0.032057],[-0.664997,0.725959,0.175390],[0.094397,-0.151257,0.983977]] 2025-10-28T16:31:14.244Z,1761669074.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752062,0.656642,0.056792],[-0.657740,0.742210,0.128461],[0.042201,-0.133965,0.990087]] 2025-10-28T16:31:14.647Z,1761669074.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763403,0.637467,0.104170],[-0.644842,0.761474,0.065849],[-0.037346,-0.117443,0.992377]] 2025-10-28T16:31:15.051Z,1761669075.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769252,0.630657,0.102585],[-0.638291,0.765763,0.078694],[-0.028927,-0.126014,0.991607]] 2025-10-28T16:31:15.455Z,1761669075.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772967,0.631156,0.064531],[-0.634350,0.767069,0.095949],[0.011059,-0.115101,0.993292]] 2025-10-28T16:31:15.862Z,1761669075.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771464,0.635857,0.023010],[-0.634926,0.766977,0.092816],[0.041370,-0.086214,0.995417]] 2025-10-28T16:31:16.147Z,1761669076.147 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251028T162422/Courier0009.lzma 2025-10-28T16:31:16.262Z,1761669076.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778633,0.627478,0.001595],[-0.626295,0.777004,0.063398],[0.038541,-0.050363,0.997987]] 2025-10-28T16:31:16.667Z,1761669076.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803459,0.595150,0.015786],[-0.595360,0.803182,0.021108],[-0.000116,-0.026357,0.999653]] 2025-10-28T16:31:17.080Z,1761669077.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809824,0.584406,0.051529],[-0.586402,0.808990,0.040825],[-0.017828,-0.063278,0.997837]] 2025-10-28T16:31:17.143Z,1761669077.143 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0009.lzma.bak 2025-10-28T16:31:17.143Z,1761669077.143 [DataOverHttps](INFO): SBD MOMSN=26261683 2025-10-28T16:31:17.475Z,1761669077.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792948,0.609084,0.015785],[-0.605924,0.785585,0.125348],[0.063947,-0.108959,0.991987]] 2025-10-28T16:31:17.878Z,1761669077.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788971,0.614364,0.009074],[-0.605208,0.774495,0.184066],[0.106056,-0.150714,0.982872]] 2025-10-28T16:31:18.283Z,1761669078.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803750,0.591173,0.067084],[-0.593903,0.790457,0.149858],[0.035565,-0.160290,0.986429]] 2025-10-28T16:31:18.687Z,1761669078.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796036,0.595145,0.110133],[-0.605015,0.787503,0.117452],[-0.016829,-0.160128,0.986953]] 2025-10-28T16:31:19.091Z,1761669079.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801383,0.593737,0.072532],[-0.598151,0.795384,0.097880],[0.000424,-0.121824,0.992552]] 2025-10-28T16:31:19.495Z,1761669079.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796640,0.604332,0.012146],[-0.603026,0.793218,0.084651],[0.041523,-0.074761,0.996337]] 2025-10-28T16:31:19.903Z,1761669079.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802075,0.595967,-0.038714],[-0.592930,0.802393,0.067828],[0.071487,-0.031448,0.996946]] 2025-10-28T16:31:20.303Z,1761669080.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825302,0.564127,-0.025246],[-0.562973,0.825453,0.041104],[0.044027,-0.019710,0.998836]] 2025-10-28T16:31:20.707Z,1761669080.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807549,0.589365,0.022644],[-0.589483,0.805263,0.063731],[0.019327,-0.064814,0.997710]] 2025-10-28T16:31:21.110Z,1761669081.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789259,0.611024,0.061000],[-0.613624,0.781050,0.115874],[0.023157,-0.128885,0.991389]] 2025-10-28T16:31:21.516Z,1761669081.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800592,0.590798,0.100049],[-0.599062,0.785451,0.155535],[0.013306,-0.184456,0.982751]] 2025-10-28T16:31:21.933Z,1761669081.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808198,0.575263,0.126049],[-0.588905,0.788468,0.177510],[0.002730,-0.217694,0.976013]] 2025-10-28T16:31:22.323Z,1761669082.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800210,0.590854,0.102744],[-0.599720,0.788096,0.138713],[0.000988,-0.172617,0.984989]] 2025-10-28T16:31:22.731Z,1761669082.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799167,0.600584,0.025135],[-0.600907,0.797115,0.059316],[0.015588,-0.062507,0.997923]] 2025-10-28T16:31:23.131Z,1761669083.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805286,0.590743,-0.050359],[-0.592187,0.805553,-0.019954],[0.028779,0.045891,0.998532]] 2025-10-28T16:31:23.535Z,1761669083.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793414,0.603595,-0.078526],[-0.607306,0.793675,-0.035488],[0.040904,0.075846,0.996280]] 2025-10-28T16:31:23.541Z,1761669083.541 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:31:23.942Z,1761669083.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785206,0.613086,-0.087045],[-0.612720,0.789568,0.034028],[0.089590,0.026615,0.995623]] 2025-10-28T16:31:24.344Z,1761669084.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809402,0.587189,-0.008812],[-0.584175,0.806601,0.090187],[0.060065,-0.067850,0.995886]] 2025-10-28T16:31:24.756Z,1761669084.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796229,0.597831,0.092831],[-0.604306,0.778579,0.169203],[0.028879,-0.190823,0.981200]] 2025-10-28T16:31:25.151Z,1761669085.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785710,0.602243,0.141288],[-0.617859,0.752900,0.226695],[0.030150,-0.265413,0.963663]] 2025-10-28T16:31:25.579Z,1761669085.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790296,0.592049,0.157832],[-0.612701,0.765894,0.194943],[-0.005467,-0.250767,0.968032]] 2025-10-28T16:31:25.959Z,1761669085.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789459,0.608544,0.080179],[-0.611909,0.770026,0.180632],[0.048183,-0.191663,0.980277]] 2025-10-28T16:31:26.363Z,1761669086.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777608,0.627916,-0.032355],[-0.615911,0.771067,0.161582],[0.126408,-0.105720,0.986329]] 2025-10-28T16:31:26.771Z,1761669086.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761447,0.648153,-0.009817],[-0.644660,0.758757,0.093274],[0.067904,-0.064695,0.995592]] 2025-10-28T16:31:27.171Z,1761669087.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748159,0.659996,0.068283],[-0.662262,0.749108,0.015660],[-0.040816,-0.056937,0.997543]] 2025-10-28T16:31:27.577Z,1761669087.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731342,0.681236,0.032500],[-0.682010,0.730442,0.036277],[0.000974,-0.048696,0.998813]] 2025-10-28T16:31:27.979Z,1761669087.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739121,0.673450,-0.012894],[-0.667932,0.735268,0.115102],[0.086995,-0.076462,0.993270]] 2025-10-28T16:31:28.386Z,1761669088.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758683,0.651455,-0.002531],[-0.645608,0.752381,0.130818],[0.087126,-0.097615,0.991403]] 2025-10-28T16:31:28.792Z,1761669088.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743000,0.666861,0.056987],[-0.669292,0.740259,0.063761],[0.000335,-0.085516,0.996337]] 2025-10-28T16:31:29.192Z,1761669089.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724323,0.685369,0.075000],[-0.688692,0.724357,0.031791],[-0.032538,-0.074679,0.996677]] 2025-10-28T16:31:29.594Z,1761669089.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727023,0.686319,0.020075],[-0.685098,0.723169,0.087563],[0.045579,-0.077414,0.995957]] 2025-10-28T16:31:29.999Z,1761669089.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729316,0.683708,-0.025316],[-0.675410,0.725383,0.132818],[0.109173,-0.079768,0.990817]] 2025-10-28T16:31:30.410Z,1761669090.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727382,0.686191,0.007535],[-0.681539,0.721082,0.124682],[0.080122,-0.095828,0.992168]] 2025-10-28T16:31:30.806Z,1761669090.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719313,0.692260,0.058008],[-0.694265,0.713458,0.094724],[0.024188,-0.108409,0.993812]] 2025-10-28T16:31:31.211Z,1761669091.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703386,0.708930,0.051648],[-0.710064,0.697466,0.096699],[0.032530,-0.104690,0.993973]] 2025-10-28T16:31:31.615Z,1761669091.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697859,0.715659,0.028726],[-0.713839,0.691686,0.109562],[0.058540,-0.096965,0.993565]] 2025-10-28T16:31:32.021Z,1761669092.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706749,0.707130,0.021721],[-0.706523,0.703894,0.073196],[0.036470,-0.067077,0.997081]] 2025-10-28T16:31:32.423Z,1761669092.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683901,0.728986,0.029294],[-0.729492,0.682671,0.042431],[0.010934,-0.050389,0.998670]] 2025-10-28T16:31:32.827Z,1761669092.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677745,0.735147,0.014847],[-0.734997,0.676754,0.042240],[0.021005,-0.039540,0.998997]] 2025-10-28T16:31:33.230Z,1761669093.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685885,0.727603,0.012457],[-0.726569,0.683752,0.067685],[0.040731,-0.055475,0.997629]] 2025-10-28T16:31:33.634Z,1761669093.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687776,0.725499,0.024810],[-0.724731,0.684288,0.080719],[0.041585,-0.073497,0.996428]] 2025-10-28T16:31:34.039Z,1761669094.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658997,0.751138,0.038913],[-0.750136,0.652577,0.106955],[0.054944,-0.099673,0.993502]] 2025-10-28T16:31:34.395Z,1761669094.395 [DataOverHttps](INFO): Sending 951 bytes from file Logs/20251028T162422/Express0007.lzma 2025-10-28T16:31:34.443Z,1761669094.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645502,0.762955,0.035021],[-0.762273,0.640710,0.091819],[0.047615,-0.085965,0.995160]] 2025-10-28T16:31:34.846Z,1761669094.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668575,0.741248,0.059652],[-0.743630,0.666907,0.047426],[-0.004628,-0.076067,0.997092]] 2025-10-28T16:31:35.251Z,1761669095.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659535,0.747480,0.079294],[-0.751347,0.658682,0.040201],[-0.022180,-0.086091,0.996040]] 2025-10-28T16:31:35.395Z,1761669095.395 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0007.lzma.bak 2025-10-28T16:31:35.395Z,1761669095.395 [DataOverHttps](INFO): SBD MOMSN=26261687 2025-10-28T16:31:35.654Z,1761669095.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664871,0.743886,0.067672],[-0.746893,0.663272,0.047120],[-0.009833,-0.081873,0.996594]] 2025-10-28T16:31:36.059Z,1761669096.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670950,0.739696,0.051727],[-0.741446,0.668406,0.059085],[0.009130,-0.077996,0.996912]] 2025-10-28T16:31:36.463Z,1761669096.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644220,0.764705,0.014394],[-0.763048,0.641308,0.080513],[0.052338,-0.062851,0.996650]] 2025-10-28T16:31:36.869Z,1761669096.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635007,0.772506,-0.000045],[-0.770701,0.633527,0.068292],[0.052784,-0.043331,0.997665]] 2025-10-28T16:31:37.271Z,1761669097.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648809,0.760146,0.034986],[-0.760821,0.647162,0.048303],[0.014076,-0.057958,0.998220]] 2025-10-28T16:31:37.677Z,1761669097.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658062,0.751616,0.045027],[-0.750876,0.650614,0.113521],[0.056029,-0.108514,0.992515]] 2025-10-28T16:31:37.705Z,1761669097.705 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:31:37.805Z,1761669097.805 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:31:37.805Z,1761669097.805 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:31:38.057Z,1761669098.057 [DAT](INFO): DAT read: user:8> 2025-10-28T16:31:38.058Z,1761669098.058 [DAT](INFO): DAT read: Tx time:16:31:37.8158 2025-10-28T16:31:38.058Z,1761669098.058 [DAT](INFO): Ping request sent. 2025-10-28T16:31:38.058Z,1761669098.058 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:31:38.058Z,1761669098.058 [DAT](INFO): publishing transmit ping time 2025-10-28T16:31:38.059Z,1761669098.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716 2025-10-28T16:31:38.078Z,1761669098.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655223,0.754909,0.028223],[-0.743184,0.637444,0.203330],[0.135505,-0.154201,0.978703]] 2025-10-28T16:31:38.309Z,1761669098.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764 2025-10-28T16:31:38.485Z,1761669098.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636221,0.770866,0.031446],[-0.759893,0.619077,0.198256],[0.133361,-0.150030,0.979646]] 2025-10-28T16:31:38.561Z,1761669098.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978 2025-10-28T16:31:38.813Z,1761669098.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755072 2025-10-28T16:31:38.897Z,1761669098.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630059,0.775795,0.034174],[-0.775231,0.625822,0.085807],[0.045182,-0.080556,0.995726]] 2025-10-28T16:31:39.065Z,1761669099.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006869 2025-10-28T16:31:39.291Z,1761669099.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660641,0.750676,0.006200],[-0.750585,0.660662,-0.012201],[-0.013255,0.003407,0.999906]] 2025-10-28T16:31:39.317Z,1761669099.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258748 2025-10-28T16:31:39.569Z,1761669099.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510806 2025-10-28T16:31:39.695Z,1761669099.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689717,0.724075,-0.002562],[-0.724066,0.689679,-0.008418],[-0.004328,0.007661,0.999961]] 2025-10-28T16:31:39.821Z,1761669099.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762844 2025-10-28T16:31:40.073Z,1761669100.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014781 2025-10-28T16:31:40.115Z,1761669100.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665377,0.744883,-0.049218],[-0.728668,0.662390,0.174016],[0.162223,-0.079922,0.983512]] 2025-10-28T16:31:40.325Z,1761669100.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788 2025-10-28T16:31:40.577Z,1761669100.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518681 2025-10-28T16:31:40.829Z,1761669100.829 [DAT](INFO): DAT read: Rx Time:16:31:40.2319 2025-10-28T16:31:40.829Z,1761669100.829 [DAT](INFO): Rx dataTimestamp_ set to:1761669100.829173 2025-10-28T16:31:40.830Z,1761669100.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771863 2025-10-28T16:31:40.913Z,1761669100.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683179,0.729910,-0.022316],[-0.709821,0.670933,0.214484],[0.171527,-0.130691,0.976472]] 2025-10-28T16:31:41.081Z,1761669101.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022799 2025-10-28T16:31:41.315Z,1761669101.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687273,0.726365,0.007010],[-0.717593,0.677411,0.161788],[0.112769,-0.116223,0.986801]] 2025-10-28T16:31:41.333Z,1761669101.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274656 2025-10-28T16:31:41.591Z,1761669101.591 [DAT](INFO): DAT read: 16:31:40.2319 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 275, 0.20,-0.459, 1.136, 0.181,-0.061, PHS=-0.295, 1.243, 0.198, RAW= 311.7, -16.6, CAL= 312.7, -20.6, ROT= 197.3, 20.6 2025-10-28T16:31:41.592Z,1761669101.592 [DAT](INFO): got valid direction response: 16:31:40.2319 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 275, 0.20,-0.459, 1.136, 0.181,-0.061, PHS=-0.295, 1.243, 0.198, RAW= 311.7, -16.6, CAL= 312.7, -20.6, ROT= 197.3, 20.6 2025-10-28T16:31:41.593Z,1761669101.593 [DAT](INFO): DAT read: Bearing 155, 31 (Remote) 2025-10-28T16:31:41.593Z,1761669101.593 [DAT](INFO): Remote Bearing received:Bearing 155, 31 (Remote) 2025-10-28T16:31:41.594Z,1761669101.594 [DAT](INFO): DAT read: Bearing 330.4, -22.8 (Local) 2025-10-28T16:31:41.594Z,1761669101.594 [DAT](INFO): Local bearing/azimuth received: Bearing 330.4, -22.8 (Local) 2025-10-28T16:31:41.596Z,1761669101.596 [DAT](INFO): DAT read: Range 11 to 20 : 290.2 m (Round-trip 387.0 ms) speed 0.1 m/s 2025-10-28T16:31:41.596Z,1761669101.596 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:31:41.598Z,1761669101.598 [DAT](INFO): direction in FSK: [-0.893713,-0.278361,-0.351842] 2025-10-28T16:31:41.598Z,1761669101.598 [DAT](INFO): publishing direction and range info 2025-10-28T16:31:41.719Z,1761669101.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683141,0.730168,0.013134],[-0.723180,0.673881,0.151310],[0.101631,-0.112865,0.988399]] 2025-10-28T16:31:41.815Z,1761669101.815 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669120.00. Resetting abort timer. 2025-10-28T16:31:42.131Z,1761669102.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694960,0.718103,-0.036854],[-0.703571,0.689685,0.171240],[0.148386,-0.093076,0.984540]] 2025-10-28T16:31:42.527Z,1761669102.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694667,0.717762,-0.047490],[-0.709667,0.694624,0.117769],[0.117517,-0.048108,0.991905]] 2025-10-28T16:31:42.930Z,1761669102.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692732,0.720276,-0.036402],[-0.716493,0.693093,0.079122],[0.082220,-0.028728,0.996200]] 2025-10-28T16:31:43.335Z,1761669103.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715723,0.695899,-0.058869],[-0.688406,0.717184,0.108373],[0.117637,-0.037039,0.992366]] 2025-10-28T16:31:43.740Z,1761669103.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724294,0.687361,-0.054155],[-0.679056,0.724742,0.116757],[0.119503,-0.047792,0.991683]] 2025-10-28T16:31:44.179Z,1761669104.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728022,0.685269,-0.019727],[-0.682678,0.727301,0.070600],[0.062727,-0.037931,0.997310]] 2025-10-28T16:31:44.546Z,1761669104.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742949,0.669282,-0.009445],[-0.667722,0.742053,0.059206],[0.046634,-0.037680,0.998201]] 2025-10-28T16:31:44.951Z,1761669104.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766768,0.641330,-0.027620],[-0.636676,0.765286,0.094772],[0.081917,-0.055083,0.995116]] 2025-10-28T16:31:45.359Z,1761669105.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770039,0.637382,-0.027993],[-0.629090,0.765865,0.133028],[0.106228,-0.084827,0.990717]] 2025-10-28T16:31:45.762Z,1761669105.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765490,0.643356,-0.010856],[-0.633391,0.756390,0.163369],[0.113316,-0.118181,0.986505]] 2025-10-28T16:31:46.193Z,1761669106.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769348,0.638072,0.031104],[-0.632222,0.753503,0.180354],[0.091642,-0.158420,0.983110]] 2025-10-28T16:31:46.567Z,1761669106.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778314,0.625078,0.059198],[-0.625047,0.762418,0.167437],[0.059528,-0.167321,0.984104]] 2025-10-28T16:31:46.973Z,1761669106.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779524,0.622910,0.065765],[-0.624793,0.765809,0.152219],[0.044456,-0.159748,0.986156]] 2025-10-28T16:31:47.381Z,1761669107.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792605,0.606811,0.059645],[-0.609659,0.787167,0.093187],[0.009596,-0.110223,0.993861]] 2025-10-28T16:31:47.782Z,1761669107.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805772,0.589936,0.052029],[-0.591968,0.804900,0.041365],[-0.017476,-0.064130,0.997788]] 2025-10-28T16:31:48.201Z,1761669108.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821153,0.570708,0.000522],[-0.570461,0.820771,0.030158],[0.016783,-0.025062,0.999545]] 2025-10-28T16:31:48.588Z,1761669108.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818627,0.572490,-0.045882],[-0.566884,0.818256,0.095394],[0.092155,-0.052083,0.994382]] 2025-10-28T16:31:48.990Z,1761669108.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823358,0.567397,-0.011912],[-0.561201,0.817132,0.131714],[0.084467,-0.101763,0.991216]] 2025-10-28T16:31:49.395Z,1761669109.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832058,0.551165,0.062415],[-0.554016,0.820234,0.142416],[0.027300,-0.153077,0.987837]] 2025-10-28T16:31:49.799Z,1761669109.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830141,0.553235,0.069255],[-0.556517,0.814610,0.163399],[0.033982,-0.174186,0.984126]] 2025-10-28T16:31:50.204Z,1761669110.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827585,0.558690,0.054475],[-0.559655,0.813693,0.157129],[0.043460,-0.160525,0.986075]] 2025-10-28T16:31:50.611Z,1761669110.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833766,0.550114,0.047005],[-0.551904,0.828040,0.098752],[0.015403,-0.108278,0.994001]] 2025-10-28T16:31:51.010Z,1761669111.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837624,0.545845,0.020955],[-0.545979,0.835395,0.063429],[0.017116,-0.064571,0.997766]] 2025-10-28T16:31:51.414Z,1761669111.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832578,0.553569,-0.019378],[-0.550853,0.831148,0.075858],[0.058099,-0.052483,0.996930]] 2025-10-28T16:31:51.819Z,1761669111.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841041,0.539818,-0.035316],[-0.537742,0.841359,0.054299],[0.059025,-0.026677,0.997900]] 2025-10-28T16:31:52.224Z,1761669112.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847017,0.531566,0.000705],[-0.531173,0.846339,0.039560],[0.020432,-0.033882,0.999217]] 2025-10-28T16:31:52.629Z,1761669112.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838801,0.543587,0.030433],[-0.544429,0.837802,0.041050],[-0.003182,-0.051002,0.998693]] 2025-10-28T16:31:52.981Z,1761669112.981 [DataOverHttps](INFO): Sending 356 bytes from file Logs/20251028T162422/Express0010.lzma 2025-10-28T16:31:53.030Z,1761669113.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838841,0.540918,0.061263],[-0.544278,0.835501,0.075497],[-0.010348,-0.096674,0.995262]] 2025-10-28T16:31:53.435Z,1761669113.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841440,0.536232,0.066583],[-0.540280,0.832924,0.119731],[0.008745,-0.136720,0.990571]] 2025-10-28T16:31:53.840Z,1761669113.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829220,0.557887,0.033991],[-0.556204,0.817672,0.148489],[0.055047,-0.142036,0.988330]] 2025-10-28T16:31:53.982Z,1761669113.982 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0010.lzma.bak 2025-10-28T16:31:53.982Z,1761669113.982 [DataOverHttps](INFO): SBD MOMSN=26261708 2025-10-28T16:31:54.242Z,1761669114.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840355,0.541151,0.030980],[-0.539462,0.829433,0.144989],[0.052765,-0.138555,0.988948]] 2025-10-28T16:31:54.649Z,1761669114.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848460,0.524648,0.069715],[-0.529256,0.841517,0.108337],[-0.001828,-0.128817,0.991667]] 2025-10-28T16:31:55.052Z,1761669115.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847797,0.524321,0.079554],[-0.530158,0.841671,0.102578],[-0.013175,-0.129142,0.991539]] 2025-10-28T16:31:55.455Z,1761669115.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846796,0.525873,0.079961],[-0.531911,0.837899,0.122458],[-0.002602,-0.146229,0.989247]] 2025-10-28T16:31:55.863Z,1761669115.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832901,0.552130,0.037806],[-0.551250,0.821645,0.144994],[0.048993,-0.141606,0.988710]] 2025-10-28T16:31:55.908Z,1761669115.908 [marl:NeedComms:D] Stopped 2025-10-28T16:31:55.908Z,1761669115.908 [marl:NeedComms:E] Running Loop=1 2025-10-28T16:31:56.262Z,1761669116.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821009,0.570511,-0.021470],[-0.559546,0.811558,0.168171],[0.113367,-0.126056,0.985524]] 2025-10-28T16:31:56.324Z,1761669116.324 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T16:31:56.677Z,1761669116.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835236,0.549824,-0.008553],[-0.542201,0.826049,0.153822],[0.091641,-0.123840,0.988061]] 2025-10-28T16:31:57.071Z,1761669117.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848141,0.526666,0.057274],[-0.529755,0.842314,0.099333],[0.004073,-0.114590,0.993405]] 2025-10-28T16:31:57.475Z,1761669117.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834363,0.545243,0.080924],[-0.549816,0.833681,0.051751],[-0.039247,-0.087673,0.995376]] 2025-10-28T16:31:57.884Z,1761669117.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812611,0.582175,0.027118],[-0.582516,0.809859,0.069311],[0.018390,-0.072120,0.997226]] 2025-10-28T16:31:57.891Z,1761669117.891 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163157.00,A,3646.63494,N,12151.98165,W,0.447,61.06,281025,,,D*4A 2025-10-28T16:31:57.893Z,1761669117.893 [NAL9602](INFO): GPS fix at 20251028T163157: (36.777249, -121.866361) 2025-10-28T16:31:57.948Z,1761669117.948 [marl:NeedComms:E] Stopped 2025-10-28T16:31:57.949Z,1761669117.949 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T16:31:57.949Z,1761669117.949 [marl:NeedComms] Stopped 2025-10-28T16:31:57.949Z,1761669117.949 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T16:31:57.950Z,1761669117.950 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T16:31:57.950Z,1761669117.950 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T16:31:57.951Z,1761669117.951 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761669120.00. Resetting abort timer. 2025-10-28T16:31:58.285Z,1761669118.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816125,0.576524,-0.039500],[-0.570472,0.814691,0.104117],[0.092206,-0.062439,0.993780]] 2025-10-28T16:31:58.382Z,1761669118.382 [marl:StartingMission](INFO): Completed marl:StartingMission 2025-10-28T16:31:58.382Z,1761669118.382 [marl:StartingMission] Stopped 2025-10-28T16:31:58.382Z,1761669118.382 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl] Running Loop=1 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T16:31:58.382Z,1761669118.382 [marl:JoystickControl:B.Pitch](DEBUG): Initialize. 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:C.Pitch](DEBUG): Initialize. 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize. 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T16:31:58.383Z,1761669118.383 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize. 2025-10-28T16:31:58.384Z,1761669118.384 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T16:31:58.408Z,1761669118.408 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder 2025-10-28T16:31:58.408Z,1761669118.408 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T16:31:58.408Z,1761669118.408 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize. 2025-10-28T16:31:58.690Z,1761669118.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837605,0.544980,-0.037604],[-0.539060,0.835732,0.104721],[0.088498,-0.067444,0.993790]] 2025-10-28T16:31:58.732Z,1761669118.732 [marl:JoystickControl:CmdRudder] Stopped 2025-10-28T16:31:58.732Z,1761669118.732 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder 2025-10-28T16:31:58.732Z,1761669118.732 [marl:JoystickControl:CmdRudder:A.Point] Stopped 2025-10-28T16:31:58.733Z,1761669118.733 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T16:31:58.733Z,1761669118.733 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T16:31:58.733Z,1761669118.733 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T16:31:58.733Z,1761669118.733 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T16:31:58.734Z,1761669118.734 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T16:31:58.734Z,1761669118.734 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T16:31:59.091Z,1761669119.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836110,0.548182,0.020415],[-0.547971,0.832905,0.077439],[0.025447,-0.075934,0.996788]] 2025-10-28T16:31:59.496Z,1761669119.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816277,0.574606,0.059323],[-0.577592,0.810285,0.099121],[0.008887,-0.115174,0.993306]] 2025-10-28T16:31:59.899Z,1761669119.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811412,0.583742,0.029255],[-0.582349,0.803182,0.125571],[0.049804,-0.118926,0.991653]] 2025-10-28T16:32:00.340Z,1761669120.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050420201, +14.6, 0.0,1505.6, 0 2025-10-28T16:32:00.707Z,1761669120.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802855,0.592949,-0.061935],[-0.579043,0.800290,0.155706],[0.141892,-0.089146,0.985860]] 2025-10-28T16:32:01.110Z,1761669121.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789004,0.611734,0.057043],[-0.613419,0.779143,0.129047],[0.034498,-0.136810,0.989996]] 2025-10-28T16:32:01.517Z,1761669121.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776511,0.626336,0.068798],[-0.629640,0.767112,0.122851],[0.024170,-0.138713,0.990038]] 2025-10-28T16:32:01.919Z,1761669121.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785786,0.617972,0.025500],[-0.616584,0.779448,0.110837],[0.048619,-0.102817,0.993511]] 2025-10-28T16:32:02.326Z,1761669122.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776331,0.629955,0.021607],[-0.629622,0.773388,0.073807],[0.029785,-0.070903,0.997038]] 2025-10-28T16:32:02.758Z,1761669122.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762753,0.646110,0.027378],[-0.646532,0.760946,0.054391],[0.014309,-0.059188,0.998144]] 2025-10-28T16:32:03.131Z,1761669123.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769686,0.638212,0.016418],[-0.638185,0.768444,0.047056],[0.017416,-0.046696,0.998757]] 2025-10-28T16:32:03.535Z,1761669123.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784781,0.619682,-0.010598],[-0.617942,0.783662,0.063418],[0.047604,-0.043220,0.997931]] 2025-10-28T16:32:03.961Z,1761669123.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778381,0.627652,0.013256],[-0.626599,0.775426,0.078026],[0.038694,-0.069040,0.996863]] 2025-10-28T16:32:04.427Z,1761669124.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746982,0.656407,0.105580],[-0.664759,0.739949,0.102812],[-0.010637,-0.146985,0.989082]] 2025-10-28T16:32:04.830Z,1761669124.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726081,0.675517,0.128386],[-0.687537,0.715950,0.121283],[-0.009989,-0.176331,0.984280]] 2025-10-28T16:32:05.235Z,1761669125.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727379,0.682710,0.069475],[-0.685086,0.716570,0.131091],[0.039713,-0.142949,0.988933]] 2025-10-28T16:32:05.630Z,1761669125.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738516,0.673644,0.028254],[-0.672652,0.733262,0.099333],[0.046198,-0.092364,0.994653]] 2025-10-28T16:32:05.865Z,1761669125.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:06.035Z,1761669126.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730790,0.679940,0.060227],[-0.682296,0.730255,0.034632],[-0.020434,-0.066401,0.997584]] 2025-10-28T16:32:06.438Z,1761669126.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696425,0.713443,0.077407],[-0.716520,0.697287,0.019732],[-0.039898,-0.069206,0.996804]] 2025-10-28T16:32:06.849Z,1761669126.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696341,0.714531,0.067485],[-0.717431,0.695611,0.037663],[-0.020032,-0.074642,0.997009]] 2025-10-28T16:32:07.250Z,1761669127.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724243,0.684151,0.086077],[-0.688039,0.725253,0.024685],[-0.045539,-0.077102,0.995983]] 2025-10-28T16:32:07.651Z,1761669127.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716963,0.687346,0.116277],[-0.693077,0.720747,0.012968],[-0.074893,-0.089887,0.993132]] 2025-10-28T16:32:08.054Z,1761669128.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689032,0.716026,0.111989],[-0.722948,0.689914,0.036949],[-0.050806,-0.106421,0.993022]] 2025-10-28T16:32:08.478Z,1761669128.478 [NAL9602](INFO): SBD MO Status=0, MOMSN=3293, MT Status=0, MTMSN=0 2025-10-28T16:32:08.479Z,1761669128.479 [NAL9602](INFO): No messages in MT queue 2025-10-28T16:32:08.863Z,1761669128.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668358,0.733917,0.121096],[-0.741969,0.669322,0.038601],[-0.052723,-0.115649,0.991890]] 2025-10-28T16:32:09.277Z,1761669129.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691843,0.713864,0.108403],[-0.720514,0.692330,0.039234],[-0.047043,-0.105250,0.993332]] 2025-10-28T16:32:09.670Z,1761669129.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691244,0.719523,0.066845],[-0.722112,0.684322,0.101282],[0.027131,-0.118280,0.992610]] 2025-10-28T16:32:10.074Z,1761669130.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675177,0.737467,0.016653],[-0.733361,0.668643,0.122874],[0.079480,-0.095174,0.992283]] 2025-10-28T16:32:10.481Z,1761669130.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665166,0.746440,-0.019546],[-0.742040,0.663710,0.094156],[0.083255,-0.048125,0.995366]] 2025-10-28T16:32:10.883Z,1761669130.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665307,0.746078,-0.027108],[-0.742292,0.664940,0.082808],[0.079806,-0.034971,0.996197]] 2025-10-28T16:32:11.290Z,1761669131.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671481,0.741009,-0.004290],[-0.738123,0.669355,0.084491],[0.065481,-0.053567,0.996415]] 2025-10-28T16:32:11.692Z,1761669131.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683185,0.730159,0.011228],[-0.729534,0.681761,0.054614],[0.032222,-0.045503,0.998444]] 2025-10-28T16:32:12.149Z,1761669132.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671943,0.738485,0.055961],[-0.740330,0.667727,0.077790],[0.020080,-0.093700,0.995398]] 2025-10-28T16:32:12.499Z,1761669132.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656620,0.750374,0.076091],[-0.750207,0.639396,0.168411],[0.077719,-0.167666,0.982776]] 2025-10-28T16:32:12.903Z,1761669132.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662170,0.743829,0.090825],[-0.743715,0.637501,0.201198],[0.091756,-0.200776,0.975331]] 2025-10-28T16:32:13.309Z,1761669133.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668841,0.737730,0.091690],[-0.741507,0.653230,0.153156],[0.053093,-0.170426,0.983939]] 2025-10-28T16:32:13.710Z,1761669133.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656744,0.749878,0.079818],[-0.754082,0.652056,0.078629],[0.006916,-0.111828,0.993703]] 2025-10-28T16:32:14.126Z,1761669134.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648363,0.759640,0.050724],[-0.761259,0.647777,0.029481],[-0.010463,-0.057729,0.998278]] 2025-10-28T16:32:14.518Z,1761669134.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664022,0.747712,-0.000509],[-0.747318,0.663694,0.032018],[0.024279,-0.020880,0.999487]] 2025-10-28T16:32:14.922Z,1761669134.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659196,0.751826,-0.014740],[-0.751669,0.659361,0.015416],[0.021309,0.000917,0.999772]] 2025-10-28T16:32:15.336Z,1761669135.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655419,0.755215,0.008670],[-0.755258,0.655421,0.003100],[-0.003341,-0.008580,0.999958]] 2025-10-28T16:32:15.730Z,1761669135.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659772,0.751160,0.021448],[-0.751466,0.659481,0.019608],[0.000584,-0.029054,0.999578]] 2025-10-28T16:32:16.138Z,1761669136.138 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:16.192Z,1761669136.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651244,0.751787,0.103426],[-0.755933,0.654648,0.001368],[-0.066679,-0.079074,0.994636]] 2025-10-28T16:32:16.947Z,1761669136.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644138,0.761173,0.075514],[-0.764735,0.638737,0.084824],[0.016332,-0.112386,0.993530]] 2025-10-28T16:32:17.357Z,1761669137.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674798,0.735634,0.059075],[-0.737994,0.673015,0.049154],[-0.003599,-0.076766,0.997043]] 2025-10-28T16:32:17.759Z,1761669137.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653988,0.754002,0.061482],[-0.756504,0.651714,0.054503],[0.001026,-0.082155,0.996619]] 2025-10-28T16:32:18.262Z,1761669138.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638858,0.768081,0.043729],[-0.767776,0.632938,0.099543],[0.048779,-0.097168,0.994072]] 2025-10-28T16:32:18.563Z,1761669138.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652742,0.756748,0.035492],[-0.754548,0.645229,0.119733],[0.067708,-0.104935,0.992172]] 2025-10-28T16:32:18.968Z,1761669138.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675695,0.735013,0.056496],[-0.735780,0.667702,0.113146],[0.045441,-0.118021,0.991971]] 2025-10-28T16:32:19.366Z,1761669139.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654785,0.752091,0.074937],[-0.754730,0.645311,0.118141],[0.040495,-0.133914,0.990165]] 2025-10-28T16:32:19.779Z,1761669139.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612068,0.788894,0.054942],[-0.790258,0.607581,0.079612],[0.029424,-0.092146,0.995311]] 2025-10-28T16:32:20.579Z,1761669140.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632341,0.774333,0.023523],[-0.773086,0.632694,-0.045117],[-0.049819,0.010344,0.998705]] 2025-10-28T16:32:20.987Z,1761669140.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660376,0.750370,0.029118],[-0.750627,0.660719,-0.003021],[-0.021506,-0.019862,0.999571]] 2025-10-28T16:32:21.394Z,1761669141.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654398,0.755318,0.035460],[-0.754450,0.649065,0.097567],[0.050678,-0.090600,0.994597]] 2025-10-28T16:32:21.793Z,1761669141.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617834,0.785535,0.034868],[-0.778725,0.605130,0.165543],[0.108940,-0.129431,0.985586]] 2025-10-28T16:32:22.202Z,1761669142.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618655,0.785271,0.024812],[-0.777286,0.607154,0.164894],[0.114422,-0.121299,0.985999]] 2025-10-28T16:32:22.599Z,1761669142.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640182,0.767040,0.042620],[-0.766297,0.633668,0.106082],[0.054363,-0.100571,0.993444]] 2025-10-28T16:32:23.007Z,1761669143.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635843,0.771006,0.035410],[-0.770980,0.632345,0.075691],[0.035967,-0.075428,0.996502]] 2025-10-28T16:32:23.407Z,1761669143.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647682,0.761906,0.002583],[-0.759511,0.645370,0.081483],[0.060415,-0.054736,0.996671]] 2025-10-28T16:32:23.818Z,1761669143.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651203,0.758859,-0.008229],[-0.755978,0.649605,0.080686],[0.066575,-0.046322,0.996706]] 2025-10-28T16:32:24.620Z,1761669144.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654315,0.755581,0.031137],[-0.754566,0.649604,0.092974],[0.050023,-0.084330,0.995182]] 2025-10-28T16:32:25.022Z,1761669145.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644327,0.764447,0.021553],[-0.762721,0.640310,0.090889],[0.055679,-0.075001,0.995628]] 2025-10-28T16:32:25.426Z,1761669145.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660310,0.750977,0.005002],[-0.749859,0.658931,0.059342],[0.041268,-0.042935,0.998225]] 2025-10-28T16:32:25.532Z,1761669145.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:25.831Z,1761669145.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675102,0.737345,0.023673],[-0.737380,0.673457,0.052215],[0.022557,-0.052706,0.998355]] 2025-10-28T16:32:26.236Z,1761669146.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667319,0.741798,0.066496],[-0.744767,0.664985,0.055833],[-0.002802,-0.086782,0.996223]] 2025-10-28T16:32:26.638Z,1761669146.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660172,0.745404,0.092447],[-0.750890,0.657967,0.056952],[-0.018375,-0.107016,0.994088]] 2025-10-28T16:32:27.043Z,1761669147.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670896,0.736347,0.087702],[-0.741033,0.670145,0.042147],[-0.027738,-0.093267,0.995255]] 2025-10-28T16:32:27.446Z,1761669147.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677008,0.730971,0.085680],[-0.735385,0.676529,0.038964],[-0.029484,-0.089387,0.995560]] 2025-10-28T16:32:27.852Z,1761669147.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669178,0.741339,0.051152],[-0.743055,0.668324,0.034829],[-0.008366,-0.061316,0.998083]] 2025-10-28T16:32:28.255Z,1761669148.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661820,0.749070,0.029786],[-0.749656,0.661134,0.030295],[0.003001,-0.042380,0.999097]] 2025-10-28T16:32:28.659Z,1761669148.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673900,0.737854,0.037823],[-0.738823,0.673024,0.034358],[-0.000105,-0.051098,0.998694]] 2025-10-28T16:32:29.063Z,1761669149.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707442,0.705875,0.035605],[-0.706462,0.704742,0.065192],[0.020925,-0.071273,0.997237]] 2025-10-28T16:32:29.473Z,1761669149.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704304,0.709373,0.027304],[-0.706611,0.696826,0.123024],[0.068244,-0.105940,0.992028]] 2025-10-28T16:32:29.877Z,1761669149.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684946,0.728370,0.018067],[-0.723123,0.676560,0.139137],[0.089119,-0.108366,0.990108]] 2025-10-28T16:32:30.284Z,1761669150.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705147,0.707904,0.040499],[-0.708454,0.701031,0.081538],[0.029331,-0.086188,0.995847]] 2025-10-28T16:32:30.682Z,1761669150.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730074,0.683056,0.020645],[-0.682284,0.726882,0.078298],[0.038475,-0.071249,0.996716]] 2025-10-28T16:32:31.088Z,1761669151.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735895,0.677033,-0.009220],[-0.672915,0.732794,0.100984],[0.075126,-0.068109,0.994845]] 2025-10-28T16:32:31.498Z,1761669151.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727286,0.686329,0.002969],[-0.681155,0.721259,0.125753],[0.084166,-0.093481,0.992057]] 2025-10-28T16:32:31.894Z,1761669151.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733608,0.679381,-0.016186],[-0.669144,0.726301,0.157268],[0.118601,-0.104542,0.987423]] 2025-10-28T16:32:32.307Z,1761669152.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752630,0.657296,-0.038874],[-0.644975,0.747828,0.157357],[0.132501,-0.093358,0.986776]] 2025-10-28T16:32:32.475Z,1761669152.475 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application. 2025-10-28T16:32:32.702Z,1761669152.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760610,0.649025,0.015459],[-0.647793,0.757164,0.084062],[0.042854,-0.073952,0.996341]] 2025-10-28T16:32:33.108Z,1761669153.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755196,0.653322,0.053376],[-0.655423,0.753836,0.046385],[-0.009933,-0.070014,0.997497]] 2025-10-28T16:32:33.511Z,1761669153.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777733,0.628595,-0.000130],[-0.626108,0.774674,0.088709],[0.055863,-0.068911,0.996058]] 2025-10-28T16:32:33.914Z,1761669153.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776110,0.630335,-0.018203],[-0.625921,0.773543,0.099271],[0.076655,-0.065652,0.994894]] 2025-10-28T16:32:34.320Z,1761669154.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775902,0.630666,0.015376],[-0.630501,0.774422,0.052342],[0.021103,-0.050306,0.998511]] 2025-10-28T16:32:34.724Z,1761669154.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805865,0.590263,0.046590],[-0.590948,0.806709,0.001164],[-0.036898,-0.028470,0.998913]] 2025-10-28T16:32:34.820Z,1761669154.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:35.126Z,1761669155.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812228,0.581072,0.051394],[-0.582629,0.812433,0.022280],[-0.028808,-0.048041,0.998430]] 2025-10-28T16:32:35.322Z,1761669155.322 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message. 2025-10-28T16:32:35.322Z,1761669155.322 [DAT](INFO): Activating messaging. 2025-10-28T16:32:35.530Z,1761669155.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796263,0.604590,0.020894],[-0.604053,0.792727,0.081871],[0.032935,-0.077812,0.996424]] 2025-10-28T16:32:35.575Z,1761669155.575 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2221 2025-10-28T16:32:35.577Z,1761669155.577 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2222 2025-10-28T16:32:35.579Z,1761669155.579 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2223 2025-10-28T16:32:35.934Z,1761669155.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810118,0.585683,0.026150],[-0.583333,0.800805,0.135769],[0.058576,-0.125243,0.990395]] 2025-10-28T16:32:35.960Z,1761669155.960 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:32:35.960Z,1761669155.960 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:32:35.960Z,1761669155.960 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateRudder:A] Stopped 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:32:35.961Z,1761669155.961 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateCommandMode] Stopped 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:32:35.962Z,1761669155.962 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:32:35.962Z,1761669155.963 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:32:35.963Z,1761669155.963 [marl:UpdateSpeed] Stopped 2025-10-28T16:32:35.963Z,1761669155.963 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:32:36.341Z,1761669156.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822587,0.563461,0.076570],[-0.566848,0.801845,0.189017],[0.045106,-0.198886,0.978984]] 2025-10-28T16:32:36.375Z,1761669156.375 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T16:32:36.375Z,1761669156.375 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder 2025-10-28T16:32:36.375Z,1761669156.375 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T16:32:36.375Z,1761669156.375 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T16:32:36.375Z,1761669156.375 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T16:32:36.376Z,1761669156.376 [marl:JoystickControl:CmdHeading] Stopped 2025-10-28T16:32:36.376Z,1761669156.376 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading 2025-10-28T16:32:36.376Z,1761669156.376 [marl:JoystickControl:CmdHeading:A.Point] Stopped 2025-10-28T16:32:36.401Z,1761669156.401 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T16:32:36.401Z,1761669156.401 [marl:UpdateRudder:B] Stopped 2025-10-28T16:32:36.402Z,1761669156.402 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:32:36.402Z,1761669156.402 [marl:UpdateRudder] Stopped 2025-10-28T16:32:36.402Z,1761669156.402 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:32:36.743Z,1761669156.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825638,0.558132,0.082520],[-0.562764,0.804253,0.190982],[0.040226,-0.204122,0.978119]] 2025-10-28T16:32:37.149Z,1761669157.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837229,0.545920,0.031907],[-0.545571,0.829853,0.117032],[0.037412,-0.115390,0.992615]] 2025-10-28T16:32:37.550Z,1761669157.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851458,0.523069,-0.037673],[-0.521527,0.852107,0.043855],[0.055040,-0.017693,0.998327]] 2025-10-28T16:32:38.029Z,1761669158.029 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:32:38.093Z,1761669158.093 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:32:38.093Z,1761669158.093 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:32:38.345Z,1761669158.345 [DAT](INFO): DAT read: user:9> 2025-10-28T16:32:38.346Z,1761669158.346 [DAT](INFO): DAT read: Tx time:16:32:38.1158 2025-10-28T16:32:38.346Z,1761669158.346 [DAT](INFO): Ping request sent. 2025-10-28T16:32:38.346Z,1761669158.346 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:32:38.346Z,1761669158.346 [DAT](INFO): publishing transmit ping time 2025-10-28T16:32:38.347Z,1761669158.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T16:32:38.598Z,1761669158.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251569 2025-10-28T16:32:38.775Z,1761669158.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859148,0.510675,-0.032796],[-0.508482,0.859151,0.057491],[0.057535,-0.032717,0.997807]] 2025-10-28T16:32:38.849Z,1761669158.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502846 2025-10-28T16:32:39.101Z,1761669159.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913 2025-10-28T16:32:39.171Z,1761669159.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857355,0.514699,-0.005219],[-0.510562,0.851664,0.118303],[0.065336,-0.098763,0.992964]] 2025-10-28T16:32:39.177Z,1761669159.177 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:32:39.353Z,1761669159.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025 2025-10-28T16:32:39.581Z,1761669159.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866950,0.495617,0.052553],[-0.498042,0.857536,0.128784],[0.018762,-0.137823,0.990279]] 2025-10-28T16:32:39.605Z,1761669159.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038 2025-10-28T16:32:39.857Z,1761669159.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940 2025-10-28T16:32:39.979Z,1761669159.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877679,0.471102,0.087995],[-0.478680,0.870682,0.113040],[-0.023362,-0.141334,0.989686]] 2025-10-28T16:32:40.113Z,1761669160.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765550 2025-10-28T16:32:40.361Z,1761669160.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014984 2025-10-28T16:32:40.383Z,1761669160.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890345,0.450726,0.064275],[-0.455088,0.885206,0.096467],[-0.013417,-0.115140,0.993259]] 2025-10-28T16:32:40.613Z,1761669160.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267168 2025-10-28T16:32:40.795Z,1761669160.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899583,0.432979,0.057262],[-0.434900,0.900094,0.026309],[-0.040149,-0.048571,0.998012]] 2025-10-28T16:32:40.873Z,1761669160.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526995 2025-10-28T16:32:41.125Z,1761669161.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779026 2025-10-28T16:32:41.191Z,1761669161.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897761,0.435231,0.067810],[-0.434946,0.900241,-0.019691],[-0.069615,-0.011816,0.997504]] 2025-10-28T16:32:41.377Z,1761669161.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031017 2025-10-28T16:32:41.596Z,1761669161.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897646,0.439464,0.033211],[-0.439909,0.898014,0.007166],[-0.026675,-0.021042,0.999423]] 2025-10-28T16:32:41.629Z,1761669161.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282985 2025-10-28T16:32:41.881Z,1761669161.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534967 2025-10-28T16:32:41.999Z,1761669161.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913284,0.403467,0.055915],[-0.407079,0.908848,0.091011],[-0.014098,-0.105881,0.994279]] 2025-10-28T16:32:42.150Z,1761669162.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.803555 2025-10-28T16:32:42.389Z,1761669162.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042859 2025-10-28T16:32:42.411Z,1761669162.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916019,0.384901,0.112960],[-0.400099,0.896899,0.188396],[-0.028800,-0.217770,0.975575]] 2025-10-28T16:32:42.641Z,1761669162.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294978 2025-10-28T16:32:42.809Z,1761669162.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907497,0.410535,0.088943],[-0.418763,0.867558,0.268292],[0.032980,-0.280720,0.959223]] 2025-10-28T16:32:42.893Z,1761669162.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546939 2025-10-28T16:32:43.146Z,1761669163.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.799543 2025-10-28T16:32:43.210Z,1761669163.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894842,0.446382,-0.001086],[-0.427561,0.857807,0.285233],[0.128254,-0.254774,0.958458]] 2025-10-28T16:32:43.397Z,1761669163.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050974 2025-10-28T16:32:43.615Z,1761669163.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891953,0.447268,-0.066121],[-0.428827,0.883231,0.189762],[0.143275,-0.140905,0.979601]] 2025-10-28T16:32:43.649Z,1761669163.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302910 2025-10-28T16:32:43.901Z,1761669163.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554899 2025-10-28T16:32:44.019Z,1761669164.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902201,0.421788,-0.090158],[-0.415737,0.906075,0.078678],[0.114876,-0.033501,0.992815]] 2025-10-28T16:32:44.156Z,1761669164.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.809322 2025-10-28T16:32:44.405Z,1761669164.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058872 2025-10-28T16:32:44.412Z,1761669164.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:44.430Z,1761669164.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913708,0.402642,-0.054934],[-0.403946,0.914665,-0.014682],[0.044335,0.035605,0.998382]] 2025-10-28T16:32:44.657Z,1761669164.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.311460 2025-10-28T16:32:44.826Z,1761669164.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904017,0.426758,-0.025113],[-0.427370,0.903618,-0.028791],[0.010405,0.036760,0.999270]] 2025-10-28T16:32:44.909Z,1761669164.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563005 2025-10-28T16:32:45.161Z,1761669165.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814808 2025-10-28T16:32:45.231Z,1761669165.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907419,0.415215,-0.064707],[-0.413644,0.909700,0.036667],[0.074089,-0.006506,0.997230]] 2025-10-28T16:32:45.414Z,1761669165.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068414 2025-10-28T16:32:45.642Z,1761669165.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913267,0.401147,-0.070880],[-0.394741,0.914450,0.089226],[0.100609,-0.053508,0.993486]] 2025-10-28T16:32:45.665Z,1761669165.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319087 2025-10-28T16:32:45.917Z,1761669165.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570819 2025-10-28T16:32:46.038Z,1761669166.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918739,0.393637,-0.031114],[-0.388976,0.915783,0.100196],[0.067935,-0.079951,0.994481]] 2025-10-28T16:32:46.081Z,1761669166.081 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:32:46.081Z,1761669166.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:32:46.081Z,1761669166.081 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateRudder:A] Stopped 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:32:46.082Z,1761669166.082 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateCommandMode] Stopped 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed] Stopped 2025-10-28T16:32:46.083Z,1761669166.083 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:32:46.171Z,1761669166.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.825046 2025-10-28T16:32:46.421Z,1761669166.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074906 2025-10-28T16:32:46.586Z,1761669166.586 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T16:32:46.586Z,1761669166.586 [marl:UpdateRudder:B] Stopped 2025-10-28T16:32:46.586Z,1761669166.586 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:32:46.586Z,1761669166.586 [marl:UpdateRudder] Stopped 2025-10-28T16:32:46.586Z,1761669166.586 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:32:46.673Z,1761669166.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326937 2025-10-28T16:32:46.848Z,1761669166.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922125,0.383033,-0.054514],[-0.374278,0.918846,0.125049],[0.097987,-0.094907,0.990652]] 2025-10-28T16:32:46.925Z,1761669166.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578992 2025-10-28T16:32:47.177Z,1761669167.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830993 2025-10-28T16:32:47.256Z,1761669167.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919551,0.386610,-0.070422],[-0.377272,0.918670,0.117096],[0.109965,-0.081108,0.990621]] 2025-10-28T16:32:47.429Z,1761669167.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082980 2025-10-28T16:32:47.655Z,1761669167.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926419,0.374040,-0.042921],[-0.367472,0.923131,0.113110],[0.081930,-0.089015,0.992655]] 2025-10-28T16:32:47.681Z,1761669167.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334968 2025-10-28T16:32:47.933Z,1761669167.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587030 2025-10-28T16:32:48.187Z,1761669168.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.840937 2025-10-28T16:32:48.437Z,1761669168.437 [DAT](INFO): Reached modem response timeout 2025-10-28T16:32:48.463Z,1761669168.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915107,0.400494,-0.046737],[-0.393259,0.912096,0.115878],[0.089038,-0.087661,0.992163]] 2025-10-28T16:32:48.867Z,1761669168.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920922,0.385884,-0.054729],[-0.380087,0.920269,0.092952],[0.086234,-0.064800,0.994165]] 2025-10-28T16:32:49.276Z,1761669169.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931089,0.363173,-0.034346],[-0.359579,0.929565,0.081312],[0.061457,-0.063358,0.996097]] 2025-10-28T16:32:49.676Z,1761669169.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925572,0.376560,-0.038973],[-0.373032,0.924729,0.075649],[0.064526,-0.055481,0.996373]] 2025-10-28T16:32:50.078Z,1761669170.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926075,0.375780,-0.034281],[-0.373676,0.925919,0.055131],[0.052458,-0.038245,0.997891]] 2025-10-28T16:32:50.484Z,1761669170.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928050,0.372381,0.007518],[-0.372298,0.926873,0.047965],[0.010894,-0.047313,0.998821]] 2025-10-28T16:32:50.706Z,1761669170.706 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:32:50.706Z,1761669170.706 [DAT](INFO): response not received 2025-10-28T16:32:50.706Z,1761669170.706 [DAT](ERROR): No response from remote modem. 2025-10-28T16:32:50.886Z,1761669170.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925649,0.378130,0.013868],[-0.377703,0.921163,0.093806],[0.022696,-0.092069,0.995494]] 2025-10-28T16:32:51.292Z,1761669171.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930233,0.366912,0.006465],[-0.364640,0.922206,0.128740],[0.041274,-0.122115,0.991657]] 2025-10-28T16:32:51.694Z,1761669171.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932358,0.356427,0.060570],[-0.361374,0.923803,0.126481],[-0.010873,-0.139814,0.990118]] 2025-10-28T16:32:52.103Z,1761669172.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925452,0.367041,0.093915],[-0.376257,0.919433,0.114341],[-0.044381,-0.141153,0.988992]] 2025-10-28T16:32:52.504Z,1761669172.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922150,0.384382,0.043485],[-0.386738,0.918576,0.081562],[-0.008593,-0.092030,0.995719]] 2025-10-28T16:32:52.517Z,1761669172.517 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, 128, +149,A 2025-10-28T16:32:52.906Z,1761669172.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931954,0.361406,0.029099],[-0.362291,0.931396,0.035294],[-0.014347,-0.043435,0.998953]] 2025-10-28T16:32:53.310Z,1761669173.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932629,0.357306,0.050353],[-0.358259,0.933557,0.011070],[-0.043052,-0.028364,0.998670]] 2025-10-28T16:32:53.717Z,1761669173.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929191,0.368025,0.034086],[-0.368676,0.929435,0.015110],[-0.026120,-0.026607,0.999305]] 2025-10-28T16:32:54.048Z,1761669174.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:32:54.166Z,1761669174.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929450,0.368948,-0.000481],[-0.368428,0.928209,0.051859],[0.019580,-0.048023,0.998654]] 2025-10-28T16:32:54.522Z,1761669174.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934176,0.356812,-0.000055],[-0.354864,0.929093,0.104200],[0.037231,-0.097321,0.994556]] 2025-10-28T16:32:54.928Z,1761669174.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934366,0.352044,0.054995],[-0.356312,0.922636,0.147594],[0.001219,-0.157503,0.987518]] 2025-10-28T16:32:55.330Z,1761669175.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924808,0.366767,0.101056],[-0.378245,0.914909,0.140971],[-0.040753,-0.168595,0.984843]] 2025-10-28T16:32:55.734Z,1761669175.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927599,0.361836,0.092926],[-0.369958,0.924282,0.093993],[-0.051880,-0.121566,0.991227]] 2025-10-28T16:32:56.224Z,1761669176.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919467,0.393045,-0.009777],[-0.392282,0.918782,0.044216],[0.026362,-0.036820,0.998974]] 2025-10-28T16:32:56.384Z,1761669176.384 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:32:56.384Z,1761669176.384 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:32:56.384Z,1761669176.384 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateRudder:A] Stopped 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:32:56.385Z,1761669176.385 [marl:UpdateCommandMode] Stopped 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed] Stopped 2025-10-28T16:32:56.386Z,1761669176.386 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:32:56.626Z,1761669176.626 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T16:32:56.626Z,1761669176.626 [marl:UpdateRudder:B] Stopped 2025-10-28T16:32:56.627Z,1761669176.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:32:56.627Z,1761669176.627 [marl:UpdateRudder] Stopped 2025-10-28T16:32:56.627Z,1761669176.627 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:32:56.958Z,1761669176.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935084,0.354339,-0.007893],[-0.353631,0.934243,0.046220],[0.023752,-0.040429,0.998900]] 2025-10-28T16:32:57.362Z,1761669177.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940959,0.336714,0.034929],[-0.338451,0.937847,0.076771],[-0.006908,-0.084060,0.996437]] 2025-10-28T16:32:57.775Z,1761669177.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931705,0.359680,0.050556],[-0.363185,0.924359,0.116867],[-0.004697,-0.127247,0.991860]] 2025-10-28T16:32:58.222Z,1761669178.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930142,0.366816,0.016814],[-0.363974,0.914945,0.174349],[0.048570,-0.168290,0.984540]] 2025-10-28T16:32:58.979Z,1761669178.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922610,0.385409,0.015851],[-0.381888,0.906851,0.178278],[0.054336,-0.170534,0.983852]] 2025-10-28T16:32:59.383Z,1761669179.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929154,0.369138,0.020224],[-0.367419,0.916002,0.161070],[0.040932,-0.157090,0.986736]] 2025-10-28T16:32:59.797Z,1761669179.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915666,0.397941,0.056560],[-0.401348,0.912856,0.074926],[-0.021815,-0.091307,0.995584]] 2025-10-28T16:33:00.213Z,1761669180.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921701,0.387825,0.007679],[-0.387300,0.918989,0.073882],[0.021596,-0.071071,0.997237]] 2025-10-28T16:33:00.600Z,1761669180.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930167,0.366571,0.020371],[-0.367015,0.929854,0.025910],[-0.009444,-0.031577,0.999457]] 2025-10-28T16:33:01.003Z,1761669181.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930004,0.364433,0.047753],[-0.363370,0.931174,-0.029622],[-0.055261,0.010197,0.998420]] 2025-10-28T16:33:01.409Z,1761669181.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930825,0.361237,0.055434],[-0.356969,0.931181,-0.073989],[-0.078346,0.049083,0.995717]] 2025-10-28T16:33:01.811Z,1761669181.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928345,0.369261,0.042685],[-0.365645,0.927808,-0.073995],[-0.066927,0.053085,0.996345]] 2025-10-28T16:33:02.211Z,1761669182.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932806,0.358964,0.031900],[-0.359460,0.933092,0.011285],[-0.025715,-0.021993,0.999427]] 2025-10-28T16:33:02.233Z,1761669182.233 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050420212196,35.0, +14.6, 06, 0 2025-10-28T16:33:02.616Z,1761669182.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930591,0.364430,0.034514],[-0.365956,0.923927,0.111510],[0.008749,-0.116401,0.993164]] 2025-10-28T16:33:03.018Z,1761669183.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930371,0.354846,0.092162],[-0.365766,0.915533,0.167375],[-0.024985,-0.189430,0.981576]] 2025-10-28T16:33:03.423Z,1761669183.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921292,0.350994,0.167402],[-0.377625,0.910286,0.169641],[-0.092841,-0.219504,0.971184]] 2025-10-28T16:33:03.672Z,1761669183.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:33:03.829Z,1761669183.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911590,0.387593,0.137024],[-0.404929,0.904099,0.136517],[-0.070970,-0.179933,0.981115]] 2025-10-28T16:33:04.238Z,1761669184.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912788,0.401141,0.076834],[-0.406328,0.910947,0.071227],[-0.041419,-0.096235,0.994497]] 2025-10-28T16:33:04.634Z,1761669184.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918092,0.394431,0.039124],[-0.394547,0.918862,-0.005052],[-0.037943,-0.010798,0.999222]] 2025-10-28T16:33:05.038Z,1761669185.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919919,0.391293,0.025291],[-0.391274,0.920255,-0.005881],[-0.025575,-0.004486,0.999663]] 2025-10-28T16:33:05.442Z,1761669185.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919951,0.389295,0.046249],[-0.391348,0.918902,0.049663],[-0.023165,-0.063787,0.997695]] 2025-10-28T16:33:05.849Z,1761669185.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914167,0.392331,0.101857],[-0.400902,0.912223,0.084418],[-0.059797,-0.118007,0.991211]] 2025-10-28T16:33:06.255Z,1761669186.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909221,0.401376,0.110517],[-0.411678,0.906343,0.095208],[-0.061952,-0.132063,0.989303]] 2025-10-28T16:33:06.654Z,1761669186.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903147,0.423836,0.068476],[-0.428692,0.898962,0.089949],[-0.023434,-0.110592,0.993590]] 2025-10-28T16:33:06.775Z,1761669186.775 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:06.775Z,1761669186.775 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:06.775Z,1761669186.775 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:06.780Z,1761669186.780 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:06.780Z,1761669186.780 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:06.780Z,1761669186.780 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:06.781Z,1761669186.781 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:06.782Z,1761669186.782 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:06.782Z,1761669186.782 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:06.782Z,1761669186.782 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:06.782Z,1761669186.782 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:06.782Z,1761669186.782 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:07.061Z,1761669187.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901203,0.432955,0.019586],[-0.433316,0.899236,0.060098],[0.008407,-0.062647,0.998000]] 2025-10-28T16:33:07.124Z,1761669187.124 [marl:UpdateRudder:B](INFO): Updating rudder angle 1.000000 arcdeg 2025-10-28T16:33:07.124Z,1761669187.124 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:07.125Z,1761669187.125 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:07.125Z,1761669187.125 [marl:UpdateRudder] Stopped 2025-10-28T16:33:07.125Z,1761669187.125 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:07.463Z,1761669187.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900911,0.433235,0.025831],[-0.433545,0.901100,0.007608],[-0.019980,-0.018053,0.999637]] 2025-10-28T16:33:07.868Z,1761669187.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899291,0.435943,0.035072],[-0.435190,0.899927,-0.027215],[-0.043427,0.009212,0.999014]] 2025-10-28T16:33:08.270Z,1761669188.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901880,0.431632,0.017503],[-0.431705,0.902015,0.000382],[-0.015623,-0.007901,0.999847]] 2025-10-28T16:33:08.676Z,1761669188.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895364,0.444721,0.023387],[-0.445320,0.894537,0.038643],[-0.003736,-0.045014,0.998979]] 2025-10-28T16:33:09.079Z,1761669189.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897810,0.437164,0.053145],[-0.439869,0.896036,0.060285],[-0.021265,-0.077501,0.996765]] 2025-10-28T16:33:09.483Z,1761669189.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906051,0.415201,0.081732],[-0.420257,0.905493,0.058882],[-0.049560,-0.087698,0.994914]] 2025-10-28T16:33:09.887Z,1761669189.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908906,0.411600,0.066897],[-0.414465,0.909344,0.036229],[-0.045920,-0.060655,0.997102]] 2025-10-28T16:33:10.296Z,1761669190.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908999,0.412973,0.056344],[-0.413383,0.910545,-0.004723],[-0.053254,-0.018999,0.998400]] 2025-10-28T16:33:10.706Z,1761669190.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908600,0.415708,0.040410],[-0.415528,0.909485,-0.013149],[-0.042218,-0.004844,0.999097]] 2025-10-28T16:33:11.099Z,1761669191.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918094,0.394681,0.036475],[-0.396042,0.917161,0.044349],[-0.015950,-0.055162,0.998350]] 2025-10-28T16:33:11.502Z,1761669191.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914259,0.403324,0.038226],[-0.404828,0.905844,0.124748],[0.015686,-0.129527,0.991452]] 2025-10-28T16:33:11.907Z,1761669191.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900443,0.430549,0.061878],[-0.433839,0.878694,0.199203],[0.031394,-0.206216,0.978003]] 2025-10-28T16:33:12.314Z,1761669192.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903381,0.412662,0.116671],[-0.428733,0.875109,0.224438],[-0.009483,-0.252774,0.967479]] 2025-10-28T16:33:12.718Z,1761669192.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909557,0.403130,0.100959],[-0.415515,0.877895,0.238009],[0.007317,-0.258433,0.966001]] 2025-10-28T16:33:13.118Z,1761669193.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915806,0.400562,0.029154],[-0.397435,0.893414,0.209420],[0.057839,-0.203375,0.977391]] 2025-10-28T16:33:13.524Z,1761669193.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915780,0.400772,-0.026986],[-0.394893,0.910571,0.122143],[0.073524,-0.101199,0.992146]] 2025-10-28T16:33:13.927Z,1761669193.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922916,0.382798,-0.041124],[-0.382698,0.923813,0.010587],[0.042043,0.005967,0.999098]] 2025-10-28T16:33:14.335Z,1761669194.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921259,0.388484,-0.019022],[-0.388821,0.921110,-0.019350],[0.010004,0.025223,0.999632]] 2025-10-28T16:33:14.392Z,1761669194.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:33:14.740Z,1761669194.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908311,0.418097,-0.012872],[-0.417587,0.908133,0.030269],[0.024345,-0.022118,0.999459]] 2025-10-28T16:33:15.138Z,1761669195.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910851,0.412696,-0.005633],[-0.408593,0.903556,0.128987],[0.058322,-0.115186,0.991630]] 2025-10-28T16:33:15.543Z,1761669195.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924164,0.380772,0.030543],[-0.379432,0.905780,0.188662],[0.044172,-0.185944,0.981567]] 2025-10-28T16:33:15.946Z,1761669195.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923242,0.372742,0.093208],[-0.383254,0.910601,0.154671],[-0.027223,-0.178521,0.983559]] 2025-10-28T16:33:16.362Z,1761669196.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915182,0.381285,0.130633],[-0.390756,0.918802,0.055787],[-0.098755,-0.102100,0.989860]] 2025-10-28T16:33:16.758Z,1761669196.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915343,0.397889,0.061906],[-0.397577,0.917396,-0.017801],[-0.063875,-0.008318,0.997923]] 2025-10-28T16:33:16.848Z,1761669196.848 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:16.849Z,1761669196.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:16.850Z,1761669196.850 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:16.851Z,1761669196.851 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:16.851Z,1761669196.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:16.851Z,1761669196.851 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:16.851Z,1761669196.851 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:17.159Z,1761669197.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924363,0.378608,-0.046988],[-0.380563,0.923728,-0.043570],[0.026908,0.058157,0.997945]] 2025-10-28T16:33:17.285Z,1761669197.285 [marl:UpdateRudder:B](INFO): Updating rudder angle 1.000000 arcdeg 2025-10-28T16:33:17.285Z,1761669197.285 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:17.285Z,1761669197.285 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:17.285Z,1761669197.285 [marl:UpdateRudder] Stopped 2025-10-28T16:33:17.286Z,1761669197.286 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:17.565Z,1761669197.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935041,0.348556,-0.064855],[-0.350235,0.936521,-0.016253],[0.055073,0.037911,0.997762]] 2025-10-28T16:33:17.967Z,1761669197.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936449,0.345815,0.058950],[-0.348386,0.936466,0.040727],[-0.041121,-0.058676,0.997430]] 2025-10-28T16:33:18.371Z,1761669198.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909814,0.383150,0.159484],[-0.401211,0.910306,0.101849],[-0.106156,-0.156650,0.981933]] 2025-10-28T16:33:18.778Z,1761669198.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899566,0.424603,0.102441],[-0.436589,0.881126,0.181681],[-0.013122,-0.208158,0.978007]] 2025-10-28T16:33:19.179Z,1761669199.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902339,0.430143,0.027606],[-0.427051,0.883496,0.192515],[0.058419,-0.185503,0.980906]] 2025-10-28T16:33:19.585Z,1761669199.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909990,0.414627,0.001483],[-0.411188,0.901972,0.131801],[0.053311,-0.120547,0.991275]] 2025-10-28T16:33:19.987Z,1761669199.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906504,0.422021,0.012181],[-0.422175,0.905788,0.036281],[0.004278,-0.038031,0.999267]] 2025-10-28T16:33:20.390Z,1761669200.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890265,0.454222,0.033331],[-0.453198,0.890758,-0.034087],[-0.045173,0.015241,0.998863]] 2025-10-28T16:33:20.795Z,1761669200.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882280,0.470427,0.016779],[-0.470055,0.882365,-0.021927],[-0.025120,0.011459,0.999619]] 2025-10-28T16:33:21.204Z,1761669201.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899218,0.436625,-0.027660],[-0.435858,0.899524,0.029750],[0.037870,-0.014696,0.999175]] 2025-10-28T16:33:21.603Z,1761669201.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905384,0.422608,-0.041015],[-0.417273,0.903474,0.098076],[0.078504,-0.071682,0.994333]] 2025-10-28T16:33:22.006Z,1761669202.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907558,0.419907,-0.004033],[-0.412980,0.894244,0.172552],[0.076063,-0.154935,0.984992]] 2025-10-28T16:33:22.411Z,1761669202.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898643,0.432081,0.075806],[-0.438370,0.877998,0.192228],[0.016501,-0.205976,0.978418]] 2025-10-28T16:33:22.814Z,1761669202.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882960,0.461057,0.088358],[-0.469141,0.859813,0.201563],[0.016960,-0.219425,0.975482]] 2025-10-28T16:33:23.227Z,1761669203.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879655,0.472215,0.056747],[-0.473997,0.860580,0.186357],[0.039166,-0.190828,0.980842]] 2025-10-28T16:33:23.622Z,1761669203.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880102,0.473922,0.028610],[-0.473313,0.871039,0.131397],[0.037352,-0.129184,0.990917]] 2025-10-28T16:33:23.693Z,1761669203.693 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:33:24.027Z,1761669204.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885277,0.465064,0.000244],[-0.463525,0.882305,0.081746],[0.037802,-0.072481,0.996653]] 2025-10-28T16:33:24.430Z,1761669204.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878768,0.477043,0.014018],[-0.477076,0.877278,0.052741],[0.012862,-0.053035,0.998510]] 2025-10-28T16:33:24.834Z,1761669204.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867412,0.496225,0.036829],[-0.496810,0.867820,0.008293],[-0.027846,-0.025491,0.999287]] 2025-10-28T16:33:25.239Z,1761669205.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875022,0.482144,0.043288],[-0.482672,0.875799,0.002001],[-0.036947,-0.022645,0.999061]] 2025-10-28T16:33:25.643Z,1761669205.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876914,0.476430,0.063536],[-0.480261,0.873821,0.076067],[-0.019278,-0.097218,0.995076]] 2025-10-28T16:33:26.046Z,1761669206.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871222,0.485121,0.075033],[-0.490327,0.867314,0.085715],[-0.023495,-0.111468,0.993490]] 2025-10-28T16:33:26.453Z,1761669206.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861141,0.504350,0.063768],[-0.507841,0.859156,0.062842],[-0.023093,-0.086500,0.995984]] 2025-10-28T16:33:26.854Z,1761669206.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856342,0.515649,0.028025],[-0.516392,0.855497,0.038265],[-0.004244,-0.047240,0.998875]] 2025-10-28T16:33:26.908Z,1761669206.908 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:26.908Z,1761669206.908 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:26.908Z,1761669206.908 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:26.909Z,1761669206.909 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:26.910Z,1761669206.910 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:27.266Z,1761669207.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859386,0.510677,0.025787],[-0.511209,0.859177,0.021890],[-0.010977,-0.031995,0.999428]] 2025-10-28T16:33:27.353Z,1761669207.353 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:33:27.353Z,1761669207.353 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:27.353Z,1761669207.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:27.354Z,1761669207.354 [marl:UpdateRudder] Stopped 2025-10-28T16:33:27.354Z,1761669207.354 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:27.663Z,1761669207.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859733,0.505685,0.071711],[-0.506921,0.861992,-0.001099],[-0.062370,-0.035407,0.997425]] 2025-10-28T16:33:28.067Z,1761669208.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845399,0.516960,0.134363],[-0.519271,0.854376,-0.019993],[-0.125131,-0.052869,0.990731]] 2025-10-28T16:33:28.470Z,1761669208.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841260,0.531116,0.100980],[-0.535882,0.843898,0.025827],[-0.071500,-0.075841,0.994553]] 2025-10-28T16:33:29.330Z,1761669209.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880507,0.471923,0.044669],[-0.473465,0.870932,0.131562],[0.023184,-0.136990,0.990301]] 2025-10-28T16:33:29.734Z,1761669209.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852234,0.516194,0.085098],[-0.523141,0.839421,0.147292],[0.004598,-0.170045,0.985426]] 2025-10-28T16:33:30.282Z,1761669210.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825538,0.564323,-0.005084],[-0.554553,0.812851,0.178166],[0.104676,-0.144263,0.983987]] 2025-10-28T16:33:30.662Z,1761669210.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828155,0.559542,-0.032733],[-0.550905,0.823349,0.136384],[0.103264,-0.094914,0.990115]] 2025-10-28T16:33:31.068Z,1761669211.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832692,0.553258,-0.023019],[-0.549770,0.830979,0.085011],[0.066161,-0.058132,0.996114]] 2025-10-28T16:33:31.473Z,1761669211.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824069,0.565857,-0.026752],[-0.562348,0.822832,0.081928],[0.068372,-0.052471,0.996279]] 2025-10-28T16:33:31.874Z,1761669211.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807057,0.590068,-0.021867],[-0.587376,0.806062,0.072484],[0.060397,-0.045654,0.997130]] 2025-10-28T16:33:32.284Z,1761669212.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801067,0.598552,0.005190],[-0.597491,0.799066,0.067067],[0.035996,-0.056826,0.997735]] 2025-10-28T16:33:32.690Z,1761669212.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813230,0.580304,0.043635],[-0.581741,0.808694,0.087125],[0.015272,-0.096237,0.995241]] 2025-10-28T16:33:33.089Z,1761669213.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825038,0.554358,0.109540],[-0.564363,0.818107,0.110436],[-0.028394,-0.152934,0.987828]] 2025-10-28T16:33:33.432Z,1761669213.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:33:33.491Z,1761669213.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818488,0.563451,0.112251],[-0.573855,0.811200,0.112445],[-0.027701,-0.156451,0.987297]] 2025-10-28T16:33:33.895Z,1761669213.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814384,0.579738,0.026127],[-0.578273,0.806895,0.120504],[0.048778,-0.113245,0.992369]] 2025-10-28T16:33:34.303Z,1761669214.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810218,0.584989,-0.036539],[-0.578098,0.807845,0.114843],[0.096699,-0.071925,0.992711]] 2025-10-28T16:33:34.711Z,1761669214.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822111,0.569291,-0.006435],[-0.567778,0.820655,0.064446],[0.041970,-0.049328,0.997900]] 2025-10-28T16:33:35.107Z,1761669215.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816002,0.572815,0.077614],[-0.577369,0.814174,0.061364],[-0.028041,-0.094885,0.995093]] 2025-10-28T16:33:35.520Z,1761669215.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797382,0.596094,0.094100],[-0.603241,0.782983,0.151783],[0.016798,-0.177794,0.983924]] 2025-10-28T16:33:35.915Z,1761669215.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783714,0.619260,0.048055],[-0.608885,0.750689,0.256370],[0.122685,-0.230181,0.965383]] 2025-10-28T16:33:36.324Z,1761669216.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784901,0.619500,0.012261],[-0.596691,0.750371,0.284435],[0.167007,-0.230569,0.958617]] 2025-10-28T16:33:36.723Z,1761669216.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790000,0.609315,0.068079],[-0.606509,0.760421,0.232177],[0.089701,-0.224711,0.970288]] 2025-10-28T16:33:37.127Z,1761669217.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775944,0.611062,0.156570],[-0.630737,0.748020,0.206489],[0.009060,-0.258979,0.965840]] 2025-10-28T16:33:37.244Z,1761669217.244 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:37.245Z,1761669217.245 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:37.246Z,1761669217.246 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:37.247Z,1761669217.247 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:37.247Z,1761669217.247 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:37.247Z,1761669217.247 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:37.532Z,1761669217.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751230,0.638328,0.167901],[-0.660027,0.728153,0.184820],[-0.004282,-0.249662,0.968324]] 2025-10-28T16:33:37.625Z,1761669217.625 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:33:37.625Z,1761669217.625 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:37.625Z,1761669217.625 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:37.625Z,1761669217.625 [marl:UpdateRudder] Stopped 2025-10-28T16:33:37.625Z,1761669217.625 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:37.935Z,1761669217.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748521,0.650174,0.130347],[-0.663089,0.735483,0.139201],[-0.005363,-0.190627,0.981648]] 2025-10-28T16:33:38.339Z,1761669218.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758933,0.648204,0.062064],[-0.650267,0.749421,0.124582],[0.034242,-0.134908,0.990266]] 2025-10-28T16:33:38.449Z,1761669218.449 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:33:38.605Z,1761669218.605 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:33:38.605Z,1761669218.605 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:33:38.743Z,1761669218.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764109,0.644903,0.015438],[-0.639509,0.754144,0.149313],[0.084650,-0.123964,0.988670]] 2025-10-28T16:33:38.857Z,1761669218.857 [DAT](INFO): DAT read: user:10> 2025-10-28T16:33:38.858Z,1761669218.858 [DAT](INFO): DAT read: Tx time:16:33:38.6158 2025-10-28T16:33:38.858Z,1761669218.858 [DAT](INFO): Ping request sent. 2025-10-28T16:33:38.858Z,1761669218.858 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:33:38.858Z,1761669218.858 [DAT](INFO): publishing transmit ping time 2025-10-28T16:33:38.859Z,1761669218.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T16:33:39.109Z,1761669219.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917 2025-10-28T16:33:39.156Z,1761669219.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757811,0.652030,0.024082],[-0.649630,0.750550,0.121056],[0.060857,-0.107382,0.992353]] 2025-10-28T16:33:39.361Z,1761669219.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502913 2025-10-28T16:33:39.551Z,1761669219.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730276,0.679843,0.067165],[-0.683151,0.726929,0.069852],[-0.001335,-0.096895,0.995294]] 2025-10-28T16:33:39.613Z,1761669219.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885 2025-10-28T16:33:39.865Z,1761669219.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880 2025-10-28T16:33:39.955Z,1761669219.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735526,0.673871,0.069995],[-0.677363,0.733501,0.056179],[-0.013484,-0.088733,0.995964]] 2025-10-28T16:33:40.117Z,1761669220.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977 2025-10-28T16:33:40.360Z,1761669220.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762241,0.646381,0.034356],[-0.645957,0.756187,0.104499],[0.041567,-0.101846,0.993931]] 2025-10-28T16:33:40.369Z,1761669220.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643 2025-10-28T16:33:40.622Z,1761669220.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763471 2025-10-28T16:33:40.770Z,1761669220.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756288,0.653752,-0.025212],[-0.639516,0.746849,0.182306],[0.138013,-0.121753,0.982919]] 2025-10-28T16:33:40.873Z,1761669220.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971 2025-10-28T16:33:41.125Z,1761669221.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267382 2025-10-28T16:33:41.171Z,1761669221.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745163,0.662530,-0.076070],[-0.633022,0.738596,0.231858],[0.209798,-0.124618,0.969771]] 2025-10-28T16:33:41.377Z,1761669221.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518832 2025-10-28T16:33:41.571Z,1761669221.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742202,0.664662,-0.085797],[-0.632537,0.737053,0.238011],[0.221434,-0.122383,0.967465]] 2025-10-28T16:33:41.576Z,1761669221.576 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T16:33:41.630Z,1761669221.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771647 2025-10-28T16:33:41.881Z,1761669221.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022798 2025-10-28T16:33:41.979Z,1761669221.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737915,0.671357,-0.069001],[-0.642559,0.730146,0.232388],[0.206396,-0.127146,0.970172]] 2025-10-28T16:33:42.136Z,1761669222.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277382 2025-10-28T16:33:42.379Z,1761669222.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737086,0.675296,-0.026064],[-0.652977,0.721604,0.230018],[0.174138,-0.152523,0.972837]] 2025-10-28T16:33:42.385Z,1761669222.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527013 2025-10-28T16:33:42.640Z,1761669222.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782392 2025-10-28T16:33:42.786Z,1761669222.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735966,0.677018,0.000194],[-0.660927,0.718412,0.216932],[0.146728,-0.159783,0.976187]] 2025-10-28T16:33:42.889Z,1761669222.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031457 2025-10-28T16:33:43.141Z,1761669223.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282834 2025-10-28T16:33:43.197Z,1761669223.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732588,0.680563,-0.012222],[-0.657769,0.712442,0.244472],[0.175086,-0.171058,0.969579]] 2025-10-28T16:33:43.296Z,1761669223.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:33:43.393Z,1761669223.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534885 2025-10-28T16:33:43.607Z,1761669223.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733702,0.676948,-0.058497],[-0.637948,0.715942,0.283636],[0.233887,-0.170786,0.957146]] 2025-10-28T16:33:43.645Z,1761669223.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786923 2025-10-28T16:33:43.897Z,1761669223.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038882 2025-10-28T16:33:43.994Z,1761669223.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715336,0.692674,-0.092176],[-0.642272,0.703709,0.303775],[0.275282,-0.158100,0.948274]] 2025-10-28T16:33:44.152Z,1761669224.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293516 2025-10-28T16:33:44.398Z,1761669224.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691079,0.715930,-0.099266],[-0.660776,0.681462,0.314617],[0.292890,-0.151833,0.944014]] 2025-10-28T16:33:44.401Z,1761669224.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542878 2025-10-28T16:33:44.653Z,1761669224.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794883 2025-10-28T16:33:44.802Z,1761669224.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690646,0.718149,-0.085263],[-0.668092,0.678713,0.304962],[0.276877,-0.153657,0.948540]] 2025-10-28T16:33:44.905Z,1761669224.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046905 2025-10-28T16:33:45.158Z,1761669225.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299761 2025-10-28T16:33:45.213Z,1761669225.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709424,0.702953,-0.050734],[-0.657911,0.686340,0.309986],[0.252726,-0.186533,0.949387]] 2025-10-28T16:33:45.409Z,1761669225.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550966 2025-10-28T16:33:45.611Z,1761669225.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711579,0.701385,-0.041400],[-0.650600,0.680013,0.338086],[0.265281,-0.213640,0.940204]] 2025-10-28T16:33:45.662Z,1761669225.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803977 2025-10-28T16:33:45.913Z,1761669225.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054836 2025-10-28T16:33:46.015Z,1761669226.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709251,0.701968,-0.064840],[-0.647972,0.685383,0.332238],[0.277661,-0.193626,0.940964]] 2025-10-28T16:33:46.168Z,1761669226.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309295 2025-10-28T16:33:46.417Z,1761669226.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558911 2025-10-28T16:33:46.421Z,1761669226.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704997,0.706825,-0.058123],[-0.650844,0.677359,0.342910],[0.281747,-0.203921,0.937568]] 2025-10-28T16:33:46.670Z,1761669226.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811534 2025-10-28T16:33:46.824Z,1761669226.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702842,0.706604,-0.082001],[-0.642384,0.679987,0.353497],[0.305542,-0.195777,0.931835]] 2025-10-28T16:33:46.921Z,1761669226.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062897 2025-10-28T16:33:47.174Z,1761669227.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316188 2025-10-28T16:33:47.227Z,1761669227.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706930,0.699509,-0.104578],[-0.627866,0.688728,0.362543],[0.325628,-0.190632,0.926081]] 2025-10-28T16:33:47.285Z,1761669227.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:47.285Z,1761669227.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:47.285Z,1761669227.285 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:47.286Z,1761669227.286 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:47.287Z,1761669227.287 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:47.426Z,1761669227.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567672 2025-10-28T16:33:47.639Z,1761669227.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706321,0.696739,-0.125162],[-0.619097,0.693727,0.368051],[0.343263,-0.182475,0.921343]] 2025-10-28T16:33:47.678Z,1761669227.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819784 2025-10-28T16:33:47.725Z,1761669227.725 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:33:47.725Z,1761669227.725 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:47.725Z,1761669227.725 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:47.725Z,1761669227.725 [marl:UpdateRudder] Stopped 2025-10-28T16:33:47.725Z,1761669227.725 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:47.929Z,1761669227.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070989 2025-10-28T16:33:48.035Z,1761669228.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698187,0.702835,-0.136231],[-0.619911,0.688699,0.376037],[0.358114,-0.178093,0.916535]] 2025-10-28T16:33:48.184Z,1761669228.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325417 2025-10-28T16:33:48.433Z,1761669228.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575006 2025-10-28T16:33:48.445Z,1761669228.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689009,0.716156,-0.111302],[-0.628680,0.666992,0.399855],[0.360596,-0.205530,0.909796]] 2025-10-28T16:33:48.685Z,1761669228.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826718 2025-10-28T16:33:48.845Z,1761669228.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684328,0.725876,-0.069267],[-0.637941,0.642009,0.425271],[0.353165,-0.246837,0.902411]] 2025-10-28T16:33:48.937Z,1761669228.937 [DAT](INFO): Reached modem response timeout 2025-10-28T16:33:49.246Z,1761669229.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689412,0.722592,-0.050708],[-0.638057,0.638916,0.429732],[0.342919,-0.263908,0.901532]] 2025-10-28T16:33:49.683Z,1761669229.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704516,0.707847,-0.051078],[-0.631702,0.658273,0.409426],[0.323434,-0.256181,0.910912]] 2025-10-28T16:33:50.054Z,1761669230.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712337,0.699027,-0.062751],[-0.629689,0.676034,0.382713],[0.309949,-0.233107,0.921734]] 2025-10-28T16:33:50.462Z,1761669230.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707266,0.701063,-0.091019],[-0.630180,0.683567,0.368252],[0.320386,-0.203094,0.925260]] 2025-10-28T16:33:50.863Z,1761669230.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694082,0.710243,-0.117494],[-0.630599,0.678565,0.376689],[0.347268,-0.187361,0.918858]] 2025-10-28T16:33:51.206Z,1761669231.206 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:33:51.206Z,1761669231.206 [DAT](INFO): response not received 2025-10-28T16:33:51.206Z,1761669231.206 [DAT](ERROR): No response from remote modem. 2025-10-28T16:33:51.271Z,1761669231.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691181,0.709346,-0.138192],[-0.622733,0.681628,0.384171],[0.366705,-0.179475,0.912861]] 2025-10-28T16:33:51.681Z,1761669231.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693906,0.704047,-0.151040],[-0.614981,0.688565,0.384287],[0.374557,-0.173772,0.910774]] 2025-10-28T16:33:52.078Z,1761669232.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698877,0.699915,-0.147274],[-0.611607,0.691561,0.384293],[0.370822,-0.178500,0.911389]] 2025-10-28T16:33:52.488Z,1761669232.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700663,0.699918,-0.138518],[-0.612654,0.689693,0.385977],[0.365687,-0.185576,0.912049]] 2025-10-28T16:33:52.536Z,1761669232.536 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-28T16:33:52.536Z,1761669232.536 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-28T16:33:52.536Z,1761669232.536 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-28T16:33:52.776Z,1761669232.776 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-28T16:33:52.883Z,1761669232.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700487,0.700230,-0.137829],[-0.612596,0.689041,0.387232],[0.366121,-0.186818,0.911622]] 2025-10-28T16:33:52.960Z,1761669232.960 [RDI_Pathfinder](INFO): Powering down 2025-10-28T16:33:53.288Z,1761669233.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700781,0.698866,-0.143148],[-0.609218,0.690691,0.389614],[0.371159,-0.185826,0.909785]] 2025-10-28T16:33:53.694Z,1761669233.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702130,0.695928,-0.150659],[-0.604400,0.694349,0.390615],[0.376450,-0.183204,0.908142]] 2025-10-28T16:33:53.768Z,1761669233.768 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-28T16:33:53.768Z,1761669233.768 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-28T16:33:54.094Z,1761669234.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702220,0.694926,-0.154805],[-0.602136,0.695710,0.391688],[0.379894,-0.181837,0.906982]] 2025-10-28T16:33:54.098Z,1761669234.098 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-28T16:33:54.498Z,1761669234.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702521,0.695657,-0.150082],[-0.602451,0.693599,0.394935],[0.378836,-0.187033,0.906367]] 2025-10-28T16:33:54.905Z,1761669234.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703661,0.696320,-0.141420],[-0.603351,0.690679,0.398661],[0.375271,-0.195196,0.906129]] 2025-10-28T16:33:55.306Z,1761669235.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705700,0.695280,-0.136282],[-0.602083,0.689889,0.401930],[0.373474,-0.201589,0.905472]] 2025-10-28T16:33:55.711Z,1761669235.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708753,0.692150,-0.136369],[-0.597268,0.691612,0.406132],[0.375419,-0.206399,0.903582]] 2025-10-28T16:33:56.120Z,1761669236.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711317,0.689107,-0.138420],[-0.591448,0.693236,0.411840],[0.379760,-0.211080,0.900682]] 2025-10-28T16:33:56.518Z,1761669236.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712809,0.686827,-0.142031],[-0.587271,0.695202,0.414495],[0.383427,-0.212045,0.898900]] 2025-10-28T16:33:56.922Z,1761669236.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714128,0.685247,-0.143031],[-0.585775,0.696846,0.413852],[0.383261,-0.211760,0.899038]] 2025-10-28T16:33:57.326Z,1761669237.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717148,0.683373,-0.136747],[-0.585589,0.697258,0.413420],[0.377868,-0.216406,0.900213]] 2025-10-28T16:33:57.377Z,1761669237.377 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:33:57.377Z,1761669237.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateRudder:A] Stopped 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:33:57.378Z,1761669237.378 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateCommandMode] Stopped 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:33:57.379Z,1761669237.379 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:33:57.380Z,1761669237.380 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:33:57.385Z,1761669237.385 [marl:UpdateSpeed] Stopped 2025-10-28T16:33:57.385Z,1761669237.385 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:33:57.735Z,1761669237.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722221,0.679712,-0.128022],[-0.584527,0.698756,0.412394],[0.369765,-0.223007,0.901966]] 2025-10-28T16:33:57.801Z,1761669237.801 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:33:57.802Z,1761669237.802 [marl:UpdateRudder:B] Stopped 2025-10-28T16:33:57.802Z,1761669237.802 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:33:57.802Z,1761669237.802 [marl:UpdateRudder] Stopped 2025-10-28T16:33:57.802Z,1761669237.802 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:33:58.135Z,1761669238.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723574,0.679705,-0.120176],[-0.585593,0.696660,0.414421],[0.365406,-0.229490,0.902116]] 2025-10-28T16:33:58.539Z,1761669238.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723772,0.680086,-0.116780],[-0.586552,0.695495,0.415022],[0.363470,-0.231884,0.902286]] 2025-10-28T16:33:58.944Z,1761669238.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724425,0.679865,-0.113976],[-0.587669,0.695497,0.413436],[0.360351,-0.232523,0.903372]] 2025-10-28T16:33:59.347Z,1761669239.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725143,0.680182,-0.107334],[-0.590508,0.694427,0.411183],[0.354215,-0.234785,0.905211]] 2025-10-28T16:33:59.754Z,1761669239.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726038,0.680489,-0.099017],[-0.594422,0.693456,0.407162],[0.345733,-0.236757,0.907973]] 2025-10-28T16:34:00.161Z,1761669240.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726950,0.680418,-0.092602],[-0.598196,0.693703,0.401170],[0.337202,-0.236236,0.911311]] 2025-10-28T16:34:00.559Z,1761669240.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728383,0.679338,-0.089205],[-0.600750,0.695809,0.393636],[0.329481,-0.233128,0.914928]] 2025-10-28T16:34:01.367Z,1761669241.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733581,0.673441,-0.091302],[-0.602722,0.706767,0.370415],[0.313981,-0.216700,0.924368]] 2025-10-28T16:34:01.777Z,1761669241.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736923,0.669144,-0.095867],[-0.602669,0.714598,0.355160],[0.306160,-0.203950,0.929877]] 2025-10-28T16:34:02.182Z,1761669242.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739824,0.664870,-0.103000],[-0.601798,0.722399,0.340557],[0.300833,-0.189967,0.934565]] 2025-10-28T16:34:02.582Z,1761669242.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741309,0.661156,-0.115473],[-0.600129,0.730000,0.327026],[0.300510,-0.173129,0.937934]] 2025-10-28T16:34:02.983Z,1761669242.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740879,0.659262,-0.128344],[-0.598240,0.734615,0.320076],[0.305297,-0.160357,0.938658]] 2025-10-28T16:34:03.386Z,1761669243.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738430,0.659667,-0.139860],[-0.597523,0.736225,0.317708],[0.312550,-0.151035,0.937817]] 2025-10-28T16:34:03.796Z,1761669243.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736170,0.661183,-0.144536],[-0.597575,0.735264,0.319829],[0.317738,-0.149077,0.936386]] 2025-10-28T16:34:04.197Z,1761669244.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736315,0.661691,-0.141437],[-0.597361,0.733863,0.323427],[0.317804,-0.153655,0.935623]] 2025-10-28T16:34:04.598Z,1761669244.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737982,0.661505,-0.133394],[-0.597970,0.732648,0.325051],[0.312754,-0.160116,0.936241]] 2025-10-28T16:34:05.003Z,1761669245.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741388,0.660644,-0.117872],[-0.598687,0.730484,0.328585],[0.303181,-0.173041,0.937090]] 2025-10-28T16:34:05.407Z,1761669245.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746153,0.658582,-0.097598],[-0.599105,0.728120,0.333037],[0.290395,-0.190026,0.937849]] 2025-10-28T16:34:05.810Z,1761669245.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748250,0.658943,-0.076915],[-0.602173,0.723249,0.338080],[0.278404,-0.206652,0.937969]] 2025-10-28T16:34:06.653Z,1761669246.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744399,0.666578,-0.039302],[-0.615866,0.708129,0.345343],[0.258028,-0.232868,0.937653]] 2025-10-28T16:34:07.023Z,1761669247.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742332,0.669390,-0.029342],[-0.621733,0.704485,0.342270],[0.249783,-0.235835,0.939143]] 2025-10-28T16:34:07.439Z,1761669247.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739380,0.672819,-0.025145],[-0.627198,0.701864,0.337654],[0.244829,-0.233884,0.940934]] 2025-10-28T16:34:07.475Z,1761669247.475 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:07.476Z,1761669247.476 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:07.496Z,1761669247.496 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:07.496Z,1761669247.496 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:07.496Z,1761669247.496 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:07.496Z,1761669247.496 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:07.497Z,1761669247.497 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:07.498Z,1761669247.498 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:07.498Z,1761669247.498 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:07.498Z,1761669247.498 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:07.498Z,1761669247.498 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:07.498Z,1761669247.498 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:07.831Z,1761669247.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737042,0.675403,-0.024492],[-0.630989,0.700653,0.333073],[0.242119,-0.230035,0.942583]] 2025-10-28T16:34:07.887Z,1761669247.887 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:34:07.887Z,1761669247.887 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:07.887Z,1761669247.887 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:07.887Z,1761669247.887 [marl:UpdateRudder] Stopped 2025-10-28T16:34:07.887Z,1761669247.887 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:34:08.235Z,1761669248.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738748,0.673536,-0.024498],[-0.630697,0.703664,0.327230],[0.237639,-0.226289,0.944627]] 2025-10-28T16:34:08.650Z,1761669248.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740684,0.671541,-0.020497],[-0.630772,0.705574,0.322942],[0.231331,-0.226269,0.946197]] 2025-10-28T16:34:09.045Z,1761669249.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741841,0.670492,-0.010575],[-0.632764,0.705144,0.319971],[0.221995,-0.230677,0.947368]] 2025-10-28T16:34:09.447Z,1761669249.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742558,0.669778,0.002281],[-0.636357,0.704436,0.314356],[0.208942,-0.234879,0.949302]] 2025-10-28T16:34:09.851Z,1761669249.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742996,0.669103,0.016079],[-0.640714,0.704116,0.306114],[0.193500,-0.237743,0.951859]] 2025-10-28T16:34:10.264Z,1761669250.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743108,0.668622,0.027096],[-0.645127,0.705064,0.294442],[0.177766,-0.236282,0.955285]] 2025-10-28T16:34:10.662Z,1761669250.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741720,0.669776,0.035380],[-0.650303,0.705239,0.282388],[0.164186,-0.232461,0.958647]] 2025-10-28T16:34:11.062Z,1761669251.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736911,0.674485,0.045080],[-0.658167,0.700673,0.275451],[0.154201,-0.232653,0.960257]] 2025-10-28T16:34:11.477Z,1761669251.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713276,0.696235,0.080586],[-0.685904,0.669759,0.284531],[0.144127,-0.258223,0.955274]] 2025-10-28T16:34:11.893Z,1761669251.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693890,0.712211,0.106171],[-0.705753,0.643384,0.296597],[0.142931,-0.280736,0.949083]] 2025-10-28T16:34:12.279Z,1761669252.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671197,0.729052,0.134083],[-0.727275,0.612661,0.309384],[0.143410,-0.305173,0.941437]] 2025-10-28T16:34:12.683Z,1761669252.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647095,0.744479,0.164376],[-0.748468,0.579281,0.322846],[0.145132,-0.331942,0.932068]] 2025-10-28T16:34:13.088Z,1761669253.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623117,0.757107,0.196249],[-0.768092,0.545034,0.336114],[0.147512,-0.360176,0.921148]] 2025-10-28T16:34:13.489Z,1761669253.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598988,0.766770,0.230818],[-0.786507,0.509219,0.349432],[0.150397,-0.390846,0.908086]] 2025-10-28T16:34:13.891Z,1761669253.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573684,0.774153,0.267532],[-0.804417,0.470994,0.362047],[0.154274,-0.422908,0.892944]] 2025-10-28T16:34:14.295Z,1761669254.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546714,0.779729,0.305168],[-0.822058,0.430563,0.372608],[0.159139,-0.454576,0.876377]] 2025-10-28T16:34:14.713Z,1761669254.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518284,0.784021,0.341604],[-0.839332,0.389712,0.379008],[0.164023,-0.483152,0.860035]] 2025-10-28T16:34:15.104Z,1761669255.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:34:15.557Z,1761669255.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460990,0.792472,0.399344],[-0.871239,0.318669,0.373353],[0.168613,-0.520036,0.837336]] 2025-10-28T16:34:15.961Z,1761669255.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433101,0.799279,0.416625],[-0.885753,0.291809,0.360956],[0.166930,-0.525358,0.834346]] 2025-10-28T16:34:16.374Z,1761669256.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405916,0.811694,0.419982],[-0.899430,0.273324,0.341056],[0.162043,-0.516184,0.841009]] 2025-10-28T16:34:16.772Z,1761669256.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378163,0.828640,0.412732],[-0.912762,0.259364,0.315588],[0.154461,-0.496070,0.854433]] 2025-10-28T16:34:17.171Z,1761669257.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348704,0.848489,0.398084],[-0.925932,0.246120,0.286487],[0.145104,-0.468498,0.871467]] 2025-10-28T16:34:17.580Z,1761669257.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316361,0.870498,0.377028],[-0.938990,0.230808,0.254999],[0.134955,-0.434697,0.890407]] 2025-10-28T16:34:17.675Z,1761669257.675 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:17.675Z,1761669257.675 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:17.675Z,1761669257.675 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:17.675Z,1761669257.675 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:17.676Z,1761669257.676 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:17.676Z,1761669257.676 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:17.680Z,1761669257.680 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:17.680Z,1761669257.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:17.680Z,1761669257.680 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:17.681Z,1761669257.681 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:17.682Z,1761669257.682 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:17.978Z,1761669257.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281386,0.891682,0.354578],[-0.951436,0.211166,0.224008],[0.124869,-0.400391,0.907797]] 2025-10-28T16:34:18.027Z,1761669258.027 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:34:18.028Z,1761669258.028 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:18.028Z,1761669258.028 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:18.029Z,1761669258.029 [marl:UpdateRudder] Stopped 2025-10-28T16:34:18.029Z,1761669258.029 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:34:18.385Z,1761669258.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244195,0.909493,0.336440],[-0.962825,0.186079,0.195813],[0.115486,-0.371750,0.921122]] 2025-10-28T16:34:18.789Z,1761669258.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205178,0.922474,0.327023],[-0.972757,0.155363,0.172067],[0.107920,-0.353418,0.929220]] 2025-10-28T16:34:19.191Z,1761669259.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164514,0.929914,0.328930],[-0.980983,0.119428,0.153003],[0.102997,-0.347845,0.931877]] 2025-10-28T16:34:19.638Z,1761669259.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122830,0.931672,0.341906],[-0.987285,0.079686,0.137546],[0.100903,-0.354454,0.929613]] 2025-10-28T16:34:19.999Z,1761669259.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082261,0.927167,0.365506],[-0.991446,0.038844,0.124601],[0.101328,-0.372630,0.922431]] 2025-10-28T16:34:20.406Z,1761669260.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046017,0.917094,0.396006],[-0.993720,0.001550,0.111883],[0.101993,-0.398668,0.911406]] 2025-10-28T16:34:20.806Z,1761669260.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015754,0.903794,0.427677],[-0.994726,-0.029190,0.098328],[0.101352,-0.426970,0.898568]] 2025-10-28T16:34:21.210Z,1761669261.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011870,0.890850,0.454142],[-0.994919,-0.055932,0.083711],[0.099975,-0.450841,0.886988]] 2025-10-28T16:34:21.665Z,1761669261.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038403,0.880110,0.473214],[-0.994525,-0.079722,0.067562],[0.097188,-0.468028,0.878353]] 2025-10-28T16:34:22.068Z,1761669262.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065692,0.872659,0.483891],[-0.993486,-0.102454,0.049895],[0.093117,-0.477461,0.873705]] 2025-10-28T16:34:22.470Z,1761669262.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095768,0.869847,0.483937],[-0.991485,-0.126458,0.031092],[0.088243,-0.476838,0.874551]] 2025-10-28T16:34:22.888Z,1761669262.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131438,0.870450,0.474385],[-0.987762,-0.155527,0.011697],[0.083962,-0.467042,0.880240]] 2025-10-28T16:34:23.290Z,1761669263.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170574,0.870063,0.462487],[-0.982075,-0.188326,-0.007915],[0.080212,-0.455547,0.886591]] 2025-10-28T16:34:23.695Z,1761669263.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209652,0.870023,0.446212],[-0.974755,-0.221818,-0.025487],[0.076804,-0.440291,0.894564]] 2025-10-28T16:34:24.101Z,1761669264.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247638,0.868319,0.429765],[-0.966042,-0.255061,-0.041313],[0.073744,-0.425402,0.901995]] 2025-10-28T16:34:24.515Z,1761669264.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282564,0.864066,0.416590],[-0.956670,-0.285664,-0.056380],[0.070288,-0.414470,0.907345]] 2025-10-28T16:34:24.908Z,1761669264.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314843,0.855486,0.411118],[-0.946878,-0.313010,-0.073804],[0.065545,-0.412515,0.908590]] 2025-10-28T16:34:25.310Z,1761669265.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345028,0.844689,0.409214],[-0.936639,-0.337973,-0.092091],[0.060515,-0.415060,0.907779]] 2025-10-28T16:34:25.716Z,1761669265.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374181,0.831634,0.410334],[-0.925720,-0.361239,-0.112025],[0.055065,-0.421772,0.905028]] 2025-10-28T16:34:26.131Z,1761669266.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402961,0.819414,0.407656],[-0.913869,-0.384414,-0.130647],[0.049655,-0.425190,0.903741]] 2025-10-28T16:34:26.523Z,1761669266.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432611,0.807108,0.401776],[-0.900486,-0.408759,-0.148460],[0.044406,-0.426020,0.903623]] 2025-10-28T16:34:26.926Z,1761669266.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462937,0.794175,0.393669],[-0.885524,-0.434014,-0.165770],[0.039207,-0.425344,0.904182]] 2025-10-28T16:34:27.333Z,1761669267.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493384,0.780670,0.383571],[-0.869136,-0.459852,-0.182040],[0.034272,-0.423191,0.905392]] 2025-10-28T16:34:27.734Z,1761669267.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523323,0.768453,0.368255],[-0.851614,-0.486740,-0.194519],[0.029766,-0.415408,0.909148]] 2025-10-28T16:34:27.824Z,1761669267.824 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:27.825Z,1761669267.825 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:27.826Z,1761669267.826 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:27.827Z,1761669267.827 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:27.827Z,1761669267.827 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:27.827Z,1761669267.827 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:28.142Z,1761669268.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551831,0.755466,0.353204],[-0.833569,-0.512563,-0.206014],[0.025403,-0.408105,0.912581]] 2025-10-28T16:34:28.183Z,1761669268.183 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:34:28.183Z,1761669268.183 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:28.183Z,1761669268.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:28.183Z,1761669268.183 [marl:UpdateRudder] Stopped 2025-10-28T16:34:28.183Z,1761669268.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:34:28.549Z,1761669268.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579875,0.742035,0.336347],[-0.814417,-0.538951,-0.215075],[0.021682,-0.398644,0.916850]] 2025-10-28T16:34:28.952Z,1761669268.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607201,0.725525,0.323916],[-0.794342,-0.563595,-0.226674],[0.018099,-0.394937,0.918530]] 2025-10-28T16:34:29.354Z,1761669269.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634029,0.705557,0.316540],[-0.773174,-0.586053,-0.242372],[0.014502,-0.398411,0.917092]] 2025-10-28T16:34:29.764Z,1761669269.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661505,0.683887,0.307750],[-0.749864,-0.609046,-0.258392],[0.010723,-0.401698,0.915709]] 2025-10-28T16:34:30.163Z,1761669270.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689289,0.660408,0.297895],[-0.724455,-0.632151,-0.274866],[0.006791,-0.405273,0.914170]] 2025-10-28T16:34:30.569Z,1761669270.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717254,0.635004,0.286910],[-0.696807,-0.655189,-0.291868],[0.002643,-0.409264,0.912412]] 2025-10-28T16:34:30.971Z,1761669270.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744852,0.607723,0.275442],[-0.667229,-0.677699,-0.309080],[-0.001168,-0.414002,0.910275]] 2025-10-28T16:34:31.375Z,1761669271.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771658,0.579050,0.263146],[-0.636022,-0.699576,-0.325682],[-0.004495,-0.418682,0.908122]] 2025-10-28T16:34:31.784Z,1761669271.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796688,0.550051,0.250464],[-0.604347,-0.720005,-0.341112],[-0.007293,-0.423127,0.906041]] 2025-10-28T16:34:32.234Z,1761669272.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819264,0.521403,0.238633],[-0.573334,-0.737740,-0.356410],[-0.009784,-0.428811,0.903341]] 2025-10-28T16:34:32.586Z,1761669272.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839003,0.494085,0.227934],[-0.543989,-0.752212,-0.371825],[-0.012258,-0.435956,0.899884]] 2025-10-28T16:34:32.990Z,1761669272.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856331,0.469931,0.214152],[-0.516229,-0.767455,-0.380158],[-0.014296,-0.436093,0.899788]] 2025-10-28T16:34:33.395Z,1761669273.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872119,0.446871,0.199287],[-0.489028,-0.782633,-0.385144],[-0.016141,-0.433349,0.901082]] 2025-10-28T16:34:33.800Z,1761669273.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886148,0.424248,0.186429],[-0.463045,-0.794843,-0.392191],[-0.018204,-0.433865,0.900794]] 2025-10-28T16:34:34.203Z,1761669274.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898682,0.402380,0.174533],[-0.438139,-0.805323,-0.399361],[-0.020139,-0.435368,0.900027]] 2025-10-28T16:34:34.616Z,1761669274.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910581,0.380452,0.161551],[-0.412739,-0.816050,-0.404609],[-0.022101,-0.435108,0.900107]] 2025-10-28T16:34:35.015Z,1761669275.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921906,0.357832,0.148480],[-0.386698,-0.826641,-0.408815],[-0.023547,-0.434305,0.900458]] 2025-10-28T16:34:35.818Z,1761669275.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942342,0.312580,0.119520],[-0.333613,-0.849352,-0.409027],[-0.026340,-0.425317,0.904661]] 2025-10-28T16:34:36.223Z,1761669276.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951358,0.289536,0.105293],[-0.306883,-0.860385,-0.406892],[-0.027217,-0.419413,0.907387]] 2025-10-28T16:34:36.630Z,1761669276.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959605,0.265690,0.092556],[-0.279994,-0.869562,-0.406775],[-0.027593,-0.416258,0.908828]] 2025-10-28T16:34:37.037Z,1761669277.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967304,0.240586,0.080251],[-0.252101,-0.877552,-0.407858],[-0.027700,-0.414754,0.909512]] 2025-10-28T16:34:37.838Z,1761669277.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980950,0.186578,0.054099],[-0.192185,-0.891451,-0.410342],[-0.028334,-0.412921,0.910326]] 2025-10-28T16:34:37.928Z,1761669277.928 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:37.928Z,1761669277.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:37.929Z,1761669277.929 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:37.929Z,1761669277.929 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:37.929Z,1761669277.929 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:37.930Z,1761669277.930 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:37.930Z,1761669277.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:37.930Z,1761669277.930 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:37.936Z,1761669277.936 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:37.936Z,1761669277.936 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:37.936Z,1761669277.936 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:37.936Z,1761669277.936 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:37.936Z,1761669277.936 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:37.937Z,1761669277.937 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:38.243Z,1761669278.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986764,0.157283,0.039473],[-0.159491,-0.897344,-0.411505],[-0.029301,-0.412354,0.910552]] 2025-10-28T16:34:38.289Z,1761669278.289 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:34:38.289Z,1761669278.289 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:38.289Z,1761669278.289 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:38.289Z,1761669278.289 [marl:UpdateRudder] Stopped 2025-10-28T16:34:38.289Z,1761669278.289 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:34:38.648Z,1761669278.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991639,0.126719,0.024386],[-0.125337,-0.900825,-0.415698],[-0.030709,-0.415278,0.909176]] 2025-10-28T16:34:38.674Z,1761669278.674 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:34:38.870Z,1761669278.870 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:34:38.871Z,1761669278.871 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:34:39.062Z,1761669279.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995439,0.095044,0.008241],[-0.089716,-0.903253,-0.419625],[-0.032439,-0.418451,0.907660]] 2025-10-28T16:34:39.121Z,1761669279.121 [DAT](INFO): DAT read: user:11> 2025-10-28T16:34:39.122Z,1761669279.122 [DAT](INFO): DAT read: Tx time:16:34:38.8658 2025-10-28T16:34:39.122Z,1761669279.122 [DAT](INFO): Ping request sent. 2025-10-28T16:34:39.122Z,1761669279.122 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:34:39.122Z,1761669279.122 [DAT](INFO): publishing transmit ping time 2025-10-28T16:34:39.123Z,1761669279.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000916 2025-10-28T16:34:39.373Z,1761669279.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839 2025-10-28T16:34:39.455Z,1761669279.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997972,0.063113,-0.008246],[-0.053667,-0.904029,-0.424088],[-0.034220,-0.422786,0.905583]] 2025-10-28T16:34:39.629Z,1761669279.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506438 2025-10-28T16:34:39.859Z,1761669279.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999203,0.030993,-0.025152],[-0.017310,-0.904270,-0.426611],[-0.035967,-0.425835,0.904086]] 2025-10-28T16:34:39.877Z,1761669279.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754931 2025-10-28T16:34:40.129Z,1761669280.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007201 2025-10-28T16:34:40.263Z,1761669280.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999106,-0.001004,-0.042261],[0.018950,-0.904276,-0.426528],[-0.037787,-0.426947,0.903487]] 2025-10-28T16:34:40.381Z,1761669280.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827 2025-10-28T16:34:40.633Z,1761669280.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-28T16:34:40.672Z,1761669280.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997694,-0.032606,-0.059525],[0.054817,-0.904251,-0.423468],[-0.040018,-0.425755,0.903953]] 2025-10-28T16:34:40.885Z,1761669280.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762837 2025-10-28T16:34:41.074Z,1761669281.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995060,-0.063309,-0.076464],[0.089681,-0.903583,-0.418922],[-0.042570,-0.423710,0.904797]] 2025-10-28T16:34:41.138Z,1761669281.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015559 2025-10-28T16:34:41.389Z,1761669281.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868 2025-10-28T16:34:41.474Z,1761669281.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991370,-0.092462,-0.092931],[0.123027,-0.901024,-0.415957],[-0.045273,-0.423800,0.904624]] 2025-10-28T16:34:41.645Z,1761669281.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522898 2025-10-28T16:34:41.879Z,1761669281.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986901,-0.119596,-0.108271],[0.154188,-0.896670,-0.414981],[-0.047453,-0.426239,0.903365]] 2025-10-28T16:34:41.893Z,1761669281.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898 2025-10-28T16:34:42.145Z,1761669282.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023395 2025-10-28T16:34:42.289Z,1761669282.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981793,-0.145306,-0.122344],[0.183500,-0.891963,-0.413195],[-0.049086,-0.428122,0.902387]] 2025-10-28T16:34:42.397Z,1761669282.397 [DAT](INFO): DAT read: Rx Time:16:34:41.6921 2025-10-28T16:34:42.397Z,1761669282.397 [DAT](INFO): Rx dataTimestamp_ set to:1761669282.397033 2025-10-28T16:34:42.398Z,1761669282.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275813 2025-10-28T16:34:42.649Z,1761669282.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527384 2025-10-28T16:34:42.907Z,1761669282.907 [DAT](INFO): DAT read: 16:34:41.6921 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478,-0.29,-2.450, 2.685,-1.823,-2.503, PHS= 0.155,-1.050, 0.636, RAW= 166.1, 3.5, CAL= 165.0, 1.8, ROT= 345.0, -1.8 2025-10-28T16:34:42.908Z,1761669282.908 [DAT](INFO): got valid direction response: 16:34:41.6921 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478,-0.29,-2.450, 2.685,-1.823,-2.503, PHS= 0.155,-1.050, 0.636, RAW= 166.1, 3.5, CAL= 165.0, 1.8, ROT= 345.0, -1.8 2025-10-28T16:34:42.909Z,1761669282.909 [DAT](INFO): DAT read: Bearing 330.1, -16.7 (Local) 2025-10-28T16:34:42.909Z,1761669282.909 [DAT](INFO): Local bearing/azimuth received: Bearing 330.1, -16.7 (Local) 2025-10-28T16:34:42.910Z,1761669282.910 [DAT](INFO): DAT read: Range 11 to 20 : 316.6 m (Round-trip 422.2 ms) speed 0.0 m/s 2025-10-28T16:34:42.911Z,1761669282.911 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:34:42.912Z,1761669282.912 [DAT](INFO): direction in FSK: [0.965449,-0.258691,0.031411] 2025-10-28T16:34:42.912Z,1761669282.912 [DAT](INFO): publishing direction and range info 2025-10-28T16:34:43.098Z,1761669283.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969065,-0.196682,-0.149092],[0.241378,-0.881258,-0.406351],[-0.051467,-0.429768,0.901471]] 2025-10-28T16:34:43.175Z,1761669283.175 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669248.00. Resetting abort timer. 2025-10-28T16:34:43.233Z,1761669283.233 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.939434 2025-10-28T16:34:43.898Z,1761669283.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952568,-0.248684,-0.175414],[0.299442,-0.868755,-0.394462],[-0.054295,-0.428278,0.902014]] 2025-10-28T16:34:44.236Z,1761669284.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:34:44.307Z,1761669284.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942714,-0.275421,-0.188239],[0.328927,-0.861532,-0.386743],[-0.055657,-0.426505,0.902771]] 2025-10-28T16:34:44.714Z,1761669284.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920590,-0.326132,-0.214829],[0.386313,-0.841104,-0.378557],[-0.057234,-0.431487,0.900302]] 2025-10-28T16:34:45.123Z,1761669285.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908208,-0.350757,-0.228313],[0.414600,-0.828509,-0.376404],[-0.057133,-0.436512,0.897883]] 2025-10-28T16:34:45.519Z,1761669285.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894827,-0.375938,-0.240739],[0.442888,-0.815248,-0.373123],[-0.055991,-0.440501,0.896004]] 2025-10-28T16:34:45.923Z,1761669285.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880332,-0.401150,-0.253167],[0.471285,-0.800294,-0.370701],[-0.053901,-0.445654,0.893581]] 2025-10-28T16:34:46.325Z,1761669286.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865182,-0.426000,-0.264546],[0.498820,-0.785165,-0.367007],[-0.051368,-0.449488,0.891808]] 2025-10-28T16:34:46.726Z,1761669286.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848744,-0.452041,-0.274395],[0.526544,-0.770359,-0.359580],[-0.048838,-0.449673,0.891857]] 2025-10-28T16:34:47.131Z,1761669287.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831125,-0.479570,-0.281502],[0.554076,-0.757166,-0.345975],[-0.047225,-0.443522,0.895018]] 2025-10-28T16:34:47.535Z,1761669287.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811965,-0.507728,-0.287966],[0.581801,-0.743797,-0.329050],[-0.047120,-0.434716,0.899334]] 2025-10-28T16:34:47.939Z,1761669287.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791852,-0.535826,-0.293019],[0.608797,-0.730545,-0.309306],[-0.048330,-0.423314,0.904693]] 2025-10-28T16:34:47.991Z,1761669287.991 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:47.992Z,1761669287.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:47.992Z,1761669287.992 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:47.992Z,1761669287.992 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:47.992Z,1761669287.992 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:47.992Z,1761669287.992 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:47.993Z,1761669287.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:47.994Z,1761669287.994 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:47.994Z,1761669287.994 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:47.994Z,1761669287.994 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:47.994Z,1761669287.994 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:47.994Z,1761669287.994 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:48.342Z,1761669288.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770820,-0.563364,-0.297417],[0.635022,-0.716735,-0.288165],[-0.050827,-0.410989,0.910222]] 2025-10-28T16:34:48.389Z,1761669288.389 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:34:48.389Z,1761669288.389 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:48.389Z,1761669288.389 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:48.389Z,1761669288.389 [marl:UpdateRudder] Stopped 2025-10-28T16:34:48.389Z,1761669288.389 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:34:48.748Z,1761669288.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748744,-0.589491,-0.303121],[0.660642,-0.701010,-0.268583],[-0.054164,-0.401355,0.914320]] 2025-10-28T16:34:49.156Z,1761669289.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725987,-0.612268,-0.313161],[0.685239,-0.682582,-0.254028],[-0.058225,-0.399011,0.915096]] 2025-10-28T16:34:49.677Z,1761669289.677 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.send_observations with code: 2259 2025-10-28T16:34:49.978Z,1761669289.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681383,-0.650611,-0.335296],[0.728902,-0.644787,-0.230112],[-0.066481,-0.401193,0.913578]] 2025-10-28T16:34:50.224Z,1761669290.224 [Radio_Surface](INFO): Powering down 2025-10-28T16:34:50.379Z,1761669290.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662183,-0.665467,-0.344481],[0.745981,-0.628917,-0.219032],[-0.070891,-0.402016,0.912884]] 2025-10-28T16:34:50.786Z,1761669290.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646899,-0.679011,-0.347082],[0.758797,-0.618411,-0.204438],[-0.075824,-0.395615,0.915281]] 2025-10-28T16:34:51.188Z,1761669291.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636545,-0.692132,-0.340240],[0.766909,-0.614729,-0.184278],[-0.081611,-0.378234,0.922105]] 2025-10-28T16:34:51.661Z,1761669291.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632117,-0.704141,-0.323441],[0.769771,-0.618456,-0.158004],[-0.088776,-0.348852,0.932963]] 2025-10-28T16:34:51.995Z,1761669291.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633178,-0.713662,-0.299620],[0.767809,-0.628026,-0.126699],[-0.097749,-0.310274,0.945608]] 2025-10-28T16:34:52.398Z,1761669292.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638446,-0.720466,-0.270769],[0.761917,-0.641413,-0.089842],[-0.108946,-0.263662,0.958443]] 2025-10-28T16:34:52.802Z,1761669292.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646789,-0.723351,-0.241718],[0.752949,-0.656065,-0.051443],[-0.121371,-0.215274,0.968982]] 2025-10-28T16:34:53.211Z,1761669293.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657196,-0.722202,-0.215681],[0.741706,-0.670565,-0.014665],[-0.134037,-0.169609,0.976354]] 2025-10-28T16:34:53.653Z,1761669293.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668433,-0.718845,-0.190944],[0.729300,-0.683857,0.021468],[-0.146011,-0.124906,0.981366]] 2025-10-28T16:34:54.014Z,1761669294.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680358,-0.712739,-0.170635],[0.716079,-0.696060,0.052268],[-0.156026,-0.086627,0.983947]] 2025-10-28T16:34:54.418Z,1761669294.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692761,-0.703882,-0.156947],[0.702331,-0.707911,0.074790],[-0.163748,-0.058418,0.984771]] 2025-10-28T16:34:54.824Z,1761669294.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705496,-0.692984,-0.148488],[0.688424,-0.719863,0.088711],[-0.168366,-0.039638,0.984927]] 2025-10-28T16:34:55.227Z,1761669295.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717876,-0.681611,-0.141634],[0.675124,-0.731260,0.097291],[-0.169886,-0.025777,0.985126]] 2025-10-28T16:34:55.663Z,1761669295.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729831,-0.669546,-0.138041],[0.662521,-0.742516,0.098672],[-0.168563,-0.019441,0.985499]] 2025-10-28T16:34:56.035Z,1761669296.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741310,-0.657429,-0.135083],[0.650412,-0.753349,0.097104],[-0.165604,-0.015875,0.986065]] 2025-10-28T16:34:56.438Z,1761669296.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751504,-0.646675,-0.130588],[0.639634,-0.762679,0.095863],[-0.161589,-0.011487,0.986791]] 2025-10-28T16:34:56.842Z,1761669296.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760554,-0.636559,-0.127871],[0.629840,-0.771164,0.092784],[-0.157671,-0.009971,0.987441]] 2025-10-28T16:34:57.266Z,1761669297.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768555,-0.627316,-0.125687],[0.620904,-0.778713,0.089914],[-0.154279,-0.008936,0.987987]] 2025-10-28T16:34:58.054Z,1761669298.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782642,-0.609619,-0.125837],[0.604155,-0.792609,0.082268],[-0.149892,-0.011639,0.988634]] 2025-10-28T16:34:58.458Z,1761669298.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788951,-0.601478,-0.125618],[0.596077,-0.798815,0.081151],[-0.149156,-0.010854,0.988754]] 2025-10-28T16:34:58.863Z,1761669298.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794959,-0.593496,-0.125709],[0.587988,-0.804783,0.081209],[-0.149366,-0.009358,0.988738]] 2025-10-28T16:34:59.268Z,1761669299.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801452,-0.584626,-0.126044],[0.578968,-0.811267,0.081499],[-0.149902,-0.007658,0.988671]] 2025-10-28T16:34:59.297Z,1761669299.297 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:34:59.297Z,1761669299.297 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:34:59.297Z,1761669299.297 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:34:59.297Z,1761669299.297 [marl:UpdateRudder:A] Stopped 2025-10-28T16:34:59.297Z,1761669299.297 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode] Stopped 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:34:59.298Z,1761669299.298 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed] Stopped 2025-10-28T16:34:59.299Z,1761669299.299 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:34:59.670Z,1761669299.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809687,-0.572757,-0.127896],[0.567417,-0.819676,0.078538],[-0.149817,-0.008980,0.988673]] 2025-10-28T16:34:59.731Z,1761669299.731 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:34:59.731Z,1761669299.731 [marl:UpdateRudder:B] Stopped 2025-10-28T16:34:59.731Z,1761669299.731 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:34:59.731Z,1761669299.731 [marl:UpdateRudder] Stopped 2025-10-28T16:34:59.731Z,1761669299.731 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:35:00.083Z,1761669300.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820222,-0.557512,-0.128127],[0.552582,-0.830113,0.074599],[-0.147950,-0.009613,0.988948]] 2025-10-28T16:35:00.479Z,1761669300.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831150,-0.541345,-0.127026],[0.536759,-0.840750,0.070919],[-0.145189,-0.009239,0.989361]] 2025-10-28T16:35:00.884Z,1761669300.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842314,-0.524282,-0.125042],[0.520142,-0.851496,0.066382],[-0.141276,-0.009125,0.989928]] 2025-10-28T16:35:01.287Z,1761669301.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853595,-0.506989,-0.119739],[0.503095,-0.861929,0.063043],[-0.135169,-0.006427,0.990802]] 2025-10-28T16:35:01.691Z,1761669301.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864974,-0.488686,-0.114041],[0.485553,-0.872430,0.055713],[-0.126719,-0.007182,0.991913]] 2025-10-28T16:35:02.099Z,1761669302.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875479,-0.471671,-0.105177],[0.469117,-0.881753,0.049398],[-0.116040,-0.006094,0.993226]] 2025-10-28T16:35:02.502Z,1761669302.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883150,-0.459050,-0.096540],[0.457290,-0.888375,0.040944],[-0.104559,-0.007987,0.994487]] 2025-10-28T16:35:02.902Z,1761669302.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887615,-0.451354,-0.091753],[0.451046,-0.892143,0.025247],[-0.093252,-0.018975,0.995462]] 2025-10-28T16:35:03.307Z,1761669303.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889652,-0.447354,-0.091619],[0.449126,-0.893467,0.001420],[-0.082494,-0.039885,0.995793]] 2025-10-28T16:35:03.712Z,1761669303.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890333,-0.445248,-0.095189],[0.449549,-0.892794,-0.028721],[-0.072197,-0.068363,0.995045]] 2025-10-28T16:35:04.116Z,1761669304.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890409,-0.443645,-0.101735],[0.450783,-0.890460,-0.062251],[-0.062973,-0.101289,0.992862]] 2025-10-28T16:35:04.519Z,1761669304.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890321,-0.442262,-0.108319],[0.452112,-0.886891,-0.094964],[-0.054069,-0.133521,0.989570]] 2025-10-28T16:35:04.979Z,1761669304.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890480,-0.440677,-0.113352],[0.452747,-0.882975,-0.123999],[-0.045444,-0.161739,0.985787]] 2025-10-28T16:35:05.327Z,1761669305.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890929,-0.439191,-0.115574],[0.452626,-0.879502,-0.146990],[-0.037091,-0.183269,0.982363]] 2025-10-28T16:35:05.735Z,1761669305.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891663,-0.437925,-0.114712],[0.451813,-0.876730,-0.164955],[-0.028333,-0.198912,0.979608]] 2025-10-28T16:35:06.134Z,1761669306.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892046,-0.437968,-0.111522],[0.451536,-0.874159,-0.178778],[-0.019189,-0.209834,0.977549]] 2025-10-28T16:35:06.538Z,1761669306.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892514,-0.438219,-0.106690],[0.450910,-0.872184,-0.189672],[-0.009935,-0.217393,0.976034]] 2025-10-28T16:35:06.942Z,1761669306.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893017,-0.438662,-0.100481],[0.450022,-0.870989,-0.197127],[-0.001046,-0.221257,0.975215]] 2025-10-28T16:35:07.350Z,1761669307.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893495,-0.439217,-0.093570],[0.449008,-0.870199,-0.202844],[0.007668,-0.223254,0.974730]] 2025-10-28T16:35:07.753Z,1761669307.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894478,-0.438501,-0.087324],[0.446850,-0.870065,-0.208115],[0.015281,-0.225175,0.974198]] 2025-10-28T16:35:08.155Z,1761669308.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896027,-0.436245,-0.082617],[0.443481,-0.870368,-0.213974],[0.021438,-0.228365,0.973339]] 2025-10-28T16:35:08.567Z,1761669308.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898358,-0.432669,-0.075837],[0.438431,-0.872550,-0.215487],[0.027063,-0.226834,0.973557]] 2025-10-28T16:35:08.962Z,1761669308.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901014,-0.428581,-0.067030],[0.432573,-0.876123,-0.212811],[0.032480,-0.220741,0.974791]] 2025-10-28T16:35:09.367Z,1761669309.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903854,-0.423849,-0.058313],[0.426148,-0.879758,-0.210769],[0.038033,-0.215354,0.975795]] 2025-10-28T16:35:09.775Z,1761669309.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906753,-0.418793,-0.049105],[0.419367,-0.883551,-0.208494],[0.043929,-0.209645,0.976790]] 2025-10-28T16:35:10.177Z,1761669310.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909772,-0.413199,-0.039762],[0.412069,-0.887388,-0.206744],[0.050142,-0.204474,0.977587]] 2025-10-28T16:35:10.583Z,1761669310.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912578,-0.407796,-0.030065],[0.404879,-0.890862,-0.206002],[0.057223,-0.200165,0.978090]] 2025-10-28T16:35:10.982Z,1761669310.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914481,-0.404030,-0.022016],[0.399500,-0.892915,-0.207612],[0.064223,-0.198653,0.977963]] 2025-10-28T16:35:11.388Z,1761669311.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916064,-0.400816,-0.013162],[0.394578,-0.894973,-0.208164],[0.071656,-0.195885,0.978005]] 2025-10-28T16:35:11.794Z,1761669311.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916804,-0.399308,-0.004916],[0.391434,-0.896152,-0.209025],[0.079060,-0.193559,0.977898]] 2025-10-28T16:35:12.194Z,1761669312.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916893,-0.399120,0.003148],[0.389668,-0.896831,-0.209410],[0.086402,-0.190780,0.977823]] 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateRudder:A] Stopped 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:35:12.230Z,1761669312.230 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode] Stopped 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:35:12.231Z,1761669312.231 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:35:12.232Z,1761669312.232 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:35:12.232Z,1761669312.232 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:35:12.233Z,1761669312.233 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:35:12.233Z,1761669312.233 [marl:UpdateSpeed] Stopped 2025-10-28T16:35:12.234Z,1761669312.234 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:35:12.598Z,1761669312.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916323,-0.400295,0.010714],[0.389489,-0.897162,-0.208325],[0.093004,-0.186720,0.978001]] 2025-10-28T16:35:12.623Z,1761669312.623 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:35:12.623Z,1761669312.623 [marl:UpdateRudder:B] Stopped 2025-10-28T16:35:12.623Z,1761669312.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:35:12.623Z,1761669312.623 [marl:UpdateRudder] Stopped 2025-10-28T16:35:12.623Z,1761669312.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:35:13.003Z,1761669313.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915439,-0.402104,0.016828],[0.390069,-0.896781,-0.208876],[0.099081,-0.184650,0.977797]] 2025-10-28T16:35:13.411Z,1761669313.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914665,-0.403628,0.021711],[0.390361,-0.895989,-0.211713],[0.104907,-0.185172,0.977091]] 2025-10-28T16:35:13.810Z,1761669313.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914611,-0.403544,0.025294],[0.389171,-0.895554,-0.215705],[0.109698,-0.187443,0.976131]] 2025-10-28T16:35:14.215Z,1761669314.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915415,-0.401500,0.028506],[0.386058,-0.895835,-0.220088],[0.113902,-0.190467,0.975064]] 2025-10-28T16:35:14.357Z,1761669314.357 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:35:14.622Z,1761669314.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917202,-0.397150,0.031807],[0.380604,-0.896995,-0.224812],[0.117814,-0.194092,0.973883]] 2025-10-28T16:35:15.025Z,1761669315.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919727,-0.390959,0.035404],[0.373285,-0.898919,-0.229352],[0.121493,-0.197726,0.972699]] 2025-10-28T16:35:15.360Z,1761669315.360 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T16:35:15.360Z,1761669315.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:35:15.429Z,1761669315.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922482,-0.383870,0.040869],[0.365040,-0.901840,-0.231151],[0.125589,-0.198313,0.972059]] 2025-10-28T16:35:15.831Z,1761669315.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924978,-0.377054,0.047395],[0.357129,-0.905104,-0.230748],[0.129902,-0.196511,0.971859]] 2025-10-28T16:35:16.234Z,1761669316.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926747,-0.371937,0.052940],[0.350733,-0.907058,-0.232879],[0.134636,-0.197252,0.971064]] 2025-10-28T16:35:16.640Z,1761669316.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928129,-0.367581,0.058820],[0.345005,-0.908720,-0.234947],[0.139813,-0.197768,0.970227]] 2025-10-28T16:35:17.047Z,1761669317.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928898,-0.364663,0.064576],[0.340717,-0.909843,-0.236851],[0.145125,-0.198008,0.969397]] 2025-10-28T16:35:17.447Z,1761669317.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928897,-0.363805,0.069261],[0.338661,-0.910135,-0.238670],[0.149866,-0.198244,0.968628]] 2025-10-28T16:35:17.854Z,1761669317.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928906,-0.363071,0.072884],[0.336955,-0.910333,-0.240323],[0.153603,-0.198679,0.967953]] 2025-10-28T16:35:18.256Z,1761669318.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929384,-0.361439,0.074887],[0.334582,-0.910597,-0.242628],[0.155887,-0.200439,0.967225]] 2025-10-28T16:35:18.659Z,1761669318.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930287,-0.358553,0.077498],[0.331215,-0.911811,-0.242689],[0.157680,-0.200102,0.967004]] 2025-10-28T16:35:19.070Z,1761669319.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931579,-0.354768,0.079367],[0.326890,-0.912988,-0.244123],[0.159069,-0.201476,0.966491]] 2025-10-28T16:35:19.468Z,1761669319.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932646,-0.351558,0.081107],[0.323137,-0.913918,-0.245634],[0.160480,-0.202881,0.965963]] 2025-10-28T16:35:19.875Z,1761669319.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933189,-0.349760,0.082621],[0.320438,-0.913860,-0.249358],[0.162719,-0.206223,0.964881]] 2025-10-28T16:35:20.274Z,1761669320.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933271,-0.348969,0.085006],[0.318563,-0.913551,-0.252869],[0.165901,-0.208915,0.963759]] 2025-10-28T16:35:20.678Z,1761669320.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932718,-0.349770,0.087735],[0.318266,-0.912856,-0.255738],[0.169538,-0.210608,0.962757]] 2025-10-28T16:35:21.082Z,1761669321.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931514,-0.351960,0.091681],[0.319556,-0.912386,-0.255804],[0.173681,-0.208988,0.962371]] 2025-10-28T16:35:21.492Z,1761669321.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930265,-0.354317,0.095223],[0.320739,-0.911399,-0.257834],[0.178141,-0.209312,0.961485]] 2025-10-28T16:35:22.294Z,1761669322.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929199,-0.354769,0.103577],[0.319477,-0.911939,-0.257492],[0.185806,-0.206171,0.960713]] 2025-10-28T16:35:22.699Z,1761669322.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929508,-0.353207,0.106114],[0.317775,-0.913059,-0.255620],[0.187176,-0.203880,0.960936]] 2025-10-28T16:35:23.102Z,1761669323.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930540,-0.349924,0.107928],[0.315193,-0.915405,-0.250374],[0.186410,-0.198965,0.962115]] 2025-10-28T16:35:23.507Z,1761669323.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931880,-0.345924,0.109256],[0.312502,-0.918440,-0.242510],[0.184235,-0.191847,0.963977]] 2025-10-28T16:35:23.914Z,1761669323.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933360,-0.341829,0.109504],[0.309780,-0.921231,-0.235307],[0.181314,-0.185704,0.965733]] 2025-10-28T16:35:24.317Z,1761669324.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935692,-0.335439,0.109368],[0.304199,-0.924041,-0.231540],[0.178728,-0.183380,0.966658]] 2025-10-28T16:35:24.718Z,1761669324.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938390,-0.327368,0.110704],[0.296409,-0.927153,-0.229192],[0.177670,-0.182258,0.967065]] 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateRudder:A] Stopped 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:35:25.165Z,1761669325.165 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode] Stopped 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:35:25.166Z,1761669325.166 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:35:25.167Z,1761669325.167 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:35:25.167Z,1761669325.167 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:35:25.167Z,1761669325.167 [marl:UpdateSpeed] Stopped 2025-10-28T16:35:25.167Z,1761669325.167 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:35:25.527Z,1761669325.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942509,-0.313406,0.115988],[0.281476,-0.931600,-0.229983],[0.180132,-0.184113,0.966258]] 2025-10-28T16:35:25.623Z,1761669325.623 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:35:25.623Z,1761669325.623 [marl:UpdateRudder:B] Stopped 2025-10-28T16:35:25.628Z,1761669325.628 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:35:25.629Z,1761669325.629 [marl:UpdateRudder] Stopped 2025-10-28T16:35:25.629Z,1761669325.629 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:35:25.941Z,1761669325.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943579,-0.309214,0.118514],[0.276486,-0.932608,-0.231944],[0.182248,-0.186090,0.965483]] 2025-10-28T16:35:26.335Z,1761669326.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943924,-0.307334,0.120636],[0.273716,-0.932759,-0.234607],[0.184627,-0.188431,0.964576]] 2025-10-28T16:35:26.739Z,1761669326.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943770,-0.307194,0.122189],[0.272942,-0.932547,-0.236344],[0.186550,-0.189704,0.963956]] 2025-10-28T16:35:27.144Z,1761669327.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942933,-0.309484,0.122871],[0.274901,-0.931748,-0.237225],[0.187902,-0.189910,0.963653]] 2025-10-28T16:35:27.562Z,1761669327.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941577,-0.314334,0.120938],[0.278956,-0.929069,-0.242929],[0.188720,-0.195000,0.962476]] 2025-10-28T16:35:27.959Z,1761669327.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941697,-0.314539,0.119467],[0.279041,-0.928490,-0.245038],[0.187998,-0.197415,0.962125]] 2025-10-28T16:35:28.360Z,1761669328.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942695,-0.311741,0.118923],[0.276410,-0.929299,-0.244952],[0.186877,-0.198044,0.962214]] 2025-10-28T16:35:28.769Z,1761669328.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944548,-0.306084,0.118919],[0.270750,-0.930848,-0.245392],[0.185806,-0.199587,0.962102]] 2025-10-28T16:35:29.168Z,1761669329.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946831,-0.298764,0.119379],[0.263343,-0.932835,-0.245905],[0.184829,-0.201393,0.961914]] 2025-10-28T16:35:29.576Z,1761669329.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949126,-0.291152,0.119963],[0.255675,-0.934899,-0.246160],[0.183823,-0.202965,0.961777]] 2025-10-28T16:35:29.975Z,1761669329.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951189,-0.283618,0.121659],[0.248121,-0.937234,-0.245006],[0.183511,-0.202861,0.961858]] 2025-10-28T16:35:30.376Z,1761669330.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952688,-0.277239,0.124596],[0.241714,-0.939572,-0.242444],[0.184282,-0.200857,0.962131]] 2025-10-28T16:35:30.782Z,1761669330.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953398,-0.273054,0.128353],[0.237217,-0.941253,-0.240353],[0.186442,-0.198705,0.962162]] 2025-10-28T16:35:31.182Z,1761669331.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953014,-0.272645,0.132022],[0.236688,-0.942187,-0.237197],[0.189060,-0.194804,0.962449]] 2025-10-28T16:35:31.609Z,1761669331.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952027,-0.274981,0.134275],[0.238775,-0.941946,-0.236061],[0.191392,-0.192675,0.962416]] 2025-10-28T16:35:32.002Z,1761669332.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950750,-0.278822,0.135399],[0.242012,-0.940690,-0.237765],[0.193662,-0.193287,0.961839]] 2025-10-28T16:35:32.394Z,1761669332.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949412,-0.283078,0.135951],[0.245584,-0.939101,-0.240371],[0.195715,-0.194824,0.961114]] 2025-10-28T16:35:32.804Z,1761669332.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948300,-0.287198,0.135071],[0.248970,-0.937114,-0.244604],[0.196827,-0.198329,0.960169]] 2025-10-28T16:35:33.204Z,1761669333.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947573,-0.290469,0.133166],[0.251771,-0.935309,-0.248612],[0.196765,-0.202050,0.959406]] 2025-10-28T16:35:33.645Z,1761669333.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947291,-0.292655,0.130359],[0.254012,-0.934045,-0.251074],[0.195239,-0.204727,0.959150]] 2025-10-28T16:35:34.014Z,1761669334.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947631,-0.292948,0.127192],[0.254771,-0.933573,-0.252059],[0.192583,-0.206454,0.959317]] 2025-10-28T16:35:34.414Z,1761669334.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948907,-0.289567,0.125404],[0.252061,-0.934634,-0.250848],[0.189844,-0.206422,0.959869]] 2025-10-28T16:35:34.827Z,1761669334.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950846,-0.282924,0.125879],[0.246444,-0.937520,-0.245605],[0.187501,-0.202511,0.961162]] 2025-10-28T16:35:35.223Z,1761669335.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952900,-0.275138,0.127595],[0.239531,-0.940801,-0.239829],[0.186027,-0.197970,0.962394]] 2025-10-28T16:35:35.655Z,1761669335.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954939,-0.267004,0.129613],[0.231890,-0.943760,-0.235677],[0.185250,-0.195002,0.963149]] 2025-10-28T16:35:36.041Z,1761669336.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956752,-0.259085,0.132292],[0.224211,-0.946494,-0.232117],[0.185352,-0.192417,0.963650]] 2025-10-28T16:35:36.436Z,1761669336.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958323,-0.251595,0.135338],[0.216556,-0.948726,-0.230265],[0.186333,-0.191360,0.963671]] 2025-10-28T16:35:36.839Z,1761669336.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959598,-0.245106,0.138182],[0.209709,-0.950434,-0.229560],[0.187599,-0.191308,0.963435]] 2025-10-28T16:35:37.242Z,1761669337.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960480,-0.240258,0.140548],[0.204195,-0.951331,-0.230810],[0.189161,-0.192989,0.962795]] 2025-10-28T16:35:37.659Z,1761669337.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961071,-0.236718,0.142501],[0.200222,-0.952079,-0.231207],[0.190403,-0.193675,0.962412]] 2025-10-28T16:35:38.059Z,1761669338.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961549,-0.233985,0.143789],[0.197146,-0.952585,-0.231766],[0.191201,-0.194507,0.962086]] 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateRudder:A] Stopped 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:35:38.083Z,1761669338.083 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateCommandMode] Stopped 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:35:38.084Z,1761669338.084 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed] Stopped 2025-10-28T16:35:38.085Z,1761669338.085 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:35:38.455Z,1761669338.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961983,-0.231281,0.145253],[0.194224,-0.953247,-0.231511],[0.192006,-0.194498,0.961927]] 2025-10-28T16:35:38.487Z,1761669338.487 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:35:38.487Z,1761669338.487 [marl:UpdateRudder:B] Stopped 2025-10-28T16:35:38.487Z,1761669338.487 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:35:38.487Z,1761669338.487 [marl:UpdateRudder] Stopped 2025-10-28T16:35:38.487Z,1761669338.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:35:38.859Z,1761669338.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962395,-0.229228,0.145776],[0.191908,-0.953501,-0.232394],[0.192269,-0.195679,0.961635]] 2025-10-28T16:35:38.902Z,1761669338.902 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:35:38.909Z,1761669338.909 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:35:38.909Z,1761669338.909 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:35:39.161Z,1761669339.161 [DAT](INFO): DAT read: user:12> 2025-10-28T16:35:39.163Z,1761669339.163 [DAT](INFO): DAT read: Tx time:16:35:38.9157 2025-10-28T16:35:39.165Z,1761669339.165 [DAT](INFO): Ping request sent. 2025-10-28T16:35:39.165Z,1761669339.165 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:35:39.166Z,1761669339.166 [DAT](INFO): publishing transmit ping time 2025-10-28T16:35:39.168Z,1761669339.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003049 2025-10-28T16:35:39.262Z,1761669339.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962721,-0.227420,0.146455],[0.189970,-0.953877,-0.232445],[0.192563,-0.195958,0.961520]] 2025-10-28T16:35:39.413Z,1761669339.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248421 2025-10-28T16:35:39.665Z,1761669339.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500410 2025-10-28T16:35:39.669Z,1761669339.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963087,-0.225268,0.147370],[0.187777,-0.954462,-0.231825],[0.192881,-0.195595,0.961530]] 2025-10-28T16:35:39.917Z,1761669339.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752379 2025-10-28T16:35:40.075Z,1761669340.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963392,-0.223474,0.148107],[0.185976,-0.954966,-0.231198],[0.193104,-0.195190,0.961567]] 2025-10-28T16:35:40.169Z,1761669340.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004387 2025-10-28T16:35:40.421Z,1761669340.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256346 2025-10-28T16:35:40.475Z,1761669340.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963524,-0.222225,0.149122],[0.184732,-0.955444,-0.230219],[0.193638,-0.194274,0.961645]] 2025-10-28T16:35:40.673Z,1761669340.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508348 2025-10-28T16:35:40.878Z,1761669340.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963140,-0.223922,0.149063],[0.186299,-0.954989,-0.230844],[0.194044,-0.194565,0.961505]] 2025-10-28T16:35:40.927Z,1761669340.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762141 2025-10-28T16:35:41.177Z,1761669341.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012411 2025-10-28T16:35:41.284Z,1761669341.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961672,-0.231461,0.147010],[0.192632,-0.951841,-0.238520],[0.195138,-0.201059,0.959946]] 2025-10-28T16:35:41.431Z,1761669341.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266235 2025-10-28T16:35:41.681Z,1761669341.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516357 2025-10-28T16:35:41.695Z,1761669341.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959031,-0.245339,0.141660],[0.203529,-0.944497,-0.257879],[0.197066,-0.218482,0.955736]] 2025-10-28T16:35:41.933Z,1761669341.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768800 2025-10-28T16:35:42.091Z,1761669342.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955569,-0.263141,0.132836],[0.217171,-0.933188,-0.286351],[0.199312,-0.244780,0.948872]] 2025-10-28T16:35:42.185Z,1761669342.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020318 2025-10-28T16:35:42.437Z,1761669342.437 [DAT](INFO): DAT read: Rx Time:16:35:41.7059 2025-10-28T16:35:42.437Z,1761669342.437 [DAT](INFO): Rx dataTimestamp_ set to:1761669342.437095 2025-10-28T16:35:42.438Z,1761669342.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273408 2025-10-28T16:35:42.499Z,1761669342.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951495,-0.282154,0.122661],[0.232012,-0.919876,-0.316225],[0.202057,-0.272427,0.940721]] 2025-10-28T16:35:42.690Z,1761669342.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525096 2025-10-28T16:35:42.899Z,1761669342.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946904,-0.301739,0.111023],[0.247895,-0.905071,-0.345535],[0.204745,-0.299666,0.931815]] 2025-10-28T16:35:42.946Z,1761669342.946 [DAT](INFO): DAT read: 16:35:41.7059 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 78, 0.03,-1.078,-2.287,-0.501,-1.136, PHS= 0.160,-1.106, 0.591, RAW= 164.1, 4.7, CAL= 163.2, 3.6, ROT= 346.8, -3.6 2025-10-28T16:35:42.947Z,1761669342.947 [DAT](INFO): got valid direction response: 16:35:41.7059 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 78, 0.03,-1.078,-2.287,-0.501,-1.136, PHS= 0.160,-1.106, 0.591, RAW= 164.1, 4.7, CAL= 163.2, 3.6, ROT= 346.8, -3.6 2025-10-28T16:35:42.948Z,1761669342.948 [DAT](INFO): DAT read: Bearing 325.2, -2.1 (Local) 2025-10-28T16:35:42.949Z,1761669342.949 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -2.1 (Local) 2025-10-28T16:35:42.950Z,1761669342.950 [DAT](INFO): DAT read: Range 11 to 20 : 289.5 m (Round-trip 386.1 ms) speed 0.3 m/s 2025-10-28T16:35:42.951Z,1761669342.951 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:35:42.952Z,1761669342.952 [DAT](INFO): direction in FSK: [0.971658,-0.227901,0.062791] 2025-10-28T16:35:42.952Z,1761669342.952 [DAT](INFO): publishing direction and range info 2025-10-28T16:35:43.303Z,1761669343.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942101,-0.320268,0.099374],[0.263067,-0.889653,-0.373247],[0.207947,-0.325495,0.922394]] 2025-10-28T16:35:43.389Z,1761669343.389 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669376.00. Resetting abort timer. 2025-10-28T16:35:43.707Z,1761669343.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936915,-0.338179,0.088459],[0.278536,-0.875160,-0.395617],[0.211205,-0.346021,0.914146]] 2025-10-28T16:35:44.111Z,1761669344.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931173,-0.356053,0.078374],[0.294455,-0.861246,-0.414188],[0.214972,-0.362603,0.906811]] 2025-10-28T16:35:44.525Z,1761669344.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924884,-0.373956,0.068898],[0.310761,-0.847770,-0.429784],[0.219130,-0.376090,0.900299]] 2025-10-28T16:35:44.984Z,1761669344.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918136,-0.391703,0.059952],[0.327141,-0.834629,-0.443141],[0.223618,-0.387251,0.894445]] 2025-10-28T16:35:45.323Z,1761669345.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910914,-0.409295,0.052099],[0.343569,-0.822364,-0.453518],[0.228467,-0.395216,0.889723]] 2025-10-28T16:35:45.484Z,1761669345.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:35:45.728Z,1761669345.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902914,-0.427480,0.044800],[0.360900,-0.810613,-0.461149],[0.233448,-0.400210,0.886191]] 2025-10-28T16:35:46.139Z,1761669346.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894510,-0.445399,0.038354],[0.377938,-0.799264,-0.467270],[0.238776,-0.403482,0.883283]] 2025-10-28T16:35:46.488Z,1761669346.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:35:46.539Z,1761669346.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886030,-0.462495,0.032400],[0.394442,-0.788693,-0.471570],[0.243653,-0.405045,0.881233]] 2025-10-28T16:35:46.939Z,1761669346.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877886,-0.478062,0.027807],[0.409919,-0.780232,-0.472445],[0.247554,-0.403354,0.880921]] 2025-10-28T16:35:47.353Z,1761669347.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870389,-0.491776,0.024071],[0.424051,-0.773573,-0.470919],[0.250208,-0.399675,0.881848]] 2025-10-28T16:35:47.762Z,1761669347.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863788,-0.503435,0.020572],[0.436514,-0.768109,-0.468471],[0.251646,-0.395680,0.883240]] 2025-10-28T16:35:48.159Z,1761669348.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858077,-0.513231,0.017252],[0.447470,-0.763768,-0.465220],[0.251941,-0.391475,0.885027]] 2025-10-28T16:35:48.563Z,1761669348.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853429,-0.521021,0.014023],[0.456439,-0.760092,-0.462518],[0.251641,-0.388326,0.886499]] 2025-10-28T16:35:48.979Z,1761669348.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849166,-0.528028,0.010195],[0.465001,-0.756680,-0.459575],[0.250382,-0.385514,0.888081]] 2025-10-28T16:35:49.789Z,1761669349.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839033,-0.544081,0.000231],[0.485015,-0.748140,-0.452822],[0.246545,-0.379820,0.891601]] 2025-10-28T16:35:50.191Z,1761669350.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832530,-0.553935,-0.007081],[0.497204,-0.741508,-0.450505],[0.244300,-0.378580,0.892746]] 2025-10-28T16:35:50.594Z,1761669350.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825043,-0.564852,-0.015703],[0.510182,-0.732668,-0.450458],[0.242937,-0.379658,0.892660]] 2025-10-28T16:35:51.007Z,1761669351.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816616,-0.576688,-0.023865],[0.523537,-0.722676,-0.451274],[0.242997,-0.381012,0.892066]] 2025-10-28T16:35:51.055Z,1761669351.055 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:35:51.055Z,1761669351.055 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:35:51.055Z,1761669351.055 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:35:51.060Z,1761669351.060 [marl:UpdateRudder:A] Stopped 2025-10-28T16:35:51.060Z,1761669351.060 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:35:51.060Z,1761669351.060 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:35:51.060Z,1761669351.060 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:35:51.060Z,1761669351.060 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateCommandMode] Stopped 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:35:51.061Z,1761669351.061 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:35:51.062Z,1761669351.062 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:35:51.062Z,1761669351.062 [marl:UpdateSpeed] Stopped 2025-10-28T16:35:51.062Z,1761669351.062 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:35:51.404Z,1761669351.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807511,-0.589044,-0.030869],[0.536721,-0.712060,-0.452660],[0.244656,-0.382096,0.891148]] 2025-10-28T16:35:51.428Z,1761669351.428 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:35:51.428Z,1761669351.428 [marl:UpdateRudder:B] Stopped 2025-10-28T16:35:51.428Z,1761669351.428 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:35:51.428Z,1761669351.428 [marl:UpdateRudder] Stopped 2025-10-28T16:35:51.428Z,1761669351.428 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:35:52.210Z,1761669352.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785874,-0.616760,-0.044818],[0.565471,-0.687403,-0.455763],[0.250288,-0.383516,0.888972]] 2025-10-28T16:35:52.615Z,1761669352.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771916,-0.633338,-0.055040],[0.583458,-0.671413,-0.456926],[0.252434,-0.384822,0.887800]] 2025-10-28T16:35:53.029Z,1761669353.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755821,-0.651117,-0.069146],[0.603290,-0.651445,-0.460067],[0.254513,-0.389443,0.885188]] 2025-10-28T16:35:53.441Z,1761669353.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737369,-0.669571,-0.089231],[0.625067,-0.626267,-0.465919],[0.256083,-0.399330,0.880316]] 2025-10-28T16:35:54.293Z,1761669354.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695907,-0.704917,-0.137133],[0.671437,-0.570949,-0.472429],[0.254728,-0.420842,0.870635]] 2025-10-28T16:35:54.702Z,1761669354.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674676,-0.720573,-0.159959],[0.694008,-0.545496,-0.469879],[0.251325,-0.428029,0.868117]] 2025-10-28T16:35:55.105Z,1761669355.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654945,-0.734096,-0.179306],[0.713916,-0.523293,-0.465283],[0.247733,-0.432744,0.866811]] 2025-10-28T16:35:55.514Z,1761669355.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635460,-0.746869,-0.195902],[0.732621,-0.503088,-0.458442],[0.243841,-0.434843,0.866864]] 2025-10-28T16:35:56.724Z,1761669356.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574520,-0.784122,-0.234692],[0.784035,-0.444907,-0.432836],[0.234980,-0.432679,0.870387]] 2025-10-28T16:35:57.122Z,1761669357.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552081,-0.796892,-0.245293],[0.800340,-0.423989,-0.423898],[0.233800,-0.430344,0.871861]] 2025-10-28T16:35:57.528Z,1761669357.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527909,-0.809773,-0.256083],[0.816624,-0.401141,-0.414983],[0.233317,-0.428197,0.873047]] 2025-10-28T16:35:58.389Z,1761669358.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474199,-0.834891,-0.279451],[0.849314,-0.350168,-0.395030],[0.231952,-0.424664,0.875134]] 2025-10-28T16:35:58.801Z,1761669358.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413208,-0.858172,-0.304631],[0.881653,-0.293282,-0.369695],[0.227919,-0.421339,0.877796]] 2025-10-28T16:35:59.195Z,1761669359.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381332,-0.868237,-0.317413],[0.896856,-0.264215,-0.354738],[0.224131,-0.419947,0.879437]] 2025-10-28T16:35:59.639Z,1761669359.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349420,-0.876259,-0.331778],[0.910984,-0.234909,-0.339007],[0.219120,-0.420700,0.880339]] 2025-10-28T16:36:00.014Z,1761669360.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318052,-0.883915,-0.342836],[0.923758,-0.207553,-0.321857],[0.213338,-0.419065,0.882537]] 2025-10-28T16:36:00.405Z,1761669360.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287342,-0.890265,-0.353358],[0.935192,-0.181032,-0.304375],[0.207006,-0.417918,0.884587]] 2025-10-28T16:36:00.806Z,1761669360.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257966,-0.895131,-0.363586],[0.945031,-0.155517,-0.287630],[0.200922,-0.417799,0.886044]] 2025-10-28T16:36:01.211Z,1761669361.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229956,-0.898766,-0.373283],[0.953469,-0.131215,-0.271441],[0.194982,-0.418333,0.887119]] 2025-10-28T16:36:01.649Z,1761669361.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202316,-0.901636,-0.382256],[0.960901,-0.107417,-0.255207],[0.189044,-0.418943,0.888116]] 2025-10-28T16:36:02.020Z,1761669362.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175257,-0.903934,-0.390113],[0.967341,-0.084397,-0.239017],[0.183131,-0.419261,0.889204]] 2025-10-28T16:36:02.429Z,1761669362.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148038,-0.906381,-0.395674],[0.972998,-0.061843,-0.222373],[0.177085,-0.417910,0.891062]] 2025-10-28T16:36:02.830Z,1761669362.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120923,-0.908093,-0.400929],[0.977815,-0.039373,-0.205737],[0.171042,-0.416913,0.892708]] 2025-10-28T16:36:03.237Z,1761669363.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093440,-0.909404,-0.405283],[0.981844,-0.016674,-0.188954],[0.165078,-0.415580,0.894451]] 2025-10-28T16:36:03.657Z,1761669363.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065313,-0.910657,-0.407969],[0.985090,0.006368,-0.171919],[0.159157,-0.413115,0.896663]] 2025-10-28T16:36:04.042Z,1761669364.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035894,-0.911129,-0.410555],[0.987591,0.030511,-0.154056],[0.152891,-0.410990,0.898728]] 2025-10-28T16:36:04.067Z,1761669364.067 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:36:04.068Z,1761669364.068 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:36:04.084Z,1761669364.084 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:36:04.084Z,1761669364.084 [marl:UpdateRudder:A] Stopped 2025-10-28T16:36:04.084Z,1761669364.084 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:36:04.084Z,1761669364.084 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode] Stopped 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:36:04.085Z,1761669364.085 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:36:04.086Z,1761669364.086 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:36:04.086Z,1761669364.086 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:36:04.086Z,1761669364.086 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:36:04.086Z,1761669364.086 [marl:UpdateSpeed] Stopped 2025-10-28T16:36:04.086Z,1761669364.086 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:36:04.447Z,1761669364.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005689,-0.910730,-0.412963],[0.989177,0.055423,-0.135854],[0.146614,-0.409266,0.900558]] 2025-10-28T16:36:04.475Z,1761669364.475 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:36:04.477Z,1761669364.477 [marl:UpdateRudder:B] Stopped 2025-10-28T16:36:04.477Z,1761669364.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:36:04.478Z,1761669364.478 [marl:UpdateRudder] Stopped 2025-10-28T16:36:04.478Z,1761669364.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:36:04.852Z,1761669364.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025745,-0.909194,-0.415576],[0.989749,0.081602,-0.117211],[0.140480,-0.408299,0.901974]] 2025-10-28T16:36:05.254Z,1761669365.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056772,-0.906595,-0.418165],[0.989313,0.107425,-0.098587],[0.134300,-0.408100,0.903005]] 2025-10-28T16:36:05.661Z,1761669365.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088896,-0.903873,-0.418463],[0.987831,0.133837,-0.079237],[0.127626,-0.406327,0.904771]] 2025-10-28T16:36:06.063Z,1761669366.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119836,-0.901195,-0.416517],[0.985501,0.158740,-0.059918],[0.120116,-0.403298,0.907151]] 2025-10-28T16:36:06.473Z,1761669366.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148716,-0.898836,-0.412283],[0.982591,0.181259,-0.040737],[0.111346,-0.399047,0.910145]] 2025-10-28T16:36:06.871Z,1761669366.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174425,-0.899083,-0.401529],[0.979468,0.200286,-0.022987],[0.101088,-0.389275,0.915558]] 2025-10-28T16:36:07.278Z,1761669367.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194927,-0.903443,-0.381831],[0.976780,0.214097,-0.007919],[0.088904,-0.371421,0.924198]] 2025-10-28T16:36:07.678Z,1761669367.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208610,-0.913389,-0.349575],[0.975125,0.221636,0.002807],[0.074914,-0.341465,0.936904]] 2025-10-28T16:36:08.084Z,1761669368.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214856,-0.927104,-0.307109],[0.974841,0.222686,0.009758],[0.059342,-0.301479,0.951625]] 2025-10-28T16:36:08.496Z,1761669368.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213738,-0.942436,-0.257157],[0.975978,0.217382,0.014523],[0.042214,-0.254084,0.966261]] 2025-10-28T16:36:08.891Z,1761669368.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207028,-0.956137,-0.207225],[0.978024,0.207609,0.019186],[0.024678,-0.206643,0.978105]] 2025-10-28T16:36:09.299Z,1761669369.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196706,-0.967050,-0.161617],[0.980435,0.195255,0.024974],[0.007406,-0.163368,0.986537]] 2025-10-28T16:36:09.698Z,1761669369.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183757,-0.975566,-0.120431],[0.982930,0.181236,0.031655],[-0.009056,-0.124192,0.992217]] 2025-10-28T16:36:10.103Z,1761669370.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169900,-0.981509,-0.088169],[0.985148,0.166908,0.040316],[-0.024855,-0.093709,0.995289]] 2025-10-28T16:36:10.507Z,1761669370.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154808,-0.986027,-0.061523],[0.987175,0.151929,0.049029],[-0.038997,-0.068324,0.996901]] 2025-10-28T16:36:10.911Z,1761669370.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138591,-0.989561,-0.039516],[0.989006,0.136214,0.057565],[-0.051581,-0.047059,0.997559]] 2025-10-28T16:36:11.325Z,1761669371.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122378,-0.992200,-0.023714],[0.990488,0.120583,0.066275],[-0.062899,-0.031599,0.997520]] 2025-10-28T16:36:11.719Z,1761669371.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105164,-0.994387,-0.011615],[0.991746,0.104009,0.074979],[-0.073350,-0.019405,0.997118]] 2025-10-28T16:36:12.123Z,1761669372.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087408,-0.996156,-0.005698],[0.992717,0.086627,0.083722],[-0.082906,-0.012975,0.996473]] 2025-10-28T16:36:12.526Z,1761669372.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068885,-0.997622,-0.002394],[0.993407,0.068374,0.092018],[-0.091636,-0.008717,0.995754]] 2025-10-28T16:36:12.934Z,1761669372.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049588,-0.998770,0.000320],[0.993839,0.049375,0.099230],[-0.099123,-0.004603,0.995064]] 2025-10-28T16:36:13.338Z,1761669373.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030608,-0.999531,0.000846],[0.993907,0.030526,0.105909],[-0.105885,-0.002400,0.994375]] 2025-10-28T16:36:13.738Z,1761669373.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011249,-0.999935,0.001614],[0.993743,0.011359,0.111113],[-0.111124,0.000354,0.993806]] 2025-10-28T16:36:14.142Z,1761669374.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007997,-0.999967,0.001168],[0.993399,-0.007811,0.114440],[-0.114427,0.002076,0.993429]] 2025-10-28T16:36:14.547Z,1761669374.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026505,-0.999648,0.000881],[0.992897,-0.026224,0.116053],[-0.115989,0.003951,0.993243]] 2025-10-28T16:36:14.951Z,1761669374.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043952,-0.999033,0.000591],[0.992235,-0.043584,0.116495],[-0.116357,0.005707,0.993191]] 2025-10-28T16:36:15.358Z,1761669375.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059672,-0.998215,-0.002283],[0.991472,-0.059534,0.115928],[-0.115857,0.004654,0.993255]] 2025-10-28T16:36:15.763Z,1761669375.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073105,-0.997309,-0.005552],[0.990646,-0.073258,0.115126],[-0.115223,0.002916,0.993335]] 2025-10-28T16:36:16.164Z,1761669376.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085042,-0.996338,-0.008889],[0.989760,-0.085500,0.114301],[-0.114643,0.000922,0.993406]] 2025-10-28T16:36:16.566Z,1761669376.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096163,-0.995269,-0.013897],[0.988814,-0.097120,0.113204],[-0.114018,-0.002855,0.993475]] 2025-10-28T16:36:16.625Z,1761669376.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:36:16.981Z,1761669376.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106099,-0.994187,-0.018299],[0.987769,-0.107493,0.112949],[-0.114259,-0.006091,0.993432]] 2025-10-28T16:36:17.020Z,1761669377.020 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:36:17.020Z,1761669377.020 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:36:17.020Z,1761669377.020 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateRudder:A] Stopped 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode] Stopped 2025-10-28T16:36:17.021Z,1761669377.021 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed] Stopped 2025-10-28T16:36:17.022Z,1761669377.022 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:36:17.378Z,1761669377.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115685,-0.993051,-0.021592],[0.986561,-0.117400,0.113644],[-0.115389,-0.008155,0.993287]] 2025-10-28T16:36:17.422Z,1761669377.422 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:36:17.422Z,1761669377.422 [marl:UpdateRudder:B] Stopped 2025-10-28T16:36:17.422Z,1761669377.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:36:17.422Z,1761669377.422 [marl:UpdateRudder] Stopped 2025-10-28T16:36:17.422Z,1761669377.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:36:17.629Z,1761669377.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:36:17.783Z,1761669377.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125623,-0.991729,-0.026320],[0.985156,-0.127832,0.114570],[-0.116987,-0.011537,0.993066]] 2025-10-28T16:36:18.182Z,1761669378.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136522,-0.990157,-0.030828],[0.983489,-0.139203,0.115636],[-0.118790,-0.014532,0.992813]] 2025-10-28T16:36:18.587Z,1761669378.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148284,-0.988350,-0.034309],[0.981550,-0.151321,0.116879],[-0.120709,-0.016345,0.992553]] 2025-10-28T16:36:19.000Z,1761669379.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161961,-0.986113,-0.036733],[0.979205,-0.165212,0.117740],[-0.122174,-0.016900,0.992365]] 2025-10-28T16:36:19.398Z,1761669379.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176675,-0.983510,-0.038665],[0.976494,-0.180072,0.118466],[-0.123475,-0.016826,0.992205]] 2025-10-28T16:36:19.799Z,1761669379.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192046,-0.980497,-0.041753],[0.973491,-0.195714,0.118370],[-0.124233,-0.017913,0.992091]] 2025-10-28T16:36:20.204Z,1761669380.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205070,-0.977534,-0.048717],[0.970864,-0.209471,0.116382],[-0.123972,-0.023431,0.992009]] 2025-10-28T16:36:20.609Z,1761669380.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213374,-0.974915,-0.063339],[0.969234,-0.219382,0.111611],[-0.122706,-0.037576,0.991731]] 2025-10-28T16:36:21.022Z,1761669381.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216293,-0.972331,-0.088256],[0.968907,-0.224894,0.103161],[-0.120155,-0.063198,0.990741]] 2025-10-28T16:36:21.418Z,1761669381.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212021,-0.969204,-0.125263],[0.970257,-0.224087,0.091580],[-0.116829,-0.102121,0.987888]] 2025-10-28T16:36:21.819Z,1761669381.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201175,-0.963595,-0.176103],[0.973101,-0.217197,0.076806],[-0.112259,-0.155914,0.981371]] 2025-10-28T16:36:22.224Z,1761669382.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182522,-0.954576,-0.235523],[0.977346,-0.202257,0.062339],[-0.107143,-0.218809,0.969867]] 2025-10-28T16:36:22.725Z,1761669382.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157622,-0.940933,-0.299668],[0.982382,-0.180264,0.049292],[-0.100400,-0.286619,0.952769]] 2025-10-28T16:36:23.127Z,1761669383.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128317,-0.925305,-0.356855],[0.987445,-0.152629,0.040696],[-0.092122,-0.347153,0.933273]] 2025-10-28T16:36:23.547Z,1761669383.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096403,-0.908194,-0.407297],[0.991887,-0.121725,0.036655],[-0.082868,-0.400459,0.912560]] 2025-10-28T16:36:23.970Z,1761669383.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063626,-0.891785,-0.447964],[0.995350,-0.089235,0.036272],[-0.072321,-0.443573,0.893316]] 2025-10-28T16:36:24.759Z,1761669384.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001328,-0.865134,-0.501538],[0.998794,-0.023468,0.043125],[-0.049079,-0.500991,0.864060]] 2025-10-28T16:36:25.158Z,1761669385.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032361,-0.857174,-0.514008],[0.998789,0.008660,0.048439],[-0.037069,-0.514953,0.856416]] 2025-10-28T16:36:26.484Z,1761669386.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143117,-0.859745,-0.490262],[0.989666,0.128788,0.063053],[0.008930,-0.494219,0.869292]] 2025-10-28T16:36:26.883Z,1761669386.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168418,-0.861239,-0.479483],[0.985521,0.156781,0.064556],[0.019575,-0.483413,0.875174]] 2025-10-28T16:36:27.335Z,1761669387.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194016,-0.862453,-0.467475],[0.980551,0.184879,0.065870],[0.029617,-0.471163,0.881549]] 2025-10-28T16:36:27.706Z,1761669387.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219982,-0.863335,-0.454160],[0.974729,0.213083,0.067070],[0.038870,-0.457437,0.888392]] 2025-10-28T16:36:28.173Z,1761669388.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245900,-0.863074,-0.441176],[0.968134,0.240965,0.068213],[0.047435,-0.443891,0.894824]] 2025-10-28T16:36:28.570Z,1761669388.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272943,-0.860800,-0.429565],[0.960472,0.269231,0.070770],[0.054733,-0.431901,0.900259]] 2025-10-28T16:36:28.979Z,1761669388.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300480,-0.855521,-0.421658],[0.951820,0.297349,0.074976],[0.061237,-0.423872,0.903650]] 2025-10-28T16:36:29.378Z,1761669389.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329291,-0.847432,-0.416444],[0.941871,0.325942,0.081490],[0.066680,-0.419071,0.905502]] 2025-10-28T16:36:30.188Z,1761669390.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388275,-0.820634,-0.419288],[0.918424,0.381995,0.102848],[0.075765,-0.425017,0.902009]] 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateRudder:A] Stopped 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:36:30.222Z,1761669390.222 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode] Stopped 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:36:30.223Z,1761669390.223 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:36:30.224Z,1761669390.224 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:36:30.224Z,1761669390.224 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:36:30.224Z,1761669390.224 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:36:30.224Z,1761669390.224 [marl:UpdateSpeed] Stopped 2025-10-28T16:36:30.224Z,1761669390.224 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:36:30.591Z,1761669390.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418490,-0.804915,-0.420688],[0.904694,0.410232,0.115059],[0.079967,-0.428745,0.899880]] 2025-10-28T16:36:30.632Z,1761669390.632 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:36:30.632Z,1761669390.632 [marl:UpdateRudder:B] Stopped 2025-10-28T16:36:30.632Z,1761669390.632 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:36:30.632Z,1761669390.632 [marl:UpdateRudder] Stopped 2025-10-28T16:36:30.633Z,1761669390.633 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:36:30.997Z,1761669390.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449238,-0.787963,-0.421068],[0.889458,0.438756,0.127901],[0.083965,-0.431981,0.897966]] 2025-10-28T16:36:31.400Z,1761669391.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480100,-0.770445,-0.419425],[0.872840,0.467248,0.140817],[0.087484,-0.433698,0.896802]] 2025-10-28T16:36:31.803Z,1761669391.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510920,-0.751562,-0.417272],[0.854898,0.495087,0.155043],[0.090061,-0.435939,0.895459]] 2025-10-28T16:36:32.206Z,1761669392.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541021,-0.735993,-0.406953],[0.836085,0.522978,0.165698],[0.090875,-0.429894,0.898295]] 2025-10-28T16:36:32.614Z,1761669392.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568744,-0.723410,-0.391418],[0.817617,0.549090,0.173210],[0.089622,-0.418542,0.903765]] 2025-10-28T16:36:33.015Z,1761669393.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592372,-0.715728,-0.369905],[0.801095,0.572093,0.175945],[0.085692,-0.400553,0.912258]] 2025-10-28T16:36:33.419Z,1761669393.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610620,-0.713175,-0.344276],[0.787967,0.590554,0.174222],[0.079063,-0.377661,0.922562]] 2025-10-28T16:36:34.227Z,1761669394.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624769,-0.728990,-0.279709],[0.778558,0.608810,0.152309],[0.059258,-0.312927,0.947927]] 2025-10-28T16:36:34.633Z,1761669394.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620200,-0.746940,-0.239651],[0.783043,0.607743,0.132256],[0.046859,-0.269682,0.961809]] 2025-10-28T16:36:35.035Z,1761669395.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609266,-0.768393,-0.195876],[0.792248,0.600361,0.109134],[0.033739,-0.221674,0.974537]] 2025-10-28T16:36:35.446Z,1761669395.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593753,-0.789740,-0.154169],[0.804372,0.587564,0.088058],[0.021041,-0.176294,0.984113]] 2025-10-28T16:36:35.843Z,1761669395.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575065,-0.809980,-0.115034],[0.818049,0.571000,0.068960],[0.009828,-0.133760,0.990965]] 2025-10-28T16:36:36.249Z,1761669396.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554870,-0.827941,-0.081442],[0.831937,0.552220,0.054164],[0.000129,-0.097808,0.995205]] 2025-10-28T16:36:36.652Z,1761669396.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534485,-0.843557,-0.052319],[0.845139,0.532844,0.042623],[-0.008077,-0.066999,0.997720]] 2025-10-28T16:36:37.055Z,1761669397.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515533,-0.856350,-0.029840],[0.856740,0.514537,0.035337],[-0.014907,-0.043782,0.998930]] 2025-10-28T16:36:37.460Z,1761669397.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498997,-0.866498,-0.013530],[0.866349,0.498411,0.032024],[-0.021005,-0.027702,0.999395]] 2025-10-28T16:36:37.863Z,1761669397.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485284,-0.874355,-0.001726],[0.873952,0.484998,0.031373],[-0.026594,-0.016733,0.999506]] 2025-10-28T16:36:38.266Z,1761669398.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473707,-0.880665,0.005522],[0.880112,0.473616,0.033031],[-0.031705,-0.010787,0.999439]] 2025-10-28T16:36:38.671Z,1761669398.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463991,-0.885772,0.010934],[0.885070,0.464067,0.035966],[-0.036931,-0.007011,0.999293]] 2025-10-28T16:36:39.078Z,1761669399.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455155,-0.890288,0.014877],[0.889408,0.455371,0.039878],[-0.042277,-0.004919,0.999094]] 2025-10-28T16:36:39.115Z,1761669399.115 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:36:39.157Z,1761669399.157 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:36:39.157Z,1761669399.157 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:36:39.409Z,1761669399.409 [DAT](INFO): DAT read: user:13> 2025-10-28T16:36:39.410Z,1761669399.410 [DAT](INFO): DAT read: Tx time:16:36:39.1657 2025-10-28T16:36:39.410Z,1761669399.410 [DAT](INFO): Ping request sent. 2025-10-28T16:36:39.410Z,1761669399.410 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:36:39.410Z,1761669399.410 [DAT](INFO): publishing transmit ping time 2025-10-28T16:36:39.411Z,1761669399.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T16:36:39.480Z,1761669399.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446437,-0.894659,0.016695],[0.893531,0.446718,0.045226],[-0.047920,-0.005273,0.998837]] 2025-10-28T16:36:39.661Z,1761669399.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859 2025-10-28T16:36:39.883Z,1761669399.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437274,-0.899130,0.018897],[0.897719,0.437652,0.050613],[-0.053778,-0.005167,0.998540]] 2025-10-28T16:36:39.914Z,1761669399.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503822 2025-10-28T16:36:40.165Z,1761669400.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754925 2025-10-28T16:36:40.287Z,1761669400.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427247,-0.903890,0.021053],[0.902153,0.427736,0.056223],[-0.059825,-0.005028,0.998196]] 2025-10-28T16:36:40.419Z,1761669400.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008917 2025-10-28T16:36:40.669Z,1761669400.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258829 2025-10-28T16:36:40.691Z,1761669400.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416889,-0.908661,0.023219],[0.906585,0.417510,0.061562],[-0.065633,-0.004614,0.997833]] 2025-10-28T16:36:40.922Z,1761669400.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512036 2025-10-28T16:36:41.105Z,1761669401.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404964,-0.914050,0.022748],[0.911582,0.405549,0.067445],[-0.070873,-0.006576,0.997464]] 2025-10-28T16:36:41.159Z,1761669401.159 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T16:36:41.173Z,1761669401.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762934 2025-10-28T16:36:41.428Z,1761669401.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017365 2025-10-28T16:36:41.499Z,1761669401.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391702,-0.919817,0.022509],[0.916994,0.392272,0.072426],[-0.075448,-0.007729,0.997120]] 2025-10-28T16:36:41.678Z,1761669401.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267907 2025-10-28T16:36:41.902Z,1761669401.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377116,-0.925856,0.023942],[0.922750,0.377818,0.076071],[-0.079477,-0.006595,0.996815]] 2025-10-28T16:36:41.930Z,1761669401.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520060 2025-10-28T16:36:42.182Z,1761669402.182 [DAT](INFO): DAT read: Rx Time:16:36:41.5649 2025-10-28T16:36:42.183Z,1761669402.183 [DAT](INFO): Rx dataTimestamp_ set to:1761669402.182039 2025-10-28T16:36:42.183Z,1761669402.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773177 2025-10-28T16:36:42.307Z,1761669402.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362272,-0.931754,0.024372],[0.928410,0.363041,0.079095],[-0.082545,-0.006027,0.996569]] 2025-10-28T16:36:42.437Z,1761669402.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026557 2025-10-28T16:36:42.687Z,1761669402.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276370 2025-10-28T16:36:42.945Z,1761669402.945 [DAT](INFO): DAT read: 16:36:41.5649 LVL= 15040, 19441, 25266, 22963, AGC= 61, IDX= 26, 0.28,-2.336,-3.136, 2.171,-2.989, PHS= 0.755,-0.102,-1.167, RAW= 56.4, 6.2, CAL= 55.2, 5.8, ROT= 94.8, -5.8 2025-10-28T16:36:42.946Z,1761669402.946 [DAT](INFO): got valid direction response: 16:36:41.5649 LVL= 15040, 19441, 25266, 22963, AGC= 61, IDX= 26, 0.28,-2.336,-3.136, 2.171,-2.989, PHS= 0.755,-0.102,-1.167, RAW= 56.4, 6.2, CAL= 55.2, 5.8, ROT= 94.8, -5.8 2025-10-28T16:36:42.947Z,1761669402.947 [DAT](INFO): DAT read: Bearing 130, -20 (Remote) 2025-10-28T16:36:42.947Z,1761669402.947 [DAT](INFO): Remote Bearing received:Bearing 130, -20 (Remote) 2025-10-28T16:36:42.948Z,1761669402.948 [DAT](INFO): DAT read: Bearing 311.2, 83.9 (Local) 2025-10-28T16:36:42.948Z,1761669402.948 [DAT](INFO): Local bearing/azimuth received: Bearing 311.2, 83.9 (Local) 2025-10-28T16:36:42.950Z,1761669402.950 [DAT](INFO): DAT read: Range 11 to 20 : 277.5 m (Round-trip 370.1 ms) speed 0.1 m/s 2025-10-28T16:36:42.950Z,1761669402.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:36:42.951Z,1761669402.951 [DAT](INFO): direction in FSK: [-0.083249,0.991392,0.101056] 2025-10-28T16:36:42.951Z,1761669402.951 [DAT](INFO): publishing direction and range info 2025-10-28T16:36:43.114Z,1761669403.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332724,-0.942657,0.026333],[0.939172,0.333757,0.081013],[-0.085156,-0.002224,0.996365]] 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateRudder:A] Stopped 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:36:43.166Z,1761669403.166 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode] Stopped 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:36:43.167Z,1761669403.167 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:36:43.168Z,1761669403.168 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:36:43.168Z,1761669403.168 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:36:43.168Z,1761669403.168 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:36:43.168Z,1761669403.168 [marl:UpdateSpeed] Stopped 2025-10-28T16:36:43.168Z,1761669403.168 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:36:43.174Z,1761669403.174 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669376.00. Resetting abort timer. 2025-10-28T16:36:43.519Z,1761669403.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318246,-0.947679,0.024981],[0.944154,0.319216,0.081699],[-0.085398,-0.002415,0.996344]] 2025-10-28T16:36:43.569Z,1761669403.569 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:36:43.570Z,1761669403.570 [marl:UpdateRudder:B] Stopped 2025-10-28T16:36:43.570Z,1761669403.570 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:36:43.570Z,1761669403.570 [marl:UpdateRudder] Stopped 2025-10-28T16:36:43.570Z,1761669403.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:36:43.935Z,1761669403.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304011,-0.952372,0.023788],[0.948849,0.304931,0.081864],[-0.085219,-0.002316,0.996360]] 2025-10-28T16:36:44.326Z,1761669404.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290291,-0.956685,0.022014],[0.953172,0.291111,0.081960],[-0.084819,-0.002809,0.996392]] 2025-10-28T16:36:44.730Z,1761669404.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276724,-0.960751,0.019512],[0.957234,0.277381,0.082231],[-0.084416,-0.004078,0.996422]] 2025-10-28T16:36:45.149Z,1761669405.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264021,-0.964354,0.017717],[0.960824,0.264572,0.082580],[-0.084324,-0.004780,0.996427]] 2025-10-28T16:36:45.538Z,1761669405.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251437,-0.967726,0.016894],[0.964204,0.251964,0.082614],[-0.084204,-0.004483,0.996438]] 2025-10-28T16:36:45.945Z,1761669405.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237537,-0.971223,0.017387],[0.967782,0.238159,0.081720],[-0.083509,-0.002585,0.996504]] 2025-10-28T16:36:46.348Z,1761669406.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222770,-0.974745,0.015668],[0.971355,0.223302,0.081276],[-0.082722,-0.002886,0.996569]] 2025-10-28T16:36:46.754Z,1761669406.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206840,-0.978274,0.014052],[0.974966,0.207296,0.080438],[-0.081603,-0.002938,0.996661]] 2025-10-28T16:36:47.559Z,1761669407.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172348,-0.984995,0.008950],[0.981891,0.172516,0.078281],[-0.078651,-0.004704,0.996891]] 2025-10-28T16:36:47.757Z,1761669407.757 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:36:47.964Z,1761669407.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154050,-0.988035,0.007474],[0.985059,0.154167,0.076748],[-0.076982,-0.004461,0.997022]] 2025-10-28T16:36:48.367Z,1761669408.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135146,-0.990811,0.005390],[0.988044,0.135172,0.074152],[-0.074200,-0.004696,0.997232]] 2025-10-28T16:36:48.761Z,1761669408.761 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:36:48.777Z,1761669408.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116692,-0.993160,0.004060],[0.990644,0.116685,0.070780],[-0.070769,-0.004238,0.997484]] 2025-10-28T16:36:49.185Z,1761669409.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098377,-0.995146,0.002710],[0.992903,0.098337,0.066888],[-0.066830,-0.003890,0.997757]] 2025-10-28T16:36:49.595Z,1761669409.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080785,-0.996731,0.001337],[0.994775,0.080711,0.062514],[-0.062417,-0.003720,0.998043]] 2025-10-28T16:36:49.983Z,1761669409.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064146,-0.997940,-0.000749],[0.996269,0.063995,0.057903],[-0.057736,-0.004460,0.998322]] 2025-10-28T16:36:50.387Z,1761669410.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048181,-0.998834,-0.002930],[0.997424,0.047956,0.053351],[-0.053149,-0.005493,0.998571]] 2025-10-28T16:36:50.792Z,1761669410.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033850,-0.999409,-0.005901],[0.998230,0.033520,0.049135],[-0.048909,-0.007554,0.998775]] 2025-10-28T16:36:51.202Z,1761669411.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019838,-0.999761,-0.009210],[0.998808,0.019407,0.044798],[-0.044608,-0.010088,0.998954]] 2025-10-28T16:36:51.638Z,1761669411.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006781,-0.999891,-0.013130],[0.999143,0.006238,0.040927],[-0.040841,-0.013396,0.999076]] 2025-10-28T16:36:52.002Z,1761669412.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005377,-0.999843,-0.016877],[0.999291,-0.006001,0.037160],[-0.037255,-0.016665,0.999167]] 2025-10-28T16:36:52.414Z,1761669412.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016886,-0.999661,-0.019833],[0.999281,-0.017546,0.033624],[-0.033960,-0.019251,0.999238]] 2025-10-28T16:36:52.812Z,1761669412.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028241,-0.999365,-0.021728],[0.999130,-0.028889,0.030088],[-0.030696,-0.020859,0.999311]] 2025-10-28T16:36:53.214Z,1761669413.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039502,-0.998925,-0.024272],[0.998839,-0.040146,0.026632],[-0.027578,-0.023192,0.999351]] 2025-10-28T16:36:53.653Z,1761669413.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060907,-0.997765,-0.027491],[0.997895,-0.061484,0.020630],[-0.022274,-0.026176,0.999409]] 2025-10-28T16:36:54.431Z,1761669414.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071686,-0.996990,-0.029538],[0.997219,-0.072244,0.018291],[-0.020370,-0.028145,0.999396]] 2025-10-28T16:36:54.830Z,1761669414.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083733,-0.996087,-0.028289],[0.996318,-0.084209,0.016107],[-0.018426,-0.026836,0.999470]] 2025-10-28T16:36:55.659Z,1761669415.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124888,-0.991770,-0.028190],[0.992060,-0.125249,0.011412],[-0.014849,-0.026541,0.999537]] 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateRudder:A] Stopped 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:36:56.083Z,1761669416.083 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateCommandMode] Stopped 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:36:56.101Z,1761669416.101 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:36:56.102Z,1761669416.102 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:36:56.102Z,1761669416.102 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:36:56.102Z,1761669416.102 [marl:UpdateSpeed] Stopped 2025-10-28T16:36:56.102Z,1761669416.102 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:36:56.455Z,1761669416.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141574,-0.989559,-0.027012],[0.989827,-0.141896,0.010385],[-0.014109,-0.025267,0.999581]] 2025-10-28T16:36:56.479Z,1761669416.479 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:36:56.479Z,1761669416.479 [marl:UpdateRudder:B] Stopped 2025-10-28T16:36:56.479Z,1761669416.479 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:36:56.479Z,1761669416.479 [marl:UpdateRudder] Stopped 2025-10-28T16:36:56.479Z,1761669416.479 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:36:56.857Z,1761669416.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179449,-0.983490,-0.023353],[0.983697,-0.179670,0.007718],[-0.011787,-0.021587,0.999698]] 2025-10-28T16:36:57.260Z,1761669417.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199844,-0.979591,-0.021525],[0.979776,-0.200011,0.005879],[-0.010064,-0.019915,0.999751]] 2025-10-28T16:36:57.667Z,1761669417.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220578,-0.975161,-0.020134],[0.975336,-0.220694,0.003687],[-0.008038,-0.018824,0.999790]] 2025-10-28T16:36:58.069Z,1761669418.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241672,-0.970202,-0.017405],[0.970342,-0.241731,0.001344],[-0.005511,-0.016564,0.999848]] 2025-10-28T16:36:58.469Z,1761669418.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262435,-0.964837,-0.014766],[0.964947,-0.262442,-0.001472],[-0.002455,-0.014634,0.999890]] 2025-10-28T16:36:58.873Z,1761669418.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282685,-0.959134,-0.012288],[0.959212,-0.282647,-0.004695],[0.001030,-0.013114,0.999913]] 2025-10-28T16:36:59.275Z,1761669419.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302277,-0.953160,-0.010738],[0.953208,-0.302197,-0.008409],[0.004770,-0.012778,0.999907]] 2025-10-28T16:36:59.679Z,1761669419.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320626,-0.947153,-0.009980],[0.947168,-0.320501,-0.012356],[0.008504,-0.013414,0.999874]] 2025-10-28T16:37:00.083Z,1761669420.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337292,-0.941351,-0.009662],[0.941325,-0.337118,-0.016057],[0.011858,-0.014511,0.999824]] 2025-10-28T16:37:00.490Z,1761669420.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352155,-0.935898,-0.009062],[0.935822,-0.351939,-0.019379],[0.014947,-0.015305,0.999771]] 2025-10-28T16:37:00.902Z,1761669420.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366115,-0.930528,-0.008759],[0.930396,-0.365849,-0.022747],[0.017962,-0.016478,0.999703]] 2025-10-28T16:37:01.294Z,1761669421.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378869,-0.925400,-0.009685],[0.925215,-0.378517,-0.026493],[0.020851,-0.018998,0.999602]] 2025-10-28T16:37:01.699Z,1761669421.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390534,-0.920539,-0.009513],[0.920282,-0.390116,-0.029834],[0.023752,-0.020406,0.999510]] 2025-10-28T16:37:02.105Z,1761669422.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401163,-0.915955,-0.009774],[0.915624,-0.400664,-0.033192],[0.026486,-0.022264,0.999401]] 2025-10-28T16:37:02.507Z,1761669422.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411134,-0.911524,-0.009648],[0.911110,-0.410564,-0.036275],[0.029104,-0.023705,0.999295]] 2025-10-28T16:37:02.915Z,1761669422.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420849,-0.907071,-0.010365],[0.906580,-0.420168,-0.039644],[0.031605,-0.026081,0.999160]] 2025-10-28T16:37:03.314Z,1761669423.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430311,-0.902628,-0.009781],[0.902047,-0.429578,-0.042111],[0.033809,-0.026944,0.999065]] 2025-10-28T16:37:03.719Z,1761669423.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439739,-0.898093,-0.007647],[0.897424,-0.439043,-0.043247],[0.035483,-0.025880,0.999035]] 2025-10-28T16:37:04.127Z,1761669424.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449424,-0.893288,-0.007449],[0.892590,-0.448705,-0.044133],[0.036081,-0.026484,0.998998]] 2025-10-28T16:37:04.526Z,1761669424.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460020,-0.887880,-0.007100],[0.887187,-0.459310,-0.043963],[0.035773,-0.026522,0.999008]] 2025-10-28T16:37:05.089Z,1761669425.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471578,-0.881804,-0.006006],[0.881128,-0.470923,-0.042962],[0.035056,-0.025552,0.999059]] 2025-10-28T16:37:05.335Z,1761669425.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484365,-0.874847,-0.005749],[0.874204,-0.483733,-0.042074],[0.034027,-0.025405,0.999098]] 2025-10-28T16:37:05.738Z,1761669425.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498838,-0.866681,-0.004982],[0.866062,-0.498245,-0.041094],[0.033133,-0.024814,0.999143]] 2025-10-28T16:37:06.143Z,1761669426.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514904,-0.857240,-0.003778],[0.856631,-0.514361,-0.040203],[0.032521,-0.023937,0.999184]] 2025-10-28T16:37:06.547Z,1761669426.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531565,-0.847015,-0.002155],[0.846420,-0.531092,-0.038912],[0.031815,-0.022509,0.999240]] 2025-10-28T16:37:06.950Z,1761669426.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548344,-0.836253,0.000018],[0.835658,-0.547955,-0.037693],[0.031531,-0.020653,0.999289]] 2025-10-28T16:37:07.371Z,1761669427.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565199,-0.824951,0.002468],[0.824342,-0.564892,-0.036831],[0.031778,-0.018782,0.999318]] 2025-10-28T16:37:07.763Z,1761669427.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581383,-0.813616,0.004772],[0.812973,-0.581139,-0.036787],[0.032704,-0.017508,0.999312]] 2025-10-28T16:37:08.164Z,1761669428.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597433,-0.801886,0.007231],[0.801186,-0.597248,-0.037358],[0.034276,-0.016525,0.999276]] 2025-10-28T16:37:08.567Z,1761669428.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612721,-0.790235,0.010029],[0.789471,-0.612611,-0.037985],[0.036161,-0.015357,0.999228]] 2025-10-28T16:37:08.971Z,1761669428.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626990,-0.778937,0.011875],[0.778087,-0.626909,-0.039567],[0.038265,-0.015569,0.999146]] 2025-10-28T16:37:08.996Z,1761669428.996 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:37:08.996Z,1761669428.996 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:37:08.996Z,1761669428.996 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateRudder:A] Stopped 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:37:08.997Z,1761669428.997 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateCommandMode] Stopped 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed] Stopped 2025-10-28T16:37:08.998Z,1761669428.998 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:37:09.381Z,1761669429.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640253,-0.768055,0.012938],[0.767110,-0.640166,-0.041602],[0.040235,-0.016711,0.999050]] 2025-10-28T16:37:09.417Z,1761669429.417 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:37:09.417Z,1761669429.417 [marl:UpdateRudder:B] Stopped 2025-10-28T16:37:09.417Z,1761669429.417 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:37:09.417Z,1761669429.417 [marl:UpdateRudder] Stopped 2025-10-28T16:37:09.417Z,1761669429.417 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:37:09.783Z,1761669429.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652913,-0.757309,0.013708],[0.756270,-0.652807,-0.043580],[0.041952,-0.018087,0.998956]] 2025-10-28T16:37:10.186Z,1761669430.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664673,-0.747005,0.013900],[0.745891,-0.664525,-0.045307],[0.043081,-0.019747,0.998876]] 2025-10-28T16:37:10.586Z,1761669430.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676844,-0.735965,0.015428],[0.734800,-0.676733,-0.045836],[0.044174,-0.019687,0.998830]] 2025-10-28T16:37:10.990Z,1761669430.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688292,-0.725247,0.016479],[0.724045,-0.688202,-0.046220],[0.044862,-0.019882,0.998795]] 2025-10-28T16:37:11.399Z,1761669431.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698579,-0.715312,0.017770],[0.714107,-0.698539,-0.045772],[0.045154,-0.019285,0.998794]] 2025-10-28T16:37:11.798Z,1761669431.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709091,-0.704886,0.018023],[0.703690,-0.709051,-0.045465],[0.044827,-0.019556,0.998803]] 2025-10-28T16:37:12.202Z,1761669432.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719985,-0.693757,0.017933],[0.692574,-0.719927,-0.045241],[0.044297,-0.020153,0.998815]] 2025-10-28T16:37:12.606Z,1761669432.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731499,-0.681579,0.018976],[0.680411,-0.731483,-0.044439],[0.044169,-0.019596,0.998832]] 2025-10-28T16:37:13.013Z,1761669433.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742947,-0.669057,0.019813],[0.667894,-0.742957,-0.043963],[0.044134,-0.019429,0.998837]] 2025-10-28T16:37:13.415Z,1761669433.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754141,-0.656406,0.020055],[0.655232,-0.754140,-0.044083],[0.044061,-0.020104,0.998827]] 2025-10-28T16:37:13.819Z,1761669433.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765393,-0.643240,0.020363],[0.642023,-0.765367,-0.044936],[0.044490,-0.021320,0.998782]] 2025-10-28T16:37:14.227Z,1761669434.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776112,-0.630273,0.020138],[0.628981,-0.776014,-0.046753],[0.045095,-0.023619,0.998703]] 2025-10-28T16:37:14.628Z,1761669434.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786359,-0.617409,0.021091],[0.616066,-0.786267,-0.047398],[0.045847,-0.024279,0.998653]] 2025-10-28T16:37:15.030Z,1761669435.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796157,-0.604691,0.021952],[0.603290,-0.796063,-0.048211],[0.046628,-0.025140,0.998596]] 2025-10-28T16:37:15.434Z,1761669435.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806006,-0.591489,0.022259],[0.589981,-0.805845,-0.050358],[0.047723,-0.027456,0.998483]] 2025-10-28T16:37:15.840Z,1761669435.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815205,-0.578711,0.023102],[0.577135,-0.815034,-0.051323],[0.048530,-0.028506,0.998415]] 2025-10-28T16:37:16.243Z,1761669436.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824236,-0.565722,0.024371],[0.564094,-0.824091,-0.051681],[0.049321,-0.028850,0.998366]] 2025-10-28T16:37:17.050Z,1761669437.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841622,-0.539376,0.027307],[0.537741,-0.841613,-0.050227],[0.050073,-0.027589,0.998364]] 2025-10-28T16:37:17.457Z,1761669437.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849832,-0.526306,0.028063],[0.524701,-0.849864,-0.049193],[0.049740,-0.027081,0.998395]] 2025-10-28T16:37:17.870Z,1761669437.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858342,-0.512300,0.028253],[0.510731,-0.858379,-0.048363],[0.049028,-0.027082,0.998430]] 2025-10-28T16:37:18.262Z,1761669438.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867182,-0.497160,0.028777],[0.495661,-0.867265,-0.046599],[0.048125,-0.026146,0.998499]] 2025-10-28T16:37:18.666Z,1761669438.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875602,-0.482134,0.029454],[0.480766,-0.875771,-0.043460],[0.046748,-0.023893,0.998621]] 2025-10-28T16:37:18.908Z,1761669438.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:37:19.072Z,1761669439.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883931,-0.466610,0.030673],[0.465434,-0.884241,-0.038597],[0.045132,-0.019841,0.998784]] 2025-10-28T16:37:19.474Z,1761669439.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892045,-0.450866,0.031240],[0.449823,-0.892423,-0.035234],[0.043765,-0.017377,0.998891]] 2025-10-28T16:37:19.885Z,1761669439.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900274,-0.434221,0.030965],[0.433211,-0.900635,-0.034420],[0.042833,-0.017573,0.998928]] 2025-10-28T16:37:19.912Z,1761669439.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:37:20.283Z,1761669440.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908335,-0.417084,0.031115],[0.416152,-0.908719,-0.032344],[0.041765,-0.016430,0.998992]] 2025-10-28T16:37:20.686Z,1761669440.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916035,-0.399866,0.031408],[0.399029,-0.916455,-0.029768],[0.040687,-0.014736,0.999063]] 2025-10-28T16:37:21.090Z,1761669441.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923556,-0.382183,0.031309],[0.381405,-0.923980,-0.028125],[0.039678,-0.014034,0.999114]] 2025-10-28T16:37:21.495Z,1761669441.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930671,-0.364515,0.031302],[0.363799,-0.931105,-0.026342],[0.038748,-0.013128,0.999163]] 2025-10-28T16:37:21.903Z,1761669441.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937490,-0.346606,0.031244],[0.345941,-0.937928,-0.024801],[0.037900,-0.012443,0.999204]] 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateRudder:A] Stopped 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:37:21.967Z,1761669441.967 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:37:21.972Z,1761669441.972 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:37:21.972Z,1761669441.972 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:37:21.972Z,1761669441.972 [marl:UpdateCommandMode] Stopped 2025-10-28T16:37:21.972Z,1761669441.972 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:37:21.972Z,1761669441.972 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed] Stopped 2025-10-28T16:37:21.973Z,1761669441.973 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:37:22.309Z,1761669442.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943806,-0.329048,0.030953],[0.328399,-0.944227,-0.024279],[0.037215,-0.012750,0.999226]] 2025-10-28T16:37:22.333Z,1761669442.333 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:37:22.333Z,1761669442.333 [marl:UpdateRudder:B] Stopped 2025-10-28T16:37:22.333Z,1761669442.333 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:37:22.333Z,1761669442.333 [marl:UpdateRudder] Stopped 2025-10-28T16:37:22.334Z,1761669442.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:37:22.706Z,1761669442.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949443,-0.312449,0.030552],[0.311788,-0.949834,-0.024558],[0.036692,-0.013791,0.999231]] 2025-10-28T16:37:23.110Z,1761669443.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954544,-0.296501,0.030525],[0.295859,-0.954934,-0.023860],[0.036224,-0.013744,0.999249]] 2025-10-28T16:37:23.516Z,1761669443.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959329,-0.280625,0.030636],[0.279975,-0.959711,-0.023841],[0.036092,-0.014294,0.999246]] 2025-10-28T16:37:23.922Z,1761669443.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963456,-0.266099,0.030708],[0.265429,-0.963826,-0.024245],[0.036049,-0.015208,0.999234]] 2025-10-28T16:37:24.322Z,1761669444.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967223,-0.252032,0.030985],[0.251365,-0.967598,-0.023874],[0.035998,-0.015302,0.999235]] 2025-10-28T16:37:24.727Z,1761669444.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970665,-0.238429,0.031010],[0.237774,-0.971039,-0.023370],[0.035684,-0.015311,0.999246]] 2025-10-28T16:37:25.132Z,1761669445.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973740,-0.225614,0.030480],[0.224921,-0.974068,-0.024558],[0.035230,-0.017058,0.999234]] 2025-10-28T16:37:25.535Z,1761669445.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976621,-0.212845,0.030144],[0.212171,-0.976936,-0.024064],[0.034570,-0.017106,0.999256]] 2025-10-28T16:37:25.943Z,1761669445.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979295,-0.200303,0.029334],[0.199652,-0.979581,-0.023689],[0.033480,-0.017342,0.999289]] 2025-10-28T16:37:26.349Z,1761669446.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981954,-0.187024,0.028087],[0.186368,-0.982177,-0.024406],[0.032151,-0.018731,0.999308]] 2025-10-28T16:37:26.750Z,1761669446.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984467,-0.173514,0.026797],[0.172886,-0.984644,-0.024214],[0.030587,-0.019205,0.999348]] 2025-10-28T16:37:27.151Z,1761669447.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986907,-0.159286,0.025366],[0.158665,-0.987019,-0.024874],[0.028999,-0.020523,0.999369]] 2025-10-28T16:37:27.555Z,1761669447.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989235,-0.144376,0.023851],[0.143793,-0.989303,-0.024560],[0.027141,-0.020866,0.999414]] 2025-10-28T16:37:27.959Z,1761669447.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991417,-0.128775,0.022563],[0.128242,-0.991460,-0.023682],[0.025420,-0.020586,0.999465]] 2025-10-28T16:37:28.371Z,1761669448.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993399,-0.112570,0.022057],[0.112067,-0.993438,-0.022837],[0.024483,-0.020214,0.999496]] 2025-10-28T16:37:28.771Z,1761669448.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995244,-0.095025,0.021457],[0.094523,-0.995249,-0.023338],[0.023573,-0.021199,0.999497]] 2025-10-28T16:37:29.171Z,1761669449.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996769,-0.077563,0.020870],[0.077074,-0.996753,-0.023297],[0.022609,-0.021614,0.999511]] 2025-10-28T16:37:29.583Z,1761669449.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997989,-0.060023,0.020393],[0.059540,-0.997949,-0.023508],[0.021762,-0.022247,0.999516]] 2025-10-28T16:37:29.983Z,1761669449.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998932,-0.041590,0.020130],[0.041125,-0.998889,-0.023011],[0.021065,-0.022159,0.999533]] 2025-10-28T16:37:30.382Z,1761669450.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999518,-0.023812,0.019909],[0.023356,-0.999466,-0.022847],[0.020442,-0.022371,0.999541]] 2025-10-28T16:37:30.789Z,1761669450.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999795,-0.006502,0.019184],[0.006064,-0.999721,-0.022825],[0.019327,-0.022704,0.999555]] 2025-10-28T16:37:31.190Z,1761669451.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999769,0.010346,0.018856],[-0.010770,-0.999689,-0.022484],[0.018618,-0.022682,0.999569]] 2025-10-28T16:37:31.649Z,1761669451.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999455,0.027344,0.018487],[-0.027747,-0.999375,-0.021909],[0.017877,-0.022410,0.999589]] 2025-10-28T16:37:31.998Z,1761669451.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998910,0.043068,0.017992],[-0.043435,-0.998845,-0.020536],[0.017086,-0.021295,0.999627]] 2025-10-28T16:37:32.402Z,1761669452.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998070,0.059499,0.017786],[-0.059869,-0.997984,-0.021064],[0.016497,-0.022089,0.999620]] 2025-10-28T16:37:32.806Z,1761669452.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996993,0.075470,0.017590],[-0.075850,-0.996875,-0.022067],[0.015870,-0.023335,0.999602]] 2025-10-28T16:37:33.212Z,1761669453.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995652,0.091583,0.017029],[-0.091968,-0.995487,-0.023411],[0.014808,-0.024875,0.999581]] 2025-10-28T16:37:33.650Z,1761669453.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994078,0.107322,0.017034],[-0.107722,-0.993875,-0.024655],[0.014284,-0.026344,0.999551]] 2025-10-28T16:37:34.019Z,1761669454.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992224,0.123238,0.017417],[-0.123666,-0.991981,-0.026084],[0.014063,-0.028035,0.999508]] 2025-10-28T16:37:34.423Z,1761669454.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990198,0.138579,0.017414],[-0.139011,-0.989932,-0.026657],[0.013544,-0.028817,0.999493]] 2025-10-28T16:37:34.834Z,1761669454.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988007,0.153557,0.016217],[-0.153944,-0.987733,-0.026150],[0.012003,-0.028332,0.999526]] 2025-10-28T16:37:34.865Z,1761669454.865 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateRudder:A] Stopped 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:37:34.866Z,1761669454.866 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateCommandMode] Stopped 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:37:34.867Z,1761669454.867 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:37:34.868Z,1761669454.868 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:37:34.868Z,1761669454.868 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:37:34.868Z,1761669454.868 [marl:UpdateSpeed] Stopped 2025-10-28T16:37:34.868Z,1761669454.868 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:37:35.231Z,1761669455.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985576,0.168613,0.014493],[-0.168938,-0.985302,-0.025299],[0.010015,-0.027383,0.999575]] 2025-10-28T16:37:35.274Z,1761669455.274 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:37:35.274Z,1761669455.274 [marl:UpdateRudder:B] Stopped 2025-10-28T16:37:35.274Z,1761669455.274 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:37:35.274Z,1761669455.274 [marl:UpdateRudder] Stopped 2025-10-28T16:37:35.274Z,1761669455.274 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:37:35.657Z,1761669455.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982985,0.183270,0.012359],[-0.183524,-0.982718,-0.024162],[0.007717,-0.026019,0.999632]] 2025-10-28T16:37:36.039Z,1761669456.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980203,0.197739,0.010029],[-0.197924,-0.979943,-0.023200],[0.005241,-0.024725,0.999681]] 2025-10-28T16:37:36.442Z,1761669456.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977301,0.211741,0.006896],[-0.211842,-0.977064,-0.021668],[0.002150,-0.022637,0.999741]] 2025-10-28T16:37:36.853Z,1761669456.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973950,0.226737,0.003358],[-0.226758,-0.973739,-0.020342],[-0.001342,-0.020574,0.999787]] 2025-10-28T16:37:37.252Z,1761669457.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970610,0.240659,-0.000076],[-0.240613,-0.970428,-0.019369],[-0.004735,-0.018781,0.999812]] 2025-10-28T16:37:37.664Z,1761669457.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966695,0.255910,-0.003154],[-0.255800,-0.966525,-0.019877],[-0.008135,-0.018409,0.999797]] 2025-10-28T16:37:38.059Z,1761669458.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962148,0.272461,-0.006010],[-0.272285,-0.961988,-0.020973],[-0.011496,-0.018542,0.999762]] 2025-10-28T16:37:38.462Z,1761669458.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957071,0.289728,-0.008508],[-0.289478,-0.956913,-0.022782],[-0.014742,-0.019341,0.999704]] 2025-10-28T16:37:38.868Z,1761669458.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951474,0.307554,-0.010379],[-0.307213,-0.951291,-0.025794],[-0.017807,-0.021354,0.999613]] 2025-10-28T16:37:39.271Z,1761669459.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945439,0.325582,-0.011889],[-0.325159,-0.945239,-0.028184],[-0.020414,-0.022781,0.999532]] 2025-10-28T16:37:39.325Z,1761669459.325 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:37:39.421Z,1761669459.421 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:37:39.421Z,1761669459.421 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:37:39.673Z,1761669459.673 [DAT](INFO): DAT read: user:14> 2025-10-28T16:37:39.673Z,1761669459.673 [DAT](INFO): DAT read: Tx time:16:37:39.4157 2025-10-28T16:37:39.674Z,1761669459.674 [DAT](INFO): Ping request sent. 2025-10-28T16:37:39.674Z,1761669459.674 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:37:39.674Z,1761669459.674 [DAT](INFO): publishing transmit ping time 2025-10-28T16:37:39.675Z,1761669459.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T16:37:39.679Z,1761669459.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939526,0.342242,-0.012705],[-0.341757,-0.939308,-0.030034],[-0.022213,-0.023876,0.999468]] 2025-10-28T16:37:39.925Z,1761669459.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898 2025-10-28T16:37:40.080Z,1761669460.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933134,0.359259,-0.013908],[-0.358731,-0.932944,-0.030457],[-0.023918,-0.023431,0.999439]] 2025-10-28T16:37:40.177Z,1761669460.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503426 2025-10-28T16:37:40.429Z,1761669460.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970 2025-10-28T16:37:40.487Z,1761669460.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927021,0.374692,-0.015420],[-0.374155,-0.926901,-0.029383],[-0.025303,-0.021469,0.999449]] 2025-10-28T16:37:40.681Z,1761669460.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007437 2025-10-28T16:37:40.886Z,1761669460.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921098,0.388960,-0.016971],[-0.388419,-0.921050,-0.028238],[-0.026615,-0.019418,0.999457]] 2025-10-28T16:37:40.933Z,1761669460.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259134 2025-10-28T16:37:41.185Z,1761669461.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510942 2025-10-28T16:37:41.290Z,1761669461.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915385,0.402153,-0.018505],[-0.401588,-0.915390,-0.028060],[-0.028224,-0.018254,0.999435]] 2025-10-28T16:37:41.437Z,1761669461.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762966 2025-10-28T16:37:41.689Z,1761669461.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015090 2025-10-28T16:37:41.701Z,1761669461.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909922,0.414287,-0.020182],[-0.413704,-0.909990,-0.027677],[-0.029832,-0.016835,0.999413]] 2025-10-28T16:37:41.941Z,1761669461.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266931 2025-10-28T16:37:42.111Z,1761669462.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899441,0.436324,-0.025046],[-0.435752,-0.899712,-0.025261],[-0.033556,-0.011807,0.999367]] 2025-10-28T16:37:42.193Z,1761669462.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518946 2025-10-28T16:37:42.445Z,1761669462.445 [DAT](INFO): DAT read: Rx Time:16:37:41.7759 2025-10-28T16:37:42.445Z,1761669462.445 [DAT](INFO): Rx dataTimestamp_ set to:1761669462.445144 2025-10-28T16:37:42.446Z,1761669462.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772052 2025-10-28T16:37:42.511Z,1761669462.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894092,0.447113,-0.026257],[-0.446469,-0.894391,-0.027022],[-0.035566,-0.012437,0.999290]] 2025-10-28T16:37:42.697Z,1761669462.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869 2025-10-28T16:37:42.936Z,1761669462.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888243,0.458596,-0.026707],[-0.457838,-0.888526,-0.030091],[-0.037529,-0.014501,0.999190]] 2025-10-28T16:37:42.955Z,1761669462.955 [DAT](INFO): DAT read: 16:37:41.7759 LVL= 32752, 32753, 17650, 32755, AGC= 62, IDX= 43,-0.13,-1.215,-2.179, 0.197,-0.825, PHS=-0.288,-1.309, 0.978, RAW= 183.5, 6.3, CAL= 183.4, 5.5, ROT= 326.6, -5.5 2025-10-28T16:37:42.956Z,1761669462.956 [DAT](INFO): got valid direction response: 16:37:41.7759 LVL= 32752, 32753, 17650, 32755, AGC= 62, IDX= 43,-0.13,-1.215,-2.179, 0.197,-0.825, PHS=-0.288,-1.309, 0.978, RAW= 183.5, 6.3, CAL= 183.4, 5.5, ROT= 326.6, -5.5 2025-10-28T16:37:42.957Z,1761669462.957 [DAT](INFO): DAT read: Bearing 135, -12 (Remote) 2025-10-28T16:37:42.957Z,1761669462.957 [DAT](INFO): Remote Bearing received:Bearing 135, -12 (Remote) 2025-10-28T16:37:42.958Z,1761669462.958 [DAT](INFO): DAT read: Bearing 3.9, -35.7 (Local) 2025-10-28T16:37:42.959Z,1761669462.959 [DAT](INFO): Local bearing/azimuth received: Bearing 3.9, -35.7 (Local) 2025-10-28T16:37:42.960Z,1761669462.960 [DAT](INFO): DAT read: Range 11 to 20 : 248.3 m (Round-trip 331.1 ms) speed 0.8 m/s 2025-10-28T16:37:42.961Z,1761669462.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:37:42.962Z,1761669462.962 [DAT](INFO): direction in FSK: [0.831004,-0.547946,0.095846] 2025-10-28T16:37:42.962Z,1761669462.962 [DAT](INFO): publishing direction and range info 2025-10-28T16:37:43.047Z,1761669463.047 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669504.00. Resetting abort timer. 2025-10-28T16:37:43.323Z,1761669463.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881840,0.470754,-0.027379],[-0.469899,-0.882124,-0.032424],[-0.039416,-0.015727,0.999099]] 2025-10-28T16:37:43.720Z,1761669463.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874412,0.484423,-0.027165],[-0.483433,-0.874642,-0.035968],[-0.041183,-0.018319,0.998984]] 2025-10-28T16:37:44.118Z,1761669464.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865855,0.499556,-0.027188],[-0.498435,-0.866043,-0.039149],[-0.043103,-0.020346,0.998863]] 2025-10-28T16:37:44.522Z,1761669464.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856400,0.515620,-0.026737],[-0.514376,-0.856524,-0.042240],[-0.044681,-0.022422,0.998750]] 2025-10-28T16:37:44.927Z,1761669464.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846130,0.532373,-0.025355],[-0.530987,-0.846124,-0.046109],[-0.046001,-0.025551,0.998615]] 2025-10-28T16:37:45.339Z,1761669465.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835226,0.549331,-0.025154],[-0.547880,-0.835201,-0.047617],[-0.047166,-0.025989,0.998549]] 2025-10-28T16:37:45.735Z,1761669465.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823827,0.566284,-0.025143],[-0.564790,-0.823808,-0.048513],[-0.048185,-0.025766,0.998506]] 2025-10-28T16:37:46.145Z,1761669466.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812234,0.582788,-0.025173],[-0.581250,-0.812224,-0.049394],[-0.049232,-0.025488,0.998462]] 2025-10-28T16:37:46.545Z,1761669466.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801253,0.597735,-0.026559],[-0.596241,-0.801377,-0.047873],[-0.049900,-0.022523,0.998500]] 2025-10-28T16:37:46.947Z,1761669466.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791082,0.611058,-0.028240],[-0.609605,-0.791345,-0.046409],[-0.050706,-0.019498,0.998523]] 2025-10-28T16:37:47.354Z,1761669467.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782027,0.622539,-0.029649],[-0.621120,-0.782404,-0.045317],[-0.051409,-0.017024,0.998533]] 2025-10-28T16:37:47.762Z,1761669467.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773615,0.632849,-0.031972],[-0.631508,-0.774161,-0.043268],[-0.052133,-0.013282,0.998552]] 2025-10-28T16:37:47.835Z,1761669467.835 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:37:47.835Z,1761669467.835 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:37:47.835Z,1761669467.835 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:37:47.836Z,1761669467.836 [marl:UpdateRudder:A] Stopped 2025-10-28T16:37:47.836Z,1761669467.836 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:37:47.836Z,1761669467.836 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:37:47.836Z,1761669467.836 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:37:47.836Z,1761669467.836 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateCommandMode] Stopped 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:37:47.837Z,1761669467.837 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:37:47.838Z,1761669467.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:37:47.838Z,1761669467.838 [marl:UpdateSpeed] Stopped 2025-10-28T16:37:47.838Z,1761669467.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:37:48.158Z,1761669468.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765976,0.641982,-0.033765],[-0.640702,-0.766649,-0.041832],[-0.052741,-0.010409,0.998554]] 2025-10-28T16:37:48.204Z,1761669468.204 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:37:48.204Z,1761669468.204 [marl:UpdateRudder:B] Stopped 2025-10-28T16:37:48.204Z,1761669468.204 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:37:48.204Z,1761669468.204 [marl:UpdateRudder] Stopped 2025-10-28T16:37:48.204Z,1761669468.204 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:37:48.563Z,1761669468.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758591,0.650636,-0.034819],[-0.649392,-0.759342,-0.041115],[-0.053190,-0.008578,0.998548]] 2025-10-28T16:37:48.967Z,1761669468.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751300,0.659077,-0.034132],[-0.657822,-0.752024,-0.041592],[-0.053080,-0.008796,0.998551]] 2025-10-28T16:37:49.780Z,1761669469.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733628,0.678819,-0.031554],[-0.677472,-0.734224,-0.044137],[-0.053129,-0.011003,0.998527]] 2025-10-28T16:37:50.040Z,1761669470.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:37:50.179Z,1761669470.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722710,0.690537,-0.029148],[-0.689113,-0.723174,-0.046295],[-0.053048,-0.013371,0.998502]] 2025-10-28T16:37:50.583Z,1761669470.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712132,0.701564,-0.026001],[-0.700044,-0.712409,-0.049108],[-0.052976,-0.016770,0.998455]] 2025-10-28T16:37:50.988Z,1761669470.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702926,0.711054,-0.017253],[-0.709262,-0.702561,-0.057928],[-0.053311,-0.028482,0.998172]] 2025-10-28T16:37:51.045Z,1761669471.045 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:37:51.409Z,1761669471.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695597,0.718424,-0.003435],[-0.716431,-0.694009,-0.071261],[-0.053580,-0.047108,0.997452]] 2025-10-28T16:37:51.811Z,1761669471.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690708,0.722969,0.015400],[-0.721134,-0.687060,-0.088962],[-0.053736,-0.072552,0.995916]] 2025-10-28T16:37:52.251Z,1761669472.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686882,0.725822,0.037091],[-0.724802,-0.680379,-0.108379],[-0.053428,-0.101328,0.993417]] 2025-10-28T16:37:52.665Z,1761669472.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684626,0.726619,0.057555],[-0.726982,-0.674981,-0.126085],[-0.052767,-0.128162,0.990349]] 2025-10-28T16:37:53.059Z,1761669473.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683445,0.726091,0.075473],[-0.728155,-0.670712,-0.141190],[-0.051896,-0.151451,0.987101]] 2025-10-28T16:37:53.462Z,1761669473.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683289,0.724568,0.090099],[-0.728380,-0.667842,-0.153134],[-0.050784,-0.170261,0.984089]] 2025-10-28T16:37:53.866Z,1761669473.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683934,0.722427,0.101657],[-0.727856,-0.666221,-0.162407],[-0.049601,-0.185067,0.981473]] 2025-10-28T16:37:54.273Z,1761669474.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685185,0.719990,0.110164],[-0.726773,-0.665813,-0.168802],[-0.048187,-0.195725,0.979474]] 2025-10-28T16:37:54.678Z,1761669474.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686993,0.717426,0.115503],[-0.725150,-0.666589,-0.172673],[-0.046887,-0.202382,0.978184]] 2025-10-28T16:37:55.079Z,1761669475.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688766,0.715170,0.118883],[-0.723554,-0.667810,-0.174639],[-0.045506,-0.206304,0.977429]] 2025-10-28T16:37:55.483Z,1761669475.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690268,0.713252,0.121661],[-0.722195,-0.668865,-0.176219],[-0.044314,-0.209502,0.976804]] 2025-10-28T16:37:55.888Z,1761669475.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691358,0.711799,0.123956],[-0.721187,-0.669473,-0.178030],[-0.043736,-0.212478,0.976187]] 2025-10-28T16:37:56.299Z,1761669476.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691749,0.711058,0.126019],[-0.720853,-0.669517,-0.179213],[-0.043059,-0.214811,0.975706]] 2025-10-28T16:37:56.695Z,1761669476.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690821,0.711455,0.128832],[-0.721763,-0.668055,-0.180999],[-0.042706,-0.218024,0.975009]] 2025-10-28T16:37:57.098Z,1761669477.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688389,0.713319,0.131514],[-0.724089,-0.665160,-0.182364],[-0.042606,-0.220765,0.974396]] 2025-10-28T16:37:57.908Z,1761669477.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680376,0.719935,0.137048],[-0.731643,-0.656472,-0.183694],[-0.042280,-0.225251,0.973383]] 2025-10-28T16:37:58.317Z,1761669478.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675267,0.724451,0.138511],[-0.736367,-0.651433,-0.182753],[-0.042165,-0.225402,0.973353]] 2025-10-28T16:37:58.715Z,1761669478.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669517,0.729493,0.139952],[-0.741615,-0.645856,-0.181319],[-0.041883,-0.225187,0.973415]] 2025-10-28T16:37:59.118Z,1761669479.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663576,0.734740,0.140799],[-0.746963,-0.640306,-0.179036],[-0.041391,-0.223976,0.973715]] 2025-10-28T16:37:59.524Z,1761669479.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658291,0.739669,0.139795],[-0.751682,-0.635956,-0.174743],[-0.040349,-0.220113,0.974640]] 2025-10-28T16:37:59.926Z,1761669479.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653661,0.744196,0.137476],[-0.755759,-0.632442,-0.169841],[-0.039449,-0.214917,0.975835]] 2025-10-28T16:38:00.330Z,1761669480.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650075,0.747858,0.134575],[-0.758903,-0.630055,-0.164609],[-0.038315,-0.209138,0.977135]] 2025-10-28T16:38:00.742Z,1761669480.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647619,0.750353,0.132512],[-0.761067,-0.628561,-0.160274],[-0.036970,-0.204647,0.978137]] 2025-10-28T16:38:00.792Z,1761669480.792 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateRudder:A] Stopped 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:38:00.793Z,1761669480.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateCommandMode] Stopped 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:38:00.794Z,1761669480.794 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:38:00.795Z,1761669480.795 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:38:00.795Z,1761669480.795 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:38:00.795Z,1761669480.795 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:38:00.795Z,1761669480.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:38:00.800Z,1761669480.800 [marl:UpdateSpeed] Stopped 2025-10-28T16:38:00.800Z,1761669480.800 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:38:01.142Z,1761669481.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645732,0.752147,0.131549],[-0.762732,-0.627340,-0.157112],[-0.035645,-0.201789,0.978780]] 2025-10-28T16:38:01.166Z,1761669481.166 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:38:01.166Z,1761669481.166 [marl:UpdateRudder:B] Stopped 2025-10-28T16:38:01.166Z,1761669481.166 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:38:01.166Z,1761669481.166 [marl:UpdateRudder] Stopped 2025-10-28T16:38:01.166Z,1761669481.166 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:38:01.542Z,1761669481.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644271,0.753475,0.131111],[-0.764009,-0.626300,-0.155044],[-0.034707,-0.200060,0.979169]] 2025-10-28T16:38:01.946Z,1761669481.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643628,0.754036,0.131047],[-0.764590,-0.625928,-0.153675],[-0.033851,-0.199107,0.979393]] 2025-10-28T16:38:02.351Z,1761669482.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643405,0.754285,0.130706],[-0.764825,-0.626072,-0.151912],[-0.032753,-0.197708,0.979714]] 2025-10-28T16:38:02.770Z,1761669482.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643681,0.754154,0.130103],[-0.764631,-0.626687,-0.150342],[-0.031847,-0.196253,0.980036]] 2025-10-28T16:38:03.158Z,1761669483.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644571,0.753450,0.129776],[-0.763926,-0.627875,-0.148966],[-0.030756,-0.195158,0.980289]] 2025-10-28T16:38:03.562Z,1761669483.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645639,0.752457,0.130228],[-0.763070,-0.629096,-0.148200],[-0.029588,-0.195057,0.980346]] 2025-10-28T16:38:03.967Z,1761669483.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646623,0.751311,0.131950],[-0.762292,-0.630070,-0.148067],[-0.028106,-0.196328,0.980135]] 2025-10-28T16:38:04.374Z,1761669484.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647280,0.750063,0.135768],[-0.761795,-0.630381,-0.149292],[-0.026393,-0.200061,0.979428]] 2025-10-28T16:38:04.782Z,1761669484.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647348,0.749440,0.138853],[-0.761793,-0.630267,-0.149784],[-0.024740,-0.202740,0.978920]] 2025-10-28T16:38:05.179Z,1761669485.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646159,0.749844,0.142170],[-0.762858,-0.628963,-0.149847],[-0.022942,-0.205280,0.978434]] 2025-10-28T16:38:05.599Z,1761669485.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643995,0.750987,0.145909],[-0.764746,-0.626751,-0.149487],[-0.020815,-0.207852,0.977939]] 2025-10-28T16:38:05.987Z,1761669485.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640473,0.752873,0.151578],[-0.767755,-0.622909,-0.150121],[-0.018603,-0.212524,0.976979]] 2025-10-28T16:38:06.390Z,1761669486.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635794,0.755756,0.156841],[-0.771685,-0.618080,-0.149927],[-0.016368,-0.216355,0.976178]] 2025-10-28T16:38:06.806Z,1761669486.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630623,0.759353,0.160306],[-0.775953,-0.613043,-0.148576],[-0.014547,-0.218085,0.975821]] 2025-10-28T16:38:07.199Z,1761669487.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624634,0.763460,0.164196],[-0.780810,-0.607092,-0.147566],[-0.012979,-0.220381,0.975327]] 2025-10-28T16:38:07.647Z,1761669487.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618547,0.768042,0.165865],[-0.785665,-0.601478,-0.144759],[-0.011416,-0.219855,0.975466]] 2025-10-28T16:38:08.008Z,1761669488.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612705,0.772601,0.166375],[-0.790249,-0.596268,-0.141318],[-0.009978,-0.218064,0.975883]] 2025-10-28T16:38:08.411Z,1761669488.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607808,0.776352,0.166872],[-0.794040,-0.591990,-0.138014],[-0.008361,-0.216389,0.976271]] 2025-10-28T16:38:08.818Z,1761669488.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603981,0.779782,0.164762],[-0.796968,-0.589115,-0.133359],[-0.006928,-0.211857,0.977276]] 2025-10-28T16:38:09.219Z,1761669489.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601546,0.782113,0.162607],[-0.798823,-0.587680,-0.128508],[-0.004947,-0.207198,0.978287]] 2025-10-28T16:38:09.651Z,1761669489.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599939,0.784058,0.159142],[-0.800041,-0.587225,-0.122887],[-0.002898,-0.201045,0.979578]] 2025-10-28T16:38:10.026Z,1761669490.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599225,0.784731,0.158514],[-0.800581,-0.587278,-0.119061],[-0.000339,-0.198248,0.980152]] 2025-10-28T16:38:10.433Z,1761669490.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598471,0.785228,0.158898],[-0.801142,-0.587046,-0.116396],[0.001883,-0.196960,0.980410]] 2025-10-28T16:38:10.835Z,1761669490.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597727,0.785686,0.159438],[-0.801692,-0.586675,-0.114468],[0.003603,-0.196241,0.980549]] 2025-10-28T16:38:11.240Z,1761669491.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596741,0.786149,0.160838],[-0.802413,-0.586057,-0.112561],[0.005771,-0.196229,0.980541]] 2025-10-28T16:38:11.657Z,1761669491.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595135,0.787050,0.162380],[-0.803587,-0.584824,-0.110587],[0.007926,-0.196300,0.980512]] 2025-10-28T16:38:12.047Z,1761669492.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592702,0.788286,0.165253],[-0.805361,-0.582573,-0.109560],[0.009907,-0.198025,0.980147]] 2025-10-28T16:38:12.454Z,1761669492.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589870,0.789916,0.167591],[-0.807412,-0.579996,-0.108119],[0.011797,-0.199091,0.979910]] 2025-10-28T16:38:12.862Z,1761669492.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586654,0.791790,0.170014],[-0.809727,-0.576973,-0.106979],[0.013389,-0.200425,0.979618]] 2025-10-28T16:38:13.265Z,1761669493.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583286,0.793569,0.173279],[-0.812125,-0.573743,-0.106169],[0.015165,-0.202651,0.979134]] 2025-10-28T16:38:13.662Z,1761669493.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580224,0.795234,0.175907],[-0.814282,-0.570880,-0.105076],[0.016862,-0.204206,0.978783]] 2025-10-28T16:38:13.752Z,1761669493.752 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:38:13.753Z,1761669493.753 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:38:13.753Z,1761669493.753 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:38:13.753Z,1761669493.753 [marl:UpdateRudder:A] Stopped 2025-10-28T16:38:13.753Z,1761669493.753 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:38:13.753Z,1761669493.753 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:38:13.754Z,1761669493.754 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:38:13.754Z,1761669493.754 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:38:13.754Z,1761669493.754 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:38:13.754Z,1761669493.754 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:38:13.754Z,1761669493.754 [marl:UpdateCommandMode] Stopped 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:38:13.755Z,1761669493.755 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:38:13.760Z,1761669493.760 [marl:UpdateSpeed] Stopped 2025-10-28T16:38:13.760Z,1761669493.760 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:38:14.067Z,1761669494.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576809,0.797322,0.177678],[-0.816673,-0.567739,-0.103520],[0.018336,-0.204816,0.978629]] 2025-10-28T16:38:14.127Z,1761669494.127 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:38:14.127Z,1761669494.127 [marl:UpdateRudder:B] Stopped 2025-10-28T16:38:14.127Z,1761669494.127 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:38:14.128Z,1761669494.128 [marl:UpdateRudder] Stopped 2025-10-28T16:38:14.128Z,1761669494.128 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:38:14.478Z,1761669494.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573338,0.799496,0.179135],[-0.819079,-0.564593,-0.101709],[0.019823,-0.205040,0.978553]] 2025-10-28T16:38:14.875Z,1761669494.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570099,0.801628,0.179944],[-0.821301,-0.561740,-0.099566],[0.021267,-0.204550,0.978625]] 2025-10-28T16:38:15.287Z,1761669495.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567443,0.803318,0.180801],[-0.823095,-0.559477,-0.097463],[0.022860,-0.204121,0.978679]] 2025-10-28T16:38:16.088Z,1761669496.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563184,0.806079,0.181826],[-0.825921,-0.556040,-0.093134],[0.026029,-0.202625,0.978910]] 2025-10-28T16:38:16.501Z,1761669496.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562412,0.806722,0.181364],[-0.826404,-0.555680,-0.090979],[0.027386,-0.201047,0.979199]] 2025-10-28T16:38:16.895Z,1761669496.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565346,0.804321,0.182896],[-0.824336,-0.558779,-0.090751],[0.029205,-0.202073,0.978935]] 2025-10-28T16:38:17.299Z,1761669497.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572746,0.796679,0.193040],[-0.819109,-0.565403,-0.096854],[0.031984,-0.213594,0.976399]] 2025-10-28T16:38:17.703Z,1761669497.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584933,0.782330,0.214042],[-0.810291,-0.575301,-0.111615],[0.035819,-0.238724,0.970427]] 2025-10-28T16:38:18.108Z,1761669498.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601911,0.760437,0.243798],[-0.797503,-0.588138,-0.134473],[0.041128,-0.275370,0.960458]] 2025-10-28T16:38:18.512Z,1761669498.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622110,0.732311,0.276948],[-0.781461,-0.602455,-0.162379],[0.047937,-0.317442,0.947065]] 2025-10-28T16:38:18.914Z,1761669498.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643274,0.699374,0.311567],[-0.763602,-0.615686,-0.194533],[0.055776,-0.363051,0.930098]] 2025-10-28T16:38:19.320Z,1761669499.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664739,0.663210,0.343910],[-0.744287,-0.627650,-0.228235],[0.064487,-0.407685,0.910843]] 2025-10-28T16:38:19.722Z,1761669499.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686374,0.624900,0.372008],[-0.723508,-0.638558,-0.262258],[0.073664,-0.449159,0.890410]] 2025-10-28T16:38:20.126Z,1761669500.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706835,0.586889,0.394899],[-0.702364,-0.648633,-0.293189],[0.084075,-0.484599,0.870687]] 2025-10-28T16:38:20.949Z,1761669500.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761630,0.490487,0.423488],[-0.637411,-0.684785,-0.353238],[0.116740,-0.538972,0.834194]] 2025-10-28T16:38:21.164Z,1761669501.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:38:21.752Z,1761669501.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793236,0.445307,0.415305],[-0.593416,-0.718239,-0.363305],[0.136506,-0.534635,0.833985]] 2025-10-28T16:38:22.154Z,1761669502.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808358,0.426737,0.405527],[-0.570458,-0.737938,-0.360590],[0.145376,-0.522822,0.839954]] 2025-10-28T16:38:22.168Z,1761669502.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:38:22.555Z,1761669502.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822823,0.408884,0.394686],[-0.547071,-0.757940,-0.355303],[0.153870,-0.508273,0.847339]] 2025-10-28T16:38:22.981Z,1761669502.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837276,0.390824,0.382395],[-0.522320,-0.778527,-0.347961],[0.161713,-0.491072,0.855977]] 2025-10-28T16:38:23.376Z,1761669503.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850951,0.372086,0.370723],[-0.497511,-0.797306,-0.341739],[0.168423,-0.475242,0.863585]] 2025-10-28T16:38:23.786Z,1761669503.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864550,0.352788,0.357901],[-0.471749,-0.815201,-0.336007],[0.173222,-0.459334,0.871210]] 2025-10-28T16:38:24.202Z,1761669504.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877693,0.332513,0.345094],[-0.445823,-0.830682,-0.333481],[0.175777,-0.446545,0.877325]] 2025-10-28T16:38:24.599Z,1761669504.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890240,0.311643,0.332191],[-0.419578,-0.844911,-0.331782],[0.177274,-0.434745,0.882933]] 2025-10-28T16:38:25.003Z,1761669505.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902337,0.290472,0.318455],[-0.392722,-0.858534,-0.329678],[0.177642,-0.422545,0.888762]] 2025-10-28T16:38:25.407Z,1761669505.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913753,0.267315,0.305939],[-0.365636,-0.869363,-0.332443],[0.177105,-0.415633,0.892123]] 2025-10-28T16:38:25.814Z,1761669505.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924421,0.243492,0.293526],[-0.338312,-0.878838,-0.336436],[0.176042,-0.410312,0.894792]] 2025-10-28T16:38:26.215Z,1761669506.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934564,0.218238,0.281003],[-0.310059,-0.886928,-0.342376],[0.174510,-0.407100,0.896558]] 2025-10-28T16:38:26.645Z,1761669506.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944125,0.192219,0.267730],[-0.280928,-0.894134,-0.348716],[0.172357,-0.404445,0.898175]] 2025-10-28T16:38:26.670Z,1761669506.670 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:38:26.670Z,1761669506.670 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateRudder:A] Stopped 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:38:26.671Z,1761669506.671 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateCommandMode] Stopped 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:38:26.672Z,1761669506.672 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:38:26.673Z,1761669506.673 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:38:26.673Z,1761669506.673 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:38:26.673Z,1761669506.673 [marl:UpdateSpeed] Stopped 2025-10-28T16:38:26.673Z,1761669506.673 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:38:27.042Z,1761669507.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952885,0.165734,0.254052],[-0.251519,-0.899866,-0.356343],[0.169555,-0.403453,0.899154]] 2025-10-28T16:38:27.137Z,1761669507.137 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:38:27.137Z,1761669507.137 [marl:UpdateRudder:B] Stopped 2025-10-28T16:38:27.137Z,1761669507.137 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:38:27.137Z,1761669507.137 [marl:UpdateRudder] Stopped 2025-10-28T16:38:27.137Z,1761669507.137 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:38:27.450Z,1761669507.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960950,0.138215,0.239734],[-0.221060,-0.904546,-0.364593],[0.166458,-0.403351,0.899777]] 2025-10-28T16:38:27.851Z,1761669507.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968034,0.111054,0.224895],[-0.190675,-0.908361,-0.372187],[0.162953,-0.403172,0.900499]] 2025-10-28T16:38:28.264Z,1761669508.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974166,0.083483,0.209836],[-0.159901,-0.911123,-0.379851],[0.159475,-0.403591,0.900934]] 2025-10-28T16:38:28.658Z,1761669508.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979292,0.056107,0.194523],[-0.129255,-0.912793,-0.387430],[0.155822,-0.404550,0.901143]] 2025-10-28T16:38:29.090Z,1761669509.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983303,0.029813,0.179516],[-0.099559,-0.913893,-0.393558],[0.152325,-0.404859,0.901602]] 2025-10-28T16:38:29.491Z,1761669509.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986302,0.004772,0.164883],[-0.071137,-0.914156,-0.399072],[0.148824,-0.405335,0.901973]] 2025-10-28T16:38:30.361Z,1761669510.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989969,-0.043342,0.134476],[-0.015386,-0.913056,-0.407545],[0.140447,-0.405526,0.903230]] 2025-10-28T16:38:30.769Z,1761669510.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990648,-0.066062,0.119384],[0.011462,-0.912173,-0.409645],[0.135961,-0.404445,0.904400]] 2025-10-28T16:38:31.162Z,1761669511.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990640,-0.087567,0.104706],[0.037170,-0.911169,-0.410353],[0.131338,-0.402620,0.905896]] 2025-10-28T16:38:31.571Z,1761669511.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989959,-0.109091,0.089896],[0.062872,-0.909378,-0.411191],[0.126606,-0.401410,0.907106]] 2025-10-28T16:38:31.972Z,1761669511.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988587,-0.130521,0.075232],[0.088339,-0.906752,-0.412308],[0.122031,-0.400956,0.907933]] 2025-10-28T16:38:32.375Z,1761669512.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986599,-0.151323,0.061018],[0.113217,-0.904209,-0.411812],[0.117490,-0.399385,0.909224]] 2025-10-28T16:38:32.783Z,1761669512.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984029,-0.171672,0.047071],[0.137538,-0.901115,-0.411188],[0.113006,-0.398147,0.910334]] 2025-10-28T16:38:33.182Z,1761669513.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980932,-0.191477,0.033305],[0.161264,-0.897533,-0.410401],[0.108475,-0.397204,0.911297]] 2025-10-28T16:38:33.647Z,1761669513.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977256,-0.211099,0.020203],[0.184693,-0.894066,-0.408087],[0.104209,-0.395074,0.912720]] 2025-10-28T16:38:33.995Z,1761669513.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972990,-0.230745,0.006880],[0.208114,-0.889681,-0.406395],[0.099895,-0.393986,0.913672]] 2025-10-28T16:38:34.395Z,1761669514.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968071,-0.250597,-0.006309],[0.231738,-0.885053,-0.403706],[0.095584,-0.392278,0.914867]] 2025-10-28T16:38:34.798Z,1761669514.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962288,-0.271334,-0.019495],[0.256160,-0.879685,-0.400669],[0.091565,-0.390553,0.916015]] 2025-10-28T16:38:35.204Z,1761669515.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955573,-0.292888,-0.033110],[0.281368,-0.872940,-0.398507],[0.087815,-0.390119,0.916567]] 2025-10-28T16:38:35.670Z,1761669515.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947566,-0.316007,-0.047529],[0.308236,-0.864574,-0.396864],[0.084319,-0.390705,0.916646]] 2025-10-28T16:38:36.067Z,1761669516.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937999,-0.340744,-0.063652],[0.336975,-0.853288,-0.397930],[0.081279,-0.394707,0.915205]] 2025-10-28T16:38:36.474Z,1761669516.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927212,-0.365728,-0.080753],[0.366321,-0.840632,-0.398932],[0.078017,-0.399476,0.913418]] 2025-10-28T16:38:36.886Z,1761669516.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914905,-0.391465,-0.098507],[0.396856,-0.827627,-0.396911],[0.073850,-0.402230,0.912556]] 2025-10-28T16:38:37.288Z,1761669517.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901612,-0.416366,-0.117197],[0.426979,-0.813385,-0.395087],[0.069174,-0.406256,0.911137]] 2025-10-28T16:38:37.691Z,1761669517.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887617,-0.440267,-0.135280],[0.456129,-0.799518,-0.390790],[0.063893,-0.408577,0.910485]] 2025-10-28T16:38:38.094Z,1761669518.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872441,-0.464298,-0.152558],[0.485223,-0.785649,-0.383815],[0.058347,-0.408880,0.910721]] 2025-10-28T16:38:38.499Z,1761669518.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856748,-0.486918,-0.169984],[0.513034,-0.770941,-0.377420],[0.052725,-0.410561,0.910307]] 2025-10-28T16:38:38.904Z,1761669518.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840443,-0.508992,-0.185963],[0.539856,-0.756652,-0.368826],[0.047020,-0.410371,0.910706]] 2025-10-28T16:38:39.308Z,1761669519.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823305,-0.530698,-0.201316],[0.566076,-0.741751,-0.359672],[0.041551,-0.410080,0.911103]] 2025-10-28T16:38:39.335Z,1761669519.335 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:38:39.425Z,1761669519.425 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:38:39.425Z,1761669519.425 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:38:39.677Z,1761669519.677 [DAT](INFO): DAT read: user:15> 2025-10-28T16:38:39.678Z,1761669519.678 [DAT](INFO): DAT read: Tx time:16:38:39.4157 2025-10-28T16:38:39.678Z,1761669519.678 [DAT](INFO): Ping request sent. 2025-10-28T16:38:39.678Z,1761669519.678 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:38:39.678Z,1761669519.678 [DAT](INFO): publishing transmit ping time 2025-10-28T16:38:39.679Z,1761669519.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000920 2025-10-28T16:38:39.711Z,1761669519.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805798,-0.551596,-0.215477],[0.591078,-0.726868,-0.349699],[0.036269,-0.409151,0.911746]] 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateRudder:A] Stopped 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:38:39.838Z,1761669519.838 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateCommandMode] Stopped 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:38:39.839Z,1761669519.839 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:38:39.844Z,1761669519.844 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:38:39.844Z,1761669519.844 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:38:39.844Z,1761669519.844 [marl:UpdateSpeed] Stopped 2025-10-28T16:38:39.844Z,1761669519.844 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:38:39.929Z,1761669519.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250956 2025-10-28T16:38:40.115Z,1761669520.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787642,-0.572235,-0.228402],[0.615348,-0.711879,-0.338491],[0.031102,-0.407156,0.912829]] 2025-10-28T16:38:40.139Z,1761669520.139 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:38:40.140Z,1761669520.140 [marl:UpdateRudder:B] Stopped 2025-10-28T16:38:40.142Z,1761669520.142 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:38:40.142Z,1761669520.142 [marl:UpdateRudder] Stopped 2025-10-28T16:38:40.142Z,1761669520.142 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:38:40.181Z,1761669520.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503174 2025-10-28T16:38:40.433Z,1761669520.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755066 2025-10-28T16:38:40.520Z,1761669520.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768684,-0.592967,-0.239823],[0.639106,-0.696860,-0.325469],[0.025869,-0.403455,0.914634]] 2025-10-28T16:38:40.686Z,1761669520.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007615 2025-10-28T16:38:40.922Z,1761669520.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748816,-0.613557,-0.250644],[0.662456,-0.681083,-0.311893],[0.020655,-0.399591,0.916461]] 2025-10-28T16:38:40.937Z,1761669520.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259050 2025-10-28T16:38:41.189Z,1761669521.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510920 2025-10-28T16:38:41.326Z,1761669521.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728552,-0.633126,-0.261464],[0.684815,-0.664592,-0.298906],[0.015478,-0.396823,0.917765]] 2025-10-28T16:38:41.441Z,1761669521.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762934 2025-10-28T16:38:41.693Z,1761669521.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968 2025-10-28T16:38:41.740Z,1761669521.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707859,-0.651542,-0.272815],[0.706285,-0.647489,-0.286216],[0.009836,-0.395286,0.918505]] 2025-10-28T16:38:41.945Z,1761669521.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266991 2025-10-28T16:38:42.136Z,1761669522.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687011,-0.668504,-0.284813],[0.726636,-0.629919,-0.274230],[0.003915,-0.395355,0.918520]] 2025-10-28T16:38:42.197Z,1761669522.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519068 2025-10-28T16:38:42.449Z,1761669522.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770986 2025-10-28T16:38:42.538Z,1761669522.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666512,-0.684261,-0.295886],[0.745491,-0.612851,-0.262024],[-0.002041,-0.395223,0.918583]] 2025-10-28T16:38:42.701Z,1761669522.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022772 2025-10-28T16:38:42.943Z,1761669522.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646426,-0.698573,-0.306806],[0.762932,-0.596189,-0.249988],[-0.008279,-0.395671,0.918355]] 2025-10-28T16:38:42.953Z,1761669522.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275036 2025-10-28T16:38:43.205Z,1761669523.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526995 2025-10-28T16:38:43.347Z,1761669523.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627060,-0.711548,-0.317011],[0.778833,-0.580357,-0.237919],[-0.014689,-0.396089,0.918095]] 2025-10-28T16:38:43.457Z,1761669523.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778904 2025-10-28T16:38:43.710Z,1761669523.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031719 2025-10-28T16:38:43.768Z,1761669523.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608183,-0.724481,-0.324407],[0.793520,-0.565668,-0.224376],[-0.020951,-0.393886,0.918921]] 2025-10-28T16:38:43.961Z,1761669523.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283417 2025-10-28T16:38:44.161Z,1761669524.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589074,-0.736416,-0.332690],[0.807635,-0.550184,-0.212187],[-0.026783,-0.393686,0.918855]] 2025-10-28T16:38:44.214Z,1761669524.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535652 2025-10-28T16:38:44.465Z,1761669524.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786872 2025-10-28T16:38:44.718Z,1761669524.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039794 2025-10-28T16:38:44.963Z,1761669524.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550436,-0.757573,-0.350860],[0.834113,-0.516992,-0.192289],[-0.035719,-0.398500,0.916473]] 2025-10-28T16:38:44.970Z,1761669524.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292392 2025-10-28T16:38:45.222Z,1761669525.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543412 2025-10-28T16:38:45.373Z,1761669525.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510266,-0.778436,-0.365603],[0.859157,-0.480408,-0.176233],[-0.038453,-0.404036,0.913934]] 2025-10-28T16:38:45.473Z,1761669525.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794966 2025-10-28T16:38:45.726Z,1761669525.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047856 2025-10-28T16:38:45.787Z,1761669525.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488935,-0.789225,-0.371573],[0.871517,-0.460234,-0.169243],[-0.037440,-0.406581,0.912847]] 2025-10-28T16:38:45.977Z,1761669525.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298865 2025-10-28T16:38:46.179Z,1761669526.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466054,-0.800085,-0.377700],[0.884052,-0.438148,-0.162722],[-0.035297,-0.409744,0.911518]] 2025-10-28T16:38:46.230Z,1761669526.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551464 2025-10-28T16:38:46.481Z,1761669526.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803395 2025-10-28T16:38:46.584Z,1761669526.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440790,-0.811837,-0.382917],[0.897006,-0.414058,-0.154716],[-0.032945,-0.411675,0.910735]] 2025-10-28T16:38:46.734Z,1761669526.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055929 2025-10-28T16:38:46.985Z,1761669526.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306974 2025-10-28T16:38:46.988Z,1761669526.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412602,-0.824227,-0.387826],[0.910372,-0.387764,-0.144437],[-0.031336,-0.412661,0.910345]] 2025-10-28T16:38:47.237Z,1761669527.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558942 2025-10-28T16:38:47.387Z,1761669527.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382654,-0.836235,-0.392793],[0.923395,-0.360100,-0.132925],[-0.030288,-0.413568,0.909969]] 2025-10-28T16:38:47.489Z,1761669527.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811054 2025-10-28T16:38:47.741Z,1761669527.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062973 2025-10-28T16:38:47.792Z,1761669527.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351138,-0.848219,-0.396519],[0.935829,-0.331698,-0.119170],[-0.030443,-0.412919,0.910259]] 2025-10-28T16:38:47.993Z,1761669527.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314862 2025-10-28T16:38:48.194Z,1761669528.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318611,-0.859506,-0.399671],[0.947356,-0.302833,-0.103964],[-0.031676,-0.411755,0.910744]] 2025-10-28T16:38:48.245Z,1761669528.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567034 2025-10-28T16:38:48.497Z,1761669528.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819242 2025-10-28T16:38:48.600Z,1761669528.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285150,-0.869502,-0.403306],[0.957860,-0.273675,-0.087211],[-0.034544,-0.411179,0.910900]] 2025-10-28T16:38:48.749Z,1761669528.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071388 2025-10-28T16:38:49.001Z,1761669529.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322909 2025-10-28T16:38:49.011Z,1761669529.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250986,-0.878176,-0.407201],[0.967189,-0.244625,-0.068583],[-0.039384,-0.411054,0.910760]] 2025-10-28T16:38:49.253Z,1761669529.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574969 2025-10-28T16:38:49.406Z,1761669529.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216069,-0.886662,-0.408833],[0.975290,-0.215763,-0.047505],[-0.046090,-0.408995,0.911372]] 2025-10-28T16:38:49.505Z,1761669529.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827004 2025-10-28T16:38:49.758Z,1761669529.758 [DAT](INFO): Reached modem response timeout 2025-10-28T16:38:49.811Z,1761669529.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181911,-0.893493,-0.410583],[0.981839,-0.187917,-0.026072],[-0.053860,-0.407869,0.911451]] 2025-10-28T16:38:50.232Z,1761669530.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149440,-0.901365,-0.406459],[0.986830,-0.161707,-0.004219],[-0.061925,-0.401736,0.913659]] 2025-10-28T16:38:50.627Z,1761669530.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119415,-0.906687,-0.404547],[0.990398,-0.137370,0.015531],[-0.069654,-0.398808,0.914385]] 2025-10-28T16:38:51.024Z,1761669531.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091552,-0.910265,-0.403777],[0.992863,-0.114564,0.033149],[-0.076433,-0.397860,0.914257]] 2025-10-28T16:38:51.426Z,1761669531.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065063,-0.912356,-0.404193],[0.994499,-0.092605,0.048946],[-0.082086,-0.398786,0.913363]] 2025-10-28T16:38:51.830Z,1761669531.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039900,-0.912382,-0.407391],[0.995440,-0.071649,0.062969],[-0.086641,-0.403021,0.911080]] 2025-10-28T16:38:52.029Z,1761669532.029 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:38:52.029Z,1761669532.029 [DAT](INFO): response not received 2025-10-28T16:38:52.030Z,1761669532.030 [DAT](ERROR): No response from remote modem. 2025-10-28T16:38:52.239Z,1761669532.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015555,-0.912265,-0.409305],[0.995834,-0.050919,0.075643],[-0.089848,-0.406423,0.909257]] 2025-10-28T16:38:52.300Z,1761669532.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:38:52.638Z,1761669532.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008127,-0.911672,-0.410838],[0.995790,-0.030134,0.086568],[-0.091302,-0.409812,0.907589]] 2025-10-28T16:38:52.682Z,1761669532.682 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:38:52.682Z,1761669532.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateRudder:A] Stopped 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:38:52.683Z,1761669532.683 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateCommandMode] Stopped 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:38:52.684Z,1761669532.684 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:38:52.685Z,1761669532.685 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:38:52.685Z,1761669532.685 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:38:52.685Z,1761669532.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:38:52.685Z,1761669532.685 [marl:UpdateSpeed] Stopped 2025-10-28T16:38:52.685Z,1761669532.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:38:53.043Z,1761669533.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031042,-0.911226,-0.410736],[0.995343,-0.009337,0.095939],[-0.091257,-0.411801,0.906693]] 2025-10-28T16:38:53.086Z,1761669533.086 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:38:53.086Z,1761669533.086 [marl:UpdateRudder:B] Stopped 2025-10-28T16:38:53.086Z,1761669533.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:38:53.086Z,1761669533.086 [marl:UpdateRudder] Stopped 2025-10-28T16:38:53.086Z,1761669533.086 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:38:53.304Z,1761669533.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:38:53.448Z,1761669533.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054897,-0.911022,-0.408688],[0.994375,0.012748,0.105151],[-0.090585,-0.412161,0.906597]] 2025-10-28T16:38:53.850Z,1761669533.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080597,-0.910317,-0.405990],[0.992690,0.036598,0.115007],[-0.089834,-0.412291,0.906612]] 2025-10-28T16:38:54.255Z,1761669534.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107988,-0.909427,-0.401599],[0.990124,0.062056,0.125713],[-0.089405,-0.411208,0.907146]] 2025-10-28T16:38:54.659Z,1761669534.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135481,-0.908877,-0.394445],[0.986686,0.087616,0.137016],[-0.089971,-0.407756,0.908647]] 2025-10-28T16:38:55.065Z,1761669535.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162025,-0.908086,-0.386171],[0.982506,0.112042,0.148760],[-0.091820,-0.403518,0.910353]] 2025-10-28T16:38:55.468Z,1761669535.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188699,-0.907677,-0.374853],[0.977418,0.136621,0.161210],[-0.095114,-0.396808,0.912960]] 2025-10-28T16:38:55.871Z,1761669535.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214949,-0.907177,-0.361700],[0.971538,0.160870,0.173884],[-0.099557,-0.388781,0.915936]] 2025-10-28T16:38:56.275Z,1761669536.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240806,-0.905630,-0.349065],[0.964889,0.184511,0.186933],[-0.104886,-0.381824,0.918264]] 2025-10-28T16:38:56.679Z,1761669536.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265674,-0.902849,-0.338055],[0.957669,0.206838,0.200219],[-0.110845,-0.376938,0.919582]] 2025-10-28T16:38:57.082Z,1761669537.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289092,-0.899214,-0.328390],[0.950100,0.227512,0.213419],[-0.117197,-0.373701,0.920115]] 2025-10-28T16:38:57.487Z,1761669537.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310649,-0.895174,-0.319626],[0.942484,0.246438,0.225816],[-0.123377,-0.371391,0.920243]] 2025-10-28T16:38:57.890Z,1761669537.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330460,-0.890661,-0.312279],[0.934864,0.263418,0.237992],[-0.129710,-0.370585,0.919697]] 2025-10-28T16:38:58.296Z,1761669538.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348590,-0.886605,-0.304000],[0.927409,0.279336,0.248764],[-0.135637,-0.368649,0.919620]] 2025-10-28T16:38:58.710Z,1761669538.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365367,-0.881827,-0.298141],[0.920099,0.293550,0.259319],[-0.141155,-0.369066,0.918622]] 2025-10-28T16:38:59.102Z,1761669539.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380965,-0.877154,-0.292347],[0.912927,0.306797,0.269147],[-0.146392,-0.369427,0.917656]] 2025-10-28T16:38:59.507Z,1761669539.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395905,-0.872471,-0.286451],[0.905800,0.319756,0.277998],[-0.150951,-0.369528,0.916877]] 2025-10-28T16:38:59.919Z,1761669539.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410552,-0.867625,-0.280488],[0.898597,0.332743,0.286017],[-0.154825,-0.369470,0.916254]] 2025-10-28T16:39:00.316Z,1761669540.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424993,-0.862513,-0.274688],[0.891325,0.345825,0.293164],[-0.157864,-0.369428,0.915752]] 2025-10-28T16:39:00.721Z,1761669540.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440120,-0.856574,-0.269399],[0.883526,0.359569,0.300152],[-0.160235,-0.370125,0.915059]] 2025-10-28T16:39:01.123Z,1761669541.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456320,-0.850010,-0.263165],[0.874912,0.374702,0.306802],[-0.162176,-0.370246,0.914668]] 2025-10-28T16:39:01.527Z,1761669541.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473183,-0.842884,-0.256210],[0.865600,0.390755,0.313124],[-0.163812,-0.369941,0.914500]] 2025-10-28T16:39:01.931Z,1761669541.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491288,-0.834436,-0.249703],[0.855198,0.407773,0.319935],[-0.165143,-0.370726,0.913942]] 2025-10-28T16:39:01.956Z,1761669541.956 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -7.2+245.47, -1.82, 20.00, 0.00 2025-10-28T16:39:02.334Z,1761669542.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510382,-0.824932,-0.242893],[0.843691,0.425682,0.327078],[-0.166422,-0.371862,0.913248]] 2025-10-28T16:39:02.738Z,1761669542.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529900,-0.814928,-0.234732],[0.831308,0.444396,0.333825],[-0.167730,-0.372028,0.912941]] 2025-10-28T16:39:03.146Z,1761669543.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550042,-0.803997,-0.225929],[0.817716,0.463517,0.341309],[-0.169689,-0.372480,0.912395]] 2025-10-28T16:39:03.547Z,1761669543.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570586,-0.792556,-0.215142],[0.802962,0.483445,0.348614],[-0.172287,-0.371665,0.912240]] 2025-10-28T16:39:03.950Z,1761669543.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591089,-0.780608,-0.203137],[0.787222,0.503411,0.356173],[-0.175770,-0.370444,0.912072]] 2025-10-28T16:39:04.355Z,1761669544.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611008,-0.768072,-0.191666],[0.770951,0.522375,0.364362],[-0.179735,-0.370393,0.911320]] 2025-10-28T16:39:04.766Z,1761669544.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629603,-0.755590,-0.180787],[0.754810,0.539782,0.372689],[-0.184014,-0.371106,0.910175]] 2025-10-28T16:39:05.162Z,1761669545.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646457,-0.743805,-0.169847],[0.739399,0.555896,0.379827],[-0.188100,-0.371126,0.909332]] 2025-10-28T16:39:05.571Z,1761669545.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661486,-0.732691,-0.160004],[0.724887,0.569947,0.386911],[-0.192292,-0.371921,0.908129]] 2025-10-28T16:39:05.668Z,1761669545.668 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:39:05.680Z,1761669545.680 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:39:05.684Z,1761669545.684 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:39:05.685Z,1761669545.685 [marl:UpdateRudder:A] Stopped 2025-10-28T16:39:05.685Z,1761669545.685 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:39:05.685Z,1761669545.685 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:39:05.686Z,1761669545.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:39:05.686Z,1761669545.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:39:05.686Z,1761669545.686 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:39:05.686Z,1761669545.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateCommandMode] Stopped 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:39:05.687Z,1761669545.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:39:05.692Z,1761669545.692 [marl:UpdateSpeed] Stopped 2025-10-28T16:39:05.692Z,1761669545.692 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:39:05.971Z,1761669545.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674963,-0.722018,-0.152037],[0.711241,0.581818,0.394492],[-0.196372,-0.374402,0.906234]] 2025-10-28T16:39:06.041Z,1761669546.041 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:39:06.041Z,1761669546.041 [marl:UpdateRudder:B] Stopped 2025-10-28T16:39:06.041Z,1761669546.041 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:39:06.041Z,1761669546.041 [marl:UpdateRudder] Stopped 2025-10-28T16:39:06.041Z,1761669546.041 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:39:06.377Z,1761669546.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687153,-0.712154,-0.143727],[0.698470,0.593140,0.400405],[-0.199900,-0.375529,0.904996]] 2025-10-28T16:39:06.784Z,1761669546.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698505,-0.702435,-0.136659],[0.686200,0.603295,0.406405],[-0.203028,-0.377651,0.903415]] 2025-10-28T16:39:07.194Z,1761669547.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708809,-0.693281,-0.130196],[0.674814,0.612664,0.411424],[-0.205467,-0.379479,0.902097]] 2025-10-28T16:39:07.614Z,1761669547.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718184,-0.684664,-0.124286],[0.664481,0.621752,0.414596],[-0.206584,-0.380342,0.901478]] 2025-10-28T16:39:07.994Z,1761669547.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726997,-0.675943,-0.120733],[0.655002,0.629935,0.417317],[-0.206029,-0.382468,0.900705]] 2025-10-28T16:39:08.394Z,1761669548.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735055,-0.667772,-0.117364],[0.646476,0.638116,0.418182],[-0.204359,-0.383260,0.900749]] 2025-10-28T16:39:08.799Z,1761669548.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742946,-0.659264,-0.115770],[0.638283,0.645702,0.419122],[-0.201559,-0.385279,0.900519]] 2025-10-28T16:39:09.206Z,1761669549.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751527,-0.649725,-0.114299],[0.629369,0.654195,0.419432],[-0.197742,-0.387151,0.900562]] 2025-10-28T16:39:09.646Z,1761669549.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760746,-0.639437,-0.111289],[0.619511,0.664232,0.418332],[-0.193575,-0.387189,0.901451]] 2025-10-28T16:39:10.011Z,1761669550.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770434,-0.628230,-0.108435],[0.608871,0.674676,0.417239],[-0.188964,-0.387478,0.902305]] 2025-10-28T16:39:10.415Z,1761669550.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780907,-0.615806,-0.104729],[0.596804,0.686037,0.416146],[-0.184417,-0.387474,0.903246]] 2025-10-28T16:39:10.818Z,1761669550.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792003,-0.602215,-0.100343],[0.583366,0.698020,0.415273],[-0.180042,-0.387434,0.904146]] 2025-10-28T16:39:11.223Z,1761669551.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803831,-0.587326,-0.094360],[0.568236,0.711211,0.413868],[-0.175966,-0.386298,0.905433]] 2025-10-28T16:39:11.652Z,1761669551.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816376,-0.570878,-0.087342],[0.551240,0.725160,0.412646],[-0.172233,-0.385021,0.906694]] 2025-10-28T16:39:12.030Z,1761669552.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829049,-0.553406,-0.080127],[0.533050,0.738869,0.412225],[-0.168924,-0.384466,0.907552]] 2025-10-28T16:39:12.459Z,1761669552.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841788,-0.534977,-0.072055],[0.513603,0.752673,0.411941],[-0.166145,-0.383775,0.908357]] 2025-10-28T16:39:12.843Z,1761669552.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854333,-0.515896,-0.062976],[0.493203,0.766547,0.411286],[-0.163907,-0.382435,0.909328]] 2025-10-28T16:39:13.242Z,1761669553.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866554,-0.496163,-0.053903],[0.471957,0.779540,0.411794],[-0.162298,-0.382282,0.909681]] 2025-10-28T16:39:13.657Z,1761669553.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878311,-0.476037,-0.044246],[0.450160,0.792283,0.411879],[-0.161014,-0.381676,0.910164]] 2025-10-28T16:39:14.051Z,1761669554.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889479,-0.455695,-0.034201],[0.428030,0.804587,0.411619],[-0.160055,-0.380766,0.910714]] 2025-10-28T16:39:14.457Z,1761669554.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899410,-0.436354,-0.025650],[0.407002,0.814621,0.413210],[-0.159411,-0.382085,0.910274]] 2025-10-28T16:39:14.862Z,1761669554.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908567,-0.417403,-0.016767],[0.386288,0.824206,0.414085],[-0.159021,-0.382701,0.910084]] 2025-10-28T16:39:15.262Z,1761669555.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917014,-0.398789,-0.007265],[0.365807,0.833632,0.413815],[-0.158968,-0.382132,0.910332]] 2025-10-28T16:39:15.675Z,1761669555.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924658,-0.380797,0.001286],[0.346112,0.841831,0.414158],[-0.158793,-0.382509,0.910204]] 2025-10-28T16:39:16.072Z,1761669556.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931422,-0.363805,0.009932],[0.327371,0.849443,0.413853],[-0.158998,-0.382220,0.910290]] 2025-10-28T16:39:16.476Z,1761669556.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937188,-0.348335,0.018476],[0.310293,0.856693,0.412063],[-0.159364,-0.380448,0.910968]] 2025-10-28T16:39:16.883Z,1761669556.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942215,-0.334054,0.025275],[0.294629,0.862193,0.412087],[-0.159451,-0.380828,0.910794]] 2025-10-28T16:39:17.283Z,1761669557.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946665,-0.320706,0.031207],[0.280267,0.867324,0.411338],[-0.158985,-0.380653,0.910948]] 2025-10-28T16:39:17.692Z,1761669557.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950668,-0.308219,0.035099],[0.267234,0.871162,0.411902],[-0.157532,-0.382202,0.910552]] 2025-10-28T16:39:18.091Z,1761669558.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954339,-0.296356,0.037555],[0.255187,0.874132,0.413246],[-0.155296,-0.384794,0.909845]] 2025-10-28T16:39:18.496Z,1761669558.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957819,-0.284750,0.038743],[0.243702,0.876292,0.415597],[-0.152292,-0.388625,0.908723]] 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateRudder:A] Stopped 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:39:18.537Z,1761669558.537 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateCommandMode] Stopped 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:39:18.538Z,1761669558.538 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:39:18.539Z,1761669558.539 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:39:18.539Z,1761669558.539 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:39:18.539Z,1761669558.539 [marl:UpdateSpeed] Stopped 2025-10-28T16:39:18.539Z,1761669558.539 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:39:18.904Z,1761669558.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961219,-0.272991,0.039172],[0.232420,0.878315,0.417784],[-0.148457,-0.392478,0.907701]] 2025-10-28T16:39:18.929Z,1761669558.929 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:39:18.929Z,1761669558.929 [marl:UpdateRudder:B] Stopped 2025-10-28T16:39:18.929Z,1761669558.929 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:39:18.929Z,1761669558.929 [marl:UpdateRudder] Stopped 2025-10-28T16:39:18.929Z,1761669558.929 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:39:19.302Z,1761669559.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964543,-0.261054,0.038827],[0.221117,0.879624,0.421151],[-0.144096,-0.397633,0.906159]] 2025-10-28T16:39:19.706Z,1761669559.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967708,-0.249109,0.038548],[0.210022,0.881357,0.423202],[-0.139398,-0.401440,0.905215]] 2025-10-28T16:39:20.111Z,1761669560.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970836,-0.236602,0.038689],[0.198526,0.883857,0.423539],[-0.134405,-0.403506,0.905051]] 2025-10-28T16:39:20.518Z,1761669560.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973916,-0.223548,0.038919],[0.186618,0.886676,0.423058],[-0.129082,-0.404760,0.905266]] 2025-10-28T16:39:20.922Z,1761669560.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977275,-0.208192,0.039866],[0.172545,0.890544,0.420903],[-0.123131,-0.404459,0.906229]] 2025-10-28T16:39:21.323Z,1761669561.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980959,-0.189645,0.041880],[0.154954,0.894245,0.419898],[-0.117082,-0.405413,0.906605]] 2025-10-28T16:39:21.726Z,1761669561.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984446,-0.169553,0.046026],[0.135504,0.899506,0.415365],[-0.111827,-0.402667,0.908490]] 2025-10-28T16:39:22.132Z,1761669562.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987001,-0.152094,0.051924],[0.118442,0.906766,0.404656],[-0.108628,-0.393246,0.912994]] 2025-10-28T16:39:22.540Z,1761669562.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988522,-0.139164,0.058808],[0.106367,0.917504,0.383240],[-0.107290,-0.372585,0.921775]] 2025-10-28T16:39:22.942Z,1761669562.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989412,-0.129226,0.066060],[0.097731,0.929748,0.354990],[-0.107293,-0.344775,0.932533]] 2025-10-28T16:39:23.343Z,1761669563.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989942,-0.121373,0.072686],[0.091368,0.940763,0.326522],[-0.108011,-0.316596,0.942391]] 2025-10-28T16:39:23.436Z,1761669563.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:39:23.757Z,1761669563.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990312,-0.114651,0.078343],[0.086341,0.950262,0.299246],[-0.108755,-0.289582,0.950954]] 2025-10-28T16:39:24.158Z,1761669564.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990505,-0.109674,0.082895],[0.082924,0.957561,0.276046],[-0.109652,-0.266551,0.957563]] 2025-10-28T16:39:24.436Z,1761669564.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:39:24.555Z,1761669564.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990482,-0.107496,0.085965],[0.082400,0.963361,0.255236],[-0.110253,-0.245723,0.963050]] 2025-10-28T16:39:24.967Z,1761669564.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990233,-0.108566,0.087477],[0.085037,0.967502,0.238137],[-0.110488,-0.228372,0.967284]] 2025-10-28T16:39:25.369Z,1761669565.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989856,-0.111869,0.087584],[0.089825,0.970380,0.224262],[-0.110078,-0.214120,0.970585]] 2025-10-28T16:39:25.777Z,1761669565.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989461,-0.116047,0.086598],[0.095122,0.971861,0.215497],[-0.109169,-0.204989,0.972657]] 2025-10-28T16:39:26.178Z,1761669566.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989057,-0.120420,0.085231],[0.100188,0.972311,0.211125],[-0.108295,-0.200275,0.973736]] 2025-10-28T16:39:26.581Z,1761669566.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988722,-0.124440,0.083331],[0.104559,0.971921,0.210802],[-0.107223,-0.199711,0.973970]] 2025-10-28T16:39:26.982Z,1761669566.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988552,-0.127141,0.081239],[0.107397,0.971134,0.212989],[-0.105973,-0.201826,0.973671]] 2025-10-28T16:39:27.387Z,1761669567.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988510,-0.128968,0.078831],[0.109334,0.970198,0.216244],[-0.104370,-0.205140,0.973152]] 2025-10-28T16:39:27.797Z,1761669567.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988749,-0.128863,0.075955],[0.109323,0.969114,0.221056],[-0.102095,-0.210265,0.972299]] 2025-10-28T16:39:28.195Z,1761669568.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989218,-0.126906,0.073089],[0.107543,0.968251,0.225666],[-0.099407,-0.215373,0.971459]] 2025-10-28T16:39:28.600Z,1761669568.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989927,-0.122845,0.070381],[0.103620,0.967401,0.231080],[-0.096474,-0.221459,0.970386]] 2025-10-28T16:39:29.006Z,1761669569.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990710,-0.117930,0.067717],[0.098974,0.966781,0.235667],[-0.093260,-0.226775,0.969472]] 2025-10-28T16:39:29.406Z,1761669569.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991496,-0.112326,0.065714],[0.093791,0.966846,0.237512],[-0.090214,-0.229329,0.969159]] 2025-10-28T16:39:29.811Z,1761669569.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992156,-0.107172,0.064342],[0.089098,0.967331,0.237343],[-0.087676,-0.229748,0.969293]] 2025-10-28T16:39:30.219Z,1761669570.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992697,-0.102805,0.063115],[0.085330,0.968239,0.235016],[-0.085271,-0.227914,0.969940]] 2025-10-28T16:39:30.630Z,1761669570.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993183,-0.100106,0.059716],[0.084084,0.970083,0.227747],[-0.080728,-0.221173,0.971888]] 2025-10-28T16:39:31.027Z,1761669571.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993140,-0.102130,0.056949],[0.086960,0.970652,0.224214],[-0.078177,-0.217724,0.972874]] 2025-10-28T16:39:31.431Z,1761669571.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992969,-0.105554,0.053586],[0.091251,0.970877,0.221520],[-0.075408,-0.215072,0.973682]] 2025-10-28T16:39:31.474Z,1761669571.474 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:39:31.474Z,1761669571.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:39:31.474Z,1761669571.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateRudder:A] Stopped 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:39:31.475Z,1761669571.475 [marl:UpdateCommandMode] Stopped 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:39:31.476Z,1761669571.476 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:39:31.477Z,1761669571.477 [marl:UpdateSpeed] Stopped 2025-10-28T16:39:31.477Z,1761669571.477 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:39:31.834Z,1761669571.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992782,-0.109220,0.049547],[0.095776,0.970652,0.220595],[-0.072187,-0.214258,0.974106]] 2025-10-28T16:39:31.904Z,1761669571.904 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:39:31.904Z,1761669571.904 [marl:UpdateRudder:B] Stopped 2025-10-28T16:39:31.904Z,1761669571.904 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:39:31.904Z,1761669571.904 [marl:UpdateRudder] Stopped 2025-10-28T16:39:31.904Z,1761669571.904 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:39:32.237Z,1761669572.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992587,-0.112898,0.044996],[0.100229,0.969810,0.222311],[-0.068736,-0.216154,0.973937]] 2025-10-28T16:39:32.647Z,1761669572.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992391,-0.116472,0.039942],[0.104499,0.968251,0.227091],[-0.065123,-0.221189,0.973054]] 2025-10-28T16:39:33.447Z,1761669573.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992014,-0.122934,0.028215],[0.112664,0.964218,0.239978],[-0.056707,-0.234883,0.970368]] 2025-10-28T16:39:33.852Z,1761669573.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991853,-0.125593,0.021314],[0.116465,0.961805,0.247723],[-0.051612,-0.243222,0.968597]] 2025-10-28T16:39:34.255Z,1761669574.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991885,-0.126281,0.014721],[0.118464,0.960042,0.253547],[-0.046151,-0.249746,0.967211]] 2025-10-28T16:39:34.663Z,1761669574.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992210,-0.124274,0.008685],[0.117861,0.959021,0.257657],[-0.040349,-0.254627,0.966197]] 2025-10-28T16:39:35.063Z,1761669575.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992722,-0.120372,0.003681],[0.115326,0.959019,0.258809],[-0.034683,-0.256501,0.965922]] 2025-10-28T16:39:35.468Z,1761669575.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993300,-0.115561,-0.000349],[0.111779,0.960015,0.256663],[-0.029326,-0.254983,0.966501]] 2025-10-28T16:39:35.870Z,1761669575.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993847,-0.110695,-0.003746],[0.108094,0.962009,0.250710],[-0.024148,-0.249572,0.968055]] 2025-10-28T16:39:36.275Z,1761669576.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994406,-0.105410,-0.006796],[0.103919,0.964750,0.241782],[-0.018929,-0.241135,0.970307]] 2025-10-28T16:39:36.679Z,1761669576.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995003,-0.099358,-0.009854],[0.098888,0.967017,0.234733],[-0.013793,-0.234534,0.972010]] 2025-10-28T16:39:37.093Z,1761669577.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995584,-0.092982,-0.012886],[0.093469,0.969268,0.227559],[-0.008669,-0.227759,0.973679]] 2025-10-28T16:39:37.495Z,1761669577.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996001,-0.087880,-0.016083],[0.089253,0.970889,0.222278],[-0.003919,-0.222824,0.974851]] 2025-10-28T16:39:37.890Z,1761669577.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996051,-0.086546,-0.019823],[0.088785,0.972411,0.215720],[0.000606,-0.216628,0.976254]] 2025-10-28T16:39:38.295Z,1761669578.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995763,-0.088688,-0.024293],[0.091825,0.973108,0.211255],[0.004904,-0.212590,0.977129]] 2025-10-28T16:39:38.699Z,1761669578.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995388,-0.091458,-0.028955],[0.095507,0.973143,0.209454],[0.009021,-0.211254,0.977390]] 2025-10-28T16:39:39.110Z,1761669579.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994996,-0.093975,-0.033946],[0.099037,0.972582,0.210419],[0.013241,-0.212728,0.977022]] 2025-10-28T16:39:39.507Z,1761669579.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994630,-0.095767,-0.039239],[0.101971,0.971629,0.213398],[0.017689,-0.216254,0.976177]] 2025-10-28T16:39:39.589Z,1761669579.589 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:39:39.677Z,1761669579.677 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:39:39.678Z,1761669579.678 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:39:39.919Z,1761669579.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994377,-0.096066,-0.044563],[0.103506,0.970608,0.217271],[0.022381,-0.220662,0.975094]] 2025-10-28T16:39:39.929Z,1761669579.929 [DAT](INFO): DAT read: user:16> 2025-10-28T16:39:39.929Z,1761669579.929 [DAT](INFO): DAT read: Tx time:16:39:39.6656 2025-10-28T16:39:39.930Z,1761669579.930 [DAT](INFO): Ping request sent. 2025-10-28T16:39:39.930Z,1761669579.930 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:39:39.930Z,1761669579.930 [DAT](INFO): publishing transmit ping time 2025-10-28T16:39:39.931Z,1761669579.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T16:39:40.181Z,1761669580.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251168 2025-10-28T16:39:40.314Z,1761669580.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994158,-0.095737,-0.049842],[0.104471,0.969558,0.221458],[0.027123,-0.225372,0.973895]] 2025-10-28T16:39:40.433Z,1761669580.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957 2025-10-28T16:39:40.685Z,1761669580.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755008 2025-10-28T16:39:40.719Z,1761669580.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993994,-0.094700,-0.054849],[0.104690,0.968841,0.224471],[0.031882,-0.228865,0.972936]] 2025-10-28T16:39:40.937Z,1761669580.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006968 2025-10-28T16:39:41.138Z,1761669581.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993777,-0.093895,-0.059933],[0.105167,0.968212,0.226948],[0.036718,-0.231839,0.972061]] 2025-10-28T16:39:41.190Z,1761669581.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259713 2025-10-28T16:39:41.441Z,1761669581.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511190 2025-10-28T16:39:41.528Z,1761669581.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993435,-0.094435,-0.064571],[0.106795,0.967906,0.227490],[0.041016,-0.232893,0.971637]] 2025-10-28T16:39:41.693Z,1761669581.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762983 2025-10-28T16:39:41.930Z,1761669581.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993019,-0.095547,-0.069162],[0.108948,0.967685,0.227414],[0.045198,-0.233361,0.971339]] 2025-10-28T16:39:41.946Z,1761669581.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015718 2025-10-28T16:39:42.197Z,1761669582.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267021 2025-10-28T16:39:42.335Z,1761669582.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992554,-0.096972,-0.073704],[0.111426,0.967290,0.227892],[0.049194,-0.234408,0.970893]] 2025-10-28T16:39:42.449Z,1761669582.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519052 2025-10-28T16:39:42.702Z,1761669582.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771615 2025-10-28T16:39:42.746Z,1761669582.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992050,-0.098549,-0.078265],[0.114049,0.966937,0.228090],[0.053199,-0.235203,0.970489]] 2025-10-28T16:39:42.953Z,1761669582.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022968 2025-10-28T16:39:43.156Z,1761669583.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991668,-0.098578,-0.082926],[0.115350,0.966101,0.230963],[0.057347,-0.238604,0.969422]] 2025-10-28T16:39:43.205Z,1761669583.205 [DAT](INFO): DAT read: Rx Time:16:39:42.3772 2025-10-28T16:39:43.206Z,1761669583.206 [DAT](INFO): Rx dataTimestamp_ set to:1761669583.205229 2025-10-28T16:39:43.206Z,1761669583.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276172 2025-10-28T16:39:43.457Z,1761669583.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527595 2025-10-28T16:39:43.556Z,1761669583.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991414,-0.097594,-0.087021],[0.115571,0.965327,0.234068],[0.061160,-0.242115,0.968318]] 2025-10-28T16:39:43.715Z,1761669583.715 [DAT](INFO): DAT read: 16:39:42.3772 LVL= 32752, 31473, 32754, 32755, AGC= 67, IDX= 425,-0.12,-0.804, 0.701,-1.114,-0.344, PHS=-0.358, 1.090,-0.814, RAW= 343.3, 1.0, CAL= 342.8, -2.0, ROT= 167.2, 2.0 2025-10-28T16:39:43.716Z,1761669583.716 [DAT](INFO): got valid direction response: 16:39:42.3772 LVL= 32752, 31473, 32754, 32755, AGC= 67, IDX= 425,-0.12,-0.804, 0.701,-1.114,-0.344, PHS=-0.358, 1.090,-0.814, RAW= 343.3, 1.0, CAL= 342.8, -2.0, ROT= 167.2, 2.0 2025-10-28T16:39:43.717Z,1761669583.717 [DAT](INFO): DAT read: $Error in header 2025-10-28T16:39:43.717Z,1761669583.717 [DAT](INFO): Received a bad header 2025-10-28T16:39:43.728Z,1761669583.728 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T16:39:43.729Z,1761669583.729 [DAT](INFO): direction in FSK: [-0.974555,0.221414,-0.034899] 2025-10-28T16:39:43.950Z,1761669583.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991328,-0.095017,-0.090778],[0.114229,0.964571,0.237811],[0.064965,-0.246118,0.967060]] 2025-10-28T16:39:44.034Z,1761669584.034 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669632.00. Resetting abort timer. 2025-10-28T16:39:44.355Z,1761669584.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991390,-0.091272,-0.093886],[0.111544,0.964227,0.240469],[0.068580,-0.248871,0.966106]] 2025-10-28T16:39:44.406Z,1761669584.406 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:39:44.406Z,1761669584.406 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:39:44.406Z,1761669584.406 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:39:44.406Z,1761669584.406 [marl:UpdateRudder:A] Stopped 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode] Stopped 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:39:44.407Z,1761669584.407 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:39:44.408Z,1761669584.408 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:39:44.412Z,1761669584.412 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:39:44.412Z,1761669584.412 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:39:44.414Z,1761669584.414 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:39:44.414Z,1761669584.414 [marl:UpdateSpeed] Stopped 2025-10-28T16:39:44.414Z,1761669584.414 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:39:44.765Z,1761669584.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991549,-0.086662,-0.096539],[0.107984,0.963758,0.243945],[0.071900,-0.252308,0.964972]] 2025-10-28T16:39:44.793Z,1761669584.793 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:39:44.793Z,1761669584.793 [marl:UpdateRudder:B] Stopped 2025-10-28T16:39:44.793Z,1761669584.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:39:44.794Z,1761669584.794 [marl:UpdateRudder] Stopped 2025-10-28T16:39:44.794Z,1761669584.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:39:45.166Z,1761669585.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991786,-0.081499,-0.098584],[0.103438,0.964409,0.243342],[0.075243,-0.251541,0.964917]] 2025-10-28T16:39:45.571Z,1761669585.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992031,-0.076281,-0.100280],[0.098684,0.965246,0.241994],[0.078336,-0.249962,0.965082]] 2025-10-28T16:39:45.971Z,1761669585.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992197,-0.071763,-0.101960],[0.094504,0.966275,0.239543],[0.081331,-0.247310,0.965517]] 2025-10-28T16:39:46.375Z,1761669586.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992253,-0.068415,-0.103703],[0.091456,0.967196,0.236997],[0.084087,-0.244645,0.965960]] 2025-10-28T16:39:46.785Z,1761669586.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992187,-0.066436,-0.105604],[0.089601,0.968441,0.232582],[0.086819,-0.240227,0.966826]] 2025-10-28T16:39:47.182Z,1761669587.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991998,-0.066118,-0.107553],[0.089440,0.969293,0.229068],[0.089105,-0.236855,0.967450]] 2025-10-28T16:39:47.609Z,1761669587.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991712,-0.066506,-0.109931],[0.090059,0.970053,0.225581],[0.091636,-0.233611,0.968002]] 2025-10-28T16:39:47.993Z,1761669587.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991346,-0.068153,-0.112196],[0.091906,0.970593,0.222491],[0.093734,-0.230877,0.968457]] 2025-10-28T16:39:48.394Z,1761669588.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991013,-0.069388,-0.114365],[0.093466,0.970807,0.220901],[0.095699,-0.229605,0.968568]] 2025-10-28T16:39:48.799Z,1761669588.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990617,-0.071019,-0.116765],[0.095566,0.970729,0.220348],[0.097699,-0.229439,0.968407]] 2025-10-28T16:39:49.202Z,1761669589.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990259,-0.072078,-0.119133],[0.097200,0.970464,0.220798],[0.099700,-0.230227,0.968016]] 2025-10-28T16:39:49.649Z,1761669589.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989906,-0.073302,-0.121298],[0.098918,0.970262,0.220925],[0.101496,-0.230693,0.967719]] 2025-10-28T16:39:50.008Z,1761669590.008 [DAT](INFO): Reached modem response timeout 2025-10-28T16:39:50.017Z,1761669590.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989693,-0.073221,-0.123071],[0.099475,0.969727,0.223010],[0.103017,-0.232954,0.967016]] 2025-10-28T16:39:50.414Z,1761669590.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989529,-0.072694,-0.124695],[0.099658,0.969033,0.225927],[0.104410,-0.235988,0.966130]] 2025-10-28T16:39:50.818Z,1761669590.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989573,-0.070236,-0.125748],[0.098001,0.968132,0.230468],[0.105554,-0.240389,0.964921]] 2025-10-28T16:39:51.225Z,1761669591.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989767,-0.067359,-0.125791],[0.095578,0.967542,0.233938],[0.105950,-0.243567,0.964080]] 2025-10-28T16:39:51.652Z,1761669591.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989993,-0.063892,-0.125827],[0.092645,0.966842,0.237977],[0.106450,-0.247253,0.963086]] 2025-10-28T16:39:52.030Z,1761669592.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990216,-0.060296,-0.125847],[0.089276,0.966851,0.239224],[0.107252,-0.248118,0.962774]] 2025-10-28T16:39:52.297Z,1761669592.297 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:39:52.298Z,1761669592.298 [DAT](INFO): response not received 2025-10-28T16:39:52.298Z,1761669592.298 [DAT](ERROR): No response from remote modem. 2025-10-28T16:39:52.435Z,1761669592.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990438,-0.057143,-0.125567],[0.086084,0.967236,0.238839],[0.107805,-0.247365,0.962906]] 2025-10-28T16:39:52.839Z,1761669592.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990584,-0.055052,-0.125353],[0.083559,0.968393,0.235018],[0.108453,-0.243280,0.963874]] 2025-10-28T16:39:53.250Z,1761669593.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990656,-0.053465,-0.125467],[0.081722,0.969216,0.232252],[0.109188,-0.240335,0.964529]] 2025-10-28T16:39:53.657Z,1761669593.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990634,-0.052393,-0.126091],[0.080405,0.970201,0.228570],[0.110358,-0.236568,0.965327]] 2025-10-28T16:39:54.050Z,1761669594.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990529,-0.052488,-0.126875],[0.080338,0.970916,0.225538],[0.111347,-0.233595,0.965937]] 2025-10-28T16:39:54.454Z,1761669594.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990343,-0.052937,-0.128135],[0.080755,0.971518,0.222780],[0.112692,-0.230976,0.966411]] 2025-10-28T16:39:54.562Z,1761669594.562 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:39:54.859Z,1761669594.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990186,-0.053732,-0.129013],[0.081591,0.971740,0.221505],[0.113466,-0.229858,0.966587]] 2025-10-28T16:39:55.265Z,1761669595.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989926,-0.054869,-0.130521],[0.082809,0.972117,0.219390],[0.114844,-0.227988,0.966867]] 2025-10-28T16:39:55.560Z,1761669595.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:39:55.667Z,1761669595.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989677,-0.056641,-0.131645],[0.084583,0.972388,0.217501],[0.115690,-0.226390,0.967142]] 2025-10-28T16:39:56.070Z,1761669596.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989388,-0.058887,-0.132827],[0.086932,0.972423,0.216415],[0.116420,-0.225665,0.967224]] 2025-10-28T16:39:56.475Z,1761669596.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989118,-0.060630,-0.134050],[0.088994,0.972111,0.216978],[0.117156,-0.226547,0.966929]] 2025-10-28T16:39:56.887Z,1761669596.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988846,-0.062604,-0.135146],[0.091332,0.971626,0.218177],[0.117653,-0.228086,0.966506]] 2025-10-28T16:39:56.911Z,1761669596.911 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:39:56.911Z,1761669596.911 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:39:56.911Z,1761669596.911 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:39:56.912Z,1761669596.912 [marl:UpdateRudder:A] Stopped 2025-10-28T16:39:56.912Z,1761669596.912 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:39:56.912Z,1761669596.912 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:39:56.912Z,1761669596.912 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:39:56.912Z,1761669596.912 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:39:56.913Z,1761669596.913 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:39:56.913Z,1761669596.913 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:39:56.913Z,1761669596.913 [marl:UpdateCommandMode] Stopped 2025-10-28T16:39:56.913Z,1761669596.913 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:39:57.282Z,1761669597.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988628,-0.064714,-0.135748],[0.093705,0.971104,0.219493],[0.117621,-0.229717,0.966124]] 2025-10-28T16:39:57.334Z,1761669597.334 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:39:57.334Z,1761669597.334 [marl:UpdateRudder:B] Stopped 2025-10-28T16:39:57.334Z,1761669597.334 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:39:57.334Z,1761669597.334 [marl:UpdateRudder] Stopped 2025-10-28T16:39:57.334Z,1761669597.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:39:57.687Z,1761669597.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988494,-0.066432,-0.135892],[0.095662,0.970473,0.221430],[0.117169,-0.231882,0.965661]] 2025-10-28T16:39:57.771Z,1761669597.771 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:39:57.771Z,1761669597.771 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:39:57.771Z,1761669597.771 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:39:57.776Z,1761669597.776 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:39:57.776Z,1761669597.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:39:57.776Z,1761669597.776 [marl:UpdateSpeed] Stopped 2025-10-28T16:39:57.776Z,1761669597.776 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:39:58.100Z,1761669598.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988436,-0.067292,-0.135890],[0.096975,0.969450,0.225307],[0.116577,-0.235880,0.964764]] 2025-10-28T16:39:58.495Z,1761669598.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988549,-0.066563,-0.135427],[0.096823,0.968145,0.230911],[0.115742,-0.241379,0.963504]] 2025-10-28T16:39:58.904Z,1761669598.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988839,-0.064296,-0.134404],[0.095079,0.966847,0.236996],[0.114710,-0.247130,0.962169]] 2025-10-28T16:39:59.303Z,1761669599.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989301,-0.060789,-0.132624],[0.091783,0.965950,0.241902],[0.113403,-0.251486,0.961194]] 2025-10-28T16:39:59.707Z,1761669599.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989815,-0.058029,-0.129992],[0.088782,0.965438,0.245046],[0.111279,-0.254091,0.960757]] 2025-10-28T16:40:00.123Z,1761669600.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990130,-0.060478,-0.126430],[0.089335,0.967431,0.236848],[0.107988,-0.245805,0.963285]] 2025-10-28T16:40:00.515Z,1761669600.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989982,-0.071015,-0.122034],[0.096018,0.972296,0.213124],[0.103518,-0.222706,0.969374]] 2025-10-28T16:40:00.918Z,1761669600.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989233,-0.088064,-0.116884],[0.107887,0.978484,0.175866],[0.098882,-0.186583,0.977450]] 2025-10-28T16:40:01.323Z,1761669601.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987909,-0.108268,-0.110968],[0.122687,0.983544,0.132621],[0.094784,-0.144632,0.984935]] 2025-10-28T16:40:01.728Z,1761669601.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986082,-0.128831,-0.105097],[0.138551,0.986155,0.091111],[0.091904,-0.104404,0.990279]] 2025-10-28T16:40:02.132Z,1761669602.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983901,-0.148374,-0.099622],[0.154230,0.986565,0.053871],[0.090291,-0.068369,0.993566]] 2025-10-28T16:40:02.534Z,1761669602.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981434,-0.166686,-0.094888],[0.169611,0.985229,0.023585],[0.089555,-0.039241,0.995209]] 2025-10-28T16:40:02.939Z,1761669602.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978679,-0.184167,-0.090936],[0.184873,0.982762,-0.000674],[0.089493,-0.016152,0.995857]] 2025-10-28T16:40:03.344Z,1761669603.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975117,-0.203621,-0.087664],[0.202731,0.979050,-0.019036],[0.089703,0.000790,0.995968]] 2025-10-28T16:40:03.748Z,1761669603.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970607,-0.225354,-0.084485],[0.223290,0.974185,-0.033255],[0.089798,0.013413,0.995870]] 2025-10-28T16:40:04.151Z,1761669604.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965608,-0.246691,-0.082129],[0.243915,0.968868,-0.042431],[0.090040,0.020939,0.995718]] 2025-10-28T16:40:04.554Z,1761669604.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960299,-0.266832,-0.081401],[0.263827,0.963478,-0.045882],[0.090670,0.022584,0.995625]] 2025-10-28T16:40:05.063Z,1761669605.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954715,-0.286108,-0.081613],[0.283149,0.957971,-0.046029],[0.091352,0.020836,0.995601]] 2025-10-28T16:40:05.363Z,1761669605.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949345,-0.303084,-0.082976],[0.300450,0.952833,-0.042876],[0.092057,0.015774,0.995629]] 2025-10-28T16:40:05.771Z,1761669605.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944226,-0.317918,-0.085822],[0.315823,0.948083,-0.037338],[0.093236,0.008151,0.995611]] 2025-10-28T16:40:06.172Z,1761669606.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939468,-0.331057,-0.088322],[0.329480,0.943610,-0.032294],[0.094033,0.001238,0.995568]] 2025-10-28T16:40:06.579Z,1761669606.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935237,-0.342212,-0.090676],[0.341153,0.939608,-0.027413],[0.094581,-0.005297,0.995503]] 2025-10-28T16:40:06.979Z,1761669606.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931038,-0.353012,-0.092465],[0.352248,0.935573,-0.025004],[0.095335,-0.009290,0.995402]] 2025-10-28T16:40:07.383Z,1761669607.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926481,-0.364592,-0.093302],[0.363798,0.931115,-0.025997],[0.096353,-0.009857,0.995298]] 2025-10-28T16:40:07.789Z,1761669607.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921564,-0.376701,-0.093891],[0.375888,0.926275,-0.026878],[0.097094,-0.010523,0.995220]] 2025-10-28T16:40:08.193Z,1761669608.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916093,-0.389807,-0.093936],[0.388923,0.920835,-0.028296],[0.097529,-0.010612,0.995176]] 2025-10-28T16:40:08.605Z,1761669608.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909999,-0.403948,-0.093425],[0.402833,0.914736,-0.031346],[0.098122,-0.009110,0.995133]] 2025-10-28T16:40:08.999Z,1761669608.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903070,-0.419413,-0.092506],[0.417941,0.907773,-0.035690],[0.098943,-0.006432,0.995072]] 2025-10-28T16:40:09.402Z,1761669609.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895342,-0.435994,-0.090948],[0.434048,0.899946,-0.041228],[0.099823,-0.002562,0.995002]] 2025-10-28T16:40:09.808Z,1761669609.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887266,-0.452402,-0.089955],[0.450067,0.891814,-0.045910],[0.100993,0.000248,0.994887]] 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateRudder:A] Stopped 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:40:09.874Z,1761669609.874 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:40:09.875Z,1761669609.875 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:40:09.875Z,1761669609.875 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:40:09.875Z,1761669609.875 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:40:09.875Z,1761669609.875 [marl:UpdateCommandMode] Stopped 2025-10-28T16:40:09.875Z,1761669609.875 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:40:10.215Z,1761669610.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878945,-0.468516,-0.089149],[0.465894,0.883453,-0.049545],[0.101972,0.002014,0.994785]] 2025-10-28T16:40:10.239Z,1761669610.239 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:40:10.239Z,1761669610.239 [marl:UpdateRudder:B] Stopped 2025-10-28T16:40:10.239Z,1761669610.239 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:40:10.239Z,1761669610.239 [marl:UpdateRudder] Stopped 2025-10-28T16:40:10.239Z,1761669610.239 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:40:10.614Z,1761669610.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870592,-0.483900,-0.088939],[0.481078,0.875119,-0.052250],[0.103117,0.002702,0.994666]] 2025-10-28T16:40:10.665Z,1761669610.665 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:40:10.665Z,1761669610.665 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:40:10.665Z,1761669610.665 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:40:10.665Z,1761669610.665 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:40:10.666Z,1761669610.666 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:40:10.666Z,1761669610.666 [marl:UpdateSpeed] Stopped 2025-10-28T16:40:10.666Z,1761669610.666 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:40:11.019Z,1761669611.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862380,-0.498247,-0.089726],[0.495402,0.867034,-0.053184],[0.104294,0.001415,0.994546]] 2025-10-28T16:40:11.424Z,1761669611.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854826,-0.510931,-0.090670],[0.508190,0.859621,-0.052865],[0.104952,-0.000887,0.994477]] 2025-10-28T16:40:11.826Z,1761669611.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847371,-0.523217,-0.090583],[0.520534,0.852196,-0.052970],[0.104910,-0.002266,0.994479]] 2025-10-28T16:40:12.234Z,1761669612.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840299,-0.534607,-0.089961],[0.531959,0.845095,-0.053236],[0.104486,-0.003121,0.994521]] 2025-10-28T16:40:12.635Z,1761669612.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833433,-0.545365,-0.089252],[0.542794,0.838188,-0.053059],[0.103746,-0.004224,0.994595]] 2025-10-28T16:40:13.040Z,1761669613.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827168,-0.554736,-0.089789],[0.552487,0.831990,-0.050509],[0.102723,-0.007828,0.994679]] 2025-10-28T16:40:13.849Z,1761669613.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821693,-0.560490,-0.103306],[0.561061,0.827360,-0.026203],[0.100158,-0.036430,0.994304]] 2025-10-28T16:40:14.252Z,1761669614.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822490,-0.556697,-0.116615],[0.560046,0.828447,-0.004813],[0.099289,-0.061351,0.993165]] 2025-10-28T16:40:14.657Z,1761669614.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824737,-0.550030,-0.131437],[0.556967,0.830287,0.020300],[0.097964,-0.089948,0.991117]] 2025-10-28T16:40:15.876Z,1761669615.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831429,-0.527866,-0.173443],[0.548068,0.830460,0.099789],[0.091362,-0.178026,0.979775]] 2025-10-28T16:40:16.280Z,1761669616.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830774,-0.527506,-0.177627],[0.549431,0.828269,0.109984],[0.089106,-0.188965,0.977933]] 2025-10-28T16:40:16.679Z,1761669616.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829441,-0.529079,-0.179173],[0.551856,0.825808,0.116172],[0.086498,-0.195236,0.976935]] 2025-10-28T16:40:17.527Z,1761669617.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825248,-0.536064,-0.177769],[0.559181,0.819724,0.123972],[0.079264,-0.201713,0.976232]] 2025-10-28T16:40:17.906Z,1761669617.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822732,-0.540689,-0.175408],[0.563413,0.816580,0.125549],[0.075352,-0.202120,0.976458]] 2025-10-28T16:40:18.311Z,1761669618.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820086,-0.545567,-0.172675],[0.567731,0.813506,0.126052],[0.071702,-0.201406,0.976880]] 2025-10-28T16:40:18.716Z,1761669618.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817433,-0.550534,-0.169455],[0.571970,0.810603,0.125594],[0.068217,-0.199588,0.977503]] 2025-10-28T16:40:19.118Z,1761669619.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814910,-0.555521,-0.165281],[0.575968,0.808015,0.123988],[0.064672,-0.196236,0.978422]] 2025-10-28T16:40:19.523Z,1761669619.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813246,-0.559168,-0.161127],[0.578709,0.806186,0.123126],[0.061050,-0.193377,0.979223]] 2025-10-28T16:40:19.987Z,1761669619.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812284,-0.561643,-0.157329],[0.580430,0.804928,0.123256],[0.057413,-0.191437,0.979824]] 2025-10-28T16:40:20.330Z,1761669620.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811463,-0.563898,-0.153453],[0.581908,0.803890,0.123064],[0.053964,-0.189157,0.980463]] 2025-10-28T16:40:20.735Z,1761669620.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811408,-0.564994,-0.149667],[0.582317,0.803463,0.123910],[0.050243,-0.187695,0.980941]] 2025-10-28T16:40:21.138Z,1761669621.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812068,-0.564958,-0.146179],[0.581703,0.803656,0.125537],[0.046554,-0.186977,0.981261]] 2025-10-28T16:40:21.543Z,1761669621.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813395,-0.564094,-0.142082],[0.580145,0.804553,0.126991],[0.042677,-0.185722,0.981675]] 2025-10-28T16:40:21.946Z,1761669621.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815161,-0.562410,-0.138594],[0.577930,0.805750,0.129476],[0.038853,-0.185641,0.981849]] 2025-10-28T16:40:22.350Z,1761669622.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817351,-0.560175,-0.134691],[0.575107,0.807274,0.132520],[0.034498,-0.185777,0.981986]] 2025-10-28T16:40:22.759Z,1761669622.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819802,-0.557621,-0.130322],[0.571858,0.809135,0.135201],[0.030058,-0.185363,0.982210]] 2025-10-28T16:40:22.830Z,1761669622.830 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:40:22.830Z,1761669622.830 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateRudder:A] Stopped 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:40:22.831Z,1761669622.831 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:40:22.832Z,1761669622.832 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:40:22.836Z,1761669622.836 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:40:22.836Z,1761669622.836 [marl:UpdateCommandMode] Stopped 2025-10-28T16:40:22.836Z,1761669622.836 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:40:23.217Z,1761669623.217 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:40:23.217Z,1761669623.217 [marl:UpdateRudder:B] Stopped 2025-10-28T16:40:23.217Z,1761669623.217 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:40:23.217Z,1761669623.217 [marl:UpdateRudder] Stopped 2025-10-28T16:40:23.217Z,1761669623.217 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:40:23.583Z,1761669623.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824223,-0.552871,-0.122434],[0.565867,0.812266,0.141484],[0.021226,-0.185896,0.982340]] 2025-10-28T16:40:23.682Z,1761669623.682 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:40:23.682Z,1761669623.682 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:40:23.682Z,1761669623.682 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:40:23.682Z,1761669623.682 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:40:23.683Z,1761669623.683 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:40:23.683Z,1761669623.683 [marl:UpdateSpeed] Stopped 2025-10-28T16:40:23.683Z,1761669623.683 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:40:23.966Z,1761669623.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825738,-0.551515,-0.118276],[0.563806,0.813245,0.144068],[0.016731,-0.185647,0.982474]] 2025-10-28T16:40:24.371Z,1761669624.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826365,-0.551310,-0.114797],[0.562996,0.813337,0.146689],[0.012498,-0.185849,0.982499]] 2025-10-28T16:40:24.781Z,1761669624.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825742,-0.553069,-0.110749],[0.563988,0.812460,0.147738],[0.008270,-0.184454,0.982806]] 2025-10-28T16:40:25.179Z,1761669625.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824363,-0.555805,-0.107264],[0.566048,0.810723,0.149391],[0.003929,-0.183869,0.982943]] 2025-10-28T16:40:25.615Z,1761669625.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822167,-0.559790,-0.103324],[0.569246,0.808361,0.150039],[-0.000467,-0.182174,0.983266]] 2025-10-28T16:40:25.680Z,1761669625.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:40:25.987Z,1761669625.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819239,-0.564650,-0.100090],[0.573437,0.805352,0.150261],[-0.004237,-0.180495,0.983567]] 2025-10-28T16:40:26.391Z,1761669626.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815996,-0.569840,-0.097125],[0.578002,0.801987,0.150767],[-0.008020,-0.179164,0.983787]] 2025-10-28T16:40:26.684Z,1761669626.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:40:26.795Z,1761669626.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812294,-0.575436,-0.095145],[0.583142,0.798152,0.151324],[-0.011137,-0.178402,0.983895]] 2025-10-28T16:40:27.199Z,1761669627.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808488,-0.581003,-0.093713],[0.588350,0.794206,0.151926],[-0.013842,-0.177966,0.983939]] 2025-10-28T16:40:27.647Z,1761669627.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804675,-0.586300,-0.093545],[0.593502,0.790118,0.153197],[-0.015908,-0.178793,0.983758]] 2025-10-28T16:40:28.033Z,1761669628.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801384,-0.590821,-0.093350],[0.597898,0.786701,0.153685],[-0.017362,-0.178974,0.983701]] 2025-10-28T16:40:28.426Z,1761669628.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799007,-0.593937,-0.093949],[0.601030,0.783953,0.155501],[-0.018706,-0.180712,0.983358]] 2025-10-28T16:40:28.832Z,1761669628.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797872,-0.595429,-0.094147],[0.602504,0.782547,0.156874],[-0.019733,-0.181889,0.983121]] 2025-10-28T16:40:29.235Z,1761669629.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797911,-0.595327,-0.094465],[0.602406,0.782084,0.159536],[-0.021097,-0.184202,0.982662]] 2025-10-28T16:40:29.653Z,1761669629.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798669,-0.594269,-0.094718],[0.601356,0.782331,0.162264],[-0.022328,-0.186554,0.982191]] 2025-10-28T16:40:30.054Z,1761669630.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800062,-0.592596,-0.093442],[0.599449,0.783526,0.163548],[-0.023704,-0.186862,0.982100]] 2025-10-28T16:40:30.447Z,1761669630.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801616,-0.590811,-0.091401],[0.597292,0.784934,0.164684],[-0.025554,-0.186607,0.982102]] 2025-10-28T16:40:30.850Z,1761669630.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803444,-0.588868,-0.087817],[0.594724,0.786860,0.164785],[-0.027937,-0.184622,0.982412]] 2025-10-28T16:40:31.254Z,1761669631.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804934,-0.587358,-0.084215],[0.592581,0.788444,0.164937],[-0.030478,-0.182667,0.982702]] 2025-10-28T16:40:31.659Z,1761669631.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805843,-0.586586,-0.080835],[0.591187,0.789328,0.165708],[-0.033397,-0.181323,0.982856]] 2025-10-28T16:40:32.077Z,1761669632.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806054,-0.586832,-0.076841],[0.590714,0.789695,0.165646],[-0.036526,-0.178911,0.983187]] 2025-10-28T16:40:32.468Z,1761669632.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805237,-0.588361,-0.073651],[0.591636,0.788955,0.165881],[-0.039491,-0.177148,0.983392]] 2025-10-28T16:40:32.870Z,1761669632.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803898,-0.590492,-0.071182],[0.593259,0.787580,0.166617],[-0.042325,-0.176172,0.983449]] 2025-10-28T16:40:33.275Z,1761669633.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801690,-0.593676,-0.069585],[0.596082,0.785368,0.166982],[-0.044484,-0.175346,0.983501]] 2025-10-28T16:40:33.678Z,1761669633.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799119,-0.597240,-0.068655],[0.599387,0.782736,0.167509],[-0.046305,-0.175011,0.983477]] 2025-10-28T16:40:34.091Z,1761669634.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796167,-0.601189,-0.068483],[0.603188,0.779644,0.168283],[-0.047778,-0.175290,0.983357]] 2025-10-28T16:40:34.487Z,1761669634.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792914,-0.605389,-0.069217],[0.607389,0.776200,0.169094],[-0.048641,-0.176119,0.983166]] 2025-10-28T16:40:34.890Z,1761669634.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789657,-0.609643,-0.069117],[0.611547,0.772980,0.168855],[-0.049515,-0.175606,0.983215]] 2025-10-28T16:40:35.334Z,1761669635.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786694,-0.613287,-0.070646],[0.615324,0.769723,0.170009],[-0.049886,-0.177215,0.982907]] 2025-10-28T16:40:35.731Z,1761669635.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784193,-0.616379,-0.071546],[0.618478,0.767063,0.170582],[-0.050263,-0.178019,0.982743]] 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateRudder:A] Stopped 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:40:35.817Z,1761669635.817 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:40:35.818Z,1761669635.818 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:40:35.818Z,1761669635.818 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:40:35.818Z,1761669635.818 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:40:35.818Z,1761669635.818 [marl:UpdateCommandMode] Stopped 2025-10-28T16:40:35.818Z,1761669635.818 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:40:36.179Z,1761669636.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782184,-0.618743,-0.073107],[0.621022,0.764802,0.171493],[-0.050198,-0.179540,0.982469]] 2025-10-28T16:40:36.224Z,1761669636.224 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:40:36.224Z,1761669636.224 [marl:UpdateRudder:B] Stopped 2025-10-28T16:40:36.224Z,1761669636.224 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:40:36.224Z,1761669636.224 [marl:UpdateRudder] Stopped 2025-10-28T16:40:36.224Z,1761669636.224 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:40:36.589Z,1761669636.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780574,-0.620664,-0.074029],[0.623084,0.763211,0.171099],[-0.049695,-0.179682,0.982469]] 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:40:36.622Z,1761669636.622 [marl:UpdateSpeed] Stopped 2025-10-28T16:40:36.623Z,1761669636.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:40:36.986Z,1761669636.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779501,-0.621799,-0.075786],[0.624489,0.761967,0.171522],[-0.048905,-0.181029,0.982261]] 2025-10-28T16:40:37.390Z,1761669637.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779510,-0.621695,-0.076553],[0.624531,0.761961,0.171397],[-0.048227,-0.181415,0.982223]] 2025-10-28T16:40:37.795Z,1761669637.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779702,-0.621360,-0.077301],[0.624344,0.762135,0.171302],[-0.047527,-0.181828,0.982181]] 2025-10-28T16:40:38.201Z,1761669638.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780014,-0.620948,-0.077471],[0.623969,0.762430,0.171357],[-0.047338,-0.182001,0.982158]] 2025-10-28T16:40:38.602Z,1761669638.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780931,-0.619779,-0.077598],[0.622859,0.763382,0.171156],[-0.046842,-0.181994,0.982183]] 2025-10-28T16:40:39.006Z,1761669639.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781414,-0.619321,-0.076379],[0.622270,0.764228,0.169515],[-0.046613,-0.179990,0.982563]] 2025-10-28T16:40:39.411Z,1761669639.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779429,-0.622881,-0.067153],[0.624705,0.764643,0.158321],[-0.047267,-0.165350,0.985102]] 2025-10-28T16:40:39.815Z,1761669639.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774138,-0.630833,-0.052543],[0.631167,0.762869,0.140214],[-0.048369,-0.141708,0.988726]] 2025-10-28T16:40:39.887Z,1761669639.887 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:40:39.949Z,1761669639.949 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:40:39.949Z,1761669639.949 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:40:40.201Z,1761669640.201 [DAT](INFO): DAT read: 2025-10-28T16:40:40.202Z,1761669640.202 [DAT](INFO): DAT read: Tx time:16:40:39.9655 2025-10-28T16:40:40.202Z,1761669640.202 [DAT](INFO): Ping request sent. 2025-10-28T16:40:40.203Z,1761669640.203 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:40:40.203Z,1761669640.203 [DAT](INFO): publishing transmit ping time 2025-10-28T16:40:40.203Z,1761669640.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000916 2025-10-28T16:40:40.233Z,1761669640.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766064,-0.641874,-0.033803],[0.640863,0.758700,0.116914],[-0.049398,-0.111227,0.992567]] 2025-10-28T16:40:40.453Z,1761669640.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250380 2025-10-28T16:40:40.623Z,1761669640.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755891,-0.654532,-0.014716],[0.652737,0.751698,0.094262],[-0.050635,-0.080857,0.995439]] 2025-10-28T16:40:40.706Z,1761669640.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503293 2025-10-28T16:40:40.957Z,1761669640.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754253 2025-10-28T16:40:41.033Z,1761669641.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744247,-0.667902,0.001813],[0.665926,0.742249,0.074897],[-0.051370,-0.054535,0.997190]] 2025-10-28T16:40:41.209Z,1761669641.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006380 2025-10-28T16:40:41.432Z,1761669641.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731716,-0.681421,0.016076],[0.679647,0.731194,0.058616],[-0.051697,-0.031964,0.998151]] 2025-10-28T16:40:41.461Z,1761669641.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258206 2025-10-28T16:40:41.713Z,1761669641.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510315 2025-10-28T16:40:41.834Z,1761669641.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718610,-0.694884,0.027119],[0.693479,0.718973,0.046516],[-0.051821,-0.014620,0.998549]] 2025-10-28T16:40:41.965Z,1761669641.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762400 2025-10-28T16:40:42.217Z,1761669642.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014230 2025-10-28T16:40:42.238Z,1761669642.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704501,-0.708779,0.036216],[0.707823,0.705431,0.036805],[-0.051634,-0.000294,0.998666]] 2025-10-28T16:40:42.469Z,1761669642.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911 2025-10-28T16:40:42.649Z,1761669642.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690107,-0.722490,0.041964],[0.721891,0.691322,0.030767],[-0.051240,0.009061,0.998645]] 2025-10-28T16:40:42.722Z,1761669642.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519023 2025-10-28T16:40:42.973Z,1761669642.973 [DAT](INFO): DAT read: Rx Time:16:40:42.3474 2025-10-28T16:40:42.973Z,1761669642.973 [DAT](INFO): Rx dataTimestamp_ set to:1761669642.973088 2025-10-28T16:40:42.974Z,1761669642.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771367 2025-10-28T16:40:43.053Z,1761669643.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674806,-0.736571,0.045823],[0.736292,0.676166,0.025977],[-0.050117,0.016209,0.998612]] 2025-10-28T16:40:43.226Z,1761669643.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022955 2025-10-28T16:40:43.450Z,1761669643.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658742,-0.750826,0.048156],[0.750802,0.660151,0.022296],[-0.048531,0.021468,0.998591]] 2025-10-28T16:40:43.479Z,1761669643.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276432 2025-10-28T16:40:43.734Z,1761669643.734 [DAT](INFO): DAT read: 16:40:42.3474 LVL= 31808, 25185, 32754, 32755, AGC= 64, IDX= 121,-0.41,-0.009, 1.170,-0.761, 0.341, PHS=-0.248, 0.874,-1.146, RAW= 356.3, 6.0, CAL= 356.2, 4.8, ROT= 153.8, -4.8 2025-10-28T16:40:43.736Z,1761669643.736 [DAT](INFO): got valid direction response: 16:40:42.3474 LVL= 31808, 25185, 32754, 32755, AGC= 64, IDX= 121,-0.41,-0.009, 1.170,-0.761, 0.341, PHS=-0.248, 0.874,-1.146, RAW= 356.3, 6.0, CAL= 356.2, 4.8, ROT= 153.8, -4.8 2025-10-28T16:40:43.737Z,1761669643.737 [DAT](INFO): DAT read: Bearing 161, -11 (Remote) 2025-10-28T16:40:43.737Z,1761669643.737 [DAT](INFO): Remote Bearing received:Bearing 161, -11 (Remote) 2025-10-28T16:40:43.738Z,1761669643.738 [DAT](INFO): DAT read: Bearing 11.7, 29.1 (Local) 2025-10-28T16:40:43.738Z,1761669643.738 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, 29.1 (Local) 2025-10-28T16:40:43.739Z,1761669643.739 [DAT](INFO): DAT read: Range 11 to 20 : 264.6 m (Round-trip 352.8 ms) speed -0.3 m/s 2025-10-28T16:40:43.745Z,1761669643.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:40:43.747Z,1761669643.747 [DAT](INFO): direction in FSK: [-0.894112,0.439957,0.083678] 2025-10-28T16:40:43.747Z,1761669643.747 [DAT](INFO): publishing direction and range info 2025-10-28T16:40:43.855Z,1761669643.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642134,-0.765098,0.047850],[0.765205,0.643475,0.020018],[-0.046106,0.023761,0.998654]] 2025-10-28T16:40:43.863Z,1761669643.863 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS+1007, -59,A 2025-10-28T16:40:43.927Z,1761669643.927 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669632.00. Resetting abort timer. 2025-10-28T16:40:44.259Z,1761669644.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625383,-0.778991,0.045485],[0.779135,0.626582,0.018563],[-0.042961,0.023830,0.998793]] 2025-10-28T16:40:44.669Z,1761669644.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608525,-0.792447,0.041539],[0.792579,0.609527,0.017183],[-0.038936,0.022466,0.998989]] 2025-10-28T16:40:45.069Z,1761669645.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592072,-0.805008,0.037602],[0.805129,0.592893,0.015660],[-0.034901,0.021003,0.999170]] 2025-10-28T16:40:45.470Z,1761669645.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577239,-0.815964,0.031576],[0.816003,0.577851,0.015105],[-0.030571,0.017047,0.999387]] 2025-10-28T16:40:45.875Z,1761669645.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563805,-0.825488,0.026312],[0.825476,0.564255,0.014359],[-0.026700,0.013624,0.999551]] 2025-10-28T16:40:46.278Z,1761669646.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552116,-0.833496,0.021256],[0.833443,0.552433,0.013797],[-0.023242,0.010098,0.999679]] 2025-10-28T16:40:46.682Z,1761669646.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541638,-0.840434,0.017298],[0.840366,0.541862,0.013024],[-0.020319,0.007483,0.999766]] 2025-10-28T16:40:47.090Z,1761669647.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532191,-0.846531,0.012592],[0.846437,0.532327,0.013144],[-0.017830,0.003663,0.999834]] 2025-10-28T16:40:47.493Z,1761669647.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523708,-0.851852,0.008865],[0.851744,0.523783,0.013521],[-0.016161,0.000470,0.999869]] 2025-10-28T16:40:47.895Z,1761669647.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515759,-0.856712,0.006054],[0.856605,0.515791,0.013685],[-0.014846,-0.001873,0.999888]] 2025-10-28T16:40:48.309Z,1761669648.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499268,-0.866447,-0.000772],[0.866342,0.499193,0.016073],[-0.013541,-0.008694,0.999871]] 2025-10-28T16:40:48.709Z,1761669648.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490549,-0.871411,-0.002145],[0.871305,0.490447,0.017015],[-0.013775,-0.010216,0.999853]] 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateRudder:A] Stopped 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:40:48.734Z,1761669648.734 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:40:48.735Z,1761669648.735 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:40:48.735Z,1761669648.735 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:40:48.735Z,1761669648.735 [marl:UpdateCommandMode] Stopped 2025-10-28T16:40:48.735Z,1761669648.735 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:40:49.121Z,1761669649.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480616,-0.876928,-0.002298],[0.876818,0.480510,0.017342],[-0.014104,-0.010350,0.999847]] 2025-10-28T16:40:49.181Z,1761669649.181 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:40:49.181Z,1761669649.181 [marl:UpdateRudder:B] Stopped 2025-10-28T16:40:49.181Z,1761669649.181 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:40:49.181Z,1761669649.181 [marl:UpdateRudder] Stopped 2025-10-28T16:40:49.181Z,1761669649.181 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:40:49.521Z,1761669649.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469878,-0.882725,-0.003197],[0.882617,0.469756,0.017809],[-0.014219,-0.011189,0.999836]] 2025-10-28T16:40:49.640Z,1761669649.640 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:40:49.641Z,1761669649.641 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:40:49.641Z,1761669649.641 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:40:49.642Z,1761669649.642 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:40:49.643Z,1761669649.643 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:40:49.643Z,1761669649.643 [marl:UpdateSpeed] Stopped 2025-10-28T16:40:49.643Z,1761669649.643 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:40:49.923Z,1761669649.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457820,-0.889036,-0.004020],[0.888936,0.457688,0.017712],[-0.013907,-0.011682,0.999835]] 2025-10-28T16:40:50.322Z,1761669650.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444653,-0.895690,-0.004795],[0.895603,0.444517,0.017336],[-0.013396,-0.012003,0.999838]] 2025-10-28T16:40:50.723Z,1761669650.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430475,-0.902594,-0.003943],[0.902509,0.430364,0.016258],[-0.012977,-0.010557,0.999860]] 2025-10-28T16:40:51.127Z,1761669651.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414773,-0.909924,-0.001647],[0.909839,0.414708,0.014497],[-0.012508,-0.007512,0.999894]] 2025-10-28T16:40:51.535Z,1761669651.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398446,-0.917192,0.000375],[0.917113,0.398417,0.012951],[-0.012028,-0.004816,0.999916]] 2025-10-28T16:40:51.936Z,1761669651.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381228,-0.924478,0.002392],[0.924408,0.381229,0.011570],[-0.011608,-0.002199,0.999930]] 2025-10-28T16:40:52.339Z,1761669652.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363114,-0.931731,0.005110],[0.931678,0.363148,0.009999],[-0.011172,0.001130,0.999937]] 2025-10-28T16:40:52.743Z,1761669652.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344690,-0.938705,0.004729],[0.938657,0.344721,0.009552],[-0.010597,0.001146,0.999943]] 2025-10-28T16:40:53.147Z,1761669653.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325840,-0.945410,0.005319],[0.945378,0.325874,0.008102],[-0.009393,0.002388,0.999953]] 2025-10-28T16:40:53.553Z,1761669653.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307018,-0.951687,0.005718],[0.951673,0.307051,0.006191],[-0.007648,0.003541,0.999964]] 2025-10-28T16:40:53.955Z,1761669653.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287981,-0.957617,0.006059],[0.957621,0.288007,0.003851],[-0.005432,0.004693,0.999974]] 2025-10-28T16:40:54.358Z,1761669654.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268727,-0.963201,0.005407],[0.963212,0.268738,0.001385],[-0.002787,0.004836,0.999984]] 2025-10-28T16:40:54.768Z,1761669654.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250200,-0.968185,0.004118],[0.968194,0.250196,-0.001501],[0.000423,0.004363,0.999990]] 2025-10-28T16:40:55.171Z,1761669655.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233956,-0.972246,0.001487],[0.972240,0.233948,-0.004211],[0.003747,0.002431,0.999990]] 2025-10-28T16:40:55.575Z,1761669655.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219172,-0.975685,-0.001469],[0.975661,0.219177,-0.006856],[0.007012,0.000070,0.999975]] 2025-10-28T16:40:55.975Z,1761669655.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205896,-0.978562,-0.004790],[0.978524,0.205932,-0.009089],[0.009880,-0.002816,0.999947]] 2025-10-28T16:40:56.378Z,1761669656.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194417,-0.980893,-0.007167],[0.980843,0.194488,-0.010986],[0.012170,-0.004894,0.999914]] 2025-10-28T16:40:56.787Z,1761669656.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184527,-0.982778,-0.009836],[0.982731,0.184639,-0.012150],[0.013757,-0.007424,0.999878]] 2025-10-28T16:40:56.822Z,1761669656.822 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:40:57.187Z,1761669657.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175601,-0.984392,-0.011670],[0.984355,0.175744,-0.012633],[0.014487,-0.009269,0.999852]] 2025-10-28T16:40:57.647Z,1761669657.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166779,-0.985887,-0.014530],[0.985889,0.166959,-0.012165],[0.014419,-0.012296,0.999820]] 2025-10-28T16:40:57.824Z,1761669657.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:40:57.999Z,1761669657.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157616,-0.987357,-0.016834],[0.987412,0.157807,-0.010682],[0.013203,-0.014938,0.999801]] 2025-10-28T16:40:58.401Z,1761669658.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147551,-0.988883,-0.018437],[0.988990,0.147728,-0.008635],[0.011262,-0.016960,0.999793]] 2025-10-28T16:40:58.803Z,1761669658.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135965,-0.990527,-0.019217],[0.990673,0.136110,-0.006425],[0.008980,-0.018164,0.999795]] 2025-10-28T16:40:59.207Z,1761669659.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121615,-0.992415,-0.017931],[0.992555,0.121715,-0.004558],[0.006706,-0.017243,0.999829]] 2025-10-28T16:40:59.648Z,1761669659.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104928,-0.994344,-0.016459],[0.994469,0.104990,-0.002927],[0.004638,-0.016061,0.999860]] 2025-10-28T16:41:00.022Z,1761669660.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085727,-0.996200,-0.015365],[0.996313,0.085767,-0.001980],[0.003290,-0.015139,0.999880]] 2025-10-28T16:41:00.418Z,1761669660.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065316,-0.997787,-0.012482],[0.997861,0.065343,-0.001777],[0.002588,-0.012340,0.999921]] 2025-10-28T16:41:00.823Z,1761669660.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043726,-0.998978,-0.011460],[0.999040,0.043753,-0.002086],[0.002585,-0.011358,0.999932]] 2025-10-28T16:41:01.226Z,1761669661.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021854,-0.999716,-0.009460],[0.999756,0.021884,-0.003157],[0.003363,-0.009389,0.999950]] 2025-10-28T16:41:01.653Z,1761669661.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000038,-0.999972,-0.007424],[0.999987,0.000076,-0.005080],[0.005081,-0.007423,0.999960]] 2025-10-28T16:41:01.709Z,1761669661.709 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:41:01.709Z,1761669661.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:41:01.710Z,1761669661.710 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:41:01.711Z,1761669661.711 [marl:UpdateRudder:A] Stopped 2025-10-28T16:41:01.711Z,1761669661.711 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:41:01.711Z,1761669661.711 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:41:01.711Z,1761669661.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:41:01.711Z,1761669661.711 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:41:01.713Z,1761669661.713 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:41:01.713Z,1761669661.713 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:41:01.715Z,1761669661.715 [marl:UpdateCommandMode] Stopped 2025-10-28T16:41:01.715Z,1761669661.715 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:41:02.034Z,1761669662.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021400,-0.999754,-0.005869],[0.999742,-0.021354,-0.007686],[0.007559,-0.006032,0.999953]] 2025-10-28T16:41:02.067Z,1761669662.067 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:41:02.067Z,1761669662.067 [marl:UpdateRudder:B] Stopped 2025-10-28T16:41:02.067Z,1761669662.067 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:41:02.067Z,1761669662.067 [marl:UpdateRudder] Stopped 2025-10-28T16:41:02.068Z,1761669662.068 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:41:02.439Z,1761669662.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041356,-0.999132,-0.004941],[0.999091,-0.041302,-0.010559],[0.010345,-0.005373,0.999932]] 2025-10-28T16:41:02.489Z,1761669662.489 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:41:02.490Z,1761669662.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:41:02.490Z,1761669662.490 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:41:02.490Z,1761669662.490 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:41:02.490Z,1761669662.490 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:41:02.490Z,1761669662.490 [marl:UpdateSpeed] Stopped 2025-10-28T16:41:02.491Z,1761669662.491 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:41:02.843Z,1761669662.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059533,-0.998218,-0.004146],[0.998142,-0.059474,-0.013234],[0.012963,-0.004926,0.999904]] 2025-10-28T16:41:03.248Z,1761669663.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076200,-0.997086,-0.003585],[0.996976,-0.076136,-0.015540],[0.015222,-0.004759,0.999873]] 2025-10-28T16:41:03.661Z,1761669663.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091064,-0.995838,-0.003877],[0.995711,-0.090987,-0.016753],[0.016330,-0.005386,0.999852]] 2025-10-28T16:41:04.054Z,1761669664.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105005,-0.994459,-0.005057],[0.994321,-0.104900,-0.017933],[0.017303,-0.006911,0.999826]] 2025-10-28T16:41:04.459Z,1761669664.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117580,-0.993032,-0.007869],[0.992903,-0.117415,-0.018933],[0.017877,-0.010040,0.999790]] 2025-10-28T16:41:04.865Z,1761669664.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127087,-0.991769,-0.015610],[0.991724,-0.126761,-0.020373],[0.018227,-0.018070,0.999671]] 2025-10-28T16:41:05.267Z,1761669665.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131306,-0.990810,-0.032468],[0.991172,-0.130606,-0.022826],[0.018375,-0.035179,0.999212]] 2025-10-28T16:41:05.672Z,1761669665.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131428,-0.989685,-0.057005],[0.991158,-0.130132,-0.025908],[0.018222,-0.059906,0.998038]] 2025-10-28T16:41:06.075Z,1761669666.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130115,-0.987775,-0.085848],[0.991332,-0.128015,-0.029554],[0.018203,-0.088949,0.995870]] 2025-10-28T16:41:06.487Z,1761669666.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128040,-0.985066,-0.115112],[0.991604,-0.125035,-0.032985],[0.018100,-0.118369,0.992805]] 2025-10-28T16:41:06.883Z,1761669666.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126131,-0.981871,-0.141493],[0.991848,-0.122217,-0.036050],[0.018103,-0.144887,0.989283]] 2025-10-28T16:41:07.286Z,1761669667.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124089,-0.978634,-0.163945],[0.992110,-0.119383,-0.038290],[0.017899,-0.167403,0.985726]] 2025-10-28T16:41:07.691Z,1761669667.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123182,-0.975784,-0.180753],[0.992225,-0.117843,-0.040027],[0.017758,-0.184278,0.982714]] 2025-10-28T16:41:08.095Z,1761669668.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122647,-0.973526,-0.192884],[0.992296,-0.116859,-0.041149],[0.017520,-0.196445,0.980358]] 2025-10-28T16:41:08.507Z,1761669668.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123591,-0.971805,-0.200800],[0.992179,-0.117452,-0.042250],[0.017474,-0.204451,0.978721]] 2025-10-28T16:41:08.902Z,1761669668.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125713,-0.970352,-0.206429],[0.991910,-0.119246,-0.043529],[0.017622,-0.210231,0.977493]] 2025-10-28T16:41:09.307Z,1761669669.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128243,-0.969610,-0.208351],[0.991586,-0.121628,-0.044310],[0.017622,-0.212281,0.977050]] 2025-10-28T16:41:09.712Z,1761669669.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131137,-0.969199,-0.208461],[0.991211,-0.124493,-0.044736],[0.017406,-0.212495,0.977007]] 2025-10-28T16:41:10.114Z,1761669670.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134544,-0.968857,-0.207879],[0.990754,-0.127834,-0.045441],[0.017452,-0.212071,0.977098]] 2025-10-28T16:41:10.518Z,1761669670.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138245,-0.968689,-0.206226],[0.990243,-0.131513,-0.046073],[0.017509,-0.210583,0.977419]] 2025-10-28T16:41:10.922Z,1761669670.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142306,-0.968861,-0.202625],[0.989667,-0.135637,-0.046501],[0.017570,-0.207149,0.978152]] 2025-10-28T16:41:11.328Z,1761669671.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146605,-0.968804,-0.199813],[0.989045,-0.140045,-0.046659],[0.017220,-0.204465,0.978723]] 2025-10-28T16:41:11.731Z,1761669671.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151198,-0.968814,-0.196314],[0.988362,-0.144807,-0.046594],[0.016713,-0.201074,0.979433]] 2025-10-28T16:41:12.134Z,1761669672.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156348,-0.968734,-0.192641],[0.987568,-0.150117,-0.046623],[0.016247,-0.197536,0.980161]] 2025-10-28T16:41:12.562Z,1761669672.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161574,-0.968338,-0.190304],[0.986739,-0.155498,-0.046541],[0.015475,-0.195300,0.980621]] 2025-10-28T16:41:12.944Z,1761669672.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166648,-0.967825,-0.188529],[0.985904,-0.160669,-0.046672],[0.014880,-0.193649,0.980958]] 2025-10-28T16:41:13.346Z,1761669673.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171166,-0.967239,-0.187484],[0.985140,-0.165273,-0.046745],[0.014227,-0.192699,0.981155]] 2025-10-28T16:41:13.753Z,1761669673.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175592,-0.966584,-0.186770],[0.984371,-0.169792,-0.046741],[0.013467,-0.192059,0.981291]] 2025-10-28T16:41:14.154Z,1761669674.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180877,-0.965673,-0.186438],[0.983418,-0.175044,-0.047428],[0.013165,-0.191925,0.981321]] 2025-10-28T16:41:14.561Z,1761669674.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186324,-0.964720,-0.186008],[0.982397,-0.180362,-0.048630],[0.013366,-0.191795,0.981344]] 2025-10-28T16:41:14.585Z,1761669674.585 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:41:14.585Z,1761669674.585 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:41:14.585Z,1761669674.585 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateRudder:A] Stopped 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode] Stopped 2025-10-28T16:41:14.586Z,1761669674.586 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:41:14.965Z,1761669674.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191693,-0.963869,-0.184961],[0.981358,-0.185587,-0.049944],[0.013813,-0.191087,0.981476]] 2025-10-28T16:41:15.008Z,1761669675.008 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:41:15.008Z,1761669675.008 [marl:UpdateRudder:B] Stopped 2025-10-28T16:41:15.009Z,1761669675.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:41:15.009Z,1761669675.009 [marl:UpdateRudder] Stopped 2025-10-28T16:41:15.009Z,1761669675.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:41:15.366Z,1761669675.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197074,-0.962893,-0.184390],[0.980276,-0.190679,-0.051970],[0.014883,-0.190995,0.981478]] 2025-10-28T16:41:15.414Z,1761669675.414 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:41:15.414Z,1761669675.414 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:41:15.414Z,1761669675.414 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:41:15.415Z,1761669675.415 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:41:15.415Z,1761669675.415 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:41:15.415Z,1761669675.415 [marl:UpdateSpeed] Stopped 2025-10-28T16:41:15.415Z,1761669675.415 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:41:15.777Z,1761669675.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201073,-0.962185,-0.183766],[0.979445,-0.194402,-0.053815],[0.016056,-0.190809,0.981496]] 2025-10-28T16:41:16.176Z,1761669676.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203928,-0.961561,-0.183885],[0.978826,-0.196866,-0.056076],[0.017720,-0.191426,0.981347]] 2025-10-28T16:41:16.578Z,1761669676.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204809,-0.961663,-0.182365],[0.978610,-0.197491,-0.057619],[0.019395,-0.190265,0.981541]] 2025-10-28T16:41:16.990Z,1761669676.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204135,-0.961825,-0.182265],[0.978719,-0.196536,-0.059025],[0.020950,-0.190435,0.981476]] 2025-10-28T16:41:17.386Z,1761669677.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202672,-0.962219,-0.181822],[0.978988,-0.194827,-0.060213],[0.022514,-0.190205,0.981486]] 2025-10-28T16:41:18.194Z,1761669678.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207088,-0.964365,-0.164667],[0.978032,-0.199977,-0.058838],[0.023811,-0.173234,0.984593]] 2025-10-28T16:41:18.599Z,1761669678.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214707,-0.966530,-0.140431],[0.976411,-0.209057,-0.053998],[0.022833,-0.148712,0.988617]] 2025-10-28T16:41:19.004Z,1761669679.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224544,-0.967905,-0.112873],[0.974238,-0.220485,-0.047402],[0.020994,-0.120609,0.992478]] 2025-10-28T16:41:19.409Z,1761669679.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235728,-0.967941,-0.086736],[0.971651,-0.233087,-0.039557],[0.018072,-0.093602,0.995446]] 2025-10-28T16:41:19.810Z,1761669679.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247368,-0.966734,-0.065068],[0.968816,-0.245791,-0.031348],[0.014312,-0.070793,0.997388]] 2025-10-28T16:41:20.215Z,1761669680.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260094,-0.964396,-0.047876],[0.965531,-0.259244,-0.023287],[0.010046,-0.052283,0.998582]] 2025-10-28T16:41:20.619Z,1761669680.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274522,-0.961007,-0.033205],[0.961562,-0.274138,-0.015689],[0.005975,-0.036236,0.999325]] 2025-10-28T16:41:21.024Z,1761669681.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290699,-0.956538,-0.022987],[0.956812,-0.290554,-0.009492],[0.002400,-0.024753,0.999691]] 2025-10-28T16:41:21.427Z,1761669681.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309480,-0.950799,-0.014272],[0.950906,-0.309444,-0.004729],[0.000080,-0.015035,0.999887]] 2025-10-28T16:41:21.831Z,1761669681.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329168,-0.944232,-0.008662],[0.944270,-0.329171,-0.001148],[-0.001768,-0.008557,0.999962]] 2025-10-28T16:41:22.235Z,1761669682.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349219,-0.937032,-0.004069],[0.937035,-0.349229,0.002135],[-0.003421,-0.003067,0.999989]] 2025-10-28T16:41:22.641Z,1761669682.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369645,-0.929172,-0.001695],[0.929162,-0.369648,0.004327],[-0.004647,0.000025,0.999989]] 2025-10-28T16:41:23.042Z,1761669683.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390175,-0.920741,0.000443],[0.920726,-0.390166,0.005936],[-0.005293,0.002724,0.999982]] 2025-10-28T16:41:23.451Z,1761669683.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410308,-0.911944,0.002465],[0.911933,-0.410285,0.006752],[-0.005146,0.005018,0.999974]] 2025-10-28T16:41:23.851Z,1761669683.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430433,-0.902615,0.003771],[0.902613,-0.430406,0.006353],[-0.004112,0.006138,0.999973]] 2025-10-28T16:41:24.658Z,1761669684.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469406,-0.882960,0.006231],[0.882982,-0.469396,0.003109],[0.000180,0.006962,0.999976]] 2025-10-28T16:41:25.062Z,1761669685.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488237,-0.872688,0.006396],[0.872702,-0.488252,-0.000893],[0.003902,0.005145,0.999979]] 2025-10-28T16:41:25.480Z,1761669685.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506445,-0.862240,0.007371],[0.862229,-0.506487,-0.005646],[0.008601,0.003496,0.999957]] 2025-10-28T16:41:25.872Z,1761669685.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523340,-0.852081,0.008571],[0.852014,-0.523408,-0.010777],[0.013669,0.001663,0.999905]] 2025-10-28T16:41:26.274Z,1761669686.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537583,-0.843160,0.009264],[0.843012,-0.537662,-0.015815],[0.018315,-0.000692,0.999832]] 2025-10-28T16:41:26.678Z,1761669686.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549446,-0.835473,0.009723],[0.835238,-0.549524,-0.020019],[0.022068,-0.002879,0.999752]] 2025-10-28T16:41:27.085Z,1761669687.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559736,-0.828618,0.009375],[0.828278,-0.559783,-0.024462],[0.025518,-0.005927,0.999657]] 2025-10-28T16:41:27.498Z,1761669687.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569316,-0.822067,0.009235],[0.821627,-0.569328,-0.028167],[0.028413,-0.008448,0.999561]] 2025-10-28T16:41:27.522Z,1761669687.522 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:41:27.522Z,1761669687.522 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateRudder:A] Stopped 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:41:27.523Z,1761669687.523 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:41:27.524Z,1761669687.524 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:41:27.524Z,1761669687.524 [marl:UpdateCommandMode] Stopped 2025-10-28T16:41:27.524Z,1761669687.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:41:27.891Z,1761669687.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578639,-0.815540,0.008497],[0.815008,-0.578590,-0.031550],[0.030647,-0.011331,0.999466]] 2025-10-28T16:41:27.915Z,1761669687.915 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:41:27.915Z,1761669687.915 [marl:UpdateRudder:B] Stopped 2025-10-28T16:41:27.915Z,1761669687.915 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:41:27.915Z,1761669687.915 [marl:UpdateRudder] Stopped 2025-10-28T16:41:27.915Z,1761669687.915 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:41:27.947Z,1761669687.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:41:28.299Z,1761669688.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587769,-0.808988,0.008131],[0.808407,-0.587682,-0.033292],[0.031711,-0.012995,0.999413]] 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:41:28.323Z,1761669688.323 [marl:UpdateSpeed] Stopped 2025-10-28T16:41:28.324Z,1761669688.324 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:41:28.699Z,1761669688.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596593,-0.802521,0.006095],[0.801931,-0.596417,-0.034547],[0.031360,-0.015722,0.999384]] 2025-10-28T16:41:28.949Z,1761669688.949 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:41:29.102Z,1761669689.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605451,-0.795873,0.004033],[0.795344,-0.605220,-0.033706],[0.029266,-0.017200,0.999424]] 2025-10-28T16:41:29.511Z,1761669689.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614424,-0.788972,0.002517],[0.788554,-0.614197,-0.030729],[0.025790,-0.016896,0.999525]] 2025-10-28T16:41:29.911Z,1761669689.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623768,-0.781609,0.000923],[0.781311,-0.623562,-0.026913],[0.021611,-0.016066,0.999637]] 2025-10-28T16:41:29.927Z,1761669689.927 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS -5.55, +366.06, +0.54, 63.63, 0.00 2025-10-28T16:41:30.314Z,1761669690.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634660,-0.772791,0.000048],[0.772580,-0.634488,-0.023358],[0.018081,-0.014788,0.999727]] 2025-10-28T16:41:30.718Z,1761669690.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647150,-0.762361,-0.001519],[0.762209,-0.646978,-0.021396],[0.015329,-0.015005,0.999770]] 2025-10-28T16:41:31.125Z,1761669691.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660301,-0.750997,-0.002449],[0.750879,-0.660131,-0.020170],[0.013531,-0.015157,0.999794]] 2025-10-28T16:41:31.537Z,1761669691.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674369,-0.738390,-0.002668],[0.738291,-0.674210,-0.019158],[0.012348,-0.014889,0.999813]] 2025-10-28T16:41:31.931Z,1761669691.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688029,-0.725677,-0.003026],[0.725589,-0.687865,-0.019063],[0.011752,-0.015312,0.999814]] 2025-10-28T16:41:32.338Z,1761669692.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701164,-0.712997,-0.002113],[0.712905,-0.701019,-0.018418],[0.011651,-0.014421,0.999828]] 2025-10-28T16:41:32.740Z,1761669692.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714218,-0.699921,-0.001617],[0.699818,-0.714069,-0.018963],[0.012118,-0.014675,0.999819]] 2025-10-28T16:41:33.144Z,1761669693.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726792,-0.686856,-0.001460],[0.686742,-0.726629,-0.019890],[0.012601,-0.015458,0.999801]] 2025-10-28T16:41:33.546Z,1761669693.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738295,-0.674478,0.000117],[0.674350,-0.738158,-0.019372],[0.013152,-0.014223,0.999812]] 2025-10-28T16:41:33.965Z,1761669693.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758969,-0.651126,-0.000197],[0.650997,-0.758812,-0.020175],[0.012987,-0.015441,0.999796]] 2025-10-28T16:41:34.359Z,1761669694.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768667,-0.639649,-0.000487],[0.639536,-0.768515,-0.019457],[0.012071,-0.015267,0.999811]] 2025-10-28T16:41:34.767Z,1761669694.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778144,-0.628084,-0.001238],[0.627997,-0.778000,-0.018314],[0.010539,-0.015028,0.999831]] 2025-10-28T16:41:35.169Z,1761669695.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787965,-0.615704,-0.004317],[0.615661,-0.787775,-0.019259],[0.008457,-0.017833,0.999805]] 2025-10-28T16:41:35.595Z,1761669695.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798233,-0.602321,-0.005814],[0.602318,-0.798057,-0.017799],[0.006080,-0.017709,0.999825]] 2025-10-28T16:41:35.972Z,1761669695.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808891,-0.587903,-0.008121],[0.587949,-0.808722,-0.016847],[0.003337,-0.018401,0.999825]] 2025-10-28T16:41:36.375Z,1761669696.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819570,-0.572881,-0.010586],[0.572979,-0.819418,-0.015783],[0.000368,-0.019001,0.999819]] 2025-10-28T16:41:36.783Z,1761669696.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830542,-0.556824,-0.012143],[0.556952,-0.830424,-0.014157],[-0.002201,-0.018521,0.999826]] 2025-10-28T16:41:37.186Z,1761669697.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841337,-0.540312,-0.014685],[0.540494,-0.841216,-0.014899],[-0.004303,-0.020472,0.999781]] 2025-10-28T16:41:37.652Z,1761669697.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851996,-0.523289,-0.016462],[0.523515,-0.851873,-0.015609],[-0.005855,-0.021917,0.999743]] 2025-10-28T16:41:37.991Z,1761669697.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862309,-0.506085,-0.017372],[0.506339,-0.862178,-0.016444],[-0.006656,-0.022976,0.999714]] 2025-10-28T16:41:38.397Z,1761669698.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871964,-0.489268,-0.017224],[0.489526,-0.871819,-0.017203],[-0.006599,-0.023432,0.999704]] 2025-10-28T16:41:38.799Z,1761669698.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880888,-0.473047,-0.016201],[0.473288,-0.880727,-0.017814],[-0.005842,-0.023360,0.999710]] 2025-10-28T16:41:39.203Z,1761669699.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888797,-0.458037,-0.015579],[0.458273,-0.888609,-0.018986],[-0.005147,-0.024014,0.999698]] 2025-10-28T16:41:39.653Z,1761669699.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895805,-0.444206,-0.014662],[0.444424,-0.895609,-0.019285],[-0.004565,-0.023792,0.999707]] 2025-10-28T16:41:40.012Z,1761669700.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902152,-0.431201,-0.013721],[0.431400,-0.901957,-0.019175],[-0.004107,-0.023218,0.999722]] 2025-10-28T16:41:40.056Z,1761669700.056 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:41:40.218Z,1761669700.218 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:41:40.218Z,1761669700.218 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:41:40.414Z,1761669700.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907973,-0.418813,-0.013420],[0.419008,-0.907778,-0.019264],[-0.004115,-0.023115,0.999724]] 2025-10-28T16:41:40.467Z,1761669700.467 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:41:40.467Z,1761669700.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:41:40.469Z,1761669700.469 [DAT](INFO): DAT read: user:18> 2025-10-28T16:41:40.470Z,1761669700.470 [DAT](INFO): DAT read: Tx time:16:41:40.2154 2025-10-28T16:41:40.470Z,1761669700.470 [DAT](INFO): Ping request sent. 2025-10-28T16:41:40.470Z,1761669700.470 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:41:40.470Z,1761669700.470 [DAT](INFO): publishing transmit ping time 2025-10-28T16:41:40.471Z,1761669700.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000929 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateRudder:A] Stopped 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:41:40.474Z,1761669700.474 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:41:40.475Z,1761669700.475 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:41:40.475Z,1761669700.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:41:40.475Z,1761669700.475 [marl:UpdateCommandMode] Stopped 2025-10-28T16:41:40.475Z,1761669700.475 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:41:40.721Z,1761669700.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830 2025-10-28T16:41:40.819Z,1761669700.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913480,-0.406667,-0.013263],[0.406858,-0.913303,-0.018581],[-0.004557,-0.022370,0.999739]] 2025-10-28T16:41:40.866Z,1761669700.866 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:41:40.866Z,1761669700.866 [marl:UpdateRudder:B] Stopped 2025-10-28T16:41:40.866Z,1761669700.866 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:41:40.866Z,1761669700.866 [marl:UpdateRudder] Stopped 2025-10-28T16:41:40.866Z,1761669700.866 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:41:40.973Z,1761669700.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502791 2025-10-28T16:41:41.225Z,1761669701.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754898 2025-10-28T16:41:41.226Z,1761669701.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918664,-0.394804,-0.013631],[0.395001,-0.918508,-0.017837],[-0.005478,-0.021770,0.999748]] 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed] Stopped 2025-10-28T16:41:41.251Z,1761669701.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:41:41.477Z,1761669701.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006837 2025-10-28T16:41:41.657Z,1761669701.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923761,-0.382680,-0.014895],[0.382902,-0.923628,-0.017206],[-0.007173,-0.021598,0.999741]] 2025-10-28T16:41:41.729Z,1761669701.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258907 2025-10-28T16:41:41.982Z,1761669701.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511429 2025-10-28T16:41:42.030Z,1761669702.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928838,-0.370137,-0.016067],[0.370386,-0.928721,-0.017104],[-0.008591,-0.021838,0.999725]] 2025-10-28T16:41:42.233Z,1761669702.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762850 2025-10-28T16:41:42.442Z,1761669702.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933652,-0.357735,-0.017863],[0.358028,-0.933549,-0.017370],[-0.010462,-0.022613,0.999690]] 2025-10-28T16:41:42.485Z,1761669702.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936 2025-10-28T16:41:42.738Z,1761669702.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267556 2025-10-28T16:41:42.840Z,1761669702.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938647,-0.344347,-0.019150],[0.344669,-0.938566,-0.017223],[-0.012043,-0.022767,0.999668]] 2025-10-28T16:41:42.989Z,1761669702.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518885 2025-10-28T16:41:43.241Z,1761669703.241 [DAT](INFO): DAT read: Rx Time:16:41:42.5713 2025-10-28T16:41:43.241Z,1761669703.241 [DAT](INFO): Rx dataTimestamp_ set to:1761669703.241196 2025-10-28T16:41:43.242Z,1761669703.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771961 2025-10-28T16:41:43.246Z,1761669703.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943770,-0.329984,-0.020204],[0.330316,-0.943733,-0.016090],[-0.013757,-0.021859,0.999666]] 2025-10-28T16:41:43.494Z,1761669703.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023575 2025-10-28T16:41:43.660Z,1761669703.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948615,-0.315719,-0.021255],[0.316051,-0.948630,-0.014586],[-0.015558,-0.020554,0.999668]] 2025-10-28T16:41:43.753Z,1761669703.753 [DAT](INFO): DAT read: 16:41:42.5713 LVL= 25424, 32753, 32754, 32755, AGC= 61, IDX= 160,-0.37, 3.085, 1.092, 2.004, 2.513, PHS= 0.675,-1.376,-0.553, RAW= 113.5, 13.9, CAL= 114.8, 15.6, ROT= 35.2, -15.6 2025-10-28T16:41:43.754Z,1761669703.754 [DAT](INFO): got valid direction response: 16:41:42.5713 LVL= 25424, 32753, 32754, 32755, AGC= 61, IDX= 160,-0.37, 3.085, 1.092, 2.004, 2.513, PHS= 0.675,-1.376,-0.553, RAW= 113.5, 13.9, CAL= 114.8, 15.6, ROT= 35.2, -15.6 2025-10-28T16:41:43.756Z,1761669703.756 [DAT](INFO): DAT read: Bearing 177, -15 (Remote) 2025-10-28T16:41:43.756Z,1761669703.756 [DAT](INFO): Remote Bearing received:Bearing 177, -15 (Remote) 2025-10-28T16:41:43.757Z,1761669703.757 [DAT](INFO): DAT read: Bearing 330.7, 32.1 (Local) 2025-10-28T16:41:43.758Z,1761669703.758 [DAT](INFO): Local bearing/azimuth received: Bearing 330.7, 32.1 (Local) 2025-10-28T16:41:43.759Z,1761669703.759 [DAT](INFO): DAT read: Range 11 to 20 : 245.1 m (Round-trip 326.8 ms) speed 1.1 m/s 2025-10-28T16:41:43.765Z,1761669703.765 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:41:43.766Z,1761669703.766 [DAT](INFO): direction in FSK: [0.787043,0.555198,0.268920] 2025-10-28T16:41:43.766Z,1761669703.766 [DAT](INFO): publishing direction and range info 2025-10-28T16:41:43.831Z,1761669703.831 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669760.00. Resetting abort timer. 2025-10-28T16:41:44.050Z,1761669704.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953408,-0.300875,-0.022079],[0.301200,-0.953470,-0.013202],[-0.017080,-0.019238,0.999669]] 2025-10-28T16:41:44.457Z,1761669704.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957903,-0.286178,-0.022894],[0.286479,-0.958022,-0.011130],[-0.018748,-0.017220,0.999676]] 2025-10-28T16:41:44.859Z,1761669704.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962413,-0.270535,-0.023928],[0.270829,-0.962576,-0.009975],[-0.020334,-0.016080,0.999664]] 2025-10-28T16:41:45.265Z,1761669705.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966604,-0.255094,-0.024582],[0.255347,-0.966819,-0.007730],[-0.021795,-0.013749,0.999668]] 2025-10-28T16:41:45.674Z,1761669705.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970684,-0.238984,-0.025688],[0.239235,-0.970936,-0.007128],[-0.023238,-0.013064,0.999645]] 2025-10-28T16:41:46.071Z,1761669706.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974739,-0.221671,-0.027296],[0.221951,-0.975028,-0.007674],[-0.024913,-0.013539,0.999598]] 2025-10-28T16:41:46.476Z,1761669706.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978619,-0.203755,-0.028086],[0.204004,-0.978950,-0.006278],[-0.026216,-0.011874,0.999586]] 2025-10-28T16:41:46.879Z,1761669706.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982272,-0.185155,-0.029315],[0.185457,-0.982621,-0.007883],[-0.027346,-0.013180,0.999539]] 2025-10-28T16:41:47.283Z,1761669707.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985699,-0.165777,-0.030261],[0.166122,-0.986062,-0.009252],[-0.028305,-0.014147,0.999499]] 2025-10-28T16:41:47.686Z,1761669707.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988820,-0.145891,-0.030835],[0.146294,-0.989177,-0.011233],[-0.028862,-0.015618,0.999461]] 2025-10-28T16:41:48.092Z,1761669708.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991606,-0.125518,-0.031020],[0.125962,-0.991952,-0.012801],[-0.029164,-0.016601,0.999437]] 2025-10-28T16:41:48.495Z,1761669708.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993986,-0.105039,-0.030950],[0.105515,-0.994317,-0.014152],[-0.029288,-0.017332,0.999421]] 2025-10-28T16:41:48.898Z,1761669708.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995925,-0.084791,-0.030720],[0.085318,-0.996221,-0.016278],[-0.029223,-0.018833,0.999395]] 2025-10-28T16:41:49.304Z,1761669709.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997430,-0.065029,-0.030063],[0.065570,-0.997697,-0.017380],[-0.028864,-0.019307,0.999397]] 2025-10-28T16:41:49.714Z,1761669709.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998510,-0.046022,-0.029324],[0.046565,-0.998751,-0.018095],[-0.028454,-0.019434,0.999406]] 2025-10-28T16:41:50.110Z,1761669710.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999164,-0.029116,-0.028687],[0.029608,-0.999420,-0.016848],[-0.028180,-0.017683,0.999446]] 2025-10-28T16:41:50.515Z,1761669710.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999503,-0.012790,-0.028811],[0.013290,-0.999764,-0.017204],[-0.028585,-0.017578,0.999437]] 2025-10-28T16:41:50.928Z,1761669710.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999585,0.002200,-0.028722],[-0.001760,-0.999881,-0.015333],[-0.028752,-0.015276,0.999470]] 2025-10-28T16:41:51.322Z,1761669711.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999455,0.016614,-0.028539],[-0.016170,-0.999746,-0.015707],[-0.028792,-0.015237,0.999469]] 2025-10-28T16:41:51.726Z,1761669711.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999145,0.029672,-0.028796],[-0.029222,-0.999446,-0.015925],[-0.029253,-0.015070,0.999458]] 2025-10-28T16:41:52.130Z,1761669712.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998697,0.041823,-0.029250],[-0.041407,-0.999035,-0.014669],[-0.029835,-0.013438,0.999465]] 2025-10-28T16:41:52.536Z,1761669712.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998131,0.053610,-0.029321],[-0.053205,-0.998479,-0.014437],[-0.030051,-0.012850,0.999466]] 2025-10-28T16:41:52.941Z,1761669712.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997436,0.065190,-0.029510],[-0.064802,-0.997801,-0.013925],[-0.030353,-0.011977,0.999467]] 2025-10-28T16:41:53.342Z,1761669713.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996595,0.076897,-0.029752],[-0.076507,-0.996970,-0.014056],[-0.030743,-0.011732,0.999458]] 2025-10-28T16:41:53.747Z,1761669713.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995550,0.089342,-0.029966],[-0.088901,-0.995916,-0.015743],[-0.031250,-0.013009,0.999427]] 2025-10-28T16:41:53.808Z,1761669713.808 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:41:53.808Z,1761669713.808 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:41:53.808Z,1761669713.808 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateRudder:A] Stopped 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:41:53.809Z,1761669713.809 [marl:UpdateCommandMode] Stopped 2025-10-28T16:41:53.810Z,1761669713.810 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:41:54.158Z,1761669714.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994238,0.102919,-0.029964],[-0.102400,-0.994574,-0.018371],[-0.031692,-0.015197,0.999382]] 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateRudder:B] Stopped 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateRudder] Stopped 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:41:54.183Z,1761669714.183 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:41:54.184Z,1761669714.184 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:41:54.184Z,1761669714.184 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:41:54.184Z,1761669714.184 [marl:UpdateSpeed] Stopped 2025-10-28T16:41:54.184Z,1761669714.184 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:41:54.554Z,1761669714.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992614,0.117604,-0.029789],[-0.117012,-0.992911,-0.020899],[-0.032036,-0.017259,0.999338]] 2025-10-28T16:41:54.959Z,1761669714.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990615,0.133386,-0.029838],[-0.132722,-0.990881,-0.023221],[-0.032664,-0.019043,0.999285]] 2025-10-28T16:41:55.363Z,1761669715.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988217,0.150194,-0.029481],[-0.149429,-0.988413,-0.026653],[-0.033142,-0.021933,0.999210]] 2025-10-28T16:41:55.774Z,1761669715.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985426,0.167527,-0.029487],[-0.166687,-0.985584,-0.028967],[-0.033915,-0.023629,0.999145]] 2025-10-28T16:41:56.170Z,1761669716.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982177,0.185689,-0.029099],[-0.184778,-0.982279,-0.031396],[-0.034413,-0.025460,0.999083]] 2025-10-28T16:41:56.574Z,1761669716.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978611,0.203746,-0.028414],[-0.202774,-0.978646,-0.033695],[-0.034673,-0.027212,0.999028]] 2025-10-28T16:41:56.978Z,1761669716.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974806,0.221295,-0.027944],[-0.220307,-0.974818,-0.034562],[-0.034889,-0.027535,0.999012]] 2025-10-28T16:41:57.388Z,1761669717.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970555,0.239275,-0.027746],[-0.238265,-0.970556,-0.035366],[-0.035391,-0.027714,0.998989]] 2025-10-28T16:41:57.816Z,1761669717.816 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.05, 617.86, 630.16, 654.75 2025-10-28T16:41:58.190Z,1761669718.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962143,0.271109,-0.027955],[-0.270137,-0.962215,-0.034162],[-0.036160,-0.025317,0.999025]] 2025-10-28T16:41:58.594Z,1761669718.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957683,0.286475,-0.027847],[-0.285498,-0.957761,-0.034425],[-0.036533,-0.025018,0.999019]] 2025-10-28T16:41:59.000Z,1761669719.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953133,0.301249,-0.028053],[-0.300282,-0.953243,-0.034039],[-0.036996,-0.024020,0.999027]] 2025-10-28T16:41:59.069Z,1761669719.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:41:59.423Z,1761669719.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948401,0.315798,-0.028401],[-0.314810,-0.948530,-0.034428],[-0.037811,-0.023711,0.999004]] 2025-10-28T16:41:59.806Z,1761669719.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943692,0.329593,-0.028518],[-0.328551,-0.943807,-0.035801],[-0.038716,-0.024415,0.998952]] 2025-10-28T16:42:00.072Z,1761669720.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:42:00.211Z,1761669720.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938744,0.343487,-0.027873],[-0.342357,-0.938780,-0.038507],[-0.039393,-0.026606,0.998870]] 2025-10-28T16:42:00.616Z,1761669720.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933289,0.358081,-0.027400],[-0.356886,-0.933271,-0.040461],[-0.040060,-0.027984,0.998805]] 2025-10-28T16:42:01.018Z,1761669721.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927447,0.372989,-0.026865],[-0.371729,-0.927370,-0.042449],[-0.040747,-0.029383,0.998737]] 2025-10-28T16:42:01.426Z,1761669721.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920847,0.389075,-0.025711],[-0.387731,-0.920660,-0.045270],[-0.041285,-0.031717,0.998644]] 2025-10-28T16:42:01.826Z,1761669721.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913636,0.405806,-0.024315],[-0.404441,-0.913366,-0.046799],[-0.041200,-0.032923,0.998608]] 2025-10-28T16:42:02.231Z,1761669722.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906058,0.422516,-0.023234],[-0.421147,-0.905741,-0.047634],[-0.041171,-0.033374,0.998595]] 2025-10-28T16:42:02.640Z,1761669722.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897913,0.439620,-0.022042],[-0.438243,-0.897539,-0.048641],[-0.041167,-0.034015,0.998573]] 2025-10-28T16:42:03.039Z,1761669723.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889875,0.455718,-0.021066],[-0.454350,-0.889472,-0.049049],[-0.041090,-0.034076,0.998574]] 2025-10-28T16:42:03.442Z,1761669723.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881841,0.471095,-0.020642],[-0.469751,-0.881457,-0.048655],[-0.041117,-0.033210,0.998602]] 2025-10-28T16:42:03.847Z,1761669723.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874240,0.485039,-0.021015],[-0.483726,-0.873930,-0.047483],[-0.041397,-0.031346,0.998651]] 2025-10-28T16:42:04.252Z,1761669724.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866822,0.498147,-0.021665],[-0.496874,-0.866606,-0.045936],[-0.041658,-0.029053,0.998709]] 2025-10-28T16:42:04.654Z,1761669724.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859737,0.510229,-0.022769],[-0.508997,-0.859634,-0.044180],[-0.042115,-0.026394,0.998764]] 2025-10-28T16:42:05.059Z,1761669725.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852884,0.521563,-0.023657],[-0.520377,-0.852875,-0.042578],[-0.042383,-0.024003,0.998813]] 2025-10-28T16:42:05.463Z,1761669725.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846072,0.532548,-0.023551],[-0.531384,-0.846084,-0.042101],[-0.042347,-0.023106,0.998836]] 2025-10-28T16:42:05.868Z,1761669725.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839368,0.543034,-0.023987],[-0.541917,-0.839443,-0.040765],[-0.042273,-0.021218,0.998881]] 2025-10-28T16:42:06.271Z,1761669726.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832456,0.553581,-0.023779],[-0.552474,-0.832538,-0.040655],[-0.042303,-0.020706,0.998890]] 2025-10-28T16:42:06.675Z,1761669726.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825165,0.564398,-0.023627],[-0.563319,-0.825266,-0.040098],[-0.042129,-0.019778,0.998916]] 2025-10-28T16:42:06.728Z,1761669726.728 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:42:06.728Z,1761669726.728 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:42:06.728Z,1761669726.728 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateRudder:A] Stopped 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:42:06.729Z,1761669726.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:42:06.730Z,1761669726.730 [marl:UpdateCommandMode] Stopped 2025-10-28T16:42:06.730Z,1761669726.730 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:42:07.079Z,1761669727.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817649,0.575286,-0.022262],[-0.574181,-0.817680,-0.041420],[-0.042031,-0.021085,0.998894]] 2025-10-28T16:42:07.104Z,1761669727.104 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:42:07.104Z,1761669727.104 [marl:UpdateRudder:B] Stopped 2025-10-28T16:42:07.104Z,1761669727.104 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:42:07.104Z,1761669727.104 [marl:UpdateRudder] Stopped 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:42:07.105Z,1761669727.105 [marl:UpdateSpeed] Stopped 2025-10-28T16:42:07.106Z,1761669727.106 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:42:07.485Z,1761669727.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809244,0.587114,-0.020549],[-0.585966,-0.809178,-0.043305],[-0.042053,-0.023003,0.998851]] 2025-10-28T16:42:07.920Z,1761669727.920 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.97, 624.01, 657.83 2025-10-28T16:42:08.290Z,1761669728.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790427,0.612329,-0.016677],[-0.611188,-0.790188,-0.045304],[-0.040919,-0.025617,0.998834]] 2025-10-28T16:42:08.695Z,1761669728.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780386,0.625126,-0.014672],[-0.624004,-0.780065,-0.046004],[-0.040204,-0.026745,0.998834]] 2025-10-28T16:42:09.100Z,1761669729.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769688,0.638299,-0.012399],[-0.637191,-0.769266,-0.047090],[-0.039595,-0.028345,0.998814]] 2025-10-28T16:42:09.502Z,1761669729.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759323,0.650632,-0.010346],[-0.649547,-0.758816,-0.047814],[-0.038960,-0.029586,0.998803]] 2025-10-28T16:42:09.910Z,1761669729.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750706,0.660605,-0.006481],[-0.659524,-0.749975,-0.050645],[-0.038317,-0.033745,0.998696]] 2025-10-28T16:42:10.311Z,1761669730.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745094,0.666958,0.001741],[-0.665907,-0.743768,-0.058114],[-0.037465,-0.044460,0.998308]] 2025-10-28T16:42:10.716Z,1761669730.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742012,0.670214,0.015213],[-0.669405,-0.739507,-0.070897],[-0.036266,-0.062791,0.997368]] 2025-10-28T16:42:11.119Z,1761669731.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740553,0.671179,0.033165],[-0.671088,-0.736082,-0.088452],[-0.034955,-0.087760,0.995528]] 2025-10-28T16:42:11.522Z,1761669731.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740244,0.670254,0.052892],[-0.671508,-0.733132,-0.107675],[-0.033393,-0.115223,0.992778]] 2025-10-28T16:42:11.927Z,1761669731.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740288,0.668424,0.071993],[-0.671528,-0.730101,-0.126504],[-0.031996,-0.141994,0.989350]] 2025-10-28T16:42:12.330Z,1761669732.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740288,0.666328,0.089336],[-0.671585,-0.726871,-0.143636],[-0.030773,-0.166329,0.985590]] 2025-10-28T16:42:12.734Z,1761669732.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739277,0.665107,0.105367],[-0.672759,-0.722639,-0.158708],[-0.029416,-0.188216,0.981687]] 2025-10-28T16:42:13.139Z,1761669733.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737709,0.664516,0.119180],[-0.674534,-0.718153,-0.171055],[-0.028079,-0.206580,0.978027]] 2025-10-28T16:42:13.543Z,1761669733.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735341,0.665234,0.129377],[-0.677164,-0.713676,-0.179207],[-0.026882,-0.219388,0.975267]] 2025-10-28T16:42:13.947Z,1761669733.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731587,0.667846,0.136977],[-0.681270,-0.708642,-0.183569],[-0.025528,-0.227615,0.973417]] 2025-10-28T16:42:14.355Z,1761669734.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727231,0.671390,0.142726],[-0.685954,-0.703445,-0.186094],[-0.024541,-0.233237,0.972110]] 2025-10-28T16:42:14.759Z,1761669734.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722450,0.675847,0.145934],[-0.691014,-0.698496,-0.186018],[-0.023785,-0.235231,0.971648]] 2025-10-28T16:42:15.158Z,1761669735.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717992,0.680453,0.146531],[-0.695669,-0.694536,-0.183480],[-0.023079,-0.233674,0.972041]] 2025-10-28T16:42:15.567Z,1761669735.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714481,0.684620,0.144263],[-0.699299,-0.692204,-0.178423],[-0.022293,-0.228362,0.973321]] 2025-10-28T16:42:15.969Z,1761669735.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712485,0.687649,0.139658],[-0.701350,-0.691718,-0.172147],[-0.021773,-0.220602,0.975121]] 2025-10-28T16:42:16.382Z,1761669736.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711693,0.689673,0.133581],[-0.702168,-0.692627,-0.165008],[-0.021279,-0.211231,0.977205]] 2025-10-28T16:42:16.780Z,1761669736.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712197,0.690331,0.127348],[-0.701665,-0.694640,-0.158560],[-0.020998,-0.202281,0.979102]] 2025-10-28T16:42:17.178Z,1761669737.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713579,0.689976,0.121404],[-0.700256,-0.697231,-0.153332],[-0.021149,-0.194428,0.980689]] 2025-10-28T16:42:18.404Z,1761669738.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719508,0.684633,0.116559],[-0.694183,-0.704056,-0.149714],[-0.020435,-0.188634,0.981835]] 2025-10-28T16:42:18.798Z,1761669738.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719812,0.683879,0.119077],[-0.693895,-0.704042,-0.151113],[-0.019507,-0.191400,0.981318]] 2025-10-28T16:42:19.204Z,1761669739.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717862,0.685023,0.124169],[-0.695942,-0.701381,-0.154046],[-0.018435,-0.196998,0.980231]] 2025-10-28T16:42:19.646Z,1761669739.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708402,0.692386,0.136997],[-0.705614,-0.690176,-0.160519],[-0.016589,-0.210379,0.977479]] 2025-10-28T16:42:19.725Z,1761669739.725 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateRudder:A] Stopped 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:42:19.726Z,1761669739.726 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:42:19.727Z,1761669739.727 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:42:19.727Z,1761669739.727 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:42:19.727Z,1761669739.727 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:42:19.727Z,1761669739.727 [marl:UpdateCommandMode] Stopped 2025-10-28T16:42:19.727Z,1761669739.727 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:42:20.014Z,1761669740.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701881,0.698119,0.141394],[-0.712113,-0.683260,-0.161407],[-0.016073,-0.213976,0.976707]] 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateRudder:B] Stopped 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateRudder] Stopped 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:42:20.077Z,1761669740.077 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:42:20.078Z,1761669740.078 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:42:20.078Z,1761669740.078 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:42:20.078Z,1761669740.078 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:42:20.078Z,1761669740.078 [marl:UpdateSpeed] Stopped 2025-10-28T16:42:20.078Z,1761669740.078 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:42:20.422Z,1761669740.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694924,0.704459,0.144286],[-0.718905,-0.676150,-0.161236],[-0.016025,-0.215775,0.976312]] 2025-10-28T16:42:20.818Z,1761669740.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688354,0.710770,0.144826],[-0.725190,-0.669826,-0.159475],[-0.016341,-0.214801,0.976521]] 2025-10-28T16:42:21.219Z,1761669741.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683084,0.716232,0.142852],[-0.730152,-0.665290,-0.155777],[-0.016535,-0.210713,0.977408]] 2025-10-28T16:42:21.649Z,1761669741.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679688,0.720102,0.139564],[-0.733310,-0.662748,-0.151728],[-0.016764,-0.205471,0.978520]] 2025-10-28T16:42:22.027Z,1761669742.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679182,0.721485,0.134803],[-0.733784,-0.663324,-0.146841],[-0.016526,-0.198648,0.979932]] 2025-10-28T16:42:22.433Z,1761669742.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682488,0.718897,0.131897],[-0.730729,-0.667261,-0.144217],[-0.015667,-0.194807,0.980716]] 2025-10-28T16:42:22.835Z,1761669742.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689963,0.710780,0.136904],[-0.723708,-0.673709,-0.149540],[-0.014057,-0.202256,0.979232]] 2025-10-28T16:42:23.241Z,1761669743.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701319,0.696502,0.151778],[-0.712755,-0.681719,-0.165045],[-0.011484,-0.223930,0.974538]] 2025-10-28T16:42:24.063Z,1761669744.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730501,0.654492,0.194958],[-0.682899,-0.698323,-0.214462],[-0.004220,-0.289802,0.957077]] 2025-10-28T16:42:24.465Z,1761669744.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745339,0.630857,0.215613],[-0.666685,-0.705461,-0.240532],[0.000365,-0.323024,0.946391]] 2025-10-28T16:42:24.879Z,1761669744.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758864,0.607471,0.234742],[-0.651230,-0.710533,-0.266536],[0.004879,-0.355136,0.934802]] 2025-10-28T16:42:25.270Z,1761669745.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769977,0.586779,0.250649],[-0.638006,-0.713614,-0.289314],[0.009103,-0.382681,0.923836]] 2025-10-28T16:42:25.675Z,1761669745.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778549,0.568912,0.264955],[-0.627448,-0.714403,-0.309739],[0.013070,-0.407392,0.913160]] 2025-10-28T16:42:26.079Z,1761669746.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785434,0.554003,0.275998],[-0.618710,-0.715065,-0.325393],[0.017088,-0.426337,0.904403]] 2025-10-28T16:42:26.486Z,1761669746.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791242,0.542021,0.283106],[-0.611135,-0.716977,-0.335348],[0.021215,-0.438358,0.898550]] 2025-10-28T16:42:26.892Z,1761669746.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796411,0.532796,0.286108],[-0.604229,-0.720786,-0.339670],[0.025248,-0.443391,0.895973]] 2025-10-28T16:42:27.291Z,1761669747.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801511,0.525330,0.285671],[-0.597260,-0.726714,-0.339362],[0.029324,-0.442623,0.896228]] 2025-10-28T16:42:27.695Z,1761669747.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807062,0.518353,0.282775],[-0.589514,-0.734547,-0.336027],[0.033531,-0.437894,0.898401]] 2025-10-28T16:42:27.717Z,1761669747.717 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -7.32, +423.88-3.82, 20.00, 0.00 2025-10-28T16:42:28.100Z,1761669748.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813872,0.510376,0.277721],[-0.579811,-0.744503,-0.330960],[0.037850,-0.430385,0.901852]] 2025-10-28T16:42:28.509Z,1761669748.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821406,0.501055,0.272463],[-0.568773,-0.755059,-0.326164],[0.042299,-0.422882,0.905197]] 2025-10-28T16:42:28.908Z,1761669748.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829750,0.490715,0.265922],[-0.556170,-0.766901,-0.320214],[0.046802,-0.413596,0.909257]] 2025-10-28T16:42:29.311Z,1761669749.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838586,0.478651,0.260128],[-0.542382,-0.778235,-0.316500],[0.050947,-0.406501,0.912229]] 2025-10-28T16:42:29.715Z,1761669749.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847207,0.465302,0.256388],[-0.528387,-0.788151,-0.315633],[0.055208,-0.402879,0.913587]] 2025-10-28T16:42:30.189Z,1761669750.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855774,0.451374,0.252810],[-0.513931,-0.797794,-0.315276],[0.059383,-0.399732,0.914706]] 2025-10-28T16:42:30.192Z,1761669750.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:42:30.592Z,1761669750.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864143,0.436925,0.249706],[-0.499305,-0.806359,-0.316984],[0.062855,-0.398599,0.914969]] 2025-10-28T16:42:31.006Z,1761669751.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871968,0.422498,0.247322],[-0.485089,-0.813785,-0.320067],[0.066039,-0.399061,0.914543]] 2025-10-28T16:42:31.196Z,1761669751.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:42:31.399Z,1761669751.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879847,0.407723,0.244195],[-0.470243,-0.821299,-0.323018],[0.068856,-0.399037,0.914346]] 2025-10-28T16:42:32.209Z,1761669752.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895736,0.376023,0.237198],[-0.438307,-0.836249,-0.329508],[0.074453,-0.399118,0.913872]] 2025-10-28T16:42:32.721Z,1761669752.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903641,0.359818,0.232304],[-0.421341,-0.844170,-0.331434],[0.076848,-0.397376,0.914432]] 2025-10-28T16:42:32.758Z,1761669752.758 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:42:32.758Z,1761669752.758 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:42:32.758Z,1761669752.758 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:42:32.759Z,1761669752.759 [marl:UpdateRudder:A] Stopped 2025-10-28T16:42:32.759Z,1761669752.759 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:42:32.759Z,1761669752.759 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:42:32.759Z,1761669752.759 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:42:32.759Z,1761669752.759 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:42:32.760Z,1761669752.760 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:42:32.761Z,1761669752.761 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:42:32.761Z,1761669752.761 [marl:UpdateCommandMode] Stopped 2025-10-28T16:42:32.761Z,1761669752.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:42:33.118Z,1761669753.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911312,0.343205,0.227424],[-0.404032,-0.851711,-0.333687],[0.079176,-0.395979,0.914840]] 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateRudder:B] Stopped 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateRudder] Stopped 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:42:33.162Z,1761669753.162 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed] Stopped 2025-10-28T16:42:33.163Z,1761669753.163 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:42:33.525Z,1761669753.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918557,0.326916,0.222215],[-0.386881,-0.858846,-0.335719],[0.081097,-0.394348,0.915376]] 2025-10-28T16:42:33.928Z,1761669753.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925371,0.310555,0.217358],[-0.369961,-0.864826,-0.339418],[0.082569,-0.394502,0.915178]] 2025-10-28T16:42:34.332Z,1761669754.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931522,0.295057,0.212624],[-0.353966,-0.869799,-0.343740],[0.083517,-0.395463,0.914677]] 2025-10-28T16:42:34.735Z,1761669754.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936351,0.282977,0.207775],[-0.340954,-0.874030,-0.346152],[0.083649,-0.394961,0.914882]] 2025-10-28T16:42:35.139Z,1761669755.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939352,0.276939,0.202296],[-0.332910,-0.878033,-0.343844],[0.082398,-0.390337,0.916978]] 2025-10-28T16:42:35.555Z,1761669755.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940543,0.278336,0.194697],[-0.330259,-0.883356,-0.332583],[0.079417,-0.377110,0.922757]] 2025-10-28T16:42:35.946Z,1761669755.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940369,0.284940,0.185785],[-0.331616,-0.889565,-0.314173],[0.075748,-0.357048,0.931010]] 2025-10-28T16:42:36.359Z,1761669756.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939387,0.294168,0.176118],[-0.335375,-0.895126,-0.293723],[0.071244,-0.334986,0.939526]] 2025-10-28T16:42:36.759Z,1761669756.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937633,0.305027,0.166740],[-0.341126,-0.899668,-0.272451],[0.066906,-0.312338,0.947612]] 2025-10-28T16:42:37.160Z,1761669757.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935686,0.315240,0.158479],[-0.347238,-0.902412,-0.255104],[0.062594,-0.293727,0.953838]] 2025-10-28T16:42:37.967Z,1761669757.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932277,0.333532,0.140057],[-0.357775,-0.907338,-0.220758],[0.053449,-0.255917,0.965220]] 2025-10-28T16:42:38.371Z,1761669758.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931348,0.339491,0.131673],[-0.360844,-0.908966,-0.208739],[0.048821,-0.241922,0.969067]] 2025-10-28T16:42:38.782Z,1761669758.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931242,0.342759,0.123709],[-0.361684,-0.910786,-0.199135],[0.044417,-0.230186,0.972132]] 2025-10-28T16:42:39.179Z,1761669759.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931752,0.343899,0.116494],[-0.360854,-0.912637,-0.192036],[0.040276,-0.220967,0.974449]] 2025-10-28T16:42:39.617Z,1761669759.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932820,0.343170,0.109915],[-0.358531,-0.914448,-0.187724],[0.036091,-0.214520,0.976052]] 2025-10-28T16:42:39.987Z,1761669759.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934264,0.341114,0.103890],[-0.355163,-0.916153,-0.185805],[0.031798,-0.210488,0.977079]] 2025-10-28T16:42:40.392Z,1761669760.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935776,0.338526,0.098606],[-0.351526,-0.917467,-0.186237],[0.027422,-0.208938,0.977544]] 2025-10-28T16:42:40.417Z,1761669760.417 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:42:40.509Z,1761669760.509 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:42:40.509Z,1761669760.509 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:42:40.761Z,1761669760.761 [DAT](INFO): DAT read: user:19> 2025-10-28T16:42:40.762Z,1761669760.762 [DAT](INFO): DAT read: Tx time:16:42:40.5153 2025-10-28T16:42:40.763Z,1761669760.763 [DAT](INFO): Ping request sent. 2025-10-28T16:42:40.763Z,1761669760.763 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:42:40.763Z,1761669760.763 [DAT](INFO): publishing transmit ping time 2025-10-28T16:42:40.764Z,1761669760.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001329 2025-10-28T16:42:40.795Z,1761669760.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937209,0.335885,0.093914],[-0.348015,-0.918324,-0.188590],[0.022899,-0.209432,0.977555]] 2025-10-28T16:42:41.013Z,1761669761.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250072 2025-10-28T16:42:41.199Z,1761669761.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938265,0.333880,0.090458],[-0.345426,-0.918255,-0.193620],[0.018418,-0.212914,0.976897]] 2025-10-28T16:42:41.265Z,1761669761.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502290 2025-10-28T16:42:41.517Z,1761669761.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754105 2025-10-28T16:42:41.769Z,1761669761.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006307 2025-10-28T16:42:42.021Z,1761669762.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258031 2025-10-28T16:42:42.273Z,1761669762.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510135 2025-10-28T16:42:42.411Z,1761669762.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939018,0.333276,0.084691],[-0.343818,-0.914175,-0.214648],[0.005885,-0.230676,0.973013]] 2025-10-28T16:42:42.526Z,1761669762.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763548 2025-10-28T16:42:42.777Z,1761669762.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014655 2025-10-28T16:42:42.814Z,1761669762.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938564,0.334991,0.082943],[-0.345100,-0.912468,-0.219792],[0.002054,-0.234912,0.972014]] 2025-10-28T16:42:43.029Z,1761669763.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266118 2025-10-28T16:42:43.218Z,1761669763.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938005,0.336883,0.081586],[-0.346618,-0.910589,-0.225132],[-0.001552,-0.239454,0.970906]] 2025-10-28T16:42:43.281Z,1761669763.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518231 2025-10-28T16:42:43.533Z,1761669763.533 [DAT](INFO): DAT read: Rx Time:16:42:42.7665 2025-10-28T16:42:43.533Z,1761669763.533 [DAT](INFO): Rx dataTimestamp_ set to:1761669763.533117 2025-10-28T16:42:43.534Z,1761669763.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771199 2025-10-28T16:42:43.662Z,1761669763.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936334,0.342313,0.078108],[-0.351014,-0.907397,-0.231127],[-0.008242,-0.243829,0.969783]] 2025-10-28T16:42:43.688Z,1761669763.688 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +821, -30,A 2025-10-28T16:42:43.785Z,1761669763.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022086 2025-10-28T16:42:44.042Z,1761669764.042 [DAT](INFO): DAT read: 16:42:42.7665 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 398, 0.30, 2.004, 0.116, 1.664, 1.549, PHS= 0.556,-1.388, 0.070, RAW= 136.1, 8.7, CAL= 135.9, 9.8, ROT= 14.1, -9.8 2025-10-28T16:42:44.044Z,1761669764.044 [DAT](INFO): got valid direction response: 16:42:42.7665 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 398, 0.30, 2.004, 0.116, 1.664, 1.549, PHS= 0.556,-1.388, 0.070, RAW= 136.1, 8.7, CAL= 135.9, 9.8, ROT= 14.1, -9.8 2025-10-28T16:42:44.045Z,1761669764.045 [DAT](INFO): DAT read: Bearing 189, -20 (Remote) 2025-10-28T16:42:44.045Z,1761669764.045 [DAT](INFO): Remote Bearing received:Bearing 189, -20 (Remote) 2025-10-28T16:42:44.046Z,1761669764.046 [DAT](INFO): DAT read: Bearing 1.8, 10.9 (Local) 2025-10-28T16:42:44.046Z,1761669764.046 [DAT](INFO): Local bearing/azimuth received: Bearing 1.8, 10.9 (Local) 2025-10-28T16:42:44.047Z,1761669764.047 [DAT](INFO): DAT read: Range 11 to 20 : 166.5 m (Round-trip 222.0 ms) speed 1.6 m/s 2025-10-28T16:42:44.048Z,1761669764.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:42:44.049Z,1761669764.049 [DAT](INFO): direction in FSK: [0.955720,0.240060,0.170209] 2025-10-28T16:42:44.049Z,1761669764.049 [DAT](INFO): publishing direction and range info 2025-10-28T16:42:44.138Z,1761669764.138 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669760.00. Resetting abort timer. 2025-10-28T16:42:44.438Z,1761669764.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935879,0.345087,0.071028],[-0.351995,-0.907141,-0.230642],[-0.015159,-0.240855,0.970443]] 2025-10-28T16:42:45.243Z,1761669765.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937043,0.343693,0.061851],[-0.348555,-0.909618,-0.226062],[-0.021435,-0.233389,0.972147]] 2025-10-28T16:42:45.660Z,1761669765.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938083,0.341698,0.056938],[-0.345545,-0.911416,-0.223424],[-0.024450,-0.229265,0.973057]] 2025-10-28T16:42:45.738Z,1761669765.738 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:42:45.738Z,1761669765.738 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:42:45.738Z,1761669765.738 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateRudder:A] Stopped 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:42:45.739Z,1761669765.739 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:42:45.740Z,1761669765.740 [marl:UpdateCommandMode] Stopped 2025-10-28T16:42:45.744Z,1761669765.744 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:42:46.047Z,1761669766.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939099,0.339543,0.052939],[-0.342568,-0.912793,-0.222385],[-0.027187,-0.226977,0.973521]] 2025-10-28T16:42:46.092Z,1761669766.092 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:42:46.092Z,1761669766.092 [marl:UpdateRudder:B] Stopped 2025-10-28T16:42:46.092Z,1761669766.092 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateRudder] Stopped 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:42:46.093Z,1761669766.093 [marl:UpdateSpeed] Stopped 2025-10-28T16:42:46.094Z,1761669766.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:42:46.450Z,1761669766.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940098,0.337303,0.049413],[-0.339595,-0.913909,-0.222366],[-0.029846,-0.225826,0.973710]] 2025-10-28T16:42:46.857Z,1761669766.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940745,0.335859,0.046869],[-0.337575,-0.914334,-0.223691],[-0.032275,-0.226258,0.973533]] 2025-10-28T16:42:47.259Z,1761669767.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941047,0.335275,0.044946],[-0.336449,-0.913885,-0.227191],[-0.035096,-0.228919,0.972813]] 2025-10-28T16:42:47.685Z,1761669767.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941112,0.335265,0.043651],[-0.335971,-0.912926,-0.231710],[-0.037834,-0.232731,0.971805]] 2025-10-28T16:42:48.070Z,1761669768.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940911,0.336004,0.042281],[-0.336236,-0.911993,-0.234978],[-0.040394,-0.235309,0.971081]] 2025-10-28T16:42:48.471Z,1761669768.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940451,0.337375,0.041598],[-0.337228,-0.910566,-0.239055],[-0.042774,-0.238848,0.970114]] 2025-10-28T16:42:48.874Z,1761669768.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939936,0.338908,0.040768],[-0.338358,-0.909248,-0.242448],[-0.045100,-0.241680,0.969307]] 2025-10-28T16:42:49.279Z,1761669769.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939392,0.340500,0.040020],[-0.339594,-0.908093,-0.245038],[-0.047093,-0.243777,0.968687]] 2025-10-28T16:42:49.683Z,1761669769.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938848,0.342013,0.039889],[-0.340940,-0.907121,-0.246761],[-0.048211,-0.245271,0.968255]] 2025-10-28T16:42:50.089Z,1761669770.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938534,0.342944,0.039292],[-0.341724,-0.906997,-0.246131],[-0.048771,-0.244429,0.968440]] 2025-10-28T16:42:50.491Z,1761669770.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938393,0.343380,0.038833],[-0.342045,-0.906934,-0.245918],[-0.049224,-0.244050,0.968513]] 2025-10-28T16:42:50.895Z,1761669770.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938538,0.343085,0.037938],[-0.341574,-0.907277,-0.245309],[-0.049741,-0.243190,0.968702]] 2025-10-28T16:42:51.299Z,1761669771.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938588,0.343001,0.037452],[-0.341398,-0.907465,-0.244855],[-0.049999,-0.242604,0.968836]] 2025-10-28T16:42:51.711Z,1761669771.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938610,0.343027,0.036657],[-0.341276,-0.907745,-0.243987],[-0.050419,-0.241519,0.969085]] 2025-10-28T16:42:52.108Z,1761669772.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938686,0.342871,0.036164],[-0.341050,-0.908058,-0.243136],[-0.050525,-0.240562,0.969318]] 2025-10-28T16:42:52.511Z,1761669772.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938782,0.342665,0.035619],[-0.340735,-0.908252,-0.242854],[-0.050867,-0.240123,0.969409]] 2025-10-28T16:42:52.916Z,1761669772.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938691,0.342930,0.035454],[-0.340928,-0.908055,-0.243319],[-0.051248,-0.240488,0.969298]] 2025-10-28T16:42:53.325Z,1761669773.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938836,0.342607,0.034759],[-0.340503,-0.908490,-0.242288],[-0.051432,-0.239304,0.969582]] 2025-10-28T16:42:53.767Z,1761669773.767 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -11.87, +440.99, , 67.78, 0.00 2025-10-28T16:42:54.129Z,1761669774.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939578,0.340947,0.030801],[-0.338206,-0.910547,-0.237743],[-0.053012,-0.233795,0.970840]] 2025-10-28T16:42:54.534Z,1761669774.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940143,0.339520,0.029297],[-0.336487,-0.911254,-0.237471],[-0.053929,-0.233115,0.970953]] 2025-10-28T16:42:54.935Z,1761669774.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940676,0.338090,0.028691],[-0.334917,-0.911631,-0.238243],[-0.054392,-0.233719,0.970782]] 2025-10-28T16:42:55.341Z,1761669775.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940810,0.337652,0.029455],[-0.334587,-0.911357,-0.239748],[-0.054108,-0.235413,0.970388]] 2025-10-28T16:42:55.752Z,1761669775.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940618,0.337983,0.031703],[-0.335322,-0.910522,-0.241885],[-0.052887,-0.238152,0.969787]] 2025-10-28T16:42:56.148Z,1761669776.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940279,0.338590,0.035093],[-0.336568,-0.909297,-0.244748],[-0.050959,-0.241942,0.968952]] 2025-10-28T16:42:56.550Z,1761669776.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939434,0.340454,0.039434],[-0.339245,-0.907337,-0.248299],[-0.048755,-0.246638,0.967880]] 2025-10-28T16:42:56.955Z,1761669776.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938470,0.342534,0.044084],[-0.342261,-0.905382,-0.251280],[-0.046159,-0.250907,0.966910]] 2025-10-28T16:42:57.361Z,1761669777.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937598,0.344435,0.047699],[-0.344999,-0.904324,-0.251345],[-0.043436,-0.252117,0.966721]] 2025-10-28T16:42:57.780Z,1761669777.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936884,0.345802,0.051667],[-0.347275,-0.903170,-0.252358],[-0.040602,-0.254373,0.966254]] 2025-10-28T16:42:58.167Z,1761669778.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936431,0.346727,0.053634],[-0.348739,-0.903104,-0.250567],[-0.038441,-0.253343,0.966612]] 2025-10-28T16:42:58.570Z,1761669778.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936276,0.346863,0.055440],[-0.349414,-0.903482,-0.248252],[-0.036021,-0.251804,0.967108]] 2025-10-28T16:42:58.675Z,1761669778.675 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:42:58.675Z,1761669778.675 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:42:58.675Z,1761669778.675 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:42:58.675Z,1761669778.675 [marl:UpdateRudder:A] Stopped 2025-10-28T16:42:58.675Z,1761669778.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:42:58.676Z,1761669778.676 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:42:58.680Z,1761669778.680 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:42:58.680Z,1761669778.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:42:58.684Z,1761669778.684 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:42:58.684Z,1761669778.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:42:58.684Z,1761669778.684 [marl:UpdateCommandMode] Stopped 2025-10-28T16:42:58.684Z,1761669778.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:42:58.976Z,1761669778.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936212,0.346825,0.056740],[-0.349809,-0.904132,-0.245314],[-0.033781,-0.249514,0.967782]] 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateRudder:B] Stopped 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateRudder] Stopped 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:42:59.008Z,1761669779.008 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed] Stopped 2025-10-28T16:42:59.009Z,1761669779.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:42:59.379Z,1761669779.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936350,0.346333,0.057468],[-0.349618,-0.905036,-0.242236],[-0.031883,-0.246909,0.968514]] 2025-10-28T16:42:59.785Z,1761669779.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936613,0.345463,0.058401],[-0.349086,-0.905915,-0.239703],[-0.029903,-0.244896,0.969088]] 2025-10-28T16:43:00.188Z,1761669780.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936908,0.344526,0.059208],[-0.348462,-0.906914,-0.236816],[-0.027893,-0.242507,0.969749]] 2025-10-28T16:43:00.593Z,1761669780.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937274,0.343410,0.059885],[-0.347656,-0.908275,-0.232748],[-0.025536,-0.238968,0.970692]] 2025-10-28T16:43:00.994Z,1761669780.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937706,0.342043,0.060936],[-0.346649,-0.909358,-0.230006],[-0.023259,-0.236802,0.971280]] 2025-10-28T16:43:01.317Z,1761669781.317 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:43:01.398Z,1761669781.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938187,0.340394,0.062751],[-0.345511,-0.910156,-0.228558],[-0.020686,-0.236111,0.971506]] 2025-10-28T16:43:01.821Z,1761669781.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938667,0.338780,0.064292],[-0.344337,-0.910970,-0.227079],[-0.018362,-0.235290,0.971752]] 2025-10-28T16:43:02.208Z,1761669782.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939082,0.337271,0.066126],[-0.343317,-0.911540,-0.226337],[-0.016061,-0.235251,0.971802]] 2025-10-28T16:43:02.320Z,1761669782.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:43:02.610Z,1761669782.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939594,0.335577,0.067464],[-0.342018,-0.912542,-0.224255],[-0.013691,-0.233783,0.972192]] 2025-10-28T16:43:03.015Z,1761669783.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940156,0.333651,0.069166],[-0.340548,-0.913149,-0.224024],[-0.011587,-0.234172,0.972126]] 2025-10-28T16:43:03.418Z,1761669783.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940459,0.332418,0.070959],[-0.339770,-0.913449,-0.223979],[-0.009637,-0.234753,0.972007]] 2025-10-28T16:43:03.830Z,1761669783.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940536,0.331678,0.073366],[-0.339602,-0.913026,-0.225951],[-0.007958,-0.237430,0.971372]] 2025-10-28T16:43:04.227Z,1761669784.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940145,0.332301,0.075519],[-0.340713,-0.912385,-0.226868],[-0.006486,-0.239019,0.970993]] 2025-10-28T16:43:04.630Z,1761669784.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939586,0.333481,0.077258],[-0.342275,-0.911861,-0.226622],[-0.005125,-0.239374,0.970914]] 2025-10-28T16:43:05.034Z,1761669785.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938486,0.336028,0.079561],[-0.345298,-0.910640,-0.226948],[-0.003810,-0.240459,0.970652]] 2025-10-28T16:43:05.440Z,1761669785.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936967,0.339563,0.082397],[-0.349409,-0.908881,-0.227703],[-0.002430,-0.242141,0.970238]] 2025-10-28T16:43:05.842Z,1761669785.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935049,0.343908,0.086082],[-0.354517,-0.906535,-0.229154],[-0.000772,-0.244788,0.969576]] 2025-10-28T16:43:06.246Z,1761669786.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932857,0.348753,0.090273],[-0.360246,-0.903741,-0.231247],[0.000935,-0.248241,0.968698]] 2025-10-28T16:43:06.651Z,1761669786.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930498,0.354011,0.094070],[-0.366287,-0.901129,-0.231948],[0.002657,-0.250284,0.968169]] 2025-10-28T16:43:07.055Z,1761669787.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928081,0.359470,0.097198],[-0.372352,-0.898980,-0.230628],[0.004476,-0.250233,0.968175]] 2025-10-28T16:43:07.460Z,1761669787.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925781,0.364499,0.100347],[-0.378002,-0.897083,-0.228818],[0.006615,-0.249766,0.968284]] 2025-10-28T16:43:07.943Z,1761669787.943 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -13.55453.38, 3, 68.92, 0.00 2025-10-28T16:43:08.267Z,1761669788.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922481,0.371615,0.104548],[-0.385895,-0.895148,-0.223148],[0.010661,-0.246194,0.969162]] 2025-10-28T16:43:08.671Z,1761669788.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921887,0.372832,0.105451],[-0.387246,-0.895607,-0.218927],[0.012820,-0.242662,0.970026]] 2025-10-28T16:43:09.076Z,1761669789.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921879,0.372748,0.105823],[-0.387195,-0.896633,-0.214778],[0.014827,-0.238973,0.970913]] 2025-10-28T16:43:09.479Z,1761669789.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922444,0.371200,0.106338],[-0.385771,-0.897843,-0.212271],[0.016680,-0.236830,0.971408]] 2025-10-28T16:43:09.882Z,1761669789.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923512,0.368625,0.106026],[-0.383124,-0.899814,-0.208687],[0.018477,-0.233346,0.972218]] 2025-10-28T16:43:10.295Z,1761669790.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924971,0.364855,0.106347],[-0.379497,-0.901684,-0.207238],[0.020279,-0.232048,0.972493]] 2025-10-28T16:43:10.700Z,1761669790.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926680,0.360433,0.106544],[-0.375192,-0.903884,-0.205485],[0.022240,-0.230393,0.972843]] 2025-10-28T16:43:11.094Z,1761669791.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928522,0.355440,0.107278],[-0.370490,-0.905835,-0.205427],[0.024159,-0.230489,0.972775]] 2025-10-28T16:43:11.499Z,1761669791.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930141,0.350787,0.108566],[-0.366281,-0.907266,-0.206656],[0.026006,-0.231984,0.972372]] 2025-10-28T16:43:11.539Z,1761669791.539 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:43:11.539Z,1761669791.539 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:43:11.539Z,1761669791.539 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:43:11.544Z,1761669791.544 [marl:UpdateRudder:A] Stopped 2025-10-28T16:43:11.548Z,1761669791.548 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:43:11.548Z,1761669791.548 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:43:11.548Z,1761669791.548 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:43:11.548Z,1761669791.548 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:43:11.549Z,1761669791.549 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:43:11.549Z,1761669791.549 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:43:11.549Z,1761669791.549 [marl:UpdateCommandMode] Stopped 2025-10-28T16:43:11.549Z,1761669791.549 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:43:11.907Z,1761669791.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931335,0.347256,0.109677],[-0.363123,-0.908316,-0.207617],[0.027525,-0.233187,0.972042]] 2025-10-28T16:43:12.014Z,1761669792.014 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:43:12.014Z,1761669792.014 [marl:UpdateRudder:B] Stopped 2025-10-28T16:43:12.014Z,1761669792.014 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:43:12.014Z,1761669792.014 [marl:UpdateRudder] Stopped 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed] Stopped 2025-10-28T16:43:12.015Z,1761669792.015 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:43:12.311Z,1761669792.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931731,0.345713,0.111177],[-0.362025,-0.908325,-0.209484],[0.028563,-0.235431,0.971471]] 2025-10-28T16:43:12.711Z,1761669792.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931414,0.345946,0.113094],[-0.362763,-0.907599,-0.211348],[0.029530,-0.237878,0.970846]] 2025-10-28T16:43:13.114Z,1761669793.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930440,0.347882,0.115147],[-0.365195,-0.906220,-0.213068],[0.030226,-0.240298,0.970228]] 2025-10-28T16:43:13.520Z,1761669793.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928878,0.351331,0.117270],[-0.369104,-0.904354,-0.214255],[0.030779,-0.242302,0.969713]] 2025-10-28T16:43:13.923Z,1761669793.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926816,0.355922,0.119714],[-0.374208,-0.901980,-0.215410],[0.031310,-0.244443,0.969158]] 2025-10-28T16:43:14.327Z,1761669794.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924749,0.360403,0.122266],[-0.379215,-0.899752,-0.215969],[0.032173,-0.246082,0.968715]] 2025-10-28T16:43:14.730Z,1761669794.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924150,0.361199,0.124425],[-0.380560,-0.898938,-0.216991],[0.033474,-0.247883,0.968211]] 2025-10-28T16:43:15.137Z,1761669795.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925425,0.356129,0.129466],[-0.377217,-0.898266,-0.225446],[0.036007,-0.257470,0.965615]] 2025-10-28T16:43:15.538Z,1761669795.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928170,0.345800,0.137561],[-0.370052,-0.896815,-0.242456],[0.039525,-0.275945,0.960360]] 2025-10-28T16:43:15.942Z,1761669795.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932194,0.331015,0.146438],[-0.359294,-0.895232,-0.263567],[0.043851,-0.298310,0.953461]] 2025-10-28T16:43:16.347Z,1761669796.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937171,0.312801,0.154484],[-0.345466,-0.893789,-0.285998],[0.048615,-0.321398,0.945696]] 2025-10-28T16:43:16.764Z,1761669796.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942748,0.292140,0.160877],[-0.329139,-0.892810,-0.307502],[0.053799,-0.342848,0.937849]] 2025-10-28T16:43:17.155Z,1761669797.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948531,0.270282,0.165037],[-0.311137,-0.892484,-0.326597],[0.059020,-0.361136,0.930644]] 2025-10-28T16:43:17.559Z,1761669797.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954061,0.248502,0.167374],[-0.292649,-0.892654,-0.342818],[0.064216,-0.376052,0.924371]] 2025-10-28T16:43:17.966Z,1761669797.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959232,0.227007,0.168349],[-0.274059,-0.892640,-0.357891],[0.069031,-0.389438,0.918462]] 2025-10-28T16:43:18.372Z,1761669798.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963705,0.207284,0.168243],[-0.256627,-0.892974,-0.369783],[0.073587,-0.399537,0.913759]] 2025-10-28T16:43:18.783Z,1761669798.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967561,0.189069,0.167566],[-0.240348,-0.893227,-0.379971],[0.077834,-0.407920,0.909694]] 2025-10-28T16:43:19.205Z,1761669799.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970535,0.173693,0.167013],[-0.226623,-0.893490,-0.387708],[0.081882,-0.414133,0.906526]] 2025-10-28T16:43:19.646Z,1761669799.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972913,0.160388,0.166481],[-0.214649,-0.894140,-0.392987],[0.085826,-0.418077,0.904348]] 2025-10-28T16:43:20.061Z,1761669800.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974918,0.148360,0.165903],[-0.203733,-0.894968,-0.396894],[0.089594,-0.420739,0.902747]] 2025-10-28T16:43:20.478Z,1761669800.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978464,0.126586,0.163046],[-0.182386,-0.900077,-0.395724],[0.096660,-0.416939,0.903780]] 2025-10-28T16:43:20.878Z,1761669800.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980151,0.115529,0.161112],[-0.171197,-0.903043,-0.393960],[0.099977,-0.413723,0.904897]] 2025-10-28T16:43:21.290Z,1761669801.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981980,0.103151,0.158354],[-0.158255,-0.906830,-0.390660],[0.103303,-0.408681,0.906812]] 2025-10-28T16:43:21.683Z,1761669801.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983699,0.090337,0.155484],[-0.144768,-0.910751,-0.386749],[0.106669,-0.402954,0.908983]] 2025-10-28T16:43:22.162Z,1761669802.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985433,0.076317,0.151977],[-0.129844,-0.914758,-0.382568],[0.109825,-0.396729,0.911342]] 2025-10-28T16:43:22.563Z,1761669802.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987036,0.060996,0.148455],[-0.113802,-0.918221,-0.379368],[0.113174,-0.391344,0.913259]] 2025-10-28T16:43:22.987Z,1761669802.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988539,0.045256,0.144024],[-0.097060,-0.921230,-0.376716],[0.115630,-0.386377,0.915064]] 2025-10-28T16:43:23.394Z,1761669803.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989814,0.029155,0.139351],[-0.080267,-0.922689,-0.377096],[0.117584,-0.384441,0.915631]] 2025-10-28T16:43:23.800Z,1761669803.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990873,0.012730,0.134198],[-0.063063,-0.923648,-0.378018],[0.119140,-0.383031,0.916020]] 2025-10-28T16:43:24.198Z,1761669804.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991633,-0.003333,0.129045],[-0.046319,-0.923910,-0.379796],[0.120492,-0.382596,0.916025]] 2025-10-28T16:43:24.603Z,1761669804.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992049,-0.018324,0.124510],[-0.031213,-0.922610,-0.384470],[0.121919,-0.385299,0.914702]] 2025-10-28T16:43:24.650Z,1761669804.650 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:43:24.650Z,1761669804.650 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:43:24.650Z,1761669804.650 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:43:24.650Z,1761669804.650 [marl:UpdateRudder:A] Stopped 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode] Stopped 2025-10-28T16:43:24.651Z,1761669804.651 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:43:25.029Z,1761669805.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992277,-0.032655,0.119666],[-0.016435,-0.921607,-0.387776],[0.122948,-0.386748,0.913953]] 2025-10-28T16:43:25.115Z,1761669805.115 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:43:25.115Z,1761669805.115 [marl:UpdateRudder:B] Stopped 2025-10-28T16:43:25.115Z,1761669805.115 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:43:25.115Z,1761669805.115 [marl:UpdateRudder] Stopped 2025-10-28T16:43:25.116Z,1761669805.116 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:43:25.116Z,1761669805.116 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:43:25.116Z,1761669805.116 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:43:25.116Z,1761669805.116 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:43:25.116Z,1761669805.116 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:43:25.117Z,1761669805.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:43:25.117Z,1761669805.117 [marl:UpdateSpeed] Stopped 2025-10-28T16:43:25.117Z,1761669805.117 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:43:25.431Z,1761669805.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992299,-0.045547,0.115190],[-0.003240,-0.920081,-0.391715],[0.123826,-0.389072,0.912847]] 2025-10-28T16:43:25.880Z,1761669805.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992223,-0.058458,0.109893],[0.010395,-0.918688,-0.394847],[0.124040,-0.390633,0.912151]] 2025-10-28T16:43:26.353Z,1761669806.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992037,-0.070117,0.104623],[0.022928,-0.917357,-0.397406],[0.123841,-0.391842,0.911659]] 2025-10-28T16:43:26.788Z,1761669806.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991753,-0.081295,0.099076],[0.035114,-0.915847,-0.399990],[0.123256,-0.393212,0.911149]] 2025-10-28T16:43:27.155Z,1761669807.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991285,-0.093071,0.093228],[0.048191,-0.914851,-0.400906],[0.122602,-0.392920,0.911363]] 2025-10-28T16:43:27.559Z,1761669807.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990648,-0.104793,0.087382],[0.061312,-0.914008,-0.401037],[0.121894,-0.391929,0.911885]] 2025-10-28T16:43:27.965Z,1761669807.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989741,-0.117453,0.081352],[0.075510,-0.913380,-0.400044],[0.121292,-0.389797,0.912878]] 2025-10-28T16:43:28.370Z,1761669808.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988546,-0.131232,0.074530],[0.090825,-0.911711,-0.400667],[0.120530,-0.389308,0.913188]] 2025-10-28T16:43:28.787Z,1761669808.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986941,-0.146326,0.067348],[0.107793,-0.910639,-0.398895],[0.119699,-0.386427,0.914520]] 2025-10-28T16:43:29.194Z,1761669809.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984892,-0.162548,0.059709],[0.126049,-0.909365,-0.396443],[0.118738,-0.382927,0.916116]] 2025-10-28T16:43:29.657Z,1761669809.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982409,-0.179722,0.050715],[0.145573,-0.907152,-0.394821],[0.116964,-0.380493,0.917357]] 2025-10-28T16:43:30.057Z,1761669810.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979430,-0.197659,0.040598],[0.166104,-0.903988,-0.393973],[0.114573,-0.379126,0.918225]] 2025-10-28T16:43:30.863Z,1761669810.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972333,-0.232803,0.019292],[0.206753,-0.896083,-0.392795],[0.108731,-0.377938,0.919424]] 2025-10-28T16:43:31.672Z,1761669811.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964369,-0.264554,-0.001814],[0.244143,-0.887281,-0.391314],[0.101915,-0.377814,0.920255]] 2025-10-28T16:43:32.146Z,1761669812.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956352,-0.291464,-0.020989],[0.276448,-0.879125,-0.388220],[0.094700,-0.377078,0.921327]] 2025-10-28T16:43:32.452Z,1761669812.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:43:32.543Z,1761669812.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952390,-0.303414,-0.029896],[0.290983,-0.875314,-0.386205],[0.091011,-0.376517,0.921928]] 2025-10-28T16:43:32.949Z,1761669812.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948510,-0.314449,-0.038098],[0.304493,-0.872057,-0.383147],[0.087256,-0.375019,0.922901]] 2025-10-28T16:43:33.351Z,1761669813.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944188,-0.326084,-0.046684],[0.318720,-0.868520,-0.379593],[0.083233,-0.373286,0.923975]] 2025-10-28T16:43:33.456Z,1761669813.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:43:33.767Z,1761669813.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939589,-0.337641,-0.056321],[0.333132,-0.864108,-0.377280],[0.078717,-0.373251,0.924385]] 2025-10-28T16:43:34.160Z,1761669814.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934643,-0.349482,-0.065616],[0.347737,-0.859745,-0.374055],[0.074312,-0.372425,0.925083]] 2025-10-28T16:43:34.562Z,1761669814.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929361,-0.361364,-0.075522],[0.362567,-0.854912,-0.371040],[0.069516,-0.372212,0.925541]] 2025-10-28T16:43:34.967Z,1761669814.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923622,-0.373881,-0.084467],[0.377771,-0.850605,-0.365733],[0.064893,-0.369709,0.926879]] 2025-10-28T16:43:35.373Z,1761669815.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917397,-0.386567,-0.094597],[0.393436,-0.845155,-0.361830],[0.059922,-0.369160,0.927432]] 2025-10-28T16:43:35.782Z,1761669815.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910997,-0.398983,-0.104388],[0.408748,-0.839827,-0.357234],[0.054862,-0.368107,0.928163]] 2025-10-28T16:43:36.179Z,1761669816.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904369,-0.411136,-0.114386],[0.423847,-0.834127,-0.352966],[0.049705,-0.367694,0.928618]] 2025-10-28T16:43:36.583Z,1761669816.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897382,-0.423413,-0.124204],[0.439029,-0.828521,-0.347572],[0.044262,-0.366434,0.929391]] 2025-10-28T16:43:36.988Z,1761669816.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890557,-0.434651,-0.134114],[0.453206,-0.822644,-0.343309],[0.038891,-0.366518,0.929598]] 2025-10-28T16:43:37.393Z,1761669817.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883824,-0.445149,-0.143865],[0.466607,-0.816700,-0.339528],[0.033646,-0.367212,0.929529]] 2025-10-28T16:43:37.795Z,1761669817.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876853,-0.455541,-0.153658],[0.479905,-0.810348,-0.336197],[0.028635,-0.368536,0.929172]] 2025-10-28T16:43:37.851Z,1761669817.851 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:43:37.851Z,1761669817.851 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:43:37.852Z,1761669817.852 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:43:37.852Z,1761669817.852 [marl:UpdateRudder:A] Stopped 2025-10-28T16:43:37.852Z,1761669817.852 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:43:37.852Z,1761669817.852 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:43:37.852Z,1761669817.852 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:43:37.853Z,1761669817.853 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:43:37.853Z,1761669817.853 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:43:37.853Z,1761669817.853 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:43:37.853Z,1761669817.853 [marl:UpdateCommandMode] Stopped 2025-10-28T16:43:37.853Z,1761669817.853 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:43:38.199Z,1761669818.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869564,-0.465948,-0.163556],[0.493249,-0.803604,-0.333056],[0.023752,-0.370287,0.928614]] 2025-10-28T16:43:38.295Z,1761669818.295 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:43:38.295Z,1761669818.295 [marl:UpdateRudder:B] Stopped 2025-10-28T16:43:38.295Z,1761669818.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:43:38.296Z,1761669818.296 [marl:UpdateRudder] Stopped 2025-10-28T16:43:38.296Z,1761669818.296 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:43:38.296Z,1761669818.296 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:43:38.296Z,1761669818.296 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:43:38.296Z,1761669818.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:43:38.297Z,1761669818.297 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:43:38.297Z,1761669818.297 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:43:38.297Z,1761669818.297 [marl:UpdateSpeed] Stopped 2025-10-28T16:43:38.297Z,1761669818.297 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:43:38.610Z,1761669818.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862257,-0.476329,-0.172115],[0.506085,-0.797053,-0.329522],[0.019777,-0.371238,0.928327]] 2025-10-28T16:43:39.006Z,1761669819.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854435,-0.487088,-0.180792],[0.519308,-0.789846,-0.326285],[0.016132,-0.372676,0.927821]] 2025-10-28T16:43:39.410Z,1761669819.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845591,-0.499325,-0.188813],[0.533673,-0.782097,-0.321742],[0.012984,-0.372826,0.927810]] 2025-10-28T16:43:39.815Z,1761669819.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836200,-0.511601,-0.197569],[0.548325,-0.773052,-0.318953],[0.010445,-0.375040,0.926950]] 2025-10-28T16:43:40.220Z,1761669820.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825843,-0.524840,-0.206219],[0.563841,-0.763244,-0.315503],[0.008193,-0.376831,0.926246]] 2025-10-28T16:43:40.622Z,1761669820.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814753,-0.538596,-0.214693],[0.579777,-0.752934,-0.311365],[0.006050,-0.378159,0.925721]] 2025-10-28T16:43:40.657Z,1761669820.657 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:43:40.777Z,1761669820.777 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:43:40.777Z,1761669820.777 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:43:41.027Z,1761669821.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803003,-0.552807,-0.222691],[0.595963,-0.742401,-0.306054],[0.003863,-0.378477,0.925602]] 2025-10-28T16:43:41.029Z,1761669821.029 [DAT](INFO): DAT read: user:20> 2025-10-28T16:43:41.030Z,1761669821.030 [DAT](INFO): DAT read: Tx time:16:43:40.7652 2025-10-28T16:43:41.030Z,1761669821.030 [DAT](INFO): Ping request sent. 2025-10-28T16:43:41.030Z,1761669821.030 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:43:41.030Z,1761669821.030 [DAT](INFO): publishing transmit ping time 2025-10-28T16:43:41.031Z,1761669821.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T16:43:41.281Z,1761669821.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250909 2025-10-28T16:43:41.433Z,1761669821.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790580,-0.567390,-0.230329],[0.612357,-0.731714,-0.299356],[0.001316,-0.377708,0.925924]] 2025-10-28T16:43:41.533Z,1761669821.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932 2025-10-28T16:43:41.786Z,1761669821.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756062 2025-10-28T16:43:41.849Z,1761669821.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777876,-0.581696,-0.237779],[0.628415,-0.721135,-0.291648],[-0.001820,-0.376290,0.926500]] 2025-10-28T16:43:41.873Z,1761669821.873 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T16:43:42.037Z,1761669822.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912 2025-10-28T16:43:42.249Z,1761669822.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764659,-0.595606,-0.246070],[0.644408,-0.710212,-0.283437],[-0.005945,-0.375302,0.926884]] 2025-10-28T16:43:42.289Z,1761669822.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893 2025-10-28T16:43:42.541Z,1761669822.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510824 2025-10-28T16:43:42.793Z,1761669822.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762933 2025-10-28T16:43:43.045Z,1761669823.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014780 2025-10-28T16:43:43.048Z,1761669823.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738339,-0.621433,-0.262061],[0.674228,-0.689611,-0.264296],[-0.016478,-0.371829,0.928155]] 2025-10-28T16:43:43.297Z,1761669823.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267019 2025-10-28T16:43:43.453Z,1761669823.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725926,-0.632586,-0.269937],[0.687409,-0.680084,-0.254862],[-0.022358,-0.370568,0.928536]] 2025-10-28T16:43:43.549Z,1761669823.549 [DAT](INFO): DAT read: Rx Time:16:43:42.9159 2025-10-28T16:43:43.549Z,1761669823.549 [DAT](INFO): Rx dataTimestamp_ set to:1761669823.549105 2025-10-28T16:43:43.550Z,1761669823.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519896 2025-10-28T16:43:43.801Z,1761669823.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770948 2025-10-28T16:43:43.854Z,1761669823.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714283,-0.642549,-0.277365],[0.699293,-0.671175,-0.245995],[-0.028097,-0.369669,0.928739]] 2025-10-28T16:43:44.078Z,1761669824.078 [DAT](INFO): DAT read: 16:43:42.9159 LVL= 14352, 19441, 25010, 25075, AGC= 53, IDX= 441, 0.03, 2.998, 1.641, 0.714, 2.185, PHS= 0.914,-0.500,-1.515, RAW= 65.4, 10.4, CAL= 63.3, 13.5, ROT= 86.7, -13.5 2025-10-28T16:43:44.086Z,1761669824.086 [DAT](INFO): got valid direction response: 16:43:42.9159 LVL= 14352, 19441, 25010, 25075, AGC= 53, IDX= 441, 0.03, 2.998, 1.641, 0.714, 2.185, PHS= 0.914,-0.500,-1.515, RAW= 65.4, 10.4, CAL= 63.3, 13.5, ROT= 86.7, -13.5 2025-10-28T16:43:44.088Z,1761669824.088 [DAT](INFO): DAT read: Bearing 216, -1 (Remote) 2025-10-28T16:43:44.088Z,1761669824.088 [DAT](INFO): Remote Bearing received:Bearing 216, -1 (Remote) 2025-10-28T16:43:44.090Z,1761669824.090 [DAT](INFO): DAT read: Bearing 9.1, 53.7 (Local) 2025-10-28T16:43:44.092Z,1761669824.092 [DAT](INFO): Local bearing/azimuth received: Bearing 9.1, 53.7 (Local) 2025-10-28T16:43:44.102Z,1761669824.102 [DAT](INFO): DAT read: Range 11 to 20 : 91.1 m (Round-trip 121.5 ms) speed 0.4 m/s 2025-10-28T16:43:44.102Z,1761669824.102 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:43:44.103Z,1761669824.103 [DAT](INFO): direction in FSK: [0.055974,0.970758,0.233445] 2025-10-28T16:43:44.104Z,1761669824.104 [DAT](INFO): publishing direction and range info 2025-10-28T16:43:44.260Z,1761669824.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703680,-0.650915,-0.284860],[0.709732,-0.662786,-0.238737],[-0.033404,-0.370168,0.928364]] 2025-10-28T16:43:44.325Z,1761669824.325 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669888.00. Resetting abort timer. 2025-10-28T16:43:44.665Z,1761669824.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693267,-0.659354,-0.290919],[0.719669,-0.654772,-0.230977],[-0.038190,-0.369494,0.928448]] 2025-10-28T16:43:45.070Z,1761669825.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683583,-0.666751,-0.296911],[0.728665,-0.646823,-0.225095],[-0.041966,-0.370220,0.927996]] 2025-10-28T16:43:45.470Z,1761669825.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674195,-0.673912,-0.302164],[0.737199,-0.638821,-0.220101],[-0.044700,-0.371146,0.927498]] 2025-10-28T16:43:45.874Z,1761669825.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664606,-0.681196,-0.307037],[0.745763,-0.630164,-0.216174],[-0.046227,-0.372647,0.926821]] 2025-10-28T16:43:46.278Z,1761669826.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654679,-0.688612,-0.311783],[0.754453,-0.620816,-0.213045],[-0.046855,-0.374702,0.925961]] 2025-10-28T16:43:46.684Z,1761669826.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643798,-0.697026,-0.315718],[0.763749,-0.610688,-0.209158],[-0.047017,-0.375785,0.925513]] 2025-10-28T16:43:47.091Z,1761669827.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632108,-0.705555,-0.320362],[0.773446,-0.599632,-0.205481],[-0.047121,-0.377669,0.924741]] 2025-10-28T16:43:47.491Z,1761669827.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618740,-0.715644,-0.324058],[0.784160,-0.587543,-0.199715],[-0.047473,-0.377685,0.924716]] 2025-10-28T16:43:47.895Z,1761669827.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604712,-0.725216,-0.329219],[0.794978,-0.574690,-0.194273],[-0.048309,-0.379201,0.924053]] 2025-10-28T16:43:48.300Z,1761669828.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589543,-0.735723,-0.333393],[0.806186,-0.561512,-0.186462],[-0.050020,-0.378704,0.924165]] 2025-10-28T16:43:48.705Z,1761669828.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573781,-0.745575,-0.338958],[0.817317,-0.547843,-0.178498],[-0.052612,-0.379455,0.923713]] 2025-10-28T16:43:49.108Z,1761669829.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558303,-0.755721,-0.342321],[0.827770,-0.535086,-0.168762],[-0.055635,-0.377583,0.924303]] 2025-10-28T16:43:49.511Z,1761669829.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542829,-0.765655,-0.345120],[0.837736,-0.522724,-0.157977],[-0.059446,-0.374874,0.925168]] 2025-10-28T16:43:49.922Z,1761669829.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527811,-0.774607,-0.348425],[0.847009,-0.510535,-0.148086],[-0.063175,-0.373280,0.925565]] 2025-10-28T16:43:50.320Z,1761669830.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513714,-0.782632,-0.351546],[0.855354,-0.499107,-0.138788],[-0.066839,-0.371994,0.925826]] 2025-10-28T16:43:50.731Z,1761669830.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501210,-0.789330,-0.354607],[0.862471,-0.488944,-0.130681],[-0.070233,-0.371337,0.925838]] 2025-10-28T16:43:50.771Z,1761669830.771 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:43:50.771Z,1761669830.771 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:43:50.771Z,1761669830.771 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:43:50.772Z,1761669830.772 [marl:UpdateRudder:A] Stopped 2025-10-28T16:43:50.772Z,1761669830.772 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:43:50.772Z,1761669830.772 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:43:50.772Z,1761669830.772 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:43:50.772Z,1761669830.772 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:43:50.773Z,1761669830.773 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:43:50.773Z,1761669830.773 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:43:50.773Z,1761669830.773 [marl:UpdateCommandMode] Stopped 2025-10-28T16:43:50.773Z,1761669830.773 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:43:51.127Z,1761669831.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488746,-0.796007,-0.357072],[0.869372,-0.478589,-0.123062],[-0.072932,-0.370574,0.925935]] 2025-10-28T16:43:51.235Z,1761669831.235 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:43:51.235Z,1761669831.235 [marl:UpdateRudder:B] Stopped 2025-10-28T16:43:51.235Z,1761669831.235 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:43:51.236Z,1761669831.236 [marl:UpdateRudder] Stopped 2025-10-28T16:43:51.236Z,1761669831.236 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed] Stopped 2025-10-28T16:43:51.237Z,1761669831.237 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:43:51.530Z,1761669831.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476625,-0.801895,-0.360268],[0.875933,-0.467985,-0.117180],[-0.074634,-0.371422,0.925460]] 2025-10-28T16:43:51.935Z,1761669831.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464369,-0.807990,-0.362648],[0.882393,-0.457140,-0.111378],[-0.075788,-0.371718,0.925247]] 2025-10-28T16:43:52.338Z,1761669832.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451754,-0.814299,-0.364466],[0.888853,-0.445868,-0.105561],[-0.076546,-0.371644,0.925214]] 2025-10-28T16:43:52.750Z,1761669832.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438994,-0.821321,-0.364303],[0.895072,-0.435097,-0.097656],[-0.078300,-0.368947,0.926146]] 2025-10-28T16:43:53.149Z,1761669833.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428871,-0.828937,-0.359074],[0.899718,-0.427630,-0.087403],[-0.081099,-0.360550,0.929208]] 2025-10-28T16:43:53.551Z,1761669833.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421176,-0.838131,-0.346624],[0.902963,-0.423408,-0.073379],[-0.085262,-0.343894,0.935130]] 2025-10-28T16:43:53.954Z,1761669833.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414655,-0.847652,-0.330979],[0.905449,-0.420577,-0.057243],[-0.090680,-0.323421,0.941900]] 2025-10-28T16:43:54.361Z,1761669834.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409463,-0.856345,-0.314663],[0.907195,-0.418706,-0.041016],[-0.096627,-0.302256,0.948317]] 2025-10-28T16:43:54.767Z,1761669834.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404861,-0.863574,-0.300546],[0.908531,-0.417034,-0.025585],[-0.103243,-0.283414,0.953424]] 2025-10-28T16:43:55.167Z,1761669835.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400804,-0.869488,-0.288699],[0.909502,-0.415551,-0.011137],[-0.110285,-0.267036,0.957355]] 2025-10-28T16:43:55.584Z,1761669835.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397458,-0.874279,-0.278684],[0.910064,-0.414461,0.002305],[-0.117518,-0.252704,0.960380]] 2025-10-28T16:43:55.975Z,1761669835.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394240,-0.878059,-0.271270],[0.910490,-0.413277,0.014486],[-0.124829,-0.241277,0.962394]] 2025-10-28T16:43:56.378Z,1761669836.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392241,-0.880601,-0.265873],[0.910394,-0.412999,0.024798],[-0.131642,-0.232322,0.963689]] 2025-10-28T16:43:56.786Z,1761669836.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390718,-0.882101,-0.263130],[0.910061,-0.413113,0.033558],[-0.138304,-0.226353,0.964176]] 2025-10-28T16:43:57.187Z,1761669837.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388870,-0.883301,-0.261840],[0.909909,-0.412767,0.041100],[-0.144382,-0.222268,0.964236]] 2025-10-28T16:43:57.995Z,1761669837.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386182,-0.884332,-0.262336],[0.909446,-0.412563,0.051962],[-0.154182,-0.218513,0.963577]] 2025-10-28T16:43:58.398Z,1761669838.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385384,-0.884534,-0.262828],[0.909147,-0.412710,0.055875],[-0.157895,-0.217416,0.963223]] 2025-10-28T16:43:58.803Z,1761669838.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385009,-0.884298,-0.264168],[0.908825,-0.413090,0.058253],[-0.160638,-0.217654,0.962716]] 2025-10-28T16:43:59.220Z,1761669839.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384268,-0.884780,-0.263635],[0.908789,-0.412805,0.060778],[-0.162605,-0.216233,0.962706]] 2025-10-28T16:43:59.646Z,1761669839.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383074,-0.885247,-0.263803],[0.909019,-0.412022,0.062623],[-0.164130,-0.215813,0.962541]] 2025-10-28T16:44:00.014Z,1761669840.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382222,-0.885588,-0.263893],[0.909260,-0.411358,0.063490],[-0.164780,-0.215680,0.962460]] 2025-10-28T16:44:00.419Z,1761669840.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381236,-0.885215,-0.266559],[0.909471,-0.410860,0.063686],[-0.165894,-0.218148,0.961712]] 2025-10-28T16:44:00.824Z,1761669840.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380377,-0.885426,-0.267084],[0.909677,-0.410268,0.064557],[-0.166737,-0.218404,0.961508]] 2025-10-28T16:44:01.229Z,1761669841.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380345,-0.884776,-0.269275],[0.909545,-0.410587,0.064383],[-0.167525,-0.220430,0.960909]] 2025-10-28T16:44:01.649Z,1761669841.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380584,-0.884259,-0.270632],[0.909357,-0.411033,0.064196],[-0.168005,-0.221669,0.960540]] 2025-10-28T16:44:02.035Z,1761669842.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380966,-0.883537,-0.272446],[0.909141,-0.411608,0.063568],[-0.168306,-0.223475,0.960069]] 2025-10-28T16:44:02.440Z,1761669842.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381433,-0.882856,-0.273997],[0.908980,-0.412123,0.062520],[-0.168116,-0.225210,0.959696]] 2025-10-28T16:44:02.843Z,1761669842.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381808,-0.882029,-0.276129],[0.908996,-0.412400,0.060432],[-0.167178,-0.227927,0.959219]] 2025-10-28T16:44:03.246Z,1761669843.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382162,-0.881676,-0.276767],[0.909232,-0.412255,0.057817],[-0.165075,-0.229550,0.959196]] 2025-10-28T16:44:03.594Z,1761669843.594 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:44:03.659Z,1761669843.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382812,-0.881297,-0.277074],[0.909521,-0.412110,0.054196],[-0.161948,-0.231257,0.959319]] 2025-10-28T16:44:03.730Z,1761669843.730 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:44:03.730Z,1761669843.730 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:44:03.730Z,1761669843.730 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateRudder:A] Stopped 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:44:03.731Z,1761669843.731 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:44:03.732Z,1761669843.732 [marl:UpdateCommandMode] Stopped 2025-10-28T16:44:03.748Z,1761669843.748 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:44:04.056Z,1761669844.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382822,-0.880889,-0.278357],[0.910078,-0.411381,0.050234],[-0.158762,-0.234096,0.959163]] 2025-10-28T16:44:04.080Z,1761669844.080 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateRudder:B] Stopped 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateRudder] Stopped 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:44:04.081Z,1761669844.081 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:44:04.082Z,1761669844.082 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:44:04.082Z,1761669844.082 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:44:04.082Z,1761669844.082 [marl:UpdateSpeed] Stopped 2025-10-28T16:44:04.082Z,1761669844.082 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:44:04.458Z,1761669844.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381827,-0.881178,-0.278805],[0.911048,-0.409620,0.046933],[-0.155560,-0.236085,0.959200]] 2025-10-28T16:44:04.596Z,1761669844.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:44:04.862Z,1761669844.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380273,-0.881835,-0.278853],[0.912202,-0.407349,0.044211],[-0.152578,-0.237558,0.959316]] 2025-10-28T16:44:05.267Z,1761669845.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378495,-0.882708,-0.278512],[0.913387,-0.404916,0.042046],[-0.149888,-0.238475,0.959512]] 2025-10-28T16:44:05.673Z,1761669845.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377197,-0.883788,-0.276842],[0.914273,-0.403026,0.040921],[-0.147740,-0.237674,0.960044]] 2025-10-28T16:44:06.074Z,1761669846.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376487,-0.884654,-0.275034],[0.914811,-0.401862,0.040339],[-0.146212,-0.236418,0.960588]] 2025-10-28T16:44:06.479Z,1761669846.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376694,-0.885348,-0.272509],[0.914942,-0.401598,0.040004],[-0.144856,-0.234260,0.961321]] 2025-10-28T16:44:06.883Z,1761669846.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377470,-0.885919,-0.269562],[0.914844,-0.401856,0.039641],[-0.143444,-0.231643,0.962167]] 2025-10-28T16:44:07.292Z,1761669847.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378794,-0.886436,-0.265982],[0.914606,-0.402478,0.038816],[-0.141460,-0.228566,0.963196]] 2025-10-28T16:44:07.728Z,1761669847.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380474,-0.887414,-0.260261],[0.914919,-0.402210,0.033904],[-0.134767,-0.225218,0.964943]] 2025-10-28T16:44:08.502Z,1761669848.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380426,-0.888115,-0.257930],[0.915589,-0.400976,0.030239],[-0.130279,-0.224654,0.965690]] 2025-10-28T16:44:08.903Z,1761669848.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379616,-0.888711,-0.257069],[0.916619,-0.398942,0.025603],[-0.125310,-0.225915,0.966054]] 2025-10-28T16:44:09.310Z,1761669849.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378503,-0.889239,-0.256885],[0.917776,-0.396569,0.020490],[-0.120093,-0.228007,0.966225]] 2025-10-28T16:44:09.714Z,1761669849.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376431,-0.889911,-0.257599],[0.919247,-0.393369,0.015646],[-0.115255,-0.230908,0.966125]] 2025-10-28T16:44:10.115Z,1761669850.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373841,-0.890587,-0.259032],[0.920830,-0.389803,0.011230],[-0.110973,-0.234326,0.965803]] 2025-10-28T16:44:10.528Z,1761669850.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368251,-0.891878,-0.262575],[0.923721,-0.383025,0.005525],[-0.105501,-0.240512,0.964896]] 2025-10-28T16:44:10.927Z,1761669850.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366311,-0.892269,-0.263956],[0.924650,-0.380796,0.004026],[-0.104106,-0.242592,0.964526]] 2025-10-28T16:44:11.335Z,1761669851.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365398,-0.891980,-0.266186],[0.925083,-0.379756,0.002674],[-0.103471,-0.245267,0.963918]] 2025-10-28T16:44:11.736Z,1761669851.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365951,-0.891787,-0.266074],[0.924900,-0.380204,0.002229],[-0.103150,-0.245277,0.963950]] 2025-10-28T16:44:12.141Z,1761669852.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367611,-0.891380,-0.265147],[0.924323,-0.381608,0.001382],[-0.102414,-0.244574,0.964207]] 2025-10-28T16:44:12.542Z,1761669852.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370878,-0.890078,-0.264973],[0.923190,-0.384342,-0.001120],[-0.100843,-0.245035,0.964255]] 2025-10-28T16:44:12.942Z,1761669852.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375191,-0.887945,-0.266056],[0.921669,-0.387945,-0.004991],[-0.098783,-0.247088,0.963945]] 2025-10-28T16:44:13.351Z,1761669853.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380166,-0.885757,-0.266285],[0.919904,-0.392034,-0.009273],[-0.096179,-0.248482,0.963850]] 2025-10-28T16:44:13.758Z,1761669853.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385332,-0.883529,-0.266261],[0.918109,-0.396065,-0.014430],[-0.092708,-0.250017,0.963793]] 2025-10-28T16:44:14.154Z,1761669854.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390687,-0.881639,-0.264718],[0.916359,-0.399814,-0.020844],[-0.087461,-0.250721,0.964100]] 2025-10-28T16:44:14.560Z,1761669854.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396120,-0.880304,-0.261063],[0.914640,-0.403307,-0.027867],[-0.080758,-0.249818,0.964919]] 2025-10-28T16:44:14.967Z,1761669854.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400945,-0.878787,-0.258798],[0.913177,-0.405941,-0.036318],[-0.073141,-0.250890,0.965249]] 2025-10-28T16:44:15.377Z,1761669855.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404869,-0.877897,-0.255692],[0.912073,-0.407568,-0.044846],[-0.064842,-0.251366,0.965718]] 2025-10-28T16:44:15.775Z,1761669855.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407600,-0.877634,-0.252231],[0.911423,-0.408031,-0.053102],[-0.056314,-0.251533,0.966209]] 2025-10-28T16:44:16.181Z,1761669856.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408632,-0.878236,-0.248436],[0.911439,-0.406959,-0.060528],[-0.047945,-0.251168,0.966755]] 2025-10-28T16:44:16.579Z,1761669856.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407950,-0.879471,-0.245169],[0.912108,-0.404475,-0.066773],[-0.040439,-0.250860,0.967178]] 2025-10-28T16:44:16.635Z,1761669856.635 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:44:16.635Z,1761669856.635 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:44:16.635Z,1761669856.635 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateRudder:A] Stopped 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:44:16.636Z,1761669856.636 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:44:16.637Z,1761669856.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:44:16.637Z,1761669856.637 [marl:UpdateCommandMode] Stopped 2025-10-28T16:44:16.637Z,1761669856.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:44:16.987Z,1761669856.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406237,-0.880967,-0.242630],[0.913149,-0.401161,-0.072313],[-0.033628,-0.250934,0.967420]] 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateRudder:B] Stopped 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateRudder] Stopped 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:44:17.018Z,1761669857.018 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:44:17.019Z,1761669857.019 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:44:17.019Z,1761669857.019 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:44:17.019Z,1761669857.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:44:17.019Z,1761669857.019 [marl:UpdateSpeed] Stopped 2025-10-28T16:44:17.019Z,1761669857.019 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:44:17.390Z,1761669857.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404147,-0.882646,-0.240003],[0.914287,-0.397635,-0.077234],[-0.027264,-0.250645,0.967695]] 2025-10-28T16:44:17.792Z,1761669857.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401927,-0.884495,-0.236904],[0.915419,-0.394215,-0.081258],[-0.021518,-0.249526,0.968129]] 2025-10-28T16:44:18.199Z,1761669858.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399724,-0.886085,-0.234679],[0.916483,-0.391005,-0.084697],[-0.016712,-0.248935,0.968376]] 2025-10-28T16:44:18.604Z,1761669858.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397783,-0.887404,-0.232989],[0.917391,-0.388240,-0.087542],[-0.012770,-0.248565,0.968531]] 2025-10-28T16:44:19.002Z,1761669859.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395979,-0.888816,-0.230665],[0.918205,-0.385999,-0.088908],[-0.010013,-0.247004,0.968963]] 2025-10-28T16:44:19.406Z,1761669859.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396197,-0.890010,-0.225634],[0.918125,-0.386346,-0.088227],[-0.008650,-0.242115,0.970209]] 2025-10-28T16:44:19.813Z,1761669859.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401239,-0.890581,-0.214177],[0.915933,-0.392301,-0.084660],[-0.008625,-0.230141,0.973119]] 2025-10-28T16:44:20.215Z,1761669860.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412271,-0.890757,-0.191273],[0.911010,-0.405285,-0.076186],[-0.009657,-0.205660,0.978576]] 2025-10-28T16:44:20.618Z,1761669860.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428668,-0.889287,-0.159412],[0.903403,-0.423940,-0.064333],[-0.010370,-0.171591,0.985114]] 2025-10-28T16:44:21.031Z,1761669861.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448924,-0.884762,-0.125157],[0.893514,-0.446034,-0.051828],[-0.009969,-0.135096,0.990782]] 2025-10-28T16:44:21.426Z,1761669861.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470732,-0.877308,-0.093498],[0.882233,-0.469110,-0.040018],[-0.008753,-0.101324,0.994815]] 2025-10-28T16:44:21.831Z,1761669861.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492978,-0.867608,-0.065033],[0.870019,-0.492128,-0.029610],[-0.006315,-0.071177,0.997444]] 2025-10-28T16:44:22.235Z,1761669862.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514572,-0.856367,-0.043013],[0.857443,-0.514080,-0.022667],[-0.002701,-0.048546,0.998817]] 2025-10-28T16:44:22.640Z,1761669862.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535039,-0.844422,-0.026161],[0.844825,-0.534708,-0.018913],[0.001982,-0.032220,0.999479]] 2025-10-28T16:44:23.042Z,1761669863.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554273,-0.832239,-0.012590],[0.832300,-0.554050,-0.017459],[0.007554,-0.020156,0.999768]] 2025-10-28T16:44:23.447Z,1761669863.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571635,-0.820506,-0.001719],[0.820393,-0.571518,-0.017963],[0.013757,-0.011678,0.999837]] 2025-10-28T16:44:23.850Z,1761669863.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586967,-0.809583,0.006755],[0.809365,-0.586974,-0.019723],[0.019932,-0.006109,0.999783]] 2025-10-28T16:44:24.256Z,1761669864.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601046,-0.799115,0.012571],[0.798792,-0.601166,-0.023060],[0.025985,-0.003819,0.999655]] 2025-10-28T16:44:24.670Z,1761669864.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613884,-0.789210,0.017121],[0.788771,-0.614116,-0.026491],[0.031421,-0.002758,0.999502]] 2025-10-28T16:44:25.063Z,1761669865.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626300,-0.779334,0.019678],[0.778747,-0.626598,-0.030464],[0.036071,-0.003756,0.999342]] 2025-10-28T16:44:25.467Z,1761669865.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638796,-0.769085,0.021143],[0.768319,-0.639118,-0.034840],[0.040308,-0.006011,0.999169]] 2025-10-28T16:44:25.871Z,1761669865.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651246,-0.758551,0.021886],[0.757600,-0.651554,-0.038976],[0.043826,-0.008802,0.999000]] 2025-10-28T16:44:26.276Z,1761669866.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663908,-0.747470,0.022670],[0.746332,-0.664196,-0.042807],[0.047054,-0.011501,0.998826]] 2025-10-28T16:44:26.683Z,1761669866.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677168,-0.735415,0.024682],[0.734090,-0.677492,-0.045995],[0.050547,-0.013028,0.998637]] 2025-10-28T16:44:27.082Z,1761669867.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690813,-0.722539,0.026734],[0.720991,-0.691168,-0.049591],[0.054309,-0.014983,0.998412]] 2025-10-28T16:44:27.490Z,1761669867.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703890,-0.709692,0.029584],[0.707903,-0.704323,-0.052935],[0.058405,-0.016318,0.998160]] 2025-10-28T16:44:27.892Z,1761669867.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715559,-0.697737,0.033732],[0.695711,-0.716168,-0.055577],[0.062935,-0.016301,0.997884]] 2025-10-28T16:44:28.294Z,1761669868.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726683,-0.685899,0.038390],[0.683613,-0.727520,-0.058204],[0.067851,-0.016052,0.997566]] 2025-10-28T16:44:28.699Z,1761669868.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737261,-0.674202,0.043568],[0.671623,-0.738380,-0.060962],[0.073271,-0.015684,0.997189]] 2025-10-28T16:44:29.103Z,1761669869.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746679,-0.663448,0.048021],[0.660545,-0.748049,-0.064054],[0.078419,-0.016108,0.996790]] 2025-10-28T16:44:29.515Z,1761669869.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755449,-0.653143,0.051980],[0.649889,-0.757042,-0.067309],[0.083314,-0.017068,0.996377]] 2025-10-28T16:44:29.586Z,1761669869.586 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:44:29.586Z,1761669869.586 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:44:29.587Z,1761669869.587 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:44:29.592Z,1761669869.592 [marl:UpdateRudder:A] Stopped 2025-10-28T16:44:29.592Z,1761669869.592 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:44:29.593Z,1761669869.593 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:44:29.593Z,1761669869.593 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:44:29.593Z,1761669869.593 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:44:29.595Z,1761669869.595 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:44:29.595Z,1761669869.595 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:44:29.595Z,1761669869.595 [marl:UpdateCommandMode] Stopped 2025-10-28T16:44:29.596Z,1761669869.596 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:44:29.911Z,1761669869.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763615,-0.643194,0.056510],[0.639654,-0.765516,-0.069477],[0.087947,-0.016907,0.995982]] 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateRudder:B] Stopped 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateRudder] Stopped 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:44:29.989Z,1761669869.989 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:44:29.990Z,1761669869.990 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:44:29.990Z,1761669869.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:44:29.990Z,1761669869.990 [marl:UpdateSpeed] Stopped 2025-10-28T16:44:29.990Z,1761669869.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:44:30.719Z,1761669870.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779608,-0.623077,0.063137],[0.619031,-0.781956,-0.073115],[0.094926,-0.017918,0.995323]] 2025-10-28T16:44:31.124Z,1761669871.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787616,-0.612619,0.066031],[0.608470,-0.790183,-0.073314],[0.097090,-0.017565,0.995121]] 2025-10-28T16:44:31.527Z,1761669871.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795647,-0.601948,0.067856],[0.597736,-0.798339,-0.073260],[0.098271,-0.017730,0.995002]] 2025-10-28T16:44:31.931Z,1761669871.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804786,-0.589450,0.069771],[0.585222,-0.807612,-0.072645],[0.099168,-0.017632,0.994914]] 2025-10-28T16:44:32.335Z,1761669872.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814578,-0.575604,0.071714],[0.571414,-0.817548,-0.071425],[0.099742,-0.017203,0.994865]] 2025-10-28T16:44:32.746Z,1761669872.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825301,-0.559927,0.073208],[0.555701,-0.828349,-0.070952],[0.100370,-0.017875,0.994790]] 2025-10-28T16:44:33.150Z,1761669873.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836583,-0.542660,0.075158],[0.538453,-0.839761,-0.069776],[0.100979,-0.017904,0.994727]] 2025-10-28T16:44:33.546Z,1761669873.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847902,-0.524580,0.076672],[0.520399,-0.851166,-0.068565],[0.101228,-0.018236,0.994696]] 2025-10-28T16:44:33.952Z,1761669873.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859032,-0.505880,0.078410],[0.501807,-0.862421,-0.066486],[0.101256,-0.017766,0.994702]] 2025-10-28T16:44:34.355Z,1761669874.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869824,-0.486785,0.080296],[0.482823,-0.873353,-0.064310],[0.101432,-0.017169,0.994694]] 2025-10-28T16:44:34.729Z,1761669874.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:44:34.763Z,1761669874.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880209,-0.467326,0.082690],[0.463463,-0.883933,-0.062173],[0.102148,-0.016401,0.994634]] 2025-10-28T16:44:35.168Z,1761669875.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889875,-0.448311,0.084492],[0.444437,-0.893718,-0.061192],[0.102945,-0.016902,0.994543]] 2025-10-28T16:44:35.571Z,1761669875.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898635,-0.429988,0.086979],[0.426214,-0.902693,-0.059050],[0.103906,-0.015993,0.994459]] 2025-10-28T16:44:35.732Z,1761669875.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:44:35.974Z,1761669875.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906341,-0.412886,0.089841],[0.409280,-0.910671,-0.056285],[0.105055,-0.014243,0.994365]] 2025-10-28T16:44:36.374Z,1761669876.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912820,-0.397745,0.092508],[0.394381,-0.917419,-0.052970],[0.105938,-0.011869,0.994302]] 2025-10-28T16:44:36.783Z,1761669876.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918491,-0.383826,0.095141],[0.380701,-0.923357,-0.049793],[0.106961,-0.009514,0.994218]] 2025-10-28T16:44:37.182Z,1761669877.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923807,-0.370152,0.097818],[0.367276,-0.928944,-0.046596],[0.108115,-0.007120,0.994113]] 2025-10-28T16:44:37.646Z,1761669877.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928603,-0.357232,0.100414],[0.354615,-0.934004,-0.043417],[0.109297,-0.004709,0.993998]] 2025-10-28T16:44:37.992Z,1761669877.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933031,-0.345138,0.101646],[0.342554,-0.938540,-0.042429],[0.110043,-0.004768,0.993915]] 2025-10-28T16:44:38.395Z,1761669878.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937428,-0.332761,0.102467],[0.330210,-0.942998,-0.041420],[0.110409,-0.004993,0.993874]] 2025-10-28T16:44:38.799Z,1761669878.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941931,-0.319523,0.103302],[0.317042,-0.947566,-0.040051],[0.110683,-0.004974,0.993843]] 2025-10-28T16:44:39.205Z,1761669879.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946752,-0.305025,0.103055],[0.302584,-0.952327,-0.038931],[0.110017,-0.005675,0.993914]] 2025-10-28T16:44:39.645Z,1761669879.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951849,-0.289239,0.101604],[0.286707,-0.957223,-0.039024],[0.108545,-0.008014,0.994059]] 2025-10-28T16:44:40.011Z,1761669880.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957022,-0.272251,0.099945],[0.269684,-0.962174,-0.038613],[0.106677,-0.010000,0.994243]] 2025-10-28T16:44:40.415Z,1761669880.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962290,-0.253719,0.098103],[0.251188,-0.967210,-0.037553],[0.104414,-0.011495,0.994467]] 2025-10-28T16:44:40.821Z,1761669880.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967324,-0.234488,0.096440],[0.232078,-0.972044,-0.035643],[0.102102,-0.012096,0.994700]] 2025-10-28T16:44:40.846Z,1761669880.846 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:44:41.013Z,1761669881.013 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:44:41.013Z,1761669881.013 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:44:41.222Z,1761669881.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971922,-0.215018,0.095576],[0.212779,-0.976538,-0.033155],[0.100463,-0.011888,0.994870]] 2025-10-28T16:44:41.265Z,1761669881.265 [DAT](INFO): DAT read: user:21> 2025-10-28T16:44:41.266Z,1761669881.266 [DAT](INFO): DAT read: Tx time:16:44:41.0151 2025-10-28T16:44:41.266Z,1761669881.266 [DAT](INFO): Ping request sent. 2025-10-28T16:44:41.266Z,1761669881.266 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:44:41.266Z,1761669881.266 [DAT](INFO): publishing transmit ping time 2025-10-28T16:44:41.267Z,1761669881.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T16:44:41.517Z,1761669881.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250741 2025-10-28T16:44:41.655Z,1761669881.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976077,-0.195587,0.094975],[0.193480,-0.980614,-0.031000],[0.099196,-0.011882,0.994997]] 2025-10-28T16:44:41.770Z,1761669881.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503413 2025-10-28T16:44:42.022Z,1761669882.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755730 2025-10-28T16:44:42.032Z,1761669882.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979697,-0.176615,0.094878],[0.174621,-0.984209,-0.028992],[0.098500,-0.011836,0.995067]] 2025-10-28T16:44:42.273Z,1761669882.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006743 2025-10-28T16:44:42.437Z,1761669882.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982767,-0.158749,0.094697],[0.156897,-0.987253,-0.026742],[0.097735,-0.011424,0.995147]] 2025-10-28T16:44:42.468Z,1761669882.468 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:44:42.468Z,1761669882.468 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateRudder:A] Stopped 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:44:42.469Z,1761669882.469 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:44:42.470Z,1761669882.470 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:44:42.470Z,1761669882.470 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:44:42.470Z,1761669882.470 [marl:UpdateCommandMode] Stopped 2025-10-28T16:44:42.470Z,1761669882.470 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:44:42.525Z,1761669882.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258904 2025-10-28T16:44:42.777Z,1761669882.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511145 2025-10-28T16:44:42.839Z,1761669882.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985237,-0.142754,0.094496],[0.141098,-0.989704,-0.024010],[0.096950,-0.010322,0.995236]] 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateRudder:B] Stopped 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateRudder] Stopped 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:44:42.882Z,1761669882.882 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed] Stopped 2025-10-28T16:44:42.883Z,1761669882.883 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:44:43.029Z,1761669883.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762785 2025-10-28T16:44:43.242Z,1761669883.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987334,-0.127888,0.093899],[0.126396,-0.991743,-0.021690],[0.095898,-0.009546,0.995345]] 2025-10-28T16:44:43.281Z,1761669883.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014945 2025-10-28T16:44:43.533Z,1761669883.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783 2025-10-28T16:44:43.661Z,1761669883.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989140,-0.113529,0.093340],[0.112323,-0.993507,-0.018092],[0.094788,-0.007412,0.995470]] 2025-10-28T16:44:43.785Z,1761669883.785 [DAT](INFO): DAT read: Rx Time:16:44:43.1511 2025-10-28T16:44:43.786Z,1761669883.786 [DAT](INFO): Rx dataTimestamp_ set to:1761669883.785213 2025-10-28T16:44:43.786Z,1761669883.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519965 2025-10-28T16:44:44.037Z,1761669884.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770756 2025-10-28T16:44:44.053Z,1761669884.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990774,-0.099549,0.091963],[0.098332,-0.994997,-0.017682],[0.093263,-0.008476,0.995605]] 2025-10-28T16:44:44.293Z,1761669884.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026168 2025-10-28T16:44:44.455Z,1761669884.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992231,-0.085424,0.090450],[0.084329,-0.996312,-0.015869],[0.091472,-0.008118,0.995775]] 2025-10-28T16:44:44.550Z,1761669884.550 [DAT](INFO): DAT read: 16:44:43.1511 LVL= 21616, 26465, 30834, 28291, AGC= 45, IDX= 291,-0.35,-1.163,-2.063,-2.875,-1.952, PHS= 0.892,-0.065,-0.967, RAW= 61.0, 1.8, CAL= 61.0, -0.8, ROT= 89.0, 0.8 2025-10-28T16:44:44.551Z,1761669884.551 [DAT](INFO): got valid direction response: 16:44:43.1511 LVL= 21616, 26465, 30834, 28291, AGC= 45, IDX= 291,-0.35,-1.163,-2.063,-2.875,-1.952, PHS= 0.892,-0.065,-0.967, RAW= 61.0, 1.8, CAL= 61.0, -0.8, ROT= 89.0, 0.8 2025-10-28T16:44:44.552Z,1761669884.552 [DAT](INFO): DAT read: Bearing 247, -23 (Remote) 2025-10-28T16:44:44.552Z,1761669884.552 [DAT](INFO): Remote Bearing received:Bearing 247, -23 (Remote) 2025-10-28T16:44:44.553Z,1761669884.553 [DAT](INFO): DAT read: Bearing 140.8, 86.1 (Local) 2025-10-28T16:44:44.554Z,1761669884.554 [DAT](INFO): Local bearing/azimuth received: Bearing 140.8, 86.1 (Local) 2025-10-28T16:44:44.555Z,1761669884.555 [DAT](INFO): DAT read: Range 11 to 20 : 80.1 m (Round-trip 106.9 ms) speed 0.7 m/s 2025-10-28T16:44:44.559Z,1761669884.559 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:44:44.562Z,1761669884.562 [DAT](INFO): direction in FSK: [0.017451,0.999750,-0.013962] 2025-10-28T16:44:44.562Z,1761669884.562 [DAT](INFO): publishing direction and range info 2025-10-28T16:44:44.859Z,1761669884.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993490,-0.071178,0.088950],[0.070272,-0.997439,-0.013281],[0.089667,-0.006944,0.995948]] 2025-10-28T16:44:44.912Z,1761669884.912 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669888.00. Resetting abort timer. 2025-10-28T16:44:45.265Z,1761669885.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994574,-0.056959,0.087058],[0.056069,-0.998347,-0.012628],[0.087633,-0.007679,0.996123]] 2025-10-28T16:44:45.667Z,1761669885.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995376,-0.045824,0.084420],[0.044532,-0.998861,-0.017131],[0.085109,-0.013292,0.996283]] 2025-10-28T16:44:46.071Z,1761669886.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995946,-0.038598,0.081258],[0.036301,-0.998904,-0.029558],[0.082310,-0.026489,0.996255]] 2025-10-28T16:44:46.475Z,1761669886.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996317,-0.034270,0.078600],[0.030514,-0.998357,-0.048492],[0.080133,-0.045915,0.995726]] 2025-10-28T16:44:46.880Z,1761669886.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996663,-0.030426,0.075747],[0.024733,-0.996877,-0.074995],[0.077792,-0.072872,0.994303]] 2025-10-28T16:44:47.283Z,1761669887.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996960,-0.026911,0.073119],[0.019275,-0.994474,-0.103198],[0.075492,-0.101475,0.991970]] 2025-10-28T16:44:47.687Z,1761669887.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997216,-0.023598,0.070730],[0.014170,-0.991288,-0.130946],[0.073204,-0.129579,0.988863]] 2025-10-28T16:44:48.090Z,1761669888.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997421,-0.019744,0.069001],[0.008902,-0.988025,-0.154034],[0.071216,-0.153022,0.985653]] 2025-10-28T16:44:48.497Z,1761669888.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997593,-0.015622,0.067562],[0.003683,-0.984855,-0.173340],[0.069247,-0.172674,0.982542]] 2025-10-28T16:44:48.899Z,1761669888.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997738,-0.010509,0.066392],[-0.002056,-0.982470,-0.186408],[0.067188,-0.186123,0.980227]] 2025-10-28T16:44:49.302Z,1761669889.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997849,-0.005291,0.065348],[-0.007559,-0.980807,-0.194837],[0.065125,-0.194912,0.978656]] 2025-10-28T16:44:49.706Z,1761669889.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997898,-0.000106,0.064801],[-0.012885,-0.979705,-0.200032],[0.063507,-0.200447,0.977644]] 2025-10-28T16:44:50.122Z,1761669890.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997933,0.004776,0.064078],[-0.017673,-0.979173,-0.202257],[0.061778,-0.202972,0.977234]] 2025-10-28T16:44:50.514Z,1761669890.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997979,0.008828,0.062928],[-0.021387,-0.979192,-0.201805],[0.059837,-0.202743,0.977402]] 2025-10-28T16:44:50.919Z,1761669890.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998060,0.011064,0.061276],[-0.023212,-0.979263,-0.201261],[0.057778,-0.202292,0.977619]] 2025-10-28T16:44:51.325Z,1761669891.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998140,0.012722,0.059625],[-0.024369,-0.979718,-0.198893],[0.055885,-0.199976,0.978206]] 2025-10-28T16:44:51.726Z,1761669891.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998220,0.013653,0.058053],[-0.024891,-0.979981,-0.197527],[0.054194,-0.198621,0.978577]] 2025-10-28T16:44:52.139Z,1761669892.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998328,0.013404,0.056224],[-0.024181,-0.980379,-0.195634],[0.052499,-0.196667,0.979064]] 2025-10-28T16:44:52.537Z,1761669892.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998449,0.013086,0.054117],[-0.023439,-0.980448,-0.195376],[0.050502,-0.196341,0.979234]] 2025-10-28T16:44:52.939Z,1761669892.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998552,0.012962,0.052215],[-0.022907,-0.980605,-0.194649],[0.048679,-0.195563,0.979482]] 2025-10-28T16:44:53.789Z,1761669893.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998798,0.016022,0.046317],[-0.024690,-0.980861,-0.193136],[0.042336,-0.194048,0.980078]] 2025-10-28T16:44:54.187Z,1761669894.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998823,0.019316,0.044488],[-0.027571,-0.980777,-0.193176],[0.039902,-0.194175,0.980155]] 2025-10-28T16:44:54.586Z,1761669894.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998838,0.023509,0.042060],[-0.031201,-0.980746,-0.192777],[0.036718,-0.193865,0.980341]] 2025-10-28T16:44:55.083Z,1761669895.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998799,0.028849,0.039601],[-0.035980,-0.980500,-0.193197],[0.033255,-0.194390,0.980360]] 2025-10-28T16:44:55.393Z,1761669895.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998688,0.035242,0.037149],[-0.041779,-0.980270,-0.193198],[0.029607,-0.194496,0.980456]] 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateRudder:A] Stopped 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:44:55.474Z,1761669895.474 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode] Stopped 2025-10-28T16:44:55.475Z,1761669895.475 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:44:55.795Z,1761669895.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998485,0.042548,0.034884],[-0.048454,-0.980364,-0.191150],[0.026066,-0.192551,0.980941]] 2025-10-28T16:44:55.889Z,1761669895.889 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:44:55.889Z,1761669895.889 [marl:UpdateRudder:B] Stopped 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateRudder] Stopped 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:44:55.890Z,1761669895.890 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:44:55.891Z,1761669895.891 [marl:UpdateSpeed] Stopped 2025-10-28T16:44:55.891Z,1761669895.891 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:44:56.202Z,1761669896.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998213,0.049950,0.032793],[-0.055269,-0.980414,-0.189032],[0.022708,-0.190507,0.981423]] 2025-10-28T16:44:56.610Z,1761669896.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997889,0.057069,0.030998],[-0.061900,-0.980196,-0.188104],[0.019649,-0.189626,0.981660]] 2025-10-28T16:44:57.009Z,1761669897.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997434,0.065388,0.029140],[-0.069686,-0.980055,-0.186106],[0.016390,-0.187659,0.982098]] 2025-10-28T16:44:57.415Z,1761669897.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996672,0.076915,0.026983],[-0.080514,-0.980585,-0.178801],[0.012707,-0.180378,0.983515]] 2025-10-28T16:44:57.815Z,1761669897.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995376,0.092970,0.024132],[-0.095654,-0.982295,-0.161083],[0.008729,-0.162647,0.986646]] 2025-10-28T16:44:58.223Z,1761669898.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993691,0.110485,0.019280],[-0.112080,-0.984505,-0.134864],[0.004081,-0.136174,0.990677]] 2025-10-28T16:44:58.629Z,1761669898.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991627,0.128438,0.013416],[-0.129136,-0.985940,-0.106052],[-0.000393,-0.106896,0.994270]] 2025-10-28T16:44:59.026Z,1761669899.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989404,0.145015,0.007106],[-0.145115,-0.986153,-0.080279],[-0.004634,-0.080460,0.996747]] 2025-10-28T16:44:59.431Z,1761669899.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986819,0.161822,0.001479],[-0.161615,-0.985004,-0.060392],[-0.008316,-0.059835,0.998174]] 2025-10-28T16:44:59.835Z,1761669899.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984124,0.177444,-0.003783],[-0.177106,-0.983192,-0.044350],[-0.011590,-0.042976,0.999009]] 2025-10-28T16:45:00.243Z,1761669900.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981187,0.192884,-0.008235],[-0.192510,-0.980719,-0.033621],[-0.014561,-0.031403,0.999401]] 2025-10-28T16:45:00.643Z,1761669900.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978106,0.207752,-0.012123],[-0.207388,-0.977912,-0.026040],[-0.017265,-0.022956,0.999587]] 2025-10-28T16:45:01.047Z,1761669901.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974916,0.222032,-0.015534],[-0.221704,-0.974902,-0.020344],[-0.019661,-0.016390,0.999672]] 2025-10-28T16:45:01.453Z,1761669901.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971668,0.235665,-0.017992],[-0.235386,-0.971764,-0.016357],[-0.021339,-0.011658,0.999704]] 2025-10-28T16:45:01.854Z,1761669901.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968163,0.249519,-0.020038],[-0.249297,-0.968341,-0.012952],[-0.022635,-0.007544,0.999715]] 2025-10-28T16:45:02.262Z,1761669902.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964574,0.262979,-0.020956],[-0.262764,-0.964779,-0.012486],[-0.023501,-0.006538,0.999702]] 2025-10-28T16:45:02.664Z,1761669902.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960831,0.276276,-0.021807],[-0.276052,-0.961058,-0.012726],[-0.024473,-0.006208,0.999681]] 2025-10-28T16:45:03.066Z,1761669903.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956845,0.289696,-0.022879],[-0.289462,-0.957101,-0.013050],[-0.025678,-0.005864,0.999653]] 2025-10-28T16:45:03.472Z,1761669903.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953126,0.301586,-0.024422],[-0.301353,-0.953427,-0.012787],[-0.027141,-0.004828,0.999620]] 2025-10-28T16:45:03.875Z,1761669903.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948985,0.314255,-0.025909],[-0.313997,-0.949326,-0.013620],[-0.028876,-0.004790,0.999572]] 2025-10-28T16:45:04.281Z,1761669904.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944011,0.328821,-0.026838],[-0.328490,-0.944371,-0.016052],[-0.030623,-0.006337,0.999511]] 2025-10-28T16:45:04.683Z,1761669904.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938627,0.343786,-0.028108],[-0.343418,-0.939026,-0.017172],[-0.032297,-0.006465,0.999457]] 2025-10-28T16:45:05.091Z,1761669905.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932286,0.360625,-0.028155],[-0.360152,-0.932668,-0.020537],[-0.033665,-0.009006,0.999393]] 2025-10-28T16:45:05.491Z,1761669905.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925030,0.378867,-0.027924],[-0.378308,-0.925386,-0.023322],[-0.034677,-0.011010,0.999338]] 2025-10-28T16:45:05.852Z,1761669905.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:45:05.900Z,1761669905.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917062,0.397755,-0.028068],[-0.397134,-0.917413,-0.025256],[-0.035795,-0.012015,0.999287]] 2025-10-28T16:45:06.298Z,1761669906.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908460,0.417059,-0.027607],[-0.416376,-0.908781,-0.027344],[-0.036493,-0.013346,0.999245]] 2025-10-28T16:45:06.703Z,1761669906.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899554,0.435938,-0.027571],[-0.435232,-0.899878,-0.028153],[-0.037084,-0.013326,0.999223]] 2025-10-28T16:45:06.856Z,1761669906.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:45:07.113Z,1761669907.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890589,0.453948,-0.027976],[-0.453251,-0.890944,-0.027967],[-0.037620,-0.012227,0.999217]] 2025-10-28T16:45:07.512Z,1761669907.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881846,0.470711,-0.027912],[-0.470005,-0.882207,-0.028371],[-0.037979,-0.011900,0.999208]] 2025-10-28T16:45:07.914Z,1761669907.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873835,0.485351,-0.029100],[-0.484719,-0.874274,-0.026300],[-0.038206,-0.008876,0.999230]] 2025-10-28T16:45:08.319Z,1761669908.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866877,0.497635,-0.029716],[-0.497069,-0.867362,-0.024614],[-0.038023,-0.006566,0.999255]] 2025-10-28T16:45:08.359Z,1761669908.359 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:45:08.359Z,1761669908.359 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:45:08.359Z,1761669908.359 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:45:08.359Z,1761669908.359 [marl:UpdateRudder:A] Stopped 2025-10-28T16:45:08.360Z,1761669908.360 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:45:08.360Z,1761669908.360 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:45:08.364Z,1761669908.364 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:45:08.364Z,1761669908.364 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:45:08.368Z,1761669908.368 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:45:08.368Z,1761669908.368 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:45:08.368Z,1761669908.368 [marl:UpdateCommandMode] Stopped 2025-10-28T16:45:08.368Z,1761669908.368 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:45:08.723Z,1761669908.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860508,0.508546,-0.030103],[-0.508025,-0.861020,-0.023549],[-0.037895,-0.004970,0.999269]] 2025-10-28T16:45:08.749Z,1761669908.749 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:45:08.749Z,1761669908.749 [marl:UpdateRudder:B] Stopped 2025-10-28T16:45:08.749Z,1761669908.749 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:45:08.749Z,1761669908.749 [marl:UpdateRudder] Stopped 2025-10-28T16:45:08.749Z,1761669908.749 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:45:08.750Z,1761669908.750 [marl:UpdateSpeed] Stopped 2025-10-28T16:45:08.751Z,1761669908.751 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:45:09.128Z,1761669909.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854907,0.517846,-0.031149],[-0.517426,-0.855472,-0.020921],[-0.037481,-0.001768,0.999296]] 2025-10-28T16:45:09.530Z,1761669909.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849346,0.526978,-0.030076],[-0.526519,-0.849873,-0.022200],[-0.037260,-0.003020,0.999301]] 2025-10-28T16:45:09.934Z,1761669909.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843518,0.536349,-0.028409],[-0.535836,-0.843982,-0.023979],[-0.036837,-0.005004,0.999309]] 2025-10-28T16:45:10.342Z,1761669910.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837138,0.546305,-0.027390],[-0.545783,-0.837568,-0.024521],[-0.036336,-0.005579,0.999324]] 2025-10-28T16:45:10.746Z,1761669910.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829767,0.557544,-0.025140],[-0.556948,-0.830103,-0.027158],[-0.036011,-0.008534,0.999315]] 2025-10-28T16:45:11.147Z,1761669911.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821083,0.570356,-0.022736],[-0.569681,-0.821313,-0.030148],[-0.035869,-0.011801,0.999287]] 2025-10-28T16:45:11.551Z,1761669911.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811185,0.584469,-0.019359],[-0.583695,-0.811248,-0.034323],[-0.035766,-0.016542,0.999223]] 2025-10-28T16:45:11.957Z,1761669911.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800530,0.599037,-0.017503],[-0.598221,-0.800504,-0.036412],[-0.035823,-0.018679,0.999184]] 2025-10-28T16:45:12.359Z,1761669912.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789220,0.613930,-0.014904],[-0.613074,-0.789066,-0.038929],[-0.035660,-0.021586,0.999131]] 2025-10-28T16:45:12.787Z,1761669912.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777312,0.628975,-0.013269],[-0.628096,-0.777080,-0.040518],[-0.035796,-0.023161,0.999091]] 2025-10-28T16:45:13.167Z,1761669913.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765567,0.643240,-0.012256],[-0.642354,-0.765298,-0.041221],[-0.035894,-0.023684,0.999075]] 2025-10-28T16:45:13.599Z,1761669913.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754562,0.656127,-0.011575],[-0.655263,-0.754290,-0.040955],[-0.035603,-0.023318,0.999094]] 2025-10-28T16:45:13.975Z,1761669913.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744174,0.667877,-0.012030],[-0.667047,-0.743962,-0.039604],[-0.035401,-0.021448,0.999143]] 2025-10-28T16:45:14.378Z,1761669914.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734373,0.678613,-0.013447],[-0.677844,-0.734274,-0.037006],[-0.034987,-0.018061,0.999225]] 2025-10-28T16:45:14.785Z,1761669914.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725556,0.688021,-0.013996],[-0.687293,-0.725511,-0.035535],[-0.034603,-0.016163,0.999270]] 2025-10-28T16:45:15.187Z,1761669915.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716573,0.697386,-0.013288],[-0.696675,-0.716516,-0.035320],[-0.034153,-0.016052,0.999288]] 2025-10-28T16:45:15.637Z,1761669915.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708026,0.706050,-0.013860],[-0.705388,-0.708022,-0.033647],[-0.033570,-0.014047,0.999338]] 2025-10-28T16:45:15.995Z,1761669915.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699344,0.714663,-0.013218],[-0.714023,-0.699332,-0.033247],[-0.033005,-0.013813,0.999360]] 2025-10-28T16:45:16.406Z,1761669916.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689607,0.724079,-0.012328],[-0.723457,-0.689578,-0.033054],[-0.032435,-0.013876,0.999378]] 2025-10-28T16:45:16.802Z,1761669916.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679151,0.733927,-0.010240],[-0.733305,-0.679049,-0.034013],[-0.031917,-0.015591,0.999369]] 2025-10-28T16:45:17.206Z,1761669917.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667288,0.744769,-0.006787],[-0.744138,-0.667052,-0.036057],[-0.031381,-0.019010,0.999327]] 2025-10-28T16:45:17.642Z,1761669917.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653682,0.756760,-0.003746],[-0.756134,-0.653328,-0.037732],[-0.031001,-0.021832,0.999281]] 2025-10-28T16:45:18.017Z,1761669918.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638995,0.769208,-0.002027],[-0.768602,-0.638593,-0.038085],[-0.030589,-0.022778,0.999272]] 2025-10-28T16:45:18.431Z,1761669918.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623496,0.781825,0.001378],[-0.781245,-0.622964,-0.039655],[-0.030145,-0.025801,0.999213]] 2025-10-28T16:45:18.822Z,1761669918.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607521,0.794298,0.003073],[-0.793730,-0.606931,-0.040343],[-0.030179,-0.026948,0.999181]] 2025-10-28T16:45:19.231Z,1761669919.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591710,0.806147,0.002677],[-0.805577,-0.591160,-0.039693],[-0.030416,-0.025643,0.999208]] 2025-10-28T16:45:19.650Z,1761669919.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577264,0.816557,0.001302],[-0.815991,-0.576803,-0.038178],[-0.030423,-0.023101,0.999270]] 2025-10-28T16:45:20.034Z,1761669920.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563776,0.825928,0.000441],[-0.825378,-0.563381,-0.036773],[-0.030123,-0.021096,0.999324]] 2025-10-28T16:45:20.439Z,1761669920.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550819,0.834625,-0.000143],[-0.834083,-0.550468,-0.035930],[-0.030066,-0.019672,0.999354]] 2025-10-28T16:45:20.843Z,1761669920.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538878,0.842384,-0.000694],[-0.841865,-0.538574,-0.034661],[-0.029572,-0.018094,0.999399]] 2025-10-28T16:45:21.254Z,1761669921.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527250,0.849710,-0.001135],[-0.849209,-0.526984,-0.033634],[-0.029177,-0.016769,0.999434]] 2025-10-28T16:45:21.278Z,1761669921.278 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:45:21.278Z,1761669921.278 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:45:21.278Z,1761669921.278 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateRudder:A] Stopped 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:45:21.279Z,1761669921.279 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:45:21.280Z,1761669921.280 [marl:UpdateCommandMode] Stopped 2025-10-28T16:45:21.280Z,1761669921.280 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:45:21.655Z,1761669921.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514434,0.857530,-0.000623],[-0.857058,-0.514174,-0.032820],[-0.028464,-0.016350,0.999461]] 2025-10-28T16:45:21.703Z,1761669921.703 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:45:21.703Z,1761669921.703 [marl:UpdateRudder:B] Stopped 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateRudder] Stopped 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:45:21.704Z,1761669921.704 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:45:21.705Z,1761669921.705 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:45:21.705Z,1761669921.705 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:45:21.705Z,1761669921.705 [marl:UpdateSpeed] Stopped 2025-10-28T16:45:21.705Z,1761669921.705 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:45:22.059Z,1761669922.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501238,0.865310,0.000416],[-0.864884,-0.500976,-0.031595],[-0.027131,-0.016196,0.999501]] 2025-10-28T16:45:22.462Z,1761669922.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487959,0.872860,0.003434],[-0.872507,-0.487641,-0.030623],[-0.025055,-0.017939,0.999525]] 2025-10-28T16:45:22.866Z,1761669922.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473917,0.880550,0.005847],[-0.880268,-0.473571,-0.029296],[-0.023028,-0.019031,0.999554]] 2025-10-28T16:45:23.266Z,1761669923.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460028,0.887878,0.006786],[-0.887653,-0.459703,-0.027290],[-0.021111,-0.018578,0.999605]] 2025-10-28T16:45:23.670Z,1761669923.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446807,0.894593,0.008215],[-0.894431,-0.446495,-0.025217],[-0.018891,-0.018615,0.999648]] 2025-10-28T16:45:24.082Z,1761669924.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434647,0.900565,0.008101],[-0.900445,-0.434386,-0.022538],[-0.016778,-0.017091,0.999713]] 2025-10-28T16:45:24.487Z,1761669924.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423468,0.905895,0.005356],[-0.905794,-0.423311,-0.018584],[-0.014568,-0.012721,0.999813]] 2025-10-28T16:45:24.882Z,1761669924.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413199,0.910628,0.004849],[-0.910560,-0.413086,-0.015481],[-0.012094,-0.010812,0.999868]] 2025-10-28T16:45:25.287Z,1761669925.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403612,0.914911,0.005890],[-0.914879,-0.403513,-0.013195],[-0.009695,-0.010714,0.999896]] 2025-10-28T16:45:25.690Z,1761669925.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394306,0.918957,0.006426],[-0.918951,-0.394229,-0.010602],[-0.007210,-0.010086,0.999923]] 2025-10-28T16:45:26.097Z,1761669926.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384403,0.923120,0.009159],[-0.923155,-0.384331,-0.008664],[-0.004477,-0.011786,0.999921]] 2025-10-28T16:45:26.499Z,1761669926.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372913,0.927767,0.013577],[-0.927865,-0.372852,-0.006918],[-0.001356,-0.015177,0.999884]] 2025-10-28T16:45:26.902Z,1761669926.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359448,0.932997,0.017718],[-0.933163,-0.359423,-0.004669],[0.002012,-0.018212,0.999832]] 2025-10-28T16:45:27.306Z,1761669927.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343305,0.938953,0.022560],[-0.939209,-0.343335,-0.002650],[0.005257,-0.022099,0.999742]] 2025-10-28T16:45:27.711Z,1761669927.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324959,0.945315,0.027942],[-0.945687,-0.325078,-0.000264],[0.008834,-0.026510,0.999609]] 2025-10-28T16:45:28.116Z,1761669928.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304636,0.951888,0.033253],[-0.952390,-0.304873,0.002184],[0.012217,-0.031004,0.999445]] 2025-10-28T16:45:28.518Z,1761669928.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282691,0.958541,0.035837],[-0.959093,-0.283046,0.005132],[0.015063,-0.032921,0.999344]] 2025-10-28T16:45:28.923Z,1761669928.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259371,0.965070,0.036958],[-0.965627,-0.259817,0.007745],[0.017077,-0.033679,0.999287]] 2025-10-28T16:45:29.328Z,1761669929.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235872,0.971053,0.037684],[-0.971613,-0.236381,0.009633],[0.018262,-0.034342,0.999243]] 2025-10-28T16:45:29.730Z,1761669929.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212792,0.976418,0.036432],[-0.976917,-0.213321,0.011271],[0.018777,-0.033193,0.999273]] 2025-10-28T16:45:30.135Z,1761669930.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191678,0.980904,0.032970],[-0.981276,-0.192181,0.012806],[0.018898,-0.029898,0.999374]] 2025-10-28T16:45:30.540Z,1761669930.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173040,0.984512,0.028159],[-0.984728,-0.173494,0.014552],[0.019212,-0.025211,0.999498]] 2025-10-28T16:45:30.944Z,1761669930.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157409,0.987252,0.023581],[-0.987333,-0.157813,0.016360],[0.019872,-0.020707,0.999588]] 2025-10-28T16:45:31.346Z,1761669931.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145215,0.989235,0.018056],[-0.989177,-0.145545,0.018575],[0.021003,-0.015163,0.999664]] 2025-10-28T16:45:31.753Z,1761669931.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134449,0.990833,0.013151],[-0.990678,-0.134698,0.020352],[0.021937,-0.010292,0.999706]] 2025-10-28T16:45:32.155Z,1761669932.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125036,0.992098,0.010409],[-0.991880,-0.125240,0.022091],[0.023220,-0.007562,0.999702]] 2025-10-28T16:45:32.575Z,1761669932.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116333,0.993161,0.009868],[-0.992901,-0.116539,0.023816],[0.024803,-0.007028,0.999668]] 2025-10-28T16:45:32.963Z,1761669932.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107638,0.994128,0.011109],[-0.993825,-0.107894,0.025901],[0.026947,-0.008253,0.999603]] 2025-10-28T16:45:33.366Z,1761669933.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097722,0.995149,0.011368],[-0.994768,-0.098013,0.028800],[0.029774,-0.008494,0.999521]] 2025-10-28T16:45:33.775Z,1761669933.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085591,0.996226,0.014421],[-0.995793,-0.086011,0.031598],[0.032719,-0.011656,0.999397]] 2025-10-28T16:45:34.176Z,1761669934.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070452,0.997363,0.017415],[-0.996883,-0.071018,0.034364],[0.035510,-0.014940,0.999258]] 2025-10-28T16:45:34.201Z,1761669934.201 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:45:34.201Z,1761669934.201 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:45:34.201Z,1761669934.201 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateRudder:A] Stopped 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:45:34.202Z,1761669934.202 [marl:UpdateCommandMode] Stopped 2025-10-28T16:45:34.203Z,1761669934.203 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:45:34.579Z,1761669934.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052745,0.998407,0.020041],[-0.997881,-0.053462,0.037079],[0.038091,-0.018043,0.999111]] 2025-10-28T16:45:34.623Z,1761669934.623 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:45:34.623Z,1761669934.623 [marl:UpdateRudder:B] Stopped 2025-10-28T16:45:34.623Z,1761669934.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:45:34.624Z,1761669934.624 [marl:UpdateRudder] Stopped 2025-10-28T16:45:34.624Z,1761669934.624 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:45:34.624Z,1761669934.624 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:45:34.624Z,1761669934.624 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:45:34.624Z,1761669934.624 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:45:34.625Z,1761669934.625 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:45:34.625Z,1761669934.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:45:34.625Z,1761669934.625 [marl:UpdateSpeed] Stopped 2025-10-28T16:45:34.625Z,1761669934.625 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:45:34.984Z,1761669934.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033182,0.999219,0.021439],[-0.998637,-0.034012,0.039593],[0.040292,-0.020096,0.998986]] 2025-10-28T16:45:35.387Z,1761669935.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012924,0.999671,0.022161],[-0.999025,-0.013845,0.041917],[0.042210,-0.021597,0.998875]] 2025-10-28T16:45:35.795Z,1761669935.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006857,0.999773,0.020195],[-0.999020,0.005966,0.043867],[0.043737,-0.020476,0.998833]] 2025-10-28T16:45:36.289Z,1761669936.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040284,0.999051,0.016578],[-0.998123,0.039469,0.046824],[0.046125,-0.018433,0.998766]] 2025-10-28T16:45:36.688Z,1761669936.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053836,0.998460,0.013397],[-0.997431,0.053136,0.048039],[0.047253,-0.015949,0.998756]] 2025-10-28T16:45:36.980Z,1761669936.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:45:37.090Z,1761669937.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065191,0.997799,0.012106],[-0.996696,0.064520,0.049334],[0.048445,-0.015282,0.998709]] 2025-10-28T16:45:37.495Z,1761669937.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073353,0.997152,0.017517],[-0.996072,0.072378,0.051010],[0.049597,-0.021190,0.998545]] 2025-10-28T16:45:37.901Z,1761669937.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077301,0.996497,0.031897],[-0.995691,0.075516,0.053816],[0.051219,-0.035919,0.998041]] 2025-10-28T16:45:37.985Z,1761669937.985 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:45:38.307Z,1761669938.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079199,0.995433,0.053306],[-0.995445,0.076127,0.057389],[0.053068,-0.057609,0.996928]] 2025-10-28T16:45:38.706Z,1761669938.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080604,0.993472,0.080730],[-0.995215,0.075729,0.061736],[0.055220,-0.085319,0.994822]] 2025-10-28T16:45:39.110Z,1761669939.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082731,0.990443,0.110353],[-0.994918,0.075709,0.066377],[0.057387,-0.115284,0.991673]] 2025-10-28T16:45:39.515Z,1761669939.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085801,0.986775,0.137526],[-0.994540,0.076599,0.070873],[0.059402,-0.142857,0.987959]] 2025-10-28T16:45:39.919Z,1761669939.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090016,0.982906,0.160600],[-0.994043,0.078719,0.075384],[0.061453,-0.166429,0.984137]] 2025-10-28T16:45:40.322Z,1761669940.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095255,0.979122,0.179572],[-0.993424,0.081989,0.079918],[0.063526,-0.186003,0.980493]] 2025-10-28T16:45:40.727Z,1761669940.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102006,0.975515,0.194849],[-0.992646,0.086981,0.084189],[0.065179,-0.202004,0.977214]] 2025-10-28T16:45:41.131Z,1761669941.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109699,0.972949,0.203315],[-0.991741,0.093465,0.087826],[0.066447,-0.211270,0.975166]] 2025-10-28T16:45:41.156Z,1761669941.156 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:45:41.293Z,1761669941.293 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:45:41.293Z,1761669941.293 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:45:41.546Z,1761669941.546 [DAT](INFO): DAT read: user:22> 2025-10-28T16:45:41.547Z,1761669941.547 [DAT](INFO): DAT read: Tx time:16:45:41.3150 2025-10-28T16:45:41.548Z,1761669941.548 [DAT](INFO): Ping request sent. 2025-10-28T16:45:41.548Z,1761669941.548 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:45:41.548Z,1761669941.548 [DAT](INFO): publishing transmit ping time 2025-10-28T16:45:41.549Z,1761669941.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001611 2025-10-28T16:45:41.554Z,1761669941.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118183,0.970868,0.208442],[-0.990731,0.101130,0.090690],[0.066969,-0.217228,0.973821]] 2025-10-28T16:45:41.797Z,1761669941.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249115 2025-10-28T16:45:41.938Z,1761669941.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127137,0.969101,0.211374],[-0.989664,0.109684,0.092385],[0.066346,-0.220934,0.973029]] 2025-10-28T16:45:42.049Z,1761669942.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501231 2025-10-28T16:45:42.301Z,1761669942.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753169 2025-10-28T16:45:42.343Z,1761669942.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134985,0.967859,0.212200],[-0.988709,0.117507,0.092982],[0.065059,-0.222355,0.972793]] 2025-10-28T16:45:42.553Z,1761669942.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005171 2025-10-28T16:45:42.748Z,1761669942.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140694,0.967009,0.212365],[-0.988046,0.123488,0.092285],[0.063016,-0.222811,0.972823]] 2025-10-28T16:45:42.805Z,1761669942.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257244 2025-10-28T16:45:43.057Z,1761669943.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509170 2025-10-28T16:45:43.157Z,1761669943.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143760,0.967318,0.208876],[-0.987817,0.127558,0.089142],[0.059584,-0.219146,0.973871]] 2025-10-28T16:45:43.309Z,1761669943.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761198 2025-10-28T16:45:43.558Z,1761669943.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145147,0.968220,0.203672],[-0.987910,0.130490,0.083707],[0.054469,-0.213359,0.975454]] 2025-10-28T16:45:43.564Z,1761669943.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016685 2025-10-28T16:45:43.813Z,1761669943.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265169 2025-10-28T16:45:43.959Z,1761669943.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145213,0.969564,0.197124],[-0.988232,0.132454,0.076509],[0.048071,-0.205914,0.977389]] 2025-10-28T16:45:44.065Z,1761669944.065 [DAT](INFO): DAT read: Rx Time:16:45:43.3778 2025-10-28T16:45:44.066Z,1761669944.066 [DAT](INFO): Rx dataTimestamp_ set to:1761669944.065697 2025-10-28T16:45:44.067Z,1761669944.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518996 2025-10-28T16:45:44.317Z,1761669944.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769694 2025-10-28T16:45:44.363Z,1761669944.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144292,0.971188,0.189666],[-0.988677,0.133515,0.068490],[0.041194,-0.197401,0.979457]] 2025-10-28T16:45:44.574Z,1761669944.574 [DAT](INFO): DAT read: 16:45:43.3778 LVL= 25248, 26545, 24514, 19155, AGC= 38, IDX= 197,-0.13,-1.482,-2.708,-1.295,-2.486, PHS= 1.106,-0.177, 1.147, RAW= 151.6, -29.4, CAL= 152.9, -30.2, ROT= 357.1, 30.2 2025-10-28T16:45:44.576Z,1761669944.576 [DAT](INFO): got valid direction response: 16:45:43.3778 LVL= 25248, 26545, 24514, 19155, AGC= 38, IDX= 197,-0.13,-1.482,-2.708,-1.295,-2.486, PHS= 1.106,-0.177, 1.147, RAW= 151.6, -29.4, CAL= 152.9, -30.2, ROT= 357.1, 30.2 2025-10-28T16:45:44.577Z,1761669944.577 [DAT](INFO): DAT read: Bearing 256, 28 (Remote) 2025-10-28T16:45:44.577Z,1761669944.577 [DAT](INFO): Remote Bearing received:Bearing 256, 28 (Remote) 2025-10-28T16:45:44.578Z,1761669944.578 [DAT](INFO): DAT read: Bearing 40.5, 7.2 (Local) 2025-10-28T16:45:44.578Z,1761669944.578 [DAT](INFO): Local bearing/azimuth received: Bearing 40.5, 7.2 (Local) 2025-10-28T16:45:44.579Z,1761669944.579 [DAT](INFO): DAT read: Range 11 to 20 : 25.2 m (Round-trip 33.6 ms) speed 1.2 m/s 2025-10-28T16:45:44.580Z,1761669944.580 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:45:44.581Z,1761669944.581 [DAT](INFO): direction in FSK: [0.863168,-0.043726,-0.503020] 2025-10-28T16:45:44.581Z,1761669944.581 [DAT](INFO): publishing direction and range info 2025-10-28T16:45:44.771Z,1761669944.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142352,0.972771,0.182899],[-0.989213,0.133365,0.060595],[0.034553,-0.189551,0.981263]] 2025-10-28T16:45:44.840Z,1761669944.840 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761669888.00. Resetting abort timer. 2025-10-28T16:45:45.178Z,1761669945.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139436,0.974435,0.176166],[-0.989799,0.131895,0.053871],[0.029259,-0.181880,0.982885]] 2025-10-28T16:45:45.595Z,1761669945.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135401,0.975872,0.171288],[-0.990447,0.128761,0.049354],[0.026108,-0.176334,0.983984]] 2025-10-28T16:45:45.979Z,1761669945.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130343,0.977064,0.168393],[-0.991143,0.124052,0.047398],[0.025421,-0.173080,0.984580]] 2025-10-28T16:45:46.383Z,1761669946.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124333,0.977885,0.168175],[-0.991857,0.117775,0.048461],[0.027582,-0.172831,0.984565]] 2025-10-28T16:45:46.790Z,1761669946.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118478,0.978387,0.169477],[-0.992450,0.111229,0.051682],[0.031714,-0.174321,0.984178]] 2025-10-28T16:45:47.191Z,1761669947.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115017,0.978138,0.173255],[-0.992724,0.106925,0.055368],[0.035632,-0.178363,0.983319]] 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateRudder:A] Stopped 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:45:47.222Z,1761669947.222 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:45:47.223Z,1761669947.223 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:45:47.223Z,1761669947.223 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:45:47.223Z,1761669947.223 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:45:47.223Z,1761669947.223 [marl:UpdateCommandMode] Stopped 2025-10-28T16:45:47.223Z,1761669947.223 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:45:47.644Z,1761669947.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116800,0.977052,0.178123],[-0.992461,0.108119,0.057724],[0.037141,-0.183522,0.982314]] 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateRudder:B] Stopped 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateRudder] Stopped 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:45:47.700Z,1761669947.700 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:45:47.701Z,1761669947.701 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:45:47.701Z,1761669947.701 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:45:47.701Z,1761669947.701 [marl:UpdateSpeed] Stopped 2025-10-28T16:45:47.701Z,1761669947.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:45:47.998Z,1761669947.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121460,0.975443,0.183734],[-0.991897,0.112330,0.059345],[0.037249,-0.189453,0.981183]] 2025-10-28T16:45:48.403Z,1761669948.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127634,0.973572,0.189384],[-0.991134,0.118091,0.060893],[0.036920,-0.195477,0.980013]] 2025-10-28T16:45:48.807Z,1761669948.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134379,0.971250,0.196506],[-0.990271,0.124393,0.062362],[0.036125,-0.202975,0.978517]] 2025-10-28T16:45:49.216Z,1761669949.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141757,0.969255,0.201120],[-0.989284,0.131536,0.063374],[0.034971,-0.207948,0.977515]] 2025-10-28T16:45:49.653Z,1761669949.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149697,0.967110,0.205643],[-0.988166,0.139302,0.064215],[0.033457,-0.212823,0.976518]] 2025-10-28T16:45:50.027Z,1761669950.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157955,0.964948,0.209584],[-0.986948,0.147534,0.064563],[0.031379,-0.217046,0.975657]] 2025-10-28T16:45:50.422Z,1761669950.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166292,0.963311,0.210662],[-0.985657,0.156154,0.064001],[0.028758,-0.218283,0.975462]] 2025-10-28T16:45:50.827Z,1761669950.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173917,0.962020,0.210404],[-0.984416,0.164195,0.062964],[0.026025,-0.218076,0.975585]] 2025-10-28T16:45:51.232Z,1761669951.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179713,0.961364,0.208525],[-0.983443,0.170555,0.061249],[0.023317,-0.216080,0.976097]] 2025-10-28T16:45:51.651Z,1761669951.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183957,0.961158,0.205755],[-0.982720,0.175472,0.058915],[0.020522,-0.213037,0.976829]] 2025-10-28T16:45:52.042Z,1761669952.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185803,0.961592,0.202037],[-0.982424,0.178057,0.056024],[0.017898,-0.208895,0.977774]] 2025-10-28T16:45:52.442Z,1761669952.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185933,0.962622,0.196946],[-0.982444,0.179027,0.052469],[0.015249,-0.203244,0.979009]] 2025-10-28T16:45:52.849Z,1761669952.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184592,0.963792,0.192435],[-0.982732,0.178450,0.048928],[0.012817,-0.198144,0.980089]] 2025-10-28T16:45:53.251Z,1761669953.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182247,0.965032,0.188411],[-0.983200,0.176876,0.045080],[0.010178,-0.193461,0.981055]] 2025-10-28T16:45:53.657Z,1761669953.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178681,0.966539,0.184055],[-0.983875,0.174020,0.041307],[0.007896,-0.188468,0.982048]] 2025-10-28T16:45:54.059Z,1761669954.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174259,0.967782,0.181749],[-0.984680,0.170089,0.038405],[0.006254,-0.185657,0.982595]] 2025-10-28T16:45:54.465Z,1761669954.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169126,0.969258,0.178704],[-0.985579,0.165303,0.036184],[0.005532,-0.182247,0.983237]] 2025-10-28T16:45:54.867Z,1761669954.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164468,0.970186,0.178013],[-0.986368,0.160782,0.035039],[0.005373,-0.181349,0.983404]] 2025-10-28T16:45:55.271Z,1761669955.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160878,0.970721,0.178378],[-0.986960,0.157243,0.034428],[0.005371,-0.181591,0.983359]] 2025-10-28T16:45:55.676Z,1761669955.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159924,0.970539,0.180218],[-0.987117,0.156334,0.034041],[0.004864,-0.183340,0.983038]] 2025-10-28T16:45:56.081Z,1761669956.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161132,0.969776,0.183225],[-0.986924,0.157531,0.034141],[0.004246,-0.186330,0.982478]] 2025-10-28T16:45:56.484Z,1761669956.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163993,0.968635,0.186691],[-0.986456,0.160405,0.034269],[0.003248,-0.189782,0.981821]] 2025-10-28T16:45:56.887Z,1761669956.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168385,0.967148,0.190448],[-0.985720,0.164869,0.034279],[0.001753,-0.193500,0.981099]] 2025-10-28T16:45:57.290Z,1761669957.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173648,0.965630,0.193403],[-0.984808,0.170262,0.034123],[0.000021,-0.196390,0.980526]] 2025-10-28T16:45:57.697Z,1761669957.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179392,0.964168,0.195445],[-0.983776,0.176156,0.033959],[-0.001687,-0.198366,0.980127]] 2025-10-28T16:45:58.098Z,1761669958.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184874,0.962727,0.197431],[-0.982756,0.181802,0.033735],[-0.003415,-0.200263,0.979736]] 2025-10-28T16:45:58.510Z,1761669958.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190288,0.961022,0.200568],[-0.981716,0.187313,0.033887],[-0.005003,-0.203349,0.979094]] 2025-10-28T16:45:58.906Z,1761669958.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195149,0.959727,0.202091],[-0.980753,0.192282,0.033917],[-0.006307,-0.204820,0.978779]] 2025-10-28T16:45:59.313Z,1761669959.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199385,0.958958,0.201605],[-0.979892,0.196690,0.033524],[-0.007506,-0.204235,0.978893]] 2025-10-28T16:45:59.716Z,1761669959.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203254,0.957954,0.202515],[-0.979086,0.200713,0.033228],[-0.008816,-0.205033,0.978715]] 2025-10-28T16:46:00.118Z,1761669960.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206788,0.957110,0.202925],[-0.978337,0.204343,0.033162],[-0.009727,-0.205387,0.978632]] 2025-10-28T16:46:00.172Z,1761669960.172 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:46:00.172Z,1761669960.172 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:46:00.172Z,1761669960.172 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateRudder:A] Stopped 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:46:00.173Z,1761669960.173 [marl:UpdateCommandMode] Stopped 2025-10-28T16:46:00.174Z,1761669960.174 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:46:00.528Z,1761669960.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210462,0.956124,0.203797],[-0.977546,0.208049,0.033446],[-0.010421,-0.206260,0.978442]] 2025-10-28T16:46:00.568Z,1761669960.568 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateRudder:B] Stopped 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateRudder] Stopped 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:46:00.569Z,1761669960.569 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:46:00.570Z,1761669960.570 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:46:00.570Z,1761669960.570 [marl:UpdateSpeed] Stopped 2025-10-28T16:46:00.570Z,1761669960.570 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:46:00.927Z,1761669960.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214740,0.955049,0.204375],[-0.976609,0.212333,0.033902],[-0.011017,-0.206874,0.978306]] 2025-10-28T16:46:01.330Z,1761669961.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218937,0.953730,0.206070],[-0.975675,0.216409,0.035012],[-0.011203,-0.208723,0.977911]] 2025-10-28T16:46:01.735Z,1761669961.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222427,0.953016,0.205637],[-0.974888,0.219780,0.035923],[-0.010960,-0.208463,0.977969]] 2025-10-28T16:46:02.544Z,1761669962.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227324,0.952523,0.202541],[-0.973767,0.224492,0.037161],[-0.010072,-0.205675,0.978568]] 2025-10-28T16:46:02.947Z,1761669962.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228720,0.952946,0.198949],[-0.973442,0.225955,0.036809],[-0.009877,-0.202084,0.979318]] 2025-10-28T16:46:03.351Z,1761669963.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230418,0.953630,0.193644],[-0.973040,0.227848,0.035755],[-0.010024,-0.196662,0.980420]] 2025-10-28T16:46:03.759Z,1761669963.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234887,0.955392,0.179037],[-0.971965,0.232867,0.032524],[-0.010618,-0.181657,0.983305]] 2025-10-28T16:46:04.159Z,1761669964.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242819,0.957876,0.153338],[-0.970004,0.241611,0.026755],[-0.011420,-0.155235,0.987811]] 2025-10-28T16:46:04.564Z,1761669964.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253260,0.959634,0.122317],[-0.967323,0.252789,0.019617],[-0.012095,-0.123288,0.992297]] 2025-10-28T16:46:04.966Z,1761669964.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265599,0.959888,0.089846],[-0.964002,0.265636,0.011762],[-0.012576,-0.089736,0.995886]] 2025-10-28T16:46:05.371Z,1761669965.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279254,0.958099,0.063749],[-0.960136,0.279480,0.005527],[-0.012521,-0.062751,0.997951]] 2025-10-28T16:46:05.779Z,1761669965.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293903,0.954915,0.041936],[-0.955762,0.294142,0.000485],[-0.011872,-0.040223,0.999120]] 2025-10-28T16:46:06.180Z,1761669966.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309674,0.950463,0.026863],[-0.950782,0.309849,-0.002514],[-0.010713,-0.024763,0.999636]] 2025-10-28T16:46:06.583Z,1761669966.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327000,0.944899,0.015374],[-0.944979,0.327101,-0.004507],[-0.009288,-0.013054,0.999872]] 2025-10-28T16:46:06.994Z,1761669966.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345487,0.938384,0.008643],[-0.938397,0.345532,-0.004357],[-0.007075,-0.006605,0.999953]] 2025-10-28T16:46:07.390Z,1761669967.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364185,0.931317,0.004178],[-0.931316,0.364198,-0.003173],[-0.004477,-0.002735,0.999986]] 2025-10-28T16:46:07.822Z,1761669967.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383602,0.923499,0.000234],[-0.923497,0.383602,-0.001604],[-0.001571,0.000399,0.999999]] 2025-10-28T16:46:08.116Z,1761669968.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:46:08.199Z,1761669968.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403518,0.914969,-0.002157],[-0.914971,0.403519,0.000212],[0.001064,0.001888,0.999998]] 2025-10-28T16:46:08.602Z,1761669968.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423459,0.905912,-0.002537],[-0.905910,0.423464,0.002052],[0.002933,0.001429,0.999995]] 2025-10-28T16:46:09.011Z,1761669969.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442214,0.896907,-0.002203],[-0.896901,0.442219,0.003215],[0.003858,0.000555,0.999992]] 2025-10-28T16:46:09.120Z,1761669969.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:46:09.412Z,1761669969.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459053,0.888408,-0.000847],[-0.888399,0.459052,0.004212],[0.004131,-0.001181,0.999991]] 2025-10-28T16:46:09.814Z,1761669969.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472876,0.881127,0.001706],[-0.881119,0.472861,0.005666],[0.004186,-0.004182,0.999982]] 2025-10-28T16:46:10.219Z,1761669970.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484293,0.874898,0.003799],[-0.874897,0.484263,0.006695],[0.004018,-0.006566,0.999970]] 2025-10-28T16:46:10.622Z,1761669970.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493915,0.869476,0.007786],[-0.869503,0.493855,0.008414],[0.003470,-0.010926,0.999934]] 2025-10-28T16:46:11.028Z,1761669971.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503026,0.864206,0.010586],[-0.864267,0.502948,0.009252],[0.002671,-0.013803,0.999901]] 2025-10-28T16:46:11.431Z,1761669971.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512050,0.858883,0.011144],[-0.858952,0.511968,0.009475],[0.002432,-0.014424,0.999893]] 2025-10-28T16:46:11.838Z,1761669971.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520769,0.853646,0.009351],[-0.853692,0.520695,0.009265],[0.003041,-0.012808,0.999913]] 2025-10-28T16:46:12.239Z,1761669972.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529743,0.848124,0.007643],[-0.848145,0.529662,0.010447],[0.004813,-0.012017,0.999916]] 2025-10-28T16:46:12.645Z,1761669972.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539001,0.842292,0.004670],[-0.842270,0.538920,0.012098],[0.007673,-0.010454,0.999916]] 2025-10-28T16:46:13.046Z,1761669973.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550387,0.834910,0.000305],[-0.834842,0.550337,0.012969],[0.010660,-0.007393,0.999916]] 2025-10-28T16:46:13.134Z,1761669973.134 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:46:13.134Z,1761669973.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:46:13.134Z,1761669973.134 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateRudder:A] Stopped 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:46:13.135Z,1761669973.135 [marl:UpdateCommandMode] Stopped 2025-10-28T16:46:13.136Z,1761669973.136 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:46:13.461Z,1761669973.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579050,0.815235,-0.009632],[-0.815146,0.579129,0.012080],[0.015426,0.000856,0.999881]] 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateRudder:B] Stopped 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateRudder] Stopped 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:46:13.516Z,1761669973.516 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed] Stopped 2025-10-28T16:46:13.517Z,1761669973.517 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:46:13.872Z,1761669973.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595035,0.803594,-0.013065],[-0.803515,0.595168,0.011762],[0.017227,0.003499,0.999845]] 2025-10-28T16:46:14.263Z,1761669974.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611126,0.791389,-0.015114],[-0.791313,0.611295,0.011929],[0.018679,0.004670,0.999815]] 2025-10-28T16:46:14.667Z,1761669974.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627221,0.778675,-0.016077],[-0.778597,0.627408,0.012076],[0.019490,0.004943,0.999798]] 2025-10-28T16:46:15.075Z,1761669975.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642339,0.766252,-0.016075],[-0.766155,0.642527,0.012843],[0.020170,0.004067,0.999788]] 2025-10-28T16:46:15.492Z,1761669975.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656621,0.754075,-0.014816],[-0.753939,0.656786,0.014416],[0.020602,0.001705,0.999786]] 2025-10-28T16:46:15.878Z,1761669975.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668972,0.743205,-0.011028],[-0.742985,0.669050,0.018603],[0.021204,-0.004251,0.999766]] 2025-10-28T16:46:16.279Z,1761669976.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676879,0.736092,-0.001821],[-0.735779,0.676660,0.027589],[0.021540,-0.017335,0.999618]] 2025-10-28T16:46:16.685Z,1761669976.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679645,0.733444,0.011904],[-0.733205,0.678754,0.041274],[0.022192,-0.036780,0.999077]] 2025-10-28T16:46:17.087Z,1761669977.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679020,0.733380,0.032948],[-0.733755,0.676584,0.061944],[0.023137,-0.066237,0.997536]] 2025-10-28T16:46:17.498Z,1761669977.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676656,0.734066,0.057295],[-0.735904,0.671695,0.085267],[0.024107,-0.099860,0.994709]] 2025-10-28T16:46:17.899Z,1761669977.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673622,0.734866,0.078778],[-0.738627,0.665660,0.106429],[0.025771,-0.129880,0.991195]] 2025-10-28T16:46:18.299Z,1761669978.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671580,0.734598,0.096674],[-0.740424,0.660550,0.124285],[0.027441,-0.155048,0.987526]] 2025-10-28T16:46:18.703Z,1761669978.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671129,0.733046,0.110588],[-0.740776,0.657296,0.138610],[0.028918,-0.174946,0.984153]] 2025-10-28T16:46:19.106Z,1761669979.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672132,0.730668,0.119843],[-0.739820,0.656149,0.148778],[0.030073,-0.188661,0.981582]] 2025-10-28T16:46:19.516Z,1761669979.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674558,0.727442,0.125698],[-0.737587,0.657074,0.155624],[0.030615,-0.197690,0.979786]] 2025-10-28T16:46:19.931Z,1761669979.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677336,0.724409,0.128248],[-0.735035,0.659121,0.159007],[0.030655,-0.201968,0.978912]] 2025-10-28T16:46:20.319Z,1761669980.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679689,0.721747,0.130787],[-0.732868,0.660814,0.161956],[0.030465,-0.205929,0.978093]] 2025-10-28T16:46:20.722Z,1761669980.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680933,0.720290,0.132336],[-0.731728,0.661737,0.163335],[0.030077,-0.208055,0.977655]] 2025-10-28T16:46:21.129Z,1761669981.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681412,0.719720,0.132971],[-0.731301,0.662171,0.163487],[0.029615,-0.208644,0.977543]] 2025-10-28T16:46:21.530Z,1761669981.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681331,0.719826,0.132808],[-0.731385,0.662197,0.163004],[0.029390,-0.208194,0.977646]] 2025-10-28T16:46:21.938Z,1761669981.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680972,0.720478,0.131106],[-0.731715,0.662218,0.161430],[0.029486,-0.205862,0.978137]] 2025-10-28T16:46:22.339Z,1761669982.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680506,0.721428,0.128267],[-0.732130,0.662289,0.159245],[0.029934,-0.202275,0.978871]] 2025-10-28T16:46:22.745Z,1761669982.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680493,0.722162,0.124138],[-0.732107,0.662945,0.156600],[0.030794,-0.197447,0.979830]] 2025-10-28T16:46:23.149Z,1761669983.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681533,0.722126,0.118520],[-0.731092,0.664835,0.153294],[0.031901,-0.191124,0.981047]] 2025-10-28T16:46:23.550Z,1761669983.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683876,0.720712,0.113524],[-0.728856,0.667843,0.150846],[0.032901,-0.185903,0.982017]] 2025-10-28T16:46:23.965Z,1761669983.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687028,0.718296,0.109746],[-0.725844,0.671381,0.149661],[0.033820,-0.182480,0.982628]] 2025-10-28T16:46:24.359Z,1761669984.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690449,0.715343,0.107541],[-0.722550,0.674870,0.149905],[0.034657,-0.181206,0.982834]] 2025-10-28T16:46:24.767Z,1761669984.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694206,0.711867,0.106409],[-0.718909,0.678494,0.151051],[0.035330,-0.181359,0.982782]] 2025-10-28T16:46:25.167Z,1761669985.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697468,0.708560,0.107153],[-0.715730,0.681338,0.153326],[0.035633,-0.183632,0.982349]] 2025-10-28T16:46:25.578Z,1761669985.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700023,0.705658,0.109608],[-0.713229,0.683201,0.156654],[0.035660,-0.187837,0.981553]] 2025-10-28T16:46:25.985Z,1761669985.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701738,0.703496,0.112502],[-0.711541,0.684159,0.160110],[0.035668,-0.192406,0.980667]] 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateRudder:A] Stopped 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:46:26.050Z,1761669986.050 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:46:26.051Z,1761669986.051 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:46:26.051Z,1761669986.051 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:46:26.051Z,1761669986.051 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:46:26.051Z,1761669986.051 [marl:UpdateCommandMode] Stopped 2025-10-28T16:46:26.051Z,1761669986.051 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:46:26.379Z,1761669986.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702433,0.702445,0.114712],[-0.710853,0.684286,0.162606],[0.035726,-0.195763,0.980000]] 2025-10-28T16:46:26.414Z,1761669986.414 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:46:26.414Z,1761669986.414 [marl:UpdateRudder:B] Stopped 2025-10-28T16:46:26.414Z,1761669986.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:46:26.414Z,1761669986.414 [marl:UpdateRudder] Stopped 2025-10-28T16:46:26.414Z,1761669986.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed] Stopped 2025-10-28T16:46:26.415Z,1761669986.415 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:46:26.786Z,1761669986.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702052,0.702363,0.117510],[-0.711224,0.683254,0.165301],[0.035812,-0.199626,0.979218]] 2025-10-28T16:46:27.188Z,1761669987.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701393,0.702686,0.119495],[-0.711880,0.682205,0.166802],[0.035690,-0.202060,0.978723]] 2025-10-28T16:46:27.629Z,1761669987.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700387,0.703608,0.119971],[-0.712867,0.681139,0.166945],[0.035747,-0.202449,0.978640]] 2025-10-28T16:46:28.017Z,1761669988.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699786,0.704391,0.118879],[-0.713449,0.680790,0.165878],[0.035912,-0.200893,0.978955]] 2025-10-28T16:46:28.411Z,1761669988.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699939,0.704650,0.116423],[-0.713293,0.681470,0.163744],[0.036044,-0.197655,0.979609]] 2025-10-28T16:46:28.814Z,1761669988.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701708,0.703443,0.113016],[-0.711550,0.683904,0.161158],[0.036073,-0.193503,0.980436]] 2025-10-28T16:46:29.218Z,1761669989.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704485,0.701183,0.109745],[-0.708792,0.687201,0.159276],[0.036265,-0.189993,0.981115]] 2025-10-28T16:46:29.649Z,1761669989.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708369,0.697973,0.105104],[-0.704881,0.691752,0.156916],[0.036817,-0.185240,0.982003]] 2025-10-28T16:46:30.026Z,1761669990.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712708,0.693865,0.102955],[-0.700457,0.696130,0.157364],[0.037520,-0.184270,0.982159]] 2025-10-28T16:46:30.431Z,1761669990.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717259,0.689502,0.100634],[-0.695760,0.700762,0.157640],[0.038172,-0.183085,0.982356]] 2025-10-28T16:46:30.835Z,1761669990.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721553,0.685008,0.100621],[-0.691292,0.704726,0.159617],[0.038429,-0.184731,0.982037]] 2025-10-28T16:46:31.240Z,1761669991.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725715,0.680280,0.102747],[-0.686960,0.708302,0.162464],[0.037745,-0.188486,0.981350]] 2025-10-28T16:46:31.651Z,1761669991.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729411,0.675710,0.106660],[-0.683134,0.711319,0.165388],[0.035885,-0.193499,0.980444]] 2025-10-28T16:46:32.047Z,1761669992.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732010,0.672101,0.111547],[-0.680483,0.713286,0.167828],[0.033232,-0.198758,0.979485]] 2025-10-28T16:46:32.458Z,1761669992.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733136,0.669991,0.116718],[-0.679411,0.713919,0.169471],[0.030217,-0.203545,0.978599]] 2025-10-28T16:46:32.859Z,1761669992.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732695,0.669423,0.122603],[-0.680012,0.712923,0.171242],[0.027227,-0.208840,0.977571]] 2025-10-28T16:46:33.259Z,1761669993.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730762,0.670813,0.126479],[-0.682206,0.711114,0.170034],[0.024121,-0.210539,0.977288]] 2025-10-28T16:46:33.663Z,1761669993.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728206,0.672989,0.129621],[-0.685037,0.708941,0.167713],[0.020976,-0.210925,0.977277]] 2025-10-28T16:46:34.066Z,1761669994.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725393,0.675918,0.130156],[-0.688104,0.707174,0.162534],[0.017817,-0.207462,0.978081]] 2025-10-28T16:46:34.473Z,1761669994.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722749,0.678861,0.129541],[-0.690949,0.705716,0.156700],[0.014958,-0.202761,0.979114]] 2025-10-28T16:46:34.874Z,1761669994.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720317,0.681884,0.127188],[-0.693536,0.704750,0.149450],[0.012271,-0.195861,0.980555]] 2025-10-28T16:46:35.279Z,1761669995.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718030,0.684811,0.124368],[-0.695942,0.703861,0.142281],[0.009898,-0.188715,0.981982]] 2025-10-28T16:46:35.686Z,1761669995.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715906,0.687522,0.121626],[-0.698150,0.702890,0.136135],[0.008106,-0.182372,0.983196]] 2025-10-28T16:46:36.092Z,1761669996.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714060,0.690087,0.117888],[-0.700046,0.702072,0.130499],[0.007289,-0.175711,0.984415]] 2025-10-28T16:46:36.491Z,1761669996.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712585,0.692263,0.113995],[-0.701548,0.701385,0.126053],[0.007307,-0.169796,0.985452]] 2025-10-28T16:46:36.895Z,1761669996.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712077,0.693445,0.109912],[-0.702057,0.701494,0.122565],[0.007889,-0.164440,0.986355]] 2025-10-28T16:46:37.298Z,1761669997.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713509,0.692478,0.106674],[-0.700595,0.703298,0.120576],[0.008473,-0.160767,0.986956]] 2025-10-28T16:46:37.702Z,1761669997.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716525,0.689680,0.104560],[-0.697497,0.706340,0.120753],[0.009426,-0.159453,0.987161]] 2025-10-28T16:46:38.107Z,1761669998.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720505,0.685664,0.103625],[-0.693372,0.710100,0.122443],[0.010371,-0.160072,0.987051]] 2025-10-28T16:46:38.511Z,1761669998.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724768,0.681186,0.103420],[-0.688888,0.713835,0.125989],[0.011997,-0.162557,0.986626]] 2025-10-28T16:46:38.914Z,1761669998.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729162,0.676437,0.103712],[-0.684201,0.717526,0.130481],[0.013846,-0.166102,0.986011]] 2025-10-28T16:46:38.960Z,1761669998.960 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateRudder:A] Stopped 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:46:38.961Z,1761669998.961 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:46:38.962Z,1761669998.962 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:46:38.962Z,1761669998.962 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:46:38.962Z,1761669998.962 [marl:UpdateCommandMode] Stopped 2025-10-28T16:46:38.962Z,1761669998.962 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:46:39.240Z,1761669999.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:46:39.319Z,1761669999.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733409,0.671316,0.106982],[-0.679609,0.720472,0.138031],[0.015585,-0.173939,0.984633]] 2025-10-28T16:46:39.356Z,1761669999.356 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:46:39.356Z,1761669999.356 [marl:UpdateRudder:B] Stopped 2025-10-28T16:46:39.356Z,1761669999.356 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:46:39.356Z,1761669999.356 [marl:UpdateRudder] Stopped 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed] Stopped 2025-10-28T16:46:39.357Z,1761669999.357 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:46:39.723Z,1761669999.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737582,0.666104,0.110812],[-0.675049,0.723272,0.145554],[0.016807,-0.182161,0.983125]] 2025-10-28T16:46:40.129Z,1761670000.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741553,0.660959,0.115032],[-0.670677,0.725972,0.152176],[0.017072,-0.189996,0.981637]] 2025-10-28T16:46:40.244Z,1761670000.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:46:40.534Z,1761670000.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745593,0.655598,0.119513],[-0.666205,0.728932,0.157571],[0.016186,-0.197104,0.980249]] 2025-10-28T16:46:40.950Z,1761670000.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749760,0.650058,0.123632],[-0.661552,0.732291,0.161552],[0.014484,-0.202914,0.979089]] 2025-10-28T16:46:41.338Z,1761670001.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753954,0.644226,0.128550],[-0.656822,0.735773,0.164992],[0.011708,-0.208831,0.977882]] 2025-10-28T16:46:41.383Z,1761670001.383 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:46:41.549Z,1761670001.549 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:46:41.549Z,1761670001.549 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:46:41.743Z,1761670001.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757555,0.639021,0.133275],[-0.652723,0.739064,0.166544],[0.007926,-0.213157,0.976986]] 2025-10-28T16:46:41.801Z,1761670001.801 [DAT](INFO): DAT read: user:23> 2025-10-28T16:46:41.802Z,1761670001.802 [DAT](INFO): DAT read: Tx time:16:46:41.5649 2025-10-28T16:46:41.802Z,1761670001.802 [DAT](INFO): Ping request sent. 2025-10-28T16:46:41.802Z,1761670001.802 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:46:41.802Z,1761670001.802 [DAT](INFO): publishing transmit ping time 2025-10-28T16:46:41.803Z,1761670001.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935 2025-10-28T16:46:42.054Z,1761670002.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251393 2025-10-28T16:46:42.148Z,1761670002.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760527,0.634814,0.136417],[-0.649297,0.742431,0.164955],[0.003435,-0.214028,0.976821]] 2025-10-28T16:46:42.305Z,1761670002.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502830 2025-10-28T16:46:42.552Z,1761670002.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764265,0.631465,0.130963],[-0.644901,0.748763,0.153155],[-0.001348,-0.201509,0.979486]] 2025-10-28T16:46:42.557Z,1761670002.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787 2025-10-28T16:46:42.809Z,1761670002.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781 2025-10-28T16:46:42.958Z,1761670002.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770153,0.626935,0.117543],[-0.637824,0.758867,0.131536],[-0.006735,-0.176274,0.984318]] 2025-10-28T16:46:43.061Z,1761670003.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258816 2025-10-28T16:46:43.313Z,1761670003.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510719 2025-10-28T16:46:43.358Z,1761670003.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777719,0.620455,0.100938],[-0.628484,0.770709,0.104956],[-0.012673,-0.145064,0.989341]] 2025-10-28T16:46:43.566Z,1761670003.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763607 2025-10-28T16:46:43.767Z,1761670003.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786302,0.612188,0.083400],[-0.617563,0.782810,0.076310],[-0.018570,-0.111508,0.993590]] 2025-10-28T16:46:43.817Z,1761670003.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014923 2025-10-28T16:46:44.069Z,1761670004.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266732 2025-10-28T16:46:44.174Z,1761670004.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795193,0.602628,0.067129],[-0.605887,0.794046,0.048908],[-0.023830,-0.079563,0.996545]] 2025-10-28T16:46:44.322Z,1761670004.322 [DAT](INFO): DAT read: Rx Time:16:46:43.6821 2025-10-28T16:46:44.322Z,1761670004.322 [DAT](INFO): Rx dataTimestamp_ set to:1761670004.322132 2025-10-28T16:46:44.323Z,1761670004.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520837 2025-10-28T16:46:44.573Z,1761670004.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770826 2025-10-28T16:46:44.584Z,1761670004.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803995,0.592263,0.053076],[-0.593991,0.804073,0.025313],[-0.027685,-0.051878,0.998270]] 2025-10-28T16:46:44.827Z,1761670004.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024189 2025-10-28T16:46:44.974Z,1761670004.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812434,0.581663,0.040252],[-0.582304,0.812953,0.005428],[-0.029566,-0.027849,0.999175]] 2025-10-28T16:46:45.084Z,1761670005.084 [DAT](INFO): DAT read: 16:46:43.6821 LVL= 32752, 27121, 32754, 32755, AGC= 52, IDX= 481, 0.17,-0.903, 0.810,-0.723,-0.367, PHS=-0.434, 1.221,-0.400, RAW= 329.0, -4.8, CAL= 328.3, -7.9, ROT= 181.7, 7.9 2025-10-28T16:46:45.085Z,1761670005.085 [DAT](INFO): got valid direction response: 16:46:43.6821 LVL= 32752, 27121, 32754, 32755, AGC= 52, IDX= 481, 0.17,-0.903, 0.810,-0.723,-0.367, PHS=-0.434, 1.221,-0.400, RAW= 329.0, -4.8, CAL= 328.3, -7.9, ROT= 181.7, 7.9 2025-10-28T16:46:45.087Z,1761670005.087 [DAT](INFO): DAT read: Bearing 118, -17 (Remote) 2025-10-28T16:46:45.088Z,1761670005.088 [DAT](INFO): Remote Bearing received:Bearing 118, -17 (Remote) 2025-10-28T16:46:45.128Z,1761670005.128 [DAT](INFO): DAT read: Bearing 314.1, -0.0 (Local) 2025-10-28T16:46:45.128Z,1761670005.128 [DAT](INFO): Local bearing/azimuth received: Bearing 314.1, -0.0 (Local) 2025-10-28T16:46:45.130Z,1761670005.130 [DAT](INFO): DAT read: Range 11 to 20 : 66.0 m (Round-trip 88.0 ms) speed -1.1 m/s 2025-10-28T16:46:45.130Z,1761670005.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:46:45.131Z,1761670005.131 [DAT](INFO): direction in FSK: [-0.990074,-0.029385,-0.137445] 2025-10-28T16:46:45.131Z,1761670005.131 [DAT](INFO): publishing direction and range info 2025-10-28T16:46:45.379Z,1761670005.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820314,0.571165,0.029259],[-0.571172,0.820782,-0.008946],[-0.029125,-0.009373,0.999532]] 2025-10-28T16:46:45.453Z,1761670005.453 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670016.00. Resetting abort timer. 2025-10-28T16:46:45.786Z,1761670005.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827804,0.560664,0.019909],[-0.560378,0.828034,-0.018334],[-0.026765,0.004020,0.999634]] 2025-10-28T16:46:46.198Z,1761670006.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836017,0.548572,0.012028],[-0.548179,0.835975,-0.025399],[-0.023989,0.014640,0.999605]] 2025-10-28T16:46:46.994Z,1761670006.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856355,0.516375,0.003421],[-0.515973,0.855916,-0.034353],[-0.020667,0.027654,0.999404]] 2025-10-28T16:46:47.398Z,1761670007.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866729,0.498773,0.002557],[-0.498376,0.866221,-0.035803],[-0.020072,0.029758,0.999356]] 2025-10-28T16:46:47.803Z,1761670007.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876612,0.481187,0.003243],[-0.480795,0.876134,-0.035017],[-0.019691,0.029137,0.999381]] 2025-10-28T16:46:48.206Z,1761670008.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885804,0.464024,0.005819],[-0.463632,0.885455,-0.031870],[-0.019941,0.025533,0.999475]] 2025-10-28T16:46:48.612Z,1761670008.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894119,0.447741,0.008958],[-0.447346,0.893902,-0.028641],[-0.020831,0.021601,0.999550]] 2025-10-28T16:46:49.016Z,1761670009.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901453,0.432704,0.012247],[-0.432352,0.901392,-0.023733],[-0.021309,0.016099,0.999643]] 2025-10-28T16:46:49.428Z,1761670009.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907912,0.418888,0.015114],[-0.418609,0.907977,-0.018537],[-0.021488,0.010504,0.999714]] 2025-10-28T16:46:49.823Z,1761670009.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913832,0.405730,0.017129],[-0.405525,0.913972,-0.014284],[-0.021451,0.006107,0.999751]] 2025-10-28T16:46:50.227Z,1761670010.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919654,0.392299,0.018381],[-0.392160,0.919834,-0.010796],[-0.021143,0.002720,0.999773]] 2025-10-28T16:46:50.635Z,1761670010.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925200,0.379045,0.018170],[-0.378928,0.925376,-0.009648],[-0.020471,0.002041,0.999788]] 2025-10-28T16:46:51.036Z,1761670011.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931003,0.364600,0.017348],[-0.364483,0.931160,-0.009615],[-0.019659,0.002629,0.999803]] 2025-10-28T16:46:51.442Z,1761670011.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936883,0.349269,0.016184],[-0.349139,0.937014,-0.010345],[-0.018778,0.004041,0.999816]] 2025-10-28T16:46:51.842Z,1761670011.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942761,0.333160,0.014343],[-0.333000,0.942844,-0.012491],[-0.017684,0.007000,0.999819]] 2025-10-28T16:46:51.931Z,1761670011.931 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:46:51.931Z,1761670011.931 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:46:51.931Z,1761670011.931 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:46:51.932Z,1761670011.932 [marl:UpdateRudder:A] Stopped 2025-10-28T16:46:51.936Z,1761670011.936 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:46:51.936Z,1761670011.936 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:46:51.936Z,1761670011.936 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:46:51.936Z,1761670011.936 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:46:51.937Z,1761670011.937 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:46:51.937Z,1761670011.937 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:46:51.937Z,1761670011.937 [marl:UpdateCommandMode] Stopped 2025-10-28T16:46:51.937Z,1761670011.937 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:46:52.253Z,1761670012.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948579,0.316275,0.012951],[-0.316090,0.948619,-0.014477],[-0.016864,0.009639,0.999811]] 2025-10-28T16:46:52.279Z,1761670012.279 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:46:52.279Z,1761670012.279 [marl:UpdateRudder:B] Stopped 2025-10-28T16:46:52.279Z,1761670012.279 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:46:52.279Z,1761670012.279 [marl:UpdateRudder] Stopped 2025-10-28T16:46:52.279Z,1761670012.279 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:46:52.280Z,1761670012.280 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:46:52.280Z,1761670012.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:46:52.280Z,1761670012.280 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:46:52.280Z,1761670012.280 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:46:52.280Z,1761670012.280 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:46:52.281Z,1761670012.281 [marl:UpdateSpeed] Stopped 2025-10-28T16:46:52.281Z,1761670012.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:46:52.652Z,1761670012.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953910,0.299846,0.012154],[-0.299651,0.953921,-0.015584],[-0.016267,0.011224,0.999805]] 2025-10-28T16:46:53.055Z,1761670013.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958672,0.284254,0.012133],[-0.284065,0.958684,-0.015206],[-0.015954,0.011131,0.999811]] 2025-10-28T16:46:53.459Z,1761670013.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962891,0.269617,0.012164],[-0.269442,0.962910,-0.014289],[-0.015565,0.010481,0.999824]] 2025-10-28T16:46:53.865Z,1761670013.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966448,0.256528,0.013060],[-0.256381,0.966502,-0.011924],[-0.015682,0.008175,0.999844]] 2025-10-28T16:46:54.267Z,1761670014.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969453,0.244876,0.014042],[-0.244780,0.969544,-0.008260],[-0.015637,0.004571,0.999867]] 2025-10-28T16:46:54.671Z,1761670014.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972281,0.233379,0.014246],[-0.233319,0.972383,-0.005796],[-0.015206,0.002312,0.999882]] 2025-10-28T16:46:55.075Z,1761670015.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974950,0.221970,0.014176],[-0.221934,0.975053,-0.004046],[-0.014721,0.000799,0.999891]] 2025-10-28T16:46:55.481Z,1761670015.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977571,0.210190,0.013255],[-0.210140,0.977658,-0.005136],[-0.014038,0.002236,0.999899]] 2025-10-28T16:46:55.882Z,1761670015.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980181,0.197726,0.012249],[-0.197654,0.980248,-0.006830],[-0.013357,0.004274,0.999902]] 2025-10-28T16:46:56.287Z,1761670016.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982973,0.183428,0.010876],[-0.183316,0.982997,-0.010536],[-0.012624,0.008363,0.999885]] 2025-10-28T16:46:56.691Z,1761670016.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985778,0.167756,0.009947],[-0.167615,0.985758,-0.013644],[-0.012094,0.011782,0.999857]] 2025-10-28T16:46:57.096Z,1761670017.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988491,0.150987,0.009391],[-0.150823,0.988427,-0.016295],[-0.011743,0.014691,0.999823]] 2025-10-28T16:46:57.499Z,1761670017.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990894,0.134323,0.009334],[-0.134135,0.990791,-0.018487],[-0.011732,0.017067,0.999785]] 2025-10-28T16:46:57.915Z,1761670017.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994705,0.102376,0.009050],[-0.102178,0.994562,-0.020154],[-0.011064,0.019122,0.999756]] 2025-10-28T16:46:58.318Z,1761670018.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996147,0.087190,0.009410],[-0.086996,0.996020,-0.019380],[-0.011062,0.018487,0.999768]] 2025-10-28T16:46:58.718Z,1761670018.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997315,0.072581,0.009715],[-0.072398,0.997213,-0.018042],[-0.010998,0.017291,0.999790]] 2025-10-28T16:46:59.119Z,1761670019.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998255,0.058202,0.009997],[-0.058026,0.998169,-0.017065],[-0.010972,0.016455,0.999804]] 2025-10-28T16:46:59.522Z,1761670019.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998990,0.043813,0.010014],[-0.043633,0.998894,-0.017530],[-0.010771,0.017075,0.999796]] 2025-10-28T16:46:59.928Z,1761670019.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999550,0.028241,0.010068],[-0.028052,0.999437,-0.018406],[-0.010582,0.018116,0.999780]] 2025-10-28T16:47:00.328Z,1761670020.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999879,0.011705,0.010248],[-0.011502,0.999740,-0.019681],[-0.010476,0.019561,0.999754]] 2025-10-28T16:47:00.730Z,1761670020.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999927,-0.006006,0.010477],[0.006235,0.999739,-0.021961],[-0.010342,0.022025,0.999704]] 2025-10-28T16:47:01.135Z,1761670021.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999642,-0.024504,0.010784],[0.024755,0.999408,-0.023885],[-0.010193,0.024143,0.999656]] 2025-10-28T16:47:01.540Z,1761670021.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998980,-0.043770,0.011091],[0.044024,0.998747,-0.023805],[-0.010035,0.024269,0.999655]] 2025-10-28T16:47:01.945Z,1761670021.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997959,-0.062843,0.011314],[0.063092,0.997740,-0.023099],[-0.009837,0.023766,0.999669]] 2025-10-28T16:47:02.347Z,1761670022.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996577,-0.081891,0.011314],[0.082121,0.996387,-0.021657],[-0.009499,0.022512,0.999701]] 2025-10-28T16:47:02.755Z,1761670022.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994893,-0.100325,0.011065],[0.100530,0.994736,-0.019859],[-0.009015,0.020870,0.999742]] 2025-10-28T16:47:03.163Z,1761670023.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992999,-0.117649,0.010582],[0.117813,0.992898,-0.016527],[-0.008562,0.017658,0.999807]] 2025-10-28T16:47:03.566Z,1761670023.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991102,-0.132753,0.009700],[0.132860,0.991070,-0.011322],[-0.008110,0.012510,0.999889]] 2025-10-28T16:47:03.962Z,1761670023.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989196,-0.146336,0.008773],[0.146398,0.989202,-0.006842],[-0.007677,0.008053,0.999938]] 2025-10-28T16:47:04.367Z,1761670024.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987267,-0.158883,0.007765],[0.158914,0.987286,-0.003567],[-0.007099,0.004756,0.999963]] 2025-10-28T16:47:04.776Z,1761670024.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985222,-0.171132,0.007114],[0.171148,0.985244,-0.001753],[-0.006709,0.002944,0.999973]] 2025-10-28T16:47:04.829Z,1761670024.829 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:47:04.829Z,1761670024.829 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:47:04.829Z,1761670024.829 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:47:04.829Z,1761670024.829 [marl:UpdateRudder:A] Stopped 2025-10-28T16:47:04.829Z,1761670024.829 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode] Stopped 2025-10-28T16:47:04.830Z,1761670024.830 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:47:05.177Z,1761670025.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983343,-0.181638,0.006628],[0.181650,0.983363,-0.001233],[-0.006293,0.002416,0.999977]] 2025-10-28T16:47:05.206Z,1761670025.206 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:47:05.206Z,1761670025.206 [marl:UpdateRudder:B] Stopped 2025-10-28T16:47:05.206Z,1761670025.206 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:47:05.206Z,1761670025.206 [marl:UpdateRudder] Stopped 2025-10-28T16:47:05.206Z,1761670025.206 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed] Stopped 2025-10-28T16:47:05.207Z,1761670025.207 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:47:05.603Z,1761670025.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981362,-0.192070,0.006211],[0.192081,0.981378,-0.001258],[-0.005854,0.002428,0.999980]] 2025-10-28T16:47:05.983Z,1761670025.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979330,-0.202175,0.006185],[0.202203,0.979334,-0.004340],[-0.005180,0.005501,0.999971]] 2025-10-28T16:47:06.394Z,1761670026.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977269,-0.211923,0.005886],[0.211961,0.977255,-0.006778],[-0.004316,0.007872,0.999960]] 2025-10-28T16:47:06.794Z,1761670026.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974890,-0.222607,0.006022],[0.222656,0.974853,-0.009290],[-0.003803,0.010397,0.999939]] 2025-10-28T16:47:07.195Z,1761670027.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972161,-0.234208,0.006996],[0.234281,0.972088,-0.012523],[-0.003867,0.013813,0.999897]] 2025-10-28T16:47:07.638Z,1761670027.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968956,-0.247104,0.007948],[0.247197,0.968860,-0.014301],[-0.004167,0.015822,0.999866]] 2025-10-28T16:47:08.002Z,1761670028.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965727,-0.259459,0.007252],[0.259520,0.965691,-0.009454],[-0.004551,0.011012,0.999929]] 2025-10-28T16:47:08.415Z,1761670028.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963376,-0.268123,0.004061],[0.268109,0.963381,0.003803],[-0.004932,-0.002575,0.999985]] 2025-10-28T16:47:08.810Z,1761670028.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961724,-0.274016,-0.001641],[0.273969,0.961407,0.025249],[-0.005341,-0.024732,0.999680]] 2025-10-28T16:47:09.214Z,1761670029.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960517,-0.278078,-0.008901],[0.278156,0.959114,0.052250],[-0.005992,-0.052663,0.998594]] 2025-10-28T16:47:09.644Z,1761670029.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959556,-0.281004,-0.017006],[0.281445,0.956177,0.080716],[-0.006420,-0.082238,0.996592]] 2025-10-28T16:47:10.024Z,1761670030.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958774,-0.283056,-0.025138],[0.284093,0.952694,0.108004],[-0.006623,-0.110693,0.993833]] 2025-10-28T16:47:10.380Z,1761670030.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:47:10.426Z,1761670030.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958111,-0.284547,-0.032500],[0.286323,0.949111,0.131180],[-0.006480,-0.134991,0.990826]] 2025-10-28T16:47:10.831Z,1761670030.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957762,-0.284902,-0.039016],[0.287498,0.945849,0.150711],[-0.006034,-0.155563,0.987808]] 2025-10-28T16:47:11.236Z,1761670031.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957399,-0.285429,-0.043782],[0.288709,0.943103,0.164938],[-0.005787,-0.170552,0.985332]] 2025-10-28T16:47:11.382Z,1761670031.382 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:47:11.651Z,1761670031.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957264,-0.285324,-0.047279],[0.289159,0.941020,0.175694],[-0.005639,-0.181857,0.983309]] 2025-10-28T16:47:12.043Z,1761670032.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957380,-0.284517,-0.049739],[0.288781,0.939664,0.183405],[-0.005444,-0.189952,0.981778]] 2025-10-28T16:47:12.446Z,1761670032.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957371,-0.284385,-0.050652],[0.288809,0.939070,0.186377],[-0.005437,-0.193061,0.981172]] 2025-10-28T16:47:12.890Z,1761670032.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957511,-0.283984,-0.050255],[0.288334,0.939013,0.187399],[-0.006028,-0.193926,0.980998]] 2025-10-28T16:47:13.255Z,1761670033.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957678,-0.283537,-0.049594],[0.287764,0.939107,0.187802],[-0.006674,-0.194125,0.980954]] 2025-10-28T16:47:13.658Z,1761670033.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957880,-0.282996,-0.048775],[0.287071,0.939207,0.188362],[-0.007496,-0.194430,0.980888]] 2025-10-28T16:47:14.063Z,1761670034.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957850,-0.283316,-0.047492],[0.287148,0.939471,0.186924],[-0.008341,-0.192682,0.981226]] 2025-10-28T16:47:14.473Z,1761670034.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958089,-0.282728,-0.046168],[0.286321,0.939820,0.186435],[-0.009320,-0.191840,0.981382]] 2025-10-28T16:47:14.883Z,1761670034.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958233,-0.282486,-0.044627],[0.285799,0.940170,0.185470],[-0.010435,-0.190478,0.981636]] 2025-10-28T16:47:15.274Z,1761670035.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958361,-0.282329,-0.042831],[0.285323,0.940643,0.183795],[-0.011602,-0.188363,0.982031]] 2025-10-28T16:47:15.679Z,1761670035.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958278,-0.282882,-0.040996],[0.285550,0.940990,0.181657],[-0.012811,-0.185784,0.982507]] 2025-10-28T16:47:16.084Z,1761670036.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958111,-0.283653,-0.039541],[0.286064,0.941198,0.179761],[-0.013774,-0.183543,0.982915]] 2025-10-28T16:47:16.487Z,1761670036.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957712,-0.285193,-0.038119],[0.287340,0.941099,0.178236],[-0.014957,-0.181652,0.983249]] 2025-10-28T16:47:16.901Z,1761670036.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957181,-0.287109,-0.037041],[0.289057,0.940909,0.176453],[-0.015809,-0.179605,0.983612]] 2025-10-28T16:47:17.294Z,1761670037.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956447,-0.289625,-0.036426],[0.291452,0.940531,0.174520],[-0.016285,-0.177536,0.983980]] 2025-10-28T16:47:17.700Z,1761670037.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955638,-0.292287,-0.036390],[0.294074,0.939833,0.173878],[-0.016622,-0.176866,0.984095]] 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateRudder:A] Stopped 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:47:17.769Z,1761670037.769 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:47:17.770Z,1761670037.770 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:47:17.770Z,1761670037.770 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:47:17.770Z,1761670037.770 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:47:17.770Z,1761670037.770 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:47:17.771Z,1761670037.771 [marl:UpdateCommandMode] Stopped 2025-10-28T16:47:17.771Z,1761670037.771 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:47:18.103Z,1761670038.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954943,-0.294586,-0.036091],[0.296280,0.939106,0.174067],[-0.017384,-0.176917,0.984072]] 2025-10-28T16:47:18.140Z,1761670038.140 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:47:18.140Z,1761670038.140 [marl:UpdateRudder:B] Stopped 2025-10-28T16:47:18.140Z,1761670038.140 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:47:18.140Z,1761670038.140 [marl:UpdateRudder] Stopped 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed] Stopped 2025-10-28T16:47:18.141Z,1761670038.141 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:47:18.508Z,1761670038.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954406,-0.296306,-0.036218],[0.297978,0.938412,0.174908],[-0.017839,-0.177725,0.983918]] 2025-10-28T16:47:18.914Z,1761670038.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953984,-0.297601,-0.036711],[0.299327,0.937860,0.175562],[-0.017818,-0.178472,0.983784]] 2025-10-28T16:47:19.315Z,1761670039.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953616,-0.298711,-0.037261],[0.300512,0.937435,0.175808],[-0.017586,-0.178850,0.983719]] 2025-10-28T16:47:19.722Z,1761670039.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953565,-0.298782,-0.037980],[0.300695,0.937211,0.176685],[-0.017195,-0.179901,0.983534]] 2025-10-28T16:47:20.125Z,1761670040.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953567,-0.298739,-0.038266],[0.300700,0.937166,0.176914],[-0.016990,-0.180206,0.983482]] 2025-10-28T16:47:20.526Z,1761670040.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953294,-0.299557,-0.038678],[0.301585,0.936966,0.176470],[-0.016623,-0.179892,0.983546]] 2025-10-28T16:47:20.934Z,1761670040.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952635,-0.301746,-0.037900],[0.303665,0.937009,0.172630],[-0.016578,-0.175962,0.984257]] 2025-10-28T16:47:21.334Z,1761670041.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950376,-0.309255,-0.033862],[0.310641,0.937390,0.157486],[-0.016961,-0.160190,0.986941]] 2025-10-28T16:47:22.142Z,1761670042.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939774,-0.341394,-0.016587],[0.341286,0.934610,0.100144],[-0.018687,-0.099773,0.994835]] 2025-10-28T16:47:22.547Z,1761670042.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932793,-0.360357,-0.006400],[0.359888,0.930326,0.070531],[-0.019463,-0.068094,0.997489]] 2025-10-28T16:47:22.954Z,1761670042.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925139,-0.379623,0.002153],[0.379129,0.924197,0.046046],[-0.019470,-0.041783,0.998937]] 2025-10-28T16:47:23.361Z,1761670043.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917284,-0.398130,0.009088],[0.397766,0.917074,0.027502],[-0.019284,-0.021612,0.999580]] 2025-10-28T16:47:23.771Z,1761670043.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909297,-0.415886,0.014749],[0.415718,0.909398,0.013177],[-0.018893,-0.005850,0.999804]] 2025-10-28T16:47:24.222Z,1761670044.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901395,-0.432568,0.019279],[0.432602,0.901581,0.002633],[-0.018521,0.005967,0.999811]] 2025-10-28T16:47:24.566Z,1761670044.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893689,-0.448186,0.021208],[0.448346,0.893854,-0.003240],[-0.017505,0.012404,0.999770]] 2025-10-28T16:47:24.983Z,1761670044.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885749,-0.463651,0.021832],[0.463889,0.885863,-0.007247],[-0.015980,0.016546,0.999735]] 2025-10-28T16:47:25.383Z,1761670045.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877870,-0.478396,0.021946],[0.478677,0.877937,-0.009774],[-0.014591,0.019085,0.999711]] 2025-10-28T16:47:25.783Z,1761670045.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869984,-0.492615,0.021432],[0.492911,0.870002,-0.011595],[-0.012934,0.020651,0.999703]] 2025-10-28T16:47:26.184Z,1761670046.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862091,-0.506342,0.020422],[0.506636,0.862059,-0.013184],[-0.010930,0.021712,0.999704]] 2025-10-28T16:47:26.588Z,1761670046.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854394,-0.519296,0.018526],[0.519553,0.854329,-0.013669],[-0.008729,0.021304,0.999735]] 2025-10-28T16:47:26.998Z,1761670046.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846822,-0.531628,0.016256],[0.531837,0.846735,-0.013738],[-0.006461,0.020279,0.999774]] 2025-10-28T16:47:27.395Z,1761670047.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839786,-0.542753,0.013370],[0.542900,0.839701,-0.012742],[-0.004311,0.017959,0.999829]] 2025-10-28T16:47:27.802Z,1761670047.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833233,-0.552812,0.011005],[0.552914,0.833158,-0.011585],[-0.002765,0.015738,0.999872]] 2025-10-28T16:47:28.203Z,1761670048.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826740,-0.562519,0.008593],[0.562584,0.826669,-0.010835],[-0.001008,0.013792,0.999904]] 2025-10-28T16:47:28.606Z,1761670048.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820146,-0.572106,0.007425],[0.572154,0.820073,-0.010934],[0.000167,0.013216,0.999913]] 2025-10-28T16:47:29.011Z,1761670049.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813225,-0.581913,0.006533],[0.581948,0.813146,-0.011390],[0.001316,0.013065,0.999914]] 2025-10-28T16:47:29.415Z,1761670049.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805855,-0.592085,0.005741],[0.592108,0.805771,-0.011840],[0.002384,0.012941,0.999913]] 2025-10-28T16:47:29.825Z,1761670049.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797432,-0.603386,0.005232],[0.603401,0.797346,-0.012110],[0.003135,0.012814,0.999913]] 2025-10-28T16:47:30.228Z,1761670050.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788119,-0.615507,0.004491],[0.615510,0.788032,-0.012403],[0.004095,0.012540,0.999913]] 2025-10-28T16:47:30.627Z,1761670050.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777667,-0.628666,0.003760],[0.628655,0.777575,-0.013013],[0.005258,0.012484,0.999908]] 2025-10-28T16:47:30.674Z,1761670050.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:47:30.674Z,1761670050.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:47:30.674Z,1761670050.674 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateRudder:A] Stopped 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode] Stopped 2025-10-28T16:47:30.675Z,1761670050.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:47:31.030Z,1761670051.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766207,-0.642588,0.002570],[0.642561,0.766122,-0.013122],[0.006463,0.011706,0.999911]] 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateRudder:B] Stopped 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateRudder] Stopped 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:47:31.083Z,1761670051.083 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:47:31.088Z,1761670051.088 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:47:31.088Z,1761670051.088 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:47:31.088Z,1761670051.088 [marl:UpdateSpeed] Stopped 2025-10-28T16:47:31.088Z,1761670051.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:47:31.437Z,1761670051.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754162,-0.656684,0.002307],[0.656644,0.754066,-0.014250],[0.007618,0.012262,0.999896]] 2025-10-28T16:47:31.842Z,1761670051.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741338,-0.671130,0.001560],[0.671067,0.741233,-0.015564],[0.009289,0.012585,0.999878]] 2025-10-28T16:47:32.243Z,1761670052.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728062,-0.685510,0.001267],[0.685423,0.727937,-0.017439],[0.011032,0.013565,0.999847]] 2025-10-28T16:47:32.647Z,1761670052.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714797,-0.699332,-0.000090],[0.699215,0.714680,-0.018172],[0.012772,0.012927,0.999835]] 2025-10-28T16:47:33.058Z,1761670053.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702203,-0.711973,-0.002204],[0.711833,0.702120,-0.017919],[0.014305,0.011013,0.999837]] 2025-10-28T16:47:33.454Z,1761670053.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690356,-0.723456,-0.004486],[0.723288,0.690309,-0.018124],[0.016209,0.009267,0.999826]] 2025-10-28T16:47:33.866Z,1761670053.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678584,-0.734498,-0.006003],[0.734297,0.678556,-0.019248],[0.018212,0.008653,0.999797]] 2025-10-28T16:47:34.263Z,1761670054.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667868,-0.744230,-0.008613],[0.744009,0.667892,-0.019285],[0.020105,0.006472,0.999777]] 2025-10-28T16:47:34.667Z,1761670054.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657981,-0.752956,-0.010823],[0.752733,0.658057,-0.018818],[0.021291,0.004235,0.999764]] 2025-10-28T16:47:35.071Z,1761670055.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648966,-0.760716,-0.012415],[0.760495,0.649079,-0.018543],[0.022165,0.002592,0.999751]] 2025-10-28T16:47:35.474Z,1761670055.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640328,-0.767992,-0.012990],[0.767767,0.640457,-0.018681],[0.022666,0.001989,0.999741]] 2025-10-28T16:47:35.878Z,1761670055.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631540,-0.775220,-0.013850],[0.774998,0.631691,-0.018562],[0.023138,0.000989,0.999732]] 2025-10-28T16:47:36.286Z,1761670056.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622556,-0.782438,-0.014674],[0.782236,0.622729,-0.017759],[0.023033,-0.000422,0.999735]] 2025-10-28T16:47:36.686Z,1761670056.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612993,-0.789970,-0.013675],[0.789772,0.613146,-0.017681],[0.022353,0.000038,0.999750]] 2025-10-28T16:47:37.090Z,1761670057.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602567,-0.797977,-0.012059],[0.797783,0.602687,-0.017656],[0.021357,0.001019,0.999771]] 2025-10-28T16:47:37.497Z,1761670057.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590791,-0.806749,-0.011036],[0.806565,0.590892,-0.017295],[0.020474,0.001317,0.999789]] 2025-10-28T16:47:37.907Z,1761670057.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577206,-0.816545,-0.009334],[0.816349,0.577274,-0.018132],[0.020194,0.002847,0.999792]] 2025-10-28T16:47:38.304Z,1761670058.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562030,-0.827082,-0.007590],[0.826880,0.562065,-0.018759],[0.019781,0.004267,0.999795]] 2025-10-28T16:47:38.707Z,1761670058.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546039,-0.837735,-0.006471],[0.837524,0.546052,-0.019499],[0.019868,0.005228,0.999789]] 2025-10-28T16:47:39.114Z,1761670059.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529120,-0.848536,-0.004418],[0.848296,0.529083,-0.021584],[0.020652,0.007673,0.999757]] 2025-10-28T16:47:39.516Z,1761670059.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511952,-0.859008,-0.003346],[0.858732,0.511879,-0.023656],[0.022033,0.009238,0.999715]] 2025-10-28T16:47:39.919Z,1761670059.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495006,-0.868882,-0.003620],[0.868558,0.494928,-0.025573],[0.024011,0.009514,0.999666]] 2025-10-28T16:47:40.327Z,1761670060.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479051,-0.877776,-0.004424],[0.877387,0.478979,-0.027765],[0.026490,0.009419,0.999605]] 2025-10-28T16:47:40.727Z,1761670060.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464423,-0.885592,-0.006148],[0.885143,0.464391,-0.029371],[0.028866,0.008199,0.999550]] 2025-10-28T16:47:41.139Z,1761670061.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451355,-0.892322,-0.006419],[0.891830,0.451327,-0.030719],[0.030308,0.008140,0.999507]] 2025-10-28T16:47:41.500Z,1761670061.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:47:41.535Z,1761670061.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439333,-0.898292,-0.007605],[0.897781,0.439346,-0.031057],[0.031239,0.006816,0.999489]] 2025-10-28T16:47:41.634Z,1761670061.634 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:47:41.822Z,1761670061.822 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:47:41.822Z,1761670061.822 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:47:41.938Z,1761670061.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428014,-0.903725,-0.009247],[0.903217,0.428087,-0.030655],[0.031662,0.004769,0.999487]] 2025-10-28T16:47:42.073Z,1761670062.073 [DAT](INFO): DAT read: user:24> 2025-10-28T16:47:42.074Z,1761670062.074 [DAT](INFO): DAT read: Tx time:16:47:41.8149 2025-10-28T16:47:42.074Z,1761670062.074 [DAT](INFO): Ping request sent. 2025-10-28T16:47:42.074Z,1761670062.074 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:47:42.074Z,1761670062.074 [DAT](INFO): publishing transmit ping time 2025-10-28T16:47:42.075Z,1761670062.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000997 2025-10-28T16:47:42.326Z,1761670062.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251807 2025-10-28T16:47:42.354Z,1761670062.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416589,-0.909034,-0.010500],[0.908536,0.416710,-0.030264],[0.031887,0.003068,0.999487]] 2025-10-28T16:47:42.504Z,1761670062.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:47:42.577Z,1761670062.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502843 2025-10-28T16:47:42.754Z,1761670062.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404586,-0.914422,-0.011922],[0.913940,0.404761,-0.029707],[0.031990,0.001123,0.999488]] 2025-10-28T16:47:42.830Z,1761670062.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755235 2025-10-28T16:47:43.081Z,1761670063.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006892 2025-10-28T16:47:43.156Z,1761670063.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391855,-0.919967,-0.010538],[0.919482,0.391991,-0.029939],[0.031673,0.002042,0.999496]] 2025-10-28T16:47:43.334Z,1761670063.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259594 2025-10-28T16:47:43.565Z,1761670063.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364075,-0.931317,-0.009921],[0.930830,0.364206,-0.030147],[0.031690,0.001741,0.999496]] 2025-10-28T16:47:43.596Z,1761670063.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521217 2025-10-28T16:47:43.846Z,1761670063.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771409 2025-10-28T16:47:43.965Z,1761670063.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349108,-0.937048,-0.008000],[0.936526,0.349182,-0.031489],[0.032301,0.003501,0.999472]] 2025-10-28T16:47:43.998Z,1761670063.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:47:43.998Z,1761670063.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:47:43.998Z,1761670063.998 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateRudder:A] Stopped 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:47:43.999Z,1761670063.999 [marl:UpdateCommandMode] Stopped 2025-10-28T16:47:43.000Z,1761670064.000 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:47:44.097Z,1761670064.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022928 2025-10-28T16:47:44.349Z,1761670064.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275383 2025-10-28T16:47:44.373Z,1761670064.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334399,-0.942408,-0.006650],[0.941849,0.334432,-0.032796],[0.033131,0.004704,0.999440]] 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateRudder:B] Stopped 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateRudder] Stopped 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:47:44.411Z,1761670064.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:47:44.412Z,1761670064.412 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:47:44.412Z,1761670064.412 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:47:44.412Z,1761670064.412 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:47:44.412Z,1761670064.412 [marl:UpdateSpeed] Stopped 2025-10-28T16:47:44.412Z,1761670064.412 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:47:44.601Z,1761670064.601 [DAT](INFO): DAT read: Rx Time:16:47:44.0066 2025-10-28T16:47:44.601Z,1761670064.601 [DAT](INFO): Rx dataTimestamp_ set to:1761670064.601201 2025-10-28T16:47:44.602Z,1761670064.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528013 2025-10-28T16:47:44.779Z,1761670064.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320505,-0.947217,-0.007548],[0.946632,0.320574,-0.033478],[0.034130,0.003585,0.999411]] 2025-10-28T16:47:44.853Z,1761670064.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778858 2025-10-28T16:47:45.105Z,1761670065.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031441 2025-10-28T16:47:45.196Z,1761670065.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307356,-0.951559,-0.008189],[0.950952,0.307454,-0.034105],[0.034971,0.002695,0.999385]] 2025-10-28T16:47:45.363Z,1761670065.363 [DAT](INFO): DAT read: 16:47:44.0066 LVL= 14016, 15569, 22866, 20867, AGC= 51, IDX= 156, 0.42,-0.548,-1.193,-2.251,-1.281, PHS= 0.835, 0.133,-1.015, RAW= 52.1, 0.6, CAL= 52.6, -1.7, ROT= 97.4, 1.7 2025-10-28T16:47:45.364Z,1761670065.364 [DAT](INFO): got valid direction response: 16:47:44.0066 LVL= 14016, 15569, 22866, 20867, AGC= 51, IDX= 156, 0.42,-0.548,-1.193,-2.251,-1.281, PHS= 0.835, 0.133,-1.015, RAW= 52.1, 0.6, CAL= 52.6, -1.7, ROT= 97.4, 1.7 2025-10-28T16:47:45.365Z,1761670065.365 [DAT](INFO): DAT read: Bearing 142, -18 (Remote) 2025-10-28T16:47:45.366Z,1761670065.366 [DAT](INFO): Remote Bearing received:Bearing 142, -18 (Remote) 2025-10-28T16:47:45.367Z,1761670065.367 [DAT](INFO): DAT read: Bearing 61.6, 80.7 (Local) 2025-10-28T16:47:45.367Z,1761670065.367 [DAT](INFO): Local bearing/azimuth received: Bearing 61.6, 80.7 (Local) 2025-10-28T16:47:45.372Z,1761670065.372 [DAT](INFO): DAT read: Range 11 to 20 : 121.8 m (Round-trip 162.5 ms) speed -0.4 m/s 2025-10-28T16:47:45.372Z,1761670065.372 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:47:45.373Z,1761670065.373 [DAT](INFO): direction in FSK: [-0.128739,0.991235,-0.029666] 2025-10-28T16:47:45.374Z,1761670065.374 [DAT](INFO): publishing direction and range info 2025-10-28T16:47:45.646Z,1761670065.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294716,-0.955547,-0.008463],[0.954923,0.294830,-0.034604],[0.035561,0.002117,0.999365]] 2025-10-28T16:47:45.726Z,1761670065.726 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670016.00. Resetting abort timer. 2025-10-28T16:47:45.986Z,1761670065.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282822,-0.959129,-0.009092],[0.958512,0.282966,-0.034416],[0.035582,0.001019,0.999366]] 2025-10-28T16:47:46.390Z,1761670066.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271266,-0.962458,-0.009478],[0.961860,0.271431,-0.033924],[0.035223,0.000085,0.999379]] 2025-10-28T16:47:46.796Z,1761670066.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259903,-0.965583,-0.009962],[0.965017,0.260092,-0.033077],[0.034529,-0.001017,0.999403]] 2025-10-28T16:47:47.201Z,1761670067.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247042,-0.968966,-0.008641],[0.968421,0.247193,-0.032506],[0.033634,-0.000338,0.999434]] 2025-10-28T16:47:47.645Z,1761670067.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233493,-0.972323,-0.008269],[0.971817,0.233639,-0.031376],[0.032439,-0.000709,0.999473]] 2025-10-28T16:47:48.006Z,1761670068.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217815,-0.975962,-0.007457],[0.975484,0.217942,-0.030528],[0.031420,-0.000625,0.999506]] 2025-10-28T16:47:48.410Z,1761670068.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200092,-0.979763,-0.005272],[0.979307,0.200160,-0.029892],[0.030342,0.000818,0.999539]] 2025-10-28T16:47:49.219Z,1761670069.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159305,-0.987228,0.001599],[0.986825,0.159193,-0.028876],[0.028253,0.006178,0.999582]] 2025-10-28T16:47:49.647Z,1761670069.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137592,-0.990482,0.003808],[0.990089,0.137426,-0.028951],[0.028152,0.007753,0.999574]] 2025-10-28T16:47:50.027Z,1761670070.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115237,-0.993319,0.006096],[0.992912,0.115006,-0.029984],[0.029083,0.009508,0.999532]] 2025-10-28T16:47:50.432Z,1761670070.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093646,-0.995571,0.008247],[0.995131,0.093343,-0.031633],[0.030723,0.011169,0.999466]] 2025-10-28T16:47:50.841Z,1761670070.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073216,-0.997263,0.010325],[0.996774,0.072831,-0.033727],[0.032883,0.012761,0.999378]] 2025-10-28T16:47:51.238Z,1761670071.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055200,-0.998418,0.010734],[0.997870,0.054789,-0.035417],[0.034773,0.012666,0.999315]] 2025-10-28T16:47:51.651Z,1761670071.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040082,-0.999151,0.009550],[0.998539,0.039708,-0.036651],[0.036241,0.011005,0.999283]] 2025-10-28T16:47:52.047Z,1761670072.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027601,-0.999584,0.008338],[0.998920,0.027269,-0.037621],[0.037378,0.009367,0.999257]] 2025-10-28T16:47:52.452Z,1761670072.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016779,-0.999843,0.005621],[0.999135,0.016553,-0.038157],[0.038058,0.006257,0.999256]] 2025-10-28T16:47:52.854Z,1761670072.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007444,-0.999969,0.002619],[0.999248,0.007339,-0.038063],[0.038043,0.002900,0.999272]] 2025-10-28T16:47:53.259Z,1761670073.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001241,-0.999999,-0.000665],[0.999295,-0.001215,-0.037529],[0.037528,-0.000711,0.999295]] 2025-10-28T16:47:53.663Z,1761670073.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009703,-0.999944,-0.004136],[0.999305,-0.009548,-0.036027],[0.035986,-0.004483,0.999342]] 2025-10-28T16:47:54.067Z,1761670074.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018324,-0.999807,-0.007074],[0.999276,-0.018078,-0.033482],[0.033348,-0.007682,0.999414]] 2025-10-28T16:47:54.470Z,1761670074.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027534,-0.999582,-0.008751],[0.999174,-0.027259,-0.030143],[0.029892,-0.009573,0.999507]] 2025-10-28T16:47:54.878Z,1761670074.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037574,-0.999249,-0.009456],[0.998960,-0.037315,-0.026189],[0.025816,-0.010430,0.999612]] 2025-10-28T16:47:55.278Z,1761670075.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049892,-0.998714,-0.009038],[0.998514,-0.049679,-0.022403],[0.021925,-0.010142,0.999708]] 2025-10-28T16:47:55.685Z,1761670075.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065043,-0.997845,-0.008603],[0.997715,-0.064871,-0.018881],[0.018283,-0.009812,0.999785]] 2025-10-28T16:47:56.087Z,1761670076.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083028,-0.996517,-0.007808],[0.996430,-0.082896,-0.015959],[0.015257,-0.009105,0.999842]] 2025-10-28T16:47:56.491Z,1761670076.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102825,-0.994682,-0.005946],[0.994618,-0.102738,-0.013434],[0.012751,-0.007296,0.999892]] 2025-10-28T16:47:56.896Z,1761670076.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123412,-0.992350,-0.003333],[0.992299,-0.123368,-0.011104],[0.010608,-0.004678,0.999933]] 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateRudder:A] Stopped 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:47:56.921Z,1761670076.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode] Stopped 2025-10-28T16:47:56.922Z,1761670076.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:47:57.307Z,1761670077.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145169,-0.989406,-0.001319],[0.989363,-0.145150,-0.009631],[0.009338,-0.002703,0.999953]] 2025-10-28T16:47:57.338Z,1761670077.338 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:47:57.338Z,1761670077.338 [marl:UpdateRudder:B] Stopped 2025-10-28T16:47:57.338Z,1761670077.338 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:47:57.338Z,1761670077.338 [marl:UpdateRudder] Stopped 2025-10-28T16:47:57.338Z,1761670077.338 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed] Stopped 2025-10-28T16:47:57.339Z,1761670077.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:47:57.702Z,1761670077.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166096,-0.986108,0.001711],[0.986070,-0.166105,-0.008653],[0.008817,0.000250,0.999961]] 2025-10-28T16:47:58.106Z,1761670078.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187471,-0.982258,0.004912],[0.982229,-0.187507,-0.008162],[0.008938,0.003294,0.999955]] 2025-10-28T16:47:58.512Z,1761670078.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208512,-0.977997,0.006707],[0.977973,-0.208564,-0.008355],[0.009570,0.004817,0.999943]] 2025-10-28T16:47:58.914Z,1761670078.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229058,-0.973364,0.009741],[0.973355,-0.229143,-0.008619],[0.010622,0.007507,0.999915]] 2025-10-28T16:47:59.324Z,1761670079.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248574,-0.968536,0.012210],[0.968545,-0.248686,-0.008686],[0.011449,0.009667,0.999888]] 2025-10-28T16:47:59.724Z,1761670079.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267191,-0.963567,0.012148],[0.963567,-0.267308,-0.009200],[0.012112,0.009247,0.999884]] 2025-10-28T16:48:00.128Z,1761670080.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284920,-0.958468,0.012624],[0.958466,-0.285045,-0.009583],[0.012783,0.009370,0.999874]] 2025-10-28T16:48:00.531Z,1761670080.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301587,-0.953353,0.012801],[0.953347,-0.301717,-0.009782],[0.013188,0.009254,0.999870]] 2025-10-28T16:48:00.934Z,1761670080.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316687,-0.948459,0.011596],[0.948437,-0.316804,-0.010144],[0.013295,0.007786,0.999881]] 2025-10-28T16:48:01.339Z,1761670081.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331077,-0.943543,0.010675],[0.943502,-0.331187,-0.010935],[0.013853,0.006452,0.999883]] 2025-10-28T16:48:01.750Z,1761670081.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343722,-0.939011,0.010645],[0.938964,-0.343832,-0.011230],[0.014205,0.006136,0.999880]] 2025-10-28T16:48:02.146Z,1761670082.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355255,-0.934730,0.008600],[0.934650,-0.355342,-0.012729],[0.014955,0.003516,0.999882]] 2025-10-28T16:48:02.551Z,1761670082.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365824,-0.930656,0.007151],[0.930547,-0.365891,-0.014316],[0.015940,0.001418,0.999872]] 2025-10-28T16:48:02.962Z,1761670082.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375674,-0.926728,0.006606],[0.926599,-0.375732,-0.015504],[0.016850,0.000297,0.999858]] 2025-10-28T16:48:03.358Z,1761670083.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385170,-0.922833,0.004831],[0.922677,-0.385195,-0.017092],[0.017634,-0.002126,0.999842]] 2025-10-28T16:48:03.774Z,1761670083.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394430,-0.918922,0.002850],[0.918750,-0.394413,-0.018357],[0.017992,-0.004622,0.999827]] 2025-10-28T16:48:04.167Z,1761670084.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403511,-0.914974,0.001210],[0.914811,-0.403463,-0.018404],[0.017328,-0.006319,0.999830]] 2025-10-28T16:48:04.572Z,1761670084.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412881,-0.910784,-0.001594],[0.910657,-0.412792,-0.017526],[0.015304,-0.008688,0.999845]] 2025-10-28T16:48:04.974Z,1761670084.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422608,-0.906306,-0.003347],[0.906233,-0.422519,-0.014826],[0.012022,-0.009299,0.999884]] 2025-10-28T16:48:05.379Z,1761670085.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433162,-0.901304,-0.004732],[0.901282,-0.433094,-0.010941],[0.007811,-0.009004,0.999929]] 2025-10-28T16:48:05.793Z,1761670085.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445529,-0.895244,-0.006546],[0.895261,-0.445487,-0.007001],[0.003351,-0.008979,0.999954]] 2025-10-28T16:48:06.188Z,1761670086.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461118,-0.887317,-0.006259],[0.887339,-0.461109,-0.002817],[-0.000386,-0.006853,0.999976]] 2025-10-28T16:48:06.591Z,1761670086.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478400,-0.878139,-0.002408],[0.878136,-0.478405,0.002503],[-0.003350,-0.000917,0.999994]] 2025-10-28T16:48:06.994Z,1761670086.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496591,-0.867984,-0.000668],[0.867967,-0.496586,0.005977],[-0.005519,0.002388,0.999982]] 2025-10-28T16:48:07.399Z,1761670087.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515027,-0.857174,0.000916],[0.857146,-0.515001,0.008709],[-0.006993,0.005270,0.999962]] 2025-10-28T16:48:08.207Z,1761670088.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551704,-0.834033,0.003452],[0.834003,-0.551635,0.011756],[-0.007900,0.009365,0.999925]] 2025-10-28T16:48:08.610Z,1761670088.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569413,-0.822044,0.003599],[0.822019,-0.569345,0.011422],[-0.007340,0.009462,0.999928]] 2025-10-28T16:48:09.016Z,1761670089.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586360,-0.810042,0.003801],[0.810028,-0.586302,0.010211],[-0.006043,0.009066,0.999941]] 2025-10-28T16:48:09.418Z,1761670089.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602841,-0.797855,0.003182],[0.797846,-0.602800,0.008641],[-0.004976,0.007749,0.999958]] 2025-10-28T16:48:09.826Z,1761670089.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617302,-0.786721,0.003042],[0.786715,-0.617267,0.007796],[-0.004256,0.007206,0.999965]] 2025-10-28T16:48:09.884Z,1761670089.884 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:48:09.885Z,1761670089.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:48:09.885Z,1761670089.885 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:48:09.885Z,1761670089.885 [marl:UpdateRudder:A] Stopped 2025-10-28T16:48:09.885Z,1761670089.885 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:48:09.885Z,1761670089.885 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode] Stopped 2025-10-28T16:48:09.886Z,1761670089.886 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:48:10.229Z,1761670090.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630720,-0.776007,0.002348],[0.776002,-0.630696,0.006667],[-0.003693,0.006027,0.999975]] 2025-10-28T16:48:10.258Z,1761670090.258 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:48:10.258Z,1761670090.258 [marl:UpdateRudder:B] Stopped 2025-10-28T16:48:10.258Z,1761670090.258 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:48:10.258Z,1761670090.258 [marl:UpdateRudder] Stopped 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed] Stopped 2025-10-28T16:48:10.259Z,1761670090.259 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:48:10.631Z,1761670090.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643731,-0.765250,0.001680],[0.765245,-0.643715,0.005624],[-0.003223,0.004906,0.999983]] 2025-10-28T16:48:11.035Z,1761670091.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655915,-0.754834,0.000566],[0.754827,-0.655906,0.004772],[-0.003231,0.003557,0.999988]] 2025-10-28T16:48:11.439Z,1761670091.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667444,-0.744660,-0.000176],[0.744652,-0.667437,0.004550],[-0.003506,0.002906,0.999990]] 2025-10-28T16:48:11.853Z,1761670091.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678390,-0.734701,-0.000783],[0.734692,-0.678387,0.004288],[-0.003681,0.002334,0.999990]] 2025-10-28T16:48:12.246Z,1761670092.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688939,-0.724814,-0.002673],[0.724809,-0.688945,0.002702],[-0.003799,-0.000076,0.999993]] 2025-10-28T16:48:12.636Z,1761670092.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:48:12.652Z,1761670092.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699470,-0.714650,-0.004078],[0.714653,-0.699479,0.001151],[-0.003675,-0.002109,0.999991]] 2025-10-28T16:48:13.055Z,1761670093.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708821,-0.705376,-0.004283],[0.705378,-0.708830,0.001128],[-0.003832,-0.002222,0.999990]] 2025-10-28T16:48:13.460Z,1761670093.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717700,-0.696336,-0.004749],[0.696340,-0.717711,0.001105],[-0.004178,-0.002514,0.999988]] 2025-10-28T16:48:13.640Z,1761670093.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:48:13.867Z,1761670093.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726227,-0.687439,-0.004672],[0.687442,-0.726239,0.001251],[-0.004253,-0.002303,0.999988]] 2025-10-28T16:48:14.270Z,1761670094.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734760,-0.678309,-0.005011],[0.678314,-0.734772,0.000868],[-0.004270,-0.002761,0.999987]] 2025-10-28T16:48:14.672Z,1761670094.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743249,-0.668992,-0.005567],[0.669001,-0.743262,0.000328],[-0.004357,-0.003480,0.999984]] 2025-10-28T16:48:15.077Z,1761670095.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751862,-0.659283,-0.007061],[0.659303,-0.751876,-0.000876],[-0.004732,-0.005314,0.999975]] 2025-10-28T16:48:15.478Z,1761670095.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760894,-0.648827,-0.007985],[0.648855,-0.760911,-0.001319],[-0.005220,-0.006185,0.999967]] 2025-10-28T16:48:15.885Z,1761670095.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769884,-0.638127,-0.008467],[0.638156,-0.769906,-0.000973],[-0.005898,-0.006152,0.999964]] 2025-10-28T16:48:16.294Z,1761670096.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778839,-0.627165,-0.008602],[0.627188,-0.778868,0.000085],[-0.006753,-0.005329,0.999963]] 2025-10-28T16:48:16.692Z,1761670096.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787932,-0.615701,-0.008702],[0.615715,-0.787968,0.001287],[-0.007649,-0.004344,0.999961]] 2025-10-28T16:48:17.094Z,1761670097.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797452,-0.603317,-0.008892],[0.603326,-0.797492,0.001903],[-0.008239,-0.003847,0.999959]] 2025-10-28T16:48:17.499Z,1761670097.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807051,-0.590409,-0.009287],[0.590413,-0.807097,0.002659],[-0.009066,-0.003338,0.999953]] 2025-10-28T16:48:17.932Z,1761670097.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817002,-0.576547,-0.010084],[0.576549,-0.817057,0.002992],[-0.009964,-0.003369,0.999945]] 2025-10-28T16:48:18.307Z,1761670098.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827133,-0.561896,-0.011179],[0.561900,-0.827200,0.003103],[-0.010990,-0.003715,0.999933]] 2025-10-28T16:48:18.711Z,1761670098.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837346,-0.546564,-0.010929],[0.546550,-0.837415,0.004485],[-0.011603,-0.002217,0.999930]] 2025-10-28T16:48:19.519Z,1761670099.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857077,-0.515061,-0.011478],[0.515039,-0.857152,0.004979],[-0.012403,-0.001644,0.999922]] 2025-10-28T16:48:20.326Z,1761670100.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875618,-0.482855,-0.012005],[0.482828,-0.875699,0.005308],[-0.013076,-0.001149,0.999914]] 2025-10-28T16:48:20.730Z,1761670100.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883997,-0.467334,-0.012216],[0.467306,-0.884080,0.005162],[-0.013212,-0.001145,0.999912]] 2025-10-28T16:48:21.135Z,1761670101.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892232,-0.451393,-0.012922],[0.451383,-0.892322,0.003845],[-0.013266,-0.002402,0.999909]] 2025-10-28T16:48:21.540Z,1761670101.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899897,-0.435903,-0.013166],[0.435901,-0.899989,0.003213],[-0.013250,-0.002847,0.999908]] 2025-10-28T16:48:21.946Z,1761670101.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907283,-0.420324,-0.012895],[0.420329,-0.907368,0.002408],[-0.012712,-0.003235,0.999914]] 2025-10-28T16:48:22.347Z,1761670102.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914104,-0.405276,-0.012902],[0.405290,-0.914187,0.001606],[-0.012446,-0.003761,0.999915]] 2025-10-28T16:48:22.755Z,1761670102.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920277,-0.391041,-0.013288],[0.391068,-0.920362,0.000648],[-0.012483,-0.004600,0.999911]] 2025-10-28T16:48:22.817Z,1761670102.817 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateRudder:A] Stopped 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:48:22.818Z,1761670102.818 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:48:22.819Z,1761670102.819 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:48:22.819Z,1761670102.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:48:22.819Z,1761670102.819 [marl:UpdateCommandMode] Stopped 2025-10-28T16:48:22.819Z,1761670102.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:48:23.157Z,1761670103.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926104,-0.377021,-0.013673],[0.377058,-0.926190,-0.000104],[-0.012624,-0.005251,0.999907]] 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateRudder:B] Stopped 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateRudder] Stopped 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:48:23.181Z,1761670103.181 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:48:23.182Z,1761670103.182 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:48:23.182Z,1761670103.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:48:23.182Z,1761670103.182 [marl:UpdateSpeed] Stopped 2025-10-28T16:48:23.182Z,1761670103.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:48:23.563Z,1761670103.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931618,-0.363162,-0.014208],[0.363205,-0.931709,-0.000521],[-0.013048,-0.005645,0.999899]] 2025-10-28T16:48:23.967Z,1761670103.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937122,-0.348680,-0.014984],[0.348742,-0.937217,-0.001668],[-0.013462,-0.006788,0.999886]] 2025-10-28T16:48:24.366Z,1761670104.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942496,-0.333826,-0.016156],[0.333913,-0.942599,-0.003007],[-0.014225,-0.008228,0.999865]] 2025-10-28T16:48:24.782Z,1761670104.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947874,-0.318172,-0.017358],[0.318293,-0.947981,-0.004648],[-0.014976,-0.009931,0.999838]] 2025-10-28T16:48:25.175Z,1761670105.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952943,-0.302566,-0.018793],[0.302722,-0.953059,-0.006071],[-0.016074,-0.011475,0.999805]] 2025-10-28T16:48:25.595Z,1761670105.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958074,-0.285826,-0.019959],[0.286013,-0.958199,-0.007166],[-0.017076,-0.012574,0.999775]] 2025-10-28T16:48:26.388Z,1761670106.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967439,-0.252136,-0.022113],[0.252366,-0.967596,-0.008276],[-0.019310,-0.013587,0.999721]] 2025-10-28T16:48:26.791Z,1761670106.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971739,-0.234978,-0.022570],[0.235194,-0.971920,-0.007414],[-0.020194,-0.012513,0.999718]] 2025-10-28T16:48:27.194Z,1761670107.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975585,-0.218390,-0.023220],[0.218597,-0.975792,-0.006752],[-0.021183,-0.011663,0.999708]] 2025-10-28T16:48:27.642Z,1761670107.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982043,-0.187262,-0.022919],[0.187440,-0.982258,-0.005884],[-0.021410,-0.010075,0.999720]] 2025-10-28T16:48:28.015Z,1761670108.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984638,-0.173168,-0.022356],[0.173311,-0.984857,-0.004579],[-0.021225,-0.008383,0.999740]] 2025-10-28T16:48:28.411Z,1761670108.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986873,-0.160065,-0.021466],[0.160174,-0.987083,-0.003468],[-0.020634,-0.006860,0.999764]] 2025-10-28T16:48:28.816Z,1761670108.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988770,-0.147981,-0.020885],[0.148086,-0.988968,-0.003564],[-0.020127,-0.006616,0.999776]] 2025-10-28T16:48:29.219Z,1761670109.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990479,-0.136179,-0.020183],[0.136280,-0.990664,-0.003677],[-0.019494,-0.006393,0.999790]] 2025-10-28T16:48:29.645Z,1761670109.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992024,-0.124502,-0.019684],[0.124621,-0.992192,-0.004928],[-0.018917,-0.007342,0.999794]] 2025-10-28T16:48:30.031Z,1761670110.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993438,-0.112669,-0.019644],[0.112817,-0.993594,-0.006584],[-0.018776,-0.008757,0.999785]] 2025-10-28T16:48:30.426Z,1761670110.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994747,-0.100458,-0.019680],[0.100601,-0.994906,-0.006395],[-0.018937,-0.008341,0.999786]] 2025-10-28T16:48:30.832Z,1761670110.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995958,-0.087472,-0.020413],[0.087630,-0.996129,-0.006972],[-0.019725,-0.008732,0.999767]] 2025-10-28T16:48:31.236Z,1761670111.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997023,-0.074032,-0.021550],[0.074219,-0.997210,-0.008031],[-0.020895,-0.009606,0.999736]] 2025-10-28T16:48:31.650Z,1761670111.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997954,-0.059660,-0.022994],[0.059871,-0.998169,-0.008616],[-0.022438,-0.009975,0.999698]] 2025-10-28T16:48:32.048Z,1761670112.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998731,-0.043869,-0.024722],[0.044087,-0.998993,-0.008341],[-0.024331,-0.009420,0.999660]] 2025-10-28T16:48:32.452Z,1761670112.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999308,-0.026080,-0.026541],[0.026324,-0.999614,-0.008914],[-0.026298,-0.009607,0.999608]] 2025-10-28T16:48:32.854Z,1761670112.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999583,-0.006690,-0.028095],[0.006981,-0.999923,-0.010292],[-0.028024,-0.010484,0.999552]] 2025-10-28T16:48:33.266Z,1761670113.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999462,0.014010,-0.029657],[-0.013620,-0.999819,-0.013318],[-0.029838,-0.012907,0.999471]] 2025-10-28T16:48:33.662Z,1761670113.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998895,0.035323,-0.030993],[-0.034849,-0.999269,-0.015730],[-0.031526,-0.014633,0.999396]] 2025-10-28T16:48:34.077Z,1761670114.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997896,0.056651,-0.031519],[-0.056167,-0.998293,-0.016026],[-0.032373,-0.014222,0.999375]] 2025-10-28T16:48:34.473Z,1761670114.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996460,0.077896,-0.031618],[-0.077384,-0.996855,-0.017107],[-0.032851,-0.014600,0.999354]] 2025-10-28T16:48:34.874Z,1761670114.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994594,0.099080,-0.031076],[-0.098580,-0.994980,-0.017245],[-0.032629,-0.014088,0.999368]] 2025-10-28T16:48:35.278Z,1761670115.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992355,0.119802,-0.029642],[-0.119309,-0.992696,-0.017863],[-0.031566,-0.014190,0.999401]] 2025-10-28T16:48:35.764Z,1761670115.764 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:48:35.764Z,1761670115.764 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:48:35.764Z,1761670115.764 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:48:35.765Z,1761670115.765 [marl:UpdateRudder:A] Stopped 2025-10-28T16:48:35.765Z,1761670115.765 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:48:35.765Z,1761670115.765 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:48:35.765Z,1761670115.765 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:48:35.765Z,1761670115.765 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:48:35.766Z,1761670115.766 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:48:35.766Z,1761670115.766 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:48:35.766Z,1761670115.766 [marl:UpdateCommandMode] Stopped 2025-10-28T16:48:35.766Z,1761670115.766 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:48:36.098Z,1761670116.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986912,0.159333,-0.024867],[-0.158883,-0.987112,-0.019123],[-0.027594,-0.014922,0.999508]] 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateRudder:B] Stopped 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateRudder] Stopped 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:48:36.122Z,1761670116.122 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed] Stopped 2025-10-28T16:48:36.123Z,1761670116.123 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:48:36.491Z,1761670116.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983950,0.177089,-0.021935],[-0.176659,-0.984065,-0.020193],[-0.025161,-0.015994,0.999555]] 2025-10-28T16:48:36.895Z,1761670116.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981108,0.192492,-0.019327],[-0.192122,-0.981177,-0.019511],[-0.022719,-0.015429,0.999623]] 2025-10-28T16:48:37.298Z,1761670117.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978342,0.206283,-0.017134],[-0.205959,-0.978377,-0.018930],[-0.020669,-0.014991,0.999674]] 2025-10-28T16:48:37.705Z,1761670117.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975610,0.218946,-0.015734],[-0.218682,-0.975650,-0.016885],[-0.019048,-0.013032,0.999734]] 2025-10-28T16:48:38.106Z,1761670118.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973168,0.229633,-0.014608],[-0.229406,-0.973204,-0.015723],[-0.017827,-0.011950,0.999770]] 2025-10-28T16:48:38.511Z,1761670118.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970523,0.240646,-0.013204],[-0.240437,-0.970539,-0.015654],[-0.016582,-0.012018,0.999790]] 2025-10-28T16:48:38.914Z,1761670118.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967687,0.251868,-0.011979],[-0.251674,-0.967685,-0.015678],[-0.015541,-0.012157,0.999805]] 2025-10-28T16:48:39.321Z,1761670119.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964835,0.262625,-0.010990],[-0.262440,-0.964818,-0.015872],[-0.014772,-0.012429,0.999814]] 2025-10-28T16:48:39.724Z,1761670119.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961931,0.273094,-0.010443],[-0.272910,-0.961903,-0.016186],[-0.014465,-0.012719,0.999815]] 2025-10-28T16:48:40.127Z,1761670120.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958824,0.283807,-0.010523],[-0.283631,-0.958807,-0.015607],[-0.014519,-0.011980,0.999823]] 2025-10-28T16:48:40.531Z,1761670120.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955357,0.295264,-0.010625],[-0.295082,-0.955340,-0.015888],[-0.014841,-0.012043,0.999817]] 2025-10-28T16:48:40.936Z,1761670120.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951729,0.306756,-0.010668],[-0.306553,-0.951698,-0.017191],[-0.015426,-0.013091,0.999795]] 2025-10-28T16:48:41.339Z,1761670121.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947462,0.319699,-0.010369],[-0.319478,-0.947411,-0.018595],[-0.015769,-0.014306,0.999773]] 2025-10-28T16:48:41.751Z,1761670121.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942122,0.335135,-0.009534],[-0.334884,-0.942020,-0.021244],[-0.016101,-0.016821,0.999729]] 2025-10-28T16:48:41.829Z,1761670121.829 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:48:41.869Z,1761670121.869 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:48:41.869Z,1761670121.869 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:48:42.125Z,1761670122.125 [DAT](INFO): DAT read: user:25> 2025-10-28T16:48:42.126Z,1761670122.126 [DAT](INFO): DAT read: Tx time:16:48:41.8648 2025-10-28T16:48:42.126Z,1761670122.126 [DAT](INFO): Ping request sent. 2025-10-28T16:48:42.126Z,1761670122.126 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:48:42.126Z,1761670122.126 [DAT](INFO): publishing transmit ping time 2025-10-28T16:48:42.127Z,1761670122.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T16:48:42.163Z,1761670122.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935845,0.352306,-0.008686],[-0.352031,-0.935694,-0.023490],[-0.016403,-0.018925,0.999686]] 2025-10-28T16:48:42.373Z,1761670122.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246853 2025-10-28T16:48:42.551Z,1761670122.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928679,0.370812,-0.007321],[-0.370528,-0.928471,-0.025492],[-0.016250,-0.020962,0.999648]] 2025-10-28T16:48:42.625Z,1761670122.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499040 2025-10-28T16:48:42.877Z,1761670122.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750883 2025-10-28T16:48:42.958Z,1761670122.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920662,0.390313,-0.006069],[-0.390027,-0.920408,-0.026981],[-0.016117,-0.022473,0.999618]] 2025-10-28T16:48:43.129Z,1761670123.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002971 2025-10-28T16:48:43.358Z,1761670123.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911808,0.410595,-0.004331],[-0.410333,-0.911517,-0.027619],[-0.015288,-0.023406,0.999609]] 2025-10-28T16:48:43.381Z,1761670123.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255088 2025-10-28T16:48:43.635Z,1761670123.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508971 2025-10-28T16:48:43.761Z,1761670123.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:48:43.769Z,1761670123.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902298,0.431103,-0.003030],[-0.430874,-0.902009,-0.026979],[-0.014363,-0.023037,0.999631]] 2025-10-28T16:48:43.885Z,1761670123.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758915 2025-10-28T16:48:44.137Z,1761670124.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010951 2025-10-28T16:48:44.178Z,1761670124.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892329,0.451384,-0.001356],[-0.451195,-0.892034,-0.026437],[-0.013143,-0.022978,0.999650]] 2025-10-28T16:48:44.389Z,1761670124.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262917 2025-10-28T16:48:44.573Z,1761670124.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882324,0.470643,-0.000620],[-0.470486,-0.882062,-0.024689],[-0.012167,-0.021492,0.999695]] 2025-10-28T16:48:44.641Z,1761670124.641 [DAT](INFO): DAT read: Rx Time:16:48:44.0290 2025-10-28T16:48:44.641Z,1761670124.641 [DAT](INFO): Rx dataTimestamp_ set to:1761670124.641105 2025-10-28T16:48:44.642Z,1761670124.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515948 2025-10-28T16:48:44.764Z,1761670124.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:48:44.893Z,1761670124.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766935 2025-10-28T16:48:44.974Z,1761670124.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873664,0.486529,-0.001203],[-0.486413,-0.873505,-0.019780],[-0.010674,-0.016696,0.999804]] 2025-10-28T16:48:45.155Z,1761670125.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028477 2025-10-28T16:48:45.379Z,1761670125.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866123,0.499827,-0.001656],[-0.499747,-0.866035,-0.015396],[-0.009129,-0.012508,0.999880]] 2025-10-28T16:48:45.411Z,1761670125.411 [DAT](INFO): DAT read: 16:48:44.0290 LVL= 32752, 32753, 20722, 32755, AGC= 58, IDX= 147, 0.41, 0.752,-0.360, 1.751, 0.968, PHS=-0.114,-1.284, 0.739, RAW= 174.9, 7.5, CAL= 174.5, 7.5, ROT= 335.5, -7.5 2025-10-28T16:48:45.412Z,1761670125.412 [DAT](INFO): got valid direction response: 16:48:44.0290 LVL= 32752, 32753, 20722, 32755, AGC= 58, IDX= 147, 0.41, 0.752,-0.360, 1.751, 0.968, PHS=-0.114,-1.284, 0.739, RAW= 174.9, 7.5, CAL= 174.5, 7.5, ROT= 335.5, -7.5 2025-10-28T16:48:45.413Z,1761670125.413 [DAT](INFO): DAT read: Bearing 152, -12 (Remote) 2025-10-28T16:48:45.413Z,1761670125.413 [DAT](INFO): Remote Bearing received:Bearing 152, -12 (Remote) 2025-10-28T16:48:45.414Z,1761670125.414 [DAT](INFO): DAT read: Bearing 15.6, -25.5 (Local) 2025-10-28T16:48:45.414Z,1761670125.414 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, -25.5 (Local) 2025-10-28T16:48:45.416Z,1761670125.416 [DAT](INFO): DAT read: Range 11 to 20 : 101.2 m (Round-trip 135.0 ms) speed -0.2 m/s 2025-10-28T16:48:45.416Z,1761670125.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:48:45.417Z,1761670125.417 [DAT](INFO): direction in FSK: [0.902177,-0.411145,0.130526] 2025-10-28T16:48:45.418Z,1761670125.418 [DAT](INFO): publishing direction and range info 2025-10-28T16:48:45.459Z,1761670125.459 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670144.00. Resetting abort timer. 2025-10-28T16:48:45.786Z,1761670125.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859141,0.511736,-0.001546],[-0.511685,-0.859091,-0.011920],[-0.007427,-0.009450,0.999928]] 2025-10-28T16:48:46.190Z,1761670126.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852704,0.522392,-0.001271],[-0.522363,-0.852678,-0.008794],[-0.005678,-0.006835,0.999961]] 2025-10-28T16:48:46.593Z,1761670126.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846335,0.532651,-0.000381],[-0.532635,-0.846313,-0.007362],[-0.004244,-0.006028,0.999973]] 2025-10-28T16:48:46.995Z,1761670126.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840044,0.542518,0.001034],[-0.542511,-0.840021,-0.006802],[-0.002822,-0.006275,0.999976]] 2025-10-28T16:48:47.398Z,1761670127.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833334,0.552761,0.002953],[-0.552768,-0.833307,-0.006938],[-0.001375,-0.007414,0.999972]] 2025-10-28T16:48:47.803Z,1761670127.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825069,0.564998,0.006211],[-0.565032,-0.825020,-0.009013],[0.000032,-0.010946,0.999940]] 2025-10-28T16:48:48.224Z,1761670128.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814932,0.579464,0.010381],[-0.579554,-0.814852,-0.011554],[0.001764,-0.015432,0.999879]] 2025-10-28T16:48:48.611Z,1761670128.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803349,0.595323,0.014885],[-0.595499,-0.803228,-0.014326],[0.003428,-0.020373,0.999787]] 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateRudder:A] Stopped 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:48:48.641Z,1761670128.641 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode] Stopped 2025-10-28T16:48:48.642Z,1761670128.642 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:48:49.015Z,1761670129.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790756,0.611860,0.018229],[-0.612109,-0.790634,-0.014890],[0.005302,-0.022932,0.999723]] 2025-10-28T16:48:49.055Z,1761670129.055 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:48:49.055Z,1761670129.055 [marl:UpdateRudder:B] Stopped 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateRudder] Stopped 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:48:49.056Z,1761670129.056 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:48:49.057Z,1761670129.057 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:48:49.057Z,1761670129.057 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:48:49.057Z,1761670129.057 [marl:UpdateSpeed] Stopped 2025-10-28T16:48:49.057Z,1761670129.057 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:48:49.418Z,1761670129.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777733,0.628254,0.020698],[-0.628549,-0.777651,-0.013604],[0.007549,-0.023590,0.999693]] 2025-10-28T16:48:49.823Z,1761670129.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764303,0.644466,0.022461],[-0.644783,-0.764280,-0.011453],[0.009786,-0.023236,0.999682]] 2025-10-28T16:48:50.245Z,1761670130.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751208,0.659645,0.023566],[-0.659952,-0.751262,-0.008279],[0.012243,-0.021771,0.999688]] 2025-10-28T16:48:50.630Z,1761670130.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739370,0.672886,0.023562],[-0.673137,-0.739507,-0.003947],[0.014769,-0.018778,0.999715]] 2025-10-28T16:48:51.034Z,1761670131.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729315,0.683803,0.022639],[-0.683964,-0.729515,0.000866],[0.017107,-0.014853,0.999743]] 2025-10-28T16:48:51.439Z,1761670131.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720284,0.693332,0.021933],[-0.693404,-0.720529,0.005380],[0.019534,-0.011333,0.999745]] 2025-10-28T16:48:51.844Z,1761670131.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711633,0.702244,0.020772],[-0.702222,-0.711893,0.009578],[0.021514,-0.007771,0.999738]] 2025-10-28T16:48:52.247Z,1761670132.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703191,0.710689,0.021045],[-0.710619,-0.703475,0.011935],[0.023286,-0.006562,0.999707]] 2025-10-28T16:48:52.650Z,1761670132.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694827,0.718839,0.022035],[-0.718739,-0.695147,0.013592],[0.025088,-0.006393,0.999665]] 2025-10-28T16:48:53.055Z,1761670133.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685518,0.727649,0.024324],[-0.727555,-0.685903,0.014156],[0.026984,-0.007993,0.999604]] 2025-10-28T16:48:53.460Z,1761670133.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674604,0.737706,0.026446],[-0.737624,-0.675053,0.014613],[0.028633,-0.009650,0.999543]] 2025-10-28T16:48:53.862Z,1761670133.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662903,0.748133,0.029269],[-0.748089,-0.663437,0.014634],[0.030366,-0.012195,0.999464]] 2025-10-28T16:48:54.266Z,1761670134.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649431,0.759695,0.033207],[-0.759742,-0.650077,0.013849],[0.032108,-0.016235,0.999353]] 2025-10-28T16:48:54.672Z,1761670134.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635106,0.771585,0.036004],[-0.771677,-0.635852,0.014371],[0.033982,-0.018657,0.999248]] 2025-10-28T16:48:55.075Z,1761670135.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620149,0.783563,0.038010],[-0.783664,-0.620988,0.015642],[0.035861,-0.020087,0.999155]] 2025-10-28T16:48:55.478Z,1761670135.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604923,0.795273,0.040111],[-0.795380,-0.605868,0.017128],[0.037923,-0.021542,0.999048]] 2025-10-28T16:48:55.882Z,1761670135.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589856,0.806480,0.040745],[-0.806548,-0.590864,0.018979],[0.039381,-0.021668,0.998989]] 2025-10-28T16:48:56.291Z,1761670136.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575688,0.816740,0.038974],[-0.816649,-0.576696,0.022480],[0.040836,-0.018886,0.998987]] 2025-10-28T16:48:56.690Z,1761670136.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562713,0.825772,0.038123],[-0.825558,-0.563743,0.025461],[0.042517,-0.017145,0.998949]] 2025-10-28T16:48:57.094Z,1761670137.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550454,0.834048,0.036937],[-0.833676,-0.551492,0.029008],[0.044565,-0.014826,0.998896]] 2025-10-28T16:48:57.500Z,1761670137.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538976,0.841583,0.035270],[-0.841044,-0.539992,0.032480],[0.046380,-0.012157,0.998850]] 2025-10-28T16:48:57.905Z,1761670137.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527923,0.848572,0.034968],[-0.847915,-0.528964,0.035178],[0.048348,-0.011079,0.998769]] 2025-10-28T16:48:58.307Z,1761670138.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516235,0.855643,0.037097],[-0.854972,-0.517403,0.036294],[0.050249,-0.012981,0.998652]] 2025-10-28T16:48:58.718Z,1761670138.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504007,0.862818,0.039011],[-0.862113,-0.505304,0.037794],[0.052322,-0.014583,0.998524]] 2025-10-28T16:48:59.115Z,1761670139.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490923,0.870267,0.040380],[-0.869516,-0.492328,0.039426],[0.054191,-0.015756,0.998406]] 2025-10-28T16:48:59.521Z,1761670139.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477021,0.877850,0.042779],[-0.877115,-0.478586,0.040302],[0.055852,-0.018297,0.998271]] 2025-10-28T16:49:00.328Z,1761670140.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447822,0.893017,0.044450],[-0.892195,-0.449567,0.043342],[0.058688,-0.020249,0.998071]] 2025-10-28T16:49:00.736Z,1761670140.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432815,0.900378,0.044622],[-0.899447,-0.434633,0.045711],[0.060552,-0.020351,0.997958]] 2025-10-28T16:49:01.135Z,1761670141.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417160,0.907730,0.044760],[-0.906711,-0.419045,0.047722],[0.062075,-0.020677,0.997857]] 2025-10-28T16:49:01.540Z,1761670141.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400772,0.915138,0.043641],[-0.913987,-0.402652,0.049992],[0.063322,-0.019852,0.997796]] 2025-10-28T16:49:01.615Z,1761670141.615 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:49:01.615Z,1761670141.615 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:49:01.620Z,1761670141.620 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:49:01.621Z,1761670141.621 [marl:UpdateRudder:A] Stopped 2025-10-28T16:49:01.621Z,1761670141.621 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:49:01.622Z,1761670141.622 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:49:01.622Z,1761670141.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:49:01.622Z,1761670141.622 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:49:01.624Z,1761670141.624 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:49:01.629Z,1761670141.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:49:01.629Z,1761670141.629 [marl:UpdateCommandMode] Stopped 2025-10-28T16:49:01.629Z,1761670141.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:49:01.944Z,1761670141.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383531,0.922534,0.042847],[-0.921258,-0.385427,0.052244],[0.064711,-0.019436,0.997715]] 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateRudder:B] Stopped 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateRudder] Stopped 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:49:02.003Z,1761670142.003 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:49:02.004Z,1761670142.004 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:49:02.004Z,1761670142.004 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:49:02.004Z,1761670142.004 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:49:02.004Z,1761670142.004 [marl:UpdateSpeed] Stopped 2025-10-28T16:49:02.004Z,1761670142.004 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:49:02.346Z,1761670142.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365111,0.929989,0.042596],[-0.928631,-0.367052,0.054015],[0.065868,-0.019834,0.997631]] 2025-10-28T16:49:02.753Z,1761670142.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345415,0.937453,0.043240],[-0.936063,-0.347454,0.055332],[0.066895,-0.021363,0.997531]] 2025-10-28T16:49:03.166Z,1761670143.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324732,0.944814,0.043304],[-0.943391,-0.326833,0.056516],[0.067551,-0.022500,0.997462]] 2025-10-28T16:49:03.566Z,1761670143.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304325,0.951645,0.041919],[-0.950160,-0.306389,0.057630],[0.067687,-0.022292,0.997458]] 2025-10-28T16:49:03.962Z,1761670143.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285134,0.957678,0.039396],[-0.956141,-0.287070,0.058185],[0.067032,-0.021078,0.997528]] 2025-10-28T16:49:04.366Z,1761670144.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267169,0.962989,0.035677],[-0.961383,-0.268896,0.058639],[0.066062,-0.018633,0.997642]] 2025-10-28T16:49:04.775Z,1761670144.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251935,0.967215,0.031984],[-0.965566,-0.253447,0.058714],[0.064895,-0.016090,0.997762]] 2025-10-28T16:49:05.174Z,1761670145.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238649,0.970738,0.026723],[-0.969057,-0.239842,0.058351],[0.063053,-0.011971,0.997938]] 2025-10-28T16:49:05.605Z,1761670145.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227484,0.973504,0.023265],[-0.971825,-0.228476,0.057915],[0.061696,-0.009435,0.998050]] 2025-10-28T16:49:05.982Z,1761670145.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217997,0.975717,0.021303],[-0.974066,-0.218880,0.057340],[0.060610,-0.008251,0.998127]] 2025-10-28T16:49:06.387Z,1761670146.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209750,0.977547,0.020186],[-0.975892,-0.210580,0.057366],[0.060329,-0.007666,0.998149]] 2025-10-28T16:49:06.793Z,1761670146.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202433,0.979114,0.018903],[-0.977406,-0.203203,0.058188],[0.060813,-0.006697,0.998127]] 2025-10-28T16:49:07.202Z,1761670147.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195364,0.980548,0.018915],[-0.978738,-0.196160,0.059946],[0.062490,-0.006802,0.998022]] 2025-10-28T16:49:07.640Z,1761670147.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187146,0.982130,0.019911],[-0.980196,-0.188037,0.062119],[0.064753,-0.007892,0.997870]] 2025-10-28T16:49:08.002Z,1761670148.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176583,0.984066,0.020807],[-0.981975,-0.177577,0.064742],[0.067405,-0.008999,0.997685]] 2025-10-28T16:49:08.810Z,1761670148.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146162,0.989013,0.022144],[-0.986671,-0.147361,0.069031],[0.071536,-0.011760,0.997369]] 2025-10-28T16:49:09.217Z,1761670149.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127068,0.991650,0.022006],[-0.989216,-0.128323,0.070610],[0.072845,-0.012796,0.997261]] 2025-10-28T16:49:09.650Z,1761670149.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105977,0.994141,0.021277],[-0.991638,-0.107246,0.071783],[0.073645,-0.013492,0.997193]] 2025-10-28T16:49:10.097Z,1761670150.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062118,0.997903,0.018178],[-0.995450,-0.063263,0.071257],[0.072257,-0.013669,0.997292]] 2025-10-28T16:49:10.495Z,1761670150.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041829,0.998983,0.016848],[-0.996642,-0.042907,0.069741],[0.070393,-0.013874,0.997423]] 2025-10-28T16:49:10.899Z,1761670150.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022789,0.999645,0.013802],[-0.997396,-0.023678,0.068118],[0.068421,-0.012214,0.997582]] 2025-10-28T16:49:11.302Z,1761670151.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005631,0.999924,0.010968],[-0.997753,-0.006351,0.066694],[0.066758,-0.010568,0.997713]] 2025-10-28T16:49:11.711Z,1761670151.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010684,0.999920,0.006835],[-0.997821,0.010216,0.065181],[0.065106,-0.007517,0.997850]] 2025-10-28T16:49:12.112Z,1761670152.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026202,0.999650,0.003650],[-0.997628,0.025916,0.063770],[0.063654,-0.005312,0.997958]] 2025-10-28T16:49:12.515Z,1761670152.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041156,0.999152,0.001221],[-0.997185,0.040998,0.062772],[0.062668,-0.003801,0.998027]] 2025-10-28T16:49:12.918Z,1761670152.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055909,0.998436,-0.000609],[-0.996503,0.055839,0.062160],[0.062096,-0.002868,0.998066]] 2025-10-28T16:49:13.323Z,1761670153.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071940,0.997405,-0.002785],[-0.995524,0.071976,0.061254],[0.061296,-0.001634,0.998118]] 2025-10-28T16:49:13.728Z,1761670153.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088414,0.996076,-0.003939],[-0.994236,0.088490,0.060536],[0.060647,-0.001436,0.998158]] 2025-10-28T16:49:14.130Z,1761670154.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105567,0.994402,-0.004554],[-0.992627,0.105650,0.059419],[0.059567,-0.001752,0.998223]] 2025-10-28T16:49:14.535Z,1761670154.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122719,0.992430,-0.004798],[-0.990732,0.122790,0.058071],[0.058221,-0.002373,0.998301]] 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateRudder:A] Stopped 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:49:14.575Z,1761670154.575 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:49:14.576Z,1761670154.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:49:14.580Z,1761670154.580 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:49:14.580Z,1761670154.580 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:49:14.580Z,1761670154.580 [marl:UpdateCommandMode] Stopped 2025-10-28T16:49:14.580Z,1761670154.580 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:49:14.884Z,1761670154.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:49:14.941Z,1761670154.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138654,0.990319,-0.006525],[-0.988700,0.138801,0.056630],[0.056988,-0.001400,0.998374]] 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateRudder:B] Stopped 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateRudder] Stopped 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:49:14.966Z,1761670154.966 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:49:14.967Z,1761670154.967 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:49:14.967Z,1761670154.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:49:14.967Z,1761670154.967 [marl:UpdateSpeed] Stopped 2025-10-28T16:49:14.967Z,1761670154.967 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:49:15.344Z,1761670155.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153464,0.988119,-0.008345],[-0.986602,0.153690,0.054727],[0.055359,-0.000165,0.998466]] 2025-10-28T16:49:15.753Z,1761670155.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166980,0.985913,-0.009611],[-0.984517,0.167255,0.052453],[0.053321,0.000704,0.998577]] 2025-10-28T16:49:15.889Z,1761670155.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:49:16.151Z,1761670156.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179155,0.983760,-0.010952],[-0.982501,0.179480,0.049795],[0.050952,0.001839,0.998699]] 2025-10-28T16:49:16.554Z,1761670156.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190145,0.981674,-0.012684],[-0.980555,0.190535,0.046995],[0.048550,0.003501,0.998815]] 2025-10-28T16:49:16.965Z,1761670156.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199952,0.979718,-0.013125],[-0.978713,0.200343,0.044530],[0.046257,0.003942,0.998922]] 2025-10-28T16:49:17.364Z,1761670157.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208319,0.978002,-0.010749],[-0.977051,0.208590,0.043135],[0.044428,0.001516,0.999011]] 2025-10-28T16:49:17.771Z,1761670157.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212915,0.977069,-0.001646],[-0.976116,0.212782,0.043826],[0.043171,-0.007725,0.999038]] 2025-10-28T16:49:18.181Z,1761670158.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213067,0.976957,0.012512],[-0.976105,0.212286,0.046409],[0.042684,-0.022101,0.998844]] 2025-10-28T16:49:18.574Z,1761670158.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210657,0.976861,0.036960],[-0.976626,0.208654,0.051623],[0.042716,-0.046970,0.997983]] 2025-10-28T16:49:18.980Z,1761670158.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208041,0.975864,0.066400],[-0.977173,0.204373,0.058010],[0.043040,-0.076952,0.996105]] 2025-10-28T16:49:19.383Z,1761670159.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206911,0.973624,0.096141],[-0.977402,0.201362,0.064333],[0.043278,-0.107279,0.993287]] 2025-10-28T16:49:19.789Z,1761670159.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207493,0.970371,0.123803],[-0.977271,0.200001,0.070287],[0.043443,-0.135573,0.989814]] 2025-10-28T16:49:20.197Z,1761670160.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210302,0.966487,0.147227],[-0.976668,0.200996,0.075632],[0.043505,-0.159698,0.986207]] 2025-10-28T16:49:20.611Z,1761670160.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215097,0.962580,0.164842],[-0.975612,0.204234,0.080435],[0.043759,-0.178123,0.983035]] 2025-10-28T16:49:21.016Z,1761670161.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221405,0.958705,0.178507],[-0.974190,0.209191,0.084807],[0.043962,-0.192676,0.980277]] 2025-10-28T16:49:21.418Z,1761670161.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228417,0.955632,0.185995],[-0.972606,0.215520,0.087109],[0.043159,-0.200797,0.978682]] 2025-10-28T16:49:21.823Z,1761670161.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236251,0.952747,0.190940],[-0.970822,0.223122,0.087872],[0.041117,-0.206128,0.977661]] 2025-10-28T16:49:22.233Z,1761670162.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244654,0.950107,0.193495],[-0.968866,0.231732,0.087171],[0.037982,-0.208798,0.977221]] 2025-10-28T16:49:22.631Z,1761670162.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253314,0.947650,0.194399],[-0.966808,0.241065,0.084673],[0.033378,-0.209396,0.977261]] 2025-10-28T16:49:23.037Z,1761670163.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261861,0.945417,0.193947],[-0.964706,0.250632,0.080782],[0.027764,-0.208256,0.977680]] 2025-10-28T16:49:23.439Z,1761670163.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268789,0.943726,0.192699],[-0.962944,0.258686,0.076287],[0.022146,-0.206064,0.978288]] 2025-10-28T16:49:23.842Z,1761670163.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272928,0.942954,0.190652],[-0.961884,0.263966,0.071426],[0.017026,-0.202879,0.979056]] 2025-10-28T16:49:24.250Z,1761670164.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274060,0.942856,0.189511],[-0.961630,0.266086,0.066822],[0.012577,-0.200553,0.979602]] 2025-10-28T16:49:24.657Z,1761670164.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273485,0.943154,0.188854],[-0.961840,0.266460,0.062145],[0.008290,-0.198644,0.980037]] 2025-10-28T16:49:25.055Z,1761670165.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271501,0.944168,0.186640],[-0.962429,0.265516,0.056841],[0.004111,-0.195060,0.980783]] 2025-10-28T16:49:25.459Z,1761670165.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268403,0.945302,0.185374],[-0.963307,0.263382,0.051675],[0.000024,-0.192442,0.981308]] 2025-10-28T16:49:25.864Z,1761670165.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264143,0.946841,0.183631],[-0.964477,0.260013,0.046662],[-0.003565,-0.189434,0.981887]] 2025-10-28T16:49:26.266Z,1761670166.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259541,0.948491,0.181669],[-0.965709,0.256199,0.042048],[-0.006661,-0.186353,0.982460]] 2025-10-28T16:49:26.678Z,1761670166.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254911,0.949975,0.180466],[-0.966920,0.252201,0.038202],[-0.009223,-0.184234,0.982839]] 2025-10-28T16:49:27.075Z,1761670167.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250620,0.951309,0.179448],[-0.968019,0.248440,0.034891],[-0.011390,-0.182453,0.983149]] 2025-10-28T16:49:27.483Z,1761670167.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247305,0.952283,0.178881],[-0.968843,0.245618,0.031875],[-0.013583,-0.181190,0.983354]] 2025-10-28T16:49:27.509Z,1761670167.509 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:49:27.509Z,1761670167.509 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateRudder:A] Stopped 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:49:27.510Z,1761670167.510 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:49:27.511Z,1761670167.511 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:49:27.511Z,1761670167.511 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:49:27.511Z,1761670167.511 [marl:UpdateCommandMode] Stopped 2025-10-28T16:49:27.511Z,1761670167.511 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:49:27.882Z,1761670167.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245448,0.952441,0.180589],[-0.969281,0.244156,0.029703],[-0.015802,-0.182332,0.983110]] 2025-10-28T16:49:27.933Z,1761670167.933 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:49:27.933Z,1761670167.933 [marl:UpdateRudder:B] Stopped 2025-10-28T16:49:27.933Z,1761670167.933 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:49:27.933Z,1761670167.933 [marl:UpdateRudder] Stopped 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed] Stopped 2025-10-28T16:49:27.934Z,1761670167.934 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:49:28.286Z,1761670168.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244726,0.952233,0.182653],[-0.969420,0.243849,0.027604],[-0.018254,-0.183823,0.982790]] 2025-10-28T16:49:28.690Z,1761670168.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245744,0.951301,0.186108],[-0.969105,0.245297,0.025797],[-0.021111,-0.186697,0.982191]] 2025-10-28T16:49:29.095Z,1761670169.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247861,0.949941,0.190201],[-0.968494,0.247856,0.024204],[-0.024150,-0.190207,0.981447]] 2025-10-28T16:49:29.510Z,1761670169.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250356,0.948491,0.194129],[-0.967771,0.250812,0.022637],[-0.027218,-0.193540,0.980715]] 2025-10-28T16:49:29.903Z,1761670169.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253291,0.947076,0.197208],[-0.966921,0.254196,0.021143],[-0.030106,-0.196040,0.980134]] 2025-10-28T16:49:30.306Z,1761670170.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256701,0.945296,0.201297],[-0.965925,0.258054,0.019955],[-0.033082,-0.199560,0.979327]] 2025-10-28T16:49:30.711Z,1761670170.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261093,0.943591,0.203632],[-0.964647,0.262880,0.018720],[-0.035867,-0.201321,0.978868]] 2025-10-28T16:49:31.116Z,1761670171.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265915,0.941688,0.206187],[-0.963223,0.268118,0.017711],[-0.038604,-0.203314,0.978352]] 2025-10-28T16:49:31.522Z,1761670171.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271689,0.939522,0.208527],[-0.961507,0.274246,0.017125],[-0.041098,-0.205153,0.977867]] 2025-10-28T16:49:31.923Z,1761670171.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278253,0.937384,0.209493],[-0.959541,0.281064,0.016850],[-0.043086,-0.205706,0.977665]] 2025-10-28T16:49:32.328Z,1761670172.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285462,0.935010,0.210400],[-0.957340,0.288466,0.016950],[-0.044845,-0.206263,0.977468]] 2025-10-28T16:49:32.730Z,1761670172.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293266,0.932371,0.211377],[-0.954900,0.296420,0.017343],[-0.046486,-0.206930,0.977251]] 2025-10-28T16:49:33.138Z,1761670173.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301345,0.929696,0.211796],[-0.952287,0.304710,0.017372],[-0.048386,-0.206925,0.977160]] 2025-10-28T16:49:33.543Z,1761670173.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309198,0.927100,0.211855],[-0.949664,0.312800,0.017168],[-0.050352,-0.206500,0.977150]] 2025-10-28T16:49:33.945Z,1761670173.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315846,0.924515,0.213340],[-0.947345,0.319774,0.016778],[-0.052709,-0.207406,0.976834]] 2025-10-28T16:49:34.346Z,1761670174.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320887,0.922884,0.212878],[-0.945512,0.325228,0.015289],[-0.055124,-0.206185,0.976959]] 2025-10-28T16:49:34.753Z,1761670174.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323538,0.922001,0.212690],[-0.944482,0.328279,0.013644],[-0.057242,-0.205296,0.977024]] 2025-10-28T16:49:35.163Z,1761670175.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323789,0.921927,0.212631],[-0.944279,0.328936,0.011724],[-0.059134,-0.204579,0.977062]] 2025-10-28T16:49:35.591Z,1761670175.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322700,0.922371,0.212361],[-0.944508,0.328365,0.009034],[-0.061399,-0.203492,0.977149]] 2025-10-28T16:49:35.963Z,1761670175.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320846,0.923264,0.211286],[-0.944943,0.327194,0.005184],[-0.064345,-0.201316,0.977411]] 2025-10-28T16:49:36.367Z,1761670176.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318130,0.924599,0.209548],[-0.945622,0.325267,0.000423],[-0.067768,-0.198288,0.977798]] 2025-10-28T16:49:36.779Z,1761670176.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314798,0.926415,0.206535],[-0.946480,0.322725,-0.004975],[-0.071263,-0.193915,0.978427]] 2025-10-28T16:49:37.175Z,1761670177.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311145,0.928436,0.202969],[-0.947469,0.319693,-0.009925],[-0.074102,-0.189219,0.979135]] 2025-10-28T16:49:37.645Z,1761670177.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307115,0.930566,0.199317],[-0.948651,0.316026,-0.013739],[-0.075774,-0.184863,0.979839]] 2025-10-28T16:49:38.005Z,1761670178.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302770,0.932834,0.195323],[-0.950039,0.311718,-0.016067],[-0.075873,-0.180699,0.980607]] 2025-10-28T16:49:38.386Z,1761670178.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298515,0.935077,0.191099],[-0.951527,0.307125,-0.016434],[-0.074058,-0.176930,0.981433]] 2025-10-28T16:49:38.792Z,1761670178.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295532,0.936494,0.188786],[-0.952694,0.303581,-0.014568],[-0.070954,-0.175550,0.981910]] 2025-10-28T16:49:39.194Z,1761670179.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295246,0.936793,0.187748],[-0.953026,0.302670,-0.011515],[-0.067613,-0.175529,0.982150]] 2025-10-28T16:49:39.657Z,1761670179.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298311,0.935841,0.187651],[-0.952277,0.305132,-0.007888],[-0.064640,-0.176343,0.982204]] 2025-10-28T16:49:40.004Z,1761670180.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303376,0.933984,0.188774],[-0.950847,0.309637,-0.003878],[-0.062074,-0.178319,0.982013]] 2025-10-28T16:49:40.406Z,1761670180.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309584,0.931655,0.190200],[-0.948987,0.315315,0.000138],[-0.059845,-0.180540,0.981745]] 2025-10-28T16:49:40.451Z,1761670180.451 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:49:40.451Z,1761670180.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:49:40.451Z,1761670180.451 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:49:40.456Z,1761670180.456 [marl:UpdateRudder:A] Stopped 2025-10-28T16:49:40.456Z,1761670180.456 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:49:40.456Z,1761670180.456 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:49:40.456Z,1761670180.456 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:49:40.456Z,1761670180.456 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:49:40.457Z,1761670180.457 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:49:40.457Z,1761670180.457 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:49:40.457Z,1761670180.457 [marl:UpdateCommandMode] Stopped 2025-10-28T16:49:40.457Z,1761670180.457 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:49:40.821Z,1761670180.821 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.822Z,1761670180.822 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T16:49:40.823Z,1761670180.823 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.823Z,1761670180.823 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T16:49:40.824Z,1761670180.824 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD4. 2025-10-28T16:49:40.825Z,1761670180.825 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.826Z,1761670180.826 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.826Z,1761670180.826 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.827Z,1761670180.827 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T16:49:40.828Z,1761670180.828 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.829Z,1761670180.829 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T16:49:40.829Z,1761670180.829 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T16:49:40.830Z,1761670180.830 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T16:49:40.845Z,1761670180.845 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateRudder:B] Stopped 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateRudder] Stopped 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:49:40.967Z,1761670180.967 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:49:40.968Z,1761670180.968 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:49:40.972Z,1761670180.972 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:49:40.972Z,1761670180.972 [marl:UpdateSpeed] Stopped 2025-10-28T16:49:40.972Z,1761670180.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:49:41.215Z,1761670181.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323623,0.925721,0.195724],[-0.944490,0.328435,0.008276],[-0.056622,-0.187538,0.980624]] 2025-10-28T16:49:41.651Z,1761670181.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331061,0.922134,0.200170],[-0.941950,0.335531,0.012182],[-0.055930,-0.192583,0.979685]] 2025-10-28T16:49:42.024Z,1761670182.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338841,0.918913,0.201954],[-0.939161,0.343184,0.014213],[-0.056247,-0.194483,0.979292]] 2025-10-28T16:49:42.049Z,1761670182.049 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:49:42.123Z,1761670182.123 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:49:42.123Z,1761670182.123 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:49:42.373Z,1761670182.373 [DAT](INFO): DAT read: user:26> 2025-10-28T16:49:42.374Z,1761670182.374 [DAT](INFO): DAT read: Tx time:16:49:42.1146 2025-10-28T16:49:42.374Z,1761670182.374 [DAT](INFO): Ping request sent. 2025-10-28T16:49:42.374Z,1761670182.374 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:49:42.374Z,1761670182.374 [DAT](INFO): publishing transmit ping time 2025-10-28T16:49:42.375Z,1761670182.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935 2025-10-28T16:49:42.427Z,1761670182.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346561,0.915442,0.204601],[-0.936288,0.350868,0.016035],[-0.057109,-0.197122,0.978714]] 2025-10-28T16:49:42.626Z,1761670182.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251778 2025-10-28T16:49:42.831Z,1761670182.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352930,0.912248,0.207952],[-0.933866,0.357163,0.018121],[-0.057742,-0.200595,0.977971]] 2025-10-28T16:49:42.877Z,1761670182.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502939 2025-10-28T16:49:43.129Z,1761670183.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755256 2025-10-28T16:49:43.234Z,1761670183.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356611,0.910246,0.210431],[-0.932497,0.360598,0.020465],[-0.057253,-0.203524,0.977395]] 2025-10-28T16:49:43.382Z,1761670183.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007726 2025-10-28T16:49:43.639Z,1761670183.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264406 2025-10-28T16:49:43.677Z,1761670183.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356071,0.909772,0.213373],[-0.932807,0.359621,0.023302],[-0.055534,-0.207333,0.976693]] 2025-10-28T16:49:43.885Z,1761670183.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927 2025-10-28T16:49:44.042Z,1761670184.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350258,0.909338,0.224553],[-0.935169,0.352995,0.029208],[-0.052706,-0.220225,0.974024]] 2025-10-28T16:49:44.138Z,1761670184.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763592 2025-10-28T16:49:44.389Z,1761670184.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014882 2025-10-28T16:49:44.446Z,1761670184.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338099,0.907828,0.248066],[-0.939840,0.339396,0.038881],[-0.048895,-0.246288,0.967963]] 2025-10-28T16:49:44.642Z,1761670184.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267921 2025-10-28T16:49:44.852Z,1761670184.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318626,0.905468,0.280365],[-0.946862,0.317749,0.049876],[-0.043925,-0.281359,0.958597]] 2025-10-28T16:49:44.893Z,1761670184.893 [DAT](INFO): DAT read: Rx Time:16:49:44.2959 2025-10-28T16:49:44.894Z,1761670184.894 [DAT](INFO): Rx dataTimestamp_ set to:1761670184.893222 2025-10-28T16:49:44.894Z,1761670184.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520036 2025-10-28T16:49:45.147Z,1761670185.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772614 2025-10-28T16:49:45.272Z,1761670185.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292567,0.901119,0.319983],[-0.955512,0.288593,0.060923],[-0.037446,-0.323572,0.945462]] 2025-10-28T16:49:45.397Z,1761670185.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022950 2025-10-28T16:49:45.655Z,1761670185.655 [DAT](INFO): DAT read: 16:49:44.2959 LVL= 16112, 16625, 17842, 12227, AGC= 48, IDX= 82, 0.44, 1.666,-3.084,-2.964, 2.453, PHS=-0.686, 0.791, 0.822, RAW= 269.0, -12.4, CAL= 268.8, -18.0, ROT= 241.2, 18.0 2025-10-28T16:49:45.656Z,1761670185.656 [DAT](INFO): got valid direction response: 16:49:44.2959 LVL= 16112, 16625, 17842, 12227, AGC= 48, IDX= 82, 0.44, 1.666,-3.084,-2.964, 2.453, PHS=-0.686, 0.791, 0.822, RAW= 269.0, -12.4, CAL= 268.8, -18.0, ROT= 241.2, 18.0 2025-10-28T16:49:45.657Z,1761670185.657 [DAT](INFO): DAT read: Bearing 140, -11 (Remote) 2025-10-28T16:49:45.658Z,1761670185.658 [DAT](INFO): Remote Bearing received:Bearing 140, -11 (Remote) 2025-10-28T16:49:45.658Z,1761670185.658 [DAT](INFO): DAT read: Bearing 320.0, -42.9 (Local) 2025-10-28T16:49:45.659Z,1761670185.659 [DAT](INFO): Local bearing/azimuth received: Bearing 320.0, -42.9 (Local) 2025-10-28T16:49:45.664Z,1761670185.664 [DAT](INFO): DAT read: Range 11 to 20 : 114.1 m (Round-trip 152.2 ms) speed -0.5 m/s 2025-10-28T16:49:45.665Z,1761670185.665 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:49:45.666Z,1761670185.666 [DAT](INFO): direction in FSK: [-0.458175,-0.833417,-0.309017] 2025-10-28T16:49:45.666Z,1761670185.666 [DAT](INFO): publishing direction and range info 2025-10-28T16:49:45.766Z,1761670185.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229117,0.888224,0.398201],[-0.973180,0.217703,0.074342],[-0.020657,-0.404554,0.914281]] 2025-10-28T16:49:45.870Z,1761670185.870 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670144.00. Resetting abort timer. 2025-10-28T16:49:46.008Z,1761670186.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:49:46.121Z,1761670186.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194481,0.879952,0.433430],[-0.980851,0.179134,0.076432],[-0.010385,-0.439995,0.897940]] 2025-10-28T16:49:46.515Z,1761670186.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158749,0.872059,0.462939],[-0.987318,0.139707,0.075394],[0.001072,-0.469037,0.883178]] 2025-10-28T16:49:46.920Z,1761670186.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123386,0.864694,0.486909],[-0.992271,0.100992,0.072099],[0.013169,-0.492042,0.870472]] 2025-10-28T16:49:47.013Z,1761670187.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:49:47.783Z,1761670187.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057257,0.853483,0.517966],[-0.997641,0.029227,0.062122],[0.037882,-0.520300,0.853143]] 2025-10-28T16:49:48.171Z,1761670188.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026981,0.850098,0.525933],[-0.998396,-0.003283,0.056525],[0.049779,-0.526614,0.848646]] 2025-10-28T16:49:48.595Z,1761670188.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001900,0.848331,0.529463],[-0.998121,-0.034038,0.050955],[0.061248,-0.528371,0.846801]] 2025-10-28T16:49:48.996Z,1761670188.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029976,0.848216,0.528802],[-0.996973,-0.063342,0.045087],[0.071739,-0.525850,0.847547]] 2025-10-28T16:49:49.426Z,1761670189.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058161,0.850445,0.522839],[-0.995017,-0.091872,0.038752],[0.080990,-0.517980,0.851550]] 2025-10-28T16:49:49.830Z,1761670189.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087064,0.854040,0.512869],[-0.992203,-0.120430,0.032107],[0.089185,-0.506075,0.857866]] 2025-10-28T16:49:50.249Z,1761670190.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116814,0.857980,0.500225],[-0.988439,-0.149454,0.025519],[0.096655,-0.491461,0.865520]] 2025-10-28T16:49:50.643Z,1761670190.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148006,0.861938,0.484930],[-0.983566,-0.179550,0.018947],[0.103401,-0.474157,0.874347]] 2025-10-28T16:49:51.039Z,1761670191.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180090,0.863397,0.471290],[-0.977555,-0.210351,0.011816],[0.109338,-0.458583,0.881899]] 2025-10-28T16:49:51.459Z,1761670191.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212996,0.862449,0.459145],[-0.970286,-0.241924,0.004314],[0.114799,-0.444583,0.888351]] 2025-10-28T16:49:51.863Z,1761670191.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245906,0.858043,0.450880],[-0.961887,-0.273413,-0.004288],[0.119597,-0.434750,0.892574]] 2025-10-28T16:49:52.373Z,1761670192.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278897,0.850203,0.446510],[-0.952431,-0.304369,-0.015352],[0.122851,-0.429551,0.894647]] 2025-10-28T16:49:52.769Z,1761670192.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311197,0.839495,0.445426],[-0.942152,-0.333942,-0.028855],[0.124523,-0.428639,0.894853]] 2025-10-28T16:49:53.167Z,1761670193.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342203,0.827163,0.445757],[-0.931252,-0.361753,-0.043631],[0.125164,-0.430043,0.894090]] 2025-10-28T16:49:53.590Z,1761670193.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371000,0.812159,0.450285],[-0.920221,-0.386646,-0.060814],[0.124710,-0.436924,0.890811]] 2025-10-28T16:49:53.673Z,1761670193.673 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:49:53.673Z,1761670193.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:49:53.673Z,1761670193.673 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateRudder:A] Stopped 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode] Stopped 2025-10-28T16:49:53.674Z,1761670193.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:49:53.975Z,1761670193.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398143,0.796686,0.454723],[-0.908938,-0.409494,-0.078397],[0.123749,-0.444529,0.887176]] 2025-10-28T16:49:54.022Z,1761670194.022 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateRudder:B] Stopped 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateRudder] Stopped 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:49:54.023Z,1761670194.023 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:49:54.024Z,1761670194.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:49:54.024Z,1761670194.024 [marl:UpdateSpeed] Stopped 2025-10-28T16:49:54.024Z,1761670194.024 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:49:54.382Z,1761670194.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424251,0.781737,0.457054],[-0.897197,-0.431243,-0.095215],[0.122668,-0.450463,0.884328]] 2025-10-28T16:49:54.787Z,1761670194.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448857,0.767642,0.457443],[-0.885350,-0.451440,-0.111163],[0.121174,-0.454893,0.882264]] 2025-10-28T16:49:55.189Z,1761670195.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471463,0.755715,0.454553],[-0.873745,-0.470156,-0.124594],[0.119553,-0.455904,0.881963]] 2025-10-28T16:49:55.649Z,1761670195.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493836,0.745261,0.448008],[-0.861589,-0.488947,-0.136361],[0.117427,-0.453339,0.883569]] 2025-10-28T16:49:56.077Z,1761670196.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516371,0.734953,0.439550],[-0.848641,-0.507948,-0.147641],[0.114759,-0.449258,0.886001]] 2025-10-28T16:49:56.475Z,1761670196.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539523,0.725106,0.427944],[-0.834502,-0.528065,-0.157334],[0.111899,-0.442005,0.890006]] 2025-10-28T16:49:56.878Z,1761670196.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563668,0.715697,0.412380],[-0.818783,-0.549988,-0.164645],[0.108968,-0.430454,0.896011]] 2025-10-28T16:49:57.282Z,1761670197.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587798,0.706596,0.393975],[-0.802059,-0.572670,-0.169560],[0.105807,-0.415658,0.903346]] 2025-10-28T16:49:57.687Z,1761670197.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612002,0.696142,0.375285],[-0.784214,-0.595554,-0.174136],[0.102279,-0.400876,0.910405]] 2025-10-28T16:49:58.094Z,1761670198.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636486,0.684738,0.354992],[-0.764943,-0.619330,-0.176897],[0.098729,-0.384141,0.917980]] 2025-10-28T16:49:58.495Z,1761670198.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660531,0.669869,0.339079],[-0.744746,-0.641812,-0.182841],[0.095146,-0.373299,0.922819]] 2025-10-28T16:49:58.907Z,1761670198.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706434,0.631159,0.320294],[-0.702365,-0.681004,-0.207162],[0.087369,-0.371310,0.924389]] 2025-10-28T16:49:59.313Z,1761670199.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728783,0.609396,0.312269],[-0.679615,-0.699446,-0.221131],[0.083659,-0.373379,0.923899]] 2025-10-28T16:49:59.734Z,1761670199.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750503,0.586761,0.304068],[-0.656029,-0.717041,-0.235537],[0.079825,-0.376249,0.923074]] 2025-10-28T16:50:00.138Z,1761670200.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771654,0.563280,0.295407],[-0.631463,-0.734090,-0.249733],[0.076186,-0.379246,0.922154]] 2025-10-28T16:50:00.545Z,1761670200.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791990,0.538796,0.287142],[-0.606235,-0.749721,-0.265326],[0.072320,-0.384211,0.920408]] 2025-10-28T16:50:00.946Z,1761670200.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811130,0.514475,0.278180],[-0.580863,-0.764176,-0.280417],[0.068311,-0.389039,0.918685]] 2025-10-28T16:50:01.352Z,1761670201.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829145,0.489883,0.269321],[-0.555296,-0.777342,-0.295611],[0.064540,-0.394657,0.916559]] 2025-10-28T16:50:01.761Z,1761670201.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845728,0.465363,0.261115],[-0.530112,-0.788685,-0.311379],[0.061033,-0.401762,0.913708]] 2025-10-28T16:50:02.159Z,1761670202.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860311,0.442117,0.253765],[-0.506487,-0.797731,-0.327256],[0.057750,-0.410071,0.910224]] 2025-10-28T16:50:02.562Z,1761670202.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873231,0.420738,0.245861],[-0.484236,-0.805745,-0.341014],[0.054624,-0.416838,0.907338]] 2025-10-28T16:50:02.967Z,1761670202.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884718,0.401482,0.236828],[-0.463261,-0.813591,-0.351366],[0.051614,-0.420573,0.905789]] 2025-10-28T16:50:03.373Z,1761670203.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894843,0.384444,0.226846],[-0.443729,-0.821414,-0.358306],[0.048586,-0.421285,0.905626]] 2025-10-28T16:50:03.783Z,1761670203.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904082,0.369085,0.215436],[-0.424926,-0.830083,-0.361110],[0.045549,-0.418018,0.907296]] 2025-10-28T16:50:04.178Z,1761670204.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912647,0.354377,0.203695],[-0.406542,-0.838684,-0.362398],[0.042410,-0.413552,0.909492]] 2025-10-28T16:50:04.586Z,1761670204.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920844,0.339796,0.191272],[-0.387972,-0.847530,-0.362175],[0.039043,-0.407715,0.912274]] 2025-10-28T16:50:04.989Z,1761670204.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928778,0.324625,0.178856],[-0.368913,-0.856167,-0.361774],[0.035690,-0.401990,0.914948]] 2025-10-28T16:50:05.390Z,1761670205.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936740,0.308153,0.166010],[-0.348517,-0.865102,-0.360741],[0.032452,-0.395777,0.917773]] 2025-10-28T16:50:05.795Z,1761670205.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945508,0.287795,0.152277],[-0.324243,-0.874874,-0.359807],[0.029673,-0.389576,0.920516]] 2025-10-28T16:50:06.199Z,1761670206.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954365,0.264972,0.137759],[-0.297452,-0.884545,-0.359309],[0.026647,-0.383888,0.922995]] 2025-10-28T16:50:06.613Z,1761670206.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962955,0.239894,0.123158],[-0.268626,-0.893345,-0.360241],[0.023602,-0.379979,0.924694]] 2025-10-28T16:50:06.637Z,1761670206.636 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:50:06.637Z,1761670206.637 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:50:06.637Z,1761670206.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:50:06.637Z,1761670206.637 [marl:UpdateRudder:A] Stopped 2025-10-28T16:50:06.637Z,1761670206.637 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:50:06.637Z,1761670206.637 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode] Stopped 2025-10-28T16:50:06.638Z,1761670206.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:50:07.007Z,1761670207.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971058,0.212739,0.108572],[-0.237994,-0.900141,-0.364835],[0.020116,-0.380115,0.924720]] 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateRudder:B] Stopped 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateRudder] Stopped 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:50:07.043Z,1761670207.043 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:50:07.044Z,1761670207.044 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:50:07.044Z,1761670207.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:50:07.044Z,1761670207.044 [marl:UpdateSpeed] Stopped 2025-10-28T16:50:07.044Z,1761670207.044 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:50:07.410Z,1761670207.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978308,0.184434,0.094327],[-0.206476,-0.904985,-0.371981],[0.016759,-0.383388,0.923435]] 2025-10-28T16:50:07.815Z,1761670207.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984544,0.155756,0.080088],[-0.174630,-0.907897,-0.381086],[0.013355,-0.389182,0.921064]] 2025-10-28T16:50:08.219Z,1761670208.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989562,0.128272,0.065673],[-0.143782,-0.909402,-0.390274],[0.009662,-0.395643,0.918353]] 2025-10-28T16:50:08.623Z,1761670208.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993284,0.103498,0.051729],[-0.115564,-0.909497,-0.399324],[0.005718,-0.402620,0.915349]] 2025-10-28T16:50:09.026Z,1761670209.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995958,0.081682,0.037372],[-0.089821,-0.909985,-0.404795],[0.000944,-0.406515,0.913644]] 2025-10-28T16:50:09.437Z,1761670209.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997813,0.061829,0.023355],[-0.065978,-0.910987,-0.407124],[-0.003896,-0.407775,0.913074]] 2025-10-28T16:50:09.835Z,1761670209.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999025,0.043111,0.009551],[-0.043275,-0.912884,-0.405920],[-0.008781,-0.405937,0.913859]] 2025-10-28T16:50:10.238Z,1761670210.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999672,0.025353,-0.003561],[-0.021783,-0.915367,-0.402031],[-0.013453,-0.401822,0.915619]] 2025-10-28T16:50:10.643Z,1761670210.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999835,0.007844,-0.016386],[-0.000654,-0.916928,-0.399052],[-0.018155,-0.398975,0.916782]] 2025-10-28T16:50:11.048Z,1761670211.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999522,-0.009977,-0.029255],[0.020712,-0.918745,-0.394309],[-0.022944,-0.394727,0.918512]] 2025-10-28T16:50:11.454Z,1761670211.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998723,-0.027967,-0.042074],[0.042173,-0.920072,-0.389474],[-0.027819,-0.390751,0.920076]] 2025-10-28T16:50:11.854Z,1761670211.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997443,-0.045690,-0.054958],[0.063388,-0.920743,-0.384987],[-0.033012,-0.387486,0.921284]] 2025-10-28T16:50:12.258Z,1761670212.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995659,-0.063521,-0.068032],[0.084776,-0.920632,-0.381116],[-0.038424,-0.385229,0.922021]] 2025-10-28T16:50:12.664Z,1761670212.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993456,-0.080748,-0.080776],[0.105505,-0.919679,-0.378231],[-0.043746,-0.384278,0.922181]] 2025-10-28T16:50:13.069Z,1761670213.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990797,-0.098037,-0.093326],[0.126246,-0.917998,-0.375955],[-0.048815,-0.384277,0.921926]] 2025-10-28T16:50:13.472Z,1761670213.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987757,-0.114780,-0.105649],[0.146454,-0.915557,-0.374575],[-0.053734,-0.385462,0.921158]] 2025-10-28T16:50:13.874Z,1761670213.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984305,-0.131428,-0.117774],[0.166496,-0.912843,-0.372824],[-0.058509,-0.386581,0.920398]] 2025-10-28T16:50:14.280Z,1761670214.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980555,-0.147582,-0.129353],[0.185875,-0.909872,-0.370922],[-0.062953,-0.387753,0.919611]] 2025-10-28T16:50:14.682Z,1761670214.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976543,-0.163186,-0.140481],[0.204647,-0.906282,-0.369829],[-0.066964,-0.389903,0.918418]] 2025-10-28T16:50:15.093Z,1761670215.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972236,-0.179019,-0.150694],[0.223198,-0.902871,-0.367433],[-0.070280,-0.390867,0.917760]] 2025-10-28T16:50:15.491Z,1761670215.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967441,-0.195175,-0.161133],[0.242132,-0.899077,-0.364737],[-0.073684,-0.391877,0.917062]] 2025-10-28T16:50:15.896Z,1761670215.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962388,-0.210912,-0.171248],[0.260653,-0.894560,-0.363073],[-0.076615,-0.394053,0.915889]] 2025-10-28T16:50:16.299Z,1761670216.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956918,-0.227432,-0.180506],[0.279326,-0.890793,-0.358420],[-0.079277,-0.393399,0.915944]] 2025-10-28T16:50:16.703Z,1761670216.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950820,-0.244531,-0.190121],[0.298697,-0.886327,-0.353842],[-0.081984,-0.393229,0.915778]] 2025-10-28T16:50:17.107Z,1761670217.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943902,-0.262999,-0.199702],[0.319177,-0.881718,-0.347419],[-0.084710,-0.391670,0.916198]] 2025-10-28T16:50:17.132Z,1761670217.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:50:17.514Z,1761670217.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936121,-0.282175,-0.209892],[0.340606,-0.876043,-0.341374],[-0.087548,-0.391058,0.916193]] 2025-10-28T16:50:17.915Z,1761670217.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927693,-0.301233,-0.220555],[0.362245,-0.869230,-0.336478],[-0.090355,-0.392043,0.915499]] 2025-10-28T16:50:18.136Z,1761670218.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:50:18.319Z,1761670218.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918486,-0.320361,-0.231845],[0.384222,-0.861677,-0.331492],[-0.093578,-0.393551,0.914528]] 2025-10-28T16:50:18.722Z,1761670218.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908748,-0.339378,-0.242897],[0.405922,-0.853987,-0.325474],[-0.096973,-0.394371,0.913820]] 2025-10-28T16:50:19.126Z,1761670219.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898689,-0.357937,-0.253455],[0.426933,-0.846274,-0.318667],[-0.100429,-0.394591,0.913352]] 2025-10-28T16:50:19.531Z,1761670219.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888238,-0.376103,-0.263779],[0.447489,-0.838200,-0.311729],[-0.103857,-0.394928,0.912823]] 2025-10-28T16:50:19.626Z,1761670219.626 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:50:19.627Z,1761670219.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:50:19.627Z,1761670219.627 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:50:19.633Z,1761670219.633 [marl:UpdateRudder:A] Stopped 2025-10-28T16:50:19.633Z,1761670219.633 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:50:19.633Z,1761670219.633 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:50:19.633Z,1761670219.633 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:50:19.634Z,1761670219.634 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:50:19.635Z,1761670219.635 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:50:19.640Z,1761670219.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:50:19.640Z,1761670219.640 [marl:UpdateCommandMode] Stopped 2025-10-28T16:50:19.640Z,1761670219.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:50:19.939Z,1761670219.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877583,-0.393773,-0.273480],[0.467267,-0.830168,-0.304111],[-0.107284,-0.394671,0.912538]] 2025-10-28T16:50:20.013Z,1761670220.013 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T16:50:20.013Z,1761670220.013 [marl:UpdateRudder:B] Stopped 2025-10-28T16:50:20.013Z,1761670220.013 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:50:20.013Z,1761670220.013 [marl:UpdateRudder] Stopped 2025-10-28T16:50:20.013Z,1761670220.013 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed] Stopped 2025-10-28T16:50:20.014Z,1761670220.014 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:50:20.339Z,1761670220.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866697,-0.410828,-0.282941],[0.486445,-0.821693,-0.296972],[-0.110486,-0.395020,0.912004]] 2025-10-28T16:50:20.743Z,1761670220.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855709,-0.427204,-0.291991],[0.504848,-0.813053,-0.289953],[-0.113535,-0.395526,0.911410]] 2025-10-28T16:50:21.147Z,1761670221.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844328,-0.443683,-0.300425],[0.523004,-0.804327,-0.282003],[-0.116520,-0.395227,0.911163]] 2025-10-28T16:50:21.551Z,1761670221.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832655,-0.460266,-0.307963],[0.540824,-0.795466,-0.273391],[-0.119142,-0.394194,0.911272]] 2025-10-28T16:50:21.967Z,1761670221.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820675,-0.476252,-0.315715],[0.558287,-0.786005,-0.265541],[-0.121689,-0.394182,0.910940]] 2025-10-28T16:50:22.358Z,1761670222.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809006,-0.491167,-0.322899],[0.574423,-0.777153,-0.257044],[-0.124690,-0.393430,0.910859]] 2025-10-28T16:50:22.768Z,1761670222.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798813,-0.505104,-0.326752],[0.587636,-0.771426,-0.244102],[-0.128768,-0.387004,0.913043]] 2025-10-28T16:50:23.167Z,1761670223.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791707,-0.516660,-0.325980],[0.595942,-0.770541,-0.226099],[-0.134365,-0.373269,0.917941]] 2025-10-28T16:50:23.605Z,1761670223.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787704,-0.527654,-0.317967],[0.599460,-0.775486,-0.198162],[-0.142018,-0.346702,0.927162]] 2025-10-28T16:50:23.979Z,1761670223.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788079,-0.535612,-0.303401],[0.596675,-0.785848,-0.162548],[-0.151364,-0.309132,0.938896]] 2025-10-28T16:50:24.379Z,1761670224.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792741,-0.540034,-0.282711],[0.587561,-0.800449,-0.118548],[-0.162275,-0.260088,0.951851]] 2025-10-28T16:50:24.786Z,1761670224.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801819,-0.539213,-0.257558],[0.571725,-0.817609,-0.068157],[-0.173830,-0.201902,0.963856]] 2025-10-28T16:50:25.189Z,1761670225.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814730,-0.533373,-0.227440],[0.549407,-0.835509,-0.008708],[-0.185384,-0.132052,0.973753]] 2025-10-28T16:50:25.630Z,1761670225.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829265,-0.522727,-0.197674],[0.523262,-0.850470,0.053830],[-0.196254,-0.058797,0.978789]] 2025-10-28T16:50:26.002Z,1761670226.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844304,-0.507498,-0.172035],[0.494890,-0.861593,0.112881],[-0.205511,0.010167,0.978602]] 2025-10-28T16:50:26.399Z,1761670226.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859344,-0.487438,-0.154699],[0.464937,-0.870652,0.160618],[-0.212980,0.066101,0.974818]] 2025-10-28T16:50:26.805Z,1761670226.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873391,-0.464847,-0.145275],[0.435224,-0.878837,0.195515],[-0.218557,0.107534,0.969881]] 2025-10-28T16:50:27.208Z,1761670227.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886674,-0.440346,-0.141085],[0.405889,-0.887367,0.218710],[-0.221502,0.136659,0.965537]] 2025-10-28T16:50:27.643Z,1761670227.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899563,-0.413132,-0.141807],[0.376162,-0.897749,0.229236],[-0.222011,0.152870,0.962986]] 2025-10-28T16:50:28.060Z,1761670228.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911230,-0.385483,-0.145131],[0.347435,-0.908585,0.231866],[-0.221244,0.160860,0.961860]] 2025-10-28T16:50:28.419Z,1761670228.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922011,-0.356968,-0.149900],[0.319033,-0.919858,0.228209],[-0.219350,0.162588,0.962004]] 2025-10-28T16:50:28.822Z,1761670228.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931933,-0.327633,-0.155425],[0.290639,-0.931155,0.220178],[-0.216863,0.160019,0.962998]] 2025-10-28T16:50:29.226Z,1761670229.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940870,-0.298311,-0.160542],[0.262816,-0.941780,0.209709],[-0.213754,0.155116,0.964494]] 2025-10-28T16:50:29.649Z,1761670229.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948778,-0.269174,-0.165426],[0.235374,-0.951472,0.198240],[-0.210759,0.149149,0.966093]] 2025-10-28T16:50:30.051Z,1761670230.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955973,-0.239757,-0.169211],[0.207644,-0.960109,0.187284],[-0.207364,0.143903,0.967622]] 2025-10-28T16:50:30.438Z,1761670230.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962506,-0.209957,-0.171759],[0.179531,-0.967721,0.176877],[-0.203351,0.139408,0.969130]] 2025-10-28T16:50:30.842Z,1761670230.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968076,-0.180627,-0.173788],[0.151639,-0.974100,0.167735],[-0.199584,0.136027,0.970393]] 2025-10-28T16:50:31.247Z,1761670231.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972866,-0.151027,-0.175282],[0.123503,-0.979594,0.158564],[-0.195652,0.132614,0.971666]] 2025-10-28T16:50:31.654Z,1761670231.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976822,-0.121167,-0.176460],[0.094725,-0.983944,0.151263],[-0.191955,0.131042,0.972616]] 2025-10-28T16:50:32.071Z,1761670232.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979981,-0.091144,-0.177002],[0.065801,-0.987370,0.144119],[-0.187902,0.129587,0.973602]] 2025-10-28T16:50:32.458Z,1761670232.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982336,-0.060543,-0.177059],[0.036377,-0.989947,0.136680],[-0.183554,0.127825,0.974663]] 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateRudder:A] Stopped 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:50:32.498Z,1761670232.498 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:50:32.499Z,1761670232.499 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:50:32.499Z,1761670232.499 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:50:32.499Z,1761670232.499 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:50:32.499Z,1761670232.499 [marl:UpdateCommandMode] Stopped 2025-10-28T16:50:32.499Z,1761670232.499 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateRudder:B] Stopped 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateRudder] Stopped 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:50:32.903Z,1761670232.903 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:50:32.904Z,1761670232.904 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:50:32.904Z,1761670232.904 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:50:32.904Z,1761670232.904 [marl:UpdateSpeed] Stopped 2025-10-28T16:50:32.904Z,1761670232.904 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:50:33.266Z,1761670233.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984342,-0.001240,-0.176263],[-0.021323,-0.991794,0.126056],[-0.174973,0.127841,0.976238]] 2025-10-28T16:50:33.670Z,1761670233.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984133,0.027099,-0.175353],[-0.048888,-0.991428,0.121160],[-0.170566,0.127810,0.977022]] 2025-10-28T16:50:34.079Z,1761670234.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983115,0.055180,-0.174469],[-0.076196,-0.990305,0.116149],[-0.166369,0.127482,0.977788]] 2025-10-28T16:50:34.478Z,1761670234.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981498,0.080748,-0.173614],[-0.101299,-0.988422,0.112960],[-0.162482,0.128457,0.978314]] 2025-10-28T16:50:34.882Z,1761670234.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979117,0.106691,-0.173050],[-0.126653,-0.985971,0.108718],[-0.159023,0.128365,0.978894]] 2025-10-28T16:50:35.287Z,1761670235.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975912,0.132568,-0.173266],[-0.152050,-0.982840,0.104429],[-0.156449,0.128259,0.979323]] 2025-10-28T16:50:35.690Z,1761670235.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971877,0.158173,-0.174463],[-0.177545,-0.978855,0.101588],[-0.154705,0.129706,0.979409]] 2025-10-28T16:50:36.095Z,1761670236.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967078,0.183962,-0.175837],[-0.203061,-0.974301,0.097486],[-0.153385,0.129982,0.979580]] 2025-10-28T16:50:36.499Z,1761670236.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961355,0.210876,-0.176994],[-0.229535,-0.968910,0.092341],[-0.152019,0.129399,0.979870]] 2025-10-28T16:50:36.903Z,1761670236.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954327,0.239508,-0.178596],[-0.257696,-0.962353,0.086422],[-0.151173,0.128498,0.980120]] 2025-10-28T16:50:37.309Z,1761670237.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946104,0.269680,-0.179329],[-0.287056,-0.954668,0.078794],[-0.149951,0.126024,0.980629]] 2025-10-28T16:50:37.710Z,1761670237.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936664,0.300529,-0.179840],[-0.317252,-0.945590,0.072183],[-0.148362,0.124666,0.981044]] 2025-10-28T16:50:38.114Z,1761670238.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926164,0.331307,-0.180156],[-0.347567,-0.935269,0.066848],[-0.146347,0.124528,0.981364]] 2025-10-28T16:50:38.520Z,1761670238.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914701,0.362027,-0.179604],[-0.377913,-0.923713,0.062741],[-0.143189,0.125264,0.981736]] 2025-10-28T16:50:38.923Z,1761670238.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901893,0.392904,-0.179485],[-0.408680,-0.910704,0.059985],[-0.139890,0.127452,0.981930]] 2025-10-28T16:50:39.327Z,1761670239.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888027,0.423327,-0.179449],[-0.439238,-0.896438,0.058893],[-0.135934,0.131119,0.982003]] 2025-10-28T16:50:39.731Z,1761670239.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873880,0.451613,-0.179942],[-0.468080,-0.881607,0.060582],[-0.131278,0.137168,0.981810]] 2025-10-28T16:50:40.148Z,1761670240.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860439,0.476716,-0.179965],[-0.493634,-0.867431,0.062364],[-0.126377,0.142497,0.981694]] 2025-10-28T16:50:40.554Z,1761670240.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834621,0.520954,-0.178925],[-0.538087,-0.840560,0.062628],[-0.117770,0.148548,0.981867]] 2025-10-28T16:50:41.353Z,1761670241.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809252,0.561059,-0.174137],[-0.576983,-0.814832,0.056024],[-0.110460,0.145812,0.983126]] 2025-10-28T16:50:41.758Z,1761670241.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796628,0.580032,-0.170139],[-0.594918,-0.802182,0.050763],[-0.107038,0.141658,0.984112]] 2025-10-28T16:50:42.167Z,1761670242.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784097,0.598166,-0.165498],[-0.612029,-0.789483,0.046217],[-0.103013,0.137528,0.985127]] 2025-10-28T16:50:42.192Z,1761670242.192 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:50:42.413Z,1761670242.413 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:50:42.413Z,1761670242.413 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:50:42.563Z,1761670242.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770152,0.617335,-0.160510],[-0.630181,-0.775326,0.041736],[-0.098682,0.133293,0.986152]] 2025-10-28T16:50:42.666Z,1761670242.666 [DAT](INFO): DAT read: user:27> 2025-10-28T16:50:42.667Z,1761670242.667 [DAT](INFO): DAT read: Tx time:16:50:42.4145 2025-10-28T16:50:42.667Z,1761670242.667 [DAT](INFO): Ping request sent. 2025-10-28T16:50:42.667Z,1761670242.667 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:50:42.667Z,1761670242.667 [DAT](INFO): publishing transmit ping time 2025-10-28T16:50:42.669Z,1761670242.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001299 2025-10-28T16:50:42.917Z,1761670242.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249684 2025-10-28T16:50:42.965Z,1761670242.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753460,0.638631,-0.156359],[-0.650710,-0.758367,0.038164],[-0.094205,0.130500,0.986963]] 2025-10-28T16:50:43.169Z,1761670243.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502147 2025-10-28T16:50:43.366Z,1761670243.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734066,0.661648,-0.152869],[-0.673167,-0.738637,0.035523],[-0.089411,0.128983,0.987608]] 2025-10-28T16:50:43.421Z,1761670243.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753861 2025-10-28T16:50:43.673Z,1761670243.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005704 2025-10-28T16:50:43.775Z,1761670243.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712289,0.685481,-0.150864],[-0.696816,-0.716404,0.034820],[-0.084211,0.129926,0.987941]] 2025-10-28T16:50:43.925Z,1761670243.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257643 2025-10-28T16:50:44.177Z,1761670244.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509768 2025-10-28T16:50:44.179Z,1761670244.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688321,0.709694,-0.150161],[-0.721081,-0.691968,0.034962],[-0.079094,0.132344,0.988043]] 2025-10-28T16:50:44.429Z,1761670244.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761867 2025-10-28T16:50:44.587Z,1761670244.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662431,0.733921,-0.150151],[-0.745477,-0.665580,0.035598],[-0.073811,0.135515,0.988022]] 2025-10-28T16:50:44.681Z,1761670244.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013640 2025-10-28T16:50:44.933Z,1761670244.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266241 2025-10-28T16:50:44.982Z,1761670244.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634709,0.757812,-0.151211],[-0.769679,-0.637396,0.036342],[-0.068841,0.139451,0.987833]] 2025-10-28T16:50:45.185Z,1761670245.185 [DAT](INFO): DAT read: Rx Time:16:50:44.5564 2025-10-28T16:50:45.186Z,1761670245.186 [DAT](INFO): Rx dataTimestamp_ set to:1761670245.185232 2025-10-28T16:50:45.186Z,1761670245.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518849 2025-10-28T16:50:45.386Z,1761670245.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605654,0.780458,-0.155138],[-0.793090,-0.607925,0.037892],[-0.064739,0.145988,0.987166]] 2025-10-28T16:50:45.437Z,1761670245.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769712 2025-10-28T16:50:45.439Z,1761670245.439 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:50:45.439Z,1761670245.439 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:50:45.448Z,1761670245.448 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:50:45.448Z,1761670245.448 [marl:UpdateRudder:A] Stopped 2025-10-28T16:50:45.448Z,1761670245.448 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:50:45.448Z,1761670245.448 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode] Stopped 2025-10-28T16:50:45.449Z,1761670245.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:50:45.691Z,1761670245.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023179 2025-10-28T16:50:45.793Z,1761670245.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576534,0.801613,-0.158194],[-0.814767,-0.578565,0.037648],[-0.061346,0.150597,0.986690]] 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateRudder:B] Stopped 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateRudder] Stopped 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:50:45.867Z,1761670245.867 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:50:45.868Z,1761670245.868 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:50:45.868Z,1761670245.868 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:50:45.868Z,1761670245.868 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:50:45.868Z,1761670245.868 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:50:45.868Z,1761670245.868 [marl:UpdateSpeed] Stopped 2025-10-28T16:50:45.869Z,1761670245.869 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:50:45.947Z,1761670245.947 [DAT](INFO): DAT read: 16:50:44.5564 LVL= 23072, 28465, 13234, 24563, AGC= 43, IDX= 15,-0.41, 2.060, 1.745,-2.171, 2.981, PHS=-0.819,-1.191, 1.088, RAW= 201.3, 8.8, CAL= 201.7, 9.8, ROT= 308.3, -9.8 2025-10-28T16:50:45.948Z,1761670245.948 [DAT](INFO): got valid direction response: 16:50:44.5564 LVL= 23072, 28465, 13234, 24563, AGC= 43, IDX= 15,-0.41, 2.060, 1.745,-2.171, 2.981, PHS=-0.819,-1.191, 1.088, RAW= 201.3, 8.8, CAL= 201.7, 9.8, ROT= 308.3, -9.8 2025-10-28T16:50:45.949Z,1761670245.949 [DAT](INFO): DAT read: Bearing 143, -14 (Remote) 2025-10-28T16:50:45.949Z,1761670245.949 [DAT](INFO): Remote Bearing received:Bearing 143, -14 (Remote) 2025-10-28T16:50:45.950Z,1761670245.950 [DAT](INFO): DAT read: Bearing 59.2, -51.7 (Local) 2025-10-28T16:50:45.950Z,1761670245.950 [DAT](INFO): Local bearing/azimuth received: Bearing 59.2, -51.7 (Local) 2025-10-28T16:50:45.952Z,1761670245.952 [DAT](INFO): DAT read: Range 11 to 20 : 84.5 m (Round-trip 112.7 ms) speed 0.2 m/s 2025-10-28T16:50:45.953Z,1761670245.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:50:45.954Z,1761670245.954 [DAT](INFO): direction in FSK: [0.610735,-0.773325,0.170209] 2025-10-28T16:50:45.954Z,1761670245.954 [DAT](INFO): publishing direction and range info 2025-10-28T16:50:46.208Z,1761670246.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548471,0.820682,-0.160191],[-0.834136,-0.550355,0.036413],[-0.058279,0.153592,0.986414]] 2025-10-28T16:50:46.244Z,1761670246.244 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670272.00. Resetting abort timer. 2025-10-28T16:50:46.599Z,1761670246.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522949,0.836801,-0.162137],[-0.850570,-0.524656,0.035598],[-0.055278,0.156525,0.986126]] 2025-10-28T16:50:47.003Z,1761670247.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499835,0.850795,-0.162211],[-0.864510,-0.501493,0.033564],[-0.052791,0.157010,0.986185]] 2025-10-28T16:50:47.406Z,1761670247.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477958,0.863412,-0.161482],[-0.876942,-0.479565,0.031452],[-0.050285,0.156643,0.986374]] 2025-10-28T16:50:47.810Z,1761670247.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457245,0.875206,-0.157926],[-0.888052,-0.458883,0.028116],[-0.047862,0.153102,0.987051]] 2025-10-28T16:50:48.220Z,1761670248.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438093,0.886124,-0.151191],[-0.897775,-0.439821,0.023630],[-0.045558,0.146088,0.988222]] 2025-10-28T16:50:48.256Z,1761670248.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:50:49.031Z,1761670249.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410085,0.904968,-0.113413],[-0.911131,-0.412066,0.006481],[-0.040868,0.105992,0.993527]] 2025-10-28T16:50:49.260Z,1761670249.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:50:49.427Z,1761670249.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398506,0.912890,-0.088453],[-0.916383,-0.400294,-0.002714],[-0.037885,0.079975,0.996077]] 2025-10-28T16:50:49.831Z,1761670249.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385736,0.920320,-0.064947],[-0.921944,-0.387174,-0.010727],[-0.035018,0.055740,0.997831]] 2025-10-28T16:50:50.239Z,1761670250.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370341,0.927785,-0.045415],[-0.928324,-0.371386,-0.016952],[-0.032594,0.035882,0.998824]] 2025-10-28T16:50:50.639Z,1761670250.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353585,0.934829,-0.032737],[-0.934906,-0.354321,-0.020181],[-0.030465,0.023470,0.999260]] 2025-10-28T16:50:51.047Z,1761670251.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335835,0.941565,-0.025888],[-0.941476,-0.336394,-0.021509],[-0.028961,0.017150,0.999433]] 2025-10-28T16:50:51.448Z,1761670251.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316894,0.948209,-0.021860],[-0.948041,-0.317355,-0.022429],[-0.028204,0.013617,0.999509]] 2025-10-28T16:50:51.850Z,1761670251.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297984,0.954357,-0.020188],[-0.954168,-0.298406,-0.022734],[-0.027721,0.012488,0.999538]] 2025-10-28T16:50:52.259Z,1761670252.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278635,0.960203,-0.019303],[-0.960010,-0.279037,-0.022788],[-0.027267,0.012182,0.999554]] 2025-10-28T16:50:52.663Z,1761670252.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259558,0.965505,-0.020745],[-0.965356,-0.259994,-0.022174],[-0.026802,0.014271,0.999539]] 2025-10-28T16:50:53.069Z,1761670253.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240669,0.970318,-0.023687],[-0.970249,-0.241171,-0.021285],[-0.026365,0.017860,0.999493]] 2025-10-28T16:50:53.466Z,1761670253.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221924,0.974712,-0.026189],[-0.974708,-0.222489,-0.021040],[-0.026335,0.020858,0.999436]] 2025-10-28T16:50:53.870Z,1761670253.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203860,0.978640,-0.026552],[-0.978651,-0.204436,-0.021143],[-0.026120,0.021675,0.999424]] 2025-10-28T16:50:54.277Z,1761670254.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186730,0.982020,-0.027737],[-0.982074,-0.187331,-0.020911],[-0.025731,0.023335,0.999397]] 2025-10-28T16:50:54.684Z,1761670254.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170571,0.984928,-0.028679],[-0.985039,-0.171171,-0.019942],[-0.024550,0.024849,0.999390]] 2025-10-28T16:50:55.082Z,1761670255.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155587,0.987420,-0.028195],[-0.987559,-0.156141,-0.018643],[-0.022810,0.024944,0.999429]] 2025-10-28T16:50:55.488Z,1761670255.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141139,0.989641,-0.026273],[-0.989778,-0.141608,-0.016930],[-0.020475,0.023615,0.999511]] 2025-10-28T16:50:55.891Z,1761670255.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127719,0.991476,-0.025750],[-0.991650,-0.128122,-0.014663],[-0.017837,0.023663,0.999561]] 2025-10-28T16:50:56.306Z,1761670256.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112355,0.993387,-0.023626],[-0.993556,-0.112669,-0.012379],[-0.014959,0.022083,0.999644]] 2025-10-28T16:50:56.699Z,1761670256.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095547,0.995207,-0.020833],[-0.995355,-0.095768,-0.009859],[-0.011807,0.019794,0.999734]] 2025-10-28T16:50:57.102Z,1761670257.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076765,0.996879,-0.018420],[-0.997009,-0.076914,-0.007522],[-0.008915,0.017787,0.999802]] 2025-10-28T16:50:57.514Z,1761670257.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056658,0.998234,-0.017830],[-0.998373,-0.056763,-0.005411],[-0.006413,0.017494,0.999826]] 2025-10-28T16:50:57.913Z,1761670257.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036816,0.999149,-0.018580],[-0.999315,-0.036878,-0.002993],[-0.003675,0.018457,0.999823]] 2025-10-28T16:50:58.314Z,1761670258.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017275,0.999637,-0.020688],[-0.999850,-0.017294,-0.000754],[-0.001111,0.020671,0.999786]] 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateRudder:A] Stopped 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:50:58.351Z,1761670258.351 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:50:58.352Z,1761670258.352 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:50:58.352Z,1761670258.352 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:50:58.352Z,1761670258.352 [marl:UpdateCommandMode] Stopped 2025-10-28T16:50:58.352Z,1761670258.352 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:50:58.718Z,1761670258.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001852,0.999717,-0.023700],[-0.999998,0.001873,0.000852],[0.000896,0.023699,0.999719]] 2025-10-28T16:50:58.765Z,1761670258.765 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:50:58.765Z,1761670258.765 [marl:UpdateRudder:B] Stopped 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateRudder] Stopped 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:50:58.766Z,1761670258.766 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:50:58.767Z,1761670258.767 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:50:58.767Z,1761670258.767 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:50:58.767Z,1761670258.767 [marl:UpdateSpeed] Stopped 2025-10-28T16:50:58.767Z,1761670258.767 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:50:59.123Z,1761670259.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019200,0.999497,-0.025240],[-0.999810,0.019276,0.002785],[0.003270,0.025182,0.999678]] 2025-10-28T16:50:59.533Z,1761670259.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035793,0.999023,-0.025937],[-0.999342,0.035932,0.004918],[0.005845,0.025744,0.999651]] 2025-10-28T16:50:59.930Z,1761670259.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052082,0.998333,-0.024875],[-0.998606,0.052278,0.007283],[0.008571,0.024461,0.999664]] 2025-10-28T16:51:00.335Z,1761670260.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068971,0.997341,-0.023521],[-0.997557,0.069208,0.009446],[0.011048,0.022812,0.999679]] 2025-10-28T16:51:00.740Z,1761670260.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085644,0.996098,-0.021316],[-0.996223,0.085923,0.012530],[0.014312,0.020162,0.999694]] 2025-10-28T16:51:01.142Z,1761670261.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102821,0.994552,-0.017174],[-0.994555,0.103086,0.015313],[0.017000,0.015506,0.999735]] 2025-10-28T16:51:01.546Z,1761670261.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117034,0.993097,-0.007878],[-0.992931,0.117165,0.019005],[0.019797,0.005598,0.999788]] 2025-10-28T16:51:01.950Z,1761670261.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126889,0.991869,0.009753],[-0.991667,0.126630,0.023703],[0.022275,-0.012679,0.999671]] 2025-10-28T16:51:02.361Z,1761670262.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131205,0.990684,0.036468],[-0.991054,0.130169,0.029468],[0.024447,-0.040008,0.998900]] 2025-10-28T16:51:02.769Z,1761670262.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127814,0.988776,0.077363],[-0.991432,0.125256,0.037068],[0.026962,-0.081438,0.996314]] 2025-10-28T16:51:03.163Z,1761670263.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118155,0.984205,0.131836],[-0.992554,0.113097,0.045239],[0.029614,-0.136200,0.990239]] 2025-10-28T16:51:03.574Z,1761670263.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103164,0.976439,0.189536],[-0.994128,0.094961,0.051887],[0.032666,-0.193776,0.980502]] 2025-10-28T16:51:04.008Z,1761670264.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084865,0.965705,0.245383],[-0.995738,0.073272,0.056011],[0.036110,-0.249090,0.967807]] 2025-10-28T16:51:04.404Z,1761670264.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064454,0.954645,0.290687],[-0.997111,0.049877,0.057289],[0.040192,-0.293540,0.955102]] 2025-10-28T16:51:04.816Z,1761670264.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043194,0.944035,0.327006],[-0.998050,0.026009,0.056745],[0.045064,-0.328819,0.943317]] 2025-10-28T16:51:05.214Z,1761670265.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022227,0.934363,0.355627],[-0.998449,0.002586,0.055610],[0.051040,-0.356312,0.932972]] 2025-10-28T16:51:05.643Z,1761670265.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001988,0.925798,0.378014],[-0.998325,-0.020022,0.054287],[0.057828,-0.377488,0.924207]] 2025-10-28T16:51:06.024Z,1761670266.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016494,0.918977,0.393965],[-0.997752,-0.040727,0.053228],[0.064960,-0.392201,0.917583]] 2025-10-28T16:51:06.832Z,1761670266.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048473,0.908304,0.415494],[-0.995657,-0.077044,0.052267],[0.079485,-0.411156,0.908093]] 2025-10-28T16:51:07.249Z,1761670267.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062534,0.903933,0.423078],[-0.994302,-0.093095,0.051939],[0.086336,-0.417419,0.904604]] 2025-10-28T16:51:07.651Z,1761670267.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075176,0.900553,0.428198],[-0.992867,-0.107450,0.051671],[0.092542,-0.421259,0.902207]] 2025-10-28T16:51:08.118Z,1761670268.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087192,0.898128,0.431004],[-0.991354,-0.120814,0.051202],[0.098057,-0.422813,0.900896]] 2025-10-28T16:51:08.528Z,1761670268.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099026,0.896183,0.432492],[-0.989708,-0.133822,0.050687],[0.103302,-0.423022,0.900212]] 2025-10-28T16:51:08.949Z,1761670268.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111181,0.894363,0.433305],[-0.987871,-0.147017,0.049973],[0.108397,-0.422494,0.899861]] 2025-10-28T16:51:09.351Z,1761670269.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123333,0.892707,0.433433],[-0.985877,-0.160087,0.049188],[0.113298,-0.421245,0.899843]] 2025-10-28T16:51:09.762Z,1761670269.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135780,0.891674,0.431836],[-0.983650,-0.173378,0.048715],[0.118309,-0.418161,0.900636]] 2025-10-28T16:51:10.160Z,1761670270.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147901,0.891059,0.429115],[-0.981312,-0.186219,0.048461],[0.123091,-0.413929,0.901949]] 2025-10-28T16:51:10.563Z,1761670270.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160784,0.890199,0.426256],[-0.978662,-0.199777,0.048066],[0.127944,-0.409432,0.903325]] 2025-10-28T16:51:10.967Z,1761670270.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174598,0.889246,0.422796],[-0.975637,-0.214172,0.047559],[0.132843,-0.404192,0.904976]] 2025-10-28T16:51:11.435Z,1761670271.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203815,0.886440,0.415552],[-0.968634,-0.244220,0.045877],[0.142153,-0.393167,0.908412]] 2025-10-28T16:51:11.815Z,1761670271.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219272,0.883649,0.413623],[-0.964526,-0.260199,0.044559],[0.146998,-0.389179,0.909357]] 2025-10-28T16:51:11.867Z,1761670271.867 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:51:11.867Z,1761670271.867 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:51:11.868Z,1761670271.868 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:51:11.868Z,1761670271.868 [marl:UpdateRudder:A] Stopped 2025-10-28T16:51:11.868Z,1761670271.868 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:51:11.868Z,1761670271.868 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:51:11.868Z,1761670271.868 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:51:11.869Z,1761670271.869 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:51:11.869Z,1761670271.869 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:51:11.869Z,1761670271.869 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:51:11.869Z,1761670271.869 [marl:UpdateCommandMode] Stopped 2025-10-28T16:51:11.869Z,1761670271.869 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:51:12.218Z,1761670272.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235427,0.880423,0.411618],[-0.959990,-0.276736,0.042848],[0.151634,-0.385062,0.910348]] 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateRudder:B] Stopped 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateRudder] Stopped 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:51:12.273Z,1761670272.273 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:51:12.274Z,1761670272.274 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:51:12.274Z,1761670272.274 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:51:12.274Z,1761670272.274 [marl:UpdateSpeed] Stopped 2025-10-28T16:51:12.274Z,1761670272.274 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:51:12.623Z,1761670272.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251238,0.876864,0.409864],[-0.955301,-0.292800,0.040837],[0.155817,-0.381284,0.911232]] 2025-10-28T16:51:13.028Z,1761670273.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266686,0.872212,0.410031],[-0.950457,-0.308514,0.038085],[0.159718,-0.379560,0.911276]] 2025-10-28T16:51:13.435Z,1761670273.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281476,0.866504,0.412240],[-0.945593,-0.323529,0.034391],[0.163171,-0.380131,0.910426]] 2025-10-28T16:51:14.303Z,1761670274.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309142,0.853225,0.420045],[-0.935884,-0.351417,0.025037],[0.168973,-0.385374,0.907158]] 2025-10-28T16:51:14.725Z,1761670274.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322679,0.846745,0.422966],[-0.930913,-0.364698,0.019908],[0.171112,-0.387321,0.905927]] 2025-10-28T16:51:15.166Z,1761670275.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336374,0.841276,0.423211],[-0.925893,-0.377508,0.014512],[0.171974,-0.386966,0.905915]] 2025-10-28T16:51:16.021Z,1761670276.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366187,0.829841,0.421035],[-0.914614,-0.404325,0.001438],[0.171428,-0.384558,0.907043]] 2025-10-28T16:51:16.424Z,1761670276.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382462,0.823982,0.418063],[-0.908149,-0.418608,-0.005756],[0.170261,-0.381865,0.908400]] 2025-10-28T16:51:16.827Z,1761670276.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398419,0.817593,0.415696],[-0.901512,-0.432550,-0.013302],[0.168934,-0.380055,0.909406]] 2025-10-28T16:51:17.230Z,1761670277.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413866,0.811238,0.413047],[-0.894805,-0.445978,-0.020663],[0.167447,-0.378149,0.910475]] 2025-10-28T16:51:17.647Z,1761670277.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428048,0.804758,0.411266],[-0.888431,-0.458142,-0.028200],[0.165725,-0.377453,0.911079]] 2025-10-28T16:51:18.040Z,1761670278.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440574,0.799056,0.409150],[-0.882657,-0.468707,-0.035081],[0.163740,-0.376595,0.911792]] 2025-10-28T16:51:18.443Z,1761670278.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452223,0.793739,0.406783],[-0.877228,-0.478227,-0.042075],[0.161138,-0.375869,0.912555]] 2025-10-28T16:51:18.847Z,1761670278.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463850,0.787646,0.405533],[-0.871601,-0.487687,-0.049732],[0.158602,-0.376532,0.912726]] 2025-10-28T16:51:19.251Z,1761670279.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476261,0.781459,0.403108],[-0.865373,-0.497840,-0.057310],[0.155898,-0.376134,0.913356]] 2025-10-28T16:51:19.380Z,1761670279.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:51:19.657Z,1761670279.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489484,0.774355,0.400974],[-0.858485,-0.508602,-0.065780],[0.152999,-0.376429,0.913725]] 2025-10-28T16:51:20.059Z,1761670280.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503857,0.767258,0.396790],[-0.850626,-0.520615,-0.073460],[0.150212,-0.374533,0.914965]] 2025-10-28T16:51:20.384Z,1761670280.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:51:20.470Z,1761670280.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518778,0.760086,0.391330],[-0.842105,-0.533254,-0.080614],[0.147405,-0.371362,0.916713]] 2025-10-28T16:51:20.866Z,1761670280.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534711,0.751622,0.386198],[-0.832477,-0.547030,-0.087971],[0.145141,-0.368540,0.918212]] 2025-10-28T16:51:21.273Z,1761670281.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550888,0.742353,0.381357],[-0.822272,-0.560970,-0.095820],[0.142797,-0.366366,0.919448]] 2025-10-28T16:51:21.671Z,1761670281.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566722,0.731898,0.378353],[-0.811785,-0.574515,-0.104583],[0.140825,-0.366411,0.919734]] 2025-10-28T16:51:22.108Z,1761670282.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581769,0.721946,0.374618],[-0.801536,-0.587113,-0.113303],[0.138145,-0.366186,0.920231]] 2025-10-28T16:51:22.511Z,1761670282.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595441,0.712261,0.371664],[-0.791990,-0.598084,-0.122666],[0.134916,-0.367395,0.920227]] 2025-10-28T16:51:22.910Z,1761670282.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607347,0.703402,0.369262],[-0.783493,-0.607230,-0.131953],[0.131411,-0.369455,0.919910]] 2025-10-28T16:51:23.721Z,1761670283.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628825,0.687877,0.362498],[-0.767629,-0.623436,-0.148573],[0.123794,-0.371690,0.920066]] 2025-10-28T16:51:24.122Z,1761670284.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639515,0.680484,0.357717],[-0.759387,-0.631660,-0.156003],[0.119798,-0.371412,0.920707]] 2025-10-28T16:51:24.531Z,1761670284.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650972,0.672755,0.351618],[-0.750222,-0.640817,-0.162851],[0.115764,-0.369804,0.921870]] 2025-10-28T16:51:24.935Z,1761670284.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663688,0.664215,0.344002],[-0.739587,-0.651522,-0.168909],[0.111933,-0.366522,0.923652]] 2025-10-28T16:51:24.985Z,1761670284.985 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:51:24.985Z,1761670284.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:51:24.985Z,1761670284.985 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateRudder:A] Stopped 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:51:24.986Z,1761670284.986 [marl:UpdateCommandMode] Stopped 2025-10-28T16:51:24.987Z,1761670284.987 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:51:25.338Z,1761670285.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676571,0.654284,0.337882],[-0.728358,-0.662131,-0.176286],[0.108381,-0.365369,0.924532]] 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateRudder:B] Stopped 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateRudder] Stopped 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:51:25.378Z,1761670285.378 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:51:25.379Z,1761670285.379 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:51:25.379Z,1761670285.379 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:51:25.379Z,1761670285.379 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:51:25.379Z,1761670285.379 [marl:UpdateSpeed] Stopped 2025-10-28T16:51:25.379Z,1761670285.379 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:51:25.747Z,1761670285.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690096,0.643919,0.330357],[-0.716106,-0.673578,-0.182990],[0.104690,-0.362852,0.925947]] 2025-10-28T16:51:26.147Z,1761670286.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703420,0.632708,0.323854],[-0.703569,-0.684528,-0.190821],[0.100952,-0.362081,0.926664]] 2025-10-28T16:51:26.558Z,1761670286.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716176,0.620819,0.318867],[-0.691094,-0.694569,-0.199907],[0.097369,-0.363536,0.926478]] 2025-10-28T16:51:26.962Z,1761670286.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726688,0.611533,0.312971],[-0.680645,-0.702608,-0.207521],[0.092990,-0.363826,0.926814]] 2025-10-28T16:51:27.359Z,1761670287.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733719,0.607799,0.303706],[-0.673816,-0.708355,-0.210250],[0.087342,-0.358906,0.929278]] 2025-10-28T16:51:27.771Z,1761670287.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737606,0.610087,0.289363],[-0.670445,-0.712654,-0.206466],[0.080253,-0.346292,0.934688]] 2025-10-28T16:51:28.167Z,1761670288.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739581,0.615754,0.271785],[-0.669158,-0.716133,-0.198445],[0.072441,-0.328633,0.941675]] 2025-10-28T16:51:28.571Z,1761670288.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739751,0.623471,0.253087],[-0.669826,-0.718118,-0.188785],[0.064044,-0.309178,0.948845]] 2025-10-28T16:51:28.981Z,1761670288.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739100,0.631271,0.235005],[-0.671277,-0.719195,-0.179290],[0.055834,-0.290267,0.955315]] 2025-10-28T16:51:29.378Z,1761670289.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737895,0.638769,0.217911],[-0.673236,-0.719404,-0.170913],[0.047592,-0.272821,0.960887]] 2025-10-28T16:51:29.799Z,1761670289.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736452,0.645600,0.202087],[-0.675340,-0.719039,-0.164006],[0.039426,-0.257260,0.965537]] 2025-10-28T16:51:30.187Z,1761670290.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735017,0.651425,0.188137],[-0.677310,-0.718339,-0.158872],[0.031653,-0.244201,0.969208]] 2025-10-28T16:51:30.591Z,1761670290.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734191,0.656167,0.174381],[-0.678521,-0.718178,-0.154367],[0.023946,-0.231656,0.972503]] 2025-10-28T16:51:30.999Z,1761670290.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733810,0.659512,0.162995],[-0.679156,-0.717976,-0.152502],[0.016450,-0.222607,0.974769]] 2025-10-28T16:51:31.407Z,1761670291.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736892,0.660637,0.143350],[-0.676009,-0.720605,-0.154078],[0.001509,-0.210445,0.977605]] 2025-10-28T16:51:31.810Z,1761670291.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739920,0.658886,0.135597],[-0.672669,-0.722964,-0.157603],[-0.005810,-0.207826,0.978149]] 2025-10-28T16:51:32.212Z,1761670292.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743637,0.656008,0.129062],[-0.668456,-0.725746,-0.162664],[-0.013043,-0.207235,0.978204]] 2025-10-28T16:51:32.624Z,1761670292.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747840,0.652367,0.123096],[-0.663581,-0.728978,-0.168082],[-0.019917,-0.207382,0.978057]] 2025-10-28T16:51:33.019Z,1761670293.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752408,0.648007,0.118189],[-0.658155,-0.732313,-0.174783],[-0.026710,-0.209295,0.977488]] 2025-10-28T16:51:33.419Z,1761670293.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756395,0.644047,0.114325],[-0.653268,-0.734890,-0.182149],[-0.033297,-0.212461,0.976602]] 2025-10-28T16:51:33.823Z,1761670293.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760018,0.640237,0.111668],[-0.648696,-0.736862,-0.190334],[-0.039575,-0.217096,0.975348]] 2025-10-28T16:51:34.227Z,1761670294.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762738,0.637123,0.110930],[-0.645095,-0.737453,-0.200038],[-0.045644,-0.224137,0.973488]] 2025-10-28T16:51:34.638Z,1761670294.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763525,0.636260,0.110468],[-0.643702,-0.736147,-0.209130],[-0.051740,-0.230785,0.971628]] 2025-10-28T16:51:35.035Z,1761670295.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763478,0.636436,0.109772],[-0.643261,-0.734218,-0.217115],[-0.057584,-0.236375,0.969954]] 2025-10-28T16:51:35.445Z,1761670295.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762539,0.637669,0.109145],[-0.643856,-0.731561,-0.224205],[-0.063123,-0.241238,0.968411]] 2025-10-28T16:51:35.842Z,1761670295.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760709,0.640067,0.107869],[-0.645467,-0.728403,-0.229783],[-0.068504,-0.244424,0.967246]] 2025-10-28T16:51:36.248Z,1761670296.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758126,0.643370,0.106391],[-0.647948,-0.724797,-0.234164],[-0.073542,-0.246461,0.966358]] 2025-10-28T16:51:36.651Z,1761670296.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755099,0.647203,0.104657],[-0.650934,-0.721066,-0.237379],[-0.078168,-0.247370,0.965763]] 2025-10-28T16:51:37.055Z,1761670297.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751649,0.651589,0.102251],[-0.654351,-0.717242,-0.239558],[-0.082754,-0.246972,0.965483]] 2025-10-28T16:51:37.465Z,1761670297.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748268,0.656101,0.098113],[-0.657684,-0.714300,-0.239225],[-0.086874,-0.243531,0.965995]] 2025-10-28T16:51:37.867Z,1761670297.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746792,0.658606,0.092407],[-0.658862,-0.713737,-0.237657],[-0.090568,-0.238364,0.966944]] 2025-10-28T16:51:37.941Z,1761670297.941 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:51:37.941Z,1761670297.941 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:51:37.941Z,1761670297.941 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:51:37.942Z,1761670297.942 [marl:UpdateRudder:A] Stopped 2025-10-28T16:51:37.942Z,1761670297.942 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:51:37.942Z,1761670297.942 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:51:37.942Z,1761670297.942 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:51:37.942Z,1761670297.942 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:51:37.943Z,1761670297.943 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:51:37.943Z,1761670297.943 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:51:37.943Z,1761670297.943 [marl:UpdateCommandMode] Stopped 2025-10-28T16:51:37.943Z,1761670297.943 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:51:38.269Z,1761670298.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746915,0.659159,0.087337],[-0.658239,-0.714433,-0.237290],[-0.094015,-0.234724,0.967505]] 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateRudder:B] Stopped 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateRudder] Stopped 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:51:38.299Z,1761670298.299 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:51:38.300Z,1761670298.300 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:51:38.300Z,1761670298.300 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:51:38.300Z,1761670298.300 [marl:UpdateSpeed] Stopped 2025-10-28T16:51:38.300Z,1761670298.300 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:51:38.671Z,1761670298.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748809,0.657816,0.081012],[-0.655642,-0.717285,-0.235872],[-0.097052,-0.229738,0.968401]] 2025-10-28T16:51:39.074Z,1761670299.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751401,0.655552,0.075158],[-0.652213,-0.720600,-0.235274],[-0.100076,-0.225804,0.969019]] 2025-10-28T16:51:39.481Z,1761670299.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754625,0.652390,0.070194],[-0.648089,-0.724347,-0.235167],[-0.102576,-0.222955,0.969417]] 2025-10-28T16:51:40.290Z,1761670300.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762184,0.644154,0.064353],[-0.638700,-0.732056,-0.236975],[-0.105539,-0.221721,0.969382]] 2025-10-28T16:51:40.694Z,1761670300.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764657,0.641221,0.064311],[-0.635603,-0.733941,-0.239455],[-0.106343,-0.223977,0.968775]] 2025-10-28T16:51:41.099Z,1761670301.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763121,0.643361,0.061100],[-0.637299,-0.733488,-0.236316],[-0.107220,-0.219276,0.969754]] 2025-10-28T16:51:41.505Z,1761670301.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756689,0.651838,0.050279],[-0.644615,-0.731050,-0.223689],[-0.109053,-0.201674,0.973363]] 2025-10-28T16:51:41.907Z,1761670301.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746746,0.664283,0.033136],[-0.655742,-0.726983,-0.203711],[-0.111232,-0.173849,0.978470]] 2025-10-28T16:51:42.310Z,1761670302.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733931,0.679048,0.015445],[-0.669716,-0.719680,-0.183143],[-0.113247,-0.144758,0.982965]] 2025-10-28T16:51:42.350Z,1761670302.350 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:51:42.413Z,1761670302.413 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:51:42.413Z,1761670302.413 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:51:42.665Z,1761670302.665 [DAT](INFO): DAT read: user:28> 2025-10-28T16:51:42.666Z,1761670302.666 [DAT](INFO): DAT read: Tx time:16:51:42.4144 2025-10-28T16:51:42.666Z,1761670302.666 [DAT](INFO): Ping request sent. 2025-10-28T16:51:42.666Z,1761670302.666 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:51:42.666Z,1761670302.666 [DAT](INFO): publishing transmit ping time 2025-10-28T16:51:42.667Z,1761670302.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T16:51:42.723Z,1761670302.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719506,0.694481,-0.002767],[-0.684896,-0.710224,-0.162784],[-0.115016,-0.115229,0.986658]] 2025-10-28T16:51:42.917Z,1761670302.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891 2025-10-28T16:51:43.125Z,1761670303.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704241,0.709686,-0.019763],[-0.700386,-0.699030,-0.144280],[-0.116209,-0.087766,0.989340]] 2025-10-28T16:51:43.170Z,1761670303.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503598 2025-10-28T16:51:43.422Z,1761670303.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755972 2025-10-28T16:51:43.523Z,1761670303.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688738,0.724187,-0.034547],[-0.715640,-0.686700,-0.127679],[-0.116187,-0.063214,0.991214]] 2025-10-28T16:51:43.673Z,1761670303.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006901 2025-10-28T16:51:43.926Z,1761670303.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259654 2025-10-28T16:51:43.935Z,1761670303.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673899,0.737439,-0.045216],[-0.729786,-0.673951,-0.114904],[-0.115208,-0.044436,0.992347]] 2025-10-28T16:51:44.177Z,1761670304.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932 2025-10-28T16:51:44.331Z,1761670304.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660056,0.749419,-0.051929],[-0.742637,-0.661374,-0.105232],[-0.113207,-0.030894,0.993091]] 2025-10-28T16:51:44.429Z,1761670304.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763250 2025-10-28T16:51:44.682Z,1761670304.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015495 2025-10-28T16:51:44.746Z,1761670304.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647533,0.759854,-0.057633],[-0.753979,-0.649821,-0.096171],[-0.110527,-0.018820,0.993695]] 2025-10-28T16:51:44.933Z,1761670304.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267375 2025-10-28T16:51:45.138Z,1761670305.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636428,0.769019,-0.059744],[-0.763869,-0.639125,-0.089568],[-0.107063,-0.011367,0.994187]] 2025-10-28T16:51:45.185Z,1761670305.185 [DAT](INFO): DAT read: Rx Time:16:51:44.5330 2025-10-28T16:51:45.186Z,1761670305.186 [DAT](INFO): Rx dataTimestamp_ set to:1761670305.185234 2025-10-28T16:51:45.186Z,1761670305.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520035 2025-10-28T16:51:45.438Z,1761670305.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771582 2025-10-28T16:51:45.543Z,1761670305.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626278,0.777326,-0.059501],[-0.772733,-0.629058,-0.084675],[-0.103249,-0.007051,0.994630]] 2025-10-28T16:51:45.701Z,1761670305.701 [DAT](INFO): DAT read: 16:51:44.5330 LVL= 16736, 19185, 10994, 18531, AGC= 44, IDX= 208, 0.29,-1.202,-0.769, 1.013,-0.506, PHS=-0.594,-0.218, 1.475, RAW= 219.8, -7.0, CAL= 218.4, -10.2, ROT= 291.6, 10.2 2025-10-28T16:51:45.703Z,1761670305.703 [DAT](INFO): got valid direction response: 16:51:44.5330 LVL= 16736, 19185, 10994, 18531, AGC= 44, IDX= 208, 0.29,-1.202,-0.769, 1.013,-0.506, PHS=-0.594,-0.218, 1.475, RAW= 219.8, -7.0, CAL= 218.4, -10.2, ROT= 291.6, 10.2 2025-10-28T16:51:45.703Z,1761670305.703 [DAT](INFO): DAT read: Bearing 132, 3 (Remote) 2025-10-28T16:51:45.708Z,1761670305.708 [DAT](INFO): Remote Bearing received:Bearing 132, 3 (Remote) 2025-10-28T16:51:45.709Z,1761670305.709 [DAT](INFO): DAT read: Bearing 354.3, -70.7 (Local) 2025-10-28T16:51:45.709Z,1761670305.709 [DAT](INFO): Local bearing/azimuth received: Bearing 354.3, -70.7 (Local) 2025-10-28T16:51:45.710Z,1761670305.710 [DAT](INFO): DAT read: Range 11 to 20 : 67.0 m (Round-trip 89.4 ms) speed 0.4 m/s 2025-10-28T16:51:45.711Z,1761670305.711 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:51:45.725Z,1761670305.725 [DAT](INFO): direction in FSK: [0.362307,-0.915082,-0.177085] 2025-10-28T16:51:45.725Z,1761670305.725 [DAT](INFO): publishing direction and range info 2025-10-28T16:51:45.965Z,1761670305.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616373,0.785335,-0.057734],[-0.781203,-0.619054,-0.080586],[-0.099027,-0.004569,0.995074]] 2025-10-28T16:51:46.034Z,1761670306.034 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670272.00. Resetting abort timer. 2025-10-28T16:51:46.350Z,1761670306.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606599,0.793086,-0.055247],[-0.789366,-0.609103,-0.076780],[-0.094545,-0.002965,0.995516]] 2025-10-28T16:51:46.761Z,1761670306.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596106,0.801308,-0.050623],[-0.797877,-0.598240,-0.074175],[-0.089722,-0.003826,0.995960]] 2025-10-28T16:51:47.164Z,1761670307.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585482,0.809400,-0.045632],[-0.806237,-0.587235,-0.071678],[-0.084813,-0.005176,0.996383]] 2025-10-28T16:51:47.567Z,1761670307.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573737,0.818087,-0.039503],[-0.815077,-0.575035,-0.070592],[-0.080466,-0.008303,0.996723]] 2025-10-28T16:51:47.968Z,1761670307.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560786,0.827256,-0.034151],[-0.824425,-0.561724,-0.069212],[-0.076440,-0.010658,0.997017]] 2025-10-28T16:51:48.371Z,1761670308.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547819,0.836066,-0.029815],[-0.833448,-0.548499,-0.067180],[-0.072520,-0.011953,0.997295]] 2025-10-28T16:51:48.781Z,1761670308.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534089,0.845073,-0.024492],[-0.842612,-0.534449,-0.066093],[-0.068943,-0.014663,0.997513]] 2025-10-28T16:51:49.179Z,1761670309.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520027,0.853915,-0.020003],[-0.851622,-0.520147,-0.064716],[-0.065667,-0.016619,0.997703]] 2025-10-28T16:51:49.616Z,1761670309.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507181,0.861677,-0.016758],[-0.859567,-0.507159,-0.062722],[-0.062545,-0.017407,0.997890]] 2025-10-28T16:51:49.988Z,1761670309.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495026,0.868755,-0.014661],[-0.866825,-0.494945,-0.060358],[-0.059693,-0.017171,0.998069]] 2025-10-28T16:51:50.393Z,1761670310.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483568,0.875216,-0.012612],[-0.873451,-0.483430,-0.058131],[-0.056974,-0.017095,0.998229]] 2025-10-28T16:51:50.520Z,1761670310.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:51:50.795Z,1761670310.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473204,0.880883,-0.011155],[-0.879288,-0.473049,-0.055469],[-0.054139,-0.016440,0.998398]] 2025-10-28T16:51:50.826Z,1761670310.826 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateRudder:A] Stopped 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:51:50.827Z,1761670310.827 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:51:50.828Z,1761670310.828 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:51:50.828Z,1761670310.828 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:51:50.828Z,1761670310.828 [marl:UpdateCommandMode] Stopped 2025-10-28T16:51:50.828Z,1761670310.828 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:51:51.198Z,1761670311.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463243,0.886176,-0.009935],[-0.884768,-0.463093,-0.052252],[-0.050905,-0.015416,0.998585]] 2025-10-28T16:51:51.249Z,1761670311.249 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:51:51.249Z,1761670311.249 [marl:UpdateRudder:B] Stopped 2025-10-28T16:51:51.249Z,1761670311.249 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateRudder] Stopped 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:51:51.250Z,1761670311.250 [marl:UpdateSpeed] Stopped 2025-10-28T16:51:51.251Z,1761670311.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:51:51.524Z,1761670311.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:51:51.639Z,1761670311.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453544,0.891185,-0.009330],[-0.889955,-0.453429,-0.048812],[-0.047731,-0.013835,0.998764]] 2025-10-28T16:51:52.007Z,1761670312.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443204,0.896382,-0.008287],[-0.895318,-0.443098,-0.045494],[-0.044452,-0.012743,0.998930]] 2025-10-28T16:51:52.415Z,1761670312.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431207,0.902236,-0.005561],[-0.901329,-0.431036,-0.042605],[-0.040837,-0.013359,0.999076]] 2025-10-28T16:51:52.814Z,1761670312.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417217,0.908807,-0.000163],[-0.908063,-0.416883,-0.040390],[-0.036775,-0.016703,0.999184]] 2025-10-28T16:51:53.218Z,1761670313.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400988,0.916072,0.004475],[-0.915509,-0.400559,-0.037376],[-0.032446,-0.019084,0.999291]] 2025-10-28T16:51:53.644Z,1761670313.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382961,0.923709,0.010138],[-0.923346,-0.382434,-0.034304],[-0.027810,-0.022498,0.999360]] 2025-10-28T16:51:54.027Z,1761670314.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363036,0.931642,0.015744],[-0.931484,-0.362449,-0.031123],[-0.023289,-0.025964,0.999392]] 2025-10-28T16:51:54.437Z,1761670314.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341523,0.939689,0.018643],[-0.939678,-0.340980,-0.027151],[-0.019157,-0.026791,0.999457]] 2025-10-28T16:51:54.834Z,1761670314.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318987,0.947496,0.022310],[-0.947627,-0.318462,-0.024188],[-0.015813,-0.028857,0.999458]] 2025-10-28T16:51:55.240Z,1761670315.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296231,0.954841,0.022939],[-0.955022,-0.295779,-0.021144],[-0.013404,-0.028170,0.999513]] 2025-10-28T16:51:55.652Z,1761670315.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274231,0.961425,0.021457],[-0.961589,-0.273861,-0.018643],[-0.012048,-0.025745,0.999596]] 2025-10-28T16:51:56.046Z,1761670316.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254985,0.966781,0.017829],[-0.966881,-0.254713,-0.016211],[-0.011131,-0.021372,0.999710]] 2025-10-28T16:51:56.451Z,1761670316.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239110,0.970896,0.013670],[-0.970941,-0.238929,-0.013626],[-0.009964,-0.016531,0.999814]] 2025-10-28T16:51:56.855Z,1761670316.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226712,0.973919,0.009137],[-0.973923,-0.226610,-0.011003],[-0.008645,-0.011394,0.999898]] 2025-10-28T16:51:57.260Z,1761670317.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216406,0.976280,0.006785],[-0.976279,-0.216346,-0.008552],[-0.006881,-0.008475,0.999940]] 2025-10-28T16:51:57.663Z,1761670317.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207518,0.978218,0.004993],[-0.978219,-0.207487,-0.005991],[-0.004825,-0.006127,0.999970]] 2025-10-28T16:51:58.066Z,1761670318.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199838,0.979820,0.004255],[-0.979826,-0.199826,-0.003144],[-0.002230,-0.004798,0.999986]] 2025-10-28T16:51:58.134Z,1761670318.134 [marl:NeedComms] Running Loop=1 2025-10-28T16:51:58.134Z,1761670318.134 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T16:51:58.134Z,1761670318.134 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T16:51:58.134Z,1761670318.134 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T16:51:58.134Z,1761670318.134 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T16:51:58.135Z,1761670318.135 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T16:51:58.135Z,1761670318.135 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T16:51:58.135Z,1761670318.135 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T16:51:58.148Z,1761670318.148 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T16:51:58.156Z,1761670318.156 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T16:51:58.156Z,1761670318.156 [marl:NeedComms:A] Running Loop=1 2025-10-28T16:51:58.158Z,1761670318.158 [marl:NeedComms:A](INFO): last time_fix was: 1761669117.000000 second since 1970/01/01T00:00:00Z 2025-10-28T16:51:58.158Z,1761670318.158 [marl:NeedComms:A] Stopped 2025-10-28T16:51:58.470Z,1761670318.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191597,0.981462,0.004699],[-0.981473,-0.191599,-0.000029],[0.000871,-0.004618,0.999989]] 2025-10-28T16:51:58.876Z,1761670318.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182362,0.983210,0.006501],[-0.983222,-0.182386,0.003178],[0.004310,-0.005813,0.999974]] 2025-10-28T16:51:59.278Z,1761670319.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171958,0.985058,0.009582],[-0.985070,-0.172025,0.006661],[0.008210,-0.008293,0.999932]] 2025-10-28T16:51:59.682Z,1761670319.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158008,0.987372,0.011361],[-0.987369,-0.158123,0.010014],[0.011684,-0.009635,0.999885]] 2025-10-28T16:52:00.088Z,1761670320.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141993,0.989769,0.014002],[-0.989752,-0.142179,0.013247],[0.015103,-0.011978,0.999814]] 2025-10-28T16:52:00.495Z,1761670320.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124010,0.992150,0.016115],[-0.992133,-0.124256,0.015274],[0.017157,-0.014094,0.999753]] 2025-10-28T16:52:00.901Z,1761670320.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105279,0.994245,0.019822],[-0.994326,-0.105552,0.013248],[0.015264,-0.018315,0.999716]] 2025-10-28T16:52:01.299Z,1761670321.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086973,0.995994,0.020771],[-0.996179,-0.087117,0.006121],[0.007906,-0.020159,0.999766]] 2025-10-28T16:52:01.703Z,1761670321.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068648,0.997410,0.021473],[-0.997631,-0.068537,-0.005861],[-0.004374,-0.021825,0.999752]] 2025-10-28T16:52:02.108Z,1761670322.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050000,0.998527,0.021054],[-0.998533,-0.049539,-0.021862],[-0.020787,-0.022116,0.999539]] 2025-10-28T16:52:02.511Z,1761670322.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031645,0.999292,0.020359],[-0.998705,-0.030801,-0.040489],[-0.039834,-0.021614,0.998972]] 2025-10-28T16:52:02.921Z,1761670322.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013237,0.999693,0.020947],[-0.998052,-0.011932,-0.061242],[-0.060974,-0.021717,0.997903]] 2025-10-28T16:52:03.319Z,1761670323.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004232,0.999785,0.020307],[-0.996521,0.005907,-0.083129],[-0.083231,-0.019885,0.996332]] 2025-10-28T16:52:03.722Z,1761670323.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020878,0.999566,0.020789],[-0.994146,0.022960,-0.105580],[-0.106012,-0.018463,0.994193]] 2025-10-28T16:52:03.803Z,1761670323.803 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:52:03.803Z,1761670323.803 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:52:03.804Z,1761670323.804 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:52:03.808Z,1761670323.808 [marl:UpdateRudder:A] Stopped 2025-10-28T16:52:03.808Z,1761670323.808 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:52:03.808Z,1761670323.808 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:52:03.808Z,1761670323.808 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:52:03.808Z,1761670323.808 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:52:03.809Z,1761670323.809 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:52:03.809Z,1761670323.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:52:03.809Z,1761670323.809 [marl:UpdateCommandMode] Stopped 2025-10-28T16:52:03.809Z,1761670323.809 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:52:04.129Z,1761670324.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037251,0.999075,0.021496],[-0.990932,0.039709,-0.128362],[-0.129097,-0.016520,0.991494]] 2025-10-28T16:52:04.152Z,1761670324.152 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:52:04.152Z,1761670324.152 [marl:UpdateRudder:B] Stopped 2025-10-28T16:52:04.153Z,1761670324.152 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateRudder] Stopped 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:52:04.153Z,1761670324.153 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:52:04.154Z,1761670324.154 [marl:UpdateSpeed] Stopped 2025-10-28T16:52:04.154Z,1761670324.154 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:52:04.530Z,1761670324.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052062,0.998438,0.020292],[-0.987006,0.054538,-0.151148],[-0.152018,-0.012159,0.988303]] 2025-10-28T16:52:04.939Z,1761670324.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065170,0.997682,0.019594],[-0.982461,0.067589,-0.173787],[-0.174709,-0.007925,0.984588]] 2025-10-28T16:52:05.342Z,1761670325.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076646,0.996865,0.019634],[-0.977378,0.079011,-0.196188],[-0.197124,-0.004153,0.980370]] 2025-10-28T16:52:05.804Z,1761670325.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087270,0.995990,0.019717],[-0.971886,0.089469,-0.217790],[-0.218681,-0.000156,0.975796]] 2025-10-28T16:52:06.208Z,1761670326.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097044,0.995110,0.018424],[-0.966070,0.098631,-0.238706],[-0.239356,0.005366,0.970917]] 2025-10-28T16:52:06.612Z,1761670326.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105900,0.994200,0.018761],[-0.960096,0.107142,-0.258334],[-0.258846,0.009345,0.965873]] 2025-10-28T16:52:07.014Z,1761670327.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114527,0.993178,0.021939],[-0.953952,0.116113,-0.276575],[-0.277235,0.010746,0.960742]] 2025-10-28T16:52:07.483Z,1761670327.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123531,0.990880,0.053823],[-0.942527,0.134126,-0.306026],[-0.310455,-0.012926,0.950500]] 2025-10-28T16:52:07.896Z,1761670327.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124732,0.989010,0.079383],[-0.937351,0.143691,-0.317375],[-0.325294,-0.034823,0.944972]] 2025-10-28T16:52:08.349Z,1761670328.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125076,0.986524,0.105482],[-0.932651,0.153172,-0.326651],[-0.338406,-0.057521,0.939241]] 2025-10-28T16:52:08.749Z,1761670328.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125087,0.983280,0.132338],[-0.928357,0.163055,-0.334015],[-0.350008,-0.081076,0.933231]] 2025-10-28T16:52:09.197Z,1761670329.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125326,0.979441,0.158080],[-0.924781,0.173027,-0.338882],[-0.359267,-0.103718,0.927453]] 2025-10-28T16:52:09.675Z,1761670329.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126789,0.974741,0.183859],[-0.921504,0.184342,-0.341830],[-0.367089,-0.126087,0.921601]] 2025-10-28T16:52:10.069Z,1761670330.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129255,0.969888,0.206421],[-0.918560,0.195529,-0.343534],[-0.373550,-0.145206,0.916174]] 2025-10-28T16:52:10.878Z,1761670330.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137816,0.960408,0.242122],[-0.912568,0.218148,-0.345877],[-0.385002,-0.173286,0.906502]] 2025-10-28T16:52:11.279Z,1761670331.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142522,0.957426,0.251045],[-0.909521,0.226737,-0.348371],[-0.390460,-0.178680,0.903114]] 2025-10-28T16:52:11.685Z,1761670331.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147107,0.955595,0.255337],[-0.906325,0.233613,-0.352137],[-0.396150,-0.179616,0.900446]] 2025-10-28T16:52:12.087Z,1761670332.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151157,0.954961,0.255347],[-0.903288,0.238363,-0.356727],[-0.401525,-0.176730,0.898635]] 2025-10-28T16:52:12.493Z,1761670332.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153990,0.955240,0.252594],[-0.900879,0.240737,-0.361196],[-0.405837,-0.171936,0.897627]] 2025-10-28T16:52:12.906Z,1761670332.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155843,0.956905,0.245044],[-0.899136,0.240136,-0.365909],[-0.408984,-0.163304,0.897811]] 2025-10-28T16:52:13.301Z,1761670333.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157105,0.959303,0.234642],[-0.898138,0.237588,-0.369999],[-0.410689,-0.152612,0.898913]] 2025-10-28T16:52:13.703Z,1761670333.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158579,0.961727,0.223458],[-0.897699,0.234669,-0.372918],[-0.411084,-0.141461,0.900555]] 2025-10-28T16:52:14.107Z,1761670334.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160483,0.963767,0.213068],[-0.897646,0.232276,-0.374540],[-0.410460,-0.131152,0.902398]] 2025-10-28T16:52:14.513Z,1761670334.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163095,0.965194,0.204451],[-0.897706,0.231145,-0.375096],[-0.409298,-0.122361,0.904159]] 2025-10-28T16:52:14.925Z,1761670334.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165980,0.966000,0.198227],[-0.897854,0.231167,-0.374727],[-0.407810,-0.115782,0.905696]] 2025-10-28T16:52:15.319Z,1761670335.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168893,0.966151,0.195009],[-0.898041,0.232379,-0.373526],[-0.406199,-0.112040,0.906890]] 2025-10-28T16:52:15.723Z,1761670335.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171171,0.965929,0.194120],[-0.898359,0.233916,-0.371799],[-0.404539,-0.110748,0.907790]] 2025-10-28T16:52:16.128Z,1761670336.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173349,0.965251,0.195552],[-0.898495,0.236310,-0.369951],[-0.403306,-0.111571,0.908238]] 2025-10-28T16:52:16.533Z,1761670336.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176061,0.964224,0.198179],[-0.898445,0.239667,-0.367908],[-0.402243,-0.113278,0.908498]] 2025-10-28T16:52:16.939Z,1761670336.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180122,0.962784,0.201502],[-0.898307,0.244467,-0.365077],[-0.400751,-0.115252,0.908909]] 2025-10-28T16:52:16.988Z,1761670336.988 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:52:16.988Z,1761670336.988 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:52:16.988Z,1761670336.988 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateRudder:A] Stopped 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:52:16.989Z,1761670336.989 [marl:UpdateCommandMode] Stopped 2025-10-28T16:52:16.990Z,1761670336.990 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:52:17.339Z,1761670337.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185670,0.960330,0.208071],[-0.898432,0.251667,-0.359837],[-0.397927,-0.120127,0.909518]] 2025-10-28T16:52:17.376Z,1761670337.376 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:52:17.396Z,1761670337.396 [marl:UpdateRudder:B] Stopped 2025-10-28T16:52:17.396Z,1761670337.396 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:52:17.396Z,1761670337.396 [marl:UpdateRudder] Stopped 2025-10-28T16:52:17.397Z,1761670337.397 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:52:17.397Z,1761670337.397 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:52:17.397Z,1761670337.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:52:17.397Z,1761670337.397 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:52:17.398Z,1761670337.398 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:52:17.398Z,1761670337.398 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:52:17.398Z,1761670337.398 [marl:UpdateSpeed] Stopped 2025-10-28T16:52:17.398Z,1761670337.398 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:52:17.746Z,1761670337.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192864,0.956870,0.217264],[-0.898742,0.261128,-0.352243],[-0.393784,-0.127330,0.910341]] 2025-10-28T16:52:18.147Z,1761670338.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201470,0.952429,0.228666],[-0.899166,0.272426,-0.342469],[-0.388472,-0.136611,0.911278]] 2025-10-28T16:52:18.551Z,1761670338.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211284,0.947946,0.238237],[-0.899649,0.283887,-0.331722],[-0.382087,-0.144242,0.912800]] 2025-10-28T16:52:18.958Z,1761670338.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221605,0.944322,0.243202],[-0.900108,0.294025,-0.321488],[-0.375095,-0.147665,0.915149]] 2025-10-28T16:52:19.361Z,1761670339.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231311,0.940865,0.247524],[-0.900646,0.303296,-0.311204],[-0.367874,-0.150947,0.917542]] 2025-10-28T16:52:20.167Z,1761670340.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245093,0.937622,0.246565],[-0.902540,0.313538,-0.295153],[-0.354050,-0.150195,0.923087]] 2025-10-28T16:52:20.571Z,1761670340.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251915,0.939648,0.231518],[-0.902918,0.314303,-0.293177],[-0.348250,-0.135186,0.927603]] 2025-10-28T16:52:20.986Z,1761670340.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261017,0.942984,0.206524],[-0.902235,0.314386,-0.295183],[-0.343281,-0.109286,0.932853]] 2025-10-28T16:52:21.645Z,1761670341.645 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:52:22.190Z,1761670342.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297575,0.945081,0.135169],[-0.895983,0.325347,-0.302264],[-0.329640,-0.031163,0.943592]] 2025-10-28T16:52:22.591Z,1761670342.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312610,0.942050,0.121725],[-0.892783,0.335157,-0.301014],[-0.324367,-0.014574,0.945819]] 2025-10-28T16:52:22.649Z,1761670342.649 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:52:22.998Z,1761670342.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329600,0.937715,0.109789],[-0.888905,0.347403,-0.298595],[-0.318138,0.000825,0.948044]] 2025-10-28T16:52:23.402Z,1761670343.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348009,0.931936,0.101905],[-0.884496,0.362420,-0.293800],[-0.310736,0.012110,0.950419]] 2025-10-28T16:52:23.808Z,1761670343.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366985,0.925167,0.096898],[-0.879820,0.379034,-0.286793],[-0.302059,0.019996,0.953080]] 2025-10-28T16:52:24.207Z,1761670344.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386606,0.917342,0.094976],[-0.874714,0.397365,-0.277444],[-0.292251,0.024185,0.956036]] 2025-10-28T16:52:24.611Z,1761670344.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406560,0.908729,0.094451],[-0.868911,0.416536,-0.267377],[-0.282316,0.026636,0.958952]] 2025-10-28T16:52:25.023Z,1761670345.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426178,0.899601,0.095343],[-0.862311,0.435836,-0.257811],[-0.273482,0.027658,0.961479]] 2025-10-28T16:52:25.425Z,1761670345.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444228,0.890622,0.097229],[-0.855411,0.453901,-0.249492],[-0.266335,0.027661,0.963484]] 2025-10-28T16:52:25.823Z,1761670345.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460501,0.882049,0.099642],[-0.848466,0.470373,-0.242601],[-0.260855,0.027175,0.964995]] 2025-10-28T16:52:26.631Z,1761670346.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486010,0.867014,0.109915],[-0.835944,0.497868,-0.230921],[-0.254935,0.020347,0.966744]] 2025-10-28T16:52:27.439Z,1761670347.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506315,0.853102,0.125945],[-0.822946,0.521643,-0.225054],[-0.257692,0.010302,0.966172]] 2025-10-28T16:52:27.843Z,1761670347.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515339,0.846527,0.133487],[-0.816568,0.532312,-0.223296],[-0.260083,0.006072,0.965567]] 2025-10-28T16:52:28.247Z,1761670348.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523603,0.840911,0.136777],[-0.810835,0.541141,-0.222964],[-0.261509,0.005841,0.965183]] 2025-10-28T16:52:28.652Z,1761670348.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531513,0.835968,0.136574],[-0.805738,0.548714,-0.222934],[-0.261305,0.008449,0.965219]] 2025-10-28T16:52:29.076Z,1761670349.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551908,0.823266,0.132777],[-0.793205,0.567410,-0.221069],[-0.257337,0.016690,0.966177]] 2025-10-28T16:52:29.879Z,1761670349.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583740,0.801277,0.131158],[-0.770541,0.597624,-0.221613],[-0.255957,0.028302,0.966274]] 2025-10-28T16:52:29.929Z,1761670349.929 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:52:29.929Z,1761670349.929 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:52:29.929Z,1761670349.929 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:52:29.929Z,1761670349.929 [marl:UpdateRudder:A] Stopped 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode] Stopped 2025-10-28T16:52:29.930Z,1761670349.930 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:52:30.271Z,1761670350.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601038,0.788158,0.132514],[-0.756979,0.614582,-0.221972],[-0.256390,0.033103,0.966006]] 2025-10-28T16:52:30.295Z,1761670350.295 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateRudder:B] Stopped 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateRudder] Stopped 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:52:30.296Z,1761670350.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:52:30.297Z,1761670350.297 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:52:30.297Z,1761670350.297 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:52:30.297Z,1761670350.297 [marl:UpdateSpeed] Stopped 2025-10-28T16:52:30.297Z,1761670350.297 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:52:30.678Z,1761670350.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617889,0.774513,0.135440],[-0.742797,0.631485,-0.222440],[-0.257811,0.036839,0.965493]] 2025-10-28T16:52:31.081Z,1761670351.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633370,0.760722,0.141931],[-0.728688,0.648029,-0.221523],[-0.260493,0.036883,0.964771]] 2025-10-28T16:52:31.482Z,1761670351.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647613,0.747015,0.150219],[-0.714891,0.663898,-0.219476],[-0.263682,0.034746,0.963984]] 2025-10-28T16:52:31.887Z,1761670351.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660573,0.733943,0.158023],[-0.701971,0.678447,-0.216669],[-0.266233,0.032198,0.963371]] 2025-10-28T16:52:32.289Z,1761670352.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672589,0.721647,0.163862],[-0.689781,0.691561,-0.214348],[-0.268004,0.031139,0.962914]] 2025-10-28T16:52:32.691Z,1761670352.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683569,0.709797,0.170065],[-0.678192,0.703800,-0.211474],[-0.269795,0.029221,0.962474]] 2025-10-28T16:52:33.099Z,1761670353.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693887,0.698059,0.176733],[-0.666873,0.715550,-0.208010],[-0.271665,0.026477,0.962028]] 2025-10-28T16:52:33.499Z,1761670353.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703487,0.686152,0.185208],[-0.656057,0.727166,-0.202039],[-0.273306,0.020624,0.961706]] 2025-10-28T16:52:33.903Z,1761670353.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712984,0.674853,0.190336],[-0.644958,0.737693,-0.199593],[-0.275106,0.019547,0.961215]] 2025-10-28T16:52:34.307Z,1761670354.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722658,0.662990,0.195473],[-0.633176,0.748388,-0.197493],[-0.277225,0.018951,0.960618]] 2025-10-28T16:52:34.712Z,1761670354.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731905,0.651355,0.200130],[-0.621516,0.758537,-0.195804],[-0.279344,0.018925,0.960005]] 2025-10-28T16:52:35.124Z,1761670355.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740519,0.639948,0.205179],[-0.610245,0.768204,-0.193555],[-0.281484,0.018122,0.959395]] 2025-10-28T16:52:35.519Z,1761670355.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747832,0.629571,0.210684],[-0.600031,0.776765,-0.191309],[-0.284095,0.016650,0.958652]] 2025-10-28T16:52:35.923Z,1761670355.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754218,0.619810,0.216774],[-0.590149,0.784600,-0.190071],[-0.287889,0.015426,0.957540]] 2025-10-28T16:52:36.328Z,1761670356.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759666,0.610390,0.224345],[-0.580291,0.791977,-0.189829],[-0.293546,0.014022,0.955842]] 2025-10-28T16:52:36.733Z,1761670356.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764612,0.601015,0.232700],[-0.569927,0.799122,-0.191278],[-0.300917,0.013631,0.953553]] 2025-10-28T16:52:37.137Z,1761670357.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769319,0.592243,0.239575],[-0.559107,0.805583,-0.196050],[-0.309107,0.016877,0.950877]] 2025-10-28T16:52:37.539Z,1761670357.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774137,0.583349,0.245795],[-0.547936,0.811947,-0.201266],[-0.316981,0.021127,0.948197]] 2025-10-28T16:52:37.945Z,1761670357.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779008,0.574228,0.251810],[-0.536817,0.818319,-0.205382],[-0.323997,0.024818,0.945733]] 2025-10-28T16:52:38.354Z,1761670358.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784166,0.564847,0.256968],[-0.525474,0.824685,-0.209217],[-0.330093,0.029031,0.943502]] 2025-10-28T16:52:38.755Z,1761670358.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789467,0.555030,0.262075],[-0.513968,0.831187,-0.212049],[-0.335526,0.032707,0.941463]] 2025-10-28T16:52:39.164Z,1761670359.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794445,0.545233,0.267540],[-0.502649,0.837523,-0.214240],[-0.340882,0.035723,0.939427]] 2025-10-28T16:52:39.563Z,1761670359.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799065,0.535287,0.273793],[-0.491438,0.843831,-0.215496],[-0.346387,0.037643,0.937336]] 2025-10-28T16:52:40.055Z,1761670360.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804383,0.523257,0.281370],[-0.478337,0.851288,-0.215645],[-0.352365,0.038871,0.935055]] 2025-10-28T16:52:40.486Z,1761670360.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810409,0.509993,0.288349],[-0.463863,0.859190,-0.215927],[-0.357868,0.041234,0.932861]] 2025-10-28T16:52:40.902Z,1761670360.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818032,0.494207,0.294249],[-0.446339,0.868109,-0.217181],[-0.362773,0.046326,0.930725]] 2025-10-28T16:52:41.302Z,1761670361.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826304,0.476651,0.300044],[-0.427595,0.877629,-0.216633],[-0.366586,0.050707,0.929002]] 2025-10-28T16:52:41.708Z,1761670361.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834473,0.458435,0.305763],[-0.408884,0.887105,-0.214145],[-0.369416,0.053677,0.927713]] 2025-10-28T16:52:42.110Z,1761670362.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841977,0.439089,0.313490],[-0.390666,0.896946,-0.207049],[-0.372097,0.051860,0.926744]] 2025-10-28T16:52:42.514Z,1761670362.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848746,0.418301,0.323502],[-0.371947,0.907095,-0.197064],[-0.375879,0.046931,0.925479]] 2025-10-28T16:52:42.559Z,1761670362.559 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:52:42.665Z,1761670362.665 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:52:42.665Z,1761670362.665 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:52:42.917Z,1761670362.917 [DAT](INFO): DAT read: user:29> 2025-10-28T16:52:42.918Z,1761670362.918 [DAT](INFO): DAT read: Tx time:16:52:42.6643 2025-10-28T16:52:42.918Z,1761670362.918 [DAT](INFO): Ping request sent. 2025-10-28T16:52:42.918Z,1761670362.918 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:52:42.918Z,1761670362.918 [DAT](INFO): publishing transmit ping time 2025-10-28T16:52:42.919Z,1761670362.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T16:52:42.924Z,1761670362.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854994,0.396396,0.334448],[-0.351796,0.917084,-0.187608],[-0.381084,0.042747,0.923552]] 2025-10-28T16:52:42.967Z,1761670362.967 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:52:42.968Z,1761670362.968 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:52:42.968Z,1761670362.968 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:52:42.968Z,1761670362.968 [marl:UpdateRudder:A] Stopped 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode] Stopped 2025-10-28T16:52:42.969Z,1761670362.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:52:43.169Z,1761670363.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251021 2025-10-28T16:52:43.323Z,1761670363.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861146,0.372880,0.345525],[-0.329385,0.926985,-0.179454],[-0.387212,0.040725,0.921091]] 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateRudder:B] Stopped 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateRudder] Stopped 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:52:43.379Z,1761670363.379 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:52:43.384Z,1761670363.384 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:52:43.384Z,1761670363.384 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:52:43.384Z,1761670363.384 [marl:UpdateSpeed] Stopped 2025-10-28T16:52:43.384Z,1761670363.384 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:52:43.422Z,1761670363.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503656 2025-10-28T16:52:43.673Z,1761670363.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790 2025-10-28T16:52:43.728Z,1761670363.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867310,0.349052,0.354875],[-0.306759,0.936266,-0.171188],[-0.392011,0.039612,0.919107]] 2025-10-28T16:52:43.925Z,1761670363.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007016 2025-10-28T16:52:44.131Z,1761670364.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873710,0.326486,0.360607],[-0.285553,0.944373,-0.163153],[-0.393815,0.039576,0.918338]] 2025-10-28T16:52:44.177Z,1761670364.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259005 2025-10-28T16:52:44.429Z,1761670364.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916 2025-10-28T16:52:44.535Z,1761670364.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880147,0.304419,0.364238],[-0.266073,0.951806,-0.152550],[-0.393123,0.037353,0.918727]] 2025-10-28T16:52:44.682Z,1761670364.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764184 2025-10-28T16:52:44.933Z,1761670364.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014892 2025-10-28T16:52:44.940Z,1761670364.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885880,0.283227,0.367423],[-0.248512,0.958504,-0.139681],[-0.391738,0.032432,0.919505]] 2025-10-28T16:52:45.186Z,1761670365.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267611 2025-10-28T16:52:45.354Z,1761670365.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889957,0.266295,0.370220],[-0.235468,0.963544,-0.127035],[-0.390552,0.025880,0.920217]] 2025-10-28T16:52:45.438Z,1761670365.438 [DAT](INFO): DAT read: Rx Time:16:52:44.7881 2025-10-28T16:52:45.438Z,1761670365.438 [DAT](INFO): Rx dataTimestamp_ set to:1761670365.438109 2025-10-28T16:52:45.439Z,1761670365.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520978 2025-10-28T16:52:45.689Z,1761670365.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898 2025-10-28T16:52:45.750Z,1761670365.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893123,0.252027,0.372578],[-0.224960,0.967532,-0.115217],[-0.389518,0.019088,0.920821]] 2025-10-28T16:52:45.970Z,1761670365.970 [DAT](INFO): DAT read: 16:52:44.7881 LVL= 32752, 30993, 32754, 32755, AGC= 48, IDX= 502,-0.01,-3.135,-1.839, 3.064,-3.002, PHS=-0.032, 1.208,-0.261, RAW= 338.3, -13.3, CAL= 338.1, -16.4, ROT= 171.9, 16.4 2025-10-28T16:52:45.971Z,1761670365.971 [DAT](INFO): got valid direction response: 16:52:44.7881 LVL= 32752, 30993, 32754, 32755, AGC= 48, IDX= 502,-0.01,-3.135,-1.839, 3.064,-3.002, PHS=-0.032, 1.208,-0.261, RAW= 338.3, -13.3, CAL= 338.1, -16.4, ROT= 171.9, 16.4 2025-10-28T16:52:45.979Z,1761670365.979 [DAT](INFO): DAT read: Bearing 120, -8 (Remote) 2025-10-28T16:52:45.979Z,1761670365.979 [DAT](INFO): Remote Bearing received:Bearing 120, -8 (Remote) 2025-10-28T16:52:45.980Z,1761670365.980 [DAT](INFO): DAT read: Bearing 341.4, 29.7 (Local) 2025-10-28T16:52:45.981Z,1761670365.981 [DAT](INFO): Local bearing/azimuth received: Bearing 341.4, 29.7 (Local) 2025-10-28T16:52:45.982Z,1761670365.982 [DAT](INFO): DAT read: Range 11 to 20 : 71.0 m (Round-trip 94.7 ms) speed -0.8 m/s 2025-10-28T16:52:45.983Z,1761670365.983 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:52:45.984Z,1761670365.984 [DAT](INFO): direction in FSK: [-0.949744,0.135169,-0.282341] 2025-10-28T16:52:45.984Z,1761670365.984 [DAT](INFO): publishing direction and range info 2025-10-28T16:52:46.150Z,1761670366.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895603,0.238962,0.375222],[-0.215242,0.970943,-0.104597],[-0.389314,0.012914,0.921015]] 2025-10-28T16:52:46.237Z,1761670366.237 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670400.00. Resetting abort timer. 2025-10-28T16:52:46.555Z,1761670366.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897416,0.227163,0.378209],[-0.206276,0.973827,-0.095455],[-0.389994,0.007648,0.920786]] 2025-10-28T16:52:46.962Z,1761670366.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898539,0.217964,0.380947],[-0.198462,0.975941,-0.090286],[-0.391461,0.005522,0.920178]] 2025-10-28T16:52:47.367Z,1761670367.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899135,0.210316,0.383828],[-0.191461,0.977621,-0.087175],[-0.393573,0.004894,0.919280]] 2025-10-28T16:52:47.773Z,1761670367.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900222,0.201972,0.385757],[-0.184148,0.979384,-0.083043],[-0.394576,0.003721,0.918856]] 2025-10-28T16:52:48.177Z,1761670368.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903064,0.191635,0.384384],[-0.174909,0.981460,-0.078380],[-0.392278,0.003550,0.919840]] 2025-10-28T16:52:48.574Z,1761670368.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907116,0.181731,0.379625],[-0.164566,0.983317,-0.077496],[-0.387375,0.007825,0.921889]] 2025-10-28T16:52:48.979Z,1761670368.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910263,0.173834,0.375769],[-0.155383,0.984681,-0.079121],[-0.383766,0.013633,0.923330]] 2025-10-28T16:52:50.191Z,1761670370.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907158,0.149337,0.393398],[-0.125176,0.988353,-0.086536],[-0.401740,0.029258,0.915286]] 2025-10-28T16:52:50.596Z,1761670370.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907298,0.138970,0.396860],[-0.110327,0.989417,-0.094239],[-0.405757,0.041719,0.913029]] 2025-10-28T16:52:50.998Z,1761670370.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910530,0.122059,0.395014],[-0.090541,0.991104,-0.097546],[-0.403406,0.053053,0.913482]] 2025-10-28T16:52:51.808Z,1761670371.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924645,0.066472,0.374983],[-0.041864,0.996423,-0.073404],[-0.378522,0.052174,0.924121]] 2025-10-28T16:52:52.614Z,1761670372.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931426,0.013111,0.363694],[-0.004467,0.999687,-0.024597],[-0.363903,0.021286,0.931194]] 2025-10-28T16:52:52.773Z,1761670372.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:52:53.019Z,1761670373.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933371,-0.005546,0.358871],[0.006800,0.999974,-0.002234],[-0.358850,0.004525,0.933384]] 2025-10-28T16:52:53.422Z,1761670373.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933665,-0.013042,0.357909],[0.007650,0.999835,0.016477],[-0.358065,-0.012646,0.933611]] 2025-10-28T16:52:53.777Z,1761670373.777 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:52:53.838Z,1761670373.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933598,-0.017108,0.357914],[0.011849,0.999787,0.016881],[-0.358127,-0.011519,0.933602]] 2025-10-28T16:52:54.234Z,1761670374.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943702,-0.026737,0.329713],[0.025532,0.999642,0.007986],[-0.329809,0.000882,0.944047]] 2025-10-28T16:52:54.275Z,1761670374.275 [marl:NeedComms:C] Running Loop=1 2025-10-28T16:52:54.634Z,1761670374.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951004,-0.057300,0.303821],[0.060532,0.998165,-0.001222],[-0.303194,0.019553,0.952728]] 2025-10-28T16:52:54.900Z,1761670374.900 [Radio_Surface](INFO): Powering up 2025-10-28T16:52:55.038Z,1761670375.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943443,-0.084306,0.320636],[0.086372,0.996232,0.007799],[-0.320086,0.020336,0.947170]] 2025-10-28T16:52:55.444Z,1761670375.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941386,-0.112112,0.318156],[0.103367,0.993656,0.044296],[-0.321104,-0.008813,0.947003]] 2025-10-28T16:52:55.856Z,1761670375.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960491,-0.103509,0.258347],[0.094171,0.994384,0.048296],[-0.261895,-0.022059,0.964844]] 2025-10-28T16:52:55.945Z,1761670375.945 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:52:55.945Z,1761670375.945 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:52:55.945Z,1761670375.945 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateRudder:A] Stopped 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode] Stopped 2025-10-28T16:52:55.946Z,1761670375.946 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:52:56.251Z,1761670376.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985621,-0.083728,0.146771],[0.081524,0.996450,0.020982],[-0.148007,-0.008715,0.988948]] 2025-10-28T16:52:56.310Z,1761670376.310 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateRudder:B] Stopped 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateRudder] Stopped 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:52:56.311Z,1761670376.311 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:52:56.312Z,1761670376.312 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:52:56.312Z,1761670376.312 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:52:56.312Z,1761670376.312 [marl:UpdateSpeed] Stopped 2025-10-28T16:52:56.312Z,1761670376.312 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:52:56.655Z,1761670376.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994358,-0.075177,0.074842],[0.073716,0.997034,0.022098],[-0.076282,-0.016456,0.996951]] 2025-10-28T16:52:57.060Z,1761670377.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990999,-0.122580,0.053802],[0.121213,0.992232,0.027979],[-0.056814,-0.021206,0.998160]] 2025-10-28T16:52:57.463Z,1761670377.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984779,-0.160902,0.065735],[0.155897,0.984900,0.075281],[-0.076855,-0.063887,0.994993]] 2025-10-28T16:52:57.867Z,1761670377.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977874,-0.198002,0.067516],[0.189564,0.975189,0.114333],[-0.088479,-0.099005,0.991146]] 2025-10-28T16:52:58.270Z,1761670378.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975499,-0.215665,0.043484],[0.206995,0.966666,0.150697],[-0.074535,-0.138004,0.987623]] 2025-10-28T16:52:58.677Z,1761670378.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973360,-0.229165,0.007386],[0.225014,0.960923,0.161230],[-0.044045,-0.155273,0.986889]] 2025-10-28T16:52:59.079Z,1761670379.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969466,-0.237539,-0.060917],[0.244826,0.951724,0.185153],[0.013995,-0.194414,0.980820]] 2025-10-28T16:52:59.483Z,1761670379.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957008,-0.281784,-0.068803],[0.290027,0.933280,0.211831],[0.004522,-0.222678,0.974881]] 2025-10-28T16:52:59.887Z,1761670379.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953721,-0.295562,-0.055316],[0.300606,0.932720,0.199173],[-0.007274,-0.206584,0.978402]] 2025-10-28T16:53:00.160Z,1761670380.160 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T16:53:00.161Z,1761670380.161 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T16:53:00.299Z,1761670380.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940894,-0.332743,-0.063252],[0.338598,0.928681,0.151339],[0.008384,-0.163811,0.986456]] 2025-10-28T16:53:00.702Z,1761670380.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924989,-0.369786,-0.087491],[0.379296,0.912437,0.153600],[0.023031,-0.175263,0.984252]] 2025-10-28T16:53:01.106Z,1761670381.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913072,-0.390489,-0.117550],[0.404735,0.903012,0.144081],[0.049887,-0.179133,0.982559]] 2025-10-28T16:53:01.507Z,1761670381.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904703,-0.412207,-0.107694],[0.424845,0.891806,0.155531],[0.031932,-0.186462,0.981943]] 2025-10-28T16:53:01.911Z,1761670381.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900626,-0.424497,-0.093143],[0.434043,0.889389,0.143510],[0.021920,-0.169677,0.985256]] 2025-10-28T16:53:02.329Z,1761670382.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887743,-0.455272,-0.068119],[0.460332,0.877081,0.137197],[-0.002716,-0.153154,0.988199]] 2025-10-28T16:53:02.716Z,1761670382.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896863,-0.435023,-0.079946],[0.441961,0.888556,0.123040],[0.017511,-0.145684,0.989176]] 2025-10-28T16:53:03.118Z,1761670383.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883670,-0.451266,-0.124445],[0.465561,0.874942,0.133152],[0.048796,-0.175599,0.983252]] 2025-10-28T16:53:03.524Z,1761670383.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868793,-0.481548,-0.115372],[0.494352,0.856912,0.146008],[0.028554,-0.183885,0.982533]] 2025-10-28T16:53:03.926Z,1761670383.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852699,-0.499032,-0.154501],[0.521445,0.830954,0.193933],[0.031604,-0.245930,0.968772]] 2025-10-28T16:53:04.341Z,1761670384.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832088,-0.530880,-0.160609],[0.554331,0.786277,0.272920],[-0.018605,-0.316124,0.948535]] 2025-10-28T16:53:04.735Z,1761670384.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829441,-0.532939,-0.167345],[0.558251,0.780340,0.281825],[-0.019609,-0.327178,0.944759]] 2025-10-28T16:53:05.139Z,1761670385.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825413,-0.542304,-0.156839],[0.564504,0.795469,0.220374],[0.005251,-0.270436,0.962724]] 2025-10-28T16:53:05.544Z,1761670385.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803797,-0.575501,-0.150694],[0.593257,0.794260,0.131134],[0.044223,-0.194806,0.979844]] 2025-10-28T16:53:05.947Z,1761670385.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775159,-0.626328,-0.082720],[0.631765,0.768770,0.099329],[0.001380,-0.129255,0.991610]] 2025-10-28T16:53:06.355Z,1761670386.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779825,-0.624705,-0.040202],[0.624203,0.771127,0.125431],[-0.047356,-0.122909,0.991287]] 2025-10-28T16:53:06.758Z,1761670386.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773907,-0.619653,-0.130759],[0.633277,0.758920,0.151661],[0.005258,-0.200178,0.979745]] 2025-10-28T16:53:07.161Z,1761670387.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731175,-0.655722,-0.188181],[0.682190,0.703149,0.200498],[0.000848,-0.274974,0.961451]] 2025-10-28T16:53:07.566Z,1761670387.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717547,-0.671716,-0.184184],[0.695935,0.680691,0.228769],[-0.028295,-0.292333,0.955898]] 2025-10-28T16:53:07.966Z,1761670387.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698741,-0.683588,-0.210875],[0.715358,0.665666,0.212490],[-0.004883,-0.299327,0.954138]] 2025-10-28T16:53:08.375Z,1761670388.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668014,-0.715670,-0.203896],[0.744107,0.639517,0.193192],[-0.007867,-0.280775,0.959741]] 2025-10-28T16:53:08.782Z,1761670388.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656485,-0.733394,-0.176526],[0.754035,0.644640,0.125977],[0.021405,-0.215809,0.976201]] 2025-10-28T16:53:08.786Z,1761670388.786 [NAL9602](INFO): SBD MO Status=0, MOMSN=3294, MT Status=0, MTMSN=0 2025-10-28T16:53:08.786Z,1761670388.786 [NAL9602](INFO): No messages in MT queue 2025-10-28T16:53:08.817Z,1761670388.817 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:53:08.817Z,1761670388.817 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:53:08.817Z,1761670388.817 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:53:08.818Z,1761670388.818 [marl:UpdateRudder:A] Stopped 2025-10-28T16:53:08.818Z,1761670388.818 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:53:08.818Z,1761670388.818 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:53:08.818Z,1761670388.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:53:08.819Z,1761670388.819 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:53:08.819Z,1761670388.819 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:53:08.819Z,1761670388.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:53:08.819Z,1761670388.819 [marl:UpdateCommandMode] Stopped 2025-10-28T16:53:08.819Z,1761670388.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:53:09.179Z,1761670389.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634254,-0.758002,-0.152166],[0.771123,0.634393,0.054000],[0.055601,-0.151588,0.986879]] 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateRudder:B] Stopped 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateRudder] Stopped 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:53:09.217Z,1761670389.217 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:53:09.218Z,1761670389.218 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:53:09.218Z,1761670389.218 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:53:09.218Z,1761670389.218 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:53:09.218Z,1761670389.218 [marl:UpdateSpeed] Stopped 2025-10-28T16:53:09.218Z,1761670389.218 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:53:09.628Z,1761670389.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604875,-0.788707,-0.109849],[0.796025,0.602628,0.056428],[0.021693,-0.121575,0.992345]] 2025-10-28T16:53:09.987Z,1761670389.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590259,-0.803215,-0.080255],[0.807211,0.587588,0.056122],[0.002079,-0.097909,0.995193]] 2025-10-28T16:53:09.995Z,1761670389.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165309.00,A,3646.51492,N,12151.93424,W,0.778,37.23,281025,,,A*47 2025-10-28T16:53:09.998Z,1761670389.998 [NAL9602](INFO): GPS fix at 20251028T165309: (36.775249, -121.865571) 2025-10-28T16:53:10.011Z,1761670390.011 [UniversalFixResidualReporter](INFO): Fix residual: 3.0 %DT, over the last 1042.6 m. Residual distance 31.1 m at bearing -71.5 degrees. Fix at (36.7752, -121.8656) with 233.3 m made good. 2025-10-28T16:53:10.042Z,1761670390.042 [marl:NeedComms:C] Stopped 2025-10-28T16:53:10.042Z,1761670390.042 [marl:NeedComms:D] Running Loop=1 2025-10-28T16:53:10.043Z,1761670390.043 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761670400.00. Resetting abort timer. 2025-10-28T16:53:10.402Z,1761670390.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548525,-0.828247,-0.114572],[0.835680,0.547571,0.042482],[0.027551,-0.119048,0.992506]] 2025-10-28T16:53:10.900Z,1761670390.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533191,-0.836843,-0.124104],[0.845711,0.531048,0.052554],[0.021926,-0.132978,0.990876]] 2025-10-28T16:53:11.312Z,1761670391.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517438,-0.843894,-0.141779],[0.853916,0.519966,0.021531],[0.055550,-0.132208,0.989664]] 2025-10-28T16:53:11.708Z,1761670391.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494406,-0.856870,-0.146067],[0.867367,0.497331,0.018373],[0.056900,-0.135778,0.989104]] 2025-10-28T16:53:12.111Z,1761670392.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490775,-0.863558,-0.115787],[0.870542,0.491498,0.024214],[0.035999,-0.112681,0.992979]] 2025-10-28T16:53:12.514Z,1761670392.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494404,-0.865393,-0.081609],[0.868622,0.495392,0.009091],[0.032562,-0.075382,0.996623]] 2025-10-28T16:53:12.920Z,1761670392.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497125,-0.866091,-0.052472],[0.867516,0.497294,0.010701],[0.016826,-0.050840,0.998565]] 2025-10-28T16:53:13.329Z,1761670393.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477365,-0.877404,-0.047791],[0.878704,0.476738,0.024498],[0.001289,-0.053689,0.998557]] 2025-10-28T16:53:13.726Z,1761670393.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464436,-0.880908,-0.091105],[0.885606,0.461911,0.048371],[-0.000528,-0.103149,0.994666]] 2025-10-28T16:53:14.375Z,1761670394.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444868,-0.876490,-0.184006],[0.895303,0.440493,0.066324],[0.022921,-0.194247,0.980685]] 2025-10-28T16:53:14.781Z,1761670394.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432303,-0.880123,-0.196210],[0.901166,0.429365,0.059543],[0.031841,-0.202558,0.978752]] 2025-10-28T16:53:17.070Z,1761670397.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385774,-0.914730,-0.120198],[0.922539,0.383877,0.039503],[0.010007,-0.126126,0.991964]] 2025-10-28T16:53:17.463Z,1761670397.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357502,-0.922847,-0.143337],[0.932719,0.360571,0.004860],[0.047199,-0.135431,0.989662]] 2025-10-28T16:53:17.866Z,1761670397.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352831,-0.923548,-0.150229],[0.934378,0.356256,0.004377],[0.049477,-0.141915,0.988642]] 2025-10-28T16:53:18.274Z,1761670398.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356094,-0.924081,-0.138820],[0.932110,0.361768,-0.017170],[0.066087,-0.123282,0.990169]] 2025-10-28T16:53:18.676Z,1761670398.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349380,-0.928033,-0.129186],[0.934852,0.354547,-0.018675],[0.063134,-0.114245,0.991444]] 2025-10-28T16:53:19.078Z,1761670399.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346174,-0.930507,-0.119669],[0.937825,0.346682,0.017221],[0.025463,-0.118190,0.992665]] 2025-10-28T16:53:19.483Z,1761670399.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341505,-0.933762,-0.107064],[0.939435,0.335617,0.069441],[-0.028909,-0.124294,0.991824]] 2025-10-28T16:53:19.887Z,1761670399.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351218,-0.926720,-0.133554],[0.936284,0.346962,0.054682],[-0.004337,-0.144250,0.989532]] 2025-10-28T16:53:20.305Z,1761670400.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335246,-0.930928,-0.144854],[0.942126,0.330796,0.054514],[-0.002831,-0.154747,0.987950]] 2025-10-28T16:53:20.695Z,1761670400.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315489,-0.941535,-0.118234],[0.948428,0.308815,0.071541],[-0.030846,-0.134707,0.990405]] 2025-10-28T16:53:21.099Z,1761670401.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285037,-0.950722,-0.121992],[0.958057,0.278641,0.066982],[-0.029689,-0.135968,0.990268]] 2025-10-28T16:53:21.503Z,1761670401.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273952,-0.952383,-0.133852],[0.961357,0.267230,0.066197],[-0.027275,-0.146814,0.988788]] 2025-10-28T16:53:21.507Z,1761670401.507 [NAL9602](INFO): SBD MO Status=1, MOMSN=3295, MT Status=0, MTMSN=0 2025-10-28T16:53:21.560Z,1761670401.560 [NAL9602](INFO): Sent 265 bytes from file Logs/20251028T162422/Courier0012.lzma 2025-10-28T16:53:21.560Z,1761670401.560 [NAL9602](INFO): Packets left to send: 0 2025-10-28T16:53:21.908Z,1761670401.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279011,-0.950851,-0.134297],[0.960217,0.274546,0.051072],[-0.011691,-0.143204,0.989624]] 2025-10-28T16:53:22.667Z,1761670402.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264824,-0.964262,0.008174],[0.962862,0.263958,-0.056774],[0.052588,0.022906,0.998354]] 2025-10-28T16:53:23.066Z,1761670403.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291692,-0.955397,0.046186],[0.954830,0.287977,-0.073270],[0.056702,0.065472,0.996242]] 2025-10-28T16:53:23.896Z,1761670403.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:53:24.901Z,1761670404.901 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T16:53:24.901Z,1761670404.901 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:53:25.235Z,1761670405.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298840,-0.937911,-0.176119],[0.954073,0.289589,0.076695],[-0.020931,-0.190950,0.981377]] 2025-10-28T16:53:25.646Z,1761670405.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266995,-0.944083,-0.193444],[0.963364,0.266757,0.027775],[0.025381,-0.193772,0.980718]] 2025-10-28T16:53:26.037Z,1761670406.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232032,-0.967278,-0.102634],[0.972699,0.231194,0.020159],[0.004229,-0.104510,0.994515]] 2025-10-28T16:53:26.061Z,1761670406.061 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:53:26.061Z,1761670406.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateRudder:A] Stopped 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:53:26.062Z,1761670406.062 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:53:26.063Z,1761670406.063 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:53:26.063Z,1761670406.063 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:53:26.063Z,1761670406.063 [marl:UpdateCommandMode] Stopped 2025-10-28T16:53:26.063Z,1761670406.063 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:53:26.438Z,1761670406.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252139,-0.967542,-0.016992],[0.967136,0.252550,-0.029440],[0.032775,-0.009011,0.999422]] 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateRudder:B] Stopped 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateRudder] Stopped 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:53:26.470Z,1761670406.470 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:53:26.471Z,1761670406.471 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:53:26.471Z,1761670406.471 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:53:26.471Z,1761670406.471 [marl:UpdateSpeed] Stopped 2025-10-28T16:53:26.471Z,1761670406.471 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:53:26.842Z,1761670406.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244765,-0.969236,-0.025916],[0.966307,0.246046,-0.075580],[0.079632,-0.006544,0.996803]] 2025-10-28T16:53:27.246Z,1761670407.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213715,-0.975856,-0.045076],[0.974856,0.216022,-0.054682],[0.063099,-0.032257,0.997486]] 2025-10-28T16:53:27.652Z,1761670407.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216708,-0.973493,-0.073138],[0.975604,0.218655,-0.019661],[0.035132,-0.067093,0.997128]] 2025-10-28T16:53:28.055Z,1761670408.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219807,-0.965871,-0.137032],[0.973917,0.225372,-0.026319],[0.056304,-0.127672,0.990217]] 2025-10-28T16:53:28.459Z,1761670408.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188670,-0.966133,-0.176043],[0.981684,0.190380,0.007285],[0.026476,-0.174193,0.984356]] 2025-10-28T16:53:28.865Z,1761670408.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172374,-0.971138,-0.164858],[0.985005,0.171168,0.021602],[0.007240,-0.166110,0.986081]] 2025-10-28T16:53:29.285Z,1761670409.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169328,-0.971623,-0.165153],[0.984589,0.174206,-0.015402],[0.043736,-0.160000,0.986148]] 2025-10-28T16:53:30.075Z,1761670410.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127618,-0.988306,-0.083460],[0.991235,0.129989,-0.023595],[0.034168,-0.079718,0.996232]] 2025-10-28T16:53:30.481Z,1761670410.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141483,-0.989702,-0.021727],[0.987909,0.142564,-0.060925],[0.063395,-0.012845,0.997906]] 2025-10-28T16:53:30.883Z,1761670410.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138444,-0.990344,0.007194],[0.987694,0.137532,-0.074470],[0.072761,0.017415,0.997197]] 2025-10-28T16:53:31.296Z,1761670411.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136923,-0.990548,0.008183],[0.990111,0.136599,-0.031960],[0.030540,0.012478,0.999456]] 2025-10-28T16:53:31.690Z,1761670411.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135872,-0.990476,-0.022263],[0.990702,0.135677,0.010067],[-0.006950,-0.023424,0.999701]] 2025-10-28T16:53:32.101Z,1761670412.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116208,-0.991028,-0.066028],[0.992382,0.113114,0.048824],[-0.040917,-0.071199,0.996623]] 2025-10-28T16:53:32.501Z,1761670412.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108421,-0.987067,-0.118085],[0.993983,0.105777,0.028445],[-0.015586,-0.120458,0.992596]] 2025-10-28T16:53:32.903Z,1761670412.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096311,-0.984556,-0.146197],[0.995226,0.092920,0.029867],[-0.015821,-0.148375,0.988805]] 2025-10-28T16:53:33.310Z,1761670413.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087192,-0.986501,-0.138610],[0.996178,0.087077,0.006903],[0.005260,-0.138682,0.990323]] 2025-10-28T16:53:33.315Z,1761670413.315 [NAL9602](INFO): SBD MO Status=1, MOMSN=3296, MT Status=0, MTMSN=0 2025-10-28T16:53:33.372Z,1761670413.372 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0013.lzma 2025-10-28T16:53:33.372Z,1761670413.372 [NAL9602](INFO): Packets left to send: 2 2025-10-28T16:53:33.711Z,1761670413.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089562,-0.992168,-0.087070],[0.994200,0.094286,-0.051739],[0.059543,-0.081931,0.994858]] 2025-10-28T16:53:34.610Z,1761670414.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093895,-0.995515,-0.011584],[0.990442,0.094585,-0.100388],[0.101034,-0.002048,0.994881]] 2025-10-28T16:53:35.008Z,1761670415.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122660,-0.992334,-0.015065],[0.990303,0.123379,-0.063864],[0.065233,-0.007085,0.997845]] 2025-10-28T16:53:37.306Z,1761670417.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131598,-0.986342,-0.099052],[0.991261,0.131854,0.003985],[0.009130,-0.098711,0.995074]] 2025-10-28T16:53:37.701Z,1761670417.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104582,-0.991539,-0.076891],[0.994492,0.103726,0.015057],[-0.006954,-0.078042,0.996926]] 2025-10-28T16:53:38.111Z,1761670418.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136435,-0.989151,-0.054452],[0.990598,0.135663,0.017657],[-0.010078,-0.056349,0.998360]] 2025-10-28T16:53:38.535Z,1761670418.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154934,-0.985424,-0.070244],[0.986932,0.157573,-0.033693],[0.044271,-0.064106,0.996961]] 2025-10-28T16:53:38.932Z,1761670418.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128221,-0.990685,-0.045851],[0.989648,0.130818,-0.059019],[0.064467,-0.037809,0.997203]] 2025-10-28T16:53:39.318Z,1761670419.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105968,-0.994250,-0.015431],[0.994329,0.106091,-0.007414],[0.009008,-0.014558,0.999853]] 2025-10-28T16:53:39.722Z,1761670419.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127431,-0.991200,-0.035830],[0.991733,0.126783,0.019808],[-0.015091,-0.038058,0.999162]] 2025-10-28T16:53:40.135Z,1761670420.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116822,-0.987050,-0.109930],[0.992884,0.118650,-0.010207],[0.023118,-0.107956,0.993887]] 2025-10-28T16:53:40.528Z,1761670420.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082355,-0.985001,-0.151629],[0.994141,0.091883,-0.056930],[0.070008,-0.146053,0.986797]] 2025-10-28T16:53:40.932Z,1761670420.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090667,-0.990374,-0.104586],[0.994476,0.095616,-0.043310],[0.052893,-0.100081,0.993572]] 2025-10-28T16:53:41.347Z,1761670421.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125815,-0.990953,-0.046712],[0.990144,0.128354,-0.056041],[0.061530,-0.039201,0.997335]] 2025-10-28T16:53:41.390Z,1761670421.390 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:53:41.390Z,1761670421.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:53:41.390Z,1761670421.390 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateRudder:A] Stopped 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:53:41.391Z,1761670421.391 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:53:41.392Z,1761670421.392 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:53:41.392Z,1761670421.392 [marl:UpdateCommandMode] Stopped 2025-10-28T16:53:41.396Z,1761670421.396 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:53:41.760Z,1761670421.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144522,-0.989501,0.000616],[0.988664,0.144374,-0.041236],[0.040714,0.006568,0.999149]] 2025-10-28T16:53:41.826Z,1761670421.826 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:53:41.826Z,1761670421.826 [marl:UpdateRudder:B] Stopped 2025-10-28T16:53:41.826Z,1761670421.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:53:41.826Z,1761670421.826 [marl:UpdateRudder] Stopped 2025-10-28T16:53:41.826Z,1761670421.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed] Stopped 2025-10-28T16:53:41.827Z,1761670421.827 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:53:42.180Z,1761670422.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148514,-0.988868,0.009161],[0.988773,0.148333,-0.018019],[0.016459,0.011735,0.999796]] 2025-10-28T16:53:42.186Z,1761670422.186 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T16:53:42.547Z,1761670422.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148137,-0.988893,-0.012115],[0.988125,0.148506,-0.039434],[0.040795,-0.006129,0.999149]] 2025-10-28T16:53:42.574Z,1761670422.574 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:53:42.653Z,1761670422.653 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:53:42.653Z,1761670422.653 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:53:42.905Z,1761670422.905 [DAT](INFO): DAT read: user:30> 2025-10-28T16:53:42.906Z,1761670422.906 [DAT](INFO): DAT read: Tx time:16:53:42.6643 2025-10-28T16:53:42.906Z,1761670422.906 [DAT](INFO): Ping request sent. 2025-10-28T16:53:42.906Z,1761670422.906 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:53:42.906Z,1761670422.906 [DAT](INFO): publishing transmit ping time 2025-10-28T16:53:42.907Z,1761670422.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T16:53:42.983Z,1761670422.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126096,-0.990726,-0.050607],[0.991741,0.127103,-0.017189],[0.023462,-0.048021,0.998571]] 2025-10-28T16:53:43.157Z,1761670423.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250900 2025-10-28T16:53:43.377Z,1761670423.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107380,-0.989710,-0.094572],[0.994101,0.105419,0.025512],[-0.015280,-0.096753,0.995191]] 2025-10-28T16:53:43.410Z,1761670423.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503586 2025-10-28T16:53:43.661Z,1761670423.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933 2025-10-28T16:53:43.796Z,1761670423.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074873,-0.989921,-0.120208],[0.997168,0.075185,0.001939],[0.007118,-0.120013,0.992747]] 2025-10-28T16:53:43.913Z,1761670423.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947 2025-10-28T16:53:44.165Z,1761670424.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258857 2025-10-28T16:53:44.186Z,1761670424.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073466,-0.992332,-0.099397],[0.997242,0.074147,-0.003161],[0.010507,-0.098891,0.995043]] 2025-10-28T16:53:44.417Z,1761670424.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511003 2025-10-28T16:53:44.578Z,1761670424.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099533,-0.991955,-0.078218],[0.994838,0.097644,0.027620],[-0.019760,-0.080563,0.996554]] 2025-10-28T16:53:44.669Z,1761670424.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762948 2025-10-28T16:53:44.921Z,1761670424.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789 2025-10-28T16:53:44.981Z,1761670424.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095674,-0.994513,-0.042317],[0.995031,0.094373,0.031736],[-0.027569,-0.045143,0.998600]] 2025-10-28T16:53:45.173Z,1761670425.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266914 2025-10-28T16:53:45.425Z,1761670425.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518797 2025-10-28T16:53:45.475Z,1761670425.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086284,-0.996070,-0.019975],[0.995978,0.086728,-0.022511],[0.024155,-0.017952,0.999547]] 2025-10-28T16:53:45.677Z,1761670425.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981 2025-10-28T16:53:45.929Z,1761670425.929 [DAT](INFO): DAT read: Rx Time:16:53:45.1591 2025-10-28T16:53:45.929Z,1761670425.929 [DAT](INFO): Rx dataTimestamp_ set to:1761670425.929095 2025-10-28T16:53:45.930Z,1761670425.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023936 2025-10-28T16:53:46.042Z,1761670426.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036317,-0.997593,-0.059071],[0.998831,0.038121,-0.029710],[0.031890,-0.057923,0.997812]] 2025-10-28T16:53:46.181Z,1761670426.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274940 2025-10-28T16:53:46.379Z,1761670426.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044653,-0.993653,-0.103251],[0.998610,0.047292,-0.023258],[0.027993,-0.102069,0.994383]] 2025-10-28T16:53:46.434Z,1761670426.434 [DAT](INFO): DAT read: Range 11 to 20 : 68.1 m (Round-trip 90.8 ms) speed 0.4 m/s 2025-10-28T16:53:46.434Z,1761670426.434 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T16:53:46.787Z,1761670426.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047802,-0.991107,-0.124181],[0.994578,0.058723,-0.085823],[0.092353,-0.119405,0.988541]] 2025-10-28T16:53:46.791Z,1761670426.791 [NAL9602](INFO): SBD MO Status=1, MOMSN=3297, MT Status=0, MTMSN=0 2025-10-28T16:53:46.844Z,1761670426.844 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0013.lzma 2025-10-28T16:53:46.844Z,1761670426.844 [NAL9602](INFO): Packets left to send: 1 2025-10-28T16:53:46.877Z,1761670426.877 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670400.00. Resetting abort timer. 2025-10-28T16:53:47.187Z,1761670427.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060944,-0.994114,-0.089576],[0.991517,0.070618,-0.109118],[0.114802,-0.082166,0.989984]] 2025-10-28T16:53:47.996Z,1761670427.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067253,-0.997156,0.034006],[0.997698,0.067509,0.006421],[-0.008699,0.033496,0.999401]] 2025-10-28T16:53:48.398Z,1761670428.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085137,-0.995884,0.031077],[0.996231,0.085604,0.014015],[-0.016617,0.029767,0.999419]] 2025-10-28T16:53:50.534Z,1761670430.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047530,-0.990397,-0.129822],[0.998382,0.051166,-0.024818],[0.031222,-0.128433,0.991227]] 2025-10-28T16:53:50.922Z,1761670430.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051753,-0.998569,-0.013436],[0.996146,0.052572,-0.070207],[0.070813,-0.009750,0.997442]] 2025-10-28T16:53:51.326Z,1761670431.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069203,-0.994895,0.073445],[0.994573,0.063073,-0.082737],[0.077683,0.078772,0.993861]] 2025-10-28T16:53:51.741Z,1761670431.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063568,-0.994628,0.081698],[0.997837,0.061974,-0.021911],[0.016730,0.082915,0.996416]] 2025-10-28T16:53:52.134Z,1761670432.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072231,-0.997387,0.001320],[0.997383,0.072234,0.002975],[-0.003062,0.001102,0.999995]] 2025-10-28T16:53:52.539Z,1761670432.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084253,-0.989291,-0.119187],[0.995666,0.088311,-0.029173],[0.039386,-0.116212,0.992443]] 2025-10-28T16:53:52.942Z,1761670432.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062632,-0.980178,-0.187959],[0.994688,0.076720,-0.068628],[0.081688,-0.182663,0.979776]] 2025-10-28T16:53:53.348Z,1761670433.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047961,-0.985267,-0.164158],[0.998137,0.053479,-0.029359],[0.037705,-0.162444,0.985997]] 2025-10-28T16:53:53.772Z,1761670433.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056794,-0.994226,-0.091045],[0.998346,0.055736,0.014118],[-0.008962,-0.091696,0.995747]] 2025-10-28T16:53:54.154Z,1761670434.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074128,-0.996559,-0.037086],[0.996892,0.075044,-0.023951],[0.026652,-0.035195,0.999025]] 2025-10-28T16:53:54.559Z,1761670434.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073411,-0.997266,-0.008454],[0.995705,0.073770,-0.055944],[0.056415,-0.004311,0.998398]] 2025-10-28T16:53:55.020Z,1761670435.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:53:55.366Z,1761670435.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084621,-0.996308,-0.014484],[0.994125,0.083433,0.068947],[-0.067484,-0.020234,0.997515]] 2025-10-28T16:53:55.782Z,1761670435.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100098,-0.991545,-0.082581],[0.993698,0.095417,0.058817],[-0.050440,-0.087948,0.994847]] 2025-10-28T16:53:56.024Z,1761670436.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:53:56.190Z,1761670436.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081256,-0.983041,-0.164398],[0.996488,0.083471,-0.006597],[0.020207,-0.163285,0.986372]] 2025-10-28T16:53:56.578Z,1761670436.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027950,-0.982015,-0.186723],[0.999590,0.028610,-0.000845],[0.006172,-0.186623,0.982412]] 2025-10-28T16:53:56.607Z,1761670436.607 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:53:56.607Z,1761670436.607 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateRudder:A] Stopped 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:53:56.608Z,1761670436.608 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:53:56.609Z,1761670436.609 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:53:56.609Z,1761670436.609 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:53:56.609Z,1761670436.609 [marl:UpdateCommandMode] Stopped 2025-10-28T16:53:56.609Z,1761670436.609 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:53:56.982Z,1761670436.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012295,-0.989045,-0.147099],[0.999923,0.012445,-0.000102],[0.001931,-0.147086,0.989122]] 2025-10-28T16:53:57.025Z,1761670437.025 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:53:57.025Z,1761670437.025 [marl:UpdateRudder:B] Stopped 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateRudder] Stopped 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:53:57.026Z,1761670437.026 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:53:57.027Z,1761670437.027 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:53:57.027Z,1761670437.027 [marl:UpdateSpeed] Stopped 2025-10-28T16:53:57.027Z,1761670437.027 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:53:57.386Z,1761670437.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027264,-0.995960,-0.085557],[0.997185,0.033078,-0.067294],[0.069852,-0.083482,0.994058]] 2025-10-28T16:53:57.807Z,1761670437.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018693,-0.999175,-0.036045],[0.995631,0.021901,-0.090769],[0.091484,-0.034191,0.995219]] 2025-10-28T16:53:58.225Z,1761670438.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000012,-0.999854,-0.017065],[0.998106,0.001038,-0.061507],[0.061516,-0.017034,0.997961]] 2025-10-28T16:53:58.598Z,1761670438.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036985,-0.999006,-0.024887],[0.996283,-0.034922,-0.078747],[0.077799,-0.027706,0.996584]] 2025-10-28T16:53:59.005Z,1761670439.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059932,-0.997610,-0.034380],[0.995989,-0.057471,-0.068579],[0.066440,-0.038352,0.997053]] 2025-10-28T16:53:59.411Z,1761670439.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038446,-0.997295,-0.062642],[0.996762,-0.033844,-0.072943],[0.070625,-0.065244,0.995367]] 2025-10-28T16:53:59.814Z,1761670439.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042305,-0.994620,-0.094556],[0.994607,-0.032956,-0.098335],[0.094690,-0.098206,0.990651]] 2025-10-28T16:54:00.219Z,1761670440.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072629,-0.996322,-0.045469],[0.993880,-0.068496,-0.086663],[0.083230,-0.051485,0.995200]] 2025-10-28T16:54:00.621Z,1761670440.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090615,-0.995313,0.033790],[0.993770,-0.092581,-0.062047],[0.064884,0.027957,0.997501]] 2025-10-28T16:54:00.625Z,1761670440.625 [NAL9602](INFO): SBD MO Status=1, MOMSN=3298, MT Status=0, MTMSN=0 2025-10-28T16:54:00.680Z,1761670440.680 [NAL9602](INFO): Sent 159 bytes from file Logs/20251028T162422/Express0013.lzma 2025-10-28T16:54:00.680Z,1761670440.680 [NAL9602](INFO): Packets left to send: 0 2025-10-28T16:54:01.023Z,1761670441.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096869,-0.994076,0.049280],[0.994779,-0.098298,-0.027432],[0.032114,0.046365,0.998408]] 2025-10-28T16:54:01.751Z,1761670441.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038086,-0.996367,-0.076171],[0.999109,-0.036583,-0.021033],[0.018170,-0.076905,0.996873]] 2025-10-28T16:54:02.114Z,1761670442.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087896,-0.989461,-0.115066],[0.996031,-0.085672,-0.024147],[0.014034,-0.116732,0.993064]] 2025-10-28T16:54:02.518Z,1761670442.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117939,-0.990192,-0.074899],[0.992982,-0.116926,-0.017778],[0.008846,-0.076470,0.997033]] 2025-10-28T16:54:02.923Z,1761670442.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145187,-0.989223,-0.018940],[0.989404,-0.145178,-0.001907],[-0.000863,-0.019016,0.999819]] 2025-10-28T16:54:03.333Z,1761670443.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127030,-0.991887,0.004904],[0.991846,-0.126970,0.010975],[-0.010263,0.006258,0.999928]] 2025-10-28T16:54:03.739Z,1761670443.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132726,-0.990680,-0.030622],[0.990213,-0.131192,-0.047618],[0.043157,-0.036642,0.998396]] 2025-10-28T16:54:04.135Z,1761670444.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168525,-0.983640,-0.063648],[0.979736,-0.160065,-0.120400],[0.108243,-0.082649,0.990683]] 2025-10-28T16:54:04.539Z,1761670444.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159100,-0.985579,-0.057627],[0.985397,-0.154942,-0.070610],[0.060663,-0.068019,0.995838]] 2025-10-28T16:54:04.946Z,1761670444.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144491,-0.988241,-0.050015],[0.989173,-0.142947,-0.033204],[0.025664,-0.054271,0.998196]] 2025-10-28T16:54:05.357Z,1761670445.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157157,-0.986532,-0.045342],[0.984833,-0.153137,-0.081568],[0.073526,-0.057473,0.995636]] 2025-10-28T16:54:05.753Z,1761670445.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155279,-0.987689,-0.018938],[0.986616,-0.154088,-0.053356],[0.049781,-0.026970,0.998396]] 2025-10-28T16:54:06.154Z,1761670446.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168667,-0.985619,0.010305],[0.985544,-0.168467,0.017933],[-0.015939,0.013181,0.999786]] 2025-10-28T16:54:06.559Z,1761670446.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216510,-0.974123,0.064869],[0.976274,-0.215794,0.017927],[-0.003465,0.067211,0.997733]] 2025-10-28T16:54:06.962Z,1761670446.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202167,-0.974918,0.093075],[0.979310,-0.200372,0.028337],[-0.008976,0.096878,0.995256]] 2025-10-28T16:54:07.370Z,1761670447.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145980,-0.988986,0.024442],[0.988932,-0.145220,0.030415],[-0.026531,0.028611,0.999238]] 2025-10-28T16:54:07.774Z,1761670447.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141332,-0.984888,-0.100104],[0.989940,-0.141286,-0.007586],[-0.006672,-0.100169,0.994948]] 2025-10-28T16:54:08.174Z,1761670448.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206532,-0.964908,-0.162165],[0.978345,-0.205969,-0.020463],[-0.013656,-0.162880,0.986551]] 2025-10-28T16:54:08.579Z,1761670448.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194102,-0.969576,-0.149152],[0.980726,-0.195264,-0.006959],[-0.022377,-0.147628,0.988790]] 2025-10-28T16:54:08.982Z,1761670448.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151563,-0.979516,-0.132576],[0.988298,-0.152508,-0.003062],[-0.017220,-0.131488,0.991168]] 2025-10-28T16:54:09.392Z,1761670449.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175083,-0.982803,-0.058689],[0.984486,-0.174059,-0.022163],[0.011566,-0.061659,0.998030]] 2025-10-28T16:54:09.791Z,1761670449.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203787,-0.978254,0.038608],[0.978906,-0.204195,-0.006891],[0.014624,0.036389,0.999231]] 2025-10-28T16:54:10.198Z,1761670450.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228107,-0.971156,0.069448],[0.973458,-0.228847,-0.002796],[0.018608,0.066967,0.997582]] 2025-10-28T16:54:10.239Z,1761670450.239 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:54:10.240Z,1761670450.240 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:54:10.240Z,1761670450.240 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:54:10.240Z,1761670450.240 [marl:UpdateRudder:A] Stopped 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode] Stopped 2025-10-28T16:54:10.241Z,1761670450.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:54:10.599Z,1761670450.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217618,-0.975039,0.044059],[0.974659,-0.219485,-0.043191],[0.051783,0.033543,0.998095]] 2025-10-28T16:54:10.633Z,1761670450.633 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:54:10.633Z,1761670450.633 [marl:UpdateRudder:B] Stopped 2025-10-28T16:54:10.633Z,1761670450.633 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:54:10.633Z,1761670450.633 [marl:UpdateRudder] Stopped 2025-10-28T16:54:10.633Z,1761670450.633 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed] Stopped 2025-10-28T16:54:10.634Z,1761670450.634 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:54:11.003Z,1761670451.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217804,-0.975349,-0.035443],[0.974999,-0.215801,-0.052975],[0.044021,-0.046095,0.997967]] 2025-10-28T16:54:11.411Z,1761670451.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236230,-0.967645,-0.088651],[0.970570,-0.230579,-0.069481],[0.046792,-0.102455,0.993636]] 2025-10-28T16:54:11.811Z,1761670451.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204328,-0.974537,-0.092347],[0.974380,-0.193420,-0.114772],[0.093987,-0.113432,0.989090]] 2025-10-28T16:54:12.223Z,1761670452.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186202,-0.980124,-0.068456],[0.974899,-0.175654,-0.136812],[0.122068,-0.092213,0.988229]] 2025-10-28T16:54:12.619Z,1761670452.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200927,-0.979167,-0.029327],[0.977913,-0.198730,-0.064749],[0.057572,-0.041689,0.997471]] 2025-10-28T16:54:13.022Z,1761670453.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206171,-0.978339,0.018594],[0.978449,-0.206343,-0.007796],[0.011464,0.016586,0.999797]] 2025-10-28T16:54:13.430Z,1761670453.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220550,-0.974827,0.032717],[0.975186,-0.219721,0.027110],[-0.019239,0.037885,0.999097]] 2025-10-28T16:54:14.235Z,1761670454.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175130,-0.984075,-0.030417],[0.984534,-0.174898,-0.010147],[0.004665,-0.031723,0.999486]] 2025-10-28T16:54:14.641Z,1761670454.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213395,-0.969916,-0.117153],[0.976962,-0.212213,-0.022619],[-0.002923,-0.119281,0.992856]] 2025-10-28T16:54:15.042Z,1761670455.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273262,-0.955835,-0.108198],[0.961909,-0.272421,-0.022769],[-0.007712,-0.110299,0.993869]] 2025-10-28T16:54:15.450Z,1761670455.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263833,-0.963277,-0.049890],[0.964543,-0.263845,-0.006453],[-0.006948,-0.049824,0.998734]] 2025-10-28T16:54:15.850Z,1761670455.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271806,-0.962152,-0.019627],[0.962029,-0.271129,-0.031455],[0.024943,-0.027432,0.999312]] 2025-10-28T16:54:16.256Z,1761670456.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278102,-0.960532,-0.006134],[0.959466,-0.277478,-0.049311],[0.045663,-0.019599,0.998765]] 2025-10-28T16:54:16.659Z,1761670456.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258827,-0.965881,-0.009088],[0.964425,-0.257890,-0.058121],[0.053794,-0.023808,0.998268]] 2025-10-28T16:54:17.063Z,1761670457.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257380,-0.966149,-0.017648],[0.964226,-0.255584,-0.070317],[0.063427,-0.035115,0.997369]] 2025-10-28T16:54:17.468Z,1761670457.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275364,-0.961250,0.013129],[0.958559,-0.275580,-0.072254],[0.073073,-0.007311,0.997300]] 2025-10-28T16:54:17.872Z,1761670457.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246877,-0.968066,0.043584],[0.966181,-0.249354,-0.065706],[0.074475,0.025889,0.996887]] 2025-10-28T16:54:18.274Z,1761670458.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226891,-0.973918,0.002194],[0.973492,-0.226857,-0.029132],[0.028870,-0.004473,0.999573]] 2025-10-28T16:54:18.698Z,1761670458.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272075,-0.961525,-0.038012],[0.962272,-0.271748,-0.013613],[0.002760,-0.040282,0.999185]] 2025-10-28T16:54:19.083Z,1761670459.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280823,-0.959064,-0.036528],[0.959668,-0.280066,-0.024500],[0.013267,-0.041935,0.999032]] 2025-10-28T16:54:19.507Z,1761670459.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254667,-0.966085,-0.042717],[0.966837,-0.253489,-0.031129],[0.019245,-0.049228,0.998602]] 2025-10-28T16:54:19.891Z,1761670459.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237137,-0.970397,-0.045779],[0.970267,-0.234228,-0.060989],[0.048461,-0.058880,0.997088]] 2025-10-28T16:54:20.295Z,1761670460.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241436,-0.970128,-0.023671],[0.968193,-0.239160,-0.073517],[0.065659,-0.040668,0.997013]] 2025-10-28T16:54:20.705Z,1761670460.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253731,-0.967268,-0.003595],[0.966630,-0.253425,-0.037440],[0.035304,-0.012975,0.999292]] 2025-10-28T16:54:21.105Z,1761670461.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249915,-0.968159,-0.014540],[0.967374,-0.249011,-0.046712],[0.041604,-0.025739,0.998803]] 2025-10-28T16:54:21.533Z,1761670461.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243105,-0.968635,-0.051442],[0.968934,-0.240011,-0.059685],[0.045466,-0.064354,0.996891]] 2025-10-28T16:54:21.911Z,1761670461.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256476,-0.961879,-0.094913],[0.966542,-0.255645,-0.021016],[-0.004049,-0.097128,0.995264]] 2025-10-28T16:54:22.315Z,1761670462.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237874,-0.964111,-0.117926],[0.970073,-0.241908,0.020949],[-0.048724,-0.109413,0.992801]] 2025-10-28T16:54:22.721Z,1761670462.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262695,-0.959512,-0.101627],[0.964386,-0.264466,0.004123],[-0.030833,-0.096925,0.994814]] 2025-10-28T16:54:23.122Z,1761670463.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287417,-0.956962,-0.040197],[0.957760,-0.287558,-0.002373],[-0.009288,-0.039181,0.999189]] 2025-10-28T16:54:23.528Z,1761670463.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273380,-0.961776,0.015799],[0.961770,-0.273581,-0.012292],[0.016145,0.011835,0.999800]] 2025-10-28T16:54:23.614Z,1761670463.614 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:54:23.614Z,1761670463.614 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:54:23.615Z,1761670463.615 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:54:23.621Z,1761670463.621 [marl:UpdateRudder:A] Stopped 2025-10-28T16:54:23.621Z,1761670463.621 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:54:23.621Z,1761670463.621 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:54:23.622Z,1761670463.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:54:23.622Z,1761670463.622 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:54:23.623Z,1761670463.623 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:54:23.624Z,1761670463.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:54:23.628Z,1761670463.628 [marl:UpdateCommandMode] Stopped 2025-10-28T16:54:23.629Z,1761670463.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:54:23.629Z,1761670463.629 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:54:23.629Z,1761670463.629 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:54:23.630Z,1761670463.630 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:54:23.631Z,1761670463.631 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:54:23.632Z,1761670463.632 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:54:23.636Z,1761670463.636 [marl:UpdateSpeed] Stopped 2025-10-28T16:54:23.636Z,1761670463.636 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:54:23.930Z,1761670463.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267775,-0.963291,0.019150],[0.963107,-0.268173,-0.022561],[0.026868,0.012402,0.999562]] 2025-10-28T16:54:23.935Z,1761670463.935 [NAL9602](INFO): SBD MO Status=2, MOMSN=3299, MT Status=2, MTMSN=0 2025-10-28T16:54:23.935Z,1761670463.935 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T16:54:24.018Z,1761670464.018 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:54:24.018Z,1761670464.018 [marl:UpdateRudder:B] Stopped 2025-10-28T16:54:24.019Z,1761670464.019 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:54:24.019Z,1761670464.019 [marl:UpdateRudder] Stopped 2025-10-28T16:54:24.019Z,1761670464.019 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:54:24.335Z,1761670464.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302969,-0.952977,0.006637],[0.951495,-0.302875,-0.054078],[0.053545,-0.010069,0.998515]] 2025-10-28T16:54:24.738Z,1761670464.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307663,-0.951108,0.027148],[0.945026,-0.308768,-0.107650],[0.110769,-0.007464,0.993818]] 2025-10-28T16:54:25.142Z,1761670465.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271497,-0.962241,0.019535],[0.960412,-0.272186,-0.059364],[0.062440,0.002644,0.998045]] 2025-10-28T16:54:25.615Z,1761670465.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244828,-0.968527,-0.044891],[0.969540,-0.244903,-0.003903],[-0.007213,-0.044479,0.998984]] 2025-10-28T16:54:26.177Z,1761670466.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:54:26.201Z,1761670466.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287952,-0.957215,-0.028684],[0.956146,-0.285697,-0.064510],[0.053555,-0.046002,0.997505]] 2025-10-28T16:54:26.542Z,1761670466.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307227,-0.951633,-0.002534],[0.951491,-0.307133,-0.018275],[0.016613,-0.008025,0.999830]] 2025-10-28T16:54:26.927Z,1761670466.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276029,-0.961102,0.009548],[0.960780,-0.276184,-0.024973],[0.026639,0.002280,0.999642]] 2025-10-28T16:54:27.180Z,1761670467.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:54:27.331Z,1761670467.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250951,-0.967154,-0.040451],[0.966142,-0.247663,-0.072332],[0.059938,-0.057234,0.996560]] 2025-10-28T16:54:27.735Z,1761670467.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292801,-0.953139,-0.076114],[0.954382,-0.286455,-0.084255],[0.058504,-0.097312,0.993533]] 2025-10-28T16:54:28.138Z,1761670468.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306277,-0.951114,-0.039715],[0.949910,-0.302632,-0.078010],[0.062178,-0.061618,0.996161]] 2025-10-28T16:54:28.546Z,1761670468.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286700,-0.957996,-0.006822],[0.956686,-0.285918,-0.054801],[0.050548,-0.022238,0.998474]] 2025-10-28T16:54:29.343Z,1761670469.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303008,-0.952391,0.033735],[0.949888,-0.304686,-0.069855],[0.076808,0.010878,0.996987]] 2025-10-28T16:54:29.742Z,1761670469.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295659,-0.955031,0.022378],[0.955291,-0.295627,0.004790],[0.002041,0.022794,0.999738]] 2025-10-28T16:54:30.147Z,1761670470.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278663,-0.960389,-0.000090],[0.959312,-0.278354,0.047331],[-0.045481,0.013103,0.998879]] 2025-10-28T16:54:30.563Z,1761670470.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274138,-0.960884,-0.039375],[0.960587,-0.275555,0.036630],[-0.046047,-0.027782,0.998553]] 2025-10-28T16:54:30.954Z,1761670470.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295839,-0.951924,-0.079502],[0.955235,-0.294611,-0.027021],[0.002300,-0.083937,0.996468]] 2025-10-28T16:54:31.359Z,1761670471.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352364,-0.931322,-0.092085],[0.935218,-0.346761,-0.071583],[0.034736,-0.111343,0.993175]] 2025-10-28T16:54:31.766Z,1761670471.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356837,-0.929308,-0.095157],[0.933790,-0.351947,-0.064569],[0.026514,-0.111897,0.993366]] 2025-10-28T16:54:32.175Z,1761670472.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318205,-0.942257,-0.104392],[0.946964,-0.310717,-0.081943],[0.044775,-0.124931,0.991155]] 2025-10-28T16:54:32.574Z,1761670472.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297971,-0.952290,-0.066006],[0.951053,-0.290227,-0.106144],[0.081923,-0.094403,0.992158]] 2025-10-28T16:54:32.975Z,1761670472.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310264,-0.950405,0.021575],[0.949575,-0.310913,-0.040496],[0.045196,0.007923,0.998947]] 2025-10-28T16:54:33.378Z,1761670473.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337401,-0.936277,0.097705],[0.941359,-0.335370,0.037012],[-0.001886,0.104464,0.994527]] 2025-10-28T16:54:33.785Z,1761670473.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336031,-0.936173,0.103268],[0.941648,-0.331657,0.057464],[-0.019547,0.116552,0.992992]] 2025-10-28T16:54:34.194Z,1761670474.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331099,-0.943118,0.030027],[0.943574,-0.330707,0.017342],[-0.006425,0.034075,0.999399]] 2025-10-28T16:54:34.594Z,1761670474.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339156,-0.938217,-0.068709],[0.940723,-0.337971,-0.028555],[0.003569,-0.074321,0.997228]] 2025-10-28T16:54:34.996Z,1761670474.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337942,-0.933692,-0.118386],[0.939296,-0.326663,-0.104950],[0.059319,-0.146666,0.987406]] 2025-10-28T16:54:35.398Z,1761670475.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336428,-0.934556,-0.115846],[0.939760,-0.325272,-0.105117],[0.060556,-0.144232,0.987689]] 2025-10-28T16:54:35.802Z,1761670475.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357400,-0.929663,-0.089401],[0.932691,-0.350306,-0.085868],[0.048510,-0.114072,0.992287]] 2025-10-28T16:54:36.207Z,1761670476.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340975,-0.939593,-0.030023],[0.935849,-0.336247,-0.105471],[0.089004,-0.064060,0.993969]] 2025-10-28T16:54:36.622Z,1761670476.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330086,-0.943940,-0.004471],[0.937674,-0.327342,-0.116686],[0.108681,-0.042708,0.993159]] 2025-10-28T16:54:37.014Z,1761670477.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334070,-0.942433,0.014731],[0.933772,-0.333047,-0.130954],[0.128321,-0.029992,0.991279]] 2025-10-28T16:54:37.061Z,1761670477.061 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:54:37.061Z,1761670477.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateRudder:A] Stopped 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:54:37.062Z,1761670477.062 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateCommandMode] Stopped 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:54:37.063Z,1761670477.063 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:54:37.064Z,1761670477.064 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:54:37.064Z,1761670477.064 [marl:UpdateSpeed] Stopped 2025-10-28T16:54:37.064Z,1761670477.064 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:54:37.419Z,1761670477.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335058,-0.941388,0.039064],[0.929379,-0.337031,-0.150551],[0.154893,-0.014138,0.987830]] 2025-10-28T16:54:37.472Z,1761670477.472 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:54:37.472Z,1761670477.472 [marl:UpdateRudder:B] Stopped 2025-10-28T16:54:37.472Z,1761670477.472 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:54:37.472Z,1761670477.472 [marl:UpdateRudder] Stopped 2025-10-28T16:54:37.472Z,1761670477.472 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:54:37.822Z,1761670477.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329523,-0.943039,0.045746],[0.938309,-0.332481,-0.095040],[0.104836,0.011606,0.994422]] 2025-10-28T16:54:38.249Z,1761670478.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324544,-0.945666,0.019680],[0.945064,-0.325056,-0.034530],[0.039051,0.007392,0.999210]] 2025-10-28T16:54:38.636Z,1761670478.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319625,-0.947069,-0.030010],[0.947543,-0.319410,-0.011814],[0.001603,-0.032212,0.999480]] 2025-10-28T16:54:39.035Z,1761670479.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333544,-0.939078,-0.082951],[0.941641,-0.336102,0.018647],[-0.045391,-0.071890,0.996379]] 2025-10-28T16:54:39.441Z,1761670479.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339541,-0.936426,-0.088423],[0.937206,-0.344790,0.052592],[-0.079736,-0.065013,0.994694]] 2025-10-28T16:54:39.843Z,1761670479.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366122,-0.929082,-0.052548],[0.928710,-0.368374,0.042402],[-0.058752,-0.033278,0.997718]] 2025-10-28T16:54:40.247Z,1761670480.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353840,-0.935295,0.004567],[0.935226,-0.353741,0.014834],[-0.012259,0.009520,0.999880]] 2025-10-28T16:54:40.659Z,1761670480.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331215,-0.943237,0.024497],[0.943264,-0.331646,-0.016255],[0.023456,0.017723,0.999568]] 2025-10-28T16:54:41.057Z,1761670481.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337068,-0.940559,0.041651],[0.938594,-0.339167,-0.063302],[0.073666,0.017756,0.997125]] 2025-10-28T16:54:41.458Z,1761670481.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324083,-0.944694,0.050227],[0.941393,-0.327290,-0.081615],[0.093541,0.020834,0.995398]] 2025-10-28T16:54:41.862Z,1761670481.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310288,-0.950224,0.028198],[0.944918,-0.311534,-0.100385],[0.104173,-0.004503,0.994549]] 2025-10-28T16:54:42.267Z,1761670482.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280253,-0.959889,-0.008511],[0.952060,-0.276812,-0.130219],[0.122640,-0.044598,0.991449]] 2025-10-28T16:54:42.685Z,1761670482.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289435,-0.956472,-0.037277],[0.950147,-0.282367,-0.132250],[0.115967,-0.073696,0.990515]] 2025-10-28T16:54:42.710Z,1761670482.710 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:54:42.917Z,1761670482.917 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:54:42.917Z,1761670482.917 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:54:43.074Z,1761670483.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286063,-0.957584,-0.034658],[0.955508,-0.282355,-0.085326],[0.071921,-0.057525,0.995750]] 2025-10-28T16:54:43.169Z,1761670483.169 [DAT](INFO): DAT read: user:31> 2025-10-28T16:54:43.170Z,1761670483.170 [DAT](INFO): DAT read: Tx time:16:54:42.9142 2025-10-28T16:54:43.171Z,1761670483.171 [DAT](INFO): Ping request sent. 2025-10-28T16:54:43.171Z,1761670483.171 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:54:43.171Z,1761670483.171 [DAT](INFO): publishing transmit ping time 2025-10-28T16:54:43.172Z,1761670483.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001279 2025-10-28T16:54:43.421Z,1761670483.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250081 2025-10-28T16:54:43.483Z,1761670483.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271568,-0.961281,-0.046794],[0.959332,-0.266485,-0.093105],[0.077031,-0.070175,0.994556]] 2025-10-28T16:54:43.673Z,1761670483.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502646 2025-10-28T16:54:43.925Z,1761670483.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754168 2025-10-28T16:54:44.178Z,1761670484.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726 2025-10-28T16:54:44.286Z,1761670484.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272839,-0.960220,-0.059470],[0.958372,-0.265866,-0.104103],[0.084151,-0.085398,0.992787]] 2025-10-28T16:54:44.429Z,1761670484.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258285 2025-10-28T16:54:44.685Z,1761670484.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514195 2025-10-28T16:54:44.696Z,1761670484.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300376,-0.953693,-0.015601],[0.951771,-0.298619,-0.070416],[0.062497,-0.035999,0.997396]] 2025-10-28T16:54:44.937Z,1761670484.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766103 2025-10-28T16:54:45.095Z,1761670485.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285872,-0.957128,0.046719],[0.958167,-0.286210,-0.000557],[0.013905,0.044605,0.998908]] 2025-10-28T16:54:45.189Z,1761670485.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018196 2025-10-28T16:54:45.441Z,1761670485.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270206 2025-10-28T16:54:45.503Z,1761670485.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248137,-0.967533,0.048038],[0.968462,-0.248920,-0.010963],[0.022565,0.043803,0.998785]] 2025-10-28T16:54:45.693Z,1761670485.693 [DAT](INFO): DAT read: Rx Time:16:54:45.0124 2025-10-28T16:54:45.694Z,1761670485.694 [DAT](INFO): Rx dataTimestamp_ set to:1761670485.693221 2025-10-28T16:54:45.694Z,1761670485.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523262 2025-10-28T16:54:45.903Z,1761670485.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243613,-0.969872,-0.000222],[0.968594,-0.243280,-0.051382],[0.049780,-0.012732,0.998679]] 2025-10-28T16:54:45.945Z,1761670485.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774244 2025-10-28T16:54:46.197Z,1761670486.197 [DAT](INFO): DAT read: $Error in header 2025-10-28T16:54:46.197Z,1761670486.197 [DAT](INFO): Received a bad header 2025-10-28T16:54:46.208Z,1761670486.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037449 2025-10-28T16:54:46.307Z,1761670486.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270114,-0.962481,-0.025849],[0.962482,-0.269200,-0.034048],[0.025812,-0.034076,0.999086]] 2025-10-28T16:54:46.450Z,1761670486.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278732 2025-10-28T16:54:46.702Z,1761670486.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531468 2025-10-28T16:54:46.717Z,1761670486.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287393,-0.957808,-0.003012],[0.957665,-0.287292,-0.018472],[0.016827,-0.008193,0.999825]] 2025-10-28T16:54:46.953Z,1761670486.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782088 2025-10-28T16:54:47.115Z,1761670487.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280249,-0.959927,-0.001041],[0.959885,-0.280226,-0.009708],[0.009028,-0.003720,0.999952]] 2025-10-28T16:54:47.205Z,1761670487.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034104 2025-10-28T16:54:47.457Z,1761670487.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286133 2025-10-28T16:54:47.519Z,1761670487.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247863,-0.967010,-0.058785],[0.968713,-0.248178,-0.001996],[-0.012659,-0.057441,0.998269]] 2025-10-28T16:54:47.709Z,1761670487.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538104 2025-10-28T16:54:47.922Z,1761670487.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233169,-0.965240,-0.118088],[0.972432,-0.231073,-0.031332],[0.002956,-0.122138,0.992509]] 2025-10-28T16:54:47.961Z,1761670487.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790212 2025-10-28T16:54:48.213Z,1761670488.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042167 2025-10-28T16:54:48.327Z,1761670488.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267683,-0.957813,-0.104598],[0.961409,-0.258361,-0.094559],[0.063546,-0.125873,0.990009]] 2025-10-28T16:54:48.465Z,1761670488.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294111 2025-10-28T16:54:48.717Z,1761670488.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546060 2025-10-28T16:54:48.736Z,1761670488.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283070,-0.958653,-0.029266],[0.955953,-0.279541,-0.089501],[0.077620,-0.053312,0.995557]] 2025-10-28T16:54:48.969Z,1761670488.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798145 2025-10-28T16:54:49.141Z,1761670489.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274271,-0.960905,0.037914],[0.958802,-0.276279,-0.066102],[0.073992,0.018223,0.997092]] 2025-10-28T16:54:49.221Z,1761670489.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050138 2025-10-28T16:54:49.473Z,1761670489.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302104 2025-10-28T16:54:49.539Z,1761670489.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281675,-0.954927,0.093672],[0.953107,-0.289718,-0.087467],[0.110663,0.064643,0.991754]] 2025-10-28T16:54:49.725Z,1761670489.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554178 2025-10-28T16:54:49.951Z,1761670489.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261648,-0.960013,0.099580],[0.957421,-0.271206,-0.098961],[0.122010,0.069447,0.990096]] 2025-10-28T16:54:49.977Z,1761670489.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806166 2025-10-28T16:54:50.229Z,1761670490.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058144 2025-10-28T16:54:50.346Z,1761670490.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242155,-0.970092,0.016805],[0.968594,-0.242717,-0.053977],[0.056441,0.003207,0.998401]] 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateRudder:A] Stopped 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:54:50.375Z,1761670490.375 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:54:50.376Z,1761670490.376 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:54:50.376Z,1761670490.376 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:54:50.376Z,1761670490.376 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:54:50.376Z,1761670490.376 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:54:50.376Z,1761670490.376 [marl:UpdateCommandMode] Stopped 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed] Stopped 2025-10-28T16:54:50.377Z,1761670490.377 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:54:50.481Z,1761670490.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310634 2025-10-28T16:54:50.733Z,1761670490.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562069 2025-10-28T16:54:50.774Z,1761670490.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259263,-0.963565,-0.065763],[0.965778,-0.259178,-0.009979],[-0.007429,-0.066100,0.997785]] 2025-10-28T16:54:50.820Z,1761670490.820 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:54:50.820Z,1761670490.820 [marl:UpdateRudder:B] Stopped 2025-10-28T16:54:50.820Z,1761670490.820 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:54:50.820Z,1761670490.820 [marl:UpdateRudder] Stopped 2025-10-28T16:54:50.821Z,1761670490.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:54:50.986Z,1761670490.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814742 2025-10-28T16:54:51.167Z,1761670491.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255625,-0.962757,-0.088062],[0.966703,-0.253425,-0.035501],[0.011862,-0.094204,0.995482]] 2025-10-28T16:54:51.237Z,1761670491.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066145 2025-10-28T16:54:51.489Z,1761670491.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318236 2025-10-28T16:54:51.562Z,1761670491.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249184,-0.965041,-0.081257],[0.967333,-0.243978,-0.068863],[0.046631,-0.095762,0.994311]] 2025-10-28T16:54:51.597Z,1761670491.597 [NAL9602](INFO): SBD MO Status=2, MOMSN=3299, MT Status=2, MTMSN=0 2025-10-28T16:54:51.598Z,1761670491.598 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T16:54:51.741Z,1761670491.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570096 2025-10-28T16:54:51.963Z,1761670491.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238064,-0.968922,-0.067195],[0.970793,-0.235261,-0.047035],[0.029764,-0.076430,0.996631]] 2025-10-28T16:54:51.993Z,1761670491.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822245 2025-10-28T16:54:52.245Z,1761670492.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074072 2025-10-28T16:54:52.368Z,1761670492.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222765,-0.973805,-0.045601],[0.973839,-0.220132,-0.056388],[0.044872,-0.056969,0.997367]] 2025-10-28T16:54:52.498Z,1761670492.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326714 2025-10-28T16:54:52.750Z,1761670492.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579191 2025-10-28T16:54:52.785Z,1761670492.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228729,-0.973490,0.000340],[0.971095,-0.228190,-0.070026],[0.068247,-0.015687,0.997545]] 2025-10-28T16:54:53.001Z,1761670493.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830064 2025-10-28T16:54:53.175Z,1761670493.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231741,-0.972713,0.011233],[0.972294,-0.231246,0.034207],[-0.030676,0.018849,0.999352]] 2025-10-28T16:54:53.253Z,1761670493.253 [DAT](INFO): Reached modem response timeout 2025-10-28T16:54:53.607Z,1761670493.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214787,-0.976435,0.020992],[0.970942,-0.211157,0.112621],[-0.105535,0.044572,0.993416]] 2025-10-28T16:54:53.984Z,1761670493.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198154,-0.980171,0.000843],[0.976414,-0.197319,0.087640],[-0.085735,0.018189,0.996152]] 2025-10-28T16:54:54.386Z,1761670494.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231746,-0.971703,-0.045693],[0.972640,-0.232244,0.005835],[-0.016282,-0.043090,0.998939]] 2025-10-28T16:54:54.792Z,1761670494.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222445,-0.972616,-0.067358],[0.974516,-0.219766,-0.044967],[0.028932,-0.075644,0.996715]] 2025-10-28T16:54:55.195Z,1761670495.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209505,-0.973717,-0.089344],[0.976592,-0.203813,-0.068766],[0.048749,-0.101660,0.993624]] 2025-10-28T16:54:55.521Z,1761670495.521 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:54:55.521Z,1761670495.521 [DAT](INFO): response not received 2025-10-28T16:54:55.521Z,1761670495.521 [DAT](ERROR): No response from remote modem. 2025-10-28T16:54:55.653Z,1761670495.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226492,-0.973047,-0.043365],[0.971893,-0.222839,-0.075935],[0.064225,-0.059345,0.996169]] 2025-10-28T16:54:56.810Z,1761670496.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220577,-0.975306,0.011119],[0.973581,-0.220849,-0.058023],[0.059046,-0.001973,0.998253]] 2025-10-28T16:54:57.194Z,1761670497.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225234,-0.973934,0.026861],[0.973360,-0.226144,-0.037803],[0.042892,0.017630,0.998924]] 2025-10-28T16:54:57.300Z,1761670497.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:54:58.304Z,1761670498.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:54:58.408Z,1761670498.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250354,-0.964802,-0.080502],[0.967207,-0.245565,-0.064880],[0.042828,-0.094105,0.994641]] 2025-10-28T16:54:58.815Z,1761670498.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247349,-0.964539,-0.092108],[0.968395,-0.242947,-0.056452],[0.032073,-0.103161,0.994147]] 2025-10-28T16:54:59.214Z,1761670499.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240992,-0.966864,-0.084242],[0.969788,-0.236512,-0.059781],[0.037876,-0.096103,0.994650]] 2025-10-28T16:55:00.040Z,1761670500.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223191,-0.974585,-0.019227],[0.973440,-0.221811,-0.056696],[0.050990,-0.031370,0.998206]] 2025-10-28T16:55:00.605Z,1761670500.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224924,-0.974362,0.005250],[0.973326,-0.224928,-0.045201],[0.045224,-0.005057,0.998964]] 2025-10-28T16:55:01.147Z,1761670501.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227050,-0.973877,0.003556],[0.973371,-0.227047,-0.031583],[0.031566,-0.003710,0.999495]] 2025-10-28T16:55:01.480Z,1761670501.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192498,-0.981164,-0.016157],[0.980916,-0.191939,-0.031028],[0.027342,-0.021821,0.999388]] 2025-10-28T16:55:02.287Z,1761670502.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229083,-0.973326,-0.012559],[0.970655,-0.227447,-0.078076],[0.073137,-0.030076,0.996868]] 2025-10-28T16:55:02.694Z,1761670502.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206650,-0.978413,0.001805],[0.977658,-0.206562,-0.038937],[0.038470,-0.006282,0.999240]] 2025-10-28T16:55:03.099Z,1761670503.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205499,-0.978655,0.002164],[0.978305,-0.205365,0.027291],[-0.026264,0.007725,0.999625]] 2025-10-28T16:55:03.499Z,1761670503.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202956,-0.979124,-0.011213],[0.978733,-0.203197,0.028168],[-0.029858,-0.005258,0.999540]] 2025-10-28T16:55:03.902Z,1761670503.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214075,-0.976215,-0.034298],[0.976784,-0.213644,-0.015822],[0.008118,-0.036889,0.999286]] 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateRudder:A] Stopped 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:55:03.951Z,1761670503.951 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:55:03.952Z,1761670503.952 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:55:03.952Z,1761670503.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:55:03.952Z,1761670503.952 [marl:UpdateCommandMode] Stopped 2025-10-28T16:55:03.952Z,1761670503.952 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:55:03.952Z,1761670503.952 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed] Stopped 2025-10-28T16:55:03.953Z,1761670503.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:55:04.307Z,1761670504.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202068,-0.977366,-0.062641],[0.979108,-0.203084,0.010228],[-0.022718,-0.059265,0.997984]] 2025-10-28T16:55:04.331Z,1761670504.331 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:55:04.331Z,1761670504.331 [marl:UpdateRudder:B] Stopped 2025-10-28T16:55:04.332Z,1761670504.332 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:55:04.332Z,1761670504.332 [marl:UpdateRudder] Stopped 2025-10-28T16:55:04.332Z,1761670504.332 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:55:04.719Z,1761670504.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180075,-0.980973,-0.072554],[0.981146,-0.184390,0.057908],[-0.070184,-0.060758,0.995682]] 2025-10-28T16:55:05.125Z,1761670505.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188396,-0.981032,-0.045648],[0.980946,-0.190218,0.039515],[-0.047449,-0.037334,0.998176]] 2025-10-28T16:55:05.518Z,1761670505.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187361,-0.982291,0.000306],[0.982250,-0.187356,-0.009116],[0.009012,-0.001408,0.999958]] 2025-10-28T16:55:06.328Z,1761670506.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182616,-0.983130,-0.010377],[0.983140,-0.182498,-0.011401],[0.009315,-0.012284,0.999881]] 2025-10-28T16:55:06.731Z,1761670506.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155380,-0.986021,-0.060171],[0.987477,-0.153348,-0.037047],[0.027302,-0.065174,0.997500]] 2025-10-28T16:55:07.139Z,1761670507.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162962,-0.977371,-0.134868],[0.983505,-0.150046,-0.101015],[0.078493,-0.149105,0.985701]] 2025-10-28T16:55:07.538Z,1761670507.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177575,-0.974773,-0.135218],[0.981056,-0.164535,-0.102258],[0.077431,-0.150815,0.985525]] 2025-10-28T16:55:07.943Z,1761670507.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165613,-0.983261,-0.075957],[0.985747,-0.162736,-0.042668],[0.029593,-0.081940,0.996198]] 2025-10-28T16:55:08.347Z,1761670508.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140633,-0.990009,-0.010231],[0.987578,-0.139541,-0.072230],[0.070081,-0.020262,0.997336]] 2025-10-28T16:55:08.753Z,1761670508.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151491,-0.988023,0.029357],[0.983115,-0.153690,-0.099317],[0.102639,0.013815,0.994623]] 2025-10-28T16:55:09.157Z,1761670509.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168314,-0.984690,0.045333],[0.983496,-0.170852,-0.059547],[0.066380,0.034562,0.997196]] 2025-10-28T16:55:09.562Z,1761670509.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152266,-0.988338,-0.001695],[0.986448,-0.151868,-0.062105],[0.061124,-0.011129,0.998068]] 2025-10-28T16:55:09.962Z,1761670509.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145405,-0.985650,-0.085740],[0.989264,-0.143558,-0.027363],[0.014662,-0.088798,0.995942]] 2025-10-28T16:55:09.967Z,1761670509.967 [NAL9602](INFO): SBD MO Status=0, MOMSN=3299, MT Status=0, MTMSN=0 2025-10-28T16:55:10.078Z,1761670510.078 [marl:NeedComms:D] Stopped 2025-10-28T16:55:10.078Z,1761670510.078 [marl:NeedComms:E] Running Loop=1 2025-10-28T16:55:10.368Z,1761670510.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165270,-0.977307,-0.132500],[0.985413,-0.169163,0.018600],[-0.040592,-0.127493,0.991008]] 2025-10-28T16:55:10.783Z,1761670510.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160624,-0.978141,-0.132063],[0.986967,-0.160505,-0.011614],[-0.009837,-0.132208,0.991173]] 2025-10-28T16:55:11.175Z,1761670511.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156195,-0.982962,-0.096892],[0.987128,-0.151933,-0.049953],[0.034381,-0.103447,0.994040]] 2025-10-28T16:55:11.618Z,1761670511.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154083,-0.987099,-0.043520],[0.987632,-0.152575,-0.036097],[0.028991,-0.048543,0.998400]] 2025-10-28T16:55:11.983Z,1761670511.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159517,-0.987163,0.007921],[0.987086,-0.159613,-0.013590],[0.014680,0.005651,0.999876]] 2025-10-28T16:55:12.389Z,1761670512.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154599,-0.987194,0.039324],[0.985821,-0.156768,-0.059833],[0.065231,0.029517,0.997434]] 2025-10-28T16:55:12.393Z,1761670512.393 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165511.00,A,3646.51607,N,12151.92523,W,0.369,302.32,281025,,,D*75 2025-10-28T16:55:12.396Z,1761670512.396 [NAL9602](INFO): GPS fix at 20251028T165511: (36.775268, -121.865420) 2025-10-28T16:55:12.422Z,1761670512.422 [marl:NeedComms:E] Stopped 2025-10-28T16:55:12.423Z,1761670512.423 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T16:55:12.423Z,1761670512.423 [marl:NeedComms] Stopped 2025-10-28T16:55:12.423Z,1761670512.423 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T16:55:12.423Z,1761670512.423 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T16:55:12.423Z,1761670512.423 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T16:55:12.424Z,1761670512.424 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761670528.00. Resetting abort timer. 2025-10-28T16:55:12.796Z,1761670512.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156435,-0.987321,0.026949],[0.982249,-0.158375,-0.100515],[0.103509,0.010747,0.994570]] 2025-10-28T16:55:13.195Z,1761670513.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161904,-0.986768,0.008685],[0.983495,-0.162075,-0.080431],[0.080774,-0.004480,0.996722]] 2025-10-28T16:55:14.004Z,1761670514.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124087,-0.987325,-0.098950],[0.985148,-0.110655,-0.131296],[0.118682,-0.113773,0.986393]] 2025-10-28T16:55:14.408Z,1761670514.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139017,-0.982592,-0.123240],[0.978039,-0.116716,-0.172675],[0.155284,-0.144539,0.977239]] 2025-10-28T16:55:14.810Z,1761670514.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143148,-0.988114,-0.056032],[0.979990,-0.133604,-0.147545],[0.138306,-0.076032,0.987467]] 2025-10-28T16:55:15.315Z,1761670515.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124779,-0.989271,0.075977],[0.981479,-0.134289,-0.136623],[0.145360,0.057522,0.987705]] 2025-10-28T16:55:15.717Z,1761670515.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116268,-0.992455,0.038925],[0.983497,-0.120512,-0.134950],[0.138623,0.022592,0.990088]] 2025-10-28T16:55:16.155Z,1761670516.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113008,-0.993376,-0.020818],[0.990430,-0.110953,-0.082086],[0.079232,-0.029895,0.996408]] 2025-10-28T16:55:16.559Z,1761670516.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140328,-0.988492,-0.056489],[0.989580,-0.138167,-0.040513],[0.032241,-0.061585,0.997581]] 2025-10-28T16:55:16.971Z,1761670516.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132241,-0.989338,-0.061012],[0.988911,-0.127486,-0.076172],[0.067582,-0.070408,0.995226]] 2025-10-28T16:55:16.995Z,1761670516.995 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:55:16.995Z,1761670516.995 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:55:16.995Z,1761670516.995 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateRudder:A] Stopped 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:55:16.996Z,1761670516.996 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateCommandMode] Stopped 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:55:16.997Z,1761670516.997 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:55:16.998Z,1761670516.998 [marl:UpdateSpeed] Stopped 2025-10-28T16:55:16.998Z,1761670516.998 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:55:17.366Z,1761670517.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111860,-0.990521,-0.079717],[0.986405,-0.100960,-0.129663],[0.120386,-0.093138,0.988348]] 2025-10-28T16:55:17.401Z,1761670517.401 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:55:17.402Z,1761670517.402 [marl:UpdateRudder:B] Stopped 2025-10-28T16:55:17.402Z,1761670517.402 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:55:17.402Z,1761670517.402 [marl:UpdateRudder] Stopped 2025-10-28T16:55:17.402Z,1761670517.402 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:55:17.778Z,1761670517.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117798,-0.990419,-0.072063],[0.980325,-0.104408,-0.167519],[0.158390,-0.090379,0.983232]] 2025-10-28T16:55:18.232Z,1761670518.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100748,-0.994275,-0.035598],[0.984605,-0.094504,-0.147041],[0.142835,-0.049864,0.988490]] 2025-10-28T16:55:19.212Z,1761670519.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098573,-0.994001,-0.047389],[0.994913,-0.097446,-0.025525],[0.020754,-0.049664,0.998550]] 2025-10-28T16:55:20.014Z,1761670520.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092332,-0.992774,-0.076643],[0.994833,-0.088713,-0.049364],[0.042208,-0.080805,0.995836]] 2025-10-28T16:55:20.418Z,1761670520.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084188,-0.992033,-0.093721],[0.995952,-0.086746,0.023558],[-0.031500,-0.091358,0.995320]] 2025-10-28T16:55:21.352Z,1761670521.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075757,-0.988820,-0.128434],[0.996149,-0.069349,-0.053654],[0.044147,-0.132004,0.990266]] 2025-10-28T16:55:21.767Z,1761670521.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076855,-0.987593,-0.136946],[0.996752,-0.072791,-0.034447],[0.024051,-0.139149,0.989979]] 2025-10-28T16:55:22.226Z,1761670522.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058170,-0.987303,-0.147816],[0.997102,-0.050189,-0.057166],[0.049022,-0.150713,0.987361]] 2025-10-28T16:55:22.627Z,1761670522.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056278,-0.988490,-0.140428],[0.997833,-0.050883,-0.041715],[0.034089,-0.142471,0.989212]] 2025-10-28T16:55:23.031Z,1761670523.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064285,-0.995163,-0.074280],[0.997886,-0.064816,0.004764],[-0.009556,-0.073816,0.997226]] 2025-10-28T16:55:23.838Z,1761670523.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027466,-0.999104,0.032210],[0.998852,-0.028696,-0.038364],[0.039254,0.031119,0.998745]] 2025-10-28T16:55:24.309Z,1761670524.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000754,-0.998978,-0.045190],[0.999224,0.001028,-0.039386],[0.039392,-0.045185,0.998202]] 2025-10-28T16:55:24.646Z,1761670524.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007188,-0.990807,-0.135091],[0.998267,0.015000,-0.056904],[0.058407,-0.134448,0.989198]] 2025-10-28T16:55:25.058Z,1761670525.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027009,-0.985170,-0.169440],[0.998773,0.033635,-0.036357],[0.041517,-0.168250,0.984870]] 2025-10-28T16:55:25.455Z,1761670525.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060562,-0.982063,-0.178563],[0.998008,0.062745,-0.006599],[0.017685,-0.177807,0.983906]] 2025-10-28T16:55:25.859Z,1761670525.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075446,-0.980639,-0.180708],[0.997028,0.071351,0.029063],[-0.015607,-0.182363,0.983107]] 2025-10-28T16:55:26.263Z,1761670526.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070576,-0.984030,-0.163411],[0.997426,0.067536,0.024091],[-0.012670,-0.164690,0.986264]] 2025-10-28T16:55:26.686Z,1761670526.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050489,-0.989430,-0.135940],[0.998226,0.054296,-0.024438],[0.031560,-0.134465,0.990416]] 2025-10-28T16:55:27.095Z,1761670527.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060850,-0.993924,-0.091713],[0.997702,0.063310,-0.024154],[0.029813,-0.090033,0.995492]] 2025-10-28T16:55:27.478Z,1761670527.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069942,-0.992308,-0.102140],[0.997345,0.071643,-0.013074],[0.020291,-0.100955,0.994684]] 2025-10-28T16:55:27.883Z,1761670527.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107607,-0.985460,-0.131490],[0.992378,0.114457,-0.045674],[0.060060,-0.125573,0.990265]] 2025-10-28T16:55:28.292Z,1761670528.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097847,-0.976179,-0.193650],[0.989412,0.116377,-0.086718],[0.107189,-0.183115,0.977231]] 2025-10-28T16:55:28.445Z,1761670528.445 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:55:28.690Z,1761670528.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082756,-0.978335,-0.189771],[0.994553,0.093185,-0.046693],[0.063365,-0.184873,0.980718]] 2025-10-28T16:55:29.102Z,1761670529.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117833,-0.983947,-0.134027],[0.992211,0.122149,-0.024419],[0.040399,-0.130106,0.990677]] 2025-10-28T16:55:29.448Z,1761670529.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:55:29.501Z,1761670529.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130525,-0.982791,-0.130711],[0.990178,0.135883,-0.032914],[0.050109,-0.125131,0.990874]] 2025-10-28T16:55:29.904Z,1761670529.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116304,-0.984697,-0.129787],[0.991070,0.123639,-0.049936],[0.065218,-0.122821,0.990284]] 2025-10-28T16:55:30.307Z,1761670530.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159569,-0.980808,-0.112042],[0.984543,0.166414,-0.054605],[0.072202,-0.101597,0.992202]] 2025-10-28T16:55:30.350Z,1761670530.350 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:55:30.350Z,1761670530.350 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateRudder:A] Stopped 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:55:30.351Z,1761670530.351 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateCommandMode] Stopped 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:55:30.356Z,1761670530.356 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:55:30.357Z,1761670530.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:55:30.357Z,1761670530.357 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:55:30.357Z,1761670530.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:55:30.357Z,1761670530.357 [marl:UpdateSpeed] Stopped 2025-10-28T16:55:30.357Z,1761670530.357 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:55:30.710Z,1761670530.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185103,-0.975822,-0.116228],[0.981436,0.189606,-0.028862],[0.050201,-0.108728,0.992803]] 2025-10-28T16:55:30.734Z,1761670530.734 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:55:30.734Z,1761670530.734 [marl:UpdateRudder:B] Stopped 2025-10-28T16:55:30.734Z,1761670530.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:55:30.734Z,1761670530.734 [marl:UpdateRudder] Stopped 2025-10-28T16:55:30.734Z,1761670530.734 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:55:31.115Z,1761670531.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202445,-0.973524,-0.106142],[0.978383,0.205738,-0.020938],[0.042221,-0.099609,0.994130]] 2025-10-28T16:55:31.519Z,1761670531.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217848,-0.970972,-0.098767],[0.974787,0.221472,-0.027210],[0.048294,-0.090349,0.994738]] 2025-10-28T16:55:31.923Z,1761670531.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229144,-0.966667,-0.114224],[0.973209,0.229794,0.007622],[0.018880,-0.112910,0.993426]] 2025-10-28T16:55:32.338Z,1761670532.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232858,-0.960536,-0.152147],[0.972432,0.231965,0.023844],[0.012389,-0.153505,0.988070]] 2025-10-28T16:55:32.735Z,1761670532.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252582,-0.950082,-0.183155],[0.966047,0.258260,-0.007439],[0.054369,-0.175057,0.983056]] 2025-10-28T16:55:33.138Z,1761670533.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257914,-0.947425,-0.189385],[0.963530,0.266694,-0.021988],[0.071340,-0.176807,0.981657]] 2025-10-28T16:55:34.151Z,1761670534.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349357,-0.930437,-0.110623],[0.935689,0.352652,-0.011125],[0.049363,-0.099622,0.993800]] 2025-10-28T16:55:34.659Z,1761670534.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341830,-0.934601,-0.098350],[0.938010,0.345706,-0.024981],[0.057348,-0.083714,0.994838]] 2025-10-28T16:55:35.035Z,1761670535.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366094,-0.925015,-0.101600],[0.927527,0.371546,-0.040578],[0.075284,-0.079382,0.993997]] 2025-10-28T16:55:35.440Z,1761670535.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395851,-0.906963,-0.143943],[0.912992,0.405544,-0.044495],[0.098731,-0.113806,0.988585]] 2025-10-28T16:55:35.843Z,1761670535.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387300,-0.907981,-0.159907],[0.915932,0.398730,-0.045641],[0.105201,-0.128787,0.986076]] 2025-10-28T16:55:36.247Z,1761670536.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409322,-0.900317,-0.147934],[0.909073,0.416251,-0.017945],[0.077734,-0.127137,0.988834]] 2025-10-28T16:55:36.651Z,1761670536.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448324,-0.883648,-0.134800],[0.886044,0.459229,-0.063518],[0.118032,-0.090962,0.988835]] 2025-10-28T16:55:37.065Z,1761670537.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468567,-0.874979,-0.121885],[0.879148,0.475402,-0.033043],[0.086857,-0.091672,0.991994]] 2025-10-28T16:55:37.458Z,1761670537.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521136,-0.845587,-0.115763],[0.851567,0.524228,0.004335],[0.057021,-0.100839,0.993267]] 2025-10-28T16:55:37.864Z,1761670537.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534541,-0.829101,-0.163884],[0.841661,0.539817,0.014277],[0.076630,-0.145566,0.986376]] 2025-10-28T16:55:38.291Z,1761670538.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528427,-0.830695,-0.175244],[0.848593,0.523036,0.079520],[0.025602,-0.190732,0.981308]] 2025-10-28T16:55:38.620Z,1761670538.620 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002700 2025-10-28T16:55:38.670Z,1761670538.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540225,-0.822404,-0.178346],[0.841396,0.524235,0.131263],[-0.014456,-0.220972,0.975173]] 2025-10-28T16:55:39.082Z,1761670539.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542584,-0.816880,-0.195728],[0.839995,0.526689,0.130415],[-0.003446,-0.235172,0.971948]] 2025-10-28T16:55:39.478Z,1761670539.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530182,-0.822877,-0.204403],[0.847462,0.521892,0.097144],[0.026739,-0.224727,0.974055]] 2025-10-28T16:55:39.622Z,1761670539.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:55:39.890Z,1761670539.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512244,-0.829169,-0.223798],[0.858839,0.494908,0.132143],[0.001190,-0.259896,0.965636]] 2025-10-28T16:55:40.338Z,1761670540.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538589,-0.799945,-0.264594],[0.841744,0.524732,0.126978],[0.037266,-0.291109,0.955964]] 2025-10-28T16:55:40.738Z,1761670540.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518745,-0.788371,-0.330719],[0.851768,0.509827,0.120699],[0.073453,-0.344308,0.935979]] 2025-10-28T16:55:41.143Z,1761670541.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503297,-0.809458,-0.302441],[0.861453,0.497455,0.102160],[0.067757,-0.311955,0.947678]] 2025-10-28T16:55:41.558Z,1761670541.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526409,-0.812661,-0.249951],[0.848719,0.519782,0.097487],[0.050696,-0.263456,0.963338]] 2025-10-28T16:55:41.951Z,1761670541.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550820,-0.805901,-0.217073],[0.834069,0.540991,0.107967],[0.030423,-0.240524,0.970166]] 2025-10-28T16:55:42.363Z,1761670542.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552035,-0.810232,-0.196929],[0.830818,0.554513,0.047511],[0.070704,-0.189840,0.979266]] 2025-10-28T16:55:42.765Z,1761670542.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527338,-0.838290,-0.138506],[0.848699,0.527432,0.039061],[0.040308,-0.138149,0.989591]] 2025-10-28T16:55:42.835Z,1761670542.835 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:55:42.930Z,1761670542.930 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:55:42.930Z,1761670542.930 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:55:43.174Z,1761670543.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551316,-0.823147,-0.135938],[0.834228,0.545994,0.077165],[0.010704,-0.155946,0.987708]] 2025-10-28T16:55:43.181Z,1761670543.181 [DAT](INFO): DAT read: 2025-10-28T16:55:43.181Z,1761670543.181 [DAT](INFO): DAT read: Tx time:16:55:42.9640 2025-10-28T16:55:43.182Z,1761670543.182 [DAT](INFO): Ping request sent. 2025-10-28T16:55:43.182Z,1761670543.182 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:55:43.182Z,1761670543.182 [DAT](INFO): publishing transmit ping time 2025-10-28T16:55:43.183Z,1761670543.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000921 2025-10-28T16:55:43.433Z,1761670543.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251122 2025-10-28T16:55:43.657Z,1761670543.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535947,-0.815495,-0.218471],[0.843195,0.529987,0.090199],[0.042229,-0.232556,0.971666]] 2025-10-28T16:55:43.685Z,1761670543.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503065 2025-10-28T16:55:43.797Z,1761670543.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:55:43.797Z,1761670543.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:55:43.797Z,1761670543.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:55:43.797Z,1761670543.797 [marl:UpdateRudder:A] Stopped 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode] Stopped 2025-10-28T16:55:43.798Z,1761670543.798 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed] Stopped 2025-10-28T16:55:43.799Z,1761670543.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:55:43.938Z,1761670543.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755699 2025-10-28T16:55:44.090Z,1761670544.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519813,-0.819096,-0.242644],[0.851627,0.519224,0.071680],[0.067273,-0.243902,0.967464]] 2025-10-28T16:55:44.097Z,1761670544.097 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T16:55:44.163Z,1761670544.163 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:55:44.163Z,1761670544.163 [marl:UpdateRudder:B] Stopped 2025-10-28T16:55:44.163Z,1761670544.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:55:44.163Z,1761670544.163 [marl:UpdateRudder] Stopped 2025-10-28T16:55:44.163Z,1761670544.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:55:44.189Z,1761670544.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007083 2025-10-28T16:55:44.441Z,1761670544.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024 2025-10-28T16:55:44.694Z,1761670544.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511690 2025-10-28T16:55:44.866Z,1761670544.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536378,-0.817238,-0.210765],[0.838175,0.545047,0.019668],[0.098803,-0.187207,0.977339]] 2025-10-28T16:55:44.953Z,1761670544.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771138 2025-10-28T16:55:45.205Z,1761670545.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023021 2025-10-28T16:55:45.277Z,1761670545.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528361,-0.826419,-0.194591],[0.844239,0.535688,0.017268],[0.089970,-0.173405,0.980732]] 2025-10-28T16:55:45.457Z,1761670545.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275126 2025-10-28T16:55:45.681Z,1761670545.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554090,-0.809624,-0.193634],[0.825825,0.563902,0.005332],[0.104873,-0.162862,0.981059]] 2025-10-28T16:55:45.709Z,1761670545.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527096 2025-10-28T16:55:45.962Z,1761670545.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779731 2025-10-28T16:55:46.085Z,1761670546.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578842,-0.790694,-0.199361],[0.809016,0.587481,0.018932],[0.102151,-0.172245,0.979743]] 2025-10-28T16:55:46.214Z,1761670546.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031478 2025-10-28T16:55:46.465Z,1761670546.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283157 2025-10-28T16:55:46.516Z,1761670546.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605040,-0.774193,-0.185880],[0.789110,0.614161,0.010569],[0.105978,-0.153074,0.982516]] 2025-10-28T16:55:46.717Z,1761670546.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535107 2025-10-28T16:55:46.926Z,1761670546.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605967,-0.779368,-0.159338],[0.787650,0.615887,-0.017027],[0.111404,-0.115185,0.987077]] 2025-10-28T16:55:46.969Z,1761670546.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787062 2025-10-28T16:55:47.221Z,1761670547.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039431 2025-10-28T16:55:47.466Z,1761670547.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627608,-0.762332,-0.157981],[0.774537,0.631923,0.027665],[0.078742,-0.139725,0.987055]] 2025-10-28T16:55:47.473Z,1761670547.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290999 2025-10-28T16:55:47.725Z,1761670547.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543391 2025-10-28T16:55:47.874Z,1761670547.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644942,-0.735811,-0.206476],[0.762247,0.638802,0.104456],[0.055037,-0.224754,0.972860]] 2025-10-28T16:55:48.018Z,1761670548.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.835734 2025-10-28T16:55:48.229Z,1761670548.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046853 2025-10-28T16:55:48.311Z,1761670548.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641998,-0.728692,-0.238423],[0.763347,0.636570,0.109908],[0.071684,-0.252560,0.964922]] 2025-10-28T16:55:48.481Z,1761670548.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299513 2025-10-28T16:55:48.682Z,1761670548.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644105,-0.736048,-0.208237],[0.759913,0.646858,0.064085],[0.087530,-0.199520,0.975977]] 2025-10-28T16:55:48.733Z,1761670548.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551170 2025-10-28T16:55:48.985Z,1761670548.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803061 2025-10-28T16:55:49.083Z,1761670549.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669279,-0.719430,-0.185704],[0.733025,0.680168,0.006813],[0.121408,-0.140685,0.982582]] 2025-10-28T16:55:49.237Z,1761670549.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054971 2025-10-28T16:55:49.487Z,1761670549.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686201,-0.705880,-0.175677],[0.717520,0.696527,0.003977],[0.119556,-0.128780,0.984440]] 2025-10-28T16:55:49.489Z,1761670549.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307112 2025-10-28T16:55:49.741Z,1761670549.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559026 2025-10-28T16:55:49.890Z,1761670549.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704253,-0.683453,-0.192147],[0.694176,0.719640,-0.015426],[0.148820,-0.122520,0.981245]] 2025-10-28T16:55:49.892Z,1761670549.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:55:49.993Z,1761670549.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810868 2025-10-28T16:55:50.249Z,1761670550.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067053 2025-10-28T16:55:50.294Z,1761670550.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697308,-0.685886,-0.208139],[0.697538,0.716174,-0.023134],[0.164931,-0.129053,0.977826]] 2025-10-28T16:55:50.501Z,1761670550.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319189 2025-10-28T16:55:50.698Z,1761670550.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721580,-0.666843,-0.186126],[0.682105,0.730785,0.026189],[0.118555,-0.145855,0.982177]] 2025-10-28T16:55:50.754Z,1761670550.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571629 2025-10-28T16:55:51.005Z,1761670551.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822985 2025-10-28T16:55:51.103Z,1761670551.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747047,-0.621387,-0.236217],[0.650030,0.757224,0.063816],[0.139215,-0.201221,0.969603]] 2025-10-28T16:55:51.257Z,1761670551.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075126 2025-10-28T16:55:51.509Z,1761670551.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327093 2025-10-28T16:55:51.510Z,1761670551.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746038,-0.601698,-0.285284],[0.636111,0.770658,0.038068],[0.196951,-0.209872,0.957687]] 2025-10-28T16:55:51.762Z,1761670551.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580150 2025-10-28T16:55:51.939Z,1761670551.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754318,-0.596276,-0.274697],[0.626615,0.778740,0.030299],[0.195851,-0.194985,0.961053]] 2025-10-28T16:55:52.013Z,1761670552.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831120 2025-10-28T16:55:52.266Z,1761670552.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083397 2025-10-28T16:55:52.517Z,1761670552.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335377 2025-10-28T16:55:52.760Z,1761670552.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786630,-0.553141,-0.274314],[0.563914,0.824573,-0.045617],[0.251425,-0.118806,0.960558]] 2025-10-28T16:55:52.769Z,1761670552.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587584 2025-10-28T16:55:53.022Z,1761670553.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839681 2025-10-28T16:55:53.167Z,1761670553.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793417,-0.522058,-0.312962],[0.548744,0.835984,-0.003349],[0.263379,-0.169078,0.949760]] 2025-10-28T16:55:53.277Z,1761670553.277 [DAT](INFO): Reached modem response timeout 2025-10-28T16:55:53.566Z,1761670553.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803050,-0.510806,-0.306902],[0.531406,0.846902,-0.019084],[0.269664,-0.147764,0.951550]] 2025-10-28T16:55:53.981Z,1761670553.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825703,-0.479635,-0.296926],[0.492808,0.869471,-0.034067],[0.274509,-0.118198,0.954293]] 2025-10-28T16:55:54.386Z,1761670554.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847792,-0.425696,-0.316276],[0.451419,0.892266,0.009091],[0.278332,-0.150481,0.948624]] 2025-10-28T16:55:54.816Z,1761670554.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857304,-0.372866,-0.354967],[0.413512,0.909465,0.043377],[0.306656,-0.183970,0.933872]] 2025-10-28T16:55:55.191Z,1761670555.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855412,-0.330009,-0.399206],[0.395837,0.913604,0.092951],[0.334041,-0.237532,0.912138]] 2025-10-28T16:55:55.543Z,1761670555.543 [DAT](INFO): DAT read: Response Not Received 2025-10-28T16:55:55.544Z,1761670555.544 [DAT](INFO): response not received 2025-10-28T16:55:55.544Z,1761670555.544 [DAT](ERROR): No response from remote modem. 2025-10-28T16:55:55.638Z,1761670555.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855360,-0.298885,-0.423116],[0.388413,0.910469,0.142059],[0.342775,-0.285855,0.894870]] 2025-10-28T16:55:55.999Z,1761670555.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861799,-0.281012,-0.422298],[0.385694,0.903742,0.185718],[0.329460,-0.322929,0.887228]] 2025-10-28T16:55:56.404Z,1761670556.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873361,-0.254263,-0.415441],[0.369420,0.901671,0.224762],[0.317442,-0.349771,0.881414]] 2025-10-28T16:55:56.808Z,1761670556.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877427,-0.223859,-0.424274],[0.347406,0.906428,0.240202],[0.330803,-0.358155,0.873095]] 2025-10-28T16:55:56.890Z,1761670556.890 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateRudder:A] Stopped 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:55:56.891Z,1761670556.891 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:55:56.892Z,1761670556.892 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateCommandMode] Stopped 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:55:56.896Z,1761670556.896 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:55:56.897Z,1761670556.897 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:55:56.897Z,1761670556.897 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:55:56.897Z,1761670556.897 [marl:UpdateSpeed] Stopped 2025-10-28T16:55:56.897Z,1761670556.897 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:55:57.211Z,1761670557.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873053,-0.215848,-0.437250],[0.345312,0.906791,0.241845],[0.344292,-0.362131,0.866212]] 2025-10-28T16:55:57.260Z,1761670557.260 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:55:57.260Z,1761670557.260 [marl:UpdateRudder:B] Stopped 2025-10-28T16:55:57.260Z,1761670557.260 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:55:57.260Z,1761670557.260 [marl:UpdateRudder] Stopped 2025-10-28T16:55:57.261Z,1761670557.261 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:55:57.638Z,1761670557.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867646,-0.227586,-0.442035],[0.356188,0.904826,0.233283],[0.346873,-0.359854,0.866132]] 2025-10-28T16:55:58.026Z,1761670558.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866213,-0.226734,-0.445271],[0.348828,0.912431,0.213983],[0.357762,-0.340678,0.869451]] 2025-10-28T16:55:58.423Z,1761670558.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868347,-0.212783,-0.447992],[0.327161,0.924637,0.194965],[0.372744,-0.315863,0.872521]] 2025-10-28T16:55:58.828Z,1761670558.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868115,-0.199956,-0.454305],[0.309485,0.933623,0.180463],[0.388065,-0.297264,0.872376]] 2025-10-28T16:55:59.231Z,1761670559.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867211,-0.188793,-0.460762],[0.297417,0.938531,0.175221],[0.399359,-0.288992,0.870055]] 2025-10-28T16:56:00.048Z,1761670560.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870974,-0.166651,-0.462204],[0.290981,0.932959,0.211938],[0.395898,-0.319086,0.861075]] 2025-10-28T16:56:00.442Z,1761670560.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873932,-0.149199,-0.462583],[0.282524,0.930361,0.233683],[0.395504,-0.334914,0.855225]] 2025-10-28T16:56:01.252Z,1761670561.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870897,-0.116820,-0.477379],[0.255745,0.937187,0.237222],[0.419682,-0.328683,0.846070]] 2025-10-28T16:56:01.654Z,1761670561.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869882,-0.105713,-0.481799],[0.240247,0.943877,0.226665],[0.430797,-0.312922,0.846459]] 2025-10-28T16:56:02.058Z,1761670562.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871400,-0.085466,-0.483071],[0.222320,0.946584,0.233566],[0.437305,-0.310926,0.843854]] 2025-10-28T16:56:02.463Z,1761670562.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875273,-0.059396,-0.479969],[0.205163,0.944308,0.257277],[0.437957,-0.323659,0.838713]] 2025-10-28T16:56:02.870Z,1761670562.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879903,-0.036924,-0.473716],[0.191658,0.939855,0.282737],[0.434784,-0.339572,0.834058]] 2025-10-28T16:56:03.271Z,1761670563.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883507,-0.020812,-0.467955],[0.182011,0.935765,0.302020],[0.431610,-0.352010,0.830543]] 2025-10-28T16:56:03.674Z,1761670563.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886351,-0.006226,-0.462972],[0.171058,0.933572,0.314933],[0.430256,-0.358336,0.828538]] 2025-10-28T16:56:04.080Z,1761670564.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888874,0.005670,-0.458117],[0.157926,0.934849,0.317990],[0.430073,-0.355001,0.830067]] 2025-10-28T16:56:04.483Z,1761670564.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890639,0.016562,-0.454410],[0.142749,0.938631,0.313997],[0.431724,-0.344524,0.833617]] 2025-10-28T16:56:04.886Z,1761670564.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891505,0.029358,-0.452059],[0.125310,0.942979,0.308364],[0.435335,-0.331555,0.836991]] 2025-10-28T16:56:05.290Z,1761670565.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891771,0.046185,-0.450125],[0.105689,0.946001,0.306451],[0.439972,-0.320857,0.838734]] 2025-10-28T16:56:05.702Z,1761670565.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891559,0.088502,-0.444174],[0.067082,0.944100,0.322762],[0.447910,-0.317557,0.835784]] 2025-10-28T16:56:06.107Z,1761670566.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892046,0.114000,-0.437331],[0.048614,0.937845,0.343632],[0.449323,-0.327796,0.831059]] 2025-10-28T16:56:06.514Z,1761670566.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893963,0.137566,-0.426505],[0.031835,0.929820,0.366635],[0.447009,-0.341336,0.826845]] 2025-10-28T16:56:06.913Z,1761670566.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897660,0.155995,-0.412156],[0.016717,0.922526,0.385572],[0.440372,-0.353002,0.825507]] 2025-10-28T16:56:07.315Z,1761670567.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902070,0.170303,-0.396568],[0.001954,0.917234,0.398344],[0.431585,-0.360109,0.827077]] 2025-10-28T16:56:07.715Z,1761670567.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905827,0.184262,-0.381477],[-0.015173,0.913991,0.405450],[0.423376,-0.361479,0.830714]] 2025-10-28T16:56:08.118Z,1761670568.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908422,0.200061,-0.367076],[-0.034326,0.910789,0.411444],[0.416642,-0.361164,0.834248]] 2025-10-28T16:56:08.529Z,1761670568.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909891,0.216495,-0.353877],[-0.054326,0.907863,0.415731],[0.411276,-0.359046,0.837818]] 2025-10-28T16:56:08.934Z,1761670568.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910503,0.233861,-0.341018],[-0.074466,0.903957,0.421089],[0.406742,-0.358008,0.840471]] 2025-10-28T16:56:09.331Z,1761670569.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910413,0.251986,-0.328102],[-0.094958,0.899200,0.427109],[0.402655,-0.357690,0.842571]] 2025-10-28T16:56:09.735Z,1761670569.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909410,0.270310,-0.316078],[-0.115974,0.894659,0.431435],[0.399403,-0.355694,0.844961]] 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateRudder:A] Stopped 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:56:09.798Z,1761670569.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode] Stopped 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:56:09.799Z,1761670569.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed] Stopped 2025-10-28T16:56:09.800Z,1761670569.800 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:56:10.138Z,1761670570.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908077,0.286453,-0.305518],[-0.135427,0.891152,0.433022],[0.396303,-0.351842,0.848028]] 2025-10-28T16:56:10.163Z,1761670570.163 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:56:10.163Z,1761670570.163 [marl:UpdateRudder:B] Stopped 2025-10-28T16:56:10.163Z,1761670570.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:56:10.164Z,1761670570.164 [marl:UpdateRudder] Stopped 2025-10-28T16:56:10.164Z,1761670570.164 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:56:10.546Z,1761670570.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906644,0.301114,-0.295512],[-0.153350,0.887730,0.434073],[0.393040,-0.348232,0.851031]] 2025-10-28T16:56:10.947Z,1761670570.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905200,0.316159,-0.284000],[-0.171178,0.882891,0.437267],[0.388986,-0.347199,0.853312]] 2025-10-28T16:56:11.783Z,1761670571.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903322,0.343608,-0.256795],[-0.205803,0.872393,0.443368],[0.376371,-0.347654,0.858767]] 2025-10-28T16:56:12.180Z,1761670572.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902313,0.357605,-0.240730],[-0.223701,0.865782,0.447639],[0.368497,-0.350058,0.861202]] 2025-10-28T16:56:12.986Z,1761670572.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900316,0.380851,-0.210674],[-0.258046,0.856879,0.446285],[0.350491,-0.347434,0.869739]] 2025-10-28T16:56:13.796Z,1761670573.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902591,0.384512,-0.193599],[-0.280078,0.866008,0.414229],[0.326935,-0.319656,0.889345]] 2025-10-28T16:56:14.213Z,1761670574.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905358,0.382119,-0.185233],[-0.288028,0.873105,0.393353],[0.312035,-0.302774,0.900534]] 2025-10-28T16:56:14.614Z,1761670574.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908880,0.379210,-0.173599],[-0.295243,0.879017,0.374381],[0.294565,-0.289014,0.910880]] 2025-10-28T16:56:15.025Z,1761670575.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913339,0.374684,-0.159446],[-0.300758,0.884700,0.356162],[0.274510,-0.277342,0.920720]] 2025-10-28T16:56:15.422Z,1761670575.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917596,0.370364,-0.144386],[-0.306141,0.890104,0.337629],[0.253564,-0.265605,0.930139]] 2025-10-28T16:56:15.828Z,1761670575.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921364,0.366291,-0.130076],[-0.310642,0.895034,0.320025],[0.233645,-0.254452,0.938437]] 2025-10-28T16:56:16.230Z,1761670576.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924307,0.362993,-0.117864],[-0.314744,0.899677,0.302520],[0.215853,-0.242524,0.945827]] 2025-10-28T16:56:16.634Z,1761670576.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926048,0.361595,-0.108093],[-0.319171,0.903194,0.287002],[0.201408,-0.231278,0.951812]] 2025-10-28T16:56:17.041Z,1761670577.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926650,0.362262,-0.100425],[-0.324488,0.905672,0.272884],[0.189807,-0.220281,0.956791]] 2025-10-28T16:56:17.445Z,1761670577.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926921,0.363709,-0.092382],[-0.329927,0.907162,0.261163],[0.178792,-0.211598,0.960864]] 2025-10-28T16:56:17.847Z,1761670577.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928715,0.361059,-0.084416],[-0.331395,0.910359,0.247837],[0.166332,-0.202195,0.965117]] 2025-10-28T16:56:18.251Z,1761670578.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930754,0.357848,-0.075110],[-0.332144,0.913340,0.235565],[0.152897,-0.194306,0.968952]] 2025-10-28T16:56:18.654Z,1761670578.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932737,0.354868,-0.063800],[-0.332784,0.915405,0.226469],[0.138769,-0.190004,0.971927]] 2025-10-28T16:56:19.059Z,1761670579.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933988,0.353859,-0.049489],[-0.335183,0.915699,0.221692],[0.123765,-0.190470,0.973860]] 2025-10-28T16:56:19.462Z,1761670579.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934672,0.353874,-0.034077],[-0.338479,0.915109,0.219107],[0.108720,-0.193259,0.975106]] 2025-10-28T16:56:19.866Z,1761670579.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934240,0.356251,-0.016739],[-0.344041,0.912600,0.220899],[0.093971,-0.200614,0.975153]] 2025-10-28T16:56:20.274Z,1761670580.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933210,0.359330,-0.000470],[-0.350264,0.909954,0.222033],[0.080211,-0.207039,0.975039]] 2025-10-28T16:56:20.676Z,1761670580.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931826,0.362660,0.013363],[-0.356458,0.907741,0.221234],[0.068102,-0.210915,0.975129]] 2025-10-28T16:56:21.078Z,1761670581.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930534,0.365419,0.023971],[-0.361609,0.906550,0.217730],[0.057832,-0.211273,0.975715]] 2025-10-28T16:56:21.264Z,1761670581.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:56:21.491Z,1761670581.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929659,0.367014,0.032164],[-0.365163,0.906340,0.212611],[0.048879,-0.209401,0.976608]] 2025-10-28T16:56:21.888Z,1761670581.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929532,0.366643,0.039295],[-0.366545,0.907114,0.206857],[0.040198,-0.206683,0.977582]] 2025-10-28T16:56:22.290Z,1761670582.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929925,0.364792,0.046537],[-0.366391,0.908182,0.202392],[0.031567,-0.205260,0.978198]] 2025-10-28T16:56:22.694Z,1761670582.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930160,0.363216,0.053633],[-0.366411,0.909025,0.198535],[0.023357,-0.204321,0.978625]] 2025-10-28T16:56:22.735Z,1761670582.735 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:56:22.735Z,1761670582.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:56:22.735Z,1761670582.735 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:56:22.736Z,1761670582.736 [marl:UpdateRudder:A] Stopped 2025-10-28T16:56:22.736Z,1761670582.736 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:56:22.736Z,1761670582.736 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:56:22.736Z,1761670582.736 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:56:22.736Z,1761670582.736 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateCommandMode] Stopped 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:56:22.737Z,1761670582.737 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:56:22.738Z,1761670582.738 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:56:22.738Z,1761670582.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:56:22.738Z,1761670582.738 [marl:UpdateSpeed] Stopped 2025-10-28T16:56:22.738Z,1761670582.738 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:56:23.098Z,1761670583.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930340,0.361451,0.061818],[-0.366397,0.909429,0.196703],[0.014879,-0.205650,0.978513]] 2025-10-28T16:56:23.150Z,1761670583.150 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:56:23.150Z,1761670583.150 [marl:UpdateRudder:B] Stopped 2025-10-28T16:56:23.150Z,1761670583.150 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:56:23.150Z,1761670583.150 [marl:UpdateRudder] Stopped 2025-10-28T16:56:23.150Z,1761670583.150 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:56:23.514Z,1761670583.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930086,0.360597,0.070078],[-0.367276,0.909196,0.196141],[0.007014,-0.208166,0.978068]] 2025-10-28T16:56:23.907Z,1761670583.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929351,0.360790,0.078340],[-0.369197,0.908237,0.196977],[-0.000084,-0.211984,0.977273]] 2025-10-28T16:56:24.714Z,1761670584.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927597,0.361809,0.093055],[-0.373367,0.906311,0.197981],[-0.012705,-0.218390,0.975779]] 2025-10-28T16:56:25.119Z,1761670585.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926772,0.362083,0.099949],[-0.375174,0.905322,0.199090],[-0.018399,-0.222009,0.974871]] 2025-10-28T16:56:25.527Z,1761670585.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926271,0.361590,0.106185],[-0.376081,0.905002,0.198832],[-0.024202,-0.224107,0.974264]] 2025-10-28T16:56:25.926Z,1761670585.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925257,0.361935,0.113593],[-0.378170,0.903591,0.201272],[-0.029794,-0.229186,0.972927]] 2025-10-28T16:56:26.341Z,1761670586.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922690,0.365077,0.123943],[-0.384033,0.898710,0.211751],[-0.034084,-0.242979,0.969433]] 2025-10-28T16:56:26.755Z,1761670586.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918283,0.371461,0.137018],[-0.394142,0.890472,0.227403],[-0.037539,-0.262825,0.964113]] 2025-10-28T16:56:27.156Z,1761670587.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912138,0.380376,0.152704],[-0.407920,0.878842,0.247463],[-0.040074,-0.288011,0.956788]] 2025-10-28T16:56:27.581Z,1761670587.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904008,0.392461,0.169541],[-0.425444,0.864856,0.266499],[-0.042038,-0.313047,0.948807]] 2025-10-28T16:56:27.962Z,1761670587.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894516,0.406577,0.185839],[-0.444931,0.850024,0.281949],[-0.043334,-0.334894,0.941259]] 2025-10-28T16:56:28.366Z,1761670588.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884251,0.421902,0.200247],[-0.464953,0.835534,0.292749],[-0.043802,-0.351969,0.934986]] 2025-10-28T16:56:28.778Z,1761670588.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873194,0.438932,0.211830],[-0.485460,0.821791,0.298308],[-0.043143,-0.363315,0.930667]] 2025-10-28T16:56:29.183Z,1761670589.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862256,0.456029,0.220348],[-0.504766,0.809455,0.299991],[-0.041557,-0.369893,0.928145]] 2025-10-28T16:56:30.067Z,1761670590.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844022,0.484071,0.230871],[-0.534937,0.790633,0.297898],[-0.038330,-0.374933,0.926259]] 2025-10-28T16:56:30.507Z,1761670590.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836630,0.494837,0.234920],[-0.546543,0.782774,0.297583],[-0.036634,-0.377360,0.925342]] 2025-10-28T16:56:30.899Z,1761670590.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829535,0.505352,0.237679],[-0.557400,0.775383,0.296793],[-0.034307,-0.378682,0.924891]] 2025-10-28T16:56:31.303Z,1761670591.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822668,0.515499,0.239746],[-0.567644,0.768208,0.296035],[-0.031569,-0.379629,0.924600]] 2025-10-28T16:56:31.707Z,1761670591.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816067,0.525280,0.241073],[-0.577246,0.761466,0.294885],[-0.028671,-0.379804,0.924623]] 2025-10-28T16:56:32.516Z,1761670592.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801297,0.544656,0.247531],[-0.597824,0.744862,0.296288],[-0.023002,-0.385395,0.922465]] 2025-10-28T16:56:32.918Z,1761670592.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792126,0.555703,0.252449],[-0.610008,0.734776,0.296639],[-0.020650,-0.388971,0.921018]] 2025-10-28T16:56:33.763Z,1761670593.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756671,0.595438,0.270003],[-0.653604,0.698927,0.290349],[-0.015827,-0.396174,0.918039]] 2025-10-28T16:56:34.159Z,1761670594.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743813,0.611012,0.270936],[-0.668266,0.687580,0.283999],[-0.012763,-0.392299,0.919749]] 2025-10-28T16:56:34.576Z,1761670594.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732677,0.625766,0.267586],[-0.680525,0.678491,0.276652],[-0.008435,-0.384796,0.922963]] 2025-10-28T16:56:34.990Z,1761670594.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724575,0.636976,0.263160],[-0.689184,0.671964,0.271091],[-0.004156,-0.377791,0.925882]] 2025-10-28T16:56:35.383Z,1761670595.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717883,0.645386,0.261000],[-0.696164,0.665779,0.268503],[-0.000480,-0.374453,0.927246]] 2025-10-28T16:56:35.790Z,1761670595.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710971,0.652382,0.262523],[-0.703220,0.658712,0.267546],[0.001616,-0.374829,0.927093]] 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateRudder:A] Stopped 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:56:35.838Z,1761670595.838 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode] Stopped 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:56:35.839Z,1761670595.839 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:56:35.840Z,1761670595.839 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:56:35.840Z,1761670595.840 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:56:35.840Z,1761670595.840 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:56:35.840Z,1761670595.840 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:56:35.840Z,1761670595.840 [marl:UpdateSpeed] Stopped 2025-10-28T16:56:35.840Z,1761670595.840 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:56:36.190Z,1761670596.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702331,0.659268,0.268507],[-0.711848,0.649513,0.267219],[0.001770,-0.378812,0.925472]] 2025-10-28T16:56:36.222Z,1761670596.222 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:56:36.222Z,1761670596.222 [marl:UpdateRudder:B] Stopped 2025-10-28T16:56:36.222Z,1761670596.222 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:56:36.222Z,1761670596.222 [marl:UpdateRudder] Stopped 2025-10-28T16:56:36.222Z,1761670596.222 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:56:36.596Z,1761670596.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690769,0.668464,0.275670],[-0.723075,0.638083,0.264599],[0.000975,-0.382107,0.924118]] 2025-10-28T16:56:37.003Z,1761670597.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678036,0.678846,0.281843],[-0.735028,0.626035,0.260411],[0.000336,-0.383731,0.923445]] 2025-10-28T16:56:37.402Z,1761670597.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664003,0.691405,0.284709],[-0.747729,0.613581,0.253810],[0.000793,-0.381416,0.924403]] 2025-10-28T16:56:37.807Z,1761670597.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650521,0.704098,0.284726],[-0.759483,0.601651,0.247391],[0.002882,-0.377178,0.926136]] 2025-10-28T16:56:38.212Z,1761670598.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638375,0.715609,0.283515],[-0.769701,0.590549,0.242512],[0.006114,-0.373035,0.927797]] 2025-10-28T16:56:38.615Z,1761670598.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627541,0.724929,0.284026],[-0.778532,0.580045,0.239658],[0.008987,-0.371519,0.928382]] 2025-10-28T16:56:39.019Z,1761670599.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616257,0.733663,0.286298],[-0.787470,0.569004,0.236909],[0.010907,-0.371447,0.928390]] 2025-10-28T16:56:39.423Z,1761670599.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603384,0.742175,0.291725],[-0.797369,0.556257,0.234054],[0.011435,-0.373837,0.927424]] 2025-10-28T16:56:39.828Z,1761670599.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588594,0.752008,0.296717],[-0.808349,0.542289,0.229119],[0.011393,-0.374709,0.927073]] 2025-10-28T16:56:40.230Z,1761670600.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572265,0.763327,0.299741],[-0.819982,0.527292,0.222692],[0.011936,-0.373221,0.927666]] 2025-10-28T16:56:40.637Z,1761670600.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555946,0.775116,0.300199],[-0.831106,0.512407,0.216107],[0.013684,-0.369641,0.929074]] 2025-10-28T16:56:41.039Z,1761670601.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541392,0.785223,0.300532],[-0.840618,0.498718,0.211286],[0.016026,-0.367021,0.930075]] 2025-10-28T16:56:41.446Z,1761670601.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529171,0.793179,0.301406],[-0.848300,0.486531,0.208987],[0.019121,-0.366272,0.930311]] 2025-10-28T16:56:41.846Z,1761670601.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518460,0.799539,0.303212],[-0.854798,0.475137,0.208724],[0.022815,-0.367399,0.929783]] 2025-10-28T16:56:42.250Z,1761670602.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508530,0.804253,0.307530],[-0.860638,0.463795,0.210231],[0.026448,-0.371580,0.928024]] 2025-10-28T16:56:42.658Z,1761670602.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498750,0.807077,0.316030],[-0.866274,0.452128,0.212484],[0.028605,-0.379745,0.924649]] 2025-10-28T16:56:43.074Z,1761670603.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489144,0.809319,0.325179],[-0.871733,0.441387,0.212745],[0.028649,-0.387532,0.921411]] 2025-10-28T16:56:43.102Z,1761670603.102 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:56:43.209Z,1761670603.209 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:56:43.209Z,1761670603.209 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:56:43.465Z,1761670603.465 [DAT](INFO): DAT read: user:33> 2025-10-28T16:56:43.467Z,1761670603.467 [DAT](INFO): DAT read: Tx time:16:56:43.2139 2025-10-28T16:56:43.468Z,1761670603.468 [DAT](INFO): Ping request sent. 2025-10-28T16:56:43.468Z,1761670603.468 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:56:43.468Z,1761670603.468 [DAT](INFO): publishing transmit ping time 2025-10-28T16:56:43.469Z,1761670603.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001381 2025-10-28T16:56:43.523Z,1761670603.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479123,0.811446,0.334659],[-0.877348,0.431223,0.210494],[0.026491,-0.394465,0.918529]] 2025-10-28T16:56:43.718Z,1761670603.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249951 2025-10-28T16:56:43.885Z,1761670603.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466352,0.815022,0.343884],[-0.884284,0.419138,0.205829],[0.023620,-0.400079,0.916176]] 2025-10-28T16:56:43.970Z,1761670603.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502227 2025-10-28T16:56:44.221Z,1761670604.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752990 2025-10-28T16:56:44.286Z,1761670604.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450292,0.821819,0.349070],[-0.892624,0.404956,0.198072],[0.021422,-0.400779,0.915924]] 2025-10-28T16:56:44.477Z,1761670604.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009240 2025-10-28T16:56:44.694Z,1761670604.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433168,0.829766,0.351930],[-0.901101,0.390218,0.189066],[0.019551,-0.399022,0.916733]] 2025-10-28T16:56:44.725Z,1761670604.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257196 2025-10-28T16:56:44.977Z,1761670604.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509340 2025-10-28T16:56:45.099Z,1761670605.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416477,0.838326,0.351790],[-0.908958,0.376074,0.179901],[0.018516,-0.394686,0.918629]] 2025-10-28T16:56:45.229Z,1761670605.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761070 2025-10-28T16:56:45.483Z,1761670605.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015059 2025-10-28T16:56:45.500Z,1761670605.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399958,0.847468,0.349044],[-0.916350,0.362125,0.170788],[0.018340,-0.388155,0.921412]] 2025-10-28T16:56:45.733Z,1761670605.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264988 2025-10-28T16:56:45.903Z,1761670605.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383414,0.857121,0.344002],[-0.923378,0.348018,0.162039],[0.019168,-0.379772,0.924882]] 2025-10-28T16:56:45.986Z,1761670605.986 [DAT](INFO): DAT read: Rx Time:16:56:45.3054 2025-10-28T16:56:45.986Z,1761670605.986 [DAT](INFO): Rx dataTimestamp_ set to:1761670605.986085 2025-10-28T16:56:45.987Z,1761670605.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519106 2025-10-28T16:56:46.237Z,1761670606.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769056 2025-10-28T16:56:46.308Z,1761670606.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366763,0.866252,0.339253],[-0.930087,0.333365,0.154291],[0.020560,-0.372123,0.927956]] 2025-10-28T16:56:46.499Z,1761670606.499 [DAT](INFO): DAT read: 16:56:45.3054 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 349,-0.31,-2.871,-1.783,-1.049,-2.002, PHS=-0.767, 0.264, 0.909, RAW= 247.6, -5.6, CAL= 245.2, -9.3, ROT= 264.8, 9.3 2025-10-28T16:56:46.501Z,1761670606.501 [DAT](INFO): got valid direction response: 16:56:45.3054 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 349,-0.31,-2.871,-1.783,-1.049,-2.002, PHS=-0.767, 0.264, 0.909, RAW= 247.6, -5.6, CAL= 245.2, -9.3, ROT= 264.8, 9.3 2025-10-28T16:56:46.502Z,1761670606.502 [DAT](INFO): DAT read: Bearing 186, -8 (Remote) 2025-10-28T16:56:46.502Z,1761670606.502 [DAT](INFO): Remote Bearing received:Bearing 186, -8 (Remote) 2025-10-28T16:56:46.503Z,1761670606.503 [DAT](INFO): DAT read: Range 11 to 20 : 46.8 m (Round-trip 62.5 ms) speed 0.4 m/s 2025-10-28T16:56:46.505Z,1761670606.505 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:56:46.506Z,1761670606.506 [DAT](INFO): direction in FSK: [-0.089442,-0.982794,-0.161604] 2025-10-28T16:56:46.506Z,1761670606.506 [DAT](INFO): publishing direction and range info 2025-10-28T16:56:46.710Z,1761670606.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349790,0.874925,0.334893],[-0.936569,0.318171,0.146991],[0.022053,-0.365067,0.930720]] 2025-10-28T16:56:46.798Z,1761670606.798 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670656.00. Resetting abort timer. 2025-10-28T16:56:47.118Z,1761670607.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332856,0.883087,0.330703],[-0.942684,0.302869,0.140062],[0.023527,-0.358369,0.933284]] 2025-10-28T16:56:47.521Z,1761670607.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315675,0.889532,0.330276],[-0.948532,0.286573,0.134774],[0.025237,-0.355822,0.934213]] 2025-10-28T16:56:47.922Z,1761670607.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299837,0.894013,0.332923],[-0.953616,0.271093,0.130865],[0.026742,-0.356719,0.933829]] 2025-10-28T16:56:48.353Z,1761670608.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285553,0.897207,0.336867],[-0.957953,0.256930,0.127725],[0.028045,-0.359175,0.932849]] 2025-10-28T16:56:48.731Z,1761670608.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272699,0.899372,0.341711],[-0.961658,0.244042,0.125131],[0.029147,-0.362732,0.931438]] 2025-10-28T16:56:48.802Z,1761670608.802 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:56:48.802Z,1761670608.802 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateRudder:A] Stopped 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:56:48.803Z,1761670608.803 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:56:48.804Z,1761670608.804 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:56:48.808Z,1761670608.808 [marl:UpdateCommandMode] Stopped 2025-10-28T16:56:48.808Z,1761670608.808 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:56:48.808Z,1761670608.808 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:56:48.808Z,1761670608.808 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:56:48.808Z,1761670608.808 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:56:48.809Z,1761670608.809 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:56:48.809Z,1761670608.809 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:56:48.809Z,1761670608.809 [marl:UpdateSpeed] Stopped 2025-10-28T16:56:48.809Z,1761670608.809 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:56:49.140Z,1761670609.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261706,0.900950,0.346121],[-0.964681,0.233032,0.122826],[0.030002,-0.366041,0.930115]] 2025-10-28T16:56:49.163Z,1761670609.163 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:56:49.163Z,1761670609.163 [marl:UpdateRudder:B] Stopped 2025-10-28T16:56:49.163Z,1761670609.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:56:49.164Z,1761670609.164 [marl:UpdateRudder] Stopped 2025-10-28T16:56:49.164Z,1761670609.164 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:56:49.377Z,1761670609.377 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.486912 2025-10-28T16:56:49.539Z,1761670609.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250527,0.901954,0.351732],[-0.967622,0.221764,0.120533],[0.030713,-0.370541,0.928308]] 2025-10-28T16:56:49.942Z,1761670609.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238770,0.903084,0.356972],[-0.970573,0.210112,0.117645],[0.031239,-0.374557,0.926677]] 2025-10-28T16:56:50.380Z,1761670610.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:56:50.763Z,1761670610.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213070,0.904928,0.368382],[-0.976518,0.184960,0.110461],[0.031823,-0.383268,0.923089]] 2025-10-28T16:56:51.233Z,1761670611.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198149,0.905823,0.374462],[-0.979657,0.170646,0.105599],[0.031753,-0.387769,0.921210]] 2025-10-28T16:56:51.562Z,1761670611.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181843,0.907469,0.378726],[-0.982835,0.155541,0.099210],[0.031122,-0.390266,0.920176]] 2025-10-28T16:56:51.971Z,1761670611.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164292,0.910439,0.379616],[-0.985968,0.140025,0.090888],[0.029592,-0.389221,0.920669]] 2025-10-28T16:56:52.367Z,1761670612.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145765,0.914752,0.376805],[-0.988960,0.124462,0.080424],[0.026671,-0.384368,0.922795]] 2025-10-28T16:56:52.786Z,1761670612.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126517,0.919362,0.372514],[-0.991708,0.108694,0.068559],[0.022541,-0.378099,0.925491]] 2025-10-28T16:56:53.175Z,1761670613.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106368,0.924731,0.365458],[-0.994153,0.092034,0.056475],[0.018589,-0.369328,0.929113]] 2025-10-28T16:56:53.986Z,1761670613.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063391,0.933634,0.352576],[-0.997839,0.053176,0.038593],[0.017283,-0.354261,0.934987]] 2025-10-28T16:56:54.388Z,1761670614.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042456,0.935494,0.350782],[-0.998879,0.032392,0.034510],[0.020921,-0.351854,0.935821]] 2025-10-28T16:56:54.792Z,1761670614.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025135,0.934240,0.355757],[-0.999337,0.014110,0.033549],[0.026323,-0.356364,0.933976]] 2025-10-28T16:56:55.194Z,1761670615.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011918,0.931510,0.363522],[-0.999425,-0.000444,0.033905],[0.031744,-0.363717,0.930969]] 2025-10-28T16:56:55.638Z,1761670615.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001672,0.927617,0.373530],[-0.999343,-0.011975,0.034211],[0.036208,-0.373342,0.926987]] 2025-10-28T16:56:56.004Z,1761670616.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006967,0.923806,0.382797],[-0.999215,-0.021358,0.033356],[0.038990,-0.382265,0.923230]] 2025-10-28T16:56:56.407Z,1761670616.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014627,0.921676,0.387685],[-0.999084,-0.029067,0.031410],[0.040218,-0.386870,0.921257]] 2025-10-28T16:56:56.810Z,1761670616.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021948,0.920448,0.390249],[-0.998950,-0.035893,0.028475],[0.040217,-0.389214,0.920269]] 2025-10-28T16:56:57.215Z,1761670617.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029412,0.919979,0.390862],[-0.998822,-0.042143,0.024033],[0.038582,-0.389695,0.920135]] 2025-10-28T16:56:57.641Z,1761670617.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039368,0.919307,0.391567],[-0.998563,-0.050454,0.018059],[0.036357,-0.390294,0.919972]] 2025-10-28T16:56:58.022Z,1761670618.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053312,0.919850,0.388630],[-0.997971,-0.062646,0.011376],[0.034810,-0.387235,0.921324]] 2025-10-28T16:56:58.427Z,1761670618.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070123,0.920811,0.383653],[-0.996981,-0.077549,0.003901],[0.033344,-0.382221,0.923469]] 2025-10-28T16:56:58.837Z,1761670618.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088989,0.922516,0.375559],[-0.995528,-0.094376,-0.004069],[0.031690,-0.374242,0.926790]] 2025-10-28T16:56:58.965Z,1761670618.965 [Radio_Surface](INFO): Powering down 2025-10-28T16:56:59.236Z,1761670619.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109359,0.923705,0.367165],[-0.993545,-0.112782,-0.012191],[0.030148,-0.366128,0.930076]] 2025-10-28T16:56:59.646Z,1761670619.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131192,0.924161,0.358770],[-0.990928,-0.132888,-0.020047],[0.029149,-0.358145,0.933211]] 2025-10-28T16:57:00.042Z,1761670620.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154425,0.923111,0.352162],[-0.987569,-0.154805,-0.027269],[0.029344,-0.351996,0.935542]] 2025-10-28T16:57:00.458Z,1761670620.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178611,0.920329,0.347983],[-0.983434,-0.178093,-0.033760],[0.030903,-0.348248,0.936893]] 2025-10-28T16:57:00.852Z,1761670620.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203005,0.915225,0.348069],[-0.978593,-0.201916,-0.039822],[0.033835,-0.348702,0.936623]] 2025-10-28T16:57:01.254Z,1761670621.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225713,0.908560,0.351530],[-0.973492,-0.224045,-0.046003],[0.036962,-0.352595,0.935046]] 2025-10-28T16:57:01.658Z,1761670621.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244451,0.901334,0.357549],[-0.968893,-0.241725,-0.053062],[0.038602,-0.359398,0.932386]] 2025-10-28T16:57:01.714Z,1761670621.714 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:57:01.714Z,1761670621.714 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateRudder:A] Stopped 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:57:01.715Z,1761670621.715 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:57:01.715Z,1761670621.716 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateCommandMode] Stopped 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:57:01.716Z,1761670621.716 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:57:01.717Z,1761670621.717 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:57:01.717Z,1761670621.717 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:57:01.717Z,1761670621.717 [marl:UpdateSpeed] Stopped 2025-10-28T16:57:01.717Z,1761670621.717 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:57:02.063Z,1761670622.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261381,0.894362,0.363039],[-0.964441,-0.257252,-0.060629],[0.039168,-0.365977,0.929799]] 2025-10-28T16:57:02.087Z,1761670622.087 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:57:02.087Z,1761670622.087 [marl:UpdateRudder:B] Stopped 2025-10-28T16:57:02.087Z,1761670622.087 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:57:02.087Z,1761670622.087 [marl:UpdateRudder] Stopped 2025-10-28T16:57:02.087Z,1761670622.087 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:57:02.473Z,1761670622.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277529,0.888116,0.366371],[-0.959906,-0.272012,-0.067757],[0.039481,-0.370486,0.927999]] 2025-10-28T16:57:02.871Z,1761670622.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293203,0.883554,0.365192],[-0.955208,-0.286759,-0.073120],[0.040117,-0.370273,0.928056]] 2025-10-28T16:57:03.275Z,1761670623.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308600,0.879072,0.363316],[-0.950336,-0.301140,-0.078582],[0.040330,-0.369523,0.928346]] 2025-10-28T16:57:03.679Z,1761670623.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321147,0.875528,0.360993],[-0.946192,-0.312663,-0.083442],[0.039813,-0.368365,0.928828]] 2025-10-28T16:57:04.085Z,1761670624.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328968,0.875399,0.354199],[-0.943580,-0.319766,-0.086067],[0.037917,-0.362528,0.931201]] 2025-10-28T16:57:04.487Z,1761670624.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331515,0.879663,0.341014],[-0.942828,-0.322022,-0.085892],[0.034258,-0.349992,0.936126]] 2025-10-28T16:57:04.890Z,1761670624.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330459,0.886646,0.323504],[-0.943358,-0.321018,-0.083806],[0.029544,-0.332874,0.942508]] 2025-10-28T16:57:05.295Z,1761670625.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326798,0.894369,0.305464],[-0.944779,-0.317509,-0.081126],[0.024431,-0.315108,0.948741]] 2025-10-28T16:57:05.701Z,1761670625.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321556,0.902274,0.287234],[-0.946685,-0.312656,-0.077676],[0.019721,-0.296897,0.954706]] 2025-10-28T16:57:06.102Z,1761670626.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315676,0.910012,0.268750],[-0.948744,-0.307272,-0.073951],[0.015283,-0.278319,0.960367]] 2025-10-28T16:57:06.507Z,1761670626.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309942,0.916825,0.251728],[-0.950690,-0.301963,-0.070757],[0.011141,-0.261246,0.965208]] 2025-10-28T16:57:06.910Z,1761670626.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305517,0.922382,0.236369],[-0.952156,-0.297949,-0.068015],[0.007690,-0.245840,0.969280]] 2025-10-28T16:57:07.316Z,1761670627.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302639,0.926824,0.222275],[-0.953097,-0.295286,-0.066433],[0.004063,-0.231955,0.972718]] 2025-10-28T16:57:07.719Z,1761670627.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302236,0.930238,0.208114],[-0.953233,-0.295033,-0.065593],[0.000384,-0.218206,0.975903]] 2025-10-28T16:57:08.122Z,1761670628.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303701,0.931985,0.197914],[-0.952761,-0.296291,-0.066778],[-0.003596,-0.208845,0.977942]] 2025-10-28T16:57:08.526Z,1761670628.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307365,0.932223,0.191017],[-0.951564,-0.299585,-0.069092],[-0.007183,-0.203001,0.979152]] 2025-10-28T16:57:08.941Z,1761670628.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312509,0.931906,0.184092],[-0.949855,-0.304398,-0.071531],[-0.010623,-0.197215,0.980303]] 2025-10-28T16:57:09.337Z,1761670629.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318327,0.930378,0.181840],[-0.947884,-0.309638,-0.075102],[-0.013569,-0.196270,0.980456]] 2025-10-28T16:57:09.738Z,1761670629.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323979,0.928627,0.180801],[-0.945933,-0.314775,-0.078285],[-0.015786,-0.196388,0.980399]] 2025-10-28T16:57:10.143Z,1761670630.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328447,0.926893,0.181637],[-0.944360,-0.318701,-0.081322],[-0.017489,-0.198241,0.979997]] 2025-10-28T16:57:10.546Z,1761670630.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331674,0.925384,0.183460],[-0.943212,-0.321458,-0.083759],[-0.018534,-0.200822,0.979452]] 2025-10-28T16:57:10.960Z,1761670630.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334157,0.923966,0.186080],[-0.942323,-0.323501,-0.085877],[-0.019150,-0.204044,0.978774]] 2025-10-28T16:57:11.355Z,1761670631.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336177,0.922284,0.190728],[-0.941596,-0.324945,-0.088358],[-0.019515,-0.209293,0.977658]] 2025-10-28T16:57:11.763Z,1761670631.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338164,0.920749,0.194593],[-0.940882,-0.326465,-0.090345],[-0.019657,-0.213640,0.976715]] 2025-10-28T16:57:12.163Z,1761670632.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340183,0.918944,0.199541],[-0.940150,-0.327890,-0.092767],[-0.019820,-0.219156,0.975488]] 2025-10-28T16:57:12.574Z,1761670632.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340880,0.917242,0.206078],[-0.939909,-0.328030,-0.094693],[-0.019256,-0.225973,0.973943]] 2025-10-28T16:57:12.977Z,1761670632.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338492,0.916974,0.211145],[-0.940787,-0.325377,-0.095131],[-0.018531,-0.230844,0.972814]] 2025-10-28T16:57:13.379Z,1761670633.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334689,0.917308,0.215706],[-0.942176,-0.321623,-0.094149],[-0.016987,-0.234744,0.971909]] 2025-10-28T16:57:13.786Z,1761670633.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329583,0.918915,0.216725],[-0.944019,-0.317285,-0.090320],[-0.014233,-0.234361,0.972045]] 2025-10-28T16:57:14.187Z,1761670634.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324083,0.921418,0.214381],[-0.945967,-0.313050,-0.084535],[-0.010780,-0.230194,0.973085]] 2025-10-28T16:57:14.587Z,1761670634.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319046,0.923353,0.213610],[-0.947712,-0.309129,-0.079247],[-0.007140,-0.227725,0.973699]] 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateRudder:A] Stopped 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:57:14.622Z,1761670634.622 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode] Stopped 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:57:14.623Z,1761670634.623 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:57:14.624Z,1761670634.624 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:57:14.624Z,1761670634.624 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:57:14.624Z,1761670634.624 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:57:14.624Z,1761670634.624 [marl:UpdateSpeed] Stopped 2025-10-28T16:57:14.624Z,1761670634.624 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:57:14.992Z,1761670634.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314592,0.925515,0.210841],[-0.949221,-0.305939,-0.073357],[-0.003389,-0.223212,0.974764]] 2025-10-28T16:57:15.032Z,1761670635.032 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:57:15.033Z,1761670635.033 [marl:UpdateRudder:B] Stopped 2025-10-28T16:57:15.033Z,1761670635.033 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:57:15.033Z,1761670635.033 [marl:UpdateRudder] Stopped 2025-10-28T16:57:15.033Z,1761670635.033 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:57:15.395Z,1761670635.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310405,0.926989,0.210571],[-0.950604,-0.302806,-0.068261],[0.000485,-0.221358,0.975192]] 2025-10-28T16:57:15.800Z,1761670635.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305626,0.927806,0.213937],[-0.952141,-0.298893,-0.063962],[0.004600,-0.223246,0.974751]] 2025-10-28T16:57:16.202Z,1761670636.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300196,0.928743,0.217529],[-0.953834,-0.294443,-0.059191],[0.009076,-0.225256,0.974257]] 2025-10-28T16:57:16.606Z,1761670636.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294532,0.929571,0.221696],[-0.955548,-0.289725,-0.054667],[0.013414,-0.227942,0.973582]] 2025-10-28T16:57:17.014Z,1761670637.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289455,0.930906,0.222780],[-0.957039,-0.285621,-0.049974],[0.017109,-0.227674,0.973587]] 2025-10-28T16:57:17.419Z,1761670637.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286220,0.931992,0.222418],[-0.957950,-0.283245,-0.045868],[0.020250,-0.226194,0.973872]] 2025-10-28T16:57:17.818Z,1761670637.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284908,0.932895,0.220306],[-0.958285,-0.282658,-0.042365],[0.022749,-0.223186,0.974510]] 2025-10-28T16:57:18.223Z,1761670638.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285725,0.933616,0.216154],[-0.957999,-0.284033,-0.039538],[0.024482,-0.218372,0.975558]] 2025-10-28T16:57:18.627Z,1761670638.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289014,0.934431,0.208111],[-0.956973,-0.287894,-0.036333],[0.025964,-0.209657,0.977430]] 2025-10-28T16:57:19.035Z,1761670639.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294437,0.934124,0.201788],[-0.955264,-0.293835,-0.033631],[0.027877,-0.202663,0.978852]] 2025-10-28T16:57:19.446Z,1761670639.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301306,0.932793,0.197764],[-0.953033,-0.301282,-0.030951],[0.030712,-0.197802,0.979761]] 2025-10-28T16:57:19.839Z,1761670639.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307895,0.930535,0.198254],[-0.950800,-0.308464,-0.028800],[0.034355,-0.197368,0.979727]] 2025-10-28T16:57:20.247Z,1761670640.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314700,0.927204,0.203116],[-0.948372,-0.316032,-0.026721],[0.039416,-0.201038,0.978790]] 2025-10-28T16:57:20.500Z,1761670640.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:57:20.646Z,1761670640.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320291,0.923225,0.212298],[-0.946221,-0.322570,-0.024781],[0.045602,-0.208818,0.976891]] 2025-10-28T16:57:21.052Z,1761670641.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324029,0.919485,0.222604],[-0.944605,-0.327438,-0.022485],[0.052215,-0.217559,0.974650]] 2025-10-28T16:57:21.455Z,1761670641.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326016,0.916686,0.231084],[-0.943529,-0.330737,-0.019145],[0.058879,-0.224276,0.972745]] 2025-10-28T16:57:21.506Z,1761670641.506 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T16:57:21.506Z,1761670641.506 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:57:21.858Z,1761670641.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325626,0.915006,0.238185],[-0.943240,-0.331775,-0.014976],[0.065320,-0.229543,0.971104]] 2025-10-28T16:57:22.263Z,1761670642.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324330,0.913405,0.245970],[-0.943267,-0.331837,-0.011494],[0.071124,-0.235743,0.969209]] 2025-10-28T16:57:22.667Z,1761670642.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321209,0.911803,0.255814],[-0.943925,-0.330040,-0.008856],[0.076354,-0.244314,0.966685]] 2025-10-28T16:57:23.075Z,1761670643.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316017,0.910617,0.266290],[-0.945285,-0.326183,-0.006378],[0.081051,-0.253736,0.963872]] 2025-10-28T16:57:23.478Z,1761670643.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309915,0.909866,0.275857],[-0.946945,-0.321374,-0.003860],[0.085141,-0.262417,0.961191]] 2025-10-28T16:57:23.879Z,1761670643.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302990,0.909924,0.283257],[-0.948846,-0.315740,-0.000676],[0.088820,-0.268972,0.959044]] 2025-10-28T16:57:24.288Z,1761670644.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295805,0.911213,0.286690],[-0.950799,-0.309787,0.003596],[0.092089,-0.271521,0.958017]] 2025-10-28T16:57:24.687Z,1761670644.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288886,0.913368,0.286887],[-0.952616,-0.304050,0.008758],[0.095227,-0.270763,0.957925]] 2025-10-28T16:57:25.091Z,1761670645.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283335,0.916401,0.282721],[-0.953935,-0.299628,0.015195],[0.098636,-0.265392,0.959082]] 2025-10-28T16:57:25.508Z,1761670645.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279090,0.920276,0.274227],[-0.954793,-0.296388,0.022921],[0.102371,-0.255433,0.961392]] 2025-10-28T16:57:25.899Z,1761670645.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277544,0.923477,0.264878],[-0.954744,-0.295814,0.030933],[0.106921,-0.244305,0.963786]] 2025-10-28T16:57:26.303Z,1761670646.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278384,0.926046,0.254834],[-0.953884,-0.297584,0.039361],[0.112284,-0.232125,0.966183]] 2025-10-28T16:57:26.708Z,1761670646.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280930,0.927780,0.245565],[-0.952434,-0.301000,0.047625],[0.118100,-0.220505,0.968209]] 2025-10-28T16:57:27.116Z,1761670647.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284485,0.928599,0.238268],[-0.950613,-0.305416,0.055289],[0.124112,-0.210771,0.969625]] 2025-10-28T16:57:27.518Z,1761670647.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287989,0.928732,0.233494],[-0.948781,-0.309792,0.061997],[0.129914,-0.203680,0.970380]] 2025-10-28T16:57:27.561Z,1761670647.561 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:57:27.561Z,1761670647.561 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:57:27.561Z,1761670647.561 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateRudder:A] Stopped 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:57:27.562Z,1761670647.562 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateCommandMode] Stopped 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:57:27.563Z,1761670647.563 [marl:UpdateSpeed] Stopped 2025-10-28T16:57:27.564Z,1761670647.564 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:57:27.927Z,1761670647.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290528,0.927236,0.236276],[-0.947260,-0.313607,0.065949],[0.135248,-0.204655,0.969445]] 2025-10-28T16:57:27.986Z,1761670647.986 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:57:27.986Z,1761670647.986 [marl:UpdateRudder:B] Stopped 2025-10-28T16:57:27.987Z,1761670647.987 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:57:27.987Z,1761670647.987 [marl:UpdateRudder] Stopped 2025-10-28T16:57:27.987Z,1761670647.987 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:57:28.329Z,1761670648.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291249,0.924743,0.244999],[-0.946407,-0.315894,0.067268],[0.139600,-0.212277,0.967187]] 2025-10-28T16:57:28.726Z,1761670648.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290553,0.922278,0.254917],[-0.946073,-0.316783,0.067778],[0.143263,-0.221477,0.964585]] 2025-10-28T16:57:29.130Z,1761670649.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289166,0.919566,0.266047],[-0.946017,-0.317011,0.067497],[0.146408,-0.232167,0.961594]] 2025-10-28T16:57:29.539Z,1761670649.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289485,0.918504,0.269350],[-0.945500,-0.318227,0.068996],[0.149088,-0.234697,0.960568]] 2025-10-28T16:57:29.942Z,1761670649.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292021,0.918353,0.267116],[-0.944321,-0.321124,0.071669],[0.151595,-0.231315,0.960996]] 2025-10-28T16:57:30.343Z,1761670650.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296605,0.917529,0.264889],[-0.942527,-0.325929,0.073580],[0.153847,-0.227841,0.961467]] 2025-10-28T16:57:30.748Z,1761670650.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303074,0.914754,0.267154],[-0.940075,-0.332941,0.073544],[0.156222,-0.228855,0.960843]] 2025-10-28T16:57:31.157Z,1761670651.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310610,0.911189,0.270659],[-0.937057,-0.341314,0.073678],[0.159515,-0.230738,0.959852]] 2025-10-28T16:57:31.586Z,1761670651.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318144,0.907441,0.274474],[-0.933707,-0.350072,0.075112],[0.164245,-0.232381,0.958656]] 2025-10-28T16:57:31.959Z,1761670651.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323878,0.904130,0.278661],[-0.930635,-0.357487,0.078240],[0.170357,-0.233992,0.957197]] 2025-10-28T16:57:32.363Z,1761670652.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326667,0.900830,0.285995],[-0.928392,-0.362548,0.081536],[0.177137,-0.238881,0.954756]] 2025-10-28T16:57:32.772Z,1761670652.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324624,0.898525,0.295419],[-0.928049,-0.362882,0.083920],[0.182607,-0.246921,0.951675]] 2025-10-28T16:57:33.173Z,1761670653.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319022,0.898576,0.301308],[-0.929177,-0.359171,0.087333],[0.186696,-0.252107,0.949519]] 2025-10-28T16:57:33.635Z,1761670653.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312359,0.900191,0.303461],[-0.930821,-0.353835,0.091503],[0.189745,-0.253886,0.948440]] 2025-10-28T16:57:33.978Z,1761670653.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307646,0.901734,0.303694],[-0.932021,-0.349839,0.094599],[0.191547,-0.253946,0.948062]] 2025-10-28T16:57:34.382Z,1761670654.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306649,0.903394,0.299742],[-0.932053,-0.348852,0.097879],[0.192989,-0.249360,0.948986]] 2025-10-28T16:57:34.791Z,1761670654.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308437,0.904347,0.294997],[-0.931163,-0.350426,0.100685],[0.194429,-0.243635,0.950179]] 2025-10-28T16:57:35.190Z,1761670655.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311094,0.903897,0.293584],[-0.930070,-0.353076,0.101522],[0.195423,-0.241471,0.950527]] 2025-10-28T16:57:35.645Z,1761670655.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313370,0.902792,0.294560],[-0.929214,-0.355483,0.100963],[0.195860,-0.242071,0.950285]] 2025-10-28T16:57:35.998Z,1761670655.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313203,0.900855,0.300606],[-0.929409,-0.355816,0.097951],[0.195199,-0.248707,0.948705]] 2025-10-28T16:57:36.412Z,1761670656.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311869,0.899245,0.306751],[-0.930005,-0.355007,0.095186],[0.194495,-0.255594,0.947018]] 2025-10-28T16:57:36.807Z,1761670656.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309698,0.898691,0.310551],[-0.930874,-0.353140,0.093621],[0.193805,-0.260090,0.945935]] 2025-10-28T16:57:37.211Z,1761670657.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307229,0.899882,0.309552],[-0.931837,-0.350483,0.094024],[0.193103,-0.259565,0.946223]] 2025-10-28T16:57:37.642Z,1761670657.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304808,0.902063,0.305571],[-0.932714,-0.347640,0.095867],[0.192707,-0.255790,0.947331]] 2025-10-28T16:57:38.021Z,1761670658.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302662,0.904652,0.300000],[-0.933394,-0.345011,0.098703],[0.192796,-0.250145,0.948819]] 2025-10-28T16:57:38.426Z,1761670658.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300838,0.907206,0.294064],[-0.933903,-0.342709,0.101863],[0.193189,-0.243983,0.950342]] 2025-10-28T16:57:38.826Z,1761670658.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300477,0.909663,0.286753],[-0.933910,-0.341664,0.105252],[0.193717,-0.236175,0.952205]] 2025-10-28T16:57:39.231Z,1761670659.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301468,0.911556,0.279612],[-0.933570,-0.341807,0.107775],[0.193816,-0.228547,0.954045]] 2025-10-28T16:57:39.657Z,1761670659.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303511,0.912967,0.272712],[-0.932922,-0.342936,0.109777],[0.193745,-0.221101,0.955812]] 2025-10-28T16:57:40.052Z,1761670660.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307584,0.913823,0.265178],[-0.931638,-0.345899,0.111374],[0.193500,-0.212793,0.957746]] 2025-10-28T16:57:40.456Z,1761670660.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313711,0.913593,0.258716],[-0.929689,-0.350931,0.111917],[0.193038,-0.205416,0.959448]] 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateRudder:A] Stopped 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:57:40.491Z,1761670660.491 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:57:40.492Z,1761670660.492 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:57:40.492Z,1761670660.492 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:57:40.492Z,1761670660.492 [marl:UpdateCommandMode] Stopped 2025-10-28T16:57:40.492Z,1761670660.492 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:57:40.492Z,1761670660.492 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed] Stopped 2025-10-28T16:57:40.493Z,1761670660.493 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:57:40.858Z,1761670660.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321654,0.911340,0.256901],[-0.927106,-0.358259,0.110113],[0.192387,-0.202756,0.960144]] 2025-10-28T16:57:40.918Z,1761670660.918 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:57:40.918Z,1761670660.918 [marl:UpdateRudder:B] Stopped 2025-10-28T16:57:40.918Z,1761670660.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:57:40.918Z,1761670660.918 [marl:UpdateRudder] Stopped 2025-10-28T16:57:40.918Z,1761670660.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:57:41.263Z,1761670661.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331060,0.908465,0.255130],[-0.923950,-0.366992,0.107853],[0.191611,-0.200021,0.960873]] 2025-10-28T16:57:41.670Z,1761670661.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341189,0.904660,0.255303],[-0.920256,-0.376836,0.105472],[0.191623,-0.198958,0.961091]] 2025-10-28T16:57:42.070Z,1761670662.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351327,0.898216,0.264154],[-0.916300,-0.387808,0.099997],[0.192259,-0.206912,0.959283]] 2025-10-28T16:57:42.475Z,1761670662.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360765,0.890949,0.275786],[-0.912368,-0.398477,0.093809],[0.193474,-0.217775,0.956630]] 2025-10-28T16:57:42.878Z,1761670662.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367986,0.884012,0.288285],[-0.909248,-0.406982,0.087366],[0.194559,-0.229973,0.953551]] 2025-10-28T16:57:43.284Z,1761670663.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370350,0.879029,0.300249],[-0.908274,-0.410416,0.081226],[0.194627,-0.242626,0.950396]] 2025-10-28T16:57:43.308Z,1761670663.308 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:57:43.482Z,1761670663.482 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:57:43.482Z,1761670663.482 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:57:43.733Z,1761670663.733 [DAT](INFO): DAT read: user:34> 2025-10-28T16:57:43.734Z,1761670663.734 [DAT](INFO): DAT read: Tx time:16:57:43.5137 2025-10-28T16:57:43.734Z,1761670663.734 [DAT](INFO): Ping request sent. 2025-10-28T16:57:43.734Z,1761670663.734 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:57:43.734Z,1761670663.734 [DAT](INFO): publishing transmit ping time 2025-10-28T16:57:43.735Z,1761670663.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T16:57:43.985Z,1761670663.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250845 2025-10-28T16:57:44.091Z,1761670664.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355000,0.889686,0.287113],[-0.915219,-0.393376,0.087344],[0.190652,-0.231764,0.953906]] 2025-10-28T16:57:44.237Z,1761670664.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767 2025-10-28T16:57:44.489Z,1761670664.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754754 2025-10-28T16:57:44.500Z,1761670664.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339804,0.904215,0.258707],[-0.921685,-0.374902,0.099725],[0.187162,-0.204560,0.960794]] 2025-10-28T16:57:44.741Z,1761670664.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762 2025-10-28T16:57:44.910Z,1761670664.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321745,0.919489,0.225877],[-0.928820,-0.352817,0.113196],[0.183776,-0.173379,0.967557]] 2025-10-28T16:57:44.993Z,1761670664.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259128 2025-10-28T16:57:45.245Z,1761670665.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510776 2025-10-28T16:57:45.302Z,1761670665.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302256,0.934318,0.188923],[-0.935783,-0.328581,0.127847],[0.181526,-0.138148,0.973634]] 2025-10-28T16:57:45.497Z,1761670665.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762911 2025-10-28T16:57:45.707Z,1761670665.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280899,0.948434,0.146862],[-0.942747,-0.301342,0.142903],[0.179789,-0.098313,0.978780]] 2025-10-28T16:57:45.749Z,1761670665.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015400 2025-10-28T16:57:46.001Z,1761670666.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266832 2025-10-28T16:57:46.112Z,1761670666.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258595,0.959759,0.109506],[-0.949288,-0.273474,0.155126],[0.178831,-0.063838,0.981807]] 2025-10-28T16:57:46.253Z,1761670666.253 [DAT](INFO): DAT read: Rx Time:16:57:45.6158 2025-10-28T16:57:46.253Z,1761670666.253 [DAT](INFO): Rx dataTimestamp_ set to:1761670666.253143 2025-10-28T16:57:46.254Z,1761670666.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519872 2025-10-28T16:57:46.509Z,1761670666.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775393 2025-10-28T16:57:46.525Z,1761670666.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235090,0.968590,0.081035],[-0.955536,-0.245578,0.163224],[0.177997,-0.039059,0.983256]] 2025-10-28T16:57:46.782Z,1761670666.782 [DAT](INFO): DAT read: 16:57:45.6158 LVL= 15824, 7537, 8402, 17667, AGC= 50, IDX= 38, 0.18,-3.112,-1.007,-2.043,-1.711, PHS=-1.300, 0.748,-0.376, RAW= 303.3, 10.5, CAL= 300.8, 13.4, ROT= 209.2, -13.4 2025-10-28T16:57:46.785Z,1761670666.785 [DAT](INFO): got valid direction response: 16:57:45.6158 LVL= 15824, 7537, 8402, 17667, AGC= 50, IDX= 38, 0.18,-3.112,-1.007,-2.043,-1.711, PHS=-1.300, 0.748,-0.376, RAW= 303.3, 10.5, CAL= 300.8, 13.4, ROT= 209.2, -13.4 2025-10-28T16:57:46.787Z,1761670666.787 [DAT](INFO): DAT read: Bearing 93, 3 (Remote) 2025-10-28T16:57:46.788Z,1761670666.788 [DAT](INFO): Remote Bearing received:Bearing 93, 3 (Remote) 2025-10-28T16:57:46.789Z,1761670666.789 [DAT](INFO): DAT read: Bearing 208.2, -39.2 (Local) 2025-10-28T16:57:46.789Z,1761670666.789 [DAT](INFO): Local bearing/azimuth received: Bearing 208.2, -39.2 (Local) 2025-10-28T16:57:46.790Z,1761670666.790 [DAT](INFO): DAT read: Range 11 to 20 : 54.6 m (Round-trip 72.9 ms) speed -0.6 m/s 2025-10-28T16:57:46.791Z,1761670666.791 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:57:46.792Z,1761670666.792 [DAT](INFO): direction in FSK: [-0.849158,-0.474578,0.231748] 2025-10-28T16:57:46.793Z,1761670666.793 [DAT](INFO): publishing direction and range info 2025-10-28T16:57:46.920Z,1761670666.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211056,0.975535,0.061535],[-0.961350,-0.218550,0.167457],[0.176809,-0.023814,0.983957]] 2025-10-28T16:57:46.978Z,1761670666.978 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670656.00. Resetting abort timer. 2025-10-28T16:57:47.322Z,1761670667.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187476,0.981128,0.047343],[-0.966534,-0.192851,0.169175],[0.175112,-0.014042,0.984448]] 2025-10-28T16:57:47.734Z,1761670667.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165886,0.985636,0.031682],[-0.970883,-0.168865,0.169914],[0.172823,-0.002573,0.984949]] 2025-10-28T16:57:48.131Z,1761670668.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147398,0.988926,0.017291],[-0.974276,-0.148183,0.169787],[0.170469,0.008180,0.985329]] 2025-10-28T16:57:48.535Z,1761670668.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131532,0.991293,0.006163],[-0.976943,-0.130678,0.168838],[0.168173,0.016186,0.985625]] 2025-10-28T16:57:48.939Z,1761670668.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118161,0.992994,0.000437],[-0.978990,-0.116568,0.167304],[0.166182,0.019341,0.985905]] 2025-10-28T16:57:49.344Z,1761670669.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106778,0.994281,-0.002142],[-0.980460,-0.104935,0.166394],[0.165218,0.019868,0.986057]] 2025-10-28T16:57:49.748Z,1761670669.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097647,0.995218,-0.002496],[-0.981364,-0.095870,0.166533],[0.165497,0.018711,0.986033]] 2025-10-28T16:57:50.151Z,1761670670.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090757,0.995872,-0.001631],[-0.981681,-0.089188,0.168367],[0.167526,0.016881,0.985723]] 2025-10-28T16:57:50.556Z,1761670670.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085411,0.996346,0.000008],[-0.981540,-0.084143,0.171754],[0.171127,0.014662,0.985140]] 2025-10-28T16:57:50.960Z,1761670670.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079749,0.996814,0.001483],[-0.981222,-0.078763,0.176067],[0.175623,0.012586,0.984377]] 2025-10-28T16:57:51.367Z,1761670671.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071240,0.997454,0.003128],[-0.981120,-0.070638,0.180040],[0.179802,0.009757,0.983654]] 2025-10-28T16:57:51.626Z,1761670671.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:57:51.771Z,1761670671.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058668,0.998266,0.004806],[-0.981331,-0.058555,0.183195],[0.183159,0.006032,0.983065]] 2025-10-28T16:57:52.171Z,1761670672.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042734,0.999070,0.005773],[-0.981664,-0.043062,0.185690],[0.185766,0.002268,0.982591]] 2025-10-28T16:57:52.575Z,1761670672.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024175,0.999679,0.007551],[-0.982004,-0.025162,0.187176],[0.187306,-0.002890,0.982297]] 2025-10-28T16:57:52.628Z,1761670672.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:57:52.979Z,1761670672.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004549,0.999955,0.008383],[-0.982159,-0.006044,0.187957],[0.187999,-0.007378,0.982141]] 2025-10-28T16:57:53.429Z,1761670673.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032996,0.999450,0.003331],[-0.981599,0.031779,0.188293],[0.188084,-0.009483,0.982107]] 2025-10-28T16:57:53.459Z,1761670673.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:57:53.459Z,1761670673.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:57:53.459Z,1761670673.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:57:53.460Z,1761670673.460 [marl:UpdateRudder:A] Stopped 2025-10-28T16:57:53.460Z,1761670673.460 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:57:53.460Z,1761670673.460 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:57:53.460Z,1761670673.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:57:53.460Z,1761670673.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateCommandMode] Stopped 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:57:53.461Z,1761670673.461 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:57:53.462Z,1761670673.462 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:57:53.462Z,1761670673.462 [marl:UpdateSpeed] Stopped 2025-10-28T16:57:53.462Z,1761670673.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:57:53.866Z,1761670673.866 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:57:53.867Z,1761670673.867 [marl:UpdateRudder:B] Stopped 2025-10-28T16:57:53.867Z,1761670673.867 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:57:53.867Z,1761670673.867 [marl:UpdateRudder] Stopped 2025-10-28T16:57:53.867Z,1761670673.867 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:57:54.190Z,1761670674.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049721,0.998760,-0.002405],[-0.980894,0.049284,0.188197],[0.188083,-0.006998,0.982128]] 2025-10-28T16:57:54.595Z,1761670674.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065310,0.997833,-0.007975],[-0.979978,0.065643,0.187972],[0.188088,-0.004461,0.982142]] 2025-10-28T16:57:55.001Z,1761670675.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079418,0.996773,-0.011665],[-0.978882,0.080193,0.188041],[0.188369,-0.003515,0.982092]] 2025-10-28T16:57:55.409Z,1761670675.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092738,0.995571,-0.015454],[-0.977658,0.093988,0.188020],[0.188640,-0.002328,0.982044]] 2025-10-28T16:57:55.806Z,1761670675.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106218,0.994154,-0.019373],[-0.976286,0.107965,0.187643],[0.188638,-0.001018,0.982046]] 2025-10-28T16:57:56.211Z,1761670676.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120642,0.992439,-0.022605],[-0.974660,0.122740,0.187010],[0.188370,-0.000529,0.982098]] 2025-10-28T16:57:56.622Z,1761670676.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152222,0.987938,-0.028402],[-0.970291,0.154847,0.185898],[0.188054,-0.000739,0.982158]] 2025-10-28T16:57:57.023Z,1761670677.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169850,0.984966,-0.031515],[-0.967517,0.172747,0.184580],[0.187249,-0.000860,0.982312]] 2025-10-28T16:57:57.427Z,1761670677.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188555,0.981411,-0.035771],[-0.964357,0.191918,0.182160],[0.185639,0.000149,0.982618]] 2025-10-28T16:57:57.835Z,1761670677.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207015,0.977523,-0.039927],[-0.960923,0.210827,0.179387],[0.183773,0.001231,0.982968]] 2025-10-28T16:57:58.234Z,1761670678.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224751,0.973481,-0.042673],[-0.957353,0.228763,0.176475],[0.181558,0.001190,0.983380]] 2025-10-28T16:57:58.635Z,1761670678.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240463,0.969464,-0.048141],[-0.953873,0.245198,0.173218],[0.179733,0.004268,0.983706]] 2025-10-28T16:57:59.039Z,1761670679.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255442,0.965513,-0.050334],[-0.950418,0.260317,0.170121],[0.177357,0.004383,0.984137]] 2025-10-28T16:57:59.442Z,1761670679.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268786,0.961824,-0.051459],[-0.947147,0.273642,0.167427],[0.175117,0.003737,0.984541]] 2025-10-28T16:57:59.854Z,1761670679.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280911,0.958237,-0.053574],[-0.943963,0.285942,0.164839],[0.173274,0.004267,0.984864]] 2025-10-28T16:58:00.250Z,1761670680.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291849,0.954909,-0.054529],[-0.940811,0.296878,0.163515],[0.172331,0.003580,0.985033]] 2025-10-28T16:58:00.654Z,1761670680.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302221,0.951658,-0.054852],[-0.937491,0.307152,0.163608],[0.172547,0.001978,0.984999]] 2025-10-28T16:58:01.059Z,1761670681.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313822,0.947849,-0.055661],[-0.933518,0.318720,0.164200],[0.173377,0.000431,0.984855]] 2025-10-28T16:58:01.469Z,1761670681.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327841,0.942983,-0.057477],[-0.928539,0.332841,0.164415],[0.174171,-0.000532,0.984715]] 2025-10-28T16:58:01.877Z,1761670681.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344094,0.937140,-0.058028],[-0.922514,0.348938,0.164957],[0.174836,-0.003229,0.984592]] 2025-10-28T16:58:02.271Z,1761670682.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362056,0.930289,-0.058973],[-0.915611,0.366784,0.164701],[0.174850,-0.005635,0.984579]] 2025-10-28T16:58:02.675Z,1761670682.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380354,0.922850,-0.060648],[-0.908343,0.385096,0.163138],[0.173908,-0.006961,0.984737]] 2025-10-28T16:58:03.080Z,1761670683.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398697,0.914879,-0.063535],[-0.900934,0.403680,0.159250],[0.171342,-0.006252,0.985192]] 2025-10-28T16:58:03.483Z,1761670683.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415682,0.907094,-0.066241],[-0.893889,0.420898,0.154297],[0.167843,-0.004927,0.985801]] 2025-10-28T16:58:03.891Z,1761670683.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430749,0.899774,-0.069720],[-0.887382,0.436350,0.148834],[0.164339,-0.002242,0.986401]] 2025-10-28T16:58:04.291Z,1761670684.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444444,0.892879,-0.072363],[-0.881184,0.450296,0.144043],[0.161198,-0.000254,0.986922]] 2025-10-28T16:58:04.698Z,1761670684.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457460,0.886093,-0.074633],[-0.874987,0.463506,0.139856],[0.158519,0.001325,0.987355]] 2025-10-28T16:58:05.098Z,1761670685.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469973,0.879321,-0.076939],[-0.868717,0.476221,0.136178],[0.156384,0.002838,0.987692]] 2025-10-28T16:58:05.502Z,1761670685.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483456,0.871759,-0.079417],[-0.861620,0.489916,0.132636],[0.154534,0.004304,0.987978]] 2025-10-28T16:58:05.910Z,1761670685.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498344,0.863228,-0.080563],[-0.853366,0.504799,0.130169],[0.153034,0.003881,0.988213]] 2025-10-28T16:58:06.312Z,1761670686.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513992,0.853995,-0.080649],[-0.844342,0.520276,0.128058],[0.151321,0.002275,0.988482]] 2025-10-28T16:58:06.336Z,1761670686.336 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:58:06.336Z,1761670686.336 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:58:06.336Z,1761670686.336 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateRudder:A] Stopped 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:58:06.337Z,1761670686.337 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateCommandMode] Stopped 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:58:06.338Z,1761670686.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:58:06.339Z,1761670686.339 [marl:UpdateSpeed] Stopped 2025-10-28T16:58:06.339Z,1761670686.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:58:06.714Z,1761670686.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530427,0.843919,-0.080300],[-0.834540,0.536471,0.125467],[0.148962,0.000463,0.988843]] 2025-10-28T16:58:06.746Z,1761670686.746 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:58:06.747Z,1761670686.747 [marl:UpdateRudder:B] Stopped 2025-10-28T16:58:06.747Z,1761670686.747 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:58:06.747Z,1761670686.747 [marl:UpdateRudder] Stopped 2025-10-28T16:58:06.747Z,1761670686.747 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:58:07.118Z,1761670687.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546784,0.833489,-0.079523],[-0.824482,0.552535,0.122209],[0.145799,-0.001257,0.989313]] 2025-10-28T16:58:07.523Z,1761670687.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562808,0.822934,-0.077635],[-0.814314,0.568126,0.118856],[0.141917,-0.003673,0.989872]] 2025-10-28T16:58:07.930Z,1761670687.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577591,0.812806,-0.075731],[-0.804629,0.582508,0.115135],[0.137696,-0.005566,0.990459]] 2025-10-28T16:58:08.331Z,1761670688.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590715,0.803564,-0.073078],[-0.795784,0.595166,0.111828],[0.133354,-0.007904,0.991037]] 2025-10-28T16:58:08.735Z,1761670688.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602625,0.794967,-0.069788],[-0.787484,0.606554,0.109370],[0.129276,-0.010952,0.991548]] 2025-10-28T16:58:09.140Z,1761670689.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613696,0.786612,-0.067957],[-0.779451,0.617321,0.106628],[0.125826,-0.012468,0.991974]] 2025-10-28T16:58:09.543Z,1761670689.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624467,0.778153,-0.067228],[-0.771306,0.627941,0.103810],[0.122995,-0.012972,0.992323]] 2025-10-28T16:58:09.947Z,1761670689.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635078,0.769428,-0.068240],[-0.762980,0.638630,0.100066],[0.120574,-0.011484,0.992638]] 2025-10-28T16:58:10.357Z,1761670690.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645747,0.760323,-0.070149],[-0.754294,0.649482,0.095990],[0.118543,-0.009072,0.992907]] 2025-10-28T16:58:10.762Z,1761670690.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656838,0.750604,-0.071813],[-0.744988,0.660717,0.091907],[0.116434,-0.006868,0.993175]] 2025-10-28T16:58:11.159Z,1761670691.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668217,0.740262,-0.074145],[-0.735193,0.672310,0.086553],[0.113921,-0.003325,0.993484]] 2025-10-28T16:58:11.570Z,1761670691.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679231,0.729871,-0.077029],[-0.725404,0.683584,0.080633],[0.111508,0.001109,0.993763]] 2025-10-28T16:58:11.966Z,1761670691.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689987,0.719650,-0.077604],[-0.715613,0.694331,0.076173],[0.108700,0.002976,0.994070]] 2025-10-28T16:58:12.377Z,1761670692.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700561,0.709251,-0.078603],[-0.705625,0.704938,0.071812],[0.106343,0.005155,0.994316]] 2025-10-28T16:58:12.779Z,1761670692.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711280,0.698436,-0.079171],[-0.695176,0.715639,0.067753],[0.103980,0.006846,0.994556]] 2025-10-28T16:58:13.178Z,1761670693.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721669,0.687642,-0.079640],[-0.684674,0.726005,0.064328],[0.102054,0.008104,0.994746]] 2025-10-28T16:58:13.627Z,1761670693.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732790,0.675670,-0.080555],[-0.673020,0.737139,0.060581],[0.100313,0.009822,0.994907]] 2025-10-28T16:58:13.987Z,1761670693.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744590,0.662490,-0.081808],[-0.660130,0.748982,0.057044],[0.099064,0.011529,0.995014]] 2025-10-28T16:58:14.391Z,1761670694.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756823,0.648293,-0.083276],[-0.646172,0.761281,0.053974],[0.098387,0.012962,0.995064]] 2025-10-28T16:58:14.795Z,1761670694.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769248,0.633296,-0.084821],[-0.631436,0.773772,0.050645],[0.097705,0.014600,0.995108]] 2025-10-28T16:58:15.198Z,1761670695.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781900,0.617373,-0.086503],[-0.615821,0.786494,0.046817],[0.096938,0.016664,0.995151]] 2025-10-28T16:58:15.635Z,1761670695.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794316,0.601460,-0.085487],[-0.599892,0.798765,0.045877],[0.095877,0.014842,0.995283]] 2025-10-28T16:58:16.008Z,1761670696.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806580,0.585138,-0.083910],[-0.583579,0.810830,0.044623],[0.094147,0.012976,0.995474]] 2025-10-28T16:58:16.410Z,1761670696.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818505,0.568807,-0.080667],[-0.567260,0.822405,0.043203],[0.090915,0.010397,0.995804]] 2025-10-28T16:58:16.815Z,1761670696.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829931,0.552583,-0.076594],[-0.551148,0.833415,0.040679],[0.086313,0.008454,0.996232]] 2025-10-28T16:58:17.219Z,1761670697.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839843,0.537971,-0.072463],[-0.536629,0.842938,0.038534],[0.081812,0.006523,0.996626]] 2025-10-28T16:58:17.641Z,1761670697.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848362,0.525078,-0.067635],[-0.523693,0.851049,0.038233],[0.077636,0.002984,0.996977]] 2025-10-28T16:58:18.026Z,1761670698.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855853,0.513416,-0.062610],[-0.511950,0.858139,0.038782],[0.073639,-0.001138,0.997284]] 2025-10-28T16:58:18.430Z,1761670698.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862865,0.501961,-0.059155],[-0.500574,0.864886,0.037390],[0.069931,-0.002651,0.997548]] 2025-10-28T16:58:18.839Z,1761670698.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869483,0.490743,-0.056311],[-0.489467,0.871298,0.035525],[0.066498,-0.003326,0.997781]] 2025-10-28T16:58:19.240Z,1761670699.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876215,0.478896,-0.053912],[-0.477781,0.877867,0.032794],[0.063033,-0.002977,0.998007]] 2025-10-28T16:58:19.264Z,1761670699.264 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:58:19.264Z,1761670699.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:58:19.264Z,1761670699.264 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateRudder:A] Stopped 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:58:19.265Z,1761670699.265 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateCommandMode] Stopped 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:58:19.266Z,1761670699.266 [marl:UpdateSpeed] Stopped 2025-10-28T16:58:19.267Z,1761670699.267 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:58:19.646Z,1761670699.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882958,0.466570,-0.051937],[-0.465640,0.884482,0.029505],[0.059703,-0.001868,0.998214]] 2025-10-28T16:58:19.694Z,1761670699.694 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:58:19.694Z,1761670699.694 [marl:UpdateRudder:B] Stopped 2025-10-28T16:58:19.694Z,1761670699.694 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:58:19.694Z,1761670699.694 [marl:UpdateRudder] Stopped 2025-10-28T16:58:19.694Z,1761670699.694 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:58:20.047Z,1761670700.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889875,0.453431,-0.050229],[-0.452725,0.891291,0.025297],[0.056239,0.000229,0.998417]] 2025-10-28T16:58:20.454Z,1761670700.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896867,0.439631,-0.048524],[-0.439146,0.898175,0.020813],[0.052733,0.002643,0.998605]] 2025-10-28T16:58:20.863Z,1761670700.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903737,0.425500,-0.047006],[-0.425242,0.904941,0.015866],[0.049289,0.005650,0.998769]] 2025-10-28T16:58:21.258Z,1761670701.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910299,0.411465,-0.045305],[-0.411413,0.911384,0.010889],[0.045770,0.008726,0.998914]] 2025-10-28T16:58:21.663Z,1761670701.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916487,0.397767,-0.042824],[-0.397833,0.917429,0.007332],[0.042204,0.010317,0.999056]] 2025-10-28T16:58:22.067Z,1761670702.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922174,0.384769,-0.039337],[-0.384860,0.922958,0.005548],[0.038441,0.010023,0.999211]] 2025-10-28T16:58:22.470Z,1761670702.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927372,0.372360,-0.036461],[-0.372493,0.928029,0.003322],[0.035073,0.010501,0.999330]] 2025-10-28T16:58:22.753Z,1761670702.753 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:58:22.874Z,1761670702.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932377,0.360011,-0.032635],[-0.360110,0.932905,0.003016],[0.031531,0.008940,0.999463]] 2025-10-28T16:58:23.280Z,1761670703.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937056,0.347928,-0.029547],[-0.348023,0.937484,0.002023],[0.028404,0.008387,0.999561]] 2025-10-28T16:58:23.682Z,1761670703.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941659,0.335512,-0.026650],[-0.335622,0.941997,0.000381],[0.025232,0.008585,0.999645]] 2025-10-28T16:58:23.757Z,1761670703.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:58:24.088Z,1761670704.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946245,0.322573,-0.023808],[-0.322705,0.946498,-0.001823],[0.021946,0.009408,0.999715]] 2025-10-28T16:58:24.491Z,1761670704.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950949,0.308654,-0.020709],[-0.308790,0.951123,-0.003619],[0.018579,0.009836,0.999779]] 2025-10-28T16:58:24.896Z,1761670704.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955757,0.293607,-0.018000],[-0.293759,0.955858,-0.006422],[0.015320,0.011426,0.999817]] 2025-10-28T16:58:25.326Z,1761670705.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960794,0.276822,-0.015633],[-0.276999,0.960812,-0.010540],[0.012103,0.014457,0.999822]] 2025-10-28T16:58:25.718Z,1761670705.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965919,0.258521,-0.012936],[-0.258694,0.965855,-0.014170],[0.008831,0.017034,0.999816]] 2025-10-28T16:58:26.122Z,1761670706.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970783,0.239731,-0.010436],[-0.239884,0.970645,-0.017423],[0.005953,0.019417,0.999794]] 2025-10-28T16:58:26.527Z,1761670706.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975499,0.219816,-0.009140],[-0.219974,0.975221,-0.023585],[0.003729,0.025018,0.999680]] 2025-10-28T16:58:26.932Z,1761670706.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979874,0.199483,-0.007307],[-0.199608,0.979508,-0.026850],[0.001802,0.027768,0.999613]] 2025-10-28T16:58:27.346Z,1761670707.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983787,0.179261,-0.005369],[-0.179342,0.983370,-0.028624],[0.000148,0.029123,0.999576]] 2025-10-28T16:58:27.739Z,1761670707.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987223,0.159312,-0.003214],[-0.159340,0.986833,-0.027774],[-0.001253,0.027932,0.999609]] 2025-10-28T16:58:28.146Z,1761670708.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990137,0.140100,-0.001177],[-0.140084,0.989813,-0.025437],[-0.002399,0.025351,0.999676]] 2025-10-28T16:58:28.554Z,1761670708.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992441,0.122718,0.000617],[-0.122677,0.992218,-0.021319],[-0.003228,0.021082,0.999773]] 2025-10-28T16:58:28.953Z,1761670708.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994345,0.106161,0.002638],[-0.106106,0.994228,-0.015857],[-0.004306,0.015487,0.999871]] 2025-10-28T16:58:29.356Z,1761670709.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995791,0.091576,0.003712],[-0.091526,0.995731,-0.011947],[-0.004790,0.011557,0.999922]] 2025-10-28T16:58:29.763Z,1761670709.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996915,0.078352,0.004644],[-0.078318,0.996902,-0.007225],[-0.005196,0.006839,0.999963]] 2025-10-28T16:58:30.163Z,1761670710.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997798,0.066091,0.005555],[-0.066075,0.997810,-0.002904],[-0.005735,0.002530,0.999980]] 2025-10-28T16:58:30.579Z,1761670710.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998491,0.054529,0.006434],[-0.054523,0.998512,-0.001179],[-0.006488,0.000827,0.999979]] 2025-10-28T16:58:30.970Z,1761670710.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999045,0.043106,0.007179],[-0.043098,0.999070,-0.001387],[-0.007233,0.001076,0.999973]] 2025-10-28T16:58:31.375Z,1761670711.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999458,0.031806,0.008446],[-0.031794,0.999493,-0.001550],[-0.008491,0.001280,0.999963]] 2025-10-28T16:58:31.782Z,1761670711.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999752,0.020025,0.009738],[-0.020014,0.999799,-0.001241],[-0.009761,0.001046,0.999952]] 2025-10-28T16:58:32.184Z,1761670712.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999904,0.008044,0.011304],[-0.008017,0.999965,-0.002399],[-0.011323,0.002308,0.999933]] 2025-10-28T16:58:32.213Z,1761670712.213 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateRudder:A] Stopped 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:58:32.214Z,1761670712.214 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateCommandMode] Stopped 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:58:32.215Z,1761670712.215 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:58:32.216Z,1761670712.216 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:58:32.216Z,1761670712.216 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:58:32.216Z,1761670712.216 [marl:UpdateSpeed] Stopped 2025-10-28T16:58:32.216Z,1761670712.216 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:58:32.590Z,1761670712.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999899,-0.005057,0.013301],[0.005125,0.999974,-0.005085],[-0.013275,0.005152,0.999899]] 2025-10-28T16:58:32.643Z,1761670712.643 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T16:58:32.643Z,1761670712.643 [marl:UpdateRudder:B] Stopped 2025-10-28T16:58:32.643Z,1761670712.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:58:32.643Z,1761670712.643 [marl:UpdateRudder] Stopped 2025-10-28T16:58:32.643Z,1761670712.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:58:32.991Z,1761670712.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999701,-0.019008,0.015394],[0.019137,0.999783,-0.008276],[-0.015234,0.008568,0.999847]] 2025-10-28T16:58:33.395Z,1761670713.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999279,-0.033791,0.017327],[0.034002,0.999349,-0.012073],[-0.016908,0.012654,0.999777]] 2025-10-28T16:58:34.249Z,1761670714.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997598,-0.065839,0.021519],[0.066243,0.997629,-0.018639],[-0.020240,0.020020,0.999595]] 2025-10-28T16:58:34.659Z,1761670714.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996275,-0.082981,0.023468],[0.083462,0.996304,-0.020302],[-0.021696,0.022185,0.999518]] 2025-10-28T16:58:35.063Z,1761670715.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992516,-0.119282,0.026134],[0.119965,0.992429,-0.026332],[-0.022796,0.029270,0.999312]] 2025-10-28T16:58:35.463Z,1761670715.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989476,-0.141951,0.028057],[0.143020,0.988884,-0.040666],[-0.021972,0.044251,0.998779]] 2025-10-28T16:58:35.867Z,1761670715.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984819,-0.170639,0.031829],[0.172371,0.982989,-0.063407],[-0.020468,0.067930,0.997480]] 2025-10-28T16:58:36.273Z,1761670716.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978466,-0.202910,0.037841],[0.205611,0.974262,-0.092400],[-0.018118,0.098191,0.995003]] 2025-10-28T16:58:36.674Z,1761670716.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970394,-0.237185,0.045589],[0.241074,0.962717,-0.122713],[-0.014784,0.130071,0.991394]] 2025-10-28T16:58:37.076Z,1761670717.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960842,-0.271803,0.053903],[0.276870,0.949583,-0.147090],[-0.011206,0.156255,0.987653]] 2025-10-28T16:58:37.478Z,1761670717.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950315,-0.305095,0.061790],[0.311203,0.935820,-0.165510],[-0.007328,0.176516,0.984271]] 2025-10-28T16:58:37.885Z,1761670717.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939350,-0.336219,0.067665],[0.342942,0.922831,-0.175423],[-0.003463,0.187988,0.982165]] 2025-10-28T16:58:38.286Z,1761670718.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928014,-0.365597,0.071611],[0.372544,0.910412,-0.179891],[0.000572,0.193619,0.981077]] 2025-10-28T16:58:38.691Z,1761670718.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916458,-0.393292,0.073659],[0.400108,0.898795,-0.179111],[0.004239,0.193620,0.981067]] 2025-10-28T16:58:39.095Z,1761670719.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904466,-0.419958,0.074673],[0.426476,0.887195,-0.176075],[0.007695,0.191100,0.981540]] 2025-10-28T16:58:39.499Z,1761670719.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892087,-0.445703,0.074365],[0.451734,0.875729,-0.170396],[0.010823,0.185601,0.982565]] 2025-10-28T16:58:39.902Z,1761670719.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879195,-0.470719,0.073754],[0.476270,0.863853,-0.164091],[0.013528,0.179395,0.983684]] 2025-10-28T16:58:40.315Z,1761670720.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865805,-0.494837,0.074280],[0.500121,0.850979,-0.160353],[0.016138,0.175984,0.984261]] 2025-10-28T16:58:40.712Z,1761670720.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851431,-0.518968,0.075746],[0.524136,0.836849,-0.158006],[0.018612,0.174232,0.984529]] 2025-10-28T16:58:41.115Z,1761670721.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836010,-0.543338,0.076622],[0.548295,0.821734,-0.155327],[0.021432,0.171867,0.984887]] 2025-10-28T16:58:41.519Z,1761670721.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819890,-0.567231,0.077647],[0.572000,0.805795,-0.153330],[0.024406,0.170128,0.985120]] 2025-10-28T16:58:41.923Z,1761670721.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802610,-0.591095,0.080147],[0.595882,0.788367,-0.152979],[0.027240,0.170541,0.984974]] 2025-10-28T16:58:42.331Z,1761670722.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783412,-0.615812,0.083916],[0.620764,0.768732,-0.153958],[0.030300,0.172705,0.984508]] 2025-10-28T16:58:42.730Z,1761670722.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763511,-0.639811,0.087704],[0.644951,0.748509,-0.154184],[0.033001,0.174286,0.984142]] 2025-10-28T16:58:43.134Z,1761670723.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742380,-0.663964,0.089575],[0.668996,0.727398,-0.152760],[0.036270,0.173331,0.984195]] 2025-10-28T16:58:43.539Z,1761670723.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721189,-0.686686,0.091372],[0.691624,0.706259,-0.151179],[0.039281,0.172224,0.984274]] 2025-10-28T16:58:43.633Z,1761670723.633 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:58:43.745Z,1761670723.745 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:58:43.745Z,1761670723.745 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:58:43.944Z,1761670723.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699594,-0.708292,0.094290],[0.713313,0.684555,-0.150228],[0.041858,0.172356,0.984145]] 2025-10-28T16:58:43.998Z,1761670723.998 [DAT](INFO): DAT read: user:35> 2025-10-28T16:58:43.998Z,1761670723.998 [DAT](INFO): DAT read: Tx time:16:58:43.7635 2025-10-28T16:58:43.999Z,1761670723.999 [DAT](INFO): Ping request sent. 2025-10-28T16:58:43.999Z,1761670723.999 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:58:43.999Z,1761670723.999 [DAT](INFO): publishing transmit ping time 2025-10-28T16:58:43.000Z,1761670724.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000917 2025-10-28T16:58:44.249Z,1761670724.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250178 2025-10-28T16:58:44.347Z,1761670724.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677365,-0.729334,0.096168],[0.734312,0.662461,-0.148096],[0.044304,0.170932,0.984286]] 2025-10-28T16:58:44.501Z,1761670724.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502178 2025-10-28T16:58:44.754Z,1761670724.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754811 2025-10-28T16:58:44.756Z,1761670724.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654712,-0.749496,0.098020],[0.754467,0.640053,-0.145298],[0.046163,0.169082,0.984520]] 2025-10-28T16:58:45.005Z,1761670725.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006197 2025-10-28T16:58:45.156Z,1761670725.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631208,-0.768999,0.101077],[0.774163,0.616690,-0.142703],[0.047405,0.168325,0.984591]] 2025-10-28T16:58:45.257Z,1761670725.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258540 2025-10-28T16:58:45.509Z,1761670725.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510008 2025-10-28T16:58:45.564Z,1761670725.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607031,-0.787802,0.104314],[0.793216,0.592712,-0.139647],[0.048186,0.167514,0.984692]] 2025-10-28T16:58:45.668Z,1761670725.668 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:58:45.668Z,1761670725.668 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateRudder:A] Stopped 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:58:45.669Z,1761670725.669 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateCommandMode] Stopped 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:58:45.670Z,1761670725.670 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:58:45.671Z,1761670725.671 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:58:45.671Z,1761670725.671 [marl:UpdateSpeed] Stopped 2025-10-28T16:58:45.671Z,1761670725.671 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:58:45.773Z,1761670725.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774156 2025-10-28T16:58:45.962Z,1761670725.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582340,-0.805839,0.107253],[0.811475,0.568277,-0.136267],[0.048860,0.166387,0.984849]] 2025-10-28T16:58:46.021Z,1761670726.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022263 2025-10-28T16:58:46.022Z,1761670726.022 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T16:58:46.022Z,1761670726.022 [marl:UpdateRudder:B] Stopped 2025-10-28T16:58:46.022Z,1761670726.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:58:46.022Z,1761670726.022 [marl:UpdateRudder] Stopped 2025-10-28T16:58:46.022Z,1761670726.022 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:58:46.273Z,1761670726.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274187 2025-10-28T16:58:46.366Z,1761670726.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557458,-0.822892,0.109950],[0.828754,0.543756,-0.132274],[0.049061,0.164858,0.985096]] 2025-10-28T16:58:46.525Z,1761670726.525 [DAT](INFO): DAT read: Rx Time:16:58:45.9411 2025-10-28T16:58:46.525Z,1761670726.525 [DAT](INFO): Rx dataTimestamp_ set to:1761670726.525188 2025-10-28T16:58:46.526Z,1761670726.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527287 2025-10-28T16:58:46.777Z,1761670726.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778613 2025-10-28T16:58:46.778Z,1761670726.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531515,-0.839339,0.114025],[0.845616,0.517959,-0.129041],[0.049249,0.165009,0.985062]] 2025-10-28T16:58:47.029Z,1761670727.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030124 2025-10-28T16:58:47.177Z,1761670727.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504484,-0.855144,0.119267],[0.862009,0.490934,-0.126189],[0.049358,0.166470,0.984810]] 2025-10-28T16:58:47.290Z,1761670727.290 [DAT](INFO): DAT read: 16:58:45.9411 LVL= 14880, 31393, 31058, 32755, AGC= 55, IDX= 172,-0.27, 0.110,-1.605,-1.386,-1.160, PHS= 1.372,-0.400,-0.270, RAW= 93.8, -8.3, CAL= 93.9, -9.6, ROT= 56.1, 9.6 2025-10-28T16:58:47.292Z,1761670727.292 [DAT](INFO): got valid direction response: 16:58:45.9411 LVL= 14880, 31393, 31058, 32755, AGC= 55, IDX= 172,-0.27, 0.110,-1.605,-1.386,-1.160, PHS= 1.372,-0.400,-0.270, RAW= 93.8, -8.3, CAL= 93.9, -9.6, ROT= 56.1, 9.6 2025-10-28T16:58:47.293Z,1761670727.293 [DAT](INFO): DAT read: Bearing 101, -5 (Remote) 2025-10-28T16:58:47.294Z,1761670727.294 [DAT](INFO): Remote Bearing received:Bearing 101, -5 (Remote) 2025-10-28T16:58:47.295Z,1761670727.295 [DAT](INFO): DAT read: Bearing 177.8, 53.7 (Local) 2025-10-28T16:58:47.295Z,1761670727.295 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, 53.7 (Local) 2025-10-28T16:58:47.298Z,1761670727.298 [DAT](INFO): DAT read: Range 11 to 20 : 111.3 m (Round-trip 148.4 ms) speed 0.1 m/s 2025-10-28T16:58:47.299Z,1761670727.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:58:47.300Z,1761670727.300 [DAT](INFO): direction in FSK: [0.549934,0.818389,-0.166769] 2025-10-28T16:58:47.301Z,1761670727.301 [DAT](INFO): publishing direction and range info 2025-10-28T16:58:47.635Z,1761670727.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476320,-0.870594,0.123231],[0.877853,0.462896,-0.122888],[0.049943,0.166713,0.984740]] 2025-10-28T16:58:47.704Z,1761670727.704 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670784.00. Resetting abort timer. 2025-10-28T16:58:47.982Z,1761670727.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447653,-0.885271,0.126100],[0.892772,0.434482,-0.119096],[0.050644,0.165893,0.984843]] 2025-10-28T16:58:48.387Z,1761670728.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418458,-0.899026,0.129019],[0.906774,0.405489,-0.115496],[0.051518,0.165321,0.984893]] 2025-10-28T16:58:48.820Z,1761670728.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388661,-0.911615,0.133796],[0.919890,0.375660,-0.112617],[0.052401,0.166848,0.984589]] 2025-10-28T16:58:49.194Z,1761670729.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359314,-0.922983,0.137827],[0.931713,0.346420,-0.109107],[0.052958,0.167619,0.984428]] 2025-10-28T16:58:49.642Z,1761670729.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330573,-0.933277,0.140415],[0.942272,0.317964,-0.104984],[0.053332,0.167013,0.984511]] 2025-10-28T16:58:50.003Z,1761670730.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301947,-0.942597,0.142614],[0.951823,0.289686,-0.100570],[0.053483,0.166110,0.984656]] 2025-10-28T16:58:50.408Z,1761670730.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273435,-0.950931,0.144791],[0.960413,0.261564,-0.095872],[0.053295,0.165274,0.984807]] 2025-10-28T16:58:50.815Z,1761670730.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244800,-0.958484,0.146223],[0.968140,0.233444,-0.090608],[0.052711,0.163745,0.985093]] 2025-10-28T16:58:51.214Z,1761670731.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216132,-0.964877,0.149331],[0.974994,0.205191,-0.085339],[0.051700,0.164041,0.985098]] 2025-10-28T16:58:51.642Z,1761670731.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188132,-0.970609,0.150079],[0.980842,0.177811,-0.079574],[0.050550,0.162174,0.985467]] 2025-10-28T16:58:52.024Z,1761670732.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159598,-0.975644,0.150490],[0.985947,0.149912,-0.073720],[0.049364,0.160141,0.985859]] 2025-10-28T16:58:52.426Z,1761670732.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130071,-0.979602,0.153174],[0.990323,0.120816,-0.068292],[0.048393,0.160575,0.985837]] 2025-10-28T16:58:52.830Z,1761670732.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100982,-0.982740,0.155000],[0.993778,0.092280,-0.062369],[0.046989,0.160334,0.985944]] 2025-10-28T16:58:53.235Z,1761670733.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070845,-0.985116,0.156610],[0.996427,0.062654,-0.056645],[0.045989,0.160064,0.986035]] 2025-10-28T16:58:53.652Z,1761670733.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040677,-0.986767,0.156962],[0.998173,0.033108,-0.050537],[0.044671,0.158731,0.986311]] 2025-10-28T16:58:53.878Z,1761670733.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:58:54.043Z,1761670734.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011178,-0.987368,0.158049],[0.999020,0.004258,-0.044057],[0.042828,0.158387,0.986448]] 2025-10-28T16:58:54.447Z,1761670734.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019119,-0.987091,0.159016],[0.998983,-0.025356,-0.037286],[0.040836,0.158142,0.986572]] 2025-10-28T16:58:54.854Z,1761670734.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049376,-0.985836,0.160279],[0.998055,-0.054815,-0.029688],[0.038053,0.158502,0.986625]] 2025-10-28T16:58:54.880Z,1761670734.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:58:55.256Z,1761670735.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081548,-0.983569,0.161067],[0.996024,-0.086239,-0.022336],[0.035859,0.158605,0.986691]] 2025-10-28T16:58:55.658Z,1761670735.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113939,-0.980363,0.160954],[0.992925,-0.117823,-0.014767],[0.033441,0.158133,0.986851]] 2025-10-28T16:58:56.062Z,1761670736.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146788,-0.975913,0.161389],[0.988691,-0.149820,-0.006711],[0.030729,0.158579,0.986868]] 2025-10-28T16:58:56.466Z,1761670736.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180017,-0.970453,0.160670],[0.983260,-0.182203,0.001142],[0.028166,0.158186,0.987007]] 2025-10-28T16:58:56.879Z,1761670736.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212787,-0.963982,0.159560],[0.976747,-0.214234,0.008285],[0.026196,0.157613,0.987153]] 2025-10-28T16:58:57.287Z,1761670737.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245922,-0.956020,0.159835],[0.968973,-0.246687,0.015351],[0.024753,0.158651,0.987024]] 2025-10-28T16:58:57.678Z,1761670737.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279153,-0.946793,0.160176],[0.959949,-0.279312,0.021990],[0.023919,0.159900,0.986843]] 2025-10-28T16:58:58.083Z,1761670738.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311791,-0.936477,0.160616],[0.949856,-0.311420,0.028131],[0.023675,0.161333,0.986616]] 2025-10-28T16:58:58.490Z,1761670738.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342605,-0.925896,0.159179],[0.939193,-0.341731,0.033702],[0.023191,0.161047,0.986674]] 2025-10-28T16:58:58.514Z,1761670738.514 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:58:58.514Z,1761670738.514 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:58:58.514Z,1761670738.514 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateRudder:A] Stopped 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode] Stopped 2025-10-28T16:58:58.515Z,1761670738.515 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:58:58.516Z,1761670738.516 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:58:58.516Z,1761670738.516 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:58:58.516Z,1761670738.516 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:58:58.516Z,1761670738.516 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:58:58.516Z,1761670738.516 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:58:58.517Z,1761670738.517 [marl:UpdateSpeed] Stopped 2025-10-28T16:58:58.517Z,1761670738.517 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:58:58.893Z,1761670738.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372486,-0.914555,0.157619],[0.927746,-0.371217,0.038538],[0.023266,0.160586,0.986748]] 2025-10-28T16:58:58.918Z,1761670738.918 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T16:58:58.918Z,1761670738.918 [marl:UpdateRudder:B] Stopped 2025-10-28T16:58:58.918Z,1761670738.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:58:58.918Z,1761670738.918 [marl:UpdateRudder] Stopped 2025-10-28T16:58:58.919Z,1761670738.919 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:58:59.303Z,1761670739.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400697,-0.902761,0.156413],[0.915918,-0.399005,0.043471],[0.023166,0.160680,0.986735]] 2025-10-28T16:58:59.698Z,1761670739.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428534,-0.890178,0.154732],[0.903226,-0.426473,0.047991],[0.023268,0.160324,0.986790]] 2025-10-28T16:59:00.104Z,1761670740.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455367,-0.877068,0.152947],[0.890002,-0.452915,0.052569],[0.023166,0.160061,0.986835]] 2025-10-28T16:59:00.917Z,1761670740.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505732,-0.850397,0.145119],[0.862461,-0.502275,0.062300],[0.019910,0.156666,0.987451]] 2025-10-28T16:59:01.317Z,1761670741.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531226,-0.835543,0.140239],[0.847038,-0.527303,0.066912],[0.018041,0.154333,0.987854]] 2025-10-28T16:59:01.719Z,1761670741.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555759,-0.820370,0.134629],[0.831201,-0.551325,0.071729],[0.015380,0.151767,0.988297]] 2025-10-28T16:59:02.123Z,1761670742.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580173,-0.804230,0.128892],[0.814402,-0.575169,0.077007],[0.012203,0.149647,0.988664]] 2025-10-28T16:59:02.528Z,1761670742.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604394,-0.787163,0.122807],[0.796637,-0.598825,0.082328],[0.008734,0.147591,0.989010]] 2025-10-28T16:59:02.932Z,1761670742.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628824,-0.768676,0.117122],[0.777529,-0.622657,0.088010],[0.005275,0.146409,0.989210]] 2025-10-28T16:59:03.337Z,1761670743.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652948,-0.749134,0.111609],[0.757401,-0.646105,0.094299],[0.001468,0.146105,0.989268]] 2025-10-28T16:59:03.739Z,1761670743.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677000,-0.728364,0.105623],[0.735979,-0.669496,0.100550],[-0.002523,0.145809,0.989310]] 2025-10-28T16:59:04.143Z,1761670744.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701058,-0.706081,0.099841],[0.713076,-0.692864,0.107064],[-0.006420,0.146252,0.989226]] 2025-10-28T16:59:04.547Z,1761670744.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724889,-0.682492,0.093490],[0.688784,-0.716006,0.113627],[-0.010610,0.146762,0.989115]] 2025-10-28T16:59:04.951Z,1761670744.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748234,-0.657643,0.087476],[0.663269,-0.738570,0.120783],[-0.014825,0.148393,0.988817]] 2025-10-28T16:59:05.365Z,1761670745.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770276,-0.632608,0.080513],[0.637416,-0.759921,0.127362],[-0.019386,0.149424,0.988583]] 2025-10-28T16:59:05.770Z,1761670745.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792120,-0.605828,0.074285],[0.609932,-0.781087,0.133741],[-0.023001,0.151248,0.988228]] 2025-10-28T16:59:06.162Z,1761670746.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812599,-0.578780,0.068533],[0.582238,-0.800882,0.139949],[-0.026113,0.153625,0.987784]] 2025-10-28T16:59:06.566Z,1761670746.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831982,-0.551231,0.062859],[0.554077,-0.819749,0.144951],[-0.028373,0.155425,0.987440]] 2025-10-28T16:59:06.972Z,1761670746.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850050,-0.523574,0.057328],[0.525850,-0.837443,0.148899],[-0.029951,0.156717,0.987189]] 2025-10-28T16:59:07.385Z,1761670747.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866106,-0.497190,0.051598],[0.498865,-0.853251,0.151978],[-0.031536,0.157370,0.987036]] 2025-10-28T16:59:07.785Z,1761670747.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881137,-0.470636,0.045817],[0.471765,-0.868369,0.152884],[-0.032167,0.156326,0.987182]] 2025-10-28T16:59:08.182Z,1761670748.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895196,-0.443904,0.039659],[0.444500,-0.882849,0.151646],[-0.032303,0.153381,0.987639]] 2025-10-28T16:59:08.587Z,1761670748.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907607,-0.418518,0.033046],[0.418536,-0.895871,0.149137],[-0.032811,0.149189,0.988264]] 2025-10-28T16:59:08.993Z,1761670748.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919174,-0.392925,0.027008],[0.392431,-0.907882,0.147470],[-0.033424,0.146149,0.988698]] 2025-10-28T16:59:09.398Z,1761670749.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929965,-0.366987,0.022030],[0.366048,-0.918675,0.148473],[-0.034249,0.146138,0.988671]] 2025-10-28T16:59:09.799Z,1761670749.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939866,-0.341130,0.016802],[0.339684,-0.928493,0.150053],[-0.035587,0.146737,0.988535]] 2025-10-28T16:59:10.203Z,1761670750.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949008,-0.315077,0.010538],[0.313002,-0.937717,0.150719],[-0.037606,0.146332,0.988520]] 2025-10-28T16:59:10.609Z,1761670750.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957425,-0.288665,0.003302],[0.285870,-0.946439,0.150104],[-0.040204,0.144657,0.988665]] 2025-10-28T16:59:11.011Z,1761670751.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965160,-0.261630,-0.003993],[0.258052,-0.954265,0.150954],[-0.043304,0.144665,0.988533]] 2025-10-28T16:59:11.417Z,1761670751.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972112,-0.234223,-0.011781],[0.229788,-0.961340,0.151735],[-0.046866,0.144796,0.988351]] 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateRudder:A] Stopped 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:59:11.466Z,1761670751.466 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode] Stopped 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:59:11.467Z,1761670751.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:59:11.468Z,1761670751.468 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:59:11.472Z,1761670751.472 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:59:11.472Z,1761670751.472 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:59:11.472Z,1761670751.472 [marl:UpdateSpeed] Stopped 2025-10-28T16:59:11.472Z,1761670751.472 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:59:11.818Z,1761670751.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978466,-0.205439,-0.019957],[0.200115,-0.967886,0.152154],[-0.050574,0.144884,0.988155]] 2025-10-28T16:59:11.880Z,1761670751.880 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T16:59:11.880Z,1761670751.880 [marl:UpdateRudder:B] Stopped 2025-10-28T16:59:11.880Z,1761670751.880 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:59:11.880Z,1761670751.880 [marl:UpdateRudder] Stopped 2025-10-28T16:59:11.880Z,1761670751.880 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:59:12.222Z,1761670752.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984146,-0.175081,-0.028353],[0.168851,-0.973797,0.152342],[-0.054282,0.145139,0.987921]] 2025-10-28T16:59:12.626Z,1761670752.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988890,-0.144046,-0.036715],[0.136994,-0.978983,0.151079],[-0.057706,0.144371,0.987840]] 2025-10-28T16:59:13.030Z,1761670753.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992703,-0.111935,-0.044844],[0.104066,-0.983143,0.150336],[-0.060916,0.144572,0.987617]] 2025-10-28T16:59:13.472Z,1761670753.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995523,-0.078553,-0.052572],[0.069979,-0.986399,0.148728],[-0.063540,0.144384,0.987480]] 2025-10-28T16:59:13.839Z,1761670753.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997224,-0.045004,-0.059320],[0.035805,-0.988350,0.147924],[-0.065286,0.145389,0.987218]] 2025-10-28T16:59:14.248Z,1761670754.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997798,-0.010936,-0.065425],[0.001229,-0.989194,0.146610],[-0.066321,0.146206,0.987028]] 2025-10-28T16:59:14.646Z,1761670754.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997250,0.020866,-0.071109],[-0.030649,-0.989762,0.139396],[-0.067472,0.141193,0.987680]] 2025-10-28T16:59:15.051Z,1761670755.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995923,0.049402,-0.075481],[-0.058355,-0.990883,0.121430],[-0.068794,0.125339,0.989726]] 2025-10-28T16:59:15.466Z,1761670755.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994189,0.074169,-0.078023],[-0.081520,-0.992068,0.095683],[-0.070307,0.101487,0.992349]] 2025-10-28T16:59:16.270Z,1761670756.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990444,0.113112,-0.078901],[-0.117086,-0.991976,0.047694],[-0.072873,0.056476,0.995741]] 2025-10-28T16:59:16.667Z,1761670756.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988638,0.127914,-0.078948],[-0.130675,-0.990946,0.030829],[-0.074290,0.040796,0.996402]] 2025-10-28T16:59:17.070Z,1761670757.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986782,0.141353,-0.079250],[-0.143270,-0.989501,0.019011],[-0.075731,0.030114,0.996673]] 2025-10-28T16:59:17.475Z,1761670757.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984844,0.153853,-0.080070],[-0.155149,-0.987839,0.010183],[-0.077529,0.022452,0.996737]] 2025-10-28T16:59:17.881Z,1761670757.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982886,0.165472,-0.080961],[-0.166284,-0.986072,0.003352],[-0.079279,0.016757,0.996712]] 2025-10-28T16:59:18.283Z,1761670758.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980833,0.176588,-0.082365],[-0.177036,-0.984203,-0.001886],[-0.081397,0.012732,0.996601]] 2025-10-28T16:59:18.687Z,1761670758.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978693,0.187083,-0.084611],[-0.187285,-0.982289,-0.005610],[-0.084162,0.010356,0.996398]] 2025-10-28T16:59:19.091Z,1761670759.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976265,0.198146,-0.087437],[-0.198201,-0.980128,-0.008150],[-0.087314,0.009373,0.996137]] 2025-10-28T16:59:19.498Z,1761670759.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973433,0.210410,-0.090307],[-0.210250,-0.977581,-0.011388],[-0.090679,0.007901,0.995849]] 2025-10-28T16:59:19.900Z,1761670759.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969941,0.224790,-0.093184],[-0.224418,-0.974384,-0.014586],[-0.094075,0.006765,0.995542]] 2025-10-28T16:59:20.312Z,1761670760.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965972,0.240078,-0.096237],[-0.239497,-0.970735,-0.017710],[-0.097672,0.005941,0.995201]] 2025-10-28T16:59:20.713Z,1761670760.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955768,0.276088,-0.101402],[-0.275062,-0.961121,-0.024241],[-0.104152,0.004723,0.994550]] 2025-10-28T16:59:21.116Z,1761670761.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949844,0.295167,-0.103312],[-0.293897,-0.955437,-0.027651],[-0.106869,0.004099,0.994265]] 2025-10-28T16:59:21.524Z,1761670761.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943276,0.314806,-0.105486],[-0.313474,-0.949141,-0.029417],[-0.109382,0.005319,0.993986]] 2025-10-28T16:59:21.923Z,1761670761.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936218,0.334768,-0.106898],[-0.333351,-0.942280,-0.031395],[-0.111238,0.006241,0.993774]] 2025-10-28T16:59:22.328Z,1761670762.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928638,0.354888,-0.108100],[-0.353576,-0.934868,-0.031725],[-0.112318,0.008761,0.993634]] 2025-10-28T16:59:22.730Z,1761670762.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920726,0.374852,-0.108399],[-0.373544,-0.927029,-0.032902],[-0.112823,0.010198,0.993563]] 2025-10-28T16:59:23.130Z,1761670763.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912626,0.394090,-0.108655],[-0.392836,-0.918993,-0.033626],[-0.113105,0.011996,0.993511]] 2025-10-28T16:59:23.538Z,1761670763.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904587,0.411993,-0.109475],[-0.411034,-0.911050,-0.032243],[-0.113021,0.015831,0.993466]] 2025-10-28T16:59:23.940Z,1761670763.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896923,0.428372,-0.109669],[-0.427568,-0.903419,-0.031948],[-0.112763,0.018236,0.993455]] 2025-10-28T16:59:24.346Z,1761670764.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889069,0.444309,-0.110205],[-0.443683,-0.895630,-0.031501],[-0.112700,0.020889,0.993410]] 2025-10-28T16:59:24.376Z,1761670764.376 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateRudder:A] Stopped 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:59:24.377Z,1761670764.377 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateCommandMode] Stopped 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:59:24.378Z,1761670764.378 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:59:24.379Z,1761670764.379 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:59:24.379Z,1761670764.379 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:59:24.379Z,1761670764.379 [marl:UpdateSpeed] Stopped 2025-10-28T16:59:24.379Z,1761670764.379 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:59:24.758Z,1761670764.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881589,0.458807,-0.110892],[-0.458457,-0.888205,-0.030151],[-0.112328,0.024259,0.993375]] 2025-10-28T16:59:24.817Z,1761670764.817 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:59:24.817Z,1761670764.817 [marl:UpdateRudder:B] Stopped 2025-10-28T16:59:24.817Z,1761670764.817 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:59:24.817Z,1761670764.817 [marl:UpdateRudder] Stopped 2025-10-28T16:59:24.817Z,1761670764.817 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:59:25.000Z,1761670765.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:59:25.151Z,1761670765.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874303,0.472465,-0.111222],[-0.472223,-0.880962,-0.030191],[-0.112246,0.026126,0.993337]] 2025-10-28T16:59:25.563Z,1761670765.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866866,0.485877,-0.111653],[-0.485700,-0.873589,-0.030629],[-0.112421,0.027678,0.993275]] 2025-10-28T16:59:25.958Z,1761670765.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859594,0.498729,-0.111212],[-0.498657,-0.866264,-0.030462],[-0.111532,0.029272,0.993330]] 2025-10-28T16:59:26.004Z,1761670766.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:59:26.385Z,1761670766.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852305,0.511471,-0.109423],[-0.511348,-0.858803,-0.031335],[-0.109999,0.029246,0.993501]] 2025-10-28T16:59:26.786Z,1761670766.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844501,0.524871,-0.106439],[-0.524527,-0.850736,-0.033469],[-0.108118,0.027566,0.993756]] 2025-10-28T16:59:27.187Z,1761670767.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837262,0.537099,-0.102557],[-0.536374,-0.843174,-0.036877],[-0.106280,0.024134,0.994043]] 2025-10-28T16:59:27.638Z,1761670767.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831987,0.546460,-0.095809],[-0.544871,-0.837346,-0.044360],[-0.104466,0.015296,0.994411]] 2025-10-28T16:59:27.996Z,1761670767.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828994,0.552782,-0.084859],[-0.549694,-0.833324,-0.058375],[-0.102983,-0.001746,0.994682]] 2025-10-28T16:59:28.401Z,1761670768.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827855,0.556539,-0.070149],[-0.551721,-0.830436,-0.077336],[-0.101295,-0.025321,0.994534]] 2025-10-28T16:59:28.803Z,1761670768.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827725,0.558710,-0.052110],[-0.552198,-0.827530,-0.101352],[-0.099749,-0.055116,0.993485]] 2025-10-28T16:59:29.207Z,1761670769.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828445,0.559059,-0.033640],[-0.551364,-0.824643,-0.126340],[-0.098372,-0.086118,0.991416]] 2025-10-28T16:59:29.643Z,1761670769.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829690,0.557995,-0.016017],[-0.549819,-0.821820,-0.149367],[-0.096508,-0.115122,0.988652]] 2025-10-28T16:59:30.015Z,1761670770.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830980,0.556302,-0.000348],[-0.548178,-0.818950,-0.169767],[-0.094727,-0.140882,0.985484]] 2025-10-28T16:59:30.422Z,1761670770.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832046,0.554553,0.013048],[-0.546801,-0.816005,-0.187471],[-0.093316,-0.163119,0.982183]] 2025-10-28T16:59:30.822Z,1761670770.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832184,0.553971,0.024190],[-0.546870,-0.812741,-0.200962],[-0.091667,-0.180467,0.979300]] 2025-10-28T16:59:31.246Z,1761670771.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831977,0.553850,0.032620],[-0.547501,-0.810085,-0.209772],[-0.089757,-0.192385,0.977206]] 2025-10-28T16:59:31.664Z,1761670771.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830603,0.555459,0.039554],[-0.549922,-0.806992,-0.215290],[-0.087665,-0.200572,0.975749]] 2025-10-28T16:59:32.066Z,1761670772.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828690,0.557837,0.045731],[-0.553167,-0.803813,-0.218842],[-0.085319,-0.206649,0.974688]] 2025-10-28T16:59:32.473Z,1761670772.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825995,0.561413,0.050480],[-0.557496,-0.800426,-0.220266],[-0.083254,-0.210081,0.974133]] 2025-10-28T16:59:32.874Z,1761670772.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822818,0.565722,0.054118],[-0.562464,-0.797043,-0.219900],[-0.081268,-0.211377,0.974020]] 2025-10-28T16:59:33.278Z,1761670773.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819499,0.570286,0.056525],[-0.567518,-0.793881,-0.218350],[-0.079648,-0.211017,0.974232]] 2025-10-28T16:59:33.690Z,1761670773.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816589,0.574280,0.058185],[-0.571983,-0.791509,-0.215290],[-0.077583,-0.209084,0.974815]] 2025-10-28T16:59:34.086Z,1761670774.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814305,0.577500,0.058313],[-0.575467,-0.790131,-0.211021],[-0.075789,-0.205393,0.975741]] 2025-10-28T16:59:34.491Z,1761670774.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812941,0.579410,0.058407],[-0.577647,-0.789600,-0.207017],[-0.073829,-0.202031,0.976592]] 2025-10-28T16:59:34.894Z,1761670774.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811512,0.581402,0.058475],[-0.579931,-0.789090,-0.202524],[-0.071606,-0.198262,0.977530]] 2025-10-28T16:59:35.299Z,1761670775.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809884,0.583581,0.059338],[-0.582469,-0.788101,-0.199065],[-0.069406,-0.195782,0.978188]] 2025-10-28T16:59:35.708Z,1761670775.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807590,0.586545,0.061350],[-0.585953,-0.786266,-0.196073],[-0.066768,-0.194295,0.978668]] 2025-10-28T16:59:36.107Z,1761670776.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804896,0.589954,0.063999],[-0.589927,-0.783819,-0.193943],[-0.064254,-0.193859,0.978923]] 2025-10-28T16:59:36.510Z,1761670776.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801992,0.593616,0.066553],[-0.594137,-0.781215,-0.191587],[-0.061737,-0.193192,0.979217]] 2025-10-28T16:59:36.915Z,1761670776.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798817,0.597516,0.069765],[-0.598638,-0.778109,-0.190205],[-0.059366,-0.193703,0.979262]] 2025-10-28T16:59:37.320Z,1761670777.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795232,0.601842,0.073431],[-0.603587,-0.774385,-0.189765],[-0.057345,-0.195229,0.979080]] 2025-10-28T16:59:37.344Z,1761670777.344 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:59:37.344Z,1761670777.344 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:59:37.344Z,1761670777.344 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:59:37.344Z,1761670777.344 [marl:UpdateRudder:A] Stopped 2025-10-28T16:59:37.344Z,1761670777.344 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode] Stopped 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:59:37.345Z,1761670777.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed] Stopped 2025-10-28T16:59:37.346Z,1761670777.346 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:59:37.735Z,1761670777.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791790,0.605951,0.076761],[-0.608366,-0.771194,-0.187484],[-0.054409,-0.195147,0.979264]] 2025-10-28T16:59:37.816Z,1761670777.816 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T16:59:37.816Z,1761670777.816 [marl:UpdateRudder:B] Stopped 2025-10-28T16:59:37.817Z,1761670777.817 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:59:37.817Z,1761670777.817 [marl:UpdateRudder] Stopped 2025-10-28T16:59:37.817Z,1761670777.817 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:59:38.127Z,1761670778.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789078,0.609135,0.079439],[-0.612194,-0.769096,-0.183601],[-0.050741,-0.193507,0.979786]] 2025-10-28T16:59:38.533Z,1761670778.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787271,0.611248,0.081115],[-0.614872,-0.768371,-0.177590],[-0.046225,-0.189687,0.980756]] 2025-10-28T16:59:38.934Z,1761670778.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786564,0.612027,0.082097],[-0.616107,-0.768856,-0.171093],[-0.041593,-0.185156,0.981828]] 2025-10-28T16:59:39.339Z,1761670779.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787048,0.611338,0.082595],[-0.615781,-0.770522,-0.164650],[-0.037016,-0.180448,0.982888]] 2025-10-28T16:59:39.749Z,1761670779.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788140,0.609845,0.083219],[-0.614644,-0.772710,-0.158527],[-0.032373,-0.176092,0.983841]] 2025-10-28T16:59:40.148Z,1761670780.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789553,0.607598,0.086208],[-0.613072,-0.774676,-0.154985],[-0.027386,-0.175221,0.984148]] 2025-10-28T16:59:40.550Z,1761670780.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790899,0.605115,0.091184],[-0.611547,-0.776180,-0.153475],[-0.022095,-0.177147,0.983936]] 2025-10-28T16:59:40.954Z,1761670780.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791303,0.603646,0.097216],[-0.611191,-0.776547,-0.153039],[-0.016889,-0.180517,0.983427]] 2025-10-28T16:59:41.358Z,1761670781.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790468,0.603656,0.103730],[-0.612391,-0.775653,-0.152775],[-0.011765,-0.184288,0.982802]] 2025-10-28T16:59:41.769Z,1761670781.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788727,0.604683,0.110765],[-0.614707,-0.773804,-0.152847],[-0.006714,-0.188642,0.982023]] 2025-10-28T16:59:42.166Z,1761670782.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786121,0.606661,0.118221],[-0.618070,-0.771069,-0.153110],[-0.001729,-0.193432,0.981112]] 2025-10-28T16:59:42.570Z,1761670782.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782929,0.609218,0.126002],[-0.622104,-0.767717,-0.153616],[0.003148,-0.198656,0.980064]] 2025-10-28T16:59:42.975Z,1761670782.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779657,0.612056,0.132376],[-0.626156,-0.764687,-0.152261],[0.008034,-0.201599,0.979435]] 2025-10-28T16:59:43.380Z,1761670783.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776269,0.615548,0.136041],[-0.630281,-0.762063,-0.148342],[0.012360,-0.200898,0.979534]] 2025-10-28T16:59:43.785Z,1761670783.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772830,0.618950,0.140122],[-0.634398,-0.759253,-0.145170],[0.016536,-0.201085,0.979434]] 2025-10-28T16:59:43.842Z,1761670783.842 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T16:59:44.009Z,1761670784.009 [DAT](DEBUG): Acoustic response timeout 2025-10-28T16:59:44.009Z,1761670784.009 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T16:59:44.187Z,1761670784.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769150,0.622398,0.145013],[-0.638729,-0.756081,-0.142714],[0.020817,-0.202393,0.979083]] 2025-10-28T16:59:44.265Z,1761670784.265 [DAT](INFO): DAT read: user:36> 2025-10-28T16:59:44.266Z,1761670784.266 [DAT](INFO): DAT read: Tx time:16:59:44.0134 2025-10-28T16:59:44.266Z,1761670784.266 [DAT](INFO): Ping request sent. 2025-10-28T16:59:44.266Z,1761670784.266 [DAT](INFO): transmitted an acoustic signal 2025-10-28T16:59:44.267Z,1761670784.267 [DAT](INFO): publishing transmit ping time 2025-10-28T16:59:44.268Z,1761670784.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001181 2025-10-28T16:59:44.513Z,1761670784.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246458 2025-10-28T16:59:44.590Z,1761670784.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765268,0.626071,0.149667],[-0.643223,-0.752790,-0.139895],[0.025084,-0.203327,0.978790]] 2025-10-28T16:59:44.765Z,1761670784.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498886 2025-10-28T16:59:44.994Z,1761670784.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761385,0.630300,0.151708],[-0.647636,-0.750079,-0.133977],[0.029347,-0.200259,0.979303]] 2025-10-28T16:59:45.017Z,1761670785.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750609 2025-10-28T16:59:45.273Z,1761670785.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006469 2025-10-28T16:59:45.399Z,1761670785.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757787,0.634519,0.152133],[-0.651665,-0.747763,-0.127215],[0.033039,-0.195542,0.980139]] 2025-10-28T16:59:45.521Z,1761670785.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254685 2025-10-28T16:59:45.774Z,1761670785.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507154 2025-10-28T16:59:45.808Z,1761670785.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754454,0.638049,0.153924],[-0.655290,-0.745567,-0.121343],[0.037338,-0.192413,0.980604]] 2025-10-28T16:59:46.025Z,1761670786.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758521 2025-10-28T16:59:46.219Z,1761670786.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750677,0.641838,0.156617],[-0.659378,-0.742669,-0.116892],[0.041288,-0.191018,0.980718]] 2025-10-28T16:59:46.278Z,1761670786.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011306 2025-10-28T16:59:46.529Z,1761670786.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262578 2025-10-28T16:59:46.611Z,1761670786.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747151,0.645069,0.160156],[-0.663103,-0.739896,-0.113349],[0.045381,-0.190889,0.980562]] 2025-10-28T16:59:46.781Z,1761670786.781 [DAT](INFO): DAT read: Rx Time:16:59:46.1940 2025-10-28T16:59:46.782Z,1761670786.782 [DAT](INFO): Rx dataTimestamp_ set to:1761670786.781572 2025-10-28T16:59:46.782Z,1761670786.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516046 2025-10-28T16:59:47.014Z,1761670787.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743907,0.648072,0.163110],[-0.666479,-0.737385,-0.109863],[0.049076,-0.190437,0.980472]] 2025-10-28T16:59:47.033Z,1761670787.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766616 2025-10-28T16:59:47.285Z,1761670787.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018584 2025-10-28T16:59:47.420Z,1761670787.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740291,0.651198,0.167068],[-0.670211,-0.734368,-0.107337],[0.052791,-0.191431,0.980085]] 2025-10-28T16:59:47.545Z,1761670787.545 [DAT](INFO): DAT read: 16:59:46.1940 LVL= 27696, 18289, 25282, 24563, AGC= 48, IDX= 475,-0.00,-2.676,-1.173,-0.791,-1.553, PHS=-1.021, 0.426, 0.718, RAW= 261.0, -1.5, CAL= 258.3, -6.1, ROT= 251.7, 6.1 2025-10-28T16:59:47.546Z,1761670787.546 [DAT](INFO): got valid direction response: 16:59:46.1940 LVL= 27696, 18289, 25282, 24563, AGC= 48, IDX= 475,-0.00,-2.676,-1.173,-0.791,-1.553, PHS=-1.021, 0.426, 0.718, RAW= 261.0, -1.5, CAL= 258.3, -6.1, ROT= 251.7, 6.1 2025-10-28T16:59:47.547Z,1761670787.547 [DAT](INFO): DAT read: Bearing 92, -16 (Remote) 2025-10-28T16:59:47.547Z,1761670787.547 [DAT](INFO): Remote Bearing received:Bearing 92, -16 (Remote) 2025-10-28T16:59:47.548Z,1761670787.548 [DAT](INFO): DAT read: Bearing 240.3, -66.9 (Local) 2025-10-28T16:59:47.548Z,1761670787.548 [DAT](INFO): Local bearing/azimuth received: Bearing 240.3, -66.9 (Local) 2025-10-28T16:59:47.552Z,1761670787.552 [DAT](INFO): DAT read: Range 11 to 20 : 113.5 m (Round-trip 151.4 ms) speed -0.3 m/s 2025-10-28T16:59:47.555Z,1761670787.555 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T16:59:47.555Z,1761670787.555 [DAT](INFO): direction in FSK: [-0.312215,-0.944050,-0.106264] 2025-10-28T16:59:47.556Z,1761670787.556 [DAT](INFO): publishing direction and range info 2025-10-28T16:59:47.823Z,1761670787.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736487,0.654643,0.170383],[-0.674148,-0.731086,-0.105062],[0.055786,-0.192240,0.979761]] 2025-10-28T16:59:47.918Z,1761670787.918 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670784.00. Resetting abort timer. 2025-10-28T16:59:48.229Z,1761670788.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732513,0.658495,0.172655],[-0.678210,-0.727818,-0.101552],[0.058790,-0.191484,0.979733]] 2025-10-28T16:59:48.630Z,1761670788.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728148,0.662738,0.174869],[-0.682664,-0.724078,-0.098396],[0.061407,-0.191024,0.979663]] 2025-10-28T16:59:49.034Z,1761670789.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723817,0.666905,0.176993],[-0.687025,-0.720354,-0.095328],[0.063923,-0.190598,0.979585]] 2025-10-28T16:59:49.441Z,1761670789.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719857,0.670524,0.179457],[-0.690938,-0.716930,-0.092825],[0.066417,-0.190814,0.979377]] 2025-10-28T16:59:49.842Z,1761670789.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716404,0.673994,0.180272],[-0.694274,-0.714214,-0.088780],[0.068915,-0.188761,0.979602]] 2025-10-28T16:59:50.247Z,1761670790.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714118,0.676555,0.179745],[-0.696361,-0.712800,-0.083650],[0.071529,-0.184904,0.980150]] 2025-10-28T16:59:50.298Z,1761670790.298 [marl:UpdateRudder] Running Loop=1 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateRudder:A] Stopped 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T16:59:50.299Z,1761670790.299 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateCommandMode:A] Stopped 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateCommandMode] Stopped 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateSpeed] Running Loop=1 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T16:59:50.304Z,1761670790.304 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T16:59:50.305Z,1761670790.305 [marl:UpdateSpeed:A] Stopped 2025-10-28T16:59:50.305Z,1761670790.305 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T16:59:50.305Z,1761670790.305 [marl:UpdateSpeed] Stopped 2025-10-28T16:59:50.305Z,1761670790.305 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T16:59:50.652Z,1761670790.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712880,0.678018,0.179145],[-0.697365,-0.712350,-0.078994],[0.074055,-0.181243,0.980646]] 2025-10-28T16:59:50.675Z,1761670790.675 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T16:59:50.676Z,1761670790.676 [marl:UpdateRudder:B] Stopped 2025-10-28T16:59:50.676Z,1761670790.676 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T16:59:50.676Z,1761670790.676 [marl:UpdateRudder] Stopped 2025-10-28T16:59:50.676Z,1761670790.676 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T16:59:51.054Z,1761670791.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712691,0.678398,0.178458],[-0.697298,-0.712865,-0.074818],[0.076460,-0.177760,0.981099]] 2025-10-28T16:59:51.459Z,1761670791.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713299,0.677603,0.179051],[-0.696414,-0.713983,-0.072350],[0.078815,-0.176301,0.981176]] 2025-10-28T16:59:51.867Z,1761670791.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714509,0.676207,0.179502],[-0.694912,-0.715671,-0.070081],[0.081075,-0.174812,0.981258]] 2025-10-28T16:59:52.272Z,1761670792.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716169,0.674123,0.180721],[-0.692935,-0.717710,-0.068799],[0.083326,-0.174500,0.981125]] 2025-10-28T16:59:52.672Z,1761670792.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717927,0.671626,0.183026],[-0.690869,-0.719673,-0.069075],[0.085326,-0.176038,0.980678]] 2025-10-28T16:59:53.075Z,1761670793.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720110,0.668470,0.185982],[-0.688340,-0.721984,-0.070197],[0.087352,-0.178568,0.980042]] 2025-10-28T16:59:53.503Z,1761670793.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723955,0.662780,0.191339],[-0.684027,-0.725635,-0.074573],[0.089417,-0.184869,0.978687]] 2025-10-28T16:59:53.904Z,1761670793.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730703,0.651713,0.203328],[-0.676529,-0.731181,-0.087649],[0.091548,-0.201603,0.975180]] 2025-10-28T16:59:54.713Z,1761670794.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749508,0.615629,0.243387],[-0.654869,-0.743311,-0.136514],[0.096870,-0.261705,0.960274]] 2025-10-28T16:59:54.980Z,1761670794.980 [ThrusterHE](FAULT): Could not get status:serial timeout 2025-10-28T16:59:55.111Z,1761670795.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758625,0.595142,0.265131],[-0.643816,-0.747194,-0.164930],[0.099947,-0.295815,0.950002]] 2025-10-28T16:59:55.514Z,1761670795.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767339,0.574969,0.283905],[-0.632873,-0.750352,-0.190904],[0.103265,-0.326163,0.939656]] 2025-10-28T16:59:55.922Z,1761670795.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775309,0.555707,0.300143],[-0.622540,-0.752528,-0.214815],[0.106492,-0.353399,0.929392]] 2025-10-28T16:59:56.124Z,1761670796.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T16:59:56.331Z,1761670796.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782449,0.537948,0.313665],[-0.612899,-0.754367,-0.235129],[0.110132,-0.376221,0.919961]] 2025-10-28T16:59:56.727Z,1761670796.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788892,0.522297,0.323813],[-0.603871,-0.756580,-0.250853],[0.113971,-0.393437,0.912260]] 2025-10-28T16:59:57.128Z,1761670797.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T16:59:57.128Z,1761670797.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794673,0.508714,0.331216],[-0.595509,-0.759142,-0.262815],[0.117742,-0.406094,0.906214]] 2025-10-28T16:59:57.533Z,1761670797.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800069,0.497748,0.334867],[-0.587581,-0.762759,-0.270087],[0.120988,-0.412850,0.902728]] 2025-10-28T16:59:57.934Z,1761670797.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805376,0.489009,0.335021],[-0.579817,-0.767375,-0.273767],[0.123212,-0.414736,0.901561]] 2025-10-28T16:59:58.338Z,1761670798.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810754,0.481675,0.332667],[-0.571957,-0.772840,-0.274925],[0.124674,-0.413168,0.902080]] 2025-10-28T16:59:58.742Z,1761670798.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816371,0.474979,0.328533],[-0.563658,-0.779209,-0.274086],[0.125811,-0.408936,0.903849]] 2025-10-28T16:59:59.157Z,1761670799.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830028,0.460594,0.314494],[-0.542991,-0.796118,-0.267127],[0.127337,-0.392491,0.910899]] 2025-10-28T16:59:59.657Z,1761670799.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839214,0.449206,0.306487],[-0.528483,-0.806531,-0.264977],[0.128162,-0.384345,0.914250]] 2025-10-28T17:00:00.037Z,1761670800.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849312,0.435810,0.297892],[-0.511946,-0.817634,-0.263413],[0.128768,-0.376224,0.917537]] 2025-10-28T17:00:00.435Z,1761670800.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860337,0.420154,0.288603],[-0.493280,-0.828935,-0.263707],[0.128436,-0.369239,0.920417]] 2025-10-28T17:00:00.842Z,1761670800.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871494,0.402542,0.280102],[-0.473505,-0.839353,-0.266982],[0.127633,-0.365303,0.922097]] 2025-10-28T17:00:01.244Z,1761670801.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882659,0.383305,0.272011],[-0.452661,-0.849051,-0.272417],[0.126532,-0.363580,0.922930]] 2025-10-28T17:00:01.649Z,1761670801.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893556,0.362503,0.264857],[-0.431145,-0.857382,-0.281087],[0.125189,-0.365359,0.922410]] 2025-10-28T17:00:02.051Z,1761670802.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903609,0.341903,0.258058],[-0.410109,-0.864476,-0.290674],[0.123702,-0.368488,0.921366]] 2025-10-28T17:00:02.456Z,1761670802.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912624,0.322091,0.251743],[-0.390142,-0.870151,-0.301042],[0.122092,-0.372953,0.919782]] 2025-10-28T17:00:02.939Z,1761670802.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920298,0.304301,0.245870],[-0.372343,-0.874157,-0.311786],[0.120052,-0.378484,0.917789]] 2025-10-28T17:00:03.338Z,1761670803.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926871,0.288714,0.239908],[-0.356263,-0.877928,-0.319874],[0.118270,-0.381952,0.916583]] 2025-10-28T17:00:03.385Z,1761670803.385 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateRudder:A] Stopped 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:00:03.386Z,1761670803.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateCommandMode] Stopped 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:00:03.387Z,1761670803.387 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:00:03.392Z,1761670803.392 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:00:03.392Z,1761670803.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:00:03.392Z,1761670803.392 [marl:UpdateSpeed] Stopped 2025-10-28T17:00:03.392Z,1761670803.392 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:00:03.787Z,1761670803.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932915,0.274698,0.232833],[-0.341088,-0.881402,-0.326787],[0.115452,-0.384281,0.915969]] 2025-10-28T17:00:03.830Z,1761670803.830 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:00:03.830Z,1761670803.830 [marl:UpdateRudder:B] Stopped 2025-10-28T17:00:03.830Z,1761670803.830 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:00:03.830Z,1761670803.830 [marl:UpdateRudder] Stopped 2025-10-28T17:00:03.830Z,1761670803.830 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:00:04.214Z,1761670804.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938572,0.261589,0.225064],[-0.326327,-0.884903,-0.332351],[0.112221,-0.385380,0.915909]] 2025-10-28T17:00:04.616Z,1761670804.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943840,0.248865,0.217328],[-0.311928,-0.888035,-0.337780],[0.108933,-0.386601,0.915791]] 2025-10-28T17:00:05.019Z,1761670805.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948467,0.237698,0.209547],[-0.298775,-0.891134,-0.341486],[0.105564,-0.386496,0.916230]] 2025-10-28T17:00:05.423Z,1761670805.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952315,0.229830,0.200684],[-0.287917,-0.894609,-0.341728],[0.100995,-0.383213,0.918122]] 2025-10-28T17:00:05.826Z,1761670805.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954910,0.227520,0.190740],[-0.281243,-0.899043,-0.335596],[0.095128,-0.374108,0.922493]] 2025-10-28T17:00:06.233Z,1761670806.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956372,0.231022,0.178831],[-0.278666,-0.905178,-0.320934],[0.087731,-0.356766,0.930065]] 2025-10-28T17:00:06.634Z,1761670806.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957049,0.237676,0.166034],[-0.278751,-0.911793,-0.301550],[0.079718,-0.334880,0.938882]] 2025-10-28T17:00:07.038Z,1761670807.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957289,0.245751,0.152330],[-0.280209,-0.918426,-0.279241],[0.071280,-0.309999,0.948061]] 2025-10-28T17:00:07.450Z,1761670807.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957185,0.253709,0.139384],[-0.282534,-0.923615,-0.259054],[0.063013,-0.287343,0.955753]] 2025-10-28T17:00:07.846Z,1761670807.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957015,0.261027,0.126443],[-0.284816,-0.928137,-0.239668],[0.054797,-0.265379,0.962586]] 2025-10-28T17:00:08.250Z,1761670808.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956885,0.267019,0.114337],[-0.286741,-0.931204,-0.225032],[0.046383,-0.248114,0.967620]] 2025-10-28T17:00:08.659Z,1761670808.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956871,0.271837,0.102483],[-0.288011,-0.933845,-0.212092],[0.038049,-0.232461,0.971861]] 2025-10-28T17:00:09.059Z,1761670809.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957092,0.274852,0.091824],[-0.288242,-0.935589,-0.203937],[0.029857,-0.221654,0.974668]] 2025-10-28T17:00:09.464Z,1761670809.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957588,0.276301,0.081752],[-0.287312,-0.937111,-0.198178],[0.021854,-0.213261,0.976751]] 2025-10-28T17:00:09.866Z,1761670809.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958180,0.276750,0.072800],[-0.285810,-0.938169,-0.195326],[0.014243,-0.207965,0.978033]] 2025-10-28T17:00:10.270Z,1761670810.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959059,0.275708,0.064733],[-0.283116,-0.939136,-0.194602],[0.007140,-0.204962,0.978744]] 2025-10-28T17:00:10.682Z,1761670810.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960157,0.273576,0.057050],[-0.279461,-0.940125,-0.195109],[0.000257,-0.203278,0.979121]] 2025-10-28T17:00:11.079Z,1761670811.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961304,0.270857,0.050304],[-0.275412,-0.940586,-0.198611],[-0.006480,-0.204780,0.978787]] 2025-10-28T17:00:11.486Z,1761670811.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962179,0.268748,0.044557],[-0.272102,-0.940264,-0.204607],[-0.013092,-0.208993,0.977830]] 2025-10-28T17:00:11.887Z,1761670811.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963061,0.266485,0.038715],[-0.268556,-0.939930,-0.210733],[-0.019768,-0.213346,0.976777]] 2025-10-28T17:00:12.291Z,1761670812.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963706,0.264898,0.033170],[-0.265674,-0.939392,-0.216705],[-0.026245,-0.217652,0.975674]] 2025-10-28T17:00:12.694Z,1761670812.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964183,0.263793,0.027658],[-0.263213,-0.938736,-0.222474],[-0.032724,-0.221786,0.974546]] 2025-10-28T17:00:13.099Z,1761670813.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964216,0.264145,0.022678],[-0.262222,-0.937587,-0.228407],[-0.039070,-0.226180,0.973302]] 2025-10-28T17:00:13.527Z,1761670813.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964040,0.265147,0.017993],[-0.261938,-0.936574,-0.232846],[-0.044886,-0.229186,0.972347]] 2025-10-28T17:00:13.907Z,1761670813.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963745,0.266505,0.013090],[-0.261979,-0.935789,-0.235937],[-0.050629,-0.230812,0.971680]] 2025-10-28T17:00:14.311Z,1761670814.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963372,0.268052,0.007874],[-0.262228,-0.935486,-0.236858],[-0.056124,-0.230247,0.971512]] 2025-10-28T17:00:14.717Z,1761670814.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963022,0.269408,0.002906],[-0.262258,-0.934881,-0.239204],[-0.061727,-0.231121,0.970965]] 2025-10-28T17:00:15.118Z,1761670815.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962536,0.271149,-0.001773],[-0.262714,-0.934172,-0.241462],[-0.067129,-0.231950,0.970409]] 2025-10-28T17:00:15.522Z,1761670815.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962403,0.271548,-0.006535],[-0.261935,-0.934164,-0.242339],[-0.071912,-0.231516,0.970170]] 2025-10-28T17:00:15.928Z,1761670815.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962361,0.271515,-0.011865],[-0.260711,-0.934637,-0.241835],[-0.076752,-0.229639,0.970245]] 2025-10-28T17:00:16.331Z,1761670816.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962625,0.270268,-0.017545],[-0.258366,-0.935801,-0.239840],[-0.081240,-0.226343,0.970654]] 2025-10-28T17:00:16.360Z,1761670816.360 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:00:16.360Z,1761670816.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:00:16.360Z,1761670816.360 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:00:16.360Z,1761670816.360 [marl:UpdateRudder:A] Stopped 2025-10-28T17:00:16.360Z,1761670816.360 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode] Stopped 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:00:16.361Z,1761670816.361 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed] Stopped 2025-10-28T17:00:16.362Z,1761670816.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:00:16.734Z,1761670816.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963083,0.268252,-0.022642],[-0.255419,-0.937094,-0.237941],[-0.085046,-0.223374,0.971016]] 2025-10-28T17:00:16.788Z,1761670816.788 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:00:16.788Z,1761670816.788 [marl:UpdateRudder:B] Stopped 2025-10-28T17:00:16.788Z,1761670816.788 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:00:16.788Z,1761670816.788 [marl:UpdateRudder] Stopped 2025-10-28T17:00:16.788Z,1761670816.788 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:00:17.141Z,1761670817.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963750,0.265316,-0.028167],[-0.251545,-0.938737,-0.235580],[-0.088944,-0.219955,0.971447]] 2025-10-28T17:00:17.948Z,1761670817.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965198,0.258787,-0.037707],[-0.243300,-0.941447,-0.233417],[-0.095905,-0.216120,0.971645]] 2025-10-28T17:00:18.350Z,1761670818.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965791,0.255961,-0.041610],[-0.239541,-0.942030,-0.234947],[-0.099335,-0.216942,0.971117]] 2025-10-28T17:00:18.759Z,1761670818.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966186,0.253909,-0.044879],[-0.236463,-0.941937,-0.238411],[-0.102808,-0.219737,0.970127]] 2025-10-28T17:00:19.173Z,1761670819.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966452,0.252382,-0.047691],[-0.233983,-0.941690,-0.241809],[-0.105938,-0.222538,0.969151]] 2025-10-28T17:00:19.601Z,1761670819.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966502,0.251852,-0.049435],[-0.232254,-0.940201,-0.249161],[-0.109230,-0.229333,0.967200]] 2025-10-28T17:00:20.378Z,1761670820.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965936,0.254254,-0.048200],[-0.233972,-0.937627,-0.257125],[-0.110569,-0.237088,0.965175]] 2025-10-28T17:00:21.183Z,1761670821.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964707,0.259418,-0.045207],[-0.239033,-0.934726,-0.262966],[-0.110474,-0.242879,0.963745]] 2025-10-28T17:00:21.629Z,1761670821.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963991,0.262326,-0.043656],[-0.242075,-0.933562,-0.264315],[-0.110093,-0.244229,0.963448]] 2025-10-28T17:00:21.994Z,1761670821.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963259,0.265372,-0.041358],[-0.245648,-0.932774,-0.263798],[-0.108582,-0.243946,0.963691]] 2025-10-28T17:00:22.392Z,1761670822.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962561,0.268290,-0.038687],[-0.249304,-0.932253,-0.262205],[-0.106413,-0.242743,0.964236]] 2025-10-28T17:00:22.795Z,1761670822.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961745,0.271572,-0.035997],[-0.253437,-0.931912,-0.259442],[-0.104003,-0.240394,0.965088]] 2025-10-28T17:00:23.198Z,1761670823.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961061,0.274352,-0.033059],[-0.257160,-0.931732,-0.256406],[-0.101148,-0.237920,0.966004]] 2025-10-28T17:00:23.638Z,1761670823.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960382,0.277113,-0.029587],[-0.260821,-0.931133,-0.254879],[-0.098179,-0.237065,0.966520]] 2025-10-28T17:00:24.011Z,1761670824.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959862,0.279240,-0.026256],[-0.263932,-0.930962,-0.252288],[-0.094892,-0.235232,0.967296]] 2025-10-28T17:00:24.411Z,1761670824.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959455,0.280961,-0.022533],[-0.266666,-0.930715,-0.250319],[-0.091302,-0.234161,0.967901]] 2025-10-28T17:00:24.814Z,1761670824.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959484,0.281098,-0.019344],[-0.267875,-0.931328,-0.246722],[-0.087369,-0.231544,0.968893]] 2025-10-28T17:00:25.218Z,1761670825.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959741,0.280428,-0.016018],[-0.268181,-0.931797,-0.244607],[-0.083520,-0.230464,0.969490]] 2025-10-28T17:00:25.651Z,1761670825.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960433,0.278201,-0.013144],[-0.266877,-0.932786,-0.242256],[-0.079656,-0.229163,0.970123]] 2025-10-28T17:00:26.027Z,1761670826.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961531,0.274495,-0.010520],[-0.264113,-0.934337,-0.239289],[-0.075513,-0.227305,0.970891]] 2025-10-28T17:00:26.431Z,1761670826.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962995,0.269389,-0.008423],[-0.259809,-0.936156,-0.236878],[-0.071698,-0.225924,0.971503]] 2025-10-28T17:00:26.835Z,1761670826.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964612,0.263590,-0.006610],[-0.254700,-0.937977,-0.235217],[-0.068201,-0.225210,0.971920]] 2025-10-28T17:00:27.240Z,1761670827.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966291,0.257403,-0.005042],[-0.249129,-0.939810,-0.233861],[-0.064935,-0.224722,0.972257]] 2025-10-28T17:00:27.248Z,1761670827.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:00:27.655Z,1761670827.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967977,0.251018,-0.003347],[-0.243301,-0.941337,-0.233856],[-0.061853,-0.225553,0.972265]] 2025-10-28T17:00:28.047Z,1761670828.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969467,0.245215,-0.001728],[-0.238002,-0.942601,-0.234219],[-0.059063,-0.226656,0.972182]] 2025-10-28T17:00:28.252Z,1761670828.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:00:28.450Z,1761670828.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970745,0.240111,0.000271],[-0.233371,-0.943229,-0.236342],[-0.056493,-0.229491,0.971670]] 2025-10-28T17:00:28.855Z,1761670828.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971703,0.236198,0.002101],[-0.229846,-0.943445,-0.238918],[-0.054449,-0.232641,0.971037]] 2025-10-28T17:00:29.259Z,1761670829.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972137,0.234377,0.004177],[-0.228417,-0.943115,-0.241579],[-0.052681,-0.235802,0.970372]] 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateRudder:A] Stopped 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:00:29.294Z,1761670829.294 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode] Stopped 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:00:29.295Z,1761670829.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:00:29.296Z,1761670829.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:00:29.296Z,1761670829.296 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:00:29.296Z,1761670829.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:00:29.296Z,1761670829.296 [marl:UpdateSpeed] Stopped 2025-10-28T17:00:29.296Z,1761670829.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:00:29.664Z,1761670829.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971860,0.235457,0.006890],[-0.229936,-0.941909,-0.244820],[-0.051155,-0.239515,0.969544]] 2025-10-28T17:00:29.718Z,1761670829.718 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:00:29.718Z,1761670829.718 [marl:UpdateRudder:B] Stopped 2025-10-28T17:00:29.718Z,1761670829.718 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:00:29.718Z,1761670829.718 [marl:UpdateRudder] Stopped 2025-10-28T17:00:29.718Z,1761670829.718 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:00:30.067Z,1761670830.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970901,0.239277,0.009899],[-0.234266,-0.940367,-0.246637],[-0.049705,-0.241780,0.969057]] 2025-10-28T17:00:30.472Z,1761670830.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969461,0.244905,0.012949],[-0.240495,-0.939006,-0.245824],[-0.048045,-0.241431,0.969228]] 2025-10-28T17:00:30.874Z,1761670830.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967713,0.251524,0.016381],[-0.247775,-0.937336,-0.244966],[-0.046260,-0.241115,0.969393]] 2025-10-28T17:00:31.279Z,1761670831.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965994,0.257818,0.019616],[-0.254741,-0.935975,-0.243018],[-0.044295,-0.239751,0.969823]] 2025-10-28T17:00:31.686Z,1761670831.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964327,0.263715,0.022995],[-0.261374,-0.934797,-0.240494],[-0.041927,-0.237925,0.970378]] 2025-10-28T17:00:32.087Z,1761670832.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963158,0.267607,0.026713],[-0.266117,-0.934002,-0.238373],[-0.038840,-0.236700,0.970806]] 2025-10-28T17:00:32.493Z,1761670832.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963445,0.266032,0.031631],[-0.265665,-0.933466,-0.240965],[-0.034578,-0.240560,0.970018]] 2025-10-28T17:00:32.895Z,1761670832.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965412,0.257905,0.038285],[-0.259075,-0.932361,-0.252159],[-0.029338,-0.253356,0.966928]] 2025-10-28T17:00:33.299Z,1761670833.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968379,0.245243,0.045799],[-0.248350,-0.930133,-0.270510],[-0.023742,-0.273330,0.961627]] 2025-10-28T17:00:34.118Z,1761670834.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975973,0.209734,0.059058],[-0.217589,-0.923875,-0.314818],[-0.011466,-0.320104,0.947313]] 2025-10-28T17:00:34.511Z,1761670834.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979957,0.188902,0.063241],[-0.199145,-0.921034,-0.334720],[-0.004982,-0.340605,0.940193]] 2025-10-28T17:00:34.951Z,1761670834.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983790,0.166866,0.065674],[-0.179318,-0.918403,-0.352677],[0.001466,-0.358737,0.933437]] 2025-10-28T17:00:35.320Z,1761670835.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987190,0.145013,0.066535],[-0.159375,-0.915705,-0.368896],[0.007432,-0.374775,0.927086]] 2025-10-28T17:00:35.725Z,1761670835.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990095,0.123666,0.066472],[-0.139755,-0.913397,-0.382327],[0.013434,-0.387830,0.921633]] 2025-10-28T17:00:36.142Z,1761670836.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992472,0.103380,0.065663],[-0.120928,-0.912037,-0.391874],[0.019375,-0.396865,0.917673]] 2025-10-28T17:00:36.530Z,1761670836.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994359,0.084336,0.064324],[-0.103060,-0.911609,-0.397930],[0.025078,-0.402315,0.915158]] 2025-10-28T17:00:36.935Z,1761670836.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995869,0.066028,0.062333],[-0.085584,-0.911910,-0.401368],[0.030340,-0.405045,0.913793]] 2025-10-28T17:00:37.340Z,1761670837.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997012,0.048554,0.060083],[-0.068782,-0.912009,-0.404362],[0.035163,-0.407286,0.912623]] 2025-10-28T17:00:37.774Z,1761670837.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997771,0.032995,0.058011],[-0.053727,-0.912769,-0.404928],[0.039590,-0.407142,0.912506]] 2025-10-28T17:00:38.197Z,1761670838.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998323,0.017320,0.055234],[-0.038207,-0.913974,-0.403970],[0.043485,-0.405403,0.913103]] 2025-10-28T17:00:38.601Z,1761670838.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998619,0.002420,0.052473],[-0.023359,-0.915189,-0.402347],[0.047049,-0.403017,0.913982]] 2025-10-28T17:00:39.003Z,1761670839.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998665,-0.011658,0.050323],[-0.009501,-0.916124,-0.400784],[0.050774,-0.400727,0.914790]] 2025-10-28T17:00:39.406Z,1761670839.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998531,-0.025115,0.048009],[0.003841,-0.916658,-0.399655],[0.054045,-0.398883,0.915408]] 2025-10-28T17:00:39.812Z,1761670839.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998202,-0.038129,0.046250],[0.016598,-0.917251,-0.397965],[0.057597,-0.396481,0.916234]] 2025-10-28T17:00:40.214Z,1761670840.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997724,-0.050236,0.044974],[0.028433,-0.918266,-0.394943],[0.061138,-0.392765,0.917604]] 2025-10-28T17:00:40.645Z,1761670840.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997076,-0.062416,0.044089],[0.040128,-0.918654,-0.393019],[0.065034,-0.390100,0.918473]] 2025-10-28T17:00:41.043Z,1761670841.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996251,-0.074759,0.043542],[0.051809,-0.918596,-0.391787],[0.069287,-0.388063,0.919025]] 2025-10-28T17:00:41.474Z,1761670841.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995167,-0.088512,0.042527],[0.064900,-0.917843,-0.391602],[0.073695,-0.386949,0.919152]] 2025-10-28T17:00:41.870Z,1761670841.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993762,-0.103816,0.040724],[0.079723,-0.916717,-0.391503],[0.077977,-0.385815,0.919275]] 2025-10-28T17:00:42.275Z,1761670842.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992120,-0.119538,0.037521],[0.095409,-0.914945,-0.392139],[0.081205,-0.385469,0.919141]] 2025-10-28T17:00:42.300Z,1761670842.300 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:00:42.300Z,1761670842.300 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateRudder:A] Stopped 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:00:42.301Z,1761670842.301 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateCommandMode] Stopped 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:00:42.302Z,1761670842.302 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:00:42.303Z,1761670842.303 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:00:42.303Z,1761670842.303 [marl:UpdateSpeed] Stopped 2025-10-28T17:00:42.303Z,1761670842.303 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:00:42.688Z,1761670842.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990042,-0.136565,0.034150],[0.112444,-0.913151,-0.391805],[0.084691,-0.384064,0.919414]] 2025-10-28T17:00:42.757Z,1761670842.757 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:00:42.758Z,1761670842.758 [marl:UpdateRudder:B] Stopped 2025-10-28T17:00:42.758Z,1761670842.758 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:00:42.758Z,1761670842.758 [marl:UpdateRudder] Stopped 2025-10-28T17:00:42.758Z,1761670842.758 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:00:43.082Z,1761670843.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987652,-0.153793,0.029863],[0.129868,-0.910318,-0.393009],[0.087627,-0.384278,0.919050]] 2025-10-28T17:00:44.046Z,1761670844.046 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:00:44.277Z,1761670844.277 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:00:44.277Z,1761670844.277 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:00:44.414Z,1761670844.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976089,-0.217114,0.010599],[0.195519,-0.898221,-0.393665],[0.094991,-0.382179,0.919193]] 2025-10-28T17:00:44.529Z,1761670844.529 [DAT](INFO): DAT read: user:37> 2025-10-28T17:00:44.530Z,1761670844.530 [DAT](INFO): DAT read: Tx time:17:00:44.3132 2025-10-28T17:00:44.530Z,1761670844.530 [DAT](INFO): Ping request sent. 2025-10-28T17:00:44.530Z,1761670844.530 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:00:44.530Z,1761670844.530 [DAT](INFO): publishing transmit ping time 2025-10-28T17:00:44.531Z,1761670844.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000929 2025-10-28T17:00:44.781Z,1761670844.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251175 2025-10-28T17:00:44.817Z,1761670844.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973083,-0.230385,0.005707],[0.209728,-0.895555,-0.392422],[0.095519,-0.380662,0.919768]] 2025-10-28T17:00:45.033Z,1761670845.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503218 2025-10-28T17:00:45.217Z,1761670845.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970144,-0.242529,0.000709],[0.222844,-0.892546,-0.392048],[0.095716,-0.380185,0.919945]] 2025-10-28T17:00:45.287Z,1761670845.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757005 2025-10-28T17:00:45.539Z,1761670845.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008795 2025-10-28T17:00:45.789Z,1761670845.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258815 2025-10-28T17:00:46.022Z,1761670846.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964111,-0.265383,-0.007902],[0.247241,-0.886561,-0.391001],[0.096759,-0.378922,0.920356]] 2025-10-28T17:00:46.041Z,1761670846.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511140 2025-10-28T17:00:46.293Z,1761670846.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763038 2025-10-28T17:00:46.429Z,1761670846.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960962,-0.276403,-0.012371],[0.258978,-0.882842,-0.391817],[0.097378,-0.379725,0.919960]] 2025-10-28T17:00:46.545Z,1761670846.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014812 2025-10-28T17:00:46.801Z,1761670846.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270409 2025-10-28T17:00:46.831Z,1761670846.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957408,-0.288266,-0.016507],[0.271448,-0.879121,-0.391742],[0.098414,-0.379537,0.919927]] 2025-10-28T17:00:47.049Z,1761670847.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061 2025-10-28T17:00:47.232Z,1761670847.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953508,-0.300667,-0.020563],[0.284407,-0.875176,-0.391383],[0.099679,-0.379034,0.919998]] 2025-10-28T17:00:47.302Z,1761670847.302 [DAT](INFO): DAT read: Rx Time:17:00:46.5127 2025-10-28T17:00:47.302Z,1761670847.302 [DAT](INFO): Rx dataTimestamp_ set to:1761670847.301997 2025-10-28T17:00:47.303Z,1761670847.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773165 2025-10-28T17:00:47.555Z,1761670847.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024574 2025-10-28T17:00:47.685Z,1761670847.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949170,-0.313759,-0.025124],[0.298141,-0.870582,-0.391407],[0.100935,-0.379002,0.919875]] 2025-10-28T17:00:47.813Z,1761670847.813 [DAT](INFO): DAT read: 17:00:46.5127 LVL= 27760, 21137, 17426, 31027, AGC= 49, IDX= 109, 0.34, 1.223, 1.688, 2.816, 1.454, PHS=-0.129, 0.280, 1.318, RAW= 225.9, -21.9, CAL= 225.5, -26.9, ROT= 284.5, 26.9 2025-10-28T17:00:47.814Z,1761670847.814 [DAT](INFO): got valid direction response: 17:00:46.5127 LVL= 27760, 21137, 17426, 31027, AGC= 49, IDX= 109, 0.34, 1.223, 1.688, 2.816, 1.454, PHS=-0.129, 0.280, 1.318, RAW= 225.9, -21.9, CAL= 225.5, -26.9, ROT= 284.5, 26.9 2025-10-28T17:00:47.815Z,1761670847.815 [DAT](INFO): DAT read: Bearing 67, -6 (Remote) 2025-10-28T17:00:47.815Z,1761670847.815 [DAT](INFO): Remote Bearing received:Bearing 67, -6 (Remote) 2025-10-28T17:00:47.816Z,1761670847.816 [DAT](INFO): DAT read: Bearing 243.8, -36.8 (Local) 2025-10-28T17:00:47.816Z,1761670847.816 [DAT](INFO): Local bearing/azimuth received: Bearing 243.8, -36.8 (Local) 2025-10-28T17:00:47.818Z,1761670847.818 [DAT](INFO): DAT read: Range 11 to 20 : 127.8 m (Round-trip 170.4 ms) speed 0.0 m/s 2025-10-28T17:00:47.818Z,1761670847.818 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:00:47.819Z,1761670847.819 [DAT](INFO): direction in FSK: [0.223288,-0.863392,-0.452435] 2025-10-28T17:00:47.820Z,1761670847.820 [DAT](INFO): publishing direction and range info 2025-10-28T17:00:48.131Z,1761670848.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944330,-0.327610,-0.030220],[0.312869,-0.865821,-0.390470],[0.101756,-0.378187,0.920119]] 2025-10-28T17:00:48.174Z,1761670848.174 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670784.00. Resetting abort timer. 2025-10-28T17:00:48.557Z,1761670848.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939064,-0.341832,-0.036176],[0.328253,-0.860535,-0.389524],[0.102021,-0.377663,0.920306]] 2025-10-28T17:00:48.931Z,1761670848.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933080,-0.357134,-0.042621],[0.344840,-0.854632,-0.388188],[0.102210,-0.376908,0.920594]] 2025-10-28T17:00:49.337Z,1761670849.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926252,-0.373578,-0.049968],[0.362868,-0.848039,-0.386209],[0.101905,-0.375859,0.921057]] 2025-10-28T17:00:50.143Z,1761670850.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911122,-0.406688,-0.066791],[0.399621,-0.832142,-0.384504],[0.100794,-0.377021,0.920704]] 2025-10-28T17:00:50.561Z,1761670850.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902848,-0.423352,-0.075094],[0.418191,-0.824054,-0.382166],[0.099909,-0.376441,0.921038]] 2025-10-28T17:00:51.385Z,1761670851.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885575,-0.455383,-0.091559],[0.454405,-0.808475,-0.374010],[0.096295,-0.372819,0.922894]] 2025-10-28T17:00:51.816Z,1761670851.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876704,-0.470391,-0.100615],[0.471965,-0.800734,-0.368883],[0.092953,-0.370887,0.924014]] 2025-10-28T17:00:52.237Z,1761670852.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867944,-0.484460,-0.109411],[0.488645,-0.793536,-0.362666],[0.088876,-0.368237,0.925474]] 2025-10-28T17:00:52.607Z,1761670852.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859502,-0.497262,-0.118265],[0.504120,-0.786513,-0.356735],[0.084374,-0.366234,0.926689]] 2025-10-28T17:00:52.999Z,1761670852.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851609,-0.508585,-0.126897],[0.518083,-0.779863,-0.351289],[0.079698,-0.364904,0.927628]] 2025-10-28T17:00:53.405Z,1761670853.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844494,-0.518128,-0.135545],[0.530267,-0.773408,-0.347356],[0.075143,-0.365215,0.927885]] 2025-10-28T17:00:53.807Z,1761670853.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837631,-0.527052,-0.143493],[0.541635,-0.767380,-0.343161],[0.070750,-0.365164,0.928251]] 2025-10-28T17:00:54.212Z,1761670854.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830997,-0.535273,-0.151413],[0.552279,-0.761305,-0.339708],[0.066565,-0.365919,0.928263]] 2025-10-28T17:00:55.022Z,1761670855.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817561,-0.551310,-0.166285],[0.572767,-0.748755,-0.333623],[0.059423,-0.368000,0.927925]] 2025-10-28T17:00:55.440Z,1761670855.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810468,-0.559506,-0.173475],[0.583029,-0.741793,-0.331392],[0.056733,-0.369724,0.927408]] 2025-10-28T17:00:55.505Z,1761670855.505 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:00:55.505Z,1761670855.505 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:00:55.505Z,1761670855.505 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateRudder:A] Stopped 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:00:55.506Z,1761670855.506 [marl:UpdateCommandMode] Stopped 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed] Stopped 2025-10-28T17:00:55.507Z,1761670855.507 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:00:55.827Z,1761670855.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803247,-0.567878,-0.179747],[0.593088,-0.734574,-0.329618],[0.055146,-0.371370,0.926846]] 2025-10-28T17:00:55.878Z,1761670855.878 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:00:55.878Z,1761670855.878 [marl:UpdateRudder:B] Stopped 2025-10-28T17:00:55.878Z,1761670855.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:00:55.878Z,1761670855.878 [marl:UpdateRudder] Stopped 2025-10-28T17:00:55.878Z,1761670855.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:00:56.236Z,1761670856.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795413,-0.576761,-0.186187],[0.603643,-0.726467,-0.328422],[0.054162,-0.373621,0.925999]] 2025-10-28T17:00:56.649Z,1761670856.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786979,-0.586158,-0.192569],[0.614659,-0.717805,-0.327033],[0.053466,-0.375733,0.925184]] 2025-10-28T17:00:57.058Z,1761670857.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777622,-0.596550,-0.198577],[0.626516,-0.708720,-0.324336],[0.052747,-0.376623,0.924864]] 2025-10-28T17:00:57.448Z,1761670857.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767170,-0.607803,-0.205002],[0.639368,-0.698892,-0.320561],[0.051564,-0.376996,0.924778]] 2025-10-28T17:00:57.851Z,1761670857.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755973,-0.619303,-0.212058],[0.652682,-0.688310,-0.316601],[0.050110,-0.377748,0.924551]] 2025-10-28T17:00:58.253Z,1761670858.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743930,-0.631451,-0.218721],[0.666498,-0.677359,-0.311394],[0.048477,-0.377432,0.924767]] 2025-10-28T17:00:58.373Z,1761670858.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:00:58.657Z,1761670858.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730945,-0.644063,-0.225615],[0.680866,-0.665842,-0.305085],[0.046270,-0.376614,0.925214]] 2025-10-28T17:00:59.061Z,1761670859.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717323,-0.656784,-0.232556],[0.695364,-0.653880,-0.298177],[0.043774,-0.375600,0.925747]] 2025-10-28T17:00:59.376Z,1761670859.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:00:59.463Z,1761670859.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702916,-0.669849,-0.239188],[0.710095,-0.641544,-0.290148],[0.040906,-0.373796,0.926608]] 2025-10-28T17:01:00.271Z,1761670860.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673994,-0.694482,-0.251846],[0.737893,-0.616605,-0.274431],[0.035298,-0.370800,0.928042]] 2025-10-28T17:01:00.677Z,1761670860.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659843,-0.705772,-0.257860],[0.750721,-0.604598,-0.266231],[0.031997,-0.369252,0.928778]] 2025-10-28T17:01:01.093Z,1761670861.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645243,-0.716812,-0.264276],[0.763446,-0.592088,-0.258037],[0.028490,-0.368257,0.929287]] 2025-10-28T17:01:01.484Z,1761670861.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631127,-0.726567,-0.271622],[0.775285,-0.579708,-0.250741],[0.024719,-0.368834,0.929166]] 2025-10-28T17:01:01.887Z,1761670861.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617629,-0.736044,-0.277081],[0.786183,-0.568312,-0.242770],[0.021221,-0.367778,0.929671]] 2025-10-28T17:01:02.291Z,1761670862.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604724,-0.744503,-0.282885],[0.796240,-0.557288,-0.235441],[0.017638,-0.367622,0.929808]] 2025-10-28T17:01:02.700Z,1761670862.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592438,-0.752594,-0.287438],[0.805492,-0.547088,-0.227766],[0.014161,-0.366466,0.930324]] 2025-10-28T17:01:03.103Z,1761670863.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580843,-0.759866,-0.291934],[0.813942,-0.537316,-0.220885],[0.010982,-0.365917,0.930583]] 2025-10-28T17:01:03.503Z,1761670863.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569691,-0.766395,-0.296800],[0.821822,-0.527781,-0.214607],[0.007828,-0.366176,0.930513]] 2025-10-28T17:01:03.910Z,1761670863.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558741,-0.772626,-0.301428],[0.829327,-0.518317,-0.208720],[0.005027,-0.366602,0.930364]] 2025-10-28T17:01:04.313Z,1761670864.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547804,-0.778977,-0.305133],[0.836603,-0.508908,-0.202751],[0.002654,-0.366343,0.930476]] 2025-10-28T17:01:04.717Z,1761670864.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536925,-0.784744,-0.309658],[0.843630,-0.499040,-0.198111],[0.000935,-0.367608,0.929981]] 2025-10-28T17:01:05.119Z,1761670865.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525729,-0.790569,-0.314020],[0.850652,-0.488695,-0.193826],[-0.000227,-0.369022,0.929421]] 2025-10-28T17:01:05.523Z,1761670865.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513862,-0.796867,-0.317725],[0.857872,-0.477762,-0.189205],[-0.001026,-0.369793,0.929114]] 2025-10-28T17:01:05.946Z,1761670865.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501457,-0.803072,-0.321893],[0.865181,-0.466039,-0.185119],[-0.001351,-0.371325,0.928502]] 2025-10-28T17:01:06.343Z,1761670866.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487704,-0.809829,-0.326070],[0.873008,-0.453049,-0.180565],[-0.001499,-0.372724,0.927941]] 2025-10-28T17:01:06.735Z,1761670866.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472878,-0.816923,-0.330186],[0.881126,-0.439162,-0.175366],[-0.001745,-0.373862,0.927483]] 2025-10-28T17:01:07.139Z,1761670867.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457141,-0.824105,-0.334474],[0.889391,-0.424638,-0.169313],[-0.002498,-0.374878,0.927071]] 2025-10-28T17:01:07.545Z,1761670867.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441238,-0.831517,-0.337474],[0.897383,-0.410292,-0.162369],[-0.003451,-0.374487,0.927226]] 2025-10-28T17:01:08.411Z,1761670868.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408720,-0.845801,-0.342882],[0.912638,-0.381394,-0.147077],[-0.006375,-0.373040,0.927793]] 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateRudder:A] Stopped 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:01:08.457Z,1761670868.457 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateCommandMode] Stopped 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:01:08.458Z,1761670868.458 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:01:08.459Z,1761670868.459 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:01:08.459Z,1761670868.459 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:01:08.459Z,1761670868.459 [marl:UpdateSpeed] Stopped 2025-10-28T17:01:08.459Z,1761670868.459 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:01:08.840Z,1761670868.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376508,-0.859118,-0.346639],[0.926345,-0.353672,-0.129618],[-0.011239,-0.369910,0.929000]] 2025-10-28T17:01:08.865Z,1761670868.865 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:01:08.865Z,1761670868.865 [marl:UpdateRudder:B] Stopped 2025-10-28T17:01:08.865Z,1761670868.865 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:01:08.865Z,1761670868.865 [marl:UpdateRudder] Stopped 2025-10-28T17:01:08.865Z,1761670868.865 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:01:09.239Z,1761670869.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360669,-0.865530,-0.347528],[0.932580,-0.340481,-0.119866],[-0.014579,-0.367330,0.929977]] 2025-10-28T17:01:09.644Z,1761670869.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345412,-0.870987,-0.349388],[0.938277,-0.327691,-0.110702],[-0.018071,-0.366060,0.930416]] 2025-10-28T17:01:10.044Z,1761670870.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330848,-0.876100,-0.350698],[0.943416,-0.315917,-0.100806],[-0.022475,-0.364206,0.931047]] 2025-10-28T17:01:10.447Z,1761670870.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319018,-0.881799,-0.347360],[0.947340,-0.307455,-0.089548],[-0.027834,-0.357635,0.933446]] 2025-10-28T17:01:10.850Z,1761670870.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310776,-0.888788,-0.336860],[0.949857,-0.303276,-0.076127],[-0.034501,-0.343627,0.938472]] 2025-10-28T17:01:11.254Z,1761670871.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305972,-0.896559,-0.320254],[0.951120,-0.302649,-0.061431],[-0.041848,-0.323396,0.945338]] 2025-10-28T17:01:12.073Z,1761670872.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302065,-0.908716,-0.288082],[0.951613,-0.305340,-0.034648],[-0.056478,-0.284608,0.956979]] 2025-10-28T17:01:12.466Z,1761670872.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301428,-0.913519,-0.273173],[0.951378,-0.307208,-0.022444],[-0.063418,-0.266656,0.961703]] 2025-10-28T17:01:12.870Z,1761670872.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300045,-0.917681,-0.260451],[0.951325,-0.308004,-0.010714],[-0.070388,-0.250988,0.965428]] 2025-10-28T17:01:13.275Z,1761670873.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298466,-0.920835,-0.250958],[0.951300,-0.308266,-0.000274],[-0.077109,-0.238818,0.967998]] 2025-10-28T17:01:13.681Z,1761670873.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296785,-0.923311,-0.243753],[0.951284,-0.308181,0.009108],[-0.083530,-0.229175,0.969795]] 2025-10-28T17:01:13.693Z,1761670873.693 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050420493342,35.0, 0.0,1504.8, 0 2025-10-28T17:01:14.087Z,1761670874.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294031,-0.925477,-0.238827],[0.951539,-0.306992,0.018140],[-0.090106,-0.221919,0.970893]] 2025-10-28T17:01:14.487Z,1761670874.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290629,-0.927140,-0.236530],[0.951958,-0.305103,0.026239],[-0.096494,-0.217540,0.971270]] 2025-10-28T17:01:14.891Z,1761670874.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287088,-0.928526,-0.235413],[0.952363,-0.303070,0.033968],[-0.102887,-0.214447,0.971302]] 2025-10-28T17:01:15.296Z,1761670875.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282961,-0.929859,-0.235147],[0.952858,-0.300526,0.041781],[-0.109518,-0.212240,0.971061]] 2025-10-28T17:01:15.699Z,1761670875.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278984,-0.930890,-0.235823],[0.953269,-0.298115,0.049046],[-0.115959,-0.211120,0.970558]] 2025-10-28T17:01:16.103Z,1761670876.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275304,-0.931394,-0.238144],[0.953535,-0.296090,0.055697],[-0.122388,-0.211745,0.969631]] 2025-10-28T17:01:16.511Z,1761670876.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271819,-0.931605,-0.241301],[0.953682,-0.294340,0.062080],[-0.128859,-0.213250,0.968463]] 2025-10-28T17:01:16.913Z,1761670876.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269666,-0.931507,-0.244080],[0.953495,-0.293737,0.067571],[-0.134639,-0.214508,0.967398]] 2025-10-28T17:01:17.315Z,1761670877.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268106,-0.931379,-0.246278],[0.953140,-0.293630,0.072835],[-0.140152,-0.215210,0.966458]] 2025-10-28T17:01:17.718Z,1761670877.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267437,-0.931027,-0.248328],[0.952632,-0.294198,0.077065],[-0.144807,-0.215956,0.965606]] 2025-10-28T17:01:18.122Z,1761670878.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267387,-0.930872,-0.248959],[0.952117,-0.294983,0.080363],[-0.148246,-0.215550,0.965174]] 2025-10-28T17:01:18.526Z,1761670878.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269180,-0.930043,-0.250125],[0.951312,-0.297257,0.081513],[-0.150162,-0.216006,0.964776]] 2025-10-28T17:01:18.930Z,1761670878.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271665,-0.929097,-0.250951],[0.950443,-0.299973,0.081695],[-0.151181,-0.216320,0.964546]] 2025-10-28T17:01:19.335Z,1761670879.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274187,-0.928263,-0.251294],[0.949667,-0.302523,0.081316],[-0.151505,-0.216350,0.964489]] 2025-10-28T17:01:19.740Z,1761670879.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276915,-0.927528,-0.251017],[0.948939,-0.305053,0.080353],[-0.151103,-0.215949,0.964642]] 2025-10-28T17:01:20.144Z,1761670880.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279730,-0.926745,-0.250788],[0.948352,-0.307422,0.078229],[-0.149596,-0.215953,0.964876]] 2025-10-28T17:01:20.559Z,1761670880.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281823,-0.926249,-0.250276],[0.947908,-0.309156,0.076768],[-0.148481,-0.215603,0.965126]] 2025-10-28T17:01:20.951Z,1761670880.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283341,-0.925982,-0.249551],[0.947737,-0.310158,0.074807],[-0.146670,-0.215313,0.965468]] 2025-10-28T17:01:21.356Z,1761670881.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283868,-0.925826,-0.249531],[0.947978,-0.310077,0.072041],[-0.144071,-0.216100,0.965683]] 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateRudder:A] Stopped 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:01:21.398Z,1761670881.398 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode] Stopped 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:01:21.399Z,1761670881.399 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:01:21.400Z,1761670881.400 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:01:21.400Z,1761670881.400 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:01:21.400Z,1761670881.400 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:01:21.400Z,1761670881.400 [marl:UpdateSpeed] Stopped 2025-10-28T17:01:21.400Z,1761670881.400 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:01:21.767Z,1761670881.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283702,-0.925767,-0.249936],[0.948456,-0.309295,0.069043],[-0.141222,-0.217465,0.965798]] 2025-10-28T17:01:21.830Z,1761670881.830 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:01:21.832Z,1761670881.832 [marl:UpdateRudder:B] Stopped 2025-10-28T17:01:21.832Z,1761670881.832 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:01:21.832Z,1761670881.832 [marl:UpdateRudder] Stopped 2025-10-28T17:01:21.832Z,1761670881.832 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:01:22.163Z,1761670882.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282266,-0.926427,-0.249117],[0.949282,-0.307222,0.066912],[-0.138524,-0.217596,0.966159]] 2025-10-28T17:01:22.571Z,1761670882.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280283,-0.927084,-0.248912],[0.950205,-0.304751,0.065096],[-0.136206,-0.218272,0.966336]] 2025-10-28T17:01:22.972Z,1761670882.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278192,-0.927545,-0.249539],[0.951195,-0.302153,0.062698],[-0.133554,-0.219919,0.966333]] 2025-10-28T17:01:23.376Z,1761670883.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275973,-0.927848,-0.250871],[0.952156,-0.299563,0.060510],[-0.131296,-0.222169,0.966127]] 2025-10-28T17:01:23.783Z,1761670883.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273856,-0.928234,-0.251762],[0.953049,-0.297083,0.058643],[-0.129229,-0.223881,0.966011]] 2025-10-28T17:01:23.819Z,1761670883.819 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 590.70, 623.16, 717.28 2025-10-28T17:01:24.586Z,1761670884.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267826,-0.928930,-0.255652],[0.955558,-0.290036,0.052802],[-0.123198,-0.230149,0.965326]] 2025-10-28T17:01:25.396Z,1761670885.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249422,-0.925908,-0.283694],[0.961759,-0.271081,0.039170],[-0.113172,-0.263076,0.958114]] 2025-10-28T17:01:25.800Z,1761670885.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236593,-0.922948,-0.303630],[0.965708,-0.257767,0.031046],[-0.106920,-0.285872,0.952284]] 2025-10-28T17:01:26.202Z,1761670886.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222283,-0.919523,-0.324143],[0.969797,-0.242765,0.023629],[-0.100418,-0.309101,0.945713]] 2025-10-28T17:01:26.607Z,1761670886.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206926,-0.916385,-0.342667],[0.973841,-0.226537,0.017747],[-0.093890,-0.330030,0.939289]] 2025-10-28T17:01:27.010Z,1761670887.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191119,-0.913143,-0.360060],[0.977648,-0.209832,0.013219],[-0.087623,-0.349486,0.932836]] 2025-10-28T17:01:27.418Z,1761670887.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175113,-0.910995,-0.373394],[0.981175,-0.192842,0.010341],[-0.081427,-0.364554,0.927615]] 2025-10-28T17:01:27.819Z,1761670887.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159433,-0.909761,-0.383296],[0.984312,-0.176214,0.008822],[-0.075568,-0.375876,0.923584]] 2025-10-28T17:01:28.223Z,1761670888.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143835,-0.909441,-0.390165],[0.987104,-0.159846,0.008688],[-0.070267,-0.383884,0.920704]] 2025-10-28T17:01:28.627Z,1761670888.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129050,-0.910025,-0.393955],[0.989515,-0.144161,0.008866],[-0.064861,-0.388680,0.919087]] 2025-10-28T17:01:29.041Z,1761670889.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114810,-0.911008,-0.396084],[0.991600,-0.129009,0.009297],[-0.059568,-0.391689,0.918167]] 2025-10-28T17:01:29.437Z,1761670889.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101016,-0.912060,-0.397420],[0.993401,-0.114280,0.009765],[-0.054323,-0.393811,0.917585]] 2025-10-28T17:01:29.496Z,1761670889.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:01:29.839Z,1761670889.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087768,-0.913404,-0.397481],[0.994941,-0.099959,0.010010],[-0.048874,-0.394591,0.917556]] 2025-10-28T17:01:30.243Z,1761670890.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075088,-0.914922,-0.396585],[0.996237,-0.086095,0.009996],[-0.043290,-0.394342,0.917943]] 2025-10-28T17:01:30.501Z,1761670890.501 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:01:30.647Z,1761670890.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062810,-0.916393,-0.395321],[0.997305,-0.072680,0.010025],[-0.037919,-0.393626,0.918488]] 2025-10-28T17:01:31.057Z,1761670891.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051477,-0.918025,-0.393167],[0.998159,-0.059938,0.009265],[-0.032071,-0.391967,0.919420]] 2025-10-28T17:01:31.455Z,1761670891.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040052,-0.919320,-0.391467],[0.998854,-0.047114,0.008447],[-0.026209,-0.390680,0.920154]] 2025-10-28T17:01:31.858Z,1761670891.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027847,-0.921193,-0.388109],[0.999404,-0.033575,0.007986],[-0.020387,-0.387656,0.921579]] 2025-10-28T17:01:32.267Z,1761670892.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015214,-0.922025,-0.386831],[0.999776,-0.019732,0.007711],[-0.014743,-0.386627,0.922118]] 2025-10-28T17:01:32.669Z,1761670892.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002263,-0.923206,-0.384298],[0.999954,-0.005652,0.007689],[-0.009270,-0.384263,0.923177]] 2025-10-28T17:01:33.474Z,1761670893.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025564,-0.924256,-0.380916],[0.999673,0.023979,0.008906],[0.000902,-0.381019,0.924567]] 2025-10-28T17:01:33.879Z,1761670893.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040620,-0.923702,-0.380951],[0.999161,0.039559,0.010619],[0.005261,-0.381063,0.924534]] 2025-10-28T17:01:34.291Z,1761670894.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055777,-0.923215,-0.380215],[0.998398,0.055205,0.012418],[0.009525,-0.380299,0.924815]] 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateRudder:A] Stopped 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:01:34.728Z,1761670894.728 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode] Stopped 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:01:34.729Z,1761670894.729 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:01:34.730Z,1761670894.730 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:01:34.730Z,1761670894.730 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:01:34.730Z,1761670894.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:01:34.730Z,1761670894.730 [marl:UpdateSpeed] Stopped 2025-10-28T17:01:34.730Z,1761670894.730 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:01:35.090Z,1761670895.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087425,-0.920898,-0.379873],[0.996033,0.087155,0.017946],[0.016582,-0.379935,0.924865]] 2025-10-28T17:01:35.137Z,1761670895.137 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:01:35.137Z,1761670895.137 [marl:UpdateRudder:B] Stopped 2025-10-28T17:01:35.138Z,1761670895.138 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:01:35.138Z,1761670895.138 [marl:UpdateRudder] Stopped 2025-10-28T17:01:35.138Z,1761670895.138 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:01:35.495Z,1761670895.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103087,-0.919169,-0.380133],[0.994478,0.102794,0.021132],[0.019652,-0.380213,0.924690]] 2025-10-28T17:01:36.433Z,1761670896.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133092,-0.915156,-0.380495],[0.990773,0.132772,0.027219],[0.025609,-0.380607,0.924382]] 2025-10-28T17:01:36.836Z,1761670896.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147222,-0.912849,-0.380832],[0.988700,0.146819,0.030290],[0.028263,-0.380987,0.924148]] 2025-10-28T17:01:37.240Z,1761670897.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160648,-0.910577,-0.380845],[0.986524,0.160264,0.032956],[0.031027,-0.381007,0.924052]] 2025-10-28T17:01:37.645Z,1761670897.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173652,-0.908425,-0.380275],[0.984218,0.173442,0.035111],[0.034060,-0.380370,0.924207]] 2025-10-28T17:01:38.049Z,1761670898.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186808,-0.906778,-0.377963],[0.981700,0.186791,0.037071],[0.036985,-0.377972,0.925078]] 2025-10-28T17:01:38.458Z,1761670898.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199615,-0.904509,-0.376852],[0.979045,0.199926,0.038736],[0.040305,-0.376687,0.925463]] 2025-10-28T17:01:38.861Z,1761670898.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227364,-0.898420,-0.375695],[0.972690,0.228017,0.043387],[0.046685,-0.375300,0.925727]] 2025-10-28T17:01:39.264Z,1761670899.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242509,-0.894348,-0.375940],[0.968860,0.243233,0.046344],[0.049994,-0.375472,0.925485]] 2025-10-28T17:01:39.670Z,1761670899.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258564,-0.889898,-0.375801],[0.964506,0.259414,0.049320],[0.053599,-0.375215,0.925387]] 2025-10-28T17:01:40.073Z,1761670900.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276017,-0.884754,-0.375532],[0.959467,0.276763,0.053157],[0.056903,-0.374983,0.925284]] 2025-10-28T17:01:40.474Z,1761670900.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294239,-0.879018,-0.375168],[0.953873,0.294567,0.057938],[0.059584,-0.374910,0.925145]] 2025-10-28T17:01:40.885Z,1761670900.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312553,-0.872700,-0.375108],[0.947877,0.312303,0.063221],[0.061975,-0.375316,0.924823]] 2025-10-28T17:01:41.286Z,1761670901.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330962,-0.865847,-0.375197],[0.941479,0.329897,0.069174],[0.063882,-0.376134,0.924360]] 2025-10-28T17:01:41.718Z,1761670901.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348693,-0.859402,-0.373953],[0.934981,0.346633,0.075208],[0.064991,-0.375864,0.924393]] 2025-10-28T17:01:42.559Z,1761670902.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380392,-0.846444,-0.372606],[0.922499,0.375838,0.087989],[0.065561,-0.377199,0.923809]] 2025-10-28T17:01:42.962Z,1761670902.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393942,-0.841104,-0.370612],[0.916818,0.388202,0.093506],[0.065224,-0.376620,0.924069]] 2025-10-28T17:01:43.368Z,1761670903.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405948,-0.836331,-0.368453],[0.911558,0.399368,0.097818],[0.065340,-0.375575,0.924486]] 2025-10-28T17:01:43.776Z,1761670903.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417058,-0.831779,-0.366342],[0.906513,0.409755,0.101660],[0.065552,-0.374491,0.924910]] 2025-10-28T17:01:44.183Z,1761670904.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427449,-0.827097,-0.364964],[0.901608,0.419607,0.105041],[0.066263,-0.373953,0.925077]] 2025-10-28T17:01:44.213Z,1761670904.213 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:01:44.289Z,1761670904.289 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:01:44.289Z,1761670904.289 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:01:44.541Z,1761670904.541 [DAT](INFO): DAT read: user:38> 2025-10-28T17:01:44.542Z,1761670904.542 [DAT](INFO): DAT read: Tx time:17:01:44.3131 2025-10-28T17:01:44.542Z,1761670904.542 [DAT](INFO): Ping request sent. 2025-10-28T17:01:44.542Z,1761670904.542 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:01:44.542Z,1761670904.542 [DAT](INFO): publishing transmit ping time 2025-10-28T17:01:44.543Z,1761670904.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T17:01:44.578Z,1761670904.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438064,-0.822133,-0.363589],[0.896428,0.429748,0.108316],[0.067202,-0.373380,0.925241]] 2025-10-28T17:01:44.793Z,1761670904.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895 2025-10-28T17:01:44.983Z,1761670904.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449037,-0.816586,-0.362701],[0.890880,0.440308,0.111633],[0.068542,-0.373251,0.925195]] 2025-10-28T17:01:45.047Z,1761670905.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504876 2025-10-28T17:01:45.297Z,1761670905.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754721 2025-10-28T17:01:45.387Z,1761670905.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461074,-0.810435,-0.361395],[0.884593,0.451934,0.115109],[0.070039,-0.372761,0.925280]] 2025-10-28T17:01:45.552Z,1761670905.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009142 2025-10-28T17:01:45.793Z,1761670905.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474213,-0.803433,-0.360024],[0.877487,0.464612,0.118968],[0.071689,-0.372333,0.925326]] 2025-10-28T17:01:45.802Z,1761670905.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259403 2025-10-28T17:01:46.054Z,1761670906.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511611 2025-10-28T17:01:46.198Z,1761670906.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487928,-0.795977,-0.358255],[0.869818,0.477746,0.123190],[0.073098,-0.371725,0.925461]] 2025-10-28T17:01:46.305Z,1761670906.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762615 2025-10-28T17:01:46.557Z,1761670906.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014704 2025-10-28T17:01:46.599Z,1761670906.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502423,-0.788045,-0.355747],[0.861452,0.491448,0.127984],[0.073974,-0.370761,0.925778]] 2025-10-28T17:01:46.809Z,1761670906.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266765 2025-10-28T17:01:47.012Z,1761670907.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516656,-0.779947,-0.353197],[0.852944,0.504764,0.133042],[0.074515,-0.369994,0.926041]] 2025-10-28T17:01:47.061Z,1761670907.061 [DAT](INFO): DAT read: Rx Time:17:01:46.4433 2025-10-28T17:01:47.062Z,1761670907.062 [DAT](INFO): Rx dataTimestamp_ set to:1761670907.061240 2025-10-28T17:01:47.062Z,1761670907.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519863 2025-10-28T17:01:47.313Z,1761670907.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770632 2025-10-28T17:01:47.457Z,1761670907.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530377,-0.771327,-0.351788],[0.844466,0.517234,0.139088],[0.074674,-0.370842,0.925689]] 2025-10-28T17:01:47.574Z,1761670907.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030577 2025-10-28T17:01:47.823Z,1761670907.823 [DAT](INFO): DAT read: 17:01:46.4433 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 232,-0.44, 2.297, 0.313, 1.317, 1.833, PHS= 0.566,-1.474,-0.559, RAW= 116.6, 16.3, CAL= 117.4, 18.0, ROT= 32.6, -18.0 2025-10-28T17:01:47.824Z,1761670907.824 [DAT](INFO): got valid direction response: 17:01:46.4433 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 232,-0.44, 2.297, 0.313, 1.317, 1.833, PHS= 0.566,-1.474,-0.559, RAW= 116.6, 16.3, CAL= 117.4, 18.0, ROT= 32.6, -18.0 2025-10-28T17:01:47.825Z,1761670907.825 [DAT](INFO): DAT read: Bearing 69, -14 (Remote) 2025-10-28T17:01:47.825Z,1761670907.825 [DAT](INFO): Remote Bearing received:Bearing 69, -14 (Remote) 2025-10-28T17:01:47.826Z,1761670907.826 [DAT](INFO): DAT read: Bearing 241.9, 24.4 (Local) 2025-10-28T17:01:47.826Z,1761670907.826 [DAT](INFO): Local bearing/azimuth received: Bearing 241.9, 24.4 (Local) 2025-10-28T17:01:47.827Z,1761670907.827 [DAT](INFO): DAT read: Range 11 to 20 : 75.7 m (Round-trip 101.0 ms) speed 0.5 m/s 2025-10-28T17:01:47.829Z,1761670907.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:01:47.830Z,1761670907.830 [DAT](INFO): direction in FSK: [0.801220,0.512401,0.309017] 2025-10-28T17:01:47.830Z,1761670907.830 [DAT](INFO): publishing direction and range info 2025-10-28T17:01:47.883Z,1761670907.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543431,-0.762494,-0.351121],[0.836159,0.528694,0.146015],[0.074300,-0.372942,0.924875]] 2025-10-28T17:01:48.050Z,1761670908.050 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:01:48.050Z,1761670908.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateRudder:A] Stopped 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:01:48.051Z,1761670908.051 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:01:48.052Z,1761670908.052 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:01:48.056Z,1761670908.056 [marl:UpdateCommandMode] Stopped 2025-10-28T17:01:48.056Z,1761670908.056 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:01:48.056Z,1761670908.056 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:01:48.056Z,1761670908.056 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:01:48.057Z,1761670908.057 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:01:48.057Z,1761670908.057 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:01:48.057Z,1761670908.057 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:01:48.057Z,1761670908.057 [marl:UpdateSpeed] Stopped 2025-10-28T17:01:48.057Z,1761670908.057 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:01:48.087Z,1761670908.087 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670912.00. Resetting abort timer. 2025-10-28T17:01:48.482Z,1761670908.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566313,-0.748168,-0.345738],[0.821029,0.548812,0.157217],[0.072121,-0.372895,0.925066]] 2025-10-28T17:01:48.559Z,1761670908.559 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:01:48.559Z,1761670908.559 [marl:UpdateRudder:B] Stopped 2025-10-28T17:01:48.559Z,1761670908.559 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:01:48.559Z,1761670908.559 [marl:UpdateRudder] Stopped 2025-10-28T17:01:48.559Z,1761670908.559 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:01:48.913Z,1761670908.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576356,-0.742225,-0.341928],[0.814127,0.557754,0.161577],[0.070785,-0.371499,0.925731]] 2025-10-28T17:01:49.316Z,1761670909.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586356,-0.735805,-0.338789],[0.807037,0.566685,0.166009],[0.069836,-0.370756,0.926101]] 2025-10-28T17:01:49.722Z,1761670909.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596496,-0.728883,-0.336039],[0.799593,0.575963,0.170053],[0.069597,-0.370130,0.926369]] 2025-10-28T17:01:50.123Z,1761670910.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607133,-0.721700,-0.332472],[0.791508,0.586161,0.173003],[0.070026,-0.368190,0.927110]] 2025-10-28T17:01:50.529Z,1761670910.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618625,-0.713572,-0.328813],[0.782494,0.597249,0.176058],[0.070753,-0.366208,0.927839]] 2025-10-28T17:01:50.933Z,1761670910.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631626,-0.703658,-0.325443],[0.771956,0.609616,0.180145],[0.071635,-0.365012,0.928243]] 2025-10-28T17:01:51.335Z,1761670911.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646257,-0.692077,-0.321530],[0.759663,0.623496,0.184837],[0.072551,-0.363707,0.928684]] 2025-10-28T17:01:51.742Z,1761670911.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661916,-0.679043,-0.317441],[0.745996,0.638119,0.190512],[0.073199,-0.362913,0.928944]] 2025-10-28T17:01:52.149Z,1761670912.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678324,-0.664739,-0.313048],[0.731110,0.653058,0.197466],[0.073175,-0.362818,0.928982]] 2025-10-28T17:01:52.548Z,1761670912.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695184,-0.649455,-0.308102],[0.715168,0.668109,0.205343],[0.072485,-0.363096,0.928928]] 2025-10-28T17:01:53.393Z,1761670913.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728974,-0.617321,-0.295824],[0.681105,0.697339,0.223192],[0.068508,-0.364188,0.928802]] 2025-10-28T17:01:53.792Z,1761670913.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744203,-0.602191,-0.289011],[0.664756,0.710009,0.232351],[0.065281,-0.365038,0.928701]] 2025-10-28T17:01:53.814Z,1761670913.814 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -32.45,9 -3.11, 20.00, 0.00 2025-10-28T17:01:54.217Z,1761670914.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757563,-0.588920,-0.281553],[0.649847,0.721136,0.240128],[0.061622,-0.364879,0.929014]] 2025-10-28T17:01:54.621Z,1761670914.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768947,-0.577470,-0.274316],[0.636695,0.730514,0.246921],[0.057802,-0.364524,0.929398]] 2025-10-28T17:01:55.026Z,1761670915.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778892,-0.567205,-0.267594],[0.624832,0.738536,0.253276],[0.053969,-0.364476,0.929648]] 2025-10-28T17:01:55.426Z,1761670915.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787907,-0.557513,-0.261499],[0.613733,0.745667,0.259447],[0.050346,-0.364910,0.929681]] 2025-10-28T17:01:55.831Z,1761670915.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796195,-0.548473,-0.255441],[0.603229,0.752234,0.265063],[0.046772,-0.365131,0.929780]] 2025-10-28T17:01:56.235Z,1761670916.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803864,-0.539756,-0.249934],[0.593212,0.758304,0.270323],[0.043618,-0.365567,0.929763]] 2025-10-28T17:01:56.642Z,1761670916.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811243,-0.531118,-0.244535],[0.583295,0.764176,0.275322],[0.040639,-0.365990,0.929731]] 2025-10-28T17:01:57.043Z,1761670917.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818521,-0.522184,-0.239475],[0.573239,0.769760,0.280832],[0.037692,-0.367143,0.929400]] 2025-10-28T17:01:57.446Z,1761670917.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825524,-0.513486,-0.234184],[0.563294,0.775238,0.285842],[0.034772,-0.367884,0.929221]] 2025-10-28T17:01:57.850Z,1761670917.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832365,-0.504830,-0.228725],[0.553299,0.780781,0.290243],[0.032061,-0.368141,0.929217]] 2025-10-28T17:01:58.256Z,1761670918.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839532,-0.495414,-0.223048],[0.542531,0.786406,0.295340],[0.029091,-0.368958,0.928991]] 2025-10-28T17:01:59.062Z,1761670919.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854887,-0.473994,-0.210947],[0.518270,0.798832,0.305391],[0.023758,-0.370402,0.928568]] 2025-10-28T17:01:59.467Z,1761670919.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862835,-0.462285,-0.204474],[0.505041,0.805369,0.310345],[0.021209,-0.371045,0.928373]] 2025-10-28T17:01:59.878Z,1761670919.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871147,-0.449546,-0.197513],[0.490662,0.812388,0.315083],[0.018813,-0.371396,0.928284]] 2025-10-28T17:02:00.274Z,1761670920.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879752,-0.436102,-0.189347],[0.475146,0.820330,0.318268],[0.016530,-0.369964,0.928899]] 2025-10-28T17:02:00.636Z,1761670920.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:02:01.082Z,1761670921.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897285,-0.406684,-0.171719],[0.441285,0.836985,0.323610],[0.012119,-0.366147,0.930478]] 2025-10-28T17:02:01.107Z,1761670921.107 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:02:01.107Z,1761670921.107 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:02:01.107Z,1761670921.107 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:02:01.108Z,1761670921.108 [marl:UpdateRudder:A] Stopped 2025-10-28T17:02:01.108Z,1761670921.108 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:02:01.108Z,1761670921.108 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:02:01.108Z,1761670921.108 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:02:01.108Z,1761670921.108 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateCommandMode] Stopped 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:02:01.109Z,1761670921.109 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:02:01.110Z,1761670921.110 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:02:01.110Z,1761670921.110 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:02:01.110Z,1761670921.110 [marl:UpdateSpeed] Stopped 2025-10-28T17:02:01.110Z,1761670921.110 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:02:01.498Z,1761670921.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906097,-0.390948,-0.161704],[0.422955,0.845991,0.324668],[0.009872,-0.362574,0.931903]] 2025-10-28T17:02:01.524Z,1761670921.524 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:02:01.524Z,1761670921.524 [marl:UpdateRudder:B] Stopped 2025-10-28T17:02:01.524Z,1761670921.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:02:01.524Z,1761670921.524 [marl:UpdateRudder] Stopped 2025-10-28T17:02:01.524Z,1761670921.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:02:01.640Z,1761670921.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:02:01.891Z,1761670921.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914766,-0.374549,-0.151384],[0.403914,0.855007,0.325294],[0.007596,-0.358714,0.933416]] 2025-10-28T17:02:02.294Z,1761670922.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923410,-0.357130,-0.140616],[0.383779,0.864239,0.325278],[0.005359,-0.354330,0.935105]] 2025-10-28T17:02:02.699Z,1761670922.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931605,-0.339491,-0.129842],[0.363463,0.872910,0.325457],[0.002851,-0.350390,0.936599]] 2025-10-28T17:02:03.102Z,1761670923.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938785,-0.323719,-0.117851],[0.344503,0.881443,0.323072],[-0.000706,-0.343895,0.939008]] 2025-10-28T17:02:03.509Z,1761670923.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944277,-0.312176,-0.104344],[0.329105,0.890022,0.315515],[-0.005628,-0.332274,0.943166]] 2025-10-28T17:02:03.918Z,1761670923.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947947,-0.305689,-0.089168],[0.318206,0.898910,0.301173],[-0.011912,-0.313870,0.949391]] 2025-10-28T17:02:04.314Z,1761670924.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949862,-0.303636,-0.074610],[0.312101,0.906390,0.284693],[-0.018818,-0.293705,0.955711]] 2025-10-28T17:02:04.719Z,1761670924.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950299,-0.305340,-0.060814],[0.310241,0.912330,0.267216],[-0.026110,-0.272802,0.961716]] 2025-10-28T17:02:05.123Z,1761670925.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949535,-0.309898,-0.048442],[0.311891,0.916464,0.250633],[-0.033275,-0.253093,0.966869]] 2025-10-28T17:02:05.529Z,1761670925.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948176,-0.315412,-0.038444],[0.315235,0.918592,0.238360],[-0.039867,-0.238127,0.970416]] 2025-10-28T17:02:05.930Z,1761670925.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946456,-0.321440,-0.029964],[0.319482,0.919246,0.230041],[-0.046400,-0.227297,0.972719]] 2025-10-28T17:02:06.336Z,1761670926.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944444,-0.327878,-0.022833],[0.324419,0.918831,0.224724],[-0.052702,-0.219647,0.974155]] 2025-10-28T17:02:06.741Z,1761670926.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942443,-0.333932,-0.017056],[0.329189,0.917697,0.222412],[-0.058618,-0.215225,0.974804]] 2025-10-28T17:02:07.143Z,1761670927.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940470,-0.339641,-0.012662],[0.333790,0.915965,0.222694],[-0.064038,-0.213663,0.974806]] 2025-10-28T17:02:07.549Z,1761670927.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938596,-0.344897,-0.009133],[0.338047,0.914014,0.224282],[-0.069006,-0.213598,0.974481]] 2025-10-28T17:02:07.953Z,1761670927.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937188,-0.348767,-0.006284],[0.341028,0.912308,0.226701],[-0.073333,-0.214604,0.973944]] 2025-10-28T17:02:08.356Z,1761670928.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936544,-0.350539,-0.002887],[0.341910,0.911611,0.228172],[-0.077351,-0.214681,0.973616]] 2025-10-28T17:02:08.769Z,1761670928.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937179,-0.348850,0.000042],[0.339243,0.911399,0.232951],[-0.081303,-0.218303,0.972488]] 2025-10-28T17:02:09.163Z,1761670929.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938740,-0.344595,0.004614],[0.333832,0.912583,0.236110],[-0.085573,-0.220105,0.971715]] 2025-10-28T17:02:09.579Z,1761670929.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940603,-0.339347,0.010453],[0.327350,0.914656,0.237163],[-0.090041,-0.219654,0.971414]] 2025-10-28T17:02:09.982Z,1761670929.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942637,-0.333388,0.016999],[0.320195,0.917388,0.236376],[-0.094399,-0.217374,0.971513]] 2025-10-28T17:02:10.375Z,1761670930.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944706,-0.327088,0.023323],[0.312799,0.920213,0.235300],[-0.098426,-0.214994,0.971643]] 2025-10-28T17:02:10.783Z,1761670930.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946680,-0.320819,0.029521],[0.305433,0.922864,0.234591],[-0.102505,-0.213066,0.971646]] 2025-10-28T17:02:11.182Z,1761670931.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948118,-0.315968,0.035176],[0.299585,0.924984,0.233779],[-0.106404,-0.211112,0.971653]] 2025-10-28T17:02:11.627Z,1761670931.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948509,-0.314206,0.040057],[0.296971,0.926130,0.232574],[-0.110174,-0.208703,0.971754]] 2025-10-28T17:02:11.993Z,1761670931.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947963,-0.315365,0.043719],[0.297456,0.926231,0.231551],[-0.113516,-0.206497,0.971840]] 2025-10-28T17:02:12.394Z,1761670932.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946738,-0.318721,0.045874],[0.300404,0.925518,0.230594],[-0.115952,-0.204532,0.971968]] 2025-10-28T17:02:13.204Z,1761670933.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943669,-0.327627,0.046369],[0.308951,0.922580,0.231074],[-0.118485,-0.203732,0.971831]] 2025-10-28T17:02:13.652Z,1761670933.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942325,-0.331821,0.043788],[0.313369,0.920648,0.232824],[-0.117569,-0.205675,0.971533]] 2025-10-28T17:02:13.670Z,1761670933.670 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +890, -43,A 2025-10-28T17:02:14.011Z,1761670934.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941568,-0.334435,0.040048],[0.316522,0.919194,0.234297],[-0.115169,-0.207931,0.971340]] 2025-10-28T17:02:14.052Z,1761670934.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:02:14.052Z,1761670934.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:02:14.052Z,1761670934.052 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateRudder:A] Stopped 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:02:14.053Z,1761670934.053 [marl:UpdateCommandMode] Stopped 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed] Stopped 2025-10-28T17:02:14.054Z,1761670934.054 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:02:14.416Z,1761670934.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941650,-0.334713,0.035530],[0.317434,0.918195,0.236966],[-0.111940,-0.211861,0.970868]] 2025-10-28T17:02:14.478Z,1761670934.478 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:02:14.479Z,1761670934.479 [marl:UpdateRudder:B] Stopped 2025-10-28T17:02:14.479Z,1761670934.479 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:02:14.479Z,1761670934.479 [marl:UpdateRudder] Stopped 2025-10-28T17:02:14.479Z,1761670934.479 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:02:14.820Z,1761670934.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942289,-0.333337,0.031276],[0.316827,0.917998,0.238538],[-0.108225,-0.214863,0.970629]] 2025-10-28T17:02:15.223Z,1761670935.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943400,-0.330469,0.028040],[0.314648,0.918543,0.239324],[-0.104845,-0.216956,0.970535]] 2025-10-28T17:02:15.639Z,1761670935.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944643,-0.327175,0.024630],[0.312058,0.919104,0.240559],[-0.101342,-0.219556,0.970322]] 2025-10-28T17:02:16.037Z,1761670936.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946014,-0.323368,0.022133],[0.308885,0.920123,0.240759],[-0.098219,-0.220925,0.970333]] 2025-10-28T17:02:16.436Z,1761670936.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947219,-0.319906,0.020880],[0.306025,0.921681,0.238441],[-0.095524,-0.219466,0.970933]] 2025-10-28T17:02:16.838Z,1761670936.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948208,-0.317066,0.019254],[0.303781,0.922854,0.236764],[-0.092838,-0.218653,0.971376]] 2025-10-28T17:02:17.242Z,1761670937.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948983,-0.314828,0.017758],[0.302033,0.923706,0.235677],[-0.090601,-0.218290,0.971669]] 2025-10-28T17:02:17.647Z,1761670937.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949285,-0.314006,0.016042],[0.301696,0.924060,0.234719],[-0.088527,-0.217975,0.971931]] 2025-10-28T17:02:18.053Z,1761670938.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949344,-0.313939,0.013746],[0.302166,0.924002,0.234340],[-0.086270,-0.218316,0.972058]] 2025-10-28T17:02:18.475Z,1761670938.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948850,-0.315522,0.011410],[0.304266,0.923454,0.233782],[-0.084300,-0.218352,0.972222]] 2025-10-28T17:02:18.859Z,1761670938.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948024,-0.318081,0.008703],[0.307370,0.922489,0.233535],[-0.082312,-0.218722,0.972309]] 2025-10-28T17:02:19.263Z,1761670939.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946886,-0.321520,0.005651],[0.311422,0.921246,0.233072],[-0.080143,-0.218933,0.972443]] 2025-10-28T17:02:19.666Z,1761670939.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945440,-0.325787,0.002473],[0.316368,0.919865,0.231861],[-0.077812,-0.218428,0.972746]] 2025-10-28T17:02:20.070Z,1761670940.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943771,-0.330596,-0.001681],[0.321962,0.917946,0.231764],[-0.075077,-0.219273,0.972771]] 2025-10-28T17:02:20.479Z,1761670940.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942089,-0.335310,-0.005985],[0.327565,0.916208,0.230788],[-0.071902,-0.219384,0.972986]] 2025-10-28T17:02:20.881Z,1761670940.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940471,-0.339692,-0.011095],[0.332948,0.914263,0.230800],[-0.068257,-0.220755,0.972938]] 2025-10-28T17:02:21.283Z,1761670941.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939307,-0.342695,-0.016218],[0.336972,0.912675,0.231245],[-0.064445,-0.222675,0.972760]] 2025-10-28T17:02:21.686Z,1761670941.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938938,-0.343407,-0.021608],[0.338746,0.911522,0.233192],[-0.060383,-0.226273,0.972191]] 2025-10-28T17:02:22.090Z,1761670942.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939321,-0.342049,-0.026069],[0.338339,0.911228,0.234928],[-0.056602,-0.229493,0.971663]] 2025-10-28T17:02:22.508Z,1761670942.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942033,-0.333867,-0.033254],[0.331824,0.912399,0.239628],[-0.049663,-0.236772,0.970295]] 2025-10-28T17:02:23.309Z,1761670943.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945495,-0.323725,-0.035245],[0.322535,0.916077,0.238275],[-0.044848,-0.236656,0.970558]] 2025-10-28T17:02:23.711Z,1761670943.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947375,-0.318283,-0.034307],[0.317200,0.918847,0.234742],[-0.043191,-0.233271,0.971452]] 2025-10-28T17:02:24.117Z,1761670944.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949257,-0.312791,-0.032744],[0.311709,0.921882,0.230153],[-0.041803,-0.228681,0.972603]] 2025-10-28T17:02:24.536Z,1761670944.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951145,-0.307174,-0.031085],[0.306024,0.924648,0.226663],[-0.040883,-0.225102,0.973477]] 2025-10-28T17:02:24.925Z,1761670944.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953023,-0.301504,-0.029010],[0.300208,0.927488,0.222802],[-0.040270,-0.221045,0.974432]] 2025-10-28T17:02:25.323Z,1761670945.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954401,-0.297284,-0.027231],[0.295826,0.929571,0.219964],[-0.040078,-0.217990,0.975128]] 2025-10-28T17:02:25.726Z,1761670945.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954988,-0.295470,-0.026394],[0.293968,0.930682,0.217749],[-0.039774,-0.215707,0.975648]] 2025-10-28T17:02:26.131Z,1761670946.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954484,-0.297100,-0.026304],[0.295585,0.930441,0.216584],[-0.039872,-0.214501,0.975909]] 2025-10-28T17:02:26.535Z,1761670946.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953211,-0.301108,-0.026901],[0.299708,0.929625,0.214412],[-0.039554,-0.212442,0.976373]] 2025-10-28T17:02:26.950Z,1761670946.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951602,-0.305959,-0.029040],[0.304889,0.927910,0.214537],[-0.038693,-0.213007,0.976284]] 2025-10-28T17:02:26.978Z,1761670946.978 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:02:26.978Z,1761670946.978 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:02:26.978Z,1761670946.978 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateRudder:A] Stopped 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:02:26.979Z,1761670946.979 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateCommandMode] Stopped 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:02:26.980Z,1761670946.980 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:02:26.981Z,1761670946.981 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:02:26.981Z,1761670946.981 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:02:26.981Z,1761670946.981 [marl:UpdateSpeed] Stopped 2025-10-28T17:02:26.981Z,1761670946.981 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:02:27.343Z,1761670947.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949757,-0.311361,-0.031866],[0.310752,0.925930,0.214678],[-0.037336,-0.213794,0.976165]] 2025-10-28T17:02:27.379Z,1761670947.379 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:02:27.379Z,1761670947.379 [marl:UpdateRudder:B] Stopped 2025-10-28T17:02:27.380Z,1761670947.380 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:02:27.380Z,1761670947.380 [marl:UpdateRudder] Stopped 2025-10-28T17:02:27.380Z,1761670947.380 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:02:27.750Z,1761670947.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947900,-0.316505,-0.036189],[0.316655,0.923683,0.215730],[-0.034852,-0.215950,0.975782]] 2025-10-28T17:02:28.151Z,1761670948.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945953,-0.321568,-0.042043],[0.322802,0.921162,0.217392],[-0.031178,-0.219214,0.975179]] 2025-10-28T17:02:28.560Z,1761670948.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944014,-0.326311,-0.048556],[0.328828,0.918807,0.218327],[-0.026629,-0.222070,0.974667]] 2025-10-28T17:02:28.962Z,1761670948.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942040,-0.330846,-0.055689],[0.334815,0.916476,0.219022],[-0.021425,-0.224973,0.974129]] 2025-10-28T17:02:29.363Z,1761670949.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940581,-0.333690,-0.062914],[0.339207,0.914756,0.219455],[-0.015678,-0.227756,0.973592]] 2025-10-28T17:02:29.773Z,1761670949.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939945,-0.334055,-0.070078],[0.341186,0.913658,0.220955],[-0.009784,-0.231595,0.972763]] 2025-10-28T17:02:30.172Z,1761670950.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940145,-0.331998,-0.076837],[0.340752,0.913293,0.223125],[-0.003902,-0.235952,0.971757]] 2025-10-28T17:02:30.578Z,1761670950.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940941,-0.328453,-0.082149],[0.338567,0.913941,0.223794],[0.001573,-0.238390,0.971168]] 2025-10-28T17:02:30.979Z,1761670950.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942137,-0.323792,-0.086811],[0.335159,0.915064,0.224337],[0.006799,-0.240452,0.970637]] 2025-10-28T17:02:31.383Z,1761670951.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943434,-0.318906,-0.090727],[0.331354,0.916529,0.224007],[0.011717,-0.241398,0.970355]] 2025-10-28T17:02:31.760Z,1761670951.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:02:31.794Z,1761670951.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945032,-0.313328,-0.093485],[0.326566,0.918775,0.221828],[0.016387,-0.240163,0.970594]] 2025-10-28T17:02:32.191Z,1761670952.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946645,-0.307911,-0.095148],[0.321633,0.921289,0.218585],[0.020354,-0.237525,0.971168]] 2025-10-28T17:02:32.599Z,1761670952.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948210,-0.302423,-0.097146],[0.316726,0.923393,0.216864],[0.024119,-0.236401,0.971356]] 2025-10-28T17:02:32.764Z,1761670952.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:02:32.998Z,1761670952.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949124,-0.299028,-0.098723],[0.313705,0.925166,0.213675],[0.027440,-0.233773,0.971904]] 2025-10-28T17:02:33.405Z,1761670953.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949271,-0.297947,-0.100560],[0.312995,0.926060,0.210823],[0.030311,-0.231603,0.972338]] 2025-10-28T17:02:33.807Z,1761670953.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948761,-0.298802,-0.102815],[0.314253,0.926315,0.207812],[0.033145,-0.229473,0.972750]] 2025-10-28T17:02:34.211Z,1761670954.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947830,-0.300662,-0.105926],[0.316732,0.925805,0.206313],[0.036036,-0.229100,0.972736]] 2025-10-28T17:02:34.627Z,1761670954.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946783,-0.302663,-0.109528],[0.319470,0.925127,0.205133],[0.039241,-0.229208,0.972586]] 2025-10-28T17:02:35.030Z,1761670955.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945591,-0.305027,-0.113204],[0.322589,0.924253,0.204188],[0.042346,-0.229597,0.972364]] 2025-10-28T17:02:35.429Z,1761670955.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944351,-0.307269,-0.117423],[0.325736,0.923248,0.203737],[0.045808,-0.230648,0.971958]] 2025-10-28T17:02:35.829Z,1761670955.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943298,-0.308806,-0.121772],[0.328231,0.922455,0.203328],[0.049541,-0.231768,0.971509]] 2025-10-28T17:02:36.230Z,1761670956.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942447,-0.309749,-0.125890],[0.330095,0.921876,0.202935],[0.053196,-0.232811,0.971066]] 2025-10-28T17:02:36.638Z,1761670956.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941976,-0.309553,-0.129840],[0.330806,0.921722,0.202475],[0.057000,-0.233678,0.970642]] 2025-10-28T17:02:37.039Z,1761670957.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941784,-0.308810,-0.132964],[0.330685,0.922226,0.200367],[0.060748,-0.232672,0.970656]] 2025-10-28T17:02:37.449Z,1761670957.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941714,-0.307832,-0.135696],[0.330232,0.922843,0.198260],[0.064195,-0.231516,0.970711]] 2025-10-28T17:02:37.847Z,1761670957.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941791,-0.306701,-0.137712],[0.329326,0.923995,0.194364],[0.067634,-0.228402,0.971215]] 2025-10-28T17:02:38.251Z,1761670958.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941836,-0.305752,-0.139499],[0.328626,0.924770,0.191846],[0.070347,-0.226530,0.971460]] 2025-10-28T17:02:38.671Z,1761670958.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941900,-0.304759,-0.141230],[0.327893,0.925459,0.189768],[0.072869,-0.225051,0.971618]] 2025-10-28T17:02:39.060Z,1761670959.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941958,-0.303758,-0.142990],[0.327183,0.926048,0.188112],[0.075276,-0.223977,0.971683]] 2025-10-28T17:02:39.463Z,1761670959.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941778,-0.303346,-0.145033],[0.327104,0.926424,0.186392],[0.077821,-0.222981,0.971712]] 2025-10-28T17:02:39.867Z,1761670959.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941516,-0.303117,-0.147201],[0.327239,0.926694,0.184806],[0.080392,-0.222167,0.971689]] 2025-10-28T17:02:39.925Z,1761670959.925 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:02:39.925Z,1761670959.925 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:02:39.925Z,1761670959.925 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:02:39.926Z,1761670959.926 [marl:UpdateRudder:A] Stopped 2025-10-28T17:02:39.926Z,1761670959.926 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:02:39.926Z,1761670959.926 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:02:39.926Z,1761670959.926 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:02:39.926Z,1761670959.926 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:02:39.927Z,1761670959.927 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:02:39.927Z,1761670959.927 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:02:39.927Z,1761670959.927 [marl:UpdateCommandMode] Stopped 2025-10-28T17:02:39.928Z,1761670959.928 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:02:39.928Z,1761670959.928 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:02:39.928Z,1761670959.928 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:02:39.928Z,1761670959.928 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:02:39.929Z,1761670959.929 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:02:39.929Z,1761670959.929 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:02:39.929Z,1761670959.929 [marl:UpdateSpeed] Stopped 2025-10-28T17:02:39.929Z,1761670959.929 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:02:40.270Z,1761670960.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941353,-0.302787,-0.148910],[0.327215,0.926899,0.183816],[0.082368,-0.221761,0.971616]] 2025-10-28T17:02:40.312Z,1761670960.312 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:02:40.312Z,1761670960.312 [marl:UpdateRudder:B] Stopped 2025-10-28T17:02:40.312Z,1761670960.312 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:02:40.312Z,1761670960.312 [marl:UpdateRudder] Stopped 2025-10-28T17:02:40.313Z,1761670960.313 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:02:40.683Z,1761670960.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941166,-0.302389,-0.150891],[0.327217,0.927018,0.183211],[0.084478,-0.221806,0.971424]] 2025-10-28T17:02:41.081Z,1761670961.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941094,-0.301387,-0.153324],[0.326805,0.927102,0.183523],[0.086836,-0.222820,0.970985]] 2025-10-28T17:02:41.484Z,1761670961.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940928,-0.300662,-0.155747],[0.326661,0.927108,0.183749],[0.089148,-0.223771,0.970556]] 2025-10-28T17:02:41.887Z,1761670961.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940891,-0.299530,-0.158131],[0.326238,0.926941,0.185334],[0.091065,-0.225968,0.969869]] 2025-10-28T17:02:42.291Z,1761670962.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940826,-0.298452,-0.160540],[0.325897,0.926712,0.187073],[0.092942,-0.228323,0.969139]] 2025-10-28T17:02:42.703Z,1761670962.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940980,-0.296966,-0.162382],[0.325020,0.926690,0.188698],[0.094441,-0.230339,0.968517]] 2025-10-28T17:02:43.099Z,1761670963.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940970,-0.295877,-0.164416],[0.324564,0.926564,0.190098],[0.096096,-0.232240,0.967900]] 2025-10-28T17:02:43.503Z,1761670963.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941111,-0.294993,-0.165195],[0.323958,0.926609,0.190909],[0.096755,-0.233183,0.967607]] 2025-10-28T17:02:43.912Z,1761670963.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941193,-0.294359,-0.165857],[0.323711,0.926241,0.193102],[0.096782,-0.235436,0.967059]] 2025-10-28T17:02:44.312Z,1761670964.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941441,-0.293712,-0.165594],[0.323129,0.926198,0.194279],[0.096311,-0.236411,0.966868]] 2025-10-28T17:02:44.339Z,1761670964.339 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:02:44.585Z,1761670964.585 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:02:44.585Z,1761670964.585 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:02:44.715Z,1761670964.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941341,-0.294238,-0.165233],[0.323530,0.926122,0.193977],[0.095951,-0.236057,0.966991]] 2025-10-28T17:02:44.837Z,1761670964.837 [DAT](INFO): DAT read: user:39> 2025-10-28T17:02:44.838Z,1761670964.838 [DAT](INFO): DAT read: Tx time:17:02:44.6129 2025-10-28T17:02:44.838Z,1761670964.838 [DAT](INFO): Ping request sent. 2025-10-28T17:02:44.838Z,1761670964.838 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:02:44.838Z,1761670964.838 [DAT](INFO): publishing transmit ping time 2025-10-28T17:02:44.839Z,1761670964.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T17:02:45.089Z,1761670965.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251319 2025-10-28T17:02:45.118Z,1761670965.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941188,-0.294938,-0.164851],[0.324152,0.925850,0.194234],[0.095341,-0.236247,0.967004]] 2025-10-28T17:02:45.341Z,1761670965.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502797 2025-10-28T17:02:45.523Z,1761670965.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940954,-0.295688,-0.164847],[0.324929,0.925493,0.194637],[0.095013,-0.236708,0.966924]] 2025-10-28T17:02:45.596Z,1761670965.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757283 2025-10-28T17:02:45.845Z,1761670965.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831 2025-10-28T17:02:45.933Z,1761670965.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940685,-0.296988,-0.164040],[0.325865,0.925480,0.193127],[0.094460,-0.235127,0.967364]] 2025-10-28T17:02:46.099Z,1761670966.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260954 2025-10-28T17:02:46.330Z,1761670966.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940541,-0.297870,-0.163265],[0.326360,0.925710,0.191183],[0.094188,-0.233099,0.967881]] 2025-10-28T17:02:46.349Z,1761670966.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510871 2025-10-28T17:02:46.601Z,1761670966.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762859 2025-10-28T17:02:46.735Z,1761670966.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940700,-0.297950,-0.162200],[0.325955,0.926342,0.188795],[0.094001,-0.230470,0.968529]] 2025-10-28T17:02:46.853Z,1761670966.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009 2025-10-28T17:02:47.105Z,1761670967.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267469 2025-10-28T17:02:47.138Z,1761670967.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940978,-0.297629,-0.161174],[0.325155,0.927133,0.186275],[0.093989,-0.227688,0.969187]] 2025-10-28T17:02:47.357Z,1761670967.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917 2025-10-28T17:02:47.544Z,1761670967.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941480,-0.296736,-0.159883],[0.323708,0.928197,0.183478],[0.093958,-0.224497,0.969935]] 2025-10-28T17:02:47.611Z,1761670967.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772984 2025-10-28T17:02:47.861Z,1761670967.861 [DAT](INFO): DAT read: Rx Time:17:02:47.1286 2025-10-28T17:02:47.861Z,1761670967.861 [DAT](INFO): Rx dataTimestamp_ set to:1761670967.861147 2025-10-28T17:02:47.862Z,1761670967.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023957 2025-10-28T17:02:47.947Z,1761670967.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942088,-0.295090,-0.159349],[0.321942,0.928853,0.183261],[0.093933,-0.223949,0.970064]] 2025-10-28T17:02:48.115Z,1761670968.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276771 2025-10-28T17:02:48.350Z,1761670968.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942683,-0.293794,-0.158221],[0.320279,0.929690,0.181927],[0.093647,-0.222175,0.970499]] 2025-10-28T17:02:48.370Z,1761670968.370 [DAT](INFO): DAT read: 17:02:47.1286 LVL= 25872, 21585, 32754, 32755, AGC= 49, IDX= 290, 0.10, 2.082,-2.996, 1.356, 2.566, PHS=-0.382, 0.765,-1.255, RAW= 355.5, 10.0, CAL= 355.7, 11.0, ROT= 154.3, -11.0 2025-10-28T17:02:48.371Z,1761670968.371 [DAT](INFO): got valid direction response: 17:02:47.1286 LVL= 25872, 21585, 32754, 32755, AGC= 49, IDX= 290, 0.10, 2.082,-2.996, 1.356, 2.566, PHS=-0.382, 0.765,-1.255, RAW= 355.5, 10.0, CAL= 355.7, 11.0, ROT= 154.3, -11.0 2025-10-28T17:02:48.381Z,1761670968.381 [DAT](INFO): DAT read: Bearing 332.3, 16.7 (Local) 2025-10-28T17:02:48.381Z,1761670968.381 [DAT](INFO): Local bearing/azimuth received: Bearing 332.3, 16.7 (Local) 2025-10-28T17:02:48.382Z,1761670968.382 [DAT](INFO): DAT read: Range 11 to 20 : 83.6 m (Round-trip 111.5 ms) speed -0.3 m/s 2025-10-28T17:02:48.383Z,1761670968.383 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:02:48.384Z,1761670968.384 [DAT](INFO): direction in FSK: [-0.884522,0.425692,0.190809] 2025-10-28T17:02:48.384Z,1761670968.384 [DAT](INFO): publishing direction and range info 2025-10-28T17:02:48.478Z,1761670968.478 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761670912.00. Resetting abort timer. 2025-10-28T17:02:48.759Z,1761670968.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943303,-0.292367,-0.157167],[0.318533,0.930496,0.180870],[0.093362,-0.220678,0.970868]] 2025-10-28T17:02:49.159Z,1761670969.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943916,-0.290930,-0.156151],[0.316917,0.930988,0.181177],[0.092665,-0.220502,0.970975]] 2025-10-28T17:02:49.575Z,1761670969.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944521,-0.289684,-0.154800],[0.315406,0.931462,0.181377],[0.091648,-0.220140,0.971153]] 2025-10-28T17:02:49.983Z,1761670969.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945675,-0.286893,-0.152940],[0.312486,0.931920,0.184056],[0.089723,-0.221849,0.970944]] 2025-10-28T17:02:50.371Z,1761670970.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946940,-0.283819,-0.150835],[0.309279,0.932344,0.187298],[0.087471,-0.224010,0.970653]] 2025-10-28T17:02:50.779Z,1761670970.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948255,-0.280879,-0.148049],[0.305945,0.933002,0.189485],[0.084908,-0.224975,0.970658]] 2025-10-28T17:02:51.179Z,1761670971.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949601,-0.277965,-0.144891],[0.302589,0.933544,0.192187],[0.081841,-0.226343,0.970603]] 2025-10-28T17:02:51.638Z,1761670971.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950945,-0.274938,-0.141817],[0.299122,0.934125,0.194771],[0.078924,-0.227637,0.970542]] 2025-10-28T17:02:51.987Z,1761670971.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952105,-0.272519,-0.138674],[0.296203,0.934577,0.197054],[0.075900,-0.228692,0.970536]] 2025-10-28T17:02:52.395Z,1761670972.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953065,-0.271098,-0.134810],[0.293976,0.935115,0.197836],[0.072430,-0.228181,0.970921]] 2025-10-28T17:02:52.798Z,1761670972.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953733,-0.270567,-0.131101],[0.292640,0.935420,0.198369],[0.068962,-0.227556,0.971320]] 2025-10-28T17:02:52.822Z,1761670972.822 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:02:52.822Z,1761670972.822 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateRudder:A] Stopped 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:02:52.823Z,1761670972.823 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:02:52.824Z,1761670972.824 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:02:52.836Z,1761670972.836 [marl:UpdateCommandMode] Stopped 2025-10-28T17:02:52.836Z,1761670972.836 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:02:52.836Z,1761670972.836 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:02:52.836Z,1761670972.836 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:02:52.836Z,1761670972.836 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:02:52.837Z,1761670972.837 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:02:52.837Z,1761670972.837 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:02:52.837Z,1761670972.837 [marl:UpdateSpeed] Stopped 2025-10-28T17:02:52.837Z,1761670972.837 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:02:53.201Z,1761670973.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954288,-0.270463,-0.127215],[0.291595,0.935911,0.197591],[0.065621,-0.225654,0.971995]] 2025-10-28T17:02:53.225Z,1761670973.225 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:02:53.225Z,1761670973.225 [marl:UpdateRudder:B] Stopped 2025-10-28T17:02:53.225Z,1761670973.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:02:53.225Z,1761670973.225 [marl:UpdateRudder] Stopped 2025-10-28T17:02:53.225Z,1761670973.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:02:53.670Z,1761670973.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954680,-0.270720,-0.123683],[0.291057,0.936041,0.197772],[0.062231,-0.224807,0.972414]] 2025-10-28T17:02:54.007Z,1761670974.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954735,-0.272109,-0.120157],[0.291564,0.936083,0.196823],[0.058920,-0.222948,0.973048]] 2025-10-28T17:02:54.419Z,1761670974.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954720,-0.273397,-0.117323],[0.292110,0.936206,0.195423],[0.056411,-0.220846,0.973676]] 2025-10-28T17:02:54.821Z,1761670974.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954689,-0.274726,-0.114429],[0.292706,0.936265,0.194246],[0.053772,-0.218938,0.974256]] 2025-10-28T17:02:55.219Z,1761670975.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954599,-0.276183,-0.111637],[0.293418,0.936450,0.192271],[0.051440,-0.216298,0.974971]] 2025-10-28T17:02:55.647Z,1761670975.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954614,-0.277269,-0.108786],[0.293787,0.936646,0.190746],[0.049006,-0.214049,0.975593]] 2025-10-28T17:02:56.026Z,1761670976.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954440,-0.279449,-0.104658],[0.294804,0.937343,0.185682],[0.046212,-0.208076,0.977020]] 2025-10-28T17:02:56.434Z,1761670976.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952633,-0.288583,-0.095968],[0.301170,0.939044,0.165808],[0.042269,-0.186857,0.981477]] 2025-10-28T17:02:56.835Z,1761670976.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948758,-0.304609,-0.084096],[0.313721,0.939869,0.135004],[0.037916,-0.154469,0.987270]] 2025-10-28T17:02:57.239Z,1761670977.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943196,-0.324578,-0.070924],[0.330488,0.938476,0.100206],[0.034036,-0.117953,0.992436]] 2025-10-28T17:02:57.653Z,1761670977.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936779,-0.345196,-0.057320],[0.348615,0.934821,0.067658],[0.030229,-0.083363,0.996061]] 2025-10-28T17:02:58.046Z,1761670978.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929839,-0.365302,-0.044199],[0.366997,0.929388,0.039380],[0.026693,-0.052838,0.998246]] 2025-10-28T17:02:58.454Z,1761670978.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922978,-0.383402,-0.033385],[0.384120,0.923099,0.018436],[0.023749,-0.029840,0.999273]] 2025-10-28T17:02:58.855Z,1761670978.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916309,-0.399704,-0.024800],[0.399904,0.916550,0.003524],[0.021322,-0.013146,0.999686]] 2025-10-28T17:02:59.261Z,1761670979.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910263,-0.413634,-0.018128],[0.413586,0.910442,-0.006521],[0.019202,-0.001561,0.999814]] 2025-10-28T17:02:59.662Z,1761670979.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904402,-0.426474,-0.013340],[0.426330,0.904483,-0.012368],[0.017340,0.005498,0.999835]] 2025-10-28T17:03:00.067Z,1761670980.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898911,-0.438014,-0.010161],[0.437841,0.898917,-0.015583],[0.015960,0.009559,0.999827]] 2025-10-28T17:03:00.472Z,1761670980.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893644,-0.448709,-0.007768],[0.448539,0.893600,-0.017084],[0.014608,0.011783,0.999824]] 2025-10-28T17:03:00.891Z,1761670980.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888496,-0.458845,-0.006029],[0.458690,0.888426,-0.017424],[0.013351,0.012716,0.999830]] 2025-10-28T17:03:01.279Z,1761670981.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883310,-0.468766,-0.004629],[0.468631,0.883226,-0.017222],[0.012161,0.013043,0.999841]] 2025-10-28T17:03:01.683Z,1761670981.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877978,-0.478692,-0.002933],[0.478584,0.877882,-0.016772],[0.010604,0.013322,0.999855]] 2025-10-28T17:03:02.086Z,1761670982.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871940,-0.489612,-0.001000],[0.489530,0.871826,-0.016730],[0.009063,0.014098,0.999860]] 2025-10-28T17:03:02.495Z,1761670982.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865080,-0.501630,0.001958],[0.501578,0.864920,-0.018235],[0.007453,0.016757,0.999832]] 2025-10-28T17:03:02.884Z,1761670982.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:03:02.902Z,1761670982.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857512,-0.514442,0.004777],[0.514432,0.857316,-0.019228],[0.005796,0.018946,0.999804]] 2025-10-28T17:03:03.299Z,1761670983.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849018,-0.528303,0.008022],[0.528351,0.848793,-0.019917],[0.003714,0.021148,0.999769]] 2025-10-28T17:03:03.708Z,1761670983.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839395,-0.543408,0.011121],[0.543518,0.839146,-0.020550],[0.001835,0.023294,0.999727]] 2025-10-28T17:03:03.889Z,1761670983.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:03:04.510Z,1761670984.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817734,-0.575364,0.016366],[0.575595,0.817473,-0.020711],[-0.001463,0.026356,0.999652]] 2025-10-28T17:03:04.915Z,1761670984.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805910,-0.591759,0.018192],[0.592034,0.805641,-0.020937],[-0.002267,0.027643,0.999615]] 2025-10-28T17:03:05.319Z,1761670985.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793732,-0.607987,0.018506],[0.608263,0.793486,-0.019899],[-0.002586,0.027051,0.999631]] 2025-10-28T17:03:05.724Z,1761670985.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781422,-0.623753,0.017658],[0.623999,0.781205,-0.018566],[-0.002214,0.025527,0.999672]] 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateRudder:A] Stopped 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:03:05.805Z,1761670985.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateCommandMode] Stopped 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:03:05.806Z,1761670985.806 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:03:05.807Z,1761670985.807 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:03:05.807Z,1761670985.807 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:03:05.807Z,1761670985.807 [marl:UpdateSpeed] Stopped 2025-10-28T17:03:05.807Z,1761670985.807 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:03:06.127Z,1761670986.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769772,-0.638109,0.016341],[0.638317,0.769580,-0.017279],[-0.001550,0.023731,0.999717]] 2025-10-28T17:03:06.166Z,1761670986.166 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:03:06.166Z,1761670986.166 [marl:UpdateRudder:B] Stopped 2025-10-28T17:03:06.166Z,1761670986.166 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:03:06.166Z,1761670986.166 [marl:UpdateRudder] Stopped 2025-10-28T17:03:06.166Z,1761670986.166 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:03:06.530Z,1761670986.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759623,-0.650198,0.014669],[0.650363,0.759458,-0.015849],[-0.000835,0.021579,0.999767]] 2025-10-28T17:03:06.935Z,1761670986.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750742,-0.660493,0.011593],[0.660595,0.750632,-0.012897],[-0.000184,0.017340,0.999850]] 2025-10-28T17:03:07.340Z,1761670987.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743126,-0.669083,0.009531],[0.669151,0.743054,-0.010346],[-0.000159,0.014066,0.999901]] 2025-10-28T17:03:08.147Z,1761670988.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729531,-0.683911,0.007087],[0.683946,0.729514,-0.005208],[-0.001608,0.008647,0.999961]] 2025-10-28T17:03:08.556Z,1761670988.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722555,-0.691269,0.007809],[0.691306,0.722554,-0.003454],[-0.003254,0.007894,0.999964]] 2025-10-28T17:03:08.968Z,1761670988.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708951,-0.705247,0.003775],[0.705213,0.708956,0.007403],[-0.007897,-0.002586,0.999965]] 2025-10-28T17:03:09.371Z,1761670989.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705322,-0.708848,-0.007439],[0.708810,0.705052,0.022135],[-0.010445,-0.020885,0.999727]] 2025-10-28T17:03:09.778Z,1761670989.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703531,-0.710258,-0.024037],[0.710547,0.702396,0.041994],[-0.012944,-0.046624,0.998829]] 2025-10-28T17:03:10.171Z,1761670990.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702485,-0.710363,-0.043579],[0.711540,0.699716,0.064102],[-0.015043,-0.076039,0.996991]] 2025-10-28T17:03:10.572Z,1761670990.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701451,-0.709869,-0.063659],[0.712523,0.696371,0.085896],[-0.016644,-0.105611,0.994268]] 2025-10-28T17:03:10.976Z,1761670990.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700450,-0.708966,-0.082082],[0.713479,0.692713,0.105337],[-0.017821,-0.132347,0.991043]] 2025-10-28T17:03:11.387Z,1761670991.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699200,-0.708342,-0.096800],[0.714678,0.688952,0.120753],[-0.018844,-0.153611,0.987952]] 2025-10-28T17:03:11.786Z,1761670991.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697683,-0.708130,-0.108585],[0.716141,0.685240,0.132619],[-0.019505,-0.170289,0.985201]] 2025-10-28T17:03:12.186Z,1761670992.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696716,-0.707777,-0.116786],[0.717066,0.682592,0.141010],[-0.020087,-0.181988,0.983096]] 2025-10-28T17:03:12.592Z,1761670992.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696023,-0.707432,-0.122849],[0.717725,0.680584,0.147231],[-0.020547,-0.190647,0.981444]] 2025-10-28T17:03:12.994Z,1761670992.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696246,-0.706586,-0.126404],[0.717493,0.679893,0.151489],[-0.021099,-0.196168,0.980343]] 2025-10-28T17:03:13.399Z,1761670993.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697856,-0.704640,-0.128373],[0.715897,0.680694,0.155392],[-0.022113,-0.200343,0.979476]] 2025-10-28T17:03:13.803Z,1761670993.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700051,-0.702504,-0.128131],[0.713709,0.682439,0.157784],[-0.023402,-0.201905,0.979125]] 2025-10-28T17:03:14.208Z,1761670994.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702072,-0.700875,-0.125972],[0.711670,0.684386,0.158558],[-0.024916,-0.200970,0.979281]] 2025-10-28T17:03:14.611Z,1761670994.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704016,-0.699303,-0.123843],[0.709676,0.686131,0.159954],[-0.026884,-0.200498,0.979325]] 2025-10-28T17:03:15.015Z,1761670995.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705337,-0.698542,-0.120574],[0.708262,0.687407,0.160738],[-0.029399,-0.198773,0.979605]] 2025-10-28T17:03:15.419Z,1761670995.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705974,-0.698500,-0.117040],[0.707511,0.688070,0.161209],[-0.032073,-0.196617,0.979956]] 2025-10-28T17:03:15.825Z,1761670995.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705852,-0.699270,-0.113111],[0.707502,0.688096,0.161137],[-0.034848,-0.193765,0.980429]] 2025-10-28T17:03:16.226Z,1761670996.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704805,-0.700913,-0.109411],[0.708399,0.687197,0.161031],[-0.037682,-0.191002,0.980866]] 2025-10-28T17:03:16.631Z,1761670996.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703042,-0.703165,-0.106263],[0.709984,0.685465,0.161430],[-0.040672,-0.188937,0.981147]] 2025-10-28T17:03:17.035Z,1761670997.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700471,-0.706021,-0.104282],[0.712353,0.682756,0.162470],[-0.043508,-0.188091,0.981187]] 2025-10-28T17:03:17.458Z,1761670997.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696764,-0.709823,-0.103304],[0.715846,0.678936,0.163130],[-0.045657,-0.187613,0.981181]] 2025-10-28T17:03:17.874Z,1761670997.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692606,-0.714044,-0.102162],[0.719775,0.674906,0.162562],[-0.047127,-0.186126,0.981395]] 2025-10-28T17:03:18.301Z,1761670998.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688197,-0.718476,-0.100884],[0.723926,0.670785,0.161180],[-0.048133,-0.183956,0.981755]] 2025-10-28T17:03:18.710Z,1761670998.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683821,-0.722753,-0.100085],[0.728030,0.666717,0.159566],[-0.048599,-0.181980,0.982101]] 2025-10-28T17:03:18.735Z,1761670998.735 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:03:18.735Z,1761670998.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:03:18.735Z,1761670998.735 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:03:18.736Z,1761670998.736 [marl:UpdateRudder:A] Stopped 2025-10-28T17:03:18.736Z,1761670998.736 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:03:18.736Z,1761670998.736 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:03:18.736Z,1761670998.736 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:03:18.736Z,1761670998.736 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateCommandMode] Stopped 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:03:18.737Z,1761670998.737 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:03:18.738Z,1761670998.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:03:18.738Z,1761670998.738 [marl:UpdateSpeed] Stopped 2025-10-28T17:03:18.738Z,1761670998.738 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:03:19.107Z,1761670999.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679883,-0.726466,-0.100035],[0.731723,0.663060,0.157902],[-0.048381,-0.180552,0.982375]] 2025-10-28T17:03:19.141Z,1761670999.141 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:03:19.142Z,1761670999.142 [marl:UpdateRudder:B] Stopped 2025-10-28T17:03:19.142Z,1761670999.142 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:03:19.142Z,1761670999.142 [marl:UpdateRudder] Stopped 2025-10-28T17:03:19.142Z,1761670999.142 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:03:19.511Z,1761670999.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676248,-0.729754,-0.100730],[0.735124,0.659621,0.156504],[-0.047766,-0.179885,0.982527]] 2025-10-28T17:03:19.918Z,1761670999.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673783,-0.731891,-0.101746],[0.737439,0.657277,0.155470],[-0.046912,-0.179784,0.982587]] 2025-10-28T17:03:20.320Z,1761671000.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672303,-0.733108,-0.102770],[0.738824,0.655795,0.155151],[-0.046346,-0.180238,0.982531]] 2025-10-28T17:03:20.723Z,1761671000.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671451,-0.733570,-0.105022],[0.739649,0.654709,0.155805],[-0.045535,-0.182295,0.982189]] 2025-10-28T17:03:21.127Z,1761671001.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671104,-0.733811,-0.105553],[0.740001,0.654420,0.155348],[-0.044920,-0.182363,0.982205]] 2025-10-28T17:03:21.530Z,1761671001.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671690,-0.733181,-0.106201],[0.739491,0.654927,0.155638],[-0.044556,-0.183075,0.982089]] 2025-10-28T17:03:21.936Z,1761671001.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672454,-0.732586,-0.105466],[0.738781,0.655742,0.155579],[-0.044816,-0.182536,0.982177]] 2025-10-28T17:03:22.345Z,1761671002.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673452,-0.731688,-0.105332],[0.737846,0.656617,0.156323],[-0.045217,-0.182995,0.982073]] 2025-10-28T17:03:22.742Z,1761671002.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674222,-0.730952,-0.105515],[0.737116,0.657194,0.157342],[-0.045666,-0.183860,0.981891]] 2025-10-28T17:03:23.147Z,1761671003.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674455,-0.730846,-0.104765],[0.736860,0.657406,0.157651],[-0.046346,-0.183526,0.981922]] 2025-10-28T17:03:23.557Z,1761671003.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674188,-0.731082,-0.104830],[0.737042,0.656897,0.158919],[-0.047320,-0.184406,0.981710]] 2025-10-28T17:03:23.954Z,1761671003.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673411,-0.731824,-0.104644],[0.737715,0.656058,0.159264],[-0.047900,-0.184448,0.981674]] 2025-10-28T17:03:24.366Z,1761671004.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672366,-0.732790,-0.104609],[0.738667,0.655073,0.158907],[-0.047919,-0.184115,0.981736]] 2025-10-28T17:03:24.770Z,1761671004.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670935,-0.734194,-0.103953],[0.739985,0.653932,0.157464],[-0.047631,-0.182572,0.982038]] 2025-10-28T17:03:25.169Z,1761671005.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670034,-0.735154,-0.102975],[0.740827,0.653386,0.155765],[-0.047229,-0.180654,0.982412]] 2025-10-28T17:03:25.602Z,1761671005.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669158,-0.736036,-0.102369],[0.741647,0.652792,0.154346],[-0.046778,-0.179203,0.982699]] 2025-10-28T17:03:25.974Z,1761671005.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668549,-0.736749,-0.101207],[0.742220,0.652551,0.152598],[-0.046384,-0.177137,0.983092]] 2025-10-28T17:03:26.378Z,1761671006.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667969,-0.737475,-0.099737],[0.742760,0.652373,0.150722],[-0.046088,-0.174758,0.983532]] 2025-10-28T17:03:26.791Z,1761671006.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667467,-0.737924,-0.099780],[0.743239,0.651990,0.150015],[-0.045644,-0.174291,0.983636]] 2025-10-28T17:03:27.186Z,1761671007.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666823,-0.738472,-0.100030],[0.743850,0.651455,0.149308],[-0.045094,-0.173969,0.983718]] 2025-10-28T17:03:27.630Z,1761671007.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665533,-0.739750,-0.099173],[0.745043,0.650545,0.147317],[-0.044461,-0.171932,0.984105]] 2025-10-28T17:03:27.995Z,1761671007.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663927,-0.741124,-0.099681],[0.746498,0.649004,0.146750],[-0.044067,-0.171843,0.984138]] 2025-10-28T17:03:28.400Z,1761671008.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661792,-0.742948,-0.100304],[0.748434,0.647008,0.145696],[-0.043347,-0.171491,0.984232]] 2025-10-28T17:03:28.803Z,1761671008.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659376,-0.744680,-0.103323],[0.750621,0.644344,0.146249],[-0.042333,-0.173989,0.983837]] 2025-10-28T17:03:29.206Z,1761671009.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656285,-0.747122,-0.105352],[0.753385,0.641253,0.145623],[-0.041241,-0.174941,0.983715]] 2025-10-28T17:03:29.639Z,1761671009.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652349,-0.750277,-0.107353],[0.756861,0.637394,0.144532],[-0.040013,-0.175537,0.983659]] 2025-10-28T17:03:30.016Z,1761671010.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648089,-0.753559,-0.110134],[0.760599,0.633183,0.143418],[-0.038339,-0.176715,0.983515]] 2025-10-28T17:03:30.418Z,1761671010.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643788,-0.756777,-0.113255],[0.764341,0.628951,0.142141],[-0.036337,-0.178074,0.983346]] 2025-10-28T17:03:30.825Z,1761671010.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639509,-0.760127,-0.115045],[0.768027,0.625047,0.139469],[-0.034106,-0.177549,0.983521]] 2025-10-28T17:03:31.228Z,1761671011.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635462,-0.763296,-0.116476],[0.771481,0.621465,0.136379],[-0.031711,-0.176523,0.983786]] 2025-10-28T17:03:31.643Z,1761671011.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632111,-0.765800,-0.118261],[0.774327,0.618509,0.133656],[-0.029209,-0.176059,0.983946]] 2025-10-28T17:03:31.711Z,1761671011.711 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:03:31.711Z,1761671011.711 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:03:31.711Z,1761671011.711 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateRudder:A] Stopped 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:03:31.713Z,1761671011.713 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateCommandMode] Stopped 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:03:31.714Z,1761671011.714 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:03:31.715Z,1761671011.715 [marl:UpdateSpeed] Stopped 2025-10-28T17:03:31.715Z,1761671011.715 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:03:32.035Z,1761671012.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629345,-0.767641,-0.121045],[0.776674,0.615990,0.131661],[-0.026505,-0.176872,0.983877]] 2025-10-28T17:03:32.081Z,1761671012.081 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:03:32.081Z,1761671012.081 [marl:UpdateRudder:B] Stopped 2025-10-28T17:03:32.081Z,1761671012.081 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:03:32.081Z,1761671012.081 [marl:UpdateRudder] Stopped 2025-10-28T17:03:32.081Z,1761671012.081 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:03:32.439Z,1761671012.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627477,-0.768551,-0.124908],[0.778274,0.614178,0.130667],[-0.023709,-0.179203,0.983526]] 2025-10-28T17:03:32.857Z,1761671012.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626034,-0.769387,-0.126986],[0.779519,0.613116,0.128214],[-0.020789,-0.179254,0.983583]] 2025-10-28T17:03:33.248Z,1761671013.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624989,-0.770000,-0.128410],[0.780424,0.612494,0.125660],[-0.018108,-0.178751,0.983728]] 2025-10-28T17:03:33.651Z,1761671013.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624756,-0.769788,-0.130791],[0.780675,0.612582,0.123652],[-0.015066,-0.179358,0.983669]] 2025-10-28T17:03:34.008Z,1761671014.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:03:34.057Z,1761671014.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625549,-0.768877,-0.132352],[0.780086,0.613706,0.121778],[-0.012407,-0.179424,0.983694]] 2025-10-28T17:03:34.460Z,1761671014.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626609,-0.767712,-0.134090],[0.779275,0.615093,0.119964],[-0.009620,-0.179663,0.983681]] 2025-10-28T17:03:34.863Z,1761671014.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626902,-0.767577,-0.133491],[0.779063,0.615966,0.116822],[-0.007444,-0.177234,0.984141]] 2025-10-28T17:03:35.013Z,1761671015.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:03:35.267Z,1761671015.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624222,-0.771489,-0.123090],[0.781223,0.615164,0.106134],[-0.006161,-0.162412,0.986704]] 2025-10-28T17:03:35.670Z,1761671015.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618165,-0.779208,-0.103472],[0.786027,0.611798,0.088686],[-0.005801,-0.136154,0.990671]] 2025-10-28T17:03:36.076Z,1761671016.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608962,-0.789079,-0.080738],[0.793177,0.605028,0.069364],[-0.005885,-0.106279,0.994319]] 2025-10-28T17:03:36.479Z,1761671016.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597960,-0.799434,-0.057876],[0.801500,0.595796,0.051229],[-0.006472,-0.077020,0.997009]] 2025-10-28T17:03:36.883Z,1761671016.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585651,-0.809632,-0.038836],[0.810532,0.584540,0.036753],[-0.007055,-0.053002,0.998569]] 2025-10-28T17:03:37.289Z,1761671017.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572649,-0.819491,-0.022538],[0.819764,0.572148,0.025171],[-0.007732,-0.032890,0.999429]] 2025-10-28T17:03:37.691Z,1761671017.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558558,-0.829419,-0.008828],[0.829425,0.558393,0.015881],[-0.008242,-0.016192,0.999835]] 2025-10-28T17:03:38.095Z,1761671018.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543234,-0.839580,0.001513],[0.839540,0.543224,0.008967],[-0.008351,-0.003602,0.999959]] 2025-10-28T17:03:38.499Z,1761671018.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526687,-0.850011,0.009049],[0.850022,0.526734,0.003810],[-0.008005,0.005685,0.999952]] 2025-10-28T17:03:38.905Z,1761671018.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508968,-0.860655,0.014991],[0.860759,0.509012,-0.000943],[-0.006819,0.013384,0.999887]] 2025-10-28T17:03:39.307Z,1761671019.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490276,-0.871355,0.019242],[0.871554,0.490269,-0.005409],[-0.004721,0.019422,0.999800]] 2025-10-28T17:03:39.711Z,1761671019.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471065,-0.881840,0.021376],[0.882097,0.470970,-0.009562],[-0.001635,0.023360,0.999726]] 2025-10-28T17:03:40.115Z,1761671020.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451857,-0.891817,0.022098],[0.892088,0.451653,-0.013774],[0.002303,0.025937,0.999661]] 2025-10-28T17:03:40.521Z,1761671020.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433175,-0.901025,0.022669],[0.901285,0.432837,-0.018382],[0.006751,0.028394,0.999574]] 2025-10-28T17:03:40.922Z,1761671020.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415504,-0.909333,0.021670],[0.909518,0.415050,-0.022582],[0.011541,0.029092,0.999510]] 2025-10-28T17:03:41.337Z,1761671021.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399169,-0.916685,0.018775],[0.916735,0.398664,-0.025751],[0.016121,0.027490,0.999492]] 2025-10-28T17:03:41.730Z,1761671021.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384872,-0.922835,0.015791],[0.922759,0.384361,-0.027961],[0.019734,0.025333,0.999484]] 2025-10-28T17:03:42.136Z,1761671022.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371698,-0.928270,0.012433],[0.928074,0.371224,-0.029539],[0.022805,0.022518,0.999486]] 2025-10-28T17:03:42.538Z,1761671022.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359879,-0.932961,0.008454],[0.932661,0.359490,-0.030182],[0.025120,0.018746,0.999509]] 2025-10-28T17:03:42.550Z,1761671022.550 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T17:03:42.942Z,1761671022.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348949,-0.937131,0.004574],[0.936764,0.348666,-0.030085],[0.026598,0.014782,0.999537]] 2025-10-28T17:03:43.349Z,1761671023.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337902,-0.941181,0.001034],[0.940763,0.337719,-0.030169],[0.028045,0.011167,0.999544]] 2025-10-28T17:03:43.758Z,1761671023.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326281,-0.945272,-0.001228],[0.944822,0.326165,-0.030450],[0.029184,0.008775,0.999536]] 2025-10-28T17:03:44.156Z,1761671024.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314016,-0.949413,-0.003001],[0.948945,0.313957,-0.030566],[0.029962,0.006750,0.999528]] 2025-10-28T17:03:44.558Z,1761671024.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301423,-0.953478,-0.004867],[0.952981,0.301425,-0.031136],[0.031154,0.004747,0.999503]] 2025-10-28T17:03:44.599Z,1761671024.599 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:03:44.599Z,1761671024.599 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:03:44.599Z,1761671024.599 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:03:44.599Z,1761671024.599 [marl:UpdateRudder:A] Stopped 2025-10-28T17:03:44.600Z,1761671024.600 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:03:44.600Z,1761671024.600 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:03:44.601Z,1761671024.601 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:03:44.601Z,1761671024.601 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:03:44.601Z,1761671024.601 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateCommandMode] Stopped 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:03:44.602Z,1761671024.602 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:03:44.603Z,1761671024.603 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:03:44.603Z,1761671024.603 [marl:UpdateSpeed] Stopped 2025-10-28T17:03:44.603Z,1761671024.603 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:03:44.604Z,1761671024.604 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:03:44.853Z,1761671024.853 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:03:44.853Z,1761671024.853 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:03:44.963Z,1761671024.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287982,-0.957622,-0.005093],[0.957084,0.287993,-0.032406],[0.032500,0.004458,0.999462]] 2025-10-28T17:03:45.014Z,1761671025.014 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:03:45.014Z,1761671025.014 [marl:UpdateRudder:B] Stopped 2025-10-28T17:03:45.014Z,1761671025.014 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:03:45.014Z,1761671025.014 [marl:UpdateRudder] Stopped 2025-10-28T17:03:45.014Z,1761671025.014 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:03:45.105Z,1761671025.105 [DAT](INFO): DAT read: user:40> 2025-10-28T17:03:45.106Z,1761671025.106 [DAT](INFO): DAT read: Tx time:17:03:44.8628 2025-10-28T17:03:45.106Z,1761671025.106 [DAT](INFO): Ping request sent. 2025-10-28T17:03:45.106Z,1761671025.106 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:03:45.106Z,1761671025.106 [DAT](INFO): publishing transmit ping time 2025-10-28T17:03:45.107Z,1761671025.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000915 2025-10-28T17:03:45.357Z,1761671025.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251009 2025-10-28T17:03:45.369Z,1761671025.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273821,-0.961763,-0.005912],[0.961186,0.273862,-0.033475],[0.033814,0.003483,0.999422]] 2025-10-28T17:03:45.612Z,1761671025.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505367 2025-10-28T17:03:45.777Z,1761671025.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259642,-0.965685,-0.006274],[0.965069,0.259701,-0.034591],[0.035034,0.002926,0.999382]] 2025-10-28T17:03:45.861Z,1761671025.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755027 2025-10-28T17:03:46.113Z,1761671026.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928 2025-10-28T17:03:46.175Z,1761671026.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245031,-0.969496,-0.006115],[0.968840,0.245091,-0.035759],[0.036167,0.002838,0.999342]] 2025-10-28T17:03:46.365Z,1761671026.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958 2025-10-28T17:03:46.579Z,1761671026.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230091,-0.973145,-0.006881],[0.972459,0.230187,-0.036578],[0.037179,0.001725,0.999307]] 2025-10-28T17:03:46.617Z,1761671026.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901 2025-10-28T17:03:46.869Z,1761671026.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875 2025-10-28T17:03:46.983Z,1761671026.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215601,-0.976468,-0.005232],[0.975736,0.215642,-0.037920],[0.038156,0.003071,0.999267]] 2025-10-28T17:03:47.121Z,1761671027.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014974 2025-10-28T17:03:47.373Z,1761671027.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848 2025-10-28T17:03:47.402Z,1761671027.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183263,-0.983058,-0.003320],[0.982256,0.183249,-0.039917],[0.039849,0.004054,0.999197]] 2025-10-28T17:03:47.627Z,1761671027.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521015 2025-10-28T17:03:47.877Z,1761671027.877 [DAT](INFO): DAT read: Rx Time:17:03:47.0596 2025-10-28T17:03:47.878Z,1761671027.878 [DAT](INFO): Rx dataTimestamp_ set to:1761671027.877412 2025-10-28T17:03:47.878Z,1761671027.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772283 2025-10-28T17:03:48.129Z,1761671028.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022903 2025-10-28T17:03:48.242Z,1761671028.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146889,-0.989152,-0.001228],[0.988264,0.146810,-0.042208],[0.041931,0.004986,0.999108]] 2025-10-28T17:03:48.387Z,1761671028.387 [DAT](INFO): DAT read: 17:03:47.0596 LVL= 18400, 14833, 22050, 19107, AGC= 52, IDX= 225,-0.44, 0.118, 0.049,-1.463,-0.173, PHS= 0.393, 0.267,-1.334, RAW= 33.7, 8.1, CAL= 32.6, 8.1, ROT= 117.4, -8.1 2025-10-28T17:03:48.388Z,1761671028.388 [DAT](INFO): got valid direction response: 17:03:47.0596 LVL= 18400, 14833, 22050, 19107, AGC= 52, IDX= 225,-0.44, 0.118, 0.049,-1.463,-0.173, PHS= 0.393, 0.267,-1.334, RAW= 33.7, 8.1, CAL= 32.6, 8.1, ROT= 117.4, -8.1 2025-10-28T17:03:48.389Z,1761671028.389 [DAT](INFO): DAT read: Bearing 169, -12 (Remote) 2025-10-28T17:03:48.389Z,1761671028.389 [DAT](INFO): Remote Bearing received:Bearing 169, -12 (Remote) 2025-10-28T17:03:48.390Z,1761671028.390 [DAT](INFO): DAT read: Bearing 31.6, 59.4 (Local) 2025-10-28T17:03:48.390Z,1761671028.390 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, 59.4 (Local) 2025-10-28T17:03:48.392Z,1761671028.392 [DAT](INFO): DAT read: Range 11 to 20 : 125.7 m (Round-trip 167.6 ms) speed -0.3 m/s 2025-10-28T17:03:48.392Z,1761671028.392 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:03:48.393Z,1761671028.393 [DAT](INFO): direction in FSK: [-0.455609,0.878958,0.140901] 2025-10-28T17:03:48.394Z,1761671028.394 [DAT](INFO): publishing direction and range info 2025-10-28T17:03:48.604Z,1761671028.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127928,-0.991783,0.000470],[0.990840,0.127786,-0.043656],[0.043237,0.006050,0.999046]] 2025-10-28T17:03:48.668Z,1761671028.668 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671040.00. Resetting abort timer. 2025-10-28T17:03:49.007Z,1761671029.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108938,-0.994045,0.002567],[0.993034,0.108710,-0.045449],[0.044900,0.007500,0.998963]] 2025-10-28T17:03:49.411Z,1761671029.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090219,-0.995913,0.004330],[0.994809,0.089912,-0.047658],[0.047074,0.008607,0.998854]] 2025-10-28T17:03:49.827Z,1761671029.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072168,-0.997378,0.005325],[0.996158,0.071812,-0.050130],[0.049616,0.008923,0.998728]] 2025-10-28T17:03:50.215Z,1761671030.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054819,-0.998485,0.004742],[0.997111,0.054492,-0.052926],[0.052587,0.007630,0.998587]] 2025-10-28T17:03:50.618Z,1761671030.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039096,-0.999220,0.005493],[0.997710,0.038732,-0.055457],[0.055201,0.007648,0.998446]] 2025-10-28T17:03:51.023Z,1761671031.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025179,-0.999676,0.003716],[0.998027,0.024923,-0.057627],[0.057515,0.005160,0.998331]] 2025-10-28T17:03:51.429Z,1761671031.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012820,-0.999913,0.003038],[0.998159,0.012617,-0.059331],[0.059287,0.003793,0.998234]] 2025-10-28T17:03:51.842Z,1761671031.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000982,-0.999996,0.002641],[0.998174,0.000821,-0.060401],[0.060399,0.002695,0.998171]] 2025-10-28T17:03:52.238Z,1761671032.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010708,-0.999940,0.002319],[0.998089,-0.010829,-0.060837],[0.060858,0.001663,0.998145]] 2025-10-28T17:03:52.638Z,1761671032.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022273,-0.999751,0.000993],[0.997908,-0.022292,-0.060691],[0.060698,-0.000361,0.998156]] 2025-10-28T17:03:53.043Z,1761671033.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034236,-0.999414,-0.000639],[0.997588,-0.034135,-0.060433],[0.060375,-0.002706,0.998172]] 2025-10-28T17:03:53.449Z,1761671033.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046971,-0.998894,-0.002228],[0.997109,-0.046753,-0.059891],[0.059721,-0.005035,0.998202]] 2025-10-28T17:03:53.850Z,1761671033.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060814,-0.998142,-0.003808],[0.996391,-0.060480,-0.059562],[0.059221,-0.007416,0.998217]] 2025-10-28T17:03:54.258Z,1761671034.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075301,-0.997157,-0.002768],[0.995440,-0.075008,-0.058934],[0.058559,-0.007194,0.998258]] 2025-10-28T17:03:54.660Z,1761671034.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091335,-0.995818,-0.001945],[0.994110,-0.091064,-0.058762],[0.058339,-0.007301,0.998270]] 2025-10-28T17:03:55.062Z,1761671035.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108173,-0.994132,-0.000283],[0.992420,-0.107970,-0.058694],[0.058319,-0.006630,0.998276]] 2025-10-28T17:03:55.466Z,1761671035.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126046,-0.992020,0.002929],[0.990291,-0.126000,-0.058714],[0.058614,-0.004500,0.998271]] 2025-10-28T17:03:55.874Z,1761671035.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144279,-0.989519,0.005991],[0.987775,-0.144381,-0.058780],[0.059029,-0.002563,0.998253]] 2025-10-28T17:03:56.289Z,1761671036.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162697,-0.986643,0.008105],[0.984872,-0.162890,-0.059101],[0.059632,-0.001633,0.998219]] 2025-10-28T17:03:56.679Z,1761671036.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180744,-0.983476,0.010346],[0.981695,-0.181039,-0.059152],[0.060048,-0.000535,0.998195]] 2025-10-28T17:03:57.083Z,1761671037.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199175,-0.979885,0.012467],[0.978092,-0.199564,-0.059250],[0.060546,0.000392,0.998165]] 2025-10-28T17:03:57.488Z,1761671037.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217075,-0.976047,0.014528],[0.974259,-0.217557,-0.059068],[0.060814,0.001332,0.998148]] 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateRudder:A] Stopped 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:03:57.518Z,1761671037.518 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode] Stopped 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:03:57.519Z,1761671037.519 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:03:57.520Z,1761671037.520 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:03:57.536Z,1761671037.536 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:03:57.536Z,1761671037.536 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:03:57.536Z,1761671037.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:03:57.536Z,1761671037.536 [marl:UpdateSpeed] Stopped 2025-10-28T17:03:57.536Z,1761671037.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:03:57.898Z,1761671037.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235246,-0.971786,0.017045],[0.970026,-0.235847,-0.058536],[0.060904,0.002764,0.998140]] 2025-10-28T17:03:57.958Z,1761671037.958 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:03:57.958Z,1761671037.958 [marl:UpdateRudder:B] Stopped 2025-10-28T17:03:57.958Z,1761671037.958 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:03:57.958Z,1761671037.958 [marl:UpdateRudder] Stopped 2025-10-28T17:03:57.958Z,1761671037.958 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:03:58.307Z,1761671038.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251889,-0.967552,0.019892],[0.965839,-0.252630,-0.057727],[0.060879,0.004672,0.998134]] 2025-10-28T17:03:58.723Z,1761671038.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268988,-0.962935,0.020053],[0.961227,-0.269707,-0.057452],[0.060731,0.003821,0.998147]] 2025-10-28T17:03:59.103Z,1761671039.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285746,-0.958098,0.019962],[0.956414,-0.286428,-0.056840],[0.060176,0.002850,0.998184]] 2025-10-28T17:03:59.507Z,1761671039.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302215,-0.953016,0.020638],[0.951392,-0.302906,-0.055686],[0.059321,0.002806,0.998235]] 2025-10-28T17:03:59.911Z,1761671039.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318396,-0.947720,0.021213],[0.946166,-0.319090,-0.054335],[0.058264,0.002771,0.998297]] 2025-10-28T17:04:00.320Z,1761671040.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334381,-0.942187,0.021727],[0.940702,-0.335075,-0.052956],[0.057175,0.002731,0.998360]] 2025-10-28T17:04:00.719Z,1761671040.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349799,-0.936558,0.022369],[0.935154,-0.350501,-0.051344],[0.055927,0.002959,0.998430]] 2025-10-28T17:04:01.125Z,1761671041.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364170,-0.931077,0.021802],[0.929756,-0.364815,-0.049643],[0.054175,0.002192,0.998529]] 2025-10-28T17:04:01.526Z,1761671041.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378648,-0.925293,0.021422],[0.924038,-0.379251,-0.048202],[0.052726,0.001543,0.998608]] 2025-10-28T17:04:01.931Z,1761671041.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393095,-0.919242,0.021673],[0.918060,-0.393689,-0.046634],[0.051400,0.001565,0.998677]] 2025-10-28T17:04:02.338Z,1761671042.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406920,-0.913199,0.022005],[0.912107,-0.407510,-0.044677],[0.049766,0.001891,0.998759]] 2025-10-28T17:04:02.740Z,1761671042.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420888,-0.906843,0.022132],[0.905831,-0.421464,-0.042883],[0.048216,0.001999,0.998835]] 2025-10-28T17:04:03.143Z,1761671043.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434959,-0.900186,0.021831],[0.899228,-0.435503,-0.041537],[0.046898,0.001564,0.998898]] 2025-10-28T17:04:03.549Z,1761671043.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449210,-0.893129,0.023041],[0.892269,-0.449791,-0.039299],[0.045462,0.002905,0.998962]] 2025-10-28T17:04:03.951Z,1761671043.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463249,-0.885935,0.022786],[0.885135,-0.463801,-0.037747],[0.044009,0.002682,0.999028]] 2025-10-28T17:04:04.361Z,1761671044.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476808,-0.878722,0.022410],[0.877969,-0.477329,-0.036438],[0.042716,0.002301,0.999085]] 2025-10-28T17:04:04.770Z,1761671044.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490994,-0.870893,0.021681],[0.870177,-0.491470,-0.035331],[0.041425,0.001519,0.999141]] 2025-10-28T17:04:05.132Z,1761671045.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:04:05.163Z,1761671045.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504428,-0.863187,0.021484],[0.862538,-0.504882,-0.033501],[0.039764,0.001631,0.999208]] 2025-10-28T17:04:05.580Z,1761671045.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517887,-0.855198,0.020705],[0.854591,-0.518300,-0.032239],[0.038302,0.000999,0.999266]] 2025-10-28T17:04:05.972Z,1761671045.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531080,-0.847103,0.019261],[0.846534,-0.531429,-0.031044],[0.036534,-0.000182,0.999332]] 2025-10-28T17:04:06.136Z,1761671046.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:04:06.374Z,1761671046.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544748,-0.838379,0.019240],[0.837878,-0.545088,-0.028991],[0.034793,0.000328,0.999394]] 2025-10-28T17:04:06.789Z,1761671046.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557943,-0.829690,0.017712],[0.829239,-0.558224,-0.027358],[0.032586,-0.000577,0.999469]] 2025-10-28T17:04:07.183Z,1761671047.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572251,-0.819912,0.016487],[0.819493,-0.572487,-0.026255],[0.030965,-0.001513,0.999519]] 2025-10-28T17:04:07.626Z,1761671047.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585662,-0.810400,0.015891],[0.810049,-0.585876,-0.023865],[0.028650,-0.001104,0.999589]] 2025-10-28T17:04:07.990Z,1761671047.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600114,-0.799765,0.015489],[0.799464,-0.600313,-0.021959],[0.026860,-0.000795,0.999639]] 2025-10-28T17:04:08.395Z,1761671048.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614693,-0.788611,0.015652],[0.788368,-0.614892,-0.019597],[0.025079,0.000294,0.999685]] 2025-10-28T17:04:08.806Z,1761671048.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629207,-0.777090,0.015125],[0.776886,-0.629389,-0.017844],[0.023385,0.000523,0.999726]] 2025-10-28T17:04:09.204Z,1761671049.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643109,-0.765622,0.015305],[0.765453,-0.643290,-0.016142],[0.022204,0.001334,0.999753]] 2025-10-28T17:04:09.634Z,1761671049.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656226,-0.754417,0.014931],[0.754257,-0.656395,-0.015548],[0.021530,0.001058,0.999768]] 2025-10-28T17:04:10.010Z,1761671050.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668886,-0.743217,0.014827],[0.743068,-0.669049,-0.014917],[0.021007,0.001040,0.999779]] 2025-10-28T17:04:10.418Z,1761671050.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680988,-0.732153,0.014394],[0.732003,-0.681140,-0.014847],[0.020675,0.000426,0.999786]] 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateRudder:A] Stopped 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:04:10.443Z,1761671050.443 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateCommandMode] Stopped 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:04:10.444Z,1761671050.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:04:10.445Z,1761671050.445 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:04:10.445Z,1761671050.445 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:04:10.445Z,1761671050.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:04:10.445Z,1761671050.445 [marl:UpdateSpeed] Stopped 2025-10-28T17:04:10.445Z,1761671050.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:04:10.822Z,1761671050.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692629,-0.721160,0.013927],[0.721009,-0.692769,-0.014758],[0.020291,-0.000180,0.999794]] 2025-10-28T17:04:10.846Z,1761671050.846 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:04:10.846Z,1761671050.846 [marl:UpdateRudder:B] Stopped 2025-10-28T17:04:10.846Z,1761671050.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:04:10.846Z,1761671050.846 [marl:UpdateRudder] Stopped 2025-10-28T17:04:10.846Z,1761671050.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:04:11.222Z,1761671051.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703840,-0.710230,0.013536],[0.710074,-0.703970,-0.014900],[0.020111,-0.000876,0.999797]] 2025-10-28T17:04:11.638Z,1761671051.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714457,-0.699549,0.013513],[0.699393,-0.714584,-0.014823],[0.020026,-0.001139,0.999799]] 2025-10-28T17:04:12.030Z,1761671052.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724465,-0.689190,0.012952],[0.689042,-0.724580,-0.014324],[0.019257,-0.001453,0.999813]] 2025-10-28T17:04:12.434Z,1761671052.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734397,-0.678626,0.011325],[0.678485,-0.734479,-0.014068],[0.017865,-0.002648,0.999837]] 2025-10-28T17:04:12.840Z,1761671052.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744651,-0.667400,0.008448],[0.667259,-0.744680,-0.014714],[0.016111,-0.005320,0.999856]] 2025-10-28T17:04:13.242Z,1761671053.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755488,-0.655131,0.006407],[0.654998,-0.755482,-0.014958],[0.014639,-0.007104,0.999868]] 2025-10-28T17:04:13.647Z,1761671053.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766160,-0.642633,0.004580],[0.642517,-0.766127,-0.014837],[0.013043,-0.008425,0.999879]] 2025-10-28T17:04:14.051Z,1761671054.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776767,-0.629780,0.003153],[0.629689,-0.776723,-0.013898],[0.011202,-0.008810,0.999898]] 2025-10-28T17:04:14.454Z,1761671054.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787241,-0.616644,0.001562],[0.616576,-0.787187,-0.013086],[0.009299,-0.009339,0.999913]] 2025-10-28T17:04:14.862Z,1761671054.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797617,-0.603164,-0.000245],[0.603115,-0.797546,-0.013175],[0.007751,-0.010656,0.999913]] 2025-10-28T17:04:15.270Z,1761671055.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808037,-0.589132,-0.000668],[0.589094,-0.807971,-0.012317],[0.006716,-0.010346,0.999924]] 2025-10-28T17:04:15.668Z,1761671055.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817659,-0.575700,-0.001643],[0.575677,-0.817593,-0.011763],[0.005429,-0.010563,0.999929]] 2025-10-28T17:04:16.070Z,1761671056.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827131,-0.562004,-0.002369],[0.561993,-0.827069,-0.011001],[0.004223,-0.010431,0.999937]] 2025-10-28T17:04:16.475Z,1761671056.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836462,-0.548020,-0.002257],[0.548015,-0.836417,-0.009287],[0.003202,-0.009005,0.999954]] 2025-10-28T17:04:16.879Z,1761671056.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845107,-0.534594,-0.001813],[0.534593,-0.845081,-0.006955],[0.002185,-0.006847,0.999974]] 2025-10-28T17:04:17.289Z,1761671057.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853642,-0.520854,-0.002502],[0.520858,-0.853620,-0.006255],[0.001122,-0.006643,0.999977]] 2025-10-28T17:04:17.686Z,1761671057.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861971,-0.506944,-0.003674],[0.506958,-0.861950,-0.005959],[-0.000146,-0.006999,0.999976]] 2025-10-28T17:04:18.091Z,1761671058.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870234,-0.492623,-0.003920],[0.492638,-0.870220,-0.005031],[-0.000933,-0.006309,0.999980]] 2025-10-28T17:04:18.495Z,1761671058.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878294,-0.478104,-0.004113],[0.478119,-0.878284,-0.004435],[-0.001492,-0.005861,0.999982]] 2025-10-28T17:04:18.900Z,1761671058.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885796,-0.464051,-0.004669],[0.464068,-0.885791,-0.003866],[-0.002342,-0.005591,0.999982]] 2025-10-28T17:04:19.303Z,1761671059.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893179,-0.449668,-0.005374],[0.449691,-0.893174,-0.004261],[-0.002884,-0.006223,0.999976]] 2025-10-28T17:04:19.706Z,1761671059.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900199,-0.435436,-0.006113],[0.435466,-0.900191,-0.005062],[-0.003299,-0.007218,0.999969]] 2025-10-28T17:04:20.111Z,1761671060.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906590,-0.421956,-0.006849],[0.421993,-0.906584,-0.005306],[-0.003970,-0.007700,0.999963]] 2025-10-28T17:04:20.523Z,1761671060.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912663,-0.408653,-0.007002],[0.408690,-0.912660,-0.005027],[-0.004337,-0.007450,0.999963]] 2025-10-28T17:04:20.919Z,1761671060.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918436,-0.395503,-0.007242],[0.395541,-0.918435,-0.004892],[-0.004716,-0.007357,0.999962]] 2025-10-28T17:04:21.322Z,1761671061.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924018,-0.382268,-0.007920],[0.382311,-0.924020,-0.004932],[-0.005433,-0.007586,0.999956]] 2025-10-28T17:04:21.726Z,1761671061.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929325,-0.369176,-0.008027],[0.369213,-0.929338,-0.003639],[-0.006116,-0.006345,0.999961]] 2025-10-28T17:04:22.132Z,1761671062.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934537,-0.355747,-0.009202],[0.355801,-0.934548,-0.005086],[-0.006790,-0.008027,0.999945]] 2025-10-28T17:04:22.535Z,1761671062.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939869,-0.341380,-0.010265],[0.341449,-0.939882,-0.005950],[-0.007617,-0.009097,0.999930]] 2025-10-28T17:04:22.938Z,1761671062.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945281,-0.326037,-0.011970],[0.326131,-0.945300,-0.006898],[-0.009066,-0.010424,0.999905]] 2025-10-28T17:04:23.343Z,1761671063.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950687,-0.309811,-0.014560],[0.309941,-0.950725,-0.007660],[-0.011469,-0.011795,0.999865]] 2025-10-28T17:04:23.367Z,1761671063.367 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:04:23.367Z,1761671063.367 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:04:23.367Z,1761671063.367 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:04:23.367Z,1761671063.367 [marl:UpdateRudder:A] Stopped 2025-10-28T17:04:23.368Z,1761671063.368 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:04:23.368Z,1761671063.368 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:04:23.368Z,1761671063.368 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:04:23.368Z,1761671063.368 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:04:23.368Z,1761671063.368 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateCommandMode] Stopped 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:04:23.369Z,1761671063.369 [marl:UpdateSpeed] Stopped 2025-10-28T17:04:23.370Z,1761671063.370 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:04:23.766Z,1761671063.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955952,-0.293000,-0.017510],[0.293170,-0.956026,-0.008028],[-0.014388,-0.012808,0.999814]] 2025-10-28T17:04:23.827Z,1761671063.827 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:04:23.827Z,1761671063.827 [marl:UpdateRudder:B] Stopped 2025-10-28T17:04:23.827Z,1761671063.827 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:04:23.827Z,1761671063.827 [marl:UpdateRudder] Stopped 2025-10-28T17:04:23.827Z,1761671063.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:04:24.151Z,1761671064.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961119,-0.275411,-0.019957],[0.275599,-0.961245,-0.007303],[-0.017173,-0.012519,0.999774]] 2025-10-28T17:04:24.554Z,1761671064.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965907,-0.257893,-0.022690],[0.258118,-0.966083,-0.007599],[-0.019960,-0.013197,0.999714]] 2025-10-28T17:04:24.961Z,1761671064.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970417,-0.240098,-0.025366],[0.240344,-0.970662,-0.007092],[-0.022919,-0.012979,0.999653]] 2025-10-28T17:04:25.364Z,1761671065.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974440,-0.222909,-0.027903],[0.223150,-0.974767,-0.005780],[-0.025910,-0.011859,0.999594]] 2025-10-28T17:04:25.773Z,1761671065.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978028,-0.206331,-0.029821],[0.206533,-0.978432,-0.003840],[-0.028386,-0.009915,0.999548]] 2025-10-28T17:04:26.171Z,1761671066.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981157,-0.190608,-0.031627],[0.190760,-0.981635,-0.001829],[-0.030698,-0.007827,0.999498]] 2025-10-28T17:04:26.576Z,1761671066.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983965,-0.175244,-0.033194],[0.175342,-0.984507,-0.000053],[-0.032670,-0.005873,0.999449]] 2025-10-28T17:04:26.981Z,1761671066.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986373,-0.160681,-0.035337],[0.160768,-0.986992,0.000394],[-0.034941,-0.005292,0.999375]] 2025-10-28T17:04:27.383Z,1761671067.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988571,-0.146214,-0.036723],[0.146276,-0.989243,0.000995],[-0.036473,-0.004388,0.999325]] 2025-10-28T17:04:27.789Z,1761671067.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990622,-0.131105,-0.038468],[0.131223,-0.991353,-0.000560],[-0.038062,-0.005602,0.999260]] 2025-10-28T17:04:28.190Z,1761671068.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992457,-0.115871,-0.040034],[0.116016,-0.993246,-0.001301],[-0.039613,-0.005935,0.999197]] 2025-10-28T17:04:28.596Z,1761671068.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994048,-0.100673,-0.041627],[0.100831,-0.994902,-0.001724],[-0.041242,-0.005911,0.999132]] 2025-10-28T17:04:29.002Z,1761671069.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995416,-0.085339,-0.043165],[0.085508,-0.996335,-0.002066],[-0.042831,-0.005747,0.999066]] 2025-10-28T17:04:29.402Z,1761671069.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996594,-0.069397,-0.044541],[0.069557,-0.997576,-0.002060],[-0.044290,-0.005151,0.999005]] 2025-10-28T17:04:29.806Z,1761671069.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997495,-0.053455,-0.046333],[0.053637,-0.998557,-0.002701],[-0.046121,-0.005179,0.998922]] 2025-10-28T17:04:30.212Z,1761671070.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998157,-0.037171,-0.047972],[0.037367,-0.999296,-0.003197],[-0.047820,-0.004984,0.998843]] 2025-10-28T17:04:30.615Z,1761671070.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998542,-0.021107,-0.049673],[0.021249,-0.999772,-0.002321],[-0.049613,-0.003373,0.998763]] 2025-10-28T17:04:31.019Z,1761671071.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998669,-0.004769,-0.051352],[0.004929,-0.999983,-0.002987],[-0.051337,-0.003236,0.998676]] 2025-10-28T17:04:31.423Z,1761671071.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998523,0.011610,-0.053079],[-0.011458,-0.999929,-0.003178],[-0.053112,-0.002565,0.998585]] 2025-10-28T17:04:31.828Z,1761671071.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998148,0.026897,-0.054563],[-0.026770,-0.999637,-0.003051],[-0.054625,-0.001585,0.998506]] 2025-10-28T17:04:32.246Z,1761671072.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997545,0.042450,-0.055688],[-0.042302,-0.999098,-0.003836],[-0.055801,-0.001471,0.998441]] 2025-10-28T17:04:32.635Z,1761671072.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996759,0.056946,-0.056826],[-0.056819,-0.998377,-0.003846],[-0.056953,-0.000604,0.998377]] 2025-10-28T17:04:33.038Z,1761671073.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995812,0.070737,-0.057914],[-0.070655,-0.997495,-0.003458],[-0.058013,0.000648,0.998316]] 2025-10-28T17:04:33.450Z,1761671073.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993361,0.098561,-0.059318],[-0.098301,-0.995130,-0.007289],[-0.059748,-0.001410,0.998212]] 2025-10-28T17:04:33.852Z,1761671073.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991753,0.113427,-0.059665],[-0.112951,-0.993536,-0.011301],[-0.060561,-0.004469,0.998154]] 2025-10-28T17:04:34.261Z,1761671074.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989867,0.128596,-0.060222],[-0.128000,-0.991680,-0.013662],[-0.061478,-0.005815,0.998092]] 2025-10-28T17:04:34.659Z,1761671074.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987645,0.144388,-0.060910],[-0.143648,-0.989493,-0.016390],[-0.062636,-0.007438,0.998009]] 2025-10-28T17:04:35.067Z,1761671075.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985022,0.161195,-0.061219],[-0.160263,-0.986874,-0.019874],[-0.063619,-0.009765,0.997926]] 2025-10-28T17:04:35.463Z,1761671075.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982009,0.178672,-0.061109],[-0.177573,-0.983839,-0.023002],[-0.064231,-0.011737,0.997866]] 2025-10-28T17:04:35.867Z,1761671075.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978712,0.195936,-0.061091],[-0.194717,-0.980532,-0.025354],[-0.064870,-0.012918,0.997810]] 2025-10-28T17:04:36.260Z,1761671076.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:04:36.273Z,1761671076.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974936,0.213854,-0.061375],[-0.212603,-0.976785,-0.026302],[-0.065575,-0.012595,0.997768]] 2025-10-28T17:04:36.297Z,1761671076.297 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:04:36.297Z,1761671076.297 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateRudder:A] Stopped 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:04:36.298Z,1761671076.298 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateCommandMode] Stopped 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:04:36.299Z,1761671076.299 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:04:36.300Z,1761671076.300 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:04:36.312Z,1761671076.312 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:04:36.312Z,1761671076.312 [marl:UpdateSpeed] Stopped 2025-10-28T17:04:36.312Z,1761671076.312 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:04:36.676Z,1761671076.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971226,0.230075,-0.061524],[-0.228799,-0.973096,-0.027125],[-0.066109,-0.012268,0.997737]] 2025-10-28T17:04:36.700Z,1761671076.700 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:04:36.701Z,1761671076.701 [marl:UpdateRudder:B] Stopped 2025-10-28T17:04:36.701Z,1761671076.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:04:36.701Z,1761671076.701 [marl:UpdateRudder] Stopped 2025-10-28T17:04:36.701Z,1761671076.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:04:37.079Z,1761671077.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967102,0.246938,-0.061116],[-0.245648,-0.968957,-0.027913],[-0.066111,-0.011982,0.997740]] 2025-10-28T17:04:37.264Z,1761671077.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:04:37.483Z,1761671077.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962878,0.263068,-0.060505],[-0.261848,-0.964719,-0.027427],[-0.065585,-0.010565,0.997791]] 2025-10-28T17:04:37.886Z,1761671077.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958536,0.278673,-0.059584],[-0.277547,-0.960344,-0.026577],[-0.064628,-0.008938,0.997869]] 2025-10-28T17:04:38.292Z,1761671078.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954025,0.294012,-0.058249],[-0.292931,-0.955766,-0.026502],[-0.063464,-0.008220,0.997950]] 2025-10-28T17:04:38.696Z,1761671078.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949670,0.308123,-0.056460],[-0.307030,-0.951308,-0.027319],[-0.062128,-0.008609,0.998031]] 2025-10-28T17:04:39.098Z,1761671079.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945129,0.321981,-0.055316],[-0.321023,-0.946724,-0.025646],[-0.060626,-0.006481,0.998140]] 2025-10-28T17:04:39.503Z,1761671079.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940539,0.335402,-0.053774],[-0.334442,-0.942051,-0.026230],[-0.059455,-0.006686,0.998209]] 2025-10-28T17:04:39.908Z,1761671079.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935847,0.348454,-0.052641],[-0.347526,-0.937306,-0.026150],[-0.058453,-0.006178,0.998271]] 2025-10-28T17:04:40.314Z,1761671080.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931010,0.361324,-0.051633],[-0.360417,-0.932422,-0.026247],[-0.057628,-0.005827,0.998321]] 2025-10-28T17:04:40.720Z,1761671080.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925883,0.374448,-0.050297],[-0.373539,-0.927228,-0.026761],[-0.056657,-0.005990,0.998376]] 2025-10-28T17:04:41.118Z,1761671081.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920505,0.387590,-0.049433],[-0.386677,-0.921812,-0.027255],[-0.056132,-0.005973,0.998405]] 2025-10-28T17:04:41.523Z,1761671081.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914762,0.401064,-0.048565],[-0.400063,-0.916021,-0.029254],[-0.056219,-0.007331,0.998392]] 2025-10-28T17:04:41.927Z,1761671081.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908339,0.415559,-0.047239],[-0.414461,-0.909521,-0.031526],[-0.056066,-0.009057,0.998386]] 2025-10-28T17:04:42.332Z,1761671082.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900963,0.431439,-0.046122],[-0.430274,-0.902086,-0.033253],[-0.055953,-0.010115,0.998382]] 2025-10-28T17:04:42.741Z,1761671082.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892873,0.448112,-0.044431],[-0.446844,-0.893895,-0.035795],[-0.055757,-0.012107,0.998371]] 2025-10-28T17:04:43.143Z,1761671083.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883798,0.465979,-0.042016],[-0.464571,-0.884665,-0.039257],[-0.055463,-0.015176,0.998345]] 2025-10-28T17:04:43.545Z,1761671083.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874276,0.483753,-0.040308],[-0.482334,-0.875063,-0.040228],[-0.054732,-0.015729,0.998377]] 2025-10-28T17:04:43.947Z,1761671083.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864266,0.501526,-0.038937],[-0.500142,-0.865007,-0.040266],[-0.053875,-0.015326,0.998430]] 2025-10-28T17:04:44.352Z,1761671084.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854126,0.518726,-0.037311],[-0.517363,-0.854802,-0.040611],[-0.052960,-0.015384,0.998478]] 2025-10-28T17:04:44.759Z,1761671084.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844159,0.534890,-0.035899],[-0.533576,-0.844790,-0.040328],[-0.051898,-0.014889,0.998541]] 2025-10-28T17:04:44.807Z,1761671084.807 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:04:44.849Z,1761671084.849 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:04:44.850Z,1761671084.850 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:04:45.101Z,1761671085.101 [DAT](INFO): DAT read: user:41> 2025-10-28T17:04:45.102Z,1761671085.102 [DAT](INFO): DAT read: Tx time:17:04:44.8626 2025-10-28T17:04:45.102Z,1761671085.102 [DAT](INFO): Ping request sent. 2025-10-28T17:04:45.102Z,1761671085.102 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:04:45.103Z,1761671085.103 [DAT](INFO): publishing transmit ping time 2025-10-28T17:04:45.103Z,1761671085.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000901 2025-10-28T17:04:45.166Z,1761671085.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834948,0.549239,-0.034616],[-0.547991,-0.835547,-0.039590],[-0.050668,-0.014086,0.998616]] 2025-10-28T17:04:45.356Z,1761671085.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253295 2025-10-28T17:04:45.586Z,1761671085.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826709,0.561583,-0.034298],[-0.560481,-0.827343,-0.036943],[-0.049123,-0.011318,0.998729]] 2025-10-28T17:04:45.608Z,1761671085.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504795 2025-10-28T17:04:45.860Z,1761671085.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757818 2025-10-28T17:04:45.966Z,1761671085.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818976,0.572844,-0.033587],[-0.571891,-0.819618,-0.034169],[-0.047102,-0.008776,0.998852]] 2025-10-28T17:04:46.109Z,1761671086.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006497 2025-10-28T17:04:46.361Z,1761671086.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258406 2025-10-28T17:04:46.372Z,1761671086.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812041,0.582665,-0.033021],[-0.581874,-0.812691,-0.030929],[-0.044857,-0.005902,0.998976]] 2025-10-28T17:04:46.613Z,1761671086.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510937 2025-10-28T17:04:46.782Z,1761671086.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805640,0.591513,-0.032498],[-0.590871,-0.806289,-0.027735],[-0.042609,-0.003143,0.999087]] 2025-10-28T17:04:46.865Z,1761671086.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762562 2025-10-28T17:04:47.117Z,1761671087.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014336 2025-10-28T17:04:47.183Z,1761671087.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799579,0.599736,-0.031471],[-0.599218,-0.800197,-0.024946],[-0.040145,-0.001088,0.999193]] 2025-10-28T17:04:47.369Z,1761671087.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266355 2025-10-28T17:04:47.624Z,1761671087.624 [DAT](INFO): DAT read: Rx Time:17:04:47.0500 2025-10-28T17:04:47.626Z,1761671087.626 [DAT](INFO): Rx dataTimestamp_ set to:1761671087.624855 2025-10-28T17:04:47.628Z,1761671087.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524710 2025-10-28T17:04:47.631Z,1761671087.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793378,0.608067,-0.028380],[-0.607582,-0.793883,-0.024360],[-0.037343,-0.002084,0.999300]] 2025-10-28T17:04:47.873Z,1761671087.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770345 2025-10-28T17:04:47.987Z,1761671087.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786811,0.616688,-0.024985],[-0.616223,-0.787199,-0.024221],[-0.034606,-0.003661,0.999394]] 2025-10-28T17:04:48.126Z,1761671088.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023245 2025-10-28T17:04:48.383Z,1761671088.383 [DAT](INFO): DAT read: 17:04:47.0500 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 337, 0.37, 1.747,-0.024, 1.663, 1.453, PHS= 0.397,-1.432, 0.167, RAW= 143.4, 10.1, CAL= 142.9, 11.0, ROT= 7.1, -11.0 2025-10-28T17:04:48.384Z,1761671088.384 [DAT](INFO): got valid direction response: 17:04:47.0500 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 337, 0.37, 1.747,-0.024, 1.663, 1.453, PHS= 0.397,-1.432, 0.167, RAW= 143.4, 10.1, CAL= 142.9, 11.0, ROT= 7.1, -11.0 2025-10-28T17:04:48.385Z,1761671088.385 [DAT](INFO): DAT read: Bearing 202, -14 (Remote) 2025-10-28T17:04:48.385Z,1761671088.385 [DAT](INFO): Remote Bearing received:Bearing 202, -14 (Remote) 2025-10-28T17:04:48.386Z,1761671088.386 [DAT](INFO): DAT read: Bearing 19.9, 4.2 (Local) 2025-10-28T17:04:48.386Z,1761671088.386 [DAT](INFO): Local bearing/azimuth received: Bearing 19.9, 4.2 (Local) 2025-10-28T17:04:48.387Z,1761671088.387 [DAT](INFO): DAT read: Range 11 to 20 : 118.7 m (Round-trip 158.3 ms) speed 0.8 m/s 2025-10-28T17:04:48.391Z,1761671088.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:04:48.392Z,1761671088.392 [DAT](INFO): direction in FSK: [0.974100,0.121331,0.190809] 2025-10-28T17:04:48.392Z,1761671088.392 [DAT](INFO): publishing direction and range info 2025-10-28T17:04:48.414Z,1761671088.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779455,0.626098,-0.021247],[-0.625644,-0.779722,-0.024559],[-0.031943,-0.005849,0.999473]] 2025-10-28T17:04:48.508Z,1761671088.508 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671040.00. Resetting abort timer. 2025-10-28T17:04:48.814Z,1761671088.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770486,0.637250,-0.016230],[-0.636784,-0.770592,-0.026342],[-0.029293,-0.009961,0.999521]] 2025-10-28T17:04:49.231Z,1761671089.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759796,0.650062,-0.011420],[-0.649613,-0.759758,-0.027757],[-0.026720,-0.013671,0.999550]] 2025-10-28T17:04:49.275Z,1761671089.275 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:04:49.275Z,1761671089.275 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:04:49.275Z,1761671089.275 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:04:49.280Z,1761671089.280 [marl:UpdateRudder:A] Stopped 2025-10-28T17:04:49.280Z,1761671089.280 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:04:49.280Z,1761671089.280 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:04:49.280Z,1761671089.280 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:04:49.280Z,1761671089.280 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateCommandMode] Stopped 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:04:49.281Z,1761671089.281 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:04:49.282Z,1761671089.282 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:04:49.282Z,1761671089.282 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:04:49.282Z,1761671089.282 [marl:UpdateSpeed] Stopped 2025-10-28T17:04:49.282Z,1761671089.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:04:49.639Z,1761671089.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746930,0.664872,-0.006366],[-0.664455,-0.746745,-0.029523],[-0.024383,-0.017822,0.999544]] 2025-10-28T17:04:49.703Z,1761671089.703 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:04:49.703Z,1761671089.703 [marl:UpdateRudder:B] Stopped 2025-10-28T17:04:49.703Z,1761671089.703 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:04:49.703Z,1761671089.703 [marl:UpdateRudder] Stopped 2025-10-28T17:04:49.705Z,1761671089.705 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:04:50.027Z,1761671090.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732649,0.680604,-0.001882],[-0.680246,-0.732347,-0.030562],[-0.022179,-0.021111,0.999531]] 2025-10-28T17:04:50.431Z,1761671090.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716926,0.697148,0.001268],[-0.696859,-0.716574,-0.030152],[-0.020111,-0.022500,0.999545]] 2025-10-28T17:04:50.835Z,1761671090.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700227,0.713907,0.004342],[-0.713684,-0.699826,-0.029972],[-0.018359,-0.024086,0.999541]] 2025-10-28T17:04:51.242Z,1761671091.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683097,0.730305,0.005762],[-0.730134,-0.682713,-0.028414],[-0.016817,-0.023616,0.999580]] 2025-10-28T17:04:51.643Z,1761671091.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666390,0.745583,0.005484],[-0.745440,-0.666072,-0.025835],[-0.015609,-0.021304,0.999651]] 2025-10-28T17:04:52.046Z,1761671092.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650981,0.759080,0.004611],[-0.758957,-0.650737,-0.022939],[-0.014412,-0.018433,0.999726]] 2025-10-28T17:04:52.450Z,1761671092.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637586,0.770373,0.002891],[-0.770271,-0.637430,-0.019112],[-0.012880,-0.014413,0.999813]] 2025-10-28T17:04:52.857Z,1761671092.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626456,0.779457,0.000746],[-0.779377,-0.626378,-0.014895],[-0.011143,-0.009912,0.999889]] 2025-10-28T17:04:53.259Z,1761671093.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617055,0.786920,-0.000480],[-0.786865,-0.617019,-0.011440],[-0.009298,-0.006682,0.999934]] 2025-10-28T17:04:53.663Z,1761671093.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608812,0.793312,-0.001973],[-0.793283,-0.608808,-0.007439],[-0.007102,-0.002963,0.999970]] 2025-10-28T17:04:54.067Z,1761671094.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601186,0.799109,-0.000387],[-0.799097,-0.601180,-0.005047],[-0.004266,-0.002725,0.999987]] 2025-10-28T17:04:54.472Z,1761671094.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593668,0.804708,0.001837],[-0.804710,-0.593664,-0.002220],[-0.000695,-0.002797,0.999996]] 2025-10-28T17:04:54.874Z,1761671094.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585084,0.810961,0.004296],[-0.810969,-0.585090,-0.000022],[0.002495,-0.003497,0.999991]] 2025-10-28T17:04:55.286Z,1761671095.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573980,0.818835,0.007538],[-0.818853,-0.574002,0.001054],[0.005190,-0.005568,0.999971]] 2025-10-28T17:04:55.683Z,1761671095.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561067,0.827701,0.010718],[-0.827733,-0.561118,0.002313],[0.007929,-0.007574,0.999940]] 2025-10-28T17:04:56.087Z,1761671096.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546054,0.837617,0.014939],[-0.837686,-0.546146,0.002607],[0.010342,-0.011091,0.999885]] 2025-10-28T17:04:56.491Z,1761671096.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529660,0.848030,0.017462],[-0.848119,-0.529793,0.003737],[0.012420,-0.012830,0.999841]] 2025-10-28T17:04:56.896Z,1761671096.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512623,0.858411,0.018635],[-0.858498,-0.512790,0.005290],[0.014097,-0.013286,0.999812]] 2025-10-28T17:04:57.299Z,1761671097.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495251,0.868536,0.019270],[-0.868613,-0.495445,0.006800],[0.015453,-0.013370,0.999791]] 2025-10-28T17:04:57.714Z,1761671097.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479484,0.877369,0.017850],[-0.877391,-0.479685,0.009303],[0.016725,-0.011201,0.999797]] 2025-10-28T17:04:58.106Z,1761671098.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464974,0.885158,0.017142],[-0.885146,-0.465182,0.011044],[0.017750,-0.010038,0.999792]] 2025-10-28T17:04:58.511Z,1761671098.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451385,0.892188,0.015857],[-0.892130,-0.451589,0.013126],[0.018872,-0.008221,0.999788]] 2025-10-28T17:04:58.917Z,1761671098.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439108,0.898318,0.014441],[-0.898206,-0.439302,0.015485],[0.020255,-0.006171,0.999776]] 2025-10-28T17:04:59.318Z,1761671099.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426996,0.904122,0.015413],[-0.903989,-0.427221,0.016907],[0.021871,-0.006714,0.999738]] 2025-10-28T17:04:59.725Z,1761671099.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414291,0.910001,0.016151],[-0.909836,-0.414547,0.018663],[0.023679,-0.006963,0.999695]] 2025-10-28T17:05:00.131Z,1761671100.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400892,0.915944,0.018244],[-0.915770,-0.401211,0.019850],[0.025501,-0.008750,0.999636]] 2025-10-28T17:05:00.533Z,1761671100.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385893,0.922320,0.020316],[-0.922135,-0.386283,0.021250],[0.027447,-0.010533,0.999568]] 2025-10-28T17:05:00.934Z,1761671100.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369919,0.928804,0.021971],[-0.928602,-0.370377,0.022772],[0.029288,-0.011979,0.999499]] 2025-10-28T17:05:01.339Z,1761671101.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352462,0.935489,0.025121],[-0.935316,-0.353029,0.023537],[0.030887,-0.015200,0.999407]] 2025-10-28T17:05:01.744Z,1761671101.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333799,0.942263,0.026825],[-0.942082,-0.334448,0.025041],[0.032567,-0.016913,0.999326]] 2025-10-28T17:05:02.150Z,1761671102.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315294,0.948663,0.025050],[-0.948371,-0.315934,0.027894],[0.034377,-0.014962,0.999297]] 2025-10-28T17:05:02.195Z,1761671102.195 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:05:02.195Z,1761671102.195 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:05:02.195Z,1761671102.195 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:05:02.212Z,1761671102.212 [marl:UpdateRudder:A] Stopped 2025-10-28T17:05:02.212Z,1761671102.212 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:05:02.212Z,1761671102.212 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:05:02.212Z,1761671102.212 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:05:02.212Z,1761671102.212 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateCommandMode] Stopped 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:05:02.213Z,1761671102.213 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:05:02.213Z,1761671102.214 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:05:02.214Z,1761671102.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:05:02.214Z,1761671102.214 [marl:UpdateSpeed] Stopped 2025-10-28T17:05:02.214Z,1761671102.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:05:02.551Z,1761671102.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296886,0.954650,0.022398],[-0.954237,-0.297476,0.030654],[0.035927,-0.012273,0.999279]] 2025-10-28T17:05:02.599Z,1761671102.599 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:05:02.599Z,1761671102.599 [marl:UpdateRudder:B] Stopped 2025-10-28T17:05:02.599Z,1761671102.599 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:05:02.599Z,1761671102.599 [marl:UpdateRudder] Stopped 2025-10-28T17:05:02.599Z,1761671102.599 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:05:02.954Z,1761671102.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279144,0.960043,0.019903],[-0.959524,-0.279678,0.033063],[0.037308,-0.009868,0.999255]] 2025-10-28T17:05:03.366Z,1761671103.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263073,0.964617,0.017520],[-0.963997,-0.263547,0.035405],[0.038770,-0.007575,0.999219]] 2025-10-28T17:05:03.793Z,1761671103.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247906,0.968675,0.014547],[-0.967971,-0.248285,0.037247],[0.039692,-0.004847,0.999200]] 2025-10-28T17:05:04.167Z,1761671104.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234704,0.971990,0.012239],[-0.971210,-0.235007,0.039015],[0.040798,-0.002730,0.999164]] 2025-10-28T17:05:04.570Z,1761671104.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222377,0.974915,0.009444],[-0.974053,-0.222578,0.040997],[0.042071,-0.000082,0.999115]] 2025-10-28T17:05:04.976Z,1761671104.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210870,0.977489,0.006961],[-0.976548,-0.210973,0.042941],[0.043443,0.002257,0.999053]] 2025-10-28T17:05:05.380Z,1761671105.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199155,0.979940,0.007352],[-0.978916,-0.199283,0.044822],[0.045388,0.001730,0.998968]] 2025-10-28T17:05:05.787Z,1761671105.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186265,0.982471,0.007473],[-0.981371,-0.186410,0.046502],[0.047080,0.001328,0.998890]] 2025-10-28T17:05:06.193Z,1761671106.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172033,0.985057,0.008135],[-0.983887,-0.172225,0.048018],[0.048702,0.000257,0.998813]] 2025-10-28T17:05:06.592Z,1761671106.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156288,0.987659,0.010216],[-0.986423,-0.156604,0.049445],[0.050434,-0.002349,0.998725]] 2025-10-28T17:05:06.996Z,1761671106.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138320,0.990313,0.012143],[-0.989021,-0.138763,0.050812],[0.052005,-0.004981,0.998634]] 2025-10-28T17:05:07.384Z,1761671107.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:05:07.400Z,1761671107.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118866,0.992815,0.013765],[-0.991457,-0.119430,0.052442],[0.053709,-0.007414,0.998529]] 2025-10-28T17:05:07.802Z,1761671107.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097979,0.995084,0.014440],[-0.993671,-0.098621,0.053782],[0.054942,-0.009079,0.998448]] 2025-10-28T17:05:08.217Z,1761671108.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077314,0.996888,0.015422],[-0.995438,-0.078050,0.054875],[0.055908,-0.011109,0.998374]] 2025-10-28T17:05:08.388Z,1761671108.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:05:08.612Z,1761671108.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057318,0.998232,0.015705],[-0.996755,-0.058110,0.055695],[0.056509,-0.012461,0.998324]] 2025-10-28T17:05:09.419Z,1761671109.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022302,0.999680,0.011928],[-0.998118,-0.022946,0.056860],[0.057115,-0.010637,0.998311]] 2025-10-28T17:05:09.824Z,1761671109.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007658,0.999933,0.008644],[-0.998321,-0.008141,0.057351],[0.057418,-0.008190,0.998317]] 2025-10-28T17:05:10.226Z,1761671110.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005196,0.999970,0.005656],[-0.998303,0.004859,0.058023],[0.057994,-0.005948,0.998299]] 2025-10-28T17:05:10.630Z,1761671110.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017226,0.999847,0.003165],[-0.998113,0.017009,0.058998],[0.058935,-0.004176,0.998253]] 2025-10-28T17:05:11.035Z,1761671111.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028987,0.999580,0.000392],[-0.997766,0.028911,0.060226],[0.060189,-0.002137,0.998185]] 2025-10-28T17:05:11.447Z,1761671111.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041595,0.999134,-0.001189],[-0.997245,0.041590,0.061415],[0.061411,-0.001368,0.998112]] 2025-10-28T17:05:11.842Z,1761671111.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055628,0.998447,-0.002963],[-0.996511,0.055705,0.062150],[0.062218,-0.000504,0.998062]] 2025-10-28T17:05:12.247Z,1761671112.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070928,0.997465,-0.005639],[-0.995500,0.071143,0.062594],[0.062836,0.001174,0.998023]] 2025-10-28T17:05:12.650Z,1761671112.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086916,0.996196,-0.006301],[-0.994198,0.087140,0.063065],[0.063374,0.000783,0.997990]] 2025-10-28T17:05:13.055Z,1761671113.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103775,0.994575,-0.007117],[-0.992580,0.104018,0.062979],[0.063377,0.000529,0.997990]] 2025-10-28T17:05:13.465Z,1761671113.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120924,0.992629,-0.008093],[-0.990628,0.121193,0.062993],[0.063509,0.000399,0.997981]] 2025-10-28T17:05:13.862Z,1761671113.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138442,0.990316,-0.010437],[-0.988346,0.138825,0.062450],[0.063294,0.001669,0.997994]] 2025-10-28T17:05:14.267Z,1761671114.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155998,0.987682,-0.012230],[-0.985721,0.156459,0.062242],[0.063389,0.002345,0.997986]] 2025-10-28T17:05:14.679Z,1761671114.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173149,0.984811,-0.012928],[-0.982817,0.173621,0.062657],[0.063950,0.001856,0.997951]] 2025-10-28T17:05:15.076Z,1761671115.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190126,0.981647,-0.014850],[-0.979631,0.190688,0.062938],[0.064615,0.002581,0.997907]] 2025-10-28T17:05:15.107Z,1761671115.107 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:05:15.107Z,1761671115.107 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:05:15.107Z,1761671115.107 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:05:15.107Z,1761671115.107 [marl:UpdateRudder:A] Stopped 2025-10-28T17:05:15.107Z,1761671115.107 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:05:15.478Z,1761671115.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207184,0.978133,-0.018161],[-0.976123,0.207926,0.062851],[0.065253,0.004705,0.997858]] 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateRudder:B] Stopped 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateRudder] Stopped 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:05:15.530Z,1761671115.530 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateCommandMode] Stopped 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:05:15.531Z,1761671115.531 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:05:15.536Z,1761671115.536 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:05:15.536Z,1761671115.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:05:15.536Z,1761671115.536 [marl:UpdateSpeed] Stopped 2025-10-28T17:05:15.536Z,1761671115.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:05:15.883Z,1761671115.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224628,0.974247,-0.019625],[-0.972218,0.225430,0.063038],[0.065839,0.004920,0.997818]] 2025-10-28T17:05:16.286Z,1761671116.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240758,0.970361,-0.020840],[-0.968292,0.241609,0.063526],[0.066678,0.004885,0.997763]] 2025-10-28T17:05:16.699Z,1761671116.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273764,0.961493,-0.024171],[-0.959404,0.274768,0.063617],[0.067809,0.005774,0.997682]] 2025-10-28T17:05:17.101Z,1761671117.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289994,0.956698,-0.025162],[-0.954573,0.291032,0.063952],[0.068506,0.005474,0.997636]] 2025-10-28T17:05:17.503Z,1761671117.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305664,0.951800,-0.025427],[-0.949645,0.306687,0.064167],[0.068872,0.004533,0.997615]] 2025-10-28T17:05:17.907Z,1761671117.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320560,0.946908,-0.024643],[-0.944719,0.321495,0.064399],[0.068903,0.002637,0.997620]] 2025-10-28T17:05:18.311Z,1761671118.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334400,0.942128,-0.023895],[-0.939925,0.335252,0.064397],[0.068681,0.000925,0.997638]] 2025-10-28T17:05:18.711Z,1761671118.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347746,0.937286,-0.023819],[-0.935125,0.348560,0.063613],[0.067926,0.000152,0.997690]] 2025-10-28T17:05:19.115Z,1761671119.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360182,0.932544,-0.025103],[-0.930457,0.361055,0.062367],[0.067223,0.000894,0.997738]] 2025-10-28T17:05:19.519Z,1761671119.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372425,0.927695,-0.026108],[-0.925701,0.373336,0.060814],[0.066164,0.001520,0.997808]] 2025-10-28T17:05:19.925Z,1761671119.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383811,0.923002,-0.027516],[-0.921111,0.384787,0.059112],[0.065148,0.002657,0.997872]] 2025-10-28T17:05:20.326Z,1761671120.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395139,0.918175,-0.028620],[-0.916383,0.396159,0.057450],[0.064087,0.003526,0.997938]] 2025-10-28T17:05:20.730Z,1761671120.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405810,0.913445,-0.030617],[-0.911751,0.406929,0.055846],[0.063471,0.005252,0.997970]] 2025-10-28T17:05:21.135Z,1761671121.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416618,0.908498,-0.032588],[-0.906899,0.417833,0.054312],[0.062959,0.006926,0.997992]] 2025-10-28T17:05:21.538Z,1761671121.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428242,0.903018,-0.034169],[-0.901503,0.429526,0.052921],[0.062465,0.008140,0.998014]] 2025-10-28T17:05:21.943Z,1761671121.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441031,0.896793,-0.035407],[-0.895346,0.442360,0.051697],[0.062024,0.008901,0.998035]] 2025-10-28T17:05:22.347Z,1761671122.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455204,0.889623,-0.036884],[-0.888248,0.456590,0.050407],[0.061684,0.009816,0.998048]] 2025-10-28T17:05:22.755Z,1761671122.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470285,0.881641,-0.039247],[-0.880364,0.471778,0.048828],[0.061565,0.011588,0.998036]] 2025-10-28T17:05:23.171Z,1761671123.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486418,0.872719,-0.041939],[-0.871563,0.488030,0.046951],[0.061443,0.013715,0.998016]] 2025-10-28T17:05:23.569Z,1761671123.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503457,0.862895,-0.044075],[-0.861871,0.505147,0.044770],[0.060897,0.015447,0.998025]] 2025-10-28T17:05:23.962Z,1761671123.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520615,0.852518,-0.046620],[-0.851681,0.522390,0.041821],[0.060007,0.017933,0.998037]] 2025-10-28T17:05:24.370Z,1761671124.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537451,0.841924,-0.048061],[-0.841249,0.539243,0.038954],[0.058713,0.019495,0.998084]] 2025-10-28T17:05:24.775Z,1761671124.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553419,0.831524,-0.047913],[-0.830941,0.555147,0.036737],[0.057146,0.019482,0.998176]] 2025-10-28T17:05:25.179Z,1761671125.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568467,0.821308,-0.047943],[-0.820827,0.570141,0.034373],[0.055565,0.019812,0.998258]] 2025-10-28T17:05:25.629Z,1761671125.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582434,0.811544,-0.046540],[-0.811058,0.584006,0.033488],[0.054357,0.018242,0.998355]] 2025-10-28T17:05:25.984Z,1761671125.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594924,0.802505,-0.045292],[-0.801990,0.596415,0.033188],[0.053646,0.016579,0.998422]] 2025-10-28T17:05:26.386Z,1761671126.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606641,0.793785,-0.043496],[-0.793241,0.608023,0.032805],[0.052487,0.014601,0.998515]] 2025-10-28T17:05:26.791Z,1761671126.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618221,0.784904,-0.041567],[-0.784360,0.619483,0.031937],[0.050818,0.012860,0.998625]] 2025-10-28T17:05:27.196Z,1761671127.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629785,0.775783,-0.039121],[-0.775264,0.630901,0.030486],[0.048331,0.011130,0.998769]] 2025-10-28T17:05:27.632Z,1761671127.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639392,0.768026,-0.036248],[-0.767512,0.640356,0.029489],[0.045860,0.008966,0.998908]] 2025-10-28T17:05:28.003Z,1761671128.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647619,0.761263,-0.032693],[-0.760752,0.648412,0.028603],[0.042973,0.006347,0.999056]] 2025-10-28T17:05:28.038Z,1761671128.038 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:05:28.038Z,1761671128.038 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:05:28.038Z,1761671128.038 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:05:28.039Z,1761671128.039 [marl:UpdateRudder:A] Stopped 2025-10-28T17:05:28.039Z,1761671128.039 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:05:28.406Z,1761671128.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655654,0.754480,-0.029633],[-0.753993,0.656309,0.027439],[0.040151,0.004352,0.999184]] 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateRudder:B] Stopped 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateRudder] Stopped 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:05:28.452Z,1761671128.452 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode] Stopped 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:05:28.453Z,1761671128.453 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:05:28.454Z,1761671128.454 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:05:28.454Z,1761671128.454 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:05:28.454Z,1761671128.454 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:05:28.454Z,1761671128.454 [marl:UpdateSpeed] Stopped 2025-10-28T17:05:28.454Z,1761671128.454 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:05:28.813Z,1761671128.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663880,0.747358,-0.026810],[-0.746907,0.664416,0.026109],[0.037326,0.002692,0.999300]] 2025-10-28T17:05:29.218Z,1761671129.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672231,0.739900,-0.025565],[-0.739529,0.672710,0.023609],[0.034666,0.003035,0.999394]] 2025-10-28T17:05:29.645Z,1761671129.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680989,0.731862,-0.025119],[-0.731594,0.681437,0.020320],[0.031988,0.004539,0.999478]] 2025-10-28T17:05:30.022Z,1761671130.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690382,0.722960,-0.026477],[-0.722838,0.690840,0.015694],[0.029637,0.008304,0.999526]] 2025-10-28T17:05:30.428Z,1761671130.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701045,0.712597,-0.027220],[-0.712605,0.701478,0.011101],[0.027005,0.011615,0.999568]] 2025-10-28T17:05:30.832Z,1761671130.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712886,0.700689,-0.028796],[-0.700844,0.713290,0.005995],[0.024741,0.015908,0.999567]] 2025-10-28T17:05:31.236Z,1761671131.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725447,0.687640,-0.029619],[-0.687896,0.725807,0.002097],[0.022940,0.018854,0.999559]] 2025-10-28T17:05:31.650Z,1761671131.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738735,0.673233,-0.032061],[-0.673656,0.739037,-0.003418],[0.021393,0.024123,0.999480]] 2025-10-28T17:05:32.043Z,1761671132.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752370,0.657916,-0.032957],[-0.658436,0.752603,-0.007203],[0.020064,0.027120,0.999431]] 2025-10-28T17:05:32.448Z,1761671132.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765992,0.642041,-0.032238],[-0.642579,0.766161,-0.009418],[0.018653,0.027929,0.999436]] 2025-10-28T17:05:32.850Z,1761671132.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779348,0.625844,-0.030603],[-0.626364,0.779452,-0.011112],[0.016899,0.027829,0.999470]] 2025-10-28T17:05:33.255Z,1761671133.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792173,0.609661,-0.027848],[-0.610120,0.792216,-0.012120],[0.014673,0.026591,0.999539]] 2025-10-28T17:05:33.663Z,1761671133.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804432,0.593591,-0.023199],[-0.593932,0.804426,-0.011961],[0.011562,0.023401,0.999659]] 2025-10-28T17:05:34.064Z,1761671134.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815349,0.578690,-0.017993],[-0.578913,0.815310,-0.011339],[0.008109,0.019662,0.999774]] 2025-10-28T17:05:34.466Z,1761671134.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824700,0.565421,-0.012959],[-0.565551,0.824644,-0.010738],[0.004615,0.016184,0.999858]] 2025-10-28T17:05:34.870Z,1761671134.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832105,0.554559,-0.008123],[-0.554617,0.832049,-0.009736],[0.001360,0.012607,0.999920]] 2025-10-28T17:05:35.279Z,1761671135.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838429,0.545005,-0.002685],[-0.545009,0.838399,-0.007281],[-0.001717,0.007568,0.999970]] 2025-10-28T17:05:35.679Z,1761671135.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844327,0.535827,0.001254],[-0.535809,0.844313,-0.006677],[-0.004636,0.004965,0.999977]] 2025-10-28T17:05:36.083Z,1761671136.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850024,0.526728,0.004016],[-0.526696,0.850025,-0.006973],[-0.007087,0.003812,0.999968]] 2025-10-28T17:05:36.487Z,1761671136.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855494,0.517784,0.005368],[-0.517737,0.855501,-0.008190],[-0.008833,0.004228,0.999952]] 2025-10-28T17:05:36.891Z,1761671136.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860998,0.508578,0.005482],[-0.508509,0.860994,-0.010396],[-0.010007,0.006163,0.999931]] 2025-10-28T17:05:37.295Z,1761671137.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867206,0.497923,0.005101],[-0.497825,0.867173,-0.013452],[-0.011121,0.009127,0.999896]] 2025-10-28T17:05:37.701Z,1761671137.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874458,0.485081,0.004453],[-0.484932,0.874358,-0.018397],[-0.012818,0.013928,0.999821]] 2025-10-28T17:05:38.105Z,1761671138.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882349,0.470581,0.003840],[-0.470372,0.882150,-0.023691],[-0.014536,0.019097,0.999712]] 2025-10-28T17:05:38.507Z,1761671138.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890476,0.455009,0.004467],[-0.454730,0.890202,-0.027594],[-0.016532,0.022541,0.999609]] 2025-10-28T17:05:38.508Z,1761671138.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:05:38.910Z,1761671138.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898330,0.439283,0.005700],[-0.438914,0.897982,-0.031338],[-0.018885,0.025650,0.999493]] 2025-10-28T17:05:39.321Z,1761671139.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905970,0.423270,0.007735],[-0.422813,0.905601,-0.033414],[-0.021148,0.027002,0.999412]] 2025-10-28T17:05:39.518Z,1761671139.518 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:05:39.718Z,1761671139.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913284,0.407207,0.009735],[-0.406644,0.912880,-0.035928],[-0.023517,0.028854,0.999307]] 2025-10-28T17:05:40.131Z,1761671140.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920283,0.391061,0.012289],[-0.390412,0.919908,-0.036713],[-0.025662,0.028989,0.999250]] 2025-10-28T17:05:40.527Z,1761671140.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926626,0.375713,0.014295],[-0.375005,0.926286,-0.036947],[-0.027123,0.028875,0.999215]] 2025-10-28T17:05:40.932Z,1761671140.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933156,0.359085,0.016637],[-0.358316,0.932869,-0.036953],[-0.028789,0.028522,0.999179]] 2025-10-28T17:05:40.956Z,1761671140.956 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:05:40.957Z,1761671140.957 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:05:40.957Z,1761671140.957 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:05:40.957Z,1761671140.957 [marl:UpdateRudder:A] Stopped 2025-10-28T17:05:40.957Z,1761671140.957 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:05:41.336Z,1761671141.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939254,0.342725,0.018505],[-0.341909,0.939010,-0.036865],[-0.030011,0.028298,0.999149]] 2025-10-28T17:05:41.439Z,1761671141.439 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:05:41.439Z,1761671141.439 [marl:UpdateRudder:B] Stopped 2025-10-28T17:05:41.439Z,1761671141.439 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:05:41.439Z,1761671141.439 [marl:UpdateRudder] Stopped 2025-10-28T17:05:41.440Z,1761671141.440 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:05:41.440Z,1761671141.440 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:05:41.440Z,1761671141.440 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:05:41.440Z,1761671141.440 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:05:41.440Z,1761671141.440 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateCommandMode] Stopped 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:05:41.441Z,1761671141.441 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:05:41.442Z,1761671141.442 [marl:UpdateSpeed] Stopped 2025-10-28T17:05:41.442Z,1761671141.442 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:05:41.738Z,1761671141.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945231,0.325780,0.020158],[-0.324928,0.945027,-0.036682],[-0.031000,0.028123,0.999124]] 2025-10-28T17:05:42.150Z,1761671142.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950815,0.308980,0.021974],[-0.308100,0.950671,-0.036037],[-0.032025,0.027494,0.999109]] 2025-10-28T17:05:42.548Z,1761671142.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955867,0.292883,0.023205],[-0.291997,0.955769,-0.035271],[-0.032509,0.026939,0.999108]] 2025-10-28T17:05:42.951Z,1761671142.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960613,0.276771,0.024889],[-0.275845,0.960560,-0.035133],[-0.033631,0.026884,0.999073]] 2025-10-28T17:05:43.358Z,1761671143.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964858,0.261391,0.026911],[-0.260449,0.964887,-0.034042],[-0.034865,0.025837,0.999058]] 2025-10-28T17:05:43.766Z,1761671143.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968468,0.247410,0.029291],[-0.246498,0.968630,-0.031519],[-0.036170,0.023305,0.999074]] 2025-10-28T17:05:44.165Z,1761671144.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971755,0.233918,0.031223],[-0.233006,0.972005,-0.030251],[-0.037425,0.022122,0.999055]] 2025-10-28T17:05:44.566Z,1761671144.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974763,0.220759,0.033205],[-0.219870,0.975114,-0.028446],[-0.038658,0.020427,0.999044]] 2025-10-28T17:05:44.971Z,1761671144.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977603,0.207534,0.034964],[-0.206595,0.978007,-0.028643],[-0.040139,0.020778,0.998978]] 2025-10-28T17:05:44.995Z,1761671144.995 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:05:45.109Z,1761671145.109 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:05:45.110Z,1761671145.110 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:05:45.361Z,1761671145.361 [DAT](INFO): DAT read: user:42> 2025-10-28T17:05:45.361Z,1761671145.361 [DAT](INFO): DAT read: Tx time:17:05:45.1125 2025-10-28T17:05:45.362Z,1761671145.362 [DAT](INFO): Ping request sent. 2025-10-28T17:05:45.362Z,1761671145.362 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:05:45.362Z,1761671145.362 [DAT](INFO): publishing transmit ping time 2025-10-28T17:05:45.363Z,1761671145.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T17:05:45.390Z,1761671145.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980339,0.193929,0.036419],[-0.192889,0.980755,-0.030209],[-0.041576,0.022590,0.998880]] 2025-10-28T17:05:45.619Z,1761671145.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256982 2025-10-28T17:05:45.786Z,1761671145.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982893,0.180294,0.037627],[-0.179133,0.983296,-0.032258],[-0.042814,0.024966,0.998771]] 2025-10-28T17:05:45.865Z,1761671145.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503094 2025-10-28T17:05:46.118Z,1761671146.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755685 2025-10-28T17:05:46.189Z,1761671146.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985415,0.165692,0.038763],[-0.164412,0.985799,-0.034179],[-0.043876,0.027307,0.998664]] 2025-10-28T17:05:46.369Z,1761671146.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007576 2025-10-28T17:05:46.591Z,1761671146.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987755,0.150956,0.039403],[-0.149570,0.988094,-0.036031],[-0.044373,0.029697,0.998574]] 2025-10-28T17:05:46.622Z,1761671146.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259462 2025-10-28T17:05:46.873Z,1761671146.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949 2025-10-28T17:05:46.997Z,1761671146.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989998,0.135136,0.040525],[-0.133649,0.990323,-0.037397],[-0.045187,0.031607,0.998478]] 2025-10-28T17:05:47.127Z,1761671147.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765193 2025-10-28T17:05:47.377Z,1761671147.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015015 2025-10-28T17:05:47.399Z,1761671147.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991966,0.119435,0.041692],[-0.117931,0.992338,-0.036856],[-0.045775,0.031643,0.998451]] 2025-10-28T17:05:47.630Z,1761671147.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267687 2025-10-28T17:05:47.802Z,1761671147.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993664,0.103902,0.042842],[-0.102368,0.994074,-0.036575],[-0.046389,0.031957,0.998412]] 2025-10-28T17:05:47.881Z,1761671147.881 [DAT](INFO): DAT read: Rx Time:17:05:47.2891 2025-10-28T17:05:47.882Z,1761671147.882 [DAT](INFO): Rx dataTimestamp_ set to:1761671147.881358 2025-10-28T17:05:47.882Z,1761671147.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520508 2025-10-28T17:05:48.133Z,1761671148.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075 2025-10-28T17:05:48.213Z,1761671148.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995099,0.088540,0.044024],[-0.087039,0.995592,-0.034936],[-0.046923,0.030933,0.998419]] 2025-10-28T17:05:48.385Z,1761671148.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022989 2025-10-28T17:05:48.620Z,1761671148.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996294,0.073553,0.044598],[-0.072117,0.996850,-0.032993],[-0.046884,0.029655,0.998460]] 2025-10-28T17:05:48.643Z,1761671148.643 [DAT](INFO): DAT read: 17:05:47.2891 LVL= 31984, 20465, 25714, 32755, AGC= 49, IDX= 339, 0.06, 1.712,-2.568, 3.046, 3.033, PHS=-1.219, 0.727,-0.030, RAW= 292.7, 6.2, CAL= 290.6, 3.7, ROT= 219.4, -3.7 2025-10-28T17:05:48.645Z,1761671148.645 [DAT](INFO): got valid direction response: 17:05:47.2891 LVL= 31984, 20465, 25714, 32755, AGC= 49, IDX= 339, 0.06, 1.712,-2.568, 3.046, 3.033, PHS=-1.219, 0.727,-0.030, RAW= 292.7, 6.2, CAL= 290.6, 3.7, ROT= 219.4, -3.7 2025-10-28T17:05:48.646Z,1761671148.646 [DAT](INFO): DAT read: Bearing 192, 1 (Remote) 2025-10-28T17:05:48.646Z,1761671148.646 [DAT](INFO): Remote Bearing received:Bearing 192, 1 (Remote) 2025-10-28T17:05:48.647Z,1761671148.647 [DAT](INFO): DAT read: Bearing 321.9, -36.6 (Local) 2025-10-28T17:05:48.647Z,1761671148.647 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -36.6 (Local) 2025-10-28T17:05:48.649Z,1761671148.649 [DAT](INFO): DAT read: Range 11 to 20 : 110.6 m (Round-trip 147.5 ms) speed -0.8 m/s 2025-10-28T17:05:48.649Z,1761671148.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:05:48.650Z,1761671148.650 [DAT](INFO): direction in FSK: [-0.771123,-0.633407,0.064532] 2025-10-28T17:05:48.650Z,1761671148.650 [DAT](INFO): publishing direction and range info 2025-10-28T17:05:48.715Z,1761671148.715 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671168.00. Resetting abort timer. 2025-10-28T17:05:49.015Z,1761671149.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997230,0.058987,0.045317],[-0.057549,0.997817,-0.032405],[-0.047129,0.029708,0.998447]] 2025-10-28T17:05:49.419Z,1761671149.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997977,0.043848,0.046039],[-0.042411,0.998596,-0.031736],[-0.047366,0.029720,0.998435]] 2025-10-28T17:05:49.823Z,1761671149.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998479,0.028851,0.046986],[-0.027412,0.999144,-0.030977],[-0.047839,0.029641,0.998415]] 2025-10-28T17:05:50.230Z,1761671150.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998761,0.013710,0.047827],[-0.012245,0.999451,-0.030782],[-0.048223,0.030158,0.998381]] 2025-10-28T17:05:50.635Z,1761671150.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998805,-0.002138,0.048820],[0.003671,0.999503,-0.031325],[-0.048729,0.031467,0.998316]] 2025-10-28T17:05:51.034Z,1761671151.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998578,-0.018662,0.049932],[0.020236,0.999308,-0.031202],[-0.049315,0.032168,0.998265]] 2025-10-28T17:05:51.438Z,1761671151.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998112,-0.034977,0.050490],[0.036595,0.998834,-0.031497],[-0.049330,0.033285,0.998228]] 2025-10-28T17:05:51.843Z,1761671151.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997368,-0.051668,0.050871],[0.053342,0.998060,-0.032109],[-0.049113,0.034738,0.998189]] 2025-10-28T17:05:52.253Z,1761671152.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996293,-0.069043,0.051311],[0.070704,0.997006,-0.031297],[-0.048997,0.034809,0.998192]] 2025-10-28T17:05:52.651Z,1761671152.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994929,-0.086388,0.051501],[0.088000,0.995672,-0.029899],[-0.048695,0.034279,0.998225]] 2025-10-28T17:05:53.055Z,1761671153.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993327,-0.103253,0.051376],[0.104827,0.994069,-0.028939],[-0.048083,0.034131,0.998260]] 2025-10-28T17:05:53.459Z,1761671153.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991509,-0.119487,0.051307],[0.121069,0.992223,-0.028917],[-0.047453,0.034884,0.998264]] 2025-10-28T17:05:53.866Z,1761671153.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989447,-0.135405,0.051566],[0.136970,0.990176,-0.028123],[-0.047252,0.034889,0.998273]] 2025-10-28T17:05:54.267Z,1761671154.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987094,-0.151434,0.052097],[0.152943,0.987885,-0.026298],[-0.047483,0.033926,0.998296]] 2025-10-28T17:05:54.307Z,1761671154.307 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:05:54.307Z,1761671154.307 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:05:54.308Z,1761671154.308 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateRudder:A] Stopped 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:05:54.309Z,1761671154.309 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateCommandMode] Stopped 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:05:54.310Z,1761671154.310 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:05:54.311Z,1761671154.311 [marl:UpdateSpeed] Stopped 2025-10-28T17:05:54.311Z,1761671154.311 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:05:54.670Z,1761671154.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984659,-0.166457,0.052336],[0.167869,0.985521,-0.023829],[-0.047611,0.032249,0.998345]] 2025-10-28T17:05:54.718Z,1761671154.718 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:05:54.718Z,1761671154.718 [marl:UpdateRudder:B] Stopped 2025-10-28T17:05:54.718Z,1761671154.718 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:05:54.718Z,1761671154.718 [marl:UpdateRudder] Stopped 2025-10-28T17:05:54.718Z,1761671154.718 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:05:55.076Z,1761671155.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981893,-0.181887,0.052951],[0.183288,0.982793,-0.022891],[-0.047876,0.032182,0.998335]] 2025-10-28T17:05:55.479Z,1761671155.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979071,-0.196407,0.053338],[0.197709,0.980051,-0.020283],[-0.048291,0.030404,0.998371]] 2025-10-28T17:05:55.883Z,1761671155.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975916,-0.211280,0.054292],[0.212587,0.976948,-0.019475],[-0.048926,0.030548,0.998335]] 2025-10-28T17:05:56.287Z,1761671156.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972786,-0.225106,0.054906],[0.226371,0.973876,-0.017948],[-0.049432,0.029889,0.998330]] 2025-10-28T17:05:56.691Z,1761671156.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969655,-0.238177,0.055150],[0.239336,0.970815,-0.015369],[-0.049880,0.028102,0.998360]] 2025-10-28T17:05:57.106Z,1761671157.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966120,-0.252059,0.055492],[0.253168,0.967323,-0.013836],[-0.050191,0.027416,0.998363]] 2025-10-28T17:05:57.499Z,1761671157.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962699,-0.265036,0.054474],[0.265853,0.963978,-0.008222],[-0.050333,0.022397,0.998481]] 2025-10-28T17:05:57.969Z,1761671157.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958870,-0.280193,0.045400],[0.279473,0.959910,0.021620],[-0.049637,-0.008043,0.998735]] 2025-10-28T17:05:58.373Z,1761671158.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958715,-0.281821,0.037976],[0.280080,0.958904,0.045372],[-0.049202,-0.032863,0.998248]] 2025-10-28T17:05:58.783Z,1761671158.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958849,-0.282353,0.029770],[0.279715,0.957422,0.071431],[-0.048671,-0.060164,0.997001]] 2025-10-28T17:05:59.174Z,1761671159.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959168,-0.282044,0.021182],[0.278732,0.955302,0.098517],[-0.048021,-0.088591,0.994910]] 2025-10-28T17:05:59.623Z,1761671159.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959368,-0.281825,0.013673],[0.278129,0.952720,0.122348],[-0.047507,-0.113574,0.992393]] 2025-10-28T17:05:59.984Z,1761671159.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959184,-0.282683,0.007435],[0.278841,0.949866,0.141426],[-0.047041,-0.133581,0.989921]] 2025-10-28T17:06:00.391Z,1761671160.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958838,-0.283949,0.001883],[0.280163,0.947093,0.156600],[-0.046250,-0.149626,0.987660]] 2025-10-28T17:06:00.805Z,1761671160.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958142,-0.286283,-0.002524],[0.282612,0.944375,0.168183],[-0.045764,-0.161857,0.985753]] 2025-10-28T17:06:01.195Z,1761671161.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957399,-0.288697,-0.006461],[0.285232,0.941944,0.177156],[-0.045059,-0.171452,0.984162]] 2025-10-28T17:06:01.633Z,1761671161.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956549,-0.291418,-0.009485],[0.288160,0.939891,0.183217],[-0.044478,-0.177989,0.983027]] 2025-10-28T17:06:02.005Z,1761671162.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955634,-0.294316,-0.011890],[0.291262,0.938154,0.187172],[-0.043933,-0.182331,0.982255]] 2025-10-28T17:06:02.406Z,1761671162.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954927,-0.296543,-0.013310],[0.293648,0.937145,0.188493],[-0.043423,-0.183906,0.981984]] 2025-10-28T17:06:02.814Z,1761671162.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954413,-0.298142,-0.014395],[0.295359,0.936338,0.189824],[-0.043116,-0.185422,0.981713]] 2025-10-28T17:06:03.215Z,1761671163.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954067,-0.299218,-0.014989],[0.296514,0.935926,0.190057],[-0.042840,-0.185772,0.981659]] 2025-10-28T17:06:03.638Z,1761671163.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953704,-0.300367,-0.015116],[0.297705,0.935735,0.189136],[-0.042665,-0.184880,0.981835]] 2025-10-28T17:06:04.023Z,1761671164.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953736,-0.300244,-0.015566],[0.297648,0.935662,0.189584],[-0.042357,-0.185446,0.981741]] 2025-10-28T17:06:04.427Z,1761671164.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954010,-0.299347,-0.016018],[0.296847,0.935890,0.189716],[-0.041800,-0.185746,0.981708]] 2025-10-28T17:06:04.835Z,1761671164.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954428,-0.297970,-0.016785],[0.295585,0.936034,0.190971],[-0.041193,-0.187230,0.981452]] 2025-10-28T17:06:05.235Z,1761671165.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955152,-0.295625,-0.017028],[0.293330,0.936737,0.191000],[-0.040514,-0.187429,0.981442]] 2025-10-28T17:06:05.644Z,1761671165.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955971,-0.292954,-0.017228],[0.290719,0.937401,0.191736],[-0.040020,-0.188302,0.981295]] 2025-10-28T17:06:06.042Z,1761671166.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956916,-0.289898,-0.016478],[0.287587,0.938399,0.191574],[-0.040074,-0.188059,0.981340]] 2025-10-28T17:06:06.446Z,1761671166.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957878,-0.286748,-0.015635],[0.284374,0.939549,0.190735],[-0.040003,-0.187147,0.981517]] 2025-10-28T17:06:06.855Z,1761671166.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958757,-0.283861,-0.014423],[0.281381,0.940767,0.189161],[-0.040127,-0.185418,0.981840]] 2025-10-28T17:06:07.255Z,1761671167.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959250,-0.282261,-0.013007],[0.279687,0.941940,0.185806],[-0.040194,-0.181872,0.982500]] 2025-10-28T17:06:07.294Z,1761671167.294 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:06:07.294Z,1761671167.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:06:07.294Z,1761671167.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateRudder:A] Stopped 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:06:07.295Z,1761671167.295 [marl:UpdateCommandMode] Stopped 2025-10-28T17:06:07.296Z,1761671167.296 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:06:07.296Z,1761671167.296 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:06:07.296Z,1761671167.296 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:06:07.296Z,1761671167.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:06:07.296Z,1761671167.296 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:06:07.297Z,1761671167.297 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:06:07.297Z,1761671167.297 [marl:UpdateSpeed] Stopped 2025-10-28T17:06:07.297Z,1761671167.297 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:06:07.658Z,1761671167.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959164,-0.282592,-0.012066],[0.279992,0.942558,0.182181],[-0.040110,-0.178120,0.983191]] 2025-10-28T17:06:07.722Z,1761671167.722 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:06:07.722Z,1761671167.722 [marl:UpdateRudder:B] Stopped 2025-10-28T17:06:07.722Z,1761671167.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:06:07.722Z,1761671167.722 [marl:UpdateRudder] Stopped 2025-10-28T17:06:07.722Z,1761671167.722 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:06:08.063Z,1761671168.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958633,-0.284409,-0.011592],[0.281849,0.942736,0.178353],[-0.039797,-0.174243,0.983898]] 2025-10-28T17:06:08.467Z,1761671168.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957498,-0.288204,-0.011664],[0.285771,0.942370,0.173993],[-0.039154,-0.169931,0.984678]] 2025-10-28T17:06:08.882Z,1761671168.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955927,-0.293366,-0.011876],[0.291075,0.941611,0.169243],[-0.038468,-0.165241,0.985503]] 2025-10-28T17:06:09.275Z,1761671169.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954025,-0.299446,-0.012990],[0.297382,0.940255,0.165784],[-0.037429,-0.162025,0.986077]] 2025-10-28T17:06:09.640Z,1761671169.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:06:09.678Z,1761671169.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951968,-0.305828,-0.015058],[0.304091,0.938510,0.163484],[-0.035866,-0.160211,0.986431]] 2025-10-28T17:06:10.114Z,1761671170.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949714,-0.312578,-0.018389],[0.311287,0.936184,0.163279],[-0.033822,-0.160793,0.986409]] 2025-10-28T17:06:10.489Z,1761671170.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947277,-0.319599,-0.022874],[0.318874,0.933313,0.165066],[-0.031406,-0.163657,0.986017]] 2025-10-28T17:06:10.644Z,1761671170.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:06:10.895Z,1761671170.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944799,-0.326471,-0.027786],[0.326366,0.930197,0.167985],[-0.028996,-0.167781,0.985398]] 2025-10-28T17:06:11.294Z,1761671171.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942402,-0.332812,-0.033402],[0.333457,0.926996,0.171710],[-0.026184,-0.172958,0.984581]] 2025-10-28T17:06:11.698Z,1761671171.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940683,-0.337111,-0.038356],[0.338462,0.924512,0.175272],[-0.023625,-0.177858,0.983773]] 2025-10-28T17:06:12.105Z,1761671172.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939948,-0.338660,-0.042519],[0.340658,0.923075,0.178560],[-0.021223,-0.182321,0.983010]] 2025-10-28T17:06:12.506Z,1761671172.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940121,-0.337742,-0.045848],[0.340315,0.922675,0.181262],[-0.018917,-0.186011,0.982366]] 2025-10-28T17:06:12.910Z,1761671172.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940917,-0.335151,-0.048471],[0.338209,0.922841,0.184333],[-0.017049,-0.189835,0.981668]] 2025-10-28T17:06:13.314Z,1761671173.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941996,-0.331888,-0.049944],[0.335275,0.923733,0.185224],[-0.015339,-0.191225,0.981426]] 2025-10-28T17:06:13.720Z,1761671173.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943171,-0.328439,-0.050557],[0.332016,0.925008,0.184729],[-0.013907,-0.191016,0.981488]] 2025-10-28T17:06:14.123Z,1761671174.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944316,-0.325098,-0.050785],[0.328805,0.926497,0.183003],[-0.012442,-0.189511,0.981800]] 2025-10-28T17:06:14.527Z,1761671174.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945005,-0.323065,-0.050936],[0.326870,0.927694,0.180389],[-0.011024,-0.187118,0.982276]] 2025-10-28T17:06:14.938Z,1761671174.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945098,-0.322831,-0.050700],[0.326636,0.928489,0.176685],[-0.009965,-0.183545,0.982961]] 2025-10-28T17:06:15.334Z,1761671175.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944611,-0.324241,-0.050769],[0.328077,0.928836,0.172129],[-0.008655,-0.179251,0.983765]] 2025-10-28T17:06:15.738Z,1761671175.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943658,-0.326906,-0.051402],[0.330842,0.928544,0.168376],[-0.007314,-0.175896,0.984382]] 2025-10-28T17:06:16.142Z,1761671176.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942580,-0.329867,-0.052254],[0.333922,0.927890,0.165883],[-0.006233,-0.173807,0.984760]] 2025-10-28T17:06:16.549Z,1761671176.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941303,-0.333315,-0.053390],[0.337526,0.926977,0.163673],[-0.005063,-0.172087,0.985069]] 2025-10-28T17:06:16.950Z,1761671176.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940262,-0.336034,-0.054661],[0.340425,0.926030,0.163033],[-0.004167,-0.171902,0.985105]] 2025-10-28T17:06:17.354Z,1761671177.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939513,-0.337835,-0.056415],[0.342498,0.925130,0.163799],[-0.003146,-0.173213,0.984879]] 2025-10-28T17:06:17.765Z,1761671177.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938946,-0.339055,-0.058492],[0.344058,0.924283,0.165306],[-0.001985,-0.175338,0.984506]] 2025-10-28T17:06:18.164Z,1761671178.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938723,-0.339288,-0.060689],[0.344672,0.923630,0.167658],[-0.000830,-0.178302,0.983975]] 2025-10-28T17:06:18.574Z,1761671178.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938587,-0.339363,-0.062340],[0.345041,0.923190,0.169311],[0.000093,-0.180423,0.983589]] 2025-10-28T17:06:18.970Z,1761671178.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938766,-0.338661,-0.063453],[0.344553,0.923237,0.170048],[0.000993,-0.181498,0.983391]] 2025-10-28T17:06:19.375Z,1761671179.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938926,-0.338041,-0.064395],[0.344115,0.923331,0.170423],[0.001848,-0.182174,0.983265]] 2025-10-28T17:06:19.784Z,1761671179.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938811,-0.338171,-0.065380],[0.344421,0.923263,0.170174],[0.002815,-0.182280,0.983243]] 2025-10-28T17:06:20.182Z,1761671180.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938222,-0.339609,-0.066371],[0.346013,0.922813,0.169384],[0.003723,-0.181885,0.983313]] 2025-10-28T17:06:20.217Z,1761671180.217 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateRudder:A] Stopped 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:06:20.218Z,1761671180.218 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateCommandMode] Stopped 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:06:20.219Z,1761671180.219 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:06:20.220Z,1761671180.220 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:06:20.220Z,1761671180.220 [marl:UpdateSpeed] Stopped 2025-10-28T17:06:20.220Z,1761671180.220 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:06:20.589Z,1761671180.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937330,-0.341843,-0.067499],[0.348410,0.922202,0.167793],[0.004889,-0.180795,0.983509]] 2025-10-28T17:06:20.635Z,1761671180.635 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:06:20.636Z,1761671180.636 [marl:UpdateRudder:B] Stopped 2025-10-28T17:06:20.636Z,1761671180.636 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:06:20.636Z,1761671180.636 [marl:UpdateRudder] Stopped 2025-10-28T17:06:20.636Z,1761671180.636 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:06:20.997Z,1761671180.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936025,-0.345216,-0.068431],[0.351876,0.921497,0.164398],[0.006306,-0.177960,0.984017]] 2025-10-28T17:06:21.396Z,1761671181.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934579,-0.348874,-0.069632],[0.355676,0.920417,0.162257],[0.007483,-0.176408,0.984289]] 2025-10-28T17:06:21.799Z,1761671181.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933194,-0.352307,-0.070915],[0.359268,0.919345,0.160408],[0.008682,-0.175169,0.984500]] 2025-10-28T17:06:22.203Z,1761671182.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931722,-0.355935,-0.072143],[0.363040,0.918191,0.158515],[0.009820,-0.173882,0.984717]] 2025-10-28T17:06:22.607Z,1761671182.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930374,-0.359096,-0.073851],[0.366439,0.917037,0.157370],[0.011213,-0.173475,0.984774]] 2025-10-28T17:06:23.016Z,1761671183.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929202,-0.361807,-0.075358],[0.369363,0.916024,0.156431],[0.012432,-0.173190,0.984810]] 2025-10-28T17:06:23.414Z,1761671183.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928270,-0.363916,-0.076677],[0.371663,0.915183,0.155905],[0.013437,-0.173220,0.984792]] 2025-10-28T17:06:23.846Z,1761671183.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927812,-0.364539,-0.079225],[0.372741,0.914528,0.157168],[0.015160,-0.175353,0.984389]] 2025-10-28T17:06:24.222Z,1761671184.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927872,-0.363924,-0.081319],[0.372539,0.914242,0.159297],[0.016373,-0.178102,0.983876]] 2025-10-28T17:06:24.626Z,1761671184.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928238,-0.362449,-0.083695],[0.371565,0.914121,0.162241],[0.017703,-0.181696,0.983195]] 2025-10-28T17:06:25.030Z,1761671185.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928733,-0.360737,-0.085586],[0.370265,0.914276,0.164325],[0.018971,-0.184303,0.982686]] 2025-10-28T17:06:25.436Z,1761671185.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929128,-0.359376,-0.087010],[0.369230,0.914331,0.166337],[0.019778,-0.186675,0.982223]] 2025-10-28T17:06:25.838Z,1761671185.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929285,-0.358684,-0.088178],[0.368806,0.914168,0.168164],[0.020291,-0.188793,0.981807]] 2025-10-28T17:06:26.243Z,1761671186.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928871,-0.359541,-0.089050],[0.369815,0.913745,0.168244],[0.020878,-0.189209,0.981715]] 2025-10-28T17:06:26.647Z,1761671186.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928197,-0.360972,-0.090277],[0.371463,0.913022,0.168541],[0.021586,-0.189974,0.981552]] 2025-10-28T17:06:27.067Z,1761671187.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927100,-0.363415,-0.091740],[0.374119,0.912142,0.167426],[0.022835,-0.189542,0.981607]] 2025-10-28T17:06:27.455Z,1761671187.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925603,-0.366877,-0.093061],[0.377757,0.910791,0.166613],[0.023633,-0.189372,0.981621]] 2025-10-28T17:06:28.262Z,1761671188.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922302,-0.374317,-0.096151],[0.385621,0.907814,0.164833],[0.025587,-0.189104,0.981624]] 2025-10-28T17:06:28.666Z,1761671188.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921094,-0.376812,-0.097975],[0.388388,0.906864,0.163560],[0.027219,-0.188707,0.981656]] 2025-10-28T17:06:29.074Z,1761671189.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920014,-0.379113,-0.099240],[0.390848,0.906087,0.161999],[0.028504,-0.187829,0.981788]] 2025-10-28T17:06:29.474Z,1761671189.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919844,-0.379106,-0.100828],[0.391151,0.905897,0.162328],[0.029800,-0.188755,0.981572]] 2025-10-28T17:06:29.878Z,1761671189.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920041,-0.378342,-0.101887],[0.390584,0.906234,0.161816],[0.031112,-0.188673,0.981547]] 2025-10-28T17:06:30.284Z,1761671190.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920682,-0.376690,-0.102222],[0.388984,0.907120,0.160700],[0.032194,-0.187716,0.981696]] 2025-10-28T17:06:30.686Z,1761671190.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921486,-0.374781,-0.101990],[0.387015,0.908195,0.159376],[0.032896,-0.186335,0.981935]] 2025-10-28T17:06:31.091Z,1761671191.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922287,-0.372909,-0.101618],[0.385062,0.909219,0.158262],[0.033376,-0.185092,0.982154]] 2025-10-28T17:06:31.499Z,1761671191.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922809,-0.371774,-0.101031],[0.383793,0.909966,0.157049],[0.033548,-0.183702,0.982409]] 2025-10-28T17:06:31.899Z,1761671191.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923117,-0.371252,-0.100130],[0.383066,0.910512,0.155651],[0.033384,-0.182041,0.982724]] 2025-10-28T17:06:32.303Z,1761671192.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922868,-0.372050,-0.099466],[0.383701,0.910406,0.154709],[0.032994,-0.180941,0.982940]] 2025-10-28T17:06:32.707Z,1761671192.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922153,-0.373855,-0.099328],[0.385450,0.909697,0.154531],[0.032586,-0.180787,0.982982]] 2025-10-28T17:06:33.117Z,1761671193.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921170,-0.376158,-0.099754],[0.387797,0.908710,0.154463],[0.032545,-0.180971,0.982950]] 2025-10-28T17:06:33.142Z,1761671193.142 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:06:33.142Z,1761671193.142 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateRudder:A] Stopped 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:06:33.143Z,1761671193.143 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateCommandMode] Stopped 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:06:33.144Z,1761671193.144 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:06:33.145Z,1761671193.145 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:06:33.145Z,1761671193.145 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:06:33.145Z,1761671193.145 [marl:UpdateSpeed] Stopped 2025-10-28T17:06:33.145Z,1761671193.145 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:06:33.534Z,1761671193.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919640,-0.379779,-0.100148],[0.391384,0.907461,0.152754],[0.032868,-0.179675,0.983177]] 2025-10-28T17:06:33.638Z,1761671193.638 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:06:33.638Z,1761671193.638 [marl:UpdateRudder:B] Stopped 2025-10-28T17:06:33.638Z,1761671193.638 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:06:33.638Z,1761671193.638 [marl:UpdateRudder] Stopped 2025-10-28T17:06:33.638Z,1761671193.638 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:06:33.922Z,1761671193.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918172,-0.382988,-0.101390],[0.394762,0.906058,0.152386],[0.033503,-0.179941,0.983107]] 2025-10-28T17:06:34.327Z,1761671194.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916623,-0.386367,-0.102575],[0.398281,0.904665,0.151503],[0.034260,-0.179725,0.983120]] 2025-10-28T17:06:34.731Z,1761671194.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914851,-0.390179,-0.103957],[0.402277,0.902972,0.151045],[0.034936,-0.180004,0.983045]] 2025-10-28T17:06:35.141Z,1761671195.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913030,-0.394128,-0.105069],[0.406335,0.901337,0.149946],[0.035605,-0.179598,0.983095]] 2025-10-28T17:06:35.560Z,1761671195.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911190,-0.398014,-0.106385],[0.410374,0.899665,0.148980],[0.036415,-0.179407,0.983101]] 2025-10-28T17:06:35.942Z,1761671195.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909457,-0.401521,-0.108026],[0.414116,0.898021,0.148544],[0.037366,-0.179830,0.982988]] 2025-10-28T17:06:36.346Z,1761671196.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907980,-0.404386,-0.109746],[0.417282,0.896450,0.149176],[0.038057,-0.181244,0.982702]] 2025-10-28T17:06:36.755Z,1761671196.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906589,-0.406988,-0.111608],[0.420223,0.894941,0.149981],[0.038842,-0.182871,0.982369]] 2025-10-28T17:06:37.155Z,1761671197.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905483,-0.408978,-0.113302],[0.422519,0.893778,0.150464],[0.039730,-0.184114,0.982102]] 2025-10-28T17:06:37.592Z,1761671197.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904761,-0.410057,-0.115152],[0.423987,0.892835,0.151921],[0.040515,-0.186275,0.981662]] 2025-10-28T17:06:37.962Z,1761671197.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904235,-0.410826,-0.116539],[0.425042,0.892189,0.152765],[0.041215,-0.187670,0.981367]] 2025-10-28T17:06:38.367Z,1761671198.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903970,-0.411044,-0.117820],[0.425534,0.891815,0.153582],[0.041945,-0.188970,0.981087]] 2025-10-28T17:06:38.776Z,1761671198.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903948,-0.410920,-0.118416],[0.425555,0.891688,0.154261],[0.042201,-0.189837,0.980908]] 2025-10-28T17:06:39.174Z,1761671199.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903716,-0.411494,-0.118191],[0.426040,0.891610,0.153367],[0.042271,-0.188954,0.981076]] 2025-10-28T17:06:39.645Z,1761671199.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903223,-0.412553,-0.118270],[0.427009,0.891501,0.151290],[0.043023,-0.187151,0.981389]] 2025-10-28T17:06:39.987Z,1761671199.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903161,-0.412574,-0.118673],[0.427074,0.891593,0.150566],[0.043689,-0.186668,0.981451]] 2025-10-28T17:06:40.392Z,1761671200.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903404,-0.411873,-0.119259],[0.426470,0.891960,0.150099],[0.044552,-0.186461,0.981452]] 2025-10-28T17:06:40.773Z,1761671200.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:06:40.802Z,1761671200.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903899,-0.410555,-0.120043],[0.425326,0.892473,0.150300],[0.045428,-0.186913,0.981326]] 2025-10-28T17:06:41.199Z,1761671201.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904624,-0.408728,-0.120814],[0.423673,0.893239,0.150419],[0.046435,-0.187258,0.981213]] 2025-10-28T17:06:41.777Z,1761671201.777 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:06:42.006Z,1761671202.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906583,-0.404318,-0.120969],[0.419362,0.895221,0.150718],[0.047356,-0.187368,0.981148]] 2025-10-28T17:06:42.411Z,1761671202.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907690,-0.401948,-0.120566],[0.416971,0.896246,0.151253],[0.047261,-0.187563,0.981115]] 2025-10-28T17:06:42.816Z,1761671202.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908491,-0.400348,-0.119860],[0.415326,0.896768,0.152682],[0.046361,-0.188491,0.980980]] 2025-10-28T17:06:43.219Z,1761671203.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908659,-0.400248,-0.118917],[0.415075,0.896785,0.153261],[0.045300,-0.188622,0.981004]] 2025-10-28T17:06:43.641Z,1761671203.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908137,-0.401599,-0.118342],[0.416313,0.896161,0.153557],[0.044385,-0.188718,0.981028]] 2025-10-28T17:06:44.035Z,1761671204.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907033,-0.404195,-0.117972],[0.418816,0.894948,0.153823],[0.043404,-0.188931,0.981031]] 2025-10-28T17:06:44.433Z,1761671204.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905086,-0.408677,-0.117485],[0.423127,0.892995,0.153375],[0.042233,-0.188528,0.981159]] 2025-10-28T17:06:44.835Z,1761671204.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902689,-0.413943,-0.117485],[0.428327,0.890494,0.153481],[0.041087,-0.188867,0.981143]] 2025-10-28T17:06:45.238Z,1761671205.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899838,-0.419976,-0.117945],[0.434347,0.887647,0.153051],[0.040415,-0.188950,0.981155]] 2025-10-28T17:06:45.289Z,1761671205.289 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:06:45.365Z,1761671205.365 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:06:45.365Z,1761671205.365 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:06:45.619Z,1761671205.619 [DAT](INFO): DAT read: user:43> 2025-10-28T17:06:45.624Z,1761671205.624 [DAT](INFO): DAT read: Tx time:17:06:45.3623 2025-10-28T17:06:45.640Z,1761671205.640 [DAT](INFO): Ping request sent. 2025-10-28T17:06:45.640Z,1761671205.640 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:06:45.640Z,1761671205.640 [DAT](INFO): publishing transmit ping time 2025-10-28T17:06:45.641Z,1761671205.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000976 2025-10-28T17:06:45.646Z,1761671205.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896662,-0.426478,-0.118800],[0.440891,0.884552,0.152261],[0.040149,-0.188905,0.981174]] 2025-10-28T17:06:45.869Z,1761671205.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.228669 2025-10-28T17:06:46.050Z,1761671206.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893361,-0.433084,-0.119770],[0.447524,0.881503,0.150581],[0.040363,-0.188123,0.981316]] 2025-10-28T17:06:46.074Z,1761671206.074 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:06:46.074Z,1761671206.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateRudder:A] Stopped 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:06:46.075Z,1761671206.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateCommandMode] Stopped 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:06:46.076Z,1761671206.076 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:06:46.077Z,1761671206.077 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:06:46.077Z,1761671206.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:06:46.077Z,1761671206.077 [marl:UpdateSpeed] Stopped 2025-10-28T17:06:46.077Z,1761671206.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:06:46.122Z,1761671206.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.481798 2025-10-28T17:06:46.373Z,1761671206.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.732704 2025-10-28T17:06:46.451Z,1761671206.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890090,-0.439601,-0.120376],[0.453955,0.878679,0.147811],[0.040794,-0.186211,0.981663]] 2025-10-28T17:06:46.488Z,1761671206.488 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:06:46.488Z,1761671206.488 [marl:UpdateRudder:B] Stopped 2025-10-28T17:06:46.489Z,1761671206.489 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:06:46.489Z,1761671206.489 [marl:UpdateRudder] Stopped 2025-10-28T17:06:46.489Z,1761671206.489 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:06:46.625Z,1761671206.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984598 2025-10-28T17:06:46.854Z,1761671206.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887650,-0.444072,-0.121977],[0.458656,0.876288,0.147495],[0.041388,-0.186869,0.981513]] 2025-10-28T17:06:46.877Z,1761671206.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236820 2025-10-28T17:06:47.129Z,1761671207.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488892 2025-10-28T17:06:47.259Z,1761671207.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885484,-0.448046,-0.123176],[0.462774,0.874243,0.146761],[0.041930,-0.186957,0.981473]] 2025-10-28T17:06:47.381Z,1761671207.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740639 2025-10-28T17:06:47.633Z,1761671207.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992716 2025-10-28T17:06:47.662Z,1761671207.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884249,-0.450013,-0.124866],[0.465082,0.872836,0.147838],[0.042459,-0.188799,0.981098]] 2025-10-28T17:06:47.885Z,1761671207.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244723 2025-10-28T17:06:48.066Z,1761671208.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883484,-0.451282,-0.125697],[0.466476,0.872154,0.147470],[0.043077,-0.188922,0.981047]] 2025-10-28T17:06:48.138Z,1761671208.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497389 2025-10-28T17:06:48.394Z,1761671208.394 [DAT](INFO): DAT read: Rx Time:17:06:47.6075 2025-10-28T17:06:48.394Z,1761671208.394 [DAT](INFO): Rx dataTimestamp_ set to:1761671208.394033 2025-10-28T17:06:48.395Z,1761671208.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754691 2025-10-28T17:06:48.470Z,1761671208.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883419,-0.451241,-0.126305],[0.466575,0.872010,0.148011],[0.043351,-0.189686,0.980887]] 2025-10-28T17:06:48.641Z,1761671208.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000725 2025-10-28T17:06:48.878Z,1761671208.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883601,-0.450865,-0.126374],[0.466207,0.872244,0.147789],[0.043596,-0.189503,0.980912]] 2025-10-28T17:06:48.899Z,1761671208.899 [DAT](INFO): DAT read: 17:06:47.6075 LVL= 32752, 31073, 32754, 32755, AGC= 64, IDX= 97, 0.11,-0.055, 2.000, 0.749, 0.881, PHS=-0.834, 1.163,-0.176, RAW= 311.1, -1.8, CAL= 309.6, -5.1, ROT= 200.4, 5.1 2025-10-28T17:06:48.900Z,1761671208.900 [DAT](INFO): got valid direction response: 17:06:47.6075 LVL= 32752, 31073, 32754, 32755, AGC= 64, IDX= 97, 0.11,-0.055, 2.000, 0.749, 0.881, PHS=-0.834, 1.163,-0.176, RAW= 311.1, -1.8, CAL= 309.6, -5.1, ROT= 200.4, 5.1 2025-10-28T17:06:48.901Z,1761671208.901 [DAT](INFO): DAT read: Bearing 201, -10 (Remote) 2025-10-28T17:06:48.901Z,1761671208.901 [DAT](INFO): Remote Bearing received:Bearing 201, -10 (Remote) 2025-10-28T17:06:48.902Z,1761671208.902 [DAT](INFO): DAT read: Bearing 8.1, -20.9 (Local) 2025-10-28T17:06:48.902Z,1761671208.902 [DAT](INFO): Local bearing/azimuth received: Bearing 8.1, -20.9 (Local) 2025-10-28T17:06:48.904Z,1761671208.904 [DAT](INFO): DAT read: Range 11 to 20 : 162.0 m (Round-trip 216.1 ms) speed -1.2 m/s 2025-10-28T17:06:48.905Z,1761671208.905 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:06:48.905Z,1761671208.905 [DAT](INFO): direction in FSK: [-0.933571,-0.347192,-0.088894] 2025-10-28T17:06:48.906Z,1761671208.906 [DAT](INFO): publishing direction and range info 2025-10-28T17:06:49.031Z,1761671209.031 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671168.00. Resetting abort timer. 2025-10-28T17:06:49.279Z,1761671209.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884104,-0.449815,-0.126596],[0.465232,0.872691,0.148222],[0.043807,-0.189940,0.980818]] 2025-10-28T17:06:49.682Z,1761671209.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884766,-0.448628,-0.126181],[0.463940,0.873534,0.147304],[0.044139,-0.188870,0.981010]] 2025-10-28T17:06:50.087Z,1761671210.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885569,-0.447240,-0.125473],[0.462416,0.874414,0.146874],[0.044027,-0.188088,0.981165]] 2025-10-28T17:06:50.493Z,1761671210.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886306,-0.446020,-0.124612],[0.461021,0.875256,0.146242],[0.043841,-0.187064,0.981369]] 2025-10-28T17:06:50.894Z,1761671210.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887006,-0.444810,-0.123954],[0.459674,0.876069,0.145609],[0.043824,-0.186134,0.981546]] 2025-10-28T17:06:51.298Z,1761671211.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887519,-0.444022,-0.123101],[0.458684,0.876782,0.144437],[0.043799,-0.184656,0.981827]] 2025-10-28T17:06:51.702Z,1761671211.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887662,-0.444100,-0.121784],[0.458421,0.877279,0.142241],[0.043669,-0.182091,0.982312]] 2025-10-28T17:06:52.108Z,1761671212.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887500,-0.444579,-0.121214],[0.458734,0.877319,0.140978],[0.043668,-0.180723,0.982564]] 2025-10-28T17:06:52.523Z,1761671212.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887031,-0.445678,-0.120609],[0.459659,0.877022,0.139809],[0.043467,-0.179453,0.982806]] 2025-10-28T17:06:52.914Z,1761671212.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886327,-0.447030,-0.120785],[0.461041,0.876246,0.140122],[0.043199,-0.179881,0.982739]] 2025-10-28T17:06:53.318Z,1761671213.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885372,-0.448788,-0.121266],[0.462866,0.875283,0.140126],[0.043255,-0.180193,0.982680]] 2025-10-28T17:06:53.723Z,1761671213.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884345,-0.450696,-0.121688],[0.464837,0.874207,0.140317],[0.043140,-0.180653,0.982600]] 2025-10-28T17:06:54.126Z,1761671214.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883044,-0.453050,-0.122386],[0.467321,0.872774,0.140987],[0.042941,-0.181691,0.982418]] 2025-10-28T17:06:54.533Z,1761671214.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881252,-0.456510,-0.122445],[0.470705,0.871126,0.139913],[0.042793,-0.180934,0.982564]] 2025-10-28T17:06:54.934Z,1761671214.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879304,-0.460109,-0.122978],[0.474320,0.869308,0.139009],[0.042947,-0.180562,0.982626]] 2025-10-28T17:06:55.339Z,1761671215.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877112,-0.463964,-0.124142],[0.478338,0.867124,0.138887],[0.043208,-0.181202,0.982496]] 2025-10-28T17:06:55.743Z,1761671215.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875034,-0.467429,-0.125801],[0.482129,0.864791,0.140311],[0.043206,-0.183429,0.982083]] 2025-10-28T17:06:56.147Z,1761671216.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872885,-0.471074,-0.127129],[0.485958,0.862716,0.139877],[0.043784,-0.183876,0.981974]] 2025-10-28T17:06:56.551Z,1761671216.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871218,-0.473919,-0.127981],[0.488884,0.861222,0.138888],[0.044399,-0.183570,0.982004]] 2025-10-28T17:06:56.955Z,1761671216.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869882,-0.475994,-0.129363],[0.491208,0.859834,0.139280],[0.044934,-0.184702,0.981767]] 2025-10-28T17:06:57.360Z,1761671217.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869195,-0.476766,-0.131126],[0.492358,0.858976,0.140511],[0.045643,-0.186693,0.981358]] 2025-10-28T17:06:57.784Z,1761671217.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868864,-0.476870,-0.132929],[0.492871,0.858439,0.141986],[0.046403,-0.188883,0.980903]] 2025-10-28T17:06:58.167Z,1761671218.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868744,-0.476863,-0.133740],[0.493040,0.858267,0.142439],[0.046861,-0.189682,0.980727]] 2025-10-28T17:06:58.571Z,1761671218.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869022,-0.476357,-0.133730],[0.492532,0.858582,0.142298],[0.047034,-0.189526,0.980749]] 2025-10-28T17:06:58.977Z,1761671218.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869535,-0.475572,-0.133194],[0.491638,0.859150,0.141961],[0.046921,-0.188923,0.980870]] 2025-10-28T17:06:59.014Z,1761671219.014 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:06:59.014Z,1761671219.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:06:59.014Z,1761671219.014 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:06:59.015Z,1761671219.015 [marl:UpdateRudder:A] Stopped 2025-10-28T17:06:59.015Z,1761671219.015 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:06:59.015Z,1761671219.015 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:06:59.015Z,1761671219.015 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:06:59.015Z,1761671219.015 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:06:59.016Z,1761671219.016 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:06:59.016Z,1761671219.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:06:59.016Z,1761671219.016 [marl:UpdateCommandMode] Stopped 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed] Stopped 2025-10-28T17:06:59.017Z,1761671219.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:06:59.378Z,1761671219.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870433,-0.474461,-0.131276],[0.490071,0.860411,0.139722],[0.046659,-0.185954,0.981450]] 2025-10-28T17:06:59.426Z,1761671219.426 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:06:59.427Z,1761671219.427 [marl:UpdateRudder:B] Stopped 2025-10-28T17:06:59.427Z,1761671219.427 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:06:59.427Z,1761671219.427 [marl:UpdateRudder] Stopped 2025-10-28T17:06:59.427Z,1761671219.427 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:06:59.788Z,1761671219.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871363,-0.473210,-0.129614],[0.488470,0.861509,0.138562],[0.046095,-0.184050,0.981835]] 2025-10-28T17:07:00.187Z,1761671220.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872285,-0.471893,-0.128201],[0.486901,0.862417,0.138434],[0.045237,-0.183176,0.982039]] 2025-10-28T17:07:00.591Z,1761671220.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872768,-0.471506,-0.126328],[0.486139,0.862971,0.137659],[0.044110,-0.181557,0.982391]] 2025-10-28T17:07:01.006Z,1761671221.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872401,-0.472714,-0.124329],[0.486906,0.862772,0.136188],[0.042889,-0.179347,0.982850]] 2025-10-28T17:07:01.398Z,1761671221.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871521,-0.474703,-0.122915],[0.488566,0.862021,0.134990],[0.041875,-0.177699,0.983194]] 2025-10-28T17:07:01.802Z,1761671221.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869773,-0.478107,-0.122101],[0.491733,0.860424,0.133673],[0.041149,-0.176306,0.983475]] 2025-10-28T17:07:02.208Z,1761671222.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867467,-0.482291,-0.122053],[0.495810,0.858281,0.132383],[0.040909,-0.175353,0.983655]] 2025-10-28T17:07:02.250Z,1761671222.250 [DAT](INFO): DAT read: user:44>Rx Time:17:07:01.6534 2025-10-28T17:07:02.250Z,1761671222.250 [DAT](INFO): Rx dataTimestamp_ set to:1761671222.250083 2025-10-28T17:07:02.611Z,1761671222.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864511,-0.487560,-0.122091],[0.500952,0.855582,0.130486],[0.040839,-0.173968,0.983904]] 2025-10-28T17:07:03.011Z,1761671223.011 [DAT](INFO): DAT read: 17:07:01.6534 LVL= 24000, 25777, 14402, 25763, AGC= 67, IDX= 423, 0.17,-2.490,-2.040,-0.366,-1.833, PHS=-0.555,-0.162, 1.423, RAW= 220.8, -7.8, CAL= 219.5, -11.5, ROT= 290.5, 11.5 2025-10-28T17:07:03.013Z,1761671223.013 [DAT](INFO): got valid direction response: 17:07:01.6534 LVL= 24000, 25777, 14402, 25763, AGC= 67, IDX= 423, 0.17,-2.490,-2.040,-0.366,-1.833, PHS=-0.555,-0.162, 1.423, RAW= 220.8, -7.8, CAL= 219.5, -11.5, ROT= 290.5, 11.5 2025-10-28T17:07:03.013Z,1761671223.013 [DAT](INFO): DAT read: 2025-10-28T17:07:03.014Z,1761671223.014 [DAT](INFO): DAT read: $Packet for address 21 2025-10-28T17:07:03.014Z,1761671223.014 [DAT](INFO): received a packet notification 2025-10-28T17:07:03.026Z,1761671223.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861154,-0.493468,-0.122081],[0.506733,0.852411,0.128909],[0.040451,-0.172873,0.984113]] 2025-10-28T17:07:03.028Z,1761671223.028 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-28T17:07:03.029Z,1761671223.029 [DAT](INFO): direction in FSK: [0.343177,-0.917868,-0.199368] 2025-10-28T17:07:03.106Z,1761671223.106 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671168.00. Resetting abort timer. 2025-10-28T17:07:03.419Z,1761671223.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857989,-0.498867,-0.122418],[0.512065,0.849479,0.127182],[0.040545,-0.171807,0.984296]] 2025-10-28T17:07:03.825Z,1761671223.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854825,-0.504184,-0.122769],[0.517329,0.846507,0.125688],[0.040555,-0.170953,0.984444]] 2025-10-28T17:07:04.226Z,1761671224.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852198,-0.508282,-0.124125],[0.521609,0.843917,0.125408],[0.041009,-0.171617,0.984310]] 2025-10-28T17:07:04.634Z,1761671224.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850348,-0.510851,-0.126253],[0.524539,0.842039,0.125816],[0.042036,-0.173212,0.983987]] 2025-10-28T17:07:05.038Z,1761671225.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849391,-0.512024,-0.127931],[0.526053,0.840890,0.127166],[0.042464,-0.175312,0.983597]] 2025-10-28T17:07:05.440Z,1761671225.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849136,-0.512008,-0.129676],[0.526428,0.840373,0.129022],[0.042915,-0.177823,0.983126]] 2025-10-28T17:07:05.842Z,1761671225.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849598,-0.510985,-0.130679],[0.525704,0.840443,0.131495],[0.042637,-0.180416,0.982666]] 2025-10-28T17:07:06.246Z,1761671226.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850444,-0.509357,-0.131530],[0.524313,0.841079,0.132971],[0.042898,-0.182047,0.982354]] 2025-10-28T17:07:06.651Z,1761671226.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851582,-0.507630,-0.130846],[0.522488,0.842187,0.133145],[0.042608,-0.181749,0.982421]] 2025-10-28T17:07:07.055Z,1761671227.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852957,-0.505794,-0.128987],[0.520323,0.843562,0.132915],[0.041581,-0.180486,0.982698]] 2025-10-28T17:07:07.461Z,1761671227.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854418,-0.504047,-0.126119],[0.518067,0.844989,0.132665],[0.039700,-0.178689,0.983104]] 2025-10-28T17:07:07.862Z,1761671227.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856017,-0.502275,-0.122294],[0.515610,0.846579,0.132100],[0.037181,-0.176136,0.983663]] 2025-10-28T17:07:08.266Z,1761671228.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857759,-0.500156,-0.118717],[0.512923,0.848038,0.133196],[0.034058,-0.175143,0.983954]] 2025-10-28T17:07:08.677Z,1761671228.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859476,-0.497967,-0.115455],[0.510251,0.849335,0.135182],[0.030744,-0.175096,0.984071]] 2025-10-28T17:07:09.075Z,1761671229.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860399,-0.497086,-0.112338],[0.508888,0.849846,0.137093],[0.027323,-0.175122,0.984167]] 2025-10-28T17:07:09.487Z,1761671229.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859486,-0.499409,-0.108967],[0.510582,0.848909,0.136599],[0.024284,-0.173042,0.984615]] 2025-10-28T17:07:09.883Z,1761671229.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857341,-0.503664,-0.106247],[0.514297,0.846788,0.135828],[0.021557,-0.171094,0.985019]] 2025-10-28T17:07:10.289Z,1761671230.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854530,-0.508788,-0.104467],[0.519033,0.844058,0.134798],[0.019593,-0.169411,0.985351]] 2025-10-28T17:07:10.690Z,1761671230.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851316,-0.514329,-0.103573],[0.524345,0.840839,0.134354],[0.017986,-0.168686,0.985506]] 2025-10-28T17:07:11.094Z,1761671231.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848299,-0.519314,-0.103449],[0.529264,0.837603,0.135279],[0.016397,-0.169509,0.985392]] 2025-10-28T17:07:11.503Z,1761671231.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845816,-0.523268,-0.103858],[0.533267,0.834751,0.137177],[0.014915,-0.171410,0.985087]] 2025-10-28T17:07:11.902Z,1761671231.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843754,-0.526430,-0.104643],[0.536559,0.832214,0.139727],[0.013529,-0.174042,0.984645]] 2025-10-28T17:07:11.916Z,1761671231.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:07:11.978Z,1761671231.978 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:07:11.978Z,1761671231.978 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:07:11.978Z,1761671231.978 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:07:11.979Z,1761671231.979 [marl:UpdateRudder:A] Stopped 2025-10-28T17:07:11.979Z,1761671231.979 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:07:11.979Z,1761671231.979 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:07:11.979Z,1761671231.979 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:07:11.979Z,1761671231.979 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:07:11.984Z,1761671231.984 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateCommandMode] Stopped 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:07:11.985Z,1761671231.985 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:07:11.986Z,1761671231.986 [marl:UpdateSpeed] Stopped 2025-10-28T17:07:11.986Z,1761671231.986 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:07:12.306Z,1761671232.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842369,-0.528439,-0.105674],[0.538762,0.830252,0.142887],[0.012229,-0.177296,0.984082]] 2025-10-28T17:07:12.346Z,1761671232.346 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T17:07:12.346Z,1761671232.346 [marl:UpdateRudder:B] Stopped 2025-10-28T17:07:12.346Z,1761671232.346 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:07:12.347Z,1761671232.347 [marl:UpdateRudder] Stopped 2025-10-28T17:07:12.347Z,1761671232.347 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:07:12.712Z,1761671232.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841566,-0.529686,-0.105825],[0.540049,0.828966,0.145471],[0.010672,-0.179575,0.983687]] 2025-10-28T17:07:12.920Z,1761671232.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:07:13.117Z,1761671233.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841141,-0.530422,-0.105517],[0.540740,0.828124,0.147683],[0.009047,-0.181279,0.983390]] 2025-10-28T17:07:13.518Z,1761671233.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841049,-0.530854,-0.104073],[0.540906,0.827965,0.147969],[0.007619,-0.180743,0.983501]] 2025-10-28T17:07:14.327Z,1761671234.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841907,-0.530039,-0.101252],[0.539605,0.828478,0.149839],[0.004464,-0.180786,0.983512]] 2025-10-28T17:07:14.731Z,1761671234.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842547,-0.529343,-0.099549],[0.538615,0.828953,0.150768],[0.002714,-0.180648,0.983544]] 2025-10-28T17:07:15.135Z,1761671235.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842493,-0.530014,-0.096388],[0.538706,0.829140,0.149409],[0.000730,-0.177801,0.984066]] 2025-10-28T17:07:15.538Z,1761671235.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840119,-0.535484,-0.086350],[0.542399,0.828847,0.137171],[-0.001882,-0.162076,0.986776]] 2025-10-28T17:07:15.945Z,1761671235.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834390,-0.546860,-0.068826],[0.551151,0.826667,0.113377],[-0.005105,-0.132534,0.991165]] 2025-10-28T17:07:16.346Z,1761671236.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824612,-0.564027,-0.043455],[0.565634,0.820922,0.078395],[-0.008544,-0.089225,0.995975]] 2025-10-28T17:07:16.754Z,1761671236.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810811,-0.585225,-0.009834],[0.585189,0.810195,0.033737],[-0.011776,-0.033109,0.999382]] 2025-10-28T17:07:17.155Z,1761671237.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793930,-0.607353,0.028227],[0.607843,0.793943,-0.013493],[-0.014216,0.027871,0.999510]] 2025-10-28T17:07:17.575Z,1761671237.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774407,-0.629158,0.066742],[0.632469,0.772593,-0.055520],[-0.016633,0.085208,0.996224]] 2025-10-28T17:07:17.975Z,1761671237.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752390,-0.651001,0.100532],[0.658469,0.747490,-0.087616],[-0.018109,0.132119,0.991068]] 2025-10-28T17:07:18.367Z,1761671238.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728990,-0.672484,0.127827],[0.684272,0.720980,-0.109365],[-0.018615,0.167194,0.985748]] 2025-10-28T17:07:18.775Z,1761671238.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704285,-0.694703,0.146187],[0.709694,0.694138,-0.120446],[-0.017800,0.188577,0.981897]] 2025-10-28T17:07:19.176Z,1761671239.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679653,-0.716367,0.157765],[0.733347,0.668422,-0.124151],[-0.016516,0.200076,0.979641]] 2025-10-28T17:07:19.621Z,1761671239.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654117,-0.738164,0.165059],[0.756260,0.642332,-0.124420],[-0.014180,0.206213,0.978404]] 2025-10-28T17:07:19.991Z,1761671239.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628586,-0.759134,0.169100],[0.777651,0.616773,-0.121863],[-0.011786,0.208102,0.978036]] 2025-10-28T17:07:20.387Z,1761671240.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601449,-0.780386,0.171045],[0.798865,0.589777,-0.118227],[-0.008616,0.207749,0.978144]] 2025-10-28T17:07:21.195Z,1761671241.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545395,-0.820659,0.170479],[0.838175,0.534590,-0.108052],[-0.002462,0.201822,0.979419]] 2025-10-28T17:07:21.633Z,1761671241.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486420,-0.857364,0.168294],[0.873718,0.476532,-0.097643],[0.003518,0.194537,0.980889]] 2025-10-28T17:07:22.408Z,1761671242.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455559,-0.874446,0.166764],[0.890179,0.446042,-0.092884],[0.006839,0.190764,0.981612]] 2025-10-28T17:07:22.810Z,1761671242.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424292,-0.890262,0.165559],[0.905468,0.415042,-0.088705],[0.010256,0.187545,0.982203]] 2025-10-28T17:07:23.214Z,1761671243.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392882,-0.904998,0.163161],[0.919486,0.383958,-0.084390],[0.013726,0.183180,0.982984]] 2025-10-28T17:07:23.640Z,1761671243.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332310,-0.930113,0.156398],[0.942940,0.323965,-0.076883],[0.020842,0.173023,0.984697]] 2025-10-28T17:07:24.430Z,1761671244.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303610,-0.940399,0.153203],[0.952499,0.295548,-0.073469],[0.023811,0.168231,0.985460]] 2025-10-28T17:07:24.837Z,1761671244.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249647,-0.956271,0.152389],[0.967945,0.241962,-0.067350],[0.027532,0.164318,0.986023]] 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateRudder:A] Stopped 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:07:24.882Z,1761671244.882 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateCommandMode] Stopped 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:07:24.883Z,1761671244.883 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:07:24.884Z,1761671244.884 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:07:24.884Z,1761671244.884 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:07:24.884Z,1761671244.884 [marl:UpdateSpeed] Stopped 2025-10-28T17:07:24.884Z,1761671244.884 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:07:25.239Z,1761671245.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223518,-0.962621,0.152972],[0.974294,0.216128,-0.063558],[0.028121,0.163246,0.986184]] 2025-10-28T17:07:25.263Z,1761671245.263 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T17:07:25.263Z,1761671245.263 [marl:UpdateRudder:B] Stopped 2025-10-28T17:07:25.263Z,1761671245.263 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:07:25.263Z,1761671245.263 [marl:UpdateRudder] Stopped 2025-10-28T17:07:25.264Z,1761671245.264 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:07:25.647Z,1761671245.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197041,-0.968195,0.154184],[0.980005,0.190073,-0.058850],[0.027672,0.162697,0.986288]] 2025-10-28T17:07:26.059Z,1761671246.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169500,-0.973205,0.155377],[0.985168,0.163045,-0.053479],[0.026713,0.162137,0.986407]] 2025-10-28T17:07:26.457Z,1761671246.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141733,-0.977647,0.155300],[0.989591,0.135983,-0.047094],[0.024923,0.160359,0.986744]] 2025-10-28T17:07:26.851Z,1761671246.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112731,-0.981345,0.155734],[0.993359,0.107675,-0.040555],[0.023030,0.159272,0.986966]] 2025-10-28T17:07:27.257Z,1761671247.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082493,-0.984106,0.157257],[0.996366,0.078079,-0.034048],[0.021228,0.159494,0.986971]] 2025-10-28T17:07:27.658Z,1761671247.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051727,-0.985996,0.158547],[0.998460,0.047874,-0.028034],[0.020051,0.159753,0.986953]] 2025-10-28T17:07:28.066Z,1761671248.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020491,-0.986834,0.160432],[0.999602,0.017112,-0.022419],[0.019378,0.160827,0.986792]] 2025-10-28T17:07:28.474Z,1761671248.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010188,-0.987106,0.159741],[0.999768,-0.013090,-0.017122],[0.018992,0.159530,0.987010]] 2025-10-28T17:07:28.898Z,1761671248.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040331,-0.986417,0.159234],[0.999006,-0.042838,-0.012341],[0.018994,0.158578,0.987164]] 2025-10-28T17:07:29.274Z,1761671249.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070101,-0.985021,0.157542],[0.997355,-0.072250,-0.007946],[0.019209,0.156568,0.987480]] 2025-10-28T17:07:29.679Z,1761671249.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098715,-0.982486,0.158041],[0.994942,-0.100409,-0.002745],[0.018566,0.156970,0.987429]] 2025-10-28T17:07:30.095Z,1761671250.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127861,-0.979187,0.157620],[0.991628,-0.129108,0.002342],[0.018057,0.156600,0.987497]] 2025-10-28T17:07:30.491Z,1761671250.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156589,-0.975157,0.156680],[0.987521,-0.157277,0.008072],[0.016770,0.155989,0.987616]] 2025-10-28T17:07:30.891Z,1761671250.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184749,-0.970477,0.155058],[0.982682,-0.184710,0.014786],[0.014292,0.155104,0.987795]] 2025-10-28T17:07:31.295Z,1761671251.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213766,-0.964613,0.154357],[0.976825,-0.212813,0.022868],[0.010790,0.155668,0.987750]] 2025-10-28T17:07:31.699Z,1761671251.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244222,-0.957597,0.152849],[0.969696,-0.242256,0.031647],[0.006723,0.155946,0.987743]] 2025-10-28T17:07:32.110Z,1761671252.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275609,-0.949263,0.151457],[0.961267,-0.272521,0.041195],[0.002170,0.156945,0.987605]] 2025-10-28T17:07:32.507Z,1761671252.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308408,-0.939418,0.149594],[0.951252,-0.304225,0.050669],[-0.002089,0.157928,0.987448]] 2025-10-28T17:07:32.911Z,1761671252.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341088,-0.928401,0.147415],[0.940007,-0.335741,0.060529],[-0.006702,0.159217,0.987221]] 2025-10-28T17:07:33.314Z,1761671253.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374367,-0.915973,0.144369],[0.927219,-0.367990,0.069625],[-0.010648,0.159927,0.987071]] 2025-10-28T17:07:33.720Z,1761671253.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407709,-0.901905,0.142624],[0.913004,-0.400258,0.078845],[-0.014025,0.162362,0.986632]] 2025-10-28T17:07:34.123Z,1761671254.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440546,-0.886717,0.140185],[0.897580,-0.432213,0.086845],[-0.016417,0.164086,0.986309]] 2025-10-28T17:07:34.528Z,1761671254.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472564,-0.870750,0.135934],[0.881107,-0.463607,0.093378],[-0.018289,0.163899,0.986308]] 2025-10-28T17:07:34.935Z,1761671254.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504199,-0.853474,0.131776],[0.863371,-0.494758,0.099018],[-0.019312,0.163696,0.986322]] 2025-10-28T17:07:35.337Z,1761671255.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534518,-0.835632,0.126528],[0.844920,-0.524798,0.103427],[-0.020026,0.162189,0.986556]] 2025-10-28T17:07:35.739Z,1761671255.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563587,-0.817281,0.120089],[0.825800,-0.553801,0.106579],[-0.020600,0.159236,0.987025]] 2025-10-28T17:07:36.143Z,1761671256.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590284,-0.799059,0.114325],[0.806907,-0.580337,0.110046],[-0.021586,0.157207,0.987330]] 2025-10-28T17:07:36.549Z,1761671256.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615364,-0.780739,0.108504],[0.787906,-0.605217,0.113650],[-0.023062,0.155427,0.987578]] 2025-10-28T17:07:36.957Z,1761671256.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639251,-0.762112,0.102679],[0.768603,-0.628923,0.117071],[-0.024644,0.153757,0.987801]] 2025-10-28T17:07:37.354Z,1761671257.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662154,-0.743069,0.096954],[0.748901,-0.651613,0.120618],[-0.026451,0.152476,0.987953]] 2025-10-28T17:07:37.763Z,1761671257.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683938,-0.723725,0.091927],[0.728990,-0.673082,0.124639],[-0.028330,0.152259,0.987935]] 2025-10-28T17:07:37.843Z,1761671257.843 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:07:37.843Z,1761671257.843 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:07:37.843Z,1761671257.843 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:07:37.844Z,1761671257.844 [marl:UpdateRudder:A] Stopped 2025-10-28T17:07:37.844Z,1761671257.844 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:07:37.848Z,1761671257.848 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:07:37.848Z,1761671257.848 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:07:37.848Z,1761671257.848 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:07:37.848Z,1761671257.848 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateCommandMode] Stopped 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:07:37.849Z,1761671257.849 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:07:37.850Z,1761671257.850 [marl:UpdateSpeed] Stopped 2025-10-28T17:07:37.850Z,1761671257.850 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:07:38.163Z,1761671258.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704367,-0.704542,0.086533],[0.709179,-0.693221,0.128488],[-0.030539,0.151870,0.987929]] 2025-10-28T17:07:38.211Z,1761671258.211 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:07:38.211Z,1761671258.211 [marl:UpdateRudder:B] Stopped 2025-10-28T17:07:38.211Z,1761671258.211 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:07:38.211Z,1761671258.211 [marl:UpdateRudder] Stopped 2025-10-28T17:07:38.211Z,1761671258.211 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:07:38.567Z,1761671258.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724697,-0.684373,0.080294],[0.688314,-0.713522,0.130809],[-0.032230,0.150064,0.988151]] 2025-10-28T17:07:38.973Z,1761671258.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743825,-0.664208,0.074513],[0.667504,-0.732534,0.133538],[-0.034114,0.149067,0.988239]] 2025-10-28T17:07:39.374Z,1761671259.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762094,-0.643843,0.068402],[0.646462,-0.750773,0.135747],[-0.036045,0.147671,0.988380]] 2025-10-28T17:07:39.785Z,1761671259.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779375,-0.623410,0.062725],[0.625384,-0.767880,0.138760],[-0.038339,0.147373,0.988338]] 2025-10-28T17:07:40.183Z,1761671260.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796055,-0.602560,0.056718],[0.603860,-0.784478,0.141235],[-0.040608,0.146681,0.988350]] 2025-10-28T17:07:40.588Z,1761671260.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810867,-0.583172,0.049039],[0.583606,-0.799536,0.141936],[-0.043565,0.143711,0.988660]] 2025-10-28T17:07:40.991Z,1761671260.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823335,-0.566375,0.036590],[0.565582,-0.813391,0.136059],[-0.047299,0.132717,0.990025]] 2025-10-28T17:07:41.394Z,1761671261.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833861,-0.551674,0.018214],[0.549537,-0.826630,0.121212],[-0.051813,0.111084,0.992459]] 2025-10-28T17:07:41.799Z,1761671261.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843238,-0.537536,-0.002125],[0.534543,-0.838947,0.102138],[-0.056685,0.084991,0.994768]] 2025-10-28T17:07:42.210Z,1761671262.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852482,-0.522334,-0.021015],[0.519128,-0.850609,0.083489],[-0.061484,0.060263,0.996287]] 2025-10-28T17:07:42.613Z,1761671262.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861453,-0.506516,-0.036615],[0.503477,-0.861261,0.068845],[-0.066406,0.040871,0.996955]] 2025-10-28T17:07:43.015Z,1761671263.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870290,-0.490104,-0.048925],[0.487373,-0.871251,0.058216],[-0.071158,0.026820,0.997104]] 2025-10-28T17:07:43.040Z,1761671263.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:07:43.426Z,1761671263.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879081,-0.473069,-0.058497],[0.470593,-0.880847,0.051480],[-0.075880,0.017727,0.996959]] 2025-10-28T17:07:43.826Z,1761671263.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887606,-0.455831,-0.066133],[0.453527,-0.889985,0.047321],[-0.080427,0.012009,0.996688]] 2025-10-28T17:07:44.044Z,1761671264.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:07:44.226Z,1761671264.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896078,-0.437949,-0.072420],[0.435779,-0.898963,0.044302],[-0.084504,0.008139,0.996390]] 2025-10-28T17:07:44.630Z,1761671264.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904354,-0.419777,-0.077010],[0.417676,-0.907606,0.042400],[-0.087693,0.006180,0.996128]] 2025-10-28T17:07:45.035Z,1761671265.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912446,-0.401203,-0.080490],[0.399227,-0.915979,0.040002],[-0.089776,0.004366,0.995952]] 2025-10-28T17:07:45.445Z,1761671265.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920221,-0.382727,-0.081934],[0.380769,-0.923850,0.038945],[-0.090600,0.004640,0.995877]] 2025-10-28T17:07:45.470Z,1761671265.470 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:07:45.615Z,1761671265.615 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:07:45.616Z,1761671265.616 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:07:45.847Z,1761671265.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927393,-0.364786,-0.082905],[0.362910,-0.931081,0.037209],[-0.090765,0.004421,0.995863]] 2025-10-28T17:07:45.865Z,1761671265.865 [DAT](INFO): DAT read: 2025-10-28T17:07:45.865Z,1761671265.865 [DAT](INFO): DAT read: Tx time:17:07:45.6121 2025-10-28T17:07:45.866Z,1761671265.866 [DAT](INFO): Ping request sent. 2025-10-28T17:07:45.866Z,1761671265.866 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:07:45.866Z,1761671265.866 [DAT](INFO): publishing transmit ping time 2025-10-28T17:07:45.867Z,1761671265.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T17:07:46.117Z,1761671266.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251054 2025-10-28T17:07:46.247Z,1761671266.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933756,-0.347973,-0.083755],[0.346208,-0.937496,0.035217],[-0.090775,0.003888,0.995864]] 2025-10-28T17:07:46.369Z,1761671266.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503055 2025-10-28T17:07:46.621Z,1761671266.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755017 2025-10-28T17:07:46.651Z,1761671266.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938990,-0.333483,-0.084182],[0.331673,-0.942743,0.035053],[-0.091052,0.004993,0.995834]] 2025-10-28T17:07:46.873Z,1761671266.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007064 2025-10-28T17:07:47.055Z,1761671267.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943464,-0.320392,-0.084995],[0.318565,-0.947269,0.034616],[-0.091604,0.005582,0.995780]] 2025-10-28T17:07:47.125Z,1761671267.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259080 2025-10-28T17:07:47.378Z,1761671267.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511653 2025-10-28T17:07:47.459Z,1761671267.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947480,-0.307849,-0.086661],[0.306019,-0.951418,0.033997],[-0.092917,0.005691,0.995658]] 2025-10-28T17:07:47.629Z,1761671267.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763104 2025-10-28T17:07:47.862Z,1761671267.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951227,-0.295382,-0.088979],[0.293575,-0.955365,0.033050],[-0.094769,0.005316,0.995485]] 2025-10-28T17:07:47.881Z,1761671267.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015117 2025-10-28T17:07:48.133Z,1761671268.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267621 2025-10-28T17:07:48.266Z,1761671268.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954915,-0.282235,-0.092093],[0.280520,-0.959337,0.031325],[-0.097189,0.004079,0.995258]] 2025-10-28T17:07:48.385Z,1761671268.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519458 2025-10-28T17:07:48.637Z,1761671268.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987 2025-10-28T17:07:48.677Z,1761671268.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958496,-0.268893,-0.094777],[0.267008,-0.963154,0.032279],[-0.099965,0.005633,0.994975]] 2025-10-28T17:07:48.889Z,1761671268.889 [DAT](INFO): DAT read: Rx Time:17:07:48.2738 2025-10-28T17:07:48.890Z,1761671268.890 [DAT](INFO): Rx dataTimestamp_ set to:1761671268.889388 2025-10-28T17:07:48.890Z,1761671268.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024341 2025-10-28T17:07:49.077Z,1761671269.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961992,-0.254764,-0.098317],[0.252841,-0.966986,0.031758],[-0.103162,0.005692,0.994648]] 2025-10-28T17:07:49.141Z,1761671269.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275100 2025-10-28T17:07:49.395Z,1761671269.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528965 2025-10-28T17:07:49.478Z,1761671269.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965580,-0.239283,-0.101972],[0.237357,-0.970934,0.030796],[-0.106377,0.005532,0.994310]] 2025-10-28T17:07:49.651Z,1761671269.651 [DAT](INFO): DAT read: 17:07:48.2738 LVL= 18480, 28785, 25570, 31283, AGC= 55, IDX= 139,-0.49, 0.680,-0.703,-1.113, 0.057, PHS= 0.726,-0.715,-1.214, RAW= 75.7, 13.7, CAL= 75.0, 19.2, ROT= 75.0, -19.2 2025-10-28T17:07:49.652Z,1761671269.652 [DAT](INFO): got valid direction response: 17:07:48.2738 LVL= 18480, 28785, 25570, 31283, AGC= 55, IDX= 139,-0.49, 0.680,-0.703,-1.113, 0.057, PHS= 0.726,-0.715,-1.214, RAW= 75.7, 13.7, CAL= 75.0, 19.2, ROT= 75.0, -19.2 2025-10-28T17:07:49.653Z,1761671269.653 [DAT](INFO): DAT read: Bearing 1.6, 60.8 (Local) 2025-10-28T17:07:49.654Z,1761671269.654 [DAT](INFO): Local bearing/azimuth received: Bearing 1.6, 60.8 (Local) 2025-10-28T17:07:49.660Z,1761671269.660 [DAT](INFO): DAT read: Range 11 to 20 : 193.2 m (Round-trip 257.6 ms) speed 0.2 m/s 2025-10-28T17:07:49.661Z,1761671269.661 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:07:49.662Z,1761671269.662 [DAT](INFO): direction in FSK: [0.244423,0.912198,0.328867] 2025-10-28T17:07:49.662Z,1761671269.662 [DAT](INFO): publishing direction and range info 2025-10-28T17:07:49.883Z,1761671269.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969006,-0.223388,-0.105473],[0.221292,-0.974704,0.031325],[-0.109803,0.007014,0.993929]] 2025-10-28T17:07:49.970Z,1761671269.970 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671296.00. Resetting abort timer. 2025-10-28T17:07:50.287Z,1761671270.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972395,-0.206584,-0.108495],[0.204296,-0.978389,0.031914],[-0.112743,0.008868,0.993585]] 2025-10-28T17:07:50.690Z,1761671270.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975621,-0.189244,-0.111132],[0.186911,-0.981883,0.031148],[-0.115013,0.009617,0.993317]] 2025-10-28T17:07:50.716Z,1761671270.716 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:07:50.716Z,1761671270.716 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:07:50.716Z,1761671270.716 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateRudder:A] Stopped 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:07:50.717Z,1761671270.717 [marl:UpdateCommandMode] Stopped 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed] Stopped 2025-10-28T17:07:50.718Z,1761671270.718 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:07:51.096Z,1761671271.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978737,-0.171385,-0.112698],[0.168884,-0.985134,0.031450],[-0.116413,0.011748,0.993131]] 2025-10-28T17:07:51.126Z,1761671271.126 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:07:51.126Z,1761671271.126 [marl:UpdateRudder:B] Stopped 2025-10-28T17:07:51.127Z,1761671271.127 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:07:51.127Z,1761671271.127 [marl:UpdateRudder] Stopped 2025-10-28T17:07:51.127Z,1761671271.127 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:07:51.499Z,1761671271.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981526,-0.153687,-0.113961],[0.151085,-0.988029,0.031177],[-0.117389,0.013383,0.992996]] 2025-10-28T17:07:52.310Z,1761671272.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986261,-0.117974,-0.115635],[0.115478,-0.992913,0.028074],[-0.118128,0.014335,0.992895]] 2025-10-28T17:07:52.712Z,1761671272.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988262,-0.099544,-0.115888],[0.097140,-0.994925,0.026223],[-0.117910,0.014658,0.992916]] 2025-10-28T17:07:53.115Z,1761671273.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989892,-0.081173,-0.116300],[0.078983,-0.996603,0.023324],[-0.117798,0.013902,0.992940]] 2025-10-28T17:07:53.519Z,1761671273.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991279,-0.062362,-0.116087],[0.060254,-0.997950,0.021583],[-0.117195,0.014400,0.993005]] 2025-10-28T17:07:53.936Z,1761671273.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992419,-0.042943,-0.115153],[0.041139,-0.998991,0.017999],[-0.115810,0.013125,0.993185]] 2025-10-28T17:07:54.327Z,1761671274.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993236,-0.023148,-0.113783],[0.021628,-0.999660,0.014571],[-0.114081,0.012012,0.993399]] 2025-10-28T17:07:54.731Z,1761671274.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993724,-0.003176,-0.111810],[0.001769,-0.999918,0.012676],[-0.111841,0.012398,0.993649]] 2025-10-28T17:07:55.134Z,1761671275.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993874,0.016681,-0.109253],[-0.018063,-0.999769,0.011665],[-0.109033,0.013567,0.993945]] 2025-10-28T17:07:55.539Z,1761671275.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993671,0.036621,-0.106191],[-0.037880,-0.999234,0.009857],[-0.105749,0.013817,0.994297]] 2025-10-28T17:07:55.943Z,1761671275.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993089,0.056390,-0.102926],[-0.057620,-0.998298,0.009014],[-0.102242,0.014883,0.994648]] 2025-10-28T17:07:56.346Z,1761671276.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992196,0.075671,-0.099097],[-0.076917,-0.996999,0.008811],[-0.098133,0.016365,0.995039]] 2025-10-28T17:07:56.753Z,1761671276.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991036,0.094191,-0.094739],[-0.095488,-0.995388,0.009236],[-0.093432,0.018200,0.995459]] 2025-10-28T17:07:57.157Z,1761671277.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989675,0.111073,-0.090589],[-0.112522,-0.993588,0.011023],[-0.088783,0.021103,0.995827]] 2025-10-28T17:07:57.579Z,1761671277.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988080,0.127569,-0.086166],[-0.129058,-0.991565,0.011917],[-0.083919,0.022895,0.996210]] 2025-10-28T17:07:57.966Z,1761671277.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986313,0.143078,-0.081948],[-0.144625,-0.989398,0.013231],[-0.079186,0.024901,0.996549]] 2025-10-28T17:07:58.367Z,1761671278.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984429,0.157561,-0.077942],[-0.159032,-0.987188,0.012998],[-0.074895,0.025191,0.996873]] 2025-10-28T17:07:58.777Z,1761671278.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982477,0.170856,-0.074477],[-0.172299,-0.984954,0.013343],[-0.071077,0.025942,0.997133]] 2025-10-28T17:07:59.176Z,1761671279.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980219,0.184463,-0.071719],[-0.185910,-0.982467,0.013987],[-0.067882,0.027044,0.997327]] 2025-10-28T17:07:59.622Z,1761671279.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977889,0.197316,-0.069277],[-0.198829,-0.979910,0.015611],[-0.064805,0.029040,0.997475]] 2025-10-28T17:08:00.019Z,1761671280.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975300,0.210398,-0.067252],[-0.211880,-0.977171,0.015640],[-0.062426,0.029503,0.997613]] 2025-10-28T17:08:00.396Z,1761671280.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972352,0.224409,-0.064586],[-0.225755,-0.974080,0.014253],[-0.059714,0.028440,0.997810]] 2025-10-28T17:08:00.795Z,1761671280.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969053,0.239035,-0.061638],[-0.240198,-0.970648,0.012103],[-0.056936,0.026534,0.998025]] 2025-10-28T17:08:01.194Z,1761671281.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965337,0.254290,-0.058827],[-0.255238,-0.966836,0.009077],[-0.054568,0.023777,0.998227]] 2025-10-28T17:08:01.630Z,1761671281.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960820,0.271502,-0.055774],[-0.272275,-0.962196,0.006628],[-0.051866,0.021554,0.998421]] 2025-10-28T17:08:02.004Z,1761671282.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955747,0.289446,-0.052624],[-0.290059,-0.956999,0.004234],[-0.049135,0.019311,0.998605]] 2025-10-28T17:08:02.416Z,1761671282.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950007,0.308329,-0.049181],[-0.308790,-0.951128,0.001870],[-0.046201,0.016963,0.998788]] 2025-10-28T17:08:02.810Z,1761671282.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943469,0.328318,-0.045535],[-0.328666,-0.944446,0.000178],[-0.042946,0.015134,0.998963]] 2025-10-28T17:08:03.214Z,1761671283.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936200,0.348960,-0.041908],[-0.349232,-0.937036,-0.000881],[-0.039577,0.013811,0.999121]] 2025-10-28T17:08:03.635Z,1761671283.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928281,0.369836,-0.038924],[-0.370093,-0.928995,-0.000646],[-0.036399,0.013805,0.999242]] 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateRudder:A] Stopped 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:08:03.689Z,1761671283.689 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode] Stopped 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:08:03.690Z,1761671283.690 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:08:03.691Z,1761671283.691 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:08:03.691Z,1761671283.691 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:08:03.691Z,1761671283.691 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:08:03.691Z,1761671283.691 [marl:UpdateSpeed] Stopped 2025-10-28T17:08:03.691Z,1761671283.691 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:08:04.029Z,1761671284.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919750,0.390834,-0.036181],[-0.391091,-0.920352,0.000021],[-0.033291,0.014170,0.999345]] 2025-10-28T17:08:04.053Z,1761671284.053 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:08:04.053Z,1761671284.053 [marl:UpdateRudder:B] Stopped 2025-10-28T17:08:04.053Z,1761671284.053 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:08:04.053Z,1761671284.053 [marl:UpdateRudder] Stopped 2025-10-28T17:08:04.054Z,1761671284.054 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:08:04.435Z,1761671284.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910894,0.411256,-0.033768],[-0.411525,-0.911398,0.001143],[-0.030306,0.014938,0.999429]] 2025-10-28T17:08:04.831Z,1761671284.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902071,0.430389,-0.032138],[-0.430673,-0.902506,0.002158],[-0.028076,0.015787,0.999481]] 2025-10-28T17:08:05.235Z,1761671285.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893459,0.448107,-0.030506],[-0.448419,-0.893815,0.003883],[-0.025527,0.017149,0.999527]] 2025-10-28T17:08:06.042Z,1761671286.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876170,0.481221,-0.027438],[-0.481534,-0.876408,0.005839],[-0.021237,0.018329,0.999606]] 2025-10-28T17:08:06.447Z,1761671286.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867111,0.497456,-0.025605],[-0.497747,-0.867300,0.006177],[-0.019134,0.018100,0.999653]] 2025-10-28T17:08:06.851Z,1761671286.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857910,0.513259,-0.023556],[-0.513531,-0.858042,0.007046],[-0.016595,0.018141,0.999698]] 2025-10-28T17:08:07.255Z,1761671287.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848473,0.528799,-0.021584],[-0.529050,-0.848554,0.007883],[-0.014147,0.018108,0.999736]] 2025-10-28T17:08:07.658Z,1761671287.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838891,0.543916,-0.020426],[-0.544171,-0.838917,0.009829],[-0.011789,0.019361,0.999743]] 2025-10-28T17:08:08.062Z,1761671288.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829254,0.558550,-0.018943],[-0.558801,-0.829211,0.012236],[-0.008873,0.020732,0.999746]] 2025-10-28T17:08:08.468Z,1761671288.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819742,0.572469,-0.017401],[-0.572701,-0.819639,0.014312],[-0.006069,0.021697,0.999746]] 2025-10-28T17:08:08.873Z,1761671288.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810339,0.585732,-0.016412],[-0.585951,-0.810175,0.016661],[-0.003538,0.023118,0.999726]] 2025-10-28T17:08:09.276Z,1761671289.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800995,0.598483,-0.015013],[-0.598671,-0.800767,0.019095],[-0.000594,0.024283,0.999705]] 2025-10-28T17:08:09.685Z,1761671289.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782280,0.622802,-0.012505],[-0.622912,-0.781965,0.022602],[0.004298,0.025470,0.999666]] 2025-10-28T17:08:10.091Z,1761671290.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773158,0.634109,-0.011487],[-0.634181,-0.772807,0.024172],[0.006451,0.025974,0.999642]] 2025-10-28T17:08:10.495Z,1761671290.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763840,0.645330,-0.009844],[-0.645346,-0.763475,0.025190],[0.008741,0.025594,0.999634]] 2025-10-28T17:08:10.905Z,1761671290.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754581,0.656149,-0.008652],[-0.656115,-0.754191,0.026617],[0.010939,0.025761,0.999608]] 2025-10-28T17:08:11.297Z,1761671291.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745080,0.666943,-0.006502],[-0.666839,-0.744696,0.027451],[0.013467,0.024789,0.999602]] 2025-10-28T17:08:11.701Z,1761671291.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734694,0.678388,-0.003825],[-0.678224,-0.734364,0.026874],[0.015422,0.022338,0.999632]] 2025-10-28T17:08:12.102Z,1761671292.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723620,0.690198,-0.001091],[-0.689974,-0.723342,0.026676],[0.017622,0.020056,0.999644]] 2025-10-28T17:08:12.506Z,1761671292.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711465,0.702721,0.001147],[-0.702441,-0.711225,0.027110],[0.019867,0.018482,0.999632]] 2025-10-28T17:08:12.915Z,1761671292.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698539,0.715565,0.003087],[-0.715240,-0.698340,0.027451],[0.021799,0.016968,0.999618]] 2025-10-28T17:08:13.316Z,1761671293.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684476,0.729004,0.006691],[-0.728642,-0.684380,0.026562],[0.023943,0.013306,0.999625]] 2025-10-28T17:08:13.719Z,1761671293.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668775,0.743409,0.009130],[-0.743014,-0.668747,0.026623],[0.025898,0.011021,0.999604]] 2025-10-28T17:08:14.123Z,1761671294.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652177,0.758011,0.009197],[-0.757567,-0.652139,0.028400],[0.027526,0.011554,0.999554]] 2025-10-28T17:08:14.176Z,1761671294.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:08:14.527Z,1761671294.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634574,0.772799,0.009859],[-0.772322,-0.634556,0.029281],[0.028884,0.010966,0.999523]] 2025-10-28T17:08:14.936Z,1761671294.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616266,0.787482,0.009445],[-0.786972,-0.616233,0.030517],[0.029852,0.011373,0.999490]] 2025-10-28T17:08:15.181Z,1761671295.181 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:08:15.335Z,1761671295.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597694,0.801671,0.009240],[-0.801128,-0.597654,0.031683],[0.030921,0.011534,0.999455]] 2025-10-28T17:08:15.739Z,1761671295.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579199,0.815151,0.007579],[-0.814552,-0.579091,0.034036],[0.032133,0.013540,0.999392]] 2025-10-28T17:08:16.143Z,1761671296.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561010,0.827797,0.004479],[-0.827128,-0.560760,0.037519],[0.033570,0.017343,0.999286]] 2025-10-28T17:08:16.547Z,1761671296.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543530,0.839389,0.000730],[-0.838664,-0.543096,0.041103],[0.034898,0.021729,0.999155]] 2025-10-28T17:08:16.652Z,1761671296.652 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateRudder:A] Stopped 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:08:16.653Z,1761671296.653 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateCommandMode] Stopped 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:08:16.654Z,1761671296.654 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:08:16.655Z,1761671296.655 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:08:16.655Z,1761671296.655 [marl:UpdateSpeed] Stopped 2025-10-28T17:08:16.655Z,1761671296.655 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:08:16.950Z,1761671296.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527043,0.849834,-0.002687],[-0.849048,-0.526414,0.044786],[0.036646,0.025886,0.998993]] 2025-10-28T17:08:17.018Z,1761671297.018 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:08:17.018Z,1761671297.018 [marl:UpdateRudder:B] Stopped 2025-10-28T17:08:17.018Z,1761671297.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:08:17.018Z,1761671297.018 [marl:UpdateRudder] Stopped 2025-10-28T17:08:17.018Z,1761671297.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:08:17.355Z,1761671297.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511929,0.859016,-0.004408],[-0.858166,-0.511179,0.047405],[0.038468,0.028050,0.998866]] 2025-10-28T17:08:17.767Z,1761671297.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496829,0.867836,-0.004652],[-0.866921,-0.496043,0.048878],[0.040111,0.028317,0.998794]] 2025-10-28T17:08:18.163Z,1761671298.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482807,0.875713,-0.004900],[-0.874723,-0.481978,0.050566],[0.041919,0.028699,0.998709]] 2025-10-28T17:08:18.566Z,1761671298.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469050,0.883155,-0.005376],[-0.882123,-0.468188,0.051569],[0.043026,0.028931,0.998655]] 2025-10-28T17:08:18.970Z,1761671298.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456626,0.889644,-0.005184],[-0.888574,-0.455774,0.052029],[0.043925,0.028364,0.998632]] 2025-10-28T17:08:19.384Z,1761671299.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446884,0.894589,-0.002252],[-0.893465,-0.446194,0.051295],[0.044883,0.024935,0.998681]] 2025-10-28T17:08:19.785Z,1761671299.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441173,0.897378,0.008909],[-0.896263,-0.441086,0.046431],[0.045596,0.012499,0.998882]] 2025-10-28T17:08:20.182Z,1761671300.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440309,0.897407,0.028078],[-0.896636,-0.441123,0.038135],[0.046609,-0.008385,0.998878]] 2025-10-28T17:08:20.586Z,1761671300.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442041,0.895396,0.053526],[-0.895710,-0.443814,0.027059],[0.047984,-0.035983,0.998200]] 2025-10-28T17:08:20.990Z,1761671300.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444597,0.891823,0.083582],[-0.894347,-0.447158,0.013899],[0.049770,-0.068572,0.996404]] 2025-10-28T17:08:21.397Z,1761671301.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446333,0.887687,0.113129],[-0.893364,-0.449331,0.001128],[0.051833,-0.100562,0.993580]] 2025-10-28T17:08:21.799Z,1761671301.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446925,0.883204,0.142160],[-0.892940,-0.450033,-0.011302],[0.053995,-0.131991,0.989779]] 2025-10-28T17:08:22.202Z,1761671302.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445485,0.879652,0.166599],[-0.893538,-0.448482,-0.021303],[0.055978,-0.158353,0.985795]] 2025-10-28T17:08:22.607Z,1761671302.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442117,0.877720,0.184770],[-0.895111,-0.444954,-0.028136],[0.057518,-0.177829,0.982379]] 2025-10-28T17:08:23.016Z,1761671303.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436821,0.877023,0.200046],[-0.897619,-0.439527,-0.033109],[0.058888,-0.194028,0.979227]] 2025-10-28T17:08:23.414Z,1761671303.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430266,0.877710,0.210942],[-0.900714,-0.432932,-0.035829],[0.059876,-0.205415,0.976842]] 2025-10-28T17:08:24.223Z,1761671304.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413497,0.883102,0.221699],[-0.908529,-0.416217,-0.036586],[0.059965,-0.216548,0.974429]] 2025-10-28T17:08:24.636Z,1761671304.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405181,0.886974,0.221596],[-0.912348,-0.407857,-0.035688],[0.058725,-0.216633,0.974485]] 2025-10-28T17:08:25.050Z,1761671305.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399024,0.890805,0.217364],[-0.915148,-0.401707,-0.033692],[0.057304,-0.212364,0.975509]] 2025-10-28T17:08:25.443Z,1761671305.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395446,0.893667,0.212088],[-0.916749,-0.398235,-0.031286],[0.056502,-0.206804,0.976750]] 2025-10-28T17:08:25.851Z,1761671305.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393785,0.895778,0.206190],[-0.917467,-0.396802,-0.028316],[0.056452,-0.200323,0.978102]] 2025-10-28T17:08:26.251Z,1761671306.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393500,0.897230,0.200337],[-0.917591,-0.396697,-0.025677],[0.056435,-0.193932,0.979390]] 2025-10-28T17:08:26.656Z,1761671306.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393682,0.897872,0.197078],[-0.917502,-0.396999,-0.024102],[0.056599,-0.190308,0.980092]] 2025-10-28T17:08:27.062Z,1761671307.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393755,0.898404,0.194492],[-0.917478,-0.397117,-0.023085],[0.056497,-0.187532,0.980632]] 2025-10-28T17:08:27.463Z,1761671307.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393511,0.898792,0.193189],[-0.917601,-0.396848,-0.022788],[0.056184,-0.186238,0.980897]] 2025-10-28T17:08:27.874Z,1761671307.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393036,0.899093,0.192754],[-0.917848,-0.396251,-0.023244],[0.055480,-0.186055,0.980972]] 2025-10-28T17:08:28.272Z,1761671308.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392358,0.899411,0.192653],[-0.918172,-0.395473,-0.023670],[0.054900,-0.186175,0.980981]] 2025-10-28T17:08:28.675Z,1761671308.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391107,0.899812,0.193322],[-0.918771,-0.394007,-0.024857],[0.053803,-0.187340,0.980821]] 2025-10-28T17:08:29.079Z,1761671309.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390079,0.900132,0.193910],[-0.919271,-0.392763,-0.026043],[0.052719,-0.188414,0.980674]] 2025-10-28T17:08:29.484Z,1761671309.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389116,0.900845,0.192527],[-0.919740,-0.391642,-0.026369],[0.051647,-0.187335,0.980937]] 2025-10-28T17:08:29.509Z,1761671309.509 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateRudder:A] Stopped 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:08:29.510Z,1761671309.510 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateCommandMode] Stopped 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:08:29.511Z,1761671309.511 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:08:29.528Z,1761671309.528 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:08:29.528Z,1761671309.528 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:08:29.528Z,1761671309.528 [marl:UpdateSpeed] Stopped 2025-10-28T17:08:29.528Z,1761671309.528 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:08:29.887Z,1761671309.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389013,0.901374,0.190249],[-0.919835,-0.391421,-0.026340],[0.050725,-0.185244,0.981383]] 2025-10-28T17:08:29.937Z,1761671309.937 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:08:29.937Z,1761671309.937 [marl:UpdateRudder:B] Stopped 2025-10-28T17:08:29.938Z,1761671309.938 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:08:29.938Z,1761671309.938 [marl:UpdateRudder] Stopped 2025-10-28T17:08:29.938Z,1761671309.938 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:08:30.290Z,1761671310.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388918,0.901571,0.189505],[-0.919914,-0.391206,-0.026759],[0.050011,-0.184736,0.981515]] 2025-10-28T17:08:30.694Z,1761671310.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388557,0.901838,0.188976],[-0.920080,-0.390818,-0.026718],[0.049760,-0.184255,0.981618]] 2025-10-28T17:08:31.106Z,1761671311.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387538,0.902126,0.189693],[-0.920524,-0.389746,-0.027088],[0.049495,-0.185114,0.981470]] 2025-10-28T17:08:31.503Z,1761671311.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385032,0.902775,0.191696],[-0.921593,-0.387165,-0.027751],[0.049165,-0.187351,0.981062]] 2025-10-28T17:08:31.906Z,1761671311.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381500,0.903637,0.194672],[-0.923058,-0.383628,-0.028181],[0.049217,-0.190445,0.980463]] 2025-10-28T17:08:32.311Z,1761671312.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375873,0.904929,0.199555],[-0.925352,-0.378016,-0.028751],[0.049418,-0.195466,0.979465]] 2025-10-28T17:08:32.715Z,1761671312.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368902,0.906886,0.203637],[-0.928152,-0.371087,-0.028794],[0.049454,-0.199629,0.978623]] 2025-10-28T17:08:33.119Z,1761671313.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360490,0.909430,0.207326],[-0.931467,-0.362696,-0.028643],[0.049148,-0.203443,0.977852]] 2025-10-28T17:08:33.523Z,1761671313.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351088,0.912869,0.208345],[-0.935099,-0.353297,-0.027783],[0.048245,-0.204577,0.977661]] 2025-10-28T17:08:33.952Z,1761671313.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341651,0.916639,0.207478],[-0.938655,-0.343828,-0.026636],[0.046921,-0.203850,0.977877]] 2025-10-28T17:08:34.335Z,1761671314.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333097,0.920220,0.205527],[-0.941809,-0.335163,-0.025739],[0.045200,-0.202141,0.978313]] 2025-10-28T17:08:34.735Z,1761671314.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326296,0.923807,0.200279],[-0.944285,-0.328216,-0.024507],[0.043095,-0.197117,0.979432]] 2025-10-28T17:08:35.147Z,1761671315.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322612,0.926647,0.192997],[-0.945621,-0.324473,-0.022781],[0.041512,-0.189851,0.980935]] 2025-10-28T17:08:35.549Z,1761671315.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321544,0.928706,0.184704],[-0.946041,-0.323364,-0.021028],[0.040198,-0.181499,0.982569]] 2025-10-28T17:08:35.947Z,1761671315.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322928,0.929636,0.177468],[-0.945598,-0.324752,-0.019490],[0.039514,-0.174107,0.983934]] 2025-10-28T17:08:36.359Z,1761671316.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326349,0.929348,0.172651],[-0.944427,-0.328197,-0.018556],[0.039418,-0.169112,0.984808]] 2025-10-28T17:08:36.760Z,1761671316.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330840,0.928460,0.168842],[-0.942848,-0.332756,-0.017656],[0.039790,-0.165033,0.985485]] 2025-10-28T17:08:37.166Z,1761671317.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335846,0.926883,0.167616],[-0.941041,-0.337849,-0.017296],[0.040598,-0.163542,0.985701]] 2025-10-28T17:08:37.587Z,1761671317.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340229,0.924860,0.169939],[-0.939434,-0.342245,-0.018207],[0.041322,-0.165841,0.985286]] 2025-10-28T17:08:37.966Z,1761671317.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342671,0.923169,0.174169],[-0.938526,-0.344643,-0.019761],[0.041783,-0.170234,0.984517]] 2025-10-28T17:08:38.371Z,1761671318.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342734,0.922059,0.179834],[-0.938492,-0.344622,-0.021641],[0.042020,-0.176190,0.983459]] 2025-10-28T17:08:38.782Z,1761671318.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340950,0.921262,0.187160],[-0.939155,-0.342634,-0.024306],[0.041735,-0.184059,0.982029]] 2025-10-28T17:08:39.178Z,1761671319.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337823,0.920990,0.194046],[-0.940301,-0.339306,-0.026581],[0.041360,-0.191442,0.980632]] 2025-10-28T17:08:39.987Z,1761671319.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328864,0.922022,0.204265],[-0.943535,-0.329927,-0.029836],[0.039883,-0.202544,0.978461]] 2025-10-28T17:08:40.395Z,1761671320.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323414,0.923132,0.207919],[-0.945457,-0.324278,-0.030889],[0.038909,-0.206569,0.977658]] 2025-10-28T17:08:40.795Z,1761671320.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317676,0.924637,0.210067],[-0.947424,-0.318485,-0.030897],[0.038335,-0.208838,0.977199]] 2025-10-28T17:08:41.199Z,1761671321.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311567,0.926486,0.211066],[-0.949461,-0.312438,-0.030093],[0.038064,-0.209775,0.977008]] 2025-10-28T17:08:41.631Z,1761671321.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304585,0.928874,0.210763],[-0.951748,-0.305511,-0.028975],[0.037476,-0.209418,0.977108]] 2025-10-28T17:08:42.007Z,1761671322.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297489,0.931197,0.210647],[-0.953997,-0.298551,-0.027504],[0.037277,-0.209139,0.977175]] 2025-10-28T17:08:42.412Z,1761671322.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289838,0.933554,0.210879],[-0.956347,-0.291096,-0.025758],[0.037340,-0.209139,0.977173]] 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateRudder:A] Stopped 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:08:42.437Z,1761671322.437 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode] Stopped 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:08:42.438Z,1761671322.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:08:42.439Z,1761671322.439 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:08:42.439Z,1761671322.439 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:08:42.439Z,1761671322.439 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:08:42.439Z,1761671322.439 [marl:UpdateSpeed] Stopped 2025-10-28T17:08:42.439Z,1761671322.439 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:08:42.817Z,1761671322.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281411,0.936168,0.210707],[-0.958863,-0.282866,-0.023845],[0.037279,-0.208749,0.977258]] 2025-10-28T17:08:42.863Z,1761671322.863 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:08:42.863Z,1761671322.863 [marl:UpdateRudder:B] Stopped 2025-10-28T17:08:42.863Z,1761671322.863 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:08:42.864Z,1761671322.864 [marl:UpdateRudder] Stopped 2025-10-28T17:08:42.864Z,1761671322.864 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:08:43.219Z,1761671323.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273240,0.939220,0.207861],[-0.961226,-0.274943,-0.021233],[0.037207,-0.205603,0.977928]] 2025-10-28T17:08:43.637Z,1761671323.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265795,0.942538,0.202425],[-0.963319,-0.267741,-0.018227],[0.037018,-0.199845,0.979128]] 2025-10-28T17:08:44.031Z,1761671324.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259666,0.945513,0.196413],[-0.965010,-0.261736,-0.015812],[0.036458,-0.193646,0.980394]] 2025-10-28T17:08:44.430Z,1761671324.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255235,0.948325,0.188507],[-0.966220,-0.257363,-0.013526],[0.035687,-0.185591,0.981979]] 2025-10-28T17:08:44.843Z,1761671324.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252903,0.950605,0.179970],[-0.966851,-0.255091,-0.011272],[0.035194,-0.176855,0.983607]] 2025-10-28T17:08:45.242Z,1761671325.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252324,0.952020,0.173178],[-0.967019,-0.254513,-0.009821],[0.034727,-0.169944,0.984842]] 2025-10-28T17:08:45.300Z,1761671325.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:08:45.646Z,1761671325.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253191,0.952831,0.167354],[-0.966806,-0.255361,-0.008786],[0.034364,-0.164024,0.985858]] 2025-10-28T17:08:45.722Z,1761671325.722 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:08:45.885Z,1761671325.885 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:08:45.886Z,1761671325.886 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:08:46.050Z,1761671326.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255546,0.953028,0.162583],[-0.966199,-0.257665,-0.008281],[0.034000,-0.159203,0.986660]] 2025-10-28T17:08:46.137Z,1761671326.137 [DAT](INFO): DAT read: user:45> 2025-10-28T17:08:46.138Z,1761671326.138 [DAT](INFO): DAT read: Tx time:17:08:45.9119 2025-10-28T17:08:46.138Z,1761671326.138 [DAT](INFO): Ping request sent. 2025-10-28T17:08:46.138Z,1761671326.138 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:08:46.138Z,1761671326.138 [DAT](INFO): publishing transmit ping time 2025-10-28T17:08:46.139Z,1761671326.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000929 2025-10-28T17:08:46.304Z,1761671326.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:08:46.389Z,1761671326.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251430 2025-10-28T17:08:46.451Z,1761671326.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259085,0.952712,0.158793],[-0.965277,-0.261093,-0.008454],[0.033406,-0.155470,0.987276]] 2025-10-28T17:08:46.641Z,1761671326.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502947 2025-10-28T17:08:46.856Z,1761671326.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263770,0.951606,0.157709],[-0.964023,-0.265654,-0.009403],[0.032948,-0.154515,0.987441]] 2025-10-28T17:08:46.893Z,1761671326.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754945 2025-10-28T17:08:47.145Z,1761671327.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902 2025-10-28T17:08:47.266Z,1761671327.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268756,0.950099,0.158372],[-0.962667,-0.270459,-0.011111],[0.032276,-0.155446,0.987317]] 2025-10-28T17:08:47.397Z,1761671327.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259015 2025-10-28T17:08:47.649Z,1761671327.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857 2025-10-28T17:08:47.901Z,1761671327.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762917 2025-10-28T17:08:48.071Z,1761671328.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278319,0.945029,0.171636],[-0.959951,-0.279667,-0.016774],[0.032149,-0.169430,0.985018]] 2025-10-28T17:08:48.153Z,1761671328.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943 2025-10-28T17:08:48.405Z,1761671328.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266823 2025-10-28T17:08:48.474Z,1761671328.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281337,0.942655,0.179583],[-0.959055,-0.282563,-0.019261],[0.032587,-0.177649,0.983554]] 2025-10-28T17:08:48.657Z,1761671328.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519425 2025-10-28T17:08:48.878Z,1761671328.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282490,0.940369,0.189487],[-0.958696,-0.283590,-0.021862],[0.033178,-0.187836,0.981640]] 2025-10-28T17:08:48.909Z,1761671328.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771002 2025-10-28T17:08:49.161Z,1761671329.161 [DAT](INFO): DAT read: Rx Time:17:08:48.5048 2025-10-28T17:08:49.161Z,1761671329.161 [DAT](INFO): Rx dataTimestamp_ set to:1761671329.161094 2025-10-28T17:08:49.162Z,1761671329.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023917 2025-10-28T17:08:49.286Z,1761671329.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280693,0.938495,0.201091],[-0.959204,-0.281663,-0.024381],[0.033758,-0.199731,0.979269]] 2025-10-28T17:08:49.413Z,1761671329.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274822 2025-10-28T17:08:49.679Z,1761671329.679 [DAT](INFO): DAT read: 17:08:48.5048 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 250,-0.04, 0.208,-1.450, 0.370,-0.094, PHS= 0.404,-1.311, 0.421, RAW= 150.5, 5.7, CAL= 149.7, 5.9, ROT= 0.3, -5.9 2025-10-28T17:08:49.680Z,1761671329.680 [DAT](INFO): got valid direction response: 17:08:48.5048 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 250,-0.04, 0.208,-1.450, 0.370,-0.094, PHS= 0.404,-1.311, 0.421, RAW= 150.5, 5.7, CAL= 149.7, 5.9, ROT= 0.3, -5.9 2025-10-28T17:08:49.681Z,1761671329.681 [DAT](INFO): DAT read: Bearing 52.8, 0.3 (Local) 2025-10-28T17:08:49.682Z,1761671329.682 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, 0.3 (Local) 2025-10-28T17:08:49.683Z,1761671329.683 [DAT](INFO): DAT read: Range 11 to 20 : 141.6 m (Round-trip 188.8 ms) speed 0.8 m/s 2025-10-28T17:08:49.684Z,1761671329.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:08:49.685Z,1761671329.685 [DAT](INFO): direction in FSK: [0.994689,0.005208,0.102793] 2025-10-28T17:08:49.685Z,1761671329.685 [DAT](INFO): publishing direction and range info 2025-10-28T17:08:49.753Z,1761671329.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268839,0.938243,0.217774],[-0.962561,-0.269845,-0.025685],[0.034666,-0.216525,0.975661]] 2025-10-28T17:08:49.887Z,1761671329.887 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671296.00. Resetting abort timer. 2025-10-28T17:08:50.133Z,1761671330.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259919,0.939190,0.224421],[-0.965007,-0.260992,-0.025410],[0.034707,-0.223172,0.974161]] 2025-10-28T17:08:50.533Z,1761671330.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250469,0.941110,0.227109],[-0.967521,-0.251610,-0.024399],[0.034181,-0.225844,0.973564]] 2025-10-28T17:08:50.936Z,1761671330.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240072,0.944200,0.225504],[-0.970190,-0.241292,-0.022564],[0.033107,-0.224199,0.973981]] 2025-10-28T17:08:51.343Z,1761671331.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228960,0.948041,0.220895],[-0.972920,-0.230255,-0.020231],[0.031682,-0.219545,0.975088]] 2025-10-28T17:08:51.764Z,1761671331.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217780,0.951797,0.215997],[-0.975535,-0.219093,-0.018146],[0.030052,-0.214665,0.976225]] 2025-10-28T17:08:52.158Z,1761671332.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207725,0.955752,0.208296],[-0.977769,-0.209102,-0.015637],[0.028610,-0.206914,0.977941]] 2025-10-28T17:08:52.559Z,1761671332.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199375,0.959715,0.197980],[-0.979553,-0.200744,-0.013340],[0.026941,-0.196592,0.980115]] 2025-10-28T17:08:52.962Z,1761671332.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193657,0.963038,0.187231],[-0.980742,-0.194964,-0.011588],[0.025343,-0.185869,0.982248]] 2025-10-28T17:08:53.781Z,1761671333.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188474,0.967500,0.168584],[-0.981845,-0.189372,-0.010885],[0.021394,-0.167575,0.985627]] 2025-10-28T17:08:54.177Z,1761671334.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188523,0.968622,0.161956],[-0.981893,-0.189033,-0.012397],[0.018607,-0.161360,0.986720]] 2025-10-28T17:08:54.579Z,1761671334.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190424,0.969115,0.156698],[-0.981575,-0.190528,-0.014499],[0.015804,-0.156571,0.987540]] 2025-10-28T17:08:54.984Z,1761671334.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194120,0.968882,0.153573],[-0.980895,-0.193747,-0.017536],[0.012764,-0.154043,0.987982]] 2025-10-28T17:08:55.387Z,1761671335.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199274,0.968058,0.152166],[-0.979895,-0.198397,-0.021082],[0.009781,-0.153308,0.988130]] 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateRudder:A] Stopped 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:08:55.418Z,1761671335.418 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode] Stopped 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:08:55.419Z,1761671335.419 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:08:55.420Z,1761671335.420 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:08:55.436Z,1761671335.436 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:08:55.436Z,1761671335.436 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:08:55.436Z,1761671335.436 [marl:UpdateSpeed] Stopped 2025-10-28T17:08:55.436Z,1761671335.436 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:08:55.809Z,1761671335.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204624,0.966898,0.152435],[-0.978813,-0.203300,-0.024393],[0.007405,-0.154197,0.988012]] 2025-10-28T17:08:55.886Z,1761671335.886 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:08:55.886Z,1761671335.886 [marl:UpdateRudder:B] Stopped 2025-10-28T17:08:55.886Z,1761671335.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:08:55.886Z,1761671335.886 [marl:UpdateRudder] Stopped 2025-10-28T17:08:55.886Z,1761671335.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:08:56.195Z,1761671336.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210385,0.965018,0.156455],[-0.977602,-0.208601,-0.027927],[0.005687,-0.158826,0.987290]] 2025-10-28T17:08:56.599Z,1761671336.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216598,0.962572,0.162912],[-0.976247,-0.214446,-0.030899],[0.005193,-0.165735,0.986157]] 2025-10-28T17:08:57.005Z,1761671337.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221654,0.959951,0.171359],[-0.975112,-0.219113,-0.033845],[0.005058,-0.174596,0.984627]] 2025-10-28T17:08:57.407Z,1761671337.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224237,0.958036,0.178565],[-0.974523,-0.221350,-0.036195],[0.004849,-0.182132,0.983262]] 2025-10-28T17:08:57.822Z,1761671337.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223653,0.956847,0.185532],[-0.974658,-0.220439,-0.038047],[0.004493,-0.189339,0.981901]] 2025-10-28T17:08:58.215Z,1761671338.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220257,0.956099,0.193294],[-0.975433,-0.216757,-0.039341],[0.004284,-0.197210,0.980352]] 2025-10-28T17:08:58.621Z,1761671338.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214462,0.956271,0.198877],[-0.976724,-0.210786,-0.039733],[0.003925,-0.202769,0.979219]] 2025-10-28T17:08:59.427Z,1761671339.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197382,0.958361,0.206362],[-0.980325,-0.193382,-0.039586],[0.001969,-0.210115,0.977675]] 2025-10-28T17:08:59.834Z,1761671339.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187378,0.960260,0.206856],[-0.982288,-0.183111,-0.039761],[-0.000303,-0.210642,0.977563]] 2025-10-28T17:09:00.236Z,1761671340.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177230,0.962385,0.205923],[-0.984163,-0.172570,-0.040520],[-0.003460,-0.209844,0.977729]] 2025-10-28T17:09:00.638Z,1761671340.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167727,0.964698,0.203040],[-0.985809,-0.162680,-0.041418],[-0.006926,-0.207105,0.978294]] 2025-10-28T17:09:01.042Z,1761671341.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160253,0.967100,0.197576],[-0.987025,-0.154969,-0.042025],[-0.010024,-0.201748,0.979386]] 2025-10-28T17:09:01.447Z,1761671341.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155304,0.969105,0.191616],[-0.987787,-0.149879,-0.042579],[-0.012544,-0.195889,0.980546]] 2025-10-28T17:09:01.857Z,1761671341.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153603,0.970371,0.186511],[-0.988031,-0.148125,-0.043044],[-0.014141,-0.190891,0.981509]] 2025-10-28T17:09:02.255Z,1761671342.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153769,0.971539,0.180188],[-0.987984,-0.148296,-0.043541],[-0.015581,-0.184718,0.982668]] 2025-10-28T17:09:02.659Z,1761671342.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154788,0.972178,0.175817],[-0.987808,-0.149298,-0.044118],[-0.016641,-0.180502,0.983434]] 2025-10-28T17:09:03.898Z,1761671343.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158817,0.972921,0.167937],[-0.987152,-0.153454,-0.044528],[-0.017551,-0.172851,0.984792]] 2025-10-28T17:09:04.309Z,1761671344.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158039,0.973162,0.167271],[-0.987277,-0.152719,-0.044288],[-0.017554,-0.172142,0.984916]] 2025-10-28T17:09:04.698Z,1761671344.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156242,0.973140,0.169075],[-0.987564,-0.150885,-0.044163],[-0.017466,-0.173872,0.984613]] 2025-10-28T17:09:05.102Z,1761671345.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153482,0.972988,0.172445],[-0.988001,-0.148059,-0.043956],[-0.017237,-0.177123,0.984038]] 2025-10-28T17:09:05.508Z,1761671345.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150553,0.973156,0.174074],[-0.988455,-0.145148,-0.043451],[-0.017018,-0.178606,0.983773]] 2025-10-28T17:09:05.913Z,1761671345.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146893,0.973290,0.176432],[-0.989006,-0.141443,-0.043148],[-0.017040,-0.180830,0.983367]] 2025-10-28T17:09:06.319Z,1761671346.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142659,0.973346,0.179570],[-0.989627,-0.137168,-0.042698],[-0.016928,-0.183799,0.982818]] 2025-10-28T17:09:06.719Z,1761671346.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137431,0.973386,0.183393],[-0.990364,-0.131845,-0.042372],[-0.017065,-0.187449,0.982126]] 2025-10-28T17:09:07.128Z,1761671347.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131277,0.973698,0.186223],[-0.991188,-0.125572,-0.042161],[-0.017668,-0.190117,0.981602]] 2025-10-28T17:09:07.527Z,1761671347.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125102,0.973813,0.189838],[-0.991978,-0.119267,-0.041902],[-0.018163,-0.193557,0.980921]] 2025-10-28T17:09:07.931Z,1761671347.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119897,0.974000,0.192223],[-0.992614,-0.113994,-0.041516],[-0.018525,-0.195781,0.980473]] 2025-10-28T17:09:08.335Z,1761671348.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115393,0.974129,0.194311],[-0.993137,-0.109391,-0.041380],[-0.019054,-0.197752,0.980067]] 2025-10-28T17:09:08.360Z,1761671348.360 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:09:08.360Z,1761671348.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateRudder:A] Stopped 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:09:08.361Z,1761671348.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:09:08.362Z,1761671348.362 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:09:08.362Z,1761671348.362 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:09:08.362Z,1761671348.362 [marl:UpdateCommandMode] Stopped 2025-10-28T17:09:08.362Z,1761671348.362 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:09:08.740Z,1761671348.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113375,0.974506,0.193610],[-0.993366,-0.107410,-0.041072],[-0.019229,-0.196982,0.980218]] 2025-10-28T17:09:08.774Z,1761671348.774 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:09:08.774Z,1761671348.774 [marl:UpdateRudder:B] Stopped 2025-10-28T17:09:08.774Z,1761671348.774 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:09:08.775Z,1761671348.775 [marl:UpdateRudder] Stopped 2025-10-28T17:09:08.775Z,1761671348.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:09:08.775Z,1761671348.775 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:09:08.775Z,1761671348.775 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:09:08.775Z,1761671348.775 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:09:08.776Z,1761671348.776 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:09:08.777Z,1761671348.777 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:09:08.777Z,1761671348.777 [marl:UpdateSpeed] Stopped 2025-10-28T17:09:08.777Z,1761671348.777 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:09:09.147Z,1761671349.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112693,0.974851,0.192266],[-0.993434,-0.106698,-0.041290],[-0.019738,-0.195657,0.980474]] 2025-10-28T17:09:09.550Z,1761671349.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113768,0.975630,0.187625],[-0.993301,-0.107853,-0.041473],[-0.020227,-0.191087,0.981365]] 2025-10-28T17:09:09.958Z,1761671349.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115961,0.976220,0.183160],[-0.993034,-0.110066,-0.042065],[-0.020905,-0.186762,0.982183]] 2025-10-28T17:09:10.359Z,1761671350.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119321,0.976382,0.180113],[-0.992626,-0.113411,-0.042796],[-0.021359,-0.183891,0.982714]] 2025-10-28T17:09:10.764Z,1761671350.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123675,0.976425,0.176913],[-0.992093,-0.117831,-0.043210],[-0.021346,-0.180858,0.983278]] 2025-10-28T17:09:11.163Z,1761671351.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128113,0.976107,0.175503],[-0.991540,-0.122337,-0.043389],[-0.020882,-0.179577,0.983522]] 2025-10-28T17:09:11.594Z,1761671351.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131387,0.975637,0.175699],[-0.991126,-0.125672,-0.043317],[-0.020181,-0.179831,0.983490]] 2025-10-28T17:09:11.976Z,1761671351.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131882,0.974826,0.179784],[-0.991072,-0.126088,-0.043334],[-0.019574,-0.183894,0.982751]] 2025-10-28T17:09:12.375Z,1761671352.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129944,0.974073,0.185192],[-0.991344,-0.124104,-0.042839],[-0.018745,-0.189155,0.981768]] 2025-10-28T17:09:12.787Z,1761671352.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125676,0.973560,0.190754],[-0.991912,-0.119869,-0.041730],[-0.017761,-0.194456,0.980751]] 2025-10-28T17:09:13.184Z,1761671353.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119559,0.972986,0.197494],[-0.992686,-0.113801,-0.040292],[-0.016728,-0.200867,0.979476]] 2025-10-28T17:09:13.629Z,1761671353.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112335,0.972787,0.202650],[-0.993545,-0.106713,-0.038492],[-0.015819,-0.205666,0.978494]] 2025-10-28T17:09:13.994Z,1761671353.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103734,0.972886,0.206717],[-0.994491,-0.098306,-0.036386],[-0.015078,-0.209353,0.977724]] 2025-10-28T17:09:14.394Z,1761671354.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093939,0.973352,0.209194],[-0.995472,-0.088767,-0.033999],[-0.014523,-0.211440,0.977283]] 2025-10-28T17:09:14.803Z,1761671354.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083413,0.974288,0.209295],[-0.996408,-0.078468,-0.031831],[-0.014590,-0.211198,0.977334]] 2025-10-28T17:09:15.210Z,1761671355.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072589,0.975540,0.207491],[-0.997248,-0.067850,-0.029875],[-0.015066,-0.209089,0.977781]] 2025-10-28T17:09:15.633Z,1761671355.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062301,0.977051,0.203691],[-0.997927,-0.057688,-0.028512],[-0.016108,-0.205045,0.978620]] 2025-10-28T17:09:16.010Z,1761671356.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054192,0.978713,0.197950],[-0.998387,-0.049742,-0.027386],[-0.016957,-0.199115,0.979829]] 2025-10-28T17:09:16.415Z,1761671356.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047950,0.980421,0.190988],[-0.998691,-0.043645,-0.026684],[-0.017826,-0.192017,0.981230]] 2025-10-28T17:09:16.448Z,1761671356.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:09:16.820Z,1761671356.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045191,0.981635,0.185339],[-0.998819,-0.041089,-0.025913],[-0.017822,-0.186292,0.982333]] 2025-10-28T17:09:17.222Z,1761671357.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044193,0.982624,0.180269],[-0.998867,-0.040278,-0.025328],[-0.017627,-0.181184,0.983291]] 2025-10-28T17:09:17.452Z,1761671357.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:09:17.636Z,1761671357.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044706,0.983441,0.175630],[-0.998848,-0.040930,-0.025069],[-0.017465,-0.176548,0.984137]] 2025-10-28T17:09:18.033Z,1761671358.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046403,0.984089,0.171507],[-0.998772,-0.042726,-0.025071],[-0.017344,-0.172460,0.984864]] 2025-10-28T17:09:18.435Z,1761671358.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048844,0.984520,0.168327],[-0.998659,-0.045244,-0.025159],[-0.017154,-0.169330,0.985410]] 2025-10-28T17:09:18.838Z,1761671358.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052177,0.984316,0.168519],[-0.998502,-0.048642,-0.025039],[-0.016449,-0.169573,0.985380]] 2025-10-28T17:09:19.646Z,1761671359.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060720,0.983556,0.170092],[-0.998056,-0.057434,-0.024176],[-0.014010,-0.171229,0.985132]] 2025-10-28T17:09:20.058Z,1761671360.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064755,0.982804,0.172923],[-0.997820,-0.061567,-0.023744],[-0.012690,-0.174084,0.984649]] 2025-10-28T17:09:20.455Z,1761671360.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068228,0.981646,0.178091],[-0.997609,-0.065162,-0.023014],[-0.010987,-0.179235,0.983745]] 2025-10-28T17:09:20.859Z,1761671360.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070465,0.980343,0.184286],[-0.997472,-0.067555,-0.022028],[-0.009145,-0.185373,0.982626]] 2025-10-28T17:09:21.270Z,1761671361.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070342,0.979021,0.191231],[-0.997494,-0.067582,-0.020922],[-0.007559,-0.192224,0.981322]] 2025-10-28T17:09:21.315Z,1761671361.315 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:09:21.315Z,1761671361.315 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:09:21.315Z,1761671361.315 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:09:21.315Z,1761671361.315 [marl:UpdateRudder:A] Stopped 2025-10-28T17:09:21.316Z,1761671361.316 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:09:21.320Z,1761671361.320 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:09:21.320Z,1761671361.320 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:09:21.320Z,1761671361.320 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:09:21.320Z,1761671361.320 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:09:21.321Z,1761671361.321 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:09:21.321Z,1761671361.321 [marl:UpdateCommandMode] Stopped 2025-10-28T17:09:21.321Z,1761671361.321 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:09:21.669Z,1761671361.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068270,0.977946,0.197387],[-0.997651,-0.065789,-0.019105],[-0.005698,-0.198228,0.980139]] 2025-10-28T17:09:21.733Z,1761671361.733 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:09:21.733Z,1761671361.733 [marl:UpdateRudder:B] Stopped 2025-10-28T17:09:21.733Z,1761671361.733 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateRudder] Stopped 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:09:21.734Z,1761671361.734 [marl:UpdateSpeed] Stopped 2025-10-28T17:09:21.735Z,1761671361.735 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:09:22.071Z,1761671362.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064568,0.977010,0.203183],[-0.997906,-0.062461,-0.016773],[-0.003696,-0.203840,0.978997]] 2025-10-28T17:09:22.475Z,1761671362.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059365,0.976373,0.207777],[-0.998236,-0.057842,-0.013402],[-0.001067,-0.208206,0.978084]] 2025-10-28T17:09:22.880Z,1761671362.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052807,0.976117,0.210731],[-0.998602,-0.052086,-0.008971],[0.002220,-0.210910,0.977503]] 2025-10-28T17:09:23.686Z,1761671363.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036242,0.975780,0.215729],[-0.999297,-0.037460,0.001560],[0.009603,-0.215521,0.976452]] 2025-10-28T17:09:24.090Z,1761671364.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026136,0.976000,0.216196],[-0.999579,-0.028233,0.006616],[0.012561,-0.215932,0.976328]] 2025-10-28T17:09:24.497Z,1761671364.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015120,0.976372,0.215566],[-0.999782,-0.017875,0.010835],[0.014433,-0.215355,0.976429]] 2025-10-28T17:09:24.899Z,1761671364.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003581,0.977227,0.212167],[-0.999883,-0.006658,0.013787],[0.014886,-0.212093,0.977136]] 2025-10-28T17:09:25.302Z,1761671365.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008103,0.978494,0.206117],[-0.999870,0.005054,0.015314],[0.013943,-0.206214,0.978407]] 2025-10-28T17:09:25.706Z,1761671365.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018216,0.979687,0.199702],[-0.999760,0.015416,0.015566],[0.012172,-0.199938,0.979733]] 2025-10-28T17:09:26.116Z,1761671366.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024888,0.981202,0.191371],[-0.999632,0.022356,0.015377],[0.010810,-0.191683,0.981397]] 2025-10-28T17:09:26.514Z,1761671366.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027583,0.982612,0.183610],[-0.999563,0.025157,0.015529],[0.010639,-0.183958,0.982877]] 2025-10-28T17:09:26.919Z,1761671366.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027157,0.984057,0.175768],[-0.999564,0.024697,0.016170],[0.011571,-0.176131,0.984299]] 2025-10-28T17:09:27.322Z,1761671367.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024800,0.985218,0.169502],[-0.999607,0.022218,0.017114],[0.013095,-0.169860,0.985381]] 2025-10-28T17:09:27.727Z,1761671367.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020918,0.985756,0.166874],[-0.999664,0.018070,0.018563],[0.015283,-0.167207,0.985803]] 2025-10-28T17:09:28.535Z,1761671368.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012088,0.985776,0.167627],[-0.999719,0.008493,0.022147],[0.020408,-0.167848,0.985602]] 2025-10-28T17:09:28.938Z,1761671368.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009023,0.985129,0.171580],[-0.999700,0.004979,0.023987],[0.022776,-0.171745,0.984878]] 2025-10-28T17:09:29.755Z,1761671369.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007459,0.983409,0.181249],[-0.999622,0.002538,0.027367],[0.026453,-0.181385,0.983056]] 2025-10-28T17:09:30.150Z,1761671370.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009434,0.982590,0.185545],[-0.999565,0.004084,0.029197],[0.027931,-0.185740,0.982202]] 2025-10-28T17:09:30.554Z,1761671370.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012922,0.981623,0.190391],[-0.999478,0.007042,0.031526],[0.029606,-0.190699,0.981202]] 2025-10-28T17:09:30.959Z,1761671370.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017576,0.980731,0.194572],[-0.999352,0.011116,0.034244],[0.031421,-0.195048,0.980290]] 2025-10-28T17:09:31.366Z,1761671371.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023318,0.980044,0.197411],[-0.999177,0.016291,0.037144],[0.033187,-0.198114,0.979617]] 2025-10-28T17:09:31.780Z,1761671371.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038602,0.978308,0.203528],[-0.998610,0.030451,0.043029],[0.035897,-0.204906,0.978123]] 2025-10-28T17:09:32.177Z,1761671372.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046723,0.978147,0.202599],[-0.998228,0.038240,0.045590],[0.036847,-0.204370,0.978200]] 2025-10-28T17:09:32.581Z,1761671372.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054899,0.978112,0.200706],[-0.997786,0.046183,0.047856],[0.037539,-0.202889,0.978482]] 2025-10-28T17:09:32.983Z,1761671372.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062235,0.978026,0.198976],[-0.997328,0.053298,0.049968],[0.038265,-0.201554,0.978730]] 2025-10-28T17:09:33.386Z,1761671373.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068562,0.977883,0.197594],[-0.996879,0.059381,0.052028],[0.039144,-0.200544,0.978902]] 2025-10-28T17:09:33.791Z,1761671373.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073246,0.978166,0.194491],[-0.996519,0.063996,0.053436],[0.039822,-0.197728,0.979448]] 2025-10-28T17:09:34.191Z,1761671374.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076540,0.978291,0.192585],[-0.996236,0.067156,0.054804],[0.040681,-0.196055,0.979749]] 2025-10-28T17:09:34.595Z,1761671374.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079079,0.978297,0.191523],[-0.996009,0.069564,0.055919],[0.041382,-0.195181,0.979894]] 2025-10-28T17:09:34.639Z,1761671374.639 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:09:34.639Z,1761671374.639 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:09:34.640Z,1761671374.640 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateRudder:A] Stopped 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:09:34.644Z,1761671374.644 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:09:34.645Z,1761671374.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:09:34.645Z,1761671374.645 [marl:UpdateCommandMode] Stopped 2025-10-28T17:09:34.645Z,1761671374.645 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:09:34.000Z,1761671375.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080329,0.978461,0.190163],[-0.995852,0.070604,0.057389],[0.042727,-0.193984,0.980074]] 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateRudder:B] Stopped 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateRudder] Stopped 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:09:35.025Z,1761671375.025 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:09:35.026Z,1761671375.026 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:09:35.026Z,1761671375.026 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:09:35.026Z,1761671375.026 [marl:UpdateSpeed] Stopped 2025-10-28T17:09:35.026Z,1761671375.026 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:09:35.403Z,1761671375.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081249,0.978562,0.189250],[-0.995717,0.071289,0.058866],[0.044113,-0.193223,0.980163]] 2025-10-28T17:09:35.807Z,1761671375.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082290,0.978581,0.188699],[-0.995572,0.072087,0.060323],[0.045429,-0.192828,0.980180]] 2025-10-28T17:09:36.210Z,1761671376.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083113,0.978540,0.188550],[-0.995435,0.072615,0.061931],[0.046910,-0.192837,0.980109]] 2025-10-28T17:09:36.617Z,1761671376.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084262,0.978754,0.186926],[-0.995272,0.073576,0.063398],[0.048298,-0.191384,0.980326]] 2025-10-28T17:09:37.018Z,1761671377.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085817,0.978851,0.185704],[-0.995072,0.074917,0.064951],[0.049665,-0.190362,0.980457]] 2025-10-28T17:09:37.422Z,1761671377.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087730,0.978687,0.185673],[-0.994835,0.076526,0.066690],[0.051060,-0.190565,0.980346]] 2025-10-28T17:09:37.827Z,1761671377.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089888,0.978836,0.183846],[-0.994579,0.078533,0.068153],[0.052273,-0.188975,0.980590]] 2025-10-28T17:09:38.247Z,1761671378.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092864,0.978490,0.184210],[-0.994255,0.081241,0.069686],[0.053222,-0.189624,0.980413]] 2025-10-28T17:09:38.634Z,1761671378.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095774,0.978310,0.183676],[-0.993949,0.084021,0.070753],[0.053785,-0.189341,0.980437]] 2025-10-28T17:09:39.443Z,1761671379.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100994,0.978119,0.181887],[-0.993428,0.089250,0.071655],[0.053854,-0.187929,0.980705]] 2025-10-28T17:09:39.847Z,1761671379.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103043,0.977850,0.182186],[-0.993232,0.091283,0.071818],[0.053596,-0.188353,0.980638]] 2025-10-28T17:09:40.258Z,1761671380.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104555,0.977822,0.181476],[-0.993087,0.092862,0.071797],[0.053352,-0.187728,0.980771]] 2025-10-28T17:09:40.654Z,1761671380.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105540,0.978125,0.179259],[-0.992992,0.094021,0.071605],[0.053185,-0.185559,0.981193]] 2025-10-28T17:09:41.058Z,1761671381.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105747,0.978593,0.176558],[-0.992968,0.094417,0.071407],[0.053208,-0.182867,0.981697]] 2025-10-28T17:09:41.463Z,1761671381.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106233,0.978832,0.174936],[-0.992925,0.095039,0.071191],[0.053058,-0.181262,0.982003]] 2025-10-28T17:09:41.868Z,1761671381.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106069,0.979050,0.173813],[-0.992948,0.094978,0.070952],[0.052957,-0.180114,0.982219]] 2025-10-28T17:09:42.274Z,1761671382.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105519,0.979076,0.174002],[-0.993004,0.094418,0.070912],[0.052999,-0.180267,0.982189]] 2025-10-28T17:09:42.674Z,1761671382.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105043,0.979204,0.173569],[-0.993078,0.094062,0.070347],[0.052558,-0.179757,0.982306]] 2025-10-28T17:09:43.078Z,1761671383.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104436,0.978997,0.175095],[-0.993155,0.093402,0.070138],[0.052310,-0.181221,0.982050]] 2025-10-28T17:09:43.484Z,1761671383.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103655,0.979108,0.174936],[-0.993225,0.092607,0.070199],[0.052532,-0.181027,0.982074]] 2025-10-28T17:09:43.887Z,1761671383.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104152,0.978711,0.176853],[-0.993173,0.092957,0.070471],[0.052531,-0.182985,0.981711]] 2025-10-28T17:09:44.305Z,1761671384.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106282,0.977883,0.180134],[-0.992956,0.094837,0.071024],[0.052370,-0.186414,0.981075]] 2025-10-28T17:09:44.695Z,1761671384.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109541,0.977153,0.182135],[-0.992601,0.097880,0.071854],[0.052385,-0.188658,0.980645]] 2025-10-28T17:09:45.098Z,1761671385.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114102,0.976103,0.184941],[-0.992091,0.102148,0.072952],[0.052317,-0.191802,0.980038]] 2025-10-28T17:09:45.502Z,1761671385.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119738,0.975008,0.187141],[-0.991434,0.107524,0.074143],[0.052168,-0.194416,0.979531]] 2025-10-28T17:09:45.907Z,1761671385.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125904,0.973837,0.189181],[-0.990676,0.113415,0.075492],[0.052061,-0.196922,0.979036]] 2025-10-28T17:09:45.972Z,1761671385.972 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:09:46.161Z,1761671386.161 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:09:46.161Z,1761671386.161 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:09:46.310Z,1761671386.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132563,0.972868,0.189616],[-0.989821,0.119943,0.076601],[0.051780,-0.197840,0.978866]] 2025-10-28T17:09:46.413Z,1761671386.413 [DAT](INFO): DAT read: user:46> 2025-10-28T17:09:46.414Z,1761671386.414 [DAT](INFO): DAT read: Tx time:17:09:46.1618 2025-10-28T17:09:46.414Z,1761671386.414 [DAT](INFO): Ping request sent. 2025-10-28T17:09:46.414Z,1761671386.414 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:09:46.414Z,1761671386.414 [DAT](INFO): publishing transmit ping time 2025-10-28T17:09:46.415Z,1761671386.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951 2025-10-28T17:09:46.665Z,1761671386.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250678 2025-10-28T17:09:46.720Z,1761671386.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139748,0.971590,0.191006],[-0.988847,0.126907,0.077944],[0.051490,-0.199768,0.978489]] 2025-10-28T17:09:46.917Z,1761671386.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858 2025-10-28T17:09:47.118Z,1761671387.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147174,0.970598,0.190470],[-0.987786,0.134262,0.079077],[0.051179,-0.199782,0.978503]] 2025-10-28T17:09:47.169Z,1761671387.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755059 2025-10-28T17:09:47.421Z,1761671387.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861 2025-10-28T17:09:47.524Z,1761671387.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154644,0.969496,0.190166],[-0.986663,0.141654,0.080187],[0.050804,-0.200030,0.978472]] 2025-10-28T17:09:47.558Z,1761671387.558 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:09:47.559Z,1761671387.559 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:09:47.560Z,1761671387.560 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:09:47.561Z,1761671387.561 [marl:UpdateRudder:A] Stopped 2025-10-28T17:09:47.561Z,1761671387.561 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:09:47.562Z,1761671387.562 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:09:47.562Z,1761671387.562 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:09:47.563Z,1761671387.563 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:09:47.564Z,1761671387.564 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:09:47.565Z,1761671387.565 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:09:47.565Z,1761671387.565 [marl:UpdateCommandMode] Stopped 2025-10-28T17:09:47.565Z,1761671387.565 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:09:47.578Z,1761671387.578 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:09:47.673Z,1761671387.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259108 2025-10-28T17:09:47.925Z,1761671387.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-28T17:09:47.929Z,1761671387.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162216,0.968331,0.189791],[-0.985479,0.149202,0.081058],[0.050174,-0.200184,0.978473]] 2025-10-28T17:09:47.985Z,1761671387.985 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateRudder:B] Stopped 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateRudder] Stopped 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:09:47.986Z,1761671387.986 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:09:47.987Z,1761671387.987 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:09:47.987Z,1761671387.987 [marl:UpdateSpeed] Stopped 2025-10-28T17:09:47.987Z,1761671387.987 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:09:48.177Z,1761671388.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763018 2025-10-28T17:09:48.331Z,1761671388.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169089,0.967517,0.187937],[-0.984376,0.156276,0.081129],[0.049123,-0.198718,0.978825]] 2025-10-28T17:09:48.430Z,1761671388.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015344 2025-10-28T17:09:48.580Z,1761671388.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:09:48.681Z,1761671388.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266741 2025-10-28T17:09:48.747Z,1761671388.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174933,0.966558,0.187519],[-0.983445,0.162388,0.080416],[0.047276,-0.198482,0.978964]] 2025-10-28T17:09:48.933Z,1761671388.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519083 2025-10-28T17:09:49.185Z,1761671389.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770759 2025-10-28T17:09:49.437Z,1761671389.437 [DAT](INFO): DAT read: Rx Time:17:09:48.6664 2025-10-28T17:09:49.437Z,1761671389.437 [DAT](INFO): Rx dataTimestamp_ set to:1761671389.437167 2025-10-28T17:09:49.438Z,1761671389.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023837 2025-10-28T17:09:49.544Z,1761671389.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181580,0.965982,0.184143],[-0.982445,0.170053,0.076701],[0.042778,-0.194837,0.979902]] 2025-10-28T17:09:49.689Z,1761671389.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274640 2025-10-28T17:09:49.946Z,1761671389.946 [DAT](INFO): DAT read: 17:09:48.6664 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 47, 0.12, 1.571, 0.105, 2.044, 1.269, PHS= 0.404,-1.118, 0.732, RAW= 159.5, -0.2, CAL= 158.5, -1.8, ROT= 351.5, 1.8 2025-10-28T17:09:49.947Z,1761671389.947 [DAT](INFO): got valid direction response: 17:09:48.6664 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 47, 0.12, 1.571, 0.105, 2.044, 1.269, PHS= 0.404,-1.118, 0.732, RAW= 159.5, -0.2, CAL= 158.5, -1.8, ROT= 351.5, 1.8 2025-10-28T17:09:49.948Z,1761671389.948 [DAT](INFO): DAT read: Bearing 71.5, -4.4 (Local) 2025-10-28T17:09:49.949Z,1761671389.949 [DAT](INFO): Local bearing/azimuth received: Bearing 71.5, -4.4 (Local) 2025-10-28T17:09:49.950Z,1761671389.950 [DAT](INFO): DAT read: Range 11 to 20 : 75.3 m (Round-trip 100.4 ms) speed 0.9 m/s 2025-10-28T17:09:49.950Z,1761671389.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:09:49.951Z,1761671389.951 [DAT](INFO): direction in FSK: [0.988528,-0.147736,-0.031411] 2025-10-28T17:09:49.952Z,1761671389.952 [DAT](INFO): publishing direction and range info 2025-10-28T17:09:49.969Z,1761671389.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182372,0.966200,0.182202],[-0.982436,0.171624,0.073249],[0.039503,-0.192361,0.980529]] 2025-10-28T17:09:50.095Z,1761671390.095 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671424.00. Resetting abort timer. 2025-10-28T17:09:50.358Z,1761671390.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181673,0.966974,0.178762],[-0.982701,0.171879,0.068962],[0.035959,-0.188199,0.981472]] 2025-10-28T17:09:50.761Z,1761671390.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180086,0.968095,0.174244],[-0.983127,0.171365,0.063991],[0.032091,-0.182828,0.982621]] 2025-10-28T17:09:51.163Z,1761671391.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177494,0.969179,0.170843],[-0.983722,0.169780,0.058868],[0.028048,-0.178511,0.983538]] 2025-10-28T17:09:51.577Z,1761671391.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173808,0.970581,0.166620],[-0.984474,0.167037,0.053933],[0.024515,-0.173407,0.984545]] 2025-10-28T17:09:51.968Z,1761671391.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168860,0.971971,0.163583],[-0.985398,0.162803,0.049852],[0.021823,-0.169612,0.985269]] 2025-10-28T17:09:52.371Z,1761671392.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162757,0.973399,0.161258],[-0.986455,0.157148,0.047031],[0.020438,-0.166728,0.985791]] 2025-10-28T17:09:52.779Z,1761671392.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156484,0.974515,0.160729],[-0.987473,0.151034,0.045663],[0.020223,-0.165861,0.985942]] 2025-10-28T17:09:53.179Z,1761671393.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151366,0.975079,0.162199],[-0.988255,0.145798,0.045769],[0.020980,-0.167222,0.985696]] 2025-10-28T17:09:53.629Z,1761671393.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148405,0.974864,0.166180],[-0.988672,0.142445,0.047299],[0.022439,-0.171317,0.984960]] 2025-10-28T17:09:54.016Z,1761671394.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148495,0.974049,0.170816],[-0.988631,0.142092,0.049187],[0.023639,-0.176178,0.984074]] 2025-10-28T17:09:54.390Z,1761671394.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151222,0.972502,0.177119],[-0.988187,0.144219,0.051846],[0.024877,-0.182866,0.982823]] 2025-10-28T17:09:54.795Z,1761671394.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155247,0.970877,0.182474],[-0.987525,0.147599,0.054860],[0.026329,-0.188714,0.981679]] 2025-10-28T17:09:55.202Z,1761671395.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160582,0.968589,0.189864],[-0.986637,0.152146,0.058304],[0.027586,-0.196690,0.980078]] 2025-10-28T17:09:55.632Z,1761671395.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167158,0.966051,0.196988],[-0.985534,0.158062,0.061141],[0.027929,-0.204359,0.978498]] 2025-10-28T17:09:56.008Z,1761671396.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174713,0.963693,0.201920],[-0.984240,0.165241,0.062983],[0.027331,-0.209742,0.977375]] 2025-10-28T17:09:56.410Z,1761671396.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183358,0.961493,0.204720],[-0.982715,0.173873,0.063557],[0.025514,-0.212835,0.976755]] 2025-10-28T17:09:56.816Z,1761671396.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192668,0.959541,0.205328],[-0.981001,0.183507,0.062945],[0.022719,-0.213555,0.976667]] 2025-10-28T17:09:57.228Z,1761671397.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202334,0.957903,0.203675],[-0.979128,0.193786,0.061287],[0.019237,-0.211824,0.977118]] 2025-10-28T17:09:57.637Z,1761671397.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211856,0.956457,0.200767],[-0.977182,0.204101,0.058811],[0.015273,-0.208646,0.977872]] 2025-10-28T17:09:58.028Z,1761671398.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219430,0.955405,0.197616],[-0.975556,0.212407,0.056329],[0.011842,-0.205146,0.978660]] 2025-10-28T17:09:58.431Z,1761671398.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224268,0.955218,0.193036],[-0.974483,0.217917,0.053811],[0.009335,-0.200178,0.979715]] 2025-10-28T17:09:58.836Z,1761671398.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226627,0.955430,0.189190],[-0.973955,0.220876,0.051236],[0.007165,-0.195874,0.980603]] 2025-10-28T17:09:59.643Z,1761671399.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225214,0.957195,0.181812],[-0.974303,0.220555,0.045716],[0.003660,-0.187436,0.982270]] 2025-10-28T17:10:00.046Z,1761671400.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222534,0.958261,0.179484],[-0.974924,0.218414,0.042653],[0.001671,-0.184475,0.982836]] 2025-10-28T17:10:00.452Z,1761671400.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218556,0.959682,0.176758],[-0.975824,0.214961,0.039479],[-0.000109,-0.181113,0.983462]] 2025-10-28T17:10:00.476Z,1761671400.476 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:10:00.476Z,1761671400.476 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:10:00.476Z,1761671400.476 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateRudder:A] Stopped 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode] Stopped 2025-10-28T17:10:00.477Z,1761671400.477 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:10:00.855Z,1761671400.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214003,0.961095,0.174638],[-0.976832,0.210848,0.036643],[-0.001605,-0.178434,0.983951]] 2025-10-28T17:10:00.896Z,1761671400.896 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:10:00.896Z,1761671400.896 [marl:UpdateRudder:B] Stopped 2025-10-28T17:10:00.896Z,1761671400.896 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateRudder] Stopped 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:10:00.897Z,1761671400.897 [marl:UpdateSpeed] Stopped 2025-10-28T17:10:00.898Z,1761671400.898 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:10:01.259Z,1761671401.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209407,0.962388,0.173083],[-0.977825,0.206552,0.034550],[-0.002500,-0.176480,0.984301]] 2025-10-28T17:10:01.662Z,1761671401.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205638,0.963399,0.171975],[-0.978624,0.202972,0.033145],[-0.002974,-0.175115,0.984544]] 2025-10-28T17:10:02.069Z,1761671402.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203711,0.963907,0.171423],[-0.979025,0.201162,0.032301],[-0.003348,-0.174407,0.984668]] 2025-10-28T17:10:02.471Z,1761671402.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203335,0.963982,0.171447],[-0.979103,0.200825,0.032045],[-0.003540,-0.174380,0.984672]] 2025-10-28T17:10:02.878Z,1761671402.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204810,0.963371,0.173118],[-0.978793,0.202337,0.032007],[-0.004193,-0.176002,0.984381]] 2025-10-28T17:10:03.279Z,1761671403.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207544,0.962031,0.177262],[-0.978212,0.205062,0.032414],[-0.005166,-0.180127,0.983630]] 2025-10-28T17:10:03.690Z,1761671403.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211263,0.960517,0.181038],[-0.977409,0.208782,0.032874],[-0.006221,-0.183894,0.982926]] 2025-10-28T17:10:04.086Z,1761671404.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215659,0.958810,0.184862],[-0.976442,0.213147,0.033600],[-0.007187,-0.187753,0.982190]] 2025-10-28T17:10:04.899Z,1761671404.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226455,0.954841,0.192347],[-0.973975,0.223918,0.035122],[-0.009534,-0.195295,0.980698]] 2025-10-28T17:10:05.710Z,1761671405.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238783,0.950461,0.199015],[-0.970995,0.236296,0.036515],[-0.012321,-0.201961,0.979316]] 2025-10-28T17:10:06.108Z,1761671406.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245423,0.948435,0.200597],[-0.969316,0.243060,0.036721],[-0.013930,-0.203454,0.978985]] 2025-10-28T17:10:06.510Z,1761671406.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251809,0.946660,0.201068],[-0.967652,0.249615,0.036617],[-0.015525,-0.203784,0.978893]] 2025-10-28T17:10:06.926Z,1761671406.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256676,0.945669,0.199570],[-0.966350,0.254716,0.035889],[-0.016894,-0.202066,0.979226]] 2025-10-28T17:10:07.318Z,1761671407.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260119,0.945189,0.197373],[-0.965405,0.258431,0.034727],[-0.018184,-0.199578,0.979713]] 2025-10-28T17:10:07.723Z,1761671407.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261812,0.945292,0.194623],[-0.964929,0.260378,0.033381],[-0.019121,-0.196537,0.980310]] 2025-10-28T17:10:08.127Z,1761671408.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261941,0.945972,0.191111],[-0.964874,0.260827,0.031423],[-0.020122,-0.192629,0.981065]] 2025-10-28T17:10:08.532Z,1761671408.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260881,0.947242,0.186208],[-0.965141,0.260131,0.028889],[-0.021074,-0.187253,0.982086]] 2025-10-28T17:10:08.937Z,1761671408.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258692,0.948480,0.182934],[-0.965713,0.258229,0.026769],[-0.021849,-0.183587,0.982761]] 2025-10-28T17:10:09.742Z,1761671409.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253769,0.950845,0.177466],[-0.966992,0.253748,0.023200],[-0.022972,-0.177496,0.983853]] 2025-10-28T17:10:10.148Z,1761671410.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252162,0.951634,0.175521],[-0.967402,0.252291,0.021951],[-0.023393,-0.175335,0.984231]] 2025-10-28T17:10:10.551Z,1761671410.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252311,0.951539,0.175822],[-0.967355,0.252492,0.021715],[-0.023731,-0.175561,0.984182]] 2025-10-28T17:10:10.957Z,1761671410.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253581,0.950827,0.177836],[-0.967010,0.253793,0.021940],[-0.024272,-0.177533,0.983815]] 2025-10-28T17:10:11.359Z,1761671411.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256233,0.949447,0.181369],[-0.966302,0.256378,0.023050],[-0.024615,-0.181164,0.983145]] 2025-10-28T17:10:11.769Z,1761671411.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260258,0.947800,0.184229],[-0.965220,0.260295,0.024416],[-0.024812,-0.184176,0.982580]] 2025-10-28T17:10:12.171Z,1761671412.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265430,0.945681,0.187709],[-0.963804,0.265322,0.026173],[-0.025052,-0.187862,0.981876]] 2025-10-28T17:10:12.570Z,1761671412.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271352,0.943377,0.190810],[-0.962149,0.271079,0.028045],[-0.025267,-0.191197,0.981226]] 2025-10-28T17:10:12.978Z,1761671412.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277886,0.940975,0.193250],[-0.960264,0.277538,0.029432],[-0.025939,-0.193749,0.980708]] 2025-10-28T17:10:13.378Z,1761671413.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284515,0.938682,0.194749],[-0.958292,0.284191,0.030210],[-0.026988,-0.195221,0.980388]] 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateRudder:A] Stopped 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:10:13.438Z,1761671413.438 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:10:13.439Z,1761671413.439 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:10:13.439Z,1761671413.439 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:10:13.439Z,1761671413.439 [marl:UpdateCommandMode] Stopped 2025-10-28T17:10:13.439Z,1761671413.439 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:10:13.788Z,1761671413.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290693,0.936663,0.195346],[-0.956395,0.290506,0.030261],[-0.028405,-0.195625,0.980267]] 2025-10-28T17:10:13.855Z,1761671413.855 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:10:13.855Z,1761671413.855 [marl:UpdateRudder:B] Stopped 2025-10-28T17:10:13.855Z,1761671413.855 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:10:13.855Z,1761671413.855 [marl:UpdateRudder] Stopped 2025-10-28T17:10:13.856Z,1761671413.856 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:10:13.860Z,1761671413.860 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:10:13.860Z,1761671413.860 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:10:13.860Z,1761671413.860 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:10:13.860Z,1761671413.860 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:10:13.861Z,1761671413.861 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:10:13.861Z,1761671413.861 [marl:UpdateSpeed] Stopped 2025-10-28T17:10:13.861Z,1761671413.861 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:10:14.197Z,1761671414.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294979,0.935505,0.194466],[-0.955039,0.295010,0.029479],[-0.029792,-0.194418,0.980466]] 2025-10-28T17:10:14.591Z,1761671414.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297373,0.934941,0.193534],[-0.954244,0.297713,0.028021],[-0.031419,-0.193012,0.980693]] 2025-10-28T17:10:14.998Z,1761671414.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297277,0.935231,0.192274],[-0.954226,0.297943,0.026128],[-0.032851,-0.191240,0.980993]] 2025-10-28T17:10:15.400Z,1761671415.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295124,0.936673,0.188537],[-0.954849,0.296187,0.023172],[-0.034138,-0.186863,0.981793]] 2025-10-28T17:10:15.802Z,1761671415.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291598,0.938454,0.185135],[-0.955889,0.293036,0.020168],[-0.035325,-0.182849,0.982506]] 2025-10-28T17:10:16.207Z,1761671416.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287515,0.940532,0.180929],[-0.957090,0.289285,0.017113],[-0.036245,-0.178086,0.983347]] 2025-10-28T17:10:16.611Z,1761671416.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283643,0.942308,0.177770],[-0.958223,0.285640,0.014806],[-0.036827,-0.174543,0.983961]] 2025-10-28T17:10:17.026Z,1761671417.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280771,0.944307,0.171614],[-0.959051,0.282982,0.011955],[-0.037275,-0.167943,0.985092]] 2025-10-28T17:10:17.430Z,1761671417.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282315,0.943940,0.171101],[-0.958619,0.284410,0.012665],[-0.036708,-0.167597,0.985172]] 2025-10-28T17:10:17.827Z,1761671417.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285099,0.942945,0.171966],[-0.957831,0.286970,0.014422],[-0.035750,-0.168826,0.984997]] 2025-10-28T17:10:18.231Z,1761671418.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289056,0.941229,0.174743],[-0.956684,0.290624,0.017122],[-0.034668,-0.172123,0.984465]] 2025-10-28T17:10:18.635Z,1761671418.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293753,0.939073,0.178468],[-0.955293,0.294959,0.020350],[-0.033531,-0.176468,0.983735]] 2025-10-28T17:10:18.702Z,1761671418.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:10:19.440Z,1761671419.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304765,0.933743,0.187728],[-0.951883,0.305278,0.026899],[-0.032193,-0.186893,0.981853]] 2025-10-28T17:10:19.704Z,1761671419.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:10:19.842Z,1761671419.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310931,0.930897,0.191712],[-0.949886,0.311205,0.029466],[-0.032232,-0.191267,0.981009]] 2025-10-28T17:10:20.247Z,1761671420.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317117,0.928061,0.195292],[-0.947834,0.317164,0.031882],[-0.032352,-0.195215,0.980227]] 2025-10-28T17:10:20.651Z,1761671420.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322912,0.925305,0.198844],[-0.945879,0.322685,0.034471],[-0.032268,-0.199214,0.979425]] 2025-10-28T17:10:21.059Z,1761671421.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328183,0.922811,0.201783],[-0.944068,0.327683,0.036860],[-0.032106,-0.202594,0.978736]] 2025-10-28T17:10:21.459Z,1761671421.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332776,0.920740,0.203713],[-0.942472,0.332004,0.038988],[-0.031736,-0.204968,0.978254]] 2025-10-28T17:10:21.862Z,1761671421.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336810,0.919229,0.203906],[-0.941063,0.335763,0.040790],[-0.030969,-0.205627,0.978140]] 2025-10-28T17:10:22.266Z,1761671422.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339946,0.918284,0.202958],[-0.939956,0.338722,0.041836],[-0.030329,-0.204993,0.978293]] 2025-10-28T17:10:22.681Z,1761671422.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341970,0.918025,0.200717],[-0.939237,0.340691,0.041988],[-0.029837,-0.202879,0.978749]] 2025-10-28T17:10:23.077Z,1761671423.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342743,0.918395,0.197682],[-0.938963,0.341530,0.041295],[-0.029590,-0.199770,0.979396]] 2025-10-28T17:10:23.478Z,1761671423.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342062,0.919762,0.192434],[-0.939221,0.341032,0.039511],[-0.029286,-0.194253,0.980514]] 2025-10-28T17:10:23.882Z,1761671423.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340406,0.921718,0.185902],[-0.939833,0.339613,0.037103],[-0.028936,-0.187348,0.981867]] 2025-10-28T17:10:24.287Z,1761671424.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338109,0.924056,0.178330],[-0.940680,0.337540,0.034468],[-0.028343,-0.179406,0.983367]] 2025-10-28T17:10:24.691Z,1761671424.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335882,0.926074,0.171961],[-0.941504,0.335416,0.032651],[-0.027442,-0.172869,0.984562]] 2025-10-28T17:10:25.098Z,1761671425.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335089,0.927200,0.167377],[-0.941812,0.334633,0.031782],[-0.026542,-0.168288,0.985380]] 2025-10-28T17:10:25.508Z,1761671425.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336148,0.927170,0.165413],[-0.941463,0.335565,0.032315],[-0.025545,-0.166593,0.985695]] 2025-10-28T17:10:25.904Z,1761671425.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338917,0.926505,0.163474],[-0.940502,0.338144,0.033400],[-0.024332,-0.165067,0.985982]] 2025-10-28T17:10:26.306Z,1761671426.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342687,0.925145,0.163318],[-0.939169,0.341618,0.035480],[-0.022968,-0.165542,0.985935]] 2025-10-28T17:10:26.351Z,1761671426.351 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:10:26.351Z,1761671426.351 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:10:26.351Z,1761671426.351 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:10:26.352Z,1761671426.352 [marl:UpdateRudder:A] Stopped 2025-10-28T17:10:26.352Z,1761671426.352 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:10:26.352Z,1761671426.352 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:10:26.352Z,1761671426.352 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:10:26.352Z,1761671426.352 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:10:26.353Z,1761671426.353 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:10:26.353Z,1761671426.353 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:10:26.353Z,1761671426.353 [marl:UpdateCommandMode] Stopped 2025-10-28T17:10:26.353Z,1761671426.353 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:10:26.711Z,1761671426.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347526,0.922806,0.166298],[-0.937421,0.346018,0.038908],[-0.021637,-0.169413,0.985308]] 2025-10-28T17:10:26.769Z,1761671426.769 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:10:26.769Z,1761671426.769 [marl:UpdateRudder:B] Stopped 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateRudder] Stopped 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:10:26.770Z,1761671426.770 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:10:26.771Z,1761671426.771 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:10:26.771Z,1761671426.771 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:10:26.771Z,1761671426.771 [marl:UpdateSpeed] Stopped 2025-10-28T17:10:26.771Z,1761671426.771 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:10:27.118Z,1761671427.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353003,0.920016,0.170172],[-0.935398,0.351012,0.042673],[-0.020472,-0.174243,0.984490]] 2025-10-28T17:10:27.519Z,1761671427.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359161,0.916710,0.175059],[-0.933065,0.356691,0.046489],[-0.019825,-0.180038,0.983460]] 2025-10-28T17:10:27.922Z,1761671427.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365042,0.913280,0.180733],[-0.930773,0.362214,0.049621],[-0.020146,-0.186335,0.982280]] 2025-10-28T17:10:28.327Z,1761671428.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370002,0.910158,0.186307],[-0.928790,0.366962,0.051852],[-0.021174,-0.192226,0.981122]] 2025-10-28T17:10:28.731Z,1761671428.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373193,0.908149,0.189716],[-0.927497,0.370018,0.053254],[-0.021836,-0.195835,0.980394]] 2025-10-28T17:10:29.138Z,1761671429.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374393,0.907265,0.191574],[-0.927010,0.371108,0.054145],[-0.021970,-0.197862,0.979984]] 2025-10-28T17:10:29.540Z,1761671429.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374374,0.907352,0.191199],[-0.927023,0.371064,0.054225],[-0.021746,-0.197547,0.980052]] 2025-10-28T17:10:29.982Z,1761671429.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373912,0.907764,0.190145],[-0.927218,0.370597,0.054078],[-0.021377,-0.196526,0.980266]] 2025-10-28T17:10:30.346Z,1761671430.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373242,0.908773,0.186604],[-0.927502,0.370023,0.053139],[-0.020757,-0.192909,0.980997]] 2025-10-28T17:10:30.754Z,1761671430.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372730,0.909822,0.182472],[-0.927724,0.369611,0.052117],[-0.020027,-0.188709,0.981829]] 2025-10-28T17:10:31.174Z,1761671431.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372539,0.910862,0.177612],[-0.927815,0.369563,0.050819],[-0.019350,-0.183723,0.982788]] 2025-10-28T17:10:31.582Z,1761671431.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372931,0.911554,0.173183],[-0.927670,0.370071,0.049760],[-0.018731,-0.179213,0.983632]] 2025-10-28T17:10:31.962Z,1761671431.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374264,0.911429,0.170947],[-0.927147,0.371368,0.049848],[-0.018051,-0.177150,0.984018]] 2025-10-28T17:10:32.367Z,1761671432.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376487,0.911201,0.167242],[-0.926260,0.373618,0.049528],[-0.017355,-0.173556,0.984671]] 2025-10-28T17:10:32.779Z,1761671432.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379793,0.909981,0.166410],[-0.924919,0.376808,0.050412],[-0.016830,-0.173062,0.984767]] 2025-10-28T17:10:33.178Z,1761671433.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384016,0.908215,0.166364],[-0.923183,0.380850,0.051836],[-0.016281,-0.173491,0.984701]] 2025-10-28T17:10:33.625Z,1761671433.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388960,0.905978,0.167075],[-0.921122,0.385531,0.053851],[-0.015625,-0.174842,0.984472]] 2025-10-28T17:10:33.983Z,1761671433.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393895,0.903306,0.169957],[-0.919034,0.390055,0.056860],[-0.014931,-0.178593,0.983810]] 2025-10-28T17:10:34.388Z,1761671434.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399099,0.900657,0.171867],[-0.916797,0.394891,0.059532],[-0.014251,-0.181326,0.983320]] 2025-10-28T17:10:34.796Z,1761671434.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404070,0.897754,0.175400],[-0.914634,0.399286,0.063374],[-0.013140,-0.186035,0.982455]] 2025-10-28T17:10:35.195Z,1761671435.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408226,0.895506,0.177256],[-0.912804,0.402940,0.066541],[-0.011835,-0.188964,0.981913]] 2025-10-28T17:10:35.634Z,1761671435.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411834,0.893892,0.177060],[-0.911201,0.406154,0.068934],[-0.010294,-0.189726,0.981783]] 2025-10-28T17:10:36.004Z,1761671436.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414478,0.892781,0.176496],[-0.910020,0.408390,0.071281],[-0.008441,-0.190160,0.981717]] 2025-10-28T17:10:36.407Z,1761671436.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416623,0.891981,0.175488],[-0.909058,0.410109,0.073652],[-0.006273,-0.190214,0.981723]] 2025-10-28T17:10:36.811Z,1761671436.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417838,0.891893,0.173028],[-0.908515,0.410930,0.075746],[-0.003545,-0.188848,0.982000]] 2025-10-28T17:10:37.218Z,1761671437.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418975,0.891965,0.169875],[-0.907997,0.411741,0.077526],[-0.000794,-0.186727,0.982411]] 2025-10-28T17:10:37.641Z,1761671437.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420233,0.891937,0.166892],[-0.907414,0.412667,0.079406],[0.001955,-0.184810,0.982772]] 2025-10-28T17:10:38.022Z,1761671438.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421742,0.891989,0.162754],[-0.906704,0.413974,0.080705],[0.004612,-0.181606,0.983361]] 2025-10-28T17:10:38.427Z,1761671438.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423683,0.891716,0.159169],[-0.905784,0.415734,0.081979],[0.006930,-0.178906,0.983842]] 2025-10-28T17:10:38.830Z,1761671438.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425602,0.891217,0.156827],[-0.904863,0.417370,0.083813],[0.009241,-0.177578,0.984063]] 2025-10-28T17:10:39.235Z,1761671439.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427321,0.890589,0.155720],[-0.904025,0.418674,0.086325],[0.011684,-0.177663,0.984022]] 2025-10-28T17:10:39.650Z,1761671439.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428786,0.890110,0.154421],[-0.903298,0.419779,0.088536],[0.013984,-0.177451,0.984030]] 2025-10-28T17:10:39.783Z,1761671439.783 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:10:39.783Z,1761671439.783 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:10:39.783Z,1761671439.783 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateRudder:A] Stopped 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:10:39.785Z,1761671439.785 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:10:39.786Z,1761671439.786 [marl:UpdateCommandMode] Stopped 2025-10-28T17:10:39.786Z,1761671439.786 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:10:40.042Z,1761671440.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429736,0.889700,0.154142],[-0.902810,0.420310,0.090954],[0.016135,-0.178248,0.983853]] 2025-10-28T17:10:40.099Z,1761671440.099 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateRudder:B] Stopped 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateRudder] Stopped 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:10:40.100Z,1761671440.100 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:10:40.101Z,1761671440.101 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:10:40.101Z,1761671440.101 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:10:40.101Z,1761671440.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:10:40.101Z,1761671440.101 [marl:UpdateSpeed] Stopped 2025-10-28T17:10:40.101Z,1761671440.101 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:10:40.446Z,1761671440.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430393,0.889387,0.154116],[-0.902456,0.420526,0.093439],[0.018293,-0.179299,0.983625]] 2025-10-28T17:10:40.851Z,1761671440.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431105,0.889003,0.154344],[-0.902079,0.420845,0.095615],[0.020047,-0.180451,0.983380]] 2025-10-28T17:10:41.254Z,1761671441.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431585,0.888826,0.154022],[-0.901811,0.421020,0.097357],[0.021687,-0.180917,0.983259]] 2025-10-28T17:10:41.661Z,1761671441.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432218,0.888858,0.152049],[-0.901465,0.421503,0.098473],[0.023439,-0.179629,0.983455]] 2025-10-28T17:10:42.063Z,1761671442.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433431,0.888377,0.151408],[-0.900832,0.422388,0.100451],[0.025285,-0.179931,0.983354]] 2025-10-28T17:10:42.467Z,1761671442.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435606,0.887667,0.149311],[-0.899731,0.424391,0.101867],[0.027058,-0.178714,0.983529]] 2025-10-28T17:10:42.870Z,1761671442.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438395,0.886470,0.148261],[-0.898323,0.426891,0.103828],[0.028749,-0.178704,0.983483]] 2025-10-28T17:10:43.275Z,1761671443.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441815,0.884899,0.147493],[-0.896593,0.429994,0.105953],[0.030337,-0.179053,0.983372]] 2025-10-28T17:10:43.678Z,1761671443.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446037,0.883027,0.145995],[-0.894448,0.433982,0.107810],[0.031840,-0.178672,0.983393]] 2025-10-28T17:10:44.087Z,1761671444.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450347,0.881096,0.144418],[-0.892232,0.438071,0.109621],[0.033322,-0.178222,0.983426]] 2025-10-28T17:10:44.494Z,1761671444.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454333,0.879336,0.142649],[-0.890162,0.441927,0.110956],[0.034527,-0.177391,0.983535]] 2025-10-28T17:10:44.894Z,1761671444.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457971,0.877398,0.142953],[-0.888244,0.445161,0.113374],[0.035837,-0.178899,0.983215]] 2025-10-28T17:10:45.301Z,1761671445.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460975,0.875737,0.143480],[-0.886622,0.447677,0.116132],[0.037469,-0.180747,0.982816]] 2025-10-28T17:10:45.703Z,1761671445.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463665,0.874094,0.144829],[-0.885143,0.449747,0.119372],[0.039206,-0.183543,0.982230]] 2025-10-28T17:10:46.108Z,1761671446.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466508,0.872223,0.146960],[-0.883576,0.451874,0.122892],[0.040781,-0.187181,0.981479]] 2025-10-28T17:10:46.148Z,1761671446.148 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:10:46.169Z,1761671446.169 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:10:46.170Z,1761671446.170 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:10:46.421Z,1761671446.421 [DAT](INFO): DAT read: user:47> 2025-10-28T17:10:46.422Z,1761671446.422 [DAT](INFO): DAT read: Tx time:17:10:46.1616 2025-10-28T17:10:46.422Z,1761671446.422 [DAT](INFO): Ping request sent. 2025-10-28T17:10:46.422Z,1761671446.422 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:10:46.422Z,1761671446.422 [DAT](INFO): publishing transmit ping time 2025-10-28T17:10:46.423Z,1761671446.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T17:10:46.510Z,1761671446.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469225,0.870561,0.148161],[-0.882066,0.454012,0.125827],[0.042273,-0.189728,0.980926]] 2025-10-28T17:10:46.673Z,1761671446.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814 2025-10-28T17:10:46.915Z,1761671446.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471650,0.868852,0.150472],[-0.880713,0.455751,0.128982],[0.043489,-0.193357,0.980164]] 2025-10-28T17:10:46.926Z,1761671446.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633 2025-10-28T17:10:47.177Z,1761671447.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754945 2025-10-28T17:10:47.322Z,1761671447.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473341,0.867901,0.150652],[-0.879756,0.457136,0.130601],[0.044480,-0.194356,0.979922]] 2025-10-28T17:10:47.429Z,1761671447.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859 2025-10-28T17:10:47.682Z,1761671447.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259484 2025-10-28T17:10:47.729Z,1761671447.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474227,0.867350,0.151040],[-0.879244,0.457784,0.131771],[0.045148,-0.195291,0.979706]] 2025-10-28T17:10:47.933Z,1761671447.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894 2025-10-28T17:10:48.139Z,1761671448.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474863,0.867137,0.150262],[-0.878880,0.458423,0.131980],[0.045561,-0.194735,0.979797]] 2025-10-28T17:10:48.189Z,1761671448.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767007 2025-10-28T17:10:48.441Z,1761671448.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018850 2025-10-28T17:10:48.531Z,1761671448.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475054,0.867327,0.148553],[-0.878747,0.458743,0.131755],[0.046127,-0.193131,0.980088]] 2025-10-28T17:10:48.693Z,1761671448.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270895 2025-10-28T17:10:48.936Z,1761671448.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475670,0.867291,0.146784],[-0.878390,0.459505,0.131478],[0.046582,-0.191474,0.980392]] 2025-10-28T17:10:48.945Z,1761671448.945 [DAT](INFO): DAT read: Rx Time:17:10:48.2154 2025-10-28T17:10:48.945Z,1761671448.945 [DAT](INFO): Rx dataTimestamp_ set to:1761671448.945212 2025-10-28T17:10:48.946Z,1761671448.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524011 2025-10-28T17:10:49.197Z,1761671449.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774837 2025-10-28T17:10:49.459Z,1761671449.459 [DAT](INFO): DAT read: 17:10:48.2154 LVL= 32752, 32753, 32754, 27203, AGC= 37, IDX= 440, 0.21,-0.631, 0.435, 0.255,-0.935, PHS= 0.406, 1.415, 1.146, RAW= 284.9, -49.2, CAL= 280.1, -50.9, ROT= 229.9, 50.9 2025-10-28T17:10:49.461Z,1761671449.461 [DAT](INFO): got valid direction response: 17:10:48.2154 LVL= 32752, 32753, 32754, 27203, AGC= 37, IDX= 440, 0.21,-0.631, 0.435, 0.255,-0.935, PHS= 0.406, 1.415, 1.146, RAW= 284.9, -49.2, CAL= 280.1, -50.9, ROT= 229.9, 50.9 2025-10-28T17:10:49.462Z,1761671449.462 [DAT](INFO): DAT read: Bearing 176, 58 (Remote) 2025-10-28T17:10:49.462Z,1761671449.462 [DAT](INFO): Remote Bearing received:Bearing 176, 58 (Remote) 2025-10-28T17:10:49.463Z,1761671449.463 [DAT](INFO): DAT read: Bearing 347.7, -19.5 (Local) 2025-10-28T17:10:49.464Z,1761671449.464 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -19.5 (Local) 2025-10-28T17:10:49.465Z,1761671449.465 [DAT](INFO): DAT read: Range 11 to 20 : 18.5 m (Round-trip 24.7 ms) speed -0.4 m/s 2025-10-28T17:10:49.466Z,1761671449.466 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:10:49.467Z,1761671449.467 [DAT](INFO): direction in FSK: [-0.406233,-0.482417,-0.776046] 2025-10-28T17:10:49.467Z,1761671449.467 [DAT](INFO): publishing direction and range info 2025-10-28T17:10:49.743Z,1761671449.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478051,0.866812,0.141788],[-0.877027,0.462284,0.130834],[0.047862,-0.186898,0.981213]] 2025-10-28T17:10:49.809Z,1761671449.809 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671424.00. Resetting abort timer. 2025-10-28T17:10:49.824Z,1761671449.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:10:50.148Z,1761671450.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480105,0.866037,0.139564],[-0.875886,0.464534,0.130503],[0.048188,-0.184897,0.981576]] 2025-10-28T17:10:50.563Z,1761671450.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483025,0.864844,0.136862],[-0.874288,0.467793,0.129579],[0.048042,-0.182247,0.982078]] 2025-10-28T17:10:50.828Z,1761671450.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:10:50.954Z,1761671450.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485796,0.863398,0.136185],[-0.872776,0.470668,0.129360],[0.047591,-0.181701,0.982201]] 2025-10-28T17:10:51.362Z,1761671451.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487210,0.862587,0.136270],[-0.872016,0.472134,0.129142],[0.047059,-0.181749,0.982218]] 2025-10-28T17:10:51.768Z,1761671451.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488120,0.862035,0.136508],[-0.871534,0.473086,0.128911],[0.046545,-0.181896,0.982216]] 2025-10-28T17:10:52.168Z,1761671452.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488146,0.861748,0.138217],[-0.871542,0.472942,0.129384],[0.046128,-0.183621,0.981914]] 2025-10-28T17:10:52.571Z,1761671452.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487266,0.862112,0.139051],[-0.872048,0.472019,0.129349],[0.045879,-0.184286,0.981801]] 2025-10-28T17:10:52.616Z,1761671452.616 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:10:52.616Z,1761671452.616 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:10:52.617Z,1761671452.617 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:10:52.617Z,1761671452.617 [marl:UpdateRudder:A] Stopped 2025-10-28T17:10:52.617Z,1761671452.617 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:10:52.617Z,1761671452.617 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode] Stopped 2025-10-28T17:10:52.618Z,1761671452.618 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:10:52.975Z,1761671452.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486030,0.862663,0.139955],[-0.872765,0.470803,0.128943],[0.045343,-0.184818,0.981726]] 2025-10-28T17:10:53.024Z,1761671453.024 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:10:53.024Z,1761671453.024 [marl:UpdateRudder:B] Stopped 2025-10-28T17:10:53.024Z,1761671453.024 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:10:53.024Z,1761671453.024 [marl:UpdateRudder] Stopped 2025-10-28T17:10:53.025Z,1761671453.025 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:10:53.381Z,1761671453.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484912,0.863095,0.141168],[-0.873388,0.469545,0.129307],[0.045319,-0.185997,0.981504]] 2025-10-28T17:10:53.405Z,1761671453.405 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:10:53.405Z,1761671453.405 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:10:53.405Z,1761671453.405 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:10:53.406Z,1761671453.406 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:10:53.406Z,1761671453.406 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:10:53.406Z,1761671453.406 [marl:UpdateSpeed] Stopped 2025-10-28T17:10:53.406Z,1761671453.406 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:10:53.787Z,1761671453.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483997,0.863544,0.141554],[-0.873897,0.468615,0.129242],[0.045272,-0.186256,0.981458]] 2025-10-28T17:10:54.231Z,1761671454.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483052,0.863989,0.142068],[-0.874413,0.467593,0.129455],[0.045418,-0.186760,0.981355]] 2025-10-28T17:10:54.590Z,1761671454.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483970,0.863656,0.140966],[-0.873906,0.468649,0.129056],[0.045396,-0.185650,0.981567]] 2025-10-28T17:10:54.995Z,1761671454.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485625,0.863079,0.138790],[-0.872981,0.470549,0.128403],[0.045514,-0.183517,0.981962]] 2025-10-28T17:10:55.408Z,1761671455.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488057,0.862126,0.136161],[-0.871604,0.473209,0.127986],[0.045907,-0.181143,0.982385]] 2025-10-28T17:10:56.206Z,1761671456.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487159,0.861259,0.144599],[-0.871934,0.470372,0.135945],[0.049069,-0.192307,0.980107]] 2025-10-28T17:10:56.638Z,1761671456.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480922,0.861082,0.165080],[-0.875230,0.460364,0.148448],[0.051829,-0.215875,0.975045]] 2025-10-28T17:10:57.035Z,1761671457.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471637,0.860477,0.192710],[-0.880075,0.445704,0.163756],[0.055016,-0.246833,0.967495]] 2025-10-28T17:10:57.475Z,1761671457.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448260,0.857712,0.251779],[-0.891833,0.409956,0.191233],[0.060804,-0.310267,0.948703]] 2025-10-28T17:10:57.876Z,1761671457.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435276,0.855896,0.279243],[-0.898123,0.391267,0.200714],[0.062532,-0.338160,0.939009]] 2025-10-28T17:10:58.282Z,1761671458.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421909,0.854906,0.301875],[-0.904416,0.373561,0.206119],[0.063443,-0.359984,0.930799]] 2025-10-28T17:10:58.680Z,1761671458.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408036,0.854437,0.321627],[-0.910718,0.356229,0.209032],[0.064032,-0.378204,0.923505]] 2025-10-28T17:10:59.085Z,1761671459.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392827,0.855867,0.336421],[-0.917321,0.338874,0.209016],[0.064886,-0.390713,0.918223]] 2025-10-28T17:10:59.487Z,1761671459.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376182,0.859318,0.346497],[-0.924180,0.321289,0.206554],[0.066169,-0.397928,0.915027]] 2025-10-28T17:10:59.891Z,1761671459.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358536,0.864632,0.351942],[-0.931049,0.303812,0.202105],[0.067822,-0.400137,0.913942]] 2025-10-28T17:11:00.298Z,1761671460.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340242,0.871290,0.353679],[-0.937731,0.286398,0.196562],[0.069970,-0.398534,0.914480]] 2025-10-28T17:11:00.698Z,1761671460.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321586,0.878170,0.354119],[-0.944127,0.268885,0.190591],[0.072154,-0.395625,0.915573]] 2025-10-28T17:11:01.113Z,1761671461.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302820,0.885912,0.351369],[-0.950153,0.251919,0.183703],[0.074228,-0.389483,0.918038]] 2025-10-28T17:11:01.507Z,1761671461.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284422,0.892861,0.349146],[-0.955698,0.235266,0.176895],[0.075801,-0.383990,0.920220]] 2025-10-28T17:11:01.911Z,1761671461.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265647,0.899197,0.347672],[-0.961003,0.218241,0.169834],[0.076838,-0.379230,0.922107]] 2025-10-28T17:11:02.316Z,1761671462.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247559,0.904728,0.346672],[-0.965783,0.201881,0.162809],[0.077311,-0.375114,0.923749]] 2025-10-28T17:11:02.720Z,1761671462.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230155,0.908890,0.347776],[-0.970062,0.185809,0.156379],[0.077511,-0.373356,0.924444]] 2025-10-28T17:11:03.127Z,1761671463.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212835,0.912361,0.349711],[-0.973964,0.169504,0.150539],[0.078069,-0.372646,0.924684]] 2025-10-28T17:11:03.526Z,1761671463.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196661,0.914920,0.352485],[-0.977339,0.154213,0.145005],[0.078310,-0.373014,0.924515]] 2025-10-28T17:11:03.931Z,1761671463.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181900,0.916556,0.356143],[-0.980167,0.140040,0.140219],[0.078644,-0.374586,0.923851]] 2025-10-28T17:11:04.336Z,1761671464.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168064,0.917448,0.360617],[-0.982609,0.126613,0.135826],[0.078955,-0.377173,0.922771]] 2025-10-28T17:11:04.740Z,1761671464.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154680,0.917427,0.366608],[-0.984806,0.113527,0.131414],[0.078943,-0.381365,0.921048]] 2025-10-28T17:11:05.143Z,1761671465.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141767,0.917588,0.371396],[-0.986791,0.101284,0.126435],[0.078399,-0.384414,0.919826]] 2025-10-28T17:11:05.553Z,1761671465.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128624,0.917703,0.375868],[-0.988732,0.089404,0.120064],[0.076579,-0.387076,0.918862]] 2025-10-28T17:11:05.661Z,1761671465.661 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:11:05.661Z,1761671465.661 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:11:05.661Z,1761671465.661 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateRudder:A] Stopped 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:11:05.662Z,1761671465.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:11:05.663Z,1761671465.663 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:11:05.663Z,1761671465.663 [marl:UpdateCommandMode] Stopped 2025-10-28T17:11:05.663Z,1761671465.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:11:06.027Z,1761671466.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115145,0.918427,0.378462],[-0.990593,0.077806,0.112568],[0.073939,-0.387863,0.918747]] 2025-10-28T17:11:06.201Z,1761671466.201 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:11:06.201Z,1761671466.201 [marl:UpdateRudder:B] Stopped 2025-10-28T17:11:06.202Z,1761671466.202 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:11:06.202Z,1761671466.202 [marl:UpdateRudder] Stopped 2025-10-28T17:11:06.202Z,1761671466.202 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:11:06.468Z,1761671466.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101734,0.920209,0.377976],[-0.992303,0.066903,0.104202],[0.070600,-0.385667,0.919933]] 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:11:06.523Z,1761671466.523 [marl:UpdateSpeed] Stopped 2025-10-28T17:11:06.524Z,1761671466.524 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:11:06.856Z,1761671466.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087672,0.921992,0.377153],[-0.993884,0.055443,0.095499],[0.067139,-0.383219,0.921214]] 2025-10-28T17:11:07.666Z,1761671467.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057225,0.927508,0.369397],[-0.996509,0.030535,0.077707],[0.060794,-0.372554,0.926017]] 2025-10-28T17:11:08.066Z,1761671468.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040908,0.930919,0.362927],[-0.997478,0.016965,0.068917],[0.057999,-0.364831,0.929266]] 2025-10-28T17:11:08.471Z,1761671468.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024377,0.933321,0.358214],[-0.998157,0.002803,0.060625],[0.055578,-0.359031,0.931669]] 2025-10-28T17:11:08.880Z,1761671468.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007843,0.934453,0.356001],[-0.998546,-0.011671,0.052633],[0.053338,-0.355896,0.933002]] 2025-10-28T17:11:09.710Z,1761671469.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024925,0.933755,0.357044],[-0.998504,-0.040640,0.036578],[0.048665,-0.355598,0.933371]] 2025-10-28T17:11:10.094Z,1761671470.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041115,0.932250,0.359472],[-0.998094,-0.054889,0.028190],[0.046011,-0.357628,0.932730]] 2025-10-28T17:11:10.500Z,1761671470.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057378,0.930477,0.361830],[-0.997419,-0.069093,0.019513],[0.043156,-0.359776,0.932040]] 2025-10-28T17:11:10.907Z,1761671470.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074266,0.927964,0.365195],[-0.996432,-0.083771,0.010229],[0.040085,-0.363132,0.930875]] 2025-10-28T17:11:11.311Z,1761671471.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091599,0.925146,0.368394],[-0.995110,-0.098773,0.000622],[0.036963,-0.366535,0.929670]] 2025-10-28T17:11:11.711Z,1761671471.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108780,0.921914,0.371808],[-0.993489,-0.113563,-0.009080],[0.033853,-0.370375,0.928265]] 2025-10-28T17:11:12.120Z,1761671472.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125446,0.919146,0.373410],[-0.991619,-0.127892,-0.018326],[0.030912,-0.372579,0.927485]] 2025-10-28T17:11:12.517Z,1761671472.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141584,0.916248,0.374758],[-0.989518,-0.141857,-0.027013],[0.028412,-0.374655,0.926729]] 2025-10-28T17:11:12.915Z,1761671472.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156764,0.913102,0.376391],[-0.987294,-0.154915,-0.035385],[0.025999,-0.377156,0.925785]] 2025-10-28T17:11:13.724Z,1761671473.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184672,0.907992,0.376095],[-0.982560,-0.179035,-0.050224],[0.021731,-0.378811,0.925219]] 2025-10-28T17:11:14.126Z,1761671474.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197524,0.905471,0.375641],[-0.980105,-0.190012,-0.057351],[0.019447,-0.379496,0.924989]] 2025-10-28T17:11:14.975Z,1761671474.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222264,0.900484,0.373801],[-0.974873,-0.211094,-0.071140],[0.014847,-0.380221,0.924776]] 2025-10-28T17:11:15.371Z,1761671475.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234321,0.898993,0.370006],[-0.972078,-0.221581,-0.077238],[0.012549,-0.377774,0.925813]] 2025-10-28T17:11:15.784Z,1761671475.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248010,0.897346,0.365049],[-0.968710,-0.233452,-0.084270],[0.009602,-0.374527,0.927166]] 2025-10-28T17:11:16.184Z,1761671476.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263777,0.895264,0.359060],[-0.964561,-0.247363,-0.091835],[0.006602,-0.370559,0.928785]] 2025-10-28T17:11:16.601Z,1761671476.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280725,0.892465,0.353130],[-0.959782,-0.262338,-0.099984],[0.003407,-0.366996,0.930216]] 2025-10-28T17:11:16.992Z,1761671476.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298788,0.888791,0.347530],[-0.954320,-0.278243,-0.108879],[-0.000073,-0.364187,0.931326]] 2025-10-28T17:11:17.395Z,1761671477.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317952,0.884588,0.341189],[-0.948101,-0.295407,-0.117640],[-0.003274,-0.360886,0.932604]] 2025-10-28T17:11:17.799Z,1761671477.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337574,0.879207,0.336213],[-0.941276,-0.312809,-0.127083],[-0.006562,-0.359369,0.933172]] 2025-10-28T17:11:18.204Z,1761671478.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357710,0.872740,0.332218],[-0.933784,-0.330646,-0.136826],[-0.009567,-0.359163,0.933226]] 2025-10-28T17:11:18.609Z,1761671478.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376892,0.866322,0.327778],[-0.926168,-0.347551,-0.146362],[-0.012878,-0.358740,0.933349]] 2025-10-28T17:11:18.644Z,1761671478.644 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:11:18.644Z,1761671478.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:11:18.644Z,1761671478.644 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateRudder:A] Stopped 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:11:18.645Z,1761671478.645 [marl:UpdateCommandMode] Stopped 2025-10-28T17:11:18.646Z,1761671478.646 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:11:19.011Z,1761671479.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395385,0.859268,0.324543],[-0.918375,-0.363647,-0.156039],[-0.016060,-0.359748,0.932911]] 2025-10-28T17:11:19.069Z,1761671479.069 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:11:19.070Z,1761671479.070 [marl:UpdateRudder:B] Stopped 2025-10-28T17:11:19.074Z,1761671479.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:11:19.074Z,1761671479.074 [marl:UpdateRudder] Stopped 2025-10-28T17:11:19.078Z,1761671479.078 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:11:19.415Z,1761671479.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413018,0.851870,0.322077],[-0.910522,-0.378813,-0.165683],[-0.019133,-0.361688,0.932103]] 2025-10-28T17:11:19.439Z,1761671479.439 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:11:19.439Z,1761671479.439 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:11:19.439Z,1761671479.439 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:11:19.440Z,1761671479.440 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:11:19.440Z,1761671479.440 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:11:19.440Z,1761671479.440 [marl:UpdateSpeed] Stopped 2025-10-28T17:11:19.440Z,1761671479.440 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:11:19.822Z,1761671479.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429214,0.844479,0.320360],[-0.902936,-0.392567,-0.174924],[-0.021957,-0.364345,0.931005]] 2025-10-28T17:11:20.231Z,1761671480.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443930,0.836739,0.320613],[-0.895716,-0.404448,-0.184702],[-0.024876,-0.369174,0.929027]] 2025-10-28T17:11:20.627Z,1761671480.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456033,0.830559,0.319696],[-0.889509,-0.413908,-0.193529],[-0.028412,-0.372628,0.927546]] 2025-10-28T17:11:20.956Z,1761671480.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:11:21.031Z,1761671481.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463126,0.828703,0.314270],[-0.885665,-0.419389,-0.199275],[-0.033339,-0.370628,0.928183]] 2025-10-28T17:11:21.437Z,1761671481.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466350,0.832216,0.299891],[-0.883698,-0.422978,-0.200419],[-0.039945,-0.358478,0.932683]] 2025-10-28T17:11:21.839Z,1761671481.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466195,0.839019,0.280553],[-0.883389,-0.424345,-0.198884],[-0.047816,-0.340556,0.939007]] 2025-10-28T17:11:21.961Z,1761671481.961 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:11:22.243Z,1761671482.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464222,0.846740,0.259862],[-0.883925,-0.424229,-0.196741],[-0.056347,-0.321030,0.945391]] 2025-10-28T17:11:22.647Z,1761671482.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462376,0.854352,0.237259],[-0.884302,-0.424719,-0.193966],[-0.064946,-0.299494,0.951885]] 2025-10-28T17:11:23.058Z,1761671483.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460883,0.860607,0.216662],[-0.884424,-0.425230,-0.192283],[-0.073349,-0.280241,0.957123]] 2025-10-28T17:11:23.455Z,1761671483.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460801,0.865427,0.196718],[-0.883782,-0.427179,-0.190912],[-0.081186,-0.261828,0.961694]] 2025-10-28T17:11:23.859Z,1761671483.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462333,0.868515,0.178691],[-0.882271,-0.430449,-0.190557],[-0.088584,-0.245755,0.965276]] 2025-10-28T17:11:24.263Z,1761671484.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464385,0.870261,0.164290],[-0.880441,-0.433591,-0.191894],[-0.095763,-0.233761,0.967567]] 2025-10-28T17:11:24.673Z,1761671484.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465971,0.871525,0.152692],[-0.878809,-0.435825,-0.194294],[-0.102785,-0.224723,0.968987]] 2025-10-28T17:11:25.079Z,1761671485.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467950,0.871982,0.143774],[-0.877006,-0.438122,-0.197256],[-0.109013,-0.218396,0.969752]] 2025-10-28T17:11:25.475Z,1761671485.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469069,0.872007,0.139921],[-0.875679,-0.438642,-0.201939],[-0.114717,-0.217249,0.969352]] 2025-10-28T17:11:25.880Z,1761671485.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469081,0.872181,0.138794],[-0.874955,-0.437585,-0.207299],[-0.120068,-0.218678,0.968382]] 2025-10-28T17:11:26.285Z,1761671486.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468333,0.872561,0.138934],[-0.874655,-0.435591,-0.212694],[-0.125070,-0.221130,0.967191]] 2025-10-28T17:11:26.687Z,1761671486.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466790,0.873210,0.140040],[-0.874810,-0.432699,-0.217899],[-0.129676,-0.224221,0.965872]] 2025-10-28T17:11:27.501Z,1761671487.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463681,0.874641,0.141430],[-0.874475,-0.426115,-0.231777],[-0.142456,-0.231147,0.962433]] 2025-10-28T17:11:27.906Z,1761671487.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464064,0.874872,0.138720],[-0.873663,-0.426220,-0.234627],[-0.146144,-0.230076,0.962137]] 2025-10-28T17:11:28.308Z,1761671488.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465433,0.874635,0.135598],[-0.872419,-0.427534,-0.236852],[-0.149186,-0.228537,0.962037]] 2025-10-28T17:11:28.715Z,1761671488.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467402,0.873868,0.133750],[-0.871043,-0.429375,-0.238583],[-0.151062,-0.228017,0.961867]] 2025-10-28T17:11:29.116Z,1761671489.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469667,0.872761,0.133042],[-0.869656,-0.431419,-0.239951],[-0.152023,-0.228398,0.961625]] 2025-10-28T17:11:29.518Z,1761671489.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472456,0.871180,0.133533],[-0.868168,-0.433906,-0.240851],[-0.151884,-0.229721,0.961332]] 2025-10-28T17:11:29.919Z,1761671489.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474588,0.869847,0.134655],[-0.867115,-0.435737,-0.241340],[-0.151255,-0.231298,0.961053]] 2025-10-28T17:11:30.323Z,1761671490.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476765,0.868466,0.135873],[-0.866123,-0.437727,-0.241301],[-0.150086,-0.232727,0.960891]] 2025-10-28T17:11:30.737Z,1761671490.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478742,0.867111,0.137565],[-0.865294,-0.439495,-0.241061],[-0.148568,-0.234441,0.960711]] 2025-10-28T17:11:31.132Z,1761671491.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480186,0.866025,0.139365],[-0.864723,-0.440694,-0.240920],[-0.147225,-0.236198,0.960487]] 2025-10-28T17:11:31.542Z,1761671491.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481952,0.864865,0.140471],[-0.864032,-0.442490,-0.240107],[-0.145503,-0.237091,0.960529]] 2025-10-28T17:11:31.638Z,1761671491.638 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:11:31.638Z,1761671491.638 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateRudder:A] Stopped 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:11:31.639Z,1761671491.639 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:11:31.640Z,1761671491.640 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:11:31.644Z,1761671491.644 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:11:31.644Z,1761671491.644 [marl:UpdateCommandMode] Stopped 2025-10-28T17:11:31.644Z,1761671491.644 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:11:31.939Z,1761671491.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483333,0.863938,0.141420],[-0.863540,-0.443961,-0.239161],[-0.143835,-0.237716,0.960626]] 2025-10-28T17:11:31.991Z,1761671491.991 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:11:31.992Z,1761671491.992 [marl:UpdateRudder:B] Stopped 2025-10-28T17:11:31.992Z,1761671491.992 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:11:31.992Z,1761671491.992 [marl:UpdateRudder] Stopped 2025-10-28T17:11:31.992Z,1761671491.992 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:11:32.343Z,1761671492.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484855,0.862865,0.142753],[-0.862966,-0.445466,-0.238432],[-0.142143,-0.238796,0.960610]] 2025-10-28T17:11:32.397Z,1761671492.397 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:11:32.397Z,1761671492.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:11:32.397Z,1761671492.397 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:11:32.398Z,1761671492.398 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:11:32.398Z,1761671492.398 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:11:32.398Z,1761671492.398 [marl:UpdateSpeed] Stopped 2025-10-28T17:11:32.398Z,1761671492.398 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:11:32.762Z,1761671492.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486275,0.862412,0.140653],[-0.862388,-0.447725,-0.236282],[-0.140799,-0.236196,0.961451]] 2025-10-28T17:11:33.151Z,1761671493.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487505,0.861911,0.139456],[-0.861937,-0.449602,-0.234355],[-0.139294,-0.234451,0.962097]] 2025-10-28T17:11:33.593Z,1761671493.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488331,0.861439,0.139485],[-0.861770,-0.450866,-0.232535],[-0.137425,-0.233758,0.962534]] 2025-10-28T17:11:33.960Z,1761671493.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488968,0.860982,0.140075],[-0.861756,-0.451893,-0.230584],[-0.135230,-0.233458,0.962917]] 2025-10-28T17:11:34.370Z,1761671494.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489914,0.859954,0.143054],[-0.861600,-0.452641,-0.229701],[-0.132780,-0.235789,0.962691]] 2025-10-28T17:11:34.775Z,1761671494.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493951,0.856439,0.150085],[-0.859799,-0.455414,-0.230962],[-0.129454,-0.243127,0.961317]] 2025-10-28T17:11:35.171Z,1761671495.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501187,0.849485,0.164882],[-0.856236,-0.459264,-0.236511],[-0.125188,-0.259714,0.957537]] 2025-10-28T17:11:35.618Z,1761671495.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510577,0.839037,0.187958],[-0.851391,-0.462783,-0.246911],[-0.120183,-0.286093,0.950635]] 2025-10-28T17:11:35.981Z,1761671495.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521414,0.826559,0.211961],[-0.845643,-0.467326,-0.257865],[-0.114086,-0.313698,0.942644]] 2025-10-28T17:11:36.383Z,1761671496.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533504,0.812963,0.233378],[-0.838959,-0.473629,-0.267999],[-0.107339,-0.338773,0.934725]] 2025-10-28T17:11:36.790Z,1761671496.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545658,0.799044,0.252559],[-0.832028,-0.480635,-0.276981],[-0.099932,-0.361273,0.927090]] 2025-10-28T17:11:37.191Z,1761671497.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557822,0.784747,0.270198],[-0.824825,-0.488010,-0.285498],[-0.092184,-0.382124,0.919502]] 2025-10-28T17:11:37.627Z,1761671497.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569358,0.771318,0.284428],[-0.817763,-0.495932,-0.292089],[-0.084237,-0.398898,0.913118]] 2025-10-28T17:11:38.006Z,1761671498.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580872,0.759030,0.294043],[-0.810389,-0.505287,-0.296572],[-0.076530,-0.410560,0.908616]] 2025-10-28T17:11:38.406Z,1761671498.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591862,0.747665,0.301158],[-0.803072,-0.514953,-0.299831],[-0.069091,-0.419311,0.905210]] 2025-10-28T17:11:38.807Z,1761671498.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602113,0.737403,0.306100],[-0.796027,-0.524834,-0.301481],[-0.061661,-0.425189,0.903002]] 2025-10-28T17:11:39.211Z,1761671499.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611881,0.728939,0.307002],[-0.789062,-0.535761,-0.300568],[-0.054616,-0.426155,0.903000]] 2025-10-28T17:11:39.643Z,1761671499.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620853,0.721028,0.307669],[-0.782476,-0.546116,-0.299146],[-0.047670,-0.426469,0.903245]] 2025-10-28T17:11:40.070Z,1761671500.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629334,0.713482,0.308030],[-0.776056,-0.556107,-0.297457],[-0.040932,-0.426249,0.903679]] 2025-10-28T17:11:40.465Z,1761671500.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637167,0.706714,0.307529],[-0.769945,-0.565704,-0.295234],[-0.034676,-0.424894,0.904579]] 2025-10-28T17:11:40.866Z,1761671500.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644961,0.700394,0.305735],[-0.763680,-0.575708,-0.292154],[-0.028609,-0.421911,0.906186]] 2025-10-28T17:11:41.274Z,1761671501.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653524,0.694224,0.301595],[-0.756566,-0.587206,-0.287744],[-0.022660,-0.416224,0.908980]] 2025-10-28T17:11:41.675Z,1761671501.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663479,0.687207,0.295875],[-0.747996,-0.600111,-0.283496],[-0.017262,-0.409407,0.912189]] 2025-10-28T17:11:42.081Z,1761671502.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675031,0.679253,0.288008],[-0.737685,-0.614818,-0.278963],[-0.012414,-0.400767,0.916096]] 2025-10-28T17:11:42.483Z,1761671502.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688053,0.669574,0.279739],[-0.725618,-0.630643,-0.275259],[-0.007891,-0.392377,0.919771]] 2025-10-28T17:11:42.887Z,1761671502.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702379,0.658028,0.271409],[-0.711794,-0.647383,-0.272478],[-0.003593,-0.384570,0.923089]] 2025-10-28T17:11:43.295Z,1761671503.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717139,0.644483,0.265242],[-0.696930,-0.663488,-0.272163],[0.000580,-0.380033,0.924973]] 2025-10-28T17:11:43.697Z,1761671503.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732053,0.629296,0.260930],[-0.681229,-0.678969,-0.273730],[0.004906,-0.378138,0.925736]] 2025-10-28T17:11:44.127Z,1761671504.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746980,0.612138,0.259438],[-0.664773,-0.693501,-0.277728],[0.009913,-0.379925,0.924964]] 2025-10-28T17:11:44.503Z,1761671504.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761604,0.593898,0.259317],[-0.647860,-0.707281,-0.282897],[0.015398,-0.383457,0.923430]] 2025-10-28T17:11:44.907Z,1761671504.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775350,0.575455,0.260161],[-0.631184,-0.719799,-0.288959],[0.020980,-0.388254,0.921314]] 2025-10-28T17:11:44.957Z,1761671504.957 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:11:44.957Z,1761671504.957 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateRudder:A] Stopped 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:11:44.958Z,1761671504.958 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:11:44.964Z,1761671504.964 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:11:44.968Z,1761671504.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:11:44.968Z,1761671504.968 [marl:UpdateCommandMode] Stopped 2025-10-28T17:11:44.968Z,1761671504.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:11:45.314Z,1761671505.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787961,0.556817,0.262818],[-0.615156,-0.730273,-0.297127],[0.026484,-0.395798,0.917956]] 2025-10-28T17:11:45.357Z,1761671505.357 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateRudder:B] Stopped 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateRudder] Stopped 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:11:45.358Z,1761671505.358 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:11:45.359Z,1761671505.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:11:45.359Z,1761671505.359 [marl:UpdateSpeed] Stopped 2025-10-28T17:11:45.359Z,1761671505.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:11:45.717Z,1761671505.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798896,0.539473,0.265961],[-0.600639,-0.738798,-0.305631],[0.031612,-0.403914,0.914251]] 2025-10-28T17:11:46.189Z,1761671506.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807524,0.524578,0.269670],[-0.588734,-0.744758,-0.314209],[0.036012,-0.412496,0.910247]] 2025-10-28T17:11:46.215Z,1761671506.215 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:11:46.465Z,1761671506.465 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:11:46.465Z,1761671506.465 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:11:46.593Z,1761671506.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814261,0.512729,0.272191],[-0.579120,-0.749799,-0.320035],[0.039997,-0.418223,0.907463]] 2025-10-28T17:11:46.717Z,1761671506.717 [DAT](INFO): DAT read: user:48> 2025-10-28T17:11:46.718Z,1761671506.718 [DAT](INFO): DAT read: Tx time:17:11:46.4615 2025-10-28T17:11:46.718Z,1761671506.718 [DAT](INFO): Ping request sent. 2025-10-28T17:11:46.718Z,1761671506.718 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:11:46.718Z,1761671506.718 [DAT](INFO): publishing transmit ping time 2025-10-28T17:11:46.719Z,1761671506.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935 2025-10-28T17:11:46.970Z,1761671506.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251273 2025-10-28T17:11:46.994Z,1761671506.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819590,0.503241,0.273897],[-0.571288,-0.754167,-0.323823],[0.043603,-0.421877,0.905604]] 2025-10-28T17:11:47.221Z,1761671507.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502591 2025-10-28T17:11:47.491Z,1761671507.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.772459 2025-10-28T17:11:47.741Z,1761671507.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022636 2025-10-28T17:11:47.826Z,1761671507.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827227,0.491376,0.272479],[-0.559700,-0.763207,-0.322878],[0.049303,-0.419600,0.906369]] 2025-10-28T17:11:47.993Z,1761671507.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274638 2025-10-28T17:11:48.245Z,1761671508.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526502 2025-10-28T17:11:48.497Z,1761671508.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778734 2025-10-28T17:11:48.630Z,1761671508.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833533,0.483373,0.267533],[-0.549878,-0.772712,-0.317097],[0.053450,-0.411422,0.909877]] 2025-10-28T17:11:48.749Z,1761671508.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030806 2025-10-28T17:11:49.001Z,1761671509.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282681 2025-10-28T17:11:49.041Z,1761671509.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836950,0.478914,0.264870],[-0.544421,-0.777970,-0.313636],[0.055856,-0.406699,0.911853]] 2025-10-28T17:11:49.253Z,1761671509.253 [DAT](INFO): DAT read: Rx Time:17:11:48.5845 2025-10-28T17:11:49.254Z,1761671509.254 [DAT](INFO): Rx dataTimestamp_ set to:1761671509.253680 2025-10-28T17:11:49.255Z,1761671509.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.536439 2025-10-28T17:11:49.506Z,1761671509.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787398 2025-10-28T17:11:49.767Z,1761671509.767 [DAT](INFO): DAT read: 17:11:48.5845 LVL= 14576, 12657, 9138, 12835, AGC= 46, IDX= 111,-0.49,-2.893,-1.471,-1.134,-2.457, PHS=-0.333, 1.031, 1.279, RAW= 261.8, -24.9, CAL= 260.6, -29.2, ROT= 249.4, 29.2 2025-10-28T17:11:49.768Z,1761671509.768 [DAT](INFO): got valid direction response: 17:11:48.5845 LVL= 14576, 12657, 9138, 12835, AGC= 46, IDX= 111,-0.49,-2.893,-1.471,-1.134,-2.457, PHS=-0.333, 1.031, 1.279, RAW= 261.8, -24.9, CAL= 260.6, -29.2, ROT= 249.4, 29.2 2025-10-28T17:11:49.770Z,1761671509.770 [DAT](INFO): DAT read: Bearing 87, -12 (Remote) 2025-10-28T17:11:49.770Z,1761671509.770 [DAT](INFO): Remote Bearing received:Bearing 87, -12 (Remote) 2025-10-28T17:11:49.771Z,1761671509.771 [DAT](INFO): DAT read: Bearing 267.1, -34.9 (Local) 2025-10-28T17:11:49.772Z,1761671509.772 [DAT](INFO): Local bearing/azimuth received: Bearing 267.1, -34.9 (Local) 2025-10-28T17:11:49.774Z,1761671509.774 [DAT](INFO): DAT read: Range 11 to 20 : 70.4 m (Round-trip 93.9 ms) speed -0.8 m/s 2025-10-28T17:11:49.775Z,1761671509.775 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:11:49.777Z,1761671509.777 [DAT](INFO): direction in FSK: [-0.307131,-0.817107,-0.487860] 2025-10-28T17:11:49.777Z,1761671509.777 [DAT](INFO): publishing direction and range info 2025-10-28T17:11:49.851Z,1761671509.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846263,0.466789,0.256800],[-0.529266,-0.791746,-0.304986],[0.060956,-0.394014,0.917081]] 2025-10-28T17:11:49.968Z,1761671509.968 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671552.00. Resetting abort timer. 2025-10-28T17:11:50.651Z,1761671510.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860969,0.444911,0.246550],[-0.504228,-0.810344,-0.298492],[0.066988,-0.381309,0.922017]] 2025-10-28T17:11:51.055Z,1761671511.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869626,0.430357,0.241957],[-0.488727,-0.819840,-0.298341],[0.069973,-0.377696,0.923282]] 2025-10-28T17:11:51.475Z,1761671511.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878497,0.414437,0.237667],[-0.472174,-0.828962,-0.299791],[0.072772,-0.375585,0.923926]] 2025-10-28T17:11:51.873Z,1761671511.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887454,0.397720,0.232903],[-0.454743,-0.837882,-0.301933],[0.075061,-0.373862,0.924442]] 2025-10-28T17:11:52.101Z,1761671512.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:11:52.275Z,1761671512.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896234,0.380353,0.228247],[-0.436861,-0.846072,-0.305475],[0.076925,-0.373489,0.924439]] 2025-10-28T17:11:52.679Z,1761671512.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904711,0.362673,0.223531],[-0.418707,-0.853782,-0.309421],[0.078628,-0.373530,0.924280]] 2025-10-28T17:11:53.084Z,1761671513.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912535,0.345808,0.218393],[-0.401156,-0.860818,-0.313155],[0.079705,-0.373375,0.924250]] 2025-10-28T17:11:53.104Z,1761671513.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:11:53.487Z,1761671513.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919915,0.328721,0.213771],[-0.383645,-0.867236,-0.317360],[0.081067,-0.373957,0.923896]] 2025-10-28T17:11:53.891Z,1761671513.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926531,0.312717,0.209159],[-0.367160,-0.872861,-0.321415],[0.082055,-0.374596,0.923550]] 2025-10-28T17:11:54.298Z,1761671514.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932690,0.297045,0.204581],[-0.350998,-0.878054,-0.325303],[0.083003,-0.375215,0.923214]] 2025-10-28T17:11:54.701Z,1761671514.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938237,0.281996,0.200472],[-0.335645,-0.882470,-0.329529],[0.083985,-0.376463,0.922617]] 2025-10-28T17:11:55.103Z,1761671515.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943530,0.266936,0.196204],[-0.320195,-0.886765,-0.333352],[0.085003,-0.377351,0.922161]] 2025-10-28T17:11:55.517Z,1761671515.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948381,0.252458,0.191933],[-0.305302,-0.890572,-0.337152],[0.085813,-0.378346,0.921678]] 2025-10-28T17:11:55.943Z,1761671515.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956602,0.226874,0.182867],[-0.278426,-0.896779,-0.343899],[0.085969,-0.379889,0.921029]] 2025-10-28T17:11:56.343Z,1761671516.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960126,0.215205,0.178450],[-0.266099,-0.899215,-0.347280],[0.085729,-0.380918,0.920626]] 2025-10-28T17:11:56.749Z,1761671516.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963213,0.204700,0.174123],[-0.254842,-0.901403,-0.350040],[0.085302,-0.381537,0.920409]] 2025-10-28T17:11:57.152Z,1761671517.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966089,0.194630,0.169682],[-0.243941,-0.903390,-0.352674],[0.084648,-0.382107,0.920233]] 2025-10-28T17:11:57.577Z,1761671517.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968792,0.184463,0.165579],[-0.233155,-0.904908,-0.356063],[0.084153,-0.383556,0.919675]] 2025-10-28T17:11:57.959Z,1761671517.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971412,0.174395,0.161073],[-0.222107,-0.907216,-0.357251],[0.083825,-0.382814,0.920015]] 2025-10-28T17:11:58.048Z,1761671518.048 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateRudder:A] Stopped 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:11:58.049Z,1761671518.049 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:11:58.050Z,1761671518.050 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:11:58.050Z,1761671518.050 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:11:58.050Z,1761671518.050 [marl:UpdateCommandMode] Stopped 2025-10-28T17:11:58.050Z,1761671518.050 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:11:58.362Z,1761671518.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974052,0.163808,0.156170],[-0.210357,-0.909842,-0.357683],[0.083499,-0.381253,0.920692]] 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateRudder:B] Stopped 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateRudder] Stopped 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:11:58.387Z,1761671518.387 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:11:58.388Z,1761671518.388 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:11:58.388Z,1761671518.388 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:11:58.388Z,1761671518.388 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:11:58.388Z,1761671518.388 [marl:UpdateSpeed] Stopped 2025-10-28T17:11:58.388Z,1761671518.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:11:58.776Z,1761671518.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976839,0.151969,0.150635],[-0.197208,-0.912583,-0.358193],[0.083033,-0.379603,0.921416]] 2025-10-28T17:11:59.171Z,1761671519.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979650,0.139100,0.144699],[-0.182946,-0.915375,-0.358635],[0.082567,-0.377809,0.922195]] 2025-10-28T17:11:59.621Z,1761671519.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982396,0.125538,0.138339],[-0.167830,-0.918332,-0.358468],[0.082040,-0.375375,0.923235]] 2025-10-28T17:11:59.979Z,1761671519.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985218,0.110322,0.131055],[-0.150773,-0.921607,-0.357641],[0.081326,-0.372114,0.924617]] 2025-10-28T17:12:00.385Z,1761671520.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987830,0.094621,0.123443],[-0.133279,-0.924073,-0.358226],[0.080175,-0.370319,0.925438]] 2025-10-28T17:12:00.792Z,1761671520.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990134,0.078369,0.116157],[-0.115412,-0.926220,-0.358883],[0.079462,-0.368748,0.926127]] 2025-10-28T17:12:01.201Z,1761671521.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992196,0.061353,0.108548],[-0.096806,-0.927719,-0.360508],[0.078584,-0.368202,0.926419]] 2025-10-28T17:12:01.630Z,1761671521.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993937,0.044311,0.100631],[-0.078176,-0.928367,-0.363349],[0.077322,-0.369013,0.926202]] 2025-10-28T17:12:02.478Z,1761671522.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996553,0.011649,0.082132],[-0.041246,-0.928611,-0.368756],[0.071973,-0.370872,0.925891]] 2025-10-28T17:12:02.885Z,1761671522.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997362,-0.003861,0.072485],[-0.023415,-0.928092,-0.371615],[0.068707,-0.372331,0.925553]] 2025-10-28T17:12:03.282Z,1761671523.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997867,-0.018500,0.062603],[-0.006310,-0.927181,-0.374560],[0.064974,-0.374156,0.925087]] 2025-10-28T17:12:03.687Z,1761671523.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998071,-0.031859,0.053289],[0.009437,-0.926177,-0.376970],[0.061365,-0.375740,0.924691]] 2025-10-28T17:12:04.091Z,1761671524.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998007,-0.044865,0.044366],[0.024761,-0.925216,-0.378631],[0.058036,-0.376778,0.924484]] 2025-10-28T17:12:04.515Z,1761671524.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997708,-0.057417,0.035810],[0.039590,-0.924456,-0.379228],[0.054879,-0.376941,0.924610]] 2025-10-28T17:12:04.899Z,1761671524.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997199,-0.069593,0.027421],[0.054038,-0.923727,-0.379221],[0.051721,-0.376677,0.924900]] 2025-10-28T17:12:05.303Z,1761671525.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996465,-0.081727,0.019444],[0.068352,-0.923301,-0.377947],[0.048841,-0.375282,0.925623]] 2025-10-28T17:12:05.706Z,1761671525.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995580,-0.093148,0.012007],[0.081798,-0.922803,-0.376487],[0.046149,-0.373841,0.926344]] 2025-10-28T17:12:06.112Z,1761671526.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994457,-0.105052,0.004469],[0.095762,-0.922425,-0.374115],[0.043424,-0.371613,0.927372]] 2025-10-28T17:12:06.520Z,1761671526.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992994,-0.118117,-0.003333],[0.110895,-0.921798,-0.371472],[0.040805,-0.369239,0.928438]] 2025-10-28T17:12:06.919Z,1761671526.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991171,-0.132070,-0.011765],[0.127054,-0.920639,-0.369162],[0.037924,-0.367398,0.929290]] 2025-10-28T17:12:07.323Z,1761671527.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989038,-0.146261,-0.020297],[0.143496,-0.919585,-0.365748],[0.034830,-0.364651,0.930493]] 2025-10-28T17:12:07.728Z,1761671527.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986520,-0.160968,-0.029449],[0.160584,-0.917677,-0.363432],[0.031476,-0.363262,0.931155]] 2025-10-28T17:12:08.130Z,1761671528.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983745,-0.175419,-0.038382],[0.177319,-0.915235,-0.361806],[0.028339,-0.362731,0.931463]] 2025-10-28T17:12:08.535Z,1761671528.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980666,-0.189782,-0.047724],[0.194086,-0.912094,-0.361129],[0.025007,-0.363409,0.931294]] 2025-10-28T17:12:08.940Z,1761671528.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977338,-0.203918,-0.056809],[0.210555,-0.908791,-0.360229],[0.021830,-0.364027,0.931132]] 2025-10-28T17:12:09.343Z,1761671529.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973934,-0.217057,-0.065868],[0.226066,-0.904993,-0.360390],[0.018615,-0.365887,0.930473]] 2025-10-28T17:12:09.756Z,1761671529.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970287,-0.230226,-0.074424],[0.241441,-0.901220,-0.359872],[0.015780,-0.367149,0.930028]] 2025-10-28T17:12:10.151Z,1761671530.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966562,-0.242721,-0.082733],[0.256075,-0.896538,-0.361450],[0.013558,-0.370549,0.928714]] 2025-10-28T17:12:10.554Z,1761671530.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962608,-0.255296,-0.090614],[0.270646,-0.891818,-0.362506],[0.011735,-0.373476,0.927566]] 2025-10-28T17:12:10.962Z,1761671530.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958293,-0.268472,-0.097968],[0.285602,-0.887247,-0.362248],[0.010331,-0.375120,0.926919]] 2025-10-28T17:12:11.363Z,1761671531.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953296,-0.283209,-0.104971],[0.301894,-0.882792,-0.359913],[0.009263,-0.374794,0.927062]] 2025-10-28T17:12:11.395Z,1761671531.395 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:12:11.395Z,1761671531.395 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:12:11.396Z,1761671531.396 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:12:11.396Z,1761671531.396 [marl:UpdateRudder:A] Stopped 2025-10-28T17:12:11.396Z,1761671531.396 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:12:11.396Z,1761671531.396 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:12:11.396Z,1761671531.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateCommandMode] Stopped 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:12:11.397Z,1761671531.397 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:12:11.398Z,1761671531.398 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:12:11.398Z,1761671531.398 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:12:11.398Z,1761671531.398 [marl:UpdateSpeed] Stopped 2025-10-28T17:12:11.398Z,1761671531.398 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:12:11.773Z,1761671531.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947970,-0.297943,-0.112173],[0.318253,-0.877741,-0.358170],[0.008256,-0.375234,0.926893]] 2025-10-28T17:12:11.825Z,1761671531.825 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:12:11.825Z,1761671531.825 [marl:UpdateRudder:B] Stopped 2025-10-28T17:12:11.825Z,1761671531.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:12:11.825Z,1761671531.825 [marl:UpdateRudder] Stopped 2025-10-28T17:12:11.825Z,1761671531.825 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:12:12.171Z,1761671532.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942479,-0.312337,-0.119075],[0.334179,-0.872335,-0.356869],[0.007590,-0.376134,0.926534]] 2025-10-28T17:12:12.576Z,1761671532.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936555,-0.326927,-0.126426],[0.350460,-0.866651,-0.355097],[0.006524,-0.376875,0.926241]] 2025-10-28T17:12:13.383Z,1761671533.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925278,-0.352175,-0.140828],[0.379285,-0.857640,-0.347271],[0.001521,-0.374736,0.927130]] 2025-10-28T17:12:13.789Z,1761671533.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921430,-0.360404,-0.145174],[0.388529,-0.857967,-0.336061],[-0.003437,-0.366061,0.930585]] 2025-10-28T17:12:14.192Z,1761671534.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919071,-0.366163,-0.145715],[0.393971,-0.862825,-0.316733],[-0.009750,-0.348507,0.937255]] 2025-10-28T17:12:14.595Z,1761671534.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917685,-0.370266,-0.144075],[0.396967,-0.869534,-0.293815],[-0.016489,-0.326823,0.944942]] 2025-10-28T17:12:15.003Z,1761671535.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917269,-0.372115,-0.141941],[0.397568,-0.876643,-0.270992],[-0.023591,-0.305004,0.952059]] 2025-10-28T17:12:15.403Z,1761671535.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916870,-0.373847,-0.139954],[0.398008,-0.883045,-0.248639],[-0.030632,-0.283672,0.958432]] 2025-10-28T17:12:15.807Z,1761671535.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916769,-0.374347,-0.139281],[0.397662,-0.888117,-0.230465],[-0.037424,-0.266670,0.963061]] 2025-10-28T17:12:16.211Z,1761671536.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916726,-0.374416,-0.139376],[0.397075,-0.892387,-0.214424],[-0.044094,-0.251911,0.966745]] 2025-10-28T17:12:16.614Z,1761671536.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916436,-0.374758,-0.140365],[0.396925,-0.895889,-0.199585],[-0.050956,-0.238621,0.969775]] 2025-10-28T17:12:17.021Z,1761671537.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916283,-0.374057,-0.143200],[0.396315,-0.898449,-0.189008],[-0.057959,-0.229937,0.971478]] 2025-10-28T17:12:17.422Z,1761671537.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916064,-0.373196,-0.146804],[0.395738,-0.900512,-0.180194],[-0.064951,-0.223165,0.972614]] 2025-10-28T17:12:17.826Z,1761671537.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915783,-0.371997,-0.151525],[0.395276,-0.901675,-0.175325],[-0.071406,-0.220454,0.972780]] 2025-10-28T17:12:18.232Z,1761671538.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915273,-0.371158,-0.156579],[0.395348,-0.902217,-0.172348],[-0.077300,-0.219649,0.972512]] 2025-10-28T17:12:18.637Z,1761671538.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914916,-0.370092,-0.161120],[0.395211,-0.902507,-0.171140],[-0.082075,-0.220255,0.971983]] 2025-10-28T17:12:19.039Z,1761671539.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914594,-0.369042,-0.165304],[0.395136,-0.902494,-0.171384],[-0.085938,-0.222064,0.971237]] 2025-10-28T17:12:19.443Z,1761671539.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914108,-0.368478,-0.169208],[0.395475,-0.902321,-0.171512],[-0.089482,-0.223698,0.970542]] 2025-10-28T17:12:19.846Z,1761671539.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913778,-0.367719,-0.172607],[0.395700,-0.901824,-0.173594],[-0.091828,-0.226927,0.969573]] 2025-10-28T17:12:20.252Z,1761671540.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913118,-0.368104,-0.175257],[0.396827,-0.901061,-0.174980],[-0.093507,-0.229324,0.968848]] 2025-10-28T17:12:20.654Z,1761671540.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912172,-0.368871,-0.178540],[0.398723,-0.899486,-0.178729],[-0.094666,-0.234220,0.967564]] 2025-10-28T17:12:21.058Z,1761671541.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910851,-0.370804,-0.181260],[0.401402,-0.898054,-0.179933],[-0.096061,-0.236650,0.966835]] 2025-10-28T17:12:21.470Z,1761671541.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909104,-0.373698,-0.184067],[0.404951,-0.896426,-0.180097],[-0.097701,-0.238265,0.966273]] 2025-10-28T17:12:21.867Z,1761671541.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907242,-0.376969,-0.186562],[0.408714,-0.894857,-0.179399],[-0.099318,-0.239009,0.965925]] 2025-10-28T17:12:22.272Z,1761671542.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905732,-0.379560,-0.188639],[0.411587,-0.893904,-0.177571],[-0.101226,-0.238473,0.965859]] 2025-10-28T17:12:22.675Z,1761671542.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904125,-0.382201,-0.191000],[0.414589,-0.892851,-0.175876],[-0.103315,-0.238200,0.965705]] 2025-10-28T17:12:23.079Z,1761671543.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902379,-0.385351,-0.192916],[0.417865,-0.891870,-0.173081],[-0.105359,-0.236797,0.965829]] 2025-10-28T17:12:23.232Z,1761671543.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:12:23.488Z,1761671543.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901128,-0.387081,-0.195286],[0.419888,-0.891376,-0.170715],[-0.107993,-0.235835,0.965774]] 2025-10-28T17:12:23.886Z,1761671543.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900007,-0.388603,-0.197419],[0.421461,-0.891378,-0.166782],[-0.111163,-0.233309,0.966028]] 2025-10-28T17:12:24.236Z,1761671544.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:12:24.291Z,1761671544.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899583,-0.388701,-0.199152],[0.421553,-0.891997,-0.163201],[-0.114207,-0.230766,0.966283]] 2025-10-28T17:12:24.330Z,1761671544.330 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateRudder:A] Stopped 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:12:24.331Z,1761671544.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateCommandMode] Stopped 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:12:24.332Z,1761671544.332 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed] Stopped 2025-10-28T17:12:24.333Z,1761671544.333 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:12:24.694Z,1761671544.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899728,-0.387021,-0.201752],[0.420356,-0.892785,-0.161977],[-0.117433,-0.230543,0.965950]] 2025-10-28T17:12:24.742Z,1761671544.742 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:12:24.742Z,1761671544.742 [marl:UpdateRudder:B] Stopped 2025-10-28T17:12:24.742Z,1761671544.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:12:24.742Z,1761671544.742 [marl:UpdateRudder] Stopped 2025-10-28T17:12:24.742Z,1761671544.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:12:25.101Z,1761671545.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900694,-0.383791,-0.203604],[0.417600,-0.894062,-0.162060],[-0.119837,-0.230992,0.965547]] 2025-10-28T17:12:25.906Z,1761671545.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903482,-0.376630,-0.204620],[0.410966,-0.896792,-0.163922],[-0.121763,-0.232193,0.965018]] 2025-10-28T17:12:26.310Z,1761671546.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905127,-0.373501,-0.203080],[0.407808,-0.897771,-0.166432],[-0.120157,-0.233459,0.964914]] 2025-10-28T17:12:26.717Z,1761671546.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906942,-0.370487,-0.200488],[0.404813,-0.898177,-0.171478],[-0.116543,-0.236681,0.964572]] 2025-10-28T17:12:27.119Z,1761671547.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908685,-0.368593,-0.196036],[0.402430,-0.898301,-0.176369],[-0.111091,-0.239154,0.964606]] 2025-10-28T17:12:27.522Z,1761671547.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910049,-0.368098,-0.190565],[0.401089,-0.898023,-0.180780],[-0.104587,-0.240953,0.964885]] 2025-10-28T17:12:27.927Z,1761671547.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910339,-0.369766,-0.185894],[0.402040,-0.896703,-0.185168],[-0.098223,-0.243303,0.964964]] 2025-10-28T17:12:28.333Z,1761671548.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910132,-0.372657,-0.181071],[0.403971,-0.895233,-0.188055],[-0.092021,-0.244302,0.965323]] 2025-10-28T17:12:28.735Z,1761671548.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909344,-0.376498,-0.177039],[0.407017,-0.893216,-0.191056],[-0.086202,-0.245793,0.965482]] 2025-10-28T17:12:29.547Z,1761671549.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908152,-0.383378,-0.168171],[0.411891,-0.890091,-0.195148],[-0.074872,-0.246492,0.966248]] 2025-10-28T17:12:29.954Z,1761671549.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907796,-0.385872,-0.164346],[0.413492,-0.889018,-0.196651],[-0.070224,-0.246474,0.966602]] 2025-10-28T17:12:30.351Z,1761671550.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907531,-0.387622,-0.161668],[0.414597,-0.888314,-0.197500],[-0.067057,-0.246265,0.966880]] 2025-10-28T17:12:30.760Z,1761671550.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907075,-0.389542,-0.159599],[0.415875,-0.888002,-0.196215],[-0.065290,-0.244355,0.967485]] 2025-10-28T17:12:31.160Z,1761671551.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906693,-0.391062,-0.158048],[0.416814,-0.888113,-0.193706],[-0.064613,-0.241509,0.968245]] 2025-10-28T17:12:31.983Z,1761671551.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910511,-0.385896,-0.148504],[0.409103,-0.892901,-0.188050],[-0.060031,-0.231975,0.970868]] 2025-10-28T17:12:32.375Z,1761671552.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913243,-0.381229,-0.143704],[0.403471,-0.895230,-0.189140],[-0.056543,-0.230712,0.971378]] 2025-10-28T17:12:32.783Z,1761671552.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915822,-0.376955,-0.138477],[0.398164,-0.897245,-0.190834],[-0.052312,-0.229907,0.971806]] 2025-10-28T17:12:33.181Z,1761671553.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918179,-0.373343,-0.132524],[0.393367,-0.898865,-0.193145],[-0.047012,-0.229472,0.972179]] 2025-10-28T17:12:33.618Z,1761671553.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920273,-0.370481,-0.125862],[0.389163,-0.900044,-0.196146],[-0.040613,-0.229489,0.972464]] 2025-10-28T17:12:33.991Z,1761671553.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922379,-0.367572,-0.118778],[0.384874,-0.900760,-0.201256],[-0.033014,-0.231348,0.972311]] 2025-10-28T17:12:34.390Z,1761671554.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924131,-0.365454,-0.111467],[0.381281,-0.900889,-0.207422],[-0.024616,-0.234185,0.971880]] 2025-10-28T17:12:34.794Z,1761671554.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925133,-0.365059,-0.104211],[0.379295,-0.900524,-0.212582],[-0.016240,-0.236194,0.971570]] 2025-10-28T17:12:35.202Z,1761671555.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925028,-0.367077,-0.097866],[0.379800,-0.899463,-0.216143],[-0.008685,-0.237108,0.971444]] 2025-10-28T17:12:35.630Z,1761671555.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924182,-0.370476,-0.092924],[0.381947,-0.897593,-0.220099],[-0.001867,-0.238904,0.971041]] 2025-10-28T17:12:36.006Z,1761671556.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922942,-0.374604,-0.088599],[0.384915,-0.895531,-0.223302],[0.004307,-0.240198,0.970714]] 2025-10-28T17:12:36.411Z,1761671556.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921701,-0.378482,-0.084961],[0.387778,-0.893534,-0.226330],[0.009746,-0.241554,0.970338]] 2025-10-28T17:12:36.816Z,1761671556.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920369,-0.382411,-0.081746],[0.390785,-0.891729,-0.228268],[0.014397,-0.242035,0.970161]] 2025-10-28T17:12:37.219Z,1761671557.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918951,-0.386410,-0.078845],[0.393941,-0.890063,-0.229346],[0.018445,-0.241818,0.970146]] 2025-10-28T17:12:37.634Z,1761671557.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917570,-0.390248,-0.075970],[0.396973,-0.888804,-0.228996],[0.021843,-0.240278,0.970458]] 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateRudder:A] Stopped 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:12:37.685Z,1761671557.685 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode] Stopped 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:12:37.686Z,1761671557.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:12:37.687Z,1761671557.687 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:12:37.687Z,1761671557.687 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:12:37.687Z,1761671557.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:12:37.687Z,1761671557.687 [marl:UpdateSpeed] Stopped 2025-10-28T17:12:37.687Z,1761671557.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:12:38.030Z,1761671558.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916452,-0.393226,-0.074091],[0.399391,-0.887543,-0.229682],[0.024558,-0.240084,0.970441]] 2025-10-28T17:12:38.065Z,1761671558.065 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:12:38.065Z,1761671558.065 [marl:UpdateRudder:B] Stopped 2025-10-28T17:12:38.065Z,1761671558.065 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:12:38.065Z,1761671558.065 [marl:UpdateRudder] Stopped 2025-10-28T17:12:38.065Z,1761671558.065 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:12:38.441Z,1761671558.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915750,-0.395167,-0.072425],[0.400864,-0.886803,-0.229976],[0.026652,-0.239634,0.970497]] 2025-10-28T17:12:38.835Z,1761671558.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915733,-0.395590,-0.070300],[0.400770,-0.886881,-0.229837],[0.028573,-0.238643,0.970687]] 2025-10-28T17:12:39.239Z,1761671559.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916560,-0.394061,-0.068074],[0.398721,-0.887477,-0.231096],[0.030652,-0.238956,0.970547]] 2025-10-28T17:12:39.643Z,1761671559.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918155,-0.390917,-0.064621],[0.394845,-0.889122,-0.231429],[0.033013,-0.238003,0.970703]] 2025-10-28T17:12:40.051Z,1761671560.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920277,-0.386577,-0.060395],[0.389638,-0.891393,-0.231518],[0.035664,-0.236593,0.970954]] 2025-10-28T17:12:40.459Z,1761671560.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921741,-0.383566,-0.057182],[0.385902,-0.892603,-0.233108],[0.038372,-0.236932,0.970768]] 2025-10-28T17:12:40.855Z,1761671560.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921838,-0.383509,-0.055990],[0.385273,-0.891034,-0.240049],[0.042172,-0.242858,0.969145]] 2025-10-28T17:12:41.259Z,1761671561.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920194,-0.387077,-0.058436],[0.388615,-0.885286,-0.255434],[0.047140,-0.257758,0.965059]] 2025-10-28T17:12:41.665Z,1761671561.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917214,-0.393153,-0.064411],[0.394876,-0.875714,-0.277845],[0.052830,-0.280277,0.958464]] 2025-10-28T17:12:42.067Z,1761671562.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912860,-0.401946,-0.071589],[0.403981,-0.863916,-0.300747],[0.059037,-0.303461,0.951013]] 2025-10-28T17:12:42.471Z,1761671562.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907267,-0.412795,-0.080414],[0.415476,-0.850146,-0.323467],[0.065162,-0.326881,0.942816]] 2025-10-28T17:12:42.875Z,1761671562.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900854,-0.424896,-0.089022],[0.428201,-0.835933,-0.343306],[0.071453,-0.347388,0.934995]] 2025-10-28T17:12:43.283Z,1761671563.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893703,-0.437965,-0.097377],[0.441813,-0.821313,-0.360896],[0.078083,-0.365556,0.927509]] 2025-10-28T17:12:43.683Z,1761671563.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886159,-0.451272,-0.105239],[0.455625,-0.807178,-0.375325],[0.084427,-0.380548,0.920899]] 2025-10-28T17:12:44.123Z,1761671564.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877982,-0.465535,-0.111465],[0.470010,-0.794210,-0.385125],[0.090762,-0.390523,0.916108]] 2025-10-28T17:12:44.528Z,1761671564.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869271,-0.480172,-0.117486],[0.484812,-0.781670,-0.392364],[0.096567,-0.398029,0.912276]] 2025-10-28T17:12:44.949Z,1761671564.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860224,-0.494907,-0.122809],[0.499621,-0.769893,-0.397042],[0.101949,-0.402903,0.909547]] 2025-10-28T17:12:45.452Z,1761671565.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850801,-0.509840,-0.127282],[0.514533,-0.759057,-0.398858],[0.106740,-0.404839,0.908136]] 2025-10-28T17:12:46.257Z,1761671566.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831357,-0.539273,-0.134277],[0.543591,-0.738847,-0.398263],[0.115563,-0.404091,0.907390]] 2025-10-28T17:12:46.331Z,1761671566.331 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:12:46.509Z,1761671566.509 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:12:46.509Z,1761671566.509 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:12:46.651Z,1761671566.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821048,-0.554037,-0.137564],[0.558205,-0.728731,-0.396683],[0.119530,-0.402485,0.907589]] 2025-10-28T17:12:46.761Z,1761671566.761 [DAT](INFO): DAT read: user:49> 2025-10-28T17:12:46.763Z,1761671566.763 [DAT](INFO): DAT read: Tx time:17:12:46.5113 2025-10-28T17:12:46.763Z,1761671566.763 [DAT](INFO): Ping request sent. 2025-10-28T17:12:46.763Z,1761671566.763 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:12:46.763Z,1761671566.763 [DAT](INFO): publishing transmit ping time 2025-10-28T17:12:46.765Z,1761671566.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001715 2025-10-28T17:12:47.013Z,1761671567.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250289 2025-10-28T17:12:47.071Z,1761671567.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810728,-0.568218,-0.140882],[0.572347,-0.718748,-0.394741],[0.123041,-0.400661,0.907927]] 2025-10-28T17:12:47.265Z,1761671567.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501931 2025-10-28T17:12:47.480Z,1761671567.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800298,-0.582032,-0.144092],[0.586130,-0.708731,-0.392622],[0.126396,-0.398671,0.908342]] 2025-10-28T17:12:47.517Z,1761671567.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754124 2025-10-28T17:12:47.770Z,1761671567.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006489 2025-10-28T17:12:47.926Z,1761671567.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790027,-0.595110,-0.147314],[0.599407,-0.699336,-0.389410],[0.128719,-0.395945,0.909208]] 2025-10-28T17:12:48.022Z,1761671568.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628 2025-10-28T17:12:48.277Z,1761671568.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513871 2025-10-28T17:12:48.388Z,1761671568.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779654,-0.607863,-0.150472],[0.612518,-0.690289,-0.385128],[0.130236,-0.392434,0.910513]] 2025-10-28T17:12:48.529Z,1761671568.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765989 2025-10-28T17:12:48.784Z,1761671568.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021379 2025-10-28T17:12:48.795Z,1761671568.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758707,-0.631973,-0.158030],[0.638135,-0.672255,-0.375309],[0.130949,-0.385594,0.913329]] 2025-10-28T17:12:49.033Z,1761671569.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270340 2025-10-28T17:12:49.200Z,1761671569.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748352,-0.643003,-0.162838],[0.650169,-0.662479,-0.372024],[0.131336,-0.384277,0.913828]] 2025-10-28T17:12:49.286Z,1761671569.286 [DAT](INFO): DAT read: Rx Time:17:12:48.6424 2025-10-28T17:12:49.286Z,1761671569.286 [DAT](INFO): Rx dataTimestamp_ set to:1761671569.285848 2025-10-28T17:12:49.287Z,1761671569.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523749 2025-10-28T17:12:49.537Z,1761671569.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773930 2025-10-28T17:12:49.631Z,1761671569.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737704,-0.653860,-0.168105],[0.662198,-0.652298,-0.368783],[0.131478,-0.383372,0.914188]] 2025-10-28T17:12:49.814Z,1761671569.814 [DAT](INFO): DAT read: 17:12:48.6424 LVL= 21408, 22753, 19122, 22931, AGC= 43, IDX= 510,-0.39, 0.459, 0.609, 1.814, 0.434, PHS= 0.127, 0.220, 1.336, RAW= 214.0, -27.0, CAL= 213.5, -30.6, ROT= 296.5, 30.6 2025-10-28T17:12:49.815Z,1761671569.815 [DAT](INFO): got valid direction response: 17:12:48.6424 LVL= 21408, 22753, 19122, 22931, AGC= 43, IDX= 510,-0.39, 0.459, 0.609, 1.814, 0.434, PHS= 0.127, 0.220, 1.336, RAW= 214.0, -27.0, CAL= 213.5, -30.6, ROT= 296.5, 30.6 2025-10-28T17:12:49.816Z,1761671569.816 [DAT](INFO): DAT read: Bearing 61, 1 (Remote) 2025-10-28T17:12:49.816Z,1761671569.816 [DAT](INFO): Remote Bearing received:Bearing 61, 1 (Remote) 2025-10-28T17:12:49.817Z,1761671569.817 [DAT](INFO): DAT read: Bearing 243.5, -26.4 (Local) 2025-10-28T17:12:49.818Z,1761671569.818 [DAT](INFO): Local bearing/azimuth received: Bearing 243.5, -26.4 (Local) 2025-10-28T17:12:49.819Z,1761671569.819 [DAT](INFO): DAT read: Range 11 to 20 : 76.5 m (Round-trip 102.0 ms) speed 1.0 m/s 2025-10-28T17:12:49.820Z,1761671569.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:12:49.821Z,1761671569.821 [DAT](INFO): direction in FSK: [0.384061,-0.770308,-0.509041] 2025-10-28T17:12:49.822Z,1761671569.822 [DAT](INFO): publishing direction and range info 2025-10-28T17:12:50.085Z,1761671570.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727364,-0.664110,-0.172918],[0.673482,-0.642411,-0.365693],[0.131776,-0.382449,0.914532]] 2025-10-28T17:12:50.115Z,1761671570.115 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671552.00. Resetting abort timer. 2025-10-28T17:12:50.478Z,1761671570.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717323,-0.673621,-0.177997],[0.684119,-0.632548,-0.363131],[0.132021,-0.382253,0.914578]] 2025-10-28T17:12:50.896Z,1761671570.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707175,-0.682903,-0.183162],[0.694754,-0.623085,-0.359279],[0.131227,-0.381325,0.915079]] 2025-10-28T17:12:50.952Z,1761671570.952 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:12:50.952Z,1761671570.952 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateRudder:A] Stopped 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:12:50.953Z,1761671570.953 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateCommandMode] Stopped 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:12:50.954Z,1761671570.954 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:12:50.955Z,1761671570.955 [marl:UpdateSpeed] Stopped 2025-10-28T17:12:50.955Z,1761671570.955 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:12:51.351Z,1761671571.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696896,-0.691956,-0.188502],[0.705317,-0.613685,-0.354850],[0.129859,-0.380247,0.915723]] 2025-10-28T17:12:51.396Z,1761671571.396 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:12:51.396Z,1761671571.396 [marl:UpdateRudder:B] Stopped 2025-10-28T17:12:51.400Z,1761671571.400 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:12:51.400Z,1761671571.400 [marl:UpdateRudder] Stopped 2025-10-28T17:12:51.400Z,1761671571.400 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:12:51.743Z,1761671571.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686488,-0.700624,-0.194578],[0.715791,-0.604031,-0.350414],[0.127977,-0.379832,0.916160]] 2025-10-28T17:12:52.147Z,1761671572.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675652,-0.709501,-0.200256],[0.726404,-0.594347,-0.345092],[0.125822,-0.378629,0.916956]] 2025-10-28T17:12:52.551Z,1761671572.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664566,-0.718215,-0.206203],[0.736935,-0.584314,-0.339858],[0.123604,-0.377816,0.917593]] 2025-10-28T17:12:52.955Z,1761671572.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653573,-0.726455,-0.212380],[0.747057,-0.574160,-0.335032],[0.121445,-0.377628,0.917959]] 2025-10-28T17:12:53.371Z,1761671573.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642311,-0.734743,-0.218150],[0.757073,-0.563843,-0.330031],[0.119486,-0.377138,0.918417]] 2025-10-28T17:12:54.226Z,1761671574.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618720,-0.751292,-0.229662],[0.777202,-0.542701,-0.318484],[0.114637,-0.375547,0.919686]] 2025-10-28T17:12:54.364Z,1761671574.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:12:54.635Z,1761671574.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606562,-0.759106,-0.236307],[0.787208,-0.531840,-0.312169],[0.111292,-0.375373,0.920168]] 2025-10-28T17:12:55.040Z,1761671575.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594644,-0.766687,-0.242052],[0.796735,-0.521586,-0.305224],[0.107760,-0.374351,0.921004]] 2025-10-28T17:12:55.369Z,1761671575.369 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:12:55.444Z,1761671575.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582228,-0.774280,-0.247994],[0.806373,-0.511005,-0.297718],[0.103791,-0.373315,0.921880]] 2025-10-28T17:12:55.848Z,1761671575.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569898,-0.781156,-0.254973],[0.815670,-0.500213,-0.290638],[0.099493,-0.373608,0.922236]] 2025-10-28T17:12:56.251Z,1761671576.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557456,-0.787930,-0.261553],[0.824725,-0.489432,-0.283345],[0.095243,-0.373662,0.922662]] 2025-10-28T17:12:56.657Z,1761671576.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544432,-0.795051,-0.267374],[0.833854,-0.478406,-0.275345],[0.091000,-0.372857,0.923416]] 2025-10-28T17:12:57.058Z,1761671577.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530771,-0.802468,-0.272631],[0.843048,-0.466922,-0.266936],[0.086910,-0.371523,0.924347]] 2025-10-28T17:12:57.463Z,1761671577.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516275,-0.809923,-0.278362],[0.852377,-0.454382,-0.258824],[0.083145,-0.370894,0.924946]] 2025-10-28T17:12:57.870Z,1761671577.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501017,-0.817450,-0.284180],[0.861779,-0.441072,-0.250584],[0.079496,-0.370447,0.925445]] 2025-10-28T17:12:58.272Z,1761671578.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485050,-0.825173,-0.289511],[0.871171,-0.427161,-0.242063],[0.076076,-0.369626,0.926061]] 2025-10-28T17:12:58.675Z,1761671578.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468382,-0.832712,-0.295311],[0.880515,-0.412370,-0.233760],[0.072877,-0.369515,0.926363]] 2025-10-28T17:12:59.079Z,1761671579.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451111,-0.840039,-0.301387],[0.889733,-0.396891,-0.225505],[0.069815,-0.369882,0.926452]] 2025-10-28T17:12:59.491Z,1761671579.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433288,-0.847287,-0.307190],[0.898801,-0.381094,-0.216622],[0.066473,-0.369962,0.926666]] 2025-10-28T17:12:59.898Z,1761671579.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415220,-0.854305,-0.312657],[0.907555,-0.365297,-0.207126],[0.062736,-0.369757,0.927008]] 2025-10-28T17:13:00.295Z,1761671580.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397053,-0.860531,-0.319115],[0.915929,-0.349356,-0.197548],[0.058512,-0.370724,0.926898]] 2025-10-28T17:13:00.699Z,1761671580.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379184,-0.866427,-0.324845],[0.923745,-0.333966,-0.187513],[0.053979,-0.371176,0.926992]] 2025-10-28T17:13:01.108Z,1761671581.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361361,-0.872096,-0.329949],[0.931140,-0.318940,-0.176792],[0.048946,-0.371114,0.927296]] 2025-10-28T17:13:01.509Z,1761671581.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344550,-0.877534,-0.333495],[0.937739,-0.305094,-0.166022],[0.043943,-0.369934,0.928018]] 2025-10-28T17:13:02.315Z,1761671582.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312871,-0.886699,-0.340406],[0.949188,-0.279084,-0.145443],[0.033962,-0.368614,0.928962]] 2025-10-28T17:13:02.720Z,1761671582.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298434,-0.890337,-0.343858],[0.953965,-0.267003,-0.136604],[0.029813,-0.368795,0.929032]] 2025-10-28T17:13:03.123Z,1761671583.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284377,-0.893803,-0.346766],[0.958362,-0.255244,-0.128034],[0.025927,-0.368737,0.929172]] 2025-10-28T17:13:03.527Z,1761671583.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270265,-0.897511,-0.348468],[0.962530,-0.243523,-0.119303],[0.022216,-0.367654,0.929697]] 2025-10-28T17:13:03.931Z,1761671583.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256272,-0.900652,-0.350930],[0.966420,-0.231637,-0.111252],[0.018911,-0.367656,0.929770]] 2025-10-28T17:13:03.991Z,1761671583.991 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:13:03.992Z,1761671583.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:13:03.992Z,1761671583.992 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:13:03.992Z,1761671583.992 [marl:UpdateRudder:A] Stopped 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode] Stopped 2025-10-28T17:13:03.993Z,1761671583.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:13:03.994Z,1761671583.994 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:13:03.994Z,1761671583.994 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:13:03.994Z,1761671583.994 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:13:03.996Z,1761671583.996 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:13:03.997Z,1761671583.997 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:13:03.997Z,1761671583.997 [marl:UpdateSpeed] Stopped 2025-10-28T17:13:03.998Z,1761671583.998 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:13:04.335Z,1761671584.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242233,-0.903635,-0.353223],[0.970087,-0.219587,-0.103504],[0.015967,-0.367729,0.929796]] 2025-10-28T17:13:04.360Z,1761671584.360 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:13:04.360Z,1761671584.360 [marl:UpdateRudder:B] Stopped 2025-10-28T17:13:04.360Z,1761671584.360 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:13:04.360Z,1761671584.360 [marl:UpdateRudder] Stopped 2025-10-28T17:13:04.360Z,1761671584.360 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:13:04.741Z,1761671584.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227924,-0.906286,-0.355945],[0.973590,-0.207187,-0.095895],[0.013161,-0.368402,0.929574]] 2025-10-28T17:13:05.143Z,1761671585.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213288,-0.908918,-0.358296],[0.976936,-0.194567,-0.087980],[0.010254,-0.368797,0.929453]] 2025-10-28T17:13:05.551Z,1761671585.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198479,-0.911120,-0.361202],[0.980078,-0.181738,-0.080122],[0.007357,-0.369908,0.929039]] 2025-10-28T17:13:06.354Z,1761671586.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168660,-0.915465,-0.365346],[0.985673,-0.156095,-0.063896],[0.001466,-0.370889,0.928676]] 2025-10-28T17:13:06.765Z,1761671586.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153552,-0.917731,-0.366321],[0.988140,-0.142958,-0.056052],[-0.000928,-0.370584,0.928799]] 2025-10-28T17:13:07.163Z,1761671587.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138331,-0.920082,-0.366489],[0.990382,-0.129571,-0.048526],[-0.002839,-0.369677,0.929156]] 2025-10-28T17:13:07.596Z,1761671587.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123371,-0.921935,-0.367171],[0.992350,-0.116306,-0.041400],[-0.004536,-0.369470,0.929232]] 2025-10-28T17:13:07.976Z,1761671587.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107237,-0.923740,-0.367702],[0.994214,-0.101929,-0.033886],[-0.006177,-0.369208,0.929326]] 2025-10-28T17:13:08.375Z,1761671588.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090272,-0.925632,-0.367500],[0.995889,-0.086662,-0.026351],[-0.007457,-0.368368,0.929650]] 2025-10-28T17:13:08.783Z,1761671588.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072075,-0.927308,-0.367295],[0.997358,-0.070367,-0.018057],[-0.009101,-0.367626,0.929929]] 2025-10-28T17:13:09.189Z,1761671589.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052457,-0.928891,-0.366620],[0.998566,-0.052729,-0.009280],[-0.010711,-0.366581,0.930325]] 2025-10-28T17:13:09.626Z,1761671589.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011198,-0.930522,-0.366064],[0.999833,-0.015711,0.009351],[-0.014453,-0.365898,0.930543]] 2025-10-28T17:13:10.408Z,1761671590.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009627,-0.930761,-0.365503],[0.999808,0.002725,0.019396],[-0.017057,-0.365619,0.930608]] 2025-10-28T17:13:10.799Z,1761671590.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030297,-0.930279,-0.365600],[0.999335,0.020767,0.029973],[-0.020291,-0.366264,0.930290]] 2025-10-28T17:13:11.209Z,1761671591.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050292,-0.929484,-0.365419],[0.998450,0.038060,0.040606],[-0.023835,-0.366895,0.929957]] 2025-10-28T17:13:11.632Z,1761671591.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086242,-0.928246,-0.361830],[0.995768,0.068735,0.061007],[-0.031759,-0.365560,0.930246]] 2025-10-28T17:13:12.018Z,1761671592.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101304,-0.927779,-0.359115],[0.994236,0.081674,0.069462],[-0.035115,-0.364082,0.930705]] 2025-10-28T17:13:12.421Z,1761671592.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114819,-0.926625,-0.358026],[0.992658,0.093224,0.077070],[-0.038038,-0.364246,0.930525]] 2025-10-28T17:13:12.824Z,1761671592.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127405,-0.925909,-0.355613],[0.991028,0.104234,0.083661],[-0.040396,-0.363081,0.930881]] 2025-10-28T17:13:13.225Z,1761671593.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139314,-0.924945,-0.353651],[0.989350,0.114804,0.089475],[-0.042159,-0.362350,0.931088]] 2025-10-28T17:13:13.635Z,1761671593.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151509,-0.923869,-0.351443],[0.987523,0.126036,0.094405],[-0.042924,-0.361361,0.931437]] 2025-10-28T17:13:14.042Z,1761671594.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164189,-0.922466,-0.349425],[0.985498,0.138015,0.098715],[-0.042835,-0.360566,0.931750]] 2025-10-28T17:13:14.435Z,1761671594.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178760,-0.920641,-0.347081],[0.982965,0.151795,0.103625],[-0.042716,-0.359693,0.932092]] 2025-10-28T17:13:14.839Z,1761671594.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195156,-0.918005,-0.345225],[0.979847,0.167214,0.109263],[-0.042578,-0.359591,0.932138]] 2025-10-28T17:13:15.242Z,1761671595.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213451,-0.914759,-0.343009],[0.976015,0.184279,0.115916],[-0.042826,-0.359524,0.932153]] 2025-10-28T17:13:15.648Z,1761671595.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232852,-0.911379,-0.339364],[0.971540,0.202395,0.123074],[-0.043481,-0.358363,0.932569]] 2025-10-28T17:13:16.061Z,1761671596.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253128,-0.907196,-0.336037],[0.966395,0.221026,0.131260],[-0.044806,-0.357970,0.932658]] 2025-10-28T17:13:16.455Z,1761671596.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273633,-0.902675,-0.332118],[0.960691,0.239667,0.140116],[-0.046882,-0.357403,0.932773]] 2025-10-28T17:13:16.859Z,1761671596.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293317,-0.898066,-0.327785],[0.954723,0.257344,0.149259],[-0.049691,-0.356724,0.932887]] 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateRudder:A] Stopped 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:13:16.918Z,1761671596.918 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateCommandMode] Stopped 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:13:16.919Z,1761671596.919 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:13:16.920Z,1761671596.920 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:13:16.924Z,1761671596.924 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:13:16.924Z,1761671596.924 [marl:UpdateSpeed] Stopped 2025-10-28T17:13:16.924Z,1761671596.924 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:13:17.263Z,1761671597.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312033,-0.893080,-0.324104],[0.948593,0.273836,0.158698],[-0.052979,-0.356962,0.932615]] 2025-10-28T17:13:17.289Z,1761671597.289 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:13:17.289Z,1761671597.289 [marl:UpdateRudder:B] Stopped 2025-10-28T17:13:17.289Z,1761671597.289 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:13:17.289Z,1761671597.289 [marl:UpdateRudder] Stopped 2025-10-28T17:13:17.289Z,1761671597.289 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:13:17.668Z,1761671597.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329318,-0.888093,-0.320689],[0.942538,0.288933,0.167750],[-0.056320,-0.357505,0.932212]] 2025-10-28T17:13:18.071Z,1761671598.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344909,-0.883666,-0.316500],[0.936750,0.302692,0.175717],[-0.059473,-0.357088,0.932176]] 2025-10-28T17:13:18.475Z,1761671598.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358794,-0.879120,-0.313711],[0.931339,0.314759,0.183122],[-0.062243,-0.357875,0.931693]] 2025-10-28T17:13:18.890Z,1761671598.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371657,-0.874529,-0.311561],[0.926125,0.325933,0.189894],[-0.064520,-0.359120,0.931059]] 2025-10-28T17:13:19.283Z,1761671599.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384122,-0.870098,-0.308838],[0.920903,0.337063,0.195771],[-0.066242,-0.359610,0.930749]] 2025-10-28T17:13:19.687Z,1761671599.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395759,-0.866052,-0.305496],[0.915873,0.347777,0.200568],[-0.067458,-0.359172,0.930830]] 2025-10-28T17:13:20.098Z,1761671600.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407609,-0.861641,-0.302374],[0.910612,0.358838,0.204993],[-0.068127,-0.358902,0.930885]] 2025-10-28T17:13:20.501Z,1761671600.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419517,-0.857045,-0.299129],[0.905161,0.370097,0.209075],[-0.068480,-0.358471,0.931026]] 2025-10-28T17:13:20.903Z,1761671600.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431643,-0.851906,-0.296549],[0.899444,0.381528,0.213160],[-0.068451,-0.358738,0.930925]] 2025-10-28T17:13:21.306Z,1761671601.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443179,-0.847463,-0.292231],[0.893820,0.392874,0.216185],[-0.068399,-0.357011,0.931593]] 2025-10-28T17:13:21.711Z,1761671601.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454955,-0.842655,-0.288007],[0.887865,0.404295,0.219638],[-0.068639,-0.355637,0.932100]] 2025-10-28T17:13:22.120Z,1761671602.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467085,-0.837686,-0.283044],[0.881547,0.416340,0.222565],[-0.068597,-0.353473,0.932926]] 2025-10-28T17:13:22.518Z,1761671602.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479364,-0.832373,-0.278145],[0.874944,0.428558,0.225412],[-0.068426,-0.351416,0.933716]] 2025-10-28T17:13:22.923Z,1761671602.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492185,-0.826391,-0.273556],[0.867818,0.441208,0.228535],[-0.068164,-0.349878,0.934312]] 2025-10-28T17:13:23.327Z,1761671603.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505276,-0.819747,-0.269652],[0.860287,0.453924,0.232075],[-0.067841,-0.349240,0.934574]] 2025-10-28T17:13:23.732Z,1761671603.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519102,-0.812623,-0.264909],[0.852023,0.467420,0.235744],[-0.067748,-0.348084,0.935012]] 2025-10-28T17:13:24.135Z,1761671604.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533889,-0.804520,-0.260211],[0.842811,0.481560,0.240353],[-0.068062,-0.347630,0.935158]] 2025-10-28T17:13:24.538Z,1761671604.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549325,-0.795654,-0.255299],[0.832775,0.496145,0.245612],[-0.068756,-0.347527,0.935146]] 2025-10-28T17:13:24.943Z,1761671604.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565443,-0.785983,-0.250010],[0.821819,0.511206,0.251558],[-0.069913,-0.347705,0.934994]] 2025-10-28T17:13:25.356Z,1761671605.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581657,-0.775772,-0.244648],[0.810259,0.526012,0.258439],[-0.071802,-0.348551,0.934535]] 2025-10-28T17:13:25.493Z,1761671605.493 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:13:25.758Z,1761671605.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597899,-0.765476,-0.237830],[0.798134,0.541081,0.264977],[-0.074148,-0.348250,0.934465]] 2025-10-28T17:13:26.154Z,1761671606.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613251,-0.755156,-0.231652],[0.786165,0.555078,0.271723],[-0.076609,-0.348751,0.934079]] 2025-10-28T17:13:26.496Z,1761671606.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:13:26.559Z,1761671606.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627725,-0.745228,-0.224934],[0.774380,0.568363,0.278027],[-0.079349,-0.348709,0.933866]] 2025-10-28T17:13:26.964Z,1761671606.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640580,-0.735758,-0.219813],[0.763532,0.579827,0.284288],[-0.081714,-0.349943,0.933200]] 2025-10-28T17:13:27.381Z,1761671607.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652532,-0.726404,-0.215729],[0.753142,0.590330,0.290323],[-0.083541,-0.351920,0.932295]] 2025-10-28T17:13:27.777Z,1761671607.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663758,-0.717688,-0.210594],[0.743105,0.600792,0.294691],[-0.084973,-0.352097,0.932098]] 2025-10-28T17:13:28.230Z,1761671608.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673367,-0.709955,-0.206256],[0.734345,0.610017,0.297685],[-0.085523,-0.351914,0.932117]] 2025-10-28T17:13:28.654Z,1761671608.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682881,-0.701876,-0.202591],[0.725484,0.619031,0.300787],[-0.085705,-0.352378,0.931925]] 2025-10-28T17:13:29.058Z,1761671609.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692382,-0.693561,-0.198949],[0.716507,0.628422,0.302827],[-0.085005,-0.352220,0.932049]] 2025-10-28T17:13:29.459Z,1761671609.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702113,-0.684673,-0.195606],[0.707066,0.637863,0.305269],[-0.084240,-0.352639,0.931960]] 2025-10-28T17:13:29.873Z,1761671609.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712124,-0.675131,-0.192556],[0.697099,0.647454,0.307988],[-0.083261,-0.353556,0.931700]] 2025-10-28T17:13:29.955Z,1761671609.955 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:13:29.955Z,1761671609.955 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:13:29.955Z,1761671609.955 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:13:29.956Z,1761671609.956 [marl:UpdateRudder:A] Stopped 2025-10-28T17:13:29.956Z,1761671609.956 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:13:29.956Z,1761671609.956 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:13:29.956Z,1761671609.956 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:13:29.956Z,1761671609.956 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateCommandMode] Stopped 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:13:29.957Z,1761671609.957 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:13:29.958Z,1761671609.958 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:13:29.958Z,1761671609.958 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:13:29.958Z,1761671609.958 [marl:UpdateSpeed] Stopped 2025-10-28T17:13:29.958Z,1761671609.958 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:13:30.267Z,1761671610.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723132,-0.664463,-0.188599],[0.685763,0.658051,0.310962],[-0.082515,-0.354201,0.931522]] 2025-10-28T17:13:30.339Z,1761671610.339 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:13:30.339Z,1761671610.339 [marl:UpdateRudder:B] Stopped 2025-10-28T17:13:30.339Z,1761671610.339 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:13:30.340Z,1761671610.340 [marl:UpdateRudder] Stopped 2025-10-28T17:13:30.348Z,1761671610.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:13:30.671Z,1761671610.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734672,-0.653046,-0.183815],[0.673420,0.669133,0.314270],[-0.082236,-0.354670,0.931368]] 2025-10-28T17:13:31.076Z,1761671611.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746186,-0.641286,-0.178768],[0.660631,0.680074,0.317908],[-0.082295,-0.355318,0.931116]] 2025-10-28T17:13:31.479Z,1761671611.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757572,-0.629436,-0.172901],[0.647492,0.691069,0.321212],[-0.082696,-0.355294,0.931090]] 2025-10-28T17:13:31.884Z,1761671611.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768390,-0.618137,-0.165785],[0.634530,0.702096,0.323161],[-0.083361,-0.353509,0.931709]] 2025-10-28T17:13:32.287Z,1761671612.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778513,-0.607047,-0.159411],[0.621924,0.711969,0.326054],[-0.084434,-0.352979,0.931814]] 2025-10-28T17:13:32.699Z,1761671612.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787893,-0.596519,-0.152938],[0.609870,0.721426,0.328029],[-0.085342,-0.351724,0.932205]] 2025-10-28T17:13:33.096Z,1761671613.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795916,-0.587029,-0.148034],[0.599258,0.729160,0.330478],[-0.086060,-0.351743,0.932132]] 2025-10-28T17:13:33.499Z,1761671613.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803055,-0.578354,-0.143560],[0.589569,0.736079,0.332560],[-0.086666,-0.351702,0.932092]] 2025-10-28T17:13:33.903Z,1761671613.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809484,-0.570279,-0.139706],[0.580683,0.742387,0.334170],[-0.086854,-0.351630,0.932101]] 2025-10-28T17:13:34.307Z,1761671614.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815460,-0.562310,-0.137230],[0.572274,0.747723,0.336769],[-0.086759,-0.353155,0.931534]] 2025-10-28T17:13:34.718Z,1761671614.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821312,-0.554203,-0.135299],[0.563895,0.752740,0.339712],[-0.086425,-0.355304,0.930747]] 2025-10-28T17:13:35.115Z,1761671615.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827511,-0.545426,-0.133179],[0.554831,0.758101,0.342703],[-0.085956,-0.357482,0.929956]] 2025-10-28T17:13:35.518Z,1761671615.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834221,-0.535914,-0.129892],[0.544835,0.764729,0.344011],[-0.085028,-0.357752,0.929938]] 2025-10-28T17:13:35.924Z,1761671615.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841780,-0.524791,-0.126493],[0.533257,0.771967,0.345981],[-0.083919,-0.358693,0.929676]] 2025-10-28T17:13:36.330Z,1761671616.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850350,-0.511888,-0.121968],[0.519682,0.780501,0.347489],[-0.082679,-0.358872,0.929718]] 2025-10-28T17:13:36.767Z,1761671616.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859882,-0.496895,-0.117037],[0.503909,0.789481,0.350423],[-0.081725,-0.360298,0.929250]] 2025-10-28T17:13:37.151Z,1761671617.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869454,-0.481471,-0.110614],[0.487309,0.799112,0.352065],[-0.081116,-0.360008,0.929416]] 2025-10-28T17:13:37.603Z,1761671617.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879361,-0.464777,-0.103474],[0.469228,0.808924,0.354214],[-0.080927,-0.360035,0.929422]] 2025-10-28T17:13:38.059Z,1761671618.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898891,-0.429307,-0.087695],[0.430559,0.828257,0.358621],[-0.081325,-0.360119,0.929355]] 2025-10-28T17:13:38.459Z,1761671618.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907789,-0.411894,-0.079133],[0.411337,0.837415,0.359915],[-0.081980,-0.359277,0.929623]] 2025-10-28T17:13:38.864Z,1761671618.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916610,-0.393524,-0.070463],[0.391114,0.846192,0.361923],[-0.082801,-0.359301,0.929541]] 2025-10-28T17:13:39.263Z,1761671619.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924517,-0.376128,-0.061616],[0.371793,0.854392,0.363021],[-0.083899,-0.358528,0.929741]] 2025-10-28T17:13:39.667Z,1761671619.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931279,-0.360371,-0.053401],[0.354157,0.861197,0.364572],[-0.085392,-0.358431,0.929643]] 2025-10-28T17:13:40.071Z,1761671620.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936783,-0.346845,-0.046216],[0.339025,0.867002,0.365197],[-0.086597,-0.357779,0.929782]] 2025-10-28T17:13:40.476Z,1761671620.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941277,-0.335217,-0.040344],[0.326132,0.871766,0.365597],[-0.087384,-0.357285,0.929899]] 2025-10-28T17:13:40.878Z,1761671620.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945079,-0.324885,-0.035718],[0.314745,0.875193,0.367387],[-0.088099,-0.358452,0.929382]] 2025-10-28T17:13:41.300Z,1761671621.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948468,-0.315309,-0.031439],[0.304236,0.878414,0.368549],[-0.088590,-0.359122,0.929076]] 2025-10-28T17:13:41.687Z,1761671621.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951494,-0.306415,-0.027724],[0.294612,0.881443,0.369137],[-0.088672,-0.359399,0.928962]] 2025-10-28T17:13:42.090Z,1761671622.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954331,-0.297690,-0.025142],[0.285357,0.883399,0.371722],[-0.088448,-0.361920,0.928004]] 2025-10-28T17:13:42.497Z,1761671622.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957043,-0.289009,-0.023268],[0.276401,0.885155,0.374303],[-0.087582,-0.364656,0.927014]] 2025-10-28T17:13:42.918Z,1761671622.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959652,-0.280322,-0.022084],[0.267578,0.886236,0.378137],[-0.086428,-0.368789,0.925486]] 2025-10-28T17:13:42.923Z,1761671622.923 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T17:13:42.986Z,1761671622.986 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:13:42.986Z,1761671622.986 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:13:42.987Z,1761671622.987 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:13:42.987Z,1761671622.987 [marl:UpdateRudder:A] Stopped 2025-10-28T17:13:42.987Z,1761671622.987 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:13:42.987Z,1761671622.987 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:13:42.990Z,1761671622.990 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:13:42.990Z,1761671622.990 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateCommandMode] Stopped 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:13:42.991Z,1761671622.991 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:13:43.001Z,1761671623.001 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:13:43.001Z,1761671623.001 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:13:43.001Z,1761671623.001 [marl:UpdateSpeed] Stopped 2025-10-28T17:13:43.001Z,1761671623.001 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:13:43.341Z,1761671623.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962100,-0.271910,-0.020699],[0.259048,0.887597,0.380874],[-0.085191,-0.371801,0.924395]] 2025-10-28T17:13:43.386Z,1761671623.386 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:13:43.386Z,1761671623.386 [marl:UpdateRudder:B] Stopped 2025-10-28T17:13:43.386Z,1761671623.386 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:13:43.386Z,1761671623.386 [marl:UpdateRudder] Stopped 2025-10-28T17:13:43.386Z,1761671623.386 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:13:43.742Z,1761671623.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964478,-0.263435,-0.019575],[0.250699,0.889454,0.382127],[-0.083254,-0.373460,0.923903]] 2025-10-28T17:13:44.144Z,1761671624.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967140,-0.253589,-0.018217],[0.241020,0.891679,0.383168],[-0.080923,-0.374968,0.923499]] 2025-10-28T17:13:44.546Z,1761671624.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970270,-0.241529,-0.015503],[0.228937,0.895134,0.382522],[-0.078513,-0.374698,0.923816]] 2025-10-28T17:13:44.951Z,1761671624.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974006,-0.226250,-0.011075],[0.213323,0.899715,0.380796],[-0.076190,-0.373260,0.924593]] 2025-10-28T17:13:45.359Z,1761671625.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977874,-0.209120,-0.005538],[0.195644,0.904843,0.378130],[-0.074063,-0.370847,0.925736]] 2025-10-28T17:13:45.766Z,1761671625.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981656,-0.190656,0.000884],[0.176473,0.910364,0.374292],[-0.072166,-0.367270,0.927310]] 2025-10-28T17:13:46.162Z,1761671626.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985120,-0.171694,0.007744],[0.156749,0.916024,0.369228],[-0.070488,-0.362520,0.929307]] 2025-10-28T17:13:46.567Z,1761671626.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988270,-0.152020,0.014579],[0.136324,0.921187,0.364459],[-0.068835,-0.358196,0.931105]] 2025-10-28T17:13:46.600Z,1761671626.600 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:13:46.770Z,1761671626.770 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:13:46.770Z,1761671626.770 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:13:46.971Z,1761671626.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991065,-0.131671,0.021259],[0.115250,0.925655,0.360390],[-0.067131,-0.354720,0.932560]] 2025-10-28T17:13:47.021Z,1761671627.021 [DAT](INFO): DAT read: user:50> 2025-10-28T17:13:47.022Z,1761671627.022 [DAT](INFO): DAT read: Tx time:17:13:46.7612 2025-10-28T17:13:47.022Z,1761671627.022 [DAT](INFO): Ping request sent. 2025-10-28T17:13:47.022Z,1761671627.022 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:13:47.022Z,1761671627.022 [DAT](INFO): publishing transmit ping time 2025-10-28T17:13:47.023Z,1761671627.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000984 2025-10-28T17:13:47.273Z,1761671627.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251434 2025-10-28T17:13:47.375Z,1761671627.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993474,-0.110638,0.027720],[0.093513,0.929249,0.357423],[-0.065303,-0.352499,0.933531]] 2025-10-28T17:13:47.525Z,1761671627.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832 2025-10-28T17:13:47.777Z,1761671627.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755089 2025-10-28T17:13:47.785Z,1761671627.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995309,-0.090648,0.033794],[0.072745,0.931550,0.356261],[-0.063775,-0.352132,0.933775]] 2025-10-28T17:13:48.029Z,1761671628.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007367 2025-10-28T17:13:48.183Z,1761671628.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996529,-0.073531,0.039038],[0.054895,0.932911,0.355899],[-0.062589,-0.352520,0.933709]] 2025-10-28T17:13:48.281Z,1761671628.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258914 2025-10-28T17:13:48.534Z,1761671628.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511650 2025-10-28T17:13:48.594Z,1761671628.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997303,-0.059004,0.043639],[0.039614,0.933383,0.356688],[-0.061778,-0.353998,0.933204]] 2025-10-28T17:13:48.785Z,1761671628.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762911 2025-10-28T17:13:48.991Z,1761671628.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997810,-0.045221,0.048270],[0.024973,0.933334,0.358139],[-0.061248,-0.356149,0.932420]] 2025-10-28T17:13:49.037Z,1761671629.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015142 2025-10-28T17:13:49.289Z,1761671629.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266979 2025-10-28T17:13:49.394Z,1761671629.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998107,-0.031247,0.052975],[0.010038,0.932540,0.360928],[-0.060679,-0.359713,0.931088]] 2025-10-28T17:13:49.544Z,1761671629.544 [DAT](INFO): DAT read: Rx Time:17:13:48.8494 2025-10-28T17:13:49.546Z,1761671629.546 [DAT](INFO): Rx dataTimestamp_ set to:1761671629.544647 2025-10-28T17:13:49.546Z,1761671629.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524127 2025-10-28T17:13:49.793Z,1761671629.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771000 2025-10-28T17:13:49.801Z,1761671629.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998168,-0.017305,0.057974],[-0.004963,0.931574,0.363518],[-0.060298,-0.363140,0.929781]] 2025-10-28T17:13:50.055Z,1761671630.055 [DAT](INFO): DAT read: 17:13:48.8494 LVL= 18352, 14449, 18898, 20787, AGC= 44, IDX= 9,-0.15,-2.234,-1.581, 2.916,-2.059, PHS=-0.073, 0.522,-1.352, RAW= 11.9, 10.9, CAL= 11.7, 12.3, ROT= 138.3, -12.3 2025-10-28T17:13:50.056Z,1761671630.056 [DAT](INFO): got valid direction response: 17:13:48.8494 LVL= 18352, 14449, 18898, 20787, AGC= 44, IDX= 9,-0.15,-2.234,-1.581, 2.916,-2.059, PHS=-0.073, 0.522,-1.352, RAW= 11.9, 10.9, CAL= 11.7, 12.3, ROT= 138.3, -12.3 2025-10-28T17:13:50.057Z,1761671630.057 [DAT](INFO): DAT read: Bearing 105, -2 (Remote) 2025-10-28T17:13:50.057Z,1761671630.057 [DAT](INFO): Remote Bearing received:Bearing 105, -2 (Remote) 2025-10-28T17:13:50.058Z,1761671630.058 [DAT](INFO): DAT read: Bearing 310.8, 35.1 (Local) 2025-10-28T17:13:50.058Z,1761671630.058 [DAT](INFO): Local bearing/azimuth received: Bearing 310.8, 35.1 (Local) 2025-10-28T17:13:50.060Z,1761671630.060 [DAT](INFO): DAT read: Range 11 to 20 : 44.2 m (Round-trip 59.0 ms) speed -0.3 m/s 2025-10-28T17:13:50.060Z,1761671630.060 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:13:50.061Z,1761671630.061 [DAT](INFO): direction in FSK: [-0.729500,0.649960,0.213030] 2025-10-28T17:13:50.062Z,1761671630.062 [DAT](INFO): publishing direction and range info 2025-10-28T17:13:50.205Z,1761671630.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998016,-0.003024,0.062896],[-0.020172,0.930855,0.364832],[-0.059650,-0.365377,0.928947]] 2025-10-28T17:13:50.236Z,1761671630.236 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671680.00. Resetting abort timer. 2025-10-28T17:13:50.608Z,1761671630.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997655,0.010453,0.067645],[-0.034551,0.930027,0.365862],[-0.059087,-0.367341,0.928207]] 2025-10-28T17:13:51.011Z,1761671631.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997168,0.022650,0.071708],[-0.047388,0.929673,0.365326],[-0.058390,-0.367689,0.928114]] 2025-10-28T17:13:51.834Z,1761671631.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995977,0.044537,0.077756],[-0.069860,0.929358,0.362510],[-0.056118,-0.366483,0.928731]] 2025-10-28T17:13:52.223Z,1761671632.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995302,0.054543,0.079995],[-0.079962,0.928929,0.361521],[-0.054592,-0.366219,0.928926]] 2025-10-28T17:13:52.627Z,1761671632.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994490,0.064919,0.082312],[-0.090568,0.927474,0.362752],[-0.052793,-0.368208,0.928243]] 2025-10-28T17:13:53.053Z,1761671633.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993519,0.075554,0.084919],[-0.101608,0.925208,0.365604],[-0.050945,-0.371863,0.926889]] 2025-10-28T17:13:53.455Z,1761671633.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992378,0.086166,0.088095],[-0.112901,0.922237,0.369773],[-0.049382,-0.376901,0.924936]] 2025-10-28T17:13:53.877Z,1761671633.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991066,0.096963,0.091580],[-0.124550,0.918445,0.375427],[-0.047709,-0.383480,0.922316]] 2025-10-28T17:13:54.292Z,1761671634.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989577,0.107934,0.095332],[-0.136403,0.914797,0.380184],[-0.046175,-0.389225,0.919985]] 2025-10-28T17:13:54.695Z,1761671634.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987716,0.120398,0.099609],[-0.149769,0.911250,0.383657],[-0.044577,-0.393862,0.918088]] 2025-10-28T17:13:55.100Z,1761671635.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985349,0.134958,0.104281],[-0.165061,0.908509,0.383883],[-0.042932,-0.395471,0.917474]] 2025-10-28T17:13:55.907Z,1761671635.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978965,0.169347,0.113791],[-0.200202,0.904816,0.375802],[-0.039319,-0.390678,0.919687]] 2025-10-28T17:13:55.965Z,1761671635.965 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:13:55.965Z,1761671635.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:13:55.965Z,1761671635.965 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateRudder:A] Stopped 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode] Stopped 2025-10-28T17:13:55.966Z,1761671635.966 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed] Stopped 2025-10-28T17:13:55.967Z,1761671635.967 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:13:56.320Z,1761671636.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975110,0.187745,0.117947],[-0.218548,0.903537,0.368589],[-0.037369,-0.385192,0.922080]] 2025-10-28T17:13:56.382Z,1761671636.382 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:13:56.382Z,1761671636.382 [marl:UpdateRudder:B] Stopped 2025-10-28T17:13:56.382Z,1761671636.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:13:56.382Z,1761671636.382 [marl:UpdateRudder] Stopped 2025-10-28T17:13:56.382Z,1761671636.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:13:56.620Z,1761671636.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:13:56.718Z,1761671636.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970924,0.206181,0.121643],[-0.236736,0.902410,0.360017],[-0.035543,-0.378346,0.924981]] 2025-10-28T17:13:57.120Z,1761671637.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966482,0.224550,0.124461],[-0.254551,0.901240,0.350672],[-0.033426,-0.370600,0.928191]] 2025-10-28T17:13:57.522Z,1761671637.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961699,0.242880,0.127058],[-0.272352,0.899051,0.342830],[-0.030965,-0.364304,0.930765]] 2025-10-28T17:13:57.624Z,1761671637.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:13:57.934Z,1761671637.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956554,0.261620,0.128682],[-0.290220,0.896597,0.334495],[-0.027866,-0.357308,0.933571]] 2025-10-28T17:13:58.375Z,1761671638.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951058,0.280274,0.130132],[-0.308074,0.892766,0.328725],[-0.024044,-0.352727,0.935417]] 2025-10-28T17:13:58.781Z,1761671638.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945311,0.298604,0.131238],[-0.325588,0.887925,0.324933],[-0.019503,-0.349893,0.936587]] 2025-10-28T17:13:59.181Z,1761671639.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939668,0.315384,0.132501],[-0.341772,0.882134,0.324086],[-0.014672,-0.349819,0.936703]] 2025-10-28T17:13:59.623Z,1761671639.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934851,0.329172,0.133038],[-0.354898,0.876995,0.323926],[-0.010046,-0.350038,0.936682]] 2025-10-28T17:13:59.987Z,1761671639.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930732,0.340352,0.133789],[-0.365662,0.871609,0.326480],[-0.005494,-0.352787,0.935687]] 2025-10-28T17:14:00.391Z,1761671640.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926862,0.350186,0.135264],[-0.375400,0.865880,0.330647],[-0.001334,-0.357242,0.934011]] 2025-10-28T17:14:00.800Z,1761671640.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922920,0.359462,0.137861],[-0.384983,0.859223,0.336934],[0.002662,-0.364037,0.931381]] 2025-10-28T17:14:01.200Z,1761671641.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918900,0.368250,0.141473],[-0.394440,0.851947,0.344387],[0.006293,-0.372260,0.928107]] 2025-10-28T17:14:01.627Z,1761671641.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914624,0.377085,0.145839],[-0.404191,0.844250,0.351953],[0.009592,-0.380852,0.924586]] 2025-10-28T17:14:02.006Z,1761671642.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909889,0.386691,0.150242],[-0.414656,0.836594,0.358009],[0.012747,-0.388047,0.921551]] 2025-10-28T17:14:02.422Z,1761671642.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904538,0.397347,0.154680],[-0.426099,0.828878,0.362492],[0.015824,-0.393797,0.919061]] 2025-10-28T17:14:02.825Z,1761671642.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898547,0.409277,0.158451],[-0.438469,0.821565,0.364385],[0.018957,-0.396893,0.917669]] 2025-10-28T17:14:03.219Z,1761671643.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891798,0.422327,0.162282],[-0.451896,0.814003,0.364951],[0.022031,-0.398797,0.916774]] 2025-10-28T17:14:03.633Z,1761671643.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884577,0.436504,0.164278],[-0.465692,0.807323,0.362438],[0.025581,-0.397107,0.917416]] 2025-10-28T17:14:04.027Z,1761671644.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876942,0.450896,0.166331],[-0.479713,0.800262,0.359799],[0.029123,-0.395315,0.918084]] 2025-10-28T17:14:04.835Z,1761671644.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861170,0.479496,0.168730],[-0.507073,0.787139,0.351126],[0.035550,-0.387938,0.921000]] 2025-10-28T17:14:05.249Z,1761671645.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852649,0.494068,0.169963],[-0.521037,0.779838,0.346948],[0.038872,-0.384382,0.922355]] 2025-10-28T17:14:05.651Z,1761671645.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843913,0.508143,0.172051],[-0.534820,0.771657,0.344257],[0.042167,-0.382539,0.922976]] 2025-10-28T17:14:06.089Z,1761671646.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825477,0.536193,0.176307],[-0.562363,0.754549,0.338237],[0.048328,-0.378356,0.924398]] 2025-10-28T17:14:06.491Z,1761671646.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816258,0.549548,0.178099],[-0.575410,0.746089,0.335045],[0.051246,-0.375963,0.925216]] 2025-10-28T17:14:06.895Z,1761671646.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806776,0.562332,0.181369],[-0.588406,0.736709,0.333225],[0.053767,-0.375557,0.925239]] 2025-10-28T17:14:07.311Z,1761671647.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796769,0.575187,0.185256],[-0.601667,0.726619,0.331695],[0.056177,-0.375747,0.925018]] 2025-10-28T17:14:07.706Z,1761671647.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786872,0.587072,0.190208],[-0.614377,0.716236,0.330977],[0.058074,-0.377296,0.924270]] 2025-10-28T17:14:08.106Z,1761671648.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776712,0.599050,0.194573],[-0.627031,0.706184,0.328841],[0.059588,-0.377418,0.924124]] 2025-10-28T17:14:08.514Z,1761671648.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765723,0.611608,0.199006],[-0.640283,0.695596,0.325857],[0.060869,-0.376937,0.924237]] 2025-10-28T17:14:08.916Z,1761671648.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754032,0.624698,0.202949],[-0.653856,0.684469,0.322451],[0.062523,-0.375838,0.924574]] 2025-10-28T17:14:08.940Z,1761671648.940 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:14:08.940Z,1761671648.940 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:14:08.940Z,1761671648.940 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateRudder:A] Stopped 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode] Stopped 2025-10-28T17:14:08.941Z,1761671648.941 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed] Stopped 2025-10-28T17:14:08.942Z,1761671648.942 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:14:09.321Z,1761671649.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742531,0.637405,0.205821],[-0.666755,0.674060,0.317934],[0.063917,-0.373308,0.925503]] 2025-10-28T17:14:09.351Z,1761671649.351 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:14:09.351Z,1761671649.351 [marl:UpdateRudder:B] Stopped 2025-10-28T17:14:09.351Z,1761671649.351 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:14:09.352Z,1761671649.352 [marl:UpdateRudder] Stopped 2025-10-28T17:14:09.352Z,1761671649.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:14:09.723Z,1761671649.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730672,0.649733,0.209679],[-0.679570,0.662631,0.314810],[0.065603,-0.372515,0.925705]] 2025-10-28T17:14:10.531Z,1761671650.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707858,0.673399,0.213238],[-0.702933,0.641882,0.306387],[0.069447,-0.366770,0.927716]] 2025-10-28T17:14:10.935Z,1761671650.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699636,0.682436,0.211638],[-0.711006,0.635717,0.300558],[0.070570,-0.360757,0.929986]] 2025-10-28T17:14:11.338Z,1761671651.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695477,0.689079,0.203672],[-0.715118,0.636104,0.289790],[0.070132,-0.347192,0.935168]] 2025-10-28T17:14:12.147Z,1761671652.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695037,0.696110,0.179873],[-0.715995,0.647394,0.261213],[0.065384,-0.310341,0.948374]] 2025-10-28T17:14:12.550Z,1761671652.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696930,0.697456,0.166862],[-0.714462,0.655184,0.245516],[0.061911,-0.290324,0.954924]] 2025-10-28T17:14:12.954Z,1761671652.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698951,0.697862,0.156387],[-0.712787,0.661930,0.231912],[0.058325,-0.273565,0.960083]] 2025-10-28T17:14:13.360Z,1761671653.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701171,0.697403,0.148286],[-0.710944,0.668108,0.219523],[0.054025,-0.259346,0.964272]] 2025-10-28T17:14:13.767Z,1761671653.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702830,0.696884,0.142767],[-0.709620,0.672826,0.209153],[0.049698,-0.248309,0.967405]] 2025-10-28T17:14:14.167Z,1761671654.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703750,0.696672,0.139229],[-0.708974,0.676053,0.200771],[0.045745,-0.240002,0.969694]] 2025-10-28T17:14:14.575Z,1761671654.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704437,0.696527,0.136452],[-0.708532,0.678760,0.193047],[0.041845,-0.232670,0.971655]] 2025-10-28T17:14:15.030Z,1761671655.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704505,0.696714,0.135138],[-0.708660,0.680303,0.187056],[0.038390,-0.227548,0.973010]] 2025-10-28T17:14:15.379Z,1761671655.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704851,0.696591,0.133961],[-0.708482,0.681949,0.181654],[0.035184,-0.222948,0.974195]] 2025-10-28T17:14:15.792Z,1761671655.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704936,0.696596,0.133491],[-0.708530,0.683015,0.177413],[0.032409,-0.219647,0.975041]] 2025-10-28T17:14:16.187Z,1761671656.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705333,0.696265,0.133118],[-0.708256,0.684323,0.173422],[0.029652,-0.216602,0.975810]] 2025-10-28T17:14:16.593Z,1761671656.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705391,0.696100,0.133672],[-0.708309,0.685086,0.170165],[0.026875,-0.214714,0.976307]] 2025-10-28T17:14:16.995Z,1761671656.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705373,0.695965,0.134469],[-0.708427,0.685723,0.167078],[0.024072,-0.213114,0.976731]] 2025-10-28T17:14:17.399Z,1761671657.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704974,0.695958,0.136581],[-0.708920,0.685749,0.164868],[0.021081,-0.213052,0.976813]] 2025-10-28T17:14:17.807Z,1761671657.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703444,0.696784,0.140210],[-0.710517,0.684332,0.163875],[0.018235,-0.214898,0.976466]] 2025-10-28T17:14:18.208Z,1761671658.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701029,0.698483,0.143807],[-0.712966,0.682114,0.162480],[0.015397,-0.216432,0.976176]] 2025-10-28T17:14:18.610Z,1761671658.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698144,0.700479,0.148072],[-0.715850,0.679366,0.161307],[0.012397,-0.218613,0.975733]] 2025-10-28T17:14:19.014Z,1761671659.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694583,0.703388,0.150997],[-0.719347,0.676207,0.159010],[0.009741,-0.219065,0.975662]] 2025-10-28T17:14:19.418Z,1761671659.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690303,0.707065,0.153429],[-0.723483,0.672408,0.156335],[0.007372,-0.218921,0.975715]] 2025-10-28T17:14:19.827Z,1761671659.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686379,0.710292,0.156105],[-0.727226,0.668873,0.154112],[0.005051,-0.219303,0.975644]] 2025-10-28T17:14:20.226Z,1761671660.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683137,0.712994,0.158001],[-0.730285,0.666099,0.151644],[0.002877,-0.218979,0.975725]] 2025-10-28T17:14:20.631Z,1761671660.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679702,0.715892,0.159701],[-0.733488,0.663068,0.149453],[0.001100,-0.218723,0.975786]] 2025-10-28T17:14:21.035Z,1761671661.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676756,0.718396,0.160965],[-0.736207,0.660635,0.146835],[-0.000853,-0.217875,0.975976]] 2025-10-28T17:14:21.446Z,1761671661.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675337,0.719546,0.161782],[-0.737502,0.659852,0.143830],[-0.003259,-0.216448,0.976289]] 2025-10-28T17:14:21.844Z,1761671661.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674508,0.719950,0.163434],[-0.738250,0.659305,0.142492],[-0.005165,-0.216767,0.976210]] 2025-10-28T17:14:21.893Z,1761671661.893 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:14:21.893Z,1761671661.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateRudder:A] Stopped 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:14:21.894Z,1761671661.894 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateCommandMode] Stopped 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:14:21.895Z,1761671661.895 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:14:21.896Z,1761671661.896 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:14:21.896Z,1761671661.896 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:14:21.896Z,1761671661.896 [marl:UpdateSpeed] Stopped 2025-10-28T17:14:21.896Z,1761671661.896 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:14:22.246Z,1761671662.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674817,0.719533,0.163996],[-0.737959,0.659812,0.141650],[-0.006284,-0.216610,0.976238]] 2025-10-28T17:14:22.304Z,1761671662.304 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:14:22.304Z,1761671662.304 [marl:UpdateRudder:B] Stopped 2025-10-28T17:14:22.304Z,1761671662.304 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:14:22.305Z,1761671662.305 [marl:UpdateRudder] Stopped 2025-10-28T17:14:22.305Z,1761671662.305 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:14:22.651Z,1761671662.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676181,0.718118,0.164578],[-0.736696,0.661382,0.140900],[-0.007666,-0.216518,0.976249]] 2025-10-28T17:14:23.054Z,1761671663.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677973,0.716193,0.165589],[-0.735029,0.663326,0.140466],[-0.009239,-0.216945,0.976140]] 2025-10-28T17:14:23.462Z,1761671663.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679879,0.714249,0.166169],[-0.733243,0.665480,0.139607],[-0.010868,-0.216758,0.976165]] 2025-10-28T17:14:23.865Z,1761671663.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681411,0.712460,0.167572],[-0.731795,0.667109,0.139432],[-0.012449,-0.217639,0.975950]] 2025-10-28T17:14:24.284Z,1761671664.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682814,0.710750,0.169115],[-0.730460,0.668546,0.139548],[-0.013878,-0.218817,0.975667]] 2025-10-28T17:14:24.670Z,1761671664.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684131,0.709652,0.168400],[-0.729195,0.670399,0.137257],[-0.015491,-0.216698,0.976116]] 2025-10-28T17:14:25.074Z,1761671665.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687429,0.707873,0.162350],[-0.726041,0.675220,0.130160],[-0.017485,-0.207349,0.978111]] 2025-10-28T17:14:25.483Z,1761671665.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694711,0.704460,0.145299],[-0.719006,0.685781,0.112849],[-0.020146,-0.182868,0.982931]] 2025-10-28T17:14:25.888Z,1761671665.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706029,0.698004,0.119637],[-0.707823,0.700913,0.087793],[-0.022575,-0.146666,0.988928]] 2025-10-28T17:14:26.290Z,1761671666.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719499,0.688204,0.093260],[-0.694051,0.717320,0.061194],[-0.024784,-0.108756,0.993759]] 2025-10-28T17:14:26.690Z,1761671666.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733428,0.676107,0.070447],[-0.679254,0.732954,0.037317],[-0.026404,-0.075221,0.996817]] 2025-10-28T17:14:27.095Z,1761671667.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747190,0.662574,0.051988],[-0.664030,0.747519,0.016726],[-0.027780,-0.047019,0.998508]] 2025-10-28T17:14:27.749Z,1761671667.749 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:14:27.903Z,1761671667.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770620,0.636733,0.026758],[-0.636677,0.771042,-0.011676],[-0.028066,-0.008038,0.999574]] 2025-10-28T17:14:28.306Z,1761671668.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780546,0.624791,0.019605],[-0.624532,0.780790,-0.018087],[-0.026608,0.001874,0.999644]] 2025-10-28T17:14:28.712Z,1761671668.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789580,0.613450,0.015561],[-0.613152,0.789708,-0.020144],[-0.024646,0.006364,0.999676]] 2025-10-28T17:14:28.753Z,1761671668.753 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:14:29.114Z,1761671669.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797769,0.602831,0.012620],[-0.602555,0.797824,-0.020110],[-0.022192,0.008439,0.999718]] 2025-10-28T17:14:29.519Z,1761671669.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805156,0.592985,0.009571],[-0.592746,0.805149,-0.019700],[-0.019388,0.010189,0.999760]] 2025-10-28T17:14:29.923Z,1761671669.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812196,0.583343,0.006946],[-0.583146,0.812147,-0.018916],[-0.016676,0.011313,0.999797]] 2025-10-28T17:14:30.328Z,1761671670.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818878,0.573949,0.004634],[-0.573797,0.818805,-0.017774],[-0.013996,0.011896,0.999831]] 2025-10-28T17:14:30.730Z,1761671670.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825485,0.564416,0.003049],[-0.564315,0.825420,-0.015216],[-0.011105,0.010840,0.999880]] 2025-10-28T17:14:31.135Z,1761671671.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832538,0.553967,-0.000208],[-0.553903,0.832436,-0.015553],[-0.008443,0.013064,0.999879]] 2025-10-28T17:14:31.546Z,1761671671.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840046,0.542503,-0.003573],[-0.542486,0.839915,-0.015852],[-0.005599,0.015254,0.999868]] 2025-10-28T17:14:31.945Z,1761671671.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848604,0.528990,-0.006443],[-0.529020,0.848456,-0.016143],[-0.003073,0.017107,0.999849]] 2025-10-28T17:14:32.347Z,1761671672.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857182,0.514915,-0.010069],[-0.515013,0.856998,-0.017802],[-0.000538,0.020445,0.999791]] 2025-10-28T17:14:32.759Z,1761671672.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865945,0.499972,-0.012939],[-0.500135,0.865749,-0.018538],[0.001934,0.022524,0.999744]] 2025-10-28T17:14:33.155Z,1761671673.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874745,0.484353,-0.014948],[-0.484564,0.874571,-0.017975],[0.004367,0.022967,0.999727]] 2025-10-28T17:14:33.575Z,1761671673.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883425,0.468258,-0.017189],[-0.468522,0.883277,-0.017571],[0.006955,0.023576,0.999698]] 2025-10-28T17:14:33.964Z,1761671673.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891634,0.452357,-0.019033],[-0.452651,0.891549,-0.015750],[0.009845,0.022658,0.999695]] 2025-10-28T17:14:34.366Z,1761671674.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899273,0.436930,-0.020013],[-0.437216,0.899261,-0.013101],[0.012273,0.020531,0.999714]] 2025-10-28T17:14:34.779Z,1761671674.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906187,0.422343,-0.021223],[-0.422613,0.906253,-0.010197],[0.014927,0.018210,0.999723]] 2025-10-28T17:14:34.819Z,1761671674.819 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateRudder:A] Stopped 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:14:34.820Z,1761671674.820 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateCommandMode] Stopped 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:14:34.821Z,1761671674.821 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:14:34.822Z,1761671674.822 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:14:34.822Z,1761671674.822 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:14:34.822Z,1761671674.822 [marl:UpdateSpeed] Stopped 2025-10-28T17:14:34.822Z,1761671674.822 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:14:35.178Z,1761671675.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912618,0.408222,-0.021983],[-0.408444,0.912760,-0.006578],[0.017379,0.014982,0.999737]] 2025-10-28T17:14:35.210Z,1761671675.210 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:14:35.210Z,1761671675.210 [marl:UpdateRudder:B] Stopped 2025-10-28T17:14:35.210Z,1761671675.210 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:14:35.210Z,1761671675.210 [marl:UpdateRudder] Stopped 2025-10-28T17:14:35.210Z,1761671675.210 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:14:35.618Z,1761671675.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918760,0.394121,-0.023417],[-0.394316,0.918966,-0.004178],[0.019873,0.013072,0.999717]] 2025-10-28T17:14:35.983Z,1761671675.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924738,0.379759,-0.025352],[-0.379947,0.925004,-0.002869],[0.022361,0.012285,0.999674]] 2025-10-28T17:14:36.386Z,1761671676.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930415,0.365477,-0.027477],[-0.365677,0.930739,-0.002481],[0.024667,0.012356,0.999619]] 2025-10-28T17:14:36.793Z,1761671676.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935927,0.350945,-0.029640],[-0.351173,0.936307,-0.002691],[0.026808,0.012927,0.999557]] 2025-10-28T17:14:37.197Z,1761671677.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941306,0.336084,-0.031461],[-0.336323,0.941743,-0.002484],[0.028793,0.012919,0.999502]] 2025-10-28T17:14:37.627Z,1761671677.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946260,0.321760,-0.032597],[-0.321974,0.946748,-0.001387],[0.030415,0.011808,0.999468]] 2025-10-28T17:14:38.003Z,1761671678.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950928,0.307585,-0.033579],[-0.307758,0.951465,0.000011],[0.031953,0.010324,0.999436]] 2025-10-28T17:14:38.408Z,1761671678.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955131,0.294124,-0.034857],[-0.294264,0.955724,0.001172],[0.033658,0.009137,0.999392]] 2025-10-28T17:14:38.811Z,1761671678.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959017,0.281101,-0.035620],[-0.281136,0.959659,0.004123],[0.035342,0.006060,0.999357]] 2025-10-28T17:14:39.249Z,1761671679.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962557,0.268578,-0.036750],[-0.268518,0.963252,0.006644],[0.037184,0.003473,0.999302]] 2025-10-28T17:14:39.631Z,1761671679.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965953,0.255864,-0.038329],[-0.255739,0.966711,0.008233],[0.039160,0.001850,0.999231]] 2025-10-28T17:14:40.023Z,1761671680.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969171,0.243040,-0.040477],[-0.242875,0.970016,0.009029],[0.041458,0.001080,0.999140]] 2025-10-28T17:14:40.428Z,1761671680.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972367,0.229422,-0.043229],[-0.229282,0.973325,0.008233],[0.043965,0.001906,0.999031]] 2025-10-28T17:14:40.830Z,1761671680.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975537,0.214946,-0.046111],[-0.214901,0.976617,0.005992],[0.046320,0.004064,0.998918]] 2025-10-28T17:14:41.247Z,1761671681.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978755,0.199176,-0.048668],[-0.199306,0.979935,0.002198],[0.048129,0.007549,0.998813]] 2025-10-28T17:14:41.640Z,1761671681.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981814,0.182890,-0.050914],[-0.183203,0.983074,-0.001515],[0.049775,0.010815,0.998702]] 2025-10-28T17:14:42.043Z,1761671682.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984532,0.167066,-0.052786],[-0.167497,0.985865,-0.003808],[0.051404,0.012591,0.998599]] 2025-10-28T17:14:42.446Z,1761671682.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986973,0.151367,-0.054513],[-0.151896,0.988380,-0.005678],[0.053020,0.013885,0.998497]] 2025-10-28T17:14:42.852Z,1761671682.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989038,0.136682,-0.055883],[-0.137247,0.990516,-0.006389],[0.054479,0.013989,0.998417]] 2025-10-28T17:14:43.263Z,1761671683.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990853,0.122174,-0.057309],[-0.122794,0.992405,-0.007394],[0.055971,0.014364,0.998329]] 2025-10-28T17:14:43.658Z,1761671683.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992407,0.108309,-0.058288],[-0.108807,0.994048,-0.005430],[0.057353,0.011731,0.998285]] 2025-10-28T17:14:44.063Z,1761671684.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993618,0.095809,-0.059526],[-0.096268,0.995343,-0.004889],[0.058781,0.010588,0.998215]] 2025-10-28T17:14:44.468Z,1761671684.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994659,0.083362,-0.060868],[-0.083718,0.996484,-0.003326],[0.060376,0.008404,0.998140]] 2025-10-28T17:14:44.871Z,1761671684.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995541,0.070868,-0.062251],[-0.071193,0.997458,-0.003008],[0.061880,0.007427,0.998056]] 2025-10-28T17:14:45.274Z,1761671685.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996295,0.057717,-0.063758],[-0.058056,0.998307,-0.003475],[0.063450,0.007164,0.997959]] 2025-10-28T17:14:45.679Z,1761671685.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996889,0.044745,-0.064891],[-0.045139,0.998970,-0.004619],[0.064617,0.007533,0.997882]] 2025-10-28T17:14:46.084Z,1761671686.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997335,0.031101,-0.065990],[-0.031674,0.999469,-0.007648],[0.065717,0.009718,0.997791]] 2025-10-28T17:14:46.487Z,1761671686.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997638,0.017192,-0.066505],[-0.017845,0.999798,-0.009226],[0.066333,0.010390,0.997743]] 2025-10-28T17:14:46.890Z,1761671686.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997787,0.003280,-0.066409],[-0.004043,0.999927,-0.011356],[0.066367,0.011599,0.997728]] 2025-10-28T17:14:46.940Z,1761671686.940 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:14:47.065Z,1761671687.065 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:14:47.065Z,1761671687.065 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:14:47.297Z,1761671687.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,-0.011155,-0.066517],[0.010257,0.999852,-0.013834],[0.066662,0.013120,0.997689]] 2025-10-28T17:14:47.317Z,1761671687.317 [DAT](INFO): DAT read: user:51> 2025-10-28T17:14:47.318Z,1761671687.318 [DAT](INFO): DAT read: Tx time:17:14:47.0610 2025-10-28T17:14:47.318Z,1761671687.318 [DAT](INFO): Ping request sent. 2025-10-28T17:14:47.318Z,1761671687.318 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:14:47.318Z,1761671687.318 [DAT](INFO): publishing transmit ping time 2025-10-28T17:14:47.319Z,1761671687.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T17:14:47.572Z,1761671687.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252987 2025-10-28T17:14:47.700Z,1761671687.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997469,-0.026551,-0.065953],[0.025489,0.999532,-0.016888],[0.066371,0.015165,0.997680]] 2025-10-28T17:14:47.821Z,1761671687.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886 2025-10-28T17:14:48.074Z,1761671688.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755470 2025-10-28T17:14:48.103Z,1761671688.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996889,-0.042767,-0.066206],[0.041430,0.998911,-0.021438],[0.067051,0.018629,0.997576]] 2025-10-28T17:14:48.142Z,1761671688.142 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:14:48.142Z,1761671688.142 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:14:48.142Z,1761671688.142 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateRudder:A] Stopped 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:14:48.143Z,1761671688.143 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateCommandMode] Stopped 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:14:48.144Z,1761671688.144 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:14:48.145Z,1761671688.145 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:14:48.145Z,1761671688.145 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:14:48.145Z,1761671688.145 [marl:UpdateSpeed] Stopped 2025-10-28T17:14:48.145Z,1761671688.145 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:14:48.325Z,1761671688.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006779 2025-10-28T17:14:48.507Z,1761671688.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996038,-0.059578,-0.066025],[0.057980,0.997983,-0.025870],[0.067433,0.021940,0.997483]] 2025-10-28T17:14:48.556Z,1761671688.556 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:14:48.556Z,1761671688.556 [marl:UpdateRudder:B] Stopped 2025-10-28T17:14:48.557Z,1761671688.557 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:14:48.557Z,1761671688.557 [marl:UpdateRudder] Stopped 2025-10-28T17:14:48.557Z,1761671688.557 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:14:48.577Z,1761671688.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098 2025-10-28T17:14:48.829Z,1761671688.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868 2025-10-28T17:14:48.916Z,1761671688.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993280,-0.095312,-0.065655],[0.093257,0.995072,-0.033691],[0.068543,0.027342,0.997273]] 2025-10-28T17:14:49.081Z,1761671689.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762934 2025-10-28T17:14:49.326Z,1761671689.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991331,-0.113781,-0.065702],[0.111604,0.993103,-0.035921],[0.069336,0.028277,0.997193]] 2025-10-28T17:14:49.333Z,1761671689.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785 2025-10-28T17:14:49.590Z,1761671689.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271730 2025-10-28T17:14:49.733Z,1761671689.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989052,-0.132046,-0.065873],[0.129735,0.990811,-0.038232],[0.070316,0.029267,0.997095]] 2025-10-28T17:14:49.837Z,1761671689.837 [DAT](INFO): DAT read: Rx Time:17:14:49.2246 2025-10-28T17:14:49.837Z,1761671689.837 [DAT](INFO): Rx dataTimestamp_ set to:1761671689.837201 2025-10-28T17:14:49.838Z,1761671689.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519997 2025-10-28T17:14:50.089Z,1761671690.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828 2025-10-28T17:14:50.127Z,1761671690.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986494,-0.149701,-0.066484],[0.147406,0.988338,-0.038216],[0.071429,0.027900,0.997055]] 2025-10-28T17:14:50.345Z,1761671690.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026505 2025-10-28T17:14:50.529Z,1761671690.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983736,-0.166748,-0.066780],[0.164457,0.985633,-0.038485],[0.072238,0.026877,0.997025]] 2025-10-28T17:14:50.599Z,1761671690.599 [DAT](INFO): DAT read: 17:14:49.2246 LVL= 31344, 20849, 32754, 32755, AGC= 59, IDX= 173,-0.36,-0.281, 1.113,-0.733, 0.276, PHS=-0.455, 0.883,-1.052, RAW= 347.6, 7.3, CAL= 347.5, 6.9, ROT= 162.5, -6.9 2025-10-28T17:14:50.601Z,1761671690.601 [DAT](INFO): got valid direction response: 17:14:49.2246 LVL= 31344, 20849, 32754, 32755, AGC= 59, IDX= 173,-0.36,-0.281, 1.113,-0.733, 0.276, PHS=-0.455, 0.883,-1.052, RAW= 347.6, 7.3, CAL= 347.5, 6.9, ROT= 162.5, -6.9 2025-10-28T17:14:50.601Z,1761671690.601 [DAT](INFO): DAT read: Bearing 136, -3 (Remote) 2025-10-28T17:14:50.602Z,1761671690.602 [DAT](INFO): Remote Bearing received:Bearing 136, -3 (Remote) 2025-10-28T17:14:50.603Z,1761671690.603 [DAT](INFO): DAT read: Bearing 340.2, 13.6 (Local) 2025-10-28T17:14:50.603Z,1761671690.603 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, 13.6 (Local) 2025-10-28T17:14:50.604Z,1761671690.604 [DAT](INFO): DAT read: Range 11 to 20 : 100.8 m (Round-trip 134.4 ms) speed -0.8 m/s 2025-10-28T17:14:50.605Z,1761671690.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:14:50.606Z,1761671690.606 [DAT](INFO): direction in FSK: [-0.946809,0.298528,0.120137] 2025-10-28T17:14:50.606Z,1761671690.606 [DAT](INFO): publishing direction and range info 2025-10-28T17:14:50.931Z,1761671690.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980851,-0.182731,-0.067390],[0.180563,0.982866,-0.037019],[0.073000,0.024142,0.997040]] 2025-10-28T17:14:50.996Z,1761671690.996 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671680.00. Resetting abort timer. 2025-10-28T17:14:51.335Z,1761671691.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977904,-0.197675,-0.068025],[0.195676,0.980045,-0.034962],[0.073578,0.020879,0.997071]] 2025-10-28T17:14:51.746Z,1761671691.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974997,-0.211387,-0.068536],[0.209471,0.977220,-0.034119],[0.074187,0.018910,0.997065]] 2025-10-28T17:14:52.143Z,1761671692.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972181,-0.223858,-0.068930],[0.222016,0.974470,-0.033416],[0.074650,0.017183,0.997062]] 2025-10-28T17:14:52.546Z,1761671692.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969344,-0.235790,-0.069108],[0.234103,0.971695,-0.031685],[0.074623,0.014535,0.997106]] 2025-10-28T17:14:52.950Z,1761671692.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966562,-0.247041,-0.068760],[0.245502,0.968928,-0.030130],[0.074067,0.012242,0.997178]] 2025-10-28T17:14:53.355Z,1761671693.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963563,-0.258704,-0.067964],[0.257291,0.965901,-0.028932],[0.073131,0.010391,0.997268]] 2025-10-28T17:14:53.765Z,1761671693.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960396,-0.270528,-0.066735],[0.269134,0.962659,-0.029235],[0.072152,0.010117,0.997342]] 2025-10-28T17:14:54.162Z,1761671694.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957479,-0.281029,-0.065248],[0.279616,0.959642,-0.030047],[0.071059,0.010525,0.997417]] 2025-10-28T17:14:54.567Z,1761671694.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954289,-0.292038,-0.063608],[0.290600,0.956342,-0.031003],[0.069885,0.011101,0.997493]] 2025-10-28T17:14:54.972Z,1761671694.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950738,-0.303707,-0.062128],[0.302233,0.952693,-0.032124],[0.068946,0.011764,0.997551]] 2025-10-28T17:14:55.382Z,1761671695.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947094,-0.315348,-0.059743],[0.313789,0.948879,-0.034134],[0.067452,0.013581,0.997630]] 2025-10-28T17:14:55.783Z,1761671695.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943361,-0.326703,-0.057746],[0.325119,0.945016,-0.035243],[0.066085,0.014472,0.997709]] 2025-10-28T17:14:56.183Z,1761671696.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939292,-0.338571,-0.055676],[0.336940,0.940809,-0.036740],[0.064820,0.015750,0.997773]] 2025-10-28T17:14:56.592Z,1761671696.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934977,-0.350628,-0.053648],[0.348988,0.936369,-0.037682],[0.063447,0.016509,0.997849]] 2025-10-28T17:14:56.992Z,1761671696.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930347,-0.363100,-0.051125],[0.361399,0.931569,-0.039633],[0.062017,0.018396,0.997905]] 2025-10-28T17:14:57.395Z,1761671697.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925272,-0.376165,-0.048697],[0.374406,0.926331,-0.041611],[0.060762,0.020269,0.997946]] 2025-10-28T17:14:57.799Z,1761671697.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919879,-0.389382,-0.046954],[0.387647,0.920849,-0.042036],[0.059606,0.020466,0.998012]] 2025-10-28T17:14:58.207Z,1761671698.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913732,-0.403836,-0.044830],[0.402130,0.914594,-0.042543],[0.058182,0.020846,0.998088]] 2025-10-28T17:14:58.614Z,1761671698.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906708,-0.419635,-0.042269],[0.417953,0.907436,-0.043308],[0.056530,0.021601,0.998167]] 2025-10-28T17:14:58.892Z,1761671698.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:14:59.011Z,1761671699.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898884,-0.436315,-0.040452],[0.434724,0.899556,-0.042594],[0.054973,0.020702,0.998273]] 2025-10-28T17:14:59.415Z,1761671699.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890323,-0.453678,-0.038742],[0.452159,0.890941,-0.042143],[0.053636,0.020003,0.998360]] 2025-10-28T17:14:59.818Z,1761671699.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881037,-0.471651,-0.036317],[0.470092,0.881517,-0.044063],[0.052797,0.021748,0.998369]] 2025-10-28T17:14:59.909Z,1761671699.909 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:15:00.230Z,1761671700.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870994,-0.490172,-0.033179],[0.488520,0.871265,-0.047391],[0.052138,0.025069,0.998325]] 2025-10-28T17:15:00.633Z,1761671700.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860549,-0.508430,-0.030883],[0.506752,0.860692,-0.049096],[0.051542,0.026600,0.998317]] 2025-10-28T17:15:01.031Z,1761671701.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849987,-0.525901,-0.030818],[0.524268,0.850180,-0.048347],[0.051627,0.024937,0.998355]] 2025-10-28T17:15:01.436Z,1761671701.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839596,-0.542289,-0.031653],[0.540723,0.839900,-0.046750],[0.051937,0.022136,0.998405]] 2025-10-28T17:15:01.481Z,1761671701.481 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:15:01.481Z,1761671701.481 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateRudder:A] Stopped 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:15:01.482Z,1761671701.482 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateCommandMode] Stopped 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:15:01.483Z,1761671701.483 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:15:01.488Z,1761671701.488 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:15:01.488Z,1761671701.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:15:01.488Z,1761671701.488 [marl:UpdateSpeed] Stopped 2025-10-28T17:15:01.488Z,1761671701.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:15:01.840Z,1761671701.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829552,-0.557463,-0.032843],[0.556001,0.829993,-0.044429],[0.052027,0.018596,0.998473]] 2025-10-28T17:15:01.883Z,1761671701.883 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:15:01.883Z,1761671701.883 [marl:UpdateRudder:B] Stopped 2025-10-28T17:15:01.883Z,1761671701.883 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:15:01.883Z,1761671701.883 [marl:UpdateRudder] Stopped 2025-10-28T17:15:01.884Z,1761671701.884 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:15:02.243Z,1761671702.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820110,-0.571246,-0.033142],[0.569821,0.820603,-0.043764],[0.052197,0.017007,0.998492]] 2025-10-28T17:15:02.647Z,1761671702.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810962,-0.584157,-0.033199],[0.582755,0.811485,-0.043448],[0.052320,0.015888,0.998504]] 2025-10-28T17:15:03.051Z,1761671703.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802219,-0.596133,-0.032701],[0.594728,0.802732,-0.043815],[0.052370,0.015701,0.998504]] 2025-10-28T17:15:03.473Z,1761671703.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793912,-0.607209,-0.031638],[0.605856,0.794397,-0.043254],[0.051397,0.015172,0.998563]] 2025-10-28T17:15:04.279Z,1761671704.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777579,-0.628165,-0.027914],[0.626995,0.777949,-0.040896],[0.047405,0.014298,0.998773]] 2025-10-28T17:15:04.682Z,1761671704.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771013,-0.636115,-0.029958],[0.635247,0.771561,-0.033977],[0.044728,0.007166,0.998973]] 2025-10-28T17:15:05.087Z,1761671705.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767629,-0.639753,-0.038227],[0.639519,0.768524,-0.019664],[0.041958,-0.009352,0.999076]] 2025-10-28T17:15:05.894Z,1761671705.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770098,-0.634404,-0.066935],[0.636937,0.770500,0.025328],[0.035505,-0.062138,0.997436]] 2025-10-28T17:15:06.298Z,1761671706.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773554,-0.628156,-0.083868],[0.632898,0.772523,0.051463],[0.032463,-0.092890,0.995147]] 2025-10-28T17:15:06.711Z,1761671706.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777403,-0.621264,-0.098366],[0.628341,0.774202,0.076146],[0.028848,-0.121003,0.992233]] 2025-10-28T17:15:07.108Z,1761671707.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781418,-0.614308,-0.109598],[0.623508,0.775686,0.097719],[0.024984,-0.144694,0.989161]] 2025-10-28T17:15:07.510Z,1761671707.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784776,-0.608727,-0.116522],[0.619415,0.776768,0.113824],[0.021223,-0.161502,0.986644]] 2025-10-28T17:15:07.915Z,1761671707.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786960,-0.605225,-0.119986],[0.616772,0.776979,0.126082],[0.016919,-0.173226,0.984737]] 2025-10-28T17:15:08.319Z,1761671708.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788225,-0.603266,-0.121537],[0.615259,0.776569,0.135634],[0.012558,-0.181687,0.983276]] 2025-10-28T17:15:08.726Z,1761671708.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788436,-0.603200,-0.120492],[0.615058,0.775781,0.140950],[0.008455,-0.185240,0.982657]] 2025-10-28T17:15:09.128Z,1761671709.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787503,-0.604931,-0.117888],[0.616296,0.774303,0.143648],[0.004384,-0.185777,0.982582]] 2025-10-28T17:15:09.530Z,1761671709.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786209,-0.607169,-0.114987],[0.617961,0.772588,0.145714],[0.000365,-0.185619,0.982622]] 2025-10-28T17:15:09.935Z,1761671709.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784300,-0.610255,-0.111633],[0.620373,0.770501,0.146511],[-0.003396,-0.184162,0.982890]] 2025-10-28T17:15:10.340Z,1761671710.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781970,-0.613917,-0.107835],[0.623274,0.768117,0.146718],[-0.007242,-0.181940,0.983283]] 2025-10-28T17:15:10.743Z,1761671710.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779211,-0.618069,-0.104023],[0.626666,0.765400,0.146464],[-0.010906,-0.179314,0.983731]] 2025-10-28T17:15:11.154Z,1761671711.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776095,-0.622473,-0.101013],[0.630450,0.762197,0.146932],[-0.014469,-0.177716,0.983975]] 2025-10-28T17:15:11.955Z,1761671711.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769721,-0.631094,-0.096177],[0.638029,0.755522,0.148675],[-0.021164,-0.175802,0.984198]] 2025-10-28T17:15:12.360Z,1761671712.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766387,-0.635536,-0.093521],[0.641914,0.752129,0.149160],[-0.024456,-0.174347,0.984381]] 2025-10-28T17:15:12.770Z,1761671712.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762808,-0.640097,-0.091655],[0.646047,0.748438,0.149876],[-0.027337,-0.173540,0.984447]] 2025-10-28T17:15:12.804Z,1761671712.804 [marl:NeedComms] Running Loop=1 2025-10-28T17:15:12.805Z,1761671712.805 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T17:15:12.805Z,1761671712.805 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T17:15:12.805Z,1761671712.805 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T17:15:12.805Z,1761671712.805 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T17:15:12.805Z,1761671712.805 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T17:15:12.806Z,1761671712.806 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T17:15:12.806Z,1761671712.806 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T17:15:12.806Z,1761671712.806 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T17:15:12.807Z,1761671712.807 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T17:15:12.807Z,1761671712.807 [marl:NeedComms:A] Running Loop=1 2025-10-28T17:15:12.809Z,1761671712.809 [marl:NeedComms:A](INFO): last time_fix was: 1761670511.000000 second since 1970/01/01T00:00:00Z 2025-10-28T17:15:12.809Z,1761671712.809 [marl:NeedComms:A] Stopped 2025-10-28T17:15:13.166Z,1761671713.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759425,-0.644471,-0.089059],[0.649887,0.745070,0.150060],[-0.030354,-0.171838,0.984657]] 2025-10-28T17:15:13.620Z,1761671713.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755856,-0.648787,-0.088074],[0.653913,0.741292,0.151272],[-0.032855,-0.171932,0.984561]] 2025-10-28T17:15:13.979Z,1761671713.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752345,-0.652974,-0.087191],[0.657825,0.737572,0.152495],[-0.035266,-0.172085,0.984451]] 2025-10-28T17:15:14.511Z,1761671714.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748957,-0.657063,-0.085626],[0.661568,0.734230,0.152426],[-0.037284,-0.170808,0.984599]] 2025-10-28T17:15:14.556Z,1761671714.556 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:15:14.556Z,1761671714.556 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:15:14.556Z,1761671714.556 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateRudder:A] Stopped 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:15:14.557Z,1761671714.557 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateCommandMode] Stopped 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:15:14.558Z,1761671714.558 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:15:14.559Z,1761671714.559 [marl:UpdateSpeed] Stopped 2025-10-28T17:15:14.559Z,1761671714.559 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:15:14.976Z,1761671714.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743328,-0.663777,-0.082848],[0.667598,0.728336,0.154399],[-0.042145,-0.170078,0.984529]] 2025-10-28T17:15:15.004Z,1761671715.004 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:15:15.004Z,1761671715.004 [marl:UpdateRudder:B] Stopped 2025-10-28T17:15:15.004Z,1761671715.004 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:15:15.005Z,1761671715.005 [marl:UpdateRudder] Stopped 2025-10-28T17:15:15.005Z,1761671715.005 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:15:15.375Z,1761671715.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741744,-0.666241,-0.077064],[0.668886,0.726450,0.157678],[-0.049069,-0.168504,0.984479]] 2025-10-28T17:15:15.785Z,1761671715.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741223,-0.667827,-0.067781],[0.668545,0.725384,0.163906],[-0.060294,-0.166806,0.984145]] 2025-10-28T17:15:16.194Z,1761671716.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741715,-0.668313,-0.056717],[0.666574,0.725113,0.172886],[-0.074415,-0.166038,0.983308]] 2025-10-28T17:15:16.589Z,1761671716.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741524,-0.669846,-0.038059],[0.664692,0.725735,0.177464],[-0.091253,-0.156891,0.983391]] 2025-10-28T17:15:16.991Z,1761671716.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738548,-0.674134,-0.009489],[0.665142,0.726253,0.173619],[-0.110151,-0.134537,0.984767]] 2025-10-28T17:15:17.397Z,1761671717.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733103,-0.679707,0.023627],[0.667416,0.725660,0.167251],[-0.130827,-0.106843,0.985631]] 2025-10-28T17:15:17.819Z,1761671717.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726064,-0.685176,0.058015],[0.670498,0.724167,0.161295],[-0.152528,-0.078211,0.985200]] 2025-10-28T17:15:18.218Z,1761671718.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717720,-0.690358,0.091020],[0.674105,0.721611,0.157668],[-0.174529,-0.051804,0.983288]] 2025-10-28T17:15:18.607Z,1761671718.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708959,-0.695001,0.119793],[0.677306,0.718315,0.158999],[-0.196553,-0.031587,0.979984]] 2025-10-28T17:15:19.011Z,1761671719.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699620,-0.699545,0.145493],[0.680283,0.714418,0.163773],[-0.218510,-0.015602,0.975710]] 2025-10-28T17:15:19.415Z,1761671719.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689266,-0.704717,0.168185],[0.683674,0.709482,0.170953],[-0.239798,-0.002849,0.970819]] 2025-10-28T17:15:19.823Z,1761671719.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677506,-0.711032,0.188203],[0.688087,0.703115,0.179348],[-0.259850,0.007991,0.965616]] 2025-10-28T17:15:20.223Z,1761671720.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664049,-0.718744,0.206024],[0.694179,0.695024,0.187236],[-0.277767,0.018684,0.960467]] 2025-10-28T17:15:20.626Z,1761671720.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648604,-0.728527,0.220368],[0.702133,0.684467,0.196250],[-0.293808,0.027439,0.955471]] 2025-10-28T17:15:21.039Z,1761671721.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631454,-0.739326,0.233802],[0.711714,0.672287,0.203696],[-0.307780,0.037776,0.950707]] 2025-10-28T17:15:21.443Z,1761671721.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612819,-0.751466,0.244441],[0.722679,0.658085,0.211329],[-0.319669,0.047146,0.946356]] 2025-10-28T17:15:21.862Z,1761671721.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593121,-0.764737,0.251764],[0.734627,0.642008,0.219430],[-0.329440,0.054804,0.942585]] 2025-10-28T17:15:22.247Z,1761671722.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572789,-0.778433,0.256816],[0.747019,0.624699,0.227407],[-0.337454,0.061590,0.939325]] 2025-10-28T17:15:22.655Z,1761671722.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552014,-0.793132,0.257335],[0.759845,0.605571,0.236474],[-0.343390,0.064998,0.936941]] 2025-10-28T17:15:23.069Z,1761671723.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531385,-0.807585,0.255805],[0.772535,0.585873,0.244832],[-0.347592,0.067519,0.935212]] 2025-10-28T17:15:23.478Z,1761671723.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510741,-0.821561,0.253341],[0.784919,0.565820,0.252486],[-0.350778,0.069897,0.933846]] 2025-10-28T17:15:23.867Z,1761671723.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490103,-0.835625,0.248054],[0.797033,0.544824,0.260587],[-0.352899,0.069993,0.933040]] 2025-10-28T17:15:24.298Z,1761671724.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469952,-0.849348,0.240317],[0.808446,0.523457,0.269087],[-0.354344,0.067825,0.932652]] 2025-10-28T17:15:24.688Z,1761671724.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450988,-0.861866,0.231942],[0.818677,0.502965,0.277116],[-0.355496,0.064909,0.932421]] 2025-10-28T17:15:25.080Z,1761671725.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433816,-0.873107,0.222456],[0.827314,0.483797,0.285467],[-0.356867,0.060201,0.932213]] 2025-10-28T17:15:25.479Z,1761671725.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418660,-0.882488,0.214335],[0.834403,0.466958,0.292783],[-0.358463,0.056265,0.931847]] 2025-10-28T17:15:25.885Z,1761671725.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404766,-0.890984,0.205698],[0.840468,0.451117,0.300177],[-0.360247,0.051381,0.931441]] 2025-10-28T17:15:26.287Z,1761671726.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391717,-0.898389,0.198633],[0.845677,0.436598,0.306942],[-0.362476,0.047745,0.930769]] 2025-10-28T17:15:26.694Z,1761671726.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379566,-0.904849,0.192816],[0.850151,0.423339,0.313092],[-0.364927,0.045084,0.929944]] 2025-10-28T17:15:27.099Z,1761671727.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368045,-0.910700,0.187532],[0.854018,0.410856,0.319140],[-0.367690,0.042698,0.928968]] 2025-10-28T17:15:27.501Z,1761671727.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356799,-0.916001,0.183401],[0.857454,0.399039,0.324871],[-0.370766,0.041345,0.927805]] 2025-10-28T17:15:27.529Z,1761671727.529 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateRudder:A] Stopped 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:15:27.530Z,1761671727.530 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateCommandMode] Stopped 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:15:27.531Z,1761671727.531 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:15:27.532Z,1761671727.532 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:15:27.532Z,1761671727.532 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:15:27.532Z,1761671727.532 [marl:UpdateSpeed] Stopped 2025-10-28T17:15:27.532Z,1761671727.532 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:15:27.905Z,1761671727.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345705,-0.921042,0.179360],[0.860859,0.387369,0.329951],[-0.373378,0.040338,0.926802]] 2025-10-28T17:15:27.954Z,1761671727.954 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:15:27.954Z,1761671727.954 [marl:UpdateRudder:B] Stopped 2025-10-28T17:15:27.954Z,1761671727.954 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:15:27.954Z,1761671727.954 [marl:UpdateRudder] Stopped 2025-10-28T17:15:27.954Z,1761671727.954 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:15:28.308Z,1761671728.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335104,-0.925733,0.175285],[0.864067,0.376126,0.334542],[-0.375625,0.039351,0.925936]] 2025-10-28T17:15:28.711Z,1761671728.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325065,-0.930083,0.171109],[0.867057,0.365352,0.338718],[-0.377551,0.038256,0.925198]] 2025-10-28T17:15:29.126Z,1761671729.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314990,-0.934271,0.167090],[0.869972,0.354594,0.342655],[-0.379382,0.037431,0.924483]] 2025-10-28T17:15:29.519Z,1761671729.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304933,-0.938287,0.163196],[0.872847,0.343887,0.346237],[-0.380991,0.036866,0.923843]] 2025-10-28T17:15:29.978Z,1761671729.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294881,-0.941934,0.160641],[0.875541,0.333684,0.349403],[-0.382718,0.037615,0.923099]] 2025-10-28T17:15:30.032Z,1761671730.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:15:30.327Z,1761671730.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284739,-0.945684,0.156865],[0.878125,0.322949,0.352988],[-0.384474,0.037237,0.922384]] 2025-10-28T17:15:30.735Z,1761671730.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274586,-0.949397,0.152475],[0.880701,0.311962,0.356434],[-0.385964,0.036413,0.921795]] 2025-10-28T17:15:31.037Z,1761671731.037 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:15:31.139Z,1761671731.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263843,-0.953132,0.148077],[0.883381,0.300418,0.359705],[-0.387331,0.035903,0.921241]] 2025-10-28T17:15:31.543Z,1761671731.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251612,-0.957027,0.144192],[0.886495,0.287677,0.362448],[-0.388353,0.036629,0.920782]] 2025-10-28T17:15:31.946Z,1761671731.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237781,-0.960958,0.141495],[0.890139,0.273884,0.364199],[-0.388733,0.039350,0.920510]] 2025-10-28T17:15:32.366Z,1761671732.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222419,-0.965206,0.137506],[0.894124,0.258168,0.365912],[-0.388680,0.041561,0.920435]] 2025-10-28T17:15:32.782Z,1761671732.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205273,-0.969629,0.132973],[0.898754,0.240541,0.366580],[-0.387432,0.044261,0.920835]] 2025-10-28T17:15:33.170Z,1761671733.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187683,-0.973807,0.128358],[0.903508,0.222421,0.366336],[-0.385290,0.047217,0.921587]] 2025-10-28T17:15:33.580Z,1761671733.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168957,-0.977883,0.123278],[0.908828,0.202972,0.364464],[-0.381425,0.050460,0.923021]] 2025-10-28T17:15:33.963Z,1761671733.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150403,-0.981582,0.117795],[0.914017,0.183470,0.361816],[-0.376764,0.053249,0.924778]] 2025-10-28T17:15:34.367Z,1761671734.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132383,-0.985062,0.110126],[0.918993,0.163609,0.358726],[-0.371385,0.053716,0.926924]] 2025-10-28T17:15:34.782Z,1761671734.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115077,-0.988241,0.100683],[0.923603,0.143756,0.355376],[-0.365671,0.052095,0.929285]] 2025-10-28T17:15:35.242Z,1761671735.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099038,-0.991084,0.089132],[0.927758,0.124353,0.351854],[-0.359800,0.047846,0.931802]] 2025-10-28T17:15:35.628Z,1761671735.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083717,-0.993614,0.075645],[0.931605,0.104984,0.347980],[-0.353700,0.041339,0.934445]] 2025-10-28T17:15:36.003Z,1761671736.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068850,-0.995679,0.062320],[0.935151,0.086171,0.343608],[-0.347493,0.034621,0.937043]] 2025-10-28T17:15:36.387Z,1761671736.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054594,-0.997354,0.048006],[0.938451,0.067673,0.338717],[-0.341070,0.026560,0.939663]] 2025-10-28T17:15:36.810Z,1761671736.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040368,-0.998607,0.033980],[0.941565,0.049399,0.333189],[-0.334403,0.018544,0.942248]] 2025-10-28T17:15:37.213Z,1761671737.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025795,-0.999452,0.020765],[0.944683,0.031165,0.326502],[-0.326970,0.011195,0.944969]] 2025-10-28T17:15:37.649Z,1761671737.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011508,-0.999870,0.011320],[0.947551,0.014521,0.319276],[-0.319399,0.007052,0.947594]] 2025-10-28T17:15:38.142Z,1761671738.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002905,-0.999993,0.002506],[0.950360,-0.001981,0.311147],[-0.311139,0.003285,0.950359]] 2025-10-28T17:15:38.541Z,1761671738.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017354,-0.999841,-0.004205],[0.952996,-0.017813,0.302459],[-0.302486,0.001242,0.953153]] 2025-10-28T17:15:38.944Z,1761671738.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030981,-0.999474,-0.009596],[0.955145,-0.032433,0.294358],[-0.294514,-0.000046,0.955647]] 2025-10-28T17:15:39.347Z,1761671739.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044179,-0.998897,-0.015931],[0.956791,-0.046894,0.286972],[-0.287402,-0.002565,0.957807]] 2025-10-28T17:15:39.758Z,1761671739.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056383,-0.998223,-0.019262],[0.957874,-0.059525,0.280951],[-0.281599,-0.002610,0.959529]] 2025-10-28T17:15:40.169Z,1761671740.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067761,-0.997458,-0.022027],[0.958413,-0.071211,0.276359],[-0.277225,-0.002384,0.960802]] 2025-10-28T17:15:40.560Z,1761671740.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078539,-0.996572,-0.026015],[0.958492,-0.082661,0.272875],[-0.274090,-0.003504,0.961698]] 2025-10-28T17:15:40.589Z,1761671740.589 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:15:40.589Z,1761671740.589 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:15:40.590Z,1761671740.590 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:15:40.590Z,1761671740.590 [marl:UpdateRudder:A] Stopped 2025-10-28T17:15:40.590Z,1761671740.590 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:15:40.591Z,1761671740.591 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:15:40.591Z,1761671740.591 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:15:40.591Z,1761671740.591 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:15:40.591Z,1761671740.591 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:15:40.593Z,1761671740.593 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:15:40.593Z,1761671740.593 [marl:UpdateCommandMode] Stopped 2025-10-28T17:15:40.593Z,1761671740.593 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:15:40.593Z,1761671740.593 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed] Stopped 2025-10-28T17:15:40.594Z,1761671740.594 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:15:40.966Z,1761671740.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088743,-0.995620,-0.029431],[0.957981,-0.093405,0.271199],[-0.272760,-0.004128,0.962073]] 2025-10-28T17:15:40.993Z,1761671740.993 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:15:40.993Z,1761671740.993 [marl:UpdateRudder:B] Stopped 2025-10-28T17:15:40.993Z,1761671740.993 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:15:40.993Z,1761671740.993 [marl:UpdateRudder] Stopped 2025-10-28T17:15:40.993Z,1761671740.993 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:15:41.373Z,1761671741.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111403,-0.993169,-0.034721],[0.955544,-0.116650,0.270794],[-0.272994,-0.003011,0.962011]] 2025-10-28T17:15:41.788Z,1761671741.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124393,-0.991506,-0.037987],[0.953697,-0.130040,0.271206],[-0.273842,-0.002492,0.961772]] 2025-10-28T17:15:42.179Z,1761671742.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138591,-0.989537,-0.040119],[0.951561,-0.144280,0.271505],[-0.274452,-0.000548,0.961600]] 2025-10-28T17:15:42.585Z,1761671742.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153270,-0.987336,-0.040933],[0.949298,-0.158618,0.271429],[-0.274485,0.002745,0.961588]] 2025-10-28T17:15:42.986Z,1761671742.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167589,-0.984960,-0.042050],[0.946999,-0.172694,0.270868],[-0.274056,0.005573,0.961698]] 2025-10-28T17:15:43.387Z,1761671743.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182791,-0.982200,-0.043250],[0.944497,-0.187649,0.269653],[-0.272969,0.008440,0.961986]] 2025-10-28T17:15:43.801Z,1761671743.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196327,-0.979472,-0.045722],[0.942001,-0.201350,0.268502],[-0.272196,0.009644,0.962193]] 2025-10-28T17:15:44.196Z,1761671744.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208323,-0.976977,-0.046016],[0.939266,-0.212958,0.269125],[-0.272729,0.012844,0.962005]] 2025-10-28T17:15:44.599Z,1761671744.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218605,-0.974644,-0.047761],[0.936234,-0.223285,0.271312],[-0.275097,0.014595,0.961306]] 2025-10-28T17:15:45.003Z,1761671745.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228108,-0.972296,-0.051051],[0.932744,-0.233263,0.274913],[-0.279205,0.015093,0.960113]] 2025-10-28T17:15:45.407Z,1761671745.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237605,-0.969660,-0.057481],[0.928450,-0.244104,0.279987],[-0.285524,0.013158,0.958281]] 2025-10-28T17:15:45.820Z,1761671745.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248388,-0.966615,-0.062928],[0.923061,-0.255892,0.287189],[-0.293704,0.013248,0.955805]] 2025-10-28T17:15:46.215Z,1761671746.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262175,-0.962647,-0.067641],[0.916515,-0.270327,0.294828],[-0.302101,0.015303,0.953153]] 2025-10-28T17:15:46.619Z,1761671746.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278353,-0.957852,-0.070988],[0.909082,-0.286591,0.302382],[-0.309982,0.019635,0.950540]] 2025-10-28T17:15:47.022Z,1761671747.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296215,-0.952270,-0.073747],[0.901137,-0.304229,0.308862],[-0.316556,0.025034,0.948243]] 2025-10-28T17:15:47.048Z,1761671747.048 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:15:47.069Z,1761671747.069 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:15:47.070Z,1761671747.070 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:15:47.321Z,1761671747.321 [DAT](INFO): DAT read: user:52> 2025-10-28T17:15:47.321Z,1761671747.321 [DAT](INFO): DAT read: Tx time:17:15:47.0608 2025-10-28T17:15:47.322Z,1761671747.322 [DAT](INFO): Ping request sent. 2025-10-28T17:15:47.322Z,1761671747.322 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:15:47.322Z,1761671747.322 [DAT](INFO): publishing transmit ping time 2025-10-28T17:15:47.323Z,1761671747.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951 2025-10-28T17:15:47.427Z,1761671747.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315549,-0.945778,-0.077019],[0.893042,-0.323430,0.312840],[-0.320788,0.029935,0.946678]] 2025-10-28T17:15:47.575Z,1761671747.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253146 2025-10-28T17:15:47.825Z,1761671747.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998 2025-10-28T17:15:47.833Z,1761671747.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335715,-0.938639,-0.079069],[0.885267,-0.343078,0.314006],[-0.321866,0.035419,0.946123]] 2025-10-28T17:15:48.077Z,1761671748.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754959 2025-10-28T17:15:48.235Z,1761671748.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356376,-0.930687,-0.082575],[0.877853,-0.363783,0.311505],[-0.319953,0.038524,0.946650]] 2025-10-28T17:15:48.329Z,1761671748.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007090 2025-10-28T17:15:48.581Z,1761671748.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259143 2025-10-28T17:15:48.655Z,1761671748.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377036,-0.922171,-0.086286],[0.870782,-0.384676,0.306209],[-0.315569,0.040315,0.948046]] 2025-10-28T17:15:48.833Z,1761671748.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511113 2025-10-28T17:15:49.043Z,1761671749.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396670,-0.913606,-0.089316],[0.863714,-0.404410,0.300751],[-0.310888,0.042155,0.949511]] 2025-10-28T17:15:49.086Z,1761671749.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764092 2025-10-28T17:15:49.337Z,1761671749.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015195 2025-10-28T17:15:49.447Z,1761671749.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414671,-0.905217,-0.092896],[0.856469,-0.422740,0.296229],[-0.307423,0.043275,0.950589]] 2025-10-28T17:15:49.592Z,1761671749.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269132 2025-10-28T17:15:49.841Z,1761671749.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519107 2025-10-28T17:15:49.853Z,1761671749.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430738,-0.897119,-0.098193],[0.848869,-0.439688,0.293422],[-0.306408,0.043035,0.950927]] 2025-10-28T17:15:50.093Z,1761671750.093 [DAT](INFO): DAT read: Rx Time:17:15:49.2701 2025-10-28T17:15:50.093Z,1761671750.093 [DAT](INFO): Rx dataTimestamp_ set to:1761671750.093111 2025-10-28T17:15:50.094Z,1761671750.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772103 2025-10-28T17:15:50.254Z,1761671750.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443711,-0.890140,-0.103786],[0.841317,-0.453645,0.293927],[-0.308718,0.043102,0.950176]] 2025-10-28T17:15:50.346Z,1761671750.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024531 2025-10-28T17:15:50.603Z,1761671750.603 [DAT](INFO): DAT read: 17:15:49.2701 LVL= 15344, 25777, 24530, 30547, AGC= 50, IDX= 385,-0.38,-2.901, 2.193, 1.467, 2.722, PHS= 0.763,-0.484,-1.299, RAW= 66.9, 11.3, CAL= 64.8, 15.3, ROT= 85.2, -15.3 2025-10-28T17:15:50.604Z,1761671750.604 [DAT](INFO): got valid direction response: 17:15:49.2701 LVL= 15344, 25777, 24530, 30547, AGC= 50, IDX= 385,-0.38,-2.901, 2.193, 1.467, 2.722, PHS= 0.763,-0.484,-1.299, RAW= 66.9, 11.3, CAL= 64.8, 15.3, ROT= 85.2, -15.3 2025-10-28T17:15:50.605Z,1761671750.605 [DAT](INFO): DAT read: Bearing 169, -15 (Remote) 2025-10-28T17:15:50.605Z,1761671750.605 [DAT](INFO): Remote Bearing received:Bearing 169, -15 (Remote) 2025-10-28T17:15:50.606Z,1761671750.606 [DAT](INFO): DAT read: Bearing 305.7, 63.0 (Local) 2025-10-28T17:15:50.606Z,1761671750.606 [DAT](INFO): Local bearing/azimuth received: Bearing 305.7, 63.0 (Local) 2025-10-28T17:15:50.608Z,1761671750.608 [DAT](INFO): DAT read: Range 11 to 20 : 135.0 m (Round-trip 180.1 ms) speed 0.0 m/s 2025-10-28T17:15:50.608Z,1761671750.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:15:50.609Z,1761671750.609 [DAT](INFO): direction in FSK: [0.080712,0.961175,0.263873] 2025-10-28T17:15:50.609Z,1761671750.609 [DAT](INFO): publishing direction and range info 2025-10-28T17:15:50.678Z,1761671750.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453487,-0.884401,-0.110386],[0.833955,-0.464756,0.297525],[-0.314434,0.042867,0.948311]] 2025-10-28T17:15:50.759Z,1761671750.759 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671808.00. Resetting abort timer. 2025-10-28T17:15:51.063Z,1761671751.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462387,-0.878732,-0.118444],[0.826270,-0.475486,0.301980],[-0.321678,0.041765,0.945928]] 2025-10-28T17:15:51.468Z,1761671751.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470613,-0.873209,-0.126605],[0.818750,-0.485663,0.306236],[-0.328895,0.040461,0.943499]] 2025-10-28T17:15:51.871Z,1761671751.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479593,-0.867017,-0.135175],[0.811075,-0.496792,0.308795],[-0.334885,0.038459,0.941474]] 2025-10-28T17:15:52.275Z,1761671752.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488399,-0.860861,-0.142778],[0.803899,-0.507517,0.310118],[-0.339431,0.036682,0.939916]] 2025-10-28T17:15:52.679Z,1761671752.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497505,-0.854668,-0.148432],[0.797001,-0.517905,0.310747],[-0.342459,0.036298,0.938831]] 2025-10-28T17:15:53.085Z,1761671753.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506399,-0.848415,-0.154120],[0.790076,-0.528117,0.311242],[-0.345456,0.035846,0.937750]] 2025-10-28T17:15:53.487Z,1761671753.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515271,-0.841782,-0.160932],[0.782312,-0.538665,0.312775],[-0.349977,0.035265,0.936094]] 2025-10-28T17:15:53.522Z,1761671753.522 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:15:53.522Z,1761671753.522 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:15:53.522Z,1761671753.522 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:15:53.522Z,1761671753.522 [marl:UpdateRudder:A] Stopped 2025-10-28T17:15:53.522Z,1761671753.522 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode] Stopped 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:15:53.523Z,1761671753.523 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed] Stopped 2025-10-28T17:15:53.524Z,1761671753.524 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:15:53.891Z,1761671753.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523689,-0.834918,-0.169299],[0.773333,-0.549267,0.316642],[-0.357360,0.034897,0.933314]] 2025-10-28T17:15:53.957Z,1761671753.957 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:15:53.958Z,1761671753.958 [marl:UpdateRudder:B] Stopped 2025-10-28T17:15:53.958Z,1761671753.958 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:15:53.958Z,1761671753.958 [marl:UpdateRudder] Stopped 2025-10-28T17:15:53.958Z,1761671753.958 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:15:54.317Z,1761671754.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531452,-0.827891,-0.179316],[0.763007,-0.559799,0.323179],[-0.367938,0.034935,0.929194]] 2025-10-28T17:15:54.698Z,1761671754.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539687,-0.820128,-0.190073],[0.750556,-0.570992,0.332616],[-0.381318,0.036848,0.923709]] 2025-10-28T17:15:55.103Z,1761671755.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549313,-0.811148,-0.200733],[0.735997,-0.583408,0.343429],[-0.395681,0.040911,0.917476]] 2025-10-28T17:15:55.506Z,1761671755.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559863,-0.800945,-0.212227],[0.720481,-0.597077,0.352713],[-0.409219,0.044565,0.911347]] 2025-10-28T17:15:56.314Z,1761671756.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584154,-0.779071,-0.227624],[0.692177,-0.624636,0.361552],[-0.423857,0.053646,0.904139]] 2025-10-28T17:15:56.719Z,1761671756.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598125,-0.767251,-0.231458],[0.680666,-0.638813,0.358624],[-0.423013,0.056956,0.904332]] 2025-10-28T17:15:57.133Z,1761671757.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613128,-0.754496,-0.234114],[0.670129,-0.653674,0.351621],[-0.418331,0.058702,0.906396]] 2025-10-28T17:15:57.528Z,1761671757.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629116,-0.740389,-0.236723],[0.659190,-0.669559,0.342286],[-0.411925,0.059292,0.909287]] 2025-10-28T17:15:57.931Z,1761671757.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645391,-0.725224,-0.239835],[0.647495,-0.685986,0.331923],[-0.405242,0.058928,0.912308]] 2025-10-28T17:15:58.334Z,1761671758.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661788,-0.708566,-0.244888],[0.634565,-0.703372,0.320304],[-0.399204,0.056577,0.915115]] 2025-10-28T17:15:58.738Z,1761671758.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677769,-0.690657,-0.252233],[0.620756,-0.721340,0.307132],[-0.394069,0.051589,0.917632]] 2025-10-28T17:15:59.147Z,1761671759.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692362,-0.673417,-0.259121],[0.607244,-0.737780,0.294848],[-0.389730,0.046792,0.919739]] 2025-10-28T17:15:59.550Z,1761671759.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703856,-0.659031,-0.265077],[0.595788,-0.750908,0.284910],[-0.386813,0.042606,0.921174]] 2025-10-28T17:15:59.951Z,1761671759.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712722,-0.647839,-0.268945],[0.586765,-0.760728,0.277489],[-0.384362,0.039965,0.922317]] 2025-10-28T17:16:00.356Z,1761671760.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722403,-0.635251,-0.273110],[0.576806,-0.771440,0.268654],[-0.381351,0.036545,0.923708]] 2025-10-28T17:16:00.763Z,1761671760.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732608,-0.623108,-0.273902],[0.564906,-0.781105,0.266001],[-0.379694,0.040145,0.924241]] 2025-10-28T17:16:01.162Z,1761671761.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742617,-0.611220,-0.273734],[0.551915,-0.790060,0.266823],[-0.379353,0.047069,0.924054]] 2025-10-28T17:16:01.181Z,1761671761.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:16:01.601Z,1761671761.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753341,-0.597901,-0.273846],[0.538087,-0.799813,0.266011],[-0.378074,0.053044,0.924255]] 2025-10-28T17:16:01.971Z,1761671761.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763229,-0.583108,-0.278327],[0.523921,-0.810610,0.261570],[-0.378138,0.053817,0.924184]] 2025-10-28T17:16:02.185Z,1761671762.185 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:16:02.375Z,1761671762.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771175,-0.569581,-0.284372],[0.509093,-0.819952,0.261732],[-0.382249,0.057070,0.922295]] 2025-10-28T17:16:02.783Z,1761671762.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778506,-0.556668,-0.289914],[0.494051,-0.828400,0.263946],[-0.387095,0.062251,0.919936]] 2025-10-28T17:16:03.184Z,1761671763.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785815,-0.545815,-0.290826],[0.481688,-0.835082,0.265735],[-0.387905,0.068731,0.919133]] 2025-10-28T17:16:03.626Z,1761671763.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792657,-0.535759,-0.290958],[0.473836,-0.841677,0.258960],[-0.383633,0.067400,0.921023]] 2025-10-28T17:16:03.990Z,1761671763.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798364,-0.527011,-0.291333],[0.468994,-0.847634,0.248115],[-0.377703,0.061453,0.923885]] 2025-10-28T17:16:04.395Z,1761671764.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807379,-0.509506,-0.297562],[0.457252,-0.859025,0.230211],[-0.372907,0.049806,0.926531]] 2025-10-28T17:16:04.799Z,1761671764.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818620,-0.490270,-0.299161],[0.440721,-0.870227,0.220159],[-0.368275,0.048381,0.928457]] 2025-10-28T17:16:05.204Z,1761671765.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832475,-0.469923,-0.293525],[0.421043,-0.880906,0.216165],[-0.360149,0.056366,0.931190]] 2025-10-28T17:16:05.633Z,1761671765.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843408,-0.455573,-0.284810],[0.406941,-0.887790,0.215005],[-0.350802,0.065436,0.934161]] 2025-10-28T17:16:06.011Z,1761671766.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850967,-0.443113,-0.281969],[0.396193,-0.894007,0.209240],[-0.344799,0.066342,0.936329]] 2025-10-28T17:16:06.416Z,1761671766.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856842,-0.427385,-0.288381],[0.382450,-0.901980,0.200407],[-0.345765,0.061426,0.936308]] 2025-10-28T17:16:06.451Z,1761671766.451 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:16:06.451Z,1761671766.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:16:06.451Z,1761671766.451 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:16:06.451Z,1761671766.451 [marl:UpdateRudder:A] Stopped 2025-10-28T17:16:06.451Z,1761671766.451 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:16:06.452Z,1761671766.452 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:16:06.452Z,1761671766.452 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:16:06.452Z,1761671766.452 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:16:06.452Z,1761671766.452 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:16:06.452Z,1761671766.452 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateCommandMode] Stopped 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:16:06.453Z,1761671766.453 [marl:UpdateSpeed] Stopped 2025-10-28T17:16:06.454Z,1761671766.454 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:16:06.819Z,1761671766.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865569,-0.406363,-0.292676],[0.362040,-0.911554,0.194928],[-0.346002,0.062763,0.936132]] 2025-10-28T17:16:06.890Z,1761671766.890 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:16:06.890Z,1761671766.890 [marl:UpdateRudder:B] Stopped 2025-10-28T17:16:06.890Z,1761671766.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:16:06.890Z,1761671766.890 [marl:UpdateRudder] Stopped 2025-10-28T17:16:06.891Z,1761671766.891 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:16:07.223Z,1761671767.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876972,-0.384783,-0.287857],[0.339891,-0.920139,0.194468],[-0.339697,0.072703,0.937721]] 2025-10-28T17:16:07.636Z,1761671767.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886346,-0.370969,-0.277079],[0.324531,-0.924553,0.199705],[-0.330258,0.087087,0.939865]] 2025-10-28T17:16:08.033Z,1761671768.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890953,-0.363268,-0.272468],[0.315664,-0.926801,0.203459],[-0.326434,0.095264,0.940407]] 2025-10-28T17:16:08.435Z,1761671768.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890197,-0.353243,-0.287694],[0.305569,-0.931347,0.198040],[-0.337899,0.088385,0.937023]] 2025-10-28T17:16:08.838Z,1761671768.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890852,-0.337442,-0.304165],[0.291038,-0.938012,0.188229],[-0.348827,0.079161,0.933838]] 2025-10-28T17:16:09.243Z,1761671769.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897563,-0.318578,-0.304775],[0.273079,-0.944428,0.182983],[-0.346133,0.081012,0.934681]] 2025-10-28T17:16:09.649Z,1761671769.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909022,-0.295270,-0.294101],[0.253870,-0.951986,0.171096],[-0.330499,0.080867,0.940335]] 2025-10-28T17:16:10.051Z,1761671770.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922474,-0.273163,-0.272805],[0.241358,-0.959586,0.144708],[-0.301309,0.067645,0.951124]] 2025-10-28T17:16:10.458Z,1761671770.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927862,-0.265380,-0.262001],[0.241411,-0.962925,0.120400],[-0.284239,0.048464,0.957528]] 2025-10-28T17:16:10.859Z,1761671770.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921481,-0.248700,-0.298363],[0.225240,-0.967939,0.111181],[-0.316448,0.035248,0.947955]] 2025-10-28T17:16:10.918Z,1761671770.918 [marl:NeedComms:C] Running Loop=1 2025-10-28T17:16:11.263Z,1761671771.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916075,-0.221337,-0.334390],[0.200436,-0.974968,0.096243],[-0.347321,0.021143,0.937508]] 2025-10-28T17:16:11.536Z,1761671771.536 [Radio_Surface](INFO): Powering up 2025-10-28T17:16:11.750Z,1761671771.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917905,-0.221083,-0.329505],[0.198287,-0.974852,0.101714],[-0.343706,0.028027,0.938659]] 2025-10-28T17:16:12.151Z,1761671772.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930754,-0.211601,-0.298197],[0.179263,-0.974873,0.132244],[-0.318687,0.069631,0.945299]] 2025-10-28T17:16:12.556Z,1761671772.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955279,-0.191541,-0.225288],[0.155131,-0.973220,0.169638],[-0.251748,0.127102,0.959410]] 2025-10-28T17:16:12.958Z,1761671772.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966376,-0.176584,-0.186912],[0.149141,-0.977066,0.151986],[-0.209463,0.119000,0.970548]] 2025-10-28T17:16:13.359Z,1761671773.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973649,-0.147913,-0.173580],[0.133267,-0.986682,0.093262],[-0.185063,0.067672,0.980394]] 2025-10-28T17:16:13.768Z,1761671773.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989291,-0.135959,-0.053093],[0.131093,-0.987602,0.086349],[-0.064175,0.078465,0.994849]] 2025-10-28T17:16:14.166Z,1761671774.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994561,-0.103656,0.010167],[0.103952,-0.993967,0.034984],[0.006480,0.035851,0.999336]] 2025-10-28T17:16:14.978Z,1761671774.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994010,-0.071077,0.083021],[0.065834,-0.995759,-0.064265],[0.087237,-0.058415,0.994473]] 2025-10-28T17:16:15.380Z,1761671775.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991175,-0.069781,0.112706],[0.062052,-0.995567,-0.070689],[0.117139,-0.063071,0.991111]] 2025-10-28T17:16:16.186Z,1761671776.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975517,-0.040564,0.216151],[0.025064,-0.996945,-0.073975],[0.218491,-0.066746,0.973554]] 2025-10-28T17:16:16.598Z,1761671776.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974102,-0.056182,0.219017],[0.049021,-0.998075,-0.037998],[0.220730,-0.026277,0.974981]] 2025-10-28T17:16:16.788Z,1761671776.788 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T17:16:16.789Z,1761671776.789 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T17:16:16.996Z,1761671776.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986683,-0.052933,0.153804],[0.048644,-0.998319,-0.031523],[0.155214,-0.023621,0.987598]] 2025-10-28T17:16:17.398Z,1761671777.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989934,-0.006793,0.141366],[-0.000062,-0.998826,-0.048435],[0.141529,-0.047956,0.988772]] 2025-10-28T17:16:17.803Z,1761671777.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982238,0.028532,0.185458],[-0.026963,-0.999576,0.010978],[0.185693,0.005782,0.982591]] 2025-10-28T17:16:18.212Z,1761671778.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970303,0.060606,0.234178],[-0.037938,-0.994252,0.100121],[0.238900,0.088263,0.967025]] 2025-10-28T17:16:18.621Z,1761671778.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976301,0.043618,0.211977],[-0.029421,-0.997136,0.069674],[0.214409,0.061786,0.974788]] 2025-10-28T17:16:19.029Z,1761671779.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980887,0.041754,0.190043],[-0.030737,-0.997692,0.060555],[0.192133,0.053556,0.979907]] 2025-10-28T17:16:19.423Z,1761671779.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977168,0.066847,0.201676],[-0.059208,-0.997289,0.043682],[0.204050,0.030743,0.978478]] 2025-10-28T17:16:19.467Z,1761671779.467 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:16:19.467Z,1761671779.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:16:19.467Z,1761671779.467 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateRudder:A] Stopped 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:16:19.468Z,1761671779.468 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateCommandMode] Stopped 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:16:19.469Z,1761671779.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:16:19.470Z,1761671779.470 [marl:UpdateSpeed] Stopped 2025-10-28T17:16:19.470Z,1761671779.470 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:16:19.825Z,1761671779.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965011,0.092419,0.245382],[-0.092482,-0.995650,0.011290],[0.245358,-0.011798,0.969361]] 2025-10-28T17:16:19.914Z,1761671779.914 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:16:19.915Z,1761671779.915 [marl:UpdateRudder:B] Stopped 2025-10-28T17:16:19.915Z,1761671779.915 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:16:19.915Z,1761671779.915 [marl:UpdateRudder] Stopped 2025-10-28T17:16:19.915Z,1761671779.915 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:16:20.230Z,1761671780.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960569,0.099905,0.259471],[-0.104128,-0.994561,-0.002546],[0.257805,-0.029464,0.965748]] 2025-10-28T17:16:20.632Z,1761671780.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964936,0.113868,0.236499],[-0.120945,-0.992537,-0.015585],[0.232959,-0.043642,0.971507]] 2025-10-28T17:16:21.040Z,1761671781.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968048,0.138185,0.209256],[-0.137271,-0.990352,0.018959],[0.209857,-0.010371,0.977677]] 2025-10-28T17:16:21.439Z,1761671781.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968531,0.158319,0.192051],[-0.143910,-0.985770,0.086879],[0.203073,0.056507,0.977532]] 2025-10-28T17:16:21.843Z,1761671781.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968427,0.165202,0.186703],[-0.146576,-0.983109,0.109601],[0.201656,0.078774,0.976284]] 2025-10-28T17:16:22.247Z,1761671782.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964127,0.167663,0.205787],[-0.155345,-0.985029,0.074741],[0.215237,0.040092,0.975738]] 2025-10-28T17:16:22.653Z,1761671782.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958732,0.167173,0.229968],[-0.159166,-0.985824,0.053072],[0.235580,0.014279,0.971750]] 2025-10-28T17:16:23.058Z,1761671783.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960262,0.158597,0.229658],[-0.147331,-0.986915,0.065512],[0.237043,0.029073,0.971064]] 2025-10-28T17:16:23.458Z,1761671783.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966336,0.155802,0.204745],[-0.149188,-0.987670,0.047448],[0.209613,0.015306,0.977665]] 2025-10-28T17:16:23.865Z,1761671783.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966054,0.155804,0.206067],[-0.163987,-0.986191,-0.023138],[0.199617,-0.056145,0.978264]] 2025-10-28T17:16:24.268Z,1761671784.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957715,0.165135,0.235609],[-0.183195,-0.981435,-0.056786],[0.221858,-0.097547,0.970187]] 2025-10-28T17:16:24.670Z,1761671784.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954889,0.163181,0.248112],[-0.174839,-0.984266,-0.025546],[0.240039,-0.067773,0.968395]] 2025-10-28T17:16:25.085Z,1761671785.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962158,0.162756,0.218545],[-0.163332,-0.986449,0.015556],[0.218115,-0.020728,0.975703]] 2025-10-28T17:16:25.479Z,1761671785.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966709,0.176033,0.185702],[-0.177881,-0.984028,0.006798],[0.183932,-0.026461,0.982583]] 2025-10-28T17:16:25.884Z,1761671785.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962828,0.187913,0.194036],[-0.198643,-0.979365,-0.037227],[0.183037,-0.074387,0.980288]] 2025-10-28T17:16:26.287Z,1761671786.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958376,0.186831,0.215893],[-0.198767,-0.979430,-0.034764],[0.204957,-0.076229,0.975798]] 2025-10-28T17:16:26.691Z,1761671786.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960265,0.181895,0.211672],[-0.185852,-0.982577,0.001221],[0.208206,-0.038167,0.977340]] 2025-10-28T17:16:27.163Z,1761671787.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963117,0.179536,0.200432],[-0.181210,-0.983392,0.010122],[0.198920,-0.026572,0.979655]] 2025-10-28T17:16:27.635Z,1761671787.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961615,0.177908,0.208914],[-0.185224,-0.982569,-0.015827],[0.202457,-0.053915,0.977806]] 2025-10-28T17:16:28.013Z,1761671788.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957751,0.174756,0.228414],[-0.187544,-0.981619,-0.035360],[0.218036,-0.076704,0.972922]] 2025-10-28T17:16:28.815Z,1761671788.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956747,0.177866,0.230215],[-0.189604,-0.981410,-0.029730],[0.220647,-0.072094,0.972685]] 2025-10-28T17:16:29.230Z,1761671789.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958430,0.183194,0.218749],[-0.192944,-0.980919,-0.023884],[0.210199,-0.065097,0.975489]] 2025-10-28T17:16:29.642Z,1761671789.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958582,0.190657,0.211589],[-0.196149,-0.980561,-0.005078],[0.206507,-0.046371,0.977346]] 2025-10-28T17:16:30.138Z,1761671790.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958239,0.196410,0.207850],[-0.197971,-0.980115,0.013479],[0.206365,-0.028232,0.978068]] 2025-10-28T17:16:30.601Z,1761671790.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957854,0.201258,0.204966],[-0.202311,-0.979190,0.016031],[0.203927,-0.026112,0.978638]] 2025-10-28T17:16:31.004Z,1761671791.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958350,0.201392,0.202502],[-0.203830,-0.978965,0.008961],[0.200047,-0.032688,0.979241]] 2025-10-28T17:16:31.403Z,1761671791.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960094,0.198626,0.196892],[-0.202209,-0.979340,0.001941],[0.193210,-0.037949,0.980423]] 2025-10-28T17:16:31.807Z,1761671791.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961957,0.199540,0.186609],[-0.205780,-0.978491,-0.014486],[0.179705,-0.052335,0.982327]] 2025-10-28T17:16:32.211Z,1761671792.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962720,0.207909,0.173041],[-0.218008,-0.975071,-0.041347],[0.160131,-0.077530,0.984046]] 2025-10-28T17:16:32.304Z,1761671792.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:16:33.018Z,1761671793.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965313,0.226947,0.129094],[-0.236018,-0.969910,-0.059751],[0.111650,-0.088147,0.989830]] 2025-10-28T17:16:33.083Z,1761671793.083 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:16:33.083Z,1761671793.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:16:33.083Z,1761671793.083 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:16:33.084Z,1761671793.084 [marl:UpdateRudder:A] Stopped 2025-10-28T17:16:33.084Z,1761671793.084 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:16:33.084Z,1761671793.084 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode] Stopped 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:16:33.085Z,1761671793.085 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed] Stopped 2025-10-28T17:16:33.086Z,1761671793.086 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:16:33.308Z,1761671793.308 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T17:16:33.308Z,1761671793.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:16:33.429Z,1761671793.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969291,0.236118,0.068729],[-0.239432,-0.969883,-0.044710],[0.056103,-0.059793,0.996633]] 2025-10-28T17:16:33.455Z,1761671793.455 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:16:33.455Z,1761671793.455 [marl:UpdateRudder:B] Stopped 2025-10-28T17:16:33.455Z,1761671793.455 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:16:33.455Z,1761671793.455 [marl:UpdateRudder] Stopped 2025-10-28T17:16:33.455Z,1761671793.455 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:16:33.835Z,1761671793.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970242,0.237069,0.049286],[-0.239319,-0.969839,-0.046239],[0.036838,-0.056658,0.997714]] 2025-10-28T17:16:34.235Z,1761671794.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971595,0.234344,0.032948],[-0.235928,-0.970061,-0.057625],[0.018457,-0.063762,0.997794]] 2025-10-28T17:16:34.701Z,1761671794.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972508,0.232313,0.016111],[-0.232844,-0.969023,-0.082331],[-0.003515,-0.083819,0.996475]] 2025-10-28T17:16:35.138Z,1761671795.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973565,0.228332,-0.005914],[-0.226459,-0.968309,-0.105331],[-0.029777,-0.101208,0.994420]] 2025-10-28T17:16:35.638Z,1761671795.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974563,0.221243,-0.035751],[-0.215585,-0.969060,-0.120190],[-0.061236,-0.109425,0.992107]] 2025-10-28T17:16:36.039Z,1761671796.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973735,0.218896,-0.062651],[-0.207906,-0.966998,-0.147278],[-0.092822,-0.130384,0.987109]] 2025-10-28T17:16:36.443Z,1761671796.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972840,0.217214,-0.079997],[-0.200571,-0.963535,-0.177121],[-0.115553,-0.156265,0.980933]] 2025-10-28T17:16:36.848Z,1761671796.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974022,0.205973,-0.094104],[-0.185956,-0.964659,-0.186693],[-0.129232,-0.164344,0.977901]] 2025-10-28T17:16:37.251Z,1761671797.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973725,0.198845,-0.110993],[-0.176972,-0.967484,-0.180711],[-0.143317,-0.156320,0.977253]] 2025-10-28T17:16:37.655Z,1761671797.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971177,0.198496,-0.131966],[-0.174699,-0.969401,-0.172459],[-0.162160,-0.144434,0.976137]] 2025-10-28T17:16:38.077Z,1761671798.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966149,0.208861,-0.151437],[-0.181866,-0.967733,-0.174408],[-0.182977,-0.140963,0.972959]] 2025-10-28T17:16:38.464Z,1761671798.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961331,0.219929,-0.165751],[-0.190367,-0.965603,-0.177119],[-0.199004,-0.138717,0.970132]] 2025-10-28T17:16:38.867Z,1761671798.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958470,0.222911,-0.177891],[-0.191868,-0.965499,-0.176065],[-0.211000,-0.134621,0.968172]] 2025-10-28T17:16:39.270Z,1761671799.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954121,0.219620,-0.203518],[-0.184774,-0.966719,-0.176955],[-0.235608,-0.131232,0.962947]] 2025-10-28T17:16:39.675Z,1761671799.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945366,0.224311,-0.236573],[-0.182688,-0.965524,-0.185440],[-0.270013,-0.132090,0.953753]] 2025-10-28T17:16:40.086Z,1761671800.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936214,0.232607,-0.263434],[-0.186265,-0.964090,-0.189306],[-0.298008,-0.128162,0.945921]] 2025-10-28T17:16:40.483Z,1761671800.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929754,0.239442,-0.279687],[-0.189879,-0.962664,-0.192934],[-0.315441,-0.126275,0.940506]] 2025-10-28T17:16:40.887Z,1761671800.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925483,0.241781,-0.291588],[-0.189214,-0.961954,-0.197087],[-0.328146,-0.127228,0.936020]] 2025-10-28T17:16:41.291Z,1761671801.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918644,0.232132,-0.319699],[-0.178009,-0.965589,-0.189605],[-0.352712,-0.117270,0.928355]] 2025-10-28T17:16:42.359Z,1761671802.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921774,0.235634,-0.307910],[-0.195642,-0.968297,-0.155321],[-0.334748,-0.082931,0.938651]] 2025-10-28T17:16:42.765Z,1761671802.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920121,0.226328,-0.319614],[-0.180268,-0.969267,-0.167404],[-0.347679,-0.096416,0.932643]] 2025-10-28T17:16:43.187Z,1761671803.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889944,0.223596,-0.397497],[-0.164056,-0.970179,-0.178435],[-0.425541,-0.093585,0.900087]] 2025-10-28T17:16:43.625Z,1761671803.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851774,0.244615,-0.463297],[-0.180724,-0.967216,-0.178416],[-0.491752,-0.068242,0.868057]] 2025-10-28T17:16:43.996Z,1761671803.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865851,0.274763,-0.418099],[-0.234439,-0.961090,-0.146096],[-0.441973,-0.028478,0.896576]] 2025-10-28T17:16:44.398Z,1761671804.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912347,0.297101,-0.281700],[-0.271590,-0.954049,-0.126604],[-0.306370,-0.039000,0.951113]] 2025-10-28T17:16:44.803Z,1761671804.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941923,0.298480,-0.153918],[-0.286068,-0.953202,-0.097827],[-0.175915,-0.048114,0.983229]] 2025-10-28T17:16:45.207Z,1761671805.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954541,0.276028,-0.112520],[-0.274008,-0.961149,-0.033346],[-0.117352,-0.000998,0.993090]] 2025-10-28T17:16:45.631Z,1761671805.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959935,0.244417,-0.137058],[-0.249873,-0.967985,0.023859],[-0.126838,0.057150,0.990276]] 2025-10-28T17:16:46.015Z,1761671806.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955537,0.254772,-0.148462],[-0.257409,-0.966301,-0.001500],[-0.143841,0.036782,0.988917]] 2025-10-28T17:16:46.418Z,1761671806.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948620,0.298361,-0.105360],[-0.291210,-0.953465,-0.078104],[-0.123760,-0.043409,0.991362]] 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateRudder:A] Stopped 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:16:46.477Z,1761671806.477 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateCommandMode] Stopped 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:16:46.478Z,1761671806.478 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:16:46.479Z,1761671806.479 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:16:46.479Z,1761671806.479 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:16:46.479Z,1761671806.479 [marl:UpdateSpeed] Stopped 2025-10-28T17:16:46.479Z,1761671806.479 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:16:46.822Z,1761671806.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953969,0.299872,0.004491],[-0.298527,-0.948043,-0.109978],[-0.028722,-0.106257,0.993924]] 2025-10-28T17:16:46.861Z,1761671806.861 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:16:46.861Z,1761671806.861 [marl:UpdateRudder:B] Stopped 2025-10-28T17:16:46.861Z,1761671806.861 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:16:46.861Z,1761671806.861 [marl:UpdateRudder] Stopped 2025-10-28T17:16:46.861Z,1761671806.861 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:16:47.227Z,1761671807.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970800,0.237134,0.036250],[-0.239737,-0.964422,-0.111430],[0.008536,-0.116866,0.993111]] 2025-10-28T17:16:47.263Z,1761671807.263 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:16:47.309Z,1761671807.309 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:16:47.310Z,1761671807.310 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:16:47.563Z,1761671807.563 [DAT](INFO): DAT read: user:53> 2025-10-28T17:16:47.566Z,1761671807.566 [DAT](INFO): DAT read: Tx time:17:16:47.3106 2025-10-28T17:16:47.567Z,1761671807.567 [DAT](INFO): Ping request sent. 2025-10-28T17:16:47.568Z,1761671807.568 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:16:47.568Z,1761671807.568 [DAT](INFO): publishing transmit ping time 2025-10-28T17:16:47.571Z,1761671807.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003468 2025-10-28T17:16:47.655Z,1761671807.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972950,0.230272,-0.018510],[-0.228190,-0.970454,-0.078413],[-0.036019,-0.072069,0.996749]] 2025-10-28T17:16:47.813Z,1761671807.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245632 2025-10-28T17:16:48.046Z,1761671808.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962281,0.259031,-0.083176],[-0.255213,-0.965385,-0.053839],[-0.094243,-0.030580,0.995079]] 2025-10-28T17:16:48.069Z,1761671808.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501794 2025-10-28T17:16:48.321Z,1761671808.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753645 2025-10-28T17:16:48.439Z,1761671808.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951917,0.288799,-0.102220],[-0.284521,-0.957118,-0.054531],[-0.113585,-0.022825,0.993266]] 2025-10-28T17:16:48.573Z,1761671808.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005633 2025-10-28T17:16:48.825Z,1761671808.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257705 2025-10-28T17:16:48.848Z,1761671808.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951238,0.298955,-0.075974],[-0.294081,-0.953282,-0.069064],[-0.093071,-0.043354,0.994715]] 2025-10-28T17:16:49.077Z,1761671809.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509858 2025-10-28T17:16:49.247Z,1761671809.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957147,0.289544,-0.005865],[-0.289145,-0.956575,-0.036880],[-0.016288,-0.033603,0.999303]] 2025-10-28T17:16:49.329Z,1761671809.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762192 2025-10-28T17:16:49.585Z,1761671809.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016093 2025-10-28T17:16:49.650Z,1761671809.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968049,0.250734,-0.003618],[-0.250647,-0.967946,-0.016013],[-0.007517,-0.014594,0.999865]] 2025-10-28T17:16:49.833Z,1761671809.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265725 2025-10-28T17:16:50.080Z,1761671810.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966282,0.251910,-0.053286],[-0.251985,-0.967716,-0.005426],[-0.052933,0.008184,0.998565]] 2025-10-28T17:16:50.085Z,1761671810.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517609 2025-10-28T17:16:50.337Z,1761671810.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769661 2025-10-28T17:16:50.459Z,1761671810.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965440,0.255405,-0.051895],[-0.257050,-0.965996,0.027878],[-0.043011,0.040254,0.998263]] 2025-10-28T17:16:50.590Z,1761671810.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022444 2025-10-28T17:16:50.841Z,1761671810.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273626 2025-10-28T17:16:50.863Z,1761671810.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968329,0.249581,0.006948],[-0.248992,-0.967356,0.047181],[0.018497,0.043957,0.998862]] 2025-10-28T17:16:51.093Z,1761671811.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525643 2025-10-28T17:16:51.267Z,1761671811.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972941,0.229250,0.028824],[-0.229457,-0.973310,-0.004063],[0.027123,-0.010567,0.999576]] 2025-10-28T17:16:51.347Z,1761671811.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779222 2025-10-28T17:16:51.600Z,1761671811.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032180 2025-10-28T17:16:51.671Z,1761671811.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967416,0.252212,0.022238],[-0.253078,-0.965869,-0.055212],[0.007554,-0.059041,0.998227]] 2025-10-28T17:16:51.849Z,1761671811.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281707 2025-10-28T17:16:52.082Z,1761671812.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958271,0.276689,0.071831],[-0.280309,-0.958793,-0.046289],[0.056063,-0.064492,0.996342]] 2025-10-28T17:16:52.101Z,1761671812.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533847 2025-10-28T17:16:52.353Z,1761671812.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785560 2025-10-28T17:16:52.479Z,1761671812.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968559,0.228747,0.097814],[-0.233117,-0.971793,-0.035710],[0.086887,-0.057389,0.994564]] 2025-10-28T17:16:52.605Z,1761671812.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037648 2025-10-28T17:16:52.857Z,1761671812.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289623 2025-10-28T17:16:52.883Z,1761671812.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976809,0.213643,-0.014185],[-0.213982,-0.976388,0.029646],[-0.007516,0.031993,0.999460]] 2025-10-28T17:16:53.109Z,1761671813.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541603 2025-10-28T17:16:53.287Z,1761671813.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962091,0.266447,-0.058192],[-0.270464,-0.959568,0.077965],[-0.035066,0.090749,0.995256]] 2025-10-28T17:16:53.362Z,1761671813.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794377 2025-10-28T17:16:53.616Z,1761671813.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047979 2025-10-28T17:16:53.691Z,1761671813.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956831,0.290644,-0.000634],[-0.289551,-0.953039,0.088754],[0.025192,0.085106,0.996053]] 2025-10-28T17:16:53.865Z,1761671813.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297611 2025-10-28T17:16:54.095Z,1761671814.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962077,0.271906,0.021772],[-0.269426,-0.959700,0.079903],[0.042620,0.071007,0.996565]] 2025-10-28T17:16:54.117Z,1761671814.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549781 2025-10-28T17:16:54.369Z,1761671814.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801670 2025-10-28T17:16:54.499Z,1761671814.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964478,0.263883,-0.012135],[-0.263641,-0.958681,0.106880],[0.016570,0.106283,0.994198]] 2025-10-28T17:16:54.621Z,1761671814.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053951 2025-10-28T17:16:54.873Z,1761671814.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305633 2025-10-28T17:16:54.913Z,1761671814.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965756,0.258244,-0.025000],[-0.259445,-0.961864,0.086640],[-0.001672,0.090159,0.995926]] 2025-10-28T17:16:55.125Z,1761671815.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557672 2025-10-28T17:16:55.306Z,1761671815.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954189,0.298890,0.013743],[-0.298491,-0.954078,0.025259],[0.020662,0.019999,0.999587]] 2025-10-28T17:16:55.377Z,1761671815.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810066 2025-10-28T17:16:55.630Z,1761671815.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062279 2025-10-28T17:16:55.711Z,1761671815.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949116,0.309818,0.056493],[-0.309077,-0.950791,0.021633],[0.060415,0.003072,0.998169]] 2025-10-28T17:16:55.882Z,1761671815.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314538 2025-10-28T17:16:56.119Z,1761671816.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955012,0.296527,0.004907],[-0.296530,-0.955023,0.000045],[0.004699,-0.001412,0.999988]] 2025-10-28T17:16:56.133Z,1761671816.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565704 2025-10-28T17:16:56.385Z,1761671816.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817798 2025-10-28T17:16:56.526Z,1761671816.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952305,0.305147,-0.000306],[-0.305067,-0.952080,-0.021874],[-0.006966,-0.020738,0.999761]] 2025-10-28T17:16:56.637Z,1761671816.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069766 2025-10-28T17:16:56.889Z,1761671816.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321630 2025-10-28T17:16:56.922Z,1761671816.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959254,0.277093,0.055237],[-0.276920,-0.960831,0.010911],[0.056097,-0.004830,0.998414]] 2025-10-28T17:16:57.141Z,1761671817.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573598 2025-10-28T17:16:57.330Z,1761671817.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972391,0.227756,0.050813],[-0.227772,-0.973699,0.005563],[0.050744,-0.006165,0.998693]] 2025-10-28T17:16:57.393Z,1761671817.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825788 2025-10-28T17:16:57.645Z,1761671817.645 [DAT](INFO): Reached modem response timeout 2025-10-28T17:16:57.731Z,1761671817.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972728,0.226827,-0.048473],[-0.225711,-0.973808,-0.027436],[-0.053426,-0.015747,0.998448]] 2025-10-28T17:16:58.134Z,1761671818.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959553,0.278326,-0.042344],[-0.278333,-0.960467,-0.005850],[-0.042298,0.006172,0.999086]] 2025-10-28T17:16:58.546Z,1761671818.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965402,0.255491,0.052181],[-0.252690,-0.965998,0.054732],[0.064390,0.039653,0.997137]] 2025-10-28T17:16:59.371Z,1761671819.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974828,0.221491,-0.025527],[-0.222938,-0.966840,0.124575],[0.002911,0.127130,0.991882]] 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateRudder:A] Stopped 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:16:59.421Z,1761671819.421 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode] Stopped 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:16:59.422Z,1761671819.422 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed] Stopped 2025-10-28T17:16:59.423Z,1761671819.423 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:16:59.753Z,1761671819.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957432,0.288187,-0.016483],[-0.288011,-0.949905,0.121368],[0.019320,0.120949,0.992471]] 2025-10-28T17:16:59.832Z,1761671819.832 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:16:59.835Z,1761671819.835 [marl:UpdateRudder:B] Stopped 2025-10-28T17:16:59.835Z,1761671819.835 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:16:59.835Z,1761671819.835 [marl:UpdateRudder] Stopped 2025-10-28T17:16:59.835Z,1761671819.835 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:16:59.913Z,1761671819.913 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:16:59.914Z,1761671819.914 [DAT](INFO): response not received 2025-10-28T17:16:59.914Z,1761671819.914 [DAT](ERROR): No response from remote modem. 2025-10-28T17:17:00.154Z,1761671820.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972244,0.223686,0.068608],[-0.218469,-0.972880,0.075999],[0.083747,0.058901,0.994745]] 2025-10-28T17:17:00.559Z,1761671820.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988662,0.149826,0.010002],[-0.149735,-0.988682,0.009358],[0.011291,0.007754,0.999906]] 2025-10-28T17:17:00.964Z,1761671820.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968960,0.247207,0.002080],[-0.247195,-0.968954,0.004803],[0.003203,0.004140,0.999986]] 2025-10-28T17:17:01.377Z,1761671821.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962383,0.268211,0.043387],[-0.268336,-0.963321,0.003017],[0.042605,-0.008739,0.999054]] 2025-10-28T17:17:01.775Z,1761671821.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979308,0.202269,0.006596],[-0.202151,-0.979234,0.015326],[0.009559,0.013676,0.999861]] 2025-10-28T17:17:02.175Z,1761671822.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985660,0.167754,-0.018257],[-0.168143,-0.985509,0.022357],[-0.014242,0.025106,0.999583]] 2025-10-28T17:17:02.580Z,1761671822.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978865,0.203769,0.017360],[-0.203312,-0.978796,0.024956],[0.022078,0.020899,0.999538]] 2025-10-28T17:17:02.982Z,1761671822.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971156,0.230655,0.060452],[-0.229338,-0.972944,0.027988],[0.065272,0.013317,0.997779]] 2025-10-28T17:17:03.390Z,1761671823.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979556,0.197517,0.038177],[-0.196898,-0.980232,0.019384],[0.041251,0.011470,0.999083]] 2025-10-28T17:17:03.436Z,1761671823.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:17:03.791Z,1761671823.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982475,0.184035,-0.029559],[-0.184277,-0.982858,0.005677],[-0.028008,0.011024,0.999547]] 2025-10-28T17:17:04.195Z,1761671824.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983626,0.180194,0.003141],[-0.180190,-0.983631,0.001397],[0.003341,0.000808,0.999994]] 2025-10-28T17:17:04.440Z,1761671824.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:17:04.598Z,1761671824.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987869,0.152765,0.027888],[-0.152645,-0.988260,0.006410],[0.028540,0.002076,0.999591]] 2025-10-28T17:17:05.005Z,1761671825.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987594,0.157000,0.003013],[-0.156948,-0.987519,0.013203],[0.005048,0.012566,0.999908]] 2025-10-28T17:17:05.407Z,1761671825.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993151,0.111978,-0.033348],[-0.112440,-0.993583,0.012284],[-0.031758,0.015950,0.999368]] 2025-10-28T17:17:05.812Z,1761671825.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992035,0.113405,-0.054830],[-0.112371,-0.993432,-0.021586],[-0.056918,-0.015253,0.998262]] 2025-10-28T17:17:06.215Z,1761671826.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993551,0.111189,-0.022222],[-0.110683,-0.993593,-0.022835],[-0.024618,-0.020228,0.999492]] 2025-10-28T17:17:06.618Z,1761671826.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995795,0.090711,0.012825],[-0.091034,-0.995472,-0.027343],[0.010287,-0.028396,0.999544]] 2025-10-28T17:17:07.030Z,1761671827.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997279,0.068834,0.026391],[-0.069322,-0.997431,-0.018056],[0.025080,-0.019837,0.999489]] 2025-10-28T17:17:07.430Z,1761671827.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999099,0.039142,0.016386],[-0.038640,-0.998806,0.029880],[0.017536,0.029220,0.999419]] 2025-10-28T17:17:07.831Z,1761671827.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999417,0.033426,-0.006935],[-0.033943,-0.994659,0.097474],[-0.003640,0.097653,0.995214]] 2025-10-28T17:17:08.236Z,1761671828.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997144,0.074448,0.012706],[-0.072105,-0.988478,0.133088],[0.022468,0.131791,0.991023]] 2025-10-28T17:17:08.639Z,1761671828.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994907,0.085304,0.053705],[-0.081157,-0.993863,0.075167],[0.059787,0.070426,0.995724]] 2025-10-28T17:17:08.644Z,1761671828.644 [NAL9602](INFO): SBD MO Status=0, MOMSN=3300, MT Status=0, MTMSN=0 2025-10-28T17:17:08.644Z,1761671828.644 [NAL9602](INFO): No messages in MT queue 2025-10-28T17:17:09.044Z,1761671829.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995504,0.060179,0.073139],[-0.061317,-0.998028,-0.013411],[0.072188,-0.017836,0.997232]] 2025-10-28T17:17:09.850Z,1761671829.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997982,0.007519,0.063043],[-0.012197,-0.997172,-0.074153],[0.062307,-0.074772,0.995252]] 2025-10-28T17:17:09.855Z,1761671829.855 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171709.00,A,3646.52096,N,12151.85615,W,0.661,168.64,281025,,,A*73 2025-10-28T17:17:09.858Z,1761671829.858 [NAL9602](INFO): GPS fix at 20251028T171709: (36.775349, -121.864269) 2025-10-28T17:17:09.909Z,1761671829.909 [UniversalFixResidualReporter](INFO): Fix residual: 1.5 %DT, over the last 1091.1 m. Residual distance 16.0 m at bearing -108.1 degrees. Fix at (36.7753, -121.8643) with 102.9 m made good. 2025-10-28T17:17:09.920Z,1761671829.920 [marl:NeedComms:C] Stopped 2025-10-28T17:17:09.920Z,1761671829.920 [marl:NeedComms:D] Running Loop=1 2025-10-28T17:17:09.922Z,1761671829.922 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761671808.00. Resetting abort timer. 2025-10-28T17:17:10.257Z,1761671830.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999776,0.007593,0.019776],[-0.008680,-0.998422,-0.055487],[0.019323,-0.055646,0.998264]] 2025-10-28T17:17:10.659Z,1761671830.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998018,0.040782,0.047930],[-0.041925,-0.998854,-0.023092],[0.046933,-0.025055,0.998584]] 2025-10-28T17:17:11.067Z,1761671831.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994641,0.022472,0.100917],[-0.017431,-0.998569,0.050554],[0.101909,0.048524,0.993610]] 2025-10-28T17:17:11.477Z,1761671831.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995823,-0.050751,0.075901],[0.057468,-0.994363,0.089100],[0.070951,0.093089,0.993127]] 2025-10-28T17:17:11.879Z,1761671831.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995253,-0.010944,0.096703],[0.019841,-0.995605,0.091524],[0.095276,0.093008,0.991096]] 2025-10-28T17:17:12.284Z,1761671832.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992512,-0.023495,0.119866],[0.032344,-0.996850,0.072418],[0.117787,0.075753,0.990145]] 2025-10-28T17:17:12.682Z,1761671832.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992762,-0.070022,0.097570],[0.072412,-0.997150,0.021170],[0.095809,0.028082,0.995004]] 2025-10-28T17:17:12.735Z,1761671832.735 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:17:12.735Z,1761671832.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:17:12.736Z,1761671832.736 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:17:12.766Z,1761671832.766 [marl:UpdateRudder:A] Stopped 2025-10-28T17:17:12.766Z,1761671832.766 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:17:12.766Z,1761671832.766 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:17:12.766Z,1761671832.766 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:17:12.766Z,1761671832.766 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:17:12.767Z,1761671832.767 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:17:12.767Z,1761671832.767 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:17:12.767Z,1761671832.767 [marl:UpdateCommandMode] Stopped 2025-10-28T17:17:12.767Z,1761671832.767 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:17:12.767Z,1761671832.767 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:17:12.768Z,1761671832.768 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:17:12.772Z,1761671832.772 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:17:12.773Z,1761671832.773 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:17:12.773Z,1761671832.773 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:17:12.773Z,1761671832.773 [marl:UpdateSpeed] Stopped 2025-10-28T17:17:12.774Z,1761671832.774 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:17:13.083Z,1761671833.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992647,-0.084619,0.086552],[0.085550,-0.996309,0.007102],[0.085631,0.014454,0.996222]] 2025-10-28T17:17:13.142Z,1761671833.142 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:17:13.142Z,1761671833.142 [marl:UpdateRudder:B] Stopped 2025-10-28T17:17:13.142Z,1761671833.142 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:17:13.142Z,1761671833.142 [marl:UpdateRudder] Stopped 2025-10-28T17:17:13.142Z,1761671833.142 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:17:13.503Z,1761671833.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988353,-0.106527,0.108676],[0.106475,-0.994295,-0.006298],[0.108727,0.005347,0.994057]] 2025-10-28T17:17:14.006Z,1761671834.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989806,-0.115620,0.083159],[0.111760,-0.992493,-0.049679],[0.088278,-0.039879,0.995297]] 2025-10-28T17:17:14.394Z,1761671834.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992716,-0.083983,0.086378],[0.079904,-0.995565,-0.049647],[0.090164,-0.042383,0.995025]] 2025-10-28T17:17:14.799Z,1761671834.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986733,-0.121506,0.107672],[0.123506,-0.992270,0.012077],[0.105373,0.025215,0.994113]] 2025-10-28T17:17:15.203Z,1761671835.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984745,-0.156937,0.075158],[0.161522,-0.985082,0.059365],[0.064720,0.070599,0.995403]] 2025-10-28T17:17:15.629Z,1761671835.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989236,-0.141269,0.038145],[0.142985,-0.988617,0.046807],[0.031098,0.051757,0.998175]] 2025-10-28T17:17:16.019Z,1761671836.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987012,-0.141120,0.076761],[0.141962,-0.989856,0.005595],[0.075193,0.016420,0.997034]] 2025-10-28T17:17:16.416Z,1761671836.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981952,-0.163707,0.094713],[0.156675,-0.984606,-0.077490],[0.105941,-0.061252,0.992484]] 2025-10-28T17:17:16.819Z,1761671836.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984475,-0.169133,0.046941],[0.161998,-0.978460,-0.127959],[0.067572,-0.118368,0.990668]] 2025-10-28T17:17:17.295Z,1761671837.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984852,-0.171953,0.022314],[0.168468,-0.979372,-0.111578],[0.041040,-0.106129,0.993505]] 2025-10-28T17:17:17.691Z,1761671837.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978293,-0.199193,0.057139],[0.196058,-0.978986,-0.056101],[0.067113,-0.043680,0.996789]] 2025-10-28T17:17:19.866Z,1761671839.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966745,-0.249399,0.056598],[0.250238,-0.968150,0.008139],[0.052766,0.022032,0.998364]] 2025-10-28T17:17:20.254Z,1761671840.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955731,-0.293756,-0.016888],[0.294082,-0.955528,-0.021957],[-0.009687,-0.025951,0.999616]] 2025-10-28T17:17:20.659Z,1761671840.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953941,-0.296986,-0.042373],[0.296237,-0.954834,0.023125],[-0.047327,0.009508,0.998834]] 2025-10-28T17:17:21.062Z,1761671841.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959887,-0.280286,-0.007549],[0.279960,-0.959562,0.029382],[-0.015479,0.026090,0.999540]] 2025-10-28T17:17:21.469Z,1761671841.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958835,-0.281822,0.034800],[0.281969,-0.959423,-0.000708],[0.033588,0.009133,0.999394]] 2025-10-28T17:17:21.871Z,1761671841.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947883,-0.307838,0.082176],[0.308744,-0.951144,-0.001760],[0.078703,0.023703,0.996616]] 2025-10-28T17:17:22.279Z,1761671842.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932575,-0.349974,0.088440],[0.352483,-0.935713,0.014029],[0.077844,0.044257,0.995983]] 2025-10-28T17:17:22.685Z,1761671842.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947306,-0.320078,-0.012714],[0.319752,-0.947235,0.022480],[-0.019238,0.017230,0.999666]] 2025-10-28T17:17:23.098Z,1761671843.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941963,-0.335630,0.007616],[0.335648,-0.941987,0.001169],[0.006782,0.003658,0.999970]] 2025-10-28T17:17:23.503Z,1761671843.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934021,-0.354734,0.042051],[0.355252,-0.934756,0.005313],[0.037423,0.019901,0.999101]] 2025-10-28T17:17:23.896Z,1761671843.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939039,-0.341173,0.042503],[0.343117,-0.937805,0.052852],[0.021828,0.064213,0.997697]] 2025-10-28T17:17:24.296Z,1761671844.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940131,-0.337669,0.046195],[0.340029,-0.938504,0.059915],[0.023123,0.072036,0.997134]] 2025-10-28T17:17:24.699Z,1761671844.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932762,-0.358984,0.032939],[0.360183,-0.931847,0.043920],[0.014928,0.052831,0.998492]] 2025-10-28T17:17:25.102Z,1761671845.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923996,-0.376713,0.065718],[0.381152,-0.921159,0.078675],[0.030899,0.097744,0.994732]] 2025-10-28T17:17:25.510Z,1761671845.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901829,-0.427153,0.065151],[0.432091,-0.891073,0.138876],[-0.001267,0.153393,0.988164]] 2025-10-28T17:17:25.911Z,1761671845.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902554,-0.430223,0.017481],[0.428432,-0.893268,0.136083],[-0.042931,0.130312,0.990543]] 2025-10-28T17:17:26.314Z,1761671846.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911492,-0.411169,0.011060],[0.410543,-0.907798,0.085780],[-0.025230,0.082729,0.996253]] 2025-10-28T17:17:26.719Z,1761671846.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901667,-0.431508,0.028242],[0.431978,-0.901788,0.013156],[0.019792,0.024062,0.999515]] 2025-10-28T17:17:27.126Z,1761671847.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885748,-0.464166,0.000303],[0.464055,-0.885549,-0.021380],[0.010192,-0.018797,0.999771]] 2025-10-28T17:17:27.526Z,1761671847.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891860,-0.448807,-0.056193],[0.450955,-0.891910,-0.033696],[-0.034996,-0.055392,0.997851]] 2025-10-28T17:17:27.931Z,1761671847.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894129,-0.444605,-0.053484],[0.446788,-0.893767,-0.039501],[-0.030240,-0.059215,0.997787]] 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateRudder:A] Stopped 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:17:28.006Z,1761671848.006 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode] Stopped 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:17:28.007Z,1761671848.007 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:17:28.008Z,1761671848.008 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:17:28.012Z,1761671848.012 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:17:28.012Z,1761671848.012 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:17:28.012Z,1761671848.012 [marl:UpdateSpeed] Stopped 2025-10-28T17:17:28.012Z,1761671848.012 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:17:28.335Z,1761671848.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886565,-0.462509,-0.009345],[0.462602,-0.886433,-0.015349],[-0.001185,-0.017931,0.999839]] 2025-10-28T17:17:28.369Z,1761671848.369 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:17:28.369Z,1761671848.369 [marl:UpdateRudder:B] Stopped 2025-10-28T17:17:28.369Z,1761671848.369 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:17:28.369Z,1761671848.369 [marl:UpdateRudder] Stopped 2025-10-28T17:17:28.369Z,1761671848.369 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:17:28.739Z,1761671848.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879776,-0.475384,-0.002256],[0.475299,-0.879691,0.015292],[-0.009254,0.012382,0.999881]] 2025-10-28T17:17:29.145Z,1761671849.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889509,-0.456871,-0.006574],[0.456363,-0.889045,0.036493],[-0.022517,0.029461,0.999312]] 2025-10-28T17:17:29.553Z,1761671849.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883212,-0.468915,0.007373],[0.468356,-0.881133,0.065171],[-0.024063,0.061013,0.997847]] 2025-10-28T17:17:29.955Z,1761671849.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867428,-0.497545,-0.004125],[0.493693,-0.861686,0.117324],[-0.061928,0.099733,0.993085]] 2025-10-28T17:17:30.355Z,1761671850.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885835,-0.461516,0.047962],[0.463724,-0.876991,0.125883],[-0.016035,0.133752,0.990885]] 2025-10-28T17:17:30.765Z,1761671850.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854992,-0.498533,0.143018],[0.512019,-0.855275,0.079631],[0.082622,0.141312,0.986511]] 2025-10-28T17:17:31.172Z,1761671851.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816183,-0.567352,0.109348],[0.577429,-0.807655,0.119453],[0.020543,0.160636,0.986800]] 2025-10-28T17:17:31.607Z,1761671851.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839653,-0.537643,0.076960],[0.542161,-0.821280,0.177655],[-0.032309,0.190893,0.981079]] 2025-10-28T17:17:31.978Z,1761671851.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860001,-0.502800,0.087122],[0.509313,-0.856321,0.085524],[0.031603,0.117923,0.992520]] 2025-10-28T17:17:32.375Z,1761671852.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841955,-0.536391,0.058279],[0.532369,-0.843454,-0.071895],[0.087720,-0.029507,0.995708]] 2025-10-28T17:17:32.785Z,1761671852.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825337,-0.564496,-0.012785],[0.564096,-0.823335,-0.062567],[0.024793,-0.058851,0.997959]] 2025-10-28T17:17:33.182Z,1761671853.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841534,-0.539961,-0.016204],[0.538592,-0.840961,0.051994],[-0.041701,0.035027,0.998516]] 2025-10-28T17:17:33.621Z,1761671853.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855724,-0.511230,0.079872],[0.515941,-0.854742,0.056759],[0.039253,0.089779,0.995188]] 2025-10-28T17:17:33.994Z,1761671853.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835869,-0.537701,0.110454],[0.541434,-0.840731,0.004581],[0.090399,0.063632,0.993871]] 2025-10-28T17:17:34.400Z,1761671854.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822161,-0.566778,0.053045],[0.568010,-0.822953,0.010640],[0.037623,0.038878,0.998535]] 2025-10-28T17:17:34.560Z,1761671854.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:17:34.798Z,1761671854.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833758,-0.551637,0.023324],[0.551945,-0.833828,0.009364],[0.014282,0.020680,0.999684]] 2025-10-28T17:17:35.204Z,1761671855.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836206,-0.546848,0.041444],[0.546329,-0.837228,-0.023968],[0.047805,0.002600,0.998853]] 2025-10-28T17:17:35.565Z,1761671855.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:17:35.626Z,1761671855.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834367,-0.550501,0.027922],[0.549434,-0.834675,-0.037951],[0.044198,-0.016324,0.998889]] 2025-10-28T17:17:36.012Z,1761671856.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845436,-0.533907,-0.013477],[0.533955,-0.844435,-0.042684],[0.011409,-0.043282,0.998998]] 2025-10-28T17:17:36.417Z,1761671856.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838615,-0.542970,-0.043680],[0.544721,-0.835628,-0.070745],[0.001913,-0.083121,0.996538]] 2025-10-28T17:17:36.818Z,1761671856.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827436,-0.560710,-0.030887],[0.561308,-0.824167,-0.075372],[0.016805,-0.079703,0.996677]] 2025-10-28T17:17:37.223Z,1761671857.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827413,-0.561578,-0.004252],[0.561461,-0.827357,0.015533],[-0.012241,0.010465,0.999870]] 2025-10-28T17:17:37.634Z,1761671857.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834438,-0.550716,0.020617],[0.550231,-0.830435,0.087314],[-0.030964,0.084202,0.995968]] 2025-10-28T17:17:38.032Z,1761671858.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798783,-0.598633,0.059874],[0.601404,-0.791863,0.106141],[-0.016127,0.120792,0.992547]] 2025-10-28T17:17:38.435Z,1761671858.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784608,-0.617877,0.051171],[0.618492,-0.774302,0.133881],[-0.043100,0.136692,0.989676]] 2025-10-28T17:17:38.839Z,1761671858.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797752,-0.595889,0.092246],[0.602975,-0.789267,0.116093],[0.003628,0.148236,0.988945]] 2025-10-28T17:17:39.249Z,1761671859.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771367,-0.630291,0.087896],[0.636301,-0.766177,0.089966],[0.010639,0.125326,0.992059]] 2025-10-28T17:17:39.647Z,1761671859.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757204,-0.653179,0.000020],[0.652390,-0.756287,0.049167],[-0.032100,0.037242,0.998791]] 2025-10-28T17:17:40.051Z,1761671860.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756644,-0.652338,-0.044109],[0.653719,-0.756025,-0.032833],[-0.011929,-0.053678,0.998487]] 2025-10-28T17:17:40.461Z,1761671860.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742789,-0.669269,-0.018553],[0.668241,-0.739363,-0.082440],[0.041457,-0.073633,0.996423]] 2025-10-28T17:17:40.860Z,1761671860.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727553,-0.685678,-0.022629],[0.684563,-0.723409,-0.089732],[0.045158,-0.080776,0.995709]] 2025-10-28T17:17:40.865Z,1761671860.865 [NAL9602](INFO): SBD MO Status=2, MOMSN=3301, MT Status=2, MTMSN=0 2025-10-28T17:17:40.865Z,1761671860.865 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T17:17:41.270Z,1761671861.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723334,-0.689493,-0.037257],[0.690498,-0.722335,-0.038000],[-0.000711,-0.053212,0.998583]] 2025-10-28T17:17:41.293Z,1761671861.293 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateRudder:A] Stopped 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:17:41.294Z,1761671861.294 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateCommandMode] Stopped 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:17:41.295Z,1761671861.295 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:17:41.296Z,1761671861.296 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:17:41.296Z,1761671861.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:17:41.296Z,1761671861.296 [marl:UpdateSpeed] Stopped 2025-10-28T17:17:41.296Z,1761671861.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:17:41.667Z,1761671861.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723177,-0.690553,-0.012330],[0.690603,-0.722764,-0.026055],[0.009081,-0.027357,0.999584]] 2025-10-28T17:17:41.723Z,1761671861.723 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:17:41.724Z,1761671861.724 [marl:UpdateRudder:B] Stopped 2025-10-28T17:17:41.724Z,1761671861.724 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:17:41.724Z,1761671861.724 [marl:UpdateRudder] Stopped 2025-10-28T17:17:41.724Z,1761671861.724 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:17:42.071Z,1761671862.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689073,-0.723082,0.048285],[0.722974,-0.690497,-0.022871],[0.049878,0.019149,0.998572]] 2025-10-28T17:17:42.485Z,1761671862.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682514,-0.726038,0.083931],[0.730239,-0.682192,0.036947],[0.030432,0.086507,0.995786]] 2025-10-28T17:17:42.879Z,1761671862.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714370,-0.697660,0.054282],[0.699277,-0.708810,0.092743],[-0.026227,0.104211,0.994209]] 2025-10-28T17:17:43.283Z,1761671863.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718138,-0.693636,0.056094],[0.695885,-0.716328,0.051171],[0.004688,0.075783,0.997113]] 2025-10-28T17:17:43.687Z,1761671863.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671008,-0.740171,0.043546],[0.738488,-0.672418,-0.049895],[0.066211,-0.001322,0.997805]] 2025-10-28T17:17:44.090Z,1761671864.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652667,-0.757624,-0.005651],[0.756066,-0.650807,-0.069389],[0.048893,-0.049561,0.997574]] 2025-10-28T17:17:44.495Z,1761671864.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658316,-0.752060,0.032037],[0.752160,-0.658884,-0.011289],[0.029599,0.016666,0.999423]] 2025-10-28T17:17:44.899Z,1761671864.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638613,-0.760865,0.115143],[0.769022,-0.636435,0.059637],[0.027905,0.126633,0.991557]] 2025-10-28T17:17:45.312Z,1761671865.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616491,-0.777261,0.125714],[0.786988,-0.613214,0.067962],[0.024266,0.140834,0.989736]] 2025-10-28T17:17:45.709Z,1761671865.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585209,-0.808236,0.065452],[0.807898,-0.588072,-0.038364],[0.069498,0.030428,0.997118]] 2025-10-28T17:17:46.334Z,1761671866.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589932,-0.807410,0.008282],[0.792629,-0.581028,-0.184784],[0.154009,-0.102446,0.982744]] 2025-10-28T17:17:48.396Z,1761671868.396 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:17:48.547Z,1761671868.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530872,-0.839067,0.118920],[0.842624,-0.537583,-0.031471],[0.090336,0.083498,0.992405]] 2025-10-28T17:17:48.561Z,1761671868.561 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:17:48.562Z,1761671868.562 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:17:48.813Z,1761671868.813 [DAT](INFO): DAT read: user:54> 2025-10-28T17:17:48.814Z,1761671868.814 [DAT](INFO): DAT read: Tx time:17:17:48.5604 2025-10-28T17:17:48.814Z,1761671868.814 [DAT](INFO): Ping request sent. 2025-10-28T17:17:48.814Z,1761671868.814 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:17:48.814Z,1761671868.814 [DAT](INFO): publishing transmit ping time 2025-10-28T17:17:48.815Z,1761671868.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000921 2025-10-28T17:17:48.951Z,1761671868.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513736,-0.845604,0.145014],[0.849689,-0.524867,-0.050433],[0.118759,0.097308,0.988143]] 2025-10-28T17:17:49.065Z,1761671869.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815 2025-10-28T17:17:49.317Z,1761671869.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502750 2025-10-28T17:17:49.346Z,1761671869.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449469,-0.885752,0.115846],[0.889226,-0.456008,-0.036524],[0.085178,0.086597,0.992595]] 2025-10-28T17:17:49.572Z,1761671869.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757347 2025-10-28T17:17:49.753Z,1761671869.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429197,-0.902511,0.035551],[0.901940,-0.430348,-0.036115],[0.047893,0.016564,0.998715]] 2025-10-28T17:17:49.821Z,1761671869.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006868 2025-10-28T17:17:50.073Z,1761671870.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803 2025-10-28T17:17:50.154Z,1761671870.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418139,-0.908350,0.007733],[0.907448,-0.418080,-0.041807],[0.041208,-0.010464,0.999096]] 2025-10-28T17:17:50.325Z,1761671870.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844 2025-10-28T17:17:50.561Z,1761671870.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418651,-0.907905,0.020946],[0.907259,-0.419150,-0.034563],[0.040160,0.004533,0.999183]] 2025-10-28T17:17:50.577Z,1761671870.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762894 2025-10-28T17:17:50.829Z,1761671870.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014751 2025-10-28T17:17:50.965Z,1761671870.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434317,-0.899544,0.046800],[0.897599,-0.436557,-0.061106],[0.075399,0.015468,0.997033]] 2025-10-28T17:17:51.081Z,1761671871.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267011 2025-10-28T17:17:51.333Z,1761671871.333 [DAT](INFO): DAT read: Rx Time:17:17:50.7069 2025-10-28T17:17:51.333Z,1761671871.333 [DAT](INFO): Rx dataTimestamp_ set to:1761671871.333121 2025-10-28T17:17:51.334Z,1761671871.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519859 2025-10-28T17:17:51.367Z,1761671871.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383070,-0.919742,0.085629],[0.920867,-0.387522,-0.042789],[0.072538,0.062462,0.995408]] 2025-10-28T17:17:51.587Z,1761671871.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772900 2025-10-28T17:17:51.777Z,1761671871.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316433,-0.946603,0.061745],[0.948547,-0.314963,0.032492],[-0.011309,0.068849,0.997563]] 2025-10-28T17:17:51.838Z,1761671871.838 [DAT](INFO): DAT read: Bearing 211, -12 (Remote) 2025-10-28T17:17:51.838Z,1761671871.838 [DAT](INFO): Remote Bearing received:Bearing 211, -12 (Remote) 2025-10-28T17:17:51.839Z,1761671871.839 [DAT](INFO): DAT read: Range 11 to 20 : 87.9 m (Round-trip 117.3 ms) speed 0.3 m/s 2025-10-28T17:17:51.840Z,1761671871.840 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T17:17:51.872Z,1761671871.872 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761671808.00. Resetting abort timer. 2025-10-28T17:17:52.174Z,1761671872.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321722,-0.946774,-0.010684],[0.945948,-0.321889,0.039633],[-0.040963,0.002644,0.999157]] 2025-10-28T17:17:52.578Z,1761671872.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310496,-0.950030,-0.032181],[0.949932,-0.311353,0.026230],[-0.034939,-0.022425,0.999138]] 2025-10-28T17:17:52.983Z,1761671872.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329069,-0.944242,0.010984],[0.943785,-0.328478,0.037051],[-0.031377,0.022558,0.999253]] 2025-10-28T17:17:53.388Z,1761671873.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333807,-0.942371,0.022561],[0.942631,-0.333820,0.003332],[0.004391,0.022379,0.999740]] 2025-10-28T17:17:53.792Z,1761671873.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307983,-0.950930,-0.029636],[0.950589,-0.306294,-0.050650],[0.039087,-0.043771,0.998277]] 2025-10-28T17:17:54.195Z,1761671874.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280974,-0.957053,-0.071432],[0.959605,-0.279033,-0.036043],[0.014563,-0.078673,0.996794]] 2025-10-28T17:17:54.599Z,1761671874.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260693,-0.963455,-0.061588],[0.965398,-0.259711,-0.023592],[0.006735,-0.065607,0.997823]] 2025-10-28T17:17:55.003Z,1761671875.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279059,-0.959907,-0.026549],[0.960260,-0.278798,-0.013139],[0.005211,-0.029160,0.999561]] 2025-10-28T17:17:55.406Z,1761671875.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302133,-0.952929,0.025354],[0.952859,-0.302674,-0.021189],[0.027865,0.017757,0.999454]] 2025-10-28T17:17:55.810Z,1761671875.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208543,-0.976727,0.050135],[0.973519,-0.212220,-0.084995],[0.093657,0.031083,0.995119]] 2025-10-28T17:17:56.214Z,1761671876.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136668,-0.990548,0.011693],[0.990095,-0.136969,-0.030838],[0.032149,0.007362,0.999456]] 2025-10-28T17:17:56.620Z,1761671876.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220477,-0.975215,0.018615],[0.974873,-0.219697,0.036835],[-0.031832,0.026268,0.999148]] 2025-10-28T17:17:56.655Z,1761671876.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:17:56.655Z,1761671876.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:17:56.655Z,1761671876.655 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:17:56.672Z,1761671876.672 [marl:UpdateRudder:A] Stopped 2025-10-28T17:17:56.672Z,1761671876.672 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:17:56.672Z,1761671876.672 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:17:56.672Z,1761671876.672 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:17:56.672Z,1761671876.672 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateCommandMode] Stopped 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:17:56.673Z,1761671876.673 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:17:56.674Z,1761671876.674 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:17:56.674Z,1761671876.674 [marl:UpdateSpeed] Stopped 2025-10-28T17:17:56.674Z,1761671876.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:17:57.022Z,1761671877.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213924,-0.972830,0.088534],[0.976727,-0.214454,0.003593],[0.015491,0.087242,0.996067]] 2025-10-28T17:17:57.058Z,1761671877.058 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:17:57.058Z,1761671877.058 [marl:UpdateRudder:B] Stopped 2025-10-28T17:17:57.058Z,1761671877.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:17:57.058Z,1761671877.058 [marl:UpdateRudder] Stopped 2025-10-28T17:17:57.058Z,1761671877.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:17:57.434Z,1761671877.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154034,-0.984056,0.088918],[0.986868,-0.157653,-0.035180],[0.048637,0.082331,0.995417]] 2025-10-28T17:17:57.830Z,1761671877.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131581,-0.991301,0.002955],[0.989465,-0.131517,-0.060521],[0.060383,-0.005040,0.998163]] 2025-10-28T17:17:58.235Z,1761671878.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112583,-0.992257,-0.052444],[0.991043,-0.108317,-0.078108],[0.071823,-0.060768,0.995564]] 2025-10-28T17:17:58.641Z,1761671878.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060057,-0.993354,-0.098186],[0.996648,-0.054199,-0.061277],[0.055549,-0.101537,0.993280]] 2025-10-28T17:17:59.042Z,1761671879.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064781,-0.994228,-0.085528],[0.994794,-0.057585,-0.084079],[0.078669,-0.090530,0.992782]] 2025-10-28T17:17:59.450Z,1761671879.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058770,-0.998249,-0.006651],[0.992137,-0.057670,-0.111079],[0.110501,-0.013127,0.993789]] 2025-10-28T17:17:59.851Z,1761671879.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008816,-0.996935,0.077733],[0.999341,0.006047,-0.035796],[0.035216,0.077997,0.996331]] 2025-10-28T17:18:00.257Z,1761671880.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042003,-0.989362,0.139279],[0.998305,0.047181,0.034087],[-0.040296,0.137611,0.989666]] 2025-10-28T17:18:00.661Z,1761671880.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006673,-0.987759,0.155844],[0.999977,0.006431,-0.002057],[0.001029,0.155854,0.987780]] 2025-10-28T17:18:01.062Z,1761671881.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012655,-0.988629,0.149841],[0.998817,0.005462,-0.048318],[0.046951,0.150275,0.987529]] 2025-10-28T17:18:01.467Z,1761671881.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078345,-0.991418,0.104651],[0.996822,0.076384,-0.022625],[0.014438,0.106091,0.994252]] 2025-10-28T17:18:01.875Z,1761671881.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120405,-0.992644,0.012707],[0.991928,0.120811,0.038521],[-0.039773,0.007966,0.999177]] 2025-10-28T17:18:02.274Z,1761671882.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076038,-0.995631,-0.054188],[0.996861,0.074704,0.026224],[-0.022062,-0.056012,0.998186]] 2025-10-28T17:18:02.679Z,1761671882.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096079,-0.995009,-0.026934],[0.991717,0.098008,-0.083012],[0.085238,-0.018736,0.996185]] 2025-10-28T17:18:03.083Z,1761671883.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171602,-0.985104,0.011063],[0.978758,0.169197,-0.115782],[0.112185,0.030696,0.993213]] 2025-10-28T17:18:03.489Z,1761671883.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221922,-0.974840,0.020930],[0.974023,0.220643,-0.050942],[0.045043,0.031691,0.998482]] 2025-10-28T17:18:04.295Z,1761671884.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278899,-0.960310,-0.004401],[0.957604,0.278452,-0.073880],[0.072174,0.016390,0.997257]] 2025-10-28T17:18:04.699Z,1761671884.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320431,-0.947220,-0.009905],[0.946207,0.320549,-0.044064],[0.044914,0.004747,0.998980]] 2025-10-28T17:18:05.105Z,1761671885.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321171,-0.947021,0.000559],[0.946252,0.320887,-0.040474],[0.038150,0.013528,0.999180]] 2025-10-28T17:18:05.506Z,1761671885.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352514,-0.935641,-0.017606],[0.934054,0.352943,-0.054536],[0.057239,0.002780,0.998357]] 2025-10-28T17:18:05.684Z,1761671885.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:18:05.919Z,1761671885.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426224,-0.900944,-0.081439],[0.901233,0.430685,-0.047845],[0.078180,-0.053003,0.995529]] 2025-10-28T17:18:06.315Z,1761671886.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436342,-0.894785,-0.094690],[0.898991,0.437946,0.004219],[0.037693,-0.086966,0.995498]] 2025-10-28T17:18:06.688Z,1761671886.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:18:06.727Z,1761671886.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431636,-0.900155,-0.058410],[0.901864,0.431951,0.007774],[0.018232,-0.056033,0.998262]] 2025-10-28T17:18:07.128Z,1761671887.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471372,-0.880679,-0.047050],[0.881207,0.472479,-0.015416],[0.035807,-0.034194,0.998774]] 2025-10-28T17:18:07.533Z,1761671887.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531797,-0.844355,-0.065249],[0.845484,0.533756,-0.016141],[0.048456,-0.046583,0.997738]] 2025-10-28T17:18:07.939Z,1761671887.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543941,-0.838742,-0.025314],[0.839105,0.543480,0.023062],[-0.005586,-0.033786,0.999413]] 2025-10-28T17:18:08.340Z,1761671888.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554851,-0.830708,-0.045436],[0.831465,0.555564,-0.003793],[0.028393,-0.035674,0.998960]] 2025-10-28T17:18:08.744Z,1761671888.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570513,-0.814834,-0.102764],[0.818764,0.574093,-0.006570],[0.064350,-0.080391,0.994684]] 2025-10-28T17:18:08.758Z,1761671888.758 [NAL9602](INFO): SBD MO Status=1, MOMSN=3301, MT Status=0, MTMSN=0 2025-10-28T17:18:08.808Z,1761671888.808 [NAL9602](INFO): Sent 84 bytes from file Logs/20251028T162422/Courier0015.lzma 2025-10-28T17:18:08.808Z,1761671888.808 [NAL9602](INFO): Packets left to send: 0 2025-10-28T17:18:09.144Z,1761671889.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592797,-0.801163,-0.082033],[0.805046,0.586681,0.087786],[-0.022204,-0.118079,0.992756]] 2025-10-28T17:18:09.997Z,1761671889.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574197,-0.805788,-0.144929],[0.818177,0.571185,0.065831],[0.029735,-0.156377,0.987250]] 2025-10-28T17:18:10.391Z,1761671890.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560704,-0.817086,-0.134100],[0.825827,0.563608,0.018857],[0.060172,-0.121317,0.990788]] 2025-10-28T17:18:12.544Z,1761671892.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609330,-0.791023,-0.054768],[0.789326,0.611687,-0.052939],[0.075377,-0.010973,0.997095]] 2025-10-28T17:18:12.587Z,1761671892.587 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:18:12.587Z,1761671892.587 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:18:12.587Z,1761671892.587 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateRudder:A] Stopped 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:18:12.590Z,1761671892.590 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateCommandMode] Stopped 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:18:12.591Z,1761671892.591 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:18:12.592Z,1761671892.592 [marl:UpdateSpeed] Stopped 2025-10-28T17:18:12.600Z,1761671892.600 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:18:12.915Z,1761671892.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618357,-0.779180,-0.102535],[0.776835,0.625758,-0.070388],[0.119007,-0.036128,0.992236]] 2025-10-28T17:18:12.941Z,1761671892.941 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:18:12.941Z,1761671892.941 [marl:UpdateRudder:B] Stopped 2025-10-28T17:18:12.942Z,1761671892.942 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:18:12.942Z,1761671892.942 [marl:UpdateRudder] Stopped 2025-10-28T17:18:12.942Z,1761671892.942 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:18:13.310Z,1761671893.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603615,-0.793447,-0.078043],[0.794209,0.606983,-0.028358],[0.069871,-0.044865,0.996547]] 2025-10-28T17:18:13.715Z,1761671893.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621715,-0.781369,-0.054156],[0.782131,0.623030,-0.010223],[0.041729,-0.036001,0.998480]] 2025-10-28T17:18:14.119Z,1761671894.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654188,-0.748259,-0.110213],[0.751968,0.659102,-0.011341],[0.081128,-0.075457,0.993843]] 2025-10-28T17:18:14.530Z,1761671894.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619065,-0.761711,-0.191197],[0.776204,0.630481,0.001445],[0.119445,-0.149302,0.981551]] 2025-10-28T17:18:14.962Z,1761671894.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589738,-0.791544,-0.160210],[0.803210,0.595523,0.014360],[0.084042,-0.137151,0.986978]] 2025-10-28T17:18:15.331Z,1761671895.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628390,-0.770878,-0.104272],[0.775629,0.631133,0.008356],[0.059368,-0.086127,0.994514]] 2025-10-28T17:18:15.735Z,1761671895.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636705,-0.763630,-0.107128],[0.767488,0.641016,-0.007807],[0.074633,-0.077248,0.994215]] 2025-10-28T17:18:16.141Z,1761671896.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607265,-0.793170,-0.045944],[0.794457,0.606814,0.024795],[0.008213,-0.051558,0.998636]] 2025-10-28T17:18:16.542Z,1761671896.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601600,-0.798638,-0.015988],[0.798745,0.601208,0.023583],[-0.009222,-0.026958,0.999594]] 2025-10-28T17:18:16.947Z,1761671896.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633382,-0.772805,-0.039981],[0.773186,0.634125,-0.008315],[0.031779,-0.025646,0.999166]] 2025-10-28T17:18:17.351Z,1761671897.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629587,-0.775161,-0.052403],[0.776903,0.628700,0.034043],[0.006557,-0.062145,0.998046]] 2025-10-28T17:18:17.760Z,1761671897.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576510,-0.814672,-0.062809],[0.814068,0.566074,0.129820],[-0.070206,-0.125973,0.989546]] 2025-10-28T17:18:18.159Z,1761671898.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547068,-0.827142,-0.128655],[0.836549,0.534702,0.119501],[-0.030052,-0.173002,0.984463]] 2025-10-28T17:18:18.562Z,1761671898.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536013,-0.817573,-0.210392],[0.837850,0.545723,0.013924],[0.103432,-0.183740,0.977518]] 2025-10-28T17:18:18.966Z,1761671898.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521693,-0.825012,-0.217237],[0.847460,0.530459,0.020614],[0.098228,-0.194854,0.975901]] 2025-10-28T17:18:19.372Z,1761671899.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519740,-0.841303,-0.148593],[0.853894,0.517084,0.059076],[0.027134,-0.157587,0.987132]] 2025-10-28T17:18:19.780Z,1761671899.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515890,-0.848492,-0.117977],[0.853186,0.521287,-0.018285],[0.077014,-0.091223,0.992848]] 2025-10-28T17:18:20.178Z,1761671900.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524335,-0.849409,-0.059812],[0.843927,0.527735,-0.096351],[0.113406,0.000043,0.993549]] 2025-10-28T17:18:20.584Z,1761671900.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558670,-0.829280,0.013489],[0.823029,0.552302,-0.132610],[0.102521,0.085187,0.991076]] 2025-10-28T17:18:20.989Z,1761671900.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534517,-0.843947,0.045226],[0.842725,0.528158,-0.104227],[0.064075,0.093824,0.993525]] 2025-10-28T17:18:21.402Z,1761671901.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495749,-0.866342,0.060706],[0.867116,0.497663,0.020996],[-0.048401,0.042230,0.997935]] 2025-10-28T17:18:21.409Z,1761671901.409 [NAL9602](INFO): SBD MO Status=1, MOMSN=3302, MT Status=0, MTMSN=0 2025-10-28T17:18:21.468Z,1761671901.468 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0016.lzma 2025-10-28T17:18:21.468Z,1761671901.468 [NAL9602](INFO): Packets left to send: 1 2025-10-28T17:18:21.795Z,1761671901.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509144,-0.859583,-0.043463],[0.859041,0.504410,0.087285],[-0.053105,-0.081777,0.995235]] 2025-10-28T17:18:22.527Z,1761671902.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498172,-0.816989,-0.290439],[0.863108,0.499263,0.076036],[0.082885,-0.288559,0.953868]] 2025-10-28T17:18:22.910Z,1761671902.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471616,-0.848638,-0.239567],[0.881804,0.454126,0.127247],[0.000807,-0.271263,0.962505]] 2025-10-28T17:18:25.147Z,1761671905.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440848,-0.895150,-0.066025],[0.884968,0.445764,-0.134634],[0.149949,0.000923,0.988693]] 2025-10-28T17:18:25.543Z,1761671905.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440858,-0.893468,-0.085786],[0.888515,0.447956,-0.099381],[0.127222,-0.032410,0.991345]] 2025-10-28T17:18:25.950Z,1761671905.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447405,-0.884752,-0.130544],[0.882015,0.460660,-0.099213],[0.147915,-0.070753,0.986466]] 2025-10-28T17:18:26.353Z,1761671906.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392962,-0.901460,-0.181524],[0.901098,0.416850,-0.119411],[0.183312,-0.116647,0.976110]] 2025-10-28T17:18:26.757Z,1761671906.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373093,-0.914559,-0.156153],[0.898987,0.397966,-0.182881],[0.229399,-0.072147,0.970655]] 2025-10-28T17:18:27.161Z,1761671907.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379571,-0.916422,-0.126873],[0.885190,0.399615,-0.238216],[0.269007,-0.021887,0.962889]] 2025-10-28T17:18:27.607Z,1761671907.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389182,-0.914507,-0.110522],[0.868723,0.404279,-0.286144],[0.306362,0.015349,0.951791]] 2025-10-28T17:18:27.964Z,1761671907.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377108,-0.921533,-0.092559],[0.869226,0.386653,-0.308134],[0.319744,0.035746,0.946830]] 2025-10-28T17:18:28.007Z,1761671908.007 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:18:28.007Z,1761671908.007 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:18:28.008Z,1761671908.008 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:18:28.008Z,1761671908.008 [marl:UpdateRudder:A] Stopped 2025-10-28T17:18:28.008Z,1761671908.008 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:18:28.008Z,1761671908.008 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode] Stopped 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:18:28.009Z,1761671908.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:18:28.010Z,1761671908.010 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:18:28.010Z,1761671908.010 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:18:28.010Z,1761671908.010 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:18:28.010Z,1761671908.010 [marl:UpdateSpeed] Stopped 2025-10-28T17:18:28.010Z,1761671908.010 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:18:28.370Z,1761671908.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405651,-0.911617,-0.066352],[0.868633,0.407080,-0.282422],[0.284471,0.056930,0.956993]] 2025-10-28T17:18:28.421Z,1761671908.421 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:18:28.421Z,1761671908.421 [marl:UpdateRudder:B] Stopped 2025-10-28T17:18:28.421Z,1761671908.421 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:18:28.421Z,1761671908.421 [marl:UpdateRudder] Stopped 2025-10-28T17:18:28.421Z,1761671908.421 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:18:28.778Z,1761671908.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423761,-0.900471,-0.097869],[0.870969,0.434757,-0.228910],[0.248676,0.011762,0.968515]] 2025-10-28T17:18:29.174Z,1761671909.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407106,-0.894522,-0.184651],[0.876170,0.439573,-0.197744],[0.258053,-0.081283,0.962705]] 2025-10-28T17:18:29.624Z,1761671909.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402553,-0.883125,-0.240915],[0.870121,0.450898,-0.198948],[0.284324,-0.129538,0.949937]] 2025-10-28T17:18:29.983Z,1761671909.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403647,-0.878552,-0.255372],[0.883272,0.446972,-0.141588],[0.238536,-0.168411,0.956419]] 2025-10-28T17:18:30.396Z,1761671910.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392735,-0.896072,-0.206916],[0.897533,0.422510,-0.126172],[0.200483,-0.136162,0.970189]] 2025-10-28T17:18:30.792Z,1761671910.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401964,-0.908053,-0.117752],[0.889768,0.417719,-0.183914],[0.216191,-0.030845,0.975864]] 2025-10-28T17:18:31.194Z,1761671911.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409349,-0.909857,-0.067772],[0.880388,0.413402,-0.232413],[0.239480,0.035472,0.970253]] 2025-10-28T17:18:31.627Z,1761671911.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392388,-0.918681,-0.045345],[0.891413,0.391969,-0.227470],[0.226747,0.048835,0.972729]] 2025-10-28T17:18:32.004Z,1761671912.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389270,-0.919794,-0.049474],[0.895159,0.390414,-0.215097],[0.217160,0.039444,0.975339]] 2025-10-28T17:18:32.406Z,1761671912.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418925,-0.904740,-0.077119],[0.879895,0.425457,-0.211593],[0.224247,0.020785,0.974311]] 2025-10-28T17:18:32.810Z,1761671912.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437135,-0.888757,-0.137925],[0.876987,0.455221,-0.153846],[0.199518,-0.053707,0.978421]] 2025-10-28T17:18:33.214Z,1761671913.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452310,-0.874294,-0.176139],[0.878562,0.470768,-0.080658],[0.153440,-0.118266,0.981055]] 2025-10-28T17:18:33.642Z,1761671913.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447412,-0.876266,-0.178834],[0.884932,0.462680,-0.053129],[0.129298,-0.134486,0.982444]] 2025-10-28T17:18:34.022Z,1761671914.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435851,-0.888300,-0.144762],[0.892886,0.446977,-0.054465],[0.113087,-0.105518,0.987966]] 2025-10-28T17:18:34.450Z,1761671914.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471574,-0.879785,-0.059968],[0.875838,0.475199,-0.084226],[0.102597,-0.012804,0.994641]] 2025-10-28T17:18:34.831Z,1761671914.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481930,-0.875619,-0.032181],[0.872782,0.482966,-0.070680],[0.077432,0.005976,0.996980]] 2025-10-28T17:18:35.236Z,1761671915.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441377,-0.896975,-0.024928],[0.897322,0.441213,0.012043],[0.000196,-0.027684,0.999617]] 2025-10-28T17:18:35.642Z,1761671915.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407869,-0.911947,-0.044666],[0.907654,0.399671,0.128167],[-0.099030,-0.092817,0.990746]] 2025-10-28T17:18:36.043Z,1761671916.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417770,-0.896660,-0.146526],[0.904135,0.394411,0.164259],[-0.089493,-0.201102,0.975474]] 2025-10-28T17:18:36.447Z,1761671916.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419882,-0.873403,-0.246712],[0.907390,0.409529,0.094492],[0.018506,-0.263539,0.964471]] 2025-10-28T17:18:36.808Z,1761671916.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:18:36.864Z,1761671916.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404595,-0.882130,-0.241142],[0.912489,0.406879,0.042583],[0.060552,-0.237268,0.969555]] 2025-10-28T17:18:37.255Z,1761671917.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410342,-0.892823,-0.185705],[0.910911,0.410929,0.037144],[0.043149,-0.184402,0.981903]] 2025-10-28T17:18:37.662Z,1761671917.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369294,-0.924805,-0.091423],[0.928230,0.371823,-0.011742],[0.044853,-0.080525,0.995743]] 2025-10-28T17:18:37.812Z,1761671917.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:18:38.063Z,1761671918.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357308,-0.933726,0.022059],[0.931159,0.354290,-0.086145],[0.072620,0.051321,0.996038]] 2025-10-28T17:18:38.469Z,1761671918.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375589,-0.924746,0.061462],[0.919991,0.363998,-0.145332],[0.112023,0.111130,0.987472]] 2025-10-28T17:18:38.876Z,1761671918.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375983,-0.926026,0.033372],[0.915883,0.365914,-0.165120],[0.140694,0.092647,0.985709]] 2025-10-28T17:18:39.274Z,1761671919.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391625,-0.919887,0.020913],[0.919426,0.390340,-0.047866],[0.035868,0.037973,0.998635]] 2025-10-28T17:18:39.683Z,1761671919.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393126,-0.918609,-0.040111],[0.919320,0.391856,0.036050],[-0.017398,-0.051047,0.998545]] 2025-10-28T17:18:40.082Z,1761671920.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386800,-0.909212,-0.154010],[0.920578,0.390501,0.006693],[0.054056,-0.144367,0.988047]] 2025-10-28T17:18:40.094Z,1761671920.094 [NAL9602](INFO): SBD MO Status=1, MOMSN=3303, MT Status=0, MTMSN=0 2025-10-28T17:18:40.144Z,1761671920.144 [NAL9602](INFO): Sent 112 bytes from file Logs/20251028T162422/Express0016.lzma 2025-10-28T17:18:40.145Z,1761671920.145 [NAL9602](INFO): Packets left to send: 0 2025-10-28T17:18:40.487Z,1761671920.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374799,-0.901295,-0.217237],[0.926245,0.374123,0.045852],[0.039947,-0.218400,0.975041]] 2025-10-28T17:18:41.165Z,1761671921.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380625,-0.907018,-0.180121],[0.924115,0.365985,0.109847],[-0.033711,-0.208263,0.977492]] 2025-10-28T17:18:41.549Z,1761671921.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387629,-0.916513,-0.098729],[0.921611,0.383058,0.062452],[-0.019419,-0.115198,0.993153]] 2025-10-28T17:18:41.636Z,1761671921.636 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:18:41.636Z,1761671921.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateRudder:A] Stopped 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:18:41.637Z,1761671921.637 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateCommandMode] Stopped 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:18:41.638Z,1761671921.638 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:18:41.639Z,1761671921.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:18:41.639Z,1761671921.639 [marl:UpdateSpeed] Stopped 2025-10-28T17:18:41.639Z,1761671921.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:18:41.942Z,1761671921.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364079,-0.930474,-0.040814],[0.930935,0.364897,-0.014536],[0.028418,-0.032703,0.999061]] 2025-10-28T17:18:42.004Z,1761671922.004 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:18:42.005Z,1761671922.005 [marl:UpdateRudder:B] Stopped 2025-10-28T17:18:42.005Z,1761671922.005 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:18:42.005Z,1761671922.005 [marl:UpdateRudder] Stopped 2025-10-28T17:18:42.005Z,1761671922.005 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:18:42.351Z,1761671922.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349114,-0.937079,-0.001628],[0.935246,0.348539,-0.061941],[0.058611,0.020102,0.998079]] 2025-10-28T17:18:42.771Z,1761671922.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398254,-0.916177,-0.044869],[0.911299,0.400760,-0.094469],[0.104532,-0.003267,0.994516]] 2025-10-28T17:18:43.583Z,1761671923.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355166,-0.932361,-0.067529],[0.931394,0.359110,-0.059544],[0.079767,-0.041748,0.995939]] 2025-10-28T17:18:44.376Z,1761671924.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386064,-0.897481,-0.213265],[0.918480,0.395465,-0.001550],[0.085730,-0.195281,0.976993]] 2025-10-28T17:18:44.783Z,1761671924.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347990,-0.920637,-0.177007],[0.935290,0.353877,-0.001814],[0.064309,-0.164922,0.984208]] 2025-10-28T17:18:45.179Z,1761671925.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334876,-0.939446,-0.072800],[0.940948,0.337489,-0.026811],[0.049757,-0.059523,0.996986]] 2025-10-28T17:18:45.614Z,1761671925.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372978,-0.927663,-0.018142],[0.926766,0.373416,-0.040802],[0.044625,-0.001596,0.999003]] 2025-10-28T17:18:45.984Z,1761671925.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368276,-0.929714,-0.002299],[0.929685,0.368243,0.009118],[-0.007630,-0.005495,0.999956]] 2025-10-28T17:18:46.389Z,1761671926.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373164,-0.927539,-0.020504],[0.927405,0.372313,0.036100],[-0.025850,-0.032486,0.999138]] 2025-10-28T17:18:46.791Z,1761671926.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344097,-0.934939,-0.086527],[0.938912,0.343253,0.024916],[0.006406,-0.089815,0.995938]] 2025-10-28T17:18:47.195Z,1761671927.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301759,-0.947619,-0.104688],[0.950633,0.307405,-0.042425],[0.072384,-0.086718,0.993600]] 2025-10-28T17:18:47.622Z,1761671927.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363649,-0.928819,-0.071099],[0.929699,0.366664,-0.034884],[0.058470,-0.053416,0.996859]] 2025-10-28T17:18:48.004Z,1761671928.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390229,-0.918463,-0.064394],[0.920523,0.390628,0.006798],[0.018911,-0.061929,0.997901]] 2025-10-28T17:18:48.407Z,1761671928.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358002,-0.933597,-0.015185],[0.933594,0.358174,-0.010677],[0.015407,-0.010354,0.999828]] 2025-10-28T17:18:48.442Z,1761671928.442 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:18:48.561Z,1761671928.561 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:18:48.561Z,1761671928.561 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:18:48.810Z,1761671928.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333826,-0.940973,0.055943],[0.942563,0.333947,-0.007454],[-0.011668,0.055218,0.998406]] 2025-10-28T17:18:48.813Z,1761671928.813 [DAT](INFO): DAT read: user:55> 2025-10-28T17:18:48.814Z,1761671928.814 [DAT](INFO): DAT read: Tx time:17:18:48.5602 2025-10-28T17:18:48.814Z,1761671928.814 [DAT](INFO): Ping request sent. 2025-10-28T17:18:48.814Z,1761671928.814 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:18:48.814Z,1761671928.814 [DAT](INFO): publishing transmit ping time 2025-10-28T17:18:48.815Z,1761671928.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000913 2025-10-28T17:18:49.065Z,1761671929.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841 2025-10-28T17:18:49.216Z,1761671929.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349374,-0.935031,0.060448],[0.936663,0.350213,0.003548],[-0.024487,0.055379,0.998165]] 2025-10-28T17:18:49.317Z,1761671929.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502844 2025-10-28T17:18:49.576Z,1761671929.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761350 2025-10-28T17:18:49.633Z,1761671929.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314662,-0.948859,-0.025582],[0.949018,0.313952,0.028277],[-0.018800,-0.033175,0.999273]] 2025-10-28T17:18:49.821Z,1761671929.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006815 2025-10-28T17:18:50.022Z,1761671930.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260071,-0.961437,-0.089450],[0.965587,0.258729,0.026483],[-0.002319,-0.093259,0.995639]] 2025-10-28T17:18:50.073Z,1761671930.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259005 2025-10-28T17:18:50.325Z,1761671930.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773 2025-10-28T17:18:50.426Z,1761671930.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278806,-0.948277,-0.151780],[0.959672,0.281033,0.007020],[0.035999,-0.147616,0.988389]] 2025-10-28T17:18:50.577Z,1761671930.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762870 2025-10-28T17:18:50.830Z,1761671930.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015534 2025-10-28T17:18:50.837Z,1761671930.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299614,-0.937578,-0.176577],[0.953415,0.301047,0.019264],[0.035097,-0.174123,0.984098]] 2025-10-28T17:18:51.081Z,1761671931.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266822 2025-10-28T17:18:51.234Z,1761671931.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296773,-0.945724,-0.132412],[0.954632,0.297377,0.015647],[0.024579,-0.131048,0.991071]] 2025-10-28T17:18:51.334Z,1761671931.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519533 2025-10-28T17:18:51.587Z,1761671931.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772947 2025-10-28T17:18:51.639Z,1761671931.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281603,-0.956725,-0.073333],[0.959136,0.282856,-0.007077],[0.027514,-0.068344,0.997282]] 2025-10-28T17:18:51.647Z,1761671931.647 [NAL9602](INFO): SBD MO Status=0, MOMSN=3304, MT Status=0, MTMSN=0 2025-10-28T17:18:51.750Z,1761671931.750 [marl:NeedComms:D] Stopped 2025-10-28T17:18:51.751Z,1761671931.751 [marl:NeedComms:E] Running Loop=1 2025-10-28T17:18:51.837Z,1761671931.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023300 2025-10-28T17:18:52.043Z,1761671932.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221064,-0.975161,-0.013837],[0.973307,0.221496,-0.060104],[0.061676,-0.000181,0.998096]] 2025-10-28T17:18:52.089Z,1761671932.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274763 2025-10-28T17:18:52.341Z,1761671932.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527137 2025-10-28T17:18:52.446Z,1761671932.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233576,-0.970628,0.057643],[0.968108,0.226627,-0.106805],[0.090604,0.080752,0.992608]] 2025-10-28T17:18:52.593Z,1761671932.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778818 2025-10-28T17:18:52.846Z,1761671932.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031444 2025-10-28T17:18:52.858Z,1761671932.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345283,-0.938202,0.023612],[0.935566,0.342108,-0.087621],[0.074129,0.052345,0.995874]] 2025-10-28T17:18:53.097Z,1761671933.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282880 2025-10-28T17:18:53.255Z,1761671933.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321887,-0.945440,-0.050322],[0.945651,0.318457,0.065801],[-0.046186,-0.068768,0.996563]] 2025-10-28T17:18:53.349Z,1761671933.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534881 2025-10-28T17:18:53.606Z,1761671933.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791251 2025-10-28T17:18:53.659Z,1761671933.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225239,-0.969951,-0.091991],[0.971892,0.217039,0.091208],[-0.068502,-0.109949,0.991574]] 2025-10-28T17:18:53.854Z,1761671933.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039655 2025-10-28T17:18:54.062Z,1761671934.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234278,-0.967954,-0.090440],[0.972066,0.234598,0.007235],[0.014214,-0.089609,0.995876]] 2025-10-28T17:18:54.075Z,1761671934.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171853.00,A,3646.51610,N,12151.84765,W,0.603,93.45,281025,,,D*48 2025-10-28T17:18:54.085Z,1761671934.085 [NAL9602](INFO): GPS fix at 20251028T171853: (36.775268, -121.864127) 2025-10-28T17:18:54.105Z,1761671934.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290962 2025-10-28T17:18:54.109Z,1761671934.109 [marl:NeedComms:E] Stopped 2025-10-28T17:18:54.110Z,1761671934.110 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T17:18:54.110Z,1761671934.110 [marl:NeedComms] Stopped 2025-10-28T17:18:54.110Z,1761671934.110 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T17:18:54.110Z,1761671934.110 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T17:18:54.110Z,1761671934.110 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T17:18:54.111Z,1761671934.111 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761671936.00. Resetting abort timer. 2025-10-28T17:18:54.358Z,1761671934.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543505 2025-10-28T17:18:54.467Z,1761671934.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276354,-0.955094,-0.106886],[0.960563,0.278061,-0.001113],[0.030783,-0.102363,0.994271]] 2025-10-28T17:18:54.609Z,1761671934.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794877 2025-10-28T17:18:54.865Z,1761671934.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051175 2025-10-28T17:18:54.873Z,1761671934.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283663,-0.953605,-0.100861],[0.958899,0.282846,0.022612],[0.006965,-0.103130,0.994644]] 2025-10-28T17:18:54.885Z,1761671934.885 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 22.43 mm. 2025-10-28T17:18:54.899Z,1761671934.899 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateRudder:A] Stopped 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:18:54.900Z,1761671934.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateCommandMode] Stopped 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:18:54.901Z,1761671934.901 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:18:54.902Z,1761671934.902 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:18:54.902Z,1761671934.902 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:18:54.902Z,1761671934.902 [marl:UpdateSpeed] Stopped 2025-10-28T17:18:54.902Z,1761671934.902 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:18:55.117Z,1761671935.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302807 2025-10-28T17:18:55.275Z,1761671935.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285943,-0.956987,-0.049116],[0.958004,0.286649,-0.007824],[0.021567,-0.044816,0.998762]] 2025-10-28T17:18:55.313Z,1761671935.313 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:18:55.313Z,1761671935.313 [marl:UpdateRudder:B] Stopped 2025-10-28T17:18:55.313Z,1761671935.313 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:18:55.313Z,1761671935.313 [marl:UpdateRudder] Stopped 2025-10-28T17:18:55.313Z,1761671935.313 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:18:55.369Z,1761671935.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555385 2025-10-28T17:18:55.621Z,1761671935.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806911 2025-10-28T17:18:55.873Z,1761671935.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058843 2025-10-28T17:18:56.084Z,1761671936.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296608,-0.954999,-0.001138],[0.954768,0.296562,-0.021644],[0.021008,0.005333,0.999765]] 2025-10-28T17:18:56.141Z,1761671936.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327062 2025-10-28T17:18:56.393Z,1761671936.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578859 2025-10-28T17:18:56.487Z,1761671936.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287427,-0.957772,-0.007676],[0.957628,0.287518,-0.016803],[0.018300,-0.002521,0.999829]] 2025-10-28T17:18:56.646Z,1761671936.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.832120 2025-10-28T17:18:56.892Z,1761671936.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291689,-0.955463,-0.044819],[0.955677,0.293073,-0.028110],[0.039993,-0.034633,0.998600]] 2025-10-28T17:18:56.897Z,1761671936.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082865 2025-10-28T17:18:57.149Z,1761671937.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334824 2025-10-28T17:18:57.401Z,1761671937.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.587445 2025-10-28T17:18:57.653Z,1761671937.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838883 2025-10-28T17:18:57.705Z,1761671937.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334346,-0.939591,-0.073357],[0.942369,0.332280,0.039129],[-0.012390,-0.082212,0.996538]] 2025-10-28T17:18:57.905Z,1761671937.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090956 2025-10-28T17:18:58.102Z,1761671938.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319504,-0.944387,-0.077786],[0.947565,0.318951,0.019768],[0.006141,-0.080023,0.996774]] 2025-10-28T17:18:58.158Z,1761671938.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343200 2025-10-28T17:18:58.409Z,1761671938.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.594914 2025-10-28T17:18:58.507Z,1761671938.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316950,-0.946948,-0.053223],[0.947097,0.318989,-0.035392],[0.050492,-0.039190,0.997955]] 2025-10-28T17:18:58.661Z,1761671938.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846814 2025-10-28T17:18:58.913Z,1761671938.913 [DAT](INFO): Reached modem response timeout 2025-10-28T17:18:58.922Z,1761671938.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330404,-0.943685,-0.017080],[0.942022,0.330836,-0.056055],[0.058549,0.002431,0.998282]] 2025-10-28T17:18:59.319Z,1761671939.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349309,-0.936976,-0.007709],[0.936811,0.349393,-0.017613],[0.019197,-0.001070,0.999815]] 2025-10-28T17:19:00.130Z,1761671940.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315292,-0.934937,-0.162737],[0.948967,0.311933,0.046478],[0.007309,-0.169087,0.985574]] 2025-10-28T17:19:00.910Z,1761671940.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346270,-0.916830,-0.198796],[0.931102,0.361768,-0.046616],[0.114657,-0.168958,0.978932]] 2025-10-28T17:19:01.186Z,1761671941.186 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:19:01.186Z,1761671941.186 [DAT](INFO): response not received 2025-10-28T17:19:01.187Z,1761671941.187 [DAT](ERROR): No response from remote modem. 2025-10-28T17:19:01.259Z,1761671941.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362541,-0.921701,-0.137952],[0.930296,0.366767,-0.005643],[0.055797,-0.126291,0.990423]] 2025-10-28T17:19:02.063Z,1761671942.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408752,-0.912459,-0.018464],[0.912574,0.408890,-0.004241],[0.011419,-0.015116,0.999821]] 2025-10-28T17:19:02.468Z,1761671942.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450037,-0.892929,-0.011997],[0.892688,0.449473,0.032896],[-0.023981,-0.025514,0.999387]] 2025-10-28T17:19:02.870Z,1761671942.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438869,-0.896723,-0.057281],[0.898438,0.438933,0.012140],[0.014257,-0.056791,0.998284]] 2025-10-28T17:19:03.274Z,1761671943.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420168,-0.901436,-0.104266],[0.907443,0.417082,0.050890],[-0.002387,-0.115998,0.993247]] 2025-10-28T17:19:04.084Z,1761671944.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457186,-0.867069,-0.197918],[0.888766,0.453627,0.065711],[0.032805,-0.205944,0.978014]] 2025-10-28T17:19:04.487Z,1761671944.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433780,-0.886559,-0.160773],[0.900007,0.434791,0.030714],[0.042673,-0.158020,0.986513]] 2025-10-28T17:19:04.891Z,1761671944.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422360,-0.903408,-0.073932],[0.905955,0.423368,0.002227],[0.029289,-0.067920,0.997261]] 2025-10-28T17:19:05.309Z,1761671945.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460645,-0.886017,-0.052728],[0.885485,0.462827,-0.041321],[0.061015,-0.027656,0.997754]] 2025-10-28T17:19:05.702Z,1761671945.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528004,-0.846324,-0.070335],[0.848079,0.529802,-0.008469],[0.044432,-0.055178,0.997487]] 2025-10-28T17:19:06.102Z,1761671946.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504804,-0.857193,-0.101943],[0.863234,0.501313,0.059263],[0.000305,-0.117917,0.993023]] 2025-10-28T17:19:06.507Z,1761671946.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447439,-0.884946,-0.129109],[0.894171,0.440095,0.082309],[-0.016018,-0.152274,0.988208]] 2025-10-28T17:19:06.914Z,1761671946.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482153,-0.863550,-0.147685],[0.875165,0.482487,0.035968],[0.040196,-0.146590,0.988380]] 2025-10-28T17:19:07.328Z,1761671947.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528176,-0.830245,-0.178110],[0.848686,0.522975,0.078933],[0.027613,-0.192850,0.980840]] 2025-10-28T17:19:07.949Z,1761671947.949 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:19:08.122Z,1761671948.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548844,-0.825382,-0.132345],[0.831357,0.555489,-0.016667],[0.087272,-0.100878,0.991064]] 2025-10-28T17:19:08.527Z,1761671948.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574789,-0.813157,-0.091616],[0.815970,0.577993,-0.010792],[0.061729,-0.068552,0.995736]] 2025-10-28T17:19:08.550Z,1761671948.550 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:19:08.550Z,1761671948.550 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateRudder:A] Stopped 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:19:08.551Z,1761671948.551 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateCommandMode] Stopped 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:19:08.552Z,1761671948.552 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:19:08.553Z,1761671948.553 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:19:08.553Z,1761671948.553 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:19:08.553Z,1761671948.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:19:08.553Z,1761671948.553 [marl:UpdateSpeed] Stopped 2025-10-28T17:19:08.553Z,1761671948.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:19:08.938Z,1761671948.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585657,-0.805449,-0.090874],[0.810527,0.580946,0.074480],[-0.007197,-0.117276,0.993073]] 2025-10-28T17:19:08.952Z,1761671948.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:19:08.962Z,1761671948.962 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:19:08.963Z,1761671948.963 [marl:UpdateRudder:B] Stopped 2025-10-28T17:19:08.963Z,1761671948.963 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:19:08.963Z,1761671948.963 [marl:UpdateRudder] Stopped 2025-10-28T17:19:08.963Z,1761671948.963 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:19:09.343Z,1761671949.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584582,-0.801178,-0.127974],[0.810593,0.569993,0.134339],[-0.034685,-0.182267,0.982637]] 2025-10-28T17:19:09.738Z,1761671949.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569653,-0.800168,-0.187689],[0.821499,0.561342,0.100173],[0.025203,-0.211250,0.977107]] 2025-10-28T17:19:10.145Z,1761671950.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568171,-0.790135,-0.229930],[0.819331,0.569203,0.068595],[0.076677,-0.227363,0.970787]] 2025-10-28T17:19:10.546Z,1761671950.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596673,-0.779543,-0.190513],[0.801812,0.588848,0.101764],[0.032854,-0.213475,0.976396]] 2025-10-28T17:19:10.951Z,1761671950.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579030,-0.805426,-0.126541],[0.815146,0.568827,0.109420],[-0.016150,-0.166506,0.985908]] 2025-10-28T17:19:11.354Z,1761671951.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586183,-0.806583,-0.076246],[0.810140,0.584478,0.045379],[0.007962,-0.088370,0.996056]] 2025-10-28T17:19:11.772Z,1761671951.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598905,-0.796025,-0.087501],[0.797350,0.602901,-0.027281],[0.074470,-0.053430,0.995791]] 2025-10-28T17:19:12.163Z,1761671952.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596912,-0.796642,-0.095170],[0.800620,0.599140,0.006298],[0.052003,-0.079954,0.995441]] 2025-10-28T17:19:12.566Z,1761671952.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625161,-0.775650,-0.086834],[0.780492,0.621626,0.066441],[0.002443,-0.109309,0.994005]] 2025-10-28T17:19:12.971Z,1761671952.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607864,-0.787691,-0.100216],[0.794040,0.603211,0.075082],[0.001310,-0.125215,0.992129]] 2025-10-28T17:19:13.376Z,1761671953.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616275,-0.780986,-0.101324],[0.784794,0.619746,-0.003594],[0.065602,-0.077304,0.994847]] 2025-10-28T17:19:13.788Z,1761671953.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640268,-0.753550,-0.149059],[0.759699,0.649894,-0.022249],[0.113639,-0.098995,0.988578]] 2025-10-28T17:19:14.182Z,1761671954.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665701,-0.734489,-0.131788],[0.742848,0.669044,0.023590],[0.070846,-0.113603,0.990997]] 2025-10-28T17:19:14.587Z,1761671954.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669535,-0.738275,-0.081693],[0.742432,0.661792,0.104045],[-0.022750,-0.130313,0.991212]] 2025-10-28T17:19:15.395Z,1761671955.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647969,-0.732797,-0.207713],[0.757446,0.648623,0.074587],[0.080070,-0.205661,0.975342]] 2025-10-28T17:19:15.811Z,1761671955.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635353,-0.746125,-0.199056],[0.772219,0.614485,0.161511],[0.001809,-0.256332,0.966587]] 2025-10-28T17:19:16.202Z,1761671956.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649950,-0.738851,-0.177943],[0.759845,0.636136,0.134040],[0.014160,-0.222329,0.974869]] 2025-10-28T17:19:16.609Z,1761671956.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651000,-0.729008,-0.211532],[0.749692,0.661169,0.028610],[0.119001,-0.177209,0.976952]] 2025-10-28T17:19:17.011Z,1761671957.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644934,-0.738509,-0.196634],[0.751976,0.659127,-0.009133],[0.136351,-0.141974,0.980434]] 2025-10-28T17:19:17.414Z,1761671957.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649592,-0.737198,-0.185929],[0.744502,0.666362,-0.040973],[0.154101,-0.111808,0.981709]] 2025-10-28T17:19:18.224Z,1761671958.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660117,-0.742849,-0.111449],[0.749017,0.662153,0.022957],[0.056742,-0.098632,0.993505]] 2025-10-28T17:19:18.627Z,1761671958.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684872,-0.708712,-0.169348],[0.725106,0.685805,0.062395],[0.071919,-0.165528,0.983579]] 2025-10-28T17:19:19.031Z,1761671959.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685161,-0.693442,-0.222920],[0.721782,0.687503,0.079818],[0.097909,-0.215588,0.971564]] 2025-10-28T17:19:19.840Z,1761671959.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676564,-0.708672,-0.200115],[0.735968,0.659873,0.151390],[0.024765,-0.249704,0.968006]] 2025-10-28T17:19:20.245Z,1761671960.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678028,-0.707271,-0.200112],[0.734274,0.664132,0.140608],[0.033453,-0.242273,0.969631]] 2025-10-28T17:19:20.647Z,1761671960.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685609,-0.701769,-0.193549],[0.727483,0.670218,0.146889],[0.026638,-0.241511,0.970032]] 2025-10-28T17:19:21.050Z,1761671961.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697468,-0.691786,-0.187006],[0.716400,0.679498,0.158283],[0.017572,-0.244368,0.969523]] 2025-10-28T17:19:21.454Z,1761671961.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672183,-0.706242,-0.222243],[0.738051,0.662982,0.125445],[0.058748,-0.248348,0.966888]] 2025-10-28T17:19:21.478Z,1761671961.478 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateRudder:A] Stopped 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:19:21.479Z,1761671961.479 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:19:21.480Z,1761671961.480 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateCommandMode] Stopped 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:19:21.481Z,1761671961.481 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:19:21.482Z,1761671961.482 [marl:UpdateSpeed] Stopped 2025-10-28T17:19:21.482Z,1761671961.482 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:19:21.860Z,1761671961.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661264,-0.723405,-0.198532],[0.749315,0.649480,0.129237],[0.035452,-0.234223,0.971536]] 2025-10-28T17:19:21.918Z,1761671961.918 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:19:21.918Z,1761671961.918 [marl:UpdateRudder:B] Stopped 2025-10-28T17:19:21.918Z,1761671961.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:19:21.919Z,1761671961.919 [marl:UpdateRudder] Stopped 2025-10-28T17:19:21.919Z,1761671961.919 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:19:22.264Z,1761671962.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688802,-0.701841,-0.181580],[0.724767,0.672299,0.150754],[0.016271,-0.235443,0.971752]] 2025-10-28T17:19:23.070Z,1761671963.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661329,-0.696459,-0.278548],[0.748208,0.638822,0.179140],[0.053179,-0.326882,0.943568]] 2025-10-28T17:19:24.301Z,1761671964.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620435,-0.734866,-0.273919],[0.778471,0.619422,0.101485],[0.095093,-0.276203,0.956383]] 2025-10-28T17:19:24.694Z,1761671964.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597978,-0.758488,-0.259072],[0.798309,0.592488,0.107983],[0.071594,-0.271391,0.959803]] 2025-10-28T17:19:25.095Z,1761671965.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595226,-0.770030,-0.229694],[0.798397,0.599073,0.060612],[0.090931,-0.219465,0.971374]] 2025-10-28T17:19:25.499Z,1761671965.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589836,-0.781643,-0.202800],[0.803495,0.593136,0.050838],[0.080551,-0.192935,0.977900]] 2025-10-28T17:19:26.310Z,1761671966.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582340,-0.795290,-0.168502],[0.810316,0.584507,0.041704],[0.065324,-0.160826,0.984819]] 2025-10-28T17:19:26.313Z,1761671966.313 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T17:19:26.711Z,1761671966.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597268,-0.785062,-0.164161],[0.794706,0.606896,-0.010954],[0.108229,-0.123917,0.986373]] 2025-10-28T17:19:27.122Z,1761671967.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575855,-0.790226,-0.209604],[0.802049,0.595744,-0.042505],[0.158458,-0.143636,0.976862]] 2025-10-28T17:19:27.522Z,1761671967.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592861,-0.786283,-0.173997],[0.797460,0.603303,-0.009098],[0.112126,-0.133361,0.984704]] 2025-10-28T17:19:27.923Z,1761671967.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614876,-0.768838,-0.175544],[0.780998,0.624534,0.000293],[0.109407,-0.137279,0.984472]] 2025-10-28T17:19:28.326Z,1761671968.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616186,-0.767114,-0.178468],[0.776927,0.629203,-0.022070],[0.129223,-0.125058,0.983698]] 2025-10-28T17:19:28.733Z,1761671968.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630174,-0.761132,-0.153492],[0.773113,0.633399,0.033197],[0.071955,-0.139586,0.987592]] 2025-10-28T17:19:29.134Z,1761671969.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647033,-0.742870,-0.171736],[0.760909,0.643492,0.083281],[0.048644,-0.184561,0.981617]] 2025-10-28T17:19:29.543Z,1761671969.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651131,-0.734075,-0.192775],[0.757932,0.642168,0.114712],[0.039586,-0.220803,0.974515]] 2025-10-28T17:19:30.350Z,1761671970.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627431,-0.742159,-0.235650],[0.765935,0.642741,0.015088],[0.140264,-0.189960,0.971721]] 2025-10-28T17:19:30.754Z,1761671970.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651624,-0.724261,-0.225462],[0.747542,0.663588,0.028854],[0.128716,-0.187344,0.973825]] 2025-10-28T17:19:31.155Z,1761671971.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635630,-0.747197,-0.194093],[0.765506,0.642570,0.033241],[0.099881,-0.169708,0.980420]] 2025-10-28T17:19:31.580Z,1761671971.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649221,-0.747758,-0.139176],[0.757046,0.652946,0.023315],[0.073441,-0.120499,0.989993]] 2025-10-28T17:19:32.366Z,1761671972.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663604,-0.715194,-0.219380],[0.736525,0.675978,0.024182],[0.131002,-0.177626,0.975340]] 2025-10-28T17:19:32.782Z,1761671972.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679749,-0.696271,-0.230540],[0.728953,0.676079,0.107449],[0.081050,-0.241091,0.967112]] 2025-10-28T17:19:33.175Z,1761671973.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679407,-0.691606,-0.245125],[0.728911,0.674491,0.117266],[0.084233,-0.258346,0.962373]] 2025-10-28T17:19:33.625Z,1761671973.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661363,-0.714683,-0.227655],[0.743748,0.664168,0.075632],[0.097148,-0.219338,0.970800]] 2025-10-28T17:19:34.386Z,1761671974.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672715,-0.706964,-0.218301],[0.725166,0.688557,0.004785],[0.146930,-0.161523,0.975870]] 2025-10-28T17:19:34.410Z,1761671974.410 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:19:34.410Z,1761671974.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateRudder:A] Stopped 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:19:34.411Z,1761671974.411 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:19:34.412Z,1761671974.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:19:34.428Z,1761671974.428 [marl:UpdateCommandMode] Stopped 2025-10-28T17:19:34.428Z,1761671974.428 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:19:34.428Z,1761671974.428 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:19:34.428Z,1761671974.428 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:19:34.428Z,1761671974.428 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:19:34.429Z,1761671974.429 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:19:34.429Z,1761671974.429 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:19:34.429Z,1761671974.429 [marl:UpdateSpeed] Stopped 2025-10-28T17:19:34.429Z,1761671974.429 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:19:34.795Z,1761671974.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675569,-0.696784,-0.241035],[0.712666,0.700914,-0.028754],[0.188980,-0.152352,0.970090]] 2025-10-28T17:19:34.832Z,1761671974.832 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:19:34.832Z,1761671974.832 [marl:UpdateRudder:B] Stopped 2025-10-28T17:19:34.832Z,1761671974.832 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:19:34.832Z,1761671974.832 [marl:UpdateRudder] Stopped 2025-10-28T17:19:34.832Z,1761671974.832 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:19:35.195Z,1761671975.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669578,-0.708910,-0.221611],[0.717365,0.694570,-0.054402],[0.192491,-0.122549,0.973616]] 2025-10-28T17:19:35.640Z,1761671975.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727258,-0.660695,-0.185954],[0.670253,0.741983,-0.014937],[0.147843,-0.113773,0.982445]] 2025-10-28T17:19:36.406Z,1761671976.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733126,-0.648705,-0.204225],[0.669057,0.741821,0.045436],[0.122024,-0.169949,0.977869]] 2025-10-28T17:19:36.810Z,1761671976.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743295,-0.622300,-0.245471],[0.649894,0.758725,0.044438],[0.158592,-0.192561,0.968385]] 2025-10-28T17:19:37.215Z,1761671977.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743299,-0.623422,-0.242591],[0.655356,0.751377,0.077086],[0.134220,-0.216282,0.967061]] 2025-10-28T17:19:37.648Z,1761671977.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726291,-0.625092,-0.285941],[0.660915,0.749364,0.040551],[0.188926,-0.218435,0.957389]] 2025-10-28T17:19:38.433Z,1761671978.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707359,-0.633525,-0.313510],[0.664895,0.746881,-0.009087],[0.239911,-0.202024,0.949541]] 2025-10-28T17:19:38.835Z,1761671978.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699247,-0.635182,-0.328019],[0.651590,0.755044,-0.073070],[0.294082,-0.162640,0.941841]] 2025-10-28T17:19:39.104Z,1761671979.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:19:39.242Z,1761671979.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685135,-0.642096,-0.343952],[0.643345,0.754856,-0.127668],[0.341610,-0.133810,0.930268]] 2025-10-28T17:19:39.642Z,1761671979.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678572,-0.631651,-0.374909],[0.639605,0.759082,-0.121248],[0.361173,-0.157518,0.919099]] 2025-10-28T17:19:40.043Z,1761671980.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683057,-0.613558,-0.396206],[0.618774,0.774337,-0.132362],[0.388009,-0.154751,0.908571]] 2025-10-28T17:19:40.109Z,1761671980.109 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:19:40.447Z,1761671980.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683918,-0.593394,-0.424429],[0.606575,0.785745,-0.121124],[0.405368,-0.174609,0.897323]] 2025-10-28T17:19:40.851Z,1761671980.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679180,-0.578453,-0.451782],[0.596662,0.793602,-0.119129],[0.427445,-0.188651,0.884139]] 2025-10-28T17:19:41.275Z,1761671981.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675536,-0.554832,-0.485604],[0.590779,0.801367,-0.093763],[0.441170,-0.223545,0.869136]] 2025-10-28T17:19:41.661Z,1761671981.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687727,-0.525861,-0.500502],[0.571574,0.817270,-0.073294],[0.447588,-0.235668,0.862627]] 2025-10-28T17:19:42.063Z,1761671982.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690096,-0.510170,-0.513316],[0.559834,0.825801,-0.068105],[0.458642,-0.240373,0.855493]] 2025-10-28T17:19:42.466Z,1761671982.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683915,-0.500352,-0.530950],[0.571134,0.820019,-0.037085],[0.453945,-0.277880,0.846591]] 2025-10-28T17:19:42.870Z,1761671982.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679506,-0.505911,-0.531344],[0.574661,0.817249,-0.043229],[0.456110,-0.275968,0.846053]] 2025-10-28T17:19:43.282Z,1761671983.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679280,-0.505899,-0.531643],[0.572886,0.818304,-0.046704],[0.458673,-0.272846,0.845680]] 2025-10-28T17:19:43.357Z,1761671983.357 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm (1 active estimators). 2025-10-28T17:19:43.679Z,1761671983.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679983,-0.505417,-0.531203],[0.577362,0.815650,-0.036986],[0.451969,-0.281546,0.846437]] 2025-10-28T17:19:44.082Z,1761671984.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677052,-0.519804,-0.520965],[0.581026,0.812018,-0.055101],[0.451674,-0.265388,0.851798]] 2025-10-28T17:19:44.512Z,1761671984.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667466,-0.545765,-0.506586],[0.583005,0.806237,-0.100438],[0.463244,-0.228303,0.856320]] 2025-10-28T17:19:44.892Z,1761671984.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662229,-0.562823,-0.494655],[0.590260,0.798495,-0.118313],[0.461569,-0.213625,0.860998]] 2025-10-28T17:19:45.295Z,1761671985.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663759,-0.577348,-0.475492],[0.600535,0.790340,-0.121330],[0.445850,-0.205016,0.871313]] 2025-10-28T17:19:45.698Z,1761671985.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663145,-0.595205,-0.453838],[0.605867,0.782888,-0.141462],[0.439503,-0.181156,0.879784]] 2025-10-28T17:19:46.102Z,1761671986.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657927,-0.609167,-0.442771],[0.606923,0.776987,-0.167138],[0.445843,-0.158763,0.880919]] 2025-10-28T17:19:46.508Z,1761671986.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653975,-0.616608,-0.438306],[0.610028,0.772469,-0.176516],[0.447419,-0.151942,0.881323]] 2025-10-28T17:19:46.910Z,1761671986.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654875,-0.618133,-0.434800],[0.615864,0.769948,-0.167011],[0.438008,-0.158406,0.884905]] 2025-10-28T17:19:47.316Z,1761671987.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653151,-0.621225,-0.432981],[0.620901,0.766676,-0.163369],[0.433446,-0.162134,0.886475]] 2025-10-28T17:19:47.360Z,1761671987.360 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:19:47.360Z,1761671987.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:19:47.360Z,1761671987.360 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateRudder:A] Stopped 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:19:47.361Z,1761671987.361 [marl:UpdateCommandMode] Stopped 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed] Stopped 2025-10-28T17:19:47.362Z,1761671987.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:19:47.721Z,1761671987.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649585,-0.624608,-0.433479],[0.622241,0.764377,-0.168951],[0.436869,-0.159980,0.885184]] 2025-10-28T17:19:47.818Z,1761671987.818 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:19:47.818Z,1761671987.818 [marl:UpdateRudder:B] Stopped 2025-10-28T17:19:47.818Z,1761671987.818 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:19:47.819Z,1761671987.819 [marl:UpdateRudder] Stopped 2025-10-28T17:19:47.819Z,1761671987.819 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:19:48.123Z,1761671988.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649982,-0.623538,-0.434423],[0.621844,0.764994,-0.167614],[0.436844,-0.161197,0.884976]] 2025-10-28T17:19:48.526Z,1761671988.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651641,-0.620704,-0.435994],[0.621022,0.766613,-0.163206],[0.435542,-0.164410,0.885027]] 2025-10-28T17:19:48.569Z,1761671988.569 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:19:48.817Z,1761671988.817 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:19:48.818Z,1761671988.818 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:19:48.930Z,1761671988.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653892,-0.616992,-0.437888],[0.620742,0.768392,-0.155732],[0.432556,-0.169983,0.885439]] 2025-10-28T17:19:49.069Z,1761671989.069 [DAT](INFO): DAT read: user:56> 2025-10-28T17:19:49.070Z,1761671989.070 [DAT](INFO): DAT read: Tx time:17:19:48.8100 2025-10-28T17:19:49.070Z,1761671989.070 [DAT](INFO): Ping request sent. 2025-10-28T17:19:49.070Z,1761671989.070 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:19:49.070Z,1761671989.070 [DAT](INFO): publishing transmit ping time 2025-10-28T17:19:49.071Z,1761671989.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000920 2025-10-28T17:19:49.321Z,1761671989.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250718 2025-10-28T17:19:49.342Z,1761671989.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656070,-0.612556,-0.440848],[0.623558,0.769032,-0.140589],[0.425145,-0.182659,0.886503]] 2025-10-28T17:19:49.576Z,1761671989.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505113 2025-10-28T17:19:49.749Z,1761671989.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656104,-0.613987,-0.438802],[0.629202,0.766096,-0.131154],[0.416691,-0.190045,0.888961]] 2025-10-28T17:19:49.825Z,1761671989.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996 2025-10-28T17:19:50.077Z,1761671990.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007471 2025-10-28T17:19:50.142Z,1761671990.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655233,-0.622017,-0.428677],[0.633707,0.761473,-0.136287],[0.411199,-0.182356,0.893119]] 2025-10-28T17:19:50.329Z,1761671990.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258937 2025-10-28T17:19:50.546Z,1761671990.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655513,-0.628826,-0.418187],[0.634903,0.758732,-0.145685],[0.408902,-0.170010,0.896602]] 2025-10-28T17:19:50.581Z,1761671990.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511044 2025-10-28T17:19:50.833Z,1761671990.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762849 2025-10-28T17:19:50.952Z,1761671990.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657981,-0.632238,-0.409067],[0.633870,0.758278,-0.152391],[0.406534,-0.159025,0.899690]] 2025-10-28T17:19:51.085Z,1761671991.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014851 2025-10-28T17:19:51.338Z,1761671991.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766 2025-10-28T17:19:51.355Z,1761671991.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661885,-0.633421,-0.400857],[0.631808,0.759181,-0.156406],[0.403394,-0.149742,0.902691]] 2025-10-28T17:19:51.591Z,1761671991.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520892 2025-10-28T17:19:51.779Z,1761671991.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665872,-0.632256,-0.396065],[0.629769,0.760961,-0.155976],[0.400007,-0.145569,0.904878]] 2025-10-28T17:19:51.841Z,1761671991.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770957 2025-10-28T17:19:52.093Z,1761671992.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022862 2025-10-28T17:19:52.163Z,1761671992.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669326,-0.630883,-0.392414],[0.628368,0.762502,-0.154090],[0.396430,-0.143444,0.906789]] 2025-10-28T17:19:52.345Z,1761671992.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275191 2025-10-28T17:19:52.568Z,1761671992.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671893,-0.627585,-0.393316],[0.628547,0.764057,-0.145416],[0.391776,-0.149514,0.907831]] 2025-10-28T17:19:52.598Z,1761671992.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527611 2025-10-28T17:19:52.849Z,1761671992.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778922 2025-10-28T17:19:52.971Z,1761671992.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673401,-0.623327,-0.397487],[0.630715,0.764886,-0.130947],[0.385655,-0.162521,0.908216]] 2025-10-28T17:19:53.101Z,1761671993.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030921 2025-10-28T17:19:53.353Z,1761671993.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282805 2025-10-28T17:19:53.375Z,1761671993.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673554,-0.618685,-0.404417],[0.635221,0.764276,-0.111247],[0.377914,-0.181963,0.907783]] 2025-10-28T17:19:53.611Z,1761671993.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540171 2025-10-28T17:19:53.786Z,1761671993.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671741,-0.617523,-0.409181],[0.641500,0.761147,-0.095566],[0.370462,-0.198294,0.907435]] 2025-10-28T17:19:53.857Z,1761671993.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786978 2025-10-28T17:19:54.109Z,1761671994.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039067 2025-10-28T17:19:54.185Z,1761671994.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667594,-0.619659,-0.412724],[0.648718,0.756158,-0.085967],[0.365355,-0.210350,0.906790]] 2025-10-28T17:19:54.361Z,1761671994.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290875 2025-10-28T17:19:54.587Z,1761671994.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661887,-0.625386,-0.413277],[0.656246,0.749886,-0.083740],[0.362281,-0.215785,0.906747]] 2025-10-28T17:19:54.613Z,1761671994.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543031 2025-10-28T17:19:54.865Z,1761671994.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794868 2025-10-28T17:19:54.991Z,1761671994.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658377,-0.629362,-0.412848],[0.661654,0.745403,-0.081169],[0.358823,-0.219723,0.907176]] 2025-10-28T17:19:55.117Z,1761671995.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046906 2025-10-28T17:19:55.369Z,1761671995.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299333 2025-10-28T17:19:55.395Z,1761671995.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658683,-0.631497,-0.409082],[0.663926,0.743624,-0.078907],[0.354033,-0.219626,0.909079]] 2025-10-28T17:19:55.621Z,1761671995.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550950 2025-10-28T17:19:55.811Z,1761671995.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660753,-0.635017,-0.400199],[0.664342,0.742921,-0.081964],[0.349365,-0.211710,0.912756]] 2025-10-28T17:19:55.873Z,1761671995.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802949 2025-10-28T17:19:56.125Z,1761671996.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054860 2025-10-28T17:19:56.202Z,1761671996.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663912,-0.638673,-0.388995],[0.664094,0.742692,-0.085956],[0.343801,-0.201262,0.917221]] 2025-10-28T17:19:56.377Z,1761671996.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306845 2025-10-28T17:19:56.606Z,1761671996.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666901,-0.641853,-0.378507],[0.664804,0.741954,-0.086834],[0.336570,-0.193724,0.921516]] 2025-10-28T17:19:56.629Z,1761671996.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559005 2025-10-28T17:19:56.881Z,1761671996.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810894 2025-10-28T17:19:57.011Z,1761671997.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670194,-0.643752,-0.369354],[0.665793,0.741384,-0.084084],[0.327963,-0.189561,0.925477]] 2025-10-28T17:19:57.133Z,1761671997.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062845 2025-10-28T17:19:57.386Z,1761671997.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315524 2025-10-28T17:19:57.421Z,1761671997.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673144,-0.645881,-0.360160],[0.667028,0.740573,-0.081399],[0.319299,-0.185443,0.929333]] 2025-10-28T17:19:57.637Z,1761671997.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566903 2025-10-28T17:19:57.827Z,1761671997.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676139,-0.646622,-0.353152],[0.667952,0.740256,-0.076559],[0.310928,-0.184123,0.932428]] 2025-10-28T17:19:57.889Z,1761671997.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818841 2025-10-28T17:19:58.141Z,1761671998.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071437 2025-10-28T17:19:58.227Z,1761671998.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679366,-0.646018,-0.348026],[0.668683,0.740344,-0.068946],[0.302200,-0.185879,0.934946]] 2025-10-28T17:19:58.393Z,1761671998.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322909 2025-10-28T17:19:58.627Z,1761671998.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682839,-0.645146,-0.342807],[0.669015,0.740711,-0.061369],[0.293513,-0.187438,0.937399]] 2025-10-28T17:19:58.645Z,1761671998.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574802 2025-10-28T17:19:58.897Z,1761671998.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826868 2025-10-28T17:19:59.031Z,1761671999.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685471,-0.645129,-0.337546],[0.669626,0.740611,-0.055639],[0.285885,-0.187891,0.939663]] 2025-10-28T17:19:59.149Z,1761671999.149 [DAT](INFO): Reached modem response timeout 2025-10-28T17:19:59.435Z,1761671999.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688352,-0.644456,-0.332939],[0.669618,0.741025,-0.049934],[0.278897,-0.188570,0.941625]] 2025-10-28T17:19:59.842Z,1761671999.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691633,-0.642301,-0.330294],[0.669079,0.742010,-0.041892],[0.271988,-0.192019,0.942948]] 2025-10-28T17:20:00.252Z,1761672000.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695083,-0.639767,-0.327960],[0.668729,0.742827,-0.031754],[0.263933,-0.197245,0.944158]] 2025-10-28T17:20:00.276Z,1761672000.276 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:20:00.276Z,1761672000.276 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:20:00.276Z,1761672000.276 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateRudder:A] Stopped 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:20:00.277Z,1761672000.277 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateCommandMode] Stopped 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:20:00.278Z,1761672000.278 [marl:UpdateSpeed] Stopped 2025-10-28T17:20:00.279Z,1761672000.279 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:20:00.647Z,1761672000.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698607,-0.637252,-0.325358],[0.668686,0.743276,-0.019995],[0.254573,-0.203594,0.945379]] 2025-10-28T17:20:00.678Z,1761672000.678 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:20:00.678Z,1761672000.678 [marl:UpdateRudder:B] Stopped 2025-10-28T17:20:00.678Z,1761672000.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:20:00.678Z,1761672000.678 [marl:UpdateRudder] Stopped 2025-10-28T17:20:00.678Z,1761672000.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:20:01.050Z,1761672001.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701905,-0.636092,-0.320492],[0.668999,0.743198,-0.009886],[0.244478,-0.207470,0.947200]] 2025-10-28T17:20:01.417Z,1761672001.417 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:20:01.417Z,1761672001.417 [DAT](INFO): response not received 2025-10-28T17:20:01.417Z,1761672001.417 [DAT](ERROR): No response from remote modem. 2025-10-28T17:20:01.462Z,1761672001.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704737,-0.635731,-0.314948],[0.669733,0.742602,-0.000346],[0.234101,-0.210687,0.949109]] 2025-10-28T17:20:01.874Z,1761672001.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707775,-0.636626,-0.306207],[0.670170,0.742184,0.005996],[0.223444,-0.209454,0.951946]] 2025-10-28T17:20:02.263Z,1761672002.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710550,-0.637060,-0.298785],[0.670719,0.741581,0.013881],[0.212731,-0.210264,0.954219]] 2025-10-28T17:20:02.667Z,1761672002.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713445,-0.637104,-0.291710],[0.670872,0.741251,0.021859],[0.202303,-0.211295,0.956257]] 2025-10-28T17:20:03.071Z,1761672003.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716635,-0.636234,-0.285727],[0.670484,0.741275,0.031037],[0.192055,-0.213818,0.957808]] 2025-10-28T17:20:03.476Z,1761672003.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719210,-0.637169,-0.277043],[0.670740,0.740736,0.037642],[0.181231,-0.212897,0.960120]] 2025-10-28T17:20:03.894Z,1761672003.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718675,-0.645587,-0.258310],[0.674272,0.737788,0.032039],[0.169895,-0.197197,0.965531]] 2025-10-28T17:20:04.282Z,1761672004.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714910,-0.660229,-0.230220],[0.681125,0.731995,0.015894],[0.158026,-0.168172,0.973009]] 2025-10-28T17:20:04.686Z,1761672004.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708595,-0.677339,-0.197751],[0.690458,0.723364,-0.003579],[0.145470,-0.134003,0.980246]] 2025-10-28T17:20:05.091Z,1761672005.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699515,-0.695463,-0.164346],[0.702131,0.711674,-0.023077],[0.133010,-0.099250,0.986133]] 2025-10-28T17:20:05.496Z,1761672005.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687804,-0.713475,-0.133715],[0.715777,0.697261,-0.038617],[0.120787,-0.069149,0.990267]] 2025-10-28T17:20:05.902Z,1761672005.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674306,-0.730716,-0.106610],[0.730398,0.681229,-0.049462],[0.108768,-0.044515,0.993070]] 2025-10-28T17:20:06.302Z,1761672006.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659109,-0.747338,-0.084030],[0.745690,0.663943,-0.055910],[0.097575,-0.025810,0.994893]] 2025-10-28T17:20:06.713Z,1761672006.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642577,-0.763454,-0.065060],[0.761195,0.645766,-0.059737],[0.087620,-0.011137,0.996092]] 2025-10-28T17:20:07.514Z,1761672007.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608645,-0.792708,-0.034137],[0.790310,0.609500,-0.062615],[0.070442,0.011131,0.997454]] 2025-10-28T17:20:07.922Z,1761672007.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591620,-0.805816,-0.025434],[0.803730,0.591977,-0.059853],[0.063287,0.014968,0.997883]] 2025-10-28T17:20:08.323Z,1761672008.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574789,-0.818058,-0.019983],[0.816291,0.574917,-0.056027],[0.057321,0.015892,0.998229]] 2025-10-28T17:20:08.739Z,1761672008.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558607,-0.829259,-0.016961],[0.827796,0.558673,-0.051370],[0.052074,0.014655,0.998536]] 2025-10-28T17:20:09.130Z,1761672009.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542968,-0.839639,-0.013895],[0.838462,0.542976,-0.046453],[0.046549,0.013572,0.998824]] 2025-10-28T17:20:09.546Z,1761672009.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528139,-0.849052,-0.013405],[0.848185,0.528223,-0.039527],[0.040642,0.009506,0.999129]] 2025-10-28T17:20:09.944Z,1761672009.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514629,-0.857282,-0.015016],[0.856713,0.514837,-0.031403],[0.034652,0.003297,0.999394]] 2025-10-28T17:20:10.229Z,1761672010.229 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:20:10.343Z,1761672010.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502783,-0.864279,-0.015242],[0.863938,0.503013,-0.024263],[0.028637,-0.000969,0.999589]] 2025-10-28T17:20:10.751Z,1761672010.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491660,-0.870699,-0.012353],[0.870492,0.491813,-0.019076],[0.022685,-0.001374,0.999742]] 2025-10-28T17:20:11.151Z,1761672011.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481817,-0.876225,-0.009094],[0.876113,0.481901,-0.014033],[0.016679,-0.001206,0.999860]] 2025-10-28T17:20:11.232Z,1761672011.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:20:11.570Z,1761672011.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472888,-0.881074,-0.009189],[0.881051,0.472957,-0.007791],[0.011210,-0.004412,0.999927]] 2025-10-28T17:20:11.962Z,1761672011.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464465,-0.885533,-0.010172],[0.885572,0.464500,-0.001292],[0.005869,-0.008408,0.999947]] 2025-10-28T17:20:12.363Z,1761672012.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456277,-0.889799,-0.008322],[0.889838,0.456259,0.004006],[0.000233,-0.009233,0.999957]] 2025-10-28T17:20:12.773Z,1761672012.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447896,-0.894073,-0.004709],[0.894067,0.447846,0.008882],[-0.005833,-0.008189,0.999949]] 2025-10-28T17:20:13.172Z,1761672013.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438383,-0.898775,-0.004818],[0.898711,0.438269,0.015470],[-0.011792,-0.011112,0.999869]] 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateRudder:A] Stopped 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:20:13.243Z,1761672013.243 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:20:13.244Z,1761672013.244 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:20:13.248Z,1761672013.248 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:20:13.248Z,1761672013.248 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateCommandMode] Stopped 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:20:13.249Z,1761672013.249 [marl:UpdateSpeed] Stopped 2025-10-28T17:20:13.250Z,1761672013.250 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:20:13.617Z,1761672013.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427864,-0.903821,-0.006351],[0.903668,0.427633,0.022660],[-0.017765,-0.015434,0.999723]] 2025-10-28T17:20:13.690Z,1761672013.690 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:20:13.690Z,1761672013.690 [marl:UpdateRudder:B] Stopped 2025-10-28T17:20:13.690Z,1761672013.690 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:20:13.690Z,1761672013.690 [marl:UpdateRudder] Stopped 2025-10-28T17:20:13.691Z,1761672013.691 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:20:13.982Z,1761672013.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415438,-0.909610,-0.004612],[0.909297,0.415150,0.028802],[-0.024284,-0.016159,0.999574]] 2025-10-28T17:20:14.385Z,1761672014.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400248,-0.916406,0.001624],[0.915880,0.400077,0.033189],[-0.031064,-0.011796,0.999448]] 2025-10-28T17:20:14.798Z,1761672014.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383096,-0.923668,0.008707],[0.922958,0.383148,0.036686],[-0.037222,-0.006018,0.999289]] 2025-10-28T17:20:15.194Z,1761672015.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365097,-0.930908,0.010685],[0.929999,0.365216,0.041455],[-0.042493,-0.005198,0.999083]] 2025-10-28T17:20:15.627Z,1761672015.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345108,-0.938523,0.008630],[0.937418,0.345126,0.046221],[-0.046358,-0.007862,0.998894]] 2025-10-28T17:20:16.010Z,1761672016.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323840,-0.946028,0.012568],[0.944851,0.324066,0.047309],[-0.048829,-0.003446,0.998801]] 2025-10-28T17:20:16.412Z,1761672016.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302670,-0.952930,0.017738],[0.951785,0.303177,0.046790],[-0.049965,0.002721,0.998747]] 2025-10-28T17:20:16.814Z,1761672016.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282873,-0.959016,0.016475],[0.957852,0.283343,0.047300],[-0.050029,0.002401,0.998745]] 2025-10-28T17:20:17.225Z,1761672017.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265951,-0.963894,0.013387],[0.962688,0.266287,0.048187],[-0.050012,0.000072,0.998749]] 2025-10-28T17:20:17.630Z,1761672017.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251975,-0.967617,0.015012],[0.966399,0.252412,0.048600],[-0.050815,0.002261,0.998706]] 2025-10-28T17:20:18.034Z,1761672018.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240338,-0.970506,0.018870],[0.969233,0.240996,0.050082],[-0.053152,0.006252,0.998567]] 2025-10-28T17:20:18.430Z,1761672018.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229455,-0.973088,0.021223],[0.971655,0.230283,0.053439],[-0.056888,0.008359,0.998346]] 2025-10-28T17:20:18.834Z,1761672018.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218682,-0.975555,0.021695],[0.973842,0.219596,0.058386],[-0.061723,0.008360,0.998058]] 2025-10-28T17:20:19.239Z,1761672019.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206501,-0.978118,0.025348],[0.976138,0.207723,0.063294],[-0.067174,0.011672,0.997673]] 2025-10-28T17:20:19.644Z,1761672019.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191804,-0.981035,0.027940],[0.978754,0.193305,0.068361],[-0.072465,0.014234,0.997269]] 2025-10-28T17:20:20.054Z,1761672020.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175094,-0.984111,0.029455],[0.981541,0.176818,0.072889],[-0.076940,0.016149,0.996905]] 2025-10-28T17:20:20.451Z,1761672020.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157085,-0.987199,0.027592],[0.984372,0.158765,0.076191],[-0.079596,0.015193,0.996711]] 2025-10-28T17:20:21.259Z,1761672021.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117905,-0.992941,0.012881],[0.989903,0.118553,0.077698],[-0.078677,0.003590,0.996894]] 2025-10-28T17:20:21.665Z,1761672021.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097923,-0.995177,0.005778],[0.992431,0.098082,0.073893],[-0.074103,-0.001501,0.997249]] 2025-10-28T17:20:22.067Z,1761672022.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079341,-0.996847,0.001156],[0.994542,0.079236,0.067886],[-0.067763,-0.004236,0.997692]] 2025-10-28T17:20:22.477Z,1761672022.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046944,-0.998897,0.000660],[0.997407,0.046910,0.054577],[-0.054547,-0.001903,0.998509]] 2025-10-28T17:20:22.879Z,1761672022.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032947,-0.999457,-0.001092],[0.998293,0.032856,0.048293],[-0.048231,-0.002681,0.998833]] 2025-10-28T17:20:23.286Z,1761672023.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020108,-0.999789,-0.004098],[0.998902,0.019917,0.042406],[-0.042315,-0.004946,0.999092]] 2025-10-28T17:20:23.689Z,1761672023.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008174,-0.999947,-0.006295],[0.999273,0.007933,0.037296],[-0.037245,-0.006595,0.999284]] 2025-10-28T17:20:24.089Z,1761672024.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003151,-0.999973,-0.006589],[0.999437,-0.003369,0.033369],[-0.033390,-0.006480,0.999421]] 2025-10-28T17:20:24.505Z,1761672024.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014164,-0.999889,-0.004701],[0.999422,-0.014302,0.030824],[-0.030888,-0.004262,0.999514]] 2025-10-28T17:20:24.895Z,1761672024.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025446,-0.999671,-0.003138],[0.999212,-0.025530,0.030390],[-0.030460,-0.002362,0.999533]] 2025-10-28T17:20:25.299Z,1761672025.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036593,-0.999330,0.000614],[0.998795,-0.036554,0.032753],[-0.032708,0.001812,0.999463]] 2025-10-28T17:20:25.711Z,1761672025.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048336,-0.998828,0.002602],[0.998142,-0.048206,0.037264],[-0.037095,0.004398,0.999302]] 2025-10-28T17:20:26.114Z,1761672026.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062181,-0.998059,0.003359],[0.997138,-0.061977,0.043294],[-0.043002,0.006042,0.999057]] 2025-10-28T17:20:26.139Z,1761672026.139 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:20:26.140Z,1761672026.140 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:20:26.140Z,1761672026.140 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateRudder:A] Stopped 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:20:26.141Z,1761672026.141 [marl:UpdateCommandMode] Stopped 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed] Stopped 2025-10-28T17:20:26.142Z,1761672026.142 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:20:26.512Z,1761672026.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078951,-0.996870,0.004023],[0.995668,-0.078656,0.049575],[-0.049103,0.007920,0.998762]] 2025-10-28T17:20:26.537Z,1761672026.537 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:20:26.537Z,1761672026.537 [marl:UpdateRudder:B] Stopped 2025-10-28T17:20:26.537Z,1761672026.537 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:20:26.537Z,1761672026.537 [marl:UpdateRudder] Stopped 2025-10-28T17:20:26.537Z,1761672026.537 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:20:26.914Z,1761672026.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098744,-0.995095,0.005929],[0.993648,-0.098273,0.054827],[-0.053976,0.011305,0.998478]] 2025-10-28T17:20:27.319Z,1761672027.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120773,-0.992664,0.005578],[0.991057,-0.120253,0.057831],[-0.056736,0.012513,0.998311]] 2025-10-28T17:20:27.727Z,1761672027.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143319,-0.989672,0.003151],[0.988033,-0.142896,0.058071],[-0.057021,0.011436,0.998307]] 2025-10-28T17:20:28.197Z,1761672028.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165510,-0.986199,0.004191],[0.984718,-0.165025,0.055652],[-0.054193,0.013338,0.998441]] 2025-10-28T17:20:28.589Z,1761672028.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187721,-0.982218,0.002971],[0.981077,-0.187355,0.048852],[-0.047427,0.012085,0.998802]] 2025-10-28T17:20:28.990Z,1761672028.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209057,-0.977903,-0.000964],[0.977203,-0.208944,0.037625],[-0.036995,0.006924,0.999291]] 2025-10-28T17:20:29.398Z,1761672029.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225675,-0.974161,-0.009002],[0.973884,-0.225827,0.023510],[-0.024936,-0.003461,0.999683]] 2025-10-28T17:20:29.799Z,1761672029.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233649,-0.972030,-0.023783],[0.972220,-0.233907,0.008689],[-0.014009,-0.021092,0.999679]] 2025-10-28T17:20:30.211Z,1761672030.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233035,-0.971390,-0.045782],[0.972453,-0.233034,-0.005418],[-0.005406,-0.045783,0.998937]] 2025-10-28T17:20:30.609Z,1761672030.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228375,-0.970520,-0.077045],[0.973571,-0.227502,-0.020038],[0.001919,-0.079585,0.996826]] 2025-10-28T17:20:31.014Z,1761672031.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222106,-0.968717,-0.110706],[0.974990,-0.219735,-0.033332],[0.007963,-0.115340,0.993294]] 2025-10-28T17:20:31.417Z,1761672031.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215392,-0.966693,-0.138243],[0.976458,-0.211513,-0.042336],[0.011686,-0.144107,0.989493]] 2025-10-28T17:20:31.818Z,1761672031.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208594,-0.964388,-0.162617],[0.977922,-0.203537,-0.047350],[0.012565,-0.168903,0.985553]] 2025-10-28T17:20:32.223Z,1761672032.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202029,-0.962537,-0.180851],[0.979317,-0.196459,-0.048387],[0.011045,-0.186886,0.982320]] 2025-10-28T17:20:32.630Z,1761672032.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196599,-0.961402,-0.192499],[0.980448,-0.191080,-0.047015],[0.008418,-0.197978,0.980170]] 2025-10-28T17:20:33.034Z,1761672033.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193970,-0.960521,-0.199439],[0.980988,-0.188634,-0.045603],[0.006182,-0.204493,0.978849]] 2025-10-28T17:20:33.436Z,1761672033.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195000,-0.959350,-0.204014],[0.980790,-0.189631,-0.045738],[0.005192,-0.209014,0.977899]] 2025-10-28T17:20:33.838Z,1761672033.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198708,-0.958271,-0.205502],[0.980043,-0.193108,-0.047163],[0.005511,-0.210772,0.977520]] 2025-10-28T17:20:34.243Z,1761672034.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204460,-0.957199,-0.204858],[0.978849,-0.198398,-0.049931],[0.007151,-0.210734,0.977517]] 2025-10-28T17:20:34.656Z,1761672034.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211199,-0.955785,-0.204620],[0.977404,-0.204643,-0.052936],[0.008721,-0.211177,0.977409]] 2025-10-28T17:20:35.050Z,1761672035.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218632,-0.954751,-0.201620],[0.975760,-0.211858,-0.054859],[0.009662,-0.208726,0.977926]] 2025-10-28T17:20:35.456Z,1761672035.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227067,-0.953587,-0.197767],[0.973834,-0.220364,-0.055568],[0.009409,-0.205210,0.978673]] 2025-10-28T17:20:35.858Z,1761672035.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235916,-0.952073,-0.194680],[0.971745,-0.229592,-0.054768],[0.007446,-0.202100,0.979337]] 2025-10-28T17:20:36.264Z,1761672036.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245349,-0.951498,-0.185624],[0.969422,-0.239826,-0.052001],[0.004961,-0.192706,0.981244]] 2025-10-28T17:20:36.667Z,1761672036.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255098,-0.951804,-0.170274],[0.966912,-0.250662,-0.047432],[0.002465,-0.176740,0.984254]] 2025-10-28T17:20:37.071Z,1761672037.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264657,-0.951641,-0.155999],[0.964342,-0.261119,-0.043132],[0.000312,-0.161852,0.986815]] 2025-10-28T17:20:37.478Z,1761672037.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273237,-0.950519,-0.147835],[0.961947,-0.270093,-0.041334],[-0.000640,-0.153504,0.988148]] 2025-10-28T17:20:37.880Z,1761672037.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280678,-0.948736,-0.145326],[0.959802,-0.277368,-0.042979],[0.000466,-0.151548,0.988450]] 2025-10-28T17:20:38.283Z,1761672038.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286737,-0.946276,-0.149477],[0.958002,-0.282600,-0.048685],[0.003827,-0.157159,0.987566]] 2025-10-28T17:20:38.693Z,1761672038.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291728,-0.943859,-0.154997],[0.956456,-0.286279,-0.056889],[0.009322,-0.164844,0.986276]] 2025-10-28T17:20:39.091Z,1761672039.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295360,-0.941844,-0.160286],[0.955246,-0.288261,-0.066412],[0.016346,-0.172729,0.984834]] 2025-10-28T17:20:39.115Z,1761672039.115 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:20:39.115Z,1761672039.115 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:20:39.115Z,1761672039.115 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:20:39.115Z,1761672039.115 [marl:UpdateRudder:A] Stopped 2025-10-28T17:20:39.116Z,1761672039.116 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:20:39.116Z,1761672039.116 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:20:39.116Z,1761672039.116 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:20:39.116Z,1761672039.116 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:20:39.116Z,1761672039.116 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateCommandMode] Stopped 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:20:39.117Z,1761672039.117 [marl:UpdateSpeed] Stopped 2025-10-28T17:20:39.118Z,1761672039.118 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:20:39.497Z,1761672039.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297743,-0.940150,-0.165732],[0.954346,-0.288774,-0.076381],[0.023951,-0.180908,0.983208]] 2025-10-28T17:20:39.594Z,1761672039.594 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:20:39.594Z,1761672039.594 [marl:UpdateRudder:B] Stopped 2025-10-28T17:20:39.595Z,1761672039.595 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:20:39.595Z,1761672039.595 [marl:UpdateRudder] Stopped 2025-10-28T17:20:39.595Z,1761672039.595 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:20:39.899Z,1761672039.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299556,-0.938561,-0.171376],[0.953566,-0.288636,-0.086032],[0.031281,-0.189190,0.981442]] 2025-10-28T17:20:40.711Z,1761672040.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300230,-0.939265,-0.166262],[0.952945,-0.287686,-0.095568],[0.041933,-0.187131,0.981440]] 2025-10-28T17:20:41.112Z,1761672041.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299782,-0.940300,-0.161140],[0.952932,-0.287122,-0.097373],[0.045294,-0.182746,0.982116]] 2025-10-28T17:20:41.360Z,1761672041.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:20:41.515Z,1761672041.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298792,-0.941045,-0.158609],[0.953178,-0.286163,-0.097786],[0.046633,-0.180400,0.982487]] 2025-10-28T17:20:41.918Z,1761672041.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297092,-0.942319,-0.154179],[0.953772,-0.285196,-0.094773],[0.045336,-0.175208,0.983487]] 2025-10-28T17:20:42.322Z,1761672042.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296033,-0.942838,-0.153040],[0.954294,-0.285048,-0.089831],[0.041072,-0.172638,0.984129]] 2025-10-28T17:20:42.364Z,1761672042.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:20:42.733Z,1761672042.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298109,-0.943290,-0.146068],[0.953919,-0.288925,-0.081001],[0.034204,-0.163484,0.985953]] 2025-10-28T17:20:43.130Z,1761672043.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303824,-0.943822,-0.129965],[0.952377,-0.297168,-0.068332],[0.025872,-0.144536,0.989161]] 2025-10-28T17:20:43.535Z,1761672043.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314589,-0.942851,-0.109843],[0.949054,-0.310200,-0.055435],[0.018194,-0.121686,0.992402]] 2025-10-28T17:20:43.852Z,1761672043.852 [Radio_Surface](INFO): Powering down 2025-10-28T17:20:43.938Z,1761672043.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332209,-0.939127,-0.087625],[0.943103,-0.329365,-0.045552],[0.013919,-0.097772,0.995112]] 2025-10-28T17:20:44.344Z,1761672044.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352520,-0.933365,-0.067527],[0.935733,-0.350680,-0.037792],[0.011593,-0.076510,0.997001]] 2025-10-28T17:20:44.748Z,1761672044.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373655,-0.926232,-0.049772],[0.927503,-0.372456,-0.031857],[0.010969,-0.058067,0.998252]] 2025-10-28T17:20:45.151Z,1761672045.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395752,-0.917813,-0.031616],[0.918274,-0.395019,-0.027053],[0.012341,-0.039738,0.999134]] 2025-10-28T17:20:45.567Z,1761672045.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417446,-0.908604,-0.013290],[0.908568,-0.417090,-0.023228],[0.015562,-0.021771,0.999642]] 2025-10-28T17:20:45.960Z,1761672045.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438414,-0.898766,0.003485],[0.898548,-0.438388,-0.020673],[0.020108,-0.005932,0.999780]] 2025-10-28T17:20:46.362Z,1761672046.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458110,-0.888699,0.018697],[0.888551,-0.458417,-0.018188],[0.024735,0.008281,0.999660]] 2025-10-28T17:20:46.771Z,1761672046.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475229,-0.879377,0.029216],[0.879403,-0.475792,-0.016491],[0.028403,0.017856,0.999437]] 2025-10-28T17:20:47.179Z,1761672047.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491264,-0.870353,0.033855],[0.870426,-0.491987,-0.017535],[0.031918,0.020854,0.999273]] 2025-10-28T17:20:47.613Z,1761672047.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505986,-0.861902,0.033208],[0.861822,-0.506761,-0.021351],[0.035232,0.017816,0.999220]] 2025-10-28T17:20:47.978Z,1761672047.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519973,-0.853448,0.035422],[0.853285,-0.520880,-0.024247],[0.039144,0.017617,0.999078]] 2025-10-28T17:20:48.382Z,1761672048.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532707,-0.845389,0.039247],[0.845174,-0.533817,-0.026822],[0.043626,0.018882,0.998869]] 2025-10-28T17:20:48.789Z,1761672048.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544147,-0.838028,0.040156],[0.837581,-0.545383,-0.031850],[0.048592,0.016303,0.998686]] 2025-10-28T17:20:48.815Z,1761672048.815 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:20:49.061Z,1761672049.061 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:20:49.061Z,1761672049.061 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:20:49.196Z,1761672049.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554474,-0.831294,0.038837],[0.830435,-0.555733,-0.039227],[0.054192,0.010501,0.998475]] 2025-10-28T17:20:49.313Z,1761672049.313 [DAT](INFO): DAT read: user:57> 2025-10-28T17:20:49.314Z,1761672049.314 [DAT](INFO): DAT read: Tx time:17:20:49.0598 2025-10-28T17:20:49.314Z,1761672049.314 [DAT](INFO): Ping request sent. 2025-10-28T17:20:49.314Z,1761672049.314 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:20:49.314Z,1761672049.314 [DAT](INFO): publishing transmit ping time 2025-10-28T17:20:49.315Z,1761672049.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924 2025-10-28T17:20:49.568Z,1761672049.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253167 2025-10-28T17:20:49.629Z,1761672049.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564135,-0.824772,0.038770],[0.823511,-0.565434,-0.045991],[0.059854,0.005983,0.998189]] 2025-10-28T17:20:49.817Z,1761672049.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998 2025-10-28T17:20:49.999Z,1761672049.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574229,-0.817708,0.040175],[0.816106,-0.575623,-0.051279],[0.065057,0.003341,0.997876]] 2025-10-28T17:20:50.069Z,1761672050.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755238 2025-10-28T17:20:50.321Z,1761672050.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006925 2025-10-28T17:20:50.403Z,1761672050.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585089,-0.809797,0.043584],[0.808021,-0.586698,-0.053739],[0.069088,0.003775,0.997603]] 2025-10-28T17:20:50.573Z,1761672050.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258957 2025-10-28T17:20:50.806Z,1761672050.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596675,-0.801156,0.046120],[0.799315,-0.598439,-0.054464],[0.071235,0.004367,0.997450]] 2025-10-28T17:20:50.825Z,1761672050.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511021 2025-10-28T17:20:51.077Z,1761672051.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905 2025-10-28T17:20:51.211Z,1761672051.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608336,-0.792321,0.046421],[0.790516,-0.610091,-0.053603],[0.070792,0.004087,0.997483]] 2025-10-28T17:20:51.329Z,1761672051.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015461 2025-10-28T17:20:51.584Z,1761672051.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269184 2025-10-28T17:20:51.630Z,1761672051.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620046,-0.783297,0.044589],[0.781665,-0.621638,-0.050658],[0.067398,0.003443,0.997720]] 2025-10-28T17:20:51.834Z,1761672051.834 [DAT](INFO): DAT read: Rx Time:17:20:51.2136 2025-10-28T17:20:51.834Z,1761672051.834 [DAT](INFO): Rx dataTimestamp_ set to:1761672051.833746 2025-10-28T17:20:51.835Z,1761672051.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520605 2025-10-28T17:20:52.019Z,1761672052.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633346,-0.772579,0.044660],[0.771309,-0.634889,-0.044705],[0.062892,0.006133,0.998001]] 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateRudder:A] Stopped 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:20:52.058Z,1761672052.058 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode] Stopped 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:20:52.059Z,1761672052.059 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:20:52.060Z,1761672052.060 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:20:52.060Z,1761672052.060 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:20:52.060Z,1761672052.060 [marl:UpdateSpeed] Stopped 2025-10-28T17:20:52.060Z,1761672052.060 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:20:52.085Z,1761672052.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771482 2025-10-28T17:20:52.339Z,1761672052.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024491 2025-10-28T17:20:52.423Z,1761672052.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649287,-0.759145,0.046096],[0.758247,-0.650843,-0.038269],[0.059053,0.010104,0.998204]] 2025-10-28T17:20:52.462Z,1761672052.462 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:20:52.462Z,1761672052.462 [marl:UpdateRudder:B] Stopped 2025-10-28T17:20:52.462Z,1761672052.462 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:20:52.462Z,1761672052.462 [marl:UpdateRudder] Stopped 2025-10-28T17:20:52.462Z,1761672052.462 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:20:52.594Z,1761672052.594 [DAT](INFO): DAT read: 17:20:51.2136 LVL= 21744, 30081, 31058, 32755, AGC= 48, IDX= 457, 0.27, 1.676, 0.780,-0.123, 1.042, PHS= 0.735,-0.218,-1.209, RAW= 59.3, 8.3, CAL= 57.5, 9.4, ROT= 92.5, -9.4 2025-10-28T17:20:52.596Z,1761672052.596 [DAT](INFO): got valid direction response: 17:20:51.2136 LVL= 21744, 30081, 31058, 32755, AGC= 48, IDX= 457, 0.27, 1.676, 0.780,-0.123, 1.042, PHS= 0.735,-0.218,-1.209, RAW= 59.3, 8.3, CAL= 57.5, 9.4, ROT= 92.5, -9.4 2025-10-28T17:20:52.597Z,1761672052.597 [DAT](INFO): DAT read: Bearing 222, -10 (Remote) 2025-10-28T17:20:52.597Z,1761672052.597 [DAT](INFO): Remote Bearing received:Bearing 222, -10 (Remote) 2025-10-28T17:20:52.598Z,1761672052.598 [DAT](INFO): DAT read: Bearing 43.1, 78.2 (Local) 2025-10-28T17:20:52.598Z,1761672052.598 [DAT](INFO): Local bearing/azimuth received: Bearing 43.1, 78.2 (Local) 2025-10-28T17:20:52.599Z,1761672052.599 [DAT](INFO): DAT read: Range 11 to 20 : 93.5 m (Round-trip 124.7 ms) speed 0.0 m/s 2025-10-28T17:20:52.600Z,1761672052.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:20:52.601Z,1761672052.601 [DAT](INFO): direction in FSK: [-0.043034,0.985633,0.163326] 2025-10-28T17:20:52.601Z,1761672052.601 [DAT](INFO): publishing direction and range info 2025-10-28T17:20:52.827Z,1761672052.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664934,-0.745410,0.047190],[0.744853,-0.666461,-0.031985],[0.055292,0.013882,0.998374]] 2025-10-28T17:20:52.899Z,1761672052.899 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672064.00. Resetting abort timer. 2025-10-28T17:20:53.230Z,1761672053.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679382,-0.732386,0.045276],[0.731921,-0.680760,-0.029272],[0.052261,0.013251,0.998546]] 2025-10-28T17:20:53.635Z,1761672053.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693107,-0.719431,0.044952],[0.719032,-0.694436,-0.027424],[0.050946,0.013314,0.998613]] 2025-10-28T17:20:54.039Z,1761672054.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705781,-0.706788,0.048214],[0.706477,-0.707253,-0.026138],[0.052573,0.015614,0.998495]] 2025-10-28T17:20:54.444Z,1761672054.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718381,-0.693609,0.053243],[0.693272,-0.720148,-0.027586],[0.057477,0.017095,0.998200]] 2025-10-28T17:20:54.847Z,1761672054.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731463,-0.679268,0.059639],[0.678756,-0.733685,-0.031585],[0.065211,0.017377,0.997720]] 2025-10-28T17:20:55.250Z,1761672055.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743847,-0.665073,0.066101],[0.664187,-0.746611,-0.037786],[0.074482,0.015796,0.997097]] 2025-10-28T17:20:55.665Z,1761672055.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753594,-0.653366,0.072170],[0.652025,-0.756916,-0.044066],[0.083418,0.013849,0.996418]] 2025-10-28T17:20:56.068Z,1761672056.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760867,-0.644634,0.074348],[0.642534,-0.764451,-0.052570],[0.090724,0.007772,0.995846]] 2025-10-28T17:20:56.867Z,1761672056.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772590,-0.630423,0.075308],[0.626840,-0.776237,-0.067284],[0.100874,-0.004777,0.994888]] 2025-10-28T17:20:57.272Z,1761672057.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778208,-0.623435,0.075631],[0.619198,-0.781809,-0.073271],[0.104809,-0.010189,0.994440]] 2025-10-28T17:20:57.682Z,1761672057.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784230,-0.615894,0.075215],[0.610945,-0.787656,-0.079656],[0.108303,-0.016517,0.993981]] 2025-10-28T17:20:58.079Z,1761672058.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790645,-0.607375,0.077304],[0.602094,-0.794205,-0.081980],[0.111188,-0.018273,0.993631]] 2025-10-28T17:20:58.483Z,1761672058.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797413,-0.597890,0.081612],[0.592614,-0.801416,-0.080879],[0.113762,-0.016129,0.993377]] 2025-10-28T17:20:58.890Z,1761672058.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804936,-0.586939,0.087067],[0.581783,-0.809532,-0.078653],[0.116649,-0.012657,0.993093]] 2025-10-28T17:20:59.292Z,1761672059.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813268,-0.574548,0.092140],[0.569508,-0.818412,-0.076568],[0.119401,-0.009796,0.992798]] 2025-10-28T17:20:59.695Z,1761672059.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822129,-0.560839,0.097791],[0.556114,-0.827907,-0.072858],[0.121823,-0.005516,0.992537]] 2025-10-28T17:20:59.774Z,1761672059.774 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 704.49, 668.78, 639.56 2025-10-28T17:21:00.098Z,1761672060.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831159,-0.546370,0.103215],[0.542125,-0.837543,-0.067981],[0.123590,-0.000547,0.992333]] 2025-10-28T17:21:00.502Z,1761672060.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840677,-0.530888,0.106861],[0.527014,-0.847438,-0.064066],[0.124570,0.002458,0.992208]] 2025-10-28T17:21:00.909Z,1761672060.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850517,-0.514160,0.110726],[0.510956,-0.857662,-0.057792],[0.124680,0.007423,0.992169]] 2025-10-28T17:21:01.314Z,1761672061.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860735,-0.496028,0.114417],[0.493580,-0.868213,-0.050842],[0.124557,0.012712,0.992131]] 2025-10-28T17:21:01.721Z,1761672061.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881342,-0.457327,0.118698],[0.455759,-0.889129,-0.041642],[0.124582,0.017396,0.992057]] 2025-10-28T17:21:02.125Z,1761672062.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890858,-0.437760,0.121402],[0.436555,-0.898884,-0.037779],[0.125665,0.019343,0.991884]] 2025-10-28T17:21:02.529Z,1761672062.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899252,-0.419435,0.124176],[0.418510,-0.907548,-0.034721],[0.127259,0.020746,0.991652]] 2025-10-28T17:21:02.935Z,1761672062.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906907,-0.401811,0.126761],[0.400914,-0.915497,-0.033650],[0.129571,0.020303,0.991362]] 2025-10-28T17:21:03.333Z,1761672063.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913982,-0.384386,0.129939],[0.383368,-0.922978,-0.033773],[0.132913,0.018947,0.990947]] 2025-10-28T17:21:03.735Z,1761672063.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920540,-0.367142,0.133467],[0.365789,-0.930024,-0.035419],[0.137131,0.016217,0.990420]] 2025-10-28T17:21:04.143Z,1761672064.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926614,-0.350163,0.137012],[0.348289,-0.936608,-0.038217],[0.141709,0.012307,0.989832]] 2025-10-28T17:21:04.563Z,1761672064.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932213,-0.333536,0.140470],[0.331143,-0.942699,-0.040779],[0.146023,0.008501,0.989245]] 2025-10-28T17:21:04.949Z,1761672064.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937082,-0.318784,0.142313],[0.315697,-0.947821,-0.044387],[0.149037,0.003334,0.988826]] 2025-10-28T17:21:04.973Z,1761672064.973 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:21:04.973Z,1761672064.973 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateRudder:A] Stopped 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:21:04.974Z,1761672064.974 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateCommandMode] Stopped 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:21:04.975Z,1761672064.975 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:21:04.976Z,1761672064.976 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:21:04.976Z,1761672064.976 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:21:04.976Z,1761672064.976 [marl:UpdateSpeed] Stopped 2025-10-28T17:21:04.976Z,1761672064.976 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:21:05.351Z,1761672065.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941851,-0.303699,0.143816],[0.300062,-0.952768,-0.046865],[0.151256,-0.000986,0.988494]] 2025-10-28T17:21:05.391Z,1761672065.391 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:21:05.391Z,1761672065.391 [marl:UpdateRudder:B] Stopped 2025-10-28T17:21:05.391Z,1761672065.391 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:21:05.391Z,1761672065.391 [marl:UpdateRudder] Stopped 2025-10-28T17:21:05.391Z,1761672065.391 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:21:05.758Z,1761672065.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946500,-0.288134,0.145315],[0.284287,-0.957585,-0.047031],[0.152703,-0.003204,0.988267]] 2025-10-28T17:21:06.166Z,1761672066.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950731,-0.273217,0.146501],[0.269722,-0.961950,-0.043607],[0.152841,-0.001944,0.988249]] 2025-10-28T17:21:06.564Z,1761672066.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954457,-0.259171,0.147792],[0.256429,-0.965829,-0.037654],[0.152501,0.001959,0.988301]] 2025-10-28T17:21:06.973Z,1761672066.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957750,-0.246474,0.148208],[0.244577,-0.969128,-0.031181],[0.151318,0.006384,0.988464]] 2025-10-28T17:21:07.371Z,1761672067.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960782,-0.234161,0.148545],[0.233037,-0.972142,-0.025178],[0.150303,0.010426,0.988585]] 2025-10-28T17:21:07.780Z,1761672067.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963417,-0.223337,0.148149],[0.222570,-0.974670,-0.021954],[0.149299,0.011822,0.988721]] 2025-10-28T17:21:08.181Z,1761672068.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965833,-0.213431,0.147018],[0.212207,-0.976926,-0.024149],[0.148780,0.007875,0.988839]] 2025-10-28T17:21:08.583Z,1761672068.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968092,-0.202829,0.147165],[0.201219,-0.979204,-0.025904],[0.149359,0.004535,0.988773]] 2025-10-28T17:21:08.987Z,1761672068.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970279,-0.190811,0.148826],[0.189414,-0.981613,-0.023633],[0.150599,0.005259,0.988581]] 2025-10-28T17:21:09.391Z,1761672069.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972371,-0.177922,0.151121],[0.177084,-0.984010,-0.019093],[0.152102,0.008196,0.988331]] 2025-10-28T17:21:09.796Z,1761672069.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974512,-0.164653,0.152365],[0.164074,-0.986311,-0.016459],[0.152990,0.008959,0.988187]] 2025-10-28T17:21:10.198Z,1761672070.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976731,-0.150941,0.152358],[0.150436,-0.988507,-0.014907],[0.152857,0.008360,0.988213]] 2025-10-28T17:21:10.603Z,1761672070.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979056,-0.136150,0.151369],[0.135767,-0.990657,-0.012913],[0.151713,0.007908,0.988393]] 2025-10-28T17:21:11.007Z,1761672071.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981372,-0.120228,0.149849],[0.120120,-0.992711,-0.009803],[0.149935,0.008380,0.988660]] 2025-10-28T17:21:11.412Z,1761672071.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983509,-0.104069,0.147919],[0.103815,-0.994552,-0.009458],[0.148098,0.006054,0.988954]] 2025-10-28T17:21:11.815Z,1761672071.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985436,-0.087009,0.146099],[0.086131,-0.996207,-0.012338],[0.146619,0.000426,0.989193]] 2025-10-28T17:21:12.219Z,1761672072.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986971,-0.068215,0.145724],[0.067237,-0.997669,-0.011633],[0.146178,-0.001683,0.989257]] 2025-10-28T17:21:12.484Z,1761672072.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:21:12.623Z,1761672072.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988084,-0.049152,0.145859],[0.048316,-0.998789,-0.009265],[0.146138,-0.002108,0.989262]] 2025-10-28T17:21:13.028Z,1761672073.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988805,-0.030698,0.146021],[0.029778,-0.999520,-0.008486],[0.146212,-0.004043,0.989245]] 2025-10-28T17:21:13.430Z,1761672073.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989236,-0.013077,0.145747],[0.012188,-0.999901,-0.006987],[0.145824,-0.005135,0.989297]] 2025-10-28T17:21:13.488Z,1761672073.488 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T17:21:13.488Z,1761672073.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:21:13.834Z,1761672073.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989289,0.004349,0.145906],[-0.004957,-0.999981,-0.003803],[0.145886,-0.004485,0.989291]] 2025-10-28T17:21:14.238Z,1761672074.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989005,0.021994,0.146237],[-0.022249,-0.999752,-0.000102],[0.146199,-0.003355,0.989250]] 2025-10-28T17:21:14.650Z,1761672074.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988492,0.039234,0.146096],[-0.038943,-0.999230,0.004855],[0.146174,-0.000891,0.989258]] 2025-10-28T17:21:15.046Z,1761672075.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987692,0.056551,0.145832],[-0.055965,-0.998400,0.008119],[0.146058,-0.000142,0.989276]] 2025-10-28T17:21:15.454Z,1761672075.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986565,0.074214,0.145538],[-0.073362,-0.997242,0.011215],[0.145969,0.000387,0.989289]] 2025-10-28T17:21:15.855Z,1761672075.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985060,0.092752,0.145097],[-0.091711,-0.995689,0.013865],[0.145757,0.000351,0.989320]] 2025-10-28T17:21:16.258Z,1761672076.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983174,0.111463,0.144722],[-0.110171,-0.993768,0.016937],[0.145708,0.000708,0.989327]] 2025-10-28T17:21:16.664Z,1761672076.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980963,0.130484,0.143822],[-0.128858,-0.991449,0.020609],[0.145281,0.001684,0.989389]] 2025-10-28T17:21:17.068Z,1761672077.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978419,0.149239,0.142916],[-0.147282,-0.988798,0.024234],[0.144931,0.002662,0.989438]] 2025-10-28T17:21:17.471Z,1761672077.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975767,0.166610,0.141847],[-0.164254,-0.986014,0.028242],[0.144568,0.004259,0.989486]] 2025-10-28T17:21:17.875Z,1761672077.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972980,0.182810,0.141034],[-0.179857,-0.983121,0.033519],[0.144781,0.007247,0.989437]] 2025-10-28T17:21:18.279Z,1761672078.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970421,0.196089,0.140830],[-0.192667,-0.980541,0.037668],[0.145476,0.009421,0.989317]] 2025-10-28T17:21:18.316Z,1761672078.316 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:21:18.316Z,1761672078.316 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:21:18.316Z,1761672078.316 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateRudder:A] Stopped 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:21:18.317Z,1761672078.317 [marl:UpdateCommandMode] Stopped 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed] Stopped 2025-10-28T17:21:18.318Z,1761672078.318 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:21:18.683Z,1761672078.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967999,0.207709,0.140836],[-0.203860,-0.978125,0.041390],[0.146352,0.011355,0.989167]] 2025-10-28T17:21:18.713Z,1761672078.713 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:21:18.713Z,1761672078.713 [marl:UpdateRudder:B] Stopped 2025-10-28T17:21:18.713Z,1761672078.713 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:21:18.713Z,1761672078.713 [marl:UpdateRudder] Stopped 2025-10-28T17:21:18.713Z,1761672078.713 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:21:19.087Z,1761672079.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965605,0.218119,0.141529],[-0.214016,-0.975849,0.043779],[0.147660,0.011983,0.988966]] 2025-10-28T17:21:19.491Z,1761672079.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963534,0.226561,0.142378],[-0.222230,-0.973916,0.045836],[0.149049,0.012524,0.988751]] 2025-10-28T17:21:19.895Z,1761672079.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961468,0.234590,0.143340],[-0.230236,-0.972024,0.046480],[0.150234,0.011687,0.988581]] 2025-10-28T17:21:20.299Z,1761672080.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959238,0.243552,0.143332],[-0.239123,-0.969821,0.047621],[0.150605,0.011406,0.988528]] 2025-10-28T17:21:20.703Z,1761672080.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956375,0.254655,0.143169],[-0.250285,-0.966979,0.048055],[0.150679,0.010125,0.988531]] 2025-10-28T17:21:21.109Z,1761672081.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953185,0.265962,0.143884],[-0.262319,-0.963974,0.044074],[0.150422,0.004267,0.988613]] 2025-10-28T17:21:21.511Z,1761672081.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950304,0.275308,0.145357],[-0.273087,-0.961337,0.035416],[0.149487,-0.006039,0.988745]] 2025-10-28T17:21:21.915Z,1761672081.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948175,0.281070,0.148201],[-0.281233,-0.959425,0.020299],[0.147893,-0.022432,0.988749]] 2025-10-28T17:21:22.319Z,1761672082.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945948,0.285859,0.153192],[-0.289568,-0.957155,-0.001992],[0.146059,-0.046244,0.988195]] 2025-10-28T17:21:22.724Z,1761672082.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943582,0.290172,0.159539],[-0.297909,-0.954229,-0.026397],[0.144577,-0.072436,0.986839]] 2025-10-28T17:21:23.137Z,1761672083.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941623,0.292706,0.166340],[-0.304451,-0.951238,-0.049564],[0.143721,-0.097313,0.984822]] 2025-10-28T17:21:23.534Z,1761672083.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940323,0.293246,0.172627],[-0.308762,-0.948515,-0.070603],[0.143036,-0.119691,0.982454]] 2025-10-28T17:21:23.935Z,1761672083.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939842,0.291743,0.177719],[-0.310497,-0.946464,-0.088305],[0.142442,-0.138174,0.980111]] 2025-10-28T17:21:24.341Z,1761672084.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940092,0.288537,0.181588],[-0.309842,-0.945298,-0.102028],[0.142216,-0.152179,0.978067]] 2025-10-28T17:21:24.742Z,1761672084.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940874,0.284217,0.184327],[-0.307499,-0.944850,-0.112710],[0.142128,-0.162726,0.976381]] 2025-10-28T17:21:25.150Z,1761672085.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942145,0.278406,0.186688],[-0.303405,-0.945039,-0.121843],[0.142505,-0.171436,0.974834]] 2025-10-28T17:21:25.603Z,1761672085.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943847,0.271767,0.187870],[-0.297950,-0.945880,-0.128599],[0.142753,-0.177353,0.973739]] 2025-10-28T17:21:25.990Z,1761672085.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945585,0.265455,0.188157],[-0.292453,-0.946862,-0.133879],[0.142620,-0.181622,0.972971]] 2025-10-28T17:21:26.392Z,1761672086.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947091,0.260337,0.187730],[-0.287828,-0.947712,-0.137830],[0.142031,-0.184571,0.972502]] 2025-10-28T17:21:26.795Z,1761672086.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948071,0.256961,0.187439],[-0.284996,-0.947959,-0.141952],[0.141208,-0.188000,0.971965]] 2025-10-28T17:21:27.202Z,1761672087.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948423,0.255568,0.187562],[-0.284324,-0.947428,-0.146762],[0.140193,-0.192521,0.971227]] 2025-10-28T17:21:27.640Z,1761672087.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947949,0.257292,0.187597],[-0.286599,-0.946146,-0.150564],[0.138756,-0.196492,0.970638]] 2025-10-28T17:21:28.008Z,1761672088.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946626,0.262678,0.186817],[-0.291808,-0.944561,-0.150511],[0.136924,-0.196992,0.970797]] 2025-10-28T17:21:28.410Z,1761672088.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944530,0.270460,0.186320],[-0.299455,-0.942183,-0.150390],[0.134874,-0.197842,0.970911]] 2025-10-28T17:21:28.815Z,1761672088.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941740,0.279935,0.186448],[-0.308892,-0.939177,-0.150109],[0.133087,-0.198956,0.970930]] 2025-10-28T17:21:29.218Z,1761672089.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938526,0.290694,0.186187],[-0.319179,-0.936186,-0.147244],[0.131502,-0.197620,0.971418]] 2025-10-28T17:21:29.648Z,1761672089.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935124,0.301699,0.185801],[-0.329596,-0.933132,-0.143638],[0.130041,-0.195558,0.972032]] 2025-10-28T17:21:29.656Z,1761672089.656 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050421094942,4.6, 0.0,1505.4, 0 2025-10-28T17:21:30.430Z,1761672090.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929432,0.320364,0.183092],[-0.345923,-0.929190,-0.130168],[0.128426,-0.184318,0.974440]] 2025-10-28T17:21:30.834Z,1761672090.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928221,0.325146,0.180791],[-0.349210,-0.929064,-0.122034],[0.128288,-0.176408,0.975921]] 2025-10-28T17:21:31.242Z,1761672091.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928360,0.326254,0.178064],[-0.348832,-0.930179,-0.114381],[0.128314,-0.168301,0.977349]] 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateRudder:A] Stopped 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:21:31.266Z,1761672091.266 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateCommandMode] Stopped 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:21:31.267Z,1761672091.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:21:31.268Z,1761672091.268 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:21:31.269Z,1761672091.269 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:21:31.269Z,1761672091.269 [marl:UpdateSpeed] Stopped 2025-10-28T17:21:31.269Z,1761672091.269 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:21:31.651Z,1761672091.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929237,0.325020,0.175730],[-0.346527,-0.931656,-0.109252],[0.128211,-0.162416,0.978357]] 2025-10-28T17:21:31.711Z,1761672091.711 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:21:31.712Z,1761672091.712 [marl:UpdateRudder:B] Stopped 2025-10-28T17:21:31.716Z,1761672091.716 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:21:31.716Z,1761672091.716 [marl:UpdateRudder] Stopped 2025-10-28T17:21:31.716Z,1761672091.716 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:21:32.046Z,1761672092.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930324,0.322467,0.174679],[-0.343632,-0.932872,-0.108016],[0.128121,-0.160515,0.978683]] 2025-10-28T17:21:32.450Z,1761672092.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931460,0.319475,0.174122],[-0.340728,-0.933768,-0.109458],[0.127620,-0.161284,0.978622]] 2025-10-28T17:21:32.863Z,1761672092.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932344,0.316590,0.174656],[-0.338437,-0.934133,-0.113381],[0.127257,-0.164820,0.978080]] 2025-10-28T17:21:33.270Z,1761672093.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932621,0.315036,0.175982],[-0.337796,-0.933708,-0.118672],[0.126930,-0.170122,0.977214]] 2025-10-28T17:21:33.673Z,1761672093.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931582,0.317083,0.177803],[-0.340771,-0.932024,-0.123318],[0.126615,-0.175471,0.976309]] 2025-10-28T17:21:34.074Z,1761672094.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929501,0.321717,0.180350],[-0.346496,-0.929258,-0.128141],[0.126367,-0.181598,0.975220]] 2025-10-28T17:21:34.478Z,1761672094.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926670,0.328183,0.183246],[-0.353983,-0.925915,-0.131821],[0.126409,-0.187021,0.974189]] 2025-10-28T17:21:34.885Z,1761672094.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923506,0.335587,0.185791],[-0.362055,-0.922587,-0.133225],[0.126700,-0.190300,0.973516]] 2025-10-28T17:21:35.286Z,1761672095.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920202,0.343349,0.187988],[-0.370185,-0.919417,-0.132799],[0.127243,-0.191792,0.973152]] 2025-10-28T17:21:35.692Z,1761672095.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917338,0.349860,0.189970],[-0.376890,-0.916901,-0.131330],[0.128236,-0.192071,0.972967]] 2025-10-28T17:21:36.098Z,1761672096.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914904,0.355410,0.191404],[-0.382436,-0.914908,-0.129174],[0.129207,-0.191381,0.972974]] 2025-10-28T17:21:36.501Z,1761672096.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913030,0.359884,0.191990],[-0.386584,-0.913626,-0.125855],[0.130114,-0.189130,0.973294]] 2025-10-28T17:21:36.903Z,1761672096.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911634,0.363138,0.192496],[-0.389561,-0.912745,-0.123039],[0.131020,-0.187155,0.973554]] 2025-10-28T17:21:37.309Z,1761672097.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910327,0.366036,0.193189],[-0.392336,-0.911814,-0.121112],[0.131821,-0.186047,0.973658]] 2025-10-28T17:21:37.715Z,1761672097.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908975,0.368797,0.194302],[-0.395144,-0.910767,-0.119855],[0.132761,-0.185723,0.973592]] 2025-10-28T17:21:38.123Z,1761672098.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907376,0.372118,0.195440],[-0.398601,-0.909344,-0.119208],[0.133363,-0.186069,0.973444]] 2025-10-28T17:21:38.519Z,1761672098.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905676,0.375649,0.196568],[-0.402352,-0.907695,-0.119173],[0.133657,-0.187021,0.973221]] 2025-10-28T17:21:38.922Z,1761672098.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903653,0.379582,0.198317],[-0.406853,-0.905473,-0.120782],[0.133724,-0.189830,0.972668]] 2025-10-28T17:21:39.326Z,1761672099.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901513,0.384071,0.199409],[-0.411649,-0.903222,-0.121387],[0.133489,-0.191519,0.972369]] 2025-10-28T17:21:39.732Z,1761672099.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899345,0.388897,0.199843],[-0.416479,-0.901094,-0.120723],[0.133129,-0.191802,0.972362]] 2025-10-28T17:21:40.134Z,1761672100.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897459,0.393165,0.199972],[-0.420599,-0.899356,-0.119393],[0.132905,-0.191258,0.972500]] 2025-10-28T17:21:40.539Z,1761672100.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896236,0.396361,0.199147],[-0.423321,-0.898388,-0.117043],[0.132520,-0.189202,0.972955]] 2025-10-28T17:21:40.945Z,1761672100.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895595,0.398454,0.197849],[-0.424695,-0.898184,-0.113573],[0.132451,-0.185741,0.973631]] 2025-10-28T17:21:41.348Z,1761672101.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895754,0.398987,0.196048],[-0.424321,-0.898879,-0.109395],[0.132576,-0.181178,0.974473]] 2025-10-28T17:21:41.753Z,1761672101.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896482,0.397931,0.194861],[-0.422657,-0.900002,-0.106569],[0.132968,-0.177897,0.975024]] 2025-10-28T17:21:42.158Z,1761672102.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897619,0.396018,0.193520],[-0.420137,-0.901486,-0.103959],[0.133286,-0.174621,0.975573]] 2025-10-28T17:21:42.565Z,1761672102.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899813,0.391088,0.193357],[-0.415019,-0.903969,-0.102957],[0.134523,-0.172889,0.975712]] 2025-10-28T17:21:42.969Z,1761672102.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900208,0.389511,0.194695],[-0.413982,-0.904187,-0.105188],[0.135069,-0.175291,0.975207]] 2025-10-28T17:21:43.371Z,1761672103.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899674,0.389815,0.196546],[-0.415077,-0.903300,-0.108447],[0.135266,-0.179149,0.974479]] 2025-10-28T17:21:43.644Z,1761672103.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:21:43.780Z,1761672103.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897885,0.392675,0.199018],[-0.419008,-0.900956,-0.112744],[0.135035,-0.184622,0.973489]] 2025-10-28T17:21:44.177Z,1761672104.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894721,0.398525,0.201625],[-0.425823,-0.897346,-0.115950],[0.134719,-0.189600,0.972575]] 2025-10-28T17:21:44.221Z,1761672104.221 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:21:44.221Z,1761672104.221 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:21:44.221Z,1761672104.221 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:21:44.221Z,1761672104.221 [marl:UpdateRudder:A] Stopped 2025-10-28T17:21:44.221Z,1761672104.221 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode] Stopped 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:21:44.222Z,1761672104.222 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed] Stopped 2025-10-28T17:21:44.223Z,1761672104.223 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:21:44.648Z,1761672104.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:21:44.665Z,1761672104.665 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:21:44.665Z,1761672104.665 [marl:UpdateRudder:B] Stopped 2025-10-28T17:21:44.665Z,1761672104.665 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:21:44.665Z,1761672104.665 [marl:UpdateRudder] Stopped 2025-10-28T17:21:44.665Z,1761672104.665 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:21:44.982Z,1761672104.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885972,0.416410,0.204097],[-0.444136,-0.888531,-0.115136],[0.133402,-0.192654,0.972157]] 2025-10-28T17:21:45.387Z,1761672105.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881278,0.426394,0.203807],[-0.453721,-0.884024,-0.112423],[0.132234,-0.191548,0.972535]] 2025-10-28T17:21:45.794Z,1761672105.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876575,0.436227,0.203276],[-0.463119,-0.879476,-0.109740],[0.130905,-0.190337,0.972952]] 2025-10-28T17:21:46.194Z,1761672106.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872082,0.445621,0.202226],[-0.471814,-0.875326,-0.105805],[0.129865,-0.187684,0.973607]] 2025-10-28T17:21:46.607Z,1761672106.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868422,0.453294,0.200917],[-0.478669,-0.872131,-0.101312],[0.129302,-0.184154,0.974355]] 2025-10-28T17:21:47.003Z,1761672107.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864856,0.461148,0.198408],[-0.485337,-0.869083,-0.095617],[0.128339,-0.178990,0.975444]] 2025-10-28T17:21:47.408Z,1761672107.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859834,0.472856,0.192594],[-0.494618,-0.864995,-0.084481],[0.126645,-0.167900,0.977635]] 2025-10-28T17:21:47.810Z,1761672107.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854219,0.487661,0.180268],[-0.504713,-0.861031,-0.062375],[0.124798,-0.144265,0.981638]] 2025-10-28T17:21:48.215Z,1761672108.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848085,0.503884,0.163867],[-0.515423,-0.856234,-0.034665],[0.122842,-0.113860,0.985873]] 2025-10-28T17:21:48.620Z,1761672108.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841346,0.520303,0.146364],[-0.526848,-0.849930,-0.007106],[0.120701,-0.083090,0.989205]] 2025-10-28T17:21:49.024Z,1761672109.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834495,0.535311,0.130617],[-0.537999,-0.842779,0.016779],[0.119063,-0.056270,0.991291]] 2025-10-28T17:21:49.050Z,1761672109.050 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:21:49.301Z,1761672109.301 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:21:49.301Z,1761672109.301 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:21:49.427Z,1761672109.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827628,0.548819,0.117598],[-0.548739,-0.835219,0.035981],[0.117967,-0.034752,0.992409]] 2025-10-28T17:21:49.555Z,1761672109.555 [DAT](INFO): DAT read: user:58> 2025-10-28T17:21:49.558Z,1761672109.558 [DAT](INFO): DAT read: Tx time:17:21:49.3096 2025-10-28T17:21:49.559Z,1761672109.559 [DAT](INFO): Ping request sent. 2025-10-28T17:21:49.559Z,1761672109.559 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:21:49.560Z,1761672109.560 [DAT](INFO): publishing transmit ping time 2025-10-28T17:21:49.628Z,1761672109.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.069291 2025-10-28T17:21:49.805Z,1761672109.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246200 2025-10-28T17:21:49.831Z,1761672109.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820588,0.561579,0.106135],[-0.559395,-0.827258,0.052170],[0.117098,-0.016561,0.992982]] 2025-10-28T17:21:50.057Z,1761672110.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498119 2025-10-28T17:21:50.235Z,1761672110.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813123,0.573873,0.097473],[-0.570288,-0.818937,0.064139],[0.116632,-0.003435,0.993169]] 2025-10-28T17:21:50.309Z,1761672110.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750631 2025-10-28T17:21:50.561Z,1761672110.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002150 2025-10-28T17:21:50.641Z,1761672110.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804856,0.586270,0.092163],[-0.581878,-0.810106,0.071740],[0.116721,0.004112,0.993156]] 2025-10-28T17:21:50.813Z,1761672110.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254321 2025-10-28T17:21:51.043Z,1761672111.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795755,0.599248,0.087609],[-0.594254,-0.800503,0.077832],[0.116772,0.009874,0.993110]] 2025-10-28T17:21:51.065Z,1761672111.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506348 2025-10-28T17:21:51.317Z,1761672111.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758190 2025-10-28T17:21:51.446Z,1761672111.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784916,0.613613,0.085936],[-0.608522,-0.789542,0.079531],[0.116651,0.010131,0.993121]] 2025-10-28T17:21:51.572Z,1761672111.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012872 2025-10-28T17:21:51.821Z,1761672111.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262226 2025-10-28T17:21:51.851Z,1761672111.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772364,0.629382,0.085624],[-0.624381,-0.777054,0.079594],[0.116629,0.008014,0.993143]] 2025-10-28T17:21:52.074Z,1761672112.074 [DAT](INFO): DAT read: Rx Time:17:21:51.3983 2025-10-28T17:21:52.075Z,1761672112.075 [DAT](INFO): Rx dataTimestamp_ set to:1761672112.074288 2025-10-28T17:21:52.076Z,1761672112.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516911 2025-10-28T17:21:52.256Z,1761672112.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758512,0.646224,0.083988],[-0.641194,-0.763112,0.080813],[0.116315,0.007445,0.993184]] 2025-10-28T17:21:52.326Z,1761672112.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766883 2025-10-28T17:21:52.586Z,1761672112.586 [DAT](INFO): DAT read: 17:21:51.3983 LVL= 32752, 32753, 32434, 32691, AGC= 49, IDX= 286, 0.18, 0.957,-0.791, 0.176, 0.059, PHS= 1.000,-0.805, 0.073, RAW= 119.1, -3.5, CAL= 120.3, -3.1, ROT= 29.7, 3.1 2025-10-28T17:21:52.587Z,1761672112.587 [DAT](INFO): got valid direction response: 17:21:51.3983 LVL= 32752, 32753, 32434, 32691, AGC= 49, IDX= 286, 0.18, 0.957,-0.791, 0.176, 0.059, PHS= 1.000,-0.805, 0.073, RAW= 119.1, -3.5, CAL= 120.3, -3.1, ROT= 29.7, 3.1 2025-10-28T17:21:52.589Z,1761672112.589 [DAT](INFO): DAT read: Bearing 246, 6 (Remote) 2025-10-28T17:21:52.589Z,1761672112.589 [DAT](INFO): Remote Bearing received:Bearing 246, 6 (Remote) 2025-10-28T17:21:52.590Z,1761672112.590 [DAT](INFO): DAT read: Bearing 2.5, 36.0 (Local) 2025-10-28T17:21:52.591Z,1761672112.591 [DAT](INFO): Local bearing/azimuth received: Bearing 2.5, 36.0 (Local) 2025-10-28T17:21:52.593Z,1761672112.593 [DAT](INFO): DAT read: Range 11 to 20 : 44.6 m (Round-trip 59.5 ms) speed 0.5 m/s 2025-10-28T17:21:52.594Z,1761672112.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:21:52.595Z,1761672112.595 [DAT](INFO): direction in FSK: [0.867360,0.494734,-0.054079] 2025-10-28T17:21:52.596Z,1761672112.596 [DAT](INFO): publishing direction and range info 2025-10-28T17:21:52.659Z,1761672112.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744047,0.662897,0.083436],[-0.657994,-0.748693,0.080641],[0.115925,0.005100,0.993245]] 2025-10-28T17:21:52.763Z,1761672112.763 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672064.00. Resetting abort timer. 2025-10-28T17:21:53.063Z,1761672113.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729492,0.679109,0.081558],[-0.674283,-0.734026,0.080925],[0.114823,0.004041,0.993378]] 2025-10-28T17:21:53.467Z,1761672113.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716059,0.693627,0.078370],[-0.688617,-0.720312,0.083412],[0.114308,0.005761,0.993429]] 2025-10-28T17:21:53.872Z,1761672113.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704438,0.705715,0.075721],[-0.700597,-0.708462,0.085120],[0.113716,0.006912,0.993489]] 2025-10-28T17:21:54.275Z,1761672114.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694288,0.716024,0.072617],[-0.710754,-0.698019,0.087168],[0.113102,0.008907,0.993543]] 2025-10-28T17:21:55.092Z,1761672115.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678084,0.731736,0.069026],[-0.726306,-0.681505,0.089611],[0.112613,0.010630,0.993582]] 2025-10-28T17:21:55.487Z,1761672115.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670940,0.738285,0.069101],[-0.732804,-0.674415,0.090345],[0.113304,0.009979,0.993510]] 2025-10-28T17:21:55.890Z,1761672115.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663224,0.745087,0.070564],[-0.739628,-0.666923,0.090357],[0.114385,0.007736,0.993406]] 2025-10-28T17:21:56.294Z,1761672116.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653726,0.753215,0.072863],[-0.747886,-0.657762,0.089537],[0.115367,0.004039,0.993315]] 2025-10-28T17:21:56.701Z,1761672116.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641541,0.763235,0.076790],[-0.758222,-0.646117,0.087362],[0.116293,-0.002178,0.993213]] 2025-10-28T17:21:57.107Z,1761672117.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626646,0.775189,0.079980],[-0.770475,-0.631680,0.085727],[0.116977,-0.007902,0.993103]] 2025-10-28T17:21:57.134Z,1761672117.134 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:21:57.134Z,1761672117.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:21:57.134Z,1761672117.134 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:21:57.134Z,1761672117.134 [marl:UpdateRudder:A] Stopped 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode] Stopped 2025-10-28T17:21:57.135Z,1761672117.135 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:21:57.136Z,1761672117.136 [marl:UpdateSpeed] Stopped 2025-10-28T17:21:57.137Z,1761672117.137 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:21:57.507Z,1761672117.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610145,0.788074,0.081627],[-0.783510,-0.615468,0.085508],[0.117625,-0.011784,0.992988]] 2025-10-28T17:21:57.558Z,1761672117.558 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:21:57.559Z,1761672117.559 [marl:UpdateRudder:B] Stopped 2025-10-28T17:21:57.559Z,1761672117.559 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:21:57.559Z,1761672117.559 [marl:UpdateRudder] Stopped 2025-10-28T17:21:57.564Z,1761672117.564 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:21:57.911Z,1761672117.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592002,0.801858,0.080977],[-0.797258,-0.597369,0.086775],[0.117954,-0.013188,0.992931]] 2025-10-28T17:21:58.338Z,1761672118.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572607,0.816154,0.077546],[-0.811466,-0.577701,0.088225],[0.116803,-0.012408,0.993078]] 2025-10-28T17:21:58.719Z,1761672118.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552231,0.830399,0.074018],[-0.825817,-0.557028,0.088006],[0.114310,-0.012526,0.993366]] 2025-10-28T17:21:59.123Z,1761672119.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531595,0.844227,0.068466],[-0.839721,-0.535876,0.087781],[0.110796,-0.010828,0.993784]] 2025-10-28T17:21:59.527Z,1761672119.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512796,0.856330,0.061151],[-0.851794,-0.516384,0.088287],[0.107180,-0.006815,0.994216]] 2025-10-28T17:21:59.931Z,1761672119.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497719,0.865652,0.054058],[-0.861122,-0.500639,0.088482],[0.103658,-0.002511,0.994610]] 2025-10-28T17:21:59.953Z,1761672119.953 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -49.+2194.74, -11.60, 0.00 2025-10-28T17:22:00.339Z,1761672120.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488105,0.871216,0.052314],[-0.866979,-0.490888,0.085881],[0.100501,-0.003436,0.994931]] 2025-10-28T17:22:00.741Z,1761672120.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483880,0.873158,0.058791],[-0.869667,-0.487268,0.079053],[0.097673,-0.012876,0.995135]] 2025-10-28T17:22:01.143Z,1761672121.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482939,0.872442,0.074932],[-0.870458,-0.487621,0.067300],[0.095254,-0.032724,0.994915]] 2025-10-28T17:22:01.555Z,1761672121.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483866,0.869841,0.096173],[-0.870162,-0.489906,0.053007],[0.093223,-0.058038,0.993952]] 2025-10-28T17:22:01.951Z,1761672121.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485537,0.866075,0.119027],[-0.869434,-0.492606,0.037731],[0.091311,-0.085166,0.992174]] 2025-10-28T17:22:02.364Z,1761672122.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487338,0.861885,0.140197],[-0.868612,-0.494942,0.023364],[0.089527,-0.110391,0.989848]] 2025-10-28T17:22:02.771Z,1761672122.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489005,0.857786,0.158359],[-0.867855,-0.496705,0.010614],[0.087762,-0.132242,0.987325]] 2025-10-28T17:22:03.165Z,1761672123.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490229,0.854084,0.173826],[-0.867341,-0.497714,-0.000610],[0.085994,-0.151066,0.984776]] 2025-10-28T17:22:03.617Z,1761672123.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490889,0.851139,0.185987],[-0.867155,-0.497938,-0.010014],[0.084087,-0.166195,0.982501]] 2025-10-28T17:22:03.973Z,1761672123.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491581,0.848985,0.193835],[-0.866939,-0.498129,-0.016856],[0.082244,-0.176329,0.980889]] 2025-10-28T17:22:04.378Z,1761672124.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492158,0.847457,0.198990],[-0.866796,-0.498167,-0.022238],[0.080284,-0.183428,0.979749]] 2025-10-28T17:22:05.186Z,1761672125.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491667,0.846825,0.202857],[-0.867458,-0.496653,-0.029194],[0.076027,-0.190324,0.978773]] 2025-10-28T17:22:05.621Z,1761672125.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490122,0.847681,0.203020],[-0.868508,-0.494692,-0.031195],[0.073989,-0.191614,0.978677]] 2025-10-28T17:22:05.990Z,1761672125.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487344,0.849339,0.202779],[-0.870288,-0.491417,-0.033287],[0.071377,-0.192698,0.978659]] 2025-10-28T17:22:06.399Z,1761672126.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483671,0.851542,0.202334],[-0.872541,-0.487286,-0.034982],[0.068806,-0.193465,0.978692]] 2025-10-28T17:22:06.799Z,1761672126.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479138,0.854070,0.202461],[-0.875236,-0.482296,-0.036766],[0.066245,-0.194817,0.978600]] 2025-10-28T17:22:07.205Z,1761672127.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473629,0.857480,0.201006],[-0.878461,-0.476295,-0.038064],[0.063099,-0.194604,0.978850]] 2025-10-28T17:22:07.626Z,1761672127.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468277,0.860927,0.198801],[-0.881527,-0.470545,-0.038700],[0.060227,-0.193371,0.979275]] 2025-10-28T17:22:08.010Z,1761672128.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463180,0.864428,0.195520],[-0.884391,-0.465148,-0.038589],[0.057588,-0.190790,0.979940]] 2025-10-28T17:22:08.419Z,1761672128.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458880,0.867721,0.191020],[-0.886790,-0.460612,-0.037940],[0.055065,-0.186805,0.980852]] 2025-10-28T17:22:08.820Z,1761672128.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455801,0.870513,0.185614],[-0.888533,-0.457302,-0.037208],[0.052491,-0.181884,0.981918]] 2025-10-28T17:22:09.224Z,1761672129.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453492,0.872224,0.183220],[-0.889840,-0.454699,-0.037859],[0.050288,-0.180206,0.982343]] 2025-10-28T17:22:09.631Z,1761672129.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452045,0.873637,0.180039],[-0.890690,-0.453009,-0.038139],[0.048240,-0.177599,0.982920]] 2025-10-28T17:22:10.030Z,1761672130.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451331,0.874635,0.176959],[-0.891154,-0.452065,-0.038504],[0.046320,-0.175075,0.983465]] 2025-10-28T17:22:10.091Z,1761672130.091 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:22:10.091Z,1761672130.091 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:22:10.091Z,1761672130.091 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:22:10.091Z,1761672130.091 [marl:UpdateRudder:A] Stopped 2025-10-28T17:22:10.091Z,1761672130.091 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:22:10.092Z,1761672130.092 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:22:10.092Z,1761672130.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:22:10.092Z,1761672130.092 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:22:10.092Z,1761672130.092 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:22:10.092Z,1761672130.092 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateCommandMode] Stopped 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed] Stopped 2025-10-28T17:22:10.093Z,1761672130.093 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:22:10.442Z,1761672130.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449686,0.875801,0.175370],[-0.892096,-0.450093,-0.039753],[0.044117,-0.174323,0.983700]] 2025-10-28T17:22:10.478Z,1761672130.478 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:22:10.478Z,1761672130.478 [marl:UpdateRudder:B] Stopped 2025-10-28T17:22:10.478Z,1761672130.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:22:10.478Z,1761672130.478 [marl:UpdateRudder] Stopped 2025-10-28T17:22:10.478Z,1761672130.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:22:10.838Z,1761672130.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447483,0.876719,0.176415],[-0.893281,-0.447574,-0.041556],[0.042526,-0.176184,0.983438]] 2025-10-28T17:22:11.245Z,1761672131.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443881,0.878005,0.179102],[-0.895146,-0.443619,-0.043771],[0.041022,-0.179751,0.982856]] 2025-10-28T17:22:11.648Z,1761672131.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438852,0.879918,0.182080],[-0.897690,-0.438241,-0.045790],[0.039503,-0.183546,0.982217]] 2025-10-28T17:22:12.058Z,1761672132.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432371,0.882481,0.185155],[-0.900895,-0.431436,-0.047456],[0.038003,-0.187324,0.981563]] 2025-10-28T17:22:12.455Z,1761672132.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424867,0.885635,0.187456],[-0.904526,-0.423639,-0.048615],[0.036358,-0.190214,0.981069]] 2025-10-28T17:22:12.859Z,1761672132.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416774,0.889140,0.189023],[-0.908349,-0.415295,-0.049308],[0.034658,-0.192250,0.980734]] 2025-10-28T17:22:13.264Z,1761672133.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408617,0.892985,0.188707],[-0.912125,-0.406909,-0.049530],[0.032557,-0.192363,0.980784]] 2025-10-28T17:22:13.667Z,1761672133.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401511,0.896487,0.187348],[-0.915349,-0.399599,-0.049571],[0.030425,-0.191392,0.981042]] 2025-10-28T17:22:14.074Z,1761672134.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396211,0.899414,0.184581],[-0.917716,-0.394183,-0.049167],[0.028537,-0.188873,0.981587]] 2025-10-28T17:22:14.478Z,1761672134.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393044,0.901785,0.179722],[-0.919136,-0.390946,-0.048472],[0.026550,-0.184240,0.982523]] 2025-10-28T17:22:14.776Z,1761672134.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:22:15.283Z,1761672135.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392027,0.904512,0.167850],[-0.919676,-0.389810,-0.047367],[0.022586,-0.172937,0.984674]] 2025-10-28T17:22:15.687Z,1761672135.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393845,0.904693,0.162530],[-0.918941,-0.391545,-0.047329],[0.020819,-0.167996,0.985568]] 2025-10-28T17:22:15.781Z,1761672135.781 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:22:16.093Z,1761672136.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397052,0.903824,0.159534],[-0.917593,-0.394575,-0.048299],[0.019295,-0.165564,0.986010]] 2025-10-28T17:22:16.495Z,1761672136.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401271,0.902185,0.158252],[-0.915775,-0.398622,-0.049561],[0.018370,-0.164811,0.986154]] 2025-10-28T17:22:16.898Z,1761672136.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405952,0.900102,0.158178],[-0.913721,-0.403125,-0.051036],[0.017828,-0.165248,0.986091]] 2025-10-28T17:22:17.303Z,1761672137.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410473,0.897464,0.161464],[-0.911701,-0.407348,-0.053564],[0.017700,-0.169193,0.985424]] 2025-10-28T17:22:17.708Z,1761672137.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413217,0.895455,0.165566],[-0.910468,-0.409715,-0.056411],[0.017322,-0.174053,0.984584]] 2025-10-28T17:22:18.110Z,1761672138.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414448,0.894032,0.170117],[-0.909918,-0.410520,-0.059345],[0.016780,-0.179387,0.983635]] 2025-10-28T17:22:18.514Z,1761672138.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413128,0.893559,0.175723],[-0.910535,-0.408665,-0.062605],[0.015871,-0.185866,0.982447]] 2025-10-28T17:22:18.918Z,1761672138.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410015,0.893982,0.180786],[-0.911957,-0.405065,-0.065242],[0.014905,-0.191620,0.981356]] 2025-10-28T17:22:19.325Z,1761672139.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405226,0.895201,0.185492],[-0.914112,-0.399825,-0.067378],[0.013848,-0.196864,0.980333]] 2025-10-28T17:22:19.727Z,1761672139.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398628,0.897191,0.190117],[-0.917025,-0.392803,-0.069077],[0.012703,-0.201879,0.979328]] 2025-10-28T17:22:19.756Z,1761672139.756 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD, -51.59, +2211.11, 7, 2025-10-28T17:22:20.130Z,1761672140.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390553,0.899960,0.193754],[-0.920511,-0.384355,-0.070218],[0.011277,-0.205776,0.978534]] 2025-10-28T17:22:20.542Z,1761672140.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381737,0.903544,0.194640],[-0.924225,-0.375255,-0.070650],[0.009205,-0.206861,0.978327]] 2025-10-28T17:22:20.939Z,1761672140.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372871,0.907243,0.194622],[-0.927859,-0.366083,-0.071143],[0.006704,-0.207109,0.978295]] 2025-10-28T17:22:21.344Z,1761672141.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364906,0.910613,0.193979],[-0.931035,-0.357827,-0.071650],[0.004165,-0.206747,0.978386]] 2025-10-28T17:22:21.747Z,1761672141.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359495,0.913747,0.189289],[-0.933145,-0.352473,-0.070734],[0.002086,-0.202063,0.979370]] 2025-10-28T17:22:22.151Z,1761672142.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356343,0.916195,0.183322],[-0.934355,-0.349500,-0.069497],[0.000398,-0.196053,0.980593]] 2025-10-28T17:22:22.564Z,1761672142.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355207,0.917646,0.178196],[-0.934787,-0.348559,-0.068405],[-0.000660,-0.190873,0.981614]] 2025-10-28T17:22:22.961Z,1761672142.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355456,0.918766,0.171816],[-0.934693,-0.349210,-0.066351],[-0.000961,-0.184180,0.982892]] 2025-10-28T17:22:23.363Z,1761672143.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355925,0.919332,0.167767],[-0.934514,-0.350018,-0.064576],[-0.000646,-0.179765,0.983709]] 2025-10-28T17:22:23.395Z,1761672143.395 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:22:23.395Z,1761672143.395 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:22:23.395Z,1761672143.395 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:22:23.396Z,1761672143.396 [marl:UpdateRudder:A] Stopped 2025-10-28T17:22:23.396Z,1761672143.396 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:22:23.396Z,1761672143.396 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:22:23.396Z,1761672143.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:22:23.396Z,1761672143.396 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateCommandMode] Stopped 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:22:23.397Z,1761672143.397 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:22:23.398Z,1761672143.398 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:22:23.398Z,1761672143.398 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:22:23.398Z,1761672143.398 [marl:UpdateSpeed] Stopped 2025-10-28T17:22:23.398Z,1761672143.398 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:22:23.771Z,1761672143.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356118,0.919767,0.164951],[-0.934441,-0.350494,-0.063044],[-0.000171,-0.176588,0.984285]] 2025-10-28T17:22:23.834Z,1761672143.834 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:22:23.834Z,1761672143.834 [marl:UpdateRudder:B] Stopped 2025-10-28T17:22:23.834Z,1761672143.834 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:22:23.834Z,1761672143.834 [marl:UpdateRudder] Stopped 2025-10-28T17:22:23.834Z,1761672143.834 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:22:24.170Z,1761672144.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355083,0.920292,0.164254],[-0.934835,-0.349611,-0.062099],[0.000276,-0.175601,0.984461]] 2025-10-28T17:22:24.581Z,1761672144.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352747,0.920955,0.165567],[-0.935719,-0.347306,-0.061722],[0.000659,-0.176696,0.984265]] 2025-10-28T17:22:25.383Z,1761672145.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345702,0.923020,0.168893],[-0.938343,-0.340307,-0.060852],[0.001308,-0.179516,0.983754]] 2025-10-28T17:22:25.789Z,1761672145.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341452,0.924449,0.169720],[-0.939899,-0.336029,-0.060619],[0.000992,-0.180218,0.983626]] 2025-10-28T17:22:26.190Z,1761672146.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337123,0.925576,0.172211],[-0.941460,-0.331569,-0.060947],[0.000689,-0.182676,0.983173]] 2025-10-28T17:22:26.594Z,1761672146.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331448,0.927766,0.171443],[-0.943474,-0.325971,-0.060005],[0.000215,-0.181640,0.983365]] 2025-10-28T17:22:26.000Z,1761672147.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322659,0.932357,0.163098],[-0.946515,-0.317729,-0.056187],[-0.000565,-0.172504,0.985009]] 2025-10-28T17:22:27.403Z,1761672147.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310968,0.939897,0.141044],[-0.950418,-0.307212,-0.048225],[-0.001996,-0.149047,0.988828]] 2025-10-28T17:22:27.813Z,1761672147.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284290,0.955209,0.082190],[-0.958727,-0.282817,-0.029278],[-0.004721,-0.087121,0.996187]] 2025-10-28T17:22:28.216Z,1761672148.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270522,0.961125,0.055296],[-0.962698,-0.269739,-0.021294],[-0.005551,-0.058994,0.998243]] 2025-10-28T17:22:28.633Z,1761672148.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256763,0.965908,0.033086],[-0.966459,-0.256412,-0.014519],[-0.005540,-0.035705,0.999347]] 2025-10-28T17:22:29.031Z,1761672149.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242796,0.969943,0.016145],[-0.970065,-0.242676,-0.009010],[-0.004821,-0.017849,0.999829]] 2025-10-28T17:22:29.425Z,1761672149.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227595,0.973750,0.003422],[-0.973747,-0.227578,-0.004928],[-0.004020,-0.004453,0.999982]] 2025-10-28T17:22:29.826Z,1761672149.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211797,0.977306,-0.003889],[-0.977310,-0.211806,-0.001942],[-0.002721,0.003390,0.999991]] 2025-10-28T17:22:30.232Z,1761672150.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195179,0.980741,-0.007207],[-0.980767,-0.195183,0.000157],[-0.001252,0.007099,0.999974]] 2025-10-28T17:22:30.635Z,1761672150.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177236,0.984119,-0.009825],[-0.984168,-0.177228,0.001747],[-0.000022,0.009979,0.999950]] 2025-10-28T17:22:31.043Z,1761672151.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159548,0.987149,-0.009018],[-0.987189,-0.159531,0.002619],[0.001147,0.009320,0.999956]] 2025-10-28T17:22:31.443Z,1761672151.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140707,0.990023,-0.007415],[-0.990049,-0.140687,0.003259],[0.002183,0.007800,0.999967]] 2025-10-28T17:22:31.850Z,1761672151.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121918,0.992521,-0.006116],[-0.992535,-0.121894,0.004069],[0.003293,0.006566,0.999973]] 2025-10-28T17:22:32.251Z,1761672152.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103143,0.994658,-0.004029],[-0.994658,-0.103125,0.004490],[0.004050,0.004470,0.999982]] 2025-10-28T17:22:32.655Z,1761672152.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084954,0.996380,-0.003193],[-0.996373,-0.084937,0.005207],[0.004917,0.003624,0.999981]] 2025-10-28T17:22:33.059Z,1761672153.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067317,0.997728,-0.002545],[-0.997715,-0.067301,0.005882],[0.005697,0.002936,0.999979]] 2025-10-28T17:22:33.468Z,1761672153.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051649,0.998663,-0.001938],[-0.998640,-0.051634,0.007257],[0.007147,0.002310,0.999972]] 2025-10-28T17:22:33.869Z,1761672153.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037023,0.999307,-0.003789],[-0.999280,-0.036991,0.008402],[0.008256,0.004097,0.999958]] 2025-10-28T17:22:34.271Z,1761672154.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023443,0.999713,-0.004898],[-0.999681,-0.023395,0.009532],[0.009414,0.005120,0.999943]] 2025-10-28T17:22:35.079Z,1761672155.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002145,0.999968,-0.007755],[-0.999925,0.002238,0.012016],[0.012033,0.007729,0.999898]] 2025-10-28T17:22:35.492Z,1761672155.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014656,0.999862,-0.007882],[-0.999804,0.014759,0.013173],[0.013287,0.007687,0.999882]] 2025-10-28T17:22:35.887Z,1761672155.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026976,0.999601,-0.008369],[-0.999529,0.027095,0.014439],[0.014660,0.007976,0.999861]] 2025-10-28T17:22:36.290Z,1761672156.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039399,0.999171,-0.010217],[-0.999091,0.039558,0.015902],[0.016293,0.009581,0.999821]] 2025-10-28T17:22:36.334Z,1761672156.334 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:22:36.334Z,1761672156.334 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:22:36.334Z,1761672156.334 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateRudder:A] Stopped 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:22:36.335Z,1761672156.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateCommandMode] Stopped 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:22:36.336Z,1761672156.336 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:22:36.337Z,1761672156.337 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:22:36.337Z,1761672156.337 [marl:UpdateSpeed] Stopped 2025-10-28T17:22:36.337Z,1761672156.337 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:22:36.696Z,1761672156.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052421,0.998569,-0.010621],[-0.998463,0.052602,0.017472],[0.018006,0.009689,0.999791]] 2025-10-28T17:22:36.719Z,1761672156.719 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:22:36.720Z,1761672156.720 [marl:UpdateRudder:B] Stopped 2025-10-28T17:22:36.720Z,1761672156.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:22:36.720Z,1761672156.720 [marl:UpdateRudder] Stopped 2025-10-28T17:22:36.720Z,1761672156.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:22:37.100Z,1761672157.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066681,0.997717,-0.010703],[-0.997586,0.066873,0.018735],[0.019408,0.009428,0.999767]] 2025-10-28T17:22:37.516Z,1761672157.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081511,0.996609,-0.011243],[-0.996447,0.081727,0.020337],[0.021186,0.009546,0.999730]] 2025-10-28T17:22:37.907Z,1761672157.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097476,0.995157,-0.012680],[-0.994981,0.097733,0.021485],[0.022621,0.010522,0.999689]] 2025-10-28T17:22:38.311Z,1761672158.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114477,0.993354,-0.011963],[-0.993140,0.114725,0.022601],[0.023823,0.009293,0.999673]] 2025-10-28T17:22:38.719Z,1761672158.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131643,0.991219,-0.012446],[-0.990984,0.131906,0.023485],[0.024920,0.009243,0.999647]] 2025-10-28T17:22:39.119Z,1761672159.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148974,0.988767,-0.012098],[-0.988504,0.149232,0.024285],[0.025817,0.008341,0.999632]] 2025-10-28T17:22:39.528Z,1761672159.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166625,0.985964,-0.010563],[-0.985664,0.166843,0.025086],[0.026496,0.006232,0.999629]] 2025-10-28T17:22:39.926Z,1761672159.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184606,0.982763,-0.009824],[-0.982442,0.184802,0.025629],[0.027002,0.004920,0.999623]] 2025-10-28T17:22:40.333Z,1761672160.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202422,0.979255,-0.009199],[-0.978910,0.202597,0.026248],[0.027567,0.003692,0.999613]] 2025-10-28T17:22:40.736Z,1761672160.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219590,0.975567,-0.007061],[-0.975188,0.219701,0.027210],[0.028097,0.000911,0.999605]] 2025-10-28T17:22:41.138Z,1761672161.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236020,0.971719,-0.007506],[-0.971324,0.236138,0.027716],[0.028704,0.000750,0.999588]] 2025-10-28T17:22:41.547Z,1761672161.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251459,0.967828,-0.008752],[-0.967422,0.251608,0.028089],[0.029387,0.001403,0.999567]] 2025-10-28T17:22:41.948Z,1761672161.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265948,0.963948,-0.008675],[-0.963519,0.266089,0.028780],[0.030051,0.000704,0.999548]] 2025-10-28T17:22:41.978Z,1761672161.978 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -68, +671, 2025-10-28T17:22:42.350Z,1761672162.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279614,0.960061,-0.009942],[-0.959602,0.279788,0.029704],[0.031300,0.001235,0.999509]] 2025-10-28T17:22:42.760Z,1761672162.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291998,0.956335,-0.012711],[-0.955868,0.292255,0.030071],[0.032473,0.003369,0.999467]] 2025-10-28T17:22:43.159Z,1761672163.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304188,0.952500,-0.014578],[-0.952016,0.304504,0.030705],[0.033686,0.004538,0.999422]] 2025-10-28T17:22:43.596Z,1761672163.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316527,0.948437,-0.016673],[-0.947954,0.316908,0.030855],[0.034548,0.006039,0.999385]] 2025-10-28T17:22:43.967Z,1761672163.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328751,0.944254,-0.017525],[-0.943756,0.329158,0.031289],[0.035313,0.006253,0.999357]] 2025-10-28T17:22:44.370Z,1761672164.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340269,0.940146,-0.018520],[-0.939626,0.340710,0.031933],[0.036332,0.006536,0.999318]] 2025-10-28T17:22:44.783Z,1761672164.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352625,0.935536,-0.020682],[-0.935023,0.353139,0.032006],[0.037246,0.008052,0.999274]] 2025-10-28T17:22:44.984Z,1761672164.984 [ThrusterHE](FAULT): Could not get status:serial timeout 2025-10-28T17:22:45.179Z,1761672165.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365527,0.930551,-0.021558],[-0.930019,0.366071,0.032511],[0.038145,0.008165,0.999239]] 2025-10-28T17:22:45.620Z,1761672165.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379303,0.924987,-0.022971],[-0.924448,0.379896,0.032768],[0.039037,0.008807,0.999199]] 2025-10-28T17:22:45.904Z,1761672165.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:22:45.991Z,1761672165.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393501,0.918985,-0.024978],[-0.918439,0.394169,0.033185],[0.040342,0.009883,0.999137]] 2025-10-28T17:22:46.393Z,1761672166.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408099,0.912535,-0.027111],[-0.911993,0.408848,0.033362],[0.041528,0.011110,0.999076]] 2025-10-28T17:22:46.796Z,1761672166.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423646,0.905394,-0.028037],[-0.904848,0.424424,0.033395],[0.042136,0.011221,0.999049]] 2025-10-28T17:22:46.908Z,1761672166.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:22:47.198Z,1761672167.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438971,0.898054,-0.028362],[-0.897476,0.439759,0.033894],[0.042911,0.010575,0.999023]] 2025-10-28T17:22:47.623Z,1761672167.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454736,0.890204,-0.027418],[-0.889569,0.455480,0.034712],[0.043389,0.008605,0.999021]] 2025-10-28T17:22:48.014Z,1761672168.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469771,0.882370,-0.027174],[-0.881688,0.470500,0.035454],[0.044069,0.007303,0.999002]] 2025-10-28T17:22:48.411Z,1761672168.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484145,0.874530,-0.028312],[-0.873832,0.484915,0.035699],[0.044948,0.007456,0.998961]] 2025-10-28T17:22:48.815Z,1761672168.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498540,0.866359,-0.029669],[-0.865662,0.499360,0.035632],[0.045686,0.007919,0.998924]] 2025-10-28T17:22:49.219Z,1761672169.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512742,0.857978,-0.031127],[-0.857278,0.513617,0.035672],[0.046593,0.008394,0.998879]] 2025-10-28T17:22:49.270Z,1761672169.270 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:22:49.270Z,1761672169.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:22:49.270Z,1761672169.270 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateRudder:A] Stopped 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:22:49.271Z,1761672169.271 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:22:49.272Z,1761672169.272 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:22:49.272Z,1761672169.272 [marl:UpdateCommandMode] Stopped 2025-10-28T17:22:49.276Z,1761672169.276 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:22:49.276Z,1761672169.276 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:22:49.276Z,1761672169.276 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:22:49.276Z,1761672169.276 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:22:49.277Z,1761672169.277 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:22:49.277Z,1761672169.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:22:49.277Z,1761672169.277 [marl:UpdateSpeed] Stopped 2025-10-28T17:22:49.277Z,1761672169.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:22:49.278Z,1761672169.278 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:22:49.301Z,1761672169.301 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:22:49.302Z,1761672169.302 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:22:49.555Z,1761672169.555 [DAT](INFO): DAT read: user:59> 2025-10-28T17:22:49.558Z,1761672169.558 [DAT](INFO): DAT read: Tx time:17:22:49.3110 2025-10-28T17:22:49.559Z,1761672169.559 [DAT](INFO): Ping request sent. 2025-10-28T17:22:49.559Z,1761672169.559 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:22:49.560Z,1761672169.560 [DAT](INFO): publishing transmit ping time 2025-10-28T17:22:49.562Z,1761672169.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002797 2025-10-28T17:22:49.677Z,1761672169.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527098,0.849209,-0.031798],[-0.848477,0.527997,0.036148],[0.047486,0.007926,0.998840]] 2025-10-28T17:22:49.713Z,1761672169.713 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -54.54, +223 +15.59, 61.21, 0.00 2025-10-28T17:22:49.752Z,1761672169.752 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:22:49.761Z,1761672169.761 [marl:UpdateRudder:B] Stopped 2025-10-28T17:22:49.761Z,1761672169.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:22:49.761Z,1761672169.761 [marl:UpdateRudder] Stopped 2025-10-28T17:22:49.762Z,1761672169.762 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:22:49.806Z,1761672169.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246825 2025-10-28T17:22:50.026Z,1761672170.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541591,0.840005,-0.032739],[-0.839258,0.542523,0.036267],[0.048226,0.007835,0.998806]] 2025-10-28T17:22:50.057Z,1761672170.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498176 2025-10-28T17:22:50.309Z,1761672170.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750042 2025-10-28T17:22:50.430Z,1761672170.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555877,0.830597,-0.033321],[-0.829813,0.556828,0.036792],[0.049113,0.007198,0.998767]] 2025-10-28T17:22:50.566Z,1761672170.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007359 2025-10-28T17:22:50.817Z,1761672170.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258079 2025-10-28T17:22:50.841Z,1761672170.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570327,0.820709,-0.034104],[-0.819921,0.571302,0.036640],[0.049555,0.007066,0.998746]] 2025-10-28T17:22:51.069Z,1761672171.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510029 2025-10-28T17:22:51.241Z,1761672171.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584056,0.810992,-0.034201],[-0.810188,0.585023,0.036653],[0.049734,0.006302,0.998743]] 2025-10-28T17:22:51.321Z,1761672171.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762113 2025-10-28T17:22:51.576Z,1761672171.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016427 2025-10-28T17:22:51.643Z,1761672171.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596491,0.801891,-0.034202],[-0.801075,0.597445,0.036581],[0.049768,0.005578,0.998745]] 2025-10-28T17:22:51.825Z,1761672171.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266042 2025-10-28T17:22:52.047Z,1761672172.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608157,0.793091,-0.033929],[-0.792276,0.609084,0.036278],[0.049438,0.004819,0.998766]] 2025-10-28T17:22:52.077Z,1761672172.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518670 2025-10-28T17:22:52.333Z,1761672172.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774152 2025-10-28T17:22:52.451Z,1761672172.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618400,0.785206,-0.032140],[-0.784344,0.619230,0.036865],[0.048849,0.002411,0.998803]] 2025-10-28T17:22:52.585Z,1761672172.585 [DAT](INFO): DAT read: Rx Time:17:22:51.7704 2025-10-28T17:22:52.586Z,1761672172.586 [DAT](INFO): Rx dataTimestamp_ set to:1761672172.585543 2025-10-28T17:22:52.586Z,1761672172.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027537 2025-10-28T17:22:52.837Z,1761672172.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278656 2025-10-28T17:22:52.861Z,1761672172.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627723,0.777761,-0.032438],[-0.776958,0.628553,0.035442],[0.047954,0.002955,0.998845]] 2025-10-28T17:22:53.094Z,1761672173.094 [DAT](INFO): DAT read: 17:22:51.7704 LVL= 32752, 19537, 32402, 29939, AGC= 48, IDX= 146,-0.10, 1.669, 2.699, 0.943, 1.775, PHS=-0.004, 0.969,-0.876, RAW= 358.2, -1.1, CAL= 357.9, -4.0, ROT= 152.1, 4.0 2025-10-28T17:22:53.095Z,1761672173.095 [DAT](INFO): got valid direction response: 17:22:51.7704 LVL= 32752, 19537, 32402, 29939, AGC= 48, IDX= 146,-0.10, 1.669, 2.699, 0.943, 1.775, PHS=-0.004, 0.969,-0.876, RAW= 358.2, -1.1, CAL= 357.9, -4.0, ROT= 152.1, 4.0 2025-10-28T17:22:53.106Z,1761672173.106 [DAT](INFO): DAT read: Bearing 277.9, 24.5 (Local) 2025-10-28T17:22:53.107Z,1761672173.107 [DAT](INFO): Local bearing/azimuth received: Bearing 277.9, 24.5 (Local) 2025-10-28T17:22:53.116Z,1761672173.116 [DAT](INFO): DAT read: Range 11 to 20 : 41.4 m (Round-trip 55.2 ms) speed -0.7 m/s 2025-10-28T17:22:53.117Z,1761672173.117 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:22:53.118Z,1761672173.118 [DAT](INFO): direction in FSK: [-0.881613,0.466790,-0.069756] 2025-10-28T17:22:53.118Z,1761672173.118 [DAT](INFO): publishing direction and range info 2025-10-28T17:22:53.258Z,1761672173.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635948,0.771057,-0.032261],[-0.770273,0.636760,0.034870],[0.047429,0.002674,0.998871]] 2025-10-28T17:22:53.303Z,1761672173.303 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672192.00. Resetting abort timer. 2025-10-28T17:22:53.663Z,1761672173.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643582,0.764658,-0.033175],[-0.763923,0.644426,0.033713],[0.047158,0.003646,0.998881]] 2025-10-28T17:22:54.067Z,1761672174.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652054,0.757332,-0.035692],[-0.756696,0.652999,0.031682],[0.047301,0.006349,0.998860]] 2025-10-28T17:22:54.475Z,1761672174.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661382,0.749129,-0.037128],[-0.748525,0.662383,0.030969],[0.047793,0.007309,0.998831]] 2025-10-28T17:22:54.875Z,1761672174.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672067,0.739449,-0.039262],[-0.738926,0.673148,0.029309],[0.048102,0.009314,0.998799]] 2025-10-28T17:22:55.279Z,1761672175.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684151,0.728181,-0.041114],[-0.727745,0.685295,0.027530],[0.048222,0.011086,0.998775]] 2025-10-28T17:22:55.684Z,1761672175.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696605,0.716166,-0.042992],[-0.715848,0.697804,0.025122],[0.047991,0.013276,0.998760]] 2025-10-28T17:22:56.087Z,1761672176.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709271,0.703534,-0.044440],[-0.703335,0.710499,0.022613],[0.047484,0.015217,0.998756]] 2025-10-28T17:22:56.498Z,1761672176.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721598,0.690874,-0.044608],[-0.690745,0.722802,0.020716],[0.046555,0.015864,0.998790]] 2025-10-28T17:22:56.895Z,1761672176.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733201,0.678562,-0.044377],[-0.678471,0.734371,0.019385],[0.045743,0.015896,0.998827]] 2025-10-28T17:22:57.301Z,1761672177.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744239,0.666465,-0.043960],[-0.666397,0.745372,0.018336],[0.044987,0.015649,0.998865]] 2025-10-28T17:22:57.702Z,1761672177.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754904,0.654430,-0.042920],[-0.654336,0.755986,0.018148],[0.044324,0.014384,0.998914]] 2025-10-28T17:22:58.106Z,1761672178.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765208,0.642355,-0.042858],[-0.642280,0.766274,0.017340],[0.043979,0.014259,0.998931]] 2025-10-28T17:22:58.511Z,1761672178.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775561,0.629735,-0.044037],[-0.629738,0.776652,0.015540],[0.043987,0.015679,0.998909]] 2025-10-28T17:22:58.917Z,1761672178.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785727,0.616866,-0.045928],[-0.616969,0.786870,0.013584],[0.044519,0.017662,0.998852]] 2025-10-28T17:22:59.318Z,1761672179.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796066,0.603418,-0.046536],[-0.603543,0.797226,0.012890],[0.044877,0.017825,0.998833]] 2025-10-28T17:22:59.722Z,1761672179.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806360,0.589544,-0.047137],[-0.589703,0.807532,0.011925],[0.045095,0.018181,0.998817]] 2025-10-28T17:23:00.126Z,1761672180.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816566,0.575288,-0.047587],[-0.575457,0.817752,0.011437],[0.045494,0.018045,0.998802]] 2025-10-28T17:23:00.532Z,1761672180.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826271,0.561271,-0.047438],[-0.561402,0.827459,0.011772],[0.045860,0.016905,0.998805]] 2025-10-28T17:23:00.934Z,1761672180.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835609,0.547311,-0.046991],[-0.547414,0.836779,0.011793],[0.045776,0.015869,0.998826]] 2025-10-28T17:23:01.338Z,1761672181.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844054,0.534270,-0.046133],[-0.534327,0.845191,0.012126],[0.045470,0.014415,0.998862]] 2025-10-28T17:23:01.742Z,1761672181.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851898,0.521875,-0.043781],[-0.521847,0.852940,0.012984],[0.044119,0.011786,0.998957]] 2025-10-28T17:23:02.149Z,1761672182.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859053,0.510252,-0.040884],[-0.510160,0.859975,0.013432],[0.042013,0.009318,0.999074]] 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateRudder:A] Stopped 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:23:02.174Z,1761672182.174 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode] Stopped 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:23:02.175Z,1761672182.175 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:23:02.176Z,1761672182.176 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:23:02.176Z,1761672182.176 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:23:02.176Z,1761672182.176 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:23:02.176Z,1761672182.176 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:23:02.177Z,1761672182.177 [marl:UpdateSpeed] Stopped 2025-10-28T17:23:02.177Z,1761672182.177 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:23:02.550Z,1761672182.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865437,0.499566,-0.038116],[-0.499449,0.866243,0.013227],[0.039625,0.007589,0.999186]] 2025-10-28T17:23:02.611Z,1761672182.611 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:23:02.611Z,1761672182.611 [marl:UpdateRudder:B] Stopped 2025-10-28T17:23:02.611Z,1761672182.611 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:23:02.611Z,1761672182.611 [marl:UpdateRudder] Stopped 2025-10-28T17:23:02.611Z,1761672182.611 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:23:02.958Z,1761672182.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871463,0.489178,-0.035459],[-0.489055,0.872161,0.012671],[0.037125,0.006299,0.999291]] 2025-10-28T17:23:03.359Z,1761672183.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877303,0.478764,-0.033530],[-0.478695,0.877918,0.010584],[0.034503,0.006765,0.999382]] 2025-10-28T17:23:03.768Z,1761672183.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883082,0.468171,-0.031342],[-0.468133,0.883612,0.008991],[0.031904,0.006732,0.999468]] 2025-10-28T17:23:04.166Z,1761672184.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888787,0.457377,-0.029382],[-0.457384,0.889243,0.006877],[0.029273,0.007327,0.999545]] 2025-10-28T17:23:04.571Z,1761672184.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894804,0.445543,-0.028585],[-0.445666,0.895196,0.002259],[0.026596,0.010718,0.999589]] 2025-10-28T17:23:04.985Z,1761672184.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900875,0.433231,-0.027101],[-0.433424,0.901189,-0.001382],[0.023824,0.012991,0.999632]] 2025-10-28T17:23:05.379Z,1761672185.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906853,0.420642,-0.026042],[-0.420912,0.907084,-0.005663],[0.021240,0.016097,0.999645]] 2025-10-28T17:23:05.786Z,1761672185.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913130,0.406925,-0.024616],[-0.407254,0.913260,-0.010053],[0.018390,0.019204,0.999646]] 2025-10-28T17:23:06.187Z,1761672186.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919472,0.392473,-0.023139],[-0.392843,0.919493,-0.014351],[0.015644,0.022286,0.999629]] 2025-10-28T17:23:06.600Z,1761672186.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925810,0.377374,-0.021554],[-0.377759,0.925731,-0.017912],[0.013193,0.024726,0.999607]] 2025-10-28T17:23:06.996Z,1761672186.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932131,0.361565,-0.020076],[-0.361955,0.931952,-0.021328],[0.010998,0.027147,0.999571]] 2025-10-28T17:23:07.401Z,1761672187.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938480,0.344810,-0.018984],[-0.345216,0.938171,-0.025720],[0.008941,0.030692,0.999489]] 2025-10-28T17:23:07.803Z,1761672187.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944525,0.327981,-0.017347],[-0.328365,0.944115,-0.028708],[0.006962,0.032812,0.999437]] 2025-10-28T17:23:08.209Z,1761672188.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950321,0.310907,-0.015061],[-0.311231,0.949866,-0.029829],[0.005032,0.033034,0.999442]] 2025-10-28T17:23:08.612Z,1761672188.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955749,0.293928,-0.012283],[-0.294169,0.955293,-0.029650],[0.003019,0.031951,0.999485]] 2025-10-28T17:23:09.014Z,1761672189.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960676,0.277517,-0.009311],[-0.277671,0.960242,-0.028890],[0.000923,0.030339,0.999539]] 2025-10-28T17:23:09.422Z,1761672189.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965194,0.261463,-0.006169],[-0.261532,0.964791,-0.027909],[-0.001345,0.028551,0.999591]] 2025-10-28T17:23:09.824Z,1761672189.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969315,0.245800,-0.003253],[-0.245797,0.968949,-0.026844],[-0.003446,0.026820,0.999634]] 2025-10-28T17:23:10.226Z,1761672190.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973120,0.230298,-0.000677],[-0.230236,0.972779,-0.026300],[-0.005398,0.025749,0.999654]] 2025-10-28T17:23:10.631Z,1761672190.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976695,0.214624,0.002037],[-0.214502,0.976382,-0.025826],[-0.007532,0.024787,0.999664]] 2025-10-28T17:23:11.035Z,1761672191.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979902,0.199434,0.004163],[-0.199262,0.979601,-0.026027],[-0.009269,0.024674,0.999653]] 2025-10-28T17:23:11.459Z,1761672191.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982789,0.184624,0.006349],[-0.184407,0.982515,-0.025651],[-0.010973,0.024038,0.999651]] 2025-10-28T17:23:11.842Z,1761672191.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985454,0.169723,0.008656],[-0.169470,0.985232,-0.024452],[-0.012678,0.022629,0.999664]] 2025-10-28T17:23:12.246Z,1761672192.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987846,0.155074,0.010622],[-0.154780,0.987648,-0.024394],[-0.014273,0.022454,0.999646]] 2025-10-28T17:23:12.650Z,1761672192.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989997,0.140527,0.012540],[-0.140191,0.989820,-0.024549],[-0.015862,0.022546,0.999620]] 2025-10-28T17:23:13.062Z,1761672193.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993479,0.112852,0.016269],[-0.112450,0.993371,-0.023838],[-0.018852,0.021853,0.999583]] 2025-10-28T17:23:13.474Z,1761672193.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994943,0.098763,0.018310],[-0.098319,0.994871,-0.023759],[-0.020562,0.021839,0.999550]] 2025-10-28T17:23:13.867Z,1761672193.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996178,0.085032,0.019962],[-0.084524,0.996107,-0.025046],[-0.022014,0.023263,0.999487]] 2025-10-28T17:23:14.273Z,1761672194.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997297,0.070127,0.021942],[-0.069512,0.997199,-0.027621],[-0.023818,0.026021,0.999378]] 2025-10-28T17:23:14.683Z,1761672194.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998160,0.055526,0.024357],[-0.054828,0.998091,-0.028429],[-0.025889,0.027041,0.999299]] 2025-10-28T17:23:15.075Z,1761672195.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998836,0.040459,0.026272],[-0.039676,0.998773,-0.029643],[-0.027439,0.028566,0.999215]] 2025-10-28T17:23:15.107Z,1761672195.107 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:23:15.107Z,1761672195.107 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateRudder:A] Stopped 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:23:15.108Z,1761672195.108 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateCommandMode] Stopped 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:23:15.109Z,1761672195.109 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:23:15.110Z,1761672195.110 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:23:15.110Z,1761672195.110 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:23:15.110Z,1761672195.110 [marl:UpdateSpeed] Stopped 2025-10-28T17:23:15.110Z,1761672195.110 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:23:15.479Z,1761672195.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999279,0.025269,0.028335],[-0.024425,0.999259,-0.029736],[-0.029065,0.029023,0.999156]] 2025-10-28T17:23:15.530Z,1761672195.530 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:23:15.530Z,1761672195.530 [marl:UpdateRudder:B] Stopped 2025-10-28T17:23:15.530Z,1761672195.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:23:15.530Z,1761672195.530 [marl:UpdateRudder] Stopped 2025-10-28T17:23:15.530Z,1761672195.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:23:15.882Z,1761672195.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999488,0.010024,0.030392],[-0.009148,0.999543,-0.028817],[-0.030667,0.028525,0.999123]] 2025-10-28T17:23:16.288Z,1761672196.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999460,-0.004785,0.032519],[0.005663,0.999620,-0.026963],[-0.032378,0.027132,0.999107]] 2025-10-28T17:23:16.693Z,1761672196.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.019144,0.034437],[0.020030,0.999473,-0.025558],[-0.033929,0.026228,0.999080]] 2025-10-28T17:23:17.028Z,1761672197.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:23:17.096Z,1761672197.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998787,-0.033240,0.036338],[0.034080,0.999160,-0.022756],[-0.035551,0.023967,0.999080]] 2025-10-28T17:23:17.499Z,1761672197.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998122,-0.047723,0.038419],[0.048543,0.998607,-0.020683],[-0.037379,0.022510,0.999048]] 2025-10-28T17:23:17.903Z,1761672197.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997302,-0.061409,0.040214],[0.062114,0.997932,-0.016518],[-0.039117,0.018972,0.999054]] 2025-10-28T17:23:18.033Z,1761672198.033 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:23:18.309Z,1761672198.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996522,-0.072140,0.041715],[0.072419,0.997361,-0.005214],[-0.041229,0.008217,0.999116]] 2025-10-28T17:23:18.710Z,1761672198.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996079,-0.077724,0.042254],[0.077162,0.996909,0.014781],[-0.043272,-0.011462,0.998998]] 2025-10-28T17:23:19.115Z,1761672199.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995941,-0.079476,0.042254],[0.077735,0.996115,0.041369],[-0.045377,-0.037916,0.998250]] 2025-10-28T17:23:19.518Z,1761672199.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996006,-0.078626,0.042314],[0.075547,0.994680,0.070032],[-0.047595,-0.066555,0.996647]] 2025-10-28T17:23:19.931Z,1761672199.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996125,-0.077092,0.042319],[0.072735,0.992690,0.096310],[-0.049435,-0.092858,0.994451]] 2025-10-28T17:23:20.328Z,1761672200.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996220,-0.075504,0.042961],[0.069943,0.990450,0.118814],[-0.051522,-0.115360,0.991987]] 2025-10-28T17:23:20.730Z,1761672200.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996197,-0.075114,0.044156],[0.068557,0.988495,0.134824],[-0.053775,-0.131284,0.989885]] 2025-10-28T17:23:21.622Z,1761672201.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995779,-0.079181,0.046416],[0.070929,0.984830,0.158363],[-0.058251,-0.154403,0.986289]] 2025-10-28T17:23:22.050Z,1761672202.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995438,-0.082581,0.047787],[0.073680,0.983558,0.164879],[-0.060617,-0.160605,0.985156]] 2025-10-28T17:23:22.457Z,1761672202.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995002,-0.086849,0.049277],[0.077351,0.982460,0.169674],[-0.063148,-0.165014,0.984268]] 2025-10-28T17:23:22.855Z,1761672202.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994518,-0.091541,0.050530],[0.081554,0.981534,0.173033],[-0.065436,-0.167964,0.983619]] 2025-10-28T17:23:23.261Z,1761672203.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993989,-0.096598,0.051524],[0.086182,0.980630,0.175891],[-0.067517,-0.170393,0.983060]] 2025-10-28T17:23:23.667Z,1761672203.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993443,-0.101456,0.052710],[0.090536,0.979634,0.179224],[-0.069820,-0.173276,0.982395]] 2025-10-28T17:23:24.067Z,1761672204.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992956,-0.105621,0.053697],[0.094226,0.978663,0.182594],[-0.071837,-0.176248,0.981721]] 2025-10-28T17:23:24.471Z,1761672204.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992586,-0.108680,0.054430],[0.096915,0.977903,0.185237],[-0.073359,-0.178589,0.981185]] 2025-10-28T17:23:24.876Z,1761672204.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992334,-0.110356,0.055628],[0.098247,0.977511,0.186602],[-0.074970,-0.179706,0.980860]] 2025-10-28T17:23:25.278Z,1761672205.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992142,-0.111579,0.056600],[0.099295,0.977451,0.186359],[-0.076118,-0.179275,0.980850]] 2025-10-28T17:23:25.682Z,1761672205.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992025,-0.112013,0.057793],[0.099451,0.977298,0.187077],[-0.077436,-0.179837,0.980644]] 2025-10-28T17:23:26.089Z,1761672206.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991980,-0.111851,0.058861],[0.099203,0.977573,0.185769],[-0.078319,-0.178440,0.980829]] 2025-10-28T17:23:26.537Z,1761672206.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991992,-0.111126,0.060028],[0.098426,0.977992,0.183970],[-0.079151,-0.176588,0.981097]] 2025-10-28T17:23:26.944Z,1761672206.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992028,-0.110056,0.061386],[0.097419,0.978752,0.180429],[-0.079939,-0.173011,0.981671]] 2025-10-28T17:23:27.339Z,1761672207.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992053,-0.109239,0.062438],[0.096695,0.979413,0.177203],[-0.080510,-0.169758,0.982192]] 2025-10-28T17:23:27.743Z,1761672207.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992043,-0.108737,0.063451],[0.096335,0.980117,0.173465],[-0.081051,-0.165972,0.982794]] 2025-10-28T17:23:28.146Z,1761672208.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992022,-0.108476,0.064221],[0.096204,0.980668,0.170398],[-0.081463,-0.162860,0.983280]] 2025-10-28T17:23:28.181Z,1761672208.181 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:23:28.181Z,1761672208.181 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateRudder:A] Stopped 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:23:28.182Z,1761672208.182 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateCommandMode] Stopped 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:23:28.183Z,1761672208.183 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:23:28.184Z,1761672208.184 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:23:28.184Z,1761672208.184 [marl:UpdateSpeed] Stopped 2025-10-28T17:23:28.184Z,1761672208.184 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:23:28.550Z,1761672208.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991966,-0.108683,0.064739],[0.096396,0.980801,0.169521],[-0.081920,-0.161918,0.983398]] 2025-10-28T17:23:28.597Z,1761672208.597 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T17:23:28.597Z,1761672208.597 [marl:UpdateRudder:B] Stopped 2025-10-28T17:23:28.597Z,1761672208.597 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:23:28.597Z,1761672208.597 [marl:UpdateRudder] Stopped 2025-10-28T17:23:28.597Z,1761672208.597 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:23:28.954Z,1761672208.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991893,-0.109096,0.065164],[0.097003,0.981290,0.166312],[-0.082089,-0.158643,0.983918]] 2025-10-28T17:23:29.361Z,1761672209.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991701,-0.110561,0.065616],[0.098613,0.981593,0.163558],[-0.082492,-0.155730,0.984349]] 2025-10-28T17:23:29.770Z,1761672209.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991456,-0.112577,0.065893],[0.100814,0.981859,0.160589],[-0.082776,-0.152574,0.984819]] 2025-10-28T17:23:30.167Z,1761672210.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991176,-0.115125,0.065698],[0.103655,0.982117,0.157165],[-0.082617,-0.148969,0.985385]] 2025-10-28T17:23:30.570Z,1761672210.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990741,-0.119106,0.065153],[0.107784,0.981868,0.155943],[-0.082545,-0.147477,0.985615]] 2025-10-28T17:23:30.975Z,1761672210.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990295,-0.123333,0.064073],[0.112069,0.981266,0.156705],[-0.082200,-0.148004,0.985565]] 2025-10-28T17:23:31.381Z,1761672211.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990099,-0.126017,0.061842],[0.114645,0.980144,0.161784],[-0.081001,-0.153092,0.984887]] 2025-10-28T17:23:31.786Z,1761672211.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990520,-0.124498,0.058063],[0.112445,0.977601,0.177910],[-0.078912,-0.169695,0.982332]] 2025-10-28T17:23:32.186Z,1761672212.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991611,-0.117914,0.052946],[0.104499,0.972423,0.208504],[-0.076071,-0.201222,0.976587]] 2025-10-28T17:23:32.591Z,1761672212.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993321,-0.105257,0.047268],[0.090166,0.963721,0.251222],[-0.071996,-0.245282,0.966775]] 2025-10-28T17:23:32.995Z,1761672212.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995379,-0.086166,0.042377],[0.069469,0.950874,0.301682],[-0.066290,-0.297344,0.952466]] 2025-10-28T17:23:33.394Z,1761672213.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997350,-0.060825,0.039928],[0.042794,0.934193,0.354193],[-0.058845,-0.351545,0.934320]] 2025-10-28T17:23:33.799Z,1761672213.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998679,-0.030775,0.041155],[0.011610,0.915264,0.402686],[-0.050060,-0.401676,0.914412]] 2025-10-28T17:23:34.203Z,1761672214.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998933,0.002694,0.046097],[-0.022981,0.894888,0.445699],[-0.040051,-0.446283,0.893995]] 2025-10-28T17:23:34.609Z,1761672214.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997773,0.038379,0.054558],[-0.059898,0.875439,0.479603],[-0.029356,-0.481802,0.875788]] 2025-10-28T17:23:35.011Z,1761672215.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995158,0.074337,0.064296],[-0.096620,0.859837,0.501343],[-0.018016,-0.505128,0.862856]] 2025-10-28T17:23:35.423Z,1761672215.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991172,0.110140,0.073808],[-0.132434,0.848891,0.511709],[-0.006295,-0.516966,0.855983]] 2025-10-28T17:23:35.819Z,1761672215.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985938,0.145816,0.081636],[-0.167007,0.842347,0.512406],[0.005951,-0.518834,0.854854]] 2025-10-28T17:23:36.225Z,1761672216.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979569,0.181241,0.087162],[-0.200245,0.838835,0.506220],[0.018633,-0.513331,0.857989]] 2025-10-28T17:23:36.627Z,1761672216.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972339,0.215593,0.089864],[-0.231478,0.838037,0.494077],[0.031210,-0.501212,0.864762]] 2025-10-28T17:23:37.030Z,1761672217.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964422,0.247776,0.092183],[-0.260878,0.835493,0.483625],[0.042812,-0.490467,0.870407]] 2025-10-28T17:23:37.446Z,1761672217.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955905,0.278563,0.092993],[-0.288686,0.833192,0.471648],[0.053902,-0.477696,0.876870]] 2025-10-28T17:23:37.847Z,1761672217.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946699,0.307728,0.095204],[-0.315699,0.827673,0.463996],[0.063987,-0.469320,0.880706]] 2025-10-28T17:23:38.320Z,1761672218.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925738,0.362498,0.107722],[-0.369673,0.807433,0.459776],[0.079690,-0.465454,0.881477]] 2025-10-28T17:23:38.742Z,1761672218.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914059,0.388730,0.115689],[-0.396421,0.796023,0.457381],[0.085707,-0.463935,0.881713]] 2025-10-28T17:23:39.127Z,1761672219.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901253,0.414971,0.124667],[-0.423621,0.783423,0.454747],[0.091040,-0.462653,0.881852]] 2025-10-28T17:23:39.530Z,1761672219.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887335,0.441019,0.134679],[-0.451016,0.769221,0.452641],[0.096025,-0.462386,0.881463]] 2025-10-28T17:23:40.407Z,1761672220.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856822,0.492032,0.154142],[-0.504879,0.739943,0.444502],[0.104653,-0.458682,0.882416]] 2025-10-28T17:23:40.799Z,1761672220.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839968,0.517388,0.163598],[-0.531760,0.724773,0.438105],[0.108099,-0.454989,0.883912]] 2025-10-28T17:23:41.221Z,1761672221.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822051,0.542710,0.172334],[-0.558630,0.710035,0.428700],[0.110297,-0.448684,0.886858]] 2025-10-28T17:23:41.629Z,1761672221.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802545,0.568747,0.180135],[-0.586107,0.695285,0.416002],[0.111355,-0.439439,0.891344]] 2025-10-28T17:23:41.682Z,1761672221.682 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:23:41.682Z,1761672221.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:23:41.682Z,1761672221.682 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateRudder:A] Stopped 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:23:41.683Z,1761672221.683 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateCommandMode] Stopped 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:23:41.684Z,1761672221.684 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:23:41.685Z,1761672221.685 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:23:41.685Z,1761672221.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:23:41.685Z,1761672221.685 [marl:UpdateSpeed] Stopped 2025-10-28T17:23:41.685Z,1761672221.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:23:42.063Z,1761672222.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781466,0.593914,0.191251],[-0.613999,0.677474,0.405010],[0.110973,-0.433930,0.894086]] 2025-10-28T17:23:42.095Z,1761672222.095 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:23:42.095Z,1761672222.095 [marl:UpdateRudder:B] Stopped 2025-10-28T17:23:42.095Z,1761672222.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:23:42.095Z,1761672222.095 [marl:UpdateRudder] Stopped 2025-10-28T17:23:42.095Z,1761672222.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:23:42.467Z,1761672222.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758954,0.618864,0.202476],[-0.641898,0.658867,0.392252],[0.109346,-0.427670,0.897297]] 2025-10-28T17:23:42.870Z,1761672222.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735297,0.642732,0.215020],[-0.669222,0.638387,0.380268],[0.107145,-0.423506,0.899535]] 2025-10-28T17:23:43.275Z,1761672223.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710840,0.666032,0.226072],[-0.695584,0.618043,0.366314],[0.104254,-0.417643,0.902611]] 2025-10-28T17:23:43.281Z,1761672223.281 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T17:23:43.681Z,1761672223.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686055,0.689055,0.233522],[-0.720540,0.599048,0.349232],[0.100749,-0.407854,0.907472]] 2025-10-28T17:23:44.082Z,1761672224.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663025,0.710369,0.236162],[-0.742379,0.583365,0.329482],[0.096285,-0.393777,0.914149]] 2025-10-28T17:23:44.487Z,1761672224.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641836,0.729221,0.237243],[-0.761380,0.569138,0.310455],[0.091366,-0.379894,0.920507]] 2025-10-28T17:23:45.297Z,1761672225.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606870,0.756922,0.242440],[-0.790695,0.543995,0.280841],[0.080689,-0.362131,0.928628]] 2025-10-28T17:23:45.699Z,1761672225.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591637,0.767276,0.247493],[-0.802669,0.531883,0.269857],[0.075418,-0.358313,0.930550]] 2025-10-28T17:23:46.103Z,1761672226.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577370,0.775544,0.255294],[-0.813448,0.519451,0.261673],[0.070327,-0.358751,0.930780]] 2025-10-28T17:23:46.507Z,1761672226.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563592,0.782753,0.263935],[-0.823493,0.507258,0.254064],[0.064986,-0.360537,0.930478]] 2025-10-28T17:23:46.917Z,1761672226.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549938,0.789212,0.273337],[-0.833105,0.495146,0.246510],[0.059207,-0.363283,0.929796]] 2025-10-28T17:23:47.314Z,1761672227.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535588,0.795350,0.283836],[-0.842787,0.482154,0.239241],[0.053428,-0.367349,0.928548]] 2025-10-28T17:23:47.721Z,1761672227.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520213,0.801572,0.294722],[-0.852706,0.468236,0.231619],[0.047660,-0.371802,0.927088]] 2025-10-28T17:23:48.123Z,1761672228.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502626,0.808423,0.306300],[-0.863461,0.452058,0.223782],[0.042445,-0.376957,0.925258]] 2025-10-28T17:23:48.156Z,1761672228.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:23:48.529Z,1761672228.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483423,0.816515,0.315603],[-0.874566,0.434876,0.214517],[0.037909,-0.379719,0.924325]] 2025-10-28T17:23:48.930Z,1761672228.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463026,0.825434,0.322901],[-0.885690,0.416881,0.204362],[0.034076,-0.380615,0.924106]] 2025-10-28T17:23:49.160Z,1761672229.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:23:49.334Z,1761672229.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442107,0.834393,0.329135],[-0.896439,0.398491,0.193914],[0.030643,-0.380780,0.924158]] 2025-10-28T17:23:49.383Z,1761672229.383 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:23:49.555Z,1761672229.555 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:23:49.556Z,1761672229.556 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:23:49.746Z,1761672229.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421099,0.843402,0.333690],[-0.906592,0.380159,0.183219],[0.027672,-0.379674,0.924706]] 2025-10-28T17:23:49.805Z,1761672229.805 [DAT](INFO): DAT read: user:60> 2025-10-28T17:23:49.806Z,1761672229.806 [DAT](INFO): DAT read: Tx time:17:23:49.5591 2025-10-28T17:23:49.806Z,1761672229.806 [DAT](INFO): Ping request sent. 2025-10-28T17:23:49.806Z,1761672229.806 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:23:49.806Z,1761672229.806 [DAT](INFO): publishing transmit ping time 2025-10-28T17:23:49.807Z,1761672229.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T17:23:50.057Z,1761672230.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250695 2025-10-28T17:23:50.143Z,1761672230.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400342,0.852674,0.335669],[-0.916026,0.362402,0.171933],[0.024956,-0.376313,0.926156]] 2025-10-28T17:23:50.310Z,1761672230.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503374 2025-10-28T17:23:50.546Z,1761672230.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380036,0.861180,0.337552],[-0.924700,0.344881,0.161204],[0.022411,-0.373398,0.927401]] 2025-10-28T17:23:50.561Z,1761672230.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689 2025-10-28T17:23:50.813Z,1761672230.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006705 2025-10-28T17:23:50.951Z,1761672230.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360639,0.869079,0.338588],[-0.932495,0.328248,0.150687],[0.019818,-0.370075,0.928791]] 2025-10-28T17:23:51.065Z,1761672231.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258722 2025-10-28T17:23:51.317Z,1761672231.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791 2025-10-28T17:23:51.361Z,1761672231.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341499,0.875346,0.342268],[-0.939723,0.311300,0.141466],[0.017283,-0.369948,0.928892]] 2025-10-28T17:23:51.572Z,1761672231.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764945 2025-10-28T17:23:51.780Z,1761672231.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322583,0.880264,0.347960],[-0.946428,0.294269,0.132966],[0.014651,-0.372211,0.928032]] 2025-10-28T17:23:51.822Z,1761672231.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015538 2025-10-28T17:23:52.073Z,1761672232.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266758 2025-10-28T17:23:52.163Z,1761672232.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303579,0.884411,0.354482],[-0.952731,0.277106,0.124558],[0.011932,-0.375539,0.926730]] 2025-10-28T17:23:52.325Z,1761672232.325 [DAT](INFO): DAT read: Rx Time:17:23:51.7200 2025-10-28T17:23:52.325Z,1761672232.325 [DAT](INFO): Rx dataTimestamp_ set to:1761672232.325102 2025-10-28T17:23:52.326Z,1761672232.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519770 2025-10-28T17:23:52.566Z,1761672232.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285306,0.887814,0.361091],[-0.958394,0.260705,0.116254],[0.009074,-0.379236,0.925256]] 2025-10-28T17:23:52.577Z,1761672232.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770734 2025-10-28T17:23:52.829Z,1761672232.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022755 2025-10-28T17:23:52.972Z,1761672232.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266943,0.890873,0.367541],[-0.963694,0.244389,0.107556],[0.005995,-0.382908,0.923767]] 2025-10-28T17:23:53.095Z,1761672233.095 [DAT](INFO): DAT read: 17:23:51.7200 LVL= 32752, 29041, 32754, 32755, AGC= 61, IDX= 433,-0.43,-2.538,-0.729,-2.273,-2.008, PHS=-0.428, 1.324,-0.309, RAW= 326.5, -7.0, CAL= 326.0, -10.2, ROT= 184.0, 10.2 2025-10-28T17:23:53.099Z,1761672233.099 [DAT](INFO): got valid direction response: 17:23:51.7200 LVL= 32752, 29041, 32754, 32755, AGC= 61, IDX= 433,-0.43,-2.538,-0.729,-2.273,-2.008, PHS=-0.428, 1.324,-0.309, RAW= 326.5, -7.0, CAL= 326.0, -10.2, ROT= 184.0, 10.2 2025-10-28T17:23:53.102Z,1761672233.102 [DAT](INFO): DAT read: Bearing 101, -4 (Remote) 2025-10-28T17:23:53.102Z,1761672233.102 [DAT](INFO): Remote Bearing received:Bearing 101, -4 (Remote) 2025-10-28T17:23:53.103Z,1761672233.103 [DAT](INFO): DAT read: Bearing 263.4, -0.2 (Local) 2025-10-28T17:23:53.103Z,1761672233.103 [DAT](INFO): Local bearing/azimuth received: Bearing 263.4, -0.2 (Local) 2025-10-28T17:23:53.106Z,1761672233.106 [DAT](INFO): DAT read: Range 11 to 20 : 98.7 m (Round-trip 131.7 ms) speed -1.6 m/s 2025-10-28T17:23:53.107Z,1761672233.107 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:23:53.108Z,1761672233.108 [DAT](INFO): direction in FSK: [-0.981798,-0.068654,-0.177085] 2025-10-28T17:23:53.108Z,1761672233.108 [DAT](INFO): publishing direction and range info 2025-10-28T17:23:53.379Z,1761672233.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248228,0.893939,0.373170],[-0.968696,0.227788,0.098693],[0.003222,-0.385986,0.922499]] 2025-10-28T17:23:53.426Z,1761672233.426 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672192.00. Resetting abort timer. 2025-10-28T17:23:53.792Z,1761672233.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229542,0.897036,0.377672],[-0.973299,0.211419,0.089396],[0.000345,-0.388108,0.921614]] 2025-10-28T17:23:54.183Z,1761672234.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210484,0.900256,0.381098],[-0.977595,0.194748,0.079889],[-0.002297,-0.389375,0.921076]] 2025-10-28T17:23:54.588Z,1761672234.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190757,0.904107,0.382364],[-0.981627,0.177474,0.070082],[-0.004497,-0.388707,0.921350]] 2025-10-28T17:23:54.620Z,1761672234.620 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:23:54.620Z,1761672234.620 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateRudder:A] Stopped 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:23:54.621Z,1761672234.621 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateCommandMode] Stopped 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:23:54.622Z,1761672234.622 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:23:54.623Z,1761672234.623 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:23:54.623Z,1761672234.623 [marl:UpdateSpeed] Stopped 2025-10-28T17:23:54.623Z,1761672234.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:23:55.046Z,1761672235.046 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:23:55.046Z,1761672235.046 [marl:UpdateRudder:B] Stopped 2025-10-28T17:23:55.047Z,1761672235.047 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:23:55.047Z,1761672235.047 [marl:UpdateRudder] Stopped 2025-10-28T17:23:55.047Z,1761672235.047 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:23:55.401Z,1761672235.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149133,0.911168,0.384099],[-0.988779,0.140839,0.049807],[-0.008713,-0.387217,0.921947]] 2025-10-28T17:23:55.802Z,1761672235.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127431,0.915155,0.382429],[-0.991788,0.121779,0.039060],[-0.010826,-0.384266,0.923159]] 2025-10-28T17:23:56.203Z,1761672236.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105311,0.918465,0.381223],[-0.994358,0.102176,0.028519],[-0.012758,-0.382075,0.924043]] 2025-10-28T17:23:56.607Z,1761672236.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083383,0.921792,0.378610],[-0.996409,0.082720,0.018047],[-0.014683,-0.378756,0.925380]] 2025-10-28T17:23:57.013Z,1761672237.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061927,0.923625,0.378261],[-0.997944,0.063579,0.008134],[-0.016537,-0.377987,0.925663]] 2025-10-28T17:23:57.415Z,1761672237.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040928,0.924436,0.379134],[-0.998999,0.044725,-0.001209],[-0.018075,-0.378705,0.925341]] 2025-10-28T17:23:57.822Z,1761672237.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021044,0.923935,0.381971],[-0.999589,0.026879,-0.009944],[-0.019455,-0.381605,0.924121]] 2025-10-28T17:23:58.223Z,1761672238.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002268,0.922408,0.386211],[-0.999779,0.010167,-0.018410],[-0.020908,-0.386083,0.922227]] 2025-10-28T17:23:58.628Z,1761672238.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015257,0.919755,0.392196],[-0.999630,-0.005193,-0.026709],[-0.022529,-0.392458,0.919494]] 2025-10-28T17:23:59.031Z,1761672239.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032007,0.916571,0.398589],[-0.999192,-0.019641,-0.035070],[-0.024316,-0.399390,0.916459]] 2025-10-28T17:23:59.435Z,1761672239.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048717,0.914346,0.401993],[-0.998463,-0.033936,-0.043815],[-0.026420,-0.403510,0.914594]] 2025-10-28T17:23:59.843Z,1761672239.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065867,0.912667,0.403361],[-0.997411,-0.048534,-0.053056],[-0.028846,-0.405812,0.913501]] 2025-10-28T17:24:00.256Z,1761672240.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084508,0.912270,0.400776],[-0.995941,-0.064828,-0.062441],[-0.030982,-0.404426,0.914046]] 2025-10-28T17:24:00.647Z,1761672240.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104785,0.911501,0.397726],[-0.993950,-0.082756,-0.072207],[-0.032903,-0.402886,0.914659]] 2025-10-28T17:24:01.050Z,1761672241.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126116,0.910436,0.393955],[-0.991398,-0.101665,-0.082423],[-0.034990,-0.400962,0.915426]] 2025-10-28T17:24:01.454Z,1761672241.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147826,0.909615,0.388262],[-0.988328,-0.121246,-0.092239],[-0.036827,-0.397366,0.916921]] 2025-10-28T17:24:02.262Z,1761672242.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195073,0.905115,0.377775],[-0.979989,-0.164324,-0.112336],[-0.039599,-0.392129,0.919058]] 2025-10-28T17:24:02.666Z,1761672242.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219123,0.901831,0.372407],[-0.974844,-0.186395,-0.122217],[-0.040804,-0.389819,0.919987]] 2025-10-28T17:24:03.071Z,1761672243.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242423,0.897177,0.369194],[-0.969267,-0.207554,-0.132069],[-0.041862,-0.389864,0.919920]] 2025-10-28T17:24:03.477Z,1761672243.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264491,0.891715,0.367271],[-0.963425,-0.227298,-0.141946],[-0.043096,-0.391381,0.919219]] 2025-10-28T17:24:03.891Z,1761672243.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285058,0.885855,0.366063],[-0.957478,-0.245447,-0.151629],[-0.044472,-0.393720,0.918154]] 2025-10-28T17:24:04.283Z,1761672244.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303707,0.879346,0.366761],[-0.951654,-0.261389,-0.161337],[-0.046004,-0.398029,0.916219]] 2025-10-28T17:24:04.714Z,1761672244.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321458,0.873037,0.366703],[-0.945749,-0.276724,-0.170242],[-0.047152,-0.401535,0.914629]] 2025-10-28T17:24:05.090Z,1761672245.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338437,0.866944,0.365879],[-0.939749,-0.291442,-0.178698],[-0.048289,-0.404313,0.913345]] 2025-10-28T17:24:05.495Z,1761672245.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354157,0.860698,0.365748],[-0.933882,-0.304849,-0.186899],[-0.049366,-0.407757,0.911755]] 2025-10-28T17:24:05.902Z,1761672245.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369299,0.855591,0.362742],[-0.927927,-0.318203,-0.194161],[-0.050697,-0.408301,0.911438]] 2025-10-28T17:24:06.304Z,1761672246.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385099,0.850430,0.358423],[-0.921432,-0.332602,-0.200847],[-0.051594,-0.407609,0.911698]] 2025-10-28T17:24:06.707Z,1761672246.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401660,0.844785,0.353564],[-0.914295,-0.347871,-0.207487],[-0.052287,-0.406600,0.912109]] 2025-10-28T17:24:07.110Z,1761672247.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418530,0.839047,0.347611],[-0.906645,-0.363584,-0.214014],[-0.053182,-0.404731,0.912888]] 2025-10-28T17:24:07.521Z,1761672247.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454862,0.825467,0.334223],[-0.888841,-0.397479,-0.227974],[-0.055338,-0.400768,0.914507]] 2025-10-28T17:24:07.928Z,1761672247.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474344,0.817449,0.326765],[-0.878526,-0.415736,-0.235277],[-0.056479,-0.398674,0.915352]] 2025-10-28T17:24:07.998Z,1761672247.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:24:07.998Z,1761672247.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateRudder:A] Stopped 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:24:07.999Z,1761672247.999 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:24:07.000Z,1761672248.000 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateCommandMode] Stopped 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:24:08.004Z,1761672248.004 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:24:08.005Z,1761672248.005 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:24:08.005Z,1761672248.005 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:24:08.005Z,1761672248.005 [marl:UpdateSpeed] Stopped 2025-10-28T17:24:08.005Z,1761672248.005 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:24:08.329Z,1761672248.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494615,0.808140,0.319790],[-0.867189,-0.434435,-0.243411],[-0.057783,-0.397713,0.915688]] 2025-10-28T17:24:08.362Z,1761672248.362 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T17:24:08.362Z,1761672248.362 [marl:UpdateRudder:B] Stopped 2025-10-28T17:24:08.362Z,1761672248.362 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:24:08.362Z,1761672248.362 [marl:UpdateRudder] Stopped 2025-10-28T17:24:08.362Z,1761672248.362 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:24:08.731Z,1761672248.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515439,0.797210,0.314291],[-0.854870,-0.452975,-0.253005],[-0.059332,-0.399086,0.914992]] 2025-10-28T17:24:09.133Z,1761672249.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536346,0.785505,0.308730],[-0.841802,-0.471508,-0.262773],[-0.060841,-0.400827,0.914131]] 2025-10-28T17:24:09.540Z,1761672249.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557225,0.773193,0.302776],[-0.828020,-0.490034,-0.272488],[-0.062315,-0.402541,0.913278]] 2025-10-28T17:24:09.951Z,1761672249.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576588,0.760811,0.297846],[-0.814543,-0.506819,-0.282232],[-0.063771,-0.405340,0.911939]] 2025-10-28T17:24:10.347Z,1761672250.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594341,0.748896,0.293109],[-0.801547,-0.521973,-0.291662],[-0.065430,-0.408288,0.910505]] 2025-10-28T17:24:10.749Z,1761672250.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609254,0.739183,0.287084],[-0.790127,-0.535227,-0.298716],[-0.067151,-0.408827,0.910138]] 2025-10-28T17:24:11.158Z,1761672251.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619400,0.734597,0.276967],[-0.781921,-0.545656,-0.301428],[-0.070299,-0.403271,0.912376]] 2025-10-28T17:24:11.582Z,1761672251.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624530,0.736800,0.259016],[-0.777401,-0.554659,-0.296650],[-0.074906,-0.386626,0.919190]] 2025-10-28T17:24:11.962Z,1761672251.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623810,0.746610,0.231159],[-0.777295,-0.561729,-0.283324],[-0.081684,-0.356419,0.930749]] 2025-10-28T17:24:12.370Z,1761672252.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617160,0.762490,0.194225],[-0.781621,-0.565720,-0.262733],[-0.090455,-0.313959,0.945118]] 2025-10-28T17:24:12.774Z,1761672252.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604091,0.782844,0.149097],[-0.790517,-0.564998,-0.236345],[-0.100782,-0.260638,0.960162]] 2025-10-28T17:24:13.170Z,1761672253.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584363,0.806024,0.094053],[-0.803766,-0.558943,-0.203820],[-0.111713,-0.194701,0.974480]] 2025-10-28T17:24:13.615Z,1761672253.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559036,0.828538,0.031683],[-0.820026,-0.546834,-0.168907],[-0.122620,-0.120406,0.985123]] 2025-10-28T17:24:14.051Z,1761672254.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531993,0.846003,-0.035528],[-0.836353,-0.531554,-0.134032],[-0.132276,-0.041591,0.990340]] 2025-10-28T17:24:14.869Z,1761672254.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475537,0.867216,-0.147653],[-0.867467,-0.490163,-0.085096],[-0.146170,0.087618,0.985372]] 2025-10-28T17:24:15.259Z,1761672255.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446484,0.875821,-0.183276],[-0.882163,-0.465141,-0.073707],[-0.149804,0.128771,0.980294]] 2025-10-28T17:24:15.662Z,1761672255.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417550,0.884972,-0.206097],[-0.895957,-0.438770,-0.068866],[-0.151374,0.155899,0.976105]] 2025-10-28T17:24:16.067Z,1761672256.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388281,0.895511,-0.217481],[-0.909014,-0.410964,-0.069293],[-0.151430,0.170788,0.973602]] 2025-10-28T17:24:16.471Z,1761672256.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358868,0.906463,-0.222574],[-0.921202,-0.382372,-0.071958],[-0.150333,0.179213,0.972257]] 2025-10-28T17:24:16.879Z,1761672256.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329737,0.917284,-0.223301],[-0.932287,-0.353638,-0.076029],[-0.148708,0.183111,0.971780]] 2025-10-28T17:24:17.280Z,1761672257.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302009,0.927388,-0.220774],[-0.941987,-0.325891,-0.080349],[-0.146463,0.183700,0.972010]] 2025-10-28T17:24:17.682Z,1761672257.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275109,0.936308,-0.218270],[-0.950492,-0.299004,-0.084626],[-0.144499,0.184182,0.972212]] 2025-10-28T17:24:18.090Z,1761672258.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249598,0.944226,-0.214798],[-0.957785,-0.273401,-0.088879],[-0.142648,0.183546,0.972606]] 2025-10-28T17:24:18.492Z,1761672258.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225078,0.951258,-0.210827],[-0.964024,-0.248823,-0.093512],[-0.141413,0.182195,0.973040]] 2025-10-28T17:24:18.902Z,1761672258.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202000,0.957646,-0.205207],[-0.969356,-0.225403,-0.097686],[-0.139803,0.179186,0.973831]] 2025-10-28T17:24:19.288Z,1761672259.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:24:19.299Z,1761672259.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179560,0.963419,-0.198953],[-0.974063,-0.202426,-0.101120],[-0.137694,0.175635,0.974778]] 2025-10-28T17:24:19.731Z,1761672259.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156864,0.968891,-0.191425],[-0.978314,-0.178985,-0.104242],[-0.135261,0.170922,0.975956]] 2025-10-28T17:24:20.108Z,1761672260.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133046,0.973755,-0.184661],[-0.982209,-0.154457,-0.106812],[-0.132531,0.167165,0.976981]] 2025-10-28T17:24:20.293Z,1761672260.293 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:24:20.513Z,1761672260.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107017,0.978124,-0.178385],[-0.985773,-0.127770,-0.109206],[-0.129609,0.164160,0.977882]] 2025-10-28T17:24:20.914Z,1761672260.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078659,0.981644,-0.173748],[-0.988820,-0.098974,-0.111529],[-0.126678,0.163032,0.978454]] 2025-10-28T17:24:20.951Z,1761672260.951 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:24:20.951Z,1761672260.951 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:24:20.951Z,1761672260.951 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:24:20.951Z,1761672260.951 [marl:UpdateRudder:A] Stopped 2025-10-28T17:24:20.951Z,1761672260.951 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:24:21.319Z,1761672261.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048579,0.984103,-0.170825],[-0.991217,-0.068561,-0.113088],[-0.123002,0.163831,0.978790]] 2025-10-28T17:24:21.377Z,1761672261.377 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:24:21.377Z,1761672261.377 [marl:UpdateRudder:B] Stopped 2025-10-28T17:24:21.377Z,1761672261.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:24:21.377Z,1761672261.377 [marl:UpdateRudder] Stopped 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode] Stopped 2025-10-28T17:24:21.378Z,1761672261.378 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed] Stopped 2025-10-28T17:24:21.379Z,1761672261.379 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:24:21.723Z,1761672261.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016359,0.985287,-0.170124],[-0.992741,-0.036282,-0.114666],[-0.119151,0.167014,0.978728]] 2025-10-28T17:24:22.127Z,1761672262.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017922,0.985454,-0.168992],[-0.993187,-0.001918,-0.116514],[-0.115143,0.169929,0.978706]] 2025-10-28T17:24:22.531Z,1761672262.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053105,0.984196,-0.168930],[-0.992372,0.033166,-0.118738],[-0.111259,0.173947,0.978450]] 2025-10-28T17:24:22.935Z,1761672262.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088994,0.981503,-0.169506],[-0.990190,0.068776,-0.121632],[-0.107724,0.178668,0.977995]] 2025-10-28T17:24:23.347Z,1761672263.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125519,0.977638,-0.168728],[-0.986541,0.105033,-0.125322],[-0.104797,0.182187,0.977663]] 2025-10-28T17:24:23.744Z,1761672263.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160738,0.972708,-0.167338],[-0.981639,0.139910,-0.129650],[-0.102700,0.185106,0.977338]] 2025-10-28T17:24:24.148Z,1761672264.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191529,0.968779,-0.157430],[-0.976264,0.171517,-0.132255],[-0.101124,0.179024,0.978634]] 2025-10-28T17:24:24.553Z,1761672264.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215907,0.966780,-0.136825],[-0.971263,0.198275,-0.131661],[-0.100158,0.161319,0.981807]] 2025-10-28T17:24:24.957Z,1761672264.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233330,0.966604,-0.105990],[-0.967266,0.219532,-0.127288],[-0.099769,0.132220,0.986187]] 2025-10-28T17:24:25.362Z,1761672265.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243638,0.967477,-0.068041],[-0.964724,0.234535,-0.119588],[-0.099741,0.094777,0.990489]] 2025-10-28T17:24:25.767Z,1761672265.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245999,0.968954,-0.024740],[-0.964143,0.241996,-0.108936],[-0.099567,0.050651,0.993741]] 2025-10-28T17:24:26.167Z,1761672266.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241631,0.970039,0.025256],[-0.965222,0.242945,-0.096561],[-0.099804,-0.001045,0.995007]] 2025-10-28T17:24:26.573Z,1761672266.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229612,0.969964,0.080297],[-0.968203,0.236053,-0.082840],[-0.099306,-0.058723,0.993323]] 2025-10-28T17:24:26.980Z,1761672266.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212927,0.966532,0.143098],[-0.972094,0.224318,-0.068663],[-0.098464,-0.124485,0.987324]] 2025-10-28T17:24:27.379Z,1761672267.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193186,0.959271,0.206101],[-0.976385,0.208660,-0.055984],[-0.096709,-0.190419,0.976928]] 2025-10-28T17:24:27.804Z,1761672267.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172718,0.949263,0.262808],[-0.980425,0.191295,-0.046619],[-0.094528,-0.249612,0.963721]] 2025-10-28T17:24:28.244Z,1761672268.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152652,0.938938,0.308372],[-0.984007,0.173388,-0.040827],[-0.091802,-0.297208,0.950389]] 2025-10-28T17:24:28.653Z,1761672268.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133235,0.929999,0.342566],[-0.987114,0.155431,-0.038045],[-0.088628,-0.333082,0.938723]] 2025-10-28T17:24:29.052Z,1761672269.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115238,0.922863,0.367483],[-0.989672,0.138421,-0.037270],[-0.085262,-0.359393,0.929283]] 2025-10-28T17:24:29.454Z,1761672269.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097953,0.917661,0.385101],[-0.991823,0.121824,-0.038020],[-0.081804,-0.378228,0.922091]] 2025-10-28T17:24:29.866Z,1761672269.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081262,0.914462,0.396429],[-0.993614,0.105564,-0.039833],[-0.078275,-0.390661,0.917201]] 2025-10-28T17:24:30.379Z,1761672270.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048339,0.914790,0.401028],[-0.996250,0.073000,-0.046437],[-0.071755,-0.397279,0.914888]] 2025-10-28T17:24:30.794Z,1761672270.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031441,0.917067,0.397491],[-0.997159,0.056016,-0.050365],[-0.068454,-0.394778,0.916223]] 2025-10-28T17:24:31.199Z,1761672271.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013954,0.919683,0.392414],[-0.997800,0.038246,-0.054154],[-0.064813,-0.390795,0.918193]] 2025-10-28T17:24:31.630Z,1761672271.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003558,0.921632,0.388050],[-0.998135,0.020375,-0.057542],[-0.060939,-0.387531,0.919840]] 2025-10-28T17:24:32.002Z,1761672272.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020979,0.922845,0.384601],[-0.998164,0.002528,-0.060515],[-0.056818,-0.385164,0.921097]] 2025-10-28T17:24:32.408Z,1761672272.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037508,0.922759,0.383547],[-0.997913,-0.014401,-0.062942],[-0.052557,-0.385108,0.921374]] 2025-10-28T17:24:32.819Z,1761672272.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052594,0.920587,0.386980],[-0.997452,-0.029719,-0.064863],[-0.048211,-0.389405,0.919804]] 2025-10-28T17:24:33.215Z,1761672273.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065917,0.917311,0.392677],[-0.996856,-0.043201,-0.066418],[-0.043962,-0.395821,0.917275]] 2025-10-28T17:24:33.630Z,1761672273.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077581,0.914117,0.397958],[-0.996189,-0.055123,-0.067588],[-0.039847,-0.401685,0.914910]] 2025-10-28T17:24:34.024Z,1761672274.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087967,0.910429,0.404205],[-0.995472,-0.065680,-0.068708],[-0.036006,-0.408419,0.912084]] 2025-10-28T17:24:34.428Z,1761672274.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097416,0.907411,0.408798],[-0.994709,-0.075312,-0.069869],[-0.032612,-0.413442,0.909946]] 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateRudder:A] Stopped 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:24:34.453Z,1761672274.453 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateCommandMode] Stopped 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:24:34.454Z,1761672274.454 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:24:34.455Z,1761672274.455 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:24:34.455Z,1761672274.455 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:24:34.455Z,1761672274.455 [marl:UpdateSpeed] Stopped 2025-10-28T17:24:34.455Z,1761672274.455 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:24:34.837Z,1761672274.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106365,0.905387,0.411048],[-0.993890,-0.084553,-0.070943],[-0.029476,-0.416083,0.908849]] 2025-10-28T17:24:34.869Z,1761672274.869 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:24:34.869Z,1761672274.869 [marl:UpdateRudder:B] Stopped 2025-10-28T17:24:34.869Z,1761672274.869 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:24:34.869Z,1761672274.869 [marl:UpdateRudder] Stopped 2025-10-28T17:24:34.869Z,1761672274.869 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:24:35.235Z,1761672275.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114749,0.904474,0.410804],[-0.993035,-0.093309,-0.071942],[-0.026738,-0.416198,0.908881]] 2025-10-28T17:24:35.641Z,1761672275.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123232,0.905164,0.406808],[-0.992087,-0.102451,-0.072571],[-0.024010,-0.412532,0.910627]] 2025-10-28T17:24:36.046Z,1761672276.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132905,0.905195,0.403681],[-0.990912,-0.112833,-0.073230],[-0.020739,-0.409745,0.911964]] 2025-10-28T17:24:36.447Z,1761672276.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142911,0.905708,0.399086],[-0.989579,-0.123585,-0.073894],[-0.017606,-0.405487,0.913931]] 2025-10-28T17:24:36.850Z,1761672276.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153661,0.906193,0.393958],[-0.988024,-0.135252,-0.074262],[-0.014012,-0.400651,0.916124]] 2025-10-28T17:24:37.255Z,1761672277.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165172,0.906246,0.389149],[-0.986207,-0.147492,-0.075112],[-0.010674,-0.396188,0.918108]] 2025-10-28T17:24:37.663Z,1761672277.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177889,0.906228,0.383546],[-0.984023,-0.160909,-0.076200],[-0.007338,-0.390973,0.920373]] 2025-10-28T17:24:38.062Z,1761672278.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190914,0.905668,0.378572],[-0.981596,-0.174366,-0.077879],[-0.004522,-0.386473,0.922290]] 2025-10-28T17:24:38.467Z,1761672278.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205254,0.904659,0.373446],[-0.978706,-0.188870,-0.080386],[-0.002189,-0.381994,0.924162]] 2025-10-28T17:24:38.870Z,1761672278.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221860,0.902395,0.369406],[-0.975078,-0.205298,-0.084112],[-0.000064,-0.378861,0.925454]] 2025-10-28T17:24:39.275Z,1761672279.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240323,0.899668,0.364475],[-0.970691,-0.223573,-0.088174],[0.002160,-0.374983,0.927029]] 2025-10-28T17:24:40.082Z,1761672280.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280602,0.890959,0.357007],[-0.959800,-0.263118,-0.097740],[0.006853,-0.370082,0.928974]] 2025-10-28T17:24:40.487Z,1761672280.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302053,0.884592,0.355332],[-0.953239,-0.284181,-0.102845],[0.010003,-0.369780,0.929065]] 2025-10-28T17:24:40.893Z,1761672280.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323592,0.877819,0.353160],[-0.946094,-0.305664,-0.107120],[0.013916,-0.368785,0.929410]] 2025-10-28T17:24:41.303Z,1761672281.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344395,0.869411,0.354282],[-0.938653,-0.326100,-0.112207],[0.017978,-0.371191,0.928383]] 2025-10-28T17:24:41.701Z,1761672281.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363117,0.860381,0.357617],[-0.931495,-0.344078,-0.118014],[0.021511,-0.375972,0.926381]] 2025-10-28T17:24:42.103Z,1761672282.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379339,0.851755,0.361407],[-0.924938,-0.359347,-0.123929],[0.024313,-0.381290,0.924136]] 2025-10-28T17:24:42.508Z,1761672282.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394106,0.843450,0.365064],[-0.918682,-0.372998,-0.129985],[0.026532,-0.386605,0.921864]] 2025-10-28T17:24:42.910Z,1761672282.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407871,0.836142,0.366753],[-0.912584,-0.386019,-0.134832],[0.028834,-0.389687,0.920496]] 2025-10-28T17:24:43.323Z,1761672283.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421209,0.828742,0.368470],[-0.906431,-0.398571,-0.139727],[0.031064,-0.392847,0.919079]] 2025-10-28T17:24:43.719Z,1761672283.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433244,0.821542,0.370632],[-0.900662,-0.409832,-0.144382],[0.033281,-0.396367,0.917489]] 2025-10-28T17:24:44.126Z,1761672284.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444650,0.814802,0.372000],[-0.894987,-0.420787,-0.148112],[0.035851,-0.398793,0.916340]] 2025-10-28T17:24:44.527Z,1761672284.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454957,0.808091,0.374169],[-0.889691,-0.430518,-0.151999],[0.038257,-0.402048,0.914819]] 2025-10-28T17:24:44.930Z,1761672284.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463413,0.802559,0.375695],[-0.885214,-0.438667,-0.154815],[0.040557,-0.404314,0.913721]] 2025-10-28T17:24:45.334Z,1761672285.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470404,0.797618,0.377524],[-0.881419,-0.445369,-0.157311],[0.042664,-0.406757,0.912540]] 2025-10-28T17:24:45.746Z,1761672285.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476510,0.793921,0.377662],[-0.878058,-0.451354,-0.159042],[0.044192,-0.407394,0.912183]] 2025-10-28T17:24:46.143Z,1761672286.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482478,0.790672,0.376898],[-0.874747,-0.457100,-0.160865],[0.045089,-0.407304,0.912179]] 2025-10-28T17:24:46.546Z,1761672286.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489730,0.786895,0.375447],[-0.870663,-0.464074,-0.163038],[0.045941,-0.406732,0.912392]] 2025-10-28T17:24:46.951Z,1761672286.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499153,0.783224,0.370684],[-0.865232,-0.473769,-0.164063],[0.047120,-0.402620,0.914154]] 2025-10-28T17:24:47.368Z,1761672287.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510123,0.779530,0.363465],[-0.858752,-0.485273,-0.164484],[0.048160,-0.396034,0.916972]] 2025-10-28T17:24:47.408Z,1761672287.408 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:24:47.408Z,1761672287.408 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:24:47.408Z,1761672287.408 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateRudder:A] Stopped 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:24:47.409Z,1761672287.409 [marl:UpdateCommandMode] Stopped 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed] Stopped 2025-10-28T17:24:47.410Z,1761672287.410 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:24:47.788Z,1761672287.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522929,0.774829,0.355225],[-0.850955,-0.498615,-0.165101],[0.049195,-0.388616,0.920085]] 2025-10-28T17:24:47.845Z,1761672287.845 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:24:47.845Z,1761672287.845 [marl:UpdateRudder:B] Stopped 2025-10-28T17:24:47.845Z,1761672287.845 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:24:47.845Z,1761672287.845 [marl:UpdateRudder] Stopped 2025-10-28T17:24:47.845Z,1761672287.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:24:48.175Z,1761672288.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537615,0.768452,0.347061],[-0.841680,-0.513713,-0.166357],[0.050453,-0.381550,0.922970]] 2025-10-28T17:24:48.579Z,1761672288.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553789,0.760606,0.338814],[-0.831037,-0.530255,-0.167950],[0.051914,-0.374576,0.925742]] 2025-10-28T17:24:48.983Z,1761672288.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570882,0.750264,0.333463],[-0.819281,-0.547077,-0.171712],[0.053601,-0.371227,0.926994]] 2025-10-28T17:24:49.390Z,1761672289.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587303,0.739334,0.329333],[-0.807490,-0.562937,-0.176245],[0.055090,-0.369443,0.927619]] 2025-10-28T17:24:49.417Z,1761672289.417 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:24:49.633Z,1761672289.633 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:24:49.633Z,1761672289.633 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:24:49.810Z,1761672289.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602600,0.728191,0.326515],[-0.796038,-0.577459,-0.181284],[0.056539,-0.369160,0.927644]] 2025-10-28T17:24:49.885Z,1761672289.885 [DAT](INFO): DAT read: user:61> 2025-10-28T17:24:49.886Z,1761672289.886 [DAT](INFO): DAT read: Tx time:17:24:49.6589 2025-10-28T17:24:49.887Z,1761672289.887 [DAT](INFO): Ping request sent. 2025-10-28T17:24:49.887Z,1761672289.887 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:24:49.887Z,1761672289.887 [DAT](INFO): publishing transmit ping time 2025-10-28T17:24:49.888Z,1761672289.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000908 2025-10-28T17:24:50.137Z,1761672290.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250607 2025-10-28T17:24:50.209Z,1761672290.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615462,0.717509,0.326172],[-0.786056,-0.589053,-0.187437],[0.057645,-0.371749,0.926542]] 2025-10-28T17:24:50.389Z,1761672290.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502430 2025-10-28T17:24:50.413Z,1761672290.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:24:50.611Z,1761672290.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626953,0.707045,0.327135],[-0.776847,-0.598997,-0.194196],[0.058647,-0.375885,0.924809]] 2025-10-28T17:24:50.641Z,1761672290.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754192 2025-10-28T17:24:50.893Z,1761672290.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006308 2025-10-28T17:24:51.019Z,1761672291.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636660,0.697333,0.329228],[-0.768860,-0.606855,-0.201449],[0.059317,-0.381384,0.922512]] 2025-10-28T17:24:51.145Z,1761672291.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258213 2025-10-28T17:24:51.397Z,1761672291.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510845 2025-10-28T17:24:51.416Z,1761672291.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:24:51.429Z,1761672291.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645121,0.688891,0.330528],[-0.761750,-0.613623,-0.207855],[0.059630,-0.385871,0.920623]] 2025-10-28T17:24:51.650Z,1761672291.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763075 2025-10-28T17:24:51.823Z,1761672291.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653686,0.680606,0.330863],[-0.754377,-0.620756,-0.213488],[0.060084,-0.389150,0.919213]] 2025-10-28T17:24:51.901Z,1761672291.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014313 2025-10-28T17:24:52.153Z,1761672292.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266234 2025-10-28T17:24:52.227Z,1761672292.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662722,0.672657,0.329140],[-0.746424,-0.628802,-0.217851],[0.060425,-0.390053,0.918808]] 2025-10-28T17:24:52.405Z,1761672292.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518303 2025-10-28T17:24:52.630Z,1761672292.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672974,0.663904,0.326094],[-0.737136,-0.638413,-0.221494],[0.061132,-0.389435,0.919023]] 2025-10-28T17:24:52.657Z,1761672292.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770328 2025-10-28T17:24:52.909Z,1761672292.909 [DAT](INFO): DAT read: Rx Time:17:24:52.2908 2025-10-28T17:24:52.909Z,1761672292.909 [DAT](INFO): Rx dataTimestamp_ set to:1761672292.909126 2025-10-28T17:24:52.910Z,1761672292.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023316 2025-10-28T17:24:53.038Z,1761672293.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684005,0.654611,0.321903],[-0.726837,-0.649094,-0.224467],[0.062007,-0.387508,0.919779]] 2025-10-28T17:24:53.162Z,1761672293.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274268 2025-10-28T17:24:53.415Z,1761672293.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528149 2025-10-28T17:24:53.470Z,1761672293.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695654,0.644733,0.316837],[-0.715622,-0.660534,-0.227111],[0.062856,-0.384726,0.920888]] 2025-10-28T17:24:53.673Z,1761672293.673 [DAT](INFO): DAT read: 17:24:52.2908 LVL= 26960, 24305, 26194, 22579, AGC= 57, IDX= 120,-0.10,-2.861,-1.119,-1.478,-1.893, PHS=-0.866, 0.818, 0.371, RAW= 284.8, -4.3, CAL= 284.4, -9.6, ROT= 225.6, 9.6 2025-10-28T17:24:53.674Z,1761672293.674 [DAT](INFO): got valid direction response: 17:24:52.2908 LVL= 26960, 24305, 26194, 22579, AGC= 57, IDX= 120,-0.10,-2.861,-1.119,-1.478,-1.893, PHS=-0.866, 0.818, 0.371, RAW= 284.8, -4.3, CAL= 284.4, -9.6, ROT= 225.6, 9.6 2025-10-28T17:24:53.675Z,1761672293.675 [DAT](INFO): DAT read: Bearing 221.7, -38.9 (Local) 2025-10-28T17:24:53.675Z,1761672293.675 [DAT](INFO): Local bearing/azimuth received: Bearing 221.7, -38.9 (Local) 2025-10-28T17:24:53.677Z,1761672293.677 [DAT](INFO): DAT read: Range 11 to 20 : 170.7 m (Round-trip 227.7 ms) speed -1.0 m/s 2025-10-28T17:24:53.677Z,1761672293.677 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:24:53.678Z,1761672293.678 [DAT](INFO): direction in FSK: [-0.689865,-0.704467,-0.166769] 2025-10-28T17:24:53.678Z,1761672293.678 [DAT](INFO): publishing direction and range info 2025-10-28T17:24:53.843Z,1761672293.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708020,0.634134,0.310776],[-0.703307,-0.672919,-0.229215],[0.063774,-0.380860,0.922431]] 2025-10-28T17:24:53.901Z,1761672293.901 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672320.00. Resetting abort timer. 2025-10-28T17:24:54.248Z,1761672294.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720561,0.622677,0.305065],[-0.690354,-0.685376,-0.231669],[0.064829,-0.377535,0.923723]] 2025-10-28T17:24:54.651Z,1761672294.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732795,0.610412,0.300680],[-0.677256,-0.697043,-0.235489],[0.065841,-0.376203,0.924195]] 2025-10-28T17:24:55.055Z,1761672295.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744458,0.597942,0.297064],[-0.664334,-0.707798,-0.240173],[0.066652,-0.376148,0.924159]] 2025-10-28T17:24:55.459Z,1761672295.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755469,0.585492,0.294049],[-0.651683,-0.717835,-0.244992],[0.067638,-0.376711,0.923858]] 2025-10-28T17:24:55.862Z,1761672295.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765575,0.573614,0.291310],[-0.639683,-0.726959,-0.249670],[0.068556,-0.377488,0.923473]] 2025-10-28T17:24:56.271Z,1761672296.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774967,0.562228,0.288662],[-0.628194,-0.735319,-0.254320],[0.069272,-0.378425,0.923036]] 2025-10-28T17:24:56.706Z,1761672296.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783406,0.551575,0.286425],[-0.617565,-0.742683,-0.258912],[0.069913,-0.379719,0.922456]] 2025-10-28T17:24:57.103Z,1761672297.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791402,0.541610,0.283446],[-0.607226,-0.749930,-0.262453],[0.070417,-0.379822,0.922376]] 2025-10-28T17:24:57.514Z,1761672297.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798617,0.531959,0.281479],[-0.597641,-0.756115,-0.266676],[0.070970,-0.381195,0.921766]] 2025-10-28T17:24:58.009Z,1761672298.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813157,0.513782,0.273503],[-0.577603,-0.770254,-0.270339],[0.071771,-0.377804,0.923100]] 2025-10-28T17:24:58.395Z,1761672298.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820868,0.504179,0.268289],[-0.566557,-0.778120,-0.271187],[0.072035,-0.374610,0.924380]] 2025-10-28T17:24:59.213Z,1761672299.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836870,0.483044,0.257520],[-0.542580,-0.794274,-0.273377],[0.072488,-0.368506,0.926795]] 2025-10-28T17:24:59.639Z,1761672299.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845244,0.470767,0.252866],[-0.529408,-0.802099,-0.276341],[0.072731,-0.367444,0.927197]] 2025-10-28T17:25:00.015Z,1761672300.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853453,0.457931,0.248831],[-0.516012,-0.809477,-0.280142],[0.073138,-0.367488,0.927148]] 2025-10-28T17:25:00.419Z,1761672300.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861349,0.445147,0.244792],[-0.502690,-0.816427,-0.284165],[0.073360,-0.367820,0.926999]] 2025-10-28T17:25:00.445Z,1761672300.445 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:25:00.445Z,1761672300.445 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateRudder:A] Stopped 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:25:00.446Z,1761672300.446 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateCommandMode] Stopped 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:25:00.447Z,1761672300.447 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:25:00.448Z,1761672300.448 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:25:00.448Z,1761672300.448 [marl:UpdateSpeed] Stopped 2025-10-28T17:25:00.448Z,1761672300.448 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:25:00.823Z,1761672300.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868580,0.432286,0.242277],[-0.490050,-0.821923,-0.290333],[0.073626,-0.370905,0.925748]] 2025-10-28T17:25:00.852Z,1761672300.852 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:25:00.852Z,1761672300.852 [marl:UpdateRudder:B] Stopped 2025-10-28T17:25:00.852Z,1761672300.852 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:25:00.852Z,1761672300.852 [marl:UpdateRudder] Stopped 2025-10-28T17:25:00.853Z,1761672300.853 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:25:01.223Z,1761672301.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875412,0.419607,0.239966],[-0.477634,-0.827192,-0.296003],[0.074293,-0.373741,0.924553]] 2025-10-28T17:25:01.630Z,1761672301.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881787,0.407322,0.237782],[-0.465687,-0.831803,-0.302060],[0.074752,-0.377085,0.923157]] 2025-10-28T17:25:02.031Z,1761672302.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887195,0.397102,0.234936],[-0.455254,-0.836205,-0.305787],[0.075026,-0.378248,0.922659]] 2025-10-28T17:25:02.436Z,1761672302.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890831,0.391570,0.230418],[-0.448254,-0.840188,-0.305210],[0.074083,-0.375176,0.923988]] 2025-10-28T17:25:02.841Z,1761672302.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892867,0.392148,0.221379],[-0.444550,-0.846012,-0.294345],[0.071863,-0.361225,0.929705]] 2025-10-28T17:25:03.243Z,1761672303.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894512,0.395236,0.208895],[-0.441774,-0.853064,-0.277702],[0.068443,-0.340692,0.937680]] 2025-10-28T17:25:03.679Z,1761672303.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896302,0.398726,0.194064],[-0.438820,-0.860550,-0.258632],[0.063878,-0.316972,0.946281]] 2025-10-28T17:25:04.083Z,1761672304.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898355,0.401358,0.178523],[-0.435400,-0.867422,-0.240844],[0.058190,-0.294092,0.954004]] 2025-10-28T17:25:04.489Z,1761672304.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900596,0.402976,0.162899],[-0.431516,-0.873891,-0.223850],[0.052149,-0.271892,0.960914]] 2025-10-28T17:25:04.896Z,1761672304.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902785,0.403716,0.148301],[-0.427639,-0.879362,-0.209400],[0.045872,-0.252462,0.966519]] 2025-10-28T17:25:05.296Z,1761672305.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904958,0.403459,0.135177],[-0.423643,-0.883991,-0.197705],[0.039729,-0.236182,0.970896]] 2025-10-28T17:25:05.699Z,1761672305.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906835,0.402782,0.124169],[-0.420136,-0.887378,-0.189856],[0.033714,-0.224336,0.973928]] 2025-10-28T17:25:06.102Z,1761672306.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908235,0.402013,0.116171],[-0.417528,-0.889122,-0.187436],[0.027938,-0.218740,0.975383]] 2025-10-28T17:25:06.508Z,1761672306.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908528,0.402812,0.110996],[-0.417209,-0.889012,-0.188665],[0.022680,-0.217716,0.975749]] 2025-10-28T17:25:06.910Z,1761672306.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908036,0.405022,0.106897],[-0.418520,-0.887933,-0.190828],[0.017628,-0.218017,0.975786]] 2025-10-28T17:25:07.315Z,1761672307.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906924,0.408749,0.102047],[-0.421108,-0.886738,-0.190692],[0.012544,-0.215916,0.976331]] 2025-10-28T17:25:07.719Z,1761672307.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905473,0.413132,0.097167],[-0.424337,-0.885375,-0.189865],[0.007590,-0.213149,0.976990]] 2025-10-28T17:25:08.129Z,1761672308.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903595,0.417949,0.093990],[-0.428376,-0.883112,-0.191328],[0.003038,-0.213146,0.977016]] 2025-10-28T17:25:08.527Z,1761672308.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901484,0.423142,0.090979],[-0.432809,-0.880580,-0.193015],[-0.001558,-0.213377,0.976969]] 2025-10-28T17:25:08.931Z,1761672308.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899171,0.428581,0.088371],[-0.437552,-0.877680,-0.195512],[-0.006231,-0.214466,0.976712]] 2025-10-28T17:25:09.335Z,1761672309.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896776,0.433996,0.086257],[-0.442357,-0.874620,-0.198394],[-0.010660,-0.216071,0.976319]] 2025-10-28T17:25:09.773Z,1761672309.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894691,0.438523,0.085004],[-0.446450,-0.871698,-0.202053],[-0.014507,-0.218725,0.975679]] 2025-10-28T17:25:10.143Z,1761672310.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893075,0.442213,0.082855],[-0.449539,-0.869618,-0.204157],[-0.018228,-0.219574,0.975426]] 2025-10-28T17:25:10.546Z,1761672310.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892541,0.443822,0.079951],[-0.450449,-0.868912,-0.205151],[-0.021580,-0.219120,0.975459]] 2025-10-28T17:25:10.957Z,1761672310.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892985,0.443371,0.077453],[-0.449408,-0.868898,-0.207484],[-0.024693,-0.220089,0.975167]] 2025-10-28T17:25:11.355Z,1761672311.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894201,0.441675,0.072987],[-0.446805,-0.870438,-0.206649],[-0.027741,-0.217397,0.975689]] 2025-10-28T17:25:11.767Z,1761672311.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896095,0.438533,0.068569],[-0.442805,-0.872576,-0.206243],[-0.030613,-0.215176,0.976095]] 2025-10-28T17:25:12.166Z,1761672312.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898347,0.434465,0.064899],[-0.438009,-0.874655,-0.207669],[-0.033461,-0.214985,0.976044]] 2025-10-28T17:25:12.568Z,1761672312.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900746,0.429897,0.062014],[-0.432833,-0.876500,-0.210723],[-0.036234,-0.216650,0.975577]] 2025-10-28T17:25:12.971Z,1761672312.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903043,0.425408,0.059515],[-0.427777,-0.878065,-0.214497],[-0.038991,-0.219159,0.974910]] 2025-10-28T17:25:13.375Z,1761672313.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905045,0.421467,0.057087],[-0.423241,-0.879239,-0.218646],[-0.041959,-0.222046,0.974133]] 2025-10-28T17:25:13.415Z,1761672313.415 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:25:13.415Z,1761672313.415 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:25:13.415Z,1761672313.415 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:25:13.415Z,1761672313.415 [marl:UpdateRudder:A] Stopped 2025-10-28T17:25:13.416Z,1761672313.416 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:25:13.420Z,1761672313.420 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:25:13.420Z,1761672313.420 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:25:13.420Z,1761672313.420 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:25:13.420Z,1761672313.420 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateCommandMode] Stopped 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:25:13.421Z,1761672313.421 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:25:13.422Z,1761672313.422 [marl:UpdateSpeed] Stopped 2025-10-28T17:25:13.422Z,1761672313.422 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:25:13.791Z,1761672313.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906936,0.417666,0.054971],[-0.418902,-0.880326,-0.222592],[-0.044577,-0.224904,0.973361]] 2025-10-28T17:25:13.843Z,1761672313.843 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:25:13.843Z,1761672313.843 [marl:UpdateRudder:B] Stopped 2025-10-28T17:25:13.843Z,1761672313.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:25:13.843Z,1761672313.843 [marl:UpdateRudder] Stopped 2025-10-28T17:25:13.843Z,1761672313.843 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:25:14.185Z,1761672314.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908248,0.415084,0.052831],[-0.415756,-0.880958,-0.225964],[-0.047252,-0.227197,0.972702]] 2025-10-28T17:25:14.586Z,1761672314.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909116,0.413451,0.050658],[-0.413546,-0.881312,-0.228624],[-0.049879,-0.228795,0.972196]] 2025-10-28T17:25:14.991Z,1761672314.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909619,0.412607,0.048470],[-0.412110,-0.881406,-0.230843],[-0.052525,-0.229954,0.971783]] 2025-10-28T17:25:15.395Z,1761672315.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909890,0.412280,0.046104],[-0.411232,-0.881726,-0.231185],[-0.054662,-0.229312,0.971817]] 2025-10-28T17:25:16.202Z,1761672316.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909793,0.412774,0.043517],[-0.410978,-0.881207,-0.233607],[-0.058079,-0.230418,0.971357]] 2025-10-28T17:25:16.606Z,1761672316.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911155,0.409783,0.043304],[-0.407761,-0.881498,-0.238100],[-0.059397,-0.234604,0.970275]] 2025-10-28T17:25:17.010Z,1761672317.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913968,0.403047,0.047078],[-0.401386,-0.880908,-0.250780],[-0.059605,-0.248102,0.966899]] 2025-10-28T17:25:17.416Z,1761672317.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917827,0.393288,0.054014],[-0.392589,-0.879052,-0.270449],[-0.058883,-0.269430,0.961218]] 2025-10-28T17:25:18.222Z,1761672318.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926298,0.369711,0.072707],[-0.372802,-0.871256,-0.319268],[-0.054690,-0.322843,0.944871]] 2025-10-28T17:25:18.667Z,1761672318.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930766,0.356476,0.081233],[-0.361987,-0.867282,-0.341742],[-0.051371,-0.347487,0.936276]] 2025-10-28T17:25:19.067Z,1761672319.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935257,0.342677,0.088700],[-0.350787,-0.863740,-0.361805],[-0.047368,-0.369495,0.928025]] 2025-10-28T17:25:19.471Z,1761672319.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939784,0.328628,0.093862],[-0.339072,-0.862077,-0.376635],[-0.042856,-0.385781,0.921594]] 2025-10-28T17:25:19.875Z,1761672319.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944581,0.313799,0.096419],[-0.326064,-0.862768,-0.386411],[-0.038068,-0.396435,0.917273]] 2025-10-28T17:25:20.280Z,1761672320.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949669,0.297993,0.096591],[-0.311491,-0.865609,-0.392040],[-0.033215,-0.402395,0.914863]] 2025-10-28T17:25:20.683Z,1761672320.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954802,0.281686,0.094905],[-0.295873,-0.870026,-0.394352],[-0.028514,-0.404607,0.914046]] 2025-10-28T17:25:21.087Z,1761672321.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960276,0.263659,0.091401],[-0.278043,-0.876183,-0.393694],[-0.023717,-0.403468,0.914686]] 2025-10-28T17:25:21.491Z,1761672321.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965412,0.245559,0.087644],[-0.260017,-0.881899,-0.393250],[-0.019273,-0.402437,0.915245]] 2025-10-28T17:25:21.550Z,1761672321.550 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:25:22.341Z,1761672322.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974654,0.209588,0.078252],[-0.223397,-0.892993,-0.390713],[-0.012010,-0.398291,0.917180]] 2025-10-28T17:25:22.553Z,1761672322.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:25:22.765Z,1761672322.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978608,0.192105,0.073629],[-0.205543,-0.897622,-0.389906],[-0.008811,-0.396699,0.917906]] 2025-10-28T17:25:23.169Z,1761672323.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982072,0.175359,0.069162],[-0.188410,-0.901516,-0.389578],[-0.005966,-0.395625,0.918393]] 2025-10-28T17:25:23.625Z,1761672323.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987612,0.144358,0.061514],[-0.156917,-0.907311,-0.390083],[-0.000499,-0.394903,0.918723]] 2025-10-28T17:25:24.379Z,1761672324.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989790,0.129966,0.058518],[-0.142512,-0.909383,-0.390784],[0.002427,-0.395134,0.918620]] 2025-10-28T17:25:24.792Z,1761672324.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991703,0.115877,0.055656],[-0.128443,-0.910912,-0.392100],[0.005262,-0.395996,0.918237]] 2025-10-28T17:25:25.191Z,1761672325.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993314,0.102258,0.053575],[-0.115110,-0.912530,-0.392478],[0.008755,-0.396021,0.918200]] 2025-10-28T17:25:25.623Z,1761672325.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995984,0.074816,0.049184],[-0.088162,-0.915337,-0.392921],[0.015623,-0.395679,0.918256]] 2025-10-28T17:25:26.409Z,1761672326.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997857,0.047276,0.045246],[-0.061288,-0.917497,-0.392992],[0.022934,-0.394922,0.918428]] 2025-10-28T17:25:26.455Z,1761672326.455 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:25:26.455Z,1761672326.455 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:25:26.455Z,1761672326.455 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:25:26.455Z,1761672326.455 [marl:UpdateRudder:A] Stopped 2025-10-28T17:25:26.456Z,1761672326.456 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:25:26.456Z,1761672326.456 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:25:26.460Z,1761672326.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:25:26.460Z,1761672326.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:25:26.460Z,1761672326.460 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateCommandMode] Stopped 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:25:26.461Z,1761672326.461 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:25:26.462Z,1761672326.462 [marl:UpdateSpeed] Stopped 2025-10-28T17:25:26.462Z,1761672326.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:25:26.813Z,1761672326.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998604,0.031804,0.042164],[-0.045771,-0.919467,-0.390493],[0.026349,-0.391878,0.919640]] 2025-10-28T17:25:26.837Z,1761672326.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:25:26.837Z,1761672326.837 [marl:UpdateRudder:B] Stopped 2025-10-28T17:25:26.837Z,1761672326.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:25:26.837Z,1761672326.837 [marl:UpdateRudder] Stopped 2025-10-28T17:25:26.837Z,1761672326.837 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:25:27.226Z,1761672327.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999113,0.016298,0.038824],[-0.030135,-0.920758,-0.388969],[0.029408,-0.389794,0.920432]] 2025-10-28T17:25:28.070Z,1761672328.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999397,-0.015571,0.031034],[0.002449,-0.923181,-0.384359],[0.034635,-0.384051,0.922662]] 2025-10-28T17:25:28.474Z,1761672328.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999149,-0.031634,0.026461],[0.019074,-0.923307,-0.383589],[0.036566,-0.382758,0.923125]] 2025-10-28T17:25:28.874Z,1761672328.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998642,-0.047363,0.021683],[0.035485,-0.923290,-0.382460],[0.038134,-0.381172,0.923717]] 2025-10-28T17:25:29.278Z,1761672329.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997881,-0.062855,0.016806],[0.051648,-0.922341,-0.382908],[0.039568,-0.381229,0.923634]] 2025-10-28T17:25:29.683Z,1761672329.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996980,-0.076647,0.012487],[0.066032,-0.921332,-0.383128],[0.040871,-0.381146,0.923611]] 2025-10-28T17:25:30.095Z,1761672330.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995931,-0.089722,0.008433],[0.079676,-0.920394,-0.382789],[0.042106,-0.380560,0.923797]] 2025-10-28T17:25:30.498Z,1761672330.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994759,-0.102150,0.004518],[0.092587,-0.918621,-0.384140],[0.043391,-0.381708,0.923264]] 2025-10-28T17:25:30.899Z,1761672330.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993435,-0.114391,0.000925],[0.105274,-0.917362,-0.383882],[0.044761,-0.381264,0.923382]] 2025-10-28T17:25:31.303Z,1761672331.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992010,-0.126138,-0.002186],[0.117307,-0.915909,-0.383863],[0.046417,-0.381052,0.923388]] 2025-10-28T17:25:32.111Z,1761672332.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988602,-0.150349,-0.007815],[0.141714,-0.911789,-0.385432],[0.050823,-0.382146,0.922703]] 2025-10-28T17:25:32.516Z,1761672332.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986648,-0.162530,-0.010472],[0.153898,-0.909342,-0.386538],[0.053302,-0.382989,0.922214]] 2025-10-28T17:25:32.919Z,1761672332.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984444,-0.175209,-0.013081],[0.166493,-0.906506,-0.387977],[0.056119,-0.384120,0.921576]] 2025-10-28T17:25:33.325Z,1761672333.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981830,-0.189078,-0.016090],[0.180426,-0.903902,-0.387824],[0.058785,-0.383681,0.921593]] 2025-10-28T17:25:34.171Z,1761672334.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975155,-0.220131,-0.024801],[0.212409,-0.897367,-0.386800],[0.062891,-0.382458,0.921830]] 2025-10-28T17:25:34.576Z,1761672334.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971238,-0.236270,-0.029567],[0.229121,-0.893531,-0.386143],[0.064815,-0.381811,0.921965]] 2025-10-28T17:25:34.979Z,1761672334.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966963,-0.252550,-0.034667],[0.246097,-0.889364,-0.385315],[0.066480,-0.381117,0.922134]] 2025-10-28T17:25:35.383Z,1761672335.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962107,-0.269645,-0.040527],[0.264160,-0.884869,-0.383702],[0.067602,-0.379868,0.922567]] 2025-10-28T17:25:36.637Z,1761672336.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945302,-0.320605,-0.060144],[0.318769,-0.868813,-0.378880],[0.069217,-0.377328,0.923490]] 2025-10-28T17:25:37.453Z,1761672337.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932767,-0.352889,-0.073584],[0.353927,-0.857789,-0.372739],[0.068416,-0.373722,0.925014]] 2025-10-28T17:25:37.863Z,1761672337.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926442,-0.367670,-0.080766],[0.370446,-0.852340,-0.369171],[0.066893,-0.371935,0.925845]] 2025-10-28T17:25:38.267Z,1761672338.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920421,-0.381056,-0.087306],[0.385456,-0.847369,-0.365226],[0.065191,-0.369814,0.926816]] 2025-10-28T17:25:38.671Z,1761672338.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914740,-0.392989,-0.093863],[0.399033,-0.842217,-0.362551],[0.063426,-0.369094,0.927225]] 2025-10-28T17:25:39.077Z,1761672339.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909174,-0.404256,-0.099900],[0.411778,-0.837082,-0.360185],[0.061982,-0.368608,0.927516]] 2025-10-28T17:25:39.479Z,1761672339.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903599,-0.415171,-0.105555],[0.424066,-0.832038,-0.357606],[0.060642,-0.367894,0.927888]] 2025-10-28T17:25:39.510Z,1761672339.510 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:25:39.510Z,1761672339.510 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateRudder:A] Stopped 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:25:39.511Z,1761672339.511 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateCommandMode] Stopped 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:25:39.512Z,1761672339.512 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:25:39.513Z,1761672339.513 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:25:39.513Z,1761672339.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:25:39.513Z,1761672339.513 [marl:UpdateSpeed] Stopped 2025-10-28T17:25:39.513Z,1761672339.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:25:39.883Z,1761672339.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898215,-0.425177,-0.111508],[0.435529,-0.826608,-0.356419],[0.059368,-0.368705,0.927649]] 2025-10-28T17:25:40.059Z,1761672340.059 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:25:40.059Z,1761672340.059 [marl:UpdateRudder:B] Stopped 2025-10-28T17:25:40.059Z,1761672340.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:25:40.059Z,1761672340.059 [marl:UpdateRudder] Stopped 2025-10-28T17:25:40.059Z,1761672340.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:25:40.315Z,1761672340.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892749,-0.434960,-0.117517],[0.446771,-0.820871,-0.355763],[0.058276,-0.370110,0.927158]] 2025-10-28T17:25:40.734Z,1761672340.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886928,-0.445294,-0.122769],[0.458328,-0.815369,-0.353707],[0.057401,-0.369981,0.927264]] 2025-10-28T17:25:41.125Z,1761672341.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880864,-0.455461,-0.128972],[0.469987,-0.808972,-0.353095],[0.056486,-0.371644,0.926655]] 2025-10-28T17:25:41.526Z,1761672341.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875517,-0.464267,-0.133889],[0.480034,-0.804140,-0.350608],[0.055110,-0.371234,0.926902]] 2025-10-28T17:25:41.931Z,1761672341.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871771,-0.470646,-0.136045],[0.487109,-0.803017,-0.343348],[0.052349,-0.365590,0.929303]] 2025-10-28T17:25:42.336Z,1761672342.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869963,-0.474592,-0.133893],[0.490745,-0.806645,-0.329384],[0.048319,-0.352259,0.934654]] 2025-10-28T17:25:42.738Z,1761672342.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869136,-0.477753,-0.127889],[0.492644,-0.813474,-0.309132],[0.043655,-0.331682,0.942381]] 2025-10-28T17:25:43.143Z,1761672343.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868394,-0.480570,-0.122249],[0.494398,-0.820072,-0.288189],[0.038242,-0.310702,0.949738]] 2025-10-28T17:25:43.558Z,1761672343.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868350,-0.481940,-0.117056],[0.494850,-0.826214,-0.269247],[0.033047,-0.291725,0.955931]] 2025-10-28T17:25:44.355Z,1761672344.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867765,-0.484762,-0.109500],[0.496470,-0.835640,-0.234996],[0.022415,-0.258285,0.965809]] 2025-10-28T17:25:44.805Z,1761672344.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867260,-0.485939,-0.108276],[0.497590,-0.838941,-0.220415],[0.016271,-0.245034,0.969378]] 2025-10-28T17:25:45.162Z,1761672345.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866803,-0.486655,-0.108717],[0.498555,-0.841524,-0.208037],[0.009754,-0.234529,0.972060]] 2025-10-28T17:25:45.608Z,1761672345.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866292,-0.487232,-0.110192],[0.499528,-0.843596,-0.197022],[0.003038,-0.225723,0.974187]] 2025-10-28T17:25:45.970Z,1761672345.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865599,-0.487879,-0.112747],[0.500722,-0.845134,-0.187155],[-0.003977,-0.218456,0.975839]] 2025-10-28T17:25:46.374Z,1761672346.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864841,-0.488485,-0.115896],[0.501926,-0.846307,-0.178424],[-0.010927,-0.212480,0.977104]] 2025-10-28T17:25:46.785Z,1761672346.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863955,-0.488913,-0.120605],[0.503249,-0.846813,-0.172186],[-0.017946,-0.209455,0.977654]] 2025-10-28T17:25:47.187Z,1761672347.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863004,-0.489393,-0.125379],[0.504587,-0.847194,-0.166296],[-0.024836,-0.206778,0.978073]] 2025-10-28T17:25:47.991Z,1761672347.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860995,-0.490073,-0.136072],[0.507218,-0.847138,-0.158391],[-0.037648,-0.205392,0.977955]] 2025-10-28T17:25:48.799Z,1761672348.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858727,-0.490459,-0.148450],[0.510116,-0.845706,-0.156726],[-0.048677,-0.210312,0.976422]] 2025-10-28T17:25:49.212Z,1761672349.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857614,-0.490513,-0.154582],[0.511533,-0.844668,-0.157700],[-0.053217,-0.214319,0.975313]] 2025-10-28T17:25:49.629Z,1761672349.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856144,-0.491141,-0.160615],[0.513522,-0.843292,-0.158597],[-0.057552,-0.218262,0.974192]] 2025-10-28T17:25:49.699Z,1761672349.699 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:25:49.905Z,1761672349.905 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:25:49.906Z,1761672349.906 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:25:50.011Z,1761672350.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854912,-0.491525,-0.165918],[0.515103,-0.842253,-0.158994],[-0.061595,-0.221391,0.973238]] 2025-10-28T17:25:50.157Z,1761672350.157 [DAT](INFO): DAT read: user:62> 2025-10-28T17:25:50.158Z,1761672350.158 [DAT](INFO): DAT read: Tx time:17:25:49.9086 2025-10-28T17:25:50.158Z,1761672350.158 [DAT](INFO): Ping request sent. 2025-10-28T17:25:50.158Z,1761672350.158 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:25:50.158Z,1761672350.158 [DAT](INFO): publishing transmit ping time 2025-10-28T17:25:50.159Z,1761672350.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T17:25:50.409Z,1761672350.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250942 2025-10-28T17:25:50.422Z,1761672350.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853608,-0.492065,-0.170954],[0.516741,-0.841333,-0.158550],[-0.065813,-0.223678,0.972439]] 2025-10-28T17:25:50.661Z,1761672350.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502959 2025-10-28T17:25:50.820Z,1761672350.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852339,-0.492746,-0.175269],[0.518251,-0.840783,-0.156522],[-0.070238,-0.224243,0.971999]] 2025-10-28T17:25:50.913Z,1761672350.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868 2025-10-28T17:25:51.166Z,1761672351.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007538 2025-10-28T17:25:51.235Z,1761672351.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848958,-0.495052,-0.184916],[0.522293,-0.839308,-0.150904],[-0.080496,-0.224691,0.971099]] 2025-10-28T17:25:51.419Z,1761672351.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260870 2025-10-28T17:25:51.635Z,1761672351.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847806,-0.495462,-0.189059],[0.523298,-0.839399,-0.146861],[-0.085932,-0.223443,0.970922]] 2025-10-28T17:25:51.669Z,1761672351.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510980 2025-10-28T17:25:51.921Z,1761672351.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762990 2025-10-28T17:25:52.035Z,1761672352.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847113,-0.495276,-0.192617],[0.523569,-0.839901,-0.142975],[-0.090967,-0.221964,0.970802]] 2025-10-28T17:25:52.173Z,1761672352.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015275 2025-10-28T17:25:52.425Z,1761672352.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266960 2025-10-28T17:25:52.441Z,1761672352.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847186,-0.493382,-0.197104],[0.522654,-0.840574,-0.142365],[-0.095440,-0.223627,0.969991]] 2025-10-28T17:25:52.538Z,1761672352.538 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:25:52.538Z,1761672352.538 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateRudder:A] Stopped 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:25:52.539Z,1761672352.539 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateCommandMode] Stopped 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:25:52.540Z,1761672352.540 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:25:52.541Z,1761672352.541 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:25:52.541Z,1761672352.541 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:25:52.541Z,1761672352.541 [marl:UpdateSpeed] Stopped 2025-10-28T17:25:52.541Z,1761672352.541 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:25:52.678Z,1761672352.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519654 2025-10-28T17:25:52.696Z,1761672352.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:25:52.845Z,1761672352.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847440,-0.491402,-0.200921],[0.521508,-0.841382,-0.141798],[-0.099371,-0.224947,0.969291]] 2025-10-28T17:25:52.878Z,1761672352.878 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:25:52.878Z,1761672352.878 [marl:UpdateRudder:B] Stopped 2025-10-28T17:25:52.878Z,1761672352.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:25:52.878Z,1761672352.878 [marl:UpdateRudder] Stopped 2025-10-28T17:25:52.878Z,1761672352.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:25:52.929Z,1761672352.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770864 2025-10-28T17:25:53.182Z,1761672353.182 [DAT](INFO): DAT read: Rx Time:17:25:52.5868 2025-10-28T17:25:53.182Z,1761672353.182 [DAT](INFO): Rx dataTimestamp_ set to:1761672353.181764 2025-10-28T17:25:53.183Z,1761672353.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025203 2025-10-28T17:25:53.246Z,1761672353.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848104,-0.488981,-0.204001],[0.519839,-0.842378,-0.142010],[-0.102406,-0.226487,0.968616]] 2025-10-28T17:25:53.434Z,1761672353.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275541 2025-10-28T17:25:53.647Z,1761672353.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848940,-0.486811,-0.205708],[0.518050,-0.843526,-0.141731],[-0.104524,-0.226888,0.968296]] 2025-10-28T17:25:53.686Z,1761672353.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527866 2025-10-28T17:25:53.702Z,1761672353.702 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:25:53.942Z,1761672353.942 [DAT](INFO): DAT read: 17:25:52.5868 LVL= 28368, 32369, 16882, 29539, AGC= 59, IDX= 386,-0.34,-1.243,-0.825, 0.905,-0.617, PHS=-0.524,-0.163, 1.478, RAW= 219.7, -8.6, CAL= 218.5, -12.5, ROT= 291.5, 12.5 2025-10-28T17:25:53.943Z,1761672353.943 [DAT](INFO): got valid direction response: 17:25:52.5868 LVL= 28368, 32369, 16882, 29539, AGC= 59, IDX= 386,-0.34,-1.243,-0.825, 0.905,-0.617, PHS=-0.524,-0.163, 1.478, RAW= 219.7, -8.6, CAL= 218.5, -12.5, ROT= 291.5, 12.5 2025-10-28T17:25:53.944Z,1761672353.944 [DAT](INFO): DAT read: Bearing 233.5, -59.9 (Local) 2025-10-28T17:25:53.945Z,1761672353.945 [DAT](INFO): Local bearing/azimuth received: Bearing 233.5, -59.9 (Local) 2025-10-28T17:25:53.946Z,1761672353.946 [DAT](INFO): DAT read: Range 11 to 20 : 205.5 m (Round-trip 274.0 ms) speed -0.2 m/s 2025-10-28T17:25:53.946Z,1761672353.946 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:25:53.947Z,1761672353.947 [DAT](INFO): direction in FSK: [0.357813,-0.908363,-0.216440] 2025-10-28T17:25:53.948Z,1761672353.948 [DAT](INFO): publishing direction and range info 2025-10-28T17:25:54.055Z,1761672354.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849725,-0.484678,-0.207495],[0.516474,-0.844297,-0.142889],[-0.105932,-0.228582,0.967744]] 2025-10-28T17:25:54.114Z,1761672354.114 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672320.00. Resetting abort timer. 2025-10-28T17:25:54.456Z,1761672354.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850309,-0.483284,-0.208354],[0.515398,-0.844790,-0.143858],[-0.106491,-0.229709,0.967416]] 2025-10-28T17:25:54.860Z,1761672354.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850825,-0.482185,-0.208792],[0.514637,-0.844898,-0.145932],[-0.106042,-0.231615,0.967011]] 2025-10-28T17:25:55.263Z,1761672355.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850644,-0.482760,-0.208198],[0.515193,-0.844359,-0.147084],[-0.104787,-0.232378,0.966964]] 2025-10-28T17:25:55.666Z,1761672355.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849904,-0.484491,-0.207201],[0.516761,-0.843255,-0.147915],[-0.103060,-0.232787,0.967052]] 2025-10-28T17:25:56.070Z,1761672356.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848585,-0.487207,-0.206236],[0.519231,-0.841728,-0.147962],[-0.101506,-0.232642,0.967251]] 2025-10-28T17:25:56.477Z,1761672356.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847026,-0.490106,-0.205775],[0.521997,-0.840015,-0.147966],[-0.100335,-0.232745,0.967348]] 2025-10-28T17:25:56.879Z,1761672356.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845288,-0.493628,-0.204501],[0.524975,-0.838516,-0.145918],[-0.099448,-0.230701,0.967929]] 2025-10-28T17:25:57.282Z,1761672357.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843554,-0.496565,-0.204547],[0.527784,-0.836948,-0.144784],[-0.099301,-0.230090,0.968090]] 2025-10-28T17:25:57.695Z,1761672357.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841646,-0.499702,-0.204767],[0.530734,-0.835439,-0.142700],[-0.099763,-0.228780,0.968353]] 2025-10-28T17:25:58.092Z,1761672358.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839859,-0.502287,-0.205780],[0.533310,-0.834171,-0.140497],[-0.101086,-0.227742,0.968460]] 2025-10-28T17:25:58.495Z,1761672358.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838116,-0.504945,-0.206377],[0.535725,-0.833199,-0.137032],[-0.102759,-0.225410,0.968830]] 2025-10-28T17:25:58.899Z,1761672358.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837286,-0.506075,-0.206980],[0.536790,-0.832818,-0.135172],[-0.103969,-0.224282,0.968962]] 2025-10-28T17:25:59.311Z,1761672359.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837490,-0.505863,-0.206671],[0.536435,-0.833156,-0.134495],[-0.104154,-0.223504,0.969122]] 2025-10-28T17:25:59.709Z,1761672359.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838697,-0.504203,-0.205833],[0.534652,-0.834209,-0.135064],[-0.103608,-0.223326,0.969222]] 2025-10-28T17:26:00.111Z,1761672360.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840317,-0.502158,-0.204218],[0.532253,-0.835737,-0.135095],[-0.102834,-0.222218,0.969559]] 2025-10-28T17:26:00.515Z,1761672360.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842509,-0.499298,-0.202188],[0.529149,-0.837393,-0.137019],[-0.100898,-0.222427,0.969714]] 2025-10-28T17:26:00.919Z,1761672360.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844408,-0.497341,-0.199062],[0.526690,-0.838624,-0.138948],[-0.097834,-0.222173,0.970086]] 2025-10-28T17:26:01.342Z,1761672361.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845997,-0.495804,-0.196130],[0.524871,-0.839128,-0.142744],[-0.093805,-0.223704,0.970133]] 2025-10-28T17:26:01.727Z,1761672361.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847148,-0.495145,-0.192799],[0.523810,-0.839138,-0.146524],[-0.089234,-0.225118,0.970237]] 2025-10-28T17:26:02.131Z,1761672362.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847726,-0.495083,-0.190403],[0.523640,-0.838362,-0.151491],[-0.084626,-0.228126,0.969947]] 2025-10-28T17:26:02.535Z,1761672362.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848049,-0.495651,-0.187466],[0.523845,-0.837524,-0.155371],[-0.079998,-0.229965,0.969905]] 2025-10-28T17:26:02.940Z,1761672362.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847596,-0.496916,-0.186161],[0.525128,-0.835921,-0.159612],[-0.076302,-0.233045,0.969468]] 2025-10-28T17:26:03.358Z,1761672363.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847429,-0.497729,-0.184742],[0.525862,-0.834781,-0.163124],[-0.073027,-0.235385,0.969155]] 2025-10-28T17:26:03.750Z,1761672363.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847823,-0.497709,-0.182980],[0.525596,-0.834481,-0.165501],[-0.070322,-0.236489,0.969086]] 2025-10-28T17:26:04.150Z,1761672364.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847892,-0.498230,-0.181234],[0.525733,-0.834274,-0.166108],[-0.068439,-0.236122,0.969310]] 2025-10-28T17:26:04.556Z,1761672364.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848290,-0.497959,-0.180111],[0.525262,-0.834386,-0.167034],[-0.067106,-0.236299,0.969360]] 2025-10-28T17:26:04.959Z,1761672364.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848919,-0.497363,-0.178793],[0.524362,-0.834945,-0.167066],[-0.066190,-0.235578,0.969599]] 2025-10-28T17:26:05.366Z,1761672365.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849450,-0.497113,-0.176957],[0.523564,-0.835784,-0.165362],[-0.065694,-0.233115,0.970228]] 2025-10-28T17:26:05.772Z,1761672365.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850141,-0.496431,-0.175547],[0.522527,-0.836530,-0.164870],[-0.065004,-0.231890,0.970568]] 2025-10-28T17:26:05.833Z,1761672365.833 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:26:05.833Z,1761672365.833 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:26:05.833Z,1761672365.833 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateRudder:A] Stopped 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:26:05.834Z,1761672365.834 [marl:UpdateCommandMode] Stopped 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed] Stopped 2025-10-28T17:26:05.835Z,1761672365.835 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:26:06.183Z,1761672366.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851149,-0.495246,-0.174002],[0.521010,-0.837445,-0.165031],[-0.063986,-0.231123,0.970818]] 2025-10-28T17:26:06.208Z,1761672366.208 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:26:06.208Z,1761672366.208 [marl:UpdateRudder:B] Stopped 2025-10-28T17:26:06.208Z,1761672366.208 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:26:06.208Z,1761672366.208 [marl:UpdateRudder] Stopped 2025-10-28T17:26:06.208Z,1761672366.208 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:26:06.574Z,1761672366.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852171,-0.494043,-0.172412],[0.519459,-0.838393,-0.165105],[-0.062980,-0.230259,0.971089]] 2025-10-28T17:26:06.979Z,1761672366.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853241,-0.493026,-0.170016],[0.517927,-0.839258,-0.165523],[-0.061080,-0.229287,0.971441]] 2025-10-28T17:26:07.398Z,1761672367.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853911,-0.492581,-0.167926],[0.517069,-0.839585,-0.166545],[-0.058951,-0.229043,0.971629]] 2025-10-28T17:26:07.845Z,1761672367.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854206,-0.492874,-0.165548],[0.516901,-0.839369,-0.168149],[-0.056080,-0.229205,0.971761]] 2025-10-28T17:26:08.242Z,1761672368.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854647,-0.493202,-0.162265],[0.516584,-0.839118,-0.170357],[-0.052139,-0.229418,0.971930]] 2025-10-28T17:26:08.652Z,1761672368.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854706,-0.494088,-0.159232],[0.516934,-0.838163,-0.173961],[-0.047510,-0.230998,0.971793]] 2025-10-28T17:26:09.051Z,1761672369.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852933,-0.497798,-0.157168],[0.520307,-0.835059,-0.178765],[-0.042256,-0.234250,0.971258]] 2025-10-28T17:26:09.454Z,1761672369.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848571,-0.504609,-0.159049],[0.527842,-0.827992,-0.189242],[-0.036198,-0.244538,0.968964]] 2025-10-28T17:26:09.861Z,1761672369.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842377,-0.512096,-0.167805],[0.538091,-0.816249,-0.210230],[-0.029312,-0.267387,0.963143]] 2025-10-28T17:26:10.263Z,1761672370.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834550,-0.521020,-0.179066],[0.550484,-0.801700,-0.232905],[-0.022209,-0.292944,0.955872]] 2025-10-28T17:26:10.675Z,1761672370.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825646,-0.530821,-0.191149],[0.563994,-0.785455,-0.254895],[-0.014835,-0.318259,0.947888]] 2025-10-28T17:26:11.071Z,1761672371.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815959,-0.541426,-0.202654],[0.578063,-0.768612,-0.274006],[-0.007409,-0.340724,0.940134]] 2025-10-28T17:26:11.475Z,1761672371.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806110,-0.551935,-0.213434],[0.591766,-0.751828,-0.290807],[0.000040,-0.360725,0.932672]] 2025-10-28T17:26:11.880Z,1761672371.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796125,-0.562547,-0.222994],[0.605087,-0.735523,-0.304757],[0.007423,-0.377555,0.925957]] 2025-10-28T17:26:12.283Z,1761672372.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785958,-0.573890,-0.230042],[0.618100,-0.720361,-0.314694],[0.014887,-0.389526,0.920895]] 2025-10-28T17:26:12.688Z,1761672372.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776313,-0.584717,-0.235467],[0.629948,-0.706354,-0.322846],[0.022451,-0.398961,0.916693]] 2025-10-28T17:26:13.090Z,1761672373.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766528,-0.596432,-0.238124],[0.641516,-0.693883,-0.327082],[0.029852,-0.403478,0.914502]] 2025-10-28T17:26:13.497Z,1761672373.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756926,-0.608006,-0.239565],[0.652453,-0.682357,-0.329688],[0.036983,-0.405854,0.913189]] 2025-10-28T17:26:14.310Z,1761672374.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738810,-0.630199,-0.238767],[0.671982,-0.662093,-0.331772],[0.050996,-0.405564,0.912643]] 2025-10-28T17:26:14.711Z,1761672374.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729927,-0.640824,-0.237804],[0.681103,-0.652641,-0.331900],[0.057489,-0.404232,0.912848]] 2025-10-28T17:26:15.116Z,1761672375.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721312,-0.651056,-0.236293],[0.689663,-0.643714,-0.331657],[0.063822,-0.402191,0.913328]] 2025-10-28T17:26:15.518Z,1761672375.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713027,-0.660787,-0.234422],[0.697660,-0.635405,-0.330955],[0.069738,-0.399527,0.914065]] 2025-10-28T17:26:15.925Z,1761672375.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704264,-0.670608,-0.233017],[0.705902,-0.626518,-0.330421],[0.075594,-0.397191,0.914617]] 2025-10-28T17:26:16.357Z,1761672376.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695855,-0.679996,-0.231067],[0.713528,-0.618017,-0.330049],[0.081629,-0.394539,0.915246]] 2025-10-28T17:26:16.767Z,1761672376.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686613,-0.689477,-0.230615],[0.721782,-0.608445,-0.329886],[0.087132,-0.392958,0.915419]] 2025-10-28T17:26:17.174Z,1761672377.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677452,-0.698373,-0.230941],[0.729750,-0.598703,-0.330182],[0.092325,-0.392211,0.915230]] 2025-10-28T17:26:17.608Z,1761672377.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667961,-0.707315,-0.231373],[0.737827,-0.588837,-0.329973],[0.097153,-0.391123,0.915196]] 2025-10-28T17:26:17.973Z,1761672377.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657728,-0.716139,-0.233533],[0.746395,-0.577878,-0.330077],[0.101427,-0.391409,0.914610]] 2025-10-28T17:26:18.381Z,1761672378.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646571,-0.725918,-0.234495],[0.755535,-0.566884,-0.328344],[0.105419,-0.389467,0.914987]] 2025-10-28T17:26:18.787Z,1761672378.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635261,-0.735132,-0.236694],[0.764470,-0.555038,-0.327900],[0.109676,-0.389248,0.914581]] 2025-10-28T17:26:18.813Z,1761672378.813 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:26:18.813Z,1761672378.813 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:26:18.813Z,1761672378.813 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:26:18.813Z,1761672378.813 [marl:UpdateRudder:A] Stopped 2025-10-28T17:26:18.813Z,1761672378.813 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode] Stopped 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:26:18.814Z,1761672378.814 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed] Stopped 2025-10-28T17:26:18.815Z,1761672378.815 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:26:19.208Z,1761672379.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623232,-0.744400,-0.239687],[0.773726,-0.542370,-0.327389],[0.113709,-0.389491,0.913984]] 2025-10-28T17:26:19.233Z,1761672379.233 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:26:19.233Z,1761672379.233 [marl:UpdateRudder:B] Stopped 2025-10-28T17:26:19.233Z,1761672379.233 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:26:19.233Z,1761672379.233 [marl:UpdateRudder] Stopped 2025-10-28T17:26:19.233Z,1761672379.233 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:26:19.625Z,1761672379.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610646,-0.753911,-0.242341],[0.783115,-0.529433,-0.326239],[0.117652,-0.388997,0.913695]] 2025-10-28T17:26:20.011Z,1761672380.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597080,-0.763748,-0.245326],[0.792986,-0.515780,-0.324261],[0.121120,-0.388150,0.913603]] 2025-10-28T17:26:20.822Z,1761672380.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568920,-0.782768,-0.252199],[0.812892,-0.488775,-0.316711],[0.124643,-0.385193,0.914380]] 2025-10-28T17:26:21.241Z,1761672381.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557454,-0.791279,-0.251241],[0.821004,-0.480489,-0.308355],[0.123276,-0.378164,0.917494]] 2025-10-28T17:26:21.650Z,1761672381.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548958,-0.799641,-0.243353],[0.827303,-0.478276,-0.294657],[0.119230,-0.363080,0.924098]] 2025-10-28T17:26:22.043Z,1761672382.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542227,-0.808228,-0.229689],[0.832571,-0.479988,-0.276474],[0.113206,-0.341144,0.933170]] 2025-10-28T17:26:22.446Z,1761672382.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536789,-0.815910,-0.214823],[0.837040,-0.483021,-0.257013],[0.105936,-0.317777,0.942229]] 2025-10-28T17:26:22.851Z,1761672382.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532460,-0.822383,-0.200430],[0.840798,-0.486529,-0.237378],[0.097701,-0.294916,0.950515]] 2025-10-28T17:26:23.255Z,1761672383.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529122,-0.827506,-0.187786],[0.843896,-0.490040,-0.218404],[0.088708,-0.274035,0.957620]] 2025-10-28T17:26:23.669Z,1761672383.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526238,-0.833263,-0.169547],[0.847504,-0.497688,-0.184510],[0.069364,-0.240788,0.968096]] 2025-10-28T17:26:23.828Z,1761672383.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:26:24.073Z,1761672384.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526865,-0.833664,-0.165581],[0.847854,-0.501828,-0.171205],[0.059634,-0.230591,0.971222]] 2025-10-28T17:26:24.474Z,1761672384.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529224,-0.832700,-0.162886],[0.846978,-0.507037,-0.159814],[0.050488,-0.222538,0.973616]] 2025-10-28T17:26:24.835Z,1761672384.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:26:24.875Z,1761672384.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532661,-0.830635,-0.162229],[0.845310,-0.512750,-0.150130],[0.041520,-0.217102,0.975266]] 2025-10-28T17:26:25.279Z,1761672385.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536759,-0.828081,-0.161776],[0.843097,-0.518940,-0.141029],[0.032831,-0.212091,0.976698]] 2025-10-28T17:26:25.683Z,1761672385.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541007,-0.824920,-0.163760],[0.840666,-0.524802,-0.133653],[0.024311,-0.209975,0.977404]] 2025-10-28T17:26:26.082Z,1761672386.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545074,-0.821779,-0.166054],[0.838225,-0.530271,-0.127246],[0.016515,-0.208549,0.977872]] 2025-10-28T17:26:26.487Z,1761672386.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548766,-0.818660,-0.169268],[0.835918,-0.534985,-0.122604],[0.009815,-0.208775,0.977914]] 2025-10-28T17:26:26.892Z,1761672386.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552165,-0.815602,-0.172939],[0.833723,-0.539020,-0.119849],[0.004531,-0.210360,0.977614]] 2025-10-28T17:26:27.294Z,1761672387.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555104,-0.812873,-0.176346],[0.831781,-0.542272,-0.118669],[0.000835,-0.212555,0.977149]] 2025-10-28T17:26:27.699Z,1761672387.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557355,-0.810974,-0.177980],[0.830273,-0.544736,-0.117938],[-0.001307,-0.213506,0.976941]] 2025-10-28T17:26:28.103Z,1761672388.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558542,-0.809561,-0.180669],[0.829472,-0.545819,-0.118565],[-0.002627,-0.216084,0.976371]] 2025-10-28T17:26:28.507Z,1761672388.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558486,-0.808784,-0.184285],[0.829508,-0.545374,-0.120349],[-0.003168,-0.220079,0.975477]] 2025-10-28T17:26:28.911Z,1761672388.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556533,-0.809811,-0.185679],[0.830818,-0.543404,-0.120225],[-0.003539,-0.221175,0.975228]] 2025-10-28T17:26:29.317Z,1761672389.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553454,-0.811383,-0.188008],[0.832871,-0.540204,-0.120440],[-0.003840,-0.223244,0.974755]] 2025-10-28T17:26:29.718Z,1761672389.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549614,-0.813650,-0.189468],[0.835407,-0.536468,-0.119567],[-0.004358,-0.223998,0.974580]] 2025-10-28T17:26:30.129Z,1761672390.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545664,-0.815726,-0.191942],[0.837988,-0.532560,-0.118980],[-0.005166,-0.225768,0.974167]] 2025-10-28T17:26:30.528Z,1761672390.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541813,-0.817902,-0.193585],[0.840475,-0.528972,-0.117434],[-0.006352,-0.226331,0.974030]] 2025-10-28T17:26:30.930Z,1761672390.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538149,-0.819955,-0.195116],[0.842806,-0.525880,-0.114583],[-0.008655,-0.226108,0.974064]] 2025-10-28T17:26:31.334Z,1761672391.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534345,-0.821986,-0.197013],[0.845186,-0.522789,-0.111137],[-0.011643,-0.225898,0.974081]] 2025-10-28T17:26:31.739Z,1761672391.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530990,-0.823634,-0.199191],[0.847223,-0.520511,-0.106211],[-0.016202,-0.225156,0.974188]] 2025-10-28T17:26:31.800Z,1761672391.800 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:26:31.800Z,1761672391.800 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:26:31.800Z,1761672391.800 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateRudder:A] Stopped 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:26:31.801Z,1761672391.801 [marl:UpdateCommandMode] Stopped 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed] Stopped 2025-10-28T17:26:31.802Z,1761672391.802 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:26:32.154Z,1761672392.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527762,-0.824764,-0.203056],[0.849089,-0.518669,-0.100156],[-0.022713,-0.225271,0.974031]] 2025-10-28T17:26:32.178Z,1761672392.178 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:26:32.178Z,1761672392.178 [marl:UpdateRudder:B] Stopped 2025-10-28T17:26:32.178Z,1761672392.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:26:32.178Z,1761672392.178 [marl:UpdateRudder] Stopped 2025-10-28T17:26:32.178Z,1761672392.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:26:32.548Z,1761672392.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524201,-0.826168,-0.206544],[0.851025,-0.517077,-0.091585],[-0.031135,-0.223783,0.974142]] 2025-10-28T17:26:32.951Z,1761672392.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520499,-0.827421,-0.210843],[0.852858,-0.515759,-0.081394],[-0.041397,-0.222185,0.974125]] 2025-10-28T17:26:33.354Z,1761672393.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516626,-0.828668,-0.215423],[0.854577,-0.514588,-0.069976],[-0.052868,-0.220247,0.974010]] 2025-10-28T17:26:33.767Z,1761672393.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514283,-0.828804,-0.220449],[0.855215,-0.514848,-0.059492],[-0.064191,-0.219127,0.973583]] 2025-10-28T17:26:34.169Z,1761672394.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514229,-0.827582,-0.225116],[0.854504,-0.516848,-0.051868],[-0.073426,-0.219035,0.972950]] 2025-10-28T17:26:34.566Z,1761672394.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517786,-0.824515,-0.228195],[0.851763,-0.521779,-0.047400],[-0.079985,-0.218911,0.972461]] 2025-10-28T17:26:34.971Z,1761672394.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521792,-0.821368,-0.230409],[0.848845,-0.526765,-0.044501],[-0.084820,-0.218802,0.972076]] 2025-10-28T17:26:35.375Z,1761672395.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525319,-0.818530,-0.232485],[0.846339,-0.530887,-0.043234],[-0.088035,-0.219472,0.971639]] 2025-10-28T17:26:35.786Z,1761672395.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528864,-0.815970,-0.233444],[0.844022,-0.534517,-0.043792],[-0.089047,-0.220192,0.971384]] 2025-10-28T17:26:36.182Z,1761672396.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532420,-0.813828,-0.232836],[0.841974,-0.537501,-0.046603],[-0.087223,-0.220854,0.971399]] 2025-10-28T17:26:36.587Z,1761672396.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536279,-0.811745,-0.231246],[0.839961,-0.540170,-0.051780],[-0.082880,-0.222006,0.971516]] 2025-10-28T17:26:36.990Z,1761672396.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539796,-0.810348,-0.227941],[0.838286,-0.542164,-0.057744],[-0.076789,-0.222250,0.971961]] 2025-10-28T17:26:37.396Z,1761672397.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542463,-0.809189,-0.225713],[0.837161,-0.543078,-0.065022],[-0.069965,-0.224230,0.972021]] 2025-10-28T17:26:37.804Z,1761672397.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543020,-0.809142,-0.224540],[0.837290,-0.542058,-0.071538],[-0.063829,-0.226852,0.971835]] 2025-10-28T17:26:38.202Z,1761672398.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541330,-0.810553,-0.223529],[0.838752,-0.539162,-0.076149],[-0.058795,-0.228707,0.971718]] 2025-10-28T17:26:38.611Z,1761672398.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538258,-0.812849,-0.222607],[0.841005,-0.535181,-0.079317],[-0.054662,-0.229907,0.971676]] 2025-10-28T17:26:39.012Z,1761672399.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534977,-0.815430,-0.221072],[0.843332,-0.531165,-0.081581],[-0.050902,-0.230081,0.971839]] 2025-10-28T17:26:39.414Z,1761672399.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532510,-0.817464,-0.219512],[0.845079,-0.528088,-0.083458],[-0.047698,-0.229947,0.972034]] 2025-10-28T17:26:39.821Z,1761672399.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529681,-0.819679,-0.218094],[0.846993,-0.524843,-0.084520],[-0.045185,-0.229493,0.972261]] 2025-10-28T17:26:40.223Z,1761672400.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526076,-0.822240,-0.217176],[0.849317,-0.521068,-0.084551],[-0.043642,-0.228931,0.972464]] 2025-10-28T17:26:40.633Z,1761672400.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521896,-0.824515,-0.218633],[0.851917,-0.516781,-0.084703],[-0.043146,-0.230463,0.972124]] 2025-10-28T17:26:41.033Z,1761672401.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517584,-0.826822,-0.220164],[0.854510,-0.512676,-0.083523],[-0.043814,-0.231362,0.971881]] 2025-10-28T17:26:41.435Z,1761672401.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513278,-0.829216,-0.221240],[0.857022,-0.508864,-0.081055],[-0.045369,-0.231211,0.971845]] 2025-10-28T17:26:41.839Z,1761672401.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509032,-0.831360,-0.222995],[0.859387,-0.505435,-0.077387],[-0.048373,-0.231031,0.971743]] 2025-10-28T17:26:42.243Z,1761672402.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505945,-0.832897,-0.224280],[0.861076,-0.502974,-0.074601],[-0.050672,-0.230866,0.971665]] 2025-10-28T17:26:42.649Z,1761672402.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505158,-0.833333,-0.224437],[0.861495,-0.502397,-0.073639],[-0.051390,-0.230551,0.971702]] 2025-10-28T17:26:43.051Z,1761672403.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505859,-0.832883,-0.224526],[0.861088,-0.503047,-0.073976],[-0.051334,-0.230758,0.971656]] 2025-10-28T17:26:43.455Z,1761672403.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507603,-0.831978,-0.223947],[0.860087,-0.504652,-0.074677],[-0.050886,-0.230520,0.971736]] 2025-10-28T17:26:43.860Z,1761672403.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510267,-0.830784,-0.222319],[0.858552,-0.507162,-0.075336],[-0.050164,-0.229314,0.972059]] 2025-10-28T17:26:44.264Z,1761672404.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513629,-0.829189,-0.220524],[0.856617,-0.510219,-0.076703],[-0.048914,-0.228302,0.972361]] 2025-10-28T17:26:44.667Z,1761672404.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516947,-0.827319,-0.219794],[0.854705,-0.513063,-0.079030],[-0.047386,-0.228714,0.972340]] 2025-10-28T17:26:45.070Z,1761672405.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520546,-0.825687,-0.217423],[0.852615,-0.516266,-0.080726],[-0.045594,-0.227400,0.972733]] 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateRudder:A] Stopped 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:26:45.130Z,1761672405.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateCommandMode] Stopped 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:26:45.131Z,1761672405.131 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:26:45.132Z,1761672405.132 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:26:45.132Z,1761672405.132 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:26:45.132Z,1761672405.132 [marl:UpdateSpeed] Stopped 2025-10-28T17:26:45.132Z,1761672405.132 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:26:45.476Z,1761672405.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524265,-0.824056,-0.214658],[0.850436,-0.519588,-0.082383],[-0.043646,-0.225743,0.973209]] 2025-10-28T17:26:45.505Z,1761672405.505 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:26:45.505Z,1761672405.505 [marl:UpdateRudder:B] Stopped 2025-10-28T17:26:45.505Z,1761672405.505 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:26:45.505Z,1761672405.505 [marl:UpdateRudder] Stopped 2025-10-28T17:26:45.505Z,1761672405.505 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:26:45.878Z,1761672405.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527721,-0.822140,-0.213532],[0.848377,-0.522589,-0.084598],[-0.042038,-0.225800,0.973266]] 2025-10-28T17:26:46.283Z,1761672406.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530878,-0.820676,-0.211328],[0.846483,-0.525418,-0.086035],[-0.040428,-0.224560,0.973621]] 2025-10-28T17:26:46.687Z,1761672406.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534158,-0.818695,-0.210747],[0.844492,-0.528203,-0.088518],[-0.038848,-0.225257,0.973525]] 2025-10-28T17:26:47.099Z,1761672407.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537395,-0.816518,-0.210960],[0.842498,-0.530910,-0.091279],[-0.037470,-0.226786,0.973224]] 2025-10-28T17:26:47.495Z,1761672407.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540357,-0.814895,-0.209667],[0.840659,-0.533531,-0.092932],[-0.036134,-0.226475,0.973347]] 2025-10-28T17:26:47.899Z,1761672407.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542342,-0.813716,-0.209121],[0.839447,-0.535066,-0.095043],[-0.034556,-0.227091,0.973260]] 2025-10-28T17:26:48.304Z,1761672408.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540690,-0.814006,-0.212245],[0.840615,-0.532402,-0.099571],[-0.031948,-0.232254,0.972130]] 2025-10-28T17:26:48.707Z,1761672408.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535324,-0.814570,-0.223394],[0.844183,-0.524744,-0.109539],[-0.027997,-0.247224,0.968554]] 2025-10-28T17:26:49.117Z,1761672409.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526765,-0.814728,-0.242357],[0.849703,-0.512388,-0.124349],[-0.022870,-0.271434,0.962185]] 2025-10-28T17:26:49.519Z,1761672409.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515466,-0.815608,-0.262829],[0.856743,-0.496585,-0.139265],[-0.016931,-0.296963,0.954739]] 2025-10-28T17:26:49.986Z,1761672409.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501999,-0.816722,-0.284538],[0.864806,-0.477972,-0.153800],[-0.010390,-0.323277,0.946247]] 2025-10-28T17:26:50.021Z,1761672410.021 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:26:50.145Z,1761672410.145 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:26:50.145Z,1761672410.145 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:26:50.379Z,1761672410.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486831,-0.818803,-0.304233],[0.873489,-0.457732,-0.165824],[-0.003480,-0.346472,0.938054]] 2025-10-28T17:26:50.397Z,1761672410.397 [DAT](INFO): DAT read: user:63> 2025-10-28T17:26:50.398Z,1761672410.398 [DAT](INFO): DAT read: Tx time:17:26:50.1583 2025-10-28T17:26:50.398Z,1761672410.398 [DAT](INFO): Ping request sent. 2025-10-28T17:26:50.398Z,1761672410.398 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:26:50.398Z,1761672410.398 [DAT](INFO): publishing transmit ping time 2025-10-28T17:26:50.399Z,1761672410.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T17:26:50.651Z,1761672410.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253209 2025-10-28T17:26:50.786Z,1761672410.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470736,-0.821770,-0.321094],[0.882267,-0.436993,-0.175049],[0.003535,-0.365693,0.930729]] 2025-10-28T17:26:50.905Z,1761672410.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506978 2025-10-28T17:26:51.157Z,1761672411.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758938 2025-10-28T17:26:51.188Z,1761672411.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453688,-0.826266,-0.333845],[0.891097,-0.416141,-0.181034],[0.010656,-0.379621,0.925081]] 2025-10-28T17:26:51.409Z,1761672411.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010927 2025-10-28T17:26:51.662Z,1761672411.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263604 2025-10-28T17:26:51.914Z,1761672411.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515651 2025-10-28T17:26:51.995Z,1761672411.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418331,-0.838839,-0.348350],[0.907963,-0.375846,-0.185316],[0.024524,-0.393813,0.918863]] 2025-10-28T17:26:52.165Z,1761672412.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766818 2025-10-28T17:26:52.399Z,1761672412.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400586,-0.845926,-0.352051],[0.915731,-0.356580,-0.185167],[0.031103,-0.396560,0.917482]] 2025-10-28T17:26:52.417Z,1761672412.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019004 2025-10-28T17:26:52.669Z,1761672412.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271295 2025-10-28T17:26:52.811Z,1761672412.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382816,-0.853352,-0.353897],[0.923082,-0.337978,-0.183548],[0.037022,-0.396941,0.917097]] 2025-10-28T17:26:52.921Z,1761672412.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523004 2025-10-28T17:26:53.173Z,1761672413.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774887 2025-10-28T17:26:53.206Z,1761672413.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364984,-0.860777,-0.354754],[0.930066,-0.319917,-0.180640],[0.041999,-0.395875,0.917344]] 2025-10-28T17:26:53.426Z,1761672413.426 [DAT](INFO): DAT read: Rx Time:17:26:52.8378 2025-10-28T17:26:53.426Z,1761672413.426 [DAT](INFO): Rx dataTimestamp_ set to:1761672413.425901 2025-10-28T17:26:53.427Z,1761672413.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028889 2025-10-28T17:26:53.628Z,1761672413.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346464,-0.867292,-0.357444],[0.936941,-0.301312,-0.177066],[0.045865,-0.396251,0.916996]] 2025-10-28T17:26:53.677Z,1761672413.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279001 2025-10-28T17:26:53.929Z,1761672413.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530888 2025-10-28T17:26:54.026Z,1761672414.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327528,-0.873373,-0.360479],[0.943600,-0.282804,-0.172165],[0.048419,-0.396537,0.916741]] 2025-10-28T17:26:54.186Z,1761672414.186 [DAT](INFO): DAT read: 17:26:52.8378 LVL= 31344, 32753, 26242, 32755, AGC= 58, IDX= 432, 0.03, 2.619, 1.676,-2.690, 2.680, PHS= 0.041,-0.959, 0.869, RAW= 176.9, 0.6, CAL= 176.5, -1.9, ROT= 333.5, 1.9 2025-10-28T17:26:54.187Z,1761672414.187 [DAT](INFO): got valid direction response: 17:26:52.8378 LVL= 31344, 32753, 26242, 32755, AGC= 58, IDX= 432, 0.03, 2.619, 1.676,-2.690, 2.680, PHS= 0.041,-0.959, 0.869, RAW= 176.9, 0.6, CAL= 176.5, -1.9, ROT= 333.5, 1.9 2025-10-28T17:26:54.188Z,1761672414.188 [DAT](INFO): DAT read: Bearing 251.0, -20.8 (Local) 2025-10-28T17:26:54.189Z,1761672414.189 [DAT](INFO): Local bearing/azimuth received: Bearing 251.0, -20.8 (Local) 2025-10-28T17:26:54.190Z,1761672414.190 [DAT](INFO): DAT read: Range 11 to 20 : 206.4 m (Round-trip 275.3 ms) speed -0.6 m/s 2025-10-28T17:26:54.191Z,1761672414.191 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:26:54.191Z,1761672414.191 [DAT](INFO): direction in FSK: [0.894442,-0.445953,-0.033155] 2025-10-28T17:26:54.192Z,1761672414.192 [DAT](INFO): publishing direction and range info 2025-10-28T17:26:54.427Z,1761672414.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308476,-0.879823,-0.361600],[0.949940,-0.265121,-0.165303],[0.049570,-0.394490,0.917562]] 2025-10-28T17:26:54.491Z,1761672414.491 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672448.00. Resetting abort timer. 2025-10-28T17:26:54.858Z,1761672414.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289609,-0.885832,-0.362531],[0.955853,-0.247995,-0.157619],[0.049718,-0.392174,0.918546]] 2025-10-28T17:26:54.952Z,1761672414.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:26:55.240Z,1761672415.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271369,-0.890481,-0.365242],[0.961219,-0.231363,-0.150096],[0.049155,-0.391809,0.918732]] 2025-10-28T17:26:55.643Z,1761672415.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254985,-0.894957,-0.366107],[0.965718,-0.216634,-0.143033],[0.048698,-0.390027,0.919515]] 2025-10-28T17:26:55.956Z,1761672415.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:26:56.049Z,1761672416.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241477,-0.898309,-0.367056],[0.969179,-0.204233,-0.137772],[0.048796,-0.389011,0.919940]] 2025-10-28T17:26:56.452Z,1761672416.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229715,-0.901222,-0.367465],[0.972003,-0.193272,-0.133624],[0.049405,-0.387872,0.920388]] 2025-10-28T17:26:56.854Z,1761672416.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220200,-0.903315,-0.368149],[0.974158,-0.184189,-0.130733],[0.050284,-0.387422,0.920530]] 2025-10-28T17:26:57.259Z,1761672417.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211582,-0.905221,-0.368521],[0.976005,-0.175844,-0.128423],[0.051449,-0.386850,0.920706]] 2025-10-28T17:26:57.665Z,1761672417.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202658,-0.906975,-0.369224],[0.977816,-0.167033,-0.126394],[0.052963,-0.386648,0.920705]] 2025-10-28T17:26:58.067Z,1761672418.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193866,-0.908256,-0.370791],[0.979482,-0.157991,-0.125116],[0.055056,-0.387439,0.920250]] 2025-10-28T17:26:58.117Z,1761672418.117 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateRudder:A] Stopped 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:26:58.118Z,1761672418.118 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateCommandMode] Stopped 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:26:58.119Z,1761672418.119 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:26:58.120Z,1761672418.120 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:26:58.120Z,1761672418.120 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:26:58.120Z,1761672418.120 [marl:UpdateSpeed] Stopped 2025-10-28T17:26:58.120Z,1761672418.120 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:26:58.472Z,1761672418.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184891,-0.909776,-0.371649],[0.981070,-0.148701,-0.124057],[0.057599,-0.387551,0.920047]] 2025-10-28T17:26:58.530Z,1761672418.530 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:26:58.530Z,1761672418.530 [marl:UpdateRudder:B] Stopped 2025-10-28T17:26:58.530Z,1761672418.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:26:58.530Z,1761672418.530 [marl:UpdateRudder] Stopped 2025-10-28T17:26:58.530Z,1761672418.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:26:58.882Z,1761672418.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175425,-0.911659,-0.371623],[0.982617,-0.138845,-0.123233],[0.060749,-0.386782,0.920168]] 2025-10-28T17:26:59.285Z,1761672419.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165751,-0.913060,-0.372624],[0.984053,-0.128402,-0.123097],[0.064549,-0.387085,0.919782]] 2025-10-28T17:26:59.707Z,1761672419.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144964,-0.916778,-0.372162],[0.986672,-0.105841,-0.123599],[0.073923,-0.385119,0.919902]] 2025-10-28T17:27:00.114Z,1761672420.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133090,-0.918818,-0.371566],[0.987934,-0.093029,-0.123822],[0.079203,-0.383562,0.920112]] 2025-10-28T17:27:00.534Z,1761672420.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119617,-0.920854,-0.371107],[0.989233,-0.078799,-0.123324],[0.084321,-0.381863,0.920365]] 2025-10-28T17:27:00.933Z,1761672420.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103847,-0.923236,-0.369934],[0.990634,-0.062859,-0.121213],[0.088655,-0.379057,0.921117]] 2025-10-28T17:27:01.371Z,1761672421.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085690,-0.924987,-0.370210],[0.992091,-0.045011,-0.117170],[0.091717,-0.377323,0.921529]] 2025-10-28T17:27:01.803Z,1761672421.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065870,-0.926225,-0.371172],[0.993376,-0.025771,-0.111982],[0.094155,-0.376090,0.921787]] 2025-10-28T17:27:02.191Z,1761672422.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045064,-0.927327,-0.371528],[0.994345,-0.005836,-0.106042],[0.096167,-0.374206,0.922346]] 2025-10-28T17:27:02.599Z,1761672422.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023607,-0.927516,-0.373038],[0.994947,0.014625,-0.099327],[0.097583,-0.373497,0.922484]] 2025-10-28T17:27:02.999Z,1761672422.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001839,-0.927386,-0.374101],[0.995149,0.035102,-0.091908],[0.098366,-0.372455,0.922822]] 2025-10-28T17:27:03.409Z,1761672423.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020112,-0.926428,-0.375934],[0.994972,0.055445,-0.083406],[0.098113,-0.372366,0.922885]] 2025-10-28T17:27:03.807Z,1761672423.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042739,-0.924807,-0.378028],[0.994406,0.075956,-0.073393],[0.096588,-0.372777,0.922881]] 2025-10-28T17:27:04.311Z,1761672424.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065774,-0.922396,-0.380604],[0.993445,0.096274,-0.061638],[0.093496,-0.374055,0.922682]] 2025-10-28T17:27:04.715Z,1761672424.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089096,-0.919835,-0.382055],[0.992043,0.116207,-0.048434],[0.088949,-0.374700,0.922869]] 2025-10-28T17:27:05.157Z,1761672425.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111409,-0.917158,-0.382635],[0.990321,0.134535,-0.034129],[0.082780,-0.375129,0.923269]] 2025-10-28T17:27:05.618Z,1761672425.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131223,-0.914728,-0.382168],[0.988406,0.150424,-0.020661],[0.076386,-0.375026,0.923862]] 2025-10-28T17:27:05.964Z,1761672425.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147726,-0.912835,-0.380671],[0.986493,0.163538,-0.009333],[0.070773,-0.374150,0.924664]] 2025-10-28T17:27:06.367Z,1761672426.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161892,-0.911035,-0.379218],[0.984609,0.174770,0.000471],[0.065847,-0.373458,0.925307]] 2025-10-28T17:27:06.777Z,1761672426.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174056,-0.909482,-0.377553],[0.982789,0.184533,0.008558],[0.061887,-0.372545,0.925948]] 2025-10-28T17:27:07.175Z,1761672427.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185621,-0.908077,-0.375422],[0.980889,0.193915,0.015938],[0.058327,-0.371205,0.926717]] 2025-10-28T17:27:07.625Z,1761672427.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197300,-0.906826,-0.372476],[0.978765,0.203761,0.022376],[0.055605,-0.368981,0.927772]] 2025-10-28T17:27:07.983Z,1761672427.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209915,-0.904443,-0.371373],[0.976266,0.214597,0.029195],[0.053290,-0.368687,0.928025]] 2025-10-28T17:27:08.388Z,1761672428.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224390,-0.901525,-0.370002],[0.973166,0.227160,0.036696],[0.050967,-0.368307,0.928306]] 2025-10-28T17:27:08.795Z,1761672428.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239715,-0.898337,-0.368141],[0.969624,0.240533,0.044424],[0.048642,-0.367607,0.928708]] 2025-10-28T17:27:09.195Z,1761672429.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256568,-0.893901,-0.367578],[0.965433,0.255104,0.053490],[0.045956,-0.368595,0.928453]] 2025-10-28T17:27:09.634Z,1761672429.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274164,-0.889319,-0.365985],[0.960716,0.270340,0.062775],[0.043113,-0.368819,0.928501]] 2025-10-28T17:27:10.423Z,1761672430.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309960,-0.879129,-0.362017],[0.950011,0.301389,0.081506],[0.037454,-0.369184,0.928602]] 2025-10-28T17:27:10.829Z,1761672430.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327936,-0.873421,-0.359991],[0.944073,0.316868,0.091214],[0.034401,-0.369770,0.928486]] 2025-10-28T17:27:11.230Z,1761672431.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345395,-0.867652,-0.357608],[0.937927,0.331960,0.100471],[0.031538,-0.370112,0.928451]] 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateRudder:A] Stopped 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:27:11.266Z,1761672431.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateCommandMode] Stopped 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:27:11.267Z,1761672431.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:27:11.268Z,1761672431.268 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:27:11.268Z,1761672431.268 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:27:11.268Z,1761672431.268 [marl:UpdateSpeed] Stopped 2025-10-28T17:27:11.268Z,1761672431.268 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:27:11.635Z,1761672431.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362622,-0.862236,-0.353630],[0.931500,0.346953,0.109232],[0.028509,-0.369016,0.928986]] 2025-10-28T17:27:11.706Z,1761672431.706 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:27:11.706Z,1761672431.706 [marl:UpdateRudder:B] Stopped 2025-10-28T17:27:11.706Z,1761672431.706 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:27:11.706Z,1761672431.706 [marl:UpdateRudder] Stopped 2025-10-28T17:27:11.706Z,1761672431.706 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:27:12.447Z,1761672432.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395591,-0.849441,-0.349225],[0.918140,0.375263,0.127266],[0.022946,-0.370983,0.928356]] 2025-10-28T17:27:13.251Z,1761672433.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426626,-0.837849,-0.340585],[0.904279,0.401984,0.143833],[0.016400,-0.369347,0.929147]] 2025-10-28T17:27:13.654Z,1761672433.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438677,-0.835741,-0.330302],[0.898574,0.412553,0.149548],[0.011284,-0.362404,0.931953]] 2025-10-28T17:27:14.068Z,1761672434.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445786,-0.839075,-0.311813],[0.895126,0.419758,0.150174],[0.004879,-0.346058,0.938201]] 2025-10-28T17:27:14.465Z,1761672434.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449700,-0.845238,-0.288691],[0.893175,0.424605,0.148149],[-0.002642,-0.324474,0.945891]] 2025-10-28T17:27:14.875Z,1761672434.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451470,-0.852299,-0.264123],[0.892226,0.427761,0.144754],[-0.010392,-0.301010,0.953564]] 2025-10-28T17:27:15.270Z,1761672435.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451919,-0.858748,-0.241498],[0.891876,0.429470,0.141819],[-0.018070,-0.279476,0.959983]] 2025-10-28T17:27:15.674Z,1761672435.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451205,-0.864877,-0.220006],[0.892057,0.430065,0.138847],[-0.025468,-0.258906,0.965567]] 2025-10-28T17:27:16.081Z,1761672436.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450422,-0.869705,-0.201825],[0.892221,0.430220,0.137305],[-0.032585,-0.241918,0.969750]] 2025-10-28T17:27:16.486Z,1761672436.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450068,-0.873322,-0.186408],[0.892112,0.430441,0.137319],[-0.039686,-0.228099,0.972829]] 2025-10-28T17:27:16.888Z,1761672436.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449921,-0.875891,-0.174315],[0.891871,0.430570,0.138479],[-0.046237,-0.217771,0.974904]] 2025-10-28T17:27:17.292Z,1761672437.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449624,-0.877747,-0.165527],[0.891704,0.430301,0.140375],[-0.051988,-0.210717,0.976164]] 2025-10-28T17:27:18.098Z,1761672438.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452349,-0.878674,-0.152686],[0.889576,0.432343,0.147428],[-0.063528,-0.202514,0.977217]] 2025-10-28T17:27:18.511Z,1761672438.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454505,-0.878132,-0.149367],[0.888082,0.433774,0.152151],[-0.068817,-0.201804,0.977005]] 2025-10-28T17:27:18.907Z,1761672438.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457003,-0.877344,-0.146340],[0.886385,0.435535,0.156940],[-0.073954,-0.201436,0.976706]] 2025-10-28T17:27:19.310Z,1761672439.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460267,-0.875971,-0.144323],[0.884271,0.437908,0.162181],[-0.078865,-0.202267,0.976150]] 2025-10-28T17:27:19.716Z,1761672439.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464045,-0.874309,-0.142287],[0.881884,0.440879,0.167055],[-0.083326,-0.203001,0.975627]] 2025-10-28T17:27:20.120Z,1761672440.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468326,-0.872174,-0.141363],[0.879192,0.444128,0.172544],[-0.087705,-0.205092,0.974805]] 2025-10-28T17:27:20.527Z,1761672440.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472209,-0.870540,-0.138488],[0.876644,0.447338,0.177155],[-0.092270,-0.205059,0.974391]] 2025-10-28T17:27:20.933Z,1761672440.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479242,-0.867514,-0.133213],[0.871792,0.452956,0.186573],[-0.101515,-0.205548,0.973368]] 2025-10-28T17:27:21.335Z,1761672441.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482429,-0.866030,-0.131359],[0.869463,0.455251,0.191785],[-0.106290,-0.206734,0.972607]] 2025-10-28T17:27:21.741Z,1761672441.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484990,-0.864883,-0.129472],[0.867468,0.457014,0.196563],[-0.110833,-0.207644,0.971905]] 2025-10-28T17:27:22.142Z,1761672442.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487609,-0.863602,-0.128180],[0.865454,0.458780,0.201272],[-0.115013,-0.209076,0.971112]] 2025-10-28T17:27:22.551Z,1761672442.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489767,-0.862594,-0.126729],[0.863680,0.460167,0.205678],[-0.119100,-0.210188,0.970379]] 2025-10-28T17:27:22.947Z,1761672442.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490988,-0.862037,-0.125788],[0.862440,0.460589,0.209894],[-0.123000,-0.211539,0.969599]] 2025-10-28T17:27:23.353Z,1761672443.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491573,-0.861786,-0.125224],[0.861587,0.460396,0.213781],[-0.126581,-0.212980,0.968822]] 2025-10-28T17:27:23.762Z,1761672443.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491348,-0.862227,-0.123053],[0.861242,0.459940,0.216142],[-0.129767,-0.212179,0.968577]] 2025-10-28T17:27:24.158Z,1761672444.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490770,-0.862581,-0.122880],[0.861252,0.458922,0.218257],[-0.131872,-0.212945,0.968124]] 2025-10-28T17:27:24.568Z,1761672444.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489085,-0.863703,-0.121711],[0.862089,0.457442,0.218058],[-0.132662,-0.211574,0.968317]] 2025-10-28T17:27:24.612Z,1761672444.612 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateRudder:A] Stopped 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:27:24.613Z,1761672444.613 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateCommandMode] Stopped 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:27:24.614Z,1761672444.614 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:27:24.615Z,1761672444.615 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:27:24.615Z,1761672444.615 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:27:24.615Z,1761672444.615 [marl:UpdateSpeed] Stopped 2025-10-28T17:27:24.615Z,1761672444.615 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:27:24.969Z,1761672444.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486808,-0.865009,-0.121564],[0.863491,0.455526,0.216514],[-0.131911,-0.210370,0.968681]] 2025-10-28T17:27:24.998Z,1761672444.998 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:27:24.998Z,1761672444.998 [marl:UpdateRudder:B] Stopped 2025-10-28T17:27:24.998Z,1761672444.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:27:24.998Z,1761672444.998 [marl:UpdateRudder] Stopped 2025-10-28T17:27:24.998Z,1761672444.998 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:27:25.373Z,1761672445.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484519,-0.866262,-0.121782],[0.864949,0.453595,0.214744],[-0.130785,-0.209383,0.969048]] 2025-10-28T17:27:25.780Z,1761672445.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482735,-0.867019,-0.123470],[0.866245,0.451986,0.212902],[-0.128784,-0.209731,0.969241]] 2025-10-28T17:27:26.084Z,1761672446.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:27:26.178Z,1761672446.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480937,-0.867776,-0.125157],[0.867712,0.450652,0.209736],[-0.125602,-0.209470,0.969715]] 2025-10-28T17:27:26.586Z,1761672446.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479571,-0.868194,-0.127478],[0.868937,0.449602,0.206898],[-0.122314,-0.209992,0.970022]] 2025-10-28T17:27:26.988Z,1761672446.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478696,-0.868354,-0.129657],[0.869869,0.449046,0.204171],[-0.119071,-0.210520,0.970311]] 2025-10-28T17:27:27.089Z,1761672447.089 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:27:27.390Z,1761672447.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476896,-0.869332,-0.129740],[0.871251,0.448030,0.200476],[-0.116153,-0.208642,0.971070]] 2025-10-28T17:27:27.795Z,1761672447.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471527,-0.873513,-0.120985],[0.874446,0.445403,0.192253],[-0.114049,-0.196448,0.973859]] 2025-10-28T17:27:28.198Z,1761672448.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460491,-0.882038,-0.099786],[0.880475,0.439587,0.177560],[-0.112750,-0.169624,0.979038]] 2025-10-28T17:27:28.610Z,1761672448.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444024,-0.893272,-0.070056],[0.889032,0.429472,0.158670],[-0.111648,-0.132735,0.984843]] 2025-10-28T17:27:29.006Z,1761672449.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425019,-0.904314,-0.039687],[0.898473,0.416133,0.139929],[-0.110025,-0.095130,0.989366]] 2025-10-28T17:27:29.410Z,1761672449.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404435,-0.914472,-0.013153],[0.908184,0.399875,0.123702],[-0.107862,-0.061975,0.992232]] 2025-10-28T17:27:29.815Z,1761672449.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384061,-0.923267,0.008633],[0.917300,0.382610,0.110316],[-0.105154,-0.034449,0.993859]] 2025-10-28T17:27:30.221Z,1761672450.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364178,-0.930985,0.025312],[0.925760,0.364834,0.099322],[-0.101702,-0.012738,0.994733]] 2025-10-28T17:27:30.622Z,1761672450.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345992,-0.937545,0.036047],[0.933108,0.347858,0.091123],[-0.097971,0.002108,0.995187]] 2025-10-28T17:27:31.035Z,1761672451.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329879,-0.943116,0.041369],[0.939370,0.332283,0.084686],[-0.093615,0.010924,0.995548]] 2025-10-28T17:27:31.431Z,1761672451.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316210,-0.947655,0.044285],[0.944501,0.318852,0.079060],[-0.089042,0.016828,0.995886]] 2025-10-28T17:27:31.835Z,1761672451.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304439,-0.951528,0.043723],[0.948809,0.306984,0.074307],[-0.084127,0.018863,0.996276]] 2025-10-28T17:27:32.241Z,1761672452.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294085,-0.954855,0.042027],[0.952460,0.296442,0.070309],[-0.079593,0.019353,0.996640]] 2025-10-28T17:27:32.643Z,1761672452.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285065,-0.957736,0.038461],[0.955557,0.287105,0.066943],[-0.075156,0.017668,0.997015]] 2025-10-28T17:27:33.050Z,1761672453.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277062,-0.960265,0.033596],[0.958231,0.278718,0.064100],[-0.070917,0.014433,0.997378]] 2025-10-28T17:27:33.453Z,1761672453.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269834,-0.962461,0.029285],[0.960561,0.271174,0.061537],[-0.067168,0.011525,0.997675]] 2025-10-28T17:27:33.855Z,1761672453.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262485,-0.964592,0.025776],[0.962811,0.263585,0.059307],[-0.064001,0.009250,0.997907]] 2025-10-28T17:27:34.260Z,1761672454.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255260,-0.966626,0.021853],[0.964901,0.256117,0.058048],[-0.061707,0.006269,0.998075]] 2025-10-28T17:27:34.670Z,1761672454.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247900,-0.968605,0.018718],[0.966879,0.248577,0.057910],[-0.060745,0.003742,0.998146]] 2025-10-28T17:27:35.067Z,1761672455.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240503,-0.970517,0.015984],[0.968743,0.241029,0.058673],[-0.060796,0.001374,0.998149]] 2025-10-28T17:27:35.471Z,1761672455.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231770,-0.972667,0.014196],[0.970797,0.232204,0.060286],[-0.061934,-0.000191,0.998080]] 2025-10-28T17:27:35.875Z,1761672455.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220096,-0.975405,0.011945],[0.973416,0.220410,0.062294],[-0.063394,-0.002084,0.997986]] 2025-10-28T17:27:36.284Z,1761672456.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205058,-0.978686,0.011156],[0.976601,0.205350,0.063883],[-0.064812,-0.002205,0.997895]] 2025-10-28T17:27:36.683Z,1761672456.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187097,-0.982253,0.013151],[0.980122,0.187557,0.064677],[-0.065995,0.000789,0.997820]] 2025-10-28T17:27:37.087Z,1761672457.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167313,-0.985780,0.015649],[0.983629,0.167983,0.065238],[-0.066939,0.004478,0.997747]] 2025-10-28T17:27:37.491Z,1761672457.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146122,-0.989127,0.016617],[0.986970,0.146906,0.065643],[-0.067370,0.006809,0.997705]] 2025-10-28T17:27:37.959Z,1761672457.959 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:27:37.960Z,1761672457.960 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:27:37.960Z,1761672457.960 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:27:37.960Z,1761672457.960 [marl:UpdateRudder:A] Stopped 2025-10-28T17:27:37.960Z,1761672457.960 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode] Stopped 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:27:37.961Z,1761672457.961 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed] Stopped 2025-10-28T17:27:37.962Z,1761672457.962 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:27:38.298Z,1761672458.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101849,-0.994619,0.018982],[0.992625,0.102869,0.064142],[-0.065750,0.012309,0.997760]] 2025-10-28T17:27:38.334Z,1761672458.334 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:27:38.334Z,1761672458.334 [marl:UpdateRudder:B] Stopped 2025-10-28T17:27:38.334Z,1761672458.334 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:27:38.334Z,1761672458.334 [marl:UpdateRudder] Stopped 2025-10-28T17:27:38.334Z,1761672458.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:27:38.706Z,1761672458.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079063,-0.996654,0.020728],[0.994914,0.080193,0.060947],[-0.062406,0.015804,0.997926]] 2025-10-28T17:27:39.106Z,1761672459.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056122,-0.998200,0.021139],[0.996808,0.057223,0.055669],[-0.056779,0.017947,0.998225]] 2025-10-28T17:27:39.518Z,1761672459.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033031,-0.999226,0.021343],[0.998262,0.034027,0.048114],[-0.048803,0.019716,0.998614]] 2025-10-28T17:27:39.919Z,1761672459.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010404,-0.999718,0.021345],[0.999187,0.011225,0.038711],[-0.038939,0.020925,0.999022]] 2025-10-28T17:27:40.319Z,1761672460.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011605,-0.999732,0.020021],[0.999553,-0.011047,0.027788],[-0.027559,0.020334,0.999413]] 2025-10-28T17:27:40.726Z,1761672460.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031840,-0.999302,0.019548],[0.999371,-0.031524,0.016247],[-0.015620,0.020053,0.999677]] 2025-10-28T17:27:41.127Z,1761672461.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049014,-0.998642,0.017633],[0.998788,-0.048927,0.005385],[-0.004515,0.017876,0.999830]] 2025-10-28T17:27:41.540Z,1761672461.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061233,-0.998020,0.014378],[0.998112,-0.061296,-0.003922],[0.004796,0.014110,0.999889]] 2025-10-28T17:27:41.935Z,1761672461.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070165,-0.997479,0.010574],[0.997461,-0.070285,-0.011461],[0.012175,0.009743,0.999878]] 2025-10-28T17:27:42.338Z,1761672462.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077860,-0.996949,0.005587],[0.996796,-0.077948,-0.017923],[0.018304,0.004174,0.999824]] 2025-10-28T17:27:42.749Z,1761672462.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085380,-0.996346,0.002231],[0.996073,-0.085408,-0.023305],[0.023410,0.000232,0.999726]] 2025-10-28T17:27:43.149Z,1761672463.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092933,-0.995672,-0.001157],[0.995306,-0.092868,-0.027215],[0.026990,-0.003681,0.999629]] 2025-10-28T17:27:43.581Z,1761672463.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100662,-0.994913,-0.004025],[0.994509,-0.100503,-0.029161],[0.028608,-0.006939,0.999567]] 2025-10-28T17:27:43.954Z,1761672463.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109065,-0.994022,-0.004914],[0.993626,-0.108877,-0.029198],[0.028488,-0.008067,0.999562]] 2025-10-28T17:27:44.359Z,1761672464.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118735,-0.992902,-0.006927],[0.992549,-0.118495,-0.028366],[0.027344,-0.010244,0.999574]] 2025-10-28T17:27:44.782Z,1761672464.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131342,-0.991313,-0.006969],[0.990996,-0.131110,-0.027137],[0.025987,-0.010471,0.999607]] 2025-10-28T17:27:45.166Z,1761672465.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147788,-0.989007,-0.004935],[0.988682,-0.147606,-0.026828],[0.025804,-0.008844,0.999628]] 2025-10-28T17:27:45.614Z,1761672465.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166864,-0.985979,-0.001628],[0.985626,-0.166759,-0.027086],[0.026435,-0.006124,0.999632]] 2025-10-28T17:27:45.974Z,1761672465.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186895,-0.982378,0.002152],[0.981977,-0.186880,-0.028231],[0.028136,-0.003163,0.999599]] 2025-10-28T17:27:46.380Z,1761672466.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207078,-0.978308,0.005734],[0.977842,-0.207156,-0.030199],[0.030732,-0.000647,0.999527]] 2025-10-28T17:27:46.786Z,1761672466.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228362,-0.973534,0.009090],[0.972970,-0.228539,-0.033141],[0.034342,0.001276,0.999409]] 2025-10-28T17:27:47.186Z,1761672467.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249216,-0.968361,0.013007],[0.967673,-0.249531,-0.036655],[0.038741,0.003451,0.999243]] 2025-10-28T17:27:47.622Z,1761672467.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269768,-0.962792,0.016019],[0.961923,-0.270208,-0.041126],[0.043924,0.004315,0.999026]] 2025-10-28T17:27:48.003Z,1761672468.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288841,-0.957174,0.019693],[0.956114,-0.289455,-0.045395],[0.049151,0.005717,0.998775]] 2025-10-28T17:27:48.399Z,1761672468.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306383,-0.951614,0.023648],[0.950344,-0.307209,-0.049681],[0.054542,0.007253,0.998485]] 2025-10-28T17:27:48.802Z,1761672468.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322421,-0.946230,0.026346],[0.944722,-0.323409,-0.053924],[0.059545,0.007504,0.998197]] 2025-10-28T17:27:49.209Z,1761672469.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337004,-0.941074,0.028425],[0.939337,-0.338122,-0.057612],[0.063828,0.007286,0.997934]] 2025-10-28T17:27:49.625Z,1761672469.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350803,-0.935972,0.029889],[0.933998,-0.352015,-0.061095],[0.067704,0.006484,0.997684]] 2025-10-28T17:27:50.021Z,1761672470.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363244,-0.931197,0.030431],[0.929015,-0.364481,-0.063913],[0.070607,0.005055,0.997491]] 2025-10-28T17:27:50.058Z,1761672470.058 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:27:50.138Z,1761672470.138 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:27:50.138Z,1761672470.138 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:27:50.389Z,1761672470.389 [DAT](INFO): DAT read: user:64> 2025-10-28T17:27:50.390Z,1761672470.390 [DAT](INFO): DAT read: Tx time:17:27:50.1581 2025-10-28T17:27:50.390Z,1761672470.390 [DAT](INFO): Ping request sent. 2025-10-28T17:27:50.390Z,1761672470.390 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:27:50.390Z,1761672470.390 [DAT](INFO): publishing transmit ping time 2025-10-28T17:27:50.391Z,1761672470.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T17:27:50.440Z,1761672470.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375308,-0.926387,0.030844],[0.924011,-0.376556,-0.066400],[0.073126,0.003580,0.997316]] 2025-10-28T17:27:50.641Z,1761672470.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251084 2025-10-28T17:27:50.832Z,1761672470.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387885,-0.921179,0.031231],[0.918646,-0.389134,-0.068295],[0.075064,0.002200,0.997176]] 2025-10-28T17:27:50.893Z,1761672470.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824 2025-10-28T17:27:51.145Z,1761672471.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-10-28T17:27:51.227Z,1761672471.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400595,-0.915702,0.031848],[0.913091,-0.401857,-0.069115],[0.076087,0.001393,0.997100]] 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateRudder:A] Stopped 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:27:51.258Z,1761672471.258 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode] Stopped 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:27:51.259Z,1761672471.259 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed] Stopped 2025-10-28T17:27:51.260Z,1761672471.260 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:27:51.398Z,1761672471.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007409 2025-10-28T17:27:51.630Z,1761672471.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413747,-0.909820,0.032275],[0.907168,-0.415003,-0.069408],[0.076543,0.000561,0.997066]] 2025-10-28T17:27:51.649Z,1761672471.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258971 2025-10-28T17:27:51.693Z,1761672471.693 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:27:51.693Z,1761672471.693 [marl:UpdateRudder:B] Stopped 2025-10-28T17:27:51.693Z,1761672471.693 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:27:51.693Z,1761672471.693 [marl:UpdateRudder] Stopped 2025-10-28T17:27:51.693Z,1761672471.693 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:27:51.901Z,1761672471.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510906 2025-10-28T17:27:52.035Z,1761672472.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427240,-0.903572,0.031998],[0.900864,-0.428436,-0.069905],[0.076873,-0.001041,0.997040]] 2025-10-28T17:27:52.153Z,1761672472.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762781 2025-10-28T17:27:52.405Z,1761672472.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014874 2025-10-28T17:27:52.442Z,1761672472.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441534,-0.896694,0.031428],[0.893903,-0.442639,-0.070768],[0.077369,-0.003153,0.996998]] 2025-10-28T17:27:52.657Z,1761672472.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266782 2025-10-28T17:27:52.850Z,1761672472.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456345,-0.889216,0.032315],[0.886367,-0.457472,-0.071228],[0.078120,-0.003862,0.996936]] 2025-10-28T17:27:52.909Z,1761672472.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519030 2025-10-28T17:27:53.161Z,1761672473.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770841 2025-10-28T17:27:53.247Z,1761672473.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471125,-0.881444,0.033121],[0.878542,-0.472265,-0.071624],[0.078774,-0.004645,0.996882]] 2025-10-28T17:27:53.415Z,1761672473.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024709 2025-10-28T17:27:53.651Z,1761672473.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485907,-0.873352,0.033910],[0.870381,-0.487057,-0.072197],[0.079570,-0.005566,0.996814]] 2025-10-28T17:27:53.665Z,1761672473.665 [DAT](INFO): DAT read: Rx Time:17:27:52.8120 2025-10-28T17:27:53.665Z,1761672473.665 [DAT](INFO): Rx dataTimestamp_ set to:1761672473.665180 2025-10-28T17:27:53.666Z,1761672473.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275923 2025-10-28T17:27:53.920Z,1761672473.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528954 2025-10-28T17:27:54.055Z,1761672474.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499837,-0.865424,0.034714],[0.862388,-0.501000,-0.072707],[0.080314,-0.006405,0.996749]] 2025-10-28T17:27:54.174Z,1761672474.174 [DAT](INFO): DAT read: 17:27:52.8120 LVL= 25584, 31697, 15506, 32355, AGC= 52, IDX= 170, 0.40,-1.819,-2.566,-0.330,-1.371, PHS=-0.346,-1.150, 0.997, RAW= 188.2, 5.4, CAL= 188.3, 3.9, ROT= 321.7, -3.9 2025-10-28T17:27:54.175Z,1761672474.175 [DAT](INFO): got valid direction response: 17:27:52.8120 LVL= 25584, 31697, 15506, 32355, AGC= 52, IDX= 170, 0.40,-1.819,-2.566,-0.330,-1.371, PHS=-0.346,-1.150, 0.997, RAW= 188.2, 5.4, CAL= 188.3, 3.9, ROT= 321.7, -3.9 2025-10-28T17:27:54.176Z,1761672474.176 [DAT](INFO): DAT read: Bearing 272.3, -34.1 (Local) 2025-10-28T17:27:54.177Z,1761672474.177 [DAT](INFO): Local bearing/azimuth received: Bearing 272.3, -34.1 (Local) 2025-10-28T17:27:54.178Z,1761672474.178 [DAT](INFO): DAT read: Range 11 to 20 : 187.3 m (Round-trip 249.8 ms) speed 0.4 m/s 2025-10-28T17:27:54.178Z,1761672474.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:27:54.179Z,1761672474.179 [DAT](INFO): direction in FSK: [0.782959,-0.618343,0.068015] 2025-10-28T17:27:54.180Z,1761672474.180 [DAT](INFO): publishing direction and range info 2025-10-28T17:27:54.459Z,1761672474.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510965,-0.858992,0.032372],[0.855769,-0.511879,-0.075100],[0.081081,-0.010670,0.996650]] 2025-10-28T17:27:54.511Z,1761672474.511 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672448.00. Resetting abort timer. 2025-10-28T17:27:54.862Z,1761672474.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517784,-0.855188,0.023528],[0.851599,-0.517848,-0.081319],[0.081727,-0.022069,0.996410]] 2025-10-28T17:27:55.269Z,1761672475.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521616,-0.853149,0.007384],[0.849207,-0.520001,-0.091908],[0.082251,-0.041671,0.995740]] 2025-10-28T17:27:55.672Z,1761672475.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523612,-0.851833,-0.014534],[0.848012,-0.519472,-0.104998],[0.081891,-0.067303,0.994366]] 2025-10-28T17:27:56.075Z,1761672476.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523662,-0.851079,-0.037976],[0.848103,-0.516575,-0.117777],[0.080620,-0.093883,0.992314]] 2025-10-28T17:27:56.485Z,1761672476.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523553,-0.849769,-0.061520],[0.848349,-0.513283,-0.129785],[0.078710,-0.120140,0.989632]] 2025-10-28T17:27:56.890Z,1761672476.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524163,-0.847662,-0.081990],[0.848160,-0.510943,-0.139861],[0.076663,-0.142851,0.986771]] 2025-10-28T17:27:57.240Z,1761672477.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:27:57.295Z,1761672477.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525370,-0.845143,-0.098587],[0.847641,-0.509758,-0.147146],[0.074104,-0.160872,0.984189]] 2025-10-28T17:27:57.694Z,1761672477.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527600,-0.842232,-0.110829],[0.846494,-0.510292,-0.151819],[0.071311,-0.173916,0.982175]] 2025-10-28T17:27:58.099Z,1761672478.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530812,-0.838879,-0.120501],[0.844722,-0.512223,-0.155152],[0.068430,-0.184146,0.980514]] 2025-10-28T17:27:58.244Z,1761672478.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:27:58.507Z,1761672478.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534308,-0.835698,-0.126978],[0.842759,-0.515048,-0.156468],[0.065361,-0.190614,0.979487]] 2025-10-28T17:27:58.909Z,1761672478.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538337,-0.832424,-0.131389],[0.840425,-0.518776,-0.156710],[0.062287,-0.194785,0.978866]] 2025-10-28T17:27:59.311Z,1761672479.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542646,-0.829484,-0.132255],[0.837839,-0.523338,-0.155380],[0.059671,-0.195125,0.978962]] 2025-10-28T17:27:59.717Z,1761672479.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546484,-0.826876,-0.132785],[0.835496,-0.527421,-0.154185],[0.057458,-0.195201,0.979079]] 2025-10-28T17:28:00.119Z,1761672480.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549821,-0.824493,-0.133818],[0.833442,-0.530894,-0.153385],[0.055422,-0.195864,0.979064]] 2025-10-28T17:28:00.524Z,1761672480.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551818,-0.822990,-0.134853],[0.832253,-0.533084,-0.152235],[0.053400,-0.196238,0.979101]] 2025-10-28T17:28:00.926Z,1761672480.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553032,-0.822023,-0.135770],[0.831543,-0.534434,-0.151380],[0.051878,-0.196616,0.979107]] 2025-10-28T17:28:01.331Z,1761672481.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553089,-0.821966,-0.135882],[0.831615,-0.534889,-0.149365],[0.050092,-0.195614,0.979401]] 2025-10-28T17:28:01.737Z,1761672481.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553279,-0.821716,-0.136618],[0.831577,-0.535290,-0.148135],[0.048595,-0.195568,0.979485]] 2025-10-28T17:28:02.141Z,1761672482.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552838,-0.822045,-0.136427],[0.831987,-0.535379,-0.145485],[0.046555,-0.193935,0.979909]] 2025-10-28T17:28:02.946Z,1761672482.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551189,-0.822921,-0.137813],[0.833367,-0.534820,-0.139527],[0.041114,-0.191754,0.980581]] 2025-10-28T17:28:03.348Z,1761672483.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550599,-0.823227,-0.138343],[0.833921,-0.534962,-0.135613],[0.037632,-0.190035,0.981056]] 2025-10-28T17:28:03.760Z,1761672483.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550450,-0.823119,-0.139573],[0.834179,-0.535465,-0.131994],[0.033910,-0.189085,0.981375]] 2025-10-28T17:28:04.154Z,1761672484.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551058,-0.822743,-0.139386],[0.833921,-0.536919,-0.127648],[0.030182,-0.186579,0.981976]] 2025-10-28T17:28:04.558Z,1761672484.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552330,-0.821952,-0.139017],[0.833196,-0.538962,-0.123710],[0.026759,-0.184158,0.982532]] 2025-10-28T17:28:04.588Z,1761672484.588 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:28:04.604Z,1761672484.604 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:28:04.604Z,1761672484.604 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:28:04.604Z,1761672484.604 [marl:UpdateRudder:A] Stopped 2025-10-28T17:28:04.604Z,1761672484.604 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode] Stopped 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:28:04.605Z,1761672484.605 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed] Stopped 2025-10-28T17:28:04.606Z,1761672484.606 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:28:04.973Z,1761672484.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554332,-0.820555,-0.139300],[0.831966,-0.541587,-0.120482],[0.023419,-0.182680,0.982893]] 2025-10-28T17:28:05.006Z,1761672485.006 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:28:05.006Z,1761672485.006 [marl:UpdateRudder:B] Stopped 2025-10-28T17:28:05.006Z,1761672485.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:28:05.006Z,1761672485.006 [marl:UpdateRudder] Stopped 2025-10-28T17:28:05.007Z,1761672485.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:28:05.366Z,1761672485.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556783,-0.818851,-0.139555],[0.830406,-0.544569,-0.117769],[0.020438,-0.181459,0.983186]] 2025-10-28T17:28:05.783Z,1761672485.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564583,-0.812882,-0.143068],[0.825236,-0.552752,-0.115974],[0.015192,-0.183541,0.982895]] 2025-10-28T17:28:06.180Z,1761672486.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570161,-0.808964,-0.143158],[0.821445,-0.558826,-0.113761],[0.012028,-0.182458,0.983140]] 2025-10-28T17:28:06.587Z,1761672486.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579389,-0.803783,-0.135059],[0.815008,-0.569646,-0.106141],[0.008378,-0.171571,0.985136]] 2025-10-28T17:28:06.993Z,1761672486.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592863,-0.796658,-0.117684],[0.805291,-0.585685,-0.092085],[0.004435,-0.149364,0.988772]] 2025-10-28T17:28:07.391Z,1761672487.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608738,-0.787503,-0.096319],[0.793371,-0.604195,-0.074233],[0.000263,-0.121604,0.992579]] 2025-10-28T17:28:07.794Z,1761672487.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625764,-0.776339,-0.075607],[0.780005,-0.623233,-0.056326],[-0.003393,-0.094221,0.995545]] 2025-10-28T17:28:08.196Z,1761672488.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642557,-0.764084,-0.057404],[0.766208,-0.641384,-0.039385],[-0.006725,-0.069291,0.997574]] 2025-10-28T17:28:08.599Z,1761672488.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658764,-0.751137,-0.042701],[0.752291,-0.658359,-0.024937],[-0.009381,-0.048551,0.998777]] 2025-10-28T17:28:09.002Z,1761672489.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673735,-0.738325,-0.030933],[0.738888,-0.673702,-0.013046],[-0.011208,-0.031646,0.999436]] 2025-10-28T17:28:09.407Z,1761672489.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687482,-0.725876,-0.021711],[0.726102,-0.687575,-0.004060],[-0.011980,-0.018555,0.999756]] 2025-10-28T17:28:09.813Z,1761672489.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699792,-0.714176,-0.015609],[0.714247,-0.699892,0.001424],[-0.011942,-0.010153,0.999877]] 2025-10-28T17:28:10.214Z,1761672490.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710837,-0.703253,-0.012079],[0.703263,-0.710918,0.004152],[-0.011507,-0.005544,0.999918]] 2025-10-28T17:28:10.618Z,1761672490.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720618,-0.693257,-0.010233],[0.693252,-0.720681,0.004563],[-0.010538,-0.003806,0.999937]] 2025-10-28T17:28:11.025Z,1761672491.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729511,-0.683914,-0.008650],[0.683901,-0.729559,0.004912],[-0.009670,-0.002333,0.999951]] 2025-10-28T17:28:11.427Z,1761672491.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737983,-0.674764,-0.008672],[0.674757,-0.738028,0.004090],[-0.009160,-0.002833,0.999954]] 2025-10-28T17:28:11.833Z,1761672491.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746352,-0.665479,-0.009788],[0.665486,-0.746404,0.003017],[-0.009313,-0.004262,0.999948]] 2025-10-28T17:28:12.236Z,1761672492.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754837,-0.655824,-0.010797],[0.655833,-0.754900,0.003175],[-0.010233,-0.004684,0.999937]] 2025-10-28T17:28:12.640Z,1761672492.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763425,-0.645756,-0.013466],[0.645780,-0.763517,0.003075],[-0.012267,-0.006349,0.999905]] 2025-10-28T17:28:13.043Z,1761672493.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772161,-0.635193,-0.017220],[0.635245,-0.772305,0.002990],[-0.015198,-0.008630,0.999847]] 2025-10-28T17:28:13.450Z,1761672493.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781432,-0.623629,-0.021230],[0.623703,-0.781652,0.003731],[-0.018922,-0.010326,0.999768]] 2025-10-28T17:28:13.851Z,1761672493.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791418,-0.610800,-0.024092],[0.610849,-0.791723,0.006150],[-0.022831,-0.009849,0.999691]] 2025-10-28T17:28:14.256Z,1761672494.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802439,-0.596145,-0.026525],[0.596154,-0.802826,0.008409],[-0.026308,-0.009065,0.999613]] 2025-10-28T17:28:14.658Z,1761672494.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813940,-0.580185,-0.029777],[0.580204,-0.814422,0.008882],[-0.029404,-0.010047,0.999517]] 2025-10-28T17:28:15.062Z,1761672495.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825631,-0.563312,-0.031812],[0.563339,-0.826177,0.008973],[-0.031337,-0.010512,0.999454]] 2025-10-28T17:28:15.479Z,1761672495.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836885,-0.546404,-0.032639],[0.546419,-0.837461,0.009254],[-0.032390,-0.010090,0.999424]] 2025-10-28T17:28:15.879Z,1761672495.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847591,-0.529631,-0.032868],[0.529646,-0.848171,0.008950],[-0.032618,-0.009823,0.999420]] 2025-10-28T17:28:16.274Z,1761672496.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857566,-0.513337,-0.032639],[0.513392,-0.858123,0.007308],[-0.031760,-0.010489,0.999440]] 2025-10-28T17:28:16.678Z,1761672496.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866710,-0.497848,-0.031011],[0.497907,-0.867207,0.006330],[-0.030044,-0.009955,0.999499]] 2025-10-28T17:28:17.083Z,1761672497.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874900,-0.483411,-0.029389],[0.483498,-0.875334,0.004561],[-0.027931,-0.010219,0.999558]] 2025-10-28T17:28:17.489Z,1761672497.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881902,-0.470583,-0.028279],[0.470720,-0.882280,0.002031],[-0.025906,-0.011520,0.999598]] 2025-10-28T17:28:17.569Z,1761672497.569 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:28:17.569Z,1761672497.569 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:28:17.570Z,1761672497.570 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:28:17.571Z,1761672497.571 [marl:UpdateRudder:A] Stopped 2025-10-28T17:28:17.571Z,1761672497.571 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:28:17.571Z,1761672497.571 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:28:17.576Z,1761672497.576 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:28:17.576Z,1761672497.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:28:17.577Z,1761672497.577 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:28:17.578Z,1761672497.578 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:28:17.578Z,1761672497.578 [marl:UpdateCommandMode] Stopped 2025-10-28T17:28:17.579Z,1761672497.579 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:28:17.579Z,1761672497.579 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:28:17.580Z,1761672497.580 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:28:17.584Z,1761672497.584 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:28:17.585Z,1761672497.585 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:28:17.586Z,1761672497.586 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:28:17.586Z,1761672497.586 [marl:UpdateSpeed] Stopped 2025-10-28T17:28:17.586Z,1761672497.586 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:28:17.894Z,1761672497.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888094,-0.458891,-0.026610],[0.459026,-0.888422,0.001141],[-0.024165,-0.011201,0.999645]] 2025-10-28T17:28:17.969Z,1761672497.969 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:28:17.969Z,1761672497.969 [marl:UpdateRudder:B] Stopped 2025-10-28T17:28:17.970Z,1761672497.970 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:28:17.970Z,1761672497.970 [marl:UpdateRudder] Stopped 2025-10-28T17:28:17.970Z,1761672497.970 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:28:18.295Z,1761672498.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893781,-0.447760,-0.025811],[0.447928,-0.894069,-0.000783],[-0.022726,-0.012261,0.999667]] 2025-10-28T17:28:18.699Z,1761672498.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899113,-0.436941,-0.026052],[0.437158,-0.899380,-0.003003],[-0.022119,-0.014089,0.999656]] 2025-10-28T17:28:19.103Z,1761672499.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904389,-0.425910,-0.026090],[0.426144,-0.904647,-0.003893],[-0.021944,-0.014639,0.999652]] 2025-10-28T17:28:19.507Z,1761672499.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909674,-0.414443,-0.027034],[0.414687,-0.909956,-0.003892],[-0.022986,-0.014751,0.999627]] 2025-10-28T17:28:19.965Z,1761672499.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914922,-0.402611,-0.028656],[0.402892,-0.915236,-0.004555],[-0.024393,-0.015713,0.999579]] 2025-10-28T17:28:20.314Z,1761672500.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920490,-0.389610,-0.030033],[0.389898,-0.920849,-0.004170],[-0.026031,-0.015549,0.999540]] 2025-10-28T17:28:20.720Z,1761672500.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926609,-0.374741,-0.031065],[0.375003,-0.927019,-0.002883],[-0.027718,-0.014320,0.999513]] 2025-10-28T17:28:21.122Z,1761672501.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932928,-0.358652,-0.031833],[0.358865,-0.933389,-0.001059],[-0.029333,-0.012412,0.999493]] 2025-10-28T17:28:21.530Z,1761672501.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939371,-0.341306,-0.033067],[0.341521,-0.939874,-0.000906],[-0.030770,-0.012144,0.999453]] 2025-10-28T17:28:21.935Z,1761672501.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945811,-0.322930,-0.034023],[0.323158,-0.946344,-0.001267],[-0.031789,-0.012193,0.999420]] 2025-10-28T17:28:22.337Z,1761672502.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952080,-0.303910,-0.034377],[0.304161,-0.952618,-0.002203],[-0.032079,-0.012553,0.999407]] 2025-10-28T17:28:22.739Z,1761672502.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958038,-0.284622,-0.033952],[0.284891,-0.958554,-0.003266],[-0.031615,-0.012802,0.999418]] 2025-10-28T17:28:23.143Z,1761672503.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963514,-0.265613,-0.033031],[0.265911,-0.963985,-0.004904],[-0.030539,-0.013509,0.999442]] 2025-10-28T17:28:23.569Z,1761672503.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968361,-0.247504,-0.031928],[0.247847,-0.968772,-0.007228],[-0.029142,-0.014913,0.999464]] 2025-10-28T17:28:23.967Z,1761672503.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972639,-0.230300,-0.030578],[0.230690,-0.972977,-0.009870],[-0.027479,-0.016654,0.999484]] 2025-10-28T17:28:24.355Z,1761672504.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976262,-0.214674,-0.028762],[0.215041,-0.976551,-0.010303],[-0.025875,-0.016243,0.999533]] 2025-10-28T17:28:24.763Z,1761672504.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979230,-0.200892,-0.027394],[0.201244,-0.979482,-0.010738],[-0.024675,-0.016028,0.999567]] 2025-10-28T17:28:25.164Z,1761672505.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981905,-0.187568,-0.026079],[0.187903,-0.982126,-0.011037],[-0.023543,-0.015737,0.999599]] 2025-10-28T17:28:25.623Z,1761672505.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984309,-0.174609,-0.025440],[0.174942,-0.984511,-0.011506],[-0.023037,-0.015776,0.999610]] 2025-10-28T17:28:25.971Z,1761672505.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986525,-0.161717,-0.024815],[0.162039,-0.986717,-0.011560],[-0.022616,-0.015425,0.999625]] 2025-10-28T17:28:26.374Z,1761672506.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988495,-0.149260,-0.024466],[0.149564,-0.988690,-0.011097],[-0.022533,-0.014629,0.999639]] 2025-10-28T17:28:26.783Z,1761672506.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990430,-0.135884,-0.024174],[0.136210,-0.990603,-0.012385],[-0.022264,-0.015559,0.999631]] 2025-10-28T17:28:27.184Z,1761672507.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992250,-0.121857,-0.024320],[0.122206,-0.992414,-0.013419],[-0.022500,-0.016287,0.999614]] 2025-10-28T17:28:27.626Z,1761672507.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993950,-0.107214,-0.023821],[0.107530,-0.994125,-0.012367],[-0.022355,-0.014854,0.999640]] 2025-10-28T17:28:27.999Z,1761672507.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995492,-0.091899,-0.023465],[0.092188,-0.995675,-0.011545],[-0.022303,-0.013656,0.999658]] 2025-10-28T17:28:28.364Z,1761672508.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:28:28.403Z,1761672508.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996799,-0.076559,-0.023014],[0.076818,-0.996989,-0.010610],[-0.022133,-0.012344,0.999679]] 2025-10-28T17:28:28.807Z,1761672508.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997876,-0.061143,-0.022475],[0.061347,-0.998080,-0.008515],[-0.021911,-0.009876,0.999711]] 2025-10-28T17:28:29.216Z,1761672509.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998713,-0.045745,-0.021912],[0.045886,-0.998929,-0.005961],[-0.021616,-0.006959,0.999742]] 2025-10-28T17:28:29.371Z,1761672509.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:28:29.624Z,1761672509.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999304,-0.030018,-0.022158],[0.030133,-0.999534,-0.004869],[-0.022002,-0.005533,0.999743]] 2025-10-28T17:28:30.018Z,1761672510.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999643,-0.014561,-0.022387],[0.014635,-0.999888,-0.003151],[-0.022339,-0.003478,0.999744]] 2025-10-28T17:28:30.429Z,1761672510.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999742,0.001782,-0.022637],[-0.001727,-0.999995,-0.002467],[-0.022641,-0.002428,0.999741]] 2025-10-28T17:28:30.531Z,1761672510.531 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:28:30.531Z,1761672510.531 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:28:30.531Z,1761672510.531 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:28:30.532Z,1761672510.532 [marl:UpdateRudder:A] Stopped 2025-10-28T17:28:30.532Z,1761672510.532 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:28:30.532Z,1761672510.532 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:28:30.532Z,1761672510.532 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:28:30.532Z,1761672510.532 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateCommandMode] Stopped 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:28:30.533Z,1761672510.533 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:28:30.534Z,1761672510.534 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:28:30.534Z,1761672510.534 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:28:30.534Z,1761672510.534 [marl:UpdateSpeed] Stopped 2025-10-28T17:28:30.534Z,1761672510.534 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:28:30.828Z,1761672510.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999555,0.019221,-0.022811],[-0.019168,-0.999813,-0.002531],[-0.022856,-0.002093,0.999737]] 2025-10-28T17:28:30.860Z,1761672510.860 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:28:30.861Z,1761672510.861 [marl:UpdateRudder:B] Stopped 2025-10-28T17:28:30.861Z,1761672510.861 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:28:30.861Z,1761672510.861 [marl:UpdateRudder] Stopped 2025-10-28T17:28:30.861Z,1761672510.861 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:28:31.231Z,1761672511.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999044,0.037070,-0.023172],[-0.037010,-0.999310,-0.003034],[-0.023269,-0.002173,0.999727]] 2025-10-28T17:28:31.635Z,1761672511.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998163,0.055903,-0.023334],[-0.055822,-0.998432,-0.004133],[-0.023529,-0.002823,0.999719]] 2025-10-28T17:28:32.039Z,1761672512.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996897,0.075277,-0.023036],[-0.075157,-0.997153,-0.006035],[-0.023425,-0.004285,0.999716]] 2025-10-28T17:28:32.457Z,1761672512.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995196,0.095299,-0.022423],[-0.095152,-0.995434,-0.007507],[-0.023036,-0.005337,0.999720]] 2025-10-28T17:28:32.851Z,1761672512.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993189,0.114489,-0.021608],[-0.114362,-0.993414,-0.007044],[-0.022273,-0.004525,0.999742]] 2025-10-28T17:28:33.658Z,1761672513.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989107,0.146152,-0.017533],[-0.145995,-0.989235,-0.009947],[-0.018798,-0.007279,0.999797]] 2025-10-28T17:28:34.063Z,1761672514.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988069,0.153382,-0.013940],[-0.153129,-0.988047,-0.017725],[-0.016492,-0.015379,0.999746]] 2025-10-28T17:28:34.468Z,1761672514.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987859,0.155112,-0.008639],[-0.154707,-0.987299,-0.036152],[-0.014137,-0.034377,0.999309]] 2025-10-28T17:28:34.870Z,1761672514.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988180,0.153283,-0.002144],[-0.152867,-0.986350,-0.061198],[-0.011496,-0.060147,0.998123]] 2025-10-28T17:28:35.274Z,1761672515.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988901,0.148516,0.004281],[-0.148306,-0.984941,-0.088867],[-0.008981,-0.088516,0.996034]] 2025-10-28T17:28:35.686Z,1761672515.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989747,0.142455,0.010327],[-0.142673,-0.982702,-0.118069],[-0.006671,-0.118332,0.992952]] 2025-10-28T17:28:36.084Z,1761672516.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990551,0.136317,0.015070],[-0.137063,-0.980087,-0.143678],[-0.004816,-0.144386,0.989510]] 2025-10-28T17:28:36.487Z,1761672516.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991152,0.131417,0.018630],[-0.132682,-0.977163,-0.165974],[-0.003607,-0.166977,0.985954]] 2025-10-28T17:28:36.891Z,1761672516.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991493,0.128408,0.021306],[-0.130133,-0.974390,-0.183385],[-0.002788,-0.184598,0.982810]] 2025-10-28T17:28:37.294Z,1761672517.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991508,0.127892,0.023560],[-0.130022,-0.971645,-0.197485],[-0.002364,-0.198871,0.980023]] 2025-10-28T17:28:37.698Z,1761672517.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991182,0.129998,0.025676],[-0.132492,-0.969177,-0.207704],[-0.002116,-0.209274,0.977855]] 2025-10-28T17:28:38.102Z,1761672518.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990437,0.135105,0.027942],[-0.137950,-0.966884,-0.214721],[-0.001994,-0.216523,0.976276]] 2025-10-28T17:28:38.507Z,1761672518.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989351,0.142329,0.030456],[-0.145542,-0.965026,-0.218044],[-0.001643,-0.220155,0.975464]] 2025-10-28T17:28:38.919Z,1761672518.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988008,0.150852,0.032927],[-0.154398,-0.963438,-0.218972],[-0.001309,-0.221430,0.975175]] 2025-10-28T17:28:39.314Z,1761672519.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986428,0.160304,0.035522],[-0.164190,-0.961923,-0.218509],[-0.000859,-0.221376,0.975188]] 2025-10-28T17:28:39.719Z,1761672519.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984713,0.169982,0.038023],[-0.174183,-0.961037,-0.214635],[0.000057,-0.217976,0.975954]] 2025-10-28T17:28:40.123Z,1761672520.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983045,0.178855,0.040405],[-0.183356,-0.960570,-0.209009],[0.001429,-0.212874,0.977079]] 2025-10-28T17:28:40.528Z,1761672520.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981719,0.185637,0.042043],[-0.190313,-0.960915,-0.201055],[0.003076,-0.205381,0.978677]] 2025-10-28T17:28:40.936Z,1761672520.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980978,0.189336,0.042817],[-0.194052,-0.962187,-0.191154],[0.005006,-0.195827,0.980626]] 2025-10-28T17:28:41.335Z,1761672521.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980751,0.190368,0.043456],[-0.195133,-0.963681,-0.182324],[0.007169,-0.187295,0.982278]] 2025-10-28T17:28:41.745Z,1761672521.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980878,0.189643,0.043752],[-0.194411,-0.965243,-0.174671],[0.009106,-0.179837,0.983654]] 2025-10-28T17:28:42.144Z,1761672522.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981151,0.188128,0.044172],[-0.192953,-0.966268,-0.170575],[0.010592,-0.175883,0.984354]] 2025-10-28T17:28:42.547Z,1761672522.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981544,0.186026,0.044333],[-0.190886,-0.967069,-0.168345],[0.011557,-0.173701,0.984731]] 2025-10-28T17:28:42.951Z,1761672522.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982041,0.183348,0.044486],[-0.188263,-0.967743,-0.167424],[0.012354,-0.172792,0.984881]] 2025-10-28T17:28:43.355Z,1761672523.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982460,0.180880,0.045318],[-0.186004,-0.967800,-0.169606],[0.013180,-0.175061,0.984469]] 2025-10-28T17:28:43.771Z,1761672523.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982513,0.180338,0.046332],[-0.185689,-0.967359,-0.172444],[0.013722,-0.178031,0.983929]] 2025-10-28T17:28:43.831Z,1761672523.831 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateRudder:A] Stopped 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:28:43.832Z,1761672523.832 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateCommandMode] Stopped 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:28:43.833Z,1761672523.833 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:28:43.834Z,1761672523.834 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:28:43.834Z,1761672523.834 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:28:43.834Z,1761672523.834 [marl:UpdateSpeed] Stopped 2025-10-28T17:28:43.834Z,1761672523.834 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:28:44.162Z,1761672524.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982082,0.182256,0.047941],[-0.187925,-0.966182,-0.176571],[0.014138,-0.182416,0.983120]] 2025-10-28T17:28:44.198Z,1761672524.198 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:28:44.198Z,1761672524.198 [marl:UpdateRudder:B] Stopped 2025-10-28T17:28:44.198Z,1761672524.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:28:44.198Z,1761672524.198 [marl:UpdateRudder] Stopped 2025-10-28T17:28:44.198Z,1761672524.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:28:44.566Z,1761672524.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981165,0.186542,0.050173],[-0.192609,-0.964540,-0.180457],[0.014731,-0.186722,0.982302]] 2025-10-28T17:28:44.970Z,1761672524.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979847,0.192532,0.053207],[-0.199140,-0.962349,-0.185006],[0.015584,-0.191873,0.981296]] 2025-10-28T17:28:45.376Z,1761672525.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978254,0.199513,0.056686],[-0.206716,-0.960193,-0.187879],[0.016945,-0.195511,0.980555]] 2025-10-28T17:28:45.785Z,1761672525.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976431,0.207287,0.060126],[-0.215044,-0.958127,-0.189075],[0.018416,-0.197548,0.980120]] 2025-10-28T17:28:46.183Z,1761672526.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974449,0.215386,0.063706],[-0.223712,-0.956027,-0.189646],[0.020057,-0.199052,0.979784]] 2025-10-28T17:28:46.587Z,1761672526.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972376,0.223567,0.067096],[-0.232398,-0.954109,-0.188860],[0.021795,-0.199236,0.979709]] 2025-10-28T17:28:46.991Z,1761672526.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970520,0.230642,0.069967],[-0.239884,-0.952509,-0.187567],[0.023383,-0.198822,0.979757]] 2025-10-28T17:28:47.405Z,1761672527.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969101,0.235796,0.072413],[-0.245374,-0.951540,-0.185372],[0.025194,-0.197413,0.979997]] 2025-10-28T17:28:47.799Z,1761672527.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968190,0.239078,0.073825],[-0.248772,-0.951410,-0.181469],[0.026852,-0.194062,0.980622]] 2025-10-28T17:28:48.203Z,1761672528.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967890,0.240050,0.074604],[-0.249801,-0.951659,-0.178733],[0.028093,-0.191630,0.981065]] 2025-10-28T17:28:48.607Z,1761672528.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967932,0.239570,0.075595],[-0.249465,-0.952090,-0.176894],[0.029595,-0.190080,0.981322]] 2025-10-28T17:28:49.025Z,1761672529.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968842,0.235513,0.076678],[-0.245579,-0.953676,-0.173763],[0.032203,-0.187179,0.981798]] 2025-10-28T17:28:49.823Z,1761672529.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969446,0.232821,0.077260],[-0.243043,-0.954297,-0.173918],[0.033237,-0.187381,0.981725]] 2025-10-28T17:28:50.228Z,1761672530.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970194,0.229244,0.078552],[-0.239830,-0.954773,-0.175756],[0.034708,-0.189357,0.981295]] 2025-10-28T17:28:50.273Z,1761672530.273 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:28:50.373Z,1761672530.373 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:28:50.373Z,1761672530.373 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:28:50.626Z,1761672530.626 [DAT](INFO): DAT read: user:65> 2025-10-28T17:28:50.627Z,1761672530.627 [DAT](INFO): DAT read: Tx time:17:28:50.3578 2025-10-28T17:28:50.627Z,1761672530.627 [DAT](INFO): Ping request sent. 2025-10-28T17:28:50.627Z,1761672530.627 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:28:50.627Z,1761672530.627 [DAT](INFO): publishing transmit ping time 2025-10-28T17:28:50.628Z,1761672530.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001034 2025-10-28T17:28:50.651Z,1761672530.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970051,0.229424,0.079790],[-0.240324,-0.954233,-0.178001],[0.035301,-0.191845,0.980790]] 2025-10-28T17:28:50.877Z,1761672530.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249978 2025-10-28T17:28:51.035Z,1761672531.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969462,0.231446,0.081089],[-0.242589,-0.953530,-0.178692],[0.035963,-0.192906,0.980558]] 2025-10-28T17:28:51.129Z,1761672531.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502247 2025-10-28T17:28:51.381Z,1761672531.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753906 2025-10-28T17:28:51.439Z,1761672531.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968531,0.234756,0.082690],[-0.246212,-0.952315,-0.180211],[0.036442,-0.194899,0.980146]] 2025-10-28T17:28:51.633Z,1761672531.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005956 2025-10-28T17:28:51.842Z,1761672531.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967143,0.239829,0.084360],[-0.251547,-0.950814,-0.180765],[0.036858,-0.196046,0.979902]] 2025-10-28T17:28:51.894Z,1761672531.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266769 2025-10-28T17:28:52.145Z,1761672532.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518469 2025-10-28T17:28:52.242Z,1761672532.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965578,0.245626,0.085594],[-0.257494,-0.949197,-0.180891],[0.036814,-0.196704,0.979771]] 2025-10-28T17:28:52.397Z,1761672532.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770313 2025-10-28T17:28:52.647Z,1761672532.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963803,0.252116,0.086726],[-0.264058,-0.947593,-0.179834],[0.036842,-0.196225,0.979867]] 2025-10-28T17:28:52.649Z,1761672532.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021984 2025-10-28T17:28:52.903Z,1761672532.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275732 2025-10-28T17:28:53.050Z,1761672533.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962096,0.258338,0.087363],[-0.270194,-0.946402,-0.176969],[0.036963,-0.193866,0.980331]] 2025-10-28T17:28:53.153Z,1761672533.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525999 2025-10-28T17:28:53.405Z,1761672533.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778368 2025-10-28T17:28:53.461Z,1761672533.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960293,0.264455,0.088882],[-0.276456,-0.944843,-0.175625],[0.037534,-0.193224,0.980437]] 2025-10-28T17:28:53.657Z,1761672533.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029869 2025-10-28T17:28:53.859Z,1761672533.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958784,0.269633,0.089621],[-0.281579,-0.943879,-0.172645],[0.038040,-0.190765,0.980898]] 2025-10-28T17:28:53.910Z,1761672533.910 [DAT](INFO): DAT read: Rx Time:17:28:53.0524 2025-10-28T17:28:53.911Z,1761672533.911 [DAT](INFO): Rx dataTimestamp_ set to:1761672533.910274 2025-10-28T17:28:53.911Z,1761672533.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284398 2025-10-28T17:28:54.161Z,1761672534.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533862 2025-10-28T17:28:54.263Z,1761672534.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957315,0.274439,0.090728],[-0.286433,-0.942833,-0.170358],[0.038788,-0.189074,0.981197]] 2025-10-28T17:28:54.419Z,1761672534.419 [DAT](INFO): DAT read: 17:28:53.0524 LVL= 31712, 21121, 24946, 32755, AGC= 59, IDX= 347, 0.25,-0.217, 1.761, 1.085, 1.055, PHS=-1.170, 0.751,-0.014, RAW= 293.3, 5.2, CAL= 291.2, 1.4, ROT= 218.8, -1.4 2025-10-28T17:28:54.420Z,1761672534.420 [DAT](INFO): got valid direction response: 17:28:53.0524 LVL= 31712, 21121, 24946, 32755, AGC= 59, IDX= 347, 0.25,-0.217, 1.761, 1.085, 1.055, PHS=-1.170, 0.751,-0.014, RAW= 293.3, 5.2, CAL= 291.2, 1.4, ROT= 218.8, -1.4 2025-10-28T17:28:54.421Z,1761672534.421 [DAT](INFO): DAT read: Bearing 172.2, -40.5 (Local) 2025-10-28T17:28:54.421Z,1761672534.421 [DAT](INFO): Local bearing/azimuth received: Bearing 172.2, -40.5 (Local) 2025-10-28T17:28:54.423Z,1761672534.423 [DAT](INFO): DAT read: Range 11 to 20 : 217.8 m (Round-trip 290.5 ms) speed -0.8 m/s 2025-10-28T17:28:54.423Z,1761672534.423 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:28:54.424Z,1761672534.424 [DAT](INFO): direction in FSK: [-0.779105,-0.626417,0.024432] 2025-10-28T17:28:54.425Z,1761672534.425 [DAT](INFO): publishing direction and range info 2025-10-28T17:28:54.675Z,1761672534.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955845,0.278955,0.092440],[-0.291150,-0.941637,-0.168972],[0.039909,-0.188425,0.981276]] 2025-10-28T17:28:54.718Z,1761672534.718 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672576.00. Resetting abort timer. 2025-10-28T17:28:55.071Z,1761672535.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954548,0.282922,0.093777],[-0.295262,-0.940566,-0.167797],[0.040730,-0.187859,0.981351]] 2025-10-28T17:28:55.476Z,1761672535.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953218,0.286935,0.095096],[-0.299432,-0.939388,-0.167005],[0.041413,-0.187667,0.981359]] 2025-10-28T17:28:55.885Z,1761672535.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951715,0.291429,0.096473],[-0.304084,-0.938052,-0.166110],[0.042087,-0.187425,0.981377]] 2025-10-28T17:28:56.282Z,1761672536.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950273,0.295671,0.097772],[-0.308464,-0.936803,-0.165076],[0.042785,-0.187027,0.981423]] 2025-10-28T17:28:56.688Z,1761672536.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948802,0.299852,0.099318],[-0.312877,-0.935337,-0.165086],[0.043394,-0.187708,0.981266]] 2025-10-28T17:28:57.095Z,1761672537.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947505,0.303597,0.100316],[-0.316746,-0.934080,-0.164824],[0.043663,-0.187947,0.981208]] 2025-10-28T17:28:57.119Z,1761672537.119 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:28:57.119Z,1761672537.119 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateRudder:A] Stopped 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:28:57.120Z,1761672537.120 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateCommandMode] Stopped 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:28:57.121Z,1761672537.121 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:28:57.122Z,1761672537.122 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:28:57.122Z,1761672537.122 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:28:57.122Z,1761672537.122 [marl:UpdateSpeed] Stopped 2025-10-28T17:28:57.122Z,1761672537.122 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:28:57.497Z,1761672537.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946374,0.306730,0.101453],[-0.320028,-0.933047,-0.164334],[0.044254,-0.187989,0.981174]] 2025-10-28T17:28:57.522Z,1761672537.522 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:28:57.522Z,1761672537.522 [marl:UpdateRudder:B] Stopped 2025-10-28T17:28:57.522Z,1761672537.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:28:57.522Z,1761672537.522 [marl:UpdateRudder] Stopped 2025-10-28T17:28:57.522Z,1761672537.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:28:57.906Z,1761672537.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945545,0.309070,0.102081],[-0.322426,-0.932327,-0.163733],[0.044568,-0.187731,0.981209]] 2025-10-28T17:28:58.303Z,1761672538.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945080,0.310470,0.102136],[-0.323755,-0.932102,-0.162382],[0.044786,-0.186531,0.981428]] 2025-10-28T17:28:58.709Z,1761672538.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944900,0.311118,0.101827],[-0.324286,-0.932109,-0.161278],[0.044738,-0.185413,0.981642]] 2025-10-28T17:28:59.112Z,1761672539.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944981,0.310989,0.101470],[-0.324085,-0.932209,-0.161108],[0.044489,-0.185129,0.981707]] 2025-10-28T17:28:59.492Z,1761672539.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:28:59.515Z,1761672539.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945167,0.310645,0.100794],[-0.323566,-0.932595,-0.159910],[0.044325,-0.183755,0.981972]] 2025-10-28T17:28:59.919Z,1761672539.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945603,0.309587,0.099951],[-0.322360,-0.933040,-0.159749],[0.043802,-0.183279,0.982085]] 2025-10-28T17:29:00.323Z,1761672540.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945977,0.308649,0.099309],[-0.321317,-0.933397,-0.159765],[0.043383,-0.183044,0.982147]] 2025-10-28T17:29:00.496Z,1761672540.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:29:00.730Z,1761672540.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946153,0.308189,0.099064],[-0.320846,-0.933449,-0.160410],[0.043035,-0.183557,0.982067]] 2025-10-28T17:29:01.130Z,1761672541.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946099,0.308394,0.098947],[-0.321088,-0.933120,-0.161830],[0.042422,-0.184878,0.981845]] 2025-10-28T17:29:01.538Z,1761672541.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945630,0.309727,0.099260],[-0.322559,-0.932215,-0.164108],[0.041703,-0.187202,0.981436]] 2025-10-28T17:29:01.939Z,1761672541.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944901,0.311836,0.099605],[-0.324779,-0.931121,-0.165927],[0.041003,-0.189134,0.981095]] 2025-10-28T17:29:02.344Z,1761672542.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943643,0.315244,0.100791],[-0.328506,-0.929197,-0.169340],[0.040271,-0.192907,0.980390]] 2025-10-28T17:29:02.747Z,1761672542.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941996,0.319786,0.101880],[-0.333251,-0.927232,-0.170836],[0.039836,-0.194878,0.980018]] 2025-10-28T17:29:03.151Z,1761672543.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939913,0.325396,0.103353],[-0.339162,-0.924617,-0.173357],[0.039152,-0.197994,0.979421]] 2025-10-28T17:29:03.575Z,1761672543.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937468,0.331942,0.104734],[-0.345942,-0.921790,-0.175008],[0.038450,-0.200297,0.978981]] 2025-10-28T17:29:03.960Z,1761672543.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934701,0.339205,0.106180],[-0.353395,-0.918862,-0.175510],[0.038031,-0.201573,0.978735]] 2025-10-28T17:29:04.373Z,1761672544.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931651,0.347113,0.107423],[-0.361385,-0.915921,-0.174612],[0.037781,-0.201499,0.978760]] 2025-10-28T17:29:04.771Z,1761672544.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928596,0.355044,0.107950],[-0.369190,-0.913297,-0.172011],[0.037519,-0.199583,0.979162]] 2025-10-28T17:29:05.172Z,1761672545.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925638,0.362470,0.108671],[-0.376561,-0.910669,-0.169954],[0.037360,-0.198237,0.979442]] 2025-10-28T17:29:05.613Z,1761672545.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923101,0.368930,0.108515],[-0.382742,-0.908795,-0.166131],[0.037327,-0.194889,0.980115]] 2025-10-28T17:29:05.978Z,1761672545.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920897,0.374550,0.107985],[-0.387994,-0.907421,-0.161395],[0.037537,-0.190526,0.980964]] 2025-10-28T17:29:06.391Z,1761672546.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919496,0.378436,0.106361],[-0.391293,-0.907039,-0.155466],[0.037640,-0.184569,0.982099]] 2025-10-28T17:29:06.789Z,1761672546.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918875,0.380424,0.104627],[-0.392754,-0.907215,-0.150683],[0.037596,-0.179552,0.983030]] 2025-10-28T17:29:07.193Z,1761672547.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918632,0.381330,0.103459],[-0.393317,-0.907501,-0.147459],[0.037658,-0.176153,0.983642]] 2025-10-28T17:29:07.619Z,1761672547.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918682,0.381415,0.102689],[-0.393231,-0.907685,-0.146552],[0.037312,-0.175016,0.983858]] 2025-10-28T17:29:07.999Z,1761672547.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918789,0.381147,0.102729],[-0.392998,-0.907675,-0.147234],[0.037127,-0.175650,0.983752]] 2025-10-28T17:29:08.414Z,1761672548.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918940,0.380847,0.102498],[-0.392680,-0.907733,-0.147725],[0.036780,-0.176000,0.983703]] 2025-10-28T17:29:08.808Z,1761672548.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918914,0.380831,0.102787],[-0.392788,-0.907366,-0.149679],[0.036263,-0.177916,0.983377]] 2025-10-28T17:29:09.211Z,1761672549.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918428,0.381844,0.103364],[-0.393966,-0.906522,-0.151685],[0.035781,-0.180034,0.983009]] 2025-10-28T17:29:09.623Z,1761672549.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917620,0.383528,0.104305],[-0.395858,-0.905418,-0.153343],[0.035628,-0.182001,0.982653]] 2025-10-28T17:29:10.019Z,1761672550.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916296,0.386107,0.106409],[-0.398927,-0.903430,-0.157072],[0.035486,-0.186374,0.981838]] 2025-10-28T17:29:10.052Z,1761672550.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:29:10.052Z,1761672550.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:29:10.052Z,1761672550.052 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateRudder:A] Stopped 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:29:10.053Z,1761672550.053 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateCommandMode] Stopped 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:29:10.054Z,1761672550.054 [marl:UpdateSpeed] Stopped 2025-10-28T17:29:10.055Z,1761672550.055 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:29:10.430Z,1761672550.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914658,0.389551,0.107940],[-0.402693,-0.901352,-0.159381],[0.035205,-0.189246,0.981298]] 2025-10-28T17:29:10.487Z,1761672550.487 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:29:10.487Z,1761672550.487 [marl:UpdateRudder:B] Stopped 2025-10-28T17:29:10.487Z,1761672550.487 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:29:10.487Z,1761672550.487 [marl:UpdateRudder] Stopped 2025-10-28T17:29:10.487Z,1761672550.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:29:10.827Z,1761672550.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912965,0.393053,0.109568],[-0.406529,-0.899255,-0.161475],[0.035061,-0.191964,0.980776]] 2025-10-28T17:29:11.230Z,1761672551.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911230,0.396716,0.110800],[-0.410439,-0.897155,-0.163253],[0.034639,-0.194238,0.980343]] 2025-10-28T17:29:11.636Z,1761672551.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909906,0.399501,0.111667],[-0.413404,-0.895514,-0.164776],[0.034171,-0.196095,0.979989]] 2025-10-28T17:29:12.040Z,1761672552.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909049,0.401375,0.111929],[-0.415333,-0.894448,-0.165717],[0.033600,-0.197133,0.979801]] 2025-10-28T17:29:12.447Z,1761672552.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908664,0.402403,0.111362],[-0.416194,-0.894253,-0.164605],[0.033348,-0.195919,0.980053]] 2025-10-28T17:29:12.856Z,1761672552.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909273,0.401023,0.111368],[-0.414875,-0.894659,-0.165724],[0.033177,-0.196892,0.979864]] 2025-10-28T17:29:13.255Z,1761672553.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911717,0.394834,0.113481],[-0.409428,-0.895987,-0.171977],[0.033775,-0.203256,0.978543]] 2025-10-28T17:29:13.660Z,1761672553.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915832,0.383188,0.120076],[-0.400038,-0.896632,-0.189790],[0.034939,-0.221850,0.974455]] 2025-10-28T17:29:14.169Z,1761672554.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920649,0.368102,0.130023],[-0.388655,-0.895599,-0.216447],[0.036774,-0.249806,0.967597]] 2025-10-28T17:29:14.609Z,1761672554.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925498,0.351568,0.140903],[-0.376754,-0.892709,-0.247239],[0.038864,-0.281905,0.958655]] 2025-10-28T17:29:15.023Z,1761672555.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930316,0.334632,0.150113],[-0.364445,-0.889372,-0.276038],[0.041135,-0.311511,0.949352]] 2025-10-28T17:29:15.415Z,1761672555.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935102,0.317630,0.157150],[-0.351705,-0.886185,-0.301628],[0.043458,-0.337323,0.940385]] 2025-10-28T17:29:15.819Z,1761672555.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939663,0.301011,0.162559],[-0.338968,-0.883393,-0.323602],[0.046196,-0.359179,0.932125]] 2025-10-28T17:29:16.223Z,1761672556.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943922,0.285225,0.166304],[-0.326503,-0.881220,-0.341829],[0.049052,-0.376959,0.924930]] 2025-10-28T17:29:17.030Z,1761672557.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952769,0.253883,0.166655],[-0.298693,-0.882562,-0.363135],[0.054890,-0.395763,0.916711]] 2025-10-28T17:29:17.840Z,1761672557.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961767,0.222006,0.160368],[-0.267058,-0.890025,-0.369508],[0.060699,-0.398208,0.915285]] 2025-10-28T17:29:18.244Z,1761672558.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965941,0.206522,0.155904],[-0.250921,-0.894764,-0.369373],[0.063214,-0.395912,0.916110]] 2025-10-28T17:29:18.670Z,1761672558.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973754,0.175258,0.145219],[-0.217439,-0.904860,-0.365991],[0.067260,-0.387961,0.919218]] 2025-10-28T17:29:19.067Z,1761672559.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977237,0.159469,0.139922],[-0.200650,-0.908951,-0.365441],[0.068906,-0.385197,0.920258]] 2025-10-28T17:29:19.477Z,1761672559.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980637,0.143472,0.133295],[-0.183135,-0.912963,-0.364637],[0.069378,-0.381988,0.921560]] 2025-10-28T17:29:19.907Z,1761672559.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983790,0.127436,0.126166],[-0.165512,-0.916050,-0.365319],[0.069019,-0.380279,0.922293]] 2025-10-28T17:29:20.310Z,1761672560.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986607,0.111660,0.118907],[-0.148025,-0.919126,-0.365097],[0.068523,-0.377808,0.923345]] 2025-10-28T17:29:20.715Z,1761672560.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989092,0.095893,0.111808],[-0.130809,-0.920793,-0.367462],[0.067715,-0.378080,0.923293]] 2025-10-28T17:29:21.121Z,1761672561.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991232,0.080528,0.104758],[-0.114036,-0.921851,-0.370386],[0.066745,-0.379085,0.922952]] 2025-10-28T17:29:21.523Z,1761672561.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992999,0.066028,0.097943],[-0.098120,-0.922742,-0.372720],[0.065766,-0.379721,0.922760]] 2025-10-28T17:29:21.990Z,1761672561.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994420,0.052386,0.091569],[-0.083196,-0.923135,-0.375367],[0.064866,-0.380890,0.922342]] 2025-10-28T17:29:22.369Z,1761672562.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995636,0.039009,0.084784],[-0.068295,-0.923684,-0.377019],[0.063607,-0.381163,0.922317]] 2025-10-28T17:29:22.803Z,1761672562.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996593,0.026721,0.078023],[-0.054348,-0.924360,-0.377631],[0.062030,-0.380585,0.922663]] 2025-10-28T17:29:23.226Z,1761672563.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997405,0.013786,0.070658],[-0.039551,-0.925037,-0.377814],[0.060153,-0.379628,0.923182]] 2025-10-28T17:29:23.635Z,1761672563.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998021,0.001151,0.062868],[-0.024906,-0.925292,-0.378436],[0.057736,-0.379253,0.923490]] 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateRudder:A] Stopped 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:29:23.706Z,1761672563.706 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateCommandMode] Stopped 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:29:23.707Z,1761672563.707 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:29:23.708Z,1761672563.708 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:29:23.708Z,1761672563.708 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:29:23.708Z,1761672563.708 [marl:UpdateSpeed] Stopped 2025-10-28T17:29:23.708Z,1761672563.708 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:29:24.008Z,1761672564.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998430,-0.011189,0.054879],[-0.010415,-0.925661,-0.378210],[0.055032,-0.378187,0.924092]] 2025-10-28T17:29:24.035Z,1761672564.035 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:29:24.036Z,1761672564.036 [marl:UpdateRudder:B] Stopped 2025-10-28T17:29:24.036Z,1761672564.036 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:29:24.036Z,1761672564.036 [marl:UpdateRudder] Stopped 2025-10-28T17:29:24.036Z,1761672564.036 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:29:24.414Z,1761672564.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998610,-0.024379,0.046736],[0.004857,-0.925409,-0.378940],[0.052488,-0.378186,0.924241]] 2025-10-28T17:29:24.815Z,1761672564.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998538,-0.037548,0.038872],[0.020000,-0.924914,-0.379650],[0.050209,-0.378317,0.924313]] 2025-10-28T17:29:25.219Z,1761672565.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998243,-0.050728,0.030623],[0.035416,-0.925120,-0.378018],[0.047506,-0.376270,0.925292]] 2025-10-28T17:29:25.627Z,1761672565.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997650,-0.064860,0.022078],[0.051805,-0.924985,-0.376455],[0.044839,-0.374427,0.926172]] 2025-10-28T17:29:26.029Z,1761672566.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996743,-0.079537,0.013335],[0.068760,-0.924534,-0.374845],[0.042143,-0.372707,0.926992]] 2025-10-28T17:29:26.433Z,1761672566.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995556,-0.094053,0.004633],[0.085525,-0.923682,-0.373493],[0.039407,-0.371437,0.927621]] 2025-10-28T17:29:26.844Z,1761672566.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994070,-0.108669,-0.003976],[0.102340,-0.922567,-0.372017],[0.036759,-0.370218,0.928217]] 2025-10-28T17:29:27.239Z,1761672567.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992220,-0.123855,-0.012593],[0.119739,-0.921740,-0.368861],[0.034078,-0.367499,0.929399]] 2025-10-28T17:29:27.644Z,1761672567.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989890,-0.140121,-0.022003],[0.138398,-0.920235,-0.366079],[0.031047,-0.365423,0.930324]] 2025-10-28T17:29:28.047Z,1761672568.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987191,-0.156434,-0.031345],[0.157065,-0.918412,-0.363111],[0.028015,-0.363383,0.931218]] 2025-10-28T17:29:28.454Z,1761672568.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984086,-0.172990,-0.040608],[0.175906,-0.916098,-0.360307],[0.025129,-0.361716,0.931949]] 2025-10-28T17:29:28.861Z,1761672568.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980606,-0.189461,-0.050171],[0.194744,-0.913068,-0.358304],[0.022075,-0.361125,0.932256]] 2025-10-28T17:29:29.261Z,1761672569.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976843,-0.205531,-0.059453],[0.213085,-0.909483,-0.356980],[0.019299,-0.361382,0.932218]] 2025-10-28T17:29:29.663Z,1761672569.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972881,-0.220851,-0.068757],[0.230732,-0.905657,-0.355737],[0.016294,-0.361954,0.932054]] 2025-10-28T17:29:30.071Z,1761672570.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968928,-0.234841,-0.077641],[0.246980,-0.901590,-0.355158],[0.013405,-0.363298,0.931576]] 2025-10-28T17:29:30.473Z,1761672570.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964996,-0.247722,-0.086125],[0.262050,-0.897387,-0.355003],[0.010655,-0.365145,0.930890]] 2025-10-28T17:29:30.620Z,1761672570.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:29:30.875Z,1761672570.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961072,-0.259764,-0.094145],[0.276183,-0.893378,-0.354398],[0.007953,-0.366603,0.930344]] 2025-10-28T17:29:31.279Z,1761672571.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957216,-0.270819,-0.101958],[0.289326,-0.889112,-0.354642],[0.005392,-0.368968,0.929427]] 2025-10-28T17:29:31.624Z,1761672571.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:29:31.683Z,1761672571.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953321,-0.281504,-0.109246],[0.301943,-0.885019,-0.354362],[0.003070,-0.370806,0.928705]] 2025-10-28T17:29:32.091Z,1761672572.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949240,-0.292354,-0.116068],[0.314550,-0.881196,-0.352919],[0.000899,-0.371514,0.928427]] 2025-10-28T17:29:32.505Z,1761672572.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945071,-0.302923,-0.122793],[0.326863,-0.876788,-0.352708],[-0.000820,-0.373470,0.927642]] 2025-10-28T17:29:32.903Z,1761672572.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940720,-0.313760,-0.128842],[0.339178,-0.872549,-0.351593],[-0.002105,-0.374450,0.927245]] 2025-10-28T17:29:33.300Z,1761672573.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935786,-0.325680,-0.135042],[0.352552,-0.868020,-0.349640],[-0.003349,-0.374798,0.927101]] 2025-10-28T17:29:33.706Z,1761672573.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930285,-0.338571,-0.141205],[0.366812,-0.863042,-0.347285],[-0.004285,-0.374870,0.927068]] 2025-10-28T17:29:34.110Z,1761672574.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924087,-0.352500,-0.147671],[0.382149,-0.857334,-0.344878],[-0.005034,-0.375130,0.926959]] 2025-10-28T17:29:34.512Z,1761672574.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917127,-0.367409,-0.154561],[0.398553,-0.850930,-0.342160],[-0.005808,-0.375405,0.926843]] 2025-10-28T17:29:34.917Z,1761672574.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909781,-0.382331,-0.161623],[0.415035,-0.844181,-0.339271],[-0.006725,-0.375741,0.926700]] 2025-10-28T17:29:35.329Z,1761672575.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902024,-0.397242,-0.168969],[0.431614,-0.837033,-0.336282],[-0.007847,-0.376264,0.926479]] 2025-10-28T17:29:35.723Z,1761672575.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893734,-0.412585,-0.176106],[0.448503,-0.829852,-0.331948],[-0.009185,-0.375658,0.926713]] 2025-10-28T17:29:36.143Z,1761672576.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885348,-0.427487,-0.182793],[0.464809,-0.822757,-0.327144],[-0.010545,-0.374600,0.927126]] 2025-10-28T17:29:36.532Z,1761672576.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876754,-0.441997,-0.189583],[0.480777,-0.815743,-0.321585],[-0.012511,-0.373098,0.927707]] 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateRudder:A] Stopped 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:29:36.562Z,1761672576.562 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode] Stopped 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:29:36.563Z,1761672576.563 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:29:36.564Z,1761672576.564 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:29:36.564Z,1761672576.564 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:29:36.564Z,1761672576.564 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:29:36.564Z,1761672576.564 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:29:36.564Z,1761672576.564 [marl:UpdateSpeed] Stopped 2025-10-28T17:29:36.565Z,1761672576.565 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:29:36.937Z,1761672576.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867930,-0.456274,-0.196243],[0.496463,-0.808801,-0.315221],[-0.014894,-0.371017,0.928506]] 2025-10-28T17:29:36.961Z,1761672576.961 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:29:36.961Z,1761672576.961 [marl:UpdateRudder:B] Stopped 2025-10-28T17:29:36.962Z,1761672576.962 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:29:36.962Z,1761672576.962 [marl:UpdateRudder] Stopped 2025-10-28T17:29:36.962Z,1761672576.962 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:29:37.354Z,1761672577.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859168,-0.469811,-0.202752],[0.511393,-0.801955,-0.308780],[-0.017530,-0.368980,0.929272]] 2025-10-28T17:29:37.747Z,1761672577.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850286,-0.483094,-0.208887],[0.525937,-0.795030,-0.302188],[-0.020086,-0.366807,0.930080]] 2025-10-28T17:29:38.151Z,1761672578.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841680,-0.495012,-0.215728],[0.539500,-0.787702,-0.297430],[-0.022698,-0.366726,0.930052]] 2025-10-28T17:29:38.554Z,1761672578.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833041,-0.506937,-0.221490],[0.552647,-0.780667,-0.291788],[-0.024992,-0.365477,0.930485]] 2025-10-28T17:29:38.955Z,1761672578.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824421,-0.517865,-0.228355],[0.565335,-0.772691,-0.288695],[-0.026943,-0.367103,0.929790]] 2025-10-28T17:29:39.359Z,1761672579.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815302,-0.529573,-0.234168],[0.578322,-0.764812,-0.283914],[-0.028741,-0.366900,0.929816]] 2025-10-28T17:29:39.782Z,1761672579.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806046,-0.541075,-0.239850],[0.591088,-0.756538,-0.279759],[-0.030085,-0.367271,0.929627]] 2025-10-28T17:29:40.183Z,1761672580.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796560,-0.552425,-0.245600],[0.603771,-0.747670,-0.276498],[-0.030883,-0.368533,0.929102]] 2025-10-28T17:29:40.603Z,1761672580.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786361,-0.564232,-0.251552],[0.616918,-0.738581,-0.271865],[-0.032397,-0.368971,0.928876]] 2025-10-28T17:29:41.407Z,1761672581.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764698,-0.587730,-0.264217],[0.643298,-0.720126,-0.259973],[-0.037475,-0.368771,0.928764]] 2025-10-28T17:29:41.821Z,1761672581.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753755,-0.598832,-0.270654],[0.655908,-0.710922,-0.253721],[-0.040477,-0.368768,0.928640]] 2025-10-28T17:29:42.215Z,1761672582.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742404,-0.610048,-0.276906],[0.668517,-0.701611,-0.246630],[-0.043824,-0.368215,0.928707]] 2025-10-28T17:29:42.620Z,1761672582.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731146,-0.620794,-0.282914],[0.680586,-0.692413,-0.239515],[-0.047204,-0.367667,0.928759]] 2025-10-28T17:29:43.024Z,1761672583.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719989,-0.631244,-0.288352],[0.692129,-0.683518,-0.231863],[-0.050732,-0.366516,0.929028]] 2025-10-28T17:29:43.426Z,1761672583.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708911,-0.640909,-0.294414],[0.703218,-0.674325,-0.225323],[-0.054119,-0.366772,0.928736]] 2025-10-28T17:29:43.837Z,1761672583.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697773,-0.650687,-0.299532],[0.714033,-0.665199,-0.218328],[-0.057185,-0.366219,0.928770]] 2025-10-28T17:29:44.243Z,1761672584.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686553,-0.659851,-0.305355],[0.724588,-0.655677,-0.212274],[-0.060145,-0.366994,0.928277]] 2025-10-28T17:29:44.641Z,1761672584.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675398,-0.669083,-0.310105],[0.734801,-0.646212,-0.206102],[-0.062494,-0.367066,0.928093]] 2025-10-28T17:29:45.042Z,1761672585.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664388,-0.678171,-0.314123],[0.744631,-0.636700,-0.200343],[-0.064135,-0.367012,0.928003]] 2025-10-28T17:29:45.447Z,1761672585.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652413,-0.688024,-0.317774],[0.755014,-0.626394,-0.193869],[-0.065665,-0.366407,0.928135]] 2025-10-28T17:29:45.854Z,1761672585.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640125,-0.697369,-0.322361],[0.765332,-0.615496,-0.188236],[-0.067142,-0.367207,0.927713]] 2025-10-28T17:29:46.265Z,1761672586.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627120,-0.706843,-0.327250],[0.775885,-0.603935,-0.182387],[-0.068719,-0.368287,0.927169]] 2025-10-28T17:29:46.658Z,1761672586.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613499,-0.716794,-0.331399],[0.786562,-0.592000,-0.175658],[-0.070277,-0.368432,0.926995]] 2025-10-28T17:29:47.063Z,1761672587.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599513,-0.726830,-0.335115],[0.797127,-0.579855,-0.168394],[-0.071924,-0.368084,0.927007]] 2025-10-28T17:29:47.467Z,1761672587.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585102,-0.737047,-0.338257],[0.807585,-0.567573,-0.160209],[-0.073904,-0.366910,0.927316]] 2025-10-28T17:29:47.873Z,1761672587.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570714,-0.747086,-0.340805],[0.817619,-0.555451,-0.151570],[-0.076064,-0.365152,0.927835]] 2025-10-28T17:29:48.274Z,1761672588.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555959,-0.756885,-0.343563],[0.827498,-0.543004,-0.142808],[-0.078467,-0.363693,0.928208]] 2025-10-28T17:29:48.718Z,1761672588.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525807,-0.775122,-0.350304],[0.846465,-0.517395,-0.125699],[-0.083814,-0.362613,0.928163]] 2025-10-28T17:29:49.114Z,1761672589.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510683,-0.784145,-0.352590],[0.855371,-0.504809,-0.116224],[-0.086854,-0.360948,0.928533]] 2025-10-28T17:29:49.515Z,1761672589.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495317,-0.792612,-0.355567],[0.864050,-0.491851,-0.107244],[-0.089883,-0.360347,0.928478]] 2025-10-28T17:29:49.565Z,1761672589.565 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:29:49.565Z,1761672589.565 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:29:49.565Z,1761672589.565 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:29:49.567Z,1761672589.567 [marl:UpdateRudder:A] Stopped 2025-10-28T17:29:49.567Z,1761672589.567 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:29:49.568Z,1761672589.568 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:29:49.568Z,1761672589.568 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:29:49.569Z,1761672589.569 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:29:49.570Z,1761672589.570 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:29:49.570Z,1761672589.570 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:29:49.570Z,1761672589.570 [marl:UpdateCommandMode] Stopped 2025-10-28T17:29:49.571Z,1761672589.571 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:29:49.571Z,1761672589.571 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:29:49.572Z,1761672589.572 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:29:49.576Z,1761672589.576 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:29:49.577Z,1761672589.577 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:29:49.578Z,1761672589.578 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:29:49.578Z,1761672589.578 [marl:UpdateSpeed] Stopped 2025-10-28T17:29:49.578Z,1761672589.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:29:50.030Z,1761672590.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480131,-0.800490,-0.358732],[0.872317,-0.478786,-0.099136],[-0.092398,-0.360527,0.928161]] 2025-10-28T17:29:50.103Z,1761672590.103 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:29:50.103Z,1761672590.103 [marl:UpdateRudder:B] Stopped 2025-10-28T17:29:50.103Z,1761672590.103 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:29:50.103Z,1761672590.103 [marl:UpdateRudder] Stopped 2025-10-28T17:29:50.103Z,1761672590.103 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:29:50.359Z,1761672590.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465678,-0.807303,-0.362499],[0.879871,-0.466216,-0.092028],[-0.094708,-0.361807,0.927430]] 2025-10-28T17:29:50.400Z,1761672590.400 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:29:50.641Z,1761672590.641 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:29:50.641Z,1761672590.641 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:29:50.771Z,1761672590.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451852,-0.813248,-0.366686],[0.886788,-0.454226,-0.085355],[-0.097144,-0.363740,0.926421]] 2025-10-28T17:29:50.893Z,1761672590.893 [DAT](INFO): DAT read: user:66> 2025-10-28T17:29:50.894Z,1761672590.894 [DAT](INFO): DAT read: Tx time:17:29:50.6575 2025-10-28T17:29:50.894Z,1761672590.894 [DAT](INFO): Ping request sent. 2025-10-28T17:29:50.894Z,1761672590.894 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:29:50.894Z,1761672590.894 [DAT](INFO): publishing transmit ping time 2025-10-28T17:29:50.895Z,1761672590.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T17:29:51.145Z,1761672591.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250802 2025-10-28T17:29:51.163Z,1761672591.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438130,-0.820051,-0.368181],[0.893350,-0.442710,-0.077023],[-0.099835,-0.362661,0.926558]] 2025-10-28T17:29:51.397Z,1761672591.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502800 2025-10-28T17:29:51.607Z,1761672591.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426522,-0.826522,-0.367342],[0.898596,-0.433465,-0.068063],[-0.102974,-0.359123,0.927592]] 2025-10-28T17:29:51.649Z,1761672591.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754929 2025-10-28T17:29:51.901Z,1761672591.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006856 2025-10-28T17:29:51.971Z,1761672591.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418461,-0.833372,-0.361085],[0.901877,-0.428239,-0.056825],[-0.107275,-0.349433,0.930800]] 2025-10-28T17:29:52.153Z,1761672592.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259381 2025-10-28T17:29:52.374Z,1761672592.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413988,-0.841672,-0.346702],[0.903361,-0.426754,-0.042671],[-0.112041,-0.330862,0.937004]] 2025-10-28T17:29:52.405Z,1761672592.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510986 2025-10-28T17:29:52.657Z,1761672592.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762797 2025-10-28T17:29:52.791Z,1761672592.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411967,-0.848879,-0.331191],[0.903659,-0.427277,-0.028901],[-0.116977,-0.311190,0.943121]] 2025-10-28T17:29:52.909Z,1761672592.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014758 2025-10-28T17:29:53.161Z,1761672593.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266886 2025-10-28T17:29:53.183Z,1761672593.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411638,-0.854623,-0.316501],[0.903174,-0.428962,-0.016364],[-0.121782,-0.292592,0.948451]] 2025-10-28T17:29:53.413Z,1761672593.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518797 2025-10-28T17:29:53.615Z,1761672593.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411931,-0.859410,-0.302865],[0.902421,-0.430827,-0.004882],[-0.126286,-0.275323,0.953021]] 2025-10-28T17:29:53.665Z,1761672593.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770961 2025-10-28T17:29:53.917Z,1761672593.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022868 2025-10-28T17:29:53.992Z,1761672593.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411817,-0.863810,-0.290239],[0.901932,-0.431843,0.005508],[-0.130096,-0.259508,0.956938]] 2025-10-28T17:29:54.173Z,1761672594.173 [DAT](INFO): DAT read: Rx Time:17:29:53.4158 2025-10-28T17:29:54.173Z,1761672594.173 [DAT](INFO): Rx dataTimestamp_ set to:1761672594.173018 2025-10-28T17:29:54.174Z,1761672594.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280043 2025-10-28T17:29:54.395Z,1761672594.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410554,-0.868121,-0.278948],[0.902003,-0.431461,0.015197],[-0.133548,-0.245373,0.960186]] 2025-10-28T17:29:54.421Z,1761672594.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526929 2025-10-28T17:29:54.678Z,1761672594.678 [DAT](INFO): DAT read: 17:29:53.4158 LVL= 17712, 20177, 12018, 19219, AGC= 56, IDX= 55, 0.26,-2.359,-2.327,-0.405,-1.931, PHS=-0.326,-0.350, 1.482, RAW= 209.3, -8.9, CAL= 208.5, -12.1, ROT= 301.5, 12.1 2025-10-28T17:29:54.679Z,1761672594.679 [DAT](INFO): got valid direction response: 17:29:53.4158 LVL= 17712, 20177, 12018, 19219, AGC= 56, IDX= 55, 0.26,-2.359,-2.327,-0.405,-1.931, PHS=-0.326,-0.350, 1.482, RAW= 209.3, -8.9, CAL= 208.5, -12.1, ROT= 301.5, 12.1 2025-10-28T17:29:54.680Z,1761672594.680 [DAT](INFO): DAT read: Bearing 214.0, -53.7 (Local) 2025-10-28T17:29:54.681Z,1761672594.681 [DAT](INFO): Local bearing/azimuth received: Bearing 214.0, -53.7 (Local) 2025-10-28T17:29:54.682Z,1761672594.682 [DAT](INFO): DAT read: Range 11 to 20 : 265.5 m (Round-trip 354.1 ms) speed 0.0 m/s 2025-10-28T17:29:54.683Z,1761672594.683 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:29:54.684Z,1761672594.684 [DAT](INFO): direction in FSK: [0.510891,-0.833697,-0.209619] 2025-10-28T17:29:54.690Z,1761672594.690 [DAT](INFO): publishing direction and range info 2025-10-28T17:29:54.809Z,1761672594.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408895,-0.871734,-0.269972],[0.902293,-0.430485,0.023430],[-0.136644,-0.234013,0.962583]] 2025-10-28T17:29:54.880Z,1761672594.880 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672576.00. Resetting abort timer. 2025-10-28T17:29:55.202Z,1761672595.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407090,-0.874482,-0.263741],[0.902635,-0.429339,0.030313],[-0.139742,-0.225722,0.964117]] 2025-10-28T17:29:55.625Z,1761672595.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404488,-0.876767,-0.260131],[0.903243,-0.427565,0.036614],[-0.143325,-0.220151,0.964879]] 2025-10-28T17:29:56.011Z,1761672596.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401477,-0.878675,-0.258354],[0.903932,-0.425548,0.042616],[-0.147388,-0.216425,0.965110]] 2025-10-28T17:29:56.415Z,1761672596.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398172,-0.880333,-0.257822],[0.904634,-0.423406,0.048630],[-0.151975,-0.213872,0.964968]] 2025-10-28T17:29:56.830Z,1761672596.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395367,-0.881240,-0.259039],[0.905062,-0.421865,0.053786],[-0.156678,-0.213181,0.964368]] 2025-10-28T17:29:57.222Z,1761672597.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393507,-0.881579,-0.260711],[0.905091,-0.421215,0.058206],[-0.161128,-0.213063,0.963661]] 2025-10-28T17:29:57.627Z,1761672597.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392814,-0.881746,-0.261191],[0.904652,-0.421539,0.062523],[-0.165232,-0.211728,0.963260]] 2025-10-28T17:29:58.031Z,1761672598.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393251,-0.880855,-0.263530],[0.903748,-0.423039,0.065408],[-0.169098,-0.212443,0.962431]] 2025-10-28T17:29:58.436Z,1761672598.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394451,-0.879670,-0.265685],[0.902573,-0.425177,0.067730],[-0.172543,-0.213083,0.961678]] 2025-10-28T17:29:58.841Z,1761672598.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396985,-0.878025,-0.267348],[0.901003,-0.428323,0.068800],[-0.174920,-0.213569,0.961141]] 2025-10-28T17:29:59.243Z,1761672599.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400208,-0.876194,-0.268549],[0.899350,-0.431813,0.068612],[-0.176080,-0.214060,0.960819]] 2025-10-28T17:29:59.646Z,1761672599.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404069,-0.873902,-0.270227],[0.897842,-0.435411,0.065560],[-0.174952,-0.216131,0.960562]] 2025-10-28T17:30:00.053Z,1761672600.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408404,-0.871896,-0.270190],[0.896579,-0.438726,0.060539],[-0.171323,-0.217522,0.960902]] 2025-10-28T17:30:00.454Z,1761672600.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412630,-0.870162,-0.269359],[0.895726,-0.441359,0.053646],[-0.165564,-0.219136,0.961545]] 2025-10-28T17:30:00.859Z,1761672600.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416510,-0.868713,-0.268060],[0.895211,-0.443299,0.045645],[-0.158483,-0.220959,0.962320]] 2025-10-28T17:30:01.262Z,1761672601.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418641,-0.868587,-0.265134],[0.895511,-0.443370,0.038499],[-0.150993,-0.221313,0.963443]] 2025-10-28T17:30:01.670Z,1761672601.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418988,-0.869029,-0.263131],[0.896599,-0.441739,0.031237],[-0.143381,-0.222835,0.964254]] 2025-10-28T17:30:01.761Z,1761672601.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:30:02.071Z,1761672602.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417408,-0.870323,-0.261358],[0.898410,-0.438436,0.025165],[-0.136490,-0.224303,0.964914]] 2025-10-28T17:30:02.475Z,1761672602.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414396,-0.872055,-0.260377],[0.900765,-0.433869,0.019527],[-0.129998,-0.226447,0.965309]] 2025-10-28T17:30:02.515Z,1761672602.515 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:30:02.516Z,1761672602.516 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:30:02.520Z,1761672602.520 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:30:02.520Z,1761672602.520 [marl:UpdateRudder:A] Stopped 2025-10-28T17:30:02.520Z,1761672602.520 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:30:02.520Z,1761672602.520 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:30:02.521Z,1761672602.520 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateCommandMode] Stopped 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:30:02.521Z,1761672602.521 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:30:02.522Z,1761672602.522 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:30:02.522Z,1761672602.522 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:30:02.522Z,1761672602.522 [marl:UpdateSpeed] Stopped 2025-10-28T17:30:02.522Z,1761672602.522 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:30:02.764Z,1761672602.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:30:02.879Z,1761672602.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411424,-0.874010,-0.258529],[0.902959,-0.429468,0.014930],[-0.124079,-0.227298,0.965888]] 2025-10-28T17:30:02.903Z,1761672602.903 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:30:02.903Z,1761672602.903 [marl:UpdateRudder:B] Stopped 2025-10-28T17:30:02.903Z,1761672602.903 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:30:02.903Z,1761672602.903 [marl:UpdateRudder] Stopped 2025-10-28T17:30:02.903Z,1761672602.903 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:30:03.293Z,1761672603.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408167,-0.875846,-0.257476],[0.905119,-0.425018,0.010914],[-0.118991,-0.228592,0.966223]] 2025-10-28T17:30:03.686Z,1761672603.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404092,-0.878141,-0.256081],[0.907496,-0.419982,0.008167],[-0.114721,-0.229093,0.966621]] 2025-10-28T17:30:04.091Z,1761672604.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400028,-0.880164,-0.255516],[0.909687,-0.415248,0.006204],[-0.111563,-0.229958,0.966785]] 2025-10-28T17:30:04.495Z,1761672604.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395681,-0.882358,-0.254718],[0.911850,-0.410486,0.005472],[-0.109386,-0.230099,0.967000]] 2025-10-28T17:30:04.899Z,1761672604.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391209,-0.884722,-0.253421],[0.913924,-0.405842,0.006004],[-0.108161,-0.229259,0.967337]] 2025-10-28T17:30:05.305Z,1761672605.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386499,-0.886877,-0.253117],[0.915990,-0.401143,0.006857],[-0.107618,-0.229202,0.967411]] 2025-10-28T17:30:05.706Z,1761672605.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380174,-0.889102,-0.254881],[0.918707,-0.394875,0.007123],[-0.106979,-0.231453,0.966946]] 2025-10-28T17:30:06.112Z,1761672606.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371084,-0.889975,-0.265032],[0.922561,-0.385832,0.003898],[-0.105727,-0.243062,0.964232]] 2025-10-28T17:30:06.515Z,1761672606.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359674,-0.889253,-0.282602],[0.927252,-0.374433,-0.001920],[-0.104108,-0.262733,0.959235]] 2025-10-28T17:30:07.327Z,1761672607.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336500,-0.883855,-0.324911],[0.936505,-0.350234,-0.017167],[-0.098622,-0.310058,0.945589]] 2025-10-28T17:30:07.753Z,1761672607.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325033,-0.880899,-0.344049],[0.940892,-0.337870,-0.023810],[-0.095269,-0.331452,0.938650]] 2025-10-28T17:30:08.151Z,1761672608.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313744,-0.878178,-0.361065],[0.945090,-0.325464,-0.029637],[-0.091487,-0.350538,0.932069]] 2025-10-28T17:30:08.558Z,1761672608.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302754,-0.875738,-0.376062],[0.949103,-0.312990,-0.035229],[-0.086852,-0.367587,0.925925]] 2025-10-28T17:30:08.959Z,1761672608.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291945,-0.873709,-0.389102],[0.953019,-0.300095,-0.041206],[-0.080765,-0.382852,0.920272]] 2025-10-28T17:30:09.363Z,1761672609.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281276,-0.873424,-0.397511],[0.956846,-0.286782,-0.046931],[-0.073009,-0.393557,0.916397]] 2025-10-28T17:30:09.778Z,1761672609.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271235,-0.874136,-0.402887],[0.960382,-0.273623,-0.052882],[-0.064013,-0.401269,0.913721]] 2025-10-28T17:30:10.173Z,1761672610.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261486,-0.876455,-0.404292],[0.963727,-0.260269,-0.059083],[-0.053442,-0.405076,0.912720]] 2025-10-28T17:30:10.576Z,1761672610.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252063,-0.880014,-0.402543],[0.966817,-0.246886,-0.065670],[-0.041591,-0.405738,0.913043]] 2025-10-28T17:30:10.978Z,1761672610.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242668,-0.884071,-0.399414],[0.969678,-0.233328,-0.072686],[-0.028934,-0.404941,0.913885]] 2025-10-28T17:30:11.383Z,1761672611.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232301,-0.888590,-0.395530],[0.972508,-0.219003,-0.079160],[-0.016281,-0.403044,0.915036]] 2025-10-28T17:30:11.793Z,1761672611.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219631,-0.893497,-0.391695],[0.975572,-0.203056,-0.083831],[-0.004633,-0.400539,0.916268]] 2025-10-28T17:30:12.192Z,1761672612.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203863,-0.899064,-0.387458],[0.978986,-0.185167,-0.085434],[0.005067,-0.396733,0.917920]] 2025-10-28T17:30:12.622Z,1761672612.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185799,-0.904506,-0.383858],[0.982502,-0.165871,-0.084711],[0.012951,-0.392881,0.919498]] 2025-10-28T17:30:13.024Z,1761672613.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167334,-0.909402,-0.380772],[0.985699,-0.146518,-0.083245],[0.019913,-0.389256,0.920914]] 2025-10-28T17:30:13.453Z,1761672613.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148962,-0.913748,-0.377988],[0.988506,-0.127620,-0.081052],[0.025822,-0.385717,0.922256]] 2025-10-28T17:30:13.852Z,1761672613.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130107,-0.917322,-0.376287],[0.991027,-0.108601,-0.077913],[0.030606,-0.383048,0.923221]] 2025-10-28T17:30:14.261Z,1761672614.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111352,-0.919783,-0.376297],[0.993192,-0.089967,-0.073996],[0.034206,-0.381975,0.923539]] 2025-10-28T17:30:14.658Z,1761672614.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093171,-0.922213,-0.375289],[0.994954,-0.072151,-0.069713],[0.037213,-0.379891,0.924282]] 2025-10-28T17:30:15.066Z,1761672615.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075884,-0.923877,-0.375092],[0.996317,-0.055192,-0.065622],[0.039925,-0.378690,0.924662]] 2025-10-28T17:30:15.466Z,1761672615.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059811,-0.925226,-0.374672],[0.997287,-0.039253,-0.062269],[0.042906,-0.377380,0.925064]] 2025-10-28T17:30:15.518Z,1761672615.518 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:30:15.518Z,1761672615.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateRudder:A] Stopped 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:30:15.519Z,1761672615.519 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateCommandMode] Stopped 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:30:15.520Z,1761672615.520 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:30:15.521Z,1761672615.521 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:30:15.521Z,1761672615.521 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:30:15.521Z,1761672615.521 [marl:UpdateSpeed] Stopped 2025-10-28T17:30:15.521Z,1761672615.521 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:30:15.871Z,1761672615.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045478,-0.926057,-0.374633],[0.997879,-0.024628,-0.060257],[0.046575,-0.376579,0.925213]] 2025-10-28T17:30:15.926Z,1761672615.926 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:30:15.926Z,1761672615.926 [marl:UpdateRudder:B] Stopped 2025-10-28T17:30:15.926Z,1761672615.926 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:30:15.926Z,1761672615.926 [marl:UpdateRudder] Stopped 2025-10-28T17:30:15.926Z,1761672615.926 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:30:16.299Z,1761672616.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031402,-0.926500,-0.374982],[0.998247,-0.010238,-0.058299],[0.050175,-0.376156,0.925197]] 2025-10-28T17:30:16.738Z,1761672616.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004560,-0.926960,-0.375133],[0.998365,0.017157,-0.054529],[0.056983,-0.374768,0.925366]] 2025-10-28T17:30:17.135Z,1761672617.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008236,-0.926237,-0.376852],[0.998128,0.030454,-0.053036],[0.060601,-0.375710,0.924754]] 2025-10-28T17:30:17.543Z,1761672617.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021866,-0.925777,-0.377436],[0.997731,0.044255,-0.050747],[0.063683,-0.375470,0.924644]] 2025-10-28T17:30:17.945Z,1761672617.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035244,-0.924358,-0.379895],[0.997135,0.057981,-0.048573],[0.066926,-0.377095,0.923753]] 2025-10-28T17:30:18.346Z,1761672618.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048906,-0.922793,-0.382179],[0.996339,0.071936,-0.046196],[0.070122,-0.378521,0.922933]] 2025-10-28T17:30:18.760Z,1761672618.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063446,-0.920627,-0.385255],[0.995299,0.086676,-0.043214],[0.073176,-0.380702,0.921798]] 2025-10-28T17:30:19.162Z,1761672619.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077915,-0.918524,-0.387612],[0.993997,0.101524,-0.040775],[0.076805,-0.382108,0.920920]] 2025-10-28T17:30:20.054Z,1761672620.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109592,-0.913265,-0.392348],[0.990456,0.133530,-0.034158],[0.083586,-0.384860,0.919182]] 2025-10-28T17:30:20.890Z,1761672620.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142735,-0.907533,-0.394981],[0.985630,0.166755,-0.026967],[0.090339,-0.385455,0.918294]] 2025-10-28T17:30:21.299Z,1761672621.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159888,-0.904829,-0.394614],[0.982799,0.183341,-0.022183],[0.092421,-0.384279,0.918579]] 2025-10-28T17:30:21.701Z,1761672621.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177268,-0.901428,-0.394973],[0.979672,0.199921,-0.016584],[0.093913,-0.384004,0.918543]] 2025-10-28T17:30:22.103Z,1761672622.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194718,-0.897857,-0.394889],[0.976288,0.216233,-0.010243],[0.094585,-0.383531,0.918672]] 2025-10-28T17:30:22.507Z,1761672622.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211252,-0.893934,-0.395290],[0.972819,0.231539,-0.003720],[0.094850,-0.383760,0.918549]] 2025-10-28T17:30:22.911Z,1761672622.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226911,-0.890266,-0.394890],[0.969316,0.245801,0.002838],[0.094538,-0.383417,0.918724]] 2025-10-28T17:30:23.321Z,1761672623.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241258,-0.886885,-0.393992],[0.965902,0.258750,0.009010],[0.093955,-0.382732,0.919070]] 2025-10-28T17:30:23.724Z,1761672623.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254476,-0.884061,-0.392019],[0.962592,0.270554,0.014719],[0.093050,-0.381100,0.919839]] 2025-10-28T17:30:24.200Z,1761672624.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266792,-0.881952,-0.388564],[0.959375,0.281429,0.019937],[0.091770,-0.378098,0.921206]] 2025-10-28T17:30:24.596Z,1761672624.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278612,-0.879775,-0.385189],[0.956160,0.291757,0.025227],[0.090188,-0.375331,0.922493]] 2025-10-28T17:30:25.030Z,1761672625.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290437,-0.877774,-0.380998],[0.952781,0.302153,0.030185],[0.088624,-0.371775,0.924083]] 2025-10-28T17:30:25.409Z,1761672625.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302710,-0.875026,-0.377751],[0.949082,0.313031,0.035436],[0.087240,-0.369243,0.925229]] 2025-10-28T17:30:25.811Z,1761672625.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316130,-0.871435,-0.375049],[0.944810,0.325020,0.041192],[0.086002,-0.367372,0.926089]] 2025-10-28T17:30:26.214Z,1761672626.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330362,-0.867265,-0.372440],[0.939984,0.338009,0.046697],[0.085389,-0.365515,0.926881]] 2025-10-28T17:30:26.617Z,1761672626.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346671,-0.861702,-0.370525],[0.934158,0.352834,0.053459],[0.084668,-0.364661,0.927283]] 2025-10-28T17:30:27.022Z,1761672627.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363869,-0.855651,-0.368050],[0.927631,0.368632,0.060090],[0.084259,-0.363279,0.927862]] 2025-10-28T17:30:27.430Z,1761672627.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382197,-0.848208,-0.366699],[0.920288,0.385291,0.067969],[0.083634,-0.363447,0.927853]] 2025-10-28T17:30:27.828Z,1761672627.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401318,-0.840072,-0.364998],[0.912205,0.402522,0.076539],[0.082621,-0.363669,0.927857]] 2025-10-28T17:30:28.247Z,1761672628.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420792,-0.831087,-0.363632],[0.903501,0.419906,0.085823],[0.081365,-0.364655,0.927581]] 2025-10-28T17:30:28.678Z,1761672628.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440190,-0.821865,-0.361622],[0.894371,0.437020,0.095463],[0.079579,-0.365446,0.927425]] 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateRudder:A] Stopped 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:30:28.717Z,1761672628.717 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateCommandMode] Stopped 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:30:28.718Z,1761672628.718 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:30:28.719Z,1761672628.719 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:30:28.719Z,1761672628.719 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:30:28.719Z,1761672628.719 [marl:UpdateSpeed] Stopped 2025-10-28T17:30:28.719Z,1761672628.719 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:30:29.061Z,1761672629.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458867,-0.812685,-0.359145],[0.885135,0.453288,0.105191],[0.077309,-0.366160,0.927335]] 2025-10-28T17:30:29.088Z,1761672629.088 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:30:29.088Z,1761672629.088 [marl:UpdateRudder:B] Stopped 2025-10-28T17:30:29.088Z,1761672629.088 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:30:29.088Z,1761672629.088 [marl:UpdateRudder] Stopped 2025-10-28T17:30:29.088Z,1761672629.088 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:30:29.447Z,1761672629.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477021,-0.803125,-0.356988],[0.875696,0.468920,0.115199],[0.074879,-0.367565,0.926978]] 2025-10-28T17:30:29.851Z,1761672629.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493719,-0.794162,-0.354328],[0.866610,0.483199,0.124527],[0.072316,-0.368545,0.926793]] 2025-10-28T17:30:30.267Z,1761672630.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509371,-0.785413,-0.351664],[0.857724,0.496447,0.133603],[0.069649,-0.369685,0.926543]] 2025-10-28T17:30:30.656Z,1761672630.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523939,-0.778282,-0.346070],[0.849205,0.508729,0.141582],[0.065865,-0.368065,0.927464]] 2025-10-28T17:30:31.061Z,1761672631.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534452,-0.776160,-0.334570],[0.842997,0.518069,0.144776],[0.060960,-0.359417,0.931184]] 2025-10-28T17:30:31.476Z,1761672631.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539981,-0.780045,-0.316148],[0.839892,0.523827,0.142076],[0.054781,-0.342249,0.938011]] 2025-10-28T17:30:31.877Z,1761672631.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541874,-0.787821,-0.292765],[0.839099,0.526928,0.135127],[0.047810,-0.318881,0.946588]] 2025-10-28T17:30:32.304Z,1761672632.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541716,-0.795617,-0.271177],[0.839570,0.527812,0.128597],[0.040816,-0.297335,0.953900]] 2025-10-28T17:30:32.683Z,1761672632.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540204,-0.803477,-0.250207],[0.840842,0.527405,0.121772],[0.034120,-0.276167,0.960504]] 2025-10-28T17:30:32.884Z,1761672632.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:30:33.092Z,1761672633.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538106,-0.810483,-0.231428],[0.842419,0.526195,0.115973],[0.027782,-0.257365,0.965915]] 2025-10-28T17:30:33.504Z,1761672633.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536404,-0.815951,-0.215625],[0.843683,0.524994,0.112161],[0.021684,-0.242083,0.970013]] 2025-10-28T17:30:33.888Z,1761672633.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:30:33.907Z,1761672633.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535109,-0.820069,-0.202845],[0.844632,0.523897,0.110126],[0.015959,-0.230258,0.972999]] 2025-10-28T17:30:34.304Z,1761672634.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534621,-0.823005,-0.191946],[0.845023,0.523494,0.109037],[0.010745,-0.220493,0.975329]] 2025-10-28T17:30:34.706Z,1761672634.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535545,-0.824433,-0.183034],[0.844487,0.524266,0.109485],[0.005696,-0.213204,0.976991]] 2025-10-28T17:30:35.509Z,1761672635.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541017,-0.823685,-0.169832],[0.840998,0.528728,0.114756],[-0.004728,-0.204913,0.978769]] 2025-10-28T17:30:35.911Z,1761672635.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544859,-0.822176,-0.164785],[0.838464,0.531788,0.119074],[-0.010269,-0.203045,0.979115]] 2025-10-28T17:30:36.318Z,1761672636.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549142,-0.820114,-0.160797],[0.835574,0.535075,0.124543],[-0.016101,-0.202749,0.979098]] 2025-10-28T17:30:36.744Z,1761672636.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555270,-0.817360,-0.153612],[0.831203,0.539222,0.135431],[-0.027865,-0.202884,0.978806]] 2025-10-28T17:30:37.525Z,1761672637.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556299,-0.817222,-0.150599],[0.830299,0.539288,0.140615],[-0.033697,-0.203266,0.978543]] 2025-10-28T17:30:37.929Z,1761672637.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556058,-0.817858,-0.148015],[0.830222,0.538179,0.145241],[-0.039128,-0.203647,0.978262]] 2025-10-28T17:30:38.334Z,1761672638.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554206,-0.819676,-0.144872],[0.831208,0.535748,0.148552],[-0.044150,-0.202747,0.978235]] 2025-10-28T17:30:38.753Z,1761672638.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548609,-0.823841,-0.142531],[0.834471,0.528972,0.154423],[-0.051825,-0.203656,0.977670]] 2025-10-28T17:30:39.145Z,1761672639.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545796,-0.825859,-0.141648],[0.836159,0.525864,0.155902],[-0.054265,-0.203531,0.977564]] 2025-10-28T17:30:39.587Z,1761672639.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543910,-0.827152,-0.141355],[0.837250,0.523617,0.157598],[-0.056342,-0.204068,0.977334]] 2025-10-28T17:30:40.359Z,1761672640.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545697,-0.825977,-0.141342],[0.835829,0.524410,0.162434],[-0.060046,-0.206777,0.976544]] 2025-10-28T17:30:40.770Z,1761672640.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548989,-0.823889,-0.140775],[0.833494,0.527051,0.165848],[-0.062444,-0.208384,0.976052]] 2025-10-28T17:30:41.161Z,1761672641.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553407,-0.821234,-0.138979],[0.830362,0.530934,0.169136],[-0.065111,-0.209004,0.975745]] 2025-10-28T17:30:41.613Z,1761672641.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558056,-0.818422,-0.136967],[0.826989,0.534950,0.172969],[-0.068291,-0.209796,0.975357]] 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateRudder:A] Stopped 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:30:41.679Z,1761672641.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:30:41.680Z,1761672641.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:30:41.684Z,1761672641.684 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:30:41.684Z,1761672641.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:30:41.684Z,1761672641.684 [marl:UpdateCommandMode] Stopped 2025-10-28T17:30:41.684Z,1761672641.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed] Stopped 2025-10-28T17:30:41.685Z,1761672641.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:30:41.971Z,1761672641.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562724,-0.815564,-0.134895],[0.823533,0.538947,0.177001],[-0.071654,-0.210694,0.974923]] 2025-10-28T17:30:41.996Z,1761672641.996 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:30:41.996Z,1761672641.996 [marl:UpdateRudder:B] Stopped 2025-10-28T17:30:41.996Z,1761672641.996 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:30:41.996Z,1761672641.996 [marl:UpdateRudder] Stopped 2025-10-28T17:30:41.996Z,1761672641.996 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:30:42.378Z,1761672642.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567007,-0.813011,-0.132352],[0.820268,0.542619,0.180898],[-0.075255,-0.211134,0.974556]] 2025-10-28T17:30:42.386Z,1761672642.386 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.387Z,1761672642.387 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T17:30:42.388Z,1761672642.388 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.389Z,1761672642.389 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T17:30:42.390Z,1761672642.390 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T17:30:42.390Z,1761672642.390 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.391Z,1761672642.391 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.392Z,1761672642.392 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.393Z,1761672642.393 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T17:30:42.393Z,1761672642.393 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.394Z,1761672642.394 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T17:30:42.395Z,1761672642.395 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T17:30:42.395Z,1761672642.395 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T17:30:42.401Z,1761672642.401 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T17:30:42.815Z,1761672642.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570345,-0.810932,-0.130749],[0.817658,0.545317,0.184567],[-0.078372,-0.212175,0.974084]] 2025-10-28T17:30:43.196Z,1761672643.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572679,-0.809500,-0.129417],[0.815798,0.547212,0.187170],[-0.080696,-0.212767,0.973765]] 2025-10-28T17:30:43.618Z,1761672643.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573459,-0.809130,-0.128269],[0.815155,0.547960,0.187784],[-0.081656,-0.212245,0.973799]] 2025-10-28T17:30:43.990Z,1761672643.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573272,-0.809305,-0.128003],[0.815254,0.547761,0.187932],[-0.081979,-0.212091,0.973805]] 2025-10-28T17:30:44.399Z,1761672644.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572754,-0.809578,-0.128590],[0.815616,0.547135,0.188187],[-0.081995,-0.212665,0.973679]] 2025-10-28T17:30:44.805Z,1761672644.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572047,-0.810096,-0.128480],[0.816093,0.546445,0.188122],[-0.082190,-0.212467,0.973706]] 2025-10-28T17:30:45.207Z,1761672645.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570837,-0.810819,-0.129301],[0.816968,0.545191,0.187963],[-0.081910,-0.212931,0.973628]] 2025-10-28T17:30:45.630Z,1761672645.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569930,-0.811401,-0.129644],[0.817650,0.544389,0.187322],[-0.081417,-0.212764,0.973706]] 2025-10-28T17:30:46.018Z,1761672646.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568990,-0.811923,-0.130507],[0.818474,0.543756,0.185553],[-0.079691,-0.212395,0.973929]] 2025-10-28T17:30:46.437Z,1761672646.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569079,-0.811826,-0.130722],[0.818544,0.544143,0.184103],[-0.078328,-0.211771,0.974175]] 2025-10-28T17:30:46.817Z,1761672646.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569527,-0.811290,-0.132085],[0.818371,0.544639,0.183404],[-0.076855,-0.212548,0.974124]] 2025-10-28T17:30:47.242Z,1761672647.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570356,-0.810481,-0.133471],[0.817880,0.545342,0.183506],[-0.075941,-0.213827,0.973915]] 2025-10-28T17:30:47.642Z,1761672647.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571234,-0.809512,-0.135578],[0.817393,0.546050,0.183573],[-0.074572,-0.215684,0.973612]] 2025-10-28T17:30:48.059Z,1761672648.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571908,-0.808783,-0.137078],[0.817034,0.546673,0.183313],[-0.073323,-0.216836,0.973451]] 2025-10-28T17:30:48.446Z,1761672648.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572445,-0.808122,-0.138727],[0.816771,0.547143,0.183083],[-0.072050,-0.218114,0.973260]] 2025-10-28T17:30:48.846Z,1761672648.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572794,-0.807639,-0.140093],[0.816653,0.547549,0.182394],[-0.070600,-0.218882,0.973194]] 2025-10-28T17:30:49.250Z,1761672649.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572477,-0.807417,-0.142646],[0.817031,0.547167,0.181849],[-0.068777,-0.220651,0.972925]] 2025-10-28T17:30:49.649Z,1761672649.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571681,-0.807689,-0.144287],[0.817752,0.546584,0.180356],[-0.066807,-0.221097,0.972961]] 2025-10-28T17:30:50.051Z,1761672650.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570749,-0.807871,-0.146935],[0.818578,0.545713,0.179239],[-0.064618,-0.222578,0.972771]] 2025-10-28T17:30:50.454Z,1761672650.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569728,-0.808315,-0.148450],[0.819500,0.545162,0.176687],[-0.061890,-0.222318,0.973008]] 2025-10-28T17:30:50.504Z,1761672650.504 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:30:50.685Z,1761672650.685 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:30:50.685Z,1761672650.685 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:30:50.858Z,1761672650.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567709,-0.809493,-0.149757],[0.821157,0.543931,0.172746],[-0.058379,-0.221043,0.973515]] 2025-10-28T17:30:50.937Z,1761672650.937 [DAT](INFO): DAT read: user:67> 2025-10-28T17:30:50.938Z,1761672650.938 [DAT](INFO): DAT read: Tx time:17:30:50.7073 2025-10-28T17:30:50.938Z,1761672650.938 [DAT](INFO): Ping request sent. 2025-10-28T17:30:50.938Z,1761672650.938 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:30:50.938Z,1761672650.938 [DAT](INFO): publishing transmit ping time 2025-10-28T17:30:50.939Z,1761672650.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T17:30:51.190Z,1761672651.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251578 2025-10-28T17:30:51.263Z,1761672651.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565467,-0.810613,-0.152163],[0.822963,0.542336,0.169124],[-0.054571,-0.220859,0.973778]] 2025-10-28T17:30:51.441Z,1761672651.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502916 2025-10-28T17:30:51.665Z,1761672651.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563421,-0.811853,-0.153140],[0.824615,0.541248,0.164500],[-0.050663,-0.218964,0.974417]] 2025-10-28T17:30:51.694Z,1761672651.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755929 2025-10-28T17:30:51.945Z,1761672651.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006890 2025-10-28T17:30:52.069Z,1761672652.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561377,-0.813285,-0.153050],[0.826232,0.540332,0.159319],[-0.046874,-0.215893,0.975291]] 2025-10-28T17:30:52.198Z,1761672652.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259805 2025-10-28T17:30:52.449Z,1761672652.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510950 2025-10-28T17:30:52.477Z,1761672652.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559526,-0.814363,-0.154088],[0.827713,0.539469,0.154478],[-0.042675,-0.213975,0.975906]] 2025-10-28T17:30:52.701Z,1761672652.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763525 2025-10-28T17:30:52.880Z,1761672652.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558285,-0.814693,-0.156821],[0.828772,0.538948,0.150575],[-0.038154,-0.214033,0.976081]] 2025-10-28T17:30:52.953Z,1761672652.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980 2025-10-28T17:30:53.206Z,1761672653.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267549 2025-10-28T17:30:53.281Z,1761672653.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557934,-0.814442,-0.159353],[0.829205,0.539331,0.146766],[-0.033589,-0.214022,0.976251]] 2025-10-28T17:30:53.457Z,1761672653.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518904 2025-10-28T17:30:53.687Z,1761672653.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558106,-0.813720,-0.162413],[0.829279,0.540257,0.142896],[-0.028533,-0.214437,0.976321]] 2025-10-28T17:30:53.710Z,1761672653.710 [DAT](INFO): DAT read: Rx Time:17:30:53.0702 2025-10-28T17:30:53.710Z,1761672653.710 [DAT](INFO): Rx dataTimestamp_ set to:1761672653.709915 2025-10-28T17:30:53.711Z,1761672653.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773058 2025-10-28T17:30:53.961Z,1761672653.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023023 2025-10-28T17:30:54.091Z,1761672654.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559114,-0.812442,-0.165317],[0.828750,0.541945,0.139532],[-0.023769,-0.215020,0.976320]] 2025-10-28T17:30:54.216Z,1761672654.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277732 2025-10-28T17:30:54.472Z,1761672654.472 [DAT](INFO): DAT read: 17:30:53.0702 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 486, 0.25,-0.711,-2.209,-0.436,-0.689, PHS= 0.080,-1.475, 0.209, RAW= 153.9, 14.5, CAL= 154.4, 16.4, ROT= 355.6, -16.4 2025-10-28T17:30:54.473Z,1761672654.473 [DAT](INFO): got valid direction response: 17:30:53.0702 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 486, 0.25,-0.711,-2.209,-0.436,-0.689, PHS= 0.080,-1.475, 0.209, RAW= 153.9, 14.5, CAL= 154.4, 16.4, ROT= 355.6, -16.4 2025-10-28T17:30:54.474Z,1761672654.474 [DAT](INFO): DAT read: Bearing 46, -17 (Remote) 2025-10-28T17:30:54.474Z,1761672654.474 [DAT](INFO): Remote Bearing received:Bearing 46, -17 (Remote) 2025-10-28T17:30:54.475Z,1761672654.475 [DAT](INFO): DAT read: Bearing 219.1, -9.8 (Local) 2025-10-28T17:30:54.475Z,1761672654.475 [DAT](INFO): Local bearing/azimuth received: Bearing 219.1, -9.8 (Local) 2025-10-28T17:30:54.481Z,1761672654.481 [DAT](INFO): DAT read: Range 11 to 20 : 250.2 m (Round-trip 333.7 ms) speed 0.0 m/s 2025-10-28T17:30:54.482Z,1761672654.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:30:54.483Z,1761672654.483 [DAT](INFO): direction in FSK: [0.956487,-0.073598,0.282341] 2025-10-28T17:30:54.483Z,1761672654.483 [DAT](INFO): publishing direction and range info 2025-10-28T17:30:54.537Z,1761672654.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560992,-0.810483,-0.168540],[0.827599,0.544374,0.136883],[-0.019193,-0.216274,0.976144]] 2025-10-28T17:30:54.611Z,1761672654.611 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:30:54.611Z,1761672654.611 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:30:54.611Z,1761672654.611 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:30:54.616Z,1761672654.616 [marl:UpdateRudder:A] Stopped 2025-10-28T17:30:54.616Z,1761672654.616 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:30:54.616Z,1761672654.616 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:30:54.616Z,1761672654.616 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:30:54.616Z,1761672654.616 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateCommandMode] Stopped 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:30:54.617Z,1761672654.617 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:30:54.618Z,1761672654.618 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:30:54.618Z,1761672654.618 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:30:54.618Z,1761672654.618 [marl:UpdateSpeed] Stopped 2025-10-28T17:30:54.618Z,1761672654.618 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:30:54.633Z,1761672654.633 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672704.00. Resetting abort timer. 2025-10-28T17:30:54.896Z,1761672654.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563385,-0.808077,-0.172073],[0.826064,0.547247,0.134678],[-0.014664,-0.218020,0.975834]] 2025-10-28T17:30:54.923Z,1761672654.923 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:30:54.924Z,1761672654.924 [marl:UpdateRudder:B] Stopped 2025-10-28T17:30:54.932Z,1761672654.932 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:30:54.932Z,1761672654.932 [marl:UpdateRudder] Stopped 2025-10-28T17:30:54.932Z,1761672654.932 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:30:55.305Z,1761672655.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566398,-0.805135,-0.175926],[0.824069,0.550672,0.132931],[-0.010151,-0.220267,0.975387]] 2025-10-28T17:30:55.715Z,1761672655.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569674,-0.802133,-0.179037],[0.821849,0.554406,0.131141],[-0.005933,-0.221850,0.975063]] 2025-10-28T17:30:56.108Z,1761672656.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572880,-0.799103,-0.182327],[0.819636,0.557903,0.130157],[-0.002288,-0.224007,0.974585]] 2025-10-28T17:30:56.522Z,1761672656.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575383,-0.796647,-0.185168],[0.817883,0.560729,0.129036],[0.001033,-0.225691,0.974198]] 2025-10-28T17:30:56.941Z,1761672656.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577292,-0.794641,-0.187828],[0.816529,0.562885,0.128224],[0.003833,-0.227389,0.973796]] 2025-10-28T17:30:57.343Z,1761672657.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578122,-0.793414,-0.190447],[0.815924,0.564022,0.127074],[0.006594,-0.228854,0.973438]] 2025-10-28T17:30:57.729Z,1761672657.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577601,-0.793201,-0.192895],[0.816266,0.563890,0.125449],[0.009265,-0.229913,0.973167]] 2025-10-28T17:30:58.131Z,1761672658.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575929,-0.793839,-0.195256],[0.817410,0.562733,0.123177],[0.012094,-0.230545,0.972986]] 2025-10-28T17:30:58.543Z,1761672658.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573029,-0.795188,-0.198276],[0.819395,0.560380,0.120687],[0.015141,-0.231624,0.972688]] 2025-10-28T17:30:58.940Z,1761672658.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569295,-0.797059,-0.201495],[0.821928,0.557274,0.117814],[0.018383,-0.232686,0.972378]] 2025-10-28T17:30:59.343Z,1761672659.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565263,-0.799441,-0.203402],[0.824625,0.554111,0.113818],[0.021717,-0.232068,0.972457]] 2025-10-28T17:30:59.754Z,1761672659.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560596,-0.802401,-0.204659],[0.827702,0.550509,0.108853],[0.025323,-0.230419,0.972762]] 2025-10-28T17:31:00.158Z,1761672660.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556153,-0.805385,-0.205056],[0.830575,0.547232,0.103360],[0.028969,-0.227799,0.973277]] 2025-10-28T17:31:00.587Z,1761672660.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551899,-0.808517,-0.204222],[0.833271,0.544271,0.097096],[0.032649,-0.223760,0.974097]] 2025-10-28T17:31:00.959Z,1761672660.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548268,-0.810969,-0.204282],[0.835529,0.541671,0.092104],[0.035960,-0.221182,0.974569]] 2025-10-28T17:31:01.378Z,1761672661.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545507,-0.812909,-0.203964],[0.837185,0.539931,0.087154],[0.039278,-0.218299,0.975091]] 2025-10-28T17:31:01.794Z,1761672661.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543336,-0.814301,-0.204205],[0.838453,0.538581,0.083224],[0.042212,-0.216435,0.975384]] 2025-10-28T17:31:02.212Z,1761672662.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542344,-0.814859,-0.204616],[0.838967,0.538223,0.080310],[0.044688,-0.215222,0.975542]] 2025-10-28T17:31:02.589Z,1761672662.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541682,-0.814994,-0.205829],[0.839246,0.538164,0.077758],[0.047397,-0.214861,0.975494]] 2025-10-28T17:31:02.990Z,1761672662.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541737,-0.814603,-0.207225],[0.839057,0.538761,0.075630],[0.050036,-0.214845,0.975366]] 2025-10-28T17:31:03.397Z,1761672663.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542487,-0.813527,-0.209481],[0.838410,0.539957,0.074266],[0.052694,-0.215920,0.974988]] 2025-10-28T17:31:04.020Z,1761672664.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:31:04.203Z,1761672664.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545809,-0.809700,-0.215589],[0.835863,0.544117,0.072595],[0.058526,-0.219826,0.973782]] 2025-10-28T17:31:04.598Z,1761672664.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548701,-0.807089,-0.218026],[0.833736,0.547527,0.071407],[0.061743,-0.220957,0.973327]] 2025-10-28T17:31:05.003Z,1761672665.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552201,-0.803803,-0.221302],[0.831173,0.551466,0.070964],[0.065000,-0.223127,0.972620]] 2025-10-28T17:31:05.026Z,1761672665.026 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:31:05.414Z,1761672665.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556395,-0.799813,-0.225221],[0.828131,0.555952,0.071528],[0.068003,-0.226310,0.971679]] 2025-10-28T17:31:05.811Z,1761672665.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560983,-0.795873,-0.227782],[0.824817,0.560811,0.071884],[0.070532,-0.228204,0.971055]] 2025-10-28T17:31:06.213Z,1761672666.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565865,-0.791972,-0.229298],[0.821320,0.565840,0.072509],[0.072321,-0.229358,0.970652]] 2025-10-28T17:31:06.623Z,1761672666.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570663,-0.788213,-0.230356],[0.817863,0.570740,0.073187],[0.073787,-0.230165,0.970350]] 2025-10-28T17:31:07.022Z,1761672667.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574899,-0.785198,-0.230118],[0.814823,0.575016,0.073613],[0.074521,-0.229826,0.970375]] 2025-10-28T17:31:07.428Z,1761672667.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577853,-0.783032,-0.230102],[0.812693,0.577957,0.074135],[0.074939,-0.229841,0.970339]] 2025-10-28T17:31:07.463Z,1761672667.463 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:31:07.463Z,1761672667.463 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:31:07.463Z,1761672667.463 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:31:07.464Z,1761672667.464 [marl:UpdateRudder:A] Stopped 2025-10-28T17:31:07.464Z,1761672667.464 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:31:07.464Z,1761672667.464 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:31:07.464Z,1761672667.464 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:31:07.464Z,1761672667.464 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateCommandMode] Stopped 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:31:07.465Z,1761672667.465 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:31:07.466Z,1761672667.466 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:31:07.466Z,1761672667.466 [marl:UpdateSpeed] Stopped 2025-10-28T17:31:07.466Z,1761672667.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:31:07.829Z,1761672667.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579530,-0.781784,-0.230127],[0.811468,0.579649,0.074348],[0.075269,-0.229827,0.970316]] 2025-10-28T17:31:07.882Z,1761672667.882 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:31:07.882Z,1761672667.882 [marl:UpdateRudder:B] Stopped 2025-10-28T17:31:07.882Z,1761672667.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:31:07.882Z,1761672667.882 [marl:UpdateRudder] Stopped 2025-10-28T17:31:07.883Z,1761672667.883 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:31:08.232Z,1761672668.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579715,-0.781588,-0.230326],[0.811303,0.579906,0.074142],[0.075619,-0.229846,0.970285]] 2025-10-28T17:31:08.638Z,1761672668.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578478,-0.782312,-0.230976],[0.812172,0.578704,0.074018],[0.075762,-0.230410,0.970140]] 2025-10-28T17:31:09.041Z,1761672669.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575602,-0.784223,-0.231681],[0.814158,0.576058,0.072830],[0.076347,-0.230546,0.970062]] 2025-10-28T17:31:09.850Z,1761672669.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567783,-0.788981,-0.234803],[0.819502,0.568694,0.070742],[0.077716,-0.232588,0.969465]] 2025-10-28T17:31:10.254Z,1761672670.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563499,-0.792031,-0.234853],[0.822297,0.565057,0.067365],[0.079350,-0.231079,0.969694]] 2025-10-28T17:31:10.671Z,1761672670.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559659,-0.794624,-0.235276],[0.824751,0.561821,0.064364],[0.081038,-0.230066,0.969795]] 2025-10-28T17:31:11.098Z,1761672671.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556814,-0.796425,-0.235935],[0.826532,0.559446,0.062169],[0.082480,-0.229625,0.969778]] 2025-10-28T17:31:11.486Z,1761672671.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554714,-0.797928,-0.235802],[0.827808,0.557817,0.059790],[0.083826,-0.228365,0.969960]] 2025-10-28T17:31:11.874Z,1761672671.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553510,-0.798950,-0.235170],[0.828477,0.557075,0.057383],[0.085161,-0.226595,0.970259]] 2025-10-28T17:31:12.274Z,1761672672.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553430,-0.799331,-0.234062],[0.828401,0.557416,0.055124],[0.086407,-0.224404,0.970658]] 2025-10-28T17:31:12.691Z,1761672672.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554153,-0.798830,-0.234061],[0.827834,0.558328,0.054421],[0.087210,-0.223922,0.970698]] 2025-10-28T17:31:13.081Z,1761672673.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556074,-0.797907,-0.232651],[0.826502,0.560379,0.053581],[0.087620,-0.222081,0.971083]] 2025-10-28T17:31:13.494Z,1761672673.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558419,-0.796510,-0.231820],[0.824916,0.562697,0.053727],[0.087650,-0.221234,0.971274]] 2025-10-28T17:31:13.898Z,1761672673.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561053,-0.794831,-0.231221],[0.823126,0.565271,0.054156],[0.087658,-0.220709,0.971393]] 2025-10-28T17:31:14.301Z,1761672674.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564215,-0.792861,-0.230289],[0.821036,0.568187,0.055353],[0.086960,-0.220306,0.971547]] 2025-10-28T17:31:14.728Z,1761672674.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567467,-0.790827,-0.229290],[0.818912,0.571076,0.057059],[0.085819,-0.220148,0.971684]] 2025-10-28T17:31:15.103Z,1761672675.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570624,-0.788876,-0.228173],[0.816824,0.573910,0.058532],[0.084776,-0.219777,0.971860]] 2025-10-28T17:31:15.925Z,1761672675.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575224,-0.786341,-0.225355],[0.813889,0.577761,0.061465],[0.081869,-0.218770,0.972336]] 2025-10-28T17:31:16.343Z,1761672676.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576397,-0.785940,-0.223754],[0.813189,0.578663,0.062235],[0.080565,-0.217826,0.972657]] 2025-10-28T17:31:16.727Z,1761672676.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576464,-0.785990,-0.223403],[0.813226,0.578524,0.063034],[0.079700,-0.218014,0.972686]] 2025-10-28T17:31:17.130Z,1761672677.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576485,-0.786018,-0.223251],[0.813352,0.578168,0.064658],[0.078255,-0.218856,0.972614]] 2025-10-28T17:31:17.537Z,1761672677.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576259,-0.786136,-0.223416],[0.813619,0.577635,0.066046],[0.077132,-0.219835,0.972483]] 2025-10-28T17:31:17.935Z,1761672677.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576052,-0.786092,-0.224106],[0.813860,0.577105,0.067683],[0.076128,-0.221380,0.972212]] 2025-10-28T17:31:18.334Z,1761672678.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575670,-0.786255,-0.224516],[0.814197,0.576508,0.068712],[0.075410,-0.222355,0.972045]] 2025-10-28T17:31:18.738Z,1761672678.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575845,-0.785850,-0.225480],[0.814120,0.576452,0.070082],[0.074905,-0.223925,0.971724]] 2025-10-28T17:31:19.586Z,1761672679.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578232,-0.783002,-0.229249],[0.812499,0.578168,0.074617],[0.074119,-0.229411,0.970504]] 2025-10-28T17:31:19.986Z,1761672679.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580110,-0.781134,-0.230871],[0.811169,0.579770,0.076622],[0.074000,-0.231725,0.969963]] 2025-10-28T17:31:20.352Z,1761672680.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581973,-0.779876,-0.230438],[0.809869,0.581479,0.077421],[0.073616,-0.231682,0.970002]] 2025-10-28T17:31:20.767Z,1761672680.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584121,-0.778385,-0.230043],[0.808392,0.583344,0.078820],[0.072842,-0.232005,0.969983]] 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateRudder:A] Stopped 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:31:20.805Z,1761672680.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateCommandMode] Stopped 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:31:20.806Z,1761672680.806 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:31:20.807Z,1761672680.807 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:31:20.807Z,1761672680.807 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:31:20.807Z,1761672680.807 [marl:UpdateSpeed] Stopped 2025-10-28T17:31:20.807Z,1761672680.807 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:31:21.179Z,1761672681.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586638,-0.776941,-0.228513],[0.806647,0.585644,0.079637],[0.071954,-0.231048,0.970278]] 2025-10-28T17:31:21.209Z,1761672681.209 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:31:21.209Z,1761672681.209 [marl:UpdateRudder:B] Stopped 2025-10-28T17:31:21.209Z,1761672681.209 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:31:21.209Z,1761672681.209 [marl:UpdateRudder] Stopped 2025-10-28T17:31:21.209Z,1761672681.209 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:31:21.612Z,1761672681.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591035,-0.774420,-0.225723],[0.803737,0.589119,0.083335],[0.068441,-0.230676,0.970621]] 2025-10-28T17:31:22.377Z,1761672682.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592729,-0.774092,-0.222384],[0.802711,0.590336,0.084608],[0.065787,-0.228659,0.971281]] 2025-10-28T17:31:22.785Z,1761672682.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594113,-0.774103,-0.218619],[0.801938,0.591181,0.086025],[0.062651,-0.226427,0.972011]] 2025-10-28T17:31:23.627Z,1761672683.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592247,-0.778563,-0.207563],[0.803949,0.588221,0.087534],[0.053942,-0.218712,0.974297]] 2025-10-28T17:31:23.995Z,1761672683.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586548,-0.786788,-0.192163],[0.808377,0.583330,0.079071],[0.049882,-0.201719,0.978172]] 2025-10-28T17:31:24.398Z,1761672684.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575078,-0.801260,-0.165128],[0.816833,0.573595,0.061432],[0.045493,-0.170210,0.984357]] 2025-10-28T17:31:24.807Z,1761672684.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558931,-0.818443,-0.133218],[0.828199,0.558942,0.040868],[0.041013,-0.133174,0.990244]] 2025-10-28T17:31:25.229Z,1761672685.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540625,-0.835293,-0.100049],[0.840435,0.541537,0.020170],[0.037332,-0.094990,0.994778]] 2025-10-28T17:31:25.671Z,1761672685.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521225,-0.850515,-0.070350],[0.852735,0.522335,0.003033],[0.034167,-0.061571,0.997518]] 2025-10-28T17:31:26.011Z,1761672686.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502226,-0.863465,-0.046873],[0.864155,0.503138,-0.009393],[0.031694,-0.035788,0.998857]] 2025-10-28T17:31:26.414Z,1761672686.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484527,-0.874380,-0.026308],[0.874278,0.485047,-0.019172],[0.029524,-0.013711,0.999470]] 2025-10-28T17:31:26.819Z,1761672686.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467414,-0.883963,-0.011526],[0.883583,0.467552,-0.026015],[0.028385,0.001975,0.999595]] 2025-10-28T17:31:27.229Z,1761672687.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451847,-0.892095,-0.000782],[0.891671,0.451659,-0.030443],[0.027511,0.013059,0.999536]] 2025-10-28T17:31:27.627Z,1761672687.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437983,-0.898972,0.004488],[0.898580,0.437632,-0.032129],[0.026919,0.018105,0.999474]] 2025-10-28T17:31:28.029Z,1761672688.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425528,-0.904907,0.008347],[0.904563,0.425063,-0.032965],[0.026283,0.021578,0.999422]] 2025-10-28T17:31:28.441Z,1761672688.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413943,-0.910253,0.009519],[0.909942,0.413462,-0.032470],[0.025621,0.022102,0.999427]] 2025-10-28T17:31:28.846Z,1761672688.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402838,-0.915234,0.008252],[0.914934,0.402428,-0.030784],[0.024854,0.019951,0.999492]] 2025-10-28T17:31:29.267Z,1761672689.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391811,-0.920021,0.006711],[0.919735,0.391478,-0.028845],[0.023911,0.017474,0.999561]] 2025-10-28T17:31:29.658Z,1761672689.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380152,-0.924908,0.005433],[0.924643,0.379885,-0.026895],[0.022811,0.015248,0.999624]] 2025-10-28T17:31:30.086Z,1761672690.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367684,-0.929940,0.004454],[0.929706,0.367473,-0.024708],[0.021340,0.013226,0.999685]] 2025-10-28T17:31:30.467Z,1761672690.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354969,-0.934872,0.003432],[0.934674,0.354812,-0.022216],[0.019551,0.011094,0.999747]] 2025-10-28T17:31:30.884Z,1761672690.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340986,-0.940063,0.003067],[0.939897,0.340859,-0.020233],[0.017975,0.009782,0.999791]] 2025-10-28T17:31:31.271Z,1761672691.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326235,-0.945287,0.001784],[0.945143,0.326151,-0.018192],[0.016615,0.007621,0.999833]] 2025-10-28T17:31:31.687Z,1761672691.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310610,-0.950532,0.003019],[0.950414,0.310517,-0.017119],[0.015335,0.008187,0.999849]] 2025-10-28T17:31:32.077Z,1761672692.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294516,-0.955637,0.004235],[0.955538,0.294413,-0.016370],[0.014397,0.008868,0.999857]] 2025-10-28T17:31:32.477Z,1761672692.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278731,-0.960356,0.004970],[0.960278,0.278629,-0.015243],[0.013254,0.009021,0.999871]] 2025-10-28T17:31:32.881Z,1761672692.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264069,-0.964485,0.005974],[0.964422,0.263961,-0.014667],[0.012569,0.009635,0.999875]] 2025-10-28T17:31:33.282Z,1761672693.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249643,-0.968321,0.005676],[0.968264,0.249546,-0.013867],[0.012011,0.008958,0.999888]] 2025-10-28T17:31:33.691Z,1761672693.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234815,-0.972017,0.006754],[0.971971,0.234709,-0.013557],[0.011593,0.009748,0.999885]] 2025-10-28T17:31:33.749Z,1761672693.749 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:31:33.749Z,1761672693.749 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:31:33.751Z,1761672693.751 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:31:33.753Z,1761672693.753 [marl:UpdateRudder:A] Stopped 2025-10-28T17:31:33.753Z,1761672693.753 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:31:33.753Z,1761672693.753 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:31:33.769Z,1761672693.769 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:31:33.769Z,1761672693.769 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:31:33.769Z,1761672693.769 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateCommandMode] Stopped 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:31:33.770Z,1761672693.770 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:31:33.771Z,1761672693.771 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:31:33.771Z,1761672693.771 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:31:33.771Z,1761672693.771 [marl:UpdateSpeed] Stopped 2025-10-28T17:31:33.771Z,1761672693.771 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:31:34.089Z,1761672694.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220419,-0.975375,0.007642],[0.975345,0.220312,-0.012807],[0.010808,0.010277,0.999889]] 2025-10-28T17:31:34.114Z,1761672694.114 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:31:34.114Z,1761672694.114 [marl:UpdateRudder:B] Stopped 2025-10-28T17:31:34.114Z,1761672694.114 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:31:34.114Z,1761672694.114 [marl:UpdateRudder] Stopped 2025-10-28T17:31:34.114Z,1761672694.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:31:34.495Z,1761672694.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206604,-0.978388,0.008442],[0.978380,0.206504,-0.011377],[0.009387,0.010610,0.999900]] 2025-10-28T17:31:34.896Z,1761672694.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192176,-0.981322,0.008698],[0.981330,0.192093,-0.009572],[0.007722,0.010375,0.999916]] 2025-10-28T17:31:35.172Z,1761672695.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:31:35.301Z,1761672695.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176865,-0.984180,0.010456],[0.984217,0.176788,-0.007928],[0.005955,0.011693,0.999914]] 2025-10-28T17:31:35.719Z,1761672695.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160078,-0.987044,0.010877],[0.987094,0.160015,-0.006376],[0.004553,0.011757,0.999920]] 2025-10-28T17:31:36.117Z,1761672696.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142245,-0.989776,0.010496],[0.989826,0.142199,-0.005005],[0.003461,0.011101,0.999932]] 2025-10-28T17:31:36.176Z,1761672696.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:31:36.517Z,1761672696.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123588,-0.992268,0.011442],[0.992330,0.123550,-0.003951],[0.002507,0.011843,0.999927]] 2025-10-28T17:31:36.921Z,1761672696.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104989,-0.994394,0.012593],[0.994472,0.104956,-0.003202],[0.001862,0.012859,0.999916]] 2025-10-28T17:31:37.328Z,1761672697.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086127,-0.996218,0.011493],[0.996282,0.086098,-0.002997],[0.001996,0.011708,0.999929]] 2025-10-28T17:31:37.730Z,1761672697.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068341,-0.997603,0.010833],[0.997659,0.068311,-0.003096],[0.002349,0.011019,0.999937]] 2025-10-28T17:31:38.143Z,1761672698.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051450,-0.998627,0.009881],[0.998670,0.051414,-0.003904],[0.003390,0.010069,0.999944]] 2025-10-28T17:31:38.537Z,1761672698.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036236,-0.999306,0.008586],[0.999334,0.036199,-0.004511],[0.004197,0.008744,0.999953]] 2025-10-28T17:31:38.942Z,1761672698.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022438,-0.999705,0.009305],[0.999736,0.022392,-0.005066],[0.004856,0.009416,0.999944]] 2025-10-28T17:31:39.356Z,1761672699.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009613,-0.999920,0.008180],[0.999941,0.009571,-0.005198],[0.005120,0.008229,0.999953]] 2025-10-28T17:31:39.785Z,1761672699.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002162,-0.999970,0.007393],[0.999987,-0.002196,-0.004573],[0.004589,0.007383,0.999962]] 2025-10-28T17:31:40.173Z,1761672700.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013427,-0.999886,0.006948],[0.999904,-0.013450,-0.003268],[0.003361,0.006903,0.999970]] 2025-10-28T17:31:40.561Z,1761672700.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025511,-0.999657,0.005990],[0.999673,-0.025521,-0.001589],[0.001742,0.005948,0.999981]] 2025-10-28T17:31:40.963Z,1761672700.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038094,-0.999265,0.004171],[0.999274,-0.038092,0.000560],[-0.000401,0.004190,0.999991]] 2025-10-28T17:31:41.370Z,1761672701.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051544,-0.998667,0.002870],[0.998667,-0.051535,0.002966],[-0.002814,0.003019,0.999992]] 2025-10-28T17:31:41.774Z,1761672701.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066578,-0.997777,0.002931],[0.997769,-0.066562,0.005147],[-0.004940,0.003267,0.999982]] 2025-10-28T17:31:42.174Z,1761672702.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082928,-0.996553,0.002337],[0.996533,-0.082910,0.006911],[-0.006693,0.002902,0.999973]] 2025-10-28T17:31:42.583Z,1761672702.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099947,-0.994990,0.002193],[0.994959,-0.099925,0.008491],[-0.008229,0.003031,0.999962]] 2025-10-28T17:31:42.989Z,1761672702.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118028,-0.993005,0.003255],[0.992968,-0.117992,0.009617],[-0.009165,0.004367,0.999948]] 2025-10-28T17:31:43.424Z,1761672703.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135869,-0.990718,0.004177],[0.990681,-0.135821,0.010197],[-0.009535,0.005524,0.999939]] 2025-10-28T17:31:43.793Z,1761672703.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153861,-0.988077,0.005516],[0.988043,-0.153795,0.010836],[-0.009858,0.007118,0.999926]] 2025-10-28T17:31:44.204Z,1761672704.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171954,-0.985076,0.007533],[0.985056,-0.171864,0.011324],[-0.009860,0.009367,0.999907]] 2025-10-28T17:31:44.619Z,1761672704.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189764,-0.981801,0.007518],[0.981782,-0.189673,0.011323],[-0.009691,0.009530,0.999908]] 2025-10-28T17:31:45.031Z,1761672705.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206944,-0.978316,0.008458],[0.978308,-0.206844,0.011312],[-0.009317,0.010616,0.999900]] 2025-10-28T17:31:45.416Z,1761672705.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223453,-0.974674,0.008926],[0.974674,-0.223349,0.011248],[-0.008970,0.011214,0.999897]] 2025-10-28T17:31:45.819Z,1761672705.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239252,-0.970926,0.007783],[0.970918,-0.239162,0.010950],[-0.008771,0.010176,0.999910]] 2025-10-28T17:31:46.222Z,1761672706.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255495,-0.966793,0.005739],[0.966773,-0.255429,0.010330],[-0.008522,0.008187,0.999930]] 2025-10-28T17:31:46.631Z,1761672706.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270361,-0.962746,0.005032],[0.962718,-0.270298,0.010629],[-0.008873,0.007718,0.999931]] 2025-10-28T17:31:47.024Z,1761672707.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285070,-0.958498,0.004026],[0.958463,-0.285014,0.010737],[-0.009144,0.006920,0.999934]] 2025-10-28T17:31:47.047Z,1761672707.047 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateRudder:A] Stopped 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:31:47.048Z,1761672707.048 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateCommandMode] Stopped 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:31:47.049Z,1761672707.049 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:31:47.050Z,1761672707.050 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:31:47.050Z,1761672707.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:31:47.050Z,1761672707.050 [marl:UpdateSpeed] Stopped 2025-10-28T17:31:47.050Z,1761672707.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:31:47.429Z,1761672707.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299390,-0.954130,0.001569],[0.954083,-0.299358,0.010472],[-0.009522,0.004633,0.999944]] 2025-10-28T17:31:47.464Z,1761672707.464 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:31:47.464Z,1761672707.464 [marl:UpdateRudder:B] Stopped 2025-10-28T17:31:47.464Z,1761672707.464 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:31:47.464Z,1761672707.464 [marl:UpdateRudder] Stopped 2025-10-28T17:31:47.464Z,1761672707.464 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:31:47.831Z,1761672707.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313219,-0.949680,0.001310],[0.949627,-0.313186,0.011114],[-0.010144,0.004725,0.999937]] 2025-10-28T17:31:48.235Z,1761672708.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326268,-0.945277,0.001169],[0.945213,-0.326231,0.012031],[-0.010992,0.005031,0.999927]] 2025-10-28T17:31:48.642Z,1761672708.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339263,-0.940692,-0.000355],[0.940618,-0.339241,0.012410],[-0.011794,0.003876,0.999923]] 2025-10-28T17:31:49.041Z,1761672709.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352360,-0.935863,-0.001798],[0.935780,-0.352353,0.012751],[-0.012567,0.002810,0.999917]] 2025-10-28T17:31:49.445Z,1761672709.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365610,-0.930757,-0.004610],[0.930672,-0.365639,0.012578],[-0.013393,0.000308,0.999910]] 2025-10-28T17:31:49.849Z,1761672709.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379246,-0.925275,-0.006182],[0.925183,-0.379295,0.013069],[-0.014437,-0.000763,0.999895]] 2025-10-28T17:31:50.255Z,1761672710.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392998,-0.919515,-0.006708],[0.919404,-0.393055,0.014310],[-0.015795,-0.000544,0.999875]] 2025-10-28T17:31:50.657Z,1761672710.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406958,-0.913404,-0.008813],[0.913287,-0.407048,0.014769],[-0.017077,-0.002038,0.999852]] 2025-10-28T17:31:50.690Z,1761672710.690 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:31:50.713Z,1761672710.713 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:31:50.714Z,1761672710.714 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:31:50.965Z,1761672710.965 [DAT](INFO): DAT read: user:68> 2025-10-28T17:31:50.966Z,1761672710.966 [DAT](INFO): DAT read: Tx time:17:31:50.7071 2025-10-28T17:31:50.966Z,1761672710.966 [DAT](INFO): Ping request sent. 2025-10-28T17:31:50.966Z,1761672710.966 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:31:50.966Z,1761672710.966 [DAT](INFO): publishing transmit ping time 2025-10-28T17:31:50.967Z,1761672710.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930 2025-10-28T17:31:51.062Z,1761672711.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421438,-0.906814,-0.008904],[0.906673,-0.421530,0.016010],[-0.018272,-0.001326,0.999832]] 2025-10-28T17:31:51.220Z,1761672711.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254483 2025-10-28T17:31:51.465Z,1761672711.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436003,-0.899901,-0.008983],[0.899731,-0.436095,0.017479],[-0.019647,-0.000461,0.999807]] 2025-10-28T17:31:51.469Z,1761672711.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995 2025-10-28T17:31:51.721Z,1761672711.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755045 2025-10-28T17:31:51.870Z,1761672711.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451432,-0.892268,-0.008156],[0.892067,-0.451503,0.018999],[-0.020635,0.001301,0.999786]] 2025-10-28T17:31:51.974Z,1761672711.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007840 2025-10-28T17:31:52.225Z,1761672712.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017 2025-10-28T17:31:52.277Z,1761672712.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466779,-0.884340,-0.007788],[0.884110,-0.466836,0.020336],[-0.021620,0.002607,0.999763]] 2025-10-28T17:31:52.477Z,1761672712.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510898 2025-10-28T17:31:52.677Z,1761672712.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482268,-0.875987,-0.007990],[0.875739,-0.482324,0.021111],[-0.022346,0.003184,0.999745]] 2025-10-28T17:31:52.729Z,1761672712.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763062 2025-10-28T17:31:52.981Z,1761672712.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014879 2025-10-28T17:31:53.081Z,1761672713.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496490,-0.868009,-0.007641],[0.867727,-0.496527,0.022614],[-0.023423,0.004597,0.999715]] 2025-10-28T17:31:53.233Z,1761672713.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915 2025-10-28T17:31:53.486Z,1761672713.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519594 2025-10-28T17:31:53.494Z,1761672713.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510335,-0.859947,-0.007064],[0.859621,-0.510343,0.024554],[-0.024720,0.006458,0.999674]] 2025-10-28T17:31:53.737Z,1761672713.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896 2025-10-28T17:31:53.913Z,1761672713.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525030,-0.851047,-0.007933],[0.850708,-0.525052,0.024838],[-0.025304,0.006292,0.999660]] 2025-10-28T17:31:53.990Z,1761672713.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023596 2025-10-28T17:31:54.241Z,1761672714.241 [DAT](INFO): DAT read: Rx Time:17:31:53.4157 2025-10-28T17:31:54.241Z,1761672714.241 [DAT](INFO): Rx dataTimestamp_ set to:1761672714.241182 2025-10-28T17:31:54.242Z,1761672714.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276033 2025-10-28T17:31:54.307Z,1761672714.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539723,-0.841776,-0.010622],[0.841442,-0.539812,0.024061],[-0.025988,0.004048,0.999654]] 2025-10-28T17:31:54.493Z,1761672714.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527032 2025-10-28T17:31:54.699Z,1761672714.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553918,-0.832497,-0.011126],[0.832146,-0.554013,0.024537],[-0.026591,0.004333,0.999637]] 2025-10-28T17:31:54.752Z,1761672714.752 [DAT](INFO): DAT read: 17:31:53.4157 LVL= 25520, 31729, 17506, 25891, AGC= 56, IDX= 394, 0.30,-0.218, 0.241, 2.112, 0.826, PHS=-0.942,-0.540, 1.242, RAW= 220.0, 2.4, CAL= 218.6, 2.5, ROT= 291.4, -2.5 2025-10-28T17:31:54.754Z,1761672714.754 [DAT](INFO): got valid direction response: 17:31:53.4157 LVL= 25520, 31729, 17506, 25891, AGC= 56, IDX= 394, 0.30,-0.218, 0.241, 2.112, 0.826, PHS=-0.942,-0.540, 1.242, RAW= 220.0, 2.4, CAL= 218.6, 2.5, ROT= 291.4, -2.5 2025-10-28T17:31:54.755Z,1761672714.755 [DAT](INFO): DAT read: Bearing 274.7, -70.3 (Local) 2025-10-28T17:31:54.755Z,1761672714.755 [DAT](INFO): Local bearing/azimuth received: Bearing 274.7, -70.3 (Local) 2025-10-28T17:31:54.757Z,1761672714.757 [DAT](INFO): DAT read: Range 11 to 20 : 228.3 m (Round-trip 304.4 ms) speed -0.6 m/s 2025-10-28T17:31:54.758Z,1761672714.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:31:54.759Z,1761672714.759 [DAT](INFO): direction in FSK: [0.364529,-0.930170,0.043619] 2025-10-28T17:31:54.760Z,1761672714.760 [DAT](INFO): publishing direction and range info 2025-10-28T17:31:55.113Z,1761672715.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567931,-0.822987,-0.012079],[0.822631,-0.568046,0.024556],[-0.027070,0.004009,0.999626]] 2025-10-28T17:31:55.231Z,1761672715.231 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672704.00. Resetting abort timer. 2025-10-28T17:31:55.511Z,1761672715.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581253,-0.813574,-0.015540],[0.813258,-0.581461,0.022681],[-0.027489,0.000545,0.999622]] 2025-10-28T17:31:55.911Z,1761672715.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594635,-0.803816,-0.016977],[0.803510,-0.594878,0.022185],[-0.027931,-0.000449,0.999610]] 2025-10-28T17:31:56.321Z,1761672716.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607643,-0.794012,-0.017747],[0.793698,-0.607902,0.022338],[-0.028526,-0.000512,0.999593]] 2025-10-28T17:31:56.723Z,1761672716.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620306,-0.784134,-0.018837],[0.783826,-0.620591,0.022015],[-0.028953,-0.001108,0.999580]] 2025-10-28T17:31:57.134Z,1761672717.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632992,-0.773916,-0.019354],[0.773614,-0.633287,0.021671],[-0.029028,-0.001255,0.999578]] 2025-10-28T17:31:57.578Z,1761672717.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645193,-0.763741,-0.020650],[0.763466,-0.645518,0.020618],[-0.029077,-0.002463,0.999574]] 2025-10-28T17:31:57.929Z,1761672717.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656784,-0.753798,-0.020600],[0.753523,-0.657103,0.020466],[-0.028964,-0.002081,0.999578]] 2025-10-28T17:31:58.352Z,1761672718.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668303,-0.743613,-0.020260],[0.743346,-0.668608,0.019999],[-0.028417,-0.001695,0.999595]] 2025-10-28T17:31:58.754Z,1761672718.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679910,-0.733026,-0.019880],[0.732775,-0.680199,0.019235],[-0.027622,-0.001489,0.999617]] 2025-10-28T17:31:59.163Z,1761672719.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690911,-0.722640,-0.020828],[0.722416,-0.691220,0.018167],[-0.027525,-0.002495,0.999618]] 2025-10-28T17:31:59.602Z,1761672719.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701483,-0.712382,-0.020833],[0.712150,-0.701789,0.018269],[-0.027635,-0.002021,0.999616]] 2025-10-28T17:31:59.959Z,1761672719.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711803,-0.702070,-0.020843],[0.701835,-0.712106,0.018219],[-0.027634,-0.001660,0.999617]] 2025-10-28T17:32:00.365Z,1761672720.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722421,-0.691146,-0.020645],[0.690918,-0.722714,0.017777],[-0.027206,-0.001421,0.999629]] 2025-10-28T17:32:00.409Z,1761672720.409 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:32:00.409Z,1761672720.409 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:32:00.409Z,1761672720.409 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateRudder:A] Stopped 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode] Stopped 2025-10-28T17:32:00.410Z,1761672720.410 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed] Stopped 2025-10-28T17:32:00.411Z,1761672720.411 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:32:00.769Z,1761672720.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732871,-0.680030,-0.021406],[0.679836,-0.733180,0.016445],[-0.026877,-0.002500,0.999636]] 2025-10-28T17:32:00.801Z,1761672720.801 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:32:00.801Z,1761672720.801 [marl:UpdateRudder:B] Stopped 2025-10-28T17:32:00.801Z,1761672720.801 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:32:00.801Z,1761672720.801 [marl:UpdateRudder] Stopped 2025-10-28T17:32:00.802Z,1761672720.802 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:32:01.164Z,1761672721.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742932,-0.669004,-0.022041],[0.668825,-0.743253,0.015748],[-0.026917,-0.003041,0.999633]] 2025-10-28T17:32:01.614Z,1761672721.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753449,-0.657133,-0.022164],[0.656981,-0.753766,0.014574],[-0.026284,-0.003581,0.999648]] 2025-10-28T17:32:01.971Z,1761672721.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763870,-0.645008,-0.021600],[0.644868,-0.764168,0.013864],[-0.025449,-0.003339,0.999671]] 2025-10-28T17:32:02.383Z,1761672722.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774336,-0.632418,-0.021252],[0.632284,-0.774621,0.013342],[-0.024900,-0.003106,0.999685]] 2025-10-28T17:32:02.785Z,1761672722.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784265,-0.620060,-0.021302],[0.619931,-0.784549,0.013003],[-0.024775,-0.003008,0.999689]] 2025-10-28T17:32:03.181Z,1761672723.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794406,-0.607000,-0.021693],[0.606893,-0.794693,0.011969],[-0.024504,-0.003657,0.999693]] 2025-10-28T17:32:03.619Z,1761672723.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804566,-0.593455,-0.022009],[0.593362,-0.804857,0.011237],[-0.024383,-0.004019,0.999695]] 2025-10-28T17:32:03.990Z,1761672723.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814352,-0.579956,-0.021928],[0.579866,-0.814639,0.010933],[-0.024204,-0.003812,0.999700]] 2025-10-28T17:32:04.402Z,1761672724.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823896,-0.566282,-0.022808],[0.566219,-0.824197,0.009754],[-0.024322,-0.004878,0.999692]] 2025-10-28T17:32:04.798Z,1761672724.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833353,-0.552243,-0.023461],[0.552210,-0.833662,0.008470],[-0.024236,-0.005897,0.999689]] 2025-10-28T17:32:05.201Z,1761672725.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842343,-0.538402,-0.024103],[0.538403,-0.842658,0.007020],[-0.024090,-0.007064,0.999685]] 2025-10-28T17:32:05.625Z,1761672725.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851276,-0.524117,-0.025110],[0.524193,-0.851590,0.003966],[-0.023462,-0.009786,0.999677]] 2025-10-28T17:32:06.009Z,1761672726.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860077,-0.509567,-0.024670],[0.509661,-0.860371,0.002770],[-0.022636,-0.010191,0.999692]] 2025-10-28T17:32:06.300Z,1761672726.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:32:06.413Z,1761672726.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868255,-0.495561,-0.023516],[0.495646,-0.868521,0.002483],[-0.021654,-0.009499,0.999720]] 2025-10-28T17:32:06.818Z,1761672726.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876012,-0.481776,-0.022266],[0.481847,-0.876252,0.002399],[-0.020667,-0.008627,0.999749]] 2025-10-28T17:32:07.223Z,1761672727.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883237,-0.468456,-0.021003],[0.468513,-0.883453,0.002446],[-0.019701,-0.007680,0.999776]] 2025-10-28T17:32:07.304Z,1761672727.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:32:07.641Z,1761672727.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890518,-0.454491,-0.020396],[0.454564,-0.890713,0.001166],[-0.018697,-0.008233,0.999791]] 2025-10-28T17:32:08.059Z,1761672728.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903004,-0.429244,-0.018250],[0.429278,-0.903170,0.002241],[-0.017445,-0.005811,0.999831]] 2025-10-28T17:32:08.455Z,1761672728.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909057,-0.416301,-0.017577],[0.416322,-0.909213,0.002594],[-0.017061,-0.004959,0.999842]] 2025-10-28T17:32:08.850Z,1761672728.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915069,-0.402910,-0.017684],[0.402933,-0.915226,0.002397],[-0.017151,-0.004932,0.999841]] 2025-10-28T17:32:09.247Z,1761672729.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921134,-0.388826,-0.018066],[0.388856,-0.921296,0.001964],[-0.017407,-0.005216,0.999835]] 2025-10-28T17:32:09.655Z,1761672729.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926862,-0.374968,-0.018057],[0.374983,-0.927028,0.002704],[-0.017753,-0.004265,0.999833]] 2025-10-28T17:32:10.055Z,1761672730.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933138,-0.359056,-0.018251],[0.359076,-0.933306,0.002266],[-0.017847,-0.004439,0.999831]] 2025-10-28T17:32:10.464Z,1761672730.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939221,-0.342806,-0.018649],[0.342831,-0.939395,0.001940],[-0.018184,-0.004571,0.999824]] 2025-10-28T17:32:10.870Z,1761672730.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945253,-0.325771,-0.019244],[0.325811,-0.945434,0.001111],[-0.018556,-0.005220,0.999814]] 2025-10-28T17:32:11.269Z,1761672731.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951103,-0.308260,-0.019463],[0.308302,-0.951288,0.000860],[-0.018780,-0.005182,0.999810]] 2025-10-28T17:32:11.697Z,1761672731.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956735,-0.290293,-0.019675],[0.290349,-0.956921,0.000036],[-0.018838,-0.005678,0.999806]] 2025-10-28T17:32:12.077Z,1761672732.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962067,-0.272130,-0.019281],[0.272200,-0.962240,-0.001010],[-0.018278,-0.006220,0.999814]] 2025-10-28T17:32:12.490Z,1761672732.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966989,-0.254144,-0.018512],[0.254239,-0.967137,-0.002970],[-0.017149,-0.007578,0.999824]] 2025-10-28T17:32:12.901Z,1761672732.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971419,-0.236766,-0.016959],[0.236859,-0.971537,-0.003667],[-0.015608,-0.007580,0.999849]] 2025-10-28T17:32:13.308Z,1761672733.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975380,-0.220039,-0.014697],[0.220094,-0.975476,-0.002197],[-0.013853,-0.005377,0.999890]] 2025-10-28T17:32:13.342Z,1761672733.342 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateRudder:A] Stopped 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:32:13.343Z,1761672733.343 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:32:13.344Z,1761672733.344 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:32:13.344Z,1761672733.344 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:32:13.344Z,1761672733.344 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:32:13.344Z,1761672733.344 [marl:UpdateCommandMode] Stopped 2025-10-28T17:32:13.344Z,1761672733.344 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed] Stopped 2025-10-28T17:32:13.345Z,1761672733.345 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:32:13.697Z,1761672733.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978946,-0.203736,-0.012501],[0.203778,-0.979015,-0.002210],[-0.011788,-0.004711,0.999919]] 2025-10-28T17:32:13.761Z,1761672733.761 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:32:13.761Z,1761672733.761 [marl:UpdateRudder:B] Stopped 2025-10-28T17:32:13.762Z,1761672733.762 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:32:13.762Z,1761672733.762 [marl:UpdateRudder] Stopped 2025-10-28T17:32:13.762Z,1761672733.762 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:32:14.105Z,1761672734.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982171,-0.187712,-0.010247],[0.187749,-0.982213,-0.002755],[-0.009548,-0.004630,0.999944]] 2025-10-28T17:32:14.502Z,1761672734.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984917,-0.172840,-0.008022],[0.172862,-0.984944,-0.002039],[-0.007549,-0.003395,0.999966]] 2025-10-28T17:32:14.906Z,1761672734.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987408,-0.158086,-0.005792],[0.158106,-0.987418,-0.003017],[-0.005243,-0.003895,0.999979]] 2025-10-28T17:32:15.304Z,1761672735.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989542,-0.144194,-0.003919],[0.144210,-0.989539,-0.003975],[-0.003305,-0.004499,0.999984]] 2025-10-28T17:32:15.711Z,1761672735.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991432,-0.130613,-0.001628],[0.130621,-0.991416,-0.005674],[-0.000873,-0.005838,0.999983]] 2025-10-28T17:32:16.111Z,1761672736.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992869,-0.119207,0.000185],[0.119202,-0.992840,-0.007691],[0.001100,-0.007615,0.999970]] 2025-10-28T17:32:16.514Z,1761672736.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993780,-0.111352,0.001532],[0.111315,-0.993662,-0.015656],[0.003265,-0.015388,0.999876]] 2025-10-28T17:32:16.923Z,1761672736.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994125,-0.108224,0.001701],[0.108122,-0.993670,-0.030498],[0.004991,-0.030135,0.999533]] 2025-10-28T17:32:17.323Z,1761672737.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994156,-0.107948,0.000996],[0.107742,-0.992752,-0.053240],[0.006736,-0.052821,0.998581]] 2025-10-28T17:32:17.726Z,1761672737.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994063,-0.108805,-0.000369],[0.108471,-0.990739,-0.081669],[0.008520,-0.081224,0.996659]] 2025-10-28T17:32:18.129Z,1761672738.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993933,-0.109959,-0.002342],[0.109546,-0.987849,-0.110245],[0.009809,-0.109832,0.993902]] 2025-10-28T17:32:18.539Z,1761672738.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993906,-0.110145,-0.004355],[0.109695,-0.984403,-0.137541],[0.010863,-0.137181,0.990486]] 2025-10-28T17:32:18.943Z,1761672738.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994021,-0.109032,-0.005904],[0.108551,-0.980890,-0.161467],[0.011814,-0.161142,0.986861]] 2025-10-28T17:32:19.341Z,1761672739.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994287,-0.106549,-0.006326],[0.105932,-0.977791,-0.180839],[0.013082,-0.180476,0.983492]] 2025-10-28T17:32:19.747Z,1761672739.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994676,-0.102868,-0.006108],[0.102079,-0.975463,-0.195069],[0.014108,-0.194654,0.980770]] 2025-10-28T17:32:20.150Z,1761672740.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995120,-0.098575,-0.004423],[0.097424,-0.974406,-0.202585],[0.015660,-0.202027,0.979255]] 2025-10-28T17:32:20.570Z,1761672740.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995577,-0.093928,-0.002209],[0.092338,-0.973840,-0.207629],[0.017351,-0.206915,0.978205]] 2025-10-28T17:32:20.957Z,1761672740.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996023,-0.089097,0.000009],[0.087100,-0.973711,-0.210479],[0.018762,-0.209641,0.977598]] 2025-10-28T17:32:21.362Z,1761672741.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996397,-0.084762,0.002810],[0.082280,-0.974192,-0.210191],[0.020553,-0.209203,0.977656]] 2025-10-28T17:32:21.778Z,1761672741.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996675,-0.081291,0.005479],[0.078405,-0.975224,-0.206860],[0.022159,-0.205743,0.978355]] 2025-10-28T17:32:22.203Z,1761672742.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996889,-0.078439,0.007760],[0.075237,-0.976284,-0.203001],[0.023499,-0.201786,0.979148]] 2025-10-28T17:32:22.596Z,1761672742.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997044,-0.076209,0.009779],[0.072753,-0.977337,-0.198793],[0.024707,-0.197494,0.979993]] 2025-10-28T17:32:22.985Z,1761672742.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997158,-0.074397,0.011843],[0.070704,-0.978505,-0.193723],[0.026001,-0.192335,0.980985]] 2025-10-28T17:32:23.383Z,1761672743.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997236,-0.073009,0.013787],[0.069065,-0.979300,-0.190269],[0.027393,-0.188791,0.981635]] 2025-10-28T17:32:23.795Z,1761672743.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997318,-0.071672,0.014840],[0.067568,-0.979498,-0.189786],[0.028138,-0.188274,0.981713]] 2025-10-28T17:32:24.189Z,1761672744.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997445,-0.069681,0.015782],[0.065439,-0.979672,-0.189630],[0.028674,-0.188113,0.981729]] 2025-10-28T17:32:24.598Z,1761672744.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997592,-0.067241,0.017011],[0.062782,-0.979657,-0.190606],[0.029481,-0.189079,0.981519]] 2025-10-28T17:32:25.003Z,1761672745.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997761,-0.064286,0.018429],[0.059612,-0.979859,-0.190587],[0.030309,-0.189062,0.981497]] 2025-10-28T17:32:25.409Z,1761672745.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998006,-0.059769,0.020300],[0.054719,-0.979511,-0.193813],[0.031468,-0.192316,0.980828]] 2025-10-28T17:32:25.836Z,1761672745.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998219,-0.055394,0.022125],[0.050034,-0.979518,-0.195043],[0.032476,-0.193589,0.980545]] 2025-10-28T17:32:26.207Z,1761672746.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998451,-0.050144,0.024101],[0.044400,-0.979212,-0.197922],[0.033525,-0.196545,0.979922]] 2025-10-28T17:32:26.624Z,1761672746.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998631,-0.045033,0.026628],[0.038848,-0.979208,-0.199106],[0.035040,-0.197799,0.979616]] 2025-10-28T17:32:26.655Z,1761672746.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:32:26.655Z,1761672746.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:32:26.655Z,1761672746.655 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateRudder:A] Stopped 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:32:26.656Z,1761672746.656 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateCommandMode] Stopped 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:32:26.657Z,1761672746.657 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:32:26.658Z,1761672746.658 [marl:UpdateSpeed] Stopped 2025-10-28T17:32:26.658Z,1761672746.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:32:27.030Z,1761672747.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998767,-0.040622,0.028535],[0.034089,-0.979076,-0.200621],[0.036087,-0.199401,0.979253]] 2025-10-28T17:32:27.083Z,1761672747.083 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:32:27.083Z,1761672747.083 [marl:UpdateRudder:B] Stopped 2025-10-28T17:32:27.083Z,1761672747.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:32:27.083Z,1761672747.083 [marl:UpdateRudder] Stopped 2025-10-28T17:32:27.084Z,1761672747.084 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:32:27.451Z,1761672747.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998867,-0.036443,0.030609],[0.029573,-0.979190,-0.200778],[0.037289,-0.199646,0.979158]] 2025-10-28T17:32:27.834Z,1761672747.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998944,-0.032764,0.032214],[0.025641,-0.979278,-0.200893],[0.038128,-0.199855,0.979083]] 2025-10-28T17:32:28.238Z,1761672748.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998994,-0.029190,0.034042],[0.021859,-0.979820,-0.198681],[0.039155,-0.197737,0.979473]] 2025-10-28T17:32:28.647Z,1761672748.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999019,-0.026760,0.035285],[0.019366,-0.980542,-0.195353],[0.039826,-0.194478,0.980098]] 2025-10-28T17:32:29.053Z,1761672749.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999028,-0.024863,0.036396],[0.017425,-0.981239,-0.192005],[0.040487,-0.191184,0.980719]] 2025-10-28T17:32:29.443Z,1761672749.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999035,-0.022971,0.037443],[0.015462,-0.981714,-0.189735],[0.041117,-0.188973,0.981121]] 2025-10-28T17:32:29.848Z,1761672749.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999040,-0.021054,0.038408],[0.013473,-0.982094,-0.187911],[0.041677,-0.187213,0.981435]] 2025-10-28T17:32:30.252Z,1761672750.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999035,-0.019353,0.039418],[0.011629,-0.982198,-0.187488],[0.042344,-0.186849,0.981476]] 2025-10-28T17:32:30.654Z,1761672750.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999044,-0.017106,0.040228],[0.009249,-0.982139,-0.187931],[0.042725,-0.187380,0.981358]] 2025-10-28T17:32:31.064Z,1761672751.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999045,-0.014149,0.041348],[0.006084,-0.981953,-0.189028],[0.043277,-0.188596,0.981101]] 2025-10-28T17:32:31.462Z,1761672751.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999042,-0.010457,0.042500],[0.002182,-0.981729,-0.190274],[0.043714,-0.189999,0.980811]] 2025-10-28T17:32:31.867Z,1761672751.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999020,-0.005553,0.043916],[-0.002965,-0.981475,-0.191566],[0.044166,-0.191509,0.980497]] 2025-10-28T17:32:32.269Z,1761672752.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998968,-0.000631,0.045420],[-0.008191,-0.981010,-0.193785],[0.044679,-0.193957,0.979992]] 2025-10-28T17:32:32.673Z,1761672752.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998885,0.004475,0.046994],[-0.013600,-0.980568,-0.195707],[0.045205,-0.196128,0.979536]] 2025-10-28T17:32:33.078Z,1761672753.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998771,0.009893,0.048561],[-0.019285,-0.980226,-0.196938],[0.045653,-0.197633,0.979213]] 2025-10-28T17:32:33.484Z,1761672753.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998636,0.014996,0.050009],[-0.024554,-0.980220,-0.196384],[0.046075,-0.197344,0.979251]] 2025-10-28T17:32:33.885Z,1761672753.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998491,0.019667,0.051267],[-0.029329,-0.980339,-0.195129],[0.046422,-0.196338,0.979437]] 2025-10-28T17:32:34.289Z,1761672754.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998334,0.023820,0.052558],[-0.033664,-0.980183,-0.195212],[0.046867,-0.196656,0.979352]] 2025-10-28T17:32:34.694Z,1761672754.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998185,0.027063,0.053796],[-0.036988,-0.980489,-0.193061],[0.047521,-0.194700,0.979711]] 2025-10-28T17:32:35.123Z,1761672755.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998069,0.029495,0.054666],[-0.039444,-0.980803,-0.190970],[0.047984,-0.192758,0.980072]] 2025-10-28T17:32:35.501Z,1761672755.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997979,0.031335,0.055278],[-0.041225,-0.981303,-0.188005],[0.048354,-0.189904,0.980611]] 2025-10-28T17:32:35.909Z,1761672755.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997950,0.032470,0.055141],[-0.042184,-0.981768,-0.185345],[0.048117,-0.187291,0.981125]] 2025-10-28T17:32:36.344Z,1761672756.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997905,0.033452,0.055376],[-0.043190,-0.981744,-0.185241],[0.048168,-0.187245,0.981132]] 2025-10-28T17:32:36.732Z,1761672756.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997894,0.034325,0.055038],[-0.043929,-0.981927,-0.184089],[0.047725,-0.186119,0.981367]] 2025-10-28T17:32:37.119Z,1761672757.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997893,0.035054,0.054605],[-0.044560,-0.981920,-0.183977],[0.047168,-0.186022,0.981413]] 2025-10-28T17:32:37.424Z,1761672757.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:32:37.530Z,1761672757.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997884,0.036025,0.054126],[-0.045322,-0.982292,-0.181792],[0.046619,-0.183861,0.981846]] 2025-10-28T17:32:37.932Z,1761672757.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997880,0.036526,0.053872],[-0.045828,-0.982036,-0.183045],[0.046218,-0.185126,0.981627]] 2025-10-28T17:32:38.329Z,1761672758.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997860,0.037128,0.053829],[-0.046509,-0.981618,-0.185104],[0.045967,-0.187212,0.981243]] 2025-10-28T17:32:38.428Z,1761672758.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:32:38.733Z,1761672758.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997813,0.038552,0.053688],[-0.048034,-0.980928,-0.188345],[0.045403,-0.190512,0.980634]] 2025-10-28T17:32:39.146Z,1761672759.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997709,0.040998,0.053806],[-0.050592,-0.980244,-0.191211],[0.044904,-0.193496,0.980073]] 2025-10-28T17:32:39.611Z,1761672759.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997540,0.044525,0.054151],[-0.054280,-0.979372,-0.194638],[0.044368,-0.197098,0.979379]] 2025-10-28T17:32:39.977Z,1761672759.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997348,0.048381,0.054380],[-0.058128,-0.979077,-0.195013],[0.043808,-0.197657,0.979292]] 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateRudder:A] Stopped 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:32:40.045Z,1761672760.045 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode] Stopped 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:32:40.046Z,1761672760.046 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:32:40.047Z,1761672760.047 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:32:40.047Z,1761672760.047 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:32:40.047Z,1761672760.047 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:32:40.047Z,1761672760.047 [marl:UpdateSpeed] Stopped 2025-10-28T17:32:40.047Z,1761672760.047 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:32:40.347Z,1761672760.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997114,0.052634,0.054718],[-0.062412,-0.978620,-0.195978],[0.043233,-0.198827,0.979080]] 2025-10-28T17:32:40.376Z,1761672760.376 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:32:40.376Z,1761672760.376 [marl:UpdateRudder:B] Stopped 2025-10-28T17:32:40.376Z,1761672760.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:32:40.376Z,1761672760.376 [marl:UpdateRudder] Stopped 2025-10-28T17:32:40.377Z,1761672760.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:32:40.771Z,1761672760.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996775,0.058241,0.055212],[-0.068035,-0.978148,-0.196463],[0.042563,-0.199586,0.978955]] 2025-10-28T17:32:41.174Z,1761672761.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996289,0.065260,0.056115],[-0.075087,-0.977709,-0.196077],[0.042068,-0.199563,0.978981]] 2025-10-28T17:32:41.623Z,1761672761.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995765,0.072231,0.056880],[-0.082136,-0.976878,-0.197392],[0.041307,-0.201228,0.978673]] 2025-10-28T17:32:42.377Z,1761672762.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994531,0.086768,0.058133],[-0.096501,-0.976300,-0.193716],[0.039947,-0.198266,0.979334]] 2025-10-28T17:32:42.786Z,1761672762.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993912,0.093098,0.058913],[-0.102755,-0.976222,-0.190872],[0.039743,-0.195763,0.979846]] 2025-10-28T17:32:43.178Z,1761672763.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993445,0.098149,0.058592],[-0.107522,-0.976350,-0.187562],[0.038798,-0.192633,0.980504]] 2025-10-28T17:32:43.615Z,1761672763.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993160,0.101335,0.058009],[-0.110424,-0.976605,-0.184526],[0.037953,-0.189669,0.981114]] 2025-10-28T17:32:43.982Z,1761672763.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992999,0.103536,0.056857],[-0.112326,-0.976609,-0.183350],[0.036544,-0.188453,0.981402]] 2025-10-28T17:32:44.387Z,1761672764.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992933,0.104946,0.055404],[-0.113365,-0.976874,-0.181291],[0.035097,-0.186291,0.981868]] 2025-10-28T17:32:44.793Z,1761672764.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992982,0.105316,0.053805],[-0.113410,-0.976977,-0.180706],[0.033535,-0.185540,0.982064]] 2025-10-28T17:32:45.195Z,1761672765.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993132,0.104897,0.051828],[-0.112597,-0.977263,-0.179666],[0.031804,-0.184267,0.982361]] 2025-10-28T17:32:45.621Z,1761672765.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993236,0.104699,0.050206],[-0.112095,-0.977367,-0.179411],[0.030286,-0.183826,0.982492]] 2025-10-28T17:32:46.003Z,1761672766.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993337,0.104649,0.048270],[-0.111714,-0.977250,-0.180285],[0.028306,-0.184476,0.982429]] 2025-10-28T17:32:46.405Z,1761672766.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993255,0.106072,0.046836],[-0.112934,-0.976530,-0.183397],[0.026284,-0.187449,0.981923]] 2025-10-28T17:32:46.813Z,1761672766.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993080,0.108288,0.045453],[-0.114911,-0.975859,-0.185727],[0.024244,-0.189665,0.981550]] 2025-10-28T17:32:47.214Z,1761672767.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992798,0.111254,0.044436],[-0.117676,-0.975165,-0.187632],[0.022458,-0.191510,0.981234]] 2025-10-28T17:32:47.625Z,1761672767.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992340,0.115609,0.043549],[-0.121848,-0.974056,-0.190704],[0.020372,-0.194550,0.980681]] 2025-10-28T17:32:48.031Z,1761672768.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991819,0.120252,0.042836],[-0.126291,-0.973237,-0.191992],[0.018602,-0.195831,0.980461]] 2025-10-28T17:32:48.426Z,1761672768.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991092,0.126224,0.042469],[-0.132101,-0.972207,-0.193295],[0.016890,-0.197183,0.980221]] 2025-10-28T17:32:48.829Z,1761672768.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990425,0.131663,0.041498],[-0.137248,-0.971470,-0.193416],[0.014849,-0.197260,0.980239]] 2025-10-28T17:32:49.233Z,1761672769.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989647,0.137567,0.040904],[-0.142917,-0.970709,-0.193127],[0.013138,-0.196974,0.980321]] 2025-10-28T17:32:49.637Z,1761672769.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988900,0.143093,0.040012],[-0.148154,-0.970052,-0.192485],[0.011271,-0.196276,0.980484]] 2025-10-28T17:32:50.066Z,1761672770.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988296,0.147543,0.038767],[-0.152262,-0.969681,-0.191141],[0.009390,-0.194806,0.980797]] 2025-10-28T17:32:50.473Z,1761672770.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987853,0.150778,0.037579],[-0.155192,-0.969532,-0.189536],[0.007856,-0.193066,0.981154]] 2025-10-28T17:32:50.867Z,1761672770.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987566,0.152939,0.036372],[-0.157083,-0.969129,-0.190039],[0.006185,-0.193390,0.981103]] 2025-10-28T17:32:50.907Z,1761672770.907 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:32:51.022Z,1761672771.022 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:32:51.022Z,1761672771.022 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:32:51.256Z,1761672771.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987425,0.154183,0.034920],[-0.158018,-0.969174,-0.189028],[0.004698,-0.192168,0.981351]] 2025-10-28T17:32:51.273Z,1761672771.273 [DAT](INFO): DAT read: user:69> 2025-10-28T17:32:51.274Z,1761672771.274 [DAT](INFO): DAT read: Tx time:17:32:51.0068 2025-10-28T17:32:51.274Z,1761672771.274 [DAT](INFO): Ping request sent. 2025-10-28T17:32:51.274Z,1761672771.274 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:32:51.274Z,1761672771.274 [DAT](INFO): publishing transmit ping time 2025-10-28T17:32:51.275Z,1761672771.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925 2025-10-28T17:32:51.525Z,1761672771.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097 2025-10-28T17:32:51.659Z,1761672771.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987489,0.154147,0.033219],[-0.157654,-0.969352,-0.188421],[0.003156,-0.191301,0.981526]] 2025-10-28T17:32:51.778Z,1761672771.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503425 2025-10-28T17:32:52.029Z,1761672772.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754746 2025-10-28T17:32:52.069Z,1761672772.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987578,0.153858,0.031897],[-0.157119,-0.969399,-0.188624],[0.001900,-0.191293,0.981531]] 2025-10-28T17:32:52.281Z,1761672772.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006800 2025-10-28T17:32:52.465Z,1761672772.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987700,0.153363,0.030474],[-0.156359,-0.969807,-0.187151],[0.000852,-0.189614,0.981858]] 2025-10-28T17:32:52.533Z,1761672772.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258959 2025-10-28T17:32:52.785Z,1761672772.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848 2025-10-28T17:32:52.870Z,1761672772.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987579,0.154341,0.029428],[-0.157120,-0.969328,-0.188990],[-0.000644,-0.191266,0.981538]] 2025-10-28T17:32:53.037Z,1761672773.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803 2025-10-28T17:32:53.280Z,1761672773.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987402,0.155669,0.028379],[-0.158219,-0.968775,-0.190898],[-0.002224,-0.192983,0.981200]] 2025-10-28T17:32:53.289Z,1761672773.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 2025-10-28T17:32:53.316Z,1761672773.316 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:32:53.316Z,1761672773.316 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:32:53.316Z,1761672773.316 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateRudder:A] Stopped 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:32:53.317Z,1761672773.317 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateCommandMode] Stopped 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:32:53.318Z,1761672773.318 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:32:53.319Z,1761672773.319 [marl:UpdateSpeed] Stopped 2025-10-28T17:32:53.319Z,1761672773.319 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:32:53.541Z,1761672773.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811 2025-10-28T17:32:53.691Z,1761672773.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986334,0.162565,0.026778],[-0.164647,-0.966663,-0.196096],[-0.005993,-0.197826,0.980219]] 2025-10-28T17:32:53.743Z,1761672773.743 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:32:53.743Z,1761672773.743 [marl:UpdateRudder:B] Stopped 2025-10-28T17:32:53.743Z,1761672773.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:32:53.743Z,1761672773.743 [marl:UpdateRudder] Stopped 2025-10-28T17:32:53.743Z,1761672773.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:32:53.794Z,1761672773.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519568 2025-10-28T17:32:54.045Z,1761672774.045 [DAT](INFO): DAT read: Rx Time:17:32:53.4017 2025-10-28T17:32:54.045Z,1761672774.045 [DAT](INFO): Rx dataTimestamp_ set to:1761672774.045170 2025-10-28T17:32:54.046Z,1761672774.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771925 2025-10-28T17:32:54.119Z,1761672774.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985500,0.167674,0.025971],[-0.169486,-0.965616,-0.197128],[-0.007975,-0.198672,0.980034]] 2025-10-28T17:32:54.297Z,1761672774.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022783 2025-10-28T17:32:54.567Z,1761672774.567 [DAT](INFO): DAT read: 17:32:53.4017 LVL= 32752, 23105, 29106, 32755, AGC= 57, IDX= 286, 0.28,-1.643, 0.364,-0.547,-0.472, PHS=-1.069, 0.880,-0.119, RAW= 300.8, 3.7, CAL= 298.6, -0.3, ROT= 211.4, 0.3 2025-10-28T17:32:54.577Z,1761672774.577 [DAT](INFO): got valid direction response: 17:32:53.4017 LVL= 32752, 23105, 29106, 32755, AGC= 57, IDX= 286, 0.28,-1.643, 0.364,-0.547,-0.472, PHS=-1.069, 0.880,-0.119, RAW= 300.8, 3.7, CAL= 298.6, -0.3, ROT= 211.4, 0.3 2025-10-28T17:32:54.578Z,1761672774.578 [DAT](INFO): DAT read: Bearing 36, -19 (Remote) 2025-10-28T17:32:54.578Z,1761672774.578 [DAT](INFO): Remote Bearing received:Bearing 36, -19 (Remote) 2025-10-28T17:32:54.579Z,1761672774.579 [DAT](INFO): DAT read: Bearing 164.5, -30.3 (Local) 2025-10-28T17:32:54.579Z,1761672774.579 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, -30.3 (Local) 2025-10-28T17:32:54.581Z,1761672774.581 [DAT](INFO): DAT read: Range 11 to 20 : 274.3 m (Round-trip 365.8 ms) speed -1.0 m/s 2025-10-28T17:32:54.581Z,1761672774.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:32:54.582Z,1761672774.582 [DAT](INFO): direction in FSK: [-0.853539,-0.521002,-0.005236] 2025-10-28T17:32:54.583Z,1761672774.583 [DAT](INFO): publishing direction and range info 2025-10-28T17:32:54.652Z,1761672774.652 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672832.00. Resetting abort timer. 2025-10-28T17:32:54.905Z,1761672774.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983599,0.178697,0.024522],[-0.179973,-0.963279,-0.199257],[-0.011985,-0.200402,0.979640]] 2025-10-28T17:32:55.319Z,1761672775.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982567,0.184311,0.024316],[-0.185409,-0.961932,-0.200775],[-0.013615,-0.201784,0.979335]] 2025-10-28T17:32:55.736Z,1761672775.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981661,0.189100,0.024136],[-0.190046,-0.960810,-0.201810],[-0.014973,-0.202696,0.979127]] 2025-10-28T17:32:56.122Z,1761672776.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981598,0.189440,0.024047],[-0.190338,-0.960448,-0.203250],[-0.015408,-0.204087,0.978832]] 2025-10-28T17:32:56.917Z,1761672776.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984547,0.173029,0.026969],[-0.174522,-0.956803,-0.232529],[-0.014430,-0.233642,0.972215]] 2025-10-28T17:32:57.316Z,1761672777.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986904,0.158587,0.029509],[-0.160800,-0.952663,-0.258025],[-0.012807,-0.259391,0.965688]] 2025-10-28T17:32:57.719Z,1761672777.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989381,0.141893,0.031477],[-0.144940,-0.947109,-0.286315],[-0.010814,-0.287837,0.957618]] 2025-10-28T17:32:58.123Z,1761672778.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991939,0.122669,0.031767],[-0.126431,-0.941303,-0.312991],[-0.008491,-0.314484,0.949225]] 2025-10-28T17:32:58.530Z,1761672778.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994245,0.102643,0.030693],[-0.106970,-0.935302,-0.337293],[-0.005913,-0.338635,0.940899]] 2025-10-28T17:32:58.930Z,1761672778.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996200,0.082283,0.028546],[-0.087045,-0.929534,-0.358316],[-0.002949,-0.359439,0.933164]] 2025-10-28T17:32:59.334Z,1761672779.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997714,0.062637,0.025347],[-0.067572,-0.924286,-0.375673],[-0.000103,-0.376527,0.926406]] 2025-10-28T17:32:59.736Z,1761672779.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998819,0.043580,0.021488],[-0.048508,-0.919961,-0.388998],[0.002816,-0.389581,0.920988]] 2025-10-28T17:33:00.154Z,1761672780.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999498,0.026095,0.017965],[-0.031095,-0.916610,-0.398572],[0.006067,-0.398930,0.916961]] 2025-10-28T17:33:00.544Z,1761672780.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999844,0.010079,0.014501],[-0.015091,-0.914112,-0.405181],[0.009171,-0.405337,0.914121]] 2025-10-28T17:33:00.950Z,1761672780.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999925,-0.004553,0.011410],[-0.000515,-0.912405,-0.409287],[0.012274,-0.409262,0.912334]] 2025-10-28T17:33:01.358Z,1761672781.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999793,-0.018340,0.008827],[0.013102,-0.911799,-0.410427],[0.015576,-0.410227,0.911851]] 2025-10-28T17:33:01.763Z,1761672781.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999486,-0.031472,0.006096],[0.026203,-0.911592,-0.410260],[0.018469,-0.409889,0.911948]] 2025-10-28T17:33:02.160Z,1761672782.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998993,-0.044746,0.003247],[0.039531,-0.912177,-0.407885],[0.021213,-0.407346,0.913028]] 2025-10-28T17:33:02.970Z,1761672782.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997284,-0.073584,-0.003249],[0.068696,-0.913318,-0.401411],[0.026570,-0.400544,0.915892]] 2025-10-28T17:33:03.372Z,1761672783.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996040,-0.088626,-0.007083],[0.084126,-0.913687,-0.397617],[0.028768,-0.396638,0.917524]] 2025-10-28T17:33:03.783Z,1761672783.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994533,-0.103829,-0.011083],[0.099765,-0.913508,-0.394399],[0.030826,-0.393349,0.918872]] 2025-10-28T17:33:04.185Z,1761672784.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992723,-0.119449,-0.015282],[0.115866,-0.912851,-0.391507],[0.032815,-0.390429,0.920048]] 2025-10-28T17:33:05.025Z,1761672785.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988671,-0.148272,-0.023350],[0.145654,-0.910129,-0.387880],[0.036260,-0.386887,0.921414]] 2025-10-28T17:33:05.446Z,1761672785.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986454,-0.161673,-0.027770],[0.159714,-0.907948,-0.387456],[0.037428,-0.386642,0.921470]] 2025-10-28T17:33:05.867Z,1761672785.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984123,-0.174447,-0.032714],[0.173408,-0.905738,-0.386742],[0.037835,-0.386274,0.921608]] 2025-10-28T17:33:06.270Z,1761672786.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981642,-0.186967,-0.037718],[0.186897,-0.903432,-0.385850],[0.038066,-0.385816,0.921790]] 2025-10-28T17:33:06.676Z,1761672786.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979106,-0.198792,-0.042825],[0.199725,-0.900469,-0.386349],[0.038240,-0.386830,0.921358]] 2025-10-28T17:33:06.699Z,1761672786.699 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:33:06.699Z,1761672786.699 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:33:06.699Z,1761672786.699 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:33:06.700Z,1761672786.700 [marl:UpdateRudder:A] Stopped 2025-10-28T17:33:06.700Z,1761672786.700 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:33:06.700Z,1761672786.700 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:33:06.700Z,1761672786.700 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:33:06.700Z,1761672786.700 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateCommandMode] Stopped 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:33:06.701Z,1761672786.701 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:33:06.702Z,1761672786.702 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:33:06.702Z,1761672786.702 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:33:06.702Z,1761672786.702 [marl:UpdateSpeed] Stopped 2025-10-28T17:33:06.702Z,1761672786.702 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:33:07.081Z,1761672787.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976397,-0.210720,-0.047385],[0.212491,-0.897933,-0.385439],[0.038671,-0.386411,0.921516]] 2025-10-28T17:33:07.105Z,1761672787.105 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:33:07.105Z,1761672787.105 [marl:UpdateRudder:B] Stopped 2025-10-28T17:33:07.105Z,1761672787.105 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:33:07.105Z,1761672787.105 [marl:UpdateRudder] Stopped 2025-10-28T17:33:07.105Z,1761672787.105 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:33:07.497Z,1761672787.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973309,-0.223428,-0.052439],[0.226117,-0.894515,-0.385634],[0.039254,-0.387198,0.921160]] 2025-10-28T17:33:07.886Z,1761672787.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969610,-0.237802,-0.057499],[0.241400,-0.891703,-0.382872],[0.039776,-0.385117,0.922010]] 2025-10-28T17:33:08.292Z,1761672788.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965290,-0.253408,-0.063245],[0.258036,-0.887810,-0.381066],[0.040416,-0.384159,0.922382]] 2025-10-28T17:33:08.548Z,1761672788.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:33:08.700Z,1761672788.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960456,-0.269631,-0.069454],[0.275422,-0.883456,-0.379009],[0.040833,-0.383150,0.922783]] 2025-10-28T17:33:09.098Z,1761672789.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954946,-0.286856,-0.076107],[0.293960,-0.878969,-0.375501],[0.040819,-0.380955,0.923692]] 2025-10-28T17:33:09.525Z,1761672789.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949024,-0.304230,-0.082442],[0.312572,-0.874629,-0.370571],[0.040633,-0.377450,0.925138]] 2025-10-28T17:33:09.553Z,1761672789.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:33:09.919Z,1761672789.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942631,-0.321573,-0.089647],[0.331433,-0.869319,-0.366655],[0.039975,-0.375332,0.926028]] 2025-10-28T17:33:10.384Z,1761672790.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935911,-0.338376,-0.097836],[0.350161,-0.863687,-0.362534],[0.038173,-0.373558,0.926821]] 2025-10-28T17:33:10.789Z,1761672790.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929041,-0.354088,-0.107254],[0.368300,-0.857559,-0.359092],[0.035174,-0.373113,0.927119]] 2025-10-28T17:33:11.187Z,1761672791.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922313,-0.368200,-0.117334],[0.385155,-0.851075,-0.356828],[0.031524,-0.374299,0.926772]] 2025-10-28T17:33:11.615Z,1761672791.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915725,-0.381274,-0.126797],[0.400847,-0.845081,-0.353780],[0.027733,-0.374792,0.926694]] 2025-10-28T17:33:12.005Z,1761672792.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909537,-0.392943,-0.135415],[0.414928,-0.839648,-0.350467],[0.024013,-0.374950,0.926734]] 2025-10-28T17:33:12.398Z,1761672792.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903612,-0.403782,-0.142992],[0.427850,-0.834607,-0.346952],[0.020751,-0.374689,0.926918]] 2025-10-28T17:33:12.802Z,1761672792.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897922,-0.413995,-0.149478],[0.439792,-0.830074,-0.342870],[0.017869,-0.373610,0.927414]] 2025-10-28T17:33:13.206Z,1761672793.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892272,-0.423569,-0.156332],[0.451246,-0.825053,-0.340094],[0.015071,-0.374000,0.927306]] 2025-10-28T17:33:13.623Z,1761672793.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886434,-0.433421,-0.162423],[0.462689,-0.820337,-0.336104],[0.012433,-0.373086,0.927714]] 2025-10-28T17:33:14.015Z,1761672794.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880392,-0.443354,-0.168364],[0.474135,-0.815172,-0.332702],[0.010259,-0.372736,0.927881]] 2025-10-28T17:33:14.418Z,1761672794.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874208,-0.453238,-0.174169],[0.485472,-0.809432,-0.330359],[0.008753,-0.373357,0.927647]] 2025-10-28T17:33:14.823Z,1761672794.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867507,-0.463807,-0.179761],[0.497368,-0.803317,-0.327577],[0.007527,-0.373583,0.927566]] 2025-10-28T17:33:15.229Z,1761672795.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860383,-0.474513,-0.185952],[0.509607,-0.796369,-0.325727],[0.006476,-0.375012,0.926997]] 2025-10-28T17:33:15.630Z,1761672795.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852587,-0.486015,-0.192053],[0.522553,-0.788846,-0.323512],[0.005731,-0.376180,0.926529]] 2025-10-28T17:33:16.439Z,1761672796.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834506,-0.511944,-0.203748],[0.550984,-0.772572,-0.315514],[0.004116,-0.375560,0.926789]] 2025-10-28T17:33:16.844Z,1761672796.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824376,-0.525532,-0.210286],[0.566034,-0.763361,-0.311265],[0.003056,-0.375628,0.926766]] 2025-10-28T17:33:17.247Z,1761672797.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813913,-0.539059,-0.216706],[0.580984,-0.753878,-0.306800],[0.002014,-0.375611,0.926775]] 2025-10-28T17:33:17.650Z,1761672797.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802737,-0.553276,-0.222483],[0.596332,-0.744482,-0.300225],[0.000472,-0.373675,0.927559]] 2025-10-28T17:33:18.054Z,1761672798.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791169,-0.566993,-0.229281],[0.611595,-0.734461,-0.294140],[-0.001623,-0.372942,0.927853]] 2025-10-28T17:33:18.474Z,1761672798.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779217,-0.580273,-0.236864],[0.626740,-0.723962,-0.288227],[-0.004230,-0.373044,0.927804]] 2025-10-28T17:33:18.863Z,1761672798.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767085,-0.593232,-0.244248],[0.641506,-0.713486,-0.281792],[-0.007099,-0.372845,0.927866]] 2025-10-28T17:33:19.266Z,1761672799.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755251,-0.605204,-0.251642],[0.655357,-0.703223,-0.275653],[-0.010134,-0.373102,0.927735]] 2025-10-28T17:33:19.671Z,1761672799.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743570,-0.616695,-0.258441],[0.668531,-0.693182,-0.269377],[-0.013023,-0.373076,0.927709]] 2025-10-28T17:33:19.749Z,1761672799.749 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:33:19.749Z,1761672799.749 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:33:19.750Z,1761672799.750 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:33:19.750Z,1761672799.750 [marl:UpdateRudder:A] Stopped 2025-10-28T17:33:19.750Z,1761672799.750 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:33:19.750Z,1761672799.750 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:33:19.750Z,1761672799.750 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateCommandMode] Stopped 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:33:19.751Z,1761672799.751 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:33:19.752Z,1761672799.752 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:33:19.756Z,1761672799.756 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:33:19.757Z,1761672799.757 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:33:19.757Z,1761672799.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:33:19.757Z,1761672799.757 [marl:UpdateSpeed] Stopped 2025-10-28T17:33:19.757Z,1761672799.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:33:20.076Z,1761672800.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732571,-0.627005,-0.264963],[0.680510,-0.683587,-0.263846],[-0.015693,-0.373595,0.927459]] 2025-10-28T17:33:20.099Z,1761672800.099 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:33:20.100Z,1761672800.100 [marl:UpdateRudder:B] Stopped 2025-10-28T17:33:20.100Z,1761672800.100 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:33:20.100Z,1761672800.100 [marl:UpdateRudder] Stopped 2025-10-28T17:33:20.100Z,1761672800.100 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:33:20.484Z,1761672800.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721746,-0.636940,-0.270906],[0.691910,-0.674414,-0.257733],[-0.018542,-0.373460,0.927461]] 2025-10-28T17:33:20.883Z,1761672800.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711286,-0.646580,-0.275693],[0.702586,-0.665762,-0.251264],[-0.021084,-0.372419,0.927825]] 2025-10-28T17:33:21.691Z,1761672801.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692436,-0.663588,-0.283167],[0.720996,-0.650815,-0.237919],[-0.026409,-0.368906,0.929092]] 2025-10-28T17:33:22.094Z,1761672802.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686357,-0.670362,-0.282007],[0.726627,-0.648335,-0.227321],[-0.030448,-0.360937,0.932093]] 2025-10-28T17:33:22.499Z,1761672802.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682993,-0.676747,-0.274834],[0.729546,-0.650489,-0.211249],[-0.035814,-0.344786,0.937998]] 2025-10-28T17:33:22.903Z,1761672802.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681679,-0.682029,-0.264859],[0.730438,-0.655235,-0.192688],[-0.042126,-0.324814,0.944839]] 2025-10-28T17:33:23.308Z,1761672803.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681849,-0.685985,-0.253980],[0.729868,-0.661135,-0.173760],[-0.048718,-0.303850,0.951473]] 2025-10-28T17:33:23.710Z,1761672803.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683005,-0.688283,-0.244482],[0.728296,-0.667215,-0.156236],[-0.055587,-0.284765,0.956984]] 2025-10-28T17:33:24.115Z,1761672804.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684272,-0.690086,-0.235699],[0.726553,-0.672824,-0.139388],[-0.062394,-0.266627,0.961778]] 2025-10-28T17:33:24.527Z,1761672804.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687455,-0.690713,-0.224324],[0.722399,-0.682064,-0.113704],[-0.074466,-0.240218,0.967859]] 2025-10-28T17:33:25.005Z,1761672805.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688451,-0.690593,-0.221621],[0.720913,-0.685064,-0.104743],[-0.079490,-0.231880,0.969491]] 2025-10-28T17:33:25.735Z,1761672805.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688272,-0.690341,-0.222959],[0.720077,-0.687451,-0.094341],[-0.088146,-0.225480,0.970252]] 2025-10-28T17:33:26.139Z,1761672806.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686178,-0.691294,-0.226435],[0.721593,-0.686219,-0.091691],[-0.091998,-0.226311,0.969701]] 2025-10-28T17:33:26.539Z,1761672806.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683387,-0.692765,-0.230345],[0.723785,-0.684175,-0.089659],[-0.095484,-0.227992,0.968970]] 2025-10-28T17:33:26.950Z,1761672806.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679965,-0.695010,-0.233687],[0.726567,-0.681553,-0.087101],[-0.098734,-0.229014,0.968403]] 2025-10-28T17:33:27.347Z,1761672807.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675948,-0.697857,-0.236833],[0.729810,-0.678515,-0.083632],[-0.102332,-0.229374,0.967944]] 2025-10-28T17:33:27.755Z,1761672807.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671660,-0.700818,-0.240263],[0.733188,-0.675328,-0.079795],[-0.106334,-0.229753,0.967423]] 2025-10-28T17:33:28.155Z,1761672808.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667526,-0.703255,-0.244625],[0.736290,-0.672355,-0.076264],[-0.110841,-0.231024,0.966614]] 2025-10-28T17:33:28.559Z,1761672808.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663641,-0.705478,-0.248759],[0.738963,-0.669946,-0.071448],[-0.116250,-0.231240,0.965926]] 2025-10-28T17:33:28.967Z,1761672808.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660186,-0.707172,-0.253106],[0.741109,-0.668090,-0.066435],[-0.122117,-0.231438,0.965155]] 2025-10-28T17:33:29.369Z,1761672809.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657260,-0.708805,-0.256134],[0.742729,-0.666852,-0.060507],[-0.127916,-0.230007,0.964746]] 2025-10-28T17:33:29.776Z,1761672809.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654833,-0.709459,-0.260503],[0.743786,-0.666102,-0.055597],[-0.134078,-0.230166,0.963871]] 2025-10-28T17:33:30.177Z,1761672810.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652968,-0.710165,-0.263245],[0.744329,-0.665962,-0.049690],[-0.140022,-0.228387,0.963449]] 2025-10-28T17:33:30.579Z,1761672810.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652062,-0.710006,-0.265906],[0.744163,-0.666459,-0.045318],[-0.145040,-0.227427,0.962933]] 2025-10-28T17:33:30.984Z,1761672810.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651249,-0.709676,-0.268767],[0.744072,-0.666751,-0.042413],[-0.149101,-0.227603,0.962271]] 2025-10-28T17:33:31.386Z,1761672811.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651477,-0.708484,-0.271346],[0.743359,-0.667595,-0.041646],[-0.151644,-0.228839,0.961580]] 2025-10-28T17:33:31.793Z,1761672811.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652011,-0.707598,-0.272372],[0.742723,-0.668294,-0.041779],[-0.152462,-0.229537,0.961285]] 2025-10-28T17:33:32.194Z,1761672812.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652652,-0.707076,-0.272194],[0.742233,-0.668802,-0.042344],[-0.152103,-0.229667,0.961310]] 2025-10-28T17:33:32.600Z,1761672812.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653814,-0.706336,-0.271324],[0.741426,-0.669632,-0.043378],[-0.151048,-0.229528,0.961510]] 2025-10-28T17:33:33.003Z,1761672813.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654377,-0.705503,-0.272134],[0.741288,-0.669561,-0.046687],[-0.149273,-0.232281,0.961126]] 2025-10-28T17:33:33.034Z,1761672813.034 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:33:33.035Z,1761672813.035 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:33:33.035Z,1761672813.035 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateRudder:A] Stopped 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:33:33.038Z,1761672813.038 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:33:33.039Z,1761672813.039 [marl:UpdateCommandMode] Stopped 2025-10-28T17:33:33.039Z,1761672813.039 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:33:33.039Z,1761672813.039 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:33:33.039Z,1761672813.039 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:33:33.039Z,1761672813.039 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:33:33.041Z,1761672813.041 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:33:33.042Z,1761672813.042 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:33:33.042Z,1761672813.042 [marl:UpdateSpeed] Stopped 2025-10-28T17:33:33.042Z,1761672813.042 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:33:33.406Z,1761672813.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654887,-0.705171,-0.271766],[0.741274,-0.669383,-0.049382],[-0.147093,-0.233793,0.961095]] 2025-10-28T17:33:33.477Z,1761672813.477 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T17:33:33.477Z,1761672813.477 [marl:UpdateRudder:B] Stopped 2025-10-28T17:33:33.477Z,1761672813.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:33:33.477Z,1761672813.477 [marl:UpdateRudder] Stopped 2025-10-28T17:33:33.477Z,1761672813.477 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:33:33.810Z,1761672813.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654298,-0.706217,-0.270466],[0.742082,-0.668457,-0.049793],[-0.145630,-0.233287,0.961441]] 2025-10-28T17:33:34.216Z,1761672814.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653297,-0.707139,-0.270475],[0.743133,-0.667235,-0.050499],[-0.144761,-0.233990,0.961402]] 2025-10-28T17:33:34.618Z,1761672814.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652293,-0.708193,-0.270141],[0.744077,-0.666207,-0.050170],[-0.144440,-0.233732,0.961513]] 2025-10-28T17:33:35.023Z,1761672815.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651402,-0.709106,-0.269898],[0.744807,-0.665462,-0.049224],[-0.144702,-0.233086,0.961630]] 2025-10-28T17:33:35.435Z,1761672815.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650965,-0.709459,-0.270022],[0.745092,-0.665195,-0.048517],[-0.145196,-0.232774,0.961631]] 2025-10-28T17:33:35.830Z,1761672815.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652738,-0.708426,-0.268452],[0.743460,-0.667109,-0.047262],[-0.145605,-0.230432,0.962133]] 2025-10-28T17:33:36.241Z,1761672816.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658761,-0.706177,-0.259515],[0.738064,-0.673493,-0.040855],[-0.145931,-0.218453,0.964874]] 2025-10-28T17:33:36.639Z,1761672816.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669744,-0.703081,-0.238997],[0.727971,-0.685175,-0.024355],[-0.146631,-0.190295,0.970715]] 2025-10-28T17:33:37.042Z,1761672817.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686386,-0.697310,-0.206477],[0.712235,-0.701935,0.002900],[-0.146956,-0.145069,0.978447]] 2025-10-28T17:33:37.454Z,1761672817.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708410,-0.686162,-0.165339],[0.690453,-0.722309,0.039300],[-0.146392,-0.086318,0.985453]] 2025-10-28T17:33:37.853Z,1761672817.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733376,-0.669225,-0.119572],[0.664341,-0.742825,0.082842],[-0.144261,-0.018682,0.989363]] 2025-10-28T17:33:38.259Z,1761672818.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758316,-0.647404,-0.076319],[0.636594,-0.760644,0.127159],[-0.140375,0.047842,0.988942]] 2025-10-28T17:33:38.659Z,1761672818.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781591,-0.622374,-0.042021],[0.609040,-0.775938,0.164287],[-0.134854,0.102812,0.985517]] 2025-10-28T17:33:39.468Z,1761672819.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822594,-0.568627,-0.001627],[0.555999,-0.804919,0.207294],[-0.119183,0.169614,0.978277]] 2025-10-28T17:33:39.692Z,1761672819.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:33:39.870Z,1761672819.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840274,-0.542085,0.009121],[0.531021,-0.819498,0.215498],[-0.109343,0.185920,0.976462]] 2025-10-28T17:33:40.275Z,1761672820.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856265,-0.516295,0.015814],[0.506972,-0.834151,0.217187],[-0.098941,0.193987,0.976002]] 2025-10-28T17:33:40.682Z,1761672820.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871069,-0.490786,0.019153],[0.483192,-0.849291,0.212674],[-0.088111,0.194508,0.976935]] 2025-10-28T17:33:40.696Z,1761672820.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:33:41.084Z,1761672821.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884761,-0.465533,0.021854],[0.459575,-0.863730,0.206787],[-0.077390,0.193001,0.978142]] 2025-10-28T17:33:41.487Z,1761672821.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897451,-0.440505,0.023194],[0.435986,-0.877794,0.198481],[-0.067072,0.188239,0.979830]] 2025-10-28T17:33:41.891Z,1761672821.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909629,-0.414732,0.023919],[0.411477,-0.891582,0.189126],[-0.057111,0.181876,0.981661]] 2025-10-28T17:33:42.297Z,1761672822.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921081,-0.388595,0.024587],[0.386382,-0.904374,0.181156],[-0.048160,0.176360,0.983147]] 2025-10-28T17:33:42.711Z,1761672822.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932074,-0.361373,0.025444],[0.360122,-0.916633,0.173486],[-0.039370,0.170864,0.984508]] 2025-10-28T17:33:43.102Z,1761672823.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942492,-0.333161,0.026707],[0.332788,-0.928013,0.167463],[-0.031008,0.166720,0.985517]] 2025-10-28T17:33:43.508Z,1761672823.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952326,-0.303759,0.028400],[0.304228,-0.938562,0.162932],[-0.022837,0.163805,0.986228]] 2025-10-28T17:33:43.513Z,1761672823.513 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T17:33:43.918Z,1761672823.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961321,-0.273774,0.030144],[0.275006,-0.948014,0.160131],[-0.015263,0.162227,0.986635]] 2025-10-28T17:33:44.315Z,1761672824.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969394,-0.243408,0.032048],[0.245375,-0.956255,0.159274],[-0.008122,0.162263,0.986714]] 2025-10-28T17:33:44.724Z,1761672824.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976595,-0.212429,0.033710],[0.215082,-0.963445,0.159727],[-0.001453,0.163239,0.986585]] 2025-10-28T17:33:45.123Z,1761672825.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982902,-0.180808,0.034820],[0.184066,-0.969832,0.159827],[0.004871,0.163504,0.986531]] 2025-10-28T17:33:45.535Z,1761672825.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988222,-0.148766,0.035850],[0.152610,-0.975347,0.159399],[0.011253,0.162993,0.986563]] 2025-10-28T17:33:45.938Z,1761672825.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992429,-0.117122,0.036980],[0.121567,-0.979640,0.159771],[0.017515,0.163057,0.986461]] 2025-10-28T17:33:46.334Z,1761672826.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995590,-0.085898,0.037700],[0.090857,-0.982979,0.159680],[0.023342,0.162401,0.986449]] 2025-10-28T17:33:46.374Z,1761672826.374 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateRudder:A] Stopped 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:33:46.375Z,1761672826.375 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateCommandMode] Stopped 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:33:46.376Z,1761672826.376 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:33:46.377Z,1761672826.377 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:33:46.377Z,1761672826.377 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:33:46.377Z,1761672826.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:33:46.377Z,1761672826.377 [marl:UpdateSpeed] Stopped 2025-10-28T17:33:46.377Z,1761672826.377 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:33:46.743Z,1761672826.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997853,-0.053032,0.038419],[0.058470,-0.985704,0.158012],[0.029490,0.159919,0.986689]] 2025-10-28T17:33:46.811Z,1761672826.811 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:33:46.811Z,1761672826.811 [marl:UpdateRudder:B] Stopped 2025-10-28T17:33:46.811Z,1761672826.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:33:46.811Z,1761672826.811 [marl:UpdateRudder] Stopped 2025-10-28T17:33:46.812Z,1761672826.812 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:33:47.570Z,1761672827.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999113,0.013061,0.040042],[-0.006549,-0.987316,0.158634],[0.041606,0.158231,0.986525]] 2025-10-28T17:33:47.951Z,1761672827.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998070,0.047724,0.039731],[-0.040775,-0.986219,0.160339],[0.046836,0.158410,0.986262]] 2025-10-28T17:33:48.358Z,1761672828.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995852,0.082295,0.038815],[-0.075019,-0.984007,0.161559],[0.051490,0.157977,0.986099]] 2025-10-28T17:33:48.772Z,1761672828.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992282,0.118214,0.037435],[-0.110776,-0.980756,0.160770],[0.055720,0.155382,0.986282]] 2025-10-28T17:33:49.163Z,1761672829.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987686,0.152446,0.035164],[-0.144888,-0.976093,0.162019],[0.059022,0.154929,0.986161]] 2025-10-28T17:33:49.577Z,1761672829.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982641,0.182516,0.033236],[-0.175094,-0.971632,0.158974],[0.061309,0.150395,0.986723]] 2025-10-28T17:33:49.618Z,1761672829.618 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 543.85, 628.57, 60167,A 2025-10-28T17:33:49.971Z,1761672829.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977546,0.208002,0.033762],[-0.201027,-0.968558,0.146573],[0.063188,0.136495,0.988623]] 2025-10-28T17:33:50.794Z,1761672830.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969946,0.239319,0.043952],[-0.234317,-0.967372,0.096364],[0.065579,0.083169,0.994375]] 2025-10-28T17:33:51.226Z,1761672831.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968672,0.242765,0.052339],[-0.239366,-0.968839,0.063682],[0.066168,0.049159,0.996597]] 2025-10-28T17:33:51.249Z,1761672831.249 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:33:51.317Z,1761672831.317 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:33:51.317Z,1761672831.317 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:33:51.571Z,1761672831.571 [DAT](INFO): DAT read: user:70> 2025-10-28T17:33:51.582Z,1761672831.582 [DAT](INFO): DAT read: Tx time:17:33:51.3065 2025-10-28T17:33:51.583Z,1761672831.583 [DAT](INFO): Ping request sent. 2025-10-28T17:33:51.592Z,1761672831.592 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:33:51.593Z,1761672831.593 [DAT](INFO): publishing transmit ping time 2025-10-28T17:33:51.596Z,1761672831.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.012007 2025-10-28T17:33:51.821Z,1761672831.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.237684 2025-10-28T17:33:51.990Z,1761672831.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971906,0.223289,0.074435],[-0.225852,-0.973762,-0.027896],[0.066253,-0.043923,0.996836]] 2025-10-28T17:33:52.073Z,1761672832.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489630 2025-10-28T17:33:52.325Z,1761672832.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741645 2025-10-28T17:33:52.400Z,1761672832.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975615,0.201994,0.085872],[-0.209271,-0.974034,-0.086393],[0.066192,-0.102256,0.992553]] 2025-10-28T17:33:52.577Z,1761672832.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993616 2025-10-28T17:33:52.802Z,1761672832.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979896,0.175190,0.095461],[-0.188169,-0.970560,-0.150354],[0.066310,-0.165294,0.984013]] 2025-10-28T17:33:52.829Z,1761672832.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245672 2025-10-28T17:33:53.081Z,1761672833.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497591 2025-10-28T17:33:53.204Z,1761672833.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984017,0.146500,0.101229],[-0.165171,-0.963340,-0.211412],[0.066546,-0.224753,0.972141]] 2025-10-28T17:33:53.333Z,1761672833.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749720 2025-10-28T17:33:53.588Z,1761672833.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004087 2025-10-28T17:33:53.625Z,1761672833.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987640,0.118575,0.102505],[-0.141805,-0.954569,-0.262085],[0.066771,-0.273381,0.959585]] 2025-10-28T17:33:53.837Z,1761672833.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253558 2025-10-28T17:33:54.010Z,1761672834.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990602,0.092650,0.100618],[-0.119104,-0.945989,-0.301526],[0.067247,-0.310676,0.948134]] 2025-10-28T17:33:54.089Z,1761672834.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505662 2025-10-28T17:33:54.345Z,1761672834.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761544 2025-10-28T17:33:54.423Z,1761672834.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992902,0.069179,0.096742],[-0.097742,-0.938075,-0.332359],[0.067759,-0.339456,0.938178]] 2025-10-28T17:33:54.597Z,1761672834.597 [DAT](INFO): DAT read: Rx Time:17:33:53.7589 2025-10-28T17:33:54.597Z,1761672834.597 [DAT](INFO): Rx dataTimestamp_ set to:1761672834.596871 2025-10-28T17:33:54.598Z,1761672834.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014418 2025-10-28T17:33:54.833Z,1761672834.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994575,0.048735,0.091902],[-0.078565,-0.930968,-0.356548],[0.068181,-0.361834,0.929746]] 2025-10-28T17:33:54.845Z,1761672834.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261748 2025-10-28T17:33:55.108Z,1761672835.108 [DAT](INFO): DAT read: 17:33:53.7589 LVL= 32752, 26705, 29394, 32755, AGC= 60, IDX= 507, 0.04,-2.471,-0.436,-1.411,-1.361, PHS=-1.008, 0.970,-0.095, RAW= 302.5, 1.6, CAL= 300.6, -2.3, ROT= 209.4, 2.3 2025-10-28T17:33:55.110Z,1761672835.110 [DAT](INFO): got valid direction response: 17:33:53.7589 LVL= 32752, 26705, 29394, 32755, AGC= 60, IDX= 507, 0.04,-2.471,-0.436,-1.411,-1.361, PHS=-1.008, 0.970,-0.095, RAW= 302.5, 1.6, CAL= 300.6, -2.3, ROT= 209.4, 2.3 2025-10-28T17:33:55.111Z,1761672835.111 [DAT](INFO): DAT read: Bearing 30, -18 (Remote) 2025-10-28T17:33:55.111Z,1761672835.111 [DAT](INFO): Remote Bearing received:Bearing 30, -18 (Remote) 2025-10-28T17:33:55.113Z,1761672835.113 [DAT](INFO): DAT read: Bearing 168.4, -30.1 (Local) 2025-10-28T17:33:55.114Z,1761672835.114 [DAT](INFO): Local bearing/azimuth received: Bearing 168.4, -30.1 (Local) 2025-10-28T17:33:55.115Z,1761672835.115 [DAT](INFO): DAT read: Range 11 to 20 : 317.4 m (Round-trip 423.3 ms) speed -0.5 m/s 2025-10-28T17:33:55.116Z,1761672835.116 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:33:55.117Z,1761672835.117 [DAT](INFO): direction in FSK: [-0.870512,-0.490508,-0.040132] 2025-10-28T17:33:55.117Z,1761672835.117 [DAT](INFO): publishing direction and range info 2025-10-28T17:33:55.231Z,1761672835.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995771,0.030553,0.086641],[-0.060926,-0.925476,-0.373875],[0.068761,-0.377572,0.923424]] 2025-10-28T17:33:55.301Z,1761672835.301 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672832.00. Resetting abort timer. 2025-10-28T17:33:55.636Z,1761672835.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996596,0.014615,0.081130],[-0.044813,-0.922093,-0.384365],[0.069192,-0.386692,0.919610]] 2025-10-28T17:33:56.039Z,1761672836.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997106,0.000520,0.076024],[-0.030325,-0.919700,-0.391449],[0.069716,-0.392622,0.917054]] 2025-10-28T17:33:56.443Z,1761672836.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997396,-0.012420,0.071038],[-0.016535,-0.919430,-0.392907],[0.070195,-0.393058,0.916830]] 2025-10-28T17:33:56.847Z,1761672836.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997470,-0.024990,0.066551],[-0.003125,-0.919858,-0.392239],[0.071019,-0.391454,0.917453]] 2025-10-28T17:33:57.252Z,1761672837.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997378,-0.037313,0.062000],[0.010189,-0.920681,-0.390182],[0.071641,-0.388528,0.918648]] 2025-10-28T17:33:57.654Z,1761672837.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997108,-0.049777,0.057429],[0.023750,-0.921900,-0.386700],[0.072193,-0.384218,0.920416]] 2025-10-28T17:33:58.059Z,1761672838.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996642,-0.062676,0.052696],[0.037764,-0.922824,-0.383367],[0.072657,-0.380089,0.922092]] 2025-10-28T17:33:58.463Z,1761672838.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995937,-0.076266,0.047888],[0.052512,-0.923833,-0.379176],[0.073159,-0.375121,0.924084]] 2025-10-28T17:33:58.872Z,1761672838.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995079,-0.089056,0.043449],[0.066231,-0.923902,-0.376854],[0.073703,-0.372122,0.925253]] 2025-10-28T17:33:59.270Z,1761672839.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994146,-0.100699,0.039170],[0.078684,-0.923165,-0.376266],[0.074050,-0.370981,0.925683]] 2025-10-28T17:33:59.675Z,1761672839.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993075,-0.112211,0.034789],[0.091002,-0.922030,-0.376270],[0.074298,-0.370499,0.925857]] 2025-10-28T17:33:59.746Z,1761672839.746 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:33:59.746Z,1761672839.746 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:33:59.746Z,1761672839.746 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:33:59.746Z,1761672839.746 [marl:UpdateRudder:A] Stopped 2025-10-28T17:33:59.747Z,1761672839.747 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:33:59.747Z,1761672839.747 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:33:59.747Z,1761672839.747 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:33:59.747Z,1761672839.747 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:33:59.747Z,1761672839.747 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:33:59.748Z,1761672839.748 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:33:59.752Z,1761672839.752 [marl:UpdateCommandMode] Stopped 2025-10-28T17:33:59.752Z,1761672839.752 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:33:59.752Z,1761672839.752 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:33:59.753Z,1761672839.753 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:33:59.753Z,1761672839.753 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:33:59.754Z,1761672839.754 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:33:59.754Z,1761672839.754 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:33:59.755Z,1761672839.755 [marl:UpdateSpeed] Stopped 2025-10-28T17:33:59.755Z,1761672839.755 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:34:00.080Z,1761672840.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991831,-0.123898,0.030333],[0.103369,-0.920028,-0.377973],[0.074737,-0.371750,0.925320]] 2025-10-28T17:34:00.103Z,1761672840.103 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:34:00.104Z,1761672840.104 [marl:UpdateRudder:B] Stopped 2025-10-28T17:34:00.104Z,1761672840.104 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:34:00.104Z,1761672840.104 [marl:UpdateRudder] Stopped 2025-10-28T17:34:00.104Z,1761672840.104 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:34:00.483Z,1761672840.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990473,-0.135183,0.026243],[0.115242,-0.918024,-0.379408],[0.075381,-0.372769,0.924857]] 2025-10-28T17:34:00.898Z,1761672840.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988950,-0.146596,0.022059],[0.127302,-0.916026,-0.380383],[0.075969,-0.373372,0.924566]] 2025-10-28T17:34:01.318Z,1761672841.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987191,-0.158536,0.017901],[0.139872,-0.913977,-0.380895],[0.076747,-0.373512,0.924445]] 2025-10-28T17:34:01.719Z,1761672841.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985095,-0.171488,0.013381],[0.153505,-0.911557,-0.381444],[0.077610,-0.373705,0.924295]] 2025-10-28T17:34:02.178Z,1761672842.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979663,-0.200641,0.001822],[0.184614,-0.904893,-0.383518],[0.078598,-0.375382,0.923532]] 2025-10-28T17:34:02.575Z,1761672842.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976287,-0.216404,-0.005677],[0.201932,-0.900922,-0.384140],[0.078015,-0.376177,0.923258]] 2025-10-28T17:34:02.977Z,1761672842.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972251,-0.233505,-0.014238],[0.220996,-0.896799,-0.383292],[0.076732,-0.375802,0.923518]] 2025-10-28T17:34:03.788Z,1761672843.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962812,-0.268237,-0.032285],[0.260001,-0.887443,-0.380584],[0.073436,-0.374824,0.924183]] 2025-10-28T17:34:04.188Z,1761672844.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957480,-0.285472,-0.041694],[0.279494,-0.882021,-0.379370],[0.071525,-0.374893,0.924305]] 2025-10-28T17:34:04.591Z,1761672844.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951975,-0.301835,-0.051374],[0.298319,-0.876624,-0.377540],[0.068919,-0.374734,0.924567]] 2025-10-28T17:34:05.407Z,1761672845.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940618,-0.332199,-0.069875],[0.333588,-0.866391,-0.371599],[0.062906,-0.372842,0.925760]] 2025-10-28T17:34:05.804Z,1761672845.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935361,-0.344963,-0.078098],[0.348584,-0.861701,-0.368728],[0.059900,-0.372118,0.926251]] 2025-10-28T17:34:06.209Z,1761672846.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930449,-0.356408,-0.085081],[0.361955,-0.857838,-0.364831],[0.057043,-0.370252,0.927178]] 2025-10-28T17:34:06.610Z,1761672846.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925982,-0.366406,-0.091124],[0.373630,-0.854477,-0.360929],[0.054383,-0.368261,0.928131]] 2025-10-28T17:34:07.015Z,1761672847.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921514,-0.376265,-0.096103],[0.384826,-0.851527,-0.356105],[0.052155,-0.365138,0.929491]] 2025-10-28T17:34:07.422Z,1761672847.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916871,-0.386027,-0.101642],[0.395988,-0.847394,-0.353718],[0.050414,-0.364563,0.929813]] 2025-10-28T17:34:07.825Z,1761672847.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911993,-0.396118,-0.106576],[0.407252,-0.843216,-0.350902],[0.049132,-0.363423,0.930328]] 2025-10-28T17:34:08.231Z,1761672848.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906781,-0.406442,-0.112039],[0.418817,-0.837912,-0.349995],[0.048374,-0.364292,0.930027]] 2025-10-28T17:34:08.630Z,1761672848.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901066,-0.417330,-0.117966],[0.431009,-0.831589,-0.350274],[0.048081,-0.366464,0.929189]] 2025-10-28T17:34:09.034Z,1761672849.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894488,-0.429383,-0.124585],[0.444520,-0.824270,-0.350688],[0.047887,-0.369067,0.928168]] 2025-10-28T17:34:09.444Z,1761672849.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887161,-0.441900,-0.132926],[0.459039,-0.815643,-0.352150],[0.047195,-0.373432,0.926456]] 2025-10-28T17:34:09.843Z,1761672849.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879179,-0.455362,-0.140321],[0.474209,-0.807383,-0.351082],[0.046577,-0.375205,0.925771]] 2025-10-28T17:34:10.247Z,1761672850.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870580,-0.469190,-0.148160],[0.489897,-0.798593,-0.349643],[0.045730,-0.376976,0.925094]] 2025-10-28T17:34:10.651Z,1761672850.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861588,-0.483299,-0.155202],[0.505651,-0.790347,-0.345931],[0.044524,-0.376528,0.925335]] 2025-10-28T17:34:10.822Z,1761672850.822 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:34:11.055Z,1761672851.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852114,-0.497722,-0.161787],[0.521581,-0.782183,-0.340796],[0.043074,-0.374782,0.926112]] 2025-10-28T17:34:11.470Z,1761672851.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842630,-0.511033,-0.169765],[0.536896,-0.773024,-0.337901],[0.041446,-0.375871,0.925745]] 2025-10-28T17:34:11.824Z,1761672851.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:34:11.866Z,1761672851.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833202,-0.523715,-0.177475],[0.551552,-0.764140,-0.334485],[0.039559,-0.376580,0.925539]] 2025-10-28T17:34:12.266Z,1761672852.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823669,-0.536308,-0.184236],[0.565826,-0.755760,-0.329648],[0.037555,-0.375766,0.925953]] 2025-10-28T17:34:12.671Z,1761672852.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813962,-0.549025,-0.189838],[0.579802,-0.747540,-0.324059],[0.036005,-0.373840,0.926794]] 2025-10-28T17:34:12.695Z,1761672852.695 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:34:12.695Z,1761672852.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:34:12.695Z,1761672852.695 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:34:12.696Z,1761672852.696 [marl:UpdateRudder:A] Stopped 2025-10-28T17:34:12.696Z,1761672852.696 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:34:12.696Z,1761672852.696 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:34:12.696Z,1761672852.696 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:34:12.696Z,1761672852.696 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateCommandMode] Stopped 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:34:12.697Z,1761672852.697 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:34:12.698Z,1761672852.698 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:34:12.698Z,1761672852.698 [marl:UpdateSpeed] Stopped 2025-10-28T17:34:12.698Z,1761672852.698 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:34:13.077Z,1761672853.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803999,-0.561871,-0.194644],[0.593618,-0.739315,-0.317853],[0.034689,-0.371097,0.927946]] 2025-10-28T17:34:13.102Z,1761672853.102 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:34:13.102Z,1761672853.102 [marl:UpdateRudder:B] Stopped 2025-10-28T17:34:13.102Z,1761672853.102 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:34:13.102Z,1761672853.102 [marl:UpdateRudder] Stopped 2025-10-28T17:34:13.102Z,1761672853.102 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:34:13.479Z,1761672853.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793919,-0.574678,-0.198589],[0.607100,-0.731243,-0.310989],[0.033501,-0.367463,0.929434]] 2025-10-28T17:34:13.891Z,1761672853.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783689,-0.587170,-0.202638],[0.620332,-0.723066,-0.303914],[0.031929,-0.363877,0.930900]] 2025-10-28T17:34:14.287Z,1761672854.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773431,-0.598911,-0.207629],[0.633167,-0.714403,-0.297873],[0.030069,-0.361848,0.931752]] 2025-10-28T17:34:14.692Z,1761672854.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763207,-0.609489,-0.214565],[0.645558,-0.704979,-0.293700],[0.027743,-0.362668,0.931505]] 2025-10-28T17:34:15.094Z,1761672855.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753528,-0.618798,-0.222001],[0.656926,-0.695702,-0.290596],[0.025374,-0.364811,0.930736]] 2025-10-28T17:34:15.499Z,1761672855.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744506,-0.627170,-0.228841],[0.667219,-0.687172,-0.287427],[0.023013,-0.366678,0.930063]] 2025-10-28T17:34:15.904Z,1761672855.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735868,-0.634977,-0.235167],[0.676801,-0.678980,-0.284476],[0.020962,-0.368498,0.929392]] 2025-10-28T17:34:16.308Z,1761672856.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727828,-0.642179,-0.240567],[0.685487,-0.671420,-0.281605],[0.019320,-0.369866,0.928884]] 2025-10-28T17:34:16.711Z,1761672856.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719860,-0.649679,-0.244376],[0.693876,-0.664208,-0.278144],[0.018387,-0.369791,0.928933]] 2025-10-28T17:34:17.114Z,1761672857.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711756,-0.656917,-0.248722],[0.702196,-0.656352,-0.275903],[0.017996,-0.371027,0.928448]] 2025-10-28T17:34:17.522Z,1761672857.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703375,-0.664399,-0.252663],[0.710590,-0.648198,-0.273681],[0.018058,-0.372040,0.928041]] 2025-10-28T17:34:17.923Z,1761672857.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694499,-0.671806,-0.257582],[0.719254,-0.639021,-0.272626],[0.018552,-0.374605,0.926999]] 2025-10-28T17:34:18.326Z,1761672858.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684771,-0.679919,-0.262296],[0.728509,-0.629231,-0.270821],[0.019091,-0.376535,0.926206]] 2025-10-28T17:34:18.767Z,1761672858.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674167,-0.688859,-0.266406],[0.738316,-0.618948,-0.267942],[0.019683,-0.377329,0.925870]] 2025-10-28T17:34:19.159Z,1761672859.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662049,-0.698529,-0.271565],[0.749195,-0.607193,-0.264620],[0.019952,-0.378646,0.925326]] 2025-10-28T17:34:19.628Z,1761672859.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649035,-0.708846,-0.276207],[0.760507,-0.595216,-0.259513],[0.019552,-0.378490,0.925399]] 2025-10-28T17:34:20.047Z,1761672860.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635388,-0.719593,-0.280120],[0.771967,-0.583155,-0.252977],[0.018687,-0.376982,0.926032]] 2025-10-28T17:34:20.443Z,1761672860.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620208,-0.731107,-0.284298],[0.784245,-0.569868,-0.245376],[0.017384,-0.375144,0.926804]] 2025-10-28T17:34:20.848Z,1761672860.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604634,-0.741913,-0.289799],[0.796347,-0.555872,-0.238407],[0.015786,-0.374929,0.926919]] 2025-10-28T17:34:21.250Z,1761672861.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588495,-0.752346,-0.296055],[0.808382,-0.541260,-0.231423],[0.013867,-0.375517,0.926712]] 2025-10-28T17:34:21.655Z,1761672861.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572354,-0.761993,-0.302949],[0.819924,-0.526567,-0.224614],[0.011631,-0.376954,0.926159]] 2025-10-28T17:34:22.065Z,1761672862.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556119,-0.771657,-0.308670],[0.831052,-0.512196,-0.216813],[0.009206,-0.377094,0.926129]] 2025-10-28T17:34:22.463Z,1761672862.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540035,-0.781105,-0.313430],[0.841617,-0.498266,-0.208355],[0.006576,-0.376307,0.926472]] 2025-10-28T17:34:22.877Z,1761672862.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523838,-0.790805,-0.316577],[0.851810,-0.484743,-0.198604],[0.003599,-0.373700,0.927543]] 2025-10-28T17:34:23.271Z,1761672863.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508035,-0.799698,-0.319974],[0.861336,-0.471517,-0.189135],[0.000378,-0.371692,0.928356]] 2025-10-28T17:34:23.674Z,1761672863.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492705,-0.808110,-0.322800],[0.870192,-0.458732,-0.179808],[-0.002774,-0.369490,0.929231]] 2025-10-28T17:34:24.079Z,1761672864.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477914,-0.814811,-0.328149],[0.878383,-0.446017,-0.171789],[-0.006384,-0.370341,0.928874]] 2025-10-28T17:34:24.483Z,1761672864.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463960,-0.821432,-0.331648],[0.885805,-0.434234,-0.163679],[-0.009562,-0.369716,0.929096]] 2025-10-28T17:34:24.890Z,1761672864.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451004,-0.826850,-0.336028],[0.892434,-0.423043,-0.156830],[-0.012479,-0.370614,0.928703]] 2025-10-28T17:34:25.291Z,1761672865.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438012,-0.832253,-0.339854],[0.898836,-0.411938,-0.149666],[-0.015439,-0.371029,0.928493]] 2025-10-28T17:34:25.695Z,1761672865.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425354,-0.837737,-0.342448],[0.904849,-0.401156,-0.142554],[-0.017952,-0.370499,0.928659]] 2025-10-28T17:34:25.743Z,1761672865.743 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:34:25.744Z,1761672865.744 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:34:25.744Z,1761672865.744 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:34:25.745Z,1761672865.745 [marl:UpdateRudder:A] Stopped 2025-10-28T17:34:25.745Z,1761672865.745 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:34:25.745Z,1761672865.745 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:34:25.745Z,1761672865.745 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:34:25.745Z,1761672865.745 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateCommandMode] Stopped 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:34:25.746Z,1761672865.746 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:34:25.747Z,1761672865.747 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:34:25.747Z,1761672865.747 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:34:25.747Z,1761672865.747 [marl:UpdateSpeed] Stopped 2025-10-28T17:34:25.747Z,1761672865.747 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:34:26.099Z,1761672866.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413052,-0.842624,-0.345504],[0.910477,-0.390613,-0.135845],[-0.020492,-0.370684,0.928533]] 2025-10-28T17:34:26.124Z,1761672866.124 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:34:26.124Z,1761672866.124 [marl:UpdateRudder:B] Stopped 2025-10-28T17:34:26.124Z,1761672866.124 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:34:26.124Z,1761672866.124 [marl:UpdateRudder] Stopped 2025-10-28T17:34:26.124Z,1761672866.124 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:34:26.504Z,1761672866.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400657,-0.847838,-0.347339],[0.915946,-0.380041,-0.128885],[-0.022729,-0.369783,0.928840]] 2025-10-28T17:34:26.906Z,1761672866.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388069,-0.852685,-0.349759],[0.921294,-0.369159,-0.122224],[-0.024898,-0.369662,0.928833]] 2025-10-28T17:34:27.310Z,1761672867.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374988,-0.856944,-0.353597],[0.926622,-0.357792,-0.115570],[-0.027477,-0.370988,0.928231]] 2025-10-28T17:34:27.715Z,1761672867.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363828,-0.861103,-0.355150],[0.930970,-0.348606,-0.108482],[-0.030393,-0.370103,0.928493]] 2025-10-28T17:34:28.126Z,1761672868.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355621,-0.866364,-0.350637],[0.933990,-0.343303,-0.099025],[-0.034583,-0.362707,0.931261]] 2025-10-28T17:34:28.522Z,1761672868.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351445,-0.873050,-0.338038],[0.935373,-0.342697,-0.087388],[-0.039550,-0.346904,0.937066]] 2025-10-28T17:34:28.927Z,1761672868.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349546,-0.880377,-0.320553],[0.935834,-0.344532,-0.074242],[-0.045080,-0.325935,0.944317]] 2025-10-28T17:34:29.331Z,1761672869.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348876,-0.887241,-0.301811],[0.935790,-0.347269,-0.060842],[-0.050828,-0.303658,0.951425]] 2025-10-28T17:34:29.735Z,1761672869.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348809,-0.892715,-0.285292],[0.935477,-0.350060,-0.048368],[-0.056690,-0.283755,0.957220]] 2025-10-28T17:34:30.146Z,1761672870.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348891,-0.897329,-0.270325],[0.935099,-0.352460,-0.036899],[-0.062168,-0.265654,0.962062]] 2025-10-28T17:34:30.542Z,1761672870.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347929,-0.901108,-0.258747],[0.935054,-0.353542,-0.026099],[-0.067960,-0.251023,0.965592]] 2025-10-28T17:34:30.946Z,1761672870.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346856,-0.903930,-0.250202],[0.935048,-0.354117,-0.016905],[-0.073320,-0.239815,0.968046]] 2025-10-28T17:34:31.359Z,1761672871.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344397,-0.906426,-0.244505],[0.935491,-0.353257,-0.008095],[-0.079035,-0.231520,0.969614]] 2025-10-28T17:34:31.761Z,1761672871.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341583,-0.908710,-0.239934],[0.936065,-0.351826,-0.000150],[-0.084279,-0.224645,0.970789]] 2025-10-28T17:34:32.159Z,1761672872.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337871,-0.910648,-0.237830],[0.936902,-0.349516,0.007293],[-0.089767,-0.220359,0.971280]] 2025-10-28T17:34:32.563Z,1761672872.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334251,-0.911856,-0.238317],[0.937658,-0.347289,0.013696],[-0.095254,-0.218882,0.971091]] 2025-10-28T17:34:32.968Z,1761672872.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330669,-0.912156,-0.242136],[0.938369,-0.345130,0.018676],[-0.100604,-0.221037,0.970063]] 2025-10-28T17:34:33.375Z,1761672873.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326471,-0.912731,-0.245641],[0.939223,-0.342455,0.024182],[-0.106193,-0.222817,0.969059]] 2025-10-28T17:34:33.780Z,1761672873.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323111,-0.912854,-0.249593],[0.939785,-0.340543,0.028894],[-0.111373,-0.225228,0.967920]] 2025-10-28T17:34:34.180Z,1761672874.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319986,-0.913346,-0.251808],[0.940233,-0.338817,0.034135],[-0.116494,-0.225836,0.967175]] 2025-10-28T17:34:34.583Z,1761672874.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316894,-0.913905,-0.253686],[0.940611,-0.337163,0.039656],[-0.121776,-0.226053,0.966473]] 2025-10-28T17:34:34.989Z,1761672874.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313893,-0.914163,-0.256469],[0.940911,-0.335667,0.044875],[-0.127112,-0.227229,0.965510]] 2025-10-28T17:34:35.391Z,1761672875.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311338,-0.914196,-0.259451],[0.941087,-0.334529,0.049445],[-0.131996,-0.228772,0.964490]] 2025-10-28T17:34:35.801Z,1761672875.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308077,-0.915078,-0.260234],[0.941164,-0.333093,0.057084],[-0.138918,-0.227337,0.963857]] 2025-10-28T17:34:36.207Z,1761672876.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307867,-0.914648,-0.261988],[0.940920,-0.333510,0.058651],[-0.141021,-0.228453,0.963287]] 2025-10-28T17:34:36.609Z,1761672876.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308042,-0.914661,-0.261736],[0.940659,-0.333992,0.060087],[-0.142377,-0.227695,0.963267]] 2025-10-28T17:34:37.011Z,1761672877.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309363,-0.913616,-0.263820],[0.940111,-0.335590,0.059758],[-0.143131,-0.229533,0.962719]] 2025-10-28T17:34:37.414Z,1761672877.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310774,-0.913617,-0.262154],[0.939627,-0.336877,0.060135],[-0.143254,-0.227638,0.963151]] 2025-10-28T17:34:37.815Z,1761672877.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312408,-0.913458,-0.260760],[0.939195,-0.338193,0.059493],[-0.142531,-0.226319,0.963569]] 2025-10-28T17:34:38.221Z,1761672878.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314448,-0.912955,-0.260067],[0.938671,-0.339873,0.058160],[-0.141488,-0.225829,0.963837]] 2025-10-28T17:34:38.623Z,1761672878.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316456,-0.913156,-0.256909],[0.938217,-0.341267,0.057316],[-0.140013,-0.222898,0.964734]] 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateRudder:A] Stopped 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:34:38.655Z,1761672878.655 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode] Stopped 2025-10-28T17:34:38.656Z,1761672878.656 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed] Stopped 2025-10-28T17:34:38.657Z,1761672878.657 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:34:39.027Z,1761672879.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318575,-0.912982,-0.254901],[0.937895,-0.342565,0.054791],[-0.137343,-0.221615,0.965414]] 2025-10-28T17:34:39.069Z,1761672879.069 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:34:39.069Z,1761672879.069 [marl:UpdateRudder:B] Stopped 2025-10-28T17:34:39.069Z,1761672879.069 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:34:39.069Z,1761672879.069 [marl:UpdateRudder] Stopped 2025-10-28T17:34:39.069Z,1761672879.069 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:34:39.431Z,1761672879.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319776,-0.912842,-0.253897],[0.937954,-0.342907,0.051537],[-0.134108,-0.221663,0.965857]] 2025-10-28T17:34:39.845Z,1761672879.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320092,-0.912986,-0.252977],[0.938354,-0.342313,0.048097],[-0.130510,-0.221986,0.966276]] 2025-10-28T17:34:40.642Z,1761672880.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319004,-0.914198,-0.249956],[0.939624,-0.339540,0.042660],[-0.123870,-0.221256,0.967317]] 2025-10-28T17:34:41.047Z,1761672881.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317490,-0.914575,-0.250503],[0.940515,-0.337409,0.039844],[-0.120962,-0.222952,0.967296]] 2025-10-28T17:34:41.452Z,1761672881.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315486,-0.915039,-0.251341],[0.941496,-0.334924,0.037558],[-0.118547,-0.224788,0.967170]] 2025-10-28T17:34:41.856Z,1761672881.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314041,-0.915330,-0.252090],[0.942293,-0.332948,0.035060],[-0.116024,-0.226532,0.967068]] 2025-10-28T17:34:41.956Z,1761672881.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:34:42.261Z,1761672882.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313033,-0.915861,-0.251413],[0.942890,-0.331429,0.033359],[-0.113878,-0.226612,0.967305]] 2025-10-28T17:34:42.665Z,1761672882.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312631,-0.916282,-0.250377],[0.943257,-0.330534,0.031837],[-0.111930,-0.226216,0.967625]] 2025-10-28T17:34:42.956Z,1761672882.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:34:43.066Z,1761672883.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313118,-0.915980,-0.250876],[0.943357,-0.330487,0.029248],[-0.109701,-0.227508,0.967577]] 2025-10-28T17:34:43.471Z,1761672883.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313315,-0.916204,-0.249806],[0.943519,-0.330171,0.027560],[-0.107729,-0.227062,0.967904]] 2025-10-28T17:34:43.876Z,1761672883.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314342,-0.916417,-0.247727],[0.943456,-0.330515,0.025519],[-0.105263,-0.225698,0.968494]] 2025-10-28T17:34:44.278Z,1761672884.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315345,-0.916500,-0.246142],[0.943392,-0.330860,0.023319],[-0.102810,-0.224855,0.968953]] 2025-10-28T17:34:44.683Z,1761672884.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316589,-0.916799,-0.243417],[0.943315,-0.331250,0.020734],[-0.099641,-0.223055,0.969700]] 2025-10-28T17:34:45.086Z,1761672885.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317746,-0.916737,-0.242136],[0.943322,-0.331444,0.016975],[-0.095817,-0.223019,0.970094]] 2025-10-28T17:34:45.493Z,1761672885.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319297,-0.916408,-0.241341],[0.943219,-0.331936,0.012522],[-0.091585,-0.223639,0.970360]] 2025-10-28T17:34:45.895Z,1761672885.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320933,-0.915988,-0.240765],[0.943094,-0.332440,0.007647],[-0.087044,-0.224609,0.970553]] 2025-10-28T17:34:46.301Z,1761672886.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322493,-0.915825,-0.239297],[0.942963,-0.332883,0.003193],[-0.082582,-0.224619,0.970941]] 2025-10-28T17:34:46.702Z,1761672886.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324315,-0.915328,-0.238737],[0.942742,-0.333516,-0.001962],[-0.077827,-0.225703,0.971082]] 2025-10-28T17:34:47.107Z,1761672887.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326274,-0.914909,-0.237669],[0.942477,-0.334190,-0.007373],[-0.072681,-0.226403,0.971318]] 2025-10-28T17:34:47.511Z,1761672887.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328735,-0.914443,-0.236068],[0.942039,-0.335242,-0.013224],[-0.067047,-0.226732,0.971647]] 2025-10-28T17:34:47.916Z,1761672887.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330593,-0.914001,-0.235179],[0.941771,-0.335708,-0.019159],[-0.061440,-0.227819,0.971763]] 2025-10-28T17:34:48.327Z,1761672888.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331560,-0.914112,-0.233382],[0.941792,-0.335285,-0.024738],[-0.055637,-0.228000,0.972070]] 2025-10-28T17:34:48.722Z,1761672888.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332075,-0.914405,-0.231494],[0.941938,-0.334423,-0.030219],[-0.049784,-0.228088,0.972367]] 2025-10-28T17:34:49.127Z,1761672889.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331528,-0.915149,-0.229329],[0.942409,-0.332621,-0.035047],[-0.044206,-0.227741,0.972718]] 2025-10-28T17:34:49.538Z,1761672889.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330712,-0.916165,-0.226433],[0.942936,-0.330633,-0.039416],[-0.038754,-0.226547,0.973229]] 2025-10-28T17:34:49.934Z,1761672889.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329045,-0.917506,-0.223408],[0.943709,-0.327965,-0.043030],[-0.033790,-0.224991,0.973775]] 2025-10-28T17:34:50.743Z,1761672890.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324603,-0.919850,-0.220247],[0.945492,-0.321968,-0.048798],[-0.026026,-0.224082,0.974223]] 2025-10-28T17:34:51.148Z,1761672891.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322856,-0.920520,-0.220017],[0.946164,-0.319613,-0.051199],[-0.023191,-0.224702,0.974152]] 2025-10-28T17:34:51.610Z,1761672891.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322162,-0.920478,-0.221204],[0.946464,-0.318220,-0.054248],[-0.020458,-0.226838,0.973718]] 2025-10-28T17:34:51.664Z,1761672891.664 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:34:51.664Z,1761672891.664 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateRudder:A] Stopped 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:34:51.665Z,1761672891.665 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateCommandMode] Stopped 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:34:51.666Z,1761672891.666 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:34:51.667Z,1761672891.667 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:34:51.667Z,1761672891.667 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:34:51.667Z,1761672891.667 [marl:UpdateSpeed] Stopped 2025-10-28T17:34:51.667Z,1761672891.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:34:51.680Z,1761672891.680 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:34:51.815Z,1761672891.815 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:34:51.816Z,1761672891.816 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:34:51.955Z,1761672891.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322611,-0.920490,-0.220501],[0.946367,-0.318028,-0.056990],[-0.017667,-0.227060,0.973720]] 2025-10-28T17:34:52.001Z,1761672892.001 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:34:52.001Z,1761672892.001 [marl:UpdateRudder:B] Stopped 2025-10-28T17:34:52.002Z,1761672892.002 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:34:52.002Z,1761672892.002 [marl:UpdateRudder] Stopped 2025-10-28T17:34:52.002Z,1761672892.002 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:34:52.065Z,1761672892.065 [DAT](INFO): DAT read: user:71> 2025-10-28T17:34:52.067Z,1761672892.067 [DAT](INFO): DAT read: Tx time:17:34:51.8062 2025-10-28T17:34:52.067Z,1761672892.067 [DAT](INFO): Ping request sent. 2025-10-28T17:34:52.067Z,1761672892.067 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:34:52.067Z,1761672892.067 [DAT](INFO): publishing transmit ping time 2025-10-28T17:34:52.069Z,1761672892.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001316 2025-10-28T17:34:52.318Z,1761672892.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250536 2025-10-28T17:34:52.365Z,1761672892.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324050,-0.920019,-0.220355],[0.945924,-0.318749,-0.060229],[-0.014826,-0.227956,0.973559]] 2025-10-28T17:34:52.569Z,1761672892.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501659 2025-10-28T17:34:52.770Z,1761672892.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326843,-0.919157,-0.219826],[0.945010,-0.320653,-0.064321],[-0.011367,-0.228760,0.973416]] 2025-10-28T17:34:52.822Z,1761672892.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754152 2025-10-28T17:34:53.073Z,1761672893.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005725 2025-10-28T17:34:53.169Z,1761672893.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330009,-0.918495,-0.217856],[0.943948,-0.322917,-0.068456],[-0.007473,-0.228236,0.973577]] 2025-10-28T17:34:53.326Z,1761672893.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258206 2025-10-28T17:34:53.583Z,1761672893.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514866 2025-10-28T17:34:53.622Z,1761672893.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333010,-0.917941,-0.215612],[0.942918,-0.324923,-0.073004],[-0.003044,-0.227615,0.973746]] 2025-10-28T17:34:53.829Z,1761672893.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761794 2025-10-28T17:34:53.974Z,1761672893.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335896,-0.917372,-0.213547],[0.941897,-0.326620,-0.078424],[0.002195,-0.227481,0.973780]] 2025-10-28T17:34:54.081Z,1761672894.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013663 2025-10-28T17:34:54.333Z,1761672894.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265706 2025-10-28T17:34:54.379Z,1761672894.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338025,-0.917289,-0.210525],[0.941102,-0.327526,-0.083982],[0.008083,-0.226513,0.973975]] 2025-10-28T17:34:54.585Z,1761672894.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517721 2025-10-28T17:34:54.786Z,1761672894.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338741,-0.917546,-0.208241],[0.940776,-0.327014,-0.089458],[0.013984,-0.226212,0.973978]] 2025-10-28T17:34:54.837Z,1761672894.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769798 2025-10-28T17:34:55.089Z,1761672895.089 [DAT](INFO): DAT read: Rx Time:17:34:54.2960 2025-10-28T17:34:55.089Z,1761672895.089 [DAT](INFO): Rx dataTimestamp_ set to:1761672895.089109 2025-10-28T17:34:55.090Z,1761672895.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022751 2025-10-28T17:34:55.188Z,1761672895.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338215,-0.918302,-0.205746],[0.940859,-0.325339,-0.094548],[0.019886,-0.225556,0.974027]] 2025-10-28T17:34:55.341Z,1761672895.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273678 2025-10-28T17:34:55.615Z,1761672895.615 [DAT](INFO): DAT read: 17:34:54.2960 LVL= 31376, 25377, 16962, 30643, AGC= 58, IDX= 298,-0.32, 0.575, 1.193, 2.702, 1.268, PHS=-0.590,-0.030, 1.391, RAW= 225.9, -8.8, CAL= 224.6, -13.1, ROT= 285.4, 13.1 2025-10-28T17:34:55.616Z,1761672895.616 [DAT](INFO): got valid direction response: 17:34:54.2960 LVL= 31376, 25377, 16962, 30643, AGC= 58, IDX= 298,-0.32, 0.575, 1.193, 2.702, 1.268, PHS=-0.590,-0.030, 1.391, RAW= 225.9, -8.8, CAL= 224.6, -13.1, ROT= 285.4, 13.1 2025-10-28T17:34:55.617Z,1761672895.617 [DAT](INFO): DAT read: Bearing 30, -19 (Remote) 2025-10-28T17:34:55.618Z,1761672895.618 [DAT](INFO): Remote Bearing received:Bearing 30, -19 (Remote) 2025-10-28T17:34:55.618Z,1761672895.618 [DAT](INFO): DAT read: Bearing 201.8, -59.0 (Local) 2025-10-28T17:34:55.619Z,1761672895.619 [DAT](INFO): Local bearing/azimuth received: Bearing 201.8, -59.0 (Local) 2025-10-28T17:34:55.620Z,1761672895.620 [DAT](INFO): DAT read: Range 11 to 20 : 345.5 m (Round-trip 460.7 ms) speed -0.3 m/s 2025-10-28T17:34:55.621Z,1761672895.621 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:34:55.622Z,1761672895.622 [DAT](INFO): direction in FSK: [0.258645,-0.939006,-0.226651] 2025-10-28T17:34:55.622Z,1761672895.622 [DAT](INFO): publishing direction and range info 2025-10-28T17:34:55.674Z,1761672895.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336783,-0.919511,-0.202673],[0.941235,-0.322924,-0.098975],[0.025560,-0.224096,0.974232]] 2025-10-28T17:34:55.803Z,1761672895.803 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672832.00. Resetting abort timer. 2025-10-28T17:34:55.996Z,1761672895.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334555,-0.920778,-0.200602],[0.941865,-0.319700,-0.103357],[0.031036,-0.223518,0.974206]] 2025-10-28T17:34:56.398Z,1761672896.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331756,-0.922049,-0.199409],[0.942702,-0.316103,-0.106734],[0.035380,-0.223393,0.974086]] 2025-10-28T17:34:56.811Z,1761672896.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328923,-0.923238,-0.198595],[0.943569,-0.312712,-0.109038],[0.038565,-0.223253,0.973997]] 2025-10-28T17:34:57.207Z,1761672897.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326595,-0.923480,-0.201297],[0.944307,-0.309744,-0.111100],[0.040248,-0.226371,0.973209]] 2025-10-28T17:34:57.630Z,1761672897.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325248,-0.923826,-0.201890],[0.944754,-0.308276,-0.111377],[0.040655,-0.226961,0.973055]] 2025-10-28T17:34:58.015Z,1761672898.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326098,-0.923564,-0.201717],[0.944448,-0.309042,-0.111854],[0.040965,-0.226986,0.973036]] 2025-10-28T17:34:58.419Z,1761672898.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328891,-0.922577,-0.201697],[0.943465,-0.311660,-0.112878],[0.041278,-0.227418,0.972922]] 2025-10-28T17:34:58.831Z,1761672898.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333182,-0.921278,-0.200589],[0.941964,-0.315959,-0.113463],[0.041153,-0.226751,0.973083]] 2025-10-28T17:34:59.229Z,1761672899.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338175,-0.919586,-0.199997],[0.940196,-0.320910,-0.114233],[0.040866,-0.226666,0.973115]] 2025-10-28T17:34:59.631Z,1761672899.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343138,-0.917893,-0.199321],[0.938385,-0.325714,-0.115520],[0.041113,-0.226679,0.973101]] 2025-10-28T17:35:00.035Z,1761672900.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348196,-0.916359,-0.197599],[0.936459,-0.330470,-0.117622],[0.042484,-0.225999,0.973201]] 2025-10-28T17:35:00.855Z,1761672900.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357819,-0.912823,-0.196776],[0.932433,-0.337914,-0.127995],[0.050344,-0.229280,0.972058]] 2025-10-28T17:35:01.247Z,1761672901.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361814,-0.911347,-0.196308],[0.930506,-0.340162,-0.135826],[0.057008,-0.231810,0.971089]] 2025-10-28T17:35:01.651Z,1761672901.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364796,-0.910199,-0.196116],[0.928822,-0.341060,-0.144801],[0.064910,-0.234980,0.969830]] 2025-10-28T17:35:02.055Z,1761672902.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365627,-0.910214,-0.194493],[0.927913,-0.340125,-0.152620],[0.072765,-0.236275,0.968958]] 2025-10-28T17:35:02.461Z,1761672902.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363780,-0.911288,-0.192920],[0.928063,-0.336848,-0.158848],[0.079772,-0.236828,0.968271]] 2025-10-28T17:35:02.866Z,1761672902.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359690,-0.912862,-0.193148],[0.929113,-0.331358,-0.164169],[0.085863,-0.238506,0.967338]] 2025-10-28T17:35:03.267Z,1761672903.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354846,-0.914575,-0.194005],[0.930465,-0.325223,-0.168713],[0.091206,-0.240382,0.966384]] 2025-10-28T17:35:03.673Z,1761672903.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350027,-0.916442,-0.193946],[0.931853,-0.319536,-0.171892],[0.095557,-0.240896,0.965835]] 2025-10-28T17:35:04.077Z,1761672904.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345738,-0.918052,-0.194026],[0.933128,-0.314643,-0.173991],[0.098684,-0.241206,0.965444]] 2025-10-28T17:35:04.478Z,1761672904.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342195,-0.919384,-0.193998],[0.934270,-0.310895,-0.174595],[0.100207,-0.240993,0.965340]] 2025-10-28T17:35:04.886Z,1761672904.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339347,-0.920595,-0.193259],[0.935292,-0.308292,-0.173736],[0.100360,-0.239710,0.965643]] 2025-10-28T17:35:04.935Z,1761672904.935 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:35:04.935Z,1761672904.935 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:35:04.935Z,1761672904.935 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:35:04.936Z,1761672904.936 [marl:UpdateRudder:A] Stopped 2025-10-28T17:35:04.936Z,1761672904.936 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:35:04.936Z,1761672904.936 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:35:04.936Z,1761672904.936 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:35:04.936Z,1761672904.936 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateCommandMode] Stopped 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:35:04.937Z,1761672904.937 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:35:04.938Z,1761672904.938 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:35:04.938Z,1761672904.938 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:35:04.938Z,1761672904.938 [marl:UpdateSpeed] Stopped 2025-10-28T17:35:04.938Z,1761672904.938 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:35:05.294Z,1761672905.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336704,-0.921475,-0.193686],[0.936361,-0.305977,-0.172063],[0.099288,-0.239294,0.965857]] 2025-10-28T17:35:05.338Z,1761672905.338 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:35:05.338Z,1761672905.338 [marl:UpdateRudder:B] Stopped 2025-10-28T17:35:05.339Z,1761672905.339 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:35:05.339Z,1761672905.339 [marl:UpdateRudder] Stopped 2025-10-28T17:35:05.339Z,1761672905.339 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:35:05.699Z,1761672905.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334154,-0.922595,-0.192766],[0.937487,-0.304241,-0.168982],[0.097255,-0.237182,0.966585]] 2025-10-28T17:35:06.094Z,1761672906.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332277,-0.923602,-0.191182],[0.938417,-0.303387,-0.165315],[0.094683,-0.234339,0.967533]] 2025-10-28T17:35:06.499Z,1761672906.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331894,-0.924185,-0.189020],[0.938759,-0.303916,-0.162379],[0.092622,-0.231337,0.968455]] 2025-10-28T17:35:06.907Z,1761672906.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334533,-0.923628,-0.187080],[0.937851,-0.306849,-0.162112],[0.092326,-0.229685,0.968876]] 2025-10-28T17:35:07.311Z,1761672907.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339282,-0.922279,-0.185173],[0.936066,-0.311526,-0.163500],[0.093107,-0.228807,0.969009]] 2025-10-28T17:35:07.711Z,1761672907.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344362,-0.921092,-0.181672],[0.934096,-0.316724,-0.164775],[0.094233,-0.226441,0.969456]] 2025-10-28T17:35:08.114Z,1761672908.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349123,-0.919736,-0.179440],[0.932168,-0.321291,-0.166839],[0.095795,-0.225516,0.969518]] 2025-10-28T17:35:08.519Z,1761672908.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353528,-0.918305,-0.178140],[0.930309,-0.325272,-0.169481],[0.097692,-0.225641,0.969300]] 2025-10-28T17:35:08.935Z,1761672908.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357693,-0.916950,-0.176799],[0.928534,-0.329077,-0.171851],[0.099398,-0.225634,0.969128]] 2025-10-28T17:35:09.327Z,1761672909.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361413,-0.915724,-0.175582],[0.926938,-0.332502,-0.173864],[0.100830,-0.225590,0.968990]] 2025-10-28T17:35:09.730Z,1761672909.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364381,-0.914901,-0.173735],[0.925644,-0.335389,-0.175205],[0.102027,-0.224658,0.969082]] 2025-10-28T17:35:10.135Z,1761672910.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366785,-0.914110,-0.172833],[0.924601,-0.337647,-0.176372],[0.102867,-0.224492,0.969031]] 2025-10-28T17:35:10.540Z,1761672910.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368602,-0.913329,-0.173098],[0.923801,-0.339157,-0.177662],[0.103556,-0.225395,0.968748]] 2025-10-28T17:35:10.943Z,1761672910.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369786,-0.912921,-0.172723],[0.923295,-0.340285,-0.178139],[0.103852,-0.225348,0.968728]] 2025-10-28T17:35:11.347Z,1761672911.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370562,-0.912628,-0.172608],[0.922979,-0.341035,-0.178338],[0.103891,-0.225399,0.968712]] 2025-10-28T17:35:11.753Z,1761672911.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370726,-0.912459,-0.173149],[0.922962,-0.341191,-0.178129],[0.103459,-0.225847,0.968653]] 2025-10-28T17:35:12.156Z,1761672912.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370632,-0.912183,-0.174795],[0.923087,-0.340974,-0.177894],[0.102672,-0.227285,0.968401]] 2025-10-28T17:35:12.559Z,1761672912.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369770,-0.912431,-0.175327],[0.923533,-0.340273,-0.176920],[0.101768,-0.227340,0.968483]] 2025-10-28T17:35:12.963Z,1761672912.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368858,-0.912736,-0.175660],[0.924003,-0.339579,-0.175797],[0.100806,-0.227155,0.968627]] 2025-10-28T17:35:13.076Z,1761672913.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:35:13.366Z,1761672913.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367526,-0.913095,-0.176587],[0.924627,-0.338344,-0.174895],[0.099948,-0.227556,0.968622]] 2025-10-28T17:35:13.785Z,1761672913.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365870,-0.913615,-0.177332],[0.925341,-0.336757,-0.174182],[0.099418,-0.227820,0.968614]] 2025-10-28T17:35:14.080Z,1761672914.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:35:14.175Z,1761672914.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363814,-0.914606,-0.176452],[0.926187,-0.335050,-0.172969],[0.099079,-0.226356,0.968992]] 2025-10-28T17:35:14.579Z,1761672914.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361463,-0.915564,-0.176314],[0.927162,-0.332962,-0.171774],[0.098564,-0.225562,0.969230]] 2025-10-28T17:35:14.983Z,1761672914.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358902,-0.916373,-0.177341],[0.928274,-0.330601,-0.170325],[0.097452,-0.225751,0.969298]] 2025-10-28T17:35:15.387Z,1761672915.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356856,-0.917286,-0.176752],[0.929197,-0.329070,-0.168245],[0.096165,-0.224276,0.969769]] 2025-10-28T17:35:15.798Z,1761672915.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355362,-0.917585,-0.178200],[0.929875,-0.327631,-0.167303],[0.095131,-0.225157,0.969667]] 2025-10-28T17:35:16.194Z,1761672916.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354395,-0.917903,-0.178488],[0.930332,-0.326864,-0.166262],[0.094272,-0.224976,0.969793]] 2025-10-28T17:35:16.600Z,1761672916.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353903,-0.917914,-0.179408],[0.930644,-0.326527,-0.165174],[0.093034,-0.225420,0.969809]] 2025-10-28T17:35:17.002Z,1761672917.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353792,-0.917695,-0.180743],[0.930835,-0.326548,-0.164051],[0.091528,-0.226282,0.969752]] 2025-10-28T17:35:17.407Z,1761672917.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354599,-0.917320,-0.181063],[0.930660,-0.327590,-0.162960],[0.090172,-0.226294,0.969876]] 2025-10-28T17:35:17.811Z,1761672917.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355127,-0.917012,-0.181586],[0.930661,-0.328515,-0.161086],[0.088065,-0.226201,0.970092]] 2025-10-28T17:35:18.216Z,1761672918.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355716,-0.916888,-0.181060],[0.930648,-0.329718,-0.158686],[0.085798,-0.224950,0.970585]] 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateRudder:A] Stopped 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:35:18.245Z,1761672918.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateCommandMode] Stopped 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:35:18.246Z,1761672918.246 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:35:18.247Z,1761672918.247 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:35:18.247Z,1761672918.247 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:35:18.247Z,1761672918.247 [marl:UpdateSpeed] Stopped 2025-10-28T17:35:18.247Z,1761672918.247 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:35:18.619Z,1761672918.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356448,-0.916456,-0.181806],[0.930588,-0.330877,-0.156609],[0.083370,-0.225010,0.970783]] 2025-10-28T17:35:18.654Z,1761672918.654 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:35:18.654Z,1761672918.654 [marl:UpdateRudder:B] Stopped 2025-10-28T17:35:18.654Z,1761672918.654 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:35:18.654Z,1761672918.654 [marl:UpdateRudder] Stopped 2025-10-28T17:35:18.654Z,1761672918.654 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:35:19.023Z,1761672919.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357208,-0.916184,-0.181683],[0.930514,-0.332218,-0.154191],[0.080909,-0.224137,0.971193]] 2025-10-28T17:35:19.426Z,1761672919.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357969,-0.915981,-0.181209],[0.930435,-0.333624,-0.151613],[0.078419,-0.222876,0.971688]] 2025-10-28T17:35:19.831Z,1761672919.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358494,-0.915818,-0.180996],[0.930467,-0.334840,-0.148705],[0.075582,-0.221721,0.972177]] 2025-10-28T17:35:21.047Z,1761672921.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359447,-0.915549,-0.180468],[0.930812,-0.338044,-0.138982],[0.066239,-0.217938,0.973712]] 2025-10-28T17:35:21.452Z,1761672921.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360200,-0.914709,-0.183206],[0.930941,-0.339812,-0.133707],[0.060048,-0.218715,0.973939]] 2025-10-28T17:35:21.856Z,1761672921.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360052,-0.914500,-0.184533],[0.931207,-0.340265,-0.130662],[0.056701,-0.218884,0.974102]] 2025-10-28T17:35:22.269Z,1761672922.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359534,-0.914342,-0.186318],[0.931582,-0.340206,-0.128120],[0.053759,-0.219634,0.974100]] 2025-10-28T17:35:22.662Z,1761672922.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358596,-0.914019,-0.189680],[0.932089,-0.339446,-0.126437],[0.051180,-0.222138,0.973671]] 2025-10-28T17:35:23.063Z,1761672923.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357224,-0.914098,-0.191874],[0.932738,-0.338369,-0.124525],[0.048903,-0.223452,0.973487]] 2025-10-28T17:35:23.467Z,1761672923.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355413,-0.914006,-0.195640],[0.933549,-0.336682,-0.123012],[0.046566,-0.226360,0.972930]] 2025-10-28T17:35:23.872Z,1761672923.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352834,-0.914242,-0.199173],[0.934642,-0.334311,-0.121161],[0.044184,-0.228905,0.972445]] 2025-10-28T17:35:24.281Z,1761672924.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350156,-0.914762,-0.201497],[0.935747,-0.331957,-0.119085],[0.042046,-0.230249,0.972223]] 2025-10-28T17:35:24.679Z,1761672924.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346798,-0.915474,-0.204057],[0.937107,-0.329025,-0.116502],[0.039514,-0.231626,0.972002]] 2025-10-28T17:35:25.083Z,1761672925.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343240,-0.916291,-0.206391],[0.938535,-0.326036,-0.113371],[0.036590,-0.232618,0.971880]] 2025-10-28T17:35:25.489Z,1761672925.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340018,-0.917144,-0.207930],[0.939821,-0.323510,-0.109898],[0.033525,-0.232785,0.971950]] 2025-10-28T17:35:25.890Z,1761672925.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337246,-0.917713,-0.209923],[0.940931,-0.321423,-0.106473],[0.030238,-0.233431,0.971903]] 2025-10-28T17:35:26.294Z,1761672926.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335252,-0.918119,-0.211336],[0.941749,-0.320208,-0.102841],[0.026749,-0.233503,0.971988]] 2025-10-28T17:35:26.700Z,1761672926.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333954,-0.918582,-0.211380],[0.942312,-0.319907,-0.098532],[0.022888,-0.232091,0.972425]] 2025-10-28T17:35:27.102Z,1761672927.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333268,-0.918847,-0.211311],[0.942641,-0.320214,-0.094292],[0.018975,-0.230615,0.972860]] 2025-10-28T17:35:27.507Z,1761672927.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333367,-0.919043,-0.210300],[0.942671,-0.321270,-0.090319],[0.015444,-0.228353,0.973456]] 2025-10-28T17:35:27.912Z,1761672927.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334244,-0.918694,-0.210435],[0.942408,-0.322896,-0.087207],[0.012168,-0.227464,0.973710]] 2025-10-28T17:35:28.315Z,1761672928.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335892,-0.917965,-0.210990],[0.941853,-0.325079,-0.085073],[0.009506,-0.227297,0.973779]] 2025-10-28T17:35:28.721Z,1761672928.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337500,-0.917528,-0.210322],[0.941300,-0.327311,-0.082593],[0.006941,-0.225852,0.974137]] 2025-10-28T17:35:29.122Z,1761672929.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339245,-0.916969,-0.209955],[0.940685,-0.329509,-0.080842],[0.004948,-0.224927,0.974363]] 2025-10-28T17:35:29.531Z,1761672929.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340707,-0.916758,-0.208505],[0.940164,-0.331457,-0.078919],[0.003239,-0.222917,0.974832]] 2025-10-28T17:35:29.936Z,1761672929.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341936,-0.916543,-0.207435],[0.939721,-0.333044,-0.077499],[0.001946,-0.221431,0.975174]] 2025-10-28T17:35:30.334Z,1761672930.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342400,-0.916554,-0.206617],[0.939554,-0.333989,-0.075427],[0.000125,-0.219954,0.975510]] 2025-10-28T17:35:30.744Z,1761672930.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342279,-0.916663,-0.206336],[0.939596,-0.334371,-0.073175],[-0.001916,-0.218918,0.975741]] 2025-10-28T17:35:31.151Z,1761672931.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341789,-0.916838,-0.206369],[0.939768,-0.334411,-0.070756],[-0.004140,-0.218122,0.975913]] 2025-10-28T17:35:31.179Z,1761672931.179 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:35:31.179Z,1761672931.179 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:35:31.179Z,1761672931.179 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:35:31.179Z,1761672931.179 [marl:UpdateRudder:A] Stopped 2025-10-28T17:35:31.180Z,1761672931.180 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:35:31.180Z,1761672931.180 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:35:31.180Z,1761672931.180 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:35:31.180Z,1761672931.180 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:35:31.180Z,1761672931.180 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateCommandMode] Stopped 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:35:31.181Z,1761672931.181 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:35:31.182Z,1761672931.182 [marl:UpdateSpeed] Stopped 2025-10-28T17:35:31.182Z,1761672931.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:35:31.558Z,1761672931.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340860,-0.917209,-0.206259],[0.940091,-0.334099,-0.067877],[-0.006654,-0.217038,0.976140]] 2025-10-28T17:35:31.656Z,1761672931.656 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:35:31.656Z,1761672931.656 [marl:UpdateRudder:B] Stopped 2025-10-28T17:35:31.656Z,1761672931.656 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:35:31.657Z,1761672931.657 [marl:UpdateRudder] Stopped 2025-10-28T17:35:31.657Z,1761672931.657 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:35:31.952Z,1761672931.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340097,-0.917422,-0.206570],[0.940348,-0.333865,-0.065422],[-0.008946,-0.216497,0.976242]] 2025-10-28T17:35:32.356Z,1761672932.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339391,-0.917206,-0.208679],[0.940576,-0.333610,-0.063419],[-0.011449,-0.217802,0.975926]] 2025-10-28T17:35:32.769Z,1761672932.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339114,-0.917016,-0.209959],[0.940643,-0.333807,-0.061342],[-0.013834,-0.218299,0.975784]] 2025-10-28T17:35:33.163Z,1761672933.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339194,-0.916813,-0.210716],[0.940585,-0.334269,-0.059692],[-0.015709,-0.218444,0.975723]] 2025-10-28T17:35:33.611Z,1761672933.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339254,-0.916358,-0.212589],[0.940535,-0.334585,-0.058707],[-0.017333,-0.219864,0.975377]] 2025-10-28T17:35:33.971Z,1761672933.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337511,-0.916347,-0.215394],[0.941137,-0.333021,-0.057946],[-0.018632,-0.222273,0.974806]] 2025-10-28T17:35:34.375Z,1761672934.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332024,-0.916163,-0.224510],[0.943085,-0.327145,-0.059725],[-0.018729,-0.231562,0.972640]] 2025-10-28T17:35:34.787Z,1761672934.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322211,-0.915391,-0.241330],[0.946507,-0.316217,-0.064278],[-0.017474,-0.249131,0.968312]] 2025-10-28T17:35:35.183Z,1761672935.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308441,-0.913932,-0.263804],[0.951116,-0.300838,-0.069814],[-0.015557,-0.272442,0.962047]] 2025-10-28T17:35:35.615Z,1761672935.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291648,-0.911869,-0.288854],[0.956431,-0.282247,-0.074669],[-0.013440,-0.298046,0.954457]] 2025-10-28T17:35:35.991Z,1761672935.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272635,-0.910049,-0.312221],[0.962051,-0.261677,-0.077349],[-0.011310,-0.321460,0.946856]] 2025-10-28T17:35:36.394Z,1761672936.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252727,-0.907931,-0.334350],[0.967493,-0.240473,-0.078297],[-0.009314,-0.343269,0.939191]] 2025-10-28T17:35:36.804Z,1761672936.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232199,-0.905707,-0.354652],[0.972637,-0.219128,-0.077200],[-0.007793,-0.362874,0.931806]] 2025-10-28T17:35:37.204Z,1761672937.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211792,-0.904701,-0.369676],[0.977291,-0.198673,-0.073696],[-0.006771,-0.376889,0.926234]] 2025-10-28T17:35:37.620Z,1761672937.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192132,-0.904852,-0.379906],[0.981349,-0.179643,-0.068431],[-0.006327,-0.385968,0.922491]] 2025-10-28T17:35:38.011Z,1761672938.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174083,-0.905174,-0.387755],[0.984711,-0.162536,-0.062665],[-0.006301,-0.392736,0.919630]] 2025-10-28T17:35:38.415Z,1761672938.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157610,-0.906450,-0.391800],[0.987479,-0.147323,-0.056394],[-0.006603,-0.395782,0.918321]] 2025-10-28T17:35:38.824Z,1761672938.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143269,-0.907906,-0.393929],[0.989660,-0.134163,-0.050721],[-0.006801,-0.397123,0.917740]] 2025-10-28T17:35:39.234Z,1761672939.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130199,-0.910161,-0.393263],[0.991463,-0.122307,-0.045182],[-0.006976,-0.395789,0.918315]] 2025-10-28T17:35:39.627Z,1761672939.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119426,-0.912188,-0.391984],[0.992820,-0.112387,-0.040948],[-0.006701,-0.394060,0.919060]] 2025-10-28T17:35:40.030Z,1761672940.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109409,-0.914326,-0.389919],[0.993981,-0.102874,-0.037674],[-0.005666,-0.391694,0.920078]] 2025-10-28T17:35:40.838Z,1761672940.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090197,-0.918351,-0.385352],[0.995924,-0.082968,-0.035383],[0.000522,-0.386973,0.922091]] 2025-10-28T17:35:41.647Z,1761672941.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068432,-0.921714,-0.381786],[0.997593,-0.058936,-0.036525],[0.011164,-0.383366,0.923529]] 2025-10-28T17:35:42.051Z,1761672942.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053993,-0.923170,-0.380581],[0.998404,-0.043581,-0.035929],[0.016582,-0.381913,0.924049]] 2025-10-28T17:35:42.457Z,1761672942.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037089,-0.924488,-0.379402],[0.999079,-0.026101,-0.034065],[0.021590,-0.380316,0.924605]] 2025-10-28T17:35:42.859Z,1761672942.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018180,-0.925498,-0.378316],[0.999502,-0.007065,-0.030748],[0.025784,-0.378687,0.925166]] 2025-10-28T17:35:43.262Z,1761672943.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001812,-0.926102,-0.377269],[0.999570,0.012724,-0.026432],[0.029279,-0.377058,0.925727]] 2025-10-28T17:35:43.666Z,1761672943.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022921,-0.925667,-0.377645],[0.999230,0.033242,-0.020832],[0.031837,-0.376877,0.925716]] 2025-10-28T17:35:44.072Z,1761672944.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044473,-0.924959,-0.377456],[0.998459,0.053706,-0.013965],[0.033189,-0.376253,0.925922]] 2025-10-28T17:35:44.208Z,1761672944.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:35:44.473Z,1761672944.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066195,-0.923969,-0.376695],[0.997247,0.073909,-0.006044],[0.033425,-0.375258,0.926318]] 2025-10-28T17:35:44.520Z,1761672944.520 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateRudder:A] Stopped 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:35:44.521Z,1761672944.521 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateCommandMode] Stopped 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:35:44.522Z,1761672944.522 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:35:44.523Z,1761672944.523 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:35:44.523Z,1761672944.523 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:35:44.523Z,1761672944.523 [marl:UpdateSpeed] Stopped 2025-10-28T17:35:44.523Z,1761672944.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:35:44.874Z,1761672944.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087684,-0.922093,-0.376902],[0.995616,0.093489,0.002901],[0.032561,-0.375504,0.926249]] 2025-10-28T17:35:44.898Z,1761672944.898 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:35:44.898Z,1761672944.898 [marl:UpdateRudder:B] Stopped 2025-10-28T17:35:44.898Z,1761672944.898 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:35:44.898Z,1761672944.898 [marl:UpdateRudder] Stopped 2025-10-28T17:35:44.898Z,1761672944.898 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:35:45.213Z,1761672945.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:35:45.310Z,1761672945.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108228,-0.920351,-0.375820],[0.993649,0.111857,0.012222],[0.030789,-0.374756,0.926612]] 2025-10-28T17:35:45.713Z,1761672945.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126822,-0.918516,-0.374492],[0.991514,0.128261,0.021191],[0.028568,-0.374002,0.926988]] 2025-10-28T17:35:46.112Z,1761672946.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143502,-0.916649,-0.373045],[0.989307,0.142794,0.029690],[0.026053,-0.373317,0.927338]] 2025-10-28T17:35:46.516Z,1761672946.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157408,-0.916083,-0.368802],[0.987263,0.154720,0.037059],[0.023112,-0.369938,0.928769]] 2025-10-28T17:35:46.918Z,1761672946.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166631,-0.918042,-0.359767],[0.985834,0.162184,0.042746],[0.019106,-0.361794,0.932062]] 2025-10-28T17:35:47.322Z,1761672947.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170809,-0.924382,-0.341090],[0.985201,0.165231,0.045573],[0.014232,-0.343827,0.938925]] 2025-10-28T17:35:47.737Z,1761672947.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171099,-0.932195,-0.318963],[0.985212,0.164875,0.046628],[0.009123,-0.322224,0.946620]] 2025-10-28T17:35:48.132Z,1761672948.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169653,-0.940060,-0.295811],[0.985494,0.163139,0.046759],[0.004302,-0.299453,0.954101]] 2025-10-28T17:35:48.534Z,1761672948.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167223,-0.946913,-0.274577],[0.985919,0.160637,0.046467],[0.000107,-0.278481,0.960442]] 2025-10-28T17:35:48.939Z,1761672948.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164887,-0.952788,-0.254965],[0.986306,0.158317,0.046227],[-0.003680,-0.259096,0.965845]] 2025-10-28T17:35:49.343Z,1761672949.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163680,-0.957105,-0.239078],[0.986484,0.156911,0.047213],[-0.007673,-0.243574,0.969852]] 2025-10-28T17:35:49.761Z,1761672949.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163730,-0.960061,-0.226880],[0.986433,0.156544,0.049441],[-0.011950,-0.231897,0.972667]] 2025-10-28T17:35:50.150Z,1761672950.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164775,-0.962395,-0.215977],[0.986193,0.157090,0.052399],[-0.016501,-0.221629,0.974992]] 2025-10-28T17:35:50.958Z,1761672950.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167697,-0.964284,-0.205024],[0.985517,0.158663,0.059856],[-0.025188,-0.212092,0.976925]] 2025-10-28T17:35:51.363Z,1761672951.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169922,-0.964307,-0.203073],[0.985005,0.159953,0.064659],[-0.029869,-0.211015,0.977026]] 2025-10-28T17:35:51.773Z,1761672951.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171824,-0.964287,-0.201562],[0.984532,0.160973,0.069174],[-0.034258,-0.210330,0.977030]] 2025-10-28T17:35:51.847Z,1761672951.847 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:35:51.881Z,1761672951.881 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:35:51.882Z,1761672951.882 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:35:52.133Z,1761672952.133 [DAT](INFO): DAT read: user:72> 2025-10-28T17:35:52.134Z,1761672952.134 [DAT](INFO): DAT read: Tx time:17:35:51.9059 2025-10-28T17:35:52.134Z,1761672952.134 [DAT](INFO): Ping request sent. 2025-10-28T17:35:52.134Z,1761672952.134 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:35:52.134Z,1761672952.134 [DAT](INFO): publishing transmit ping time 2025-10-28T17:35:52.135Z,1761672952.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T17:35:52.189Z,1761672952.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173620,-0.964164,-0.200610],[0.984057,0.161869,0.073695],[-0.038581,-0.210207,0.976895]] 2025-10-28T17:35:52.385Z,1761672952.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-10-28T17:35:52.575Z,1761672952.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174817,-0.964210,-0.199344],[0.983694,0.162349,0.077391],[-0.042258,-0.209622,0.976869]] 2025-10-28T17:35:52.649Z,1761672952.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514780 2025-10-28T17:35:52.897Z,1761672952.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762919 2025-10-28T17:35:52.979Z,1761672952.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176045,-0.964097,-0.198810],[0.983320,0.162853,0.080994],[-0.045709,-0.209753,0.976685]] 2025-10-28T17:35:53.149Z,1761672953.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014867 2025-10-28T17:35:53.383Z,1761672953.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177931,-0.963838,-0.198384],[0.982805,0.163949,0.084941],[-0.049344,-0.210087,0.976437]] 2025-10-28T17:35:53.402Z,1761672953.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267648 2025-10-28T17:35:53.653Z,1761672953.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518913 2025-10-28T17:35:53.793Z,1761672953.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179704,-0.963733,-0.197292],[0.982307,0.165052,0.088490],[-0.052717,-0.209704,0.976343]] 2025-10-28T17:35:53.905Z,1761672953.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770904 2025-10-28T17:35:54.157Z,1761672954.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022953 2025-10-28T17:35:54.191Z,1761672954.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182194,-0.963572,-0.195790],[0.981646,0.166837,0.092396],[-0.056365,-0.209031,0.976283]] 2025-10-28T17:35:54.409Z,1761672954.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275017 2025-10-28T17:35:54.595Z,1761672954.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184780,-0.963524,-0.193591],[0.980960,0.168843,0.095966],[-0.059779,-0.207638,0.976377]] 2025-10-28T17:35:54.661Z,1761672954.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526949 2025-10-28T17:35:54.914Z,1761672954.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779729 2025-10-28T17:35:54.999Z,1761672954.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188387,-0.962976,-0.192842],[0.980044,0.171652,0.100243],[-0.063429,-0.207878,0.976096]] 2025-10-28T17:35:55.165Z,1761672955.165 [DAT](INFO): DAT read: Rx Time:17:35:54.4048 2025-10-28T17:35:55.165Z,1761672955.165 [DAT](INFO): Rx dataTimestamp_ set to:1761672955.165215 2025-10-28T17:35:55.166Z,1761672955.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032048 2025-10-28T17:35:55.403Z,1761672955.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192259,-0.962419,-0.191800],[0.979055,0.174769,0.104438],[-0.066992,-0.207862,0.975861]] 2025-10-28T17:35:55.417Z,1761672955.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282968 2025-10-28T17:35:55.675Z,1761672955.675 [DAT](INFO): DAT read: 17:35:54.4048 LVL= 22176, 28113, 14322, 29219, AGC= 60, IDX= 7, 0.40,-0.947,-1.750, 0.459,-0.601, PHS=-0.244,-1.104, 1.016, RAW= 186.2, 3.7, CAL= 186.2, 1.2, ROT= 323.8, -1.2 2025-10-28T17:35:55.676Z,1761672955.676 [DAT](INFO): got valid direction response: 17:35:54.4048 LVL= 22176, 28113, 14322, 29219, AGC= 60, IDX= 7, 0.40,-0.947,-1.750, 0.459,-0.601, PHS=-0.244,-1.104, 1.016, RAW= 186.2, 3.7, CAL= 186.2, 1.2, ROT= 323.8, -1.2 2025-10-28T17:35:55.677Z,1761672955.677 [DAT](INFO): DAT read: Bearing 26, -16 (Remote) 2025-10-28T17:35:55.677Z,1761672955.677 [DAT](INFO): Remote Bearing received:Bearing 26, -16 (Remote) 2025-10-28T17:35:55.678Z,1761672955.678 [DAT](INFO): DAT read: Bearing 224.6, -39.3 (Local) 2025-10-28T17:35:55.678Z,1761672955.678 [DAT](INFO): Local bearing/azimuth received: Bearing 224.6, -39.3 (Local) 2025-10-28T17:35:55.680Z,1761672955.680 [DAT](INFO): DAT read: Range 11 to 20 : 352.3 m (Round-trip 469.8 ms) speed 0.5 m/s 2025-10-28T17:35:55.680Z,1761672955.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:35:55.681Z,1761672955.681 [DAT](INFO): direction in FSK: [0.806783,-0.590476,0.020942] 2025-10-28T17:35:55.682Z,1761672955.682 [DAT](INFO): publishing direction and range info 2025-10-28T17:35:55.807Z,1761672955.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196885,-0.961478,-0.191825],[0.977866,0.178443,0.109257],[-0.070818,-0.209090,0.975329]] 2025-10-28T17:35:55.933Z,1761672955.933 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672960.00. Resetting abort timer. 2025-10-28T17:35:56.218Z,1761672956.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201675,-0.960495,-0.191774],[0.976612,0.182297,0.114002],[-0.074538,-0.210280,0.974796]] 2025-10-28T17:35:56.615Z,1761672956.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206485,-0.959262,-0.192822],[0.975341,0.186094,0.118659],[-0.077942,-0.212568,0.974033]] 2025-10-28T17:35:57.019Z,1761672957.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211283,-0.958054,-0.193627],[0.974055,0.189945,0.123036],[-0.081096,-0.214599,0.973330]] 2025-10-28T17:35:57.423Z,1761672957.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216104,-0.956583,-0.195573],[0.972728,0.193650,0.127671],[-0.084255,-0.217830,0.972343]] 2025-10-28T17:35:57.469Z,1761672957.469 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:35:57.469Z,1761672957.469 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:35:57.469Z,1761672957.469 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateRudder:A] Stopped 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:35:57.470Z,1761672957.470 [marl:UpdateCommandMode] Stopped 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed] Stopped 2025-10-28T17:35:57.471Z,1761672957.471 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:35:57.827Z,1761672957.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220400,-0.955636,-0.195405],[0.971505,0.197161,0.131548],[-0.087185,-0.218830,0.971860]] 2025-10-28T17:35:57.931Z,1761672957.931 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:35:57.931Z,1761672957.931 [marl:UpdateRudder:B] Stopped 2025-10-28T17:35:57.931Z,1761672957.931 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:35:57.931Z,1761672957.931 [marl:UpdateRudder] Stopped 2025-10-28T17:35:57.931Z,1761672957.931 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:35:58.232Z,1761672958.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223754,-0.954850,-0.195437],[0.970486,0.199768,0.135090],[-0.089948,-0.219895,0.971368]] 2025-10-28T17:35:58.635Z,1761672958.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226117,-0.954526,-0.194298],[0.969658,0.201535,0.138372],[-0.092922,-0.219691,0.971134]] 2025-10-28T17:35:59.039Z,1761672959.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227639,-0.954249,-0.193882],[0.968944,0.202233,0.142297],[-0.096578,-0.220253,0.970650]] 2025-10-28T17:35:59.443Z,1761672959.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227711,-0.954316,-0.193464],[0.968547,0.201515,0.145972],[-0.100318,-0.220619,0.970187]] 2025-10-28T17:35:59.847Z,1761672959.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225932,-0.954926,-0.192541],[0.968617,0.199196,0.148665],[-0.103611,-0.220087,0.969962]] 2025-10-28T17:36:00.250Z,1761672960.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222300,-0.955999,-0.191436],[0.969147,0.195227,0.150468],[-0.106473,-0.218978,0.969903]] 2025-10-28T17:36:00.656Z,1761672960.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217610,-0.957559,-0.189013],[0.969949,0.190565,0.151277],[-0.108837,-0.216252,0.970252]] 2025-10-28T17:36:01.059Z,1761672961.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211806,-0.959211,-0.187224],[0.971051,0.184903,0.151232],[-0.110445,-0.213836,0.970606]] 2025-10-28T17:36:01.462Z,1761672961.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205233,-0.960903,-0.185862],[0.972416,0.178694,0.149917],[-0.110843,-0.211503,0.971072]] 2025-10-28T17:36:01.868Z,1761672961.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198226,-0.962640,-0.184475],[0.973993,0.172387,0.147036],[-0.109742,-0.208823,0.971776]] 2025-10-28T17:36:02.270Z,1761672962.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191224,-0.964290,-0.183244],[0.975756,0.166507,0.142039],[-0.106456,-0.205963,0.972752]] 2025-10-28T17:36:02.674Z,1761672962.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185469,-0.965524,-0.182659],[0.977425,0.162124,0.135485],[-0.101200,-0.203664,0.973796]] 2025-10-28T17:36:03.078Z,1761672963.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182169,-0.966246,-0.182160],[0.978688,0.160324,0.128317],[-0.094781,-0.201654,0.974860]] 2025-10-28T17:36:03.485Z,1761672963.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182516,-0.965976,-0.183244],[0.979214,0.161820,0.122288],[-0.088474,-0.201755,0.975432]] 2025-10-28T17:36:03.886Z,1761672963.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185446,-0.964907,-0.185912],[0.979209,0.165629,0.117121],[-0.082218,-0.203767,0.975561]] 2025-10-28T17:36:04.297Z,1761672964.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196345,-0.962323,-0.188106],[0.977920,0.178183,0.109192],[-0.071560,-0.205392,0.976060]] 2025-10-28T17:36:04.707Z,1761672964.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203528,-0.960269,-0.190942],[0.976688,0.185542,0.107957],[-0.068240,-0.208463,0.975647]] 2025-10-28T17:36:04.921Z,1761672964.921 [CTD_Seabird](ERROR): Failed to parse device response: 15.16,14.1223,4.03405, 2025-10-28T17:36:05.105Z,1761672965.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211470,-0.958064,-0.193376],[0.975098,0.193279,0.108750],[-0.066814,-0.211558,0.975079]] 2025-10-28T17:36:05.512Z,1761672965.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219920,-0.955375,-0.197214],[0.973212,0.200977,0.111657],[-0.067039,-0.216486,0.973981]] 2025-10-28T17:36:05.910Z,1761672965.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228413,-0.952739,-0.200289],[0.971125,0.208411,0.116110],[-0.068881,-0.221027,0.972832]] 2025-10-28T17:36:06.311Z,1761672966.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235900,-0.950380,-0.202804],[0.969143,0.214723,0.121065],[-0.071511,-0.225105,0.971707]] 2025-10-28T17:36:06.717Z,1761672966.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240927,-0.948594,-0.205238],[0.967735,0.218721,0.125103],[-0.073782,-0.228757,0.970683]] 2025-10-28T17:36:07.119Z,1761672967.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243026,-0.947721,-0.206791],[0.967108,0.220220,0.127302],[-0.075108,-0.230927,0.970068]] 2025-10-28T17:36:07.523Z,1761672967.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242093,-0.947718,-0.207900],[0.967344,0.219181,0.127299],[-0.075076,-0.231929,0.969831]] 2025-10-28T17:36:07.926Z,1761672967.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238556,-0.948545,-0.208213],[0.968353,0.216143,0.124800],[-0.073375,-0.231396,0.970089]] 2025-10-28T17:36:08.332Z,1761672968.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234672,-0.949301,-0.209183],[0.969451,0.212757,0.122060],[-0.071366,-0.231437,0.970229]] 2025-10-28T17:36:08.735Z,1761672968.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230535,-0.950467,-0.208485],[0.970612,0.209414,0.118564],[-0.069031,-0.229692,0.970812]] 2025-10-28T17:36:09.138Z,1761672969.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226565,-0.951403,-0.208568],[0.971762,0.206307,0.114522],[-0.065928,-0.228625,0.971280]] 2025-10-28T17:36:09.560Z,1761672969.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222710,-0.952532,-0.207566],[0.972901,0.203584,0.109621],[-0.062161,-0.226355,0.972059]] 2025-10-28T17:36:09.955Z,1761672969.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219570,-0.953430,-0.206785],[0.973839,0.201479,0.105086],[-0.058529,-0.224450,0.972726]] 2025-10-28T17:36:10.351Z,1761672970.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216946,-0.954151,-0.206229],[0.974614,0.199734,0.101162],[-0.055333,-0.222941,0.973260]] 2025-10-28T17:36:10.758Z,1761672970.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214929,-0.954966,-0.204560],[0.975218,0.198602,0.097501],[-0.052484,-0.220447,0.973986]] 2025-10-28T17:36:10.800Z,1761672970.800 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateRudder:A] Stopped 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:36:10.801Z,1761672970.801 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateCommandMode] Stopped 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:36:10.802Z,1761672970.802 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:36:10.803Z,1761672970.803 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:36:10.803Z,1761672970.803 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:36:10.803Z,1761672970.803 [marl:UpdateSpeed] Stopped 2025-10-28T17:36:10.803Z,1761672970.803 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:36:11.158Z,1761672971.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213787,-0.955491,-0.203301],[0.975590,0.198136,0.094694],[-0.050198,-0.218582,0.974527]] 2025-10-28T17:36:11.207Z,1761672971.207 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:36:11.207Z,1761672971.207 [marl:UpdateRudder:B] Stopped 2025-10-28T17:36:11.207Z,1761672971.207 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:36:11.207Z,1761672971.207 [marl:UpdateRudder] Stopped 2025-10-28T17:36:11.207Z,1761672971.207 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:36:11.599Z,1761672971.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212989,-0.955624,-0.203513],[0.975883,0.197869,0.092200],[-0.047840,-0.218242,0.974721]] 2025-10-28T17:36:11.971Z,1761672971.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212611,-0.955847,-0.202862],[0.976063,0.198020,0.089941],[-0.045799,-0.217129,0.975068]] 2025-10-28T17:36:12.370Z,1761672972.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212236,-0.956017,-0.202454],[0.976231,0.198113,0.087882],[-0.043908,-0.216293,0.975341]] 2025-10-28T17:36:12.779Z,1761672972.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212257,-0.956201,-0.201563],[0.976286,0.198512,0.086359],[-0.042564,-0.215113,0.975661]] 2025-10-28T17:36:13.188Z,1761672973.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212306,-0.956351,-0.200799],[0.976331,0.198907,0.084940],[-0.041293,-0.214079,0.975943]] 2025-10-28T17:36:13.612Z,1761672973.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213405,-0.955876,-0.201889],[0.976120,0.200033,0.084711],[-0.040589,-0.215146,0.975738]] 2025-10-28T17:36:13.986Z,1761672973.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214699,-0.955476,-0.202409],[0.975849,0.201313,0.084801],[-0.040277,-0.215727,0.975623]] 2025-10-28T17:36:14.390Z,1761672974.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215295,-0.955548,-0.201436],[0.975760,0.202205,0.083698],[-0.039246,-0.214573,0.975919]] 2025-10-28T17:36:14.797Z,1761672974.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215553,-0.955777,-0.200070],[0.975751,0.202839,0.082258],[-0.038038,-0.212949,0.976323]] 2025-10-28T17:36:15.204Z,1761672975.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215761,-0.955651,-0.200445],[0.975760,0.203323,0.080944],[-0.036600,-0.213050,0.976355]] 2025-10-28T17:36:15.333Z,1761672975.333 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:36:15.620Z,1761672975.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216387,-0.955103,-0.202375],[0.975671,0.204065,0.080145],[-0.035249,-0.214794,0.976023]] 2025-10-28T17:36:16.007Z,1761672976.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216949,-0.954774,-0.203323],[0.975596,0.204839,0.079083],[-0.033858,-0.215518,0.975913]] 2025-10-28T17:36:16.336Z,1761672976.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:36:16.411Z,1761672976.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217439,-0.954557,-0.203818],[0.975537,0.205606,0.077801],[-0.032359,-0.215749,0.975912]] 2025-10-28T17:36:16.817Z,1761672976.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218315,-0.954277,-0.204193],[0.975394,0.206787,0.076455],[-0.030735,-0.215860,0.975940]] 2025-10-28T17:36:17.218Z,1761672977.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219531,-0.953810,-0.205066],[0.975163,0.208199,0.075568],[-0.029383,-0.216562,0.975827]] 2025-10-28T17:36:17.623Z,1761672977.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221187,-0.952912,-0.207451],[0.974832,0.209947,0.075003],[-0.027918,-0.218819,0.975366]] 2025-10-28T17:36:18.039Z,1761672978.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222998,-0.952207,-0.208741],[0.974452,0.211866,0.074544],[-0.026756,-0.220032,0.975126]] 2025-10-28T17:36:18.430Z,1761672978.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224915,-0.951280,-0.210902],[0.974051,0.213897,0.073980],[-0.025265,-0.222069,0.974704]] 2025-10-28T17:36:18.835Z,1761672978.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227129,-0.950660,-0.211323],[0.973560,0.216224,0.073671],[-0.024343,-0.222468,0.974636]] 2025-10-28T17:36:19.239Z,1761672979.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228871,-0.950119,-0.211878],[0.973182,0.218153,0.072977],[-0.023115,-0.222898,0.974568]] 2025-10-28T17:36:19.645Z,1761672979.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230195,-0.949703,-0.212309],[0.972896,0.219658,0.072279],[-0.022008,-0.223193,0.974526]] 2025-10-28T17:36:20.046Z,1761672980.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231347,-0.949635,-0.211356],[0.972652,0.221155,0.070985],[-0.020667,-0.221998,0.974828]] 2025-10-28T17:36:20.450Z,1761672980.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232271,-0.949502,-0.210941],[0.972450,0.222284,0.070219],[-0.019785,-0.221440,0.974973]] 2025-10-28T17:36:20.855Z,1761672980.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232790,-0.949509,-0.210334],[0.972346,0.223066,0.069173],[-0.018762,-0.220620,0.975179]] 2025-10-28T17:36:21.258Z,1761672981.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233017,-0.949440,-0.210399],[0.972314,0.223559,0.068014],[-0.017539,-0.220422,0.975247]] 2025-10-28T17:36:21.672Z,1761672981.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232755,-0.949469,-0.210555],[0.972400,0.223596,0.066653],[-0.016206,-0.220257,0.975307]] 2025-10-28T17:36:22.071Z,1761672982.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232037,-0.949939,-0.209223],[0.972596,0.223336,0.064632],[-0.014670,-0.218487,0.975730]] 2025-10-28T17:36:22.473Z,1761672982.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231763,-0.950163,-0.208509],[0.972684,0.223471,0.062817],[-0.013091,-0.217372,0.976001]] 2025-10-28T17:36:22.875Z,1761672982.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231412,-0.950018,-0.209558],[0.972794,0.223542,0.060830],[-0.010944,-0.217934,0.975902]] 2025-10-28T17:36:23.279Z,1761672983.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231314,-0.949120,-0.213696],[0.972846,0.223856,0.058809],[-0.007980,-0.221496,0.975129]] 2025-10-28T17:36:23.685Z,1761672983.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231952,-0.948667,-0.215011],[0.972715,0.225118,0.056097],[-0.004815,-0.222157,0.974999]] 2025-10-28T17:36:24.091Z,1761672984.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233336,-0.947756,-0.217514],[0.972395,0.227038,0.053874],[-0.001675,-0.224080,0.974569]] 2025-10-28T17:36:24.135Z,1761672984.135 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:36:24.135Z,1761672984.135 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:36:24.135Z,1761672984.135 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateRudder:A] Stopped 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:36:24.137Z,1761672984.137 [marl:UpdateCommandMode] Stopped 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed] Stopped 2025-10-28T17:36:24.138Z,1761672984.138 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:36:24.495Z,1761672984.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234773,-0.947004,-0.219236],[0.972049,0.229126,0.051212],[0.001734,-0.225131,0.974327]] 2025-10-28T17:36:24.525Z,1761672984.525 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:36:24.525Z,1761672984.525 [marl:UpdateRudder:B] Stopped 2025-10-28T17:36:24.526Z,1761672984.526 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:36:24.526Z,1761672984.526 [marl:UpdateRudder] Stopped 2025-10-28T17:36:24.526Z,1761672984.526 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:36:24.898Z,1761672984.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236132,-0.946790,-0.218700],[0.971709,0.231202,0.048250],[0.004881,-0.223906,0.974598]] 2025-10-28T17:36:25.323Z,1761672985.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237001,-0.946594,-0.218610],[0.971478,0.232717,0.045530],[0.007776,-0.223166,0.974750]] 2025-10-28T17:36:25.709Z,1761672985.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237312,-0.946558,-0.218430],[0.971384,0.233503,0.043476],[0.009852,-0.222496,0.974884]] 2025-10-28T17:36:26.110Z,1761672986.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236974,-0.946413,-0.219422],[0.971442,0.233615,0.041518],[0.011967,-0.222995,0.974746]] 2025-10-28T17:36:26.514Z,1761672986.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235943,-0.946520,-0.220072],[0.971659,0.233161,0.038916],[0.014477,-0.223017,0.974707]] 2025-10-28T17:36:26.919Z,1761672986.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234858,-0.946560,-0.221057],[0.971881,0.232644,0.036384],[0.016988,-0.223386,0.974582]] 2025-10-28T17:36:27.324Z,1761672987.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236060,-0.944953,-0.226584],[0.971536,0.234271,0.035155],[0.019862,-0.228433,0.973357]] 2025-10-28T17:36:27.726Z,1761672987.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240824,-0.940541,-0.239553],[0.970277,0.239353,0.035670],[0.023789,-0.241023,0.970228]] 2025-10-28T17:36:28.130Z,1761672988.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248072,-0.932808,-0.261398],[0.968305,0.246863,0.038003],[0.029080,-0.262540,0.964483]] 2025-10-28T17:36:28.535Z,1761672988.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258150,-0.922459,-0.287101],[0.965446,0.257292,0.041408],[0.035672,-0.287870,0.957005]] 2025-10-28T17:36:28.942Z,1761672988.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269976,-0.910770,-0.312428],[0.961909,0.269583,0.045335],[0.042935,-0.312766,0.948859]] 2025-10-28T17:36:29.343Z,1761672989.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283299,-0.898642,-0.334940],[0.957706,0.283450,0.049553],[0.050408,-0.334812,0.940936]] 2025-10-28T17:36:29.748Z,1761672989.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297836,-0.886092,-0.355154],[0.952857,0.298528,0.054263],[0.057942,-0.354573,0.933232]] 2025-10-28T17:36:30.196Z,1761672990.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313711,-0.873659,-0.371894],[0.947274,0.314883,0.059344],[0.065257,-0.370902,0.926377]] 2025-10-28T17:36:30.619Z,1761672990.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330576,-0.861830,-0.384666],[0.941010,0.332188,0.064435],[0.072250,-0.383275,0.920804]] 2025-10-28T17:36:31.025Z,1761672991.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347631,-0.850745,-0.394189],[0.934280,0.349803,0.068982],[0.079202,-0.392264,0.916437]] 2025-10-28T17:36:31.434Z,1761672991.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365247,-0.840852,-0.399453],[0.926926,0.368160,0.072572],[0.086041,-0.396770,0.913877]] 2025-10-28T17:36:31.831Z,1761672991.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382761,-0.831370,-0.402888],[0.919232,0.386262,0.076248],[0.092230,-0.399533,0.912068]] 2025-10-28T17:36:32.266Z,1761672992.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400766,-0.822529,-0.403525],[0.910947,0.404753,0.079686],[0.097784,-0.399526,0.911492]] 2025-10-28T17:36:32.669Z,1761672992.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418808,-0.813848,-0.402804],[0.902261,0.423063,0.083327],[0.102596,-0.398332,0.911485]] 2025-10-28T17:36:33.068Z,1761672993.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436352,-0.805423,-0.401112],[0.893387,0.440853,0.086654],[0.107038,-0.396159,0.911921]] 2025-10-28T17:36:33.474Z,1761672993.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453837,-0.796140,-0.400240],[0.884161,0.458213,0.091104],[0.110864,-0.395223,0.911871]] 2025-10-28T17:36:33.880Z,1761672993.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470111,-0.787643,-0.398265],[0.875164,0.474471,0.094687],[0.114386,-0.393060,0.912370]] 2025-10-28T17:36:34.281Z,1761672994.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485861,-0.778910,-0.396533],[0.866126,0.489963,0.098807],[0.117324,-0.391454,0.912688]] 2025-10-28T17:36:34.704Z,1761672994.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500805,-0.770155,-0.395040],[0.857229,0.504487,0.103208],[0.119806,-0.390327,0.912848]] 2025-10-28T17:36:35.626Z,1761672995.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541162,-0.745218,-0.389608],[0.831707,0.542710,0.117170],[0.124127,-0.387448,0.913497]] 2025-10-28T17:36:36.038Z,1761672996.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553997,-0.737225,-0.386764],[0.823199,0.554411,0.122361],[0.124218,-0.386172,0.914025]] 2025-10-28T17:36:36.441Z,1761672996.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566347,-0.729037,-0.384391],[0.814757,0.565533,0.127842],[0.124184,-0.385588,0.914276]] 2025-10-28T17:36:37.660Z,1761672997.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601365,-0.704389,-0.377089],[0.788857,0.598330,0.140377],[0.126744,-0.381887,0.915477]] 2025-10-28T17:36:37.722Z,1761672997.722 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:36:37.722Z,1761672997.722 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:36:37.722Z,1761672997.722 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateRudder:A] Stopped 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:36:37.723Z,1761672997.723 [marl:UpdateCommandMode] Stopped 2025-10-28T17:36:37.724Z,1761672997.724 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:36:37.724Z,1761672997.724 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:36:37.724Z,1761672997.724 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:36:37.724Z,1761672997.724 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:36:37.724Z,1761672997.724 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:36:37.725Z,1761672997.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:36:37.725Z,1761672997.725 [marl:UpdateSpeed] Stopped 2025-10-28T17:36:37.725Z,1761672997.725 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:36:38.056Z,1761672998.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612695,-0.695670,-0.375030],[0.779784,0.609353,0.143618],[0.128615,-0.380437,0.915820]] 2025-10-28T17:36:38.085Z,1761672998.085 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:36:38.085Z,1761672998.085 [marl:UpdateRudder:B] Stopped 2025-10-28T17:36:38.085Z,1761672998.085 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:36:38.085Z,1761672998.085 [marl:UpdateRudder] Stopped 2025-10-28T17:36:38.085Z,1761672998.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:36:38.465Z,1761672998.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625208,-0.686100,-0.371997],[0.769561,0.621316,0.147451],[0.129961,-0.378462,0.916448]] 2025-10-28T17:36:38.867Z,1761672998.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638869,-0.674985,-0.369110],[0.758160,0.633814,0.153208],[0.130534,-0.377724,0.916671]] 2025-10-28T17:36:39.271Z,1761672999.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653261,-0.663419,-0.364864],[0.745828,0.646822,0.159256],[0.130348,-0.376161,0.917340]] 2025-10-28T17:36:40.083Z,1761673000.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684257,-0.637297,-0.354465],[0.717953,0.673920,0.174283],[0.127811,-0.373744,0.918684]] 2025-10-28T17:36:40.497Z,1761673000.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699795,-0.623184,-0.349183],[0.703130,0.687182,0.182728],[0.126079,-0.373393,0.919066]] 2025-10-28T17:36:40.899Z,1761673000.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714750,-0.609214,-0.343498],[0.688290,0.699847,0.190972],[0.124054,-0.372924,0.919532]] 2025-10-28T17:36:41.329Z,1761673001.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729202,-0.595772,-0.336632],[0.673529,0.711807,0.199220],[0.120927,-0.372003,0.920321]] 2025-10-28T17:36:41.741Z,1761673001.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743235,-0.582471,-0.329134],[0.658738,0.723082,0.207888],[0.116903,-0.371322,0.921115]] 2025-10-28T17:36:42.150Z,1761673002.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756105,-0.570551,-0.320588],[0.644781,0.733330,0.215604],[0.112084,-0.369729,0.922355]] 2025-10-28T17:36:42.546Z,1761673002.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767970,-0.559562,-0.311628],[0.631511,0.742704,0.222676],[0.106846,-0.367805,0.923744]] 2025-10-28T17:36:42.951Z,1761673002.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779256,-0.548647,-0.302897],[0.618440,0.751437,0.229945],[0.101449,-0.366510,0.924867]] 2025-10-28T17:36:43.355Z,1761673003.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789626,-0.538122,-0.294814],[0.605991,0.759310,0.237115],[0.096258,-0.365887,0.925668]] 2025-10-28T17:36:43.766Z,1761673003.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799599,-0.527500,-0.287028],[0.593592,0.766701,0.244579],[0.091049,-0.365942,0.926173]] 2025-10-28T17:36:44.162Z,1761673004.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809370,-0.516714,-0.279155],[0.580932,0.774176,0.251334],[0.086247,-0.365592,0.926771]] 2025-10-28T17:36:44.570Z,1761673004.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819319,-0.504912,-0.271625],[0.567507,0.781594,0.258933],[0.081562,-0.366298,0.926916]] 2025-10-28T17:36:44.971Z,1761673004.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829760,-0.492365,-0.262823],[0.552799,0.789897,0.265473],[0.076893,-0.365567,0.927603]] 2025-10-28T17:36:45.381Z,1761673005.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839693,-0.480271,-0.253487],[0.538252,0.798013,0.271035],[0.072116,-0.364026,0.928593]] 2025-10-28T17:36:45.783Z,1761673005.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850069,-0.466758,-0.243967],[0.522318,0.806572,0.276812],[0.067573,-0.362738,0.929438]] 2025-10-28T17:36:46.183Z,1761673006.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860280,-0.452879,-0.234134],[0.505904,0.815141,0.282145],[0.063074,-0.361173,0.930363]] 2025-10-28T17:36:46.456Z,1761673006.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:36:46.588Z,1761673006.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870536,-0.438194,-0.223948],[0.488608,0.823810,0.287400],[0.058554,-0.359615,0.931262]] 2025-10-28T17:36:46.993Z,1761673006.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879851,-0.424274,-0.214137],[0.472115,0.831964,0.291450],[0.054500,-0.357529,0.932310]] 2025-10-28T17:36:47.460Z,1761673007.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:36:47.799Z,1761673007.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897667,-0.395458,-0.194441],[0.438209,0.847662,0.299070],[0.046551,-0.353671,0.934211]] 2025-10-28T17:36:48.202Z,1761673008.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905665,-0.381507,-0.184994],[0.421833,0.854753,0.302414],[0.042751,-0.351923,0.935052]] 2025-10-28T17:36:48.617Z,1761673008.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913388,-0.366996,-0.176171],[0.405199,0.861268,0.306646],[0.039193,-0.351471,0.935378]] 2025-10-28T17:36:49.011Z,1761673009.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920732,-0.352290,-0.167761],[0.388524,0.867481,0.310687],[0.036077,-0.351239,0.935591]] 2025-10-28T17:36:49.414Z,1761673009.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927591,-0.337960,-0.159241],[0.372146,0.873381,0.314188],[0.032895,-0.350699,0.935910]] 2025-10-28T17:36:49.818Z,1761673009.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934204,-0.323570,-0.150221],[0.355508,0.879390,0.316682],[0.029634,-0.349250,0.936561]] 2025-10-28T17:36:50.223Z,1761673010.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940511,-0.308784,-0.141746],[0.338723,0.884766,0.320087],[0.026574,-0.349057,0.936724]] 2025-10-28T17:36:50.636Z,1761673010.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946462,-0.294038,-0.133236],[0.321955,0.889908,0.323124],[0.023557,-0.348720,0.936931]] 2025-10-28T17:36:50.667Z,1761673010.667 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:36:50.667Z,1761673010.667 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:36:50.668Z,1761673010.668 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:36:50.668Z,1761673010.668 [marl:UpdateRudder:A] Stopped 2025-10-28T17:36:50.668Z,1761673010.668 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:36:50.668Z,1761673010.668 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:36:50.668Z,1761673010.668 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateCommandMode] Stopped 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:36:50.669Z,1761673010.669 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:36:50.670Z,1761673010.670 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:36:50.670Z,1761673010.670 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:36:50.670Z,1761673010.670 [marl:UpdateSpeed] Stopped 2025-10-28T17:36:50.670Z,1761673010.670 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:36:51.030Z,1761673011.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951924,-0.279643,-0.125063],[0.305640,0.894480,0.326328],[0.020612,-0.348864,0.936947]] 2025-10-28T17:36:51.054Z,1761673011.054 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:36:51.054Z,1761673011.054 [marl:UpdateRudder:B] Stopped 2025-10-28T17:36:51.054Z,1761673011.054 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:36:51.054Z,1761673011.054 [marl:UpdateRudder] Stopped 2025-10-28T17:36:51.054Z,1761673011.054 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:36:51.434Z,1761673011.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956941,-0.265788,-0.116706],[0.289761,0.898708,0.329184],[0.017391,-0.348827,0.937026]] 2025-10-28T17:36:51.840Z,1761673011.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961513,-0.252437,-0.108485],[0.274404,0.902367,0.332320],[0.014004,-0.349299,0.936907]] 2025-10-28T17:36:51.906Z,1761673011.906 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:36:52.129Z,1761673012.129 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:36:52.129Z,1761673012.129 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:36:52.243Z,1761673012.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965733,-0.239467,-0.100074],[0.259329,0.905774,0.335144],[0.010389,-0.349612,0.936837]] 2025-10-28T17:36:52.381Z,1761673012.381 [DAT](INFO): DAT read: user:73> 2025-10-28T17:36:52.382Z,1761673012.382 [DAT](INFO): DAT read: Tx time:17:36:52.1557 2025-10-28T17:36:52.382Z,1761673012.382 [DAT](INFO): Ping request sent. 2025-10-28T17:36:52.382Z,1761673012.382 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:36:52.382Z,1761673012.382 [DAT](INFO): publishing transmit ping time 2025-10-28T17:36:52.383Z,1761673012.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T17:36:52.633Z,1761673012.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250796 2025-10-28T17:36:52.648Z,1761673012.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969399,-0.228141,-0.090654],[0.245421,0.909535,0.335432],[0.005927,-0.347416,0.937692]] 2025-10-28T17:36:52.886Z,1761673012.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503532 2025-10-28T17:36:53.051Z,1761673013.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972039,-0.220734,-0.080099],[0.234817,0.914586,0.329231],[0.000585,-0.338834,0.940846]] 2025-10-28T17:36:53.137Z,1761673013.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754987 2025-10-28T17:36:53.389Z,1761673013.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839 2025-10-28T17:36:53.456Z,1761673013.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973200,-0.219756,-0.067743],[0.229877,0.921738,0.312338],[-0.006197,-0.319540,0.947553]] 2025-10-28T17:36:53.641Z,1761673013.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878 2025-10-28T17:36:53.859Z,1761673013.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973332,-0.222512,-0.055798],[0.229017,0.928448,0.292466],[-0.013272,-0.297445,0.954647]] 2025-10-28T17:36:53.893Z,1761673013.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025 2025-10-28T17:36:54.145Z,1761673014.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762793 2025-10-28T17:36:54.262Z,1761673014.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972912,-0.226805,-0.044734],[0.230262,0.933588,0.274577],[-0.020512,-0.277440,0.960524]] 2025-10-28T17:36:54.397Z,1761673014.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014898 2025-10-28T17:36:54.649Z,1761673014.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893 2025-10-28T17:36:54.667Z,1761673014.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972212,-0.231535,-0.034568],[0.232494,0.937681,0.258265],[-0.027383,-0.259125,0.965455]] 2025-10-28T17:36:54.901Z,1761673014.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855 2025-10-28T17:36:55.072Z,1761673015.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971590,-0.235386,-0.024606],[0.234266,0.941735,0.241361],[-0.033641,-0.240269,0.970123]] 2025-10-28T17:36:55.153Z,1761673015.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770996 2025-10-28T17:36:55.405Z,1761673015.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023064 2025-10-28T17:36:55.474Z,1761673015.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970952,-0.238752,-0.015766],[0.235955,0.944478,0.228663],[-0.039704,-0.225741,0.973378]] 2025-10-28T17:36:55.657Z,1761673015.657 [DAT](INFO): DAT read: Rx Time:17:36:55.0063 2025-10-28T17:36:55.657Z,1761673015.657 [DAT](INFO): Rx dataTimestamp_ set to:1761673015.657090 2025-10-28T17:36:55.658Z,1761673015.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275915 2025-10-28T17:36:55.879Z,1761673015.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970553,-0.240760,-0.007869],[0.236555,0.946420,0.219844],[-0.045482,-0.215232,0.975503]] 2025-10-28T17:36:55.909Z,1761673015.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526975 2025-10-28T17:36:56.173Z,1761673016.173 [DAT](INFO): DAT read: 17:36:55.0063 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 456,-0.09, 2.500, 0.503, 1.737, 1.984, PHS= 0.618,-1.436,-0.291, RAW= 123.8, 12.4, CAL= 124.1, 13.6, ROT= 25.9, -13.6 2025-10-28T17:36:56.174Z,1761673016.174 [DAT](INFO): got valid direction response: 17:36:55.0063 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 456,-0.09, 2.500, 0.503, 1.737, 1.984, PHS= 0.618,-1.436,-0.291, RAW= 123.8, 12.4, CAL= 124.1, 13.6, ROT= 25.9, -13.6 2025-10-28T17:36:56.175Z,1761673016.175 [DAT](INFO): DAT read: Bearing 182.1, 18.8 (Local) 2025-10-28T17:36:56.175Z,1761673016.175 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, 18.8 (Local) 2025-10-28T17:36:56.178Z,1761673016.178 [DAT](INFO): DAT read: Range 11 to 20 : 334.8 m (Round-trip 446.4 ms) speed 1.2 m/s 2025-10-28T17:36:56.178Z,1761673016.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:36:56.179Z,1761673016.179 [DAT](INFO): direction in FSK: [0.874335,0.424554,0.235142] 2025-10-28T17:36:56.180Z,1761673016.180 [DAT](INFO): publishing direction and range info 2025-10-28T17:36:56.359Z,1761673016.359 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761672960.00. Resetting abort timer. 2025-10-28T17:36:56.688Z,1761673016.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970546,-0.240839,0.006151],[0.234344,0.949677,0.207836],[-0.055897,-0.200273,0.978144]] 2025-10-28T17:36:57.098Z,1761673017.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970936,-0.239008,0.012619],[0.231452,0.951053,0.204763],[-0.060942,-0.195891,0.978730]] 2025-10-28T17:36:57.495Z,1761673017.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971582,-0.235970,0.018593],[0.227290,0.951997,0.205038],[-0.066083,-0.194985,0.978577]] 2025-10-28T17:36:57.898Z,1761673017.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972376,-0.232078,0.024986],[0.222253,0.953253,0.204726],[-0.071331,-0.193518,0.978500]] 2025-10-28T17:36:58.303Z,1761673018.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973239,-0.227674,0.031149],[0.216664,0.954322,0.205734],[-0.076566,-0.193479,0.978112]] 2025-10-28T17:36:58.707Z,1761673018.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974024,-0.223274,0.037770],[0.211040,0.955510,0.206064],[-0.082098,-0.192740,0.977809]] 2025-10-28T17:36:59.117Z,1761673019.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974611,-0.219482,0.044281],[0.206017,0.956495,0.206576],[-0.087694,-0.192208,0.977428]] 2025-10-28T17:36:59.516Z,1761673019.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974865,-0.216915,0.050855],[0.202177,0.957193,0.207138],[-0.093609,-0.191650,0.976989]] 2025-10-28T17:36:59.923Z,1761673019.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974854,-0.215416,0.057062],[0.199470,0.957671,0.207552],[-0.099357,-0.190951,0.976558]] 2025-10-28T17:37:00.355Z,1761673020.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974689,-0.214648,0.062508],[0.197594,0.957901,0.208286],[-0.104585,-0.190663,0.976068]] 2025-10-28T17:37:00.727Z,1761673020.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974553,-0.213875,0.067114],[0.195685,0.957773,0.210663],[-0.109336,-0.192169,0.975252]] 2025-10-28T17:37:01.130Z,1761673021.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974399,-0.213180,0.071419],[0.193910,0.957642,0.212885],[-0.113777,-0.193586,0.974464]] 2025-10-28T17:37:01.542Z,1761673021.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974141,-0.213164,0.074908],[0.192941,0.957332,0.215151],[-0.117575,-0.195135,0.973704]] 2025-10-28T17:37:01.939Z,1761673021.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973845,-0.213153,0.078685],[0.191849,0.956937,0.217867],[-0.121736,-0.197073,0.972801]] 2025-10-28T17:37:02.342Z,1761673022.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973547,-0.213122,0.082371],[0.191078,0.957078,0.217922],[-0.125279,-0.196419,0.972484]] 2025-10-28T17:37:03.151Z,1761673023.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972762,-0.214311,0.088350],[0.191049,0.957060,0.218028],[-0.131282,-0.195210,0.971935]] 2025-10-28T17:37:03.657Z,1761673023.657 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateRudder:A] Stopped 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:37:03.658Z,1761673023.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateCommandMode] Stopped 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:37:03.659Z,1761673023.659 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:37:03.660Z,1761673023.660 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:37:03.660Z,1761673023.660 [marl:UpdateSpeed] Stopped 2025-10-28T17:37:03.660Z,1761673023.660 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:37:03.963Z,1761673023.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971749,-0.215913,0.095316],[0.191659,0.957583,0.215180],[-0.137733,-0.190832,0.971912]] 2025-10-28T17:37:04.000Z,1761673024.000 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:37:04.000Z,1761673024.000 [marl:UpdateRudder:B] Stopped 2025-10-28T17:37:04.000Z,1761673024.000 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:37:04.001Z,1761673024.001 [marl:UpdateRudder] Stopped 2025-10-28T17:37:04.001Z,1761673024.001 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:37:04.372Z,1761673024.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971574,-0.215922,0.097062],[0.191306,0.957615,0.215352],[-0.139448,-0.190662,0.971701]] 2025-10-28T17:37:04.778Z,1761673024.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971416,-0.215838,0.098820],[0.190884,0.957701,0.215341],[-0.141119,-0.190323,0.971526]] 2025-10-28T17:37:05.613Z,1761673025.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971517,-0.214569,0.100575],[0.189157,0.957833,0.216277],[-0.142741,-0.191093,0.971138]] 2025-10-28T17:37:05.979Z,1761673025.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971644,-0.214063,0.100426],[0.188671,0.957904,0.216387],[-0.142519,-0.191304,0.971129]] 2025-10-28T17:37:06.394Z,1761673026.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971696,-0.214039,0.099970],[0.188929,0.958152,0.215061],[-0.141818,-0.190086,0.971470]] 2025-10-28T17:37:06.789Z,1761673026.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971570,-0.214776,0.099619],[0.189752,0.958032,0.214869],[-0.141587,-0.189857,0.971549]] 2025-10-28T17:37:07.194Z,1761673027.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971473,-0.215753,0.098446],[0.190974,0.957839,0.214646],[-0.140606,-0.189722,0.971718]] 2025-10-28T17:37:07.616Z,1761673027.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971277,-0.217479,0.096564],[0.192953,0.957310,0.215237],[-0.139251,-0.190422,0.971776]] 2025-10-28T17:37:07.998Z,1761673027.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971107,-0.219124,0.094527],[0.194871,0.956768,0.215916],[-0.137753,-0.191257,0.971825]] 2025-10-28T17:37:08.406Z,1761673028.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970954,-0.220729,0.092340],[0.196782,0.956225,0.216590],[-0.136105,-0.192128,0.971886]] 2025-10-28T17:37:08.806Z,1761673028.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970863,-0.222138,0.089888],[0.198482,0.955601,0.217788],[-0.134276,-0.193601,0.971848]] 2025-10-28T17:37:09.217Z,1761673029.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971004,-0.222730,0.086848],[0.199446,0.955036,0.219379],[-0.131806,-0.195697,0.971767]] 2025-10-28T17:37:09.623Z,1761673029.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971171,-0.223389,0.083217],[0.200436,0.954169,0.222233],[-0.129048,-0.199146,0.971436]] 2025-10-28T17:37:10.019Z,1761673030.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971494,-0.223271,0.079678],[0.200658,0.953443,0.225127],[-0.126233,-0.202721,0.971066]] 2025-10-28T17:37:10.426Z,1761673030.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971992,-0.222397,0.075974],[0.200179,0.952826,0.228148],[-0.123129,-0.206549,0.970658]] 2025-10-28T17:37:10.828Z,1761673030.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972530,-0.221351,0.072035],[0.199540,0.952103,0.231697],[-0.119871,-0.210958,0.970117]] 2025-10-28T17:37:11.231Z,1761673031.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973235,-0.219353,0.068540],[0.198104,0.951943,0.233579],[-0.116483,-0.213749,0.969919]] 2025-10-28T17:37:11.635Z,1761673031.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973985,-0.217039,0.065165],[0.196472,0.952074,0.234421],[-0.112921,-0.215519,0.969949]] 2025-10-28T17:37:12.038Z,1761673032.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974734,-0.214551,0.062140],[0.194705,0.952450,0.234368],[-0.109469,-0.216348,0.970160]] 2025-10-28T17:37:12.450Z,1761673032.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975524,-0.211739,0.059324],[0.192606,0.952952,0.234063],[-0.106093,-0.216908,0.970410]] 2025-10-28T17:37:12.849Z,1761673032.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976404,-0.208502,0.056227],[0.189927,0.953034,0.235910],[-0.102774,-0.219664,0.970147]] 2025-10-28T17:37:13.251Z,1761673033.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977364,-0.204554,0.054016],[0.186645,0.953879,0.235113],[-0.099618,-0.219709,0.970466]] 2025-10-28T17:37:13.654Z,1761673033.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978381,-0.200018,0.052561],[0.182819,0.955304,0.232316],[-0.096679,-0.217684,0.971219]] 2025-10-28T17:37:14.063Z,1761673034.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979371,-0.195450,0.051297],[0.178876,0.956647,0.229847],[-0.093997,-0.215930,0.971874]] 2025-10-28T17:37:14.469Z,1761673034.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980277,-0.191075,0.050468],[0.175097,0.958135,0.226534],[-0.091641,-0.213230,0.972695]] 2025-10-28T17:37:14.867Z,1761673034.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981089,-0.186974,0.050047],[0.171680,0.960019,0.221109],[-0.089388,-0.208335,0.973964]] 2025-10-28T17:37:15.271Z,1761673035.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981889,-0.182793,0.049798],[0.168232,0.962119,0.214533],[-0.087127,-0.202271,0.975446]] 2025-10-28T17:37:15.675Z,1761673035.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982478,-0.179623,0.049732],[0.165818,0.964229,0.206801],[-0.085099,-0.194931,0.977118]] 2025-10-28T17:37:16.089Z,1761673036.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982758,-0.178066,0.049783],[0.165099,0.966346,0.197274],[-0.083235,-0.185654,0.979084]] 2025-10-28T17:37:16.483Z,1761673036.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982630,-0.178913,0.049270],[0.166791,0.967872,0.188161],[-0.081351,-0.176675,0.980902]] 2025-10-28T17:37:16.887Z,1761673036.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982249,-0.181315,0.048083],[0.169942,0.968668,0.181113],[-0.079415,-0.169727,0.982286]] 2025-10-28T17:37:16.931Z,1761673036.931 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:37:16.931Z,1761673036.931 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:37:16.931Z,1761673036.931 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:37:16.931Z,1761673036.931 [marl:UpdateRudder:A] Stopped 2025-10-28T17:37:16.931Z,1761673036.931 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:37:16.932Z,1761673036.932 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:37:16.932Z,1761673036.932 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:37:16.932Z,1761673036.932 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:37:16.932Z,1761673036.932 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:37:16.932Z,1761673036.932 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateCommandMode] Stopped 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed] Stopped 2025-10-28T17:37:16.933Z,1761673036.933 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:37:17.290Z,1761673037.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981771,-0.184448,0.045871],[0.173571,0.968407,0.179056],[-0.077448,-0.167830,0.982769]] 2025-10-28T17:37:17.318Z,1761673037.318 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:37:17.318Z,1761673037.318 [marl:UpdateRudder:B] Stopped 2025-10-28T17:37:17.319Z,1761673037.319 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:37:17.319Z,1761673037.319 [marl:UpdateRudder] Stopped 2025-10-28T17:37:17.319Z,1761673037.319 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:37:17.593Z,1761673037.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:37:18.100Z,1761673038.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980911,-0.190605,0.038522],[0.180469,0.966081,0.184713],[-0.072423,-0.174235,0.982037]] 2025-10-28T17:37:18.502Z,1761673038.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980512,-0.193803,0.032191],[0.184029,0.963422,0.194811],[-0.068769,-0.185091,0.980312]] 2025-10-28T17:37:18.592Z,1761673038.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:37:18.907Z,1761673038.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980068,-0.197066,0.025122],[0.187942,0.960720,0.204191],[-0.064375,-0.195400,0.978609]] 2025-10-28T17:37:19.312Z,1761673039.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979598,-0.200166,0.017909],[0.191966,0.958377,0.211337],[-0.059466,-0.203587,0.977249]] 2025-10-28T17:37:19.714Z,1761673039.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979114,-0.203058,0.010154],[0.196000,0.955998,0.218293],[-0.054033,-0.211744,0.975830]] 2025-10-28T17:37:20.120Z,1761673040.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978641,-0.205564,0.002206],[0.199883,0.953993,0.223480],[-0.048044,-0.218266,0.974706]] 2025-10-28T17:37:20.527Z,1761673040.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978374,-0.206770,-0.005598],[0.202580,0.952376,0.227905],[-0.041793,-0.224110,0.973667]] 2025-10-28T17:37:20.926Z,1761673040.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978380,-0.206414,-0.012888],[0.203773,0.951459,0.230659],[-0.035349,-0.228298,0.972949]] 2025-10-28T17:37:21.330Z,1761673041.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978896,-0.203459,-0.019160],[0.202277,0.951302,0.232612],[-0.029100,-0.231578,0.972381]] 2025-10-28T17:37:21.735Z,1761673041.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979759,-0.198736,-0.023994],[0.198830,0.952249,0.231708],[-0.023200,-0.231789,0.972489]] 2025-10-28T17:37:22.141Z,1761673042.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980722,-0.193378,-0.028079],[0.194584,0.953286,0.231048],[-0.017912,-0.232057,0.972537]] 2025-10-28T17:37:22.544Z,1761673042.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981707,-0.187901,-0.030724],[0.189931,0.955185,0.227043],[-0.013314,-0.228725,0.973400]] 2025-10-28T17:37:22.947Z,1761673042.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982714,-0.182246,-0.032556],[0.184915,0.957782,0.220138],[-0.008937,-0.222353,0.974925]] 2025-10-28T17:37:23.351Z,1761673043.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983748,-0.176188,-0.034619],[0.179502,0.960210,0.213953],[-0.004455,-0.216690,0.976230]] 2025-10-28T17:37:23.762Z,1761673043.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984743,-0.170057,-0.036894],[0.174013,0.962258,0.209236],[-0.000081,-0.212464,0.977169]] 2025-10-28T17:37:24.166Z,1761673044.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985553,-0.164653,-0.039691],[0.169313,0.963806,0.205941],[0.004346,-0.209686,0.977759]] 2025-10-28T17:37:24.569Z,1761673044.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985983,-0.161474,-0.042006],[0.166650,0.965343,0.200847],[0.008119,-0.205032,0.978722]] 2025-10-28T17:37:24.967Z,1761673044.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986010,-0.160546,-0.044824],[0.166247,0.966702,0.194548],[0.012098,-0.199279,0.979868]] 2025-10-28T17:37:25.376Z,1761673045.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985825,-0.160667,-0.048325],[0.167008,0.967271,0.191038],[0.016050,-0.196401,0.980392]] 2025-10-28T17:37:25.779Z,1761673045.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985578,-0.160981,-0.052164],[0.168049,0.967310,0.189924],[0.019885,-0.195951,0.980412]] 2025-10-28T17:37:26.179Z,1761673046.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985262,-0.161496,-0.056371],[0.169375,0.967134,0.189643],[0.023892,-0.196396,0.980234]] 2025-10-28T17:37:26.587Z,1761673046.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984801,-0.162453,-0.061447],[0.171444,0.965880,0.194122],[0.027815,-0.201706,0.979051]] 2025-10-28T17:37:26.988Z,1761673046.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984307,-0.163280,-0.066931],[0.173543,0.964415,0.199467],[0.031980,-0.207952,0.977616]] 2025-10-28T17:37:27.391Z,1761673047.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983736,-0.164516,-0.072093],[0.175965,0.963237,0.203005],[0.036045,-0.212389,0.976520]] 2025-10-28T17:37:27.795Z,1761673047.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983079,-0.166332,-0.076743],[0.178805,0.962358,0.204687],[0.039808,-0.214945,0.975814]] 2025-10-28T17:37:28.198Z,1761673048.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982447,-0.168047,-0.080980],[0.181418,0.961780,0.205100],[0.043418,-0.216191,0.975385]] 2025-10-28T17:37:28.610Z,1761673048.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981812,-0.169850,-0.084829],[0.183998,0.961387,0.204644],[0.046794,-0.216531,0.975154]] 2025-10-28T17:37:29.006Z,1761673049.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981331,-0.170614,-0.088777],[0.185686,0.960729,0.206203],[0.050110,-0.218838,0.974474]] 2025-10-28T17:37:29.410Z,1761673049.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981028,-0.170597,-0.092086],[0.186412,0.960539,0.206436],[0.053235,-0.219686,0.974117]] 2025-10-28T17:37:29.815Z,1761673049.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980778,-0.170430,-0.095012],[0.186828,0.960707,0.205276],[0.056294,-0.219081,0.974081]] 2025-10-28T17:37:30.218Z,1761673050.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980686,-0.169275,-0.097990],[0.186329,0.960887,0.204882],[0.059476,-0.219184,0.973869]] 2025-10-28T17:37:30.252Z,1761673050.252 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:37:30.252Z,1761673050.252 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateRudder:A] Stopped 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:37:30.253Z,1761673050.253 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateCommandMode] Stopped 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:37:30.254Z,1761673050.254 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:37:30.255Z,1761673050.255 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:37:30.255Z,1761673050.255 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:37:30.255Z,1761673050.255 [marl:UpdateSpeed] Stopped 2025-10-28T17:37:30.255Z,1761673050.255 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:37:30.622Z,1761673050.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980718,-0.167596,-0.100512],[0.185061,0.961727,0.202072],[0.062799,-0.216777,0.974199]] 2025-10-28T17:37:30.667Z,1761673050.667 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:37:30.667Z,1761673050.667 [marl:UpdateRudder:B] Stopped 2025-10-28T17:37:30.667Z,1761673050.667 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:37:30.667Z,1761673050.667 [marl:UpdateRudder] Stopped 2025-10-28T17:37:30.667Z,1761673050.667 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:37:31.027Z,1761673051.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980742,-0.166137,-0.102679],[0.183919,0.962516,0.199341],[0.065712,-0.214387,0.974536]] 2025-10-28T17:37:31.432Z,1761673051.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980945,-0.163508,-0.104942],[0.181890,0.962720,0.200217],[0.068293,-0.215490,0.974115]] 2025-10-28T17:37:31.834Z,1761673051.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981340,-0.159401,-0.107528],[0.178808,0.962181,0.205514],[0.070703,-0.220906,0.972729]] 2025-10-28T17:37:32.239Z,1761673052.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981871,-0.154738,-0.109481],[0.174983,0.961990,0.209659],[0.072878,-0.225015,0.971626]] 2025-10-28T17:37:32.643Z,1761673052.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982477,-0.149835,-0.110852],[0.170712,0.962124,0.212542],[0.074807,-0.227741,0.970844]] 2025-10-28T17:37:33.058Z,1761673053.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983198,-0.144680,-0.111311],[0.165871,0.962684,0.213838],[0.076219,-0.228708,0.970507]] 2025-10-28T17:37:33.451Z,1761673053.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983911,-0.139709,-0.111361],[0.161065,0.963358,0.214473],[0.077316,-0.228959,0.970361]] 2025-10-28T17:37:34.260Z,1761673054.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985551,-0.128817,-0.109978],[0.149805,0.965923,0.211073],[0.079041,-0.224498,0.971264]] 2025-10-28T17:37:34.663Z,1761673054.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986297,-0.123900,-0.108940],[0.144517,0.967350,0.208204],[0.079586,-0.221094,0.972000]] 2025-10-28T17:37:35.068Z,1761673055.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986808,-0.120764,-0.107820],[0.140933,0.968552,0.205049],[0.079667,-0.217540,0.972795]] 2025-10-28T17:37:35.471Z,1761673055.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986992,-0.119828,-0.107181],[0.139550,0.969585,0.201072],[0.079827,-0.213413,0.973695]] 2025-10-28T17:37:35.877Z,1761673055.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987013,-0.120290,-0.106469],[0.139654,0.970069,0.198654],[0.079386,-0.210943,0.974269]] 2025-10-28T17:37:36.279Z,1761673056.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986950,-0.121314,-0.105890],[0.140461,0.970144,0.197717],[0.078742,-0.210010,0.974523]] 2025-10-28T17:37:36.683Z,1761673056.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986749,-0.123263,-0.105512],[0.142246,0.970012,0.197083],[0.078055,-0.209481,0.974692]] 2025-10-28T17:37:37.087Z,1761673057.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986524,-0.125341,-0.105162],[0.144451,0.969076,0.200067],[0.076834,-0.212561,0.974122]] 2025-10-28T17:37:37.492Z,1761673057.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986277,-0.127566,-0.104811],[0.146683,0.968416,0.201629],[0.075779,-0.214236,0.973838]] 2025-10-28T17:37:37.894Z,1761673057.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986203,-0.128123,-0.104826],[0.147594,0.967294,0.206297],[0.074966,-0.218923,0.972858]] 2025-10-28T17:37:38.299Z,1761673058.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986370,-0.126650,-0.105040],[0.146578,0.966383,0.211230],[0.074757,-0.223747,0.971776]] 2025-10-28T17:37:38.702Z,1761673058.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986673,-0.124204,-0.105121],[0.144570,0.965627,0.216018],[0.074677,-0.228337,0.970714]] 2025-10-28T17:37:39.108Z,1761673059.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987018,-0.121424,-0.105124],[0.141927,0.965793,0.217028],[0.075176,-0.229130,0.970489]] 2025-10-28T17:37:39.511Z,1761673059.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987420,-0.118580,-0.104594],[0.138999,0.966286,0.216727],[0.075368,-0.228539,0.970613]] 2025-10-28T17:37:39.919Z,1761673059.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987755,-0.116350,-0.103934],[0.136438,0.967300,0.213812],[0.075658,-0.225375,0.971330]] 2025-10-28T17:37:40.322Z,1761673060.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988032,-0.114858,-0.102961],[0.134479,0.968357,0.210240],[0.075555,-0.221570,0.972213]] 2025-10-28T17:37:40.730Z,1761673060.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988141,-0.115243,-0.101472],[0.134133,0.969502,0.205120],[0.074738,-0.216298,0.973463]] 2025-10-28T17:37:41.128Z,1761673061.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988204,-0.116206,-0.099747],[0.134445,0.970177,0.201696],[0.073334,-0.212727,0.974356]] 2025-10-28T17:37:41.553Z,1761673061.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988255,-0.117327,-0.097908],[0.134963,0.970636,0.199128],[0.071670,-0.210003,0.975070]] 2025-10-28T17:37:41.935Z,1761673061.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988275,-0.118543,-0.096229],[0.135763,0.970639,0.198567],[0.069865,-0.209303,0.975352]] 2025-10-28T17:37:42.343Z,1761673062.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988331,-0.119634,-0.094282],[0.136360,0.970741,0.197657],[0.067876,-0.208207,0.975727]] 2025-10-28T17:37:42.744Z,1761673062.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988478,-0.119741,-0.092588],[0.136246,0.970345,0.199667],[0.065934,-0.209981,0.975480]] 2025-10-28T17:37:43.147Z,1761673063.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988784,-0.118574,-0.090809],[0.134878,0.970058,0.201981],[0.064140,-0.211964,0.975170]] 2025-10-28T17:37:43.590Z,1761673063.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989306,-0.115950,-0.088481],[0.132043,0.969673,0.205668],[0.061950,-0.215152,0.974614]] 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateRudder:A] Stopped 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:37:43.655Z,1761673063.655 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateCommandMode] Stopped 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:37:43.657Z,1761673063.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:37:43.658Z,1761673063.658 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:37:43.658Z,1761673063.658 [marl:UpdateSpeed] Stopped 2025-10-28T17:37:43.658Z,1761673063.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:37:43.954Z,1761673063.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989954,-0.112291,-0.085915],[0.128047,0.969710,0.208005],[0.059956,-0.216916,0.974347]] 2025-10-28T17:37:43.987Z,1761673063.987 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:37:43.987Z,1761673063.987 [marl:UpdateRudder:B] Stopped 2025-10-28T17:37:43.987Z,1761673063.987 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:37:43.988Z,1761673063.988 [marl:UpdateRudder] Stopped 2025-10-28T17:37:44.008Z,1761673064.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:37:44.365Z,1761673064.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990692,-0.107836,-0.083066],[0.123322,0.969378,0.212363],[0.057622,-0.220630,0.973654]] 2025-10-28T17:37:44.772Z,1761673064.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991425,-0.103098,-0.080299],[0.118293,0.969158,0.216192],[0.055534,-0.223837,0.973043]] 2025-10-28T17:37:45.166Z,1761673065.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992112,-0.098755,-0.077204],[0.113398,0.969560,0.217013],[0.053423,-0.224056,0.973111]] 2025-10-28T17:37:45.611Z,1761673065.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993245,-0.091761,-0.071026],[0.105110,0.970790,0.215682],[0.049160,-0.221691,0.973877]] 2025-10-28T17:37:46.378Z,1761673066.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993623,-0.089753,-0.068253],[0.102352,0.971898,0.211987],[0.047308,-0.217621,0.974886]] 2025-10-28T17:37:46.787Z,1761673066.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993823,-0.089300,-0.065888],[0.101234,0.972755,0.208563],[0.045468,-0.213945,0.975787]] 2025-10-28T17:37:47.187Z,1761673067.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993862,-0.090267,-0.063961],[0.101635,0.973345,0.205595],[0.043697,-0.210834,0.976545]] 2025-10-28T17:37:47.617Z,1761673067.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993692,-0.093699,-0.061620],[0.104286,0.974136,0.200457],[0.041243,-0.205618,0.977763]] 2025-10-28T17:37:48.398Z,1761673068.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993619,-0.095270,-0.060378],[0.105579,0.973948,0.200697],[0.039685,-0.205791,0.977791]] 2025-10-28T17:37:48.720Z,1761673068.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:37:48.812Z,1761673068.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993475,-0.098132,-0.058113],[0.107939,0.973570,0.201272],[0.036826,-0.206231,0.977810]] 2025-10-28T17:37:49.213Z,1761673069.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993617,-0.097672,-0.056434],[0.107207,0.973277,0.203074],[0.035091,-0.207828,0.977536]] 2025-10-28T17:37:49.623Z,1761673069.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993803,-0.096589,-0.055011],[0.105969,0.972681,0.206546],[0.033558,-0.211096,0.976889]] 2025-10-28T17:37:49.724Z,1761673069.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:37:50.027Z,1761673070.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994056,-0.094881,-0.053388],[0.104060,0.972202,0.209747],[0.032003,-0.214056,0.976297]] 2025-10-28T17:37:50.422Z,1761673070.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994331,-0.092973,-0.051598],[0.101876,0.971978,0.211851],[0.030456,-0.215907,0.975939]] 2025-10-28T17:37:50.831Z,1761673070.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994587,-0.091158,-0.049863],[0.099742,0.972091,0.212344],[0.029115,-0.216168,0.975922]] 2025-10-28T17:37:51.226Z,1761673071.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994763,-0.089998,-0.048451],[0.098314,0.972153,0.212729],[0.027956,-0.216378,0.975909]] 2025-10-28T17:37:51.632Z,1761673071.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994916,-0.088981,-0.047173],[0.097052,0.972210,0.213048],[0.026905,-0.216543,0.975902]] 2025-10-28T17:37:52.037Z,1761673072.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995057,-0.088220,-0.045584],[0.095951,0.972431,0.212534],[0.025577,-0.215857,0.976090]] 2025-10-28T17:37:52.061Z,1761673072.061 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:37:52.129Z,1761673072.129 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:37:52.129Z,1761673072.129 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:37:52.381Z,1761673072.381 [DAT](INFO): DAT read: user:74> 2025-10-28T17:37:52.382Z,1761673072.382 [DAT](INFO): DAT read: Tx time:17:37:52.1555 2025-10-28T17:37:52.382Z,1761673072.382 [DAT](INFO): Ping request sent. 2025-10-28T17:37:52.382Z,1761673072.382 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:37:52.382Z,1761673072.382 [DAT](INFO): publishing transmit ping time 2025-10-28T17:37:52.383Z,1761673072.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956 2025-10-28T17:37:52.448Z,1761673072.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995175,-0.087826,-0.043746],[0.095144,0.972723,0.211562],[0.023972,-0.214703,0.976385]] 2025-10-28T17:37:52.633Z,1761673072.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010 2025-10-28T17:37:52.885Z,1761673072.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503029 2025-10-28T17:37:53.137Z,1761673073.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754946 2025-10-28T17:37:53.247Z,1761673073.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995382,-0.086921,-0.040730],[0.093629,0.972703,0.212328],[0.021162,-0.215161,0.976349]] 2025-10-28T17:37:53.389Z,1761673073.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006908 2025-10-28T17:37:53.646Z,1761673073.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263629 2025-10-28T17:37:53.897Z,1761673073.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514931 2025-10-28T17:37:54.057Z,1761673074.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995816,-0.083447,-0.037250],[0.089541,0.972434,0.215303],[0.018257,-0.217738,0.975837]] 2025-10-28T17:37:54.149Z,1761673074.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766926 2025-10-28T17:37:54.401Z,1761673074.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018876 2025-10-28T17:37:54.458Z,1761673074.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996144,-0.080152,-0.035670],[0.086025,0.972187,0.217835],[0.017218,-0.220064,0.975334]] 2025-10-28T17:37:54.653Z,1761673074.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270923 2025-10-28T17:37:54.862Z,1761673074.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996452,-0.077007,-0.033969],[0.082602,0.972193,0.219130],[0.016150,-0.221158,0.975104]] 2025-10-28T17:37:54.905Z,1761673074.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523309 2025-10-28T17:37:55.157Z,1761673075.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774876 2025-10-28T17:37:55.267Z,1761673075.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996741,-0.073966,-0.032182],[0.079260,0.972191,0.220367],[0.014987,-0.222200,0.974886]] 2025-10-28T17:37:55.409Z,1761673075.409 [DAT](INFO): DAT read: Rx Time:17:37:54.6032 2025-10-28T17:37:55.410Z,1761673075.410 [DAT](INFO): Rx dataTimestamp_ set to:1761673075.409610 2025-10-28T17:37:55.410Z,1761673075.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028449 2025-10-28T17:37:55.661Z,1761673075.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278969 2025-10-28T17:37:55.678Z,1761673075.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997022,-0.071098,-0.029872],[0.075959,0.972273,0.221170],[0.013319,-0.222780,0.974778]] 2025-10-28T17:37:55.919Z,1761673075.919 [DAT](INFO): DAT read: 17:37:54.6031 LVL= 26864, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.38,-2.750, 1.353, 2.385, 2.831, PHS= 0.804,-1.433,-0.490, RAW= 114.8, 11.5, CAL= 116.1, 12.9, ROT= 33.9, -12.9 2025-10-28T17:37:55.920Z,1761673075.920 [DAT](INFO): got valid direction response: 17:37:54.6031 LVL= 26864, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.38,-2.750, 1.353, 2.385, 2.831, PHS= 0.804,-1.433,-0.490, RAW= 114.8, 11.5, CAL= 116.1, 12.9, ROT= 33.9, -12.9 2025-10-28T17:37:55.921Z,1761673075.921 [DAT](INFO): DAT read: Bearing 32, -19 (Remote) 2025-10-28T17:37:55.922Z,1761673075.922 [DAT](INFO): Remote Bearing received:Bearing 32, -19 (Remote) 2025-10-28T17:37:55.923Z,1761673075.923 [DAT](INFO): DAT read: Bearing 180.4, 29.4 (Local) 2025-10-28T17:37:55.923Z,1761673075.923 [DAT](INFO): Local bearing/azimuth received: Bearing 180.4, 29.4 (Local) 2025-10-28T17:37:55.924Z,1761673075.924 [DAT](INFO): DAT read: Range 11 to 20 : 313.8 m (Round-trip 418.5 ms) speed 0.0 m/s 2025-10-28T17:37:55.925Z,1761673075.925 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:37:55.926Z,1761673075.926 [DAT](INFO): direction in FSK: [0.809064,0.543668,0.223250] 2025-10-28T17:37:55.926Z,1761673075.926 [DAT](INFO): publishing direction and range info 2025-10-28T17:37:56.074Z,1761673076.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997268,-0.068377,-0.027946],[0.072870,0.972646,0.220566],[0.012100,-0.222000,0.974972]] 2025-10-28T17:37:56.119Z,1761673076.119 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673088.00. Resetting abort timer. 2025-10-28T17:37:56.479Z,1761673076.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997438,-0.066560,-0.026198],[0.070683,0.973342,0.218197],[0.010977,-0.219490,0.975553]] 2025-10-28T17:37:56.890Z,1761673076.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997514,-0.066046,-0.024554],[0.069786,0.974192,0.214662],[0.009742,-0.215842,0.976380]] 2025-10-28T17:37:56.913Z,1761673076.913 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateRudder:A] Stopped 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:37:56.914Z,1761673076.914 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateCommandMode] Stopped 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:37:56.915Z,1761673076.915 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:37:56.916Z,1761673076.916 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:37:56.916Z,1761673076.916 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:37:56.916Z,1761673076.916 [marl:UpdateSpeed] Stopped 2025-10-28T17:37:56.916Z,1761673076.916 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:37:57.286Z,1761673077.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997558,-0.065943,-0.023011],[0.069330,0.974788,0.212091],[0.008445,-0.213168,0.976979]] 2025-10-28T17:37:57.327Z,1761673077.327 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:37:57.327Z,1761673077.327 [marl:UpdateRudder:B] Stopped 2025-10-28T17:37:57.327Z,1761673077.327 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:37:57.327Z,1761673077.327 [marl:UpdateRudder] Stopped 2025-10-28T17:37:57.327Z,1761673077.327 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:37:57.692Z,1761673077.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997545,-0.066575,-0.021733],[0.069660,0.975219,0.209988],[0.007215,-0.210986,0.977462]] 2025-10-28T17:37:58.094Z,1761673078.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997532,-0.067188,-0.020379],[0.069970,0.975323,0.209403],[0.005807,-0.210312,0.977617]] 2025-10-28T17:37:58.511Z,1761673078.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997440,-0.068775,-0.019570],[0.071342,0.975638,0.207462],[0.004825,-0.208327,0.978047]] 2025-10-28T17:37:58.903Z,1761673078.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997337,-0.070292,-0.019449],[0.072804,0.975387,0.208136],[0.004340,-0.208997,0.977907]] 2025-10-28T17:37:59.306Z,1761673079.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997212,-0.071964,-0.019729],[0.074491,0.975537,0.206831],[0.004362,-0.207724,0.978178]] 2025-10-28T17:37:59.712Z,1761673079.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997156,-0.072601,-0.020211],[0.075224,0.975119,0.208530],[0.004569,-0.209457,0.977807]] 2025-10-28T17:38:00.118Z,1761673080.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997365,-0.069441,-0.021006],[0.072352,0.973347,0.217623],[0.005334,-0.218570,0.975807]] 2025-10-28T17:38:00.522Z,1761673080.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997868,-0.061439,-0.022001],[0.064902,0.969538,0.236187],[0.006820,-0.237111,0.971459]] 2025-10-28T17:38:00.922Z,1761673080.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998548,-0.049142,-0.022078],[0.053200,0.964054,0.260327],[0.008492,-0.261124,0.965268]] 2025-10-28T17:38:01.327Z,1761673081.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.033386,-0.020969],[0.038007,0.957116,0.287202],[0.010481,-0.287775,0.957641]] 2025-10-28T17:38:02.134Z,1761673082.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999887,0.004654,-0.014301],[0.000429,0.941711,0.336421],[0.015033,-0.336389,0.941603]] 2025-10-28T17:38:02.539Z,1761673082.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999654,0.024789,-0.008834],[-0.020043,0.934706,0.354857],[0.017053,-0.354558,0.934879]] 2025-10-28T17:38:02.946Z,1761673082.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998951,0.045708,-0.002658],[-0.041504,0.928536,0.368916],[0.019330,-0.368419,0.929459]] 2025-10-28T17:38:03.349Z,1761673083.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997792,0.066306,0.003792],[-0.062816,0.923645,0.378065],[0.021565,-0.377469,0.925771]] 2025-10-28T17:38:03.753Z,1761673083.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996177,0.086776,0.010029],[-0.083987,0.919887,0.383085],[0.024017,-0.382463,0.923659]] 2025-10-28T17:38:04.154Z,1761673084.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994166,0.106673,0.015980],[-0.104592,0.917172,0.384520],[0.026362,-0.383948,0.922978]] 2025-10-28T17:38:04.558Z,1761673084.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991883,0.125374,0.021195],[-0.123832,0.914618,0.384889],[0.028870,-0.384390,0.922719]] 2025-10-28T17:38:04.965Z,1761673084.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989399,0.142938,0.025650],[-0.141783,0.912575,0.383542],[0.031415,-0.383113,0.923167]] 2025-10-28T17:38:05.395Z,1761673085.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986949,0.158372,0.029139],[-0.157449,0.911112,0.380900],[0.033775,-0.380517,0.924157]] 2025-10-28T17:38:06.213Z,1761673086.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981726,0.186748,0.036600],[-0.186588,0.906797,0.378028],[0.037407,-0.377949,0.925071]] 2025-10-28T17:38:06.611Z,1761673086.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978928,0.200034,0.041059],[-0.200629,0.904680,0.375901],[0.038048,-0.376218,0.925750]] 2025-10-28T17:38:07.017Z,1761673087.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975973,0.212793,0.046864],[-0.214601,0.901488,0.375853],[0.037731,-0.376879,0.925494]] 2025-10-28T17:38:07.427Z,1761673087.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972685,0.225810,0.053790],[-0.229195,0.897529,0.376712],[0.036787,-0.378750,0.924767]] 2025-10-28T17:38:07.825Z,1761673087.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968868,0.240067,0.060522],[-0.244951,0.893974,0.375246],[0.035979,-0.378389,0.924947]] 2025-10-28T17:38:08.226Z,1761673088.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964561,0.255247,0.066873],[-0.261422,0.890064,0.373424],[0.035794,-0.377672,0.925247]] 2025-10-28T17:38:08.631Z,1761673088.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959838,0.270760,0.073484],[-0.278311,0.885856,0.371217],[0.035414,-0.376760,0.925634]] 2025-10-28T17:38:09.036Z,1761673089.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954719,0.286755,0.079262],[-0.295383,0.881854,0.367536],[0.035495,-0.374307,0.926625]] 2025-10-28T17:38:09.455Z,1761673089.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949583,0.301981,0.084262],[-0.311465,0.877965,0.363549],[0.035806,-0.371464,0.927757]] 2025-10-28T17:38:09.843Z,1761673089.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944236,0.317028,0.088952],[-0.327301,0.874190,0.358699],[0.035957,-0.367811,0.929205]] 2025-10-28T17:38:10.247Z,1761673090.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938992,0.331051,0.093272],[-0.342042,0.870369,0.354210],[0.036081,-0.364504,0.930503]] 2025-10-28T17:38:10.270Z,1761673090.270 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:38:10.270Z,1761673090.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateRudder:A] Stopped 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:38:10.271Z,1761673090.271 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:38:10.272Z,1761673090.272 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateCommandMode] Stopped 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:38:10.288Z,1761673090.288 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:38:10.289Z,1761673090.289 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:38:10.289Z,1761673090.289 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:38:10.289Z,1761673090.289 [marl:UpdateSpeed] Stopped 2025-10-28T17:38:10.289Z,1761673090.289 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:38:10.673Z,1761673090.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933462,0.344952,0.098265],[-0.356822,0.865293,0.352061],[0.036416,-0.363698,0.930805]] 2025-10-28T17:38:10.713Z,1761673090.713 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:38:10.713Z,1761673090.713 [marl:UpdateRudder:B] Stopped 2025-10-28T17:38:10.713Z,1761673090.713 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:38:10.713Z,1761673090.713 [marl:UpdateRudder] Stopped 2025-10-28T17:38:10.714Z,1761673090.714 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:38:11.075Z,1761673091.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927568,0.359098,0.103273],[-0.371859,0.860105,0.349199],[0.036571,-0.362310,0.931340]] 2025-10-28T17:38:11.510Z,1761673091.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921708,0.372237,0.109059],[-0.386226,0.854770,0.346695],[0.035832,-0.361673,0.931616]] 2025-10-28T17:38:12.359Z,1761673092.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909296,0.398007,0.121536],[-0.414838,0.843749,0.340582],[0.033008,-0.360108,0.932327]] 2025-10-28T17:38:12.768Z,1761673092.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902936,0.410231,0.128130],[-0.428650,0.838054,0.337528],[0.031085,-0.359689,0.932554]] 2025-10-28T17:38:13.166Z,1761673093.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896444,0.422136,0.134869],[-0.442222,0.832351,0.334113],[0.028783,-0.359156,0.932834]] 2025-10-28T17:38:13.991Z,1761673093.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883273,0.444697,0.148574],[-0.468222,0.820091,0.328967],[0.024446,-0.360133,0.932581]] 2025-10-28T17:38:14.383Z,1761673094.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876228,0.456154,0.155396],[-0.481381,0.813620,0.326028],[0.022285,-0.360480,0.932501]] 2025-10-28T17:38:14.790Z,1761673094.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868786,0.467953,0.161963],[-0.494775,0.806949,0.322538],[0.020237,-0.360352,0.932597]] 2025-10-28T17:38:15.192Z,1761673095.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860674,0.480195,0.169273],[-0.508835,0.799374,0.319512],[0.018115,-0.361127,0.932341]] 2025-10-28T17:38:15.620Z,1761673095.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852120,0.492800,0.176183],[-0.523092,0.791474,0.316139],[0.016348,-0.361548,0.932210]] 2025-10-28T17:38:16.007Z,1761673096.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842832,0.506036,0.183200],[-0.537977,0.782925,0.312425],[0.014666,-0.361879,0.932110]] 2025-10-28T17:38:16.410Z,1761673096.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832969,0.519392,0.190772],[-0.553173,0.773757,0.308708],[0.012729,-0.362674,0.931829]] 2025-10-28T17:38:16.814Z,1761673096.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822102,0.533886,0.197772],[-0.569236,0.764144,0.303404],[0.010857,-0.362008,0.932112]] 2025-10-28T17:38:17.221Z,1761673097.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810569,0.548695,0.204724],[-0.585577,0.754085,0.297415],[0.008811,-0.360957,0.932541]] 2025-10-28T17:38:17.622Z,1761673097.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798697,0.563469,0.211153],[-0.601695,0.743933,0.290735],[0.006736,-0.359259,0.933214]] 2025-10-28T17:38:18.026Z,1761673098.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785933,0.579119,0.216636],[-0.618294,0.733399,0.282557],[0.004754,-0.356015,0.934468]] 2025-10-28T17:38:18.431Z,1761673098.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772994,0.594493,0.221490],[-0.634406,0.722710,0.274260],[0.002973,-0.352516,0.935801]] 2025-10-28T17:38:18.843Z,1761673098.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748791,0.622174,0.228500],[-0.662806,0.702704,0.258640],[0.000351,-0.345119,0.938559]] 2025-10-28T17:38:19.243Z,1761673099.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738235,0.633395,0.231992],[-0.674544,0.693409,0.253328],[-0.000409,-0.343504,0.939151]] 2025-10-28T17:38:19.647Z,1761673099.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728805,0.643232,0.234725],[-0.684721,0.685128,0.248509],[-0.000968,-0.341836,0.939759]] 2025-10-28T17:38:19.845Z,1761673099.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:38:20.051Z,1761673100.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720160,0.651495,0.238587],[-0.693807,0.676783,0.246164],[-0.001097,-0.342811,0.939404]] 2025-10-28T17:38:20.467Z,1761673100.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711511,0.659344,0.242935],[-0.702674,0.668171,0.244533],[-0.001091,-0.344692,0.938715]] 2025-10-28T17:38:20.848Z,1761673100.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:38:20.858Z,1761673100.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702944,0.666177,0.249154],[-0.711244,0.659126,0.244306],[-0.001472,-0.348943,0.937143]] 2025-10-28T17:38:21.258Z,1761673101.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694647,0.671845,0.257079],[-0.719346,0.650111,0.244740],[-0.002702,-0.354937,0.934886]] 2025-10-28T17:38:21.662Z,1761673101.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686844,0.676962,0.264514],[-0.726788,0.642220,0.243584],[-0.004979,-0.359550,0.933113]] 2025-10-28T17:38:22.074Z,1761673102.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678498,0.682246,0.272361],[-0.734556,0.634267,0.241109],[-0.008254,-0.363656,0.931497]] 2025-10-28T17:38:22.481Z,1761673102.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669341,0.688679,0.278755],[-0.742870,0.626054,0.237064],[-0.011254,-0.365755,0.930643]] 2025-10-28T17:38:22.874Z,1761673102.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658659,0.696531,0.284626],[-0.752312,0.616612,0.231981],[-0.013922,-0.366925,0.930147]] 2025-10-28T17:38:23.279Z,1761673103.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646690,0.706057,0.288575],[-0.762589,0.606331,0.225435],[-0.015802,-0.365851,0.930539]] 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateRudder:A] Stopped 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:38:23.303Z,1761673103.303 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:38:23.304Z,1761673103.304 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:38:23.304Z,1761673103.304 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:38:23.304Z,1761673103.304 [marl:UpdateCommandMode] Stopped 2025-10-28T17:38:23.304Z,1761673103.304 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:38:23.304Z,1761673103.304 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed] Stopped 2025-10-28T17:38:23.305Z,1761673103.305 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:38:23.682Z,1761673103.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633430,0.716445,0.292358],[-0.773611,0.594698,0.218770],[-0.017128,-0.364746,0.930949]] 2025-10-28T17:38:23.753Z,1761673103.753 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:38:23.753Z,1761673103.753 [marl:UpdateRudder:B] Stopped 2025-10-28T17:38:23.753Z,1761673103.753 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:38:23.753Z,1761673103.753 [marl:UpdateRudder] Stopped 2025-10-28T17:38:23.753Z,1761673103.753 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:38:24.087Z,1761673104.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619890,0.726966,0.295393],[-0.784476,0.582895,0.211732],[-0.018261,-0.362979,0.931618]] 2025-10-28T17:38:24.491Z,1761673104.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606057,0.737545,0.297861],[-0.795192,0.570787,0.204626],[-0.019095,-0.360872,0.932420]] 2025-10-28T17:38:24.896Z,1761673104.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591682,0.748241,0.300081],[-0.805926,0.558193,0.197241],[-0.019919,-0.358547,0.933299]] 2025-10-28T17:38:25.299Z,1761673105.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577158,0.758535,0.302511],[-0.816367,0.545368,0.190047],[-0.020823,-0.356647,0.934007]] 2025-10-28T17:38:25.703Z,1761673105.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562184,0.768170,0.306372],[-0.826722,0.531809,0.183599],[-0.021896,-0.356501,0.934038]] 2025-10-28T17:38:26.110Z,1761673106.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546763,0.777866,0.309799],[-0.836975,0.517873,0.176864],[-0.022860,-0.355996,0.934208]] 2025-10-28T17:38:26.915Z,1761673106.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516169,0.795683,0.316952],[-0.856114,0.490233,0.163526],[-0.025266,-0.355754,0.934238]] 2025-10-28T17:38:27.319Z,1761673107.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501900,0.803472,0.320202],[-0.864517,0.477389,0.157191],[-0.026562,-0.355714,0.934217]] 2025-10-28T17:38:27.724Z,1761673107.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487808,0.811264,0.322327],[-0.872523,0.464671,0.150941],[-0.027323,-0.354868,0.934517]] 2025-10-28T17:38:28.133Z,1761673108.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474642,0.818264,0.324281],[-0.879727,0.452837,0.144982],[-0.028212,-0.354093,0.934785]] 2025-10-28T17:38:28.532Z,1761673108.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461828,0.823818,0.328692],[-0.886495,0.440834,0.140684],[-0.029001,-0.356356,0.933900]] 2025-10-28T17:38:28.941Z,1761673108.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449892,0.829668,0.330528],[-0.892591,0.429997,0.135588],[-0.029633,-0.356026,0.934006]] 2025-10-28T17:38:29.339Z,1761673109.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438587,0.834306,0.334027],[-0.898180,0.419439,0.131695],[-0.030230,-0.357776,0.933318]] 2025-10-28T17:38:29.744Z,1761673109.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427210,0.839095,0.336766],[-0.903625,0.408958,0.127336],[-0.030876,-0.358710,0.932938]] 2025-10-28T17:38:30.146Z,1761673110.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416075,0.843136,0.340593],[-0.908770,0.398695,0.123203],[-0.031916,-0.360783,0.932104]] 2025-10-28T17:38:30.551Z,1761673110.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404704,0.846351,0.346273],[-0.913840,0.388122,0.119407],[-0.033336,-0.364762,0.930504]] 2025-10-28T17:38:30.963Z,1761673110.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392238,0.850221,0.351104],[-0.919214,0.376634,0.114861],[-0.034581,-0.367793,0.929265]] 2025-10-28T17:38:31.360Z,1761673111.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379028,0.854823,0.354422],[-0.924688,0.364731,0.109197],[-0.035925,-0.369119,0.928688]] 2025-10-28T17:38:31.774Z,1761673111.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364786,0.860052,0.356709],[-0.930354,0.351931,0.102889],[-0.037047,-0.369399,0.928532]] 2025-10-28T17:38:32.167Z,1761673112.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348996,0.866004,0.358104],[-0.936353,0.337741,0.095778],[-0.038002,-0.368738,0.928756]] 2025-10-28T17:38:32.570Z,1761673112.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332197,0.872919,0.357291],[-0.942412,0.322757,0.087675],[-0.038785,-0.365841,0.929869]] 2025-10-28T17:38:32.977Z,1761673112.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314494,0.880055,0.355805],[-0.948448,0.306814,0.079450],[-0.039246,-0.362448,0.931177]] 2025-10-28T17:38:33.378Z,1761673113.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296573,0.886654,0.354809],[-0.954188,0.290525,0.071564],[-0.039628,-0.359779,0.932196]] 2025-10-28T17:38:33.786Z,1761673113.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279345,0.892685,0.353666],[-0.959355,0.274842,0.064027],[-0.040046,-0.357176,0.933178]] 2025-10-28T17:38:34.188Z,1761673114.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262452,0.898432,0.352049],[-0.964106,0.259362,0.056845],[-0.040237,-0.354331,0.934254]] 2025-10-28T17:38:34.596Z,1761673114.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246361,0.902876,0.352309],[-0.968334,0.244479,0.050596],[-0.040450,-0.353617,0.934515]] 2025-10-28T17:38:34.995Z,1761673114.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231320,0.906402,0.353449],[-0.972013,0.230636,0.044693],[-0.041009,-0.353895,0.934386]] 2025-10-28T17:38:35.435Z,1761673115.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216763,0.909379,0.355027],[-0.975334,0.217261,0.038996],[-0.041671,-0.354722,0.934043]] 2025-10-28T17:38:35.803Z,1761673115.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202165,0.911514,0.358149],[-0.978434,0.203814,0.033577],[-0.042390,-0.357213,0.933060]] 2025-10-28T17:38:36.212Z,1761673116.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187998,0.913436,0.360958],[-0.981211,0.190899,0.027959],[-0.043367,-0.359432,0.932163]] 2025-10-28T17:38:36.236Z,1761673116.236 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateRudder:A] Stopped 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:38:36.237Z,1761673116.237 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateCommandMode] Stopped 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:38:36.238Z,1761673116.238 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:38:36.239Z,1761673116.239 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:38:36.239Z,1761673116.239 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:38:36.239Z,1761673116.239 [marl:UpdateSpeed] Stopped 2025-10-28T17:38:36.239Z,1761673116.239 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:38:36.611Z,1761673116.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173474,0.914609,0.365236],[-0.983841,0.177628,0.022482],[-0.044314,-0.363234,0.930643]] 2025-10-28T17:38:36.643Z,1761673116.643 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:38:36.643Z,1761673116.643 [marl:UpdateRudder:B] Stopped 2025-10-28T17:38:36.643Z,1761673116.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:38:36.643Z,1761673116.643 [marl:UpdateRudder] Stopped 2025-10-28T17:38:36.643Z,1761673116.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:38:37.016Z,1761673117.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158670,0.916213,0.367936],[-0.986302,0.164102,0.016698],[-0.045080,-0.365546,0.929701]] 2025-10-28T17:38:37.422Z,1761673117.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143339,0.917926,0.369953],[-0.988623,0.150023,0.010808],[-0.045580,-0.367294,0.928987]] 2025-10-28T17:38:37.824Z,1761673117.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129094,0.919470,0.371362],[-0.990533,0.137196,0.004645],[-0.046679,-0.368446,0.928476]] 2025-10-28T17:38:38.226Z,1761673118.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117385,0.921872,0.369288],[-0.991902,0.126997,-0.001734],[-0.048496,-0.366093,0.929314]] 2025-10-28T17:38:38.630Z,1761673118.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110082,0.926670,0.359394],[-0.992587,0.121234,-0.008563],[-0.051506,-0.355787,0.933147]] 2025-10-28T17:38:39.037Z,1761673119.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107084,0.933577,0.342004],[-0.992701,0.119586,-0.015615],[-0.055477,-0.337836,0.939569]] 2025-10-28T17:38:39.447Z,1761673119.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107391,0.940586,0.322127],[-0.992390,0.121043,-0.022591],[-0.060240,-0.317249,0.946427]] 2025-10-28T17:38:39.842Z,1761673119.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109697,0.946583,0.303229],[-0.991811,0.124314,-0.029268],[-0.065400,-0.297535,0.952468]] 2025-10-28T17:38:40.247Z,1761673120.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113292,0.951636,0.285575],[-0.991025,0.128760,-0.035918],[-0.070951,-0.278943,0.957683]] 2025-10-28T17:38:40.650Z,1761673120.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116932,0.955848,0.269595],[-0.990192,0.133109,-0.042458],[-0.076468,-0.261986,0.962037]] 2025-10-28T17:38:41.056Z,1761673121.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119925,0.959476,0.254999],[-0.989410,0.136663,-0.048900],[-0.081767,-0.246434,0.965704]] 2025-10-28T17:38:41.459Z,1761673121.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121954,0.962023,0.244212],[-0.988735,0.139264,-0.054847],[-0.086774,-0.234772,0.968170]] 2025-10-28T17:38:41.863Z,1761673121.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122940,0.964288,0.234596],[-0.988174,0.140773,-0.060782],[-0.091636,-0.224349,0.970191]] 2025-10-28T17:38:42.267Z,1761673122.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122151,0.966471,0.225859],[-0.987851,0.140415,-0.066591],[-0.096072,-0.214981,0.971881]] 2025-10-28T17:38:42.671Z,1761673122.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119722,0.968394,0.218814],[-0.987729,0.138445,-0.072283],[-0.100292,-0.207476,0.973086]] 2025-10-28T17:38:43.074Z,1761673123.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115845,0.969714,0.215024],[-0.987775,0.135206,-0.077584],[-0.104307,-0.203408,0.973522]] 2025-10-28T17:38:43.479Z,1761673123.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110515,0.971202,0.211076],[-0.987968,0.130472,-0.083047],[-0.108195,-0.199359,0.973935]] 2025-10-28T17:38:43.883Z,1761673123.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103963,0.972042,0.210539],[-0.988253,0.124801,-0.088203],[-0.112012,-0.198896,0.973598]] 2025-10-28T17:38:44.286Z,1761673124.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096564,0.972997,0.209648],[-0.988575,0.118250,-0.093468],[-0.115735,-0.198227,0.973299]] 2025-10-28T17:38:44.690Z,1761673124.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088599,0.973688,0.209959],[-0.988914,0.111204,-0.098404],[-0.119163,-0.198912,0.972746]] 2025-10-28T17:38:45.097Z,1761673125.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080567,0.974380,0.209981],[-0.989221,0.104007,-0.103076],[-0.122275,-0.199413,0.972257]] 2025-10-28T17:38:45.500Z,1761673125.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074027,0.974728,0.210773],[-0.989352,0.098339,-0.107295],[-0.125311,-0.200586,0.971629]] 2025-10-28T17:38:45.905Z,1761673125.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069350,0.974485,0.213470],[-0.989377,0.094591,-0.110384],[-0.127760,-0.203547,0.970694]] 2025-10-28T17:38:46.308Z,1761673126.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066885,0.973874,0.217016],[-0.989215,0.093129,-0.113047],[-0.130304,-0.207114,0.969600]] 2025-10-28T17:38:46.712Z,1761673126.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066472,0.972830,0.221771],[-0.988896,0.093839,-0.115231],[-0.132911,-0.211649,0.968266]] 2025-10-28T17:38:47.115Z,1761673127.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067630,0.971351,0.227825],[-0.988518,0.096162,-0.116554],[-0.135122,-0.217327,0.966701]] 2025-10-28T17:38:47.519Z,1761673127.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069910,0.969973,0.232949],[-0.988073,0.099449,-0.117564],[-0.137200,-0.221952,0.965357]] 2025-10-28T17:38:47.933Z,1761673127.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073193,0.968402,0.238414],[-0.987545,0.103758,-0.118276],[-0.139276,-0.226787,0.963934]] 2025-10-28T17:38:48.326Z,1761673128.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077004,0.966582,0.244518],[-0.986955,0.108675,-0.118783],[-0.141387,-0.232181,0.962342]] 2025-10-28T17:38:48.730Z,1761673128.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081325,0.964705,0.250461],[-0.986286,0.114105,-0.119251],[-0.143620,-0.237328,0.960754]] 2025-10-28T17:38:49.135Z,1761673129.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086269,0.963133,0.254818],[-0.985501,0.120006,-0.119941],[-0.146099,-0.240776,0.959522]] 2025-10-28T17:38:49.160Z,1761673129.160 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:38:49.160Z,1761673129.160 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:38:49.160Z,1761673129.160 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateRudder:A] Stopped 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:38:49.161Z,1761673129.161 [marl:UpdateCommandMode] Stopped 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed] Stopped 2025-10-28T17:38:49.162Z,1761673129.162 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:38:49.558Z,1761673129.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091565,0.961474,0.259198],[-0.984596,0.126349,-0.120862],[-0.148955,-0.244139,0.958232]] 2025-10-28T17:38:49.646Z,1761673129.646 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:38:49.646Z,1761673129.646 [marl:UpdateRudder:B] Stopped 2025-10-28T17:38:49.646Z,1761673129.646 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:38:49.646Z,1761673129.646 [marl:UpdateRudder] Stopped 2025-10-28T17:38:49.646Z,1761673129.646 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:38:49.943Z,1761673129.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095886,0.960565,0.260998],[-0.983752,0.131432,-0.122303],[-0.151783,-0.245030,0.957560]] 2025-10-28T17:38:50.347Z,1761673130.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097324,0.960175,0.261902],[-0.983383,0.133294,-0.123250],[-0.153251,-0.245555,0.957192]] 2025-10-28T17:38:50.757Z,1761673130.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096688,0.960508,0.260912],[-0.983196,0.132953,-0.125098],[-0.154847,-0.244432,0.957223]] 2025-10-28T17:38:50.968Z,1761673130.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:38:51.155Z,1761673131.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094170,0.961293,0.258936],[-0.983268,0.130545,-0.127049],[-0.155934,-0.242640,0.957502]] 2025-10-28T17:38:51.600Z,1761673131.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090456,0.962543,0.255595],[-0.983586,0.126580,-0.128592],[-0.156128,-0.239768,0.958194]] 2025-10-28T17:38:51.965Z,1761673131.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085850,0.963801,0.252424],[-0.984160,0.121480,-0.129117],[-0.155108,-0.237341,0.958963]] 2025-10-28T17:38:51.972Z,1761673131.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:38:52.369Z,1761673132.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080583,0.965526,0.247518],[-0.984966,0.115205,-0.128726],[-0.152804,-0.233424,0.960294]] 2025-10-28T17:38:52.407Z,1761673132.407 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:38:52.633Z,1761673132.633 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:38:52.633Z,1761673132.633 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:38:52.775Z,1761673132.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075237,0.966955,0.243591],[-0.985896,0.108756,-0.127205],[-0.149494,-0.230585,0.961500]] 2025-10-28T17:38:52.885Z,1761673132.885 [DAT](INFO): DAT read: user:75> 2025-10-28T17:38:52.885Z,1761673132.885 [DAT](INFO): DAT read: Tx time:17:38:52.6552 2025-10-28T17:38:52.886Z,1761673132.886 [DAT](INFO): Ping request sent. 2025-10-28T17:38:52.886Z,1761673132.886 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:38:52.886Z,1761673132.886 [DAT](INFO): publishing transmit ping time 2025-10-28T17:38:52.887Z,1761673132.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T17:38:53.137Z,1761673133.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952 2025-10-28T17:38:53.174Z,1761673133.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071098,0.968297,0.239468],[-0.986759,0.103364,-0.124987],[-0.145777,-0.227411,0.962826]] 2025-10-28T17:38:53.390Z,1761673133.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504105 2025-10-28T17:38:53.617Z,1761673133.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068778,0.969508,0.235210],[-0.987463,0.099735,-0.122352],[-0.142080,-0.223846,0.964213]] 2025-10-28T17:38:53.641Z,1761673133.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755125 2025-10-28T17:38:53.894Z,1761673133.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007956 2025-10-28T17:38:53.983Z,1761673133.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067909,0.969992,0.233461],[-0.988030,0.097870,-0.119236],[-0.138507,-0.222570,0.965028]] 2025-10-28T17:38:54.145Z,1761673134.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933 2025-10-28T17:38:54.386Z,1761673134.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068132,0.970187,0.232583],[-0.988463,0.097252,-0.116117],[-0.135274,-0.221988,0.965620]] 2025-10-28T17:38:54.397Z,1761673134.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511355 2025-10-28T17:38:54.441Z,1761673134.441 [marl:NeedComms] Running Loop=1 2025-10-28T17:38:54.441Z,1761673134.441 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T17:38:54.441Z,1761673134.441 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T17:38:54.441Z,1761673134.441 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T17:38:54.441Z,1761673134.441 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T17:38:54.442Z,1761673134.442 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T17:38:54.442Z,1761673134.442 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T17:38:54.442Z,1761673134.442 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T17:38:54.443Z,1761673134.443 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T17:38:54.443Z,1761673134.443 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T17:38:54.443Z,1761673134.443 [marl:NeedComms:A] Running Loop=1 2025-10-28T17:38:54.445Z,1761673134.445 [marl:NeedComms:A](INFO): last time_fix was: 1761671933.000000 second since 1970/01/01T00:00:00Z 2025-10-28T17:38:54.445Z,1761673134.445 [marl:NeedComms:A] Stopped 2025-10-28T17:38:54.649Z,1761673134.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940 2025-10-28T17:38:54.793Z,1761673134.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069233,0.970045,0.232853],[-0.988826,0.097619,-0.112668],[-0.132024,-0.222450,0.965964]] 2025-10-28T17:38:54.903Z,1761673134.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017435 2025-10-28T17:38:55.153Z,1761673135.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267037 2025-10-28T17:38:55.194Z,1761673135.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071819,0.969986,0.232311],[-0.989031,0.099397,-0.109261],[-0.129072,-0.221915,0.966485]] 2025-10-28T17:38:55.406Z,1761673135.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519801 2025-10-28T17:38:55.614Z,1761673135.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075315,0.969461,0.233396],[-0.989139,0.102261,-0.105577],[-0.126220,-0.222910,0.966633]] 2025-10-28T17:38:55.658Z,1761673135.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771704 2025-10-28T17:38:55.910Z,1761673135.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023353 2025-10-28T17:38:56.161Z,1761673136.161 [DAT](INFO): DAT read: Rx Time:17:38:55.5219 2025-10-28T17:38:56.161Z,1761673136.161 [DAT](INFO): Rx dataTimestamp_ set to:1761673136.161123 2025-10-28T17:38:56.162Z,1761673136.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276033 2025-10-28T17:38:56.414Z,1761673136.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528258 2025-10-28T17:38:56.420Z,1761673136.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080828,0.968816,0.234229],[-0.989409,0.106413,-0.098718],[-0.120565,-0.223769,0.967156]] 2025-10-28T17:38:56.668Z,1761673136.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781407 2025-10-28T17:38:56.810Z,1761673136.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081859,0.968099,0.236821],[-0.989248,0.107818,-0.098809],[-0.121190,-0.226186,0.966516]] 2025-10-28T17:38:56.923Z,1761673136.923 [DAT](INFO): DAT read: 17:38:55.5219 LVL= 27376, 22689, 32178, 31603, AGC= 65, IDX= 125,-0.42,-2.358,-1.271, 3.120,-1.918, PHS=-0.338, 0.691,-1.289, RAW= 358.7, 10.9, CAL= 358.9, 12.5, ROT= 151.1, -12.5 2025-10-28T17:38:56.925Z,1761673136.925 [DAT](INFO): got valid direction response: 17:38:55.5219 LVL= 27376, 22689, 32178, 31603, AGC= 65, IDX= 125,-0.42,-2.358,-1.271, 3.120,-1.918, PHS=-0.338, 0.691,-1.289, RAW= 358.7, 10.9, CAL= 358.9, 12.5, ROT= 151.1, -12.5 2025-10-28T17:38:56.926Z,1761673136.926 [DAT](INFO): DAT read: Bearing 225.2, 30.9 (Local) 2025-10-28T17:38:56.926Z,1761673136.926 [DAT](INFO): Local bearing/azimuth received: Bearing 225.2, 30.9 (Local) 2025-10-28T17:38:56.927Z,1761673136.927 [DAT](INFO): DAT read: Range 11 to 20 : 346.8 m (Round-trip 462.5 ms) speed -1.1 m/s 2025-10-28T17:38:56.928Z,1761673136.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:38:56.929Z,1761673136.929 [DAT](INFO): direction in FSK: [-0.854713,0.471827,0.216440] 2025-10-28T17:38:56.929Z,1761673136.929 [DAT](INFO): publishing direction and range info 2025-10-28T17:38:57.215Z,1761673137.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080759,0.967928,0.237895],[-0.988771,0.107907,-0.103384],[-0.125738,-0.226874,0.965773]] 2025-10-28T17:38:57.261Z,1761673137.261 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673088.00. Resetting abort timer. 2025-10-28T17:38:57.623Z,1761673137.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079347,0.967651,0.239490],[-0.987862,0.108512,-0.111145],[-0.133537,-0.227764,0.964516]] 2025-10-28T17:38:58.022Z,1761673138.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076990,0.967784,0.239722],[-0.986634,0.108585,-0.121499],[-0.143615,-0.227164,0.963209]] 2025-10-28T17:38:58.429Z,1761673138.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074987,0.967835,0.240152],[-0.985053,0.109346,-0.133096],[-0.155075,-0.226582,0.961568]] 2025-10-28T17:38:58.830Z,1761673138.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072109,0.968239,0.239401],[-0.983269,0.109266,-0.145753],[-0.167282,-0.224886,0.959918]] 2025-10-28T17:38:59.236Z,1761673139.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068546,0.968917,0.237701],[-0.981288,0.108452,-0.159097],[-0.179931,-0.222348,0.958220]] 2025-10-28T17:38:59.647Z,1761673139.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064612,0.970016,0.234295],[-0.979088,0.107008,-0.173022],[-0.192905,-0.218216,0.956645]] 2025-10-28T17:39:00.042Z,1761673140.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060640,0.971419,0.229495],[-0.976622,0.105247,-0.187438],[-0.206235,-0.212764,0.955091]] 2025-10-28T17:39:00.451Z,1761673140.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056433,0.972936,0.224078],[-0.973947,0.103020,-0.202026],[-0.219643,-0.206839,0.953402]] 2025-10-28T17:39:00.853Z,1761673140.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052695,0.974023,0.220233],[-0.970980,0.101495,-0.216558],[-0.233285,-0.202430,0.951105]] 2025-10-28T17:39:01.255Z,1761673141.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049167,0.975031,0.216555],[-0.967753,0.100137,-0.231141],[-0.247055,-0.198208,0.948513]] 2025-10-28T17:39:01.662Z,1761673141.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045796,0.975595,0.214747],[-0.964278,0.099319,-0.245567],[-0.260903,-0.195830,0.945294]] 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateRudder:A] Stopped 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:39:02.523Z,1761673142.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:39:02.524Z,1761673142.524 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:39:02.528Z,1761673142.528 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:39:02.528Z,1761673142.528 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:39:02.528Z,1761673142.528 [marl:UpdateCommandMode] Stopped 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed] Stopped 2025-10-28T17:39:02.529Z,1761673142.529 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:39:02.880Z,1761673142.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035893,0.976337,0.213253],[-0.952346,0.098095,-0.288817],[-0.302902,-0.192724,0.933332]] 2025-10-28T17:39:02.917Z,1761673142.917 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:39:02.917Z,1761673142.917 [marl:UpdateRudder:B] Stopped 2025-10-28T17:39:02.917Z,1761673142.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:39:02.917Z,1761673142.917 [marl:UpdateRudder] Stopped 2025-10-28T17:39:02.917Z,1761673142.917 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:39:03.275Z,1761673143.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030536,0.976086,0.215229],[-0.948246,0.096380,-0.302557],[-0.316066,-0.194851,0.928513]] 2025-10-28T17:39:03.678Z,1761673143.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024785,0.975503,0.218586],[-0.943894,0.094864,-0.316329],[-0.329316,-0.198482,0.923123]] 2025-10-28T17:39:04.088Z,1761673144.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019738,0.975311,0.219952],[-0.939017,0.093623,-0.330882],[-0.343305,-0.200007,0.917681]] 2025-10-28T17:39:04.917Z,1761673144.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010966,0.974415,0.224487],[-0.923147,0.096145,-0.372232],[-0.384292,-0.203153,0.900582]] 2025-10-28T17:39:05.310Z,1761673145.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012010,0.975302,0.220547],[-0.918146,0.098119,-0.383902],[-0.396060,-0.197884,0.896648]] 2025-10-28T17:39:05.710Z,1761673145.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014944,0.975919,0.217622],[-0.913839,0.101662,-0.393145],[-0.405802,-0.192996,0.893352]] 2025-10-28T17:39:06.115Z,1761673146.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020298,0.976080,0.216461],[-0.910456,0.107505,-0.399390],[-0.413107,-0.188972,0.890860]] 2025-10-28T17:39:06.520Z,1761673146.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026718,0.976682,0.213021],[-0.907944,0.112867,-0.403608],[-0.418239,-0.182628,0.889788]] 2025-10-28T17:39:06.923Z,1761673146.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032912,0.977306,0.209262],[-0.906033,0.117563,-0.406551],[-0.421926,-0.176218,0.889340]] 2025-10-28T17:39:07.327Z,1761673147.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036940,0.978051,0.205065],[-0.904683,0.119895,-0.408869],[-0.424481,-0.170416,0.889255]] 2025-10-28T17:39:07.733Z,1761673147.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039411,0.978776,0.201107],[-0.903685,0.120795,-0.410806],[-0.426380,-0.165547,0.889266]] 2025-10-28T17:39:08.135Z,1761673148.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039351,0.979470,0.197710],[-0.903100,0.119539,-0.412458],[-0.427624,-0.162321,0.889263]] 2025-10-28T17:39:08.538Z,1761673148.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037830,0.980145,0.194642],[-0.902519,0.117130,-0.414415],[-0.428985,-0.159991,0.889030]] 2025-10-28T17:39:08.942Z,1761673148.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035270,0.980939,0.191087],[-0.901863,0.113622,-0.416813],[-0.430580,-0.157633,0.888680]] 2025-10-28T17:39:09.347Z,1761673149.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031920,0.981604,0.188243],[-0.901136,0.109735,-0.419418],[-0.432359,-0.156245,0.888061]] 2025-10-28T17:39:09.756Z,1761673149.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028584,0.981896,0.187250],[-0.900222,0.106712,-0.422153],[-0.434492,-0.156500,0.886975]] 2025-10-28T17:39:10.154Z,1761673150.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026068,0.982047,0.186825],[-0.899145,0.104708,-0.424941],[-0.436874,-0.156905,0.885732]] 2025-10-28T17:39:10.559Z,1761673150.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025408,0.981694,0.188761],[-0.897905,0.105417,-0.427379],[-0.439454,-0.158631,0.884147]] 2025-10-28T17:39:10.970Z,1761673150.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027362,0.980845,0.192861],[-0.897011,0.109238,-0.428298],[-0.441161,-0.161279,0.882817]] 2025-10-28T17:39:11.375Z,1761673151.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031108,0.979624,0.198419],[-0.896819,0.115003,-0.427187],[-0.441302,-0.164657,0.882123]] 2025-10-28T17:39:11.776Z,1761673151.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036188,0.978363,0.203706],[-0.897431,0.121496,-0.424095],[-0.439668,-0.167465,0.882410]] 2025-10-28T17:39:12.175Z,1761673152.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042484,0.976896,0.209448],[-0.898405,0.129071,-0.419773],[-0.437109,-0.170336,0.883132]] 2025-10-28T17:39:12.579Z,1761673152.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049577,0.975113,0.216096],[-0.899485,0.137637,-0.414709],[-0.434130,-0.173815,0.883923]] 2025-10-28T17:39:12.991Z,1761673152.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056620,0.973785,0.220313],[-0.900525,0.145094,-0.409882],[-0.431103,-0.175190,0.885132]] 2025-10-28T17:39:13.394Z,1761673153.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060859,0.972546,0.224614],[-0.902110,0.149903,-0.404631],[-0.427192,-0.178001,0.886466]] 2025-10-28T17:39:13.793Z,1761673153.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061104,0.972443,0.224993],[-0.904276,0.149361,-0.399970],[-0.422553,-0.179016,0.888483]] 2025-10-28T17:39:14.194Z,1761673154.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059237,0.972455,0.225438],[-0.906607,0.146928,-0.395571],[-0.417799,-0.180951,0.890338]] 2025-10-28T17:39:14.600Z,1761673154.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055961,0.972236,0.227213],[-0.908975,0.143762,-0.391276],[-0.413078,-0.184635,0.891783]] 2025-10-28T17:39:15.002Z,1761673155.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052630,0.972079,0.228677],[-0.911245,0.140421,-0.387189],[-0.408489,-0.188003,0.893192]] 2025-10-28T17:39:15.407Z,1761673155.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050145,0.971364,0.232243],[-0.913483,0.138618,-0.382535],[-0.403774,-0.192968,0.894276]] 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateRudder:A] Stopped 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:39:15.471Z,1761673155.471 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:39:15.472Z,1761673155.472 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:39:15.480Z,1761673155.480 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:39:15.480Z,1761673155.480 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateCommandMode] Stopped 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:39:15.481Z,1761673155.481 [marl:UpdateSpeed] Stopped 2025-10-28T17:39:15.482Z,1761673155.482 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:39:15.812Z,1761673155.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049110,0.970043,0.237916],[-0.915770,0.138816,-0.376954],[-0.398689,-0.199364,0.895154]] 2025-10-28T17:39:15.855Z,1761673155.855 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:39:15.855Z,1761673155.855 [marl:UpdateRudder:B] Stopped 2025-10-28T17:39:15.855Z,1761673155.855 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:39:15.855Z,1761673155.855 [marl:UpdateRudder] Stopped 2025-10-28T17:39:15.855Z,1761673155.855 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:39:16.214Z,1761673156.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049449,0.968179,0.245326],[-0.918125,0.140761,-0.370450],[-0.393194,-0.206921,0.895870]] 2025-10-28T17:39:16.619Z,1761673156.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050089,0.965748,0.254601],[-0.920727,0.143424,-0.362893],[-0.386979,-0.216241,0.896374]] 2025-10-28T17:39:17.022Z,1761673157.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051556,0.963567,0.262450],[-0.923252,0.146174,-0.355303],[-0.380721,-0.223989,0.897151]] 2025-10-28T17:39:17.428Z,1761673157.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053077,0.962077,0.267566],[-0.925679,0.147907,-0.348198],[-0.374568,-0.229199,0.898425]] 2025-10-28T17:39:17.831Z,1761673157.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053417,0.961746,0.268684],[-0.927916,0.147219,-0.342489],[-0.368943,-0.231022,0.900283]] 2025-10-28T17:39:18.234Z,1761673158.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053382,0.962700,0.265253],[-0.930014,0.144659,-0.337858],[-0.363627,-0.228654,0.903046]] 2025-10-28T17:39:18.638Z,1761673158.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054442,0.963845,0.260843],[-0.931950,0.142832,-0.333268],[-0.358475,-0.224949,0.906032]] 2025-10-28T17:39:19.051Z,1761673159.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057312,0.965520,0.253942],[-0.933804,0.141822,-0.328476],[-0.353164,-0.218307,0.909735]] 2025-10-28T17:39:19.448Z,1761673159.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061152,0.966958,0.247491],[-0.935908,0.141725,-0.322475],[-0.346895,-0.211909,0.913651]] 2025-10-28T17:39:19.850Z,1761673159.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066416,0.967306,0.244761],[-0.938180,0.144058,-0.314747],[-0.339716,-0.208726,0.917075]] 2025-10-28T17:39:20.254Z,1761673160.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072243,0.967561,0.242087],[-0.940517,0.146876,-0.306358],[-0.331977,-0.205555,0.920618]] 2025-10-28T17:39:20.659Z,1761673160.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077204,0.967361,0.241355],[-0.942879,0.149524,-0.297694],[-0.324066,-0.204586,0.923648]] 2025-10-28T17:39:21.071Z,1761673161.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079762,0.966951,0.242167],[-0.945294,0.150466,-0.289447],[-0.316319,-0.205832,0.926054]] 2025-10-28T17:39:21.467Z,1761673161.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079990,0.966669,0.243211],[-0.947571,0.149469,-0.282434],[-0.309373,-0.207868,0.927944]] 2025-10-28T17:39:21.895Z,1761673161.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078666,0.966632,0.243792],[-0.949569,0.147115,-0.276905],[-0.303531,-0.209714,0.929456]] 2025-10-28T17:39:22.097Z,1761673162.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:39:22.294Z,1761673162.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076415,0.966544,0.244853],[-0.951445,0.144125,-0.271994],[-0.298184,-0.212180,0.930627]] 2025-10-28T17:39:22.700Z,1761673162.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074635,0.966447,0.245784],[-0.953084,0.141639,-0.267524],[-0.293360,-0.214287,0.931677]] 2025-10-28T17:39:23.100Z,1761673163.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:39:23.104Z,1761673163.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073340,0.966007,0.247894],[-0.954620,0.139941,-0.262901],[-0.288655,-0.217364,0.932433]] 2025-10-28T17:39:23.507Z,1761673163.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072357,0.965896,0.248615],[-0.956005,0.138217,-0.258749],[-0.284288,-0.218955,0.933402]] 2025-10-28T17:39:23.911Z,1761673163.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071099,0.966248,0.247608],[-0.957201,0.135914,-0.255528],[-0.280556,-0.218843,0.934557]] 2025-10-28T17:39:24.316Z,1761673164.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069338,0.967012,0.245113],[-0.958137,0.132972,-0.253558],[-0.277787,-0.217271,0.935750]] 2025-10-28T17:39:24.719Z,1761673164.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067192,0.968201,0.240983],[-0.958611,0.129623,-0.253502],[-0.276678,-0.213976,0.936837]] 2025-10-28T17:39:25.123Z,1761673165.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064225,0.970117,0.233984],[-0.958724,0.125061,-0.255358],[-0.276989,-0.207926,0.938106]] 2025-10-28T17:39:25.530Z,1761673165.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060214,0.972401,0.225413],[-0.958771,0.119173,-0.257983],[-0.277726,-0.200585,0.939486]] 2025-10-28T17:39:25.933Z,1761673165.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054984,0.974695,0.216670],[-0.959073,0.111921,-0.260100],[-0.277768,-0.193502,0.940958]] 2025-10-28T17:39:26.334Z,1761673166.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049611,0.976388,0.210250],[-0.959784,0.104846,-0.260427],[-0.276321,-0.188875,0.942323]] 2025-10-28T17:39:26.738Z,1761673166.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046789,0.976675,0.209563],[-0.960739,0.101436,-0.258247],[-0.273480,-0.189252,0.943076]] 2025-10-28T17:39:27.587Z,1761673167.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048564,0.973422,0.223810],[-0.963565,0.104666,-0.246146],[-0.263030,-0.203702,0.943038]] 2025-10-28T17:39:27.951Z,1761673167.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051277,0.971250,0.232473],[-0.964883,0.108229,-0.239346],[-0.257626,-0.212037,0.942693]] 2025-10-28T17:39:28.366Z,1761673168.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055047,0.968663,0.242202],[-0.965517,0.113457,-0.234318],[-0.254454,-0.220952,0.941506]] 2025-10-28T17:39:28.401Z,1761673168.401 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:39:28.401Z,1761673168.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:39:28.401Z,1761673168.401 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:39:28.401Z,1761673168.401 [marl:UpdateRudder:A] Stopped 2025-10-28T17:39:28.401Z,1761673168.401 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode] Stopped 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:39:28.402Z,1761673168.402 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed] Stopped 2025-10-28T17:39:28.403Z,1761673168.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:39:28.767Z,1761673168.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059969,0.966382,0.250019],[-0.965215,0.119995,-0.232296],[-0.254488,-0.227392,0.939962]] 2025-10-28T17:39:28.821Z,1761673168.821 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:39:28.821Z,1761673168.821 [marl:UpdateRudder:B] Stopped 2025-10-28T17:39:28.821Z,1761673168.821 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:39:28.821Z,1761673168.821 [marl:UpdateRudder] Stopped 2025-10-28T17:39:28.821Z,1761673168.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:39:29.164Z,1761673169.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066405,0.964819,0.254391],[-0.963860,0.127950,-0.233671],[-0.257999,-0.229681,0.938447]] 2025-10-28T17:39:29.609Z,1761673169.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074520,0.963556,0.256917],[-0.961456,0.137800,-0.237938],[-0.264670,-0.229283,0.936685]] 2025-10-28T17:39:29.971Z,1761673169.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083011,0.962673,0.257625],[-0.958298,0.148048,-0.244432],[-0.273449,-0.226591,0.934817]] 2025-10-28T17:39:30.379Z,1761673170.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085572,0.964470,0.249949],[-0.956156,0.150017,-0.251518],[-0.280078,-0.217467,0.935021]] 2025-10-28T17:39:30.789Z,1761673170.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082953,0.967898,0.237259],[-0.955244,0.145064,-0.257808],[-0.283949,-0.205255,0.936613]] 2025-10-28T17:39:31.183Z,1761673171.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079041,0.971234,0.224627],[-0.954575,0.138681,-0.263732],[-0.287297,-0.193578,0.938077]] 2025-10-28T17:39:31.620Z,1761673171.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073984,0.973712,0.215431],[-0.953898,0.132103,-0.269496],[-0.290871,-0.185561,0.938595]] 2025-10-28T17:39:31.990Z,1761673171.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068296,0.975319,0.209973],[-0.953083,0.125995,-0.275241],[-0.294904,-0.181323,0.938165]] 2025-10-28T17:39:32.397Z,1761673172.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064194,0.974532,0.214865],[-0.951827,0.124484,-0.280232],[-0.299842,-0.186525,0.935576]] 2025-10-28T17:39:32.801Z,1761673172.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061641,0.972926,0.222744],[-0.950503,0.125315,-0.284326],[-0.304541,-0.194192,0.932493]] 2025-10-28T17:39:33.202Z,1761673173.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060925,0.971542,0.228898],[-0.949311,0.127250,-0.287431],[-0.308379,-0.199784,0.930048]] 2025-10-28T17:39:33.620Z,1761673173.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062891,0.970401,0.233167],[-0.948198,0.130993,-0.289415],[-0.311391,-0.202887,0.928371]] 2025-10-28T17:39:34.012Z,1761673174.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067038,0.969274,0.236673],[-0.947113,0.136427,-0.290455],[-0.313819,-0.204684,0.927158]] 2025-10-28T17:39:34.415Z,1761673174.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071959,0.968008,0.240380],[-0.945669,0.142829,-0.292080],[-0.317069,-0.206302,0.925693]] 2025-10-28T17:39:34.819Z,1761673174.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074114,0.967390,0.242208],[-0.943973,0.146377,-0.295786],[-0.321593,-0.206716,0.924038]] 2025-10-28T17:39:35.232Z,1761673175.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071483,0.969175,0.235777],[-0.942022,0.143294,-0.303417],[-0.327850,-0.200418,0.923226]] 2025-10-28T17:39:35.628Z,1761673175.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067067,0.971373,0.227896],[-0.939389,0.138447,-0.313658],[-0.336231,-0.193047,0.921782]] 2025-10-28T17:39:36.030Z,1761673176.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061520,0.973036,0.222297],[-0.936571,0.133270,-0.324152],[-0.345037,-0.188254,0.919516]] 2025-10-28T17:39:36.435Z,1761673176.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054518,0.974026,0.219774],[-0.934005,0.127573,-0.333705],[-0.353074,-0.187077,0.916701]] 2025-10-28T17:39:36.873Z,1761673176.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046184,0.974810,0.218204],[-0.932133,0.120592,-0.341447],[-0.359159,-0.187626,0.914221]] 2025-10-28T17:39:37.268Z,1761673177.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037623,0.975282,0.217737],[-0.931373,0.113181,-0.346028],[-0.362118,-0.189776,0.912609]] 2025-10-28T17:39:37.689Z,1761673177.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034565,0.975043,0.219307],[-0.931152,0.111121,-0.347287],[-0.362989,-0.192204,0.911754]] 2025-10-28T17:39:38.090Z,1761673178.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036816,0.973062,0.227587],[-0.930655,0.116349,-0.346906],[-0.364040,-0.199033,0.909868]] 2025-10-28T17:39:38.496Z,1761673178.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042454,0.969504,0.241370],[-0.928505,0.127484,-0.348749],[-0.368884,-0.209308,0.905602]] 2025-10-28T17:39:39.303Z,1761673179.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052084,0.962678,0.265591],[-0.921187,0.149009,-0.359459],[-0.385618,-0.225937,0.894567]] 2025-10-28T17:39:39.707Z,1761673179.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052318,0.961407,0.270109],[-0.919337,0.151995,-0.362930],[-0.389978,-0.229333,0.891809]] 2025-10-28T17:39:40.111Z,1761673180.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051850,0.962187,0.267411],[-0.916990,0.151924,-0.368847],[-0.395526,-0.226088,0.890193]] 2025-10-28T17:39:40.518Z,1761673180.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048322,0.963589,0.262984],[-0.912033,0.149920,-0.381733],[-0.407260,-0.221404,0.886070]] 2025-10-28T17:39:41.325Z,1761673181.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032160,0.967791,0.249693],[-0.906828,0.133302,-0.399867],[-0.420272,-0.213569,0.881907]] 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateRudder:A] Stopped 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:39:41.374Z,1761673181.374 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode] Stopped 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:39:41.375Z,1761673181.375 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:39:41.376Z,1761673181.376 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:39:41.376Z,1761673181.376 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:39:41.376Z,1761673181.376 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:39:41.376Z,1761673181.376 [marl:UpdateSpeed] Stopped 2025-10-28T17:39:41.376Z,1761673181.376 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:39:41.733Z,1761673181.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048487,0.970485,0.236236],[-0.926064,0.132296,-0.353416],[-0.374238,-0.201634,0.905146]] 2025-10-28T17:39:41.827Z,1761673181.827 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:39:41.827Z,1761673181.827 [marl:UpdateRudder:B] Stopped 2025-10-28T17:39:41.827Z,1761673181.827 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:39:41.827Z,1761673181.827 [marl:UpdateRudder] Stopped 2025-10-28T17:39:41.827Z,1761673181.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:39:42.138Z,1761673182.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066226,0.968288,0.240900],[-0.926954,0.149056,-0.344295],[-0.369285,-0.200502,0.907429]] 2025-10-28T17:39:42.539Z,1761673182.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066391,0.963255,0.260254],[-0.911846,0.164475,-0.376144],[-0.405128,-0.212339,0.889260]] 2025-10-28T17:39:42.943Z,1761673182.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044327,0.958248,0.282482],[-0.893302,0.164612,-0.418228],[-0.447266,-0.233803,0.863301]] 2025-10-28T17:39:43.354Z,1761673183.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021205,0.955715,0.293529],[-0.898820,0.146790,-0.413008],[-0.437805,-0.255071,0.862128]] 2025-10-28T17:39:43.756Z,1761673183.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021487,0.959635,0.280426],[-0.923979,0.126188,-0.361025],[-0.381839,-0.251350,0.889394]] 2025-10-28T17:39:44.150Z,1761673184.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029964,0.969286,0.244106],[-0.943159,0.108286,-0.314206],[-0.330989,-0.220816,0.917435]] 2025-10-28T17:39:44.183Z,1761673184.183 [marl:NeedComms:C] Running Loop=1 2025-10-28T17:39:44.555Z,1761673184.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051046,0.971299,0.232321],[-0.948966,0.119666,-0.291795],[-0.311221,-0.205570,0.927838]] 2025-10-28T17:39:44.664Z,1761673184.664 [Radio_Surface](INFO): Powering up 2025-10-28T17:39:45.010Z,1761673185.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088364,0.959410,0.267815],[-0.946717,0.164489,-0.276893],[-0.309707,-0.229077,0.922825]] 2025-10-28T17:39:45.412Z,1761673185.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092612,0.955887,0.278752],[-0.963169,0.156982,-0.218319],[-0.252447,-0.248266,0.935219]] 2025-10-28T17:39:45.815Z,1761673185.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042704,0.971712,0.232274],[-0.980366,0.085551,-0.177660],[-0.192505,-0.220127,0.956287]] 2025-10-28T17:39:46.228Z,1761673186.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024658,0.986258,0.163365],[-0.986204,0.050755,-0.157559],[-0.163685,-0.157226,0.973903]] 2025-10-28T17:39:46.630Z,1761673186.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059634,0.988841,0.136515],[-0.986827,0.079003,-0.141177],[-0.150387,-0.126298,0.980527]] 2025-10-28T17:39:47.037Z,1761673187.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074605,0.988883,0.128621],[-0.990092,0.088840,-0.108742],[-0.118960,-0.119234,0.985714]] 2025-10-28T17:39:47.439Z,1761673187.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060745,0.989572,0.130604],[-0.992697,0.073556,-0.095617],[-0.104226,-0.123842,0.986813]] 2025-10-28T17:39:47.854Z,1761673187.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035282,0.989530,0.139951],[-0.994609,0.048431,-0.091695],[-0.097513,-0.135962,0.985903]] 2025-10-28T17:39:48.247Z,1761673188.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033198,0.988328,0.148683],[-0.998336,0.039810,-0.041717],[-0.047149,-0.147050,0.988005]] 2025-10-28T17:39:48.653Z,1761673188.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068269,0.984249,0.163073],[-0.997644,0.066249,0.017800],[0.006716,-0.163904,0.986453]] 2025-10-28T17:39:49.055Z,1761673189.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109210,0.975723,0.189837],[-0.993721,0.111843,-0.003183],[-0.024338,-0.188297,0.981811]] 2025-10-28T17:39:49.459Z,1761673189.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081066,0.968225,0.236576],[-0.994967,0.092639,-0.038199],[-0.058902,-0.232289,0.970862]] 2025-10-28T17:39:49.864Z,1761673189.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040556,0.968815,0.244444],[-0.999177,0.039468,0.009348],[-0.000591,-0.244622,0.969618]] 2025-10-28T17:39:49.924Z,1761673189.924 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T17:39:49.925Z,1761673189.925 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T17:39:50.272Z,1761673190.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082165,0.974495,0.208828],[-0.990583,0.056829,0.124561],[0.109517,-0.217097,0.969987]] 2025-10-28T17:39:50.671Z,1761673190.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106818,0.984268,0.140734],[-0.980121,0.080435,0.181365],[0.167192,-0.157309,0.973294]] 2025-10-28T17:39:51.074Z,1761673191.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058683,0.995968,0.067846],[-0.987258,0.047831,0.151768],[0.147911,-0.075888,0.986085]] 2025-10-28T17:39:51.479Z,1761673191.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068544,0.997421,0.021280],[-0.996310,0.067332,0.053233],[0.051663,-0.024851,0.998355]] 2025-10-28T17:39:51.884Z,1761673191.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089437,0.995448,0.032937],[-0.995923,0.089772,-0.008806],[-0.011723,-0.032015,0.999419]] 2025-10-28T17:39:52.290Z,1761673192.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108251,0.989495,0.095815],[-0.994085,0.108589,0.001701],[-0.008721,-0.095432,0.995398]] 2025-10-28T17:39:52.691Z,1761673192.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091606,0.982509,0.162124],[-0.995676,0.087854,0.030177],[0.015406,-0.164188,0.986309]] 2025-10-28T17:39:52.775Z,1761673192.775 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:39:52.889Z,1761673192.889 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:39:52.889Z,1761673192.889 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:39:53.096Z,1761673193.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067371,0.978526,0.194805],[-0.997319,0.060457,0.041233],[0.028570,-0.197060,0.979975]] 2025-10-28T17:39:53.141Z,1761673193.141 [DAT](INFO): DAT read: user:76> 2025-10-28T17:39:53.142Z,1761673193.142 [DAT](INFO): DAT read: Tx time:17:39:52.9050 2025-10-28T17:39:53.142Z,1761673193.142 [DAT](INFO): Ping request sent. 2025-10-28T17:39:53.142Z,1761673193.142 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:39:53.143Z,1761673193.143 [DAT](INFO): publishing transmit ping time 2025-10-28T17:39:53.143Z,1761673193.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T17:39:53.225Z,1761673193.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:39:53.393Z,1761673193.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250646 2025-10-28T17:39:53.499Z,1761673193.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067919,0.977953,0.197471],[-0.997082,0.059619,0.047682],[0.034858,-0.200133,0.979148]] 2025-10-28T17:39:53.645Z,1761673193.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502425 2025-10-28T17:39:53.901Z,1761673193.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758636 2025-10-28T17:39:53.904Z,1761673193.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102614,0.980651,0.166718],[-0.993165,0.091633,0.072291],[0.055615,-0.172996,0.983351]] 2025-10-28T17:39:54.153Z,1761673194.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010484 2025-10-28T17:39:54.228Z,1761673194.228 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T17:39:54.228Z,1761673194.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:39:54.314Z,1761673194.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122713,0.988171,0.091975],[-0.987839,0.112703,0.107103],[0.095470,-0.104000,0.989985]] 2025-10-28T17:39:54.381Z,1761673194.381 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateRudder:A] Stopped 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:39:54.382Z,1761673194.382 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateCommandMode] Stopped 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:39:54.383Z,1761673194.383 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:39:54.384Z,1761673194.384 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:39:54.384Z,1761673194.384 [marl:UpdateSpeed] Stopped 2025-10-28T17:39:54.384Z,1761673194.384 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:39:54.406Z,1761673194.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263653 2025-10-28T17:39:54.657Z,1761673194.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514387 2025-10-28T17:39:54.712Z,1761673194.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142316,0.988533,0.050489],[-0.987835,0.138616,0.070480],[0.062673,-0.059906,0.996235]] 2025-10-28T17:39:54.794Z,1761673194.794 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:39:54.794Z,1761673194.794 [marl:UpdateRudder:B] Stopped 2025-10-28T17:39:54.794Z,1761673194.794 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:39:54.794Z,1761673194.794 [marl:UpdateRudder] Stopped 2025-10-28T17:39:54.794Z,1761673194.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:39:54.910Z,1761673194.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767603 2025-10-28T17:39:55.114Z,1761673195.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137454,0.989262,0.049668],[-0.989547,0.139356,-0.037095],[-0.043618,-0.044050,0.998077]] 2025-10-28T17:39:55.161Z,1761673195.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018557 2025-10-28T17:39:55.413Z,1761673195.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270458 2025-10-28T17:39:55.519Z,1761673195.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079185,0.990090,0.115977],[-0.996320,0.082434,-0.023486],[-0.032814,-0.113690,0.992974]] 2025-10-28T17:39:55.666Z,1761673195.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522847 2025-10-28T17:39:55.917Z,1761673195.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774407 2025-10-28T17:39:55.928Z,1761673195.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048754,0.988538,0.142882],[-0.988905,0.027677,0.145949],[0.140322,-0.148412,0.978920]] 2025-10-28T17:39:56.169Z,1761673196.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027065 2025-10-28T17:39:56.334Z,1761673196.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104817,0.986212,0.128057],[-0.968880,0.072233,0.236755],[0.224241,-0.148888,0.963093]] 2025-10-28T17:39:56.421Z,1761673196.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278777 2025-10-28T17:39:56.673Z,1761673196.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530412 2025-10-28T17:39:56.731Z,1761673196.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154300,0.972848,0.172505],[-0.975284,0.122023,0.184203],[0.158152,-0.196664,0.967632]] 2025-10-28T17:39:56.925Z,1761673196.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782429 2025-10-28T17:39:57.134Z,1761673197.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142266,0.970780,0.193255],[-0.985849,0.121478,0.115520],[0.088668,-0.206955,0.974324]] 2025-10-28T17:39:57.177Z,1761673197.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034528 2025-10-28T17:39:57.429Z,1761673197.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286376 2025-10-28T17:39:57.570Z,1761673197.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112072,0.985987,0.123570],[-0.989934,0.099965,0.100188],[0.086431,-0.133554,0.987265]] 2025-10-28T17:39:57.681Z,1761673197.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538470 2025-10-28T17:39:57.937Z,1761673197.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794615 2025-10-28T17:39:57.944Z,1761673197.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079053,0.994687,0.065948],[-0.992239,0.072144,0.101274],[0.095979,-0.073442,0.992670]] 2025-10-28T17:39:58.189Z,1761673198.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046409 2025-10-28T17:39:58.350Z,1761673198.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084568,0.995078,0.051659],[-0.991016,0.078605,0.108202],[0.103609,-0.060345,0.992786]] 2025-10-28T17:39:58.441Z,1761673198.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298538 2025-10-28T17:39:58.693Z,1761673198.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550486 2025-10-28T17:39:58.753Z,1761673198.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116535,0.990277,0.075971],[-0.987891,0.107685,0.111691],[0.102424,-0.088067,0.990835]] 2025-10-28T17:39:58.948Z,1761673198.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805457 2025-10-28T17:39:59.156Z,1761673199.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123606,0.983402,0.132822],[-0.991433,0.116689,0.058690],[0.042217,-0.138938,0.989401]] 2025-10-28T17:39:59.210Z,1761673199.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.067316 2025-10-28T17:39:59.461Z,1761673199.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318515 2025-10-28T17:39:59.602Z,1761673199.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084499,0.982608,0.165353],[-0.995956,0.088369,-0.016176],[-0.030507,-0.163318,0.986102]] 2025-10-28T17:39:59.713Z,1761673199.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570615 2025-10-28T17:39:59.966Z,1761673199.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.823124 2025-10-28T17:39:59.987Z,1761673199.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034671,0.981904,0.186179],[-0.999234,0.030678,0.024287],[0.018135,-0.186879,0.982216]] 2025-10-28T17:40:00.217Z,1761673200.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074499 2025-10-28T17:40:00.367Z,1761673200.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000187,0.987844,0.155448],[-0.989878,-0.021878,0.140223],[0.141919,-0.153901,0.977841]] 2025-10-28T17:40:00.470Z,1761673200.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327207 2025-10-28T17:40:00.721Z,1761673200.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578435 2025-10-28T17:40:00.782Z,1761673200.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035008,0.995775,0.084886],[-0.981560,0.018288,0.190278],[0.187922,-0.089982,0.978053]] 2025-10-28T17:40:00.973Z,1761673200.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.830482 2025-10-28T17:40:01.174Z,1761673201.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063112,0.996081,0.061959],[-0.996396,0.059364,0.060585],[0.056669,-0.065559,0.996238]] 2025-10-28T17:40:01.225Z,1761673201.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082556 2025-10-28T17:40:01.477Z,1761673201.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334429 2025-10-28T17:40:01.611Z,1761673201.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008810,0.983231,0.182154],[-0.999921,-0.010294,0.007205],[0.008959,-0.182076,0.983244]] 2025-10-28T17:40:01.729Z,1761673201.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586511 2025-10-28T17:40:01.981Z,1761673201.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838493 2025-10-28T17:40:01.984Z,1761673201.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063302,0.965420,0.252899],[-0.996746,-0.073828,0.032342],[0.049895,-0.250029,0.966952]] 2025-10-28T17:40:02.234Z,1761673202.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.091065 2025-10-28T17:40:02.394Z,1761673202.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074728,0.975181,0.208416],[-0.996579,-0.080428,0.018997],[0.035288,-0.206283,0.977856]] 2025-10-28T17:40:02.485Z,1761673202.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342562 2025-10-28T17:40:02.737Z,1761673202.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.594361 2025-10-28T17:40:02.799Z,1761673202.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112711,0.981790,0.152920],[-0.993628,-0.111477,-0.016647],[0.000703,-0.153822,0.988098]] 2025-10-28T17:40:02.989Z,1761673202.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846417 2025-10-28T17:40:03.194Z,1761673203.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148567,0.979521,0.135890],[-0.987079,-0.155227,0.039744],[0.060024,-0.128229,0.989926]] 2025-10-28T17:40:03.241Z,1761673203.241 [DAT](INFO): Reached modem response timeout 2025-10-28T17:40:03.614Z,1761673203.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097622,0.989719,0.104528],[-0.990324,-0.107013,0.088358],[0.098635,-0.094891,0.990589]] 2025-10-28T17:40:04.004Z,1761673204.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058312,0.994776,0.083787],[-0.996663,-0.062814,0.052131],[0.057122,-0.080467,0.995119]] 2025-10-28T17:40:04.406Z,1761673204.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102961,0.991954,0.073663],[-0.994413,-0.100916,-0.030971],[-0.023288,-0.076440,0.996802]] 2025-10-28T17:40:04.817Z,1761673204.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170383,0.981141,0.091284],[-0.985376,-0.169489,-0.017515],[-0.001713,-0.092933,0.995671]] 2025-10-28T17:40:05.214Z,1761673205.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155333,0.979430,0.128798],[-0.983047,-0.166114,0.077622],[0.097421,-0.114558,0.988628]] 2025-10-28T17:40:05.509Z,1761673205.509 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:40:05.509Z,1761673205.509 [DAT](INFO): response not received 2025-10-28T17:40:05.509Z,1761673205.509 [DAT](ERROR): No response from remote modem. 2025-10-28T17:40:05.623Z,1761673205.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094820,0.974142,0.205075],[-0.993718,-0.104922,0.038937],[0.059447,-0.200094,0.977971]] 2025-10-28T17:40:06.023Z,1761673206.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138168,0.951706,0.274164],[-0.989374,-0.119983,-0.082111],[-0.045251,-0.282596,0.958171]] 2025-10-28T17:40:06.427Z,1761673206.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224300,0.942303,0.248503],[-0.974448,-0.213775,-0.068925],[-0.011825,-0.257614,0.966176]] 2025-10-28T17:40:06.831Z,1761673206.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235250,0.960518,0.148533],[-0.968254,-0.244895,0.050116],[0.084513,-0.132027,0.987637]] 2025-10-28T17:40:07.234Z,1761673207.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244765,0.968276,0.050323],[-0.963561,-0.248692,0.098496],[0.107886,-0.024381,0.993864]] 2025-10-28T17:40:07.638Z,1761673207.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264021,0.964470,-0.009535],[-0.962332,-0.262744,0.069880],[0.064891,0.027626,0.997510]] 2025-10-28T17:40:07.690Z,1761673207.690 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:40:07.690Z,1761673207.690 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateRudder:A] Stopped 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:40:07.691Z,1761673207.691 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:40:07.692Z,1761673207.692 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:40:07.692Z,1761673207.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:40:07.692Z,1761673207.692 [marl:UpdateCommandMode] Stopped 2025-10-28T17:40:07.692Z,1761673207.692 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:40:07.692Z,1761673207.692 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed] Stopped 2025-10-28T17:40:07.693Z,1761673207.693 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:40:08.043Z,1761673208.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245972,0.968544,-0.037683],[-0.969275,-0.245856,0.007775],[-0.001734,0.038437,0.999260]] 2025-10-28T17:40:08.102Z,1761673208.102 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:40:08.102Z,1761673208.102 [marl:UpdateRudder:B] Stopped 2025-10-28T17:40:08.102Z,1761673208.102 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:40:08.102Z,1761673208.102 [marl:UpdateRudder] Stopped 2025-10-28T17:40:08.102Z,1761673208.102 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:40:08.446Z,1761673208.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300149,0.953751,-0.016415],[-0.951565,-0.300573,-0.064650],[-0.066594,-0.003785,0.997773]] 2025-10-28T17:40:08.851Z,1761673208.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364454,0.929410,0.058063],[-0.930697,-0.361448,-0.056193],[-0.031239,-0.074519,0.996730]] 2025-10-28T17:40:09.255Z,1761673209.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350624,0.926178,0.138772],[-0.933082,-0.358160,0.032852],[0.080130,-0.117967,0.989779]] 2025-10-28T17:40:09.659Z,1761673209.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318977,0.925009,0.206427],[-0.937450,-0.339974,0.074868],[0.139434,-0.169634,0.975593]] 2025-10-28T17:40:10.065Z,1761673210.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341710,0.921542,0.184374],[-0.937548,-0.347855,0.001051],[0.065104,-0.172501,0.982856]] 2025-10-28T17:40:10.497Z,1761673210.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359198,0.927742,0.101348],[-0.933204,-0.355850,-0.050007],[-0.010329,-0.112540,0.993594]] 2025-10-28T17:40:10.870Z,1761673210.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379790,0.918436,0.110607],[-0.924264,-0.381733,-0.003881],[0.038658,-0.103704,0.993857]] 2025-10-28T17:40:11.277Z,1761673211.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404277,0.904117,0.138318],[-0.905348,-0.417067,0.080005],[0.130022,-0.092881,0.987151]] 2025-10-28T17:40:11.680Z,1761673211.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383464,0.915189,0.124035],[-0.916795,-0.393429,0.068558],[0.111543,-0.087425,0.989907]] 2025-10-28T17:40:12.084Z,1761673212.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362690,0.922478,0.132249],[-0.930723,-0.365722,-0.001465],[0.047015,-0.123619,0.991215]] 2025-10-28T17:40:12.488Z,1761673212.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370605,0.918827,0.135677],[-0.928635,-0.369244,-0.036012],[0.017009,-0.139341,0.990098]] 2025-10-28T17:40:12.891Z,1761673212.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401292,0.907509,0.124061],[-0.915949,-0.397783,-0.052969],[0.001280,-0.134889,0.990860]] 2025-10-28T17:40:13.304Z,1761673213.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423301,0.898164,0.118815],[-0.904990,-0.413026,-0.101991],[-0.042531,-0.150700,0.987664]] 2025-10-28T17:40:13.699Z,1761673213.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434259,0.892318,0.123237],[-0.896854,-0.415523,-0.151638],[-0.084101,-0.176376,0.980724]] 2025-10-28T17:40:14.104Z,1761673214.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460681,0.873919,0.155047],[-0.885554,-0.440815,-0.146548],[-0.059724,-0.204814,0.976977]] 2025-10-28T17:40:14.506Z,1761673214.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466030,0.866281,0.179927],[-0.883703,-0.465721,-0.046610],[0.043419,-0.180724,0.982575]] 2025-10-28T17:40:14.912Z,1761673214.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449278,0.878819,0.160710],[-0.889367,-0.457014,0.012815],[0.084709,-0.137172,0.986919]] 2025-10-28T17:40:15.314Z,1761673215.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441991,0.894300,0.069801],[-0.896187,-0.443594,0.008583],[0.038639,-0.058761,0.997524]] 2025-10-28T17:40:15.718Z,1761673215.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421282,0.906904,-0.006818],[-0.906079,-0.421200,-0.040136],[-0.039272,-0.010731,0.999171]] 2025-10-28T17:40:15.723Z,1761673215.723 [NAL9602](INFO): SBD MO Status=0, MOMSN=3305, MT Status=0, MTMSN=0 2025-10-28T17:40:15.723Z,1761673215.723 [NAL9602](INFO): No messages in MT queue 2025-10-28T17:40:16.123Z,1761673216.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471808,0.880417,0.047581],[-0.877170,-0.463235,-0.126435],[-0.089275,-0.101390,0.990833]] 2025-10-28T17:40:16.533Z,1761673216.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538754,0.817512,0.203516],[-0.842319,-0.518235,-0.148094],[-0.015600,-0.251211,0.967807]] 2025-10-28T17:40:16.933Z,1761673216.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518201,0.789707,0.328375],[-0.848837,-0.521853,-0.084529],[0.104610,-0.322540,0.940757]] 2025-10-28T17:40:16.937Z,1761673216.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174016.00,A,3646.38325,N,12151.59261,W,0.389,269.63,281025,,,A*78 2025-10-28T17:40:16.940Z,1761673216.940 [NAL9602](INFO): GPS fix at 20251028T174016: (36.773054, -121.859877) 2025-10-28T17:40:16.957Z,1761673216.957 [UniversalFixResidualReporter](INFO): Fix residual: 2.2 %DT, over the last 1126.9 m. Residual distance 24.7 m at bearing -76.3 degrees. Fix at (36.7731, -121.8599) with 451.6 m made good. 2025-10-28T17:40:16.974Z,1761673216.974 [marl:NeedComms:C] Stopped 2025-10-28T17:40:16.974Z,1761673216.974 [marl:NeedComms:D] Running Loop=1 2025-10-28T17:40:16.976Z,1761673216.976 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761673216.00. Resetting abort timer. 2025-10-28T17:40:17.335Z,1761673217.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502743,0.829068,0.244738],[-0.855539,-0.517726,-0.003622],[0.123704,-0.211204,0.969583]] 2025-10-28T17:40:17.739Z,1761673217.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515917,0.856239,0.026164],[-0.856584,-0.515301,-0.026984],[-0.009623,-0.036334,0.999293]] 2025-10-28T17:40:18.144Z,1761673218.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513075,0.851353,-0.109323],[-0.854278,-0.518868,-0.031386],[-0.083445,0.077289,0.993511]] 2025-10-28T17:40:18.553Z,1761673218.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545134,0.836215,-0.059781],[-0.838172,-0.542169,0.059327],[0.017198,0.082448,0.996447]] 2025-10-28T17:40:18.951Z,1761673218.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539713,0.840487,0.047869],[-0.829828,-0.540720,0.137863],[0.141756,0.034683,0.989294]] 2025-10-28T17:40:19.354Z,1761673219.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495142,0.860710,0.118374],[-0.856333,-0.506489,0.100809],[0.146722,-0.051453,0.987839]] 2025-10-28T17:40:19.766Z,1761673219.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506019,0.852196,0.133066],[-0.860736,-0.508850,-0.014344],[0.055487,-0.121793,0.991003]] 2025-10-28T17:40:20.579Z,1761673220.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582039,0.801667,0.136237],[-0.813078,-0.576148,-0.083418],[0.011619,-0.159324,0.987158]] 2025-10-28T17:40:20.993Z,1761673220.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550800,0.817064,0.170369],[-0.830154,-0.557435,-0.010501],[0.086390,-0.147216,0.985325]] 2025-10-28T17:40:21.031Z,1761673221.031 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:40:21.031Z,1761673221.031 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:40:21.031Z,1761673221.031 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:40:21.031Z,1761673221.031 [marl:UpdateRudder:A] Stopped 2025-10-28T17:40:21.031Z,1761673221.031 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:40:21.032Z,1761673221.032 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:40:21.048Z,1761673221.048 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:40:21.048Z,1761673221.048 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:40:21.048Z,1761673221.048 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:40:21.048Z,1761673221.048 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateCommandMode] Stopped 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:40:21.049Z,1761673221.049 [marl:UpdateSpeed] Stopped 2025-10-28T17:40:21.050Z,1761673221.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:40:21.383Z,1761673221.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555182,0.811669,0.181567],[-0.825015,-0.565099,0.003524],[0.105464,-0.147839,0.983372]] 2025-10-28T17:40:21.450Z,1761673221.450 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:40:21.450Z,1761673221.450 [marl:UpdateRudder:B] Stopped 2025-10-28T17:40:21.451Z,1761673221.451 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:40:21.451Z,1761673221.451 [marl:UpdateRudder] Stopped 2025-10-28T17:40:21.451Z,1761673221.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:40:21.791Z,1761673221.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596958,0.795187,0.106391],[-0.799117,-0.601108,0.008964],[0.071081,-0.079668,0.994284]] 2025-10-28T17:40:22.189Z,1761673222.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608163,0.793774,0.007722],[-0.793089,-0.607996,0.036752],[0.033868,0.016227,0.999295]] 2025-10-28T17:40:22.591Z,1761673222.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593239,0.804222,0.035988],[-0.801587,-0.594242,0.065848],[0.074342,0.010215,0.997180]] 2025-10-28T17:40:22.995Z,1761673222.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588248,0.795704,0.144287],[-0.796982,-0.600675,0.063322],[0.137055,-0.077745,0.987508]] 2025-10-28T17:40:23.399Z,1761673223.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586448,0.775232,0.234720],[-0.787212,-0.613738,0.060199],[0.190725,-0.149471,0.970197]] 2025-10-28T17:40:23.803Z,1761673223.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591818,0.780422,0.201727],[-0.793070,-0.608511,0.027476],[0.144196,-0.143722,0.979056]] 2025-10-28T17:40:24.206Z,1761673224.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603163,0.794580,0.069549],[-0.797610,-0.600483,-0.056900],[-0.003449,-0.089794,0.995954]] 2025-10-28T17:40:24.352Z,1761673224.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:40:24.614Z,1761673224.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621994,0.776192,0.103192],[-0.783007,-0.617367,-0.075882],[0.004808,-0.127998,0.991763]] 2025-10-28T17:40:25.014Z,1761673225.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650172,0.738170,0.179948],[-0.754221,-0.655662,-0.035471],[0.091801,-0.158783,0.983036]] 2025-10-28T17:40:25.356Z,1761673225.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:40:25.418Z,1761673225.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662153,0.727298,0.180528],[-0.739658,-0.672981,-0.001710],[0.120248,-0.134661,0.983568]] 2025-10-28T17:40:25.823Z,1761673225.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651751,0.746642,0.133214],[-0.749128,-0.661176,0.040660],[0.118436,-0.073294,0.990253]] 2025-10-28T17:40:26.228Z,1761673226.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645827,0.759759,0.075326],[-0.759008,-0.649576,0.044246],[0.082546,-0.028598,0.996177]] 2025-10-28T17:40:26.630Z,1761673226.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668186,0.743929,0.009858],[-0.743628,-0.668214,0.022521],[0.023342,0.007718,0.999698]] 2025-10-28T17:40:27.035Z,1761673227.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644846,0.764303,-0.003905],[-0.763272,-0.643693,0.055453],[0.039869,0.038739,0.998454]] 2025-10-28T17:40:27.438Z,1761673227.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606226,0.793886,0.047279],[-0.785818,-0.607093,0.118013],[0.122392,0.034390,0.991886]] 2025-10-28T17:40:27.844Z,1761673227.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640208,0.761583,0.100623],[-0.757697,-0.647601,0.080673],[0.126603,-0.024594,0.991649]] 2025-10-28T17:40:28.255Z,1761673228.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666661,0.745230,0.013973],[-0.744770,-0.665268,-0.052317],[-0.029693,-0.045284,0.998533]] 2025-10-28T17:40:28.650Z,1761673228.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625132,0.780277,-0.019437],[-0.776796,-0.624387,-0.082029],[-0.076141,-0.036181,0.996440]] 2025-10-28T17:40:29.054Z,1761673229.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605621,0.792249,0.074604],[-0.793518,-0.608282,0.017965],[0.059613,-0.048319,0.997051]] 2025-10-28T17:40:29.460Z,1761673229.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573729,0.811306,0.112323],[-0.812675,-0.580959,0.045226],[0.101948,-0.065335,0.992642]] 2025-10-28T17:40:29.862Z,1761673229.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595248,0.802258,0.045398],[-0.802961,-0.591721,-0.071550],[-0.030539,-0.079043,0.996403]] 2025-10-28T17:40:30.273Z,1761673230.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608270,0.791711,0.056585],[-0.790586,-0.597979,-0.131894],[-0.070585,-0.124962,0.989648]] 2025-10-28T17:40:30.670Z,1761673230.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618938,0.770388,0.153026],[-0.784218,-0.616995,-0.065724],[0.043784,-0.160685,0.986034]] 2025-10-28T17:40:31.287Z,1761673231.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627169,0.757329,0.181966],[-0.768266,-0.639943,0.015466],[0.128160,-0.130098,0.983183]] 2025-10-28T17:40:33.428Z,1761673233.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599183,0.797710,0.068115],[-0.799914,-0.600042,-0.009328],[0.033431,-0.060076,0.997634]] 2025-10-28T17:40:33.826Z,1761673233.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548871,0.804034,0.228626],[-0.832526,-0.550383,-0.063080],[0.075113,-0.224960,0.971469]] 2025-10-28T17:40:34.226Z,1761673234.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563154,0.807923,0.173544],[-0.826201,-0.546490,-0.136896],[-0.015761,-0.220476,0.975265]] 2025-10-28T17:40:34.633Z,1761673234.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545502,0.826025,0.141807],[-0.838105,-0.537102,-0.095399],[-0.002637,-0.170890,0.985287]] 2025-10-28T17:40:35.049Z,1761673235.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537457,0.833098,0.130720],[-0.839501,-0.543254,0.010617],[0.079859,-0.104034,0.991363]] 2025-10-28T17:40:35.436Z,1761673235.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536125,0.842307,0.055574],[-0.837526,-0.538996,0.089630],[0.105451,0.001508,0.994423]] 2025-10-28T17:40:35.839Z,1761673235.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552476,0.833055,-0.028114],[-0.833256,-0.551117,0.044219],[0.021343,0.047856,0.998626]] 2025-10-28T17:40:36.279Z,1761673236.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563795,0.825771,-0.015391],[-0.824702,-0.563879,-0.043668],[-0.044738,-0.011927,0.998928]] 2025-10-28T17:40:36.467Z,1761673236.467 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:40:36.467Z,1761673236.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:40:36.467Z,1761673236.467 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:40:36.467Z,1761673236.467 [marl:UpdateRudder:A] Stopped 2025-10-28T17:40:36.467Z,1761673236.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:40:36.468Z,1761673236.468 [marl:UpdateCommandMode] Stopped 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed] Stopped 2025-10-28T17:40:36.469Z,1761673236.469 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:40:36.757Z,1761673236.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574773,0.810554,0.112419],[-0.818166,-0.571827,-0.060155],[0.015525,-0.126553,0.991838]] 2025-10-28T17:40:36.857Z,1761673236.857 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:40:36.857Z,1761673236.857 [marl:UpdateRudder:B] Stopped 2025-10-28T17:40:36.858Z,1761673236.858 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:40:36.858Z,1761673236.858 [marl:UpdateRudder] Stopped 2025-10-28T17:40:36.858Z,1761673236.858 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:40:37.061Z,1761673237.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562608,0.797281,0.218665],[-0.821239,-0.569389,-0.036919],[0.095070,-0.200348,0.975101]] 2025-10-28T17:40:37.454Z,1761673237.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540706,0.818165,0.195559],[-0.835758,-0.548911,-0.014316],[0.095632,-0.171180,0.980588]] 2025-10-28T17:40:37.858Z,1761673237.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534230,0.837979,0.111313],[-0.843216,-0.537575,0.000043],[0.059875,-0.093838,0.993785]] 2025-10-28T17:40:38.267Z,1761673238.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546018,0.836180,0.051646],[-0.836952,-0.547174,0.010567],[0.037096,-0.037456,0.998609]] 2025-10-28T17:40:38.675Z,1761673238.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521681,0.851868,0.046585],[-0.852533,-0.522592,0.009211],[0.032191,-0.034910,0.998872]] 2025-10-28T17:40:39.072Z,1761673239.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507257,0.858253,0.078055],[-0.860950,-0.508686,-0.001810],[0.038152,-0.068119,0.996947]] 2025-10-28T17:40:39.475Z,1761673239.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527833,0.846798,0.065768],[-0.849268,-0.525135,-0.054564],[-0.011668,-0.084656,0.996342]] 2025-10-28T17:40:39.879Z,1761673239.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572339,0.815907,0.082002],[-0.819919,-0.567858,-0.072591],[-0.012662,-0.108782,0.993985]] 2025-10-28T17:40:40.283Z,1761673240.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584546,0.802358,0.120533],[-0.810541,-0.584152,-0.042307],[0.036464,-0.122427,0.991807]] 2025-10-28T17:40:40.690Z,1761673240.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571383,0.810073,0.131539],[-0.819338,-0.572245,-0.034937],[0.046971,-0.127738,0.990695]] 2025-10-28T17:40:41.092Z,1761673241.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568501,0.815401,0.109216],[-0.821722,-0.569226,-0.027487],[0.039756,-0.105372,0.993638]] 2025-10-28T17:40:41.495Z,1761673241.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572149,0.817461,0.066347],[-0.819575,-0.572902,-0.008952],[0.030692,-0.059498,0.997756]] 2025-10-28T17:40:41.899Z,1761673241.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593626,0.804646,0.012365],[-0.804228,-0.593726,0.026581],[0.028730,0.005835,0.999570]] 2025-10-28T17:40:42.303Z,1761673242.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600010,0.799610,0.024721],[-0.795358,-0.599570,0.089004],[0.085990,0.033741,0.995724]] 2025-10-28T17:40:42.709Z,1761673242.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585737,0.808073,0.062689],[-0.799025,-0.588683,0.122518],[0.135907,0.021673,0.990484]] 2025-10-28T17:40:43.116Z,1761673243.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578852,0.807017,0.116849],[-0.804339,-0.588641,0.080872],[0.134047,-0.047174,0.989852]] 2025-10-28T17:40:43.517Z,1761673243.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574754,0.803423,0.155464],[-0.812243,-0.583213,0.011110],[0.099594,-0.119889,0.987779]] 2025-10-28T17:40:43.918Z,1761673243.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587381,0.797056,0.140309],[-0.808388,-0.586102,-0.054704],[0.038633,-0.145556,0.988595]] 2025-10-28T17:40:44.322Z,1761673244.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611058,0.780813,0.130149],[-0.791541,-0.600961,-0.110944],[-0.008412,-0.170812,0.985268]] 2025-10-28T17:40:44.735Z,1761673244.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634055,0.761089,0.136810],[-0.773286,-0.623662,-0.114344],[-0.001703,-0.178293,0.983976]] 2025-10-28T17:40:45.136Z,1761673245.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635736,0.757832,0.146731],[-0.770571,-0.634244,-0.062895],[0.045400,-0.153051,0.987175]] 2025-10-28T17:40:45.575Z,1761673245.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636744,0.761588,0.120582],[-0.769527,-0.637551,-0.036829],[0.048829,-0.116242,0.992020]] 2025-10-28T17:40:45.939Z,1761673245.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643001,0.763238,0.063379],[-0.765865,-0.640758,-0.053659],[-0.000344,-0.083043,0.996546]] 2025-10-28T17:40:46.342Z,1761673246.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637751,0.769071,0.042466],[-0.769813,-0.638267,-0.001782],[0.025734,-0.033827,0.999096]] 2025-10-28T17:40:46.756Z,1761673246.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659729,0.751389,0.013135],[-0.751174,-0.659857,0.018079],[0.022252,0.002060,0.999750]] 2025-10-28T17:40:47.153Z,1761673247.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679374,0.733636,-0.015098],[-0.733509,-0.679540,-0.013806],[-0.020388,0.001695,0.999791]] 2025-10-28T17:40:47.589Z,1761673247.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683489,0.729765,0.016887],[-0.729663,-0.682366,-0.044366],[-0.020854,-0.042646,0.998873]] 2025-10-28T17:40:47.959Z,1761673247.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673831,0.735343,0.072266],[-0.738740,-0.672411,-0.046112],[0.014684,-0.084458,0.996319]] 2025-10-28T17:40:48.362Z,1761673248.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678261,0.728146,0.098819],[-0.732267,-0.680967,-0.008347],[0.061215,-0.078023,0.995070]] 2025-10-28T17:40:48.374Z,1761673248.374 [NAL9602](INFO): SBD MO Status=2, MOMSN=3306, MT Status=2, MTMSN=0 2025-10-28T17:40:48.375Z,1761673248.375 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T17:40:48.770Z,1761673248.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684436,0.727135,0.053119],[-0.725202,-0.686491,0.053033],[0.075028,-0.002225,0.997179]] 2025-10-28T17:40:49.173Z,1761673249.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668821,0.743407,-0.004938],[-0.742394,-0.667530,0.057055],[0.039119,0.041825,0.998359]] 2025-10-28T17:40:49.606Z,1761673249.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651604,0.758104,-0.026288],[-0.758557,-0.651292,0.020234],[-0.001782,0.033126,0.999450]] 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateRudder:A] Stopped 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:40:49.678Z,1761673249.678 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode] Stopped 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:40:49.679Z,1761673249.679 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:40:49.680Z,1761673249.680 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:40:49.680Z,1761673249.680 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:40:49.680Z,1761673249.680 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:40:49.680Z,1761673249.680 [marl:UpdateSpeed] Stopped 2025-10-28T17:40:49.680Z,1761673249.680 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:40:49.978Z,1761673249.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665794,0.743401,0.063820],[-0.745113,-0.666922,-0.004724],[0.039051,-0.050699,0.997950]] 2025-10-28T17:40:50.029Z,1761673250.029 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:40:50.029Z,1761673250.029 [marl:UpdateRudder:B] Stopped 2025-10-28T17:40:50.029Z,1761673250.029 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:40:50.029Z,1761673250.029 [marl:UpdateRudder] Stopped 2025-10-28T17:40:50.029Z,1761673250.029 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:40:50.384Z,1761673250.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697699,0.706616,0.117943],[-0.715939,-0.693593,-0.079748],[0.025453,-0.140080,0.989813]] 2025-10-28T17:40:50.797Z,1761673250.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710098,0.702661,0.045045],[-0.700281,-0.698139,-0.149027],[-0.073268,-0.137367,0.987807]] 2025-10-28T17:40:51.190Z,1761673251.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670248,0.740160,0.054145],[-0.741061,-0.663564,-0.102522],[-0.039954,-0.108839,0.993256]] 2025-10-28T17:40:51.615Z,1761673251.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656633,0.745050,0.117193],[-0.747751,-0.663394,0.027853],[0.098497,-0.069342,0.992719]] 2025-10-28T17:40:51.998Z,1761673251.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671879,0.727142,0.140866],[-0.717846,-0.686138,0.117947],[0.182418,-0.021874,0.982978]] 2025-10-28T17:40:52.404Z,1761673252.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670604,0.741067,0.033319],[-0.736285,-0.670408,0.091856],[0.090408,0.037067,0.995215]] 2025-10-28T17:40:52.807Z,1761673252.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651794,0.757111,-0.044142],[-0.758391,-0.650895,0.034329],[-0.002741,0.055852,0.998435]] 2025-10-28T17:40:52.884Z,1761673252.884 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:40:52.937Z,1761673252.937 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:40:52.937Z,1761673252.937 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:40:53.189Z,1761673253.189 [DAT](INFO): DAT read: user:77> 2025-10-28T17:40:53.190Z,1761673253.190 [DAT](INFO): DAT read: Tx time:17:40:52.9548 2025-10-28T17:40:53.190Z,1761673253.190 [DAT](INFO): Ping request sent. 2025-10-28T17:40:53.190Z,1761673253.190 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:40:53.190Z,1761673253.190 [DAT](INFO): publishing transmit ping time 2025-10-28T17:40:53.191Z,1761673253.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T17:40:53.215Z,1761673253.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653373,0.755928,0.040950],[-0.755558,-0.654521,0.027095],[0.047284,-0.013237,0.998794]] 2025-10-28T17:40:53.441Z,1761673253.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251057 2025-10-28T17:40:53.693Z,1761673253.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503021 2025-10-28T17:40:53.729Z,1761673253.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663876,0.734022,0.143109],[-0.743166,-0.668900,-0.016654],[0.083501,-0.117410,0.989567]] 2025-10-28T17:40:53.945Z,1761673253.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754956 2025-10-28T17:40:54.103Z,1761673254.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650345,0.738494,0.177983],[-0.754117,-0.655846,-0.034265],[0.091425,-0.156504,0.983437]] 2025-10-28T17:40:54.197Z,1761673254.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006903 2025-10-28T17:40:54.450Z,1761673254.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259674 2025-10-28T17:40:54.701Z,1761673254.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511061 2025-10-28T17:40:54.953Z,1761673254.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889 2025-10-28T17:40:55.207Z,1761673255.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016864 2025-10-28T17:40:55.457Z,1761673255.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266953 2025-10-28T17:40:55.476Z,1761673255.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:40:55.709Z,1761673255.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519517 2025-10-28T17:40:55.961Z,1761673255.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771472 2025-10-28T17:40:56.213Z,1761673256.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023305 2025-10-28T17:40:56.258Z,1761673256.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638260,0.769295,0.028450],[-0.769603,-0.636765,-0.047342],[-0.018304,-0.052112,0.998474]] 2025-10-28T17:40:56.465Z,1761673256.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274914 2025-10-28T17:40:56.481Z,1761673256.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:40:56.630Z,1761673256.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681709,0.729189,0.059642],[-0.729651,-0.671626,-0.128562],[-0.053689,-0.131160,0.989906]] 2025-10-28T17:40:56.718Z,1761673256.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528399 2025-10-28T17:40:56.969Z,1761673256.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778983 2025-10-28T17:40:57.031Z,1761673257.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697109,0.710120,0.098832],[-0.716259,-0.683660,-0.139935],[-0.031803,-0.168340,0.985216]] 2025-10-28T17:40:57.221Z,1761673257.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031185 2025-10-28T17:40:57.435Z,1761673257.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702800,0.706098,0.086588],[-0.710985,-0.693088,-0.118867],[-0.023918,-0.145103,0.989127]] 2025-10-28T17:40:57.474Z,1761673257.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283661 2025-10-28T17:40:57.726Z,1761673257.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535775 2025-10-28T17:40:57.839Z,1761673257.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712869,0.697485,0.073018],[-0.701168,-0.710857,-0.055185],[0.013415,-0.090537,0.995803]] 2025-10-28T17:40:57.977Z,1761673257.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786832 2025-10-28T17:40:58.229Z,1761673258.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039319 2025-10-28T17:40:58.247Z,1761673258.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724486,0.688892,0.023404],[-0.688566,-0.724864,0.021194],[0.031565,-0.000760,0.999501]] 2025-10-28T17:40:58.481Z,1761673258.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291442 2025-10-28T17:40:58.647Z,1761673258.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727804,0.682928,-0.062536],[-0.685226,-0.727863,0.026085],[-0.027703,0.061836,0.997702]] 2025-10-28T17:40:58.733Z,1761673258.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543014 2025-10-28T17:40:58.985Z,1761673258.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794907 2025-10-28T17:40:59.051Z,1761673259.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733022,0.677529,-0.060267],[-0.678073,-0.734860,-0.014046],[-0.053805,0.030570,0.998083]] 2025-10-28T17:40:59.237Z,1761673259.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046986 2025-10-28T17:40:59.456Z,1761673259.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758438,0.649755,0.050892],[-0.650718,-0.759313,-0.003172],[0.036582,-0.035522,0.998699]] 2025-10-28T17:40:59.489Z,1761673259.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298943 2025-10-28T17:40:59.741Z,1761673259.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550870 2025-10-28T17:40:59.874Z,1761673259.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774185,0.616865,0.141832],[-0.617223,-0.785395,0.046799],[0.140263,-0.051311,0.988784]] 2025-10-28T17:40:59.993Z,1761673259.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803078 2025-10-28T17:41:00.245Z,1761673260.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054866 2025-10-28T17:41:00.282Z,1761673260.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787424,0.610716,0.083603],[-0.611744,-0.790900,0.015711],[0.075716,-0.038772,0.996375]] 2025-10-28T17:41:00.497Z,1761673260.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306868 2025-10-28T17:41:00.667Z,1761673260.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773245,0.634050,-0.008545],[-0.632787,-0.772434,-0.054100],[-0.040903,-0.036425,0.998499]] 2025-10-28T17:41:00.750Z,1761673260.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559586 2025-10-28T17:41:01.001Z,1761673261.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810747 2025-10-28T17:41:01.071Z,1761673261.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738817,0.673107,0.032811],[-0.673905,-0.737823,-0.038339],[-0.001598,-0.050437,0.998726]] 2025-10-28T17:41:01.254Z,1761673261.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063553 2025-10-28T17:41:01.477Z,1761673261.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745234,0.660692,0.090068],[-0.663894,-0.747787,-0.007758],[0.062227,-0.065577,0.995905]] 2025-10-28T17:41:01.505Z,1761673261.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315055 2025-10-28T17:41:01.757Z,1761673261.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567193 2025-10-28T17:41:01.879Z,1761673261.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777948,0.622627,0.084458],[-0.626227,-0.779295,-0.023232],[0.051352,-0.070963,0.996156]] 2025-10-28T17:41:02.009Z,1761673262.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818915 2025-10-28T17:41:02.261Z,1761673262.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070940 2025-10-28T17:41:02.283Z,1761673262.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782213,0.621201,0.047453],[-0.622884,-0.781319,-0.039449],[0.012570,-0.060415,0.998094]] 2025-10-28T17:41:02.513Z,1761673262.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322855 2025-10-28T17:41:02.690Z,1761673262.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763914,0.644947,0.021866],[-0.645303,-0.763686,-0.019161],[0.004341,-0.028748,0.999577]] 2025-10-28T17:41:02.765Z,1761673262.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575463 2025-10-28T17:41:03.018Z,1761673263.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827760 2025-10-28T17:41:03.093Z,1761673263.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755979,0.653440,0.038875],[-0.652444,-0.756976,0.036114],[0.053026,0.001938,0.998591]] 2025-10-28T17:41:03.269Z,1761673263.269 [DAT](INFO): Reached modem response timeout 2025-10-28T17:41:03.507Z,1761673263.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754481,0.655115,0.039781],[-0.652944,-0.755359,0.055646],[0.066504,0.016009,0.997658]] 2025-10-28T17:41:03.901Z,1761673263.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750571,0.660606,0.015555],[-0.657848,-0.749242,0.076629],[0.062276,0.047282,0.996938]] 2025-10-28T17:41:04.307Z,1761673264.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749927,0.661430,-0.010950],[-0.661161,-0.748870,0.045388],[0.021821,0.041277,0.998909]] 2025-10-28T17:41:04.726Z,1761673264.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746308,0.665508,0.011087],[-0.665508,-0.745824,-0.029074],[-0.011080,-0.029076,0.999516]] 2025-10-28T17:41:04.753Z,1761673264.753 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:41:04.753Z,1761673264.753 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:41:04.753Z,1761673264.753 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:41:04.753Z,1761673264.753 [marl:UpdateRudder:A] Stopped 2025-10-28T17:41:04.753Z,1761673264.753 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:41:04.754Z,1761673264.754 [marl:UpdateCommandMode] Stopped 2025-10-28T17:41:04.755Z,1761673264.755 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:41:04.755Z,1761673264.755 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:41:04.755Z,1761673264.755 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:41:04.755Z,1761673264.755 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:41:04.755Z,1761673264.755 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:41:04.756Z,1761673264.756 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:41:04.756Z,1761673264.756 [marl:UpdateSpeed] Stopped 2025-10-28T17:41:04.756Z,1761673264.756 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:41:05.115Z,1761673265.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740162,0.660665,0.125228],[-0.668637,-0.742862,-0.032869],[0.071312,-0.108061,0.991583]] 2025-10-28T17:41:05.187Z,1761673265.187 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:41:05.187Z,1761673265.187 [marl:UpdateRudder:B] Stopped 2025-10-28T17:41:05.187Z,1761673265.187 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:41:05.187Z,1761673265.187 [marl:UpdateRudder] Stopped 2025-10-28T17:41:05.187Z,1761673265.187 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:41:05.538Z,1761673265.538 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:41:05.538Z,1761673265.538 [DAT](INFO): response not received 2025-10-28T17:41:05.539Z,1761673265.539 [DAT](ERROR): No response from remote modem. 2025-10-28T17:41:05.606Z,1761673265.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729700,0.657036,0.189319],[-0.673491,-0.738457,-0.033033],[0.118100,-0.151609,0.981360]] 2025-10-28T17:41:05.923Z,1761673265.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759158,0.643460,0.098174],[-0.650515,-0.744794,-0.148703],[-0.022565,-0.176753,0.983997]] 2025-10-28T17:41:06.326Z,1761673266.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758502,0.647314,0.075232],[-0.649896,-0.742863,-0.160589],[-0.048064,-0.170700,0.984150]] 2025-10-28T17:41:06.729Z,1761673266.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740401,0.655077,0.150598],[-0.667536,-0.742859,-0.050562],[0.078751,-0.137965,0.987301]] 2025-10-28T17:41:07.131Z,1761673267.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715621,0.679395,0.162199],[-0.681732,-0.729920,0.049582],[0.152077,-0.075094,0.985512]] 2025-10-28T17:41:07.549Z,1761673267.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750284,0.652899,0.103905],[-0.652839,-0.756475,0.039327],[0.104278,-0.038327,0.993809]] 2025-10-28T17:41:07.940Z,1761673267.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772827,0.632315,-0.054006],[-0.631630,-0.774646,-0.031094],[-0.061496,0.010081,0.998056]] 2025-10-28T17:41:08.343Z,1761673268.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753053,0.656322,-0.046401],[-0.655972,-0.754386,-0.024523],[-0.051099,0.011970,0.998622]] 2025-10-28T17:41:08.348Z,1761673268.348 [NAL9602](INFO): SBD MO Status=1, MOMSN=3306, MT Status=0, MTMSN=0 2025-10-28T17:41:08.400Z,1761673268.400 [NAL9602](INFO): Sent 93 bytes from file Logs/20251028T162422/Courier0018.lzma 2025-10-28T17:41:08.400Z,1761673268.400 [NAL9602](INFO): Packets left to send: 0 2025-10-28T17:41:08.748Z,1761673268.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739227,0.672062,0.043316],[-0.672100,-0.740291,0.015857],[0.042723,-0.017391,0.998936]] 2025-10-28T17:41:09.487Z,1761673269.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765883,0.637464,0.084037],[-0.641913,-0.765579,-0.042857],[0.037017,-0.086768,0.995540]] 2025-10-28T17:41:09.888Z,1761673269.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772365,0.630516,0.076826],[-0.635095,-0.768561,-0.077258],[0.010333,-0.108463,0.994047]] 2025-10-28T17:41:12.035Z,1761673272.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756689,0.653699,-0.009972],[-0.652088,-0.753554,0.083292],[0.046933,0.069528,0.996475]] 2025-10-28T17:41:12.430Z,1761673272.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740732,0.669703,-0.053050],[-0.671621,-0.740048,0.035407],[-0.015548,0.061857,0.997964]] 2025-10-28T17:41:12.835Z,1761673272.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692702,0.721162,0.009502],[-0.721171,-0.692750,0.002996],[0.008744,-0.004777,0.999950]] 2025-10-28T17:41:13.242Z,1761673273.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710330,0.695212,0.110056],[-0.702139,-0.710824,-0.041587],[0.049319,-0.106815,0.993055]] 2025-10-28T17:41:13.645Z,1761673273.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732073,0.671328,0.115710],[-0.680460,-0.728680,-0.077457],[0.032316,-0.135440,0.990258]] 2025-10-28T17:41:14.047Z,1761673274.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709100,0.698981,0.092744],[-0.704965,-0.705441,-0.073333],[0.014167,-0.117382,0.992986]] 2025-10-28T17:41:14.455Z,1761673274.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686430,0.721347,0.092052],[-0.725978,-0.687092,-0.029345],[0.042080,-0.086971,0.995322]] 2025-10-28T17:41:14.855Z,1761673274.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681465,0.725129,0.098962],[-0.727277,-0.686080,0.019025],[0.081691,-0.059008,0.994909]] 2025-10-28T17:41:15.260Z,1761673275.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683657,0.726566,0.068662],[-0.725683,-0.686765,0.041682],[0.077440,-0.021331,0.996769]] 2025-10-28T17:41:15.663Z,1761673275.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661707,0.748895,-0.036046],[-0.749722,-0.661404,0.021492],[-0.007746,0.041245,0.999119]] 2025-10-28T17:41:16.067Z,1761673276.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674750,0.738036,-0.003838],[-0.738044,-0.674752,0.000841],[-0.001969,0.003401,0.999992]] 2025-10-28T17:41:16.476Z,1761673276.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691387,0.714638,0.106191],[-0.718097,-0.695899,0.007841],[0.079502,-0.070835,0.994315]] 2025-10-28T17:41:16.878Z,1761673276.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680232,0.716836,0.153071],[-0.728066,-0.684940,-0.027854],[0.084878,-0.130393,0.987823]] 2025-10-28T17:41:17.279Z,1761673277.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669462,0.735176,0.106476],[-0.742502,-0.666606,-0.065778],[0.022619,-0.123095,0.992137]] 2025-10-28T17:41:17.689Z,1761673277.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654494,0.751818,0.080051],[-0.756067,-0.650706,-0.070321],[-0.000779,-0.106549,0.994307]] 2025-10-28T17:41:18.087Z,1761673278.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666659,0.740170,0.087826],[-0.745160,-0.664584,-0.055368],[0.017386,-0.102356,0.994596]] 2025-10-28T17:41:18.099Z,1761673278.099 [NAL9602](INFO): SBD MO Status=1, MOMSN=3307, MT Status=0, MTMSN=0 2025-10-28T17:41:18.156Z,1761673278.156 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0019.lzma 2025-10-28T17:41:18.156Z,1761673278.156 [NAL9602](INFO): Packets left to send: 1 2025-10-28T17:41:18.503Z,1761673278.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684475,0.725552,0.071189],[-0.728559,-0.684290,-0.030805],[0.026364,-0.072951,0.996987]] 2025-10-28T17:41:19.710Z,1761673279.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663326,0.748296,0.007147],[-0.748237,-0.663063,-0.022102],[-0.011799,-0.020008,0.999730]] 2025-10-28T17:41:21.866Z,1761673281.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709357,0.704587,0.019218],[-0.704645,-0.709544,0.004709],[0.016954,-0.010202,0.999804]] 2025-10-28T17:41:22.251Z,1761673282.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689142,0.723844,0.033672],[-0.724034,-0.689714,0.008400],[0.029304,-0.018591,0.999398]] 2025-10-28T17:41:22.274Z,1761673282.274 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateRudder:A] Stopped 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:41:22.275Z,1761673282.275 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateCommandMode] Stopped 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:41:22.276Z,1761673282.276 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed] Stopped 2025-10-28T17:41:22.277Z,1761673282.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:41:22.643Z,1761673282.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673024,0.734289,0.088647],[-0.738197,-0.674319,-0.018942],[0.045867,-0.078188,0.995883]] 2025-10-28T17:41:22.697Z,1761673282.697 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:41:22.697Z,1761673282.697 [marl:UpdateRudder:B] Stopped 2025-10-28T17:41:22.697Z,1761673282.697 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:41:22.697Z,1761673282.697 [marl:UpdateRudder] Stopped 2025-10-28T17:41:22.697Z,1761673282.697 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:41:23.050Z,1761673283.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703879,0.703662,0.097032],[-0.709917,-0.701488,-0.062715],[0.023937,-0.113029,0.993303]] 2025-10-28T17:41:23.453Z,1761673283.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729616,0.681810,0.052876],[-0.682162,-0.720187,-0.126435],[-0.048124,-0.128319,0.990565]] 2025-10-28T17:41:23.853Z,1761673283.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713300,0.699233,0.047709],[-0.698066,-0.702738,-0.137344],[-0.062508,-0.131271,0.989374]] 2025-10-28T17:41:24.258Z,1761673284.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725845,0.680633,0.099437],[-0.687538,-0.722300,-0.074667],[0.021002,-0.122563,0.992238]] 2025-10-28T17:41:24.665Z,1761673284.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746617,0.656591,0.107008],[-0.658793,-0.752102,0.018284],[0.092486,-0.056845,0.994090]] 2025-10-28T17:41:25.069Z,1761673285.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730545,0.682188,0.030376],[-0.680998,-0.731114,0.041398],[0.050450,0.009558,0.998681]] 2025-10-28T17:41:25.468Z,1761673285.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727778,0.685733,0.010437],[-0.685661,-0.727853,0.009958],[0.014425,0.000091,0.999896]] 2025-10-28T17:41:25.871Z,1761673285.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748913,0.660677,0.051326],[-0.661468,-0.749971,0.002076],[0.039864,-0.032395,0.998680]] 2025-10-28T17:41:25.888Z,1761673285.888 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,753.12, 668.72, 736.89, 681.70 2025-10-28T17:41:26.279Z,1761673286.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747198,0.661446,0.064691],[-0.663596,-0.747877,-0.017889],[0.036549,-0.056295,0.997745]] 2025-10-28T17:41:26.600Z,1761673286.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:41:26.687Z,1761673286.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741192,0.669551,0.048324],[-0.670985,-0.741110,-0.023137],[0.020323,-0.049574,0.998564]] 2025-10-28T17:41:27.083Z,1761673287.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737242,0.674719,0.035043],[-0.675628,-0.736229,-0.038644],[-0.000274,-0.052166,0.998638]] 2025-10-28T17:41:27.487Z,1761673287.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730468,0.679658,0.066937],[-0.682274,-0.730585,-0.027358],[0.030309,-0.065653,0.997382]] 2025-10-28T17:41:27.605Z,1761673287.605 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:41:27.892Z,1761673287.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732787,0.673310,0.098370],[-0.678265,-0.734350,-0.026219],[0.054585,-0.085933,0.994805]] 2025-10-28T17:41:28.295Z,1761673288.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745266,0.665412,0.042483],[-0.666763,-0.743528,-0.050928],[-0.002301,-0.066281,0.997798]] 2025-10-28T17:41:28.698Z,1761673288.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752171,0.658372,-0.028017],[-0.657164,-0.752578,-0.041980],[-0.048723,-0.013165,0.998726]] 2025-10-28T17:41:29.105Z,1761673289.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734130,0.678997,-0.004167],[-0.678570,-0.733420,0.040479],[0.024429,0.032544,0.999172]] 2025-10-28T17:41:29.110Z,1761673289.110 [NAL9602](INFO): SBD MO Status=1, MOMSN=3308, MT Status=0, MTMSN=0 2025-10-28T17:41:29.160Z,1761673289.160 [NAL9602](INFO): Sent 281 bytes from file Logs/20251028T162422/Express0019.lzma 2025-10-28T17:41:29.161Z,1761673289.161 [NAL9602](INFO): Packets left to send: 0 2025-10-28T17:41:29.508Z,1761673289.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730565,0.681671,0.039999],[-0.676925,-0.730685,0.088727],[0.089709,0.037745,0.995253]] 2025-10-28T17:41:30.372Z,1761673290.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736119,0.676067,0.032597],[-0.676651,-0.736221,-0.011065],[0.016518,-0.030202,0.999407]] 2025-10-28T17:41:30.778Z,1761673290.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733397,0.669851,0.115887],[-0.677529,-0.734172,-0.044108],[0.055535,-0.110865,0.992283]] 2025-10-28T17:41:31.179Z,1761673291.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737023,0.662441,0.134045],[-0.674066,-0.734928,-0.074270],[0.049314,-0.145094,0.988188]] 2025-10-28T17:41:31.621Z,1761673291.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725530,0.682153,0.090957],[-0.687456,-0.724504,-0.049984],[0.031802,-0.098793,0.994600]] 2025-10-28T17:41:31.983Z,1761673291.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724006,0.683876,0.090161],[-0.684865,-0.728263,0.024340],[0.082307,-0.044126,0.995630]] 2025-10-28T17:41:32.388Z,1761673292.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731223,0.674225,0.103602],[-0.671058,-0.738264,0.068173],[0.122450,-0.019673,0.992280]] 2025-10-28T17:41:32.392Z,1761673292.392 [NAL9602](INFO): SBD MO Status=0, MOMSN=3309, MT Status=0, MTMSN=0 2025-10-28T17:41:32.501Z,1761673292.501 [marl:NeedComms:D] Stopped 2025-10-28T17:41:32.501Z,1761673292.501 [marl:NeedComms:E] Running Loop=1 2025-10-28T17:41:32.796Z,1761673292.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724126,0.686814,0.062665],[-0.686759,-0.726426,0.025843],[0.063271,-0.024322,0.997700]] 2025-10-28T17:41:33.195Z,1761673293.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721001,0.692438,0.026212],[-0.692339,-0.718299,-0.068649],[-0.028707,-0.067644,0.997297]] 2025-10-28T17:41:33.618Z,1761673293.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743949,0.658915,0.111227],[-0.667654,-0.739877,-0.082579],[0.027882,-0.135696,0.990358]] 2025-10-28T17:41:34.004Z,1761673294.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759250,0.620332,0.196793],[-0.641354,-0.764533,-0.064457],[0.110470,-0.175153,0.978324]] 2025-10-28T17:41:34.407Z,1761673294.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768189,0.613435,0.183260],[-0.635202,-0.766053,-0.098393],[0.080029,-0.191991,0.978128]] 2025-10-28T17:41:34.810Z,1761673294.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781818,0.619199,0.073161],[-0.623162,-0.772089,-0.124693],[-0.020723,-0.143079,0.989494]] 2025-10-28T17:41:34.823Z,1761673294.823 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174134.00,A,3646.37899,N,12151.59549,W,0.428,262.71,281025,,,D*76 2025-10-28T17:41:34.834Z,1761673294.834 [NAL9602](INFO): GPS fix at 20251028T174134: (36.772983, -121.859925) 2025-10-28T17:41:34.855Z,1761673294.855 [marl:NeedComms:E] Stopped 2025-10-28T17:41:34.857Z,1761673294.857 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T17:41:34.857Z,1761673294.857 [marl:NeedComms] Stopped 2025-10-28T17:41:34.857Z,1761673294.857 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T17:41:34.857Z,1761673294.857 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T17:41:34.857Z,1761673294.857 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T17:41:34.858Z,1761673294.858 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761673344.00. Resetting abort timer. 2025-10-28T17:41:35.214Z,1761673295.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781067,0.623607,0.032366],[-0.623935,-0.777280,-0.080873],[-0.025276,-0.083361,0.996199]] 2025-10-28T17:41:35.626Z,1761673295.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756569,0.651395,0.057344],[-0.651098,-0.758538,0.026293],[0.060625,-0.017444,0.998008]] 2025-10-28T17:41:35.634Z,1761673295.634 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050421295542,35.0, +14.6, 0.0,1505 2025-10-28T17:41:36.022Z,1761673296.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776762,0.629122,0.029100],[-0.624611,-0.775461,0.092307],[0.080639,0.053525,0.995305]] 2025-10-28T17:41:36.056Z,1761673296.056 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:41:36.056Z,1761673296.056 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:41:36.056Z,1761673296.056 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateRudder:A] Stopped 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:41:36.057Z,1761673296.057 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateCommandMode] Stopped 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:41:36.058Z,1761673296.058 [marl:UpdateSpeed] Stopped 2025-10-28T17:41:36.059Z,1761673296.059 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:41:36.427Z,1761673296.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787984,0.611256,-0.073809],[-0.614893,-0.775157,0.145047],[0.031447,0.159679,0.986668]] 2025-10-28T17:41:36.466Z,1761673296.466 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:41:36.466Z,1761673296.466 [marl:UpdateRudder:B] Stopped 2025-10-28T17:41:36.466Z,1761673296.466 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:41:36.467Z,1761673296.467 [marl:UpdateRudder] Stopped 2025-10-28T17:41:36.467Z,1761673296.467 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:41:36.830Z,1761673296.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770379,0.629957,-0.098342],[-0.637257,-0.755808,0.150523],[0.020496,0.178629,0.983703]] 2025-10-28T17:41:37.236Z,1761673297.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773226,0.632417,-0.046592],[-0.633639,-0.767645,0.096040],[0.024971,0.103783,0.994286]] 2025-10-28T17:41:37.654Z,1761673297.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769553,0.637238,0.041421],[-0.637079,-0.770573,0.018653],[0.043805,-0.012034,0.998968]] 2025-10-28T17:41:38.043Z,1761673298.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767182,0.631291,0.113594],[-0.638340,-0.768779,-0.038731],[0.062879,-0.102225,0.992772]] 2025-10-28T17:41:38.446Z,1761673298.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751792,0.650586,0.107453],[-0.658821,-0.747918,-0.081078],[0.027617,-0.131746,0.990899]] 2025-10-28T17:41:38.851Z,1761673298.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746486,0.661457,0.072350],[-0.665086,-0.738361,-0.111732],[-0.020486,-0.131526,0.991101]] 2025-10-28T17:41:39.254Z,1761673299.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737943,0.671598,0.066300],[-0.674661,-0.736555,-0.048153],[0.016494,-0.080264,0.996637]] 2025-10-28T17:41:39.671Z,1761673299.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743137,0.663932,0.083319],[-0.661870,-0.747647,0.054331],[0.098365,-0.014771,0.995041]] 2025-10-28T17:41:40.064Z,1761673300.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754752,0.655980,-0.006382],[-0.655001,-0.753015,0.062795],[0.036386,0.051575,0.998006]] 2025-10-28T17:41:40.469Z,1761673300.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756643,0.651793,-0.051545],[-0.653060,-0.757222,0.011264],[-0.031689,0.042184,0.998607]] 2025-10-28T17:41:40.870Z,1761673300.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747869,0.663360,0.025383],[-0.663777,-0.746694,-0.042990],[-0.009564,-0.049000,0.998753]] 2025-10-28T17:41:41.275Z,1761673301.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742669,0.649735,0.162134],[-0.666112,-0.741643,-0.079126],[0.068835,-0.166764,0.983591]] 2025-10-28T17:41:41.683Z,1761673301.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767276,0.598823,0.229561],[-0.630105,-0.770551,-0.096013],[0.119394,-0.218315,0.968547]] 2025-10-28T17:41:42.084Z,1761673302.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791164,0.583641,0.182817],[-0.605136,-0.790363,-0.095582],[0.088706,-0.186250,0.978490]] 2025-10-28T17:41:42.487Z,1761673302.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772212,0.622704,0.126210],[-0.633694,-0.769230,-0.081956],[0.046050,-0.143266,0.988612]] 2025-10-28T17:41:42.890Z,1761673302.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749244,0.645148,0.149721],[-0.658913,-0.748935,-0.070216],[0.066832,-0.151262,0.986232]] 2025-10-28T17:41:43.295Z,1761673303.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740877,0.651761,0.162199],[-0.660195,-0.751090,0.002510],[0.123462,-0.105223,0.986755]] 2025-10-28T17:41:43.705Z,1761673303.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740340,0.656430,0.144899],[-0.649284,-0.754097,0.098834],[0.174145,-0.020909,0.984498]] 2025-10-28T17:41:44.103Z,1761673304.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726140,0.668563,0.160453],[-0.646326,-0.743347,0.172332],[0.234487,0.021432,0.971883]] 2025-10-28T17:41:44.507Z,1761673304.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710746,0.683114,0.167912],[-0.656364,-0.729864,0.191009],[0.253034,0.025547,0.967120]] 2025-10-28T17:41:44.911Z,1761673304.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734617,0.670692,0.102520],[-0.665163,-0.741720,0.086082],[0.133775,-0.004955,0.990999]] 2025-10-28T17:41:45.322Z,1761673305.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747869,0.658379,0.085025],[-0.662874,-0.747554,-0.041980],[0.035922,-0.087756,0.995494]] 2025-10-28T17:41:45.718Z,1761673305.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726480,0.673553,0.136209],[-0.683254,-0.729167,-0.038459],[0.073414,-0.121005,0.989933]] 2025-10-28T17:41:45.746Z,1761673305.746 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050421300542,35.0, +14.6, 0.0,1505.4,A, 0.00, 0.00, 0.00, 0.00, W, -225, -257, +43,A 2025-10-28T17:41:46.131Z,1761673306.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731309,0.649402,0.208483],[-0.662653,-0.748881,0.008253],[0.161489,-0.132117,0.977991]] 2025-10-28T17:41:46.527Z,1761673306.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769010,0.614766,0.175172],[-0.623640,-0.781692,0.005548],[0.140341,-0.104978,0.984522]] 2025-10-28T17:41:46.931Z,1761673306.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759216,0.642758,0.102243],[-0.647418,-0.761934,-0.017514],[0.066645,-0.079491,0.994605]] 2025-10-28T17:41:47.343Z,1761673307.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703410,0.701140,0.116693],[-0.708130,-0.705449,-0.029888],[0.061366,-0.103657,0.992718]] 2025-10-28T17:41:47.738Z,1761673307.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701432,0.689735,0.179607],[-0.706555,-0.706026,-0.048045],[0.093669,-0.160602,0.982565]] 2025-10-28T17:41:48.153Z,1761673308.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744371,0.638177,0.196574],[-0.656782,-0.752859,-0.042898],[0.120616,-0.161039,0.979550]] 2025-10-28T17:41:48.547Z,1761673308.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752703,0.616224,0.231745],[-0.635233,-0.772259,-0.009742],[0.172964,-0.154545,0.972728]] 2025-10-28T17:41:48.952Z,1761673308.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723056,0.639420,0.261403],[-0.653814,-0.755608,0.039811],[0.222975,-0.142123,0.964408]] 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateRudder:A] Stopped 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:41:48.977Z,1761673308.977 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode] Stopped 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:41:48.978Z,1761673308.978 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:41:48.979Z,1761673308.979 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:41:48.979Z,1761673308.979 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:41:48.979Z,1761673308.979 [marl:UpdateSpeed] Stopped 2025-10-28T17:41:48.979Z,1761673308.979 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:41:49.354Z,1761673309.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689596,0.678913,0.252059],[-0.691805,-0.720491,0.047942],[0.214155,-0.141315,0.966524]] 2025-10-28T17:41:49.423Z,1761673309.423 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:41:49.423Z,1761673309.423 [marl:UpdateRudder:B] Stopped 2025-10-28T17:41:49.423Z,1761673309.423 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:41:49.423Z,1761673309.423 [marl:UpdateRudder] Stopped 2025-10-28T17:41:49.423Z,1761673309.423 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:41:49.764Z,1761673309.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681800,0.716701,0.146589],[-0.720454,-0.692601,0.035357],[0.126868,-0.081504,0.988565]] 2025-10-28T17:41:50.164Z,1761673310.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700404,0.707397,0.094990],[-0.708877,-0.704957,0.023004],[0.083237,-0.051225,0.995212]] 2025-10-28T17:41:50.700Z,1761673310.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743403,0.646855,0.170086],[-0.658152,-0.752759,-0.013796],[0.119110,-0.122199,0.985333]] 2025-10-28T17:41:51.275Z,1761673311.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738151,0.648863,0.184688],[-0.662724,-0.748633,-0.018570],[0.126214,-0.136105,0.982622]] 2025-10-28T17:41:51.669Z,1761673311.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705171,0.678099,0.207159],[-0.692461,-0.721442,0.004373],[0.152418,-0.140365,0.978298]] 2025-10-28T17:41:52.071Z,1761673312.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710114,0.660477,0.243942],[-0.679406,-0.733710,0.008785],[0.184785,-0.159497,0.969750]] 2025-10-28T17:41:52.475Z,1761673312.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751818,0.618810,0.227692],[-0.636361,-0.771376,-0.004801],[0.172666,-0.148504,0.973721]] 2025-10-28T17:41:52.879Z,1761673312.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771650,0.610561,0.178247],[-0.618948,-0.785360,0.010650],[0.146490,-0.102108,0.983928]] 2025-10-28T17:41:52.904Z,1761673312.904 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:41:52.925Z,1761673312.925 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:41:52.925Z,1761673312.925 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:41:53.177Z,1761673313.177 [DAT](INFO): DAT read: user:78> 2025-10-28T17:41:53.178Z,1761673313.178 [DAT](INFO): DAT read: Tx time:17:41:52.9545 2025-10-28T17:41:53.178Z,1761673313.178 [DAT](INFO): Ping request sent. 2025-10-28T17:41:53.178Z,1761673313.178 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:41:53.178Z,1761673313.178 [DAT](INFO): publishing transmit ping time 2025-10-28T17:41:53.179Z,1761673313.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000953 2025-10-28T17:41:53.283Z,1761673313.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756453,0.629055,0.179078],[-0.633724,-0.772663,0.037223],[0.161782,-0.085328,0.983131]] 2025-10-28T17:41:53.429Z,1761673313.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250899 2025-10-28T17:41:53.681Z,1761673313.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033 2025-10-28T17:41:53.690Z,1761673313.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728380,0.646613,0.226613],[-0.654099,-0.754687,0.051003],[0.204001,-0.111078,0.972649]] 2025-10-28T17:41:53.933Z,1761673313.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903 2025-10-28T17:41:54.090Z,1761673314.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725769,0.636899,0.260037],[-0.645809,-0.761020,0.061474],[0.237047,-0.123318,0.963640]] 2025-10-28T17:41:54.185Z,1761673314.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007020 2025-10-28T17:41:54.437Z,1761673314.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258948 2025-10-28T17:41:54.495Z,1761673314.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745082,0.617478,0.252138],[-0.625209,-0.778267,0.058427],[0.232308,-0.114106,0.965926]] 2025-10-28T17:41:54.689Z,1761673314.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511000 2025-10-28T17:41:54.899Z,1761673314.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762291,0.601439,0.239131],[-0.602495,-0.794369,0.077314],[0.236458,-0.085140,0.967904]] 2025-10-28T17:41:54.941Z,1761673314.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763015 2025-10-28T17:41:55.193Z,1761673315.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914 2025-10-28T17:41:55.307Z,1761673315.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764004,0.592137,0.256266],[-0.594305,-0.800469,0.077791],[0.251196,-0.092867,0.963471]] 2025-10-28T17:41:55.445Z,1761673315.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266903 2025-10-28T17:41:55.697Z,1761673315.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519489 2025-10-28T17:41:55.721Z,1761673315.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754080,0.604965,0.255696],[-0.610955,-0.788997,0.064946],[0.241034,-0.107244,0.964573]] 2025-10-28T17:41:55.949Z,1761673315.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770956 2025-10-28T17:41:56.132Z,1761673316.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735709,0.628606,0.252163],[-0.632924,-0.770626,0.074443],[0.241119,-0.104832,0.964817]] 2025-10-28T17:41:56.201Z,1761673316.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023304 2025-10-28T17:41:56.453Z,1761673316.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274902 2025-10-28T17:41:56.519Z,1761673316.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736274,0.607496,0.298074],[-0.617612,-0.783287,0.070829],[0.276506,-0.131944,0.951911]] 2025-10-28T17:41:56.705Z,1761673316.705 [DAT](INFO): DAT read: Rx Time:17:41:56.0441 2025-10-28T17:41:56.705Z,1761673316.705 [DAT](INFO): Rx dataTimestamp_ set to:1761673316.705209 2025-10-28T17:41:56.706Z,1761673316.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528065 2025-10-28T17:41:56.923Z,1761673316.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749670,0.570673,0.335152],[-0.585780,-0.807839,0.065255],[0.307989,-0.147405,0.939901]] 2025-10-28T17:41:56.957Z,1761673316.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778889 2025-10-28T17:41:57.223Z,1761673317.223 [DAT](INFO): DAT read: 17:41:56.0441 LVL= 32752, 22673, 23986, 32755, AGC= 75, IDX= 87, 0.43,-0.636, 1.589, 0.499, 0.508, PHS=-1.042, 1.126,-0.052, RAW= 302.9, -0.3, CAL= 301.3, -4.2, ROT= 208.7, 4.2 2025-10-28T17:41:57.225Z,1761673317.225 [DAT](INFO): got valid direction response: 17:41:56.0441 LVL= 32752, 22673, 23986, 32755, AGC= 75, IDX= 87, 0.43,-0.636, 1.589, 0.499, 0.508, PHS=-1.042, 1.126,-0.052, RAW= 302.9, -0.3, CAL= 301.3, -4.2, ROT= 208.7, 4.2 2025-10-28T17:41:57.226Z,1761673317.226 [DAT](INFO): DAT read: Bearing 192.7, -44.9 (Local) 2025-10-28T17:41:57.226Z,1761673317.226 [DAT](INFO): Local bearing/azimuth received: Bearing 192.7, -44.9 (Local) 2025-10-28T17:41:57.227Z,1761673317.227 [DAT](INFO): DAT read: Range 11 to 20 : 514.0 m (Round-trip 685.4 ms) speed -1.2 m/s 2025-10-28T17:41:57.228Z,1761673317.228 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:41:57.229Z,1761673317.229 [DAT](INFO): direction in FSK: [-0.874791,-0.478934,-0.073238] 2025-10-28T17:41:57.230Z,1761673317.230 [DAT](INFO): publishing direction and range info 2025-10-28T17:41:57.337Z,1761673317.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755009,0.551490,0.354712],[-0.571585,-0.818621,0.056127],[0.321328,-0.160372,0.933289]] 2025-10-28T17:41:57.409Z,1761673317.409 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673344.00. Resetting abort timer. 2025-10-28T17:41:57.730Z,1761673317.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756950,0.540892,0.366692],[-0.562444,-0.824949,0.055816],[0.332693,-0.163994,0.928667]] 2025-10-28T17:41:57.732Z,1761673317.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:41:58.146Z,1761673318.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760348,0.535195,0.368019],[-0.557645,-0.828411,0.052599],[0.333022,-0.165231,0.928329]] 2025-10-28T17:41:58.539Z,1761673318.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761481,0.518546,0.388917],[-0.559665,-0.828669,0.009074],[0.326989,-0.210753,0.921228]] 2025-10-28T17:41:58.736Z,1761673318.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:41:58.943Z,1761673318.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764320,0.474573,0.436572],[-0.541152,-0.840235,-0.034039],[0.350669,-0.262269,0.899025]] 2025-10-28T17:41:59.347Z,1761673319.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767806,0.445844,0.460105],[-0.505954,-0.862518,-0.008533],[0.393045,-0.239344,0.887823]] 2025-10-28T17:41:59.757Z,1761673319.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766766,0.441665,0.465834],[-0.495233,-0.868719,0.008488],[0.408428,-0.224188,0.884831]] 2025-10-28T17:42:00.155Z,1761673320.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759749,0.449416,0.469901],[-0.520182,-0.853702,-0.024559],[0.390118,-0.263093,0.882377]] 2025-10-28T17:42:00.583Z,1761673320.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749028,0.470583,0.466378],[-0.555483,-0.829710,-0.054945],[0.361103,-0.300221,0.882877]] 2025-10-28T17:42:00.963Z,1761673320.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748220,0.488952,0.448435],[-0.565769,-0.823260,-0.046349],[0.346516,-0.288390,0.892613]] 2025-10-28T17:42:01.373Z,1761673321.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756381,0.501858,0.419556],[-0.553184,-0.833059,-0.000812],[0.349107,-0.232706,0.907729]] 2025-10-28T17:42:01.778Z,1761673321.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768987,0.505094,0.391841],[-0.532443,-0.845286,0.044680],[0.353785,-0.174275,0.918947]] 2025-10-28T17:42:02.175Z,1761673322.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777414,0.497491,0.384877],[-0.519771,-0.852702,0.052314],[0.354211,-0.159378,0.921484]] 2025-10-28T17:42:02.578Z,1761673322.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778854,0.483824,0.399126],[-0.515630,-0.856224,0.031721],[0.357088,-0.181096,0.916347]] 2025-10-28T17:42:02.636Z,1761673322.636 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:42:02.636Z,1761673322.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateRudder:A] Stopped 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:42:02.637Z,1761673322.637 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateCommandMode] Stopped 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:42:02.638Z,1761673322.638 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:42:02.639Z,1761673322.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:42:02.639Z,1761673322.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:42:02.639Z,1761673322.639 [marl:UpdateSpeed] Stopped 2025-10-28T17:42:02.639Z,1761673322.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:42:02.983Z,1761673322.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776572,0.471123,0.418306],[-0.513657,-0.857903,0.012636],[0.364819,-0.205053,0.908219]] 2025-10-28T17:42:03.065Z,1761673323.065 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:42:03.065Z,1761673323.065 [marl:UpdateRudder:B] Stopped 2025-10-28T17:42:03.066Z,1761673323.066 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:42:03.066Z,1761673323.066 [marl:UpdateRudder] Stopped 2025-10-28T17:42:03.066Z,1761673323.066 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:42:03.387Z,1761673323.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769009,0.473339,0.429623],[-0.519471,-0.854411,0.011518],[0.372527,-0.214319,0.902935]] 2025-10-28T17:42:03.793Z,1761673323.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767302,0.478537,0.426906],[-0.520362,-0.853672,0.021642],[0.374794,-0.205540,0.904037]] 2025-10-28T17:42:04.194Z,1761673324.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771683,0.482993,0.413792],[-0.520792,-0.853323,0.024803],[0.365078,-0.196359,0.910034]] 2025-10-28T17:42:04.609Z,1761673324.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780237,0.478011,0.403405],[-0.516392,-0.856207,0.015787],[0.352945,-0.195997,0.914885]] 2025-10-28T17:42:05.004Z,1761673325.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786615,0.469823,0.400628],[-0.511824,-0.859087,0.002521],[0.345359,-0.203068,0.916237]] 2025-10-28T17:42:05.407Z,1761673325.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791617,0.461124,0.400884],[-0.506674,-0.862092,-0.008882],[0.341503,-0.210149,0.916086]] 2025-10-28T17:42:05.810Z,1761673325.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795060,0.454556,0.401569],[-0.502980,-0.864117,-0.017705],[0.338955,-0.216058,0.915657]] 2025-10-28T17:42:06.214Z,1761673326.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795798,0.453061,0.401798],[-0.503019,-0.863994,-0.022050],[0.337161,-0.219659,0.915463]] 2025-10-28T17:42:06.626Z,1761673326.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796146,0.454794,0.399141],[-0.503421,-0.863812,-0.019894],[0.335735,-0.216775,0.916674]] 2025-10-28T17:42:07.023Z,1761673327.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798461,0.453934,0.395480],[-0.502000,-0.864610,-0.021117],[0.332350,-0.215392,0.918232]] 2025-10-28T17:42:07.430Z,1761673327.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802568,0.449902,0.391756],[-0.499578,-0.865777,-0.029179],[0.326046,-0.219131,0.919606]] 2025-10-28T17:42:07.434Z,1761673327.434 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T17:42:07.830Z,1761673327.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807146,0.445950,0.386837],[-0.496864,-0.867031,-0.037199],[0.318811,-0.222230,0.921398]] 2025-10-28T17:42:08.235Z,1761673328.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809451,0.443494,0.384841],[-0.496754,-0.866667,-0.046087],[0.313090,-0.228477,0.921831]] 2025-10-28T17:42:08.638Z,1761673328.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808674,0.444842,0.384918],[-0.500590,-0.864053,-0.053119],[0.308960,-0.235642,0.921421]] 2025-10-28T17:42:09.042Z,1761673329.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806230,0.450570,0.383379],[-0.506726,-0.860386,-0.054447],[0.305322,-0.238165,0.921985]] 2025-10-28T17:42:09.459Z,1761673329.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803798,0.460403,0.376748],[-0.513929,-0.856378,-0.049944],[0.299644,-0.233766,0.924969]] 2025-10-28T17:42:09.851Z,1761673329.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803697,0.471291,0.363258],[-0.520038,-0.853016,-0.043863],[0.289193,-0.224161,0.930655]] 2025-10-28T17:42:10.255Z,1761673330.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807621,0.478746,0.344311],[-0.522425,-0.851690,-0.041177],[0.273533,-0.213132,0.937952]] 2025-10-28T17:42:10.659Z,1761673330.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815298,0.479918,0.323987],[-0.519491,-0.853385,-0.043167],[0.255770,-0.203502,0.945076]] 2025-10-28T17:42:11.064Z,1761673331.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824974,0.474343,0.307274],[-0.511396,-0.857973,-0.048540],[0.240608,-0.197182,0.950382]] 2025-10-28T17:42:11.467Z,1761673331.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834036,0.464365,0.297908],[-0.501165,-0.863462,-0.057158],[0.230691,-0.196973,0.952882]] 2025-10-28T17:42:11.871Z,1761673331.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841925,0.451005,0.296238],[-0.489732,-0.869171,-0.068582],[0.226551,-0.202819,0.952649]] 2025-10-28T17:42:12.274Z,1761673332.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849251,0.435690,0.298239],[-0.477616,-0.874716,-0.082188],[0.225066,-0.212243,0.950946]] 2025-10-28T17:42:12.679Z,1761673332.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854610,0.425310,0.297917],[-0.470217,-0.877261,-0.096484],[0.220315,-0.222541,0.949703]] 2025-10-28T17:42:13.099Z,1761673333.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866074,0.411577,0.283759],[-0.458107,-0.880638,-0.120892],[0.200133,-0.234694,0.951244]] 2025-10-28T17:42:14.300Z,1761673334.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889374,0.379819,0.254461],[-0.424763,-0.892341,-0.152657],[0.169084,-0.243855,0.954958]] 2025-10-28T17:42:14.705Z,1761673334.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894177,0.373112,0.247456],[-0.418214,-0.893391,-0.164161],[0.159825,-0.250278,0.954891]] 2025-10-28T17:42:15.116Z,1761673335.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896989,0.370422,0.241244],[-0.415164,-0.893349,-0.171950],[0.151821,-0.254393,0.955110]] 2025-10-28T17:42:15.509Z,1761673335.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898478,0.370027,0.236259],[-0.414088,-0.893046,-0.176068],[0.145840,-0.256025,0.955606]] 2025-10-28T17:42:15.911Z,1761673335.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898967,0.371995,0.231253],[-0.414780,-0.892639,-0.176502],[0.140768,-0.254588,0.956749]] 2025-10-28T17:42:15.963Z,1761673335.963 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:42:15.963Z,1761673335.963 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateRudder:A] Stopped 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:42:15.964Z,1761673335.964 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateCommandMode] Stopped 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:42:15.965Z,1761673335.965 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:42:15.966Z,1761673335.966 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:42:15.966Z,1761673335.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:42:15.966Z,1761673335.966 [marl:UpdateSpeed] Stopped 2025-10-28T17:42:15.966Z,1761673335.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:42:16.315Z,1761673336.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898564,0.376644,0.225214],[-0.417596,-0.891621,-0.175000],[0.134893,-0.251297,0.958464]] 2025-10-28T17:42:16.413Z,1761673336.413 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:42:16.413Z,1761673336.413 [marl:UpdateRudder:B] Stopped 2025-10-28T17:42:16.414Z,1761673336.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:42:16.414Z,1761673336.414 [marl:UpdateRudder] Stopped 2025-10-28T17:42:16.414Z,1761673336.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:42:16.719Z,1761673336.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897360,0.384320,0.216893],[-0.422678,-0.889785,-0.172121],[0.126839,-0.246130,0.960901]] 2025-10-28T17:42:17.530Z,1761673337.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893150,0.408069,0.189110],[-0.437647,-0.885459,-0.156292],[0.103671,-0.222356,0.969438]] 2025-10-28T17:42:17.930Z,1761673337.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890598,0.421771,0.170129],[-0.445800,-0.883624,-0.143077],[0.089985,-0.203268,0.974979]] 2025-10-28T17:42:18.334Z,1761673338.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888279,0.434016,0.150299],[-0.452879,-0.882175,-0.129107],[0.076555,-0.182750,0.980174]] 2025-10-28T17:42:18.740Z,1761673338.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885999,0.444557,0.131815],[-0.459262,-0.880518,-0.117330],[0.063905,-0.164492,0.984306]] 2025-10-28T17:42:19.144Z,1761673339.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883101,0.455221,0.113609],[-0.466284,-0.878405,-0.104808],[0.052084,-0.145530,0.987982]] 2025-10-28T17:42:19.594Z,1761673339.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878707,0.468286,0.092646],[-0.475574,-0.875552,-0.085076],[0.041277,-0.118817,0.992058]] 2025-10-28T17:42:20.058Z,1761673340.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873612,0.481184,0.072561],[-0.485515,-0.871937,-0.063249],[0.032834,-0.090485,0.995356]] 2025-10-28T17:42:20.863Z,1761673340.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864558,0.500505,0.045094],[-0.501885,-0.864515,-0.026937],[0.025502,-0.045921,0.998620]] 2025-10-28T17:42:21.267Z,1761673341.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860100,0.508914,0.035137],[-0.509625,-0.860266,-0.014997],[0.022595,-0.030805,0.999270]] 2025-10-28T17:42:21.672Z,1761673341.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854495,0.518784,0.026498],[-0.519115,-0.854674,-0.007165],[0.018930,-0.019878,0.999623]] 2025-10-28T17:42:22.086Z,1761673342.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848196,0.529357,0.018568],[-0.529494,-0.848308,-0.003022],[0.014152,-0.012394,0.999823]] 2025-10-28T17:42:22.483Z,1761673342.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841531,0.540119,0.009890],[-0.540140,-0.841575,0.000574],[0.008633,-0.004859,0.999951]] 2025-10-28T17:42:22.883Z,1761673342.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834699,0.550699,0.002910],[-0.550699,-0.834704,0.001097],[0.003033,-0.000687,0.999995]] 2025-10-28T17:42:23.287Z,1761673343.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827508,0.561454,0.000196],[-0.561451,-0.827502,-0.003499],[-0.001802,-0.003005,0.999994]] 2025-10-28T17:42:23.691Z,1761673343.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819850,0.572578,-0.001151],[-0.572558,-0.819835,-0.006857],[-0.004870,-0.004963,0.999976]] 2025-10-28T17:42:24.100Z,1761673344.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811308,0.584614,-0.002391],[-0.584581,-0.811295,-0.008123],[-0.006689,-0.005193,0.999964]] 2025-10-28T17:42:24.504Z,1761673344.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801428,0.598082,-0.003167],[-0.598030,-0.801411,-0.010036],[-0.008541,-0.006149,0.999945]] 2025-10-28T17:42:24.907Z,1761673344.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789816,0.613338,-0.002668],[-0.613243,-0.789758,-0.014641],[-0.011087,-0.009928,0.999889]] 2025-10-28T17:42:25.313Z,1761673345.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776887,0.629634,-0.002759],[-0.629469,-0.776771,-0.019868],[-0.014653,-0.013699,0.999799]] 2025-10-28T17:42:25.714Z,1761673345.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762661,0.646782,-0.004708],[-0.646534,-0.762536,-0.023082],[-0.018519,-0.014560,0.999722]] 2025-10-28T17:42:26.118Z,1761673346.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746852,0.664937,-0.008454],[-0.664618,-0.746799,-0.023947],[-0.022236,-0.012266,0.999677]] 2025-10-28T17:42:26.523Z,1761673346.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730025,0.683326,-0.011382],[-0.682934,-0.730032,-0.025578],[-0.025788,-0.010899,0.999608]] 2025-10-28T17:42:26.929Z,1761673346.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712613,0.701393,-0.015195],[-0.700972,-0.712736,-0.025402],[-0.028647,-0.007450,0.999562]] 2025-10-28T17:42:27.330Z,1761673347.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694907,0.718786,-0.021221],[-0.718422,-0.695231,-0.022897],[-0.031212,-0.000666,0.999513]] 2025-10-28T17:42:27.734Z,1761673347.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677853,0.734516,-0.031661],[-0.734393,-0.678497,-0.017583],[-0.034397,0.011333,0.999344]] 2025-10-28T17:42:28.138Z,1761673348.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662713,0.747541,-0.044656],[-0.747898,-0.663715,-0.011476],[-0.038217,0.025793,0.998936]] 2025-10-28T17:42:28.553Z,1761673348.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651639,0.756522,-0.055136],[-0.757342,-0.652963,-0.008480],[-0.042418,0.036231,0.998443]] 2025-10-28T17:42:28.856Z,1761673348.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:42:28.947Z,1761673348.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645379,0.761544,-0.059464],[-0.762493,-0.646926,-0.009514],[-0.045714,0.039201,0.998185]] 2025-10-28T17:42:28.982Z,1761673348.982 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:42:28.982Z,1761673348.982 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:42:28.982Z,1761673348.982 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:42:28.983Z,1761673348.983 [marl:UpdateRudder:A] Stopped 2025-10-28T17:42:28.983Z,1761673348.983 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:42:29.350Z,1761673349.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641776,0.764746,-0.057340],[-0.765407,-0.643391,-0.014131],[-0.047699,0.034819,0.998255]] 2025-10-28T17:42:29.391Z,1761673349.391 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:42:29.391Z,1761673349.391 [marl:UpdateRudder:B] Stopped 2025-10-28T17:42:29.391Z,1761673349.391 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:42:29.391Z,1761673349.391 [marl:UpdateRudder] Stopped 2025-10-28T17:42:29.391Z,1761673349.391 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:42:29.392Z,1761673349.392 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:42:29.396Z,1761673349.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:42:29.400Z,1761673349.400 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:42:29.400Z,1761673349.400 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:42:29.400Z,1761673349.400 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateCommandMode] Stopped 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed] Stopped 2025-10-28T17:42:29.401Z,1761673349.401 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:42:29.758Z,1761673349.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638459,0.768042,-0.049808],[-0.768152,-0.639920,-0.021121],[-0.048095,0.024776,0.998535]] 2025-10-28T17:42:29.861Z,1761673349.861 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:42:30.160Z,1761673350.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634400,0.772027,-0.038885],[-0.771626,-0.635469,-0.027780],[-0.046157,0.012381,0.998857]] 2025-10-28T17:42:30.575Z,1761673350.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628544,0.777248,-0.028603],[-0.776644,-0.629188,-0.030781],[-0.041921,0.002868,0.999117]] 2025-10-28T17:42:30.966Z,1761673350.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617350,0.786499,-0.017282],[-0.785823,-0.617552,-0.033332],[-0.036888,-0.006997,0.999295]] 2025-10-28T17:42:31.370Z,1761673351.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600542,0.799549,-0.008398],[-0.798943,-0.600444,-0.034012],[-0.032237,-0.013717,0.999386]] 2025-10-28T17:42:31.779Z,1761673351.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582407,0.812885,-0.004428],[-0.812426,-0.582246,-0.030887],[-0.027685,-0.014391,0.999513]] 2025-10-28T17:42:32.179Z,1761673352.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563457,0.826129,-0.005178],[-0.825790,-0.563388,-0.025764],[-0.024201,-0.010241,0.999655]] 2025-10-28T17:42:32.593Z,1761673352.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543676,0.839245,-0.009209],[-0.838974,-0.543739,-0.021709],[-0.023227,-0.004076,0.999722]] 2025-10-28T17:42:32.988Z,1761673352.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524140,0.851467,-0.016761],[-0.851252,-0.524392,-0.019583],[-0.025463,0.004004,0.999668]] 2025-10-28T17:42:33.390Z,1761673353.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510060,0.859774,-0.025050],[-0.859659,-0.510531,-0.018544],[-0.028732,0.012076,0.999514]] 2025-10-28T17:42:33.795Z,1761673353.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501416,0.864635,-0.031435],[-0.864663,-0.502058,-0.017218],[-0.030670,0.018547,0.999357]] 2025-10-28T17:42:34.198Z,1761673354.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494698,0.868395,-0.034128],[-0.868551,-0.495374,-0.014940],[-0.029880,0.022251,0.999306]] 2025-10-28T17:42:34.608Z,1761673354.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487543,0.872518,-0.031842],[-0.872742,-0.488062,-0.010813],[-0.024976,0.022518,0.999434]] 2025-10-28T17:42:35.008Z,1761673355.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476454,0.878862,-0.024347],[-0.879025,-0.476728,-0.006696],[-0.017492,0.018212,0.999681]] 2025-10-28T17:42:35.411Z,1761673355.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460055,0.887728,-0.017001],[-0.887825,-0.460169,-0.003305],[-0.010757,0.013573,0.999850]] 2025-10-28T17:42:35.815Z,1761673355.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442407,0.896712,-0.013566],[-0.896793,-0.442451,-0.000258],[-0.006233,0.012052,0.999908]] 2025-10-28T17:42:36.219Z,1761673356.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426072,0.904546,-0.016100],[-0.904678,-0.426089,0.002532],[-0.004569,0.015644,0.999867]] 2025-10-28T17:42:36.631Z,1761673356.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413904,0.910067,-0.021483],[-0.910314,-0.413879,0.005808],[-0.003605,0.021960,0.999752]] 2025-10-28T17:42:37.027Z,1761673357.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404103,0.914400,-0.023931],[-0.914710,-0.404033,0.007923],[-0.002424,0.025092,0.999682]] 2025-10-28T17:42:37.431Z,1761673357.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395025,0.918353,-0.024164],[-0.918670,-0.394897,0.010043],[-0.000319,0.026166,0.999658]] 2025-10-28T17:42:37.834Z,1761673357.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385931,0.922321,-0.019530],[-0.922523,-0.385771,0.011536],[0.003106,0.022469,0.999743]] 2025-10-28T17:42:38.241Z,1761673358.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375371,0.926765,-0.014247],[-0.926848,-0.375198,0.013411],[0.007083,0.018239,0.999809]] 2025-10-28T17:42:38.646Z,1761673358.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362920,0.931770,-0.009683],[-0.931750,-0.362745,0.016090],[0.011480,0.014861,0.999824]] 2025-10-28T17:42:39.052Z,1761673359.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348191,0.937413,-0.004390],[-0.937287,-0.348056,0.018685],[0.015987,0.010621,0.999816]] 2025-10-28T17:42:39.451Z,1761673359.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330155,0.943916,0.004419],[-0.943699,-0.330175,0.020441],[0.020754,0.002578,0.999781]] 2025-10-28T17:42:39.856Z,1761673359.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309053,0.950965,0.012331],[-0.950695,-0.309265,0.023118],[0.025798,-0.004578,0.999657]] 2025-10-28T17:42:40.259Z,1761673360.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285690,0.958140,0.018653],[-0.957858,-0.286104,0.025538],[0.029806,-0.010571,0.999500]] 2025-10-28T17:42:40.666Z,1761673360.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262575,0.964706,0.019910],[-0.964381,-0.263059,0.027749],[0.032007,-0.011914,0.999417]] 2025-10-28T17:42:41.079Z,1761673361.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241554,0.970270,0.015121],[-0.969871,-0.241905,0.028865],[0.031664,-0.007693,0.999469]] 2025-10-28T17:42:41.472Z,1761673361.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223896,0.974583,0.007662],[-0.974171,-0.224024,0.028353],[0.029349,-0.001116,0.999569]] 2025-10-28T17:42:41.875Z,1761673361.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208293,0.978065,0.001828],[-0.977724,-0.208269,0.026075],[0.025884,0.003644,0.999658]] 2025-10-28T17:42:41.948Z,1761673361.948 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:42:41.949Z,1761673361.949 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:42:41.949Z,1761673361.949 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:42:41.949Z,1761673361.949 [marl:UpdateRudder:A] Stopped 2025-10-28T17:42:41.949Z,1761673361.949 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:42:42.279Z,1761673362.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195554,0.980692,-0.001198],[-0.980442,-0.195477,0.022844],[0.022169,0.005641,0.999738]] 2025-10-28T17:42:42.331Z,1761673362.331 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:42:42.331Z,1761673362.331 [marl:UpdateRudder:B] Stopped 2025-10-28T17:42:42.331Z,1761673362.331 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:42:42.331Z,1761673362.331 [marl:UpdateRudder] Stopped 2025-10-28T17:42:42.332Z,1761673362.332 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:42:42.686Z,1761673362.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185674,0.982610,-0.001714],[-0.982423,-0.185604,0.019902],[0.019238,0.005379,0.999800]] 2025-10-28T17:42:42.711Z,1761673362.711 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:42:42.711Z,1761673362.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:42:42.711Z,1761673362.711 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:42:42.712Z,1761673362.712 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:42:42.724Z,1761673362.724 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateCommandMode] Stopped 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:42:42.725Z,1761673362.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:42:42.726Z,1761673362.726 [marl:UpdateSpeed] Stopped 2025-10-28T17:42:42.726Z,1761673362.726 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:42:43.089Z,1761673363.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178642,0.983914,0.000691],[-0.983742,-0.178624,0.018564],[0.018389,0.002636,0.999827]] 2025-10-28T17:42:43.491Z,1761673363.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174141,0.984720,0.001380],[-0.984495,-0.174131,0.021188],[0.021105,0.002331,0.999775]] 2025-10-28T17:42:43.894Z,1761673363.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169148,0.985584,0.003503],[-0.985227,-0.169181,0.026550],[0.026760,0.001039,0.999641]] 2025-10-28T17:42:44.301Z,1761673364.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157809,0.987447,0.006690],[-0.986959,-0.157941,0.031075],[0.031741,-0.001699,0.999495]] 2025-10-28T17:42:44.706Z,1761673364.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140344,0.990071,0.007961],[-0.989490,-0.140535,0.034042],[0.034823,-0.003100,0.999389]] 2025-10-28T17:42:45.106Z,1761673365.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119968,0.992750,0.007467],[-0.992098,-0.120160,0.036107],[0.036742,-0.003076,0.999320]] 2025-10-28T17:42:45.510Z,1761673365.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098553,0.995116,0.005539],[-0.994393,-0.098693,0.037985],[0.038347,-0.001765,0.999263]] 2025-10-28T17:42:45.915Z,1761673365.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076608,0.997060,0.001725],[-0.996255,-0.076616,0.040088],[0.040102,0.001352,0.999195]] 2025-10-28T17:42:46.319Z,1761673366.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055678,0.998436,-0.005037],[-0.997528,-0.055409,0.043227],[0.042881,0.007432,0.999053]] 2025-10-28T17:42:46.733Z,1761673366.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017466,0.999661,-0.019326],[-0.998395,-0.016396,0.054200],[0.053865,0.020241,0.998343]] 2025-10-28T17:42:47.134Z,1761673367.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001182,0.999776,-0.021125],[-0.998123,0.002473,0.061193],[0.061232,0.021013,0.997902]] 2025-10-28T17:42:47.552Z,1761673367.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019782,0.999604,-0.019994],[-0.997583,0.021067,0.066215],[0.066610,0.018636,0.997605]] 2025-10-28T17:42:47.939Z,1761673367.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037239,0.999190,-0.015270],[-0.997025,0.038182,0.066964],[0.067492,0.012731,0.997639]] 2025-10-28T17:42:48.343Z,1761673368.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051365,0.998635,-0.009530],[-0.996592,0.051872,0.064138],[0.064545,0.006203,0.997896]] 2025-10-28T17:42:48.760Z,1761673368.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061619,0.998096,-0.002764],[-0.996282,0.061674,0.060161],[0.060217,-0.000953,0.998185]] 2025-10-28T17:42:49.149Z,1761673369.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069590,0.997576,0.000322],[-0.995907,0.069454,0.057842],[0.057679,-0.004346,0.998326]] 2025-10-28T17:42:49.606Z,1761673369.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076723,0.997047,0.003125],[-0.995336,0.076407,0.058898],[0.058485,-0.007629,0.998259]] 2025-10-28T17:42:49.955Z,1761673369.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083976,0.996459,0.004107],[-0.994484,0.083548,0.063413],[0.062846,-0.009409,0.997979]] 2025-10-28T17:42:50.359Z,1761673370.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091542,0.995794,0.003897],[-0.993356,0.091043,0.070396],[0.069745,-0.010315,0.997512]] 2025-10-28T17:42:50.772Z,1761673370.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099860,0.994997,0.003044],[-0.991932,0.099312,0.078788],[0.078091,-0.010887,0.996887]] 2025-10-28T17:42:51.168Z,1761673371.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111396,0.993775,-0.001335],[-0.990040,0.111093,0.086486],[0.086096,-0.008312,0.996252]] 2025-10-28T17:42:51.617Z,1761673371.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128310,0.991728,-0.003351],[-0.987368,0.128061,0.093299],[0.092956,-0.008662,0.995633]] 2025-10-28T17:42:51.977Z,1761673371.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148099,0.988944,-0.007504],[-0.983889,0.148101,0.100144],[0.100148,-0.007448,0.994945]] 2025-10-28T17:42:52.378Z,1761673372.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169284,0.985502,-0.011369],[-0.979794,0.169528,0.106129],[0.106517,-0.006827,0.994287]] 2025-10-28T17:42:52.791Z,1761673372.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191455,0.981370,-0.016064],[-0.975197,0.192052,0.110035],[0.111070,-0.005401,0.993798]] 2025-10-28T17:42:53.190Z,1761673373.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214656,0.976474,-0.020528],[-0.970119,0.215599,0.111291],[0.113098,-0.003975,0.993576]] 2025-10-28T17:42:53.216Z,1761673373.216 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:42:53.433Z,1761673373.433 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:42:53.433Z,1761673373.433 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:42:53.617Z,1761673373.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238517,0.970804,-0.025478],[-0.964606,0.239869,0.109538],[0.112451,-0.001550,0.993656]] 2025-10-28T17:42:53.685Z,1761673373.685 [DAT](INFO): DAT read: user:79> 2025-10-28T17:42:53.686Z,1761673373.686 [DAT](INFO): DAT read: Tx time:17:42:53.4543 2025-10-28T17:42:53.686Z,1761673373.686 [DAT](INFO): Ping request sent. 2025-10-28T17:42:53.686Z,1761673373.686 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:42:53.686Z,1761673373.686 [DAT](INFO): publishing transmit ping time 2025-10-28T17:42:53.687Z,1761673373.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T17:42:53.938Z,1761673373.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252338 2025-10-28T17:42:53.995Z,1761673373.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260270,0.965026,-0.031377],[-0.959088,0.262145,0.106909],[0.111395,0.002268,0.993774]] 2025-10-28T17:42:54.189Z,1761673374.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978 2025-10-28T17:42:54.399Z,1761673374.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277308,0.960021,-0.038197],[-0.954273,0.279831,0.105153],[0.111638,0.007291,0.993722]] 2025-10-28T17:42:54.441Z,1761673374.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755047 2025-10-28T17:42:54.693Z,1761673374.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916 2025-10-28T17:42:54.806Z,1761673374.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290077,0.956021,-0.043343],[-0.950313,0.293100,0.104867],[0.112959,0.010770,0.993541]] 2025-10-28T17:42:54.945Z,1761673374.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258971 2025-10-28T17:42:55.197Z,1761673375.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868 2025-10-28T17:42:55.219Z,1761673375.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300143,0.952873,-0.044125],[-0.946994,0.303207,0.106152],[0.114529,0.009925,0.993370]] 2025-10-28T17:42:55.449Z,1761673375.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763024 2025-10-28T17:42:55.650Z,1761673375.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307871,0.950544,-0.041006],[-0.944255,0.310548,0.109283],[0.116613,0.005075,0.993164]] 2025-10-28T17:42:55.701Z,1761673375.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015130 2025-10-28T17:42:55.705Z,1761673375.705 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:42:55.705Z,1761673375.705 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:42:55.705Z,1761673375.705 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:42:55.706Z,1761673375.706 [marl:UpdateRudder:A] Stopped 2025-10-28T17:42:55.706Z,1761673375.706 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:42:55.953Z,1761673375.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266927 2025-10-28T17:42:56.019Z,1761673376.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316614,0.947911,-0.034916],[-0.941206,0.318522,0.112584],[0.117842,-0.002782,0.993028]] 2025-10-28T17:42:56.068Z,1761673376.068 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:42:56.068Z,1761673376.068 [marl:UpdateRudder:B] Stopped 2025-10-28T17:42:56.068Z,1761673376.068 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:42:56.068Z,1761673376.068 [marl:UpdateRudder] Stopped 2025-10-28T17:42:56.068Z,1761673376.068 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:42:56.206Z,1761673376.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519566 2025-10-28T17:42:56.423Z,1761673376.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326024,0.944938,-0.028290],[-0.937882,0.327057,0.115803],[0.118679,-0.011222,0.992869]] 2025-10-28T17:42:56.458Z,1761673376.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772454 2025-10-28T17:42:56.527Z,1761673376.527 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:42:56.532Z,1761673376.532 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:42:56.532Z,1761673376.532 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateCommandMode] Stopped 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:42:56.533Z,1761673376.533 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:42:56.534Z,1761673376.534 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:42:56.534Z,1761673376.534 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:42:56.534Z,1761673376.534 [marl:UpdateSpeed] Stopped 2025-10-28T17:42:56.535Z,1761673376.535 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:42:56.709Z,1761673376.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022914 2025-10-28T17:42:56.835Z,1761673376.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337015,0.941214,-0.023197],[-0.933954,0.337325,0.118077],[0.118960,-0.018129,0.992734]] 2025-10-28T17:42:56.961Z,1761673376.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274934 2025-10-28T17:42:57.214Z,1761673377.214 [DAT](INFO): DAT read: Rx Time:17:42:56.6086 2025-10-28T17:42:57.214Z,1761673377.214 [DAT](INFO): Rx dataTimestamp_ set to:1761673377.214066 2025-10-28T17:42:57.215Z,1761673377.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528960 2025-10-28T17:42:57.231Z,1761673377.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348533,0.937051,-0.021432],[-0.929647,0.348514,0.119560],[0.119503,-0.021746,0.992596]] 2025-10-28T17:42:57.466Z,1761673377.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780003 2025-10-28T17:42:57.635Z,1761673377.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360636,0.932368,-0.025138],[-0.924803,0.360951,0.120222],[0.121165,-0.020109,0.992429]] 2025-10-28T17:42:57.718Z,1761673377.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031784 2025-10-28T17:42:57.974Z,1761673377.974 [DAT](INFO): DAT read: 17:42:56.6086 LVL= 26800, 23409, 29474, 31635, AGC= 72, IDX= 62,-0.24,-1.376,-0.460,-2.274,-0.977, PHS=-0.297, 0.562,-1.341, RAW= 3.2, 13.0, CAL= 3.4, 15.6, ROT= 146.6, -15.6 2025-10-28T17:42:57.975Z,1761673377.975 [DAT](INFO): got valid direction response: 17:42:56.6086 LVL= 26800, 23409, 29474, 31635, AGC= 72, IDX= 62,-0.24,-1.376,-0.460,-2.274,-0.977, PHS=-0.297, 0.562,-1.341, RAW= 3.2, 13.0, CAL= 3.4, 15.6, ROT= 146.6, -15.6 2025-10-28T17:42:57.976Z,1761673377.976 [DAT](INFO): DAT read: Bearing 236.2, 25.2 (Local) 2025-10-28T17:42:57.977Z,1761673377.977 [DAT](INFO): Local bearing/azimuth received: Bearing 236.2, 25.2 (Local) 2025-10-28T17:42:57.978Z,1761673377.978 [DAT](INFO): DAT read: Range 11 to 20 : 562.5 m (Round-trip 750.1 ms) speed -1.5 m/s 2025-10-28T17:42:57.979Z,1761673377.979 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:42:57.980Z,1761673377.980 [DAT](INFO): direction in FSK: [-0.804094,0.530202,0.268920] 2025-10-28T17:42:57.980Z,1761673377.980 [DAT](INFO): publishing direction and range info 2025-10-28T17:42:58.055Z,1761673378.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373594,0.927040,-0.031993],[-0.919229,0.374626,0.121130],[0.124277,-0.015845,0.992121]] 2025-10-28T17:42:58.131Z,1761673378.131 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673344.00. Resetting abort timer. 2025-10-28T17:42:58.443Z,1761673378.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388751,0.920477,-0.039935],[-0.912503,0.390649,0.121373],[0.127321,-0.010743,0.991803]] 2025-10-28T17:42:58.847Z,1761673378.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401989,0.914642,-0.042827],[-0.906381,0.404123,0.123122],[0.129920,-0.010676,0.991467]] 2025-10-28T17:42:59.251Z,1761673379.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411206,0.910820,-0.036286],[-0.902084,0.412336,0.127373],[0.130976,-0.019643,0.991191]] 2025-10-28T17:42:59.663Z,1761673379.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416032,0.909126,-0.020177],[-0.899949,0.414812,0.134247],[0.130417,-0.037693,0.990743]] 2025-10-28T17:42:59.996Z,1761673379.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:43:00.061Z,1761673380.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415968,0.909371,0.003956],[-0.900030,0.411066,0.144813],[0.130063,-0.063798,0.989451]] 2025-10-28T17:43:00.463Z,1761673380.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412920,0.910279,0.029806],[-0.901269,0.403681,0.157341],[0.131192,-0.091832,0.987094]] 2025-10-28T17:43:00.874Z,1761673380.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410069,0.910315,0.056310],[-0.902224,0.395835,0.171191],[0.133548,-0.121004,0.983627]] 2025-10-28T17:43:01.001Z,1761673381.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:43:01.273Z,1761673381.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409406,0.908618,0.082470],[-0.902180,0.389722,0.184902],[0.135864,-0.150102,0.979291]] 2025-10-28T17:43:01.476Z,1761673381.476 [Radio_Surface](INFO): Powering down 2025-10-28T17:43:01.674Z,1761673381.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410370,0.905791,0.105547],[-0.901470,0.385470,0.196885],[0.137651,-0.175943,0.974729]] 2025-10-28T17:43:02.078Z,1761673382.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412399,0.902406,0.124861],[-0.900430,0.382944,0.206350],[0.138397,-0.197527,0.970479]] 2025-10-28T17:43:02.483Z,1761673382.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415137,0.899093,0.138899],[-0.899179,0.382282,0.212927],[0.138343,-0.213289,0.967145]] 2025-10-28T17:43:02.895Z,1761673382.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418250,0.896321,0.147225],[-0.897811,0.383342,0.216758],[0.137847,-0.222839,0.965060]] 2025-10-28T17:43:03.290Z,1761673383.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421783,0.894509,0.148163],[-0.896218,0.386533,0.217680],[0.137447,-0.224601,0.964709]] 2025-10-28T17:43:03.695Z,1761673383.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425177,0.893490,0.144567],[-0.894569,0.390525,0.217338],[0.137732,-0.221732,0.965331]] 2025-10-28T17:43:04.098Z,1761673384.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428826,0.892787,0.137988],[-0.892806,0.395521,0.215547],[0.137860,-0.215628,0.966695]] 2025-10-28T17:43:04.504Z,1761673384.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431941,0.891959,0.133549],[-0.891335,0.399573,0.214158],[0.137658,-0.211540,0.967626]] 2025-10-28T17:43:04.906Z,1761673384.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434458,0.891328,0.129538],[-0.890189,0.403028,0.212443],[0.137149,-0.207611,0.968549]] 2025-10-28T17:43:05.310Z,1761673385.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435675,0.891203,0.126273],[-0.889702,0.405115,0.210506],[0.136448,-0.204058,0.969403]] 2025-10-28T17:43:05.714Z,1761673385.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435824,0.891588,0.122998],[-0.889845,0.406345,0.207506],[0.135031,-0.199885,0.970470]] 2025-10-28T17:43:06.121Z,1761673386.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434606,0.892858,0.117990],[-0.890711,0.406738,0.202973],[0.133235,-0.193309,0.972049]] 2025-10-28T17:43:06.535Z,1761673386.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432010,0.894576,0.114465],[-0.892266,0.405482,0.198609],[0.131257,-0.187934,0.973372]] 2025-10-28T17:43:06.926Z,1761673386.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429192,0.895916,0.114581],[-0.893773,0.402981,0.196917],[0.130247,-0.186925,0.973702]] 2025-10-28T17:43:07.331Z,1761673387.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427346,0.896943,0.113441],[-0.894547,0.401313,0.196809],[0.131001,-0.185584,0.973857]] 2025-10-28T17:43:07.736Z,1761673387.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427399,0.897151,0.111582],[-0.894182,0.401297,0.198493],[0.133301,-0.184610,0.973730]] 2025-10-28T17:43:08.139Z,1761673388.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429662,0.896162,0.110835],[-0.892622,0.402971,0.202090],[0.136443,-0.185764,0.973075]] 2025-10-28T17:43:08.546Z,1761673388.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433546,0.894485,0.109242],[-0.890251,0.406371,0.205710],[0.139612,-0.186438,0.972496]] 2025-10-28T17:43:08.947Z,1761673388.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439595,0.891355,0.110646],[-0.887029,0.411458,0.209482],[0.141196,-0.190234,0.971532]] 2025-10-28T17:43:08.971Z,1761673388.971 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:43:08.971Z,1761673388.971 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:43:08.971Z,1761673388.971 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:43:08.972Z,1761673388.972 [marl:UpdateRudder:A] Stopped 2025-10-28T17:43:08.972Z,1761673388.972 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:43:09.353Z,1761673389.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447260,0.887053,0.114433],[-0.883293,0.417969,0.212357],[0.140543,-0.196057,0.970469]] 2025-10-28T17:43:09.377Z,1761673389.377 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:43:09.377Z,1761673389.377 [marl:UpdateRudder:B] Stopped 2025-10-28T17:43:09.377Z,1761673389.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:43:09.377Z,1761673389.377 [marl:UpdateRudder] Stopped 2025-10-28T17:43:09.377Z,1761673389.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:43:09.759Z,1761673389.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453889,0.882945,0.119967],[-0.880279,0.423438,0.214030],[0.138178,-0.202750,0.969432]] 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:43:09.859Z,1761673389.859 [marl:UpdateCommandMode] Stopped 2025-10-28T17:43:09.860Z,1761673389.860 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:43:09.860Z,1761673389.860 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed] Stopped 2025-10-28T17:43:09.861Z,1761673389.861 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:43:10.158Z,1761673390.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456648,0.880463,0.127503],[-0.879124,0.424609,0.216442],[0.136430,-0.210929,0.967934]] 2025-10-28T17:43:10.160Z,1761673390.160 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2025-10-28T17:43:10.562Z,1761673390.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457243,0.879704,0.130577],[-0.878946,0.424617,0.217150],[0.135582,-0.214060,0.967365]] 2025-10-28T17:43:10.974Z,1761673390.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456620,0.880373,0.128226],[-0.879183,0.424474,0.216471],[0.136147,-0.211579,0.967832]] 2025-10-28T17:43:11.370Z,1761673391.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454606,0.882730,0.118829],[-0.879841,0.424292,0.214139],[0.138609,-0.201900,0.969548]] 2025-10-28T17:43:11.779Z,1761673391.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454253,0.884205,0.108789],[-0.879504,0.425654,0.212817],[0.141867,-0.192353,0.971017]] 2025-10-28T17:43:12.178Z,1761673392.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457577,0.883473,0.100492],[-0.877416,0.430318,0.212057],[0.144103,-0.185206,0.972077]] 2025-10-28T17:43:12.583Z,1761673392.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462715,0.881306,0.095886],[-0.874501,0.436030,0.212427],[0.145404,-0.182146,0.972461]] 2025-10-28T17:43:12.987Z,1761673392.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468446,0.878316,0.095499],[-0.871523,0.441660,0.213035],[0.144934,-0.183026,0.972366]] 2025-10-28T17:43:13.391Z,1761673393.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472798,0.875750,0.097595],[-0.869476,0.445668,0.213054],[0.143087,-0.185588,0.972154]] 2025-10-28T17:43:13.796Z,1761673393.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474894,0.874125,0.101891],[-0.868682,0.447067,0.213358],[0.140950,-0.189834,0.971646]] 2025-10-28T17:43:14.198Z,1761673394.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474346,0.874025,0.105241],[-0.869208,0.446040,0.213367],[0.139547,-0.192686,0.971287]] 2025-10-28T17:43:14.604Z,1761673394.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472963,0.874330,0.108871],[-0.870100,0.444040,0.213904],[0.138679,-0.195897,0.970769]] 2025-10-28T17:43:15.023Z,1761673395.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471157,0.875298,0.108922],[-0.871087,0.442332,0.213423],[0.138629,-0.195437,0.970869]] 2025-10-28T17:43:15.412Z,1761673395.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470074,0.875933,0.108496],[-0.871656,0.441390,0.213049],[0.138728,-0.194720,0.970999]] 2025-10-28T17:43:15.814Z,1761673395.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470567,0.875841,0.107094],[-0.871424,0.442243,0.212231],[0.138519,-0.193193,0.971334]] 2025-10-28T17:43:16.219Z,1761673396.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472786,0.875024,0.103948],[-0.870259,0.445155,0.210919],[0.138286,-0.190181,0.971961]] 2025-10-28T17:43:16.626Z,1761673396.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476608,0.873164,0.102127],[-0.868247,0.449318,0.210383],[0.137812,-0.188942,0.972270]] 2025-10-28T17:43:17.034Z,1761673397.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481409,0.870598,0.101508],[-0.865674,0.454122,0.210672],[0.137314,-0.189292,0.972272]] 2025-10-28T17:43:17.430Z,1761673397.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486730,0.867706,0.100897],[-0.862804,0.459460,0.210870],[0.136615,-0.189691,0.972293]] 2025-10-28T17:43:17.835Z,1761673397.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491494,0.864902,0.101875],[-0.860377,0.464119,0.210584],[0.134852,-0.191152,0.972253]] 2025-10-28T17:43:18.239Z,1761673398.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495443,0.862482,0.103253],[-0.858651,0.468299,0.208361],[0.131354,-0.191890,0.972587]] 2025-10-28T17:43:18.645Z,1761673398.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499304,0.859583,0.108681],[-0.857258,0.471918,0.205919],[0.125716,-0.195984,0.972515]] 2025-10-28T17:43:19.047Z,1761673399.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502510,0.857005,0.114129],[-0.856440,0.475365,0.201342],[0.118298,-0.198921,0.972849]] 2025-10-28T17:43:19.452Z,1761673399.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503682,0.855530,0.119888],[-0.856952,0.477251,0.194591],[0.109262,-0.200750,0.973530]] 2025-10-28T17:43:19.855Z,1761673399.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503052,0.855232,0.124566],[-0.858548,0.477973,0.185575],[0.099170,-0.200300,0.974703]] 2025-10-28T17:43:20.260Z,1761673400.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501257,0.855590,0.129256],[-0.860747,0.477725,0.175766],[0.088634,-0.199360,0.975910]] 2025-10-28T17:43:20.664Z,1761673400.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498948,0.856771,0.130360],[-0.863059,0.477594,0.164415],[0.078607,-0.194544,0.977739]] 2025-10-28T17:43:21.067Z,1761673401.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496510,0.858083,0.131041],[-0.865226,0.477108,0.154117],[0.069725,-0.189901,0.979324]] 2025-10-28T17:43:21.470Z,1761673401.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494002,0.859704,0.129890],[-0.867217,0.476471,0.144604],[0.062428,-0.184077,0.980927]] 2025-10-28T17:43:22.278Z,1761673402.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488504,0.863655,0.124353],[-0.870894,0.473786,0.130656],[0.053925,-0.172124,0.983598]] 2025-10-28T17:43:22.315Z,1761673402.315 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:43:22.316Z,1761673402.316 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:43:22.316Z,1761673402.316 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:43:22.316Z,1761673402.316 [marl:UpdateRudder:A] Stopped 2025-10-28T17:43:22.317Z,1761673402.317 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:43:22.684Z,1761673402.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487402,0.864547,0.122464],[-0.871643,0.473426,0.126913],[0.051745,-0.168603,0.984325]] 2025-10-28T17:43:22.724Z,1761673402.724 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:43:22.728Z,1761673402.728 [marl:UpdateRudder:B] Stopped 2025-10-28T17:43:22.728Z,1761673402.728 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:43:22.728Z,1761673402.728 [marl:UpdateRudder] Stopped 2025-10-28T17:43:22.728Z,1761673402.728 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:43:23.095Z,1761673403.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489322,0.863541,0.121906],[-0.870689,0.475776,0.124649],[0.049640,-0.167136,0.984684]] 2025-10-28T17:43:23.120Z,1761673403.120 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:43:23.120Z,1761673403.120 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:43:23.120Z,1761673403.120 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateCommandMode] Stopped 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:43:23.121Z,1761673403.121 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:43:23.122Z,1761673403.122 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:43:23.122Z,1761673403.122 [marl:UpdateSpeed] Stopped 2025-10-28T17:43:23.122Z,1761673403.122 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:43:23.499Z,1761673403.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493718,0.861052,0.121789],[-0.868351,0.480569,0.122554],[0.046997,-0.166263,0.984961]] 2025-10-28T17:43:23.894Z,1761673403.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499117,0.857400,0.125485],[-0.865430,0.485917,0.122132],[0.043740,-0.169557,0.984549]] 2025-10-28T17:43:24.298Z,1761673404.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504948,0.853087,0.131413],[-0.862246,0.491574,0.122009],[0.039485,-0.174919,0.983791]] 2025-10-28T17:43:24.704Z,1761673404.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510893,0.848349,0.138896],[-0.858982,0.497448,0.121224],[0.033747,-0.181241,0.982859]] 2025-10-28T17:43:25.109Z,1761673405.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516978,0.843317,0.146798],[-0.855574,0.503668,0.119628],[0.026947,-0.187442,0.981906]] 2025-10-28T17:43:25.518Z,1761673405.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522441,0.838739,0.153533],[-0.852437,0.509504,0.117291],[0.020151,-0.192155,0.981158]] 2025-10-28T17:43:25.915Z,1761673405.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526610,0.834819,0.160497],[-0.849985,0.513870,0.116026],[0.014386,-0.197521,0.980193]] 2025-10-28T17:43:26.319Z,1761673406.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528943,0.832176,0.166439],[-0.848599,0.516335,0.115231],[0.009954,-0.202190,0.979296]] 2025-10-28T17:43:26.724Z,1761673406.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529905,0.830601,0.171182],[-0.848034,0.517515,0.114085],[0.006170,-0.205622,0.978612]] 2025-10-28T17:43:27.128Z,1761673407.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529778,0.829893,0.174965],[-0.848132,0.517723,0.112401],[0.002697,-0.207942,0.978137]] 2025-10-28T17:43:27.535Z,1761673407.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528659,0.829651,0.179441],[-0.848834,0.516978,0.110521],[-0.001073,-0.210743,0.977541]] 2025-10-28T17:43:27.935Z,1761673407.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527280,0.830225,0.180836],[-0.849677,0.516452,0.106429],[-0.005033,-0.209770,0.977738]] 2025-10-28T17:43:28.339Z,1761673408.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525704,0.831143,0.181208],[-0.850622,0.515819,0.101851],[-0.008818,-0.207683,0.978157]] 2025-10-28T17:43:28.752Z,1761673408.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523823,0.832748,0.179277],[-0.851751,0.514861,0.097154],[-0.011398,-0.203591,0.978990]] 2025-10-28T17:43:29.147Z,1761673409.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521163,0.835322,0.175007],[-0.853378,0.512838,0.093506],[-0.011642,-0.198079,0.980117]] 2025-10-28T17:43:29.611Z,1761673409.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514794,0.841525,0.163775],[-0.857294,0.506584,0.091755],[-0.005752,-0.187639,0.982221]] 2025-10-28T17:43:30.359Z,1761673410.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514987,0.842157,0.159875],[-0.857192,0.506646,0.092367],[-0.003212,-0.184612,0.982806]] 2025-10-28T17:43:30.772Z,1761673410.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518406,0.840599,0.156998],[-0.855133,0.510018,0.092897],[-0.001983,-0.182412,0.983220]] 2025-10-28T17:43:31.132Z,1761673411.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:43:31.177Z,1761673411.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522315,0.838558,0.154947],[-0.852752,0.513789,0.093990],[-0.000794,-0.181223,0.983442]] 2025-10-28T17:43:31.611Z,1761673411.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529000,0.835060,0.151108],[-0.848620,0.520113,0.096578],[0.002055,-0.179323,0.983788]] 2025-10-28T17:43:32.136Z,1761673412.136 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T17:43:32.136Z,1761673412.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:43:32.385Z,1761673412.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532287,0.833439,0.148495],[-0.846538,0.522638,0.101110],[0.006660,-0.179526,0.983731]] 2025-10-28T17:43:32.795Z,1761673412.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533614,0.832572,0.148593],[-0.845671,0.523242,0.105154],[0.009799,-0.181773,0.983292]] 2025-10-28T17:43:33.191Z,1761673413.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535110,0.831502,0.149201],[-0.844676,0.523829,0.110120],[0.013410,-0.184952,0.982656]] 2025-10-28T17:43:33.619Z,1761673413.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537397,0.829835,0.150258],[-0.843160,0.525120,0.115457],[0.016907,-0.188738,0.981882]] 2025-10-28T17:43:34.002Z,1761673414.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540246,0.827916,0.150627],[-0.841255,0.526981,0.120756],[0.020598,-0.191954,0.981188]] 2025-10-28T17:43:34.400Z,1761673414.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544076,0.825543,0.149868],[-0.838699,0.530049,0.125033],[0.023783,-0.193722,0.980768]] 2025-10-28T17:43:34.814Z,1761673414.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548371,0.822824,0.149162],[-0.835796,0.533515,0.129642],[0.027092,-0.195760,0.980277]] 2025-10-28T17:43:35.206Z,1761673415.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553316,0.819516,0.149115],[-0.832412,0.537451,0.135046],[0.030530,-0.198848,0.979555]] 2025-10-28T17:43:35.249Z,1761673415.249 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:43:35.249Z,1761673415.249 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:43:35.249Z,1761673415.249 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:43:35.250Z,1761673415.250 [marl:UpdateRudder:A] Stopped 2025-10-28T17:43:35.250Z,1761673415.250 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:43:35.616Z,1761673415.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559167,0.815911,0.147040],[-0.828367,0.542620,0.139185],[0.033775,-0.199631,0.979289]] 2025-10-28T17:43:35.711Z,1761673415.711 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:43:35.711Z,1761673415.711 [marl:UpdateRudder:B] Stopped 2025-10-28T17:43:35.711Z,1761673415.711 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:43:35.711Z,1761673415.711 [marl:UpdateRudder] Stopped 2025-10-28T17:43:35.711Z,1761673415.711 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:43:36.018Z,1761673416.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565381,0.812264,0.143426],[-0.823986,0.548334,0.142748],[0.037304,-0.198888,0.979312]] 2025-10-28T17:43:36.418Z,1761673416.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571808,0.808392,0.139776],[-0.819401,0.554417,0.145615],[0.040220,-0.197796,0.979418]] 2025-10-28T17:43:36.449Z,1761673416.449 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:43:36.449Z,1761673416.449 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:43:36.449Z,1761673416.449 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateCommandMode] Stopped 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:43:36.450Z,1761673416.450 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:43:36.451Z,1761673416.451 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:43:36.451Z,1761673416.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:43:36.451Z,1761673416.451 [marl:UpdateSpeed] Stopped 2025-10-28T17:43:36.451Z,1761673416.451 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:43:36.822Z,1761673416.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577297,0.804873,0.137510],[-0.815442,0.559579,0.148074],[0.042233,-0.197614,0.979370]] 2025-10-28T17:43:37.226Z,1761673417.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579900,0.803063,0.137135],[-0.813522,0.561809,0.150173],[0.043555,-0.198648,0.979103]] 2025-10-28T17:43:37.631Z,1761673417.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580296,0.802525,0.138601],[-0.813218,0.561809,0.151814],[0.043968,-0.200810,0.978643]] 2025-10-28T17:43:38.036Z,1761673418.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579288,0.802908,0.140587],[-0.813932,0.560455,0.152986],[0.044041,-0.203051,0.978177]] 2025-10-28T17:43:38.439Z,1761673418.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577543,0.804357,0.139480],[-0.815126,0.558798,0.152691],[0.044876,-0.201880,0.978382]] 2025-10-28T17:43:38.843Z,1761673418.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575110,0.806584,0.136644],[-0.816655,0.556202,0.153996],[0.048209,-0.200156,0.978577]] 2025-10-28T17:43:39.247Z,1761673419.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572152,0.809629,0.130926],[-0.818359,0.553046,0.156297],[0.054135,-0.196571,0.978994]] 2025-10-28T17:43:39.651Z,1761673419.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571297,0.811314,0.124059],[-0.818498,0.552012,0.159200],[0.060679,-0.192492,0.979421]] 2025-10-28T17:43:40.055Z,1761673420.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574358,0.809993,0.118425],[-0.815954,0.554844,0.162381],[0.065820,-0.189894,0.979596]] 2025-10-28T17:43:40.459Z,1761673420.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579346,0.807144,0.113473],[-0.812039,0.559546,0.165837],[0.070361,-0.188221,0.979603]] 2025-10-28T17:43:40.864Z,1761673420.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585056,0.803312,0.111350],[-0.807574,0.564477,0.170853],[0.074394,-0.189882,0.978984]] 2025-10-28T17:43:41.266Z,1761673421.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589428,0.800129,0.111216],[-0.804070,0.567851,0.176117],[0.077762,-0.193234,0.978066]] 2025-10-28T17:43:41.673Z,1761673421.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592414,0.797636,0.113235],[-0.801501,0.569306,0.182991],[0.081495,-0.199164,0.976572]] 2025-10-28T17:43:42.076Z,1761673422.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594928,0.795427,0.115570],[-0.799202,0.570073,0.190506],[0.085651,-0.205701,0.974860]] 2025-10-28T17:43:42.491Z,1761673422.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596857,0.793955,0.115750],[-0.797271,0.570673,0.196702],[0.090117,-0.209687,0.973607]] 2025-10-28T17:43:42.883Z,1761673422.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598429,0.793048,0.113834],[-0.795562,0.571416,0.201409],[0.094680,-0.211092,0.972870]] 2025-10-28T17:43:43.286Z,1761673423.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600673,0.791737,0.111106],[-0.793374,0.573127,0.205144],[0.098742,-0.211372,0.972405]] 2025-10-28T17:43:43.694Z,1761673423.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602434,0.790908,0.107414],[-0.791580,0.574770,0.207462],[0.102345,-0.210009,0.972328]] 2025-10-28T17:43:43.718Z,1761673423.718 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T17:43:44.094Z,1761673424.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603820,0.790441,0.102978],[-0.790176,0.576527,0.207940],[0.104995,-0.206929,0.972706]] 2025-10-28T17:43:44.501Z,1761673424.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604570,0.790572,0.097419],[-0.789311,0.578125,0.206784],[0.107158,-0.201909,0.973524]] 2025-10-28T17:43:44.903Z,1761673424.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605016,0.790977,0.091166],[-0.788722,0.579712,0.204577],[0.108966,-0.195677,0.974596]] 2025-10-28T17:43:45.308Z,1761673425.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605275,0.791447,0.085167],[-0.788249,0.581018,0.202685],[0.110930,-0.189813,0.975533]] 2025-10-28T17:43:45.714Z,1761673425.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605130,0.792257,0.078399],[-0.787901,0.581848,0.201656],[0.114147,-0.183798,0.976314]] 2025-10-28T17:43:46.115Z,1761673426.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604567,0.793444,0.070322],[-0.787575,0.582199,0.201916],[0.119268,-0.177455,0.976875]] 2025-10-28T17:43:46.519Z,1761673426.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603802,0.794892,0.059747],[-0.787012,0.582551,0.203093],[0.126632,-0.169649,0.977335]] 2025-10-28T17:43:46.924Z,1761673426.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603425,0.795905,0.049126],[-0.785799,0.583023,0.206407],[0.135639,-0.163155,0.977232]] 2025-10-28T17:43:47.326Z,1761673427.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604935,0.795211,0.041148],[-0.782983,0.584640,0.212449],[0.144884,-0.160736,0.976305]] 2025-10-28T17:43:48.135Z,1761673428.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612450,0.789850,0.032272],[-0.773357,0.590204,0.231469],[0.163779,-0.166721,0.972307]] 2025-10-28T17:43:48.539Z,1761673428.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616074,0.787098,0.030479],[-0.768382,0.592010,0.243131],[0.173324,-0.173206,0.969515]] 2025-10-28T17:43:48.562Z,1761673428.562 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:43:48.562Z,1761673428.562 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:43:48.563Z,1761673428.563 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:43:48.563Z,1761673428.563 [marl:UpdateRudder:A] Stopped 2025-10-28T17:43:48.563Z,1761673428.563 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:43:48.944Z,1761673428.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619227,0.784532,0.032673],[-0.763795,0.592164,0.256825],[0.182139,-0.183989,0.965905]] 2025-10-28T17:43:48.981Z,1761673428.981 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:43:48.982Z,1761673428.982 [marl:UpdateRudder:B] Stopped 2025-10-28T17:43:48.982Z,1761673428.982 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:43:48.982Z,1761673428.982 [marl:UpdateRudder] Stopped 2025-10-28T17:43:48.982Z,1761673428.982 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:43:49.347Z,1761673429.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621879,0.782207,0.037660],[-0.759863,0.591086,0.270601],[0.189406,-0.196897,0.961955]] 2025-10-28T17:43:49.753Z,1761673429.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624368,0.779854,0.044631],[-0.756581,0.589546,0.282879],[0.194293,-0.210388,0.958117]] 2025-10-28T17:43:49.815Z,1761673429.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:43:49.815Z,1761673429.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:43:49.815Z,1761673429.815 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateCommandMode] Stopped 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:43:49.816Z,1761673429.816 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:43:49.817Z,1761673429.816 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:43:49.817Z,1761673429.817 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:43:49.817Z,1761673429.817 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:43:49.817Z,1761673429.817 [marl:UpdateSpeed] Stopped 2025-10-28T17:43:49.817Z,1761673429.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:43:50.156Z,1761673430.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627130,0.777102,0.053111],[-0.753796,0.588318,0.292699],[0.196211,-0.223595,0.954728]] 2025-10-28T17:43:50.560Z,1761673430.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630611,0.773670,0.061358],[-0.751048,0.588421,0.299480],[0.195594,-0.234938,0.952128]] 2025-10-28T17:43:50.970Z,1761673430.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634998,0.769457,0.068657],[-0.748137,0.590377,0.302895],[0.192532,-0.243703,0.950548]] 2025-10-28T17:43:51.367Z,1761673431.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639380,0.765300,0.074231],[-0.745589,0.593519,0.303038],[0.187857,-0.249102,0.950083]] 2025-10-28T17:43:52.180Z,1761673432.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643871,0.761417,0.075327],[-0.744159,0.600285,0.293063],[0.177925,-0.244750,0.953121]] 2025-10-28T17:43:52.579Z,1761673432.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643444,0.762313,0.069702],[-0.745393,0.603217,0.283757],[0.174266,-0.234538,0.956359]] 2025-10-28T17:43:52.987Z,1761673432.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642369,0.763924,0.061502],[-0.746822,0.605924,0.274067],[0.172101,-0.221983,0.959742]] 2025-10-28T17:43:53.386Z,1761673433.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640414,0.766301,0.051511],[-0.748584,0.607796,0.264964],[0.171734,-0.208247,0.962882]] 2025-10-28T17:43:53.419Z,1761673433.419 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:43:53.677Z,1761673433.677 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:43:53.677Z,1761673433.677 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:43:53.799Z,1761673433.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637613,0.769244,0.041397],[-0.750540,0.608203,0.258416],[0.173607,-0.195840,0.965146]] 2025-10-28T17:43:53.929Z,1761673433.929 [DAT](INFO): DAT read: user:80> 2025-10-28T17:43:53.930Z,1761673433.930 [DAT](INFO): DAT read: Tx time:17:43:53.7041 2025-10-28T17:43:53.930Z,1761673433.930 [DAT](INFO): Ping request sent. 2025-10-28T17:43:53.930Z,1761673433.930 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:43:53.930Z,1761673433.930 [DAT](INFO): publishing transmit ping time 2025-10-28T17:43:53.931Z,1761673433.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000964 2025-10-28T17:43:54.181Z,1761673434.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250735 2025-10-28T17:43:54.196Z,1761673434.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633978,0.772676,0.032318],[-0.752724,0.606941,0.255009],[0.177424,-0.185997,0.966398]] 2025-10-28T17:43:54.433Z,1761673434.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502815 2025-10-28T17:43:54.599Z,1761673434.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630463,0.775874,0.023127],[-0.754485,0.605538,0.253132],[0.182395,-0.177039,0.967155]] 2025-10-28T17:43:54.685Z,1761673434.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755201 2025-10-28T17:43:54.937Z,1761673434.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830 2025-10-28T17:43:55.003Z,1761673435.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629237,0.777062,0.015352],[-0.754348,0.605850,0.252793],[0.187135,-0.170648,0.967398]] 2025-10-28T17:43:55.189Z,1761673435.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258804 2025-10-28T17:43:55.408Z,1761673435.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630674,0.775980,0.010268],[-0.752249,0.608027,0.253818],[0.190715,-0.167801,0.967197]] 2025-10-28T17:43:55.441Z,1761673435.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511001 2025-10-28T17:43:55.693Z,1761673435.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-10-28T17:43:55.811Z,1761673435.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633765,0.773482,0.008243],[-0.748860,0.610851,0.257041],[0.193781,-0.169076,0.966365]] 2025-10-28T17:43:55.946Z,1761673435.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015856 2025-10-28T17:43:56.197Z,1761673436.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266796 2025-10-28T17:43:56.215Z,1761673436.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637694,0.770239,0.008880],[-0.744756,0.613571,0.262430],[0.196685,-0.173963,0.964910]] 2025-10-28T17:43:56.450Z,1761673436.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519699 2025-10-28T17:43:56.619Z,1761673436.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641838,0.766771,0.010275],[-0.740419,0.616181,0.268516],[0.199559,-0.179952,0.963220]] 2025-10-28T17:43:56.701Z,1761673436.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770998 2025-10-28T17:43:56.954Z,1761673436.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023220 2025-10-28T17:43:57.024Z,1761673437.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646250,0.763049,0.010861],[-0.735899,0.619362,0.273576],[0.202025,-0.184791,0.961789]] 2025-10-28T17:43:57.206Z,1761673437.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275919 2025-10-28T17:43:57.426Z,1761673437.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650901,0.759067,0.012068],[-0.731304,0.622668,0.278350],[0.203772,-0.190004,0.960404]] 2025-10-28T17:43:57.459Z,1761673437.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528608 2025-10-28T17:43:57.709Z,1761673437.709 [DAT](INFO): DAT read: Rx Time:17:43:56.9463 2025-10-28T17:43:57.709Z,1761673437.709 [DAT](INFO): Rx dataTimestamp_ set to:1761673437.709184 2025-10-28T17:43:57.710Z,1761673437.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779968 2025-10-28T17:43:57.830Z,1761673437.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655539,0.755009,0.015175],[-0.726915,0.625446,0.283569],[0.204606,-0.196922,0.958832]] 2025-10-28T17:43:57.962Z,1761673437.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031194 2025-10-28T17:43:58.218Z,1761673438.218 [DAT](INFO): DAT read: 17:43:56.9463 LVL= 20112, 27921, 32754, 32755, AGC= 70, IDX= 307, 0.22, 1.670, 2.117, 0.183, 1.897, PHS=-0.125, 0.266,-1.758, RAW= 19.5, 17.1, CAL= 18.2, 20.5, ROT= 131.8, -20.5 2025-10-28T17:43:58.219Z,1761673438.219 [DAT](INFO): got valid direction response: 17:43:56.9463 LVL= 20112, 27921, 32754, 32755, AGC= 70, IDX= 307, 0.22, 1.670, 2.117, 0.183, 1.897, PHS=-0.125, 0.266,-1.758, RAW= 19.5, 17.1, CAL= 18.2, 20.5, ROT= 131.8, -20.5 2025-10-28T17:43:58.224Z,1761673438.224 [DAT](INFO): DAT read: Bearing 252.9, 28.5 (Local) 2025-10-28T17:43:58.225Z,1761673438.225 [DAT](INFO): Local bearing/azimuth received: Bearing 252.9, 28.5 (Local) 2025-10-28T17:43:58.226Z,1761673438.226 [DAT](INFO): DAT read: Range 11 to 20 : 628.5 m (Round-trip 838.1 ms) speed -0.5 m/s 2025-10-28T17:43:58.227Z,1761673438.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:43:58.228Z,1761673438.228 [DAT](INFO): direction in FSK: [-0.624322,0.698267,0.350207] 2025-10-28T17:43:58.228Z,1761673438.228 [DAT](INFO): publishing direction and range info 2025-10-28T17:43:58.248Z,1761673438.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659676,0.751339,0.017798],[-0.723184,0.628155,0.287100],[0.204529,-0.202264,0.957735]] 2025-10-28T17:43:58.348Z,1761673438.348 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673472.00. Resetting abort timer. 2025-10-28T17:43:58.640Z,1761673438.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662670,0.748628,0.020615],[-0.720590,0.629870,0.289850],[0.204004,-0.206930,0.956850]] 2025-10-28T17:43:59.043Z,1761673439.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664819,0.746630,0.023654],[-0.718847,0.630827,0.292091],[0.203162,-0.211191,0.956098]] 2025-10-28T17:43:59.453Z,1761673439.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665750,0.745746,0.025282],[-0.718054,0.631079,0.293492],[0.202915,-0.213546,0.955627]] 2025-10-28T17:43:59.854Z,1761673439.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665962,0.745526,0.026182],[-0.717835,0.630885,0.294442],[0.202996,-0.214882,0.955311]] 2025-10-28T17:44:00.255Z,1761673440.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665713,0.745748,0.026195],[-0.717956,0.630546,0.294875],[0.203385,-0.215109,0.955177]] 2025-10-28T17:44:00.685Z,1761673440.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665291,0.746129,0.026058],[-0.718155,0.630028,0.295497],[0.204062,-0.215305,0.954988]] 2025-10-28T17:44:01.062Z,1761673441.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665344,0.746082,0.026035],[-0.718025,0.629998,0.295874],[0.204344,-0.215552,0.954872]] 2025-10-28T17:44:01.474Z,1761673441.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666145,0.745414,0.024677],[-0.717212,0.631165,0.295361],[0.204591,-0.214452,0.955067]] 2025-10-28T17:44:01.500Z,1761673441.500 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:44:01.500Z,1761673441.500 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:44:01.500Z,1761673441.500 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:44:01.501Z,1761673441.501 [marl:UpdateRudder:A] Stopped 2025-10-28T17:44:01.501Z,1761673441.501 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:44:01.871Z,1761673441.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667179,0.744534,0.023277],[-0.716223,0.632596,0.294698],[0.204688,-0.213288,0.955307]] 2025-10-28T17:44:01.964Z,1761673441.964 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:44:01.964Z,1761673441.964 [marl:UpdateRudder:B] Stopped 2025-10-28T17:44:01.965Z,1761673441.965 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:44:01.965Z,1761673441.965 [marl:UpdateRudder] Stopped 2025-10-28T17:44:01.965Z,1761673441.965 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:44:02.256Z,1761673442.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:44:02.275Z,1761673442.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668772,0.743101,0.023348],[-0.714858,0.634092,0.294797],[0.204259,-0.213843,0.955275]] 2025-10-28T17:44:02.679Z,1761673442.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670491,0.741580,0.022382],[-0.713482,0.636227,0.293527],[0.203433,-0.212776,0.955689]] 2025-10-28T17:44:03.084Z,1761673443.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671675,0.740525,0.021793],[-0.712735,0.637883,0.291742],[0.202141,-0.211489,0.956249]] 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:44:03.114Z,1761673443.114 [marl:UpdateCommandMode] Stopped 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed] Stopped 2025-10-28T17:44:03.115Z,1761673443.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:44:03.260Z,1761673443.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:44:03.487Z,1761673443.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672394,0.739904,0.020726],[-0.712558,0.639455,0.288718],[0.200370,-0.208901,0.957190]] 2025-10-28T17:44:03.894Z,1761673443.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672036,0.740270,0.019207],[-0.713306,0.640155,0.285300],[0.198903,-0.205433,0.958246]] 2025-10-28T17:44:04.297Z,1761673444.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670826,0.741396,0.017988],[-0.714766,0.639883,0.282241],[0.197743,-0.202192,0.959175]] 2025-10-28T17:44:04.698Z,1761673444.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669189,0.742910,0.016475],[-0.716521,0.639226,0.279264],[0.196936,-0.198685,0.960073]] 2025-10-28T17:44:05.102Z,1761673445.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667303,0.744623,0.015593],[-0.718334,0.637930,0.277564],[0.196733,-0.196420,0.960581]] 2025-10-28T17:44:05.506Z,1761673445.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665144,0.746567,0.014876],[-0.720182,0.636118,0.276931],[0.197285,-0.194912,0.960775]] 2025-10-28T17:44:05.925Z,1761673445.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663146,0.748349,0.014506],[-0.721761,0.634212,0.277196],[0.198240,-0.194291,0.960704]] 2025-10-28T17:44:06.315Z,1761673446.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661755,0.749600,0.013400],[-0.722724,0.633072,0.277290],[0.199373,-0.193182,0.960693]] 2025-10-28T17:44:06.718Z,1761673446.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661470,0.749857,0.013135],[-0.722781,0.632717,0.277950],[0.200112,-0.193349,0.960506]] 2025-10-28T17:44:07.122Z,1761673447.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662168,0.749250,0.012534],[-0.722101,0.633526,0.277875],[0.200257,-0.193051,0.960536]] 2025-10-28T17:44:07.532Z,1761673447.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663457,0.748107,0.012723],[-0.720991,0.634679,0.278127],[0.199993,-0.193698,0.960460]] 2025-10-28T17:44:07.934Z,1761673447.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665333,0.746441,0.012540],[-0.719254,0.636419,0.278646],[0.200013,-0.194412,0.960312]] 2025-10-28T17:44:08.335Z,1761673448.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667700,0.744354,0.010704],[-0.717051,0.639212,0.277933],[0.200039,-0.193251,0.960541]] 2025-10-28T17:44:08.739Z,1761673448.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670357,0.741980,0.009369],[-0.714545,0.642062,0.277814],[0.200117,-0.192929,0.960589]] 2025-10-28T17:44:09.145Z,1761673449.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673503,0.739159,0.006060],[-0.711542,0.646075,0.276214],[0.200251,-0.190343,0.961077]] 2025-10-28T17:44:09.585Z,1761673449.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676991,0.735976,0.004676],[-0.708134,0.649623,0.276653],[0.200572,-0.190603,0.960959]] 2025-10-28T17:44:09.970Z,1761673449.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680468,0.732773,0.002875],[-0.704845,0.653451,0.276035],[0.200392,-0.189860,0.961143]] 2025-10-28T17:44:10.354Z,1761673450.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684181,0.729307,0.002861],[-0.701324,0.656843,0.276951],[0.200103,-0.191491,0.960880]] 2025-10-28T17:44:10.763Z,1761673450.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688334,0.725385,0.003566],[-0.697523,0.660530,0.277780],[0.199142,-0.193693,0.960638]] 2025-10-28T17:44:11.162Z,1761673451.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692652,0.721251,0.005573],[-0.693683,0.664020,0.279072],[0.197580,-0.197165,0.960254]] 2025-10-28T17:44:11.605Z,1761673451.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696860,0.717152,0.008921],[-0.690091,0.667073,0.280692],[0.195348,-0.201760,0.959756]] 2025-10-28T17:44:11.974Z,1761673451.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700736,0.713275,0.014399],[-0.687028,0.669237,0.283046],[0.192253,-0.208233,0.958998]] 2025-10-28T17:44:12.375Z,1761673452.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704001,0.709858,0.022029],[-0.684791,0.670264,0.286019],[0.188267,-0.216443,0.957971]] 2025-10-28T17:44:12.785Z,1761673452.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706196,0.707402,0.029489],[-0.683937,0.670816,0.286768],[0.183079,-0.222682,0.957546]] 2025-10-28T17:44:13.182Z,1761673453.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707655,0.705588,0.037025],[-0.684079,0.671086,0.285798],[0.176808,-0.227574,0.957574]] 2025-10-28T17:44:13.611Z,1761673453.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708690,0.704217,0.042871],[-0.684864,0.672073,0.281566],[0.169471,-0.228903,0.958584]] 2025-10-28T17:44:13.997Z,1761673453.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709678,0.702948,0.047135],[-0.685851,0.674016,0.274428],[0.161138,-0.227083,0.960452]] 2025-10-28T17:44:14.396Z,1761673454.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710873,0.701600,0.049167],[-0.686643,0.677185,0.264464],[0.152253,-0.221761,0.963141]] 2025-10-28T17:44:14.798Z,1761673454.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712416,0.700046,0.048971],[-0.686943,0.681414,0.252555],[0.143430,-0.213564,0.966343]] 2025-10-28T17:44:14.835Z,1761673454.835 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:44:14.835Z,1761673454.835 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:44:14.835Z,1761673454.835 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:44:14.835Z,1761673454.835 [marl:UpdateRudder:A] Stopped 2025-10-28T17:44:14.835Z,1761673454.835 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:44:15.202Z,1761673455.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714258,0.698376,0.045904],[-0.686642,0.686538,0.239140],[0.135495,-0.202328,0.969899]] 2025-10-28T17:44:15.251Z,1761673455.251 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:44:15.251Z,1761673455.251 [marl:UpdateRudder:B] Stopped 2025-10-28T17:44:15.251Z,1761673455.251 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:44:15.251Z,1761673455.251 [marl:UpdateRudder] Stopped 2025-10-28T17:44:15.251Z,1761673455.251 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:44:15.615Z,1761673455.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716156,0.696803,0.039819],[-0.685834,0.692008,0.225293],[0.129430,-0.188655,0.973477]] 2025-10-28T17:44:16.017Z,1761673456.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717717,0.695575,0.032529],[-0.684888,0.696713,0.213350],[0.125738,-0.175403,0.976434]] 2025-10-28T17:44:16.414Z,1761673456.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718822,0.694766,0.024412],[-0.683905,0.700410,0.204203],[0.124775,-0.163481,0.978624]] 2025-10-28T17:44:16.463Z,1761673456.463 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:44:16.463Z,1761673456.463 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:44:16.463Z,1761673456.463 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateCommandMode] Stopped 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:44:16.467Z,1761673456.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:44:16.468Z,1761673456.468 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:44:16.468Z,1761673456.468 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:44:16.468Z,1761673456.468 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:44:16.468Z,1761673456.468 [marl:UpdateSpeed] Stopped 2025-10-28T17:44:16.468Z,1761673456.468 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:44:16.818Z,1761673456.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719303,0.694515,0.015879],[-0.683128,0.702986,0.197855],[0.126251,-0.153165,0.980103]] 2025-10-28T17:44:17.227Z,1761673457.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719126,0.694820,0.009134],[-0.682685,0.703992,0.195796],[0.129613,-0.147038,0.980602]] 2025-10-28T17:44:17.634Z,1761673457.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720177,0.693789,0.001362],[-0.680116,0.705594,0.198942],[0.137062,-0.144200,0.980010]] 2025-10-28T17:44:18.037Z,1761673458.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725862,0.687814,-0.006019],[-0.673828,0.712804,0.194590],[0.138132,-0.137190,0.980866]] 2025-10-28T17:44:18.446Z,1761673458.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737285,0.675272,-0.020485],[-0.661727,0.727941,0.179495],[0.136120,-0.118783,0.983546]] 2025-10-28T17:44:18.843Z,1761673458.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751992,0.658122,-0.037188],[-0.645782,0.746857,0.158652],[0.132187,-0.095289,0.986634]] 2025-10-28T17:44:19.244Z,1761673459.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766975,0.639599,-0.051597],[-0.628837,0.765199,0.137970],[0.127728,-0.073374,0.989091]] 2025-10-28T17:44:19.646Z,1761673459.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780376,0.622087,-0.063409],[-0.612973,0.781079,0.119076],[0.123603,-0.054056,0.990858]] 2025-10-28T17:44:20.051Z,1761673460.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792388,0.605927,-0.070517],[-0.598221,0.794480,0.104567],[0.119384,-0.040673,0.992015]] 2025-10-28T17:44:20.456Z,1761673460.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803051,0.591054,-0.075925],[-0.584613,0.806097,0.091845],[0.115489,-0.029370,0.992875]] 2025-10-28T17:44:20.860Z,1761673460.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812519,0.577680,-0.078095],[-0.572100,0.815938,0.083351],[0.111871,-0.023046,0.993455]] 2025-10-28T17:44:21.264Z,1761673461.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821134,0.565410,-0.077791],[-0.560298,0.824542,0.078721],[0.108651,-0.021054,0.993857]] 2025-10-28T17:44:21.667Z,1761673461.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829022,0.553785,-0.077745],[-0.549096,0.832444,0.074371],[0.105904,-0.018966,0.994196]] 2025-10-28T17:44:22.071Z,1761673462.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836313,0.542682,-0.077946],[-0.538338,0.839764,0.070638],[0.103790,-0.017114,0.994452]] 2025-10-28T17:44:22.477Z,1761673462.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842973,0.532262,-0.078061],[-0.528132,0.846424,0.068141],[0.102341,-0.016214,0.994617]] 2025-10-28T17:44:22.880Z,1761673462.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849223,0.522062,-0.079200],[-0.518221,0.852794,0.064729],[0.101334,-0.013926,0.994755]] 2025-10-28T17:44:23.282Z,1761673463.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854985,0.512370,-0.080487],[-0.508787,0.858685,0.061611],[0.100681,-0.011726,0.994850]] 2025-10-28T17:44:23.687Z,1761673463.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860468,0.502954,-0.081444],[-0.499528,0.864249,0.059545],[0.100337,-0.010553,0.994898]] 2025-10-28T17:44:24.094Z,1761673464.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865994,0.493141,-0.082858],[-0.490001,0.869912,0.056137],[0.099763,-0.008014,0.994979]] 2025-10-28T17:44:24.495Z,1761673464.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871747,0.482805,-0.083400],[-0.479837,0.875700,0.053906],[0.099060,-0.006974,0.995057]] 2025-10-28T17:44:24.899Z,1761673464.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877783,0.471597,-0.084222],[-0.468846,0.881798,0.051151],[0.098390,-0.005413,0.995133]] 2025-10-28T17:44:25.303Z,1761673465.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884236,0.459227,-0.085067],[-0.456743,0.888312,0.047825],[0.097529,-0.003435,0.995227]] 2025-10-28T17:44:25.708Z,1761673465.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891006,0.445721,-0.086266],[-0.443520,0.895171,0.044257],[0.096950,-0.001172,0.995289]] 2025-10-28T17:44:26.110Z,1761673466.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898347,0.430425,-0.087784],[-0.428637,0.902623,0.039269],[0.096138,0.002350,0.995365]] 2025-10-28T17:44:26.515Z,1761673466.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905732,0.414289,-0.089518],[-0.412886,0.910128,0.034539],[0.095782,0.005678,0.995386]] 2025-10-28T17:44:26.928Z,1761673466.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913330,0.396901,-0.091091],[-0.395887,0.917818,0.029723],[0.095402,0.008914,0.995399]] 2025-10-28T17:44:27.323Z,1761673467.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920868,0.378769,-0.092389],[-0.378106,0.925418,0.025265],[0.095068,0.011667,0.995402]] 2025-10-28T17:44:27.726Z,1761673467.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928141,0.360277,-0.093565],[-0.359980,0.932732,0.020628],[0.094703,0.014536,0.995399]] 2025-10-28T17:44:28.131Z,1761673468.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935188,0.341375,-0.094266],[-0.341399,0.939776,0.016378],[0.094180,0.016866,0.995412]] 2025-10-28T17:44:28.177Z,1761673468.177 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:44:28.177Z,1761673468.177 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:44:28.177Z,1761673468.177 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:44:28.178Z,1761673468.178 [marl:UpdateRudder:A] Stopped 2025-10-28T17:44:28.178Z,1761673468.178 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:44:28.537Z,1761673468.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941828,0.322811,-0.093561],[-0.322916,0.946318,0.014434],[0.093198,0.016618,0.995509]] 2025-10-28T17:44:28.561Z,1761673468.561 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:44:28.562Z,1761673468.562 [marl:UpdateRudder:B] Stopped 2025-10-28T17:44:28.562Z,1761673468.562 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:44:28.562Z,1761673468.562 [marl:UpdateRudder] Stopped 2025-10-28T17:44:28.562Z,1761673468.562 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:44:28.944Z,1761673468.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947817,0.305066,-0.092619],[-0.305164,0.952205,0.013460],[0.092298,0.015507,0.995611]] 2025-10-28T17:44:29.342Z,1761673469.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953022,0.288629,-0.091885],[-0.288650,0.957342,0.013351],[0.091819,0.013798,0.995680]] 2025-10-28T17:44:29.384Z,1761673469.384 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:44:29.384Z,1761673469.384 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:44:29.384Z,1761673469.384 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateCommandMode] Stopped 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:44:29.385Z,1761673469.385 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:44:29.386Z,1761673469.386 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:44:29.386Z,1761673469.386 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:44:29.386Z,1761673469.386 [marl:UpdateSpeed] Stopped 2025-10-28T17:44:29.386Z,1761673469.386 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:44:29.748Z,1761673469.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957488,0.273882,-0.090585],[-0.273604,0.961714,0.015718],[0.091421,0.009735,0.995765]] 2025-10-28T17:44:30.154Z,1761673470.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961411,0.260081,-0.089704],[-0.259576,0.965565,0.017456],[0.091155,0.006502,0.995815]] 2025-10-28T17:44:30.556Z,1761673470.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964937,0.247173,-0.088332],[-0.246270,0.968971,0.021152],[0.090820,0.001344,0.995866]] 2025-10-28T17:44:30.958Z,1761673470.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968143,0.234743,-0.087152],[-0.233487,0.972052,0.024480],[0.090462,-0.003351,0.995894]] 2025-10-28T17:44:31.363Z,1761673471.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971021,0.222796,-0.086493],[-0.221347,0.974845,0.026110],[0.090134,-0.006208,0.995910]] 2025-10-28T17:44:31.775Z,1761673471.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973746,0.210606,-0.086394],[-0.209020,0.977535,0.027119],[0.090165,-0.008349,0.995892]] 2025-10-28T17:44:32.171Z,1761673472.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976306,0.198287,-0.086648],[-0.196672,0.980101,0.026879],[0.090254,-0.009201,0.995876]] 2025-10-28T17:44:32.574Z,1761673472.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978680,0.185935,-0.087253],[-0.184371,0.982520,0.025727],[0.090511,-0.009092,0.995854]] 2025-10-28T17:44:32.978Z,1761673472.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980951,0.173052,-0.088251],[-0.171616,0.984880,0.023663],[0.091012,-0.008067,0.995817]] 2025-10-28T17:44:33.380Z,1761673473.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:44:33.385Z,1761673473.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983116,0.159419,-0.089829],[-0.158160,0.987190,0.021002],[0.092026,-0.006440,0.995736]] 2025-10-28T17:44:33.792Z,1761673473.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985137,0.145344,-0.091542],[-0.144490,0.989378,0.015933],[0.092885,-0.002469,0.995674]] 2025-10-28T17:44:34.190Z,1761673474.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987125,0.130346,-0.092707],[-0.129846,0.991468,0.011430],[0.093406,0.000755,0.995628]] 2025-10-28T17:44:34.384Z,1761673474.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:44:34.595Z,1761673474.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988954,0.115129,-0.093350],[-0.114920,0.993345,0.007633],[0.093608,0.003180,0.995604]] 2025-10-28T17:44:35.000Z,1761673475.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990564,0.099421,-0.094330],[-0.099662,0.995019,0.002167],[0.094076,0.007254,0.995539]] 2025-10-28T17:44:35.415Z,1761673475.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991961,0.083999,-0.094648],[-0.084500,0.996423,-0.001290],[0.094201,0.009277,0.995510]] 2025-10-28T17:44:35.808Z,1761673475.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993136,0.068715,-0.094658],[-0.069356,0.997586,-0.003491],[0.094189,0.010032,0.995504]] 2025-10-28T17:44:36.211Z,1761673476.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994126,0.053267,-0.094212],[-0.054101,0.998515,-0.006318],[0.093736,0.011378,0.995532]] 2025-10-28T17:44:36.616Z,1761673476.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994830,0.039279,-0.093651],[-0.040077,0.999175,-0.006654],[0.093312,0.010373,0.995583]] 2025-10-28T17:44:37.018Z,1761673477.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995335,0.025381,-0.093079],[-0.026195,0.999628,-0.007531],[0.092853,0.009934,0.995630]] 2025-10-28T17:44:37.425Z,1761673477.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995613,0.011550,-0.092851],[-0.012329,0.999893,-0.007827],[0.092750,0.008937,0.995649]] 2025-10-28T17:44:37.828Z,1761673477.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995708,-0.002412,-0.092521],[0.001676,0.999966,-0.008029],[0.092537,0.007840,0.995678]] 2025-10-28T17:44:38.233Z,1761673478.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995587,-0.016106,-0.092448],[0.015427,0.999849,-0.008057],[0.092564,0.006595,0.995685]] 2025-10-28T17:44:38.634Z,1761673478.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995275,-0.030621,-0.092145],[0.029939,0.999513,-0.008778],[0.092369,0.005978,0.995707]] 2025-10-28T17:44:39.039Z,1761673479.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994725,-0.045694,-0.091834],[0.044938,0.998937,-0.010283],[0.092206,0.006102,0.995721]] 2025-10-28T17:44:39.443Z,1761673479.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993914,-0.062336,-0.090829],[0.061347,0.998023,-0.013645],[0.091500,0.007990,0.995773]] 2025-10-28T17:44:39.847Z,1761673479.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992789,-0.079194,-0.089996],[0.078027,0.996816,-0.016418],[0.091009,0.009278,0.995807]] 2025-10-28T17:44:40.250Z,1761673480.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991347,-0.096201,-0.089313],[0.094882,0.995309,-0.018900],[0.090712,0.010262,0.995824]] 2025-10-28T17:44:40.654Z,1761673480.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989668,-0.113017,-0.088230],[0.111698,0.993546,-0.019761],[0.089894,0.009702,0.995904]] 2025-10-28T17:44:41.063Z,1761673481.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987648,-0.129950,-0.087546],[0.128578,0.991474,-0.021162],[0.089550,0.009645,0.995936]] 2025-10-28T17:44:41.464Z,1761673481.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985408,-0.146312,-0.086969],[0.145131,0.989215,-0.019780],[0.088925,0.006870,0.996015]] 2025-10-28T17:44:41.494Z,1761673481.494 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:44:41.494Z,1761673481.494 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:44:41.494Z,1761673481.494 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:44:41.494Z,1761673481.494 [marl:UpdateRudder:A] Stopped 2025-10-28T17:44:41.495Z,1761673481.495 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:44:41.866Z,1761673481.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983014,-0.162041,-0.086179],[0.160975,0.986771,-0.019228],[0.088154,0.005029,0.996094]] 2025-10-28T17:44:41.955Z,1761673481.955 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:44:41.955Z,1761673481.955 [marl:UpdateRudder:B] Stopped 2025-10-28T17:44:41.955Z,1761673481.955 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:44:41.955Z,1761673481.955 [marl:UpdateRudder] Stopped 2025-10-28T17:44:41.955Z,1761673481.955 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:44:42.271Z,1761673482.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980476,-0.177064,-0.085528],[0.176197,0.984197,-0.017644],[0.087301,0.002230,0.996179]] 2025-10-28T17:44:42.675Z,1761673482.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977844,-0.191442,-0.084681],[0.190697,0.981504,-0.016877],[0.086346,0.000355,0.996265]] 2025-10-28T17:44:42.705Z,1761673482.705 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:44:42.705Z,1761673482.705 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:44:42.705Z,1761673482.705 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateCommandMode] Stopped 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:44:42.706Z,1761673482.706 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:44:42.707Z,1761673482.707 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:44:42.707Z,1761673482.707 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:44:42.707Z,1761673482.707 [marl:UpdateSpeed] Stopped 2025-10-28T17:44:42.707Z,1761673482.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:44:43.079Z,1761673483.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974954,-0.206051,-0.083708],[0.205340,0.978541,-0.017108],[0.085437,-0.000509,0.996343]] 2025-10-28T17:44:43.483Z,1761673483.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971972,-0.220162,-0.082454],[0.219480,0.975463,-0.017362],[0.084253,-0.001222,0.996444]] 2025-10-28T17:44:43.894Z,1761673483.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968804,-0.234343,-0.080640],[0.233549,0.972154,-0.019274],[0.082912,-0.000160,0.996557]] 2025-10-28T17:44:44.291Z,1761673484.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965427,-0.248566,-0.078520],[0.247522,0.968611,-0.022919],[0.081752,0.002691,0.996649]] 2025-10-28T17:44:44.696Z,1761673484.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962107,-0.261774,-0.076311],[0.260438,0.965109,-0.027141],[0.080753,0.006238,0.996715]] 2025-10-28T17:44:45.098Z,1761673485.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958978,-0.273774,-0.073545],[0.272063,0.961729,-0.032555],[0.079643,0.011211,0.996760]] 2025-10-28T17:44:45.503Z,1761673485.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955864,-0.284997,-0.071417],[0.283092,0.958427,-0.035725],[0.078629,0.013931,0.996807]] 2025-10-28T17:44:45.910Z,1761673485.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952737,-0.295945,-0.068618],[0.293780,0.955037,-0.039970],[0.077361,0.017922,0.996842]] 2025-10-28T17:44:46.312Z,1761673486.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949375,-0.307230,-0.065551],[0.304880,0.951396,-0.043509],[0.075732,0.021321,0.996900]] 2025-10-28T17:44:46.714Z,1761673486.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945598,-0.319245,-0.062674],[0.316796,0.947377,-0.046011],[0.074065,0.023653,0.996973]] 2025-10-28T17:44:47.118Z,1761673487.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941039,-0.332980,-0.059744],[0.330405,0.942564,-0.049058],[0.072648,0.026426,0.997008]] 2025-10-28T17:44:47.527Z,1761673487.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936194,-0.346807,-0.057150],[0.344174,0.937512,-0.051135],[0.071312,0.028202,0.997055]] 2025-10-28T17:44:47.929Z,1761673487.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930712,-0.361567,-0.055182],[0.358980,0.931920,-0.051553],[0.070065,0.028172,0.997145]] 2025-10-28T17:44:48.330Z,1761673488.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924700,-0.376984,-0.053045],[0.374405,0.925773,-0.052585],[0.068932,0.028765,0.997207]] 2025-10-28T17:44:48.734Z,1761673488.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918182,-0.392739,-0.051941],[0.390316,0.919266,-0.051031],[0.067790,0.026583,0.997345]] 2025-10-28T17:44:49.143Z,1761673489.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911332,-0.408472,-0.051234],[0.406332,0.912498,-0.047351],[0.066092,0.022335,0.997564]] 2025-10-28T17:44:49.566Z,1761673489.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903959,-0.424580,-0.050889],[0.422665,0.905200,-0.044366],[0.064902,0.018596,0.997718]] 2025-10-28T17:44:49.946Z,1761673489.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896222,-0.440771,-0.050079],[0.439034,0.897480,-0.042173],[0.063533,0.015811,0.997854]] 2025-10-28T17:44:50.351Z,1761673490.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888346,-0.456536,-0.049157],[0.454953,0.889604,-0.040280],[0.062120,0.013419,0.997979]] 2025-10-28T17:44:50.767Z,1761673490.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880525,-0.471535,-0.048276],[0.470120,0.881781,-0.038082],[0.060525,0.010837,0.998108]] 2025-10-28T17:44:51.161Z,1761673491.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872464,-0.486404,-0.047085],[0.485115,0.873688,-0.036513],[0.058898,0.009015,0.998223]] 2025-10-28T17:44:51.604Z,1761673491.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864093,-0.501224,-0.046014],[0.500037,0.865285,-0.035272],[0.057494,0.007470,0.998318]] 2025-10-28T17:44:51.966Z,1761673491.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855600,-0.515776,-0.043868],[0.514553,0.856680,-0.036539],[0.056426,0.008690,0.998369]] 2025-10-28T17:44:52.382Z,1761673492.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846937,-0.530119,-0.040874],[0.528741,0.847832,-0.040162],[0.055944,0.012403,0.998357]] 2025-10-28T17:44:52.790Z,1761673492.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838504,-0.543505,-0.038901],[0.542015,0.839274,-0.042874],[0.055951,0.014866,0.998323]] 2025-10-28T17:44:53.179Z,1761673493.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830331,-0.555981,-0.037884],[0.554440,0.831045,-0.044277],[0.056101,0.015760,0.998301]] 2025-10-28T17:44:53.692Z,1761673493.692 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:44:53.709Z,1761673493.709 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:44:53.710Z,1761673493.710 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:44:53.961Z,1761673493.961 [DAT](INFO): DAT read: user:81> 2025-10-28T17:44:53.962Z,1761673493.962 [DAT](INFO): DAT read: Tx time:17:44:53.7040 2025-10-28T17:44:53.962Z,1761673493.962 [DAT](INFO): Ping request sent. 2025-10-28T17:44:53.962Z,1761673493.962 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:44:53.962Z,1761673493.962 [DAT](INFO): publishing transmit ping time 2025-10-28T17:44:53.963Z,1761673493.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T17:44:54.005Z,1761673494.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815116,-0.578144,-0.036549],[0.576545,0.815770,-0.046001],[0.056411,0.016424,0.998273]] 2025-10-28T17:44:54.213Z,1761673494.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250936 2025-10-28T17:44:54.396Z,1761673494.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807836,-0.588284,-0.036381],[0.586721,0.808507,-0.045556],[0.056214,0.015456,0.998299]] 2025-10-28T17:44:54.467Z,1761673494.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505426 2025-10-28T17:44:54.717Z,1761673494.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904 2025-10-28T17:44:54.798Z,1761673494.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800467,-0.598382,-0.034521],[0.596782,0.801032,-0.046895],[0.055714,0.016936,0.998303]] 2025-10-28T17:44:54.837Z,1761673494.837 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:44:54.837Z,1761673494.837 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:44:54.837Z,1761673494.837 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:44:54.838Z,1761673494.838 [marl:UpdateRudder:A] Stopped 2025-10-28T17:44:54.838Z,1761673494.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:44:54.970Z,1761673494.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007731 2025-10-28T17:44:55.199Z,1761673495.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792976,-0.608353,-0.033091],[0.606834,0.793497,-0.045994],[0.054238,0.016392,0.998393]] 2025-10-28T17:44:55.221Z,1761673495.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259057 2025-10-28T17:44:55.248Z,1761673495.248 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:44:55.256Z,1761673495.256 [marl:UpdateRudder:B] Stopped 2025-10-28T17:44:55.256Z,1761673495.256 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:44:55.256Z,1761673495.256 [marl:UpdateRudder] Stopped 2025-10-28T17:44:55.256Z,1761673495.256 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:44:55.473Z,1761673495.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882 2025-10-28T17:44:55.615Z,1761673495.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785451,-0.618060,-0.032689],[0.616692,0.786007,-0.043399],[0.052517,0.013929,0.998523]] 2025-10-28T17:44:55.726Z,1761673495.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763632 2025-10-28T17:44:55.977Z,1761673495.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014986 2025-10-28T17:44:56.006Z,1761673496.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777621,-0.627929,-0.031788],[0.626677,0.778172,-0.041527],[0.050813,0.012371,0.998632]] 2025-10-28T17:44:56.045Z,1761673496.045 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode] Stopped 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:44:56.046Z,1761673496.046 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed] Stopped 2025-10-28T17:44:56.047Z,1761673496.047 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:44:56.229Z,1761673496.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850 2025-10-28T17:44:56.490Z,1761673496.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527703 2025-10-28T17:44:56.741Z,1761673496.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778935 2025-10-28T17:44:56.817Z,1761673496.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760592,-0.648606,-0.028453],[0.647508,0.761036,-0.039466],[0.047252,0.011594,0.998816]] 2025-10-28T17:44:56.993Z,1761673496.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030950 2025-10-28T17:44:57.245Z,1761673497.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283084 2025-10-28T17:44:57.497Z,1761673497.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535004 2025-10-28T17:44:57.623Z,1761673497.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741033,-0.671012,-0.024779],[0.670026,0.741355,-0.038194],[0.043999,0.011700,0.998963]] 2025-10-28T17:44:57.750Z,1761673497.750 [DAT](INFO): DAT read: Rx Time:17:44:56.9857 2025-10-28T17:44:57.750Z,1761673497.750 [DAT](INFO): Rx dataTimestamp_ set to:1761673497.749789 2025-10-28T17:44:57.751Z,1761673497.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789015 2025-10-28T17:44:58.001Z,1761673498.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038931 2025-10-28T17:44:58.026Z,1761673498.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731085,-0.681820,-0.025235],[0.680957,0.731469,-0.035362],[0.042569,0.008668,0.999056]] 2025-10-28T17:44:58.258Z,1761673498.258 [DAT](INFO): DAT read: 17:44:56.9857 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 178,-0.03, 2.345, 0.448, 1.505, 1.719, PHS= 0.727,-1.226,-0.258, RAW= 119.7, 9.0, CAL= 120.7, 10.1, ROT= 29.3, -10.1 2025-10-28T17:44:58.259Z,1761673498.259 [DAT](INFO): got valid direction response: 17:44:56.9857 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 178,-0.03, 2.345, 0.448, 1.505, 1.719, PHS= 0.727,-1.226,-0.258, RAW= 119.7, 9.0, CAL= 120.7, 10.1, ROT= 29.3, -10.1 2025-10-28T17:44:58.260Z,1761673498.260 [DAT](INFO): DAT read: Bearing 213.8, 31.3 (Local) 2025-10-28T17:44:58.261Z,1761673498.261 [DAT](INFO): Local bearing/azimuth received: Bearing 213.8, 31.3 (Local) 2025-10-28T17:44:58.262Z,1761673498.262 [DAT](INFO): DAT read: Range 11 to 20 : 658.2 m (Round-trip 877.7 ms) speed -0.2 m/s 2025-10-28T17:44:58.263Z,1761673498.263 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:44:58.264Z,1761673498.264 [DAT](INFO): direction in FSK: [0.858555,0.481799,0.175367] 2025-10-28T17:44:58.264Z,1761673498.264 [DAT](INFO): publishing direction and range info 2025-10-28T17:44:58.431Z,1761673498.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723464,-0.689599,-0.032443],[0.689130,0.724182,-0.025695],[0.041214,-0.003768,0.999143]] 2025-10-28T17:44:58.501Z,1761673498.501 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673472.00. Resetting abort timer. 2025-10-28T17:44:58.846Z,1761673498.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719213,-0.693325,-0.045087],[0.693629,0.720248,-0.011064],[0.040145,-0.023316,0.998922]] 2025-10-28T17:44:59.238Z,1761673499.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717088,-0.694090,-0.063427],[0.695875,0.718106,0.009035],[0.039276,-0.050616,0.997946]] 2025-10-28T17:44:59.643Z,1761673499.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716456,-0.692629,-0.083408],[0.696571,0.716828,0.030766],[0.038480,-0.080142,0.996040]] 2025-10-28T17:45:00.048Z,1761673500.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716902,-0.689631,-0.102278],[0.696169,0.715996,0.051937],[0.037413,-0.108437,0.993399]] 2025-10-28T17:45:00.450Z,1761673500.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717901,-0.686014,-0.118333],[0.695199,0.715350,0.070517],[0.036274,-0.132889,0.990467]] 2025-10-28T17:45:00.866Z,1761673500.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718775,-0.682846,-0.130702],[0.694340,0.714618,0.084926],[0.035411,-0.151795,0.987778]] 2025-10-28T17:45:01.259Z,1761673501.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719623,-0.680273,-0.139181],[0.693526,0.714017,0.095928],[0.034121,-0.165558,0.985610]] 2025-10-28T17:45:01.664Z,1761673501.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720237,-0.678161,-0.146137],[0.692959,0.713211,0.105536],[0.032656,-0.177278,0.983619]] 2025-10-28T17:45:02.067Z,1761673502.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720430,-0.677195,-0.149625],[0.692834,0.712409,0.111602],[0.031018,-0.184067,0.982424]] 2025-10-28T17:45:02.474Z,1761673502.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719801,-0.677410,-0.151664],[0.693558,0.711028,0.115827],[0.029375,-0.188560,0.981622]] 2025-10-28T17:45:02.888Z,1761673502.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718212,-0.679456,-0.150037],[0.695367,0.708671,0.119374],[0.025218,-0.190067,0.981447]] 2025-10-28T17:45:03.283Z,1761673503.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717452,-0.680818,-0.147480],[0.696233,0.707758,0.119740],[0.022859,-0.188588,0.981790]] 2025-10-28T17:45:03.687Z,1761673503.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716657,-0.682198,-0.144944],[0.697115,0.706900,0.119676],[0.020818,-0.186809,0.982176]] 2025-10-28T17:45:04.091Z,1761673504.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715255,-0.684368,-0.141601],[0.698621,0.705516,0.119061],[0.018420,-0.184084,0.982738]] 2025-10-28T17:45:04.494Z,1761673504.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714026,-0.686201,-0.138906],[0.699938,0.704154,0.119385],[0.015889,-0.182469,0.983083]] 2025-10-28T17:45:04.508Z,1761673504.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:45:04.898Z,1761673504.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712040,-0.689041,-0.134989],[0.702012,0.702289,0.118193],[0.013362,-0.178922,0.983773]] 2025-10-28T17:45:05.298Z,1761673505.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709921,-0.691773,-0.132143],[0.704199,0.700101,0.118161],[0.010773,-0.176940,0.984163]] 2025-10-28T17:45:05.533Z,1761673505.533 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:45:05.704Z,1761673505.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707818,-0.694321,-0.130047],[0.706346,0.697831,0.118769],[0.008287,-0.175925,0.984369]] 2025-10-28T17:45:06.107Z,1761673506.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705159,-0.697443,-0.127763],[0.709018,0.695281,0.117804],[0.006669,-0.173657,0.984784]] 2025-10-28T17:45:06.511Z,1761673506.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702723,-0.700267,-0.125722],[0.711442,0.693012,0.116553],[0.005509,-0.171349,0.985195]] 2025-10-28T17:45:06.918Z,1761673506.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700206,-0.703175,-0.123513],[0.713924,0.690825,0.114344],[0.004922,-0.168243,0.985733]] 2025-10-28T17:45:07.322Z,1761673507.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698109,-0.705540,-0.121892],[0.715979,0.688918,0.112988],[0.004256,-0.166150,0.986091]] 2025-10-28T17:45:07.723Z,1761673507.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696599,-0.706945,-0.122392],[0.717449,0.687367,0.113108],[0.004167,-0.166601,0.986016]] 2025-10-28T17:45:08.126Z,1761673508.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695892,-0.707490,-0.123254],[0.718136,0.686489,0.114079],[0.003902,-0.167900,0.985796]] 2025-10-28T17:45:08.150Z,1761673508.150 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:45:08.150Z,1761673508.150 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:45:08.150Z,1761673508.150 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:45:08.151Z,1761673508.151 [marl:UpdateRudder:A] Stopped 2025-10-28T17:45:08.151Z,1761673508.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:45:08.533Z,1761673508.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695716,-0.707585,-0.123704],[0.718310,0.686082,0.115422],[0.003200,-0.169159,0.985584]] 2025-10-28T17:45:08.558Z,1761673508.558 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:45:08.559Z,1761673508.559 [marl:UpdateRudder:B] Stopped 2025-10-28T17:45:08.559Z,1761673508.559 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:45:08.559Z,1761673508.559 [marl:UpdateRudder] Stopped 2025-10-28T17:45:08.559Z,1761673508.559 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:45:08.937Z,1761673508.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696932,-0.706276,-0.124339],[0.717132,0.687003,0.117254],[0.002607,-0.170886,0.985287]] 2025-10-28T17:45:09.346Z,1761673509.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698802,-0.704327,-0.124893],[0.715313,0.688488,0.119631],[0.001728,-0.172936,0.984932]] 2025-10-28T17:45:09.385Z,1761673509.385 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:45:09.385Z,1761673509.385 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:45:09.385Z,1761673509.385 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:45:09.385Z,1761673509.385 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateCommandMode] Stopped 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:45:09.386Z,1761673509.386 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:45:09.387Z,1761673509.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:45:09.387Z,1761673509.387 [marl:UpdateSpeed] Stopped 2025-10-28T17:45:09.387Z,1761673509.387 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:45:09.743Z,1761673509.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700969,-0.701794,-0.126994],[0.713191,0.689916,0.123989],[0.000601,-0.177483,0.984124]] 2025-10-28T17:45:10.157Z,1761673510.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703247,-0.699625,-0.126366],[0.710945,0.691896,0.125844],[-0.000612,-0.178339,0.983969]] 2025-10-28T17:45:10.550Z,1761673510.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705361,-0.697691,-0.125276],[0.708846,0.693764,0.127393],[-0.001968,-0.178659,0.983909]] 2025-10-28T17:45:10.958Z,1761673510.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707109,-0.696174,-0.123852],[0.707094,0.695188,0.129350],[-0.003949,-0.179040,0.983834]] 2025-10-28T17:45:11.363Z,1761673511.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708410,-0.695218,-0.121767],[0.705775,0.696282,0.130662],[-0.006055,-0.178502,0.983921]] 2025-10-28T17:45:11.770Z,1761673511.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708839,-0.695077,-0.120066],[0.705324,0.696483,0.132022],[-0.008142,-0.178268,0.983948]] 2025-10-28T17:45:12.166Z,1761673512.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708166,-0.696084,-0.118185],[0.705973,0.695699,0.132682],[-0.010137,-0.177397,0.984087]] 2025-10-28T17:45:12.571Z,1761673512.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706739,-0.697677,-0.117336],[0.707364,0.693904,0.134659],[-0.012529,-0.178168,0.983920]] 2025-10-28T17:45:12.975Z,1761673512.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704416,-0.700002,-0.117451],[0.709631,0.691081,0.137222],[-0.014888,-0.180009,0.983552]] 2025-10-28T17:45:13.381Z,1761673513.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701379,-0.703227,-0.116363],[0.712608,0.688113,0.136713],[-0.016070,-0.178809,0.983753]] 2025-10-28T17:45:13.786Z,1761673513.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698169,-0.706691,-0.114663],[0.715718,0.685022,0.135988],[-0.017555,-0.177009,0.984053]] 2025-10-28T17:45:14.190Z,1761673514.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694398,-0.710731,-0.112571],[0.719342,0.681499,0.134558],[-0.018918,-0.174414,0.984491]] 2025-10-28T17:45:14.593Z,1761673514.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690552,-0.714447,-0.112713],[0.722998,0.677477,0.135269],[-0.020282,-0.174902,0.984377]] 2025-10-28T17:45:15.001Z,1761673515.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686987,-0.717845,-0.112904],[0.726350,0.673739,0.135984],[-0.021548,-0.175427,0.984257]] 2025-10-28T17:45:15.399Z,1761673515.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683236,-0.721415,-0.112912],[0.729844,0.669877,0.136352],[-0.022729,-0.175568,0.984205]] 2025-10-28T17:45:15.803Z,1761673515.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679818,-0.724351,-0.114729],[0.733009,0.666127,0.137742],[-0.023350,-0.177737,0.983801]] 2025-10-28T17:45:16.213Z,1761673516.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677876,-0.726136,-0.114941],[0.734802,0.664209,0.137450],[-0.023462,-0.177633,0.983817]] 2025-10-28T17:45:16.611Z,1761673516.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676386,-0.727370,-0.115911],[0.736148,0.662419,0.138877],[-0.024234,-0.179262,0.983503]] 2025-10-28T17:45:17.015Z,1761673517.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675689,-0.728040,-0.115768],[0.736767,0.661628,0.139366],[-0.024868,-0.179462,0.983450]] 2025-10-28T17:45:17.419Z,1761673517.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674535,-0.729288,-0.114639],[0.737807,0.660620,0.138645],[-0.025379,-0.178102,0.983685]] 2025-10-28T17:45:17.831Z,1761673517.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673422,-0.730496,-0.113482],[0.738802,0.659636,0.138028],[-0.025972,-0.176792,0.983906]] 2025-10-28T17:45:18.231Z,1761673518.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672501,-0.731477,-0.112626],[0.739629,0.658843,0.137384],[-0.026290,-0.175693,0.984094]] 2025-10-28T17:45:18.631Z,1761673518.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671619,-0.732496,-0.111253],[0.740427,0.658240,0.135971],[-0.026367,-0.173696,0.984446]] 2025-10-28T17:45:19.034Z,1761673519.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671334,-0.732833,-0.110750],[0.740691,0.658096,0.135227],[-0.026215,-0.172814,0.984605]] 2025-10-28T17:45:19.439Z,1761673519.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671644,-0.732624,-0.110258],[0.740411,0.658491,0.134836],[-0.026180,-0.172198,0.984714]] 2025-10-28T17:45:19.850Z,1761673519.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672734,-0.731606,-0.110373],[0.739424,0.659534,0.135154],[-0.026085,-0.172535,0.984658]] 2025-10-28T17:45:20.246Z,1761673520.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674568,-0.730013,-0.109718],[0.737741,0.661337,0.135542],[-0.026387,-0.172376,0.984678]] 2025-10-28T17:45:20.651Z,1761673520.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676899,-0.728066,-0.108294],[0.735582,0.663696,0.135741],[-0.026954,-0.171542,0.984808]] 2025-10-28T17:45:21.054Z,1761673521.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679599,-0.725613,-0.107841],[0.733047,0.666106,0.137640],[-0.028040,-0.172593,0.984594]] 2025-10-28T17:45:21.102Z,1761673521.102 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:45:21.102Z,1761673521.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:45:21.102Z,1761673521.102 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:45:21.102Z,1761673521.102 [marl:UpdateRudder:A] Stopped 2025-10-28T17:45:21.103Z,1761673521.103 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:45:21.461Z,1761673521.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682368,-0.723151,-0.106889],[0.730402,0.668521,0.139975],[-0.029765,-0.173587,0.984369]] 2025-10-28T17:45:21.485Z,1761673521.485 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:45:21.486Z,1761673521.486 [marl:UpdateRudder:B] Stopped 2025-10-28T17:45:21.486Z,1761673521.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:45:21.486Z,1761673521.486 [marl:UpdateRudder] Stopped 2025-10-28T17:45:21.486Z,1761673521.486 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:45:21.863Z,1761673521.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684949,-0.721134,-0.103977],[0.727864,0.670887,0.141862],[-0.032545,-0.172849,0.984411]] 2025-10-28T17:45:22.266Z,1761673522.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686504,-0.719965,-0.101795],[0.726227,0.671943,0.145215],[-0.036149,-0.173617,0.984150]] 2025-10-28T17:45:22.332Z,1761673522.332 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:45:22.333Z,1761673522.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:45:22.333Z,1761673522.333 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:45:22.333Z,1761673522.333 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:45:22.333Z,1761673522.333 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:45:22.333Z,1761673522.333 [marl:UpdateCommandMode] Stopped 2025-10-28T17:45:22.334Z,1761673522.334 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:45:22.334Z,1761673522.334 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:45:22.334Z,1761673522.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:45:22.334Z,1761673522.334 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:45:22.335Z,1761673522.335 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:45:22.335Z,1761673522.335 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:45:22.335Z,1761673522.335 [marl:UpdateSpeed] Stopped 2025-10-28T17:45:22.336Z,1761673522.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:45:22.673Z,1761673522.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686626,-0.720199,-0.099285],[0.725905,0.671631,0.148236],[-0.040076,-0.173854,0.983956]] 2025-10-28T17:45:23.074Z,1761673523.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684534,-0.722342,-0.098161],[0.727678,0.669037,0.151244],[-0.043577,-0.174961,0.983611]] 2025-10-28T17:45:23.480Z,1761673523.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680187,-0.726658,-0.096507],[0.731586,0.664647,0.151742],[-0.046122,-0.173816,0.983697]] 2025-10-28T17:45:23.882Z,1761673523.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674805,-0.731820,-0.095276],[0.736466,0.659460,0.150767],[-0.047503,-0.171906,0.983967]] 2025-10-28T17:45:24.291Z,1761673524.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669108,-0.736936,-0.096023],[0.741631,0.653831,0.149959],[-0.047727,-0.171553,0.984018]] 2025-10-28T17:45:24.692Z,1761673524.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664187,-0.741215,-0.097244],[0.746051,0.648928,0.149333],[-0.047583,-0.171733,0.983994]] 2025-10-28T17:45:25.095Z,1761673525.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659843,-0.744866,-0.098901],[0.749935,0.644600,0.148623],[-0.046952,-0.172237,0.983936]] 2025-10-28T17:45:25.500Z,1761673525.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656423,-0.747951,-0.098379],[0.752969,0.641579,0.146336],[-0.046335,-0.170134,0.984331]] 2025-10-28T17:45:25.904Z,1761673525.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653325,-0.750895,-0.096552],[0.755706,0.639145,0.142835],[-0.045543,-0.166283,0.985026]] 2025-10-28T17:45:26.316Z,1761673526.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651752,-0.752332,-0.096005],[0.757088,0.637828,0.141397],[-0.045142,-0.164840,0.985287]] 2025-10-28T17:45:26.711Z,1761673526.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650925,-0.753099,-0.095594],[0.757824,0.637206,0.140254],[-0.044712,-0.163738,0.985490]] 2025-10-28T17:45:27.114Z,1761673527.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650427,-0.753618,-0.094896],[0.758271,0.636928,0.139099],[-0.044385,-0.162430,0.985721]] 2025-10-28T17:45:27.233Z,1761673527.233 [CTD_Seabird](ERROR): Failed to parse device response: .41 2025-10-28T17:45:27.923Z,1761673527.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649048,-0.754915,-0.094022],[0.759443,0.635734,0.138159],[-0.044525,-0.161076,0.985937]] 2025-10-28T17:45:28.333Z,1761673528.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648148,-0.755603,-0.094703],[0.760199,0.634701,0.138750],[-0.044732,-0.161924,0.985789]] 2025-10-28T17:45:28.731Z,1761673528.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647340,-0.756010,-0.096948],[0.760882,0.633491,0.140531],[-0.044827,-0.164738,0.985318]] 2025-10-28T17:45:29.141Z,1761673529.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646348,-0.756604,-0.098919],[0.761698,0.632070,0.142489],[-0.045284,-0.167444,0.984841]] 2025-10-28T17:45:29.559Z,1761673529.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645277,-0.757400,-0.099817],[0.762566,0.630730,0.143779],[-0.045941,-0.168894,0.984563]] 2025-10-28T17:45:29.943Z,1761673529.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643701,-0.758829,-0.099138],[0.763823,0.629082,0.144328],[-0.047154,-0.168627,0.984551]] 2025-10-28T17:45:30.346Z,1761673530.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642983,-0.759373,-0.099620],[0.764367,0.628089,0.145763],[-0.048118,-0.169869,0.984291]] 2025-10-28T17:45:30.782Z,1761673530.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642758,-0.759531,-0.099873],[0.764479,0.627551,0.147486],[-0.049344,-0.171148,0.984009]] 2025-10-28T17:45:31.224Z,1761673531.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642143,-0.759858,-0.101336],[0.764903,0.626357,0.150335],[-0.050761,-0.174049,0.983428]] 2025-10-28T17:45:31.623Z,1761673531.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641600,-0.760112,-0.102854],[0.765262,0.625209,0.153257],[-0.052187,-0.177040,0.982819]] 2025-10-28T17:45:32.162Z,1761673532.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640976,-0.760360,-0.104897],[0.765674,0.623823,0.156805],[-0.053791,-0.180825,0.982043]] 2025-10-28T17:45:32.556Z,1761673532.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640147,-0.761006,-0.105268],[0.766348,0.622895,0.157205],[-0.054063,-0.181306,0.981939]] 2025-10-28T17:45:32.959Z,1761673532.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638332,-0.762513,-0.105385],[0.767886,0.621232,0.156273],[-0.053691,-0.180678,0.982076]] 2025-10-28T17:45:33.776Z,1761673533.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632959,-0.766945,-0.105627],[0.772460,0.616541,0.152257],[-0.051649,-0.177965,0.982680]] 2025-10-28T17:45:34.171Z,1761673534.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629822,-0.769560,-0.105364],[0.775124,0.613957,0.149129],[-0.050074,-0.175595,0.983188]] 2025-10-28T17:45:34.215Z,1761673534.215 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:45:34.215Z,1761673534.215 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:45:34.215Z,1761673534.215 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:45:34.216Z,1761673534.216 [marl:UpdateRudder:A] Stopped 2025-10-28T17:45:34.220Z,1761673534.220 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:45:34.576Z,1761673534.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626430,-0.772274,-0.105729],[0.778008,0.611144,0.145625],[-0.047846,-0.173482,0.983674]] 2025-10-28T17:45:34.600Z,1761673534.600 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:45:34.600Z,1761673534.600 [marl:UpdateRudder:B] Stopped 2025-10-28T17:45:34.600Z,1761673534.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:45:34.600Z,1761673534.600 [marl:UpdateRudder] Stopped 2025-10-28T17:45:34.600Z,1761673534.600 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:45:34.980Z,1761673534.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622605,-0.775432,-0.105209],[0.781203,0.608053,0.141399],[-0.045673,-0.170225,0.984346]] 2025-10-28T17:45:35.383Z,1761673535.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619297,-0.778075,-0.105219],[0.783943,0.605312,0.137953],[-0.043648,-0.167920,0.984834]] 2025-10-28T17:45:35.414Z,1761673535.414 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:45:35.414Z,1761673535.414 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:45:35.414Z,1761673535.414 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:45:35.414Z,1761673535.414 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateCommandMode] Stopped 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:45:35.415Z,1761673535.415 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:45:35.416Z,1761673535.416 [marl:UpdateSpeed] Stopped 2025-10-28T17:45:35.416Z,1761673535.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:45:35.653Z,1761673535.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:45:35.794Z,1761673535.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616375,-0.780392,-0.105213],[0.786349,0.602921,0.134690],[-0.041676,-0.165753,0.985286]] 2025-10-28T17:45:36.190Z,1761673536.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613727,-0.782473,-0.105242],[0.788517,0.600766,0.131608],[-0.039754,-0.163757,0.985699]] 2025-10-28T17:45:36.596Z,1761673536.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611646,-0.783950,-0.106353],[0.790217,0.598935,0.129743],[-0.038014,-0.163399,0.985828]] 2025-10-28T17:45:36.657Z,1761673536.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:45:36.998Z,1761673536.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610392,-0.784684,-0.108137],[0.791245,0.597683,0.129252],[-0.036790,-0.164458,0.985698]] 2025-10-28T17:45:37.402Z,1761673537.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609862,-0.784779,-0.110405],[0.791695,0.596989,0.129705],[-0.035879,-0.166509,0.985387]] 2025-10-28T17:45:37.814Z,1761673537.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610006,-0.784339,-0.112719],[0.791616,0.596890,0.130641],[-0.035185,-0.168922,0.985001]] 2025-10-28T17:45:38.217Z,1761673538.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610621,-0.783391,-0.115933],[0.791156,0.597016,0.132830],[-0.034844,-0.172830,0.984335]] 2025-10-28T17:45:38.616Z,1761673538.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612034,-0.781734,-0.119610],[0.790064,0.597745,0.136013],[-0.034830,-0.177744,0.983460]] 2025-10-28T17:45:39.019Z,1761673539.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613553,-0.780070,-0.122654],[0.788870,0.598586,0.139206],[-0.035171,-0.182168,0.982638]] 2025-10-28T17:45:39.423Z,1761673539.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614223,-0.779317,-0.124073],[0.788301,0.598731,0.141782],[-0.036207,-0.184893,0.982091]] 2025-10-28T17:45:39.827Z,1761673539.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614082,-0.779306,-0.124839],[0.788351,0.598152,0.143937],[-0.037498,-0.186806,0.981681]] 2025-10-28T17:45:40.237Z,1761673540.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613335,-0.779718,-0.125937],[0.788878,0.596968,0.145947],[-0.038617,-0.188864,0.981244]] 2025-10-28T17:45:40.635Z,1761673540.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610848,-0.781949,-0.124177],[0.790776,0.594778,0.144615],[-0.039224,-0.186534,0.981665]] 2025-10-28T17:45:41.038Z,1761673541.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607226,-0.784818,-0.123844],[0.793543,0.591299,0.143716],[-0.039562,-0.185544,0.981839]] 2025-10-28T17:45:41.443Z,1761673541.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602583,-0.788524,-0.122981],[0.797075,0.587015,0.141720],[-0.039558,-0.183423,0.982238]] 2025-10-28T17:45:41.848Z,1761673541.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597879,-0.792121,-0.122819],[0.800637,0.582666,0.139573],[-0.038996,-0.181782,0.982565]] 2025-10-28T17:45:42.250Z,1761673542.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592848,-0.795986,-0.122215],[0.804423,0.578195,0.136361],[-0.037878,-0.179154,0.983092]] 2025-10-28T17:45:42.655Z,1761673542.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587856,-0.799568,-0.122947],[0.808158,0.573660,0.133398],[-0.036131,-0.177780,0.983407]] 2025-10-28T17:45:43.058Z,1761673543.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583556,-0.802359,-0.125232],[0.811385,0.569741,0.130570],[-0.033415,-0.177806,0.983498]] 2025-10-28T17:45:43.464Z,1761673543.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580145,-0.804561,-0.126939],[0.813945,0.566835,0.127243],[-0.030421,-0.177140,0.983715]] 2025-10-28T17:45:43.869Z,1761673543.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578049,-0.805613,-0.129800],[0.815541,0.565018,0.125089],[-0.027434,-0.178164,0.983618]] 2025-10-28T17:45:44.273Z,1761673544.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576479,-0.806444,-0.131602],[0.816742,0.563849,0.122503],[-0.024588,-0.178106,0.983704]] 2025-10-28T17:45:44.675Z,1761673544.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575831,-0.806580,-0.133595],[0.817261,0.563395,0.121120],[-0.022426,-0.178927,0.983607]] 2025-10-28T17:45:45.079Z,1761673545.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575717,-0.806525,-0.134411],[0.817385,0.563530,0.119648],[-0.020755,-0.178749,0.983676]] 2025-10-28T17:45:45.483Z,1761673545.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576189,-0.805746,-0.137041],[0.817095,0.563968,0.119568],[-0.019054,-0.180869,0.983323]] 2025-10-28T17:45:45.886Z,1761673545.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576707,-0.805112,-0.138579],[0.816757,0.564520,0.119266],[-0.017792,-0.181966,0.983144]] 2025-10-28T17:45:46.300Z,1761673546.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577080,-0.804428,-0.140975],[0.816514,0.564744,0.119867],[-0.016809,-0.184281,0.982730]] 2025-10-28T17:45:46.694Z,1761673546.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576868,-0.804338,-0.142351],[0.816681,0.564522,0.119783],[-0.015986,-0.185354,0.982542]] 2025-10-28T17:45:47.098Z,1761673547.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576338,-0.804302,-0.144684],[0.817068,0.563813,0.120478],[-0.015326,-0.187652,0.982116]] 2025-10-28T17:45:47.151Z,1761673547.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:45:47.151Z,1761673547.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:45:47.151Z,1761673547.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:45:47.151Z,1761673547.151 [marl:UpdateRudder:A] Stopped 2025-10-28T17:45:47.151Z,1761673547.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:45:47.503Z,1761673547.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574861,-0.805073,-0.146260],[0.818129,0.562434,0.119720],[-0.014121,-0.188482,0.981975]] 2025-10-28T17:45:47.549Z,1761673547.549 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:45:47.549Z,1761673547.549 [marl:UpdateRudder:B] Stopped 2025-10-28T17:45:47.549Z,1761673547.549 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:45:47.550Z,1761673547.550 [marl:UpdateRudder] Stopped 2025-10-28T17:45:47.550Z,1761673547.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:45:47.906Z,1761673547.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572617,-0.806063,-0.149577],[0.819732,0.560227,0.119098],[-0.012203,-0.190810,0.981551]] 2025-10-28T17:45:48.310Z,1761673548.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569171,-0.808195,-0.151209],[0.822166,0.557342,0.115814],[-0.009325,-0.190237,0.981694]] 2025-10-28T17:45:48.363Z,1761673548.363 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:45:48.363Z,1761673548.363 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:45:48.363Z,1761673548.363 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:45:48.364Z,1761673548.364 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:45:48.364Z,1761673548.364 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:45:48.364Z,1761673548.364 [marl:UpdateCommandMode] Stopped 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed] Stopped 2025-10-28T17:45:48.365Z,1761673548.365 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:45:48.721Z,1761673548.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565130,-0.810697,-0.152969],[0.824977,0.553865,0.112454],[-0.006442,-0.189747,0.981812]] 2025-10-28T17:45:49.120Z,1761673549.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560940,-0.813472,-0.153652],[0.827850,0.550428,0.108140],[-0.003395,-0.187861,0.982190]] 2025-10-28T17:45:49.527Z,1761673549.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557336,-0.815935,-0.153709],[0.830287,0.547632,0.103551],[-0.000315,-0.185336,0.982675]] 2025-10-28T17:45:49.928Z,1761673549.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554493,-0.818334,-0.151218],[0.832184,0.545871,0.097445],[0.002803,-0.179874,0.983686]] 2025-10-28T17:45:50.345Z,1761673550.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552232,-0.820248,-0.149110],[0.833671,0.544529,0.092092],[0.005656,-0.175165,0.984523]] 2025-10-28T17:45:50.735Z,1761673550.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551212,-0.820882,-0.149393],[0.834328,0.543977,0.089367],[0.007906,-0.173903,0.984731]] 2025-10-28T17:45:51.139Z,1761673551.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551312,-0.820861,-0.149140],[0.834242,0.544486,0.087039],[0.009758,-0.172404,0.984978]] 2025-10-28T17:45:51.563Z,1761673551.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552171,-0.819763,-0.151974],[0.833651,0.545391,0.087029],[0.011542,-0.174748,0.984545]] 2025-10-28T17:45:51.948Z,1761673551.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553530,-0.818480,-0.153933],[0.832728,0.546806,0.086983],[0.012977,-0.176332,0.984245]] 2025-10-28T17:45:52.351Z,1761673552.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554715,-0.817176,-0.156573],[0.831924,0.547878,0.087933],[0.013926,-0.179034,0.983744]] 2025-10-28T17:45:52.760Z,1761673552.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555788,-0.815792,-0.159946],[0.831198,0.548674,0.089819],[0.014484,-0.182867,0.983031]] 2025-10-28T17:45:53.159Z,1761673553.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555813,-0.815493,-0.161383],[0.831179,0.548572,0.090611],[0.014637,-0.184501,0.982723]] 2025-10-28T17:45:53.602Z,1761673553.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554808,-0.815696,-0.163792],[0.831849,0.547334,0.091938],[0.014655,-0.187258,0.982201]] 2025-10-28T17:45:53.966Z,1761673553.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551888,-0.817340,-0.165454],[0.833790,0.544307,0.092325],[0.014597,-0.188907,0.981887]] 2025-10-28T17:45:53.999Z,1761673553.999 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:45:54.245Z,1761673554.245 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:45:54.245Z,1761673554.245 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:45:54.371Z,1761673554.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547875,-0.819887,-0.166186],[0.836429,0.540390,0.091463],[0.014816,-0.189113,0.981844]] 2025-10-28T17:45:54.497Z,1761673554.497 [DAT](INFO): DAT read: user:82> 2025-10-28T17:45:54.498Z,1761673554.498 [DAT](INFO): DAT read: Tx time:17:45:54.2537 2025-10-28T17:45:54.498Z,1761673554.498 [DAT](INFO): Ping request sent. 2025-10-28T17:45:54.498Z,1761673554.498 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:45:54.498Z,1761673554.498 [DAT](INFO): publishing transmit ping time 2025-10-28T17:45:54.499Z,1761673554.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T17:45:54.750Z,1761673554.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251604 2025-10-28T17:45:54.784Z,1761673554.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543122,-0.823020,-0.166303],[0.839511,0.535924,0.089477],[0.015484,-0.188210,0.982007]] 2025-10-28T17:45:55.001Z,1761673555.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976 2025-10-28T17:45:55.178Z,1761673555.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538104,-0.826176,-0.166966],[0.842716,0.531231,0.087314],[0.016561,-0.187689,0.982089]] 2025-10-28T17:45:55.258Z,1761673555.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759621 2025-10-28T17:45:55.509Z,1761673555.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010952 2025-10-28T17:45:55.606Z,1761673555.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533196,-0.829237,-0.167538],[0.845809,0.526640,0.085191],[0.017588,-0.187128,0.982178]] 2025-10-28T17:45:55.762Z,1761673555.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263592 2025-10-28T17:45:55.987Z,1761673555.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528058,-0.832467,-0.167791],[0.849003,0.521871,0.082733],[0.018693,-0.186143,0.982345]] 2025-10-28T17:45:56.013Z,1761673556.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515000 2025-10-28T17:45:56.266Z,1761673556.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767678 2025-10-28T17:45:56.390Z,1761673556.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523450,-0.835091,-0.169183],[0.851808,0.517669,0.080259],[0.020557,-0.186124,0.982311]] 2025-10-28T17:45:56.517Z,1761673556.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019014 2025-10-28T17:45:56.769Z,1761673556.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271360 2025-10-28T17:45:56.795Z,1761673556.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519584,-0.837122,-0.171055],[0.854105,0.514307,0.077409],[0.023174,-0.186319,0.982216]] 2025-10-28T17:45:57.021Z,1761673557.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523502 2025-10-28T17:45:57.198Z,1761673557.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516459,-0.838799,-0.172298],[0.855929,0.511688,0.074573],[0.025611,-0.185989,0.982218]] 2025-10-28T17:45:57.275Z,1761673557.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776528 2025-10-28T17:45:57.526Z,1761673557.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027743 2025-10-28T17:45:57.616Z,1761673557.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514179,-0.839750,-0.174470],[0.857214,0.509879,0.072165],[0.028358,-0.186664,0.982015]] 2025-10-28T17:45:57.779Z,1761673557.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280747 2025-10-28T17:45:58.007Z,1761673558.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512091,-0.840662,-0.176209],[0.858357,0.508365,0.069199],[0.031405,-0.186686,0.981918]] 2025-10-28T17:45:58.029Z,1761673558.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530962 2025-10-28T17:45:58.281Z,1761673558.281 [DAT](INFO): DAT read: Rx Time:17:45:57.5284 2025-10-28T17:45:58.281Z,1761673558.281 [DAT](INFO): Rx dataTimestamp_ set to:1761673558.281209 2025-10-28T17:45:58.282Z,1761673558.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784053 2025-10-28T17:45:58.411Z,1761673558.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510305,-0.841576,-0.177026],[0.859318,0.507140,0.066192],[0.034072,-0.185900,0.981978]] 2025-10-28T17:45:58.540Z,1761673558.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042258 2025-10-28T17:45:58.790Z,1761673558.790 [DAT](INFO): DAT read: 17:45:57.5284 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 351, 0.24, 1.970, 0.271, 1.533, 1.471, PHS= 0.600,-1.156, 0.018, RAW= 131.0, 7.0, CAL= 131.2, 8.2, ROT= 18.8, -8.2 2025-10-28T17:45:58.791Z,1761673558.791 [DAT](INFO): got valid direction response: 17:45:57.5284 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 351, 0.24, 1.970, 0.271, 1.533, 1.471, PHS= 0.600,-1.156, 0.018, RAW= 131.0, 7.0, CAL= 131.2, 8.2, ROT= 18.8, -8.2 2025-10-28T17:45:58.792Z,1761673558.792 [DAT](INFO): DAT read: Bearing 219.3, 17.6 (Local) 2025-10-28T17:45:58.793Z,1761673558.793 [DAT](INFO): Local bearing/azimuth received: Bearing 219.3, 17.6 (Local) 2025-10-28T17:45:58.794Z,1761673558.794 [DAT](INFO): DAT read: Range 11 to 20 : 652.9 m (Round-trip 870.6 ms) speed 0.0 m/s 2025-10-28T17:45:58.795Z,1761673558.795 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:45:58.796Z,1761673558.796 [DAT](INFO): direction in FSK: [0.936971,0.318971,0.142629] 2025-10-28T17:45:58.796Z,1761673558.796 [DAT](INFO): publishing direction and range info 2025-10-28T17:45:58.868Z,1761673558.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508767,-0.842566,-0.176745],[0.860131,0.506182,0.062888],[0.036478,-0.184019,0.982246]] 2025-10-28T17:45:58.955Z,1761673558.955 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673600.00. Resetting abort timer. 2025-10-28T17:45:59.218Z,1761673559.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507305,-0.843616,-0.175937],[0.860897,0.505289,0.059497],[0.038706,-0.181646,0.982602]] 2025-10-28T17:45:59.623Z,1761673559.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506271,-0.844243,-0.175908],[0.861428,0.504637,0.057304],[0.040391,-0.180544,0.982737]] 2025-10-28T17:46:00.028Z,1761673560.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506070,-0.844694,-0.174315],[0.861487,0.504806,0.054882],[0.041637,-0.177944,0.983159]] 2025-10-28T17:46:00.431Z,1761673560.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506561,-0.844803,-0.172346],[0.861149,0.505615,0.052681],[0.042635,-0.175102,0.983627]] 2025-10-28T17:46:00.461Z,1761673560.461 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:46:00.461Z,1761673560.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:46:00.461Z,1761673560.461 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:46:00.462Z,1761673560.462 [marl:UpdateRudder:A] Stopped 2025-10-28T17:46:00.462Z,1761673560.462 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:46:00.835Z,1761673560.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507886,-0.844466,-0.170084],[0.860329,0.507208,0.050735],[0.043424,-0.172096,0.984123]] 2025-10-28T17:46:00.942Z,1761673560.942 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:46:00.942Z,1761673560.942 [marl:UpdateRudder:B] Stopped 2025-10-28T17:46:00.942Z,1761673560.942 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:46:00.942Z,1761673560.942 [marl:UpdateRudder] Stopped 2025-10-28T17:46:00.942Z,1761673560.942 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:46:01.239Z,1761673561.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509554,-0.843683,-0.168980],[0.859302,0.509062,0.049558],[0.044210,-0.170457,0.984373]] 2025-10-28T17:46:01.642Z,1761673561.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511778,-0.842300,-0.169157],[0.857961,0.511298,0.049773],[0.044565,-0.170603,0.984332]] 2025-10-28T17:46:01.710Z,1761673561.710 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode] Stopped 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:46:01.711Z,1761673561.711 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed] Stopped 2025-10-28T17:46:01.712Z,1761673561.712 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:46:02.047Z,1761673562.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514476,-0.840379,-0.170522],[0.856354,0.513824,0.051411],[0.044414,-0.172477,0.984012]] 2025-10-28T17:46:02.451Z,1761673562.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517228,-0.837995,-0.173898],[0.854728,0.516166,0.054885],[0.043768,-0.177024,0.983233]] 2025-10-28T17:46:02.855Z,1761673562.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519140,-0.836292,-0.176380],[0.853617,0.517660,0.058014],[0.042788,-0.180678,0.982611]] 2025-10-28T17:46:03.266Z,1761673563.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518848,-0.836037,-0.178433],[0.853831,0.517076,0.060041],[0.042067,-0.183504,0.982118]] 2025-10-28T17:46:03.664Z,1761673563.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515587,-0.837358,-0.181665],[0.855791,0.513725,0.060897],[0.042333,-0.186865,0.981473]] 2025-10-28T17:46:04.067Z,1761673564.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510896,-0.840066,-0.182412],[0.858559,0.509284,0.059218],[0.043153,-0.186865,0.981437]] 2025-10-28T17:46:04.473Z,1761673564.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505020,-0.843577,-0.182570],[0.861987,0.503728,0.056898],[0.043968,-0.186107,0.981545]] 2025-10-28T17:46:04.875Z,1761673564.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499358,-0.846885,-0.182833],[0.865215,0.498459,0.054228],[0.045210,-0.185269,0.981647]] 2025-10-28T17:46:05.280Z,1761673565.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494107,-0.849484,-0.185027],[0.868179,0.493390,0.053215],[0.046085,-0.186931,0.981292]] 2025-10-28T17:46:05.683Z,1761673565.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489566,-0.851993,-0.185563],[0.870670,0.489239,0.050778],[0.047523,-0.186423,0.981319]] 2025-10-28T17:46:06.087Z,1761673566.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485933,-0.853810,-0.186757],[0.872587,0.486074,0.048212],[0.049614,-0.186389,0.981222]] 2025-10-28T17:46:06.491Z,1761673566.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483681,-0.854789,-0.188119],[0.873733,0.484187,0.046408],[0.051415,-0.186813,0.981049]] 2025-10-28T17:46:06.777Z,1761673566.777 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:46:06.894Z,1761673566.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482613,-0.855381,-0.188171],[0.874215,0.483530,0.044137],[0.053232,-0.185803,0.981144]] 2025-10-28T17:46:07.300Z,1761673567.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482441,-0.855544,-0.187870],[0.874212,0.483710,0.042156],[0.054808,-0.184576,0.981289]] 2025-10-28T17:46:07.702Z,1761673567.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482881,-0.855422,-0.187297],[0.873907,0.484376,0.040830],[0.055795,-0.183396,0.981454]] 2025-10-28T17:46:07.780Z,1761673567.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:46:08.107Z,1761673568.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483594,-0.855191,-0.186508],[0.873487,0.485192,0.040114],[0.056187,-0.182311,0.981634]] 2025-10-28T17:46:08.915Z,1761673568.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485495,-0.853964,-0.187191],[0.872528,0.486698,0.042662],[0.054674,-0.184042,0.981397]] 2025-10-28T17:46:09.321Z,1761673569.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485654,-0.853642,-0.188242],[0.872537,0.486464,0.045075],[0.053095,-0.186139,0.981088]] 2025-10-28T17:46:09.722Z,1761673569.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484703,-0.854150,-0.188389],[0.873124,0.485323,0.046006],[0.052133,-0.186786,0.981016]] 2025-10-28T17:46:10.126Z,1761673570.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483166,-0.855128,-0.187901],[0.874026,0.483666,0.046318],[0.051273,-0.186609,0.981095]] 2025-10-28T17:46:10.530Z,1761673570.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481357,-0.856603,-0.185813],[0.875091,0.481768,0.045994],[0.050121,-0.184743,0.981508]] 2025-10-28T17:46:10.943Z,1761673570.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479156,-0.858011,-0.185006],[0.876380,0.479356,0.046646],[0.048661,-0.184487,0.981630]] 2025-10-28T17:46:11.339Z,1761673571.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476274,-0.859317,-0.186380],[0.878014,0.476218,0.048038],[0.047477,-0.186523,0.981303]] 2025-10-28T17:46:11.758Z,1761673571.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468994,-0.862379,-0.190650],[0.882005,0.468548,0.050300],[0.045951,-0.191744,0.980369]] 2025-10-28T17:46:12.557Z,1761673572.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460921,-0.867454,-0.187284],[0.886284,0.460725,0.047251],[0.045298,-0.187766,0.981169]] 2025-10-28T17:46:12.962Z,1761673572.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457675,-0.869782,-0.184427],[0.887955,0.457746,0.044765],[0.045485,-0.184251,0.981826]] 2025-10-28T17:46:13.363Z,1761673573.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455606,-0.871616,-0.180855],[0.889013,0.455925,0.042291],[0.045595,-0.180050,0.982600]] 2025-10-28T17:46:13.771Z,1761673573.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454506,-0.872976,-0.177024],[0.889585,0.454994,0.040236],[0.045420,-0.175766,0.983384]] 2025-10-28T17:46:13.829Z,1761673573.829 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:46:13.829Z,1761673573.829 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:46:13.829Z,1761673573.829 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:46:13.830Z,1761673573.830 [marl:UpdateRudder:A] Stopped 2025-10-28T17:46:13.830Z,1761673573.830 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:46:14.171Z,1761673574.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454261,-0.873663,-0.174241],[0.889731,0.454800,0.039189],[0.045007,-0.172830,0.983923]] 2025-10-28T17:46:14.196Z,1761673574.196 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:46:14.196Z,1761673574.196 [marl:UpdateRudder:B] Stopped 2025-10-28T17:46:14.196Z,1761673574.196 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:46:14.196Z,1761673574.196 [marl:UpdateRudder] Stopped 2025-10-28T17:46:14.196Z,1761673574.196 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:46:14.570Z,1761673574.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455091,-0.873526,-0.172756],[0.889339,0.455558,0.039293],[0.044377,-0.171521,0.984180]] 2025-10-28T17:46:14.978Z,1761673574.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456379,-0.872864,-0.172703],[0.888713,0.456688,0.040315],[0.043682,-0.171882,0.984149]] 2025-10-28T17:46:15.072Z,1761673575.072 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:46:15.072Z,1761673575.072 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:46:15.072Z,1761673575.072 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:46:15.072Z,1761673575.072 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateCommandMode] Stopped 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:46:15.073Z,1761673575.073 [marl:UpdateSpeed] Stopped 2025-10-28T17:46:15.074Z,1761673575.074 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:46:15.379Z,1761673575.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457906,-0.872147,-0.172281],[0.887977,0.458003,0.041584],[0.042638,-0.172024,0.984170]] 2025-10-28T17:46:15.815Z,1761673575.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459463,-0.870831,-0.174776],[0.887236,0.459142,0.044724],[0.041300,-0.175616,0.983592]] 2025-10-28T17:46:16.191Z,1761673576.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460990,-0.869481,-0.177459],[0.886523,0.460146,0.048405],[0.039570,-0.179635,0.982937]] 2025-10-28T17:46:16.591Z,1761673576.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461207,-0.869168,-0.178423],[0.886492,0.459917,0.051063],[0.037678,-0.181721,0.982628]] 2025-10-28T17:46:16.998Z,1761673576.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457379,-0.872649,-0.171140],[0.888565,0.456142,0.048848],[0.035436,-0.174411,0.984035]] 2025-10-28T17:46:17.400Z,1761673577.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447539,-0.881297,-0.151741],[0.893668,0.446950,0.039909],[0.032649,-0.153467,0.987614]] 2025-10-28T17:46:17.803Z,1761673577.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432665,-0.892867,-0.124857],[0.901047,0.432901,0.026666],[0.030242,-0.124039,0.991816]] 2025-10-28T17:46:18.207Z,1761673578.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415232,-0.904645,-0.095913],[0.909297,0.415927,0.013590],[0.027598,-0.092856,0.995297]] 2025-10-28T17:46:18.611Z,1761673578.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396522,-0.915418,-0.069141],[0.917668,0.397342,0.002051],[0.025595,-0.064262,0.997605]] 2025-10-28T17:46:19.022Z,1761673579.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376690,-0.925188,-0.046173],[0.926022,0.377398,-0.007384],[0.024257,-0.039975,0.998906]] 2025-10-28T17:46:19.420Z,1761673579.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357658,-0.933461,-0.027065],[0.933574,0.358109,-0.014061],[0.022818,-0.020238,0.999535]] 2025-10-28T17:46:19.822Z,1761673579.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338941,-0.940734,-0.011802],[0.940553,0.339114,-0.019006],[0.021882,-0.004659,0.999750]] 2025-10-28T17:46:20.236Z,1761673580.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320617,-0.947209,0.000390],[0.946973,0.320528,-0.022458],[0.021147,0.007570,0.999748]] 2025-10-28T17:46:20.630Z,1761673580.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302469,-0.953127,0.007852],[0.952937,0.302210,-0.024112],[0.020609,0.014775,0.999678]] 2025-10-28T17:46:21.040Z,1761673581.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284435,-0.958611,0.012681],[0.958480,0.284066,-0.024941],[0.020306,0.019249,0.999609]] 2025-10-28T17:46:21.438Z,1761673581.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266207,-0.963783,0.016009],[0.963703,0.265763,-0.025444],[0.020268,0.022201,0.999548]] 2025-10-28T17:46:21.844Z,1761673581.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248586,-0.968424,0.018956],[0.968397,0.248074,-0.025818],[0.020300,0.024775,0.999487]] 2025-10-28T17:46:22.251Z,1761673582.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229688,-0.973071,0.019413],[0.973032,0.229152,-0.026439],[0.021279,0.024962,0.999462]] 2025-10-28T17:46:22.652Z,1761673582.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211465,-0.977204,0.018817],[0.977122,0.210923,-0.027269],[0.022678,0.024153,0.999451]] 2025-10-28T17:46:23.054Z,1761673583.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193820,-0.980887,0.017176],[0.980729,0.193290,-0.028456],[0.024592,0.022361,0.999447]] 2025-10-28T17:46:23.462Z,1761673583.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177399,-0.984016,0.015555],[0.983783,0.176888,-0.029681],[0.026455,0.020568,0.999438]] 2025-10-28T17:46:23.863Z,1761673583.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162269,-0.986655,0.013440],[0.986333,0.161792,-0.031163],[0.028572,0.018313,0.999424]] 2025-10-28T17:46:24.270Z,1761673584.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148341,-0.988885,0.010053],[0.988455,0.147944,-0.032689],[0.030839,0.014786,0.999415]] 2025-10-28T17:46:24.670Z,1761673584.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135667,-0.990725,0.007662],[0.990205,0.135330,-0.034359],[0.033003,0.012248,0.999380]] 2025-10-28T17:46:25.081Z,1761673585.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124446,-0.992217,0.004319],[0.991620,0.124217,-0.035486],[0.034674,0.008699,0.999361]] 2025-10-28T17:46:25.484Z,1761673585.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114630,-0.993405,0.002495],[0.992769,0.114466,-0.036170],[0.035646,0.006623,0.999343]] 2025-10-28T17:46:25.883Z,1761673585.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105571,-0.994411,-0.000964],[0.993760,0.105537,-0.036088],[0.035988,0.002851,0.999348]] 2025-10-28T17:46:26.288Z,1761673586.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096725,-0.995298,-0.005068],[0.994673,0.096844,-0.035296],[0.035621,-0.001627,0.999364]] 2025-10-28T17:46:26.692Z,1761673586.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088168,-0.996069,-0.008533],[0.995530,0.088405,-0.033220],[0.033844,-0.005566,0.999412]] 2025-10-28T17:46:27.095Z,1761673587.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079053,-0.996804,-0.011550],[0.996396,0.079367,-0.029936],[0.030757,-0.009142,0.999485]] 2025-10-28T17:46:27.135Z,1761673587.135 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:46:27.136Z,1761673587.136 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:46:27.136Z,1761673587.136 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:46:27.136Z,1761673587.136 [marl:UpdateRudder:A] Stopped 2025-10-28T17:46:27.136Z,1761673587.136 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:46:27.499Z,1761673587.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068587,-0.997560,-0.013053],[0.997287,0.068908,-0.025890],[0.026727,-0.011242,0.999580]] 2025-10-28T17:46:27.588Z,1761673587.588 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:46:27.592Z,1761673587.592 [marl:UpdateRudder:B] Stopped 2025-10-28T17:46:27.593Z,1761673587.593 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:46:27.593Z,1761673587.593 [marl:UpdateRudder] Stopped 2025-10-28T17:46:27.594Z,1761673587.594 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:46:27.904Z,1761673587.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055356,-0.998368,-0.014040],[0.998204,0.055658,-0.022146],[0.022892,-0.012789,0.999656]] 2025-10-28T17:46:28.307Z,1761673588.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038253,-0.999171,-0.013898],[0.999074,0.038516,-0.019197],[0.019716,-0.013151,0.999719]] 2025-10-28T17:46:28.337Z,1761673588.337 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:46:28.337Z,1761673588.337 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:46:28.337Z,1761673588.337 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateCommandMode] Stopped 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:46:28.338Z,1761673588.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:46:28.339Z,1761673588.339 [marl:UpdateSpeed] Stopped 2025-10-28T17:46:28.339Z,1761673588.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:46:28.718Z,1761673588.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018292,-0.999762,-0.011912],[0.999687,0.018492,-0.016835],[0.017052,-0.011601,0.999787]] 2025-10-28T17:46:29.115Z,1761673589.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003677,-0.999954,-0.008834],[0.999882,-0.003545,-0.014956],[0.014924,-0.008888,0.999849]] 2025-10-28T17:46:29.527Z,1761673589.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026834,-0.999625,-0.005448],[0.999547,-0.026757,-0.013793],[0.013642,-0.005816,0.999890]] 2025-10-28T17:46:29.984Z,1761673589.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050563,-0.998721,-0.000374],[0.998636,-0.050554,-0.013017],[0.012982,-0.001032,0.999915]] 2025-10-28T17:46:30.327Z,1761673590.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074390,-0.997212,0.005875],[0.997138,-0.074462,-0.013066],[0.013467,0.004887,0.999897]] 2025-10-28T17:46:30.734Z,1761673590.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097948,-0.995146,0.009524],[0.995076,-0.098078,-0.014315],[0.015180,0.008075,0.999852]] 2025-10-28T17:46:31.141Z,1761673591.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120663,-0.992620,0.012064],[0.992540,-0.120849,-0.016102],[0.017441,0.010031,0.999798]] 2025-10-28T17:46:31.568Z,1761673591.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141428,-0.989841,0.014577],[0.989746,-0.141682,-0.018154],[0.020034,0.011860,0.999729]] 2025-10-28T17:46:31.942Z,1761673591.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160077,-0.986996,0.014634],[0.986853,-0.160354,-0.020199],[0.022283,0.011208,0.999689]] 2025-10-28T17:46:32.347Z,1761673592.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175192,-0.984446,0.013215],[0.984247,-0.175450,-0.021807],[0.023786,0.009186,0.999675]] 2025-10-28T17:46:32.757Z,1761673592.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187874,-0.982141,0.010114],[0.981893,-0.188062,-0.022787],[0.024282,0.005650,0.999689]] 2025-10-28T17:46:33.155Z,1761673593.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199669,-0.979839,0.006972],[0.979561,-0.199779,-0.023407],[0.024328,0.002156,0.999702]] 2025-10-28T17:46:33.604Z,1761673593.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210723,-0.977540,0.003244],[0.977260,-0.210740,-0.023487],[0.023643,-0.001779,0.999719]] 2025-10-28T17:46:33.962Z,1761673593.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221649,-0.975126,-0.000902],[0.974869,-0.221569,-0.023197],[0.022420,-0.006021,0.999731]] 2025-10-28T17:46:34.367Z,1761673594.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232238,-0.972648,-0.004533],[0.972442,-0.232085,-0.022199],[0.020539,-0.009564,0.999743]] 2025-10-28T17:46:34.778Z,1761673594.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242929,-0.970011,-0.008040],[0.969878,-0.242725,-0.020549],[0.017981,-0.012790,0.999757]] 2025-10-28T17:46:35.175Z,1761673595.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253683,-0.967232,-0.010359],[0.967173,-0.253474,-0.018075],[0.014857,-0.014604,0.999783]] 2025-10-28T17:46:35.611Z,1761673595.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265296,-0.964072,-0.013530],[0.964095,-0.265078,-0.015942],[0.011783,-0.017274,0.999781]] 2025-10-28T17:46:35.983Z,1761673595.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278105,-0.960446,-0.014198],[0.960508,-0.277923,-0.013567],[0.009084,-0.017410,0.999807]] 2025-10-28T17:46:36.388Z,1761673596.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292259,-0.956227,-0.014680],[0.956315,-0.292107,-0.011637],[0.006840,-0.017439,0.999825]] 2025-10-28T17:46:36.792Z,1761673596.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307591,-0.951406,-0.014659],[0.951504,-0.307464,-0.010341],[0.005331,-0.017129,0.999839]] 2025-10-28T17:46:37.202Z,1761673597.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323007,-0.946301,-0.013449],[0.946388,-0.322911,-0.008862],[0.004043,-0.015590,0.999870]] 2025-10-28T17:46:37.611Z,1761673597.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339104,-0.940660,-0.012931],[0.940744,-0.339027,-0.007820],[0.002972,-0.014817,0.999886]] 2025-10-28T17:46:37.900Z,1761673597.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:46:38.004Z,1761673598.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354570,-0.934913,-0.014752],[0.935028,-0.354505,-0.006946],[0.001264,-0.016256,0.999867]] 2025-10-28T17:46:38.407Z,1761673598.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370650,-0.928670,-0.013822],[0.928773,-0.370620,-0.004756],[-0.000706,-0.014600,0.999893]] 2025-10-28T17:46:38.811Z,1761673598.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387409,-0.921810,-0.013429],[0.921903,-0.387415,-0.002299],[-0.003083,-0.013271,0.999907]] 2025-10-28T17:46:38.904Z,1761673598.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:46:39.219Z,1761673599.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404863,-0.914277,-0.013529],[0.914359,-0.404904,0.000305],[-0.005757,-0.012247,0.999908]] 2025-10-28T17:46:39.621Z,1761673599.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422800,-0.906106,-0.014577],[0.906184,-0.422876,0.002481],[-0.008412,-0.012160,0.999891]] 2025-10-28T17:46:40.023Z,1761673600.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441679,-0.897027,-0.016206],[0.897109,-0.441791,0.003961],[-0.010713,-0.012789,0.999861]] 2025-10-28T17:46:40.426Z,1761673600.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460406,-0.887589,-0.014590],[0.887620,-0.460530,0.006594],[-0.012572,-0.009915,0.999872]] 2025-10-28T17:46:40.477Z,1761673600.477 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:46:40.477Z,1761673600.477 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:46:40.477Z,1761673600.477 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:46:40.478Z,1761673600.478 [marl:UpdateRudder:A] Stopped 2025-10-28T17:46:40.478Z,1761673600.478 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:46:40.833Z,1761673600.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478582,-0.877931,-0.013996],[0.877933,-0.478714,0.008199],[-0.013898,-0.008364,0.999868]] 2025-10-28T17:46:40.862Z,1761673600.862 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:46:40.862Z,1761673600.862 [marl:UpdateRudder:B] Stopped 2025-10-28T17:46:40.863Z,1761673600.863 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:46:40.863Z,1761673600.863 [marl:UpdateRudder] Stopped 2025-10-28T17:46:40.863Z,1761673600.863 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:46:41.236Z,1761673601.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496589,-0.867866,-0.014387],[0.867864,-0.496729,0.008517],[-0.014538,-0.008256,0.999860]] 2025-10-28T17:46:41.638Z,1761673601.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514096,-0.857604,-0.014852],[0.857613,-0.514236,0.007805],[-0.014331,-0.008725,0.999859]] 2025-10-28T17:46:41.735Z,1761673601.735 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:46:41.736Z,1761673601.736 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:46:41.740Z,1761673601.740 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:46:41.740Z,1761673601.740 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:46:41.740Z,1761673601.740 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:46:41.740Z,1761673601.740 [marl:UpdateCommandMode] Stopped 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed] Stopped 2025-10-28T17:46:41.741Z,1761673601.741 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:46:42.042Z,1761673602.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530552,-0.847539,-0.013896],[0.847548,-0.530672,0.007013],[-0.013317,-0.008057,0.999879]] 2025-10-28T17:46:42.448Z,1761673602.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545623,-0.837930,-0.013006],[0.837946,-0.545723,0.005758],[-0.011922,-0.007756,0.999899]] 2025-10-28T17:46:42.851Z,1761673602.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559421,-0.828778,-0.013208],[0.828819,-0.559506,0.003609],[-0.010381,-0.008928,0.999906]] 2025-10-28T17:46:43.255Z,1761673603.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571300,-0.820628,-0.013657],[0.820690,-0.571371,0.001672],[-0.009175,-0.010253,0.999905]] 2025-10-28T17:46:43.658Z,1761673603.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582053,-0.813029,-0.014104],[0.813110,-0.582110,-0.000052],[-0.008168,-0.011499,0.999901]] 2025-10-28T17:46:44.063Z,1761673604.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592400,-0.805516,-0.014346],[0.805610,-0.592445,-0.001289],[-0.007461,-0.012321,0.999896]] 2025-10-28T17:46:44.467Z,1761673604.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601898,-0.798449,-0.014071],[0.798540,-0.601940,-0.001505],[-0.007269,-0.012142,0.999900]] 2025-10-28T17:46:44.871Z,1761673604.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610327,-0.791992,-0.015831],[0.792114,-0.610368,-0.002669],[-0.007549,-0.014169,0.999871]] 2025-10-28T17:46:45.274Z,1761673605.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618971,-0.785216,-0.017608],[0.785368,-0.619021,-0.003100],[-0.008466,-0.015747,0.999840]] 2025-10-28T17:46:45.688Z,1761673605.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628066,-0.777918,-0.019413],[0.778093,-0.628143,-0.002577],[-0.010189,-0.016724,0.999808]] 2025-10-28T17:46:46.083Z,1761673606.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637270,-0.770317,-0.022336],[0.770539,-0.637388,-0.002282],[-0.012479,-0.018665,0.999748]] 2025-10-28T17:46:46.487Z,1761673606.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647331,-0.761820,-0.024345],[0.762048,-0.647521,-0.000123],[-0.015670,-0.018632,0.999704]] 2025-10-28T17:46:46.890Z,1761673606.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658418,-0.752176,-0.026794],[0.752411,-0.658691,0.001876],[-0.019060,-0.018925,0.999639]] 2025-10-28T17:46:47.296Z,1761673607.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670595,-0.741247,-0.029232],[0.741480,-0.670963,0.003980],[-0.022563,-0.019006,0.999565]] 2025-10-28T17:46:47.709Z,1761673607.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683895,-0.728916,-0.031122],[0.729117,-0.684358,0.006424],[-0.025981,-0.018299,0.999495]] 2025-10-28T17:46:48.102Z,1761673608.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697158,-0.716168,-0.032768],[0.716313,-0.697719,0.009163],[-0.029425,-0.017084,0.999421]] 2025-10-28T17:46:48.509Z,1761673608.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711115,-0.702217,-0.034733],[0.702340,-0.711763,0.010586],[-0.032156,-0.016867,0.999341]] 2025-10-28T17:46:48.910Z,1761673608.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725155,-0.687702,-0.034865],[0.687739,-0.725845,0.012840],[-0.034137,-0.014667,0.999310]] 2025-10-28T17:46:49.315Z,1761673609.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738969,-0.672806,-0.035457],[0.672807,-0.739692,0.013696],[-0.035442,-0.013734,0.999277]] 2025-10-28T17:46:49.721Z,1761673609.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752128,-0.658036,-0.035938],[0.658041,-0.752863,0.013355],[-0.035844,-0.013604,0.999265]] 2025-10-28T17:46:50.123Z,1761673610.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764558,-0.643552,-0.035948],[0.643583,-0.765279,0.012246],[-0.035391,-0.013772,0.999279]] 2025-10-28T17:46:50.528Z,1761673610.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776138,-0.629568,-0.035410],[0.629640,-0.776816,0.010507],[-0.034122,-0.014141,0.999318]] 2025-10-28T17:46:50.931Z,1761673610.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786302,-0.616836,-0.035252],[0.616970,-0.786943,0.008236],[-0.032821,-0.015274,0.999345]] 2025-10-28T17:46:51.334Z,1761673611.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795506,-0.604906,-0.035485],[0.605116,-0.796117,0.005684],[-0.031689,-0.016951,0.999354]] 2025-10-28T17:46:51.740Z,1761673611.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803824,-0.593767,-0.036166],[0.594069,-0.804409,0.002872],[-0.030797,-0.019177,0.999342]] 2025-10-28T17:46:52.144Z,1761673612.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812284,-0.582053,-0.037541],[0.582486,-0.812841,-0.000725],[-0.030092,-0.022456,0.999295]] 2025-10-28T17:46:52.546Z,1761673612.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820387,-0.570527,-0.038266],[0.571021,-0.820932,-0.002440],[-0.030022,-0.023852,0.999265]] 2025-10-28T17:46:52.577Z,1761673612.577 [CTD_Seabird](ERROR): Failed to parse device response: .08 2025-10-28T17:46:52.951Z,1761673612.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828807,-0.558138,-0.039502],[0.558700,-0.829361,-0.003970],[-0.030545,-0.025360,0.999212]] 2025-10-28T17:46:53.355Z,1761673613.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837317,-0.545193,-0.040811],[0.545795,-0.837907,-0.004466],[-0.031761,-0.026014,0.999157]] 2025-10-28T17:46:53.770Z,1761673613.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845813,-0.531831,-0.041913],[0.532436,-0.846461,-0.003983],[-0.033359,-0.025685,0.999113]] 2025-10-28T17:46:53.836Z,1761673613.836 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:46:53.836Z,1761673613.836 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:46:53.836Z,1761673613.836 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:46:53.837Z,1761673613.837 [marl:UpdateRudder:A] Stopped 2025-10-28T17:46:53.837Z,1761673613.837 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:46:54.224Z,1761673614.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863207,-0.502805,-0.045387],[0.503500,-0.863983,-0.004616],[-0.036893,-0.026837,0.998959]] 2025-10-28T17:46:54.250Z,1761673614.250 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:46:54.250Z,1761673614.250 [marl:UpdateRudder:B] Stopped 2025-10-28T17:46:54.250Z,1761673614.250 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:46:54.250Z,1761673614.250 [marl:UpdateRudder] Stopped 2025-10-28T17:46:54.250Z,1761673614.250 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:46:54.251Z,1761673614.251 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:46:54.501Z,1761673614.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:46:54.501Z,1761673614.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:46:54.753Z,1761673614.753 [DAT](INFO): DAT read: user:83> 2025-10-28T17:46:54.754Z,1761673614.754 [DAT](INFO): DAT read: Tx time:17:46:54.5035 2025-10-28T17:46:54.755Z,1761673614.755 [DAT](INFO): Ping request sent. 2025-10-28T17:46:54.755Z,1761673614.755 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:46:54.755Z,1761673614.755 [DAT](INFO): publishing transmit ping time 2025-10-28T17:46:54.756Z,1761673614.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001323 2025-10-28T17:46:54.971Z,1761673614.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871353,-0.488531,-0.045630],[0.489139,-0.872202,-0.002516],[-0.038569,-0.024512,0.998955]] 2025-10-28T17:46:55.009Z,1761673615.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253967 2025-10-28T17:46:55.027Z,1761673615.027 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:46:55.031Z,1761673615.031 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:46:55.031Z,1761673615.031 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:46:55.031Z,1761673615.031 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:46:55.032Z,1761673615.032 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:46:55.040Z,1761673615.040 [marl:UpdateCommandMode] Stopped 2025-10-28T17:46:55.040Z,1761673615.040 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:46:55.040Z,1761673615.040 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:46:55.040Z,1761673615.040 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:46:55.040Z,1761673615.040 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:46:55.041Z,1761673615.041 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:46:55.041Z,1761673615.041 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:46:55.041Z,1761673615.041 [marl:UpdateSpeed] Stopped 2025-10-28T17:46:55.041Z,1761673615.041 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:46:55.261Z,1761673615.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505912 2025-10-28T17:46:55.374Z,1761673615.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879105,-0.474419,-0.045846],[0.474981,-0.879995,-0.001568],[-0.039600,-0.023155,0.998947]] 2025-10-28T17:46:55.513Z,1761673615.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758026 2025-10-28T17:46:55.765Z,1761673615.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010362 2025-10-28T17:46:55.785Z,1761673615.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886405,-0.460648,-0.045715],[0.461132,-0.887332,-0.000057],[-0.040538,-0.021131,0.998955]] 2025-10-28T17:46:56.017Z,1761673616.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261911 2025-10-28T17:46:56.189Z,1761673616.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893248,-0.447227,-0.045786],[0.447667,-0.894200,0.000718],[-0.041264,-0.019855,0.998951]] 2025-10-28T17:46:56.270Z,1761673616.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514394 2025-10-28T17:46:56.521Z,1761673616.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765864 2025-10-28T17:46:56.589Z,1761673616.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899278,-0.434922,-0.046277],[0.435363,-0.900255,0.000608],[-0.041925,-0.019601,0.998928]] 2025-10-28T17:46:56.774Z,1761673616.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018228 2025-10-28T17:46:56.991Z,1761673616.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904257,-0.424285,-0.047969],[0.424882,-0.905245,-0.002503],[-0.042362,-0.022645,0.998846]] 2025-10-28T17:46:57.025Z,1761673617.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270086 2025-10-28T17:46:57.277Z,1761673617.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521869 2025-10-28T17:46:57.411Z,1761673617.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908565,-0.413086,-0.062205],[0.415387,-0.909162,-0.029648],[-0.044307,-0.052776,0.997623]] 2025-10-28T17:46:57.530Z,1761673617.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774600 2025-10-28T17:46:57.781Z,1761673617.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026191 2025-10-28T17:46:57.811Z,1761673617.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909050,-0.410057,-0.074036],[0.414195,-0.908638,-0.053094],[-0.045501,-0.078931,0.995841]] 2025-10-28T17:46:58.037Z,1761673618.037 [DAT](INFO): DAT read: Rx Time:17:46:57.3639 2025-10-28T17:46:58.037Z,1761673618.037 [DAT](INFO): Rx dataTimestamp_ set to:1761673618.036986 2025-10-28T17:46:58.038Z,1761673618.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283097 2025-10-28T17:46:58.216Z,1761673618.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909698,-0.405928,-0.087586],[0.412674,-0.907220,-0.081557],[-0.046354,-0.110337,0.992813]] 2025-10-28T17:46:58.286Z,1761673618.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530600 2025-10-28T17:46:58.543Z,1761673618.543 [DAT](INFO): DAT read: 17:46:57.3639 LVL= 28272, 28353, 15922, 29347, AGC= 66, IDX= 301, 0.14,-2.659,-1.642,-0.318,-1.575, PHS=-0.982,-0.022, 1.212, RAW= 235.9, -2.2, CAL= 232.6, -2.9, ROT= 277.4, 2.9 2025-10-28T17:46:58.544Z,1761673618.544 [DAT](INFO): got valid direction response: 17:46:57.3639 LVL= 28272, 28353, 15922, 29347, AGC= 66, IDX= 301, 0.14,-2.659,-1.642,-0.318,-1.575, PHS=-0.982,-0.022, 1.212, RAW= 235.9, -2.2, CAL= 232.6, -2.9, ROT= 277.4, 2.9 2025-10-28T17:46:58.545Z,1761673618.545 [DAT](INFO): DAT read: Bearing 63, -16 (Remote) 2025-10-28T17:46:58.545Z,1761673618.545 [DAT](INFO): Remote Bearing received:Bearing 63, -16 (Remote) 2025-10-28T17:46:58.546Z,1761673618.546 [DAT](INFO): DAT read: Bearing 241.4, -80.5 (Local) 2025-10-28T17:46:58.546Z,1761673618.546 [DAT](INFO): Local bearing/azimuth received: Bearing 241.4, -80.5 (Local) 2025-10-28T17:46:58.547Z,1761673618.547 [DAT](INFO): DAT read: Range 11 to 20 : 623.4 m (Round-trip 831.3 ms) speed 0.0 m/s 2025-10-28T17:46:58.548Z,1761673618.548 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:46:58.549Z,1761673618.549 [DAT](INFO): direction in FSK: [0.128631,-0.990401,-0.050593] 2025-10-28T17:46:58.549Z,1761673618.549 [DAT](INFO): publishing direction and range info 2025-10-28T17:46:58.632Z,1761673618.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910613,-0.400965,-0.100056],[0.410558,-0.905388,-0.108236],[-0.047190,-0.139640,0.989077]] 2025-10-28T17:46:58.731Z,1761673618.731 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673600.00. Resetting abort timer. 2025-10-28T17:46:59.023Z,1761673619.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911657,-0.396034,-0.109721],[0.408164,-0.903649,-0.129696],[-0.047785,-0.163022,0.985465]] 2025-10-28T17:46:59.427Z,1761673619.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913323,-0.389803,-0.117879],[0.404393,-0.902266,-0.149607],[-0.048041,-0.184309,0.981694]] 2025-10-28T17:46:59.831Z,1761673619.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915285,-0.383419,-0.123464],[0.399932,-0.901568,-0.165013],[-0.048042,-0.200411,0.978533]] 2025-10-28T17:47:00.234Z,1761673620.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917545,-0.377277,-0.125591],[0.394804,-0.901988,-0.174779],[-0.047341,-0.209952,0.976565]] 2025-10-28T17:47:00.638Z,1761673620.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919684,-0.371924,-0.125914],[0.389916,-0.902875,-0.181058],[-0.046345,-0.215612,0.975379]] 2025-10-28T17:47:01.044Z,1761673621.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921552,-0.367784,-0.124408],[0.385669,-0.904072,-0.184157],[-0.044744,-0.217691,0.974992]] 2025-10-28T17:47:01.447Z,1761673621.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923175,-0.364416,-0.122270],[0.381986,-0.905226,-0.186153],[-0.042845,-0.218557,0.974883]] 2025-10-28T17:47:01.850Z,1761673621.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924448,-0.361984,-0.119846],[0.379146,-0.906045,-0.187962],[-0.040547,-0.219200,0.974837]] 2025-10-28T17:47:02.255Z,1761673622.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924970,-0.361336,-0.117755],[0.378069,-0.906400,-0.188422],[-0.038649,-0.218804,0.975003]] 2025-10-28T17:47:02.680Z,1761673622.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925152,-0.361597,-0.115506],[0.377793,-0.906728,-0.187393],[-0.036972,-0.217004,0.975470]] 2025-10-28T17:47:03.063Z,1761673623.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924788,-0.363106,-0.113669],[0.378794,-0.906750,-0.185253],[-0.035803,-0.214377,0.976095]] 2025-10-28T17:47:03.467Z,1761673623.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924363,-0.364419,-0.112928],[0.379876,-0.906555,-0.183989],[-0.035327,-0.212971,0.976420]] 2025-10-28T17:47:03.871Z,1761673623.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924089,-0.365104,-0.112957],[0.380520,-0.906477,-0.183040],[-0.035565,-0.212128,0.976595]] 2025-10-28T17:47:04.276Z,1761673624.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923939,-0.365312,-0.113504],[0.380806,-0.906548,-0.182091],[-0.036376,-0.211464,0.976709]] 2025-10-28T17:47:04.684Z,1761673624.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923934,-0.365200,-0.113907],[0.380708,-0.906975,-0.180161],[-0.037516,-0.209822,0.977020]] 2025-10-28T17:47:05.083Z,1761673625.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924172,-0.364371,-0.114632],[0.379989,-0.907568,-0.178687],[-0.038928,-0.208696,0.977205]] 2025-10-28T17:47:05.487Z,1761673625.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925174,-0.361586,-0.115359],[0.377412,-0.908613,-0.178836],[-0.040152,-0.208993,0.977093]] 2025-10-28T17:47:05.893Z,1761673625.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926846,-0.357392,-0.115010],[0.373192,-0.910485,-0.178170],[-0.041038,-0.208057,0.977255]] 2025-10-28T17:47:06.296Z,1761673626.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928560,-0.353288,-0.113861],[0.368857,-0.912542,-0.176667],[-0.041488,-0.206044,0.977663]] 2025-10-28T17:47:06.699Z,1761673626.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930627,-0.348422,-0.111963],[0.363602,-0.915012,-0.174772],[-0.041553,-0.203358,0.978222]] 2025-10-28T17:47:07.102Z,1761673627.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932835,-0.343160,-0.109818],[0.357943,-0.917459,-0.173625],[-0.041172,-0.201272,0.978670]] 2025-10-28T17:47:07.156Z,1761673627.156 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:47:07.156Z,1761673627.156 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:47:07.156Z,1761673627.156 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:47:07.157Z,1761673627.157 [marl:UpdateRudder:A] Stopped 2025-10-28T17:47:07.157Z,1761673627.157 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:47:07.507Z,1761673627.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934601,-0.339396,-0.106448],[0.353446,-0.919745,-0.170720],[-0.039963,-0.197178,0.979553]] 2025-10-28T17:47:07.557Z,1761673627.557 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:47:07.557Z,1761673627.557 [marl:UpdateRudder:B] Stopped 2025-10-28T17:47:07.558Z,1761673627.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:47:07.558Z,1761673627.558 [marl:UpdateRudder] Stopped 2025-10-28T17:47:07.558Z,1761673627.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:47:07.912Z,1761673627.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936023,-0.336562,-0.102897],[0.349852,-0.921612,-0.168032],[-0.038278,-0.193281,0.980397]] 2025-10-28T17:47:08.314Z,1761673628.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937204,-0.334233,-0.099683],[0.346866,-0.923090,-0.166100],[-0.036500,-0.190247,0.981058]] 2025-10-28T17:47:08.345Z,1761673628.345 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:47:08.345Z,1761673628.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:47:08.345Z,1761673628.345 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateCommandMode] Stopped 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:47:08.346Z,1761673628.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:47:08.347Z,1761673628.347 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:47:08.347Z,1761673628.347 [marl:UpdateSpeed] Stopped 2025-10-28T17:47:08.347Z,1761673628.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:47:08.718Z,1761673628.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938152,-0.332550,-0.096336],[0.344462,-0.924549,-0.162957],[-0.034876,-0.186062,0.981919]] 2025-10-28T17:47:09.024Z,1761673629.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:47:09.124Z,1761673629.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938820,-0.331462,-0.093541],[0.342773,-0.925674,-0.160105],[-0.033520,-0.182374,0.982658]] 2025-10-28T17:47:09.532Z,1761673629.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939627,-0.329592,-0.092030],[0.340659,-0.926427,-0.160264],[-0.032438,-0.181939,0.982775]] 2025-10-28T17:47:09.931Z,1761673629.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940503,-0.327456,-0.090697],[0.338349,-0.927056,-0.161514],[-0.031192,-0.182592,0.982694]] 2025-10-28T17:47:10.059Z,1761673630.059 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:47:10.335Z,1761673630.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941412,-0.324973,-0.090195],[0.335910,-0.927384,-0.164690],[-0.030126,-0.185339,0.982213]] 2025-10-28T17:47:10.739Z,1761673630.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942627,-0.321749,-0.089055],[0.332611,-0.928037,-0.167681],[-0.028695,-0.187682,0.981811]] 2025-10-28T17:47:11.158Z,1761673631.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944157,-0.317246,-0.089007],[0.328356,-0.928355,-0.174183],[-0.027371,-0.193682,0.980682]] 2025-10-28T17:47:11.580Z,1761673631.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945778,-0.312445,-0.088787],[0.323777,-0.928689,-0.180845],[-0.025951,-0.199786,0.979496]] 2025-10-28T17:47:11.955Z,1761673631.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947457,-0.307590,-0.087826],[0.318989,-0.929012,-0.187570],[-0.023897,-0.205730,0.978317]] 2025-10-28T17:47:12.355Z,1761673632.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949270,-0.302429,-0.086153],[0.313710,-0.929694,-0.193015],[-0.021722,-0.210251,0.977406]] 2025-10-28T17:47:12.765Z,1761673632.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951039,-0.297505,-0.083760],[0.308485,-0.930403,-0.197960],[-0.019037,-0.214106,0.976625]] 2025-10-28T17:47:13.167Z,1761673633.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952834,-0.292829,-0.079744],[0.303070,-0.931926,-0.199156],[-0.015997,-0.213930,0.976718]] 2025-10-28T17:47:13.605Z,1761673633.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954220,-0.289397,-0.075589],[0.298823,-0.933351,-0.198898],[-0.012991,-0.212380,0.977101]] 2025-10-28T17:47:13.975Z,1761673633.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955155,-0.287044,-0.072691],[0.295918,-0.934069,-0.199867],[-0.010528,-0.212415,0.977123]] 2025-10-28T17:47:14.374Z,1761673634.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955647,-0.286016,-0.070235],[0.294393,-0.934493,-0.200140],[-0.008391,-0.211940,0.977247]] 2025-10-28T17:47:14.783Z,1761673634.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955658,-0.286569,-0.067793],[0.294399,-0.935086,-0.197341],[-0.006840,-0.208549,0.977988]] 2025-10-28T17:47:15.184Z,1761673635.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955494,-0.287509,-0.066104],[0.294956,-0.935342,-0.195284],[-0.005684,-0.206091,0.978516]] 2025-10-28T17:47:15.608Z,1761673635.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955227,-0.288608,-0.065175],[0.295835,-0.935259,-0.194352],[-0.004864,-0.204931,0.978764]] 2025-10-28T17:47:16.002Z,1761673636.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954982,-0.289629,-0.064219],[0.296634,-0.935266,-0.193096],[-0.004136,-0.203452,0.979076]] 2025-10-28T17:47:16.395Z,1761673636.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954938,-0.289914,-0.063585],[0.296782,-0.935388,-0.192274],[-0.003734,-0.202480,0.979279]] 2025-10-28T17:47:16.799Z,1761673636.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955279,-0.288999,-0.062618],[0.295685,-0.936017,-0.190900],[-0.003441,-0.200878,0.979610]] 2025-10-28T17:47:17.203Z,1761673637.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955892,-0.287127,-0.061878],[0.293703,-0.936569,-0.191250],[-0.003040,-0.200988,0.979589]] 2025-10-28T17:47:17.615Z,1761673637.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957158,-0.283103,-0.060841],[0.289557,-0.937490,-0.193051],[-0.002384,-0.202397,0.979301]] 2025-10-28T17:47:18.014Z,1761673638.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958717,-0.278002,-0.059796],[0.284355,-0.938628,-0.195242],[-0.001848,-0.204185,0.978931]] 2025-10-28T17:47:18.415Z,1761673638.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960593,-0.271786,-0.058261],[0.277957,-0.940281,-0.196500],[-0.001376,-0.204951,0.978771]] 2025-10-28T17:47:18.819Z,1761673638.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962602,-0.265006,-0.056290],[0.270917,-0.942224,-0.197021],[-0.000826,-0.204903,0.978782]] 2025-10-28T17:47:19.224Z,1761673639.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964528,-0.258391,-0.054043],[0.263982,-0.944256,-0.196710],[-0.000202,-0.203998,0.978971]] 2025-10-28T17:47:19.637Z,1761673639.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966359,-0.251964,-0.051616],[0.257196,-0.946212,-0.196298],[0.000620,-0.202970,0.979185]] 2025-10-28T17:47:20.035Z,1761673640.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967883,-0.246572,-0.049037],[0.251396,-0.948053,-0.194922],[0.001573,-0.200989,0.979592]] 2025-10-28T17:47:20.086Z,1761673640.086 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:47:20.086Z,1761673640.086 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:47:20.087Z,1761673640.087 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:47:20.087Z,1761673640.087 [marl:UpdateRudder:A] Stopped 2025-10-28T17:47:20.087Z,1761673640.087 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:47:20.435Z,1761673640.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969175,-0.241848,-0.047003],[0.246360,-0.949380,-0.194895],[0.002511,-0.200467,0.979697]] 2025-10-28T17:47:20.459Z,1761673640.459 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:47:20.459Z,1761673640.459 [marl:UpdateRudder:B] Stopped 2025-10-28T17:47:20.459Z,1761673640.459 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:47:20.460Z,1761673640.460 [marl:UpdateRudder] Stopped 2025-10-28T17:47:20.476Z,1761673640.476 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:47:20.860Z,1761673640.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970102,-0.238555,-0.044660],[0.242672,-0.950675,-0.193203],[0.003632,-0.198265,0.980142]] 2025-10-28T17:47:21.243Z,1761673641.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970708,-0.236423,-0.042770],[0.240206,-0.951209,-0.193654],[0.005101,-0.198255,0.980137]] 2025-10-28T17:47:21.650Z,1761673641.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971185,-0.234817,-0.040755],[0.238233,-0.951672,-0.193820],[0.006727,-0.197944,0.980190]] 2025-10-28T17:47:21.710Z,1761673641.710 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:47:21.710Z,1761673641.710 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:47:21.710Z,1761673641.710 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateCommandMode] Stopped 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:47:21.711Z,1761673641.711 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:47:21.712Z,1761673641.712 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:47:21.728Z,1761673641.728 [marl:UpdateSpeed] Stopped 2025-10-28T17:47:21.728Z,1761673641.728 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:47:22.057Z,1761673642.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971251,-0.234806,-0.039219],[0.237913,-0.951629,-0.194420],[0.008329,-0.198161,0.980134]] 2025-10-28T17:47:22.455Z,1761673642.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971324,-0.234652,-0.038326],[0.237560,-0.951180,-0.197031],[0.009779,-0.200485,0.979648]] 2025-10-28T17:47:22.859Z,1761673642.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971393,-0.234524,-0.037346],[0.237221,-0.950934,-0.198620],[0.011067,-0.201798,0.979365]] 2025-10-28T17:47:23.263Z,1761673643.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971537,-0.234060,-0.036490],[0.236589,-0.950999,-0.199065],[0.011891,-0.202032,0.979307]] 2025-10-28T17:47:23.669Z,1761673643.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971673,-0.233656,-0.035441],[0.235999,-0.951420,-0.197750],[0.012486,-0.200512,0.979612]] 2025-10-28T17:47:24.074Z,1761673644.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971902,-0.232784,-0.034898],[0.235046,-0.951803,-0.197040],[0.012652,-0.199707,0.979774]] 2025-10-28T17:47:24.474Z,1761673644.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972351,-0.230992,-0.034286],[0.233181,-0.952471,-0.196027],[0.012624,-0.198602,0.979999]] 2025-10-28T17:47:24.879Z,1761673644.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973100,-0.227888,-0.033807],[0.230046,-0.953240,-0.195991],[0.012438,-0.198496,0.980023]] 2025-10-28T17:47:25.284Z,1761673645.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974204,-0.223278,-0.032769],[0.225330,-0.954465,-0.195505],[0.012375,-0.197846,0.980155]] 2025-10-28T17:47:25.686Z,1761673645.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975498,-0.217772,-0.031299],[0.219662,-0.956050,-0.194211],[0.012370,-0.196327,0.980460]] 2025-10-28T17:47:26.091Z,1761673646.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976871,-0.211659,-0.030401],[0.213485,-0.957296,-0.194955],[0.012162,-0.196936,0.980341]] 2025-10-28T17:47:26.496Z,1761673646.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978323,-0.205047,-0.028993],[0.206720,-0.958656,-0.195562],[0.012305,-0.197316,0.980263]] 2025-10-28T17:47:26.900Z,1761673646.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979811,-0.198055,-0.027279],[0.199520,-0.960008,-0.196409],[0.012712,-0.197886,0.980142]] 2025-10-28T17:47:27.302Z,1761673647.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981220,-0.191230,-0.025267],[0.192424,-0.961280,-0.197264],[0.013435,-0.198421,0.980025]] 2025-10-28T17:47:27.706Z,1761673647.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982575,-0.184453,-0.022899],[0.185290,-0.962333,-0.198956],[0.014662,-0.199732,0.979741]] 2025-10-28T17:47:28.123Z,1761673648.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983667,-0.178883,-0.020016],[0.179272,-0.963627,-0.198204],[0.016168,-0.198555,0.979956]] 2025-10-28T17:47:28.517Z,1761673648.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984414,-0.174970,-0.017767],[0.174992,-0.964418,-0.198182],[0.017541,-0.198202,0.980004]] 2025-10-28T17:47:28.920Z,1761673648.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985078,-0.171367,-0.015946],[0.171050,-0.964566,-0.200882],[0.019044,-0.200612,0.979486]] 2025-10-28T17:47:29.323Z,1761673649.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985400,-0.169660,-0.014225],[0.169041,-0.964994,-0.200527],[0.020294,-0.200003,0.979585]] 2025-10-28T17:47:29.731Z,1761673649.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985587,-0.168677,-0.012875],[0.167812,-0.965232,-0.200414],[0.021378,-0.199687,0.979627]] 2025-10-28T17:47:30.137Z,1761673650.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985695,-0.168095,-0.012256],[0.167103,-0.965211,-0.201109],[0.021976,-0.200280,0.979492]] 2025-10-28T17:47:30.536Z,1761673650.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985798,-0.167557,-0.011262],[0.166405,-0.965587,-0.199879],[0.022617,-0.198914,0.979756]] 2025-10-28T17:47:30.939Z,1761673650.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985847,-0.167297,-0.010815],[0.166075,-0.965769,-0.199273],[0.022893,-0.198249,0.979884]] 2025-10-28T17:47:31.342Z,1761673651.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985885,-0.167097,-0.010493],[0.165813,-0.965783,-0.199421],[0.023189,-0.198346,0.979858]] 2025-10-28T17:47:31.754Z,1761673651.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986059,-0.166076,-0.010331],[0.164755,-0.965736,-0.200523],[0.023325,-0.199429,0.979635]] 2025-10-28T17:47:32.163Z,1761673652.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986385,-0.164148,-0.009967],[0.162796,-0.966092,-0.200407],[0.023267,-0.199301,0.979662]] 2025-10-28T17:47:32.554Z,1761673652.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986803,-0.161646,-0.009564],[0.160271,-0.966568,-0.200150],[0.023109,-0.199041,0.979719]] 2025-10-28T17:47:32.958Z,1761673652.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987374,-0.158161,-0.008766],[0.156689,-0.967065,-0.200582],[0.023247,-0.199423,0.979638]] 2025-10-28T17:47:33.364Z,1761673653.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988023,-0.154119,-0.007579],[0.152480,-0.967625,-0.201127],[0.023664,-0.199874,0.979536]] 2025-10-28T17:47:33.388Z,1761673653.388 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:47:33.388Z,1761673653.388 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:47:33.389Z,1761673653.389 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:47:33.389Z,1761673653.389 [marl:UpdateRudder:A] Stopped 2025-10-28T17:47:33.389Z,1761673653.389 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:47:33.775Z,1761673653.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988653,-0.150086,-0.006207],[0.148242,-0.968164,-0.201698],[0.024262,-0.200330,0.979428]] 2025-10-28T17:47:33.846Z,1761673653.846 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:47:33.847Z,1761673653.847 [marl:UpdateRudder:B] Stopped 2025-10-28T17:47:33.847Z,1761673653.847 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:47:33.847Z,1761673653.847 [marl:UpdateRudder] Stopped 2025-10-28T17:47:33.847Z,1761673653.847 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:47:34.171Z,1761673654.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989413,-0.145056,-0.004579],[0.142949,-0.968630,-0.203278],[0.025051,-0.201780,0.979110]] 2025-10-28T17:47:34.576Z,1761673654.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990138,-0.140069,-0.002539],[0.137637,-0.969252,-0.203975],[0.026109,-0.202313,0.978973]] 2025-10-28T17:47:34.979Z,1761673654.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990720,-0.135915,-0.000377],[0.133158,-0.970057,-0.203124],[0.027242,-0.201289,0.979153]] 2025-10-28T17:47:35.004Z,1761673655.004 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:47:35.004Z,1761673655.004 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:47:35.004Z,1761673655.004 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateCommandMode] Stopped 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:47:35.005Z,1761673655.005 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:47:35.006Z,1761673655.006 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:47:35.006Z,1761673655.006 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:47:35.006Z,1761673655.006 [marl:UpdateSpeed] Stopped 2025-10-28T17:47:35.006Z,1761673655.006 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:47:35.383Z,1761673655.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991256,-0.131940,0.001728],[0.128868,-0.970823,-0.202229],[0.028360,-0.200238,0.979337]] 2025-10-28T17:47:36.604Z,1761673656.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992485,-0.122243,0.005457],[0.118601,-0.971975,-0.202973],[0.030116,-0.200801,0.979169]] 2025-10-28T17:47:37.000Z,1761673657.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992910,-0.118682,0.006600],[0.114887,-0.972444,-0.202863],[0.030494,-0.200667,0.979185]] 2025-10-28T17:47:37.402Z,1761673657.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993302,-0.115301,0.007581],[0.111398,-0.972974,-0.202268],[0.030698,-0.200069,0.979301]] 2025-10-28T17:47:37.807Z,1761673657.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993774,-0.111058,0.008933],[0.106983,-0.973548,-0.201887],[0.031118,-0.199675,0.979368]] 2025-10-28T17:47:38.214Z,1761673658.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994271,-0.106379,0.010384],[0.102114,-0.974105,-0.201724],[0.031574,-0.199508,0.979387]] 2025-10-28T17:47:38.623Z,1761673658.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994688,-0.102274,0.011627],[0.097817,-0.974366,-0.202591],[0.032049,-0.200378,0.979194]] 2025-10-28T17:47:39.019Z,1761673659.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995088,-0.098152,0.012875],[0.093534,-0.974827,-0.202397],[0.032417,-0.200199,0.979219]] 2025-10-28T17:47:39.423Z,1761673659.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995426,-0.094448,0.014349],[0.089609,-0.975184,-0.202452],[0.033114,-0.200240,0.979187]] 2025-10-28T17:47:39.827Z,1761673659.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995715,-0.091174,0.015452],[0.086237,-0.975829,-0.200799],[0.033386,-0.198606,0.979511]] 2025-10-28T17:47:40.196Z,1761673660.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:47:40.250Z,1761673660.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996088,-0.086600,0.017599],[0.081453,-0.976966,-0.197237],[0.034274,-0.195032,0.980198]] 2025-10-28T17:47:41.038Z,1761673661.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996270,-0.084323,0.018337],[0.079114,-0.977379,-0.196140],[0.034461,-0.193958,0.980404]] 2025-10-28T17:47:41.200Z,1761673661.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:47:41.448Z,1761673661.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996529,-0.081003,0.019170],[0.075716,-0.977769,-0.195539],[0.034584,-0.193409,0.980509]] 2025-10-28T17:47:41.854Z,1761673661.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997160,-0.072443,0.020574],[0.067028,-0.978302,-0.196042],[0.034329,-0.194106,0.980380]] 2025-10-28T17:47:42.255Z,1761673662.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997512,-0.067002,0.021920],[0.061429,-0.978677,-0.196006],[0.034586,-0.194172,0.980358]] 2025-10-28T17:47:42.660Z,1761673662.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997889,-0.060583,0.023406],[0.054739,-0.978483,-0.198933],[0.034954,-0.197232,0.979734]] 2025-10-28T17:47:43.065Z,1761673663.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998238,-0.053809,0.025013],[0.047761,-0.978747,-0.199431],[0.035213,-0.197885,0.979593]] 2025-10-28T17:47:43.465Z,1761673663.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998530,-0.047065,0.026868],[0.040735,-0.978803,-0.200714],[0.035745,-0.199324,0.979281]] 2025-10-28T17:47:43.867Z,1761673663.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998760,-0.040573,0.028863],[0.033969,-0.979039,-0.200820],[0.036406,-0.199591,0.979203]] 2025-10-28T17:47:44.270Z,1761673664.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998929,-0.034668,0.030633],[0.027787,-0.979022,-0.201850],[0.036988,-0.200783,0.978937]] 2025-10-28T17:47:44.674Z,1761673664.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999032,-0.029523,0.032600],[0.022350,-0.979170,-0.201810],[0.037879,-0.200887,0.978882]] 2025-10-28T17:47:45.087Z,1761673665.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999092,-0.025601,0.034060],[0.018200,-0.979188,-0.202138],[0.038527,-0.201335,0.978764]] 2025-10-28T17:47:45.483Z,1761673665.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999134,-0.022562,0.034958],[0.015047,-0.979275,-0.201977],[0.038790,-0.201276,0.978766]] 2025-10-28T17:47:45.896Z,1761673665.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999151,-0.020035,0.036006],[0.012358,-0.979305,-0.202011],[0.039308,-0.201394,0.978721]] 2025-10-28T17:47:46.291Z,1761673666.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999156,-0.017836,0.037011],[0.010008,-0.979376,-0.201799],[0.039847,-0.201259,0.978727]] 2025-10-28T17:47:46.694Z,1761673666.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999167,-0.015774,0.037648],[0.007889,-0.979550,-0.201046],[0.040049,-0.200582,0.978858]] 2025-10-28T17:47:46.743Z,1761673666.743 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:47:46.743Z,1761673666.743 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:47:46.743Z,1761673666.743 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:47:46.743Z,1761673666.743 [marl:UpdateRudder:A] Stopped 2025-10-28T17:47:46.743Z,1761673666.743 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:47:47.104Z,1761673667.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999179,-0.013533,0.038180],[0.005643,-0.979854,-0.199637],[0.040113,-0.199258,0.979126]] 2025-10-28T17:47:47.129Z,1761673667.129 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:47:47.129Z,1761673667.129 [marl:UpdateRudder:B] Stopped 2025-10-28T17:47:47.130Z,1761673667.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:47:47.130Z,1761673667.130 [marl:UpdateRudder] Stopped 2025-10-28T17:47:47.130Z,1761673667.130 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:47:47.505Z,1761673667.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999183,-0.011135,0.038842],[0.003155,-0.979847,-0.199725],[0.040283,-0.199439,0.979082]] 2025-10-28T17:47:47.906Z,1761673667.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999185,-0.008119,0.039542],[0.000099,-0.980052,-0.198744],[0.040367,-0.198578,0.979253]] 2025-10-28T17:47:48.310Z,1761673668.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999186,-0.004872,0.040051],[-0.003134,-0.980311,-0.197434],[0.040224,-0.197399,0.979498]] 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:47:48.355Z,1761673668.355 [marl:UpdateCommandMode] Stopped 2025-10-28T17:47:48.356Z,1761673668.356 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:47:48.356Z,1761673668.356 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:47:48.360Z,1761673668.360 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:47:48.360Z,1761673668.360 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:47:48.360Z,1761673668.360 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:47:48.361Z,1761673668.361 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:47:48.361Z,1761673668.361 [marl:UpdateSpeed] Stopped 2025-10-28T17:47:48.361Z,1761673668.361 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:47:48.714Z,1761673668.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999159,-0.001222,0.040992],[-0.006820,-0.980686,-0.195467],[0.040439,-0.195582,0.979853]] 2025-10-28T17:47:49.120Z,1761673669.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999124,0.002219,0.041777],[-0.010318,-0.980816,-0.194661],[0.040544,-0.194922,0.979980]] 2025-10-28T17:47:49.527Z,1761673669.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999059,0.006206,0.042925],[-0.014444,-0.980824,-0.194358],[0.040896,-0.194795,0.979991]] 2025-10-28T17:47:49.927Z,1761673669.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998958,0.010805,0.044353],[-0.019138,-0.981209,-0.191998],[0.041445,-0.192647,0.980393]] 2025-10-28T17:47:50.334Z,1761673670.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998845,0.015013,0.045649],[-0.023506,-0.981184,-0.191640],[0.041913,-0.192492,0.980403]] 2025-10-28T17:47:50.736Z,1761673670.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998704,0.019619,0.046955],[-0.028310,-0.980931,-0.192284],[0.042287,-0.193364,0.980215]] 2025-10-28T17:47:51.138Z,1761673671.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998559,0.023745,0.048135],[-0.032608,-0.980721,-0.192673],[0.042632,-0.193965,0.980082]] 2025-10-28T17:47:51.578Z,1761673671.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998411,0.027426,0.049218],[-0.036432,-0.980597,-0.192617],[0.042981,-0.194104,0.980039]] 2025-10-28T17:47:51.946Z,1761673671.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998214,0.031814,0.050566],[-0.041058,-0.980178,-0.193820],[0.043397,-0.195550,0.979733]] 2025-10-28T17:47:52.353Z,1761673672.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998029,0.035972,0.051428],[-0.045408,-0.979542,-0.196050],[0.043323,-0.197999,0.979244]] 2025-10-28T17:47:52.759Z,1761673672.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997807,0.040435,0.052398],[-0.050094,-0.978798,-0.198606],[0.043256,-0.200796,0.978678]] 2025-10-28T17:47:53.159Z,1761673673.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997571,0.045030,0.053136],[-0.054768,-0.978466,-0.199010],[0.043030,-0.201437,0.978556]] 2025-10-28T17:47:53.603Z,1761673673.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997272,0.050568,0.053778],[-0.060422,-0.977698,-0.201138],[0.042407,-0.203839,0.978085]] 2025-10-28T17:47:53.968Z,1761673673.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996936,0.056414,0.054187],[-0.066240,-0.977308,-0.201199],[0.041607,-0.204172,0.978051]] 2025-10-28T17:47:54.370Z,1761673674.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996524,0.062817,0.054720],[-0.072640,-0.976782,-0.201544],[0.040789,-0.204819,0.977950]] 2025-10-28T17:47:54.402Z,1761673674.402 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:47:54.485Z,1761673674.485 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:47:54.485Z,1761673674.485 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:47:54.737Z,1761673674.737 [DAT](INFO): DAT read: user:84> 2025-10-28T17:47:54.737Z,1761673674.737 [DAT](INFO): DAT read: Tx time:17:47:54.5033 2025-10-28T17:47:54.738Z,1761673674.738 [DAT](INFO): Ping request sent. 2025-10-28T17:47:54.738Z,1761673674.738 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:47:54.738Z,1761673674.738 [DAT](INFO): publishing transmit ping time 2025-10-28T17:47:54.739Z,1761673674.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T17:47:54.787Z,1761673674.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996064,0.069358,0.055181],[-0.079118,-0.976417,-0.200875],[0.039947,-0.204450,0.978062]] 2025-10-28T17:47:54.989Z,1761673674.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250978 2025-10-28T17:47:55.179Z,1761673675.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995526,0.076253,0.055803],[-0.085979,-0.975968,-0.200237],[0.039194,-0.204139,0.978157]] 2025-10-28T17:47:55.241Z,1761673675.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503106 2025-10-28T17:47:55.493Z,1761673675.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755141 2025-10-28T17:47:55.608Z,1761673675.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994933,0.083367,0.056201],[-0.092992,-0.975550,-0.199137],[0.038226,-0.203354,0.978359]] 2025-10-28T17:47:55.746Z,1761673675.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008299 2025-10-28T17:47:55.997Z,1761673675.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986 2025-10-28T17:47:56.249Z,1761673676.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972 2025-10-28T17:47:56.391Z,1761673676.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993669,0.096792,0.057033],[-0.106258,-0.974555,-0.197362],[0.036479,-0.202173,0.978670]] 2025-10-28T17:47:56.502Z,1761673676.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763754 2025-10-28T17:47:56.753Z,1761673676.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015397 2025-10-28T17:47:56.796Z,1761673676.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993070,0.102634,0.057248],[-0.112000,-0.974082,-0.196522],[0.035594,-0.201572,0.978827]] 2025-10-28T17:47:57.005Z,1761673677.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266987 2025-10-28T17:47:57.199Z,1761673677.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992553,0.107379,0.057511],[-0.116667,-0.973764,-0.195379],[0.035023,-0.200634,0.979040]] 2025-10-28T17:47:57.257Z,1761673677.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519052 2025-10-28T17:47:57.509Z,1761673677.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771022 2025-10-28T17:47:57.613Z,1761673677.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992170,0.110914,0.057414],[-0.120061,-0.973659,-0.193839],[0.034402,-0.199214,0.979352]] 2025-10-28T17:47:57.762Z,1761673677.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024260 2025-10-28T17:47:58.006Z,1761673678.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991893,0.113536,0.057086],[-0.122543,-0.973501,-0.193080],[0.033652,-0.198510,0.979521]] 2025-10-28T17:47:58.014Z,1761673678.014 [DAT](INFO): DAT read: Rx Time:17:47:57.4285 2025-10-28T17:47:58.015Z,1761673678.015 [DAT](INFO): Rx dataTimestamp_ set to:1761673678.014610 2025-10-28T17:47:58.015Z,1761673678.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277519 2025-10-28T17:47:58.267Z,1761673678.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528729 2025-10-28T17:47:58.411Z,1761673678.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991687,0.115422,0.056877],[-0.124365,-0.973192,-0.193471],[0.033021,-0.198936,0.979456]] 2025-10-28T17:47:58.517Z,1761673678.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778892 2025-10-28T17:47:58.776Z,1761673678.776 [DAT](INFO): DAT read: 17:47:57.4285 LVL= 21904, 18353, 18898, 20387, AGC= 69, IDX= 84,-0.12,-2.147,-0.632,-0.183,-0.949, PHS=-1.096, 0.362, 0.722, RAW= 259.2, 0.2, CAL= 255.9, -3.8, ROT= 254.1, 3.8 2025-10-28T17:47:58.778Z,1761673678.778 [DAT](INFO): got valid direction response: 17:47:57.4285 LVL= 21904, 18353, 18898, 20387, AGC= 69, IDX= 84,-0.12,-2.147,-0.632,-0.183,-0.949, PHS=-1.096, 0.362, 0.722, RAW= 259.2, 0.2, CAL= 255.9, -3.8, ROT= 254.1, 3.8 2025-10-28T17:47:58.779Z,1761673678.779 [DAT](INFO): DAT read: Bearing 59, -15 (Remote) 2025-10-28T17:47:58.780Z,1761673678.780 [DAT](INFO): Remote Bearing received:Bearing 59, -15 (Remote) 2025-10-28T17:47:58.781Z,1761673678.781 [DAT](INFO): DAT read: Bearing 199.5, -69.4 (Local) 2025-10-28T17:47:58.781Z,1761673678.781 [DAT](INFO): Local bearing/azimuth received: Bearing 199.5, -69.4 (Local) 2025-10-28T17:47:58.783Z,1761673678.783 [DAT](INFO): DAT read: Range 11 to 20 : 672.0 m (Round-trip 896.0 ms) speed -0.7 m/s 2025-10-28T17:47:58.783Z,1761673678.783 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:47:58.784Z,1761673678.784 [DAT](INFO): direction in FSK: [-0.273357,-0.959627,-0.066274] 2025-10-28T17:47:58.785Z,1761673678.785 [DAT](INFO): publishing direction and range info 2025-10-28T17:47:58.849Z,1761673678.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991532,0.117084,0.056174],[-0.125785,-0.973440,-0.191294],[0.032284,-0.196740,0.979924]] 2025-10-28T17:47:58.925Z,1761673678.925 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673728.00. Resetting abort timer. 2025-10-28T17:47:59.219Z,1761673679.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991457,0.118044,0.055481],[-0.126564,-0.973504,-0.190451],[0.031529,-0.195846,0.980128]] 2025-10-28T17:47:59.623Z,1761673679.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991416,0.118729,0.054750],[-0.127094,-0.973425,-0.190500],[0.030677,-0.195823,0.980159]] 2025-10-28T17:48:00.026Z,1761673680.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991310,0.119831,0.054263],[-0.128072,-0.973356,-0.190201],[0.030025,-0.195497,0.980245]] 2025-10-28T17:48:00.073Z,1761673680.073 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:48:00.074Z,1761673680.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:48:00.074Z,1761673680.074 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:48:00.075Z,1761673680.075 [marl:UpdateRudder:A] Stopped 2025-10-28T17:48:00.075Z,1761673680.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:48:00.432Z,1761673680.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991195,0.120965,0.053845],[-0.129165,-0.972803,-0.192277],[0.029122,-0.197539,0.979862]] 2025-10-28T17:48:00.457Z,1761673680.457 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:48:00.457Z,1761673680.457 [marl:UpdateRudder:B] Stopped 2025-10-28T17:48:00.457Z,1761673680.457 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:48:00.457Z,1761673680.457 [marl:UpdateRudder] Stopped 2025-10-28T17:48:00.457Z,1761673680.457 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:48:00.834Z,1761673680.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991034,0.122425,0.053513],[-0.130531,-0.972630,-0.192229],[0.028515,-0.197491,0.979890]] 2025-10-28T17:48:01.239Z,1761673681.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990917,0.123468,0.053287],[-0.131532,-0.972345,-0.192990],[0.027985,-0.198246,0.979753]] 2025-10-28T17:48:01.643Z,1761673681.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990795,0.124587,0.052954],[-0.132554,-0.972275,-0.192643],[0.027486,-0.197889,0.979839]] 2025-10-28T17:48:01.698Z,1761673681.698 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:48:01.698Z,1761673681.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:48:01.698Z,1761673681.698 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateCommandMode] Stopped 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:48:01.699Z,1761673681.699 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:48:01.700Z,1761673681.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:48:01.700Z,1761673681.700 [marl:UpdateSpeed] Stopped 2025-10-28T17:48:01.700Z,1761673681.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:48:02.050Z,1761673682.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990707,0.125458,0.052540],[-0.133278,-0.972525,-0.190874],[0.027150,-0.196103,0.980207]] 2025-10-28T17:48:02.451Z,1761673682.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990624,0.126308,0.052055],[-0.134024,-0.972374,-0.191121],[0.026477,-0.196305,0.980185]] 2025-10-28T17:48:02.855Z,1761673682.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990525,0.127305,0.051506],[-0.134910,-0.972138,-0.191697],[0.025667,-0.196829,0.980102]] 2025-10-28T17:48:03.261Z,1761673683.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990322,0.129072,0.051025],[-0.136579,-0.971670,-0.192881],[0.024683,-0.197983,0.979895]] 2025-10-28T17:48:03.663Z,1761673683.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989960,0.131805,0.051046],[-0.139328,-0.970759,-0.195486],[0.023788,-0.200636,0.979377]] 2025-10-28T17:48:04.077Z,1761673684.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989434,0.135692,0.051071],[-0.143184,-0.969863,-0.197140],[0.022781,-0.202370,0.979044]] 2025-10-28T17:48:04.472Z,1761673684.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988686,0.140940,0.051349],[-0.148414,-0.968807,-0.198461],[0.021776,-0.203837,0.978763]] 2025-10-28T17:48:04.888Z,1761673684.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987718,0.147415,0.051781],[-0.154850,-0.967769,-0.198605],[0.020834,-0.204184,0.978711]] 2025-10-28T17:48:05.279Z,1761673685.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986570,0.154656,0.052548],[-0.162123,-0.966351,-0.199704],[0.019894,-0.205541,0.978446]] 2025-10-28T17:48:05.683Z,1761673685.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985201,0.162803,0.053616],[-0.170313,-0.965048,-0.199188],[0.019314,-0.205371,0.978494]] 2025-10-28T17:48:06.087Z,1761673686.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983712,0.171155,0.054920],[-0.178761,-0.963523,-0.199168],[0.018828,-0.205742,0.978425]] 2025-10-28T17:48:06.491Z,1761673686.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982115,0.179771,0.055968],[-0.187392,-0.962151,-0.197862],[0.018280,-0.204812,0.978631]] 2025-10-28T17:48:06.895Z,1761673686.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980458,0.188274,0.057051],[-0.195932,-0.960583,-0.197207],[0.017674,-0.204531,0.978700]] 2025-10-28T17:48:07.299Z,1761673687.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978783,0.196381,0.058471],[-0.204161,-0.958917,-0.196965],[0.017388,-0.204724,0.978665]] 2025-10-28T17:48:07.704Z,1761673687.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977149,0.204003,0.059690],[-0.211865,-0.957412,-0.196153],[0.017132,-0.204317,0.978755]] 2025-10-28T17:48:08.108Z,1761673688.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975616,0.210936,0.060654],[-0.218834,-0.956092,-0.194937],[0.016871,-0.203457,0.978939]] 2025-10-28T17:48:08.511Z,1761673688.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974307,0.216728,0.061281],[-0.224599,-0.955219,-0.192646],[0.016785,-0.201460,0.979353]] 2025-10-28T17:48:08.918Z,1761673688.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973228,0.221373,0.061815],[-0.229239,-0.954372,-0.191371],[0.016630,-0.200418,0.979569]] 2025-10-28T17:48:09.321Z,1761673689.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972329,0.225109,0.062469],[-0.233020,-0.953619,-0.190557],[0.016676,-0.199841,0.979686]] 2025-10-28T17:48:09.723Z,1761673689.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971793,0.227447,0.062340],[-0.235244,-0.953584,-0.187985],[0.016689,-0.197348,0.980191]] 2025-10-28T17:48:10.126Z,1761673690.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971671,0.228180,0.061561],[-0.235771,-0.953919,-0.185611],[0.016372,-0.194867,0.980693]] 2025-10-28T17:48:10.533Z,1761673690.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971784,0.227919,0.060732],[-0.235341,-0.954169,-0.184869],[0.015814,-0.193946,0.980885]] 2025-10-28T17:48:10.950Z,1761673690.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972242,0.226306,0.059426],[-0.233501,-0.954665,-0.184642],[0.014946,-0.193393,0.981007]] 2025-10-28T17:48:11.328Z,1761673691.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:48:11.339Z,1761673691.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972852,0.224122,0.057687],[-0.231037,-0.955034,-0.185830],[0.013444,-0.194113,0.980887]] 2025-10-28T17:48:11.743Z,1761673691.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973506,0.221642,0.056223],[-0.228349,-0.955180,-0.188380],[0.011951,-0.196227,0.980486]] 2025-10-28T17:48:12.147Z,1761673692.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974170,0.219059,0.054818],[-0.225581,-0.955078,-0.192197],[0.010253,-0.199599,0.979824]] 2025-10-28T17:48:12.332Z,1761673692.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:48:12.559Z,1761673692.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974764,0.216850,0.053015],[-0.223089,-0.954883,-0.196037],[0.008113,-0.202917,0.979162]] 2025-10-28T17:48:12.958Z,1761673692.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975266,0.215111,0.050835],[-0.220959,-0.954841,-0.198633],[0.005811,-0.204953,0.978755]] 2025-10-28T17:48:13.359Z,1761673693.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975659,0.213943,0.048139],[-0.219271,-0.954830,-0.200548],[0.003059,-0.206222,0.978500]] 2025-10-28T17:48:13.398Z,1761673693.398 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:48:13.399Z,1761673693.399 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:48:13.399Z,1761673693.399 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:48:13.399Z,1761673693.399 [marl:UpdateRudder:A] Stopped 2025-10-28T17:48:13.399Z,1761673693.399 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:48:13.767Z,1761673693.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975743,0.214138,0.045497],[-0.218918,-0.954393,-0.203000],[-0.000048,-0.208036,0.978121]] 2025-10-28T17:48:13.828Z,1761673693.828 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:48:13.828Z,1761673693.828 [marl:UpdateRudder:B] Stopped 2025-10-28T17:48:13.828Z,1761673693.828 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:48:13.828Z,1761673693.828 [marl:UpdateRudder] Stopped 2025-10-28T17:48:13.828Z,1761673693.828 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:48:14.169Z,1761673694.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975457,0.215892,0.043282],[-0.220166,-0.953557,-0.205564],[-0.003108,-0.210048,0.977686]] 2025-10-28T17:48:14.571Z,1761673694.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974765,0.219330,0.041563],[-0.223153,-0.952386,-0.207760],[-0.005984,-0.211792,0.977296]] 2025-10-28T17:48:14.979Z,1761673694.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973607,0.224641,0.040316],[-0.228059,-0.950741,-0.209953],[-0.008834,-0.213607,0.976880]] 2025-10-28T17:48:15.033Z,1761673695.033 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:48:15.034Z,1761673695.034 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:48:15.034Z,1761673695.034 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:48:15.034Z,1761673695.034 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:48:15.034Z,1761673695.034 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:48:15.034Z,1761673695.034 [marl:UpdateCommandMode] Stopped 2025-10-28T17:48:15.035Z,1761673695.035 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:48:15.035Z,1761673695.035 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:48:15.035Z,1761673695.035 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:48:15.035Z,1761673695.035 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:48:15.040Z,1761673695.040 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:48:15.040Z,1761673695.040 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:48:15.040Z,1761673695.040 [marl:UpdateSpeed] Stopped 2025-10-28T17:48:15.040Z,1761673695.040 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:48:15.379Z,1761673695.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972014,0.231475,0.040096],[-0.234669,-0.948804,-0.211428],[-0.010897,-0.214920,0.976571]] 2025-10-28T17:48:15.787Z,1761673695.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970325,0.238618,0.039121],[-0.241454,-0.947455,-0.209831],[-0.013004,-0.213051,0.976955]] 2025-10-28T17:48:16.592Z,1761673696.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966828,0.252788,0.036621],[-0.254866,-0.945243,-0.203859],[-0.016917,-0.206430,0.978315]] 2025-10-28T17:48:16.000Z,1761673697.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965130,0.259349,0.035529],[-0.261105,-0.944085,-0.201317],[-0.018669,-0.203574,0.978882]] 2025-10-28T17:48:17.399Z,1761673697.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963597,0.265129,0.034447],[-0.266577,-0.942936,-0.199519],[-0.020416,-0.201439,0.979288]] 2025-10-28T17:48:17.803Z,1761673697.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962088,0.270707,0.033236],[-0.271819,-0.941690,-0.198330],[-0.022392,-0.199845,0.979572]] 2025-10-28T17:48:18.208Z,1761673698.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960834,0.275307,0.031685],[-0.276027,-0.940595,-0.197710],[-0.024629,-0.198713,0.979748]] 2025-10-28T17:48:18.612Z,1761673698.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959734,0.279256,0.030440],[-0.279630,-0.939404,-0.198311],[-0.026784,-0.198838,0.979666]] 2025-10-28T17:48:19.031Z,1761673699.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958290,0.284190,0.030281],[-0.284333,-0.937292,-0.201589],[-0.028908,-0.201791,0.979002]] 2025-10-28T17:48:19.418Z,1761673699.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957057,0.288393,0.029507],[-0.288242,-0.935780,-0.203058],[-0.030948,-0.202843,0.978722]] 2025-10-28T17:48:19.823Z,1761673699.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955855,0.292373,0.029307],[-0.292008,-0.934046,-0.205646],[-0.032751,-0.205126,0.978188]] 2025-10-28T17:48:20.230Z,1761673700.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954458,0.296867,0.029678],[-0.296348,-0.931869,-0.209279],[-0.034472,-0.208543,0.977405]] 2025-10-28T17:48:20.631Z,1761673700.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953250,0.300734,0.029556],[-0.300047,-0.930368,-0.210683],[-0.035861,-0.209702,0.977108]] 2025-10-28T17:48:21.043Z,1761673701.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952068,0.304516,0.028936],[-0.303637,-0.929371,-0.209937],[-0.037037,-0.208660,0.977287]] 2025-10-28T17:48:21.449Z,1761673701.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951213,0.307256,0.028079],[-0.306143,-0.928608,-0.209676],[-0.038350,-0.208042,0.977368]] 2025-10-28T17:48:21.845Z,1761673701.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950822,0.308561,0.026964],[-0.307172,-0.928188,-0.210028],[-0.039778,-0.207982,0.977323]] 2025-10-28T17:48:22.247Z,1761673702.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950639,0.309214,0.025948],[-0.307551,-0.927809,-0.211145],[-0.041214,-0.208702,0.977110]] 2025-10-28T17:48:22.651Z,1761673702.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950795,0.308891,0.023994],[-0.306848,-0.928138,-0.210724],[-0.042821,-0.207718,0.977251]] 2025-10-28T17:48:23.058Z,1761673703.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951147,0.307977,0.021688],[-0.305557,-0.928955,-0.208994],[-0.044218,-0.205411,0.977676]] 2025-10-28T17:48:23.460Z,1761673703.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951554,0.306860,0.019544],[-0.304121,-0.929876,-0.206980],[-0.045340,-0.202896,0.978150]] 2025-10-28T17:48:23.863Z,1761673703.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951993,0.305624,0.017447],[-0.302585,-0.930830,-0.204934],[-0.046392,-0.200375,0.978620]] 2025-10-28T17:48:24.268Z,1761673704.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952336,0.304634,0.015931],[-0.301381,-0.931523,-0.203556],[-0.047170,-0.198655,0.978934]] 2025-10-28T17:48:24.673Z,1761673704.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952478,0.304255,0.014612],[-0.300768,-0.931803,-0.203177],[-0.048202,-0.197917,0.979033]] 2025-10-28T17:48:25.075Z,1761673705.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952061,0.305543,0.014936],[-0.301967,-0.930860,-0.205708],[-0.048949,-0.200357,0.978499]] 2025-10-28T17:48:25.478Z,1761673705.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951130,0.308399,0.015522],[-0.304786,-0.929542,-0.207500],[-0.049564,-0.202091,0.978112]] 2025-10-28T17:48:25.917Z,1761673705.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948978,0.314737,0.019553],[-0.311450,-0.925743,-0.214475],[-0.049402,-0.209622,0.976534]] 2025-10-28T17:48:26.690Z,1761673706.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948107,0.317213,0.021639],[-0.314144,-0.924089,-0.217653],[-0.049046,-0.213156,0.975786]] 2025-10-28T17:48:26.735Z,1761673706.735 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:48:26.735Z,1761673706.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:48:26.735Z,1761673706.735 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:48:26.735Z,1761673706.735 [marl:UpdateRudder:A] Stopped 2025-10-28T17:48:26.735Z,1761673706.735 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:48:27.101Z,1761673707.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946861,0.320780,0.023535],[-0.317887,-0.922150,-0.220425],[-0.049005,-0.216193,0.975120]] 2025-10-28T17:48:27.141Z,1761673707.141 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:48:27.141Z,1761673707.141 [marl:UpdateRudder:B] Stopped 2025-10-28T17:48:27.141Z,1761673707.141 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:48:27.141Z,1761673707.141 [marl:UpdateRudder] Stopped 2025-10-28T17:48:27.141Z,1761673707.141 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:48:27.509Z,1761673707.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946681,0.321290,0.023827],[-0.318385,-0.921685,-0.221647],[-0.049252,-0.217415,0.974836]] 2025-10-28T17:48:27.909Z,1761673707.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946505,0.321790,0.024078],[-0.318821,-0.921031,-0.223729],[-0.049817,-0.219437,0.974354]] 2025-10-28T17:48:28.312Z,1761673708.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946347,0.322262,0.023956],[-0.319135,-0.920362,-0.226022],[-0.050790,-0.221540,0.973828]] 2025-10-28T17:48:28.345Z,1761673708.345 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:48:28.345Z,1761673708.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:48:28.345Z,1761673708.345 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:48:28.345Z,1761673708.345 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateCommandMode] Stopped 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:48:28.346Z,1761673708.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:48:28.347Z,1761673708.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:48:28.347Z,1761673708.347 [marl:UpdateSpeed] Stopped 2025-10-28T17:48:28.347Z,1761673708.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:48:28.713Z,1761673708.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945796,0.323873,0.024024],[-0.320603,-0.919324,-0.228162],[-0.051810,-0.223496,0.973327]] 2025-10-28T17:48:29.122Z,1761673709.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945114,0.325838,0.024288],[-0.322481,-0.918245,-0.229852],[-0.052592,-0.225069,0.972922]] 2025-10-28T17:48:29.530Z,1761673709.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943862,0.329423,0.024592],[-0.325973,-0.916739,-0.230937],[-0.053531,-0.225989,0.972658]] 2025-10-28T17:48:29.923Z,1761673709.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942335,0.333752,0.024773],[-0.330220,-0.915225,-0.230905],[-0.054392,-0.225770,0.972661]] 2025-10-28T17:48:30.326Z,1761673710.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940465,0.338923,0.025611],[-0.335468,-0.913479,-0.230253],[-0.054643,-0.225136,0.972794]] 2025-10-28T17:48:30.730Z,1761673710.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938217,0.345008,0.026810],[-0.341635,-0.911130,-0.230495],[-0.055095,-0.225413,0.972704]] 2025-10-28T17:48:31.143Z,1761673711.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935671,0.351780,0.027764],[-0.348532,-0.908987,-0.228622],[-0.055187,-0.223592,0.973119]] 2025-10-28T17:48:31.942Z,1761673711.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930495,0.365236,0.027947],[-0.362084,-0.905549,-0.221080],[-0.055439,-0.215833,0.974855]] 2025-10-28T17:48:32.346Z,1761673712.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928198,0.371036,0.027960],[-0.367936,-0.904052,-0.217515],[-0.055428,-0.212185,0.975656]] 2025-10-28T17:48:32.754Z,1761673712.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926122,0.376136,0.028635],[-0.373164,-0.902401,-0.215457],[-0.055201,-0.210225,0.976093]] 2025-10-28T17:48:33.155Z,1761673713.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924322,0.380512,0.028967],[-0.377693,-0.901337,-0.211989],[-0.054555,-0.206886,0.976843]] 2025-10-28T17:48:33.602Z,1761673713.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922992,0.383637,0.030138],[-0.381109,-0.900437,-0.209686],[-0.053306,-0.205024,0.977304]] 2025-10-28T17:48:33.964Z,1761673713.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921902,0.386088,0.032140],[-0.383936,-0.899349,-0.209199],[-0.051864,-0.205200,0.977345]] 2025-10-28T17:48:34.366Z,1761673714.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921107,0.387795,0.034312],[-0.386079,-0.898576,-0.208575],[-0.050053,-0.205367,0.977404]] 2025-10-28T17:48:34.777Z,1761673714.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920600,0.388819,0.036282],[-0.387514,-0.898107,-0.207935],[-0.048263,-0.205484,0.977470]] 2025-10-28T17:48:35.174Z,1761673715.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920164,0.389700,0.037828],[-0.388756,-0.897880,-0.206590],[-0.046543,-0.204803,0.977696]] 2025-10-28T17:48:35.608Z,1761673715.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920141,0.389665,0.038751],[-0.388996,-0.898202,-0.204731],[-0.044971,-0.203456,0.978051]] 2025-10-28T17:48:35.983Z,1761673715.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920162,0.389368,0.041158],[-0.389110,-0.897706,-0.206681],[-0.043527,-0.206195,0.977542]] 2025-10-28T17:48:36.387Z,1761673716.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920276,0.388897,0.043029],[-0.388965,-0.897388,-0.208330],[-0.042405,-0.208458,0.977112]] 2025-10-28T17:48:36.793Z,1761673716.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920341,0.388526,0.044945],[-0.388915,-0.896920,-0.210426],[-0.041444,-0.211144,0.976576]] 2025-10-28T17:48:37.204Z,1761673717.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920407,0.388254,0.045930],[-0.388851,-0.896907,-0.210600],[-0.040571,-0.211698,0.976493]] 2025-10-28T17:48:37.611Z,1761673717.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920470,0.387990,0.046893],[-0.388780,-0.896841,-0.211011],[-0.039815,-0.212460,0.976358]] 2025-10-28T17:48:38.017Z,1761673718.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920259,0.388271,0.048667],[-0.389378,-0.896270,-0.212331],[-0.038824,-0.214350,0.975985]] 2025-10-28T17:48:38.407Z,1761673718.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919754,0.389372,0.049413],[-0.390672,-0.896083,-0.210739],[-0.037778,-0.213132,0.976293]] 2025-10-28T17:48:38.812Z,1761673718.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918953,0.391120,0.050505],[-0.392681,-0.895655,-0.208816],[-0.036437,-0.211724,0.976650]] 2025-10-28T17:48:39.215Z,1761673719.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918086,0.393166,0.050388],[-0.394793,-0.895618,-0.204954],[-0.035452,-0.208058,0.977474]] 2025-10-28T17:48:39.619Z,1761673719.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916819,0.395975,0.051448],[-0.397844,-0.894846,-0.202412],[-0.034112,-0.206043,0.977948]] 2025-10-28T17:48:40.028Z,1761673720.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915218,0.399471,0.052900],[-0.401644,-0.893743,-0.199762],[-0.032520,-0.204073,0.978415]] 2025-10-28T17:48:40.052Z,1761673720.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:48:40.052Z,1761673720.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:48:40.053Z,1761673720.053 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:48:40.053Z,1761673720.053 [marl:UpdateRudder:A] Stopped 2025-10-28T17:48:40.053Z,1761673720.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:48:40.432Z,1761673720.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913371,0.403374,0.055159],[-0.405979,-0.892222,-0.197790],[-0.030569,-0.203049,0.978691]] 2025-10-28T17:48:40.492Z,1761673720.492 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:48:40.496Z,1761673720.496 [marl:UpdateRudder:B] Stopped 2025-10-28T17:48:40.496Z,1761673720.496 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:48:40.496Z,1761673720.496 [marl:UpdateRudder] Stopped 2025-10-28T17:48:40.497Z,1761673720.497 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:48:40.835Z,1761673720.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911004,0.408290,0.058056],[-0.411405,-0.890007,-0.196555],[-0.028581,-0.202947,0.978773]] 2025-10-28T17:48:41.239Z,1761673721.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908316,0.413795,0.061116],[-0.417436,-0.887449,-0.195402],[-0.026619,-0.202999,0.978817]] 2025-10-28T17:48:41.643Z,1761673721.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905320,0.419699,0.065178],[-0.424013,-0.884173,-0.196088],[-0.024670,-0.205159,0.978418]] 2025-10-28T17:48:41.703Z,1761673721.703 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:48:41.703Z,1761673721.703 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:48:41.703Z,1761673721.703 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:48:41.712Z,1761673721.712 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:48:41.712Z,1761673721.712 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:48:41.712Z,1761673721.712 [marl:UpdateCommandMode] Stopped 2025-10-28T17:48:41.712Z,1761673721.712 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:48:41.712Z,1761673721.712 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed] Stopped 2025-10-28T17:48:41.713Z,1761673721.713 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:48:42.052Z,1761673722.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902183,0.425754,0.069280],[-0.430766,-0.880872,-0.196229],[-0.022519,-0.206878,0.978108]] 2025-10-28T17:48:42.451Z,1761673722.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898876,0.432047,0.073192],[-0.437719,-0.877423,-0.196291],[-0.020586,-0.208479,0.977810]] 2025-10-28T17:48:42.464Z,1761673722.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:48:42.854Z,1761673722.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895784,0.437854,0.076515],[-0.444100,-0.874436,-0.195287],[-0.018600,-0.208915,0.977757]] 2025-10-28T17:48:43.262Z,1761673723.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893001,0.443081,0.078919],[-0.449748,-0.872094,-0.192816],[-0.016609,-0.207679,0.978056]] 2025-10-28T17:48:43.468Z,1761673723.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:48:43.665Z,1761673723.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890722,0.447226,0.081264],[-0.454316,-0.870207,-0.190622],[-0.014534,-0.206710,0.978294]] 2025-10-28T17:48:44.066Z,1761673724.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888964,0.450485,0.082500],[-0.457811,-0.869254,-0.186566],[-0.012332,-0.203620,0.978972]] 2025-10-28T17:48:44.470Z,1761673724.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888046,0.452168,0.083179],[-0.459637,-0.869067,-0.182910],[-0.010418,-0.200664,0.979605]] 2025-10-28T17:48:44.875Z,1761673724.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887367,0.453296,0.084280],[-0.460986,-0.868909,-0.180247],[-0.008474,-0.198797,0.980004]] 2025-10-28T17:48:45.287Z,1761673725.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887312,0.453376,0.084425],[-0.461122,-0.869590,-0.176578],[-0.006641,-0.195610,0.980659]] 2025-10-28T17:48:45.687Z,1761673725.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887238,0.453333,0.085424],[-0.461283,-0.869797,-0.175133],[-0.005091,-0.194789,0.980832]] 2025-10-28T17:48:46.499Z,1761673726.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887947,0.451595,0.087246],[-0.459940,-0.870872,-0.173313],[-0.002287,-0.194021,0.980995]] 2025-10-28T17:48:46.895Z,1761673726.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888065,0.451000,0.089107],[-0.459718,-0.870949,-0.173512],[-0.000646,-0.195054,0.980792]] 2025-10-28T17:48:47.298Z,1761673727.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887791,0.451248,0.090566],[-0.460246,-0.870566,-0.174033],[0.000312,-0.196188,0.980566]] 2025-10-28T17:48:47.703Z,1761673727.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886979,0.452500,0.092264],[-0.461809,-0.869566,-0.174896],[0.001089,-0.197737,0.980255]] 2025-10-28T17:48:48.107Z,1761673728.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885464,0.455022,0.094386],[-0.464705,-0.867796,-0.176009],[0.001820,-0.199711,0.979853]] 2025-10-28T17:48:48.513Z,1761673728.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882739,0.459634,0.097513],[-0.469857,-0.864635,-0.177877],[0.002555,-0.202836,0.979209]] 2025-10-28T17:48:48.916Z,1761673728.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879629,0.464971,0.100272],[-0.475647,-0.861397,-0.178201],[0.003516,-0.204445,0.978872]] 2025-10-28T17:48:49.319Z,1761673729.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876066,0.471035,0.103119],[-0.482170,-0.857728,-0.178365],[0.004432,-0.205981,0.978546]] 2025-10-28T17:48:49.724Z,1761673729.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872284,0.477538,0.105248],[-0.488971,-0.854093,-0.177292],[0.005228,-0.206112,0.978514]] 2025-10-28T17:48:50.127Z,1761673730.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869126,0.483036,0.106280],[-0.494550,-0.851500,-0.174264],[0.006321,-0.204018,0.978947]] 2025-10-28T17:48:50.534Z,1761673730.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866833,0.487097,0.106474],[-0.498541,-0.849983,-0.170252],[0.007572,-0.200662,0.979631]] 2025-10-28T17:48:50.934Z,1761673730.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865453,0.489612,0.106169],[-0.500909,-0.849494,-0.165681],[0.009070,-0.196570,0.980448]] 2025-10-28T17:48:51.338Z,1761673731.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865292,0.490143,0.105022],[-0.501158,-0.850283,-0.160807],[0.010480,-0.191778,0.981382]] 2025-10-28T17:48:51.746Z,1761673731.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865510,0.489976,0.104003],[-0.500749,-0.851370,-0.156270],[0.011976,-0.187333,0.982224]] 2025-10-28T17:48:52.146Z,1761673732.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865944,0.489159,0.104232],[-0.499956,-0.852281,-0.153823],[0.013591,-0.185314,0.982585]] 2025-10-28T17:48:52.550Z,1761673732.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866450,0.487812,0.106319],[-0.499035,-0.852628,-0.154887],[0.015095,-0.187258,0.982195]] 2025-10-28T17:48:52.955Z,1761673732.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866514,0.487282,0.108211],[-0.498873,-0.852688,-0.155078],[0.016704,-0.188361,0.981958]] 2025-10-28T17:48:53.359Z,1761673733.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865682,0.488193,0.110738],[-0.500272,-0.851633,-0.156362],[0.017974,-0.190759,0.981472]] 2025-10-28T17:48:53.447Z,1761673733.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:48:53.447Z,1761673733.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:48:53.447Z,1761673733.447 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:48:53.447Z,1761673733.447 [marl:UpdateRudder:A] Stopped 2025-10-28T17:48:53.447Z,1761673733.447 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:48:53.770Z,1761673733.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863917,0.490505,0.114245],[-0.503267,-0.849436,-0.158686],[0.019208,-0.194587,0.980697]] 2025-10-28T17:48:53.858Z,1761673733.858 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:48:53.858Z,1761673733.858 [marl:UpdateRudder:B] Stopped 2025-10-28T17:48:53.858Z,1761673733.858 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:48:53.858Z,1761673733.858 [marl:UpdateRudder] Stopped 2025-10-28T17:48:53.859Z,1761673733.859 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:48:54.167Z,1761673734.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861057,0.494503,0.118518],[-0.508101,-0.845997,-0.161625],[0.020342,-0.199387,0.979710]] 2025-10-28T17:48:54.570Z,1761673734.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856901,0.500581,0.123044],[-0.515054,-0.841160,-0.164831],[0.020988,-0.204618,0.978617]] 2025-10-28T17:48:54.624Z,1761673734.624 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:48:54.753Z,1761673734.753 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:48:54.753Z,1761673734.753 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:48:55.005Z,1761673735.005 [DAT](INFO): DAT read: user:85> 2025-10-28T17:48:55.006Z,1761673735.006 [DAT](INFO): DAT read: Tx time:17:48:54.7531 2025-10-28T17:48:55.006Z,1761673735.006 [DAT](INFO): Ping request sent. 2025-10-28T17:48:55.006Z,1761673735.006 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:48:55.006Z,1761673735.006 [DAT](INFO): publishing transmit ping time 2025-10-28T17:48:55.007Z,1761673735.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T17:48:55.038Z,1761673735.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852032,0.508001,0.126403],[-0.523044,-0.836080,-0.165514],[0.021601,-0.207137,0.978073]] 2025-10-28T17:48:55.083Z,1761673735.083 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:48:55.083Z,1761673735.083 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:48:55.083Z,1761673735.083 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:48:55.084Z,1761673735.084 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:48:55.084Z,1761673735.084 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:48:55.084Z,1761673735.084 [marl:UpdateCommandMode] Stopped 2025-10-28T17:48:55.084Z,1761673735.084 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:48:55.084Z,1761673735.084 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed] Stopped 2025-10-28T17:48:55.085Z,1761673735.085 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:48:55.258Z,1761673735.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251481 2025-10-28T17:48:55.380Z,1761673735.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846290,0.516870,0.128995],[-0.532282,-0.830273,-0.165296],[0.021664,-0.208550,0.977772]] 2025-10-28T17:48:55.509Z,1761673735.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503291 2025-10-28T17:48:55.761Z,1761673735.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755317 2025-10-28T17:48:55.786Z,1761673735.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840061,0.526126,0.132246],[-0.542044,-0.823955,-0.165186],[0.022057,-0.210449,0.977356]] 2025-10-28T17:48:56.013Z,1761673736.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811 2025-10-28T17:48:56.186Z,1761673736.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834217,0.535295,0.132440],[-0.550971,-0.818978,-0.160331],[0.022641,-0.206722,0.978138]] 2025-10-28T17:48:56.266Z,1761673736.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260189 2025-10-28T17:48:56.517Z,1761673736.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922 2025-10-28T17:48:56.590Z,1761673736.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832023,0.538855,0.131808],[-0.554232,-0.817629,-0.155912],[0.023756,-0.202775,0.978937]] 2025-10-28T17:48:56.769Z,1761673736.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763311 2025-10-28T17:48:56.998Z,1761673736.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834533,0.534109,0.135214],[-0.550367,-0.819514,-0.159665],[0.025531,-0.207663,0.977867]] 2025-10-28T17:48:57.021Z,1761673737.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014940 2025-10-28T17:48:57.273Z,1761673737.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266877 2025-10-28T17:48:57.398Z,1761673737.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839129,0.524336,0.144683],[-0.543196,-0.821639,-0.172766],[0.028290,-0.223565,0.974278]] 2025-10-28T17:48:57.528Z,1761673737.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521354 2025-10-28T17:48:57.778Z,1761673737.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772102 2025-10-28T17:48:57.803Z,1761673737.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846376,0.508317,0.158937],[-0.531617,-0.824331,-0.194580],[0.032108,-0.249182,0.967924]] 2025-10-28T17:48:58.030Z,1761673738.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023688 2025-10-28T17:48:58.207Z,1761673738.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855041,0.488839,0.173033],[-0.517283,-0.827449,-0.218508],[0.036361,-0.276341,0.960372]] 2025-10-28T17:48:58.281Z,1761673738.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274896 2025-10-28T17:48:58.534Z,1761673738.534 [DAT](INFO): DAT read: Rx Time:17:48:57.7631 2025-10-28T17:48:58.534Z,1761673738.534 [DAT](INFO): Rx dataTimestamp_ set to:1761673738.533900 2025-10-28T17:48:58.535Z,1761673738.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528666 2025-10-28T17:48:58.611Z,1761673738.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864871,0.466600,0.185152],[-0.500340,-0.831154,-0.242573],[0.040705,-0.302434,0.952301]] 2025-10-28T17:48:58.785Z,1761673738.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778999 2025-10-28T17:48:59.014Z,1761673739.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875146,0.442149,0.196529],[-0.481757,-0.834051,-0.268829],[0.045053,-0.329944,0.942925]] 2025-10-28T17:48:59.043Z,1761673739.043 [DAT](INFO): DAT read: 17:48:57.7631 LVL= 32752, 22897, 27634, 32755, AGC= 70, IDX= 265, 0.29, 1.841,-2.403, 2.994, 3.021, PHS=-1.078, 0.903,-0.071, RAW= 299.4, 2.9, CAL= 297.4, -1.2, ROT= 212.6, 1.2 2025-10-28T17:48:59.044Z,1761673739.044 [DAT](INFO): got valid direction response: 17:48:57.7631 LVL= 32752, 22897, 27634, 32755, AGC= 70, IDX= 265, 0.29, 1.841,-2.403, 2.994, 3.021, PHS=-1.078, 0.903,-0.071, RAW= 299.4, 2.9, CAL= 297.4, -1.2, ROT= 212.6, 1.2 2025-10-28T17:48:59.045Z,1761673739.045 [DAT](INFO): DAT read: Bearing 53, -8 (Remote) 2025-10-28T17:48:59.045Z,1761673739.045 [DAT](INFO): Remote Bearing received:Bearing 53, -8 (Remote) 2025-10-28T17:48:59.046Z,1761673739.046 [DAT](INFO): DAT read: Bearing 187.2, -32.5 (Local) 2025-10-28T17:48:59.046Z,1761673739.046 [DAT](INFO): Local bearing/azimuth received: Bearing 187.2, -32.5 (Local) 2025-10-28T17:48:59.048Z,1761673739.048 [DAT](INFO): DAT read: Range 11 to 20 : 735.6 m (Round-trip 980.9 ms) speed -1.2 m/s 2025-10-28T17:48:59.048Z,1761673739.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:48:59.049Z,1761673739.049 [DAT](INFO): direction in FSK: [-0.842268,-0.538653,-0.020942] 2025-10-28T17:48:59.049Z,1761673739.049 [DAT](INFO): publishing direction and range info 2025-10-28T17:48:59.083Z,1761673739.083 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673728.00. Resetting abort timer. 2025-10-28T17:48:59.419Z,1761673739.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885098,0.417656,0.205343],[-0.462808,-0.836403,-0.293665],[0.049099,-0.354956,0.933593]] 2025-10-28T17:48:59.824Z,1761673739.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894069,0.394838,0.211527],[-0.444760,-0.838593,-0.314562],[0.053184,-0.375319,0.925369]] 2025-10-28T17:49:00.631Z,1761673740.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909500,0.354046,0.217858],[-0.411353,-0.842120,-0.348744],[0.059992,-0.406799,0.911545]] 2025-10-28T17:49:01.035Z,1761673741.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916292,0.335811,0.218265],[-0.395454,-0.844897,-0.360229],[0.063443,-0.416389,0.906970]] 2025-10-28T17:49:01.441Z,1761673741.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922368,0.319641,0.216948],[-0.380490,-0.848810,-0.367080],[0.066814,-0.421130,0.904536]] 2025-10-28T17:49:01.843Z,1761673741.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927770,0.305602,0.214126],[-0.366481,-0.854258,-0.368695],[0.070245,-0.420537,0.904552]] 2025-10-28T17:49:02.651Z,1761673742.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938447,0.277120,0.206206],[-0.336623,-0.867590,-0.366023],[0.077470,-0.412907,0.907472]] 2025-10-28T17:49:03.056Z,1761673743.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943054,0.263488,0.203035],[-0.322649,-0.873038,-0.365654],[0.080912,-0.410340,0.908336]] 2025-10-28T17:49:03.485Z,1761673743.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947033,0.250651,0.200756],[-0.309820,-0.877615,-0.365792],[0.084501,-0.408615,0.908787]] 2025-10-28T17:49:03.881Z,1761673743.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950764,0.238708,0.197651],[-0.297289,-0.882663,-0.364041],[0.087560,-0.404877,0.910169]] 2025-10-28T17:49:04.345Z,1761673744.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957174,0.216241,0.192507],[-0.274211,-0.890453,-0.363183],[0.092883,-0.400416,0.911614]] 2025-10-28T17:49:04.793Z,1761673744.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959804,0.206277,0.190332],[-0.264073,-0.893429,-0.363388],[0.095090,-0.399043,0.911988]] 2025-10-28T17:49:05.186Z,1761673745.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962062,0.196658,0.189111],[-0.254776,-0.895527,-0.364857],[0.097602,-0.399196,0.911656]] 2025-10-28T17:49:05.627Z,1761673745.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964217,0.187370,0.187560],[-0.245609,-0.897669,-0.365878],[0.099813,-0.398852,0.911567]] 2025-10-28T17:49:05.994Z,1761673745.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966426,0.177907,0.185389],[-0.235823,-0.900619,-0.365065],[0.102017,-0.396527,0.912337]] 2025-10-28T17:49:06.491Z,1761673746.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968674,0.167446,0.183389],[-0.225377,-0.902887,-0.366061],[0.104284,-0.395926,0.912342]] 2025-10-28T17:49:06.891Z,1761673746.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970978,0.155933,0.181347],[-0.214175,-0.904371,-0.369110],[0.106449,-0.397237,0.911521]] 2025-10-28T17:49:06.948Z,1761673746.948 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:49:06.948Z,1761673746.948 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:49:06.949Z,1761673746.949 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:49:06.950Z,1761673746.950 [marl:UpdateRudder:A] Stopped 2025-10-28T17:49:06.950Z,1761673746.950 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:49:07.340Z,1761673747.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973398,0.143878,0.178311],[-0.201961,-0.906325,-0.371197],[0.108200,-0.397335,0.911273]] 2025-10-28T17:49:07.366Z,1761673747.366 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:49:07.366Z,1761673747.366 [marl:UpdateRudder:B] Stopped 2025-10-28T17:49:07.366Z,1761673747.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:49:07.366Z,1761673747.366 [marl:UpdateRudder] Stopped 2025-10-28T17:49:07.366Z,1761673747.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:49:07.739Z,1761673747.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976099,0.129580,0.174467],[-0.187465,-0.908154,-0.374316],[0.109939,-0.398077,0.910741]] 2025-10-28T17:49:08.143Z,1761673748.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978899,0.113618,0.169848],[-0.171191,-0.909833,-0.378018],[0.111584,-0.399118,0.910085]] 2025-10-28T17:49:08.210Z,1761673748.210 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode] Stopped 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:49:08.211Z,1761673748.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:49:08.212Z,1761673748.212 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:49:08.221Z,1761673748.221 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:49:08.221Z,1761673748.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:49:08.221Z,1761673748.221 [marl:UpdateSpeed] Stopped 2025-10-28T17:49:08.221Z,1761673748.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:49:08.547Z,1761673748.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981629,0.097003,0.164299],[-0.153702,-0.912243,-0.379722],[0.113046,-0.398000,0.910394]] 2025-10-28T17:49:08.970Z,1761673748.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984376,0.079167,0.157280],[-0.134088,-0.915973,-0.378172],[0.114126,-0.393353,0.912277]] 2025-10-28T17:49:09.395Z,1761673749.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986843,0.060211,0.150049],[-0.113584,-0.918652,-0.378388],[0.115060,-0.390453,0.913404]] 2025-10-28T17:49:09.799Z,1761673749.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988939,0.040544,0.142674],[-0.092379,-0.920929,-0.378623],[0.116042,-0.387616,0.914488]] 2025-10-28T17:49:10.257Z,1761673750.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990715,0.020249,0.134438],[-0.070487,-0.922068,-0.380555],[0.116255,-0.386497,0.914934]] 2025-10-28T17:49:10.655Z,1761673750.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992074,0.000409,0.125657],[-0.048907,-0.922403,-0.383120],[0.115750,-0.386229,0.915112]] 2025-10-28T17:49:11.058Z,1761673751.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993032,-0.018228,0.116425],[-0.028380,-0.921893,-0.386404],[0.114374,-0.387016,0.914952]] 2025-10-28T17:49:11.472Z,1761673751.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993618,-0.035523,0.107060],[-0.008791,-0.921844,-0.387460],[0.112456,-0.385929,0.915649]] 2025-10-28T17:49:12.354Z,1761673752.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993448,-0.081751,0.079864],[0.044627,-0.920813,-0.387443],[0.105213,-0.381340,0.918428]] 2025-10-28T17:49:12.761Z,1761673752.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992970,-0.094410,0.071401],[0.059942,-0.921201,-0.384442],[0.102070,-0.377459,0.920384]] 2025-10-28T17:49:13.194Z,1761673753.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992462,-0.105608,0.062182],[0.073437,-0.918673,-0.388133],[0.098115,-0.380641,0.919503]] 2025-10-28T17:49:13.616Z,1761673753.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:49:13.618Z,1761673753.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991982,-0.114582,0.053323],[0.084576,-0.915378,-0.393612],[0.093912,-0.385946,0.917729]] 2025-10-28T17:49:14.018Z,1761673754.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991464,-0.122149,0.045591],[0.094318,-0.913380,-0.396032],[0.090017,-0.388352,0.917104]] 2025-10-28T17:49:14.427Z,1761673754.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990894,-0.129050,0.038395],[0.103459,-0.912292,-0.396258],[0.086165,-0.388677,0.917336]] 2025-10-28T17:49:14.620Z,1761673754.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:49:14.828Z,1761673754.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990254,-0.135467,0.032340],[0.112028,-0.912721,-0.392926],[0.082745,-0.385473,0.919001]] 2025-10-28T17:49:15.230Z,1761673755.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989444,-0.142495,0.026376],[0.120990,-0.912465,-0.390856],[0.079762,-0.383539,0.920074]] 2025-10-28T17:49:15.636Z,1761673755.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988433,-0.150183,0.021097],[0.130411,-0.912705,-0.387250],[0.077414,-0.380020,0.921733]] 2025-10-28T17:49:16.041Z,1761673756.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987141,-0.159034,0.016175],[0.140814,-0.912991,-0.382909],[0.075663,-0.375708,0.923644]] 2025-10-28T17:49:16.454Z,1761673756.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985552,-0.168997,0.011298],[0.152189,-0.912857,-0.378856],[0.074339,-0.371662,0.925387]] 2025-10-28T17:49:16.847Z,1761673756.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983513,-0.180748,0.005659],[0.165237,-0.910946,-0.377986],[0.073475,-0.370819,0.925794]] 2025-10-28T17:49:17.250Z,1761673757.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980939,-0.194314,-0.001075],[0.180355,-0.908384,-0.377241],[0.072326,-0.370244,0.926115]] 2025-10-28T17:49:18.501Z,1761673758.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969596,-0.243067,-0.028337],[0.235619,-0.896010,-0.376364],[0.066091,-0.371598,0.926038]] 2025-10-28T17:49:18.901Z,1761673758.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964770,-0.260114,-0.039489],[0.255489,-0.890439,-0.376621],[0.062802,-0.373442,0.925525]] 2025-10-28T17:49:19.747Z,1761673759.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953840,-0.293587,-0.063216],[0.295470,-0.879761,-0.372449],[0.053732,-0.373935,0.925897]] 2025-10-28T17:49:20.149Z,1761673760.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947691,-0.310134,-0.075487],[0.315504,-0.874343,-0.368758],[0.048363,-0.373285,0.926455]] 2025-10-28T17:49:20.209Z,1761673760.209 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:49:20.209Z,1761673760.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:49:20.210Z,1761673760.210 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:49:20.210Z,1761673760.210 [marl:UpdateRudder:A] Stopped 2025-10-28T17:49:20.210Z,1761673760.210 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:49:20.551Z,1761673760.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941187,-0.326462,-0.087119],[0.335142,-0.869184,-0.363593],[0.042977,-0.371406,0.927475]] 2025-10-28T17:49:20.620Z,1761673760.620 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:49:20.621Z,1761673760.621 [marl:UpdateRudder:B] Stopped 2025-10-28T17:49:20.621Z,1761673760.621 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:49:20.621Z,1761673760.621 [marl:UpdateRudder] Stopped 2025-10-28T17:49:20.621Z,1761673760.621 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:49:20.963Z,1761673760.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934299,-0.342597,-0.098558],[0.354532,-0.863999,-0.357510],[0.037328,-0.368963,0.928694]] 2025-10-28T17:49:21.360Z,1761673761.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927103,-0.358290,-0.110035],[0.373476,-0.858394,-0.351674],[0.031548,-0.367134,0.929633]] 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode] Stopped 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:49:21.409Z,1761673761.409 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed] Stopped 2025-10-28T17:49:21.410Z,1761673761.410 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:49:21.770Z,1761673761.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919991,-0.372944,-0.120540],[0.391098,-0.853362,-0.344696],[0.025688,-0.364260,0.930943]] 2025-10-28T17:49:22.166Z,1761673762.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913813,-0.384443,-0.130959],[0.405697,-0.849082,-0.338334],[0.018875,-0.362304,0.931869]] 2025-10-28T17:49:22.571Z,1761673762.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909865,-0.391310,-0.137918],[0.414764,-0.849219,-0.326798],[0.010756,-0.354546,0.934977]] 2025-10-28T17:49:22.975Z,1761673762.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907665,-0.395716,-0.139831],[0.419690,-0.854189,-0.306956],[0.002025,-0.337299,0.941395]] 2025-10-28T17:49:23.381Z,1761673763.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906844,-0.397683,-0.139581],[0.421402,-0.861340,-0.283749],[-0.007385,-0.316135,0.948685]] 2025-10-28T17:49:23.789Z,1761673763.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906977,-0.397655,-0.138794],[0.420840,-0.868875,-0.260672],[-0.016937,-0.294833,0.955399]] 2025-10-28T17:49:24.186Z,1761673764.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907691,-0.396207,-0.138264],[0.418823,-0.875881,-0.239622],[-0.026163,-0.275411,0.960970]] 2025-10-28T17:49:24.591Z,1761673764.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908639,-0.393637,-0.139371],[0.416082,-0.881722,-0.222357],[-0.035358,-0.260032,0.964952]] 2025-10-28T17:49:24.996Z,1761673764.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909570,-0.390758,-0.141386],[0.413206,-0.886567,-0.207989],[-0.044075,-0.247602,0.967859]] 2025-10-28T17:49:25.400Z,1761673765.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910617,-0.387279,-0.144196],[0.409961,-0.890534,-0.197183],[-0.052046,-0.238673,0.969704]] 2025-10-28T17:49:25.802Z,1761673765.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911144,-0.384572,-0.148058],[0.407707,-0.893515,-0.188164],[-0.059929,-0.231809,0.970914]] 2025-10-28T17:49:26.208Z,1761673766.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911347,-0.382032,-0.153293],[0.406058,-0.895444,-0.182473],[-0.067554,-0.228542,0.971187]] 2025-10-28T17:49:26.610Z,1761673766.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911087,-0.380056,-0.159621],[0.405275,-0.896622,-0.178384],[-0.075324,-0.227214,0.970928]] 2025-10-28T17:49:27.015Z,1761673767.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910559,-0.378657,-0.165837],[0.405028,-0.897458,-0.174704],[-0.082679,-0.226247,0.970555]] 2025-10-28T17:49:27.426Z,1761673767.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909767,-0.377458,-0.172768],[0.405283,-0.897691,-0.172904],[-0.089828,-0.227322,0.969668]] 2025-10-28T17:49:27.823Z,1761673767.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908863,-0.376528,-0.179429],[0.405803,-0.897675,-0.171765],[-0.096395,-0.228924,0.968660]] 2025-10-28T17:49:28.239Z,1761673768.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907696,-0.376249,-0.185808],[0.406884,-0.897441,-0.170424],[-0.102630,-0.230296,0.967694]] 2025-10-28T17:49:28.631Z,1761673768.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906246,-0.376750,-0.191778],[0.408569,-0.897056,-0.168414],[-0.108586,-0.230979,0.966881]] 2025-10-28T17:49:29.036Z,1761673769.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904815,-0.377153,-0.197651],[0.410300,-0.896369,-0.167857],[-0.113860,-0.232976,0.965794]] 2025-10-28T17:49:29.442Z,1761673769.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903100,-0.378794,-0.202300],[0.412763,-0.895664,-0.165567],[-0.118477,-0.233025,0.965227]] 2025-10-28T17:49:29.842Z,1761673769.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901021,-0.381616,-0.206227],[0.416096,-0.894718,-0.162309],[-0.122575,-0.232054,0.964949]] 2025-10-28T17:49:30.250Z,1761673770.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898577,-0.385002,-0.210552],[0.420299,-0.893027,-0.160785],[-0.126126,-0.232973,0.964270]] 2025-10-28T17:49:30.658Z,1761673770.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895980,-0.389139,-0.213988],[0.424917,-0.891273,-0.158360],[-0.129098,-0.232815,0.963914]] 2025-10-28T17:49:31.062Z,1761673771.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893293,-0.393428,-0.217351],[0.429654,-0.889440,-0.155862],[-0.132000,-0.232616,0.963569]] 2025-10-28T17:49:31.459Z,1761673771.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890566,-0.397801,-0.220562],[0.434326,-0.887740,-0.152574],[-0.135107,-0.231673,0.963366]] 2025-10-28T17:49:31.863Z,1761673771.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887724,-0.402004,-0.224364],[0.438966,-0.886010,-0.149316],[-0.138763,-0.231039,0.962998]] 2025-10-28T17:49:32.671Z,1761673772.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882090,-0.409433,-0.232984],[0.447123,-0.883379,-0.140434],[-0.148315,-0.228048,0.962287]] 2025-10-28T17:49:33.076Z,1761673773.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879362,-0.412944,-0.237066],[0.450696,-0.882468,-0.134624],[-0.153611,-0.225228,0.962121]] 2025-10-28T17:49:33.118Z,1761673773.118 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:49:33.118Z,1761673773.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:49:33.118Z,1761673773.118 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:49:33.119Z,1761673773.119 [marl:UpdateRudder:A] Stopped 2025-10-28T17:49:33.119Z,1761673773.119 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:49:33.479Z,1761673773.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876742,-0.415998,-0.241392],[0.453702,-0.881907,-0.128040],[-0.159621,-0.221778,0.961944]] 2025-10-28T17:49:33.585Z,1761673773.585 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:49:33.585Z,1761673773.585 [marl:UpdateRudder:B] Stopped 2025-10-28T17:49:33.585Z,1761673773.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:49:33.586Z,1761673773.586 [marl:UpdateRudder] Stopped 2025-10-28T17:49:33.586Z,1761673773.586 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:49:34.287Z,1761673774.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872209,-0.420260,-0.250266],[0.457767,-0.881613,-0.114926],[-0.172339,-0.214803,0.961332]] 2025-10-28T17:49:34.380Z,1761673774.380 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:49:34.383Z,1761673774.383 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateCommandMode] Stopped 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:49:34.384Z,1761673774.384 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed] Stopped 2025-10-28T17:49:34.385Z,1761673774.385 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:49:34.691Z,1761673774.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871081,-0.419846,-0.254845],[0.457672,-0.882160,-0.111039],[-0.178195,-0.213359,0.960585]] 2025-10-28T17:49:35.095Z,1761673775.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870794,-0.417850,-0.259074],[0.456152,-0.883243,-0.108659],[-0.183422,-0.212796,0.959726]] 2025-10-28T17:49:35.502Z,1761673775.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871309,-0.414674,-0.262425],[0.453653,-0.884550,-0.108494],[-0.187138,-0.213582,0.958834]] 2025-10-28T17:49:36.306Z,1761673776.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873840,-0.408489,-0.263704],[0.448460,-0.886688,-0.112550],[-0.187848,-0.216611,0.958015]] 2025-10-28T17:49:36.711Z,1761673776.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875276,-0.406734,-0.261647],[0.446788,-0.887149,-0.115534],[-0.185128,-0.218025,0.958224]] 2025-10-28T17:49:37.116Z,1761673777.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876825,-0.405386,-0.258535],[0.445753,-0.886933,-0.121055],[-0.180229,-0.221387,0.958387]] 2025-10-28T17:49:37.524Z,1761673777.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878631,-0.404355,-0.253978],[0.444896,-0.886407,-0.127868],[-0.173424,-0.225343,0.958720]] 2025-10-28T17:49:37.926Z,1761673777.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880821,-0.403085,-0.248347],[0.443690,-0.885815,-0.135910],[-0.165206,-0.229902,0.959089]] 2025-10-28T17:49:38.330Z,1761673778.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883106,-0.401756,-0.242313],[0.442539,-0.884819,-0.145791],[-0.155831,-0.235982,0.959182]] 2025-10-28T17:49:38.733Z,1761673778.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885134,-0.400713,-0.236573],[0.441907,-0.883120,-0.157539],[-0.145794,-0.243986,0.958757]] 2025-10-28T17:49:39.134Z,1761673779.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886638,-0.400104,-0.231924],[0.442005,-0.880661,-0.170496],[-0.136030,-0.253680,0.957676]] 2025-10-28T17:49:39.554Z,1761673779.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887013,-0.402196,-0.226819],[0.443734,-0.878339,-0.177823],[-0.127704,-0.258379,0.957566]] 2025-10-28T17:49:39.942Z,1761673779.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886109,-0.406545,-0.222558],[0.447402,-0.875674,-0.181735],[-0.121005,-0.260609,0.957831]] 2025-10-28T17:49:40.348Z,1761673780.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884631,-0.412153,-0.218078],[0.451813,-0.873281,-0.182335],[-0.115293,-0.259829,0.958747]] 2025-10-28T17:49:40.754Z,1761673780.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883106,-0.417234,-0.214568],[0.456062,-0.870758,-0.183816],[-0.110142,-0.260185,0.959256]] 2025-10-28T17:49:41.155Z,1761673781.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881612,-0.421615,-0.212133],[0.459874,-0.868475,-0.185112],[-0.106186,-0.260751,0.959548]] 2025-10-28T17:49:41.603Z,1761673781.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878545,-0.429931,-0.208129],[0.466789,-0.865194,-0.183160],[-0.101326,-0.258067,0.960799]] 2025-10-28T17:49:42.367Z,1761673782.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876791,-0.433772,-0.207556],[0.470311,-0.863504,-0.182124],[-0.100225,-0.257301,0.961120]] 2025-10-28T17:49:42.779Z,1761673782.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875127,-0.437141,-0.207510],[0.473424,-0.862193,-0.180260],[-0.100115,-0.255990,0.961481]] 2025-10-28T17:49:43.180Z,1761673783.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874025,-0.439370,-0.207444],[0.475382,-0.861555,-0.178140],[-0.100455,-0.254314,0.961890]] 2025-10-28T17:49:43.607Z,1761673783.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875435,-0.436545,-0.207465],[0.472821,-0.862531,-0.180223],[-0.100270,-0.255868,0.961498]] 2025-10-28T17:49:43.987Z,1761673783.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877686,-0.433310,-0.204721],[0.468994,-0.864459,-0.180985],[-0.098550,-0.254860,0.961943]] 2025-10-28T17:49:44.398Z,1761673784.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880127,-0.430062,-0.201057],[0.464808,-0.866792,-0.180624],[-0.096595,-0.252425,0.962783]] 2025-10-28T17:49:44.756Z,1761673784.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:49:44.796Z,1761673784.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882482,-0.427239,-0.196702],[0.460852,-0.869027,-0.180024],[-0.094026,-0.249519,0.963794]] 2025-10-28T17:49:45.197Z,1761673785.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884742,-0.425009,-0.191307],[0.457147,-0.871291,-0.178515],[-0.090813,-0.245396,0.965160]] 2025-10-28T17:49:45.610Z,1761673785.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886833,-0.423007,-0.185992],[0.453836,-0.873060,-0.178321],[-0.086951,-0.242551,0.966234]] 2025-10-28T17:49:45.765Z,1761673785.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:49:46.002Z,1761673786.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888854,-0.421177,-0.180414],[0.450741,-0.874481,-0.179209],[-0.082290,-0.240610,0.967127]] 2025-10-28T17:49:46.410Z,1761673786.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890569,-0.419505,-0.175793],[0.448256,-0.875027,-0.182741],[-0.077163,-0.241544,0.967317]] 2025-10-28T17:49:46.435Z,1761673786.435 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:49:46.435Z,1761673786.435 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:49:46.435Z,1761673786.435 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:49:46.435Z,1761673786.435 [marl:UpdateRudder:A] Stopped 2025-10-28T17:49:46.436Z,1761673786.436 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:49:46.813Z,1761673786.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891969,-0.418776,-0.170346],[0.446420,-0.875375,-0.185547],[-0.071414,-0.241548,0.967758]] 2025-10-28T17:49:46.838Z,1761673786.838 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:49:46.838Z,1761673786.838 [marl:UpdateRudder:B] Stopped 2025-10-28T17:49:46.838Z,1761673786.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:49:46.838Z,1761673786.838 [marl:UpdateRudder] Stopped 2025-10-28T17:49:46.838Z,1761673786.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:49:47.214Z,1761673787.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893172,-0.418233,-0.165302],[0.444914,-0.875347,-0.189259],[-0.065542,-0.242586,0.967913]] 2025-10-28T17:49:47.253Z,1761673787.253 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode] Stopped 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:49:47.254Z,1761673787.254 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:49:47.255Z,1761673787.255 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:49:47.255Z,1761673787.255 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:49:47.255Z,1761673787.255 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:49:47.255Z,1761673787.255 [marl:UpdateSpeed] Stopped 2025-10-28T17:49:47.255Z,1761673787.255 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:49:47.618Z,1761673787.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893468,-0.419307,-0.160926],[0.445060,-0.874701,-0.191886],[-0.060303,-0.243065,0.968134]] 2025-10-28T17:49:48.023Z,1761673788.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893607,-0.420298,-0.157529],[0.445352,-0.873974,-0.194504],[-0.055926,-0.243966,0.968170]] 2025-10-28T17:49:48.427Z,1761673788.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893083,-0.422137,-0.155576],[0.446818,-0.872617,-0.197215],[-0.052506,-0.245643,0.967937]] 2025-10-28T17:49:48.830Z,1761673788.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892523,-0.424268,-0.152970],[0.448292,-0.871700,-0.197923],[-0.049372,-0.245226,0.968208]] 2025-10-28T17:49:49.235Z,1761673789.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891737,-0.426446,-0.151491],[0.450105,-0.870526,-0.198971],[-0.047026,-0.245617,0.968226]] 2025-10-28T17:49:49.639Z,1761673789.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891177,-0.428290,-0.149572],[0.451421,-0.869892,-0.198765],[-0.044982,-0.244654,0.968566]] 2025-10-28T17:49:50.044Z,1761673790.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890648,-0.430194,-0.147237],[0.452657,-0.869495,-0.197686],[-0.042979,-0.242717,0.969145]] 2025-10-28T17:49:50.447Z,1761673790.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890306,-0.431572,-0.145264],[0.453480,-0.869282,-0.196735],[-0.041370,-0.241028,0.969636]] 2025-10-28T17:49:50.850Z,1761673790.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890015,-0.432805,-0.143365],[0.454212,-0.868966,-0.196444],[-0.039557,-0.239956,0.969977]] 2025-10-28T17:49:51.255Z,1761673791.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890004,-0.433574,-0.141088],[0.454405,-0.868922,-0.196191],[-0.037531,-0.238721,0.970363]] 2025-10-28T17:49:51.659Z,1761673791.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889761,-0.434608,-0.139429],[0.455031,-0.868505,-0.196586],[-0.035657,-0.238359,0.970522]] 2025-10-28T17:49:52.064Z,1761673792.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889667,-0.435532,-0.137129],[0.455409,-0.868135,-0.197345],[-0.033097,-0.238021,0.970696]] 2025-10-28T17:49:52.468Z,1761673792.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889678,-0.436249,-0.134760],[0.455573,-0.867831,-0.198298],[-0.030441,-0.237814,0.970833]] 2025-10-28T17:49:52.878Z,1761673792.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889587,-0.437348,-0.131760],[0.455923,-0.867715,-0.198004],[-0.027734,-0.236215,0.971305]] 2025-10-28T17:49:53.275Z,1761673793.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889574,-0.438207,-0.128970],[0.456087,-0.867735,-0.197536],[-0.025350,-0.234545,0.971775]] 2025-10-28T17:49:53.680Z,1761673793.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889652,-0.438701,-0.126728],[0.456054,-0.867645,-0.198006],[-0.023089,-0.233951,0.971974]] 2025-10-28T17:49:54.083Z,1761673794.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889671,-0.439196,-0.124872],[0.456108,-0.867561,-0.198251],[-0.021263,-0.233333,0.972164]] 2025-10-28T17:49:54.489Z,1761673794.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889886,-0.439275,-0.123046],[0.455759,-0.867732,-0.198303],[-0.019661,-0.232546,0.972387]] 2025-10-28T17:49:54.896Z,1761673794.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890166,-0.439152,-0.121452],[0.455268,-0.867989,-0.198308],[-0.018332,-0.231820,0.972586]] 2025-10-28T17:49:54.994Z,1761673794.994 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:49:55.237Z,1761673795.237 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:49:55.237Z,1761673795.237 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:49:55.296Z,1761673795.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890569,-0.438918,-0.119325],[0.454527,-0.868637,-0.197167],[-0.017110,-0.229827,0.973081]] 2025-10-28T17:49:55.489Z,1761673795.489 [DAT](INFO): DAT read: user:86> 2025-10-28T17:49:55.490Z,1761673795.490 [DAT](INFO): DAT read: Tx time:17:49:55.2529 2025-10-28T17:49:55.490Z,1761673795.490 [DAT](INFO): Ping request sent. 2025-10-28T17:49:55.490Z,1761673795.490 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:49:55.490Z,1761673795.490 [DAT](INFO): publishing transmit ping time 2025-10-28T17:49:55.491Z,1761673795.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956 2025-10-28T17:49:55.698Z,1761673795.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891344,-0.437798,-0.117639],[0.453036,-0.869555,-0.196550],[-0.016245,-0.228488,0.973411]] 2025-10-28T17:49:55.741Z,1761673795.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-28T17:49:55.995Z,1761673795.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504782 2025-10-28T17:49:56.102Z,1761673796.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892562,-0.435986,-0.115103],[0.450664,-0.871156,-0.194909],[-0.015295,-0.225842,0.974044]] 2025-10-28T17:49:56.245Z,1761673796.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738 2025-10-28T17:49:56.498Z,1761673796.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007678 2025-10-28T17:49:56.514Z,1761673796.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893698,-0.434199,-0.113031],[0.448438,-0.872526,-0.193912],[-0.014426,-0.223986,0.974486]] 2025-10-28T17:49:56.749Z,1761673796.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259018 2025-10-28T17:49:56.910Z,1761673796.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895479,-0.430979,-0.111238],[0.444898,-0.874263,-0.194241],[-0.013538,-0.223429,0.974626]] 2025-10-28T17:49:57.002Z,1761673797.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511776 2025-10-28T17:49:57.253Z,1761673797.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762678 2025-10-28T17:49:57.314Z,1761673797.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897394,-0.427455,-0.109395],[0.441065,-0.875844,-0.195856],[-0.012093,-0.224010,0.974512]] 2025-10-28T17:49:57.506Z,1761673797.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015412 2025-10-28T17:49:57.757Z,1761673797.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267018 2025-10-28T17:49:58.009Z,1761673798.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518646 2025-10-28T17:49:58.125Z,1761673798.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901516,-0.419608,-0.105819],[0.432664,-0.878698,-0.201720],[-0.008340,-0.227638,0.973710]] 2025-10-28T17:49:58.261Z,1761673798.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770688 2025-10-28T17:49:58.513Z,1761673798.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022717 2025-10-28T17:49:58.529Z,1761673798.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903233,-0.416281,-0.104309],[0.429109,-0.879425,-0.206098],[-0.005937,-0.230915,0.972956]] 2025-10-28T17:49:58.765Z,1761673798.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275261 2025-10-28T17:49:58.931Z,1761673798.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904772,-0.413469,-0.102128],[0.425885,-0.880025,-0.210186],[-0.002969,-0.233666,0.972313]] 2025-10-28T17:49:59.017Z,1761673799.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526583 2025-10-28T17:49:59.269Z,1761673799.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778743 2025-10-28T17:49:59.335Z,1761673799.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906115,-0.410888,-0.100633],[0.423032,-0.880049,-0.215775],[0.000097,-0.238088,0.971244]] 2025-10-28T17:49:59.523Z,1761673799.523 [DAT](INFO): DAT read: Rx Time:17:49:58.7041 2025-10-28T17:49:59.523Z,1761673799.523 [DAT](INFO): Rx dataTimestamp_ set to:1761673799.523072 2025-10-28T17:49:59.524Z,1761673799.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033858 2025-10-28T17:49:59.739Z,1761673799.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907156,-0.409193,-0.098125],[0.420780,-0.880222,-0.219441],[0.003422,-0.240356,0.970679]] 2025-10-28T17:49:59.775Z,1761673799.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284059 2025-10-28T17:49:59.815Z,1761673799.815 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:49:59.815Z,1761673799.815 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:49:59.817Z,1761673799.817 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:49:59.817Z,1761673799.817 [marl:UpdateRudder:A] Stopped 2025-10-28T17:49:59.817Z,1761673799.817 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:50:00.030Z,1761673800.030 [DAT](INFO): DAT read: 17:49:58.7041 LVL= 25824, 20209, 15218, 25027, AGC= 70, IDX= 252,-0.35, 1.751, 2.739,-2.663, 2.720, PHS=-0.867, 0.064, 0.856, RAW= 242.7, -0.7, CAL= 238.7, -1.1, ROT= 271.3, 1.1 2025-10-28T17:50:00.032Z,1761673800.032 [DAT](INFO): got valid direction response: 17:49:58.7041 LVL= 25824, 20209, 15218, 25027, AGC= 70, IDX= 252,-0.35, 1.751, 2.739,-2.663, 2.720, PHS=-0.867, 0.064, 0.856, RAW= 242.7, -0.7, CAL= 238.7, -1.1, ROT= 271.3, 1.1 2025-10-28T17:50:00.033Z,1761673800.033 [DAT](INFO): DAT read: Bearing 215.4, -74.8 (Local) 2025-10-28T17:50:00.033Z,1761673800.033 [DAT](INFO): Local bearing/azimuth received: Bearing 215.4, -74.8 (Local) 2025-10-28T17:50:00.034Z,1761673800.034 [DAT](INFO): DAT read: Range 11 to 20 : 785.2 m (Round-trip 1047.0 ms) speed -0.3 m/s 2025-10-28T17:50:00.035Z,1761673800.035 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:50:00.036Z,1761673800.036 [DAT](INFO): direction in FSK: [0.022683,-0.999558,-0.019197] 2025-10-28T17:50:00.036Z,1761673800.036 [DAT](INFO): publishing direction and range info 2025-10-28T17:50:00.143Z,1761673800.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907784,-0.408302,-0.096007],[0.419386,-0.880003,-0.222956],[0.006547,-0.242660,0.970089]] 2025-10-28T17:50:00.177Z,1761673800.177 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:50:00.177Z,1761673800.177 [marl:UpdateRudder:B] Stopped 2025-10-28T17:50:00.178Z,1761673800.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:50:00.178Z,1761673800.178 [marl:UpdateRudder] Stopped 2025-10-28T17:50:00.178Z,1761673800.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:50:00.193Z,1761673800.193 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673856.00. Resetting abort timer. 2025-10-28T17:50:00.547Z,1761673800.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907941,-0.408434,-0.093944],[0.418986,-0.879407,-0.226038],[0.009707,-0.244590,0.969578]] 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode] Stopped 2025-10-28T17:50:00.599Z,1761673800.599 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:50:00.600Z,1761673800.600 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:50:00.604Z,1761673800.604 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:50:00.604Z,1761673800.604 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:50:00.604Z,1761673800.604 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:50:00.604Z,1761673800.604 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:50:00.605Z,1761673800.605 [marl:UpdateSpeed] Stopped 2025-10-28T17:50:00.605Z,1761673800.605 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:50:00.972Z,1761673800.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907855,-0.409251,-0.091177],[0.419079,-0.878887,-0.227882],[0.013127,-0.245094,0.969410]] 2025-10-28T17:50:01.371Z,1761673801.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907257,-0.411225,-0.088198],[0.420257,-0.878241,-0.228202],[0.016383,-0.244104,0.969611]] 2025-10-28T17:50:01.766Z,1761673801.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906497,-0.413438,-0.085625],[0.421756,-0.877285,-0.229113],[0.019607,-0.243803,0.969627]] 2025-10-28T17:50:02.162Z,1761673802.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905557,-0.416124,-0.082509],[0.423616,-0.876570,-0.228419],[0.022726,-0.241798,0.970060]] 2025-10-28T17:50:02.567Z,1761673802.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904579,-0.418718,-0.080075],[0.425541,-0.875629,-0.228450],[0.025540,-0.240726,0.970257]] 2025-10-28T17:50:02.971Z,1761673802.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903777,-0.421065,-0.076760],[0.427032,-0.875019,-0.228005],[0.028839,-0.238844,0.970630]] 2025-10-28T17:50:03.397Z,1761673803.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902701,-0.423906,-0.073725],[0.429084,-0.874192,-0.227324],[0.031914,-0.236840,0.971024]] 2025-10-28T17:50:03.783Z,1761673803.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901669,-0.426663,-0.070366],[0.430973,-0.873332,-0.227055],[0.035423,-0.235054,0.971337]] 2025-10-28T17:50:04.183Z,1761673804.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900573,-0.429371,-0.067889],[0.432961,-0.871981,-0.228458],[0.038895,-0.235137,0.971184]] 2025-10-28T17:50:04.587Z,1761673804.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899420,-0.432237,-0.064922],[0.435024,-0.870840,-0.228891],[0.042398,-0.234112,0.971285]] 2025-10-28T17:50:04.993Z,1761673804.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898443,-0.434645,-0.062323],[0.436700,-0.869714,-0.229980],[0.045756,-0.233840,0.971198]] 2025-10-28T17:50:05.399Z,1761673805.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897807,-0.436322,-0.059707],[0.437665,-0.868962,-0.230987],[0.048902,-0.233514,0.971123]] 2025-10-28T17:50:05.799Z,1761673805.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897251,-0.437773,-0.057404],[0.438470,-0.868234,-0.232193],[0.051808,-0.233505,0.970974]] 2025-10-28T17:50:06.219Z,1761673806.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897272,-0.438037,-0.055020],[0.438103,-0.868083,-0.233447],[0.054497,-0.233570,0.970812]] 2025-10-28T17:50:06.606Z,1761673806.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897951,-0.436933,-0.052666],[0.436418,-0.868609,-0.234644],[0.056777,-0.233683,0.970654]] 2025-10-28T17:50:07.010Z,1761673807.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899357,-0.434487,-0.048761],[0.433218,-0.870531,-0.233447],[0.058982,-0.231077,0.971146]] 2025-10-28T17:50:07.419Z,1761673807.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901278,-0.430878,-0.045184],[0.428979,-0.872955,-0.232219],[0.060614,-0.228677,0.971613]] 2025-10-28T17:50:07.819Z,1761673807.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903756,-0.425995,-0.041867],[0.423520,-0.875720,-0.231829],[0.062094,-0.227248,0.971855]] 2025-10-28T17:50:08.224Z,1761673808.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906223,-0.421052,-0.038403],[0.417996,-0.878572,-0.231065],[0.063551,-0.225449,0.972180]] 2025-10-28T17:50:08.628Z,1761673808.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908662,-0.416038,-0.035306],[0.412415,-0.881111,-0.231424],[0.065173,-0.224847,0.972212]] 2025-10-28T17:50:09.031Z,1761673809.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910860,-0.411456,-0.032219],[0.407258,-0.883420,-0.231754],[0.066893,-0.224217,0.972241]] 2025-10-28T17:50:09.438Z,1761673809.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912844,-0.407253,-0.029346],[0.402412,-0.885162,-0.233567],[0.069145,-0.225019,0.971898]] 2025-10-28T17:50:09.845Z,1761673809.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914653,-0.403368,-0.026521],[0.397842,-0.886612,-0.235883],[0.071634,-0.226302,0.971420]] 2025-10-28T17:50:10.243Z,1761673810.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916361,-0.399657,-0.023599],[0.393384,-0.887891,-0.238534],[0.074378,-0.227866,0.970847]] 2025-10-28T17:50:10.647Z,1761673810.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917646,-0.396846,-0.020944],[0.389822,-0.888658,-0.241506],[0.077229,-0.229782,0.970173]] 2025-10-28T17:50:11.051Z,1761673811.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918235,-0.395609,-0.018389],[0.387870,-0.888949,-0.243569],[0.080011,-0.230787,0.969709]] 2025-10-28T17:50:11.469Z,1761673811.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918073,-0.396053,-0.016837],[0.387713,-0.888271,-0.246281],[0.082584,-0.232632,0.969052]] 2025-10-28T17:50:11.866Z,1761673811.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917534,-0.397319,-0.016389],[0.388597,-0.887120,-0.249021],[0.084402,-0.234854,0.968359]] 2025-10-28T17:50:12.263Z,1761673812.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916707,-0.399246,-0.015827],[0.390246,-0.886134,-0.249947],[0.085765,-0.235305,0.968130]] 2025-10-28T17:50:12.668Z,1761673812.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916072,-0.400699,-0.015881],[0.391503,-0.885070,-0.251745],[0.086818,-0.236834,0.967663]] 2025-10-28T17:50:12.693Z,1761673812.693 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:50:12.693Z,1761673812.693 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:50:12.693Z,1761673812.693 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:50:12.693Z,1761673812.693 [marl:UpdateRudder:A] Stopped 2025-10-28T17:50:12.693Z,1761673812.693 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:50:13.070Z,1761673813.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915465,-0.402067,-0.016304],[0.392828,-0.884175,-0.252824],[0.087237,-0.237856,0.967375]] 2025-10-28T17:50:13.101Z,1761673813.101 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:50:13.101Z,1761673813.101 [marl:UpdateRudder:B] Stopped 2025-10-28T17:50:13.101Z,1761673813.101 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:50:13.102Z,1761673813.102 [marl:UpdateRudder] Stopped 2025-10-28T17:50:13.102Z,1761673813.102 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:50:13.478Z,1761673813.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914633,-0.403931,-0.016905],[0.394825,-0.883457,-0.252223],[0.086946,-0.237366,0.967521]] 2025-10-28T17:50:13.879Z,1761673813.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914292,-0.404714,-0.016629],[0.395595,-0.883363,-0.251346],[0.087034,-0.236382,0.967755]] 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:50:13.941Z,1761673813.941 [marl:UpdateCommandMode] Stopped 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed] Stopped 2025-10-28T17:50:13.942Z,1761673813.942 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:50:14.284Z,1761673814.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913779,-0.405840,-0.017403],[0.396871,-0.882810,-0.251278],[0.086616,-0.236519,0.967758]] 2025-10-28T17:50:14.687Z,1761673814.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913183,-0.407193,-0.017060],[0.398179,-0.882479,-0.250369],[0.086894,-0.235426,0.968000]] 2025-10-28T17:50:15.091Z,1761673815.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912558,-0.408565,-0.017664],[0.399657,-0.881842,-0.250260],[0.086670,-0.235436,0.968018]] 2025-10-28T17:50:15.498Z,1761673815.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912578,-0.408541,-0.017180],[0.399588,-0.882088,-0.249499],[0.086777,-0.234553,0.968223]] 2025-10-28T17:50:15.880Z,1761673815.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:50:15.904Z,1761673815.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914108,-0.405226,-0.014091],[0.396238,-0.885377,-0.243112],[0.086040,-0.227814,0.969896]] 2025-10-28T17:50:16.302Z,1761673816.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918046,-0.396431,-0.005816],[0.387437,-0.893912,-0.225418],[0.084164,-0.209198,0.974245]] 2025-10-28T17:50:16.706Z,1761673816.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923317,-0.383968,0.007350],[0.375327,-0.906263,-0.194466],[0.081330,-0.176795,0.980882]] 2025-10-28T17:50:16.884Z,1761673816.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:50:17.112Z,1761673817.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929600,-0.367940,0.021512],[0.360223,-0.919352,-0.158213],[0.077990,-0.139326,0.987171]] 2025-10-28T17:50:17.530Z,1761673817.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936528,-0.348985,0.033528],[0.342577,-0.931256,-0.124114],[0.074537,-0.104750,0.991701]] 2025-10-28T17:50:17.918Z,1761673817.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943629,-0.328144,0.043435],[0.323215,-0.941754,-0.092906],[0.071392,-0.073630,0.994727]] 2025-10-28T17:50:18.328Z,1761673818.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950649,-0.306072,0.050853],[0.302641,-0.950858,-0.065408],[0.068373,-0.046790,0.996562]] 2025-10-28T17:50:18.729Z,1761673818.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957239,-0.283944,0.055407],[0.281746,-0.958467,-0.044275],[0.065678,-0.026771,0.997482]] 2025-10-28T17:50:19.131Z,1761673819.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963275,-0.262185,0.057959],[0.260915,-0.964937,-0.028625],[0.063431,-0.012451,0.997909]] 2025-10-28T17:50:19.563Z,1761673819.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968666,-0.241155,0.059420],[0.240600,-0.970485,-0.016435],[0.061630,-0.001623,0.998098]] 2025-10-28T17:50:19.939Z,1761673819.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973566,-0.220416,0.059875],[0.220299,-0.975394,-0.008627],[0.060303,0.004791,0.998169]] 2025-10-28T17:50:20.351Z,1761673820.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977876,-0.200467,0.059756],[0.200535,-0.979674,-0.004918],[0.059528,0.007174,0.998201]] 2025-10-28T17:50:20.748Z,1761673820.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981731,-0.180720,0.059541],[0.180868,-0.983503,-0.002940],[0.059090,0.007883,0.998222]] 2025-10-28T17:50:21.151Z,1761673821.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985016,-0.161843,0.059580],[0.161958,-0.986793,-0.002915],[0.059265,0.006778,0.998219]] 2025-10-28T17:50:21.603Z,1761673821.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987827,-0.143457,0.060145],[0.143520,-0.989642,-0.003281],[0.059992,0.005391,0.998184]] 2025-10-28T17:50:21.959Z,1761673821.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990162,-0.126115,0.060611],[0.126015,-0.992013,-0.005492],[0.060820,0.002200,0.998146]] 2025-10-28T17:50:22.362Z,1761673822.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992042,-0.110065,0.061138],[0.109811,-0.993924,-0.007516],[0.061593,-0.000743,0.998101]] 2025-10-28T17:50:22.772Z,1761673822.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993513,-0.095744,0.061358],[0.095326,-0.995399,-0.009706],[0.062005,-0.003794,0.998069]] 2025-10-28T17:50:23.171Z,1761673823.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994726,-0.082248,0.061276],[0.081694,-0.996591,-0.011501],[0.062013,-0.006434,0.998055]] 2025-10-28T17:50:23.612Z,1761673823.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995697,-0.070031,0.060683],[0.069388,-0.997510,-0.012651],[0.061418,-0.008386,0.998077]] 2025-10-28T17:50:23.979Z,1761673823.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996501,-0.058656,0.059535],[0.057925,-0.998224,-0.013940],[0.060247,-0.010443,0.998129]] 2025-10-28T17:50:24.383Z,1761673824.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997194,-0.047047,0.058225],[0.046233,-0.998814,-0.015239],[0.058873,-0.012505,0.998187]] 2025-10-28T17:50:24.790Z,1761673824.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997791,-0.034847,0.056560],[0.034092,-0.999317,-0.014258],[0.057019,-0.012298,0.998297]] 2025-10-28T17:50:25.191Z,1761673825.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998315,-0.021049,0.054072],[0.020373,-0.999708,-0.013014],[0.054330,-0.011890,0.998452]] 2025-10-28T17:50:25.617Z,1761673825.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998666,-0.006279,0.051261],[0.005533,-0.999877,-0.014683],[0.051347,-0.014380,0.998577]] 2025-10-28T17:50:25.710Z,1761673825.710 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:50:25.710Z,1761673825.710 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:50:25.710Z,1761673825.710 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:50:25.710Z,1761673825.710 [marl:UpdateRudder:A] Stopped 2025-10-28T17:50:25.710Z,1761673825.710 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:50:26.010Z,1761673826.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998773,0.010805,0.048329],[-0.011637,-0.999788,-0.016964],[0.048136,-0.017506,0.998687]] 2025-10-28T17:50:26.062Z,1761673826.062 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T17:50:26.062Z,1761673826.062 [marl:UpdateRudder:B] Stopped 2025-10-28T17:50:26.062Z,1761673826.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:50:26.062Z,1761673826.062 [marl:UpdateRudder] Stopped 2025-10-28T17:50:26.062Z,1761673826.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:50:26.402Z,1761673826.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998548,0.029234,0.045243],[-0.030044,-0.999398,-0.017336],[0.044709,-0.018671,0.998826]] 2025-10-28T17:50:26.809Z,1761673826.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997907,0.048711,0.042535],[-0.049592,-0.998571,-0.019920],[0.041504,-0.021988,0.998896]] 2025-10-28T17:50:27.210Z,1761673827.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996781,0.069418,0.040113],[-0.070328,-0.997287,-0.021747],[0.038495,-0.024498,0.998958]] 2025-10-28T17:50:27.240Z,1761673827.240 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:50:27.240Z,1761673827.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:50:27.240Z,1761673827.240 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateCommandMode] Stopped 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:50:27.241Z,1761673827.241 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:50:27.242Z,1761673827.242 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:50:27.242Z,1761673827.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:50:27.242Z,1761673827.242 [marl:UpdateSpeed] Stopped 2025-10-28T17:50:27.242Z,1761673827.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:50:27.615Z,1761673827.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995164,0.090559,0.038059],[-0.091426,-0.995575,-0.021707],[0.035925,-0.025082,0.999040]] 2025-10-28T17:50:28.020Z,1761673828.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993066,0.111859,0.036159],[-0.112651,-0.993420,-0.020659],[0.033611,-0.024590,0.999132]] 2025-10-28T17:50:28.426Z,1761673828.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990645,0.131997,0.034629],[-0.132704,-0.990974,-0.018988],[0.031810,-0.023406,0.999220]] 2025-10-28T17:50:28.839Z,1761673828.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985114,0.168883,0.032076],[-0.169411,-0.985439,-0.014504],[0.029160,-0.019723,0.999380]] 2025-10-28T17:50:29.238Z,1761673829.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982349,0.184590,0.030298],[-0.184908,-0.982723,-0.008020],[0.028294,-0.013480,0.999509]] 2025-10-28T17:50:29.639Z,1761673829.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979626,0.198766,0.028722],[-0.198970,-0.979995,-0.004424],[0.027268,-0.010049,0.999578]] 2025-10-28T17:50:30.046Z,1761673830.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976895,0.211907,0.027796],[-0.212127,-0.977228,-0.005200],[0.026061,-0.010976,0.999600]] 2025-10-28T17:50:30.446Z,1761673830.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974167,0.224155,0.027445],[-0.224412,-0.974472,-0.006632],[0.025258,-0.012619,0.999601]] 2025-10-28T17:50:30.847Z,1761673830.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971251,0.236552,0.026746],[-0.236830,-0.971521,-0.007701],[0.024163,-0.013814,0.999613]] 2025-10-28T17:50:31.251Z,1761673831.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967848,0.250246,0.025452],[-0.250472,-0.968105,-0.006072],[0.023121,-0.012251,0.999658]] 2025-10-28T17:50:31.655Z,1761673831.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964381,0.263514,0.023022],[-0.263608,-0.964629,-0.001097],[0.021918,-0.007127,0.999734]] 2025-10-28T17:50:32.061Z,1761673832.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960684,0.276844,0.021067],[-0.276892,-0.960901,0.000676],[0.020430,-0.005183,0.999778]] 2025-10-28T17:50:32.463Z,1761673832.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956447,0.291184,0.020500],[-0.291272,-0.956639,-0.001377],[0.019210,-0.007288,0.999789]] 2025-10-28T17:50:32.867Z,1761673832.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951953,0.305604,0.019784],[-0.305718,-0.952118,-0.002922],[0.017944,-0.008830,0.999800]] 2025-10-28T17:50:33.270Z,1761673833.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946930,0.320872,0.019122],[-0.321002,-0.947069,-0.004131],[0.016784,-0.010050,0.999809]] 2025-10-28T17:50:33.678Z,1761673833.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941172,0.337427,0.018361],[-0.337591,-0.941270,-0.006585],[0.015061,-0.012397,0.999810]] 2025-10-28T17:50:34.080Z,1761673834.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934967,0.354292,0.017718],[-0.354478,-0.935024,-0.008723],[0.013476,-0.014436,0.999805]] 2025-10-28T17:50:34.483Z,1761673834.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928111,0.371948,0.016285],[-0.372122,-0.928136,-0.009368],[0.011630,-0.014755,0.999823]] 2025-10-28T17:50:34.886Z,1761673834.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920520,0.390430,0.014404],[-0.390569,-0.920534,-0.008523],[0.009931,-0.013472,0.999860]] 2025-10-28T17:50:35.297Z,1761673835.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912325,0.409273,0.012622],[-0.409380,-0.912333,-0.007543],[0.008428,-0.012049,0.999892]] 2025-10-28T17:50:35.694Z,1761673835.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903605,0.428208,0.011644],[-0.428308,-0.903597,-0.008043],[0.007078,-0.012255,0.999900]] 2025-10-28T17:50:36.099Z,1761673836.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894670,0.446604,0.010523],[-0.446690,-0.894652,-0.008057],[0.005816,-0.011909,0.999912]] 2025-10-28T17:50:36.503Z,1761673836.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885633,0.464290,0.009411],[-0.464362,-0.885610,-0.007985],[0.004627,-0.011442,0.999924]] 2025-10-28T17:50:36.908Z,1761673836.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876931,0.480545,0.008266],[-0.480603,-0.876905,-0.007677],[0.003560,-0.010705,0.999936]] 2025-10-28T17:50:37.322Z,1761673837.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868447,0.495719,0.007838],[-0.495774,-0.868412,-0.008288],[0.002698,-0.011083,0.999935]] 2025-10-28T17:50:37.715Z,1761673837.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860668,0.509124,0.006671],[-0.509164,-0.860636,-0.007599],[0.001872,-0.009937,0.999949]] 2025-10-28T17:50:38.119Z,1761673838.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853386,0.521231,0.007160],[-0.521278,-0.853341,-0.008897],[0.001472,-0.011325,0.999935]] 2025-10-28T17:50:38.530Z,1761673838.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846509,0.532312,0.008142],[-0.532373,-0.846446,-0.010400],[0.001356,-0.013138,0.999913]] 2025-10-28T17:50:38.927Z,1761673838.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839649,0.543052,0.009171],[-0.543128,-0.839563,-0.012056],[0.001153,-0.015104,0.999885]] 2025-10-28T17:50:38.958Z,1761673838.958 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:50:38.958Z,1761673838.958 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:50:38.959Z,1761673838.959 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:50:38.959Z,1761673838.959 [marl:UpdateRudder:A] Stopped 2025-10-28T17:50:38.959Z,1761673838.959 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:50:39.331Z,1761673839.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832983,0.553237,0.008198],[-0.553298,-0.832913,-0.010890],[0.000803,-0.013607,0.999907]] 2025-10-28T17:50:39.376Z,1761673839.376 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:50:39.377Z,1761673839.377 [marl:UpdateRudder:B] Stopped 2025-10-28T17:50:39.377Z,1761673839.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:50:39.377Z,1761673839.377 [marl:UpdateRudder] Stopped 2025-10-28T17:50:39.377Z,1761673839.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:50:39.734Z,1761673839.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826317,0.563157,0.007387],[-0.563205,-0.826262,-0.009568],[0.000716,-0.012067,0.999927]] 2025-10-28T17:50:40.144Z,1761673840.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819092,0.573597,0.008699],[-0.573662,-0.819016,-0.011151],[0.000728,-0.014124,0.999900]] 2025-10-28T17:50:40.543Z,1761673840.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810985,0.584978,0.010202],[-0.585067,-0.810880,-0.013054],[0.000636,-0.016555,0.999863]] 2025-10-28T17:50:40.579Z,1761673840.579 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:50:40.579Z,1761673840.579 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:50:40.580Z,1761673840.580 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:50:40.580Z,1761673840.580 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:50:40.580Z,1761673840.580 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:50:40.580Z,1761673840.580 [marl:UpdateCommandMode] Stopped 2025-10-28T17:50:40.580Z,1761673840.580 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:50:40.581Z,1761673840.580 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed] Stopped 2025-10-28T17:50:40.581Z,1761673840.581 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:50:40.947Z,1761673840.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802312,0.596812,0.010515],[-0.596905,-0.802189,-0.014048],[0.000051,-0.017547,0.999846]] 2025-10-28T17:50:41.351Z,1761673841.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793181,0.608905,0.009900],[-0.608985,-0.793057,-0.014050],[-0.000704,-0.017173,0.999852]] 2025-10-28T17:50:41.772Z,1761673841.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785341,0.618993,0.009347],[-0.619061,-0.785207,-0.014616],[-0.001708,-0.017265,0.999849]] 2025-10-28T17:50:42.159Z,1761673842.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779763,0.625933,0.013332],[-0.626068,-0.779478,-0.021270],[-0.002922,-0.024932,0.999685]] 2025-10-28T17:50:42.563Z,1761673842.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777237,0.628816,0.022218],[-0.629193,-0.776492,-0.034284],[-0.004306,-0.040627,0.999165]] 2025-10-28T17:50:42.967Z,1761673842.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777068,0.628348,0.036663],[-0.629394,-0.775230,-0.053689],[-0.005313,-0.064795,0.997884]] 2025-10-28T17:50:43.371Z,1761673843.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777785,0.626211,0.053950],[-0.628498,-0.773995,-0.076959],[-0.006436,-0.093765,0.995574]] 2025-10-28T17:50:43.786Z,1761673843.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778443,0.623543,0.072252],[-0.627671,-0.771849,-0.101383],[-0.007449,-0.124271,0.992220]] 2025-10-28T17:50:44.582Z,1761673844.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777896,0.619867,0.103159],[-0.628318,-0.764713,-0.142936],[-0.009714,-0.176006,0.984341]] 2025-10-28T17:50:44.987Z,1761673844.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775991,0.620087,0.115454],[-0.630639,-0.759426,-0.159894],[-0.011470,-0.196886,0.980359]] 2025-10-28T17:50:45.393Z,1761673845.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773171,0.622042,0.123574],[-0.634048,-0.753939,-0.171930],[-0.013781,-0.211283,0.977328]] 2025-10-28T17:50:45.803Z,1761673845.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768801,0.626243,0.129476],[-0.639278,-0.747450,-0.180670],[-0.016367,-0.221670,0.974984]] 2025-10-28T17:50:46.199Z,1761673846.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763898,0.631662,0.132150],[-0.645051,-0.741281,-0.185502],[-0.019214,-0.226947,0.973717]] 2025-10-28T17:50:46.607Z,1761673846.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758459,0.638097,0.132560],[-0.651338,-0.735207,-0.187696],[-0.022309,-0.228701,0.973241]] 2025-10-28T17:50:47.004Z,1761673847.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:50:47.014Z,1761673847.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753451,0.644524,0.130002],[-0.657011,-0.730374,-0.186790],[-0.025441,-0.226150,0.973760]] 2025-10-28T17:50:47.410Z,1761673847.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749215,0.650299,0.125648],[-0.661709,-0.726736,-0.184380],[-0.028589,-0.221282,0.974791]] 2025-10-28T17:50:47.816Z,1761673847.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746133,0.654942,0.119735],[-0.665055,-0.724666,-0.180444],[-0.031412,-0.214266,0.976270]] 2025-10-28T17:50:48.009Z,1761673848.009 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:50:48.219Z,1761673848.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744977,0.657529,0.112543],[-0.666219,-0.724717,-0.175892],[-0.034092,-0.206013,0.977955]] 2025-10-28T17:50:48.625Z,1761673848.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745042,0.658710,0.104941],[-0.666004,-0.725978,-0.171450],[-0.036751,-0.197629,0.979588]] 2025-10-28T17:50:49.027Z,1761673849.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746245,0.658484,0.097552],[-0.664485,-0.728132,-0.168177],[-0.039711,-0.190323,0.980918]] 2025-10-28T17:50:49.430Z,1761673849.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747993,0.657353,0.091616],[-0.662338,-0.730447,-0.166598],[-0.042593,-0.185295,0.981759]] 2025-10-28T17:50:49.834Z,1761673849.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750117,0.655637,0.086402],[-0.659733,-0.732913,-0.166106],[-0.045580,-0.181601,0.982315]] 2025-10-28T17:50:50.240Z,1761673850.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752404,0.653492,0.082684],[-0.656899,-0.735126,-0.167553],[-0.048712,-0.180383,0.982390]] 2025-10-28T17:50:50.642Z,1761673850.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754101,0.651599,0.082155],[-0.654703,-0.735947,-0.172472],[-0.051920,-0.183848,0.981582]] 2025-10-28T17:50:51.047Z,1761673851.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754867,0.650818,0.081312],[-0.653577,-0.736042,-0.176292],[-0.054885,-0.186221,0.980974]] 2025-10-28T17:50:51.459Z,1761673851.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754172,0.651459,0.082625],[-0.654099,-0.734101,-0.182346],[-0.058136,-0.191565,0.979757]] 2025-10-28T17:50:51.866Z,1761673851.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752182,0.653615,0.083718],[-0.656093,-0.731019,-0.187493],[-0.061349,-0.195955,0.978692]] 2025-10-28T17:50:52.277Z,1761673852.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749844,0.656037,0.085723],[-0.658491,-0.727441,-0.192919],[-0.064204,-0.201107,0.977463]] 2025-10-28T17:50:52.311Z,1761673852.311 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:50:52.311Z,1761673852.311 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:50:52.311Z,1761673852.311 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:50:52.311Z,1761673852.311 [marl:UpdateRudder:A] Stopped 2025-10-28T17:50:52.311Z,1761673852.311 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:50:52.670Z,1761673852.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746739,0.659506,0.086212],[-0.661757,-0.723688,-0.195839],[-0.066766,-0.203292,0.976839]] 2025-10-28T17:50:52.703Z,1761673852.703 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:50:52.703Z,1761673852.703 [marl:UpdateRudder:B] Stopped 2025-10-28T17:50:52.703Z,1761673852.703 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:50:52.703Z,1761673852.703 [marl:UpdateRudder] Stopped 2025-10-28T17:50:52.703Z,1761673852.703 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:50:53.075Z,1761673853.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743449,0.663212,0.086221],[-0.665201,-0.719941,-0.197973],[-0.069224,-0.204537,0.976408]] 2025-10-28T17:50:53.482Z,1761673853.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740074,0.666900,0.086806],[-0.668737,-0.716069,-0.200090],[-0.071281,-0.206132,0.975925]] 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:50:53.507Z,1761673853.507 [marl:UpdateCommandMode] Stopped 2025-10-28T17:50:53.508Z,1761673853.508 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:50:53.521Z,1761673853.521 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:50:53.521Z,1761673853.521 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:50:53.521Z,1761673853.521 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:50:53.522Z,1761673853.522 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:50:53.522Z,1761673853.522 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:50:53.522Z,1761673853.522 [marl:UpdateSpeed] Stopped 2025-10-28T17:50:53.522Z,1761673853.522 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:50:53.884Z,1761673853.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737095,0.670263,0.086251],[-0.671811,-0.712935,-0.200981],[-0.073219,-0.206086,0.975791]] 2025-10-28T17:50:54.306Z,1761673854.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734267,0.673324,0.086526],[-0.674722,-0.709787,-0.202367],[-0.074843,-0.206972,0.975480]] 2025-10-28T17:50:54.691Z,1761673854.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731606,0.676390,0.085144],[-0.677403,-0.707227,-0.202374],[-0.076668,-0.205735,0.975600]] 2025-10-28T17:50:55.095Z,1761673855.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729360,0.678938,0.084123],[-0.679636,-0.705001,-0.202653],[-0.078282,-0.204980,0.975631]] 2025-10-28T17:50:55.127Z,1761673855.127 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:50:55.237Z,1761673855.237 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:50:55.237Z,1761673855.237 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:50:55.489Z,1761673855.489 [DAT](INFO): DAT read: user:87> 2025-10-28T17:50:55.490Z,1761673855.490 [DAT](INFO): DAT read: Tx time:17:50:55.2527 2025-10-28T17:50:55.490Z,1761673855.490 [DAT](INFO): Ping request sent. 2025-10-28T17:50:55.490Z,1761673855.490 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:50:55.490Z,1761673855.490 [DAT](INFO): publishing transmit ping time 2025-10-28T17:50:55.491Z,1761673855.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T17:50:55.566Z,1761673855.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727239,0.681511,0.081653],[-0.681705,-0.703285,-0.201663],[-0.080010,-0.202320,0.976046]] 2025-10-28T17:50:55.746Z,1761673855.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255277 2025-10-28T17:50:55.902Z,1761673855.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725574,0.683310,0.081419],[-0.683300,-0.701393,-0.202850],[-0.081503,-0.202816,0.975819]] 2025-10-28T17:50:55.993Z,1761673855.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502865 2025-10-28T17:50:56.245Z,1761673856.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754872 2025-10-28T17:50:56.307Z,1761673856.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723372,0.685480,0.082766],[-0.685535,-0.698747,-0.204435],[-0.082304,-0.204622,0.975375]] 2025-10-28T17:50:56.498Z,1761673856.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007508 2025-10-28T17:50:56.710Z,1761673856.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721274,0.687515,0.084180],[-0.687723,-0.696365,-0.205216],[-0.082469,-0.205910,0.975090]] 2025-10-28T17:50:56.753Z,1761673856.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262938 2025-10-28T17:50:57.006Z,1761673857.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515657 2025-10-28T17:50:57.116Z,1761673857.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719584,0.689193,0.084921],[-0.689507,-0.694644,-0.205059],[-0.082335,-0.206111,0.975059]] 2025-10-28T17:50:57.262Z,1761673857.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771631 2025-10-28T17:50:57.509Z,1761673857.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018894 2025-10-28T17:50:57.762Z,1761673857.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271581 2025-10-28T17:50:57.923Z,1761673857.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717475,0.691730,0.082099],[-0.691787,-0.693757,-0.200331],[-0.081618,-0.200527,0.976282]] 2025-10-28T17:50:58.016Z,1761673858.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525559 2025-10-28T17:50:58.266Z,1761673858.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775644 2025-10-28T17:50:58.517Z,1761673858.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026880 2025-10-28T17:50:58.732Z,1761673858.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716193,0.693133,0.081458],[-0.693244,-0.693085,-0.197600],[-0.080506,-0.197989,0.976893]] 2025-10-28T17:50:58.771Z,1761673858.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280462 2025-10-28T17:50:59.021Z,1761673859.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530937 2025-10-28T17:50:59.134Z,1761673859.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715369,0.693986,0.081427],[-0.694144,-0.692461,-0.196624],[-0.080069,-0.197181,0.977092]] 2025-10-28T17:50:59.274Z,1761673859.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783953 2025-10-28T17:50:59.526Z,1761673859.526 [DAT](INFO): DAT read: Rx Time:17:50:58.7629 2025-10-28T17:50:59.526Z,1761673859.526 [DAT](INFO): Rx dataTimestamp_ set to:1761673859.525712 2025-10-28T17:50:59.527Z,1761673859.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036522 2025-10-28T17:50:59.607Z,1761673859.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714740,0.694583,0.081867],[-0.694815,-0.691814,-0.196535],[-0.079873,-0.197353,0.977073]] 2025-10-28T17:50:59.778Z,1761673859.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287693 2025-10-28T17:50:59.947Z,1761673859.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713554,0.695556,0.083920],[-0.696057,-0.690206,-0.197788],[-0.079651,-0.199546,0.976646]] 2025-10-28T17:51:00.034Z,1761673860.034 [DAT](INFO): DAT read: 17:50:58.7629 LVL= 30528, 18657, 27218, 32755, AGC= 73, IDX= 10, 0.47,-1.424, 0.679,-0.612,-0.564, PHS=-0.758, 1.287,-0.093, RAW= 311.4, -4.9, CAL= 310.5, -8.4, ROT= 199.5, 8.4 2025-10-28T17:51:00.035Z,1761673860.035 [DAT](INFO): got valid direction response: 17:50:58.7629 LVL= 30528, 18657, 27218, 32755, AGC= 73, IDX= 10, 0.47,-1.424, 0.679,-0.612,-0.564, PHS=-0.758, 1.287,-0.093, RAW= 311.4, -4.9, CAL= 310.5, -8.4, ROT= 199.5, 8.4 2025-10-28T17:51:00.036Z,1761673860.036 [DAT](INFO): DAT read: Bearing 204.5, -12.4 (Local) 2025-10-28T17:51:00.037Z,1761673860.037 [DAT](INFO): Local bearing/azimuth received: Bearing 204.5, -12.4 (Local) 2025-10-28T17:51:00.038Z,1761673860.038 [DAT](INFO): DAT read: Range 11 to 20 : 829.5 m (Round-trip 1106.1 ms) speed -1.2 m/s 2025-10-28T17:51:00.039Z,1761673860.039 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:51:00.039Z,1761673860.039 [DAT](INFO): direction in FSK: [-0.932529,-0.330226,-0.146083] 2025-10-28T17:51:00.040Z,1761673860.040 [DAT](INFO): publishing direction and range info 2025-10-28T17:51:00.353Z,1761673860.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711527,0.697177,0.087601],[-0.698176,-0.687412,-0.200036],[-0.079243,-0.203492,0.975864]] 2025-10-28T17:51:00.412Z,1761673860.412 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673856.00. Resetting abort timer. 2025-10-28T17:51:00.762Z,1761673860.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709192,0.699042,0.091578],[-0.700578,-0.684208,-0.202607],[-0.078972,-0.207845,0.974968]] 2025-10-28T17:51:01.164Z,1761673861.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706368,0.701504,0.094534],[-0.703469,-0.680887,-0.203776],[-0.078583,-0.210442,0.974443]] 2025-10-28T17:51:01.601Z,1761673861.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704066,0.703503,0.096825],[-0.705796,-0.678180,-0.204752],[-0.078379,-0.212498,0.974013]] 2025-10-28T17:51:01.966Z,1761673861.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701501,0.705473,0.101019],[-0.708437,-0.674869,-0.206566],[-0.077552,-0.216471,0.973204]] 2025-10-28T17:51:02.373Z,1761673862.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699397,0.707281,0.102945],[-0.710640,-0.672746,-0.205921],[-0.076388,-0.217177,0.973139]] 2025-10-28T17:51:02.783Z,1761673862.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697687,0.708884,0.103522],[-0.712467,-0.671447,-0.203836],[-0.074987,-0.215970,0.973516]] 2025-10-28T17:51:03.178Z,1761673863.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695767,0.710570,0.104870],[-0.714483,-0.669717,-0.202467],[-0.073634,-0.215798,0.973658]] 2025-10-28T17:51:03.605Z,1761673863.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693665,0.712447,0.106058],[-0.716663,-0.667868,-0.200866],[-0.072274,-0.215342,0.973861]] 2025-10-28T17:51:03.986Z,1761673863.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691213,0.714616,0.107466],[-0.719164,-0.665638,-0.199321],[-0.070905,-0.215059,0.974024]] 2025-10-28T17:51:04.399Z,1761673864.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687855,0.717387,0.110508],[-0.722519,-0.662154,-0.198794],[-0.069439,-0.216585,0.973791]] 2025-10-28T17:51:04.796Z,1761673864.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684410,0.720284,0.113021],[-0.725966,-0.658882,-0.197099],[-0.067499,-0.216946,0.973847]] 2025-10-28T17:51:05.199Z,1761673865.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680851,0.723456,0.114254],[-0.729501,-0.655912,-0.193927],[-0.065357,-0.215384,0.974340]] 2025-10-28T17:51:05.614Z,1761673865.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677457,0.726379,0.115866],[-0.732835,-0.652967,-0.191278],[-0.063284,-0.214494,0.974673]] 2025-10-28T17:51:05.678Z,1761673865.678 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:51:05.678Z,1761673865.678 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:51:05.678Z,1761673865.678 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:51:05.678Z,1761673865.678 [marl:UpdateRudder:A] Stopped 2025-10-28T17:51:05.678Z,1761673865.678 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:51:06.031Z,1761673866.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674890,0.728675,0.116435],[-0.735384,-0.651078,-0.187907],[-0.061115,-0.212441,0.975261]] 2025-10-28T17:51:06.083Z,1761673866.083 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:51:06.083Z,1761673866.083 [marl:UpdateRudder:B] Stopped 2025-10-28T17:51:06.084Z,1761673866.084 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:51:06.089Z,1761673866.089 [marl:UpdateRudder] Stopped 2025-10-28T17:51:06.089Z,1761673866.089 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:51:06.413Z,1761673866.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672909,0.730518,0.116348],[-0.737364,-0.649855,-0.184345],[-0.059058,-0.209838,0.975951]] 2025-10-28T17:51:06.815Z,1761673866.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672065,0.731577,0.114559],[-0.738261,-0.649972,-0.180294],[-0.057439,-0.205744,0.976919]] 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode] Stopped 2025-10-28T17:51:06.873Z,1761673866.873 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed] Stopped 2025-10-28T17:51:06.874Z,1761673866.874 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:51:07.218Z,1761673867.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671856,0.731822,0.114218],[-0.738593,-0.650374,-0.177466],[-0.055589,-0.203592,0.977476]] 2025-10-28T17:51:07.624Z,1761673867.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671737,0.732078,0.113274],[-0.738818,-0.650920,-0.174504],[-0.054018,-0.200910,0.978119]] 2025-10-28T17:51:08.029Z,1761673868.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671717,0.731988,0.113974],[-0.738955,-0.651185,-0.172926],[-0.052362,-0.200379,0.978318]] 2025-10-28T17:51:08.431Z,1761673868.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671506,0.731797,0.116418],[-0.739262,-0.650859,-0.172843],[-0.050714,-0.202129,0.978045]] 2025-10-28T17:51:08.834Z,1761673868.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670329,0.732379,0.119499],[-0.740428,-0.649432,-0.173219],[-0.049256,-0.204594,0.977607]] 2025-10-28T17:51:09.243Z,1761673869.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668253,0.733536,0.123948],[-0.742406,-0.646884,-0.174282],[-0.047662,-0.208484,0.976864]] 2025-10-28T17:51:09.648Z,1761673869.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665089,0.735790,0.127554],[-0.745330,-0.643475,-0.174423],[-0.046260,-0.211076,0.976374]] 2025-10-28T17:51:10.046Z,1761673870.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661168,0.738675,0.131212],[-0.748914,-0.639444,-0.173894],[-0.044548,-0.213240,0.975984]] 2025-10-28T17:51:10.451Z,1761673870.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657053,0.741717,0.134675],[-0.752670,-0.635508,-0.172100],[-0.042063,-0.214445,0.975830]] 2025-10-28T17:51:10.854Z,1761673870.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652716,0.745045,0.137367],[-0.756589,-0.631665,-0.169033],[-0.039168,-0.214261,0.975991]] 2025-10-28T17:51:11.267Z,1761673871.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648853,0.748187,0.138587],[-0.760062,-0.628669,-0.164561],[-0.035997,-0.212110,0.976583]] 2025-10-28T17:51:11.667Z,1761673871.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645838,0.750639,0.139409],[-0.762783,-0.626634,-0.159662],[-0.032490,-0.209455,0.977278]] 2025-10-28T17:51:12.067Z,1761673872.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644072,0.752358,0.138305],[-0.764419,-0.626178,-0.153511],[-0.028892,-0.204595,0.978420]] 2025-10-28T17:51:12.471Z,1761673872.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643615,0.753008,0.136892],[-0.764942,-0.627066,-0.147146],[-0.024961,-0.199420,0.979596]] 2025-10-28T17:51:12.881Z,1761673872.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643644,0.752940,0.137126],[-0.765131,-0.629034,-0.137445],[-0.017231,-0.193385,0.980972]] 2025-10-28T17:51:13.283Z,1761673873.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643632,0.752431,0.139947],[-0.765218,-0.629492,-0.134837],[-0.013360,-0.193875,0.980935]] 2025-10-28T17:51:13.687Z,1761673873.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642695,0.752245,0.145155],[-0.766062,-0.628635,-0.134039],[-0.009581,-0.197344,0.980287]] 2025-10-28T17:51:14.091Z,1761673874.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640083,0.753225,0.151479],[-0.768285,-0.626055,-0.133392],[-0.005640,-0.201761,0.979418]] 2025-10-28T17:51:14.499Z,1761673874.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635547,0.755457,0.159262],[-0.772061,-0.621438,-0.133184],[-0.001643,-0.207604,0.978212]] 2025-10-28T17:51:14.895Z,1761673874.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629447,0.758585,0.168362],[-0.777039,-0.615214,-0.133126],[0.002591,-0.214619,0.976694]] 2025-10-28T17:51:15.298Z,1761673875.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621967,0.762857,0.176653],[-0.783012,-0.607915,-0.131646],[0.006963,-0.220201,0.975430]] 2025-10-28T17:51:15.703Z,1761673875.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613438,0.768555,0.181709],[-0.789667,-0.600117,-0.127615],[0.010967,-0.221774,0.975037]] 2025-10-28T17:51:16.107Z,1761673876.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604358,0.774813,0.185516],[-0.796577,-0.591940,-0.122768],[0.014692,-0.221974,0.974942]] 2025-10-28T17:51:16.516Z,1761673876.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595172,0.781565,0.186887],[-0.803400,-0.583876,-0.116780],[0.017847,-0.219649,0.975416]] 2025-10-28T17:51:16.915Z,1761673876.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586957,0.788223,0.184897],[-0.809356,-0.577069,-0.109238],[0.020594,-0.213766,0.976668]] 2025-10-28T17:51:17.319Z,1761673877.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580579,0.793894,0.180721],[-0.813865,-0.572259,-0.100708],[0.023467,-0.205551,0.978365]] 2025-10-28T17:51:17.724Z,1761673877.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576699,0.798034,0.174814],[-0.816536,-0.569915,-0.092009],[0.026203,-0.195803,0.980293]] 2025-10-28T17:51:18.128Z,1761673878.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:51:18.129Z,1761673878.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575161,0.800700,0.167541],[-0.817533,-0.569831,-0.083258],[0.028806,-0.184857,0.982343]] 2025-10-28T17:51:18.531Z,1761673878.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575521,0.801684,0.161490],[-0.817190,-0.571322,-0.076108],[0.031248,-0.175769,0.983935]] 2025-10-28T17:51:18.935Z,1761673878.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577039,0.801055,0.159175],[-0.816010,-0.573588,-0.071582],[0.033960,-0.171194,0.984652]] 2025-10-28T17:51:18.977Z,1761673878.977 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:51:18.977Z,1761673878.977 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:51:18.977Z,1761673878.977 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:51:18.978Z,1761673878.978 [marl:UpdateRudder:A] Stopped 2025-10-28T17:51:18.978Z,1761673878.978 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:51:19.132Z,1761673879.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:51:19.339Z,1761673879.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579920,0.798887,0.159597],[-0.813814,-0.577078,-0.068469],[0.037401,-0.169589,0.984805]] 2025-10-28T17:51:19.363Z,1761673879.363 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:51:19.363Z,1761673879.363 [marl:UpdateRudder:B] Stopped 2025-10-28T17:51:19.363Z,1761673879.363 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:51:19.363Z,1761673879.363 [marl:UpdateRudder] Stopped 2025-10-28T17:51:19.363Z,1761673879.363 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:51:19.757Z,1761673879.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583842,0.795506,0.162167],[-0.810809,-0.581524,-0.066466],[0.041430,-0.170292,0.984522]] 2025-10-28T17:51:20.147Z,1761673880.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588812,0.790799,0.167142],[-0.806956,-0.586936,-0.065794],[0.046072,-0.173617,0.983735]] 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:51:20.182Z,1761673880.182 [marl:UpdateCommandMode] Stopped 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed] Stopped 2025-10-28T17:51:20.183Z,1761673880.183 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:51:20.550Z,1761673880.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593547,0.785804,0.173822],[-0.803167,-0.592112,-0.065774],[0.051237,-0.178648,0.982578]] 2025-10-28T17:51:20.954Z,1761673880.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595774,0.781985,0.183174],[-0.801233,-0.594444,-0.068284],[0.055490,-0.187447,0.980706]] 2025-10-28T17:51:21.361Z,1761673881.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594864,0.780630,0.191711],[-0.801656,-0.593654,-0.070167],[0.059035,-0.195426,0.978940]] 2025-10-28T17:51:21.769Z,1761673881.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592352,0.780815,0.198612],[-0.803290,-0.591341,-0.071006],[0.062005,-0.201603,0.977503]] 2025-10-28T17:51:22.167Z,1761673882.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588681,0.781541,0.206513],[-0.805778,-0.587748,-0.072622],[0.064621,-0.209155,0.975745]] 2025-10-28T17:51:22.572Z,1761673882.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583850,0.783663,0.212112],[-0.809097,-0.583194,-0.072431],[0.066941,-0.213908,0.974557]] 2025-10-28T17:51:22.977Z,1761673882.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578136,0.786618,0.216773],[-0.812997,-0.577893,-0.071237],[0.069235,-0.217421,0.973619]] 2025-10-28T17:51:23.379Z,1761673883.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571451,0.790374,0.220802],[-0.817525,-0.571698,-0.069383],[0.071393,-0.220160,0.972848]] 2025-10-28T17:51:23.786Z,1761673883.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563530,0.795136,0.224037],[-0.822839,-0.564329,-0.066847],[0.073279,-0.222017,0.972285]] 2025-10-28T17:51:24.186Z,1761673884.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554824,0.801005,0.224857],[-0.828618,-0.556254,-0.063038],[0.074584,-0.221296,0.972350]] 2025-10-28T17:51:24.596Z,1761673884.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545787,0.807327,0.224365],[-0.834484,-0.547935,-0.058334],[0.075843,-0.219067,0.972758]] 2025-10-28T17:51:24.996Z,1761673884.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537114,0.813689,0.222304],[-0.840007,-0.539966,-0.053148],[0.076790,-0.215283,0.973528]] 2025-10-28T17:51:25.399Z,1761673885.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529290,0.819483,0.219773],[-0.844870,-0.532812,-0.048010],[0.077754,-0.211091,0.974369]] 2025-10-28T17:51:25.802Z,1761673885.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523280,0.824743,0.214424],[-0.848500,-0.527567,-0.041486],[0.078907,-0.203647,0.975859]] 2025-10-28T17:51:26.207Z,1761673886.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519295,0.828874,0.208088],[-0.850847,-0.524238,-0.035144],[0.079957,-0.195302,0.977478]] 2025-10-28T17:51:26.611Z,1761673886.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516051,0.832264,0.202553],[-0.852723,-0.521522,-0.029643],[0.080965,-0.188018,0.978823]] 2025-10-28T17:51:27.016Z,1761673887.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514454,0.834328,0.198076],[-0.853545,-0.520432,-0.024731],[0.082451,-0.181790,0.979875]] 2025-10-28T17:51:27.420Z,1761673887.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513984,0.835331,0.195046],[-0.853658,-0.520421,-0.020727],[0.084192,-0.177156,0.980575]] 2025-10-28T17:51:27.822Z,1761673887.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514189,0.835611,0.193299],[-0.853393,-0.520956,-0.018048],[0.085619,-0.174240,0.980974]] 2025-10-28T17:51:28.234Z,1761673888.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514728,0.835275,0.193316],[-0.852953,-0.521714,-0.016886],[0.086751,-0.173581,0.980991]] 2025-10-28T17:51:28.633Z,1761673888.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514809,0.835134,0.193710],[-0.852836,-0.521921,-0.016386],[0.087417,-0.173638,0.980922]] 2025-10-28T17:51:29.037Z,1761673889.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514754,0.834949,0.194650],[-0.852862,-0.521863,-0.016875],[0.087491,-0.174696,0.980728]] 2025-10-28T17:51:29.438Z,1761673889.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514220,0.834788,0.196740],[-0.853171,-0.521323,-0.017907],[0.087616,-0.177061,0.980292]] 2025-10-28T17:51:29.843Z,1761673889.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512745,0.834920,0.200002],[-0.854090,-0.519743,-0.019933],[0.087307,-0.181040,0.979593]] 2025-10-28T17:51:30.248Z,1761673890.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510564,0.835433,0.203411],[-0.855442,-0.517430,-0.022024],[0.086851,-0.185251,0.978846]] 2025-10-28T17:51:30.652Z,1761673890.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508258,0.835968,0.206955],[-0.856863,-0.514977,-0.024174],[0.086369,-0.189619,0.978052]] 2025-10-28T17:51:31.062Z,1761673891.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505591,0.836962,0.209459],[-0.858515,-0.512136,-0.025871],[0.085619,-0.192904,0.977475]] 2025-10-28T17:51:31.459Z,1761673891.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503080,0.838303,0.210140],[-0.860039,-0.509556,-0.026206],[0.085110,-0.193912,0.977320]] 2025-10-28T17:51:31.865Z,1761673891.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500593,0.839874,0.209806],[-0.861521,-0.507070,-0.025718],[0.084787,-0.193627,0.977405]] 2025-10-28T17:51:32.267Z,1761673892.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497549,0.841503,0.210518],[-0.863298,-0.504049,-0.025533],[0.084626,-0.194444,0.977256]] 2025-10-28T17:51:32.312Z,1761673892.312 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:51:32.313Z,1761673892.313 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:51:32.313Z,1761673892.313 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:51:32.313Z,1761673892.313 [marl:UpdateRudder:A] Stopped 2025-10-28T17:51:32.313Z,1761673892.313 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:51:32.671Z,1761673892.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494507,0.843564,0.209432],[-0.865084,-0.501026,-0.024553],[0.084219,-0.193318,0.977515]] 2025-10-28T17:51:32.711Z,1761673892.711 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:51:32.711Z,1761673892.711 [marl:UpdateRudder:B] Stopped 2025-10-28T17:51:32.711Z,1761673892.711 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:51:32.711Z,1761673892.711 [marl:UpdateRudder] Stopped 2025-10-28T17:51:32.711Z,1761673892.711 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:51:33.077Z,1761673893.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490912,0.845523,0.209991],[-0.867169,-0.497415,-0.024422],[0.083803,-0.194087,0.977398]] 2025-10-28T17:51:33.481Z,1761673893.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486676,0.847791,0.210706],[-0.869581,-0.493205,-0.024057],[0.083526,-0.194934,0.977253]] 2025-10-28T17:51:33.506Z,1761673893.506 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:51:33.506Z,1761673893.506 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:51:33.506Z,1761673893.506 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateCommandMode] Stopped 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:51:33.507Z,1761673893.507 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:51:33.508Z,1761673893.508 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:51:33.508Z,1761673893.508 [marl:UpdateSpeed] Stopped 2025-10-28T17:51:33.508Z,1761673893.508 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:51:33.882Z,1761673893.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481550,0.850125,0.213067],[-0.872454,-0.488088,-0.024383],[0.083267,-0.197632,0.976733]] 2025-10-28T17:51:34.286Z,1761673894.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475440,0.853498,0.213302],[-0.875862,-0.481980,-0.023677],[0.082599,-0.198080,0.976699]] 2025-10-28T17:51:34.693Z,1761673894.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468795,0.856884,0.214432],[-0.879558,-0.475185,-0.024031],[0.081303,-0.199871,0.976443]] 2025-10-28T17:51:35.098Z,1761673895.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462583,0.860275,0.214347],[-0.882991,-0.468766,-0.024207],[0.079654,-0.200464,0.976457]] 2025-10-28T17:51:35.499Z,1761673895.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457105,0.863825,0.211805],[-0.886008,-0.463072,-0.023536],[0.077750,-0.198419,0.977029]] 2025-10-28T17:51:35.903Z,1761673895.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452106,0.867530,0.207346],[-0.888798,-0.457728,-0.022850],[0.075085,-0.194619,0.978001]] 2025-10-28T17:51:36.306Z,1761673896.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447831,0.870729,0.203170],[-0.891183,-0.453082,-0.022582],[0.072390,-0.191174,0.978883]] 2025-10-28T17:51:36.721Z,1761673896.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444387,0.873407,0.199197],[-0.893128,-0.449226,-0.022780],[0.069588,-0.188031,0.979695]] 2025-10-28T17:51:37.115Z,1761673897.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441747,0.875692,0.194998],[-0.894641,-0.446196,-0.022947],[0.066913,-0.184590,0.980535]] 2025-10-28T17:51:37.523Z,1761673897.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440479,0.877146,0.191293],[-0.895433,-0.444587,-0.023272],[0.064634,-0.181541,0.981257]] 2025-10-28T17:51:37.923Z,1761673897.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439257,0.877630,0.191883],[-0.896182,-0.442950,-0.025580],[0.062545,-0.183198,0.981084]] 2025-10-28T17:51:38.328Z,1761673898.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438210,0.878086,0.192189],[-0.896850,-0.441447,-0.027995],[0.060260,-0.184633,0.980958]] 2025-10-28T17:51:38.732Z,1761673898.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437176,0.878310,0.193516],[-0.897495,-0.439952,-0.030738],[0.058140,-0.187118,0.980615]] 2025-10-28T17:51:39.134Z,1761673899.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435898,0.878975,0.193380],[-0.898244,-0.438290,-0.032563],[0.056135,-0.187897,0.980583]] 2025-10-28T17:51:39.567Z,1761673899.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434289,0.879765,0.193405],[-0.899129,-0.436356,-0.034080],[0.054411,-0.188697,0.980527]] 2025-10-28T17:51:39.942Z,1761673899.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432331,0.880657,0.193736],[-0.900171,-0.434078,-0.035606],[0.052740,-0.189789,0.980407]] 2025-10-28T17:51:40.346Z,1761673900.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429972,0.881752,0.194005],[-0.901407,-0.431370,-0.037205],[0.050882,-0.190875,0.980295]] 2025-10-28T17:51:40.754Z,1761673900.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427939,0.882908,0.193240],[-0.902492,-0.428965,-0.038683],[0.048739,-0.190951,0.980389]] 2025-10-28T17:51:41.158Z,1761673901.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426254,0.883693,0.193375],[-0.903411,-0.426827,-0.040842],[0.046446,-0.192106,0.980274]] 2025-10-28T17:51:41.599Z,1761673901.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424889,0.884755,0.191514],[-0.904174,-0.425069,-0.042252],[0.044024,-0.191114,0.980580]] 2025-10-28T17:51:41.963Z,1761673901.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424577,0.885451,0.188974],[-0.904422,-0.424441,-0.043256],[0.041908,-0.189278,0.981029]] 2025-10-28T17:51:42.366Z,1761673902.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424475,0.885942,0.186892],[-0.904557,-0.424043,-0.044324],[0.039982,-0.187868,0.981380]] 2025-10-28T17:51:42.785Z,1761673902.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424209,0.886331,0.185645],[-0.904771,-0.423414,-0.045928],[0.037897,-0.187450,0.981543]] 2025-10-28T17:51:43.175Z,1761673903.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423350,0.886615,0.186250],[-0.905257,-0.422116,-0.048248],[0.035842,-0.189030,0.981317]] 2025-10-28T17:51:43.605Z,1761673903.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422150,0.887100,0.186666],[-0.905889,-0.420534,-0.050170],[0.033993,-0.190278,0.981142]] 2025-10-28T17:51:43.983Z,1761673903.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420016,0.887799,0.188146],[-0.906948,-0.417973,-0.052386],[0.032131,-0.192642,0.980743]] 2025-10-28T17:51:44.388Z,1761673904.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416418,0.888884,0.190998],[-0.908667,-0.413909,-0.054807],[0.030339,-0.196376,0.980059]] 2025-10-28T17:51:44.796Z,1761673904.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411463,0.890926,0.192222],[-0.910978,-0.408627,-0.056066],[0.028597,-0.198179,0.979749]] 2025-10-28T17:51:45.202Z,1761673905.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405412,0.893392,0.193630],[-0.913751,-0.402180,-0.057539],[0.026469,-0.200256,0.979386]] 2025-10-28T17:51:45.611Z,1761673905.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398590,0.896353,0.194106],[-0.916817,-0.394951,-0.058828],[0.023932,-0.201407,0.979215]] 2025-10-28T17:51:45.682Z,1761673905.682 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:51:45.683Z,1761673905.683 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:51:45.683Z,1761673905.683 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:51:45.684Z,1761673905.684 [marl:UpdateRudder:A] Stopped 2025-10-28T17:51:45.684Z,1761673905.684 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:51:46.002Z,1761673906.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391703,0.899368,0.194179],[-0.919845,-0.387667,-0.060000],[0.021315,-0.202116,0.979130]] 2025-10-28T17:51:46.082Z,1761673906.082 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:51:46.082Z,1761673906.082 [marl:UpdateRudder:B] Stopped 2025-10-28T17:51:46.082Z,1761673906.082 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:51:46.082Z,1761673906.082 [marl:UpdateRudder] Stopped 2025-10-28T17:51:46.082Z,1761673906.082 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:51:46.407Z,1761673906.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386243,0.901738,0.194125],[-0.922202,-0.381838,-0.061174],[0.018961,-0.202650,0.979068]] 2025-10-28T17:51:46.452Z,1761673906.452 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode] Stopped 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:51:46.453Z,1761673906.453 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed] Stopped 2025-10-28T17:51:46.454Z,1761673906.454 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:51:46.815Z,1761673906.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381169,0.904167,0.192853],[-0.924354,-0.376502,-0.061782],[0.016748,-0.201814,0.979281]] 2025-10-28T17:51:47.219Z,1761673907.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377452,0.906379,0.189758],[-0.925913,-0.372643,-0.061824],[0.014677,-0.199035,0.979882]] 2025-10-28T17:51:47.618Z,1761673907.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375782,0.907904,0.185740],[-0.926619,-0.370901,-0.061718],[0.012857,-0.195303,0.980659]] 2025-10-28T17:51:48.023Z,1761673908.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374518,0.909280,0.181509],[-0.927156,-0.369537,-0.061838],[0.010846,-0.191447,0.981443]] 2025-10-28T17:51:48.426Z,1761673908.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374362,0.910107,0.177647],[-0.927235,-0.369355,-0.061743],[0.009422,-0.187835,0.982155]] 2025-10-28T17:51:48.838Z,1761673908.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374310,0.910908,0.173606],[-0.927267,-0.369334,-0.061383],[0.008204,-0.183955,0.982900]] 2025-10-28T17:51:49.235Z,1761673909.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374411,0.911431,0.170619],[-0.927233,-0.369500,-0.060909],[0.007529,-0.181008,0.983453]] 2025-10-28T17:51:49.252Z,1761673909.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:51:49.638Z,1761673909.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374565,0.911722,0.168714],[-0.927175,-0.369643,-0.060907],[0.006834,-0.179241,0.983781]] 2025-10-28T17:51:50.043Z,1761673910.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373706,0.912292,0.167533],[-0.927528,-0.368721,-0.061129],[0.006005,-0.178236,0.983970]] 2025-10-28T17:51:50.256Z,1761673910.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:51:50.448Z,1761673910.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371989,0.912846,0.168333],[-0.928222,-0.366835,-0.061930],[0.005218,-0.179288,0.983783]] 2025-10-28T17:51:50.851Z,1761673910.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369196,0.914208,0.167088],[-0.929343,-0.363974,-0.062013],[0.004123,-0.178177,0.983990]] 2025-10-28T17:51:51.258Z,1761673911.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365834,0.915461,0.167623],[-0.930675,-0.360447,-0.062623],[0.003090,-0.178912,0.983860]] 2025-10-28T17:51:51.659Z,1761673911.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362404,0.916649,0.168578],[-0.932019,-0.356846,-0.063262],[0.002167,-0.180044,0.983656]] 2025-10-28T17:51:52.064Z,1761673912.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359020,0.917827,0.169403],[-0.933329,-0.353244,-0.064147],[0.000965,-0.181139,0.983457]] 2025-10-28T17:51:52.466Z,1761673912.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355835,0.918753,0.171096],[-0.934549,-0.349749,-0.065530],[-0.000365,-0.183216,0.983073]] 2025-10-28T17:51:52.871Z,1761673912.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352644,0.919123,0.175658],[-0.935756,-0.346068,-0.067803],[-0.001530,-0.188284,0.982113]] 2025-10-28T17:51:53.280Z,1761673913.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349522,0.919844,0.178107],[-0.936924,-0.342567,-0.069436],[-0.002856,-0.191142,0.981558]] 2025-10-28T17:51:53.688Z,1761673913.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346682,0.920087,0.182347],[-0.937974,-0.339225,-0.071637],[-0.004056,-0.195872,0.980621]] 2025-10-28T17:51:54.083Z,1761673914.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344111,0.920304,0.186088],[-0.938916,-0.336236,-0.073365],[-0.004949,-0.199967,0.979790]] 2025-10-28T17:51:54.487Z,1761673914.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341580,0.920725,0.188648],[-0.939834,-0.333352,-0.074758],[-0.005946,-0.202834,0.979195]] 2025-10-28T17:51:54.891Z,1761673914.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339088,0.921301,0.190326],[-0.940729,-0.330580,-0.075799],[-0.006915,-0.204748,0.978790]] 2025-10-28T17:51:55.306Z,1761673915.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336786,0.921910,0.191462],[-0.941549,-0.328056,-0.076582],[-0.007792,-0.206063,0.978508]] 2025-10-28T17:51:55.336Z,1761673915.336 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:51:55.501Z,1761673915.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:51:55.501Z,1761673915.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:51:55.702Z,1761673915.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334652,0.922304,0.193297],[-0.942303,-0.325648,-0.077584],[-0.008609,-0.208108,0.978068]] 2025-10-28T17:51:55.753Z,1761673915.753 [DAT](INFO): DAT read: user:88> 2025-10-28T17:51:55.754Z,1761673915.754 [DAT](INFO): DAT read: Tx time:17:51:55.5025 2025-10-28T17:51:55.755Z,1761673915.755 [DAT](INFO): Ping request sent. 2025-10-28T17:51:55.755Z,1761673915.755 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:51:55.755Z,1761673915.755 [DAT](INFO): publishing transmit ping time 2025-10-28T17:51:55.756Z,1761673915.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001333 2025-10-28T17:51:56.005Z,1761673916.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249892 2025-10-28T17:51:56.103Z,1761673916.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332980,0.922865,0.193505],[-0.942890,-0.323888,-0.077817],[-0.009141,-0.208366,0.978008]] 2025-10-28T17:51:56.257Z,1761673916.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502454 2025-10-28T17:51:56.509Z,1761673916.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753993 2025-10-28T17:51:56.511Z,1761673916.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331564,0.923589,0.192481],[-0.943381,-0.322443,-0.077860],[-0.009846,-0.207399,0.978207]] 2025-10-28T17:51:56.761Z,1761673916.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006390 2025-10-28T17:51:56.911Z,1761673916.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330505,0.924824,0.188327],[-0.943745,-0.321597,-0.076954],[-0.010604,-0.203167,0.979087]] 2025-10-28T17:51:57.014Z,1761673917.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258557 2025-10-28T17:51:57.265Z,1761673917.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509942 2025-10-28T17:51:57.318Z,1761673917.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329643,0.926203,0.182985],[-0.944037,-0.321032,-0.075711],[-0.011380,-0.197702,0.980196]] 2025-10-28T17:51:57.520Z,1761673917.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764169 2025-10-28T17:51:57.719Z,1761673917.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328879,0.927164,0.179459],[-0.944294,-0.320409,-0.075150],[-0.012176,-0.194178,0.980891]] 2025-10-28T17:51:57.770Z,1761673917.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014589 2025-10-28T17:51:58.021Z,1761673918.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265926 2025-10-28T17:51:58.130Z,1761673918.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325749,0.929279,0.174147],[-0.945363,-0.317556,-0.073806],[-0.013285,-0.188674,0.981950]] 2025-10-28T17:51:58.275Z,1761673918.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519774 2025-10-28T17:51:58.527Z,1761673918.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771922 2025-10-28T17:51:58.540Z,1761673918.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322452,0.930439,0.174089],[-0.946478,-0.314146,-0.074102],[-0.014258,-0.188666,0.981938]] 2025-10-28T17:51:58.777Z,1761673918.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022136 2025-10-28T17:51:58.935Z,1761673918.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318288,0.932039,0.173191],[-0.947871,-0.309953,-0.073954],[-0.015247,-0.187701,0.982108]] 2025-10-28T17:51:58.979Z,1761673918.979 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:51:58.979Z,1761673918.979 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:51:58.979Z,1761673918.979 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:51:58.979Z,1761673918.979 [marl:UpdateRudder:A] Stopped 2025-10-28T17:51:58.980Z,1761673918.980 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:51:59.033Z,1761673919.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277816 2025-10-28T17:51:59.282Z,1761673919.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526518 2025-10-28T17:51:59.344Z,1761673919.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313145,0.933603,0.174145],[-0.949565,-0.304644,-0.074280],[-0.016296,-0.188622,0.981915]] 2025-10-28T17:51:59.388Z,1761673919.388 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:51:59.388Z,1761673919.388 [marl:UpdateRudder:B] Stopped 2025-10-28T17:51:59.388Z,1761673919.388 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:51:59.389Z,1761673919.389 [marl:UpdateRudder] Stopped 2025-10-28T17:51:59.389Z,1761673919.389 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:51:59.536Z,1761673919.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780190 2025-10-28T17:51:59.743Z,1761673919.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307176,0.935195,0.176218],[-0.951493,-0.298417,-0.074893],[-0.017453,-0.190675,0.981498]] 2025-10-28T17:51:59.793Z,1761673919.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038017 2025-10-28T17:51:59.820Z,1761673919.820 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:51:59.820Z,1761673919.820 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:51:59.820Z,1761673919.820 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateCommandMode] Stopped 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:51:59.821Z,1761673919.821 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:51:59.822Z,1761673919.822 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:51:59.822Z,1761673919.822 [marl:UpdateSpeed] Stopped 2025-10-28T17:51:59.822Z,1761673919.822 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:52:00.046Z,1761673920.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290519 2025-10-28T17:52:00.147Z,1761673920.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300347,0.936676,0.180083],[-0.953643,-0.291154,-0.076115],[-0.018863,-0.194596,0.980702]] 2025-10-28T17:52:00.297Z,1761673920.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541919 2025-10-28T17:52:00.547Z,1761673920.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293672,0.938530,0.181435],[-0.955687,-0.284196,-0.076786],[-0.020503,-0.195945,0.980401]] 2025-10-28T17:52:00.549Z,1761673920.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793924 2025-10-28T17:52:00.801Z,1761673920.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045891 2025-10-28T17:52:00.950Z,1761673920.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287531,0.940378,0.181702],[-0.957514,-0.277835,-0.077297],[-0.022205,-0.196208,0.980311]] 2025-10-28T17:52:01.053Z,1761673921.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297968 2025-10-28T17:52:01.305Z,1761673921.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549826 2025-10-28T17:52:01.367Z,1761673921.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283125,0.941907,0.180698],[-0.958801,-0.273409,-0.077119],[-0.023235,-0.195088,0.980511]] 2025-10-28T17:52:01.560Z,1761673921.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804102 2025-10-28T17:52:01.763Z,1761673921.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279491,0.943227,0.179465],[-0.959844,-0.269771,-0.076969],[-0.024185,-0.193771,0.980749]] 2025-10-28T17:52:01.809Z,1761673921.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054108 2025-10-28T17:52:02.061Z,1761673922.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305857 2025-10-28T17:52:02.171Z,1761673922.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277422,0.944480,0.176054],[-0.960431,-0.267931,-0.076055],[-0.024662,-0.190187,0.981438]] 2025-10-28T17:52:02.314Z,1761673922.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558574 2025-10-28T17:52:02.565Z,1761673922.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809962 2025-10-28T17:52:02.569Z,1761673922.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276747,0.945801,0.169914],[-0.960633,-0.267812,-0.073894],[-0.024384,-0.183675,0.982685]] 2025-10-28T17:52:02.820Z,1761673922.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064646 2025-10-28T17:52:02.973Z,1761673922.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276921,0.946396,0.166281],[-0.960606,-0.268431,-0.071985],[-0.023492,-0.179665,0.983447]] 2025-10-28T17:52:03.070Z,1761673923.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315211 2025-10-28T17:52:03.321Z,1761673923.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565920 2025-10-28T17:52:03.374Z,1761673923.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276378,0.946411,0.167094],[-0.960784,-0.268010,-0.071171],[-0.022574,-0.180212,0.983369]] 2025-10-28T17:52:03.577Z,1761673923.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821587 2025-10-28T17:52:03.784Z,1761673923.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274949,0.946374,0.169644],[-0.961215,-0.266596,-0.070654],[-0.021639,-0.182491,0.982969]] 2025-10-28T17:52:03.825Z,1761673923.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069961 2025-10-28T17:52:04.078Z,1761673924.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322936 2025-10-28T17:52:04.187Z,1761673924.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271792,0.946286,0.175133],[-0.962126,-0.263211,-0.070946],[-0.021038,-0.187783,0.981985]] 2025-10-28T17:52:04.329Z,1761673924.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573928 2025-10-28T17:52:04.581Z,1761673924.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826433 2025-10-28T17:52:04.595Z,1761673924.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267521,0.946666,0.179600],[-0.963331,-0.258784,-0.070876],[-0.020618,-0.191975,0.981183]] 2025-10-28T17:52:04.833Z,1761673924.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077934 2025-10-28T17:52:04.990Z,1761673924.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263588,0.946784,0.184719],[-0.964425,-0.254660,-0.070936],[-0.020120,-0.196845,0.980228]] 2025-10-28T17:52:05.089Z,1761673925.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333536 2025-10-28T17:52:05.337Z,1761673925.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581955 2025-10-28T17:52:05.395Z,1761673925.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259508,0.947204,0.188308],[-0.965532,-0.250419,-0.070978],[-0.020074,-0.200237,0.979542]] 2025-10-28T17:52:05.592Z,1761673925.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836079 2025-10-28T17:52:05.798Z,1761673925.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256509,0.947453,0.191146],[-0.966336,-0.247308,-0.070947],[-0.019948,-0.202910,0.978994]] 2025-10-28T17:52:05.840Z,1761673925.840 [DAT](INFO): Reached modem response timeout 2025-10-28T17:52:06.234Z,1761673926.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254171,0.947436,0.194326],[-0.966959,-0.244843,-0.071014],[-0.019702,-0.205955,0.978363]] 2025-10-28T17:52:06.607Z,1761673926.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252594,0.947951,0.193866],[-0.967382,-0.243450,-0.070031],[-0.019189,-0.205232,0.978525]] 2025-10-28T17:52:07.010Z,1761673927.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251136,0.948392,0.193605],[-0.967771,-0.242147,-0.069173],[-0.018722,-0.204737,0.978638]] 2025-10-28T17:52:07.421Z,1761673927.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249768,0.948949,0.192643],[-0.968138,-0.241035,-0.067899],[-0.017999,-0.203464,0.978917]] 2025-10-28T17:52:07.819Z,1761673927.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247821,0.949284,0.193504],[-0.968653,-0.239236,-0.066921],[-0.017235,-0.204022,0.978814]] 2025-10-28T17:52:08.109Z,1761673928.109 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:52:08.109Z,1761673928.109 [DAT](INFO): response not received 2025-10-28T17:52:08.110Z,1761673928.110 [DAT](ERROR): No response from remote modem. 2025-10-28T17:52:08.223Z,1761673928.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245379,0.949853,0.193824],[-0.969288,-0.236996,-0.065685],[-0.016455,-0.203989,0.978835]] 2025-10-28T17:52:08.628Z,1761673928.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242501,0.950804,0.192782],[-0.970021,-0.234372,-0.064265],[-0.015921,-0.202586,0.979135]] 2025-10-28T17:52:09.031Z,1761673929.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239207,0.951482,0.193552],[-0.970848,-0.231228,-0.063155],[-0.015336,-0.203017,0.979055]] 2025-10-28T17:52:09.442Z,1761673929.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236052,0.952148,0.194148],[-0.971632,-0.228283,-0.061790],[-0.014512,-0.203226,0.979024]] 2025-10-28T17:52:09.839Z,1761673929.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232312,0.952881,0.195063],[-0.972545,-0.224751,-0.060357],[-0.013672,-0.203729,0.978932]] 2025-10-28T17:52:10.242Z,1761673930.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227524,0.953866,0.195887],[-0.973687,-0.220182,-0.058771],[-0.012929,-0.204104,0.978864]] 2025-10-28T17:52:10.655Z,1761673930.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222064,0.954890,0.197162],[-0.974956,-0.214933,-0.057141],[-0.012187,-0.204913,0.978704]] 2025-10-28T17:52:11.061Z,1761673931.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215867,0.955457,0.201255],[-0.976354,-0.208776,-0.056082],[-0.011567,-0.208602,0.977932]] 2025-10-28T17:52:11.454Z,1761673931.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209006,0.955978,0.205965],[-0.977851,-0.201903,-0.055162],[-0.011149,-0.212932,0.977003]] 2025-10-28T17:52:11.858Z,1761673931.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202880,0.956938,0.207627],[-0.979145,-0.195925,-0.053751],[-0.010757,-0.214201,0.976730]] 2025-10-28T17:52:12.264Z,1761673932.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197555,0.958151,0.207170],[-0.980237,-0.190844,-0.052099],[-0.010381,-0.213368,0.976917]] 2025-10-28T17:52:12.288Z,1761673932.288 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:52:12.288Z,1761673932.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:52:12.289Z,1761673932.289 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:52:12.289Z,1761673932.289 [marl:UpdateRudder:A] Stopped 2025-10-28T17:52:12.289Z,1761673932.289 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:52:12.673Z,1761673932.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193815,0.959382,0.204994],[-0.980990,-0.187461,-0.050164],[-0.009698,-0.210820,0.977477]] 2025-10-28T17:52:12.697Z,1761673932.697 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:52:12.697Z,1761673932.697 [marl:UpdateRudder:B] Stopped 2025-10-28T17:52:12.697Z,1761673932.697 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:52:12.697Z,1761673932.697 [marl:UpdateRudder] Stopped 2025-10-28T17:52:12.697Z,1761673932.697 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:52:13.070Z,1761673933.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190663,0.960416,0.203100],[-0.981613,-0.184607,-0.048536],[-0.009121,-0.208620,0.977954]] 2025-10-28T17:52:13.111Z,1761673933.111 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:52:13.111Z,1761673933.111 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:52:13.111Z,1761673933.111 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:52:13.116Z,1761673933.116 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:52:13.116Z,1761673933.116 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:52:13.116Z,1761673933.116 [marl:UpdateCommandMode] Stopped 2025-10-28T17:52:13.116Z,1761673933.116 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:52:13.116Z,1761673933.116 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed] Stopped 2025-10-28T17:52:13.117Z,1761673933.117 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:52:13.475Z,1761673933.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188083,0.961422,0.200730],[-0.982121,-0.182459,-0.046333],[-0.007921,-0.205856,0.978550]] 2025-10-28T17:52:13.879Z,1761673933.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184859,0.962320,0.199418],[-0.982740,-0.179571,-0.044447],[-0.006962,-0.204193,0.978906]] 2025-10-28T17:52:14.282Z,1761673934.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180581,0.963365,0.198288],[-0.983541,-0.175625,-0.042452],[-0.006073,-0.202690,0.979224]] 2025-10-28T17:52:14.686Z,1761673934.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176341,0.964394,0.197100],[-0.984316,-0.171726,-0.040404],[-0.005118,-0.201133,0.979550]] 2025-10-28T17:52:15.091Z,1761673935.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171691,0.965070,0.197892],[-0.985142,-0.167351,-0.038578],[-0.004113,-0.201576,0.979464]] 2025-10-28T17:52:15.502Z,1761673935.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166642,0.965774,0.198772],[-0.986012,-0.162529,-0.036947],[-0.003376,-0.202148,0.979349]] 2025-10-28T17:52:15.901Z,1761673935.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161488,0.966576,0.199130],[-0.986870,-0.157581,-0.035426],[-0.002862,-0.202237,0.979332]] 2025-10-28T17:52:16.302Z,1761673936.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157085,0.966937,0.200889],[-0.987582,-0.153273,-0.034492],[-0.002561,-0.203813,0.979006]] 2025-10-28T17:52:16.706Z,1761673936.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154232,0.967474,0.200517],[-0.988032,-0.150547,-0.033594],[-0.002314,-0.203299,0.979114]] 2025-10-28T17:52:17.111Z,1761673937.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153013,0.968031,0.198755],[-0.988222,-0.149442,-0.032939],[-0.002183,-0.201454,0.979496]] 2025-10-28T17:52:17.525Z,1761673937.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153407,0.968727,0.195026],[-0.988161,-0.149966,-0.032381],[-0.002121,-0.197685,0.980263]] 2025-10-28T17:52:17.922Z,1761673937.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155458,0.969209,0.190963],[-0.987840,-0.152118,-0.032117],[-0.002079,-0.193634,0.981072]] 2025-10-28T17:52:18.323Z,1761673938.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158603,0.969311,0.187835],[-0.987341,-0.155372,-0.031901],[-0.001738,-0.190517,0.981682]] 2025-10-28T17:52:18.728Z,1761673938.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162402,0.969013,0.186117],[-0.986724,-0.159266,-0.031781],[-0.001154,-0.188808,0.982013]] 2025-10-28T17:52:19.139Z,1761673939.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165801,0.968148,0.187617],[-0.986159,-0.162732,-0.031757],[-0.000214,-0.190286,0.981729]] 2025-10-28T17:52:19.573Z,1761673939.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167808,0.967719,0.188043],[-0.985820,-0.164830,-0.031477],[0.000535,-0.190658,0.981656]] 2025-10-28T17:52:19.942Z,1761673939.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169139,0.967055,0.190253],[-0.985591,-0.166235,-0.031239],[0.001417,-0.192796,0.981238]] 2025-10-28T17:52:20.342Z,1761673940.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168549,0.966673,0.192703],[-0.985692,-0.165652,-0.031164],[0.001796,-0.195199,0.980762]] 2025-10-28T17:52:20.397Z,1761673940.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:52:20.750Z,1761673940.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166881,0.966248,0.196252],[-0.985974,-0.164061,-0.030658],[0.002574,-0.198616,0.980074]] 2025-10-28T17:52:21.155Z,1761673941.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163816,0.966011,0.199967],[-0.986486,-0.161050,-0.030132],[0.003096,-0.202200,0.979339]] 2025-10-28T17:52:21.400Z,1761673941.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:52:21.604Z,1761673941.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159470,0.965588,0.205449],[-0.987197,-0.156672,-0.029924],[0.003293,-0.207591,0.978210]] 2025-10-28T17:52:21.959Z,1761673941.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153888,0.965246,0.211231],[-0.988082,-0.151064,-0.029543],[0.003393,-0.213259,0.976990]] 2025-10-28T17:52:22.364Z,1761673942.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147147,0.965224,0.216078],[-0.989109,-0.144355,-0.028737],[0.003454,-0.217953,0.975953]] 2025-10-28T17:52:22.771Z,1761673942.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139021,0.965446,0.220425],[-0.990284,-0.136265,-0.027741],[0.003254,-0.222140,0.975009]] 2025-10-28T17:52:23.171Z,1761673943.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130127,0.965927,0.223721],[-0.991494,-0.127343,-0.026893],[0.002512,-0.225318,0.974282]] 2025-10-28T17:52:23.607Z,1761673943.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121458,0.966792,0.224856],[-0.992595,-0.118691,-0.025833],[0.001713,-0.226329,0.974049]] 2025-10-28T17:52:23.987Z,1761673943.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113828,0.968141,0.223040],[-0.993500,-0.111151,-0.024560],[0.001013,-0.224386,0.974500]] 2025-10-28T17:52:24.383Z,1761673944.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107972,0.969366,0.220617],[-0.994154,-0.105449,-0.023213],[0.000762,-0.221834,0.975084]] 2025-10-28T17:52:24.790Z,1761673944.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103887,0.970488,0.217623],[-0.994589,-0.101518,-0.022070],[0.000674,-0.218738,0.975783]] 2025-10-28T17:52:25.192Z,1761673945.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101263,0.971851,0.212725],[-0.994859,-0.099060,-0.021015],[0.000649,-0.213759,0.976886]] 2025-10-28T17:52:25.619Z,1761673945.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099336,0.973054,0.208084],[-0.995054,-0.097260,-0.020211],[0.000572,-0.209063,0.977902]] 2025-10-28T17:52:25.681Z,1761673945.681 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:52:25.682Z,1761673945.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:52:25.682Z,1761673945.682 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:52:25.682Z,1761673945.682 [marl:UpdateRudder:A] Stopped 2025-10-28T17:52:25.682Z,1761673945.682 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:52:25.998Z,1761673945.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097988,0.974515,0.201788],[-0.995187,-0.096168,-0.018823],[0.001062,-0.202661,0.979248]] 2025-10-28T17:52:26.046Z,1761673946.046 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:52:26.046Z,1761673946.046 [marl:UpdateRudder:B] Stopped 2025-10-28T17:52:26.046Z,1761673946.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:52:26.046Z,1761673946.046 [marl:UpdateRudder] Stopped 2025-10-28T17:52:26.046Z,1761673946.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:52:26.402Z,1761673946.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096369,0.975454,0.197995],[-0.995344,-0.094789,-0.017462],[0.001734,-0.198756,0.980047]] 2025-10-28T17:52:26.443Z,1761673946.443 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:52:26.443Z,1761673946.443 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:52:26.443Z,1761673946.443 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateCommandMode] Stopped 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:52:26.444Z,1761673946.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:52:26.445Z,1761673946.445 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:52:26.445Z,1761673946.445 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:52:26.445Z,1761673946.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:52:26.445Z,1761673946.445 [marl:UpdateSpeed] Stopped 2025-10-28T17:52:26.445Z,1761673946.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:52:26.806Z,1761673946.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093578,0.976421,0.194537],[-0.995609,-0.092251,-0.015889],[0.002432,-0.195170,0.980766]] 2025-10-28T17:52:27.211Z,1761673947.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089629,0.977399,0.191464],[-0.995970,-0.088606,-0.013917],[0.003362,-0.191940,0.981401]] 2025-10-28T17:52:27.629Z,1761673947.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084556,0.977904,0.191191],[-0.996410,-0.083796,-0.012072],[0.004216,-0.191525,0.981479]] 2025-10-28T17:52:28.020Z,1761673948.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078671,0.978253,0.191915],[-0.996889,-0.078126,-0.010420],[0.004800,-0.192138,0.981356]] 2025-10-28T17:52:28.423Z,1761673948.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072800,0.977866,0.196160],[-0.997334,-0.072376,-0.009342],[0.005062,-0.196317,0.980527]] 2025-10-28T17:52:28.826Z,1761673948.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068096,0.978090,0.196731],[-0.997664,-0.067827,-0.008114],[0.005407,-0.196824,0.980424]] 2025-10-28T17:52:29.233Z,1761673949.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064903,0.978587,0.195335],[-0.997877,-0.064715,-0.007353],[0.005445,-0.195397,0.980709]] 2025-10-28T17:52:29.640Z,1761673949.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063610,0.979174,0.192800],[-0.997961,-0.063412,-0.007205],[0.005171,-0.192865,0.981212]] 2025-10-28T17:52:30.066Z,1761673950.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064024,0.979495,0.191027],[-0.997937,-0.063755,-0.007559],[0.004775,-0.191117,0.981556]] 2025-10-28T17:52:30.443Z,1761673950.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065669,0.979512,0.190376],[-0.997832,-0.065286,-0.008287],[0.004312,-0.190508,0.981676]] 2025-10-28T17:52:30.848Z,1761673950.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068265,0.979609,0.188961],[-0.997660,-0.067744,-0.009222],[0.003767,-0.189148,0.981941]] 2025-10-28T17:52:31.250Z,1761673951.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071858,0.979724,0.187023],[-0.997409,-0.071235,-0.010058],[0.003469,-0.187262,0.982304]] 2025-10-28T17:52:31.655Z,1761673951.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076404,0.979953,0.183995],[-0.997070,-0.075754,-0.010572],[0.003578,-0.184264,0.982870]] 2025-10-28T17:52:32.060Z,1761673952.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081289,0.979897,0.182192],[-0.996682,-0.080670,-0.010814],[0.004100,-0.182467,0.983203]] 2025-10-28T17:52:32.464Z,1761673952.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085468,0.979619,0.181775],[-0.996330,-0.084880,-0.011028],[0.004626,-0.182051,0.983278]] 2025-10-28T17:52:32.866Z,1761673952.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088961,0.978646,0.185304],[-0.996020,-0.088426,-0.011166],[0.005458,-0.185560,0.982618]] 2025-10-28T17:52:33.271Z,1761673953.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090519,0.977774,0.189113],[-0.995878,-0.089977,-0.011467],[0.005803,-0.189372,0.981888]] 2025-10-28T17:52:33.676Z,1761673953.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089398,0.976273,0.197227],[-0.995979,-0.088792,-0.011928],[0.005867,-0.197500,0.980285]] 2025-10-28T17:52:34.082Z,1761673954.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086216,0.975178,0.203947],[-0.996259,-0.085617,-0.011772],[0.005982,-0.204199,0.978911]] 2025-10-28T17:52:34.483Z,1761673954.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080661,0.974116,0.211168],[-0.996724,-0.080079,-0.011322],[0.005882,-0.211390,0.977384]] 2025-10-28T17:52:34.886Z,1761673954.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073534,0.973005,0.218753],[-0.997274,-0.073080,-0.010178],[0.006083,-0.218906,0.975727]] 2025-10-28T17:52:35.291Z,1761673955.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064704,0.972790,0.222471],[-0.997886,-0.064450,-0.008408],[0.006160,-0.222545,0.974903]] 2025-10-28T17:52:35.696Z,1761673955.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054768,0.972671,0.225635],[-0.998481,-0.054699,-0.006563],[0.005958,-0.225651,0.974190]] 2025-10-28T17:52:36.125Z,1761673956.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043793,0.973555,0.224216],[-0.999027,-0.043832,-0.004805],[0.005150,-0.224208,0.974528]] 2025-10-28T17:52:36.503Z,1761673956.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032717,0.975462,0.217725],[-0.999457,-0.032767,-0.003380],[0.003837,-0.217717,0.976004]] 2025-10-28T17:52:36.907Z,1761673956.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022693,0.976865,0.212648],[-0.999739,-0.022722,-0.002307],[0.002578,-0.212645,0.977126]] 2025-10-28T17:52:37.311Z,1761673957.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015040,0.978168,0.207272],[-0.999885,-0.015063,-0.001470],[0.001684,-0.207270,0.978282]] 2025-10-28T17:52:37.716Z,1761673957.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009541,0.979248,0.202443],[-0.999954,-0.009554,-0.000913],[0.001040,-0.202442,0.979294]] 2025-10-28T17:52:38.523Z,1761673958.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004427,0.981109,0.193407],[-0.999990,-0.004461,-0.000256],[0.000612,-0.193406,0.981119]] 2025-10-28T17:52:38.928Z,1761673958.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003521,0.981738,0.190207],[-0.999994,-0.003579,-0.000034],[0.000648,-0.190206,0.981744]] 2025-10-28T17:52:38.958Z,1761673958.958 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:52:38.958Z,1761673958.958 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:52:38.959Z,1761673958.959 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:52:38.959Z,1761673958.959 [marl:UpdateRudder:A] Stopped 2025-10-28T17:52:38.959Z,1761673958.959 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:52:39.332Z,1761673959.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003269,0.981944,0.189145],[-0.999994,-0.003314,-0.000082],[0.000546,-0.189144,0.981949]] 2025-10-28T17:52:39.357Z,1761673959.357 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:52:39.357Z,1761673959.357 [marl:UpdateRudder:B] Stopped 2025-10-28T17:52:39.357Z,1761673959.357 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:52:39.357Z,1761673959.357 [marl:UpdateRudder] Stopped 2025-10-28T17:52:39.357Z,1761673959.357 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:52:39.734Z,1761673959.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003603,0.981728,0.190253],[-0.999993,-0.003648,-0.000111],[0.000585,-0.190252,0.981735]] 2025-10-28T17:52:39.814Z,1761673959.814 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:52:39.814Z,1761673959.814 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:52:39.814Z,1761673959.814 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:52:39.814Z,1761673959.814 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateCommandMode] Stopped 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:52:39.815Z,1761673959.815 [marl:UpdateSpeed] Stopped 2025-10-28T17:52:39.816Z,1761673959.816 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:52:40.140Z,1761673960.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004073,0.981742,0.190173],[-0.999992,-0.004076,-0.000376],[0.000406,-0.190173,0.981751]] 2025-10-28T17:52:40.543Z,1761673960.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004625,0.981695,0.190405],[-0.999989,-0.004555,-0.000805],[0.000077,-0.190406,0.981705]] 2025-10-28T17:52:40.948Z,1761673960.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005164,0.981642,0.190665],[-0.999987,-0.005035,-0.001159],[-0.000177,-0.190668,0.981654]] 2025-10-28T17:52:41.351Z,1761673961.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005266,0.981660,0.190566],[-0.999986,-0.005103,-0.001347],[-0.000349,-0.190571,0.981673]] 2025-10-28T17:52:41.759Z,1761673961.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004769,0.981826,0.189725],[-0.999988,-0.004552,-0.001579],[-0.000687,-0.189731,0.981836]] 2025-10-28T17:52:42.161Z,1761673962.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004180,0.982013,0.188767],[-0.999991,-0.003958,-0.001553],[-0.000778,-0.188771,0.982021]] 2025-10-28T17:52:42.564Z,1761673962.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003425,0.982030,0.188694],[-0.999994,-0.003232,-0.001328],[-0.000694,-0.188698,0.982035]] 2025-10-28T17:52:42.966Z,1761673962.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002231,0.981745,0.190189],[-0.999997,-0.002054,-0.001126],[-0.000715,-0.190191,0.981747]] 2025-10-28T17:52:43.375Z,1761673963.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000697,0.981223,0.192874],[-0.999999,-0.000468,-0.001229],[-0.001116,-0.192875,0.981223]] 2025-10-28T17:52:43.784Z,1761673963.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002098,0.980800,0.195006],[-0.999995,0.002520,-0.001916],[-0.002370,-0.195001,0.980800]] 2025-10-28T17:52:44.185Z,1761673964.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002521,0.981002,0.193983],[-0.999992,0.003065,-0.002502],[-0.003049,-0.193975,0.981002]] 2025-10-28T17:52:44.595Z,1761673964.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002429,0.981887,0.189452],[-0.999992,0.003014,-0.002802],[-0.003322,-0.189444,0.981886]] 2025-10-28T17:52:44.990Z,1761673964.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002287,0.982810,0.184608],[-0.999991,0.002913,-0.003121],[-0.003605,-0.184599,0.982807]] 2025-10-28T17:52:45.393Z,1761673965.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002502,0.983236,0.182322],[-0.999991,0.003089,-0.002932],[-0.003446,-0.182313,0.983235]] 2025-10-28T17:52:45.797Z,1761673965.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003196,0.983350,0.181693],[-0.999990,0.003732,-0.002610],[-0.003245,-0.181683,0.983352]] 2025-10-28T17:52:46.199Z,1761673966.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005516,0.983024,0.183397],[-0.999981,0.005934,-0.001731],[-0.002790,-0.183384,0.983037]] 2025-10-28T17:52:46.609Z,1761673966.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009397,0.982506,0.185992],[-0.999953,0.009642,-0.000416],[-0.002202,-0.185980,0.982551]] 2025-10-28T17:52:47.006Z,1761673967.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014665,0.981069,0.193101],[-0.999892,0.014637,0.001567],[-0.001289,-0.193103,0.981178]] 2025-10-28T17:52:47.413Z,1761673967.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021258,0.979523,0.200209],[-0.999774,0.020987,0.003477],[-0.000796,-0.200238,0.979747]] 2025-10-28T17:52:47.814Z,1761673967.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028830,0.978379,0.204800],[-0.999584,0.028372,0.005177],[-0.000746,-0.204864,0.978790]] 2025-10-28T17:52:48.218Z,1761673968.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037622,0.977027,0.209767],[-0.999291,0.037151,0.006186],[-0.001749,-0.209851,0.977732]] 2025-10-28T17:52:48.623Z,1761673968.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046798,0.975299,0.215872],[-0.998899,0.046423,0.006810],[-0.003379,-0.215953,0.976398]] 2025-10-28T17:52:49.028Z,1761673969.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054635,0.974638,0.217017],[-0.998494,0.054424,0.006951],[-0.005037,-0.217070,0.976143]] 2025-10-28T17:52:49.430Z,1761673969.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060283,0.974522,0.216038],[-0.998160,0.060276,0.006628],[-0.006563,-0.216040,0.976362]] 2025-10-28T17:52:49.834Z,1761673969.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063363,0.974757,0.214090],[-0.997959,0.063578,0.005892],[-0.007868,-0.214026,0.976796]] 2025-10-28T17:52:50.239Z,1761673970.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064290,0.975210,0.211739],[-0.997892,0.064696,0.005017],[-0.008806,-0.211615,0.977313]] 2025-10-28T17:52:50.643Z,1761673970.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064036,0.976557,0.205515],[-0.997904,0.064579,0.004072],[-0.009296,-0.205345,0.978645]] 2025-10-28T17:52:51.052Z,1761673971.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062722,0.978185,0.198041],[-0.997989,0.063296,0.003438],[-0.009172,-0.197858,0.980188]] 2025-10-28T17:52:51.451Z,1761673971.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060590,0.979468,0.192277],[-0.998130,0.061024,0.003669],[-0.008139,-0.192140,0.981334]] 2025-10-28T17:52:51.521Z,1761673971.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:52:51.854Z,1761673971.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057900,0.980464,0.187983],[-0.998305,0.057966,0.005151],[-0.005846,-0.187962,0.982159]] 2025-10-28T17:52:51.887Z,1761673971.887 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 28, +3733.37+21.09, 56.70, 0.00 2025-10-28T17:52:52.259Z,1761673972.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055771,0.981252,0.184481],[-0.998440,0.055327,0.007556],[-0.002792,-0.184614,0.982807]] 2025-10-28T17:52:52.289Z,1761673972.289 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:52:52.289Z,1761673972.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:52:52.290Z,1761673972.290 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:52:52.290Z,1761673972.290 [marl:UpdateRudder:A] Stopped 2025-10-28T17:52:52.290Z,1761673972.290 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:52:52.524Z,1761673972.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:52:52.664Z,1761673972.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055362,0.981618,0.182652],[-0.998466,0.054358,0.010504],[0.000382,-0.182953,0.983122]] 2025-10-28T17:52:52.687Z,1761673972.687 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:52:52.687Z,1761673972.687 [marl:UpdateRudder:B] Stopped 2025-10-28T17:52:52.687Z,1761673972.687 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:52:52.687Z,1761673972.687 [marl:UpdateRudder] Stopped 2025-10-28T17:52:52.687Z,1761673972.687 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:52:53.082Z,1761673973.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057521,0.981656,0.181775],[-0.998340,0.056011,0.013437],[0.003009,-0.182247,0.983248]] 2025-10-28T17:52:53.116Z,1761673973.116 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:52:53.116Z,1761673973.116 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:52:53.116Z,1761673973.116 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:52:53.116Z,1761673973.116 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateCommandMode] Stopped 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:52:53.117Z,1761673973.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:52:53.118Z,1761673973.118 [marl:UpdateSpeed] Stopped 2025-10-28T17:52:53.118Z,1761673973.118 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:52:53.471Z,1761673973.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061994,0.981661,0.180274],[-0.998063,0.060046,0.016247],[0.005124,-0.180932,0.983482]] 2025-10-28T17:52:53.875Z,1761673973.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067733,0.981350,0.179903],[-0.997679,0.065353,0.019127],[0.007013,-0.180781,0.983498]] 2025-10-28T17:52:54.284Z,1761673974.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074660,0.980171,0.183550],[-0.997173,0.071816,0.022101],[0.008481,-0.184681,0.982762]] 2025-10-28T17:52:54.683Z,1761673974.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082214,0.979038,0.186345],[-0.996566,0.078909,0.025094],[0.009864,-0.187768,0.982164]] 2025-10-28T17:52:55.095Z,1761673975.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089771,0.977276,0.192021],[-0.995903,0.085973,0.028038],[0.010892,-0.193751,0.980990]] 2025-10-28T17:52:55.491Z,1761673975.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096382,0.975825,0.196155],[-0.995275,0.092165,0.030536],[0.011719,-0.198172,0.980097]] 2025-10-28T17:52:55.651Z,1761673975.651 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:52:55.753Z,1761673975.753 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:52:55.753Z,1761673975.753 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:52:55.896Z,1761673975.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101340,0.974774,0.198863],[-0.994774,0.096786,0.032517],[0.012450,-0.201119,0.979488]] 2025-10-28T17:52:56.005Z,1761673976.005 [DAT](INFO): DAT read: user:89> 2025-10-28T17:52:56.006Z,1761673976.006 [DAT](INFO): DAT read: Tx time:17:52:55.7522 2025-10-28T17:52:56.006Z,1761673976.006 [DAT](INFO): Ping request sent. 2025-10-28T17:52:56.006Z,1761673976.006 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:52:56.006Z,1761673976.006 [DAT](INFO): publishing transmit ping time 2025-10-28T17:52:56.007Z,1761673976.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T17:52:56.257Z,1761673976.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250753 2025-10-28T17:52:56.302Z,1761673976.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104659,0.974135,0.200271],[-0.994420,0.099818,0.034143],[0.013269,-0.202727,0.979145]] 2025-10-28T17:52:56.509Z,1761673976.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503015 2025-10-28T17:52:56.702Z,1761673976.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105862,0.973972,0.200427],[-0.994274,0.100730,0.035665],[0.014547,-0.203055,0.979059]] 2025-10-28T17:52:56.761Z,1761673976.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755421 2025-10-28T17:52:57.014Z,1761673977.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007458 2025-10-28T17:52:57.109Z,1761673977.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106070,0.973778,0.201259],[-0.994230,0.100600,0.037245],[0.016021,-0.204049,0.978830]] 2025-10-28T17:52:57.265Z,1761673977.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258998 2025-10-28T17:52:57.512Z,1761673977.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105430,0.973790,0.201536],[-0.994272,0.099646,0.038661],[0.017565,-0.204458,0.978718]] 2025-10-28T17:52:57.520Z,1761673977.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513166 2025-10-28T17:52:57.770Z,1761673977.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763564 2025-10-28T17:52:57.914Z,1761673977.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104229,0.974436,0.199023],[-0.994364,0.098196,0.039976],[0.019410,-0.202068,0.979179]] 2025-10-28T17:52:58.021Z,1761673978.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014921 2025-10-28T17:52:58.273Z,1761673978.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811 2025-10-28T17:52:58.322Z,1761673978.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103173,0.974951,0.197042],[-0.994434,0.096845,0.041507],[0.021385,-0.200227,0.979516]] 2025-10-28T17:52:58.525Z,1761673978.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518869 2025-10-28T17:52:58.723Z,1761673978.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102502,0.975451,0.194906],[-0.994457,0.095875,0.043159],[0.023413,-0.198249,0.979872]] 2025-10-28T17:52:58.777Z,1761673978.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771166 2025-10-28T17:52:59.029Z,1761673979.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022785 2025-10-28T17:52:59.130Z,1761673979.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102746,0.975817,0.192937],[-0.994385,0.095822,0.044904],[0.025331,-0.196468,0.980183]] 2025-10-28T17:52:59.281Z,1761673979.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274919 2025-10-28T17:52:59.536Z,1761673979.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529273 2025-10-28T17:52:59.583Z,1761673979.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103957,0.976425,0.189173],[-0.994214,0.096847,0.046475],[0.027058,-0.192910,0.980843]] 2025-10-28T17:52:59.786Z,1761673979.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779548 2025-10-28T17:52:59.934Z,1761673979.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106122,0.976612,0.186997],[-0.993939,0.098755,0.048310],[0.028713,-0.190990,0.981172]] 2025-10-28T17:53:00.038Z,1761673980.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031887 2025-10-28T17:53:00.289Z,1761673980.289 [DAT](INFO): DAT read: Rx Time:17:52:59.4909 2025-10-28T17:53:00.289Z,1761673980.289 [DAT](INFO): Rx dataTimestamp_ set to:1761673980.289103 2025-10-28T17:53:00.290Z,1761673980.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283891 2025-10-28T17:53:00.361Z,1761673980.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109155,0.976529,0.185677],[-0.993557,0.101453,0.050515],[0.030492,-0.189994,0.981312]] 2025-10-28T17:53:00.543Z,1761673980.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537086 2025-10-28T17:53:00.743Z,1761673980.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113796,0.975795,0.186745],[-0.992990,0.105665,0.052966],[0.031952,-0.191464,0.980980]] 2025-10-28T17:53:00.823Z,1761673980.823 [DAT](INFO): DAT read: 17:52:59.4909 LVL= 28336, 23217, 32754, 32755, AGC= 81, IDX= 174,-0.08,-1.563,-0.365,-2.334,-1.059, PHS=-0.402, 0.740,-1.319, RAW= 356.4, 11.0, CAL= 356.6, 12.6, ROT= 153.4, -12.6 2025-10-28T17:53:00.825Z,1761673980.825 [DAT](INFO): got valid direction response: 17:52:59.4909 LVL= 28336, 23217, 32754, 32755, AGC= 81, IDX= 174,-0.08,-1.563,-0.365,-2.334,-1.059, PHS=-0.402, 0.740,-1.319, RAW= 356.4, 11.0, CAL= 356.6, 12.6, ROT= 153.4, -12.6 2025-10-28T17:53:00.826Z,1761673980.826 [DAT](INFO): DAT read: Bearing 230.7, 21.6 (Local) 2025-10-28T17:53:00.826Z,1761673980.826 [DAT](INFO): Local bearing/azimuth received: Bearing 230.7, 21.6 (Local) 2025-10-28T17:53:00.827Z,1761673980.827 [DAT](INFO): DAT read: Range 11 to 20 : 1000.8 m (Round-trip 1334.5 ms) speed -0.8 m/s 2025-10-28T17:53:00.828Z,1761673980.828 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:53:00.829Z,1761673980.829 [DAT](INFO): direction in FSK: [-0.872620,0.436976,0.218143] 2025-10-28T17:53:00.829Z,1761673980.829 [DAT](INFO): publishing direction and range info 2025-10-28T17:53:01.146Z,1761673981.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119615,0.974563,0.189523],[-0.992253,0.110895,0.056005],[0.033563,-0.194754,0.980278]] 2025-10-28T17:53:01.203Z,1761673981.203 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673984.00. Resetting abort timer. 2025-10-28T17:53:01.604Z,1761673981.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126131,0.973471,0.190907],[-0.991379,0.116814,0.059340],[0.035465,-0.196746,0.979813]] 2025-10-28T17:53:01.957Z,1761673981.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133420,0.971864,0.194110],[-0.990351,0.123336,0.063195],[0.037476,-0.200669,0.978942]] 2025-10-28T17:53:02.362Z,1761673982.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141123,0.969776,0.199044],[-0.989211,0.130147,0.067254],[0.039316,-0.206388,0.977680]] 2025-10-28T17:53:02.767Z,1761673982.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149257,0.967870,0.202363],[-0.987956,0.137530,0.070906],[0.040796,-0.210509,0.976740]] 2025-10-28T17:53:03.167Z,1761673983.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157345,0.966241,0.204010],[-0.986649,0.145020,0.074112],[0.042024,-0.212947,0.976160]] 2025-10-28T17:53:03.604Z,1761673983.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164750,0.965062,0.203745],[-0.985398,0.152039,0.076654],[0.042998,-0.213398,0.976019]] 2025-10-28T17:53:03.974Z,1761673983.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170863,0.964660,0.200589],[-0.984318,0.158057,0.078334],[0.043861,-0.210827,0.976539]] 2025-10-28T17:53:04.383Z,1761673984.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175352,0.964529,0.197320],[-0.983506,0.162589,0.079252],[0.044359,-0.207962,0.977131]] 2025-10-28T17:53:04.788Z,1761673984.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177755,0.964664,0.194492],[-0.983080,0.165188,0.079164],[0.044239,-0.205273,0.977704]] 2025-10-28T17:53:05.187Z,1761673985.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178327,0.965354,0.190505],[-0.983016,0.166254,0.077712],[0.043348,-0.201127,0.978606]] 2025-10-28T17:53:05.611Z,1761673985.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177379,0.966586,0.185064],[-0.983250,0.166048,0.075152],[0.041911,-0.195295,0.979849]] 2025-10-28T17:53:05.653Z,1761673985.653 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:53:05.653Z,1761673985.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:53:05.654Z,1761673985.654 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:53:05.654Z,1761673985.654 [marl:UpdateRudder:A] Stopped 2025-10-28T17:53:05.654Z,1761673985.654 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:53:05.995Z,1761673985.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175313,0.967654,0.181415],[-0.983704,0.164703,0.072101],[0.039890,-0.191100,0.980760]] 2025-10-28T17:53:06.042Z,1761673986.042 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:53:06.042Z,1761673986.042 [marl:UpdateRudder:B] Stopped 2025-10-28T17:53:06.043Z,1761673986.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:53:06.043Z,1761673986.043 [marl:UpdateRudder] Stopped 2025-10-28T17:53:06.043Z,1761673986.043 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:53:06.406Z,1761673986.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172326,0.968741,0.178451],[-0.984308,0.162367,0.069094],[0.037960,-0.187557,0.981520]] 2025-10-28T17:53:06.430Z,1761673986.430 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:53:06.430Z,1761673986.430 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:53:06.430Z,1761673986.430 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateCommandMode] Stopped 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:53:06.431Z,1761673986.431 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:53:06.432Z,1761673986.432 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:53:06.432Z,1761673986.432 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:53:06.432Z,1761673986.432 [marl:UpdateSpeed] Stopped 2025-10-28T17:53:06.432Z,1761673986.432 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:53:06.803Z,1761673986.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168387,0.969940,0.175676],[-0.985033,0.158920,0.066738],[0.036813,-0.184285,0.982183]] 2025-10-28T17:53:07.207Z,1761673987.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163850,0.970780,0.175326],[-0.985789,0.154450,0.066073],[0.037063,-0.183660,0.982291]] 2025-10-28T17:53:07.614Z,1761673987.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159273,0.971363,0.176314],[-0.986476,0.149591,0.066998],[0.038704,-0.184600,0.982051]] 2025-10-28T17:53:08.016Z,1761673988.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155686,0.971835,0.176914],[-0.986941,0.145540,0.069032],[0.041340,-0.185351,0.981802]] 2025-10-28T17:53:08.419Z,1761673988.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155459,0.971907,0.176718],[-0.986889,0.144945,0.071005],[0.043396,-0.185439,0.981697]] 2025-10-28T17:53:08.822Z,1761673988.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158694,0.970908,0.179318],[-0.986328,0.147724,0.073040],[0.044426,-0.188457,0.981076]] 2025-10-28T17:53:09.227Z,1761673989.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164775,0.969375,0.182102],[-0.985323,0.153430,0.074820],[0.044589,-0.191758,0.980429]] 2025-10-28T17:53:09.633Z,1761673989.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172193,0.967611,0.184603],[-0.984058,0.160508,0.076592],[0.044481,-0.194849,0.979824]] 2025-10-28T17:53:10.034Z,1761673990.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180633,0.965441,0.187869],[-0.982555,0.168534,0.078629],[0.044249,-0.198795,0.979042]] 2025-10-28T17:53:10.439Z,1761673990.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189623,0.963207,0.190460],[-0.980880,0.177186,0.080493],[0.043784,-0.202081,0.978390]] 2025-10-28T17:53:10.842Z,1761673990.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198738,0.961103,0.191793],[-0.979107,0.186115,0.081915],[0.043033,-0.204066,0.978011]] 2025-10-28T17:53:11.248Z,1761673991.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207689,0.959365,0.191008],[-0.977292,0.195115,0.082644],[0.042017,-0.203835,0.978103]] 2025-10-28T17:53:11.655Z,1761673991.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215924,0.957898,0.189229],[-0.975561,0.203565,0.082716],[0.040713,-0.202465,0.978443]] 2025-10-28T17:53:12.063Z,1761673992.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222614,0.956662,0.187725],[-0.974115,0.210514,0.082361],[0.039273,-0.201200,0.978763]] 2025-10-28T17:53:12.458Z,1761673992.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226356,0.956665,0.183181],[-0.973288,0.214735,0.081229],[0.038374,-0.196675,0.979718]] 2025-10-28T17:53:12.863Z,1761673992.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227860,0.956863,0.180256],[-0.972974,0.216639,0.079934],[0.037436,-0.193598,0.980366]] 2025-10-28T17:53:13.268Z,1761673993.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227508,0.957177,0.179032],[-0.973089,0.216567,0.078715],[0.036571,-0.192123,0.980689]] 2025-10-28T17:53:13.671Z,1761673993.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225733,0.957771,0.178098],[-0.973527,0.215041,0.077472],[0.035902,-0.190871,0.980958]] 2025-10-28T17:53:14.076Z,1761673994.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222938,0.958555,0.177398],[-0.974186,0.212445,0.076342],[0.035490,-0.189839,0.981174]] 2025-10-28T17:53:14.482Z,1761673994.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219431,0.959235,0.178099],[-0.974981,0.208953,0.075834],[0.035529,-0.190283,0.981086]] 2025-10-28T17:53:14.882Z,1761673994.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216154,0.960005,0.177953],[-0.975697,0.205675,0.075588],[0.035965,-0.189967,0.981132]] 2025-10-28T17:53:15.287Z,1761673995.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213842,0.959944,0.181049],[-0.976182,0.203045,0.076428],[0.036605,-0.193080,0.980500]] 2025-10-28T17:53:15.691Z,1761673995.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212963,0.959815,0.182760],[-0.976355,0.201944,0.077139],[0.037132,-0.194866,0.980127]] 2025-10-28T17:53:16.095Z,1761673996.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214230,0.958793,0.186605],[-0.976072,0.202844,0.078340],[0.037260,-0.198923,0.979307]] 2025-10-28T17:53:16.507Z,1761673996.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217151,0.957745,0.188601],[-0.975436,0.205578,0.079136],[0.037020,-0.201153,0.978860]] 2025-10-28T17:53:16.903Z,1761673996.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221468,0.956605,0.189366],[-0.974488,0.209854,0.079584],[0.036392,-0.202160,0.978676]] 2025-10-28T17:53:17.307Z,1761673997.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226156,0.955475,0.189526],[-0.973442,0.214585,0.079773],[0.035552,-0.202534,0.978630]] 2025-10-28T17:53:17.711Z,1761673997.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231069,0.954325,0.189397],[-0.972338,0.219675,0.079383],[0.034152,-0.202501,0.978686]] 2025-10-28T17:53:18.117Z,1761673998.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235518,0.952991,0.190627],[-0.971327,0.224256,0.078957],[0.032496,-0.203757,0.978482]] 2025-10-28T17:53:18.518Z,1761673998.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240031,0.952403,0.187918],[-0.970289,0.229314,0.077164],[0.030399,-0.200856,0.979149]] 2025-10-28T17:53:18.923Z,1761673998.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243726,0.952049,0.184934],[-0.969426,0.233551,0.075278],[0.028477,-0.197627,0.979863]] 2025-10-28T17:53:18.959Z,1761673998.959 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:53:18.959Z,1761673998.959 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:53:18.959Z,1761673998.959 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:53:18.968Z,1761673998.968 [marl:UpdateRudder:A] Stopped 2025-10-28T17:53:18.968Z,1761673998.968 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:53:19.327Z,1761673999.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247004,0.951859,0.181528],[-0.968644,0.237363,0.073397],[0.026776,-0.193966,0.980643]] 2025-10-28T17:53:19.358Z,1761673999.358 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:53:19.358Z,1761673999.358 [marl:UpdateRudder:B] Stopped 2025-10-28T17:53:19.358Z,1761673999.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:53:19.358Z,1761673999.358 [marl:UpdateRudder] Stopped 2025-10-28T17:53:19.358Z,1761673999.358 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:53:19.730Z,1761673999.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249412,0.951797,0.178542],[-0.968060,0.240184,0.071911],[0.025562,-0.190775,0.981301]] 2025-10-28T17:53:19.815Z,1761673999.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:53:19.815Z,1761673999.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:53:19.815Z,1761673999.815 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:53:19.815Z,1761673999.815 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:53:19.815Z,1761673999.815 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:53:19.816Z,1761673999.816 [marl:UpdateCommandMode] Stopped 2025-10-28T17:53:19.816Z,1761673999.816 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:53:19.816Z,1761673999.816 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:53:19.816Z,1761673999.816 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:53:19.816Z,1761673999.816 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:53:19.817Z,1761673999.817 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:53:19.817Z,1761673999.817 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:53:19.817Z,1761673999.817 [marl:UpdateSpeed] Stopped 2025-10-28T17:53:19.817Z,1761673999.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:53:20.135Z,1761674000.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252346,0.951942,0.173576],[-0.967338,0.243717,0.069703],[0.024050,-0.185496,0.982351]] 2025-10-28T17:53:20.546Z,1761674000.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255409,0.951858,0.169509],[-0.966564,0.247247,0.067991],[0.022807,-0.181207,0.983181]] 2025-10-28T17:53:20.943Z,1761674000.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258870,0.951453,0.166504],[-0.965668,0.251059,0.066737],[0.021695,-0.178064,0.983780]] 2025-10-28T17:53:21.349Z,1761674001.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262283,0.950509,0.166556],[-0.964770,0.254594,0.066338],[0.020651,-0.178087,0.983798]] 2025-10-28T17:53:21.753Z,1761674001.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266319,0.948946,0.169046],[-0.963686,0.258571,0.066714],[0.019598,-0.180675,0.983348]] 2025-10-28T17:53:22.154Z,1761674002.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271034,0.946736,0.173872],[-0.962399,0.263126,0.067473],[0.018129,-0.185622,0.982454]] 2025-10-28T17:53:22.564Z,1761674002.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275202,0.944699,0.178347],[-0.961240,0.267149,0.068177],[0.016762,-0.190197,0.981603]] 2025-10-28T17:53:22.644Z,1761674002.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:53:22.964Z,1761674002.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278663,0.942517,0.184415],[-0.960266,0.270365,0.069229],[0.015390,-0.196379,0.980407]] 2025-10-28T17:53:23.366Z,1761674003.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281064,0.940865,0.189146],[-0.959586,0.272638,0.069733],[0.014041,-0.201101,0.979470]] 2025-10-28T17:53:23.648Z,1761674003.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:53:23.775Z,1761674003.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282285,0.939885,0.192174],[-0.959250,0.273944,0.069242],[0.012435,-0.203889,0.978915]] 2025-10-28T17:53:24.174Z,1761674004.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282869,0.939804,0.191714],[-0.959103,0.274994,0.067079],[0.010320,-0.202848,0.979156]] 2025-10-28T17:53:24.586Z,1761674004.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281986,0.940345,0.190356],[-0.959383,0.274672,0.064334],[0.008211,-0.200766,0.979605]] 2025-10-28T17:53:24.983Z,1761674004.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280436,0.941331,0.187755],[-0.959853,0.273747,0.061200],[0.006212,-0.197380,0.980307]] 2025-10-28T17:53:25.387Z,1761674005.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277996,0.942895,0.183485],[-0.960571,0.271949,0.057852],[0.004650,-0.192333,0.981319]] 2025-10-28T17:53:25.792Z,1761674005.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275151,0.944477,0.179597],[-0.961394,0.269615,0.055035],[0.003557,-0.187807,0.982200]] 2025-10-28T17:53:26.201Z,1761674006.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272576,0.945886,0.176076],[-0.962130,0.267423,0.052833],[0.002887,-0.183809,0.982958]] 2025-10-28T17:53:26.598Z,1761674006.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271049,0.946789,0.173559],[-0.962562,0.266100,0.051630],[0.002699,-0.181055,0.983469]] 2025-10-28T17:53:27.002Z,1761674007.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271203,0.946980,0.172271],[-0.962519,0.266338,0.051207],[0.002610,-0.179702,0.983718]] 2025-10-28T17:53:27.406Z,1761674007.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273229,0.946663,0.170805],[-0.961946,0.268420,0.051101],[0.002528,-0.178267,0.983979]] 2025-10-28T17:53:27.812Z,1761674007.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277113,0.945091,0.173240],[-0.960835,0.272184,0.052070],[0.002058,-0.180884,0.983502]] 2025-10-28T17:53:28.215Z,1761674008.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282307,0.943083,0.175777],[-0.959323,0.277306,0.052918],[0.001162,-0.183566,0.983007]] 2025-10-28T17:53:28.622Z,1761674008.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288412,0.940453,0.179905],[-0.957506,0.283314,0.053990],[-0.000194,-0.187831,0.982201]] 2025-10-28T17:53:29.039Z,1761674009.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301246,0.934746,0.188415],[-0.953540,0.296025,0.055950],[-0.003476,-0.196516,0.980494]] 2025-10-28T17:53:29.435Z,1761674009.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306408,0.932430,0.191541],[-0.951886,0.301235,0.056302],[-0.005201,-0.199576,0.979868]] 2025-10-28T17:53:29.835Z,1761674009.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310728,0.930695,0.193015],[-0.950474,0.305731,0.055935],[-0.006952,-0.200836,0.979600]] 2025-10-28T17:53:30.239Z,1761674010.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313677,0.929764,0.192734],[-0.949493,0.308911,0.055100],[-0.008308,-0.200283,0.979703]] 2025-10-28T17:53:30.643Z,1761674010.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316307,0.928985,0.192192],[-0.948610,0.311753,0.054312],[-0.009461,-0.199494,0.979853]] 2025-10-28T17:53:31.052Z,1761674011.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318144,0.928799,0.190046],[-0.947990,0.313767,0.053519],[-0.009921,-0.197188,0.980315]] 2025-10-28T17:53:31.446Z,1761674011.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320540,0.928410,0.187907],[-0.947178,0.316325,0.052842],[-0.010381,-0.194920,0.980764]] 2025-10-28T17:53:31.850Z,1761674011.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323237,0.927903,0.185782],[-0.946261,0.319088,0.052663],[-0.010414,-0.192821,0.981179]] 2025-10-28T17:53:32.255Z,1761674012.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327103,0.926824,0.184393],[-0.944928,0.323002,0.052726],[-0.010691,-0.191485,0.981437]] 2025-10-28T17:53:32.279Z,1761674012.279 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:53:32.279Z,1761674012.279 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:53:32.279Z,1761674012.279 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:53:32.280Z,1761674012.280 [marl:UpdateRudder:A] Stopped 2025-10-28T17:53:32.280Z,1761674012.280 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:53:32.665Z,1761674012.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330870,0.925706,0.183285],[-0.943614,0.326783,0.052974],[-0.010856,-0.190478,0.981631]] 2025-10-28T17:53:32.691Z,1761674012.691 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T17:53:32.691Z,1761674012.691 [marl:UpdateRudder:B] Stopped 2025-10-28T17:53:32.691Z,1761674012.691 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:53:32.691Z,1761674012.691 [marl:UpdateRudder] Stopped 2025-10-28T17:53:32.691Z,1761674012.691 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:53:33.064Z,1761674013.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335111,0.924662,0.180837],[-0.942114,0.331114,0.052778],[-0.011075,-0.188055,0.982096]] 2025-10-28T17:53:33.095Z,1761674013.095 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:53:33.095Z,1761674013.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:53:33.096Z,1761674013.096 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:53:33.096Z,1761674013.096 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:53:33.096Z,1761674013.096 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:53:33.096Z,1761674013.096 [marl:UpdateCommandMode] Stopped 2025-10-28T17:53:33.096Z,1761674013.096 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed] Stopped 2025-10-28T17:53:33.097Z,1761674013.097 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:53:33.467Z,1761674013.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339099,0.923231,0.180710],[-0.940680,0.335117,0.053084],[-0.011550,-0.187991,0.982103]] 2025-10-28T17:53:33.871Z,1761674013.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341878,0.921760,0.182972],[-0.939668,0.337794,0.054035],[-0.011999,-0.190406,0.981632]] 2025-10-28T17:53:34.281Z,1761674014.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343713,0.920722,0.184748],[-0.938986,0.339669,0.054135],[-0.012910,-0.192082,0.981294]] 2025-10-28T17:53:34.678Z,1761674014.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343883,0.920144,0.187296],[-0.938913,0.339844,0.054301],[-0.013687,-0.194527,0.980802]] 2025-10-28T17:53:35.086Z,1761674015.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342622,0.920411,0.188291],[-0.939362,0.338709,0.053612],[-0.014430,-0.195242,0.980649]] 2025-10-28T17:53:35.487Z,1761674015.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340204,0.921323,0.188216],[-0.940230,0.336499,0.052312],[-0.015139,-0.194763,0.980734]] 2025-10-28T17:53:35.891Z,1761674015.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337155,0.922646,0.187220],[-0.941316,0.333719,0.050556],[-0.015834,-0.193278,0.981016]] 2025-10-28T17:53:35.914Z,1761674015.914 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -86. 2025-10-28T17:53:36.295Z,1761674016.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333887,0.924279,0.185006],[-0.942476,0.330699,0.048766],[-0.016108,-0.190646,0.981527]] 2025-10-28T17:53:36.698Z,1761674016.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331362,0.925696,0.182447],[-0.943366,0.328362,0.047317],[-0.016107,-0.187794,0.982076]] 2025-10-28T17:53:37.103Z,1761674017.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330265,0.926224,0.181755],[-0.943752,0.327312,0.046897],[-0.016053,-0.187020,0.982225]] 2025-10-28T17:53:37.520Z,1761674017.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331156,0.925865,0.181961],[-0.943436,0.328217,0.046931],[-0.016271,-0.187210,0.982185]] 2025-10-28T17:53:37.910Z,1761674017.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333239,0.925152,0.181783],[-0.942698,0.330306,0.047093],[-0.016476,-0.187060,0.982210]] 2025-10-28T17:53:38.315Z,1761674018.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336692,0.923883,0.181874],[-0.941467,0.333726,0.047619],[-0.016702,-0.187261,0.982168]] 2025-10-28T17:53:38.720Z,1761674018.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341616,0.921666,0.183930],[-0.939678,0.338579,0.048671],[-0.017416,-0.189462,0.981734]] 2025-10-28T17:53:39.125Z,1761674019.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347117,0.919554,0.184201],[-0.937645,0.344104,0.049135],[-0.018202,-0.189770,0.981660]] 2025-10-28T17:53:39.543Z,1761674019.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353424,0.916833,0.185763],[-0.935263,0.350421,0.049889],[-0.019356,-0.191369,0.981327]] 2025-10-28T17:53:39.931Z,1761674019.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358905,0.914292,0.187768],[-0.933154,0.355848,0.050940],[-0.020243,-0.193499,0.980892]] 2025-10-28T17:53:40.334Z,1761674020.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362960,0.912320,0.189560],[-0.931570,0.359850,0.051827],[-0.020930,-0.195400,0.980500]] 2025-10-28T17:53:40.740Z,1761674020.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365464,0.910977,0.191197],[-0.930574,0.362345,0.052323],[-0.021614,-0.197045,0.980156]] 2025-10-28T17:53:41.167Z,1761674021.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366624,0.910421,0.191626],[-0.930099,0.363623,0.051906],[-0.022423,-0.197261,0.980095]] 2025-10-28T17:53:41.585Z,1761674021.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366597,0.910567,0.190981],[-0.930091,0.363797,0.050828],[-0.023196,-0.196263,0.980277]] 2025-10-28T17:53:41.951Z,1761674021.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365459,0.911241,0.189948],[-0.930523,0.362873,0.049502],[-0.023819,-0.194842,0.980545]] 2025-10-28T17:53:42.355Z,1761674022.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363973,0.912158,0.188389],[-0.931099,0.361556,0.048297],[-0.024059,-0.192988,0.980906]] 2025-10-28T17:53:42.763Z,1761674022.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362514,0.913608,0.184132],[-0.931675,0.360296,0.046572],[-0.023793,-0.188434,0.981798]] 2025-10-28T17:53:43.164Z,1761674023.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362196,0.914652,0.179518],[-0.931814,0.360089,0.045366],[-0.023148,-0.183709,0.982708]] 2025-10-28T17:53:43.601Z,1761674023.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363863,0.914611,0.176325],[-0.931177,0.361786,0.044956],[-0.022674,-0.180547,0.983305]] 2025-10-28T17:53:43.972Z,1761674023.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366751,0.913837,0.174344],[-0.930062,0.364557,0.045634],[-0.021856,-0.178887,0.983627]] 2025-10-28T17:53:44.375Z,1761674024.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370704,0.912467,0.173152],[-0.928521,0.368260,0.047253],[-0.020648,-0.178292,0.983761]] 2025-10-28T17:53:44.783Z,1761674024.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375349,0.910193,0.175107],[-0.926687,0.372407,0.050644],[-0.019115,-0.181279,0.983246]] 2025-10-28T17:53:45.183Z,1761674025.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381203,0.907141,0.178266],[-0.924317,0.377718,0.054464],[-0.017928,-0.185537,0.982474]] 2025-10-28T17:53:45.606Z,1761674025.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388009,0.903219,0.183423],[-0.921486,0.383994,0.058414],[-0.017673,-0.191687,0.981297]] 2025-10-28T17:53:45.655Z,1761674025.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:53:45.655Z,1761674025.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:53:45.655Z,1761674025.655 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:53:45.655Z,1761674025.655 [marl:UpdateRudder:A] Stopped 2025-10-28T17:53:45.655Z,1761674025.655 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:53:46.001Z,1761674026.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395375,0.899056,0.188089],[-0.918324,0.391137,0.060761],[-0.018941,-0.196750,0.980271]] 2025-10-28T17:53:46.028Z,1761674026.028 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:53:46.028Z,1761674026.028 [marl:UpdateRudder:B] Stopped 2025-10-28T17:53:46.029Z,1761674026.029 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:53:46.029Z,1761674026.029 [marl:UpdateRudder] Stopped 2025-10-28T17:53:46.029Z,1761674026.029 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:53:46.394Z,1761674026.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401934,0.895238,0.192347],[-0.915423,0.397729,0.061750],[-0.021221,-0.200899,0.979382]] 2025-10-28T17:53:46.443Z,1761674026.443 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:53:46.444Z,1761674026.444 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:53:46.445Z,1761674026.445 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:53:46.445Z,1761674026.445 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:53:46.445Z,1761674026.445 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:53:46.445Z,1761674026.445 [marl:UpdateCommandMode] Stopped 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed] Stopped 2025-10-28T17:53:46.446Z,1761674026.446 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:53:46.800Z,1761674026.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405663,0.892465,0.197341],[-0.913731,0.401424,0.062883],[-0.023097,-0.205826,0.978316]] 2025-10-28T17:53:47.202Z,1761674027.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406502,0.891407,0.200375],[-0.913319,0.402363,0.062870],[-0.024581,-0.208563,0.977700]] 2025-10-28T17:53:47.611Z,1761674027.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405477,0.891553,0.201795],[-0.913737,0.401575,0.061819],[-0.025921,-0.209454,0.977475]] 2025-10-28T17:53:48.014Z,1761674028.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403499,0.892689,0.200737],[-0.914581,0.399980,0.059652],[-0.027040,-0.207660,0.977827]] 2025-10-28T17:53:48.416Z,1761674028.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400279,0.894317,0.199935],[-0.915982,0.396994,0.058070],[-0.027440,-0.206381,0.978087]] 2025-10-28T17:53:48.819Z,1761674028.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393362,0.896993,0.201669],[-0.919003,0.389933,0.058184],[-0.026447,-0.208222,0.977724]] 2025-10-28T17:53:49.222Z,1761674029.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382386,0.899368,0.211938],[-0.923694,0.377992,0.062532],[-0.023872,-0.219678,0.975280]] 2025-10-28T17:53:49.626Z,1761674029.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368916,0.899833,0.232811],[-0.929230,0.362672,0.070716],[-0.020801,-0.242423,0.969948]] 2025-10-28T17:53:50.032Z,1761674030.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355360,0.898148,0.258940],[-0.934562,0.346640,0.080218],[-0.017711,-0.270502,0.962557]] 2025-10-28T17:53:50.434Z,1761674030.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341927,0.894821,0.287022],[-0.939614,0.330271,0.089701],[-0.014529,-0.300361,0.953715]] 2025-10-28T17:53:50.838Z,1761674030.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328488,0.891448,0.312116],[-0.944439,0.314018,0.097098],[-0.011452,-0.326670,0.945069]] 2025-10-28T17:53:51.242Z,1761674031.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314259,0.888050,0.335571],[-0.949300,0.297092,0.102789],[-0.008414,-0.350860,0.936390]] 2025-10-28T17:53:51.713Z,1761674031.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299675,0.884775,0.356887],[-0.954025,0.280116,0.106637],[-0.005620,-0.372435,0.928041]] 2025-10-28T17:53:52.051Z,1761674032.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284801,0.882650,0.373923],[-0.958582,0.263486,0.108148],[-0.003067,-0.389236,0.921133]] 2025-10-28T17:53:52.454Z,1761674032.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268746,0.882138,0.386792],[-0.963211,0.246277,0.107574],[-0.000363,-0.401472,0.915871]] 2025-10-28T17:53:52.859Z,1761674032.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252266,0.883493,0.394718],[-0.967655,0.229317,0.105154],[0.002387,-0.408478,0.912765]] 2025-10-28T17:53:53.263Z,1761674033.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235324,0.886530,0.398356],[-0.971903,0.212447,0.101345],[0.005216,-0.411012,0.911615]] 2025-10-28T17:53:53.773Z,1761674033.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:53:54.070Z,1761674034.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201092,0.895592,0.396833],[-0.979518,0.179579,0.091079],[0.010306,-0.407020,0.913361]] 2025-10-28T17:53:54.485Z,1761674034.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184068,0.900328,0.394371],[-0.982829,0.163315,0.085885],[0.012918,-0.403408,0.914929]] 2025-10-28T17:53:54.776Z,1761674034.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:53:54.879Z,1761674034.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167640,0.904528,0.392078],[-0.985727,0.147553,0.081061],[0.015470,-0.400071,0.916353]] 2025-10-28T17:53:55.284Z,1761674035.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152310,0.908363,0.389459],[-0.988174,0.132894,0.076497],[0.017731,-0.396504,0.917862]] 2025-10-28T17:53:55.687Z,1761674035.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137844,0.911436,0.387664],[-0.990252,0.118910,0.072541],[0.020019,-0.393884,0.918942]] 2025-10-28T17:53:55.737Z,1761674035.737 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:53:55.749Z,1761674035.749 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:53:55.749Z,1761674035.749 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:53:56.001Z,1761674036.001 [DAT](INFO): DAT read: user:90> 2025-10-28T17:53:56.002Z,1761674036.002 [DAT](INFO): DAT read: Tx time:17:53:55.7520 2025-10-28T17:53:56.002Z,1761674036.002 [DAT](INFO): Ping request sent. 2025-10-28T17:53:56.002Z,1761674036.002 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:53:56.002Z,1761674036.002 [DAT](INFO): publishing transmit ping time 2025-10-28T17:53:56.003Z,1761674036.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T17:53:56.090Z,1761674036.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124407,0.913113,0.388263],[-0.991977,0.105599,0.069502],[0.022464,-0.393795,0.918924]] 2025-10-28T17:53:56.254Z,1761674036.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252518 2025-10-28T17:53:56.500Z,1761674036.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112443,0.913873,0.390120],[-0.993343,0.093487,0.067310],[0.025042,-0.395091,0.918301]] 2025-10-28T17:53:56.505Z,1761674036.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086 2025-10-28T17:53:56.758Z,1761674036.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755737 2025-10-28T17:53:56.915Z,1761674036.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101376,0.914083,0.392652],[-0.994471,0.082250,0.065281],[0.027376,-0.397099,0.917367]] 2025-10-28T17:53:57.009Z,1761674037.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006948 2025-10-28T17:53:57.261Z,1761674037.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965 2025-10-28T17:53:57.303Z,1761674037.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091071,0.913278,0.397026],[-0.995402,0.071594,0.063641],[0.029697,-0.400997,0.915598]] 2025-10-28T17:53:57.513Z,1761674037.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511005 2025-10-28T17:53:57.707Z,1761674037.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081478,0.913035,0.399660],[-0.996162,0.061732,0.062057],[0.031988,-0.403182,0.914561]] 2025-10-28T17:53:57.766Z,1761674037.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763709 2025-10-28T17:53:58.017Z,1761674038.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021 2025-10-28T17:53:58.111Z,1761674038.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071982,0.912507,0.402679],[-0.996830,0.052096,0.060135],[0.033896,-0.405731,0.913364]] 2025-10-28T17:53:58.269Z,1761674038.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266948 2025-10-28T17:53:58.522Z,1761674038.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519678 2025-10-28T17:53:58.523Z,1761674038.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061983,0.912366,0.404655],[-0.997446,0.042209,0.057618],[0.035489,-0.407193,0.912652]] 2025-10-28T17:53:58.775Z,1761674038.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773255 2025-10-28T17:53:58.919Z,1761674038.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050680,0.912764,0.405332],[-0.998045,0.031424,0.054027],[0.036577,-0.407277,0.912572]] 2025-10-28T17:53:58.953Z,1761674038.953 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:53:58.954Z,1761674038.954 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:53:58.954Z,1761674038.954 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:53:58.955Z,1761674038.955 [marl:UpdateRudder:A] Stopped 2025-10-28T17:53:58.955Z,1761674038.955 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:53:59.025Z,1761674039.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022901 2025-10-28T17:53:59.278Z,1761674039.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275676 2025-10-28T17:53:59.329Z,1761674039.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038077,0.913898,0.404154],[-0.998581,0.019736,0.049454],[0.037220,-0.405464,0.913353]] 2025-10-28T17:53:59.389Z,1761674039.389 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:53:59.389Z,1761674039.389 [marl:UpdateRudder:B] Stopped 2025-10-28T17:53:59.389Z,1761674039.389 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:53:59.389Z,1761674039.389 [marl:UpdateRudder] Stopped 2025-10-28T17:53:59.390Z,1761674039.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:53:59.529Z,1761674039.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527048 2025-10-28T17:53:59.767Z,1761674039.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023547,0.915846,0.400839],[-0.999022,0.006549,0.043723],[0.037418,-0.401476,0.915105]] 2025-10-28T17:53:59.781Z,1761674039.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779474 2025-10-28T17:53:59.841Z,1761674039.841 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:53:59.841Z,1761674039.841 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:53:59.841Z,1761674039.841 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:53:59.841Z,1761674039.841 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:53:59.841Z,1761674039.841 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateCommandMode] Stopped 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:53:59.842Z,1761674039.842 [marl:UpdateSpeed] Stopped 2025-10-28T17:53:59.843Z,1761674039.843 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:54:00.034Z,1761674040.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031649 2025-10-28T17:54:00.163Z,1761674040.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008025,0.917886,0.396763],[-0.999277,-0.007385,0.037296],[0.037163,-0.396776,0.917163]] 2025-10-28T17:54:00.297Z,1761674040.297 [DAT](INFO): DAT read: Rx Time:17:53:59.5824 2025-10-28T17:54:00.297Z,1761674040.297 [DAT](INFO): Rx dataTimestamp_ set to:1761674040.297207 2025-10-28T17:54:00.298Z,1761674040.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.296081 2025-10-28T17:54:00.549Z,1761674040.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547026 2025-10-28T17:54:00.569Z,1761674040.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009146,0.919558,0.392848],[-0.999267,-0.023011,0.030598],[0.037177,-0.392280,0.919094]] 2025-10-28T17:54:00.809Z,1761674040.809 [DAT](INFO): DAT read: 17:53:59.5824 LVL= 30576, 26193, 32754, 32755, AGC= 83, IDX= 362,-0.02, 1.634, 3.121, 1.142, 2.129, PHS=-0.394, 1.037,-1.032, RAW= 347.5, 4.3, CAL= 347.2, 2.1, ROT= 162.8, -2.1 2025-10-28T17:54:00.810Z,1761674040.810 [DAT](INFO): got valid direction response: 17:53:59.5824 LVL= 30576, 26193, 32754, 32755, AGC= 83, IDX= 362,-0.02, 1.634, 3.121, 1.142, 2.129, PHS=-0.394, 1.037,-1.032, RAW= 347.5, 4.3, CAL= 347.2, 2.1, ROT= 162.8, -2.1 2025-10-28T17:54:00.810Z,1761674040.810 [DAT](INFO): DAT read: $Error in header 2025-10-28T17:54:00.811Z,1761674040.811 [DAT](INFO): Received a bad header 2025-10-28T17:54:00.824Z,1761674040.824 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T17:54:00.825Z,1761674040.825 [DAT](INFO): direction in FSK: [-0.954637,0.295509,0.036644] 2025-10-28T17:54:00.975Z,1761674040.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027470,0.920906,0.388815],[-0.998936,-0.039698,0.023450],[0.037030,-0.387757,0.921018]] 2025-10-28T17:54:01.036Z,1761674041.036 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761673984.00. Resetting abort timer. 2025-10-28T17:54:01.373Z,1761674041.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046212,0.921908,0.384644],[-0.998262,-0.056719,0.016008],[0.036575,-0.383236,0.922926]] 2025-10-28T17:54:01.778Z,1761674041.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065516,0.922718,0.379866],[-0.997206,-0.074230,0.008320],[0.035874,-0.378260,0.925004]] 2025-10-28T17:54:02.183Z,1761674042.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085452,0.922987,0.375223],[-0.995721,-0.092406,0.000543],[0.035174,-0.373571,0.926934]] 2025-10-28T17:54:02.580Z,1761674042.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106231,0.922286,0.371623],[-0.993746,-0.111411,-0.007573],[0.034418,-0.370103,0.928353]] 2025-10-28T17:54:02.988Z,1761674042.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127502,0.920405,0.369593],[-0.991247,-0.131112,-0.015448],[0.034240,-0.368327,0.929065]] 2025-10-28T17:54:03.395Z,1761674043.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148952,0.918071,0.367367],[-0.988231,-0.151286,-0.022615],[0.034815,-0.366412,0.929801]] 2025-10-28T17:54:03.793Z,1761674043.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169976,0.914642,0.366794],[-0.984783,-0.171325,-0.029141],[0.036187,-0.366166,0.929846]] 2025-10-28T17:54:04.195Z,1761674044.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188814,0.910474,0.367949],[-0.981290,-0.189303,-0.035129],[0.037670,-0.367697,0.929182]] 2025-10-28T17:54:04.600Z,1761674044.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205191,0.905336,0.371837],[-0.977937,-0.204869,-0.040848],[0.039196,-0.372014,0.927399]] 2025-10-28T17:54:05.005Z,1761674045.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219001,0.900390,0.375948],[-0.974877,-0.217978,-0.045843],[0.040672,-0.376543,0.925506]] 2025-10-28T17:54:05.407Z,1761674045.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231236,0.895249,0.380865],[-0.971983,-0.229548,-0.050555],[0.042168,-0.381885,0.923247]] 2025-10-28T17:54:05.865Z,1761674045.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242604,0.890226,0.385540],[-0.969169,-0.240042,-0.055590],[0.043058,-0.387140,0.921015]] 2025-10-28T17:54:06.093Z,1761674046.092 [DAT](INFO): Reached modem response timeout 2025-10-28T17:54:06.283Z,1761674046.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262375,0.881385,0.392836],[-0.964081,-0.256858,-0.067611],[0.041312,-0.396465,0.917120]] 2025-10-28T17:54:06.683Z,1761674046.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271534,0.878031,0.394122],[-0.961650,-0.263993,-0.074410],[0.038711,-0.399212,0.916041]] 2025-10-28T17:54:07.088Z,1761674047.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279503,0.875548,0.394074],[-0.959501,-0.269734,-0.081250],[0.035157,-0.400824,0.915480]] 2025-10-28T17:54:07.491Z,1761674047.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288361,0.873866,0.391415],[-0.957017,-0.276303,-0.088180],[0.031092,-0.400018,0.915980]] 2025-10-28T17:54:07.897Z,1761674047.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299542,0.871875,0.387439],[-0.953693,-0.285236,-0.095451],[0.027290,-0.398089,0.916941]] 2025-10-28T17:54:08.299Z,1761674048.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313398,0.869631,0.381477],[-0.949311,-0.297182,-0.102427],[0.024295,-0.394240,0.918686]] 2025-10-28T17:54:08.362Z,1761674048.362 [DAT](INFO): DAT read: Response Not Received 2025-10-28T17:54:08.362Z,1761674048.362 [DAT](INFO): response not received 2025-10-28T17:54:08.362Z,1761674048.362 [DAT](ERROR): No response from remote modem. 2025-10-28T17:54:08.705Z,1761674048.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328337,0.867054,0.374717],[-0.944317,-0.310329,-0.109367],[0.021458,-0.389761,0.920666]] 2025-10-28T17:54:09.107Z,1761674049.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344153,0.864632,0.366020],[-0.938718,-0.324810,-0.115353],[0.019149,-0.383289,0.923430]] 2025-10-28T17:54:09.510Z,1761674049.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360482,0.860985,0.358828],[-0.932606,-0.339821,-0.121524],[0.017307,-0.378452,0.925459]] 2025-10-28T17:54:09.918Z,1761674049.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376764,0.857010,0.351542],[-0.926174,-0.355010,-0.127159],[0.015824,-0.373498,0.927496]] 2025-10-28T17:54:10.321Z,1761674050.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392297,0.852177,0.346261],[-0.919729,-0.369203,-0.133369],[0.014187,-0.370787,0.928610]] 2025-10-28T17:54:10.723Z,1761674050.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407714,0.847020,0.341066],[-0.913019,-0.383413,-0.139247],[0.012824,-0.368173,0.929669]] 2025-10-28T17:54:11.127Z,1761674051.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422911,0.841302,0.336687],[-0.906102,-0.397191,-0.145664],[0.011181,-0.366676,0.930282]] 2025-10-28T17:54:11.546Z,1761674051.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437820,0.834894,0.333565],[-0.899010,-0.410550,-0.152412],[0.009698,-0.366607,0.930325]] 2025-10-28T17:54:11.953Z,1761674051.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452595,0.827883,0.331311],[-0.891682,-0.423458,-0.159961],[0.007868,-0.367821,0.929863]] 2025-10-28T17:54:12.009Z,1761674052.009 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:54:12.010Z,1761674052.010 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:54:12.010Z,1761674052.010 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:54:12.010Z,1761674052.010 [marl:UpdateRudder:A] Stopped 2025-10-28T17:54:12.010Z,1761674052.010 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:54:12.339Z,1761674052.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466862,0.820809,0.329108],[-0.884311,-0.435776,-0.167611],[0.005840,-0.369285,0.929298]] 2025-10-28T17:54:12.371Z,1761674052.371 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:54:12.371Z,1761674052.371 [marl:UpdateRudder:B] Stopped 2025-10-28T17:54:12.371Z,1761674052.371 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:54:12.371Z,1761674052.371 [marl:UpdateRudder] Stopped 2025-10-28T17:54:12.371Z,1761674052.371 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:54:12.742Z,1761674052.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481652,0.813340,0.326326],[-0.876354,-0.448676,-0.175197],[0.003920,-0.370361,0.928880]] 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode] Stopped 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:54:12.803Z,1761674052.803 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:54:12.804Z,1761674052.804 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:54:12.804Z,1761674052.804 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:54:12.804Z,1761674052.804 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:54:12.805Z,1761674052.805 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:54:12.805Z,1761674052.805 [marl:UpdateSpeed] Stopped 2025-10-28T17:54:12.805Z,1761674052.805 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:54:13.147Z,1761674053.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496764,0.804980,0.324396],[-0.867883,-0.461729,-0.183265],[0.002258,-0.372577,0.927999]] 2025-10-28T17:54:13.589Z,1761674053.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510590,0.796892,0.322895],[-0.859824,-0.473325,-0.191485],[0.000241,-0.375403,0.926862]] 2025-10-28T17:54:13.967Z,1761674053.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524837,0.787916,0.322078],[-0.851202,-0.485241,-0.199991],[-0.001291,-0.379116,0.925348]] 2025-10-28T17:54:14.358Z,1761674054.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538752,0.779132,0.320467],[-0.842459,-0.496913,-0.208182],[-0.002957,-0.382139,0.924100]] 2025-10-28T17:54:14.769Z,1761674054.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551841,0.771270,0.317198],[-0.833937,-0.508253,-0.215008],[-0.004613,-0.383173,0.923665]] 2025-10-28T17:54:15.169Z,1761674055.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565714,0.762729,0.313389],[-0.824580,-0.520502,-0.221688],[-0.005968,-0.383826,0.923386]] 2025-10-28T17:54:15.601Z,1761674055.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579481,0.754624,0.307806],[-0.814953,-0.533180,-0.227091],[-0.007252,-0.382443,0.923951]] 2025-10-28T17:54:15.978Z,1761674055.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593548,0.746015,0.301929],[-0.804751,-0.546099,-0.232705],[-0.008718,-0.381099,0.924493]] 2025-10-28T17:54:16.378Z,1761674056.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607059,0.737054,0.297036],[-0.794593,-0.558258,-0.238684],[-0.010101,-0.380918,0.924554]] 2025-10-28T17:54:16.790Z,1761674056.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619950,0.728205,0.292199],[-0.784560,-0.569955,-0.244165],[-0.011262,-0.380617,0.924664]] 2025-10-28T17:54:17.188Z,1761674057.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632519,0.718991,0.288049],[-0.774443,-0.581038,-0.250266],[-0.012571,-0.381375,0.924335]] 2025-10-28T17:54:17.606Z,1761674057.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644181,0.709755,0.285095],[-0.764745,-0.590842,-0.257041],[-0.013990,-0.383606,0.923391]] 2025-10-28T17:54:17.998Z,1761674057.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654937,0.701047,0.282117],[-0.755525,-0.599816,-0.263443],[-0.015468,-0.385686,0.922501]] 2025-10-28T17:54:18.802Z,1761674058.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674198,0.684473,0.277405],[-0.738325,-0.615362,-0.276054],[-0.018247,-0.390930,0.920240]] 2025-10-28T17:54:19.206Z,1761674059.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683405,0.676168,0.275236],[-0.729776,-0.622616,-0.282447],[-0.019615,-0.393886,0.918950]] 2025-10-28T17:54:19.611Z,1761674059.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692101,0.668291,0.272732],[-0.721499,-0.629600,-0.288172],[-0.020871,-0.396221,0.917918]] 2025-10-28T17:54:20.072Z,1761674060.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700733,0.660243,0.270282],[-0.713086,-0.636546,-0.293797],[-0.021930,-0.398608,0.916859]] 2025-10-28T17:54:20.438Z,1761674060.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709629,0.652441,0.265985],[-0.704210,-0.644623,-0.297571],[-0.022687,-0.398475,0.916899]] 2025-10-28T17:54:20.823Z,1761674060.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718251,0.644928,0.261119],[-0.695385,-0.652657,-0.300796],[-0.023571,-0.397625,0.917245]] 2025-10-28T17:54:21.227Z,1761674061.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727312,0.637239,0.254842],[-0.685866,-0.661562,-0.303190],[-0.024611,-0.395301,0.918222]] 2025-10-28T17:54:21.631Z,1761674061.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736611,0.629319,0.247711],[-0.675839,-0.671181,-0.304561],[-0.025408,-0.391756,0.919718]] 2025-10-28T17:54:22.043Z,1761674062.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746443,0.620380,0.240731],[-0.664935,-0.681133,-0.306462],[-0.026153,-0.388827,0.920940]] 2025-10-28T17:54:22.457Z,1761674062.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757091,0.610526,0.232533],[-0.652759,-0.692304,-0.307606],[-0.026818,-0.384674,0.922663]] 2025-10-28T17:54:22.842Z,1761674062.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767632,0.600174,0.224796],[-0.640291,-0.703014,-0.309512],[-0.027727,-0.381526,0.923942]] 2025-10-28T17:54:23.247Z,1761674063.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778822,0.588414,0.217267],[-0.626596,-0.714108,-0.312133],[-0.028511,-0.379235,0.924861]] 2025-10-28T17:54:23.651Z,1761674063.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790118,0.576199,0.209065],[-0.612246,-0.725482,-0.314373],[-0.029469,-0.376390,0.925992]] 2025-10-28T17:54:24.054Z,1761674064.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801418,0.563181,0.201386],[-0.597333,-0.736554,-0.317305],[-0.030369,-0.374588,0.926694]] 2025-10-28T17:54:24.461Z,1761674064.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812950,0.549281,0.193400],[-0.581506,-0.748008,-0.319899],[-0.031050,-0.372525,0.927503]] 2025-10-28T17:54:24.865Z,1761674064.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824396,0.534483,0.186276],[-0.565118,-0.758746,-0.323954],[-0.031812,-0.372335,0.927553]] 2025-10-28T17:54:24.917Z,1761674064.917 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:54:25.267Z,1761674065.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835540,0.519221,0.179674],[-0.548432,-0.768463,-0.329678],[-0.033103,-0.373998,0.926839]] 2025-10-28T17:54:25.298Z,1761674065.298 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:54:25.298Z,1761674065.298 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:54:25.298Z,1761674065.298 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:54:25.298Z,1761674065.298 [marl:UpdateRudder:A] Stopped 2025-10-28T17:54:25.298Z,1761674065.298 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:54:25.670Z,1761674065.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846217,0.503606,0.174060],[-0.531721,-0.776976,-0.337019],[-0.034484,-0.377743,0.925268]] 2025-10-28T17:54:25.731Z,1761674065.731 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateRudder:B] Stopped 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateRudder] Stopped 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:54:25.732Z,1761674065.732 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateCommandMode] Stopped 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:54:25.733Z,1761674065.733 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:54:25.734Z,1761674065.734 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:54:25.734Z,1761674065.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:54:25.734Z,1761674065.734 [marl:UpdateSpeed] Stopped 2025-10-28T17:54:25.734Z,1761674065.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:54:25.921Z,1761674065.921 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:54:26.074Z,1761674066.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856269,0.488462,0.167955],[-0.515284,-0.785202,-0.343424],[-0.035871,-0.380608,0.924041]] 2025-10-28T17:54:26.485Z,1761674066.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865791,0.473562,0.161696],[-0.499026,-0.793101,-0.349234],[-0.037143,-0.383054,0.922979]] 2025-10-28T17:54:26.888Z,1761674066.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874731,0.458770,0.156128],[-0.483103,-0.800129,-0.355536],[-0.038187,-0.386424,0.921530]] 2025-10-28T17:54:27.292Z,1761674067.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882821,0.444736,0.151116],[-0.468059,-0.806009,-0.362311],[-0.039332,-0.390587,0.919725]] 2025-10-28T17:54:27.694Z,1761674067.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889490,0.432765,0.146702],[-0.455162,-0.810693,-0.368245],[-0.040433,-0.394324,0.918082]] 2025-10-28T17:54:28.099Z,1761674068.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895512,0.421822,0.141864],[-0.443113,-0.815509,-0.372285],[-0.041346,-0.396247,0.917212]] 2025-10-28T17:54:28.510Z,1761674068.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901015,0.411466,0.137361],[-0.431736,-0.819842,-0.376115],[-0.042144,-0.398189,0.916335]] 2025-10-28T17:54:28.915Z,1761674068.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906067,0.401648,0.133120],[-0.420956,-0.823756,-0.379767],[-0.042875,-0.400132,0.915454]] 2025-10-28T17:54:29.312Z,1761674069.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910899,0.392247,0.128081],[-0.410330,-0.828361,-0.381376],[-0.043496,-0.399951,0.915504]] 2025-10-28T17:54:29.714Z,1761674069.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915577,0.382966,0.122704],[-0.399701,-0.833045,-0.382460],[-0.044251,-0.399216,0.915788]] 2025-10-28T17:54:30.123Z,1761674070.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920316,0.373285,0.116949],[-0.388586,-0.838054,-0.382970],[-0.044947,-0.397898,0.916328]] 2025-10-28T17:54:30.528Z,1761674070.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925046,0.363390,0.110628],[-0.377111,-0.843599,-0.382268],[-0.045587,-0.395335,0.917405]] 2025-10-28T17:54:30.937Z,1761674070.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929882,0.352854,0.103985],[-0.364896,-0.848976,-0.382219],[-0.046587,-0.393362,0.918203]] 2025-10-28T17:54:31.335Z,1761674071.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934868,0.341605,0.096588],[-0.351793,-0.855012,-0.381045],[-0.047583,-0.390206,0.919497]] 2025-10-28T17:54:31.741Z,1761674071.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939728,0.329989,0.089547],[-0.338458,-0.860549,-0.380659],[-0.048554,-0.388024,0.920369]] 2025-10-28T17:54:32.143Z,1761674072.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944257,0.318645,0.082729],[-0.325463,-0.865747,-0.380205],[-0.049528,-0.385937,0.921195]] 2025-10-28T17:54:32.547Z,1761674072.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948702,0.306911,0.075964],[-0.312124,-0.870797,-0.379857],[-0.050433,-0.384081,0.921921]] 2025-10-28T17:54:32.952Z,1761674072.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953123,0.294477,0.069572],[-0.298246,-0.875500,-0.380196],[-0.051048,-0.383123,0.922286]] 2025-10-28T17:54:33.357Z,1761674073.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957365,0.281711,0.063967],[-0.284295,-0.879475,-0.381706],[-0.051274,-0.383617,0.922068]] 2025-10-28T17:54:33.766Z,1761674073.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961872,0.267252,0.058127],[-0.268716,-0.883885,-0.382803],[-0.050927,-0.383827,0.922000]] 2025-10-28T17:54:34.163Z,1761674074.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966476,0.251424,0.052058],[-0.251782,-0.888347,-0.383986],[-0.050298,-0.384221,0.921870]] 2025-10-28T17:54:34.566Z,1761674074.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971198,0.233980,0.045035],[-0.233051,-0.893430,-0.384019],[-0.049617,-0.383454,0.922226]] 2025-10-28T17:54:34.973Z,1761674074.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975740,0.215650,0.037767],[-0.213396,-0.898255,-0.384187],[-0.048925,-0.382926,0.922482]] 2025-10-28T17:54:35.374Z,1761674075.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979931,0.196957,0.030713],[-0.193346,-0.901636,-0.386871],[-0.048505,-0.385045,0.921622]] 2025-10-28T17:54:35.783Z,1761674075.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983699,0.178319,0.023208],[-0.173156,-0.904490,-0.389763],[-0.048511,-0.387428,0.920623]] 2025-10-28T17:54:36.206Z,1761674076.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986947,0.160324,0.015208],[-0.153387,-0.907047,-0.392094],[-0.049068,-0.389309,0.919800]] 2025-10-28T17:54:36.588Z,1761674076.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989727,0.142810,0.006819],[-0.133897,-0.909129,-0.394405],[-0.050126,-0.391267,0.918911]] 2025-10-28T17:54:36.991Z,1761674076.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992031,0.125970,-0.002426],[-0.114716,-0.911031,-0.396059],[-0.052102,-0.392624,0.918222]] 2025-10-28T17:54:37.400Z,1761674077.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993835,0.110215,-0.012051],[-0.096479,-0.913248,-0.395815],[-0.054630,-0.392212,0.918251]] 2025-10-28T17:54:37.799Z,1761674077.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995172,0.095815,-0.021286],[-0.079624,-0.914920,-0.395704],[-0.057390,-0.392098,0.918132]] 2025-10-28T17:54:38.209Z,1761674078.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996086,0.083410,-0.029243],[-0.065054,-0.915818,-0.396288],[-0.059836,-0.392835,0.917660]] 2025-10-28T17:54:38.233Z,1761674078.233 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:54:38.233Z,1761674078.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:54:38.233Z,1761674078.233 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:54:38.234Z,1761674078.234 [marl:UpdateRudder:A] Stopped 2025-10-28T17:54:38.234Z,1761674078.234 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:54:38.608Z,1761674078.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996761,0.071850,-0.036129],[-0.051751,-0.916909,-0.395727],[-0.061560,-0.392576,0.917657]] 2025-10-28T17:54:38.634Z,1761674078.634 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateRudder:B] Stopped 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateRudder] Stopped 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:54:38.635Z,1761674078.635 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateCommandMode] Stopped 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:54:38.636Z,1761674078.636 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:54:38.637Z,1761674078.637 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:54:38.637Z,1761674078.637 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:54:38.637Z,1761674078.637 [marl:UpdateSpeed] Stopped 2025-10-28T17:54:38.637Z,1761674078.637 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:54:39.011Z,1761674079.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997302,0.060164,-0.042057],[-0.038732,-0.917971,-0.394752],[-0.062357,-0.392058,0.917825]] 2025-10-28T17:54:39.421Z,1761674079.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997680,0.048692,-0.047570],[-0.026155,-0.919370,-0.392523],[-0.062847,-0.390369,0.918511]] 2025-10-28T17:54:39.821Z,1761674079.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997944,0.036368,-0.052777],[-0.012896,-0.920526,-0.390468],[-0.062783,-0.388984,0.919103]] 2025-10-28T17:54:40.225Z,1761674080.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998054,0.023756,-0.057653],[0.000577,-0.921029,-0.389493],[-0.062353,-0.388769,0.919223]] 2025-10-28T17:54:40.626Z,1761674080.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998016,0.011052,-0.061987],[0.013974,-0.921049,-0.389197],[-0.061395,-0.389291,0.919067]] 2025-10-28T17:54:41.030Z,1761674081.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997814,-0.000875,-0.066086],[0.026598,-0.920682,-0.389407],[-0.060504,-0.390313,0.918692]] 2025-10-28T17:54:41.436Z,1761674081.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997399,-0.013871,-0.070730],[0.040435,-0.920021,-0.389777],[-0.059666,-0.391623,0.918189]] 2025-10-28T17:54:41.841Z,1761674081.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996794,-0.026731,-0.075418],[0.054129,-0.919415,-0.389545],[-0.058927,-0.392378,0.917914]] 2025-10-28T17:54:42.242Z,1761674082.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995989,-0.039707,-0.080187],[0.068019,-0.918232,-0.390159],[-0.058138,-0.394048,0.917249]] 2025-10-28T17:54:42.647Z,1761674082.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994937,-0.053217,-0.085254],[0.082391,-0.917673,-0.388700],[-0.057550,-0.393757,0.917411]] 2025-10-28T17:54:43.051Z,1761674083.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993672,-0.066656,-0.090400],[0.096694,-0.917167,-0.386593],[-0.057144,-0.392888,0.917809]] 2025-10-28T17:54:43.456Z,1761674083.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992082,-0.081213,-0.095804],[0.112142,-0.916267,-0.384549],[-0.056552,-0.392248,0.918119]] 2025-10-28T17:54:43.859Z,1761674083.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990195,-0.096160,-0.101328],[0.127983,-0.915191,-0.382159],[-0.055986,-0.391380,0.918524]] 2025-10-28T17:54:44.269Z,1761674084.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987891,-0.112160,-0.107197],[0.144890,-0.914014,-0.378928],[-0.055479,-0.389871,0.919197]] 2025-10-28T17:54:44.672Z,1761674084.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985153,-0.128704,-0.113619],[0.162557,-0.912165,-0.376205],[-0.055220,-0.389089,0.919544]] 2025-10-28T17:54:45.075Z,1761674085.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982015,-0.145402,-0.120439],[0.180538,-0.909844,-0.373617],[-0.055256,-0.388641,0.919731]] 2025-10-28T17:54:45.478Z,1761674085.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978488,-0.162427,-0.127195],[0.198750,-0.907480,-0.370106],[-0.055312,-0.387424,0.920241]] 2025-10-28T17:54:45.890Z,1761674085.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974497,-0.179771,-0.134306],[0.217330,-0.905138,-0.365365],[-0.055883,-0.385236,0.921124]] 2025-10-28T17:54:46.287Z,1761674086.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970045,-0.197302,-0.141722],[0.236146,-0.902738,-0.359581],[-0.056992,-0.382277,0.922289]] 2025-10-28T17:54:46.690Z,1761674086.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965084,-0.214802,-0.149912],[0.255288,-0.899474,-0.354647],[-0.058663,-0.380535,0.922904]] 2025-10-28T17:54:47.095Z,1761674087.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959675,-0.232220,-0.158420],[0.274492,-0.895669,-0.349901],[-0.060638,-0.379277,0.923294]] 2025-10-28T17:54:47.916Z,1761674087.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941545,-0.282376,-0.183733],[0.330202,-0.881645,-0.337148],[-0.066785,-0.378109,0.923349]] 2025-10-28T17:54:48.719Z,1761674088.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929819,-0.309697,-0.198809],[0.361415,-0.870297,-0.334607],[-0.069396,-0.382976,0.921148]] 2025-10-28T17:54:49.119Z,1761674089.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924500,-0.321234,-0.205204],[0.374706,-0.864683,-0.334543],[-0.069969,-0.386176,0.919767]] 2025-10-28T17:54:49.529Z,1761674089.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919278,-0.332428,-0.210762],[0.387260,-0.859656,-0.333199],[-0.070418,-0.387922,0.918998]] 2025-10-28T17:54:49.932Z,1761674089.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914164,-0.343109,-0.215826],[0.399099,-0.854993,-0.331220],[-0.070885,-0.388925,0.918538]] 2025-10-28T17:54:50.327Z,1761674090.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909116,-0.353334,-0.220596],[0.410409,-0.850355,-0.329335],[-0.071219,-0.389939,0.918083]] 2025-10-28T17:54:50.732Z,1761674090.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904047,-0.363882,-0.224251],[0.421441,-0.846381,-0.325618],[-0.071315,-0.388883,0.918523]] 2025-10-28T17:54:51.211Z,1761674091.211 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:54:51.211Z,1761674091.211 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:54:51.212Z,1761674091.212 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:54:51.218Z,1761674091.218 [marl:UpdateRudder:A] Stopped 2025-10-28T17:54:51.218Z,1761674091.218 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:54:51.619Z,1761674091.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893550,-0.384780,-0.231329],[0.443262,-0.837940,-0.318396],[-0.071328,-0.387042,0.919299]] 2025-10-28T17:54:51.679Z,1761674091.679 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:54:51.679Z,1761674091.679 [marl:UpdateRudder:B] Stopped 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateRudder] Stopped 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:54:51.680Z,1761674091.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateCommandMode] Stopped 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:54:51.681Z,1761674091.681 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:54:51.682Z,1761674091.682 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:54:51.682Z,1761674091.682 [marl:UpdateSpeed] Stopped 2025-10-28T17:54:51.682Z,1761674091.682 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:54:52.053Z,1761674092.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887889,-0.395761,-0.234577],[0.454531,-0.833422,-0.314341],[-0.071098,-0.385722,0.919871]] 2025-10-28T17:54:52.486Z,1761674092.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881852,-0.407247,-0.237669],[0.466237,-0.828376,-0.310510],[-0.070425,-0.384634,0.920379]] 2025-10-28T17:54:52.892Z,1761674092.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875292,-0.418981,-0.241492],[0.478583,-0.822189,-0.308162],[-0.069438,-0.385306,0.920173]] 2025-10-28T17:54:53.286Z,1761674093.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868067,-0.431283,-0.245874],[0.491736,-0.815032,-0.306462],[-0.068224,-0.386935,0.919580]] 2025-10-28T17:54:53.693Z,1761674093.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860425,-0.443935,-0.250182],[0.505204,-0.807342,-0.304906],[-0.066624,-0.388741,0.918935]] 2025-10-28T17:54:54.094Z,1761674094.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852518,-0.456878,-0.253921],[0.518704,-0.799408,-0.303139],[-0.064489,-0.390141,0.918494]] 2025-10-28T17:54:54.499Z,1761674094.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844006,-0.470401,-0.257635],[0.532717,-0.790951,-0.301014],[-0.062180,-0.391304,0.918158]] 2025-10-28T17:54:54.906Z,1761674094.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834403,-0.485272,-0.261308],[0.547889,-0.781842,-0.297558],[-0.059905,-0.391452,0.918247]] 2025-10-28T17:54:55.307Z,1761674095.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824515,-0.499851,-0.265188],[0.562889,-0.772368,-0.294286],[-0.057723,-0.391914,0.918189]] 2025-10-28T17:54:55.711Z,1761674095.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813955,-0.515420,-0.267993],[0.578255,-0.763053,-0.288741],[-0.055670,-0.389991,0.919134]] 2025-10-28T17:54:55.797Z,1761674095.797 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:54:56.021Z,1761674096.021 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:54:56.021Z,1761674096.021 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:54:56.044Z,1761674096.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:54:56.121Z,1761674096.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802828,-0.530933,-0.271251],[0.593726,-0.753439,-0.282522],[-0.054371,-0.387866,0.920111]] 2025-10-28T17:54:56.273Z,1761674096.273 [DAT](INFO): DAT read: 2025-10-28T17:54:56.273Z,1761674096.273 [DAT](INFO): DAT read: Tx time:17:54:56.0518 2025-10-28T17:54:56.274Z,1761674096.274 [DAT](INFO): Ping request sent. 2025-10-28T17:54:56.274Z,1761674096.274 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:54:56.274Z,1761674096.274 [DAT](INFO): publishing transmit ping time 2025-10-28T17:54:56.275Z,1761674096.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925 2025-10-28T17:54:56.518Z,1761674096.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791511,-0.545930,-0.274720],[0.608791,-0.743804,-0.275916],[-0.053707,-0.385638,0.921086]] 2025-10-28T17:54:56.525Z,1761674096.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251036 2025-10-28T17:54:56.778Z,1761674096.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504412 2025-10-28T17:54:56.922Z,1761674096.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779843,-0.561077,-0.277556],[0.623663,-0.734490,-0.267525],[-0.053760,-0.381729,0.922710]] 2025-10-28T17:54:57.029Z,1761674097.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755136 2025-10-28T17:54:57.048Z,1761674097.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:54:57.289Z,1761674097.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015670 2025-10-28T17:54:57.343Z,1761674097.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767785,-0.575794,-0.281011],[0.638359,-0.724988,-0.258632],[-0.054811,-0.377960,0.924198]] 2025-10-28T17:54:57.544Z,1761674097.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269534 2025-10-28T17:54:57.730Z,1761674097.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755553,-0.590003,-0.284670],[0.652631,-0.715533,-0.249169],[-0.056680,-0.374044,0.925677]] 2025-10-28T17:54:57.793Z,1761674097.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519161 2025-10-28T17:54:58.045Z,1761674098.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771132 2025-10-28T17:54:58.135Z,1761674098.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743052,-0.603353,-0.289550],[0.666623,-0.705471,-0.240675],[-0.059057,-0.371855,0.926410]] 2025-10-28T17:54:58.298Z,1761674098.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023707 2025-10-28T17:54:58.539Z,1761674098.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730373,-0.616372,-0.294348],[0.680251,-0.695339,-0.231867],[-0.061755,-0.369580,0.927145]] 2025-10-28T17:54:58.549Z,1761674098.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275267 2025-10-28T17:54:58.801Z,1761674098.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527109 2025-10-28T17:54:58.944Z,1761674098.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718092,-0.628367,-0.299164],[0.692963,-0.685349,-0.223826],[-0.064387,-0.368037,0.927579]] 2025-10-28T17:54:59.053Z,1761674099.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779174 2025-10-28T17:54:59.305Z,1761674099.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031093 2025-10-28T17:54:59.347Z,1761674099.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706319,-0.639412,-0.303752],[0.704747,-0.675566,-0.216663],[-0.066668,-0.367102,0.927789]] 2025-10-28T17:54:59.560Z,1761674099.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285699 2025-10-28T17:54:59.755Z,1761674099.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695077,-0.649356,-0.308553],[0.715675,-0.665786,-0.211039],[-0.068391,-0.367512,0.927501]] 2025-10-28T17:54:59.809Z,1761674099.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535223 2025-10-28T17:55:00.061Z,1761674100.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787103 2025-10-28T17:55:00.161Z,1761674100.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684533,-0.658183,-0.313383],[0.725627,-0.656401,-0.206404],[-0.069853,-0.368690,0.926924]] 2025-10-28T17:55:00.313Z,1761674100.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039079 2025-10-28T17:55:00.567Z,1761674100.567 [DAT](INFO): DAT read: Rx Time:17:54:59.9657 2025-10-28T17:55:00.567Z,1761674100.567 [DAT](INFO): Rx dataTimestamp_ set to:1761674100.567082 2025-10-28T17:55:00.568Z,1761674100.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294390 2025-10-28T17:55:00.817Z,1761674100.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543698 2025-10-28T17:55:00.994Z,1761674100.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664383,-0.674555,-0.321825],[0.744016,-0.637810,-0.199094],[-0.070963,-0.371717,0.925630]] 2025-10-28T17:55:01.069Z,1761674101.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795258 2025-10-28T17:55:01.326Z,1761674101.326 [DAT](INFO): DAT read: 17:54:59.9657 LVL= 31680, 32753, 16930, 32755, AGC= 71, IDX= 272,-0.18, 1.355, 1.787,-2.966, 1.919, PHS=-0.463,-0.087, 1.354, RAW= 221.3, -9.7, CAL= 220.1, -14.2, ROT= 289.9, 14.2 2025-10-28T17:55:01.327Z,1761674101.327 [DAT](INFO): got valid direction response: 17:54:59.9657 LVL= 31680, 32753, 16930, 32755, AGC= 71, IDX= 272,-0.18, 1.355, 1.787,-2.966, 1.919, PHS=-0.463,-0.087, 1.354, RAW= 221.3, -9.7, CAL= 220.1, -14.2, ROT= 289.9, 14.2 2025-10-28T17:55:01.329Z,1761674101.329 [DAT](INFO): DAT read: Bearing 230.8, -50.0 (Local) 2025-10-28T17:55:01.330Z,1761674101.330 [DAT](INFO): Local bearing/azimuth received: Bearing 230.8, -50.0 (Local) 2025-10-28T17:55:01.331Z,1761674101.331 [DAT](INFO): DAT read: Range 11 to 20 : 1132.2 m (Round-trip 1509.7 ms) speed -0.4 m/s 2025-10-28T17:55:01.332Z,1761674101.332 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:55:01.333Z,1761674101.333 [DAT](INFO): direction in FSK: [0.329979,-0.911558,-0.245307] 2025-10-28T17:55:01.333Z,1761674101.333 [DAT](INFO): publishing direction and range info 2025-10-28T17:55:01.460Z,1761674101.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654678,-0.681684,-0.326653],[0.752565,-0.628378,-0.196944],[-0.071008,-0.374763,0.924398]] 2025-10-28T17:55:01.591Z,1761674101.591 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674112.00. Resetting abort timer. 2025-10-28T17:55:01.860Z,1761674101.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645235,-0.688896,-0.330293],[0.760743,-0.619132,-0.194798],[-0.070299,-0.376958,0.923559]] 2025-10-28T17:55:02.257Z,1761674102.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635802,-0.695890,-0.333905],[0.768767,-0.609580,-0.193417],[-0.068945,-0.379670,0.922549]] 2025-10-28T17:55:02.658Z,1761674102.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625961,-0.703818,-0.335876],[0.776941,-0.600010,-0.190656],[-0.067342,-0.380299,0.922409]] 2025-10-28T17:55:03.062Z,1761674103.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615727,-0.711936,-0.337680],[0.785210,-0.590153,-0.187525],[-0.065777,-0.380613,0.922392]] 2025-10-28T17:55:03.466Z,1761674103.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604735,-0.720381,-0.339627],[0.793830,-0.579618,-0.184057],[-0.064263,-0.380912,0.922375]] 2025-10-28T17:55:03.883Z,1761674103.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593103,-0.729460,-0.340760],[0.802660,-0.568820,-0.179389],[-0.062974,-0.379910,0.922877]] 2025-10-28T17:55:04.277Z,1761674104.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580690,-0.738639,-0.342361],[0.811754,-0.557385,-0.174292],[-0.062088,-0.379122,0.923261]] 2025-10-28T17:55:04.301Z,1761674104.301 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:55:04.301Z,1761674104.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:55:04.301Z,1761674104.301 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:55:04.301Z,1761674104.301 [marl:UpdateRudder:A] Stopped 2025-10-28T17:55:04.301Z,1761674104.301 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:55:04.679Z,1761674104.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568117,-0.747682,-0.343824],[0.820652,-0.545905,-0.168875],[-0.061431,-0.378100,0.923724]] 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateRudder:B] Stopped 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateRudder] Stopped 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:55:04.731Z,1761674104.731 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:55:04.732Z,1761674104.732 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:55:04.732Z,1761674104.732 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:55:04.732Z,1761674104.732 [marl:UpdateCommandMode] Stopped 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:55:04.733Z,1761674104.733 [marl:UpdateSpeed] Stopped 2025-10-28T17:55:04.734Z,1761674104.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:55:05.083Z,1761674105.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555261,-0.756607,-0.345297],[0.829447,-0.534163,-0.163363],[-0.060843,-0.377115,0.924166]] 2025-10-28T17:55:05.488Z,1761674105.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542369,-0.764813,-0.347701],[0.837987,-0.522084,-0.158762],[-0.060106,-0.377477,0.924066]] 2025-10-28T17:55:05.904Z,1761674105.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528537,-0.773372,-0.350064],[0.846803,-0.509346,-0.153267],[-0.059771,-0.377443,0.924102]] 2025-10-28T17:55:06.295Z,1761674106.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515659,-0.781495,-0.351228],[0.854737,-0.497599,-0.147715],[-0.059332,-0.376378,0.924564]] 2025-10-28T17:55:06.699Z,1761674106.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502397,-0.789961,-0.351510],[0.862668,-0.485382,-0.142155],[-0.058319,-0.374654,0.925329]] 2025-10-28T17:55:07.103Z,1761674107.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489294,-0.797621,-0.352692],[0.870259,-0.472938,-0.137761],[-0.056920,-0.374340,0.925543]] 2025-10-28T17:55:07.535Z,1761674107.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475020,-0.805677,-0.353893],[0.878204,-0.459541,-0.132590],[-0.055804,-0.373773,0.925840]] 2025-10-28T17:55:07.941Z,1761674107.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445546,-0.820831,-0.357387],[0.893668,-0.431569,-0.122907],[-0.053351,-0.374146,0.925834]] 2025-10-28T17:55:08.362Z,1761674108.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430666,-0.827973,-0.359149],[0.901030,-0.417241,-0.118556],[-0.051690,-0.374662,0.925719]] 2025-10-28T17:55:08.761Z,1761674108.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415431,-0.835541,-0.359567],[0.908255,-0.402710,-0.113573],[-0.049907,-0.373760,0.926182]] 2025-10-28T17:55:09.158Z,1761674109.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400251,-0.842382,-0.360821],[0.915144,-0.388064,-0.109167],[-0.048061,-0.373897,0.926224]] 2025-10-28T17:55:09.599Z,1761674109.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384975,-0.849432,-0.360914],[0.921767,-0.373476,-0.104220],[-0.046265,-0.372800,0.926758]] 2025-10-28T17:55:09.971Z,1761674109.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369110,-0.855822,-0.362389],[0.928297,-0.358363,-0.099201],[-0.044968,-0.373020,0.926733]] 2025-10-28T17:55:10.375Z,1761674110.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353111,-0.861795,-0.364172],[0.934553,-0.343150,-0.094121],[-0.043853,-0.373574,0.926563]] 2025-10-28T17:55:10.784Z,1761674110.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336903,-0.867391,-0.366237],[0.940550,-0.327875,-0.088681],[-0.043159,-0.374341,0.926286]] 2025-10-28T17:55:11.178Z,1761674111.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321192,-0.872710,-0.367713],[0.946065,-0.313071,-0.083349],[-0.042381,-0.374652,0.926196]] 2025-10-28T17:55:11.988Z,1761674111.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290822,-0.881610,-0.371734],[0.955906,-0.284307,-0.073577],[-0.040821,-0.376740,0.925419]] 2025-10-28T17:55:12.391Z,1761674112.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275921,-0.885525,-0.373783],[0.960357,-0.270081,-0.069076],[-0.039783,-0.378024,0.924941]] 2025-10-28T17:55:12.796Z,1761674112.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261787,-0.889340,-0.374889],[0.964368,-0.256428,-0.065104],[-0.038232,-0.378574,0.924781]] 2025-10-28T17:55:13.198Z,1761674113.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247399,-0.893500,-0.374770],[0.968221,-0.242601,-0.060767],[-0.036624,-0.377893,0.925124]] 2025-10-28T17:55:13.612Z,1761674113.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233599,-0.896885,-0.375538],[0.971714,-0.229110,-0.057268],[-0.034677,-0.378293,0.925036]] 2025-10-28T17:55:14.007Z,1761674114.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219516,-0.900464,-0.375470],[0.975048,-0.215536,-0.053150],[-0.033067,-0.377768,0.925309]] 2025-10-28T17:55:14.411Z,1761674114.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205478,-0.903287,-0.376631],[0.978151,-0.201989,-0.049210],[-0.031624,-0.378513,0.925055]] 2025-10-28T17:55:14.816Z,1761674114.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192044,-0.906378,-0.376295],[0.980924,-0.189055,-0.045245],[-0.030131,-0.377805,0.925395]] 2025-10-28T17:55:15.218Z,1761674115.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178676,-0.909379,-0.375640],[0.983492,-0.176174,-0.041309],[-0.028613,-0.376819,0.925845]] 2025-10-28T17:55:15.623Z,1761674115.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165546,-0.912336,-0.374483],[0.985832,-0.163491,-0.037497],[-0.027015,-0.375385,0.926475]] 2025-10-28T17:55:16.029Z,1761674116.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152554,-0.915177,-0.373066],[0.987975,-0.150830,-0.033998],[-0.025155,-0.373766,0.927182]] 2025-10-28T17:55:16.432Z,1761674116.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139453,-0.917368,-0.372811],[0.989966,-0.137832,-0.031143],[-0.022816,-0.373413,0.927384]] 2025-10-28T17:55:16.850Z,1761674116.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125649,-0.919041,-0.373598],[0.991866,-0.124106,-0.028288],[-0.020368,-0.374113,0.927159]] 2025-10-28T17:55:17.239Z,1761674117.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111377,-0.920175,-0.375331],[0.993624,-0.109760,-0.025759],[-0.017494,-0.375807,0.926533]] 2025-10-28T17:55:17.277Z,1761674117.277 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:55:17.277Z,1761674117.277 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:55:17.277Z,1761674117.277 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:55:17.278Z,1761674117.278 [marl:UpdateRudder:A] Stopped 2025-10-28T17:55:17.278Z,1761674117.278 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:55:17.653Z,1761674117.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096754,-0.921524,-0.376074],[0.995197,-0.095224,-0.022703],[-0.014890,-0.376465,0.926311]] 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateRudder:B] Stopped 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateRudder] Stopped 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:55:17.713Z,1761674117.713 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateCommandMode] Stopped 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:55:17.714Z,1761674117.714 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:55:17.715Z,1761674117.715 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:55:17.715Z,1761674117.715 [marl:UpdateSpeed] Stopped 2025-10-28T17:55:17.715Z,1761674117.715 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:55:18.063Z,1761674118.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081487,-0.922554,-0.377165],[0.996604,-0.079925,-0.019819],[-0.011861,-0.377499,0.925934]] 2025-10-28T17:55:18.460Z,1761674118.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065892,-0.923907,-0.376901],[0.997791,-0.064183,-0.017108],[-0.008385,-0.377196,0.926096]] 2025-10-28T17:55:18.864Z,1761674118.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049072,-0.925265,-0.376134],[0.998782,-0.047421,-0.013654],[-0.005203,-0.376345,0.926465]] 2025-10-28T17:55:19.267Z,1761674119.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031596,-0.926454,-0.375080],[0.999498,-0.030190,-0.009626],[-0.002406,-0.375195,0.926943]] 2025-10-28T17:55:19.679Z,1761674119.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013801,-0.926790,-0.375326],[0.999905,-0.012698,-0.005413],[0.000251,-0.375365,0.926877]] 2025-10-28T17:55:20.075Z,1761674120.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003782,-0.926609,-0.376007],[0.999989,0.004516,-0.001071],[0.002691,-0.375999,0.926616]] 2025-10-28T17:55:20.481Z,1761674120.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020918,-0.926171,-0.376523],[0.999769,0.021226,0.003330],[0.004908,-0.376506,0.926401]] 2025-10-28T17:55:20.884Z,1761674120.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037913,-0.925485,-0.376882],[0.999260,0.037580,0.008239],[0.006538,-0.376916,0.926224]] 2025-10-28T17:55:21.286Z,1761674121.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054044,-0.924383,-0.377619],[0.998505,0.053137,0.012827],[0.008209,-0.377748,0.925872]] 2025-10-28T17:55:21.694Z,1761674121.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069772,-0.922673,-0.379218],[0.997515,0.068238,0.017503],[0.009727,-0.379497,0.925142]] 2025-10-28T17:55:22.094Z,1761674122.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084043,-0.921195,-0.379916],[0.996394,0.082159,0.021202],[0.011683,-0.380328,0.924778]] 2025-10-28T17:55:22.504Z,1761674122.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097607,-0.919371,-0.381090],[0.995130,0.095458,0.024588],[0.013773,-0.381634,0.924211]] 2025-10-28T17:55:22.903Z,1761674122.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110582,-0.917705,-0.381562],[0.993739,0.108267,0.027605],[0.015977,-0.382226,0.923931]] 2025-10-28T17:55:23.307Z,1761674123.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123008,-0.915444,-0.383186],[0.992227,0.120776,0.029981],[0.018834,-0.383895,0.923185]] 2025-10-28T17:55:24.116Z,1761674124.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146999,-0.911303,-0.384602],[0.988793,0.145631,0.032857],[0.026067,-0.385122,0.922497]] 2025-10-28T17:55:24.523Z,1761674124.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159573,-0.909609,-0.383600],[0.986721,0.158886,0.033706],[0.030290,-0.383884,0.922884]] 2025-10-28T17:55:24.922Z,1761674124.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172531,-0.908050,-0.381678],[0.984383,0.172706,0.034088],[0.034964,-0.381599,0.923667]] 2025-10-28T17:55:25.334Z,1761674125.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186871,-0.905574,-0.380810],[0.981593,0.187676,0.035389],[0.039421,-0.380413,0.923976]] 2025-10-28T17:55:25.730Z,1761674125.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202564,-0.902369,-0.380391],[0.978298,0.203770,0.037573],[0.043607,-0.379747,0.924062]] 2025-10-28T17:55:26.135Z,1761674126.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218638,-0.899197,-0.379001],[0.974663,0.220034,0.040222],[0.047226,-0.378192,0.924522]] 2025-10-28T17:55:26.539Z,1761674126.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235671,-0.895504,-0.377535],[0.970528,0.236994,0.043695],[0.050345,-0.376705,0.924964]] 2025-10-28T17:55:26.944Z,1761674126.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253279,-0.891102,-0.376546],[0.965943,0.254258,0.048024],[0.052946,-0.375885,0.925152]] 2025-10-28T17:55:27.176Z,1761674127.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:55:27.349Z,1761674127.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271440,-0.886305,-0.375211],[0.960890,0.271781,0.053152],[0.054866,-0.374964,0.925414]] 2025-10-28T17:55:27.753Z,1761674127.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289537,-0.881291,-0.373489],[0.955517,0.289023,0.058753],[0.056168,-0.373886,0.925772]] 2025-10-28T17:55:28.155Z,1761674128.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307325,-0.875907,-0.371939],[0.949895,0.305790,0.064750],[0.057020,-0.373202,0.925996]] 2025-10-28T17:55:28.180Z,1761674128.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:55:28.561Z,1761674128.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324290,-0.869417,-0.372761],[0.944194,0.321547,0.071449],[0.057741,-0.375129,0.925173]] 2025-10-28T17:55:28.963Z,1761674128.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340259,-0.863359,-0.372606],[0.938523,0.336373,0.077643],[0.058301,-0.376118,0.924736]] 2025-10-28T17:55:29.367Z,1761674129.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354717,-0.857441,-0.372789],[0.933096,0.349904,0.083058],[0.059223,-0.377310,0.924191]] 2025-10-28T17:55:29.775Z,1761674129.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369579,-0.851518,-0.371925],[0.927266,0.363788,0.088529],[0.059918,-0.377592,0.924032]] 2025-10-28T17:55:30.182Z,1761674130.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383185,-0.845980,-0.370793],[0.921660,0.376671,0.093073],[0.060929,-0.377410,0.924040]] 2025-10-28T17:55:30.236Z,1761674130.236 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:55:30.236Z,1761674130.236 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:55:30.236Z,1761674130.236 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:55:30.237Z,1761674130.237 [marl:UpdateRudder:A] Stopped 2025-10-28T17:55:30.237Z,1761674130.237 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:55:30.580Z,1761674130.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396469,-0.840360,-0.369605],[0.915910,0.389537,0.096802],[0.062626,-0.376903,0.924133]] 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateRudder:B] Stopped 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateRudder] Stopped 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:55:30.623Z,1761674130.623 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateCommandMode] Stopped 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:55:30.624Z,1761674130.624 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:55:30.625Z,1761674130.625 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:55:30.625Z,1761674130.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:55:30.625Z,1761674130.625 [marl:UpdateSpeed] Stopped 2025-10-28T17:55:30.625Z,1761674130.625 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:55:30.982Z,1761674130.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409561,-0.834211,-0.369259],[0.909997,0.402205,0.100675],[0.064534,-0.377258,0.923857]] 2025-10-28T17:55:31.387Z,1761674131.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423007,-0.827422,-0.369377],[0.903692,0.415089,0.105081],[0.066378,-0.378253,0.923320]] 2025-10-28T17:55:31.794Z,1761674131.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435926,-0.821233,-0.368165],[0.897375,0.427745,0.108405],[0.068455,-0.377639,0.923419]] 2025-10-28T17:55:32.195Z,1761674132.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449113,-0.814768,-0.366675],[0.890695,0.440622,0.111866],[0.070420,-0.376836,0.923599]] 2025-10-28T17:55:32.599Z,1761674132.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462597,-0.807672,-0.365609],[0.883626,0.453603,0.115971],[0.072175,-0.376710,0.923515]] 2025-10-28T17:55:33.003Z,1761674133.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475833,-0.800023,-0.365439],[0.876422,0.466213,0.120537],[0.073940,-0.377635,0.922998]] 2025-10-28T17:55:33.408Z,1761674133.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489689,-0.791865,-0.364903],[0.868641,0.479215,0.125761],[0.075282,-0.378553,0.922513]] 2025-10-28T17:55:33.824Z,1761674133.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503263,-0.782514,-0.366602],[0.860673,0.491833,0.131693],[0.077255,-0.381801,0.921010]] 2025-10-28T17:55:34.215Z,1761674134.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517035,-0.774253,-0.364976],[0.852346,0.504865,0.136446],[0.078620,-0.381633,0.920964]] 2025-10-28T17:55:34.619Z,1761674134.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531307,-0.765660,-0.362598],[0.843467,0.518102,0.141894],[0.079220,-0.381229,0.921080]] 2025-10-28T17:55:35.025Z,1761674135.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545754,-0.757124,-0.359048],[0.834166,0.531541,0.147075],[0.079495,-0.379773,0.921658]] 2025-10-28T17:55:35.427Z,1761674135.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560189,-0.747728,-0.356498],[0.824507,0.544786,0.152957],[0.079845,-0.379621,0.921690]] 2025-10-28T17:55:35.834Z,1761674135.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575101,-0.738065,-0.352872],[0.814153,0.558581,0.158560],[0.080080,-0.378480,0.922139]] 2025-10-28T17:55:36.258Z,1761674136.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590281,-0.728125,-0.348429],[0.803229,0.572592,0.164201],[0.079949,-0.376793,0.922841]] 2025-10-28T17:55:36.640Z,1761674136.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604822,-0.718065,-0.344343],[0.792307,0.586154,0.169332],[0.080247,-0.375241,0.923447]] 2025-10-28T17:55:37.042Z,1761674137.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619293,-0.706908,-0.341697],[0.781033,0.599202,0.175909],[0.080394,-0.375816,0.923201]] 2025-10-28T17:55:37.447Z,1761674137.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633652,-0.695351,-0.339075],[0.769444,0.611943,0.182983],[0.080257,-0.376847,0.922792]] 2025-10-28T17:55:37.850Z,1761674137.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647663,-0.683892,-0.335895],[0.757701,0.624476,0.189525],[0.080144,-0.377256,0.922635]] 2025-10-28T17:55:38.262Z,1761674138.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660989,-0.672732,-0.332452],[0.746089,0.636576,0.195251],[0.080279,-0.377098,0.922688]] 2025-10-28T17:55:38.658Z,1761674138.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673522,-0.662115,-0.328590],[0.734791,0.648043,0.200307],[0.080314,-0.376356,0.922988]] 2025-10-28T17:55:39.062Z,1761674139.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685917,-0.651042,-0.325059],[0.723246,0.659174,0.205923],[0.080206,-0.376344,0.923002]] 2025-10-28T17:55:39.467Z,1761674139.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698539,-0.639290,-0.321482],[0.711062,0.670498,0.211714],[0.080207,-0.376484,0.922945]] 2025-10-28T17:55:40.374Z,1761674140.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736959,-0.601531,-0.308306],[0.671223,0.705038,0.228868],[0.079696,-0.375608,0.923345]] 2025-10-28T17:55:40.796Z,1761674140.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750280,-0.588080,-0.302062],[0.656446,0.716904,0.234792],[0.078473,-0.374447,0.923922]] 2025-10-28T17:55:41.182Z,1761674141.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763842,-0.573194,-0.296638],[0.640787,0.728407,0.242520],[0.077062,-0.375328,0.923683]] 2025-10-28T17:55:41.603Z,1761674141.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777411,-0.558127,-0.290046],[0.624445,0.740189,0.249376],[0.075505,-0.374986,0.923951]] 2025-10-28T17:55:41.983Z,1761674141.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790432,-0.543563,-0.282413],[0.608112,0.751730,0.255151],[0.073607,-0.373418,0.924738]] 2025-10-28T17:55:42.388Z,1761674142.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802487,-0.529690,-0.274671],[0.592331,0.762639,0.259857],[0.071831,-0.371228,0.925759]] 2025-10-28T17:55:42.817Z,1761674142.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813589,-0.516330,-0.267352],[0.577231,0.772481,0.264721],[0.069841,-0.369698,0.926523]] 2025-10-28T17:55:43.194Z,1761674143.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823078,-0.504914,-0.260009],[0.563833,0.781356,0.267535],[0.068077,-0.366804,0.927804]] 2025-10-28T17:55:43.608Z,1761674143.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831913,-0.493520,-0.253691],[0.550940,0.789158,0.271468],[0.066227,-0.365606,0.928411]] 2025-10-28T17:55:43.659Z,1761674143.659 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:55:43.659Z,1761674143.659 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:55:43.659Z,1761674143.659 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:55:43.659Z,1761674143.659 [marl:UpdateRudder:A] Stopped 2025-10-28T17:55:43.659Z,1761674143.659 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:55:44.003Z,1761674144.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839753,-0.483059,-0.247928],[0.539162,0.795829,0.275609],[0.064173,-0.365117,0.928747]] 2025-10-28T17:55:44.091Z,1761674144.091 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:55:44.092Z,1761674144.092 [marl:UpdateRudder:B] Stopped 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateRudder] Stopped 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:55:44.108Z,1761674144.108 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateCommandMode] Stopped 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:55:44.109Z,1761674144.109 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:55:44.110Z,1761674144.110 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:55:44.110Z,1761674144.110 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:55:44.110Z,1761674144.110 [marl:UpdateSpeed] Stopped 2025-10-28T17:55:44.110Z,1761674144.110 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:55:44.406Z,1761674144.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846998,-0.472823,-0.242966],[0.527924,0.801776,0.280093],[0.062370,-0.365506,0.928717]] 2025-10-28T17:55:44.816Z,1761674144.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853975,-0.462738,-0.237910],[0.516754,0.807678,0.283938],[0.060766,-0.365417,0.928859]] 2025-10-28T17:55:45.215Z,1761674145.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860927,-0.452443,-0.232592],[0.505266,0.813716,0.287357],[0.059251,-0.364914,0.929154]] 2025-10-28T17:55:45.621Z,1761674145.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868114,-0.441179,-0.227463],[0.492962,0.819875,0.291193],[0.058023,-0.364919,0.929229]] 2025-10-28T17:55:46.023Z,1761674146.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876099,-0.427925,-0.222103],[0.478769,0.826482,0.296156],[0.056832,-0.365798,0.928957]] 2025-10-28T17:55:46.426Z,1761674146.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883930,-0.414477,-0.216511],[0.464295,0.833013,0.300863],[0.055655,-0.366467,0.928765]] 2025-10-28T17:55:46.835Z,1761674146.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892310,-0.399375,-0.210435],[0.448103,0.840056,0.305794],[0.054651,-0.367160,0.928551]] 2025-10-28T17:55:47.236Z,1761674147.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900928,-0.383105,-0.203860],[0.430651,0.847223,0.311051],[0.053549,-0.368027,0.928272]] 2025-10-28T17:55:47.639Z,1761674147.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909167,-0.366730,-0.197294],[0.413058,0.854357,0.315369],[0.052904,-0.368217,0.928234]] 2025-10-28T17:55:48.042Z,1761674148.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917081,-0.350391,-0.190233],[0.395290,0.861342,0.319118],[0.052039,-0.367854,0.928426]] 2025-10-28T17:55:48.448Z,1761674148.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924396,-0.334590,-0.183146],[0.377988,0.867944,0.322178],[0.051163,-0.367047,0.928794]] 2025-10-28T17:55:48.860Z,1761674148.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931096,-0.319592,-0.175846],[0.361334,0.874123,0.324571],[0.049981,-0.365746,0.929372]] 2025-10-28T17:55:49.255Z,1761674149.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937269,-0.305219,-0.168428],[0.345224,0.879796,0.326772],[0.048445,-0.364419,0.929974]] 2025-10-28T17:55:49.659Z,1761674149.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943272,-0.290839,-0.160156],[0.328853,0.884860,0.329967],[0.045749,-0.363917,0.930307]] 2025-10-28T17:55:50.062Z,1761674150.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948922,-0.276507,-0.151955],[0.312536,0.889753,0.332656],[0.043220,-0.363156,0.930725]] 2025-10-28T17:55:50.469Z,1761674150.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954150,-0.262450,-0.143938],[0.296593,0.893816,0.336342],[0.040381,-0.363612,0.930675]] 2025-10-28T17:55:50.871Z,1761674150.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959349,-0.247580,-0.135477],[0.279758,0.897545,0.340805],[0.037220,-0.364852,0.930321]] 2025-10-28T17:55:51.285Z,1761674151.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964008,-0.233638,-0.126896],[0.263669,0.901446,0.343327],[0.034176,-0.364429,0.930604]] 2025-10-28T17:55:52.084Z,1761674152.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972349,-0.206251,-0.109538],[0.231865,0.908597,0.347404],[0.027873,-0.363196,0.931296]] 2025-10-28T17:55:52.489Z,1761674152.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976001,-0.192967,-0.100927],[0.216325,0.912370,0.347541],[0.025019,-0.361033,0.932217]] 2025-10-28T17:55:52.890Z,1761674152.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979270,-0.179993,-0.092907],[0.201305,0.915727,0.347737],[0.022487,-0.359232,0.932977]] 2025-10-28T17:55:53.301Z,1761674153.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982283,-0.166837,-0.085351],[0.186311,0.918462,0.348878],[0.020185,-0.358598,0.933274]] 2025-10-28T17:55:53.700Z,1761674153.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985102,-0.153292,-0.077947],[0.171012,0.921014,0.349983],[0.018140,-0.358099,0.933507]] 2025-10-28T17:55:54.102Z,1761674154.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987806,-0.138824,-0.070484],[0.154844,0.923193,0.351765],[0.016237,-0.358389,0.933431]] 2025-10-28T17:55:54.508Z,1761674154.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990231,-0.124484,-0.062815],[0.138708,0.925383,0.352741],[0.014217,-0.358008,0.933610]] 2025-10-28T17:55:54.910Z,1761674154.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992464,-0.109469,-0.055054],[0.121919,0.927152,0.354295],[0.012259,-0.358337,0.933512]] 2025-10-28T17:55:55.317Z,1761674155.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994457,-0.094103,-0.046896],[0.104651,0.928896,0.355247],[0.010132,-0.358186,0.933595]] 2025-10-28T17:55:55.719Z,1761674155.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996206,-0.078023,-0.038549],[0.086647,0.930540,0.355792],[0.008112,-0.357783,0.933770]] 2025-10-28T17:55:55.803Z,1761674155.803 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:55:56.005Z,1761674156.005 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:55:56.005Z,1761674156.005 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:55:56.123Z,1761674156.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997675,-0.061233,-0.029925],[0.067886,0.931754,0.356687],[0.006042,-0.357889,0.933745]] 2025-10-28T17:55:56.258Z,1761674156.258 [DAT](INFO): DAT read: user:92> 2025-10-28T17:55:56.259Z,1761674156.259 [DAT](INFO): DAT read: Tx time:17:55:56.0016 2025-10-28T17:55:56.259Z,1761674156.259 [DAT](INFO): Ping request sent. 2025-10-28T17:55:56.260Z,1761674156.260 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:55:56.260Z,1761674156.260 [DAT](INFO): publishing transmit ping time 2025-10-28T17:55:56.262Z,1761674156.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001768 2025-10-28T17:55:56.509Z,1761674156.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249353 2025-10-28T17:55:56.533Z,1761674156.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998803,-0.044069,-0.021248],[0.048755,0.932630,0.357524],[0.004061,-0.358132,0.933662]] 2025-10-28T17:55:56.762Z,1761674156.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502270 2025-10-28T17:55:56.931Z,1761674156.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999556,-0.027045,-0.012496],[0.029727,0.933039,0.358544],[0.001963,-0.358756,0.933429]] 2025-10-28T17:55:56.965Z,1761674156.965 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:55:56.965Z,1761674156.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:55:56.965Z,1761674156.965 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:55:56.965Z,1761674156.965 [marl:UpdateRudder:A] Stopped 2025-10-28T17:55:56.966Z,1761674156.966 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:55:57.014Z,1761674157.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753941 2025-10-28T17:55:57.265Z,1761674157.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005663 2025-10-28T17:55:57.335Z,1761674157.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999945,-0.009819,-0.003619],[0.010464,0.933435,0.358593],[-0.000143,-0.358611,0.933487]] 2025-10-28T17:55:57.394Z,1761674157.394 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:55:57.394Z,1761674157.394 [marl:UpdateRudder:B] Stopped 2025-10-28T17:55:57.394Z,1761674157.394 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:55:57.394Z,1761674157.394 [marl:UpdateRudder] Stopped 2025-10-28T17:55:57.394Z,1761674157.394 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode] Stopped 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:55:57.395Z,1761674157.395 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:55:57.396Z,1761674157.396 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:55:57.400Z,1761674157.400 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:55:57.400Z,1761674157.400 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:55:57.400Z,1761674157.400 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:55:57.400Z,1761674157.400 [marl:UpdateSpeed] Stopped 2025-10-28T17:55:57.401Z,1761674157.401 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:55:57.519Z,1761674157.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259034 2025-10-28T17:55:57.738Z,1761674157.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,0.006841,0.005186],[-0.008244,0.933648,0.358096],[-0.002392,-0.358125,0.933670]] 2025-10-28T17:55:57.770Z,1761674157.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510240 2025-10-28T17:55:58.021Z,1761674158.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761323 2025-10-28T17:55:58.145Z,1761674158.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999631,0.023306,0.013921],[-0.026745,0.933375,0.357904],[-0.004652,-0.358145,0.933654]] 2025-10-28T17:55:58.273Z,1761674158.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013495 2025-10-28T17:55:58.316Z,1761674158.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:55:58.525Z,1761674158.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265294 2025-10-28T17:55:58.547Z,1761674158.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998985,0.039153,0.022284],[-0.044529,0.933174,0.356655],[-0.006830,-0.357285,0.933970]] 2025-10-28T17:55:58.778Z,1761674158.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518077 2025-10-28T17:55:58.950Z,1761674158.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998108,0.053674,0.030005],[-0.060847,0.932538,0.355907],[-0.008878,-0.357059,0.934040]] 2025-10-28T17:55:59.029Z,1761674159.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769818 2025-10-28T17:55:59.281Z,1761674159.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021708 2025-10-28T17:55:59.320Z,1761674159.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:55:59.355Z,1761674159.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997026,0.067376,0.037421],[-0.076281,0.931983,0.354384],[-0.010999,-0.356185,0.934351]] 2025-10-28T17:55:59.536Z,1761674159.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275696 2025-10-28T17:55:59.770Z,1761674159.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995827,0.079874,0.044155],[-0.090340,0.931435,0.352516],[-0.012970,-0.355034,0.934764]] 2025-10-28T17:55:59.785Z,1761674159.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525509 2025-10-28T17:56:00.037Z,1761674160.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777294 2025-10-28T17:56:00.162Z,1761674160.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994564,0.091161,0.050330],[-0.103087,0.930240,0.352174],[-0.014715,-0.355448,0.934580]] 2025-10-28T17:56:00.289Z,1761674160.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029789 2025-10-28T17:56:00.541Z,1761674160.541 [DAT](INFO): DAT read: Rx Time:17:55:59.9035 2025-10-28T17:56:00.541Z,1761674160.541 [DAT](INFO): Rx dataTimestamp_ set to:1761674160.541198 2025-10-28T17:56:00.542Z,1761674160.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282473 2025-10-28T17:56:00.567Z,1761674160.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993218,0.101700,0.056342],[-0.115090,0.928710,0.352494],[-0.016477,-0.356588,0.934116]] 2025-10-28T17:56:00.793Z,1761674160.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533376 2025-10-28T17:56:00.970Z,1761674160.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991769,0.111962,0.062122],[-0.126751,0.927193,0.352488],[-0.018133,-0.357460,0.933752]] 2025-10-28T17:56:01.047Z,1761674161.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787257 2025-10-28T17:56:01.302Z,1761674161.302 [DAT](INFO): DAT read: 17:55:59.9035 LVL= 18144, 29041, 25138, 32755, AGC= 75, IDX= 325,-0.42, 2.708, 0.872, 0.814, 1.965, PHS= 0.846,-1.048,-1.195, RAW= 86.3, 14.1, CAL= 86.2, 17.5, ROT= 63.8, -17.5 2025-10-28T17:56:01.303Z,1761674161.303 [DAT](INFO): got valid direction response: 17:55:59.9035 LVL= 18144, 29041, 25138, 32755, AGC= 75, IDX= 325,-0.42, 2.708, 0.872, 0.814, 1.965, PHS= 0.846,-1.048,-1.195, RAW= 86.3, 14.1, CAL= 86.2, 17.5, ROT= 63.8, -17.5 2025-10-28T17:56:01.304Z,1761674161.304 [DAT](INFO): DAT read: Bearing 208.0, 43.0 (Local) 2025-10-28T17:56:01.305Z,1761674161.305 [DAT](INFO): Local bearing/azimuth received: Bearing 208.0, 43.0 (Local) 2025-10-28T17:56:01.306Z,1761674161.306 [DAT](INFO): DAT read: Range 11 to 20 : 1123.2 m (Round-trip 1497.7 ms) speed -0.1 m/s 2025-10-28T17:56:01.307Z,1761674161.307 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:56:01.308Z,1761674161.308 [DAT](INFO): direction in FSK: [0.421072,0.855731,0.300706] 2025-10-28T17:56:01.308Z,1761674161.308 [DAT](INFO): publishing direction and range info 2025-10-28T17:56:01.375Z,1761674161.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990199,0.122148,0.067721],[-0.138284,0.925468,0.352684],[-0.019593,-0.358592,0.933289]] 2025-10-28T17:56:01.447Z,1761674161.447 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674112.00. Resetting abort timer. 2025-10-28T17:56:01.785Z,1761674161.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988414,0.132669,0.073736],[-0.150297,0.923298,0.353457],[-0.021187,-0.360444,0.932540]] 2025-10-28T17:56:02.183Z,1761674162.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986262,0.144527,0.079997],[-0.163661,0.920633,0.354473],[-0.022417,-0.362695,0.931638]] 2025-10-28T17:56:02.589Z,1761674162.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983684,0.157594,0.086776],[-0.178366,0.917269,0.356095],[-0.023479,-0.365762,0.930412]] 2025-10-28T17:56:02.991Z,1761674162.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980624,0.171937,0.093881],[-0.194369,0.913724,0.356831],[-0.024429,-0.368165,0.929440]] 2025-10-28T17:56:03.395Z,1761674163.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977016,0.187556,0.101305],[-0.211659,0.909983,0.356554],[-0.025312,-0.369801,0.928766]] 2025-10-28T17:56:03.799Z,1761674163.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972855,0.204183,0.108914],[-0.229932,0.906070,0.355203],[-0.026158,-0.370604,0.928423]] 2025-10-28T17:56:04.205Z,1761674164.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968113,0.221633,0.116774],[-0.249059,0.901695,0.353434],[-0.026962,-0.371248,0.928142]] 2025-10-28T17:56:04.607Z,1761674164.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962861,0.239500,0.124657],[-0.268560,0.897140,0.350736],[-0.027833,-0.371188,0.928141]] 2025-10-28T17:56:05.010Z,1761674165.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957106,0.257673,0.132489],[-0.288300,0.892476,0.346943],[-0.028846,-0.370258,0.928481]] 2025-10-28T17:56:05.415Z,1761674165.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950980,0.275714,0.140069],[-0.307786,0.887882,0.341954],[-0.030084,-0.368303,0.929219]] 2025-10-28T17:56:05.820Z,1761674165.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944550,0.293514,0.147226],[-0.326862,0.883320,0.336017],[-0.031422,-0.365508,0.930278]] 2025-10-28T17:56:06.222Z,1761674166.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937982,0.310686,0.153828],[-0.345140,0.878662,0.329896],[-0.032668,-0.362529,0.931400]] 2025-10-28T17:56:06.626Z,1761674166.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931310,0.327052,0.160307],[-0.362633,0.873732,0.324175],[-0.034043,-0.360040,0.932315]] 2025-10-28T17:56:07.031Z,1761674167.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924677,0.342439,0.166459],[-0.379100,0.868712,0.318782],[-0.035442,-0.357875,0.933097]] 2025-10-28T17:56:07.436Z,1761674167.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917881,0.357352,0.172609],[-0.395156,0.863184,0.314268],[-0.036689,-0.356668,0.933510]] 2025-10-28T17:56:07.838Z,1761674167.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911245,0.371363,0.178106],[-0.410108,0.858027,0.309194],[-0.037997,-0.354795,0.934172]] 2025-10-28T17:56:08.247Z,1761674168.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905005,0.384219,0.182595],[-0.423587,0.853500,0.303498],[-0.039235,-0.352012,0.935173]] 2025-10-28T17:56:08.648Z,1761674168.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898871,0.396293,0.187035],[-0.436345,0.848781,0.298619],[-0.040411,-0.350032,0.935866]] 2025-10-28T17:56:09.052Z,1761674169.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892923,0.407170,0.192097],[-0.448274,0.843618,0.295567],[-0.041710,-0.350030,0.935809]] 2025-10-28T17:56:09.455Z,1761674169.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887035,0.417795,0.196508],[-0.459763,0.838274,0.293114],[-0.042266,-0.350349,0.935665]] 2025-10-28T17:56:09.858Z,1761674169.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881569,0.427111,0.201029],[-0.470111,0.832965,0.291829],[-0.042807,-0.351773,0.935106]] 2025-10-28T17:56:10.268Z,1761674170.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876278,0.435878,0.205298],[-0.479869,0.827729,0.290846],[-0.043157,-0.353378,0.934484]] 2025-10-28T17:56:10.292Z,1761674170.292 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:56:10.293Z,1761674170.293 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:56:10.293Z,1761674170.293 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:56:10.293Z,1761674170.293 [marl:UpdateRudder:A] Stopped 2025-10-28T17:56:10.293Z,1761674170.293 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateRudder:B] Stopped 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateRudder] Stopped 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:56:10.710Z,1761674170.710 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateCommandMode] Stopped 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:56:10.711Z,1761674170.711 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:56:10.736Z,1761674170.736 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:56:10.737Z,1761674170.737 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:56:10.737Z,1761674170.737 [marl:UpdateSpeed] Stopped 2025-10-28T17:56:10.737Z,1761674170.737 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:56:11.070Z,1761674171.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865681,0.451760,0.215660],[-0.498641,0.816214,0.291809],[-0.044197,-0.360150,0.931847]] 2025-10-28T17:56:11.478Z,1761674171.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860062,0.459542,0.221620],[-0.508219,0.809838,0.293046],[-0.044809,-0.364669,0.930058]] 2025-10-28T17:56:11.879Z,1761674171.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854137,0.467330,0.228152],[-0.518048,0.803046,0.294524],[-0.045577,-0.369758,0.928010]] 2025-10-28T17:56:12.284Z,1761674172.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847745,0.476019,0.233954],[-0.528362,0.796560,0.293812],[-0.046498,-0.372690,0.926790]] 2025-10-28T17:56:12.687Z,1761674172.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840721,0.485296,0.240157],[-0.539387,0.789459,0.292944],[-0.047429,-0.375822,0.925477]] 2025-10-28T17:56:13.090Z,1761674173.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832686,0.495928,0.246352],[-0.551651,0.781581,0.291226],[-0.048117,-0.378401,0.924390]] 2025-10-28T17:56:13.498Z,1761674173.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823366,0.508336,0.252316],[-0.565424,0.772894,0.287977],[-0.048625,-0.379776,0.923800]] 2025-10-28T17:56:13.905Z,1761674173.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812922,0.521811,0.258593],[-0.580285,0.763336,0.283880],[-0.049262,-0.380830,0.923332]] 2025-10-28T17:56:14.302Z,1761674174.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801237,0.536950,0.264015],[-0.596260,0.753333,0.277422],[-0.049929,-0.379703,0.923760]] 2025-10-28T17:56:14.706Z,1761674174.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789041,0.552764,0.268078],[-0.612260,0.743430,0.269164],[-0.050513,-0.376515,0.925032]] 2025-10-28T17:56:15.111Z,1761674175.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775799,0.569289,0.272112],[-0.628894,0.732674,0.260157],[-0.051264,-0.372960,0.926430]] 2025-10-28T17:56:15.523Z,1761674175.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762581,0.584832,0.276482],[-0.644805,0.721503,0.252309],[-0.051924,-0.370683,0.927307]] 2025-10-28T17:56:15.925Z,1761674175.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749125,0.600269,0.280157],[-0.660342,0.710230,0.243970],[-0.052529,-0.367764,0.928434]] 2025-10-28T17:56:16.323Z,1761674176.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734893,0.616441,0.282723],[-0.676114,0.698487,0.234488],[-0.052930,-0.363477,0.930098]] 2025-10-28T17:56:16.731Z,1761674176.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720590,0.631909,0.285379],[-0.691301,0.686483,0.225487],[-0.053421,-0.359766,0.931512]] 2025-10-28T17:56:17.131Z,1761674177.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706432,0.646545,0.287981],[-0.705742,0.674313,0.217324],[-0.053680,-0.356764,0.932651]] 2025-10-28T17:56:17.587Z,1761674177.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692912,0.659514,0.291402],[-0.719000,0.662274,0.210790],[-0.053969,-0.355577,0.933088]] 2025-10-28T17:56:17.940Z,1761674177.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680621,0.671054,0.294010],[-0.730635,0.651345,0.204748],[-0.054105,-0.354170,0.933615]] 2025-10-28T17:56:18.343Z,1761674178.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669989,0.680591,0.296499],[-0.740387,0.641773,0.199888],[-0.054243,-0.353446,0.933881]] 2025-10-28T17:56:18.758Z,1761674178.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660585,0.688274,0.299843],[-0.748787,0.632900,0.196865],[-0.054273,-0.354565,0.933455]] 2025-10-28T17:56:19.151Z,1761674179.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651608,0.695049,0.303831],[-0.756610,0.624191,0.194747],[-0.054290,-0.356781,0.932609]] 2025-10-28T17:56:19.603Z,1761674179.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643065,0.700678,0.309059],[-0.763878,0.615543,0.193897],[-0.054380,-0.360772,0.931067]] 2025-10-28T17:56:19.962Z,1761674179.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634792,0.705274,0.315639],[-0.770726,0.607002,0.193726],[-0.054963,-0.366247,0.928893]] 2025-10-28T17:56:20.362Z,1761674180.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626293,0.709986,0.321988],[-0.777582,0.598518,0.192725],[-0.055884,-0.371075,0.926920]] 2025-10-28T17:56:20.771Z,1761674180.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617646,0.714083,0.329543],[-0.784352,0.589939,0.191739],[-0.057493,-0.376904,0.924466]] 2025-10-28T17:56:21.171Z,1761674181.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607761,0.718976,0.337193],[-0.791917,0.580330,0.189959],[-0.059107,-0.382479,0.922072]] 2025-10-28T17:56:21.617Z,1761674181.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583424,0.732822,0.350127],[-0.809874,0.557316,0.183037],[-0.060998,-0.390347,0.918645]] 2025-10-28T17:56:22.382Z,1761674182.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569498,0.742357,0.352954],[-0.819692,0.544989,0.176331],[-0.061456,-0.389734,0.918875]] 2025-10-28T17:56:22.791Z,1761674182.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555184,0.752010,0.355320],[-0.829408,0.532455,0.169039],[-0.062073,-0.388553,0.919333]] 2025-10-28T17:56:23.190Z,1761674183.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540269,0.762160,0.356682],[-0.839165,0.519484,0.161053],[-0.062542,-0.386327,0.920239]] 2025-10-28T17:56:23.621Z,1761674183.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524863,0.772490,0.357461],[-0.848857,0.506085,0.152710],[-0.062938,-0.383585,0.921359]] 2025-10-28T17:56:23.663Z,1761674183.663 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:56:23.663Z,1761674183.663 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:56:23.664Z,1761674183.664 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:56:23.684Z,1761674183.684 [marl:UpdateRudder:A] Stopped 2025-10-28T17:56:23.684Z,1761674183.684 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:56:23.999Z,1761674183.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508784,0.783270,0.357249],[-0.858576,0.492096,0.143839],[-0.063136,-0.379908,0.922867]] 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateRudder:B] Stopped 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateRudder] Stopped 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:56:24.045Z,1761674184.045 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateCommandMode] Stopped 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:56:24.046Z,1761674184.046 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:56:24.047Z,1761674184.047 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:56:24.047Z,1761674184.047 [marl:UpdateSpeed] Stopped 2025-10-28T17:56:24.047Z,1761674184.047 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:56:24.404Z,1761674184.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492183,0.794297,0.356156],[-0.868215,0.477499,0.134897],[-0.062916,-0.375614,0.924638]] 2025-10-28T17:56:24.807Z,1761674184.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476100,0.804633,0.354816],[-0.877155,0.463273,0.126400],[-0.062671,-0.371407,0.926353]] 2025-10-28T17:56:25.217Z,1761674185.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460974,0.813132,0.355414],[-0.885217,0.449504,0.119737],[-0.062398,-0.369814,0.927008]] 2025-10-28T17:56:25.623Z,1761674185.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434796,0.825586,0.359666],[-0.898392,0.425163,0.110128],[-0.061997,-0.371004,0.926559]] 2025-10-28T17:56:26.025Z,1761674186.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422737,0.830067,0.363705],[-0.904133,0.413726,0.106651],[-0.061946,-0.373923,0.925389]] 2025-10-28T17:56:26.427Z,1761674186.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411393,0.834130,0.367400],[-0.909326,0.403166,0.102877],[-0.062310,-0.376410,0.924356]] 2025-10-28T17:56:26.830Z,1761674186.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399053,0.838174,0.371781],[-0.914759,0.391788,0.098580],[-0.063032,-0.379429,0.923072]] 2025-10-28T17:56:27.238Z,1761674187.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385069,0.842742,0.376176],[-0.920662,0.379070,0.093201],[-0.064052,-0.382220,0.921849]] 2025-10-28T17:56:27.642Z,1761674187.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369020,0.848596,0.379089],[-0.927151,0.364598,0.086366],[-0.064925,-0.383344,0.921321]] 2025-10-28T17:56:28.038Z,1761674188.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351924,0.854928,0.381115],[-0.933706,0.349300,0.078630],[-0.065900,-0.383521,0.921178]] 2025-10-28T17:56:28.442Z,1761674188.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334247,0.861832,0.381477],[-0.940123,0.333517,0.070246],[-0.066689,-0.382115,0.921705]] 2025-10-28T17:56:28.846Z,1761674188.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316961,0.868906,0.380180],[-0.946049,0.318088,0.061741],[-0.067284,-0.379239,0.922849]] 2025-10-28T17:56:29.251Z,1761674189.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300479,0.874952,0.379700],[-0.951395,0.303136,0.054371],[-0.067529,-0.377582,0.923510]] 2025-10-28T17:56:29.468Z,1761674189.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:56:29.661Z,1761674189.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285316,0.879507,0.380869],[-0.956070,0.289063,0.048702],[-0.067262,-0.378033,0.923345]] 2025-10-28T17:56:30.058Z,1761674190.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271713,0.882896,0.382971],[-0.960073,0.276202,0.044407],[-0.066571,-0.379746,0.922692]] 2025-10-28T17:56:30.463Z,1761674190.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259499,0.885165,0.386189],[-0.963484,0.264630,0.040866],[-0.066024,-0.382692,0.921514]] 2025-10-28T17:56:30.472Z,1761674190.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:56:30.867Z,1761674190.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248311,0.886310,0.390891],[-0.966460,0.253982,0.038057],[-0.065549,-0.387230,0.919650]] 2025-10-28T17:56:31.297Z,1761674191.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237617,0.886764,0.396468],[-0.969183,0.243741,0.035699],[-0.064979,-0.392733,0.917354]] 2025-10-28T17:56:31.674Z,1761674191.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226637,0.887640,0.400914],[-0.971838,0.233371,0.032686],[-0.064548,-0.397031,0.915532]] 2025-10-28T17:56:32.079Z,1761674192.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214684,0.889321,0.403756],[-0.974566,0.222263,0.028631],[-0.064278,-0.399634,0.914419]] 2025-10-28T17:56:32.484Z,1761674192.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201565,0.891501,0.405706],[-0.977369,0.210214,0.023657],[-0.064194,-0.401293,0.913697]] 2025-10-28T17:56:32.889Z,1761674192.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186368,0.895073,0.405107],[-0.980396,0.196271,0.017373],[-0.063961,-0.400403,0.914104]] 2025-10-28T17:56:33.291Z,1761674193.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169845,0.898972,0.403736],[-0.983386,0.181244,0.010132],[-0.064066,-0.398749,0.914820]] 2025-10-28T17:56:33.696Z,1761674193.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151797,0.904088,0.399478],[-0.986324,0.164807,0.001803],[-0.064207,-0.394289,0.916741]] 2025-10-28T17:56:34.099Z,1761674194.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132227,0.909203,0.394799],[-0.989118,0.146948,-0.007137],[-0.064504,-0.389559,0.918740]] 2025-10-28T17:56:34.506Z,1761674194.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111715,0.914248,0.389449],[-0.991607,0.128222,-0.016559],[-0.065075,-0.384331,0.920899]] 2025-10-28T17:56:34.907Z,1761674194.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090687,0.918812,0.384136],[-0.993718,0.108889,-0.025852],[-0.065581,-0.379378,0.922915]] 2025-10-28T17:56:35.311Z,1761674195.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069526,0.922984,0.378505],[-0.995424,0.089121,-0.034478],[-0.065555,-0.374376,0.924957]] 2025-10-28T17:56:35.723Z,1761674195.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048847,0.926176,0.373913],[-0.996705,0.069473,-0.041875],[-0.064760,-0.370636,0.926518]] 2025-10-28T17:56:36.120Z,1761674196.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029231,0.928308,0.370660],[-0.997569,0.050559,-0.047955],[-0.063257,-0.368358,0.927530]] 2025-10-28T17:56:36.523Z,1761674196.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011945,0.928867,0.370222],[-0.998057,0.033719,-0.052397],[-0.061153,-0.368877,0.927464]] 2025-10-28T17:56:36.927Z,1761674196.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003050,0.927973,0.372635],[-0.998268,0.019067,-0.055654],[-0.058750,-0.372160,0.926307]] 2025-10-28T17:56:36.967Z,1761674196.967 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:56:36.967Z,1761674196.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:56:36.967Z,1761674196.967 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:56:36.967Z,1761674196.967 [marl:UpdateRudder:A] Stopped 2025-10-28T17:56:36.967Z,1761674196.967 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:56:37.330Z,1761674197.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015841,0.926382,0.376251],[-0.998290,0.006524,-0.058093],[-0.056271,-0.376528,0.924695]] 2025-10-28T17:56:37.372Z,1761674197.372 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:56:37.372Z,1761674197.372 [marl:UpdateRudder:B] Stopped 2025-10-28T17:56:37.372Z,1761674197.372 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:56:37.372Z,1761674197.372 [marl:UpdateRudder] Stopped 2025-10-28T17:56:37.372Z,1761674197.372 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode] Stopped 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:56:37.373Z,1761674197.373 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed] Stopped 2025-10-28T17:56:37.374Z,1761674197.374 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:56:37.738Z,1761674197.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027012,0.923697,0.382172],[-0.998174,-0.004257,-0.060260],[-0.054035,-0.383101,0.922125]] 2025-10-28T17:56:38.139Z,1761674198.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037368,0.920719,0.388432],[-0.997923,-0.013970,-0.062888],[-0.052475,-0.389975,0.919329]] 2025-10-28T17:56:38.543Z,1761674198.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047400,0.917836,0.394120],[-0.997531,-0.023024,-0.066352],[-0.051826,-0.396292,0.916661]] 2025-10-28T17:56:38.946Z,1761674198.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057572,0.915106,0.399081],[-0.996974,-0.031788,-0.070934],[-0.052226,-0.401958,0.914168]] 2025-10-28T17:56:39.352Z,1761674199.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069284,0.913975,0.399812],[-0.996171,-0.041964,-0.076696],[-0.053321,-0.403595,0.913383]] 2025-10-28T17:56:39.768Z,1761674199.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083544,0.913381,0.398441],[-0.995010,-0.054575,-0.083524],[-0.054545,-0.403431,0.913383]] 2025-10-28T17:56:40.158Z,1761674200.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100425,0.913758,0.393651],[-0.993415,-0.070157,-0.090581],[-0.055152,-0.400155,0.914786]] 2025-10-28T17:56:40.563Z,1761674200.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117934,0.914342,0.387390],[-0.991468,-0.086606,-0.097421],[-0.055525,-0.395574,0.916754]] 2025-10-28T17:56:40.967Z,1761674200.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136687,0.914489,0.380824],[-0.989058,-0.104446,-0.104186],[-0.055502,-0.390898,0.918759]] 2025-10-28T17:56:41.373Z,1761674201.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155186,0.914422,0.373832],[-0.986362,-0.122415,-0.110023],[-0.054844,-0.385807,0.920948]] 2025-10-28T17:56:41.779Z,1761674201.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172881,0.913419,0.368481],[-0.983480,-0.139707,-0.115105],[-0.053659,-0.382293,0.922482]] 2025-10-28T17:56:42.179Z,1761674202.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189271,0.911126,0.366095],[-0.980532,-0.155524,-0.119870],[-0.052281,-0.381656,0.922825]] 2025-10-28T17:56:42.582Z,1761674202.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204272,0.908421,0.364753],[-0.977610,-0.170085,-0.123892],[-0.050507,-0.381894,0.922825]] 2025-10-28T17:56:42.989Z,1761674202.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218306,0.904994,0.365141],[-0.974674,-0.183601,-0.127675],[-0.048505,-0.383765,0.922156]] 2025-10-28T17:56:43.392Z,1761674203.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231633,0.901130,0.366485],[-0.971693,-0.196327,-0.131410],[-0.046466,-0.386550,0.921097]] 2025-10-28T17:56:43.795Z,1761674203.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244592,0.897197,0.367711],[-0.968608,-0.208714,-0.135042],[-0.044413,-0.389198,0.920083]] 2025-10-28T17:56:44.207Z,1761674204.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257845,0.893862,0.366779],[-0.965258,-0.221677,-0.138337],[-0.042348,-0.389706,0.919965]] 2025-10-28T17:56:44.604Z,1761674204.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271950,0.890231,0.365421],[-0.961471,-0.235497,-0.141826],[-0.040202,-0.389911,0.919975]] 2025-10-28T17:56:45.006Z,1761674205.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286611,0.886315,0.363731],[-0.957278,-0.249724,-0.145800],[-0.038393,-0.389979,0.920023]] 2025-10-28T17:56:45.411Z,1761674205.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301932,0.881777,0.362363],[-0.952626,-0.264470,-0.150195],[-0.036604,-0.390545,0.919856]] 2025-10-28T17:56:45.821Z,1761674205.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317876,0.877009,0.360291],[-0.947490,-0.279848,-0.154750],[-0.034890,-0.390563,0.919915]] 2025-10-28T17:56:46.235Z,1761674206.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333334,0.871928,0.358650],[-0.942207,-0.294492,-0.159750],[-0.033671,-0.391172,0.919701]] 2025-10-28T17:56:46.622Z,1761674206.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348776,0.866873,0.356211],[-0.936650,-0.309319,-0.164343],[-0.032281,-0.390964,0.919840]] 2025-10-28T17:56:47.030Z,1761674207.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363950,0.861197,0.354794],[-0.930909,-0.323730,-0.169138],[-0.030804,-0.391839,0.919518]] 2025-10-28T17:56:47.431Z,1761674207.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376940,0.855717,0.354491],[-0.925768,-0.335874,-0.173615],[-0.029501,-0.393619,0.918800]] 2025-10-28T17:56:47.841Z,1761674207.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388220,0.851027,0.353608],[-0.921126,-0.346466,-0.177450],[-0.028501,-0.394607,0.918408]] 2025-10-28T17:56:48.239Z,1761674208.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398761,0.846438,0.352892],[-0.916645,-0.356390,-0.180964],[-0.027408,-0.395638,0.917997]] 2025-10-28T17:56:48.643Z,1761674208.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408871,0.842067,0.351777],[-0.912212,-0.365995,-0.184164],[-0.026330,-0.396195,0.917789]] 2025-10-28T17:56:49.051Z,1761674209.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419313,0.838156,0.348815],[-0.907498,-0.376414,-0.186439],[-0.024966,-0.394725,0.918460]] 2025-10-28T17:56:49.452Z,1761674209.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430045,0.834463,0.344577],[-0.902496,-0.387330,-0.188352],[-0.023708,-0.391979,0.919669]] 2025-10-28T17:56:49.856Z,1761674209.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441764,0.830461,0.339381],[-0.896850,-0.399329,-0.190255],[-0.022474,-0.388422,0.921208]] 2025-10-28T17:56:50.261Z,1761674210.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454337,0.825379,0.335153],[-0.890574,-0.411809,-0.193112],[-0.021372,-0.386216,0.922161]] 2025-10-28T17:56:50.285Z,1761674210.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:56:50.285Z,1761674210.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:56:50.285Z,1761674210.285 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:56:50.285Z,1761674210.285 [marl:UpdateRudder:A] Stopped 2025-10-28T17:56:50.285Z,1761674210.285 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:56:50.662Z,1761674210.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468466,0.819403,0.330330],[-0.883249,-0.425795,-0.196394],[-0.020273,-0.383767,0.923207]] 2025-10-28T17:56:50.707Z,1761674210.707 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:56:50.708Z,1761674210.708 [marl:UpdateRudder:B] Stopped 2025-10-28T17:56:50.709Z,1761674210.709 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:56:50.709Z,1761674210.709 [marl:UpdateRudder] Stopped 2025-10-28T17:56:50.709Z,1761674210.709 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:56:50.709Z,1761674210.709 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:56:50.709Z,1761674210.709 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateCommandMode] Stopped 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:56:50.710Z,1761674210.710 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:56:50.711Z,1761674210.711 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:56:50.711Z,1761674210.711 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:56:50.711Z,1761674210.711 [marl:UpdateSpeed] Stopped 2025-10-28T17:56:50.711Z,1761674210.711 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:56:51.067Z,1761674211.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483591,0.812639,0.325204],[-0.875079,-0.440617,-0.200234],[-0.019427,-0.381410,0.924202]] 2025-10-28T17:56:51.472Z,1761674211.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499631,0.805162,0.319504],[-0.866034,-0.456295,-0.204400],[-0.018787,-0.378826,0.925277]] 2025-10-28T17:56:51.881Z,1761674211.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515748,0.796790,0.314848],[-0.856551,-0.471827,-0.209045],[-0.018011,-0.377498,0.925835]] 2025-10-28T17:56:52.278Z,1761674212.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532745,0.786919,0.311355],[-0.846105,-0.487884,-0.214653],[-0.017009,-0.377794,0.925733]] 2025-10-28T17:56:52.691Z,1761674212.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549890,0.775941,0.309090],[-0.835104,-0.504156,-0.220064],[-0.014928,-0.379133,0.925222]] 2025-10-28T17:56:53.087Z,1761674213.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565614,0.765045,0.307876],[-0.824579,-0.519112,-0.224926],[-0.012256,-0.381089,0.924457]] 2025-10-28T17:56:53.493Z,1761674213.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580563,0.753626,0.308212],[-0.814160,-0.532916,-0.230530],[-0.009482,-0.384771,0.922963]] 2025-10-28T17:56:53.895Z,1761674213.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593603,0.742779,0.309701],[-0.804731,-0.544705,-0.236017],[-0.006613,-0.389327,0.921076]] 2025-10-28T17:56:54.299Z,1761674214.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605554,0.732370,0.311350],[-0.795797,-0.555569,-0.240936],[-0.003478,-0.393671,0.919245]] 2025-10-28T17:56:54.704Z,1761674214.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615583,0.722723,0.314211],[-0.788072,-0.564307,-0.245969],[-0.000456,-0.399035,0.916935]] 2025-10-28T17:56:55.111Z,1761674215.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624722,0.714536,0.314897],[-0.780844,-0.572818,-0.249324],[0.002228,-0.401644,0.915793]] 2025-10-28T17:56:55.512Z,1761674215.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633150,0.706714,0.315716],[-0.774014,-0.580668,-0.252442],[0.004921,-0.404202,0.914656]] 2025-10-28T17:56:55.914Z,1761674215.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641088,0.699891,0.314894],[-0.767432,-0.588560,-0.254256],[0.007382,-0.404660,0.914437]] 2025-10-28T17:56:55.966Z,1761674215.966 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:56:56.001Z,1761674216.001 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:56:56.001Z,1761674216.001 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:56:56.253Z,1761674216.253 [DAT](INFO): DAT read: user:93> 2025-10-28T17:56:56.254Z,1761674216.254 [DAT](INFO): DAT read: Tx time:17:56:56.0014 2025-10-28T17:56:56.254Z,1761674216.254 [DAT](INFO): Ping request sent. 2025-10-28T17:56:56.254Z,1761674216.254 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:56:56.254Z,1761674216.254 [DAT](INFO): publishing transmit ping time 2025-10-28T17:56:56.255Z,1761674216.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T17:56:56.358Z,1761674216.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649156,0.692961,0.313692],[-0.760588,-0.596831,-0.255535],[0.010146,-0.404472,0.914494]] 2025-10-28T17:56:56.516Z,1761674216.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.262390 2025-10-28T17:56:56.724Z,1761674216.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657787,0.685855,0.311320],[-0.753089,-0.606120,-0.255884],[0.013198,-0.402769,0.915207]] 2025-10-28T17:56:56.770Z,1761674216.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.515335 2025-10-28T17:56:57.022Z,1761674217.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.767553 2025-10-28T17:56:57.126Z,1761674217.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666983,0.678395,0.308080],[-0.744897,-0.616130,-0.255954],[0.016180,-0.400205,0.916283]] 2025-10-28T17:56:57.273Z,1761674217.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019390 2025-10-28T17:56:57.525Z,1761674217.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271011 2025-10-28T17:56:57.558Z,1761674217.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676686,0.670248,0.304736],[-0.736018,-0.626664,-0.256066],[0.019339,-0.397568,0.917369]] 2025-10-28T17:56:57.777Z,1761674217.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523239 2025-10-28T17:56:57.934Z,1761674217.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687273,0.661350,0.300454],[-0.726049,-0.638266,-0.255869],[0.022551,-0.393996,0.918835]] 2025-10-28T17:56:58.030Z,1761674218.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775884 2025-10-28T17:56:58.281Z,1761674218.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026847 2025-10-28T17:56:58.340Z,1761674218.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697796,0.652242,0.296076],[-0.715831,-0.649874,-0.255440],[0.025803,-0.390186,0.920375]] 2025-10-28T17:56:58.533Z,1761674218.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278868 2025-10-28T17:56:58.743Z,1761674218.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708090,0.642269,0.293427],[-0.705518,-0.660702,-0.256356],[0.029219,-0.388541,0.920968]] 2025-10-28T17:56:58.785Z,1761674218.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531130 2025-10-28T17:56:59.037Z,1761674219.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782887 2025-10-28T17:56:59.147Z,1761674219.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717797,0.632457,0.291146],[-0.695509,-0.670654,-0.257857],[0.032175,-0.387584,0.921273]] 2025-10-28T17:56:59.289Z,1761674219.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034995 2025-10-28T17:56:59.544Z,1761674219.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289399 2025-10-28T17:56:59.601Z,1761674219.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727297,0.622489,0.289042],[-0.685435,-0.680204,-0.259808],[0.034880,-0.387077,0.921387]] 2025-10-28T17:56:59.793Z,1761674219.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538898 2025-10-28T17:56:59.961Z,1761674219.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736093,0.612291,0.288562],[-0.675846,-0.688400,-0.263320],[0.037418,-0.388851,0.920540]] 2025-10-28T17:57:00.045Z,1761674220.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791094 2025-10-28T17:57:00.297Z,1761674220.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042948 2025-10-28T17:57:00.358Z,1761674220.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744617,0.601729,0.288908],[-0.666295,-0.695967,-0.267734],[0.039967,-0.391857,0.919157]] 2025-10-28T17:57:00.549Z,1761674220.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294923 2025-10-28T17:57:00.592Z,1761674220.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:57:00.767Z,1761674220.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753217,0.591152,0.288450],[-0.656395,-0.703873,-0.271493],[0.042539,-0.393830,0.918198]] 2025-10-28T17:57:00.801Z,1761674220.801 [DAT](INFO): DAT read: Rx Time:17:56:59.9892 2025-10-28T17:57:00.802Z,1761674220.802 [DAT](INFO): Rx dataTimestamp_ set to:1761674220.801227 2025-10-28T17:57:00.802Z,1761674220.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548107 2025-10-28T17:57:01.053Z,1761674221.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.799047 2025-10-28T17:57:01.182Z,1761674221.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762346,0.580263,0.286574],[-0.645600,-0.712700,-0.274334],[0.045055,-0.394149,0.917941]] 2025-10-28T17:57:01.332Z,1761674221.332 [DAT](INFO): DAT read: 17:56:59.9892 LVL= 32752, 29553, 32754, 32755, AGC= 80, IDX= 277, 0.14, 1.266,-2.922, 2.298, 2.379, PHS=-1.011, 1.027,-0.125, RAW= 304.3, 1.2, CAL= 302.4, -2.5, ROT= 207.6, 2.5 2025-10-28T17:57:01.333Z,1761674221.333 [DAT](INFO): got valid direction response: 17:56:59.9892 LVL= 32752, 29553, 32754, 32755, AGC= 80, IDX= 277, 0.14, 1.266,-2.922, 2.298, 2.379, PHS=-1.011, 1.027,-0.125, RAW= 304.3, 1.2, CAL= 302.4, -2.5, ROT= 207.6, 2.5 2025-10-28T17:57:01.334Z,1761674221.334 [DAT](INFO): DAT read: Bearing 213.7, -26.4 (Local) 2025-10-28T17:57:01.334Z,1761674221.334 [DAT](INFO): Local bearing/azimuth received: Bearing 213.7, -26.4 (Local) 2025-10-28T17:57:01.336Z,1761674221.336 [DAT](INFO): DAT read: Range 11 to 20 : 1187.7 m (Round-trip 1583.6 ms) speed -1.1 m/s 2025-10-28T17:57:01.340Z,1761674221.340 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:57:01.341Z,1761674221.341 [DAT](INFO): direction in FSK: [-0.885360,-0.462855,-0.043619] 2025-10-28T17:57:01.342Z,1761674221.342 [DAT](INFO): publishing direction and range info 2025-10-28T17:57:01.596Z,1761674221.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:57:01.613Z,1761674221.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771929,0.568521,0.284445],[-0.633928,-0.721876,-0.277544],[0.047544,-0.394562,0.917638]] 2025-10-28T17:57:01.696Z,1761674221.696 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674240.00. Resetting abort timer. 2025-10-28T17:57:01.981Z,1761674221.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782233,0.556222,0.280588],[-0.620987,-0.732216,-0.279706],[0.049872,-0.393037,0.918169]] 2025-10-28T17:57:02.378Z,1761674222.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792981,0.543252,0.275786],[-0.607004,-0.743288,-0.281193],[0.052230,-0.390384,0.919169]] 2025-10-28T17:57:02.786Z,1761674222.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803981,0.529850,0.269950],[-0.592170,-0.754831,-0.282073],[0.054310,-0.386638,0.920631]] 2025-10-28T17:57:03.189Z,1761674223.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815078,0.515450,0.264497],[-0.576596,-0.766200,-0.283682],[0.056434,-0.383731,0.921719]] 2025-10-28T17:57:03.608Z,1761674223.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825715,0.500697,0.259802],[-0.561032,-0.776826,-0.285980],[0.058631,-0.381895,0.922344]] 2025-10-28T17:57:03.679Z,1761674223.679 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:57:03.679Z,1761674223.679 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:57:03.679Z,1761674223.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:57:03.684Z,1761674223.684 [marl:UpdateRudder:A] Stopped 2025-10-28T17:57:03.684Z,1761674223.684 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:57:03.995Z,1761674223.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835539,0.486156,0.255983],[-0.546095,-0.786090,-0.289555],[0.060457,-0.381725,0.922296]] 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateRudder:B] Stopped 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateRudder] Stopped 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:57:04.034Z,1761674224.034 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateCommandMode] Stopped 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:57:04.035Z,1761674224.035 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:57:04.036Z,1761674224.036 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:57:04.036Z,1761674224.036 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:57:04.036Z,1761674224.036 [marl:UpdateSpeed] Stopped 2025-10-28T17:57:04.036Z,1761674224.036 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:57:04.398Z,1761674224.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844565,0.472045,0.252752],[-0.531838,-0.794287,-0.293696],[0.062120,-0.382469,0.921878]] 2025-10-28T17:57:04.803Z,1761674224.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852401,0.458979,0.250501],[-0.518992,-0.801019,-0.298356],[0.063717,-0.384327,0.920996]] 2025-10-28T17:57:05.208Z,1761674225.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859293,0.447079,0.248468],[-0.507325,-0.806806,-0.302795],[0.065092,-0.386244,0.920097]] 2025-10-28T17:57:05.614Z,1761674225.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865467,0.436341,0.246115],[-0.496540,-0.812319,-0.305919],[0.066439,-0.386968,0.919696]] 2025-10-28T17:57:06.015Z,1761674226.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871132,0.426267,0.243775],[-0.486363,-0.817413,-0.308687],[0.067682,-0.387470,0.919394]] 2025-10-28T17:57:06.418Z,1761674226.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876530,0.416454,0.241374],[-0.476430,-0.822108,-0.311693],[0.068629,-0.388206,0.919014]] 2025-10-28T17:57:06.824Z,1761674226.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881579,0.407080,0.238966],[-0.466877,-0.826604,-0.314247],[0.069606,-0.388602,0.918773]] 2025-10-28T17:57:07.227Z,1761674227.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886720,0.397512,0.236033],[-0.456913,-0.831311,-0.316469],[0.070417,-0.388466,0.918769]] 2025-10-28T17:57:07.633Z,1761674227.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892032,0.387488,0.232663],[-0.446323,-0.836341,-0.318323],[0.071239,-0.387798,0.918988]] 2025-10-28T17:57:08.034Z,1761674228.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897679,0.376622,0.228753],[-0.434735,-0.841717,-0.320185],[0.071956,-0.386870,0.919322]] 2025-10-28T17:57:08.844Z,1761674228.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909837,0.352524,0.218916],[-0.408507,-0.853616,-0.323205],[0.072932,-0.383493,0.920660]] 2025-10-28T17:57:09.246Z,1761674229.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916097,0.339255,0.213709],[-0.394130,-0.859861,-0.324502],[0.073671,-0.381504,0.921427]] 2025-10-28T17:57:09.665Z,1761674229.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922262,0.325285,0.208859],[-0.379390,-0.865271,-0.327673],[0.074133,-0.381439,0.921417]] 2025-10-28T17:57:10.056Z,1761674230.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928192,0.311315,0.203818],[-0.364587,-0.870406,-0.330862],[0.074402,-0.381413,0.921406]] 2025-10-28T17:57:10.465Z,1761674230.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933902,0.297267,0.198644],[-0.349682,-0.875212,-0.334254],[0.074493,-0.381623,0.921311]] 2025-10-28T17:57:10.873Z,1761674230.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944344,0.269573,0.188530],[-0.320406,-0.883580,-0.341507],[0.074520,-0.382906,0.920777]] 2025-10-28T17:57:11.272Z,1761674231.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949105,0.256111,0.183320],[-0.306054,-0.887374,-0.344816],[0.074362,-0.383373,0.920595]] 2025-10-28T17:57:11.681Z,1761674231.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953507,0.242896,0.178398],[-0.292008,-0.891028,-0.347564],[0.074535,-0.383498,0.920529]] 2025-10-28T17:57:12.086Z,1761674232.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957494,0.230317,0.173666],[-0.278682,-0.893996,-0.350868],[0.074446,-0.384351,0.920180]] 2025-10-28T17:57:12.484Z,1761674232.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961399,0.217313,0.168779],[-0.264821,-0.897313,-0.353127],[0.074709,-0.384193,0.920225]] 2025-10-28T17:57:12.883Z,1761674232.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965247,0.203949,0.163410],[-0.250432,-0.900596,-0.355260],[0.074711,-0.383837,0.920373]] 2025-10-28T17:57:13.287Z,1761674233.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968850,0.190816,0.157855],[-0.236249,-0.903310,-0.358074],[0.074265,-0.384213,0.920253]] 2025-10-28T17:57:13.693Z,1761674233.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972253,0.177656,0.152189],[-0.221973,-0.905959,-0.360507],[0.073831,-0.384286,0.920257]] 2025-10-28T17:57:14.094Z,1761674234.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975444,0.164442,0.146520],[-0.207600,-0.908660,-0.362269],[0.073564,-0.383790,0.920485]] 2025-10-28T17:57:14.501Z,1761674234.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978319,0.151792,0.140896],[-0.193844,-0.910640,-0.364910],[0.072915,-0.384310,0.920320]] 2025-10-28T17:57:14.903Z,1761674234.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981104,0.138764,0.134835],[-0.179599,-0.912367,-0.367873],[0.071971,-0.385137,0.920049]] 2025-10-28T17:57:15.307Z,1761674235.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983840,0.124496,0.128681],[-0.164225,-0.913782,-0.371527],[0.071333,-0.386656,0.919461]] 2025-10-28T17:57:15.712Z,1761674235.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986395,0.110213,0.121978],[-0.148565,-0.915292,-0.374391],[0.070383,-0.387419,0.919213]] 2025-10-28T17:57:16.114Z,1761674236.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988748,0.095695,0.114981],[-0.132437,-0.917370,-0.375356],[0.069560,-0.386360,0.919721]] 2025-10-28T17:57:16.519Z,1761674236.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990876,0.080866,0.107818],[-0.115994,-0.919034,-0.376726],[0.068624,-0.385795,0.920029]] 2025-10-28T17:57:16.922Z,1761674236.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992769,0.066073,0.100224],[-0.099311,-0.921082,-0.376491],[0.067439,-0.383722,0.920983]] 2025-10-28T17:57:16.963Z,1761674236.963 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:57:16.964Z,1761674236.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:57:16.964Z,1761674236.964 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:57:16.965Z,1761674236.965 [marl:UpdateRudder:A] Stopped 2025-10-28T17:57:16.965Z,1761674236.965 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:57:17.326Z,1761674237.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994350,0.051546,0.092793],[-0.083057,-0.922175,-0.377751],[0.066100,-0.383323,0.921246]] 2025-10-28T17:57:17.375Z,1761674237.375 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:57:17.375Z,1761674237.375 [marl:UpdateRudder:B] Stopped 2025-10-28T17:57:17.375Z,1761674237.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateRudder] Stopped 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:57:17.376Z,1761674237.376 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateCommandMode] Stopped 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:57:17.377Z,1761674237.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:57:17.378Z,1761674237.378 [marl:UpdateSpeed] Stopped 2025-10-28T17:57:17.378Z,1761674237.378 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:57:17.731Z,1761674237.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995638,0.037554,0.085411],[-0.067339,-0.922863,-0.379195],[0.064582,-0.383292,0.921367]] 2025-10-28T17:57:18.147Z,1761674238.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996632,0.024406,0.078288],[-0.052578,-0.922809,-0.381653],[0.062930,-0.384484,0.920984]] 2025-10-28T17:57:18.539Z,1761674238.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997458,0.011625,0.070303],[-0.037790,-0.922730,-0.383590],[0.060412,-0.385272,0.920824]] 2025-10-28T17:57:18.942Z,1761674238.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998053,0.000276,0.062367],[-0.024288,-0.922763,-0.384601],[0.057443,-0.385368,0.920973]] 2025-10-28T17:57:19.347Z,1761674239.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998457,-0.009310,0.054751],[-0.012554,-0.922494,-0.385807],[0.054100,-0.385899,0.920953]] 2025-10-28T17:57:19.756Z,1761674239.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998720,-0.019276,0.046772],[-0.000271,-0.922508,-0.385979],[0.050587,-0.385497,0.921321]] 2025-10-28T17:57:20.163Z,1761674240.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998819,-0.029244,0.038786],[0.011967,-0.921999,-0.387007],[0.047079,-0.386086,0.921260]] 2025-10-28T17:57:20.558Z,1761674240.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998732,-0.039724,0.030928],[0.024640,-0.921417,-0.387794],[0.043902,-0.386540,0.921227]] 2025-10-28T17:57:20.964Z,1761674240.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998455,-0.050451,0.023275],[0.037466,-0.920694,-0.388482],[0.041028,-0.387010,0.921162]] 2025-10-28T17:57:21.366Z,1761674241.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997973,-0.061641,0.015796],[0.050693,-0.920192,-0.388171],[0.038462,-0.386584,0.921452]] 2025-10-28T17:57:21.775Z,1761674241.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997308,-0.072775,0.008999],[0.063656,-0.920125,-0.386416],[0.036401,-0.384803,0.922281]] 2025-10-28T17:57:22.174Z,1761674242.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996346,-0.085385,0.001942],[0.078067,-0.919710,-0.384758],[0.034639,-0.383201,0.923015]] 2025-10-28T17:57:22.579Z,1761674242.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995055,-0.099169,-0.005515],[0.093713,-0.919010,-0.382935],[0.032907,-0.381558,0.923759]] 2025-10-28T17:57:22.984Z,1761674242.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993245,-0.115242,-0.013555],[0.111725,-0.918252,-0.379908],[0.031334,-0.378856,0.924925]] 2025-10-28T17:57:23.387Z,1761674243.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991010,-0.131949,-0.022081],[0.130442,-0.916346,-0.378544],[0.029715,-0.378021,0.925320]] 2025-10-28T17:57:23.792Z,1761674243.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988241,-0.149649,-0.031388],[0.150359,-0.913775,-0.377368],[0.027791,-0.377650,0.925531]] 2025-10-28T17:57:24.204Z,1761674244.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984908,-0.168202,-0.040803],[0.171118,-0.910890,-0.375497],[0.025993,-0.376812,0.925925]] 2025-10-28T17:57:24.600Z,1761674244.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981073,-0.186927,-0.050543],[0.192139,-0.907297,-0.374025],[0.024058,-0.376657,0.926040]] 2025-10-28T17:57:25.077Z,1761674245.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976812,-0.205425,-0.060320],[0.212960,-0.903237,-0.372573],[0.022053,-0.376780,0.926040]] 2025-10-28T17:57:25.407Z,1761674245.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972182,-0.223298,-0.070711],[0.233409,-0.898383,-0.372058],[0.019554,-0.378213,0.925512]] 2025-10-28T17:57:25.812Z,1761674245.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967257,-0.240533,-0.080979],[0.253249,-0.893738,-0.370267],[0.016688,-0.378651,0.925389]] 2025-10-28T17:57:26.214Z,1761674246.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962101,-0.257074,-0.090969],[0.272366,-0.889513,-0.366857],[0.013391,-0.377730,0.925819]] 2025-10-28T17:57:26.627Z,1761674246.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956851,-0.272627,-0.100556],[0.290416,-0.885590,-0.362477],[0.009769,-0.376039,0.926552]] 2025-10-28T17:57:27.023Z,1761674247.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951804,-0.286260,-0.110107],[0.306648,-0.881211,-0.359771],[0.005960,-0.376196,0.926521]] 2025-10-28T17:57:27.429Z,1761674247.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947047,-0.298184,-0.119115],[0.321088,-0.877062,-0.357303],[0.002071,-0.376629,0.926362]] 2025-10-28T17:57:27.830Z,1761674247.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942358,-0.309426,-0.127348],[0.334605,-0.872963,-0.354930],[-0.001346,-0.377082,0.926179]] 2025-10-28T17:57:28.235Z,1761674248.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937689,-0.320390,-0.134497],[0.347447,-0.869506,-0.351055],[-0.004472,-0.375911,0.926645]] 2025-10-28T17:57:28.642Z,1761674248.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933050,-0.330900,-0.141150],[0.359677,-0.865841,-0.347781],[-0.007133,-0.375265,0.926890]] 2025-10-28T17:57:29.044Z,1761674249.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928213,-0.341396,-0.147886],[0.371937,-0.861308,-0.346137],[-0.009206,-0.376293,0.926455]] 2025-10-28T17:57:29.446Z,1761674249.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923178,-0.352331,-0.153640],[0.384231,-0.856788,-0.343921],[-0.010462,-0.376534,0.926344]] 2025-10-28T17:57:29.850Z,1761674249.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917686,-0.363974,-0.159296],[0.397149,-0.851640,-0.342027],[-0.011174,-0.377138,0.926090]] 2025-10-28T17:57:30.255Z,1761674250.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912103,-0.374960,-0.165752],[0.409801,-0.845247,-0.342958],[-0.011506,-0.380739,0.924611]] 2025-10-28T17:57:30.282Z,1761674250.282 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:57:30.282Z,1761674250.282 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:57:30.282Z,1761674250.282 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateRudder:A] Stopped 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode] Stopped 2025-10-28T17:57:30.283Z,1761674250.283 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:57:30.284Z,1761674250.284 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:57:30.292Z,1761674250.292 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:57:30.292Z,1761674250.292 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:57:30.292Z,1761674250.292 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:57:30.292Z,1761674250.292 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:57:30.293Z,1761674250.293 [marl:UpdateSpeed] Stopped 2025-10-28T17:57:30.293Z,1761674250.293 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:57:30.660Z,1761674250.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905912,-0.387164,-0.171543],[0.423311,-0.838880,-0.342182],[-0.011424,-0.382603,0.923842]] 2025-10-28T17:57:30.688Z,1761674250.688 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:57:30.688Z,1761674250.688 [marl:UpdateRudder:B] Stopped 2025-10-28T17:57:30.688Z,1761674250.688 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:57:30.688Z,1761674250.688 [marl:UpdateRudder] Stopped 2025-10-28T17:57:30.688Z,1761674250.688 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:57:31.062Z,1761674251.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899387,-0.399175,-0.178217],[0.437003,-0.831627,-0.342672],[-0.011424,-0.386076,0.922396]] 2025-10-28T17:57:31.466Z,1761674251.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892445,-0.411484,-0.184993],[0.451002,-0.824415,-0.341962],[-0.011799,-0.388614,0.921325]] 2025-10-28T17:57:31.716Z,1761674251.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:57:31.871Z,1761674251.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885211,-0.424192,-0.190952],[0.465030,-0.817673,-0.339348],[-0.012188,-0.389193,0.921076]] 2025-10-28T17:57:32.276Z,1761674252.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877840,-0.436815,-0.196440],[0.478788,-0.811099,-0.335976],[-0.012573,-0.388987,0.921158]] 2025-10-28T17:57:32.679Z,1761674252.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870028,-0.449748,-0.201933],[0.492816,-0.804631,-0.331213],[-0.013519,-0.387680,0.921695]] 2025-10-28T17:57:32.720Z,1761674252.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:57:33.082Z,1761674253.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861887,-0.462552,-0.207837],[0.506886,-0.797742,-0.326610],[-0.014726,-0.386851,0.922025]] 2025-10-28T17:57:33.487Z,1761674253.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853388,-0.475753,-0.213046],[0.521036,-0.790922,-0.320881],[-0.015842,-0.384840,0.922847]] 2025-10-28T17:57:33.891Z,1761674253.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844424,-0.489330,-0.217956],[0.535408,-0.783839,-0.314538],[-0.016929,-0.382299,0.923884]] 2025-10-28T17:57:34.294Z,1761674254.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834852,-0.503495,-0.222520],[0.550179,-0.776433,-0.307336],[-0.018030,-0.379006,0.925219]] 2025-10-28T17:57:34.698Z,1761674254.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824396,-0.518243,-0.227586],[0.565685,-0.768080,-0.300091],[-0.019284,-0.376136,0.926364]] 2025-10-28T17:57:35.112Z,1761674255.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813386,-0.532619,-0.233923],[0.581354,-0.758589,-0.294227],[-0.020740,-0.375313,0.926666]] 2025-10-28T17:57:35.509Z,1761674255.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802118,-0.546585,-0.240523],[0.596755,-0.748610,-0.288906],[-0.022147,-0.375270,0.926651]] 2025-10-28T17:57:35.911Z,1761674255.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790205,-0.560844,-0.247044],[0.612387,-0.738167,-0.283004],[-0.023639,-0.374917,0.926757]] 2025-10-28T17:57:36.315Z,1761674256.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777961,-0.574995,-0.253294],[0.627807,-0.727547,-0.276647],[-0.025213,-0.374241,0.926989]] 2025-10-28T17:57:36.719Z,1761674256.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765489,-0.588778,-0.259552],[0.642885,-0.716724,-0.270196],[-0.026942,-0.373694,0.927161]] 2025-10-28T17:57:37.130Z,1761674257.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752887,-0.602083,-0.265815],[0.657511,-0.705871,-0.263487],[-0.028990,-0.373152,0.927317]] 2025-10-28T17:57:37.553Z,1761674257.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740274,-0.615033,-0.271528],[0.671581,-0.695215,-0.256230],[-0.031180,-0.372034,0.927695]] 2025-10-28T17:57:37.930Z,1761674257.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727776,-0.627243,-0.277323],[0.684992,-0.684624,-0.249150],[-0.033585,-0.371290,0.927910]] 2025-10-28T17:57:38.335Z,1761674258.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715578,-0.639010,-0.282159],[0.697612,-0.674470,-0.241719],[-0.035847,-0.369806,0.928417]] 2025-10-28T17:57:38.738Z,1761674258.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704050,-0.649107,-0.288051],[0.709119,-0.664450,-0.235916],[-0.038261,-0.370359,0.928100]] 2025-10-28T17:57:39.143Z,1761674259.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692757,-0.658763,-0.293460],[0.720018,-0.654794,-0.229822],[-0.040758,-0.370507,0.927935]] 2025-10-28T17:57:39.592Z,1761674259.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682006,-0.667514,-0.298819],[0.730071,-0.645515,-0.224291],[-0.043175,-0.371127,0.927578]] 2025-10-28T17:57:39.952Z,1761674259.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671878,-0.675770,-0.303174],[0.739282,-0.636847,-0.218835],[-0.045194,-0.371161,0.927468]] 2025-10-28T17:57:40.354Z,1761674260.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661626,-0.683703,-0.307898],[0.748341,-0.627972,-0.213627],[-0.047294,-0.371754,0.927126]] 2025-10-28T17:57:40.768Z,1761674260.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651749,-0.691306,-0.311959],[0.756848,-0.619410,-0.208594],[-0.049028,-0.372056,0.926914]] 2025-10-28T17:57:41.163Z,1761674261.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641983,-0.698549,-0.316050],[0.765080,-0.610593,-0.204521],[-0.050110,-0.373102,0.926436]] 2025-10-28T17:57:41.600Z,1761674261.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632112,-0.705487,-0.320503],[0.773219,-0.601319,-0.201366],[-0.050664,-0.375105,0.925597]] 2025-10-28T17:57:41.970Z,1761674261.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621926,-0.712767,-0.324301],[0.781448,-0.591598,-0.198369],[-0.050465,-0.376795,0.924921]] 2025-10-28T17:57:42.375Z,1761674262.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611110,-0.720504,-0.327749],[0.789964,-0.581315,-0.195013],[-0.050017,-0.378084,0.924419]] 2025-10-28T17:57:42.787Z,1761674262.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599942,-0.728263,-0.331215],[0.798533,-0.570515,-0.191985],[-0.049148,-0.379666,0.923817]] 2025-10-28T17:57:43.186Z,1761674263.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587803,-0.736909,-0.333846],[0.807572,-0.559018,-0.187953],[-0.048122,-0.380084,0.923699]] 2025-10-28T17:57:43.611Z,1761674263.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574609,-0.746324,-0.335895],[0.817055,-0.546871,-0.182629],[-0.047391,-0.379384,0.924025]] 2025-10-28T17:57:43.673Z,1761674263.673 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:57:43.673Z,1761674263.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:57:43.673Z,1761674263.673 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateRudder:A] Stopped 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:57:43.674Z,1761674263.674 [marl:UpdateCommandMode] Stopped 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed] Stopped 2025-10-28T17:57:43.675Z,1761674263.675 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:57:43.990Z,1761674263.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560167,-0.756170,-0.338260],[0.827056,-0.533595,-0.176791],[-0.046810,-0.378793,0.924297]] 2025-10-28T17:57:44.014Z,1761674264.014 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:57:44.014Z,1761674264.014 [marl:UpdateRudder:B] Stopped 2025-10-28T17:57:44.014Z,1761674264.014 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:57:44.014Z,1761674264.014 [marl:UpdateRudder] Stopped 2025-10-28T17:57:44.014Z,1761674264.014 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:57:44.395Z,1761674264.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545256,-0.765779,-0.340995],[0.836980,-0.519893,-0.170809],[-0.046479,-0.378541,0.924417]] 2025-10-28T17:57:44.802Z,1761674264.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530521,-0.775356,-0.342593],[0.846421,-0.506491,-0.164432],[-0.046027,-0.377212,0.924982]] 2025-10-28T17:57:45.204Z,1761674265.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515099,-0.784647,-0.344966],[0.855908,-0.492354,-0.158140],[-0.045761,-0.376717,0.925197]] 2025-10-28T17:57:45.613Z,1761674265.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499418,-0.794010,-0.346597],[0.865152,-0.478201,-0.151117],[-0.045755,-0.375329,0.925762]] 2025-10-28T17:57:46.013Z,1761674266.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483010,-0.803755,-0.347390],[0.874405,-0.463610,-0.143116],[-0.046023,-0.372886,0.926735]] 2025-10-28T17:57:46.415Z,1761674266.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466573,-0.812890,-0.348595],[0.883253,-0.448990,-0.135179],[-0.046630,-0.370968,0.927474]] 2025-10-28T17:57:46.822Z,1761674266.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450080,-0.821864,-0.349240],[0.891729,-0.434410,-0.126913],[-0.047409,-0.368549,0.928399]] 2025-10-28T17:57:47.224Z,1761674267.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433797,-0.829886,-0.350870],[0.899703,-0.419944,-0.119084],[-0.048520,-0.367337,0.928821]] 2025-10-28T17:57:47.628Z,1761674267.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417511,-0.837827,-0.351754],[0.907289,-0.405722,-0.110528],[-0.050111,-0.365289,0.929544]] 2025-10-28T17:57:48.031Z,1761674268.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401579,-0.845224,-0.352604],[0.914340,-0.391934,-0.101836],[-0.052124,-0.363295,0.930215]] 2025-10-28T17:57:48.435Z,1761674268.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385813,-0.852050,-0.353778],[0.920963,-0.378367,-0.093087],[-0.054543,-0.361731,0.930686]] 2025-10-28T17:57:48.841Z,1761674268.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370040,-0.857970,-0.356310],[0.927247,-0.364745,-0.084697],[-0.057294,-0.361729,0.930521]] 2025-10-28T17:57:49.244Z,1761674269.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354998,-0.863359,-0.358592],[0.932936,-0.351809,-0.076557],[-0.060060,-0.361721,0.930350]] 2025-10-28T17:57:49.647Z,1761674269.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340378,-0.867824,-0.361974],[0.938197,-0.339108,-0.069219],[-0.062678,-0.363164,0.929615]] 2025-10-28T17:57:50.051Z,1761674270.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326212,-0.871759,-0.365544],[0.943073,-0.326635,-0.062633],[-0.064799,-0.365166,0.928684]] 2025-10-28T17:57:50.454Z,1761674270.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312685,-0.875253,-0.368998],[0.947527,-0.314613,-0.056670],[-0.066491,-0.367356,0.927701]] 2025-10-28T17:57:50.866Z,1761674270.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299712,-0.878300,-0.372509],[0.951642,-0.302841,-0.051632],[-0.067463,-0.369969,0.926591]] 2025-10-28T17:57:51.263Z,1761674271.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286739,-0.881046,-0.376217],[0.955613,-0.290801,-0.047319],[-0.067714,-0.373086,0.925323]] 2025-10-28T17:57:51.666Z,1761674271.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274029,-0.883641,-0.379588],[0.959368,-0.278759,-0.043660],[-0.067234,-0.376129,0.924125]] 2025-10-28T17:57:52.076Z,1761674272.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261239,-0.886521,-0.381884],[0.962997,-0.266517,-0.040064],[-0.066261,-0.378220,0.923341]] 2025-10-28T17:57:52.475Z,1761674272.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248036,-0.889773,-0.383121],[0.966579,-0.253770,-0.036410],[-0.064828,-0.379348,0.922980]] 2025-10-28T17:57:52.878Z,1761674272.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234325,-0.893893,-0.382162],[0.970099,-0.240579,-0.032098],[-0.063248,-0.378256,0.923538]] 2025-10-28T17:57:53.283Z,1761674273.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219671,-0.898298,-0.380534],[0.973604,-0.226640,-0.027019],[-0.061973,-0.376425,0.924372]] 2025-10-28T17:57:53.686Z,1761674273.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204641,-0.902759,-0.378349],[0.976959,-0.212309,-0.021836],[-0.060614,-0.374100,0.925405]] 2025-10-28T17:57:54.096Z,1761674274.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189110,-0.907101,-0.376040],[0.980145,-0.197616,-0.016216],[-0.059602,-0.371640,0.926462]] 2025-10-28T17:57:54.497Z,1761674274.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172546,-0.910965,-0.374662],[0.983197,-0.182295,-0.009560],[-0.059590,-0.370016,0.927112]] 2025-10-28T17:57:54.898Z,1761674274.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156073,-0.914380,-0.373564],[0.985918,-0.167211,-0.002624],[-0.060065,-0.368713,0.927601]] 2025-10-28T17:57:55.302Z,1761674275.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139314,-0.917933,-0.371471],[0.988377,-0.151948,0.004799],[-0.060849,-0.366485,0.928432]] 2025-10-28T17:57:55.706Z,1761674275.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122985,-0.920673,-0.370454],[0.990482,-0.137119,0.011953],[-0.061802,-0.365458,0.928774]] 2025-10-28T17:57:56.118Z,1761674276.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090699,-0.924367,-0.370567],[0.993822,-0.107910,0.025932],[-0.063958,-0.365926,0.928444]] 2025-10-28T17:57:56.143Z,1761674276.143 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:57:56.281Z,1761674276.281 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:57:56.281Z,1761674276.281 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:57:56.519Z,1761674276.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074629,-0.926013,-0.370041],[0.995102,-0.093276,0.032732],[-0.064826,-0.365786,0.928438]] 2025-10-28T17:57:56.533Z,1761674276.533 [DAT](INFO): DAT read: user:94> 2025-10-28T17:57:56.533Z,1761674276.533 [DAT](INFO): DAT read: Tx time:17:57:56.3012 2025-10-28T17:57:56.534Z,1761674276.534 [DAT](INFO): Ping request sent. 2025-10-28T17:57:56.534Z,1761674276.534 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:57:56.534Z,1761674276.534 [DAT](INFO): publishing transmit ping time 2025-10-28T17:57:56.535Z,1761674276.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T17:57:56.785Z,1761674276.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251045 2025-10-28T17:57:56.924Z,1761674276.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058535,-0.927381,-0.369512],[0.996146,-0.078480,0.039163],[-0.065318,-0.365795,0.928401]] 2025-10-28T17:57:56.975Z,1761674276.975 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:57:56.975Z,1761674276.975 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:57:56.975Z,1761674276.975 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:57:56.976Z,1761674276.976 [marl:UpdateRudder:A] Stopped 2025-10-28T17:57:56.976Z,1761674276.976 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:57:56.976Z,1761674276.976 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:57:56.976Z,1761674276.976 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:57:56.976Z,1761674276.976 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateCommandMode] Stopped 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:57:56.977Z,1761674276.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:57:56.978Z,1761674276.978 [marl:UpdateSpeed] Stopped 2025-10-28T17:57:56.978Z,1761674276.978 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:57:57.038Z,1761674277.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503936 2025-10-28T17:57:57.289Z,1761674277.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755030 2025-10-28T17:57:57.332Z,1761674277.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042330,-0.928824,-0.368096],[0.996941,-0.063498,0.045580],[-0.065709,-0.365041,0.928670]] 2025-10-28T17:57:57.376Z,1761674277.376 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:57:57.376Z,1761674277.376 [marl:UpdateRudder:B] Stopped 2025-10-28T17:57:57.376Z,1761674277.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:57:57.376Z,1761674277.376 [marl:UpdateRudder] Stopped 2025-10-28T17:57:57.376Z,1761674277.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:57:57.544Z,1761674277.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009416 2025-10-28T17:57:57.730Z,1761674277.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025669,-0.930052,-0.366529],[0.997523,-0.047849,0.051555],[-0.065487,-0.364298,0.928977]] 2025-10-28T17:57:57.793Z,1761674277.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259541 2025-10-28T17:57:58.045Z,1761674278.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511043 2025-10-28T17:57:58.131Z,1761674278.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009076,-0.931043,-0.364795],[0.997829,-0.032229,0.057429],[-0.065226,-0.363482,0.929315]] 2025-10-28T17:57:58.297Z,1761674278.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762866 2025-10-28T17:57:58.535Z,1761674278.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007725,-0.931572,-0.363475],[0.997875,-0.016333,0.063070],[-0.064691,-0.363190,0.929466]] 2025-10-28T17:57:58.549Z,1761674278.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015113 2025-10-28T17:57:58.801Z,1761674278.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267040 2025-10-28T17:57:58.945Z,1761674278.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025547,-0.931446,-0.362981],[0.997586,0.000298,0.069447],[-0.064578,-0.363879,0.929205]] 2025-10-28T17:57:59.055Z,1761674279.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520456 2025-10-28T17:57:59.305Z,1761674279.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770934 2025-10-28T17:57:59.355Z,1761674279.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043648,-0.931417,-0.361327],[0.996970,0.017302,0.075833],[-0.064381,-0.363542,0.929350]] 2025-10-28T17:57:59.561Z,1761674279.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026217 2025-10-28T17:57:59.747Z,1761674279.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062185,-0.930759,-0.360307],[0.995974,0.034518,0.082726],[-0.064561,-0.364001,0.929158]] 2025-10-28T17:57:59.809Z,1761674279.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275104 2025-10-28T17:58:00.062Z,1761674280.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528625 2025-10-28T17:58:00.151Z,1761674280.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080847,-0.929944,-0.358702],[0.994610,0.051831,0.089798],[-0.064916,-0.364029,0.929123]] 2025-10-28T17:58:00.313Z,1761674280.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779046 2025-10-28T17:58:00.559Z,1761674280.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098887,-0.928922,-0.356826],[0.992936,0.068481,0.096895],[-0.065572,-0.363887,0.929132]] 2025-10-28T17:58:00.565Z,1761674280.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031534 2025-10-28T17:58:00.817Z,1761674280.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282991 2025-10-28T17:58:00.964Z,1761674280.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117126,-0.927630,-0.354660],[0.990863,0.085106,0.104631],[-0.066875,-0.363675,0.929122]] 2025-10-28T17:58:01.070Z,1761674281.070 [DAT](INFO): DAT read: Rx Time:17:58:00.3311 2025-10-28T17:58:01.071Z,1761674281.071 [DAT](INFO): Rx dataTimestamp_ set to:1761674281.070398 2025-10-28T17:58:01.071Z,1761674281.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537365 2025-10-28T17:58:01.322Z,1761674281.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787840 2025-10-28T17:58:01.363Z,1761674281.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135321,-0.926305,-0.351635],[0.988427,0.101654,0.112596],[-0.068553,-0.362802,0.929341]] 2025-10-28T17:58:01.597Z,1761674281.597 [DAT](INFO): DAT read: 17:58:00.3311 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 340, 0.19,-0.353,-1.702, 0.325,-0.289, PHS= 0.039,-1.368, 0.570, RAW= 165.4, 8.8, CAL= 165.1, 9.3, ROT= 344.9, -9.3 2025-10-28T17:58:01.598Z,1761674281.598 [DAT](INFO): got valid direction response: 17:58:00.3311 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 340, 0.19,-0.353,-1.702, 0.325,-0.289, PHS= 0.039,-1.368, 0.570, RAW= 165.4, 8.8, CAL= 165.1, 9.3, ROT= 344.9, -9.3 2025-10-28T17:58:01.599Z,1761674281.599 [DAT](INFO): DAT read: Bearing 244.3, -20.9 (Local) 2025-10-28T17:58:01.599Z,1761674281.599 [DAT](INFO): Local bearing/azimuth received: Bearing 244.3, -20.9 (Local) 2025-10-28T17:58:01.601Z,1761674281.601 [DAT](INFO): DAT read: Range 11 to 20 : 1219.2 m (Round-trip 1625.7 ms) speed 0.0 m/s 2025-10-28T17:58:01.602Z,1761674281.602 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:58:01.603Z,1761674281.603 [DAT](INFO): direction in FSK: [0.952782,-0.257081,0.161604] 2025-10-28T17:58:01.603Z,1761674281.603 [DAT](INFO): publishing direction and range info 2025-10-28T17:58:01.771Z,1761674281.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152798,-0.924455,-0.349336],[0.985751,0.117412,0.120454],[-0.070338,-0.362763,0.929223]] 2025-10-28T17:58:01.863Z,1761674281.863 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674240.00. Resetting abort timer. 2025-10-28T17:58:02.172Z,1761674282.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169830,-0.922585,-0.346401],[0.982811,0.132741,0.128307],[-0.072392,-0.362237,0.929270]] 2025-10-28T17:58:02.585Z,1761674282.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186158,-0.920203,-0.344342],[0.979685,0.147245,0.136145],[-0.074578,-0.362691,0.928921]] 2025-10-28T17:58:02.844Z,1761674282.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:58:02.979Z,1761674282.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201717,-0.917943,-0.341599],[0.976445,0.161200,0.143422],[-0.076588,-0.362484,0.928838]] 2025-10-28T17:58:03.383Z,1761674283.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216207,-0.915857,-0.338320],[0.973206,0.174385,0.149866],[-0.078258,-0.361657,0.929021]] 2025-10-28T17:58:03.791Z,1761674283.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229695,-0.912854,-0.337546],[0.969993,0.186312,0.156207],[-0.079705,-0.363297,0.928258]] 2025-10-28T17:58:03.848Z,1761674283.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:58:04.191Z,1761674284.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242304,-0.909898,-0.336711],[0.966838,0.197587,0.161813],[-0.080703,-0.364753,0.927600]] 2025-10-28T17:58:04.595Z,1761674284.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254204,-0.907358,-0.334786],[0.963731,0.208561,0.166508],[-0.081259,-0.364971,0.927466]] 2025-10-28T17:58:04.998Z,1761674284.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265650,-0.905170,-0.331808],[0.960617,0.219426,0.170491],[-0.081516,-0.364031,0.927813]] 2025-10-28T17:58:05.411Z,1761674285.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276726,-0.902727,-0.329403],[0.957507,0.230042,0.173957],[-0.081259,-0.363544,0.928026]] 2025-10-28T17:58:05.807Z,1761674285.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287837,-0.899146,-0.329675],[0.954288,0.240341,0.177683],[-0.080528,-0.365748,0.927224]] 2025-10-28T17:58:06.210Z,1761674286.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299367,-0.895416,-0.329561],[0.950828,0.251223,0.181142],[-0.079404,-0.367584,0.926594]] 2025-10-28T17:58:06.616Z,1761674286.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311441,-0.891479,-0.329042],[0.947061,0.262777,0.184453],[-0.077972,-0.369070,0.926125]] 2025-10-28T17:58:07.025Z,1761674287.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324038,-0.888627,-0.324564],[0.942920,0.275510,0.187070],[-0.076815,-0.366656,0.927180]] 2025-10-28T17:58:07.424Z,1761674287.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338051,-0.885387,-0.319081],[0.938054,0.289607,0.190219],[-0.076009,-0.363618,0.928442]] 2025-10-28T17:58:07.827Z,1761674287.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353716,-0.881717,-0.312185],[0.932279,0.305298,0.194036],[-0.075775,-0.359677,0.929995]] 2025-10-28T17:58:08.230Z,1761674288.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370393,-0.877142,-0.305665],[0.925791,0.321808,0.198371],[-0.075634,-0.356457,0.931245]] 2025-10-28T17:58:08.635Z,1761674288.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388388,-0.871606,-0.299094],[0.918361,0.339364,0.203578],[-0.075938,-0.353743,0.932255]] 2025-10-28T17:58:09.042Z,1761674289.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407201,-0.864630,-0.294282],[0.910147,0.357228,0.209810],[-0.076282,-0.353275,0.932404]] 2025-10-28T17:58:09.443Z,1761674289.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425859,-0.856825,-0.290681],[0.901523,0.374555,0.216713],[-0.076809,-0.354345,0.931955]] 2025-10-28T17:58:09.848Z,1761674289.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444796,-0.847920,-0.288423],[0.892271,0.391649,0.224641],[-0.077517,-0.357271,0.930779]] 2025-10-28T17:58:10.251Z,1761674290.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462814,-0.839279,-0.285332],[0.882969,0.407937,0.232280],[-0.078550,-0.359441,0.929856]] 2025-10-28T17:58:10.285Z,1761674290.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateRudder:A] Stopped 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:58:10.286Z,1761674290.286 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateCommandMode] Stopped 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:58:10.287Z,1761674290.287 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:58:10.288Z,1761674290.288 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:58:10.288Z,1761674290.288 [marl:UpdateSpeed] Stopped 2025-10-28T17:58:10.288Z,1761674290.288 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:58:10.656Z,1761674290.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479686,-0.831168,-0.281178],[0.873815,0.423412,0.239103],[-0.079680,-0.360392,0.929392]] 2025-10-28T17:58:10.682Z,1761674290.682 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:58:10.682Z,1761674290.682 [marl:UpdateRudder:B] Stopped 2025-10-28T17:58:10.682Z,1761674290.682 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:58:10.682Z,1761674290.682 [marl:UpdateRudder] Stopped 2025-10-28T17:58:10.682Z,1761674290.682 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:58:11.071Z,1761674291.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495541,-0.822954,-0.277823],[0.864817,0.437713,0.245966],[-0.080812,-0.362152,0.928609]] 2025-10-28T17:58:11.463Z,1761674291.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510540,-0.815045,-0.273954],[0.855954,0.451430,0.252097],[-0.081799,-0.363198,0.928114]] 2025-10-28T17:58:11.866Z,1761674291.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523962,-0.807991,-0.269470],[0.847718,0.463982,0.257090],[-0.082697,-0.363140,0.928057]] 2025-10-28T17:58:12.270Z,1761674292.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536839,-0.800350,-0.266915],[0.839522,0.475366,0.263115],[-0.083702,-0.365331,0.927107]] 2025-10-28T17:58:12.677Z,1761674292.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548254,-0.793671,-0.263637],[0.832064,0.485926,0.267478],[-0.084182,-0.366009,0.926796]] 2025-10-28T17:58:13.079Z,1761674293.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559058,-0.787163,-0.260439],[0.824788,0.495888,0.271698],[-0.084722,-0.366702,0.926473]] 2025-10-28T17:58:13.483Z,1761674293.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569598,-0.780658,-0.257159],[0.817543,0.505859,0.275191],[-0.084744,-0.366987,0.926358]] 2025-10-28T17:58:13.887Z,1761674293.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579650,-0.774409,-0.253567],[0.810473,0.515636,0.277944],[-0.084494,-0.366620,0.926526]] 2025-10-28T17:58:14.292Z,1761674294.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589299,-0.768240,-0.250067],[0.803558,0.525238,0.280036],[-0.083791,-0.365968,0.926848]] 2025-10-28T17:58:14.696Z,1761674294.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599040,-0.761678,-0.246978],[0.796430,0.534895,0.282112],[-0.082771,-0.365697,0.927046]] 2025-10-28T17:58:15.098Z,1761674295.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609562,-0.754142,-0.244344],[0.788540,0.545130,0.284673],[-0.081485,-0.366201,0.926961]] 2025-10-28T17:58:15.502Z,1761674295.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620809,-0.746174,-0.240457],[0.779862,0.556469,0.286633],[-0.080071,-0.365467,0.927374]] 2025-10-28T17:58:15.909Z,1761674295.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632659,-0.737232,-0.237130],[0.770429,0.568075,0.289360],[-0.078618,-0.365758,0.927384]] 2025-10-28T17:58:16.310Z,1761674296.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645498,-0.727358,-0.232985],[0.759864,0.580817,0.291990],[-0.077059,-0.365516,0.927610]] 2025-10-28T17:58:16.715Z,1761674296.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659197,-0.716482,-0.228283],[0.748138,0.594274,0.295174],[-0.075824,-0.365365,0.927771]] 2025-10-28T17:58:17.119Z,1761674297.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673308,-0.704802,-0.223409],[0.735544,0.607850,0.299155],[-0.075046,-0.365750,0.927683]] 2025-10-28T17:58:17.547Z,1761674297.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687554,-0.692719,-0.217739],[0.722312,0.621742,0.302824],[-0.074394,-0.365483,0.927840]] 2025-10-28T17:58:17.927Z,1761674297.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701665,-0.680328,-0.211707],[0.708620,0.635327,0.306949],[-0.074323,-0.365396,0.927881]] 2025-10-28T17:58:18.330Z,1761674298.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714796,-0.668190,-0.206371],[0.695349,0.647621,0.311572],[-0.074539,-0.366211,0.927542]] 2025-10-28T17:58:18.735Z,1761674298.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727175,-0.656238,-0.201415],[0.682369,0.659080,0.316205],[-0.074757,-0.367376,0.927063]] 2025-10-28T17:58:19.140Z,1761674299.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738335,-0.644938,-0.197273],[0.670251,0.669134,0.320973],[-0.075006,-0.369208,0.926315]] 2025-10-28T17:58:19.595Z,1761674299.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748530,-0.634278,-0.193374],[0.658857,0.678472,0.324935],[-0.074900,-0.370630,0.925756]] 2025-10-28T17:58:19.947Z,1761674299.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757589,-0.624520,-0.189825],[0.648435,0.686757,0.328476],[-0.074776,-0.371939,0.925240]] 2025-10-28T17:58:20.350Z,1761674300.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765856,-0.615356,-0.186552],[0.638682,0.694370,0.331564],[-0.074494,-0.373078,0.924804]] 2025-10-28T17:58:20.758Z,1761674300.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773789,-0.606446,-0.182959],[0.629127,0.702098,0.333552],[-0.073826,-0.373203,0.924808]] 2025-10-28T17:58:21.158Z,1761674301.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781296,-0.597674,-0.179893],[0.619883,0.709333,0.335547],[-0.072944,-0.373674,0.924687]] 2025-10-28T17:58:21.605Z,1761674301.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789011,-0.588515,-0.176388],[0.610179,0.717114,0.336793],[-0.071717,-0.373361,0.924910]] 2025-10-28T17:58:21.968Z,1761674301.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796953,-0.578854,-0.172610],[0.599903,0.725091,0.338171],[-0.070593,-0.373056,0.925119]] 2025-10-28T17:58:22.370Z,1761674302.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805332,-0.568536,-0.167947],[0.588772,0.733997,0.338521],[-0.069189,-0.371504,0.925849]] 2025-10-28T17:58:22.780Z,1761674302.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813839,-0.557485,-0.163939],[0.577167,0.742781,0.339344],[-0.067409,-0.370791,0.926267]] 2025-10-28T17:58:23.179Z,1761674303.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823105,-0.544773,-0.160379],[0.564109,0.751808,0.341417],[-0.065420,-0.371493,0.926128]] 2025-10-28T17:58:23.603Z,1761674303.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832505,-0.531695,-0.155679],[0.550357,0.761436,0.342525],[-0.063579,-0.370832,0.926521]] 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateRudder:A] Stopped 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:58:23.679Z,1761674303.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:58:23.680Z,1761674303.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:58:23.700Z,1761674303.700 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:58:23.700Z,1761674303.700 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:58:23.700Z,1761674303.700 [marl:UpdateCommandMode] Stopped 2025-10-28T17:58:23.700Z,1761674303.700 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed] Stopped 2025-10-28T17:58:23.701Z,1761674303.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:58:23.986Z,1761674303.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841960,-0.517918,-0.151209],[0.535993,0.770822,0.344304],[-0.061766,-0.370937,0.926602]] 2025-10-28T17:58:24.033Z,1761674304.033 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:58:24.033Z,1761674304.033 [marl:UpdateRudder:B] Stopped 2025-10-28T17:58:24.033Z,1761674304.033 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:58:24.034Z,1761674304.034 [marl:UpdateRudder] Stopped 2025-10-28T17:58:24.034Z,1761674304.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:58:24.391Z,1761674304.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851419,-0.503742,-0.146050],[0.521021,0.780382,0.345747],[-0.060193,-0.370471,0.926892]] 2025-10-28T17:58:24.796Z,1761674304.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860795,-0.488996,-0.141119],[0.505562,0.789587,0.347793],[-0.058644,-0.370723,0.926890]] 2025-10-28T17:58:25.200Z,1761674305.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869592,-0.474638,-0.136122],[0.490464,0.798440,0.349198],[-0.057057,-0.370422,0.927109]] 2025-10-28T17:58:25.607Z,1761674305.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877461,-0.461103,-0.132083],[0.476417,0.805941,0.351405],[-0.055583,-0.371271,0.926859]] 2025-10-28T17:58:26.008Z,1761674306.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885123,-0.447453,-0.127843],[0.462217,0.813461,0.353040],[-0.053973,-0.371575,0.926833]] 2025-10-28T17:58:26.415Z,1761674306.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892326,-0.434179,-0.123458],[0.448335,0.820719,0.354142],[-0.052437,-0.371361,0.927007]] 2025-10-28T17:58:26.816Z,1761674306.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899663,-0.420002,-0.119181],[0.433641,0.828015,0.355452],[-0.050607,-0.371469,0.927065]] 2025-10-28T17:58:27.219Z,1761674307.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906125,-0.406990,-0.115313],[0.420171,0.834419,0.356652],[-0.048935,-0.371622,0.927093]] 2025-10-28T17:58:27.623Z,1761674307.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912488,-0.393469,-0.112014],[0.406356,0.840052,0.359425],[-0.047325,-0.373489,0.926427]] 2025-10-28T17:58:28.033Z,1761674308.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918769,-0.379847,-0.107609],[0.392133,0.846418,0.360289],[-0.045772,-0.373220,0.926613]] 2025-10-28T17:58:28.433Z,1761674308.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924723,-0.366379,-0.103217],[0.378051,0.852444,0.361132],[-0.044324,-0.372968,0.926785]] 2025-10-28T17:58:28.834Z,1761674308.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930223,-0.353438,-0.098829],[0.364455,0.858027,0.361887],[-0.043107,-0.372654,0.926969]] 2025-10-28T17:58:29.238Z,1761674309.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935316,-0.340995,-0.094375],[0.351331,0.863561,0.361704],[-0.041841,-0.371464,0.927504]] 2025-10-28T17:58:29.643Z,1761674309.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940218,-0.328319,-0.090537],[0.338162,0.868389,0.362694],[-0.040458,-0.371627,0.927500]] 2025-10-28T17:58:30.049Z,1761674310.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944605,-0.316521,-0.086812],[0.325851,0.872758,0.363476],[-0.039282,-0.371629,0.927550]] 2025-10-28T17:58:30.450Z,1761674310.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948812,-0.304616,-0.083454],[0.313576,0.876937,0.364213],[-0.037762,-0.371739,0.927569]] 2025-10-28T17:58:30.855Z,1761674310.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952905,-0.292569,-0.079849],[0.301081,0.881069,0.364785],[-0.036372,-0.371646,0.927662]] 2025-10-28T17:58:31.258Z,1761674311.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956940,-0.280135,-0.076092],[0.288164,0.885099,0.365460],[-0.035030,-0.371651,0.927711]] 2025-10-28T17:58:31.664Z,1761674311.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961103,-0.266446,-0.072717],[0.274166,0.888567,0.367806],[-0.033387,-0.373436,0.927055]] 2025-10-28T17:58:32.067Z,1761674312.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965393,-0.251662,-0.068437],[0.258880,0.892910,0.368366],[-0.031595,-0.373334,0.927159]] 2025-10-28T17:58:32.474Z,1761674312.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969437,-0.236619,-0.064825],[0.243575,0.896638,0.369745],[-0.029364,-0.374234,0.926869]] 2025-10-28T17:58:32.875Z,1761674312.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973391,-0.220759,-0.061448],[0.227616,0.900468,0.370605],[-0.026483,-0.374730,0.926756]] 2025-10-28T17:58:33.281Z,1761674313.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977216,-0.203975,-0.058681],[0.210988,0.903477,0.373112],[-0.023089,-0.376992,0.925929]] 2025-10-28T17:58:33.682Z,1761674313.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980906,-0.186381,-0.055546],[0.193492,0.906481,0.375303],[-0.019598,-0.378885,0.925236]] 2025-10-28T17:58:33.980Z,1761674313.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:58:34.086Z,1761674314.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984225,-0.169105,-0.051999],[0.176161,0.909542,0.376433],[-0.016361,-0.379655,0.924984]] 2025-10-28T17:58:34.492Z,1761674314.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987233,-0.151690,-0.048599],[0.158761,0.912333,0.377416],[-0.012912,-0.380313,0.924768]] 2025-10-28T17:58:34.896Z,1761674314.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989848,-0.134672,-0.045429],[0.141817,0.914757,0.378294],[-0.009389,-0.380897,0.924570]] 2025-10-28T17:58:34.984Z,1761674314.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:58:35.298Z,1761674315.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992158,-0.117781,-0.041830],[0.124825,0.916670,0.379651],[-0.006371,-0.381895,0.924184]] 2025-10-28T17:58:35.706Z,1761674315.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994122,-0.101228,-0.038385],[0.108216,0.918785,0.379635],[-0.003162,-0.381558,0.924340]] 2025-10-28T17:58:36.109Z,1761674316.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995711,-0.085582,-0.035146],[0.092517,0.920570,0.379461],[-0.000120,-0.381085,0.924540]] 2025-10-28T17:58:36.525Z,1761674316.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996993,-0.070653,-0.031818],[0.077443,0.922355,0.378501],[0.002605,-0.379827,0.925054]] 2025-10-28T17:58:36.914Z,1761674316.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997988,-0.056452,-0.028865],[0.063177,0.923882,0.377427],[0.005362,-0.378491,0.925589]] 2025-10-28T17:58:37.023Z,1761674317.023 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:58:37.023Z,1761674317.023 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:58:37.023Z,1761674317.023 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:58:37.023Z,1761674317.023 [marl:UpdateRudder:A] Stopped 2025-10-28T17:58:37.023Z,1761674317.023 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:58:37.024Z,1761674317.024 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:58:37.024Z,1761674317.024 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:58:37.024Z,1761674317.024 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:58:37.024Z,1761674317.024 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:58:37.024Z,1761674317.024 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateCommandMode] Stopped 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed] Stopped 2025-10-28T17:58:37.025Z,1761674317.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:58:37.319Z,1761674317.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998713,-0.043354,-0.026320],[0.050078,0.925110,0.376383],[0.008031,-0.377216,0.926090]] 2025-10-28T17:58:37.372Z,1761674317.372 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:58:37.373Z,1761674317.373 [marl:UpdateRudder:B] Stopped 2025-10-28T17:58:37.373Z,1761674317.373 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:58:37.373Z,1761674317.373 [marl:UpdateRudder] Stopped 2025-10-28T17:58:37.373Z,1761674317.373 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:58:37.727Z,1761674317.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999211,-0.031236,-0.024522],[0.038179,0.925515,0.376782],[0.010926,-0.377421,0.925977]] 2025-10-28T17:58:38.128Z,1761674318.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,-0.019885,-0.023026],[0.027120,0.925360,0.378118],[0.013789,-0.378568,0.925471]] 2025-10-28T17:58:38.533Z,1761674318.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999720,-0.008693,-0.021992],[0.016412,0.924592,0.380606],[0.017025,-0.380861,0.924476]] 2025-10-28T17:58:38.936Z,1761674318.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999777,0.002305,-0.020984],[0.005910,0.923708,0.383052],[0.020267,-0.383090,0.923489]] 2025-10-28T17:58:39.339Z,1761674319.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999703,0.013840,-0.020076],[-0.005026,0.922590,0.385750],[0.023861,-0.385534,0.922385]] 2025-10-28T17:58:39.747Z,1761674319.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999474,0.026378,-0.018880],[-0.016982,0.921383,0.388284],[0.027637,-0.387759,0.921346]] 2025-10-28T17:58:40.149Z,1761674320.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999051,0.039936,-0.017369],[-0.030019,0.920454,0.389695],[0.031550,-0.388804,0.920780]] 2025-10-28T17:58:40.550Z,1761674320.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998385,0.054802,-0.014983],[-0.044585,0.919211,0.391233],[0.035213,-0.389933,0.920170]] 2025-10-28T17:58:40.954Z,1761674320.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997383,0.071364,-0.011626],[-0.061090,0.917737,0.392463],[0.038677,-0.390725,0.919694]] 2025-10-28T17:58:41.365Z,1761674321.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994247,0.107077,-0.002725],[-0.097461,0.914927,0.391676],[0.044433,-0.389157,0.920099]] 2025-10-28T17:58:41.779Z,1761674321.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992081,0.125575,0.002373],[-0.116565,0.913534,0.389703],[0.046770,-0.386894,0.920937]] 2025-10-28T17:58:42.176Z,1761674322.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989541,0.144065,0.007319],[-0.135672,0.912257,0.386498],[0.049004,-0.383449,0.922261]] 2025-10-28T17:58:42.575Z,1761674322.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986684,0.162218,0.011846],[-0.154348,0.910865,0.382756],[0.051300,-0.379487,0.923774]] 2025-10-28T17:58:42.978Z,1761674322.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983739,0.178896,0.015921],[-0.171500,0.909332,0.379083],[0.053339,-0.375649,0.925226]] 2025-10-28T17:58:43.381Z,1761674323.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980724,0.194420,0.019537],[-0.187418,0.907674,0.375503],[0.055272,-0.371927,0.926615]] 2025-10-28T17:58:43.789Z,1761674323.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977754,0.208536,0.022592],[-0.201795,0.905777,0.372621],[0.057242,-0.368891,0.927708]] 2025-10-28T17:58:44.188Z,1761674324.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974811,0.221562,0.025562],[-0.215009,0.903093,0.371746],[0.059280,-0.367878,0.927983]] 2025-10-28T17:58:44.593Z,1761674324.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971901,0.233623,0.028776],[-0.227308,0.899744,0.372549],[0.061145,-0.368621,0.927566]] 2025-10-28T17:58:45.005Z,1761674325.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968628,0.246275,0.033283],[-0.240471,0.895042,0.375598],[0.062710,-0.371819,0.926185]] 2025-10-28T17:58:45.399Z,1761674325.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964918,0.259727,0.038412],[-0.254607,0.889932,0.378413],[0.064101,-0.374917,0.924840]] 2025-10-28T17:58:45.806Z,1761674325.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960614,0.274364,0.044111],[-0.270003,0.883979,0.381680],[0.065726,-0.378557,0.923241]] 2025-10-28T17:58:46.209Z,1761674326.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955885,0.289481,0.049854],[-0.285911,0.877972,0.383953],[0.067377,-0.381269,0.922006]] 2025-10-28T17:58:46.613Z,1761674326.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950827,0.304730,0.055378],[-0.301959,0.872281,0.384638],[0.068906,-0.382446,0.921405]] 2025-10-28T17:58:47.017Z,1761674327.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945524,0.319949,0.060142],[-0.317810,0.867099,0.383583],[0.070578,-0.381801,0.921546]] 2025-10-28T17:58:47.418Z,1761674327.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940119,0.334726,0.064297],[-0.333071,0.862125,0.381843],[0.072381,-0.380394,0.921988]] 2025-10-28T17:58:47.828Z,1761674327.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934664,0.348919,0.068248],[-0.347701,0.857017,0.380296],[0.074203,-0.379179,0.922343]] 2025-10-28T17:58:48.233Z,1761674328.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929447,0.361893,0.071854],[-0.361079,0.852154,0.378756],[0.075838,-0.377978,0.922703]] 2025-10-28T17:58:48.634Z,1761674328.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924261,0.374188,0.075663],[-0.373831,0.846918,0.378127],[0.077410,-0.377774,0.922656]] 2025-10-28T17:58:49.039Z,1761674329.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918821,0.386591,0.079467],[-0.386665,0.841386,0.377571],[0.079103,-0.377647,0.922565]] 2025-10-28T17:58:49.443Z,1761674329.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913068,0.399034,0.084142],[-0.399804,0.835207,0.377604],[0.080401,-0.378419,0.922136]] 2025-10-28T17:58:49.854Z,1761674329.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907285,0.410876,0.089523],[-0.412716,0.829232,0.376883],[0.080617,-0.378887,0.921925]] 2025-10-28T17:58:50.251Z,1761674330.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900856,0.423427,0.095748],[-0.426553,0.822366,0.376518],[0.080688,-0.380031,0.921448]] 2025-10-28T17:58:50.281Z,1761674330.281 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateRudder:A] Stopped 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:58:50.282Z,1761674330.282 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateCommandMode] Stopped 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:58:50.283Z,1761674330.283 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:58:50.284Z,1761674330.284 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:58:50.284Z,1761674330.284 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:58:50.284Z,1761674330.284 [marl:UpdateSpeed] Stopped 2025-10-28T17:58:50.284Z,1761674330.284 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:58:50.654Z,1761674330.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893702,0.436729,0.102783],[-0.441343,0.814541,0.376483],[0.080700,-0.381826,0.920704]] 2025-10-28T17:58:50.698Z,1761674330.698 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:58:50.698Z,1761674330.698 [marl:UpdateRudder:B] Stopped 2025-10-28T17:58:50.698Z,1761674330.698 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:58:50.698Z,1761674330.698 [marl:UpdateRudder] Stopped 2025-10-28T17:58:50.698Z,1761674330.698 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:58:51.059Z,1761674331.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885773,0.450979,0.109655],[-0.457036,0.806444,0.375187],[0.080770,-0.382447,0.920440]] 2025-10-28T17:58:51.465Z,1761674331.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877356,0.465577,0.116119],[-0.472963,0.798260,0.372943],[0.080940,-0.382124,0.920560]] 2025-10-28T17:58:51.866Z,1761674331.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868324,0.480684,0.122299],[-0.489320,0.789858,0.369716],[0.081118,-0.380876,0.921061]] 2025-10-28T17:58:52.270Z,1761674332.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859448,0.495130,0.127263],[-0.504661,0.781947,0.365891],[0.081651,-0.378689,0.921915]] 2025-10-28T17:58:52.674Z,1761674332.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850269,0.509508,0.132078],[-0.519850,0.773590,0.362374],[0.082458,-0.376776,0.922627]] 2025-10-28T17:58:53.080Z,1761674333.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841273,0.523144,0.136311],[-0.534197,0.765709,0.358223],[0.083027,-0.374180,0.923632]] 2025-10-28T17:58:53.495Z,1761674333.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832118,0.536209,0.141630],[-0.548257,0.756820,0.355863],[0.083629,-0.373769,0.923744]] 2025-10-28T17:58:53.886Z,1761674333.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822811,0.549363,0.145538],[-0.562034,0.748618,0.351694],[0.084255,-0.371175,0.924732]] 2025-10-28T17:58:54.291Z,1761674334.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813261,0.562357,0.149538],[-0.575686,0.740106,0.347603],[0.084803,-0.368779,0.925641]] 2025-10-28T17:58:54.696Z,1761674334.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804437,0.573755,0.153901],[-0.587909,0.731840,0.344634],[0.085105,-0.367717,0.926035]] 2025-10-28T17:58:55.098Z,1761674335.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795609,0.584806,0.158141],[-0.599711,0.723342,0.342232],[0.085749,-0.367121,0.926212]] 2025-10-28T17:58:55.505Z,1761674335.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786860,0.595547,0.161787],[-0.611059,0.715178,0.339304],[0.086365,-0.365846,0.926660]] 2025-10-28T17:58:55.906Z,1761674335.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777999,0.605778,0.166585],[-0.622326,0.706686,0.336608],[0.086186,-0.365551,0.926793]] 2025-10-28T17:58:56.312Z,1761674336.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769108,0.615395,0.172513],[-0.633436,0.698062,0.333869],[0.085037,-0.366058,0.926699]] 2025-10-28T17:58:56.337Z,1761674336.337 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:58:56.533Z,1761674336.533 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:58:56.533Z,1761674336.533 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:58:56.714Z,1761674336.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759691,0.624858,0.180061],[-0.644939,0.688558,0.331574],[0.083204,-0.368022,0.926087]] 2025-10-28T17:58:56.785Z,1761674336.785 [DAT](INFO): DAT read: user:95> 2025-10-28T17:58:56.786Z,1761674336.786 [DAT](INFO): DAT read: Tx time:17:58:56.5510 2025-10-28T17:58:56.786Z,1761674336.786 [DAT](INFO): Ping request sent. 2025-10-28T17:58:56.787Z,1761674336.787 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:58:56.787Z,1761674336.787 [DAT](INFO): publishing transmit ping time 2025-10-28T17:58:56.788Z,1761674336.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930 2025-10-28T17:58:57.037Z,1761674337.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250305 2025-10-28T17:58:57.118Z,1761674337.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749038,0.634868,0.189434],[-0.657565,0.677463,0.329624],[0.080933,-0.371466,0.924912]] 2025-10-28T17:58:57.289Z,1761674337.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502231 2025-10-28T17:58:57.536Z,1761674337.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737211,0.645911,0.198291],[-0.671087,0.665880,0.325955],[0.078500,-0.373368,0.924356]] 2025-10-28T17:58:57.544Z,1761674337.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756542 2025-10-28T17:58:57.793Z,1761674337.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006289 2025-10-28T17:58:57.927Z,1761674337.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723900,0.658104,0.207045],[-0.685672,0.653100,0.321427],[0.076311,-0.374646,0.924022]] 2025-10-28T17:58:58.045Z,1761674338.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258495 2025-10-28T17:58:58.297Z,1761674338.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510847 2025-10-28T17:58:58.330Z,1761674338.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710019,0.670643,0.214734],[-0.700273,0.640360,0.315527],[0.074099,-0.374403,0.924301]] 2025-10-28T17:58:58.549Z,1761674338.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762286 2025-10-28T17:58:58.734Z,1761674338.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695783,0.683390,0.221053],[-0.714590,0.627596,0.309005],[0.072439,-0.372963,0.925014]] 2025-10-28T17:58:58.801Z,1761674338.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014638 2025-10-28T17:58:59.053Z,1761674339.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266242 2025-10-28T17:58:59.140Z,1761674339.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681834,0.695674,0.226140],[-0.728025,0.615223,0.302457],[0.071285,-0.370862,0.925948]] 2025-10-28T17:58:59.305Z,1761674339.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518299 2025-10-28T17:58:59.560Z,1761674339.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772190 2025-10-28T17:58:59.596Z,1761674339.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668527,0.707545,0.229021],[-0.740329,0.603931,0.295263],[0.070599,-0.366942,0.927561]] 2025-10-28T17:58:59.811Z,1761674339.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024021 2025-10-28T17:58:59.947Z,1761674339.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656159,0.718419,0.230932],[-0.751362,0.593562,0.288339],[0.070075,-0.362710,0.929264]] 2025-10-28T17:59:00.061Z,1761674340.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274537 2025-10-28T17:59:00.313Z,1761674340.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526214 2025-10-28T17:59:00.351Z,1761674340.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644757,0.727874,0.233426],[-0.761192,0.583495,0.283055],[0.069826,-0.360183,0.930265]] 2025-10-28T17:59:00.565Z,1761674340.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778235 2025-10-28T17:59:00.760Z,1761674340.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634241,0.735893,0.237065],[-0.770021,0.573763,0.279040],[0.069324,-0.359524,0.930557]] 2025-10-28T17:59:00.819Z,1761674340.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032423 2025-10-28T17:59:01.069Z,1761674341.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282223 2025-10-28T17:59:01.165Z,1761674341.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624042,0.742827,0.242444],[-0.778377,0.563729,0.276296],[0.068567,-0.361133,0.929990]] 2025-10-28T17:59:01.321Z,1761674341.321 [DAT](INFO): DAT read: Rx Time:17:59:00.5904 2025-10-28T17:59:01.321Z,1761674341.321 [DAT](INFO): Rx dataTimestamp_ set to:1761674341.321187 2025-10-28T17:59:01.322Z,1761674341.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535387 2025-10-28T17:59:01.576Z,1761674341.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788619 2025-10-28T17:59:01.612Z,1761674341.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613919,0.749151,0.248749],[-0.786484,0.553594,0.273817],[0.067425,-0.363739,0.929058]] 2025-10-28T17:59:01.830Z,1761674341.830 [DAT](INFO): DAT read: 17:59:00.5904 LVL= 15344, 15649, 22626, 25395, AGC= 80, IDX= 21,-0.02,-0.511,-0.365,-2.131,-0.461, PHS= 0.052, 0.142,-1.713, RAW= 27.5, 16.5, CAL= 25.3, 19.3, ROT= 124.7, -19.3 2025-10-28T17:59:01.831Z,1761674341.831 [DAT](INFO): got valid direction response: 17:59:00.5904 LVL= 15344, 15649, 22626, 25395, AGC= 80, IDX= 21,-0.02,-0.511,-0.365,-2.131,-0.461, PHS= 0.052, 0.142,-1.713, RAW= 27.5, 16.5, CAL= 25.3, 19.3, ROT= 124.7, -19.3 2025-10-28T17:59:01.832Z,1761674341.832 [DAT](INFO): DAT read: Bearing 237.9, 34.3 (Local) 2025-10-28T17:59:01.833Z,1761674341.833 [DAT](INFO): Local bearing/azimuth received: Bearing 237.9, 34.3 (Local) 2025-10-28T17:59:01.834Z,1761674341.834 [DAT](INFO): DAT read: Range 11 to 20 : 1226.4 m (Round-trip 1635.2 ms) speed -0.3 m/s 2025-10-28T17:59:01.835Z,1761674341.835 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T17:59:01.836Z,1761674341.836 [DAT](INFO): direction in FSK: [-0.537286,0.775940,0.330514] 2025-10-28T17:59:01.836Z,1761674341.836 [DAT](INFO): publishing direction and range info 2025-10-28T17:59:01.974Z,1761674341.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603323,0.755505,0.255370],[-0.794754,0.543056,0.271028],[0.066082,-0.366474,0.928079]] 2025-10-28T17:59:02.026Z,1761674342.026 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674368.00. Resetting abort timer. 2025-10-28T17:59:02.372Z,1761674342.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591828,0.762034,0.262762],[-0.803466,0.531543,0.268149],[0.064669,-0.369819,0.926851]] 2025-10-28T17:59:02.780Z,1761674342.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580516,0.768378,0.269437],[-0.811777,0.520386,0.264983],[0.063396,-0.372550,0.925844]] 2025-10-28T17:59:03.178Z,1761674343.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567804,0.775538,0.275934],[-0.820796,0.508007,0.261195],[0.062390,-0.374793,0.925007]] 2025-10-28T17:59:03.606Z,1761674343.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554878,0.782942,0.281271],[-0.829699,0.496045,0.256008],[0.060916,-0.375423,0.924850]] 2025-10-28T17:59:03.660Z,1761674343.660 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:59:03.660Z,1761674343.660 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateRudder:A] Stopped 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:59:03.661Z,1761674343.661 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateCommandMode] Stopped 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:59:03.662Z,1761674343.662 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:59:03.663Z,1761674343.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:59:03.663Z,1761674343.663 [marl:UpdateSpeed] Stopped 2025-10-28T17:59:03.663Z,1761674343.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:59:03.996Z,1761674343.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541763,0.790788,0.284863],[-0.838455,0.484639,0.249234],[0.059036,-0.373871,0.925600]] 2025-10-28T17:59:04.021Z,1761674344.021 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:59:04.021Z,1761674344.021 [marl:UpdateRudder:B] Stopped 2025-10-28T17:59:04.021Z,1761674344.021 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:59:04.021Z,1761674344.021 [marl:UpdateRudder] Stopped 2025-10-28T17:59:04.021Z,1761674344.021 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:59:04.390Z,1761674344.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528595,0.798474,0.288143],[-0.846967,0.473348,0.242053],[0.056881,-0.371996,0.926490]] 2025-10-28T17:59:04.795Z,1761674344.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515345,0.806037,0.291076],[-0.855249,0.462128,0.234494],[0.054496,-0.369787,0.927517]] 2025-10-28T17:59:05.104Z,1761674345.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:59:05.198Z,1761674345.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502039,0.813270,0.294191],[-0.863301,0.450941,0.226635],[0.051652,-0.367755,0.928487]] 2025-10-28T17:59:05.621Z,1761674345.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487628,0.820731,0.297690],[-0.871689,0.438647,0.218512],[0.048758,-0.366046,0.929319]] 2025-10-28T17:59:06.006Z,1761674346.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472350,0.828221,0.301555],[-0.880227,0.425519,0.210081],[0.045676,-0.364669,0.930016]] 2025-10-28T17:59:06.110Z,1761674346.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:59:06.433Z,1761674346.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456548,0.835611,0.305479],[-0.888693,0.411984,0.201232],[0.042299,-0.363349,0.930692]] 2025-10-28T17:59:06.814Z,1761674346.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439879,0.843271,0.308871],[-0.897200,0.397629,0.192154],[0.039222,-0.361643,0.931491]] 2025-10-28T17:59:07.218Z,1761674347.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422992,0.851078,0.311038],[-0.905404,0.383197,0.182767],[0.036360,-0.358923,0.932658]] 2025-10-28T17:59:07.628Z,1761674347.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406102,0.858752,0.312453],[-0.913198,0.368668,0.173647],[0.033928,-0.355850,0.933927]] 2025-10-28T17:59:08.035Z,1761674348.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389677,0.865473,0.314814],[-0.920400,0.354152,0.165653],[0.031876,-0.354306,0.934586]] 2025-10-28T17:59:08.430Z,1761674348.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374150,0.871348,0.317434],[-0.926886,0.340334,0.158287],[0.029890,-0.353448,0.934977]] 2025-10-28T17:59:08.834Z,1761674348.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360055,0.875956,0.321032],[-0.932515,0.327637,0.151886],[0.027864,-0.354055,0.934810]] 2025-10-28T17:59:09.239Z,1761674349.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346731,0.879680,0.325484],[-0.937611,0.315531,0.146035],[0.025764,-0.355812,0.934202]] 2025-10-28T17:59:09.652Z,1761674349.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334075,0.882987,0.329739],[-0.942255,0.304165,0.140142],[0.023449,-0.357516,0.933613]] 2025-10-28T17:59:10.066Z,1761674350.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321414,0.885134,0.336498],[-0.946705,0.292464,0.134961],[0.021045,-0.361943,0.931963]] 2025-10-28T17:59:10.458Z,1761674350.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309007,0.887013,0.343106],[-0.950884,0.281209,0.129387],[0.018284,-0.366236,0.930342]] 2025-10-28T17:59:10.855Z,1761674350.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295969,0.889163,0.348987],[-0.955070,0.269514,0.123299],[0.015576,-0.369799,0.928981]] 2025-10-28T17:59:11.259Z,1761674351.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283355,0.891476,0.353526],[-0.958929,0.258431,0.116915],[0.012865,-0.372135,0.928089]] 2025-10-28T17:59:11.663Z,1761674351.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269316,0.894504,0.356835],[-0.962996,0.246137,0.109799],[0.010385,-0.373202,0.927692]] 2025-10-28T17:59:12.066Z,1761674352.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254586,0.897169,0.360935],[-0.967014,0.232940,0.103069],[0.008394,-0.375269,0.926878]] 2025-10-28T17:59:12.475Z,1761674352.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239079,0.901049,0.361872],[-0.970975,0.219195,0.095710],[0.006919,-0.374251,0.927302]] 2025-10-28T17:59:12.875Z,1761674352.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223613,0.903937,0.364548],[-0.974662,0.205237,0.088947],[0.005584,-0.375201,0.926927]] 2025-10-28T17:59:13.278Z,1761674353.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208401,0.906874,0.366264],[-0.978034,0.191600,0.082091],[0.004270,-0.375327,0.926883]] 2025-10-28T17:59:13.684Z,1761674353.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193217,0.909543,0.367965],[-0.981151,0.177958,0.075319],[0.003023,-0.375582,0.926784]] 2025-10-28T17:59:14.087Z,1761674354.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178289,0.912175,0.368984],[-0.983977,0.164672,0.068358],[0.001593,-0.375259,0.926919]] 2025-10-28T17:59:14.491Z,1761674354.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163288,0.915096,0.368695],[-0.986578,0.151463,0.061008],[-0.000015,-0.373709,0.927546]] 2025-10-28T17:59:14.894Z,1761674354.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148076,0.917674,0.368711],[-0.988974,0.138074,0.053528],[-0.001788,-0.372572,0.928002]] 2025-10-28T17:59:15.298Z,1761674355.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132085,0.919997,0.368998],[-0.991232,0.123939,0.045810],[-0.003588,-0.371814,0.928300]] 2025-10-28T17:59:15.708Z,1761674355.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115563,0.922267,0.368876],[-0.993285,0.109362,0.037752],[-0.005523,-0.370761,0.928712]] 2025-10-28T17:59:16.108Z,1761674356.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098392,0.925069,0.366832],[-0.995121,0.094169,0.029437],[-0.007313,-0.367938,0.929821]] 2025-10-28T17:59:16.511Z,1761674356.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081087,0.927408,0.365158],[-0.996666,0.078773,0.021257],[-0.009051,-0.365664,0.930703]] 2025-10-28T17:59:16.551Z,1761674356.551 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:59:16.552Z,1761674356.552 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:59:16.556Z,1761674356.556 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateRudder:A] Stopped 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode] Stopped 2025-10-28T17:59:16.557Z,1761674356.557 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed] Stopped 2025-10-28T17:59:16.558Z,1761674356.558 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:59:16.915Z,1761674356.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063520,0.928681,0.365400],[-0.997925,0.062956,0.013471],[-0.010493,-0.365497,0.930753]] 2025-10-28T17:59:16.975Z,1761674356.975 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:59:16.975Z,1761674356.975 [marl:UpdateRudder:B] Stopped 2025-10-28T17:59:16.976Z,1761674356.976 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:59:16.980Z,1761674356.980 [marl:UpdateRudder] Stopped 2025-10-28T17:59:16.980Z,1761674356.980 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:59:17.319Z,1761674357.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046370,0.929311,0.366376],[-0.998856,0.047410,0.006164],[-0.011642,-0.366243,0.930446]] 2025-10-28T17:59:17.725Z,1761674357.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029644,0.929376,0.367943],[-0.999480,0.032228,-0.000878],[-0.012674,-0.367726,0.929848]] 2025-10-28T17:59:18.126Z,1761674358.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013249,0.929273,0.369155],[-0.999817,0.017393,-0.007901],[-0.013763,-0.368983,0.929334]] 2025-10-28T17:59:18.531Z,1761674358.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003418,0.927822,0.373007],[-0.999887,0.002302,-0.014890],[-0.014674,-0.373015,0.927709]] 2025-10-28T17:59:18.942Z,1761674358.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019159,0.926781,0.375113],[-0.999695,-0.011921,-0.021607],[-0.015553,-0.375412,0.926727]] 2025-10-28T17:59:19.340Z,1761674359.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034331,0.925821,0.376400],[-0.999273,-0.025556,-0.028284],[-0.016566,-0.377097,0.926026]] 2025-10-28T17:59:19.744Z,1761674359.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048932,0.924727,0.377473],[-0.998644,-0.038583,-0.034936],[-0.017742,-0.378671,0.925361]] 2025-10-28T17:59:20.146Z,1761674360.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063067,0.922904,0.379830],[-0.997830,-0.051102,-0.041513],[-0.018902,-0.381624,0.924124]] 2025-10-28T17:59:20.566Z,1761674360.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076417,0.920514,0.383164],[-0.996870,-0.062724,-0.048126],[-0.020267,-0.385642,0.922426]] 2025-10-28T17:59:20.971Z,1761674360.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089262,0.917950,0.386522],[-0.995774,-0.073825,-0.054634],[-0.021617,-0.389766,0.920660]] 2025-10-28T17:59:21.374Z,1761674361.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102171,0.915835,0.388339],[-0.994498,-0.084958,-0.061290],[-0.023139,-0.392464,0.919476]] 2025-10-28T17:59:21.783Z,1761674361.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115459,0.912638,0.392123],[-0.993002,-0.096191,-0.068508],[-0.024805,-0.397289,0.917358]] 2025-10-28T17:59:22.183Z,1761674362.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129391,0.910742,0.392183],[-0.991242,-0.108264,-0.075620],[-0.026411,-0.398533,0.916774]] 2025-10-28T17:59:22.587Z,1761674362.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144995,0.910083,0.388235],[-0.989032,-0.122156,-0.083023],[-0.028132,-0.396014,0.917813]] 2025-10-28T17:59:22.990Z,1761674362.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161412,0.908878,0.384561],[-0.986436,-0.136812,-0.090694],[-0.029817,-0.393984,0.918634]] 2025-10-28T17:59:23.394Z,1761674363.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179007,0.906467,0.382457],[-0.983350,-0.152482,-0.098852],[-0.031288,-0.393785,0.918670]] 2025-10-28T17:59:23.798Z,1761674363.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197655,0.907032,0.371786],[-0.979739,-0.170285,-0.105426],[-0.032315,-0.385092,0.922312]] 2025-10-28T17:59:24.205Z,1761674364.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217521,0.906385,0.362147],[-0.975496,-0.189318,-0.112100],[-0.033045,-0.377657,0.925355]] 2025-10-28T17:59:24.623Z,1761674364.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257872,0.899215,0.353433],[-0.965593,-0.227119,-0.126675],[-0.033637,-0.373938,0.926843]] 2025-10-28T17:59:25.015Z,1761674365.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276547,0.895131,0.349659],[-0.960407,-0.244649,-0.133284],[-0.033763,-0.372674,0.927348]] 2025-10-28T17:59:25.424Z,1761674365.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293318,0.889652,0.349977],[-0.955402,-0.259673,-0.140632],[-0.034234,-0.375619,0.926142]] 2025-10-28T17:59:25.825Z,1761674365.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308107,0.882755,0.354703],[-0.950705,-0.271949,-0.149011],[-0.035079,-0.383129,0.923029]] 2025-10-28T17:59:26.225Z,1761674366.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321539,0.876399,0.358522],[-0.946216,-0.283032,-0.156743],[-0.035896,-0.389638,0.920268]] 2025-10-28T17:59:26.630Z,1761674366.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334219,0.872313,0.356886],[-0.941783,-0.294380,-0.162435],[-0.036634,-0.390398,0.919917]] 2025-10-28T17:59:27.030Z,1761674367.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345867,0.866854,0.359083],[-0.937529,-0.303941,-0.169288],[-0.037608,-0.395202,0.917824]] 2025-10-28T17:59:27.442Z,1761674367.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356806,0.862405,0.359092],[-0.933379,-0.313213,-0.175217],[-0.038636,-0.397688,0.916707]] 2025-10-28T17:59:27.838Z,1761674367.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367247,0.858026,0.359056],[-0.929282,-0.322054,-0.180878],[-0.039563,-0.400091,0.915621]] 2025-10-28T17:59:28.242Z,1761674368.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377293,0.853608,0.359171],[-0.925213,-0.330522,-0.186375],[-0.040377,-0.402627,0.914473]] 2025-10-28T17:59:28.649Z,1761674368.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387857,0.848728,0.359483],[-0.920803,-0.339395,-0.192180],[-0.041102,-0.405551,0.913148]] 2025-10-28T17:59:29.053Z,1761674369.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399152,0.845224,0.355350],[-0.915944,-0.350030,-0.196278],[-0.041516,-0.403825,0.913894]] 2025-10-28T17:59:29.454Z,1761674369.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411871,0.843525,0.344714],[-0.910273,-0.363417,-0.198320],[-0.042013,-0.395466,0.917519]] 2025-10-28T17:59:29.858Z,1761674369.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425658,0.839064,0.338802],[-0.903895,-0.376768,-0.202531],[-0.042286,-0.392450,0.918801]] 2025-10-28T17:59:29.931Z,1761674369.931 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:59:29.931Z,1761674369.931 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:59:29.931Z,1761674369.931 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:59:29.931Z,1761674369.931 [marl:UpdateRudder:A] Stopped 2025-10-28T17:59:29.931Z,1761674369.931 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:59:29.932Z,1761674369.932 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:59:29.932Z,1761674369.932 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:59:29.932Z,1761674369.932 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:59:29.933Z,1761674369.933 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:59:29.933Z,1761674369.933 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:59:29.933Z,1761674369.933 [marl:UpdateCommandMode] Stopped 2025-10-28T17:59:29.933Z,1761674369.933 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:59:29.933Z,1761674369.933 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:59:29.934Z,1761674369.934 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:59:29.934Z,1761674369.934 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:59:29.934Z,1761674369.934 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:59:29.935Z,1761674369.935 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:59:29.935Z,1761674369.935 [marl:UpdateSpeed] Stopped 2025-10-28T17:59:29.935Z,1761674369.935 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:59:30.264Z,1761674370.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440522,0.832989,0.334767],[-0.896731,-0.390593,-0.208113],[-0.042598,-0.391874,0.919032]] 2025-10-28T17:59:30.295Z,1761674370.295 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:59:30.295Z,1761674370.295 [marl:UpdateRudder:B] Stopped 2025-10-28T17:59:30.295Z,1761674370.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:59:30.295Z,1761674370.295 [marl:UpdateRudder] Stopped 2025-10-28T17:59:30.295Z,1761674370.295 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:59:30.669Z,1761674370.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456626,0.825838,0.330884],[-0.888620,-0.405407,-0.214476],[-0.042980,-0.391965,0.918975]] 2025-10-28T17:59:31.071Z,1761674371.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473482,0.820444,0.320447],[-0.879721,-0.422457,-0.218225],[-0.043666,-0.385229,0.921787]] 2025-10-28T17:59:31.879Z,1761674371.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508969,0.805327,0.303972],[-0.859581,-0.456842,-0.228947],[-0.045510,-0.377815,0.924762]] 2025-10-28T17:59:32.283Z,1761674372.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526201,0.796208,0.298605],[-0.849120,-0.473012,-0.235063],[-0.045915,-0.377242,0.924976]] 2025-10-28T17:59:32.687Z,1761674372.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542919,0.786799,0.293575],[-0.838517,-0.488687,-0.240988],[-0.046143,-0.377004,0.925062]] 2025-10-28T17:59:33.091Z,1761674373.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559508,0.777105,0.288200],[-0.827531,-0.504354,-0.246616],[-0.046292,-0.376478,0.925268]] 2025-10-28T17:59:33.495Z,1761674373.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575010,0.766968,0.284822],[-0.816820,-0.518351,-0.253214],[-0.046570,-0.378249,0.924532]] 2025-10-28T17:59:33.902Z,1761674373.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588583,0.757690,0.281914],[-0.807085,-0.530555,-0.259087],[-0.046737,-0.380022,0.923796]] 2025-10-28T17:59:34.302Z,1761674374.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602020,0.748589,0.277825],[-0.797088,-0.542875,-0.264458],[-0.047146,-0.380660,0.923512]] 2025-10-28T17:59:34.713Z,1761674374.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614540,0.739683,0.274244],[-0.787444,-0.554149,-0.269911],[-0.047676,-0.381823,0.923005]] 2025-10-28T17:59:35.110Z,1761674375.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626391,0.730448,0.272179],[-0.778026,-0.564319,-0.276079],[-0.048065,-0.384695,0.921791]] 2025-10-28T17:59:35.519Z,1761674375.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637179,0.721063,0.272160],[-0.769188,-0.572725,-0.283434],[-0.048501,-0.389940,0.919562]] 2025-10-28T17:59:35.926Z,1761674375.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647145,0.712173,0.272054],[-0.760784,-0.580298,-0.290623],[-0.049101,-0.395050,0.917347]] 2025-10-28T17:59:36.228Z,1761674376.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T17:59:36.323Z,1761674376.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655981,0.704230,0.271568],[-0.753133,-0.586983,-0.297054],[-0.049788,-0.399389,0.915429]] 2025-10-28T17:59:36.726Z,1761674376.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663739,0.697615,0.269785],[-0.746258,-0.593293,-0.301832],[-0.050501,-0.401666,0.914393]] 2025-10-28T17:59:37.132Z,1761674377.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670865,0.692082,0.266389],[-0.739806,-0.599755,-0.304928],[-0.051267,-0.401642,0.914361]] 2025-10-28T17:59:37.232Z,1761674377.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T17:59:37.555Z,1761674377.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678094,0.686387,0.262796],[-0.733150,-0.606509,-0.307632],[-0.051767,-0.401272,0.914495]] 2025-10-28T17:59:37.939Z,1761674377.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685881,0.680976,0.256590],[-0.725838,-0.614878,-0.308356],[-0.052212,-0.397739,0.916012]] 2025-10-28T17:59:38.344Z,1761674378.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695013,0.674705,0.248457],[-0.717055,-0.625052,-0.308453],[-0.052816,-0.392536,0.918219]] 2025-10-28T17:59:38.747Z,1761674378.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705536,0.667200,0.238879],[-0.706649,-0.636887,-0.308256],[-0.053529,-0.386289,0.920823]] 2025-10-28T17:59:39.152Z,1761674379.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717527,0.658119,0.228108],[-0.694420,-0.650434,-0.307761],[-0.054174,-0.379229,0.923716]] 2025-10-28T17:59:39.591Z,1761674379.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730926,0.647081,0.216872],[-0.680229,-0.665120,-0.308064],[-0.055096,-0.372695,0.926317]] 2025-10-28T17:59:39.960Z,1761674379.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745253,0.633906,0.206785],[-0.664423,-0.679941,-0.310197],[-0.056034,-0.368568,0.927910]] 2025-10-28T17:59:40.362Z,1761674380.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760053,0.619111,0.197536],[-0.647369,-0.694720,-0.313492],[-0.056854,-0.366149,0.928818]] 2025-10-28T17:59:40.773Z,1761674380.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775146,0.602543,0.189977],[-0.629172,-0.708909,-0.318734],[-0.057375,-0.366593,0.928611]] 2025-10-28T17:59:41.172Z,1761674381.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789906,0.585044,0.183772],[-0.610529,-0.722203,-0.325081],[-0.057466,-0.368981,0.927659]] 2025-10-28T17:59:41.979Z,1761674381.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815126,0.552388,0.174463],[-0.576403,-0.743417,-0.339250],[-0.057699,-0.377093,0.924377]] 2025-10-28T17:59:42.385Z,1761674382.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824279,0.539349,0.172241],[-0.563219,-0.750009,-0.346801],[-0.057864,-0.382870,0.921988]] 2025-10-28T17:59:42.797Z,1761674382.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831625,0.528382,0.170917],[-0.552299,-0.754772,-0.353957],[-0.058021,-0.388757,0.919512]] 2025-10-28T17:59:43.193Z,1761674383.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838030,0.518693,0.169303],[-0.542524,-0.759104,-0.359763],[-0.058088,-0.393343,0.917555]] 2025-10-28T17:59:43.218Z,1761674383.218 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:59:43.218Z,1761674383.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:59:43.218Z,1761674383.218 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:59:43.218Z,1761674383.218 [marl:UpdateRudder:A] Stopped 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode] Stopped 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:59:43.219Z,1761674383.219 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:59:43.220Z,1761674383.220 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:59:43.220Z,1761674383.220 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:59:43.220Z,1761674383.220 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:59:43.220Z,1761674383.220 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:59:43.220Z,1761674383.220 [marl:UpdateSpeed] Stopped 2025-10-28T17:59:43.221Z,1761674383.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:59:43.605Z,1761674383.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843770,0.510079,0.166950],[-0.533556,-0.763551,-0.363743],[-0.058062,-0.395992,0.916416]] 2025-10-28T17:59:43.668Z,1761674383.668 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:59:43.668Z,1761674383.668 [marl:UpdateRudder:B] Stopped 2025-10-28T17:59:43.669Z,1761674383.669 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:59:43.669Z,1761674383.669 [marl:UpdateRudder] Stopped 2025-10-28T17:59:43.669Z,1761674383.669 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:59:43.998Z,1761674383.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848941,0.502525,0.163609],[-0.525270,-0.768208,-0.365989],[-0.058233,-0.396642,0.916124]] 2025-10-28T17:59:44.410Z,1761674384.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853741,0.495653,0.159546],[-0.517388,-0.773015,-0.367094],[-0.058620,-0.395950,0.916399]] 2025-10-28T17:59:44.815Z,1761674384.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858941,0.487985,0.155212],[-0.508696,-0.778376,-0.367912],[-0.058723,-0.394970,0.916815]] 2025-10-28T17:59:45.212Z,1761674385.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864986,0.478919,0.149786],[-0.498346,-0.784932,-0.368149],[-0.058741,-0.393089,0.917622]] 2025-10-28T17:59:45.615Z,1761674385.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872151,0.467820,0.143168],[-0.485661,-0.792562,-0.368752],[-0.059040,-0.391139,0.918436]] 2025-10-28T17:59:46.019Z,1761674386.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880102,0.455252,0.134780],[-0.471065,-0.801824,-0.367663],[-0.059309,-0.387071,0.920140]] 2025-10-28T17:59:46.425Z,1761674386.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888630,0.441013,0.125876],[-0.454708,-0.811408,-0.367231],[-0.059817,-0.383569,0.921573]] 2025-10-28T17:59:46.827Z,1761674386.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897230,0.425772,0.117033],[-0.437376,-0.820521,-0.368033],[-0.060670,-0.381398,0.922418]] 2025-10-28T17:59:47.231Z,1761674387.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905760,0.409966,0.107360],[-0.419291,-0.830091,-0.367619],[-0.061593,-0.377990,0.923759]] 2025-10-28T17:59:47.636Z,1761674387.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913979,0.393689,0.098243],[-0.400931,-0.838982,-0.367917],[-0.062421,-0.375657,0.924654]] 2025-10-28T17:59:48.040Z,1761674388.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921677,0.377332,0.090180],[-0.382789,-0.846661,-0.369645],[-0.063127,-0.375213,0.924786]] 2025-10-28T17:59:48.443Z,1761674388.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928547,0.361778,0.083164],[-0.365681,-0.852921,-0.372563],[-0.063853,-0.376354,0.924273]] 2025-10-28T17:59:48.847Z,1761674388.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934642,0.347255,0.076542],[-0.349656,-0.858340,-0.375491],[-0.064692,-0.377713,0.923660]] 2025-10-28T17:59:49.252Z,1761674389.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940108,0.333542,0.070333],[-0.334515,-0.863037,-0.378505],[-0.065547,-0.379364,0.922923]] 2025-10-28T17:59:49.655Z,1761674389.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945239,0.319957,0.064429],[-0.319574,-0.867216,-0.381849],[-0.066301,-0.381529,0.921976]] 2025-10-28T17:59:50.058Z,1761674390.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949863,0.307058,0.058950],[-0.305393,-0.870705,-0.385495],[-0.067041,-0.384171,0.920825]] 2025-10-28T17:59:50.462Z,1761674390.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954171,0.294477,0.053304],[-0.291488,-0.874184,-0.388379],[-0.067771,-0.386117,0.919957]] 2025-10-28T17:59:50.886Z,1761674390.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958149,0.282242,0.047856],[-0.278072,-0.877893,-0.389846],[-0.068019,-0.386838,0.919636]] 2025-10-28T17:59:51.272Z,1761674391.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961827,0.270321,0.042604],[-0.265033,-0.881378,-0.391063],[-0.068163,-0.387426,0.919377]] 2025-10-28T17:59:52.079Z,1761674392.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968557,0.246483,0.033829],[-0.239590,-0.887423,-0.393798],[-0.067044,-0.389521,0.918574]] 2025-10-28T17:59:52.483Z,1761674392.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971652,0.234518,0.029895],[-0.226971,-0.889961,-0.395541],[-0.066156,-0.391114,0.917962]] 2025-10-28T17:59:52.903Z,1761674392.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974658,0.222185,0.025991],[-0.214050,-0.892535,-0.396943],[-0.064997,-0.392447,0.917475]] 2025-10-28T17:59:53.291Z,1761674393.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977628,0.209270,0.021204],[-0.200408,-0.896101,-0.396030],[-0.063876,-0.391419,0.917993]] 2025-10-28T17:59:53.694Z,1761674393.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980780,0.194521,0.015247],[-0.184648,-0.900062,-0.394708],[-0.063056,-0.389936,0.918680]] 2025-10-28T17:59:54.099Z,1761674394.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983862,0.178718,0.008710],[-0.167753,-0.904374,-0.392385],[-0.062249,-0.387514,0.919760]] 2025-10-28T17:59:54.504Z,1761674394.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986924,0.161182,0.001027],[-0.148853,-0.908951,-0.389423],[-0.061835,-0.384484,0.921058]] 2025-10-28T17:59:54.918Z,1761674394.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989721,0.142832,-0.007191],[-0.129015,-0.913412,-0.386049],[-0.061709,-0.381153,0.922450]] 2025-10-28T17:59:55.314Z,1761674395.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992170,0.123897,-0.015725],[-0.108493,-0.917402,-0.382887],[-0.061865,-0.378183,0.923661]] 2025-10-28T17:59:55.715Z,1761674395.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994223,0.104540,-0.024318],[-0.087460,-0.920419,-0.381025],[-0.062215,-0.376697,0.924245]] 2025-10-28T17:59:56.119Z,1761674396.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995764,0.085969,-0.032624],[-0.067180,-0.922437,-0.380258],[-0.062784,-0.376455,0.924305]] 2025-10-28T17:59:56.522Z,1761674396.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996827,0.068481,-0.040569],[-0.047962,-0.923551,-0.380464],[-0.063522,-0.377311,0.923905]] 2025-10-28T17:59:56.559Z,1761674396.559 [marl:UpdateRudder] Running Loop=1 2025-10-28T17:59:56.559Z,1761674396.559 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T17:59:56.559Z,1761674396.559 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T17:59:56.560Z,1761674396.560 [marl:UpdateRudder:A] Stopped 2025-10-28T17:59:56.560Z,1761674396.560 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T17:59:56.560Z,1761674396.560 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T17:59:56.560Z,1761674396.560 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T17:59:56.560Z,1761674396.560 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateCommandMode:A] Stopped 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateCommandMode] Stopped 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateSpeed] Running Loop=1 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T17:59:56.561Z,1761674396.561 [marl:UpdateSpeed:A] Stopped 2025-10-28T17:59:56.562Z,1761674396.562 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T17:59:56.562Z,1761674396.562 [marl:UpdateSpeed] Stopped 2025-10-28T17:59:56.562Z,1761674396.562 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T17:59:56.563Z,1761674396.563 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T17:59:56.809Z,1761674396.809 [DAT](DEBUG): Acoustic response timeout 2025-10-28T17:59:56.809Z,1761674396.809 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T17:59:56.927Z,1761674396.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997462,0.053076,-0.047468],[-0.031006,-0.923867,-0.381456],[-0.064100,-0.379016,0.923167]] 2025-10-28T17:59:56.972Z,1761674396.972 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T17:59:56.972Z,1761674396.972 [marl:UpdateRudder:B] Stopped 2025-10-28T17:59:56.973Z,1761674396.973 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T17:59:56.973Z,1761674396.973 [marl:UpdateRudder] Stopped 2025-10-28T17:59:56.973Z,1761674396.973 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T17:59:57.061Z,1761674397.061 [DAT](INFO): DAT read: user:96> 2025-10-28T17:59:57.062Z,1761674397.062 [DAT](INFO): DAT read: Tx time:17:59:56.8008 2025-10-28T17:59:57.063Z,1761674397.063 [DAT](INFO): Ping request sent. 2025-10-28T17:59:57.063Z,1761674397.063 [DAT](INFO): transmitted an acoustic signal 2025-10-28T17:59:57.063Z,1761674397.063 [DAT](INFO): publishing transmit ping time 2025-10-28T17:59:57.064Z,1761674397.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T17:59:57.313Z,1761674397.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250189 2025-10-28T17:59:57.331Z,1761674397.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997788,0.039310,-0.053605],[-0.015758,-0.923298,-0.383761],[-0.064579,-0.382068,0.921875]] 2025-10-28T17:59:57.568Z,1761674397.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504880 2025-10-28T17:59:57.736Z,1761674397.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997919,0.026934,-0.058591],[-0.002214,-0.922371,-0.386298],[-0.064447,-0.385365,0.920511]] 2025-10-28T17:59:57.817Z,1761674397.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754394 2025-10-28T17:59:58.069Z,1761674398.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006201 2025-10-28T17:59:58.139Z,1761674398.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997894,0.015040,-0.063104],[0.010751,-0.920961,-0.389507],[-0.063975,-0.389365,0.918859]] 2025-10-28T17:59:58.322Z,1761674398.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851 2025-10-28T17:59:58.542Z,1761674398.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997768,0.004698,-0.066610],[0.021773,-0.920114,-0.391045],[-0.063126,-0.391623,0.917958]] 2025-10-28T17:59:58.573Z,1761674398.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510351 2025-10-28T17:59:58.825Z,1761674398.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762154 2025-10-28T17:59:58.946Z,1761674398.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997545,-0.005596,-0.069805],[0.032559,-0.919580,-0.391553],[-0.062000,-0.392864,0.917504]] 2025-10-28T17:59:59.077Z,1761674399.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014254 2025-10-28T17:59:59.329Z,1761674399.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266394 2025-10-28T17:59:59.361Z,1761674399.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997225,-0.016163,-0.072668],[0.043424,-0.919163,-0.391476],[-0.060466,-0.393546,0.917314]] 2025-10-28T17:59:59.583Z,1761674399.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520540 2025-10-28T17:59:59.763Z,1761674399.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996788,-0.026948,-0.075415],[0.054437,-0.918670,-0.391256],[-0.058738,-0.394105,0.917187]] 2025-10-28T17:59:59.833Z,1761674399.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770323 2025-10-28T18:00:00.085Z,1761674400.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022253 2025-10-28T18:00:00.159Z,1761674400.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996150,-0.038783,-0.078622],[0.066552,-0.918308,-0.390232],[-0.057065,-0.393962,0.917354]] 2025-10-28T18:00:00.337Z,1761674400.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274194 2025-10-28T18:00:00.562Z,1761674400.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995187,-0.052837,-0.082536],[0.080801,-0.918961,-0.385981],[-0.055453,-0.390792,0.918807]] 2025-10-28T18:00:00.589Z,1761674400.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526341 2025-10-28T18:00:00.841Z,1761674400.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778262 2025-10-28T18:00:00.974Z,1761674400.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993972,-0.067118,-0.086689],[0.095396,-0.919163,-0.382151],[-0.054032,-0.388117,0.920025]] 2025-10-28T18:00:01.093Z,1761674401.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030187 2025-10-28T18:00:01.346Z,1761674401.346 [DAT](INFO): DAT read: Rx Time:18:00:00.5520 2025-10-28T18:00:01.346Z,1761674401.346 [DAT](INFO): Rx dataTimestamp_ set to:1761674401.345716 2025-10-28T18:00:01.347Z,1761674401.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283890 2025-10-28T18:00:01.390Z,1761674401.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992373,-0.082709,-0.091405],[0.111481,-0.918611,-0.379112],[-0.052609,-0.386410,0.920825]] 2025-10-28T18:00:01.597Z,1761674401.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534330 2025-10-28T18:00:01.860Z,1761674401.860 [DAT](INFO): DAT read: 18:00:00.5520 LVL= 30656, 28097, 27026, 28083, AGC= 79, IDX= 30, 0.14, 3.138,-1.857,-1.191,-2.396, PHS=-0.647, 0.583, 1.160, RAW= 251.8, -13.6, CAL= 251.7, -19.9, ROT= 258.3, 19.9 2025-10-28T18:00:01.872Z,1761674401.872 [DAT](INFO): got valid direction response: 18:00:00.5520 LVL= 30656, 28097, 27026, 28083, AGC= 79, IDX= 30, 0.14, 3.138,-1.857,-1.191,-2.396, PHS=-0.647, 0.583, 1.160, RAW= 251.8, -13.6, CAL= 251.7, -19.9, ROT= 258.3, 19.9 2025-10-28T18:00:01.874Z,1761674401.874 [DAT](INFO): DAT read: Bearing 57, -18 (Remote) 2025-10-28T18:00:01.875Z,1761674401.875 [DAT](INFO): Remote Bearing received:Bearing 57, -18 (Remote) 2025-10-28T18:00:01.875Z,1761674401.875 [DAT](INFO): DAT read: Bearing 215.9, -45.3 (Local) 2025-10-28T18:00:01.876Z,1761674401.876 [DAT](INFO): Local bearing/azimuth received: Bearing 215.9, -45.3 (Local) 2025-10-28T18:00:01.878Z,1761674401.878 [DAT](INFO): DAT read: Range 11 to 20 : 1291.5 m (Round-trip 1722.0 ms) speed 0.0 m/s 2025-10-28T18:00:01.879Z,1761674401.879 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:00:01.888Z,1761674401.888 [DAT](INFO): direction in FSK: [-0.190679,-0.920752,-0.340380] 2025-10-28T18:00:01.889Z,1761674401.889 [DAT](INFO): publishing direction and range info 2025-10-28T18:00:02.179Z,1761674402.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987523,-0.118746,-0.103425],[0.149154,-0.915973,-0.372486],[-0.050503,-0.383265,0.922257]] 2025-10-28T18:00:02.212Z,1761674402.212 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674368.00. Resetting abort timer. 2025-10-28T18:00:02.584Z,1761674402.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984302,-0.137620,-0.110502],[0.169225,-0.913727,-0.369413],[-0.050130,-0.382313,0.922672]] 2025-10-28T18:00:02.986Z,1761674402.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980606,-0.156636,-0.117804],[0.189527,-0.910949,-0.366404],[-0.049922,-0.381625,0.922968]] 2025-10-28T18:00:03.392Z,1761674403.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976445,-0.175632,-0.125331],[0.209874,-0.907928,-0.362793],[-0.050074,-0.380551,0.923403]] 2025-10-28T18:00:03.796Z,1761674403.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971879,-0.194125,-0.133291],[0.229987,-0.904057,-0.360259],[-0.050567,-0.380784,0.923280]] 2025-10-28T18:00:04.200Z,1761674404.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967230,-0.211297,-0.140780],[0.248695,-0.900129,-0.357657],[-0.051148,-0.380948,0.923181]] 2025-10-28T18:00:04.603Z,1761674404.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962523,-0.227467,-0.147678],[0.266241,-0.896208,-0.354861],[-0.051631,-0.380880,0.923182]] 2025-10-28T18:00:05.007Z,1761674405.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957855,-0.242373,-0.154172],[0.282488,-0.892145,-0.352531],[-0.052099,-0.381226,0.923013]] 2025-10-28T18:00:05.411Z,1761674405.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953200,-0.256372,-0.160258],[0.297748,-0.888029,-0.350358],[-0.052492,-0.381677,0.922804]] 2025-10-28T18:00:05.816Z,1761674405.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948727,-0.269290,-0.165529],[0.311705,-0.883998,-0.348407],[-0.052505,-0.382139,0.922612]] 2025-10-28T18:00:06.218Z,1761674406.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944239,-0.281460,-0.170858],[0.324989,-0.879996,-0.346394],[-0.052858,-0.382606,0.922398]] 2025-10-28T18:00:06.622Z,1761674406.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939811,-0.293018,-0.175770],[0.337577,-0.875829,-0.344915],[-0.052878,-0.383491,0.922030]] 2025-10-28T18:00:07.029Z,1761674407.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935574,-0.303971,-0.179727],[0.349223,-0.871921,-0.343215],[-0.052380,-0.383868,0.921901]] 2025-10-28T18:00:07.376Z,1761674407.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:00:07.437Z,1761674407.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931308,-0.314880,-0.183073],[0.360627,-0.867698,-0.342124],[-0.051124,-0.384644,0.921648]] 2025-10-28T18:00:07.835Z,1761674407.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927065,-0.325343,-0.186283],[0.371591,-0.863288,-0.341547],[-0.049696,-0.385858,0.921219]] 2025-10-28T18:00:08.238Z,1761674408.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922753,-0.335920,-0.188905],[0.382410,-0.858939,-0.340567],[-0.047854,-0.386499,0.921048]] 2025-10-28T18:00:08.380Z,1761674408.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:00:08.643Z,1761674408.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918148,-0.347046,-0.191214],[0.393603,-0.854376,-0.339291],[-0.045619,-0.386782,0.921042]] 2025-10-28T18:00:09.062Z,1761674409.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913218,-0.358673,-0.193354],[0.405211,-0.849301,-0.338367],[-0.042852,-0.387352,0.920935]] 2025-10-28T18:00:09.451Z,1761674409.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907734,-0.371332,-0.195273],[0.417647,-0.844012,-0.336474],[-0.039870,-0.386985,0.921224]] 2025-10-28T18:00:09.486Z,1761674409.486 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:00:09.486Z,1761674409.486 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateRudder:A] Stopped 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:00:09.487Z,1761674409.487 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateCommandMode] Stopped 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:00:09.488Z,1761674409.488 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:00:09.489Z,1761674409.489 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:00:09.489Z,1761674409.489 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:00:09.489Z,1761674409.489 [marl:UpdateSpeed] Stopped 2025-10-28T18:00:09.489Z,1761674409.489 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:00:09.867Z,1761674409.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894658,-0.399797,-0.199371],[0.445472,-0.832086,-0.330435],[-0.033787,-0.384441,0.922531]] 2025-10-28T18:00:09.936Z,1761674409.936 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:00:09.936Z,1761674409.936 [marl:UpdateRudder:B] Stopped 2025-10-28T18:00:09.936Z,1761674409.936 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:00:09.936Z,1761674409.936 [marl:UpdateRudder] Stopped 2025-10-28T18:00:09.936Z,1761674409.936 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:00:10.264Z,1761674410.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886956,-0.415235,-0.202212],[0.460807,-0.825081,-0.326952],[-0.031079,-0.383173,0.923154]] 2025-10-28T18:00:10.670Z,1761674410.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878597,-0.431010,-0.205664],[0.476689,-0.817563,-0.323046],[-0.028907,-0.381865,0.923766]] 2025-10-28T18:00:11.079Z,1761674411.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869571,-0.447058,-0.209726],[0.493058,-0.809443,-0.318898],[-0.027196,-0.380712,0.924294]] 2025-10-28T18:00:11.490Z,1761674411.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860112,-0.463027,-0.214041],[0.509445,-0.801072,-0.314243],[-0.025959,-0.379326,0.924899]] 2025-10-28T18:00:11.878Z,1761674411.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850110,-0.479033,-0.218723],[0.526004,-0.792266,-0.309249],[-0.025146,-0.377945,0.925487]] 2025-10-28T18:00:12.278Z,1761674412.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839885,-0.494051,-0.224737],[0.542197,-0.782640,-0.305774],[-0.024820,-0.378667,0.925200]] 2025-10-28T18:00:12.683Z,1761674412.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829582,-0.508751,-0.230142],[0.557832,-0.773425,-0.301062],[-0.024832,-0.378136,0.925417]] 2025-10-28T18:00:13.087Z,1761674413.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819591,-0.522360,-0.235393],[0.572400,-0.764482,-0.296523],[-0.025062,-0.377766,0.925562]] 2025-10-28T18:00:13.493Z,1761674413.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809915,-0.534567,-0.241403],[0.585994,-0.755311,-0.293456],[-0.025463,-0.379135,0.924991]] 2025-10-28T18:00:13.897Z,1761674413.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800546,-0.546473,-0.245954],[0.598736,-0.746707,-0.289731],[-0.025325,-0.379205,0.924966]] 2025-10-28T18:00:14.298Z,1761674414.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791652,-0.557544,-0.249862],[0.610478,-0.738290,-0.286784],[-0.024576,-0.379568,0.924837]] 2025-10-28T18:00:14.703Z,1761674414.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782919,-0.568012,-0.253772],[0.621680,-0.729723,-0.284638],[-0.023506,-0.380613,0.924435]] 2025-10-28T18:00:15.110Z,1761674415.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773767,-0.579035,-0.256910],[0.633075,-0.721164,-0.281316],[-0.022382,-0.380316,0.924586]] 2025-10-28T18:00:15.517Z,1761674415.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764647,-0.589989,-0.259282],[0.644113,-0.712651,-0.277934],[-0.020799,-0.379528,0.924946]] 2025-10-28T18:00:15.914Z,1761674415.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755158,-0.600792,-0.262269],[0.655263,-0.703478,-0.275225],[-0.019147,-0.379693,0.924914]] 2025-10-28T18:00:16.319Z,1761674416.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745212,-0.612051,-0.264673],[0.666591,-0.694327,-0.271232],[-0.017761,-0.378554,0.925409]] 2025-10-28T18:00:16.722Z,1761674416.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734601,-0.623585,-0.267403],[0.678294,-0.684650,-0.266782],[-0.016716,-0.377356,0.925918]] 2025-10-28T18:00:17.134Z,1761674417.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724181,-0.634173,-0.270900],[0.689428,-0.674804,-0.263302],[-0.015825,-0.377444,0.925897]] 2025-10-28T18:00:17.554Z,1761674417.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713362,-0.645183,-0.273595],[0.700641,-0.664817,-0.259075],[-0.014740,-0.376506,0.926297]] 2025-10-28T18:00:17.939Z,1761674417.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702505,-0.655414,-0.277343],[0.711547,-0.654361,-0.255956],[-0.013725,-0.377153,0.926049]] 2025-10-28T18:00:18.347Z,1761674418.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691050,-0.666157,-0.280508],[0.722690,-0.643750,-0.251604],[-0.012970,-0.376592,0.926289]] 2025-10-28T18:00:18.746Z,1761674418.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679677,-0.676243,-0.284139],[0.733411,-0.632929,-0.248010],[-0.012125,-0.376958,0.926151]] 2025-10-28T18:00:19.147Z,1761674419.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668089,-0.686111,-0.287937],[0.743996,-0.621826,-0.244546],[-0.011261,-0.377603,0.925899]] 2025-10-28T18:00:19.590Z,1761674419.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656351,-0.695899,-0.291424],[0.754384,-0.610671,-0.240802],[-0.010390,-0.377896,0.925790]] 2025-10-28T18:00:19.955Z,1761674419.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643517,-0.706073,-0.295546],[0.765362,-0.598763,-0.236015],[-0.010319,-0.378080,0.925716]] 2025-10-28T18:00:20.363Z,1761674420.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630791,-0.716089,-0.298863],[0.775889,-0.587026,-0.231080],[-0.009966,-0.377647,0.925896]] 2025-10-28T18:00:20.771Z,1761674420.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618058,-0.725752,-0.302137],[0.786076,-0.575144,-0.226483],[-0.009402,-0.377483,0.925969]] 2025-10-28T18:00:21.167Z,1761674421.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605329,-0.734680,-0.306303],[0.795921,-0.563164,-0.222160],[-0.009282,-0.378273,0.925647]] 2025-10-28T18:00:21.981Z,1761674421.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581005,-0.751497,-0.312548],[0.813843,-0.540970,-0.212156],[-0.009644,-0.377628,0.925907]] 2025-10-28T18:00:22.381Z,1761674422.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569240,-0.759132,-0.315730],[0.822117,-0.529971,-0.207976],[-0.009446,-0.377955,0.925776]] 2025-10-28T18:00:22.788Z,1761674422.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557978,-0.766245,-0.318637],[0.829814,-0.519017,-0.205012],[-0.008289,-0.378801,0.925441]] 2025-10-28T18:00:22.824Z,1761674422.824 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:00:22.824Z,1761674422.824 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateRudder:A] Stopped 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:00:22.825Z,1761674422.825 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:00:22.826Z,1761674422.826 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:00:22.826Z,1761674422.826 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:00:22.826Z,1761674422.826 [marl:UpdateCommandMode] Stopped 2025-10-28T18:00:22.826Z,1761674422.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:00:22.827Z,1761674422.827 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:00:22.827Z,1761674422.827 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:00:22.827Z,1761674422.827 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:00:22.827Z,1761674422.827 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:00:22.828Z,1761674422.828 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:00:22.828Z,1761674422.828 [marl:UpdateSpeed] Stopped 2025-10-28T18:00:22.828Z,1761674422.828 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:00:23.186Z,1761674423.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546901,-0.773047,-0.321398],[0.837175,-0.507799,-0.203172],[-0.006144,-0.380181,0.924892]] 2025-10-28T18:00:23.226Z,1761674423.226 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:00:23.226Z,1761674423.226 [marl:UpdateRudder:B] Stopped 2025-10-28T18:00:23.227Z,1761674423.227 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:00:23.227Z,1761674423.227 [marl:UpdateRudder] Stopped 2025-10-28T18:00:23.227Z,1761674423.227 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:00:23.603Z,1761674423.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535931,-0.780060,-0.322931],[0.844257,-0.496418,-0.201988],[-0.002746,-0.380888,0.924617]] 2025-10-28T18:00:24.000Z,1761674424.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524584,-0.787335,-0.323906],[0.851357,-0.484373,-0.201431],[0.001703,-0.381427,0.924397]] 2025-10-28T18:00:24.398Z,1761674424.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512054,-0.795448,-0.324135],[0.858928,-0.471289,-0.200322],[0.006584,-0.380984,0.924558]] 2025-10-28T18:00:24.803Z,1761674424.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497856,-0.804349,-0.324288],[0.867185,-0.456784,-0.198340],[0.011405,-0.379962,0.924932]] 2025-10-28T18:00:25.210Z,1761674425.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482966,-0.812861,-0.325578],[0.875487,-0.441347,-0.196810],[0.016286,-0.380092,0.924805]] 2025-10-28T18:00:25.613Z,1761674425.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466836,-0.821924,-0.326351],[0.884099,-0.425074,-0.194118],[0.020827,-0.379148,0.925102]] 2025-10-28T18:00:26.015Z,1761674426.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450103,-0.830336,-0.328557],[0.892640,-0.408262,-0.191094],[0.024535,-0.379295,0.924950]] 2025-10-28T18:00:26.419Z,1761674426.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432854,-0.838544,-0.330879],[0.901050,-0.391337,-0.186986],[0.027311,-0.379076,0.924962]] 2025-10-28T18:00:26.832Z,1761674426.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415526,-0.846337,-0.333245],[0.909111,-0.374652,-0.182079],[0.029249,-0.378616,0.925092]] 2025-10-28T18:00:27.235Z,1761674427.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398818,-0.853347,-0.335771],[0.916522,-0.358726,-0.176929],[0.030532,-0.378304,0.925178]] 2025-10-28T18:00:27.630Z,1761674427.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383022,-0.859363,-0.338807],[0.923205,-0.343646,-0.172049],[0.031423,-0.378687,0.924991]] 2025-10-28T18:00:28.034Z,1761674428.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368547,-0.864788,-0.341049],[0.929043,-0.329834,-0.167598],[0.032447,-0.378616,0.924985]] 2025-10-28T18:00:28.439Z,1761674428.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355227,-0.869736,-0.342598],[0.934163,-0.316974,-0.163911],[0.033965,-0.378268,0.925073]] 2025-10-28T18:00:28.847Z,1761674428.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342581,-0.874161,-0.344211],[0.938802,-0.304527,-0.160977],[0.035899,-0.378293,0.924989]] 2025-10-28T18:00:29.246Z,1761674429.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330116,-0.878560,-0.345191],[0.943163,-0.292153,-0.158402],[0.038317,-0.377862,0.925069]] 2025-10-28T18:00:29.651Z,1761674429.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317544,-0.882557,-0.346784],[0.947343,-0.279330,-0.156579],[0.041322,-0.378244,0.924783]] 2025-10-28T18:00:30.055Z,1761674430.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304693,-0.886145,-0.349154],[0.951395,-0.265912,-0.155365],[0.044832,-0.379522,0.924096]] 2025-10-28T18:00:30.460Z,1761674430.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291200,-0.889847,-0.351247],[0.955431,-0.251890,-0.153959],[0.048524,-0.380425,0.923538]] 2025-10-28T18:00:30.863Z,1761674430.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276489,-0.893756,-0.353205],[0.959613,-0.236903,-0.151724],[0.051929,-0.380890,0.923161]] 2025-10-28T18:00:31.267Z,1761674431.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260762,-0.897830,-0.354830],[0.963845,-0.221245,-0.148504],[0.054827,-0.380725,0.923061]] 2025-10-28T18:00:31.671Z,1761674431.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244688,-0.901618,-0.356670],[0.967913,-0.205431,-0.144719],[0.057210,-0.380636,0.922954]] 2025-10-28T18:00:32.077Z,1761674432.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229335,-0.904935,-0.358466],[0.971553,-0.190468,-0.140738],[0.059082,-0.380545,0.922873]] 2025-10-28T18:00:32.479Z,1761674432.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213408,-0.908094,-0.360309],[0.975099,-0.175215,-0.135945],[0.060319,-0.380349,0.922874]] 2025-10-28T18:00:32.882Z,1761674432.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198567,-0.910709,-0.362189],[0.978168,-0.161030,-0.131368],[0.061315,-0.380367,0.922801]] 2025-10-28T18:00:33.287Z,1761674433.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184406,-0.913040,-0.363801],[0.980886,-0.147578,-0.126820],[0.062102,-0.380234,0.922803]] 2025-10-28T18:00:33.691Z,1761674433.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171088,-0.914816,-0.365843],[0.983257,-0.134892,-0.122518],[0.062733,-0.380679,0.922577]] 2025-10-28T18:00:34.096Z,1761674434.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157803,-0.916543,-0.367488],[0.985442,-0.122326,-0.118068],[0.063261,-0.380769,0.922504]] 2025-10-28T18:00:34.500Z,1761674434.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145193,-0.918044,-0.368937],[0.987324,-0.110275,-0.114153],[0.064112,-0.380835,0.922418]] 2025-10-28T18:00:34.902Z,1761674434.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132552,-0.920023,-0.368765],[0.988999,-0.098123,-0.110690],[0.065653,-0.379381,0.922908]] 2025-10-28T18:00:35.326Z,1761674435.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119608,-0.921080,-0.370548],[0.990497,-0.085184,-0.107975],[0.067888,-0.379941,0.922516]] 2025-10-28T18:00:35.711Z,1761674435.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106089,-0.921435,-0.373769],[0.991846,-0.071368,-0.105581],[0.070611,-0.381922,0.921493]] 2025-10-28T18:00:35.788Z,1761674435.788 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:00:35.788Z,1761674435.788 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:00:35.788Z,1761674435.788 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateRudder:A] Stopped 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:00:35.789Z,1761674435.789 [marl:UpdateCommandMode] Stopped 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed] Stopped 2025-10-28T18:00:35.790Z,1761674435.790 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:00:36.115Z,1761674436.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092121,-0.922371,-0.375161],[0.993018,-0.057221,-0.103153],[0.073678,-0.382044,0.921203]] 2025-10-28T18:00:36.159Z,1761674436.159 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:00:36.159Z,1761674436.159 [marl:UpdateRudder:B] Stopped 2025-10-28T18:00:36.159Z,1761674436.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:00:36.159Z,1761674436.159 [marl:UpdateRudder] Stopped 2025-10-28T18:00:36.159Z,1761674436.159 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:00:36.518Z,1761674436.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077230,-0.922972,-0.377038],[0.994052,-0.042157,-0.100416],[0.076786,-0.382550,0.920738]] 2025-10-28T18:00:36.925Z,1761674436.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061054,-0.923840,-0.377879],[0.994930,-0.026015,-0.097150],[0.079921,-0.381894,0.920744]] 2025-10-28T18:00:37.333Z,1761674437.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044615,-0.924135,-0.379453],[0.995546,-0.009554,-0.093786],[0.083046,-0.381947,0.920445]] 2025-10-28T18:00:37.730Z,1761674437.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026706,-0.924395,-0.380500],[0.995989,0.007909,-0.089121],[0.085392,-0.381354,0.920477]] 2025-10-28T18:00:38.135Z,1761674438.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008676,-0.924544,-0.380977],[0.996112,0.025413,-0.084354],[0.087671,-0.380228,0.920728]] 2025-10-28T18:00:38.504Z,1761674438.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:00:38.545Z,1761674438.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009828,-0.924663,-0.380659],[0.995941,0.043111,-0.079010],[0.089468,-0.378337,0.921334]] 2025-10-28T18:00:38.944Z,1761674438.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029020,-0.924166,-0.380888],[0.995456,0.061292,-0.072872],[0.090692,-0.377043,0.921745]] 2025-10-28T18:00:39.347Z,1761674439.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048580,-0.923142,-0.381377],[0.994642,0.079596,-0.065968],[0.091254,-0.376129,0.922063]] 2025-10-28T18:00:39.508Z,1761674439.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:00:39.753Z,1761674439.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068480,-0.921651,-0.381930],[0.993466,0.098032,-0.058436],[0.091299,-0.375432,0.922342]] 2025-10-28T18:00:40.161Z,1761674440.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088457,-0.919532,-0.382931],[0.991928,0.116385,-0.050339],[0.090855,-0.375387,0.922404]] 2025-10-28T18:00:40.560Z,1761674440.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108552,-0.916590,-0.384811],[0.989988,0.134807,-0.041833],[0.090219,-0.376417,0.922047]] 2025-10-28T18:00:40.962Z,1761674440.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128266,-0.913383,-0.386366],[0.987717,0.152707,-0.033101],[0.089235,-0.377374,0.921751]] 2025-10-28T18:00:41.366Z,1761674441.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146400,-0.909974,-0.387963],[0.985270,0.169171,-0.024996],[0.088378,-0.378589,0.921336]] 2025-10-28T18:00:41.776Z,1761674441.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163819,-0.906682,-0.388704],[0.982605,0.184912,-0.017203],[0.087474,-0.379124,0.921202]] 2025-10-28T18:00:42.176Z,1761674442.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180056,-0.903283,-0.389434],[0.979829,0.199590,-0.009917],[0.086685,-0.379793,0.921001]] 2025-10-28T18:00:42.983Z,1761674442.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209517,-0.897133,-0.388915],[0.974048,0.226327,0.002659],[0.085637,-0.379379,0.921270]] 2025-10-28T18:00:43.389Z,1761674443.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222787,-0.894196,-0.388303],[0.971097,0.238560,0.007798],[0.085660,-0.378817,0.921499]] 2025-10-28T18:00:43.802Z,1761674443.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235568,-0.891443,-0.387088],[0.968090,0.250276,0.012774],[0.085492,-0.377745,0.921954]] 2025-10-28T18:00:44.195Z,1761674444.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248266,-0.888073,-0.386899],[0.964930,0.261885,0.018058],[0.085286,-0.377814,0.921945]] 2025-10-28T18:00:44.599Z,1761674444.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261094,-0.885063,-0.385348],[0.961548,0.273678,0.022920],[0.085176,-0.376514,0.922487]] 2025-10-28T18:00:45.003Z,1761674445.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274236,-0.881617,-0.384116],[0.957879,0.285816,0.027870],[0.085216,-0.375580,0.922864]] 2025-10-28T18:00:45.410Z,1761674445.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288743,-0.877634,-0.382605],[0.953611,0.299186,0.033384],[0.085171,-0.374496,0.923309]] 2025-10-28T18:00:45.815Z,1761674445.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303933,-0.873344,-0.380651],[0.948898,0.313139,0.039204],[0.084958,-0.373114,0.923887]] 2025-10-28T18:00:46.214Z,1761674446.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319679,-0.868092,-0.379766],[0.943755,0.327434,0.045966],[0.084445,-0.373101,0.923940]] 2025-10-28T18:00:47.024Z,1761674447.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354281,-0.856103,-0.376261],[0.931719,0.357531,0.063803],[0.079903,-0.373174,0.924314]] 2025-10-28T18:00:47.426Z,1761674447.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371394,-0.849915,-0.373779],[0.925242,0.372354,0.072662],[0.077421,-0.372823,0.924667]] 2025-10-28T18:00:47.831Z,1761674447.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388279,-0.843801,-0.370459],[0.918490,0.387038,0.081109],[0.074942,-0.371756,0.925301]] 2025-10-28T18:00:48.235Z,1761674448.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405318,-0.837715,-0.365993],[0.911320,0.401880,0.089380],[0.072210,-0.369764,0.926315]] 2025-10-28T18:00:49.043Z,1761674449.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438471,-0.824809,-0.356978],[0.896257,0.430820,0.105437],[0.066828,-0.366175,0.928143]] 2025-10-28T18:00:49.077Z,1761674449.077 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:00:49.077Z,1761674449.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateRudder:A] Stopped 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:00:49.078Z,1761674449.078 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateCommandMode] Stopped 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:00:49.079Z,1761674449.079 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:00:49.080Z,1761674449.080 [marl:UpdateSpeed] Stopped 2025-10-28T18:00:49.080Z,1761674449.080 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:00:49.447Z,1761674449.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455012,-0.817122,-0.353942],[0.888150,0.445196,0.113972],[0.064444,-0.366213,0.928297]] 2025-10-28T18:00:49.508Z,1761674449.508 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:00:49.508Z,1761674449.508 [marl:UpdateRudder:B] Stopped 2025-10-28T18:00:49.508Z,1761674449.508 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:00:49.508Z,1761674449.508 [marl:UpdateRudder] Stopped 2025-10-28T18:00:49.508Z,1761674449.508 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:00:49.850Z,1761674449.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471594,-0.809960,-0.348660],[0.879633,0.459899,0.121404],[0.062016,-0.363946,0.929353]] 2025-10-28T18:00:50.254Z,1761674450.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488791,-0.802330,-0.342562],[0.870393,0.475122,0.129133],[0.059152,-0.361283,0.930578]] 2025-10-28T18:00:50.658Z,1761674450.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506834,-0.793617,-0.336588],[0.860239,0.490879,0.137939],[0.055754,-0.359459,0.931494]] 2025-10-28T18:00:51.064Z,1761674451.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524401,-0.784846,-0.330183],[0.849871,0.506222,0.146486],[0.052177,-0.357430,0.932481]] 2025-10-28T18:00:51.467Z,1761674451.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541885,-0.775217,-0.324651],[0.839084,0.521044,0.156368],[0.047938,-0.357143,0.932819]] 2025-10-28T18:00:51.871Z,1761674451.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558618,-0.765412,-0.319515],[0.828290,0.534942,0.166650],[0.043366,-0.357745,0.932812]] 2025-10-28T18:00:52.285Z,1761674452.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574002,-0.756180,-0.314187],[0.817916,0.547818,0.175809],[0.039174,-0.357893,0.932941]] 2025-10-28T18:00:52.678Z,1761674452.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588467,-0.747343,-0.308519],[0.807759,0.559991,0.184216],[0.035095,-0.357614,0.933210]] 2025-10-28T18:00:53.086Z,1761674453.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601829,-0.739059,-0.302645],[0.798024,0.571218,0.192008],[0.030970,-0.357074,0.933563]] 2025-10-28T18:00:53.487Z,1761674453.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614058,-0.731033,-0.297529],[0.788786,0.581491,0.199211],[0.027381,-0.357014,0.933698]] 2025-10-28T18:00:53.892Z,1761674453.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626478,-0.722271,-0.293001],[0.779071,0.591801,0.206928],[0.023940,-0.357904,0.933451]] 2025-10-28T18:00:54.309Z,1761674454.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639020,-0.712997,-0.288597],[0.768908,0.602273,0.214587],[0.020814,-0.359030,0.933094]] 2025-10-28T18:00:54.699Z,1761674454.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651867,-0.703177,-0.283921],[0.758119,0.613173,0.221975],[0.018004,-0.359944,0.932800]] 2025-10-28T18:00:55.107Z,1761674455.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665054,-0.693109,-0.278034],[0.746641,0.624690,0.228671],[0.015191,-0.359670,0.932956]] 2025-10-28T18:00:55.517Z,1761674455.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692878,-0.669537,-0.267656],[0.720992,0.648204,0.244952],[0.009491,-0.362700,0.931857]] 2025-10-28T18:00:55.917Z,1761674455.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706727,-0.657059,-0.262316],[0.707455,0.659823,0.253262],[0.006674,-0.364563,0.931155]] 2025-10-28T18:00:56.321Z,1761674456.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720142,-0.645535,-0.254323],[0.693815,0.672091,0.258677],[0.003943,-0.362738,0.931883]] 2025-10-28T18:00:56.723Z,1761674456.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732834,-0.634319,-0.246156],[0.680406,0.683791,0.263586],[0.001121,-0.360651,0.932700]] 2025-10-28T18:00:56.789Z,1761674456.789 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:00:56.813Z,1761674456.813 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:00:56.814Z,1761674456.814 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:00:57.065Z,1761674457.065 [DAT](INFO): DAT read: user:97> 2025-10-28T18:00:57.066Z,1761674457.066 [DAT](INFO): DAT read: Tx time:18:00:56.8006 2025-10-28T18:00:57.066Z,1761674457.066 [DAT](INFO): Ping request sent. 2025-10-28T18:00:57.066Z,1761674457.066 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:00:57.066Z,1761674457.066 [DAT](INFO): publishing transmit ping time 2025-10-28T18:00:57.067Z,1761674457.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962 2025-10-28T18:00:57.156Z,1761674457.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744887,-0.623168,-0.238339],[0.667189,0.694905,0.268265],[-0.001551,-0.358845,0.933396]] 2025-10-28T18:00:57.317Z,1761674457.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925 2025-10-28T18:00:57.542Z,1761674457.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756198,-0.612349,-0.230636],[0.654331,0.705605,0.271978],[-0.003808,-0.356582,0.934256]] 2025-10-28T18:00:57.572Z,1761674457.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505419 2025-10-28T18:00:57.821Z,1761674457.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884 2025-10-28T18:00:57.932Z,1761674457.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767136,-0.601418,-0.223157],[0.641456,0.715875,0.275785],[-0.006109,-0.354710,0.934956]] 2025-10-28T18:00:58.073Z,1761674458.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007001 2025-10-28T18:00:58.325Z,1761674458.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259010 2025-10-28T18:00:58.336Z,1761674458.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777957,-0.589752,-0.216737],[0.628262,0.725577,0.280757],[-0.008318,-0.354585,0.934987]] 2025-10-28T18:00:58.577Z,1761674458.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878 2025-10-28T18:00:58.739Z,1761674458.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788476,-0.578008,-0.210270],[0.614982,0.735223,0.285032],[-0.010156,-0.354053,0.935170]] 2025-10-28T18:00:58.829Z,1761674458.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763264 2025-10-28T18:00:59.081Z,1761674459.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014944 2025-10-28T18:00:59.149Z,1761674459.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799108,-0.565281,-0.204655],[0.601066,0.744373,0.290910],[-0.012106,-0.355480,0.934605]] 2025-10-28T18:00:59.334Z,1761674459.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267727 2025-10-28T18:00:59.590Z,1761674459.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521514 2025-10-28T18:00:59.600Z,1761674459.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810070,-0.551430,-0.199279],[0.586170,0.753616,0.297436],[-0.013836,-0.357755,0.933713]] 2025-10-28T18:00:59.837Z,1761674459.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771000 2025-10-28T18:00:59.951Z,1761674459.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821067,-0.536823,-0.194086],[0.570620,0.762600,0.304688],[-0.015554,-0.360919,0.932468]] 2025-10-28T18:01:00.089Z,1761674460.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022958 2025-10-28T18:01:00.346Z,1761674460.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279874 2025-10-28T18:01:00.356Z,1761674460.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832226,-0.521662,-0.187798],[0.554162,0.771993,0.311339],[-0.017435,-0.363175,0.931558]] 2025-10-28T18:01:00.593Z,1761674460.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526925 2025-10-28T18:01:00.767Z,1761674460.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842769,-0.507176,-0.180313],[0.537922,0.781435,0.316225],[-0.019479,-0.363499,0.931391]] 2025-10-28T18:01:00.845Z,1761674460.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778968 2025-10-28T18:01:01.097Z,1761674461.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030894 2025-10-28T18:01:01.165Z,1761674461.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853037,-0.492542,-0.172426],[0.521398,0.790668,0.320918],[-0.021734,-0.363657,0.931279]] 2025-10-28T18:01:01.349Z,1761674461.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282952 2025-10-28T18:01:01.601Z,1761674461.601 [DAT](INFO): DAT read: Rx Time:18:01:00.9432 2025-10-28T18:01:01.601Z,1761674461.601 [DAT](INFO): Rx dataTimestamp_ set to:1761674461.601122 2025-10-28T18:01:01.602Z,1761674461.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535990 2025-10-28T18:01:01.853Z,1761674461.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787083 2025-10-28T18:01:01.973Z,1761674461.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871067,-0.465811,-0.155762],[0.490441,0.807696,0.327254],[-0.026630,-0.361452,0.932010]] 2025-10-28T18:01:02.122Z,1761674462.122 [DAT](INFO): DAT read: 18:01:00.9432 LVL= 27472, 32753, 32754, 32755, AGC= 80, IDX= 356,-0.16,-0.441,-2.602,-1.527,-1.100, PHS= 0.760,-1.458,-0.471, RAW= 116.4, 12.1, CAL= 117.4, 13.5, ROT= 32.6, -13.5 2025-10-28T18:01:02.123Z,1761674462.123 [DAT](INFO): got valid direction response: 18:01:00.9432 LVL= 27472, 32753, 32754, 32755, AGC= 80, IDX= 356,-0.16,-0.441,-2.602,-1.527,-1.100, PHS= 0.760,-1.458,-0.471, RAW= 116.4, 12.1, CAL= 117.4, 13.5, ROT= 32.6, -13.5 2025-10-28T18:01:02.125Z,1761674462.125 [DAT](INFO): DAT read: Bearing 211.2, 22.4 (Local) 2025-10-28T18:01:02.125Z,1761674462.125 [DAT](INFO): Local bearing/azimuth received: Bearing 211.2, 22.4 (Local) 2025-10-28T18:01:02.126Z,1761674462.126 [DAT](INFO): DAT read: Range 11 to 20 : 1303.8 m (Round-trip 1738.4 ms) speed 0.3 m/s 2025-10-28T18:01:02.127Z,1761674462.127 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:01:02.130Z,1761674462.130 [DAT](INFO): direction in FSK: [0.819175,0.523884,0.233445] 2025-10-28T18:01:02.130Z,1761674462.130 [DAT](INFO): publishing direction and range info 2025-10-28T18:01:02.379Z,1761674462.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879519,-0.452174,-0.148274],[0.474974,0.815115,0.331644],[-0.029100,-0.362114,0.931680]] 2025-10-28T18:01:02.421Z,1761674462.421 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:01:02.421Z,1761674462.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateRudder:A] Stopped 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:01:02.422Z,1761674462.422 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateCommandMode] Stopped 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:01:02.423Z,1761674462.423 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:01:02.424Z,1761674462.424 [marl:UpdateSpeed] Stopped 2025-10-28T18:01:02.424Z,1761674462.424 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:01:02.430Z,1761674462.430 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674496.00. Resetting abort timer. 2025-10-28T18:01:02.785Z,1761674462.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887448,-0.438894,-0.140742],[0.459839,0.822319,0.335171],[-0.031370,-0.362166,0.931586]] 2025-10-28T18:01:02.837Z,1761674462.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:01:02.837Z,1761674462.837 [marl:UpdateRudder:B] Stopped 2025-10-28T18:01:02.837Z,1761674462.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:01:02.838Z,1761674462.838 [marl:UpdateRudder] Stopped 2025-10-28T18:01:02.838Z,1761674462.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:01:03.184Z,1761674463.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894767,-0.425805,-0.134471],[0.445298,0.828488,0.339584],[-0.033189,-0.363728,0.930914]] 2025-10-28T18:01:03.603Z,1761674463.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902015,-0.412310,-0.127946],[0.430302,0.834813,0.343406],[-0.034778,-0.364813,0.930431]] 2025-10-28T18:01:03.994Z,1761674463.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909318,-0.398223,-0.120664],[0.414520,0.841662,0.346091],[-0.036263,-0.364724,0.930409]] 2025-10-28T18:01:04.394Z,1761674464.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916536,-0.383540,-0.113395],[0.398177,0.848342,0.348957],[-0.037642,-0.364983,0.930253]] 2025-10-28T18:01:04.799Z,1761674464.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923291,-0.369321,-0.105527],[0.382127,0.855383,0.349713],[-0.038891,-0.363212,0.930895]] 2025-10-28T18:01:05.202Z,1761674465.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929937,-0.354645,-0.097182],[0.365512,0.862577,0.349804],[-0.040229,-0.360817,0.931769]] 2025-10-28T18:01:05.608Z,1761674465.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935724,-0.341383,-0.088754],[0.350273,0.869647,0.347883],[-0.041577,-0.356610,0.933328]] 2025-10-28T18:01:06.014Z,1761674466.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940854,-0.328878,-0.081438],[0.336134,0.875897,0.346148],[-0.042509,-0.353049,0.934639]] 2025-10-28T18:01:06.415Z,1761674466.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945529,-0.316914,-0.074433],[0.322589,0.881446,0.344948],[-0.043710,-0.350169,0.935666]] 2025-10-28T18:01:06.818Z,1761674466.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949846,-0.305270,-0.067847],[0.309495,0.886590,0.343759],[-0.044786,-0.347517,0.936604]] 2025-10-28T18:01:07.222Z,1761674467.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953671,-0.294360,-0.062153],[0.297335,0.890705,0.343856],[-0.045857,-0.346406,0.936963]] 2025-10-28T18:01:07.627Z,1761674467.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957148,-0.283923,-0.057062],[0.285782,0.894122,0.344781],[-0.046871,-0.346313,0.936947]] 2025-10-28T18:01:08.034Z,1761674468.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960467,-0.273379,-0.052601],[0.274287,0.896923,0.346836],[-0.047638,-0.347552,0.936450]] 2025-10-28T18:01:08.435Z,1761674468.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963707,-0.262635,-0.047877],[0.262478,0.899416,0.349507],[-0.048731,-0.349389,0.935709]] 2025-10-28T18:01:08.838Z,1761674468.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967018,-0.251055,-0.042971],[0.249810,0.901918,0.352333],[-0.049699,-0.351447,0.934888]] 2025-10-28T18:01:09.246Z,1761674469.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970341,-0.238740,-0.037969],[0.236395,0.904263,0.355565],[-0.050553,-0.353995,0.933880]] 2025-10-28T18:01:09.628Z,1761674469.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:01:09.653Z,1761674469.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973796,-0.225114,-0.032335],[0.221527,0.906740,0.358814],[-0.051455,-0.356575,0.932849]] 2025-10-28T18:01:10.051Z,1761674470.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977336,-0.210114,-0.025832],[0.205127,0.909773,0.360881],[-0.052325,-0.358001,0.932254]] 2025-10-28T18:01:10.454Z,1761674470.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980758,-0.194304,-0.018992],[0.187878,0.912904,0.362365],[-0.053071,-0.358960,0.931843]] 2025-10-28T18:01:10.632Z,1761674470.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:01:10.860Z,1761674470.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984143,-0.176968,-0.012013],[0.169139,0.915892,0.364052],[-0.053423,-0.360312,0.931301]] 2025-10-28T18:01:11.272Z,1761674471.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987155,-0.159703,-0.004549],[0.150264,0.918384,0.366048],[-0.054281,-0.362030,0.930585]] 2025-10-28T18:01:11.666Z,1761674471.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989947,-0.141395,0.003398],[0.130311,0.921154,0.366735],[-0.054985,-0.362605,0.930319]] 2025-10-28T18:01:12.071Z,1761674472.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992351,-0.122899,0.011608],[0.110096,0.923643,0.367100],[-0.055837,-0.363014,0.930109]] 2025-10-28T18:01:12.475Z,1761674472.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994364,-0.104115,0.020006],[0.089536,0.925733,0.367426],[-0.056775,-0.363564,0.929837]] 2025-10-28T18:01:12.880Z,1761674472.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995950,-0.085369,0.028227],[0.069092,0.927518,0.367336],[-0.057540,-0.363898,0.929660]] 2025-10-28T18:01:13.283Z,1761674473.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997082,-0.067132,0.036349],[0.049246,0.929436,0.365682],[-0.058333,-0.362825,0.930030]] 2025-10-28T18:01:13.687Z,1761674473.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997778,-0.049859,0.044186],[0.030424,0.931066,0.363579],[-0.059267,-0.361427,0.930515]] 2025-10-28T18:01:14.093Z,1761674474.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998115,-0.033226,0.051597],[0.012417,0.932711,0.360412],[-0.060100,-0.359092,0.931365]] 2025-10-28T18:01:14.499Z,1761674474.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998138,-0.017488,0.058431],[-0.004564,0.933913,0.357471],[-0.060820,-0.357072,0.932095]] 2025-10-28T18:01:14.898Z,1761674474.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997898,-0.003635,0.064697],[-0.019592,0.934770,0.354712],[-0.061766,-0.355234,0.932734]] 2025-10-28T18:01:15.302Z,1761674475.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997477,0.009412,0.070361],[-0.033590,0.935766,0.351018],[-0.062537,-0.352495,0.933722]] 2025-10-28T18:01:15.348Z,1761674475.348 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:01:15.348Z,1761674475.348 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:01:15.348Z,1761674475.348 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateRudder:A] Stopped 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:01:15.349Z,1761674475.349 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateCommandMode] Stopped 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:01:15.350Z,1761674475.350 [marl:UpdateSpeed] Stopped 2025-10-28T18:01:15.351Z,1761674475.351 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:01:15.707Z,1761674475.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996951,0.021086,0.075126],[-0.046110,0.935908,0.349213],[-0.062948,-0.351613,0.934027]] 2025-10-28T18:01:15.793Z,1761674475.793 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:01:15.793Z,1761674475.793 [marl:UpdateRudder:B] Stopped 2025-10-28T18:01:15.793Z,1761674475.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:01:15.793Z,1761674475.793 [marl:UpdateRudder] Stopped 2025-10-28T18:01:15.793Z,1761674475.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:01:16.116Z,1761674476.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996325,0.031985,0.079461],[-0.057744,0.935985,0.347273],[-0.063267,-0.350585,0.934391]] 2025-10-28T18:01:16.538Z,1761674476.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995594,0.042528,0.083575],[-0.069080,0.935332,0.346961],[-0.063415,-0.351205,0.934148]] 2025-10-28T18:01:16.919Z,1761674476.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994764,0.052707,0.087562],[-0.080068,0.934370,0.347191],[-0.063516,-0.352384,0.933698]] 2025-10-28T18:01:17.324Z,1761674477.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993797,0.062849,0.091741],[-0.091137,0.933032,0.348059],[-0.063722,-0.354261,0.932973]] 2025-10-28T18:01:17.734Z,1761674477.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992669,0.073125,0.096229],[-0.102533,0.931052,0.350185],[-0.063987,-0.357485,0.931724]] 2025-10-28T18:01:18.131Z,1761674478.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991317,0.084092,0.101089],[-0.114755,0.928614,0.352856],[-0.064200,-0.361393,0.930201]] 2025-10-28T18:01:18.535Z,1761674478.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989604,0.096488,0.106649],[-0.128596,0.925684,0.355770],[-0.064396,-0.365786,0.928469]] 2025-10-28T18:01:18.940Z,1761674478.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987473,0.110542,0.112597],[-0.144041,0.922834,0.357252],[-0.064417,-0.368995,0.927196]] 2025-10-28T18:01:19.343Z,1761674479.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984870,0.125808,0.119182],[-0.160819,0.919744,0.358063],[-0.064570,-0.371812,0.926060]] 2025-10-28T18:01:19.756Z,1761674479.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981646,0.142914,0.126282],[-0.179391,0.916691,0.357067],[-0.064731,-0.373167,0.925503]] 2025-10-28T18:01:20.150Z,1761674480.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977918,0.160845,0.133434],[-0.198666,0.913641,0.354671],[-0.064864,-0.373348,0.925421]] 2025-10-28T18:01:20.556Z,1761674480.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973694,0.179416,0.140462],[-0.218413,0.910558,0.350971],[-0.064929,-0.372417,0.925791]] 2025-10-28T18:01:20.960Z,1761674480.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969042,0.198463,0.146867],[-0.238230,0.907826,0.345107],[-0.064839,-0.369411,0.927001]] 2025-10-28T18:01:21.363Z,1761674481.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964090,0.217095,0.152969],[-0.257561,0.904741,0.339271],[-0.064743,-0.366487,0.928168]] 2025-10-28T18:01:21.774Z,1761674481.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959026,0.235091,0.158118],[-0.275890,0.901870,0.332438],[-0.064449,-0.362440,0.929776]] 2025-10-28T18:01:21.802Z,1761674481.802 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -28, +62,A 2025-10-28T18:01:22.172Z,1761674482.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954085,0.251489,0.162713],[-0.292581,0.898827,0.326353],[-0.064177,-0.358975,0.931138]] 2025-10-28T18:01:22.576Z,1761674482.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949444,0.265794,0.167065],[-0.307271,0.895857,0.320974],[-0.064353,-0.356081,0.932236]] 2025-10-28T18:01:22.979Z,1761674482.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944799,0.279129,0.171587],[-0.321212,0.892376,0.316998],[-0.064637,-0.354615,0.932776]] 2025-10-28T18:01:23.382Z,1761674483.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940284,0.291595,0.175609],[-0.334143,0.889099,0.312811],[-0.064919,-0.352810,0.933440]] 2025-10-28T18:01:23.793Z,1761674483.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935525,0.303962,0.179998],[-0.347224,0.885007,0.310158],[-0.065023,-0.352660,0.933490]] 2025-10-28T18:01:24.198Z,1761674484.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930963,0.315137,0.184378],[-0.359214,0.880963,0.308010],[-0.065365,-0.352977,0.933346]] 2025-10-28T18:01:24.595Z,1761674484.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926233,0.326184,0.188938],[-0.371180,0.876592,0.306286],[-0.065716,-0.353822,0.933001]] 2025-10-28T18:01:24.999Z,1761674484.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921031,0.337700,0.194066],[-0.383862,0.871423,0.305405],[-0.065978,-0.355782,0.932237]] 2025-10-28T18:01:25.403Z,1761674485.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915295,0.349544,0.200137],[-0.397315,0.865133,0.306081],[-0.066156,-0.359672,0.930731]] 2025-10-28T18:01:25.808Z,1761674485.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909326,0.361324,0.206328],[-0.410732,0.858776,0.306273],[-0.066525,-0.363248,0.929315]] 2025-10-28T18:01:26.211Z,1761674486.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902524,0.374424,0.212736],[-0.425426,0.851841,0.305581],[-0.066801,-0.366298,0.928097]] 2025-10-28T18:01:26.616Z,1761674486.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895147,0.388535,0.218524],[-0.440731,0.844897,0.303158],[-0.066842,-0.367681,0.927547]] 2025-10-28T18:01:27.020Z,1761674487.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887283,0.402626,0.224994],[-0.456357,0.837066,0.301758],[-0.066839,-0.370422,0.926456]] 2025-10-28T18:01:27.422Z,1761674487.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879162,0.416656,0.231240],[-0.471781,0.829352,0.299331],[-0.067061,-0.372255,0.925705]] 2025-10-28T18:01:27.828Z,1761674487.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870784,0.431182,0.236256],[-0.487123,0.821774,0.295632],[-0.066678,-0.372517,0.925627]] 2025-10-28T18:01:28.254Z,1761674488.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862167,0.445453,0.241327],[-0.502264,0.813900,0.292057],[-0.066319,-0.373012,0.925453]] 2025-10-28T18:01:28.634Z,1761674488.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853586,0.459331,0.245775],[-0.516757,0.806306,0.287807],[-0.065971,-0.372674,0.925614]] 2025-10-28T18:01:28.673Z,1761674488.673 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:01:28.673Z,1761674488.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:01:28.673Z,1761674488.673 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateRudder:A] Stopped 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode] Stopped 2025-10-28T18:01:28.674Z,1761674488.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed] Stopped 2025-10-28T18:01:28.675Z,1761674488.675 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:01:29.038Z,1761674489.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844845,0.472801,0.250390],[-0.530956,0.798464,0.283799],[-0.065747,-0.372712,0.925615]] 2025-10-28T18:01:29.090Z,1761674489.090 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:01:29.090Z,1761674489.090 [marl:UpdateRudder:B] Stopped 2025-10-28T18:01:29.090Z,1761674489.090 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:01:29.090Z,1761674489.090 [marl:UpdateRudder] Stopped 2025-10-28T18:01:29.090Z,1761674489.090 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:01:29.442Z,1761674489.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836137,0.485460,0.255350],[-0.544612,0.790218,0.280987],[-0.065374,-0.374010,0.925118]] 2025-10-28T18:01:29.852Z,1761674489.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826815,0.498610,0.260319],[-0.558718,0.781441,0.277820],[-0.064900,-0.375150,0.924689]] 2025-10-28T18:01:30.254Z,1761674490.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817458,0.511745,0.264346],[-0.572377,0.773037,0.273492],[-0.064392,-0.374874,0.924837]] 2025-10-28T18:01:30.654Z,1761674490.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808510,0.523914,0.268004],[-0.584983,0.765114,0.269063],[-0.064088,-0.374318,0.925083]] 2025-10-28T18:01:31.058Z,1761674491.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800090,0.534997,0.271355],[-0.596487,0.757555,0.265166],[-0.063704,-0.374017,0.925231]] 2025-10-28T18:01:31.464Z,1761674491.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791790,0.545817,0.274138],[-0.607524,0.750149,0.261135],[-0.063112,-0.373310,0.925557]] 2025-10-28T18:01:32.274Z,1761674492.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775972,0.565161,0.280109],[-0.627749,0.735327,0.255392],[-0.061634,-0.374015,0.925372]] 2025-10-28T18:01:32.677Z,1761674492.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768542,0.573682,0.283253],[-0.636911,0.728030,0.253606],[-0.060728,-0.375314,0.924906]] 2025-10-28T18:01:33.078Z,1761674493.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760675,0.582086,0.287313],[-0.646326,0.720275,0.251927],[-0.060301,-0.377333,0.924112]] 2025-10-28T18:01:33.483Z,1761674493.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752109,0.590481,0.292685],[-0.656287,0.711594,0.250841],[-0.060156,-0.380745,0.922721]] 2025-10-28T18:01:33.887Z,1761674493.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742538,0.600004,0.297711],[-0.667106,0.702332,0.248394],[-0.060054,-0.383047,0.921775]] 2025-10-28T18:01:34.301Z,1761674494.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731442,0.610488,0.303804],[-0.679253,0.691536,0.245750],[-0.060065,-0.386112,0.920494]] 2025-10-28T18:01:34.694Z,1761674494.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719369,0.621925,0.309381],[-0.691990,0.680407,0.241238],[-0.060473,-0.387628,0.919830]] 2025-10-28T18:01:35.098Z,1761674495.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705862,0.634883,0.314138],[-0.705711,0.668541,0.234575],[-0.061086,-0.387268,0.919941]] 2025-10-28T18:01:35.160Z,1761674495.160 [marl:NeedComms] Running Loop=1 2025-10-28T18:01:35.161Z,1761674495.161 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T18:01:35.161Z,1761674495.161 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T18:01:35.161Z,1761674495.161 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T18:01:35.161Z,1761674495.161 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T18:01:35.161Z,1761674495.161 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T18:01:35.162Z,1761674495.162 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T18:01:35.162Z,1761674495.162 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T18:01:35.162Z,1761674495.162 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T18:01:35.163Z,1761674495.163 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T18:01:35.163Z,1761674495.163 [marl:NeedComms:A] Running Loop=1 2025-10-28T18:01:35.165Z,1761674495.165 [marl:NeedComms:A](INFO): last time_fix was: 1761673294.000000 second since 1970/01/01T00:00:00Z 2025-10-28T18:01:35.165Z,1761674495.165 [marl:NeedComms:A] Stopped 2025-10-28T18:01:35.502Z,1761674495.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691367,0.648301,0.318931],[-0.719840,0.655948,0.227077],[-0.061988,-0.386572,0.920174]] 2025-10-28T18:01:35.908Z,1761674495.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676248,0.662727,0.321687],[-0.733990,0.643392,0.217498],[-0.062829,-0.383198,0.921527]] 2025-10-28T18:01:36.310Z,1761674496.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660662,0.677546,0.323198],[-0.748008,0.630488,0.207291],[-0.063324,-0.378704,0.923349]] 2025-10-28T18:01:36.724Z,1761674496.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644572,0.692633,0.323707],[-0.761930,0.616927,0.197139],[-0.063158,-0.373712,0.925392]] 2025-10-28T18:01:37.118Z,1761674497.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628307,0.707083,0.324445],[-0.775479,0.602555,0.188574],[-0.062158,-0.370082,0.926917]] 2025-10-28T18:01:37.539Z,1761674497.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612771,0.720707,0.324180],[-0.787920,0.588729,0.180498],[-0.060768,-0.366032,0.928616]] 2025-10-28T18:01:38.333Z,1761674498.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584678,0.742227,0.327493],[-0.808399,0.566935,0.158352],[-0.068134,-0.357330,0.931490]] 2025-10-28T18:01:38.737Z,1761674498.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571439,0.749537,0.334144],[-0.816928,0.558266,0.144799],[-0.078009,-0.355716,0.931333]] 2025-10-28T18:01:39.139Z,1761674499.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558482,0.755800,0.341855],[-0.824600,0.550640,0.129735],[-0.090185,-0.354348,0.930755]] 2025-10-28T18:01:39.587Z,1761674499.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530996,0.766238,0.361834],[-0.839000,0.535292,0.097682],[-0.118839,-0.355447,0.927111]] 2025-10-28T18:01:40.360Z,1761674500.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501611,0.776013,0.382349],[-0.852054,0.519626,0.063195],[-0.149638,-0.357481,0.921855]] 2025-10-28T18:01:40.761Z,1761674500.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:01:40.775Z,1761674500.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485715,0.781887,0.390810],[-0.858425,0.511003,0.044530],[-0.164888,-0.357110,0.919393]] 2025-10-28T18:01:41.164Z,1761674501.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468854,0.788525,0.398001],[-0.864776,0.501531,0.025087],[-0.179828,-0.355944,0.917042]] 2025-10-28T18:01:41.634Z,1761674501.634 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050421500142,35.0, 0.0,1504.4, 0 2025-10-28T18:01:41.765Z,1761674501.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:01:41.973Z,1761674501.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432372,0.802200,0.411739],[-0.877193,0.479936,-0.013918],[-0.208773,-0.355156,0.911196]] 2025-10-28T18:01:41.996Z,1761674501.996 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:01:41.996Z,1761674501.996 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:01:41.996Z,1761674501.996 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateRudder:A] Stopped 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:01:41.997Z,1761674501.997 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateCommandMode] Stopped 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:01:41.998Z,1761674501.998 [marl:UpdateSpeed] Stopped 2025-10-28T18:01:41.999Z,1761674501.999 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:01:42.372Z,1761674502.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411864,0.809603,0.418223],[-0.883643,0.466946,-0.033715],[-0.222583,-0.355674,0.907718]] 2025-10-28T18:01:42.413Z,1761674502.413 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:01:42.413Z,1761674502.413 [marl:UpdateRudder:B] Stopped 2025-10-28T18:01:42.413Z,1761674502.413 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:01:42.413Z,1761674502.413 [marl:UpdateRudder] Stopped 2025-10-28T18:01:42.413Z,1761674502.413 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:01:42.782Z,1761674502.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390804,0.816666,0.424652],[-0.889548,0.453661,-0.053811],[-0.236594,-0.356718,0.903756]] 2025-10-28T18:01:43.178Z,1761674503.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368603,0.825438,0.427533],[-0.895312,0.438974,-0.075622],[-0.250097,-0.354901,0.900831]] 2025-10-28T18:01:43.601Z,1761674503.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345974,0.834657,0.428544],[-0.900756,0.423299,-0.097239],[-0.262563,-0.352372,0.898273]] 2025-10-28T18:01:43.986Z,1761674503.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323685,0.843837,0.427980],[-0.905459,0.407508,-0.118666],[-0.274540,-0.349108,0.895964]] 2025-10-28T18:01:44.391Z,1761674504.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302406,0.852171,0.427030],[-0.909239,0.392353,-0.139084],[-0.286070,-0.346213,0.893477]] 2025-10-28T18:01:44.795Z,1761674504.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283245,0.858436,0.427621],[-0.911751,0.379322,-0.157557],[-0.297459,-0.345257,0.890121]] 2025-10-28T18:01:45.213Z,1761674505.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265330,0.864942,0.425999],[-0.913462,0.366896,-0.175998],[-0.308525,-0.342436,0.887440]] 2025-10-28T18:01:45.605Z,1761674505.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248335,0.869265,0.427444],[-0.914394,0.356002,-0.192735],[-0.319709,-0.342989,0.883258]] 2025-10-28T18:01:46.007Z,1761674506.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232063,0.873009,0.428953],[-0.914726,0.345836,-0.208982],[-0.330790,-0.343878,0.878821]] 2025-10-28T18:01:46.410Z,1761674506.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215602,0.875766,0.431913],[-0.915060,0.335598,-0.223696],[-0.340855,-0.346997,0.873734]] 2025-10-28T18:01:46.816Z,1761674506.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197996,0.878628,0.434524],[-0.915707,0.323946,-0.237780],[-0.349682,-0.350817,0.868706]] 2025-10-28T18:01:47.226Z,1761674507.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179310,0.882439,0.434912],[-0.916459,0.310566,-0.252293],[-0.357702,-0.353341,0.864407]] 2025-10-28T18:01:47.623Z,1761674507.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160045,0.886734,0.433691],[-0.916917,0.296264,-0.267378],[-0.365580,-0.354866,0.860477]] 2025-10-28T18:01:48.026Z,1761674508.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140797,0.891609,0.430359],[-0.917014,0.281295,-0.282770],[-0.373179,-0.354832,0.857223]] 2025-10-28T18:01:48.463Z,1761674508.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122033,0.895504,0.427997],[-0.916642,0.267055,-0.297403],[-0.380624,-0.356027,0.853446]] 2025-10-28T18:01:48.867Z,1761674508.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104626,0.899344,0.424540],[-0.915867,0.253509,-0.311321],[-0.387610,-0.356250,0.850203]] 2025-10-28T18:01:49.270Z,1761674509.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089170,0.902144,0.422120],[-0.914811,0.241794,-0.323508],[-0.393916,-0.357313,0.846851]] 2025-10-28T18:01:49.679Z,1761674509.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075572,0.903712,0.421418],[-0.913849,0.231865,-0.333345],[-0.398960,-0.359921,0.843379]] 2025-10-28T18:01:50.078Z,1761674510.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062450,0.904679,0.421492],[-0.913385,0.222027,-0.341222],[-0.402279,-0.363675,0.840186]] 2025-10-28T18:01:50.483Z,1761674510.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049860,0.905242,0.421961],[-0.913211,0.212398,-0.347755],[-0.404426,-0.368000,0.837267]] 2025-10-28T18:01:50.886Z,1761674510.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037241,0.906496,0.420568],[-0.913239,0.201741,-0.353969],[-0.405718,-0.370897,0.835361]] 2025-10-28T18:01:51.292Z,1761674511.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024060,0.908805,0.416526],[-0.913403,0.189335,-0.360343],[-0.406345,-0.371786,0.834661]] 2025-10-28T18:01:52.099Z,1761674512.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003279,0.914928,0.403605],[-0.913577,0.161388,-0.373272],[-0.406653,-0.369948,0.835327]] 2025-10-28T18:01:52.503Z,1761674512.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017411,0.919049,0.393759],[-0.913577,0.145407,-0.379781],[-0.406293,-0.366342,0.837090]] 2025-10-28T18:01:52.907Z,1761674512.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031685,0.923408,0.382510],[-0.913468,0.128578,-0.386063],[-0.405675,-0.361643,0.839429]] 2025-10-28T18:01:53.311Z,1761674513.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045663,0.926759,0.372872],[-0.913156,0.112620,-0.391743],[-0.405044,-0.358378,0.841133]] 2025-10-28T18:01:53.715Z,1761674513.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060252,0.929324,0.364316],[-0.912790,0.096409,-0.396888],[-0.403961,-0.356457,0.842469]] 2025-10-28T18:01:54.118Z,1761674514.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075645,0.931405,0.356038],[-0.912192,0.079569,-0.401963],[-0.402720,-0.355181,0.843601]] 2025-10-28T18:01:54.524Z,1761674514.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091698,0.933097,0.347738],[-0.911219,0.062203,-0.407199],[-0.401586,-0.354204,0.844552]] 2025-10-28T18:01:54.926Z,1761674514.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108022,0.935012,0.337764],[-0.909842,0.043942,-0.412622],[-0.400649,-0.351884,0.845966]] 2025-10-28T18:01:55.335Z,1761674515.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124260,0.936293,0.328502],[-0.908148,0.026074,-0.417836],[-0.399783,-0.350249,0.847053]] 2025-10-28T18:01:55.390Z,1761674515.390 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:01:55.390Z,1761674515.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:01:55.390Z,1761674515.390 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateRudder:A] Stopped 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:01:55.391Z,1761674515.391 [marl:UpdateCommandMode] Stopped 2025-10-28T18:01:55.392Z,1761674515.392 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:01:55.392Z,1761674515.392 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:01:55.392Z,1761674515.392 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:01:55.392Z,1761674515.392 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:01:55.392Z,1761674515.392 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:01:55.393Z,1761674515.393 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:01:55.393Z,1761674515.393 [marl:UpdateSpeed] Stopped 2025-10-28T18:01:55.393Z,1761674515.393 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:01:55.735Z,1761674515.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140010,0.936677,0.320988],[-0.906255,0.009367,-0.422628],[-0.398873,-0.350069,0.847556]] 2025-10-28T18:01:55.812Z,1761674515.812 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:01:55.812Z,1761674515.812 [marl:UpdateRudder:B] Stopped 2025-10-28T18:01:55.813Z,1761674515.813 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:01:55.813Z,1761674515.813 [marl:UpdateRudder] Stopped 2025-10-28T18:01:55.813Z,1761674515.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:01:56.139Z,1761674516.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153995,0.936379,0.315404],[-0.904473,-0.005088,-0.426502],[-0.397763,-0.350953,0.847713]] 2025-10-28T18:01:56.572Z,1761674516.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166432,0.935283,0.312324],[-0.903242,-0.017548,-0.428773],[-0.395543,-0.353466,0.847707]] 2025-10-28T18:01:56.947Z,1761674516.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177519,0.933432,0.311755],[-0.902950,-0.028508,-0.428799],[-0.391368,-0.357619,0.847903]] 2025-10-28T18:01:56.995Z,1761674516.995 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:01:57.057Z,1761674517.057 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:01:57.057Z,1761674517.057 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:01:57.309Z,1761674517.309 [DAT](INFO): DAT read: user:98> 2025-10-28T18:01:57.310Z,1761674517.310 [DAT](INFO): DAT read: Tx time:18:01:57.0504 2025-10-28T18:01:57.310Z,1761674517.310 [DAT](INFO): Ping request sent. 2025-10-28T18:01:57.310Z,1761674517.310 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:01:57.310Z,1761674517.310 [DAT](INFO): publishing transmit ping time 2025-10-28T18:01:57.311Z,1761674517.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932 2025-10-28T18:01:57.367Z,1761674517.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187048,0.930854,0.313884],[-0.903551,-0.037637,-0.426823],[-0.385497,-0.363447,0.848115]] 2025-10-28T18:01:57.563Z,1761674517.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253090 2025-10-28T18:01:57.813Z,1761674517.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046 2025-10-28T18:01:58.065Z,1761674518.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877 2025-10-28T18:01:58.159Z,1761674518.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200686,0.926731,0.317641],[-0.906233,-0.052457,-0.419512],[-0.372112,-0.372047,0.850361]] 2025-10-28T18:01:58.317Z,1761674518.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 2025-10-28T18:01:58.562Z,1761674518.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205864,0.925166,0.318887],[-0.907490,-0.058553,-0.415974],[-0.366173,-0.375020,0.851632]] 2025-10-28T18:01:58.569Z,1761674518.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259457 2025-10-28T18:01:58.821Z,1761674518.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910 2025-10-28T18:01:58.971Z,1761674518.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211891,0.924457,0.316987],[-0.908001,-0.066267,-0.413695],[-0.361438,-0.375482,0.853449]] 2025-10-28T18:01:59.073Z,1761674519.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762887 2025-10-28T18:01:59.326Z,1761674519.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015662 2025-10-28T18:01:59.370Z,1761674519.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219956,0.924618,0.310970],[-0.907555,-0.077062,-0.412803],[-0.357721,-0.373020,0.856091]] 2025-10-28T18:01:59.580Z,1761674519.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269597 2025-10-28T18:01:59.780Z,1761674519.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231463,0.925856,0.298689],[-0.906170,-0.093481,-0.412452],[-0.353950,-0.366131,0.860621]] 2025-10-28T18:01:59.829Z,1761674519.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518991 2025-10-28T18:02:00.081Z,1761674520.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770855 2025-10-28T18:02:00.186Z,1761674520.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246800,0.927460,0.280906],[-0.903865,-0.115781,-0.411852],[-0.349452,-0.355547,0.866874]] 2025-10-28T18:02:00.333Z,1761674520.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023321 2025-10-28T18:02:00.585Z,1761674520.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274969 2025-10-28T18:02:00.585Z,1761674520.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264735,0.927969,0.262278],[-0.900674,-0.140767,-0.411061],[-0.344532,-0.345049,0.873063]] 2025-10-28T18:02:00.837Z,1761674520.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526886 2025-10-28T18:02:00.989Z,1761674520.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282881,0.926869,0.246762],[-0.896977,-0.164516,-0.410326],[-0.339722,-0.337413,0.877919]] 2025-10-28T18:02:01.089Z,1761674521.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779315 2025-10-28T18:02:01.341Z,1761674521.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031003 2025-10-28T18:02:01.390Z,1761674521.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299721,0.924124,0.236984],[-0.893261,-0.184599,-0.409888],[-0.335041,-0.334541,0.880812]] 2025-10-28T18:02:01.594Z,1761674521.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283857 2025-10-28T18:02:01.819Z,1761674521.819 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA 573.61, 573.61, 980.54 2025-10-28T18:02:01.845Z,1761674521.845 [DAT](INFO): DAT read: Rx Time:18:02:01.2398 2025-10-28T18:02:01.845Z,1761674521.845 [DAT](INFO): Rx dataTimestamp_ set to:1761674521.845182 2025-10-28T18:02:01.846Z,1761674521.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536025 2025-10-28T18:02:02.097Z,1761674522.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786883 2025-10-28T18:02:02.203Z,1761674522.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328209,0.915191,0.233888],[-0.886805,-0.213247,-0.410004],[-0.325356,-0.341980,0.881586]] 2025-10-28T18:02:02.349Z,1761674522.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038996 2025-10-28T18:02:02.606Z,1761674522.606 [DAT](INFO): DAT read: 18:02:01.2398 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404, 0.09, 2.583,-2.338, 2.359, 2.874, PHS=-0.189, 1.116,-0.559, RAW= 342.1, -4.9, CAL= 341.7, -7.9, ROT= 168.3, 7.9 2025-10-28T18:02:02.608Z,1761674522.608 [DAT](INFO): got valid direction response: 18:02:01.2398 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404, 0.09, 2.583,-2.338, 2.359, 2.874, PHS=-0.189, 1.116,-0.559, RAW= 342.1, -4.9, CAL= 341.7, -7.9, ROT= 168.3, 7.9 2025-10-28T18:02:02.608Z,1761674522.608 [DAT](INFO): DAT read: $Error in header 2025-10-28T18:02:02.609Z,1761674522.609 [DAT](INFO): Received a bad header 2025-10-28T18:02:02.620Z,1761674522.620 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T18:02:02.621Z,1761674522.621 [DAT](INFO): direction in FSK: [-0.969929,0.200863,-0.137445] 2025-10-28T18:02:02.612Z,1761674522.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339826,0.909539,0.239286],[-0.884323,-0.222409,-0.410495],[-0.320142,-0.351103,0.879907]] 2025-10-28T18:02:02.708Z,1761674522.708 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674496.00. Resetting abort timer. 2025-10-28T18:02:03.050Z,1761674523.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349856,0.903826,0.246375],[-0.882486,-0.229717,-0.410426],[-0.314357,-0.361012,0.877981]] 2025-10-28T18:02:03.443Z,1761674523.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358756,0.898692,0.252282],[-0.881038,-0.236742,-0.409542],[-0.308327,-0.369196,0.876715]] 2025-10-28T18:02:03.846Z,1761674523.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367218,0.894115,0.256338],[-0.879581,-0.244191,-0.408300],[-0.302471,-0.375405,0.876118]] 2025-10-28T18:02:04.252Z,1761674524.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376970,0.889867,0.256962],[-0.877368,-0.254154,-0.406978],[-0.296849,-0.378869,0.876549]] 2025-10-28T18:02:04.663Z,1761674524.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388821,0.886190,0.251963],[-0.873703,-0.267894,-0.406048],[-0.292336,-0.378021,0.878430]] 2025-10-28T18:02:05.059Z,1761674525.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403239,0.882765,0.241091],[-0.868085,-0.285654,-0.405993],[-0.289528,-0.372999,0.881502]] 2025-10-28T18:02:05.463Z,1761674525.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419358,0.879246,0.225978],[-0.860781,-0.306023,-0.406702],[-0.288436,-0.365071,0.885171]] 2025-10-28T18:02:05.870Z,1761674525.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437086,0.875224,0.207216],[-0.852150,-0.329269,-0.406722],[-0.287743,-0.354352,0.889741]] 2025-10-28T18:02:06.271Z,1761674526.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456423,0.868499,0.193358],[-0.842616,-0.352108,-0.407452],[-0.285789,-0.348897,0.892522]] 2025-10-28T18:02:06.682Z,1761674526.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476047,0.859606,0.185626],[-0.833058,-0.373160,-0.408370],[-0.281769,-0.349040,0.893743]] 2025-10-28T18:02:07.393Z,1761674527.393 [DAT](INFO): Reached modem response timeout 2025-10-28T18:02:07.886Z,1761674527.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515464,0.833054,0.200793],[-0.815200,-0.404504,-0.414519],[-0.264095,-0.377356,0.887613]] 2025-10-28T18:02:08.291Z,1761674528.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522563,0.827033,0.207229],[-0.812220,-0.408971,-0.415983],[-0.259281,-0.385693,0.885446]] 2025-10-28T18:02:08.696Z,1761674528.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528496,0.822289,0.211029],[-0.809329,-0.412984,-0.417649],[-0.256276,-0.391517,0.883763]] 2025-10-28T18:02:08.764Z,1761674528.764 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:02:08.764Z,1761674528.764 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateRudder:A] Stopped 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:02:08.765Z,1761674528.765 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:02:08.766Z,1761674528.766 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:02:08.766Z,1761674528.766 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:02:08.766Z,1761674528.766 [marl:UpdateCommandMode] Stopped 2025-10-28T18:02:08.766Z,1761674528.766 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:02:08.766Z,1761674528.766 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:02:08.767Z,1761674528.767 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:02:08.767Z,1761674528.767 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:02:08.767Z,1761674528.767 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:02:08.767Z,1761674528.767 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:02:08.767Z,1761674528.767 [marl:UpdateSpeed] Stopped 2025-10-28T18:02:08.772Z,1761674528.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:02:09.099Z,1761674529.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533858,0.819608,0.207939],[-0.806082,-0.419020,-0.417916],[-0.255396,-0.390724,0.884368]] 2025-10-28T18:02:09.190Z,1761674529.190 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:02:09.190Z,1761674529.190 [marl:UpdateRudder:B] Stopped 2025-10-28T18:02:09.190Z,1761674529.190 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:02:09.190Z,1761674529.190 [marl:UpdateRudder] Stopped 2025-10-28T18:02:09.190Z,1761674529.190 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:02:09.503Z,1761674529.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540215,0.817290,0.200509],[-0.801577,-0.427207,-0.418293],[-0.256208,-0.386692,0.885905]] 2025-10-28T18:02:09.663Z,1761674529.663 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:02:09.663Z,1761674529.663 [DAT](INFO): response not received 2025-10-28T18:02:09.663Z,1761674529.663 [DAT](ERROR): No response from remote modem. 2025-10-28T18:02:09.906Z,1761674529.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550853,0.813240,0.187623],[-0.793884,-0.441205,-0.418433],[-0.257506,-0.379446,0.888657]] 2025-10-28T18:02:10.312Z,1761674530.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564470,0.807770,0.169944],[-0.783504,-0.459509,-0.418299],[-0.259799,-0.369269,0.892270]] 2025-10-28T18:02:10.714Z,1761674530.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579650,0.800981,0.149787],[-0.770913,-0.479486,-0.419269],[-0.264005,-0.358502,0.895420]] 2025-10-28T18:02:11.119Z,1761674531.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596069,0.792109,0.131395],[-0.756577,-0.499286,-0.422260],[-0.268873,-0.351106,0.896901]] 2025-10-28T18:02:11.623Z,1761674531.623 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 44212.59, , 20.00, 2025-10-28T18:02:11.884Z,1761674531.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:02:11.932Z,1761674531.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631691,0.768242,0.103781],[-0.724513,-0.537435,-0.431560],[-0.275767,-0.347804,0.896094]] 2025-10-28T18:02:12.332Z,1761674532.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647609,0.756096,0.094460],[-0.709582,-0.553255,-0.436350],[-0.277662,-0.349611,0.894805]] 2025-10-28T18:02:12.734Z,1761674532.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658749,0.746953,0.090059],[-0.698135,-0.562253,-0.443260],[-0.280458,-0.354870,0.891858]] 2025-10-28T18:02:12.889Z,1761674532.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:02:13.578Z,1761674533.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672842,0.734585,0.087566],[-0.681843,-0.569862,-0.458636],[-0.287007,-0.368296,0.884299]] 2025-10-28T18:02:13.949Z,1761674533.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678452,0.729977,0.082679],[-0.674219,-0.573995,-0.464714],[-0.291773,-0.371030,0.881592]] 2025-10-28T18:02:14.350Z,1761674534.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684997,0.724688,0.074871],[-0.665141,-0.580139,-0.470135],[-0.297266,-0.371840,0.879413]] 2025-10-28T18:02:14.759Z,1761674534.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694997,0.716225,0.063249],[-0.652438,-0.591234,-0.474096],[-0.302165,-0.370761,0.878199]] 2025-10-28T18:02:15.175Z,1761674535.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706352,0.706139,0.049342],[-0.638133,-0.605057,-0.476123],[-0.306355,-0.367797,0.877993]] 2025-10-28T18:02:15.598Z,1761674535.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727541,0.685738,0.021161],[-0.609757,-0.632176,-0.478069],[-0.314453,-0.360717,0.878068]] 2025-10-28T18:02:16.370Z,1761674536.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734889,0.678059,0.013228],[-0.598493,-0.639233,-0.482894],[-0.318975,-0.362791,0.875579]] 2025-10-28T18:02:16.782Z,1761674536.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740587,0.671930,0.006340],[-0.588656,-0.644197,-0.488359],[-0.324059,-0.365405,0.872620]] 2025-10-28T18:02:17.183Z,1761674537.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745197,0.666839,-0.002553],[-0.579130,-0.649070,-0.493271],[-0.330589,-0.366106,0.869872]] 2025-10-28T18:02:18.390Z,1761674538.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763659,0.643621,-0.050765],[-0.541666,-0.681502,-0.492090],[-0.351316,-0.348291,0.869063]] 2025-10-28T18:02:18.803Z,1761674538.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780731,0.618760,-0.087150],[-0.508019,-0.709741,-0.488041],[-0.363834,-0.336755,0.868459]] 2025-10-28T18:02:19.204Z,1761674539.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790523,0.603509,-0.104167],[-0.487778,-0.723295,-0.488791],[-0.370333,-0.335590,0.866160]] 2025-10-28T18:02:19.611Z,1761674539.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799595,0.588686,-0.118727],[-0.467902,-0.734627,-0.491316],[-0.376451,-0.337301,0.862852]] 2025-10-28T18:02:20.438Z,1761674540.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813194,0.565596,-0.137175],[-0.436730,-0.748824,-0.498528],[-0.384686,-0.345492,0.855951]] 2025-10-28T18:02:20.843Z,1761674540.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818296,0.558048,-0.137746],[-0.426375,-0.750025,-0.505636],[-0.385482,-0.355028,0.851680]] 2025-10-28T18:02:21.249Z,1761674541.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822654,0.551983,-0.136217],[-0.418245,-0.749845,-0.512643],[-0.385113,-0.364756,0.847727]] 2025-10-28T18:02:21.667Z,1761674541.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826963,0.545264,-0.137186],[-0.409727,-0.751499,-0.517081],[-0.385041,-0.371398,0.844871]] 2025-10-28T18:02:21.689Z,1761674541.689 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -79, +734, 2025-10-28T18:02:22.054Z,1761674542.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830360,0.538170,-0.144486],[-0.400800,-0.756968,-0.516100],[-0.387121,-0.370638,0.844254]] 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateRudder:A] Stopped 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:02:22.103Z,1761674542.103 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:02:22.104Z,1761674542.104 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:02:22.104Z,1761674542.104 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:02:22.104Z,1761674542.104 [marl:UpdateCommandMode] Stopped 2025-10-28T18:02:22.104Z,1761674542.104 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:02:22.104Z,1761674542.104 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed] Stopped 2025-10-28T18:02:22.105Z,1761674542.105 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:02:22.463Z,1761674542.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832848,0.530881,-0.156620],[-0.391096,-0.764658,-0.512193],[-0.391675,-0.365326,0.844469]] 2025-10-28T18:02:22.518Z,1761674542.518 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:02:22.518Z,1761674542.518 [marl:UpdateRudder:B] Stopped 2025-10-28T18:02:22.518Z,1761674542.518 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:02:22.518Z,1761674542.518 [marl:UpdateRudder] Stopped 2025-10-28T18:02:22.518Z,1761674542.518 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:02:22.864Z,1761674542.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835907,0.521074,-0.172458],[-0.379085,-0.775316,-0.505153],[-0.396932,-0.356885,0.845623]] 2025-10-28T18:02:23.267Z,1761674543.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839410,0.509114,-0.190247],[-0.365253,-0.787639,-0.496201],[-0.402469,-0.347028,0.847107]] 2025-10-28T18:02:24.075Z,1761674544.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849314,0.482258,-0.214691],[-0.334535,-0.806313,-0.487796],[-0.408352,-0.342471,0.846146]] 2025-10-28T18:02:24.486Z,1761674544.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855375,0.468167,-0.221706],[-0.318128,-0.812545,-0.488432],[-0.408814,-0.347261,0.843967]] 2025-10-28T18:02:24.882Z,1761674544.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860329,0.457971,-0.223825],[-0.304923,-0.814246,-0.493989],[-0.408481,-0.356744,0.840165]] 2025-10-28T18:02:25.286Z,1761674545.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864755,0.449012,-0.224916],[-0.293793,-0.815552,-0.498558],[-0.407290,-0.365052,0.837169]] 2025-10-28T18:02:25.695Z,1761674545.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869006,0.438405,-0.229413],[-0.283013,-0.820710,-0.496324],[-0.405872,-0.366382,0.837277]] 2025-10-28T18:02:26.097Z,1761674546.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874389,0.424224,-0.235539],[-0.271058,-0.829664,-0.488042],[-0.402457,-0.362894,0.840438]] 2025-10-28T18:02:26.499Z,1761674546.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880815,0.408247,-0.239791],[-0.258100,-0.838619,-0.479690],[-0.396925,-0.360628,0.844037]] 2025-10-28T18:02:26.902Z,1761674546.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886057,0.395536,-0.241774],[-0.246948,-0.844107,-0.475920],[-0.392327,-0.361987,0.845603]] 2025-10-28T18:02:27.310Z,1761674547.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888697,0.388494,-0.243494],[-0.239773,-0.846460,-0.475410],[-0.390802,-0.364113,0.845397]] 2025-10-28T18:02:27.719Z,1761674547.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890205,0.382408,-0.247585],[-0.233639,-0.849799,-0.472498],[-0.391085,-0.362775,0.845841]] 2025-10-28T18:02:28.114Z,1761674548.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891217,0.376933,-0.252296],[-0.229642,-0.854649,-0.465660],[-0.391147,-0.357066,0.848238]] 2025-10-28T18:02:28.518Z,1761674548.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893967,0.366481,-0.257905],[-0.223654,-0.863580,-0.451894],[-0.388332,-0.346297,0.853977]] 2025-10-28T18:02:28.922Z,1761674548.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899547,0.347808,-0.264281],[-0.211357,-0.876024,-0.433485],[-0.382286,-0.334083,0.861537]] 2025-10-28T18:02:29.328Z,1761674549.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906751,0.327823,-0.265209],[-0.196182,-0.884714,-0.422841],[-0.373251,-0.331382,0.866527]] 2025-10-28T18:02:29.741Z,1761674549.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912456,0.313141,-0.263375],[-0.182199,-0.887282,-0.423714],[-0.366371,-0.338633,0.866660]] 2025-10-28T18:02:30.143Z,1761674550.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916373,0.302053,-0.262725],[-0.170730,-0.888478,-0.425980],[-0.362094,-0.345502,0.865746]] 2025-10-28T18:02:30.538Z,1761674550.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921106,0.288880,-0.260983],[-0.158083,-0.890150,-0.427367],[-0.355772,-0.352393,0.865590]] 2025-10-28T18:02:30.942Z,1761674550.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927073,0.268696,-0.261417],[-0.139960,-0.894989,-0.423564],[-0.347775,-0.356087,0.867326]] 2025-10-28T18:02:31.347Z,1761674551.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932164,0.243279,-0.268116],[-0.113961,-0.900102,-0.420510],[-0.343633,-0.361430,0.866767]] 2025-10-28T18:02:31.753Z,1761674551.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933639,0.218665,-0.283731],[-0.081793,-0.901279,-0.425448],[-0.348751,-0.374008,0.859355]] 2025-10-28T18:02:31.774Z,1761674551.774 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -97.29, +4228.49, -10.70 2025-10-28T18:02:32.320Z,1761674552.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929955,0.208891,-0.302569],[-0.057422,-0.895347,-0.441651],[-0.363162,-0.393341,0.844628]] 2025-10-28T18:02:32.559Z,1761674552.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927753,0.207750,-0.310024],[-0.046850,-0.888991,-0.455523],[-0.370243,-0.408088,0.834496]] 2025-10-28T18:02:32.962Z,1761674552.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936338,0.196726,-0.290810],[-0.043398,-0.886779,-0.460152],[-0.348408,-0.418237,0.838862]] 2025-10-28T18:02:32.991Z,1761674552.991 [marl:NeedComms:C] Running Loop=1 2025-10-28T18:02:33.389Z,1761674553.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950514,0.168200,-0.261211],[-0.038560,-0.898139,-0.438017],[-0.308278,-0.406269,0.860180]] 2025-10-28T18:02:33.500Z,1761674553.500 [Radio_Surface](INFO): Powering up 2025-10-28T18:02:33.798Z,1761674553.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961203,0.126321,-0.245220],[-0.016467,-0.913674,-0.406115],[-0.275352,-0.386321,0.880305]] 2025-10-28T18:02:34.191Z,1761674554.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957644,0.089624,-0.273653],[0.020248,-0.927020,-0.374466],[-0.287243,-0.364146,0.885940]] 2025-10-28T18:02:34.594Z,1761674554.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942937,0.092426,-0.319888],[0.021980,-0.941330,-0.336772],[-0.332246,-0.324586,0.885583]] 2025-10-28T18:02:34.999Z,1761674554.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940561,0.137822,-0.310402],[-0.020683,-0.935507,-0.352703],[-0.338994,-0.325319,0.882752]] 2025-10-28T18:02:35.406Z,1761674555.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972169,0.121041,-0.200592],[-0.042620,-0.933283,-0.356603],[-0.230372,-0.338129,0.912468]] 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateRudder:A] Stopped 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:02:35.447Z,1761674555.447 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:02:35.464Z,1761674555.464 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateCommandMode] Stopped 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:02:35.465Z,1761674555.465 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:02:35.466Z,1761674555.466 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:02:35.466Z,1761674555.466 [marl:UpdateSpeed] Stopped 2025-10-28T18:02:35.466Z,1761674555.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:02:35.806Z,1761674555.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997310,0.029034,-0.067308],[-0.008647,-0.958404,-0.285284],[-0.072792,-0.283934,0.956077]] 2025-10-28T18:02:35.881Z,1761674555.881 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:02:35.881Z,1761674555.881 [marl:UpdateRudder:B] Stopped 2025-10-28T18:02:35.881Z,1761674555.881 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:02:35.881Z,1761674555.881 [marl:UpdateRudder] Stopped 2025-10-28T18:02:35.881Z,1761674555.881 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:02:36.210Z,1761674556.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998511,-0.047472,-0.026887],[0.051704,-0.980683,-0.188647],[-0.017412,-0.189756,0.981677]] 2025-10-28T18:02:36.626Z,1761674556.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995142,-0.076126,-0.062432],[0.080740,-0.993906,-0.075044],[-0.056339,-0.079720,0.995224]] 2025-10-28T18:02:37.018Z,1761674557.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992112,-0.052291,-0.113929],[0.059651,-0.996281,-0.062174],[-0.110255,-0.068480,0.991541]] 2025-10-28T18:02:37.423Z,1761674557.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993963,-0.040661,-0.101902],[0.052149,-0.992256,-0.112736],[-0.096529,-0.117370,0.988386]] 2025-10-28T18:02:37.830Z,1761674557.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994579,-0.081649,-0.064396],[0.090220,-0.985467,-0.143926],[-0.051709,-0.148956,0.987491]] 2025-10-28T18:02:38.230Z,1761674558.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991258,-0.131903,-0.003074],[0.130985,-0.981026,-0.142934],[0.015838,-0.142087,0.989727]] 2025-10-28T18:02:38.641Z,1761674558.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983409,-0.178990,0.029497],[0.176056,-0.980906,-0.082634],[0.043725,-0.076070,0.996143]] 2025-10-28T18:02:38.753Z,1761674558.753 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T18:02:38.753Z,1761674558.753 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T18:02:39.038Z,1761674559.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984247,-0.176703,0.005791],[0.176507,-0.983978,-0.025149],[0.010142,-0.023731,0.999667]] 2025-10-28T18:02:39.444Z,1761674559.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983685,-0.179900,-0.000597],[0.179886,-0.983639,0.009708],[-0.002334,0.009442,0.999953]] 2025-10-28T18:02:39.847Z,1761674559.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980094,-0.198501,0.003517],[0.198470,-0.980076,-0.007778],[0.004990,-0.006925,0.999964]] 2025-10-28T18:02:40.250Z,1761674560.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980294,-0.197369,0.008336],[0.196103,-0.977362,-0.079420],[0.023823,-0.076220,0.996806]] 2025-10-28T18:02:40.654Z,1761674560.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972186,-0.221885,0.074977],[0.209902,-0.967450,-0.141353],[0.103901,-0.121684,0.987116]] 2025-10-28T18:02:41.060Z,1761674561.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951133,-0.303104,0.058940],[0.294146,-0.947461,-0.125681],[0.093938,-0.102202,0.990318]] 2025-10-28T18:02:41.463Z,1761674561.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950473,-0.308529,-0.037560],[0.308969,-0.951051,-0.006387],[-0.033751,-0.017676,0.999274]] 2025-10-28T18:02:41.866Z,1761674561.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965086,-0.261004,-0.022021],[0.259190,-0.963737,0.063497],[-0.037795,0.055573,0.997739]] 2025-10-28T18:02:42.270Z,1761674562.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957978,-0.264687,0.110539],[0.272204,-0.960409,0.059323],[0.090461,0.086919,0.992100]] 2025-10-28T18:02:42.675Z,1761674562.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929694,-0.335551,0.151906],[0.337407,-0.941252,-0.014170],[0.147736,0.038081,0.988293]] 2025-10-28T18:02:43.020Z,1761674563.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:02:43.085Z,1761674563.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924586,-0.370599,0.088305],[0.364722,-0.928016,-0.075923],[0.110085,-0.037990,0.993196]] 2025-10-28T18:02:43.483Z,1761674563.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933080,-0.359537,0.009716],[0.358373,-0.931671,-0.059653],[0.030500,-0.052179,0.998172]] 2025-10-28T18:02:43.886Z,1761674563.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945189,-0.325802,-0.021708],[0.326521,-0.942779,-0.067466],[0.001515,-0.070856,0.997485]] 2025-10-28T18:02:44.025Z,1761674564.025 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T18:02:44.025Z,1761674564.025 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:02:44.290Z,1761674564.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941653,-0.336586,-0.000435],[0.333726,-0.933481,-0.131303],[0.043788,-0.123787,0.991342]] 2025-10-28T18:02:44.694Z,1761674564.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927738,-0.369339,0.053775],[0.355333,-0.918112,-0.175523],[0.114199,-0.143731,0.983006]] 2025-10-28T18:02:45.102Z,1761674565.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906475,-0.411727,0.093723],[0.399217,-0.907951,-0.127478],[0.137582,-0.078140,0.987403]] 2025-10-28T18:02:45.502Z,1761674565.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882746,-0.458570,0.102341],[0.461228,-0.887278,0.002625],[0.089601,0.049520,0.994746]] 2025-10-28T18:02:45.916Z,1761674565.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886161,-0.461794,0.038274],[0.463358,-0.882339,0.082325],[-0.004246,0.090688,0.995870]] 2025-10-28T18:02:46.311Z,1761674566.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903086,-0.429145,0.016419],[0.429214,-0.903203,0.000731],[0.014516,0.007707,0.999865]] 2025-10-28T18:02:46.714Z,1761674566.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893618,-0.440569,0.085713],[0.430651,-0.895444,-0.112783],[0.126440,-0.063872,0.989916]] 2025-10-28T18:02:47.127Z,1761674567.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845543,-0.511498,0.153060],[0.491807,-0.857757,-0.149596],[0.207806,-0.051214,0.976828]] 2025-10-28T18:02:47.541Z,1761674567.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819209,-0.559825,0.124473],[0.556782,-0.828392,-0.061323],[0.137443,0.019068,0.990326]] 2025-10-28T18:02:47.926Z,1761674567.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852642,-0.519676,0.054205],[0.519825,-0.854182,-0.012426],[0.052759,0.017582,0.998452]] 2025-10-28T18:02:48.330Z,1761674568.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864742,-0.499391,0.053194],[0.496021,-0.865856,-0.065245],[0.078641,-0.030034,0.996450]] 2025-10-28T18:02:48.734Z,1761674568.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854137,-0.517624,0.050153],[0.513148,-0.854534,-0.080316],[0.084431,-0.042865,0.995507]] 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateRudder:A] Stopped 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:02:48.785Z,1761674568.785 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateCommandMode] Stopped 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:02:48.786Z,1761674568.786 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:02:48.787Z,1761674568.787 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:02:48.787Z,1761674568.787 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:02:48.787Z,1761674568.787 [marl:UpdateSpeed] Stopped 2025-10-28T18:02:48.787Z,1761674568.787 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:02:49.139Z,1761674569.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842230,-0.538204,0.031387],[0.534851,-0.841456,-0.076715],[0.067699,-0.047824,0.996559]] 2025-10-28T18:02:49.170Z,1761674569.170 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:02:49.170Z,1761674569.170 [marl:UpdateRudder:B] Stopped 2025-10-28T18:02:49.170Z,1761674569.170 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:02:49.170Z,1761674569.170 [marl:UpdateRudder] Stopped 2025-10-28T18:02:49.170Z,1761674569.170 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:02:49.593Z,1761674569.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812033,-0.582624,0.033926],[0.578936,-0.811509,-0.079290],[0.073728,-0.044745,0.996274]] 2025-10-28T18:02:49.946Z,1761674569.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794673,-0.606243,0.031065],[0.605971,-0.795269,-0.018592],[0.035976,0.004049,0.999344]] 2025-10-28T18:02:50.351Z,1761674570.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810398,-0.584612,0.038526],[0.585854,-0.809232,0.043815],[0.005562,0.058078,0.998296]] 2025-10-28T18:02:50.759Z,1761674570.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817222,-0.569888,0.085882],[0.572923,-0.819493,0.013810],[0.062510,0.060489,0.996210]] 2025-10-28T18:02:51.160Z,1761674571.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791382,-0.606465,0.076914],[0.603214,-0.795104,-0.062792],[0.099235,-0.003296,0.995058]] 2025-10-28T18:02:51.644Z,1761674571.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776770,-0.624784,0.079198],[0.622042,-0.780788,-0.058591],[0.098444,0.003753,0.995136]] 2025-10-28T18:02:51.671Z,1761674571.671 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -116.51, +4224.46+21.84, 0.00 2025-10-28T18:02:52.373Z,1761674572.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763748,-0.644960,0.026742],[0.644990,-0.764142,-0.008627],[0.025999,0.010659,0.999605]] 2025-10-28T18:02:52.779Z,1761674572.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767691,-0.640716,0.011522],[0.640797,-0.767691,0.005422],[0.005372,0.011545,0.999919]] 2025-10-28T18:02:53.178Z,1761674573.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748317,-0.662677,0.029675],[0.661526,-0.748829,-0.040467],[0.049039,-0.010651,0.998740]] 2025-10-28T18:02:53.608Z,1761674573.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716375,-0.697545,-0.015407],[0.696535,-0.713704,-0.073925],[0.040570,-0.063690,0.997145]] 2025-10-28T18:02:53.988Z,1761674573.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699910,-0.714166,0.009650],[0.713192,-0.699556,-0.044473],[0.038512,-0.024245,0.998964]] 2025-10-28T18:02:54.390Z,1761674574.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681615,-0.728709,0.066215],[0.730994,-0.682158,0.017543],[0.032385,0.060360,0.997651]] 2025-10-28T18:02:54.795Z,1761674574.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687268,-0.721674,0.082761],[0.726212,-0.685236,0.055393],[0.016735,0.098172,0.995029]] 2025-10-28T18:02:55.198Z,1761674575.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696847,-0.715803,0.045063],[0.716776,-0.697250,0.008658],[0.025223,0.038333,0.998947]] 2025-10-28T18:02:55.619Z,1761674575.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667534,-0.742785,-0.051662],[0.743778,-0.661989,-0.092550],[0.034545,-0.100205,0.994367]] 2025-10-28T18:02:56.007Z,1761674576.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650063,-0.753074,-0.101480],[0.759274,-0.638393,-0.126321],[0.030344,-0.159168,0.986785]] 2025-10-28T18:02:56.011Z,1761674576.011 [NAL9602](INFO): SBD MO Status=0, MOMSN=3310, MT Status=0, MTMSN=0 2025-10-28T18:02:56.012Z,1761674576.012 [NAL9602](INFO): No messages in MT queue 2025-10-28T18:02:56.411Z,1761674576.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648655,-0.760240,-0.035796],[0.760251,-0.645030,-0.077173],[0.035580,-0.077272,0.996375]] 2025-10-28T18:02:56.816Z,1761674576.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611198,-0.788919,0.063594],[0.790517,-0.612440,-0.000041],[0.038980,0.050247,0.997976]] 2025-10-28T18:02:57.220Z,1761674577.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574362,-0.811872,0.104750],[0.818322,-0.572791,0.047541],[0.021403,0.113025,0.993362]] 2025-10-28T18:02:57.225Z,1761674577.225 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180256.00,A,3646.21870,N,12151.64235,W,0.855,172.06,281025,,,A*79 2025-10-28T18:02:57.227Z,1761674577.227 [NAL9602](INFO): GPS fix at 20251028T180256: (36.770312, -121.860706) 2025-10-28T18:02:57.245Z,1761674577.245 [UniversalFixResidualReporter](INFO): Fix residual: 1.6 %DT, over the last 1087.5 m. Residual distance 17.3 m at bearing -25.3 degrees. Fix at (36.7703, -121.8607) with 305.1 m made good. 2025-10-28T18:02:57.256Z,1761674577.256 [marl:NeedComms:C] Stopped 2025-10-28T18:02:57.256Z,1761674577.256 [marl:NeedComms:D] Running Loop=1 2025-10-28T18:02:57.257Z,1761674577.257 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:02:57.258Z,1761674577.258 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761674624.00. Resetting abort timer. 2025-10-28T18:02:57.317Z,1761674577.317 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:02:57.317Z,1761674577.317 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:02:57.571Z,1761674577.571 [DAT](INFO): DAT read: 2025-10-28T18:02:57.573Z,1761674577.573 [DAT](INFO): DAT read: Tx time:18:02:57.3002 2025-10-28T18:02:57.574Z,1761674577.574 [DAT](INFO): Ping request sent. 2025-10-28T18:02:57.575Z,1761674577.575 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:02:57.575Z,1761674577.575 [DAT](INFO): publishing transmit ping time 2025-10-28T18:02:57.581Z,1761674577.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006612 2025-10-28T18:02:57.623Z,1761674577.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587858,-0.807455,0.049393],[0.808944,-0.587176,0.028882],[0.005682,0.056935,0.998362]] 2025-10-28T18:02:57.821Z,1761674577.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246695 2025-10-28T18:02:58.027Z,1761674578.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585806,-0.810446,-0.002938],[0.809490,-0.584931,-0.050816],[0.039465,-0.032147,0.998704]] 2025-10-28T18:02:58.073Z,1761674578.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498772 2025-10-28T18:02:58.325Z,1761674578.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750567 2025-10-28T18:02:58.432Z,1761674578.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550708,-0.834599,-0.012888],[0.833408,-0.548934,-0.064050],[0.046381,-0.046014,0.997863]] 2025-10-28T18:02:58.579Z,1761674578.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004693 2025-10-28T18:02:58.829Z,1761674578.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254704 2025-10-28T18:02:58.849Z,1761674578.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507875,-0.859439,-0.058549],[0.860998,-0.504291,-0.066129],[0.027308,-0.083996,0.996092]] 2025-10-28T18:02:59.082Z,1761674579.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507307 2025-10-28T18:02:59.333Z,1761674579.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758783 2025-10-28T18:02:59.588Z,1761674579.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012935 2025-10-28T18:02:59.648Z,1761674579.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497557,-0.867431,-0.001082],[0.867364,-0.497502,-0.013137],[0.010857,-0.007475,0.999913]] 2025-10-28T18:02:59.837Z,1761674579.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262804 2025-10-28T18:03:00.053Z,1761674580.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458560,-0.888635,0.007150],[0.888197,-0.458565,-0.028724],[0.028804,-0.006821,0.999562]] 2025-10-28T18:03:00.090Z,1761674580.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515632 2025-10-28T18:03:00.341Z,1761674580.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766583 2025-10-28T18:03:00.455Z,1761674580.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427859,-0.903095,-0.036828],[0.902476,-0.429099,0.037580],[-0.049741,-0.017157,0.998615]] 2025-10-28T18:03:00.593Z,1761674580.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018930 2025-10-28T18:03:00.849Z,1761674580.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275056 2025-10-28T18:03:00.861Z,1761674580.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450207,-0.892601,-0.024047],[0.890188,-0.450771,0.066119],[-0.069858,0.008361,0.997522]] 2025-10-28T18:03:01.102Z,1761674581.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527730 2025-10-28T18:03:01.353Z,1761674581.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778807 2025-10-28T18:03:01.355Z,1761674581.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420851,-0.905689,0.051109],[0.907082,-0.420738,0.013471],[0.009303,0.052029,0.998602]] 2025-10-28T18:03:01.605Z,1761674581.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030627 2025-10-28T18:03:01.742Z,1761674581.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394976,-0.915868,0.071970],[0.918676,-0.393299,0.036747],[-0.005350,0.080631,0.996730]] 2025-10-28T18:03:01.857Z,1761674581.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282644 2025-10-28T18:03:02.109Z,1761674582.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534659 2025-10-28T18:03:02.361Z,1761674582.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787208 2025-10-28T18:03:02.613Z,1761674582.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038737 2025-10-28T18:03:02.865Z,1761674582.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290445 2025-10-28T18:03:03.117Z,1761674583.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543118 2025-10-28T18:03:03.369Z,1761674583.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794666 2025-10-28T18:03:03.621Z,1761674583.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046599 2025-10-28T18:03:03.803Z,1761674583.803 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -116.52, +4228.32, , 0.00 2025-10-28T18:03:03.874Z,1761674583.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299308 2025-10-28T18:03:03.928Z,1761674583.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366317,-0.929890,0.033411],[0.928554,-0.367635,-0.051305],[0.059991,0.012230,0.998124]] 2025-10-28T18:03:03.964Z,1761674583.964 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:03:03.964Z,1761674583.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:03:03.964Z,1761674583.964 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateRudder:A] Stopped 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:03:03.965Z,1761674583.965 [marl:UpdateCommandMode] Stopped 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed] Stopped 2025-10-28T18:03:03.966Z,1761674583.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:03:04.125Z,1761674584.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550601 2025-10-28T18:03:04.306Z,1761674584.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261977,-0.959696,0.101746],[0.959974,-0.269965,-0.074622],[0.099082,0.078124,0.992008]] 2025-10-28T18:03:04.353Z,1761674584.353 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:03:04.353Z,1761674584.353 [marl:UpdateRudder:B] Stopped 2025-10-28T18:03:04.353Z,1761674584.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:03:04.353Z,1761674584.353 [marl:UpdateRudder] Stopped 2025-10-28T18:03:04.353Z,1761674584.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:03:04.378Z,1761674584.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803047 2025-10-28T18:03:04.629Z,1761674584.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055211 2025-10-28T18:03:04.711Z,1761674584.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230747,-0.971578,0.052838],[0.970717,-0.233592,-0.056068],[0.066817,0.038353,0.997028]] 2025-10-28T18:03:04.881Z,1761674584.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306693 2025-10-28T18:03:05.114Z,1761674585.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249844,-0.968094,-0.019284],[0.967265,-0.248616,-0.050871],[0.044454,-0.031363,0.998519]] 2025-10-28T18:03:05.133Z,1761674585.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558700 2025-10-28T18:03:05.385Z,1761674585.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811182 2025-10-28T18:03:05.530Z,1761674585.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223816,-0.974335,-0.024041],[0.973451,-0.222263,-0.054694],[0.047947,-0.035644,0.998214]] 2025-10-28T18:03:05.637Z,1761674585.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062779 2025-10-28T18:03:05.889Z,1761674585.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314577 2025-10-28T18:03:05.927Z,1761674585.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187464,-0.982243,-0.007483],[0.980853,-0.186778,-0.055147],[0.052770,-0.017677,0.998450]] 2025-10-28T18:03:06.141Z,1761674586.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566585 2025-10-28T18:03:06.329Z,1761674586.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145372,-0.989370,-0.003767],[0.989314,-0.145319,-0.011875],[0.011201,-0.005453,0.999922]] 2025-10-28T18:03:06.393Z,1761674586.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818745 2025-10-28T18:03:06.645Z,1761674586.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070673 2025-10-28T18:03:06.730Z,1761674586.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106114,-0.994128,0.021221],[0.993982,-0.105466,0.029591],[-0.027179,0.024233,0.999337]] 2025-10-28T18:03:06.897Z,1761674586.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322596 2025-10-28T18:03:07.134Z,1761674587.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100219,-0.994799,0.018199],[0.994064,-0.099333,0.044388],[-0.042349,0.022539,0.998849]] 2025-10-28T18:03:07.149Z,1761674587.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574593 2025-10-28T18:03:07.401Z,1761674587.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826557 2025-10-28T18:03:07.594Z,1761674587.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129871,-0.991451,-0.012584],[0.989922,-0.130373,0.055298],[-0.056466,-0.005276,0.998391]] 2025-10-28T18:03:07.653Z,1761674587.653 [DAT](INFO): Reached modem response timeout 2025-10-28T18:03:07.944Z,1761674587.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135148,-0.990823,-0.002263],[0.990550,-0.135164,0.023285],[-0.023377,0.000905,0.999726]] 2025-10-28T18:03:08.346Z,1761674588.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122259,-0.992457,0.009091],[0.992172,-0.122448,-0.024521],[0.025449,0.006022,0.999658]] 2025-10-28T18:03:08.753Z,1761674588.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120174,-0.992606,-0.017098],[0.991318,-0.119057,-0.055811],[0.053362,-0.023657,0.998295]] 2025-10-28T18:03:09.163Z,1761674589.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074113,-0.994253,-0.077260],[0.995427,-0.069073,-0.065987],[0.060271,-0.081797,0.994825]] 2025-10-28T18:03:09.603Z,1761674589.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107020,-0.992285,-0.062594],[0.992867,-0.103331,-0.059473],[0.052547,-0.068512,0.996266]] 2025-10-28T18:03:09.921Z,1761674589.921 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:03:09.921Z,1761674589.921 [DAT](INFO): response not received 2025-10-28T18:03:09.921Z,1761674589.921 [DAT](ERROR): No response from remote modem. 2025-10-28T18:03:09.962Z,1761674589.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104486,-0.993032,0.054502],[0.989495,-0.109306,-0.094609],[0.099907,0.044044,0.994021]] 2025-10-28T18:03:10.367Z,1761674590.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008886,-0.997532,0.069656],[0.996288,-0.014797,-0.084801],[0.085622,0.068644,0.993960]] 2025-10-28T18:03:11.176Z,1761674591.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037580,-0.995659,-0.085154],[0.998307,-0.041192,0.041067],[-0.044397,-0.083466,0.995521]] 2025-10-28T18:03:11.630Z,1761674591.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004962,-0.995029,-0.099463],[0.998618,-0.010134,0.051568],[-0.052319,-0.099070,0.993704]] 2025-10-28T18:03:11.982Z,1761674591.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038250,-0.998255,-0.044991],[0.998138,-0.040309,0.045785],[-0.047519,-0.043156,0.997938]] 2025-10-28T18:03:12.389Z,1761674592.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021909,-0.998880,0.041929],[0.998612,-0.023874,-0.046956],[0.047905,0.040842,0.998017]] 2025-10-28T18:03:12.793Z,1761674592.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065021,-0.992670,0.101876],[0.995868,0.058065,-0.069822],[0.063395,0.105995,0.992344]] 2025-10-28T18:03:13.194Z,1761674593.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073173,-0.993124,0.091380],[0.997282,0.073650,0.001857],[-0.008575,0.090996,0.995814]] 2025-10-28T18:03:13.606Z,1761674593.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024192,-0.998512,0.048882],[0.999701,0.024343,0.002495],[-0.003681,0.048807,0.998801]] 2025-10-28T18:03:14.004Z,1761674594.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030501,-0.999498,0.008532],[0.995444,0.029604,-0.090633],[0.090335,0.011258,0.995848]] 2025-10-28T18:03:14.164Z,1761674594.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:03:14.406Z,1761674594.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095592,-0.994826,-0.034401],[0.986322,0.099323,-0.131545],[0.134282,-0.021355,0.990713]] 2025-10-28T18:03:14.811Z,1761674594.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143459,-0.986114,-0.083664],[0.984808,0.150603,-0.086442],[0.097841,-0.069992,0.992738]] 2025-10-28T18:03:15.168Z,1761674595.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:03:15.218Z,1761674595.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155091,-0.981174,-0.115081],[0.985811,0.161282,-0.046534],[0.064218,-0.106231,0.992266]] 2025-10-28T18:03:15.625Z,1761674595.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175966,-0.981439,-0.076246],[0.979799,0.182095,-0.082678],[0.095028,-0.060157,0.993655]] 2025-10-28T18:03:16.022Z,1761674596.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190641,-0.981640,-0.006228],[0.974706,0.190041,-0.117610],[0.116635,0.016351,0.993040]] 2025-10-28T18:03:16.426Z,1761674596.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183361,-0.982751,0.024064],[0.973043,0.177957,-0.146693],[0.139880,0.050313,0.988889]] 2025-10-28T18:03:16.831Z,1761674596.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201006,-0.979376,-0.020466],[0.962508,0.201343,-0.181769],[0.182141,0.016838,0.983128]] 2025-10-28T18:03:17.237Z,1761674597.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248544,-0.963127,-0.103017],[0.951686,0.262614,-0.159147],[0.180332,-0.058484,0.981866]] 2025-10-28T18:03:17.247Z,1761674597.247 [NAL9602](INFO): SBD MO Status=1, MOMSN=3311, MT Status=0, MTMSN=0 2025-10-28T18:03:17.308Z,1761674597.308 [NAL9602](INFO): Sent 82 bytes from file Logs/20251028T162422/Courier0021.lzma 2025-10-28T18:03:17.308Z,1761674597.308 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:03:17.357Z,1761674597.357 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateRudder:A] Stopped 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:03:17.358Z,1761674597.358 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateCommandMode] Stopped 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:03:17.359Z,1761674597.359 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:03:17.364Z,1761674597.364 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:03:17.364Z,1761674597.364 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:03:17.364Z,1761674597.364 [marl:UpdateSpeed] Stopped 2025-10-28T18:03:17.364Z,1761674597.364 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:03:17.638Z,1761674597.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274903,-0.948818,-0.155475],[0.950333,0.292685,-0.105843],[0.145931,-0.118657,0.982153]] 2025-10-28T18:03:18.359Z,1761674598.359 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:03:18.359Z,1761674598.359 [marl:UpdateRudder:B] Stopped 2025-10-28T18:03:18.359Z,1761674598.359 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:03:18.359Z,1761674598.359 [marl:UpdateRudder] Stopped 2025-10-28T18:03:18.359Z,1761674598.359 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:03:18.428Z,1761674598.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282663,-0.954924,-0.090679],[0.931263,0.295852,-0.212651],[0.229893,-0.024338,0.972912]] 2025-10-28T18:03:18.830Z,1761674598.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314093,-0.948950,-0.028995],[0.922028,0.312177,-0.228933],[0.226298,0.045172,0.973010]] 2025-10-28T18:03:21.095Z,1761674601.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344235,-0.916571,-0.203469],[0.916856,0.374838,-0.137374],[0.202181,-0.139263,0.969396]] 2025-10-28T18:03:21.492Z,1761674601.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464484,-0.882848,-0.069525],[0.864732,0.469083,-0.179440],[0.191031,0.023226,0.981309]] 2025-10-28T18:03:21.895Z,1761674601.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483832,-0.872885,-0.063078],[0.859470,0.487509,-0.153776],[0.164980,0.020188,0.986090]] 2025-10-28T18:03:22.300Z,1761674602.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463628,-0.883264,-0.069960],[0.874616,0.468859,-0.123359],[0.141760,-0.003995,0.989893]] 2025-10-28T18:03:22.706Z,1761674602.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468240,-0.881832,-0.055884],[0.873259,0.471481,-0.122979],[0.134795,0.008783,0.990835]] 2025-10-28T18:03:23.106Z,1761674603.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518375,-0.850695,-0.087214],[0.841919,0.525564,-0.122287],[0.149865,-0.010037,0.988656]] 2025-10-28T18:03:23.514Z,1761674603.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560401,-0.811098,-0.167544],[0.821979,0.569469,-0.007501],[0.101495,-0.133514,0.985836]] 2025-10-28T18:03:23.916Z,1761674603.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544475,-0.806209,-0.231462],[0.834948,0.547283,0.057823],[0.080058,-0.224742,0.971124]] 2025-10-28T18:03:24.318Z,1761674604.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552828,-0.802858,-0.223159],[0.828117,0.559135,0.039880],[0.092758,-0.206849,0.973966]] 2025-10-28T18:03:24.723Z,1761674604.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556926,-0.821680,-0.121142],[0.827867,0.560922,0.001339],[0.066851,-0.101035,0.992634]] 2025-10-28T18:03:25.127Z,1761674605.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550198,-0.834832,-0.018385],[0.832919,0.550238,-0.059030],[0.059396,0.017165,0.998087]] 2025-10-28T18:03:25.559Z,1761674605.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578188,-0.815427,0.027870],[0.809137,0.568669,-0.148030],[0.104859,0.108140,0.988590]] 2025-10-28T18:03:25.935Z,1761674605.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631751,-0.772918,0.059067],[0.770981,0.618596,-0.151417],[0.080494,0.141197,0.986704]] 2025-10-28T18:03:26.338Z,1761674606.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648552,-0.756509,0.084109],[0.761111,0.645914,-0.059211],[-0.009534,0.102417,0.994696]] 2025-10-28T18:03:26.757Z,1761674606.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649682,-0.759930,0.020483],[0.759325,0.649990,0.030629],[-0.036590,-0.004346,0.999321]] 2025-10-28T18:03:27.147Z,1761674607.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665421,-0.740566,-0.093688],[0.745108,0.666531,0.023490],[0.045050,-0.085438,0.995324]] 2025-10-28T18:03:27.591Z,1761674607.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658227,-0.740367,-0.136360],[0.748727,0.662681,0.016170],[0.078392,-0.112740,0.990527]] 2025-10-28T18:03:27.954Z,1761674607.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660449,-0.746429,-0.081550],[0.750831,0.657622,0.061535],[0.007698,-0.101871,0.994768]] 2025-10-28T18:03:28.360Z,1761674608.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693530,-0.718604,-0.051237],[0.720427,0.691677,0.050665],[-0.000969,-0.072050,0.997401]] 2025-10-28T18:03:28.766Z,1761674608.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714800,-0.694691,-0.080408],[0.697326,0.716722,0.006818],[0.052894,-0.060944,0.996739]] 2025-10-28T18:03:29.166Z,1761674609.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722195,-0.687694,-0.074241],[0.689692,0.724101,0.001776],[0.052537,-0.052486,0.997239]] 2025-10-28T18:03:29.595Z,1761674609.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696642,-0.713546,-0.074441],[0.715529,0.698583,-0.000054],[0.052041,-0.053227,0.997225]] 2025-10-28T18:03:29.976Z,1761674609.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674605,-0.735588,-0.061790],[0.736849,0.676049,-0.003417],[0.044287,-0.043225,0.998083]] 2025-10-28T18:03:30.378Z,1761674610.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700860,-0.712638,-0.030688],[0.713168,0.699258,0.049300],[-0.013674,-0.056438,0.998312]] 2025-10-28T18:03:30.786Z,1761674610.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715496,-0.696100,-0.059247],[0.698459,0.710956,0.081832],[-0.014841,-0.099932,0.994884]] 2025-10-28T18:03:31.186Z,1761674611.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707645,-0.693443,-0.135553],[0.704484,0.707177,0.060032],[0.054231,-0.137976,0.988950]] 2025-10-28T18:03:31.604Z,1761674611.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693875,-0.700809,-0.165539],[0.711731,0.702384,0.009756],[0.109435,-0.124588,0.986155]] 2025-10-28T18:03:31.995Z,1761674611.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700724,-0.707638,-0.090742],[0.712400,0.700867,0.035662],[0.038362,-0.089634,0.995236]] 2025-10-28T18:03:32.399Z,1761674612.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706555,-0.707547,-0.012561],[0.707014,0.705043,0.055189],[-0.030193,-0.047875,0.998397]] 2025-10-28T18:03:32.804Z,1761674612.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705190,-0.708999,-0.005269],[0.708759,0.704710,0.032327],[-0.019207,-0.026531,0.999463]] 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateRudder:A] Stopped 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:03:32.834Z,1761674612.834 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode] Stopped 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:03:32.835Z,1761674612.835 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:03:32.836Z,1761674612.836 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:03:32.836Z,1761674612.836 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:03:32.836Z,1761674612.836 [marl:UpdateSpeed] Stopped 2025-10-28T18:03:32.836Z,1761674612.836 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:03:33.206Z,1761674613.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712061,-0.701448,-0.030649],[0.701969,0.712130,0.010530],[0.014440,-0.029012,0.999475]] 2025-10-28T18:03:33.221Z,1761674613.221 [NAL9602](INFO): SBD MO Status=1, MOMSN=3312, MT Status=0, MTMSN=0 2025-10-28T18:03:33.279Z,1761674613.279 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0022.lzma 2025-10-28T18:03:33.279Z,1761674613.279 [NAL9602](INFO): Packets left to send: 1 2025-10-28T18:03:33.329Z,1761674613.329 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:03:33.329Z,1761674613.329 [marl:UpdateRudder:B] Stopped 2025-10-28T18:03:33.330Z,1761674613.330 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:03:33.330Z,1761674613.330 [marl:UpdateRudder] Stopped 2025-10-28T18:03:33.330Z,1761674613.330 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:03:33.611Z,1761674613.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700310,-0.699821,-0.140770],[0.706781,0.707432,-0.000780],[0.100131,-0.098947,0.990042]] 2025-10-28T18:03:34.372Z,1761674614.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673680,-0.729338,-0.119257],[0.738921,0.662078,0.125093],[-0.012278,-0.172394,0.984951]] 2025-10-28T18:03:36.584Z,1761674616.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675518,-0.737342,0.000928],[0.737152,0.675314,-0.023638],[0.016803,0.016652,0.999720]] 2025-10-28T18:03:36.975Z,1761674616.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710950,-0.700854,-0.057907],[0.701892,0.712276,-0.003307],[0.043563,-0.038294,0.998317]] 2025-10-28T18:03:37.381Z,1761674617.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723469,-0.684674,-0.088394],[0.688320,0.725226,0.016233],[0.052991,-0.072588,0.995953]] 2025-10-28T18:03:37.799Z,1761674617.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720980,-0.687471,-0.087015],[0.692573,0.719051,0.057520],[0.023025,-0.101735,0.994545]] 2025-10-28T18:03:38.193Z,1761674618.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691792,-0.717418,-0.082069],[0.721946,0.689491,0.058278],[0.014776,-0.099565,0.994921]] 2025-10-28T18:03:38.591Z,1761674618.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677026,-0.722751,-0.138806],[0.731269,0.681897,0.016183],[0.082955,-0.112462,0.990187]] 2025-10-28T18:03:38.996Z,1761674618.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713140,-0.690440,-0.121344],[0.698572,0.714379,0.040740],[0.058557,-0.113820,0.991774]] 2025-10-28T18:03:39.403Z,1761674619.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718119,-0.692491,-0.069005],[0.695920,0.714635,0.070653],[0.000387,-0.098759,0.995111]] 2025-10-28T18:03:39.808Z,1761674619.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720012,-0.693829,-0.013527],[0.693913,0.719596,0.025801],[-0.008168,-0.027964,0.999576]] 2025-10-28T18:03:40.206Z,1761674620.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744199,-0.667957,-0.000754],[0.667696,0.743939,-0.027143],[0.018692,0.019696,0.999631]] 2025-10-28T18:03:40.612Z,1761674620.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736243,-0.676601,-0.012563],[0.675707,0.736031,-0.040958],[0.036959,0.021666,0.999082]] 2025-10-28T18:03:41.020Z,1761674621.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730771,-0.682623,-0.000185],[0.682583,0.730731,-0.010654],[0.007408,0.007660,0.999943]] 2025-10-28T18:03:41.418Z,1761674621.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742385,-0.669441,0.026720],[0.664163,0.740601,0.101970],[-0.088051,-0.057955,0.994429]] 2025-10-28T18:03:41.835Z,1761674621.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739509,-0.673147,-0.000259],[0.660963,0.726051,0.189678],[-0.127493,-0.140440,0.981846]] 2025-10-28T18:03:42.228Z,1761674622.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746593,-0.656775,-0.106049],[0.665182,0.734188,0.136017],[-0.011473,-0.172091,0.985014]] 2025-10-28T18:03:42.630Z,1761674622.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727454,-0.666238,-0.164127],[0.681873,0.728614,0.064589],[0.076553,-0.158899,0.984322]] 2025-10-28T18:03:43.038Z,1761674623.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731618,-0.667651,-0.137759],[0.679901,0.729350,0.076053],[0.049698,-0.149304,0.987542]] 2025-10-28T18:03:43.440Z,1761674623.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737720,-0.663392,-0.125222],[0.673989,0.734387,0.080092],[0.038829,-0.143484,0.988891]] 2025-10-28T18:03:43.850Z,1761674623.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721859,-0.684808,-0.099791],[0.690727,0.721837,0.042969],[0.042608,-0.099946,0.994080]] 2025-10-28T18:03:44.246Z,1761674624.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728455,-0.680705,-0.077420],[0.679939,0.732179,-0.039948],[0.083878,-0.023541,0.996198]] 2025-10-28T18:03:44.651Z,1761674624.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735863,-0.671954,-0.083564],[0.665620,0.740483,-0.092926],[0.124320,0.012758,0.992160]] 2025-10-28T18:03:45.055Z,1761674625.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736175,-0.671823,-0.081851],[0.669162,0.740642,-0.060595],[0.101331,-0.010163,0.994801]] 2025-10-28T18:03:45.304Z,1761674625.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:03:45.459Z,1761674625.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736490,-0.668958,-0.100388],[0.669797,0.741934,-0.030118],[0.094629,-0.045058,0.994492]] 2025-10-28T18:03:45.862Z,1761674625.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726098,-0.678347,-0.112371],[0.683822,0.729497,0.014858],[0.071896,-0.087631,0.993555]] 2025-10-28T18:03:46.267Z,1761674626.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742996,-0.660744,-0.106652],[0.666741,0.744612,0.031767],[0.058424,-0.094712,0.993789]] 2025-10-28T18:03:46.308Z,1761674626.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:03:46.676Z,1761674626.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750424,-0.643467,-0.151043],[0.652283,0.757880,0.012035],[0.106728,-0.107554,0.988454]] 2025-10-28T18:03:47.075Z,1761674627.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742661,-0.639361,-0.199177],[0.652888,0.757449,0.002970],[0.148968,-0.132246,0.979959]] 2025-10-28T18:03:47.478Z,1761674627.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727558,-0.653556,-0.208623],[0.665074,0.746529,-0.019261],[0.168332,-0.124736,0.977806]] 2025-10-28T18:03:47.887Z,1761674627.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720952,-0.676345,-0.150951],[0.685739,0.727700,0.014632],[0.099951,-0.114062,0.988433]] 2025-10-28T18:03:48.289Z,1761674628.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750614,-0.656224,-0.077126],[0.660376,0.748952,0.054542],[0.021971,-0.091872,0.995528]] 2025-10-28T18:03:48.314Z,1761674628.314 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:03:48.314Z,1761674628.314 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:03:48.314Z,1761674628.314 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:03:48.314Z,1761674628.314 [marl:UpdateRudder:A] Stopped 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode] Stopped 2025-10-28T18:03:48.315Z,1761674628.315 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:03:48.316Z,1761674628.316 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed] Stopped 2025-10-28T18:03:48.317Z,1761674628.317 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:03:48.690Z,1761674628.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768311,-0.636471,-0.067844],[0.640055,0.763090,0.089576],[-0.005242,-0.112246,0.993667]] 2025-10-28T18:03:48.726Z,1761674628.726 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:03:48.726Z,1761674628.726 [marl:UpdateRudder:B] Stopped 2025-10-28T18:03:48.726Z,1761674628.726 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:03:48.726Z,1761674628.726 [marl:UpdateRudder] Stopped 2025-10-28T18:03:48.726Z,1761674628.726 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:03:49.094Z,1761674629.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753405,-0.646624,-0.119409],[0.656306,0.750664,0.075936],[0.040534,-0.135579,0.989937]] 2025-10-28T18:03:49.504Z,1761674629.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761045,-0.640047,-0.105595],[0.646338,0.762038,0.039319],[0.055301,-0.098174,0.993632]] 2025-10-28T18:03:49.911Z,1761674629.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773895,-0.632249,-0.036714],[0.633164,0.773670,0.023174],[0.013752,-0.041181,0.999057]] 2025-10-28T18:03:50.306Z,1761674630.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777398,-0.628549,-0.024047],[0.628781,0.777577,0.002847],[0.016909,-0.017334,0.999707]] 2025-10-28T18:03:50.711Z,1761674630.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781585,-0.621999,-0.047353],[0.623248,0.781831,0.017378],[0.026213,-0.043095,0.998727]] 2025-10-28T18:03:51.115Z,1761674631.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755473,-0.654692,-0.025261],[0.654806,0.753182,0.062818],[-0.022100,-0.063998,0.997705]] 2025-10-28T18:03:51.544Z,1761674631.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744202,-0.666190,-0.048520],[0.667518,0.739125,0.090082],[-0.024150,-0.099427,0.994752]] 2025-10-28T18:03:51.922Z,1761674631.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764549,-0.637678,-0.093982],[0.644422,0.759287,0.090567],[0.013607,-0.129807,0.991446]] 2025-10-28T18:03:52.326Z,1761674632.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782077,-0.611878,-0.118156],[0.621211,0.780529,0.069795],[0.049518,-0.127985,0.990539]] 2025-10-28T18:03:52.730Z,1761674632.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755820,-0.647919,-0.094534],[0.652994,0.756517,0.035800],[0.048321,-0.088788,0.994878]] 2025-10-28T18:03:53.136Z,1761674633.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748308,-0.662614,-0.031270],[0.663286,0.748062,0.021321],[0.009265,-0.036696,0.999283]] 2025-10-28T18:03:53.597Z,1761674633.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773096,-0.634219,-0.009406],[0.633726,0.771700,0.053572],[-0.026718,-0.047377,0.998520]] 2025-10-28T18:03:53.942Z,1761674633.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783550,-0.612477,-0.104504],[0.618421,0.785025,0.035931],[0.060031,-0.092781,0.993875]] 2025-10-28T18:03:54.349Z,1761674634.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757885,-0.617723,-0.209830],[0.636381,0.770818,0.029316],[0.143632,-0.155750,0.977298]] 2025-10-28T18:03:54.755Z,1761674634.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746615,-0.635966,-0.195225],[0.662660,0.736859,0.133867],[0.058718,-0.229315,0.971579]] 2025-10-28T18:03:54.761Z,1761674634.761 [NAL9602](INFO): SBD MO Status=1, MOMSN=3313, MT Status=0, MTMSN=0 2025-10-28T18:03:54.820Z,1761674634.820 [NAL9602](INFO): Sent 51 bytes from file Logs/20251028T162422/Express0022.lzma 2025-10-28T18:03:54.820Z,1761674634.820 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:03:55.155Z,1761674635.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742408,-0.661666,-0.105018],[0.666660,0.714120,0.213534],[-0.066292,-0.228540,0.971275]] 2025-10-28T18:03:57.209Z,1761674637.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761822,-0.637668,-0.114048],[0.637235,0.769354,-0.045002],[0.116440,-0.038392,0.992455]] 2025-10-28T18:03:57.599Z,1761674637.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747767,-0.643949,-0.161785],[0.633015,0.764950,-0.118930],[0.200342,-0.013480,0.979633]] 2025-10-28T18:03:57.651Z,1761674637.651 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:03:57.829Z,1761674637.829 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:03:57.829Z,1761674637.829 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:03:57.998Z,1761674637.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756379,-0.637964,-0.144542],[0.620658,0.769713,-0.149415],[0.206577,0.023303,0.978153]] 2025-10-28T18:03:58.081Z,1761674638.081 [DAT](INFO): DAT read: user:100> 2025-10-28T18:03:58.082Z,1761674638.082 [DAT](INFO): DAT read: Tx time:18:03:57.8500 2025-10-28T18:03:58.082Z,1761674638.082 [DAT](INFO): Ping request sent. 2025-10-28T18:03:58.082Z,1761674638.082 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:03:58.082Z,1761674638.082 [DAT](INFO): publishing transmit ping time 2025-10-28T18:03:58.083Z,1761674638.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T18:03:58.333Z,1761674638.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250704 2025-10-28T18:03:58.387Z,1761674638.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795601,-0.592713,-0.125345],[0.584582,0.805400,-0.097950],[0.159009,0.004654,0.987266]] 2025-10-28T18:03:58.585Z,1761674638.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769 2025-10-28T18:03:58.796Z,1761674638.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806167,-0.579052,-0.121629],[0.583112,0.812387,-0.002696],[0.100371,-0.068751,0.992572]] 2025-10-28T18:03:58.837Z,1761674638.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762 2025-10-28T18:03:59.089Z,1761674639.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007317 2025-10-28T18:03:59.194Z,1761674639.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809305,-0.569174,-0.145145],[0.579014,0.814605,0.034086],[0.098835,-0.111627,0.988823]] 2025-10-28T18:03:59.341Z,1761674639.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258704 2025-10-28T18:03:59.593Z,1761674639.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510670 2025-10-28T18:03:59.613Z,1761674639.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820552,-0.552039,-0.148147],[0.567434,0.817906,0.095127],[0.068657,-0.162120,0.984380]] 2025-10-28T18:03:59.846Z,1761674639.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763365 2025-10-28T18:04:00.016Z,1761674640.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817101,-0.568189,-0.097508],[0.576234,0.799874,0.167799],[-0.017347,-0.193296,0.980987]] 2025-10-28T18:04:00.097Z,1761674640.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014772 2025-10-28T18:04:00.349Z,1761674640.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685 2025-10-28T18:04:00.407Z,1761674640.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816411,-0.571080,-0.085680],[0.576550,0.797708,0.176780],[-0.032608,-0.193724,0.980514]] 2025-10-28T18:04:00.601Z,1761674640.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518710 2025-10-28T18:04:00.811Z,1761674640.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796794,-0.598731,-0.081490],[0.603021,0.779308,0.170423],[-0.038532,-0.184932,0.981996]] 2025-10-28T18:04:00.853Z,1761674640.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770861 2025-10-28T18:04:01.105Z,1761674641.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022702 2025-10-28T18:04:01.216Z,1761674641.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799794,-0.592789,-0.094504],[0.600036,0.785067,0.153710],[-0.016926,-0.179642,0.983586]] 2025-10-28T18:04:01.357Z,1761674641.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274711 2025-10-28T18:04:01.617Z,1761674641.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534827 2025-10-28T18:04:01.660Z,1761674641.660 [NAL9602](INFO): SBD MO Status=0, MOMSN=3314, MT Status=0, MTMSN=0 2025-10-28T18:04:01.767Z,1761674641.767 [marl:NeedComms:D] Stopped 2025-10-28T18:04:01.768Z,1761674641.768 [marl:NeedComms:E] Running Loop=1 2025-10-28T18:04:01.869Z,1761674641.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786687 2025-10-28T18:04:02.025Z,1761674642.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798584,-0.576132,-0.174170],[0.592595,0.803261,0.060015],[0.105328,-0.151140,0.982885]] 2025-10-28T18:04:02.121Z,1761674642.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038823 2025-10-28T18:04:02.373Z,1761674642.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290777 2025-10-28T18:04:02.426Z,1761674642.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781131,-0.618295,-0.086861],[0.621337,0.783470,0.010707],[0.061433,-0.062334,0.996163]] 2025-10-28T18:04:02.625Z,1761674642.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542717 2025-10-28T18:04:02.832Z,1761674642.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787626,-0.616049,0.011330],[0.616126,0.787632,-0.005010],[-0.005838,0.010927,0.999923]] 2025-10-28T18:04:02.878Z,1761674642.878 [DAT](INFO): DAT read: Rx Time:18:04:02.1667 2025-10-28T18:04:02.878Z,1761674642.878 [DAT](INFO): Rx dataTimestamp_ set to:1761674642.878163 2025-10-28T18:04:02.879Z,1761674642.879 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-28T18:04:02.879Z,1761674642.879 [DAT](INFO): Received low SNR in chirp 2025-10-28T18:04:02.892Z,1761674642.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.810199 2025-10-28T18:04:03.129Z,1761674643.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046742 2025-10-28T18:04:03.234Z,1761674643.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790892,-0.611783,-0.014556],[0.611763,0.791016,-0.006291],[0.015363,-0.003929,0.999874]] 2025-10-28T18:04:03.278Z,1761674643.278 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:04:03.278Z,1761674643.278 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:04:03.278Z,1761674643.278 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateRudder:A] Stopped 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:04:03.279Z,1761674643.279 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateCommandMode] Stopped 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:04:03.280Z,1761674643.280 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:04:03.281Z,1761674643.281 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:04:03.281Z,1761674643.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:04:03.281Z,1761674643.281 [marl:UpdateSpeed] Stopped 2025-10-28T18:04:03.281Z,1761674643.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:04:03.381Z,1761674643.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298652 2025-10-28T18:04:03.634Z,1761674643.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551419 2025-10-28T18:04:03.642Z,1761674643.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779007,-0.612885,-0.132361],[0.617615,0.786453,-0.006634],[0.108162,-0.076580,0.991179]] 2025-10-28T18:04:03.731Z,1761674643.731 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:04:03.731Z,1761674643.731 [marl:UpdateRudder:B] Stopped 2025-10-28T18:04:03.731Z,1761674643.731 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:04:03.731Z,1761674643.731 [marl:UpdateRudder] Stopped 2025-10-28T18:04:03.731Z,1761674643.731 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:04:03.885Z,1761674643.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802778 2025-10-28T18:04:04.047Z,1761674644.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772601,-0.605995,-0.189365],[0.617614,0.786476,0.003003],[0.147111,-0.119274,0.981902]] 2025-10-28T18:04:04.059Z,1761674644.059 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180403.00,A,3646.21597,N,12151.63646,W,0.058,105.11,281025,,,D*7A 2025-10-28T18:04:04.065Z,1761674644.065 [NAL9602](INFO): GPS fix at 20251028T180403: (36.770266, -121.860608) 2025-10-28T18:04:04.103Z,1761674644.103 [marl:NeedComms:E] Stopped 2025-10-28T18:04:04.105Z,1761674644.105 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T18:04:04.105Z,1761674644.105 [marl:NeedComms] Stopped 2025-10-28T18:04:04.105Z,1761674644.105 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T18:04:04.105Z,1761674644.105 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T18:04:04.105Z,1761674644.105 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T18:04:04.116Z,1761674644.116 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761674624.00. Resetting abort timer. 2025-10-28T18:04:04.137Z,1761674644.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055040 2025-10-28T18:04:04.389Z,1761674644.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306724 2025-10-28T18:04:04.446Z,1761674644.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776508,-0.610390,-0.156392],[0.621414,0.782919,0.029716],[0.104304,-0.120259,0.987248]] 2025-10-28T18:04:04.641Z,1761674644.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558749 2025-10-28T18:04:04.850Z,1761674644.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753420,-0.643306,-0.136072],[0.652936,0.756395,0.039253],[0.077673,-0.118420,0.989921]] 2025-10-28T18:04:04.893Z,1761674644.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810683 2025-10-28T18:04:05.145Z,1761674645.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063329 2025-10-28T18:04:05.263Z,1761674645.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730928,-0.672290,-0.117350],[0.679625,0.732697,0.035556],[0.062078,-0.105743,0.992454]] 2025-10-28T18:04:05.397Z,1761674645.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314799 2025-10-28T18:04:05.650Z,1761674645.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567770 2025-10-28T18:04:05.660Z,1761674645.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735726,-0.667534,-0.114478],[0.673666,0.738708,0.022014],[0.069871,-0.093316,0.993182]] 2025-10-28T18:04:05.902Z,1761674645.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820298 2025-10-28T18:04:06.066Z,1761674646.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738813,-0.654815,-0.159290],[0.664754,0.746955,0.012628],[0.110714,-0.115218,0.987151]] 2025-10-28T18:04:06.153Z,1761674646.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071086 2025-10-28T18:04:06.405Z,1761674646.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322667 2025-10-28T18:04:06.657Z,1761674646.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574788 2025-10-28T18:04:06.878Z,1761674646.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734193,-0.672784,-0.091228],[0.678522,0.731805,0.063793],[0.023842,-0.108736,0.993785]] 2025-10-28T18:04:06.911Z,1761674646.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828012 2025-10-28T18:04:07.161Z,1761674647.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078624 2025-10-28T18:04:07.275Z,1761674647.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709265,-0.704897,-0.007946],[0.701823,0.705023,0.101914],[-0.066236,-0.077861,0.994761]] 2025-10-28T18:04:07.414Z,1761674647.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331430 2025-10-28T18:04:07.665Z,1761674647.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582685 2025-10-28T18:04:07.680Z,1761674647.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711822,-0.702359,-0.001265],[0.701240,0.710583,0.057744],[-0.039658,-0.041990,0.998331]] 2025-10-28T18:04:07.917Z,1761674647.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834569 2025-10-28T18:04:08.087Z,1761674648.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737904,-0.666206,-0.108011],[0.669150,0.743037,-0.011548],[0.087949,-0.063755,0.994083]] 2025-10-28T18:04:08.169Z,1761674648.169 [DAT](INFO): Reached modem response timeout 2025-10-28T18:04:08.907Z,1761674648.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704543,-0.691500,-0.159519],[0.701613,0.712485,0.010237],[0.106576,-0.119133,0.987142]] 2025-10-28T18:04:09.702Z,1761674649.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717686,-0.664795,-0.207300],[0.686331,0.725631,0.049080],[0.117795,-0.177501,0.977045]] 2025-10-28T18:04:10.118Z,1761674650.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701817,-0.673957,-0.230727],[0.703215,0.707187,0.073311],[0.113759,-0.213702,0.970253]] 2025-10-28T18:04:10.437Z,1761674650.437 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:04:10.437Z,1761674650.437 [DAT](INFO): response not received 2025-10-28T18:04:10.437Z,1761674650.437 [DAT](ERROR): No response from remote modem. 2025-10-28T18:04:10.541Z,1761674650.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670096,-0.721301,-0.175204],[0.732973,0.680252,0.002828],[0.117143,-0.130315,0.984528]] 2025-10-28T18:04:10.925Z,1761674650.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647830,-0.739377,-0.183404],[0.742389,0.666747,-0.065624],[0.170805,-0.093644,0.980845]] 2025-10-28T18:04:11.325Z,1761674651.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606127,-0.778957,-0.160735],[0.775273,0.623763,-0.099360],[0.177658,-0.064389,0.981984]] 2025-10-28T18:04:11.727Z,1761674651.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604294,-0.783254,-0.146089],[0.773955,0.620601,-0.125894],[0.189270,-0.036989,0.981228]] 2025-10-28T18:04:12.134Z,1761674652.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608295,-0.767521,-0.202210],[0.757755,0.637388,-0.139804],[0.236189,-0.068183,0.969312]] 2025-10-28T18:04:12.536Z,1761674652.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585496,-0.772585,-0.245574],[0.768824,0.625253,-0.134045],[0.257107,-0.110321,0.960065]] 2025-10-28T18:04:12.935Z,1761674652.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577754,-0.780218,-0.239706],[0.782503,0.612996,-0.109203],[0.232141,-0.124478,0.964684]] 2025-10-28T18:04:13.339Z,1761674653.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582185,-0.785155,-0.211167],[0.797689,0.601838,-0.038519],[0.157332,-0.146020,0.976691]] 2025-10-28T18:04:14.155Z,1761674654.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538491,-0.806870,-0.242874],[0.810422,0.574857,-0.112939],[0.230745,-0.136014,0.963461]] 2025-10-28T18:04:14.551Z,1761674654.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539139,-0.806693,-0.242026],[0.805630,0.577744,-0.131041],[0.245539,-0.124334,0.961380]] 2025-10-28T18:04:14.961Z,1761674654.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554101,-0.807796,-0.201092],[0.811329,0.578118,-0.086742],[0.186325,-0.115088,0.975724]] 2025-10-28T18:04:15.359Z,1761674655.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570215,-0.801246,-0.181271],[0.798405,0.592476,-0.107338],[0.193403,-0.083522,0.977558]] 2025-10-28T18:04:15.771Z,1761674655.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570227,-0.805852,-0.159512],[0.794193,0.590425,-0.143720],[0.209997,-0.044730,0.976678]] 2025-10-28T18:04:16.166Z,1761674656.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573346,-0.806863,-0.142288],[0.789555,0.590506,-0.167053],[0.218811,-0.016565,0.975627]] 2025-10-28T18:04:16.432Z,1761674656.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:04:16.571Z,1761674656.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599696,-0.784208,-0.159316],[0.773224,0.619142,-0.137068],[0.206129,-0.040988,0.977666]] 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateRudder:A] Stopped 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:04:16.617Z,1761674656.617 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode] Stopped 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:04:16.618Z,1761674656.618 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:04:16.619Z,1761674656.619 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:04:16.619Z,1761674656.619 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:04:16.619Z,1761674656.619 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:04:16.619Z,1761674656.619 [marl:UpdateSpeed] Stopped 2025-10-28T18:04:16.619Z,1761674656.619 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:04:17.026Z,1761674657.026 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:04:17.026Z,1761674657.026 [marl:UpdateRudder:B] Stopped 2025-10-28T18:04:17.026Z,1761674657.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:04:17.026Z,1761674657.026 [marl:UpdateRudder] Stopped 2025-10-28T18:04:17.026Z,1761674657.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:04:17.380Z,1761674657.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628217,-0.759512,-0.168775],[0.771625,0.635998,0.010077],[0.099687,-0.136562,0.985603]] 2025-10-28T18:04:17.436Z,1761674657.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:04:17.789Z,1761674657.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624600,-0.759527,-0.181643],[0.775440,0.630756,0.028976],[0.092565,-0.158952,0.982938]] 2025-10-28T18:04:18.186Z,1761674658.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640476,-0.744113,-0.189963],[0.761854,0.646800,0.035043],[0.096792,-0.167168,0.981166]] 2025-10-28T18:04:18.590Z,1761674658.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653697,-0.728567,-0.204621],[0.748834,0.661781,0.035963],[0.109213,-0.176737,0.978180]] 2025-10-28T18:04:18.997Z,1761674658.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650381,-0.722157,-0.235570],[0.737748,0.674385,-0.030538],[0.180918,-0.153930,0.971378]] 2025-10-28T18:04:19.408Z,1761674659.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655620,-0.722158,-0.220568],[0.721038,0.685481,-0.101093],[0.224200,-0.092759,0.970119]] 2025-10-28T18:04:19.802Z,1761674659.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655734,-0.737272,-0.162611],[0.732557,0.673431,-0.099251],[0.182682,-0.054040,0.981686]] 2025-10-28T18:04:20.207Z,1761674660.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677702,-0.729926,-0.089039],[0.730170,0.682318,-0.035977],[0.087014,-0.040632,0.995378]] 2025-10-28T18:04:20.611Z,1761674660.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724334,-0.681917,-0.101635],[0.683914,0.729311,-0.019156],[0.087187,-0.055634,0.994637]] 2025-10-28T18:04:21.015Z,1761674661.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717947,-0.656483,-0.231478],[0.683909,0.727189,0.058854],[0.129692,-0.200565,0.971058]] 2025-10-28T18:04:21.421Z,1761674661.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704957,-0.667471,-0.239829],[0.706607,0.690126,0.156311],[0.061179,-0.279657,0.958149]] 2025-10-28T18:04:22.226Z,1761674662.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730874,-0.664925,-0.153939],[0.681179,0.724742,0.103654],[0.042644,-0.180618,0.982628]] 2025-10-28T18:04:22.631Z,1761674662.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746234,-0.656707,-0.108952],[0.660704,0.750646,0.000793],[0.081264,-0.072577,0.994047]] 2025-10-28T18:04:23.039Z,1761674663.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760002,-0.649227,-0.030033],[0.649698,0.760140,0.008938],[0.017027,-0.026305,0.999509]] 2025-10-28T18:04:23.445Z,1761674663.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754446,-0.655167,-0.039581],[0.655253,0.755305,-0.012577],[0.038136,-0.016447,0.999137]] 2025-10-28T18:04:23.843Z,1761674663.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777010,-0.629210,-0.018704],[0.626306,0.775725,-0.077411],[0.063217,0.048434,0.996824]] 2025-10-28T18:04:24.247Z,1761674664.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807202,-0.590216,-0.008416],[0.588453,0.805747,-0.067041],[0.046350,0.049163,0.997715]] 2025-10-28T18:04:24.657Z,1761674664.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812590,-0.581457,-0.040063],[0.580990,0.813567,-0.023643],[0.046341,-0.004065,0.998917]] 2025-10-28T18:04:25.055Z,1761674665.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824805,-0.555186,-0.107071],[0.559384,0.828830,0.011470],[0.082376,-0.069355,0.994185]] 2025-10-28T18:04:25.466Z,1761674665.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838033,-0.525626,-0.146350],[0.537905,0.840855,0.060181],[0.091427,-0.129156,0.987401]] 2025-10-28T18:04:25.864Z,1761674665.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854220,-0.502275,-0.134266],[0.517278,0.847021,0.122386],[0.052254,-0.173998,0.983359]] 2025-10-28T18:04:26.267Z,1761674666.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873992,-0.453852,-0.173656],[0.476280,0.870954,0.120818],[0.096413,-0.188303,0.977367]] 2025-10-28T18:04:26.696Z,1761674666.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885091,-0.431438,-0.174573],[0.456208,0.878487,0.141902],[0.092138,-0.205237,0.974366]] 2025-10-28T18:04:27.074Z,1761674667.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865388,-0.477309,-0.152575],[0.496035,0.859154,0.125711],[0.071082,-0.184471,0.980264]] 2025-10-28T18:04:27.480Z,1761674667.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864160,-0.487976,-0.122909],[0.498745,0.863030,0.080198],[0.066939,-0.130604,0.989172]] 2025-10-28T18:04:27.884Z,1761674667.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885418,-0.439177,-0.152181],[0.456387,0.883477,0.105731],[0.088014,-0.163070,0.982681]] 2025-10-28T18:04:28.286Z,1761674668.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885938,-0.413868,-0.209348],[0.451646,0.872500,0.186440],[0.105494,-0.259725,0.959903]] 2025-10-28T18:04:28.691Z,1761674668.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882408,-0.445786,-0.150433],[0.470107,0.848208,0.244014],[0.018821,-0.286040,0.958033]] 2025-10-28T18:04:29.094Z,1761674669.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914387,-0.392795,-0.098027],[0.404779,0.891316,0.204231],[0.007152,-0.226425,0.974002]] 2025-10-28T18:04:29.501Z,1761674669.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909312,-0.372832,-0.184790],[0.402198,0.901370,0.160526],[0.106715,-0.220290,0.969579]] 2025-10-28T18:04:29.562Z,1761674669.562 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:04:29.563Z,1761674669.563 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:04:29.563Z,1761674669.563 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:04:29.569Z,1761674669.569 [marl:UpdateRudder:A] Stopped 2025-10-28T18:04:29.569Z,1761674669.569 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:04:29.570Z,1761674669.570 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:04:29.570Z,1761674669.570 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:04:29.570Z,1761674669.570 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:04:29.571Z,1761674669.571 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:04:29.572Z,1761674669.572 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:04:29.576Z,1761674669.576 [marl:UpdateCommandMode] Stopped 2025-10-28T18:04:29.577Z,1761674669.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:04:29.577Z,1761674669.577 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:04:29.578Z,1761674669.578 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:04:29.578Z,1761674669.578 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:04:29.579Z,1761674669.579 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:04:29.579Z,1761674669.579 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:04:29.579Z,1761674669.579 [marl:UpdateSpeed] Stopped 2025-10-28T18:04:29.584Z,1761674669.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:04:29.903Z,1761674669.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896325,-0.400932,-0.189352],[0.430233,0.889706,0.152718],[0.107238,-0.218351,0.969960]] 2025-10-28T18:04:29.995Z,1761674669.995 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:04:29.995Z,1761674669.995 [marl:UpdateRudder:B] Stopped 2025-10-28T18:04:29.996Z,1761674669.996 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:04:29.996Z,1761674669.996 [marl:UpdateRudder] Stopped 2025-10-28T18:04:29.996Z,1761674669.996 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:04:30.307Z,1761674670.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905898,-0.399614,-0.140208],[0.421276,0.884187,0.201840],[0.043312,-0.241913,0.969331]] 2025-10-28T18:04:30.852Z,1761674670.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915924,-0.382418,-0.121822],[0.401067,0.883546,0.241851],[0.015148,-0.270376,0.962636]] 2025-10-28T18:04:31.264Z,1761674671.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915806,-0.383676,-0.118710],[0.400839,0.891613,0.210605],[0.025039,-0.240457,0.970337]] 2025-10-28T18:04:31.627Z,1761674671.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912138,-0.398257,-0.096927],[0.409355,0.897126,0.166114],[0.020800,-0.191197,0.981331]] 2025-10-28T18:04:32.034Z,1761674672.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912307,-0.404968,-0.060805],[0.409382,0.898239,0.159912],[-0.010142,-0.170781,0.985257]] 2025-10-28T18:04:32.438Z,1761674672.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926494,-0.363781,-0.096295],[0.375368,0.911495,0.168152],[0.026602,-0.191937,0.981047]] 2025-10-28T18:04:32.834Z,1761674672.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923482,-0.355187,-0.144993],[0.378889,0.903700,0.199424],[0.060197,-0.239101,0.969127]] 2025-10-28T18:04:33.239Z,1761674673.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939249,-0.332658,-0.084555],[0.342616,0.923453,0.172767],[0.020611,-0.191241,0.981327]] 2025-10-28T18:04:33.644Z,1761674673.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953626,-0.284928,-0.097023],[0.297876,0.939651,0.168304],[0.043214,-0.189400,0.980949]] 2025-10-28T18:04:34.456Z,1761674674.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949671,-0.296615,-0.100718],[0.310283,0.934868,0.172471],[0.043001,-0.195042,0.979852]] 2025-10-28T18:04:34.856Z,1761674674.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950040,-0.285418,-0.126340],[0.301197,0.944495,0.131185],[0.081885,-0.162684,0.983275]] 2025-10-28T18:04:35.258Z,1761674675.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953078,-0.273456,-0.129859],[0.285904,0.954096,0.089214],[0.099502,-0.122155,0.987511]] 2025-10-28T18:04:36.068Z,1761674676.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972568,-0.222283,-0.068565],[0.229702,0.964232,0.132266],[0.036712,-0.144387,0.988840]] 2025-10-28T18:04:36.071Z,1761674676.071 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T18:04:36.472Z,1761674676.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983678,-0.169340,-0.060841],[0.178261,0.963166,0.201334],[0.024506,-0.208893,0.977631]] 2025-10-28T18:04:36.875Z,1761674676.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974047,-0.180690,-0.136323],[0.206225,0.956693,0.205450],[0.093296,-0.228231,0.969127]] 2025-10-28T18:04:37.282Z,1761674677.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969956,-0.210829,-0.121397],[0.227441,0.962952,0.144893],[0.086352,-0.168151,0.981972]] 2025-10-28T18:04:37.685Z,1761674677.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980382,-0.184281,-0.069942],[0.190517,0.976929,0.096502],[0.050545,-0.107934,0.992872]] 2025-10-28T18:04:38.491Z,1761674678.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984970,-0.148007,-0.089043],[0.162507,0.968762,0.187328],[0.058536,-0.198982,0.978253]] 2025-10-28T18:04:38.894Z,1761674678.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987860,-0.148416,-0.045882],[0.154353,0.971108,0.182002],[0.017544,-0.186874,0.982227]] 2025-10-28T18:04:39.307Z,1761674679.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992813,-0.084524,-0.084722],[0.099958,0.974952,0.198686],[0.065806,-0.205726,0.976394]] 2025-10-28T18:04:39.704Z,1761674679.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988837,-0.067069,-0.133057],[0.099160,0.962725,0.251649],[0.111219,-0.262034,0.958629]] 2025-10-28T18:04:40.513Z,1761674680.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996118,-0.066255,-0.057953],[0.080375,0.953060,0.291917],[0.035892,-0.295442,0.954686]] 2025-10-28T18:04:40.927Z,1761674680.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996238,-0.027491,-0.082185],[0.050513,0.954796,0.292938],[0.070417,-0.295987,0.952593]] 2025-10-28T18:04:41.322Z,1761674681.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994891,-0.018811,-0.099188],[0.045589,0.960322,0.275141],[0.090076,-0.278257,0.956274]] 2025-10-28T18:04:41.724Z,1761674681.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996786,-0.000065,-0.080104],[0.017011,0.977361,0.210892],[0.078277,-0.211577,0.974222]] 2025-10-28T18:04:42.128Z,1761674682.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994778,0.013687,-0.101140],[0.001294,0.989196,0.146593],[0.102054,-0.145958,0.984013]] 2025-10-28T18:04:42.530Z,1761674682.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997244,0.016434,-0.072345],[-0.008527,0.994084,0.108282],[0.073696,-0.107367,0.991484]] 2025-10-28T18:04:42.988Z,1761674682.988 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:04:42.988Z,1761674682.988 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:04:42.988Z,1761674682.988 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateRudder:A] Stopped 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:04:42.989Z,1761674682.989 [marl:UpdateCommandMode] Stopped 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed] Stopped 2025-10-28T18:04:42.990Z,1761674682.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:04:43.342Z,1761674683.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992859,0.110760,-0.044301],[-0.101202,0.978676,0.178750],[0.063155,-0.172990,0.982897]] 2025-10-28T18:04:43.399Z,1761674683.399 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:04:43.399Z,1761674683.399 [marl:UpdateRudder:B] Stopped 2025-10-28T18:04:43.400Z,1761674683.400 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:04:43.404Z,1761674683.404 [marl:UpdateRudder] Stopped 2025-10-28T18:04:43.404Z,1761674683.404 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:04:43.743Z,1761674683.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994304,0.090623,-0.056104],[-0.075405,0.970118,0.230620],[0.075327,-0.225076,0.971425]] 2025-10-28T18:04:44.147Z,1761674684.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996881,0.077682,-0.013884],[-0.073094,0.975274,0.208561],[0.029742,-0.206895,0.977911]] 2025-10-28T18:04:44.556Z,1761674684.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995744,0.092159,-0.000831],[-0.090775,0.982271,0.164021],[0.015933,-0.163248,0.986456]] 2025-10-28T18:04:44.962Z,1761674684.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987350,0.148979,-0.054275],[-0.129620,0.955539,0.264848],[0.091318,-0.254462,0.962762]] 2025-10-28T18:04:45.371Z,1761674685.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993069,0.107933,-0.046523],[-0.088794,0.948308,0.304678],[0.077002,-0.298435,0.951319]] 2025-10-28T18:04:45.786Z,1761674685.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992620,0.115048,-0.038322],[-0.100835,0.958644,0.266147],[0.067356,-0.260319,0.963170]] 2025-10-28T18:04:46.178Z,1761674686.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981981,0.170973,-0.080505],[-0.147006,0.958798,0.243097],[0.118751,-0.226882,0.966655]] 2025-10-28T18:04:46.582Z,1761674686.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964464,0.231329,-0.127655],[-0.188996,0.941656,0.278504],[0.184633,-0.244481,0.951914]] 2025-10-28T18:04:46.989Z,1761674686.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971192,0.197397,-0.133493],[-0.159320,0.954452,0.252266],[0.177209,-0.223731,0.958406]] 2025-10-28T18:04:47.391Z,1761674687.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975536,0.208636,-0.069281],[-0.195657,0.967680,0.159102],[0.100236,-0.141655,0.984828]] 2025-10-28T18:04:47.559Z,1761674687.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:04:47.795Z,1761674687.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966188,0.254485,-0.041441],[-0.243448,0.953350,0.178486],[0.084929,-0.162362,0.983069]] 2025-10-28T18:04:48.198Z,1761674688.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967538,0.250676,-0.032129],[-0.240673,0.952709,0.185532],[0.077118,-0.171777,0.982113]] 2025-10-28T18:04:48.560Z,1761674688.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:04:48.602Z,1761674688.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963223,0.267641,-0.023890],[-0.260759,0.952499,0.157322],[0.064861,-0.145306,0.987258]] 2025-10-28T18:04:49.006Z,1761674689.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945134,0.322680,-0.050976],[-0.312112,0.938002,0.150795],[0.096474,-0.126611,0.987250]] 2025-10-28T18:04:49.419Z,1761674689.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925155,0.365025,-0.104137],[-0.330121,0.909138,0.253945],[0.187372,-0.200560,0.961596]] 2025-10-28T18:04:49.816Z,1761674689.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933373,0.351636,-0.071885],[-0.302011,0.877707,0.372048],[0.193919,-0.325549,0.925426]] 2025-10-28T18:04:50.218Z,1761674690.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926445,0.374242,-0.040518],[-0.338675,0.875667,0.344247],[0.164312,-0.305204,0.938005]] 2025-10-28T18:04:50.622Z,1761674690.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900823,0.424891,-0.089365],[-0.381206,0.872496,0.305668],[0.207846,-0.241286,0.947935]] 2025-10-28T18:04:51.027Z,1761674691.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890547,0.439302,-0.118067],[-0.394793,0.875340,0.279139],[0.225975,-0.201974,0.952965]] 2025-10-28T18:04:51.438Z,1761674691.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880016,0.440236,-0.178227],[-0.401705,0.890122,0.215211],[0.253387,-0.117795,0.960166]] 2025-10-28T18:04:51.834Z,1761674691.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872817,0.440209,-0.210728],[-0.406962,0.894798,0.183627],[0.269394,-0.074514,0.960143]] 2025-10-28T18:04:52.238Z,1761674692.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865956,0.460422,-0.195272],[-0.423657,0.882826,0.202815],[0.265772,-0.092900,0.959549]] 2025-10-28T18:04:52.642Z,1761674692.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843380,0.510231,-0.168446],[-0.455928,0.845442,0.278133],[0.284324,-0.157773,0.945657]] 2025-10-28T18:04:53.048Z,1761674693.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814360,0.562030,-0.144708],[-0.477480,0.790570,0.383422],[0.329896,-0.243148,0.912166]] 2025-10-28T18:04:53.451Z,1761674693.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800385,0.592384,-0.092005],[-0.489019,0.733937,0.471378],[0.346762,-0.332292,0.877119]] 2025-10-28T18:04:53.865Z,1761674693.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790939,0.610690,-0.038389],[-0.512686,0.695642,0.503225],[0.334019,-0.378339,0.863302]] 2025-10-28T18:04:54.266Z,1761674694.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789648,0.613560,-0.000217],[-0.532368,0.685329,0.496899],[0.305026,-0.392260,0.867809]] 2025-10-28T18:04:54.672Z,1761674694.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786712,0.617301,0.004932],[-0.550525,0.697950,0.458027],[0.279298,-0.363050,0.888925]] 2025-10-28T18:04:55.079Z,1761674695.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779867,0.625047,-0.033505],[-0.556409,0.716759,0.420315],[0.286732,-0.309147,0.906759]] 2025-10-28T18:04:55.478Z,1761674695.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780962,0.617289,-0.095145],[-0.537418,0.741755,0.401224],[0.318245,-0.262208,0.911025]] 2025-10-28T18:04:55.884Z,1761674695.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778825,0.616390,-0.116171],[-0.526776,0.743304,0.412318],[0.340499,-0.259928,0.903603]] 2025-10-28T18:04:56.288Z,1761674696.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756545,0.640211,-0.133298],[-0.544032,0.729283,0.414940],[0.362861,-0.241402,0.900031]] 2025-10-28T18:04:56.311Z,1761674696.311 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:04:56.311Z,1761674696.311 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateRudder:A] Stopped 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:04:56.312Z,1761674696.312 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateCommandMode] Stopped 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:04:56.313Z,1761674696.313 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:04:56.314Z,1761674696.314 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:04:56.314Z,1761674696.314 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:04:56.314Z,1761674696.314 [marl:UpdateSpeed] Stopped 2025-10-28T18:04:56.314Z,1761674696.314 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:04:56.717Z,1761674696.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726294,0.674128,-0.134343],[-0.566217,0.697543,0.439127],[0.389738,-0.242868,0.888324]] 2025-10-28T18:04:56.740Z,1761674696.740 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:04:56.740Z,1761674696.740 [marl:UpdateRudder:B] Stopped 2025-10-28T18:04:56.740Z,1761674696.740 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:04:56.740Z,1761674696.740 [marl:UpdateRudder] Stopped 2025-10-28T18:04:56.740Z,1761674696.740 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:04:57.096Z,1761674697.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705716,0.701402,-0.099998],[-0.576980,0.650873,0.493415],[0.411168,-0.290514,0.864027]] 2025-10-28T18:04:57.502Z,1761674697.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705517,0.707712,-0.037287],[-0.577930,0.604994,0.547704],[0.410174,-0.364865,0.835841]] 2025-10-28T18:04:57.913Z,1761674697.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706022,0.708179,-0.003892],[-0.584576,0.585880,0.561263],[0.399755,-0.393989,0.827628]] 2025-10-28T18:04:57.983Z,1761674697.983 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:04:58.093Z,1761674698.093 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:04:58.094Z,1761674698.094 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:04:58.307Z,1761674698.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690500,0.723106,-0.018087],[-0.599542,0.586139,0.544968],[0.404671,-0.365457,0.838261]] 2025-10-28T18:04:58.345Z,1761674698.345 [DAT](INFO): DAT read: 2025-10-28T18:04:58.346Z,1761674698.346 [DAT](INFO): DAT read: Tx time:18:04:58.0999 2025-10-28T18:04:58.346Z,1761674698.346 [DAT](INFO): Ping request sent. 2025-10-28T18:04:58.346Z,1761674698.346 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:04:58.346Z,1761674698.346 [DAT](INFO): publishing transmit ping time 2025-10-28T18:04:58.347Z,1761674698.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T18:04:58.597Z,1761674698.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250906 2025-10-28T18:04:58.711Z,1761674698.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673274,0.738830,-0.028842],[-0.612361,0.579038,0.538265],[0.414387,-0.344739,0.842282]] 2025-10-28T18:04:58.849Z,1761674698.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503221 2025-10-28T18:04:59.101Z,1761674699.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933 2025-10-28T18:04:59.116Z,1761674699.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662042,0.749226,-0.018960],[-0.619585,0.561370,0.548614],[0.421680,-0.351458,0.835860]] 2025-10-28T18:04:59.354Z,1761674699.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007564 2025-10-28T18:04:59.529Z,1761674699.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651934,0.758253,-0.005974],[-0.624128,0.541056,0.563669],[0.430636,-0.363747,0.825979]] 2025-10-28T18:04:59.606Z,1761674699.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259560 2025-10-28T18:04:59.857Z,1761674699.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510945 2025-10-28T18:04:59.923Z,1761674699.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643140,0.765743,-0.002878],[-0.627140,0.528878,0.571825],[0.439393,-0.365959,0.820371]] 2025-10-28T18:05:00.112Z,1761674700.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765848 2025-10-28T18:05:00.326Z,1761674700.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628242,0.777935,-0.011353],[-0.633442,0.519917,0.573095],[0.451733,-0.352851,0.819411]] 2025-10-28T18:05:00.361Z,1761674700.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014829 2025-10-28T18:05:00.613Z,1761674700.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267027 2025-10-28T18:05:00.731Z,1761674700.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610583,0.791643,-0.022117],[-0.640476,0.510031,0.574159],[0.465809,-0.336406,0.818445]] 2025-10-28T18:05:00.865Z,1761674700.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518870 2025-10-28T18:05:01.117Z,1761674701.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771542 2025-10-28T18:05:01.135Z,1761674701.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598433,0.801066,-0.013099],[-0.646698,0.492635,0.582317],[0.472927,-0.340006,0.812856]] 2025-10-28T18:05:01.380Z,1761674701.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033999 2025-10-28T18:05:01.579Z,1761674701.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588829,0.808161,0.012516],[-0.655335,0.468302,0.592646],[0.473092,-0.357169,0.805366]] 2025-10-28T18:05:01.629Z,1761674701.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283028 2025-10-28T18:05:01.882Z,1761674701.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535757 2025-10-28T18:05:01.942Z,1761674701.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576980,0.815910,0.037208],[-0.666990,0.444397,0.598026],[0.471401,-0.369866,0.800612]] 2025-10-28T18:05:02.133Z,1761674702.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787025 2025-10-28T18:05:02.347Z,1761674702.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563403,0.824619,0.050798],[-0.679531,0.427548,0.596189],[0.469910,-0.370413,0.801236]] 2025-10-28T18:05:02.385Z,1761674702.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039395 2025-10-28T18:05:02.637Z,1761674702.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290901 2025-10-28T18:05:02.757Z,1761674702.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549252,0.833624,0.058251],[-0.692027,0.414668,0.590889],[0.468424,-0.364858,0.804647]] 2025-10-28T18:05:02.890Z,1761674702.890 [DAT](INFO): DAT read: Rx Time:18:05:02.0622 2025-10-28T18:05:02.890Z,1761674702.890 [DAT](INFO): Rx dataTimestamp_ set to:1761674702.890178 2025-10-28T18:05:02.891Z,1761674702.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545063 2025-10-28T18:05:03.141Z,1761674703.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794862 2025-10-28T18:05:03.156Z,1761674703.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537097,0.840724,0.068625],[-0.703690,0.401716,0.586041],[0.465131,-0.363052,0.807370]] 2025-10-28T18:05:03.403Z,1761674703.403 [DAT](INFO): DAT read: 18:05:02.0622 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 380, 0.40, 2.738, 2.552, 1.078, 2.971, PHS=-0.131,-0.374,-1.938, RAW= 37.1, 27.0, CAL= 34.2, 31.8, ROT= 115.8, -31.8 2025-10-28T18:05:03.405Z,1761674703.405 [DAT](INFO): got valid direction response: 18:05:02.0622 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 380, 0.40, 2.738, 2.552, 1.078, 2.971, PHS=-0.131,-0.374,-1.938, RAW= 37.1, 27.0, CAL= 34.2, 31.8, ROT= 115.8, -31.8 2025-10-28T18:05:03.406Z,1761674703.406 [DAT](INFO): DAT read: $Error in header 2025-10-28T18:05:03.406Z,1761674703.406 [DAT](INFO): Received a bad header 2025-10-28T18:05:03.420Z,1761674703.420 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T18:05:03.421Z,1761674703.421 [DAT](INFO): direction in FSK: [-0.369900,0.765174,0.526956] 2025-10-28T18:05:03.597Z,1761674703.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527393,0.845852,0.079949],[-0.714521,0.390649,0.580390],[0.459692,-0.363219,0.810404]] 2025-10-28T18:05:03.670Z,1761674703.670 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674752.00. Resetting abort timer. 2025-10-28T18:05:03.964Z,1761674703.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515097,0.853096,0.083076],[-0.725025,0.381959,0.573102],[0.457179,-0.355435,0.815262]] 2025-10-28T18:05:04.366Z,1761674704.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496413,0.864606,0.077650],[-0.733789,0.370140,0.569693],[0.463819,-0.339782,0.818181]] 2025-10-28T18:05:04.776Z,1761674704.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473967,0.877265,0.075897],[-0.740316,0.350338,0.573755],[0.476746,-0.328129,0.815503]] 2025-10-28T18:05:05.175Z,1761674705.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453061,0.887516,0.083968],[-0.746132,0.325961,0.580548],[0.487875,-0.325675,0.809885]] 2025-10-28T18:05:05.984Z,1761674705.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419593,0.896386,0.142945],[-0.766303,0.265396,0.585101],[0.486540,-0.355044,0.798262]] 2025-10-28T18:05:06.395Z,1761674706.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404385,0.898062,0.173081],[-0.779916,0.239762,0.578139],[0.477707,-0.368779,0.797369]] 2025-10-28T18:05:06.792Z,1761674706.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385246,0.901852,0.195574],[-0.793831,0.215805,0.568560],[0.470551,-0.374288,0.799056]] 2025-10-28T18:05:07.195Z,1761674707.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365089,0.906253,0.213110],[-0.806356,0.193415,0.558910],[0.465295,-0.375894,0.801377]] 2025-10-28T18:05:07.605Z,1761674707.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344344,0.910530,0.228830],[-0.817524,0.170965,0.549932],[0.461608,-0.376439,0.803251]] 2025-10-28T18:05:08.002Z,1761674708.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323799,0.914088,0.244126],[-0.827729,0.148705,0.541064],[0.458278,-0.377266,0.804768]] 2025-10-28T18:05:08.409Z,1761674708.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302935,0.917877,0.256383],[-0.837506,0.128030,0.531217],[0.454768,-0.375647,0.807512]] 2025-10-28T18:05:08.432Z,1761674708.432 [DAT](INFO): Reached modem response timeout 2025-10-28T18:05:08.811Z,1761674708.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284401,0.919334,0.271920],[-0.847220,0.108259,0.520095],[0.448703,-0.378292,0.809667]] 2025-10-28T18:05:09.216Z,1761674709.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267578,0.918296,0.291777],[-0.857871,0.089174,0.506069],[0.438702,-0.385720,0.811640]] 2025-10-28T18:05:09.240Z,1761674709.240 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:05:09.240Z,1761674709.240 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateRudder:A] Stopped 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:05:09.241Z,1761674709.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateCommandMode] Stopped 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:05:09.242Z,1761674709.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:05:09.243Z,1761674709.243 [marl:UpdateSpeed] Stopped 2025-10-28T18:05:09.243Z,1761674709.243 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:05:09.619Z,1761674709.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250613,0.917049,0.310186],[-0.869886,0.072708,0.487864],[0.424842,-0.392091,0.815949]] 2025-10-28T18:05:09.671Z,1761674709.671 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:05:09.671Z,1761674709.671 [marl:UpdateRudder:B] Stopped 2025-10-28T18:05:09.671Z,1761674709.671 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:05:09.671Z,1761674709.671 [marl:UpdateRudder] Stopped 2025-10-28T18:05:09.671Z,1761674709.671 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:05:10.023Z,1761674710.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232568,0.918238,0.320548],[-0.882984,0.061172,0.465401],[0.407740,-0.391276,0.825015]] 2025-10-28T18:05:10.428Z,1761674710.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212551,0.921760,0.324315],[-0.896237,0.051658,0.440557],[0.389335,-0.384304,0.837096]] 2025-10-28T18:05:10.701Z,1761674710.701 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:05:10.701Z,1761674710.701 [DAT](INFO): response not received 2025-10-28T18:05:10.701Z,1761674710.701 [DAT](ERROR): No response from remote modem. 2025-10-28T18:05:10.833Z,1761674710.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190139,0.927689,0.321311],[-0.908504,0.042212,0.415739],[0.372113,-0.370961,0.850835]] 2025-10-28T18:05:11.234Z,1761674711.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165408,0.934229,0.316000],[-0.918953,0.029689,0.393248],[0.358002,-0.355435,0.863424]] 2025-10-28T18:05:11.638Z,1761674711.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138658,0.938663,0.315730],[-0.927330,0.011158,0.374078],[0.347610,-0.344655,0.871998]] 2025-10-28T18:05:12.043Z,1761674712.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109611,0.940369,0.322013],[-0.933944,-0.013443,0.357167],[0.340197,-0.339891,0.876778]] 2025-10-28T18:05:12.448Z,1761674712.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077375,0.939920,0.332512],[-0.938995,-0.043400,0.341180],[0.335113,-0.338626,0.879222]] 2025-10-28T18:05:12.850Z,1761674712.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043451,0.936765,0.347252],[-0.942838,-0.076502,0.324351],[0.330406,-0.341496,0.879893]] 2025-10-28T18:05:13.254Z,1761674713.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011829,0.931623,0.363233],[-0.945863,-0.107406,0.306279],[0.324350,-0.347192,0.879917]] 2025-10-28T18:05:13.659Z,1761674713.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017358,0.924369,0.381105],[-0.948093,-0.136261,0.287320],[0.317519,-0.356336,0.878753]] 2025-10-28T18:05:14.064Z,1761674714.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044546,0.915504,0.399835],[-0.949679,-0.163019,0.267460],[0.310042,-0.367801,0.876696]] 2025-10-28T18:05:14.880Z,1761674714.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088296,0.897556,0.431968],[-0.952493,-0.202979,0.227063],[0.291482,-0.391398,0.872838]] 2025-10-28T18:05:15.275Z,1761674715.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103937,0.891769,0.440393],[-0.954369,-0.214062,0.208223],[0.279958,-0.398655,0.873326]] 2025-10-28T18:05:15.681Z,1761674715.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118228,0.888604,0.443176],[-0.956416,-0.221911,0.189801],[0.267004,-0.401420,0.876111]] 2025-10-28T18:05:16.083Z,1761674716.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134559,0.888430,0.438846],[-0.958122,-0.229628,0.171096],[0.252778,-0.397446,0.882122]] 2025-10-28T18:05:16.487Z,1761674716.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152487,0.890879,0.427881],[-0.959259,-0.237607,0.152858],[0.237846,-0.387140,0.890815]] 2025-10-28T18:05:16.895Z,1761674716.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172289,0.894297,0.412976],[-0.959504,-0.247213,0.135045],[0.222863,-0.372985,0.900674]] 2025-10-28T18:05:17.297Z,1761674717.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194134,0.896611,0.397996],[-0.958507,-0.259710,0.117539],[0.208750,-0.358664,0.909826]] 2025-10-28T18:05:17.698Z,1761674717.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219165,0.896375,0.385328],[-0.955633,-0.276872,0.100537],[0.196806,-0.346198,0.917286]] 2025-10-28T18:05:18.105Z,1761674718.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247319,0.891778,0.378901],[-0.950645,-0.298948,0.083090],[0.187370,-0.339651,0.921699]] 2025-10-28T18:05:18.507Z,1761674718.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276898,0.884581,0.375293],[-0.944021,-0.323309,0.065538],[0.179310,-0.336137,0.924586]] 2025-10-28T18:05:18.680Z,1761674718.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:05:18.910Z,1761674718.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303339,0.875348,0.376498],[-0.937489,-0.344889,0.046538],[0.170587,-0.338846,0.925248]] 2025-10-28T18:05:19.314Z,1761674719.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327136,0.866280,0.377546],[-0.931172,-0.363554,0.027333],[0.160937,-0.342618,0.925587]] 2025-10-28T18:05:19.684Z,1761674719.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:05:19.719Z,1761674719.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349144,0.856073,0.381100],[-0.924843,-0.380285,0.006949],[0.150876,-0.350031,0.924508]] 2025-10-28T18:05:20.131Z,1761674720.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369671,0.846589,0.382925],[-0.918499,-0.395211,-0.012954],[0.140369,-0.356505,0.923689]] 2025-10-28T18:05:20.527Z,1761674720.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389789,0.836438,0.385275],[-0.911716,-0.409456,-0.033463],[0.129764,-0.364305,0.922195]] 2025-10-28T18:05:20.931Z,1761674720.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408008,0.826611,0.387614],[-0.905189,-0.421600,-0.053726],[0.119008,-0.372784,0.920255]] 2025-10-28T18:05:21.334Z,1761674721.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424977,0.818019,0.387607],[-0.898726,-0.432435,-0.072749],[0.108105,-0.379269,0.918950]] 2025-10-28T18:05:21.748Z,1761674721.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439743,0.811428,0.384981],[-0.892859,-0.441309,-0.089714],[0.097100,-0.383185,0.918554]] 2025-10-28T18:05:22.146Z,1761674722.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454063,0.805414,0.380964],[-0.886806,-0.449833,-0.105952],[0.086035,-0.385950,0.918499]] 2025-10-28T18:05:22.547Z,1761674722.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468627,0.800441,0.373742],[-0.880207,-0.459005,-0.120624],[0.074997,-0.385497,0.919656]] 2025-10-28T18:05:22.590Z,1761674722.590 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:05:22.590Z,1761674722.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:05:22.591Z,1761674722.591 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:05:22.596Z,1761674722.596 [marl:UpdateRudder:A] Stopped 2025-10-28T18:05:22.596Z,1761674722.596 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode] Stopped 2025-10-28T18:05:22.597Z,1761674722.597 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed] Stopped 2025-10-28T18:05:22.598Z,1761674722.598 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:05:22.951Z,1761674722.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484455,0.796246,0.362347],[-0.872453,-0.470179,-0.133258],[0.064261,-0.380688,0.922468]] 2025-10-28T18:05:22.976Z,1761674722.976 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:05:22.976Z,1761674722.976 [marl:UpdateRudder:B] Stopped 2025-10-28T18:05:22.976Z,1761674722.976 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:05:22.976Z,1761674722.976 [marl:UpdateRudder] Stopped 2025-10-28T18:05:22.976Z,1761674722.976 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:05:23.365Z,1761674723.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501963,0.792165,0.347141],[-0.863223,-0.483769,-0.144267],[0.053653,-0.372077,0.926650]] 2025-10-28T18:05:23.764Z,1761674723.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521451,0.786953,0.329838],[-0.852181,-0.499925,-0.154479],[0.043327,-0.361635,0.931313]] 2025-10-28T18:05:24.165Z,1761674724.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542932,0.778903,0.313904],[-0.839119,-0.517971,-0.166087],[0.033228,-0.353577,0.934815]] 2025-10-28T18:05:24.567Z,1761674724.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566106,0.768246,0.298867],[-0.823979,-0.537973,-0.177886],[0.024123,-0.346963,0.937569]] 2025-10-28T18:05:24.972Z,1761674724.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589869,0.755075,0.286210],[-0.807337,-0.558548,-0.190344],[0.016138,-0.343346,0.939070]] 2025-10-28T18:05:25.379Z,1761674725.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614152,0.739248,0.276279],[-0.789136,-0.579255,-0.204276],[0.009025,-0.343478,0.939117]] 2025-10-28T18:05:25.783Z,1761674725.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637114,0.722272,0.269090],[-0.770765,-0.598196,-0.219277],[0.002591,-0.347109,0.937821]] 2025-10-28T18:05:26.186Z,1761674726.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656925,0.706218,0.264020],[-0.753945,-0.613407,-0.235157],[-0.004120,-0.353537,0.935412]] 2025-10-28T18:05:26.589Z,1761674726.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673332,0.692070,0.260123],[-0.739262,-0.625098,-0.250486],[-0.010752,-0.360959,0.932520]] 2025-10-28T18:05:26.991Z,1761674726.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687236,0.679474,0.256946],[-0.726234,-0.634326,-0.264981],[-0.017060,-0.368708,0.929389]] 2025-10-28T18:05:27.395Z,1761674727.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699029,0.668367,0.254253],[-0.714717,-0.641471,-0.278737],[-0.023202,-0.376564,0.926100]] 2025-10-28T18:05:27.805Z,1761674727.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718495,0.651425,0.243744],[-0.694671,-0.654666,-0.298067],[-0.034598,-0.383482,0.922900]] 2025-10-28T18:05:28.219Z,1761674728.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727160,0.644571,0.236150],[-0.685281,-0.661380,-0.304903],[-0.040347,-0.383542,0.922642]] 2025-10-28T18:05:28.611Z,1761674728.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735844,0.638144,0.226509],[-0.675553,-0.668850,-0.310270],[-0.046496,-0.381329,0.923269]] 2025-10-28T18:05:29.015Z,1761674729.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745638,0.630641,0.215213],[-0.664278,-0.678024,-0.314672],[-0.052525,-0.377592,0.924481]] 2025-10-28T18:05:29.419Z,1761674729.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757327,0.620605,0.203238],[-0.650454,-0.689219,-0.319198],[-0.058021,-0.373934,0.925639]] 2025-10-28T18:05:29.819Z,1761674729.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770578,0.608441,0.189760],[-0.634220,-0.702576,-0.322725],[-0.063038,-0.369034,0.927275]] 2025-10-28T18:05:30.223Z,1761674730.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784909,0.594255,0.175439],[-0.615879,-0.717221,-0.326018],[-0.067909,-0.363944,0.928942]] 2025-10-28T18:05:30.627Z,1761674730.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799230,0.578787,0.161975],[-0.596675,-0.731726,-0.329478],[-0.072176,-0.359975,0.930166]] 2025-10-28T18:05:31.032Z,1761674731.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812873,0.562539,0.150952],[-0.577504,-0.744774,-0.334365],[-0.075668,-0.358972,0.930276]] 2025-10-28T18:05:31.434Z,1761674731.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825142,0.546623,0.142636],[-0.559414,-0.755433,-0.341142],[-0.078724,-0.361282,0.929127]] 2025-10-28T18:05:31.843Z,1761674731.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835516,0.532288,0.136316],[-0.543347,-0.763463,-0.349138],[-0.081769,-0.365778,0.927103]] 2025-10-28T18:05:32.250Z,1761674732.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844695,0.519019,0.130805],[-0.528660,-0.770778,-0.355556],[-0.083719,-0.369488,0.925457]] 2025-10-28T18:05:32.649Z,1761674732.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854229,0.504778,0.124470],[-0.512885,-0.779009,-0.360686],[-0.085103,-0.371947,0.924345]] 2025-10-28T18:05:33.051Z,1761674733.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864168,0.489539,0.116471],[-0.495734,-0.788490,-0.364047],[-0.086379,-0.372337,0.924069]] 2025-10-28T18:05:33.454Z,1761674733.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874572,0.472790,0.107675],[-0.476989,-0.798895,-0.366399],[-0.087208,-0.371802,0.924207]] 2025-10-28T18:05:33.865Z,1761674733.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884169,0.456522,0.099166],[-0.458727,-0.808239,-0.369215],[-0.088405,-0.371938,0.924038]] 2025-10-28T18:05:34.270Z,1761674734.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892485,0.441608,0.091938],[-0.442154,-0.816128,-0.372068],[-0.089275,-0.372716,0.923641]] 2025-10-28T18:05:34.670Z,1761674734.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899419,0.428629,0.085575],[-0.427722,-0.822801,-0.374236],[-0.089997,-0.373197,0.923377]] 2025-10-28T18:05:35.070Z,1761674735.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905311,0.416999,0.080765],[-0.414930,-0.827599,-0.378039],[-0.090801,-0.375755,0.922260]] 2025-10-28T18:05:35.474Z,1761674735.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910990,0.405540,0.075068],[-0.402161,-0.833110,-0.379728],[-0.091455,-0.376118,0.922047]] 2025-10-28T18:05:35.880Z,1761674735.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917118,0.392673,0.068576],[-0.387819,-0.839205,-0.381223],[-0.092146,-0.376221,0.921936]] 2025-10-28T18:05:35.922Z,1761674735.922 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:05:35.922Z,1761674735.922 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:05:35.922Z,1761674735.922 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateRudder:A] Stopped 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:05:35.923Z,1761674735.923 [marl:UpdateCommandMode] Stopped 2025-10-28T18:05:35.924Z,1761674735.924 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:05:35.925Z,1761674735.925 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:05:35.925Z,1761674735.925 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:05:35.925Z,1761674735.925 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:05:35.926Z,1761674735.926 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:05:35.926Z,1761674735.926 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:05:35.926Z,1761674735.926 [marl:UpdateSpeed] Stopped 2025-10-28T18:05:35.926Z,1761674735.926 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:05:36.286Z,1761674736.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924107,0.377383,0.060072],[-0.370628,-0.846854,-0.381409],[-0.093065,-0.374727,0.922453]] 2025-10-28T18:05:36.323Z,1761674736.323 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:05:36.323Z,1761674736.323 [marl:UpdateRudder:B] Stopped 2025-10-28T18:05:36.323Z,1761674736.323 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:05:36.323Z,1761674736.323 [marl:UpdateRudder] Stopped 2025-10-28T18:05:36.323Z,1761674736.323 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:05:36.688Z,1761674736.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931599,0.359886,0.051037],[-0.351146,-0.854776,-0.382172],[-0.093914,-0.373952,0.922681]] 2025-10-28T18:05:37.090Z,1761674737.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938906,0.341578,0.042191],[-0.330762,-0.861627,-0.384961],[-0.095142,-0.375397,0.921968]] 2025-10-28T18:05:37.496Z,1761674737.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945503,0.323735,0.034917],[-0.311188,-0.866846,-0.389538],[-0.095840,-0.379175,0.920348]] 2025-10-28T18:05:37.898Z,1761674737.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951123,0.307469,0.028780],[-0.293405,-0.870664,-0.394787],[-0.096327,-0.383936,0.918322]] 2025-10-28T18:05:38.306Z,1761674738.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955987,0.292437,0.023882],[-0.277206,-0.873517,-0.400156],[-0.096159,-0.389164,0.916136]] 2025-10-28T18:05:38.709Z,1761674738.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959858,0.279721,0.020731],[-0.263669,-0.874626,-0.406826],[-0.095666,-0.395961,0.913270]] 2025-10-28T18:05:39.110Z,1761674739.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963161,0.268385,0.017029],[-0.251551,-0.876738,-0.409942],[-0.095093,-0.399124,0.911952]] 2025-10-28T18:05:39.518Z,1761674739.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966109,0.257840,0.012336],[-0.240098,-0.880025,-0.409767],[-0.094798,-0.398841,0.912107]] 2025-10-28T18:05:39.919Z,1761674739.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968840,0.247567,0.007761],[-0.228931,-0.883070,-0.409606],[-0.094552,-0.398619,0.912230]] 2025-10-28T18:05:40.336Z,1761674740.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971523,0.236929,0.002874],[-0.217458,-0.886735,-0.407937],[-0.094103,-0.396945,0.913006]] 2025-10-28T18:05:40.730Z,1761674740.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974566,0.224087,-0.002405],[-0.203988,-0.891497,-0.404502],[-0.092787,-0.393723,0.914534]] 2025-10-28T18:05:41.131Z,1761674741.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978278,0.207095,-0.009157],[-0.186389,-0.898082,-0.398381],[-0.090726,-0.388021,0.917174]] 2025-10-28T18:05:41.564Z,1761674741.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982181,0.187208,-0.016515],[-0.165731,-0.904225,-0.393586],[-0.088615,-0.383836,0.919139]] 2025-10-28T18:05:41.940Z,1761674741.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985742,0.166657,-0.023212],[-0.144448,-0.908873,-0.391259],[-0.086303,-0.382327,0.919988]] 2025-10-28T18:05:42.355Z,1761674742.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988839,0.146061,-0.029400],[-0.122959,-0.911459,-0.392586],[-0.084138,-0.384589,0.919245]] 2025-10-28T18:05:42.748Z,1761674742.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991377,0.126165,-0.035419],[-0.101915,-0.912226,-0.396810],[-0.082374,-0.389778,0.917217]] 2025-10-28T18:05:43.151Z,1761674743.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993435,0.106579,-0.041574],[-0.081047,-0.912156,-0.401751],[-0.080741,-0.395744,0.914805]] 2025-10-28T18:05:43.591Z,1761674743.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995055,0.086666,-0.048523],[-0.059701,-0.912298,-0.405152],[-0.079380,-0.400252,0.912961]] 2025-10-28T18:05:43.959Z,1761674743.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996183,0.066323,-0.056752],[-0.037833,-0.913972,-0.404010],[-0.078665,-0.400320,0.912993]] 2025-10-28T18:05:44.367Z,1761674744.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996766,0.046197,-0.065757],[-0.015927,-0.915587,-0.401803],[-0.078769,-0.399457,0.913362]] 2025-10-28T18:05:44.773Z,1761674744.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996857,0.027179,-0.074413],[0.004704,-0.917342,-0.398071],[-0.079081,-0.397170,0.914331]] 2025-10-28T18:05:45.170Z,1761674745.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996576,0.010071,-0.082064],[0.023102,-0.919103,-0.393339],[-0.079387,-0.393888,0.915724]] 2025-10-28T18:05:45.597Z,1761674745.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995992,-0.005674,-0.089263],[0.040354,-0.919146,-0.391843],[-0.079822,-0.393875,0.915691]] 2025-10-28T18:05:45.978Z,1761674745.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995224,-0.019614,-0.095630],[0.055717,-0.918506,-0.391461],[-0.080159,-0.394920,0.915212]] 2025-10-28T18:05:46.390Z,1761674746.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994286,-0.032873,-0.101558],[0.070351,-0.917342,-0.391835],[-0.080283,-0.396741,0.914413]] 2025-10-28T18:05:46.789Z,1761674746.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993163,-0.047194,-0.106773],[0.085382,-0.917401,-0.388697],[-0.079610,-0.395156,0.915158]] 2025-10-28T18:05:47.190Z,1761674747.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991999,-0.061350,-0.110336],[0.099787,-0.916409,-0.387604],[-0.077334,-0.395513,0.915199]] 2025-10-28T18:05:47.602Z,1761674747.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990733,-0.076429,-0.112279],[0.114528,-0.914477,-0.388091],[-0.073015,-0.397353,0.914756]] 2025-10-28T18:05:47.999Z,1761674747.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989493,-0.091806,-0.111695],[0.128275,-0.913852,-0.385252],[-0.066704,-0.395532,0.916027]] 2025-10-28T18:05:48.402Z,1761674748.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988094,-0.107484,-0.110082],[0.141904,-0.913147,-0.382133],[-0.059447,-0.393204,0.917527]] 2025-10-28T18:05:48.807Z,1761674748.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985877,-0.125404,-0.110998],[0.158719,-0.911113,-0.380371],[-0.053431,-0.392617,0.918149]] 2025-10-28T18:05:49.211Z,1761674749.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982519,-0.145662,-0.115928],[0.179274,-0.908153,-0.378310],[-0.050175,-0.392480,0.918391]] 2025-10-28T18:05:49.235Z,1761674749.235 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:05:49.235Z,1761674749.235 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateRudder:A] Stopped 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:05:49.236Z,1761674749.236 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateCommandMode] Stopped 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:05:49.237Z,1761674749.237 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:05:49.238Z,1761674749.238 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:05:49.238Z,1761674749.238 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:05:49.238Z,1761674749.238 [marl:UpdateSpeed] Stopped 2025-10-28T18:05:49.238Z,1761674749.238 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:05:49.615Z,1761674749.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978421,-0.165711,-0.123418],[0.200572,-0.905200,-0.374679],[-0.049630,-0.391348,0.918903]] 2025-10-28T18:05:49.666Z,1761674749.666 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:05:49.666Z,1761674749.666 [marl:UpdateRudder:B] Stopped 2025-10-28T18:05:49.666Z,1761674749.666 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:05:49.666Z,1761674749.666 [marl:UpdateRudder] Stopped 2025-10-28T18:05:49.666Z,1761674749.666 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:05:49.809Z,1761674749.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:05:50.019Z,1761674750.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973932,-0.184646,-0.131769],[0.221107,-0.902515,-0.369565],[-0.050685,-0.389066,0.919815]] 2025-10-28T18:05:50.422Z,1761674750.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969271,-0.202342,-0.139901],[0.240315,-0.900376,-0.362729],[-0.052568,-0.385203,0.921333]] 2025-10-28T18:05:50.813Z,1761674750.813 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:05:50.841Z,1761674750.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964466,-0.218503,-0.148529],[0.258515,-0.896501,-0.359801],[-0.054539,-0.385413,0.921131]] 2025-10-28T18:05:51.230Z,1761674751.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959678,-0.232575,-0.157880],[0.275356,-0.890752,-0.361579],[-0.056538,-0.390473,0.918877]] 2025-10-28T18:05:51.634Z,1761674751.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955173,-0.245050,-0.166115],[0.290381,-0.884756,-0.364534],[-0.057642,-0.396430,0.916254]] 2025-10-28T18:05:52.049Z,1761674752.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950999,-0.256709,-0.172338],[0.303768,-0.879673,-0.365924],[-0.057665,-0.400345,0.914548]] 2025-10-28T18:05:52.447Z,1761674752.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946918,-0.268271,-0.177137],[0.316488,-0.874626,-0.367239],[-0.056409,-0.403807,0.913103]] 2025-10-28T18:05:52.850Z,1761674752.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942544,-0.281190,-0.180396],[0.329811,-0.869243,-0.368295],[-0.053247,-0.406631,0.912040]] 2025-10-28T18:05:53.251Z,1761674753.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937732,-0.296247,-0.181374],[0.344070,-0.863865,-0.367903],[-0.047692,-0.407400,0.912004]] 2025-10-28T18:05:53.655Z,1761674753.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931979,-0.314205,-0.180804],[0.360271,-0.858160,-0.365741],[-0.040241,-0.406002,0.912986]] 2025-10-28T18:05:54.060Z,1761674754.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924972,-0.334765,-0.179885],[0.378647,-0.852222,-0.361031],[-0.032441,-0.402057,0.915040]] 2025-10-28T18:05:54.463Z,1761674754.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916715,-0.355753,-0.181863],[0.398709,-0.843919,-0.358931],[-0.025787,-0.401548,0.915475]] 2025-10-28T18:05:54.867Z,1761674754.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908375,-0.374252,-0.186522],[0.417645,-0.834059,-0.360442],[-0.020674,-0.405316,0.913943]] 2025-10-28T18:05:55.270Z,1761674755.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899850,-0.391772,-0.191793],[0.435863,-0.824836,-0.360094],[-0.017123,-0.407626,0.912988]] 2025-10-28T18:05:55.675Z,1761674755.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891609,-0.407379,-0.197675],[0.452561,-0.816090,-0.359423],[-0.014899,-0.409925,0.911997]] 2025-10-28T18:05:56.079Z,1761674756.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883579,-0.422515,-0.201914],[0.468082,-0.809495,-0.354426],[-0.013699,-0.407675,0.913024]] 2025-10-28T18:05:56.487Z,1761674756.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875990,-0.436425,-0.205364],[0.482158,-0.803671,-0.348765],[-0.012835,-0.404533,0.914434]] 2025-10-28T18:05:56.887Z,1761674756.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868984,-0.448372,-0.209355],[0.494698,-0.797278,-0.345863],[-0.011839,-0.404117,0.914631]] 2025-10-28T18:05:57.136Z,1761674757.136 [Radio_Surface](INFO): Powering down 2025-10-28T18:05:57.290Z,1761674757.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862525,-0.459493,-0.211935],[0.505912,-0.791500,-0.342902],[-0.010185,-0.402982,0.915151]] 2025-10-28T18:05:57.694Z,1761674757.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856281,-0.470755,-0.212539],[0.516457,-0.786273,-0.339186],[-0.007440,-0.400206,0.916395]] 2025-10-28T18:05:58.100Z,1761674758.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849850,-0.481996,-0.213154],[0.527014,-0.779732,-0.338044],[-0.003267,-0.399622,0.916674]] 2025-10-28T18:05:58.134Z,1761674758.134 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:05:58.361Z,1761674758.361 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:05:58.361Z,1761674758.361 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:05:58.503Z,1761674758.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843061,-0.493307,-0.214234],[0.537812,-0.771377,-0.340201],[0.002568,-0.402028,0.915624]] 2025-10-28T18:05:58.613Z,1761674758.613 [DAT](INFO): DAT read: 2025-10-28T18:05:58.613Z,1761674758.613 [DAT](INFO): DAT read: Tx time:18:05:58.3497 2025-10-28T18:05:58.614Z,1761674758.614 [DAT](INFO): Ping request sent. 2025-10-28T18:05:58.614Z,1761674758.614 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:05:58.614Z,1761674758.614 [DAT](INFO): publishing transmit ping time 2025-10-28T18:05:58.615Z,1761674758.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T18:05:58.865Z,1761674758.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251597 2025-10-28T18:05:58.906Z,1761674758.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835795,-0.504731,-0.216086],[0.548954,-0.761195,-0.345299],[0.009800,-0.407221,0.913277]] 2025-10-28T18:05:59.117Z,1761674759.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503034 2025-10-28T18:05:59.318Z,1761674759.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827955,-0.516297,-0.218925],[0.560517,-0.749579,-0.352069],[0.017671,-0.414208,0.910011]] 2025-10-28T18:05:59.369Z,1761674759.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755105 2025-10-28T18:05:59.621Z,1761674759.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006945 2025-10-28T18:05:59.714Z,1761674759.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819135,-0.529038,-0.221666],[0.573030,-0.737515,-0.357364],[0.025577,-0.419750,0.907279]] 2025-10-28T18:05:59.873Z,1761674759.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031 2025-10-28T18:06:00.119Z,1761674760.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809713,-0.542653,-0.223368],[0.585896,-0.726146,-0.359776],[0.033036,-0.422186,0.905907]] 2025-10-28T18:06:00.125Z,1761674760.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511086 2025-10-28T18:06:00.377Z,1761674760.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763043 2025-10-28T18:06:00.523Z,1761674760.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799204,-0.557351,-0.225017],[0.599778,-0.715068,-0.359088],[0.039235,-0.421945,0.905772]] 2025-10-28T18:06:00.630Z,1761674760.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015695 2025-10-28T18:06:00.881Z,1761674760.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266985 2025-10-28T18:06:00.932Z,1761674760.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787844,-0.572584,-0.226827],[0.614239,-0.703688,-0.357118],[0.044865,-0.420679,0.906099]] 2025-10-28T18:06:01.133Z,1761674761.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519619 2025-10-28T18:06:01.343Z,1761674761.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775242,-0.588963,-0.228303],[0.629688,-0.692001,-0.353026],[0.049933,-0.417440,0.907331]] 2025-10-28T18:06:01.394Z,1761674761.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780123 2025-10-28T18:06:01.645Z,1761674761.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030920 2025-10-28T18:06:01.735Z,1761674761.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761954,-0.605327,-0.230229],[0.645330,-0.679718,-0.348615],[0.054536,-0.414202,0.908550]] 2025-10-28T18:06:01.897Z,1761674761.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283553 2025-10-28T18:06:02.138Z,1761674762.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748314,-0.621484,-0.231912],[0.660744,-0.667417,-0.343469],[0.058679,-0.410257,0.910080]] 2025-10-28T18:06:02.149Z,1761674762.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535168 2025-10-28T18:06:02.401Z,1761674762.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786961 2025-10-28T18:06:02.551Z,1761674762.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734464,-0.637159,-0.233647],[0.675784,-0.655063,-0.337946],[0.062272,-0.406104,0.911703]] 2025-10-28T18:06:02.590Z,1761674762.590 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:06:02.590Z,1761674762.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:06:02.590Z,1761674762.590 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateRudder:A] Stopped 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:06:02.591Z,1761674762.591 [marl:UpdateCommandMode] Stopped 2025-10-28T18:06:02.592Z,1761674762.592 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:06:02.596Z,1761674762.596 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:06:02.596Z,1761674762.596 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:06:02.596Z,1761674762.596 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:06:02.596Z,1761674762.596 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:06:02.596Z,1761674762.596 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:06:02.597Z,1761674762.597 [marl:UpdateSpeed] Stopped 2025-10-28T18:06:02.597Z,1761674762.597 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:06:02.654Z,1761674762.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039564 2025-10-28T18:06:02.905Z,1761674762.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291067 2025-10-28T18:06:02.947Z,1761674762.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720376,-0.651825,-0.237030],[0.690537,-0.642029,-0.333103],[0.064945,-0.403637,0.912611]] 2025-10-28T18:06:02.986Z,1761674762.986 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:06:02.986Z,1761674762.986 [marl:UpdateRudder:B] Stopped 2025-10-28T18:06:02.986Z,1761674762.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:06:02.987Z,1761674762.987 [marl:UpdateRudder] Stopped 2025-10-28T18:06:02.987Z,1761674762.987 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:06:03.157Z,1761674763.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542977 2025-10-28T18:06:03.354Z,1761674763.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706994,-0.664770,-0.241332],[0.704081,-0.629497,-0.328638],[0.066551,-0.402262,0.913103]] 2025-10-28T18:06:03.409Z,1761674763.409 [DAT](INFO): DAT read: Rx Time:18:06:02.7633 2025-10-28T18:06:03.409Z,1761674763.409 [DAT](INFO): Rx dataTimestamp_ set to:1761674763.409205 2025-10-28T18:06:03.410Z,1761674763.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.796155 2025-10-28T18:06:03.661Z,1761674763.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047026 2025-10-28T18:06:03.758Z,1761674763.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693255,-0.677257,-0.246415],[0.717528,-0.616609,-0.323953],[0.067458,-0.401392,0.913419]] 2025-10-28T18:06:03.926Z,1761674763.926 [DAT](INFO): DAT read: 18:06:02.7633 LVL= 22928, 29041, 19298, 28595, AGC= 75, IDX= 478,-0.42, 0.179, 0.364, 2.088, 0.361, PHS=-0.080, 0.048, 1.683, RAW= 213.7, -18.9, CAL= 213.0, -23.5, ROT= 297.0, 23.5 2025-10-28T18:06:03.930Z,1761674763.930 [DAT](INFO): got valid direction response: 18:06:02.7633 LVL= 22928, 29041, 19298, 28595, AGC= 75, IDX= 478,-0.42, 0.179, 0.364, 2.088, 0.361, PHS=-0.080, 0.048, 1.683, RAW= 213.7, -18.9, CAL= 213.0, -23.5, ROT= 297.0, 23.5 2025-10-28T18:06:03.932Z,1761674763.932 [DAT](INFO): DAT read: Bearing 220.4, -33.2 (Local) 2025-10-28T18:06:03.933Z,1761674763.933 [DAT](INFO): Local bearing/azimuth received: Bearing 220.4, -33.2 (Local) 2025-10-28T18:06:03.936Z,1761674763.936 [DAT](INFO): DAT read: Range 11 to 20 : 1507.1 m (Round-trip 2009.5 ms) speed 0.0 m/s 2025-10-28T18:06:03.936Z,1761674763.936 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:06:03.937Z,1761674763.937 [DAT](INFO): direction in FSK: [0.416337,-0.817106,-0.398749] 2025-10-28T18:06:03.938Z,1761674763.938 [DAT](INFO): publishing direction and range info 2025-10-28T18:06:04.158Z,1761674764.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679941,-0.689049,-0.250784],[0.730071,-0.604254,-0.319176],[0.068390,-0.400111,0.913911]] 2025-10-28T18:06:04.210Z,1761674764.210 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674752.00. Resetting abort timer. 2025-10-28T18:06:04.562Z,1761674764.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666676,-0.700026,-0.255943],[0.742080,-0.591271,-0.315779],[0.069722,-0.400452,0.913661]] 2025-10-28T18:06:04.967Z,1761674764.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653787,-0.710211,-0.261080],[0.753277,-0.578200,-0.313462],[0.071668,-0.401603,0.913005]] 2025-10-28T18:06:05.374Z,1761674765.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641957,-0.718857,-0.266713],[0.763091,-0.565105,-0.313604],[0.074715,-0.404847,0.911327]] 2025-10-28T18:06:05.780Z,1761674765.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629643,-0.727779,-0.271821],[0.772963,-0.551755,-0.313202],[0.077963,-0.407313,0.909955]] 2025-10-28T18:06:06.178Z,1761674766.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617408,-0.736390,-0.276654],[0.782436,-0.538548,-0.312667],[0.081253,-0.409508,0.908681]] 2025-10-28T18:06:06.590Z,1761674766.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605593,-0.744134,-0.281994],[0.791307,-0.525618,-0.312346],[0.084206,-0.412298,0.907149]] 2025-10-28T18:06:06.988Z,1761674766.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594110,-0.752453,-0.284338],[0.799660,-0.514235,-0.310010],[0.087052,-0.411553,0.907219]] 2025-10-28T18:06:07.390Z,1761674767.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582459,-0.761282,-0.284940],[0.807936,-0.503670,-0.305869],[0.089337,-0.408369,0.908435]] 2025-10-28T18:06:07.801Z,1761674767.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570739,-0.769900,-0.285503],[0.816034,-0.493123,-0.301527],[0.091358,-0.405073,0.909708]] 2025-10-28T18:06:08.200Z,1761674768.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559000,-0.778082,-0.286544],[0.823866,-0.482190,-0.297889],[0.093613,-0.402594,0.910579]] 2025-10-28T18:06:09.007Z,1761674769.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534521,-0.793546,-0.290812],[0.839366,-0.458237,-0.292376],[0.098753,-0.400379,0.911013]] 2025-10-28T18:06:09.411Z,1761674769.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521954,-0.800714,-0.293974],[0.846912,-0.445476,-0.290330],[0.101513,-0.400509,0.910652]] 2025-10-28T18:06:09.821Z,1761674769.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508593,-0.808316,-0.296578],[0.854745,-0.432529,-0.286930],[0.103652,-0.399430,0.910885]] 2025-10-28T18:06:10.219Z,1761674770.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494928,-0.816106,-0.298358],[0.862515,-0.419747,-0.282630],[0.105422,-0.397220,0.911648]] 2025-10-28T18:06:10.623Z,1761674770.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481109,-0.822492,-0.303383],[0.870164,-0.405983,-0.279270],[0.106529,-0.398352,0.911025]] 2025-10-28T18:06:11.026Z,1761674771.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467285,-0.828522,-0.308539],[0.877539,-0.392195,-0.275876],[0.107562,-0.399668,0.910327]] 2025-10-28T18:06:11.430Z,1761674771.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453260,-0.835532,-0.310549],[0.884670,-0.379005,-0.271503],[0.109150,-0.397795,0.910959]] 2025-10-28T18:06:11.837Z,1761674771.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438808,-0.842595,-0.312222],[0.891626,-0.365136,-0.267728],[0.111583,-0.395866,0.911504]] 2025-10-28T18:06:12.243Z,1761674772.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423090,-0.848705,-0.317324],[0.898816,-0.348835,-0.265413],[0.114564,-0.397509,0.910418]] 2025-10-28T18:06:12.643Z,1761674772.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405652,-0.854534,-0.324373],[0.906378,-0.330260,-0.263451],[0.118001,-0.400874,0.908502]] 2025-10-28T18:06:13.051Z,1761674773.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386978,-0.859905,-0.332884],[0.913993,-0.309979,-0.261782],[0.121921,-0.405557,0.905902]] 2025-10-28T18:06:13.457Z,1761674773.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348772,-0.871767,-0.344064],[0.928063,-0.270094,-0.256414],[0.130603,-0.408743,0.903256]] 2025-10-28T18:06:13.860Z,1761674773.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329355,-0.877700,-0.348092],[0.934631,-0.250683,-0.252235],[0.134126,-0.408412,0.902890]] 2025-10-28T18:06:14.264Z,1761674774.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309881,-0.883726,-0.350717],[0.940838,-0.231824,-0.247149],[0.137107,-0.406554,0.903280]] 2025-10-28T18:06:14.666Z,1761674774.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290259,-0.889039,-0.354061],[0.946791,-0.213034,-0.241256],[0.139059,-0.405248,0.903569]] 2025-10-28T18:06:15.068Z,1761674775.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270166,-0.893261,-0.359297],[0.952605,-0.193793,-0.234496],[0.139837,-0.405621,0.903281]] 2025-10-28T18:06:15.471Z,1761674775.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249227,-0.898051,-0.362477],[0.958379,-0.174886,-0.225663],[0.139265,-0.403632,0.904260]] 2025-10-28T18:06:15.874Z,1761674775.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228108,-0.903045,-0.363973],[0.963918,-0.156773,-0.215137],[0.137217,-0.399915,0.906223]] 2025-10-28T18:06:15.924Z,1761674775.924 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:06:15.924Z,1761674775.924 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:06:15.924Z,1761674775.924 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateRudder:A] Stopped 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:06:15.925Z,1761674775.925 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateCommandMode] Stopped 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed] Stopped 2025-10-28T18:06:15.926Z,1761674775.926 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:06:16.283Z,1761674776.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208145,-0.907478,-0.364910],[0.968864,-0.140150,-0.204107],[0.134080,-0.396032,0.908395]] 2025-10-28T18:06:16.339Z,1761674776.339 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:06:16.339Z,1761674776.339 [marl:UpdateRudder:B] Stopped 2025-10-28T18:06:16.340Z,1761674776.340 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:06:16.340Z,1761674776.340 [marl:UpdateRudder] Stopped 2025-10-28T18:06:16.340Z,1761674776.340 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:06:16.689Z,1761674776.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191217,-0.910053,-0.367748],[0.972720,-0.125561,-0.195063],[0.131343,-0.395016,0.909237]] 2025-10-28T18:06:17.086Z,1761674777.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176725,-0.910739,-0.373261],[0.975775,-0.112424,-0.187683],[0.128967,-0.397387,0.908544]] 2025-10-28T18:06:17.491Z,1761674777.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164122,-0.911066,-0.378184],[0.978231,-0.100962,-0.181302],[0.126996,-0.399707,0.907803]] 2025-10-28T18:06:17.894Z,1761674777.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152681,-0.912369,-0.379832],[0.980363,-0.091288,-0.174800],[0.124808,-0.399062,0.908390]] 2025-10-28T18:06:18.309Z,1761674778.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141467,-0.914442,-0.379188],[0.982294,-0.082143,-0.168377],[0.122823,-0.396294,0.909871]] 2025-10-28T18:06:18.703Z,1761674778.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130423,-0.915829,-0.379800],[0.984022,-0.072742,-0.162508],[0.121202,-0.394926,0.910683]] 2025-10-28T18:06:19.107Z,1761674779.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119053,-0.917430,-0.379670],[0.985532,-0.062729,-0.157455],[0.120637,-0.392922,0.911624]] 2025-10-28T18:06:19.515Z,1761674779.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107359,-0.919058,-0.379218],[0.986740,-0.051796,-0.153821],[0.121729,-0.390704,0.912432]] 2025-10-28T18:06:19.916Z,1761674779.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095191,-0.919561,-0.381244],[0.987655,-0.039383,-0.151614],[0.124403,-0.390970,0.911958]] 2025-10-28T18:06:20.323Z,1761674780.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081599,-0.920673,-0.381709],[0.988341,-0.025351,-0.150134],[0.128547,-0.389510,0.912008]] 2025-10-28T18:06:20.722Z,1761674780.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065497,-0.921493,-0.382832],[0.988973,-0.008879,-0.147827],[0.132823,-0.388293,0.911914]] 2025-10-28T18:06:20.952Z,1761674780.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:06:21.126Z,1761674781.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046274,-0.921368,-0.385928],[0.989635,0.010293,-0.143234],[0.135943,-0.388556,0.911342]] 2025-10-28T18:06:21.556Z,1761674781.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025705,-0.919756,-0.391647],[0.990087,0.030694,-0.137063],[0.138086,-0.391288,0.909849]] 2025-10-28T18:06:21.936Z,1761674781.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004090,-0.919119,-0.393959],[0.990216,0.051231,-0.129802],[0.139486,-0.390635,0.909916]] 2025-10-28T18:06:21.956Z,1761674781.956 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T18:06:21.957Z,1761674781.957 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:06:22.340Z,1761674782.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018050,-0.918700,-0.394543],[0.989950,0.071777,-0.121846],[0.140259,-0.388379,0.910763]] 2025-10-28T18:06:22.743Z,1761674782.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040074,-0.917553,-0.395588],[0.989319,0.091968,-0.113096],[0.140153,-0.386830,0.911438]] 2025-10-28T18:06:23.147Z,1761674783.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062393,-0.915789,-0.396785],[0.988322,0.112069,-0.103248],[0.139020,-0.385710,0.912086]] 2025-10-28T18:06:23.589Z,1761674783.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084818,-0.913872,-0.397043],[0.986965,0.131753,-0.092417],[0.136769,-0.384029,0.913135]] 2025-10-28T18:06:23.954Z,1761674783.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106685,-0.911735,-0.396683],[0.985233,0.150671,-0.081330],[0.133920,-0.382148,0.914346]] 2025-10-28T18:06:24.359Z,1761674784.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126615,-0.907344,-0.400869],[0.983239,0.168243,-0.070250],[0.131184,-0.385255,0.913438]] 2025-10-28T18:06:24.769Z,1761674784.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144987,-0.901599,-0.407552],[0.980989,0.184689,-0.059589],[0.128996,-0.391164,0.911236]] 2025-10-28T18:06:25.169Z,1761674785.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161454,-0.897142,-0.411179],[0.978602,0.199393,-0.050791],[0.127553,-0.394181,0.910138]] 2025-10-28T18:06:25.595Z,1761674785.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177209,-0.892680,-0.414391],[0.975995,0.213569,-0.042697],[0.126616,-0.396877,0.909097]] 2025-10-28T18:06:25.976Z,1761674785.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191854,-0.889153,-0.415449],[0.973245,0.226904,-0.036182],[0.126439,-0.397392,0.908896]] 2025-10-28T18:06:26.380Z,1761674786.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206810,-0.885593,-0.415879],[0.970216,0.240437,-0.029525],[0.126140,-0.397386,0.908941]] 2025-10-28T18:06:26.809Z,1761674786.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221511,-0.881616,-0.416758],[0.966979,0.253818,-0.022970],[0.126032,-0.397908,0.908727]] 2025-10-28T18:06:27.186Z,1761674787.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236983,-0.877068,-0.417841],[0.963300,0.267945,-0.016085],[0.126066,-0.398695,0.908378]] 2025-10-28T18:06:27.599Z,1761674787.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252377,-0.873425,-0.416454],[0.959378,0.281950,-0.009935],[0.126097,-0.397029,0.909103]] 2025-10-28T18:06:27.994Z,1761674787.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267444,-0.870165,-0.413868],[0.955308,0.295584,-0.004146],[0.125941,-0.394263,0.910327]] 2025-10-28T18:06:28.402Z,1761674788.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282315,-0.866599,-0.411466],[0.951113,0.308837,0.002129],[0.125230,-0.391952,0.911423]] 2025-10-28T18:06:28.808Z,1761674788.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296667,-0.862618,-0.409730],[0.946844,0.321579,0.008536],[0.124397,-0.390483,0.912167]] 2025-10-28T18:06:28.832Z,1761674788.832 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:06:28.832Z,1761674788.832 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:06:28.832Z,1761674788.832 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:06:28.832Z,1761674788.832 [marl:UpdateRudder:A] Stopped 2025-10-28T18:06:28.832Z,1761674788.832 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode] Stopped 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:06:28.833Z,1761674788.833 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed] Stopped 2025-10-28T18:06:28.834Z,1761674788.834 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:06:29.207Z,1761674789.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310620,-0.858006,-0.409072],[0.942445,0.334023,0.015031],[0.123743,-0.390197,0.912378]] 2025-10-28T18:06:29.252Z,1761674789.252 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:06:29.252Z,1761674789.252 [marl:UpdateRudder:B] Stopped 2025-10-28T18:06:29.252Z,1761674789.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:06:29.252Z,1761674789.252 [marl:UpdateRudder] Stopped 2025-10-28T18:06:29.253Z,1761674789.253 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:06:29.610Z,1761674789.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324367,-0.853623,-0.407571],[0.937833,0.346466,0.020733],[0.123511,-0.388959,0.912938]] 2025-10-28T18:06:30.017Z,1761674790.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337799,-0.848836,-0.406656],[0.933077,0.358712,0.026323],[0.123528,-0.388333,0.913202]] 2025-10-28T18:06:30.420Z,1761674790.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351435,-0.842898,-0.407450],[0.927977,0.371223,0.032446],[0.123906,-0.389507,0.912651]] 2025-10-28T18:06:30.823Z,1761674790.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365780,-0.836610,-0.407784],[0.922320,0.384510,0.038454],[0.124626,-0.390173,0.912268]] 2025-10-28T18:06:31.228Z,1761674791.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381170,-0.829191,-0.408841],[0.915908,0.398860,0.044970],[0.125782,-0.391602,0.911497]] 2025-10-28T18:06:31.631Z,1761674791.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397862,-0.821223,-0.409022],[0.908555,0.414597,0.051348],[0.127411,-0.392049,0.911079]] 2025-10-28T18:06:32.034Z,1761674792.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415790,-0.813153,-0.407310],[0.900194,0.431743,0.057007],[0.129498,-0.390360,0.911509]] 2025-10-28T18:06:32.843Z,1761674792.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454611,-0.794799,-0.402024],[0.880760,0.468357,0.070030],[0.132631,-0.385923,0.912947]] 2025-10-28T18:06:33.248Z,1761674793.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475755,-0.783632,-0.399472],[0.869542,0.487433,0.079406],[0.132491,-0.385136,0.913300]] 2025-10-28T18:06:33.650Z,1761674793.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496987,-0.771590,-0.397055],[0.857850,0.505810,0.090825],[0.130755,-0.385753,0.913290]] 2025-10-28T18:06:34.054Z,1761674794.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517174,-0.759171,-0.395209],[0.846334,0.522396,0.104029],[0.127480,-0.388280,0.912682]] 2025-10-28T18:06:34.464Z,1761674794.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534980,-0.747402,-0.393936],[0.835739,0.536500,0.117081],[0.123841,-0.391864,0.911650]] 2025-10-28T18:06:34.864Z,1761674794.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549753,-0.737266,-0.392697],[0.826578,0.547997,0.128330],[0.120584,-0.395144,0.910670]] 2025-10-28T18:06:35.281Z,1761674795.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561967,-0.728758,-0.391286],[0.818750,0.557364,0.137820],[0.117651,-0.397816,0.909890]] 2025-10-28T18:06:35.671Z,1761674795.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572569,-0.721521,-0.389322],[0.811700,0.565697,0.145360],[0.115358,-0.399242,0.909559]] 2025-10-28T18:06:36.075Z,1761674796.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581952,-0.714870,-0.387676],[0.805158,0.573469,0.151177],[0.114249,-0.400118,0.909314]] 2025-10-28T18:06:36.489Z,1761674796.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590499,-0.708043,-0.387280],[0.798836,0.581046,0.155715],[0.114775,-0.401323,0.908717]] 2025-10-28T18:06:36.882Z,1761674796.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598680,-0.701151,-0.387260],[0.792369,0.589157,0.158260],[0.117193,-0.401599,0.908286]] 2025-10-28T18:06:37.293Z,1761674797.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607306,-0.694157,-0.386427],[0.785228,0.598421,0.159087],[0.120815,-0.400048,0.908496]] 2025-10-28T18:06:37.691Z,1761674797.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617886,-0.685442,-0.385209],[0.776350,0.609426,0.160874],[0.124487,-0.398459,0.908699]] 2025-10-28T18:06:38.096Z,1761674798.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631090,-0.674264,-0.383528],[0.765199,0.622239,0.165193],[0.127263,-0.397727,0.908635]] 2025-10-28T18:06:38.500Z,1761674798.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646137,-0.660815,-0.381879],[0.752204,0.636074,0.172042],[0.129215,-0.398414,0.908058]] 2025-10-28T18:06:38.902Z,1761674798.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661675,-0.646479,-0.379805],[0.738298,0.650110,0.179647],[0.130777,-0.399278,0.907455]] 2025-10-28T18:06:39.310Z,1761674799.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677384,-0.632360,-0.375862],[0.723774,0.664266,0.186820],[0.131535,-0.398588,0.907649]] 2025-10-28T18:06:39.710Z,1761674799.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693495,-0.617502,-0.371154],[0.708329,0.678523,0.194617],[0.131660,-0.397865,0.907948]] 2025-10-28T18:06:40.114Z,1761674800.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709721,-0.602038,-0.365849],[0.692160,0.692612,0.202986],[0.131186,-0.397290,0.908268]] 2025-10-28T18:06:40.519Z,1761674800.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725346,-0.586674,-0.360121],[0.675897,0.706150,0.210984],[0.130521,-0.396441,0.908735]] 2025-10-28T18:06:40.923Z,1761674800.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739991,-0.571346,-0.354933],[0.660003,0.718505,0.219424],[0.129654,-0.396628,0.908777]] 2025-10-28T18:06:41.335Z,1761674801.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753699,-0.556787,-0.349179],[0.644512,0.730149,0.226905],[0.128615,-0.396069,0.909169]] 2025-10-28T18:06:41.730Z,1761674801.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766209,-0.542869,-0.343827],[0.629840,0.740521,0.234372],[0.127377,-0.396134,0.909315]] 2025-10-28T18:06:42.134Z,1761674802.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777594,-0.529878,-0.338492],[0.615934,0.750131,0.240684],[0.126380,-0.395643,0.909667]] 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateRudder:A] Stopped 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:06:42.175Z,1761674802.175 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:06:42.176Z,1761674802.176 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:06:42.180Z,1761674802.180 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:06:42.180Z,1761674802.180 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:06:42.180Z,1761674802.180 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:06:42.180Z,1761674802.180 [marl:UpdateCommandMode] Stopped 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed] Stopped 2025-10-28T18:06:42.181Z,1761674802.181 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:06:42.543Z,1761674802.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787934,-0.517549,-0.333622],[0.602851,0.758735,0.246761],[0.125420,-0.395556,0.909838]] 2025-10-28T18:06:42.567Z,1761674802.567 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:06:42.567Z,1761674802.567 [marl:UpdateRudder:B] Stopped 2025-10-28T18:06:42.567Z,1761674802.567 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:06:42.567Z,1761674802.567 [marl:UpdateRudder] Stopped 2025-10-28T18:06:42.567Z,1761674802.567 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:06:42.944Z,1761674802.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797783,-0.505208,-0.329102],[0.589939,0.766799,0.252964],[0.124555,-0.395960,0.909781]] 2025-10-28T18:06:43.349Z,1761674803.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807318,-0.492612,-0.324918],[0.576925,0.774628,0.259053],[0.124078,-0.396592,0.909571]] 2025-10-28T18:06:43.757Z,1761674803.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816492,-0.479909,-0.320981],[0.563952,0.782030,0.265306],[0.123694,-0.397638,0.909167]] 2025-10-28T18:06:44.155Z,1761674804.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825923,-0.466320,-0.316855],[0.550038,0.789833,0.271336],[0.123733,-0.398384,0.908834]] 2025-10-28T18:06:44.563Z,1761674804.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835221,-0.452922,-0.311878],[0.535818,0.797860,0.276256],[0.123713,-0.397845,0.909073]] 2025-10-28T18:06:44.962Z,1761674804.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845439,-0.437230,-0.306697],[0.519546,0.806337,0.282655],[0.123716,-0.398311,0.908869]] 2025-10-28T18:06:45.369Z,1761674805.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855523,-0.421319,-0.300950],[0.502759,0.814906,0.288377],[0.123747,-0.398018,0.908993]] 2025-10-28T18:06:45.778Z,1761674805.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865767,-0.404598,-0.294529],[0.484913,0.823718,0.293849],[0.123719,-0.397226,0.909343]] 2025-10-28T18:06:46.175Z,1761674806.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876002,-0.386978,-0.287870],[0.466162,0.832470,0.299478],[0.123751,-0.396537,0.909640]] 2025-10-28T18:06:46.579Z,1761674806.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885727,-0.370160,-0.280123],[0.447494,0.841317,0.303209],[0.123436,-0.393914,0.910821]] 2025-10-28T18:06:46.982Z,1761674806.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894759,-0.353359,-0.273028],[0.429280,0.849038,0.307981],[0.122983,-0.392775,0.911374]] 2025-10-28T18:06:47.389Z,1761674807.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903280,-0.336581,-0.266078],[0.411117,0.856410,0.312323],[0.122750,-0.391504,0.911952]] 2025-10-28T18:06:47.794Z,1761674807.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911250,-0.320365,-0.258824],[0.393273,0.863477,0.315821],[0.122311,-0.389580,0.912835]] 2025-10-28T18:06:48.194Z,1761674808.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918783,-0.303973,-0.251871],[0.375513,0.869785,0.320101],[0.121772,-0.388684,0.913289]] 2025-10-28T18:06:48.598Z,1761674808.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925774,-0.287955,-0.245000],[0.358123,0.875623,0.324088],[0.121205,-0.387772,0.913752]] 2025-10-28T18:06:49.003Z,1761674809.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932149,-0.272350,-0.238587],[0.341528,0.880187,0.329590],[0.120238,-0.388711,0.913481]] 2025-10-28T18:06:49.810Z,1761674809.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943705,-0.242437,-0.225045],[0.309018,0.888861,0.338281],[0.118022,-0.388781,0.913740]] 2025-10-28T18:06:50.214Z,1761674810.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948931,-0.227652,-0.218415],[0.293039,0.892491,0.342910],[0.116870,-0.389402,0.913623]] 2025-10-28T18:06:50.618Z,1761674810.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953820,-0.212942,-0.211858],[0.277188,0.895717,0.347646],[0.115736,-0.390316,0.913378]] 2025-10-28T18:06:51.023Z,1761674811.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958598,-0.197834,-0.204821],[0.260879,0.898458,0.353152],[0.114158,-0.391964,0.912870]] 2025-10-28T18:06:51.430Z,1761674811.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963282,-0.181988,-0.197403],[0.243750,0.901042,0.358760],[0.112579,-0.393704,0.912317]] 2025-10-28T18:06:51.830Z,1761674811.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967883,-0.164750,-0.189895],[0.225418,0.903152,0.365379],[0.111308,-0.396450,0.911283]] 2025-10-28T18:06:52.092Z,1761674812.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:06:52.239Z,1761674812.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972403,-0.146486,-0.181591],[0.205783,0.905262,0.371691],[0.109940,-0.398802,0.910423]] 2025-10-28T18:06:52.639Z,1761674812.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976576,-0.128365,-0.172690],[0.185624,0.908494,0.374410],[0.108827,-0.397695,0.911041]] 2025-10-28T18:06:53.044Z,1761674813.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980361,-0.109989,-0.163692],[0.164974,0.912178,0.375121],[0.108057,-0.394759,0.912409]] 2025-10-28T18:06:53.096Z,1761674813.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:06:53.447Z,1761674813.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983713,-0.091020,-0.154994],[0.143794,0.915901,0.374765],[0.107848,-0.390948,0.914072]] 2025-10-28T18:06:53.850Z,1761674813.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986613,-0.071238,-0.146696],[0.121925,0.919607,0.373439],[0.108299,-0.386325,0.915982]] 2025-10-28T18:06:54.261Z,1761674814.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989079,-0.050258,-0.138555],[0.099091,0.922649,0.372691],[0.109107,-0.382351,0.917553]] 2025-10-28T18:06:54.660Z,1761674814.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991054,-0.028475,-0.130388],[0.075661,0.924682,0.373146],[0.109942,-0.379673,0.918565]] 2025-10-28T18:06:55.063Z,1761674815.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992482,-0.006939,-0.122198],[0.052599,0.925679,0.374635],[0.110516,-0.378246,0.919084]] 2025-10-28T18:06:55.467Z,1761674815.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993364,0.013171,-0.114252],[0.031030,0.925887,0.376524],[0.110744,-0.377571,0.919334]] 2025-10-28T18:06:55.539Z,1761674815.539 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:06:55.539Z,1761674815.539 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:06:55.539Z,1761674815.539 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:06:55.559Z,1761674815.559 [marl:UpdateRudder:A] Stopped 2025-10-28T18:06:55.559Z,1761674815.559 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:06:55.564Z,1761674815.564 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:06:55.565Z,1761674815.565 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:06:55.565Z,1761674815.565 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:06:55.566Z,1761674815.566 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:06:55.567Z,1761674815.567 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:06:55.567Z,1761674815.567 [marl:UpdateCommandMode] Stopped 2025-10-28T18:06:55.567Z,1761674815.567 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:06:55.567Z,1761674815.567 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:06:55.568Z,1761674815.568 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:06:55.572Z,1761674815.572 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:06:55.573Z,1761674815.573 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:06:55.574Z,1761674815.574 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:06:55.574Z,1761674815.574 [marl:UpdateSpeed] Stopped 2025-10-28T18:06:55.574Z,1761674815.574 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:06:55.870Z,1761674815.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993807,0.030506,-0.106847],[0.012180,0.925875,0.377633],[0.110447,-0.376596,0.919770]] 2025-10-28T18:06:55.964Z,1761674815.964 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:06:55.964Z,1761674815.964 [marl:UpdateRudder:B] Stopped 2025-10-28T18:06:55.964Z,1761674815.964 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:06:55.964Z,1761674815.964 [marl:UpdateRudder] Stopped 2025-10-28T18:06:55.964Z,1761674815.964 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:06:56.275Z,1761674816.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993931,0.046381,-0.099752],[-0.005039,0.925016,0.379894],[0.109892,-0.377086,0.919636]] 2025-10-28T18:06:56.678Z,1761674816.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993778,0.061695,-0.092726],[-0.021490,0.923130,0.383887],[0.109282,-0.379505,0.918713]] 2025-10-28T18:06:57.084Z,1761674817.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993382,0.076674,-0.085518],[-0.037508,0.920292,0.389431],[0.108561,-0.383646,0.917077]] 2025-10-28T18:06:57.487Z,1761674817.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992794,0.090672,-0.078346],[-0.052725,0.917644,0.393891],[0.107609,-0.386922,0.915812]] 2025-10-28T18:06:57.892Z,1761674817.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991971,0.104410,-0.071361],[-0.067664,0.914884,0.398006],[0.106843,-0.389982,0.914603]] 2025-10-28T18:06:58.303Z,1761674818.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990893,0.118141,-0.064609],[-0.082705,0.912623,0.400350],[0.106261,-0.391360,0.914082]] 2025-10-28T18:06:58.327Z,1761674818.327 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:06:58.401Z,1761674818.401 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:06:58.401Z,1761674818.401 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:06:58.653Z,1761674818.653 [DAT](INFO): DAT read: user:103> 2025-10-28T18:06:58.654Z,1761674818.654 [DAT](INFO): DAT read: Tx time:18:06:58.3995 2025-10-28T18:06:58.654Z,1761674818.654 [DAT](INFO): Ping request sent. 2025-10-28T18:06:58.654Z,1761674818.654 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:06:58.654Z,1761674818.654 [DAT](INFO): publishing transmit ping time 2025-10-28T18:06:58.655Z,1761674818.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T18:06:58.713Z,1761674818.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987655,0.148454,-0.049984],[-0.115829,0.906959,0.404981],[0.105455,-0.394192,0.912958]] 2025-10-28T18:06:58.905Z,1761674818.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250901 2025-10-28T18:06:59.107Z,1761674819.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985215,0.166049,-0.042184],[-0.134931,0.903774,0.406186],[0.105572,-0.394488,0.912816]] 2025-10-28T18:06:59.157Z,1761674819.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503034 2025-10-28T18:06:59.409Z,1761674819.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868 2025-10-28T18:06:59.521Z,1761674819.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982272,0.184426,-0.033597],[-0.155043,0.899990,0.407406],[0.105373,-0.394975,0.912629]] 2025-10-28T18:06:59.662Z,1761674819.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007567 2025-10-28T18:06:59.913Z,1761674819.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051 2025-10-28T18:06:59.924Z,1761674819.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978864,0.203051,-0.024386],[-0.175775,0.896274,0.407181],[0.104535,-0.394289,0.913022]] 2025-10-28T18:07:00.165Z,1761674820.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852 2025-10-28T18:07:00.316Z,1761674820.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974940,0.221944,-0.015240],[-0.196847,0.892554,0.405708],[0.103647,-0.392541,0.913876]] 2025-10-28T18:07:00.417Z,1761674820.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763266 2025-10-28T18:07:00.669Z,1761674820.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015078 2025-10-28T18:07:00.729Z,1761674820.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970548,0.240832,-0.006048],[-0.217893,0.888258,0.404376],[0.102758,-0.391149,0.914573]] 2025-10-28T18:07:00.921Z,1761674820.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884 2025-10-28T18:07:01.124Z,1761674821.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965570,0.260120,0.003475],[-0.239378,0.883186,0.403337],[0.101847,-0.390282,0.915045]] 2025-10-28T18:07:01.173Z,1761674821.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519337 2025-10-28T18:07:01.425Z,1761674821.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897 2025-10-28T18:07:01.565Z,1761674821.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960075,0.279446,0.012877],[-0.260819,0.877536,0.402373],[0.101142,-0.389667,0.915385]] 2025-10-28T18:07:01.677Z,1761674821.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023344 2025-10-28T18:07:01.929Z,1761674821.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274994 2025-10-28T18:07:01.933Z,1761674821.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954303,0.298121,0.020748],[-0.281383,0.873001,0.398364],[0.100648,-0.385998,0.916993]] 2025-10-28T18:07:02.181Z,1761674822.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962 2025-10-28T18:07:02.334Z,1761674822.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948252,0.316373,0.026931],[-0.301049,0.868868,0.392985],[0.100930,-0.380757,0.919150]] 2025-10-28T18:07:02.433Z,1761674822.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778953 2025-10-28T18:07:02.685Z,1761674822.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030937 2025-10-28T18:07:02.754Z,1761674822.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941929,0.334161,0.033266],[-0.320036,0.863255,0.390342],[0.101720,-0.378321,0.920069]] 2025-10-28T18:07:02.937Z,1761674822.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282944 2025-10-28T18:07:03.143Z,1761674823.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935457,0.351212,0.039642],[-0.338164,0.856755,0.389378],[0.102791,-0.377652,0.920225]] 2025-10-28T18:07:03.189Z,1761674823.189 [DAT](INFO): DAT read: Rx Time:18:07:02.4286 2025-10-28T18:07:03.189Z,1761674823.189 [DAT](INFO): Rx dataTimestamp_ set to:1761674823.189095 2025-10-28T18:07:03.190Z,1761674823.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535944 2025-10-28T18:07:03.441Z,1761674823.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786894 2025-10-28T18:07:03.606Z,1761674823.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928933,0.367375,0.046031],[-0.355396,0.849892,0.389072],[0.103814,-0.377781,0.920057]] 2025-10-28T18:07:03.699Z,1761674823.699 [DAT](INFO): DAT read: 18:07:02.4286 LVL= 12720, 19137, 27538, 28275, AGC= 77, IDX= 92, 0.14, 2.382, 1.270, 0.284, 1.990, PHS= 0.494,-0.675,-1.750, RAW= 61.4, 19.3, CAL= 57.3, 25.0, ROT= 92.7, -25.0 2025-10-28T18:07:03.701Z,1761674823.701 [DAT](INFO): got valid direction response: 18:07:02.4286 LVL= 12720, 19137, 27538, 28275, AGC= 77, IDX= 92, 0.14, 2.382, 1.270, 0.284, 1.990, PHS= 0.494,-0.675,-1.750, RAW= 61.4, 19.3, CAL= 57.3, 25.0, ROT= 92.7, -25.0 2025-10-28T18:07:03.702Z,1761674823.702 [DAT](INFO): DAT read: Bearing 58, -12 (Remote) 2025-10-28T18:07:03.702Z,1761674823.702 [DAT](INFO): Remote Bearing received:Bearing 58, -12 (Remote) 2025-10-28T18:07:03.703Z,1761674823.703 [DAT](INFO): DAT read: Bearing 220.6, 41.9 (Local) 2025-10-28T18:07:03.703Z,1761674823.703 [DAT](INFO): Local bearing/azimuth received: Bearing 220.6, 41.9 (Local) 2025-10-28T18:07:03.705Z,1761674823.705 [DAT](INFO): DAT read: Range 11 to 20 : 1500.0 m (Round-trip 2000.0 ms) speed -0.6 m/s 2025-10-28T18:07:03.705Z,1761674823.705 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:07:03.706Z,1761674823.706 [DAT](INFO): direction in FSK: [-0.042693,0.905302,0.422618] 2025-10-28T18:07:03.706Z,1761674823.706 [DAT](INFO): publishing direction and range info 2025-10-28T18:07:03.962Z,1761674823.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922601,0.382188,0.052341],[-0.371343,0.843175,0.388794],[0.104460,-0.378138,0.919837]] 2025-10-28T18:07:04.008Z,1761674824.008 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674880.00. Resetting abort timer. 2025-10-28T18:07:04.355Z,1761674824.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916189,0.396366,0.059093],[-0.386751,0.835893,0.389495],[0.104987,-0.379705,0.919131]] 2025-10-28T18:07:04.765Z,1761674824.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909556,0.410318,0.065940],[-0.401997,0.828440,0.389981],[0.105389,-0.381217,0.918459]] 2025-10-28T18:07:05.164Z,1761674825.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902810,0.423596,0.074160],[-0.416939,0.819957,0.392215],[0.105333,-0.385015,0.916880]] 2025-10-28T18:07:05.598Z,1761674825.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895763,0.436914,0.081942],[-0.431867,0.811643,0.393353],[0.105354,-0.387739,0.915729]] 2025-10-28T18:07:05.972Z,1761674825.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888475,0.450187,0.089126],[-0.446676,0.803729,0.393065],[0.105319,-0.389039,0.915181]] 2025-10-28T18:07:06.375Z,1761674826.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881047,0.463073,0.096539],[-0.461217,0.795644,0.392720],[0.105047,-0.390531,0.914577]] 2025-10-28T18:07:06.785Z,1761674826.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873394,0.475675,0.104476],[-0.475650,0.787082,0.392758],[0.104594,-0.392727,0.913688]] 2025-10-28T18:07:07.183Z,1761674827.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865097,0.488957,0.111928],[-0.490697,0.778668,0.391015],[0.104035,-0.393189,0.913553]] 2025-10-28T18:07:07.603Z,1761674827.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856055,0.502954,0.119193],[-0.506394,0.769851,0.388452],[0.103612,-0.392895,0.913728]] 2025-10-28T18:07:07.994Z,1761674827.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846768,0.516696,0.126524],[-0.521879,0.760791,0.385798],[0.103082,-0.392712,0.913866]] 2025-10-28T18:07:08.396Z,1761674828.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837146,0.530560,0.133016],[-0.537261,0.751946,0.382006],[0.102657,-0.391259,0.914537]] 2025-10-28T18:07:08.798Z,1761674828.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826733,0.545010,0.139556],[-0.553175,0.742285,0.378166],[0.102515,-0.389842,0.915158]] 2025-10-28T18:07:08.833Z,1761674828.833 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:07:08.833Z,1761674828.833 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:07:08.833Z,1761674828.833 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateRudder:A] Stopped 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:07:08.834Z,1761674828.834 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateCommandMode] Stopped 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:07:08.835Z,1761674828.835 [marl:UpdateSpeed] Stopped 2025-10-28T18:07:08.836Z,1761674828.836 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:07:09.203Z,1761674829.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815603,0.559840,0.146185],[-0.569500,0.732056,0.373850],[0.102281,-0.388166,0.915896]] 2025-10-28T18:07:09.305Z,1761674829.305 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:07:09.305Z,1761674829.305 [marl:UpdateRudder:B] Stopped 2025-10-28T18:07:09.305Z,1761674829.305 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:07:09.305Z,1761674829.305 [marl:UpdateRudder] Stopped 2025-10-28T18:07:09.305Z,1761674829.305 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:07:09.613Z,1761674829.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804000,0.574776,0.152369],[-0.585838,0.721765,0.368577],[0.101875,-0.385599,0.917025]] 2025-10-28T18:07:10.012Z,1761674830.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791808,0.589645,0.159242],[-0.602376,0.710841,0.363110],[0.100910,-0.383437,0.918038]] 2025-10-28T18:07:10.415Z,1761674830.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779185,0.604326,0.166317],[-0.618781,0.699358,0.357782],[0.099902,-0.381692,0.918875]] 2025-10-28T18:07:10.818Z,1761674830.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766184,0.618506,0.174392],[-0.635006,0.687041,0.353189],[0.098635,-0.381348,0.919155]] 2025-10-28T18:07:11.229Z,1761674831.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752551,0.632554,0.183147],[-0.651284,0.673749,0.349129],[0.097448,-0.382018,0.919003]] 2025-10-28T18:07:11.635Z,1761674831.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738500,0.646480,0.191523],[-0.667393,0.660460,0.344063],[0.095936,-0.381912,0.919206]] 2025-10-28T18:07:12.032Z,1761674832.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724618,0.659870,0.198746],[-0.682653,0.647782,0.338176],[0.094408,-0.380723,0.919857]] 2025-10-28T18:07:12.434Z,1761674832.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710388,0.673219,0.205243],[-0.697610,0.634901,0.332027],[0.093217,-0.379047,0.920670]] 2025-10-28T18:07:12.838Z,1761674832.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696114,0.685886,0.212100],[-0.711975,0.621545,0.326761],[0.092291,-0.378473,0.921000]] 2025-10-28T18:07:13.246Z,1761674833.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682681,0.697350,0.218288],[-0.725018,0.609193,0.321299],[0.091078,-0.377608,0.921476]] 2025-10-28T18:07:13.647Z,1761674833.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670062,0.707282,0.225322],[-0.736847,0.597008,0.317236],[0.089856,-0.378595,0.921190]] 2025-10-28T18:07:14.051Z,1761674834.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657631,0.716774,0.231855],[-0.748073,0.585005,0.313300],[0.088929,-0.379480,0.920916]] 2025-10-28T18:07:14.454Z,1761674834.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645540,0.725111,0.239773],[-0.758666,0.572760,0.310438],[0.087770,-0.382308,0.919857]] 2025-10-28T18:07:14.860Z,1761674834.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633704,0.732948,0.247401],[-0.768737,0.560952,0.307206],[0.086386,-0.384864,0.918922]] 2025-10-28T18:07:15.262Z,1761674835.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621998,0.740241,0.255270],[-0.778419,0.549278,0.303903],[0.084747,-0.387734,0.917867]] 2025-10-28T18:07:15.666Z,1761674835.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610134,0.747666,0.262168],[-0.787953,0.538000,0.299477],[0.082862,-0.389297,0.917378]] 2025-10-28T18:07:16.070Z,1761674836.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597606,0.755280,0.269108],[-0.797697,0.526199,0.294607],[0.080906,-0.390726,0.916945]] 2025-10-28T18:07:16.476Z,1761674836.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584130,0.763557,0.275269],[-0.807804,0.513880,0.288757],[0.079027,-0.391035,0.916977]] 2025-10-28T18:07:16.879Z,1761674836.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568967,0.772547,0.281865],[-0.818698,0.499812,0.282703],[0.077522,-0.391612,0.916859]] 2025-10-28T18:07:17.283Z,1761674837.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553677,0.781223,0.288326],[-0.829262,0.485694,0.276453],[0.075933,-0.392163,0.916756]] 2025-10-28T18:07:17.686Z,1761674837.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537371,0.790910,0.292734],[-0.840053,0.471352,0.268584],[0.074445,-0.390242,0.917698]] 2025-10-28T18:07:18.091Z,1761674838.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520528,0.800997,0.295727],[-0.850697,0.456798,0.260097],[0.073249,-0.386962,0.919182]] 2025-10-28T18:07:18.497Z,1761674838.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503783,0.811069,0.297271],[-0.860809,0.442601,0.251223],[0.072187,-0.382455,0.921150]] 2025-10-28T18:07:18.898Z,1761674838.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486788,0.820563,0.299523],[-0.870576,0.427607,0.243414],[0.071659,-0.379248,0.922516]] 2025-10-28T18:07:19.303Z,1761674839.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469761,0.829407,0.302340],[-0.879906,0.412231,0.236285],[0.071343,-0.377028,0.923450]] 2025-10-28T18:07:19.723Z,1761674839.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453249,0.836969,0.306672],[-0.888556,0.396849,0.230170],[0.070943,-0.376820,0.923566]] 2025-10-28T18:07:20.112Z,1761674840.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437106,0.843603,0.311885],[-0.896659,0.381630,0.224413],[0.070291,-0.377747,0.923237]] 2025-10-28T18:07:20.514Z,1761674840.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421239,0.849251,0.318323],[-0.904303,0.366497,0.218898],[0.069235,-0.380069,0.922363]] 2025-10-28T18:07:20.919Z,1761674840.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404325,0.855292,0.324032],[-0.912071,0.350639,0.212553],[0.068176,-0.381481,0.921859]] 2025-10-28T18:07:21.322Z,1761674841.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386647,0.861519,0.329072],[-0.919782,0.334269,0.205582],[0.067114,-0.382163,0.921655]] 2025-10-28T18:07:21.729Z,1761674841.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368388,0.867806,0.333470],[-0.927329,0.317558,0.198033],[0.065958,-0.382190,0.921727]] 2025-10-28T18:07:22.131Z,1761674842.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349886,0.874035,0.337110],[-0.934540,0.300720,0.190271],[0.064928,-0.381616,0.922038]] 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateRudder:A] Stopped 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:07:22.169Z,1761674842.169 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode] Stopped 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:07:22.170Z,1761674842.170 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:07:22.171Z,1761674842.171 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:07:22.171Z,1761674842.171 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:07:22.171Z,1761674842.171 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:07:22.171Z,1761674842.171 [marl:UpdateSpeed] Stopped 2025-10-28T18:07:22.171Z,1761674842.171 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:07:22.535Z,1761674842.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331148,0.880014,0.340466],[-0.941415,0.283708,0.182340],[0.063868,-0.380902,0.922407]] 2025-10-28T18:07:22.575Z,1761674842.575 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:07:22.575Z,1761674842.575 [marl:UpdateRudder:B] Stopped 2025-10-28T18:07:22.575Z,1761674842.575 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:07:22.575Z,1761674842.575 [marl:UpdateRudder] Stopped 2025-10-28T18:07:22.575Z,1761674842.575 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:07:22.938Z,1761674842.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312603,0.885124,0.344723],[-0.947801,0.266636,0.174865],[0.062861,-0.381392,0.922274]] 2025-10-28T18:07:23.217Z,1761674843.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:07:23.344Z,1761674843.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294960,0.889683,0.348515],[-0.953501,0.250425,0.167701],[0.061923,-0.381775,0.922179]] 2025-10-28T18:07:23.748Z,1761674843.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279087,0.892747,0.353712],[-0.958360,0.235752,0.161146],[0.060474,-0.383957,0.921369]] 2025-10-28T18:07:24.150Z,1761674844.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264203,0.895573,0.357973],[-0.962673,0.222247,0.154490],[0.058799,-0.385428,0.920863]] 2025-10-28T18:07:24.222Z,1761674844.222 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:07:24.556Z,1761674844.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250168,0.897342,0.363583],[-0.966531,0.209403,0.148217],[0.056866,-0.388493,0.919695]] 2025-10-28T18:07:24.958Z,1761674844.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235868,0.899086,0.368797],[-0.970234,0.196441,0.141624],[0.054886,-0.391224,0.918658]] 2025-10-28T18:07:25.362Z,1761674845.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222048,0.900431,0.374058],[-0.973623,0.184117,0.134755],[0.052467,-0.394113,0.917563]] 2025-10-28T18:07:25.771Z,1761674845.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207624,0.902399,0.377582],[-0.976937,0.171608,0.127064],[0.049866,-0.395256,0.917217]] 2025-10-28T18:07:26.173Z,1761674846.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191466,0.905237,0.379324],[-0.980354,0.157718,0.118454],[0.047403,-0.394551,0.917650]] 2025-10-28T18:07:26.576Z,1761674846.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173936,0.908572,0.379794],[-0.983717,0.142588,0.109409],[0.045252,-0.392640,0.918578]] 2025-10-28T18:07:26.979Z,1761674846.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156125,0.912620,0.377823],[-0.986795,0.127405,0.100023],[0.043146,-0.388449,0.920459]] 2025-10-28T18:07:27.382Z,1761674847.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137418,0.916635,0.375361],[-0.989636,0.111107,0.090975],[0.041686,-0.383972,0.922403]] 2025-10-28T18:07:27.790Z,1761674847.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118550,0.919810,0.374027],[-0.992115,0.094300,0.082553],[0.040662,-0.380864,0.923736]] 2025-10-28T18:07:28.202Z,1761674848.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100500,0.922603,0.372430],[-0.994154,0.078273,0.074370],[0.039463,-0.377727,0.925076]] 2025-10-28T18:07:28.594Z,1761674848.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082718,0.924386,0.372381],[-0.995833,0.062275,0.066616],[0.038389,-0.376339,0.925686]] 2025-10-28T18:07:28.998Z,1761674848.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065874,0.924799,0.374710],[-0.997150,0.047167,0.058887],[0.036784,-0.377521,0.925270]] 2025-10-28T18:07:29.404Z,1761674849.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048855,0.924864,0.377147],[-0.998194,0.031994,0.050849],[0.034962,-0.378950,0.924757]] 2025-10-28T18:07:30.213Z,1761674850.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013109,0.924463,0.381046],[-0.999417,0.000098,0.034146],[0.031530,-0.381271,0.923925]] 2025-10-28T18:07:30.615Z,1761674850.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005388,0.923440,0.383706],[-0.999540,-0.016429,0.025504],[0.029856,-0.383392,0.923103]] 2025-10-28T18:07:31.020Z,1761674851.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024099,0.921895,0.386689],[-0.999311,-0.033142,0.016733],[0.028242,-0.386019,0.922058]] 2025-10-28T18:07:31.423Z,1761674851.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043215,0.919886,0.389798],[-0.998704,-0.050268,0.007905],[0.026866,-0.388952,0.920866]] 2025-10-28T18:07:31.845Z,1761674851.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061889,0.917815,0.392155],[-0.997762,-0.066865,-0.000971],[0.025330,-0.391337,0.919899]] 2025-10-28T18:07:32.230Z,1761674852.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080816,0.915766,0.393500],[-0.996440,-0.083738,-0.009769],[0.024005,-0.392888,0.919273]] 2025-10-28T18:07:32.634Z,1761674852.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099127,0.913333,0.394963],[-0.994816,-0.100020,-0.018385],[0.022712,-0.394738,0.918513]] 2025-10-28T18:07:33.039Z,1761674853.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117541,0.911010,0.395278],[-0.992835,-0.116431,-0.026892],[0.021524,-0.395606,0.918168]] 2025-10-28T18:07:33.443Z,1761674853.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136177,0.908230,0.395694],[-0.990477,-0.132991,-0.035619],[0.020273,-0.396777,0.917691]] 2025-10-28T18:07:33.846Z,1761674853.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154795,0.905102,0.396016],[-0.987765,-0.149478,-0.044462],[0.018953,-0.398053,0.917167]] 2025-10-28T18:07:34.250Z,1761674854.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173468,0.901572,0.396330],[-0.984681,-0.165996,-0.053373],[0.017670,-0.399517,0.916556]] 2025-10-28T18:07:34.654Z,1761674854.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192331,0.898633,0.394294],[-0.981194,-0.182788,-0.062023],[0.016336,-0.398808,0.916889]] 2025-10-28T18:07:35.097Z,1761674855.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210832,0.894683,0.393818],[-0.977405,-0.199186,-0.070743],[0.015150,-0.399834,0.916462]] 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateRudder:A] Stopped 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:07:35.143Z,1761674855.143 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateCommandMode] Stopped 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:07:35.144Z,1761674855.144 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed] Stopped 2025-10-28T18:07:35.145Z,1761674855.145 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:07:35.463Z,1761674855.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228939,0.891380,0.391189],[-0.973340,-0.215408,-0.078799],[0.014025,-0.398800,0.916930]] 2025-10-28T18:07:35.502Z,1761674855.502 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:07:35.502Z,1761674855.502 [marl:UpdateRudder:B] Stopped 2025-10-28T18:07:35.502Z,1761674855.502 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:07:35.502Z,1761674855.502 [marl:UpdateRudder] Stopped 2025-10-28T18:07:35.502Z,1761674855.502 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:07:35.866Z,1761674855.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246145,0.887944,0.388547],[-0.969148,-0.230804,-0.086502],[0.012869,-0.397851,0.917360]] 2025-10-28T18:07:36.273Z,1761674856.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263093,0.883906,0.386643],[-0.964702,-0.245813,-0.094482],[0.011528,-0.397853,0.917377]] 2025-10-28T18:07:36.685Z,1761674856.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279415,0.879547,0.385129],[-0.960113,-0.260342,-0.102010],[0.010543,-0.398271,0.917207]] 2025-10-28T18:07:37.078Z,1761674857.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294929,0.874502,0.385049],[-0.955473,-0.273863,-0.109865],[0.009374,-0.400306,0.916333]] 2025-10-28T18:07:37.484Z,1761674857.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309914,0.869693,0.384172],[-0.950729,-0.286970,-0.117313],[0.008219,-0.401601,0.915778]] 2025-10-28T18:07:37.888Z,1761674857.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324788,0.864815,0.382894],[-0.945759,-0.300044,-0.124550],[0.007172,-0.402578,0.915358]] 2025-10-28T18:07:38.291Z,1761674858.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339272,0.860214,0.380692],[-0.940667,-0.312985,-0.131096],[0.006381,-0.402582,0.915362]] 2025-10-28T18:07:38.697Z,1761674858.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353388,0.855043,0.379496],[-0.935459,-0.325502,-0.137714],[0.005776,-0.403669,0.914887]] 2025-10-28T18:07:39.099Z,1761674859.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367715,0.849881,0.377475],[-0.929926,-0.338180,-0.144471],[0.004871,-0.404148,0.914681]] 2025-10-28T18:07:39.507Z,1761674859.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382566,0.844891,0.373903],[-0.923920,-0.351519,-0.151015],[0.003843,-0.403230,0.915091]] 2025-10-28T18:07:40.310Z,1761674860.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414553,0.833929,0.364292],[-0.910023,-0.380693,-0.164105],[0.001832,-0.399544,0.916712]] 2025-10-28T18:07:40.716Z,1761674860.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431976,0.827628,0.358370],[-0.901884,-0.396811,-0.170720],[0.000913,-0.396955,0.917838]] 2025-10-28T18:07:41.552Z,1761674861.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468789,0.812724,0.346001],[-0.883310,-0.430903,-0.184625],[-0.000956,-0.392176,0.919890]] 2025-10-28T18:07:41.926Z,1761674861.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487749,0.803775,0.340656],[-0.872982,-0.448243,-0.192302],[-0.001871,-0.391181,0.920312]] 2025-10-28T18:07:41.951Z,1761674861.951 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +915, +58,A 2025-10-28T18:07:42.331Z,1761674862.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506407,0.793649,0.337156],[-0.862291,-0.464874,-0.200867],[-0.002683,-0.392446,0.919771]] 2025-10-28T18:07:42.757Z,1761674862.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539663,0.773758,0.331757],[-0.841871,-0.494017,-0.217258],[-0.004212,-0.396542,0.918007]] 2025-10-28T18:07:43.589Z,1761674863.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568095,0.753754,0.330338],[-0.822942,-0.517476,-0.234488],[-0.005804,-0.405061,0.914271]] 2025-10-28T18:07:43.951Z,1761674863.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581455,0.743808,0.329635],[-0.813551,-0.528220,-0.243145],[-0.006733,-0.409552,0.912262]] 2025-10-28T18:07:44.363Z,1761674864.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594696,0.734965,0.325828],[-0.803915,-0.539828,-0.249611],[-0.007564,-0.410380,0.911883]] 2025-10-28T18:07:44.767Z,1761674864.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608633,0.725594,0.321061],[-0.793410,-0.552393,-0.255661],[-0.008154,-0.410337,0.911897]] 2025-10-28T18:07:45.169Z,1761674865.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623057,0.715585,0.315815],[-0.782128,-0.565446,-0.261815],[-0.008775,-0.410133,0.911983]] 2025-10-28T18:07:45.592Z,1761674865.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637669,0.705716,0.308777],[-0.770250,-0.579132,-0.267060],[-0.009646,-0.408131,0.912872]] 2025-10-28T18:07:45.968Z,1761674865.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652284,0.695504,0.301328],[-0.757904,-0.593060,-0.271773],[-0.010313,-0.405651,0.913970]] 2025-10-28T18:07:46.374Z,1761674866.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666720,0.685177,0.293287],[-0.745229,-0.607105,-0.275786],[-0.010906,-0.402438,0.915382]] 2025-10-28T18:07:46.781Z,1761674866.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681054,0.673798,0.286640],[-0.732148,-0.620653,-0.280624],[-0.011180,-0.400982,0.916017]] 2025-10-28T18:07:47.182Z,1761674867.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694942,0.661966,0.280814],[-0.718970,-0.633324,-0.286325],[-0.011691,-0.400876,0.916058]] 2025-10-28T18:07:47.986Z,1761674867.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720524,0.638431,0.270651],[-0.693324,-0.656431,-0.297322],[-0.012156,-0.401876,0.915613]] 2025-10-28T18:07:48.394Z,1761674868.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732302,0.626903,0.265943],[-0.680866,-0.666921,-0.302716],[-0.012410,-0.402751,0.915225]] 2025-10-28T18:07:48.454Z,1761674868.454 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:07:48.454Z,1761674868.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:07:48.454Z,1761674868.454 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateRudder:A] Stopped 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:07:48.455Z,1761674868.455 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateCommandMode] Stopped 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:07:48.456Z,1761674868.456 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:07:48.457Z,1761674868.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:07:48.457Z,1761674868.457 [marl:UpdateSpeed] Stopped 2025-10-28T18:07:48.457Z,1761674868.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:07:48.796Z,1761674868.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743410,0.615602,0.261489],[-0.668711,-0.676556,-0.308378],[-0.012926,-0.404112,0.914618]] 2025-10-28T18:07:48.847Z,1761674868.847 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:07:48.847Z,1761674868.847 [marl:UpdateRudder:B] Stopped 2025-10-28T18:07:48.847Z,1761674868.847 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:07:48.847Z,1761674868.847 [marl:UpdateRudder] Stopped 2025-10-28T18:07:48.847Z,1761674868.847 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:07:49.200Z,1761674869.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754215,0.604110,0.257314],[-0.656486,-0.685602,-0.314603],[-0.013640,-0.406202,0.913682]] 2025-10-28T18:07:49.603Z,1761674869.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764852,0.592675,0.252463],[-0.644048,-0.694827,-0.320027],[-0.014254,-0.407372,0.913151]] 2025-10-28T18:07:50.007Z,1761674870.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775340,0.581301,0.246854],[-0.631368,-0.704221,-0.324726],[-0.014924,-0.407629,0.913026]] 2025-10-28T18:07:50.413Z,1761674870.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785895,0.569468,0.240989],[-0.618163,-0.713661,-0.329490],[-0.015650,-0.407914,0.912886]] 2025-10-28T18:07:50.819Z,1761674870.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796414,0.557756,0.233736],[-0.604540,-0.724038,-0.332115],[-0.016006,-0.405804,0.913820]] 2025-10-28T18:07:51.219Z,1761674871.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807527,0.545076,0.225371],[-0.589606,-0.735445,-0.333894],[-0.016250,-0.402509,0.915272]] 2025-10-28T18:07:51.623Z,1761674871.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818334,0.531502,0.218712],[-0.574503,-0.745456,-0.337997],[-0.016606,-0.402245,0.915382]] 2025-10-28T18:07:52.026Z,1761674872.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828943,0.517772,0.211580],[-0.559073,-0.755445,-0.341672],[-0.017071,-0.401515,0.915693]] 2025-10-28T18:07:52.437Z,1761674872.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839159,0.503892,0.204705],[-0.543613,-0.765163,-0.344978],[-0.017199,-0.400772,0.916016]] 2025-10-28T18:07:52.842Z,1761674872.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848866,0.489710,0.199025],[-0.528319,-0.773514,-0.350078],[-0.017488,-0.402318,0.915333]] 2025-10-28T18:07:53.239Z,1761674873.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858122,0.475575,0.193534],[-0.513149,-0.781532,-0.354804],[-0.017483,-0.403776,0.914691]] 2025-10-28T18:07:53.651Z,1761674873.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866967,0.461611,0.187838],[-0.498057,-0.789279,-0.359135],[-0.017524,-0.404912,0.914188]] 2025-10-28T18:07:54.046Z,1761674874.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875454,0.447638,0.182212],[-0.482980,-0.796552,-0.363641],[-0.017639,-0.406356,0.913545]] 2025-10-28T18:07:54.342Z,1761674874.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:07:54.455Z,1761674874.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883974,0.432969,0.176429],[-0.467191,-0.803521,-0.368899],[-0.017957,-0.408524,0.912571]] 2025-10-28T18:07:54.855Z,1761674874.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892716,0.417497,0.169568],[-0.450252,-0.811242,-0.373041],[-0.018182,-0.409368,0.912188]] 2025-10-28T18:07:55.258Z,1761674875.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901291,0.401883,0.161755],[-0.432794,-0.818854,-0.377051],[-0.019077,-0.409839,0.911958]] 2025-10-28T18:07:55.344Z,1761674875.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:07:55.667Z,1761674875.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909609,0.386511,0.152382],[-0.414943,-0.826761,-0.379853],[-0.020834,-0.408748,0.912410]] 2025-10-28T18:07:56.066Z,1761674876.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918173,0.370029,0.141551],[-0.395520,-0.835528,-0.381389],[-0.022856,-0.406167,0.913513]] 2025-10-28T18:07:56.471Z,1761674876.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926645,0.352356,0.131052],[-0.375135,-0.843876,-0.383598],[-0.024571,-0.404621,0.914154]] 2025-10-28T18:07:56.874Z,1761674876.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934833,0.334177,0.120055],[-0.354081,-0.851842,-0.385995],[-0.026723,-0.403350,0.914656]] 2025-10-28T18:07:57.279Z,1761674877.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942497,0.315855,0.109246],[-0.332973,-0.859269,-0.388311],[-0.028779,-0.402358,0.915030]] 2025-10-28T18:07:57.683Z,1761674877.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949709,0.297257,0.098446],[-0.311618,-0.866281,-0.390451],[-0.030783,-0.401492,0.915345]] 2025-10-28T18:07:58.086Z,1761674878.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956164,0.279232,0.088208],[-0.290948,-0.871755,-0.394198],[-0.033177,-0.402581,0.914783]] 2025-10-28T18:07:58.491Z,1761674878.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962038,0.261633,0.077659],[-0.270585,-0.877286,-0.396426],[-0.035589,-0.402390,0.914776]] 2025-10-28T18:07:58.536Z,1761674878.536 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:07:58.649Z,1761674878.649 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:07:58.649Z,1761674878.649 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:07:58.894Z,1761674878.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967170,0.245051,0.067320],[-0.251209,-0.881860,-0.399020],[-0.038413,-0.402831,0.914468]] 2025-10-28T18:07:58.901Z,1761674878.901 [DAT](INFO): DAT read: user:104> 2025-10-28T18:07:58.902Z,1761674878.902 [DAT](INFO): DAT read: Tx time:18:07:58.6493 2025-10-28T18:07:58.902Z,1761674878.902 [DAT](INFO): Ping request sent. 2025-10-28T18:07:58.903Z,1761674878.903 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:07:58.903Z,1761674878.903 [DAT](INFO): publishing transmit ping time 2025-10-28T18:07:58.903Z,1761674878.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000922 2025-10-28T18:07:59.153Z,1761674879.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250327 2025-10-28T18:07:59.300Z,1761674879.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971672,0.229330,0.057101],[-0.232736,-0.886551,-0.399827],[-0.041069,-0.401791,0.914810]] 2025-10-28T18:07:59.405Z,1761674879.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502303 2025-10-28T18:07:59.657Z,1761674879.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754321 2025-10-28T18:07:59.702Z,1761674879.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975744,0.213721,0.047405],[-0.214548,-0.890553,-0.401103],[-0.043507,-0.401545,0.914805]] 2025-10-28T18:07:59.909Z,1761674879.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006366 2025-10-28T18:08:00.107Z,1761674880.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979260,0.198955,0.038295],[-0.197345,-0.893835,-0.402635],[-0.045876,-0.401841,0.914559]] 2025-10-28T18:08:00.161Z,1761674880.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258398 2025-10-28T18:08:00.413Z,1761674880.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 2025-10-28T18:08:00.518Z,1761674880.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982381,0.184508,0.029753],[-0.180610,-0.896333,-0.404928],[-0.048044,-0.403167,0.913864]] 2025-10-28T18:08:00.665Z,1761674880.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762374 2025-10-28T18:08:00.914Z,1761674880.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985076,0.170727,0.021855],[-0.164703,-0.898125,-0.407731],[-0.049982,-0.405246,0.912840]] 2025-10-28T18:08:00.922Z,1761674880.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019697 2025-10-28T18:08:01.174Z,1761674881.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270967 2025-10-28T18:08:01.318Z,1761674881.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987449,0.157338,0.013767],[-0.149249,-0.901046,-0.407236],[-0.051669,-0.404180,0.913219]] 2025-10-28T18:08:01.425Z,1761674881.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522519 2025-10-28T18:08:01.677Z,1761674881.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774287 2025-10-28T18:08:01.793Z,1761674881.793 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:08:01.793Z,1761674881.793 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:08:01.793Z,1761674881.793 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateRudder:A] Stopped 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:08:01.794Z,1761674881.794 [marl:UpdateCommandMode] Stopped 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed] Stopped 2025-10-28T18:08:01.795Z,1761674881.795 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:08:01.929Z,1761674881.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026351 2025-10-28T18:08:02.137Z,1761674882.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991513,0.130007,-0.000546],[-0.118464,-0.905191,-0.408160],[-0.053558,-0.404632,0.912910]] 2025-10-28T18:08:02.164Z,1761674882.164 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:08:02.164Z,1761674882.164 [marl:UpdateRudder:B] Stopped 2025-10-28T18:08:02.164Z,1761674882.164 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:08:02.164Z,1761674882.164 [marl:UpdateRudder] Stopped 2025-10-28T18:08:02.164Z,1761674882.164 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:08:02.197Z,1761674882.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294932 2025-10-28T18:08:02.449Z,1761674882.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546298 2025-10-28T18:08:02.531Z,1761674882.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993177,0.116384,-0.007393],[-0.103166,-0.906397,-0.409635],[-0.054376,-0.406077,0.912220]] 2025-10-28T18:08:02.703Z,1761674882.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.800795 2025-10-28T18:08:02.934Z,1761674882.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994672,0.102026,-0.014778],[-0.087157,-0.908807,-0.408012],[-0.055058,-0.404550,0.912857]] 2025-10-28T18:08:02.953Z,1761674882.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050485 2025-10-28T18:08:03.205Z,1761674883.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302279 2025-10-28T18:08:03.339Z,1761674883.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996049,0.085872,-0.022616],[-0.069315,-0.911040,-0.406450],[-0.055507,-0.403277,0.913393]] 2025-10-28T18:08:03.457Z,1761674883.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.554320 2025-10-28T18:08:03.709Z,1761674883.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.806355 2025-10-28T18:08:03.743Z,1761674883.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997146,0.068874,-0.030916],[-0.050423,-0.912368,-0.406254],[-0.056187,-0.403536,0.913237]] 2025-10-28T18:08:03.961Z,1761674883.961 [DAT](INFO): DAT read: Rx Time:18:08:03.1435 2025-10-28T18:08:03.961Z,1761674883.961 [DAT](INFO): Rx dataTimestamp_ set to:1761674883.961115 2025-10-28T18:08:03.962Z,1761674883.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.059386 2025-10-28T18:08:04.150Z,1761674884.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997913,0.050518,-0.040207],[-0.029866,-0.913278,-0.406241],[-0.057243,-0.404193,0.912881]] 2025-10-28T18:08:04.221Z,1761674884.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.318387 2025-10-28T18:08:04.478Z,1761674884.478 [DAT](INFO): DAT read: 18:08:03.1435 LVL= 13264, 14993, 11602, 13667, AGC= 75, IDX= 70, 0.03,-2.533,-1.316,-0.718,-1.875, PHS=-0.556, 0.604, 1.113, RAW= 252.7, -15.5, CAL= 252.5, -21.4, ROT= 257.5, 21.4 2025-10-28T18:08:04.479Z,1761674884.479 [DAT](INFO): got valid direction response: 18:08:03.1435 LVL= 13264, 14993, 11602, 13667, AGC= 75, IDX= 70, 0.03,-2.533,-1.316,-0.718,-1.875, PHS=-0.556, 0.604, 1.113, RAW= 252.7, -15.5, CAL= 252.5, -21.4, ROT= 257.5, 21.4 2025-10-28T18:08:04.481Z,1761674884.481 [DAT](INFO): DAT read: Bearing 211.7, -42.1 (Local) 2025-10-28T18:08:04.481Z,1761674884.481 [DAT](INFO): Local bearing/azimuth received: Bearing 211.7, -42.1 (Local) 2025-10-28T18:08:04.483Z,1761674884.483 [DAT](INFO): DAT read: Range 11 to 20 : 1567.5 m (Round-trip 2090.1 ms) speed -0.8 m/s 2025-10-28T18:08:04.483Z,1761674884.483 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:08:04.485Z,1761674884.485 [DAT](INFO): direction in FSK: [-0.201518,-0.908986,-0.364877] 2025-10-28T18:08:04.485Z,1761674884.485 [DAT](INFO): publishing direction and range info 2025-10-28T18:08:04.551Z,1761674884.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998261,0.031672,-0.049720],[-0.008929,-0.914924,-0.403527],[-0.058271,-0.402381,0.913616]] 2025-10-28T18:08:04.625Z,1761674884.625 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761674880.00. Resetting abort timer. 2025-10-28T18:08:04.954Z,1761674884.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998132,0.011945,-0.059913],[0.012873,-0.917561,-0.397387],[-0.059720,-0.397416,0.915693]] 2025-10-28T18:08:05.359Z,1761674885.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997465,-0.008839,-0.070607],[0.036017,-0.918475,-0.393835],[-0.061370,-0.395380,0.916465]] 2025-10-28T18:08:05.769Z,1761674885.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996242,-0.029551,-0.081416],[0.059208,-0.918426,-0.391137],[-0.063216,-0.394488,0.916724]] 2025-10-28T18:08:06.167Z,1761674886.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994463,-0.050520,-0.092150],[0.082620,-0.917754,-0.388460],[-0.064946,-0.393922,0.916847]] 2025-10-28T18:08:06.572Z,1761674886.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992304,-0.069754,-0.102313],[0.104341,-0.915940,-0.387514],[-0.066682,-0.395207,0.916168]] 2025-10-28T18:08:06.974Z,1761674886.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989626,-0.089202,-0.112621],[0.126359,-0.913443,-0.386853],[-0.068365,-0.397071,0.915238]] 2025-10-28T18:08:07.380Z,1761674887.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986564,-0.108016,-0.122577],[0.147592,-0.910982,-0.385134],[-0.070065,-0.398050,0.914684]] 2025-10-28T18:08:07.786Z,1761674887.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983096,-0.126731,-0.132142],[0.168469,-0.908753,-0.381819],[-0.071696,-0.397627,0.914742]] 2025-10-28T18:08:08.187Z,1761674888.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979085,-0.145916,-0.141782],[0.189750,-0.906327,-0.377579],[-0.073406,-0.396585,0.915058]] 2025-10-28T18:08:08.590Z,1761674888.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974765,-0.164226,-0.151203],[0.210171,-0.903442,-0.373660],[-0.075238,-0.396009,0.915159]] 2025-10-28T18:08:08.996Z,1761674888.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970111,-0.182093,-0.160394],[0.230189,-0.899734,-0.370798],[-0.076792,-0.396637,0.914758]] 2025-10-28T18:08:09.399Z,1761674889.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965319,-0.198507,-0.169570],[0.248951,-0.895518,-0.368879],[-0.078628,-0.398300,0.913879]] 2025-10-28T18:08:09.803Z,1761674889.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960539,-0.213528,-0.178243],[0.266247,-0.891270,-0.367083],[-0.080480,-0.400055,0.912951]] 2025-10-28T18:08:10.206Z,1761674890.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955577,-0.228576,-0.186082],[0.283083,-0.887563,-0.363451],[-0.082083,-0.399981,0.912840]] 2025-10-28T18:08:10.626Z,1761674890.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950631,-0.242757,-0.193312],[0.298851,-0.883968,-0.359567],[-0.083594,-0.399587,0.912876]] 2025-10-28T18:08:11.014Z,1761674891.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945696,-0.256876,-0.199183],[0.313943,-0.880635,-0.354854],[-0.084254,-0.398116,0.913458]] 2025-10-28T18:08:11.418Z,1761674891.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940522,-0.271051,-0.204817],[0.328983,-0.877093,-0.349967],[-0.084785,-0.396533,0.914097]] 2025-10-28T18:08:11.822Z,1761674891.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935016,-0.285532,-0.210279],[0.344304,-0.872909,-0.345666],[-0.084856,-0.395604,0.914493]] 2025-10-28T18:08:12.228Z,1761674892.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929059,-0.300262,-0.216086],[0.360055,-0.868033,-0.341876],[-0.084917,-0.395425,0.914564]] 2025-10-28T18:08:12.635Z,1761674892.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922312,-0.316544,-0.221675],[0.377010,-0.863020,-0.336245],[-0.084874,-0.393696,0.915314]] 2025-10-28T18:08:13.035Z,1761674893.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915233,-0.333037,-0.226790],[0.393950,-0.857771,-0.330201],[-0.084565,-0.391555,0.916260]] 2025-10-28T18:08:13.439Z,1761674893.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907609,-0.349422,-0.232703],[0.411204,-0.851622,-0.325039],[-0.084599,-0.390697,0.916624]] 2025-10-28T18:08:13.844Z,1761674893.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899460,-0.365498,-0.239547],[0.428666,-0.844498,-0.321044],[-0.084956,-0.391452,0.916268]] 2025-10-28T18:08:14.246Z,1761674894.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891105,-0.380918,-0.246643],[0.445629,-0.837186,-0.317071],[-0.085707,-0.392455,0.915769]] 2025-10-28T18:08:14.650Z,1761674894.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882604,-0.395887,-0.253541],[0.462011,-0.830149,-0.312088],[-0.086925,-0.392589,0.915597]] 2025-10-28T18:08:15.055Z,1761674895.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874246,-0.409875,-0.260185],[0.477444,-0.822995,-0.307778],[-0.087981,-0.393297,0.915192]] 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateRudder:A] Stopped 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:08:15.081Z,1761674895.081 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode] Stopped 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:08:15.082Z,1761674895.082 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:08:15.083Z,1761674895.083 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:08:15.083Z,1761674895.083 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:08:15.083Z,1761674895.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:08:15.083Z,1761674895.083 [marl:UpdateSpeed] Stopped 2025-10-28T18:08:15.083Z,1761674895.083 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:08:15.460Z,1761674895.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865548,-0.424242,-0.266167],[0.492811,-0.816157,-0.301702],[-0.089239,-0.392308,0.915495]] 2025-10-28T18:08:15.490Z,1761674895.490 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:08:15.490Z,1761674895.490 [marl:UpdateRudder:B] Stopped 2025-10-28T18:08:15.491Z,1761674895.491 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:08:15.491Z,1761674895.491 [marl:UpdateRudder] Stopped 2025-10-28T18:08:15.491Z,1761674895.491 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:08:15.862Z,1761674895.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856489,-0.438587,-0.272156],[0.508222,-0.808705,-0.296153],[-0.090205,-0.391968,0.915546]] 2025-10-28T18:08:16.266Z,1761674896.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847084,-0.452337,-0.278996],[0.523567,-0.800398,-0.291960],[-0.091244,-0.393388,0.914833]] 2025-10-28T18:08:16.677Z,1761674896.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837392,-0.465787,-0.286036],[0.538822,-0.791406,-0.288700],[-0.091898,-0.395877,0.913694]] 2025-10-28T18:08:17.075Z,1761674897.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827589,-0.478779,-0.293030],[0.553700,-0.782079,-0.285953],[-0.092264,-0.398902,0.912340]] 2025-10-28T18:08:17.479Z,1761674897.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817549,-0.492932,-0.297710],[0.568419,-0.773608,-0.280054],[-0.092264,-0.398182,0.912655]] 2025-10-28T18:08:17.888Z,1761674897.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806592,-0.507903,-0.302396],[0.583879,-0.764343,-0.273614],[-0.092165,-0.397258,0.913067]] 2025-10-28T18:08:18.288Z,1761674898.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795501,-0.522121,-0.307520],[0.598951,-0.754449,-0.268446],[-0.091846,-0.397739,0.912890]] 2025-10-28T18:08:18.691Z,1761674898.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783655,-0.537135,-0.312043],[0.614458,-0.744047,-0.262366],[-0.091248,-0.397341,0.913123]] 2025-10-28T18:08:19.101Z,1761674899.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771286,-0.552324,-0.316317],[0.630050,-0.733035,-0.256312],[-0.090304,-0.396985,0.913372]] 2025-10-28T18:08:19.500Z,1761674899.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758630,-0.567109,-0.320730],[0.645382,-0.721539,-0.250724],[-0.089231,-0.397201,0.913383]] 2025-10-28T18:08:20.307Z,1761674900.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731365,-0.597588,-0.328625],[0.676363,-0.697325,-0.237214],[-0.087402,-0.395760,0.914185]] 2025-10-28T18:08:20.710Z,1761674900.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717077,-0.612201,-0.333183],[0.691593,-0.684354,-0.230994],[-0.086600,-0.396068,0.914128]] 2025-10-28T18:08:21.119Z,1761674901.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702487,-0.626542,-0.337576],[0.706490,-0.671181,-0.224473],[-0.085933,-0.396183,0.914141]] 2025-10-28T18:08:21.534Z,1761674901.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687292,-0.640813,-0.342035],[0.721301,-0.657684,-0.217204],[-0.085764,-0.395993,0.914240]] 2025-10-28T18:08:22.326Z,1761674902.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656428,-0.669668,-0.347343],[0.749438,-0.631549,-0.198719],[-0.086288,-0.390756,0.916441]] 2025-10-28T18:08:22.731Z,1761674902.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640562,-0.682938,-0.351106],[0.762874,-0.618212,-0.189309],[-0.087771,-0.389114,0.916999]] 2025-10-28T18:08:23.136Z,1761674903.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624995,-0.695365,-0.354752],[0.775442,-0.605332,-0.179621],[-0.089841,-0.387352,0.917544]] 2025-10-28T18:08:23.582Z,1761674903.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609694,-0.707073,-0.358220],[0.787220,-0.592908,-0.169544],[-0.092511,-0.385368,0.918114]] 2025-10-28T18:08:23.942Z,1761674903.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594646,-0.717943,-0.361876],[0.798294,-0.580718,-0.159667],[-0.095516,-0.383828,0.918451]] 2025-10-28T18:08:24.346Z,1761674904.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580592,-0.727095,-0.366396],[0.808249,-0.568980,-0.151639],[-0.098216,-0.384180,0.918019]] 2025-10-28T18:08:24.755Z,1761674904.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567160,-0.735762,-0.370114],[0.817474,-0.557636,-0.144147],[-0.100331,-0.384313,0.917735]] 2025-10-28T18:08:25.481Z,1761674905.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:08:25.598Z,1761674905.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528754,-0.758154,-0.381604],[0.842619,-0.522925,-0.128617],[-0.102039,-0.389554,0.915334]] 2025-10-28T18:08:26.367Z,1761674906.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515999,-0.765268,-0.384850],[0.850758,-0.510183,-0.126189],[-0.099776,-0.392528,0.914312]] 2025-10-28T18:08:26.484Z,1761674906.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:08:26.775Z,1761674906.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502628,-0.772740,-0.387605],[0.859114,-0.496459,-0.124302],[-0.096377,-0.395474,0.913406]] 2025-10-28T18:08:27.176Z,1761674907.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488338,-0.781170,-0.388971],[0.867768,-0.481801,-0.121849],[-0.092222,-0.397040,0.913156]] 2025-10-28T18:08:27.605Z,1761674907.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456868,-0.798924,-0.391142],[0.885554,-0.450046,-0.115121],[-0.084059,-0.398972,0.913102]] 2025-10-28T18:08:28.387Z,1761674908.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439458,-0.808358,-0.391706],[0.894635,-0.433032,-0.110056],[-0.080657,-0.398799,0.913485]] 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateRudder:A] Stopped 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:08:28.425Z,1761674908.425 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode] Stopped 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:08:28.426Z,1761674908.426 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:08:28.427Z,1761674908.427 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:08:28.427Z,1761674908.427 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:08:28.427Z,1761674908.427 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:08:28.427Z,1761674908.427 [marl:UpdateSpeed] Stopped 2025-10-28T18:08:28.427Z,1761674908.427 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:08:28.795Z,1761674908.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420606,-0.818345,-0.391666],[0.903848,-0.415289,-0.102929],[-0.078424,-0.397299,0.914332]] 2025-10-28T18:08:28.833Z,1761674908.833 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:08:28.833Z,1761674908.833 [marl:UpdateRudder:B] Stopped 2025-10-28T18:08:28.833Z,1761674908.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:08:28.833Z,1761674908.833 [marl:UpdateRudder] Stopped 2025-10-28T18:08:28.833Z,1761674908.833 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:08:29.202Z,1761674909.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382004,-0.836718,-0.392398],[0.920942,-0.380064,-0.086130],[-0.077070,-0.394278,0.915754]] 2025-10-28T18:08:29.611Z,1761674909.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363305,-0.845103,-0.392186],[0.928431,-0.363473,-0.076830],[-0.077619,-0.392030,0.916672]] 2025-10-28T18:08:30.007Z,1761674910.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345604,-0.852967,-0.391159],[0.935071,-0.348017,-0.067282],[-0.078741,-0.389015,0.917860]] 2025-10-28T18:08:30.411Z,1761674910.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328773,-0.859727,-0.390868],[0.940989,-0.333400,-0.058175],[-0.080300,-0.386929,0.918607]] 2025-10-28T18:08:30.814Z,1761674910.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313068,-0.865646,-0.390698],[0.946207,-0.319698,-0.049864],[-0.081740,-0.385292,0.919167]] 2025-10-28T18:08:31.218Z,1761674911.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299070,-0.870331,-0.391255],[0.950660,-0.307195,-0.043327],[-0.082483,-0.384908,0.919262]] 2025-10-28T18:08:31.618Z,1761674911.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285427,-0.874444,-0.392275],[0.954837,-0.294716,-0.037790],[-0.082565,-0.385345,0.919071]] 2025-10-28T18:08:32.023Z,1761674912.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271901,-0.878099,-0.393715],[0.958827,-0.282054,-0.033106],[-0.081979,-0.386506,0.918636]] 2025-10-28T18:08:32.427Z,1761674912.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258377,-0.881514,-0.395189],[0.962717,-0.268878,-0.029668],[-0.080105,-0.388120,0.918121]] 2025-10-28T18:08:32.831Z,1761674912.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244431,-0.885263,-0.395681],[0.966591,-0.254922,-0.026768],[-0.077172,-0.389005,0.917998]] 2025-10-28T18:08:33.236Z,1761674913.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229583,-0.888845,-0.396543],[0.970526,-0.239747,-0.024508],[-0.073286,-0.390482,0.917689]] 2025-10-28T18:08:33.639Z,1761674913.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213098,-0.892846,-0.396757],[0.974615,-0.222792,-0.022102],[-0.068660,-0.391395,0.917658]] 2025-10-28T18:08:34.044Z,1761674914.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195366,-0.896539,-0.397554],[0.978674,-0.204460,-0.019853],[-0.063485,-0.392954,0.917364]] 2025-10-28T18:08:34.446Z,1761674914.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176517,-0.900726,-0.396906],[0.982586,-0.185021,-0.017107],[-0.058027,-0.393014,0.917700]] 2025-10-28T18:08:34.851Z,1761674914.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156757,-0.905053,-0.395356],[0.986228,-0.164819,-0.013732],[-0.052734,-0.392064,0.918425]] 2025-10-28T18:08:35.254Z,1761674915.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136120,-0.908710,-0.394611],[0.989515,-0.144120,-0.009453],[-0.048281,-0.391760,0.918800]] 2025-10-28T18:08:35.662Z,1761674915.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114903,-0.912149,-0.393422],[0.992360,-0.123309,-0.003935],[-0.044923,-0.390869,0.919350]] 2025-10-28T18:08:36.067Z,1761674916.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093243,-0.915311,-0.391805],[0.994720,-0.102584,0.002924],[-0.042869,-0.389463,0.920044]] 2025-10-28T18:08:36.466Z,1761674916.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071497,-0.918823,-0.388139],[0.996558,-0.082171,0.010947],[-0.041952,-0.386020,0.921536]] 2025-10-28T18:08:36.894Z,1761674916.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050967,-0.920936,-0.386367],[0.997823,-0.063170,0.018946],[-0.041855,-0.384560,0.922151]] 2025-10-28T18:08:37.276Z,1761674917.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031123,-0.922521,-0.384690],[0.998625,-0.044943,0.026986],[-0.042184,-0.383321,0.922651]] 2025-10-28T18:08:37.678Z,1761674917.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012181,-0.923557,-0.383269],[0.999018,-0.027568,0.034680],[-0.042595,-0.382470,0.922986]] 2025-10-28T18:08:38.089Z,1761674918.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005891,-0.923603,-0.383304],[0.999053,-0.011086,0.042066],[-0.043102,-0.383189,0.922664]] 2025-10-28T18:08:38.487Z,1761674918.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022657,-0.923695,-0.382459],[0.998807,0.004364,0.048631],[-0.043251,-0.383104,0.922692]] 2025-10-28T18:08:38.892Z,1761674918.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038427,-0.922694,-0.383613],[0.998342,0.018988,0.054332],[-0.042847,-0.385065,0.921894]] 2025-10-28T18:08:39.295Z,1761674919.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053132,-0.921541,-0.384629],[0.997722,0.032956,0.058862],[-0.041568,-0.386880,0.921193]] 2025-10-28T18:08:39.698Z,1761674919.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067090,-0.920003,-0.386125],[0.996961,0.046457,0.062533],[-0.039592,-0.389147,0.920325]] 2025-10-28T18:08:40.102Z,1761674920.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080623,-0.918361,-0.387445],[0.996066,0.059891,0.065312],[-0.036776,-0.391187,0.919576]] 2025-10-28T18:08:40.508Z,1761674920.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094065,-0.916323,-0.389235],[0.995010,0.073466,0.067511],[-0.033266,-0.393644,0.918661]] 2025-10-28T18:08:40.910Z,1761674920.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107669,-0.914130,-0.390863],[0.993755,0.087371,0.069406],[-0.029296,-0.395895,0.917828]] 2025-10-28T18:08:41.318Z,1761674921.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121483,-0.912320,-0.391043],[0.992277,0.101668,0.071070],[-0.025082,-0.396657,0.917624]] 2025-10-28T18:08:41.719Z,1761674921.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136440,-0.910392,-0.390602],[0.990432,0.117111,0.073010],[-0.020724,-0.396826,0.917660]] 2025-10-28T18:08:41.797Z,1761674921.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:08:41.797Z,1761674921.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:08:41.797Z,1761674921.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:08:41.797Z,1761674921.797 [marl:UpdateRudder:A] Stopped 2025-10-28T18:08:41.797Z,1761674921.797 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode] Stopped 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:08:41.798Z,1761674921.798 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed] Stopped 2025-10-28T18:08:41.799Z,1761674921.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:08:42.122Z,1761674922.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152527,-0.908442,-0.389189],[0.988164,0.133672,0.075254],[-0.016340,-0.396061,0.918079]] 2025-10-28T18:08:42.159Z,1761674922.159 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:08:42.159Z,1761674922.159 [marl:UpdateRudder:B] Stopped 2025-10-28T18:08:42.159Z,1761674922.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:08:42.160Z,1761674922.160 [marl:UpdateRudder] Stopped 2025-10-28T18:08:42.160Z,1761674922.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:08:42.527Z,1761674922.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170775,-0.906027,-0.387235],[0.985230,0.151994,0.078871],[-0.012601,-0.394985,0.918601]] 2025-10-28T18:08:42.931Z,1761674922.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190636,-0.902976,-0.385087],[0.981615,0.171559,0.083663],[-0.009480,-0.393956,0.919080]] 2025-10-28T18:08:43.345Z,1761674923.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211623,-0.899393,-0.382502],[0.977328,0.192035,0.089176],[-0.006751,-0.392702,0.919641]] 2025-10-28T18:08:43.738Z,1761674923.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233345,-0.893910,-0.382721],[0.972384,0.212722,0.096012],[-0.004413,-0.394556,0.918861]] 2025-10-28T18:08:44.143Z,1761674924.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255754,-0.889298,-0.379129],[0.966738,0.234124,0.102977],[-0.002814,-0.392855,0.919596]] 2025-10-28T18:08:44.551Z,1761674924.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278270,-0.884184,-0.375213],[0.960501,0.255348,0.110613],[-0.001992,-0.391172,0.920315]] 2025-10-28T18:08:44.950Z,1761674924.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300359,-0.878038,-0.372603],[0.953825,0.275763,0.119052],[-0.001782,-0.391157,0.920322]] 2025-10-28T18:08:45.358Z,1761674925.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320716,-0.871171,-0.371757],[0.947174,0.294161,0.127794],[-0.001974,-0.393104,0.919492]] 2025-10-28T18:08:45.764Z,1761674925.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340182,-0.864397,-0.370261],[0.940357,0.311701,0.136279],[-0.002388,-0.394537,0.918877]] 2025-10-28T18:08:46.164Z,1761674926.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357418,-0.857979,-0.368951],[0.933942,0.327353,0.143504],[-0.002346,-0.395869,0.918304]] 2025-10-28T18:08:46.579Z,1761674926.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373624,-0.851963,-0.366830],[0.927577,0.342089,0.150254],[-0.002522,-0.396402,0.918074]] 2025-10-28T18:08:46.970Z,1761674926.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388505,-0.846873,-0.363140],[0.921444,0.356092,0.155370],[-0.002268,-0.394975,0.918689]] 2025-10-28T18:08:47.378Z,1761674927.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402193,-0.841440,-0.360859],[0.915553,0.368863,0.160318],[-0.001790,-0.394865,0.918738]] 2025-10-28T18:08:47.786Z,1761674927.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414762,-0.835327,-0.360834],[0.909930,0.380382,0.165340],[-0.000858,-0.396910,0.917857]] 2025-10-28T18:08:48.182Z,1761674928.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426607,-0.829258,-0.361022],[0.904437,0.391434,0.169627],[0.000652,-0.398886,0.917000]] 2025-10-28T18:08:48.587Z,1761674928.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437699,-0.823988,-0.359811],[0.899117,0.402391,0.172251],[0.002852,-0.398906,0.916987]] 2025-10-28T18:08:48.991Z,1761674928.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448541,-0.818751,-0.358411],[0.893745,0.413415,0.174094],[0.005633,-0.398416,0.917187]] 2025-10-28T18:08:49.406Z,1761674929.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459833,-0.813111,-0.356936],[0.887960,0.425078,0.175599],[0.008944,-0.397692,0.917475]] 2025-10-28T18:08:49.798Z,1761674929.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472249,-0.806592,-0.355514],[0.881377,0.437819,0.177455],[0.012517,-0.397145,0.917671]] 2025-10-28T18:08:50.202Z,1761674930.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486054,-0.799445,-0.353043],[0.873778,0.452048,0.179342],[0.016218,-0.395651,0.918258]] 2025-10-28T18:08:50.607Z,1761674930.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501473,-0.791491,-0.349380],[0.864954,0.467749,0.181840],[0.019497,-0.393386,0.919167]] 2025-10-28T18:08:51.016Z,1761674931.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518430,-0.782260,-0.345396],[0.854826,0.484685,0.185347],[0.022419,-0.391343,0.919972]] 2025-10-28T18:08:51.415Z,1761674931.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536018,-0.771908,-0.341822],[0.843832,0.501948,0.189724],[0.025128,-0.390136,0.920414]] 2025-10-28T18:08:51.818Z,1761674931.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554809,-0.760309,-0.337812],[0.831532,0.520044,0.195217],[0.027252,-0.389210,0.920746]] 2025-10-28T18:08:52.222Z,1761674932.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574302,-0.747374,-0.334080],[0.818134,0.538381,0.201998],[0.028894,-0.389330,0.920645]] 2025-10-28T18:08:52.630Z,1761674932.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594118,-0.734362,-0.328232],[0.803842,0.556937,0.208950],[0.029360,-0.387988,0.921197]] 2025-10-28T18:08:53.051Z,1761674933.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613584,-0.720709,-0.322634],[0.789093,0.574697,0.216920],[0.029081,-0.387687,0.921332]] 2025-10-28T18:08:53.435Z,1761674933.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631844,-0.707325,-0.316960],[0.774580,0.591118,0.224956],[0.028244,-0.387648,0.921375]] 2025-10-28T18:08:53.839Z,1761674933.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648455,-0.694122,-0.312571],[0.760758,0.605688,0.233213],[0.027442,-0.389019,0.920821]] 2025-10-28T18:08:54.243Z,1761674934.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663501,-0.681750,-0.308194],[0.747706,0.618802,0.240872],[0.026497,-0.390257,0.920324]] 2025-10-28T18:08:54.648Z,1761674934.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676691,-0.670924,-0.303234],[0.735823,0.630577,0.246856],[0.025591,-0.390172,0.920386]] 2025-10-28T18:08:55.058Z,1761674935.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688508,-0.660629,-0.299207],[0.724806,0.640895,0.252804],[0.024751,-0.390924,0.920090]] 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateRudder:A] Stopped 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:08:55.103Z,1761674935.103 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateCommandMode] Stopped 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:08:55.108Z,1761674935.108 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:08:55.109Z,1761674935.109 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:08:55.109Z,1761674935.109 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:08:55.109Z,1761674935.109 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:08:55.109Z,1761674935.109 [marl:UpdateSpeed] Stopped 2025-10-28T18:08:55.109Z,1761674935.109 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:08:55.462Z,1761674935.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699239,-0.650755,-0.295945],[0.714464,0.650400,0.257919],[0.024641,-0.391789,0.919725]] 2025-10-28T18:08:55.486Z,1761674935.486 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:08:55.486Z,1761674935.486 [marl:UpdateRudder:B] Stopped 2025-10-28T18:08:55.486Z,1761674935.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:08:55.486Z,1761674935.486 [marl:UpdateRudder] Stopped 2025-10-28T18:08:55.487Z,1761674935.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:08:55.859Z,1761674935.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709243,-0.641055,-0.293296],[0.704508,0.659482,0.262204],[0.025336,-0.392596,0.919362]] 2025-10-28T18:08:56.262Z,1761674936.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719053,-0.630866,-0.291497],[0.694449,0.668269,0.266752],[0.026514,-0.394239,0.918625]] 2025-10-28T18:08:56.612Z,1761674936.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:08:56.669Z,1761674936.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729045,-0.620615,-0.288672],[0.683902,0.677604,0.270425],[0.027775,-0.394575,0.918444]] 2025-10-28T18:08:57.075Z,1761674937.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739667,-0.609286,-0.285767],[0.672338,0.687481,0.274466],[0.029231,-0.395145,0.918154]] 2025-10-28T18:08:57.475Z,1761674937.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751013,-0.597059,-0.281957],[0.659571,0.698248,0.278237],[0.030752,-0.394930,0.918196]] 2025-10-28T18:08:57.616Z,1761674937.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:08:57.878Z,1761674937.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762543,-0.584280,-0.277748],[0.646136,0.709196,0.282044],[0.032185,-0.394534,0.918317]] 2025-10-28T18:08:58.282Z,1761674938.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774304,-0.570778,-0.273252],[0.631930,0.720242,0.286210],[0.033445,-0.394289,0.918377]] 2025-10-28T18:08:58.693Z,1761674938.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785842,-0.557249,-0.268189],[0.617456,0.731281,0.289786],[0.034639,-0.393321,0.918748]] 2025-10-28T18:08:58.717Z,1761674938.717 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:08:58.929Z,1761674938.929 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:08:58.929Z,1761674938.929 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:08:59.090Z,1761674939.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797029,-0.543992,-0.262330],[0.602897,0.742201,0.292666],[0.035494,-0.391421,0.919527]] 2025-10-28T18:08:59.181Z,1761674939.181 [DAT](INFO): DAT read: user:105> 2025-10-28T18:08:59.182Z,1761674939.182 [DAT](INFO): DAT read: Tx time:18:08:58.9491 2025-10-28T18:08:59.183Z,1761674939.183 [DAT](INFO): Ping request sent. 2025-10-28T18:08:59.183Z,1761674939.183 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:08:59.183Z,1761674939.183 [DAT](INFO): publishing transmit ping time 2025-10-28T18:08:59.184Z,1761674939.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001060 2025-10-28T18:08:59.434Z,1761674939.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250439 2025-10-28T18:08:59.495Z,1761674939.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807527,-0.531141,-0.256495],[0.588721,0.752471,0.295288],[0.036166,-0.389457,0.920334]] 2025-10-28T18:08:59.685Z,1761674939.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501873 2025-10-28T18:08:59.899Z,1761674939.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817393,-0.518887,-0.250250],[0.574916,0.762357,0.297124],[0.036607,-0.386740,0.921462]] 2025-10-28T18:08:59.953Z,1761674939.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.769842 2025-10-28T18:09:00.205Z,1761674940.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022180 2025-10-28T18:09:00.302Z,1761674940.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826977,-0.505939,-0.245224],[0.561025,0.771176,0.300896],[0.036876,-0.386411,0.921589]] 2025-10-28T18:09:00.457Z,1761674940.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273911 2025-10-28T18:09:00.706Z,1761674940.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836551,-0.491646,-0.241798],[0.546615,0.779002,0.307194],[0.037330,-0.389154,0.920416]] 2025-10-28T18:09:00.709Z,1761674940.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.525855 2025-10-28T18:09:00.961Z,1761674940.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777838 2025-10-28T18:09:01.111Z,1761674941.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845946,-0.477363,-0.237697],[0.531933,0.786894,0.312802],[0.037723,-0.391052,0.919595]] 2025-10-28T18:09:01.213Z,1761674941.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029812 2025-10-28T18:09:01.465Z,1761674941.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281805 2025-10-28T18:09:01.575Z,1761674941.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855599,-0.462161,-0.233149],[0.516235,0.794983,0.318595],[0.038107,-0.392949,0.918770]] 2025-10-28T18:09:01.717Z,1761674941.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533809 2025-10-28T18:09:01.921Z,1761674941.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865470,-0.446237,-0.227670],[0.499480,0.803564,0.323735],[0.038484,-0.393900,0.918347]] 2025-10-28T18:09:01.969Z,1761674941.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785867 2025-10-28T18:09:02.221Z,1761674942.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037730 2025-10-28T18:09:02.322Z,1761674942.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875209,-0.430117,-0.221379],[0.482173,0.812522,0.327594],[0.038971,-0.393456,0.918517]] 2025-10-28T18:09:02.473Z,1761674942.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289814 2025-10-28T18:09:02.725Z,1761674942.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541940 2025-10-28T18:09:02.728Z,1761674942.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885217,-0.412724,-0.214592],[0.463513,0.821586,0.331892],[0.039326,-0.393262,0.918585]] 2025-10-28T18:09:02.977Z,1761674942.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793862 2025-10-28T18:09:03.131Z,1761674943.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895207,-0.394888,-0.206562],[0.443906,0.831107,0.334976],[0.039397,-0.391567,0.919306]] 2025-10-28T18:09:03.233Z,1761674943.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048687 2025-10-28T18:09:03.481Z,1761674943.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298359 2025-10-28T18:09:03.582Z,1761674943.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904798,-0.377196,-0.197647],[0.424022,0.840878,0.336348],[0.039328,-0.388134,0.920763]] 2025-10-28T18:09:03.733Z,1761674943.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.549793 2025-10-28T18:09:03.938Z,1761674943.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913825,-0.359344,-0.189199],[0.404215,0.849766,0.338391],[0.039176,-0.385707,0.921789]] 2025-10-28T18:09:03.985Z,1761674943.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801958 2025-10-28T18:09:04.237Z,1761674944.237 [DAT](INFO): DAT read: Rx Time:18:09:03.4469 2025-10-28T18:09:04.237Z,1761674944.237 [DAT](INFO): Rx dataTimestamp_ set to:1761674944.237147 2025-10-28T18:09:04.238Z,1761674944.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054926 2025-10-28T18:09:04.343Z,1761674944.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922198,-0.341370,-0.181705],[0.384734,0.857409,0.341804],[0.039114,-0.385119,0.922038]] 2025-10-28T18:09:04.489Z,1761674944.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306202 2025-10-28T18:09:04.747Z,1761674944.747 [DAT](INFO): DAT read: 18:09:03.4469 LVL= 18032, 23665, 30674, 32755, AGC= 80, IDX= 460,-0.30,-2.398, 1.916, 2.676,-2.951, PHS= 0.655,-1.371,-0.700, RAW= 109.0, 15.6, CAL= 110.7, 18.0, ROT= 39.3, -18.0 2025-10-28T18:09:04.752Z,1761674944.752 [DAT](INFO): got valid direction response: 18:09:03.4469 LVL= 18032, 23665, 30674, 32755, AGC= 80, IDX= 460,-0.30,-2.398, 1.916, 2.676,-2.951, PHS= 0.655,-1.371,-0.700, RAW= 109.0, 15.6, CAL= 110.7, 18.0, ROT= 39.3, -18.0 2025-10-28T18:09:04.754Z,1761674944.754 [DAT](INFO): DAT read: Bearing 197.5, 28.0 (Local) 2025-10-28T18:09:04.754Z,1761674944.754 [DAT](INFO): Local bearing/azimuth received: Bearing 197.5, 28.0 (Local) 2025-10-28T18:09:04.760Z,1761674944.760 [DAT](INFO): DAT read: Range 11 to 20 : 1570.2 m (Round-trip 2093.7 ms) speed 0.0 m/s 2025-10-28T18:09:04.761Z,1761674944.761 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:09:04.762Z,1761674944.762 [DAT](INFO): direction in FSK: [0.735966,0.602381,0.309017] 2025-10-28T18:09:04.763Z,1761674944.763 [DAT](INFO): publishing direction and range info 2025-10-28T18:09:04.781Z,1761674944.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929993,-0.323302,-0.174895],[0.365504,0.863815,0.346742],[0.038974,-0.386393,0.921510]] 2025-10-28T18:09:04.889Z,1761674944.889 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675008.00. Resetting abort timer. 2025-10-28T18:09:05.151Z,1761674945.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937017,-0.306446,-0.167599],[0.347157,0.869955,0.350228],[0.038478,-0.386353,0.921548]] 2025-10-28T18:09:05.599Z,1761674945.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942964,-0.291162,-0.161378],[0.330689,0.874994,0.353597],[0.038251,-0.386795,0.921372]] 2025-10-28T18:09:05.960Z,1761674945.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948577,-0.275779,-0.155393],[0.314280,0.879125,0.358284],[0.037802,-0.388697,0.920590]] 2025-10-28T18:09:06.362Z,1761674946.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953697,-0.260776,-0.149860],[0.298380,0.883002,0.362322],[0.037842,-0.390260,0.919927]] 2025-10-28T18:09:06.773Z,1761674946.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958496,-0.246104,-0.143938],[0.282550,0.887405,0.364250],[0.038088,-0.389802,0.920111]] 2025-10-28T18:09:07.171Z,1761674947.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963048,-0.231281,-0.138011],[0.266598,0.891390,0.366536],[0.038249,-0.389785,0.920111]] 2025-10-28T18:09:07.602Z,1761674947.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967331,-0.216253,-0.132307],[0.250581,0.894782,0.369560],[0.038467,-0.390641,0.919739]] 2025-10-28T18:09:07.982Z,1761674947.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971501,-0.200449,-0.126518],[0.233809,0.898140,0.372394],[0.038985,-0.391362,0.919411]] 2025-10-28T18:09:08.387Z,1761674948.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975383,-0.184886,-0.120192],[0.216943,0.902276,0.372604],[0.039557,-0.389507,0.920174]] 2025-10-28T18:09:08.423Z,1761674948.423 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:09:08.423Z,1761674948.423 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:09:08.423Z,1761674948.423 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:09:08.423Z,1761674948.423 [marl:UpdateRudder:A] Stopped 2025-10-28T18:09:08.424Z,1761674948.424 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:09:08.429Z,1761674948.429 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:09:08.429Z,1761674948.429 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:09:08.429Z,1761674948.429 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateCommandMode] Stopped 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:09:08.430Z,1761674948.430 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:09:08.431Z,1761674948.431 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:09:08.431Z,1761674948.431 [marl:UpdateSpeed] Stopped 2025-10-28T18:09:08.431Z,1761674948.431 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:09:08.794Z,1761674948.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979077,-0.168867,-0.113547],[0.199546,0.906086,0.373082],[0.039882,-0.387933,0.920824]] 2025-10-28T18:09:08.818Z,1761674948.818 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:09:08.818Z,1761674948.818 [marl:UpdateRudder:B] Stopped 2025-10-28T18:09:08.818Z,1761674948.818 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:09:08.818Z,1761674948.818 [marl:UpdateRudder] Stopped 2025-10-28T18:09:08.819Z,1761674948.819 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:09:09.195Z,1761674949.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982434,-0.152944,-0.106916],[0.182232,0.909676,0.373205],[0.040179,-0.386132,0.921568]] 2025-10-28T18:09:09.602Z,1761674949.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985411,-0.137258,-0.100626],[0.165270,0.912910,0.373205],[0.040637,-0.384391,0.922276]] 2025-10-28T18:09:10.005Z,1761674950.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988015,-0.121969,-0.094607],[0.148831,0.915292,0.374286],[0.040942,-0.383880,0.922475]] 2025-10-28T18:09:10.408Z,1761674950.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990412,-0.106156,-0.088398],[0.131872,0.917150,0.376092],[0.041150,-0.384143,0.922356]] 2025-10-28T18:09:10.814Z,1761674950.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992558,-0.090284,-0.081721],[0.114700,0.918544,0.378313],[0.040909,-0.384871,0.922063]] 2025-10-28T18:09:11.214Z,1761674951.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994491,-0.073659,-0.074584],[0.096640,0.919877,0.380115],[0.040609,-0.385229,0.921927]] 2025-10-28T18:09:11.618Z,1761674951.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996179,-0.055850,-0.067143],[0.077402,0.920688,0.382547],[0.040452,-0.386282,0.921493]] 2025-10-28T18:09:12.031Z,1761674952.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997611,-0.036279,-0.058798],[0.056241,0.920729,0.386128],[0.040128,-0.388512,0.920570]] 2025-10-28T18:09:12.429Z,1761674952.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998634,-0.015654,-0.049848],[0.033833,0.920767,0.388643],[0.039815,-0.389799,0.920039]] 2025-10-28T18:09:12.831Z,1761674952.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999154,0.005911,-0.040703],[0.010503,0.920136,0.391459],[0.039767,-0.391555,0.919295]] 2025-10-28T18:09:13.234Z,1761674953.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999127,0.027817,-0.031152],[-0.013320,0.919192,0.393585],[0.039583,-0.392827,0.918760]] 2025-10-28T18:09:13.652Z,1761674953.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997319,0.072330,-0.011098],[-0.062171,0.917510,0.392824],[0.038595,-0.391081,0.919547]] 2025-10-28T18:09:14.453Z,1761674954.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993292,0.115333,0.008301],[-0.109517,0.915304,0.387589],[0.037104,-0.385899,0.921795]] 2025-10-28T18:09:14.857Z,1761674954.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990708,0.134914,0.017180],[-0.131080,0.913506,0.385131],[0.036265,-0.383804,0.922702]] 2025-10-28T18:09:15.260Z,1761674955.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988058,0.152051,0.024956],[-0.150025,0.912378,0.380866],[0.035141,-0.380062,0.924293]] 2025-10-28T18:09:15.663Z,1761674955.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985357,0.167468,0.032047],[-0.167090,0.910973,0.377106],[0.033959,-0.376938,0.925616]] 2025-10-28T18:09:16.063Z,1761674956.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982565,0.181905,0.038417],[-0.182945,0.909192,0.374034],[0.033110,-0.374541,0.926619]] 2025-10-28T18:09:16.467Z,1761674956.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979685,0.195553,0.044447],[-0.197897,0.906851,0.372101],[0.032458,-0.373338,0.927128]] 2025-10-28T18:09:16.872Z,1761674956.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976780,0.208299,0.050130],[-0.211820,0.903798,0.371862],[0.032151,-0.373846,0.926933]] 2025-10-28T18:09:17.276Z,1761674957.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973747,0.220693,0.055784],[-0.225372,0.900207,0.372606],[0.032015,-0.375396,0.926312]] 2025-10-28T18:09:17.679Z,1761674957.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970488,0.233115,0.061728],[-0.239000,0.895695,0.374979],[0.032124,-0.378666,0.924976]] 2025-10-28T18:09:18.083Z,1761674958.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967006,0.245482,0.068099],[-0.252754,0.891086,0.376936],[0.031849,-0.381711,0.923733]] 2025-10-28T18:09:18.490Z,1761674958.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963169,0.258224,0.075011],[-0.267084,0.886355,0.378207],[0.031176,-0.384312,0.922677]] 2025-10-28T18:09:18.893Z,1761674958.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958595,0.272395,0.083042],[-0.283126,0.880322,0.380622],[0.030576,-0.388374,0.920994]] 2025-10-28T18:09:19.295Z,1761674959.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953056,0.288384,0.092293],[-0.301342,0.873552,0.382230],[0.029606,-0.392099,0.919447]] 2025-10-28T18:09:19.698Z,1761674959.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946596,0.305743,0.102363],[-0.321164,0.866090,0.383068],[0.028464,-0.395486,0.918031]] 2025-10-28T18:09:20.102Z,1761674960.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939205,0.324259,0.112915],[-0.342270,0.858016,0.382963],[0.027296,-0.398328,0.916837]] 2025-10-28T18:09:20.517Z,1761674960.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931060,0.343271,0.123661],[-0.363979,0.850211,0.380342],[0.025422,-0.399131,0.916541]] 2025-10-28T18:09:20.912Z,1761674960.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922347,0.362279,0.134274],[-0.385686,0.842793,0.375429],[0.022845,-0.398064,0.917073]] 2025-10-28T18:09:21.314Z,1761674961.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913147,0.381601,0.143328],[-0.407153,0.836819,0.366005],[0.019728,-0.392573,0.919509]] 2025-10-28T18:09:21.720Z,1761674961.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903392,0.401437,0.150765],[-0.428478,0.831113,0.354483],[0.017000,-0.384837,0.922828]] 2025-10-28T18:09:21.791Z,1761674961.791 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:09:21.791Z,1761674961.791 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:09:21.796Z,1761674961.796 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:09:21.796Z,1761674961.796 [marl:UpdateRudder:A] Stopped 2025-10-28T18:09:21.796Z,1761674961.796 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:09:21.796Z,1761674961.796 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:09:21.796Z,1761674961.796 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateCommandMode] Stopped 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:09:21.797Z,1761674961.797 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:09:21.798Z,1761674961.798 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:09:21.798Z,1761674961.798 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:09:21.798Z,1761674961.798 [marl:UpdateSpeed] Stopped 2025-10-28T18:09:21.798Z,1761674961.798 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:09:22.122Z,1761674962.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893241,0.420678,0.158587],[-0.449350,0.824187,0.344674],[0.014292,-0.379138,0.925230]] 2025-10-28T18:09:22.195Z,1761674962.195 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:09:22.195Z,1761674962.195 [marl:UpdateRudder:B] Stopped 2025-10-28T18:09:22.195Z,1761674962.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:09:22.195Z,1761674962.195 [marl:UpdateRudder] Stopped 2025-10-28T18:09:22.195Z,1761674962.195 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:09:22.527Z,1761674962.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882667,0.440200,0.164692],[-0.469832,0.817068,0.334152],[0.012529,-0.372322,0.928019]] 2025-10-28T18:09:22.931Z,1761674962.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871653,0.459249,0.171209],[-0.489993,0.808440,0.326087],[0.011343,-0.368125,0.929707]] 2025-10-28T18:09:23.336Z,1761674963.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861397,0.476066,0.177077],[-0.507821,0.799915,0.319770],[0.010585,-0.365372,0.930801]] 2025-10-28T18:09:23.739Z,1761674963.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851847,0.491013,0.182384],[-0.523694,0.791687,0.314604],[0.010084,-0.363508,0.931536]] 2025-10-28T18:09:24.143Z,1761674964.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843344,0.503924,0.186632],[-0.537287,0.784462,0.309746],[0.009682,-0.361497,0.932323]] 2025-10-28T18:09:24.547Z,1761674964.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835167,0.515719,0.191129],[-0.549912,0.776892,0.306653],[0.009660,-0.361210,0.932434]] 2025-10-28T18:09:24.953Z,1761674964.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826845,0.526364,0.198162],[-0.562342,0.767448,0.307887],[0.009981,-0.366010,0.930557]] 2025-10-28T18:09:25.355Z,1761674965.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818382,0.536204,0.206729],[-0.574582,0.757010,0.311114],[0.010325,-0.373392,0.927616]] 2025-10-28T18:09:25.763Z,1761674965.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809686,0.545173,0.217243],[-0.586771,0.745516,0.316079],[0.010359,-0.383397,0.923526]] 2025-10-28T18:09:26.171Z,1761674966.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800750,0.554196,0.227301],[-0.598913,0.734341,0.319448],[0.010120,-0.391932,0.919939]] 2025-10-28T18:09:26.568Z,1761674966.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792037,0.562353,0.237563],[-0.610406,0.723797,0.321747],[0.008988,-0.399846,0.916538]] 2025-10-28T18:09:26.970Z,1761674966.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783375,0.569808,0.248279],[-0.621515,0.713934,0.322516],[0.006517,-0.406960,0.913423]] 2025-10-28T18:09:27.374Z,1761674967.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774084,0.578884,0.256295],[-0.633075,0.705745,0.318025],[0.003220,-0.408432,0.912783]] 2025-10-28T18:09:27.736Z,1761674967.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:09:27.789Z,1761674967.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763186,0.589700,0.264197],[-0.646178,0.696501,0.311993],[-0.000031,-0.408827,0.912612]] 2025-10-28T18:09:28.183Z,1761674968.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750094,0.602464,0.272757],[-0.661325,0.685082,0.305470],[-0.002826,-0.409512,0.912300]] 2025-10-28T18:09:28.586Z,1761674968.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735619,0.617581,0.278313],[-0.677375,0.673793,0.295237],[-0.005193,-0.405705,0.913989]] 2025-10-28T18:09:28.740Z,1761674968.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:09:28.998Z,1761674968.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720347,0.633714,0.281970],[-0.693576,0.662324,0.283335],[-0.007202,-0.399668,0.916632]] 2025-10-28T18:09:29.396Z,1761674969.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704803,0.649879,0.284447],[-0.709347,0.650675,0.271014],[-0.008957,-0.392783,0.919588]] 2025-10-28T18:09:29.798Z,1761674969.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689124,0.665505,0.286724],[-0.724568,0.638505,0.259446],[-0.010412,-0.386542,0.922213]] 2025-10-28T18:09:30.203Z,1761674970.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672745,0.682019,0.286817],[-0.739786,0.626055,0.246519],[-0.011432,-0.378028,0.925724]] 2025-10-28T18:09:30.607Z,1761674970.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655888,0.698196,0.286939],[-0.754766,0.612518,0.234839],[-0.011792,-0.370600,0.928718]] 2025-10-28T18:09:31.013Z,1761674971.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638934,0.713077,0.288591],[-0.769173,0.597878,0.225643],[-0.011642,-0.366147,0.930484]] 2025-10-28T18:09:31.418Z,1761674971.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622823,0.726228,0.291006],[-0.782279,0.583503,0.218090],[-0.011420,-0.363480,0.931532]] 2025-10-28T18:09:31.819Z,1761674971.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607648,0.737183,0.295509],[-0.794122,0.569386,0.212533],[-0.011583,-0.363816,0.931399]] 2025-10-28T18:09:32.222Z,1761674972.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593557,0.746696,0.300224],[-0.804701,0.556244,0.207483],[-0.012071,-0.364744,0.931030]] 2025-10-28T18:09:32.627Z,1761674972.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580401,0.754677,0.305937],[-0.814234,0.543607,0.203751],[-0.012543,-0.367362,0.929993]] 2025-10-28T18:09:33.032Z,1761674973.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567943,0.761329,0.312761],[-0.822962,0.531361,0.200969],[-0.013185,-0.371530,0.928327]] 2025-10-28T18:09:33.434Z,1761674973.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555680,0.767458,0.319730],[-0.831276,0.519419,0.197952],[-0.014154,-0.375781,0.926600]] 2025-10-28T18:09:33.839Z,1761674973.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543564,0.773395,0.326187],[-0.839226,0.507888,0.194290],[-0.015404,-0.379354,0.925123]] 2025-10-28T18:09:34.242Z,1761674974.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530931,0.779570,0.332239],[-0.847249,0.496089,0.189908],[-0.016774,-0.382317,0.923879]] 2025-10-28T18:09:34.648Z,1761674974.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517539,0.785736,0.338781],[-0.855467,0.483537,0.185384],[-0.018150,-0.385760,0.922421]] 2025-10-28T18:09:35.051Z,1761674975.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502837,0.792755,0.344520],[-0.864172,0.469829,0.180187],[-0.019021,-0.388330,0.921324]] 2025-10-28T18:09:35.083Z,1761674975.083 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:09:35.083Z,1761674975.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:09:35.083Z,1761674975.083 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:09:35.084Z,1761674975.084 [marl:UpdateRudder:A] Stopped 2025-10-28T18:09:35.084Z,1761674975.084 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:09:35.084Z,1761674975.084 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:09:35.084Z,1761674975.084 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:09:35.084Z,1761674975.084 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateCommandMode] Stopped 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:09:35.085Z,1761674975.085 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:09:35.086Z,1761674975.086 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:09:35.086Z,1761674975.086 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:09:35.086Z,1761674975.086 [marl:UpdateSpeed] Stopped 2025-10-28T18:09:35.086Z,1761674975.086 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:09:35.455Z,1761674975.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486722,0.800241,0.350307],[-0.873327,0.454944,0.174142],[-0.020015,-0.390692,0.920304]] 2025-10-28T18:09:35.510Z,1761674975.510 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:09:35.510Z,1761674975.510 [marl:UpdateRudder:B] Stopped 2025-10-28T18:09:35.510Z,1761674975.510 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:09:35.510Z,1761674975.510 [marl:UpdateRudder] Stopped 2025-10-28T18:09:35.510Z,1761674975.510 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:09:35.859Z,1761674975.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469175,0.808488,0.355277],[-0.882865,0.438807,0.167327],[-0.020616,-0.392167,0.919663]] 2025-10-28T18:09:36.265Z,1761674976.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451062,0.817246,0.358680],[-0.892243,0.422418,0.159578],[-0.021099,-0.392009,0.919719]] 2025-10-28T18:09:36.666Z,1761674976.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433010,0.825716,0.361517],[-0.901126,0.406232,0.151485],[-0.021777,-0.391367,0.919977]] 2025-10-28T18:09:37.070Z,1761674977.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414696,0.832966,0.366327],[-0.909682,0.389450,0.144249],[-0.022511,-0.393060,0.919237]] 2025-10-28T18:09:37.483Z,1761674977.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396471,0.841969,0.365921],[-0.917762,0.373439,0.135117],[-0.022885,-0.389399,0.920785]] 2025-10-28T18:09:37.878Z,1761674977.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379832,0.849911,0.365211],[-0.924757,0.358897,0.126561],[-0.023507,-0.385804,0.922281]] 2025-10-28T18:09:38.283Z,1761674978.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363452,0.857142,0.364980],[-0.931314,0.344221,0.119026],[-0.023611,-0.383171,0.923375]] 2025-10-28T18:09:38.687Z,1761674978.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349536,0.863597,0.363351],[-0.936617,0.331980,0.111971],[-0.023927,-0.379459,0.924899]] 2025-10-28T18:09:39.092Z,1761674979.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335780,0.868814,0.363887],[-0.941633,0.319487,0.106095],[-0.024081,-0.378273,0.925381]] 2025-10-28T18:09:39.497Z,1761674979.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322521,0.872958,0.365958],[-0.946251,0.307263,0.100991],[-0.024285,-0.378860,0.925135]] 2025-10-28T18:09:39.899Z,1761674979.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309798,0.875312,0.371287],[-0.950475,0.295354,0.096768],[-0.024959,-0.382878,0.923462]] 2025-10-28T18:09:40.307Z,1761674980.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296971,0.877076,0.377552],[-0.954529,0.283489,0.092244],[-0.026127,-0.387778,0.921382]] 2025-10-28T18:09:40.706Z,1761674980.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283447,0.878815,0.383851],[-0.958593,0.271130,0.087110],[-0.027520,-0.392648,0.919277]] 2025-10-28T18:09:41.111Z,1761674981.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268597,0.881891,0.387459],[-0.962816,0.257914,0.080414],[-0.029015,-0.394651,0.918373]] 2025-10-28T18:09:41.519Z,1761674981.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251606,0.886424,0.388519],[-0.967349,0.242982,0.072085],[-0.030505,-0.393971,0.918617]] 2025-10-28T18:09:41.942Z,1761674981.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232713,0.892004,0.387521],[-0.972006,0.226589,0.062139],[-0.032380,-0.391134,0.919764]] 2025-10-28T18:09:42.334Z,1761674982.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212046,0.897375,0.386981],[-0.976648,0.208595,0.051439],[-0.034562,-0.388852,0.920652]] 2025-10-28T18:09:42.726Z,1761674982.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190328,0.902175,0.387112],[-0.981026,0.189612,0.040437],[-0.036920,-0.387463,0.921145]] 2025-10-28T18:09:43.130Z,1761674983.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167564,0.908321,0.383242],[-0.985092,0.169615,0.028705],[-0.038930,-0.382339,0.923202]] 2025-10-28T18:09:43.568Z,1761674983.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144018,0.913519,0.380450],[-0.988753,0.148506,0.017705],[-0.040325,-0.378721,0.924632]] 2025-10-28T18:09:43.940Z,1761674983.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119749,0.917840,0.378458],[-0.991985,0.126102,0.008053],[-0.040333,-0.376389,0.925583]] 2025-10-28T18:09:44.348Z,1761674984.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095522,0.919989,0.380125],[-0.994668,0.103131,0.000350],[-0.038881,-0.378131,0.924935]] 2025-10-28T18:09:44.748Z,1761674984.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073168,0.919752,0.385620],[-0.996658,0.081519,-0.005325],[-0.036333,-0.383942,0.922642]] 2025-10-28T18:09:45.151Z,1761674985.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053969,0.917199,0.394758],[-0.997978,0.062833,-0.009550],[-0.033563,-0.393444,0.918736]] 2025-10-28T18:09:45.590Z,1761674985.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038113,0.913076,0.406004],[-0.998788,0.047466,-0.012990],[-0.031132,-0.405017,0.913779]] 2025-10-28T18:09:45.971Z,1761674985.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024325,0.909197,0.415655],[-0.999279,0.034239,-0.016412],[-0.029154,-0.414957,0.909374]] 2025-10-28T18:09:46.367Z,1761674986.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011537,0.905096,0.425050],[-0.999546,0.022265,-0.020281],[-0.027820,-0.424623,0.904943]] 2025-10-28T18:09:46.772Z,1761674986.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001226,0.902919,0.429808],[-0.999630,0.010570,-0.025058],[-0.027168,-0.429680,0.902572]] 2025-10-28T18:09:47.173Z,1761674987.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014797,0.902586,0.430256],[-0.999521,-0.001657,-0.030899],[-0.027176,-0.430507,0.902178]] 2025-10-28T18:09:47.594Z,1761674987.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029944,0.903039,0.428513],[-0.999176,-0.015294,-0.037592],[-0.027393,-0.429286,0.902753]] 2025-10-28T18:09:48.388Z,1761674988.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067446,0.907709,0.414144],[-0.997358,-0.050112,-0.052594],[-0.026986,-0.416597,0.908691]] 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateRudder:A] Stopped 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:09:48.429Z,1761674988.429 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode] Stopped 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:09:48.430Z,1761674988.430 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:09:48.431Z,1761674988.431 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:09:48.431Z,1761674988.431 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:09:48.431Z,1761674988.431 [marl:UpdateSpeed] Stopped 2025-10-28T18:09:48.431Z,1761674988.431 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:09:48.790Z,1761674988.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089147,0.909832,0.405288],[-0.995651,-0.070346,-0.061083],[-0.027065,-0.408971,0.912146]] 2025-10-28T18:09:48.815Z,1761674988.815 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:09:48.815Z,1761674988.815 [marl:UpdateRudder:B] Stopped 2025-10-28T18:09:48.816Z,1761674988.816 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:09:48.816Z,1761674988.816 [marl:UpdateRudder] Stopped 2025-10-28T18:09:48.816Z,1761674988.816 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:09:49.190Z,1761674989.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111724,0.910696,0.397681],[-0.993357,-0.091249,-0.070110],[-0.027561,-0.402872,0.914841]] 2025-10-28T18:09:49.600Z,1761674989.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135424,0.910776,0.390062],[-0.990386,-0.113223,-0.079478],[-0.028223,-0.397075,0.917352]] 2025-10-28T18:09:49.999Z,1761674989.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158716,0.909459,0.384308],[-0.986896,-0.134668,-0.088889],[-0.029087,-0.393380,0.918916]] 2025-10-28T18:09:50.415Z,1761674990.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182235,0.906881,0.379943],[-0.982791,-0.156135,-0.098707],[-0.030193,-0.391392,0.919728]] 2025-10-28T18:09:50.807Z,1761674990.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205481,0.903391,0.376380],[-0.978154,-0.177204,-0.108686],[-0.031489,-0.390491,0.920068]] 2025-10-28T18:09:51.211Z,1761674991.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228645,0.898707,0.374229],[-0.972957,-0.198005,-0.118948],[-0.032800,-0.391305,0.919676]] 2025-10-28T18:09:51.615Z,1761674991.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250596,0.892482,0.375070],[-0.967491,-0.217233,-0.129503],[-0.034101,-0.395330,0.917906]] 2025-10-28T18:09:52.021Z,1761674992.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271235,0.886282,0.375414],[-0.961867,-0.235298,-0.139451],[-0.035258,-0.398923,0.916306]] 2025-10-28T18:09:52.423Z,1761674992.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289952,0.880172,0.375800],[-0.956362,-0.251676,-0.148431],[-0.036065,-0.402438,0.914736]] 2025-10-28T18:09:52.827Z,1761674992.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307134,0.873657,0.377348],[-0.950969,-0.266576,-0.156830],[-0.036424,-0.407014,0.912695]] 2025-10-28T18:09:53.231Z,1761674993.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322055,0.867510,0.379088],[-0.946016,-0.279439,-0.164220],[-0.036530,-0.411511,0.910672]] 2025-10-28T18:09:53.636Z,1761674993.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335316,0.861641,0.380970],[-0.941398,-0.290773,-0.170941],[-0.036514,-0.415963,0.908648]] 2025-10-28T18:09:54.038Z,1761674994.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347268,0.856488,0.381882],[-0.937045,-0.300957,-0.177122],[-0.036773,-0.419349,0.907080]] 2025-10-28T18:09:54.451Z,1761674994.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357778,0.852041,0.382127],[-0.933038,-0.309575,-0.183314],[-0.037894,-0.422124,0.905746]] 2025-10-28T18:09:54.848Z,1761674994.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367759,0.848712,0.380054],[-0.929059,-0.317736,-0.189457],[-0.040038,-0.422767,0.905354]] 2025-10-28T18:09:55.252Z,1761674995.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377525,0.847723,0.372613],[-0.924988,-0.326429,-0.194529],[-0.043275,-0.418102,0.907369]] 2025-10-28T18:09:55.655Z,1761674995.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388210,0.847247,0.362582],[-0.920361,-0.336272,-0.199643],[-0.047221,-0.411209,0.910317]] 2025-10-28T18:09:56.058Z,1761674996.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401045,0.846346,0.350516],[-0.914611,-0.348438,-0.205130],[-0.051478,-0.402852,0.913816]] 2025-10-28T18:09:56.470Z,1761674996.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416431,0.844962,0.335596],[-0.907439,-0.363537,-0.210701],[-0.056033,-0.392275,0.918140]] 2025-10-28T18:09:56.870Z,1761674996.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434136,0.842049,0.320123],[-0.898826,-0.381096,-0.216515],[-0.060319,-0.381732,0.922303]] 2025-10-28T18:09:57.270Z,1761674997.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454455,0.836618,0.305845],[-0.888439,-0.400891,-0.223523],[-0.064393,-0.373305,0.925471]] 2025-10-28T18:09:57.675Z,1761674997.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476574,0.828645,0.293641],[-0.876519,-0.422121,-0.231362],[-0.067764,-0.367643,0.927495]] 2025-10-28T18:09:58.079Z,1761674998.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499653,0.818069,0.284800],[-0.863382,-0.443704,-0.240206],[-0.070138,-0.365910,0.928003]] 2025-10-28T18:09:58.487Z,1761674998.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523565,0.805114,0.278696],[-0.848989,-0.465610,-0.249850],[-0.071394,-0.367423,0.927310]] 2025-10-28T18:09:58.864Z,1761674998.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:09:58.886Z,1761674998.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547518,0.790427,0.274681],[-0.833718,-0.487160,-0.259979],[-0.071681,-0.371350,0.925722]] 2025-10-28T18:09:58.934Z,1761674998.934 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:09:58.961Z,1761674998.961 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:09:58.961Z,1761674998.961 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:09:59.213Z,1761674999.213 [DAT](INFO): DAT read: user:106> 2025-10-28T18:09:59.214Z,1761674999.214 [DAT](INFO): DAT read: Tx time:18:09:58.9489 2025-10-28T18:09:59.214Z,1761674999.214 [DAT](INFO): Ping request sent. 2025-10-28T18:09:59.214Z,1761674999.214 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:09:59.214Z,1761674999.214 [DAT](INFO): publishing transmit ping time 2025-10-28T18:09:59.215Z,1761674999.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T18:09:59.313Z,1761674999.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592607,0.758684,0.270584],[-0.802344,-0.526318,-0.281483],[-0.071143,-0.383910,0.920626]] 2025-10-28T18:09:59.465Z,1761674999.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995 2025-10-28T18:09:59.699Z,1761674999.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611358,0.742933,0.272565],[-0.788113,-0.540459,-0.294587],[-0.071549,-0.394910,0.915929]] 2025-10-28T18:09:59.717Z,1761674999.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030 2025-10-28T18:09:59.868Z,1761674999.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:09:59.969Z,1761674999.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955 2025-10-28T18:10:00.107Z,1761675000.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626769,0.729629,0.273500],[-0.775823,-0.551675,-0.306191],[-0.072523,-0.404099,0.911836]] 2025-10-28T18:10:00.221Z,1761675000.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922 2025-10-28T18:10:00.473Z,1761675000.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056 2025-10-28T18:10:00.507Z,1761675000.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640183,0.717734,0.273904],[-0.764710,-0.561320,-0.316447],[-0.073377,-0.412041,0.908206]] 2025-10-28T18:10:00.725Z,1761675000.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510907 2025-10-28T18:10:00.911Z,1761675000.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652016,0.707187,0.273425],[-0.754558,-0.569890,-0.325373],[-0.074277,-0.418463,0.905191]] 2025-10-28T18:10:00.985Z,1761675000.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771512 2025-10-28T18:10:01.237Z,1761675001.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022907 2025-10-28T18:10:01.315Z,1761675001.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662762,0.697862,0.271542],[-0.745042,-0.578095,-0.332745],[-0.075233,-0.422841,0.903075]] 2025-10-28T18:10:01.356Z,1761675001.356 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:10:01.356Z,1761675001.356 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:10:01.356Z,1761675001.356 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateRudder:A] Stopped 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:10:01.357Z,1761675001.357 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateCommandMode] Stopped 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:10:01.358Z,1761675001.358 [marl:UpdateSpeed] Stopped 2025-10-28T18:10:01.359Z,1761675001.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:10:01.489Z,1761675001.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275065 2025-10-28T18:10:01.715Z,1761675001.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672492,0.689585,0.268751],[-0.736176,-0.585897,-0.338776],[-0.076155,-0.425672,0.901667]] 2025-10-28T18:10:01.741Z,1761675001.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526975 2025-10-28T18:10:01.802Z,1761675001.802 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:10:01.802Z,1761675001.802 [marl:UpdateRudder:B] Stopped 2025-10-28T18:10:01.802Z,1761675001.802 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:10:01.802Z,1761675001.802 [marl:UpdateRudder] Stopped 2025-10-28T18:10:01.802Z,1761675001.802 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:10:01.993Z,1761675001.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778953 2025-10-28T18:10:02.118Z,1761675002.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681503,0.682496,0.264109],[-0.727730,-0.593946,-0.342981],[-0.077216,-0.425943,0.901449]] 2025-10-28T18:10:02.245Z,1761675002.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030851 2025-10-28T18:10:02.499Z,1761675002.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285457 2025-10-28T18:10:02.526Z,1761675002.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690307,0.675890,0.258164],[-0.719258,-0.602416,-0.346067],[-0.078381,-0.424580,0.901991]] 2025-10-28T18:10:02.750Z,1761675002.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535799 2025-10-28T18:10:02.939Z,1761675002.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699281,0.669243,0.251237],[-0.710428,-0.611601,-0.348190],[-0.079367,-0.421968,0.903130]] 2025-10-28T18:10:03.001Z,1761675003.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786984 2025-10-28T18:10:03.253Z,1761675003.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038903 2025-10-28T18:10:03.330Z,1761675003.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709079,0.661944,0.242976],[-0.700578,-0.622266,-0.349250],[-0.079989,-0.417869,0.904979]] 2025-10-28T18:10:03.507Z,1761675003.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.293077 2025-10-28T18:10:03.735Z,1761675003.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719856,0.653737,0.233313],[-0.689451,-0.634476,-0.349425],[-0.080400,-0.412393,0.907451]] 2025-10-28T18:10:03.758Z,1761675003.758 [DAT](INFO): DAT read: Rx Time:18:10:03.1423 2025-10-28T18:10:03.758Z,1761675003.758 [DAT](INFO): Rx dataTimestamp_ set to:1761675003.757764 2025-10-28T18:10:03.759Z,1761675003.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.544891 2025-10-28T18:10:04.009Z,1761675004.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794906 2025-10-28T18:10:04.139Z,1761675004.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732044,0.644028,0.222125],[-0.676425,-0.648362,-0.349394],[-0.081002,-0.406023,0.910266]] 2025-10-28T18:10:04.263Z,1761675004.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049055 2025-10-28T18:10:04.519Z,1761675004.519 [DAT](INFO): DAT read: 18:10:03.1423 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.17, 0.467, 2.398, 1.356, 1.263, PHS=-0.694, 1.180, 0.049, RAW= 306.8, -6.6, CAL= 306.4, -10.5, ROT= 203.6, 10.5 2025-10-28T18:10:04.520Z,1761675004.520 [DAT](INFO): got valid direction response: 18:10:03.1423 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.17, 0.467, 2.398, 1.356, 1.263, PHS=-0.694, 1.180, 0.049, RAW= 306.8, -6.6, CAL= 306.4, -10.5, ROT= 203.6, 10.5 2025-10-28T18:10:04.521Z,1761675004.521 [DAT](INFO): DAT read: Bearing 63, -15 (Remote) 2025-10-28T18:10:04.521Z,1761675004.521 [DAT](INFO): Remote Bearing received:Bearing 63, -15 (Remote) 2025-10-28T18:10:04.522Z,1761675004.522 [DAT](INFO): DAT read: Bearing 198.1, -12.4 (Local) 2025-10-28T18:10:04.522Z,1761675004.522 [DAT](INFO): Local bearing/azimuth received: Bearing 198.1, -12.4 (Local) 2025-10-28T18:10:04.524Z,1761675004.524 [DAT](INFO): DAT read: Range 11 to 20 : 1623.2 m (Round-trip 2164.3 ms) speed 0.0 m/s 2025-10-28T18:10:04.524Z,1761675004.524 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:10:04.525Z,1761675004.525 [DAT](INFO): direction in FSK: [-0.901018,-0.393645,-0.182236] 2025-10-28T18:10:04.526Z,1761675004.526 [DAT](INFO): publishing direction and range info 2025-10-28T18:10:04.559Z,1761675004.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745180,0.632383,0.211655],[-0.661849,-0.662492,-0.350798],[-0.081619,-0.401491,0.912219]] 2025-10-28T18:10:04.748Z,1761675004.748 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675008.00. Resetting abort timer. 2025-10-28T18:10:04.951Z,1761675004.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759033,0.619458,0.200350],[-0.645839,-0.677550,-0.351879],[-0.082227,-0.396482,0.914353]] 2025-10-28T18:10:05.351Z,1761675005.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773415,0.604794,0.189877],[-0.628481,-0.692514,-0.354170],[-0.082707,-0.393255,0.915702]] 2025-10-28T18:10:05.760Z,1761675005.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787930,0.589080,0.179305],[-0.610051,-0.707215,-0.357330],[-0.083688,-0.390936,0.916605]] 2025-10-28T18:10:06.158Z,1761675006.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802108,0.572450,0.170067],[-0.591129,-0.720674,-0.362209],[-0.084784,-0.391062,0.916451]] 2025-10-28T18:10:06.562Z,1761675006.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815779,0.555249,0.161873],[-0.571966,-0.732999,-0.368195],[-0.085787,-0.392952,0.915549]] 2025-10-28T18:10:06.977Z,1761675006.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828311,0.538520,0.154586],[-0.553526,-0.743905,-0.374452],[-0.086652,-0.395730,0.914270]] 2025-10-28T18:10:07.370Z,1761675007.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839732,0.522463,0.147929],[-0.535902,-0.753493,-0.380864],[-0.087524,-0.399099,0.912721]] 2025-10-28T18:10:07.779Z,1761675007.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850390,0.506790,0.141420],[-0.518708,-0.762454,-0.386790],[-0.088195,-0.402278,0.911260]] 2025-10-28T18:10:08.180Z,1761675008.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859977,0.491946,0.135753],[-0.502569,-0.770157,-0.392787],[-0.088679,-0.406013,0.909554]] 2025-10-28T18:10:08.582Z,1761675008.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868793,0.477639,0.130613],[-0.487169,-0.777232,-0.398216],[-0.088687,-0.409598,0.907945]] 2025-10-28T18:10:08.987Z,1761675008.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877294,0.463374,0.125063],[-0.471734,-0.784463,-0.402598],[-0.088447,-0.412193,0.906793]] 2025-10-28T18:10:09.390Z,1761675009.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885464,0.449286,0.118728],[-0.456238,-0.791916,-0.405853],[-0.088322,-0.413536,0.906194]] 2025-10-28T18:10:09.797Z,1761675009.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893360,0.434953,0.112802],[-0.440647,-0.798872,-0.409431],[-0.087969,-0.415475,0.905341]] 2025-10-28T18:10:10.199Z,1761675010.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901059,0.420468,0.106300],[-0.424758,-0.806062,-0.412122],[-0.087600,-0.416498,0.904906]] 2025-10-28T18:10:10.602Z,1761675010.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908831,0.405428,0.098257],[-0.407910,-0.814330,-0.412887],[-0.087382,-0.415324,0.905467]] 2025-10-28T18:10:11.006Z,1761675011.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916292,0.390318,0.089776],[-0.390795,-0.822246,-0.413751],[-0.087676,-0.414201,0.905953]] 2025-10-28T18:10:11.420Z,1761675011.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923708,0.374318,0.081542],[-0.372901,-0.829743,-0.415297],[-0.087794,-0.414020,0.906024]] 2025-10-28T18:10:11.814Z,1761675011.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930935,0.357901,0.072572],[-0.354380,-0.837390,-0.416164],[-0.088175,-0.413140,0.906389]] 2025-10-28T18:10:12.218Z,1761675012.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937795,0.341321,0.063562],[-0.335752,-0.844974,-0.416281],[-0.088377,-0.411727,0.907012]] 2025-10-28T18:10:12.631Z,1761675012.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944305,0.324608,0.054010],[-0.316804,-0.852383,-0.416027],[-0.089009,-0.409967,0.907747]] 2025-10-28T18:10:13.026Z,1761675013.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950375,0.307865,0.044793],[-0.297908,-0.859084,-0.416203],[-0.089653,-0.408893,0.908168]] 2025-10-28T18:10:13.435Z,1761675013.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956124,0.290741,0.035996],[-0.278829,-0.865407,-0.416322],[-0.089890,-0.408093,0.908504]] 2025-10-28T18:10:13.835Z,1761675013.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961476,0.273504,0.027562],[-0.259734,-0.871055,-0.416895],[-0.090015,-0.407993,0.908537]] 2025-10-28T18:10:14.240Z,1761675014.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966404,0.256290,0.019470],[-0.240840,-0.876473,-0.416882],[-0.089777,-0.407565,0.908752]] 2025-10-28T18:10:14.642Z,1761675014.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970912,0.239140,0.011887],[-0.222124,-0.881073,-0.417577],[-0.089386,-0.408071,0.908564]] 2025-10-28T18:10:14.678Z,1761675014.678 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateRudder:A] Stopped 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:10:14.679Z,1761675014.679 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateCommandMode] Stopped 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:10:14.680Z,1761675014.680 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:10:14.681Z,1761675014.681 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:10:14.681Z,1761675014.681 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:10:14.681Z,1761675014.681 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:10:14.681Z,1761675014.681 [marl:UpdateSpeed] Stopped 2025-10-28T18:10:14.681Z,1761675014.681 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:10:15.094Z,1761675015.094 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:10:15.094Z,1761675015.094 [marl:UpdateRudder:B] Stopped 2025-10-28T18:10:15.094Z,1761675015.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:10:15.094Z,1761675015.094 [marl:UpdateRudder] Stopped 2025-10-28T18:10:15.094Z,1761675015.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:10:15.451Z,1761675015.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978840,0.204616,-0.002256],[-0.184963,-0.889433,-0.417969],[-0.087530,-0.408707,0.908458]] 2025-10-28T18:10:15.857Z,1761675015.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982347,0.186825,-0.009548],[-0.165912,-0.893692,-0.416878],[-0.086416,-0.407934,0.908913]] 2025-10-28T18:10:16.663Z,1761675016.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988030,0.152500,-0.023242],[-0.129384,-0.901280,-0.413466],[-0.084001,-0.405509,0.910223]] 2025-10-28T18:10:17.067Z,1761675017.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990302,0.135606,-0.030209],[-0.111441,-0.905192,-0.410133],[-0.082961,-0.402789,0.911525]] 2025-10-28T18:10:17.471Z,1761675017.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992224,0.118864,-0.036920],[-0.093707,-0.908629,-0.406954],[-0.081918,-0.400330,0.912702]] 2025-10-28T18:10:17.877Z,1761675017.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993791,0.102200,-0.043976],[-0.075863,-0.911568,-0.404089],[-0.081385,-0.398244,0.913662]] 2025-10-28T18:10:18.278Z,1761675018.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995015,0.085877,-0.050699],[-0.058446,-0.914091,-0.401276],[-0.080804,-0.396312,0.914553]] 2025-10-28T18:10:18.683Z,1761675018.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995971,0.069064,-0.057200],[-0.040593,-0.915982,-0.399161],[-0.079962,-0.395231,0.915095]] 2025-10-28T18:10:19.087Z,1761675019.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996641,0.052828,-0.062582],[-0.023530,-0.916630,-0.399043],[-0.078445,-0.396230,0.914794]] 2025-10-28T18:10:19.493Z,1761675019.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997048,0.035376,-0.068147],[-0.005377,-0.917525,-0.397641],[-0.076594,-0.396100,0.915007]] 2025-10-28T18:10:19.907Z,1761675019.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997126,0.018112,-0.073568],[0.012644,-0.917611,-0.397279],[-0.074702,-0.397068,0.914744]] 2025-10-28T18:10:20.299Z,1761675020.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996901,0.000795,-0.078661],[0.030593,-0.917315,-0.396985],[-0.072473,-0.398162,0.914448]] 2025-10-28T18:10:20.703Z,1761675020.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996355,-0.016300,-0.083734],[0.048376,-0.916440,-0.397238],[-0.070262,-0.399840,0.913888]] 2025-10-28T18:10:21.108Z,1761675021.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995422,-0.033968,-0.089342],[0.066932,-0.915005,-0.397853],[-0.068234,-0.402011,0.913089]] 2025-10-28T18:10:21.514Z,1761675021.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994226,-0.050467,-0.094703],[0.084213,-0.913915,-0.397074],[-0.066512,-0.402757,0.912887]] 2025-10-28T18:10:21.920Z,1761675021.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992684,-0.066848,-0.100543],[0.101552,-0.912696,-0.395821],[-0.065305,-0.403135,0.912807]] 2025-10-28T18:10:22.319Z,1761675022.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990900,-0.082642,-0.106241],[0.118218,-0.911738,-0.393393],[-0.064354,-0.402373,0.913211]] 2025-10-28T18:10:22.724Z,1761675022.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988817,-0.098208,-0.112232],[0.134755,-0.910781,-0.390280],[-0.063891,-0.401040,0.913830]] 2025-10-28T18:10:23.126Z,1761675023.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986360,-0.114224,-0.118518],[0.151790,-0.909704,-0.386522],[-0.063666,-0.399240,0.914633]] 2025-10-28T18:10:23.568Z,1761675023.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983755,-0.129460,-0.124366],[0.167939,-0.908459,-0.382753],[-0.063430,-0.397421,0.915442]] 2025-10-28T18:10:23.935Z,1761675023.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980778,-0.145441,-0.130086],[0.184627,-0.907450,-0.377422],[-0.063154,-0.394185,0.916859]] 2025-10-28T18:10:24.340Z,1761675024.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977533,-0.161612,-0.135316],[0.201403,-0.905516,-0.373466],[-0.062174,-0.392329,0.917721]] 2025-10-28T18:10:24.742Z,1761675024.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974104,-0.178007,-0.139409],[0.217965,-0.903219,-0.369710],[-0.060106,-0.390523,0.918629]] 2025-10-28T18:10:25.147Z,1761675025.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970364,-0.194774,-0.143025],[0.234784,-0.899979,-0.367307],[-0.057178,-0.390001,0.919037]] 2025-10-28T18:10:25.587Z,1761675025.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966105,-0.212289,-0.146882],[0.252425,-0.896021,-0.365279],[-0.054064,-0.389975,0.919237]] 2025-10-28T18:10:25.955Z,1761675025.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961478,-0.229797,-0.150843],[0.270128,-0.891496,-0.363683],[-0.050903,-0.390420,0.919229]] 2025-10-28T18:10:26.360Z,1761675026.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956339,-0.247747,-0.155042],[0.288348,-0.886343,-0.362285],[-0.047665,-0.391173,0.919082]] 2025-10-28T18:10:26.767Z,1761675026.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950738,-0.265885,-0.159383],[0.306815,-0.880549,-0.361244],[-0.044295,-0.392349,0.918749]] 2025-10-28T18:10:27.167Z,1761675027.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944793,-0.283621,-0.164091],[0.325066,-0.874286,-0.360494],[-0.041219,-0.393932,0.918215]] 2025-10-28T18:10:27.592Z,1761675027.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938384,-0.301503,-0.168913],[0.343447,-0.867978,-0.358690],[-0.038466,-0.394602,0.918047]] 2025-10-28T18:10:27.642Z,1761675027.642 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:10:27.642Z,1761675027.642 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:10:27.642Z,1761675027.642 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:10:27.642Z,1761675027.642 [marl:UpdateRudder:A] Stopped 2025-10-28T18:10:27.642Z,1761675027.642 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode] Stopped 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:10:27.643Z,1761675027.643 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed] Stopped 2025-10-28T18:10:27.644Z,1761675027.644 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:10:27.976Z,1761675027.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931755,-0.318837,-0.173713],[0.361303,-0.861561,-0.356613],[-0.035963,-0.395039,0.917960]] 2025-10-28T18:10:28.007Z,1761675028.007 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:10:28.007Z,1761675028.007 [marl:UpdateRudder:B] Stopped 2025-10-28T18:10:28.007Z,1761675028.007 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:10:28.007Z,1761675028.007 [marl:UpdateRudder] Stopped 2025-10-28T18:10:28.007Z,1761675028.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:10:28.383Z,1761675028.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924992,-0.335495,-0.178417],[0.378512,-0.854846,-0.354919],[-0.033446,-0.395831,0.917714]] 2025-10-28T18:10:28.786Z,1761675028.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918154,-0.351331,-0.183192],[0.394991,-0.848027,-0.353317],[-0.031220,-0.396758,0.917392]] 2025-10-28T18:10:29.188Z,1761675029.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911020,-0.367235,-0.187568],[0.411355,-0.841117,-0.351153],[-0.028811,-0.397064,0.917338]] 2025-10-28T18:10:29.601Z,1761675029.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904156,-0.381924,-0.191405],[0.426394,-0.834345,-0.349367],[-0.026266,-0.397496,0.917228]] 2025-10-28T18:10:29.994Z,1761675029.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897044,-0.396428,-0.195337],[0.441302,-0.827249,-0.347724],[-0.023745,-0.398126,0.917023]] 2025-10-28T18:10:29.996Z,1761675029.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:10:30.405Z,1761675030.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890128,-0.409965,-0.199002],[0.455232,-0.819959,-0.347033],[-0.020902,-0.399496,0.916497]] 2025-10-28T18:10:30.802Z,1761675030.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883205,-0.423043,-0.202443],[0.468642,-0.812639,-0.346399],[-0.017971,-0.400815,0.915983]] 2025-10-28T18:10:31.000Z,1761675031.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:10:31.208Z,1761675031.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875946,-0.436491,-0.205415],[0.482172,-0.805552,-0.344379],[-0.015154,-0.400702,0.916083]] 2025-10-28T18:10:31.610Z,1761675031.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868531,-0.449408,-0.209012],[0.495473,-0.798010,-0.343053],[-0.012623,-0.401512,0.915767]] 2025-10-28T18:10:32.015Z,1761675032.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860986,-0.462631,-0.211367],[0.508534,-0.791018,-0.340124],[-0.009843,-0.400329,0.916318]] 2025-10-28T18:10:32.419Z,1761675032.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853152,-0.475966,-0.213515],[0.521616,-0.783810,-0.336983],[-0.006963,-0.398871,0.916981]] 2025-10-28T18:10:32.824Z,1761675032.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844699,-0.489639,-0.216187],[0.535225,-0.775888,-0.333964],[-0.004215,-0.397808,0.917459]] 2025-10-28T18:10:33.226Z,1761675033.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835122,-0.504379,-0.219484],[0.550063,-0.766974,-0.330428],[-0.001677,-0.396677,0.917957]] 2025-10-28T18:10:33.631Z,1761675033.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825177,-0.518984,-0.223021],[0.564873,-0.757496,-0.327288],[0.000919,-0.396049,0.918229]] 2025-10-28T18:10:34.035Z,1761675034.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814253,-0.534555,-0.226368],[0.580499,-0.747385,-0.323168],[0.003567,-0.394547,0.918869]] 2025-10-28T18:10:34.448Z,1761675034.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802473,-0.550394,-0.230443],[0.596658,-0.736264,-0.319242],[0.006042,-0.393679,0.919228]] 2025-10-28T18:10:34.843Z,1761675034.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789900,-0.566445,-0.234945],[0.613183,-0.724530,-0.314743],[0.008060,-0.392680,0.919640]] 2025-10-28T18:10:35.247Z,1761675035.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777100,-0.581845,-0.239941],[0.629301,-0.712383,-0.310629],[0.009809,-0.392385,0.919749]] 2025-10-28T18:10:35.651Z,1761675035.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764052,-0.596801,-0.245056],[0.645055,-0.700019,-0.306394],[0.011313,-0.392176,0.919821]] 2025-10-28T18:10:36.056Z,1761675036.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751070,-0.610680,-0.250925],[0.660104,-0.687394,-0.302905],[0.012494,-0.393139,0.919394]] 2025-10-28T18:10:36.458Z,1761675036.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738065,-0.624174,-0.256254],[0.674602,-0.675250,-0.298245],[0.013121,-0.392994,0.919447]] 2025-10-28T18:10:36.866Z,1761675036.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725274,-0.636766,-0.261739],[0.688330,-0.663283,-0.293696],[0.013409,-0.393173,0.919367]] 2025-10-28T18:10:37.267Z,1761675037.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713279,-0.648156,-0.266697],[0.700745,-0.652025,-0.289515],[0.013758,-0.393392,0.919268]] 2025-10-28T18:10:37.672Z,1761675037.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701591,-0.658777,-0.271630],[0.712440,-0.640920,-0.285747],[0.014151,-0.393998,0.919002]] 2025-10-28T18:10:38.075Z,1761675038.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690728,-0.667921,-0.277086],[0.722964,-0.630041,-0.283499],[0.014779,-0.396144,0.918069]] 2025-10-28T18:10:38.478Z,1761675038.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679682,-0.677171,-0.281907],[0.733345,-0.619266,-0.280561],[0.015412,-0.397427,0.917504]] 2025-10-28T18:10:38.889Z,1761675038.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669000,-0.686189,-0.285631],[0.743074,-0.608811,-0.277830],[0.016749,-0.398113,0.917184]] 2025-10-28T18:10:39.288Z,1761675039.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657781,-0.695597,-0.288909],[0.752978,-0.597786,-0.275093],[0.018649,-0.398493,0.916982]] 2025-10-28T18:10:39.690Z,1761675039.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646829,-0.704484,-0.292086],[0.762343,-0.586677,-0.273209],[0.021111,-0.399389,0.916538]] 2025-10-28T18:10:40.095Z,1761675040.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635251,-0.713723,-0.295051],[0.771934,-0.574942,-0.271218],[0.023937,-0.400051,0.916180]] 2025-10-28T18:10:40.505Z,1761675040.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623064,-0.723213,-0.297916],[0.781701,-0.562551,-0.269222],[0.027112,-0.400624,0.915841]] 2025-10-28T18:10:40.903Z,1761675040.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610208,-0.733038,-0.300502],[0.791655,-0.549599,-0.266876],[0.030474,-0.400744,0.915683]] 2025-10-28T18:10:40.946Z,1761675040.946 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:10:40.946Z,1761675040.946 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:10:40.946Z,1761675040.946 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateRudder:A] Stopped 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:10:40.947Z,1761675040.947 [marl:UpdateCommandMode] Stopped 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:10:40.948Z,1761675040.948 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:10:40.949Z,1761675040.949 [marl:UpdateSpeed] Stopped 2025-10-28T18:10:40.949Z,1761675040.949 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:10:41.307Z,1761675041.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595686,-0.744218,-0.302154],[0.802513,-0.535701,-0.262672],[0.033621,-0.398953,0.916355]] 2025-10-28T18:10:41.359Z,1761675041.359 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:10:41.360Z,1761675041.360 [marl:UpdateRudder:B] Stopped 2025-10-28T18:10:41.360Z,1761675041.360 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:10:41.360Z,1761675041.360 [marl:UpdateRudder] Stopped 2025-10-28T18:10:41.361Z,1761675041.361 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:10:41.711Z,1761675041.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579607,-0.756049,-0.304049],[0.814088,-0.520605,-0.257354],[0.036283,-0.396686,0.917237]] 2025-10-28T18:10:42.520Z,1761675042.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544508,-0.779242,-0.310311],[0.837788,-0.487524,-0.245828],[0.040276,-0.393831,0.918300]] 2025-10-28T18:10:42.923Z,1761675042.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526008,-0.790318,-0.314186],[0.849461,-0.470137,-0.239556],[0.041615,-0.392898,0.918640]] 2025-10-28T18:10:43.329Z,1761675043.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507140,-0.800733,-0.318804],[0.860832,-0.452509,-0.232818],[0.042164,-0.392508,0.918782]] 2025-10-28T18:10:43.731Z,1761675043.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488031,-0.810728,-0.323335],[0.871799,-0.434807,-0.225632],[0.042338,-0.391999,0.918991]] 2025-10-28T18:10:44.137Z,1761675044.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468817,-0.819643,-0.329235],[0.882294,-0.416798,-0.218716],[0.042044,-0.393020,0.918568]] 2025-10-28T18:10:44.539Z,1761675044.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450212,-0.827888,-0.334530],[0.891937,-0.399370,-0.212019],[0.041926,-0.393833,0.918225]] 2025-10-28T18:10:44.948Z,1761675044.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414099,-0.842477,-0.344609],[0.909292,-0.365677,-0.198667],[0.041357,-0.395618,0.917484]] 2025-10-28T18:10:45.362Z,1761675045.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397577,-0.848605,-0.349002],[0.916621,-0.350027,-0.193099],[0.041705,-0.396674,0.917012]] 2025-10-28T18:10:45.760Z,1761675045.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381441,-0.854787,-0.351912],[0.923429,-0.334974,-0.187272],[0.042196,-0.396399,0.917108]] 2025-10-28T18:10:46.159Z,1761675046.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366106,-0.860362,-0.354603],[0.929574,-0.320470,-0.182184],[0.043104,-0.396328,0.917097]] 2025-10-28T18:10:46.561Z,1761675046.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350619,-0.865993,-0.356541],[0.935484,-0.305975,-0.176771],[0.043990,-0.395518,0.917404]] 2025-10-28T18:10:46.963Z,1761675046.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335354,-0.871570,-0.357637],[0.941008,-0.291683,-0.171537],[0.045190,-0.394065,0.917971]] 2025-10-28T18:10:47.380Z,1761675047.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320114,-0.876026,-0.360702],[0.946243,-0.277009,-0.167004],[0.046382,-0.394772,0.917608]] 2025-10-28T18:10:47.775Z,1761675047.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304296,-0.880931,-0.362443],[0.951394,-0.262101,-0.161714],[0.047462,-0.394035,0.917869]] 2025-10-28T18:10:48.174Z,1761675048.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288362,-0.885401,-0.364571],[0.956301,-0.247085,-0.156324],[0.048330,-0.393718,0.917960]] 2025-10-28T18:10:48.579Z,1761675048.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272833,-0.889448,-0.366666],[0.960795,-0.232356,-0.151276],[0.049355,-0.393564,0.917971]] 2025-10-28T18:10:48.984Z,1761675048.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257593,-0.893442,-0.367978],[0.964935,-0.217971,-0.146248],[0.050455,-0.392747,0.918261]] 2025-10-28T18:10:49.390Z,1761675049.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241675,-0.896957,-0.370218],[0.969005,-0.202945,-0.140867],[0.051218,-0.392787,0.918202]] 2025-10-28T18:10:49.793Z,1761675049.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226478,-0.899945,-0.372567],[0.972601,-0.188340,-0.136291],[0.052486,-0.393226,0.917943]] 2025-10-28T18:10:50.195Z,1761675050.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211549,-0.902903,-0.374183],[0.975873,-0.173972,-0.131927],[0.054020,-0.393064,0.917923]] 2025-10-28T18:10:50.600Z,1761675050.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195471,-0.905983,-0.375480],[0.979126,-0.158534,-0.127200],[0.055714,-0.392506,0.918060]] 2025-10-28T18:10:51.003Z,1761675051.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178557,-0.909123,-0.376315],[0.982260,-0.142430,-0.121979],[0.057295,-0.391419,0.918427]] 2025-10-28T18:10:51.408Z,1761675051.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161152,-0.912087,-0.376998],[0.985153,-0.125751,-0.116882],[0.059198,-0.390236,0.918810]] 2025-10-28T18:10:51.811Z,1761675051.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142874,-0.914749,-0.377917],[0.987858,-0.108255,-0.111435],[0.061023,-0.389250,0.919109]] 2025-10-28T18:10:52.216Z,1761675052.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123644,-0.916883,-0.379523],[0.990356,-0.089925,-0.105397],[0.062509,-0.388894,0.919159]] 2025-10-28T18:10:52.619Z,1761675052.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102817,-0.918943,-0.380752],[0.992694,-0.070498,-0.097917],[0.063138,-0.388038,0.919478]] 2025-10-28T18:10:53.023Z,1761675053.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081488,-0.920565,-0.381995],[0.994649,-0.050694,-0.090014],[0.063499,-0.387286,0.919770]] 2025-10-28T18:10:53.431Z,1761675053.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059703,-0.921894,-0.382814],[0.996212,-0.030737,-0.081347],[0.063227,-0.386221,0.920237]] 2025-10-28T18:10:53.835Z,1761675053.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037976,-0.922488,-0.384154],[0.997316,-0.010905,-0.072404],[0.062602,-0.385872,0.920426]] 2025-10-28T18:10:54.234Z,1761675054.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016342,-0.921674,-0.387620],[0.997990,0.008701,-0.062764],[0.061221,-0.387867,0.919680]] 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateRudder:A] Stopped 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:10:54.266Z,1761675054.266 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateCommandMode] Stopped 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:10:54.267Z,1761675054.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:10:54.268Z,1761675054.268 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:10:54.268Z,1761675054.268 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:10:54.268Z,1761675054.268 [marl:UpdateSpeed] Stopped 2025-10-28T18:10:54.268Z,1761675054.268 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:10:54.638Z,1761675054.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004720,-0.920940,-0.389675],[0.998211,0.027564,-0.053051],[0.059598,-0.388728,0.919423]] 2025-10-28T18:10:54.690Z,1761675054.690 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:10:54.691Z,1761675054.691 [marl:UpdateRudder:B] Stopped 2025-10-28T18:10:54.691Z,1761675054.691 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:10:54.691Z,1761675054.691 [marl:UpdateRudder] Stopped 2025-10-28T18:10:54.691Z,1761675054.691 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:10:55.044Z,1761675055.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024582,-0.919631,-0.392014],[0.997982,0.045541,-0.044257],[0.058553,-0.390134,0.918894]] 2025-10-28T18:10:55.448Z,1761675055.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043782,-0.918109,-0.393902],[0.997381,0.062886,-0.035718],[0.057564,-0.391307,0.918458]] 2025-10-28T18:10:55.858Z,1761675055.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062257,-0.916137,-0.396001],[0.996433,0.079699,-0.027729],[0.056965,-0.392863,0.917831]] 2025-10-28T18:10:56.255Z,1761675056.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080200,-0.914243,-0.397150],[0.995145,0.096239,-0.020585],[0.057041,-0.393571,0.917523]] 2025-10-28T18:10:56.665Z,1761675056.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098051,-0.911695,-0.398996],[0.993505,0.112936,-0.013908],[0.057741,-0.395041,0.916847]] 2025-10-28T18:10:57.062Z,1761675057.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116196,-0.909131,-0.399975],[0.991491,0.129969,-0.007379],[0.058693,-0.395714,0.916496]] 2025-10-28T18:10:57.471Z,1761675057.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135349,-0.906778,-0.399293],[0.988995,0.147949,-0.000744],[0.059750,-0.394798,0.916823]] 2025-10-28T18:10:57.872Z,1761675057.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155290,-0.904063,-0.398190],[0.985993,0.166675,0.006101],[0.060853,-0.393560,0.917282]] 2025-10-28T18:10:58.274Z,1761675058.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175500,-0.900521,-0.397821],[0.982527,0.185654,0.013192],[0.061978,-0.393185,0.917368]] 2025-10-28T18:10:58.678Z,1761675058.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194778,-0.896571,-0.397771],[0.978821,0.203729,0.020100],[0.063017,-0.393261,0.917265]] 2025-10-28T18:10:59.082Z,1761675059.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214166,-0.891711,-0.398727],[0.974707,0.221781,0.027549],[0.063864,-0.394542,0.916656]] 2025-10-28T18:10:59.107Z,1761675059.107 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:10:59.225Z,1761675059.225 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:10:59.226Z,1761675059.226 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:10:59.477Z,1761675059.477 [DAT](INFO): DAT read: user:107> 2025-10-28T18:10:59.478Z,1761675059.478 [DAT](INFO): DAT read: Tx time:18:10:59.2487 2025-10-28T18:10:59.478Z,1761675059.478 [DAT](INFO): Ping request sent. 2025-10-28T18:10:59.478Z,1761675059.478 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:10:59.478Z,1761675059.478 [DAT](INFO): publishing transmit ping time 2025-10-28T18:10:59.479Z,1761675059.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T18:10:59.514Z,1761675059.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234122,-0.885401,-0.401562],[0.970110,0.239871,0.036714],[0.063816,-0.398155,0.915096]] 2025-10-28T18:10:59.729Z,1761675059.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250657 2025-10-28T18:10:59.891Z,1761675059.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253634,-0.879847,-0.401920],[0.965242,0.257302,0.045858],[0.063067,-0.399581,0.914526]] 2025-10-28T18:10:59.981Z,1761675059.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823 2025-10-28T18:11:00.233Z,1761675060.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754781 2025-10-28T18:11:00.295Z,1761675060.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272409,-0.875165,-0.399849],[0.960175,0.274078,0.054264],[0.062099,-0.398707,0.914973]] 2025-10-28T18:11:00.485Z,1761675060.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006629 2025-10-28T18:11:00.699Z,1761675060.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290574,-0.871497,-0.395043],[0.954916,0.290372,0.061804],[0.060847,-0.395192,0.916581]] 2025-10-28T18:11:00.738Z,1761675060.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259551 2025-10-28T18:11:00.989Z,1761675060.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510818 2025-10-28T18:11:01.103Z,1761675061.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307381,-0.867144,-0.391890],[0.949728,0.305281,0.069422],[0.059438,-0.393528,0.917389]] 2025-10-28T18:11:01.120Z,1761675061.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:11:01.241Z,1761675061.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762760 2025-10-28T18:11:01.493Z,1761675061.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015327 2025-10-28T18:11:01.516Z,1761675061.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323375,-0.861739,-0.390940],[0.944493,0.319246,0.077554],[0.057975,-0.394319,0.917143]] 2025-10-28T18:11:01.745Z,1761675061.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267040 2025-10-28T18:11:01.911Z,1761675061.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338885,-0.856811,-0.388629],[0.939122,0.332923,0.084920],[0.056624,-0.393748,0.917473]] 2025-10-28T18:11:01.998Z,1761675061.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519804 2025-10-28T18:11:02.124Z,1761675062.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:11:02.249Z,1761675062.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770722 2025-10-28T18:11:02.317Z,1761675062.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354129,-0.851500,-0.386704],[0.933537,0.346484,0.091961],[0.055682,-0.393569,0.917607]] 2025-10-28T18:11:02.501Z,1761675062.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022790 2025-10-28T18:11:02.719Z,1761675062.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369130,-0.846055,-0.384621],[0.927745,0.359967,0.098556],[0.055067,-0.393210,0.917798]] 2025-10-28T18:11:02.753Z,1761675062.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275308 2025-10-28T18:11:03.006Z,1761675063.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527531 2025-10-28T18:11:03.123Z,1761675063.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384140,-0.840693,-0.381669],[0.921655,0.373644,0.104604],[0.054668,-0.391950,0.918361]] 2025-10-28T18:11:03.258Z,1761675063.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779420 2025-10-28T18:11:03.509Z,1761675063.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031316 2025-10-28T18:11:03.597Z,1761675063.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399678,-0.834055,-0.380276],[0.915037,0.387666,0.111458],[0.054458,-0.392513,0.918133]] 2025-10-28T18:11:03.765Z,1761675063.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286622 2025-10-28T18:11:03.930Z,1761675063.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416045,-0.827566,-0.376883],[0.907720,0.402715,0.117752],[0.054329,-0.391095,0.918746]] 2025-10-28T18:11:04.014Z,1761675064.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535852 2025-10-28T18:11:04.265Z,1761675064.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786728 2025-10-28T18:11:04.341Z,1761675064.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432615,-0.820290,-0.374125],[0.899947,0.417850,0.124484],[0.054215,-0.390546,0.918986]] 2025-10-28T18:11:04.518Z,1761675064.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039403 2025-10-28T18:11:04.738Z,1761675064.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450319,-0.812114,-0.371057],[0.891241,0.433916,0.131929],[0.053866,-0.390111,0.919191]] 2025-10-28T18:11:04.770Z,1761675064.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291358 2025-10-28T18:11:05.021Z,1761675065.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542745 2025-10-28T18:11:05.145Z,1761675065.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468244,-0.803131,-0.368413],[0.881963,0.450175,0.139582],[0.053747,-0.390285,0.919124]] 2025-10-28T18:11:05.273Z,1761675065.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795348 2025-10-28T18:11:05.528Z,1761675065.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049386 2025-10-28T18:11:05.602Z,1761675065.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486993,-0.793557,-0.364835],[0.871774,0.467164,0.147537],[0.053358,-0.389903,0.919309]] 2025-10-28T18:11:05.778Z,1761675065.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299360 2025-10-28T18:11:05.951Z,1761675065.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505896,-0.783053,-0.361796],[0.860950,0.484256,0.155758],[0.053235,-0.390286,0.919153]] 2025-10-28T18:11:06.029Z,1761675066.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550713 2025-10-28T18:11:06.281Z,1761675066.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802776 2025-10-28T18:11:06.359Z,1761675066.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524570,-0.772384,-0.358118],[0.849714,0.501179,0.163723],[0.053024,-0.390182,0.919210]] 2025-10-28T18:11:06.533Z,1761675066.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054729 2025-10-28T18:11:06.769Z,1761675066.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543653,-0.761103,-0.353784],[0.837681,0.518287,0.172247],[0.052264,-0.390001,0.919330]] 2025-10-28T18:11:06.785Z,1761675066.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306897 2025-10-28T18:11:07.037Z,1761675067.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559235 2025-10-28T18:11:07.162Z,1761675067.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562312,-0.750142,-0.347982],[0.825350,0.535087,0.180218],[0.051012,-0.388546,0.920016]] 2025-10-28T18:11:07.289Z,1761675067.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810767 2025-10-28T18:11:07.544Z,1761675067.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064934 2025-10-28T18:11:07.609Z,1761675067.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580938,-0.738491,-0.342260],[0.812456,0.551560,0.188934],[0.049251,-0.387830,0.920414]] 2025-10-28T18:11:07.678Z,1761675067.678 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateRudder:A] Stopped 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:11:07.679Z,1761675067.679 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateCommandMode] Stopped 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:11:07.684Z,1761675067.684 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:11:07.685Z,1761675067.685 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:11:07.685Z,1761675067.685 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:11:07.685Z,1761675067.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:11:07.685Z,1761675067.685 [marl:UpdateSpeed] Stopped 2025-10-28T18:11:07.685Z,1761675067.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:11:07.793Z,1761675067.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314813 2025-10-28T18:11:07.972Z,1761675067.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599253,-0.726464,-0.336372],[0.799181,0.567501,0.198121],[0.046963,-0.387547,0.920653]] 2025-10-28T18:11:07.996Z,1761675067.996 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:11:07.996Z,1761675067.996 [marl:UpdateRudder:B] Stopped 2025-10-28T18:11:07.996Z,1761675067.996 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:11:07.996Z,1761675067.996 [marl:UpdateRudder] Stopped 2025-10-28T18:11:07.996Z,1761675067.996 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:11:08.047Z,1761675068.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569237 2025-10-28T18:11:08.298Z,1761675068.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819370 2025-10-28T18:11:08.374Z,1761675068.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616537,-0.714499,-0.330716],[0.786077,0.582272,0.207468],[0.044331,-0.387880,0.920643]] 2025-10-28T18:11:08.549Z,1761675068.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070804 2025-10-28T18:11:08.783Z,1761675068.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633000,-0.702688,-0.324869],[0.773041,0.596214,0.216648],[0.041456,-0.388275,0.920611]] 2025-10-28T18:11:08.801Z,1761675068.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322978 2025-10-28T18:11:09.054Z,1761675069.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575419 2025-10-28T18:11:09.182Z,1761675069.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648432,-0.690875,-0.319732],[0.760297,0.608968,0.226064],[0.038525,-0.389679,0.920145]] 2025-10-28T18:11:09.315Z,1761675069.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836182 2025-10-28T18:11:09.566Z,1761675069.566 [DAT](INFO): Reached modem response timeout 2025-10-28T18:11:09.612Z,1761675069.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662811,-0.680418,-0.312591],[0.747944,0.621413,0.233291],[0.035513,-0.388429,0.920794]] 2025-10-28T18:11:09.994Z,1761675069.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676345,-0.670162,-0.305680],[0.735860,0.633156,0.240048],[0.032672,-0.387293,0.921377]] 2025-10-28T18:11:10.399Z,1761675070.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689418,-0.659340,-0.299955],[0.723743,0.644128,0.247579],[0.029971,-0.387776,0.921266]] 2025-10-28T18:11:10.803Z,1761675070.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702127,-0.648794,-0.293402],[0.711514,0.655275,0.253698],[0.027661,-0.386887,0.921712]] 2025-10-28T18:11:11.206Z,1761675071.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714544,-0.637910,-0.287223],[0.699131,0.665996,0.260126],[0.025353,-0.386678,0.921866]] 2025-10-28T18:11:11.612Z,1761675071.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726705,-0.626615,-0.281519],[0.686550,0.676472,0.266525],[0.023431,-0.386962,0.921798]] 2025-10-28T18:11:11.833Z,1761675071.833 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:11:11.834Z,1761675071.834 [DAT](INFO): response not received 2025-10-28T18:11:11.834Z,1761675071.834 [DAT](ERROR): No response from remote modem. 2025-10-28T18:11:12.025Z,1761675072.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739046,-0.614416,-0.276230],[0.673314,0.686759,0.273882],[0.021426,-0.388401,0.921241]] 2025-10-28T18:11:12.418Z,1761675072.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751419,-0.601918,-0.270303],[0.659521,0.697593,0.279992],[0.020029,-0.388662,0.921163]] 2025-10-28T18:11:12.831Z,1761675072.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763631,-0.589791,-0.262707],[0.645384,0.709011,0.284223],[0.018630,-0.386588,0.922064]] 2025-10-28T18:11:13.227Z,1761675073.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775862,-0.576658,-0.255937],[0.630664,0.720034,0.289506],[0.017338,-0.386027,0.922325]] 2025-10-28T18:11:13.642Z,1761675073.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788458,-0.562338,-0.249218],[0.614881,0.731120,0.295609],[0.015976,-0.386315,0.922229]] 2025-10-28T18:11:14.036Z,1761675074.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800710,-0.548100,-0.241767],[0.598872,0.742291,0.300593],[0.014706,-0.385475,0.922601]] 2025-10-28T18:11:14.439Z,1761675074.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812685,-0.533569,-0.234194],[0.582546,0.753297,0.305260],[0.013540,-0.384509,0.923022]] 2025-10-28T18:11:14.844Z,1761675074.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824560,-0.519036,-0.225172],[0.565635,0.765081,0.307747],[0.012543,-0.381121,0.924440]] 2025-10-28T18:11:15.247Z,1761675075.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836136,-0.503863,-0.216794],[0.548399,0.776289,0.310861],[0.011663,-0.378811,0.925400]] 2025-10-28T18:11:15.651Z,1761675075.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847446,-0.488434,-0.208008],[0.530774,0.787426,0.313431],[0.010701,-0.376021,0.926549]] 2025-10-28T18:11:16.055Z,1761675076.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858504,-0.472410,-0.199500],[0.512712,0.798236,0.316141],[0.009900,-0.373694,0.927499]] 2025-10-28T18:11:16.458Z,1761675076.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869313,-0.455734,-0.191316],[0.494180,0.808479,0.319607],[0.009019,-0.372383,0.928035]] 2025-10-28T18:11:16.862Z,1761675076.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879700,-0.439008,-0.182758],[0.475463,0.818445,0.322618],[0.007946,-0.370701,0.928718]] 2025-10-28T18:11:17.266Z,1761675077.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890004,-0.421383,-0.174154],[0.455905,0.828012,0.326415],[0.006656,-0.369909,0.929044]] 2025-10-28T18:11:17.670Z,1761675077.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899444,-0.404517,-0.165425],[0.437004,0.836967,0.329413],[0.005202,-0.368580,0.929582]] 2025-10-28T18:11:18.075Z,1761675078.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908524,-0.387202,-0.157031],[0.417815,0.845254,0.333130],[0.003742,-0.368267,0.929713]] 2025-10-28T18:11:18.481Z,1761675078.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917413,-0.369242,-0.148372],[0.397932,0.853127,0.337378],[0.002006,-0.368557,0.929603]] 2025-10-28T18:11:18.882Z,1761675078.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925535,-0.351884,-0.139866],[0.378662,0.860313,0.341286],[0.000235,-0.368834,0.929495]] 2025-10-28T18:11:19.287Z,1761675079.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933281,-0.334377,-0.131062],[0.359143,0.867397,0.344440],[-0.001490,-0.368529,0.929615]] 2025-10-28T18:11:19.698Z,1761675079.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940448,-0.317215,-0.122198],[0.339922,0.874063,0.347082],[-0.003291,-0.367951,0.929839]] 2025-10-28T18:11:20.094Z,1761675080.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947036,-0.300338,-0.113668],[0.321081,0.879500,0.351265],[-0.005528,-0.369157,0.929350]] 2025-10-28T18:11:20.499Z,1761675080.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953175,-0.283386,-0.105597],[0.302320,0.883890,0.356849],[-0.007790,-0.372063,0.928175]] 2025-10-28T18:11:20.902Z,1761675080.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958625,-0.267484,-0.097423],[0.284498,0.888199,0.360782],[-0.009972,-0.373571,0.927548]] 2025-10-28T18:11:20.931Z,1761675080.931 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:11:20.931Z,1761675080.931 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:11:20.931Z,1761675080.931 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:11:20.948Z,1761675080.948 [marl:UpdateRudder:A] Stopped 2025-10-28T18:11:20.948Z,1761675080.948 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:11:20.948Z,1761675080.948 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:11:20.948Z,1761675080.948 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:11:20.948Z,1761675080.948 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateCommandMode] Stopped 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:11:20.949Z,1761675080.949 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:11:20.950Z,1761675080.950 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:11:20.950Z,1761675080.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:11:20.950Z,1761675080.950 [marl:UpdateSpeed] Stopped 2025-10-28T18:11:20.950Z,1761675080.950 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:11:21.316Z,1761675081.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963518,-0.252208,-0.089582],[0.267370,0.891841,0.364873],[-0.012131,-0.375513,0.926738]] 2025-10-28T18:11:21.342Z,1761675081.342 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:11:21.342Z,1761675081.342 [marl:UpdateRudder:B] Stopped 2025-10-28T18:11:21.342Z,1761675081.342 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:11:21.342Z,1761675081.342 [marl:UpdateRudder] Stopped 2025-10-28T18:11:21.342Z,1761675081.342 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:11:21.710Z,1761675081.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968197,-0.236503,-0.081613],[0.249785,0.895244,0.368979],[-0.014201,-0.377630,0.925847]] 2025-10-28T18:11:22.114Z,1761675082.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972362,-0.221429,-0.074040],[0.232929,0.898221,0.372752],[-0.016034,-0.379695,0.924973]] 2025-10-28T18:11:22.520Z,1761675082.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976247,-0.206272,-0.066284],[0.215936,0.901335,0.375456],[-0.017702,-0.380851,0.924467]] 2025-10-28T18:11:22.922Z,1761675082.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979907,-0.190722,-0.058381],[0.198533,0.904502,0.377440],[-0.019181,-0.381447,0.924192]] 2025-10-28T18:11:23.328Z,1761675083.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983306,-0.174770,-0.050646],[0.180839,0.907785,0.378448],[-0.020165,-0.381289,0.924236]] 2025-10-28T18:11:23.730Z,1761675083.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986351,-0.158926,-0.043057],[0.163301,0.910736,0.379331],[-0.021072,-0.381185,0.924259]] 2025-10-28T18:11:24.135Z,1761675084.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989081,-0.142998,-0.035638],[0.145796,0.914183,0.378171],[-0.021498,-0.379238,0.925049]] 2025-10-28T18:11:24.540Z,1761675084.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991549,-0.126590,-0.028390],[0.127927,0.917648,0.376240],[-0.021576,-0.376692,0.926087]] 2025-10-28T18:11:24.968Z,1761675084.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993757,-0.109522,-0.021270],[0.109495,0.920812,0.374321],[-0.021411,-0.374313,0.927055]] 2025-10-28T18:11:25.347Z,1761675085.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995548,-0.093202,-0.014047],[0.091704,0.923345,0.372861],[-0.021781,-0.372489,0.927781]] 2025-10-28T18:11:25.758Z,1761675085.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997077,-0.076163,-0.006110],[0.072985,0.925705,0.371137],[-0.022611,-0.370498,0.928558]] 2025-10-28T18:11:26.157Z,1761675086.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998264,-0.058863,0.001954],[0.053947,0.927190,0.370685],[-0.023631,-0.369937,0.928756]] 2025-10-28T18:11:26.559Z,1761675086.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999098,-0.041198,0.010260],[0.034516,0.928881,0.368767],[-0.024723,-0.368081,0.929465]] 2025-10-28T18:11:26.963Z,1761675086.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999559,-0.022917,0.018906],[0.014329,0.929352,0.368916],[-0.026024,-0.368482,0.929271]] 2025-10-28T18:11:27.367Z,1761675087.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999591,-0.004293,0.028290],[-0.006476,0.929086,0.369808],[-0.027871,-0.369840,0.928677]] 2025-10-28T18:11:27.795Z,1761675087.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999161,0.014807,0.038187],[-0.027909,0.928535,0.370195],[-0.029976,-0.370950,0.928169]] 2025-10-28T18:11:28.175Z,1761675088.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998236,0.034548,0.048275],[-0.049931,0.928485,0.367998],[-0.032109,-0.369760,0.928572]] 2025-10-28T18:11:28.578Z,1761675088.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996836,0.053831,0.058475],[-0.071516,0.928499,0.364384],[-0.034679,-0.367413,0.929411]] 2025-10-28T18:11:28.984Z,1761675088.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994965,0.073025,0.068646],[-0.093075,0.927283,0.362605],[-0.037176,-0.367169,0.929411]] 2025-10-28T18:11:29.393Z,1761675089.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992723,0.091493,0.078300],[-0.113743,0.925941,0.360134],[-0.039551,-0.366419,0.929609]] 2025-10-28T18:11:29.807Z,1761675089.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987659,0.124137,0.095497],[-0.150347,0.922306,0.356017],[-0.043883,-0.365981,0.929587]] 2025-10-28T18:11:30.199Z,1761675090.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984946,0.138537,0.103390],[-0.166631,0.920052,0.354597],[-0.045999,-0.366487,0.929285]] 2025-10-28T18:11:30.603Z,1761675090.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982105,0.152313,0.110776],[-0.182125,0.917875,0.352614],[-0.047971,-0.366479,0.929189]] 2025-10-28T18:11:31.012Z,1761675091.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979157,0.165515,0.117712],[-0.196945,0.915388,0.351108],[-0.049638,-0.366972,0.928907]] 2025-10-28T18:11:31.409Z,1761675091.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976036,0.178311,0.124737],[-0.211480,0.912341,0.350585],[-0.051290,-0.368563,0.928187]] 2025-10-28T18:11:31.816Z,1761675091.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972517,0.191513,0.132414],[-0.226743,0.908220,0.351744],[-0.052897,-0.372101,0.926684]] 2025-10-28T18:11:32.216Z,1761675092.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968745,0.204934,0.139766],[-0.241952,0.904874,0.350231],[-0.054697,-0.373102,0.926177]] 2025-10-28T18:11:32.244Z,1761675092.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:11:32.619Z,1761675092.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964465,0.219095,0.147661],[-0.258094,0.900813,0.349176],[-0.056512,-0.374879,0.925350]] 2025-10-28T18:11:33.024Z,1761675093.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959479,0.234633,0.156033],[-0.275712,0.896028,0.348019],[-0.058153,-0.376938,0.924411]] 2025-10-28T18:11:33.248Z,1761675093.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:11:33.426Z,1761675093.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953814,0.251401,0.164430],[-0.294405,0.891108,0.345330],[-0.059708,-0.377789,0.923964]] 2025-10-28T18:11:33.831Z,1761675093.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947549,0.268644,0.173148],[-0.313673,0.885585,0.342562],[-0.061310,-0.378907,0.923402]] 2025-10-28T18:11:34.236Z,1761675094.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940509,0.286288,0.182981],[-0.333870,0.878625,0.341393],[-0.063035,-0.382175,0.921937]] 2025-10-28T18:11:34.264Z,1761675094.264 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:11:34.265Z,1761675094.265 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:11:34.265Z,1761675094.265 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:11:34.265Z,1761675094.265 [marl:UpdateRudder:A] Stopped 2025-10-28T18:11:34.265Z,1761675094.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:11:34.266Z,1761675094.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:11:34.266Z,1761675094.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:11:34.266Z,1761675094.266 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:11:34.266Z,1761675094.266 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateCommandMode] Stopped 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:11:34.267Z,1761675094.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:11:34.269Z,1761675094.269 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:11:34.269Z,1761675094.269 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:11:34.269Z,1761675094.269 [marl:UpdateSpeed] Stopped 2025-10-28T18:11:34.269Z,1761675094.269 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:11:34.638Z,1761675094.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932869,0.304603,0.192282],[-0.354333,0.872041,0.337628],[-0.064835,-0.383094,0.921431]] 2025-10-28T18:11:34.680Z,1761675094.680 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:11:34.680Z,1761675094.680 [marl:UpdateRudder:B] Stopped 2025-10-28T18:11:34.681Z,1761675094.681 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:11:34.681Z,1761675094.681 [marl:UpdateRudder] Stopped 2025-10-28T18:11:34.681Z,1761675094.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:11:35.043Z,1761675095.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924666,0.323332,0.201120],[-0.374921,0.865378,0.332498],[-0.066538,-0.382853,0.921410]] 2025-10-28T18:11:35.446Z,1761675095.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916219,0.341731,0.209196],[-0.394865,0.858700,0.326674],[-0.068003,-0.381909,0.921695]] 2025-10-28T18:11:35.850Z,1761675095.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907860,0.359246,0.216179],[-0.413540,0.852225,0.320465],[-0.069107,-0.380336,0.922263]] 2025-10-28T18:11:36.256Z,1761675096.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899676,0.375737,0.222271],[-0.430867,0.846181,0.313579],[-0.070259,-0.377889,0.923181]] 2025-10-28T18:11:36.658Z,1761675096.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891725,0.390967,0.227972],[-0.446909,0.840159,0.307255],[-0.071406,-0.375869,0.923918]] 2025-10-28T18:11:37.068Z,1761675097.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883858,0.405173,0.233732],[-0.462166,0.833475,0.302857],[-0.072100,-0.375706,0.923930]] 2025-10-28T18:11:37.467Z,1761675097.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876207,0.418131,0.239642],[-0.476411,0.826562,0.299712],[-0.072760,-0.376777,0.923442]] 2025-10-28T18:11:37.870Z,1761675097.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868275,0.430668,0.246219],[-0.490605,0.819014,0.297527],[-0.073521,-0.379131,0.922417]] 2025-10-28T18:11:38.285Z,1761675098.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859645,0.443735,0.253198],[-0.505443,0.810870,0.294987],[-0.074415,-0.381561,0.921343]] 2025-10-28T18:11:38.680Z,1761675098.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850769,0.456672,0.260082],[-0.520109,0.802605,0.292081],[-0.075358,-0.383765,0.920351]] 2025-10-28T18:11:39.087Z,1761675099.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841133,0.469623,0.268234],[-0.535380,0.793252,0.290033],[-0.076571,-0.387563,0.918657]] 2025-10-28T18:11:39.487Z,1761675099.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830615,0.483430,0.276359],[-0.551420,0.783196,0.287296],[-0.077555,-0.391022,0.917108]] 2025-10-28T18:11:39.890Z,1761675099.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819181,0.498641,0.283372],[-0.568170,0.772967,0.282320],[-0.078260,-0.392275,0.916513]] 2025-10-28T18:11:40.299Z,1761675100.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807186,0.514286,0.289759],[-0.585047,0.762313,0.276766],[-0.078551,-0.392924,0.916210]] 2025-10-28T18:11:40.703Z,1761675100.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795414,0.529496,0.294874],[-0.600926,0.752261,0.270169],[-0.078769,-0.392094,0.916547]] 2025-10-28T18:11:41.102Z,1761675101.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783354,0.544657,0.299508],[-0.616543,0.742052,0.263123],[-0.078938,-0.390778,0.917094]] 2025-10-28T18:11:41.511Z,1761675101.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770267,0.559801,0.305469],[-0.632752,0.730564,0.256712],[-0.079457,-0.391023,0.916945]] 2025-10-28T18:11:41.912Z,1761675101.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756897,0.575702,0.309312],[-0.648643,0.719562,0.247978],[-0.079808,-0.388326,0.918060]] 2025-10-28T18:11:42.315Z,1761675102.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743518,0.590565,0.313710],[-0.663866,0.708262,0.240098],[-0.080396,-0.386778,0.918661]] 2025-10-28T18:11:42.719Z,1761675102.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730628,0.604387,0.317646],[-0.677955,0.697367,0.232500],[-0.080996,-0.385221,0.919263]] 2025-10-28T18:11:43.123Z,1761675103.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718340,0.616881,0.321630],[-0.690910,0.686699,0.226027],[-0.081431,-0.384582,0.919492]] 2025-10-28T18:11:43.553Z,1761675103.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706289,0.628662,0.325486],[-0.703170,0.676193,0.219809],[-0.081906,-0.384120,0.919643]] 2025-10-28T18:11:43.931Z,1761675103.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694596,0.639197,0.330097],[-0.714647,0.665739,0.214640],[-0.082561,-0.384991,0.919220]] 2025-10-28T18:11:44.334Z,1761675104.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683510,0.649413,0.333282],[-0.725191,0.656152,0.208717],[-0.083140,-0.384353,0.919435]] 2025-10-28T18:11:44.349Z,1761675104.349 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.350Z,1761675104.350 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:11:44.350Z,1761675104.350 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.351Z,1761675104.351 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T18:11:44.352Z,1761675104.352 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:11:44.353Z,1761675104.353 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.353Z,1761675104.353 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.354Z,1761675104.354 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.355Z,1761675104.355 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T18:11:44.355Z,1761675104.355 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.356Z,1761675104.356 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:11:44.357Z,1761675104.357 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:11:44.357Z,1761675104.357 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T18:11:44.363Z,1761675104.363 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T18:11:44.742Z,1761675104.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672394,0.659119,0.336821],[-0.735475,0.646226,0.203637],[-0.083442,-0.384647,0.919284]] 2025-10-28T18:11:45.143Z,1761675105.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661066,0.668381,0.340968],[-0.745640,0.635904,0.199113],[-0.083740,-0.385866,0.918746]] 2025-10-28T18:11:45.589Z,1761675105.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649215,0.677881,0.344960],[-0.755933,0.625242,0.194004],[-0.084172,-0.386717,0.918349]] 2025-10-28T18:11:45.951Z,1761675105.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637202,0.686845,0.349596],[-0.766014,0.614353,0.189190],[-0.084831,-0.388348,0.917600]] 2025-10-28T18:11:46.354Z,1761675106.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624832,0.695018,0.355718],[-0.776046,0.602842,0.185294],[-0.085660,-0.391831,0.916041]] 2025-10-28T18:11:46.767Z,1761675106.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611775,0.703214,0.362245],[-0.786286,0.590682,0.181244],[-0.086518,-0.395709,0.914292]] 2025-10-28T18:11:47.163Z,1761675107.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597497,0.712910,0.367093],[-0.797158,0.577649,0.175671],[-0.086813,-0.397594,0.913445]] 2025-10-28T18:11:47.592Z,1761675107.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583081,0.722436,0.371621],[-0.807725,0.564584,0.169778],[-0.087158,-0.399162,0.912728]] 2025-10-28T18:11:47.642Z,1761675107.642 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:11:47.642Z,1761675107.642 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:11:47.642Z,1761675107.642 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:11:47.642Z,1761675107.642 [marl:UpdateRudder:A] Stopped 2025-10-28T18:11:47.642Z,1761675107.642 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode] Stopped 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:11:47.643Z,1761675107.643 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed] Stopped 2025-10-28T18:11:47.644Z,1761675107.644 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:11:47.970Z,1761675107.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567502,0.732130,0.376732],[-0.818724,0.550315,0.163844],[-0.087366,-0.401421,0.911717]] 2025-10-28T18:11:48.003Z,1761675108.003 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:11:48.004Z,1761675108.004 [marl:UpdateRudder:B] Stopped 2025-10-28T18:11:48.004Z,1761675108.004 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:11:48.004Z,1761675108.004 [marl:UpdateRudder] Stopped 2025-10-28T18:11:48.004Z,1761675108.004 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:11:48.378Z,1761675108.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551040,0.742213,0.381411],[-0.829857,0.535437,0.156986],[-0.087704,-0.403022,0.910978]] 2025-10-28T18:11:48.789Z,1761675108.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534028,0.752452,0.385525],[-0.840905,0.520017,0.149870],[-0.087710,-0.404225,0.910444]] 2025-10-28T18:11:49.185Z,1761675109.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516753,0.763109,0.388112],[-0.851637,0.504588,0.141791],[-0.087634,-0.403802,0.910640]] 2025-10-28T18:11:49.598Z,1761675109.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498771,0.774133,0.389803],[-0.862322,0.488535,0.133170],[-0.087341,-0.402557,0.911219]] 2025-10-28T18:11:49.991Z,1761675109.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480662,0.784798,0.391225],[-0.872554,0.472434,0.124322],[-0.087260,-0.401121,0.911859]] 2025-10-28T18:11:50.399Z,1761675110.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461675,0.795808,0.391849],[-0.882756,0.455590,0.114800],[-0.087164,-0.398908,0.912839]] 2025-10-28T18:11:50.800Z,1761675110.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443509,0.805968,0.392065],[-0.892004,0.439553,0.105460],[-0.087336,-0.396496,0.913873]] 2025-10-28T18:11:51.202Z,1761675111.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425159,0.816026,0.391588],[-0.900873,0.423366,0.095856],[-0.087564,-0.393525,0.915134]] 2025-10-28T18:11:51.606Z,1761675111.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406563,0.825724,0.391007],[-0.909414,0.406788,0.086545],[-0.087594,-0.390774,0.916309]] 2025-10-28T18:11:52.011Z,1761675112.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388396,0.835150,0.389452],[-0.917322,0.390573,0.077281],[-0.087569,-0.387269,0.917799]] 2025-10-28T18:11:52.422Z,1761675112.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370888,0.842683,0.390293],[-0.924576,0.374511,0.069999],[-0.087182,-0.386817,0.918026]] 2025-10-28T18:11:52.819Z,1761675112.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354469,0.849362,0.391071],[-0.931026,0.359432,0.063242],[-0.086848,-0.386514,0.918185]] 2025-10-28T18:11:53.222Z,1761675113.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339819,0.854495,0.392889],[-0.936483,0.345955,0.057568],[-0.086731,-0.387497,0.917782]] 2025-10-28T18:11:53.627Z,1761675113.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324994,0.858462,0.396765],[-0.941764,0.332089,0.052884],[-0.086363,-0.390846,0.916396]] 2025-10-28T18:11:54.030Z,1761675114.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310302,0.861983,0.400872],[-0.946711,0.318490,0.047978],[-0.086317,-0.394397,0.914877]] 2025-10-28T18:11:54.437Z,1761675114.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294529,0.865634,0.404883],[-0.951739,0.303955,0.042482],[-0.086293,-0.397855,0.913381]] 2025-10-28T18:11:54.839Z,1761675114.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278081,0.869216,0.408821],[-0.956641,0.289009,0.036232],[-0.086659,-0.401170,0.911895]] 2025-10-28T18:11:55.256Z,1761675115.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260101,0.873633,0.411234],[-0.961706,0.272509,0.029345],[-0.086428,-0.403119,0.911057]] 2025-10-28T18:11:55.646Z,1761675115.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241672,0.878703,0.411674],[-0.966542,0.255574,0.021894],[-0.085975,-0.403192,0.911068]] 2025-10-28T18:11:56.050Z,1761675116.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222528,0.883989,0.411151],[-0.971209,0.237796,0.014379],[-0.085059,-0.402514,0.911454]] 2025-10-28T18:11:56.457Z,1761675116.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203489,0.889027,0.410151],[-0.975460,0.220066,0.006950],[-0.084081,-0.401500,0.911991]] 2025-10-28T18:11:56.858Z,1761675116.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184630,0.894175,0.407875],[-0.979320,0.202317,-0.000232],[-0.082727,-0.399398,0.913038]] 2025-10-28T18:11:57.266Z,1761675117.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166075,0.898258,0.406881],[-0.982756,0.184779,-0.006804],[-0.081295,-0.398735,0.913456]] 2025-10-28T18:11:57.666Z,1761675117.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147803,0.901706,0.406301],[-0.985792,0.167461,-0.013039],[-0.079797,-0.398602,0.913646]] 2025-10-28T18:11:58.072Z,1761675118.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130443,0.903723,0.407763],[-0.988333,0.151144,-0.018814],[-0.078633,-0.400551,0.912894]] 2025-10-28T18:11:58.484Z,1761675118.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113787,0.905183,0.409508],[-0.990460,0.135602,-0.024525],[-0.077730,-0.402811,0.911977]] 2025-10-28T18:11:58.878Z,1761675118.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096976,0.905877,0.412289],[-0.992323,0.119948,-0.030140],[-0.076757,-0.406200,0.910555]] 2025-10-28T18:11:59.282Z,1761675119.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079997,0.906694,0.414134],[-0.993912,0.104133,-0.035996],[-0.075762,-0.408733,0.909504]] 2025-10-28T18:11:59.308Z,1761675119.308 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:11:59.501Z,1761675119.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:11:59.501Z,1761675119.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:11:59.686Z,1761675119.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063211,0.907508,0.415251],[-0.995199,0.088470,-0.041853],[-0.074719,-0.410612,0.908743]] 2025-10-28T18:11:59.753Z,1761675119.753 [DAT](INFO): DAT read: user:108> 2025-10-28T18:11:59.755Z,1761675119.755 [DAT](INFO): DAT read: Tx time:18:11:59.4985 2025-10-28T18:11:59.755Z,1761675119.755 [DAT](INFO): Ping request sent. 2025-10-28T18:11:59.755Z,1761675119.755 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:11:59.756Z,1761675119.756 [DAT](INFO): publishing transmit ping time 2025-10-28T18:11:59.757Z,1761675119.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001474 2025-10-28T18:12:00.005Z,1761675120.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249519 2025-10-28T18:12:00.090Z,1761675120.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046086,0.908864,0.414538],[-0.996225,0.072380,-0.047936],[-0.073572,-0.410764,0.908769]] 2025-10-28T18:12:00.257Z,1761675120.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501502 2025-10-28T18:12:00.495Z,1761675120.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028711,0.910084,0.413427],[-0.996971,0.055981,-0.053996],[-0.072285,-0.410625,0.908935]] 2025-10-28T18:12:00.509Z,1761675120.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753555 2025-10-28T18:12:00.762Z,1761675120.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005915 2025-10-28T18:12:00.900Z,1761675120.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012233,0.910658,0.412980],[-0.997386,0.040527,-0.059823],[-0.071215,-0.411168,0.908773]] 2025-10-28T18:12:00.930Z,1761675120.930 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:12:00.930Z,1761675120.930 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:12:00.930Z,1761675120.930 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:12:00.930Z,1761675120.930 [marl:UpdateRudder:A] Stopped 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode] Stopped 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:12:00.931Z,1761675120.931 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:12:00.932Z,1761675120.932 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:12:00.932Z,1761675120.932 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:12:00.932Z,1761675120.932 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:12:00.932Z,1761675120.932 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:12:00.932Z,1761675120.932 [marl:UpdateSpeed] Stopped 2025-10-28T18:12:00.933Z,1761675120.933 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:12:01.021Z,1761675121.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265609 2025-10-28T18:12:01.274Z,1761675121.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518089 2025-10-28T18:12:01.347Z,1761675121.347 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:12:01.347Z,1761675121.347 [marl:UpdateRudder:B] Stopped 2025-10-28T18:12:01.348Z,1761675121.348 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:12:01.348Z,1761675121.348 [marl:UpdateRudder] Stopped 2025-10-28T18:12:01.348Z,1761675121.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:12:01.529Z,1761675121.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772792 2025-10-28T18:12:01.708Z,1761675121.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020224,0.909832,0.414485],[-0.997478,0.009850,-0.070292],[-0.068037,-0.414861,0.907338]] 2025-10-28T18:12:01.778Z,1761675121.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022151 2025-10-28T18:12:02.029Z,1761675122.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273402 2025-10-28T18:12:02.113Z,1761675122.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035348,0.908947,0.415411],[-0.997174,-0.004504,-0.074996],[-0.066297,-0.416888,0.906537]] 2025-10-28T18:12:02.281Z,1761675122.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525473 2025-10-28T18:12:02.514Z,1761675122.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049237,0.907874,0.416342],[-0.996747,-0.018033,-0.078554],[-0.063810,-0.418855,0.905808]] 2025-10-28T18:12:02.533Z,1761675122.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777478 2025-10-28T18:12:02.785Z,1761675122.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029644 2025-10-28T18:12:02.918Z,1761675122.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062340,0.906120,0.418403],[-0.996186,-0.030849,-0.081619],[-0.061049,-0.421895,0.904587]] 2025-10-28T18:12:03.037Z,1761675123.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281526 2025-10-28T18:12:03.289Z,1761675123.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533443 2025-10-28T18:12:03.327Z,1761675123.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075980,0.904643,0.419343],[-0.995416,-0.044319,-0.084750],[-0.058083,-0.423860,0.903863]] 2025-10-28T18:12:03.368Z,1761675123.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:12:03.546Z,1761675123.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790303 2025-10-28T18:12:03.741Z,1761675123.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090567,0.904674,0.416368],[-0.994367,-0.059031,-0.088030],[-0.055059,-0.421996,0.904924]] 2025-10-28T18:12:03.793Z,1761675123.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037621 2025-10-28T18:12:04.045Z,1761675124.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289345 2025-10-28T18:12:04.134Z,1761675124.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105926,0.905078,0.411842],[-0.992989,-0.074424,-0.091840],[-0.052471,-0.418683,0.906615]] 2025-10-28T18:12:04.297Z,1761675124.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541604 2025-10-28T18:12:04.372Z,1761675124.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:12:04.538Z,1761675124.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122822,0.906201,0.404616],[-0.991139,-0.091227,-0.096546],[-0.050579,-0.412888,0.909376]] 2025-10-28T18:12:04.549Z,1761675124.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793642 2025-10-28T18:12:04.801Z,1761675124.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045490 2025-10-28T18:12:04.948Z,1761675124.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141848,0.907695,0.394930],[-0.988658,-0.110024,-0.102223],[-0.049336,-0.404951,0.913007]] 2025-10-28T18:12:05.054Z,1761675125.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298444 2025-10-28T18:12:05.305Z,1761675125.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549515 2025-10-28T18:12:05.352Z,1761675125.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162027,0.908580,0.385006],[-0.985584,-0.129747,-0.108584],[-0.048704,-0.397049,0.916504]] 2025-10-28T18:12:05.560Z,1761675125.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803843 2025-10-28T18:12:05.756Z,1761675125.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183789,0.907836,0.376901],[-0.981790,-0.150787,-0.115551],[-0.048070,-0.391275,0.919018]] 2025-10-28T18:12:05.809Z,1761675125.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053567 2025-10-28T18:12:06.061Z,1761675126.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305504 2025-10-28T18:12:06.154Z,1761675126.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206714,0.905536,0.370505],[-0.977272,-0.172905,-0.122654],[-0.047006,-0.387438,0.920697]] 2025-10-28T18:12:06.313Z,1761675126.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557456 2025-10-28T18:12:06.560Z,1761675126.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230541,0.901073,0.367312],[-0.972023,-0.195814,-0.129721],[-0.044963,-0.386942,0.921007]] 2025-10-28T18:12:06.565Z,1761675126.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809629 2025-10-28T18:12:06.817Z,1761675126.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061409 2025-10-28T18:12:06.964Z,1761675126.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254835,0.894895,0.366364],[-0.966099,-0.219411,-0.136057],[-0.041372,-0.388616,0.920471]] 2025-10-28T18:12:07.069Z,1761675127.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313517 2025-10-28T18:12:07.322Z,1761675127.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566093 2025-10-28T18:12:07.367Z,1761675127.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278987,0.886522,0.369115],[-0.959600,-0.242747,-0.142274],[-0.036528,-0.393896,0.918429]] 2025-10-28T18:12:07.576Z,1761675127.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819631 2025-10-28T18:12:07.774Z,1761675127.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302054,0.876770,0.374217],[-0.952802,-0.265096,-0.147961],[-0.030524,-0.401247,0.915461]] 2025-10-28T18:12:07.825Z,1761675127.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069554 2025-10-28T18:12:08.077Z,1761675128.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321453 2025-10-28T18:12:08.176Z,1761675128.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322809,0.866638,0.380438],[-0.946160,-0.285304,-0.152914],[-0.023981,-0.409317,0.912077]] 2025-10-28T18:12:08.329Z,1761675128.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573539 2025-10-28T18:12:08.578Z,1761675128.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339717,0.855771,0.390189],[-0.940361,-0.301242,-0.158032],[-0.017698,-0.420605,0.907071]] 2025-10-28T18:12:08.581Z,1761675128.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825524 2025-10-28T18:12:08.833Z,1761675128.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077541 2025-10-28T18:12:08.982Z,1761675128.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353068,0.846627,0.398204],[-0.935523,-0.314084,-0.161706],[-0.011835,-0.429622,0.902931]] 2025-10-28T18:12:09.086Z,1761675129.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330274 2025-10-28T18:12:09.337Z,1761675129.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581380 2025-10-28T18:12:09.388Z,1761675129.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363481,0.838365,0.406234],[-0.931578,-0.323991,-0.164901],[-0.006631,-0.438377,0.898767]] 2025-10-28T18:12:09.589Z,1761675129.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833584 2025-10-28T18:12:09.795Z,1761675129.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371403,0.832888,0.410313],[-0.928469,-0.332056,-0.166385],[-0.002333,-0.442759,0.896638]] 2025-10-28T18:12:09.841Z,1761675129.841 [DAT](INFO): Reached modem response timeout 2025-10-28T18:12:10.194Z,1761675130.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377910,0.829785,0.410659],[-0.925842,-0.339094,-0.166828],[0.000820,-0.443252,0.896397]] 2025-10-28T18:12:10.600Z,1761675130.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383736,0.828588,0.407662],[-0.923439,-0.345555,-0.166890],[0.002586,-0.440493,0.897752]] 2025-10-28T18:12:11.004Z,1761675131.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389572,0.828638,0.401985],[-0.920990,-0.352039,-0.166870],[0.003240,-0.435232,0.900313]] 2025-10-28T18:12:11.409Z,1761675131.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396680,0.829149,0.393901],[-0.917950,-0.359931,-0.166785],[0.003487,-0.427741,0.903894]] 2025-10-28T18:12:11.811Z,1761675131.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408249,0.828602,0.383081],[-0.912860,-0.372560,-0.166991],[0.004351,-0.417873,0.908495]] 2025-10-28T18:12:12.109Z,1761675132.109 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:12:12.109Z,1761675132.109 [DAT](INFO): response not received 2025-10-28T18:12:12.109Z,1761675132.109 [DAT](ERROR): No response from remote modem. 2025-10-28T18:12:12.221Z,1761675132.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423625,0.826085,0.371652],[-0.905818,-0.389033,-0.167773],[0.005990,-0.407722,0.913086]] 2025-10-28T18:12:12.626Z,1761675132.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440877,0.821681,0.361203],[-0.897532,-0.407148,-0.169310],[0.007945,-0.398837,0.916988]] 2025-10-28T18:12:13.024Z,1761675133.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459677,0.815244,0.352242],[-0.888028,-0.426483,-0.171810],[0.010158,-0.391778,0.920004]] 2025-10-28T18:12:13.426Z,1761675133.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479411,0.806593,0.345794],[-0.877502,-0.446166,-0.175857],[0.012436,-0.387743,0.921684]] 2025-10-28T18:12:13.835Z,1761675133.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499640,0.796474,0.340571],[-0.866102,-0.466166,-0.180434],[0.015052,-0.385121,0.922743]] 2025-10-28T18:12:14.245Z,1761675134.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538510,0.772606,0.336284],[-0.842367,-0.503382,-0.192419],[0.020615,-0.386894,0.921894]] 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateRudder:A] Stopped 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:12:14.285Z,1761675134.285 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateCommandMode] Stopped 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:12:14.286Z,1761675134.286 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:12:14.287Z,1761675134.287 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:12:14.287Z,1761675134.287 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:12:14.287Z,1761675134.287 [marl:UpdateSpeed] Stopped 2025-10-28T18:12:14.287Z,1761675134.287 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:12:14.651Z,1761675134.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555519,0.759901,0.337564],[-0.831180,-0.518817,-0.199922],[0.023214,-0.391637,0.919827]] 2025-10-28T18:12:14.674Z,1761675134.674 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:12:14.674Z,1761675134.674 [marl:UpdateRudder:B] Stopped 2025-10-28T18:12:14.675Z,1761675134.675 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:12:14.675Z,1761675134.675 [marl:UpdateRudder] Stopped 2025-10-28T18:12:14.675Z,1761675134.675 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:12:15.048Z,1761675135.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570772,0.748050,0.338585],[-0.820716,-0.532483,-0.207091],[0.025376,-0.396084,0.917864]] 2025-10-28T18:12:15.451Z,1761675135.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585328,0.736244,0.339611],[-0.810325,-0.545488,-0.214050],[0.027660,-0.400485,0.915886]] 2025-10-28T18:12:15.859Z,1761675135.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599375,0.725073,0.339144],[-0.799920,-0.558228,-0.220250],[0.029623,-0.403301,0.914588]] 2025-10-28T18:12:16.259Z,1761675136.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613807,0.713760,0.337324],[-0.788839,-0.571416,-0.226311],[0.031220,-0.405006,0.913781]] 2025-10-28T18:12:16.661Z,1761675136.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628366,0.702483,0.334175],[-0.777254,-0.584686,-0.232418],[0.032118,-0.405782,0.913405]] 2025-10-28T18:12:17.086Z,1761675137.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643001,0.691231,0.329773],[-0.765157,-0.598320,-0.237798],[0.032937,-0.405233,0.913620]] 2025-10-28T18:12:17.466Z,1761675137.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657855,0.679111,0.325630],[-0.752391,-0.611927,-0.243829],[0.033675,-0.405405,0.913517]] 2025-10-28T18:12:17.876Z,1761675137.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672151,0.667380,0.320650],[-0.739626,-0.625175,-0.249217],[0.034140,-0.404673,0.913824]] 2025-10-28T18:12:18.274Z,1761675138.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685591,0.656025,0.315590],[-0.727176,-0.637585,-0.254361],[0.034348,-0.403877,0.914168]] 2025-10-28T18:12:18.680Z,1761675138.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697966,0.644390,0.312420],[-0.715271,-0.648662,-0.260047],[0.035083,-0.404968,0.913657]] 2025-10-28T18:12:19.082Z,1761675139.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709334,0.633080,0.309928],[-0.703941,-0.658842,-0.265318],[0.036226,-0.406370,0.912990]] 2025-10-28T18:12:19.489Z,1761675139.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719551,0.621913,0.308984],[-0.693422,-0.667537,-0.271219],[0.037583,-0.409412,0.911575]] 2025-10-28T18:12:19.891Z,1761675139.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728954,0.611738,0.307250],[-0.683453,-0.675892,-0.275793],[0.038955,-0.411032,0.910788]] 2025-10-28T18:12:20.294Z,1761675140.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737476,0.602388,0.305380],[-0.674152,-0.683772,-0.279240],[0.040599,-0.411806,0.910367]] 2025-10-28T18:12:20.706Z,1761675140.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745612,0.593859,0.302316],[-0.665045,-0.691844,-0.281188],[0.042170,-0.410711,0.910790]] 2025-10-28T18:12:21.103Z,1761675141.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753553,0.584895,0.300091],[-0.655919,-0.699449,-0.283799],[0.043906,-0.410693,0.910716]] 2025-10-28T18:12:21.513Z,1761675141.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761646,0.575740,0.297353],[-0.646415,-0.707083,-0.286675],[0.045203,-0.410558,0.910713]] 2025-10-28T18:12:21.910Z,1761675141.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770010,0.566178,0.294154],[-0.636319,-0.715216,-0.289074],[0.046716,-0.409766,0.910994]] 2025-10-28T18:12:22.314Z,1761675142.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778976,0.555925,0.290075],[-0.625208,-0.724050,-0.291318],[0.048077,-0.408287,0.911587]] 2025-10-28T18:12:22.729Z,1761675142.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788792,0.544502,0.285175],[-0.612686,-0.733674,-0.293834],[0.049232,-0.406496,0.912325]] 2025-10-28T18:12:23.125Z,1761675143.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799251,0.532001,0.279593],[-0.598897,-0.743877,-0.296595],[0.050194,-0.404502,0.913159]] 2025-10-28T18:12:23.558Z,1761675143.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810280,0.518185,0.273734],[-0.583824,-0.754353,-0.300169],[0.050949,-0.403034,0.913766]] 2025-10-28T18:12:23.930Z,1761675143.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821709,0.503445,0.267093],[-0.567541,-0.765534,-0.303076],[0.051886,-0.400627,0.914771]] 2025-10-28T18:12:24.335Z,1761675144.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832507,0.488380,0.261567],[-0.551465,-0.775743,-0.306771],[0.053088,-0.399634,0.915136]] 2025-10-28T18:12:24.740Z,1761675144.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843309,0.473062,0.255033],[-0.534694,-0.786342,-0.309466],[0.054147,-0.397340,0.916073]] 2025-10-28T18:12:25.143Z,1761675145.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853664,0.457153,0.249536],[-0.517845,-0.796186,-0.312928],[0.055621,-0.396357,0.916410]] 2025-10-28T18:12:25.586Z,1761675145.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863268,0.441582,0.244489],[-0.501522,-0.805079,-0.316738],[0.056967,-0.396046,0.916462]] 2025-10-28T18:12:25.950Z,1761675145.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872128,0.426574,0.239641],[-0.485827,-0.813063,-0.320781],[0.058007,-0.396186,0.916336]] 2025-10-28T18:12:26.354Z,1761675146.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880367,0.412006,0.234957],[-0.470605,-0.820463,-0.324610],[0.059033,-0.396348,0.916200]] 2025-10-28T18:12:26.765Z,1761675146.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888196,0.398031,0.229522],[-0.455549,-0.827961,-0.327042],[0.059862,-0.395035,0.916713]] 2025-10-28T18:12:27.164Z,1761675147.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895680,0.383885,0.224476],[-0.440552,-0.834763,-0.330280],[0.060595,-0.394719,0.916802]] 2025-10-28T18:12:27.593Z,1761675147.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902954,0.369531,0.219363],[-0.425383,-0.841066,-0.334151],[0.061020,-0.395037,0.916637]] 2025-10-28T18:12:27.654Z,1761675147.654 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:12:27.654Z,1761675147.654 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:12:27.654Z,1761675147.654 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateRudder:A] Stopped 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:12:27.655Z,1761675147.655 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:12:27.656Z,1761675147.656 [marl:UpdateCommandMode] Stopped 2025-10-28T18:12:27.660Z,1761675147.660 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:12:27.660Z,1761675147.660 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:12:27.660Z,1761675147.660 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:12:27.660Z,1761675147.660 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:12:27.660Z,1761675147.660 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:12:27.661Z,1761675147.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:12:27.661Z,1761675147.661 [marl:UpdateSpeed] Stopped 2025-10-28T18:12:27.661Z,1761675147.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:12:27.970Z,1761675147.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909694,0.355761,0.214223],[-0.410758,-0.846747,-0.338080],[0.061117,-0.395543,0.916412]] 2025-10-28T18:12:28.010Z,1761675148.010 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:12:28.011Z,1761675148.011 [marl:UpdateRudder:B] Stopped 2025-10-28T18:12:28.011Z,1761675148.011 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:12:28.011Z,1761675148.011 [marl:UpdateRudder] Stopped 2025-10-28T18:12:28.011Z,1761675148.011 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:12:28.375Z,1761675148.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916100,0.341774,0.209645],[-0.396208,-0.851837,-0.342626],[0.061483,-0.396943,0.915782]] 2025-10-28T18:12:28.789Z,1761675148.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922353,0.327759,0.204543],[-0.381389,-0.856987,-0.346577],[0.061697,-0.397677,0.915449]] 2025-10-28T18:12:29.194Z,1761675149.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928409,0.313479,0.199470],[-0.366340,-0.861949,-0.350483],[0.062064,-0.398465,0.915081]] 2025-10-28T18:12:29.595Z,1761675149.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934285,0.298984,0.194218],[-0.351003,-0.866875,-0.354012],[0.062519,-0.398919,0.914853]] 2025-10-28T18:12:29.990Z,1761675149.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940237,0.283496,0.188638],[-0.334599,-0.872035,-0.357210],[0.063232,-0.398980,0.914777]] 2025-10-28T18:12:30.396Z,1761675150.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946042,0.267865,0.182355],[-0.317811,-0.876831,-0.360782],[0.063253,-0.399270,0.914649]] 2025-10-28T18:12:30.799Z,1761675150.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951830,0.251191,0.175849],[-0.300011,-0.881411,-0.364841],[0.063351,-0.400023,0.914313]] 2025-10-28T18:12:31.209Z,1761675151.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957367,0.234159,0.169170],[-0.281823,-0.885693,-0.368949],[0.063440,-0.400895,0.913925]] 2025-10-28T18:12:31.606Z,1761675151.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962355,0.217804,0.162583],[-0.264310,-0.889366,-0.373052],[0.063343,-0.401981,0.913454]] 2025-10-28T18:12:32.012Z,1761675152.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966984,0.201846,0.155564],[-0.246910,-0.893157,-0.375908],[0.063068,-0.401907,0.913506]] 2025-10-28T18:12:32.414Z,1761675152.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971112,0.186682,0.148632],[-0.230269,-0.896501,-0.378501],[0.062589,-0.401792,0.913589]] 2025-10-28T18:12:32.818Z,1761675152.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974961,0.171779,0.141223],[-0.213631,-0.899855,-0.380292],[0.061754,-0.400939,0.914021]] 2025-10-28T18:12:33.222Z,1761675153.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978224,0.157857,0.134758],[-0.198361,-0.902130,-0.383164],[0.061085,-0.401550,0.913797]] 2025-10-28T18:12:33.627Z,1761675153.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981063,0.144750,0.128695],[-0.183988,-0.904103,-0.385677],[0.060526,-0.402051,0.913615]] 2025-10-28T18:12:34.030Z,1761675154.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983640,0.131980,0.122611],[-0.169892,-0.905976,-0.387743],[0.059908,-0.402230,0.913577]] 2025-10-28T18:12:34.435Z,1761675154.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985983,0.119565,0.116370],[-0.155955,-0.908314,-0.388130],[0.059294,-0.400838,0.914228]] 2025-10-28T18:12:34.493Z,1761675154.493 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:12:34.839Z,1761675154.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988052,0.107379,0.110563],[-0.142471,-0.909964,-0.389444],[0.058790,-0.400543,0.914390]] 2025-10-28T18:12:35.243Z,1761675155.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989941,0.094762,0.105053],[-0.128622,-0.912082,-0.389310],[0.058925,-0.398906,0.915097]] 2025-10-28T18:12:35.496Z,1761675155.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:12:35.649Z,1761675155.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991782,0.080710,0.099272],[-0.113354,-0.914129,-0.389254],[0.059331,-0.397308,0.915766]] 2025-10-28T18:12:36.050Z,1761675156.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993429,0.065856,0.093606],[-0.097388,-0.916037,-0.389091],[0.060123,-0.395650,0.916431]] 2025-10-28T18:12:36.454Z,1761675156.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994925,0.050523,0.087016],[-0.080545,-0.918216,-0.387804],[0.060306,-0.392845,0.917625]] 2025-10-28T18:12:36.859Z,1761675156.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996270,0.033121,0.079686],[-0.061532,-0.920079,-0.386870],[0.060503,-0.390330,0.918685]] 2025-10-28T18:12:37.262Z,1761675157.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997368,0.013821,0.071184],[-0.040249,-0.922080,-0.384902],[0.060317,-0.386754,0.920208]] 2025-10-28T18:12:37.671Z,1761675157.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998038,-0.006007,0.062322],[-0.018631,-0.921803,-0.387211],[0.059775,-0.387613,0.919882]] 2025-10-28T18:12:38.071Z,1761675158.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998254,-0.026707,0.052685],[0.003877,-0.919641,-0.392741],[0.058940,-0.391851,0.918139]] 2025-10-28T18:12:38.476Z,1761675158.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997995,-0.047172,0.042196],[0.026480,-0.916754,-0.398573],[0.057484,-0.396657,0.916165]] 2025-10-28T18:12:39.282Z,1761675159.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996085,-0.085961,0.020643],[0.070542,-0.913590,-0.400472],[0.053284,-0.397448,0.916076]] 2025-10-28T18:12:39.694Z,1761675159.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994544,-0.103879,0.009538],[0.091367,-0.911560,-0.400887],[0.050339,-0.397828,0.916078]] 2025-10-28T18:12:40.090Z,1761675160.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992705,-0.120570,-0.000718],[0.110891,-0.910647,-0.398026],[0.047336,-0.395202,0.917374]] 2025-10-28T18:12:40.495Z,1761675160.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990635,-0.136153,-0.010234],[0.129083,-0.909490,-0.395178],[0.044497,-0.392798,0.918548]] 2025-10-28T18:12:40.899Z,1761675160.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988530,-0.149794,-0.019236],[0.145163,-0.907280,-0.394678],[0.041668,-0.392943,0.918618]] 2025-10-28T18:12:40.923Z,1761675160.923 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:12:40.923Z,1761675160.923 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:12:40.923Z,1761675160.923 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:12:40.923Z,1761675160.923 [marl:UpdateRudder:A] Stopped 2025-10-28T18:12:40.923Z,1761675160.923 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:12:40.924Z,1761675160.924 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:12:40.924Z,1761675160.924 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:12:40.924Z,1761675160.924 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:12:40.924Z,1761675160.924 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:12:40.924Z,1761675160.924 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateCommandMode] Stopped 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed] Stopped 2025-10-28T18:12:40.925Z,1761675160.925 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:12:41.304Z,1761675161.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986438,-0.161814,-0.027516],[0.159442,-0.904851,-0.394744],[0.038977,-0.393778,0.918379]] 2025-10-28T18:12:41.331Z,1761675161.331 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:12:41.332Z,1761675161.332 [marl:UpdateRudder:B] Stopped 2025-10-28T18:12:41.332Z,1761675161.332 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:12:41.332Z,1761675161.332 [marl:UpdateRudder] Stopped 2025-10-28T18:12:41.332Z,1761675161.332 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:12:41.707Z,1761675161.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984204,-0.173510,-0.035157],[0.173183,-0.902398,-0.394570],[0.036736,-0.394426,0.918193]] 2025-10-28T18:12:42.113Z,1761675162.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981789,-0.185154,-0.042523],[0.186749,-0.899560,-0.394863],[0.034858,-0.395613,0.917755]] 2025-10-28T18:12:42.515Z,1761675162.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979144,-0.197064,-0.049433],[0.200440,-0.897215,-0.393483],[0.033189,-0.395184,0.918002]] 2025-10-28T18:12:42.920Z,1761675162.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976182,-0.209576,-0.056095],[0.214563,-0.894322,-0.392621],[0.032117,-0.395305,0.917988]] 2025-10-28T18:12:43.322Z,1761675163.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972809,-0.223007,-0.062535],[0.229425,-0.890852,-0.392106],[0.031733,-0.395791,0.917792]] 2025-10-28T18:12:43.726Z,1761675163.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968932,-0.237462,-0.069157],[0.245259,-0.886410,-0.392587],[0.031923,-0.397352,0.917111]] 2025-10-28T18:12:43.961Z,1761675163.961 [CTD_Seabird](ERROR): Failed to parse device response: ,14.2604,4.04681,4460.93 2025-10-28T18:12:44.131Z,1761675164.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964380,-0.253317,-0.076168],[0.262502,-0.880986,-0.393645],[0.032614,-0.399617,0.916102]] 2025-10-28T18:12:44.536Z,1761675164.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958811,-0.271376,-0.083889],[0.282091,-0.875142,-0.393129],[0.033271,-0.400601,0.915648]] 2025-10-28T18:12:44.939Z,1761675164.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952355,-0.290615,-0.092541],[0.303173,-0.868947,-0.391175],[0.033268,-0.400593,0.915652]] 2025-10-28T18:12:45.342Z,1761675165.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945119,-0.310299,-0.102295],[0.325082,-0.861718,-0.389569],[0.032733,-0.401443,0.915299]] 2025-10-28T18:12:45.747Z,1761675165.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937407,-0.329663,-0.112211],[0.346797,-0.854466,-0.386806],[0.031635,-0.401509,0.915309]] 2025-10-28T18:12:46.159Z,1761675166.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929426,-0.348435,-0.121491],[0.367753,-0.847492,-0.382773],[0.030409,-0.400438,0.915819]] 2025-10-28T18:12:46.556Z,1761675166.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921122,-0.366496,-0.131203],[0.388218,-0.840080,-0.378884],[0.028639,-0.399933,0.916097]] 2025-10-28T18:12:47.363Z,1761675167.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903609,-0.401200,-0.150099],[0.427736,-0.826209,-0.366634],[0.023080,-0.395497,0.918177]] 2025-10-28T18:12:47.778Z,1761675167.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894390,-0.418109,-0.158906],[0.446860,-0.819708,-0.358323],[0.019562,-0.391489,0.919975]] 2025-10-28T18:12:48.178Z,1761675168.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885343,-0.433349,-0.168454],[0.464660,-0.812146,-0.352860],[0.016102,-0.390676,0.920388]] 2025-10-28T18:12:48.574Z,1761675168.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876618,-0.447172,-0.177702],[0.481011,-0.804344,-0.348797],[0.013038,-0.391238,0.920197]] 2025-10-28T18:12:48.985Z,1761675168.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868053,-0.460511,-0.185508],[0.496364,-0.797241,-0.343555],[0.010316,-0.390303,0.920629]] 2025-10-28T18:12:49.382Z,1761675169.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859848,-0.472533,-0.193324],[0.510488,-0.789832,-0.339952],[0.007945,-0.390997,0.920358]] 2025-10-28T18:12:49.789Z,1761675169.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851569,-0.484184,-0.200988],[0.524209,-0.782086,-0.336966],[0.005963,-0.392309,0.919814]] 2025-10-28T18:12:50.192Z,1761675170.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843123,-0.495868,-0.207987],[0.537700,-0.774092,-0.334155],[0.004696,-0.393569,0.919283]] 2025-10-28T18:12:50.597Z,1761675170.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834283,-0.507854,-0.214607],[0.551324,-0.765867,-0.330892],[0.003684,-0.394375,0.918942]] 2025-10-28T18:12:51.003Z,1761675171.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824835,-0.520500,-0.220742],[0.565365,-0.757187,-0.327155],[0.003141,-0.394649,0.918827]] 2025-10-28T18:12:51.406Z,1761675171.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814625,-0.533465,-0.227601],[0.579982,-0.747373,-0.324121],[0.002804,-0.396041,0.918228]] 2025-10-28T18:12:51.807Z,1761675171.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804206,-0.546239,-0.234257],[0.594345,-0.737360,-0.321021],[0.002623,-0.397396,0.917643]] 2025-10-28T18:12:52.215Z,1761675172.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793142,-0.559190,-0.241315],[0.609033,-0.726694,-0.317798],[0.002347,-0.399027,0.916936]] 2025-10-28T18:12:52.615Z,1761675172.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781668,-0.572628,-0.247169],[0.623691,-0.716242,-0.313061],[0.002234,-0.398866,0.917006]] 2025-10-28T18:12:53.018Z,1761675173.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770025,-0.585814,-0.252753],[0.638011,-0.705859,-0.307741],[0.001871,-0.398228,0.917285]] 2025-10-28T18:12:53.434Z,1761675173.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758029,-0.599192,-0.257607],[0.652220,-0.695558,-0.301344],[0.001383,-0.396444,0.918058]] 2025-10-28T18:12:53.827Z,1761675173.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745620,-0.611975,-0.263700],[0.666371,-0.684453,-0.295760],[0.000508,-0.396246,0.918144]] 2025-10-28T18:12:54.231Z,1761675174.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733194,-0.623984,-0.270317],[0.680020,-0.673043,-0.290838],[-0.000456,-0.397061,0.917792]] 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateRudder:A] Stopped 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:12:54.271Z,1761675174.271 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:12:54.272Z,1761675174.272 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:12:54.276Z,1761675174.276 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:12:54.276Z,1761675174.276 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:12:54.276Z,1761675174.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateCommandMode] Stopped 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:12:54.277Z,1761675174.277 [marl:UpdateSpeed] Stopped 2025-10-28T18:12:54.278Z,1761675174.278 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:12:54.637Z,1761675174.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720831,-0.635379,-0.276940],[0.693110,-0.661506,-0.286371],[-0.001244,-0.398375,0.917222]] 2025-10-28T18:12:54.693Z,1761675174.693 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:12:54.693Z,1761675174.693 [marl:UpdateRudder:B] Stopped 2025-10-28T18:12:54.693Z,1761675174.693 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:12:54.694Z,1761675174.694 [marl:UpdateRudder] Stopped 2025-10-28T18:12:54.694Z,1761675174.694 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:12:55.047Z,1761675175.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708010,-0.647289,-0.282380],[0.706200,-0.650035,-0.280600],[-0.001928,-0.398084,0.917347]] 2025-10-28T18:12:55.446Z,1761675175.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694792,-0.659294,-0.287394],[0.719206,-0.638355,-0.274310],[-0.002608,-0.397284,0.917692]] 2025-10-28T18:12:55.846Z,1761675175.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680863,-0.671479,-0.292475],[0.732404,-0.625963,-0.267871],[-0.003209,-0.396593,0.917989]] 2025-10-28T18:12:56.251Z,1761675176.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666429,-0.683752,-0.297248],[0.745560,-0.613130,-0.261175],[-0.003673,-0.395670,0.918385]] 2025-10-28T18:12:56.663Z,1761675176.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650908,-0.696662,-0.301632],[0.759146,-0.599487,-0.253602],[-0.004149,-0.394054,0.919078]] 2025-10-28T18:12:57.058Z,1761675177.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634883,-0.708748,-0.307571],[0.772592,-0.584959,-0.246828],[-0.004978,-0.394334,0.918954]] 2025-10-28T18:12:57.866Z,1761675177.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601208,-0.733423,-0.317238],[0.799069,-0.554851,-0.231581],[-0.006173,-0.392723,0.919636]] 2025-10-28T18:12:58.271Z,1761675178.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583958,-0.745624,-0.320994],[0.811755,-0.539655,-0.223216],[-0.006791,-0.390918,0.920401]] 2025-10-28T18:12:58.675Z,1761675178.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566202,-0.757243,-0.325573],[0.824228,-0.523947,-0.214774],[-0.007947,-0.389952,0.920801]] 2025-10-28T18:12:59.078Z,1761675179.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547954,-0.768429,-0.330551],[0.836455,-0.507818,-0.206069],[-0.009511,-0.389407,0.921017]] 2025-10-28T18:12:59.492Z,1761675179.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529888,-0.779130,-0.334926],[0.847990,-0.492121,-0.196800],[-0.011491,-0.388295,0.921463]] 2025-10-28T18:12:59.590Z,1761675179.590 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:12:59.773Z,1761675179.773 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:12:59.773Z,1761675179.773 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:12:59.895Z,1761675179.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495009,-0.798370,-0.342887],[0.868728,-0.462317,-0.177690],[-0.016660,-0.385833,0.922418]] 2025-10-28T18:13:00.025Z,1761675180.025 [DAT](INFO): DAT read: user:109> 2025-10-28T18:13:00.025Z,1761675180.025 [DAT](INFO): DAT read: Tx time:18:12:59.7982 2025-10-28T18:13:00.026Z,1761675180.026 [DAT](INFO): Ping request sent. 2025-10-28T18:13:00.026Z,1761675180.026 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:13:00.026Z,1761675180.026 [DAT](INFO): publishing transmit ping time 2025-10-28T18:13:00.027Z,1761675180.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T18:13:00.277Z,1761675180.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251519 2025-10-28T18:13:00.309Z,1761675180.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478350,-0.807031,-0.346239],[0.877949,-0.448322,-0.167969],[-0.019671,-0.384328,0.922987]] 2025-10-28T18:13:00.529Z,1761675180.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984 2025-10-28T18:13:00.699Z,1761675180.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462945,-0.813926,-0.351006],[0.886102,-0.434997,-0.160001],[-0.022458,-0.385099,0.922602]] 2025-10-28T18:13:00.781Z,1761675180.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755122 2025-10-28T18:13:01.033Z,1761675181.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006977 2025-10-28T18:13:01.104Z,1761675181.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448058,-0.819919,-0.356337],[0.893654,-0.421932,-0.152829],[-0.025043,-0.386918,0.921774]] 2025-10-28T18:13:01.285Z,1761675181.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258987 2025-10-28T18:13:01.540Z,1761675181.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513433 2025-10-28T18:13:01.546Z,1761675181.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433824,-0.825614,-0.360774],[0.900585,-0.409464,-0.145897],[-0.027269,-0.388201,0.921171]] 2025-10-28T18:13:01.790Z,1761675181.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763579 2025-10-28T18:13:01.914Z,1761675181.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419860,-0.831305,-0.364210],[0.907126,-0.397191,-0.139148],[-0.028987,-0.388807,0.920863]] 2025-10-28T18:13:02.041Z,1761675182.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015106 2025-10-28T18:13:02.294Z,1761675182.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268404 2025-10-28T18:13:02.318Z,1761675182.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406096,-0.836711,-0.367425],[0.913331,-0.384914,-0.132921],[-0.030211,-0.389560,0.920506]] 2025-10-28T18:13:02.545Z,1761675182.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518931 2025-10-28T18:13:02.723Z,1761675182.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392222,-0.841588,-0.371338],[0.919357,-0.372133,-0.127672],[-0.030739,-0.391468,0.919678]] 2025-10-28T18:13:02.798Z,1761675182.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772067 2025-10-28T18:13:03.049Z,1761675183.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022946 2025-10-28T18:13:03.131Z,1761675183.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378191,-0.847028,-0.373517],[0.925225,-0.359145,-0.122367],[-0.030498,-0.391865,0.919517]] 2025-10-28T18:13:03.301Z,1761675183.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274928 2025-10-28T18:13:03.556Z,1761675183.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529330 2025-10-28T18:13:03.586Z,1761675183.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364154,-0.851807,-0.376585],[0.930863,-0.345805,-0.117951],[-0.029754,-0.393501,0.918842]] 2025-10-28T18:13:03.805Z,1761675183.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778921 2025-10-28T18:13:03.934Z,1761675183.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349824,-0.856800,-0.378838],[0.936392,-0.331960,-0.113899],[-0.028170,-0.394585,0.918428]] 2025-10-28T18:13:04.057Z,1761675184.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031091 2025-10-28T18:13:04.309Z,1761675184.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282988 2025-10-28T18:13:04.344Z,1761675184.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334506,-0.862431,-0.379894],[0.942022,-0.317326,-0.109084],[-0.026473,-0.394357,0.918576]] 2025-10-28T18:13:04.561Z,1761675184.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534922 2025-10-28T18:13:04.743Z,1761675184.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318314,-0.867996,-0.381129],[0.947668,-0.301758,-0.104244],[-0.024525,-0.394366,0.918626]] 2025-10-28T18:13:04.813Z,1761675184.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786845 2025-10-28T18:13:05.065Z,1761675185.065 [DAT](INFO): DAT read: Rx Time:18:13:04.4589 2025-10-28T18:13:05.065Z,1761675185.065 [DAT](INFO): Rx dataTimestamp_ set to:1761675185.065130 2025-10-28T18:13:05.066Z,1761675185.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040049 2025-10-28T18:13:05.153Z,1761675185.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301120,-0.874099,-0.381153],[0.953323,-0.285341,-0.098773],[-0.022421,-0.393104,0.919220]] 2025-10-28T18:13:05.317Z,1761675185.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290928 2025-10-28T18:13:05.577Z,1761675185.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550737 2025-10-28T18:13:05.629Z,1761675185.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:13:05.640Z,1761675185.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282589,-0.880422,-0.380789],[0.959019,-0.267841,-0.092426],[-0.020617,-0.391302,0.920031]] 2025-10-28T18:13:05.826Z,1761675185.826 [DAT](INFO): DAT read: 18:13:04.4589 LVL= 32752, 32753, 26066, 32755, AGC= 86, IDX= 49,-0.32,-1.579,-2.683,-0.429,-1.433, PHS=-0.044,-1.205, 0.960, RAW= 177.6, 3.1, CAL= 177.1, 0.6, ROT= 332.9, -0.6 2025-10-28T18:13:05.827Z,1761675185.827 [DAT](INFO): got valid direction response: 18:13:04.4589 LVL= 32752, 32753, 26066, 32755, AGC= 86, IDX= 49,-0.32,-1.579,-2.683,-0.429,-1.433, PHS=-0.044,-1.205, 0.960, RAW= 177.6, 3.1, CAL= 177.1, 0.6, ROT= 332.9, -0.6 2025-10-28T18:13:05.828Z,1761675185.828 [DAT](INFO): DAT read: Bearing 229.1, -26.7 (Local) 2025-10-28T18:13:05.829Z,1761675185.829 [DAT](INFO): Local bearing/azimuth received: Bearing 229.1, -26.7 (Local) 2025-10-28T18:13:05.830Z,1761675185.830 [DAT](INFO): DAT read: Range 11 to 20 : 1692.4 m (Round-trip 2256.6 ms) speed 0.8 m/s 2025-10-28T18:13:05.831Z,1761675185.831 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:13:05.832Z,1761675185.832 [DAT](INFO): direction in FSK: [0.890164,-0.455520,0.010472] 2025-10-28T18:13:05.832Z,1761675185.832 [DAT](INFO): publishing direction and range info 2025-10-28T18:13:05.954Z,1761675185.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262285,-0.886944,-0.380179],[0.964796,-0.248938,-0.084848],[-0.019385,-0.389049,0.921013]] 2025-10-28T18:13:05.996Z,1761675185.996 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675136.00. Resetting abort timer. 2025-10-28T18:13:06.359Z,1761675186.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241166,-0.893153,-0.379628],[0.970308,-0.229361,-0.076787],[-0.018489,-0.386874,0.921947]] 2025-10-28T18:13:06.632Z,1761675186.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:13:06.768Z,1761675186.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219290,-0.898997,-0.379100],[0.975495,-0.209155,-0.068285],[-0.017902,-0.384784,0.922833]] 2025-10-28T18:13:07.170Z,1761675187.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196877,-0.904099,-0.379269],[0.980267,-0.188537,-0.059420],[-0.017785,-0.383483,0.923377]] 2025-10-28T18:13:07.599Z,1761675187.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174036,-0.908688,-0.379469],[0.984567,-0.167770,-0.049805],[-0.018406,-0.382281,0.923863]] 2025-10-28T18:13:07.682Z,1761675187.682 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:13:07.682Z,1761675187.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:13:07.682Z,1761675187.682 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateRudder:A] Stopped 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode] Stopped 2025-10-28T18:13:07.683Z,1761675187.683 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:13:07.684Z,1761675187.684 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:13:07.688Z,1761675187.688 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:13:07.688Z,1761675187.688 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:13:07.689Z,1761675187.689 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:13:07.689Z,1761675187.689 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:13:07.689Z,1761675187.689 [marl:UpdateSpeed] Stopped 2025-10-28T18:13:07.689Z,1761675187.689 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:13:07.975Z,1761675187.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150551,-0.912455,-0.380474],[0.988399,-0.146723,-0.039232],[-0.020027,-0.381967,0.923959]] 2025-10-28T18:13:07.999Z,1761675187.999 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:13:07.999Z,1761675187.999 [marl:UpdateRudder:B] Stopped 2025-10-28T18:13:07.999Z,1761675187.999 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:13:07.999Z,1761675187.999 [marl:UpdateRudder] Stopped 2025-10-28T18:13:07.999Z,1761675187.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:13:08.379Z,1761675188.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126931,-0.915910,-0.380784],[0.991646,-0.126059,-0.027344],[-0.022957,-0.381074,0.924260]] 2025-10-28T18:13:08.787Z,1761675188.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103376,-0.918544,-0.381563],[0.994274,-0.105870,-0.014513],[-0.027065,-0.380879,0.924229]] 2025-10-28T18:13:09.186Z,1761675189.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080301,-0.920627,-0.382097],[0.996254,-0.086468,-0.001035],[-0.032086,-0.380749,0.924121]] 2025-10-28T18:13:09.604Z,1761675189.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059521,-0.922376,-0.381679],[0.997541,-0.069134,0.011509],[-0.037003,-0.380056,0.924223]] 2025-10-28T18:13:09.995Z,1761675189.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039464,-0.923095,-0.382542],[0.998343,-0.052472,0.023626],[-0.041882,-0.380975,0.923636]] 2025-10-28T18:13:10.401Z,1761675190.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021247,-0.923427,-0.383184],[0.998706,-0.037318,0.034555],[-0.046209,-0.381954,0.923025]] 2025-10-28T18:13:10.803Z,1761675190.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004470,-0.923484,-0.383610],[0.998730,-0.023373,0.044629],[-0.050181,-0.382923,0.922416]] 2025-10-28T18:13:11.206Z,1761675191.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011458,-0.923231,-0.384075],[0.998501,-0.009994,0.053812],[-0.053520,-0.384116,0.921732]] 2025-10-28T18:13:11.627Z,1761675191.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026447,-0.922568,-0.384927],[0.998080,0.002795,0.061875],[-0.056008,-0.385825,0.920871]] 2025-10-28T18:13:12.016Z,1761675192.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040782,-0.921838,-0.385425],[0.997498,0.015268,0.069028],[-0.057748,-0.387275,0.920154]] 2025-10-28T18:13:12.418Z,1761675192.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054946,-0.921922,-0.383459],[0.996768,0.028107,0.075253],[-0.058599,-0.386355,0.920487]] 2025-10-28T18:13:12.822Z,1761675192.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069367,-0.921598,-0.381898],[0.995873,0.041516,0.080702],[-0.058520,-0.385920,0.920674]] 2025-10-28T18:13:13.226Z,1761675193.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084419,-0.921070,-0.380135],[0.994747,0.055737,0.085858],[-0.057894,-0.385386,0.920937]] 2025-10-28T18:13:13.646Z,1761675193.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100705,-0.920442,-0.377683],[0.993259,0.071107,0.091547],[-0.057408,-0.384356,0.921398]] 2025-10-28T18:13:14.034Z,1761675194.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118611,-0.919370,-0.375088],[0.991273,0.087753,0.098373],[-0.057526,-0.383482,0.921755]] 2025-10-28T18:13:14.439Z,1761675194.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137326,-0.917618,-0.372985],[0.988829,0.104967,0.105829],[-0.057959,-0.383351,0.921782]] 2025-10-28T18:13:14.843Z,1761675194.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156343,-0.916094,-0.369226],[0.985969,0.122613,0.113276],[-0.058499,-0.381755,0.922410]] 2025-10-28T18:13:15.249Z,1761675195.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175778,-0.914210,-0.365132],[0.982633,0.140541,0.121166],[-0.059455,-0.380089,0.923037]] 2025-10-28T18:13:15.654Z,1761675195.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195479,-0.911641,-0.361522],[0.978810,0.158440,0.129719],[-0.060977,-0.379219,0.923295]] 2025-10-28T18:13:16.054Z,1761675196.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214795,-0.908394,-0.358726],[0.974643,0.175783,0.138458],[-0.062716,-0.379370,0.923117]] 2025-10-28T18:13:16.459Z,1761675196.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233080,-0.904790,-0.356412],[0.970332,0.192169,0.146719],[-0.064259,-0.380035,0.922737]] 2025-10-28T18:13:16.865Z,1761675196.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250238,-0.901172,-0.353934],[0.965988,0.207783,0.153924],[-0.065170,-0.380414,0.922517]] 2025-10-28T18:13:17.266Z,1761675197.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267531,-0.897881,-0.349624],[0.961285,0.223855,0.160685],[-0.066011,-0.379077,0.923008]] 2025-10-28T18:13:17.671Z,1761675197.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284871,-0.894121,-0.345538],[0.956273,0.240165,0.166922],[-0.066262,-0.377980,0.923440]] 2025-10-28T18:13:18.075Z,1761675198.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302567,-0.890035,-0.341016],[0.950851,0.257146,0.172507],[-0.065846,-0.376450,0.924094]] 2025-10-28T18:13:18.478Z,1761675198.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321025,-0.885247,-0.336572],[0.944818,0.274859,0.178246],[-0.065281,-0.375221,0.924634]] 2025-10-28T18:13:18.882Z,1761675198.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340639,-0.879104,-0.333379],[0.937962,0.293327,0.184898],[-0.064755,-0.375680,0.924484]] 2025-10-28T18:13:19.287Z,1761675199.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361617,-0.873130,-0.326921],[0.930078,0.313500,0.191501],[-0.064716,-0.373312,0.925446]] 2025-10-28T18:13:19.692Z,1761675199.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383318,-0.865852,-0.321509],[0.921337,0.334017,0.198922],[-0.064848,-0.372469,0.925776]] 2025-10-28T18:13:20.098Z,1761675200.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405699,-0.857621,-0.316060],[0.911623,0.354721,0.207644],[-0.065967,-0.372369,0.925737]] 2025-10-28T18:13:20.499Z,1761675200.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428547,-0.848454,-0.310602],[0.900958,0.375418,0.217569],[-0.067991,-0.373077,0.925306]] 2025-10-28T18:13:20.904Z,1761675200.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450730,-0.839184,-0.304323],[0.889811,0.395160,0.228220],[-0.071262,-0.373655,0.924826]] 2025-10-28T18:13:20.928Z,1761675200.928 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:13:20.928Z,1761675200.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:13:20.929Z,1761675200.929 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:13:20.930Z,1761675200.930 [marl:UpdateRudder:A] Stopped 2025-10-28T18:13:20.930Z,1761675200.930 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:13:20.930Z,1761675200.930 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:13:20.930Z,1761675200.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:13:20.930Z,1761675200.930 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:13:20.972Z,1761675200.972 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:13:20.972Z,1761675200.972 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:13:20.972Z,1761675200.972 [marl:UpdateCommandMode] Stopped 2025-10-28T18:13:20.972Z,1761675200.972 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed] Stopped 2025-10-28T18:13:20.973Z,1761675200.973 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:13:21.306Z,1761675201.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471517,-0.830402,-0.296823],[0.878610,0.413513,0.238855],[-0.075606,-0.373415,0.924578]] 2025-10-28T18:13:21.345Z,1761675201.345 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:13:21.346Z,1761675201.346 [marl:UpdateRudder:B] Stopped 2025-10-28T18:13:21.346Z,1761675201.346 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:13:21.346Z,1761675201.346 [marl:UpdateRudder] Stopped 2025-10-28T18:13:21.346Z,1761675201.346 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:13:21.712Z,1761675201.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489766,-0.822855,-0.288167],[0.868146,0.429822,0.248145],[-0.080327,-0.371704,0.924870]] 2025-10-28T18:13:22.150Z,1761675202.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506357,-0.814821,-0.282258],[0.858077,0.443663,0.258585],[-0.085473,-0.373135,0.923831]] 2025-10-28T18:13:22.520Z,1761675202.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520374,-0.807400,-0.278059],[0.849149,0.454813,0.268499],[-0.090321,-0.375833,0.922275]] 2025-10-28T18:13:22.923Z,1761675202.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532592,-0.800516,-0.274807],[0.841064,0.464273,0.277599],[-0.094637,-0.378977,0.920554]] 2025-10-28T18:13:23.327Z,1761675203.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542965,-0.794520,-0.271895],[0.834063,0.472598,0.284589],[-0.097614,-0.381299,0.919284]] 2025-10-28T18:13:23.734Z,1761675203.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552780,-0.788152,-0.270648],[0.827440,0.480581,0.290491],[-0.098883,-0.384523,0.917804]] 2025-10-28T18:13:24.143Z,1761675204.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563167,-0.779515,-0.274224],[0.820522,0.488189,0.297349],[-0.097915,-0.392464,0.914541]] 2025-10-28T18:13:24.538Z,1761675204.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575929,-0.767362,-0.281890],[0.812072,0.497348,0.305261],[-0.094048,-0.404724,0.909590]] 2025-10-28T18:13:24.944Z,1761675204.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590555,-0.752060,-0.292662],[0.802253,0.507851,0.313811],[-0.087376,-0.420111,0.903256]] 2025-10-28T18:13:25.347Z,1761675205.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606276,-0.737511,-0.297501],[0.791296,0.522178,0.318089],[-0.079246,-0.428262,0.900173]] 2025-10-28T18:13:25.757Z,1761675205.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623644,-0.722932,-0.297383],[0.778493,0.539911,0.320070],[-0.070829,-0.431121,0.899510]] 2025-10-28T18:13:26.231Z,1761675206.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643236,-0.706966,-0.294019],[0.763085,0.560402,0.321950],[-0.062839,-0.431451,0.899945]] 2025-10-28T18:13:26.622Z,1761675206.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665316,-0.688615,-0.288381],[0.744484,0.583172,0.325043],[-0.055653,-0.430952,0.900657]] 2025-10-28T18:13:27.022Z,1761675207.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688641,-0.667051,-0.284284],[0.723450,0.605612,0.331441],[-0.048922,-0.433909,0.899628]] 2025-10-28T18:13:27.426Z,1761675207.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712262,-0.644474,-0.278094],[0.700612,0.628647,0.337558],[-0.042724,-0.435266,0.899288]] 2025-10-28T18:13:27.833Z,1761675207.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735454,-0.620718,-0.271691],[0.676568,0.650893,0.344375],[-0.036918,-0.437089,0.898660]] 2025-10-28T18:13:28.234Z,1761675208.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758039,-0.596482,-0.263791],[0.651438,0.672788,0.350692],[-0.031706,-0.437681,0.898571]] 2025-10-28T18:13:29.043Z,1761675209.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799500,-0.547768,-0.246475],[0.600233,0.712979,0.362465],[-0.022815,-0.437733,0.898815]] 2025-10-28T18:13:29.448Z,1761675209.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817638,-0.524487,-0.237448],[0.575423,0.730935,0.366909],[-0.018880,-0.436632,0.899442]] 2025-10-28T18:13:30.291Z,1761675210.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849187,-0.479385,-0.221523],[0.527970,0.761641,0.375700],[-0.011384,-0.435997,0.899876]] 2025-10-28T18:13:30.682Z,1761675210.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862643,-0.458398,-0.213819],[0.505744,0.774675,0.379607],[-0.008370,-0.435603,0.900100]] 2025-10-28T18:13:31.095Z,1761675211.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875110,-0.437252,-0.207350],[0.483899,0.786237,0.384282],[-0.005002,-0.436625,0.899629]] 2025-10-28T18:13:31.491Z,1761675211.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886691,-0.416501,-0.200765],[0.462360,0.797196,0.388202],[-0.001638,-0.437041,0.899440]] 2025-10-28T18:13:31.896Z,1761675211.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897883,-0.395018,-0.194337],[0.440229,0.807755,0.392086],[0.002096,-0.437600,0.899167]] 2025-10-28T18:13:32.299Z,1761675212.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908782,-0.372385,-0.188269],[0.417227,0.817499,0.397010],[0.006069,-0.439346,0.898297]] 2025-10-28T18:13:32.702Z,1761675212.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919873,-0.347879,-0.181147],[0.392097,0.827055,0.402790],[0.009696,-0.441542,0.897188]] 2025-10-28T18:13:33.112Z,1761675213.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930560,-0.323061,-0.172309],[0.365901,0.837549,0.405744],[0.013236,-0.440617,0.897597]] 2025-10-28T18:13:33.515Z,1761675213.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941049,-0.296656,-0.162551],[0.337852,0.848172,0.407996],[0.016837,-0.438862,0.898397]] 2025-10-28T18:13:33.970Z,1761675213.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960414,-0.240349,-0.140847],[0.277634,0.867386,0.412991],[0.022907,-0.435746,0.899778]] 2025-10-28T18:13:34.370Z,1761675214.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968713,-0.212093,-0.128889],[0.246930,0.875809,0.414709],[0.024925,-0.433560,0.900780]] 2025-10-28T18:13:34.394Z,1761675214.394 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:13:34.394Z,1761675214.394 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:13:34.394Z,1761675214.394 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateRudder:A] Stopped 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:13:34.395Z,1761675214.395 [marl:UpdateCommandMode] Stopped 2025-10-28T18:13:34.396Z,1761675214.396 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:13:34.396Z,1761675214.396 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:13:34.396Z,1761675214.396 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:13:34.396Z,1761675214.396 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:13:34.396Z,1761675214.396 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:13:34.397Z,1761675214.397 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:13:34.397Z,1761675214.397 [marl:UpdateSpeed] Stopped 2025-10-28T18:13:34.397Z,1761675214.397 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:13:34.783Z,1761675214.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975928,-0.184246,-0.116691],[0.216493,0.883093,0.416265],[0.026354,-0.431508,0.901724]] 2025-10-28T18:13:34.812Z,1761675214.812 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:13:34.813Z,1761675214.813 [marl:UpdateRudder:B] Stopped 2025-10-28T18:13:34.813Z,1761675214.813 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:13:34.813Z,1761675214.813 [marl:UpdateRudder] Stopped 2025-10-28T18:13:34.813Z,1761675214.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:13:35.194Z,1761675215.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982041,-0.156951,-0.104702],[0.186660,0.889021,0.418091],[0.027463,-0.430126,0.902351]] 2025-10-28T18:13:35.601Z,1761675215.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986972,-0.130961,-0.093462],[0.158317,0.894015,0.419134],[0.028667,-0.428470,0.903101]] 2025-10-28T18:13:35.986Z,1761675215.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990988,-0.105744,-0.082230],[0.130662,0.898318,0.419467],[0.029513,-0.426431,0.904038]] 2025-10-28T18:13:36.393Z,1761675216.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994237,-0.080325,-0.070997],[0.102882,0.901061,0.421313],[0.030130,-0.426189,0.904132]] 2025-10-28T18:13:36.760Z,1761675216.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:13:36.795Z,1761675216.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996718,-0.054897,-0.059502],[0.074962,0.903390,0.422216],[0.030575,-0.425290,0.904540]] 2025-10-28T18:13:37.198Z,1761675217.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998448,-0.028326,-0.047942],[0.046075,0.903744,0.425587],[0.031272,-0.427135,0.903647]] 2025-10-28T18:13:37.606Z,1761675217.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999349,-0.000956,-0.036055],[0.016319,0.903455,0.428371],[0.032164,-0.428681,0.902883]] 2025-10-28T18:13:37.764Z,1761675217.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:13:38.008Z,1761675218.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999359,0.026921,-0.023603],[-0.014062,0.901413,0.432732],[0.032925,-0.432123,0.901213]] 2025-10-28T18:13:38.411Z,1761675218.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998384,0.055857,-0.010503],[-0.045611,0.897652,0.438338],[0.033912,-0.437151,0.898749]] 2025-10-28T18:13:38.815Z,1761675218.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996424,0.084463,0.002438],[-0.076867,0.894076,0.441270],[0.035091,-0.439880,0.897371]] 2025-10-28T18:13:39.242Z,1761675219.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993448,0.113228,0.015524],[-0.108376,0.890220,0.442452],[0.036279,-0.441235,0.896658]] 2025-10-28T18:13:40.047Z,1761675220.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984854,0.168437,0.041135],[-0.169216,0.882003,0.439814],[0.037800,-0.440113,0.897147]] 2025-10-28T18:13:40.450Z,1761675220.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979194,0.195774,0.053402],[-0.199215,0.877302,0.436640],[0.038633,-0.438193,0.898050]] 2025-10-28T18:13:40.854Z,1761675220.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972550,0.222845,0.066979],[-0.229445,0.870469,0.435476],[0.038740,-0.438890,0.897705]] 2025-10-28T18:13:41.259Z,1761675221.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964972,0.249952,0.079707],[-0.259447,0.864076,0.431347],[0.038943,-0.436917,0.898658]] 2025-10-28T18:13:41.663Z,1761675221.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956377,0.276806,0.093392],[-0.289544,0.855657,0.428970],[0.038830,-0.437297,0.898478]] 2025-10-28T18:13:42.078Z,1761675222.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946574,0.303910,0.107876],[-0.320164,0.845526,0.427295],[0.038647,-0.439004,0.897653]] 2025-10-28T18:13:42.471Z,1761675222.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935604,0.331257,0.122123],[-0.350950,0.834933,0.423935],[0.038467,-0.439494,0.897421]] 2025-10-28T18:13:42.875Z,1761675222.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923394,0.358943,0.136028],[-0.381933,0.823745,0.419012],[0.038349,-0.438867,0.897733]] 2025-10-28T18:13:43.278Z,1761675223.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910204,0.385980,0.150159],[-0.412403,0.811316,0.414354],[0.038106,-0.439073,0.897643]] 2025-10-28T18:13:44.091Z,1761675224.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880639,0.440022,0.175659],[-0.472366,0.786714,0.397432],[0.036686,-0.432969,0.900662]] 2025-10-28T18:13:44.491Z,1761675224.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864646,0.465536,0.188848],[-0.501145,0.772891,0.389221],[0.035237,-0.431179,0.901578]] 2025-10-28T18:13:44.896Z,1761675224.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847409,0.491576,0.200625],[-0.529866,0.758960,0.378447],[0.033769,-0.427004,0.903619]] 2025-10-28T18:13:45.300Z,1761675225.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829769,0.515988,0.212695],[-0.557225,0.744523,0.367676],[0.031360,-0.423605,0.905304]] 2025-10-28T18:13:46.107Z,1761675226.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791375,0.562310,0.239861],[-0.610782,0.710630,0.349214],[0.025914,-0.422861,0.905824]] 2025-10-28T18:13:46.510Z,1761675226.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770539,0.584711,0.253740],[-0.636979,0.692030,0.339635],[0.022993,-0.423329,0.905684]] 2025-10-28T18:13:46.924Z,1761675226.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748793,0.606582,0.267146],[-0.662485,0.672441,0.330056],[0.020566,-0.424124,0.905370]] 2025-10-28T18:13:47.358Z,1761675227.358 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:13:47.358Z,1761675227.358 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:13:47.358Z,1761675227.358 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:13:47.358Z,1761675227.358 [marl:UpdateRudder:A] Stopped 2025-10-28T18:13:47.359Z,1761675227.359 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:13:47.723Z,1761675227.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702677,0.648901,0.291843],[-0.711320,0.631230,0.309147],[0.016386,-0.424824,0.905128]] 2025-10-28T18:13:47.783Z,1761675227.783 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:13:47.783Z,1761675227.783 [marl:UpdateRudder:B] Stopped 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateRudder] Stopped 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:13:47.784Z,1761675227.784 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateCommandMode] Stopped 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:13:47.785Z,1761675227.785 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:13:47.786Z,1761675227.786 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:13:47.786Z,1761675227.786 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:13:47.786Z,1761675227.786 [marl:UpdateSpeed] Stopped 2025-10-28T18:13:47.786Z,1761675227.786 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:13:48.126Z,1761675228.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679274,0.668690,0.302391],[-0.733732,0.610403,0.298405],[0.014960,-0.424573,0.905270]] 2025-10-28T18:13:48.531Z,1761675228.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656088,0.687167,0.312008],[-0.754555,0.589659,0.288008],[0.013932,-0.424387,0.905374]] 2025-10-28T18:13:48.941Z,1761675228.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633163,0.703902,0.321910],[-0.773905,0.568600,0.278863],[0.013254,-0.425693,0.904770]] 2025-10-28T18:13:49.338Z,1761675229.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610593,0.719517,0.330865],[-0.791840,0.547892,0.269822],[0.012863,-0.426744,0.904281]] 2025-10-28T18:13:50.146Z,1761675230.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566304,0.743812,0.355026],[-0.824107,0.504673,0.257203],[0.012139,-0.438235,0.898779]] 2025-10-28T18:13:50.560Z,1761675230.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543979,0.754794,0.366569],[-0.839022,0.483384,0.249762],[0.011325,-0.443425,0.896240]] 2025-10-28T18:13:50.956Z,1761675230.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521544,0.765293,0.377250],[-0.853167,0.462648,0.240963],[0.009873,-0.447530,0.894214]] 2025-10-28T18:13:51.358Z,1761675231.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498303,0.775903,0.386870],[-0.866970,0.442008,0.230200],[0.007613,-0.450114,0.892939]] 2025-10-28T18:13:52.177Z,1761675232.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447086,0.800400,0.399341],[-0.894488,0.399009,0.201698],[0.002099,-0.447382,0.894340]] 2025-10-28T18:13:52.577Z,1761675232.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418113,0.814964,0.401268],[-0.908395,0.375482,0.183936],[-0.000768,-0.441415,0.897303]] 2025-10-28T18:13:52.975Z,1761675232.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387464,0.829988,0.401238],[-0.921876,0.350685,0.164814],[-0.003915,-0.433752,0.901024]] 2025-10-28T18:13:53.379Z,1761675233.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355395,0.845847,0.397790],[-0.934689,0.324864,0.144293],[-0.007178,-0.423091,0.906059]] 2025-10-28T18:13:54.188Z,1761675234.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288606,0.878100,0.381636],[-0.957368,0.269825,0.103158],[-0.012392,-0.395138,0.918538]] 2025-10-28T18:13:54.591Z,1761675234.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254215,0.891427,0.375143],[-0.967042,0.240020,0.084971],[-0.014296,-0.384380,0.923064]] 2025-10-28T18:13:54.995Z,1761675234.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219726,0.902200,0.371154],[-0.975437,0.209250,0.068823],[-0.015572,-0.377160,0.926017]] 2025-10-28T18:13:55.400Z,1761675235.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186625,0.908570,0.373727],[-0.982290,0.179011,0.055323],[-0.016636,-0.377433,0.925888]] 2025-10-28T18:13:56.207Z,1761675236.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125776,0.910157,0.394708],[-0.991889,0.122730,0.033066],[-0.018347,-0.395666,0.918211]] 2025-10-28T18:13:56.611Z,1761675236.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098022,0.907313,0.408870],[-0.995005,0.097146,0.022968],[-0.018881,-0.409079,0.912303]] 2025-10-28T18:13:57.016Z,1761675237.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071851,0.903650,0.422202],[-0.997233,0.073184,0.013074],[-0.019084,-0.421973,0.906408]] 2025-10-28T18:13:57.822Z,1761675237.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022775,0.897769,0.439878],[-0.999545,0.029158,-0.007758],[-0.019791,-0.439501,0.898024]] 2025-10-28T18:13:58.226Z,1761675238.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000489,0.896450,0.443144],[-0.999791,0.008614,-0.018530],[-0.020428,-0.443061,0.896259]] 2025-10-28T18:13:58.630Z,1761675238.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024309,0.896461,0.442455],[-0.999480,-0.012417,-0.029755],[-0.021180,-0.442948,0.896297]] 2025-10-28T18:13:59.052Z,1761675239.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048666,0.897335,0.438659],[-0.998566,-0.033907,-0.041421],[-0.022295,-0.440046,0.897699]] 2025-10-28T18:13:59.438Z,1761675239.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074569,0.898781,0.432010],[-0.996941,-0.057026,-0.053442],[-0.023397,-0.434673,0.900284]] 2025-10-28T18:13:59.843Z,1761675239.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101767,0.900543,0.422689],[-0.994503,-0.081569,-0.065654],[-0.024646,-0.427047,0.903893]] 2025-10-28T18:13:59.924Z,1761675239.924 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:14:00.013Z,1761675240.013 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:14:00.013Z,1761675240.013 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:14:00.248Z,1761675240.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130502,0.901735,0.412120],[-0.991118,-0.107936,-0.077681],[-0.025565,-0.418597,0.907812]] 2025-10-28T18:14:00.265Z,1761675240.265 [DAT](INFO): DAT read: user:110> 2025-10-28T18:14:00.266Z,1761675240.266 [DAT](INFO): DAT read: Tx time:18:13:59.9980 2025-10-28T18:14:00.266Z,1761675240.266 [DAT](INFO): Ping request sent. 2025-10-28T18:14:00.266Z,1761675240.266 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:14:00.266Z,1761675240.266 [DAT](INFO): publishing transmit ping time 2025-10-28T18:14:00.267Z,1761675240.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T18:14:00.282Z,1761675240.282 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:14:00.282Z,1761675240.282 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:14:00.282Z,1761675240.282 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:14:00.282Z,1761675240.282 [marl:UpdateRudder:A] Stopped 2025-10-28T18:14:00.282Z,1761675240.282 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:14:00.517Z,1761675240.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 2025-10-28T18:14:00.651Z,1761675240.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160090,0.901772,0.401469],[-0.986746,-0.135269,-0.089636],[-0.026525,-0.410498,0.911476]] 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateRudder:B] Stopped 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateRudder] Stopped 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:14:00.683Z,1761675240.683 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:14:00.684Z,1761675240.684 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:14:00.684Z,1761675240.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:14:00.684Z,1761675240.684 [marl:UpdateCommandMode] Stopped 2025-10-28T18:14:00.684Z,1761675240.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:14:00.684Z,1761675240.684 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed] Stopped 2025-10-28T18:14:00.685Z,1761675240.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:14:00.770Z,1761675240.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503989 2025-10-28T18:14:01.021Z,1761675241.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754761 2025-10-28T18:14:01.061Z,1761675241.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189549,0.899389,0.393916],[-0.981486,-0.162321,-0.101670],[-0.027500,-0.405895,0.913506]] 2025-10-28T18:14:01.273Z,1761675241.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397 2025-10-28T18:14:01.458Z,1761675241.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218832,0.895894,0.386634],[-0.975338,-0.189142,-0.113760],[-0.028788,-0.401994,0.915190]] 2025-10-28T18:14:01.530Z,1761675241.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262895 2025-10-28T18:14:01.777Z,1761675241.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511207 2025-10-28T18:14:01.866Z,1761675241.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247899,0.890299,0.381985],[-0.968314,-0.215398,-0.126381],[-0.030238,-0.401211,0.915486]] 2025-10-28T18:14:02.030Z,1761675242.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763832 2025-10-28T18:14:02.266Z,1761675242.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276970,0.883012,0.378917],[-0.960357,-0.241399,-0.139429],[-0.031647,-0.402514,0.914867]] 2025-10-28T18:14:02.281Z,1761675242.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958 2025-10-28T18:14:02.536Z,1761675242.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269676 2025-10-28T18:14:02.670Z,1761675242.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305864,0.876432,0.371907],[-0.951497,-0.267776,-0.151492],[-0.033184,-0.400204,0.915825]] 2025-10-28T18:14:02.785Z,1761675242.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905 2025-10-28T18:14:03.038Z,1761675243.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771474 2025-10-28T18:14:03.289Z,1761675243.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023109 2025-10-28T18:14:03.479Z,1761675243.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362953,0.858373,0.362576],[-0.931094,-0.318869,-0.177163],[-0.036458,-0.401894,0.914960]] 2025-10-28T18:14:03.545Z,1761675243.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278047 2025-10-28T18:14:03.793Z,1761675243.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526798 2025-10-28T18:14:03.883Z,1761675243.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390984,0.848552,0.356499],[-0.919615,-0.344195,-0.189307],[-0.037931,-0.401858,0.914916]] 2025-10-28T18:14:04.047Z,1761675244.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781083 2025-10-28T18:14:04.290Z,1761675244.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418768,0.837223,0.351698],[-0.907244,-0.368981,-0.201894],[-0.039260,-0.403623,0.914083]] 2025-10-28T18:14:04.297Z,1761675244.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030902 2025-10-28T18:14:04.550Z,1761675244.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283975 2025-10-28T18:14:04.691Z,1761675244.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445752,0.825785,0.345519],[-0.894250,-0.393428,-0.213382],[-0.040271,-0.404096,0.913830]] 2025-10-28T18:14:04.801Z,1761675244.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534757 2025-10-28T18:14:05.054Z,1761675245.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787533 2025-10-28T18:14:05.105Z,1761675245.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472277,0.813188,0.340118],[-0.880481,-0.417133,-0.225284],[-0.041324,-0.405864,0.912999]] 2025-10-28T18:14:05.305Z,1761675245.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038959 2025-10-28T18:14:05.498Z,1761675245.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497401,0.800079,0.335361],[-0.866501,-0.439452,-0.236767],[-0.042058,-0.408358,0.911852]] 2025-10-28T18:14:05.562Z,1761675245.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294671 2025-10-28T18:14:05.809Z,1761675245.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542799 2025-10-28T18:14:05.902Z,1761675245.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521570,0.785223,0.333751],[-0.852163,-0.460064,-0.249319],[-0.042224,-0.414448,0.909093]] 2025-10-28T18:14:06.061Z,1761675246.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794919 2025-10-28T18:14:06.310Z,1761675246.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544157,0.769821,0.333568],[-0.837932,-0.478775,-0.262002],[-0.041991,-0.422078,0.905586]] 2025-10-28T18:14:06.313Z,1761675246.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046878 2025-10-28T18:14:06.565Z,1761675246.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299346 2025-10-28T18:14:06.713Z,1761675246.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565247,0.754417,0.333694],[-0.823884,-0.496003,-0.274220],[-0.041363,-0.429927,0.901916]] 2025-10-28T18:14:06.817Z,1761675246.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550801 2025-10-28T18:14:07.070Z,1761675247.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803578 2025-10-28T18:14:07.114Z,1761675247.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584853,0.739329,0.333675],[-0.810122,-0.511807,-0.285932],[-0.040621,-0.437546,0.898278]] 2025-10-28T18:14:07.322Z,1761675247.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055419 2025-10-28T18:14:07.576Z,1761675247.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309446 2025-10-28T18:14:07.825Z,1761675247.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558739 2025-10-28T18:14:07.884Z,1761675247.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:14:08.077Z,1761675248.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810774 2025-10-28T18:14:08.329Z,1761675248.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062861 2025-10-28T18:14:08.338Z,1761675248.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635244,0.705148,0.315010],[-0.771283,-0.558184,-0.305863],[-0.039845,-0.437260,0.898452]] 2025-10-28T18:14:08.582Z,1761675248.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315484 2025-10-28T18:14:08.730Z,1761675248.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651092,0.695585,0.303712],[-0.757930,-0.574628,-0.308779],[-0.040260,-0.431236,0.901340]] 2025-10-28T18:14:08.833Z,1761675248.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567022 2025-10-28T18:14:08.889Z,1761675248.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:14:09.085Z,1761675249.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818854 2025-10-28T18:14:09.135Z,1761675249.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667988,0.685074,0.290629],[-0.743049,-0.592569,-0.311031],[-0.040861,-0.423716,0.904873]] 2025-10-28T18:14:09.338Z,1761675249.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071420 2025-10-28T18:14:09.590Z,1761675249.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323737 2025-10-28T18:14:09.842Z,1761675249.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575847 2025-10-28T18:14:10.093Z,1761675250.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826709 2025-10-28T18:14:10.345Z,1761675250.345 [DAT](INFO): Reached modem response timeout 2025-10-28T18:14:10.361Z,1761675250.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726100,0.642448,0.245029],[-0.686193,-0.654357,-0.317735],[-0.043792,-0.398845,0.915972]] 2025-10-28T18:14:10.753Z,1761675250.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746722,0.624253,0.229595],[-0.663599,-0.675746,-0.320943],[-0.045202,-0.392014,0.918848]] 2025-10-28T18:14:11.167Z,1761675251.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767292,0.603736,0.216253],[-0.639596,-0.695884,-0.326593],[-0.046688,-0.388907,0.920093]] 2025-10-28T18:14:12.373Z,1761675252.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844698,0.506697,0.172461],[-0.532695,-0.764446,-0.363122],[-0.052155,-0.398597,0.915642]] 2025-10-28T18:14:12.613Z,1761675252.613 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:14:12.614Z,1761675252.614 [DAT](INFO): response not received 2025-10-28T18:14:12.614Z,1761675252.614 [DAT](ERROR): No response from remote modem. 2025-10-28T18:14:12.780Z,1761675252.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861733,0.480981,0.161470],[-0.504575,-0.779131,-0.371967],[-0.053103,-0.402010,0.914094]] 2025-10-28T18:14:13.182Z,1761675253.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876816,0.456067,0.152305],[-0.477773,-0.790740,-0.382707],[-0.054107,-0.408330,0.911229]] 2025-10-28T18:14:13.205Z,1761675253.205 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:14:13.205Z,1761675253.205 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:14:13.205Z,1761675253.205 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:14:13.205Z,1761675253.205 [marl:UpdateRudder:A] Stopped 2025-10-28T18:14:13.205Z,1761675253.205 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:14:13.595Z,1761675253.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890436,0.432107,0.142856],[-0.451793,-0.801446,-0.391876],[-0.054841,-0.413482,0.908859]] 2025-10-28T18:14:13.672Z,1761675253.672 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:14:13.672Z,1761675253.672 [marl:UpdateRudder:B] Stopped 2025-10-28T18:14:13.672Z,1761675253.672 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:14:13.672Z,1761675253.672 [marl:UpdateRudder] Stopped 2025-10-28T18:14:13.672Z,1761675253.672 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode] Stopped 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:14:13.673Z,1761675253.673 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed] Stopped 2025-10-28T18:14:13.674Z,1761675253.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:14:13.986Z,1761675253.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902703,0.408584,0.134858],[-0.426721,-0.810018,-0.402219],[-0.055103,-0.420631,0.905557]] 2025-10-28T18:14:14.388Z,1761675254.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913488,0.386312,0.127683],[-0.403105,-0.816757,-0.412813],[-0.055189,-0.428570,0.901822]] 2025-10-28T18:14:14.793Z,1761675254.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923302,0.364884,0.119887],[-0.380119,-0.823454,-0.421228],[-0.054978,-0.434492,0.898996]] 2025-10-28T18:14:15.201Z,1761675255.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932107,0.344597,0.111491],[-0.358039,-0.830252,-0.427189],[-0.054642,-0.438104,0.897262]] 2025-10-28T18:14:15.599Z,1761675255.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940244,0.324737,0.102403],[-0.336179,-0.837576,-0.430639],[-0.054074,-0.439332,0.896696]] 2025-10-28T18:14:16.007Z,1761675256.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947811,0.305046,0.092747],[-0.314305,-0.845088,-0.432480],[-0.053547,-0.439060,0.896861]] 2025-10-28T18:14:16.409Z,1761675256.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954915,0.285435,0.081637],[-0.292138,-0.854489,-0.429540],[-0.052847,-0.434023,0.899350]] 2025-10-28T18:14:16.812Z,1761675256.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961504,0.265949,0.069144],[-0.269825,-0.866135,-0.420720],[-0.052002,-0.423181,0.904552]] 2025-10-28T18:14:17.619Z,1761675257.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973748,0.223292,0.044214],[-0.222160,-0.889939,-0.398314],[-0.049593,-0.397680,0.916183]] 2025-10-28T18:14:18.029Z,1761675258.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979853,0.197227,0.031469],[-0.193703,-0.900063,-0.390339],[-0.048662,-0.388571,0.920133]] 2025-10-28T18:14:18.428Z,1761675258.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985507,0.168662,0.018151],[-0.162543,-0.908266,-0.385530],[-0.048539,-0.382892,0.922517]] 2025-10-28T18:14:18.831Z,1761675258.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990245,0.139246,0.004997],[-0.130334,-0.912997,-0.386588],[-0.049269,-0.383468,0.922239]] 2025-10-28T18:14:19.234Z,1761675259.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993922,0.109785,-0.008127],[-0.097794,-0.914439,-0.392732],[-0.050548,-0.389550,0.919617]] 2025-10-28T18:14:19.638Z,1761675259.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996534,0.080168,-0.022211],[-0.064647,-0.914345,-0.399743],[-0.052356,-0.396922,0.916358]] 2025-10-28T18:14:20.043Z,1761675260.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998017,0.050762,-0.037216],[-0.031271,-0.913006,-0.406746],[-0.054626,-0.404775,0.912783]] 2025-10-28T18:14:20.448Z,1761675260.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998357,0.021961,-0.052933],[0.001939,-0.910188,-0.414190],[-0.057275,-0.413612,0.908650]] 2025-10-28T18:14:20.850Z,1761675260.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997589,-0.006928,-0.069045],[0.035309,-0.907241,-0.419126],[-0.059737,-0.420554,0.905299]] 2025-10-28T18:14:21.254Z,1761675261.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995741,-0.034666,-0.085428],[0.067627,-0.904424,-0.421241],[-0.062660,-0.425224,0.902916]] 2025-10-28T18:14:21.658Z,1761675261.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993087,-0.060728,-0.100454],[0.097600,-0.902637,-0.419190],[-0.065217,-0.426096,0.902324]] 2025-10-28T18:14:22.064Z,1761675262.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989844,-0.085016,-0.113937],[0.125262,-0.900583,-0.416245],[-0.067222,-0.426289,0.902086]] 2025-10-28T18:14:22.467Z,1761675262.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986376,-0.106919,-0.125021],[0.149652,-0.898785,-0.412055],[-0.068311,-0.425151,0.902541]] 2025-10-28T18:14:22.870Z,1761675262.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982511,-0.128161,-0.135077],[0.172967,-0.896799,-0.407226],[-0.068947,-0.423468,0.903283]] 2025-10-28T18:14:23.277Z,1761675263.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978314,-0.149139,-0.143736],[0.195284,-0.895433,-0.400079],[-0.069038,-0.419472,0.905139]] 2025-10-28T18:14:23.681Z,1761675263.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973616,-0.170503,-0.151659],[0.217599,-0.893849,-0.392027],[-0.068718,-0.414685,0.907367]] 2025-10-28T18:14:24.082Z,1761675264.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968409,-0.192333,-0.158718],[0.239979,-0.891798,-0.383545],[-0.067776,-0.409517,0.909781]] 2025-10-28T18:14:24.492Z,1761675264.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962721,-0.214068,-0.165356],[0.262260,-0.888387,-0.376814],[-0.066236,-0.406134,0.911410]] 2025-10-28T18:14:24.891Z,1761675264.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956554,-0.235676,-0.171642],[0.284390,-0.883933,-0.371193],[-0.064239,-0.403880,0.912554]] 2025-10-28T18:14:25.296Z,1761675265.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949699,-0.257856,-0.177713],[0.307006,-0.878578,-0.365853],[-0.061798,-0.402009,0.913548]] 2025-10-28T18:14:25.699Z,1761675265.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941822,-0.280970,-0.184465],[0.330843,-0.871760,-0.361355],[-0.059280,-0.401362,0.913999]] 2025-10-28T18:14:26.102Z,1761675266.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932585,-0.304788,-0.193363],[0.356354,-0.862674,-0.358895],[-0.057422,-0.403606,0.913129]] 2025-10-28T18:14:26.514Z,1761675266.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921712,-0.330311,-0.203328],[0.383789,-0.852545,-0.354786],[-0.056157,-0.405046,0.912570]] 2025-10-28T18:14:26.538Z,1761675266.538 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:14:26.538Z,1761675266.538 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:14:26.538Z,1761675266.538 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateRudder:A] Stopped 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:14:26.539Z,1761675266.539 [marl:UpdateCommandMode] Stopped 2025-10-28T18:14:26.540Z,1761675266.540 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:14:26.556Z,1761675266.556 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:14:26.556Z,1761675266.556 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:14:26.556Z,1761675266.556 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:14:26.556Z,1761675266.556 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:14:26.557Z,1761675266.557 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:14:26.557Z,1761675266.557 [marl:UpdateSpeed] Stopped 2025-10-28T18:14:26.557Z,1761675266.557 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:14:26.913Z,1761675266.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909437,-0.356550,-0.214001],[0.412149,-0.841272,-0.349849],[-0.055294,-0.406366,0.912036]] 2025-10-28T18:14:26.937Z,1761675266.937 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:14:26.937Z,1761675266.937 [marl:UpdateRudder:B] Stopped 2025-10-28T18:14:26.937Z,1761675266.937 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:14:26.937Z,1761675266.937 [marl:UpdateRudder] Stopped 2025-10-28T18:14:26.937Z,1761675266.937 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:14:28.124Z,1761675268.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865631,-0.435834,-0.246439],[0.497612,-0.803319,-0.327202],[-0.055363,-0.405867,0.912254]] 2025-10-28T18:14:28.526Z,1761675268.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849346,-0.460829,-0.257388],[0.524803,-0.789471,-0.318305],[-0.056516,-0.405428,0.912378]] 2025-10-28T18:14:28.930Z,1761675268.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832055,-0.485446,-0.268380],[0.551649,-0.774807,-0.308799],[-0.058037,-0.404990,0.912477]] 2025-10-28T18:14:29.334Z,1761675269.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814111,-0.508752,-0.279993],[0.577616,-0.759134,-0.300125],[-0.059863,-0.406063,0.911882]] 2025-10-28T18:14:30.151Z,1761675270.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777128,-0.551796,-0.302642],[0.626003,-0.727229,-0.281529],[-0.064744,-0.408239,0.910576]] 2025-10-28T18:14:30.546Z,1761675270.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758399,-0.571769,-0.312908],[0.648347,-0.711059,-0.272106],[-0.066915,-0.409238,0.909971]] 2025-10-28T18:14:31.386Z,1761675271.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721053,-0.607944,-0.332395],[0.689328,-0.677934,-0.255408],[-0.070068,-0.413292,0.907899]] 2025-10-28T18:14:31.795Z,1761675271.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701791,-0.625579,-0.340793],[0.708817,-0.660996,-0.246298],[-0.071184,-0.414409,0.907302]] 2025-10-28T18:14:32.208Z,1761675272.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682841,-0.641639,-0.349323],[0.727052,-0.643686,-0.238881],[-0.071579,-0.417094,0.906040]] 2025-10-28T18:14:32.595Z,1761675272.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663627,-0.657495,-0.356791],[0.744631,-0.626243,-0.230962],[-0.071581,-0.418950,0.905183]] 2025-10-28T18:14:33.006Z,1761675273.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643826,-0.673722,-0.362748],[0.761831,-0.608657,-0.221700],[-0.071425,-0.419089,0.905131]] 2025-10-28T18:14:33.406Z,1761675273.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623878,-0.689990,-0.367001],[0.778297,-0.591150,-0.211648],[-0.070918,-0.417679,0.905823]] 2025-10-28T18:14:33.821Z,1761675273.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603701,-0.705499,-0.371236],[0.794110,-0.573203,-0.202056],[-0.070243,-0.416783,0.906288]] 2025-10-28T18:14:34.214Z,1761675274.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583112,-0.720529,-0.375258],[0.809392,-0.554927,-0.192201],[-0.069755,-0.415806,0.906774]] 2025-10-28T18:14:34.619Z,1761675274.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561505,-0.735332,-0.379471],[0.824556,-0.535696,-0.182038],[-0.069422,-0.415111,0.907118]] 2025-10-28T18:14:35.023Z,1761675275.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539670,-0.748931,-0.384524],[0.839030,-0.515994,-0.172567],[-0.069171,-0.415756,0.906842]] 2025-10-28T18:14:35.434Z,1761675275.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517592,-0.763003,-0.387201],[0.852841,-0.496547,-0.161563],[-0.068990,-0.413845,0.907730]] 2025-10-28T18:14:35.830Z,1761675275.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496683,-0.776183,-0.388389],[0.865208,-0.478211,-0.150762],[-0.068713,-0.410918,0.909079]] 2025-10-28T18:14:36.234Z,1761675276.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475730,-0.788028,-0.390759],[0.876947,-0.459346,-0.141298],[-0.068147,-0.409895,0.909584]] 2025-10-28T18:14:36.638Z,1761675276.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454806,-0.799492,-0.392383],[0.888074,-0.440229,-0.132375],[-0.066905,-0.408670,0.910227]] 2025-10-28T18:14:37.044Z,1761675277.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433309,-0.810841,-0.393422],[0.898916,-0.420200,-0.124022],[-0.064754,-0.407393,0.910954]] 2025-10-28T18:14:37.446Z,1761675277.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411571,-0.820587,-0.396544],[0.909286,-0.399179,-0.117702],[-0.061707,-0.409014,0.910439]] 2025-10-28T18:14:37.909Z,1761675277.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389120,-0.831096,-0.397322],[0.919390,-0.377309,-0.111177],[-0.057514,-0.408555,0.910920]] 2025-10-28T18:14:38.809Z,1761675278.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311374,-0.863546,-0.396654],[0.949400,-0.300722,-0.090586],[-0.041058,-0.404790,0.913488]] 2025-10-28T18:14:39.028Z,1761675279.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:14:39.210Z,1761675279.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282113,-0.872983,-0.397886],[0.958732,-0.271785,-0.083460],[-0.035280,-0.405011,0.913631]] 2025-10-28T18:14:39.614Z,1761675279.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251539,-0.882617,-0.397133],[0.967375,-0.242090,-0.074683],[-0.030226,-0.402962,0.914717]] 2025-10-28T18:14:39.680Z,1761675279.680 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:14:39.684Z,1761675279.684 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:14:39.684Z,1761675279.684 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateRudder:A] Stopped 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode] Stopped 2025-10-28T18:14:39.685Z,1761675279.685 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed] Stopped 2025-10-28T18:14:39.686Z,1761675279.686 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:14:40.015Z,1761675280.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220205,-0.891427,-0.396066],[0.975089,-0.212260,-0.064398],[-0.026663,-0.400380,0.915961]] 2025-10-28T18:14:40.032Z,1761675280.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:14:40.040Z,1761675280.040 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:14:40.041Z,1761675280.041 [marl:UpdateRudder:B] Stopped 2025-10-28T18:14:40.041Z,1761675280.041 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:14:40.041Z,1761675280.041 [marl:UpdateRudder] Stopped 2025-10-28T18:14:40.041Z,1761675280.041 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:14:40.415Z,1761675280.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188025,-0.899402,-0.394617],[0.981847,-0.182331,-0.052261],[-0.024947,-0.397280,0.917358]] 2025-10-28T18:14:40.819Z,1761675280.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154853,-0.905820,-0.394348],[0.987602,-0.152341,-0.037886],[-0.025757,-0.395325,0.918180]] 2025-10-28T18:14:41.223Z,1761675281.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120373,-0.911005,-0.394437],[0.992300,-0.122094,-0.020833],[-0.029179,-0.393907,0.918687]] 2025-10-28T18:14:41.627Z,1761675281.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084806,-0.914095,-0.396532],[0.995782,-0.091739,-0.001487],[-0.035018,-0.394986,0.918020]] 2025-10-28T18:14:42.031Z,1761675282.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049567,-0.914758,-0.400950],[0.997857,-0.062521,0.019282],[-0.042706,-0.399135,0.915897]] 2025-10-28T18:14:42.434Z,1761675282.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014933,-0.914907,-0.403387],[0.998600,-0.034124,0.040428],[-0.050753,-0.402219,0.914136]] 2025-10-28T18:14:42.840Z,1761675282.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017228,-0.912732,-0.408196],[0.998183,-0.007876,0.059739],[-0.057741,-0.408484,0.910937]] 2025-10-28T18:14:43.243Z,1761675283.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046172,-0.908628,-0.415045],[0.996960,0.015812,0.076293],[-0.062759,-0.417306,0.906596]] 2025-10-28T18:14:43.646Z,1761675283.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072187,-0.904464,-0.420396],[0.995247,0.037696,0.089793],[-0.065367,-0.424880,0.902887]] 2025-10-28T18:14:44.051Z,1761675284.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096798,-0.901091,-0.422688],[0.993119,0.059320,0.100972],[-0.065911,-0.429553,0.900633]] 2025-10-28T18:14:44.468Z,1761675284.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120715,-0.898486,-0.422078],[0.990579,0.081335,0.110167],[-0.064654,-0.431401,0.899841]] 2025-10-28T18:14:44.858Z,1761675284.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144361,-0.896123,-0.419671],[0.987581,0.103908,0.117839],[-0.061991,-0.431471,0.899995]] 2025-10-28T18:14:45.263Z,1761675285.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168719,-0.892766,-0.417734],[0.983928,0.127407,0.125110],[-0.058472,-0.432129,0.899914]] 2025-10-28T18:14:45.670Z,1761675285.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193973,-0.887981,-0.416970],[0.979502,0.151778,0.132433],[-0.054311,-0.434112,0.899220]] 2025-10-28T18:14:46.071Z,1761675286.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220898,-0.882760,-0.414656],[0.973997,0.177731,0.140503],[-0.050333,-0.434910,0.899066]] 2025-10-28T18:14:46.486Z,1761675286.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248218,-0.877705,-0.409906],[0.967574,0.204204,0.148663],[-0.046778,-0.433515,0.899931]] 2025-10-28T18:14:46.882Z,1761675286.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275984,-0.872090,-0.404095],[0.960164,0.230990,0.157254],[-0.043798,-0.431397,0.901099]] 2025-10-28T18:14:47.692Z,1761675287.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331079,-0.860304,-0.387640],[0.942772,0.284346,0.174150],[-0.039598,-0.423113,0.905211]] 2025-10-28T18:14:48.095Z,1761675288.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357403,-0.853299,-0.379663],[0.933158,0.309521,0.182792],[-0.038463,-0.419616,0.906886]] 2025-10-28T18:14:48.499Z,1761675288.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383267,-0.845266,-0.372332],[0.922864,0.333954,0.191827],[-0.037804,-0.417133,0.908059]] 2025-10-28T18:14:48.904Z,1761675288.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408800,-0.838141,-0.361113],[0.911858,0.358915,0.199233],[-0.037376,-0.410730,0.910991]] 2025-10-28T18:14:49.307Z,1761675289.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433807,-0.828306,-0.354571],[0.900252,0.382379,0.208166],[-0.036845,-0.409507,0.911563]] 2025-10-28T18:14:49.711Z,1761675289.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459120,-0.817021,-0.348835],[0.887645,0.405994,0.217382],[-0.035980,-0.409446,0.911625]] 2025-10-28T18:14:50.115Z,1761675290.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485077,-0.803874,-0.344219],[0.873757,0.429641,0.227940],[-0.035344,-0.411332,0.910800]] 2025-10-28T18:14:50.526Z,1761675290.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510628,-0.790260,-0.338744],[0.859106,0.453106,0.237973],[-0.034574,-0.412533,0.910286]] 2025-10-28T18:14:50.931Z,1761675290.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536132,-0.775412,-0.333615],[0.843472,0.476446,0.248101],[-0.033430,-0.414410,0.909476]] 2025-10-28T18:14:51.330Z,1761675291.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561440,-0.760359,-0.326557],[0.826892,0.500149,0.257101],[-0.032162,-0.414374,0.909538]] 2025-10-28T18:14:51.735Z,1761675291.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586823,-0.744202,-0.319064],[0.809114,0.523759,0.266480],[-0.031203,-0.414536,0.909498]] 2025-10-28T18:14:52.138Z,1761675292.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611236,-0.727744,-0.311094],[0.790872,0.546629,0.275170],[-0.030200,-0.414229,0.909672]] 2025-10-28T18:14:52.545Z,1761675292.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635693,-0.709957,-0.303079],[0.771389,0.569371,0.284210],[-0.029213,-0.414462,0.909598]] 2025-10-28T18:14:52.963Z,1761675292.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659412,-0.691781,-0.294305],[0.751247,0.591576,0.292688],[-0.028372,-0.414097,0.909791]] 2025-10-28T18:14:52.994Z,1761675292.994 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:14:52.994Z,1761675292.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:14:52.994Z,1761675292.994 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateRudder:A] Stopped 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:14:52.995Z,1761675292.995 [marl:UpdateCommandMode] Stopped 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:14:52.996Z,1761675292.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:14:52.997Z,1761675292.997 [marl:UpdateSpeed] Stopped 2025-10-28T18:14:52.997Z,1761675292.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:14:53.350Z,1761675293.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682455,-0.673424,-0.284175],[0.730403,0.613585,0.300042],[-0.027690,-0.412328,0.910615]] 2025-10-28T18:14:53.390Z,1761675293.390 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:14:53.390Z,1761675293.390 [marl:UpdateRudder:B] Stopped 2025-10-28T18:14:53.390Z,1761675293.390 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:14:53.390Z,1761675293.390 [marl:UpdateRudder] Stopped 2025-10-28T18:14:53.391Z,1761675293.391 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:14:53.760Z,1761675293.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704750,-0.654015,-0.274940],[0.708934,0.634336,0.308269],[-0.027208,-0.412167,0.910702]] 2025-10-28T18:14:54.161Z,1761675294.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726468,-0.633808,-0.265578],[0.686673,0.654370,0.316670],[-0.026922,-0.412416,0.910598]] 2025-10-28T18:14:54.562Z,1761675294.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747468,-0.613256,-0.255361],[0.663754,0.673918,0.324446],[-0.026876,-0.412010,0.910783]] 2025-10-28T18:14:55.119Z,1761675295.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767532,-0.592447,-0.244747],[0.640443,0.692696,0.331669],[-0.026961,-0.411314,0.911095]] 2025-10-28T18:14:55.410Z,1761675295.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786504,-0.571735,-0.233519],[0.616977,0.710622,0.338165],[-0.027397,-0.410044,0.911654]] 2025-10-28T18:14:55.813Z,1761675295.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804417,-0.550710,-0.222784],[0.593406,0.727216,0.345002],[-0.027984,-0.409726,0.911779]] 2025-10-28T18:14:56.214Z,1761675296.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821732,-0.527849,-0.214782],[0.569138,0.741009,0.356353],[-0.028946,-0.415067,0.909330]] 2025-10-28T18:14:56.621Z,1761675296.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838292,-0.504615,-0.206470],[0.544434,0.754399,0.366706],[-0.029285,-0.419815,0.907137]] 2025-10-28T18:14:57.022Z,1761675297.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853511,-0.481606,-0.198934],[0.520247,0.766086,0.377434],[-0.029374,-0.425639,0.904416]] 2025-10-28T18:14:57.427Z,1761675297.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867830,-0.458620,-0.191152],[0.496001,0.777019,0.387587],[-0.029226,-0.431172,0.901796]] 2025-10-28T18:14:57.831Z,1761675297.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881219,-0.435530,-0.183757],[0.471838,0.786840,0.397809],[-0.028670,-0.437261,0.898878]] 2025-10-28T18:14:58.235Z,1761675298.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893941,-0.412099,-0.176191],[0.447330,0.796149,0.407484],[-0.027650,-0.443082,0.896055]] 2025-10-28T18:14:58.639Z,1761675298.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905921,-0.388972,-0.167355],[0.422656,0.806477,0.413469],[-0.025860,-0.445304,0.895006]] 2025-10-28T18:14:59.044Z,1761675299.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916942,-0.365941,-0.159076],[0.398324,0.815901,0.419098],[-0.023575,-0.447652,0.893897]] 2025-10-28T18:14:59.458Z,1761675299.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927453,-0.342035,-0.151137],[0.373394,0.825276,0.423670],[-0.020180,-0.449368,0.893119]] 2025-10-28T18:14:59.851Z,1761675299.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937235,-0.317681,-0.143772],[0.348335,0.834121,0.427675],[-0.015941,-0.450912,0.892426]] 2025-10-28T18:15:00.255Z,1761675300.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946566,-0.292476,-0.135907],[0.322313,0.843167,0.430329],[-0.011269,-0.451140,0.892382]] 2025-10-28T18:15:00.279Z,1761675300.279 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:15:00.301Z,1761675300.301 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:15:00.301Z,1761675300.301 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:15:00.554Z,1761675300.554 [DAT](INFO): DAT read: user:111> 2025-10-28T18:15:00.555Z,1761675300.555 [DAT](INFO): DAT read: Tx time:18:15:00.2977 2025-10-28T18:15:00.555Z,1761675300.555 [DAT](INFO): Ping request sent. 2025-10-28T18:15:00.556Z,1761675300.556 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:15:00.556Z,1761675300.556 [DAT](INFO): publishing transmit ping time 2025-10-28T18:15:00.557Z,1761675300.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001074 2025-10-28T18:15:00.661Z,1761675300.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955541,-0.265816,-0.127607],[0.294790,0.851840,0.432976],[-0.006391,-0.451343,0.892328]] 2025-10-28T18:15:00.805Z,1761675300.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249258 2025-10-28T18:15:01.057Z,1761675301.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501414 2025-10-28T18:15:01.072Z,1761675301.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964013,-0.238290,-0.117884],[0.265849,0.861320,0.432958],[-0.001634,-0.448716,0.893673]] 2025-10-28T18:15:01.309Z,1761675301.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753831 2025-10-28T18:15:01.468Z,1761675301.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971743,-0.210233,-0.107319],[0.236022,0.871230,0.430409],[0.003013,-0.443576,0.896232]] 2025-10-28T18:15:01.564Z,1761675301.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007916 2025-10-28T18:15:01.814Z,1761675301.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257954 2025-10-28T18:15:01.871Z,1761675301.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978897,-0.180514,-0.095789],[0.204243,0.879766,0.429299],[0.006777,-0.439803,0.898069]] 2025-10-28T18:15:02.065Z,1761675302.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509511 2025-10-28T18:15:02.277Z,1761675302.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985050,-0.150975,-0.082961],[0.171996,0.888950,0.424483],[0.009662,-0.432406,0.901627]] 2025-10-28T18:15:02.317Z,1761675302.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761501 2025-10-28T18:15:02.569Z,1761675302.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013327 2025-10-28T18:15:02.825Z,1761675302.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268955 2025-10-28T18:15:03.073Z,1761675303.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517368 2025-10-28T18:15:03.084Z,1761675303.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994166,-0.092145,-0.056068],[0.107099,0.905008,0.411692],[0.012807,-0.415295,0.909597]] 2025-10-28T18:15:03.326Z,1761675303.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769957 2025-10-28T18:15:03.487Z,1761675303.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997091,-0.063111,-0.042735],[0.075061,0.910433,0.406790],[0.013234,-0.408815,0.912521]] 2025-10-28T18:15:03.580Z,1761675303.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023853 2025-10-28T18:15:03.829Z,1761675303.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273336 2025-10-28T18:15:03.896Z,1761675303.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998964,-0.034673,-0.029482],[0.043621,0.914219,0.402865],[0.012985,-0.403734,0.914784]] 2025-10-28T18:15:04.081Z,1761675304.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525366 2025-10-28T18:15:04.297Z,1761675304.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999834,-0.007261,-0.016740],[0.013394,0.915061,0.403094],[0.012391,-0.403251,0.915006]] 2025-10-28T18:15:04.333Z,1761675304.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777428 2025-10-28T18:15:04.585Z,1761675304.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029303 2025-10-28T18:15:04.698Z,1761675304.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999794,0.019837,-0.004297],[-0.016373,0.913349,0.406848],[0.011996,-0.406694,0.913486]] 2025-10-28T18:15:04.837Z,1761675304.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281349 2025-10-28T18:15:05.089Z,1761675305.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533334 2025-10-28T18:15:05.108Z,1761675305.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998875,0.046624,0.008630],[-0.046025,0.909626,0.412872],[0.011400,-0.412805,0.910748]] 2025-10-28T18:15:05.341Z,1761675305.341 [DAT](INFO): DAT read: Rx Time:18:15:04.5113 2025-10-28T18:15:05.341Z,1761675305.341 [DAT](INFO): Rx dataTimestamp_ set to:1761675305.341065 2025-10-28T18:15:05.342Z,1761675305.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786358 2025-10-28T18:15:05.511Z,1761675305.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997214,0.071719,0.020532],[-0.073770,0.907095,0.414412],[0.011096,-0.414772,0.909858]] 2025-10-28T18:15:05.594Z,1761675305.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038066 2025-10-28T18:15:05.851Z,1761675305.851 [DAT](INFO): DAT read: 18:15:04.5113 LVL= 22240, 29361, 32754, 32755, AGC= 76, IDX= 445, 0.08,-1.932, 2.495, 2.449,-2.548, PHS= 0.718,-1.195,-1.330, RAW= 86.6, 17.9, CAL= 86.4, 22.9, ROT= 63.6, -22.9 2025-10-28T18:15:05.853Z,1761675305.853 [DAT](INFO): got valid direction response: 18:15:04.5113 LVL= 22240, 29361, 32754, 32755, AGC= 76, IDX= 445, 0.08,-1.932, 2.495, 2.449,-2.548, PHS= 0.718,-1.195,-1.330, RAW= 86.6, 17.9, CAL= 86.4, 22.9, ROT= 63.6, -22.9 2025-10-28T18:15:05.854Z,1761675305.854 [DAT](INFO): DAT read: Bearing 42, -16 (Remote) 2025-10-28T18:15:05.854Z,1761675305.854 [DAT](INFO): Remote Bearing received:Bearing 42, -16 (Remote) 2025-10-28T18:15:05.855Z,1761675305.855 [DAT](INFO): DAT read: Bearing 184.6, 36.8 (Local) 2025-10-28T18:15:05.855Z,1761675305.855 [DAT](INFO): Local bearing/azimuth received: Bearing 184.6, 36.8 (Local) 2025-10-28T18:15:05.857Z,1761675305.857 [DAT](INFO): DAT read: Range 11 to 20 : 1638.3 m (Round-trip 2184.4 ms) speed 0.0 m/s 2025-10-28T18:15:05.858Z,1761675305.858 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:15:05.858Z,1761675305.858 [DAT](INFO): direction in FSK: [0.409591,0.825117,0.389124] 2025-10-28T18:15:05.859Z,1761675305.859 [DAT](INFO): publishing direction and range info 2025-10-28T18:15:05.954Z,1761675305.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994927,0.095451,0.031759],[-0.099998,0.904038,0.415590],[0.010957,-0.416658,0.908997]] 2025-10-28T18:15:06.080Z,1761675306.080 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:15:06.080Z,1761675306.080 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:15:06.080Z,1761675306.080 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:15:06.080Z,1761675306.080 [marl:UpdateRudder:A] Stopped 2025-10-28T18:15:06.080Z,1761675306.080 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode] Stopped 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:15:06.081Z,1761675306.081 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed] Stopped 2025-10-28T18:15:06.082Z,1761675306.082 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:15:06.112Z,1761675306.112 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675264.00. Resetting abort timer. 2025-10-28T18:15:06.344Z,1761675306.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991884,0.119640,0.043034],[-0.126644,0.899669,0.417801],[0.011270,-0.419860,0.907519]] 2025-10-28T18:15:06.369Z,1761675306.369 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:15:06.369Z,1761675306.369 [marl:UpdateRudder:B] Stopped 2025-10-28T18:15:06.369Z,1761675306.369 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:15:06.369Z,1761675306.369 [marl:UpdateRudder] Stopped 2025-10-28T18:15:06.369Z,1761675306.369 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:15:07.151Z,1761675307.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983534,0.168075,0.066413],[-0.180352,0.889367,0.420118],[0.011546,-0.425178,0.905036]] 2025-10-28T18:15:07.961Z,1761675307.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971261,0.219820,0.091278],[-0.237685,0.875470,0.420782],[0.012585,-0.430385,0.902558]] 2025-10-28T18:15:08.363Z,1761675308.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963279,0.247406,0.104327],[-0.268171,0.867189,0.419605],[0.013341,-0.432174,0.901692]] 2025-10-28T18:15:08.773Z,1761675308.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954307,0.275264,0.116309],[-0.298491,0.859590,0.414739],[0.014185,-0.430505,0.902477]] 2025-10-28T18:15:09.171Z,1761675309.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944525,0.302914,0.126945],[-0.328097,0.852598,0.406729],[0.014971,-0.425816,0.904686]] 2025-10-28T18:15:09.601Z,1761675309.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934417,0.329273,0.135811],[-0.355823,0.845849,0.397403],[0.015979,-0.419664,0.907539]] 2025-10-28T18:15:09.999Z,1761675309.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924256,0.353601,0.143936],[-0.381397,0.838442,0.389297],[0.016974,-0.414707,0.909797]] 2025-10-28T18:15:10.157Z,1761675310.157 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:15:10.383Z,1761675310.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913983,0.376361,0.151614],[-0.405351,0.830345,0.382384],[0.018023,-0.410950,0.911480]] 2025-10-28T18:15:10.791Z,1761675310.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903643,0.397469,0.159521],[-0.427864,0.821252,0.377463],[0.019023,-0.409345,0.912181]] 2025-10-28T18:15:11.160Z,1761675311.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:15:11.598Z,1761675311.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881386,0.437323,0.178627],[-0.471924,0.798198,0.374390],[0.021150,-0.414281,0.909903]] 2025-10-28T18:15:11.998Z,1761675311.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869446,0.455616,0.190992],[-0.493549,0.784052,0.376392],[0.021743,-0.421517,0.906560]] 2025-10-28T18:15:12.407Z,1761675312.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856791,0.473424,0.204398],[-0.515214,0.769366,0.377666],[0.021539,-0.428889,0.903100]] 2025-10-28T18:15:12.806Z,1761675312.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842990,0.492073,0.217328],[-0.537520,0.754795,0.375973],[0.020968,-0.433760,0.900784]] 2025-10-28T18:15:13.210Z,1761675313.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826848,0.512800,0.230993],[-0.562049,0.738376,0.372696],[0.020559,-0.437992,0.898744]] 2025-10-28T18:15:13.615Z,1761675313.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809051,0.534997,0.243341],[-0.587404,0.722047,0.365520],[0.019849,-0.438664,0.898432]] 2025-10-28T18:15:14.021Z,1761675314.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789661,0.558332,0.254364],[-0.613255,0.705537,0.355157],[0.018833,-0.436443,0.899535]] 2025-10-28T18:15:14.441Z,1761675314.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748018,0.606970,0.268434],[-0.663477,0.673929,0.324988],[0.016353,-0.421197,0.906822]] 2025-10-28T18:15:15.230Z,1761675315.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725635,0.632029,0.272018],[-0.687898,0.657242,0.307946],[0.015849,-0.410577,0.911688]] 2025-10-28T18:15:15.657Z,1761675315.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679401,0.677799,0.281073],[-0.733575,0.618645,0.281329],[0.016800,-0.397324,0.917525]] 2025-10-28T18:15:16.452Z,1761675316.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636478,0.713692,0.292471],[-0.771084,0.579920,0.262911],[0.018028,-0.392856,0.919423]] 2025-10-28T18:15:16.851Z,1761675316.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616430,0.728360,0.299176],[-0.787191,0.561083,0.255960],[0.018568,-0.393290,0.919227]] 2025-10-28T18:15:17.259Z,1761675317.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596098,0.741304,0.308441],[-0.802692,0.541223,0.250525],[0.018780,-0.396920,0.917661]] 2025-10-28T18:15:17.666Z,1761675317.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575461,0.752777,0.319644],[-0.817613,0.520563,0.246014],[0.018799,-0.402916,0.915044]] 2025-10-28T18:15:18.059Z,1761675318.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554338,0.763651,0.330979],[-0.832082,0.499563,0.240989],[0.018686,-0.408991,0.912347]] 2025-10-28T18:15:18.465Z,1761675318.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532341,0.773435,0.344109],[-0.846328,0.477382,0.236295],[0.018487,-0.417019,0.908710]] 2025-10-28T18:15:18.867Z,1761675318.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509483,0.783056,0.356722],[-0.860284,0.454668,0.230626],[0.018403,-0.424382,0.905296]] 2025-10-28T18:15:18.891Z,1761675318.891 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:15:18.891Z,1761675318.891 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:15:18.891Z,1761675318.891 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:15:18.892Z,1761675318.892 [marl:UpdateRudder:A] Stopped 2025-10-28T18:15:18.892Z,1761675318.892 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:15:18.892Z,1761675318.892 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:15:18.892Z,1761675318.892 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:15:18.892Z,1761675318.892 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateCommandMode] Stopped 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:15:18.893Z,1761675318.893 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:15:18.894Z,1761675318.894 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:15:18.894Z,1761675318.894 [marl:UpdateSpeed] Stopped 2025-10-28T18:15:18.894Z,1761675318.894 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:15:19.272Z,1761675319.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485573,0.792326,0.369376],[-0.874000,0.431055,0.224312],[0.018507,-0.431754,0.901802]] 2025-10-28T18:15:19.297Z,1761675319.297 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:15:19.297Z,1761675319.297 [marl:UpdateRudder:B] Stopped 2025-10-28T18:15:19.297Z,1761675319.297 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:15:19.297Z,1761675319.297 [marl:UpdateRudder] Stopped 2025-10-28T18:15:19.297Z,1761675319.297 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:15:19.678Z,1761675319.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461499,0.801659,0.379949],[-0.886939,0.407804,0.216875],[0.018915,-0.437079,0.899224]] 2025-10-28T18:15:20.080Z,1761675320.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437475,0.811169,0.388098],[-0.899018,0.385156,0.208379],[0.019552,-0.440068,0.897752]] 2025-10-28T18:15:20.485Z,1761675320.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413642,0.820817,0.393903],[-0.910215,0.363224,0.198940],[0.020219,-0.440826,0.897365]] 2025-10-28T18:15:20.887Z,1761675320.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389823,0.830538,0.397800],[-0.920651,0.341640,0.188902],[0.020985,-0.439873,0.897815]] 2025-10-28T18:15:21.293Z,1761675321.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365935,0.840321,0.399940],[-0.930390,0.320376,0.178137],[0.021561,-0.437287,0.899064]] 2025-10-28T18:15:21.698Z,1761675321.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340860,0.850582,0.400405],[-0.939852,0.298259,0.166493],[0.022192,-0.433073,0.901086]] 2025-10-28T18:15:22.099Z,1761675322.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314283,0.860399,0.401172],[-0.949063,0.274751,0.154246],[0.022491,-0.429214,0.902923]] 2025-10-28T18:15:22.506Z,1761675322.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286368,0.870627,0.400003],[-0.957860,0.250433,0.140664],[0.022292,-0.423429,0.905655]] 2025-10-28T18:15:22.919Z,1761675322.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257691,0.881235,0.396258],[-0.965978,0.225645,0.126378],[0.021955,-0.415343,0.909400]] 2025-10-28T18:15:23.311Z,1761675323.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227825,0.890483,0.393872],[-0.973465,0.199368,0.112336],[0.021508,-0.409013,0.912275]] 2025-10-28T18:15:23.719Z,1761675323.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196776,0.899468,0.390176],[-0.980216,0.171817,0.098261],[0.021344,-0.401792,0.915482]] 2025-10-28T18:15:24.118Z,1761675324.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165011,0.907773,0.385642],[-0.986058,0.143322,0.084551],[0.021482,-0.394217,0.918766]] 2025-10-28T18:15:24.525Z,1761675324.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133110,0.913600,0.384210],[-0.990858,0.114090,0.071993],[0.021939,-0.390281,0.920435]] 2025-10-28T18:15:24.939Z,1761675324.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102121,0.917854,0.383555],[-0.994519,0.085501,0.060184],[0.022445,-0.387599,0.921555]] 2025-10-28T18:15:25.353Z,1761675325.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072272,0.919482,0.386432],[-0.997117,0.057620,0.049382],[0.023139,-0.388887,0.920995]] 2025-10-28T18:15:25.754Z,1761675325.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044141,0.918389,0.393208],[-0.998744,0.031229,0.039178],[0.023701,-0.394443,0.918615]] 2025-10-28T18:15:26.571Z,1761675326.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007415,0.913796,0.406107],[-0.999664,-0.016866,0.019699],[0.024851,-0.405824,0.913613]] 2025-10-28T18:15:26.976Z,1761675326.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031630,0.910050,0.413291],[-0.999182,-0.039216,0.009883],[0.025202,-0.412640,0.910545]] 2025-10-28T18:15:27.378Z,1761675327.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056499,0.905796,0.419930],[-0.998079,-0.061958,-0.000641],[0.025437,-0.419159,0.907556]] 2025-10-28T18:15:27.787Z,1761675327.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082093,0.900949,0.426089],[-0.996293,-0.085215,-0.011769],[0.025706,-0.425476,0.904605]] 2025-10-28T18:15:28.186Z,1761675328.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107965,0.895562,0.431640],[-0.993818,-0.108521,-0.023423],[0.025865,-0.431500,0.901742]] 2025-10-28T18:15:28.592Z,1761675328.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135323,0.889275,0.436894],[-0.990445,-0.133233,-0.035592],[0.026557,-0.437536,0.898808]] 2025-10-28T18:15:28.994Z,1761675328.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162393,0.884026,0.438322],[-0.986355,-0.157617,-0.047545],[0.027056,-0.440062,0.897560]] 2025-10-28T18:15:29.407Z,1761675329.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190038,0.879732,0.435842],[-0.981387,-0.182728,-0.059079],[0.027667,-0.438956,0.898082]] 2025-10-28T18:15:29.802Z,1761675329.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216867,0.875424,0.431973],[-0.975798,-0.207109,-0.070166],[0.028040,-0.436735,0.899153]] 2025-10-28T18:15:30.208Z,1761675330.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242682,0.872218,0.424665],[-0.969700,-0.230760,-0.080195],[0.028048,-0.431260,0.901792]] 2025-10-28T18:15:30.611Z,1761675330.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267519,0.868204,0.417918],[-0.963150,-0.253487,-0.089926],[0.027863,-0.426575,0.904023]] 2025-10-28T18:15:31.015Z,1761675331.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291454,0.861947,0.414851],[-0.956191,-0.274951,-0.100500],[0.027438,-0.425968,0.904322]] 2025-10-28T18:15:31.420Z,1761675331.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315454,0.855125,0.411400],[-0.948547,-0.296638,-0.110745],[0.027337,-0.425168,0.904702]] 2025-10-28T18:15:31.831Z,1761675331.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339750,0.848275,0.406202],[-0.940121,-0.318804,-0.120564],[0.027228,-0.422840,0.905795]] 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateRudder:A] Stopped 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:15:31.913Z,1761675331.913 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode] Stopped 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:15:31.914Z,1761675331.914 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:15:31.915Z,1761675331.915 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:15:31.915Z,1761675331.915 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:15:31.915Z,1761675331.915 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:15:31.915Z,1761675331.915 [marl:UpdateSpeed] Stopped 2025-10-28T18:15:31.915Z,1761675331.915 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:15:32.253Z,1761675332.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364086,0.841569,0.399002],[-0.930970,-0.341320,-0.129596],[0.027123,-0.418643,0.907746]] 2025-10-28T18:15:32.280Z,1761675332.280 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:15:32.296Z,1761675332.296 [marl:UpdateRudder:B] Stopped 2025-10-28T18:15:32.296Z,1761675332.296 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:15:32.296Z,1761675332.296 [marl:UpdateRudder] Stopped 2025-10-28T18:15:32.296Z,1761675332.296 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:15:32.631Z,1761675332.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388409,0.834467,0.390900],[-0.921094,-0.363972,-0.138241],[0.026919,-0.413750,0.909993]] 2025-10-28T18:15:33.035Z,1761675333.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412913,0.826499,0.382625],[-0.910378,-0.386878,-0.146757],[0.026735,-0.408931,0.912173]] 2025-10-28T18:15:33.440Z,1761675333.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437772,0.818519,0.371997],[-0.898689,-0.410665,-0.153990],[0.026723,-0.401722,0.915372]] 2025-10-28T18:15:33.848Z,1761675333.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463451,0.808427,0.362849],[-0.885721,-0.434942,-0.162243],[0.026657,-0.396575,0.917615]] 2025-10-28T18:15:34.247Z,1761675334.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489162,0.796369,0.355692],[-0.871795,-0.458753,-0.171811],[0.026350,-0.394134,0.918675]] 2025-10-28T18:15:34.651Z,1761675334.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514507,0.783801,0.347762],[-0.857095,-0.482331,-0.180957],[0.025903,-0.391169,0.919954]] 2025-10-28T18:15:35.055Z,1761675335.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539785,0.769480,0.341368],[-0.841416,-0.505486,-0.191060],[0.025540,-0.390364,0.920306]] 2025-10-28T18:15:35.459Z,1761675335.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564894,0.753470,0.336419],[-0.824780,-0.528006,-0.202357],[0.025161,-0.391782,0.919714]] 2025-10-28T18:15:35.863Z,1761675335.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588995,0.736781,0.332023],[-0.807752,-0.549415,-0.213729],[0.024947,-0.394077,0.918739]] 2025-10-28T18:15:36.267Z,1761675336.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612205,0.719913,0.327002],[-0.790315,-0.570006,-0.224709],[0.024623,-0.396003,0.917919]] 2025-10-28T18:15:36.675Z,1761675336.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633970,0.702465,0.323458],[-0.772985,-0.588562,-0.236832],[0.024009,-0.400173,0.916125]] 2025-10-28T18:15:37.074Z,1761675337.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654590,0.684676,0.320516],[-0.755613,-0.605835,-0.249025],[0.023679,-0.405195,0.913923]] 2025-10-28T18:15:37.894Z,1761675337.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693409,0.648076,0.314932],[-0.720135,-0.638037,-0.272604],[0.024270,-0.415820,0.909123]] 2025-10-28T18:15:38.287Z,1761675338.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711273,0.630031,0.311690],[-0.702479,-0.652747,-0.283626],[0.024761,-0.420691,0.906866]] 2025-10-28T18:15:38.690Z,1761675338.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727909,0.612074,0.309052],[-0.685207,-0.665956,-0.294948],[0.025285,-0.426460,0.904153]] 2025-10-28T18:15:39.095Z,1761675339.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743423,0.594762,0.305910],[-0.668316,-0.678383,-0.305204],[0.026000,-0.431340,0.901815]] 2025-10-28T18:15:39.596Z,1761675339.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758201,0.577843,0.302040],[-0.651458,-0.690607,-0.314108],[0.027086,-0.434924,0.900060]] 2025-10-28T18:15:39.986Z,1761675339.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772171,0.561974,0.296541],[-0.634797,-0.702833,-0.321027],[0.028010,-0.436131,0.899447]] 2025-10-28T18:15:40.410Z,1761675340.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785739,0.547674,0.287519],[-0.617912,-0.716213,-0.324383],[0.028269,-0.432541,0.901171]] 2025-10-28T18:15:40.803Z,1761675340.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799152,0.533315,0.277364],[-0.600467,-0.729866,-0.326704],[0.028202,-0.427634,0.903512]] 2025-10-28T18:15:41.207Z,1761675341.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812956,0.518665,0.264742],[-0.581657,-0.745027,-0.326512],[0.027889,-0.419429,0.907360]] 2025-10-28T18:15:41.280Z,1761675341.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:15:41.611Z,1761675341.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827532,0.502488,0.250395],[-0.560736,-0.761763,-0.324487],[0.027691,-0.408929,0.912146]] 2025-10-28T18:15:42.015Z,1761675342.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842585,0.483242,0.237755],[-0.537860,-0.777599,-0.325649],[0.027511,-0.402266,0.915110]] 2025-10-28T18:15:42.284Z,1761675342.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:15:42.420Z,1761675342.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858024,0.461789,0.224823],[-0.512891,-0.793518,-0.327526],[0.027154,-0.396335,0.917704]] 2025-10-28T18:15:42.824Z,1761675342.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873029,0.439070,0.212220],[-0.486948,-0.808500,-0.330468],[0.026481,-0.391849,0.919648]] 2025-10-28T18:15:43.228Z,1761675343.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887525,0.414800,0.200601],[-0.460059,-0.821790,-0.336165],[0.025411,-0.390643,0.920191]] 2025-10-28T18:15:43.631Z,1761675343.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901179,0.389395,0.190390],[-0.432773,-0.832820,-0.345136],[0.024166,-0.393425,0.919039]] 2025-10-28T18:15:44.035Z,1761675344.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913734,0.363968,0.180604],[-0.405673,-0.842172,-0.355212],[0.022814,-0.397836,0.917173]] 2025-10-28T18:15:44.449Z,1761675344.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925110,0.339035,0.170957],[-0.379102,-0.849967,-0.365838],[0.021276,-0.403251,0.914842]] 2025-10-28T18:15:44.843Z,1761675344.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935322,0.314886,0.161305],[-0.353236,-0.856805,-0.375645],[0.019921,-0.408328,0.912618]] 2025-10-28T18:15:44.894Z,1761675344.894 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:15:44.894Z,1761675344.894 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:15:44.894Z,1761675344.894 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateRudder:A] Stopped 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:15:44.895Z,1761675344.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:15:44.896Z,1761675344.896 [marl:UpdateCommandMode] Stopped 2025-10-28T18:15:44.912Z,1761675344.912 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:15:44.912Z,1761675344.912 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:15:44.912Z,1761675344.912 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:15:44.912Z,1761675344.912 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:15:44.912Z,1761675344.912 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:15:44.913Z,1761675344.913 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:15:44.913Z,1761675344.913 [marl:UpdateSpeed] Stopped 2025-10-28T18:15:44.913Z,1761675344.913 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:15:45.247Z,1761675345.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944295,0.292095,0.151615],[-0.328565,-0.863002,-0.383760],[0.018749,-0.412199,0.910901]] 2025-10-28T18:15:45.294Z,1761675345.294 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:15:45.294Z,1761675345.294 [marl:UpdateRudder:B] Stopped 2025-10-28T18:15:45.294Z,1761675345.294 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:15:45.294Z,1761675345.294 [marl:UpdateRudder] Stopped 2025-10-28T18:15:45.294Z,1761675345.294 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:15:45.650Z,1761675345.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952448,0.269538,0.142097],[-0.304163,-0.868735,-0.390876],[0.018089,-0.415510,0.909409]] 2025-10-28T18:15:46.055Z,1761675346.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959791,0.247316,0.132802],[-0.280163,-0.873608,-0.397892],[0.017612,-0.419100,0.907769]] 2025-10-28T18:15:46.462Z,1761675346.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966288,0.225623,0.124021],[-0.256872,-0.877439,-0.405113],[0.017418,-0.423314,0.905816]] 2025-10-28T18:15:46.881Z,1761675346.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977675,0.182479,0.104179],[-0.209357,-0.888257,-0.408863],[0.017929,-0.421545,0.906630]] 2025-10-28T18:15:47.284Z,1761675347.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982700,0.159736,0.093725],[-0.184292,-0.893539,-0.409420],[0.018348,-0.419610,0.907519]] 2025-10-28T18:15:48.082Z,1761675348.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991170,0.111109,0.072370],[-0.131113,-0.902729,-0.409744],[0.019804,-0.415615,0.909325]] 2025-10-28T18:15:48.485Z,1761675348.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994513,0.084966,0.061033],[-0.102638,-0.905325,-0.412131],[0.020238,-0.416134,0.909078]] 2025-10-28T18:15:48.889Z,1761675348.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997127,0.058058,0.048648],[-0.072999,-0.907945,-0.412682],[0.020210,-0.415048,0.909575]] 2025-10-28T18:15:49.290Z,1761675349.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998862,0.031291,0.035982],[-0.043362,-0.909988,-0.412361],[0.019840,-0.413452,0.910310]] 2025-10-28T18:15:49.701Z,1761675349.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999731,0.003886,0.022876],[-0.012935,-0.911811,-0.410406],[0.019263,-0.410591,0.911616]] 2025-10-28T18:15:50.099Z,1761675350.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999667,-0.024058,0.009362],[0.018156,-0.913021,-0.407509],[0.018352,-0.407203,0.913153]] 2025-10-28T18:15:50.525Z,1761675350.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998662,-0.051505,-0.004635],[0.048962,-0.912875,-0.405293],[0.016644,-0.404978,0.914175]] 2025-10-28T18:15:50.930Z,1761675350.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996729,-0.078474,-0.019294],[0.079562,-0.911135,-0.404356],[0.014152,-0.404568,0.914398]] 2025-10-28T18:15:51.331Z,1761675351.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993959,-0.104275,-0.034247],[0.109207,-0.908499,-0.403364],[0.010947,-0.404667,0.914398]] 2025-10-28T18:15:51.744Z,1761675351.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990566,-0.128085,-0.048720],[0.136828,-0.904727,-0.403420],[0.007594,-0.406280,0.913717]] 2025-10-28T18:15:52.139Z,1761675352.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986592,-0.150684,-0.062692],[0.163156,-0.901246,-0.401417],[0.003986,-0.406264,0.913747]] 2025-10-28T18:15:52.543Z,1761675352.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982262,-0.171511,-0.075795],[0.187511,-0.896962,-0.400373],[0.000683,-0.407483,0.913212]] 2025-10-28T18:15:52.950Z,1761675352.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977589,-0.191038,-0.088454],[0.210505,-0.892480,-0.398957],[-0.002728,-0.408636,0.912693]] 2025-10-28T18:15:53.362Z,1761675353.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972437,-0.210475,-0.100334],[0.233095,-0.888172,-0.396002],[-0.005765,-0.408474,0.912752]] 2025-10-28T18:15:53.759Z,1761675353.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966770,-0.230187,-0.111218],[0.255521,-0.883723,-0.392100],[-0.008029,-0.407489,0.913175]] 2025-10-28T18:15:54.159Z,1761675354.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960360,-0.251053,-0.121164],[0.278603,-0.879114,-0.386703],[-0.009434,-0.405130,0.914210]] 2025-10-28T18:15:54.563Z,1761675354.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953450,-0.271214,-0.131820],[0.301389,-0.871424,-0.387020],[-0.009906,-0.408733,0.912600]] 2025-10-28T18:15:54.979Z,1761675354.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945913,-0.292621,-0.140079],[0.324284,-0.865385,-0.382031],[-0.009432,-0.406794,0.913471]] 2025-10-28T18:15:55.375Z,1761675355.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937673,-0.314652,-0.147525],[0.347433,-0.858226,-0.377807],[-0.007732,-0.405514,0.914056]] 2025-10-28T18:15:55.783Z,1761675355.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928749,-0.336723,-0.155059],[0.370671,-0.849531,-0.375366],[-0.005333,-0.406097,0.913814]] 2025-10-28T18:15:56.179Z,1761675356.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918884,-0.359666,-0.162150],[0.394520,-0.840373,-0.371655],[-0.002595,-0.405479,0.914101]] 2025-10-28T18:15:56.584Z,1761675356.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907790,-0.383110,-0.170717],[0.419425,-0.829388,-0.369051],[-0.000204,-0.406624,0.913595]] 2025-10-28T18:15:56.986Z,1761675356.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895046,-0.408878,-0.178079],[0.445971,-0.818976,-0.361094],[0.001801,-0.402613,0.915368]] 2025-10-28T18:15:57.391Z,1761675357.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880468,-0.435690,-0.186953],[0.474097,-0.806592,-0.353047],[0.003025,-0.399481,0.916737]] 2025-10-28T18:15:57.800Z,1761675357.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864586,-0.461423,-0.198946],[0.502473,-0.791238,-0.348515],[0.003399,-0.401286,0.915946]] 2025-10-28T18:15:57.868Z,1761675357.868 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateRudder:A] Stopped 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:15:57.869Z,1761675357.869 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateCommandMode] Stopped 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:15:57.870Z,1761675357.870 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:15:57.871Z,1761675357.871 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:15:57.871Z,1761675357.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:15:57.871Z,1761675357.871 [marl:UpdateSpeed] Stopped 2025-10-28T18:15:57.871Z,1761675357.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:15:58.199Z,1761675358.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847706,-0.486122,-0.212321],[0.530459,-0.774738,-0.344085],[0.002774,-0.404310,0.914618]] 2025-10-28T18:15:58.222Z,1761675358.222 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:15:58.223Z,1761675358.223 [marl:UpdateRudder:B] Stopped 2025-10-28T18:15:58.223Z,1761675358.223 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:15:58.223Z,1761675358.223 [marl:UpdateRudder] Stopped 2025-10-28T18:15:58.223Z,1761675358.223 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:15:58.606Z,1761675358.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830059,-0.510111,-0.225363],[0.557674,-0.758316,-0.337574],[0.001304,-0.405886,0.913923]] 2025-10-28T18:15:59.007Z,1761675359.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811784,-0.533141,-0.238259],[0.583957,-0.742038,-0.329203],[-0.001285,-0.406375,0.913705]] 2025-10-28T18:15:59.410Z,1761675359.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792983,-0.555389,-0.250442],[0.609223,-0.726277,-0.318385],[-0.005063,-0.405049,0.914281]] 2025-10-28T18:15:59.815Z,1761675359.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773601,-0.576814,-0.262347],[0.633591,-0.710741,-0.305630],[-0.010169,-0.402656,0.915295]] 2025-10-28T18:16:00.220Z,1761675360.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753595,-0.597418,-0.274201],[0.657137,-0.695022,-0.291745],[-0.016283,-0.400045,0.916351]] 2025-10-28T18:16:00.622Z,1761675360.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732916,-0.616722,-0.287207],[0.679916,-0.678545,-0.278013],[-0.023426,-0.399037,0.916636]] 2025-10-28T18:16:00.666Z,1761675360.666 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:16:00.841Z,1761675360.841 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:16:00.841Z,1761675360.841 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:16:01.027Z,1761675361.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711592,-0.635530,-0.299562],[0.701923,-0.661665,-0.263635],[-0.030662,-0.397870,0.916929]] 2025-10-28T18:16:01.089Z,1761675361.089 [DAT](INFO): DAT read: user:112> 2025-10-28T18:16:01.090Z,1761675361.090 [DAT](INFO): DAT read: Tx time:18:16:00.8475 2025-10-28T18:16:01.090Z,1761675361.090 [DAT](INFO): Ping request sent. 2025-10-28T18:16:01.090Z,1761675361.090 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:16:01.090Z,1761675361.090 [DAT](INFO): publishing transmit ping time 2025-10-28T18:16:01.091Z,1761675361.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T18:16:01.341Z,1761675361.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250758 2025-10-28T18:16:01.431Z,1761675361.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690511,-0.653571,-0.309902],[0.722378,-0.644990,-0.249316],[-0.036938,-0.396021,0.917498]] 2025-10-28T18:16:01.593Z,1761675361.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502570 2025-10-28T18:16:01.846Z,1761675361.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755643 2025-10-28T18:16:01.853Z,1761675361.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670274,-0.670350,-0.318376],[0.740959,-0.628437,-0.236740],[-0.041381,-0.394584,0.917927]] 2025-10-28T18:16:02.098Z,1761675362.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007613 2025-10-28T18:16:02.239Z,1761675362.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650395,-0.683784,-0.330795],[0.758275,-0.610135,-0.229682],[-0.044777,-0.400218,0.915325]] 2025-10-28T18:16:02.349Z,1761675362.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258815 2025-10-28T18:16:02.601Z,1761675362.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510598 2025-10-28T18:16:02.643Z,1761675362.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630525,-0.696879,-0.341757],[0.774743,-0.591751,-0.222720],[-0.047026,-0.405204,0.913016]] 2025-10-28T18:16:02.854Z,1761675362.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763444 2025-10-28T18:16:03.050Z,1761675363.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610595,-0.708748,-0.353341],[0.790484,-0.572518,-0.217621],[-0.048056,-0.412188,0.909830]] 2025-10-28T18:16:03.105Z,1761675363.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014690 2025-10-28T18:16:03.357Z,1761675363.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266652 2025-10-28T18:16:03.453Z,1761675363.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590667,-0.720831,-0.362649],[0.805485,-0.553466,-0.211824],[-0.048025,-0.417226,0.907533]] 2025-10-28T18:16:03.609Z,1761675363.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518774 2025-10-28T18:16:03.859Z,1761675363.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570811,-0.733917,-0.368159],[0.819744,-0.534964,-0.204530],[-0.046843,-0.418544,0.906988]] 2025-10-28T18:16:03.861Z,1761675363.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770686 2025-10-28T18:16:04.118Z,1761675364.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027202 2025-10-28T18:16:04.258Z,1761675364.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550448,-0.747075,-0.372674],[0.833669,-0.515783,-0.197393],[-0.044752,-0.419342,0.906725]] 2025-10-28T18:16:04.365Z,1761675364.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274652 2025-10-28T18:16:04.617Z,1761675364.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526559 2025-10-28T18:16:04.663Z,1761675364.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531069,-0.759993,-0.374669],[0.846312,-0.497410,-0.190627],[-0.041489,-0.418323,0.907350]] 2025-10-28T18:16:04.869Z,1761675364.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778585 2025-10-28T18:16:05.074Z,1761675365.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511086,-0.772413,-0.377053],[0.858708,-0.478027,-0.184692],[-0.037583,-0.418172,0.907590]] 2025-10-28T18:16:05.121Z,1761675365.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031064 2025-10-28T18:16:05.374Z,1761675365.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283366 2025-10-28T18:16:05.470Z,1761675365.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489654,-0.785383,-0.378698],[0.871262,-0.457558,-0.177605],[-0.033789,-0.416910,0.908319]] 2025-10-28T18:16:05.625Z,1761675365.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534611 2025-10-28T18:16:05.875Z,1761675365.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466247,-0.798392,-0.381030],[0.884117,-0.435538,-0.169243],[-0.030831,-0.415784,0.908941]] 2025-10-28T18:16:05.877Z,1761675365.877 [DAT](INFO): DAT read: Rx Time:18:16:05.0610 2025-10-28T18:16:05.877Z,1761675365.877 [DAT](INFO): Rx dataTimestamp_ set to:1761675365.877102 2025-10-28T18:16:05.878Z,1761675365.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787660 2025-10-28T18:16:06.129Z,1761675366.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038581 2025-10-28T18:16:06.278Z,1761675366.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440936,-0.812497,-0.381345],[0.897077,-0.412574,-0.158226],[-0.028774,-0.411863,0.910791]] 2025-10-28T18:16:06.389Z,1761675366.389 [DAT](INFO): DAT read: 18:16:05.0610 LVL= 32752, 32753, 20802, 32755, AGC= 76, IDX= 444,-0.23,-2.701, 2.703,-1.529,-2.550, PHS=-0.049,-0.985, 0.977, RAW= 181.5, 0.7, CAL= 181.4, -2.0, ROT= 328.6, 2.0 2025-10-28T18:16:06.390Z,1761675366.390 [DAT](INFO): got valid direction response: 18:16:05.0610 LVL= 32752, 32753, 20802, 32755, AGC= 76, IDX= 444,-0.23,-2.701, 2.703,-1.529,-2.550, PHS=-0.049,-0.985, 0.977, RAW= 181.5, 0.7, CAL= 181.4, -2.0, ROT= 328.6, 2.0 2025-10-28T18:16:06.391Z,1761675366.391 [DAT](INFO): DAT read: Bearing 53, -5 (Remote) 2025-10-28T18:16:06.391Z,1761675366.391 [DAT](INFO): Remote Bearing received:Bearing 53, -5 (Remote) 2025-10-28T18:16:06.392Z,1761675366.392 [DAT](INFO): DAT read: Bearing 222.8, -29.5 (Local) 2025-10-28T18:16:06.392Z,1761675366.392 [DAT](INFO): Local bearing/azimuth received: Bearing 222.8, -29.5 (Local) 2025-10-28T18:16:06.394Z,1761675366.394 [DAT](INFO): DAT read: Range 11 to 20 : 1638.2 m (Round-trip 2184.3 ms) speed 1.0 m/s 2025-10-28T18:16:06.394Z,1761675366.394 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:16:06.395Z,1761675366.395 [DAT](INFO): direction in FSK: [0.853031,-0.520692,-0.034899] 2025-10-28T18:16:06.396Z,1761675366.396 [DAT](INFO): publishing direction and range info 2025-10-28T18:16:06.682Z,1761675366.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414077,-0.826612,-0.381121],[0.909827,-0.388509,-0.145864],[-0.027496,-0.407153,0.912946]] 2025-10-28T18:16:06.722Z,1761675366.722 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675392.00. Resetting abort timer. 2025-10-28T18:16:07.087Z,1761675367.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385911,-0.839193,-0.383180],[0.922137,-0.363109,-0.133474],[-0.027125,-0.404854,0.913979]] 2025-10-28T18:16:07.491Z,1761675367.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357362,-0.850658,-0.385581],[0.933571,-0.337356,-0.120980],[-0.027165,-0.403201,0.914708]] 2025-10-28T18:16:07.897Z,1761675367.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327508,-0.861614,-0.387763],[0.944442,-0.310570,-0.107593],[-0.027724,-0.401457,0.915458]] 2025-10-28T18:16:08.299Z,1761675368.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296667,-0.870948,-0.391713],[0.954555,-0.282691,-0.094395],[-0.028521,-0.401915,0.915233]] 2025-10-28T18:16:08.702Z,1761675368.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265039,-0.878974,-0.396433],[0.963783,-0.254109,-0.080933],[-0.029599,-0.403526,0.914489]] 2025-10-28T18:16:09.111Z,1761675369.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232313,-0.887375,-0.398241],[0.972148,-0.224880,-0.066014],[-0.030977,-0.402485,0.914902]] 2025-10-28T18:16:09.521Z,1761675369.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198777,-0.895248,-0.398772],[0.979506,-0.194963,-0.050564],[-0.032479,-0.400651,0.915655]] 2025-10-28T18:16:09.916Z,1761675369.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165113,-0.901648,-0.399711],[0.985682,-0.164898,-0.035198],[-0.034175,-0.399800,0.915965]] 2025-10-28T18:16:10.326Z,1761675370.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131576,-0.906667,-0.400803],[0.990646,-0.135011,-0.019799],[-0.036162,-0.399659,0.915950]] 2025-10-28T18:16:10.723Z,1761675370.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097703,-0.909635,-0.403756],[0.994474,-0.104898,-0.004321],[-0.038423,-0.401947,0.914856]] 2025-10-28T18:16:11.135Z,1761675371.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064167,-0.911803,-0.405582],[0.997104,-0.075203,0.011314],[-0.040817,-0.403682,0.913988]] 2025-10-28T18:16:11.159Z,1761675371.159 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:16:11.159Z,1761675371.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:16:11.159Z,1761675371.159 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:16:11.160Z,1761675371.160 [marl:UpdateRudder:A] Stopped 2025-10-28T18:16:11.160Z,1761675371.160 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:16:11.160Z,1761675371.160 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:16:11.160Z,1761675371.160 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:16:11.160Z,1761675371.160 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateCommandMode] Stopped 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:16:11.161Z,1761675371.161 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:16:11.162Z,1761675371.162 [marl:UpdateSpeed] Stopped 2025-10-28T18:16:11.162Z,1761675371.162 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:16:11.571Z,1761675371.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031955,-0.912551,-0.407712],[0.998544,-0.046887,0.026681],[-0.043464,-0.406265,0.912721]] 2025-10-28T18:16:11.662Z,1761675371.662 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:16:11.662Z,1761675371.662 [marl:UpdateRudder:B] Stopped 2025-10-28T18:16:11.663Z,1761675371.663 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:16:11.663Z,1761675371.663 [marl:UpdateRudder] Stopped 2025-10-28T18:16:11.663Z,1761675371.663 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:16:11.936Z,1761675371.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000485,-0.912349,-0.409413],[0.998918,-0.019483,0.042232],[-0.046507,-0.408949,0.911371]] 2025-10-28T18:16:12.344Z,1761675372.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029802,-0.911624,-0.409944],[0.998333,0.006865,0.057311],[-0.049432,-0.410968,0.910309]] 2025-10-28T18:16:12.408Z,1761675372.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:16:12.744Z,1761675372.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059606,-0.910242,-0.409763],[0.996845,0.032721,0.072319],[-0.052420,-0.412781,0.909321]] 2025-10-28T18:16:13.155Z,1761675373.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088567,-0.907534,-0.410534],[0.994547,0.057789,0.086810],[-0.055058,-0.415984,0.907704]] 2025-10-28T18:16:13.412Z,1761675373.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:16:13.586Z,1761675373.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116084,-0.904828,-0.409647],[0.991604,0.081918,0.100056],[-0.056976,-0.417823,0.906740]] 2025-10-28T18:16:13.956Z,1761675373.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142275,-0.901296,-0.409175],[0.988092,0.104859,0.112597],[-0.058577,-0.420323,0.905482]] 2025-10-28T18:16:14.359Z,1761675374.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167996,-0.898106,-0.406427],[0.983971,0.127752,0.124421],[-0.059821,-0.420815,0.905172]] 2025-10-28T18:16:14.771Z,1761675374.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193199,-0.894334,-0.403535],[0.979308,0.150517,0.135278],[-0.060244,-0.421321,0.904909]] 2025-10-28T18:16:15.166Z,1761675375.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218091,-0.890282,-0.399793],[0.974088,0.173431,0.145171],[-0.059906,-0.421094,0.905037]] 2025-10-28T18:16:15.976Z,1761675375.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268687,-0.881026,-0.389360],[0.961479,0.220966,0.163501],[-0.058013,-0.418292,0.906458]] 2025-10-28T18:16:16.381Z,1761675376.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294990,-0.875291,-0.383206],[0.953793,0.245776,0.172841],[-0.057103,-0.416485,0.907347]] 2025-10-28T18:16:16.787Z,1761675376.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321628,-0.868597,-0.376955],[0.945194,0.270876,0.182301],[-0.056238,-0.414929,0.908114]] 2025-10-28T18:16:17.186Z,1761675377.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348945,-0.860594,-0.370966],[0.935481,0.296310,0.192549],[-0.055785,-0.414221,0.908465]] 2025-10-28T18:16:17.597Z,1761675377.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375696,-0.851979,-0.364670],[0.925084,0.321232,0.202558],[-0.055432,-0.413451,0.908838]] 2025-10-28T18:16:17.998Z,1761675377.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402971,-0.842499,-0.357505],[0.913541,0.346678,0.212736],[-0.055290,-0.412322,0.909359]] 2025-10-28T18:16:18.398Z,1761675378.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429377,-0.832235,-0.350742],[0.901442,0.371235,0.222680],[-0.055114,-0.411787,0.909612]] 2025-10-28T18:16:18.810Z,1761675378.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454990,-0.821785,-0.343007],[0.888819,0.395457,0.231549],[-0.054639,-0.410223,0.910347]] 2025-10-28T18:16:19.207Z,1761675379.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480403,-0.810302,-0.335594],[0.875401,0.419574,0.240062],[-0.053716,-0.409106,0.910904]] 2025-10-28T18:16:19.612Z,1761675379.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506250,-0.797033,-0.329315],[0.860774,0.443670,0.249450],[-0.052713,-0.409750,0.910674]] 2025-10-28T18:16:20.014Z,1761675380.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531992,-0.783025,-0.322269],[0.845191,0.467966,0.258186],[-0.051355,-0.409732,0.910759]] 2025-10-28T18:16:20.419Z,1761675380.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557342,-0.768725,-0.313737],[0.828778,0.492346,0.265935],[-0.049964,-0.408236,0.911508]] 2025-10-28T18:16:20.828Z,1761675380.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582782,-0.753816,-0.303523],[0.811164,0.517220,0.272940],[-0.048758,-0.405272,0.912895]] 2025-10-28T18:16:21.235Z,1761675381.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608427,-0.737499,-0.293106],[0.792140,0.541901,0.280815],[-0.048266,-0.403037,0.913910]] 2025-10-28T18:16:21.631Z,1761675381.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633910,-0.720408,-0.281372],[0.771894,0.566568,0.288410],[-0.048357,-0.400015,0.915232]] 2025-10-28T18:16:22.034Z,1761675382.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658903,-0.702663,-0.268536],[0.750614,0.590798,0.295864],[-0.049242,-0.396513,0.916708]] 2025-10-28T18:16:22.439Z,1761675382.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682872,-0.683836,-0.257010],[0.728766,0.613177,0.304818],[-0.050853,-0.395452,0.917078]] 2025-10-28T18:16:22.844Z,1761675382.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705991,-0.664470,-0.245062],[0.706210,0.634449,0.314232],[-0.053318,-0.394910,0.917171]] 2025-10-28T18:16:23.246Z,1761675383.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727161,-0.645623,-0.233254],[0.684157,0.653744,0.323339],[-0.056266,-0.394702,0.917085]] 2025-10-28T18:16:23.650Z,1761675383.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746794,-0.626605,-0.222858],[0.662388,0.670814,0.333543],[-0.059504,-0.396706,0.916015]] 2025-10-28T18:16:24.055Z,1761675384.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765047,-0.607116,-0.214740],[0.640970,0.685721,0.344883],[-0.062132,-0.401493,0.913752]] 2025-10-28T18:16:24.078Z,1761675384.078 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:16:24.078Z,1761675384.078 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:16:24.078Z,1761675384.078 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateRudder:A] Stopped 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:16:24.079Z,1761675384.079 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:16:24.080Z,1761675384.080 [marl:UpdateCommandMode] Stopped 2025-10-28T18:16:24.097Z,1761675384.097 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:16:24.097Z,1761675384.097 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:16:24.099Z,1761675384.099 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:16:24.099Z,1761675384.099 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:16:24.101Z,1761675384.101 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:16:24.101Z,1761675384.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:16:24.101Z,1761675384.101 [marl:UpdateSpeed] Stopped 2025-10-28T18:16:24.101Z,1761675384.101 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:16:24.460Z,1761675384.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782143,-0.587655,-0.207157],[0.619810,0.699648,0.355426],[-0.063931,-0.406392,0.911459]] 2025-10-28T18:16:24.484Z,1761675384.484 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:16:24.484Z,1761675384.484 [marl:UpdateRudder:B] Stopped 2025-10-28T18:16:24.484Z,1761675384.484 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:16:24.485Z,1761675384.485 [marl:UpdateRudder] Stopped 2025-10-28T18:16:24.485Z,1761675384.485 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:16:24.864Z,1761675384.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797904,-0.568061,-0.201633],[0.599236,0.711272,0.367435],[-0.065310,-0.414004,0.907929]] 2025-10-28T18:16:25.267Z,1761675385.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812664,-0.548911,-0.195638],[0.578956,0.722372,0.378138],[-0.066241,-0.420565,0.904841]] 2025-10-28T18:16:25.671Z,1761675385.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826541,-0.530482,-0.188199],[0.558936,0.734024,0.385746],[-0.066489,-0.424026,0.903206]] 2025-10-28T18:16:26.075Z,1761675386.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839557,-0.512428,-0.180449],[0.539274,0.745841,0.391031],[-0.065789,-0.425604,0.902515]] 2025-10-28T18:16:26.882Z,1761675386.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864181,-0.475582,-0.164355],[0.499323,0.770150,0.396921],[-0.062190,-0.425078,0.903018]] 2025-10-28T18:16:27.323Z,1761675387.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889671,-0.432949,-0.145057],[0.453048,0.797453,0.398518],[-0.056861,-0.420268,0.905617]] 2025-10-28T18:16:28.095Z,1761675388.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902597,-0.408782,-0.134970],[0.427052,0.810712,0.400466],[-0.054282,-0.419098,0.906317]] 2025-10-28T18:16:28.499Z,1761675388.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915297,-0.383409,-0.123403],[0.399394,0.824321,0.401223],[-0.052109,-0.416525,0.907630]] 2025-10-28T18:16:28.907Z,1761675388.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927436,-0.357404,-0.110111],[0.370562,0.838500,0.399501],[-0.050455,-0.411315,0.910096]] 2025-10-28T18:16:29.319Z,1761675389.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938791,-0.330677,-0.096559],[0.340933,0.851709,0.397941],[-0.049349,-0.406504,0.912315]] 2025-10-28T18:16:29.722Z,1761675389.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949318,-0.303436,-0.081984],[0.310469,0.864553,0.395168],[-0.049028,-0.400594,0.914943]] 2025-10-28T18:16:30.120Z,1761675390.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958976,-0.275534,-0.066679],[0.279138,0.876726,0.391707],[-0.049470,-0.394250,0.917671]] 2025-10-28T18:16:30.525Z,1761675390.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975106,-0.218815,-0.035893],[0.215411,0.896389,0.387407],[-0.052597,-0.385495,0.921210]] 2025-10-28T18:16:30.931Z,1761675390.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981084,-0.192340,-0.021900],[0.185655,0.902822,0.387873],[-0.054832,-0.384601,0.921453]] 2025-10-28T18:16:31.333Z,1761675391.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985776,-0.167840,-0.008656],[0.158106,0.908679,0.386399],[-0.056987,-0.382271,0.922291]] 2025-10-28T18:16:31.734Z,1761675391.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989392,-0.145239,0.003030],[0.132663,0.911834,0.388535],[-0.059193,-0.384011,0.921429]] 2025-10-28T18:16:32.136Z,1761675392.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992290,-0.123169,0.013783],[0.107836,0.912834,0.393836],[-0.061090,-0.389313,0.919078]] 2025-10-28T18:16:32.539Z,1761675392.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994559,-0.101383,0.023958],[0.083455,0.913039,0.399244],[-0.062351,-0.395072,0.916532]] 2025-10-28T18:16:32.947Z,1761675392.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996260,-0.079743,0.033285],[0.059344,0.911390,0.407243],[-0.062810,-0.403744,0.912713]] 2025-10-28T18:16:33.346Z,1761675393.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997398,-0.058118,0.042651],[0.035241,0.909220,0.414822],[-0.062888,-0.412240,0.908902]] 2025-10-28T18:16:33.753Z,1761675393.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997967,-0.036952,0.051931],[0.011642,0.906757,0.421492],[-0.062664,-0.420031,0.905344]] 2025-10-28T18:16:34.154Z,1761675394.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997985,-0.015759,0.061459],[-0.011960,0.904569,0.426159],[-0.062309,-0.426035,0.902558]] 2025-10-28T18:16:34.560Z,1761675394.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997419,0.006320,0.071528],[-0.036495,0.902489,0.429165],[-0.061841,-0.430667,0.900389]] 2025-10-28T18:16:34.963Z,1761675394.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996064,0.030946,0.083062],[-0.064000,0.899416,0.432383],[-0.061326,-0.435997,0.897856]] 2025-10-28T18:16:35.367Z,1761675395.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993579,0.059109,0.096473],[-0.095407,0.896041,0.433598],[-0.060814,-0.440018,0.895927]] 2025-10-28T18:16:35.782Z,1761675395.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989831,0.089152,0.110843],[-0.128744,0.892847,0.431566],[-0.060491,-0.441447,0.895246]] 2025-10-28T18:16:36.177Z,1761675396.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984777,0.120701,0.125083],[-0.163042,0.890894,0.423940],[-0.060266,-0.437880,0.897011]] 2025-10-28T18:16:36.579Z,1761675396.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978541,0.152500,0.138568],[-0.197031,0.889319,0.412663],[-0.060300,-0.431109,0.900283]] 2025-10-28T18:16:36.982Z,1761675396.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971008,0.184907,0.151501],[-0.231282,0.886917,0.399860],[-0.060432,-0.423306,0.903969]] 2025-10-28T18:16:37.024Z,1761675397.024 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:16:37.025Z,1761675397.025 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:16:37.025Z,1761675397.025 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:16:37.025Z,1761675397.025 [marl:UpdateRudder:A] Stopped 2025-10-28T18:16:37.025Z,1761675397.025 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:16:37.025Z,1761675397.025 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode] Stopped 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:16:37.026Z,1761675397.026 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:16:37.027Z,1761675397.027 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:16:37.027Z,1761675397.027 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:16:37.027Z,1761675397.027 [marl:UpdateSpeed] Stopped 2025-10-28T18:16:37.027Z,1761675397.027 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:16:37.387Z,1761675397.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962272,0.216771,0.164449],[-0.265218,0.882247,0.388972],[-0.060767,-0.417911,0.906453]] 2025-10-28T18:16:37.442Z,1761675397.442 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:16:37.442Z,1761675397.442 [marl:UpdateRudder:B] Stopped 2025-10-28T18:16:37.442Z,1761675397.442 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:16:37.442Z,1761675397.442 [marl:UpdateRudder] Stopped 2025-10-28T18:16:37.442Z,1761675397.442 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:16:37.802Z,1761675397.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952447,0.248841,0.175849],[-0.298592,0.877239,0.375891],[-0.060724,-0.410523,0.909826]] 2025-10-28T18:16:38.196Z,1761675398.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941584,0.280676,0.186117],[-0.331374,0.870742,0.363317],[-0.060085,-0.403768,0.912886]] 2025-10-28T18:16:38.599Z,1761675398.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930235,0.310071,0.196264],[-0.362149,0.862062,0.354538],[-0.059259,-0.400880,0.914212]] 2025-10-28T18:16:39.002Z,1761675399.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919053,0.336280,0.205566],[-0.389798,0.852671,0.347864],[-0.058300,-0.399835,0.914731]] 2025-10-28T18:16:39.407Z,1761675399.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908052,0.359560,0.214846],[-0.414925,0.842307,0.344030],[-0.057267,-0.401542,0.914049]] 2025-10-28T18:16:39.816Z,1761675399.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897000,0.380919,0.224259],[-0.438451,0.831168,0.341937],[-0.056147,-0.405044,0.912572]] 2025-10-28T18:16:40.214Z,1761675400.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885644,0.400513,0.235000],[-0.461104,0.818374,0.342998],[-0.054942,-0.412133,0.909465]] 2025-10-28T18:16:40.618Z,1761675400.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873630,0.419139,0.247170],[-0.483617,0.804000,0.345976],[-0.053713,-0.421790,0.905101]] 2025-10-28T18:16:41.023Z,1761675401.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860830,0.437165,0.260495],[-0.506117,0.788849,0.348658],[-0.053070,-0.431976,0.900322]] 2025-10-28T18:16:41.428Z,1761675401.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847204,0.454885,0.274456],[-0.528618,0.773316,0.350065],[-0.053002,-0.441659,0.895616]] 2025-10-28T18:16:41.833Z,1761675401.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832321,0.473168,0.288711],[-0.551715,0.757378,0.349269],[-0.053401,-0.449990,0.891436]] 2025-10-28T18:16:42.235Z,1761675402.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815819,0.493213,0.301961],[-0.575822,0.741140,0.345168],[-0.053554,-0.455470,0.888639]] 2025-10-28T18:16:42.639Z,1761675402.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797140,0.515759,0.313945],[-0.601408,0.724409,0.336958],[-0.053636,-0.457412,0.887636]] 2025-10-28T18:16:43.043Z,1761675403.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776917,0.539754,0.324137],[-0.627326,0.707381,0.325691],[-0.053496,-0.456375,0.888178]] 2025-10-28T18:16:43.447Z,1761675403.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756003,0.564214,0.331846],[-0.652374,0.690933,0.311480],[-0.053542,-0.451967,0.890426]] 2025-10-28T18:16:43.542Z,1761675403.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:16:43.853Z,1761675403.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734209,0.590034,0.335853],[-0.676836,0.674876,0.293998],[-0.053190,-0.443174,0.894856]] 2025-10-28T18:16:44.258Z,1761675404.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711926,0.614082,0.340683],[-0.700242,0.657457,0.278228],[-0.053130,-0.436639,0.898067]] 2025-10-28T18:16:44.544Z,1761675404.544 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:16:44.661Z,1761675404.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688690,0.637617,0.345182],[-0.723117,0.638809,0.262725],[-0.052988,-0.430543,0.901013]] 2025-10-28T18:16:45.062Z,1761675405.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664782,0.659727,0.350465],[-0.745154,0.618900,0.248411],[-0.053020,-0.426289,0.903032]] 2025-10-28T18:16:45.468Z,1761675405.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640361,0.680095,0.356942],[-0.766236,0.597786,0.235658],[-0.053105,-0.424409,0.903912]] 2025-10-28T18:16:45.874Z,1761675405.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615398,0.699566,0.363170],[-0.786419,0.576034,0.223002],[-0.053194,-0.422839,0.904642]] 2025-10-28T18:16:46.285Z,1761675406.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590357,0.717260,0.370158],[-0.805374,0.553809,0.211349],[-0.053404,-0.422887,0.904607]] 2025-10-28T18:16:46.679Z,1761675406.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565566,0.733987,0.376029],[-0.822965,0.531880,0.199580],[-0.053513,-0.422334,0.904859]] 2025-10-28T18:16:47.083Z,1761675407.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540335,0.749901,0.381689],[-0.839756,0.509344,0.188090],[-0.053362,-0.422157,0.904951]] 2025-10-28T18:16:47.488Z,1761675407.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515634,0.765026,0.385820],[-0.855148,0.487531,0.176169],[-0.053326,-0.420772,0.905598]] 2025-10-28T18:16:47.894Z,1761675407.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491578,0.778347,0.390547],[-0.869190,0.466083,0.165154],[-0.053480,-0.420645,0.905648]] 2025-10-28T18:16:48.295Z,1761675408.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467176,0.790922,0.395207],[-0.882546,0.444175,0.154340],[-0.053470,-0.420892,0.905533]] 2025-10-28T18:16:48.698Z,1761675408.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442227,0.802779,0.399978],[-0.895329,0.421535,0.143854],[-0.053122,-0.421728,0.905165]] 2025-10-28T18:16:49.105Z,1761675409.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416521,0.814294,0.404272],[-0.907611,0.398112,0.133225],[-0.052461,-0.422413,0.904884]] 2025-10-28T18:16:49.521Z,1761675409.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391195,0.825946,0.405930],[-0.918834,0.375477,0.121498],[-0.052066,-0.420512,0.905792]] 2025-10-28T18:16:49.974Z,1761675409.974 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:16:49.974Z,1761675409.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:16:49.974Z,1761675409.974 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateRudder:A] Stopped 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:16:49.975Z,1761675409.975 [marl:UpdateCommandMode] Stopped 2025-10-28T18:16:49.976Z,1761675409.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:16:49.980Z,1761675409.980 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:16:49.996Z,1761675409.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:16:49.996Z,1761675409.996 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:16:49.996Z,1761675409.996 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:16:49.996Z,1761675409.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:16:49.997Z,1761675409.997 [marl:UpdateSpeed] Stopped 2025-10-28T18:16:49.997Z,1761675409.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:16:50.315Z,1761675410.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339401,0.847790,0.407503],[-0.939219,0.329255,0.097258],[-0.051718,-0.415744,0.908010]] 2025-10-28T18:16:50.339Z,1761675410.339 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:16:50.339Z,1761675410.339 [marl:UpdateRudder:B] Stopped 2025-10-28T18:16:50.339Z,1761675410.339 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:16:50.339Z,1761675410.339 [marl:UpdateRudder] Stopped 2025-10-28T18:16:50.339Z,1761675410.339 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:16:50.719Z,1761675410.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312441,0.858581,0.406471],[-0.948532,0.305243,0.084347],[-0.051654,-0.411904,0.909762]] 2025-10-28T18:16:51.122Z,1761675411.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284622,0.869227,0.404270],[-0.957251,0.280391,0.071071],[-0.051577,-0.407216,0.911874]] 2025-10-28T18:16:51.561Z,1761675411.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256687,0.878777,0.402323],[-0.965110,0.255328,0.058051],[-0.051710,-0.403187,0.913656]] 2025-10-28T18:16:52.347Z,1761675412.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198923,0.892887,0.403959],[-0.978645,0.202769,0.033730],[-0.051793,-0.402042,0.914155]] 2025-10-28T18:16:52.745Z,1761675412.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169939,0.897978,0.405902],[-0.984108,0.176165,0.022287],[-0.051492,-0.403239,0.913645]] 2025-10-28T18:16:53.143Z,1761675413.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141729,0.900848,0.410349],[-0.988592,0.150154,0.011810],[-0.050977,-0.407341,0.911852]] 2025-10-28T18:16:53.584Z,1761675413.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115039,0.902302,0.415473],[-0.992070,0.125671,0.001765],[-0.050620,-0.412381,0.909604]] 2025-10-28T18:16:53.955Z,1761675413.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089426,0.902401,0.421516],[-0.994727,0.102254,-0.007877],[-0.050210,-0.418589,0.906787]] 2025-10-28T18:16:54.355Z,1761675414.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064897,0.902576,0.425611],[-0.996636,0.080016,-0.017721],[-0.050050,-0.423029,0.904733]] 2025-10-28T18:16:54.767Z,1761675414.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040800,0.901557,0.430733],[-0.997917,0.058330,-0.027564],[-0.049976,-0.428711,0.902058]] 2025-10-28T18:16:55.162Z,1761675415.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016449,0.898699,0.438257],[-0.998617,0.036657,-0.037690],[-0.049937,-0.437031,0.898059]] 2025-10-28T18:16:55.590Z,1761675415.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009523,0.895619,0.444720],[-0.998724,0.013540,-0.048655],[-0.049598,-0.444615,0.894347]] 2025-10-28T18:16:55.974Z,1761675415.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037554,0.893491,0.447508],[-0.998097,-0.011621,-0.060557],[-0.048907,-0.448930,0.892227]] 2025-10-28T18:16:56.374Z,1761675416.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066672,0.893841,0.443400],[-0.996600,-0.038093,-0.073064],[-0.048417,-0.446763,0.893341]] 2025-10-28T18:16:56.784Z,1761675416.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096766,0.894001,0.437491],[-0.994165,-0.065766,-0.085501],[-0.047666,-0.443212,0.895149]] 2025-10-28T18:16:57.183Z,1761675417.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125723,0.894421,0.429191],[-0.990940,-0.092616,-0.097266],[-0.047247,-0.437531,0.897961]] 2025-10-28T18:16:57.596Z,1761675417.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154250,0.896951,0.414350],[-0.986923,-0.120014,-0.107604],[-0.046788,-0.425530,0.903734]] 2025-10-28T18:16:58.395Z,1761675418.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207433,0.895301,0.394218],[-0.977121,-0.170278,-0.127436],[-0.046967,-0.411633,0.910139]] 2025-10-28T18:16:58.799Z,1761675418.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232038,0.891501,0.389082],[-0.971562,-0.193019,-0.137152],[-0.047171,-0.409842,0.910936]] 2025-10-28T18:16:59.206Z,1761675419.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256316,0.886449,0.385371],[-0.965431,-0.215234,-0.147030],[-0.047389,-0.409735,0.910973]] 2025-10-28T18:16:59.606Z,1761675419.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280320,0.879128,0.385427],[-0.958707,-0.236342,-0.158187],[-0.047974,-0.413855,0.909078]] 2025-10-28T18:17:00.010Z,1761675420.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305117,0.871427,0.384082],[-0.951077,-0.258280,-0.169540],[-0.048541,-0.417021,0.907600]] 2025-10-28T18:17:00.415Z,1761675420.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330808,0.862892,0.382077],[-0.942416,-0.280979,-0.181389],[-0.049164,-0.420081,0.906154]] 2025-10-28T18:17:00.820Z,1761675420.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358506,0.854104,0.376803],[-0.932216,-0.306152,-0.192988],[-0.049473,-0.420449,0.905966]] 2025-10-28T18:17:00.845Z,1761675420.845 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:17:01.089Z,1761675421.089 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:17:01.089Z,1761675421.089 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:17:01.222Z,1761675421.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386863,0.844285,0.370837],[-0.920798,-0.332021,-0.204678],[-0.049681,-0.420648,0.905862]] 2025-10-28T18:17:01.341Z,1761675421.341 [DAT](INFO): DAT read: user:113> 2025-10-28T18:17:01.341Z,1761675421.341 [DAT](INFO): DAT read: Tx time:18:17:01.0973 2025-10-28T18:17:01.342Z,1761675421.342 [DAT](INFO): Ping request sent. 2025-10-28T18:17:01.342Z,1761675421.342 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:17:01.342Z,1761675421.342 [DAT](INFO): publishing transmit ping time 2025-10-28T18:17:01.343Z,1761675421.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T18:17:01.593Z,1761675421.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958 2025-10-28T18:17:01.627Z,1761675421.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415765,0.832536,0.366090],[-0.908119,-0.358080,-0.217023],[-0.049590,-0.422684,0.904919]] 2025-10-28T18:17:01.845Z,1761675421.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503136 2025-10-28T18:17:02.032Z,1761675422.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444455,0.819990,0.360662],[-0.894447,-0.384092,-0.228995],[-0.049246,-0.424371,0.904148]] 2025-10-28T18:17:02.097Z,1761675422.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755404 2025-10-28T18:17:02.349Z,1761675422.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942 2025-10-28T18:17:02.436Z,1761675422.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472066,0.808457,0.351497],[-0.880209,-0.410166,-0.238738],[-0.048837,-0.422092,0.905237]] 2025-10-28T18:17:02.601Z,1761675422.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259146 2025-10-28T18:17:02.839Z,1761675422.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498177,0.796959,0.341580],[-0.865695,-0.434946,-0.247778],[-0.048900,-0.419141,0.906603]] 2025-10-28T18:17:02.853Z,1761675422.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014 2025-10-28T18:17:02.872Z,1761675422.872 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:17:02.872Z,1761675422.872 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:17:02.872Z,1761675422.872 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:17:02.872Z,1761675422.872 [marl:UpdateRudder:A] Stopped 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode] Stopped 2025-10-28T18:17:02.873Z,1761675422.873 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed] Stopped 2025-10-28T18:17:02.874Z,1761675422.874 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:17:03.105Z,1761675423.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762971 2025-10-28T18:17:03.253Z,1761675423.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521615,0.784860,0.334533],[-0.851774,-0.456546,-0.256994],[-0.048974,-0.418999,0.906665]] 2025-10-28T18:17:03.285Z,1761675423.285 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:17:03.285Z,1761675423.285 [marl:UpdateRudder:B] Stopped 2025-10-28T18:17:03.285Z,1761675423.285 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:17:03.285Z,1761675423.285 [marl:UpdateRudder] Stopped 2025-10-28T18:17:03.285Z,1761675423.285 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:17:03.357Z,1761675423.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015067 2025-10-28T18:17:03.610Z,1761675423.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267891 2025-10-28T18:17:03.666Z,1761675423.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543811,0.773011,0.326684],[-0.837772,-0.477298,-0.265188],[-0.049068,-0.417899,0.907167]] 2025-10-28T18:17:03.861Z,1761675423.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002 2025-10-28T18:17:04.086Z,1761675424.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564950,0.759835,0.321687],[-0.823675,-0.496230,-0.274436],[-0.048895,-0.420008,0.906202]] 2025-10-28T18:17:04.113Z,1761675424.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771094 2025-10-28T18:17:04.365Z,1761675424.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022930 2025-10-28T18:17:04.493Z,1761675424.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585307,0.745196,0.319529],[-0.809356,-0.513373,-0.285290],[-0.048559,-0.425595,0.903610]] 2025-10-28T18:17:04.617Z,1761675424.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275049 2025-10-28T18:17:04.869Z,1761675424.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526988 2025-10-28T18:17:04.900Z,1761675424.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604245,0.733124,0.312116],[-0.795333,-0.531185,-0.292041],[-0.048311,-0.424701,0.904044]] 2025-10-28T18:17:05.122Z,1761675425.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779328 2025-10-28T18:17:05.301Z,1761675425.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623733,0.720680,0.302617],[-0.780161,-0.550214,-0.297682],[-0.048030,-0.421764,0.905433]] 2025-10-28T18:17:05.373Z,1761675425.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031015 2025-10-28T18:17:05.625Z,1761675425.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282992 2025-10-28T18:17:05.703Z,1761675425.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643248,0.707080,0.293717],[-0.764166,-0.568948,-0.303888],[-0.047763,-0.419924,0.906302]] 2025-10-28T18:17:05.877Z,1761675425.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535047 2025-10-28T18:17:06.106Z,1761675426.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663268,0.693000,0.282535],[-0.746850,-0.588791,-0.309095],[-0.047849,-0.416025,0.908094]] 2025-10-28T18:17:06.129Z,1761675426.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787099 2025-10-28T18:17:06.381Z,1761675426.381 [DAT](INFO): DAT read: Rx Time:18:17:05.6658 2025-10-28T18:17:06.382Z,1761675426.382 [DAT](INFO): Rx dataTimestamp_ set to:1761675426.381224 2025-10-28T18:17:06.382Z,1761675426.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040130 2025-10-28T18:17:06.633Z,1761675426.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290924 2025-10-28T18:17:06.891Z,1761675426.891 [DAT](INFO): DAT read: 18:17:05.6658 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 495,-0.43,-1.100, 0.829,-0.298,-0.325, PHS=-0.673, 1.199,-0.017, RAW= 309.8, -6.2, CAL= 309.2, -9.9, ROT= 200.8, 9.9 2025-10-28T18:17:06.892Z,1761675426.892 [DAT](INFO): got valid direction response: 18:17:05.6658 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 495,-0.43,-1.100, 0.829,-0.298,-0.325, PHS=-0.673, 1.199,-0.017, RAW= 309.8, -6.2, CAL= 309.2, -9.9, ROT= 200.8, 9.9 2025-10-28T18:17:06.893Z,1761675426.893 [DAT](INFO): DAT read: Bearing 185.2, -11.7 (Local) 2025-10-28T18:17:06.893Z,1761675426.893 [DAT](INFO): Local bearing/azimuth received: Bearing 185.2, -11.7 (Local) 2025-10-28T18:17:06.895Z,1761675426.895 [DAT](INFO): DAT read: Range 11 to 20 : 1623.2 m (Round-trip 2164.3 ms) speed -0.9 m/s 2025-10-28T18:17:06.895Z,1761675426.895 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:17:06.897Z,1761675426.897 [DAT](INFO): direction in FSK: [-0.920905,-0.349819,-0.171929] 2025-10-28T18:17:06.898Z,1761675426.898 [DAT](INFO): publishing direction and range info 2025-10-28T18:17:06.931Z,1761675426.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704179,0.661747,0.257338],[-0.708364,-0.630010,-0.318288],[-0.048501,-0.406420,0.912398]] 2025-10-28T18:17:07.024Z,1761675427.024 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675392.00. Resetting abort timer. 2025-10-28T18:17:07.338Z,1761675427.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724531,0.643209,0.247665],[-0.687507,-0.648952,-0.325876],[-0.048884,-0.406378,0.912396]] 2025-10-28T18:17:07.732Z,1761675427.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744482,0.623742,0.238102],[-0.665818,-0.667284,-0.333794],[-0.049320,-0.407037,0.912079]] 2025-10-28T18:17:08.127Z,1761675428.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763391,0.604002,0.228945],[-0.644001,-0.684272,-0.342104],[-0.049970,-0.408600,0.911345]] 2025-10-28T18:17:08.532Z,1761675428.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780859,0.584332,0.220943],[-0.622662,-0.699406,-0.350890],[-0.050507,-0.411568,0.909979]] 2025-10-28T18:17:08.935Z,1761675428.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797842,0.564790,0.210857],[-0.600703,-0.715163,-0.357348],[-0.051029,-0.411769,0.909858]] 2025-10-28T18:17:09.338Z,1761675429.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814281,0.544351,0.201565],[-0.578211,-0.730029,-0.364321],[-0.051170,-0.413207,0.909199]] 2025-10-28T18:17:09.751Z,1761675429.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830431,0.522534,0.193242],[-0.554770,-0.743756,-0.372904],[-0.051131,-0.416876,0.907524]] 2025-10-28T18:17:10.146Z,1761675430.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846002,0.500427,0.183990],[-0.530745,-0.757473,-0.380191],[-0.050891,-0.419294,0.906423]] 2025-10-28T18:17:10.551Z,1761675430.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860931,0.477966,0.174201],[-0.506159,-0.770485,-0.387500],[-0.050993,-0.421784,0.905261]] 2025-10-28T18:17:10.954Z,1761675430.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875141,0.455319,0.163746],[-0.481147,-0.783038,-0.394143],[-0.051241,-0.423717,0.904344]] 2025-10-28T18:17:11.367Z,1761675431.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902144,0.408587,0.138536],[-0.428270,-0.809280,-0.402058],[-0.052161,-0.422045,0.905073]] 2025-10-28T18:17:11.775Z,1761675431.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914174,0.385520,0.125145],[-0.401820,-0.821488,-0.404595],[-0.053174,-0.420156,0.905892]] 2025-10-28T18:17:12.171Z,1761675432.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925307,0.362429,0.111591],[-0.375325,-0.833192,-0.406105],[-0.054208,-0.417655,0.906987]] 2025-10-28T18:17:12.615Z,1761675432.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935428,0.339580,0.098283],[-0.349216,-0.844377,-0.406294],[-0.054981,-0.414381,0.908441]] 2025-10-28T18:17:13.007Z,1761675433.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944599,0.316557,0.086738],[-0.323525,-0.853412,-0.408680],[-0.055348,-0.414101,0.908547]] 2025-10-28T18:17:13.421Z,1761675433.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952917,0.293465,0.076345],[-0.298162,-0.860948,-0.412150],[-0.055222,-0.415508,0.907912]] 2025-10-28T18:17:13.822Z,1761675433.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960783,0.269236,0.066393],[-0.271866,-0.867384,-0.416813],[-0.054633,-0.418517,0.906564]] 2025-10-28T18:17:14.234Z,1761675434.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967684,0.245509,0.057558],[-0.246315,-0.871391,-0.424272],[-0.054007,-0.424739,0.903704]] 2025-10-28T18:17:14.629Z,1761675434.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973986,0.221425,0.048197],[-0.220355,-0.875806,-0.429426],[-0.052874,-0.428876,0.901815]] 2025-10-28T18:17:14.674Z,1761675434.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:17:15.031Z,1761675435.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979709,0.196763,0.038132],[-0.193700,-0.880685,-0.432290],[-0.051476,-0.430904,0.900928]] 2025-10-28T18:17:15.435Z,1761675435.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984828,0.171352,0.027437],[-0.166150,-0.885428,-0.434064],[-0.050084,-0.432037,0.900464]] 2025-10-28T18:17:15.676Z,1761675435.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:17:15.840Z,1761675435.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989204,0.145680,0.015915],[-0.138124,-0.890541,-0.433426],[-0.048968,-0.430945,0.901049]] 2025-10-28T18:17:15.882Z,1761675435.882 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:17:15.882Z,1761675435.882 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateRudder:A] Stopped 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:17:15.883Z,1761675435.883 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:17:15.884Z,1761675435.884 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:17:15.884Z,1761675435.884 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:17:15.884Z,1761675435.884 [marl:UpdateCommandMode] Stopped 2025-10-28T18:17:15.884Z,1761675435.884 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:17:15.884Z,1761675435.884 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed] Stopped 2025-10-28T18:17:15.885Z,1761675435.885 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:17:16.244Z,1761675436.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992814,0.119590,0.004349],[-0.109769,-0.895605,-0.431094],[-0.047659,-0.428473,0.902297]] 2025-10-28T18:17:16.279Z,1761675436.279 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:17:16.279Z,1761675436.279 [marl:UpdateRudder:B] Stopped 2025-10-28T18:17:16.279Z,1761675436.279 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:17:16.279Z,1761675436.279 [marl:UpdateRudder] Stopped 2025-10-28T18:17:16.279Z,1761675436.279 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:17:16.649Z,1761675436.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995661,0.092755,-0.007441],[-0.080628,-0.899866,-0.428650],[-0.046455,-0.426190,0.903440]] 2025-10-28T18:17:17.052Z,1761675437.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997649,0.065729,-0.019406],[-0.051251,-0.903520,-0.425470],[-0.045500,-0.423475,0.904764]] 2025-10-28T18:17:17.455Z,1761675437.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998766,0.038378,-0.031516],[-0.021552,-0.906734,-0.421152],[-0.044739,-0.419953,0.906443]] 2025-10-28T18:17:17.859Z,1761675437.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998982,0.011087,-0.043731],[0.008255,-0.908043,-0.418795],[-0.044353,-0.418730,0.907027]] 2025-10-28T18:17:18.262Z,1761675438.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998305,-0.016118,-0.055922],[0.037922,-0.909040,-0.414979],[-0.044147,-0.416396,0.908111]] 2025-10-28T18:17:18.674Z,1761675438.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996728,-0.043060,-0.068410],[0.067550,-0.908526,-0.412332],[-0.044397,-0.415604,0.908462]] 2025-10-28T18:17:19.070Z,1761675439.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994249,-0.069724,-0.081292],[0.097113,-0.906972,-0.409842],[-0.045154,-0.415379,0.908527]] 2025-10-28T18:17:19.474Z,1761675439.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990888,-0.096218,-0.094252],[0.126586,-0.904330,-0.407631],[-0.046013,-0.415848,0.908270]] 2025-10-28T18:17:19.881Z,1761675439.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986915,-0.120981,-0.106592],[0.154352,-0.900021,-0.407599],[-0.046623,-0.418718,0.906918]] 2025-10-28T18:17:20.282Z,1761675440.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982116,-0.146835,-0.117848],[0.182387,-0.897325,-0.401924],[-0.046731,-0.416230,0.908058]] 2025-10-28T18:17:20.687Z,1761675440.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976819,-0.171260,-0.128428],[0.208921,-0.893444,-0.397629],[-0.046645,-0.415243,0.908514]] 2025-10-28T18:17:21.091Z,1761675441.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970957,-0.195065,-0.138532],[0.234766,-0.888394,-0.394514],[-0.046115,-0.415579,0.908387]] 2025-10-28T18:17:21.574Z,1761675441.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964646,-0.218179,-0.147839],[0.259737,-0.882094,-0.392997],[-0.044664,-0.417502,0.907578]] 2025-10-28T18:17:21.989Z,1761675441.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958018,-0.240427,-0.156195],[0.283557,-0.875093,-0.392184],[-0.042393,-0.420010,0.906529]] 2025-10-28T18:17:22.391Z,1761675442.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950583,-0.263621,-0.164000],[0.307902,-0.868269,-0.388980],[-0.039853,-0.420254,0.906531]] 2025-10-28T18:17:22.798Z,1761675442.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942423,-0.287206,-0.171324],[0.332379,-0.860975,-0.385028],[-0.036923,-0.419803,0.906864]] 2025-10-28T18:17:23.225Z,1761675443.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932991,-0.312339,-0.178809],[0.358268,-0.853289,-0.378869],[-0.034241,-0.417543,0.908012]] 2025-10-28T18:17:23.607Z,1761675443.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922731,-0.337466,-0.186238],[0.384148,-0.844757,-0.372580],[-0.031593,-0.415334,0.909120]] 2025-10-28T18:17:24.011Z,1761675444.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911216,-0.362798,-0.195095],[0.410881,-0.834241,-0.367722],[-0.029348,-0.415235,0.909240]] 2025-10-28T18:17:24.416Z,1761675444.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899017,-0.386659,-0.205578],[0.437029,-0.822012,-0.365105],[-0.027816,-0.418079,0.907985]] 2025-10-28T18:17:24.822Z,1761675444.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885874,-0.410386,-0.216356],[0.463133,-0.809541,-0.360763],[-0.027097,-0.419793,0.907215]] 2025-10-28T18:17:25.228Z,1761675445.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871811,-0.434117,-0.226908],[0.489110,-0.796796,-0.354806],[-0.026772,-0.420307,0.906987]] 2025-10-28T18:17:25.627Z,1761675445.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857297,-0.457018,-0.237016],[0.514150,-0.783558,-0.348837],[-0.026291,-0.420918,0.906718]] 2025-10-28T18:17:26.031Z,1761675446.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842502,-0.479176,-0.246131],[0.538085,-0.770263,-0.342284],[-0.025571,-0.420815,0.906786]] 2025-10-28T18:17:26.445Z,1761675446.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827302,-0.500416,-0.255256],[0.561219,-0.756148,-0.336562],[-0.024591,-0.421693,0.906405]] 2025-10-28T18:17:26.846Z,1761675446.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811538,-0.521316,-0.263885],[0.583828,-0.741616,-0.330379],[-0.023469,-0.422178,0.906209]] 2025-10-28T18:17:27.247Z,1761675447.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795459,-0.541448,-0.272174],[0.605614,-0.726435,-0.324845],[-0.021830,-0.423233,0.905758]] 2025-10-28T18:17:27.649Z,1761675447.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778606,-0.561632,-0.279899],[0.627206,-0.710485,-0.319099],[-0.019648,-0.424007,0.905446]] 2025-10-28T18:17:28.051Z,1761675448.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760969,-0.581699,-0.287322],[0.648557,-0.693874,-0.312909],[-0.017346,-0.424459,0.905281]] 2025-10-28T18:17:28.455Z,1761675448.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742671,-0.601538,-0.294264],[0.669490,-0.676766,-0.306221],[-0.014944,-0.424429,0.905338]] 2025-10-28T18:17:28.859Z,1761675448.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723780,-0.620495,-0.301876],[0.689911,-0.658887,-0.299818],[-0.012866,-0.425270,0.904975]] 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateRudder:A] Stopped 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:17:28.883Z,1761675448.883 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:17:28.884Z,1761675448.884 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:17:28.884Z,1761675448.884 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:17:28.884Z,1761675448.884 [marl:UpdateCommandMode] Stopped 2025-10-28T18:17:28.884Z,1761675448.884 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:17:28.884Z,1761675448.884 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed] Stopped 2025-10-28T18:17:28.885Z,1761675448.885 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:17:29.270Z,1761675449.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704068,-0.639873,-0.307979],[0.710048,-0.641032,-0.291394],[-0.010969,-0.423841,0.905670]] 2025-10-28T18:17:29.293Z,1761675449.293 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:17:29.294Z,1761675449.294 [marl:UpdateRudder:B] Stopped 2025-10-28T18:17:29.294Z,1761675449.294 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:17:29.294Z,1761675449.294 [marl:UpdateRudder] Stopped 2025-10-28T18:17:29.294Z,1761675449.294 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:17:29.667Z,1761675449.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683405,-0.658906,-0.314326],[0.729979,-0.622283,-0.282656],[-0.009356,-0.422620,0.906259]] 2025-10-28T18:17:30.083Z,1761675450.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662705,-0.676841,-0.320480],[0.748838,-0.603452,-0.274020],[-0.007926,-0.421582,0.906756]] 2025-10-28T18:17:30.475Z,1761675450.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641367,-0.694629,-0.325790],[0.767204,-0.584397,-0.264344],[-0.006770,-0.419489,0.907735]] 2025-10-28T18:17:30.881Z,1761675450.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619789,-0.711473,-0.331161],[0.784749,-0.564864,-0.255144],[-0.005533,-0.418013,0.908424]] 2025-10-28T18:17:31.287Z,1761675451.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598321,-0.727641,-0.335486],[0.801246,-0.545462,-0.245918],[-0.004055,-0.415944,0.909381]] 2025-10-28T18:17:31.715Z,1761675451.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575682,-0.743705,-0.339841],[0.817670,-0.524870,-0.236491],[-0.002493,-0.414022,0.910264]] 2025-10-28T18:17:32.092Z,1761675452.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551799,-0.759119,-0.345336],[0.833977,-0.502676,-0.227595],[-0.000820,-0.413589,0.910463]] 2025-10-28T18:17:32.498Z,1761675452.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526650,-0.773982,-0.351556],[0.850081,-0.478851,-0.219233],[0.001339,-0.414310,0.910135]] 2025-10-28T18:17:32.899Z,1761675452.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500355,-0.788433,-0.357796],[0.865813,-0.453940,-0.210489],[0.003538,-0.415104,0.909767]] 2025-10-28T18:17:33.303Z,1761675453.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472843,-0.802686,-0.363475],[0.881130,-0.428196,-0.200645],[0.005416,-0.415143,0.909740]] 2025-10-28T18:17:33.712Z,1761675453.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444148,-0.816060,-0.369836],[0.895929,-0.401513,-0.189995],[0.006553,-0.415733,0.909463]] 2025-10-28T18:17:34.112Z,1761675454.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414735,-0.828787,-0.375641],[0.909914,-0.374509,-0.178323],[0.007110,-0.415758,0.909447]] 2025-10-28T18:17:34.919Z,1761675454.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354690,-0.851017,-0.387253],[0.934966,-0.320261,-0.152549],[0.005800,-0.416176,0.909266]] 2025-10-28T18:17:35.323Z,1761675455.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325125,-0.860515,-0.392184],[0.945660,-0.293845,-0.139220],[0.004559,-0.416137,0.909291]] 2025-10-28T18:17:35.729Z,1761675455.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296324,-0.867825,-0.398839],[0.955082,-0.267891,-0.126697],[0.003105,-0.418467,0.908227]] 2025-10-28T18:17:36.131Z,1761675456.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268252,-0.874387,-0.404336],[0.963347,-0.242626,-0.114438],[0.001961,-0.420214,0.907423]] 2025-10-28T18:17:36.535Z,1761675456.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240712,-0.880553,-0.408269],[0.970596,-0.217819,-0.102464],[0.001296,-0.420928,0.907093]] 2025-10-28T18:17:36.940Z,1761675456.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214283,-0.885096,-0.413145],[0.976771,-0.193600,-0.091858],[0.001318,-0.423231,0.906021]] 2025-10-28T18:17:37.367Z,1761675457.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187886,-0.888875,-0.417851],[0.982189,-0.169125,-0.081869],[0.002102,-0.425790,0.904819]] 2025-10-28T18:17:37.748Z,1761675457.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161401,-0.892882,-0.420371],[0.986883,-0.144513,-0.071963],[0.003505,-0.426471,0.904494]] 2025-10-28T18:17:38.151Z,1761675458.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135106,-0.896250,-0.422472],[0.990816,-0.119843,-0.062621],[0.005494,-0.427052,0.904210]] 2025-10-28T18:17:38.555Z,1761675458.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108453,-0.898751,-0.424836],[0.994071,-0.094689,-0.053451],[0.007812,-0.428114,0.903691]] 2025-10-28T18:17:38.961Z,1761675458.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080322,-0.900927,-0.426472],[0.996719,-0.068300,-0.043437],[0.010006,-0.428561,0.903457]] 2025-10-28T18:17:39.363Z,1761675459.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051179,-0.901815,-0.429080],[0.998617,-0.041043,-0.032851],[0.012015,-0.430168,0.902669]] 2025-10-28T18:17:40.180Z,1761675460.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009978,-0.902538,-0.430494],[0.999839,0.015428,-0.009170],[0.014918,-0.430333,0.902547]] 2025-10-28T18:17:40.589Z,1761675460.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041415,-0.901244,-0.431329],[0.999014,0.044268,0.003424],[0.016008,-0.431045,0.902188]] 2025-10-28T18:17:40.986Z,1761675460.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072761,-0.898689,-0.432509],[0.997206,0.072898,0.016288],[0.016891,-0.432486,0.901482]] 2025-10-28T18:17:41.383Z,1761675461.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104189,-0.896176,-0.431292],[0.994403,0.101516,0.029285],[0.017539,-0.431929,0.901737]] 2025-10-28T18:17:41.854Z,1761675461.854 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:17:41.854Z,1761675461.854 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateRudder:A] Stopped 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:17:41.855Z,1761675461.855 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateCommandMode] Stopped 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:17:41.856Z,1761675461.856 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:17:41.857Z,1761675461.857 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:17:41.857Z,1761675461.857 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:17:41.857Z,1761675461.857 [marl:UpdateSpeed] Stopped 2025-10-28T18:17:41.857Z,1761675461.857 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:17:42.212Z,1761675462.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197232,-0.882092,-0.427801],[0.980155,0.186288,0.067778],[0.019908,-0.432679,0.901328]] 2025-10-28T18:17:42.236Z,1761675462.236 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:17:42.236Z,1761675462.236 [marl:UpdateRudder:B] Stopped 2025-10-28T18:17:42.236Z,1761675462.236 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:17:42.236Z,1761675462.236 [marl:UpdateRudder] Stopped 2025-10-28T18:17:42.236Z,1761675462.236 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:17:43.410Z,1761675463.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291156,-0.862298,-0.414330],[0.956453,0.271710,0.106637],[0.020625,-0.427335,0.903858]] 2025-10-28T18:17:43.813Z,1761675463.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321287,-0.855065,-0.406988],[0.946767,0.299185,0.118828],[0.020160,-0.423501,0.905671]] 2025-10-28T18:17:44.227Z,1761675464.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350855,-0.846940,-0.399491],[0.936230,0.326079,0.130945],[0.019363,-0.419958,0.907337]] 2025-10-28T18:17:44.615Z,1761675464.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379862,-0.836553,-0.394822],[0.924866,0.351811,0.144402],[0.018103,-0.420010,0.907339]] 2025-10-28T18:17:45.024Z,1761675465.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408014,-0.826732,-0.387349],[0.912815,0.377371,0.156077],[0.017140,-0.417259,0.908626]] 2025-10-28T18:17:45.431Z,1761675465.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435643,-0.817089,-0.377598],[0.899978,0.402838,0.166618],[0.015969,-0.412416,0.910856]] 2025-10-28T18:17:45.798Z,1761675465.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:17:45.856Z,1761675465.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461954,-0.806095,-0.369876],[0.886773,0.426968,0.177010],[0.015238,-0.409767,0.912063]] 2025-10-28T18:17:46.237Z,1761675466.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487589,-0.793209,-0.364797],[0.872954,0.449839,0.188671],[0.014444,-0.410445,0.911771]] 2025-10-28T18:17:46.639Z,1761675466.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512503,-0.779805,-0.359507],[0.858569,0.472269,0.199555],[0.014170,-0.410934,0.911555]] 2025-10-28T18:17:46.800Z,1761675466.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:17:47.044Z,1761675467.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536982,-0.763730,-0.358284],[0.843480,0.493047,0.213180],[0.013839,-0.416679,0.908948]] 2025-10-28T18:17:47.449Z,1761675467.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560307,-0.747035,-0.357765],[0.828169,0.512513,0.226863],[0.013885,-0.423402,0.905835]] 2025-10-28T18:17:47.851Z,1761675467.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583522,-0.729891,-0.356035],[0.811971,0.532089,0.239966],[0.014293,-0.429116,0.903136]] 2025-10-28T18:17:48.255Z,1761675468.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606419,-0.711417,-0.355165],[0.795004,0.550904,0.253918],[0.015020,-0.436338,0.899657]] 2025-10-28T18:17:48.669Z,1761675468.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629880,-0.692026,-0.352633],[0.776534,0.570261,0.267949],[0.015665,-0.442608,0.896578]] 2025-10-28T18:17:49.066Z,1761675469.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653421,-0.672393,-0.347747],[0.756804,0.590541,0.280194],[0.016958,-0.446261,0.894742]] 2025-10-28T18:17:49.467Z,1761675469.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677194,-0.652664,-0.339762],[0.735578,0.611942,0.290607],[0.018246,-0.446718,0.894489]] 2025-10-28T18:17:49.871Z,1761675469.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700322,-0.632757,-0.330405],[0.713553,0.633365,0.299483],[0.019767,-0.445496,0.895066]] 2025-10-28T18:17:50.276Z,1761675470.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723703,-0.610407,-0.321959],[0.689797,0.653904,0.310788],[0.020823,-0.447004,0.894289]] 2025-10-28T18:17:50.685Z,1761675470.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746452,-0.588376,-0.310844],[0.665084,0.674912,0.319619],[0.021736,-0.445317,0.895109]] 2025-10-28T18:17:51.083Z,1761675471.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768861,-0.565182,-0.299035],[0.639028,0.695477,0.328564],[0.022274,-0.443712,0.895893]] 2025-10-28T18:17:51.488Z,1761675471.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790192,-0.542784,-0.284575],[0.612441,0.716525,0.333927],[0.022655,-0.438152,0.898615]] 2025-10-28T18:17:51.891Z,1761675471.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810842,-0.518258,-0.271928],[0.584824,0.735505,0.342071],[0.022723,-0.436395,0.899468]] 2025-10-28T18:17:52.301Z,1761675472.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830446,-0.493830,-0.257860],[0.556646,0.754204,0.348312],[0.022472,-0.432791,0.901214]] 2025-10-28T18:17:52.703Z,1761675472.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849085,-0.468432,-0.244184],[0.527804,0.771385,0.355510],[0.021828,-0.430740,0.902212]] 2025-10-28T18:17:53.103Z,1761675473.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866536,-0.443079,-0.229776],[0.498677,0.787853,0.361397],[0.020903,-0.427748,0.903656]] 2025-10-28T18:17:53.511Z,1761675473.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882800,-0.417344,-0.215613],[0.469329,0.803033,0.367244],[0.019878,-0.425396,0.904789]] 2025-10-28T18:17:53.913Z,1761675473.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897408,-0.392420,-0.201657],[0.440791,0.817174,0.371388],[0.019048,-0.422175,0.906314]] 2025-10-28T18:17:54.319Z,1761675474.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910427,-0.368012,-0.188918],[0.413279,0.829030,0.376709],[0.017986,-0.421042,0.906863]] 2025-10-28T18:17:54.727Z,1761675474.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922275,-0.343213,-0.177804],[0.386142,0.838817,0.383772],[0.017430,-0.422601,0.906148]] 2025-10-28T18:17:55.127Z,1761675475.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933318,-0.317418,-0.167818],[0.358662,0.845953,0.394622],[0.016706,-0.428497,0.903389]] 2025-10-28T18:17:55.183Z,1761675475.183 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:17:55.183Z,1761675475.183 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:17:55.188Z,1761675475.188 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:17:55.188Z,1761675475.188 [marl:UpdateRudder:A] Stopped 2025-10-28T18:17:55.188Z,1761675475.188 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:17:55.188Z,1761675475.188 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode] Stopped 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:17:55.189Z,1761675475.189 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:17:55.190Z,1761675475.190 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:17:55.190Z,1761675475.190 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:17:55.190Z,1761675475.190 [marl:UpdateSpeed] Stopped 2025-10-28T18:17:55.190Z,1761675475.190 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:17:55.562Z,1761675475.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942801,-0.293339,-0.158365],[0.332954,0.851971,0.404088],[0.016388,-0.433703,0.900907]] 2025-10-28T18:17:55.625Z,1761675475.625 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:17:55.625Z,1761675475.625 [marl:UpdateRudder:B] Stopped 2025-10-28T18:17:55.626Z,1761675475.626 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:17:55.626Z,1761675475.626 [marl:UpdateRudder] Stopped 2025-10-28T18:17:55.626Z,1761675475.626 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:17:55.931Z,1761675475.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951522,-0.269426,-0.148380],[0.307160,0.857602,0.412518],[0.016108,-0.438096,0.898784]] 2025-10-28T18:17:56.337Z,1761675476.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959499,-0.245803,-0.137629],[0.281251,0.863723,0.418187],[0.016082,-0.439959,0.897874]] 2025-10-28T18:17:56.741Z,1761675476.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966791,-0.221957,-0.126689],[0.255053,0.869403,0.423186],[0.016214,-0.441445,0.897142]] 2025-10-28T18:17:57.155Z,1761675477.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973669,-0.196515,-0.115544],[0.227356,0.874160,0.429132],[0.016673,-0.444102,0.895821]] 2025-10-28T18:17:57.587Z,1761675477.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980098,-0.169471,-0.103375],[0.197714,0.879989,0.431890],[0.017776,-0.443733,0.895982]] 2025-10-28T18:17:57.951Z,1761675477.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985860,-0.140956,-0.090621],[0.166517,0.884661,0.435485],[0.018784,-0.444417,0.895623]] 2025-10-28T18:17:58.370Z,1761675478.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990851,-0.110709,-0.077191],[0.133487,0.888253,0.439532],[0.019905,-0.445814,0.894904]] 2025-10-28T18:17:58.769Z,1761675478.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994784,-0.080163,-0.063079],[0.099759,0.893601,0.437636],[0.021285,-0.441646,0.896937]] 2025-10-28T18:17:59.171Z,1761675479.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997588,-0.048985,-0.049175],[0.065541,0.898031,0.435023],[0.022851,-0.437196,0.899076]] 2025-10-28T18:17:59.598Z,1761675479.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999207,-0.017103,-0.035947],[0.030992,0.900944,0.432827],[0.024984,-0.433598,0.900760]] 2025-10-28T18:17:59.973Z,1761675479.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999629,0.015549,-0.022353],[-0.004271,0.900285,0.435280],[0.026892,-0.435023,0.900018]] 2025-10-28T18:18:00.389Z,1761675480.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998861,0.046769,-0.009478],[-0.038031,0.900161,0.433893],[0.028825,-0.433038,0.900915]] 2025-10-28T18:18:00.784Z,1761675480.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996928,0.078243,0.003571],[-0.071952,0.896855,0.436434],[0.030945,-0.435350,0.899729]] 2025-10-28T18:18:01.183Z,1761675481.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994034,0.107814,0.016516],[-0.104200,0.893938,0.435910],[0.032233,-0.435030,0.899839]] 2025-10-28T18:18:01.207Z,1761675481.207 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:18:01.369Z,1761675481.369 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:18:01.369Z,1761675481.369 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:18:01.601Z,1761675481.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990251,0.136352,0.028465],[-0.135223,0.892007,0.431321],[0.033421,-0.430966,0.901749]] 2025-10-28T18:18:01.621Z,1761675481.621 [DAT](INFO): DAT read: user:114> 2025-10-28T18:18:01.622Z,1761675481.622 [DAT](INFO): DAT read: Tx time:18:18:01.3970 2025-10-28T18:18:01.622Z,1761675481.622 [DAT](INFO): Ping request sent. 2025-10-28T18:18:01.622Z,1761675481.622 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:18:01.622Z,1761675481.622 [DAT](INFO): publishing transmit ping time 2025-10-28T18:18:01.623Z,1761675481.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T18:18:01.873Z,1761675481.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251294 2025-10-28T18:18:01.991Z,1761675481.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985608,0.163980,0.041081],[-0.165654,0.888429,0.428081],[0.033699,-0.428725,0.902806]] 2025-10-28T18:18:02.126Z,1761675482.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503518 2025-10-28T18:18:02.377Z,1761675482.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754846 2025-10-28T18:18:02.395Z,1761675482.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980001,0.191569,0.053845],[-0.196061,0.883258,0.425930],[0.034036,-0.427969,0.903152]] 2025-10-28T18:18:02.631Z,1761675482.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008202 2025-10-28T18:18:02.801Z,1761675482.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973455,0.218757,0.067318],[-0.226330,0.876244,0.425407],[0.034074,-0.429350,0.902495]] 2025-10-28T18:18:02.882Z,1761675482.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259486 2025-10-28T18:18:03.134Z,1761675483.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511137 2025-10-28T18:18:03.203Z,1761675483.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966228,0.244930,0.080079],[-0.255466,0.869741,0.422241],[0.033772,-0.428439,0.902939]] 2025-10-28T18:18:03.385Z,1761675483.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762741 2025-10-28T18:18:03.607Z,1761675483.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957946,0.271186,0.093790],[-0.284993,0.861088,0.421078],[0.033429,-0.430100,0.902162]] 2025-10-28T18:18:03.639Z,1761675483.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016441 2025-10-28T18:18:03.889Z,1761675483.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790 2025-10-28T18:18:04.011Z,1761675484.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948685,0.297760,0.106471],[-0.314464,0.852852,0.416841],[0.033315,-0.428932,0.902722]] 2025-10-28T18:18:04.142Z,1761675484.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519931 2025-10-28T18:18:04.393Z,1761675484.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770766 2025-10-28T18:18:04.419Z,1761675484.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938241,0.325276,0.117895],[-0.344319,0.844482,0.410236],[0.033880,-0.425494,0.904327]] 2025-10-28T18:18:04.646Z,1761675484.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937 2025-10-28T18:18:04.822Z,1761675484.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926657,0.352748,0.129901],[-0.374332,0.834327,0.404691],[0.034374,-0.423636,0.905180]] 2025-10-28T18:18:04.897Z,1761675484.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804 2025-10-28T18:18:05.149Z,1761675485.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527305 2025-10-28T18:18:05.223Z,1761675485.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913780,0.380112,0.143250],[-0.404734,0.821951,0.400733],[0.034579,-0.424160,0.904927]] 2025-10-28T18:18:05.401Z,1761675485.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779121 2025-10-28T18:18:05.633Z,1761675485.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899935,0.407247,0.155778],[-0.434647,0.809510,0.394685],[0.034631,-0.422899,0.905515]] 2025-10-28T18:18:05.657Z,1761675485.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034729 2025-10-28T18:18:05.911Z,1761675485.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288928 2025-10-28T18:18:06.034Z,1761675486.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885226,0.433228,0.169376],[-0.463900,0.795425,0.389995],[0.034231,-0.423807,0.905106]] 2025-10-28T18:18:06.161Z,1761675486.161 [DAT](INFO): DAT read: Rx Time:18:18:05.5616 2025-10-28T18:18:06.162Z,1761675486.162 [DAT](INFO): Rx dataTimestamp_ set to:1761675486.161293 2025-10-28T18:18:06.162Z,1761675486.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540018 2025-10-28T18:18:06.413Z,1761675486.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790759 2025-10-28T18:18:06.441Z,1761675486.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869828,0.458084,0.183191],[-0.492229,0.780715,0.384962],[0.033325,-0.425022,0.904569]] 2025-10-28T18:18:06.665Z,1761675486.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043000 2025-10-28T18:18:06.839Z,1761675486.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853692,0.482628,0.195654],[-0.519785,0.766449,0.377331],[0.032151,-0.423823,0.905174]] 2025-10-28T18:18:06.923Z,1761675486.923 [DAT](INFO): DAT read: 18:18:05.5616 LVL= 21280, 28657, 32754, 32755, AGC= 80, IDX= 391,-0.09, 2.043, 1.595, 0.283, 2.054, PHS= 0.090,-0.414,-1.815, RAW= 44.8, 23.9, CAL= 41.0, 28.3, ROT= 109.0, -28.3 2025-10-28T18:18:06.925Z,1761675486.925 [DAT](INFO): got valid direction response: 18:18:05.5616 LVL= 21280, 28657, 32754, 32755, AGC= 80, IDX= 391,-0.09, 2.043, 1.595, 0.283, 2.054, PHS= 0.090,-0.414,-1.815, RAW= 44.8, 23.9, CAL= 41.0, 28.3, ROT= 109.0, -28.3 2025-10-28T18:18:06.926Z,1761675486.926 [DAT](INFO): DAT read: $Error in header 2025-10-28T18:18:06.926Z,1761675486.926 [DAT](INFO): Received a bad header 2025-10-28T18:18:06.940Z,1761675486.940 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T18:18:06.941Z,1761675486.941 [DAT](INFO): direction in FSK: [-0.286655,0.832508,0.474088] 2025-10-28T18:18:07.243Z,1761675487.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837116,0.505584,0.208860],[-0.546157,0.750962,0.371171],[0.030812,-0.424783,0.904771]] 2025-10-28T18:18:07.284Z,1761675487.284 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675520.00. Resetting abort timer. 2025-10-28T18:18:07.655Z,1761675487.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820411,0.527322,0.221036],[-0.571022,0.735818,0.364013],[0.029309,-0.424857,0.904786]] 2025-10-28T18:18:08.061Z,1761675488.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803397,0.548110,0.232656],[-0.594788,0.720371,0.356783],[0.027958,-0.425019,0.904753]] 2025-10-28T18:18:08.085Z,1761675488.085 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:18:08.085Z,1761675488.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:18:08.085Z,1761675488.085 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateRudder:A] Stopped 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:18:08.086Z,1761675488.086 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateCommandMode] Stopped 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:18:08.087Z,1761675488.087 [marl:UpdateSpeed] Stopped 2025-10-28T18:18:08.088Z,1761675488.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:18:08.455Z,1761675488.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786164,0.567753,0.244134],[-0.617436,0.704416,0.350101],[0.026799,-0.425975,0.904338]] 2025-10-28T18:18:08.499Z,1761675488.499 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:18:08.499Z,1761675488.499 [marl:UpdateRudder:B] Stopped 2025-10-28T18:18:08.499Z,1761675488.499 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:18:08.499Z,1761675488.499 [marl:UpdateRudder] Stopped 2025-10-28T18:18:08.499Z,1761675488.499 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:18:08.859Z,1761675488.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768493,0.586649,0.255462],[-0.639354,0.688193,0.342953],[0.025386,-0.426887,0.903948]] 2025-10-28T18:18:09.676Z,1761675489.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731524,0.622178,0.278868],[-0.681422,0.653258,0.330026],[0.023162,-0.431449,0.901840]] 2025-10-28T18:18:10.074Z,1761675490.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711636,0.639699,0.290448],[-0.702193,0.634479,0.323052],[0.022373,-0.433845,0.900710]] 2025-10-28T18:18:10.475Z,1761675490.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690409,0.657078,0.302627],[-0.723091,0.614218,0.316031],[0.021778,-0.437018,0.899189]] 2025-10-28T18:18:11.285Z,1761675491.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642866,0.692847,0.326630],[-0.765684,0.569426,0.299136],[0.021263,-0.442400,0.896566]] 2025-10-28T18:18:11.687Z,1761675491.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617426,0.712218,0.333961],[-0.786346,0.547425,0.286333],[0.021113,-0.439399,0.898044]] 2025-10-28T18:18:11.705Z,1761675491.705 [DAT](INFO): Reached modem response timeout 2025-10-28T18:18:12.094Z,1761675492.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590566,0.731457,0.340886],[-0.806713,0.524051,0.273100],[0.021120,-0.436281,0.899563]] 2025-10-28T18:18:12.498Z,1761675492.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563227,0.751358,0.343854],[-0.826030,0.501290,0.257649],[0.021216,-0.429149,0.902984]] 2025-10-28T18:18:13.303Z,1761675493.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507303,0.787375,0.350263],[-0.861499,0.453223,0.228927],[0.021505,-0.417887,0.908245]] 2025-10-28T18:18:13.707Z,1761675493.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479012,0.804444,0.351308],[-0.877541,0.428958,0.214283],[0.021682,-0.410931,0.911409]] 2025-10-28T18:18:13.973Z,1761675493.973 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:18:13.974Z,1761675493.974 [DAT](INFO): response not received 2025-10-28T18:18:13.974Z,1761675493.974 [DAT](ERROR): No response from remote modem. 2025-10-28T18:18:14.132Z,1761675494.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450587,0.819261,0.354659],[-0.892469,0.403730,0.201248],[0.021689,-0.407202,0.913081]] 2025-10-28T18:18:14.527Z,1761675494.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422044,0.833154,0.357397],[-0.906316,0.378331,0.188301],[0.021669,-0.403386,0.914773]] 2025-10-28T18:18:14.920Z,1761675494.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393390,0.846016,0.359864],[-0.919125,0.352843,0.175245],[0.021284,-0.399699,0.916399]] 2025-10-28T18:18:15.323Z,1761675495.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365432,0.856031,0.365609],[-0.930612,0.327322,0.163776],[0.020526,-0.400089,0.916246]] 2025-10-28T18:18:15.730Z,1761675495.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337791,0.863796,0.373835],[-0.941015,0.301633,0.153322],[0.019678,-0.403576,0.914735]] 2025-10-28T18:18:16.141Z,1761675496.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310749,0.871058,0.380385],[-0.950302,0.276725,0.142649],[0.018994,-0.405809,0.913761]] 2025-10-28T18:18:16.535Z,1761675496.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285163,0.876880,0.386994],[-0.958305,0.253140,0.132559],[0.018275,-0.408659,0.912504]] 2025-10-28T18:18:16.920Z,1761675496.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:18:16.939Z,1761675496.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261584,0.881522,0.393057],[-0.965014,0.231310,0.123463],[0.017917,-0.411601,0.911188]] 2025-10-28T18:18:17.349Z,1761675497.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238560,0.887402,0.394470],[-0.970961,0.210423,0.113830],[0.018008,-0.410170,0.911831]] 2025-10-28T18:18:17.748Z,1761675497.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216106,0.894047,0.392400],[-0.976200,0.190342,0.103943],[0.018240,-0.405524,0.913903]] 2025-10-28T18:18:17.924Z,1761675497.924 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:18:18.158Z,1761675498.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194125,0.899609,0.391176],[-0.980807,0.170579,0.094446],[0.018238,-0.402002,0.915457]] 2025-10-28T18:18:18.558Z,1761675498.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171961,0.904342,0.390633],[-0.984941,0.150625,0.084874],[0.017916,-0.399345,0.916625]] 2025-10-28T18:18:18.961Z,1761675498.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149443,0.906864,0.394035],[-0.988620,0.130106,0.075513],[0.017213,-0.400836,0.915988]] 2025-10-28T18:18:19.387Z,1761675499.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125434,0.907530,0.400820],[-0.991964,0.107996,0.065907],[0.016525,-0.405866,0.913783]] 2025-10-28T18:18:20.186Z,1761675500.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071703,0.907895,0.413021],[-0.997312,0.059012,0.043422],[0.015050,-0.415024,0.909686]] 2025-10-28T18:18:20.591Z,1761675500.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042775,0.909105,0.414366],[-0.998984,0.033033,0.030653],[0.014179,-0.415256,0.909594]] 2025-10-28T18:18:20.996Z,1761675500.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012978,0.910872,0.412486],[-0.999830,0.006406,0.017310],[0.013125,-0.412640,0.910800]] 2025-10-28T18:18:21.398Z,1761675501.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017628,0.913409,0.406662],[-0.999769,-0.021091,0.004033],[0.012261,-0.406497,0.913570]] 2025-10-28T18:18:21.433Z,1761675501.433 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:18:21.433Z,1761675501.433 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:18:21.433Z,1761675501.433 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:18:21.435Z,1761675501.435 [marl:UpdateRudder:A] Stopped 2025-10-28T18:18:21.435Z,1761675501.435 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:18:21.435Z,1761675501.435 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:18:21.439Z,1761675501.439 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateCommandMode] Stopped 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:18:21.440Z,1761675501.440 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed] Stopped 2025-10-28T18:18:21.441Z,1761675501.441 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:18:21.803Z,1761675501.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048762,0.914942,0.400630],[-0.998744,-0.049286,-0.009001],[0.011510,-0.400566,0.916196]] 2025-10-28T18:18:21.857Z,1761675501.857 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:18:21.857Z,1761675501.857 [marl:UpdateRudder:B] Stopped 2025-10-28T18:18:21.857Z,1761675501.857 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:18:21.857Z,1761675501.857 [marl:UpdateRudder] Stopped 2025-10-28T18:18:21.858Z,1761675501.858 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:18:22.207Z,1761675502.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079873,0.915284,0.394811],[-0.996745,-0.077671,-0.021585],[0.010909,-0.395251,0.918509]] 2025-10-28T18:18:22.621Z,1761675502.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110559,0.913918,0.390552],[-0.993812,-0.105893,-0.033536],[0.010707,-0.391842,0.919970]] 2025-10-28T18:18:23.017Z,1761675503.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140303,0.910403,0.389207],[-0.990050,-0.133276,-0.045148],[0.010770,-0.391669,0.920043]] 2025-10-28T18:18:23.419Z,1761675503.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168486,0.905119,0.390348],[-0.985645,-0.159041,-0.056658],[0.010799,-0.394291,0.918922]] 2025-10-28T18:18:24.233Z,1761675504.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218996,0.888706,0.402793],[-0.975668,-0.203948,-0.080481],[0.010625,-0.410617,0.911746]] 2025-10-28T18:18:24.632Z,1761675504.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241070,0.879767,0.409751],[-0.970451,-0.223074,-0.091993],[0.010472,-0.419820,0.907547]] 2025-10-28T18:18:25.034Z,1761675505.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262282,0.870433,0.416598],[-0.964939,-0.241065,-0.103830],[0.010051,-0.429225,0.903142]] 2025-10-28T18:18:25.443Z,1761675505.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283865,0.862965,0.417986],[-0.958820,-0.259646,-0.115100],[0.009201,-0.433446,0.901133]] 2025-10-28T18:18:25.850Z,1761675505.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330202,0.851656,0.407000],[-0.943886,-0.301000,-0.135933],[0.006739,-0.429047,0.903257]] 2025-10-28T18:18:26.253Z,1761675506.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356490,0.846067,0.396341],[-0.934281,-0.325492,-0.145515],[0.005890,-0.422168,0.906498]] 2025-10-28T18:18:26.656Z,1761675506.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384621,0.839409,0.384004],[-0.923059,-0.352148,-0.154766],[0.005314,-0.413985,0.910268]] 2025-10-28T18:18:27.063Z,1761675507.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413236,0.830952,0.372498],[-0.910611,-0.379265,-0.164153],[0.004872,-0.407035,0.913400]] 2025-10-28T18:18:27.973Z,1761675507.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469401,0.809017,0.353773],[-0.882975,-0.432058,-0.183527],[0.004374,-0.398520,0.917149]] 2025-10-28T18:18:28.370Z,1761675508.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495396,0.795423,0.349120],[-0.868659,-0.455406,-0.195031],[0.003859,-0.399883,0.916558]] 2025-10-28T18:18:28.803Z,1761675508.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518952,0.781947,0.345321],[-0.854799,-0.475978,-0.206793],[0.002664,-0.402496,0.915418]] 2025-10-28T18:18:29.207Z,1761675509.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541765,0.767551,0.342574],[-0.840530,-0.495241,-0.219651],[0.001063,-0.406943,0.913453]] 2025-10-28T18:18:29.617Z,1761675509.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563823,0.753085,0.339068],[-0.825895,-0.513802,-0.232172],[-0.000632,-0.410939,0.911663]] 2025-10-28T18:18:30.016Z,1761675510.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585288,0.738182,0.335448],[-0.810822,-0.531637,-0.244805],[-0.002374,-0.415270,0.909695]] 2025-10-28T18:18:30.418Z,1761675510.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606669,0.722975,0.330545],[-0.794944,-0.549577,-0.256963],[-0.004118,-0.418656,0.908135]] 2025-10-28T18:18:30.822Z,1761675510.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628038,0.707359,0.324365],[-0.778164,-0.567926,-0.268182],[-0.005486,-0.420837,0.907120]] 2025-10-28T18:18:31.227Z,1761675511.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648951,0.691298,0.317758],[-0.760796,-0.585675,-0.279595],[-0.007181,-0.423193,0.906011]] 2025-10-28T18:18:31.633Z,1761675511.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669677,0.674595,0.310572],[-0.742606,-0.603562,-0.290258],[-0.008357,-0.425012,0.905149]] 2025-10-28T18:18:32.034Z,1761675512.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688744,0.658650,0.303005],[-0.724939,-0.620039,-0.300024],[-0.009736,-0.426300,0.904529]] 2025-10-28T18:18:32.438Z,1761675512.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707080,0.642766,0.294770],[-0.707051,-0.636298,-0.308551],[-0.010765,-0.426588,0.904382]] 2025-10-28T18:18:32.842Z,1761675512.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724260,0.627337,0.286174],[-0.689425,-0.651720,-0.316154],[-0.011830,-0.426273,0.904517]] 2025-10-28T18:18:33.251Z,1761675513.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740456,0.611506,0.278899],[-0.671987,-0.665818,-0.324221],[-0.012567,-0.427488,0.903933]] 2025-10-28T18:18:33.650Z,1761675513.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755688,0.596594,0.270205],[-0.654800,-0.679956,-0.329995],[-0.013145,-0.426304,0.904485]] 2025-10-28T18:18:34.055Z,1761675514.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770341,0.582328,0.259746],[-0.637487,-0.694681,-0.333210],[-0.013597,-0.422270,0.906368]] 2025-10-28T18:18:34.864Z,1761675514.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799740,0.551720,0.236688],[-0.600163,-0.724991,-0.337923],[-0.014842,-0.412302,0.910926]] 2025-10-28T18:18:34.889Z,1761675514.889 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:18:34.890Z,1761675514.890 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateRudder:A] Stopped 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:18:34.891Z,1761675514.891 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:18:34.898Z,1761675514.898 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:18:34.899Z,1761675514.899 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:18:34.913Z,1761675514.913 [marl:UpdateCommandMode] Stopped 2025-10-28T18:18:34.913Z,1761675514.913 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:18:34.913Z,1761675514.913 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:18:34.914Z,1761675514.914 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:18:34.914Z,1761675514.914 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:18:34.915Z,1761675514.915 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:18:34.915Z,1761675514.915 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:18:34.915Z,1761675514.915 [marl:UpdateSpeed] Stopped 2025-10-28T18:18:34.915Z,1761675514.915 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:18:35.276Z,1761675515.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814907,0.534842,0.223317],[-0.579379,-0.741266,-0.338888],[-0.015714,-0.405548,0.913939]] 2025-10-28T18:18:35.299Z,1761675515.299 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:18:35.299Z,1761675515.299 [marl:UpdateRudder:B] Stopped 2025-10-28T18:18:35.300Z,1761675515.300 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:18:35.300Z,1761675515.300 [marl:UpdateRudder] Stopped 2025-10-28T18:18:35.300Z,1761675515.300 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:18:35.671Z,1761675515.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830829,0.515893,0.208750],[-0.556272,-0.758456,-0.339566],[-0.016852,-0.398243,0.917125]] 2025-10-28T18:18:36.081Z,1761675516.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847362,0.494244,0.194166],[-0.530699,-0.775594,-0.341777],[-0.018327,-0.392653,0.919504]] 2025-10-28T18:18:36.484Z,1761675516.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864148,0.469990,0.179883],[-0.502849,-0.792365,-0.345399],[-0.019801,-0.388930,0.921054]] 2025-10-28T18:18:36.884Z,1761675516.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880339,0.444128,0.166592],[-0.473854,-0.807441,-0.351428],[-0.021566,-0.388316,0.921274]] 2025-10-28T18:18:37.289Z,1761675517.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895920,0.416380,0.154775],[-0.443612,-0.820477,-0.360592],[-0.023154,-0.391721,0.919792]] 2025-10-28T18:18:37.691Z,1761675517.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910478,0.387799,0.143671],[-0.412819,-0.831503,-0.371729],[-0.024694,-0.397761,0.917156]] 2025-10-28T18:18:38.101Z,1761675518.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924016,0.358746,0.132275],[-0.381451,-0.841146,-0.383364],[-0.026268,-0.404691,0.914076]] 2025-10-28T18:18:38.501Z,1761675518.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936083,0.330376,0.120832],[-0.350695,-0.849462,-0.394243],[-0.027606,-0.411419,0.911028]] 2025-10-28T18:18:38.903Z,1761675518.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946563,0.303370,0.109478],[-0.321216,-0.856275,-0.404491],[-0.028967,-0.418042,0.907966]] 2025-10-28T18:18:39.309Z,1761675519.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955581,0.277771,0.098532],[-0.293206,-0.861989,-0.413527],[-0.029933,-0.424049,0.905145]] 2025-10-28T18:18:39.710Z,1761675519.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963268,0.253784,0.087802],[-0.266784,-0.866991,-0.420896],[-0.030694,-0.428860,0.902850]] 2025-10-28T18:18:40.115Z,1761675520.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969940,0.230845,0.076988],[-0.241357,-0.872238,-0.425381],[-0.031045,-0.431175,0.901734]] 2025-10-28T18:18:40.520Z,1761675520.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975766,0.208565,0.066187],[-0.216554,-0.877082,-0.428755],[-0.031372,-0.432698,0.900993]] 2025-10-28T18:18:40.922Z,1761675520.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980925,0.186461,0.054946],[-0.191766,-0.881963,-0.430542],[-0.031819,-0.432866,0.900897]] 2025-10-28T18:18:41.326Z,1761675521.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985369,0.164787,0.043516],[-0.167361,-0.887240,-0.429878],[-0.032229,-0.430871,0.901838]] 2025-10-28T18:18:41.731Z,1761675521.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989172,0.143220,0.032044],[-0.143116,-0.892974,-0.426750],[-0.032504,-0.426715,0.903802]] 2025-10-28T18:18:42.136Z,1761675522.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992450,0.120994,0.020066],[-0.118114,-0.898819,-0.422106],[-0.033037,-0.421289,0.906324]] 2025-10-28T18:18:42.538Z,1761675522.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995091,0.098643,0.007951],[-0.092969,-0.904263,-0.416732],[-0.033918,-0.415425,0.908995]] 2025-10-28T18:18:42.942Z,1761675522.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997084,0.076191,-0.004368],[-0.067766,-0.910249,-0.408477],[-0.035099,-0.406990,0.912758]] 2025-10-28T18:18:43.352Z,1761675523.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998463,0.052814,-0.016779],[-0.041723,-0.915733,-0.399616],[-0.036471,-0.398302,0.916529]] 2025-10-28T18:18:43.754Z,1761675523.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999178,0.028511,-0.028828],[-0.014842,-0.918849,-0.394331],[-0.037731,-0.393579,0.918516]] 2025-10-28T18:18:44.154Z,1761675524.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999179,0.003573,-0.040351],[0.012376,-0.921558,-0.388043],[-0.038573,-0.388223,0.920758]] 2025-10-28T18:18:44.567Z,1761675524.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998353,-0.022962,-0.052571],[0.041414,-0.922620,-0.383481],[-0.039698,-0.385027,0.922051]] 2025-10-28T18:18:45.367Z,1761675525.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993989,-0.076515,-0.078298],[0.100876,-0.918009,-0.383515],[-0.042534,-0.389108,0.920210]] 2025-10-28T18:18:45.776Z,1761675525.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990342,-0.103854,-0.091850],[0.131421,-0.914224,-0.383305],[-0.044164,-0.391674,0.919043]] 2025-10-28T18:18:46.175Z,1761675526.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985778,-0.130284,-0.106146],[0.161461,-0.909416,-0.383266],[-0.046597,-0.394954,0.917518]] 2025-10-28T18:18:46.586Z,1761675526.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980184,-0.157363,-0.120317],[0.191837,-0.905483,-0.378549],[-0.049376,-0.394129,0.917728]] 2025-10-28T18:18:46.982Z,1761675526.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973559,-0.184538,-0.134646],[0.222348,-0.900686,-0.373264],[-0.052392,-0.393332,0.917902]] 2025-10-28T18:18:47.428Z,1761675527.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966224,-0.209293,-0.150359],[0.251541,-0.892786,-0.373712],[-0.056023,-0.398911,0.915277]] 2025-10-28T18:18:47.793Z,1761675527.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958137,-0.233399,-0.165827],[0.279996,-0.884808,-0.372447],[-0.059796,-0.403286,0.913118]] 2025-10-28T18:18:47.859Z,1761675527.859 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:18:47.859Z,1761675527.859 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:18:47.859Z,1761675527.859 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:18:47.859Z,1761675527.859 [marl:UpdateRudder:A] Stopped 2025-10-28T18:18:47.860Z,1761675527.860 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:18:47.860Z,1761675527.860 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:18:47.868Z,1761675527.868 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:18:47.868Z,1761675527.868 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateCommandMode] Stopped 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:18:47.869Z,1761675527.869 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:18:47.870Z,1761675527.870 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:18:47.870Z,1761675527.870 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:18:47.870Z,1761675527.870 [marl:UpdateSpeed] Stopped 2025-10-28T18:18:47.870Z,1761675527.870 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:18:48.045Z,1761675528.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:18:48.195Z,1761675528.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949389,-0.257094,-0.180456],[0.307605,-0.877261,-0.368501],[-0.063568,-0.405359,0.911945]] 2025-10-28T18:18:48.220Z,1761675528.220 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:18:48.220Z,1761675528.220 [marl:UpdateRudder:B] Stopped 2025-10-28T18:18:48.220Z,1761675528.220 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:18:48.220Z,1761675528.220 [marl:UpdateRudder] Stopped 2025-10-28T18:18:48.220Z,1761675528.220 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:18:48.598Z,1761675528.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939884,-0.281285,-0.193638],[0.334848,-0.870425,-0.360885],[-0.067036,-0.404029,0.912287]] 2025-10-28T18:18:49.003Z,1761675529.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929715,-0.305231,-0.206067],[0.361478,-0.863357,-0.352062],[-0.070449,-0.401807,0.913011]] 2025-10-28T18:18:49.049Z,1761675529.049 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:18:49.406Z,1761675529.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919306,-0.327379,-0.218404],[0.386640,-0.854830,-0.346086],[-0.073397,-0.402603,0.912428]] 2025-10-28T18:18:49.812Z,1761675529.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908106,-0.349543,-0.230571],[0.411839,-0.845103,-0.340866],[-0.075709,-0.404501,0.911399]] 2025-10-28T18:18:50.214Z,1761675530.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896265,-0.372028,-0.241461],[0.436709,-0.835287,-0.334038],[-0.077417,-0.404835,0.911107]] 2025-10-28T18:18:50.619Z,1761675530.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883617,-0.394340,-0.252421],[0.461515,-0.824409,-0.327648],[-0.078893,-0.406011,0.910456]] 2025-10-28T18:18:51.023Z,1761675531.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870580,-0.415690,-0.263232],[0.485552,-0.812338,-0.323026],[-0.079555,-0.409033,0.909045]] 2025-10-28T18:18:51.431Z,1761675531.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856759,-0.437604,-0.272887],[0.509432,-0.800489,-0.315747],[-0.080272,-0.409536,0.908755]] 2025-10-28T18:18:51.832Z,1761675531.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842258,-0.459729,-0.281514],[0.532978,-0.788477,-0.306983],[-0.080838,-0.408600,0.909127]] 2025-10-28T18:18:52.235Z,1761675532.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827314,-0.481241,-0.289755],[0.555784,-0.776157,-0.297800],[-0.081581,-0.407415,0.909592]] 2025-10-28T18:18:52.638Z,1761675532.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811493,-0.502999,-0.297440],[0.578556,-0.763136,-0.287917],[-0.082166,-0.405729,0.910293]] 2025-10-28T18:18:53.049Z,1761675533.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795175,-0.523429,-0.306134],[0.600712,-0.748846,-0.279954],[-0.082711,-0.406511,0.909894]] 2025-10-28T18:18:53.453Z,1761675533.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778028,-0.543952,-0.314308],[0.622647,-0.734218,-0.270619],[-0.083566,-0.406252,0.909932]] 2025-10-28T18:18:53.851Z,1761675533.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760071,-0.565601,-0.319981],[0.644369,-0.719735,-0.258399],[-0.084151,-0.402587,0.911505]] 2025-10-28T18:18:54.254Z,1761675534.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740835,-0.586479,-0.327424],[0.666306,-0.703253,-0.247935],[-0.084854,-0.401843,0.911769]] 2025-10-28T18:18:54.659Z,1761675534.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721086,-0.606672,-0.334640],[0.687589,-0.685993,-0.237981],[-0.085184,-0.401700,0.911801]] 2025-10-28T18:18:55.142Z,1761675535.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678115,-0.647066,-0.348519],[0.729863,-0.648615,-0.215868],[-0.086374,-0.400755,0.912105]] 2025-10-28T18:18:55.599Z,1761675535.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655446,-0.665730,-0.356643],[0.750185,-0.628449,-0.205609],[-0.087252,-0.402314,0.911335]] 2025-10-28T18:18:56.062Z,1761675536.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632122,-0.683673,-0.364710],[0.769810,-0.607780,-0.194924],[-0.088399,-0.403973,0.910490]] 2025-10-28T18:18:56.446Z,1761675536.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608002,-0.700787,-0.373137],[0.788803,-0.586555,-0.183695],[-0.090134,-0.406019,0.909409]] 2025-10-28T18:18:56.852Z,1761675536.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583715,-0.718016,-0.379118],[0.806749,-0.565676,-0.170783],[-0.091833,-0.405541,0.909452]] 2025-10-28T18:18:57.257Z,1761675537.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559354,-0.734264,-0.384681],[0.823637,-0.544668,-0.157987],[-0.093519,-0.405208,0.909429]] 2025-10-28T18:18:57.658Z,1761675537.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535166,-0.750559,-0.387632],[0.839395,-0.524054,-0.144163],[-0.094937,-0.402528,0.910472]] 2025-10-28T18:18:58.067Z,1761675538.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510344,-0.766390,-0.390122],[0.854558,-0.502765,-0.130226],[-0.096336,-0.399842,0.911507]] 2025-10-28T18:18:58.469Z,1761675538.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485254,-0.781239,-0.392676],[0.868934,-0.480886,-0.117060],[-0.097380,-0.398013,0.912197]] 2025-10-28T18:18:59.275Z,1761675539.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433867,-0.808005,-0.398606],[0.895559,-0.435200,-0.092598],[-0.098654,-0.397151,0.912435]] 2025-10-28T18:18:59.678Z,1761675539.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406813,-0.820208,-0.402197],[0.908102,-0.410944,-0.080478],[-0.099272,-0.397975,0.912009]] 2025-10-28T18:19:00.082Z,1761675540.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378764,-0.831874,-0.405614],[0.920071,-0.385826,-0.067875],[-0.100033,-0.398903,0.911521]] 2025-10-28T18:19:00.493Z,1761675540.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349667,-0.843454,-0.407821],[0.931398,-0.359957,-0.054121],[-0.101149,-0.398768,0.911456]] 2025-10-28T18:19:00.891Z,1761675540.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320385,-0.853322,-0.411333],[0.941692,-0.334028,-0.040527],[-0.102814,-0.400333,0.910584]] 2025-10-28T18:19:00.921Z,1761675540.921 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:19:00.921Z,1761675540.921 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:19:00.921Z,1761675540.921 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateRudder:A] Stopped 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:19:00.922Z,1761675540.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateCommandMode] Stopped 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:19:00.923Z,1761675540.923 [marl:UpdateSpeed] Stopped 2025-10-28T18:19:00.924Z,1761675540.924 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:19:01.294Z,1761675541.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290930,-0.861992,-0.415126],[0.950978,-0.308104,-0.026702],[-0.104885,-0.402544,0.909372]] 2025-10-28T18:19:01.339Z,1761675541.339 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:19:01.339Z,1761675541.339 [marl:UpdateRudder:B] Stopped 2025-10-28T18:19:01.339Z,1761675541.339 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:19:01.339Z,1761675541.339 [marl:UpdateRudder] Stopped 2025-10-28T18:19:01.339Z,1761675541.339 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:19:01.341Z,1761675541.341 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:19:01.377Z,1761675541.377 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:19:01.377Z,1761675541.377 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:19:01.629Z,1761675541.629 [DAT](INFO): DAT read: 2025-10-28T18:19:01.629Z,1761675541.629 [DAT](INFO): DAT read: Tx time:18:19:01.3967 2025-10-28T18:19:01.630Z,1761675541.630 [DAT](INFO): Ping request sent. 2025-10-28T18:19:01.630Z,1761675541.630 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:19:01.630Z,1761675541.630 [DAT](INFO): publishing transmit ping time 2025-10-28T18:19:01.631Z,1761675541.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000961 2025-10-28T18:19:01.711Z,1761675541.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261507,-0.869524,-0.418977],[0.959225,-0.282356,-0.012717],[-0.107243,-0.405219,0.907908]] 2025-10-28T18:19:01.884Z,1761675541.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254119 2025-10-28T18:19:02.106Z,1761675542.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233320,-0.876234,-0.421634],[0.966146,-0.257993,0.001521],[-0.110111,-0.407005,0.906765]] 2025-10-28T18:19:02.133Z,1761675542.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503210 2025-10-28T18:19:02.385Z,1761675542.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754993 2025-10-28T18:19:02.506Z,1761675542.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206282,-0.882615,-0.422420],[0.971933,-0.234726,0.015815],[-0.113111,-0.407301,0.906262]] 2025-10-28T18:19:02.637Z,1761675542.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007169 2025-10-28T18:19:02.889Z,1761675542.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259102 2025-10-28T18:19:02.910Z,1761675542.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181129,-0.887901,-0.422875],[0.976623,-0.213005,0.028928],[-0.115760,-0.407750,0.905726]] 2025-10-28T18:19:03.141Z,1761675543.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511401 2025-10-28T18:19:03.393Z,1761675543.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763054 2025-10-28T18:19:03.645Z,1761675543.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015114 2025-10-28T18:19:03.897Z,1761675543.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267137 2025-10-28T18:19:04.149Z,1761675544.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519089 2025-10-28T18:19:04.188Z,1761675544.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109705,-0.898591,-0.424851],[0.986477,-0.150797,0.064218],[-0.121772,-0.412060,0.902983]] 2025-10-28T18:19:04.401Z,1761675544.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771176 2025-10-28T18:19:04.585Z,1761675544.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086819,-0.901703,-0.423549],[0.988728,-0.130049,0.074197],[-0.121985,-0.412333,0.902830]] 2025-10-28T18:19:04.653Z,1761675544.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023262 2025-10-28T18:19:04.906Z,1761675544.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275684 2025-10-28T18:19:04.987Z,1761675544.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064371,-0.904367,-0.421873],[0.990601,-0.109034,0.082586],[-0.120687,-0.412592,0.902886]] 2025-10-28T18:19:05.157Z,1761675545.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527086 2025-10-28T18:19:05.391Z,1761675545.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042355,-0.907266,-0.418418],[0.992154,-0.087500,0.089297],[-0.117628,-0.411353,0.903854]] 2025-10-28T18:19:05.409Z,1761675545.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779163 2025-10-28T18:19:05.661Z,1761675545.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031056 2025-10-28T18:19:05.797Z,1761675545.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020805,-0.910028,-0.414025],[0.993414,-0.065488,0.094025],[-0.112679,-0.409342,0.905396]] 2025-10-28T18:19:05.913Z,1761675545.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283122 2025-10-28T18:19:06.165Z,1761675546.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535039 2025-10-28T18:19:06.199Z,1761675546.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001279,-0.911948,-0.410303],[0.994353,-0.042378,0.097290],[-0.106112,-0.408111,0.906745]] 2025-10-28T18:19:06.417Z,1761675546.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787027 2025-10-28T18:19:06.602Z,1761675546.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025234,-0.912148,-0.409083],[0.994777,-0.017573,0.100546],[-0.098902,-0.409484,0.906941]] 2025-10-28T18:19:06.669Z,1761675546.669 [DAT](INFO): DAT read: Rx Time:18:19:05.9453 2025-10-28T18:19:06.670Z,1761675546.670 [DAT](INFO): Rx dataTimestamp_ set to:1761675546.669517 2025-10-28T18:19:06.670Z,1761675546.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040551 2025-10-28T18:19:06.921Z,1761675546.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291035 2025-10-28T18:19:07.006Z,1761675547.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051368,-0.912309,-0.406269],[0.994463,0.009382,0.104671],[-0.091680,-0.409396,0.907739]] 2025-10-28T18:19:07.178Z,1761675547.178 [DAT](INFO): DAT read: 18:19:05.9453 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 291, 0.19,-0.536,-1.924,-0.029,-0.472, PHS= 0.037,-1.407, 0.399, RAW= 160.9, 11.7, CAL= 161.1, 13.2, ROT= 348.9, -13.2 2025-10-28T18:19:07.179Z,1761675547.179 [DAT](INFO): got valid direction response: 18:19:05.9453 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 291, 0.19,-0.536,-1.924,-0.029,-0.472, PHS= 0.037,-1.407, 0.399, RAW= 160.9, 11.7, CAL= 161.1, 13.2, ROT= 348.9, -13.2 2025-10-28T18:19:07.180Z,1761675547.180 [DAT](INFO): DAT read: Bearing 213.7, -22.1 (Local) 2025-10-28T18:19:07.181Z,1761675547.181 [DAT](INFO): Local bearing/azimuth received: Bearing 213.7, -22.1 (Local) 2025-10-28T18:19:07.182Z,1761675547.182 [DAT](INFO): DAT read: Range 11 to 20 : 1608.3 m (Round-trip 2144.4 ms) speed 0.7 m/s 2025-10-28T18:19:07.183Z,1761675547.183 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:19:07.185Z,1761675547.185 [DAT](INFO): direction in FSK: [0.955366,-0.187435,0.228351] 2025-10-28T18:19:07.185Z,1761675547.185 [DAT](INFO): publishing direction and range info 2025-10-28T18:19:07.450Z,1761675547.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080912,-0.912465,-0.401075],[0.993022,0.039158,0.111242],[-0.085799,-0.407277,0.909266]] 2025-10-28T18:19:07.493Z,1761675547.493 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675520.00. Resetting abort timer. 2025-10-28T18:19:07.815Z,1761675547.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112760,-0.911862,-0.394706],[0.990297,0.070663,0.119661],[-0.081223,-0.404369,0.910982]] 2025-10-28T18:19:08.218Z,1761675548.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145396,-0.910331,-0.387501],[0.986315,0.102593,0.129065],[-0.077737,-0.400964,0.912790]] 2025-10-28T18:19:08.623Z,1761675548.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178615,-0.907825,-0.379407],[0.980989,0.134571,0.139829],[-0.075883,-0.397170,0.914603]] 2025-10-28T18:19:09.040Z,1761675549.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212448,-0.903184,-0.372993],[0.974241,0.166229,0.152390],[-0.075634,-0.395760,0.915234]] 2025-10-28T18:19:09.431Z,1761675549.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246662,-0.897423,-0.365774],[0.966033,0.197682,0.166440],[-0.077060,-0.394404,0.915700]] 2025-10-28T18:19:09.839Z,1761675549.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280767,-0.891310,-0.356000],[0.956421,0.228841,0.181357],[-0.080178,-0.391405,0.916719]] 2025-10-28T18:19:10.244Z,1761675550.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314222,-0.883717,-0.346856],[0.945567,0.258750,0.197362],[-0.084663,-0.389991,0.916918]] 2025-10-28T18:19:10.646Z,1761675550.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346745,-0.873709,-0.341173],[0.933611,0.286512,0.215131],[-0.090212,-0.393119,0.915052]] 2025-10-28T18:19:11.055Z,1761675551.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377589,-0.863222,-0.335073],[0.920957,0.312478,0.232801],[-0.096256,-0.396491,0.912978]] 2025-10-28T18:19:11.455Z,1761675551.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405359,-0.851983,-0.331375],[0.908515,0.335243,0.249425],[-0.101415,-0.402166,0.909933]] 2025-10-28T18:19:11.861Z,1761675551.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429675,-0.841037,-0.328689],[0.896839,0.355081,0.263814],[-0.105166,-0.408135,0.906844]] 2025-10-28T18:19:12.262Z,1761675552.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451589,-0.830443,-0.326238],[0.885751,0.373297,0.275853],[-0.107297,-0.413538,0.904142]] 2025-10-28T18:19:12.666Z,1761675552.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472487,-0.820009,-0.323020],[0.874665,0.391263,0.286138],[-0.108250,-0.417731,0.902099]] 2025-10-28T18:19:13.074Z,1761675553.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492764,-0.808883,-0.320768],[0.863435,0.408770,0.295612],[-0.107995,-0.422629,0.899845]] 2025-10-28T18:19:13.602Z,1761675553.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531035,-0.787991,-0.311565],[0.840908,0.444826,0.308226],[-0.104287,-0.425676,0.898846]] 2025-10-28T18:19:13.962Z,1761675553.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549851,-0.778014,-0.303905],[0.829115,0.464329,0.311396],[-0.101159,-0.423194,0.900374]] 2025-10-28T18:19:13.987Z,1761675553.987 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:19:13.987Z,1761675553.987 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:19:13.988Z,1761675553.988 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:19:13.988Z,1761675553.988 [marl:UpdateRudder:A] Stopped 2025-10-28T18:19:13.988Z,1761675553.988 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:19:13.988Z,1761675553.988 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode] Stopped 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:19:13.989Z,1761675553.989 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:19:13.990Z,1761675553.990 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:19:13.990Z,1761675553.990 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:19:13.990Z,1761675553.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:19:13.990Z,1761675553.990 [marl:UpdateSpeed] Stopped 2025-10-28T18:19:13.990Z,1761675553.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:19:14.362Z,1761675554.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569209,-0.767186,-0.295681],[0.816404,0.484789,0.313790],[-0.097392,-0.420007,0.902280]] 2025-10-28T18:19:14.393Z,1761675554.393 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:19:14.393Z,1761675554.393 [marl:UpdateRudder:B] Stopped 2025-10-28T18:19:14.393Z,1761675554.393 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:19:14.393Z,1761675554.393 [marl:UpdateRudder] Stopped 2025-10-28T18:19:14.393Z,1761675554.393 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:19:14.772Z,1761675554.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590560,-0.753697,-0.288410],[0.801548,0.506388,0.317948],[-0.093589,-0.418942,0.903177]] 2025-10-28T18:19:15.171Z,1761675555.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613885,-0.737950,-0.280314],[0.784244,0.529628,0.323197],[-0.090041,-0.418240,0.903863]] 2025-10-28T18:19:15.598Z,1761675555.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637768,-0.721364,-0.269976],[0.765326,0.554019,0.327626],[-0.086766,-0.415569,0.905414]] 2025-10-28T18:19:15.978Z,1761675555.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662174,-0.702877,-0.259786],[0.744642,0.578409,0.333093],[-0.083861,-0.414013,0.906400]] 2025-10-28T18:19:16.382Z,1761675556.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686525,-0.682874,-0.249733],[0.722517,0.602167,0.339652],[-0.081559,-0.413617,0.906791]] 2025-10-28T18:19:16.790Z,1761675556.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710526,-0.661762,-0.239215],[0.699121,0.625294,0.346752],[-0.079887,-0.413616,0.906940]] 2025-10-28T18:19:17.193Z,1761675557.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733729,-0.639927,-0.228332],[0.674838,0.647314,0.354371],[-0.078970,-0.414099,0.906800]] 2025-10-28T18:19:18.003Z,1761675558.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775005,-0.597606,-0.205511],[0.627122,0.687132,0.366835],[-0.078009,-0.413180,0.907302]] 2025-10-28T18:19:18.402Z,1761675558.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792908,-0.577710,-0.193774],[0.604331,0.704868,0.371410],[-0.077982,-0.411598,0.908023]] 2025-10-28T18:19:18.807Z,1761675558.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809445,-0.557807,-0.183440],[0.581955,0.720421,0.377257],[-0.078283,-0.412122,0.907759]] 2025-10-28T18:19:19.176Z,1761675559.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:19:19.211Z,1761675559.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825064,-0.537514,-0.174207],[0.559602,0.734649,0.383585],[-0.078202,-0.413968,0.906926]] 2025-10-28T18:19:19.618Z,1761675559.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840069,-0.516853,-0.164764],[0.536839,0.748376,0.389534],[-0.078026,-0.415687,0.906155]] 2025-10-28T18:19:20.031Z,1761675560.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854313,-0.496039,-0.155224],[0.513927,0.761567,0.394834],[-0.077639,-0.417086,0.905545]] 2025-10-28T18:19:20.180Z,1761675560.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:19:20.423Z,1761675560.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868552,-0.473748,-0.145532],[0.489628,0.774819,0.399901],[-0.076692,-0.418591,0.904931]] 2025-10-28T18:19:20.827Z,1761675560.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882848,-0.449473,-0.136213],[0.463514,0.787087,0.406999],[-0.075724,-0.422454,0.903216]] 2025-10-28T18:19:21.231Z,1761675561.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897142,-0.423331,-0.126202],[0.435377,0.799039,0.414710],[-0.074719,-0.426999,0.901160]] 2025-10-28T18:19:21.642Z,1761675561.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910952,-0.396219,-0.114793],[0.405958,0.811656,0.420015],[-0.073246,-0.429215,0.900228]] 2025-10-28T18:19:22.038Z,1761675562.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924061,-0.368300,-0.102309],[0.375447,0.824255,0.423844],[-0.071773,-0.430069,0.899939]] 2025-10-28T18:19:22.452Z,1761675562.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936079,-0.340373,-0.088895],[0.344669,0.836782,0.425441],[-0.070422,-0.428886,0.900610]] 2025-10-28T18:19:22.848Z,1761675562.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947024,-0.312182,-0.075422],[0.313527,0.847743,0.427822],[-0.069620,-0.428805,0.900711]] 2025-10-28T18:19:23.251Z,1761675563.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956401,-0.285574,-0.061187],[0.283749,0.858965,0.426222],[-0.069161,-0.425001,0.902547]] 2025-10-28T18:19:23.658Z,1761675563.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964540,-0.259862,-0.046195],[0.254746,0.870805,0.420480],[-0.069040,-0.417338,0.906125]] 2025-10-28T18:19:24.059Z,1761675564.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971159,-0.236236,-0.032288],[0.228186,0.881592,0.413191],[-0.069146,-0.408642,0.910072]] 2025-10-28T18:19:24.464Z,1761675564.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976851,-0.212918,-0.020698],[0.202431,0.888764,0.411243],[-0.069165,-0.405913,0.911291]] 2025-10-28T18:19:24.866Z,1761675564.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981593,-0.190684,-0.010725],[0.178042,0.893299,0.412696],[-0.069114,-0.407009,0.910805]] 2025-10-28T18:19:25.271Z,1761675565.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985587,-0.169161,-0.001750],[0.154516,0.895957,0.416396],[-0.068870,-0.410665,0.909182]] 2025-10-28T18:19:25.679Z,1761675565.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988959,-0.148023,0.006979],[0.131444,0.897996,0.419911],[-0.068423,-0.414358,0.907538]] 2025-10-28T18:19:26.081Z,1761675566.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991824,-0.126661,0.015587],[0.108243,0.899651,0.422980],[-0.067598,-0.417835,0.906005]] 2025-10-28T18:19:26.486Z,1761675566.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994187,-0.105007,0.023775],[0.084871,0.900236,0.427051],[-0.066247,-0.422550,0.903915]] 2025-10-28T18:19:26.886Z,1761675566.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996081,-0.082234,0.032573],[0.060282,0.900647,0.430350],[-0.064726,-0.426700,0.902074]] 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateRudder:A] Stopped 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:19:26.934Z,1761675566.934 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode] Stopped 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:19:26.935Z,1761675566.935 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:19:26.940Z,1761675566.940 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:19:26.940Z,1761675566.940 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:19:26.940Z,1761675566.940 [marl:UpdateSpeed] Stopped 2025-10-28T18:19:26.940Z,1761675566.940 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:19:27.291Z,1761675567.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997419,-0.057759,0.042658],[0.033738,0.901406,0.431659],[-0.063384,-0.429106,0.901028]] 2025-10-28T18:19:27.315Z,1761675567.315 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:19:27.315Z,1761675567.315 [marl:UpdateRudder:B] Stopped 2025-10-28T18:19:27.315Z,1761675567.315 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:19:27.315Z,1761675567.315 [marl:UpdateRudder] Stopped 2025-10-28T18:19:27.315Z,1761675567.315 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:19:27.695Z,1761675567.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998062,-0.031938,0.053411],[0.005768,0.902044,0.431606],[-0.061963,-0.430461,0.900480]] 2025-10-28T18:19:28.100Z,1761675568.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997865,-0.004360,0.065165],[-0.024042,0.903183,0.428582],[-0.060725,-0.429233,0.901150]] 2025-10-28T18:19:28.511Z,1761675568.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996682,0.024544,0.077606],[-0.055345,0.903473,0.425056],[-0.059683,-0.427941,0.901834]] 2025-10-28T18:19:28.907Z,1761675568.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994395,0.054594,0.090547],[-0.087912,0.902706,0.421180],[-0.058743,-0.426780,0.902446]] 2025-10-28T18:19:29.312Z,1761675569.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990893,0.085643,0.103903],[-0.121523,0.901134,0.416160],[-0.057989,-0.424997,0.903335]] 2025-10-28T18:19:29.733Z,1761675569.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986164,0.116740,0.117698],[-0.155409,0.898158,0.411291],[-0.057697,-0.423891,0.903873]] 2025-10-28T18:19:30.124Z,1761675570.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980320,0.148078,0.130562],[-0.188832,0.896244,0.401360],[-0.057583,-0.418115,0.906567]] 2025-10-28T18:19:30.538Z,1761675570.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973526,0.178602,0.142650],[-0.221304,0.892651,0.392680],[-0.057203,-0.413853,0.908545]] 2025-10-28T18:19:30.943Z,1761675570.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965812,0.209017,0.153359],[-0.253048,0.888636,0.382481],[-0.056336,-0.408212,0.911147]] 2025-10-28T18:19:31.349Z,1761675571.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957269,0.238409,0.163700],[-0.283901,0.882552,0.374837],[-0.055109,-0.405295,0.912524]] 2025-10-28T18:19:31.753Z,1761675571.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948016,0.266984,0.173159],[-0.313699,0.875481,0.367595],[-0.053456,-0.402806,0.913723]] 2025-10-28T18:19:32.287Z,1761675572.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938506,0.293542,0.181767],[-0.341406,0.867471,0.361851],[-0.051460,-0.401656,0.914344]] 2025-10-28T18:19:32.562Z,1761675572.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928859,0.317477,0.190865],[-0.367143,0.857522,0.360363],[-0.049264,-0.404801,0.913077]] 2025-10-28T18:19:33.366Z,1761675573.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908657,0.361746,0.208523],[-0.415232,0.835352,0.360236],[-0.043876,-0.413917,0.909257]] 2025-10-28T18:19:33.776Z,1761675573.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898246,0.381578,0.218065],[-0.437525,0.823288,0.361620],[-0.041544,-0.420232,0.906465]] 2025-10-28T18:19:34.175Z,1761675574.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887372,0.400948,0.227623],[-0.459384,0.810886,0.362533],[-0.039219,-0.426268,0.903746]] 2025-10-28T18:19:34.580Z,1761675574.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875766,0.420418,0.237242],[-0.481326,0.798020,0.362613],[-0.036875,-0.431755,0.901237]] 2025-10-28T18:19:34.994Z,1761675574.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863164,0.440317,0.247123],[-0.503732,0.784548,0.361578],[-0.034671,-0.436585,0.898995]] 2025-10-28T18:19:35.386Z,1761675575.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849074,0.461471,0.257136],[-0.527284,0.770112,0.359025],[-0.032344,-0.440422,0.897208]] 2025-10-28T18:19:35.793Z,1761675575.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833609,0.483627,0.266836],[-0.551552,0.754860,0.354931],[-0.029770,-0.443048,0.896003]] 2025-10-28T18:19:36.195Z,1761675576.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817205,0.506737,0.274578],[-0.575709,0.740124,0.347529],[-0.027116,-0.442080,0.896566]] 2025-10-28T18:19:36.600Z,1761675576.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799932,0.530125,0.281204],[-0.599603,0.724971,0.338959],[-0.024174,-0.439755,0.897792]] 2025-10-28T18:19:37.006Z,1761675577.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782292,0.552973,0.286776],[-0.622539,0.709967,0.329229],[-0.021547,-0.436082,0.899649]] 2025-10-28T18:19:37.407Z,1761675577.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763804,0.575557,0.292125],[-0.645176,0.693933,0.319694],[-0.018713,-0.432656,0.901365]] 2025-10-28T18:19:38.619Z,1761675578.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707580,0.636080,0.307786],[-0.706527,0.644382,0.292560],[-0.012240,-0.424469,0.905360]] 2025-10-28T18:19:39.022Z,1761675579.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688717,0.653011,0.315034],[-0.724953,0.626568,0.286103],[-0.010562,-0.425428,0.904930]] 2025-10-28T18:19:39.426Z,1761675579.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669046,0.668961,0.323835],[-0.743162,0.607632,0.280166],[-0.009352,-0.428106,0.903680]] 2025-10-28T18:19:39.838Z,1761675579.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648570,0.684888,0.332093],[-0.761108,0.588409,0.272928],[-0.008481,-0.429771,0.902898]] 2025-10-28T18:19:39.908Z,1761675579.908 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:19:39.908Z,1761675579.908 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:19:39.908Z,1761675579.908 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateRudder:A] Stopped 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode] Stopped 2025-10-28T18:19:39.909Z,1761675579.909 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed] Stopped 2025-10-28T18:19:39.910Z,1761675579.910 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:19:40.235Z,1761675580.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626518,0.701267,0.340147],[-0.779370,0.567955,0.264594],[-0.007637,-0.430873,0.902380]] 2025-10-28T18:19:40.270Z,1761675580.270 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:19:40.270Z,1761675580.270 [marl:UpdateRudder:B] Stopped 2025-10-28T18:19:40.270Z,1761675580.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:19:40.270Z,1761675580.270 [marl:UpdateRudder] Stopped 2025-10-28T18:19:40.270Z,1761675580.270 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:19:40.639Z,1761675580.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603048,0.717004,0.349627],[-0.797674,0.545898,0.256344],[-0.007061,-0.433476,0.901137]] 2025-10-28T18:19:41.043Z,1761675581.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577653,0.733199,0.358798],[-0.816254,0.522507,0.246406],[-0.006810,-0.435208,0.900304]] 2025-10-28T18:19:41.448Z,1761675581.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551170,0.751951,0.361638],[-0.834366,0.500196,0.231597],[-0.006740,-0.429388,0.903095]] 2025-10-28T18:19:41.851Z,1761675581.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523447,0.771548,0.361548],[-0.852029,0.477475,0.214624],[-0.007038,-0.420394,0.907314]] 2025-10-28T18:19:42.254Z,1761675582.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494974,0.789739,0.362371],[-0.868873,0.453571,0.198325],[-0.007736,-0.413020,0.910689]] 2025-10-28T18:19:42.659Z,1761675582.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465718,0.807098,0.362904],[-0.884893,0.428628,0.182324],[-0.008398,-0.406043,0.913815]] 2025-10-28T18:19:43.064Z,1761675583.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435685,0.823259,0.363900],[-0.900062,0.402183,0.167744],[-0.008258,-0.400616,0.916209]] 2025-10-28T18:19:43.484Z,1761675583.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405148,0.838016,0.365491],[-0.914223,0.374471,0.154813],[-0.007130,-0.396863,0.917850]] 2025-10-28T18:19:43.870Z,1761675583.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374909,0.850476,0.368964],[-0.927048,0.346110,0.144189],[-0.005073,-0.396105,0.918191]] 2025-10-28T18:19:44.275Z,1761675584.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346218,0.860049,0.374764],[-0.938151,0.318472,0.135828],[-0.002533,-0.398611,0.917116]] 2025-10-28T18:19:45.082Z,1761675585.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295992,0.870622,0.392944],[-0.955186,0.268563,0.124472],[0.002838,-0.412178,0.911099]] 2025-10-28T18:19:45.493Z,1761675585.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272602,0.872309,0.405914],[-0.962105,0.244301,0.121123],[0.006491,-0.423550,0.905849]] 2025-10-28T18:19:46.296Z,1761675586.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227377,0.873060,0.431354],[-0.973700,0.197278,0.113969],[0.014405,-0.445924,0.894955]] 2025-10-28T18:19:46.698Z,1761675586.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205849,0.873041,0.442070],[-0.978433,0.175685,0.108645],[0.017187,-0.454900,0.890377]] 2025-10-28T18:19:47.102Z,1761675587.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184971,0.872779,0.451710],[-0.982570,0.155599,0.101710],[0.018485,-0.462650,0.886348]] 2025-10-28T18:19:47.511Z,1761675587.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163853,0.873142,0.459103],[-0.986309,0.136226,0.092932],[0.018602,-0.468045,0.883509]] 2025-10-28T18:19:47.919Z,1761675587.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141512,0.874458,0.464002],[-0.989768,0.116326,0.082635],[0.018285,-0.470948,0.881971]] 2025-10-28T18:19:48.314Z,1761675588.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115398,0.877622,0.465256],[-0.993143,0.093108,0.070699],[0.018728,-0.470224,0.882348]] 2025-10-28T18:19:48.722Z,1761675588.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085371,0.881744,0.463938],[-0.996149,0.066206,0.057476],[0.019964,-0.467059,0.884001]] 2025-10-28T18:19:49.122Z,1761675589.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053531,0.885718,0.461127],[-0.998338,0.037600,0.043673],[0.021344,-0.462699,0.886259]] 2025-10-28T18:19:49.583Z,1761675589.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012539,0.895304,0.445278],[-0.999650,-0.021605,0.015290],[0.023310,-0.444931,0.895262]] 2025-10-28T18:19:50.328Z,1761675590.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:19:50.342Z,1761675590.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079358,0.904180,0.419716],[-0.996557,-0.082094,-0.011570],[0.023995,-0.419189,0.907582]] 2025-10-28T18:19:50.750Z,1761675590.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112799,0.907493,0.404640],[-0.993325,-0.112878,-0.023750],[0.024122,-0.404618,0.914168]] 2025-10-28T18:19:51.150Z,1761675591.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145716,0.909370,0.389632],[-0.989041,-0.143356,-0.035304],[0.023751,-0.390506,0.920294]] 2025-10-28T18:19:51.332Z,1761675591.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:19:51.967Z,1761675591.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210599,0.902488,0.375718],[-0.977314,-0.203215,-0.059678],[0.022494,-0.379763,0.924810]] 2025-10-28T18:19:52.377Z,1761675592.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242697,0.893944,0.376778],[-0.969854,-0.232367,-0.073405],[0.021931,-0.383235,0.923391]] 2025-10-28T18:19:52.789Z,1761675592.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273066,0.883441,0.380746],[-0.961763,-0.259399,-0.087882],[0.021127,-0.390185,0.920494]] 2025-10-28T18:19:52.815Z,1761675592.815 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:19:52.815Z,1761675592.815 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:19:52.815Z,1761675592.815 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:19:52.816Z,1761675592.816 [marl:UpdateRudder:A] Stopped 2025-10-28T18:19:52.816Z,1761675592.816 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:19:52.816Z,1761675592.816 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:19:52.816Z,1761675592.816 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:19:52.816Z,1761675592.816 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateCommandMode] Stopped 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:19:52.817Z,1761675592.817 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:19:52.818Z,1761675592.818 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:19:52.818Z,1761675592.818 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:19:52.818Z,1761675592.818 [marl:UpdateSpeed] Stopped 2025-10-28T18:19:52.818Z,1761675592.818 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:19:53.185Z,1761675593.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302956,0.871559,0.385491],[-0.952785,-0.285692,-0.102868],[0.020476,-0.398454,0.916960]] 2025-10-28T18:19:53.223Z,1761675593.223 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:19:53.223Z,1761675593.223 [marl:UpdateRudder:B] Stopped 2025-10-28T18:19:53.223Z,1761675593.223 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:19:53.223Z,1761675593.223 [marl:UpdateRudder] Stopped 2025-10-28T18:19:53.223Z,1761675593.223 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:19:53.992Z,1761675593.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360727,0.843824,0.397287],[-0.932438,-0.335814,-0.133373],[0.020871,-0.418557,0.907951]] 2025-10-28T18:19:54.394Z,1761675594.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387728,0.828318,0.404421],[-0.921514,-0.358738,-0.148725],[0.021889,-0.430345,0.902399]] 2025-10-28T18:19:54.802Z,1761675594.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413389,0.813772,0.408514],[-0.910262,-0.380691,-0.162777],[0.023054,-0.439146,0.898120]] 2025-10-28T18:19:55.202Z,1761675595.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436547,0.801914,0.407874],[-0.899361,-0.401066,-0.174056],[0.024006,-0.442810,0.896294]] 2025-10-28T18:19:55.607Z,1761675595.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457769,0.790222,0.407428],[-0.888726,-0.419481,-0.184936],[0.024768,-0.446750,0.894316]] 2025-10-28T18:19:56.012Z,1761675596.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477356,0.779510,0.405580],[-0.878355,-0.436406,-0.195044],[0.024959,-0.449349,0.893007]] 2025-10-28T18:19:56.414Z,1761675596.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495882,0.772203,0.397244],[-0.868038,-0.453791,-0.201453],[0.024703,-0.444720,0.895329]] 2025-10-28T18:19:56.818Z,1761675596.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513464,0.768007,0.382779],[-0.857784,-0.471699,-0.204224],[0.023711,-0.433203,0.900984]] 2025-10-28T18:19:57.222Z,1761675597.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530989,0.762582,0.369486],[-0.847084,-0.489185,-0.207719],[0.022344,-0.423282,0.905722]] 2025-10-28T18:19:57.626Z,1761675597.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548421,0.756719,0.355824],[-0.835946,-0.506665,-0.210912],[0.020682,-0.413119,0.910442]] 2025-10-28T18:19:58.030Z,1761675598.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567405,0.750118,0.339670],[-0.823211,-0.526457,-0.212526],[0.019402,-0.400208,0.916219]] 2025-10-28T18:19:58.440Z,1761675598.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588391,0.739038,0.328052],[-0.808370,-0.546832,-0.217976],[0.018297,-0.393443,0.919167]] 2025-10-28T18:19:58.845Z,1761675598.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610767,0.725255,0.317756],[-0.791622,-0.568054,-0.225054],[0.017280,-0.388998,0.921076]] 2025-10-28T18:19:59.242Z,1761675599.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634066,0.709410,0.307730],[-0.773107,-0.589954,-0.232938],[0.016298,-0.385606,0.922520]] 2025-10-28T18:19:59.646Z,1761675599.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657778,0.691590,0.298380],[-0.753047,-0.612116,-0.241317],[0.015751,-0.383427,0.923437]] 2025-10-28T18:20:00.050Z,1761675600.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681119,0.671250,0.292405],[-0.732007,-0.632807,-0.252430],[0.015592,-0.385977,0.922377]] 2025-10-28T18:20:00.463Z,1761675600.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704202,0.648611,0.288796],[-0.709819,-0.652329,-0.265751],[0.016021,-0.392136,0.919768]] 2025-10-28T18:20:00.861Z,1761675600.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726317,0.625184,0.285674],[-0.687165,-0.670332,-0.280106],[0.016379,-0.399751,0.916478]] 2025-10-28T18:20:01.262Z,1761675601.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746691,0.602833,0.281150],[-0.664960,-0.687153,-0.292659],[0.016768,-0.405479,0.913951]] 2025-10-28T18:20:01.667Z,1761675601.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765805,0.580883,0.275896],[-0.642841,-0.703025,-0.304157],[0.017282,-0.410282,0.911795]] 2025-10-28T18:20:01.721Z,1761675601.721 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:20:01.867Z,1761675601.867 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:20:01.867Z,1761675601.867 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:20:02.071Z,1761675602.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782914,0.559815,0.271390],[-0.621879,-0.716618,-0.315794],[0.017697,-0.416011,0.909187]] 2025-10-28T18:20:02.117Z,1761675602.117 [DAT](INFO): DAT read: user:116> 2025-10-28T18:20:02.118Z,1761675602.118 [DAT](INFO): DAT read: Tx time:18:20:01.8465 2025-10-28T18:20:02.118Z,1761675602.118 [DAT](INFO): Ping request sent. 2025-10-28T18:20:02.118Z,1761675602.118 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:20:02.118Z,1761675602.118 [DAT](INFO): publishing transmit ping time 2025-10-28T18:20:02.119Z,1761675602.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T18:20:02.369Z,1761675602.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250733 2025-10-28T18:20:02.485Z,1761675602.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798641,0.540085,0.265481],[-0.601535,-0.729668,-0.325176],[0.018090,-0.419395,0.907624]] 2025-10-28T18:20:02.621Z,1761675602.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832 2025-10-28T18:20:02.873Z,1761675602.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754874 2025-10-28T18:20:02.880Z,1761675602.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813164,0.520743,0.259982],[-0.581745,-0.741257,-0.334830],[0.018353,-0.423515,0.905703]] 2025-10-28T18:20:03.129Z,1761675603.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010596 2025-10-28T18:20:03.283Z,1761675603.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826817,0.501850,0.254008],[-0.562154,-0.752432,-0.343261],[0.018858,-0.426606,0.904241]] 2025-10-28T18:20:03.377Z,1761675603.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258789 2025-10-28T18:20:03.629Z,1761675603.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510710 2025-10-28T18:20:03.881Z,1761675603.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762768 2025-10-28T18:20:04.092Z,1761675604.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854135,0.463279,0.236277],[-0.519683,-0.777460,-0.354239],[0.019585,-0.425357,0.904814]] 2025-10-28T18:20:04.133Z,1761675604.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838 2025-10-28T18:20:04.385Z,1761675604.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266722 2025-10-28T18:20:04.495Z,1761675604.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867558,0.443999,0.224072],[-0.496952,-0.791621,-0.355492],[0.019542,-0.419763,0.907423]] 2025-10-28T18:20:04.638Z,1761675604.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519424 2025-10-28T18:20:04.893Z,1761675604.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774839 2025-10-28T18:20:04.901Z,1761675604.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881256,0.422630,0.211592],[-0.472232,-0.805901,-0.357100],[0.019601,-0.414617,0.909785]] 2025-10-28T18:20:05.145Z,1761675605.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027337 2025-10-28T18:20:05.305Z,1761675605.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894916,0.399592,0.198625],[-0.445806,-0.820099,-0.358740],[0.019543,-0.409590,0.912060]] 2025-10-28T18:20:05.397Z,1761675605.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278892 2025-10-28T18:20:05.649Z,1761675605.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530861 2025-10-28T18:20:05.706Z,1761675605.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908161,0.374975,0.186113],[-0.418168,-0.833301,-0.361588],[0.019501,-0.406206,0.913573]] 2025-10-28T18:20:05.760Z,1761675605.760 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:20:05.760Z,1761675605.760 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:20:05.760Z,1761675605.760 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:20:05.761Z,1761675605.761 [marl:UpdateRudder:A] Stopped 2025-10-28T18:20:05.761Z,1761675605.761 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:20:05.761Z,1761675605.761 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:20:05.761Z,1761675605.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:20:05.761Z,1761675605.761 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateCommandMode] Stopped 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:20:05.762Z,1761675605.762 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:20:05.763Z,1761675605.763 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:20:05.763Z,1761675605.763 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:20:05.763Z,1761675605.763 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:20:05.763Z,1761675605.763 [marl:UpdateSpeed] Stopped 2025-10-28T18:20:05.763Z,1761675605.763 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:20:05.901Z,1761675605.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782760 2025-10-28T18:20:06.110Z,1761675606.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920803,0.349009,0.174110],[-0.389547,-0.845113,-0.366111],[0.019367,-0.404940,0.914138]] 2025-10-28T18:20:06.146Z,1761675606.146 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:20:06.146Z,1761675606.146 [marl:UpdateRudder:B] Stopped 2025-10-28T18:20:06.147Z,1761675606.147 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:20:06.147Z,1761675606.147 [marl:UpdateRudder] Stopped 2025-10-28T18:20:06.147Z,1761675606.147 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:20:06.153Z,1761675606.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034893 2025-10-28T18:20:06.405Z,1761675606.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286828 2025-10-28T18:20:06.519Z,1761675606.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932646,0.321805,0.163135],[-0.360275,-0.854884,-0.373330],[0.019322,-0.406958,0.913242]] 2025-10-28T18:20:06.657Z,1761675606.657 [DAT](INFO): DAT read: Rx Time:18:20:06.0317 2025-10-28T18:20:06.658Z,1761675606.658 [DAT](INFO): Rx dataTimestamp_ set to:1761675606.657613 2025-10-28T18:20:06.658Z,1761675606.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540361 2025-10-28T18:20:06.909Z,1761675606.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790889 2025-10-28T18:20:06.932Z,1761675606.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943234,0.294697,0.153176],[-0.331574,-0.862184,-0.383012],[0.019194,-0.412059,0.910955]] 2025-10-28T18:20:07.164Z,1761675607.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045500 2025-10-28T18:20:07.322Z,1761675607.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952700,0.267744,0.143789],[-0.303304,-0.867535,-0.394195],[0.019199,-0.419161,0.907709]] 2025-10-28T18:20:07.422Z,1761675607.422 [DAT](INFO): DAT read: 18:20:06.0317 LVL= 29488, 21697, 26530, 30307, AGC= 72, IDX= 299,-0.03, 2.465,-2.276,-2.160,-2.656, PHS=-1.060, 0.425, 0.452, RAW= 269.1, 2.5, CAL= 266.7, -2.8, ROT= 243.3, 2.8 2025-10-28T18:20:07.424Z,1761675607.424 [DAT](INFO): got valid direction response: 18:20:06.0317 LVL= 29488, 21697, 26530, 30307, AGC= 72, IDX= 299,-0.03, 2.465,-2.276,-2.160,-2.656, PHS=-1.060, 0.425, 0.452, RAW= 269.1, 2.5, CAL= 266.7, -2.8, ROT= 243.3, 2.8 2025-10-28T18:20:07.426Z,1761675607.426 [DAT](INFO): DAT read: $Error in header 2025-10-28T18:20:07.426Z,1761675607.426 [DAT](INFO): Received a bad header 2025-10-28T18:20:07.440Z,1761675607.440 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T18:20:07.442Z,1761675607.442 [DAT](INFO): direction in FSK: [-0.448783,-0.892305,-0.048850] 2025-10-28T18:20:07.726Z,1761675607.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960854,0.242089,0.134731],[-0.276347,-0.872182,-0.403648],[0.019791,-0.425079,0.904940]] 2025-10-28T18:20:07.815Z,1761675607.815 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675648.00. Resetting abort timer. 2025-10-28T18:20:08.131Z,1761675608.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968107,0.217418,0.124490],[-0.249728,-0.877314,-0.409824],[0.020114,-0.427843,0.903629]] 2025-10-28T18:20:08.538Z,1761675608.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974574,0.193036,0.113769],[-0.223145,-0.882165,-0.414719],[0.020307,-0.429561,0.902809]] 2025-10-28T18:20:08.949Z,1761675608.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980117,0.169366,0.103376],[-0.197347,-0.886230,-0.419108],[0.020633,-0.431176,0.902032]] 2025-10-28T18:20:09.342Z,1761675609.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984994,0.145488,0.092844],[-0.171300,-0.889742,-0.423101],[0.021051,-0.432656,0.901313]] 2025-10-28T18:20:09.746Z,1761675609.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989064,0.122544,0.082065],[-0.145950,-0.893333,-0.425035],[0.021226,-0.432364,0.901449]] 2025-10-28T18:20:10.151Z,1761675610.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992437,0.100117,0.071035],[-0.120876,-0.897931,-0.423213],[0.021413,-0.428599,0.903241]] 2025-10-28T18:20:10.558Z,1761675610.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995132,0.078176,0.060015],[-0.096243,-0.901971,-0.420934],[0.021225,-0.424661,0.905104]] 2025-10-28T18:20:10.957Z,1761675610.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997183,0.057065,0.048681],[-0.072208,-0.906000,-0.417073],[0.020304,-0.419414,0.907568]] 2025-10-28T18:20:11.359Z,1761675611.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998652,0.035857,0.037544],[-0.048237,-0.908246,-0.415648],[0.019196,-0.416899,0.908750]] 2025-10-28T18:20:11.769Z,1761675611.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999536,0.014517,0.026760],[-0.024310,-0.909726,-0.414497],[0.018327,-0.414956,0.909657]] 2025-10-28T18:20:12.169Z,1761675612.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999846,-0.007475,0.015870],[0.000253,-0.910708,-0.413050],[0.017540,-0.412983,0.910570]] 2025-10-28T18:20:12.201Z,1761675612.201 [DAT](INFO): Reached modem response timeout 2025-10-28T18:20:12.573Z,1761675612.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999510,-0.030923,0.004896],[0.026178,-0.911218,-0.411093],[0.017174,-0.410763,0.911580]] 2025-10-28T18:20:12.974Z,1761675612.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998410,-0.056019,-0.006321],[0.053643,-0.909576,-0.412061],[0.017334,-0.411745,0.911134]] 2025-10-28T18:20:13.378Z,1761675613.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996480,-0.081955,-0.017623],[0.081904,-0.907071,-0.412934],[0.017857,-0.412924,0.910591]] 2025-10-28T18:20:13.788Z,1761675613.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993580,-0.109244,-0.029401],[0.111615,-0.904176,-0.412320],[0.018460,-0.412955,0.910564]] 2025-10-28T18:20:14.186Z,1761675614.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989669,-0.137221,-0.041546],[0.142085,-0.899942,-0.412209],[0.019175,-0.413853,0.910142]] 2025-10-28T18:20:14.469Z,1761675614.469 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:20:14.469Z,1761675614.469 [DAT](INFO): response not received 2025-10-28T18:20:14.469Z,1761675614.469 [DAT](ERROR): No response from remote modem. 2025-10-28T18:20:14.594Z,1761675614.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984675,-0.166040,-0.053348],[0.173250,-0.896222,-0.408375],[0.019995,-0.411359,0.911254]] 2025-10-28T18:20:14.995Z,1761675614.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978545,-0.195364,-0.065446],[0.204992,-0.891267,-0.404502],[0.020695,-0.409239,0.912192]] 2025-10-28T18:20:15.401Z,1761675615.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971391,-0.224102,-0.078602],[0.236583,-0.884300,-0.402544],[0.020703,-0.409623,0.912020]] 2025-10-28T18:20:15.803Z,1761675615.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963349,-0.251748,-0.092635],[0.267530,-0.876362,-0.400521],[0.019649,-0.410624,0.911593]] 2025-10-28T18:20:16.206Z,1761675616.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954660,-0.277890,-0.106774],[0.297178,-0.868431,-0.396879],[0.017562,-0.410616,0.911639]] 2025-10-28T18:20:16.610Z,1761675616.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945083,-0.303328,-0.121697],[0.326524,-0.860174,-0.391769],[0.014154,-0.409991,0.911980]] 2025-10-28T18:20:17.015Z,1761675617.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934768,-0.327364,-0.137993],[0.355140,-0.851012,-0.386850],[0.009207,-0.410622,0.911759]] 2025-10-28T18:20:17.823Z,1761675617.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913166,-0.370722,-0.169390],[0.407585,-0.832104,-0.376136],[-0.001508,-0.412515,0.910950]] 2025-10-28T18:20:18.226Z,1761675618.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902452,-0.389930,-0.183124],[0.430752,-0.822426,-0.371576],[-0.005717,-0.414211,0.910163]] 2025-10-28T18:20:18.637Z,1761675618.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891712,-0.408045,-0.195827],[0.452525,-0.811769,-0.369122],[-0.008348,-0.417768,0.908515]] 2025-10-28T18:20:18.661Z,1761675618.661 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:20:18.661Z,1761675618.661 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateRudder:A] Stopped 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:20:18.662Z,1761675618.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateCommandMode] Stopped 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:20:18.663Z,1761675618.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:20:18.664Z,1761675618.664 [marl:UpdateSpeed] Stopped 2025-10-28T18:20:18.664Z,1761675618.664 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:20:19.034Z,1761675619.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880723,-0.426700,-0.205559],[0.473541,-0.801845,-0.364423],[-0.009327,-0.418296,0.908263]] 2025-10-28T18:20:19.064Z,1761675619.064 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:20:19.064Z,1761675619.064 [marl:UpdateRudder:B] Stopped 2025-10-28T18:20:19.064Z,1761675619.064 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:20:19.064Z,1761675619.064 [marl:UpdateRudder] Stopped 2025-10-28T18:20:19.064Z,1761675619.064 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:20:19.440Z,1761675619.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869489,-0.444604,-0.215213],[0.493870,-0.790474,-0.362275],[-0.009051,-0.421281,0.906885]] 2025-10-28T18:20:19.842Z,1761675619.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857891,-0.462229,-0.224425],[0.513772,-0.778281,-0.360995],[-0.007803,-0.424998,0.905161]] 2025-10-28T18:20:20.248Z,1761675620.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845569,-0.480997,-0.231636],[0.533834,-0.766622,-0.356807],[-0.005954,-0.425360,0.905004]] 2025-10-28T18:20:20.651Z,1761675620.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832659,-0.500847,-0.236285],[0.553776,-0.755609,-0.349839],[-0.003324,-0.422146,0.906522]] 2025-10-28T18:20:21.055Z,1761675621.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819138,-0.521129,-0.239661],[0.573597,-0.744353,-0.341943],[-0.000196,-0.417567,0.908646]] 2025-10-28T18:20:21.452Z,1761675621.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:20:21.460Z,1761675621.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804452,-0.541892,-0.243332],[0.594009,-0.731551,-0.334645],[0.003331,-0.413747,0.910386]] 2025-10-28T18:20:21.874Z,1761675621.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788544,-0.561962,-0.249795],[0.614942,-0.716063,-0.330304],[0.006749,-0.414069,0.910220]] 2025-10-28T18:20:22.266Z,1761675622.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770285,-0.583962,-0.256223],[0.637636,-0.699603,-0.322453],[0.009046,-0.411757,0.911249]] 2025-10-28T18:20:22.464Z,1761675622.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:20:22.670Z,1761675622.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749743,-0.606829,-0.263900],[0.661640,-0.680921,-0.313973],[0.010833,-0.410006,0.912019]] 2025-10-28T18:20:23.075Z,1761675623.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727600,-0.629480,-0.272677],[0.685898,-0.660659,-0.305080],[0.011895,-0.409005,0.912455]] 2025-10-28T18:20:23.482Z,1761675623.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704254,-0.650804,-0.283691],[0.709842,-0.638576,-0.297230],[0.012280,-0.410701,0.911687]] 2025-10-28T18:20:24.339Z,1761675624.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654127,-0.692006,-0.305362],[0.756315,-0.592900,-0.276509],[0.010297,-0.411822,0.911206]] 2025-10-28T18:20:25.144Z,1761675625.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601572,-0.727031,-0.330965],[0.798804,-0.544949,-0.254841],[0.004918,-0.417681,0.908581]] 2025-10-28T18:20:25.587Z,1761675625.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549442,-0.757588,-0.352384],[0.835530,-0.499153,-0.229643],[-0.001919,-0.420603,0.907243]] 2025-10-28T18:20:26.354Z,1761675626.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524060,-0.771300,-0.361188],[0.851668,-0.476959,-0.217190],[-0.004753,-0.421433,0.906847]] 2025-10-28T18:20:26.766Z,1761675626.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499336,-0.784951,-0.366764],[0.866379,-0.455849,-0.203933],[-0.007111,-0.419588,0.907687]] 2025-10-28T18:20:27.164Z,1761675627.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474624,-0.798336,-0.370663],[0.880140,-0.434898,-0.190310],[-0.009269,-0.416561,0.909060]] 2025-10-28T18:20:27.591Z,1761675627.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425988,-0.821825,-0.378336],[0.904654,-0.392300,-0.166437],[-0.011639,-0.413164,0.910582]] 2025-10-28T18:20:28.385Z,1761675628.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376040,-0.842048,-0.386715],[0.926521,-0.347267,-0.144792],[-0.012372,-0.412747,0.910762]] 2025-10-28T18:20:28.788Z,1761675628.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349952,-0.850846,-0.391912],[0.936685,-0.323388,-0.134320],[-0.012454,-0.414103,0.910145]] 2025-10-28T18:20:29.187Z,1761675629.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323350,-0.859261,-0.396378],[0.946200,-0.299027,-0.123650],[-0.012280,-0.415035,0.909723]] 2025-10-28T18:20:29.598Z,1761675629.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295876,-0.868114,-0.398541],[0.955148,-0.274217,-0.111792],[-0.012239,-0.413742,0.910312]] 2025-10-28T18:20:29.995Z,1761675629.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267661,-0.877091,-0.398835],[0.963433,-0.248985,-0.099017],[-0.012457,-0.410754,0.911661]] 2025-10-28T18:20:30.411Z,1761675630.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238786,-0.884917,-0.399880],[0.970982,-0.223209,-0.085863],[-0.013275,-0.408779,0.912537]] 2025-10-28T18:20:30.799Z,1761675630.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209619,-0.892349,-0.399717],[0.977675,-0.197366,-0.072102],[-0.014551,-0.405907,0.913799]] 2025-10-28T18:20:31.203Z,1761675631.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180327,-0.898723,-0.399724],[0.983475,-0.171396,-0.058314],[-0.016103,-0.403634,0.914779]] 2025-10-28T18:20:31.609Z,1761675631.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150944,-0.903344,-0.401478],[0.988377,-0.145347,-0.044562],[-0.018099,-0.403538,0.914784]] 2025-10-28T18:20:31.651Z,1761675631.651 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:20:31.651Z,1761675631.651 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:20:31.651Z,1761675631.651 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:20:31.652Z,1761675631.652 [marl:UpdateRudder:A] Stopped 2025-10-28T18:20:31.668Z,1761675631.668 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:20:31.668Z,1761675631.668 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:20:31.668Z,1761675631.668 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:20:31.668Z,1761675631.668 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:20:31.668Z,1761675631.668 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateCommandMode] Stopped 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:20:31.669Z,1761675631.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:20:31.670Z,1761675631.670 [marl:UpdateSpeed] Stopped 2025-10-28T18:20:31.670Z,1761675631.670 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:20:32.011Z,1761675632.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122024,-0.907059,-0.402932],[0.992323,-0.119722,-0.031002],[-0.020120,-0.403621,0.914705]] 2025-10-28T18:20:32.042Z,1761675632.042 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:20:32.042Z,1761675632.042 [marl:UpdateRudder:B] Stopped 2025-10-28T18:20:32.042Z,1761675632.042 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:20:32.042Z,1761675632.042 [marl:UpdateRudder] Stopped 2025-10-28T18:20:32.042Z,1761675632.042 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:20:32.417Z,1761675632.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093158,-0.909372,-0.405418],[0.995406,-0.094106,-0.017643],[-0.022109,-0.405199,0.913961]] 2025-10-28T18:20:32.819Z,1761675632.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065333,-0.910150,-0.409095],[0.997581,-0.069330,-0.005071],[-0.023747,-0.408437,0.912478]] 2025-10-28T18:20:33.228Z,1761675633.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038212,-0.910539,-0.411653],[0.998971,-0.044886,0.006554],[-0.024445,-0.410979,0.911317]] 2025-10-28T18:20:33.627Z,1761675633.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010890,-0.910239,-0.413940],[0.999634,-0.020154,0.018019],[-0.024744,-0.413592,0.910126]] 2025-10-28T18:20:34.030Z,1761675634.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016690,-0.909564,-0.415228],[0.999565,0.005079,0.029053],[-0.024317,-0.415532,0.909253]] 2025-10-28T18:20:34.435Z,1761675634.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044823,-0.909200,-0.413941],[0.998724,0.031135,0.039757],[-0.023259,-0.415195,0.909435]] 2025-10-28T18:20:34.840Z,1761675634.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073177,-0.908018,-0.412491],[0.997085,0.057655,0.049969],[-0.021591,-0.414945,0.909590]] 2025-10-28T18:20:35.246Z,1761675635.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102546,-0.906669,-0.409189],[0.994527,0.085185,0.060487],[-0.019985,-0.413153,0.910442]] 2025-10-28T18:20:35.648Z,1761675635.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132660,-0.903701,-0.407094],[0.990991,0.113324,0.071370],[-0.018363,-0.412895,0.910594]] 2025-10-28T18:20:36.051Z,1761675636.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164457,-0.900313,-0.402976],[0.986235,0.142976,0.083056],[-0.017160,-0.411088,0.911434]] 2025-10-28T18:20:36.457Z,1761675636.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196975,-0.897328,-0.394974],[0.980270,0.173476,0.094749],[-0.016502,-0.405844,0.913793]] 2025-10-28T18:20:36.858Z,1761675636.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229932,-0.891985,-0.389223],[0.973065,0.203890,0.107578],[-0.016599,-0.403475,0.914840]] 2025-10-28T18:20:37.266Z,1761675637.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262945,-0.885517,-0.383039],[0.964649,0.234017,0.121197],[-0.017685,-0.401366,0.915747]] 2025-10-28T18:20:37.667Z,1761675637.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296082,-0.877201,-0.377961],[0.954955,0.263600,0.136296],[-0.019929,-0.401290,0.915734]] 2025-10-28T18:20:38.071Z,1761675638.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328363,-0.867978,-0.372548],[0.944268,0.291995,0.151973],[-0.023127,-0.401687,0.915485]] 2025-10-28T18:20:38.476Z,1761675638.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358330,-0.858558,-0.366712],[0.933220,0.318268,0.166749],[-0.026451,-0.401974,0.915269]] 2025-10-28T18:20:38.887Z,1761675638.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386973,-0.849016,-0.359754],[0.921604,0.343445,0.180806],[-0.029952,-0.401518,0.915361]] 2025-10-28T18:20:39.286Z,1761675639.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413722,-0.838369,-0.354925],[0.909792,0.366452,0.194913],[-0.033346,-0.403548,0.914350]] 2025-10-28T18:20:39.690Z,1761675639.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438920,-0.827823,-0.349367],[0.897798,0.388411,0.207594],[-0.036153,-0.404778,0.913700]] 2025-10-28T18:20:40.091Z,1761675640.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462431,-0.815696,-0.347558],[0.885833,0.408154,0.220704],[-0.038171,-0.409939,0.911314]] 2025-10-28T18:20:40.495Z,1761675640.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484465,-0.803518,-0.345908],[0.873928,0.426776,0.232620],[-0.039289,-0.414995,0.908975]] 2025-10-28T18:20:40.902Z,1761675640.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505502,-0.792307,-0.341639],[0.861929,0.445659,0.241800],[-0.039325,-0.416698,0.908194]] 2025-10-28T18:20:41.307Z,1761675641.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525508,-0.780796,-0.337933],[0.849934,0.463996,0.249637],[-0.038116,-0.418407,0.907460]] 2025-10-28T18:20:41.707Z,1761675641.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545767,-0.768501,-0.333984],[0.837165,0.482975,0.256689],[-0.035960,-0.419692,0.906954]] 2025-10-28T18:20:42.110Z,1761675642.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565889,-0.757035,-0.326601],[0.823798,0.503040,0.261356],[-0.033562,-0.416952,0.908309]] 2025-10-28T18:20:42.515Z,1761675642.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587044,-0.744155,-0.318768],[0.808953,0.524039,0.266417],[-0.031208,-0.414267,0.909620]] 2025-10-28T18:20:42.920Z,1761675642.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609390,-0.729049,-0.311660],[0.792341,0.545591,0.272996],[-0.028988,-0.413302,0.910133]] 2025-10-28T18:20:43.327Z,1761675643.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632834,-0.711698,-0.304971],[0.773814,0.567551,0.281243],[-0.027073,-0.413971,0.909887]] 2025-10-28T18:20:43.727Z,1761675643.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656926,-0.693617,-0.295539],[0.753516,0.590634,0.288730],[-0.025713,-0.412367,0.910655]] 2025-10-28T18:20:44.131Z,1761675644.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681009,-0.674573,-0.284919],[0.731841,0.613573,0.296542],[-0.025220,-0.410462,0.911529]] 2025-10-28T18:20:44.575Z,1761675644.575 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:20:44.575Z,1761675644.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:20:44.575Z,1761675644.575 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:20:44.575Z,1761675644.575 [marl:UpdateRudder:A] Stopped 2025-10-28T18:20:44.575Z,1761675644.575 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:20:44.576Z,1761675644.576 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:20:44.576Z,1761675644.576 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:20:44.576Z,1761675644.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:20:44.576Z,1761675644.576 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateCommandMode] Stopped 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:20:44.577Z,1761675644.577 [marl:UpdateSpeed] Stopped 2025-10-28T18:20:44.578Z,1761675644.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:20:44.941Z,1761675644.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727848,-0.635140,-0.258523],[0.685252,0.659464,0.309091],[-0.025830,-0.402124,0.915221]] 2025-10-28T18:20:44.977Z,1761675644.977 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:20:44.977Z,1761675644.977 [marl:UpdateRudder:B] Stopped 2025-10-28T18:20:44.977Z,1761675644.977 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:20:44.977Z,1761675644.977 [marl:UpdateRudder] Stopped 2025-10-28T18:20:44.977Z,1761675644.977 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:20:45.343Z,1761675645.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749970,-0.613792,-0.246585],[0.660952,0.680587,0.316138],[-0.026221,-0.400074,0.916107]] 2025-10-28T18:20:45.747Z,1761675645.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771129,-0.591400,-0.235810],[0.636119,0.700134,0.324291],[-0.026687,-0.400074,0.916094]] 2025-10-28T18:20:46.150Z,1761675646.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790898,-0.568771,-0.225789],[0.611338,0.717884,0.333030],[-0.027328,-0.401426,0.915484]] 2025-10-28T18:20:46.556Z,1761675646.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809604,-0.545536,-0.216639],[0.586308,0.733977,0.342812],[-0.028008,-0.404560,0.914083]] 2025-10-28T18:20:46.958Z,1761675646.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827506,-0.521527,-0.207951],[0.560714,0.748599,0.353835],[-0.028863,-0.409402,0.911897]] 2025-10-28T18:20:47.374Z,1761675647.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844783,-0.496842,-0.198721],[0.534283,0.762532,0.364811],[-0.029723,-0.414359,0.909628]] 2025-10-28T18:20:47.771Z,1761675647.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860852,-0.472583,-0.188676],[0.507946,0.775909,0.374107],[-0.030401,-0.417888,0.907990]] 2025-10-28T18:20:47.784Z,1761675647.784 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 461.09, 568.68, 2025-10-28T18:20:48.172Z,1761675648.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876059,-0.447859,-0.178724],[0.481192,0.787955,0.384163],[-0.031224,-0.422550,0.905802]] 2025-10-28T18:20:48.574Z,1761675648.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890274,-0.423648,-0.167137],[0.454308,0.800434,0.391036],[-0.031879,-0.424061,0.905072]] 2025-10-28T18:20:48.983Z,1761675648.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903807,-0.398778,-0.155270],[0.426658,0.811633,0.399017],[-0.033098,-0.426882,0.903702]] 2025-10-28T18:20:49.390Z,1761675649.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915922,-0.374895,-0.143319],[0.399892,0.821947,0.405574],[-0.034247,-0.428786,0.902757]] 2025-10-28T18:20:49.792Z,1761675649.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927277,-0.350875,-0.130552],[0.372683,0.832027,0.410900],[-0.035552,-0.429673,0.902284]] 2025-10-28T18:20:50.190Z,1761675650.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937722,-0.326681,-0.118140],[0.345464,0.841220,0.415937],[-0.036496,-0.430846,0.901687]] 2025-10-28T18:20:50.595Z,1761675650.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947565,-0.302007,-0.104463],[0.317350,0.850896,0.418646],[-0.037546,-0.429846,0.902121]] 2025-10-28T18:20:50.998Z,1761675650.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956760,-0.276479,-0.090386],[0.288290,0.859942,0.421176],[-0.038719,-0.429022,0.902464]] 2025-10-28T18:20:51.409Z,1761675651.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965169,-0.250322,-0.076083],[0.258558,0.868188,0.423554],[-0.039971,-0.428473,0.902670]] 2025-10-28T18:20:51.808Z,1761675651.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972939,-0.223070,-0.060250],[0.227264,0.876747,0.423869],[-0.041729,-0.426091,0.903717]] 2025-10-28T18:20:52.210Z,1761675652.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979639,-0.195827,-0.044253],[0.195952,0.884659,0.423062],[-0.043698,-0.423120,0.905019]] 2025-10-28T18:20:52.600Z,1761675652.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:20:52.615Z,1761675652.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985481,-0.167466,-0.027960],[0.163580,0.892395,0.420562],[-0.045479,-0.419030,0.906833]] 2025-10-28T18:20:53.019Z,1761675653.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990213,-0.139021,-0.012272],[0.131372,0.898816,0.418175],[-0.047105,-0.415695,0.908283]] 2025-10-28T18:20:53.431Z,1761675653.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993958,-0.109714,0.003193],[0.098378,0.903401,0.417359],[-0.048675,-0.414523,0.908736]] 2025-10-28T18:20:53.605Z,1761675653.605 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:20:53.827Z,1761675653.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996617,-0.080015,0.018771],[0.065047,0.907519,0.414943],[-0.050237,-0.412318,0.909654]] 2025-10-28T18:20:54.230Z,1761675654.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998151,-0.050495,0.033824],[0.032094,0.910523,0.412211],[-0.051612,-0.410363,0.910460]] 2025-10-28T18:20:54.635Z,1761675654.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998629,-0.020374,0.048213],[-0.001381,0.910553,0.413390],[-0.052323,-0.412889,0.909277]] 2025-10-28T18:20:55.043Z,1761675655.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998055,0.009335,0.061632],[-0.033980,0.910385,0.412365],[-0.052259,-0.413657,0.908932]] 2025-10-28T18:20:55.443Z,1761675655.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996486,0.038535,0.074375],[-0.065912,0.908654,0.412315],[-0.051692,-0.415769,0.908000]] 2025-10-28T18:20:55.854Z,1761675655.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994025,0.066402,0.086629],[-0.096523,0.905327,0.413601],[-0.050963,-0.419492,0.906327]] 2025-10-28T18:20:56.250Z,1761675656.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990658,0.093799,0.098989],[-0.126885,0.899998,0.417019],[-0.049974,-0.425683,0.903491]] 2025-10-28T18:20:56.656Z,1761675656.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986448,0.120939,0.110877],[-0.156790,0.893945,0.419856],[-0.048341,-0.431550,0.900793]] 2025-10-28T18:20:57.058Z,1761675657.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981551,0.147299,0.121903],[-0.185545,0.887736,0.421306],[-0.046160,-0.436152,0.898689]] 2025-10-28T18:20:57.463Z,1761675657.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975823,0.173505,0.132912],[-0.214185,0.880239,0.423444],[-0.043525,-0.441674,0.896119]] 2025-10-28T18:20:57.871Z,1761675657.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969301,0.199265,0.144047],[-0.242434,0.872253,0.424736],[-0.041010,-0.446619,0.893784]] 2025-10-28T18:20:57.928Z,1761675657.928 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:20:57.928Z,1761675657.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:20:57.928Z,1761675657.928 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:20:57.928Z,1761675657.928 [marl:UpdateRudder:A] Stopped 2025-10-28T18:20:57.928Z,1761675657.928 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode] Stopped 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:20:57.929Z,1761675657.929 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed] Stopped 2025-10-28T18:20:57.930Z,1761675657.930 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:20:58.272Z,1761675658.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961699,0.225479,0.155865],[-0.271389,0.863119,0.425879],[-0.038503,-0.451867,0.891254]] 2025-10-28T18:20:58.296Z,1761675658.296 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:20:58.296Z,1761675658.296 [marl:UpdateRudder:B] Stopped 2025-10-28T18:20:58.296Z,1761675658.296 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:20:58.296Z,1761675658.296 [marl:UpdateRudder] Stopped 2025-10-28T18:20:58.296Z,1761675658.296 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:20:58.675Z,1761675658.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953228,0.251933,0.166989],[-0.300088,0.854834,0.423327],[-0.036098,-0.453638,0.890455]] 2025-10-28T18:20:59.078Z,1761675659.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943702,0.279215,0.177384],[-0.329042,0.847479,0.416547],[-0.034023,-0.451464,0.891641]] 2025-10-28T18:20:59.483Z,1761675659.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933401,0.306544,0.186530],[-0.357371,0.841044,0.406118],[-0.032387,-0.445731,0.894581]] 2025-10-28T18:20:59.887Z,1761675659.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921643,0.334567,0.196571],[-0.386779,0.832852,0.395928],[-0.031250,-0.440934,0.896995]] 2025-10-28T18:21:00.292Z,1761675660.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908855,0.362636,0.206100],[-0.415975,0.824457,0.383712],[-0.030773,-0.434471,0.900160]] 2025-10-28T18:21:00.695Z,1761675660.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895155,0.390609,0.214760],[-0.444694,0.815758,0.369846],[-0.030727,-0.426572,0.903931]] 2025-10-28T18:21:01.098Z,1761675661.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879971,0.418107,0.225471],[-0.474011,0.803901,0.359244],[-0.031054,-0.423000,0.905597]] 2025-10-28T18:21:01.510Z,1761675661.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864049,0.445383,0.234635],[-0.502411,0.792262,0.346271],[-0.031670,-0.417078,0.908319]] 2025-10-28T18:21:01.909Z,1761675661.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847433,0.471356,0.244296],[-0.529900,0.779220,0.334697],[-0.032599,-0.413085,0.910109]] 2025-10-28T18:21:01.970Z,1761675661.970 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:21:02.109Z,1761675662.109 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:21:02.109Z,1761675662.109 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:21:02.310Z,1761675662.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830190,0.496145,0.254214],[-0.556482,0.764815,0.324632],[-0.033362,-0.410971,0.911038]] 2025-10-28T18:21:02.361Z,1761675662.361 [DAT](INFO): DAT read: 2025-10-28T18:21:02.362Z,1761675662.362 [DAT](INFO): DAT read: Tx time:18:21:02.0962 2025-10-28T18:21:02.362Z,1761675662.362 [DAT](INFO): Ping request sent. 2025-10-28T18:21:02.362Z,1761675662.362 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:21:02.362Z,1761675662.362 [DAT](INFO): publishing transmit ping time 2025-10-28T18:21:02.363Z,1761675662.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T18:21:02.613Z,1761675662.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250905 2025-10-28T18:21:02.714Z,1761675662.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811953,0.519680,0.265831],[-0.582709,0.748448,0.316664],[-0.034396,-0.412018,0.910526]] 2025-10-28T18:21:02.866Z,1761675662.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503506 2025-10-28T18:21:03.117Z,1761675663.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916 2025-10-28T18:21:03.121Z,1761675663.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793117,0.542355,0.277159],[-0.608054,0.731334,0.308904],[-0.035160,-0.413525,0.909814]] 2025-10-28T18:21:03.369Z,1761675663.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006808 2025-10-28T18:21:03.581Z,1761675663.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773784,0.563325,0.289697],[-0.632426,0.713002,0.302764],[-0.036000,-0.417485,0.907970]] 2025-10-28T18:21:03.621Z,1761675663.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258992 2025-10-28T18:21:03.873Z,1761675663.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921 2025-10-28T18:21:03.926Z,1761675663.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754116,0.582824,0.302696],[-0.655692,0.694206,0.296894],[-0.037097,-0.422368,0.905665]] 2025-10-28T18:21:04.125Z,1761675664.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914 2025-10-28T18:21:04.339Z,1761675664.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734468,0.600989,0.315228],[-0.677562,0.675599,0.290647],[-0.038292,-0.427058,0.903413]] 2025-10-28T18:21:04.377Z,1761675664.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997 2025-10-28T18:21:04.629Z,1761675664.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267124 2025-10-28T18:21:04.735Z,1761675664.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714676,0.617729,0.328099],[-0.698364,0.656385,0.285389],[-0.039066,-0.433093,0.900502]] 2025-10-28T18:21:04.881Z,1761675664.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518808 2025-10-28T18:21:05.134Z,1761675665.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771614 2025-10-28T18:21:05.152Z,1761675665.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694261,0.634871,0.339029],[-0.718614,0.637603,0.277589],[-0.039933,-0.436350,0.898890]] 2025-10-28T18:21:05.385Z,1761675665.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022930 2025-10-28T18:21:05.598Z,1761675665.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672456,0.651852,0.350561],[-0.739004,0.617533,0.269306],[-0.040935,-0.440162,0.896985]] 2025-10-28T18:21:05.637Z,1761675665.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274981 2025-10-28T18:21:05.890Z,1761675665.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527609 2025-10-28T18:21:06.141Z,1761675666.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778950 2025-10-28T18:21:06.393Z,1761675666.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030880 2025-10-28T18:21:06.429Z,1761675666.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597869,0.709396,0.373242],[-0.800389,0.553829,0.229459],[-0.043935,-0.435925,0.898910]] 2025-10-28T18:21:06.646Z,1761675666.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283615 2025-10-28T18:21:06.853Z,1761675666.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570066,0.730128,0.376748],[-0.820334,0.531253,0.211712],[-0.045571,-0.429749,0.901798]] 2025-10-28T18:21:06.897Z,1761675666.897 [DAT](INFO): DAT read: Rx Time:18:21:06.2321 2025-10-28T18:21:06.898Z,1761675666.898 [DAT](INFO): Rx dataTimestamp_ set to:1761675666.897362 2025-10-28T18:21:06.898Z,1761675666.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536197 2025-10-28T18:21:07.149Z,1761675667.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786891 2025-10-28T18:21:07.250Z,1761675667.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541299,0.752591,0.374970],[-0.839487,0.508918,0.190433],[-0.047511,-0.417863,0.907267]] 2025-10-28T18:21:07.412Z,1761675667.412 [DAT](INFO): DAT read: 18:21:06.2321 LVL= 28560, 25169, 32754, 32755, AGC= 81, IDX= 449, 0.24,-0.265, 0.609,-1.301, 0.213, PHS=-0.376, 0.441,-1.558, RAW= 6.0, 16.9, CAL= 6.1, 20.9, ROT= 143.9, -20.9 2025-10-28T18:21:07.413Z,1761675667.413 [DAT](INFO): got valid direction response: 18:21:06.2321 LVL= 28560, 25169, 32754, 32755, AGC= 81, IDX= 449, 0.24,-0.265, 0.609,-1.301, 0.213, PHS=-0.376, 0.441,-1.558, RAW= 6.0, 16.9, CAL= 6.1, 20.9, ROT= 143.9, -20.9 2025-10-28T18:21:07.414Z,1761675667.414 [DAT](INFO): DAT read: Bearing 51, -3 (Remote) 2025-10-28T18:21:07.414Z,1761675667.414 [DAT](INFO): Remote Bearing received:Bearing 51, -3 (Remote) 2025-10-28T18:21:07.415Z,1761675667.415 [DAT](INFO): DAT read: Bearing 198.1, 21.3 (Local) 2025-10-28T18:21:07.415Z,1761675667.415 [DAT](INFO): Local bearing/azimuth received: Bearing 198.1, 21.3 (Local) 2025-10-28T18:21:07.417Z,1761675667.417 [DAT](INFO): DAT read: Range 11 to 20 : 1580.0 m (Round-trip 2106.7 ms) speed -0.4 m/s 2025-10-28T18:21:07.418Z,1761675667.418 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:21:07.419Z,1761675667.419 [DAT](INFO): direction in FSK: [-0.754828,0.550430,0.356738] 2025-10-28T18:21:07.419Z,1761675667.419 [DAT](INFO): publishing direction and range info 2025-10-28T18:21:07.667Z,1761675667.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512060,0.774696,0.371000],[-0.857506,0.486086,0.168534],[-0.049775,-0.404434,0.913212]] 2025-10-28T18:21:07.729Z,1761675667.729 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675648.00. Resetting abort timer. 2025-10-28T18:21:08.071Z,1761675668.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482218,0.795083,0.367845],[-0.874502,0.461834,0.148173],[-0.052074,-0.393133,0.918006]] 2025-10-28T18:21:08.463Z,1761675668.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452125,0.814252,0.364110],[-0.890309,0.436765,0.128790],[-0.054163,-0.382399,0.922408]] 2025-10-28T18:21:08.866Z,1761675668.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422870,0.832310,0.358388],[-0.904441,0.412206,0.109875],[-0.056280,-0.370604,0.927084]] 2025-10-28T18:21:09.271Z,1761675669.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394555,0.844655,0.361780],[-0.917024,0.386914,0.096766],[-0.058244,-0.369940,0.927228]] 2025-10-28T18:21:09.678Z,1761675669.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367384,0.852554,0.371727],[-0.928111,0.361976,0.087079],[-0.060317,-0.376995,0.924249]] 2025-10-28T18:21:10.078Z,1761675670.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340639,0.858959,0.382302],[-0.938150,0.337326,0.078006],[-0.061957,-0.385229,0.920739]] 2025-10-28T18:21:10.483Z,1761675670.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314639,0.862886,0.395512],[-0.947097,0.313186,0.070161],[-0.063328,-0.396663,0.915777]] 2025-10-28T18:21:10.888Z,1761675670.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288396,0.865129,0.410341],[-0.955350,0.288762,0.062638],[-0.064301,-0.410084,0.909778]] 2025-10-28T18:21:10.912Z,1761675670.912 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:21:10.912Z,1761675670.912 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:21:10.912Z,1761675670.912 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateRudder:A] Stopped 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:21:10.913Z,1761675670.913 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateCommandMode] Stopped 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:21:10.914Z,1761675670.914 [marl:UpdateSpeed] Stopped 2025-10-28T18:21:10.915Z,1761675670.915 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:21:11.290Z,1761675671.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262095,0.865801,0.426257],[-0.962854,0.264338,0.055119],[-0.064954,-0.424870,0.902921]] 2025-10-28T18:21:11.336Z,1761675671.336 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:21:11.336Z,1761675671.336 [marl:UpdateRudder:B] Stopped 2025-10-28T18:21:11.337Z,1761675671.337 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:21:11.337Z,1761675671.337 [marl:UpdateRudder] Stopped 2025-10-28T18:21:11.337Z,1761675671.337 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:21:11.694Z,1761675671.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235937,0.865963,0.440956],[-0.969551,0.240404,0.046654],[-0.065607,-0.438537,0.896315]] 2025-10-28T18:21:12.106Z,1761675672.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210249,0.867356,0.451097],[-0.975395,0.217404,0.036599],[-0.066326,-0.447693,0.891724]] 2025-10-28T18:21:12.528Z,1761675672.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184735,0.869817,0.457484],[-0.980496,0.194895,0.025376],[-0.067089,-0.453249,0.888855]] 2025-10-28T18:21:12.906Z,1761675672.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158469,0.872628,0.461960],[-0.985041,0.171798,0.013384],[-0.067685,-0.457171,0.886800]] 2025-10-28T18:21:13.315Z,1761675673.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131051,0.876390,0.463428],[-0.989041,0.147642,0.000481],[-0.068000,-0.458413,0.886134]] 2025-10-28T18:21:13.714Z,1761675673.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102276,0.880794,0.462322],[-0.992396,0.122340,-0.013536],[-0.068483,-0.457422,0.886609]] 2025-10-28T18:21:14.129Z,1761675674.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072318,0.887776,0.454560],[-0.994978,0.095837,-0.028879],[-0.069201,-0.450189,0.890248]] 2025-10-28T18:21:14.522Z,1761675674.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041301,0.895348,0.443447],[-0.996658,0.068222,-0.044920],[-0.070472,-0.440110,0.895174]] 2025-10-28T18:21:14.926Z,1761675674.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009566,0.901552,0.432565],[-0.997338,0.039877,-0.061054],[-0.072293,-0.430829,0.899533]] 2025-10-28T18:21:15.353Z,1761675675.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023315,0.909497,0.415056],[-0.996982,0.009600,-0.077041],[-0.074054,-0.415600,0.906528]] 2025-10-28T18:21:15.802Z,1761675675.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056826,0.915619,0.398011],[-0.995476,-0.021559,-0.092533],[-0.076144,-0.401468,0.912702]] 2025-10-28T18:21:16.239Z,1761675676.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090703,0.919319,0.382917],[-0.992817,-0.053348,-0.107091],[-0.078023,-0.389880,0.917554]] 2025-10-28T18:21:16.645Z,1761675676.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125261,0.918961,0.373927],[-0.988911,-0.085342,-0.121536],[-0.079775,-0.385004,0.919461]] 2025-10-28T18:21:17.043Z,1761675677.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159537,0.914932,0.370740],[-0.983826,-0.116368,-0.136181],[-0.081454,-0.386470,0.918698]] 2025-10-28T18:21:17.446Z,1761675677.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193033,0.910061,0.366780],[-0.977664,-0.146723,-0.150485],[-0.083135,-0.387636,0.918056]] 2025-10-28T18:21:17.852Z,1761675677.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225511,0.902973,0.365767],[-0.970547,-0.175561,-0.164975],[-0.084753,-0.392197,0.915968]] 2025-10-28T18:21:17.860Z,1761675677.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050422093742,35.0, 0.0,1504.2, 0 2025-10-28T18:21:18.256Z,1761675678.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256575,0.894198,0.366851],[-0.962663,-0.202534,-0.179608],[-0.086305,-0.399237,0.912777]] 2025-10-28T18:21:18.659Z,1761675678.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285778,0.885406,0.366587],[-0.954266,-0.227887,-0.193504],[-0.087789,-0.405121,0.910038]] 2025-10-28T18:21:19.063Z,1761675679.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313585,0.877285,0.363368],[-0.945411,-0.252716,-0.205749],[-0.088672,-0.408052,0.908643]] 2025-10-28T18:21:19.468Z,1761675679.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339284,0.867729,0.363226],[-0.936476,-0.275090,-0.217573],[-0.088875,-0.413972,0.905941]] 2025-10-28T18:21:19.871Z,1761675679.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363409,0.856735,0.365978],[-0.927415,-0.295359,-0.229487],[-0.088515,-0.422811,0.901885]] 2025-10-28T18:21:20.278Z,1761675680.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386248,0.844942,0.369980],[-0.918211,-0.314051,-0.241371],[-0.087752,-0.432949,0.897137]] 2025-10-28T18:21:20.681Z,1761675680.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407220,0.835012,0.370036],[-0.909182,-0.332042,-0.251267],[-0.086944,-0.438751,0.894393]] 2025-10-28T18:21:21.084Z,1761675681.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427433,0.826296,0.366791],[-0.899922,-0.350174,-0.259844],[-0.086267,-0.441149,0.893278]] 2025-10-28T18:21:21.487Z,1761675681.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447087,0.818648,0.360455],[-0.890362,-0.368620,-0.267160],[-0.085839,-0.440380,0.893699]] 2025-10-28T18:21:21.891Z,1761675681.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466630,0.813200,0.347796],[-0.880279,-0.388856,-0.271845],[-0.085822,-0.433008,0.897295]] 2025-10-28T18:21:22.302Z,1761675682.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487697,0.808367,0.329687],[-0.868749,-0.412101,-0.274677],[-0.086176,-0.420374,0.903249]] 2025-10-28T18:21:22.718Z,1761675682.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509516,0.802837,0.309591],[-0.856091,-0.436764,-0.276307],[-0.086611,-0.405821,0.909839]] 2025-10-28T18:21:23.134Z,1761675683.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533308,0.794895,0.289352],[-0.841404,-0.463164,-0.278419],[-0.087296,-0.391946,0.915837]] 2025-10-28T18:21:23.579Z,1761675683.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557659,0.783371,0.274493],[-0.825344,-0.488052,-0.283925],[-0.088452,-0.384884,0.918717]] 2025-10-28T18:21:23.724Z,1761675683.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:21:23.939Z,1761675683.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581920,0.769697,0.262556],[-0.808287,-0.511800,-0.291089],[-0.089675,-0.381611,0.919963]] 2025-10-28T18:21:24.342Z,1761675684.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606337,0.753955,0.252799],[-0.789994,-0.534768,-0.299888],[-0.090914,-0.381543,0.919870]] 2025-10-28T18:21:24.386Z,1761675684.386 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:21:24.386Z,1761675684.386 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:21:24.386Z,1761675684.386 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:21:24.386Z,1761675684.386 [marl:UpdateRudder:A] Stopped 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode] Stopped 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:21:24.387Z,1761675684.387 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:21:24.388Z,1761675684.388 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:21:24.392Z,1761675684.392 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:21:24.392Z,1761675684.392 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:21:24.392Z,1761675684.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:21:24.393Z,1761675684.393 [marl:UpdateSpeed] Stopped 2025-10-28T18:21:24.393Z,1761675684.393 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:21:24.729Z,1761675684.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:21:24.748Z,1761675684.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630336,0.736560,0.245267],[-0.770826,-0.556288,-0.310438],[-0.092218,-0.384738,0.918407]] 2025-10-28T18:21:24.798Z,1761675684.798 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:21:24.799Z,1761675684.799 [marl:UpdateRudder:B] Stopped 2025-10-28T18:21:24.799Z,1761675684.799 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:21:24.799Z,1761675684.799 [marl:UpdateRudder] Stopped 2025-10-28T18:21:24.799Z,1761675684.799 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:21:25.161Z,1761675685.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652955,0.717638,0.242170],[-0.751607,-0.574488,-0.324116],[-0.093474,-0.393650,0.914496]] 2025-10-28T18:21:25.589Z,1761675685.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673955,0.698316,0.241119],[-0.732742,-0.590232,-0.338698],[-0.094202,-0.404945,0.909475]] 2025-10-28T18:21:25.959Z,1761675685.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693593,0.678751,0.241298],[-0.714160,-0.604017,-0.353750],[-0.094360,-0.417684,0.903679]] 2025-10-28T18:21:26.366Z,1761675686.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711822,0.660553,0.238704],[-0.696012,-0.617808,-0.365897],[-0.094221,-0.426594,0.899522]] 2025-10-28T18:21:26.777Z,1761675686.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729362,0.643898,0.231143],[-0.677645,-0.633566,-0.373351],[-0.093956,-0.428941,0.898433]] 2025-10-28T18:21:27.170Z,1761675687.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746067,0.627768,0.222019],[-0.659342,-0.649900,-0.378019],[-0.093018,-0.428414,0.898782]] 2025-10-28T18:21:27.613Z,1761675687.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762926,0.610725,0.212034],[-0.639971,-0.667017,-0.381478],[-0.091548,-0.426735,0.899731]] 2025-10-28T18:21:28.010Z,1761675688.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779394,0.592892,0.202545],[-0.620035,-0.683447,-0.385302],[-0.090014,-0.425887,0.900288]] 2025-10-28T18:21:28.867Z,1761675688.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827551,0.535475,0.168600],[-0.554832,-0.734352,-0.391010],[-0.085565,-0.417126,0.904812]] 2025-10-28T18:21:29.267Z,1761675689.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843152,0.514594,0.155844],[-0.531055,-0.751678,-0.391102],[-0.084115,-0.412520,0.907057]] 2025-10-28T18:21:29.671Z,1761675689.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858550,0.492219,0.143568],[-0.505937,-0.767859,-0.392964],[-0.083184,-0.410015,0.908277]] 2025-10-28T18:21:30.075Z,1761675690.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873432,0.468623,0.132326],[-0.479864,-0.782154,-0.397449],[-0.082754,-0.410642,0.908033]] 2025-10-28T18:21:30.481Z,1761675690.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887575,0.444107,0.122392],[-0.453172,-0.794040,-0.405137],[-0.082740,-0.415054,0.906026]] 2025-10-28T18:21:30.882Z,1761675690.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900898,0.418955,0.113395],[-0.426123,-0.804124,-0.414492],[-0.082470,-0.421735,0.902961]] 2025-10-28T18:21:31.294Z,1761675691.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913659,0.392960,0.103970],[-0.398106,-0.813409,-0.424120],[-0.082092,-0.428892,0.899618]] 2025-10-28T18:21:31.691Z,1761675691.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925439,0.366891,0.094623],[-0.370069,-0.821647,-0.433527],[-0.081310,-0.436220,0.896159]] 2025-10-28T18:21:32.095Z,1761675692.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936199,0.341081,0.084820],[-0.342287,-0.829990,-0.440404],[-0.079814,-0.441339,0.893784]] 2025-10-28T18:21:32.501Z,1761675692.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946157,0.315211,0.073683],[-0.314201,-0.839498,-0.443306],[-0.077879,-0.442588,0.893337]] 2025-10-28T18:21:32.902Z,1761675692.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955413,0.288583,0.062495],[-0.285490,-0.848810,-0.444990],[-0.075370,-0.442991,0.893352]] 2025-10-28T18:21:33.311Z,1761675693.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963409,0.263066,0.051372],[-0.257867,-0.857391,-0.445404],[-0.073125,-0.442353,0.893855]] 2025-10-28T18:21:33.711Z,1761675693.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970579,0.237486,0.039719],[-0.230112,-0.866286,-0.443394],[-0.070892,-0.439489,0.895446]] 2025-10-28T18:21:34.116Z,1761675694.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976802,0.212102,0.029509],[-0.202733,-0.871536,-0.446458],[-0.068976,-0.442083,0.894318]] 2025-10-28T18:21:34.519Z,1761675694.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981995,0.187977,0.018747],[-0.176546,-0.877888,-0.445134],[-0.067217,-0.440429,0.895268]] 2025-10-28T18:21:34.922Z,1761675694.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986497,0.163637,0.006813],[-0.150045,-0.886316,-0.438098],[-0.065651,-0.433205,0.898901]] 2025-10-28T18:21:35.327Z,1761675695.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990146,0.139980,-0.004191],[-0.124330,-0.892433,-0.433711],[-0.064451,-0.428916,0.901042]] 2025-10-28T18:21:35.733Z,1761675695.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993039,0.116773,-0.015437],[-0.099346,-0.900743,-0.422839],[-0.063280,-0.418361,0.906074]] 2025-10-28T18:21:36.134Z,1761675696.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995207,0.094463,-0.025306],[-0.075155,-0.904338,-0.420148],[-0.062573,-0.416232,0.907103]] 2025-10-28T18:21:36.538Z,1761675696.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996789,0.071879,-0.035293],[-0.051101,-0.910319,-0.410741],[-0.061651,-0.407619,0.911069]] 2025-10-28T18:21:36.942Z,1761675696.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997761,0.049429,-0.045056],[-0.027001,-0.914008,-0.404797],[-0.061190,-0.402674,0.913296]] 2025-10-28T18:21:37.347Z,1761675697.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998156,0.025769,-0.054955],[-0.001850,-0.917899,-0.396809],[-0.060669,-0.395976,0.916255]] 2025-10-28T18:21:37.377Z,1761675697.377 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateRudder:A] Stopped 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:21:37.378Z,1761675697.378 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateCommandMode] Stopped 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:21:37.379Z,1761675697.379 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:21:37.380Z,1761675697.380 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:21:37.380Z,1761675697.380 [marl:UpdateSpeed] Stopped 2025-10-28T18:21:37.380Z,1761675697.380 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:21:37.833Z,1761675697.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997901,0.001902,-0.064725],[0.023667,-0.919699,-0.391911],[-0.060273,-0.392621,0.917723]] 2025-10-28T18:21:37.890Z,1761675697.890 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:21:37.891Z,1761675697.891 [marl:UpdateRudder:B] Stopped 2025-10-28T18:21:37.891Z,1761675697.891 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:21:37.891Z,1761675697.891 [marl:UpdateRudder] Stopped 2025-10-28T18:21:37.891Z,1761675697.891 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:21:38.214Z,1761675698.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996890,-0.023670,-0.075169],[0.051312,-0.918900,-0.391139],[-0.059815,-0.393779,0.917257]] 2025-10-28T18:21:38.619Z,1761675698.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995040,-0.050289,-0.085828],[0.080188,-0.916080,-0.392896],[-0.058867,-0.397830,0.915569]] 2025-10-28T18:21:39.025Z,1761675699.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992305,-0.077164,-0.096829],[0.109630,-0.911043,-0.397470],[-0.057545,-0.405027,0.912492]] 2025-10-28T18:21:39.429Z,1761675699.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988567,-0.104851,-0.108359],[0.140005,-0.905107,-0.401472],[-0.055981,-0.412053,0.909439]] 2025-10-28T18:21:39.831Z,1761675699.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983763,-0.133499,-0.119947],[0.171176,-0.898782,-0.403595],[-0.053927,-0.417574,0.907041]] 2025-10-28T18:21:40.235Z,1761675700.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978004,-0.161996,-0.131401],[0.202136,-0.891521,-0.405379],[-0.051477,-0.423023,0.904656]] 2025-10-28T18:21:40.639Z,1761675700.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971294,-0.190483,-0.142495],[0.232781,-0.884473,-0.404376],[-0.049007,-0.425938,0.903424]] 2025-10-28T18:21:41.045Z,1761675701.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964007,-0.217189,-0.153357],[0.261759,-0.876393,-0.404249],[-0.046603,-0.429842,0.901701]] 2025-10-28T18:21:41.448Z,1761675701.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956023,-0.243937,-0.162837],[0.289965,-0.869515,-0.399830],[-0.044056,-0.429464,0.902009]] 2025-10-28T18:21:41.850Z,1761675701.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947360,-0.270425,-0.171404],[0.317461,-0.862890,-0.393241],[-0.041560,-0.426955,0.903317]] 2025-10-28T18:21:42.255Z,1761675702.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938005,-0.296121,-0.180163],[0.344370,-0.855285,-0.387166],[-0.039443,-0.425207,0.904236]] 2025-10-28T18:21:42.659Z,1761675702.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927900,-0.321625,-0.188573],[0.370921,-0.847475,-0.379741],[-0.037677,-0.422307,0.905670]] 2025-10-28T18:21:43.066Z,1761675703.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917382,-0.345771,-0.197110],[0.396352,-0.838792,-0.373274],[-0.036267,-0.420560,0.906540]] 2025-10-28T18:21:43.467Z,1761675703.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906224,-0.369752,-0.205039],[0.421353,-0.829867,-0.365762],[-0.034914,-0.417856,0.907842]] 2025-10-28T18:21:43.870Z,1761675703.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894723,-0.393185,-0.211839],[0.445360,-0.821064,-0.357083],[-0.033533,-0.413835,0.909734]] 2025-10-28T18:21:44.284Z,1761675704.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882489,-0.416349,-0.218785],[0.469211,-0.811441,-0.348431],[-0.032462,-0.410143,0.911443]] 2025-10-28T18:21:44.681Z,1761675704.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870157,-0.438044,-0.225709],[0.491754,-0.801377,-0.340547],[-0.031704,-0.407323,0.912734]] 2025-10-28T18:21:45.082Z,1761675705.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857551,-0.458639,-0.232932],[0.513494,-0.790099,-0.334765],[-0.030503,-0.406687,0.913058]] 2025-10-28T18:21:45.487Z,1761675705.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845015,-0.477952,-0.239817],[0.533961,-0.778414,-0.330088],[-0.028911,-0.406982,0.912979]] 2025-10-28T18:21:45.894Z,1761675705.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832098,-0.496159,-0.247869],[0.553961,-0.765396,-0.327560],[-0.027196,-0.409872,0.911738]] 2025-10-28T18:21:46.298Z,1761675706.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818665,-0.514090,-0.255927],[0.573717,-0.751726,-0.325201],[-0.025204,-0.413061,0.910355]] 2025-10-28T18:21:46.698Z,1761675706.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804953,-0.532096,-0.262534],[0.592892,-0.738486,-0.321118],[-0.023012,-0.414139,0.909923]] 2025-10-28T18:21:47.103Z,1761675707.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790899,-0.549819,-0.268659],[0.611607,-0.724849,-0.317066],[-0.020408,-0.415081,0.909555]] 2025-10-28T18:21:47.989Z,1761675707.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760064,-0.586540,-0.279773],[0.649689,-0.695373,-0.307182],[-0.014372,-0.415243,0.909597]] 2025-10-28T18:21:48.394Z,1761675708.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742905,-0.605491,-0.285434],[0.669301,-0.679088,-0.301456],[-0.011306,-0.414994,0.909754]] 2025-10-28T18:21:48.796Z,1761675708.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724611,-0.623600,-0.293363],[0.689114,-0.660483,-0.298136],[-0.007843,-0.418193,0.908324]] 2025-10-28T18:21:49.194Z,1761675709.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705145,-0.642079,-0.300842],[0.709051,-0.641010,-0.293859],[-0.004162,-0.420526,0.907271]] 2025-10-28T18:21:49.599Z,1761675709.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684570,-0.660476,-0.308441],[0.728947,-0.620644,-0.288854],[-0.000651,-0.422578,0.906326]] 2025-10-28T18:21:50.003Z,1761675710.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663688,-0.678189,-0.315561],[0.748003,-0.599911,-0.283898],[0.003228,-0.424461,0.905441]] 2025-10-28T18:21:50.411Z,1761675710.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642220,-0.695603,-0.322010],[0.766488,-0.578887,-0.278184],[0.007098,-0.425472,0.904944]] 2025-10-28T18:21:50.455Z,1761675710.455 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:21:50.464Z,1761675710.464 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:21:50.465Z,1761675710.465 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:21:50.466Z,1761675710.466 [marl:UpdateRudder:A] Stopped 2025-10-28T18:21:50.466Z,1761675710.466 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:21:50.466Z,1761675710.466 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:21:50.466Z,1761675710.466 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:21:50.466Z,1761675710.466 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateCommandMode] Stopped 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:21:50.467Z,1761675710.467 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:21:50.468Z,1761675710.468 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:21:50.472Z,1761675710.472 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:21:50.472Z,1761675710.472 [marl:UpdateSpeed] Stopped 2025-10-28T18:21:50.472Z,1761675710.472 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:21:50.811Z,1761675710.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619946,-0.713354,-0.326793],[0.784568,-0.557757,-0.270849],[0.010940,-0.424304,0.905454]] 2025-10-28T18:21:50.847Z,1761675710.847 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:21:50.847Z,1761675710.847 [marl:UpdateRudder:B] Stopped 2025-10-28T18:21:50.847Z,1761675710.847 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:21:50.847Z,1761675710.847 [marl:UpdateRudder] Stopped 2025-10-28T18:21:50.848Z,1761675710.848 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:21:51.214Z,1761675711.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596676,-0.730637,-0.331885],[0.802355,-0.535810,-0.262932],[0.014280,-0.423175,0.905935]] 2025-10-28T18:21:52.023Z,1761675712.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548220,-0.762586,-0.343392],[0.836072,-0.489441,-0.247852],[0.020938,-0.422978,0.905898]] 2025-10-28T18:21:52.427Z,1761675712.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522949,-0.777336,-0.349675],[0.852012,-0.464921,-0.240676],[0.024515,-0.423788,0.905429]] 2025-10-28T18:21:52.831Z,1761675712.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496927,-0.791726,-0.355295],[0.867349,-0.440052,-0.232506],[0.027733,-0.423703,0.905376]] 2025-10-28T18:21:53.243Z,1761675713.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469858,-0.806007,-0.359981],[0.882213,-0.414648,-0.223084],[0.030542,-0.422398,0.905896]] 2025-10-28T18:21:53.639Z,1761675713.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442320,-0.819020,-0.365459],[0.896235,-0.388472,-0.214132],[0.033408,-0.422252,0.905863]] 2025-10-28T18:21:54.042Z,1761675714.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414221,-0.832109,-0.368803],[0.909449,-0.362193,-0.204252],[0.036382,-0.420013,0.906788]] 2025-10-28T18:21:54.447Z,1761675714.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384832,-0.844839,-0.371688],[0.922157,-0.334862,-0.193633],[0.039125,-0.417271,0.907940]] 2025-10-28T18:21:54.853Z,1761675714.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354635,-0.855579,-0.377120],[0.934084,-0.306294,-0.183498],[0.041488,-0.417336,0.907805]] 2025-10-28T18:21:54.856Z,1761675714.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:21:55.279Z,1761675715.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292998,-0.873630,-0.388488],[0.955089,-0.248630,-0.161210],[0.044248,-0.418274,0.907242]] 2025-10-28T18:21:55.685Z,1761675715.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262838,-0.882196,-0.390700],[0.963800,-0.221267,-0.148763],[0.044789,-0.415657,0.908418]] 2025-10-28T18:21:55.860Z,1761675715.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:21:56.083Z,1761675716.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233550,-0.888993,-0.393886],[0.971317,-0.194677,-0.136547],[0.044709,-0.414479,0.908960]] 2025-10-28T18:21:56.487Z,1761675716.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205717,-0.894284,-0.397412],[0.977615,-0.169477,-0.124684],[0.044150,-0.414165,0.909130]] 2025-10-28T18:21:56.889Z,1761675716.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179479,-0.898638,-0.400297],[0.982797,-0.145767,-0.113415],[0.043568,-0.413766,0.909340]] 2025-10-28T18:21:57.291Z,1761675717.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154042,-0.901709,-0.403970],[0.987139,-0.122756,-0.102409],[0.042754,-0.414549,0.909022]] 2025-10-28T18:21:57.694Z,1761675717.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128904,-0.903391,-0.408986],[0.990747,-0.099653,-0.092145],[0.042487,-0.417079,0.907877]] 2025-10-28T18:21:58.099Z,1761675718.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104315,-0.903462,-0.415783],[0.993615,-0.076603,-0.082834],[0.042987,-0.421769,0.905684]] 2025-10-28T18:21:58.504Z,1761675718.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080095,-0.902954,-0.422207],[0.995802,-0.053659,-0.074151],[0.044300,-0.426374,0.903462]] 2025-10-28T18:21:58.906Z,1761675718.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056093,-0.901996,-0.428085],[0.997336,-0.030596,-0.066215],[0.046628,-0.430659,0.901310]] 2025-10-28T18:21:59.311Z,1761675719.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032043,-0.901795,-0.430974],[0.998239,-0.007341,-0.058859],[0.049915,-0.432101,0.900443]] 2025-10-28T18:21:59.715Z,1761675719.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007209,-0.901457,-0.432808],[0.998532,0.016747,-0.051513],[0.053685,-0.432544,0.900013]] 2025-10-28T18:22:00.119Z,1761675720.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018680,-0.900952,-0.433517],[0.998183,0.041649,-0.043545],[0.057288,-0.431916,0.900093]] 2025-10-28T18:22:00.523Z,1761675720.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045243,-0.900406,-0.432691],[0.997129,0.067029,-0.035221],[0.060716,-0.429855,0.900854]] 2025-10-28T18:22:00.927Z,1761675720.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072463,-0.899956,-0.429917],[0.995331,0.092809,-0.026514],[0.063761,-0.425989,0.902479]] 2025-10-28T18:22:01.330Z,1761675721.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100172,-0.898514,-0.427363],[0.992763,0.118853,-0.017184],[0.066234,-0.422549,0.903917]] 2025-10-28T18:22:01.743Z,1761675721.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128068,-0.896344,-0.424459],[0.989399,0.145017,-0.007716],[0.068470,-0.418971,0.905414]] 2025-10-28T18:22:02.140Z,1761675722.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155940,-0.893991,-0.420075],[0.985248,0.171126,0.001557],[0.070494,-0.414121,0.907488]] 2025-10-28T18:22:02.166Z,1761675722.166 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:22:02.397Z,1761675722.397 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:22:02.397Z,1761675722.397 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:22:02.567Z,1761675722.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183817,-0.890353,-0.416513],[0.980289,0.197264,0.010946],[0.072418,-0.410316,0.909064]] 2025-10-28T18:22:02.649Z,1761675722.649 [DAT](INFO): DAT read: user:118> 2025-10-28T18:22:02.650Z,1761675722.650 [DAT](INFO): DAT read: Tx time:18:22:02.3960 2025-10-28T18:22:02.650Z,1761675722.650 [DAT](INFO): Ping request sent. 2025-10-28T18:22:02.650Z,1761675722.650 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:22:02.650Z,1761675722.650 [DAT](INFO): publishing transmit ping time 2025-10-28T18:22:02.651Z,1761675722.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T18:22:02.901Z,1761675722.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859 2025-10-28T18:22:02.946Z,1761675722.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212270,-0.884550,-0.415346],[0.974376,0.223940,0.021053],[0.074390,-0.409172,0.909420]] 2025-10-28T18:22:03.153Z,1761675723.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503192 2025-10-28T18:22:03.351Z,1761675723.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241556,-0.877554,-0.414186],[0.967363,0.251439,0.031437],[0.076555,-0.408262,0.909649]] 2025-10-28T18:22:03.375Z,1761675723.375 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:22:03.375Z,1761675723.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:22:03.375Z,1761675723.375 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:22:03.375Z,1761675723.375 [marl:UpdateRudder:A] Stopped 2025-10-28T18:22:03.376Z,1761675723.376 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:22:03.376Z,1761675723.376 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:22:03.376Z,1761675723.376 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:22:03.376Z,1761675723.376 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:22:03.376Z,1761675723.376 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateCommandMode] Stopped 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:22:03.377Z,1761675723.377 [marl:UpdateSpeed] Stopped 2025-10-28T18:22:03.378Z,1761675723.378 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:22:03.405Z,1761675723.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755394 2025-10-28T18:22:03.657Z,1761675723.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928 2025-10-28T18:22:03.766Z,1761675723.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271710,-0.869216,-0.413083],[0.959155,0.279691,0.042365],[0.078711,-0.407721,0.909708]] 2025-10-28T18:22:03.837Z,1761675723.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:22:03.838Z,1761675723.838 [marl:UpdateRudder:B] Stopped 2025-10-28T18:22:03.838Z,1761675723.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:22:03.838Z,1761675723.838 [marl:UpdateRudder] Stopped 2025-10-28T18:22:03.838Z,1761675723.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:22:03.909Z,1761675723.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790 2025-10-28T18:22:04.155Z,1761675724.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302820,-0.859060,-0.412694],[0.949607,0.308735,0.054128],[0.080914,-0.408288,0.909260]] 2025-10-28T18:22:04.161Z,1761675724.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511003 2025-10-28T18:22:04.413Z,1761675724.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762925 2025-10-28T18:22:04.558Z,1761675724.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334434,-0.847861,-0.411443],[0.938743,0.338231,0.066049],[0.083162,-0.408328,0.909039]] 2025-10-28T18:22:04.665Z,1761675724.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014845 2025-10-28T18:22:04.918Z,1761675724.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267662 2025-10-28T18:22:04.969Z,1761675724.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366702,-0.835576,-0.409076],[0.926444,0.368164,0.078469],[0.085040,-0.407760,0.909120]] 2025-10-28T18:22:05.169Z,1761675725.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519172 2025-10-28T18:22:05.399Z,1761675725.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399274,-0.821727,-0.406627],[0.912754,0.398048,0.091859],[0.086374,-0.407827,0.908965]] 2025-10-28T18:22:05.421Z,1761675725.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770998 2025-10-28T18:22:05.674Z,1761675725.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024108 2025-10-28T18:22:05.800Z,1761675725.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431736,-0.806089,-0.404753],[0.897805,0.427259,0.106747],[0.086887,-0.409476,0.908174]] 2025-10-28T18:22:05.925Z,1761675725.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275064 2025-10-28T18:22:06.177Z,1761675726.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526841 2025-10-28T18:22:06.202Z,1761675726.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463921,-0.789820,-0.401200],[0.881631,0.455922,0.121911],[0.086628,-0.410267,0.907842]] 2025-10-28T18:22:06.429Z,1761675726.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779237 2025-10-28T18:22:06.607Z,1761675726.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495729,-0.773064,-0.395758],[0.864246,0.484042,0.137046],[0.085618,-0.409970,0.908072]] 2025-10-28T18:22:06.681Z,1761675726.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031445 2025-10-28T18:22:06.933Z,1761675726.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282843 2025-10-28T18:22:07.013Z,1761675727.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526237,-0.755134,-0.390958],[0.846178,0.510453,0.153036],[0.084002,-0.411353,0.907597]] 2025-10-28T18:22:07.186Z,1761675727.186 [DAT](INFO): DAT read: Rx Time:18:22:06.5349 2025-10-28T18:22:07.186Z,1761675727.186 [DAT](INFO): Rx dataTimestamp_ set to:1761675727.185764 2025-10-28T18:22:07.187Z,1761675727.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536593 2025-10-28T18:22:07.417Z,1761675727.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555176,-0.736198,-0.387030],[0.827705,0.534770,0.170077],[0.081762,-0.414769,0.906246]] 2025-10-28T18:22:07.437Z,1761675727.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787075 2025-10-28T18:22:07.705Z,1761675727.705 [DAT](INFO): DAT read: 18:22:06.5349 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 350,-0.07,-2.045, 2.205,-2.935,-2.634, PHS= 0.691,-1.399,-0.345, RAW= 120.3, 11.6, CAL= 121.0, 12.8, ROT= 29.0, -12.8 2025-10-28T18:22:07.709Z,1761675727.709 [DAT](INFO): got valid direction response: 18:22:06.5349 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 350,-0.07,-2.045, 2.205,-2.935,-2.634, PHS= 0.691,-1.399,-0.345, RAW= 120.3, 11.6, CAL= 121.0, 12.8, ROT= 29.0, -12.8 2025-10-28T18:22:07.711Z,1761675727.711 [DAT](INFO): DAT read: Bearing 51, -12 (Remote) 2025-10-28T18:22:07.713Z,1761675727.713 [DAT](INFO): Remote Bearing received:Bearing 51, -12 (Remote) 2025-10-28T18:22:07.714Z,1761675727.714 [DAT](INFO): DAT read: Bearing 192.9, 24.8 (Local) 2025-10-28T18:22:07.714Z,1761675727.714 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 24.8 (Local) 2025-10-28T18:22:07.716Z,1761675727.716 [DAT](INFO): DAT read: Range 11 to 20 : 1582.3 m (Round-trip 2109.8 ms) speed 1.2 m/s 2025-10-28T18:22:07.717Z,1761675727.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:22:07.719Z,1761675727.719 [DAT](INFO): direction in FSK: [0.852885,0.472762,0.221548] 2025-10-28T18:22:07.719Z,1761675727.719 [DAT](INFO): publishing direction and range info 2025-10-28T18:22:07.819Z,1761675727.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582457,-0.717423,-0.382163],[0.808999,0.557408,0.186593],[0.079155,-0.417852,0.905060]] 2025-10-28T18:22:07.853Z,1761675727.853 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD04.05, +5105.05, .82, 20.00, 2025-10-28T18:22:07.915Z,1761675727.915 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675776.00. Resetting abort timer. 2025-10-28T18:22:08.231Z,1761675728.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608314,-0.698620,-0.376675],[0.790046,0.578449,0.203038],[0.076041,-0.421102,0.903820]] 2025-10-28T18:22:08.627Z,1761675728.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632078,-0.680214,-0.371196],[0.771465,0.597461,0.218820],[0.072930,-0.424676,0.902403]] 2025-10-28T18:22:09.031Z,1761675729.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654249,-0.661550,-0.366484],[0.753040,0.614649,0.234813],[0.069918,-0.429603,0.900307]] 2025-10-28T18:22:09.434Z,1761675729.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675423,-0.642552,-0.361842],[0.734398,0.630558,0.251112],[0.066810,-0.435343,0.897782]] 2025-10-28T18:22:09.840Z,1761675729.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695459,-0.622753,-0.358490],[0.715687,0.644931,0.268063],[0.064264,-0.442993,0.894219]] 2025-10-28T18:22:10.251Z,1761675730.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714165,-0.603261,-0.355029],[0.697182,0.658317,0.283824],[0.062501,-0.450217,0.890729]] 2025-10-28T18:22:10.646Z,1761675730.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731642,-0.583923,-0.351759],[0.678879,0.670934,0.298279],[0.061835,-0.457035,0.887296]] 2025-10-28T18:22:11.050Z,1761675731.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748224,-0.565474,-0.346986],[0.660508,0.684078,0.309463],[0.062372,-0.460735,0.885344]] 2025-10-28T18:22:11.456Z,1761675731.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764005,-0.547623,-0.341183],[0.641997,0.697927,0.317392],[0.064309,-0.461527,0.884792]] 2025-10-28T18:22:11.859Z,1761675731.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779417,-0.530696,-0.332973],[0.622879,0.713505,0.320830],[0.067315,-0.457462,0.886678]] 2025-10-28T18:22:12.262Z,1761675732.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795157,-0.513265,-0.322932],[0.602243,0.730685,0.321562],[0.070915,-0.450176,0.890120]] 2025-10-28T18:22:12.666Z,1761675732.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811435,-0.495250,-0.310325],[0.579643,0.749862,0.318936],[0.074748,-0.438674,0.895532]] 2025-10-28T18:22:13.077Z,1761675733.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828195,-0.474590,-0.298090],[0.554927,0.768855,0.317676],[0.078422,-0.428516,0.900125]] 2025-10-28T18:22:13.482Z,1761675733.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845860,-0.450625,-0.285409],[0.527220,0.787549,0.319070],[0.080992,-0.420362,0.903735]] 2025-10-28T18:22:13.878Z,1761675733.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863742,-0.425324,-0.270276],[0.497138,0.806960,0.318857],[0.082485,-0.409775,0.908450]] 2025-10-28T18:22:14.309Z,1761675734.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881018,-0.397658,-0.256273],[0.465695,0.824350,0.321831],[0.083280,-0.402884,0.911454]] 2025-10-28T18:22:14.715Z,1761675734.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897515,-0.367746,-0.243371],[0.433038,0.839263,0.328810],[0.083334,-0.400500,0.912499]] 2025-10-28T18:22:15.114Z,1761675735.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912438,-0.337583,-0.231288],[0.400786,0.851335,0.338526],[0.082623,-0.401581,0.912089]] 2025-10-28T18:22:15.541Z,1761675735.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926295,-0.307772,-0.217381],[0.367905,0.863353,0.345350],[0.081387,-0.399871,0.912951]] 2025-10-28T18:22:15.922Z,1761675735.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938713,-0.278757,-0.202759],[0.335458,0.874071,0.351380],[0.079276,-0.397862,0.914014]] 2025-10-28T18:22:16.327Z,1761675736.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949749,-0.250613,-0.187537],[0.303444,0.884177,0.355179],[0.076803,-0.394238,0.915793]] 2025-10-28T18:22:16.739Z,1761675736.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959072,-0.224455,-0.172630],[0.273316,0.893166,0.357145],[0.074025,-0.389711,0.917957]] 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateRudder:A] Stopped 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:22:16.797Z,1761675736.797 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateCommandMode] Stopped 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:22:16.798Z,1761675736.798 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:22:16.799Z,1761675736.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:22:16.799Z,1761675736.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:22:16.799Z,1761675736.799 [marl:UpdateSpeed] Stopped 2025-10-28T18:22:16.799Z,1761675736.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:22:17.190Z,1761675737.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967054,-0.198579,-0.159285],[0.244390,0.899362,0.362520],[0.071266,-0.389505,0.918263]] 2025-10-28T18:22:17.226Z,1761675737.226 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:22:17.227Z,1761675737.227 [marl:UpdateRudder:B] Stopped 2025-10-28T18:22:17.227Z,1761675737.227 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:22:17.227Z,1761675737.227 [marl:UpdateRudder] Stopped 2025-10-28T18:22:17.227Z,1761675737.227 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:22:17.618Z,1761675737.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974064,-0.172202,-0.146785],[0.215592,0.903258,0.371004],[0.068697,-0.393028,0.916957]] 2025-10-28T18:22:18.068Z,1761675738.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980242,-0.145068,-0.134464],[0.186473,0.904487,0.383577],[0.065976,-0.401072,0.913668]] 2025-10-28T18:22:18.466Z,1761675738.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985586,-0.118199,-0.121030],[0.157070,0.905086,0.395157],[0.062835,-0.408471,0.910606]] 2025-10-28T18:22:19.275Z,1761675739.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993503,-0.066379,-0.092445],[0.098995,0.904768,0.414240],[0.056144,-0.420700,0.905461]] 2025-10-28T18:22:19.680Z,1761675739.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996189,-0.040402,-0.077304],[0.069530,0.902942,0.424100],[0.052667,-0.427859,0.902310]] 2025-10-28T18:22:20.083Z,1761675740.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998009,-0.013357,-0.061646],[0.038801,0.900544,0.433030],[0.049731,-0.434559,0.899269]] 2025-10-28T18:22:20.488Z,1761675740.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998869,0.014814,-0.045183],[0.006523,0.898564,0.438795],[0.047100,-0.438593,0.897451]] 2025-10-28T18:22:20.891Z,1761675740.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998673,0.042598,-0.028932],[-0.025529,0.897515,0.440243],[0.044720,-0.438921,0.897412]] 2025-10-28T18:22:21.303Z,1761675741.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997449,0.070095,-0.013463],[-0.057060,0.896388,0.439582],[0.042881,-0.437692,0.898102]] 2025-10-28T18:22:21.708Z,1761675741.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991939,0.125586,0.016902],[-0.120289,0.891253,0.437262],[0.039850,-0.435770,0.899175]] 2025-10-28T18:22:22.107Z,1761675742.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987622,0.153630,0.031641],[-0.152048,0.888127,0.433719],[0.038531,-0.433161,0.900492]] 2025-10-28T18:22:22.514Z,1761675742.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982054,0.182697,0.046818],[-0.184873,0.883404,0.430603],[0.037311,-0.431531,0.901326]] 2025-10-28T18:22:22.914Z,1761675742.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975270,0.211889,0.062864],[-0.218135,0.877001,0.428121],[0.035583,-0.431246,0.901533]] 2025-10-28T18:22:23.317Z,1761675743.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967056,0.241844,0.079462],[-0.252333,0.869457,0.424704],[0.033623,-0.430763,0.901838]] 2025-10-28T18:22:23.726Z,1761675743.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957235,0.272898,0.096064],[-0.287603,0.861555,0.418340],[0.031400,-0.428078,0.903196]] 2025-10-28T18:22:24.125Z,1761675744.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945876,0.304764,0.111528],[-0.323235,0.854057,0.407560],[0.028959,-0.421551,0.906342]] 2025-10-28T18:22:24.527Z,1761675744.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933012,0.337036,0.126072],[-0.358867,0.845711,0.394952],[0.026493,-0.413738,0.910010]] 2025-10-28T18:22:24.931Z,1761675744.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918961,0.368504,0.140410],[-0.393618,0.835496,0.383419],[0.023979,-0.407616,0.912839]] 2025-10-28T18:22:25.336Z,1761675745.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903724,0.398886,0.155476],[-0.427580,0.822806,0.374386],[0.021410,-0.404821,0.914145]] 2025-10-28T18:22:25.739Z,1761675745.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887693,0.428551,0.168360],[-0.460031,0.810169,0.363315],[0.019299,-0.399963,0.916328]] 2025-10-28T18:22:25.996Z,1761675745.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:22:26.145Z,1761675746.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870925,0.456478,0.181983],[-0.491108,0.795389,0.355202],[0.017395,-0.398728,0.916904]] 2025-10-28T18:22:26.547Z,1761675746.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853668,0.481942,0.197439],[-0.520583,0.778233,0.351207],[0.015608,-0.402597,0.915244]] 2025-10-28T18:22:26.950Z,1761675746.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836374,0.505039,0.213105],[-0.547975,0.760265,0.348884],[0.014183,-0.408574,0.912615]] 2025-10-28T18:22:27.000Z,1761675747.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:22:27.356Z,1761675747.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818456,0.526413,0.230260],[-0.574419,0.740489,0.348882],[0.013151,-0.417810,0.908439]] 2025-10-28T18:22:27.767Z,1761675747.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800001,0.546799,0.247001],[-0.599872,0.720459,0.347982],[0.012322,-0.426555,0.904378]] 2025-10-28T18:22:28.567Z,1761675748.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761222,0.586559,0.276570],[-0.648406,0.681489,0.339326],[0.010555,-0.437632,0.899092]] 2025-10-28T18:22:28.970Z,1761675748.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740166,0.606508,0.290348],[-0.672363,0.661766,0.331653],[0.009008,-0.440698,0.897610]] 2025-10-28T18:22:29.377Z,1761675749.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717586,0.626797,0.303637],[-0.696432,0.641242,0.322166],[0.007228,-0.442644,0.896668]] 2025-10-28T18:22:29.786Z,1761675749.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693712,0.645258,0.320010],[-0.720239,0.618703,0.313788],[0.004483,-0.448162,0.893941]] 2025-10-28T18:22:29.828Z,1761675749.828 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:22:29.828Z,1761675749.828 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateRudder:A] Stopped 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:22:29.829Z,1761675749.829 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateCommandMode] Stopped 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:22:29.830Z,1761675749.830 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:22:29.831Z,1761675749.831 [marl:UpdateSpeed] Stopped 2025-10-28T18:22:29.831Z,1761675749.831 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:22:30.189Z,1761675750.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669288,0.664906,0.331591],[-0.743001,0.597999,0.300576],[0.001564,-0.447545,0.894260]] 2025-10-28T18:22:30.232Z,1761675750.232 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:22:30.232Z,1761675750.232 [marl:UpdateRudder:B] Stopped 2025-10-28T18:22:30.232Z,1761675750.232 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:22:30.233Z,1761675750.233 [marl:UpdateRudder] Stopped 2025-10-28T18:22:30.233Z,1761675750.233 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:22:30.587Z,1761675750.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643982,0.685596,0.339479],[-0.765039,0.577969,0.284018],[-0.001487,-0.442618,0.896709]] 2025-10-28T18:22:30.991Z,1761675750.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617770,0.708100,0.341988],[-0.786345,0.558836,0.263369],[-0.004623,-0.431622,0.902043]] 2025-10-28T18:22:31.403Z,1761675751.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591170,0.730658,0.341550],[-0.806510,0.539580,0.241652],[-0.007729,-0.418321,0.908266]] 2025-10-28T18:22:32.212Z,1761675752.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536858,0.774150,0.335372],[-0.843579,0.498474,0.199745],[-0.012541,-0.390148,0.920667]] 2025-10-28T18:22:32.616Z,1761675752.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509716,0.795546,0.327560],[-0.860224,0.477577,0.178702],[-0.014270,-0.372862,0.927777]] 2025-10-28T18:22:33.012Z,1761675753.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481985,0.813272,0.326004],[-0.876041,0.453924,0.162803],[-0.015578,-0.364062,0.931245]] 2025-10-28T18:22:33.428Z,1761675753.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454190,0.827300,0.330586],[-0.890750,0.428607,0.151197],[-0.016606,-0.363141,0.931586]] 2025-10-28T18:22:33.818Z,1761675753.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425820,0.838503,0.339985],[-0.904638,0.401823,0.142016],[-0.017533,-0.368036,0.929646]] 2025-10-28T18:22:34.226Z,1761675754.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397084,0.848138,0.350692],[-0.917603,0.374431,0.133441],[-0.018134,-0.374784,0.926935]] 2025-10-28T18:22:34.628Z,1761675754.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369026,0.855324,0.363650],[-0.929227,0.347489,0.125654],[-0.018889,-0.384283,0.923022]] 2025-10-28T18:22:35.030Z,1761675755.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341572,0.861418,0.375883],[-0.939655,0.321264,0.117638],[-0.019422,-0.393382,0.919170]] 2025-10-28T18:22:35.435Z,1761675755.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314558,0.867245,0.385928],[-0.949036,0.295719,0.109001],[-0.019596,-0.400546,0.916067]] 2025-10-28T18:22:35.838Z,1761675755.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287967,0.872231,0.395334],[-0.957439,0.270702,0.100159],[-0.019656,-0.407350,0.913061]] 2025-10-28T18:22:36.252Z,1761675756.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261790,0.876818,0.403307],[-0.964923,0.246334,0.090793],[-0.019739,-0.412929,0.910549]] 2025-10-28T18:22:36.646Z,1761675756.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235633,0.880622,0.411074],[-0.971639,0.222125,0.081109],[-0.019883,-0.418528,0.907986]] 2025-10-28T18:22:37.051Z,1761675757.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210002,0.884020,0.417622],[-0.977489,0.198738,0.070845],[-0.020369,-0.423098,0.905855]] 2025-10-28T18:22:37.455Z,1761675757.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184383,0.887619,0.422061],[-0.982630,0.175652,0.059868],[-0.020996,-0.425768,0.904589]] 2025-10-28T18:22:37.861Z,1761675757.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158853,0.891540,0.424172],[-0.987062,0.152886,0.048315],[-0.021775,-0.426359,0.904292]] 2025-10-28T18:22:38.263Z,1761675758.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133232,0.896391,0.422767],[-0.990823,0.130270,0.036040],[-0.022768,-0.423689,0.905522]] 2025-10-28T18:22:38.669Z,1761675758.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107212,0.900749,0.420900],[-0.993950,0.107255,0.023649],[-0.023842,-0.420889,0.906799]] 2025-10-28T18:22:39.070Z,1761675759.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080138,0.908054,0.411115],[-0.996477,0.083208,0.010454],[-0.024716,-0.410504,0.911524]] 2025-10-28T18:22:39.479Z,1761675759.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053195,0.914677,0.400669],[-0.998251,0.059075,-0.002327],[-0.025797,-0.399844,0.916220]] 2025-10-28T18:22:39.878Z,1761675759.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025519,0.920564,0.389758],[-0.999322,0.033845,-0.014510],[-0.026548,-0.389124,0.920803]] 2025-10-28T18:22:40.338Z,1761675760.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003650,0.922929,0.384952],[-0.999631,0.006992,-0.026240],[-0.026909,-0.384906,0.922563]] 2025-10-28T18:22:40.741Z,1761675760.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033023,0.922124,0.385483],[-0.999086,-0.019982,-0.037788],[-0.027142,-0.386378,0.921941]] 2025-10-28T18:22:41.143Z,1761675761.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062112,0.919916,0.387166],[-0.997684,-0.046453,-0.049682],[-0.027719,-0.389355,0.920671]] 2025-10-28T18:22:41.581Z,1761675761.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091268,0.917934,0.386093],[-0.995430,-0.073153,-0.061389],[-0.028107,-0.389932,0.920415]] 2025-10-28T18:22:41.951Z,1761675761.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120045,0.915245,0.384598],[-0.992352,-0.099400,-0.073198],[-0.028765,-0.390444,0.920177]] 2025-10-28T18:22:42.356Z,1761675762.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148441,0.910536,0.385862],[-0.988477,-0.124914,-0.085503],[-0.029654,-0.394108,0.918586]] 2025-10-28T18:22:42.770Z,1761675762.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175862,0.905006,0.387346],[-0.983944,-0.149432,-0.097590],[-0.030437,-0.398289,0.916755]] 2025-10-28T18:22:43.168Z,1761675763.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202934,0.898503,0.389243],[-0.978697,-0.173468,-0.109826],[-0.031158,-0.403238,0.914564]] 2025-10-28T18:22:43.209Z,1761675763.209 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateRudder:A] Stopped 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:22:43.210Z,1761675763.210 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateCommandMode] Stopped 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:22:43.211Z,1761675763.211 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:22:43.212Z,1761675763.212 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:22:43.212Z,1761675763.212 [marl:UpdateSpeed] Stopped 2025-10-28T18:22:43.212Z,1761675763.212 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:22:43.587Z,1761675763.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229661,0.891600,0.390264],[-0.972750,-0.197167,-0.121992],[-0.031821,-0.407646,0.912585]] 2025-10-28T18:22:43.637Z,1761675763.637 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:22:43.637Z,1761675763.637 [marl:UpdateRudder:B] Stopped 2025-10-28T18:22:43.637Z,1761675763.637 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:22:43.637Z,1761675763.637 [marl:UpdateRudder] Stopped 2025-10-28T18:22:43.637Z,1761675763.637 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:22:43.972Z,1761675763.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256046,0.883601,0.392033],[-0.966117,-0.220260,-0.134551],[-0.032541,-0.413201,0.910058]] 2025-10-28T18:22:44.375Z,1761675764.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281984,0.875354,0.392734],[-0.958845,-0.242956,-0.146933],[-0.033202,-0.418004,0.907838]] 2025-10-28T18:22:44.785Z,1761675764.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307823,0.867103,0.391634],[-0.950850,-0.265817,-0.158826],[-0.033616,-0.421276,0.906309]] 2025-10-28T18:22:45.189Z,1761675765.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334360,0.858801,0.388156],[-0.941836,-0.289675,-0.170395],[-0.033896,-0.422552,0.905705]] 2025-10-28T18:22:45.594Z,1761675765.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360521,0.850401,0.383201],[-0.932122,-0.313384,-0.181491],[-0.034251,-0.422621,0.905659]] 2025-10-28T18:22:45.991Z,1761675765.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386999,0.842155,0.375508],[-0.921429,-0.337902,-0.191809],[-0.034648,-0.420234,0.906754]] 2025-10-28T18:22:46.394Z,1761675766.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413750,0.834053,0.364921],[-0.909716,-0.363348,-0.200984],[-0.035038,-0.415132,0.909086]] 2025-10-28T18:22:46.800Z,1761675766.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439308,0.825809,0.353621],[-0.897628,-0.387896,-0.209284],[-0.035660,-0.409360,0.911676]] 2025-10-28T18:22:47.204Z,1761675767.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464181,0.817317,0.341363],[-0.885001,-0.412215,-0.216456],[-0.036198,-0.402581,0.914668]] 2025-10-28T18:22:48.033Z,1761675768.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511718,0.795801,0.323799],[-0.858351,-0.457258,-0.232698],[-0.037122,-0.397009,0.917064]] 2025-10-28T18:22:48.434Z,1761675768.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532828,0.783859,0.318840],[-0.845381,-0.476260,-0.241882],[-0.037751,-0.398423,0.916425]] 2025-10-28T18:22:48.843Z,1761675768.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553599,0.771562,0.313402],[-0.831910,-0.495139,-0.250525],[-0.038118,-0.399413,0.915978]] 2025-10-28T18:22:49.245Z,1761675769.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573008,0.758557,0.310248],[-0.818653,-0.512073,-0.259979],[-0.038339,-0.402956,0.914416]] 2025-10-28T18:22:49.647Z,1761675769.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591947,0.745317,0.306760],[-0.805067,-0.528692,-0.268985],[-0.038298,-0.406187,0.912987]] 2025-10-28T18:22:50.051Z,1761675770.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609921,0.732250,0.302996],[-0.791535,-0.544428,-0.277615],[-0.038324,-0.409156,0.911660]] 2025-10-28T18:22:50.455Z,1761675770.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627221,0.718960,0.299485],[-0.777893,-0.559323,-0.286426],[-0.038420,-0.412620,0.910093]] 2025-10-28T18:22:50.871Z,1761675770.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644174,0.704858,0.297010],[-0.763921,-0.573457,-0.295923],[-0.038262,-0.417518,0.907863]] 2025-10-28T18:22:51.263Z,1761675771.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661056,0.690780,0.292963],[-0.749377,-0.588068,-0.304318],[-0.037935,-0.420711,0.906401]] 2025-10-28T18:22:51.674Z,1761675771.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678364,0.675868,0.288141],[-0.733777,-0.603288,-0.312432],[-0.037331,-0.423374,0.905185]] 2025-10-28T18:22:52.476Z,1761675772.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715397,0.643959,0.271152],[-0.697828,-0.638910,-0.323775],[-0.035256,-0.420845,0.906447]] 2025-10-28T18:22:52.882Z,1761675772.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734888,0.627379,0.257554],[-0.677314,-0.659682,-0.325677],[-0.034419,-0.413781,0.909725]] 2025-10-28T18:22:53.283Z,1761675773.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755294,0.608477,0.243491],[-0.654512,-0.681111,-0.328180],[-0.033845,-0.407240,0.912694]] 2025-10-28T18:22:53.688Z,1761675773.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775830,0.587763,0.229395],[-0.630058,-0.702481,-0.330979],[-0.033391,-0.401316,0.915331]] 2025-10-28T18:22:54.093Z,1761675774.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796361,0.564849,0.216228],[-0.603897,-0.722834,-0.335887],[-0.033428,-0.398066,0.916747]] 2025-10-28T18:22:54.499Z,1761675774.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816638,0.540415,0.202617],[-0.576146,-0.742633,-0.341396],[-0.034025,-0.395534,0.917821]] 2025-10-28T18:22:54.902Z,1761675774.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836170,0.514326,0.190495],[-0.547360,-0.760451,-0.349444],[-0.034866,-0.396464,0.917388]] 2025-10-28T18:22:55.302Z,1761675775.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854499,0.487321,0.179860],[-0.518209,-0.775772,-0.360051],[-0.035930,-0.400869,0.915431]] 2025-10-28T18:22:55.708Z,1761675775.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871630,0.459340,0.171078],[-0.488790,-0.788413,-0.373482],[-0.036675,-0.409159,0.911726]] 2025-10-28T18:22:56.111Z,1761675776.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886910,0.432587,0.162047],[-0.460439,-0.799576,-0.385583],[-0.037230,-0.416590,0.908332]] 2025-10-28T18:22:56.163Z,1761675776.163 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:22:56.163Z,1761675776.163 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:22:56.163Z,1761675776.163 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:22:56.164Z,1761675776.164 [marl:UpdateRudder:A] Stopped 2025-10-28T18:22:56.164Z,1761675776.164 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:22:56.165Z,1761675776.165 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:22:56.165Z,1761675776.165 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:22:56.165Z,1761675776.165 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:22:56.165Z,1761675776.165 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:22:56.165Z,1761675776.165 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:22:56.166Z,1761675776.166 [marl:UpdateCommandMode] Stopped 2025-10-28T18:22:56.166Z,1761675776.166 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:22:56.166Z,1761675776.166 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:22:56.166Z,1761675776.166 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:22:56.166Z,1761675776.166 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:22:56.167Z,1761675776.167 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:22:56.167Z,1761675776.167 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:22:56.167Z,1761675776.167 [marl:UpdateSpeed] Stopped 2025-10-28T18:22:56.167Z,1761675776.167 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:22:56.518Z,1761675776.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900278,0.407690,0.152606],[-0.433686,-0.809680,-0.395392],[-0.037636,-0.422146,0.905746]] 2025-10-28T18:22:56.567Z,1761675776.567 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:22:56.567Z,1761675776.567 [marl:UpdateRudder:B] Stopped 2025-10-28T18:22:56.567Z,1761675776.567 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:22:56.567Z,1761675776.567 [marl:UpdateRudder] Stopped 2025-10-28T18:22:56.567Z,1761675776.567 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:22:56.924Z,1761675776.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911404,0.384988,0.145354],[-0.409777,-0.816649,-0.406408],[-0.037759,-0.429965,0.902056]] 2025-10-28T18:22:57.122Z,1761675777.122 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:22:57.322Z,1761675777.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920744,0.364957,0.137974],[-0.388362,-0.823282,-0.413982],[-0.037494,-0.434755,0.899768]] 2025-10-28T18:22:57.726Z,1761675777.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928941,0.346507,0.130392],[-0.368392,-0.830067,-0.418660],[-0.036835,-0.436946,0.898733]] 2025-10-28T18:22:58.124Z,1761675778.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:22:58.132Z,1761675778.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936583,0.328866,0.121077],[-0.348604,-0.838901,-0.417996],[-0.035893,-0.433696,0.900344]] 2025-10-28T18:22:58.544Z,1761675778.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950217,0.294911,0.100575],[-0.309702,-0.858442,-0.408854],[-0.034237,-0.419649,0.907041]] 2025-10-28T18:22:58.954Z,1761675778.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956786,0.276869,0.088909],[-0.288865,-0.869765,-0.400082],[-0.033440,-0.408476,0.912156]] 2025-10-28T18:22:59.347Z,1761675779.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963617,0.255870,0.077279],[-0.265322,-0.880710,-0.392370],[-0.032335,-0.398598,0.916555]] 2025-10-28T18:22:59.881Z,1761675779.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970574,0.231579,0.066007],[-0.238724,-0.889407,-0.389829],[-0.031570,-0.394115,0.918519]] 2025-10-28T18:23:00.683Z,1761675780.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983424,0.176598,0.041107],[-0.178559,-0.903825,-0.388866],[-0.031519,-0.389760,0.920377]] 2025-10-28T18:23:01.087Z,1761675781.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988654,0.147618,0.027786],[-0.146617,-0.908136,-0.392163],[-0.032657,-0.391787,0.919476]] 2025-10-28T18:23:01.502Z,1761675781.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992852,0.118531,0.013982],[-0.114261,-0.910103,-0.398318],[-0.034488,-0.397068,0.917141]] 2025-10-28T18:23:01.894Z,1761675781.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995906,0.090398,-0.000565],[-0.082573,-0.912212,-0.401312],[-0.036793,-0.399623,0.915941]] 2025-10-28T18:23:02.298Z,1761675782.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997889,0.063228,-0.014822],[-0.051886,-0.913489,-0.403541],[-0.039055,-0.401920,0.914842]] 2025-10-28T18:23:02.350Z,1761675782.350 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:23:02.429Z,1761675782.429 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:23:02.430Z,1761675782.430 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:23:02.681Z,1761675782.681 [DAT](INFO): DAT read: user:119> 2025-10-28T18:23:02.682Z,1761675782.682 [DAT](INFO): DAT read: Tx time:18:23:02.4473 2025-10-28T18:23:02.682Z,1761675782.682 [DAT](INFO): Ping request sent. 2025-10-28T18:23:02.682Z,1761675782.682 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:23:02.682Z,1761675782.682 [DAT](INFO): publishing transmit ping time 2025-10-28T18:23:02.683Z,1761675782.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962 2025-10-28T18:23:02.719Z,1761675782.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998895,0.037587,-0.028230],[-0.022851,-0.913073,-0.407156],[-0.041080,-0.406061,0.912922]] 2025-10-28T18:23:02.934Z,1761675782.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251469 2025-10-28T18:23:03.108Z,1761675783.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999071,0.014187,-0.040702],[0.003778,-0.911829,-0.410553],[-0.042937,-0.410325,0.910928]] 2025-10-28T18:23:03.185Z,1761675783.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502914 2025-10-28T18:23:03.437Z,1761675783.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868 2025-10-28T18:23:03.556Z,1761675783.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998545,-0.009190,-0.053139],[0.030266,-0.911054,-0.411174],[-0.044634,-0.412184,0.910007]] 2025-10-28T18:23:03.689Z,1761675783.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006848 2025-10-28T18:23:03.914Z,1761675783.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997381,-0.031876,-0.064917],[0.055789,-0.910315,-0.410140],[-0.046021,-0.412688,0.909709]] 2025-10-28T18:23:03.941Z,1761675783.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258942 2025-10-28T18:23:04.193Z,1761675784.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510934 2025-10-28T18:23:04.320Z,1761675784.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995480,-0.055599,-0.076991],[0.082353,-0.909139,-0.408269],[-0.047296,-0.412764,0.909609]] 2025-10-28T18:23:04.445Z,1761675784.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762750 2025-10-28T18:23:04.697Z,1761675784.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843 2025-10-28T18:23:04.723Z,1761675784.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992837,-0.079514,-0.089176],[0.109223,-0.906567,-0.407685],[-0.048427,-0.414505,0.908758]] 2025-10-28T18:23:04.949Z,1761675784.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266953 2025-10-28T18:23:05.131Z,1761675785.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989379,-0.103906,-0.101651],[0.136479,-0.904705,-0.403587],[-0.050029,-0.413174,0.909277]] 2025-10-28T18:23:05.201Z,1761675785.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518898 2025-10-28T18:23:05.453Z,1761675785.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770780 2025-10-28T18:23:05.595Z,1761675785.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984880,-0.130154,-0.114334],[0.165235,-0.904038,-0.394224],[-0.052052,-0.407155,0.911875]] 2025-10-28T18:23:05.705Z,1761675785.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022999 2025-10-28T18:23:05.937Z,1761675785.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979155,-0.157722,-0.127982],[0.195629,-0.901792,-0.385357],[-0.054634,-0.402361,0.913849]] 2025-10-28T18:23:05.957Z,1761675785.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274950 2025-10-28T18:23:06.209Z,1761675786.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526831 2025-10-28T18:23:06.338Z,1761675786.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972774,-0.183133,-0.142031],[0.224458,-0.897057,-0.380668],[-0.057698,-0.402184,0.913739]] 2025-10-28T18:23:06.461Z,1761675786.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778958 2025-10-28T18:23:06.713Z,1761675786.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030795 2025-10-28T18:23:06.742Z,1761675786.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965583,-0.208350,-0.155690],[0.252875,-0.892071,-0.374519],[-0.060856,-0.400999,0.914055]] 2025-10-28T18:23:06.965Z,1761675786.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283045 2025-10-28T18:23:07.158Z,1761675787.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957457,-0.234515,-0.168164],[0.281394,-0.887921,-0.363887],[-0.063979,-0.395727,0.916137]] 2025-10-28T18:23:07.217Z,1761675787.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534999 2025-10-28T18:23:07.469Z,1761675787.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786966 2025-10-28T18:23:07.599Z,1761675787.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948293,-0.261127,-0.180423],[0.310253,-0.882536,-0.353374],[-0.066954,-0.391079,0.917919]] 2025-10-28T18:23:07.722Z,1761675787.722 [DAT](INFO): DAT read: Rx Time:18:23:06.9732 2025-10-28T18:23:07.723Z,1761675787.723 [DAT](INFO): Rx dataTimestamp_ set to:1761675787.722626 2025-10-28T18:23:07.723Z,1761675787.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041429 2025-10-28T18:23:07.973Z,1761675787.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290841 2025-10-28T18:23:08.230Z,1761675788.230 [DAT](INFO): DAT read: 18:23:06.9732 LVL= 31808, 26257, 20466, 29107, AGC= 72, IDX= 315,-0.27, 0.525, 1.130, 2.434, 1.069, PHS=-0.442, 0.106, 1.321, RAW= 227.7, -12.6, CAL= 227.3, -19.2, ROT= 282.7, 19.2 2025-10-28T18:23:08.231Z,1761675788.231 [DAT](INFO): got valid direction response: 18:23:06.9732 LVL= 31808, 26257, 20466, 29107, AGC= 72, IDX= 315,-0.27, 0.525, 1.130, 2.434, 1.069, PHS=-0.442, 0.106, 1.321, RAW= 227.7, -12.6, CAL= 227.3, -19.2, ROT= 282.7, 19.2 2025-10-28T18:23:08.233Z,1761675788.233 [DAT](INFO): DAT read: Bearing 191.5, -46.1 (Local) 2025-10-28T18:23:08.233Z,1761675788.233 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, -46.1 (Local) 2025-10-28T18:23:08.234Z,1761675788.234 [DAT](INFO): DAT read: Range 11 to 20 : 1591.2 m (Round-trip 2121.7 ms) speed 0.8 m/s 2025-10-28T18:23:08.235Z,1761675788.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:23:08.236Z,1761675788.236 [DAT](INFO): direction in FSK: [0.207618,-0.921272,-0.328867] 2025-10-28T18:23:08.236Z,1761675788.236 [DAT](INFO): publishing direction and range info 2025-10-28T18:23:08.357Z,1761675788.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928107,-0.309996,-0.206206],[0.365299,-0.865209,-0.343467],[-0.071938,-0.394101,0.916247]] 2025-10-28T18:23:08.392Z,1761675788.392 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761675776.00. Resetting abort timer. 2025-10-28T18:23:08.763Z,1761675788.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916992,-0.332465,-0.220438],[0.392046,-0.853157,-0.344126],[-0.073658,-0.401982,0.912680]] 2025-10-28T18:23:09.162Z,1761675789.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905400,-0.353873,-0.234572],[0.417915,-0.840213,-0.345527],[-0.074818,-0.410872,0.908618]] 2025-10-28T18:23:09.209Z,1761675789.209 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:23:09.209Z,1761675789.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateRudder:A] Stopped 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:23:09.210Z,1761675789.210 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateCommandMode] Stopped 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:23:09.211Z,1761675789.211 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:23:09.212Z,1761675789.212 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:23:09.212Z,1761675789.212 [marl:UpdateSpeed] Stopped 2025-10-28T18:23:09.212Z,1761675789.212 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:23:09.598Z,1761675789.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893299,-0.376055,-0.246169],[0.443104,-0.828634,-0.342090],[-0.075339,-0.414667,0.906849]] 2025-10-28T18:23:09.679Z,1761675789.679 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:23:09.679Z,1761675789.679 [marl:UpdateRudder:B] Stopped 2025-10-28T18:23:09.679Z,1761675789.679 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:23:09.679Z,1761675789.679 [marl:UpdateRudder] Stopped 2025-10-28T18:23:09.679Z,1761675789.679 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:23:09.981Z,1761675789.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880766,-0.398167,-0.256349],[0.467536,-0.817157,-0.337140],[-0.075239,-0.416794,0.905882]] 2025-10-28T18:23:10.383Z,1761675790.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867440,-0.421029,-0.265108],[0.491864,-0.805936,-0.329450],[-0.074952,-0.416175,0.906190]] 2025-10-28T18:23:10.791Z,1761675790.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853366,-0.444261,-0.272763],[0.515954,-0.794587,-0.320035],[-0.074555,-0.413840,0.907292]] 2025-10-28T18:23:11.221Z,1761675791.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839079,-0.466332,-0.280146],[0.538918,-0.782830,-0.311038],[-0.074260,-0.411961,0.908171]] 2025-10-28T18:23:11.627Z,1761675791.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823721,-0.489197,-0.286653],[0.562153,-0.770557,-0.300376],[-0.073939,-0.408569,0.909728]] 2025-10-28T18:23:12.098Z,1761675792.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807129,-0.512311,-0.293393],[0.585789,-0.756787,-0.290042],[-0.073444,-0.405968,0.910931]] 2025-10-28T18:23:12.499Z,1761675792.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789383,-0.534030,-0.302798],[0.609478,-0.740835,-0.282312],[-0.073560,-0.407401,0.910282]] 2025-10-28T18:23:12.902Z,1761675792.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770898,-0.555772,-0.311182],[0.632637,-0.724889,-0.272590],[-0.074074,-0.407005,0.910418]] 2025-10-28T18:23:13.309Z,1761675793.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751383,-0.577667,-0.318942],[0.655603,-0.708391,-0.261471],[-0.074893,-0.405564,0.910993]] 2025-10-28T18:23:13.710Z,1761675793.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731697,-0.597863,-0.327383],[0.677389,-0.691277,-0.251555],[-0.075917,-0.405827,0.910791]] 2025-10-28T18:23:14.122Z,1761675794.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710997,-0.619681,-0.332383],[0.698956,-0.674603,-0.237428],[-0.077097,-0.401131,0.912770]] 2025-10-28T18:23:14.519Z,1761675794.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689502,-0.640857,-0.337476],[0.719983,-0.657161,-0.223077],[-0.078816,-0.396789,0.914520]] 2025-10-28T18:23:14.924Z,1761675794.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668008,-0.659644,-0.344434],[0.739803,-0.638665,-0.211657],[-0.080360,-0.396202,0.914640]] 2025-10-28T18:23:15.326Z,1761675795.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645856,-0.678284,-0.350430],[0.759107,-0.619471,-0.200032],[-0.081403,-0.395205,0.914979]] 2025-10-28T18:23:15.730Z,1761675795.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622665,-0.696849,-0.355935],[0.778139,-0.599329,-0.187896],[-0.082386,-0.393963,0.915426]] 2025-10-28T18:23:16.146Z,1761675796.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598534,-0.714816,-0.361656],[0.796777,-0.578013,-0.176204],[-0.083088,-0.393623,0.915509]] 2025-10-28T18:23:16.540Z,1761675796.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573614,-0.731505,-0.368603],[0.814828,-0.555604,-0.165406],[-0.083802,-0.395228,0.914753]] 2025-10-28T18:23:16.943Z,1761675796.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547989,-0.746677,-0.377070],[0.832186,-0.532288,-0.155360],[-0.084707,-0.398928,0.913062]] 2025-10-28T18:23:17.347Z,1761675797.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521812,-0.760353,-0.386751],[0.848717,-0.508427,-0.145537],[-0.085975,-0.404185,0.910628]] 2025-10-28T18:23:17.754Z,1761675797.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495901,-0.773073,-0.395527],[0.863927,-0.485274,-0.134681],[-0.087821,-0.408495,0.908526]] 2025-10-28T18:23:18.161Z,1761675798.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470203,-0.786706,-0.400003],[0.877954,-0.463185,-0.121065],[-0.090033,-0.408109,0.908483]] 2025-10-28T18:23:18.567Z,1761675798.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421871,-0.810631,-0.406083],[0.901689,-0.421943,-0.094454],[-0.094777,-0.406008,0.908942]] 2025-10-28T18:23:19.371Z,1761675799.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376262,-0.831677,-0.408338],[0.921317,-0.382466,-0.069962],[-0.097989,-0.402533,0.910146]] 2025-10-28T18:23:19.806Z,1761675799.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354179,-0.841240,-0.408501],[0.929995,-0.362758,-0.059287],[-0.098313,-0.400902,0.910831]] 2025-10-28T18:23:20.206Z,1761675800.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332386,-0.849473,-0.409775],[0.938067,-0.342780,-0.050315],[-0.097722,-0.401120,0.910798]] 2025-10-28T18:23:20.643Z,1761675800.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310427,-0.856425,-0.412518],[0.945731,-0.322098,-0.042974],[-0.096067,-0.403471,0.909935]] 2025-10-28T18:23:21.053Z,1761675801.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288061,-0.863395,-0.414210],[0.953079,-0.300525,-0.036390],[-0.093062,-0.405258,0.909453]] 2025-10-28T18:23:21.454Z,1761675801.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264305,-0.869905,-0.416423],[0.960283,-0.277414,-0.029979],[-0.089443,-0.407807,0.908677]] 2025-10-28T18:23:21.861Z,1761675801.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239082,-0.876731,-0.417351],[0.967209,-0.252971,-0.022653],[-0.085717,-0.409082,0.908463]] 2025-10-28T18:23:22.263Z,1761675802.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211837,-0.884166,-0.416384],[0.973835,-0.226840,-0.013764],[-0.082283,-0.408405,0.909084]] 2025-10-28T18:23:22.678Z,1761675802.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182874,-0.891532,-0.414399],[0.979911,-0.199408,-0.003432],[-0.079575,-0.406702,0.910089]] 2025-10-28T18:23:22.719Z,1761675802.719 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:23:22.719Z,1761675802.719 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:23:22.719Z,1761675802.719 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:23:22.720Z,1761675802.720 [marl:UpdateRudder:A] Stopped 2025-10-28T18:23:22.720Z,1761675802.720 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:23:22.724Z,1761675802.724 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:23:22.724Z,1761675802.724 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:23:22.724Z,1761675802.724 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:23:22.724Z,1761675802.724 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateCommandMode] Stopped 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:23:22.725Z,1761675802.725 [marl:UpdateSpeed] Stopped 2025-10-28T18:23:22.726Z,1761675802.726 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:23:23.072Z,1761675803.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152335,-0.898578,-0.411524],[0.985280,-0.170757,0.008129],[-0.077575,-0.404228,0.911363]] 2025-10-28T18:23:23.105Z,1761675803.105 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:23:23.105Z,1761675803.105 [marl:UpdateRudder:B] Stopped 2025-10-28T18:23:23.105Z,1761675803.105 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:23:23.105Z,1761675803.105 [marl:UpdateRudder] Stopped 2025-10-28T18:23:23.106Z,1761675803.106 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:23:23.476Z,1761675803.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120473,-0.904763,-0.408523],[0.989797,-0.141015,0.020417],[-0.076080,-0.401895,0.912520]] 2025-10-28T18:23:23.879Z,1761675803.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087792,-0.909392,-0.406569],[0.993286,-0.110786,0.033317],[-0.075340,-0.400915,0.913012]] 2025-10-28T18:23:24.283Z,1761675804.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054744,-0.912600,-0.405173],[0.995659,-0.080485,0.046757],[-0.075281,-0.400854,0.913044]] 2025-10-28T18:23:24.691Z,1761675804.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022080,-0.914347,-0.404328],[0.996870,-0.050842,0.060536],[-0.075908,-0.401726,0.912608]] 2025-10-28T18:23:25.104Z,1761675805.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009576,-0.915257,-0.402757],[0.996983,-0.022289,0.074354],[-0.077030,-0.402254,0.912282]] 2025-10-28T18:23:25.503Z,1761675805.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039416,-0.914866,-0.401830],[0.996151,0.004468,0.087543],[-0.078295,-0.403733,0.911520]] 2025-10-28T18:23:25.619Z,1761675805.619 [CTD_Seabird](ERROR): Failed to parse device response: 14.84,14.258.10 2025-10-28T18:23:25.902Z,1761675805.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068164,-0.914394,-0.399045],[0.994498,0.030385,0.100251],[-0.079544,-0.403683,0.911435]] 2025-10-28T18:23:26.306Z,1761675806.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095799,-0.913164,-0.396174],[0.992121,0.055315,0.112407],[-0.080732,-0.403821,0.911269]] 2025-10-28T18:23:26.718Z,1761675806.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122915,-0.910703,-0.394351],[0.989047,0.079689,0.124244],[-0.081724,-0.405303,0.910522]] 2025-10-28T18:23:27.122Z,1761675807.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149215,-0.908169,-0.391106],[0.985388,0.103719,0.135105],[-0.082133,-0.405551,0.910375]] 2025-10-28T18:23:27.551Z,1761675807.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174900,-0.905637,-0.386306],[0.981136,0.127494,0.145318],[-0.082354,-0.404435,0.910851]] 2025-10-28T18:23:27.922Z,1761675807.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200501,-0.903515,-0.378762],[0.976222,0.151737,0.154812],[-0.082403,-0.400796,0.912454]] 2025-10-28T18:23:28.244Z,1761675808.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:23:28.351Z,1761675808.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226397,-0.899262,-0.374262],[0.970554,0.175813,0.164667],[-0.082279,-0.400521,0.912586]] 2025-10-28T18:23:28.758Z,1761675808.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252929,-0.893369,-0.371373],[0.964002,0.200172,0.175017],[-0.082017,-0.402271,0.911839]] 2025-10-28T18:23:29.205Z,1761675809.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279905,-0.887122,-0.366970],[0.956566,0.225286,0.185006],[-0.081450,-0.402815,0.911650]] 2025-10-28T18:23:29.256Z,1761675809.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:23:29.617Z,1761675809.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307368,-0.878675,-0.365316],[0.948169,0.250269,0.195808],[-0.080624,-0.406567,0.910057]] 2025-10-28T18:23:30.006Z,1761675810.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335452,-0.869906,-0.361573],[0.938682,0.276192,0.206381],[-0.079669,-0.408633,0.909215]] 2025-10-28T18:23:30.414Z,1761675810.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363499,-0.860677,-0.356516],[0.928287,0.302415,0.216399],[-0.078434,-0.409610,0.908883]] 2025-10-28T18:23:30.816Z,1761675810.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391916,-0.850050,-0.351876],[0.916753,0.328728,0.226941],[-0.077240,-0.411525,0.908120]] 2025-10-28T18:23:31.218Z,1761675811.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420069,-0.839043,-0.345759],[0.904281,0.354983,0.237199],[-0.076281,-0.412303,0.907848]] 2025-10-28T18:23:31.623Z,1761675811.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447543,-0.827591,-0.338819],[0.891068,0.380702,0.247111],[-0.075518,-0.412503,0.907820]] 2025-10-28T18:23:32.027Z,1761675812.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473501,-0.815078,-0.333834],[0.877605,0.404368,0.257480],[-0.074874,-0.414892,0.906785]] 2025-10-28T18:23:32.433Z,1761675812.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498954,-0.801999,-0.328393],[0.863448,0.427616,0.267586],[-0.074178,-0.417063,0.905845]] 2025-10-28T18:23:32.834Z,1761675812.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523042,-0.788965,-0.322430],[0.849168,0.449953,0.276506],[-0.073075,-0.418421,0.905309]] 2025-10-28T18:23:33.238Z,1761675813.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545348,-0.776657,-0.315276],[0.835118,0.471162,0.283873],[-0.071926,-0.418102,0.905548]] 2025-10-28T18:23:33.642Z,1761675813.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565597,-0.764052,-0.310363],[0.821661,0.489909,0.291313],[-0.070528,-0.419779,0.904882]] 2025-10-28T18:23:34.048Z,1761675814.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584273,-0.752250,-0.304540],[0.808663,0.507981,0.296680],[-0.068477,-0.419613,0.905117]] 2025-10-28T18:23:34.452Z,1761675814.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601935,-0.740582,-0.298686],[0.795821,0.525469,0.300918],[-0.065904,-0.418833,0.905668]] 2025-10-28T18:23:34.854Z,1761675814.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619277,-0.728436,-0.293049],[0.782663,0.542872,0.304514],[-0.062731,-0.417937,0.906308]] 2025-10-28T18:23:35.265Z,1761675815.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636441,-0.716560,-0.285453],[0.769046,0.561081,0.306196],[-0.059246,-0.414402,0.908163]] 2025-10-28T18:23:35.672Z,1761675815.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653806,-0.704070,-0.277171],[0.754608,0.579738,0.307360],[-0.055716,-0.410110,0.910333]] 2025-10-28T18:23:35.736Z,1761675815.736 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:23:35.736Z,1761675815.736 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:23:35.736Z,1761675815.736 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateRudder:A] Stopped 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:23:35.737Z,1761675815.737 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateCommandMode] Stopped 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:23:35.738Z,1761675815.738 [marl:UpdateSpeed] Stopped 2025-10-28T18:23:35.739Z,1761675815.739 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:23:36.066Z,1761675816.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672547,-0.689315,-0.269304],[0.738168,0.598877,0.310570],[-0.052801,-0.407665,0.911604]] 2025-10-28T18:23:36.113Z,1761675816.113 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:23:36.113Z,1761675816.113 [marl:UpdateRudder:B] Stopped 2025-10-28T18:23:36.113Z,1761675816.113 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:23:36.113Z,1761675816.113 [marl:UpdateRudder] Stopped 2025-10-28T18:23:36.114Z,1761675816.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:23:36.474Z,1761675816.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693227,-0.671377,-0.262087],[0.718937,0.618615,0.316930],[-0.050648,-0.408128,0.911518]] 2025-10-28T18:23:36.874Z,1761675816.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714944,-0.651962,-0.252586],[0.697436,0.639487,0.323480],[-0.049371,-0.407433,0.911900]] 2025-10-28T18:23:37.284Z,1761675817.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736713,-0.631535,-0.241698],[0.674452,0.660536,0.329859],[-0.048667,-0.406025,0.912565]] 2025-10-28T18:23:37.682Z,1761675817.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757969,-0.610602,-0.229451],[0.650478,0.681354,0.335610],[-0.048586,-0.403635,0.913629]] 2025-10-28T18:23:38.094Z,1761675818.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778511,-0.589217,-0.216205],[0.625691,0.701540,0.341104],[-0.049307,-0.400830,0.914824]] 2025-10-28T18:23:38.490Z,1761675818.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798449,-0.567067,-0.202272],[0.599880,0.720733,0.347401],[-0.051215,-0.398721,0.915641]] 2025-10-28T18:23:38.891Z,1761675818.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817098,-0.545080,-0.187718],[0.573955,0.738607,0.353604],[-0.054092,-0.396671,0.916366]] 2025-10-28T18:23:39.295Z,1761675819.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834317,-0.522988,-0.174349],[0.548335,0.754588,0.360451],[-0.056950,-0.396332,0.916339]] 2025-10-28T18:23:39.713Z,1761675819.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849470,-0.502215,-0.161804],[0.524303,0.769018,0.365675],[-0.059217,-0.395464,0.916570]] 2025-10-28T18:23:40.114Z,1761675820.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863164,-0.481791,-0.151078],[0.501259,0.781662,0.371138],[-0.060719,-0.396082,0.916205]] 2025-10-28T18:23:40.519Z,1761675820.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875566,-0.461520,-0.142769],[0.479173,0.792068,0.378182],[-0.061456,-0.399535,0.914656]] 2025-10-28T18:23:41.326Z,1761675821.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897925,-0.419941,-0.131834],[0.436049,0.807936,0.396358],[-0.059933,-0.413386,0.908581]] 2025-10-28T18:23:41.730Z,1761675821.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908388,-0.398681,-0.126033],[0.414140,0.816348,0.402571],[-0.057611,-0.417886,0.906671]] 2025-10-28T18:23:42.541Z,1761675822.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927868,-0.355242,-0.113417],[0.369374,0.833763,0.410369],[-0.051217,-0.422662,0.904839]] 2025-10-28T18:23:42.942Z,1761675822.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937359,-0.331582,-0.106827],[0.345127,0.842186,0.414257],[-0.047392,-0.425177,0.903869]] 2025-10-28T18:23:43.346Z,1761675823.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946717,-0.306238,-0.099724],[0.319137,0.850335,0.418428],[-0.043340,-0.427959,0.902758]] 2025-10-28T18:23:43.757Z,1761675823.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955574,-0.280044,-0.091940],[0.292172,0.858786,0.420858],[-0.038902,-0.429023,0.902455]] 2025-10-28T18:23:44.156Z,1761675824.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964076,-0.252266,-0.083185],[0.263388,0.867281,0.422434],[-0.034421,-0.429168,0.902568]] 2025-10-28T18:23:44.562Z,1761675824.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971865,-0.223732,-0.073642],[0.233580,0.875205,0.423623],[-0.030326,-0.428905,0.902840]] 2025-10-28T18:23:45.367Z,1761675825.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984460,-0.167512,-0.052712],[0.174040,0.890623,0.420120],[-0.023429,-0.422765,0.905936]] 2025-10-28T18:23:45.778Z,1761675825.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989293,-0.139666,-0.042341],[0.144519,0.897084,0.417557],[-0.020335,-0.419206,0.907664]] 2025-10-28T18:23:46.591Z,1761675826.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996217,-0.084081,-0.021936],[0.085524,0.904069,0.418741],[-0.015377,-0.419033,0.907841]] 2025-10-28T18:23:46.982Z,1761675826.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998363,-0.056047,-0.011380],[0.055613,0.904988,0.421788],[-0.013341,-0.421730,0.906623]] 2025-10-28T18:23:47.399Z,1761675827.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999934,-0.000892,0.011467],[-0.004072,0.904963,0.425470],[-0.010757,-0.425489,0.904900]] 2025-10-28T18:23:47.799Z,1761675827.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999400,0.026141,0.022721],[-0.033338,0.903881,0.426483],[-0.009388,-0.426985,0.904210]] 2025-10-28T18:23:48.199Z,1761675828.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998028,0.053025,0.033584],[-0.062296,0.902153,0.426895],[-0.007662,-0.428146,0.903677]] 2025-10-28T18:23:48.604Z,1761675828.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995909,0.078892,0.044052],[-0.090163,0.899618,0.427268],[-0.005923,-0.429492,0.903051]] 2025-10-28T18:23:48.649Z,1761675828.649 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:23:48.649Z,1761675828.649 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:23:48.649Z,1761675828.649 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateRudder:A] Stopped 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:23:48.650Z,1761675828.650 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateCommandMode] Stopped 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:23:48.651Z,1761675828.651 [marl:UpdateSpeed] Stopped 2025-10-28T18:23:48.652Z,1761675828.652 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:23:49.009Z,1761675829.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992986,0.105029,0.054293],[-0.118174,0.896032,0.427974],[-0.003698,-0.431388,0.902159]] 2025-10-28T18:23:49.033Z,1761675829.033 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:23:49.034Z,1761675829.034 [marl:UpdateRudder:B] Stopped 2025-10-28T18:23:49.034Z,1761675829.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:23:49.034Z,1761675829.034 [marl:UpdateRudder] Stopped 2025-10-28T18:23:49.034Z,1761675829.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:23:49.409Z,1761675829.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989294,0.130941,0.064440],[-0.145933,0.891465,0.428944],[-0.001280,-0.433755,0.901030]] 2025-10-28T18:23:49.810Z,1761675829.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984745,0.156890,0.075257],[-0.174005,0.886063,0.429668],[0.000728,-0.436208,0.899845]] 2025-10-28T18:23:50.215Z,1761675830.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979189,0.183522,0.086654],[-0.202931,0.879426,0.430614],[0.002822,-0.439238,0.898367]] 2025-10-28T18:23:50.620Z,1761675830.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972488,0.210883,0.098967],[-0.232900,0.871263,0.432039],[0.004883,-0.443202,0.896408]] 2025-10-28T18:23:51.022Z,1761675831.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964393,0.239484,0.112219],[-0.264394,0.862634,0.431230],[0.006468,-0.445545,0.895236]] 2025-10-28T18:23:51.427Z,1761675831.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954867,0.269217,0.125501],[-0.296923,0.853662,0.427900],[0.008063,-0.445852,0.895070]] 2025-10-28T18:23:51.834Z,1761675831.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943975,0.299979,0.137563],[-0.329883,0.845852,0.419179],[0.009387,-0.441074,0.897422]] 2025-10-28T18:23:52.235Z,1761675832.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931896,0.330517,0.149428],[-0.362576,0.836963,0.409916],[0.010418,-0.436178,0.899800]] 2025-10-28T18:23:52.639Z,1761675832.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918396,0.361484,0.160864],[-0.395493,0.826827,0.399928],[0.011561,-0.430913,0.902319]] 2025-10-28T18:23:53.044Z,1761675833.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903847,0.391422,0.172771],[-0.427681,0.815002,0.390973],[0.012226,-0.427270,0.904041]] 2025-10-28T18:23:53.448Z,1761675833.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888419,0.420948,0.183069],[-0.458842,0.802848,0.380657],[0.013260,-0.422182,0.906414]] 2025-10-28T18:23:53.857Z,1761675833.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872482,0.448444,0.194096],[-0.488436,0.788712,0.373315],[0.014325,-0.420514,0.907173]] 2025-10-28T18:23:54.254Z,1761675834.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856138,0.474918,0.203667],[-0.516499,0.774258,0.365722],[0.015997,-0.418302,0.908167]] 2025-10-28T18:23:54.659Z,1761675834.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840369,0.498749,0.212199],[-0.541725,0.760078,0.358909],[0.017718,-0.416570,0.908931]] 2025-10-28T18:23:55.072Z,1761675835.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824480,0.520144,0.222898],[-0.565556,0.743805,0.356231],[0.019499,-0.419767,0.907423]] 2025-10-28T18:23:55.468Z,1761675835.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808506,0.539924,0.234093],[-0.588090,0.726655,0.355138],[0.021643,-0.424799,0.905029]] 2025-10-28T18:23:55.872Z,1761675835.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792339,0.557213,0.248422],[-0.609631,0.707489,0.357504],[0.023449,-0.434710,0.900265]] 2025-10-28T18:23:56.274Z,1761675836.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775825,0.574350,0.261186],[-0.630448,0.689192,0.357140],[0.025116,-0.441742,0.896791]] 2025-10-28T18:23:56.679Z,1761675836.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758213,0.591350,0.274623],[-0.651484,0.670257,0.355422],[0.026111,-0.448398,0.893453]] 2025-10-28T18:23:57.083Z,1761675837.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738764,0.609216,0.288242],[-0.673443,0.650455,0.351259],[0.026504,-0.453612,0.890805]] 2025-10-28T18:23:57.487Z,1761675837.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716771,0.628796,0.301423],[-0.696791,0.629201,0.344367],[0.026881,-0.456861,0.889132]] 2025-10-28T18:23:57.891Z,1761675837.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693010,0.651273,0.309162],[-0.720425,0.609598,0.330723],[0.026927,-0.451923,0.891651]] 2025-10-28T18:23:58.297Z,1761675838.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668112,0.675508,0.311955],[-0.743562,0.590801,0.313160],[0.027239,-0.441184,0.897003]] 2025-10-28T18:23:58.699Z,1761675838.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642347,0.699672,0.312809],[-0.765911,0.571241,0.295066],[0.027760,-0.429118,0.902822]] 2025-10-28T18:23:59.102Z,1761675839.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616244,0.724892,0.307857],[-0.787025,0.552483,0.274507],[0.028902,-0.411454,0.910972]] 2025-10-28T18:23:59.376Z,1761675839.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:23:59.510Z,1761675839.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590853,0.747644,0.303185],[-0.806232,0.533335,0.256015],[0.029709,-0.395705,0.917897]] 2025-10-28T18:23:59.913Z,1761675839.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566952,0.766549,0.301610],[-0.823213,0.514011,0.241066],[0.029758,-0.384962,0.922453]] 2025-10-28T18:24:00.314Z,1761675840.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543840,0.782676,0.302749],[-0.838677,0.494302,0.228663],[0.029320,-0.378264,0.925233]] 2025-10-28T18:24:00.380Z,1761675840.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:24:00.719Z,1761675840.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520725,0.794752,0.311792],[-0.853248,0.472283,0.221170],[0.028522,-0.381205,0.924051]] 2025-10-28T18:24:01.123Z,1761675841.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497262,0.802711,0.329218],[-0.867173,0.447944,0.217616],[0.027212,-0.393702,0.918835]] 2025-10-28T18:24:01.579Z,1761675841.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473448,0.808084,0.350495],[-0.880458,0.422743,0.214668],[0.025300,-0.410231,0.911631]] 2025-10-28T18:24:01.622Z,1761675841.622 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:24:01.622Z,1761675841.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:24:01.622Z,1761675841.622 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:24:01.622Z,1761675841.622 [marl:UpdateRudder:A] Stopped 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode] Stopped 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:24:01.623Z,1761675841.623 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:24:01.624Z,1761675841.624 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:24:01.640Z,1761675841.640 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:24:01.640Z,1761675841.640 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:24:01.640Z,1761675841.640 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:24:01.640Z,1761675841.640 [marl:UpdateSpeed] Stopped 2025-10-28T18:24:01.641Z,1761675841.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:24:01.932Z,1761675841.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447719,0.812792,0.372716],[-0.893864,0.395842,0.210517],[0.023570,-0.427410,0.903751]] 2025-10-28T18:24:01.969Z,1761675841.969 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:24:01.969Z,1761675841.969 [marl:UpdateRudder:B] Stopped 2025-10-28T18:24:01.969Z,1761675841.969 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:24:01.969Z,1761675841.969 [marl:UpdateRudder] Stopped 2025-10-28T18:24:01.969Z,1761675841.969 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:24:02.335Z,1761675842.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420036,0.817616,0.393794],[-0.907230,0.367595,0.204467],[0.022419,-0.443146,0.896169]] 2025-10-28T18:24:02.385Z,1761675842.385 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:24:02.433Z,1761675842.433 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:24:02.433Z,1761675842.433 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:24:02.685Z,1761675842.685 [DAT](INFO): DAT read: user:120> 2025-10-28T18:24:02.686Z,1761675842.686 [DAT](INFO): DAT read: Tx time:18:24:02.4456 2025-10-28T18:24:02.686Z,1761675842.686 [DAT](INFO): Ping request sent. 2025-10-28T18:24:02.686Z,1761675842.686 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:24:02.686Z,1761675842.686 [DAT](INFO): publishing transmit ping time 2025-10-28T18:24:02.687Z,1761675842.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T18:24:02.774Z,1761675842.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389843,0.825411,0.408313],[-0.920601,0.338390,0.194898],[0.022702,-0.451873,0.891793]] 2025-10-28T18:24:02.938Z,1761675842.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251539 2025-10-28T18:24:03.147Z,1761675843.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358561,0.834455,0.418472],[-0.933209,0.309102,0.183240],[0.023555,-0.456224,0.889553]] 2025-10-28T18:24:03.190Z,1761675843.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503602 2025-10-28T18:24:03.441Z,1761675843.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868 2025-10-28T18:24:03.693Z,1761675843.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972 2025-10-28T18:24:03.945Z,1761675843.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259043 2025-10-28T18:24:03.956Z,1761675843.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295099,0.857511,0.421416],[-0.955077,0.252145,0.155726],[0.027279,-0.448440,0.893397]] 2025-10-28T18:24:04.197Z,1761675844.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511040 2025-10-28T18:24:04.359Z,1761675844.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263493,0.869536,0.417707],[-0.964202,0.224034,0.141856],[0.029769,-0.440132,0.897440]] 2025-10-28T18:24:04.449Z,1761675844.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763364 2025-10-28T18:24:04.701Z,1761675844.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014987 2025-10-28T18:24:04.770Z,1761675844.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233239,0.881712,0.410101],[-0.971892,0.197478,0.128174],[0.032027,-0.428469,0.902989]] 2025-10-28T18:24:04.953Z,1761675844.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267265 2025-10-28T18:24:05.166Z,1761675845.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203988,0.893337,0.400423],[-0.978401,0.172046,0.114597],[0.033482,-0.415151,0.909136]] 2025-10-28T18:24:05.206Z,1761675845.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519661 2025-10-28T18:24:05.457Z,1761675845.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770956 2025-10-28T18:24:05.586Z,1761675845.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175144,0.902599,0.393243],[-0.983955,0.146674,0.101581],[0.034009,-0.404725,0.913806]] 2025-10-28T18:24:05.709Z,1761675845.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022962 2025-10-28T18:24:05.961Z,1761675845.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274848 2025-10-28T18:24:05.976Z,1761675845.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146480,0.909381,0.389319],[-0.988640,0.121176,0.088927],[0.033692,-0.397922,0.916800]] 2025-10-28T18:24:06.214Z,1761675846.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528242 2025-10-28T18:24:06.380Z,1761675846.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117448,0.913659,0.389145],[-0.992537,0.095049,0.076395],[0.032811,-0.395213,0.918003]] 2025-10-28T18:24:06.465Z,1761675846.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778824 2025-10-28T18:24:06.717Z,1761675846.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030908 2025-10-28T18:24:06.795Z,1761675846.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087930,0.915387,0.392855],[-0.995632,0.068343,0.063601],[0.031371,-0.396732,0.917398]] 2025-10-28T18:24:06.970Z,1761675846.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284070 2025-10-28T18:24:07.186Z,1761675847.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058197,0.914953,0.399343],[-0.997864,0.041419,0.050523],[0.029685,-0.401430,0.915408]] 2025-10-28T18:24:07.221Z,1761675847.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534896 2025-10-28T18:24:07.473Z,1761675847.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786908 2025-10-28T18:24:07.592Z,1761675847.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027752,0.912403,0.408350],[-0.999216,0.013782,0.037116],[0.028237,-0.409060,0.912071]] 2025-10-28T18:24:07.725Z,1761675847.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039495 2025-10-28T18:24:07.977Z,1761675847.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290881 2025-10-28T18:24:08.004Z,1761675848.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002926,0.907708,0.419591],[-0.999627,-0.014048,0.023418],[0.027151,-0.419366,0.907411]] 2025-10-28T18:24:08.229Z,1761675848.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543253 2025-10-28T18:24:08.398Z,1761675848.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034064,0.902210,0.429949],[-0.999061,-0.042261,0.009526],[0.026765,-0.429221,0.902803]] 2025-10-28T18:24:08.481Z,1761675848.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795485 2025-10-28T18:24:08.733Z,1761675848.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046886 2025-10-28T18:24:08.807Z,1761675848.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064815,0.897256,0.436728],[-0.997529,-0.070143,-0.003935],[0.027103,-0.435904,0.899585]] 2025-10-28T18:24:08.986Z,1761675848.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299595 2025-10-28T18:24:09.211Z,1761675849.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095088,0.892498,0.440915],[-0.995075,-0.097673,-0.016891],[0.027990,-0.440349,0.897390]] 2025-10-28T18:24:09.237Z,1761675849.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551110 2025-10-28T18:24:09.489Z,1761675849.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803201 2025-10-28T18:24:09.616Z,1761675849.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124025,0.888163,0.442476],[-0.991850,-0.124083,-0.028948],[0.029193,-0.442460,0.896313]] 2025-10-28T18:24:09.741Z,1761675849.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054936 2025-10-28T18:24:09.993Z,1761675849.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306945 2025-10-28T18:24:10.034Z,1761675850.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151507,0.885115,0.440019],[-0.987985,-0.149351,-0.039757],[0.030528,-0.440756,0.897108]] 2025-10-28T18:24:10.246Z,1761675850.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559639 2025-10-28T18:24:10.423Z,1761675850.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178197,0.882329,0.435594],[-0.983473,-0.174119,-0.049637],[0.032049,-0.437240,0.898774]] 2025-10-28T18:24:10.497Z,1761675850.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810798 2025-10-28T18:24:10.750Z,1761675850.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063605 2025-10-28T18:24:10.827Z,1761675850.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203825,0.878288,0.432510],[-0.978436,-0.197845,-0.059339],[0.033453,-0.435278,0.899674]] 2025-10-28T18:24:11.001Z,1761675851.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314857 2025-10-28T18:24:11.231Z,1761675851.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228780,0.875995,0.424609],[-0.972871,-0.221143,-0.067953],[0.034373,-0.428636,0.902823]] 2025-10-28T18:24:11.253Z,1761675851.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567043 2025-10-28T18:24:11.505Z,1761675851.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819139 2025-10-28T18:24:11.636Z,1761675851.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253304,0.872458,0.417917],[-0.966759,-0.243861,-0.076869],[0.034849,-0.423496,0.905227]] 2025-10-28T18:24:11.757Z,1761675851.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071191 2025-10-28T18:24:12.009Z,1761675852.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322881 2025-10-28T18:24:12.062Z,1761675852.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277588,0.868515,0.410642],[-0.960065,-0.266324,-0.085711],[0.034922,-0.418035,0.907759]] 2025-10-28T18:24:12.261Z,1761675852.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575390 2025-10-28T18:24:12.443Z,1761675852.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302276,0.864409,0.401779],[-0.952579,-0.289387,-0.094066],[0.034958,-0.411160,0.910893]] 2025-10-28T18:24:12.514Z,1761675852.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827875 2025-10-28T18:24:12.766Z,1761675852.766 [DAT](INFO): Reached modem response timeout 2025-10-28T18:24:12.846Z,1761675852.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327966,0.858879,0.393403],[-0.944054,-0.313249,-0.103137],[0.034650,-0.405219,0.913563]] 2025-10-28T18:24:13.251Z,1761675853.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354733,0.851504,0.386142],[-0.934347,-0.337893,-0.113241],[0.034049,-0.400961,0.915462]] 2025-10-28T18:24:13.654Z,1761675853.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381898,0.842179,0.380642],[-0.923607,-0.362589,-0.124418],[0.033235,-0.399079,0.916314]] 2025-10-28T18:24:14.062Z,1761675854.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408642,0.831640,0.376015],[-0.912117,-0.386772,-0.135831],[0.032470,-0.398476,0.916604]] 2025-10-28T18:24:14.463Z,1761675854.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434852,0.820226,0.371663],[-0.899926,-0.410596,-0.146780],[0.032211,-0.398297,0.916691]] 2025-10-28T18:24:14.505Z,1761675854.505 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:24:14.505Z,1761675854.505 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:24:14.505Z,1761675854.505 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:24:14.505Z,1761675854.505 [marl:UpdateRudder:A] Stopped 2025-10-28T18:24:14.506Z,1761675854.506 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:24:14.506Z,1761675854.506 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:24:14.506Z,1761675854.506 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:24:14.506Z,1761675854.506 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:24:14.507Z,1761675854.507 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:24:14.507Z,1761675854.507 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:24:14.507Z,1761675854.507 [marl:UpdateCommandMode] Stopped 2025-10-28T18:24:14.507Z,1761675854.507 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:24:14.507Z,1761675854.507 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:24:14.508Z,1761675854.508 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:24:14.509Z,1761675854.509 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:24:14.509Z,1761675854.509 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:24:14.510Z,1761675854.510 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:24:14.510Z,1761675854.510 [marl:UpdateSpeed] Stopped 2025-10-28T18:24:14.510Z,1761675854.510 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:24:14.870Z,1761675854.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459796,0.806833,0.370957],[-0.887434,-0.432716,-0.158803],[0.032391,-0.402217,0.914971]] 2025-10-28T18:24:14.895Z,1761675854.895 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:24:14.895Z,1761675854.895 [marl:UpdateRudder:B] Stopped 2025-10-28T18:24:14.895Z,1761675854.895 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:24:14.895Z,1761675854.895 [marl:UpdateRudder] Stopped 2025-10-28T18:24:14.895Z,1761675854.895 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:24:15.035Z,1761675855.035 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:24:15.035Z,1761675855.035 [DAT](INFO): response not received 2025-10-28T18:24:15.035Z,1761675855.035 [DAT](ERROR): No response from remote modem. 2025-10-28T18:24:15.272Z,1761675855.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482753,0.793275,0.371031],[-0.875131,-0.452979,-0.170162],[0.033083,-0.406847,0.912897]] 2025-10-28T18:24:15.675Z,1761675855.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503868,0.779003,0.373190],[-0.863101,-0.471190,-0.181758],[0.034253,-0.413683,0.909777]] 2025-10-28T18:24:16.083Z,1761675856.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523373,0.765553,0.374179],[-0.851357,-0.488181,-0.192016],[0.035669,-0.419056,0.907259]] 2025-10-28T18:24:16.483Z,1761675856.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541789,0.753344,0.372743],[-0.839706,-0.504581,-0.200729],[0.036861,-0.421747,0.905964]] 2025-10-28T18:24:16.888Z,1761675856.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559584,0.741695,0.369803],[-0.827905,-0.520684,-0.208473],[0.037928,-0.422820,0.905420]] 2025-10-28T18:24:17.290Z,1761675857.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577595,0.730029,0.365296],[-0.815390,-0.537334,-0.215430],[0.039016,-0.422290,0.905621]] 2025-10-28T18:24:17.701Z,1761675857.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596686,0.717855,0.358678],[-0.801492,-0.555225,-0.222117],[0.039700,-0.420012,0.906650]] 2025-10-28T18:24:18.117Z,1761675858.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616924,0.704638,0.350557],[-0.785998,-0.574344,-0.228768],[0.040142,-0.416670,0.908171]] 2025-10-28T18:24:18.919Z,1761675858.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660720,0.673049,0.332345],[-0.749553,-0.615308,-0.244062],[0.040229,-0.410367,0.911033]] 2025-10-28T18:24:19.322Z,1761675859.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683335,0.655316,0.321892],[-0.728996,-0.636698,-0.251359],[0.040228,-0.406420,0.912800]] 2025-10-28T18:24:19.727Z,1761675859.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705625,0.636052,0.312299],[-0.707430,-0.657521,-0.259248],[0.040447,-0.403861,0.913926]] 2025-10-28T18:24:20.138Z,1761675860.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726996,0.615676,0.304006],[-0.685459,-0.676709,-0.268722],[0.040278,-0.403744,0.913985]] 2025-10-28T18:24:20.538Z,1761675860.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746999,0.595135,0.296322],[-0.663609,-0.694423,-0.278208],[0.040201,-0.404463,0.913670]] 2025-10-28T18:24:20.938Z,1761675860.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765608,0.574330,0.289808],[-0.642070,-0.710125,-0.288909],[0.039871,-0.407269,0.912438]] 2025-10-28T18:24:21.343Z,1761675861.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782619,0.554062,0.283766],[-0.621244,-0.724124,-0.299500],[0.039540,-0.410682,0.910921]] 2025-10-28T18:24:21.750Z,1761675861.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798368,0.534211,0.277900],[-0.600887,-0.736876,-0.309758],[0.039302,-0.414287,0.909298]] 2025-10-28T18:24:21.841Z,1761675861.841 [CTD_Seabird](ERROR): Failed to parse device response: 15.28,1 2025-10-28T18:24:22.151Z,1761675862.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813485,0.514393,0.271371],[-0.580223,-0.749746,-0.318156],[0.039802,-0.416270,0.908369]] 2025-10-28T18:24:22.554Z,1761675862.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827800,0.494083,0.265760],[-0.559572,-0.761192,-0.327821],[0.040324,-0.420082,0.906590]] 2025-10-28T18:24:22.959Z,1761675862.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841640,0.473872,0.259012],[-0.538480,-0.772808,-0.335867],[0.041009,-0.422152,0.905597]] 2025-10-28T18:24:23.364Z,1761675863.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855245,0.453429,0.250915],[-0.516506,-0.785224,-0.341532],[0.042164,-0.421693,0.905758]] 2025-10-28T18:24:23.774Z,1761675863.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868440,0.432726,0.241992],[-0.493889,-0.797807,-0.345800],[0.043426,-0.419824,0.906566]] 2025-10-28T18:24:24.171Z,1761675864.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881377,0.411187,0.232593],[-0.470283,-0.810386,-0.349440],[0.044805,-0.417373,0.907630]] 2025-10-28T18:24:24.574Z,1761675864.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893916,0.388634,0.223333],[-0.445896,-0.821843,-0.354614],[0.045729,-0.416578,0.907949]] 2025-10-28T18:24:24.979Z,1761675864.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906122,0.365670,0.212671],[-0.420480,-0.833567,-0.358278],[0.046264,-0.414068,0.909070]] 2025-10-28T18:24:25.430Z,1761675865.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917698,0.342467,0.201362],[-0.394560,-0.844863,-0.361288],[0.046394,-0.411003,0.910453]] 2025-10-28T18:24:25.826Z,1761675865.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928739,0.318747,0.189324],[-0.367857,-0.855800,-0.363714],[0.046091,-0.407439,0.912068]] 2025-10-28T18:24:26.272Z,1761675866.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948990,0.267951,0.166192],[-0.312089,-0.873338,-0.374007],[0.044926,-0.406795,0.912414]] 2025-10-28T18:24:26.705Z,1761675866.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957613,0.242654,0.155227],[-0.284685,-0.879442,-0.381493],[0.043942,-0.409514,0.911245]] 2025-10-28T18:24:27.106Z,1761675867.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965399,0.216970,0.144665],[-0.257200,-0.883765,-0.390906],[0.043035,-0.414588,0.908991]] 2025-10-28T18:24:27.562Z,1761675867.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972050,0.192508,0.134383],[-0.230927,-0.887175,-0.399490],[0.042316,-0.419357,0.906834]] 2025-10-28T18:24:27.929Z,1761675867.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977782,0.169325,0.123577],[-0.205473,-0.890907,-0.405050],[0.041511,-0.421442,0.905905]] 2025-10-28T18:24:27.954Z,1761675867.954 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:24:27.954Z,1761675867.954 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateRudder:A] Stopped 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:24:27.955Z,1761675867.955 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateCommandMode] Stopped 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:24:27.956Z,1761675867.956 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:24:27.957Z,1761675867.957 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:24:27.957Z,1761675867.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:24:27.957Z,1761675867.957 [marl:UpdateSpeed] Stopped 2025-10-28T18:24:27.957Z,1761675867.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:24:28.318Z,1761675868.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982884,0.146258,0.112020],[-0.179627,-0.895862,-0.406406],[0.040914,-0.419571,0.906800]] 2025-10-28T18:24:28.353Z,1761675868.353 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:24:28.353Z,1761675868.353 [marl:UpdateRudder:B] Stopped 2025-10-28T18:24:28.353Z,1761675868.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:24:28.353Z,1761675868.353 [marl:UpdateRudder] Stopped 2025-10-28T18:24:28.353Z,1761675868.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:24:28.723Z,1761675868.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987163,0.123711,0.101020],[-0.154419,-0.900811,-0.405826],[0.040795,-0.416215,0.908350]] 2025-10-28T18:24:29.126Z,1761675869.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990722,0.101304,0.090600],[-0.129645,-0.904470,-0.406356],[0.040779,-0.414332,0.909212]] 2025-10-28T18:24:29.586Z,1761675869.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993532,0.080079,0.080511],[-0.106051,-0.907799,-0.405775],[0.040594,-0.411689,0.910420]] 2025-10-28T18:24:29.937Z,1761675869.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995874,0.057918,0.069860],[-0.081349,-0.910944,-0.404431],[0.040215,-0.408445,0.911897]] 2025-10-28T18:24:30.339Z,1761675870.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997579,0.036154,0.059410],[-0.057258,-0.911838,-0.406538],[0.039475,-0.408955,0.911700]] 2025-10-28T18:24:30.516Z,1761675870.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:24:30.744Z,1761675870.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998714,0.013907,0.048754],[-0.032535,-0.913317,-0.405948],[0.038882,-0.407012,0.912595]] 2025-10-28T18:24:31.147Z,1761675871.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999226,-0.009224,0.038245],[-0.006986,-0.915075,-0.403222],[0.038716,-0.403177,0.914303]] 2025-10-28T18:24:31.524Z,1761675871.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:24:31.622Z,1761675871.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999068,-0.033523,0.027201],[0.019766,-0.915374,-0.402120],[0.038379,-0.401207,0.915183]] 2025-10-28T18:24:32.015Z,1761675872.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998186,-0.058032,0.016030],[0.046717,-0.914545,-0.401777],[0.037976,-0.400299,0.915597]] 2025-10-28T18:24:32.410Z,1761675872.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996492,-0.083584,0.004224],[0.074888,-0.913081,-0.400843],[0.037361,-0.399120,0.916137]] 2025-10-28T18:24:33.222Z,1761675873.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990351,-0.136822,-0.022020],[0.134096,-0.906008,-0.401458],[0.034978,-0.400537,0.915613]] 2025-10-28T18:24:33.625Z,1761675873.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985758,-0.164187,-0.036398],[0.164912,-0.901320,-0.400533],[0.032956,-0.400831,0.915559]] 2025-10-28T18:24:34.026Z,1761675874.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980122,-0.191812,-0.050686],[0.195997,-0.896530,-0.397265],[0.030759,-0.399302,0.916303]] 2025-10-28T18:24:34.430Z,1761675874.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973561,-0.218778,-0.065693],[0.226696,-0.889999,-0.395615],[0.028085,-0.400048,0.916064]] 2025-10-28T18:24:34.835Z,1761675874.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966307,-0.244504,-0.080432],[0.256160,-0.882954,-0.393413],[0.025173,-0.400762,0.915836]] 2025-10-28T18:24:35.247Z,1761675875.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958337,-0.269294,-0.095237],[0.284766,-0.874704,-0.392175],[0.022307,-0.402957,0.914947]] 2025-10-28T18:24:35.642Z,1761675875.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949930,-0.292556,-0.109743],[0.311860,-0.865907,-0.391087],[0.019387,-0.405730,0.913787]] 2025-10-28T18:24:36.046Z,1761675876.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940822,-0.315572,-0.123566],[0.338499,-0.857254,-0.387986],[0.016510,-0.406853,0.913345]] 2025-10-28T18:24:37.258Z,1761675877.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910400,-0.381688,-0.159646],[0.413611,-0.830417,-0.373273],[0.009901,-0.405859,0.913882]] 2025-10-28T18:24:37.662Z,1761675877.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899070,-0.402919,-0.171257],[0.437732,-0.820196,-0.368333],[0.007945,-0.406122,0.913784]] 2025-10-28T18:24:38.068Z,1761675878.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887089,-0.423993,-0.182490],[0.461553,-0.809239,-0.363458],[0.006426,-0.406649,0.913562]] 2025-10-28T18:24:38.479Z,1761675878.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874258,-0.445084,-0.193839],[0.485436,-0.797379,-0.358524],[0.005010,-0.407538,0.913174]] 2025-10-28T18:24:38.874Z,1761675878.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860372,-0.466459,-0.205366],[0.509654,-0.784675,-0.352899],[0.003467,-0.408290,0.912845]] 2025-10-28T18:24:39.282Z,1761675879.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845399,-0.487778,-0.217653],[0.534132,-0.770591,-0.347696],[0.001877,-0.410197,0.911995]] 2025-10-28T18:24:39.683Z,1761675879.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829500,-0.509421,-0.228955],[0.558507,-0.756458,-0.340354],[0.000189,-0.410196,0.911997]] 2025-10-28T18:24:40.086Z,1761675880.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811981,-0.532408,-0.239224],[0.583682,-0.741529,-0.330832],[-0.001254,-0.408260,0.912865]] 2025-10-28T18:24:40.121Z,1761675880.121 [marl:NeedComms] Running Loop=1 2025-10-28T18:24:40.121Z,1761675880.121 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T18:24:40.121Z,1761675880.121 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T18:24:40.121Z,1761675880.121 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T18:24:40.121Z,1761675880.121 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T18:24:40.122Z,1761675880.122 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T18:24:40.122Z,1761675880.122 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T18:24:40.122Z,1761675880.122 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T18:24:40.123Z,1761675880.123 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T18:24:40.123Z,1761675880.123 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T18:24:40.123Z,1761675880.123 [marl:NeedComms:A] Running Loop=1 2025-10-28T18:24:40.126Z,1761675880.126 [marl:NeedComms:A](INFO): last time_fix was: 1761674643.000000 second since 1970/01/01T00:00:00Z 2025-10-28T18:24:40.126Z,1761675880.126 [marl:NeedComms:A] Stopped 2025-10-28T18:24:40.510Z,1761675880.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793721,-0.554131,-0.250891],[0.608277,-0.724775,-0.323574],[-0.002537,-0.409439,0.912334]] 2025-10-28T18:24:40.894Z,1761675880.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774399,-0.576517,-0.260642],[0.632688,-0.707960,-0.313845],[-0.003587,-0.407947,0.912999]] 2025-10-28T18:24:41.311Z,1761675881.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754434,-0.597985,-0.270636],[0.656364,-0.689770,-0.305619],[-0.003921,-0.408205,0.912882]] 2025-10-28T18:24:41.335Z,1761675881.335 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateRudder:A] Stopped 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:24:41.336Z,1761675881.336 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateCommandMode] Stopped 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:24:41.337Z,1761675881.337 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:24:41.338Z,1761675881.338 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:24:41.338Z,1761675881.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:24:41.338Z,1761675881.338 [marl:UpdateSpeed] Stopped 2025-10-28T18:24:41.338Z,1761675881.338 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:24:41.850Z,1761675881.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733209,-0.619346,-0.280739],[0.679989,-0.670397,-0.296955],[-0.004288,-0.408630,0.912690]] 2025-10-28T18:24:41.899Z,1761675881.899 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:24:41.899Z,1761675881.899 [marl:UpdateRudder:B] Stopped 2025-10-28T18:24:41.899Z,1761675881.899 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:24:41.899Z,1761675881.899 [marl:UpdateRudder] Stopped 2025-10-28T18:24:41.899Z,1761675881.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:24:42.323Z,1761675882.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689702,-0.658674,-0.300766],[0.724064,-0.631089,-0.278311],[-0.006494,-0.409726,0.912185]] 2025-10-28T18:24:43.230Z,1761675883.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641428,-0.695129,-0.324601],[0.766861,-0.593207,-0.245010],[-0.022242,-0.406080,0.913567]] 2025-10-28T18:24:43.648Z,1761675883.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615285,-0.713958,-0.334198],[0.787492,-0.575929,-0.219457],[-0.035791,-0.398207,0.916597]] 2025-10-28T18:24:44.047Z,1761675884.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588645,-0.732193,-0.342623],[0.806715,-0.559335,-0.190672],[-0.052033,-0.388637,0.919921]] 2025-10-28T18:24:44.450Z,1761675884.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561431,-0.749295,-0.351214],[0.824580,-0.542317,-0.161124],[-0.069740,-0.380064,0.922327]] 2025-10-28T18:24:44.856Z,1761675884.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533980,-0.765797,-0.358357],[0.840897,-0.525167,-0.130736],[-0.088080,-0.371151,0.924385]] 2025-10-28T18:24:45.260Z,1761675885.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506576,-0.779543,-0.368368],[0.855567,-0.507367,-0.102875],[-0.106702,-0.367277,0.923971]] 2025-10-28T18:24:45.662Z,1761675885.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479228,-0.791315,-0.379687],[0.868780,-0.489165,-0.077065],[-0.124747,-0.366796,0.921900]] 2025-10-28T18:24:46.069Z,1761675886.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451626,-0.801720,-0.391509],[0.880825,-0.470514,-0.052575],[-0.142060,-0.368595,0.918671]] 2025-10-28T18:24:46.508Z,1761675886.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423733,-0.812289,-0.400795],[0.891824,-0.451531,-0.027749],[-0.158432,-0.369197,0.915747]] 2025-10-28T18:24:46.911Z,1761675886.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396070,-0.821925,-0.409351],[0.901727,-0.432283,-0.004500],[-0.173257,-0.370905,0.912366]] 2025-10-28T18:24:47.754Z,1761675887.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339207,-0.838078,-0.427274],[0.919565,-0.391170,0.037231],[-0.198340,-0.380278,0.903355]] 2025-10-28T18:24:48.189Z,1761675888.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309805,-0.846787,-0.432403],[0.927501,-0.369213,0.058511],[-0.209195,-0.382927,0.899780]] 2025-10-28T18:24:48.589Z,1761675888.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279229,-0.855923,-0.435231],[0.934694,-0.346106,0.080982],[-0.219950,-0.384195,0.896669]] 2025-10-28T18:24:48.994Z,1761675888.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246580,-0.865494,-0.436025],[0.941181,-0.321122,0.105162],[-0.231034,-0.384448,0.893769]] 2025-10-28T18:24:49.405Z,1761675889.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213276,-0.875198,-0.434213],[0.946407,-0.295408,0.130569],[-0.242544,-0.383095,0.891297]] 2025-10-28T18:24:49.805Z,1761675889.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179812,-0.884494,-0.430510],[0.950154,-0.269482,0.156804],[-0.254707,-0.380855,0.888861]] 2025-10-28T18:24:50.220Z,1761675890.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145021,-0.893298,-0.425427],[0.952605,-0.242270,0.183982],[-0.267419,-0.378582,0.886094]] 2025-10-28T18:24:50.618Z,1761675890.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110230,-0.901570,-0.418355],[0.953609,-0.214575,0.211157],[-0.280142,-0.375671,0.883398]] 2025-10-28T18:24:51.072Z,1761675891.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041903,-0.916747,-0.397264],[0.951335,-0.158106,0.264507],[-0.305296,-0.366847,0.878759]] 2025-10-28T18:24:51.482Z,1761675891.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009094,-0.921006,-0.389442],[0.948227,-0.131586,0.289050],[-0.317462,-0.366651,0.874520]] 2025-10-28T18:24:51.922Z,1761675891.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022410,-0.924753,-0.379906],[0.944221,-0.105303,0.312022],[-0.328549,-0.365708,0.870812]] 2025-10-28T18:24:52.323Z,1761675892.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052077,-0.927362,-0.370524],[0.939460,-0.080336,0.333109],[-0.338679,-0.365440,0.867035]] 2025-10-28T18:24:52.795Z,1761675892.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079431,-0.928891,-0.361736],[0.934315,-0.057122,0.351841],[-0.347485,-0.365922,0.863340]] 2025-10-28T18:24:53.317Z,1761675893.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104368,-0.930068,-0.352251],[0.928976,-0.035301,0.368452],[-0.355121,-0.365688,0.860327]] 2025-10-28T18:24:53.745Z,1761675893.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127235,-0.930324,-0.343960],[0.923594,-0.015312,0.383065],[-0.361641,-0.366419,0.857294]] 2025-10-28T18:24:54.233Z,1761675894.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148504,-0.930077,-0.336011],[0.918075,0.003382,0.396392],[-0.367538,-0.367349,0.854383]] 2025-10-28T18:24:54.671Z,1761675894.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188640,-0.929117,-0.318051],[0.906371,0.040051,0.420580],[-0.378030,-0.367610,0.849680]] 2025-10-28T18:24:55.135Z,1761675895.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207330,-0.928582,-0.307815],[0.900452,0.058161,0.431050],[-0.382362,-0.366542,0.848202]] 2025-10-28T18:24:55.162Z,1761675895.162 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:24:55.162Z,1761675895.162 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:24:55.162Z,1761675895.162 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateRudder:A] Stopped 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:24:55.163Z,1761675895.163 [marl:UpdateCommandMode] Stopped 2025-10-28T18:24:55.164Z,1761675895.164 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:24:55.164Z,1761675895.164 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:24:55.164Z,1761675895.164 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:24:55.164Z,1761675895.164 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:24:55.164Z,1761675895.164 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:24:55.165Z,1761675895.165 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:24:55.165Z,1761675895.165 [marl:UpdateSpeed] Stopped 2025-10-28T18:24:55.165Z,1761675895.165 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:24:55.579Z,1761675895.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226078,-0.928198,-0.295530],[0.894436,0.077634,0.440405],[-0.385840,-0.363898,0.847765]] 2025-10-28T18:24:55.628Z,1761675895.628 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:24:55.628Z,1761675895.628 [marl:UpdateRudder:B] Stopped 2025-10-28T18:24:55.628Z,1761675895.628 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:24:55.628Z,1761675895.628 [marl:UpdateRudder] Stopped 2025-10-28T18:24:55.628Z,1761675895.628 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:24:56.037Z,1761675896.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244583,-0.926334,-0.286502],[0.888396,0.095699,0.448992],[-0.388498,-0.364344,0.846358]] 2025-10-28T18:24:56.477Z,1761675896.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263391,-0.924112,-0.276843],[0.882267,0.114688,0.456564],[-0.390166,-0.364504,0.845522]] 2025-10-28T18:24:56.870Z,1761675896.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283252,-0.921447,-0.265901],[0.875633,0.135384,0.463613],[-0.391196,-0.364151,0.845198]] 2025-10-28T18:24:57.274Z,1761675897.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302950,-0.917624,-0.257269],[0.868950,0.155120,0.469962],[-0.391341,-0.365929,0.844363]] 2025-10-28T18:24:57.682Z,1761675897.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322747,-0.912929,-0.249789],[0.862104,0.174623,0.475693],[-0.390655,-0.368872,0.843399]] 2025-10-28T18:24:58.212Z,1761675898.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342696,-0.908167,-0.240400],[0.854955,0.195430,0.480477],[-0.389372,-0.370190,0.843415]] 2025-10-28T18:24:58.610Z,1761675898.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362983,-0.902515,-0.231754],[0.847467,0.216365,0.484753],[-0.387353,-0.372361,0.843389]] 2025-10-28T18:24:59.014Z,1761675899.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382879,-0.896476,-0.223012],[0.839876,0.237265,0.488174],[-0.384723,-0.374214,0.843772]] 2025-10-28T18:24:59.419Z,1761675899.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403295,-0.889751,-0.213766],[0.831810,0.259097,0.490878],[-0.381373,-0.375781,0.844597]] 2025-10-28T18:24:59.824Z,1761675899.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424011,-0.882373,-0.204039],[0.823286,0.281659,0.492818],[-0.377380,-0.376942,0.845872]] 2025-10-28T18:25:00.226Z,1761675900.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445446,-0.873823,-0.194965],[0.813636,0.304227,0.495422],[-0.373597,-0.379314,0.846490]] 2025-10-28T18:25:00.630Z,1761675900.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467628,-0.864065,-0.186320],[0.802754,0.326908,0.498716],[-0.370014,-0.382783,0.846503]] 2025-10-28T18:25:00.997Z,1761675900.997 [CTD_Seabird](ERROR): Failed to parse device response: 9,4.05795,4335.06 2025-10-28T18:25:01.037Z,1761675901.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490358,-0.853670,-0.175491],[0.790382,0.350753,0.502263],[-0.367213,-0.384993,0.846720]] 2025-10-28T18:25:01.450Z,1761675901.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513062,-0.843596,-0.158472],[0.776560,0.377540,0.504398],[-0.365679,-0.381851,0.848804]] 2025-10-28T18:25:01.640Z,1761675901.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:25:01.846Z,1761675901.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534463,-0.833705,-0.138869],[0.762166,0.404395,0.505537],[-0.365311,-0.376032,0.851556]] 2025-10-28T18:25:02.246Z,1761675902.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554337,-0.823687,-0.119378],[0.747589,0.429730,0.506402],[-0.365816,-0.369963,0.853994]] 2025-10-28T18:25:02.644Z,1761675902.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:25:02.750Z,1761675902.750 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:25:02.969Z,1761675902.969 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:25:02.969Z,1761675902.969 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:25:03.058Z,1761675903.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590759,-0.801775,-0.090335],[0.718173,0.471498,0.511778],[-0.367738,-0.367214,0.854355]] 2025-10-28T18:25:03.221Z,1761675903.221 [DAT](INFO): DAT read: user:121> 2025-10-28T18:25:03.222Z,1761675903.222 [DAT](INFO): DAT read: Tx time:18:25:02.9953 2025-10-28T18:25:03.222Z,1761675903.222 [DAT](INFO): Ping request sent. 2025-10-28T18:25:03.222Z,1761675903.222 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:25:03.222Z,1761675903.222 [DAT](INFO): publishing transmit ping time 2025-10-28T18:25:03.223Z,1761675903.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T18:25:03.476Z,1761675903.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253827 2025-10-28T18:25:03.478Z,1761675903.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605935,-0.791537,-0.079453],[0.705233,0.488270,0.514042],[-0.368089,-0.367509,0.854077]] 2025-10-28T18:25:03.725Z,1761675903.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503003 2025-10-28T18:25:03.862Z,1761675903.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620230,-0.781181,-0.071209],[0.692920,0.503071,0.516509],[-0.367664,-0.369697,0.853316]] 2025-10-28T18:25:03.977Z,1761675903.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755015 2025-10-28T18:25:04.229Z,1761675904.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006930 2025-10-28T18:25:04.267Z,1761675904.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634105,-0.770518,-0.064908],[0.681056,0.516783,0.518747],[-0.366161,-0.373146,0.852460]] 2025-10-28T18:25:04.482Z,1761675904.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259669 2025-10-28T18:25:04.677Z,1761675904.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647476,-0.759661,-0.060743],[0.669650,0.529081,0.521193],[-0.363792,-0.378137,0.851274]] 2025-10-28T18:25:04.733Z,1761675904.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511026 2025-10-28T18:25:04.985Z,1761675904.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762930 2025-10-28T18:25:05.082Z,1761675905.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674708,-0.736308,-0.051184],[0.646390,0.555988,0.522549],[-0.356299,-0.385653,0.851072]] 2025-10-28T18:25:05.237Z,1761675905.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014964 2025-10-28T18:25:05.487Z,1761675905.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689128,-0.723248,-0.044885],[0.633485,0.571209,0.521936],[-0.351850,-0.388115,0.851803]] 2025-10-28T18:25:05.489Z,1761675905.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028 2025-10-28T18:25:05.741Z,1761675905.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519493 2025-10-28T18:25:05.888Z,1761675905.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704660,-0.708446,-0.039477],[0.619104,0.586708,0.522000],[-0.346647,-0.392274,0.852031]] 2025-10-28T18:25:05.993Z,1761675905.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068 2025-10-28T18:25:06.245Z,1761675906.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022999 2025-10-28T18:25:06.294Z,1761675906.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721531,-0.691536,-0.034201],[0.602344,0.602578,0.523528],[-0.341430,-0.398342,0.851322]] 2025-10-28T18:25:06.497Z,1761675906.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274932 2025-10-28T18:25:06.694Z,1761675906.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739401,-0.672674,-0.028225],[0.583530,0.619376,0.525230],[-0.335826,-0.404826,0.850492]] 2025-10-28T18:25:06.750Z,1761675906.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527798 2025-10-28T18:25:07.005Z,1761675907.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783013 2025-10-28T18:25:07.094Z,1761675907.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757488,-0.652524,-0.020605],[0.563430,0.637467,0.525530],[-0.329786,-0.409693,0.850525]] 2025-10-28T18:25:07.253Z,1761675907.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030864 2025-10-28T18:25:07.505Z,1761675907.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283243 2025-10-28T18:25:07.603Z,1761675907.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775832,-0.630827,-0.011921],[0.541813,0.656437,0.524909],[-0.323301,-0.413700,0.851075]] 2025-10-28T18:25:07.758Z,1761675907.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535484 2025-10-28T18:25:08.009Z,1761675908.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786998 2025-10-28T18:25:08.093Z,1761675908.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794091,-0.607792,-0.002773],[0.519004,0.675699,0.523514],[-0.316314,-0.417157,0.852013]] 2025-10-28T18:25:08.261Z,1761675908.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039033 2025-10-28T18:25:08.513Z,1761675908.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290932 2025-10-28T18:25:08.627Z,1761675908.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811638,-0.584121,0.006812],[0.495573,0.694679,0.521372],[-0.309277,-0.419789,0.853302]] 2025-10-28T18:25:08.651Z,1761675908.651 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:25:08.651Z,1761675908.651 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:25:08.652Z,1761675908.652 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:25:08.652Z,1761675908.652 [marl:UpdateRudder:A] Stopped 2025-10-28T18:25:08.653Z,1761675908.653 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:25:08.653Z,1761675908.653 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:25:08.653Z,1761675908.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:25:08.653Z,1761675908.653 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:25:08.653Z,1761675908.653 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateCommandMode] Stopped 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:25:08.655Z,1761675908.655 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:25:08.657Z,1761675908.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:25:08.658Z,1761675908.658 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:25:08.658Z,1761675908.658 [marl:UpdateSpeed] Stopped 2025-10-28T18:25:08.658Z,1761675908.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:25:08.766Z,1761675908.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543624 2025-10-28T18:25:09.017Z,1761675909.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795042 2025-10-28T18:25:09.032Z,1761675909.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828536,-0.559669,0.017256],[0.471210,0.713566,0.518445],[-0.302471,-0.421419,0.854937]] 2025-10-28T18:25:09.074Z,1761675909.074 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:25:09.074Z,1761675909.074 [marl:UpdateRudder:B] Stopped 2025-10-28T18:25:09.074Z,1761675909.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:25:09.074Z,1761675909.074 [marl:UpdateRudder] Stopped 2025-10-28T18:25:09.074Z,1761675909.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:25:09.269Z,1761675909.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047257 2025-10-28T18:25:09.443Z,1761675909.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844542,-0.534748,0.028170],[0.446178,0.731799,0.515165],[-0.296098,-0.422510,0.856628]] 2025-10-28T18:25:09.525Z,1761675909.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302129 2025-10-28T18:25:09.774Z,1761675909.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551409 2025-10-28T18:25:10.029Z,1761675910.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807369 2025-10-28T18:25:10.282Z,1761675910.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060156 2025-10-28T18:25:10.317Z,1761675910.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884669,-0.461810,0.063963],[0.371492,0.781152,0.501792],[-0.281697,-0.420158,0.862620]] 2025-10-28T18:25:10.529Z,1761675910.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307083 2025-10-28T18:25:10.781Z,1761675910.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559201 2025-10-28T18:25:11.033Z,1761675911.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811027 2025-10-28T18:25:11.210Z,1761675911.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905840,-0.414176,0.088949],[0.321030,0.808164,0.493772],[-0.276394,-0.418723,0.865030]] 2025-10-28T18:25:11.285Z,1761675911.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063469 2025-10-28T18:25:11.540Z,1761675911.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317358 2025-10-28T18:25:11.611Z,1761675911.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914936,-0.390345,0.102583],[0.295357,0.820787,0.488951],[-0.275058,-0.417060,0.866259]] 2025-10-28T18:25:11.790Z,1761675911.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567587 2025-10-28T18:25:12.045Z,1761675912.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822588 2025-10-28T18:25:12.077Z,1761675912.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923010,-0.367050,0.115447],[0.270128,0.831800,0.484913],[-0.274016,-0.416394,0.866909]] 2025-10-28T18:25:12.294Z,1761675912.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071644 2025-10-28T18:25:12.475Z,1761675912.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930336,-0.343799,0.127578],[0.244486,0.840812,0.482971],[-0.273314,-0.418135,0.866292]] 2025-10-28T18:25:12.545Z,1761675912.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322914 2025-10-28T18:25:12.797Z,1761675912.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575079 2025-10-28T18:25:12.878Z,1761675912.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936864,-0.320489,0.139903],[0.218989,0.849606,0.479806],[-0.272635,-0.418875,0.866149]] 2025-10-28T18:25:13.049Z,1761675913.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826902 2025-10-28T18:25:13.282Z,1761675913.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942676,-0.296599,0.152938],[0.193168,0.858702,0.474676],[-0.272117,-0.417923,0.866771]] 2025-10-28T18:25:13.301Z,1761675913.301 [DAT](INFO): Reached modem response timeout 2025-10-28T18:25:13.689Z,1761675913.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947475,-0.273811,0.165282],[0.169393,0.867962,0.466850],[-0.271287,-0.414331,0.868754]] 2025-10-28T18:25:14.090Z,1761675914.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951362,-0.251957,0.177276],[0.147142,0.877179,0.457062],[-0.270663,-0.408747,0.871589]] 2025-10-28T18:25:14.495Z,1761675914.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954424,-0.231520,0.188344],[0.126055,0.884720,0.448754],[-0.270528,-0.404560,0.873582]] 2025-10-28T18:25:14.899Z,1761675914.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956924,-0.210975,0.199466],[0.105093,0.892115,0.439416],[-0.270653,-0.399525,0.875858]] 2025-10-28T18:25:15.304Z,1761675915.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958991,-0.190614,0.209767],[0.083613,0.897404,0.433214],[-0.270823,-0.397909,0.876540]] 2025-10-28T18:25:15.577Z,1761675915.577 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:25:15.578Z,1761675915.578 [DAT](INFO): response not received 2025-10-28T18:25:15.578Z,1761675915.578 [DAT](ERROR): No response from remote modem. 2025-10-28T18:25:15.707Z,1761675915.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960567,-0.169664,0.220284],[0.060821,0.901277,0.428952],[-0.271315,-0.398639,0.876057]] 2025-10-28T18:25:16.110Z,1761675916.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961513,-0.146831,0.232235],[0.035584,0.904659,0.424647],[-0.272445,-0.400040,0.875067]] 2025-10-28T18:25:16.515Z,1761675916.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961717,-0.119818,0.246462],[0.005846,0.908118,0.418673],[-0.273981,-0.401205,0.874053]] 2025-10-28T18:25:17.322Z,1761675917.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958114,-0.058938,0.280256],[-0.061425,0.913528,0.402110],[-0.279721,-0.402482,0.871644]] 2025-10-28T18:25:18.135Z,1761675918.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948748,0.002530,0.316025],[-0.127067,0.918634,0.374120],[-0.289365,-0.395102,0.871873]] 2025-10-28T18:25:18.537Z,1761675918.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942411,0.032830,0.332841],[-0.157637,0.921301,0.355464],[-0.294977,-0.387462,0.873420]] 2025-10-28T18:25:18.946Z,1761675918.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935370,0.063823,0.347865],[-0.187051,0.924035,0.333424],[-0.300159,-0.376944,0.876252]] 2025-10-28T18:25:19.342Z,1761675919.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927597,0.095317,0.361217],[-0.216406,0.925251,0.311574],[-0.304518,-0.367185,0.878888]] 2025-10-28T18:25:20.158Z,1761675920.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910093,0.154200,0.384646],[-0.274177,0.920051,0.279880],[-0.310737,-0.360178,0.879610]] 2025-10-28T18:25:20.556Z,1761675920.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901327,0.178613,0.394598],[-0.298912,0.915809,0.268227],[-0.313467,-0.359710,0.878833]] 2025-10-28T18:25:20.959Z,1761675920.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893633,0.196287,0.403597],[-0.317684,0.911876,0.259923],[-0.317011,-0.360492,0.877240]] 2025-10-28T18:25:21.363Z,1761675921.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886062,0.210608,0.412963],[-0.335264,0.906362,0.257111],[-0.320144,-0.366268,0.873702]] 2025-10-28T18:25:21.774Z,1761675921.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877920,0.223591,0.423396],[-0.353278,0.899358,0.257586],[-0.323190,-0.375716,0.868554]] 2025-10-28T18:25:21.835Z,1761675921.835 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:25:21.835Z,1761675921.835 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:25:21.836Z,1761675921.836 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:25:21.836Z,1761675921.836 [marl:UpdateRudder:A] Stopped 2025-10-28T18:25:21.836Z,1761675921.836 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:25:21.836Z,1761675921.836 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:25:21.836Z,1761675921.836 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateCommandMode] Stopped 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:25:21.837Z,1761675921.837 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:25:21.838Z,1761675921.838 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:25:21.838Z,1761675921.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:25:21.838Z,1761675921.838 [marl:UpdateSpeed] Stopped 2025-10-28T18:25:21.838Z,1761675921.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:25:22.227Z,1761675922.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868946,0.238053,0.433894],[-0.372155,0.892229,0.255788],[-0.326242,-0.383742,0.863891]] 2025-10-28T18:25:22.252Z,1761675922.252 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:25:22.252Z,1761675922.252 [marl:UpdateRudder:B] Stopped 2025-10-28T18:25:22.252Z,1761675922.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:25:22.252Z,1761675922.252 [marl:UpdateRudder] Stopped 2025-10-28T18:25:22.252Z,1761675922.252 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:25:22.649Z,1761675922.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859325,0.251925,0.445079],[-0.391086,0.884484,0.254441],[-0.329565,-0.392711,0.858583]] 2025-10-28T18:25:23.031Z,1761675923.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848908,0.267440,0.455885],[-0.410151,0.877352,0.249058],[-0.333363,-0.398409,0.854482]] 2025-10-28T18:25:23.441Z,1761675923.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837353,0.284316,0.466910],[-0.429503,0.870545,0.240165],[-0.338183,-0.401642,0.851067]] 2025-10-28T18:25:23.839Z,1761675923.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823738,0.305629,0.477543],[-0.451167,0.863446,0.225632],[-0.343373,-0.401313,0.849142]] 2025-10-28T18:25:24.444Z,1761675924.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790116,0.357862,0.497645],[-0.499636,0.846320,0.184679],[-0.355078,-0.394560,0.847492]] 2025-10-28T18:25:25.007Z,1761675925.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772128,0.385555,0.505139],[-0.522578,0.837535,0.159522],[-0.361567,-0.387146,0.848167]] 2025-10-28T18:25:25.578Z,1761675925.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735609,0.444283,0.511363],[-0.565050,0.818795,0.101453],[-0.373628,-0.363575,0.853355]] 2025-10-28T18:25:26.037Z,1761675926.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717956,0.471574,0.512012],[-0.584254,0.808100,0.074978],[-0.378399,-0.352976,0.855700]] 2025-10-28T18:25:26.438Z,1761675926.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702491,0.494797,0.511550],[-0.599912,0.798402,0.051581],[-0.382900,-0.343120,0.857704]] 2025-10-28T18:25:26.839Z,1761675926.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690159,0.511192,0.512214],[-0.611270,0.790668,0.034537],[-0.387336,-0.336937,0.858163]] 2025-10-28T18:25:27.305Z,1761675927.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678271,0.524320,0.514818],[-0.622129,0.782588,0.022619],[-0.391031,-0.335625,0.857001]] 2025-10-28T18:25:27.714Z,1761675927.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665561,0.534478,0.520923],[-0.633500,0.773583,0.015684],[-0.394595,-0.340443,0.853459]] 2025-10-28T18:25:28.254Z,1761675928.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652127,0.542248,0.529809],[-0.644689,0.764363,0.011221],[-0.398882,-0.348880,0.848043]] 2025-10-28T18:25:28.656Z,1761675928.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636482,0.552259,0.538424],[-0.657738,0.753230,0.004941],[-0.402829,-0.357287,0.842659]] 2025-10-28T18:25:29.093Z,1761675929.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618558,0.564935,0.546109],[-0.672713,0.739896,-0.003445],[-0.406010,-0.365244,0.837707]] 2025-10-28T18:25:29.578Z,1761675929.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579799,0.598192,0.553172],[-0.703769,0.709798,-0.029919],[-0.410538,-0.371959,0.832529]] 2025-10-28T18:25:29.931Z,1761675929.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559579,0.618208,0.551988],[-0.718883,0.693479,-0.047905],[-0.412407,-0.370008,0.832475]] 2025-10-28T18:25:30.331Z,1761675930.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539958,0.638739,0.548141],[-0.732925,0.677010,-0.066925],[-0.413845,-0.365609,0.833704]] 2025-10-28T18:25:30.742Z,1761675930.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521013,0.658278,0.543337],[-0.745953,0.660553,-0.084986],[-0.414848,-0.361026,0.835202]] 2025-10-28T18:25:31.139Z,1761675931.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502341,0.675691,0.539533],[-0.758127,0.644244,-0.100960],[-0.415808,-0.358318,0.835890]] 2025-10-28T18:25:31.578Z,1761675931.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483640,0.691698,0.536326],[-0.769546,0.627977,-0.115951],[-0.417003,-0.356649,0.836008]] 2025-10-28T18:25:31.946Z,1761675931.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463932,0.704883,0.536571],[-0.780596,0.611662,-0.128607],[-0.418852,-0.359180,0.833998]] 2025-10-28T18:25:32.352Z,1761675932.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442817,0.717175,0.538121],[-0.791753,0.594421,-0.140678],[-0.420761,-0.363764,0.831045]] 2025-10-28T18:25:32.765Z,1761675932.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:25:32.778Z,1761675932.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420775,0.726711,0.542991],[-0.803021,0.576835,-0.149729],[-0.422027,-0.373031,0.826282]] 2025-10-28T18:25:33.159Z,1761675933.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399064,0.734697,0.548605],[-0.814191,0.559106,-0.156504],[-0.421712,-0.384214,0.821303]] 2025-10-28T18:25:33.583Z,1761675933.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378815,0.742833,0.551995],[-0.824739,0.541570,-0.162814],[-0.419887,-0.393575,0.817798]] 2025-10-28T18:25:33.769Z,1761675933.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:25:33.968Z,1761675933.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361354,0.752602,0.550467],[-0.833962,0.524914,-0.170211],[-0.417049,-0.397562,0.817321]] 2025-10-28T18:25:34.370Z,1761675934.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344876,0.761927,0.548204],[-0.842765,0.508502,-0.176561],[-0.413289,-0.401115,0.817495]] 2025-10-28T18:25:34.781Z,1761675934.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328799,0.772377,0.543438],[-0.850980,0.491845,-0.184176],[-0.409541,-0.401898,0.818996]] 2025-10-28T18:25:35.179Z,1761675935.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311760,0.783887,0.536961],[-0.859036,0.474032,-0.193262],[-0.406033,-0.401017,0.821171]] 2025-10-28T18:25:35.591Z,1761675935.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294532,0.797619,0.526359],[-0.866596,0.455090,-0.204705],[-0.402817,-0.395849,0.825253]] 2025-10-28T18:25:35.660Z,1761675935.660 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:25:35.660Z,1761675935.660 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateRudder:A] Stopped 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:25:35.661Z,1761675935.661 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateCommandMode] Stopped 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:25:35.662Z,1761675935.662 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:25:35.663Z,1761675935.663 [marl:UpdateSpeed] Stopped 2025-10-28T18:25:35.663Z,1761675935.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:25:36.026Z,1761675936.026 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:25:36.026Z,1761675936.026 [marl:UpdateRudder:B] Stopped 2025-10-28T18:25:36.026Z,1761675936.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:25:36.026Z,1761675936.026 [marl:UpdateRudder] Stopped 2025-10-28T18:25:36.026Z,1761675936.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:25:36.397Z,1761675936.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261722,0.822614,0.504785],[-0.881431,0.416783,-0.222196],[-0.393167,-0.386779,0.834159]] 2025-10-28T18:25:36.799Z,1761675936.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246420,0.832003,0.497040],[-0.889070,0.398211,-0.225794],[-0.385788,-0.386263,0.837836]] 2025-10-28T18:25:37.198Z,1761675937.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231286,0.839800,0.491164],[-0.896713,0.379844,-0.227208],[-0.377375,-0.387884,0.840913]] 2025-10-28T18:25:37.602Z,1761675937.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214862,0.847228,0.485840],[-0.904425,0.360344,-0.228403],[-0.368579,-0.390330,0.843678]] 2025-10-28T18:25:38.007Z,1761675938.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196679,0.853731,0.482143],[-0.911790,0.340064,-0.230208],[-0.360495,-0.394336,0.845306]] 2025-10-28T18:25:38.419Z,1761675938.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175954,0.859085,0.480639],[-0.918885,0.318478,-0.232854],[-0.353115,-0.400681,0.845438]] 2025-10-28T18:25:38.814Z,1761675938.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152049,0.864573,0.478951],[-0.925561,0.294546,-0.237866],[-0.346725,-0.407131,0.845001]] 2025-10-28T18:25:39.218Z,1761675939.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125157,0.871645,0.473889],[-0.931556,0.267593,-0.246166],[-0.341379,-0.410645,0.845477]] 2025-10-28T18:25:39.622Z,1761675939.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097023,0.881349,0.462397],[-0.936433,0.238221,-0.257572],[-0.337163,-0.408014,0.848437]] 2025-10-28T18:25:40.028Z,1761675940.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067987,0.891826,0.447241],[-0.940717,0.206616,-0.269002],[-0.332310,-0.402438,0.853003]] 2025-10-28T18:25:40.430Z,1761675940.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037521,0.901053,0.432083],[-0.945146,0.172402,-0.277447],[-0.324487,-0.397972,0.858095]] 2025-10-28T18:25:40.835Z,1761675940.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004489,0.907679,0.419642],[-0.950039,0.134844,-0.281502],[-0.312099,-0.397412,0.862935]] 2025-10-28T18:25:41.265Z,1761675941.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024974,0.908859,0.416356],[-0.953948,0.102872,-0.281780],[-0.298929,-0.404219,0.864435]] 2025-10-28T18:25:42.073Z,1761675942.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077201,0.905243,0.417823],[-0.956346,0.051237,-0.287712],[-0.281857,-0.421794,0.861769]] 2025-10-28T18:25:42.475Z,1761675942.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105057,0.906964,0.407896],[-0.953345,0.024876,-0.300855],[-0.283012,-0.420473,0.862037]] 2025-10-28T18:25:42.883Z,1761675942.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138273,0.910665,0.389319],[-0.947789,-0.007617,-0.318806],[-0.287360,-0.413075,0.864172]] 2025-10-28T18:25:43.284Z,1761675943.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172613,0.912093,0.371876],[-0.941259,-0.041496,-0.335127],[-0.290235,-0.407879,0.865678]] 2025-10-28T18:25:43.686Z,1761675943.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206406,0.909534,0.360757],[-0.935579,-0.075494,-0.344954],[-0.286513,-0.408717,0.866522]] 2025-10-28T18:25:44.091Z,1761675944.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235399,0.902735,0.360079],[-0.931450,-0.103777,-0.348756],[-0.277466,-0.417493,0.865282]] 2025-10-28T18:25:44.495Z,1761675944.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257495,0.894643,0.365116],[-0.928239,-0.124042,-0.350694],[-0.268457,-0.429217,0.862382]] 2025-10-28T18:25:44.907Z,1761675944.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276015,0.889063,0.365216],[-0.924249,-0.141229,-0.354708],[-0.263779,-0.435455,0.860697]] 2025-10-28T18:25:45.305Z,1761675945.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293719,0.888991,0.351319],[-0.918788,-0.161155,-0.360357],[-0.263737,-0.428631,0.864128]] 2025-10-28T18:25:45.706Z,1761675945.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316733,0.890768,0.325902],[-0.910764,-0.189642,-0.366805],[-0.264933,-0.412999,0.871345]] 2025-10-28T18:25:46.514Z,1761675946.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377582,0.882884,0.279193],[-0.886893,-0.258143,-0.383122],[-0.266181,-0.392274,0.880494]] 2025-10-28T18:25:46.920Z,1761675946.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410086,0.873421,0.262612],[-0.871782,-0.290772,-0.394268],[-0.268002,-0.390624,0.880675]] 2025-10-28T18:25:47.322Z,1761675947.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436340,0.864160,0.250667],[-0.857711,-0.315283,-0.406114],[-0.271916,-0.392204,0.878771]] 2025-10-28T18:25:47.726Z,1761675947.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456600,0.856460,0.240816],[-0.846035,-0.334264,-0.415323],[-0.275212,-0.393375,0.877220]] 2025-10-28T18:25:48.131Z,1761675948.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471354,0.849652,0.236469],[-0.837426,-0.347064,-0.422213],[-0.276665,-0.397037,0.875111]] 2025-10-28T18:25:48.536Z,1761675948.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485115,0.841070,0.239299],[-0.830292,-0.357173,-0.427834],[-0.274368,-0.406237,0.871604]] 2025-10-28T18:25:48.939Z,1761675948.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507727,0.829013,0.234417],[-0.819826,-0.381305,-0.427191],[-0.264762,-0.409078,0.873245]] 2025-10-28T18:25:48.973Z,1761675948.973 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:25:48.973Z,1761675948.973 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateRudder:A] Stopped 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:25:48.974Z,1761675948.974 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateCommandMode] Stopped 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:25:48.975Z,1761675948.975 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:25:48.976Z,1761675948.976 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:25:48.976Z,1761675948.976 [marl:UpdateSpeed] Stopped 2025-10-28T18:25:48.976Z,1761675948.976 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:25:49.342Z,1761675949.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533507,0.816702,0.219926],[-0.806275,-0.412530,-0.423957],[-0.255520,-0.403505,0.878574]] 2025-10-28T18:25:49.399Z,1761675949.399 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:25:49.399Z,1761675949.399 [marl:UpdateRudder:B] Stopped 2025-10-28T18:25:49.399Z,1761675949.399 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:25:49.399Z,1761675949.399 [marl:UpdateRudder] Stopped 2025-10-28T18:25:49.399Z,1761675949.399 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:25:49.748Z,1761675949.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557667,0.807589,0.191852],[-0.789305,-0.444387,-0.423696],[-0.256915,-0.387711,0.885254]] 2025-10-28T18:25:50.555Z,1761675950.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602723,0.787700,0.127495],[-0.738834,-0.490546,-0.462049],[-0.301414,-0.372685,0.877642]] 2025-10-28T18:25:50.959Z,1761675950.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629151,0.769009,0.113109],[-0.709091,-0.508243,-0.488753],[-0.318369,-0.387704,0.865059]] 2025-10-28T18:25:51.772Z,1761675951.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688412,0.713810,0.128703],[-0.666947,-0.553223,-0.499125],[-0.285079,-0.429442,0.856919]] 2025-10-28T18:25:52.171Z,1761675952.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711143,0.689601,0.136840],[-0.654321,-0.577999,-0.487628],[-0.257176,-0.436311,0.862261]] 2025-10-28T18:25:52.575Z,1761675952.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724623,0.677681,0.125177],[-0.641745,-0.597357,-0.480965],[-0.251166,-0.428850,0.867758]] 2025-10-28T18:25:53.393Z,1761675953.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731256,0.681332,0.032408],[-0.600275,-0.620241,-0.504946],[-0.323935,-0.388699,0.862542]] 2025-10-28T18:25:54.191Z,1761675954.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769545,0.638192,-0.022620],[-0.539093,-0.668221,-0.512699],[-0.342315,-0.382351,0.858270]] 2025-10-28T18:25:54.596Z,1761675954.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794111,0.607255,-0.025080],[-0.516533,-0.696070,-0.498679],[-0.320283,-0.383052,0.866424]] 2025-10-28T18:25:55.015Z,1761675955.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813961,0.580360,-0.025494],[-0.497466,-0.719020,-0.485323],[-0.299993,-0.382351,0.873963]] 2025-10-28T18:25:55.418Z,1761675955.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832045,0.553636,-0.034481],[-0.472247,-0.739595,-0.479565],[-0.291006,-0.382736,0.876829]] 2025-10-28T18:25:55.458Z,1761675955.458 [marl:NeedComms:C] Running Loop=1 2025-10-28T18:25:55.819Z,1761675955.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848510,0.523628,-0.076450],[-0.430342,-0.766864,-0.476156],[-0.307955,-0.371124,0.876031]] 2025-10-28T18:25:56.060Z,1761675956.060 [Radio_Surface](INFO): Powering up 2025-10-28T18:25:56.229Z,1761675956.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853876,0.502894,-0.134139],[-0.383820,-0.782480,-0.490313],[-0.351536,-0.367181,0.861162]] 2025-10-28T18:25:56.628Z,1761675956.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844532,0.509593,-0.164561],[-0.359905,-0.767682,-0.530220],[-0.396527,-0.388562,0.831737]] 2025-10-28T18:25:57.030Z,1761675957.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833362,0.533567,-0.144272],[-0.379076,-0.741688,-0.553353],[-0.402256,-0.406453,0.820357]] 2025-10-28T18:25:57.438Z,1761675957.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848609,0.521445,-0.089207],[-0.420824,-0.767567,-0.483476],[-0.320579,-0.372741,0.870800]] 2025-10-28T18:25:58.242Z,1761675958.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933907,0.353315,-0.054647],[-0.325933,-0.904215,-0.275975],[-0.146919,-0.239924,0.959610]] 2025-10-28T18:25:58.647Z,1761675958.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948848,0.303373,-0.087483],[-0.277239,-0.933127,-0.228937],[-0.151086,-0.192973,0.969502]] 2025-10-28T18:25:59.050Z,1761675959.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944971,0.309880,-0.104900],[-0.287831,-0.939906,-0.183657],[-0.155507,-0.143357,0.977377]] 2025-10-28T18:25:59.464Z,1761675959.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935537,0.343807,-0.081041],[-0.328561,-0.931224,-0.157702],[-0.129686,-0.120909,0.984156]] 2025-10-28T18:26:00.263Z,1761675960.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955624,0.287503,0.064222],[-0.288252,-0.957551,-0.002519],[0.060772,-0.020920,0.997932]] 2025-10-28T18:26:00.666Z,1761675960.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975162,0.218010,0.039120],[-0.215070,-0.974223,0.068070],[0.052951,0.057965,0.996913]] 2025-10-28T18:26:01.072Z,1761675961.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982055,0.188382,-0.008943],[-0.188573,-0.980145,0.061277],[0.002778,0.061864,0.998081]] 2025-10-28T18:26:01.312Z,1761675961.312 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T18:26:01.313Z,1761675961.313 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T18:26:01.475Z,1761675961.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982913,0.184069,-0.000529],[-0.183991,-0.982573,-0.026404],[-0.005380,-0.025856,0.999651]] 2025-10-28T18:26:02.289Z,1761675962.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988635,0.148067,0.026026],[-0.150148,-0.981156,-0.121607],[0.007529,-0.124132,0.992237]] 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateRudder:A] Stopped 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:26:02.314Z,1761675962.314 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateCommandMode] Stopped 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:26:02.315Z,1761675962.315 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:26:02.316Z,1761675962.316 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:26:02.316Z,1761675962.316 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:26:02.316Z,1761675962.316 [marl:UpdateSpeed] Stopped 2025-10-28T18:26:02.316Z,1761675962.316 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:26:02.686Z,1761675962.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993022,0.117201,0.013064],[-0.117906,-0.984645,-0.128731],[-0.002224,-0.129373,0.991593]] 2025-10-28T18:26:02.723Z,1761675962.723 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:26:02.723Z,1761675962.723 [marl:UpdateRudder:B] Stopped 2025-10-28T18:26:02.723Z,1761675962.723 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:26:02.723Z,1761675962.723 [marl:UpdateRudder] Stopped 2025-10-28T18:26:02.723Z,1761675962.723 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:26:03.090Z,1761675963.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996800,0.079849,-0.003855],[-0.078685,-0.988505,-0.129099],[-0.014119,-0.128383,0.991624]] 2025-10-28T18:26:03.151Z,1761675963.151 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:26:03.253Z,1761675963.253 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:26:03.253Z,1761675963.253 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:26:03.505Z,1761675963.505 [DAT](INFO): DAT read: user:122> 2025-10-28T18:26:03.506Z,1761675963.506 [DAT](INFO): DAT read: Tx time:18:26:03.2451 2025-10-28T18:26:03.506Z,1761675963.506 [DAT](INFO): Ping request sent. 2025-10-28T18:26:03.506Z,1761675963.506 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:26:03.506Z,1761675963.506 [DAT](INFO): publishing transmit ping time 2025-10-28T18:26:03.507Z,1761675963.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T18:26:03.522Z,1761675963.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997506,0.069061,-0.014536],[-0.066894,-0.990860,-0.117137],[-0.022493,-0.115873,0.993009]] 2025-10-28T18:26:03.757Z,1761675963.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121 2025-10-28T18:26:03.898Z,1761675963.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997619,0.068851,-0.003918],[-0.067992,-0.991486,-0.111055],[-0.011530,-0.110524,0.993807]] 2025-10-28T18:26:03.908Z,1761675963.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:26:04.009Z,1761675964.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503346 2025-10-28T18:26:04.261Z,1761675964.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953 2025-10-28T18:26:04.302Z,1761675964.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998356,0.042547,-0.038408],[-0.038599,-0.994412,-0.098260],[-0.042374,-0.096615,0.994419]] 2025-10-28T18:26:04.513Z,1761675964.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750 2025-10-28T18:26:04.707Z,1761675964.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994418,0.008067,-0.105204],[0.000791,-0.996475,-0.083883],[-0.105510,-0.083498,0.990907]] 2025-10-28T18:26:04.766Z,1761675964.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259425 2025-10-28T18:26:04.912Z,1761675964.912 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T18:26:04.912Z,1761675964.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:26:05.017Z,1761675965.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-28T18:26:05.113Z,1761675965.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991724,-0.023156,-0.126283],[0.029680,-0.998307,-0.050023],[-0.124911,-0.053357,0.990732]] 2025-10-28T18:26:05.269Z,1761675965.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762606 2025-10-28T18:26:05.524Z,1761675965.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017298 2025-10-28T18:26:05.556Z,1761675965.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992831,-0.032495,-0.115029],[0.035873,-0.998980,-0.027421],[-0.114020,-0.031351,0.992984]] 2025-10-28T18:26:05.774Z,1761675965.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267177 2025-10-28T18:26:05.920Z,1761675965.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996566,-0.038192,-0.073474],[0.042360,-0.997530,-0.056033],[-0.071152,-0.058953,0.995722]] 2025-10-28T18:26:06.025Z,1761675966.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518806 2025-10-28T18:26:06.278Z,1761675966.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771383 2025-10-28T18:26:06.329Z,1761675966.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996947,-0.068884,-0.036771],[0.071896,-0.993515,-0.088081],[-0.030465,-0.090456,0.995434]] 2025-10-28T18:26:06.531Z,1761675966.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025247 2025-10-28T18:26:06.785Z,1761675966.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278752 2025-10-28T18:26:07.037Z,1761675967.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530739 2025-10-28T18:26:07.131Z,1761675967.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989358,-0.145122,-0.010522],[0.144870,-0.989213,0.021671],[-0.013553,0.019917,0.999710]] 2025-10-28T18:26:07.289Z,1761675967.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782775 2025-10-28T18:26:07.545Z,1761675967.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038708 2025-10-28T18:26:07.793Z,1761675967.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286783 2025-10-28T18:26:08.046Z,1761675968.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539784 2025-10-28T18:26:08.297Z,1761675968.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790758 2025-10-28T18:26:08.549Z,1761675968.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042836 2025-10-28T18:26:08.753Z,1761675968.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972655,-0.228737,-0.040266],[0.230910,-0.971008,-0.061836],[-0.024954,-0.069443,0.997274]] 2025-10-28T18:26:08.801Z,1761675968.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294889 2025-10-28T18:26:09.053Z,1761675969.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546710 2025-10-28T18:26:09.156Z,1761675969.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974496,-0.194425,-0.112053],[0.192147,-0.980880,0.030884],[-0.115915,0.008566,0.993222]] 2025-10-28T18:26:09.305Z,1761675969.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798729 2025-10-28T18:26:09.559Z,1761675969.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052713 2025-10-28T18:26:09.594Z,1761675969.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984888,-0.164451,-0.054336],[0.160314,-0.984339,0.073322],[-0.065543,0.063503,0.995827]] 2025-10-28T18:26:09.606Z,1761675969.606 [NAL9602](INFO): SBD MO Status=0, MOMSN=3315, MT Status=0, MTMSN=0 2025-10-28T18:26:09.606Z,1761675969.606 [NAL9602](INFO): No messages in MT queue 2025-10-28T18:26:09.809Z,1761675969.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302767 2025-10-28T18:26:09.963Z,1761675969.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982790,-0.182461,0.028850],[0.184288,-0.979184,0.085071],[0.012727,0.088924,0.995957]] 2025-10-28T18:26:10.061Z,1761675970.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554784 2025-10-28T18:26:10.313Z,1761675970.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806791 2025-10-28T18:26:10.367Z,1761675970.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966926,-0.246811,0.064325],[0.252212,-0.962793,0.097053],[0.037977,0.110067,0.993198]] 2025-10-28T18:26:10.565Z,1761675970.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058680 2025-10-28T18:26:10.771Z,1761675970.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958270,-0.284840,0.024171],[0.285520,-0.949549,0.129749],[-0.014006,0.131236,0.991252]] 2025-10-28T18:26:10.779Z,1761675970.779 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182610.00,A,3646.12772,N,12151.60302,W,1.186,156.61,281025,,,A*70 2025-10-28T18:26:10.782Z,1761675970.782 [NAL9602](INFO): GPS fix at 20251028T182610: (36.768795, -121.860050) 2025-10-28T18:26:10.796Z,1761675970.796 [UniversalFixResidualReporter](INFO): Fix residual: 2.9 %DT, over the last 1042.3 m. Residual distance 29.9 m at bearing -4.1 degrees. Fix at (36.7688, -121.8601) with 170.9 m made good. 2025-10-28T18:26:10.817Z,1761675970.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310900 2025-10-28T18:26:10.832Z,1761675970.832 [marl:NeedComms:C] Stopped 2025-10-28T18:26:10.833Z,1761675970.833 [marl:NeedComms:D] Running Loop=1 2025-10-28T18:26:10.835Z,1761675970.835 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761676032.00. Resetting abort timer. 2025-10-28T18:26:11.069Z,1761675971.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562795 2025-10-28T18:26:11.173Z,1761675971.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969850,-0.242480,0.024385],[0.243629,-0.962227,0.121510],[-0.005999,0.123787,0.992291]] 2025-10-28T18:26:11.321Z,1761675971.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814862 2025-10-28T18:26:11.576Z,1761675971.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069169 2025-10-28T18:26:11.603Z,1761675971.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962829,-0.263214,0.060646],[0.266157,-0.962788,0.046904],[0.046043,0.061302,0.997057]] 2025-10-28T18:26:11.825Z,1761675971.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318824 2025-10-28T18:26:11.982Z,1761675971.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956182,-0.289660,0.042577],[0.290682,-0.956609,0.020051],[0.034921,0.031549,0.998892]] 2025-10-28T18:26:12.077Z,1761675972.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570618 2025-10-28T18:26:12.331Z,1761675972.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824627 2025-10-28T18:26:12.387Z,1761675972.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957542,-0.286848,0.028837],[0.287798,-0.956966,0.037276],[0.016904,0.043993,0.998889]] 2025-10-28T18:26:12.581Z,1761675972.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074844 2025-10-28T18:26:12.805Z,1761675972.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951691,-0.306928,0.008867],[0.306795,-0.951676,-0.013775],[0.012666,-0.010389,0.999866]] 2025-10-28T18:26:12.834Z,1761675972.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327717 2025-10-28T18:26:13.085Z,1761675973.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578737 2025-10-28T18:26:13.225Z,1761675973.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950822,-0.309361,0.015254],[0.308612,-0.950413,-0.038397],[0.026376,-0.031801,0.999146]] 2025-10-28T18:26:13.338Z,1761675973.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831485 2025-10-28T18:26:13.589Z,1761675973.589 [DAT](INFO): Reached modem response timeout 2025-10-28T18:26:13.600Z,1761675973.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936759,-0.343657,0.066206],[0.345652,-0.938125,0.021135],[0.054846,0.042683,0.997582]] 2025-10-28T18:26:14.003Z,1761675974.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916713,-0.396136,0.052091],[0.398249,-0.916435,0.039296],[0.032171,0.056768,0.997869]] 2025-10-28T18:26:14.491Z,1761675974.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922771,-0.384400,0.027033],[0.384301,-0.923164,-0.008978],[0.028407,0.002104,0.999594]] 2025-10-28T18:26:15.857Z,1761675975.857 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:26:15.857Z,1761675975.857 [DAT](INFO): response not received 2025-10-28T18:26:15.857Z,1761675975.857 [DAT](ERROR): No response from remote modem. 2025-10-28T18:26:16.693Z,1761675976.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858100,-0.508609,0.070575],[0.513329,-0.853063,0.093687],[0.012555,0.116620,0.993097]] 2025-10-28T18:26:17.050Z,1761675977.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845387,-0.533250,0.031079],[0.533897,-0.841743,0.080141],[-0.016575,0.084343,0.996299]] 2025-10-28T18:26:17.454Z,1761675977.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844957,-0.533330,0.040080],[0.534486,-0.844734,0.027355],[0.019268,0.044536,0.998822]] 2025-10-28T18:26:17.496Z,1761675977.496 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:26:17.497Z,1761675977.497 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:26:17.497Z,1761675977.497 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:26:17.498Z,1761675977.498 [marl:UpdateRudder:A] Stopped 2025-10-28T18:26:17.498Z,1761675977.498 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:26:17.498Z,1761675977.498 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:26:17.499Z,1761675977.499 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:26:17.499Z,1761675977.499 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:26:17.499Z,1761675977.499 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:26:17.499Z,1761675977.499 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:26:17.499Z,1761675977.499 [marl:UpdateCommandMode] Stopped 2025-10-28T18:26:17.500Z,1761675977.500 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:26:17.504Z,1761675977.504 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:26:17.504Z,1761675977.504 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:26:17.504Z,1761675977.504 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:26:17.504Z,1761675977.504 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:26:17.505Z,1761675977.505 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:26:17.505Z,1761675977.505 [marl:UpdateSpeed] Stopped 2025-10-28T18:26:17.505Z,1761675977.505 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:26:17.864Z,1761675977.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817820,-0.574739,0.029073],[0.574664,-0.818306,-0.011707],[0.030519,0.007133,0.999509]] 2025-10-28T18:26:17.930Z,1761675977.930 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:26:17.930Z,1761675977.930 [marl:UpdateRudder:B] Stopped 2025-10-28T18:26:17.930Z,1761675977.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:26:17.931Z,1761675977.931 [marl:UpdateRudder] Stopped 2025-10-28T18:26:17.931Z,1761675977.931 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:26:18.256Z,1761675978.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786483,-0.616111,-0.043019],[0.617112,-0.786739,-0.014646],[-0.024821,-0.038067,0.998967]] 2025-10-28T18:26:18.666Z,1761675978.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778280,-0.627857,-0.008724],[0.627512,-0.778201,0.025144],[-0.022576,0.014095,0.999646]] 2025-10-28T18:26:19.064Z,1761675979.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765038,-0.637744,0.089435],[0.643198,-0.763562,0.057181],[0.031822,0.101270,0.994350]] 2025-10-28T18:26:19.466Z,1761675979.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730271,-0.674950,0.105578],[0.682617,-0.727073,0.073471],[0.027173,0.125723,0.991693]] 2025-10-28T18:26:19.869Z,1761675979.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693824,-0.718704,0.045528],[0.719968,-0.690870,0.065915],[-0.015920,0.078512,0.996786]] 2025-10-28T18:26:20.273Z,1761675980.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684121,-0.729363,-0.002972],[0.728397,-0.683413,0.048828],[-0.037644,0.031239,0.998803]] 2025-10-28T18:26:20.676Z,1761675980.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676067,-0.736157,-0.031717],[0.736468,-0.676467,0.002664],[-0.023417,-0.021558,0.999493]] 2025-10-28T18:26:21.080Z,1761675981.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647911,-0.760457,-0.043779],[0.761692,-0.647279,-0.029255],[-0.006090,-0.052300,0.998613]] 2025-10-28T18:26:21.485Z,1761675981.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641665,-0.764846,-0.057242],[0.766981,-0.639620,-0.051252],[0.002587,-0.076790,0.997044]] 2025-10-28T18:26:21.890Z,1761675981.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631865,-0.773273,-0.052872],[0.774976,-0.629200,-0.059331],[0.012612,-0.078463,0.996837]] 2025-10-28T18:26:21.895Z,1761675981.895 [NAL9602](INFO): SBD MO Status=1, MOMSN=3316, MT Status=0, MTMSN=0 2025-10-28T18:26:21.958Z,1761675981.958 [NAL9602](INFO): Sent 96 bytes from file Logs/20251028T162422/Courier0024.lzma 2025-10-28T18:26:21.959Z,1761675981.959 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:26:22.292Z,1761675982.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608863,-0.792305,-0.039213],[0.792599,-0.609641,0.011147],[-0.032738,-0.024294,0.999169]] 2025-10-28T18:26:23.082Z,1761675983.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603581,-0.795996,0.045614],[0.794876,-0.596299,0.112251],[-0.062152,0.104010,0.992632]] 2025-10-28T18:26:23.474Z,1761675983.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569084,-0.821253,0.041075],[0.820556,-0.563950,0.092999],[-0.053211,0.086629,0.994819]] 2025-10-28T18:26:25.732Z,1761675985.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466751,-0.878979,0.097668],[0.884378,-0.464437,0.046621],[0.004381,0.108136,0.994126]] 2025-10-28T18:26:26.132Z,1761675986.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457474,-0.887246,0.059263],[0.888785,-0.458323,-0.000829],[0.027897,0.052293,0.998242]] 2025-10-28T18:26:26.535Z,1761675986.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431196,-0.901037,0.046929],[0.901856,-0.431974,-0.007417],[0.026955,0.039125,0.998871]] 2025-10-28T18:26:26.940Z,1761675986.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407040,-0.913149,-0.021843],[0.913407,-0.406985,-0.007085],[-0.002420,-0.022836,0.999736]] 2025-10-28T18:26:27.353Z,1761675987.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408130,-0.909861,-0.074715],[0.912613,-0.408758,-0.007385],[-0.023821,-0.071200,0.997178]] 2025-10-28T18:26:28.151Z,1761675988.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391047,-0.920258,-0.014378],[0.920281,-0.390744,-0.020035],[0.012819,-0.021067,0.999696]] 2025-10-28T18:26:28.555Z,1761675988.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361974,-0.930822,0.050449],[0.930206,-0.364202,-0.045530],[0.060754,0.030448,0.997688]] 2025-10-28T18:26:28.958Z,1761675988.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308696,-0.949195,0.061116],[0.950441,-0.310324,-0.018995],[0.036996,0.052223,0.997950]] 2025-10-28T18:26:29.366Z,1761675989.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335706,-0.939733,0.064831],[0.941817,-0.336086,0.005280],[0.016827,0.062832,0.997882]] 2025-10-28T18:26:29.772Z,1761675989.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329735,-0.936656,0.118110],[0.942689,-0.333439,-0.012528],[0.051117,0.107210,0.992922]] 2025-10-28T18:26:30.171Z,1761675990.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270257,-0.957076,0.104719],[0.960601,-0.275371,-0.037644],[0.064865,0.090420,0.993789]] 2025-10-28T18:26:30.574Z,1761675990.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257346,-0.966320,-0.000070],[0.966308,-0.257342,-0.004948],[0.004764,-0.001341,0.999988]] 2025-10-28T18:26:30.980Z,1761675990.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296382,-0.954838,-0.021009],[0.955066,-0.296249,-0.009223],[0.002582,-0.022799,0.999737]] 2025-10-28T18:26:31.008Z,1761675991.008 [NAL9602](INFO): SBD MO Status=1, MOMSN=3317, MT Status=0, MTMSN=0 2025-10-28T18:26:31.056Z,1761675991.056 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0025.lzma 2025-10-28T18:26:31.057Z,1761675991.057 [NAL9602](INFO): Packets left to send: 1 2025-10-28T18:26:31.386Z,1761675991.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255480,-0.964273,0.070058],[0.964565,-0.259156,-0.049532],[0.065919,0.054921,0.996312]] 2025-10-28T18:26:32.199Z,1761675992.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127780,-0.991563,0.021776],[0.991031,-0.126784,0.042234],[-0.039117,0.026978,0.998870]] 2025-10-28T18:26:32.590Z,1761675992.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140670,-0.988746,-0.050920],[0.987769,-0.143653,0.060632],[-0.067264,-0.041768,0.996861]] 2025-10-28T18:26:34.753Z,1761675994.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065066,-0.997806,-0.012196],[0.995663,0.064102,0.067428],[-0.066498,-0.016530,0.997650]] 2025-10-28T18:26:35.036Z,1761675995.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:26:35.138Z,1761675995.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052642,-0.998592,-0.006489],[0.998494,0.052534,0.015782],[-0.015418,-0.007310,0.999854]] 2025-10-28T18:26:35.189Z,1761675995.189 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:26:35.189Z,1761675995.189 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:26:35.189Z,1761675995.189 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateRudder:A] Stopped 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:26:35.190Z,1761675995.190 [marl:UpdateCommandMode] Stopped 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed] Stopped 2025-10-28T18:26:35.191Z,1761675995.191 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:26:35.580Z,1761675995.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052233,-0.998570,0.011385],[0.995998,0.051263,-0.073219],[0.072530,0.015164,0.997251]] 2025-10-28T18:26:35.625Z,1761675995.625 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:26:35.625Z,1761675995.625 [marl:UpdateRudder:B] Stopped 2025-10-28T18:26:35.625Z,1761675995.625 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:26:35.625Z,1761675995.625 [marl:UpdateRudder] Stopped 2025-10-28T18:26:35.625Z,1761675995.625 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:26:35.947Z,1761675995.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098475,-0.992907,0.066622],[0.995038,0.097286,-0.020868],[0.014239,0.068346,0.997560]] 2025-10-28T18:26:36.040Z,1761675996.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:26:36.350Z,1761675996.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143330,-0.988600,0.046115],[0.988968,0.144832,0.031069],[-0.037394,0.041153,0.998453]] 2025-10-28T18:26:36.763Z,1761675996.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159620,-0.986638,-0.032671],[0.986680,0.158400,0.037048],[-0.031378,-0.038149,0.998779]] 2025-10-28T18:26:37.159Z,1761675997.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157172,-0.986341,-0.049288],[0.987571,0.156975,0.007852],[-0.000007,-0.049910,0.998754]] 2025-10-28T18:26:37.586Z,1761675997.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215427,-0.975731,-0.039257],[0.973275,0.217812,-0.072755],[0.079540,-0.022534,0.996577]] 2025-10-28T18:26:38.370Z,1761675998.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288718,-0.956220,-0.047807],[0.954225,0.291470,-0.067079],[0.078077,-0.026252,0.996602]] 2025-10-28T18:26:38.390Z,1761675998.390 [NAL9602](INFO): SBD MO Status=1, MOMSN=3318, MT Status=0, MTMSN=0 2025-10-28T18:26:38.444Z,1761675998.444 [NAL9602](INFO): Sent 185 bytes from file Logs/20251028T162422/Express0025.lzma 2025-10-28T18:26:38.444Z,1761675998.444 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:26:38.800Z,1761675998.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284698,-0.958576,0.008856],[0.956855,0.284722,0.057974],[-0.058094,-0.008031,0.998279]] 2025-10-28T18:26:39.583Z,1761675999.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337552,-0.940461,-0.039907],[0.939944,0.339041,-0.039461],[0.050642,-0.024190,0.998424]] 2025-10-28T18:26:40.345Z,1761676000.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381888,-0.919510,-0.093074],[0.923912,0.382377,0.013224],[0.023429,-0.091042,0.995571]] 2025-10-28T18:26:40.745Z,1761676000.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370517,-0.925343,-0.080362],[0.928825,0.369186,0.031389],[0.000623,-0.086273,0.996271]] 2025-10-28T18:26:41.147Z,1761676001.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370891,-0.928565,-0.014384],[0.928243,0.371146,-0.024815],[0.028381,-0.004148,0.999589]] 2025-10-28T18:26:41.586Z,1761676001.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456781,-0.889578,0.001083],[0.886949,0.455336,-0.077400],[0.068361,0.036316,0.997000]] 2025-10-28T18:26:42.365Z,1761676002.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453719,-0.891089,-0.009996],[0.889630,0.453573,-0.053196],[0.051937,0.015244,0.998534]] 2025-10-28T18:26:42.767Z,1761676002.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470756,-0.882202,-0.010434],[0.882050,0.470869,-0.016453],[0.019428,-0.001457,0.999810]] 2025-10-28T18:26:43.166Z,1761676003.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504129,-0.863341,-0.022299],[0.863624,0.503879,0.016099],[-0.002663,-0.027374,0.999622]] 2025-10-28T18:26:43.591Z,1761676003.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527565,-0.838412,-0.136895],[0.844071,0.535547,-0.027079],[0.096017,-0.101263,0.990215]] 2025-10-28T18:26:44.383Z,1761676004.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533669,-0.824915,-0.186312],[0.829204,0.553700,-0.076399],[0.166184,-0.113719,0.979516]] 2025-10-28T18:26:44.794Z,1761676004.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557673,-0.825435,-0.087507],[0.827412,0.561211,-0.020766],[0.066251,-0.060823,0.995948]] 2025-10-28T18:26:45.191Z,1761676005.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580305,-0.810414,-0.080461],[0.812710,0.582628,-0.006830],[0.052414,-0.061428,0.996734]] 2025-10-28T18:26:45.735Z,1761676005.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583359,-0.797407,-0.154383],[0.803086,0.594705,-0.037144],[0.121431,-0.102315,0.987313]] 2025-10-28T18:26:46.031Z,1761676006.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567431,-0.800734,-0.191956],[0.806445,0.587514,-0.066894],[0.166341,-0.116844,0.979121]] 2025-10-28T18:26:46.443Z,1761676006.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600078,-0.778258,-0.184988],[0.779661,0.620753,-0.082427],[0.178981,-0.094766,0.979278]] 2025-10-28T18:26:46.854Z,1761676006.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637669,-0.756849,-0.143380],[0.762058,0.646986,-0.026009],[0.112450,-0.092679,0.989326]] 2025-10-28T18:26:47.246Z,1761676007.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624154,-0.777993,-0.071823],[0.781215,0.620074,0.072189],[-0.011627,-0.101167,0.994802]] 2025-10-28T18:26:47.650Z,1761676007.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608526,-0.793146,-0.024823],[0.792234,0.605441,0.076206],[-0.045413,-0.066039,0.996783]] 2025-10-28T18:26:48.054Z,1761676008.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633573,-0.771767,-0.054407],[0.772449,0.634966,-0.011825],[0.043672,-0.034535,0.998449]] 2025-10-28T18:26:48.462Z,1761676008.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631127,-0.771131,-0.083876],[0.770648,0.635653,-0.045241],[0.088203,-0.036087,0.995449]] 2025-10-28T18:26:48.873Z,1761676008.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632348,-0.772159,-0.062501],[0.774682,0.630092,0.053399],[-0.001851,-0.082185,0.996615]] 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateRudder:A] Stopped 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:26:48.899Z,1761676008.899 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:26:48.900Z,1761676008.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:26:48.900Z,1761676008.900 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:26:48.900Z,1761676008.900 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:26:48.900Z,1761676008.900 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:26:48.900Z,1761676008.900 [marl:UpdateCommandMode] Stopped 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed] Stopped 2025-10-28T18:26:48.901Z,1761676008.901 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:26:49.267Z,1761676009.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644112,-0.762711,-0.058245],[0.762509,0.634153,0.128178],[-0.060827,-0.126973,0.990039]] 2025-10-28T18:26:49.313Z,1761676009.313 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:26:49.313Z,1761676009.313 [marl:UpdateRudder:B] Stopped 2025-10-28T18:26:49.313Z,1761676009.313 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:26:49.314Z,1761676009.314 [marl:UpdateRudder] Stopped 2025-10-28T18:26:49.314Z,1761676009.314 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:26:49.671Z,1761676009.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636779,-0.768320,-0.064780],[0.770936,0.633016,0.070341],[-0.013037,-0.094733,0.995417]] 2025-10-28T18:26:50.075Z,1761676010.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638133,-0.767498,-0.061107],[0.765540,0.640956,-0.055903],[0.082072,-0.011106,0.996565]] 2025-10-28T18:26:50.478Z,1761676010.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668592,-0.743144,-0.026867],[0.738906,0.667977,-0.088460],[0.083685,0.039291,0.995717]] 2025-10-28T18:26:50.883Z,1761676010.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684685,-0.728833,0.003167],[0.727859,0.683531,-0.054834],[0.037800,0.039849,0.998491]] 2025-10-28T18:26:51.293Z,1761676011.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691772,-0.721665,0.025531],[0.722053,0.691748,-0.011195],[-0.009582,0.026179,0.999611]] 2025-10-28T18:26:51.298Z,1761676011.298 [NAL9602](INFO): SBD MO Status=0, MOMSN=3319, MT Status=0, MTMSN=0 2025-10-28T18:26:51.398Z,1761676011.398 [marl:NeedComms:D] Stopped 2025-10-28T18:26:51.398Z,1761676011.398 [marl:NeedComms:E] Running Loop=1 2025-10-28T18:26:51.693Z,1761676011.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718771,-0.694609,-0.029794],[0.695241,0.717918,0.035140],[-0.003019,-0.045972,0.998938]] 2025-10-28T18:26:52.094Z,1761676012.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720871,-0.681657,-0.125256],[0.693031,0.710873,0.119869],[0.007332,-0.173216,0.984856]] 2025-10-28T18:26:52.498Z,1761676012.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711143,-0.677804,-0.186702],[0.701898,0.699668,0.133432],[0.040189,-0.225936,0.973313]] 2025-10-28T18:26:52.907Z,1761676012.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720383,-0.662591,-0.204992],[0.686581,0.723130,0.075425],[0.098260,-0.195079,0.975853]] 2025-10-28T18:26:53.307Z,1761676013.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720685,-0.675356,-0.156548],[0.690594,0.719161,0.076729],[0.060763,-0.163409,0.984685]] 2025-10-28T18:26:53.711Z,1761676013.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722230,-0.687572,-0.075019],[0.691588,0.716425,0.091879],[-0.009428,-0.118240,0.992940]] 2025-10-28T18:26:53.716Z,1761676013.716 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182652.00,A,3646.12357,N,12151.60041,W,0.330,140.50,281025,,,D*7F 2025-10-28T18:26:53.718Z,1761676013.718 [NAL9602](INFO): GPS fix at 20251028T182652: (36.768726, -121.860007) 2025-10-28T18:26:53.807Z,1761676013.807 [marl:NeedComms:E] Stopped 2025-10-28T18:26:53.807Z,1761676013.807 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T18:26:53.807Z,1761676013.807 [marl:NeedComms] Stopped 2025-10-28T18:26:53.807Z,1761676013.807 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T18:26:53.808Z,1761676013.808 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T18:26:53.808Z,1761676013.808 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T18:26:53.813Z,1761676013.813 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761676032.00. Resetting abort timer. 2025-10-28T18:26:54.115Z,1761676014.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731898,-0.677132,-0.076275],[0.680239,0.732616,0.023435],[0.040012,-0.069037,0.996811]] 2025-10-28T18:26:54.520Z,1761676014.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719113,-0.686237,-0.109342],[0.685770,0.726245,-0.047837],[0.112236,-0.040583,0.992852]] 2025-10-28T18:26:54.922Z,1761676014.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726920,-0.681892,-0.081302],[0.682520,0.730468,-0.024145],[0.075853,-0.037938,0.996397]] 2025-10-28T18:26:55.326Z,1761676015.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722300,-0.684468,-0.098927],[0.689472,0.723853,0.025791],[0.053955,-0.086836,0.994760]] 2025-10-28T18:26:55.731Z,1761676015.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711582,-0.688834,-0.138416],[0.698356,0.715048,0.031704],[0.077135,-0.119223,0.989867]] 2025-10-28T18:26:56.137Z,1761676016.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718872,-0.667440,-0.194287],[0.682812,0.730389,0.017314],[0.130349,-0.145108,0.980792]] 2025-10-28T18:26:56.539Z,1761676016.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705187,-0.664151,-0.248223],[0.686163,0.727442,0.002988],[0.178583,-0.172429,0.968698]] 2025-10-28T18:26:56.943Z,1761676016.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689407,-0.696173,-0.200154],[0.711270,0.702901,0.005062],[0.137165,-0.145853,0.979751]] 2025-10-28T18:26:57.346Z,1761676017.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703561,-0.704688,-0.091742],[0.707810,0.706400,0.002135],[0.063302,-0.066438,0.995781]] 2025-10-28T18:26:57.756Z,1761676017.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718911,-0.693944,-0.040096],[0.694382,0.719596,-0.004000],[0.031629,-0.024966,0.999188]] 2025-10-28T18:26:58.156Z,1761676018.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714227,-0.695558,-0.077966],[0.698287,0.715723,0.011652],[0.047698,-0.062765,0.996888]] 2025-10-28T18:26:58.558Z,1761676018.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695874,-0.705369,-0.134961],[0.716341,0.695123,0.060496],[0.051142,-0.138776,0.989002]] 2025-10-28T18:26:58.962Z,1761676018.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693667,-0.699598,-0.171431],[0.718558,0.688632,0.097263],[0.050008,-0.190651,0.980383]] 2025-10-28T18:26:59.367Z,1761676019.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683163,-0.709344,-0.173547],[0.728779,0.677399,0.100060],[0.046584,-0.194835,0.979729]] 2025-10-28T18:26:59.783Z,1761676019.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667197,-0.732177,-0.136982],[0.744419,0.661886,0.088015],[0.026224,-0.160695,0.986656]] 2025-10-28T18:27:00.174Z,1761676020.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682765,-0.725687,-0.084910],[0.730634,0.677734,0.082768],[-0.002517,-0.118549,0.992945]] 2025-10-28T18:27:00.578Z,1761676020.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705997,-0.704445,-0.072972],[0.708198,0.701514,0.079590],[-0.004876,-0.107869,0.994153]] 2025-10-28T18:27:01.386Z,1761676021.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678214,-0.728966,-0.092921],[0.732541,0.680690,0.006671],[0.058388,-0.072593,0.995651]] 2025-10-28T18:27:01.793Z,1761676021.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653647,-0.751111,-0.092618],[0.755378,0.655012,0.019044],[0.046362,-0.082410,0.995520]] 2025-10-28T18:27:02.196Z,1761676022.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683833,-0.714457,-0.148064],[0.727667,0.682703,0.066464],[0.053598,-0.153192,0.986742]] 2025-10-28T18:27:02.220Z,1761676022.220 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:27:02.220Z,1761676022.220 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:27:02.220Z,1761676022.220 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:27:02.221Z,1761676022.220 [marl:UpdateRudder:A] Stopped 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode] Stopped 2025-10-28T18:27:02.221Z,1761676022.221 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed] Stopped 2025-10-28T18:27:02.222Z,1761676022.222 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:27:02.599Z,1761676022.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694620,-0.693225,-0.192204],[0.718130,0.683932,0.128554],[0.042338,-0.227323,0.972899]] 2025-10-28T18:27:02.629Z,1761676022.629 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:27:02.629Z,1761676022.629 [marl:UpdateRudder:B] Stopped 2025-10-28T18:27:02.629Z,1761676022.629 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:27:02.629Z,1761676022.629 [marl:UpdateRudder] Stopped 2025-10-28T18:27:02.629Z,1761676022.629 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:27:03.002Z,1761676023.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696601,-0.682207,-0.222129],[0.712771,0.693382,0.105735],[0.081887,-0.231982,0.969267]] 2025-10-28T18:27:03.406Z,1761676023.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688246,-0.692413,-0.216521],[0.713010,0.700682,0.025703],[0.133916,-0.172071,0.975940]] 2025-10-28T18:27:03.432Z,1761676023.432 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:27:03.515Z,1761676023.515 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:27:03.516Z,1761676023.516 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:27:03.766Z,1761676023.766 [DAT](INFO): DAT read: user:123> 2025-10-28T18:27:03.767Z,1761676023.767 [DAT](INFO): DAT read: Tx time:18:27:03.5449 2025-10-28T18:27:03.768Z,1761676023.768 [DAT](INFO): Ping request sent. 2025-10-28T18:27:03.768Z,1761676023.768 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:27:03.769Z,1761676023.769 [DAT](INFO): publishing transmit ping time 2025-10-28T18:27:03.770Z,1761676023.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001711 2025-10-28T18:27:03.826Z,1761676023.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698498,-0.703307,-0.132136],[0.712537,0.700637,0.037402],[0.066274,-0.120277,0.990526]] 2025-10-28T18:27:04.017Z,1761676024.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248899 2025-10-28T18:27:04.214Z,1761676024.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709872,-0.702266,-0.053881],[0.703475,0.703162,0.103373],[-0.034708,-0.111285,0.993182]] 2025-10-28T18:27:04.269Z,1761676024.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501225 2025-10-28T18:27:04.521Z,1761676024.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752960 2025-10-28T18:27:04.618Z,1761676024.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713918,-0.693928,-0.093734],[0.700227,0.707831,0.093043],[0.001782,-0.132060,0.991240]] 2025-10-28T18:27:04.774Z,1761676024.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006154 2025-10-28T18:27:05.022Z,1761676025.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707796,-0.691517,-0.144323],[0.704937,0.704632,0.080973],[0.045700,-0.159051,0.986212]] 2025-10-28T18:27:05.025Z,1761676025.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257013 2025-10-28T18:27:05.277Z,1761676025.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509035 2025-10-28T18:27:05.428Z,1761676025.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688437,-0.711670,-0.139931],[0.724880,0.681651,0.099503],[0.024571,-0.169935,0.985149]] 2025-10-28T18:27:05.532Z,1761676025.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763606 2025-10-28T18:27:05.781Z,1761676025.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013360 2025-10-28T18:27:05.831Z,1761676025.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693104,-0.705535,-0.147742],[0.720541,0.683985,0.113948],[0.020659,-0.185432,0.982440]] 2025-10-28T18:27:06.033Z,1761676026.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264914 2025-10-28T18:27:06.164Z,1761676026.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:27:06.235Z,1761676026.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710831,-0.682089,-0.171679],[0.702320,0.701598,0.120446],[0.038295,-0.206191,0.977762]] 2025-10-28T18:27:06.285Z,1761676026.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517151 2025-10-28T18:27:06.537Z,1761676026.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769168 2025-10-28T18:27:06.638Z,1761676026.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735932,-0.656596,-0.165184],[0.676465,0.723252,0.138929],[0.028249,-0.213984,0.976429]] 2025-10-28T18:27:06.789Z,1761676026.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021340 2025-10-28T18:27:07.041Z,1761676027.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273017 2025-10-28T18:27:07.057Z,1761676027.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730090,-0.667348,-0.147022],[0.680975,0.728437,0.075178],[0.056927,-0.155005,0.986272]] 2025-10-28T18:27:07.169Z,1761676027.169 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:27:07.293Z,1761676027.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524937 2025-10-28T18:27:07.447Z,1761676027.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731713,-0.673494,-0.104892],[0.676465,0.736414,-0.009456],[0.083613,-0.064037,0.994439]] 2025-10-28T18:27:07.549Z,1761676027.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780598 2025-10-28T18:27:07.797Z,1761676027.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029046 2025-10-28T18:27:08.049Z,1761676028.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281073 2025-10-28T18:27:08.266Z,1761676028.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782830,-0.611835,-0.113292],[0.622235,0.769551,0.143577],[-0.000661,-0.182891,0.983133]] 2025-10-28T18:27:08.301Z,1761676028.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533511 2025-10-28T18:27:08.557Z,1761676028.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789071 2025-10-28T18:27:08.660Z,1761676028.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793430,-0.595899,-0.123987],[0.607785,0.764748,0.213911],[-0.032651,-0.245081,0.968953]] 2025-10-28T18:27:08.810Z,1761676028.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042421 2025-10-28T18:27:09.061Z,1761676029.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292852 2025-10-28T18:27:09.064Z,1761676029.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791905,-0.557989,-0.248064],[0.599235,0.788261,0.139868],[0.117494,-0.259411,0.958593]] 2025-10-28T18:27:09.313Z,1761676029.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545297 2025-10-28T18:27:09.467Z,1761676029.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774486,-0.543513,-0.323676],[0.620106,0.753449,0.218596],[0.125063,-0.370012,0.920570]] 2025-10-28T18:27:09.569Z,1761676029.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799673 2025-10-28T18:27:09.817Z,1761676029.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048960 2025-10-28T18:27:09.871Z,1761676029.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805314,-0.549338,-0.222927],[0.592807,0.750577,0.291914],[0.006965,-0.367235,0.930102]] 2025-10-28T18:27:10.069Z,1761676030.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301104 2025-10-28T18:27:10.278Z,1761676030.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824103,-0.532507,-0.193106],[0.565362,0.794278,0.222460],[0.034918,-0.292505,0.955626]] 2025-10-28T18:27:10.321Z,1761676030.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552904 2025-10-28T18:27:10.573Z,1761676030.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805004 2025-10-28T18:27:10.678Z,1761676030.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822043,-0.540406,-0.179464],[0.559780,0.824697,0.080751],[0.104365,-0.166841,0.980445]] 2025-10-28T18:27:10.825Z,1761676030.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057429 2025-10-28T18:27:11.077Z,1761676031.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309054 2025-10-28T18:27:11.085Z,1761676031.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822599,-0.554477,-0.126042],[0.560014,0.828416,0.010537],[0.098573,-0.079253,0.991969]] 2025-10-28T18:27:11.329Z,1761676031.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560956 2025-10-28T18:27:11.487Z,1761676031.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827193,-0.556604,-0.077095],[0.558362,0.829596,0.001515],[0.063114,-0.044300,0.997023]] 2025-10-28T18:27:11.581Z,1761676031.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813188 2025-10-28T18:27:11.833Z,1761676031.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064912 2025-10-28T18:27:11.893Z,1761676031.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840202,-0.535368,-0.086263],[0.538732,0.842236,0.020142],[0.061870,-0.063396,0.996069]] 2025-10-28T18:27:12.086Z,1761676032.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317617 2025-10-28T18:27:12.295Z,1761676032.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845988,-0.513730,-0.142776],[0.524723,0.849696,0.051791],[0.094710,-0.118733,0.988399]] 2025-10-28T18:27:12.337Z,1761676032.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569360 2025-10-28T18:27:12.589Z,1761676032.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820980 2025-10-28T18:27:12.698Z,1761676032.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845977,-0.496194,-0.195227],[0.520562,0.847848,0.100838],[0.115488,-0.186935,0.975560]] 2025-10-28T18:27:12.841Z,1761676032.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073451 2025-10-28T18:27:13.093Z,1761676033.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325016 2025-10-28T18:27:13.345Z,1761676033.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576964 2025-10-28T18:27:13.522Z,1761676033.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852348,-0.448915,-0.268288],[0.497652,0.853917,0.152210],[0.160766,-0.263250,0.951238]] 2025-10-28T18:27:13.597Z,1761676033.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829047 2025-10-28T18:27:13.849Z,1761676033.849 [DAT](INFO): Reached modem response timeout 2025-10-28T18:27:13.951Z,1761676033.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859873,-0.417036,-0.294447],[0.479889,0.857048,0.187551],[0.174139,-0.302572,0.937084]] 2025-10-28T18:27:14.355Z,1761676034.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872127,-0.383966,-0.303256],[0.447904,0.875980,0.178999],[0.196916,-0.291940,0.935946]] 2025-10-28T18:27:14.769Z,1761676034.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870789,-0.337479,-0.357541],[0.418909,0.889963,0.180225],[0.257376,-0.306715,0.916342]] 2025-10-28T18:27:15.162Z,1761676035.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865053,-0.307371,-0.396493],[0.407392,0.891613,0.197631],[0.292772,-0.332489,0.896513]] 2025-10-28T18:27:15.193Z,1761676035.193 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateRudder:A] Stopped 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:27:15.194Z,1761676035.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateCommandMode] Stopped 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:27:15.195Z,1761676035.195 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:27:15.196Z,1761676035.196 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:27:15.196Z,1761676035.196 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:27:15.196Z,1761676035.196 [marl:UpdateSpeed] Stopped 2025-10-28T18:27:15.196Z,1761676035.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:27:15.598Z,1761676035.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885237,-0.270917,-0.378100],[0.380091,0.889880,0.252280],[0.268116,-0.367040,0.890727]] 2025-10-28T18:27:15.680Z,1761676035.680 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:27:15.680Z,1761676035.680 [marl:UpdateRudder:B] Stopped 2025-10-28T18:27:15.680Z,1761676035.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:27:15.680Z,1761676035.680 [marl:UpdateRudder] Stopped 2025-10-28T18:27:15.680Z,1761676035.680 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:27:16.117Z,1761676036.117 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:27:16.117Z,1761676036.117 [DAT](INFO): response not received 2025-10-28T18:27:16.117Z,1761676036.117 [DAT](ERROR): No response from remote modem. 2025-10-28T18:27:16.377Z,1761676036.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897952,-0.205982,-0.388913],[0.313770,0.919301,0.237560],[0.308595,-0.335347,0.890119]] 2025-10-28T18:27:16.786Z,1761676036.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896320,-0.159162,-0.413857],[0.282877,0.924003,0.257293],[0.341453,-0.347687,0.873226]] 2025-10-28T18:27:17.183Z,1761676037.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902589,-0.114744,-0.414930],[0.267804,0.904289,0.332478],[0.337067,-0.411211,0.846930]] 2025-10-28T18:27:17.596Z,1761676037.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914436,-0.088443,-0.394948],[0.259267,0.877330,0.403823],[0.310784,-0.471668,0.825193]] 2025-10-28T18:27:17.992Z,1761676037.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921368,-0.074366,-0.381512],[0.239090,0.882305,0.405430],[0.306460,-0.464766,0.830707]] 2025-10-28T18:27:18.399Z,1761676038.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915228,-0.067060,-0.397317],[0.218238,0.911400,0.348887],[0.338719,-0.406021,0.848774]] 2025-10-28T18:27:18.798Z,1761676038.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907350,-0.064733,-0.415362],[0.209850,0.925902,0.314115],[0.364251,-0.372176,0.853702]] 2025-10-28T18:27:19.203Z,1761676039.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906147,-0.069310,-0.417245],[0.190860,0.947341,0.257132],[0.377452,-0.312635,0.871659]] 2025-10-28T18:27:19.615Z,1761676039.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909711,-0.055452,-0.411523],[0.146989,0.969878,0.194245],[0.388356,-0.237196,0.890459]] 2025-10-28T18:27:20.013Z,1761676040.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908405,-0.017778,-0.417714],[0.092333,0.982957,0.158962],[0.407769,-0.182971,0.894565]] 2025-10-28T18:27:20.421Z,1761676040.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902837,0.046079,-0.427506],[0.044233,0.979013,0.198939],[0.427701,-0.198520,0.881851]] 2025-10-28T18:27:20.823Z,1761676040.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905303,0.127311,-0.405239],[0.006032,0.950078,0.311956],[0.424724,-0.284859,0.859340]] 2025-10-28T18:27:21.236Z,1761676041.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924906,0.224218,-0.307044],[-0.062937,0.886743,0.457957],[0.374951,-0.404243,0.834266]] 2025-10-28T18:27:21.644Z,1761676041.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923858,0.252353,-0.287758],[-0.098513,0.883300,0.458342],[0.369840,-0.395095,0.840903]] 2025-10-28T18:27:22.036Z,1761676042.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922319,0.266893,-0.279456],[-0.120097,0.885339,0.449168],[0.367293,-0.380715,0.848618]] 2025-10-28T18:27:22.439Z,1761676042.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923067,0.280929,-0.262727],[-0.141305,0.882962,0.447673],[0.357743,-0.376107,0.854730]] 2025-10-28T18:27:22.863Z,1761676042.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924620,0.292121,-0.244426],[-0.164145,0.884669,0.436367],[0.343708,-0.363353,0.865933]] 2025-10-28T18:27:23.252Z,1761676043.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924669,0.302908,-0.230725],[-0.190031,0.892191,0.409736],[0.329963,-0.335025,0.882543]] 2025-10-28T18:27:23.660Z,1761676043.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921832,0.316087,-0.224310],[-0.214882,0.898432,0.382945],[0.322571,-0.304810,0.896124]] 2025-10-28T18:27:24.050Z,1761676044.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917470,0.330402,-0.221549],[-0.235329,0.899809,0.367374],[0.320733,-0.284917,0.903301]] 2025-10-28T18:27:24.456Z,1761676044.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911989,0.347439,-0.218089],[-0.254458,0.896140,0.363571],[0.321757,-0.276078,0.905678]] 2025-10-28T18:27:24.859Z,1761676044.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903842,0.371355,-0.212519],[-0.277106,0.886510,0.370556],[0.326008,-0.276034,0.904170]] 2025-10-28T18:27:25.264Z,1761676045.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893489,0.401594,-0.200996],[-0.303284,0.869682,0.389452],[0.331204,-0.287012,0.898848]] 2025-10-28T18:27:25.670Z,1761676045.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882521,0.434487,-0.179936],[-0.330956,0.845648,0.418747],[0.334103,-0.310002,0.890098]] 2025-10-28T18:27:26.070Z,1761676046.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870886,0.468350,-0.149015],[-0.360895,0.815204,0.452987],[0.333634,-0.340721,0.878975]] 2025-10-28T18:27:26.493Z,1761676046.493 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T18:27:26.881Z,1761676046.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847400,0.526239,-0.070608],[-0.424518,0.751382,0.505183],[0.318901,-0.398117,0.860119]] 2025-10-28T18:27:27.282Z,1761676047.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832740,0.552784,-0.031205],[-0.459774,0.721827,0.517276],[0.308466,-0.416409,0.855250]] 2025-10-28T18:27:27.690Z,1761676047.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814348,0.580363,0.004056],[-0.497545,0.694507,0.519720],[0.298810,-0.425251,0.854327]] 2025-10-28T18:27:28.093Z,1761676048.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795628,0.604880,0.033109],[-0.532856,0.672799,0.513232],[0.288168,-0.425984,0.857611]] 2025-10-28T18:27:28.495Z,1761676048.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778174,0.625943,0.051381],[-0.563390,0.659566,0.497558],[0.277554,-0.416134,0.865907]] 2025-10-28T18:27:28.525Z,1761676048.525 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:27:28.525Z,1761676048.525 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:27:28.525Z,1761676048.525 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateRudder:A] Stopped 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:27:28.526Z,1761676048.526 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateCommandMode] Stopped 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:27:28.527Z,1761676048.527 [marl:UpdateSpeed] Stopped 2025-10-28T18:27:28.528Z,1761676048.528 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:27:28.898Z,1761676048.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760848,0.646777,0.052816],[-0.589827,0.655321,0.471867],[0.270581,-0.390171,0.880086]] 2025-10-28T18:27:28.937Z,1761676048.937 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:27:28.937Z,1761676048.937 [marl:UpdateRudder:B] Stopped 2025-10-28T18:27:28.938Z,1761676048.938 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:27:28.938Z,1761676048.938 [marl:UpdateRudder] Stopped 2025-10-28T18:27:28.938Z,1761676048.938 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:27:29.303Z,1761676049.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741452,0.669225,0.048848],[-0.614478,0.647943,0.450096],[0.269565,-0.363741,0.891643]] 2025-10-28T18:27:29.723Z,1761676049.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718870,0.693545,0.047125],[-0.638430,0.631881,0.439469],[0.275014,-0.346008,0.897021]] 2025-10-28T18:27:30.110Z,1761676050.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692813,0.719418,0.049488],[-0.662759,0.608198,0.436858],[0.284185,-0.335460,0.898168]] 2025-10-28T18:27:30.515Z,1761676050.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665778,0.743103,0.067363],[-0.686906,0.575158,0.444244],[0.291375,-0.342040,0.893370]] 2025-10-28T18:27:30.919Z,1761676050.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642218,0.759665,0.102296],[-0.709058,0.538061,0.455771],[0.291192,-0.365238,0.884200]] 2025-10-28T18:27:31.323Z,1761676051.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619564,0.771752,0.143312],[-0.731050,0.500839,0.463385],[0.285842,-0.391865,0.874492]] 2025-10-28T18:27:31.743Z,1761676051.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595239,0.783166,0.179838],[-0.753070,0.465622,0.464846],[0.280315,-0.412125,0.866935]] 2025-10-28T18:27:32.130Z,1761676052.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570194,0.794643,0.208377],[-0.773906,0.434495,0.460743],[0.275587,-0.423977,0.862725]] 2025-10-28T18:27:32.534Z,1761676052.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545090,0.806495,0.229003],[-0.793401,0.407966,0.451751],[0.270909,-0.427936,0.862252]] 2025-10-28T18:27:32.939Z,1761676052.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518936,0.817702,0.249135],[-0.812871,0.381878,0.439785],[0.264474,-0.430735,0.862856]] 2025-10-28T18:27:33.344Z,1761676053.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489909,0.829103,0.269403],[-0.833214,0.354429,0.424422],[0.256405,-0.432398,0.864458]] 2025-10-28T18:27:33.767Z,1761676053.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458882,0.840443,0.288239],[-0.853379,0.326602,0.406293],[0.247327,-0.432418,0.867089]] 2025-10-28T18:27:34.188Z,1761676054.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425826,0.853956,0.299051],[-0.872455,0.299937,0.385824],[0.239780,-0.425202,0.872759]] 2025-10-28T18:27:34.554Z,1761676054.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390140,0.868912,0.304602],[-0.889980,0.271052,0.366696],[0.236064,-0.414153,0.879063]] 2025-10-28T18:27:34.960Z,1761676054.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353126,0.883355,0.308198],[-0.905489,0.239824,0.350105],[0.235354,-0.402701,0.884557]] 2025-10-28T18:27:35.363Z,1761676055.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319579,0.895108,0.310888],[-0.918428,0.211879,0.334063],[0.233151,-0.392288,0.889804]] 2025-10-28T18:27:35.772Z,1761676055.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287186,0.901695,0.323218],[-0.930073,0.181788,0.319245],[0.229105,-0.392299,0.890849]] 2025-10-28T18:27:36.171Z,1761676056.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252416,0.904107,0.344784],[-0.941394,0.147061,0.303562],[0.223748,-0.401202,0.888242]] 2025-10-28T18:27:36.577Z,1761676056.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214461,0.904297,0.369126],[-0.952121,0.109252,0.285532],[0.217878,-0.412688,0.884430]] 2025-10-28T18:27:36.979Z,1761676056.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174536,0.904804,0.388417],[-0.961528,0.071630,0.265205],[0.212137,-0.419762,0.882496]] 2025-10-28T18:27:37.288Z,1761676057.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:27:37.382Z,1761676057.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134537,0.905898,0.401557],[-0.969215,0.035971,0.243574],[0.206209,-0.421965,0.882850]] 2025-10-28T18:27:37.790Z,1761676057.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095321,0.905538,0.413418],[-0.975162,0.001531,0.221488],[0.199933,-0.424262,0.883192]] 2025-10-28T18:27:38.191Z,1761676058.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058284,0.906540,0.418076],[-0.979433,-0.029108,0.199661],[0.193170,-0.421115,0.886198]] 2025-10-28T18:27:38.292Z,1761676058.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:27:38.596Z,1761676058.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024508,0.904622,0.425509],[-0.982414,-0.057016,0.177798],[0.185101,-0.422383,0.887316]] 2025-10-28T18:27:38.998Z,1761676058.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006519,0.903161,0.429253],[-0.984368,-0.081348,0.156210],[0.176001,-0.421525,0.889573]] 2025-10-28T18:27:39.403Z,1761676059.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037158,0.901325,0.431546],[-0.985358,-0.104954,0.134363],[0.166397,-0.420235,0.892028]] 2025-10-28T18:27:39.810Z,1761676059.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069014,0.897885,0.434787],[-0.985220,-0.129833,0.111735],[0.156775,-0.420650,0.893575]] 2025-10-28T18:27:40.223Z,1761676060.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102442,0.895479,0.433155],[-0.983767,-0.155700,0.089223],[0.147340,-0.416983,0.896892]] 2025-10-28T18:27:40.615Z,1761676060.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138373,0.894085,0.425987],[-0.980594,-0.184003,0.067670],[0.138885,-0.408356,0.902195]] 2025-10-28T18:27:41.019Z,1761676061.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177467,0.892010,0.415721],[-0.975250,-0.216014,0.047178],[0.131885,-0.397059,0.908268]] 2025-10-28T18:27:41.423Z,1761676061.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216615,0.885597,0.410848],[-0.968252,-0.248671,0.025518],[0.124764,-0.392277,0.911347]] 2025-10-28T18:27:41.836Z,1761676061.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253658,0.875859,0.410522],[-0.960131,-0.279534,0.003137],[0.117503,-0.393359,0.911845]] 2025-10-28T18:27:41.910Z,1761676061.910 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:27:41.910Z,1761676061.910 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:27:41.910Z,1761676061.910 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateRudder:A] Stopped 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode] Stopped 2025-10-28T18:27:41.911Z,1761676061.911 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:27:41.912Z,1761676061.912 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:27:41.916Z,1761676061.916 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:27:41.916Z,1761676061.916 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:27:41.916Z,1761676061.916 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:27:41.916Z,1761676061.916 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:27:41.917Z,1761676061.917 [marl:UpdateSpeed] Stopped 2025-10-28T18:27:41.917Z,1761676061.917 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:27:42.232Z,1761676062.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288218,0.863255,0.414393],[-0.951254,-0.307721,-0.020576],[0.109755,-0.400123,0.909866]] 2025-10-28T18:27:42.278Z,1761676062.278 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:27:42.278Z,1761676062.278 [marl:UpdateRudder:B] Stopped 2025-10-28T18:27:42.278Z,1761676062.278 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:27:42.278Z,1761676062.278 [marl:UpdateRudder] Stopped 2025-10-28T18:27:42.278Z,1761676062.278 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:27:42.635Z,1761676062.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318922,0.848583,0.422132],[-0.942342,-0.331551,-0.045449],[0.101391,-0.412287,0.905394]] 2025-10-28T18:27:43.039Z,1761676063.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348612,0.834762,0.426195],[-0.932633,-0.354115,-0.069278],[0.093091,-0.421634,0.901975]] 2025-10-28T18:27:43.444Z,1761676063.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379174,0.822444,0.424044],[-0.921393,-0.377787,-0.091169],[0.085217,-0.425280,0.901041]] 2025-10-28T18:27:43.848Z,1761676063.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410455,0.810256,0.418345],[-0.908536,-0.402633,-0.111576],[0.078034,-0.425879,0.901409]] 2025-10-28T18:27:44.250Z,1761676064.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444324,0.798734,0.405709],[-0.892953,-0.431353,-0.128722],[0.072189,-0.419473,0.904893]] 2025-10-28T18:27:44.654Z,1761676064.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480002,0.786184,0.389246],[-0.874656,-0.463093,-0.143253],[0.067634,-0.409218,0.909926]] 2025-10-28T18:27:45.061Z,1761676065.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517034,0.770049,0.373766],[-0.853578,-0.496425,-0.158007],[0.063874,-0.400734,0.913965]] 2025-10-28T18:27:45.462Z,1761676065.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554040,0.749468,0.362405],[-0.830293,-0.529078,-0.175187],[0.060443,-0.397963,0.915408]] 2025-10-28T18:27:45.867Z,1761676065.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590586,0.725237,0.353893],[-0.804958,-0.560426,-0.194848],[0.057020,-0.399943,0.914765]] 2025-10-28T18:27:46.272Z,1761676066.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625519,0.696895,0.350804],[-0.778371,-0.588254,-0.219310],[0.053526,-0.410238,0.910406]] 2025-10-28T18:27:46.691Z,1761676066.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658258,0.666971,0.349065],[-0.751103,-0.612957,-0.245210],[0.050414,-0.423595,0.904448]] 2025-10-28T18:27:47.078Z,1761676067.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687509,0.637688,0.347398],[-0.724631,-0.633636,-0.270953],[0.047340,-0.438018,0.897719]] 2025-10-28T18:27:47.483Z,1761676067.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712496,0.611880,0.343443],[-0.700273,-0.651010,-0.292922],[0.044352,-0.449209,0.892325]] 2025-10-28T18:27:47.917Z,1761676067.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733530,0.591632,0.334523],[-0.678394,-0.667330,-0.307329],[0.041411,-0.452374,0.890867]] 2025-10-28T18:27:48.290Z,1761676068.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752039,0.576702,0.319142],[-0.658022,-0.684825,-0.313084],[0.038000,-0.445454,0.894498]] 2025-10-28T18:27:48.703Z,1761676068.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769275,0.564686,0.298908],[-0.638019,-0.703747,-0.312525],[0.033877,-0.431127,0.901655]] 2025-10-28T18:27:49.098Z,1761676069.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785947,0.552687,0.277171],[-0.617624,-0.722645,-0.310362],[0.028763,-0.415115,0.909314]] 2025-10-28T18:27:49.507Z,1761676069.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803790,0.537059,0.255909],[-0.594455,-0.741953,-0.310047],[0.023359,-0.401339,0.915632]] 2025-10-28T18:27:49.910Z,1761676069.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824652,0.514853,0.234256],[-0.565342,-0.763668,-0.311768],[0.018379,-0.389535,0.920828]] 2025-10-28T18:27:50.310Z,1761676070.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846560,0.487426,0.213895],[-0.532122,-0.785140,-0.316863],[0.013490,-0.382062,0.924038]] 2025-10-28T18:27:50.718Z,1761676070.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867986,0.456405,0.195689],[-0.496503,-0.804891,-0.325015],[0.009170,-0.379269,0.925241]] 2025-10-28T18:27:51.120Z,1761676071.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887565,0.424064,0.179995],[-0.460656,-0.821173,-0.336854],[0.004959,-0.381895,0.924192]] 2025-10-28T18:27:51.561Z,1761676071.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904485,0.392734,0.166335],[-0.426505,-0.833570,-0.351077],[0.000772,-0.388486,0.921454]] 2025-10-28T18:27:51.927Z,1761676071.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919323,0.363312,0.151163],[-0.393487,-0.845157,-0.361771],[-0.003680,-0.392065,0.919930]] 2025-10-28T18:27:52.331Z,1761676072.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932211,0.334464,0.138266],[-0.361828,-0.852865,-0.376433],[-0.007981,-0.400943,0.916068]] 2025-10-28T18:27:52.741Z,1761676072.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943460,0.306661,0.125864],[-0.331269,-0.858534,-0.391382],[-0.011963,-0.410948,0.911580]] 2025-10-28T18:27:53.143Z,1761676073.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953985,0.278408,0.111365],[-0.299451,-0.865276,-0.402029],[-0.015567,-0.416878,0.908829]] 2025-10-28T18:27:53.581Z,1761676073.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963420,0.249642,0.097469],[-0.267314,-0.869247,-0.415877],[-0.019096,-0.426719,0.904183]] 2025-10-28T18:27:53.950Z,1761676073.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971690,0.221915,0.081066],[-0.235183,-0.875852,-0.421393],[-0.022511,-0.428529,0.903248]] 2025-10-28T18:27:54.354Z,1761676074.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978958,0.193809,0.063868],[-0.202440,-0.883001,-0.423470],[-0.025677,-0.427489,0.903656]] 2025-10-28T18:27:54.766Z,1761676074.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984918,0.166668,0.046459],[-0.170621,-0.891002,-0.420719],[-0.028725,-0.422301,0.906000]] 2025-10-28T18:27:55.163Z,1761676075.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989814,0.139340,0.029186],[-0.138885,-0.900071,-0.413018],[-0.031280,-0.412864,0.910255]] 2025-10-28T18:27:55.221Z,1761676075.221 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:27:55.221Z,1761676075.221 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:27:55.221Z,1761676075.221 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateRudder:A] Stopped 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode] Stopped 2025-10-28T18:27:55.222Z,1761676075.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed] Stopped 2025-10-28T18:27:55.223Z,1761676075.223 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:27:55.585Z,1761676075.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993701,0.111202,0.013879],[-0.107114,-0.906085,-0.409313],[-0.032940,-0.408221,0.912289]] 2025-10-28T18:27:55.642Z,1761676075.642 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:27:55.642Z,1761676075.642 [marl:UpdateRudder:B] Stopped 2025-10-28T18:27:55.643Z,1761676075.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:27:55.643Z,1761676075.643 [marl:UpdateRudder] Stopped 2025-10-28T18:27:55.643Z,1761676075.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:27:55.970Z,1761676075.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996628,0.082048,-0.000871],[-0.074655,-0.911127,-0.405308],[-0.034049,-0.403876,0.914180]] 2025-10-28T18:27:56.375Z,1761676076.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998568,0.050951,-0.016320],[-0.040175,-0.915554,-0.400183],[-0.035332,-0.398954,0.916290]] 2025-10-28T18:27:56.788Z,1761676076.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999306,0.018743,-0.032198],[-0.004416,-0.917742,-0.397153],[-0.036993,-0.396735,0.917188]] 2025-10-28T18:27:57.214Z,1761676077.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998708,-0.013792,-0.048913],[0.032013,-0.918241,-0.394726],[-0.039469,-0.395782,0.917496]] 2025-10-28T18:27:57.589Z,1761676077.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996689,-0.046915,-0.066412],[0.069333,-0.917044,-0.392714],[-0.042478,-0.396018,0.917260]] 2025-10-28T18:27:57.990Z,1761676077.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993249,-0.079647,-0.084337],[0.106627,-0.913175,-0.393372],[-0.045683,-0.399708,0.915503]] 2025-10-28T18:27:58.394Z,1761676078.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988384,-0.111822,-0.102926],[0.143969,-0.905855,-0.398370],[-0.048690,-0.408561,0.911431]] 2025-10-28T18:27:58.801Z,1761676078.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982072,-0.143902,-0.121761],[0.181403,-0.897089,-0.402896],[-0.051253,-0.417761,0.907110]] 2025-10-28T18:27:59.207Z,1761676079.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974221,-0.176014,-0.141113],[0.219107,-0.887186,-0.406071],[-0.053720,-0.426522,0.902880]] 2025-10-28T18:27:59.607Z,1761676079.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965057,-0.206919,-0.160781],[0.255903,-0.876230,-0.408331],[-0.056390,-0.435207,0.898563]] 2025-10-28T18:28:00.010Z,1761676080.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954728,-0.236381,-0.180606],[0.291394,-0.865299,-0.407858],[-0.059868,-0.442021,0.895005]] 2025-10-28T18:28:00.416Z,1761676080.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943506,-0.264505,-0.199585],[0.325077,-0.855589,-0.402856],[-0.064206,-0.444978,0.893237]] 2025-10-28T18:28:00.821Z,1761676080.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932108,-0.289579,-0.217527],[0.355514,-0.846246,-0.396834],[-0.069167,-0.447226,0.891743]] 2025-10-28T18:28:01.222Z,1761676081.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921159,-0.312927,-0.231394],[0.382168,-0.839712,-0.385787],[-0.073582,-0.443802,0.893099]] 2025-10-28T18:28:01.626Z,1761676081.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910364,-0.336018,-0.241513],[0.406672,-0.834404,-0.372006],[-0.076518,-0.436877,0.896261]] 2025-10-28T18:28:02.032Z,1761676082.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898501,-0.361961,-0.248357],[0.431894,-0.830114,-0.352672],[-0.078511,-0.424140,0.902187]] 2025-10-28T18:28:02.838Z,1761676082.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871143,-0.420426,-0.253677],[0.484767,-0.818621,-0.307996],[-0.078175,-0.391282,0.916944]] 2025-10-28T18:28:03.243Z,1761676083.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856236,-0.448420,-0.256473],[0.511080,-0.807619,-0.294192],[-0.075211,-0.382976,0.920691]] 2025-10-28T18:28:03.648Z,1761676083.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840514,-0.475006,-0.260586],[0.537125,-0.793544,-0.285980],[-0.070944,-0.380338,0.922123]] 2025-10-28T18:28:03.731Z,1761676083.731 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:28:03.753Z,1761676083.753 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:28:03.753Z,1761676083.753 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:28:04.005Z,1761676084.005 [DAT](INFO): DAT read: user:124> 2025-10-28T18:28:04.006Z,1761676084.006 [DAT](INFO): DAT read: Tx time:18:28:03.7462 2025-10-28T18:28:04.006Z,1761676084.006 [DAT](INFO): Ping request sent. 2025-10-28T18:28:04.006Z,1761676084.006 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:28:04.006Z,1761676084.006 [DAT](INFO): publishing transmit ping time 2025-10-28T18:28:04.007Z,1761676084.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T18:28:04.051Z,1761676084.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823681,-0.499493,-0.268434],[0.563105,-0.776258,-0.283436],[-0.066800,-0.384617,0.920656]] 2025-10-28T18:28:04.257Z,1761676084.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250824 2025-10-28T18:28:04.455Z,1761676084.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805069,-0.522659,-0.280521],[0.589686,-0.756441,-0.282963],[-0.064304,-0.393223,0.917192]] 2025-10-28T18:28:04.510Z,1761676084.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503591 2025-10-28T18:28:04.761Z,1761676084.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755409 2025-10-28T18:28:04.860Z,1761676084.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784378,-0.546299,-0.293782],[0.616952,-0.736130,-0.278358],[-0.064194,-0.399587,0.914445]] 2025-10-28T18:28:05.013Z,1761676085.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006768 2025-10-28T18:28:05.262Z,1761676085.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761275,-0.571288,-0.306743],[0.644991,-0.715805,-0.267601],[-0.066691,-0.401564,0.913400]] 2025-10-28T18:28:05.266Z,1761676085.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259271 2025-10-28T18:28:05.520Z,1761676085.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513055 2025-10-28T18:28:05.679Z,1761676085.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711437,-0.619243,-0.332258],[0.698581,-0.674603,-0.238527],[-0.076436,-0.401806,0.912529]] 2025-10-28T18:28:05.770Z,1761676085.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763659 2025-10-28T18:28:06.021Z,1761676086.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014818 2025-10-28T18:28:06.077Z,1761676086.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685429,-0.642403,-0.342791],[0.723486,-0.653996,-0.221036],[-0.082191,-0.399509,0.913037]] 2025-10-28T18:28:06.273Z,1761676086.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867 2025-10-28T18:28:06.484Z,1761676086.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659024,-0.663577,-0.354052],[0.747028,-0.632194,-0.205621],[-0.087384,-0.399996,0.912342]] 2025-10-28T18:28:06.525Z,1761676086.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879 2025-10-28T18:28:06.779Z,1761676086.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772366 2025-10-28T18:28:06.883Z,1761676086.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632940,-0.681397,-0.367541],[0.768856,-0.608910,-0.195164],[-0.090815,-0.406113,0.909299]] 2025-10-28T18:28:07.029Z,1761676087.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022870 2025-10-28T18:28:07.285Z,1761676087.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278876 2025-10-28T18:28:07.288Z,1761676087.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607251,-0.697019,-0.381329],[0.789193,-0.584606,-0.188177],[-0.091764,-0.415213,0.905084]] 2025-10-28T18:28:07.540Z,1761676087.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532986 2025-10-28T18:28:07.692Z,1761676087.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581247,-0.713136,-0.391904],[0.808656,-0.559906,-0.180502],[-0.090707,-0.421832,0.902125]] 2025-10-28T18:28:07.792Z,1761676087.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785631 2025-10-28T18:28:08.045Z,1761676088.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038827 2025-10-28T18:28:08.096Z,1761676088.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553709,-0.731435,-0.398007],[0.828005,-0.534356,-0.169914],[-0.088396,-0.423635,0.901510]] 2025-10-28T18:28:08.298Z,1761676088.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291675 2025-10-28T18:28:08.412Z,1761676088.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:28:08.495Z,1761676088.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524387,-0.750757,-0.401723],[0.847125,-0.507646,-0.157079],[-0.086005,-0.422681,0.902189]] 2025-10-28T18:28:08.540Z,1761676088.540 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateRudder:A] Stopped 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:28:08.541Z,1761676088.541 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateCommandMode] Stopped 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:28:08.542Z,1761676088.542 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:28:08.543Z,1761676088.543 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:28:08.543Z,1761676088.543 [marl:UpdateSpeed] Stopped 2025-10-28T18:28:08.543Z,1761676088.543 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:28:08.549Z,1761676088.549 [DAT](INFO): DAT read: Rx Time:18:28:07.8425 2025-10-28T18:28:08.550Z,1761676088.550 [DAT](INFO): Rx dataTimestamp_ set to:1761676088.549258 2025-10-28T18:28:08.550Z,1761676088.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.544049 2025-10-28T18:28:08.801Z,1761676088.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794827 2025-10-28T18:28:08.899Z,1761676088.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494011,-0.770029,-0.403744],[0.865379,-0.480383,-0.142659],[-0.084100,-0.419867,0.903681]] 2025-10-28T18:28:08.951Z,1761676088.951 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:28:08.951Z,1761676088.951 [marl:UpdateRudder:B] Stopped 2025-10-28T18:28:08.951Z,1761676088.951 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:28:08.951Z,1761676088.951 [marl:UpdateRudder] Stopped 2025-10-28T18:28:08.951Z,1761676088.951 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:28:09.059Z,1761676089.059 [DAT](INFO): DAT read: 18:28:07.8425 LVL= 29616, 32753, 21314, 32755, AGC= 81, IDX= 13, 0.41,-1.468,-2.555,-0.458,-1.327, PHS=-0.039,-1.183, 0.826, RAW= 175.4, 4.6, CAL= 174.9, 3.0, ROT= 335.1, -3.0 2025-10-28T18:28:09.061Z,1761676089.061 [DAT](INFO): got valid direction response: 18:28:07.8425 LVL= 29616, 32753, 21314, 32755, AGC= 81, IDX= 13, 0.41,-1.468,-2.555,-0.458,-1.327, PHS=-0.039,-1.183, 0.826, RAW= 175.4, 4.6, CAL= 174.9, 3.0, ROT= 335.1, -3.0 2025-10-28T18:28:09.062Z,1761676089.062 [DAT](INFO): DAT read: Bearing 59, -8 (Remote) 2025-10-28T18:28:09.062Z,1761676089.062 [DAT](INFO): Remote Bearing received:Bearing 59, -8 (Remote) 2025-10-28T18:28:09.063Z,1761676089.063 [DAT](INFO): DAT read: Bearing 231.9, -28.3 (Local) 2025-10-28T18:28:09.063Z,1761676089.063 [DAT](INFO): Local bearing/azimuth received: Bearing 231.9, -28.3 (Local) 2025-10-28T18:28:09.065Z,1761676089.065 [DAT](INFO): DAT read: Range 11 to 20 : 1550.4 m (Round-trip 2067.2 ms) speed 0.3 m/s 2025-10-28T18:28:09.065Z,1761676089.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:28:09.066Z,1761676089.066 [DAT](INFO): direction in FSK: [0.905801,-0.420459,0.052336] 2025-10-28T18:28:09.067Z,1761676089.067 [DAT](INFO): publishing direction and range info 2025-10-28T18:28:09.302Z,1761676089.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463554,-0.787925,-0.405329],[0.882069,-0.453764,-0.126698],[-0.084095,-0.416260,0.905348]] 2025-10-28T18:28:09.355Z,1761676089.355 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676032.00. Resetting abort timer. 2025-10-28T18:28:09.416Z,1761676089.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:28:09.707Z,1761676089.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432030,-0.804673,-0.407248],[0.897710,-0.426966,-0.108704],[-0.086410,-0.412554,0.906825]] 2025-10-28T18:28:10.112Z,1761676090.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400721,-0.820179,-0.408324],[0.911802,-0.400616,-0.090128],[-0.089660,-0.408427,0.908377]] 2025-10-28T18:28:10.524Z,1761676090.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369058,-0.834244,-0.409674],[0.924717,-0.373822,-0.071803],[-0.093244,-0.405332,0.909402]] 2025-10-28T18:28:10.919Z,1761676090.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336840,-0.846660,-0.411954],[0.936530,-0.346443,-0.053746],[-0.097214,-0.403911,0.909618]] 2025-10-28T18:28:11.324Z,1761676091.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303786,-0.856987,-0.416279],[0.947314,-0.318265,-0.036111],[-0.101540,-0.405316,0.908520]] 2025-10-28T18:28:12.130Z,1761676092.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238224,-0.869909,-0.431865],[0.965210,-0.261412,-0.005863],[-0.107794,-0.418237,0.901919]] 2025-10-28T18:28:12.537Z,1761676092.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206110,-0.871977,-0.444043],[0.972505,-0.232810,0.005769],[-0.108408,-0.430645,0.895987]] 2025-10-28T18:28:12.939Z,1761676092.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174538,-0.872286,-0.456786],[0.978769,-0.204326,0.016195],[-0.107460,-0.444261,0.889429]] 2025-10-28T18:28:13.344Z,1761676093.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143781,-0.873725,-0.464684],[0.984037,-0.175991,0.026429],[-0.104872,-0.453467,0.885082]] 2025-10-28T18:28:13.750Z,1761676093.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113266,-0.874134,-0.472293],[0.988349,-0.147772,0.036475],[-0.101676,-0.462659,0.880687]] 2025-10-28T18:28:14.154Z,1761676094.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083424,-0.877035,-0.473128],[0.991737,-0.119501,0.046651],[-0.097454,-0.465327,0.879758]] 2025-10-28T18:28:14.558Z,1761676094.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053888,-0.882913,-0.466435],[0.994339,-0.090284,0.056021],[-0.091573,-0.460775,0.882780]] 2025-10-28T18:28:14.958Z,1761676094.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024061,-0.890240,-0.454856],[0.996126,-0.059845,0.064435],[-0.084584,-0.451543,0.888231]] 2025-10-28T18:28:15.365Z,1761676095.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007559,-0.898364,-0.439186],[0.996965,-0.027261,0.072922],[-0.077483,-0.438404,0.895432]] 2025-10-28T18:28:15.771Z,1761676095.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042309,-0.906377,-0.420345],[0.996502,0.007933,0.083196],[-0.072072,-0.422394,0.903542]] 2025-10-28T18:28:16.178Z,1761676096.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079813,-0.913294,-0.399404],[0.994390,0.045048,0.095701],[-0.069410,-0.404802,0.911766]] 2025-10-28T18:28:16.578Z,1761676096.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117523,-0.914712,-0.386640],[0.990655,0.080848,0.109850],[-0.069222,-0.395937,0.915665]] 2025-10-28T18:28:16.980Z,1761676096.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154715,-0.912592,-0.378469],[0.985408,0.115030,0.125460],[-0.070958,-0.392356,0.917072]] 2025-10-28T18:28:17.388Z,1761676097.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190490,-0.908402,-0.372183],[0.978882,0.147112,0.141947],[-0.074192,-0.391362,0.917241]] 2025-10-28T18:28:17.790Z,1761676097.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222932,-0.901564,-0.370788],[0.971751,0.175299,0.158017],[-0.077464,-0.395541,0.915176]] 2025-10-28T18:28:18.191Z,1761676098.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251775,-0.894455,-0.369539],[0.964527,0.200606,0.171595],[-0.079352,-0.399634,0.913234]] 2025-10-28T18:28:18.597Z,1761676098.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278147,-0.885797,-0.371481],[0.957252,0.223661,0.183423],[-0.079390,-0.406620,0.910142]] 2025-10-28T18:28:18.999Z,1761676098.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303672,-0.876791,-0.372855],[0.949633,0.246769,0.193135],[-0.077330,-0.412725,0.907567]] 2025-10-28T18:28:19.132Z,1761676099.132 [Radio_Surface](INFO): Powering down 2025-10-28T18:28:19.403Z,1761676099.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329610,-0.869215,-0.368540],[0.941262,0.272209,0.199818],[-0.073365,-0.412755,0.907883]] 2025-10-28T18:28:19.815Z,1761676099.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357344,-0.860416,-0.363305],[0.931455,0.299768,0.206231],[-0.068538,-0.412097,0.908558]] 2025-10-28T18:28:20.211Z,1761676100.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387202,-0.849552,-0.358240],[0.919769,0.328931,0.214080],[-0.064036,-0.412390,0.908754]] 2025-10-28T18:28:20.614Z,1761676100.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418956,-0.837949,-0.349739],[0.905978,0.360036,0.222661],[-0.060660,-0.410141,0.910003]] 2025-10-28T18:28:21.019Z,1761676101.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451395,-0.825385,-0.339090],[0.890391,0.391625,0.232022],[-0.058712,-0.406657,0.911693]] 2025-10-28T18:28:21.425Z,1761676101.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483721,-0.810494,-0.330323],[0.873319,0.422099,0.243198],[-0.057682,-0.406118,0.911999]] 2025-10-28T18:28:21.827Z,1761676101.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516074,-0.793400,-0.322774],[0.854590,0.451502,0.256558],[-0.057820,-0.408242,0.911041]] 2025-10-28T18:28:21.904Z,1761676101.904 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:28:21.904Z,1761676101.904 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:28:21.904Z,1761676101.904 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateRudder:A] Stopped 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:28:21.905Z,1761676101.905 [marl:UpdateCommandMode] Stopped 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed] Stopped 2025-10-28T18:28:21.906Z,1761676101.906 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:28:22.230Z,1761676102.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548288,-0.774932,-0.314422],[0.834239,0.480502,0.270487],[-0.058529,-0.410608,0.909932]] 2025-10-28T18:28:22.263Z,1761676102.263 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:28:22.263Z,1761676102.263 [marl:UpdateRudder:B] Stopped 2025-10-28T18:28:22.263Z,1761676102.263 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:28:22.264Z,1761676102.264 [marl:UpdateRudder] Stopped 2025-10-28T18:28:22.284Z,1761676102.284 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:28:22.646Z,1761676102.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580038,-0.756316,-0.302559],[0.812417,0.509999,0.282630],[-0.059453,-0.409740,0.910263]] 2025-10-28T18:28:23.038Z,1761676103.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611204,-0.736645,-0.289455],[0.789143,0.539149,0.294231],[-0.060685,-0.408256,0.910848]] 2025-10-28T18:28:23.443Z,1761676103.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641217,-0.716198,-0.275502],[0.764873,0.567648,0.304541],[-0.061724,-0.406001,0.911786]] 2025-10-28T18:28:23.851Z,1761676103.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669826,-0.694622,-0.262360],[0.739925,0.594927,0.313963],[-0.062000,-0.404428,0.912466]] 2025-10-28T18:28:24.251Z,1761676104.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696988,-0.672939,-0.247709],[0.714497,0.622416,0.319519],[-0.060839,-0.399688,0.914630]] 2025-10-28T18:28:24.664Z,1761676104.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721745,-0.651229,-0.234489],[0.689597,0.647427,0.324492],[-0.059505,-0.395903,0.916362]] 2025-10-28T18:28:25.059Z,1761676105.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744353,-0.629126,-0.223918],[0.665174,0.668887,0.331863],[-0.059008,-0.395968,0.916367]] 2025-10-28T18:28:25.464Z,1761676105.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764016,-0.608097,-0.215635],[0.642542,0.686823,0.339727],[-0.058484,-0.398111,0.915471]] 2025-10-28T18:28:25.866Z,1761676105.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782670,-0.586691,-0.207896],[0.619752,0.703559,0.347723],[-0.057739,-0.400996,0.914258]] 2025-10-28T18:28:26.270Z,1761676106.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800162,-0.564565,-0.202503],[0.597109,0.717962,0.357759],[-0.056589,-0.407181,0.911593]] 2025-10-28T18:28:26.678Z,1761676106.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816875,-0.542346,-0.196410],[0.574103,0.731466,0.367918],[-0.055871,-0.413302,0.908878]] 2025-10-28T18:28:27.080Z,1761676107.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832424,-0.520456,-0.190253],[0.551377,0.743685,0.378043],[-0.055266,-0.419593,0.906028]] 2025-10-28T18:28:27.483Z,1761676107.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847698,-0.498102,-0.182490],[0.527732,0.756868,0.385553],[-0.053924,-0.423138,0.904459]] 2025-10-28T18:28:27.887Z,1761676107.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862316,-0.475322,-0.174584],[0.503757,0.770288,0.391005],[-0.051373,-0.425118,0.903679]] 2025-10-28T18:28:28.291Z,1761676108.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876043,-0.452351,-0.167115],[0.479826,0.783075,0.395677],[-0.048122,-0.426816,0.903057]] 2025-10-28T18:28:28.701Z,1761676108.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888475,-0.429627,-0.161350],[0.456736,0.793478,0.402224],[-0.044779,-0.431060,0.901211]] 2025-10-28T18:28:29.100Z,1761676109.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900138,-0.406949,-0.155380],[0.433691,0.803845,0.407119],[-0.040775,-0.433851,0.900062]] 2025-10-28T18:28:29.507Z,1761676109.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910966,-0.384243,-0.149997],[0.410916,0.813720,0.411105],[-0.035909,-0.436139,0.899163]] 2025-10-28T18:28:29.907Z,1761676109.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921551,-0.359913,-0.145624],[0.387058,0.822174,0.417391],[-0.030497,-0.441012,0.896983]] 2025-10-28T18:28:30.312Z,1761676110.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931990,-0.334198,-0.140382],[0.361619,0.830455,0.423763],[-0.025040,-0.445708,0.894828]] 2025-10-28T18:28:30.714Z,1761676110.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942375,-0.307325,-0.132217],[0.333978,0.840856,0.425933],[-0.019725,-0.445546,0.895042]] 2025-10-28T18:28:31.119Z,1761676111.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952385,-0.278984,-0.123005],[0.304590,0.852459,0.424898],[-0.013683,-0.442133,0.896845]] 2025-10-28T18:28:31.557Z,1761676111.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961642,-0.249487,-0.114023],[0.274239,0.865061,0.420074],[-0.006166,-0.435230,0.900298]] 2025-10-28T18:28:31.928Z,1761676111.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970017,-0.219126,-0.105120],[0.243026,0.878388,0.411549],[0.002155,-0.424757,0.905305]] 2025-10-28T18:28:32.331Z,1761676112.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977289,-0.188902,-0.096036],[0.211675,0.891630,0.400236],[0.010023,-0.411475,0.911366]] 2025-10-28T18:28:32.735Z,1761676112.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983599,-0.158150,-0.086726],[0.179581,0.903533,0.389074],[0.016828,-0.398267,0.917115]] 2025-10-28T18:28:33.577Z,1761676113.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993375,-0.092461,-0.068240],[0.111020,0.925477,0.362170],[0.029668,-0.367347,0.929611]] 2025-10-28T18:28:33.947Z,1761676113.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996595,-0.057477,-0.059113],[0.074874,0.931101,0.356994],[0.034521,-0.360205,0.932234]] 2025-10-28T18:28:34.350Z,1761676114.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998556,-0.021878,-0.049059],[0.038190,0.931416,0.361947],[0.037776,-0.363298,0.930907]] 2025-10-28T18:28:34.761Z,1761676114.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999197,0.013173,-0.037844],[0.001989,0.926949,0.375183],[0.040021,-0.374957,0.926178]] 2025-10-28T18:28:35.167Z,1761676115.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998666,0.044202,-0.026699],[-0.030263,0.919899,0.390985],[0.041843,-0.389656,0.920010]] 2025-10-28T18:28:35.191Z,1761676115.191 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:28:35.191Z,1761676115.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateRudder:A] Stopped 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:28:35.192Z,1761676115.192 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateCommandMode] Stopped 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:28:35.193Z,1761676115.193 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:28:35.194Z,1761676115.194 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:28:35.194Z,1761676115.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:28:35.194Z,1761676115.194 [marl:UpdateSpeed] Stopped 2025-10-28T18:28:35.194Z,1761676115.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:28:35.584Z,1761676115.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997364,0.070658,-0.016513],[-0.057723,0.910481,0.409502],[0.043970,-0.407469,0.912160]] 2025-10-28T18:28:35.654Z,1761676115.654 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:28:35.655Z,1761676115.655 [marl:UpdateRudder:B] Stopped 2025-10-28T18:28:35.655Z,1761676115.655 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:28:35.655Z,1761676115.655 [marl:UpdateRudder] Stopped 2025-10-28T18:28:35.655Z,1761676115.655 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:28:35.967Z,1761676115.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995422,0.095339,-0.006705],[-0.083294,0.899783,0.428313],[0.046868,-0.425794,0.903605]] 2025-10-28T18:28:36.371Z,1761676116.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992804,0.119718,0.002675],[-0.108505,0.889913,0.443037],[0.050659,-0.440139,0.896499]] 2025-10-28T18:28:36.786Z,1761676116.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989109,0.146711,0.011808],[-0.136023,0.880505,0.454103],[0.056225,-0.450763,0.890871]] 2025-10-28T18:28:37.179Z,1761676117.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984147,0.175972,0.022119],[-0.166114,0.870868,0.462595],[0.062141,-0.458936,0.886294]] 2025-10-28T18:28:37.589Z,1761676117.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978069,0.205777,0.032207],[-0.196867,0.862854,0.465540],[0.068007,-0.461670,0.884441]] 2025-10-28T18:28:37.987Z,1761676117.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971223,0.234575,0.041230],[-0.226596,0.856758,0.463272],[0.073348,-0.459283,0.885257]] 2025-10-28T18:28:38.392Z,1761676118.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963645,0.262540,0.049612],[-0.255480,0.851043,0.458754],[0.078219,-0.454751,0.887177]] 2025-10-28T18:28:38.795Z,1761676118.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955301,0.289808,0.058410],[-0.284022,0.844849,0.453389],[0.082048,-0.449713,0.889397]] 2025-10-28T18:28:39.198Z,1761676119.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946019,0.317018,0.067438],[-0.312784,0.838445,0.446291],[0.084939,-0.443293,0.892343]] 2025-10-28T18:28:39.538Z,1761676119.538 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:28:39.605Z,1761676119.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935559,0.344371,0.078340],[-0.342275,0.829443,0.441444],[0.087042,-0.439811,0.893863]] 2025-10-28T18:28:40.008Z,1761676120.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923466,0.373131,0.089347],[-0.373307,0.820021,0.433829],[0.088608,-0.433980,0.896554]] 2025-10-28T18:28:40.411Z,1761676120.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909541,0.403742,0.098634],[-0.405617,0.810560,0.422453],[0.090613,-0.424246,0.901002]] 2025-10-28T18:28:40.541Z,1761676120.541 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T18:28:40.541Z,1761676120.541 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:28:40.815Z,1761676120.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893850,0.435406,0.107020],[-0.438672,0.799883,0.409579],[0.092730,-0.413049,0.905976]] 2025-10-28T18:28:41.219Z,1761676121.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876822,0.466369,0.116972],[-0.471493,0.786317,0.399249],[0.094221,-0.405222,0.909350]] 2025-10-28T18:28:41.631Z,1761676121.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858550,0.496899,0.126425],[-0.503880,0.772066,0.387323],[0.094852,-0.396239,0.913235]] 2025-10-28T18:28:42.027Z,1761676122.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839087,0.526482,0.136930],[-0.535633,0.755613,0.377024],[0.095030,-0.389700,0.916026]] 2025-10-28T18:28:42.430Z,1761676122.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817920,0.556320,0.146682],[-0.567278,0.737308,0.366842],[0.095932,-0.383257,0.918647]] 2025-10-28T18:28:42.834Z,1761676122.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794796,0.585891,0.158212],[-0.598805,0.714729,0.361379],[0.098650,-0.381960,0.918898]] 2025-10-28T18:28:43.651Z,1761676123.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748790,0.636933,0.183386],[-0.654193,0.665745,0.358909],[0.106512,-0.388717,0.915180]] 2025-10-28T18:28:44.046Z,1761676124.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727332,0.655388,0.203606],[-0.677554,0.638572,0.364893],[0.109129,-0.403352,0.908514]] 2025-10-28T18:28:44.451Z,1761676124.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705704,0.671156,0.227005],[-0.699755,0.610039,0.371746],[0.111017,-0.421190,0.900152]] 2025-10-28T18:28:44.856Z,1761676124.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684010,0.685507,0.249421],[-0.720764,0.582434,0.375860],[0.112383,-0.436865,0.892479]] 2025-10-28T18:28:45.258Z,1761676125.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661528,0.700005,0.269025],[-0.741272,0.556046,0.375937],[0.113567,-0.448113,0.886734]] 2025-10-28T18:28:45.662Z,1761676125.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637793,0.715498,0.285101],[-0.761551,0.530486,0.372323],[0.115154,-0.454584,0.883229]] 2025-10-28T18:28:46.066Z,1761676126.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612096,0.732078,0.298998],[-0.782013,0.504214,0.366366],[0.117449,-0.458072,0.881122]] 2025-10-28T18:28:46.471Z,1761676126.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585779,0.749171,0.309201],[-0.801565,0.479122,0.357682],[0.119820,-0.457367,0.881169]] 2025-10-28T18:28:46.878Z,1761676126.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558932,0.766983,0.315170],[-0.820099,0.455105,0.346867],[0.122605,-0.452346,0.883375]] 2025-10-28T18:28:47.278Z,1761676127.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532133,0.785324,0.316386],[-0.837282,0.432647,0.334329],[0.125674,-0.442812,0.887763]] 2025-10-28T18:28:47.682Z,1761676127.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505222,0.802509,0.317379],[-0.853359,0.409783,0.322268],[0.128566,-0.433655,0.891860]] 2025-10-28T18:28:48.088Z,1761676128.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478593,0.818199,0.318590],[-0.868264,0.387027,0.310368],[0.130640,-0.425160,0.895641]] 2025-10-28T18:28:48.493Z,1761676128.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452304,0.831865,0.321594],[-0.882090,0.364016,0.299013],[0.131673,-0.418919,0.898426]] 2025-10-28T18:28:48.522Z,1761676128.522 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:28:48.522Z,1761676128.522 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:28:48.522Z,1761676128.522 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateRudder:A] Stopped 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:28:48.523Z,1761676128.523 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:28:48.524Z,1761676128.524 [marl:UpdateCommandMode] Stopped 2025-10-28T18:28:48.524Z,1761676128.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:28:48.524Z,1761676128.524 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:28:48.524Z,1761676128.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:28:48.524Z,1761676128.524 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:28:48.525Z,1761676128.525 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:28:48.525Z,1761676128.525 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:28:48.525Z,1761676128.525 [marl:UpdateSpeed] Stopped 2025-10-28T18:28:48.525Z,1761676128.525 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:28:48.896Z,1761676128.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425138,0.843428,0.328461],[-0.895426,0.338918,0.288698],[0.132175,-0.416850,0.899314]] 2025-10-28T18:28:48.940Z,1761676128.940 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:28:48.941Z,1761676128.941 [marl:UpdateRudder:B] Stopped 2025-10-28T18:28:48.941Z,1761676128.941 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:28:48.941Z,1761676128.941 [marl:UpdateRudder] Stopped 2025-10-28T18:28:48.941Z,1761676128.941 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:28:49.299Z,1761676129.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397380,0.853465,0.337174],[-0.908093,0.312830,0.278397],[0.132125,-0.416815,0.899338]] 2025-10-28T18:28:49.703Z,1761676129.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368669,0.861885,0.348191],[-0.920217,0.285415,0.267842],[0.131470,-0.419156,0.898345]] 2025-10-28T18:28:50.110Z,1761676130.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339039,0.871096,0.355308],[-0.931655,0.258433,0.255405],[0.130659,-0.417616,0.899180]] 2025-10-28T18:28:50.175Z,1761676130.175 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-10-28T18:28:50.511Z,1761676130.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307628,0.880202,0.361398],[-0.942619,0.230127,0.241889],[0.129744,-0.415073,0.900489]] 2025-10-28T18:28:50.923Z,1761676130.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239195,0.896141,0.373788],[-0.962567,0.168309,0.212453],[0.127476,-0.410614,0.902854]] 2025-10-28T18:28:51.326Z,1761676131.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202935,0.902913,0.378900],[-0.971019,0.135672,0.196764],[0.126255,-0.407849,0.904278]] 2025-10-28T18:28:51.727Z,1761676131.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165584,0.907966,0.384940],[-0.978183,0.101555,0.181231],[0.125459,-0.406551,0.904973]] 2025-10-28T18:28:52.136Z,1761676132.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127487,0.912413,0.388907],[-0.983914,0.066868,0.165655],[0.125140,-0.403770,0.906261]] 2025-10-28T18:28:52.536Z,1761676132.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089926,0.914394,0.394711],[-0.988026,0.032018,0.150928],[0.125370,-0.403557,0.906325]] 2025-10-28T18:28:52.961Z,1761676132.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052450,0.915178,0.399622],[-0.990580,-0.003008,0.136902],[0.126492,-0.403038,0.906400]] 2025-10-28T18:28:53.339Z,1761676133.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015872,0.912999,0.407654],[-0.991604,-0.037957,0.123619],[0.128337,-0.406193,0.904730]] 2025-10-28T18:28:53.742Z,1761676133.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020392,0.909280,0.415686],[-0.991194,-0.072798,0.110616],[0.130842,-0.409769,0.902757]] 2025-10-28T18:28:54.148Z,1761676134.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054667,0.903210,0.425703],[-0.989559,-0.105949,0.097715],[0.133360,-0.415917,0.899571]] 2025-10-28T18:28:54.553Z,1761676134.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087090,0.898622,0.429994],[-0.986868,-0.136767,0.085944],[0.136040,-0.416862,0.898732]] 2025-10-28T18:28:54.959Z,1761676134.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117594,0.891713,0.437058],[-0.983320,-0.166053,0.074221],[0.138759,-0.421039,0.896366]] 2025-10-28T18:28:55.358Z,1761676135.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146478,0.884002,0.443943],[-0.979009,-0.193844,0.062970],[0.141721,-0.425401,0.893840]] 2025-10-28T18:28:55.767Z,1761676135.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173710,0.875173,0.451549],[-0.974161,-0.219913,0.051469],[0.144346,-0.430940,0.890761]] 2025-10-28T18:28:56.168Z,1761676136.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199668,0.865448,0.459492],[-0.968978,-0.244100,0.038700],[0.145655,-0.437511,0.887338]] 2025-10-28T18:28:56.570Z,1761676136.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224813,0.857357,0.463032],[-0.963550,-0.266327,0.025309],[0.145017,-0.440465,0.885980]] 2025-10-28T18:28:56.974Z,1761676136.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251920,0.849151,0.464198],[-0.957088,-0.289611,0.010371],[0.143243,-0.441665,0.885671]] 2025-10-28T18:28:57.379Z,1761676137.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283762,0.841763,0.459253],[-0.948355,-0.317176,-0.004617],[0.141777,-0.436845,0.888294]] 2025-10-28T18:28:57.790Z,1761676137.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318970,0.835106,0.448169],[-0.937262,-0.348144,-0.018345],[0.140708,-0.425903,0.893760]] 2025-10-28T18:28:58.187Z,1761676138.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355285,0.825940,0.437717],[-0.924228,-0.380478,-0.032241],[0.139912,-0.416005,0.898535]] 2025-10-28T18:28:58.590Z,1761676138.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391376,0.813468,0.430226],[-0.909561,-0.412946,-0.046630],[0.139728,-0.409566,0.901516]] 2025-10-28T18:28:58.995Z,1761676138.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426316,0.797394,0.427105],[-0.893701,-0.444275,-0.062599],[0.139836,-0.408391,0.902033]] 2025-10-28T18:28:59.400Z,1761676139.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457069,0.778499,0.430147],[-0.878458,-0.470860,-0.081256],[0.139282,-0.415006,0.899094]] 2025-10-28T18:28:59.802Z,1761676139.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482614,0.758832,0.437331],[-0.864834,-0.491779,-0.101076],[0.138371,-0.426999,0.893602]] 2025-10-28T18:29:00.207Z,1761676140.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505813,0.743282,0.437817],[-0.851619,-0.511135,-0.116128],[0.137468,-0.431593,0.891533]] 2025-10-28T18:29:00.622Z,1761676140.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528007,0.730129,0.433728],[-0.838234,-0.530026,-0.128205],[0.136281,-0.431259,0.891876]] 2025-10-28T18:29:01.015Z,1761676141.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551359,0.717242,0.426106],[-0.823243,-0.550513,-0.138584],[0.135179,-0.427199,0.893996]] 2025-10-28T18:29:01.419Z,1761676141.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576189,0.703812,0.415518],[-0.806178,-0.573058,-0.147251],[0.134479,-0.419826,0.897587]] 2025-10-28T18:29:01.823Z,1761676141.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602921,0.688573,0.402930],[-0.786334,-0.598216,-0.154324],[0.134776,-0.409883,0.902126]] 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateRudder:A] Stopped 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:29:01.893Z,1761676141.893 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateCommandMode] Stopped 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:29:01.894Z,1761676141.894 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:29:01.895Z,1761676141.895 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:29:01.895Z,1761676141.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:29:01.895Z,1761676141.895 [marl:UpdateSpeed] Stopped 2025-10-28T18:29:01.895Z,1761676141.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:29:02.228Z,1761676142.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631316,0.671535,0.387918],[-0.763553,-0.625777,-0.159343],[0.135746,-0.396791,0.907816]] 2025-10-28T18:29:02.252Z,1761676142.252 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:29:02.252Z,1761676142.252 [marl:UpdateRudder:B] Stopped 2025-10-28T18:29:02.252Z,1761676142.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:29:02.252Z,1761676142.252 [marl:UpdateRudder] Stopped 2025-10-28T18:29:02.252Z,1761676142.252 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:29:02.633Z,1761676142.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658846,0.649865,0.378942],[-0.739704,-0.651353,-0.169048],[0.136966,-0.391682,0.909849]] 2025-10-28T18:29:03.443Z,1761676143.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709405,0.598733,0.371838],[-0.690932,-0.694932,-0.199205],[0.139132,-0.398232,0.906672]] 2025-10-28T18:29:03.843Z,1761676143.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731622,0.571148,0.372182],[-0.667185,-0.712005,-0.218889],[0.139977,-0.408458,0.901980]] 2025-10-28T18:29:03.923Z,1761676143.923 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:29:04.041Z,1761676144.041 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:29:04.041Z,1761676144.041 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:29:04.247Z,1761676144.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752755,0.542310,0.373175],[-0.643030,-0.727130,-0.240407],[0.140972,-0.420930,0.896072]] 2025-10-28T18:29:04.293Z,1761676144.293 [DAT](INFO): DAT read: user:125> 2025-10-28T18:29:04.294Z,1761676144.294 [DAT](INFO): DAT read: Tx time:18:29:04.0444 2025-10-28T18:29:04.294Z,1761676144.294 [DAT](INFO): Ping request sent. 2025-10-28T18:29:04.294Z,1761676144.294 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:29:04.294Z,1761676144.294 [DAT](INFO): publishing transmit ping time 2025-10-28T18:29:04.295Z,1761676144.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T18:29:04.545Z,1761676144.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250977 2025-10-28T18:29:04.652Z,1761676144.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772533,0.514170,0.372588],[-0.618882,-0.740969,-0.260671],[0.142047,-0.431965,0.890634]] 2025-10-28T18:29:04.797Z,1761676144.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502843 2025-10-28T18:29:05.049Z,1761676145.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754828 2025-10-28T18:29:05.065Z,1761676145.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791590,0.486510,0.369721],[-0.594073,-0.754380,-0.279264],[0.143045,-0.440704,0.886182]] 2025-10-28T18:29:05.301Z,1761676145.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006766 2025-10-28T18:29:05.462Z,1761676145.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809195,0.459750,0.365832],[-0.569590,-0.766581,-0.296515],[0.144117,-0.448313,0.882182]] 2025-10-28T18:29:05.556Z,1761676145.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261296 2025-10-28T18:29:05.805Z,1761676145.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510750 2025-10-28T18:29:05.863Z,1761676145.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825560,0.435342,0.359067],[-0.545266,-0.779307,-0.308814],[0.145383,-0.450731,0.880741]] 2025-10-28T18:29:06.057Z,1761676146.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764 2025-10-28T18:29:06.268Z,1761676146.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841069,0.412272,0.350192],[-0.520620,-0.792685,-0.317184],[0.146825,-0.449091,0.881340]] 2025-10-28T18:29:06.309Z,1761676146.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014928 2025-10-28T18:29:06.561Z,1761676146.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266735 2025-10-28T18:29:06.672Z,1761676146.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855540,0.390663,0.339755],[-0.496092,-0.806330,-0.322064],[0.148136,-0.444088,0.883652]] 2025-10-28T18:29:06.813Z,1761676146.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518758 2025-10-28T18:29:07.066Z,1761676147.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771954 2025-10-28T18:29:07.076Z,1761676147.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870326,0.369072,0.326065],[-0.469352,-0.822116,-0.322233],[0.149136,-0.433487,0.888734]] 2025-10-28T18:29:07.317Z,1761676147.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022871 2025-10-28T18:29:07.483Z,1761676147.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885481,0.345047,0.311232],[-0.439924,-0.838174,-0.322382],[0.149630,-0.422382,0.893982]] 2025-10-28T18:29:07.572Z,1761676147.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277094 2025-10-28T18:29:07.821Z,1761676147.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526816 2025-10-28T18:29:07.883Z,1761676147.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900904,0.318550,0.294785],[-0.407362,-0.854975,-0.321051],[0.149763,-0.409320,0.900015]] 2025-10-28T18:29:08.073Z,1761676148.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779059 2025-10-28T18:29:08.288Z,1761676148.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915742,0.288393,0.279725],[-0.372786,-0.869551,-0.323900],[0.149824,-0.400886,0.903794]] 2025-10-28T18:29:08.325Z,1761676148.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030774 2025-10-28T18:29:08.577Z,1761676148.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282773 2025-10-28T18:29:08.690Z,1761676148.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929572,0.254117,0.267060],[-0.336802,-0.879959,-0.335016],[0.149869,-0.401368,0.903572]] 2025-10-28T18:29:08.830Z,1761676148.830 [DAT](INFO): DAT read: Rx Time:18:29:08.1031 2025-10-28T18:29:08.831Z,1761676148.831 [DAT](INFO): Rx dataTimestamp_ set to:1761676148.830090 2025-10-28T18:29:08.831Z,1761676148.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537066 2025-10-28T18:29:09.082Z,1761676149.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787382 2025-10-28T18:29:09.105Z,1761676149.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942127,0.217261,0.255333],[-0.299811,-0.886824,-0.351647],[0.150036,-0.407848,0.900638]] 2025-10-28T18:29:09.344Z,1761676149.344 [DAT](INFO): DAT read: 18:29:08.1031 LVL= 20976, 20401, 20194, 24387, AGC= 80, IDX= 59, 0.18,-1.072, 0.210, 0.840,-0.215, PHS=-0.755, 0.470, 1.011, RAW= 252.6, -9.3, CAL= 251.3, -14.4, ROT= 258.7, 14.4 2025-10-28T18:29:09.345Z,1761676149.345 [DAT](INFO): got valid direction response: 18:29:08.1031 LVL= 20976, 20401, 20194, 24387, AGC= 80, IDX= 59, 0.18,-1.072, 0.210, 0.840,-0.215, PHS=-0.755, 0.470, 1.011, RAW= 252.6, -9.3, CAL= 251.3, -14.4, ROT= 258.7, 14.4 2025-10-28T18:29:09.346Z,1761676149.346 [DAT](INFO): DAT read: Bearing 61, -16 (Remote) 2025-10-28T18:29:09.346Z,1761676149.346 [DAT](INFO): Remote Bearing received:Bearing 61, -16 (Remote) 2025-10-28T18:29:09.347Z,1761676149.347 [DAT](INFO): DAT read: Bearing 217.3, -51.2 (Local) 2025-10-28T18:29:09.347Z,1761676149.347 [DAT](INFO): Local bearing/azimuth received: Bearing 217.3, -51.2 (Local) 2025-10-28T18:29:09.349Z,1761676149.349 [DAT](INFO): DAT read: Range 11 to 20 : 1522.1 m (Round-trip 2029.5 ms) speed -0.2 m/s 2025-10-28T18:29:09.349Z,1761676149.349 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:29:09.350Z,1761676149.350 [DAT](INFO): direction in FSK: [-0.189790,-0.949807,-0.248690] 2025-10-28T18:29:09.351Z,1761676149.351 [DAT](INFO): publishing direction and range info 2025-10-28T18:29:09.507Z,1761676149.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953183,0.179142,0.243620],[-0.262275,-0.890756,-0.371167],[0.150515,-0.417686,0.896038]] 2025-10-28T18:29:09.644Z,1761676149.644 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676160.00. Resetting abort timer. 2025-10-28T18:29:09.902Z,1761676149.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962544,0.142019,0.230952],[-0.225229,-0.893050,-0.389530],[0.150930,-0.426957,0.891587]] 2025-10-28T18:29:10.307Z,1761676150.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970099,0.107181,0.217760],[-0.189862,-0.894036,-0.405772],[0.151194,-0.434984,0.887654]] 2025-10-28T18:29:10.660Z,1761676150.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:29:10.718Z,1761676150.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975726,0.076361,0.205248],[-0.158144,-0.894021,-0.419187],[0.151487,-0.441470,0.884396]] 2025-10-28T18:29:11.119Z,1761676151.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979758,0.049363,0.194004],[-0.130243,-0.893146,-0.430497],[0.152024,-0.447051,0.881496]] 2025-10-28T18:29:11.588Z,1761676151.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982711,0.025174,0.183424],[-0.104288,-0.893855,-0.436058],[0.152977,-0.447648,0.881027]] 2025-10-28T18:29:11.664Z,1761676151.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:29:11.922Z,1761676151.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984907,0.001896,0.173073],[-0.078580,-0.895846,-0.437363],[0.154218,-0.444362,0.882474]] 2025-10-28T18:29:12.329Z,1761676152.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986316,-0.021054,0.163513],[-0.053243,-0.897987,-0.436788],[0.156029,-0.439518,0.884579]] 2025-10-28T18:29:12.730Z,1761676152.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987064,-0.044282,0.154093],[-0.027554,-0.899951,-0.435120],[0.157944,-0.433737,0.887088]] 2025-10-28T18:29:13.134Z,1761676153.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987150,-0.067932,0.144636],[-0.001484,-0.901200,-0.433401],[0.159788,-0.428046,0.889519]] 2025-10-28T18:29:13.590Z,1761676153.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986542,-0.093074,0.134434],[0.025546,-0.899821,-0.435510],[0.161501,-0.426214,0.890089]] 2025-10-28T18:29:13.943Z,1761676153.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985191,-0.119612,0.122849],[0.053638,-0.895524,-0.441770],[0.162855,-0.428638,0.888677]] 2025-10-28T18:29:14.348Z,1761676154.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982929,-0.146865,0.110820],[0.082790,-0.890970,-0.446450],[0.164306,-0.429654,0.887919]] 2025-10-28T18:29:14.752Z,1761676154.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979657,-0.174739,0.098679],[0.112409,-0.885172,-0.451481],[0.166239,-0.431205,0.886807]] 2025-10-28T18:29:14.795Z,1761676154.795 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:29:14.795Z,1761676154.795 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:29:14.795Z,1761676154.795 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:29:14.796Z,1761676154.796 [marl:UpdateRudder:A] Stopped 2025-10-28T18:29:14.796Z,1761676154.796 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:29:14.796Z,1761676154.796 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:29:14.796Z,1761676154.796 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:29:14.796Z,1761676154.796 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateCommandMode] Stopped 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:29:14.797Z,1761676154.797 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:29:14.798Z,1761676154.798 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:29:14.798Z,1761676154.798 [marl:UpdateSpeed] Stopped 2025-10-28T18:29:14.798Z,1761676154.798 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:29:15.155Z,1761676155.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975221,-0.203555,0.086658],[0.142894,-0.878593,-0.455693],[0.168896,-0.432018,0.885909]] 2025-10-28T18:29:15.204Z,1761676155.204 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:29:15.204Z,1761676155.204 [marl:UpdateRudder:B] Stopped 2025-10-28T18:29:15.204Z,1761676155.204 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:29:15.204Z,1761676155.204 [marl:UpdateRudder] Stopped 2025-10-28T18:29:15.204Z,1761676155.204 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:29:15.588Z,1761676155.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969516,-0.233183,0.075260],[0.174189,-0.871927,-0.457604],[0.172327,-0.430545,0.885965]] 2025-10-28T18:29:15.964Z,1761676155.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962503,-0.263592,0.064093],[0.206254,-0.864558,-0.458256],[0.176205,-0.427854,0.886506]] 2025-10-28T18:29:16.367Z,1761676156.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954017,-0.295013,0.053096],[0.239353,-0.856371,-0.457536],[0.180449,-0.423789,0.887604]] 2025-10-28T18:29:16.776Z,1761676156.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944070,-0.327215,0.040780],[0.273387,-0.845849,-0.458039],[0.184371,-0.421272,0.887996]] 2025-10-28T18:29:17.175Z,1761676157.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932667,-0.359766,0.026476],[0.308188,-0.832798,-0.459856],[0.187490,-0.420732,0.887599]] 2025-10-28T18:29:17.598Z,1761676157.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919891,-0.391998,0.011789],[0.343117,-0.819014,-0.459877],[0.189926,-0.418992,0.887904]] 2025-10-28T18:29:17.987Z,1761676157.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906052,-0.423152,-0.003539],[0.377338,-0.804113,-0.459367],[0.191536,-0.417545,0.888240]] 2025-10-28T18:29:18.391Z,1761676158.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891440,-0.452735,-0.019144],[0.410171,-0.788233,-0.458747],[0.192601,-0.416798,0.888361]] 2025-10-28T18:29:18.795Z,1761676158.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876381,-0.480381,-0.034501],[0.441240,-0.772131,-0.457297],[0.193038,-0.415990,0.888644]] 2025-10-28T18:29:19.198Z,1761676159.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860650,-0.506589,-0.051471],[0.471331,-0.754317,-0.457004],[0.192688,-0.417580,0.887974]] 2025-10-28T18:29:19.610Z,1761676159.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844116,-0.531849,-0.067862],[0.500735,-0.736757,-0.454371],[0.191659,-0.417522,0.888224]] 2025-10-28T18:29:20.008Z,1761676160.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826918,-0.556073,-0.083608],[0.529292,-0.719484,-0.449658],[0.189888,-0.416083,0.889279]] 2025-10-28T18:29:20.411Z,1761676160.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809529,-0.578729,-0.098673],[0.556148,-0.702129,-0.444651],[0.188051,-0.414835,0.890252]] 2025-10-28T18:29:20.814Z,1761676160.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792502,-0.599385,-0.112595],[0.580496,-0.684761,-0.440599],[0.186988,-0.414536,0.890615]] 2025-10-28T18:29:21.218Z,1761676161.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776241,-0.617774,-0.125722],[0.602250,-0.667677,-0.437610],[0.186402,-0.415407,0.890332]] 2025-10-28T18:29:21.629Z,1761676161.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760333,-0.634130,-0.140619],[0.622442,-0.649467,-0.436759],[0.185635,-0.419609,0.888520]] 2025-10-28T18:29:22.026Z,1761676162.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744049,-0.649785,-0.155470],[0.642113,-0.631154,-0.435127],[0.184613,-0.423585,0.886845]] 2025-10-28T18:29:22.430Z,1761676162.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727110,-0.665216,-0.169701],[0.661520,-0.612788,-0.432298],[0.183580,-0.426589,0.885619]] 2025-10-28T18:29:22.834Z,1761676162.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709143,-0.680812,-0.183335],[0.680980,-0.593975,-0.428323],[0.182711,-0.428590,0.884832]] 2025-10-28T18:29:23.649Z,1761676163.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670313,-0.711775,-0.209897],[0.719137,-0.553277,-0.420388],[0.183091,-0.432737,0.882733]] 2025-10-28T18:29:24.047Z,1761676164.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649405,-0.727620,-0.221004],[0.737426,-0.531604,-0.416654],[0.185679,-0.433551,0.881792]] 2025-10-28T18:29:24.451Z,1761676164.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627731,-0.743993,-0.228972],[0.754845,-0.509925,-0.412535],[0.190165,-0.431800,0.881695]] 2025-10-28T18:29:24.855Z,1761676164.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605481,-0.760668,-0.234045],[0.771219,-0.488180,-0.408537],[0.196505,-0.427861,0.882225]] 2025-10-28T18:29:25.260Z,1761676165.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582510,-0.776674,-0.239706],[0.786959,-0.465090,-0.405448],[0.203416,-0.424816,0.882130]] 2025-10-28T18:29:25.662Z,1761676165.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556587,-0.794765,-0.241990],[0.803954,-0.441820,-0.398062],[0.209450,-0.416105,0.884866]] 2025-10-28T18:29:26.073Z,1761676166.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528236,-0.812220,-0.247518],[0.821814,-0.415754,-0.389577],[0.213516,-0.409202,0.887110]] 2025-10-28T18:29:26.471Z,1761676166.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499520,-0.827709,-0.255691],[0.838899,-0.388521,-0.381183],[0.216167,-0.404907,0.888438]] 2025-10-28T18:29:26.878Z,1761676166.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471548,-0.841952,-0.262220],[0.854577,-0.362932,-0.371455],[0.217580,-0.399246,0.890652]] 2025-10-28T18:29:27.279Z,1761676167.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443302,-0.854834,-0.269709],[0.869620,-0.337180,-0.360653],[0.217358,-0.394422,0.892853]] 2025-10-28T18:29:27.682Z,1761676167.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415120,-0.864775,-0.282560],[0.883960,-0.309947,-0.350068],[0.215152,-0.395092,0.893091]] 2025-10-28T18:29:28.093Z,1761676168.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387838,-0.873017,-0.295673],[0.896992,-0.283669,-0.339023],[0.212100,-0.396703,0.893107]] 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateRudder:A] Stopped 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:29:28.122Z,1761676168.122 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateCommandMode] Stopped 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:29:28.123Z,1761676168.123 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:29:28.140Z,1761676168.140 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:29:28.140Z,1761676168.140 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:29:28.140Z,1761676168.140 [marl:UpdateSpeed] Stopped 2025-10-28T18:29:28.140Z,1761676168.140 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:29:28.492Z,1761676168.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363129,-0.878504,-0.310432],[0.907761,-0.258472,-0.330396],[0.210017,-0.401775,0.891330]] 2025-10-28T18:29:28.517Z,1761676168.517 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:29:28.518Z,1761676168.518 [marl:UpdateRudder:B] Stopped 2025-10-28T18:29:28.518Z,1761676168.518 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:29:28.518Z,1761676168.518 [marl:UpdateRudder] Stopped 2025-10-28T18:29:28.518Z,1761676168.518 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:29:28.894Z,1761676168.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340152,-0.881976,-0.326214],[0.916928,-0.234101,-0.323173],[0.208664,-0.409043,0.888338]] 2025-10-28T18:29:29.299Z,1761676169.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317322,-0.885783,-0.338666],[0.925241,-0.210881,-0.315369],[0.207930,-0.413421,0.886481]] 2025-10-28T18:29:29.705Z,1761676169.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294176,-0.889700,-0.349135],[0.932846,-0.187788,-0.307463],[0.207986,-0.416137,0.885196]] 2025-10-28T18:29:30.112Z,1761676170.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270363,-0.894149,-0.356933],[0.939768,-0.164564,-0.299590],[0.209140,-0.416432,0.884785]] 2025-10-28T18:29:30.511Z,1761676170.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245199,-0.899067,-0.362707],[0.946142,-0.140336,-0.291754],[0.211406,-0.414710,0.885055]] 2025-10-28T18:29:30.914Z,1761676170.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217713,-0.903874,-0.368257],[0.952318,-0.114092,-0.282974],[0.213757,-0.412305,0.885614]] 2025-10-28T18:29:31.318Z,1761676171.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188232,-0.907490,-0.375539],[0.958121,-0.085656,-0.273251],[0.215806,-0.411247,0.885609]] 2025-10-28T18:29:31.730Z,1761676171.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157026,-0.910586,-0.382329],[0.963278,-0.055840,-0.262634],[0.217802,-0.409529,0.885917]] 2025-10-28T18:29:32.131Z,1761676172.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124524,-0.913011,-0.388464],[0.967613,-0.025096,-0.251189],[0.219589,-0.407162,0.886566]] 2025-10-28T18:29:32.530Z,1761676172.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091817,-0.914491,-0.394052],[0.970938,0.005614,-0.239264],[0.221017,-0.404568,0.887398]] 2025-10-28T18:29:32.935Z,1761676172.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058531,-0.914083,-0.401280],[0.973345,0.037034,-0.226334],[0.221749,-0.403831,0.887551]] 2025-10-28T18:29:33.342Z,1761676173.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024744,-0.911696,-0.410120],[0.974840,0.068903,-0.211987],[0.221526,-0.405047,0.887053]] 2025-10-28T18:29:33.742Z,1761676173.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008877,-0.907826,-0.419253],[0.975327,0.100350,-0.196641],[0.220588,-0.407163,0.886318]] 2025-10-28T18:29:34.150Z,1761676174.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042462,-0.903018,-0.427500],[0.974841,0.131161,-0.180227],[0.218819,-0.409091,0.885868]] 2025-10-28T18:29:34.558Z,1761676174.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075230,-0.897305,-0.434954],[0.973377,0.160789,-0.163350],[0.216510,-0.411085,0.885512]] 2025-10-28T18:29:34.954Z,1761676174.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106903,-0.890086,-0.443079],[0.970973,0.189362,-0.146132],[0.213972,-0.414595,0.884492]] 2025-10-28T18:29:35.359Z,1761676175.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137385,-0.882417,-0.449963],[0.967687,0.216542,-0.129199],[0.211443,-0.417673,0.883652]] 2025-10-28T18:29:35.782Z,1761676175.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195411,-0.865813,-0.460633],[0.958780,0.267452,-0.095969],[0.206289,-0.422892,0.882387]] 2025-10-28T18:29:36.175Z,1761676176.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223555,-0.856856,-0.464566],[0.953186,0.291761,-0.079444],[0.203615,-0.425057,0.881968]] 2025-10-28T18:29:36.585Z,1761676176.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251190,-0.847924,-0.466829],[0.946849,0.315378,-0.063358],[0.200950,-0.426102,0.882075]] 2025-10-28T18:29:36.980Z,1761676176.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278132,-0.838730,-0.468161],[0.939803,0.338351,-0.047836],[0.198524,-0.426675,0.882347]] 2025-10-28T18:29:37.383Z,1761676177.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304916,-0.829831,-0.467341],[0.931932,0.361112,-0.033168],[0.196286,-0.425417,0.883455]] 2025-10-28T18:29:37.796Z,1761676177.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331650,-0.819100,-0.468063],[0.923138,0.384047,-0.017976],[0.194483,-0.426125,0.883512]] 2025-10-28T18:29:38.187Z,1761676178.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358499,-0.808209,-0.467201],[0.913292,0.407287,-0.003765],[0.193328,-0.425341,0.884143]] 2025-10-28T18:29:38.592Z,1761676178.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385714,-0.796172,-0.466191],[0.902272,0.431042,0.010372],[0.192690,-0.424632,0.884623]] 2025-10-28T18:29:38.995Z,1761676178.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414184,-0.781883,-0.465952],[0.889729,0.455741,0.026131],[0.191922,-0.425394,0.884424]] 2025-10-28T18:29:39.401Z,1761676179.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443291,-0.766014,-0.465528],[0.875723,0.480938,0.042522],[0.191317,-0.426523,0.884011]] 2025-10-28T18:29:39.803Z,1761676179.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473377,-0.748587,-0.464254],[0.859950,0.506899,0.059499],[0.190790,-0.427400,0.883702]] 2025-10-28T18:29:40.207Z,1761676180.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503634,-0.730818,-0.460715],[0.842668,0.533113,0.075510],[0.190429,-0.426259,0.884330]] 2025-10-28T18:29:40.612Z,1761676180.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533687,-0.712468,-0.455597],[0.824091,0.559097,0.091018],[0.189875,-0.424029,0.885521]] 2025-10-28T18:29:41.016Z,1761676181.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563678,-0.693439,-0.448787],[0.804111,0.584920,0.106181],[0.188875,-0.420727,0.887308]] 2025-10-28T18:29:41.419Z,1761676181.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593657,-0.673199,-0.440879],[0.782588,0.610577,0.121460],[0.187424,-0.417131,0.889311]] 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateRudder:A] Stopped 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:29:41.450Z,1761676181.450 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateCommandMode] Stopped 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:29:41.451Z,1761676181.451 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:29:41.452Z,1761676181.452 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:29:41.452Z,1761676181.452 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:29:41.452Z,1761676181.452 [marl:UpdateSpeed] Stopped 2025-10-28T18:29:41.452Z,1761676181.452 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:29:41.792Z,1761676181.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:29:41.822Z,1761676181.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623605,-0.651541,-0.431985],[0.759434,0.635977,0.137091],[0.185412,-0.413554,0.891401]] 2025-10-28T18:29:41.881Z,1761676181.881 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:29:41.881Z,1761676181.881 [marl:UpdateRudder:B] Stopped 2025-10-28T18:29:41.881Z,1761676181.881 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:29:41.881Z,1761676181.881 [marl:UpdateRudder] Stopped 2025-10-28T18:29:41.881Z,1761676181.881 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:29:42.228Z,1761676182.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653234,-0.628023,-0.422933],[0.734775,0.660618,0.153916],[0.182735,-0.411303,0.892994]] 2025-10-28T18:29:42.631Z,1761676182.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682236,-0.603236,-0.413111],[0.708739,0.684423,0.171041],[0.179565,-0.409478,0.894475]] 2025-10-28T18:29:42.796Z,1761676182.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:29:43.035Z,1761676183.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710245,-0.577712,-0.402246],[0.681554,0.707326,0.187546],[0.176171,-0.407356,0.896117]] 2025-10-28T18:29:43.438Z,1761676183.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736651,-0.551068,-0.392008],[0.653850,0.728392,0.204756],[0.172700,-0.407148,0.896886]] 2025-10-28T18:29:43.848Z,1761676183.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761763,-0.522922,-0.382452],[0.625469,0.747462,0.223807],[0.168835,-0.409700,0.896460]] 2025-10-28T18:29:44.247Z,1761676184.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784943,-0.495076,-0.372511],[0.597245,0.764560,0.242376],[0.164812,-0.412731,0.895818]] 2025-10-28T18:29:44.650Z,1761676184.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806642,-0.466767,-0.362571],[0.568813,0.779730,0.261675],[0.160566,-0.417312,0.894466]] 2025-10-28T18:29:45.063Z,1761676185.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826921,-0.438504,-0.352017],[0.540183,0.793373,0.280645],[0.156217,-0.422224,0.892929]] 2025-10-28T18:29:45.458Z,1761676185.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845890,-0.410261,-0.340818],[0.511349,0.805481,0.299538],[0.151634,-0.427653,0.891134]] 2025-10-28T18:29:45.862Z,1761676185.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863901,-0.382180,-0.328046],[0.481813,0.816850,0.317194],[0.146739,-0.432081,0.889817]] 2025-10-28T18:29:46.267Z,1761676186.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880089,-0.354504,-0.315865],[0.453148,0.825759,0.335825],[0.141777,-0.438689,0.887384]] 2025-10-28T18:29:46.672Z,1761676186.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895169,-0.327404,-0.302454],[0.424295,0.833803,0.353194],[0.136549,-0.444498,0.885311]] 2025-10-28T18:29:47.075Z,1761676187.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908935,-0.302669,-0.286757],[0.395627,0.843173,0.364059],[0.131596,-0.444354,0.886133]] 2025-10-28T18:29:47.479Z,1761676187.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921453,-0.279717,-0.269596],[0.367117,0.853962,0.368748],[0.127080,-0.438757,0.889574]] 2025-10-28T18:29:47.884Z,1761676187.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933071,-0.255969,-0.252702],[0.337971,0.864350,0.372391],[0.123102,-0.432873,0.893010]] 2025-10-28T18:29:48.287Z,1761676188.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944264,-0.230500,-0.235020],[0.306687,0.875409,0.373634],[0.119616,-0.424887,0.897309]] 2025-10-28T18:29:48.691Z,1761676188.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955034,-0.202588,-0.216489],[0.272858,0.886215,0.374394],[0.116008,-0.416630,0.901644]] 2025-10-28T18:29:49.095Z,1761676189.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964981,-0.171993,-0.198066],[0.236922,0.895559,0.376619],[0.112604,-0.410356,0.904946]] 2025-10-28T18:29:49.503Z,1761676189.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973935,-0.138729,-0.179459],[0.198924,0.902561,0.381853],[0.108998,-0.407599,0.906632]] 2025-10-28T18:29:49.911Z,1761676189.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981529,-0.104426,-0.160300],[0.159754,0.908377,0.386432],[0.105260,-0.404903,0.908281]] 2025-10-28T18:29:50.306Z,1761676190.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987600,-0.069576,-0.140729],[0.119795,0.913362,0.389126],[0.101463,-0.401160,0.910371]] 2025-10-28T18:29:50.711Z,1761676190.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992000,-0.034469,-0.121438],[0.079708,0.917004,0.390833],[0.097887,-0.397386,0.912416]] 2025-10-28T18:29:51.115Z,1761676191.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994782,0.001311,-0.102016],[0.039590,0.916605,0.397829],[0.094030,-0.399792,0.911770]] 2025-10-28T18:29:51.558Z,1761676191.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995872,0.035676,-0.083469],[0.000757,0.916231,0.400650],[0.090770,-0.399059,0.912421]] 2025-10-28T18:29:51.928Z,1761676191.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995421,0.069491,-0.065643],[-0.037346,0.914821,0.402129],[0.087996,-0.397836,0.913227]] 2025-10-28T18:29:52.331Z,1761676192.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993594,0.102420,-0.047769],[-0.074676,0.912275,0.402714],[0.084824,-0.396567,0.914079]] 2025-10-28T18:29:52.737Z,1761676192.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990409,0.134867,-0.030028],[-0.111485,0.908413,0.402935],[0.081621,-0.395722,0.914736]] 2025-10-28T18:29:53.139Z,1761676193.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985923,0.166812,-0.011369],[-0.147874,0.901686,0.406320],[0.078030,-0.398919,0.913660]] 2025-10-28T18:29:53.580Z,1761676193.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979941,0.199130,0.007953],[-0.184941,0.893797,0.408563],[0.074248,-0.401838,0.912696]] 2025-10-28T18:29:53.947Z,1761676193.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972588,0.230893,0.027593],[-0.221604,0.884362,0.410847],[0.070460,-0.405700,0.911286]] 2025-10-28T18:29:54.351Z,1761676194.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963590,0.263114,0.047596],[-0.258868,0.873431,0.412439],[0.066947,-0.409743,0.909741]] 2025-10-28T18:29:54.757Z,1761676194.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953096,0.295654,0.064787],[-0.295872,0.864988,0.405285],[0.063785,-0.405444,0.911892]] 2025-10-28T18:29:54.798Z,1761676194.798 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:29:54.798Z,1761676194.798 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:29:54.798Z,1761676194.798 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:29:54.798Z,1761676194.798 [marl:UpdateRudder:A] Stopped 2025-10-28T18:29:54.798Z,1761676194.798 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode] Stopped 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:29:54.799Z,1761676194.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:29:54.800Z,1761676194.800 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:29:54.800Z,1761676194.800 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:29:54.801Z,1761676194.801 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:29:54.801Z,1761676194.801 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:29:54.801Z,1761676194.801 [marl:UpdateSpeed] Stopped 2025-10-28T18:29:54.801Z,1761676194.801 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:29:55.158Z,1761676195.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941238,0.327925,0.080846],[-0.332240,0.855945,0.396201],[0.060725,-0.399780,0.914598]] 2025-10-28T18:29:55.201Z,1761676195.201 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:29:55.201Z,1761676195.201 [marl:UpdateRudder:B] Stopped 2025-10-28T18:29:55.201Z,1761676195.201 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:29:55.201Z,1761676195.201 [marl:UpdateRudder] Stopped 2025-10-28T18:29:55.201Z,1761676195.201 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:29:55.581Z,1761676195.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928505,0.358697,0.095992],[-0.366798,0.845805,0.387392],[0.057766,-0.394905,0.916904]] 2025-10-28T18:29:55.975Z,1761676195.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915086,0.387948,0.110062],[-0.399498,0.834944,0.378510],[0.054947,-0.390339,0.919030]] 2025-10-28T18:29:56.371Z,1761676196.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901117,0.415518,0.123829],[-0.430400,0.822750,0.371266],[0.052387,-0.387850,0.920232]] 2025-10-28T18:29:56.779Z,1761676196.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886204,0.442095,0.138546],[-0.460607,0.808570,0.366137],[0.049843,-0.388288,0.920189]] 2025-10-28T18:29:57.178Z,1761676197.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870897,0.466986,0.153177],[-0.489202,0.793823,0.361285],[0.047120,-0.389576,0.919788]] 2025-10-28T18:29:57.587Z,1761676197.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855013,0.490412,0.168671],[-0.516685,0.777551,0.358400],[0.044613,-0.393586,0.918204]] 2025-10-28T18:29:58.008Z,1761676198.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838678,0.511829,0.186143],[-0.543000,0.759417,0.358382],[0.042071,-0.401642,0.914830]] 2025-10-28T18:29:58.390Z,1761676198.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821823,0.531546,0.205098],[-0.568404,0.740258,0.359075],[0.039039,-0.411675,0.910494]] 2025-10-28T18:29:58.795Z,1761676198.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804243,0.550966,0.222776],[-0.593208,0.721510,0.357110],[0.036020,-0.419355,0.907107]] 2025-10-28T18:29:59.198Z,1761676199.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785691,0.571181,0.237576],[-0.617736,0.703897,0.350614],[0.033035,-0.422233,0.905885]] 2025-10-28T18:29:59.605Z,1761676199.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765914,0.592043,0.250720],[-0.642232,0.686156,0.341657],[0.030242,-0.422700,0.905765]] 2025-10-28T18:30:00.010Z,1761676200.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744498,0.614181,0.261733],[-0.667040,0.667894,0.330113],[0.027939,-0.420355,0.906929]] 2025-10-28T18:30:00.411Z,1761676200.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721073,0.637855,0.270546],[-0.692376,0.648795,0.315721],[0.025856,-0.414977,0.909464]] 2025-10-28T18:30:00.815Z,1761676200.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695685,0.662232,0.278337],[-0.717948,0.628066,0.300141],[0.023950,-0.408635,0.912384]] 2025-10-28T18:30:01.219Z,1761676201.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668866,0.686553,0.285068],[-0.743056,0.606080,0.283788],[0.022061,-0.401638,0.915533]] 2025-10-28T18:30:01.623Z,1761676201.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641373,0.710230,0.290196],[-0.766963,0.583563,0.266872],[0.020193,-0.393734,0.919002]] 2025-10-28T18:30:02.043Z,1761676202.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612645,0.732756,0.296200],[-0.790145,0.559122,0.251106],[0.018388,-0.387880,0.921527]] 2025-10-28T18:30:02.432Z,1761676202.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582541,0.755146,0.300668],[-0.812628,0.533461,0.234639],[0.016793,-0.381018,0.924415]] 2025-10-28T18:30:02.835Z,1761676202.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551998,0.774592,0.308715],[-0.833706,0.505934,0.221280],[0.015213,-0.379524,0.925057]] 2025-10-28T18:30:03.642Z,1761676203.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490136,0.807471,0.328263],[-0.871557,0.448637,0.197770],[0.012423,-0.383034,0.923651]] 2025-10-28T18:30:04.054Z,1761676204.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459187,0.819612,0.342614],[-0.888271,0.418833,0.188556],[0.011045,-0.390916,0.920360]] 2025-10-28T18:30:04.135Z,1761676204.135 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:30:04.285Z,1761676204.285 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:30:04.285Z,1761676204.285 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:30:04.451Z,1761676204.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428105,0.829746,0.358117],[-0.903677,0.388785,0.179483],[0.009695,-0.400459,0.916263]] 2025-10-28T18:30:04.537Z,1761676204.537 [DAT](INFO): DAT read: user:126> 2025-10-28T18:30:04.538Z,1761676204.538 [DAT](INFO): DAT read: Tx time:18:30:04.2942 2025-10-28T18:30:04.538Z,1761676204.538 [DAT](INFO): Ping request sent. 2025-10-28T18:30:04.538Z,1761676204.538 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:30:04.538Z,1761676204.538 [DAT](INFO): publishing transmit ping time 2025-10-28T18:30:04.539Z,1761676204.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951 2025-10-28T18:30:04.789Z,1761676204.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250679 2025-10-28T18:30:04.854Z,1761676204.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397211,0.840590,0.368282],[-0.917688,0.360106,0.167845],[0.008469,-0.404638,0.914438]] 2025-10-28T18:30:05.041Z,1761676205.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503276 2025-10-28T18:30:05.264Z,1761676205.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366089,0.850311,0.378088],[-0.930550,0.331246,0.156055],[0.007455,-0.408959,0.912522]] 2025-10-28T18:30:05.293Z,1761676205.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863 2025-10-28T18:30:05.547Z,1761676205.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008622 2025-10-28T18:30:05.662Z,1761676205.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334775,0.860779,0.383386],[-0.942274,0.302932,0.142657],[0.006657,-0.409013,0.912504]] 2025-10-28T18:30:05.801Z,1761676205.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262469 2025-10-28T18:30:06.049Z,1761676206.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741 2025-10-28T18:30:06.067Z,1761676206.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304035,0.870890,0.386153],[-0.952645,0.275574,0.128556],[0.005544,-0.406952,0.913433]] 2025-10-28T18:30:06.305Z,1761676206.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766637 2025-10-28T18:30:06.472Z,1761676206.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273880,0.879722,0.388690],[-0.961753,0.248563,0.115099],[0.004641,-0.405347,0.914151]] 2025-10-28T18:30:06.553Z,1761676206.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014765 2025-10-28T18:30:06.805Z,1761676206.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266740 2025-10-28T18:30:06.874Z,1761676206.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243699,0.888086,0.389761],[-0.969843,0.221545,0.101599],[0.003879,-0.402767,0.915295]] 2025-10-28T18:30:07.057Z,1761676207.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518684 2025-10-28T18:30:07.283Z,1761676207.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213953,0.894241,0.393138],[-0.976839,0.194619,0.088929],[0.003011,-0.403059,0.915169]] 2025-10-28T18:30:07.310Z,1761676207.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771475 2025-10-28T18:30:07.563Z,1761676207.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024756 2025-10-28T18:30:07.686Z,1761676207.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184460,0.898820,0.397615],[-0.982837,0.167772,0.076702],[0.002233,-0.404939,0.914341]] 2025-10-28T18:30:07.813Z,1761676207.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274946 2025-10-28T18:30:08.065Z,1761676208.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526686 2025-10-28T18:30:08.090Z,1761676208.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155730,0.902576,0.401379],[-0.987799,0.141756,0.064487],[0.001307,-0.406524,0.913639]] 2025-10-28T18:30:08.134Z,1761676208.134 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:30:08.134Z,1761676208.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateRudder:A] Stopped 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:30:08.135Z,1761676208.135 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:30:08.136Z,1761676208.136 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:30:08.140Z,1761676208.140 [marl:UpdateCommandMode] Stopped 2025-10-28T18:30:08.140Z,1761676208.140 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:30:08.140Z,1761676208.140 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:30:08.140Z,1761676208.140 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:30:08.140Z,1761676208.140 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:30:08.141Z,1761676208.141 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:30:08.141Z,1761676208.141 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:30:08.141Z,1761676208.141 [marl:UpdateSpeed] Stopped 2025-10-28T18:30:08.141Z,1761676208.141 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:30:08.317Z,1761676208.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778742 2025-10-28T18:30:08.500Z,1761676208.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127784,0.906424,0.402575],[-0.991802,0.116675,0.052114],[0.000267,-0.405934,0.913902]] 2025-10-28T18:30:08.537Z,1761676208.537 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:30:08.537Z,1761676208.537 [marl:UpdateRudder:B] Stopped 2025-10-28T18:30:08.538Z,1761676208.538 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:30:08.538Z,1761676208.538 [marl:UpdateRudder] Stopped 2025-10-28T18:30:08.538Z,1761676208.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:30:08.569Z,1761676208.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030764 2025-10-28T18:30:08.822Z,1761676208.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283480 2025-10-28T18:30:08.898Z,1761676208.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100883,0.910728,0.400496],[-0.994898,0.092729,0.039745],[-0.000940,-0.402462,0.915436]] 2025-10-28T18:30:09.073Z,1761676209.073 [DAT](INFO): DAT read: Rx Time:18:30:08.2985 2025-10-28T18:30:09.073Z,1761676209.073 [DAT](INFO): Rx dataTimestamp_ set to:1761676209.073163 2025-10-28T18:30:09.074Z,1761676209.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535822 2025-10-28T18:30:09.303Z,1761676209.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074505,0.915448,0.395480],[-0.997218,0.069246,0.027577],[-0.002140,-0.396435,0.918060]] 2025-10-28T18:30:09.325Z,1761676209.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786779 2025-10-28T18:30:09.583Z,1761676209.583 [DAT](INFO): DAT read: 18:30:08.2985 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 492, 0.15, 0.603, 2.132, 0.467, 1.073, PHS=-0.368, 1.104,-0.650, RAW= 338.6, -1.1, CAL= 338.1, -4.0, ROT= 171.9, 4.0 2025-10-28T18:30:09.584Z,1761676209.584 [DAT](INFO): got valid direction response: 18:30:08.2985 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 492, 0.15, 0.603, 2.132, 0.467, 1.073, PHS=-0.368, 1.104,-0.650, RAW= 338.6, -1.1, CAL= 338.1, -4.0, ROT= 171.9, 4.0 2025-10-28T18:30:09.585Z,1761676209.585 [DAT](INFO): DAT read: Bearing 58, -24 (Remote) 2025-10-28T18:30:09.585Z,1761676209.585 [DAT](INFO): Remote Bearing received:Bearing 58, -24 (Remote) 2025-10-28T18:30:09.586Z,1761676209.586 [DAT](INFO): DAT read: Bearing 205.3, 8.8 (Local) 2025-10-28T18:30:09.586Z,1761676209.586 [DAT](INFO): Local bearing/azimuth received: Bearing 205.3, 8.8 (Local) 2025-10-28T18:30:09.588Z,1761676209.588 [DAT](INFO): DAT read: Range 11 to 20 : 1481.3 m (Round-trip 1975.1 ms) speed -0.7 m/s 2025-10-28T18:30:09.588Z,1761676209.588 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:30:09.589Z,1761676209.589 [DAT](INFO): direction in FSK: [-0.987612,0.140558,-0.069756] 2025-10-28T18:30:09.590Z,1761676209.590 [DAT](INFO): publishing direction and range info 2025-10-28T18:30:09.706Z,1761676209.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048714,0.918056,0.393447],[-0.998806,0.046215,0.015828],[-0.003652,-0.393749,0.919211]] 2025-10-28T18:30:09.794Z,1761676209.794 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676160.00. Resetting abort timer. 2025-10-28T18:30:10.110Z,1761676210.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023329,0.919099,0.393335],[-0.999714,0.023501,0.004378],[-0.005220,-0.393325,0.919385]] 2025-10-28T18:30:10.523Z,1761676210.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001893,0.919548,0.392972],[-0.999976,0.000895,-0.006910],[-0.006706,-0.392976,0.919524]] 2025-10-28T18:30:10.920Z,1761676210.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027096,0.918815,0.393757],[-0.999600,-0.021721,-0.018102],[-0.008079,-0.394090,0.919036]] 2025-10-28T18:30:11.323Z,1761676211.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053185,0.917687,0.393728],[-0.998545,-0.045362,-0.029156],[-0.008896,-0.394706,0.918765]] 2025-10-28T18:30:11.727Z,1761676211.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079023,0.915492,0.394500],[-0.996823,-0.068623,-0.040428],[-0.009940,-0.396441,0.918006]] 2025-10-28T18:30:12.131Z,1761676212.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105573,0.913823,0.392150],[-0.994352,-0.092693,-0.051693],[-0.010888,-0.395392,0.918448]] 2025-10-28T18:30:12.536Z,1761676212.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133075,0.911056,0.390215],[-0.991036,-0.117643,-0.063307],[-0.011771,-0.395142,0.918545]] 2025-10-28T18:30:12.932Z,1761676212.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:30:12.946Z,1761676212.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161251,0.909169,0.383939],[-0.986829,-0.143441,-0.074791],[-0.012925,-0.390942,0.920325]] 2025-10-28T18:30:13.747Z,1761676213.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221196,0.904303,0.365113],[-0.975115,-0.199365,-0.096971],[-0.014900,-0.377477,0.925899]] 2025-10-28T18:30:13.936Z,1761676213.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:30:14.152Z,1761676214.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253285,0.898457,0.358638],[-0.967264,-0.229175,-0.108993],[-0.015735,-0.374504,0.927092]] 2025-10-28T18:30:14.556Z,1761676214.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286023,0.890268,0.354419],[-0.958079,-0.259297,-0.121856],[-0.016584,-0.374415,0.927113]] 2025-10-28T18:30:14.958Z,1761676214.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319128,0.879693,0.352558],[-0.947554,-0.289382,-0.135646],[-0.017303,-0.377356,0.925907]] 2025-10-28T18:30:15.363Z,1761676215.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352361,0.866904,0.352590],[-0.935698,-0.319232,-0.150202],[-0.017653,-0.382843,0.923645]] 2025-10-28T18:30:15.774Z,1761676215.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384755,0.853048,0.352522],[-0.922852,-0.348258,-0.164503],[-0.017560,-0.388619,0.921231]] 2025-10-28T18:30:16.170Z,1761676216.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416259,0.838102,0.352580],[-0.909091,-0.376459,-0.178414],[-0.016797,-0.394794,0.918616]] 2025-10-28T18:30:16.575Z,1761676216.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446227,0.822509,0.352648],[-0.894783,-0.403169,-0.191880],[-0.015646,-0.401165,0.915872]] 2025-10-28T18:30:16.980Z,1761676216.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474094,0.806263,0.353801],[-0.880356,-0.427487,-0.205495],[-0.014438,-0.408895,0.912467]] 2025-10-28T18:30:17.384Z,1761676217.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499295,0.790456,0.354802],[-0.866331,-0.449182,-0.218420],[-0.013280,-0.416432,0.909070]] 2025-10-28T18:30:17.791Z,1761676217.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522201,0.774403,0.357221],[-0.852739,-0.468255,-0.231461],[-0.011974,-0.425485,0.904886]] 2025-10-28T18:30:18.190Z,1761676218.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542922,0.759136,0.359094],[-0.839713,-0.485238,-0.243773],[-0.010811,-0.433885,0.900903]] 2025-10-28T18:30:18.594Z,1761676218.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562108,0.745409,0.358328],[-0.827003,-0.501342,-0.254405],[-0.009991,-0.439342,0.898264]] 2025-10-28T18:30:19.007Z,1761676219.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580421,0.732994,0.354726],[-0.814257,-0.517146,-0.263715],[-0.009856,-0.441904,0.897008]] 2025-10-28T18:30:19.405Z,1761676219.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597313,0.723112,0.346880],[-0.801938,-0.532814,-0.270192],[-0.010556,-0.439566,0.898148]] 2025-10-28T18:30:19.806Z,1761676219.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613720,0.714355,0.336222],[-0.789432,-0.548730,-0.275123],[-0.012040,-0.434273,0.900701]] 2025-10-28T18:30:20.211Z,1761676220.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629999,0.707537,0.320144],[-0.776469,-0.566443,-0.276112],[-0.014016,-0.422532,0.906240]] 2025-10-28T18:30:20.621Z,1761676220.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664464,0.691726,0.282845],[-0.747087,-0.605395,-0.274514],[-0.018656,-0.393715,0.919043]] 2025-10-28T18:30:21.025Z,1761676221.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682999,0.680627,0.265064],[-0.730121,-0.625811,-0.274380],[-0.020870,-0.380930,0.924368]] 2025-10-28T18:30:21.432Z,1761676221.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701624,0.666256,0.252639],[-0.712173,-0.644205,-0.278943],[-0.023097,-0.375636,0.926480]] 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateRudder:A] Stopped 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:30:21.457Z,1761676221.457 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateCommandMode] Stopped 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:30:21.458Z,1761676221.458 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:30:21.459Z,1761676221.459 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:30:21.459Z,1761676221.459 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:30:21.459Z,1761676221.459 [marl:UpdateSpeed] Stopped 2025-10-28T18:30:21.459Z,1761676221.459 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:30:21.831Z,1761676221.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720142,0.650063,0.242514],[-0.693358,-0.661422,-0.285963],[-0.025489,-0.374083,0.927045]] 2025-10-28T18:30:21.886Z,1761676221.886 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:30:21.886Z,1761676221.886 [marl:UpdateRudder:B] Stopped 2025-10-28T18:30:21.886Z,1761676221.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:30:21.886Z,1761676221.886 [marl:UpdateRudder] Stopped 2025-10-28T18:30:21.886Z,1761676221.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:30:22.233Z,1761676222.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738478,0.632192,0.234485],[-0.673709,-0.677524,-0.295089],[-0.027683,-0.375892,0.926250]] 2025-10-28T18:30:22.637Z,1761676222.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756362,0.612839,0.228788],[-0.653471,-0.691889,-0.307026],[-0.029861,-0.381729,0.923792]] 2025-10-28T18:30:23.038Z,1761676223.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773797,0.593232,0.222067],[-0.632636,-0.706182,-0.317930],[-0.031787,-0.386500,0.921741]] 2025-10-28T18:30:23.443Z,1761676223.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791118,0.572675,0.214884],[-0.610751,-0.720411,-0.328619],[-0.033387,-0.391217,0.919693]] 2025-10-28T18:30:23.846Z,1761676223.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808003,0.552178,0.205502],[-0.588137,-0.735199,-0.337011],[-0.035005,-0.393169,0.918800]] 2025-10-28T18:30:24.251Z,1761676224.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824704,0.530915,0.194917],[-0.564385,-0.750315,-0.344235],[-0.036510,-0.393900,0.918428]] 2025-10-28T18:30:24.656Z,1761676224.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841013,0.508823,0.183839],[-0.539711,-0.765483,-0.350355],[-0.037543,-0.393873,0.918398]] 2025-10-28T18:30:25.059Z,1761676225.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856846,0.485954,0.172230],[-0.514144,-0.780542,-0.355542],[-0.038344,-0.393196,0.918655]] 2025-10-28T18:30:25.465Z,1761676225.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872273,0.461913,0.160548],[-0.487475,-0.795260,-0.360457],[-0.038822,-0.392680,0.918855]] 2025-10-28T18:30:25.868Z,1761676225.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886518,0.437672,0.150099],[-0.461028,-0.808040,-0.366775],[-0.039241,-0.394353,0.918121]] 2025-10-28T18:30:26.273Z,1761676226.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900103,0.412858,0.139149],[-0.433828,-0.819950,-0.373464],[-0.040092,-0.396522,0.917149]] 2025-10-28T18:30:26.675Z,1761676226.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912826,0.387528,0.128730],[-0.406290,-0.830292,-0.381501],[-0.040959,-0.400546,0.915361]] 2025-10-28T18:30:27.079Z,1761676227.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924609,0.362333,0.117531],[-0.378572,-0.839890,-0.388930],[-0.042209,-0.404102,0.913739]] 2025-10-28T18:30:27.499Z,1761676227.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935533,0.337056,0.105696],[-0.350534,-0.848870,-0.395660],[-0.043637,-0.407203,0.912295]] 2025-10-28T18:30:27.887Z,1761676227.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945583,0.311522,0.093948],[-0.322253,-0.856674,-0.402819],[-0.045004,-0.411174,0.910445]] 2025-10-28T18:30:28.292Z,1761676228.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954650,0.286284,0.081768],[-0.294109,-0.864060,-0.408535],[-0.046305,-0.414056,0.909073]] 2025-10-28T18:30:28.699Z,1761676228.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962881,0.260909,0.069187],[-0.265707,-0.871020,-0.413187],[-0.047541,-0.416233,0.908014]] 2025-10-28T18:30:29.098Z,1761676229.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970032,0.236081,0.057485],[-0.238089,-0.876304,-0.418813],[-0.048499,-0.419948,0.906251]] 2025-10-28T18:30:29.521Z,1761676229.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976381,0.211440,0.044425],[-0.210287,-0.882802,-0.420048],[-0.049597,-0.419469,0.906414]] 2025-10-28T18:30:29.906Z,1761676229.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981881,0.186853,0.031559],[-0.182623,-0.888581,-0.420800],[-0.050585,-0.418939,0.906604]] 2025-10-28T18:30:30.310Z,1761676230.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986500,0.162623,0.019270],[-0.155487,-0.893218,-0.421883],[-0.051395,-0.419184,0.906445]] 2025-10-28T18:30:30.718Z,1761676230.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990402,0.138025,0.007333],[-0.128180,-0.897312,-0.422375],[-0.051718,-0.419261,0.906391]] 2025-10-28T18:30:31.120Z,1761676231.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993643,0.112481,-0.004728],[-0.099996,-0.901091,-0.421942],[-0.051721,-0.418787,0.906611]] 2025-10-28T18:30:31.562Z,1761676231.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996053,0.087170,-0.016728],[-0.072046,-0.904078,-0.421251],[-0.051844,-0.418383,0.906790]] 2025-10-28T18:30:31.927Z,1761676231.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997675,0.061984,-0.028334],[-0.044337,-0.906029,-0.420888],[-0.051760,-0.418653,0.906670]] 2025-10-28T18:30:32.331Z,1761676232.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998515,0.037401,-0.039620],[-0.017498,-0.908787,-0.416894],[-0.051598,-0.415581,0.908091]] 2025-10-28T18:30:32.745Z,1761676232.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998612,0.011401,-0.051428],[0.010717,-0.911910,-0.410251],[-0.051575,-0.410233,0.910521]] 2025-10-28T18:30:33.138Z,1761676233.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997932,-0.013719,-0.062797],[0.038088,-0.913179,-0.405776],[-0.051778,-0.407329,0.911813]] 2025-10-28T18:30:33.578Z,1761676233.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996451,-0.039495,-0.074340],[0.066223,-0.912970,-0.402616],[-0.051968,-0.406110,0.912345]] 2025-10-28T18:30:33.946Z,1761676233.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994251,-0.064236,-0.085663],[0.093459,-0.911045,-0.401576],[-0.052247,-0.407273,0.911811]] 2025-10-28T18:30:34.352Z,1761676234.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991134,-0.091041,-0.096775],[0.122102,-0.911307,-0.393206],[-0.052394,-0.401536,0.914343]] 2025-10-28T18:30:34.776Z,1761676234.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987022,-0.118351,-0.108535],[0.151626,-0.909439,-0.387209],[-0.052879,-0.398641,0.915581]] 2025-10-28T18:30:34.803Z,1761676234.803 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:30:34.804Z,1761676234.804 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:30:34.804Z,1761676234.804 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:30:34.804Z,1761676234.804 [marl:UpdateRudder:A] Stopped 2025-10-28T18:30:34.804Z,1761676234.804 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:30:34.804Z,1761676234.804 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode] Stopped 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:30:34.805Z,1761676234.805 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed] Stopped 2025-10-28T18:30:34.806Z,1761676234.806 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:30:35.159Z,1761676235.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981960,-0.145333,-0.120964],[0.181323,-0.905189,-0.384389],[-0.053631,-0.399388,0.915212]] 2025-10-28T18:30:35.198Z,1761676235.198 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:30:35.198Z,1761676235.198 [marl:UpdateRudder:B] Stopped 2025-10-28T18:30:35.199Z,1761676235.199 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:30:35.199Z,1761676235.199 [marl:UpdateRudder] Stopped 2025-10-28T18:30:35.199Z,1761676235.199 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:30:35.583Z,1761676235.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976083,-0.171603,-0.133473],[0.210543,-0.899141,-0.383689],[-0.054169,-0.402614,0.913766]] 2025-10-28T18:30:35.975Z,1761676235.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969185,-0.198114,-0.146398],[0.240091,-0.892671,-0.381437],[-0.055117,-0.404832,0.912728]] 2025-10-28T18:30:36.372Z,1761676236.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961129,-0.225091,-0.159892],[0.270267,-0.885415,-0.378147],[-0.056454,-0.406662,0.911833]] 2025-10-28T18:30:36.780Z,1761676236.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952265,-0.251595,-0.172891],[0.299720,-0.878080,-0.373020],[-0.057962,-0.407033,0.911573]] 2025-10-28T18:30:37.179Z,1761676237.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942328,-0.278757,-0.185235],[0.329448,-0.870125,-0.366534],[-0.059004,-0.406421,0.911779]] 2025-10-28T18:30:37.588Z,1761676237.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931381,-0.305943,-0.197300],[0.359073,-0.861306,-0.359468],[-0.059959,-0.405647,0.912061]] 2025-10-28T18:30:37.989Z,1761676237.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919358,-0.333180,-0.209218],[0.388644,-0.851752,-0.351389],[-0.061126,-0.404364,0.912553]] 2025-10-28T18:30:38.391Z,1761676238.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906323,-0.360074,-0.221190],[0.418040,-0.840507,-0.344660],[-0.061809,-0.404840,0.912296]] 2025-10-28T18:30:38.796Z,1761676238.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892461,-0.386192,-0.233174],[0.446734,-0.828509,-0.337640],[-0.062793,-0.405497,0.911937]] 2025-10-28T18:30:39.198Z,1761676239.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878030,-0.411638,-0.244165],[0.474337,-0.816423,-0.329330],[-0.063777,-0.404978,0.912099]] 2025-10-28T18:30:39.605Z,1761676239.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863066,-0.436004,-0.254986],[0.500892,-0.803786,-0.320991],[-0.065001,-0.404757,0.912111]] 2025-10-28T18:30:40.007Z,1761676240.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848065,-0.458574,-0.265511],[0.525693,-0.791065,-0.312831],[-0.066580,-0.404878,0.911943]] 2025-10-28T18:30:40.415Z,1761676240.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832141,-0.481174,-0.275706],[0.550345,-0.777737,-0.303720],[-0.068285,-0.404471,0.911998]] 2025-10-28T18:30:40.818Z,1761676240.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816040,-0.502322,-0.285921],[0.573719,-0.764016,-0.295171],[-0.070178,-0.404910,0.911660]] 2025-10-28T18:30:41.220Z,1761676241.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799372,-0.523976,-0.294029],[0.596574,-0.750358,-0.284714],[-0.071444,-0.403003,0.912406]] 2025-10-28T18:30:41.623Z,1761676241.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781542,-0.545319,-0.303018],[0.619654,-0.734820,-0.275806],[-0.072261,-0.403320,0.912201]] 2025-10-28T18:30:42.027Z,1761676242.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763433,-0.564661,-0.313572],[0.641816,-0.717643,-0.270298],[-0.072406,-0.407610,0.910281]] 2025-10-28T18:30:42.441Z,1761676242.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744704,-0.583955,-0.323130],[0.663502,-0.700016,-0.264088],[-0.071981,-0.411065,0.908760]] 2025-10-28T18:30:42.834Z,1761676242.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725197,-0.603669,-0.331169],[0.684840,-0.682192,-0.256141],[-0.071297,-0.412550,0.908140]] 2025-10-28T18:30:44.046Z,1761676244.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663739,-0.662805,-0.346612],[0.744794,-0.628297,-0.224778],[-0.068791,-0.407348,0.910679]] 2025-10-28T18:30:44.064Z,1761676244.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:30:44.458Z,1761676244.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641983,-0.681947,-0.350437],[0.763691,-0.609327,-0.213298],[-0.068073,-0.404560,0.911974]] 2025-10-28T18:30:44.858Z,1761676244.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619289,-0.700933,-0.353799],[0.782253,-0.589565,-0.201231],[-0.067538,-0.401380,0.913418]] 2025-10-28T18:30:45.068Z,1761676245.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:30:45.260Z,1761676245.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596079,-0.718458,-0.358480],[0.800078,-0.569049,-0.189890],[-0.067564,-0.400001,0.914021]] 2025-10-28T18:30:45.663Z,1761676245.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572211,-0.734560,-0.364686],[0.817258,-0.547771,-0.178984],[-0.068290,-0.400460,0.913766]] 2025-10-28T18:30:46.066Z,1761676246.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548034,-0.749916,-0.370520],[0.833597,-0.526247,-0.167867],[-0.069099,-0.400862,0.913529]] 2025-10-28T18:30:46.474Z,1761676246.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523758,-0.764312,-0.376171],[0.849019,-0.504435,-0.157202],[-0.069602,-0.401712,0.913117]] 2025-10-28T18:30:46.885Z,1761676246.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499060,-0.778639,-0.380343],[0.863738,-0.482395,-0.145779],[-0.069966,-0.401269,0.913284]] 2025-10-28T18:30:47.278Z,1761676247.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474115,-0.792319,-0.383987],[0.877667,-0.460026,-0.134451],[-0.070116,-0.400758,0.913497]] 2025-10-28T18:30:47.682Z,1761676247.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448405,-0.806043,-0.386300],[0.891045,-0.437199,-0.122050],[-0.070512,-0.398939,0.914262]] 2025-10-28T18:30:48.088Z,1761676248.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422529,-0.819325,-0.387524],[0.903590,-0.414134,-0.109625],[-0.070668,-0.396483,0.915318]] 2025-10-28T18:30:48.112Z,1761676248.112 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:30:48.112Z,1761676248.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:30:48.112Z,1761676248.112 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateRudder:A] Stopped 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:30:48.113Z,1761676248.113 [marl:UpdateCommandMode] Stopped 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed] Stopped 2025-10-28T18:30:48.114Z,1761676248.114 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:30:48.493Z,1761676248.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396015,-0.830463,-0.391795],[0.915511,-0.389985,-0.098745],[-0.070790,-0.397798,0.914738]] 2025-10-28T18:30:48.521Z,1761676248.521 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:30:48.521Z,1761676248.521 [marl:UpdateRudder:B] Stopped 2025-10-28T18:30:48.522Z,1761676248.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:30:48.522Z,1761676248.522 [marl:UpdateRudder] Stopped 2025-10-28T18:30:48.522Z,1761676248.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:30:48.899Z,1761676248.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368943,-0.839232,-0.399463],[0.926750,-0.364908,-0.089308],[-0.070817,-0.403152,0.912389]] 2025-10-28T18:30:49.299Z,1761676249.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341348,-0.846824,-0.407886],[0.937284,-0.339249,-0.080061],[-0.070578,-0.409633,0.909516]] 2025-10-28T18:30:49.703Z,1761676249.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313437,-0.853940,-0.415384],[0.947001,-0.313479,-0.070135],[-0.070323,-0.415352,0.906938]] 2025-10-28T18:30:50.107Z,1761676250.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285583,-0.861271,-0.420304],[0.955808,-0.287915,-0.059456],[-0.069805,-0.418710,0.905433]] 2025-10-28T18:30:50.511Z,1761676250.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258301,-0.869203,-0.421623],[0.963603,-0.262946,-0.048255],[-0.068921,-0.418742,0.905486]] 2025-10-28T18:30:50.915Z,1761676250.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231199,-0.877261,-0.420667],[0.970537,-0.238124,-0.036824],[-0.067866,-0.416786,0.906468]] 2025-10-28T18:30:51.318Z,1761676251.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204054,-0.885888,-0.416610],[0.976701,-0.213120,-0.025200],[-0.066463,-0.412045,0.908736]] 2025-10-28T18:30:51.725Z,1761676251.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176635,-0.894448,-0.410808],[0.982104,-0.187873,-0.013221],[-0.065354,-0.405792,0.911626]] 2025-10-28T18:30:52.127Z,1761676252.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149085,-0.902783,-0.403432],[0.986718,-0.162437,-0.001141],[-0.064502,-0.398244,0.915009]] 2025-10-28T18:30:52.530Z,1761676252.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121292,-0.910214,-0.395978],[0.990568,-0.136611,0.010599],[-0.063743,-0.390958,0.918199]] 2025-10-28T18:30:52.943Z,1761676252.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092911,-0.915053,-0.392487],[0.993669,-0.110225,0.021756],[-0.063170,-0.387980,0.919500]] 2025-10-28T18:30:53.338Z,1761676253.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062843,-0.918503,-0.390388],[0.996016,-0.082515,0.033806],[-0.063264,-0.386708,0.920030]] 2025-10-28T18:30:53.742Z,1761676253.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031796,-0.920274,-0.389980],[0.997457,-0.054116,0.046378],[-0.063785,-0.387514,0.919655]] 2025-10-28T18:30:54.147Z,1761676254.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001016,-0.920569,-0.390580],[0.997910,-0.026169,0.059084],[-0.064612,-0.389703,0.918671]] 2025-10-28T18:30:54.552Z,1761676254.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030056,-0.919971,-0.390832],[0.997378,0.001848,0.072351],[-0.065838,-0.391982,0.917614]] 2025-10-28T18:30:54.960Z,1761676254.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061451,-0.918169,-0.391395],[0.995818,0.029838,0.086352],[-0.067607,-0.395064,0.916163]] 2025-10-28T18:30:55.359Z,1761676255.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092349,-0.914351,-0.394252],[0.993304,0.056995,0.100488],[-0.069411,-0.400892,0.913492]] 2025-10-28T18:30:55.767Z,1761676255.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123091,-0.911557,-0.392316],[0.989841,0.084428,0.114396],[-0.071156,-0.402411,0.912689]] 2025-10-28T18:30:56.168Z,1761676256.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152798,-0.907246,-0.391864],[0.985587,0.110765,0.127864],[-0.072600,-0.405753,0.911095]] 2025-10-28T18:30:56.571Z,1761676256.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181956,-0.901787,-0.392010],[0.980537,0.136500,0.141120],[-0.073751,-0.410058,0.909073]] 2025-10-28T18:30:56.975Z,1761676256.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210024,-0.896569,-0.389942],[0.974861,0.161687,0.153308],[-0.074403,-0.412337,0.907988]] 2025-10-28T18:30:57.378Z,1761676257.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236984,-0.891996,-0.384944],[0.968670,0.186654,0.163828],[-0.074282,-0.411708,0.908283]] 2025-10-28T18:30:57.788Z,1761676257.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263154,-0.886464,-0.380698],[0.961938,0.210968,0.173687],[-0.073652,-0.411914,0.908241]] 2025-10-28T18:30:58.186Z,1761676258.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288857,-0.879926,-0.377216],[0.954625,0.234900,0.183066],[-0.072476,-0.412979,0.907852]] 2025-10-28T18:30:58.591Z,1761676258.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314412,-0.874253,-0.369900],[0.946618,0.259549,0.191179],[-0.071131,-0.410263,0.909189]] 2025-10-28T18:30:58.995Z,1761676258.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339328,-0.868990,-0.360157],[0.938105,0.284373,0.197715],[-0.069394,-0.404955,0.911699]] 2025-10-28T18:30:59.400Z,1761676259.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364500,-0.861282,-0.354025],[0.928739,0.308598,0.205453],[-0.067702,-0.403684,0.912390]] 2025-10-28T18:30:59.803Z,1761676259.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390294,-0.852032,-0.348871],[0.918310,0.333026,0.214011],[-0.066161,-0.403899,0.912408]] 2025-10-28T18:31:00.207Z,1761676260.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417182,-0.841565,-0.343114],[0.906488,0.358271,0.223430],[-0.065104,-0.404239,0.912333]] 2025-10-28T18:31:00.610Z,1761676260.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443004,-0.831627,-0.334880],[0.894201,0.383029,0.231716],[-0.064433,-0.402101,0.913325]] 2025-10-28T18:31:01.023Z,1761676261.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468381,-0.821510,-0.325178],[0.881196,0.407641,0.239419],[-0.064130,-0.398685,0.914843]] 2025-10-28T18:31:01.429Z,1761676261.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492861,-0.810291,-0.317042],[0.867743,0.430886,0.247706],[-0.064105,-0.397196,0.915492]] 2025-10-28T18:31:01.459Z,1761676261.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:31:01.460Z,1761676261.460 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:31:01.460Z,1761676261.460 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:31:01.461Z,1761676261.461 [marl:UpdateRudder:A] Stopped 2025-10-28T18:31:01.461Z,1761676261.461 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:31:01.461Z,1761676261.461 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:31:01.461Z,1761676261.461 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:31:01.461Z,1761676261.461 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateCommandMode] Stopped 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:31:01.462Z,1761676261.462 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:31:01.463Z,1761676261.463 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:31:01.463Z,1761676261.463 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:31:01.463Z,1761676261.463 [marl:UpdateSpeed] Stopped 2025-10-28T18:31:01.463Z,1761676261.463 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:31:01.822Z,1761676261.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517579,-0.796993,-0.311312],[0.853179,0.453171,0.258305],[-0.064790,-0.399298,0.914529]] 2025-10-28T18:31:01.879Z,1761676261.879 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:31:01.880Z,1761676261.880 [marl:UpdateRudder:B] Stopped 2025-10-28T18:31:01.880Z,1761676261.880 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:31:01.880Z,1761676261.880 [marl:UpdateRudder] Stopped 2025-10-28T18:31:01.880Z,1761676261.880 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:31:02.227Z,1761676262.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542098,-0.783504,-0.303729],[0.837741,0.475633,0.268258],[-0.065717,-0.399869,0.914213]] 2025-10-28T18:31:02.632Z,1761676262.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565980,-0.769791,-0.295107],[0.821770,0.498108,0.276735],[-0.066033,-0.399137,0.914511]] 2025-10-28T18:31:03.064Z,1761676263.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589045,-0.755435,-0.286956],[0.805390,0.519752,0.284963],[-0.066125,-0.398968,0.914577]] 2025-10-28T18:31:03.442Z,1761676263.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611668,-0.740306,-0.278944],[0.788350,0.540931,0.293083],[-0.066081,-0.399175,0.914490]] 2025-10-28T18:31:03.843Z,1761676263.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634621,-0.723037,-0.272899],[0.769985,0.561317,0.303391],[-0.066181,-0.402666,0.912951]] 2025-10-28T18:31:04.248Z,1761676264.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657941,-0.705183,-0.264253],[0.750118,0.582658,0.312781],[-0.066598,-0.404013,0.912326]] 2025-10-28T18:31:04.278Z,1761676264.278 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:31:04.301Z,1761676264.301 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:31:04.301Z,1761676264.301 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:31:04.553Z,1761676264.553 [DAT](INFO): DAT read: user:127> 2025-10-28T18:31:04.554Z,1761676264.554 [DAT](INFO): DAT read: Tx time:18:31:04.2940 2025-10-28T18:31:04.554Z,1761676264.554 [DAT](INFO): Ping request sent. 2025-10-28T18:31:04.554Z,1761676264.554 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:31:04.554Z,1761676264.554 [DAT](INFO): publishing transmit ping time 2025-10-28T18:31:04.555Z,1761676264.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T18:31:04.650Z,1761676264.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680977,-0.686863,-0.253948],[0.729228,0.604283,0.321043],[-0.067056,-0.403809,0.912382]] 2025-10-28T18:31:04.805Z,1761676264.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250849 2025-10-28T18:31:05.055Z,1761676265.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703677,-0.667688,-0.242964],[0.707286,0.625658,0.329088],[-0.067715,-0.403417,0.912507]] 2025-10-28T18:31:05.057Z,1761676265.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502941 2025-10-28T18:31:05.309Z,1761676265.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755062 2025-10-28T18:31:05.459Z,1761676265.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724893,-0.649249,-0.230231],[0.685504,0.646923,0.334028],[-0.067926,-0.399959,0.914013]] 2025-10-28T18:31:05.564Z,1761676265.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009144 2025-10-28T18:31:05.813Z,1761676265.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258934 2025-10-28T18:31:05.875Z,1761676265.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764012,-0.610686,-0.208202],[0.641537,0.684687,0.345881],[-0.068672,-0.397826,0.914887]] 2025-10-28T18:31:06.065Z,1761676266.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510936 2025-10-28T18:31:06.271Z,1761676266.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781739,-0.590876,-0.199373],[0.619791,0.700869,0.353046],[-0.068872,-0.399560,0.914116]] 2025-10-28T18:31:06.317Z,1761676266.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763355 2025-10-28T18:31:06.569Z,1761676266.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014893 2025-10-28T18:31:06.675Z,1761676266.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798302,-0.571248,-0.190761],[0.598292,0.715926,0.359856],[-0.068997,-0.401404,0.913298]] 2025-10-28T18:31:06.821Z,1761676266.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267005 2025-10-28T18:31:07.073Z,1761676267.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518915 2025-10-28T18:31:07.083Z,1761676267.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813753,-0.552104,-0.181626],[0.577106,0.730464,0.365199],[-0.068956,-0.401999,0.913040]] 2025-10-28T18:31:07.325Z,1761676267.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823 2025-10-28T18:31:07.482Z,1761676267.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828534,-0.532482,-0.173190],[0.555702,0.743964,0.371097],[-0.068756,-0.403709,0.912300]] 2025-10-28T18:31:07.577Z,1761676267.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023081 2025-10-28T18:31:07.829Z,1761676267.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856 2025-10-28T18:31:07.885Z,1761676267.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843070,-0.512470,-0.163118],[0.533424,0.758186,0.374983],[-0.068493,-0.403148,0.912568]] 2025-10-28T18:31:08.082Z,1761676268.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527544 2025-10-28T18:31:08.288Z,1761676268.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856981,-0.492229,-0.152626],[0.510808,0.772096,0.378079],[-0.068259,-0.401969,0.913105]] 2025-10-28T18:31:08.350Z,1761676268.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795494 2025-10-28T18:31:08.601Z,1761676268.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046881 2025-10-28T18:31:08.691Z,1761676268.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870622,-0.470822,-0.142631],[0.487169,0.784798,0.383089],[-0.068430,-0.403011,0.912633]] 2025-10-28T18:31:08.864Z,1761676268.864 [DAT](INFO): DAT read: Rx Time:18:31:08.2536 2025-10-28T18:31:08.864Z,1761676268.864 [DAT](INFO): Rx dataTimestamp_ set to:1761676268.864030 2025-10-28T18:31:08.865Z,1761676268.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.310876 2025-10-28T18:31:09.098Z,1761676269.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883841,-0.448527,-0.132848],[0.462725,0.796614,0.388962],[-0.068631,-0.405252,0.911625]] 2025-10-28T18:31:09.105Z,1761676269.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550979 2025-10-28T18:31:09.357Z,1761676269.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802864 2025-10-28T18:31:09.504Z,1761676269.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896765,-0.425180,-0.122618],[0.437181,0.808408,0.394143],[-0.068456,-0.407060,0.910832]] 2025-10-28T18:31:09.615Z,1761676269.615 [DAT](INFO): DAT read: 18:31:08.2536 LVL= 29920, 32753, 32754, 32755, AGC= 80, IDX= 485, 0.43, 2.013, 0.118, 0.480, 1.700, PHS= 0.414,-1.538,-1.264, RAW= 97.4, 24.8, CAL= 96.6, 30.7, ROT= 53.4, -30.7 2025-10-28T18:31:09.616Z,1761676269.616 [DAT](INFO): got valid direction response: 18:31:08.2536 LVL= 29920, 32753, 32754, 32755, AGC= 80, IDX= 485, 0.43, 2.013, 0.118, 0.480, 1.700, PHS= 0.414,-1.538,-1.264, RAW= 97.4, 24.8, CAL= 96.6, 30.7, ROT= 53.4, -30.7 2025-10-28T18:31:09.617Z,1761676269.617 [DAT](INFO): DAT read: Bearing 52, -21 (Remote) 2025-10-28T18:31:09.617Z,1761676269.617 [DAT](INFO): Remote Bearing received:Bearing 52, -21 (Remote) 2025-10-28T18:31:09.618Z,1761676269.618 [DAT](INFO): DAT read: Bearing 192.6, 22.8 (Local) 2025-10-28T18:31:09.619Z,1761676269.619 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 22.8 (Local) 2025-10-28T18:31:09.620Z,1761676269.620 [DAT](INFO): DAT read: Range 11 to 20 : 1447.8 m (Round-trip 1930.5 ms) speed 0.5 m/s 2025-10-28T18:31:09.621Z,1761676269.621 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:31:09.622Z,1761676269.622 [DAT](INFO): direction in FSK: [0.512665,0.690304,0.510543] 2025-10-28T18:31:09.622Z,1761676269.622 [DAT](INFO): publishing direction and range info 2025-10-28T18:31:09.731Z,1761676269.731 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676288.00. Resetting abort timer. 2025-10-28T18:31:09.914Z,1761676269.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909060,-0.401044,-0.113021],[0.411138,0.819333,0.399574],[-0.067645,-0.409704,0.909707]] 2025-10-28T18:31:10.306Z,1761676270.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921128,-0.375240,-0.103532],[0.383573,0.829674,0.405602],[-0.066300,-0.413324,0.908167]] 2025-10-28T18:31:10.710Z,1761676270.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932415,-0.348953,-0.093987],[0.355613,0.839630,0.410561],[-0.064352,-0.416236,0.906976]] 2025-10-28T18:31:11.122Z,1761676271.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942835,-0.322421,-0.084304],[0.327462,0.849316,0.414041],[-0.061895,-0.417979,0.906346]] 2025-10-28T18:31:11.580Z,1761676271.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952257,-0.296086,-0.074435],[0.299453,0.858356,0.416596],[-0.059457,-0.418996,0.906039]] 2025-10-28T18:31:11.927Z,1761676271.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961113,-0.268691,-0.063778],[0.270186,0.867150,0.418391],[-0.057113,-0.419353,0.906025]] 2025-10-28T18:31:12.329Z,1761676272.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968873,-0.242014,-0.052095],[0.241323,0.876396,0.416766],[-0.055208,-0.416365,0.907520]] 2025-10-28T18:31:12.730Z,1761676272.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975590,-0.215842,-0.040460],[0.212906,0.884503,0.415121],[-0.053814,-0.413602,0.908866]] 2025-10-28T18:31:13.134Z,1761676273.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981382,-0.189922,-0.028605],[0.184624,0.891793,0.413062],[-0.052940,-0.410653,0.910254]] 2025-10-28T18:31:13.588Z,1761676273.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986118,-0.165160,-0.017122],[0.157493,0.897675,0.411552],[-0.052601,-0.408535,0.911226]] 2025-10-28T18:31:13.944Z,1761676273.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990111,-0.140177,-0.005467],[0.130113,0.903061,0.409330],[-0.052442,-0.405994,0.912370]] 2025-10-28T18:31:14.346Z,1761676274.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993299,-0.115415,0.006035],[0.102953,0.907365,0.407540],[-0.052512,-0.404188,0.913168]] 2025-10-28T18:31:14.753Z,1761676274.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995747,-0.090470,0.017436],[0.075594,0.910409,0.406743],[-0.052672,-0.403695,0.913376]] 2025-10-28T18:31:14.795Z,1761676274.795 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:31:14.795Z,1761676274.795 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:31:14.796Z,1761676274.796 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:31:14.796Z,1761676274.796 [marl:UpdateRudder:A] Stopped 2025-10-28T18:31:14.796Z,1761676274.796 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:31:14.796Z,1761676274.796 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:31:14.796Z,1761676274.796 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateCommandMode] Stopped 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:31:14.797Z,1761676274.797 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:31:14.798Z,1761676274.798 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:31:14.798Z,1761676274.798 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:31:14.798Z,1761676274.798 [marl:UpdateSpeed] Stopped 2025-10-28T18:31:14.798Z,1761676274.798 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:31:15.157Z,1761676275.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997480,-0.064811,0.028863],[0.047551,0.912642,0.405985],[-0.052654,-0.403590,0.913424]] 2025-10-28T18:31:15.181Z,1761676275.181 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:31:15.181Z,1761676275.181 [marl:UpdateRudder:B] Stopped 2025-10-28T18:31:15.181Z,1761676275.181 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:31:15.181Z,1761676275.181 [marl:UpdateRudder] Stopped 2025-10-28T18:31:15.181Z,1761676275.181 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:31:15.188Z,1761676275.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:31:15.587Z,1761676275.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998440,-0.038583,0.040367],[0.018824,0.913142,0.407206],[-0.052572,-0.405811,0.912444]] 2025-10-28T18:31:15.963Z,1761676275.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998530,-0.011486,0.052969],[-0.011199,0.912471,0.408988],[-0.053030,-0.408980,0.911001]] 2025-10-28T18:31:16.192Z,1761676276.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:31:16.366Z,1761676276.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997687,0.016138,0.066025],[-0.041827,0.911460,0.409256],[-0.053575,-0.411072,0.910027]] 2025-10-28T18:31:16.777Z,1761676276.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995859,0.044340,0.079361],[-0.073083,0.909675,0.408840],[-0.054065,-0.412947,0.909149]] 2025-10-28T18:31:17.178Z,1761676277.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993093,0.072057,0.092594],[-0.103809,0.907407,0.407230],[-0.054677,-0.414029,0.908620]] 2025-10-28T18:31:17.585Z,1761676277.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989417,0.099297,0.105798],[-0.134181,0.903634,0.406744],[-0.055214,-0.416636,0.907395]] 2025-10-28T18:31:17.982Z,1761676277.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984786,0.126725,0.118903],[-0.164712,0.898780,0.406281],[-0.055382,-0.419684,0.905979]] 2025-10-28T18:31:18.395Z,1761676278.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979256,0.153897,0.131807],[-0.194925,0.893121,0.405389],[-0.055332,-0.422672,0.904592]] 2025-10-28T18:31:18.792Z,1761676278.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972815,0.180802,0.144710],[-0.224944,0.886272,0.404873],[-0.055050,-0.426418,0.902849]] 2025-10-28T18:31:19.195Z,1761676279.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965357,0.208127,0.157385],[-0.255157,0.879161,0.402456],[-0.054605,-0.428671,0.901809]] 2025-10-28T18:31:19.599Z,1761676279.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956883,0.236170,0.169114],[-0.285391,0.872821,0.395899],[-0.054107,-0.427093,0.902588]] 2025-10-28T18:31:20.004Z,1761676280.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947540,0.263958,0.180263],[-0.315122,0.865889,0.388502],[-0.053540,-0.424926,0.903643]] 2025-10-28T18:31:20.414Z,1761676280.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937357,0.291298,0.191071],[-0.344327,0.858023,0.381099],[-0.052930,-0.423016,0.904575]] 2025-10-28T18:31:20.811Z,1761676280.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926497,0.317674,0.201710],[-0.372656,0.849008,0.374582],[-0.052259,-0.422218,0.904987]] 2025-10-28T18:31:21.216Z,1761676281.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914883,0.343775,0.211678],[-0.400382,0.839877,0.366471],[-0.051800,-0.420031,0.906030]] 2025-10-28T18:31:21.623Z,1761676281.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902715,0.369080,0.221099],[-0.427147,0.830326,0.357917],[-0.051485,-0.417539,0.907199]] 2025-10-28T18:31:22.025Z,1761676282.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890314,0.392833,0.230266],[-0.452449,0.820159,0.350186],[-0.051290,-0.415959,0.907936]] 2025-10-28T18:31:22.426Z,1761676282.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877284,0.415198,0.240799],[-0.477229,0.808116,0.345254],[-0.051245,-0.417802,0.907092]] 2025-10-28T18:31:22.831Z,1761676282.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863603,0.436865,0.251672],[-0.501561,0.795170,0.340796],[-0.051240,-0.420541,0.905825]] 2025-10-28T18:31:23.237Z,1761676283.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849282,0.457805,0.262934],[-0.525444,0.781339,0.336776],[-0.051263,-0.424174,0.904128]] 2025-10-28T18:31:23.638Z,1761676283.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834001,0.478860,0.274109],[-0.549409,0.766556,0.332477],[-0.050910,-0.427884,0.902399]] 2025-10-28T18:31:24.042Z,1761676284.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817361,0.500904,0.284634],[-0.573912,0.751182,0.326115],[-0.050460,-0.429909,0.901461]] 2025-10-28T18:31:24.447Z,1761676284.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799169,0.523459,0.295498],[-0.599027,0.734377,0.319149],[-0.049945,-0.432065,0.900458]] 2025-10-28T18:31:24.850Z,1761676284.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779583,0.546469,0.305977],[-0.624357,0.716549,0.311024],[-0.049283,-0.433508,0.899801]] 2025-10-28T18:31:25.254Z,1761676285.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758565,0.570699,0.314455],[-0.649773,0.698615,0.299554],[-0.048728,-0.431555,0.900769]] 2025-10-28T18:31:25.660Z,1761676285.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736764,0.595162,0.320877],[-0.674402,0.680940,0.285487],[-0.048587,-0.426736,0.903070]] 2025-10-28T18:31:26.062Z,1761676286.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714344,0.619042,0.326344],[-0.698127,0.662580,0.271304],[-0.048280,-0.421634,0.905480]] 2025-10-28T18:31:26.466Z,1761676286.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691144,0.642713,0.330516],[-0.721120,0.643669,0.256276],[-0.048031,-0.415465,0.908340]] 2025-10-28T18:31:26.878Z,1761676286.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667381,0.665340,0.334552],[-0.743188,0.623791,0.241983],[-0.047690,-0.410130,0.910779]] 2025-10-28T18:31:27.275Z,1761676287.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644151,0.685797,0.338749],[-0.763412,0.604012,0.228851],[-0.047663,-0.406020,0.912620]] 2025-10-28T18:31:27.681Z,1761676287.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621284,0.704718,0.342606],[-0.782138,0.584279,0.216512],[-0.047597,-0.402481,0.914190]] 2025-10-28T18:31:28.083Z,1761676288.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599245,0.722493,0.344831],[-0.799164,0.565338,0.204279],[-0.047356,-0.397990,0.916167]] 2025-10-28T18:31:28.120Z,1761676288.120 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:31:28.120Z,1761676288.120 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateRudder:A] Stopped 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:31:28.121Z,1761676288.121 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateCommandMode] Stopped 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:31:28.122Z,1761676288.122 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:31:28.123Z,1761676288.123 [marl:UpdateSpeed] Stopped 2025-10-28T18:31:28.123Z,1761676288.123 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:31:28.487Z,1761676288.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578148,0.736958,0.350196],[-0.814572,0.546086,0.195607],[-0.047083,-0.398350,0.916024]] 2025-10-28T18:31:28.541Z,1761676288.541 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:31:28.541Z,1761676288.541 [marl:UpdateRudder:B] Stopped 2025-10-28T18:31:28.541Z,1761676288.541 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:31:28.541Z,1761676288.541 [marl:UpdateRudder] Stopped 2025-10-28T18:31:28.541Z,1761676288.541 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:31:28.896Z,1761676288.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557428,0.749724,0.356634],[-0.828942,0.526473,0.188896],[-0.046138,-0.400925,0.914948]] 2025-10-28T18:31:29.297Z,1761676289.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537097,0.761507,0.362813],[-0.842338,0.506963,0.182908],[-0.044647,-0.403850,0.913735]] 2025-10-28T18:31:29.699Z,1761676289.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516831,0.771942,0.370124],[-0.855022,0.487014,0.178198],[-0.042697,-0.408562,0.911731]] 2025-10-28T18:31:30.102Z,1761676290.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496730,0.781137,0.378265],[-0.866959,0.466931,0.174237],[-0.040521,-0.414489,0.909152]] 2025-10-28T18:31:30.507Z,1761676290.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476446,0.789882,0.386115],[-0.878366,0.446796,0.169841],[-0.038360,-0.420071,0.906680]] 2025-10-28T18:31:30.912Z,1761676290.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455957,0.797762,0.394561],[-0.889236,0.426732,0.164798],[-0.036902,-0.425999,0.903971]] 2025-10-28T18:31:31.314Z,1761676291.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435157,0.805686,0.401881],[-0.899621,0.407107,0.157945],[-0.036355,-0.430271,0.901967]] 2025-10-28T18:31:31.719Z,1761676291.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413303,0.813709,0.408728],[-0.909856,0.387097,0.149394],[-0.036654,-0.433629,0.900346]] 2025-10-28T18:31:32.123Z,1761676292.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389114,0.822742,0.414350],[-0.920429,0.365516,0.138595],[-0.037423,-0.435310,0.899503]] 2025-10-28T18:31:32.527Z,1761676292.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362878,0.832793,0.418062],[-0.931053,0.342427,0.126028],[-0.038201,-0.434971,0.899634]] 2025-10-28T18:31:32.931Z,1761676292.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333746,0.843909,0.420037],[-0.941870,0.316800,0.111884],[-0.038648,-0.432961,0.900584]] 2025-10-28T18:31:33.335Z,1761676293.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302882,0.856437,0.418065],[-0.952220,0.290014,0.095755],[-0.039236,-0.427092,0.903356]] 2025-10-28T18:31:33.739Z,1761676293.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271307,0.869302,0.413166],[-0.961689,0.262377,0.079454],[-0.039336,-0.418894,0.907183]] 2025-10-28T18:31:34.143Z,1761676294.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239229,0.882023,0.405963],[-0.970185,0.233875,0.063585],[-0.038861,-0.409070,0.911675]] 2025-10-28T18:31:34.548Z,1761676294.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207026,0.893350,0.398831],[-0.977605,0.204647,0.049063],[-0.037789,-0.400057,0.915711]] 2025-10-28T18:31:34.951Z,1761676294.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175984,0.902112,0.393985],[-0.983724,0.175922,0.036595],[-0.036298,-0.394012,0.918388]] 2025-10-28T18:31:35.359Z,1761676295.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146755,0.906942,0.394865],[-0.988553,0.148596,0.026105],[-0.035000,-0.394176,0.918368]] 2025-10-28T18:31:35.763Z,1761676295.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118866,0.908748,0.400061],[-0.992325,0.122561,0.016438],[-0.034094,-0.398944,0.916341]] 2025-10-28T18:31:36.164Z,1761676296.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091283,0.909541,0.405467],[-0.995262,0.097018,0.006433],[-0.033487,-0.404133,0.914087]] 2025-10-28T18:31:36.567Z,1761676296.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063322,0.910153,0.409405],[-0.997441,0.071363,-0.004375],[-0.033198,-0.408080,0.912342]] 2025-10-28T18:31:36.971Z,1761676296.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034399,0.910698,0.411639],[-0.998863,0.044932,-0.015936],[-0.033008,-0.410622,0.911208]] 2025-10-28T18:31:37.383Z,1761676297.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003845,0.911281,0.411767],[-0.999462,0.016916,-0.028105],[-0.032577,-0.411438,0.910856]] 2025-10-28T18:31:37.791Z,1761676297.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027580,0.910692,0.412164],[-0.999113,-0.011984,-0.040378],[-0.031832,-0.412912,0.910214]] 2025-10-28T18:31:38.182Z,1761676298.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059080,0.908719,0.413205],[-0.997781,-0.041023,-0.052445],[-0.030707,-0.415387,0.909126]] 2025-10-28T18:31:38.587Z,1761676298.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089345,0.905639,0.414530],[-0.995575,-0.069031,-0.063764],[-0.029132,-0.418393,0.907799]] 2025-10-28T18:31:38.991Z,1761676298.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118056,0.901309,0.416779],[-0.992643,-0.095753,-0.074102],[-0.026880,-0.422461,0.905982]] 2025-10-28T18:31:39.396Z,1761676299.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143951,0.895633,0.420856],[-0.989285,-0.119778,-0.083477],[-0.024355,-0.428363,0.903278]] 2025-10-28T18:31:39.798Z,1761676299.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167720,0.889804,0.424404],[-0.985608,-0.142108,-0.091560],[-0.021159,-0.433652,0.900832]] 2025-10-28T18:31:40.203Z,1761676300.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188444,0.883153,0.429569],[-0.981920,-0.161436,-0.098852],[-0.017953,-0.440430,0.897607]] 2025-10-28T18:31:40.608Z,1761676300.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208524,0.877084,0.432714],[-0.977899,-0.180103,-0.106189],[-0.015203,-0.445294,0.895256]] 2025-10-28T18:31:41.011Z,1761676301.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228363,0.872549,0.431866],[-0.973492,-0.198832,-0.113042],[-0.012765,-0.446233,0.894826]] 2025-10-28T18:31:41.415Z,1761676301.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249082,0.868832,0.427890],[-0.968427,-0.218695,-0.119678],[-0.010403,-0.444189,0.895873]] 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateRudder:A] Stopped 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:31:41.459Z,1761676301.459 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:31:41.460Z,1761676301.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:31:41.464Z,1761676301.464 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:31:41.464Z,1761676301.464 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:31:41.464Z,1761676301.464 [marl:UpdateCommandMode] Stopped 2025-10-28T18:31:41.464Z,1761676301.464 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed] Stopped 2025-10-28T18:31:41.465Z,1761676301.465 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:31:41.822Z,1761676301.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271826,0.866104,0.419492],[-0.962314,-0.241069,-0.125846],[-0.007869,-0.437891,0.898993]] 2025-10-28T18:31:41.898Z,1761676301.898 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:31:41.899Z,1761676301.899 [marl:UpdateRudder:B] Stopped 2025-10-28T18:31:41.899Z,1761676301.899 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:31:41.900Z,1761676301.900 [marl:UpdateRudder] Stopped 2025-10-28T18:31:41.912Z,1761676301.912 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:31:42.224Z,1761676302.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296503,0.862933,0.409184],[-0.955015,-0.265354,-0.132415],[-0.005686,-0.430039,0.902793]] 2025-10-28T18:31:42.628Z,1761676302.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322518,0.857890,0.400009],[-0.946557,-0.290690,-0.139750],[-0.003612,-0.423703,0.905794]] 2025-10-28T18:31:43.030Z,1761676303.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350303,0.851691,0.389757],[-0.936635,-0.317923,-0.147104],[-0.001374,-0.416591,0.909093]] 2025-10-28T18:31:43.434Z,1761676303.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378519,0.843592,0.380889],[-0.925593,-0.345217,-0.155249],[0.000523,-0.411313,0.911494]] 2025-10-28T18:31:43.851Z,1761676303.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407339,0.833533,0.373226],[-0.913274,-0.372814,-0.164134],[0.002333,-0.407716,0.913106]] 2025-10-28T18:31:44.243Z,1761676304.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436569,0.821795,0.366143],[-0.899661,-0.400673,-0.173411],[0.004195,-0.405111,0.914258]] 2025-10-28T18:31:44.646Z,1761676304.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465179,0.808481,0.360509],[-0.885195,-0.427675,-0.183094],[0.006153,-0.404293,0.914609]] 2025-10-28T18:31:45.051Z,1761676305.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492334,0.793904,0.356824],[-0.870369,-0.452866,-0.193314],[0.008121,-0.405744,0.913951]] 2025-10-28T18:31:45.455Z,1761676305.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518419,0.777679,0.355609],[-0.855064,-0.476453,-0.204592],[0.010324,-0.410133,0.911967]] 2025-10-28T18:31:45.869Z,1761676305.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543058,0.761952,0.352870],[-0.839599,-0.499068,-0.214487],[0.012678,-0.412748,0.910757]] 2025-10-28T18:31:46.263Z,1761676306.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565941,0.747152,0.348533],[-0.824312,-0.520407,-0.222903],[0.014836,-0.413450,0.910406]] 2025-10-28T18:31:46.312Z,1761676306.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:31:46.666Z,1761676306.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588115,0.731538,0.344926],[-0.808589,-0.541022,-0.231255],[0.017441,-0.414908,0.909696]] 2025-10-28T18:31:47.070Z,1761676307.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609523,0.715843,0.340663],[-0.792520,-0.560975,-0.239206],[0.019870,-0.415784,0.909246]] 2025-10-28T18:31:47.316Z,1761676307.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:31:47.475Z,1761676307.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630125,0.699961,0.336150],[-0.776176,-0.580170,-0.246888],[0.022212,-0.416481,0.908873]] 2025-10-28T18:31:47.883Z,1761676307.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649849,0.683335,0.332791],[-0.759680,-0.597867,-0.255817],[0.024156,-0.419057,0.907639]] 2025-10-28T18:31:48.283Z,1761676308.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669218,0.666276,0.328974],[-0.742604,-0.615295,-0.264483],[0.026197,-0.421294,0.906546]] 2025-10-28T18:31:48.691Z,1761676308.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688235,0.648420,0.325398],[-0.724938,-0.632118,-0.273663],[0.028241,-0.424238,0.905110]] 2025-10-28T18:31:49.091Z,1761676309.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706821,0.630189,0.321351],[-0.706752,-0.648437,-0.282897],[0.030098,-0.427073,0.903716]] 2025-10-28T18:31:49.501Z,1761676309.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724480,0.613087,0.315045],[-0.688565,-0.664745,-0.289814],[0.031743,-0.426893,0.903745]] 2025-10-28T18:31:49.899Z,1761676309.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741805,0.596354,0.306737],[-0.669791,-0.681532,-0.294778],[0.033259,-0.424117,0.904996]] 2025-10-28T18:31:50.302Z,1761676310.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759180,0.579016,0.297299],[-0.649948,-0.698840,-0.298648],[0.034843,-0.419956,0.906875]] 2025-10-28T18:31:50.717Z,1761676310.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792797,0.542475,0.277838],[-0.608322,-0.732446,-0.305725],[0.037653,-0.411393,0.910680]] 2025-10-28T18:31:51.118Z,1761676311.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809078,0.521706,0.270585],[-0.586403,-0.747227,-0.312704],[0.039048,-0.411674,0.910494]] 2025-10-28T18:31:51.546Z,1761676311.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825076,0.500161,0.262849],[-0.563592,-0.761591,-0.319910],[0.040177,-0.412090,0.910257]] 2025-10-28T18:31:51.923Z,1761676311.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840425,0.477965,0.255412],[-0.540363,-0.774875,-0.327988],[0.041146,-0.413664,0.909499]] 2025-10-28T18:31:52.331Z,1761676312.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855311,0.455652,0.246626],[-0.516414,-0.788270,-0.334586],[0.041954,-0.413536,0.909521]] 2025-10-28T18:31:52.737Z,1761676312.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869376,0.433146,0.237846],[-0.492293,-0.800890,-0.340915],[0.042823,-0.413473,0.909509]] 2025-10-28T18:31:53.131Z,1761676313.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883141,0.409485,0.228877],[-0.467022,-0.813428,-0.346734],[0.044192,-0.413106,0.909610]] 2025-10-28T18:31:53.573Z,1761676313.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896133,0.384815,0.221051],[-0.441438,-0.824109,-0.354932],[0.045587,-0.415646,0.908383]] 2025-10-28T18:31:53.942Z,1761676313.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908345,0.360542,0.211941],[-0.415592,-0.834884,-0.360903],[0.046826,-0.415906,0.908201]] 2025-10-28T18:31:54.353Z,1761676314.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919992,0.335418,0.202754],[-0.388960,-0.844983,-0.367035],[0.048213,-0.416532,0.907842]] 2025-10-28T18:31:54.748Z,1761676314.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930700,0.310466,0.193415],[-0.362431,-0.854139,-0.372948],[0.049415,-0.417202,0.907469]] 2025-10-28T18:31:54.797Z,1761676314.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:31:54.797Z,1761676314.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:31:54.797Z,1761676314.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateRudder:A] Stopped 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:31:54.798Z,1761676314.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateCommandMode] Stopped 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:31:54.799Z,1761676314.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:31:54.800Z,1761676314.800 [marl:UpdateSpeed] Stopped 2025-10-28T18:31:54.800Z,1761676314.800 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:31:55.151Z,1761676315.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940418,0.286121,0.183709],[-0.336259,-0.862738,-0.377642],[0.050442,-0.416915,0.907545]] 2025-10-28T18:31:55.192Z,1761676315.192 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:31:55.192Z,1761676315.192 [marl:UpdateRudder:B] Stopped 2025-10-28T18:31:55.192Z,1761676315.192 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:31:55.192Z,1761676315.192 [marl:UpdateRudder] Stopped 2025-10-28T18:31:55.192Z,1761676315.192 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:31:55.578Z,1761676315.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949301,0.262299,0.173280],[-0.310227,-0.870801,-0.381399],[0.050851,-0.415818,0.908025]] 2025-10-28T18:31:55.966Z,1761676315.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957205,0.239351,0.162696],[-0.284857,-0.878515,-0.383495],[0.051142,-0.413428,0.909099]] 2025-10-28T18:31:56.363Z,1761676316.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964472,0.216003,0.152107],[-0.259165,-0.885293,-0.386120],[0.051256,-0.411823,0.909821]] 2025-10-28T18:31:56.775Z,1761676316.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970964,0.192668,0.141806],[-0.233646,-0.891044,-0.389165],[0.051376,-0.410998,0.910188]] 2025-10-28T18:31:57.173Z,1761676317.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976835,0.169148,0.131079],[-0.207695,-0.896917,-0.390388],[0.051533,-0.408569,0.911272]] 2025-10-28T18:31:57.583Z,1761676317.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982005,0.145141,0.120834],[-0.181575,-0.901551,-0.392730],[0.051936,-0.407603,0.911681]] 2025-10-28T18:31:57.979Z,1761676317.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986503,0.120438,0.110938],[-0.155105,-0.904476,-0.397324],[0.052488,-0.409168,0.910948]] 2025-10-28T18:31:58.383Z,1761676318.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990323,0.095026,0.101150],[-0.128043,-0.906741,-0.401777],[0.053537,-0.410840,0.910134]] 2025-10-28T18:31:58.791Z,1761676318.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993387,0.069816,0.091148],[-0.101110,-0.908086,-0.406393],[0.054398,-0.412922,0.909140]] 2025-10-28T18:31:59.190Z,1761676319.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995681,0.045016,0.081194],[-0.074580,-0.908682,-0.410773],[0.055289,-0.415054,0.908115]] 2025-10-28T18:31:59.595Z,1761676319.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997276,0.020061,0.070974],[-0.047778,-0.908816,-0.414453],[0.056188,-0.416715,0.907299]] 2025-10-28T18:31:59.998Z,1761676319.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998164,-0.005107,0.060361],[-0.020505,-0.909132,-0.416002],[0.057001,-0.416476,0.907358]] 2025-10-28T18:32:00.405Z,1761676320.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998334,-0.029263,0.049724],[0.006044,-0.910135,-0.414268],[0.057378,-0.413277,0.908796]] 2025-10-28T18:32:00.807Z,1761676320.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997810,-0.053586,0.038772],[0.032801,-0.909937,-0.413448],[0.057435,-0.411271,0.909702]] 2025-10-28T18:32:01.211Z,1761676321.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996609,-0.077449,0.027790],[0.059338,-0.910445,-0.409352],[0.057005,-0.406315,0.911953]] 2025-10-28T18:32:01.615Z,1761676321.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994674,-0.101688,0.016817],[0.086144,-0.909786,-0.406040],[0.056590,-0.402429,0.913701]] 2025-10-28T18:32:02.026Z,1761676322.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992041,-0.125789,0.005696],[0.112722,-0.907328,-0.405031],[0.056116,-0.401166,0.914285]] 2025-10-28T18:32:02.422Z,1761676322.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988726,-0.149641,-0.005415],[0.139018,-0.903899,-0.404524],[0.055639,-0.400716,0.914511]] 2025-10-28T18:32:02.835Z,1761676322.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984520,-0.174474,-0.016725],[0.166283,-0.899588,-0.403845],[0.055415,-0.400374,0.914674]] 2025-10-28T18:32:03.231Z,1761676323.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979463,-0.199624,-0.028323],[0.193871,-0.893889,-0.404199],[0.055370,-0.401389,0.914232]] 2025-10-28T18:32:03.636Z,1761676323.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973534,-0.224938,-0.040437],[0.221695,-0.886464,-0.406242],[0.055533,-0.404455,0.912870]] 2025-10-28T18:32:04.038Z,1761676324.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966696,-0.250438,-0.052720],[0.249792,-0.878454,-0.407337],[0.055701,-0.406940,0.911755]] 2025-10-28T18:32:04.443Z,1761676324.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959010,-0.275921,-0.064564],[0.277768,-0.870214,-0.406906],[0.056089,-0.408161,0.911186]] 2025-10-28T18:32:04.488Z,1761676324.488 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:32:04.589Z,1761676324.589 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:32:04.589Z,1761676324.589 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:32:04.841Z,1761676324.841 [DAT](INFO): DAT read: user:128> 2025-10-28T18:32:04.842Z,1761676324.842 [DAT](INFO): DAT read: Tx time:18:32:04.5938 2025-10-28T18:32:04.842Z,1761676324.842 [DAT](INFO): Ping request sent. 2025-10-28T18:32:04.842Z,1761676324.842 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:32:04.843Z,1761676324.843 [DAT](INFO): publishing transmit ping time 2025-10-28T18:32:04.843Z,1761676324.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924 2025-10-28T18:32:04.854Z,1761676324.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950384,-0.301383,-0.077063],[0.305926,-0.860607,-0.407141],[0.056384,-0.410516,0.910109]] 2025-10-28T18:32:05.093Z,1761676325.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250397 2025-10-28T18:32:05.251Z,1761676325.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941048,-0.326352,-0.089011],[0.333511,-0.851106,-0.405450],[0.056562,-0.411234,0.909773]] 2025-10-28T18:32:05.345Z,1761676325.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502394 2025-10-28T18:32:05.597Z,1761676325.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754475 2025-10-28T18:32:05.654Z,1761676325.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930741,-0.351423,-0.101109],[0.361286,-0.840981,-0.402771],[0.056512,-0.411404,0.909699]] 2025-10-28T18:32:05.849Z,1761676325.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006335 2025-10-28T18:32:06.058Z,1761676326.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919769,-0.375589,-0.113837],[0.388505,-0.830275,-0.399633],[0.055582,-0.411797,0.909579]] 2025-10-28T18:32:06.101Z,1761676326.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258447 2025-10-28T18:32:06.353Z,1761676326.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510326 2025-10-28T18:32:06.462Z,1761676326.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908259,-0.398836,-0.126474],[0.414909,-0.819515,-0.395280],[0.054005,-0.411491,0.909812]] 2025-10-28T18:32:06.605Z,1761676326.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762472 2025-10-28T18:32:06.857Z,1761676326.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014338 2025-10-28T18:32:06.875Z,1761676326.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896169,-0.421576,-0.138400],[0.440593,-0.808554,-0.390024],[0.052521,-0.410505,0.910345]] 2025-10-28T18:32:07.110Z,1761676327.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266961 2025-10-28T18:32:07.270Z,1761676327.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883044,-0.444445,-0.150668],[0.466544,-0.796727,-0.384138],[0.050687,-0.409504,0.910899]] 2025-10-28T18:32:07.361Z,1761676327.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518725 2025-10-28T18:32:07.613Z,1761676327.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770312 2025-10-28T18:32:07.674Z,1761676327.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869404,-0.466642,-0.162424],[0.491606,-0.783950,-0.379138],[0.049589,-0.409473,0.910973]] 2025-10-28T18:32:07.865Z,1761676327.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022387 2025-10-28T18:32:08.109Z,1761676328.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855088,-0.488546,-0.173631],[0.516184,-0.770642,-0.373718],[0.048772,-0.409187,0.911146]] 2025-10-28T18:32:08.117Z,1761676328.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274519 2025-10-28T18:32:08.156Z,1761676328.156 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:32:08.156Z,1761676328.156 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:32:08.156Z,1761676328.156 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:32:08.156Z,1761676328.156 [marl:UpdateRudder:A] Stopped 2025-10-28T18:32:08.156Z,1761676328.156 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode] Stopped 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:32:08.157Z,1761676328.157 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed] Stopped 2025-10-28T18:32:08.158Z,1761676328.158 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:32:08.369Z,1761676328.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526314 2025-10-28T18:32:08.484Z,1761676328.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839823,-0.511199,-0.182680],[0.540717,-0.757846,-0.365095],[0.048193,-0.405394,0.912871]] 2025-10-28T18:32:08.511Z,1761676328.511 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:32:08.511Z,1761676328.511 [marl:UpdateRudder:B] Stopped 2025-10-28T18:32:08.511Z,1761676328.511 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:32:08.511Z,1761676328.511 [marl:UpdateRudder] Stopped 2025-10-28T18:32:08.511Z,1761676328.511 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:32:08.621Z,1761676328.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778342 2025-10-28T18:32:08.873Z,1761676328.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030334 2025-10-28T18:32:08.888Z,1761676328.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823533,-0.533060,-0.194010],[0.565253,-0.742322,-0.359788],[0.047771,-0.405962,0.912640]] 2025-10-28T18:32:09.125Z,1761676329.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282313 2025-10-28T18:32:09.291Z,1761676329.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806443,-0.554440,-0.205536],[0.589358,-0.725433,-0.355534],[0.048020,-0.407852,0.911784]] 2025-10-28T18:32:09.378Z,1761676329.378 [DAT](INFO): DAT read: Rx Time:18:32:08.5436 2025-10-28T18:32:09.378Z,1761676329.378 [DAT](INFO): Rx dataTimestamp_ set to:1761676329.377809 2025-10-28T18:32:09.379Z,1761676329.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536098 2025-10-28T18:32:09.629Z,1761676329.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786374 2025-10-28T18:32:09.727Z,1761676329.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788577,-0.575268,-0.217284],[0.613025,-0.707589,-0.351451],[0.048430,-0.410347,0.910643]] 2025-10-28T18:32:09.887Z,1761676329.887 [DAT](INFO): DAT read: 18:32:08.5436 LVL= 29744, 32337, 12402, 32755, AGC= 70, IDX= 336,-0.04, 1.108, 1.060, 2.451, 1.370, PHS=-0.160,-0.265, 1.037, RAW= 205.8, -9.8, CAL= 205.2, -12.9, ROT= 304.8, 12.9 2025-10-28T18:32:09.891Z,1761676329.891 [DAT](INFO): got valid direction response: 18:32:08.5436 LVL= 29744, 32337, 12402, 32755, AGC= 70, IDX= 336,-0.04, 1.108, 1.060, 2.451, 1.370, PHS=-0.160,-0.265, 1.037, RAW= 205.8, -9.8, CAL= 205.2, -12.9, ROT= 304.8, 12.9 2025-10-28T18:32:09.905Z,1761676329.905 [DAT](INFO): DAT read: Bearing 57, -20 (Remote) 2025-10-28T18:32:09.905Z,1761676329.905 [DAT](INFO): Remote Bearing received:Bearing 57, -20 (Remote) 2025-10-28T18:32:09.906Z,1761676329.906 [DAT](INFO): DAT read: Bearing 209.0, -37.0 (Local) 2025-10-28T18:32:09.906Z,1761676329.906 [DAT](INFO): Local bearing/azimuth received: Bearing 209.0, -37.0 (Local) 2025-10-28T18:32:09.916Z,1761676329.916 [DAT](INFO): DAT read: Range 11 to 20 : 1440.5 m (Round-trip 1920.7 ms) speed 0.7 m/s 2025-10-28T18:32:09.917Z,1761676329.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:32:09.918Z,1761676329.918 [DAT](INFO): direction in FSK: [0.556309,-0.800425,-0.223250] 2025-10-28T18:32:09.918Z,1761676329.918 [DAT](INFO): publishing direction and range info 2025-10-28T18:32:10.149Z,1761676330.149 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676288.00. Resetting abort timer. 2025-10-28T18:32:10.503Z,1761676330.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750051,-0.616278,-0.240053],[0.659557,-0.670040,-0.340634],[0.049080,-0.413821,0.909034]] 2025-10-28T18:32:10.907Z,1761676330.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729325,-0.636655,-0.250509],[0.682448,-0.651034,-0.332294],[0.048467,-0.413310,0.909299]] 2025-10-28T18:32:11.319Z,1761676331.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708138,-0.655469,-0.262488],[0.704513,-0.631228,-0.324365],[0.046922,-0.414622,0.908783]] 2025-10-28T18:32:11.718Z,1761676331.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686492,-0.673819,-0.273308],[0.725746,-0.611699,-0.314828],[0.044955,-0.414479,0.908948]] 2025-10-28T18:32:12.119Z,1761676332.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665114,-0.690215,-0.285005],[0.745503,-0.591764,-0.306661],[0.043006,-0.416436,0.908147]] 2025-10-28T18:32:12.523Z,1761676332.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642920,-0.706283,-0.296340],[0.764827,-0.571204,-0.297937],[0.041157,-0.418199,0.907423]] 2025-10-28T18:32:12.927Z,1761676332.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620561,-0.720695,-0.309035],[0.783161,-0.549746,-0.290582],[0.039530,-0.422348,0.905571]] 2025-10-28T18:32:13.333Z,1761676333.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598270,-0.735112,-0.318880],[0.800389,-0.529317,-0.281427],[0.038091,-0.423597,0.905050]] 2025-10-28T18:32:13.734Z,1761676333.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575267,-0.750863,-0.324458],[0.817126,-0.509566,-0.269530],[0.037047,-0.420174,0.906687]] 2025-10-28T18:32:14.139Z,1761676334.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551946,-0.766647,-0.328038],[0.833092,-0.489867,-0.256882],[0.036243,-0.415070,0.909067]] 2025-10-28T18:32:14.543Z,1761676334.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527937,-0.783023,-0.328874],[0.848527,-0.469974,-0.243161],[0.035838,-0.407432,0.912532]] 2025-10-28T18:32:14.948Z,1761676334.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502545,-0.799021,-0.330172],[0.863823,-0.448387,-0.229694],[0.035485,-0.400642,0.915547]] 2025-10-28T18:32:15.350Z,1761676335.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475478,-0.813650,-0.334504],[0.879026,-0.424236,-0.217570],[0.035117,-0.397488,0.916935]] 2025-10-28T18:32:15.757Z,1761676335.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446539,-0.827868,-0.339468],[0.894085,-0.398061,-0.205326],[0.034854,-0.395199,0.917934]] 2025-10-28T18:32:16.158Z,1761676336.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416070,-0.840583,-0.346853],[0.908679,-0.369873,-0.193641],[0.034480,-0.395746,0.917713]] 2025-10-28T18:32:16.563Z,1761676336.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384139,-0.851957,-0.355819],[0.922644,-0.339978,-0.182052],[0.034130,-0.398227,0.916652]] 2025-10-28T18:32:16.967Z,1761676336.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351168,-0.862179,-0.365141],[0.935706,-0.309125,-0.169985],[0.033684,-0.401358,0.915302]] 2025-10-28T18:32:17.371Z,1761676337.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317650,-0.870594,-0.375720],[0.947643,-0.277801,-0.157477],[0.032723,-0.406071,0.913256]] 2025-10-28T18:32:17.436Z,1761676337.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:32:18.179Z,1761676338.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248392,-0.887189,-0.388840],[0.968232,-0.215475,-0.126875],[0.028776,-0.408002,0.912527]] 2025-10-28T18:32:18.440Z,1761676338.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:32:18.582Z,1761676338.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212852,-0.894989,-0.392032],[0.976749,-0.184390,-0.109369],[0.025597,-0.406196,0.913427]] 2025-10-28T18:32:18.989Z,1761676338.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177337,-0.900716,-0.396563],[0.983917,-0.153504,-0.091339],[0.021396,-0.406383,0.913452]] 2025-10-28T18:32:19.390Z,1761676339.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143528,-0.905501,-0.399335],[0.989508,-0.124558,-0.073208],[0.016549,-0.405653,0.913878]] 2025-10-28T18:32:19.801Z,1761676339.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111305,-0.908935,-0.401806],[0.993715,-0.096936,-0.055988],[0.011940,-0.405512,0.914012]] 2025-10-28T18:32:20.202Z,1761676340.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080701,-0.911540,-0.403214],[0.996710,-0.070732,-0.039585],[0.007563,-0.405082,0.914249]] 2025-10-28T18:32:20.605Z,1761676340.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051363,-0.911286,-0.408557],[0.998675,-0.045503,-0.024057],[0.003332,-0.409251,0.912416]] 2025-10-28T18:32:21.006Z,1761676341.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023473,-0.910937,-0.411878],[0.999724,-0.021442,-0.009553],[-0.000129,-0.411989,0.911189]] 2025-10-28T18:32:21.410Z,1761676341.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003640,-0.910187,-0.414182],[0.999988,0.002018,0.004354],[-0.003127,-0.414193,0.910184]] 2025-10-28T18:32:21.451Z,1761676341.451 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:32:21.451Z,1761676341.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:32:21.451Z,1761676341.451 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:32:21.456Z,1761676341.456 [marl:UpdateRudder:A] Stopped 2025-10-28T18:32:21.456Z,1761676341.456 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:32:21.456Z,1761676341.456 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:32:21.456Z,1761676341.456 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:32:21.456Z,1761676341.456 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateCommandMode] Stopped 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:32:21.457Z,1761676341.457 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:32:21.458Z,1761676341.458 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:32:21.458Z,1761676341.458 [marl:UpdateSpeed] Stopped 2025-10-28T18:32:21.458Z,1761676341.458 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:32:21.824Z,1761676341.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029799,-0.908516,-0.416785],[0.999541,0.024805,0.017392],[-0.005463,-0.417112,0.908839]] 2025-10-28T18:32:21.885Z,1761676341.885 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:32:21.885Z,1761676341.885 [marl:UpdateRudder:B] Stopped 2025-10-28T18:32:21.885Z,1761676341.885 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:32:21.886Z,1761676341.886 [marl:UpdateRudder] Stopped 2025-10-28T18:32:21.886Z,1761676341.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:32:22.218Z,1761676342.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055425,-0.906963,-0.417548],[0.998441,0.047594,0.029154],[-0.006569,-0.418513,0.908187]] 2025-10-28T18:32:22.623Z,1761676342.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080406,-0.904646,-0.418510],[0.996741,0.070207,0.039740],[-0.006568,-0.420341,0.907342]] 2025-10-28T18:32:23.029Z,1761676343.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105083,-0.902316,-0.418071],[0.994449,0.093094,0.049033],[-0.005323,-0.420903,0.907090]] 2025-10-28T18:32:23.430Z,1761676343.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129833,-0.899328,-0.417555],[0.991531,0.116384,0.057635],[-0.003236,-0.421501,0.906822]] 2025-10-28T18:32:23.839Z,1761676343.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155889,-0.896218,-0.415320],[0.987774,0.141039,0.066410],[-0.000942,-0.420595,0.907248]] 2025-10-28T18:32:24.239Z,1761676344.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183430,-0.892204,-0.412705],[0.983032,0.166963,0.075969],[0.001127,-0.419637,0.907691]] 2025-10-28T18:32:24.644Z,1761676344.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212399,-0.887020,-0.409978],[0.977179,0.193966,0.086589],[0.002715,-0.419013,0.907976]] 2025-10-28T18:32:25.064Z,1761676345.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242618,-0.881454,-0.405186],[0.970113,0.222220,0.097462],[0.004132,-0.416722,0.909024]] 2025-10-28T18:32:25.451Z,1761676345.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273240,-0.874887,-0.399890],[0.961930,0.250916,0.108316],[0.005575,-0.414262,0.910140]] 2025-10-28T18:32:25.855Z,1761676345.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303494,-0.867506,-0.394112],[0.952810,0.279192,0.119182],[0.006641,-0.411685,0.911302]] 2025-10-28T18:32:26.263Z,1761676346.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334247,-0.859566,-0.386556],[0.942462,0.307727,0.130652],[0.006650,-0.407984,0.912965]] 2025-10-28T18:32:26.662Z,1761676346.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364740,-0.850150,-0.379749],[0.931089,0.335738,0.142668],[0.006207,-0.405617,0.914022]] 2025-10-28T18:32:27.067Z,1761676347.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395566,-0.840329,-0.370642],[0.918422,0.364244,0.154359],[0.005292,-0.401465,0.915859]] 2025-10-28T18:32:27.471Z,1761676347.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425934,-0.828755,-0.362967],[0.904747,0.391699,0.167344],[0.003486,-0.399671,0.916652]] 2025-10-28T18:32:27.881Z,1761676347.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455381,-0.816699,-0.354444],[0.890296,0.418088,0.180484],[0.000787,-0.397749,0.917494]] 2025-10-28T18:32:28.290Z,1761676348.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483631,-0.804866,-0.343937],[0.875270,0.443909,0.191955],[-0.001821,-0.393873,0.919163]] 2025-10-28T18:32:28.682Z,1761676348.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511097,-0.791527,-0.335059],[0.859510,0.468542,0.204233],[-0.004667,-0.392369,0.919796]] 2025-10-28T18:32:29.086Z,1761676349.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537195,-0.777158,-0.327791],[0.843427,0.491605,0.216694],[-0.007261,-0.392875,0.919563]] 2025-10-28T18:32:29.498Z,1761676349.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562221,-0.762869,-0.319279],[0.826927,0.513947,0.228143],[-0.009951,-0.392287,0.919789]] 2025-10-28T18:32:29.894Z,1761676349.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586488,-0.747868,-0.311006],[0.809864,0.535618,0.239237],[-0.012337,-0.392182,0.919805]] 2025-10-28T18:32:30.302Z,1761676350.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610024,-0.732290,-0.302691],[0.792244,0.556520,0.250267],[-0.014815,-0.392474,0.919644]] 2025-10-28T18:32:30.703Z,1761676350.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633320,-0.714768,-0.296668],[0.773701,0.576325,0.263128],[-0.017099,-0.396177,0.918015]] 2025-10-28T18:32:31.106Z,1761676351.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656239,-0.697357,-0.288173],[0.754304,0.596477,0.274301],[-0.019397,-0.397377,0.917450]] 2025-10-28T18:32:31.527Z,1761676351.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678854,-0.679291,-0.278787],[0.733950,0.616465,0.285112],[-0.021811,-0.398165,0.917055]] 2025-10-28T18:32:31.914Z,1761676351.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701048,-0.660511,-0.268807],[0.712706,0.636214,0.295434],[-0.024118,-0.398694,0.916767]] 2025-10-28T18:32:32.322Z,1761676352.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722815,-0.641149,-0.257810],[0.690542,0.655961,0.304740],[-0.026271,-0.398299,0.916879]] 2025-10-28T18:32:32.722Z,1761676352.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743550,-0.620746,-0.248612],[0.668076,0.673831,0.315635],[-0.028407,-0.400782,0.915733]] 2025-10-28T18:32:33.128Z,1761676353.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763440,-0.599929,-0.239259],[0.645149,0.690721,0.326631],[-0.030694,-0.403721,0.914367]] 2025-10-28T18:32:33.577Z,1761676353.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799022,-0.560583,-0.217511],[0.600268,0.722419,0.343204],[-0.035260,-0.404792,0.913729]] 2025-10-28T18:32:34.339Z,1761676354.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814863,-0.541737,-0.206203],[0.578449,0.737049,0.349509],[-0.037361,-0.404079,0.913961]] 2025-10-28T18:32:34.742Z,1761676354.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829523,-0.522709,-0.196638],[0.557103,0.749859,0.356858],[-0.039082,-0.405570,0.913228]] 2025-10-28T18:32:34.814Z,1761676354.814 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:32:34.814Z,1761676354.814 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:32:34.814Z,1761676354.814 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:32:34.814Z,1761676354.814 [marl:UpdateRudder:A] Stopped 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode] Stopped 2025-10-28T18:32:34.815Z,1761676354.815 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:32:34.816Z,1761676354.816 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:32:34.820Z,1761676354.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:32:34.820Z,1761676354.820 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:32:34.820Z,1761676354.820 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:32:34.820Z,1761676354.820 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:32:34.821Z,1761676354.821 [marl:UpdateSpeed] Stopped 2025-10-28T18:32:34.821Z,1761676354.821 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:32:35.147Z,1761676355.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843417,-0.503656,-0.187026],[0.535739,0.762254,0.363252],[-0.040392,-0.406570,0.912726]] 2025-10-28T18:32:35.176Z,1761676355.176 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:32:35.176Z,1761676355.176 [marl:UpdateRudder:B] Stopped 2025-10-28T18:32:35.176Z,1761676355.176 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:32:35.176Z,1761676355.176 [marl:UpdateRudder] Stopped 2025-10-28T18:32:35.177Z,1761676355.177 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:32:35.580Z,1761676355.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870263,-0.462534,-0.169425],[0.490814,0.785058,0.377870],[-0.041770,-0.412003,0.910225]] 2025-10-28T18:32:36.365Z,1761676356.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883722,-0.440051,-0.159343],[0.466154,0.797323,0.383375],[-0.041657,-0.413076,0.909743]] 2025-10-28T18:32:36.781Z,1761676356.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909672,-0.391438,-0.138831],[0.413347,0.820650,0.394561],[-0.040514,-0.416306,0.908321]] 2025-10-28T18:32:37.173Z,1761676357.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922306,-0.365041,-0.126874],[0.384436,0.833064,0.397760],[-0.039505,-0.415632,0.908675]] 2025-10-28T18:32:37.585Z,1761676357.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934147,-0.337988,-0.114605],[0.354816,0.844969,0.400165],[-0.038413,-0.414477,0.909249]] 2025-10-28T18:32:37.979Z,1761676357.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944917,-0.311033,-0.101933],[0.325160,0.856395,0.401071],[-0.037451,-0.412124,0.910358]] 2025-10-28T18:32:38.381Z,1761676358.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954941,-0.283487,-0.087880],[0.294526,0.868588,0.398509],[-0.036641,-0.406436,0.912944]] 2025-10-28T18:32:38.797Z,1761676358.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964071,-0.255177,-0.073836],[0.263151,0.879396,0.396753],[-0.036311,-0.401929,0.914951]] 2025-10-28T18:32:39.186Z,1761676359.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972125,-0.226687,-0.059878],[0.231655,0.889230,0.394469],[-0.036176,-0.397345,0.916956]] 2025-10-28T18:32:39.591Z,1761676359.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979133,-0.197892,-0.046224],[0.199979,0.897811,0.392357],[-0.036144,-0.393414,0.918651]] 2025-10-28T18:32:39.994Z,1761676359.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984879,-0.169979,-0.033477],[0.169342,0.903770,0.393095],[-0.036563,-0.392820,0.918888]] 2025-10-28T18:32:40.400Z,1761676360.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989591,-0.142403,-0.020773],[0.139007,0.908509,0.394067],[-0.037244,-0.392853,0.918847]] 2025-10-28T18:32:40.805Z,1761676360.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993322,-0.115108,-0.007884],[0.108768,0.911431,0.396815],[-0.038490,-0.395023,0.917865]] 2025-10-28T18:32:41.206Z,1761676361.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996124,-0.087810,0.005156],[0.078400,0.912900,0.400582],[-0.039882,-0.398625,0.916246]] 2025-10-28T18:32:41.610Z,1761676361.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997945,-0.061527,0.017899],[0.049110,0.913828,0.403122],[-0.041160,-0.401414,0.914971]] 2025-10-28T18:32:42.014Z,1761676362.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998885,-0.035926,0.030641],[0.020406,0.913645,0.406000],[-0.042581,-0.404922,0.913359]] 2025-10-28T18:32:42.418Z,1761676362.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999007,-0.010583,0.043282],[-0.008078,0.912269,0.409511],[-0.043819,-0.409454,0.911278]] 2025-10-28T18:32:42.826Z,1761676362.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998348,0.014529,0.055583],[-0.036303,0.909401,0.414333],[-0.044527,-0.415667,0.908426]] 2025-10-28T18:32:43.227Z,1761676363.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996876,0.039986,0.068109],[-0.064984,0.905377,0.419607],[-0.044886,-0.422723,0.905147]] 2025-10-28T18:32:43.630Z,1761676363.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994561,0.065441,0.081029],[-0.093796,0.900973,0.423616],[-0.045283,-0.428912,0.902211]] 2025-10-28T18:32:44.034Z,1761676364.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991298,0.091650,0.094494],[-0.123420,0.896738,0.425004],[-0.045784,-0.432968,0.900246]] 2025-10-28T18:32:44.438Z,1761676364.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987023,0.118592,0.108269],[-0.153754,0.892448,0.424143],[-0.046325,-0.435285,0.899100]] 2025-10-28T18:32:44.845Z,1761676364.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981648,0.146233,0.122406],[-0.184752,0.888342,0.420376],[-0.047266,-0.435276,0.899056]] 2025-10-28T18:32:45.254Z,1761676365.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975221,0.173920,0.136737],[-0.215825,0.883756,0.415206],[-0.048629,-0.434429,0.899393]] 2025-10-28T18:32:45.651Z,1761676365.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967574,0.203261,0.149950],[-0.247607,0.880570,0.404089],[-0.049906,-0.428114,0.902345]] 2025-10-28T18:32:46.055Z,1761676366.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958867,0.232982,0.162150],[-0.279219,0.876980,0.391079],[-0.051088,-0.420268,0.905961]] 2025-10-28T18:32:46.459Z,1761676366.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948994,0.263913,0.172513],[-0.310988,0.873623,0.374260],[-0.051939,-0.408819,0.911136]] 2025-10-28T18:32:46.865Z,1761676366.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938303,0.294593,0.181116],[-0.341805,0.869578,0.356376],[-0.052508,-0.396295,0.916620]] 2025-10-28T18:32:47.270Z,1761676367.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926686,0.324236,0.190062],[-0.372040,0.863079,0.341585],[-0.053285,-0.387253,0.920432]] 2025-10-28T18:32:47.672Z,1761676367.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914015,0.353847,0.198416],[-0.402111,0.854953,0.327662],[-0.053694,-0.379273,0.923725]] 2025-10-28T18:32:48.074Z,1761676368.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900264,0.381881,0.209026],[-0.431891,0.843799,0.318550],[-0.054728,-0.377056,0.924572]] 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateRudder:A] Stopped 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:32:48.157Z,1761676368.157 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode] Stopped 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:32:48.158Z,1761676368.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:32:48.159Z,1761676368.159 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:32:48.159Z,1761676368.159 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:32:48.159Z,1761676368.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:32:48.159Z,1761676368.159 [marl:UpdateSpeed] Stopped 2025-10-28T18:32:48.159Z,1761676368.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:32:48.479Z,1761676368.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885592,0.407754,0.222406],[-0.461056,0.829661,0.314786],[-0.056166,-0.381313,0.922738]] 2025-10-28T18:32:48.519Z,1761676368.519 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:32:48.519Z,1761676368.519 [marl:UpdateRudder:B] Stopped 2025-10-28T18:32:48.519Z,1761676368.519 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:32:48.519Z,1761676368.519 [marl:UpdateRudder] Stopped 2025-10-28T18:32:48.520Z,1761676368.520 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:32:48.568Z,1761676368.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:32:48.885Z,1761676368.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869768,0.431850,0.238767],[-0.489991,0.813104,0.314278],[-0.058422,-0.390342,0.918814]] 2025-10-28T18:32:49.289Z,1761676369.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853228,0.454740,0.255369],[-0.518027,0.795663,0.313957],[-0.060419,-0.400165,0.914449]] 2025-10-28T18:32:49.574Z,1761676369.574 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:32:49.690Z,1761676369.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836049,0.476871,0.271323],[-0.545219,0.777371,0.313736],[-0.061307,-0.410229,0.909920]] 2025-10-28T18:32:50.094Z,1761676370.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817670,0.498552,0.287858],[-0.572455,0.757046,0.314922],[-0.060917,-0.422288,0.904413]] 2025-10-28T18:32:50.499Z,1761676370.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798641,0.520585,0.301932],[-0.598852,0.737123,0.313092],[-0.059570,-0.430861,0.900450]] 2025-10-28T18:32:50.906Z,1761676370.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779574,0.542643,0.312734],[-0.623648,0.718551,0.307812],[-0.057683,-0.434998,0.898582]] 2025-10-28T18:32:51.306Z,1761676371.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760624,0.563083,0.323093],[-0.646831,0.699745,0.303260],[-0.055322,-0.439654,0.896462]] 2025-10-28T18:32:51.711Z,1761676371.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740526,0.584549,0.331546],[-0.669956,0.680852,0.295971],[-0.052724,-0.441296,0.895812]] 2025-10-28T18:32:52.114Z,1761676372.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720336,0.606178,0.337141],[-0.691821,0.662918,0.286223],[-0.049994,-0.439418,0.896890]] 2025-10-28T18:32:52.519Z,1761676372.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699479,0.628223,0.340684],[-0.713062,0.645310,0.274077],[-0.047665,-0.434639,0.899342]] 2025-10-28T18:32:52.933Z,1761676372.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678862,0.649971,0.341590],[-0.732841,0.628732,0.260078],[-0.045725,-0.426888,0.903148]] 2025-10-28T18:32:53.326Z,1761676373.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657014,0.670421,0.344773],[-0.752579,0.610114,0.247761],[-0.044247,-0.422252,0.905398]] 2025-10-28T18:32:53.739Z,1761676373.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634510,0.689333,0.349597],[-0.771686,0.590488,0.236270],[-0.043564,-0.419695,0.906619]] 2025-10-28T18:32:54.135Z,1761676374.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611193,0.707479,0.354846],[-0.790300,0.569999,0.224782],[-0.043233,-0.417820,0.907500]] 2025-10-28T18:32:54.540Z,1761676374.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587354,0.724662,0.360390],[-0.808173,0.548958,0.213310],[-0.043261,-0.416546,0.908085]] 2025-10-28T18:32:54.963Z,1761676374.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562948,0.741798,0.364453],[-0.825345,0.527784,0.200621],[-0.043532,-0.413739,0.909354]] 2025-10-28T18:32:55.347Z,1761676375.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537831,0.758954,0.367051],[-0.841905,0.506232,0.186883],[-0.043977,-0.409533,0.911235]] 2025-10-28T18:32:55.758Z,1761676375.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512161,0.775160,0.369889],[-0.857742,0.483869,0.173635],[-0.044383,-0.406199,0.912706]] 2025-10-28T18:32:56.156Z,1761676376.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485356,0.789091,0.376517],[-0.873178,0.459445,0.162696],[-0.044607,-0.407732,0.912012]] 2025-10-28T18:32:56.558Z,1761676376.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458389,0.802682,0.381552],[-0.887619,0.435137,0.150958],[-0.044856,-0.407870,0.911938]] 2025-10-28T18:32:56.969Z,1761676376.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431469,0.816336,0.383967],[-0.900986,0.411352,0.137892],[-0.045379,-0.405445,0.912992]] 2025-10-28T18:32:57.366Z,1761676377.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403994,0.828866,0.387002],[-0.913613,0.386791,0.125314],[-0.045820,-0.404196,0.913524]] 2025-10-28T18:32:57.780Z,1761676377.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376241,0.839886,0.391196],[-0.925367,0.361711,0.113409],[-0.046249,-0.404669,0.913293]] 2025-10-28T18:32:58.174Z,1761676378.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347532,0.850231,0.395385],[-0.936498,0.335786,0.101086],[-0.046818,-0.405408,0.912936]] 2025-10-28T18:32:58.578Z,1761676378.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318017,0.859361,0.400454],[-0.946880,0.309179,0.088470],[-0.047785,-0.407317,0.912036]] 2025-10-28T18:32:58.995Z,1761676378.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287072,0.868589,0.403910],[-0.956660,0.281490,0.074600],[-0.048900,-0.407820,0.911752]] 2025-10-28T18:32:59.386Z,1761676379.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254956,0.877925,0.405272],[-0.965641,0.252994,0.059431],[-0.050356,-0.406499,0.912262]] 2025-10-28T18:32:59.793Z,1761676379.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221966,0.888784,0.400990],[-0.973686,0.223826,0.042875],[-0.051646,-0.399955,0.915079]] 2025-10-28T18:33:00.197Z,1761676380.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188791,0.899194,0.394725],[-0.980583,0.194332,0.026306],[-0.053053,-0.392027,0.918423]] 2025-10-28T18:33:00.599Z,1761676380.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155626,0.907305,0.390611],[-0.986318,0.164496,0.010877],[-0.054385,-0.386960,0.920491]] 2025-10-28T18:33:01.003Z,1761676381.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122920,0.913572,0.387657],[-0.990865,0.134814,-0.003521],[-0.055478,-0.383683,0.921797]] 2025-10-28T18:33:01.407Z,1761676381.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091362,0.917580,0.386910],[-0.994222,0.106033,-0.016695],[-0.056344,-0.383149,0.921967]] 2025-10-28T18:33:01.432Z,1761676381.432 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:33:01.432Z,1761676381.432 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:33:01.432Z,1761676381.432 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:33:01.432Z,1761676381.432 [marl:UpdateRudder:A] Stopped 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode] Stopped 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:33:01.433Z,1761676381.433 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed] Stopped 2025-10-28T18:33:01.434Z,1761676381.434 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:33:01.813Z,1761676381.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060794,0.919108,0.389288],[-0.996539,0.078039,-0.028622],[-0.056687,-0.386200,0.920671]] 2025-10-28T18:33:01.870Z,1761676381.870 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:33:01.870Z,1761676381.870 [marl:UpdateRudder:B] Stopped 2025-10-28T18:33:01.870Z,1761676381.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:33:01.870Z,1761676381.870 [marl:UpdateRudder] Stopped 2025-10-28T18:33:01.870Z,1761676381.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:33:02.222Z,1761676382.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031484,0.917952,0.395439],[-0.997897,0.051298,-0.039628],[-0.056662,-0.393360,0.917637]] 2025-10-28T18:33:02.620Z,1761676382.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003671,0.915221,0.402935],[-0.998407,0.026041,-0.050053],[-0.056303,-0.402109,0.913859]] 2025-10-28T18:33:03.023Z,1761676383.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023314,0.911505,0.410629],[-0.998179,0.001631,-0.060294],[-0.055628,-0.411287,0.909807]] 2025-10-28T18:33:03.426Z,1761676383.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049215,0.907354,0.417476],[-0.997276,-0.021647,-0.070518],[-0.054947,-0.419809,0.905948]] 2025-10-28T18:33:03.831Z,1761676383.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073696,0.902466,0.424411],[-0.995790,-0.043331,-0.080774],[-0.054506,-0.428577,0.901860]] 2025-10-28T18:33:04.241Z,1761676384.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098155,0.897448,0.430062],[-0.993701,-0.064906,-0.091350],[-0.054068,-0.436319,0.898166]] 2025-10-28T18:33:04.639Z,1761676384.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121394,0.892392,0.434626],[-0.991154,-0.085312,-0.101669],[-0.053650,-0.443123,0.894854]] 2025-10-28T18:33:04.671Z,1761676384.671 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:33:04.829Z,1761676384.829 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:33:04.829Z,1761676384.829 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:33:05.043Z,1761676385.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144573,0.888805,0.434885],[-0.988066,-0.106070,-0.111691],[-0.053144,-0.445843,0.893532]] 2025-10-28T18:33:05.081Z,1761676385.081 [DAT](INFO): DAT read: user:129> 2025-10-28T18:33:05.082Z,1761676385.082 [DAT](INFO): DAT read: Tx time:18:33:04.8436 2025-10-28T18:33:05.082Z,1761676385.082 [DAT](INFO): Ping request sent. 2025-10-28T18:33:05.082Z,1761676385.082 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:33:05.082Z,1761676385.082 [DAT](INFO): publishing transmit ping time 2025-10-28T18:33:05.083Z,1761676385.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T18:33:05.333Z,1761676385.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789 2025-10-28T18:33:05.446Z,1761676385.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168101,0.885957,0.432229],[-0.984353,-0.127366,-0.121763],[-0.052825,-0.445935,0.893505]] 2025-10-28T18:33:05.585Z,1761676385.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503008 2025-10-28T18:33:05.837Z,1761676385.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754702 2025-10-28T18:33:05.852Z,1761676385.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192342,0.883891,0.426311],[-0.979925,-0.149776,-0.131583],[-0.052454,-0.443062,0.894955]] 2025-10-28T18:33:06.089Z,1761676386.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006780 2025-10-28T18:33:06.255Z,1761676386.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216311,0.883591,0.415304],[-0.974901,-0.172515,-0.140738],[-0.052709,-0.435323,0.898730]] 2025-10-28T18:33:06.341Z,1761676386.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258793 2025-10-28T18:33:06.593Z,1761676386.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510772 2025-10-28T18:33:06.659Z,1761676386.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241670,0.883918,0.400356],[-0.968903,-0.197219,-0.149441],[-0.053136,-0.424021,0.904092]] 2025-10-28T18:33:06.846Z,1761676386.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763486 2025-10-28T18:33:07.066Z,1761676387.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268492,0.884963,0.380464],[-0.961767,-0.224132,-0.157380],[-0.054001,-0.408173,0.911306]] 2025-10-28T18:33:07.097Z,1761676387.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015100 2025-10-28T18:33:07.349Z,1761676387.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266741 2025-10-28T18:33:07.467Z,1761676387.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296404,0.884305,0.360762],[-0.953467,-0.252161,-0.165274],[-0.055183,-0.392963,0.917897]] 2025-10-28T18:33:07.602Z,1761676387.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519534 2025-10-28T18:33:07.853Z,1761676387.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 2025-10-28T18:33:07.870Z,1761676387.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324908,0.882055,0.341195],[-0.944047,-0.280868,-0.172885],[-0.056663,-0.378276,0.923957]] 2025-10-28T18:33:08.105Z,1761676388.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022770 2025-10-28T18:33:08.274Z,1761676388.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353885,0.876636,0.325998],[-0.933480,-0.309382,-0.181377],[-0.058144,-0.368500,0.927808]] 2025-10-28T18:33:08.357Z,1761676388.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275238 2025-10-28T18:33:08.609Z,1761676388.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526812 2025-10-28T18:33:08.680Z,1761676388.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382862,0.868192,0.315688],[-0.921878,-0.337002,-0.191233],[-0.059640,-0.364242,0.929393]] 2025-10-28T18:33:08.861Z,1761676388.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778692 2025-10-28T18:33:09.083Z,1761676389.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411858,0.856293,0.311665],[-0.909237,-0.363458,-0.202942],[-0.060501,-0.366961,0.928267]] 2025-10-28T18:33:09.114Z,1761676389.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031514 2025-10-28T18:33:09.365Z,1761676389.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282801 2025-10-28T18:33:09.617Z,1761676389.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534818 2025-10-28T18:33:09.870Z,1761676389.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787415 2025-10-28T18:33:09.891Z,1761676389.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466581,0.827137,0.313284],[-0.882357,-0.410769,-0.229596],[-0.061220,-0.383554,0.921487]] 2025-10-28T18:33:10.121Z,1761676390.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038840 2025-10-28T18:33:10.295Z,1761676390.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491602,0.810992,0.317205],[-0.868652,-0.431002,-0.244297],[-0.061407,-0.395637,0.916352]] 2025-10-28T18:33:10.373Z,1761676390.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290703 2025-10-28T18:33:10.626Z,1761676390.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543390 2025-10-28T18:33:10.709Z,1761676390.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515138,0.794535,0.321478],[-0.854910,-0.449468,-0.259050],[-0.061330,-0.408281,0.910794]] 2025-10-28T18:33:10.877Z,1761676390.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795070 2025-10-28T18:33:11.102Z,1761676391.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537719,0.778604,0.323473],[-0.840914,-0.467505,-0.272585],[-0.061010,-0.418586,0.906125]] 2025-10-28T18:33:11.129Z,1761676391.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046640 2025-10-28T18:33:11.381Z,1761676391.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298805 2025-10-28T18:33:11.637Z,1761676391.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555059 2025-10-28T18:33:11.889Z,1761676391.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806741 2025-10-28T18:33:11.911Z,1761676391.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582439,0.747040,0.320461],[-0.810681,-0.504882,-0.296464],[-0.059676,-0.432464,0.899674]] 2025-10-28T18:33:12.141Z,1761676392.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058761 2025-10-28T18:33:12.316Z,1761676392.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605153,0.730733,0.315941],[-0.793967,-0.524869,-0.306804],[-0.058364,-0.436510,0.897804]] 2025-10-28T18:33:12.394Z,1761676392.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311701 2025-10-28T18:33:12.645Z,1761676392.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562697 2025-10-28T18:33:12.723Z,1761676392.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627766,0.714657,0.308503],[-0.776275,-0.545507,-0.315942],[-0.057499,-0.437821,0.897222]] 2025-10-28T18:33:12.898Z,1761676392.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815398 2025-10-28T18:33:13.140Z,1761676393.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649519,0.700013,0.296828],[-0.758203,-0.567014,-0.321906],[-0.057033,-0.434140,0.899038]] 2025-10-28T18:33:13.149Z,1761676393.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066925 2025-10-28T18:33:13.401Z,1761676393.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318896 2025-10-28T18:33:13.559Z,1761676393.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671519,0.687023,0.277599],[-0.738818,-0.592145,-0.321735],[-0.056660,-0.421146,0.905221]] 2025-10-28T18:33:13.653Z,1761676393.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570874 2025-10-28T18:33:13.905Z,1761676393.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822846 2025-10-28T18:33:13.936Z,1761676393.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693417,0.671896,0.260247],[-0.718315,-0.616272,-0.322852],[-0.056540,-0.410810,0.909966]] 2025-10-28T18:33:14.157Z,1761676394.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074747 2025-10-28T18:33:14.334Z,1761676394.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714257,0.655662,0.244836],[-0.697583,-0.638591,-0.324929],[-0.056693,-0.402876,0.913497]] 2025-10-28T18:33:14.409Z,1761676394.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326682 2025-10-28T18:33:14.661Z,1761676394.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578830 2025-10-28T18:33:14.739Z,1761676394.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734770,0.637198,0.232577],[-0.675948,-0.659189,-0.329491],[-0.056639,-0.399310,0.915065]] 2025-10-28T18:33:14.789Z,1761676394.789 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:33:14.789Z,1761676394.789 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:33:14.789Z,1761676394.789 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateRudder:A] Stopped 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:33:14.790Z,1761676394.790 [marl:UpdateCommandMode] Stopped 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed] Stopped 2025-10-28T18:33:14.791Z,1761676394.791 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:33:14.913Z,1761676394.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830758 2025-10-28T18:33:15.147Z,1761676395.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754677,0.617277,0.222330],[-0.653650,-0.678146,-0.335945],[-0.056599,-0.398856,0.915265]] 2025-10-28T18:33:15.165Z,1761676395.165 [DAT](INFO): Reached modem response timeout 2025-10-28T18:33:15.172Z,1761676395.172 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:33:15.173Z,1761676395.173 [marl:UpdateRudder:B] Stopped 2025-10-28T18:33:15.173Z,1761676395.173 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:33:15.173Z,1761676395.173 [marl:UpdateRudder] Stopped 2025-10-28T18:33:15.173Z,1761676395.173 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:33:15.577Z,1761676395.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773148,0.596158,0.216419],[-0.631703,-0.693451,-0.346520],[-0.056504,-0.404624,0.912736]] 2025-10-28T18:33:15.951Z,1761676395.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790697,0.575714,0.208210],[-0.609620,-0.709188,-0.354141],[-0.056224,-0.406947,0.911720]] 2025-10-28T18:33:16.354Z,1761676396.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807756,0.554893,0.199060],[-0.586873,-0.724956,-0.360581],[-0.055774,-0.408084,0.911239]] 2025-10-28T18:33:16.762Z,1761676396.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824279,0.532907,0.191242],[-0.563499,-0.739304,-0.368645],[-0.055068,-0.411631,0.909685]] 2025-10-28T18:33:17.171Z,1761676397.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840149,0.510275,0.183764],[-0.539624,-0.752506,-0.377546],[-0.054369,-0.416358,0.907574]] 2025-10-28T18:33:17.433Z,1761676397.433 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:33:17.433Z,1761676397.433 [DAT](INFO): response not received 2025-10-28T18:33:17.433Z,1761676397.433 [DAT](ERROR): No response from remote modem. 2025-10-28T18:33:17.583Z,1761676397.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855012,0.488237,0.174870],[-0.515828,-0.765758,-0.384105],[-0.053626,-0.418617,0.906578]] 2025-10-28T18:33:17.970Z,1761676397.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869268,0.466336,0.164026],[-0.491503,-0.779804,-0.387724],[-0.052901,-0.417655,0.907064]] 2025-10-28T18:33:18.375Z,1761676398.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883395,0.442845,0.153304],[-0.465773,-0.793635,-0.391407],[-0.051665,-0.417171,0.907358]] 2025-10-28T18:33:18.785Z,1761676398.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896547,0.419159,0.143211],[-0.440022,-0.805679,-0.396564],[-0.050841,-0.418554,0.906768]] 2025-10-28T18:33:19.587Z,1761676399.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920324,0.372319,0.119924],[-0.387999,-0.830055,-0.400582],[-0.049601,-0.415196,0.908379]] 2025-10-28T18:33:19.693Z,1761676399.693 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:33:19.990Z,1761676399.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931063,0.348671,0.107469],[-0.361437,-0.841177,-0.402226],[-0.049844,-0.413341,0.909211]] 2025-10-28T18:33:20.396Z,1761676400.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940836,0.325088,0.095633],[-0.335168,-0.851191,-0.403901],[-0.049902,-0.412057,0.909790]] 2025-10-28T18:33:20.701Z,1761676400.701 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:33:20.798Z,1761676400.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949665,0.301395,0.085425],[-0.309288,-0.858741,-0.408540],[-0.049774,-0.414397,0.908734]] 2025-10-28T18:33:21.214Z,1761676401.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957434,0.278432,0.076134],[-0.284355,-0.864431,-0.414609],[-0.049628,-0.418610,0.906809]] 2025-10-28T18:33:21.611Z,1761676401.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964354,0.256234,0.066073],[-0.259982,-0.870931,-0.416999],[-0.049304,-0.419313,0.906502]] 2025-10-28T18:33:22.019Z,1761676402.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976529,0.210529,0.045489],[-0.210011,-0.883789,-0.418105],[-0.047820,-0.417845,0.907259]] 2025-10-28T18:33:22.421Z,1761676402.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981645,0.187417,0.035331],[-0.184853,-0.889402,-0.418082],[-0.046932,-0.416939,0.907722]] 2025-10-28T18:33:22.823Z,1761676402.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986123,0.163959,0.026064],[-0.159628,-0.893279,-0.420205],[-0.045614,-0.418534,0.907055]] 2025-10-28T18:33:23.230Z,1761676403.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990089,0.139518,0.016066],[-0.133327,-0.897821,-0.419692],[-0.044130,-0.417675,0.907524]] 2025-10-28T18:33:23.630Z,1761676403.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993545,0.113292,0.005799],[-0.105327,-0.902294,-0.418058],[-0.042130,-0.415970,0.908402]] 2025-10-28T18:33:24.031Z,1761676404.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996290,0.085933,-0.004718],[-0.076266,-0.906959,-0.414257],[-0.039878,-0.412360,0.910148]] 2025-10-28T18:33:24.434Z,1761676404.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998213,0.057821,-0.015056],[-0.046596,-0.911078,-0.409593],[-0.037400,-0.408160,0.912144]] 2025-10-28T18:33:24.838Z,1761676404.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999247,0.028754,-0.026058],[-0.015699,-0.913660,-0.406176],[-0.035487,-0.405461,0.913423]] 2025-10-28T18:33:25.251Z,1761676405.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999317,-0.000484,-0.036937],[0.015458,-0.913638,-0.406236],[-0.033551,-0.406529,0.913022]] 2025-10-28T18:33:25.647Z,1761676405.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998368,-0.030078,-0.048546],[0.047227,-0.912782,-0.405707],[-0.032110,-0.407337,0.912713]] 2025-10-28T18:33:26.050Z,1761676406.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996418,-0.059367,-0.060215],[0.078753,-0.910853,-0.405149],[-0.030795,-0.408440,0.912266]] 2025-10-28T18:33:26.454Z,1761676406.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993343,-0.089180,-0.072916],[0.111230,-0.907191,-0.405749],[-0.029964,-0.411158,0.911071]] 2025-10-28T18:33:26.860Z,1761676406.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989157,-0.118516,-0.086736],[0.143817,-0.901345,-0.408526],[-0.029762,-0.416571,0.908616]] 2025-10-28T18:33:27.265Z,1761676407.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983960,-0.147046,-0.101000],[0.175805,-0.895367,-0.409159],[-0.030267,-0.420352,0.906856]] 2025-10-28T18:33:27.671Z,1761676407.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978133,-0.173388,-0.114855],[0.205618,-0.889173,-0.408771],[-0.031250,-0.423449,0.905381]] 2025-10-28T18:33:28.071Z,1761676408.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971854,-0.197798,-0.127968],[0.233329,-0.883140,-0.406965],[-0.032517,-0.425369,0.904436]] 2025-10-28T18:33:28.123Z,1761676408.123 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:33:28.123Z,1761676408.123 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:33:28.123Z,1761676408.123 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:33:28.128Z,1761676408.128 [marl:UpdateRudder:A] Stopped 2025-10-28T18:33:28.128Z,1761676408.128 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:33:28.128Z,1761676408.128 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:33:28.128Z,1761676408.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:33:28.128Z,1761676408.128 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateCommandMode] Stopped 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:33:28.129Z,1761676408.129 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:33:28.130Z,1761676408.130 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:33:28.130Z,1761676408.130 [marl:UpdateSpeed] Stopped 2025-10-28T18:33:28.130Z,1761676408.130 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:33:28.478Z,1761676408.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965479,-0.219615,-0.140070],[0.258306,-0.876549,-0.406129],[-0.033586,-0.428290,0.903017]] 2025-10-28T18:33:28.522Z,1761676408.522 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:33:28.522Z,1761676408.522 [marl:UpdateRudder:B] Stopped 2025-10-28T18:33:28.523Z,1761676408.523 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:33:28.523Z,1761676408.523 [marl:UpdateRudder] Stopped 2025-10-28T18:33:28.523Z,1761676408.523 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:33:28.879Z,1761676408.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958832,-0.240725,-0.150642],[0.281843,-0.871577,-0.401146],[-0.034730,-0.427089,0.903542]] 2025-10-28T18:33:29.284Z,1761676409.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951836,-0.261701,-0.159755],[0.304561,-0.867118,-0.394143],[-0.035379,-0.423815,0.905058]] 2025-10-28T18:33:29.693Z,1761676409.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944277,-0.283068,-0.167971],[0.327266,-0.861976,-0.387161],[-0.035194,-0.420559,0.906583]] 2025-10-28T18:33:30.092Z,1761676410.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936140,-0.304936,-0.175088],[0.349933,-0.856746,-0.378858],[-0.034478,-0.415933,0.908741]] 2025-10-28T18:33:30.505Z,1761676410.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927610,-0.326527,-0.181440],[0.372102,-0.850434,-0.371889],[-0.032871,-0.412482,0.910372]] 2025-10-28T18:33:30.898Z,1761676410.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918593,-0.348034,-0.187243],[0.394046,-0.842842,-0.366530],[-0.030251,-0.410474,0.911370]] 2025-10-28T18:33:31.304Z,1761676411.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909142,-0.369538,-0.192102],[0.415624,-0.834660,-0.361385],[-0.026795,-0.408392,0.912413]] 2025-10-28T18:33:31.709Z,1761676411.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899214,-0.390811,-0.196676],[0.436916,-0.825566,-0.357136],[-0.022796,-0.407072,0.913112]] 2025-10-28T18:33:32.115Z,1761676412.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887932,-0.413094,-0.202311],[0.459595,-0.814630,-0.353764],[-0.018671,-0.407100,0.913193]] 2025-10-28T18:33:32.515Z,1761676412.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875170,-0.435817,-0.210100],[0.483584,-0.801409,-0.351979],[-0.014977,-0.409643,0.912123]] 2025-10-28T18:33:32.919Z,1761676412.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860354,-0.459696,-0.220162],[0.509558,-0.785852,-0.350409],[-0.011933,-0.413661,0.910353]] 2025-10-28T18:33:33.325Z,1761676413.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843682,-0.485013,-0.230136],[0.536759,-0.769686,-0.345649],[-0.009488,-0.415146,0.909705]] 2025-10-28T18:33:33.726Z,1761676413.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825081,-0.511498,-0.240022],[0.564961,-0.752710,-0.338005],[-0.007778,-0.414484,0.910023]] 2025-10-28T18:33:34.130Z,1761676414.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805293,-0.537830,-0.249485],[0.592846,-0.734825,-0.329493],[-0.006117,-0.413244,0.910600]] 2025-10-28T18:33:34.534Z,1761676414.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784547,-0.562545,-0.260823],[0.620050,-0.715035,-0.322898],[-0.004853,-0.415053,0.909784]] 2025-10-28T18:33:35.134Z,1761676415.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763165,-0.586331,-0.271652],[0.646191,-0.695067,-0.315150],[-0.004034,-0.416051,0.909332]] 2025-10-28T18:33:35.344Z,1761676415.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741390,-0.609735,-0.280292],[0.671065,-0.675772,-0.304964],[-0.003466,-0.414191,0.910183]] 2025-10-28T18:33:35.748Z,1761676415.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719136,-0.631834,-0.289187],[0.694859,-0.656090,-0.294476],[-0.003673,-0.412713,0.910854]] 2025-10-28T18:33:36.155Z,1761676416.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696315,-0.652630,-0.298695],[0.717717,-0.636137,-0.283216],[-0.005176,-0.411587,0.911356]] 2025-10-28T18:33:36.555Z,1761676416.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672863,-0.672687,-0.307812],[0.739722,-0.616432,-0.269859],[-0.008214,-0.409274,0.912375]] 2025-10-28T18:33:36.958Z,1761676416.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648855,-0.691566,-0.317369],[0.760804,-0.596688,-0.255229],[-0.012863,-0.407062,0.913310]] 2025-10-28T18:33:37.363Z,1761676417.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624612,-0.708695,-0.328043],[0.780705,-0.576859,-0.240277],[-0.018952,-0.406185,0.913595]] 2025-10-28T18:33:37.772Z,1761676417.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601541,-0.724256,-0.337048],[0.798448,-0.558359,-0.225202],[-0.025090,-0.404584,0.914157]] 2025-10-28T18:33:38.198Z,1761676418.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579776,-0.737823,-0.345654],[0.814212,-0.540431,-0.212115],[-0.030298,-0.404415,0.914074]] 2025-10-28T18:33:38.574Z,1761676418.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560255,-0.749054,-0.353598],[0.827624,-0.523709,-0.201910],[-0.033941,-0.405767,0.913346]] 2025-10-28T18:33:38.980Z,1761676418.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541220,-0.759551,-0.360781],[0.840098,-0.506925,-0.193034],[-0.036269,-0.407565,0.912455]] 2025-10-28T18:33:39.383Z,1761676419.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521712,-0.770757,-0.365718],[0.852321,-0.489471,-0.184303],[-0.036955,-0.407862,0.912295]] 2025-10-28T18:33:39.790Z,1761676419.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501649,-0.780903,-0.372207],[0.864346,-0.470071,-0.178714],[-0.035405,-0.411367,0.910782]] 2025-10-28T18:33:40.191Z,1761676420.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480737,-0.790923,-0.378593],[0.876301,-0.448819,-0.175095],[-0.031433,-0.415936,0.908850]] 2025-10-28T18:33:40.607Z,1761676420.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459868,-0.801610,-0.382024],[0.887630,-0.427165,-0.172169],[-0.025175,-0.418271,0.907973]] 2025-10-28T18:33:41.000Z,1761676421.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439101,-0.813113,-0.382147],[0.898278,-0.405339,-0.169695],[-0.016918,-0.417788,0.908387]] 2025-10-28T18:33:41.402Z,1761676421.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417914,-0.824823,-0.380808],[0.908459,-0.382713,-0.168030],[-0.007146,-0.416171,0.909259]] 2025-10-28T18:33:41.440Z,1761676421.440 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:33:41.440Z,1761676421.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:33:41.440Z,1761676421.440 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:33:41.440Z,1761676421.440 [marl:UpdateRudder:A] Stopped 2025-10-28T18:33:41.440Z,1761676421.440 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode] Stopped 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:33:41.441Z,1761676421.441 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed] Stopped 2025-10-28T18:33:41.442Z,1761676421.442 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:33:41.807Z,1761676421.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395830,-0.836353,-0.379253],[0.918319,-0.359133,-0.166475],[0.003030,-0.414171,0.910194]] 2025-10-28T18:33:41.835Z,1761676421.835 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:33:41.835Z,1761676421.835 [marl:UpdateRudder:B] Stopped 2025-10-28T18:33:41.835Z,1761676421.835 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:33:41.835Z,1761676421.835 [marl:UpdateRudder] Stopped 2025-10-28T18:33:41.836Z,1761676421.836 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:33:42.212Z,1761676422.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371727,-0.847635,-0.378595],[0.928263,-0.334065,-0.163486],[0.012101,-0.412208,0.911009]] 2025-10-28T18:33:42.662Z,1761676422.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344505,-0.858799,-0.379183],[0.938595,-0.306985,-0.157476],[0.018837,-0.410151,0.911823]] 2025-10-28T18:33:43.019Z,1761676423.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313792,-0.870044,-0.380208],[0.949220,-0.277868,-0.147552],[0.022729,-0.407201,0.913056]] 2025-10-28T18:33:43.423Z,1761676423.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281766,-0.880104,-0.382131],[0.959167,-0.248152,-0.135716],[0.024618,-0.404768,0.914088]] 2025-10-28T18:33:43.829Z,1761676423.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249522,-0.888978,-0.384001],[0.968038,-0.218618,-0.122914],[0.025319,-0.402397,0.915115]] 2025-10-28T18:33:44.231Z,1761676424.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216906,-0.895256,-0.389190],[0.975882,-0.188801,-0.109584],[0.024626,-0.403573,0.914616]] 2025-10-28T18:33:44.669Z,1761676424.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183825,-0.900440,-0.394229],[0.982690,-0.158973,-0.095117],[0.022975,-0.404890,0.914077]] 2025-10-28T18:33:45.039Z,1761676425.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152599,-0.903123,-0.401350],[0.988064,-0.130768,-0.081421],[0.021049,-0.408984,0.912299]] 2025-10-28T18:33:45.444Z,1761676425.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122001,-0.905198,-0.407103],[0.992343,-0.103282,-0.067737],[0.019269,-0.412250,0.910867]] 2025-10-28T18:33:45.846Z,1761676425.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093257,-0.906041,-0.412788],[0.995470,-0.077134,-0.055594],[0.018530,-0.416102,0.909129]] 2025-10-28T18:33:46.251Z,1761676426.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065037,-0.906294,-0.417614],[0.997710,-0.051270,-0.044114],[0.018569,-0.419527,0.907553]] 2025-10-28T18:33:46.670Z,1761676426.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037293,-0.905984,-0.421666],[0.999114,-0.025565,-0.033434],[0.019511,-0.422539,0.906135]] 2025-10-28T18:33:47.060Z,1761676427.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008775,-0.905697,-0.423835],[0.999741,0.000946,-0.022720],[0.020978,-0.423925,0.905454]] 2025-10-28T18:33:47.463Z,1761676427.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020053,-0.905709,-0.423425],[0.999539,0.027820,-0.012172],[0.022804,-0.422986,0.905849]] 2025-10-28T18:33:47.867Z,1761676427.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050026,-0.904461,-0.423613],[0.998452,0.055618,-0.000839],[0.024319,-0.422915,0.905843]] 2025-10-28T18:33:48.271Z,1761676428.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080033,-0.902540,-0.423103],[0.996467,0.083290,0.010819],[0.025476,-0.422474,0.906017]] 2025-10-28T18:33:48.677Z,1761676428.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110074,-0.899929,-0.421914],[0.993578,0.110812,0.022857],[0.026183,-0.421720,0.906348]] 2025-10-28T18:33:49.079Z,1761676429.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139215,-0.895679,-0.422348],[0.989900,0.137408,0.034888],[0.026786,-0.422939,0.905762]] 2025-10-28T18:33:49.483Z,1761676429.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167811,-0.889634,-0.424725],[0.985451,0.163163,0.047592],[0.026960,-0.426532,0.904070]] 2025-10-28T18:33:49.887Z,1761676429.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195376,-0.883467,-0.425810],[0.980352,0.187960,0.059841],[0.027167,-0.429135,0.902832]] 2025-10-28T18:33:50.292Z,1761676430.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221801,-0.876865,-0.426511],[0.974707,0.211669,0.071710],[0.027399,-0.431629,0.901635]] 2025-10-28T18:33:50.694Z,1761676430.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247014,-0.870046,-0.426619],[0.968599,0.234538,0.082506],[0.028274,-0.433603,0.900660]] 2025-10-28T18:33:50.828Z,1761676430.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:33:51.099Z,1761676431.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271409,-0.863063,-0.425980],[0.961993,0.257103,0.092017],[0.030104,-0.434764,0.900041]] 2025-10-28T18:33:51.503Z,1761676431.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295773,-0.856729,-0.422532],[0.954691,0.280344,0.099859],[0.032902,-0.432923,0.900830]] 2025-10-28T18:33:51.832Z,1761676431.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:33:51.917Z,1761676431.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320398,-0.849666,-0.418824],[0.946575,0.304256,0.106883],[0.036615,-0.430693,0.901755]] 2025-10-28T18:33:52.311Z,1761676432.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346457,-0.842317,-0.412881],[0.937187,0.329856,0.113473],[0.040611,-0.426260,0.903689]] 2025-10-28T18:33:52.715Z,1761676432.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374210,-0.833695,-0.406102],[0.926270,0.357104,0.120422],[0.044625,-0.421223,0.905859]] 2025-10-28T18:33:53.123Z,1761676433.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404120,-0.823790,-0.397563],[0.913445,0.386266,0.128128],[0.048015,-0.414931,0.908585]] 2025-10-28T18:33:53.523Z,1761676433.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435065,-0.811569,-0.389968],[0.898965,0.415950,0.137282],[0.050794,-0.410294,0.910538]] 2025-10-28T18:33:53.930Z,1761676433.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466389,-0.797550,-0.382616],[0.883005,0.445549,0.147607],[0.052750,-0.406694,0.912040]] 2025-10-28T18:33:54.331Z,1761676434.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497567,-0.781601,-0.376200],[0.865758,0.474353,0.159537],[0.053758,-0.405079,0.912700]] 2025-10-28T18:33:54.736Z,1761676434.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528065,-0.765142,-0.368382],[0.847493,0.502358,0.171441],[0.053883,-0.402733,0.913730]] 2025-10-28T18:33:54.810Z,1761676434.810 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:33:54.810Z,1761676434.810 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:33:54.810Z,1761676434.810 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:33:54.810Z,1761676434.810 [marl:UpdateRudder:A] Stopped 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode] Stopped 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:33:54.811Z,1761676434.811 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:33:54.812Z,1761676434.812 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:33:54.816Z,1761676434.816 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:33:54.816Z,1761676434.816 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:33:54.816Z,1761676434.816 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:33:54.816Z,1761676434.816 [marl:UpdateSpeed] Stopped 2025-10-28T18:33:54.817Z,1761676434.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:33:55.146Z,1761676435.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557484,-0.746606,-0.363030],[0.828499,0.528216,0.185949],[0.052928,-0.404434,0.913034]] 2025-10-28T18:33:55.183Z,1761676435.183 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:33:55.183Z,1761676435.183 [marl:UpdateRudder:B] Stopped 2025-10-28T18:33:55.183Z,1761676435.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:33:55.183Z,1761676435.183 [marl:UpdateRudder] Stopped 2025-10-28T18:33:55.184Z,1761676435.184 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:33:55.542Z,1761676435.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586128,-0.727401,-0.356851],[0.808589,0.553081,0.200713],[0.051369,-0.406189,0.912344]] 2025-10-28T18:33:55.955Z,1761676435.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613517,-0.709348,-0.347017],[0.788158,0.577326,0.213312],[0.049030,-0.404375,0.913278]] 2025-10-28T18:33:56.350Z,1761676436.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638673,-0.691354,-0.337825],[0.768082,0.599217,0.225806],[0.046319,-0.403694,0.913721]] 2025-10-28T18:33:56.757Z,1761676436.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661369,-0.673266,-0.330611],[0.748776,0.618425,0.238506],[0.043881,-0.405294,0.913133]] 2025-10-28T18:33:57.159Z,1761676437.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682433,-0.654513,-0.325419],[0.729701,0.636021,0.251025],[0.042674,-0.408766,0.911641]] 2025-10-28T18:33:57.564Z,1761676437.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702081,-0.636786,-0.318727],[0.710848,0.653234,0.260733],[0.042172,-0.409621,0.911280]] 2025-10-28T18:33:57.975Z,1761676437.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721093,-0.617594,-0.314012],[0.691565,0.669071,0.272182],[0.041998,-0.413428,0.909568]] 2025-10-28T18:33:58.371Z,1761676438.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740008,-0.596503,-0.310759],[0.671275,0.683959,0.285640],[0.042161,-0.419981,0.906553]] 2025-10-28T18:33:58.779Z,1761676438.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759171,-0.573394,-0.308024],[0.649484,0.698436,0.300597],[0.042774,-0.428261,0.902642]] 2025-10-28T18:33:59.179Z,1761676439.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778655,-0.548761,-0.304234],[0.625941,0.713000,0.315958],[0.043533,-0.436454,0.898673]] 2025-10-28T18:33:59.585Z,1761676439.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797606,-0.525302,-0.296449],[0.601524,0.729104,0.326461],[0.044652,-0.438708,0.897519]] 2025-10-28T18:33:59.989Z,1761676439.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816522,-0.501101,-0.286689],[0.575496,0.745884,0.335352],[0.045791,-0.438811,0.897412]] 2025-10-28T18:34:00.390Z,1761676440.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835218,-0.474966,-0.277161],[0.547930,0.761601,0.346029],[0.046734,-0.440875,0.896351]] 2025-10-28T18:34:00.795Z,1761676440.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853334,-0.447644,-0.267276],[0.519236,0.775967,0.358148],[0.047075,-0.444399,0.894591]] 2025-10-28T18:34:01.200Z,1761676441.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870543,-0.421533,-0.253898],[0.489805,0.791936,0.364594],[0.047383,-0.441756,0.895883]] 2025-10-28T18:34:01.603Z,1761676441.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886746,-0.395951,-0.238546],[0.459791,0.808726,0.366817],[0.047677,-0.434955,0.899189]] 2025-10-28T18:34:02.010Z,1761676442.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902167,-0.368799,-0.223788],[0.428733,0.823984,0.370458],[0.047773,-0.430160,0.901488]] 2025-10-28T18:34:02.410Z,1761676442.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916783,-0.340986,-0.207938],[0.396523,0.839351,0.371834],[0.047742,-0.423343,0.904711]] 2025-10-28T18:34:02.816Z,1761676442.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930578,-0.312652,-0.190456],[0.362968,0.855780,0.368640],[0.047732,-0.412177,0.909852]] 2025-10-28T18:34:03.218Z,1761676443.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943231,-0.282558,-0.174575],[0.328789,0.868789,0.370275],[0.047045,-0.406653,0.912371]] 2025-10-28T18:34:03.630Z,1761676443.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954993,-0.250872,-0.158276],[0.292960,0.881346,0.370681],[0.046503,-0.400367,0.915174]] 2025-10-28T18:34:04.026Z,1761676444.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965344,-0.218753,-0.142333],[0.256929,0.892315,0.371162],[0.045813,-0.394869,0.917595]] 2025-10-28T18:34:04.433Z,1761676444.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974138,-0.186415,-0.127692],[0.221460,0.899846,0.375808],[0.044847,-0.394368,0.917858]] 2025-10-28T18:34:04.835Z,1761676444.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981534,-0.154090,-0.113349],[0.186293,0.904549,0.383519],[0.043433,-0.397553,0.916551]] 2025-10-28T18:34:04.891Z,1761676444.891 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:34:05.093Z,1761676445.093 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:34:05.093Z,1761676445.093 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:34:05.242Z,1761676445.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987477,-0.122654,-0.099222],[0.152127,0.906901,0.392923],[0.041791,-0.403097,0.914203]] 2025-10-28T18:34:05.349Z,1761676445.349 [DAT](INFO): DAT read: user:130> 2025-10-28T18:34:05.351Z,1761676445.351 [DAT](INFO): DAT read: Tx time:18:34:05.0933 2025-10-28T18:34:05.351Z,1761676445.351 [DAT](INFO): Ping request sent. 2025-10-28T18:34:05.351Z,1761676445.351 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:34:05.351Z,1761676445.351 [DAT](INFO): publishing transmit ping time 2025-10-28T18:34:05.352Z,1761676445.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001316 2025-10-28T18:34:05.597Z,1761676445.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245721 2025-10-28T18:34:05.648Z,1761676445.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992042,-0.092798,-0.085100],[0.119260,0.909283,0.398724],[0.040379,-0.405700,0.913114]] 2025-10-28T18:34:05.849Z,1761676445.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497780 2025-10-28T18:34:06.052Z,1761676446.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995416,-0.063928,-0.071138],[0.087416,0.909902,0.405509],[0.038805,-0.409868,0.911319]] 2025-10-28T18:34:06.102Z,1761676446.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751079 2025-10-28T18:34:06.353Z,1761676446.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001731 2025-10-28T18:34:06.451Z,1761676446.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997741,-0.035110,-0.057268],[0.055886,0.906874,0.417679],[0.037271,-0.419936,0.906788]] 2025-10-28T18:34:06.611Z,1761676446.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259008 2025-10-28T18:34:06.855Z,1761676446.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999040,-0.007267,-0.043190],[0.024862,0.905944,0.422667],[0.036056,-0.423335,0.905255]] 2025-10-28T18:34:06.861Z,1761676446.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509144 2025-10-28T18:34:07.109Z,1761676447.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757841 2025-10-28T18:34:07.265Z,1761676447.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998712,0.048079,-0.016182],[-0.036512,0.902717,0.428683],[0.035219,-0.427541,0.903310]] 2025-10-28T18:34:07.362Z,1761676447.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010875 2025-10-28T18:34:07.614Z,1761676447.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262682 2025-10-28T18:34:07.673Z,1761676447.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997046,0.076761,-0.002769],[-0.068178,0.901013,0.428401],[0.035379,-0.426946,0.903585]] 2025-10-28T18:34:07.865Z,1761676447.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513734 2025-10-28T18:34:08.072Z,1761676448.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994184,0.107096,0.011304],[-0.101556,0.897440,0.429287],[0.035830,-0.427939,0.903097]] 2025-10-28T18:34:08.117Z,1761676448.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765673 2025-10-28T18:34:08.173Z,1761676448.173 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateRudder:A] Stopped 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:34:08.174Z,1761676448.174 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateCommandMode] Stopped 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:34:08.175Z,1761676448.175 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:34:08.176Z,1761676448.176 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:34:08.176Z,1761676448.176 [marl:UpdateSpeed] Stopped 2025-10-28T18:34:08.176Z,1761676448.176 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:34:08.369Z,1761676448.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018347 2025-10-28T18:34:08.476Z,1761676448.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990103,0.138181,0.024556],[-0.135534,0.895982,0.422903],[0.036436,-0.422045,0.905842]] 2025-10-28T18:34:08.529Z,1761676448.529 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:34:08.529Z,1761676448.529 [marl:UpdateRudder:B] Stopped 2025-10-28T18:34:08.529Z,1761676448.529 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:34:08.529Z,1761676448.529 [marl:UpdateRudder] Stopped 2025-10-28T18:34:08.529Z,1761676448.529 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:34:08.624Z,1761676448.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272427 2025-10-28T18:34:08.877Z,1761676448.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525826 2025-10-28T18:34:08.885Z,1761676448.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984855,0.169237,0.037669],[-0.169413,0.893144,0.416644],[0.036868,-0.416716,0.908289]] 2025-10-28T18:34:09.129Z,1761676449.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777844 2025-10-28T18:34:09.279Z,1761676449.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977982,0.202335,0.051110],[-0.205334,0.889205,0.408843],[0.037276,-0.410336,0.911172]] 2025-10-28T18:34:09.381Z,1761676449.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029727 2025-10-28T18:34:09.634Z,1761676449.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282407 2025-10-28T18:34:09.682Z,1761676449.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969708,0.235730,0.064018],[-0.241411,0.884901,0.398336],[0.037250,-0.401724,0.915003]] 2025-10-28T18:34:09.886Z,1761676449.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534420 2025-10-28T18:34:10.095Z,1761676450.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959891,0.269375,0.077761],[-0.277951,0.877875,0.389973],[0.036785,-0.395946,0.917537]] 2025-10-28T18:34:10.137Z,1761676450.137 [DAT](INFO): DAT read: Rx Time:18:34:09.3172 2025-10-28T18:34:10.138Z,1761676450.138 [DAT](INFO): Rx dataTimestamp_ set to:1761676450.137260 2025-10-28T18:34:10.138Z,1761676450.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786962 2025-10-28T18:34:10.389Z,1761676450.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037755 2025-10-28T18:34:10.503Z,1761676450.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948649,0.302967,0.090972],[-0.314288,0.870085,0.379704],[0.035884,-0.388798,0.920624]] 2025-10-28T18:34:10.663Z,1761676450.663 [DAT](INFO): DAT read: 18:34:09.3172 LVL= 18544, 19377, 32754, 32755, AGC= 72, IDX= 152,-0.48,-0.833,-1.270,-2.522,-0.820, PHS= 0.089,-0.405,-1.747, RAW= 45.1, 23.9, CAL= 41.3, 28.3, ROT= 108.7, -28.3 2025-10-28T18:34:10.664Z,1761676450.664 [DAT](INFO): got valid direction response: 18:34:09.3172 LVL= 18544, 19377, 32754, 32755, AGC= 72, IDX= 152,-0.48,-0.833,-1.270,-2.522,-0.820, PHS= 0.089,-0.405,-1.747, RAW= 45.1, 23.9, CAL= 41.3, 28.3, ROT= 108.7, -28.3 2025-10-28T18:34:10.665Z,1761676450.665 [DAT](INFO): DAT read: Bearing 197.7, 33.4 (Local) 2025-10-28T18:34:10.666Z,1761676450.666 [DAT](INFO): Local bearing/azimuth received: Bearing 197.7, 33.4 (Local) 2025-10-28T18:34:10.667Z,1761676450.667 [DAT](INFO): DAT read: Range 11 to 20 : 1364.8 m (Round-trip 1819.8 ms) speed 0.0 m/s 2025-10-28T18:34:10.668Z,1761676450.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:34:10.669Z,1761676450.669 [DAT](INFO): direction in FSK: [-0.282292,0.833997,0.474088] 2025-10-28T18:34:10.669Z,1761676450.669 [DAT](INFO): publishing direction and range info 2025-10-28T18:34:10.906Z,1761676450.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935824,0.336156,0.105988],[-0.350808,0.859148,0.372557],[0.034178,-0.385829,0.921937]] 2025-10-28T18:34:10.984Z,1761676450.984 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676416.00. Resetting abort timer. 2025-10-28T18:34:11.298Z,1761676451.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921512,0.368272,0.123252],[-0.387061,0.845139,0.368679],[0.031609,-0.387448,0.921350]] 2025-10-28T18:34:11.705Z,1761676451.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906069,0.398492,0.142276],[-0.422183,0.828925,0.366939],[0.028286,-0.392539,0.919300]] 2025-10-28T18:34:12.113Z,1761676452.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890099,0.427158,0.158934],[-0.455088,0.813941,0.361102],[0.024885,-0.393746,0.918883]] 2025-10-28T18:34:12.510Z,1761676452.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873868,0.453647,0.174814],[-0.485698,0.798900,0.354762],[0.021278,-0.394922,0.918468]] 2025-10-28T18:34:12.916Z,1761676452.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857496,0.478094,0.190072],[-0.514194,0.783821,0.348181],[0.017480,-0.396297,0.917956]] 2025-10-28T18:34:13.325Z,1761676453.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840809,0.500162,0.207072],[-0.541149,0.766634,0.345586],[0.014100,-0.402628,0.915255]] 2025-10-28T18:34:13.722Z,1761676453.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824091,0.523262,0.216960],[-0.566348,0.753545,0.333797],[0.011174,-0.397954,0.917337]] 2025-10-28T18:34:14.131Z,1761676454.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807272,0.544438,0.227815],[-0.590118,0.739035,0.324942],[0.008547,-0.396754,0.917885]] 2025-10-28T18:34:14.531Z,1761676454.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789485,0.564544,0.240841],[-0.613743,0.722399,0.318528],[0.005840,-0.399288,0.916807]] 2025-10-28T18:34:15.045Z,1761676455.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770019,0.583717,0.257578],[-0.638012,0.702240,0.315911],[0.003521,-0.407595,0.913156]] 2025-10-28T18:34:15.338Z,1761676455.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748604,0.603561,0.274418],[-0.663014,0.680205,0.312624],[0.002027,-0.415975,0.909374]] 2025-10-28T18:34:15.742Z,1761676455.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725406,0.623755,0.291061],[-0.688321,0.656735,0.308079],[0.001016,-0.423826,0.905743]] 2025-10-28T18:34:16.148Z,1761676456.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700695,0.644771,0.305446],[-0.713461,0.633068,0.300330],[0.000276,-0.428364,0.903606]] 2025-10-28T18:34:16.553Z,1761676456.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675207,0.667918,0.313020],[-0.737629,0.611346,0.286636],[0.000086,-0.424431,0.905460]] 2025-10-28T18:34:16.956Z,1761676456.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649075,0.691525,0.317010],[-0.760725,0.589924,0.270718],[0.000197,-0.416873,0.908965]] 2025-10-28T18:34:17.359Z,1761676457.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623383,0.714439,0.317760],[-0.781917,0.569298,0.253979],[0.000552,-0.406788,0.913522]] 2025-10-28T18:34:17.768Z,1761676457.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597874,0.735123,0.319594],[-0.801589,0.547730,0.239682],[0.001145,-0.399483,0.916740]] 2025-10-28T18:34:18.173Z,1761676458.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573486,0.754163,0.319925],[-0.819214,0.527205,0.225706],[0.001553,-0.391527,0.920165]] 2025-10-28T18:34:18.570Z,1761676458.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549670,0.769598,0.324935],[-0.835380,0.505633,0.215579],[0.001611,-0.389942,0.920838]] 2025-10-28T18:34:18.975Z,1761676458.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526207,0.783342,0.330879],[-0.850355,0.484081,0.206304],[0.001435,-0.389923,0.920846]] 2025-10-28T18:34:19.378Z,1761676459.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503033,0.796009,0.336642],[-0.864267,0.462976,0.196712],[0.000728,-0.389901,0.920856]] 2025-10-28T18:34:19.786Z,1761676459.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479785,0.806256,0.346061],[-0.877386,0.441169,0.188585],[-0.000624,-0.394109,0.919063]] 2025-10-28T18:34:20.186Z,1761676460.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455863,0.815171,0.357332],[-0.890046,0.418764,0.180153],[-0.002782,-0.400167,0.916438]] 2025-10-28T18:34:20.618Z,1761676460.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430364,0.823601,0.369416],[-0.902637,0.395253,0.170356],[-0.005707,-0.406763,0.913516]] 2025-10-28T18:34:21.001Z,1761676461.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402177,0.831892,0.382375],[-0.915523,0.369284,0.159524],[-0.008498,-0.414229,0.910133]] 2025-10-28T18:34:21.399Z,1761676461.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372075,0.841935,0.390776],[-0.928132,0.342668,0.145430],[-0.011464,-0.416803,0.908925]] 2025-10-28T18:34:21.436Z,1761676461.436 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateRudder:A] Stopped 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:34:21.437Z,1761676461.437 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateCommandMode] Stopped 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:34:21.438Z,1761676461.438 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:34:21.439Z,1761676461.439 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:34:21.439Z,1761676461.439 [marl:UpdateSpeed] Stopped 2025-10-28T18:34:21.439Z,1761676461.439 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:34:21.802Z,1761676461.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340056,0.855992,0.389411],[-0.940301,0.315672,0.127222],[-0.014025,-0.409426,0.912236]] 2025-10-28T18:34:21.895Z,1761676461.895 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:34:21.895Z,1761676461.895 [marl:UpdateRudder:B] Stopped 2025-10-28T18:34:21.896Z,1761676461.896 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:34:21.896Z,1761676461.896 [marl:UpdateRudder] Stopped 2025-10-28T18:34:21.896Z,1761676461.896 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:34:21.956Z,1761676461.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:34:22.206Z,1761676462.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307854,0.870998,0.382870],[-0.951289,0.288805,0.107895],[-0.016598,-0.397436,0.917480]] 2025-10-28T18:34:22.653Z,1761676462.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274700,0.885686,0.374301],[-0.961344,0.260647,0.088776],[-0.018933,-0.384219,0.923048]] 2025-10-28T18:34:22.960Z,1761676462.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:34:23.015Z,1761676463.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240453,0.898679,0.366822],[-0.970440,0.230638,0.071084],[-0.020721,-0.373071,0.927572]] 2025-10-28T18:34:23.418Z,1761676463.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205666,0.909222,0.361963],[-0.978373,0.199382,0.055074],[-0.022094,-0.365462,0.930564]] 2025-10-28T18:34:23.823Z,1761676463.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171477,0.916907,0.360386],[-0.984915,0.168157,0.040806],[-0.023186,-0.361947,0.931910]] 2025-10-28T18:34:24.228Z,1761676464.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138532,0.921651,0.362448],[-0.990060,0.137859,0.027857],[-0.024292,-0.362704,0.931588]] 2025-10-28T18:34:24.665Z,1761676464.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107549,0.923828,0.367390],[-0.993869,0.109434,0.015763],[-0.025642,-0.366833,0.929933]] 2025-10-28T18:34:25.034Z,1761676465.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078247,0.923494,0.375547],[-0.996574,0.082584,0.004560],[-0.026804,-0.374617,0.926792]] 2025-10-28T18:34:25.439Z,1761676465.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050491,0.920645,0.387121],[-0.998342,0.057258,-0.005959],[-0.027652,-0.386179,0.922009]] 2025-10-28T18:34:25.843Z,1761676465.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024236,0.916153,0.400096],[-0.999311,0.033450,-0.016061],[-0.028098,-0.399431,0.916333]] 2025-10-28T18:34:26.246Z,1761676466.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001038,0.911493,0.411314],[-0.999599,0.010689,-0.026211],[-0.028287,-0.411176,0.911117]] 2025-10-28T18:34:26.671Z,1761676466.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025598,0.908293,0.417551],[-0.999265,-0.011324,-0.036627],[-0.028540,-0.418182,0.907915]] 2025-10-28T18:34:27.055Z,1761676467.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049647,0.904409,0.423768],[-0.998352,-0.032716,-0.047141],[-0.028770,-0.425411,0.904543]] 2025-10-28T18:34:27.461Z,1761676467.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074465,0.901224,0.426907],[-0.996805,-0.054863,-0.058054],[-0.028899,-0.429866,0.902430]] 2025-10-28T18:34:27.863Z,1761676467.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100295,0.898512,0.427336],[-0.994537,-0.078048,-0.069314],[-0.028927,-0.431954,0.901432]] 2025-10-28T18:34:28.266Z,1761676468.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127383,0.896920,0.423448],[-0.991444,-0.102877,-0.080342],[-0.028497,-0.430059,0.902351]] 2025-10-28T18:34:28.674Z,1761676468.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155566,0.894466,0.419202],[-0.987428,-0.128767,-0.091680],[-0.028026,-0.428194,0.903252]] 2025-10-28T18:34:29.086Z,1761676469.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183621,0.891639,0.413839],[-0.982613,-0.154728,-0.102617],[-0.027465,-0.425487,0.904548]] 2025-10-28T18:34:29.478Z,1761676469.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212190,0.888336,0.407228],[-0.976854,-0.181277,-0.113558],[-0.027057,-0.421898,0.906239]] 2025-10-28T18:34:29.882Z,1761676469.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240537,0.884367,0.400045],[-0.970281,-0.207876,-0.123860],[-0.026377,-0.417949,0.908087]] 2025-10-28T18:34:30.288Z,1761676470.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268311,0.879101,0.393944],[-0.962979,-0.233691,-0.134384],[-0.026076,-0.415416,0.909258]] 2025-10-28T18:34:30.690Z,1761676470.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294419,0.872566,0.389803],[-0.955329,-0.257720,-0.144662],[-0.025767,-0.414982,0.909465]] 2025-10-28T18:34:31.097Z,1761676471.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319983,0.866443,0.383259],[-0.947078,-0.281614,-0.154065],[-0.025557,-0.412275,0.910701]] 2025-10-28T18:34:31.499Z,1761676471.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345248,0.859827,0.376166],[-0.938171,-0.305388,-0.163014],[-0.025288,-0.409188,0.912099]] 2025-10-28T18:34:31.904Z,1761676471.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370350,0.851877,0.370332],[-0.928555,-0.328789,-0.172286],[-0.025005,-0.407680,0.912782]] 2025-10-28T18:34:32.307Z,1761676472.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395547,0.843753,0.362800],[-0.918113,-0.352615,-0.180917],[-0.024721,-0.404653,0.914136]] 2025-10-28T18:34:32.710Z,1761676472.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421078,0.834127,0.356265],[-0.906700,-0.376584,-0.189948],[-0.024277,-0.403008,0.914874]] 2025-10-28T18:34:33.114Z,1761676473.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446232,0.823285,0.350826],[-0.894602,-0.399968,-0.199278],[-0.023744,-0.402774,0.914991]] 2025-10-28T18:34:33.521Z,1761676473.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471614,0.811078,0.346023],[-0.881499,-0.423292,-0.209246],[-0.023246,-0.403702,0.914595]] 2025-10-28T18:34:33.922Z,1761676473.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495959,0.798574,0.341035],[-0.868039,-0.445508,-0.219160],[-0.023082,-0.404726,0.914147]] 2025-10-28T18:34:34.326Z,1761676474.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520336,0.785751,0.334434],[-0.853653,-0.468078,-0.228427],[-0.022945,-0.404350,0.914317]] 2025-10-28T18:34:34.731Z,1761676474.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544482,0.770575,0.331290],[-0.838462,-0.489285,-0.239959],[-0.022811,-0.408428,0.912506]] 2025-10-28T18:34:34.821Z,1761676474.821 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:34:34.821Z,1761676474.821 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:34:34.821Z,1761676474.821 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateRudder:A] Stopped 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:34:34.822Z,1761676474.822 [marl:UpdateCommandMode] Stopped 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed] Stopped 2025-10-28T18:34:34.823Z,1761676474.823 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:34:35.136Z,1761676475.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567911,0.754804,0.328250],[-0.822775,-0.509559,-0.251776],[-0.022779,-0.413063,0.910418]] 2025-10-28T18:34:35.166Z,1761676475.166 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:34:35.166Z,1761676475.166 [marl:UpdateRudder:B] Stopped 2025-10-28T18:34:35.166Z,1761676475.166 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:34:35.166Z,1761676475.166 [marl:UpdateRudder] Stopped 2025-10-28T18:34:35.166Z,1761676475.166 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:34:35.538Z,1761676475.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590815,0.738638,0.324580],[-0.806479,-0.529205,-0.263691],[-0.023003,-0.417560,0.908358]] 2025-10-28T18:34:35.943Z,1761676475.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612723,0.723429,0.318152],[-0.789947,-0.548638,-0.273827],[-0.023544,-0.419103,0.907633]] 2025-10-28T18:34:36.346Z,1761676476.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635199,0.707217,0.310428],[-0.771973,-0.568823,-0.283722],[-0.024075,-0.419862,0.907268]] 2025-10-28T18:34:36.755Z,1761676476.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657409,0.690864,0.300866],[-0.753135,-0.589424,-0.292176],[-0.024516,-0.418672,0.907806]] 2025-10-28T18:34:37.155Z,1761676477.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679599,0.674346,0.288795],[-0.733157,-0.610937,-0.298725],[-0.025009,-0.414745,0.909594]] 2025-10-28T18:34:37.568Z,1761676477.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702568,0.656724,0.274067],[-0.711154,-0.634065,-0.303680],[-0.025657,-0.408259,0.912505]] 2025-10-28T18:34:37.963Z,1761676477.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725441,0.637078,0.260513],[-0.687777,-0.656444,-0.309910],[-0.026424,-0.403997,0.914379]] 2025-10-28T18:34:38.376Z,1761676478.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747993,0.615626,0.248014],[-0.663142,-0.677818,-0.317498],[-0.027352,-0.401955,0.915251]] 2025-10-28T18:34:38.775Z,1761676478.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769242,0.593340,0.237096],[-0.638323,-0.697082,-0.326527],[-0.028467,-0.402522,0.914968]] 2025-10-28T18:34:39.175Z,1761676479.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789535,0.570505,0.226184],[-0.612992,-0.715337,-0.335461],[-0.029585,-0.403507,0.914498]] 2025-10-28T18:34:39.582Z,1761676479.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808103,0.548610,0.214469],[-0.588220,-0.732364,-0.342987],[-0.031097,-0.403323,0.914529]] 2025-10-28T18:34:39.984Z,1761676479.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825173,0.526393,0.204940],[-0.563927,-0.746583,-0.352988],[-0.032805,-0.406848,0.912907]] 2025-10-28T18:34:40.397Z,1761676480.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840663,0.504591,0.196654],[-0.540451,-0.758474,-0.364183],[-0.034607,-0.412438,0.910328]] 2025-10-28T18:34:40.792Z,1761676480.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855402,0.482753,0.187717],[-0.516701,-0.769992,-0.374343],[-0.036175,-0.417207,0.908091]] 2025-10-28T18:34:41.194Z,1761676481.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868663,0.461952,0.178953],[-0.493982,-0.780353,-0.383445],[-0.037487,-0.421484,0.906061]] 2025-10-28T18:34:41.599Z,1761676481.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880638,0.442104,0.170354],[-0.472198,-0.789543,-0.391983],[-0.038796,-0.425636,0.904063]] 2025-10-28T18:34:42.005Z,1761676482.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891729,0.423412,0.159819],[-0.450799,-0.799800,-0.396358],[-0.039999,-0.425490,0.904079]] 2025-10-28T18:34:42.408Z,1761676482.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902094,0.405061,0.148834],[-0.429585,-0.810118,-0.398956],[-0.041028,-0.423833,0.904811]] 2025-10-28T18:34:42.810Z,1761676482.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911730,0.387055,0.137611],[-0.408649,-0.820416,-0.399905],[-0.041887,-0.420840,0.906167]] 2025-10-28T18:34:43.238Z,1761676483.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920949,0.368786,0.125893],[-0.387322,-0.830776,-0.399741],[-0.042830,-0.416902,0.907942]] 2025-10-28T18:34:43.620Z,1761676483.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930045,0.349757,0.112635],[-0.364836,-0.842516,-0.396309],[-0.043715,-0.409678,0.911182]] 2025-10-28T18:34:44.022Z,1761676484.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939040,0.329227,0.099067],[-0.340884,-0.854058,-0.392915],[-0.044749,-0.402734,0.914223]] 2025-10-28T18:34:44.429Z,1761676484.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947904,0.306815,0.085688],[-0.315246,-0.864807,-0.390804],[-0.045801,-0.397458,0.916477]] 2025-10-28T18:34:44.830Z,1761676484.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956569,0.282406,0.072272],[-0.287714,-0.874780,-0.389846],[-0.046873,-0.393708,0.918040]] 2025-10-28T18:34:45.236Z,1761676485.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964879,0.256199,0.058065],[-0.258270,-0.884749,-0.387964],[-0.048023,-0.389335,0.919844]] 2025-10-28T18:34:45.639Z,1761676485.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972707,0.227960,0.043307],[-0.226707,-0.893890,-0.386735],[-0.049449,-0.385998,0.921173]] 2025-10-28T18:34:46.050Z,1761676486.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979803,0.197818,0.029239],[-0.193403,-0.900295,-0.389953],[-0.050816,-0.387732,0.920370]] 2025-10-28T18:34:46.447Z,1761676486.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985951,0.166357,0.015021],[-0.158735,-0.905176,-0.394284],[-0.051995,-0.391129,0.918866]] 2025-10-28T18:34:46.856Z,1761676486.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990862,0.134879,0.000579],[-0.123882,-0.908357,-0.399426],[-0.053348,-0.395848,0.916765]] 2025-10-28T18:34:47.254Z,1761676487.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994515,0.103683,-0.013792],[-0.089209,-0.909643,-0.405698],[-0.054610,-0.402242,0.913903]] 2025-10-28T18:34:47.658Z,1761676487.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996948,0.072857,-0.028047],[-0.054918,-0.909825,-0.411341],[-0.055487,-0.408546,0.911050]] 2025-10-28T18:34:48.067Z,1761676488.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998208,0.042785,-0.041825],[-0.021524,-0.909020,-0.416196],[-0.055827,-0.414550,0.908312]] 2025-10-28T18:34:48.092Z,1761676488.092 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:34:48.092Z,1761676488.092 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:34:48.092Z,1761676488.092 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:34:48.092Z,1761676488.092 [marl:UpdateRudder:A] Stopped 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode] Stopped 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:34:48.093Z,1761676488.093 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed] Stopped 2025-10-28T18:34:48.094Z,1761676488.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:34:48.468Z,1761676488.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998348,0.013553,-0.055833],[0.011086,-0.908076,-0.418659],[-0.056375,-0.418586,0.906426]] 2025-10-28T18:34:48.499Z,1761676488.499 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:34:48.499Z,1761676488.499 [marl:UpdateRudder:B] Stopped 2025-10-28T18:34:48.499Z,1761676488.499 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:34:48.499Z,1761676488.499 [marl:UpdateRudder] Stopped 2025-10-28T18:34:48.499Z,1761676488.499 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:34:48.874Z,1761676488.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997485,-0.014320,-0.069414],[0.042244,-0.906523,-0.420038],[-0.056910,-0.421914,0.904848]] 2025-10-28T18:34:49.275Z,1761676489.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995762,-0.040807,-0.082415],[0.071763,-0.905212,-0.418858],[-0.057510,-0.422997,0.904304]] 2025-10-28T18:34:49.679Z,1761676489.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993082,-0.068367,-0.095467],[0.101899,-0.905770,-0.411335],[-0.058350,-0.418217,0.906471]] 2025-10-28T18:34:50.085Z,1761676490.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989567,-0.094776,-0.108508],[0.131281,-0.903421,-0.408163],[-0.059344,-0.418149,0.906438]] 2025-10-28T18:34:50.487Z,1761676490.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985299,-0.120808,-0.120791],[0.159582,-0.903248,-0.398342],[-0.060981,-0.411762,0.909249]] 2025-10-28T18:34:50.894Z,1761676490.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980003,-0.147888,-0.133126],[0.188737,-0.902772,-0.386498],[-0.063024,-0.403895,0.912632]] 2025-10-28T18:34:51.295Z,1761676491.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974155,-0.173790,-0.144291],[0.216422,-0.901035,-0.375894],[-0.064685,-0.397407,0.915360]] 2025-10-28T18:34:51.701Z,1761676491.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967402,-0.200970,-0.154090],[0.244394,-0.900338,-0.360089],[-0.066366,-0.386009,0.920105]] 2025-10-28T18:34:52.103Z,1761676492.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959626,-0.227608,-0.165262],[0.272916,-0.895634,-0.351221],[-0.068073,-0.382143,0.921592]] 2025-10-28T18:34:52.512Z,1761676492.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951207,-0.252213,-0.177749],[0.300552,-0.887699,-0.348796],[-0.069817,-0.385200,0.920188]] 2025-10-28T18:34:52.931Z,1761676492.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932189,-0.299545,-0.203215],[0.354658,-0.868119,-0.347256],[-0.072396,-0.395780,0.915487]] 2025-10-28T18:34:53.080Z,1761676493.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:34:53.319Z,1761676493.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921616,-0.321967,-0.216706],[0.381108,-0.856324,-0.348521],[-0.073358,-0.403791,0.911906]] 2025-10-28T18:34:53.723Z,1761676493.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910096,-0.345270,-0.229158],[0.407774,-0.844632,-0.346868],[-0.073791,-0.409128,0.909489]] 2025-10-28T18:34:54.084Z,1761676494.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:34:54.127Z,1761676494.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897472,-0.369519,-0.240832],[0.434845,-0.832688,-0.342842],[-0.073851,-0.412415,0.907998]] 2025-10-28T18:34:54.538Z,1761676494.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884101,-0.394625,-0.250274],[0.461509,-0.821395,-0.335142],[-0.073318,-0.411803,0.908319]] 2025-10-28T18:34:54.945Z,1761676494.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869720,-0.420165,-0.258939],[0.488203,-0.809385,-0.326425],[-0.072429,-0.410313,0.909064]] 2025-10-28T18:34:55.335Z,1761676495.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854299,-0.446279,-0.266473],[0.514877,-0.796833,-0.316165],[-0.071237,-0.407300,0.910512]] 2025-10-28T18:34:55.738Z,1761676495.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837923,-0.471322,-0.275210],[0.541223,-0.782629,-0.307521],[-0.070446,-0.406629,0.910873]] 2025-10-28T18:34:56.143Z,1761676496.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820593,-0.495663,-0.284510],[0.567257,-0.767027,-0.299815],[-0.069620,-0.407416,0.910585]] 2025-10-28T18:34:56.551Z,1761676496.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802224,-0.519025,-0.295042],[0.592947,-0.750300,-0.292340],[-0.069638,-0.409466,0.909664]] 2025-10-28T18:34:56.954Z,1761676496.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783473,-0.541500,-0.304873],[0.617483,-0.733550,-0.283937],[-0.069888,-0.410711,0.909083]] 2025-10-28T18:34:57.356Z,1761676497.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764423,-0.562078,-0.315793],[0.640829,-0.716123,-0.276598],[-0.070677,-0.413808,0.907617]] 2025-10-28T18:34:57.763Z,1761676497.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745088,-0.583870,-0.322397],[0.663081,-0.700560,-0.263704],[-0.071890,-0.410258,0.909131]] 2025-10-28T18:34:58.217Z,1761676498.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725312,-0.605461,-0.327626],[0.684504,-0.684970,-0.249542],[-0.073326,-0.405257,0.911257]] 2025-10-28T18:34:58.567Z,1761676498.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705451,-0.626967,-0.330533],[0.704810,-0.669723,-0.233908],[-0.074713,-0.397974,0.914349]] 2025-10-28T18:34:58.982Z,1761676498.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685613,-0.646035,-0.335520],[0.724019,-0.653081,-0.221996],[-0.075705,-0.395126,0.915502]] 2025-10-28T18:34:58.994Z,1761676498.994 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 466.22, 561.00 2025-10-28T18:34:59.374Z,1761676499.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665132,-0.664346,-0.340947],[0.742814,-0.635327,-0.211155],[-0.076333,-0.393706,0.916062]] 2025-10-28T18:34:59.783Z,1761676499.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643499,-0.682340,-0.346874],[0.761601,-0.616117,-0.200906],[-0.076629,-0.393462,0.916142]] 2025-10-28T18:35:00.183Z,1761676500.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621162,-0.698959,-0.354421],[0.779926,-0.595579,-0.192358],[-0.076635,-0.395908,0.915087]] 2025-10-28T18:35:00.593Z,1761676500.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597936,-0.714640,-0.362990],[0.797895,-0.573842,-0.184577],[-0.076392,-0.399993,0.913329]] 2025-10-28T18:35:00.993Z,1761676500.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573250,-0.730553,-0.371048],[0.815832,-0.550990,-0.175579],[-0.076174,-0.403364,0.911864]] 2025-10-28T18:35:01.395Z,1761676501.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547457,-0.746402,-0.378385],[0.833383,-0.527307,-0.165594],[-0.075925,-0.405995,0.910716]] 2025-10-28T18:35:01.419Z,1761676501.419 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:35:01.419Z,1761676501.419 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:35:01.419Z,1761676501.419 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:35:01.419Z,1761676501.419 [marl:UpdateRudder:A] Stopped 2025-10-28T18:35:01.419Z,1761676501.419 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:35:01.420Z,1761676501.420 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:35:01.420Z,1761676501.420 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:35:01.420Z,1761676501.420 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:35:01.420Z,1761676501.420 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:35:01.420Z,1761676501.420 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateCommandMode] Stopped 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed] Stopped 2025-10-28T18:35:01.421Z,1761676501.421 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:35:01.801Z,1761676501.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520659,-0.762198,-0.384667],[0.850401,-0.502941,-0.154493],[-0.075711,-0.407560,0.910035]] 2025-10-28T18:35:01.826Z,1761676501.826 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:35:01.826Z,1761676501.826 [marl:UpdateRudder:B] Stopped 2025-10-28T18:35:01.826Z,1761676501.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:35:01.826Z,1761676501.826 [marl:UpdateRudder] Stopped 2025-10-28T18:35:01.826Z,1761676501.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:35:02.202Z,1761676502.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493339,-0.777335,-0.390342],[0.866520,-0.478348,-0.142573],[-0.075893,-0.408576,0.909564]] 2025-10-28T18:35:02.650Z,1761676502.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466008,-0.791618,-0.395192],[0.881464,-0.454013,-0.129974],[-0.076532,-0.408917,0.909357]] 2025-10-28T18:35:03.027Z,1761676503.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438318,-0.804892,-0.400033],[0.895462,-0.429482,-0.117018],[-0.077620,-0.409506,0.909000]] 2025-10-28T18:35:03.414Z,1761676503.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410656,-0.818399,-0.401976],[0.908365,-0.405388,-0.102633],[-0.078961,-0.407287,0.909880]] 2025-10-28T18:35:03.818Z,1761676503.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383277,-0.831580,-0.401963],[0.920129,-0.381641,-0.087817],[-0.080379,-0.403516,0.911435]] 2025-10-28T18:35:04.222Z,1761676504.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356309,-0.843314,-0.402324],[0.930762,-0.358139,-0.073611],[-0.082010,-0.400696,0.912533]] 2025-10-28T18:35:04.663Z,1761676504.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330088,-0.853335,-0.403561],[0.940268,-0.334961,-0.060803],[-0.083292,-0.399526,0.912930]] 2025-10-28T18:35:05.046Z,1761676505.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303849,-0.863809,-0.401882],[0.948985,-0.311729,-0.047462],[-0.084280,-0.395802,0.914461]] 2025-10-28T18:35:05.079Z,1761676505.079 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:35:05.081Z,1761676505.081 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:35:05.081Z,1761676505.081 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:35:05.333Z,1761676505.333 [DAT](INFO): DAT read: user:131> 2025-10-28T18:35:05.334Z,1761676505.334 [DAT](INFO): DAT read: Tx time:18:35:05.0930 2025-10-28T18:35:05.334Z,1761676505.334 [DAT](INFO): Ping request sent. 2025-10-28T18:35:05.334Z,1761676505.334 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:35:05.334Z,1761676505.334 [DAT](INFO): publishing transmit ping time 2025-10-28T18:35:05.335Z,1761676505.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T18:35:05.434Z,1761676505.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277507,-0.871672,-0.403952],[0.956946,-0.288043,-0.035846],[-0.085110,-0.396508,0.914078]] 2025-10-28T18:35:05.585Z,1761676505.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250856 2025-10-28T18:35:05.837Z,1761676505.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502865 2025-10-28T18:35:05.840Z,1761676505.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251192,-0.878455,-0.406472],[0.964158,-0.264151,-0.024957],[-0.085447,-0.398172,0.913322]] 2025-10-28T18:35:06.089Z,1761676506.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755250 2025-10-28T18:35:06.243Z,1761676506.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224730,-0.884283,-0.409317],[0.970648,-0.240084,-0.014246],[-0.085673,-0.400504,0.912281]] 2025-10-28T18:35:06.341Z,1761676506.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006800 2025-10-28T18:35:06.593Z,1761676506.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258883 2025-10-28T18:35:06.669Z,1761676506.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197915,-0.889194,-0.412510],[0.976467,-0.215638,-0.003669],[-0.085690,-0.403528,0.910946]] 2025-10-28T18:35:06.845Z,1761676506.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510983 2025-10-28T18:35:07.053Z,1761676507.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170952,-0.894477,-0.413143],[0.981610,-0.190775,0.006865],[-0.084958,-0.404371,0.910640]] 2025-10-28T18:35:07.097Z,1761676507.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762993 2025-10-28T18:35:07.350Z,1761676507.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015511 2025-10-28T18:35:07.454Z,1761676507.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143498,-0.897400,-0.417231],[0.986077,-0.165450,0.016715],[-0.084031,-0.409023,0.908647]] 2025-10-28T18:35:07.601Z,1761676507.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266935 2025-10-28T18:35:07.857Z,1761676507.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522733 2025-10-28T18:35:07.865Z,1761676507.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115511,-0.899475,-0.421427],[0.989854,-0.139578,0.026595],[-0.082743,-0.414080,0.906472]] 2025-10-28T18:35:08.109Z,1761676508.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775494 2025-10-28T18:35:08.265Z,1761676508.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087215,-0.902215,-0.422376],[0.992873,-0.113293,0.036983],[-0.081218,-0.416140,0.905666]] 2025-10-28T18:35:08.362Z,1761676508.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027580 2025-10-28T18:35:08.616Z,1761676508.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281111 2025-10-28T18:35:08.677Z,1761676508.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058517,-0.904481,-0.422481],[0.995118,-0.086541,0.047441],[-0.079472,-0.417642,0.905130]] 2025-10-28T18:35:08.865Z,1761676508.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530926 2025-10-28T18:35:09.072Z,1761676509.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029137,-0.906706,-0.420756],[0.996528,-0.059196,0.058554],[-0.077999,-0.417589,0.905282]] 2025-10-28T18:35:09.117Z,1761676509.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782950 2025-10-28T18:35:09.369Z,1761676509.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034863 2025-10-28T18:35:09.475Z,1761676509.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001146,-0.908024,-0.418916],[0.997070,-0.031005,0.069932],[-0.076489,-0.417769,0.905328]] 2025-10-28T18:35:09.621Z,1761676509.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286989 2025-10-28T18:35:09.873Z,1761676509.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539035 2025-10-28T18:35:09.881Z,1761676509.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031380,-0.909340,-0.414869],[0.996679,-0.002738,0.081388],[-0.075145,-0.416045,0.906234]] 2025-10-28T18:35:10.128Z,1761676510.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793432 2025-10-28T18:35:10.283Z,1761676510.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062158,-0.910513,-0.408781],[0.995283,0.025983,0.093464],[-0.074479,-0.412662,0.907834]] 2025-10-28T18:35:10.379Z,1761676510.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044780 2025-10-28T18:35:10.632Z,1761676510.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297427 2025-10-28T18:35:10.686Z,1761676510.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093265,-0.911807,-0.399888],[0.992846,0.055094,0.105935],[-0.074561,-0.406907,0.910421]] 2025-10-28T18:35:10.881Z,1761676510.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546811 2025-10-28T18:35:11.097Z,1761676511.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123952,-0.911210,-0.392852],[0.989466,0.083663,0.118141],[-0.074784,-0.403357,0.911981]] 2025-10-28T18:35:11.135Z,1761676511.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800498 2025-10-28T18:35:11.385Z,1761676511.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050913 2025-10-28T18:35:11.507Z,1761676511.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154486,-0.908965,-0.387190],[0.985101,0.111738,0.130733],[-0.075567,-0.401617,0.912685]] 2025-10-28T18:35:11.637Z,1761676511.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302858 2025-10-28T18:35:11.894Z,1761676511.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560086 2025-10-28T18:35:11.903Z,1761676511.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184279,-0.905570,-0.382078],[0.979869,0.138893,0.143407],[-0.076797,-0.400814,0.912935]] 2025-10-28T18:35:12.145Z,1761676512.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810918 2025-10-28T18:35:12.304Z,1761676512.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213244,-0.900604,-0.378734],[0.973873,0.164956,0.156079],[-0.078091,-0.402122,0.912250]] 2025-10-28T18:35:12.397Z,1761676512.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062852 2025-10-28T18:35:12.652Z,1761676512.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317187 2025-10-28T18:35:12.706Z,1761676512.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241116,-0.894605,-0.376224],[0.967273,0.189953,0.168229],[-0.079033,-0.404474,0.911128]] 2025-10-28T18:35:12.901Z,1761676512.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566872 2025-10-28T18:35:13.110Z,1761676513.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267870,-0.887643,-0.374615],[0.960166,0.213845,0.179868],[-0.079548,-0.407874,0.909567]] 2025-10-28T18:35:13.153Z,1761676513.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818992 2025-10-28T18:35:13.406Z,1761676513.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071666 2025-10-28T18:35:13.525Z,1761676513.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294292,-0.880411,-0.371845],[0.952387,0.237718,0.190916],[-0.079691,-0.410325,0.908451]] 2025-10-28T18:35:13.657Z,1761676513.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322969 2025-10-28T18:35:13.910Z,1761676513.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575973 2025-10-28T18:35:13.926Z,1761676513.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320290,-0.872892,-0.368068],[0.943994,0.261563,0.201147],[-0.079306,-0.411880,0.907781]] 2025-10-28T18:35:14.162Z,1761676514.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827485 2025-10-28T18:35:14.322Z,1761676514.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345802,-0.865340,-0.362778],[0.935027,0.285492,0.210284],[-0.078397,-0.411924,0.907840]] 2025-10-28T18:35:14.413Z,1761676514.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078963 2025-10-28T18:35:14.665Z,1761676514.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330896 2025-10-28T18:35:14.727Z,1761676514.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370620,-0.857731,-0.356284],[0.925586,0.309279,0.218261],[-0.077018,-0.410663,0.908529]] 2025-10-28T18:35:14.792Z,1761676514.792 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:35:14.792Z,1761676514.792 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateRudder:A] Stopped 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:35:14.793Z,1761676514.793 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateCommandMode] Stopped 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:35:14.794Z,1761676514.794 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:35:14.795Z,1761676514.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:35:14.795Z,1761676514.795 [marl:UpdateSpeed] Stopped 2025-10-28T18:35:14.795Z,1761676514.795 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:35:14.917Z,1761676514.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582865 2025-10-28T18:35:15.137Z,1761676515.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395281,-0.849312,-0.349889],[0.915488,0.333131,0.225622],[-0.075065,-0.409503,0.909216]] 2025-10-28T18:35:15.161Z,1761676515.161 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:35:15.161Z,1761676515.161 [marl:UpdateRudder:B] Stopped 2025-10-28T18:35:15.161Z,1761676515.161 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:35:15.161Z,1761676515.161 [marl:UpdateRudder] Stopped 2025-10-28T18:35:15.161Z,1761676515.161 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:35:15.169Z,1761676515.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835092 2025-10-28T18:35:15.421Z,1761676515.421 [DAT](INFO): Reached modem response timeout 2025-10-28T18:35:15.542Z,1761676515.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420614,-0.840568,-0.341363],[0.904298,0.358165,0.232301],[-0.073001,-0.406403,0.910773]] 2025-10-28T18:35:15.940Z,1761676515.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446222,-0.829854,-0.335004],[0.892123,0.382900,0.239799],[-0.070725,-0.405868,0.911191]] 2025-10-28T18:35:16.342Z,1761676516.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472919,-0.817806,-0.327936],[0.878414,0.408533,0.247970],[-0.068818,-0.405333,0.911575]] 2025-10-28T18:35:16.748Z,1761676516.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501184,-0.804288,-0.319272],[0.862737,0.435826,0.256399],[-0.067072,-0.403951,0.912318]] 2025-10-28T18:35:17.157Z,1761676517.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529619,-0.789668,-0.309723],[0.845678,0.463227,0.265047],[-0.065827,-0.402300,0.913138]] 2025-10-28T18:35:17.559Z,1761676517.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558518,-0.772712,-0.301618],[0.826927,0.490100,0.275670],[-0.065190,-0.403383,0.912706]] 2025-10-28T18:35:17.689Z,1761676517.689 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:35:17.689Z,1761676517.689 [DAT](INFO): response not received 2025-10-28T18:35:17.690Z,1761676517.690 [DAT](ERROR): No response from remote modem. 2025-10-28T18:35:17.958Z,1761676517.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587163,-0.755503,-0.290611],[0.806840,0.517333,0.285263],[-0.065174,-0.401973,0.913329]] 2025-10-28T18:35:18.363Z,1761676518.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615080,-0.736051,-0.282677],[0.785724,0.542327,0.297523],[-0.065689,-0.405106,0.911907]] 2025-10-28T18:35:18.771Z,1761676518.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641996,-0.716240,-0.273571],[0.763780,0.566294,0.309758],[-0.066940,-0.407812,0.910609]] 2025-10-28T18:35:19.177Z,1761676519.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667272,-0.695750,-0.265857],[0.741659,0.587857,0.323057],[-0.068481,-0.412742,0.908270]] 2025-10-28T18:35:19.575Z,1761676519.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690744,-0.676108,-0.256421],[0.719673,0.608312,0.334705],[-0.070313,-0.415735,0.906764]] 2025-10-28T18:35:19.983Z,1761676519.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711952,-0.658229,-0.244660],[0.698517,0.628048,0.342972],[-0.072096,-0.415079,0.906924]] 2025-10-28T18:35:20.382Z,1761676520.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730706,-0.641216,-0.234333],[0.678734,0.645421,0.350359],[-0.073412,-0.415059,0.906828]] 2025-10-28T18:35:20.790Z,1761676520.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747712,-0.624501,-0.225665],[0.659847,0.660734,0.357817],[-0.074353,-0.416449,0.906114]] 2025-10-28T18:35:21.196Z,1761676521.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763656,-0.606691,-0.220805],[0.641304,0.673316,0.367931],[-0.074549,-0.422577,0.903256]] 2025-10-28T18:35:21.595Z,1761676521.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778997,-0.588878,-0.215374],[0.622645,0.685949,0.376547],[-0.074004,-0.427431,0.901014]] 2025-10-28T18:35:22.007Z,1761676522.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794103,-0.570298,-0.210143],[0.603450,0.698606,0.384444],[-0.072440,-0.432099,0.898912]] 2025-10-28T18:35:22.402Z,1761676522.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809446,-0.551629,-0.201254],[0.582983,0.713987,0.387754],[-0.070204,-0.431194,0.899524]] 2025-10-28T18:35:22.808Z,1761676522.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825027,-0.532400,-0.189420],[0.561017,0.731502,0.387510],[-0.067749,-0.425974,0.902195]] 2025-10-28T18:35:23.211Z,1761676523.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841045,-0.511269,-0.176769],[0.536982,0.749440,0.387286],[-0.065529,-0.420646,0.904855]] 2025-10-28T18:35:23.614Z,1761676523.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857389,-0.487889,-0.163855],[0.510710,0.767111,0.388221],[-0.063714,-0.416539,0.906883]] 2025-10-28T18:35:24.019Z,1761676524.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873883,-0.462559,-0.149560],[0.482095,0.785000,0.389049],[-0.062553,-0.412085,0.908996]] 2025-10-28T18:35:24.212Z,1761676524.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:35:24.425Z,1761676524.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889822,-0.435678,-0.135655],[0.452119,0.801595,0.391195],[-0.061695,-0.409426,0.910255]] 2025-10-28T18:35:24.826Z,1761676524.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905124,-0.407021,-0.122816],[0.420786,0.816372,0.395571],[-0.060742,-0.409721,0.910187]] 2025-10-28T18:35:25.216Z,1761676525.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:35:25.233Z,1761676525.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919054,-0.378356,-0.110396],[0.389556,0.829457,0.400310],[-0.059891,-0.410912,0.909706]] 2025-10-28T18:35:25.635Z,1761676525.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931765,-0.349408,-0.098634],[0.358166,0.840157,0.407252],[-0.059429,-0.414790,0.907974]] 2025-10-28T18:35:26.040Z,1761676526.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943253,-0.320536,-0.086783],[0.326792,0.849549,0.414093],[-0.059005,-0.418954,0.906088]] 2025-10-28T18:35:26.443Z,1761676526.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953276,-0.292758,-0.074547],[0.296339,0.858221,0.419093],[-0.058715,-0.421602,0.904878]] 2025-10-28T18:35:26.847Z,1761676526.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962045,-0.265711,-0.062180],[0.266580,0.866358,0.422326],[-0.058346,-0.422873,0.904309]] 2025-10-28T18:35:27.250Z,1761676527.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969697,-0.239380,-0.048842],[0.237165,0.874324,0.423450],[-0.058662,-0.422202,0.904602]] 2025-10-28T18:35:27.656Z,1761676527.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976304,-0.213536,-0.035106],[0.208182,0.882490,0.421748],[-0.059078,-0.419063,0.906033]] 2025-10-28T18:35:28.059Z,1761676528.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982072,-0.187329,-0.021011],[0.178882,0.890977,0.417326],[-0.059457,-0.413603,0.908514]] 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateRudder:A] Stopped 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:35:28.113Z,1761676528.113 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateCommandMode] Stopped 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:35:28.114Z,1761676528.114 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:35:28.115Z,1761676528.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:35:28.115Z,1761676528.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:35:28.115Z,1761676528.115 [marl:UpdateSpeed] Stopped 2025-10-28T18:35:28.115Z,1761676528.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:35:28.466Z,1761676528.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986722,-0.162227,-0.007867],[0.150998,0.898430,0.412338],[-0.059824,-0.408051,0.910997]] 2025-10-28T18:35:28.515Z,1761676528.515 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:35:28.515Z,1761676528.515 [marl:UpdateRudder:B] Stopped 2025-10-28T18:35:28.515Z,1761676528.515 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:35:28.515Z,1761676528.515 [marl:UpdateRudder] Stopped 2025-10-28T18:35:28.515Z,1761676528.515 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:35:28.867Z,1761676528.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990540,-0.137139,0.004903],[0.123179,0.904320,0.408695],[-0.060482,-0.404224,0.912658]] 2025-10-28T18:35:29.272Z,1761676529.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993506,-0.112538,0.016772],[0.095858,0.907272,0.409473],[-0.061298,-0.405206,0.912168]] 2025-10-28T18:35:29.674Z,1761676529.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995727,-0.087877,0.028371],[0.068355,0.907986,0.413387],[-0.062088,-0.409681,0.910113]] 2025-10-28T18:35:30.079Z,1761676530.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997223,-0.063261,0.039310],[0.041008,0.906946,0.419246],[-0.062174,-0.416470,0.907021]] 2025-10-28T18:35:30.490Z,1761676530.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997981,-0.038377,0.050600],[0.013261,0.905124,0.424941],[-0.062107,-0.423412,0.903806]] 2025-10-28T18:35:30.889Z,1761676530.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998007,-0.013293,0.061694],[-0.014412,0.903731,0.427859],[-0.061442,-0.427895,0.901738]] 2025-10-28T18:35:31.290Z,1761676531.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997254,0.012215,0.073036],[-0.042539,0.901822,0.430009],[-0.060613,-0.431935,0.899866]] 2025-10-28T18:35:31.695Z,1761676531.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995663,0.038712,0.084598],[-0.071457,0.900507,0.428930],[-0.059577,-0.433114,0.899368]] 2025-10-28T18:35:32.099Z,1761676532.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993130,0.066188,0.096495],[-0.101284,0.899214,0.425623],[-0.058599,-0.432473,0.899741]] 2025-10-28T18:35:32.504Z,1761676532.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989652,0.094370,0.108091],[-0.131394,0.898722,0.418371],[-0.057662,-0.428244,0.901821]] 2025-10-28T18:35:32.906Z,1761676532.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985117,0.123808,0.119228],[-0.162278,0.898562,0.407740],[-0.056652,-0.421020,0.905281]] 2025-10-28T18:35:33.310Z,1761676533.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979437,0.153791,0.130580],[-0.193859,0.896658,0.398025],[-0.055873,-0.415155,0.908034]] 2025-10-28T18:35:33.714Z,1761676533.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972610,0.184293,0.141652],[-0.225792,0.893807,0.387463],[-0.055203,-0.408835,0.910937]] 2025-10-28T18:35:34.119Z,1761676534.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964648,0.215046,0.152349],[-0.257869,0.889497,0.377225],[-0.054393,-0.403176,0.913505]] 2025-10-28T18:35:34.524Z,1761676534.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955671,0.244935,0.163400],[-0.289529,0.882653,0.370265],[-0.053535,-0.401160,0.914442]] 2025-10-28T18:35:34.926Z,1761676534.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945734,0.274144,0.174448],[-0.320643,0.874375,0.364220],[-0.052684,-0.400391,0.914829]] 2025-10-28T18:35:35.331Z,1761676535.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935435,0.301194,0.185052],[-0.349660,0.865314,0.359124],[-0.051962,-0.400642,0.914760]] 2025-10-28T18:35:35.734Z,1761676535.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924883,0.325884,0.195937],[-0.376743,0.855169,0.356019],[-0.051539,-0.403094,0.913706]] 2025-10-28T18:35:36.140Z,1761676536.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914206,0.349102,0.205803],[-0.401987,0.845514,0.351443],[-0.051320,-0.404021,0.913309]] 2025-10-28T18:35:36.542Z,1761676536.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903230,0.370798,0.216065],[-0.426099,0.834830,0.348566],[-0.051130,-0.406901,0.912040]] 2025-10-28T18:35:36.949Z,1761676536.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891896,0.390520,0.228068],[-0.449318,0.822430,0.348886],[-0.051323,-0.413645,0.908990]] 2025-10-28T18:35:37.350Z,1761676537.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879627,0.410381,0.240506],[-0.472874,0.809128,0.348858],[-0.051435,-0.420594,0.905790]] 2025-10-28T18:35:37.764Z,1761676537.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851804,0.452843,0.263370],[-0.521367,0.781828,0.341939],[-0.051065,-0.428578,0.902061]] 2025-10-28T18:35:38.163Z,1761676538.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836018,0.475473,0.273862],[-0.546374,0.767304,0.335739],[-0.050500,-0.430314,0.901265]] 2025-10-28T18:35:38.570Z,1761676538.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819035,0.499213,0.282788],[-0.571585,0.752680,0.326747],[-0.049733,-0.429254,0.901813]] 2025-10-28T18:35:38.980Z,1761676538.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800931,0.522790,0.291890],[-0.596728,0.737036,0.317323],[-0.049240,-0.428333,0.902278]] 2025-10-28T18:35:39.375Z,1761676539.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781782,0.547050,0.299256],[-0.621660,0.721148,0.305752],[-0.048547,-0.425067,0.903859]] 2025-10-28T18:35:39.781Z,1761676539.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762590,0.570463,0.305005],[-0.645102,0.705609,0.293190],[-0.047960,-0.420343,0.906097]] 2025-10-28T18:35:40.181Z,1761676540.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743673,0.591853,0.310902],[-0.666867,0.689632,0.282307],[-0.047324,-0.417274,0.907548]] 2025-10-28T18:35:40.587Z,1761676540.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724405,0.612440,0.316471],[-0.687791,0.673178,0.271615],[-0.046694,-0.414425,0.908885]] 2025-10-28T18:35:40.986Z,1761676540.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704781,0.631483,0.323286],[-0.707933,0.655570,0.262791],[-0.045988,-0.414075,0.909080]] 2025-10-28T18:35:41.390Z,1761676541.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684582,0.649299,0.331297],[-0.727533,0.636800,0.255307],[-0.045200,-0.415808,0.908329]] 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateRudder:A] Stopped 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:35:41.423Z,1761676541.423 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:35:41.424Z,1761676541.424 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:35:41.444Z,1761676541.444 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:35:41.445Z,1761676541.445 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:35:41.445Z,1761676541.445 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:35:41.445Z,1761676541.445 [marl:UpdateCommandMode] Stopped 2025-10-28T18:35:41.445Z,1761676541.445 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed] Stopped 2025-10-28T18:35:41.446Z,1761676541.446 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:35:41.797Z,1761676541.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663043,0.666655,0.340506],[-0.747293,0.616133,0.248863],[-0.043891,-0.419465,0.906710]] 2025-10-28T18:35:41.825Z,1761676541.825 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:35:41.825Z,1761676541.825 [marl:UpdateRudder:B] Stopped 2025-10-28T18:35:41.825Z,1761676541.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:35:41.825Z,1761676541.825 [marl:UpdateRudder] Stopped 2025-10-28T18:35:41.826Z,1761676541.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:35:42.199Z,1761676542.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640387,0.683786,0.349772],[-0.766889,0.594315,0.242220],[-0.042248,-0.423351,0.904980]] 2025-10-28T18:35:42.627Z,1761676542.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616845,0.700589,0.358716],[-0.786037,0.571836,0.234841],[-0.040600,-0.426825,0.903423]] 2025-10-28T18:35:43.008Z,1761676543.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592417,0.718177,0.365054],[-0.804689,0.549403,0.225015],[-0.038961,-0.427057,0.903385]] 2025-10-28T18:35:43.410Z,1761676543.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567956,0.735532,0.369348],[-0.822219,0.527303,0.214259],[-0.037164,-0.425375,0.904254]] 2025-10-28T18:35:43.815Z,1761676543.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543824,0.753110,0.370244],[-0.838437,0.506387,0.201481],[-0.035750,-0.419997,0.906821]] 2025-10-28T18:35:44.218Z,1761676544.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519566,0.769095,0.372214],[-0.853756,0.484608,0.190410],[-0.033934,-0.416711,0.908406]] 2025-10-28T18:35:44.664Z,1761676544.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495008,0.782541,0.377621],[-0.868283,0.461729,0.181359],[-0.032438,-0.417656,0.908026]] 2025-10-28T18:35:45.027Z,1761676545.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470000,0.795377,0.382721],[-0.882118,0.438546,0.171891],[-0.031123,-0.418393,0.907733]] 2025-10-28T18:35:45.434Z,1761676545.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445264,0.806723,0.388506],[-0.894881,0.415696,0.162436],[-0.030460,-0.419994,0.907016]] 2025-10-28T18:35:45.838Z,1761676545.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420216,0.817535,0.393770],[-0.906930,0.392702,0.152524],[-0.029941,-0.421215,0.906466]] 2025-10-28T18:35:46.240Z,1761676546.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394081,0.827754,0.399404],[-0.918609,0.368592,0.142470],[-0.029287,-0.423041,0.905637]] 2025-10-28T18:35:46.671Z,1761676546.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367404,0.836874,0.405778],[-0.929613,0.343977,0.132285],[-0.028872,-0.425818,0.904348]] 2025-10-28T18:35:47.047Z,1761676547.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340328,0.845645,0.411171],[-0.939886,0.319004,0.121860],[-0.028115,-0.427927,0.903376]] 2025-10-28T18:35:47.457Z,1761676547.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312645,0.854179,0.415490],[-0.949469,0.293736,0.110577],[-0.027592,-0.429066,0.902851]] 2025-10-28T18:35:47.859Z,1761676547.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284149,0.863690,0.416292],[-0.958399,0.268105,0.097932],[-0.027027,-0.426801,0.903942]] 2025-10-28T18:35:48.297Z,1761676548.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255514,0.873415,0.414558],[-0.966433,0.242647,0.084440],[-0.026840,-0.422218,0.906097]] 2025-10-28T18:35:48.683Z,1761676548.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225883,0.882615,0.412272],[-0.973800,0.216001,0.071116],[-0.026283,-0.417534,0.908281]] 2025-10-28T18:35:49.066Z,1761676549.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196593,0.889679,0.412096],[-0.980150,0.189321,0.058859],[-0.025653,-0.415487,0.909237]] 2025-10-28T18:35:49.471Z,1761676549.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167430,0.895715,0.411899],[-0.985570,0.162619,0.046986],[-0.024897,-0.413822,0.910017]] 2025-10-28T18:35:49.885Z,1761676549.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138176,0.899932,0.413557],[-0.990122,0.135540,0.035869],[-0.023774,-0.414428,0.909771]] 2025-10-28T18:35:50.278Z,1761676550.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109714,0.902633,0.416192],[-0.993708,0.109094,0.025352],[-0.022520,-0.416355,0.908923]] 2025-10-28T18:35:50.686Z,1761676550.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082098,0.903435,0.420790],[-0.996390,0.083554,0.015010],[-0.021598,-0.420503,0.907034]] 2025-10-28T18:35:51.087Z,1761676551.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055480,0.903020,0.426001],[-0.998243,0.059057,0.004820],[-0.020806,-0.425520,0.904710]] 2025-10-28T18:35:51.491Z,1761676551.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028947,0.902288,0.430160],[-0.999377,0.034825,-0.005795],[-0.020209,-0.429724,0.902734]] 2025-10-28T18:35:51.898Z,1761676551.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002101,0.900821,0.434186],[-0.999806,0.010394,-0.016727],[-0.019581,-0.434067,0.900668]] 2025-10-28T18:35:52.299Z,1761676552.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024552,0.899486,0.436258],[-0.999513,-0.013679,-0.028048],[-0.019261,-0.436734,0.899384]] 2025-10-28T18:35:52.708Z,1761676552.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051631,0.898915,0.435070],[-0.998487,-0.038220,-0.039525],[-0.018901,-0.436452,0.899529]] 2025-10-28T18:35:53.106Z,1761676553.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078726,0.898954,0.430911],[-0.996722,-0.062905,-0.050867],[-0.018621,-0.433503,0.900960]] 2025-10-28T18:35:53.510Z,1761676553.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106027,0.900626,0.421463],[-0.994192,-0.088151,-0.061739],[-0.018452,-0.425562,0.904741]] 2025-10-28T18:35:53.915Z,1761676553.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133353,0.902732,0.409014],[-0.990902,-0.113872,-0.071743],[-0.018189,-0.414860,0.909703]] 2025-10-28T18:35:54.320Z,1761676554.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160986,0.903258,0.397754],[-0.986792,-0.139957,-0.081565],[-0.018005,-0.405632,0.913859]] 2025-10-28T18:35:54.723Z,1761676554.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187113,0.901240,0.390840],[-0.982174,-0.164355,-0.091226],[-0.017980,-0.400943,0.915927]] 2025-10-28T18:35:54.804Z,1761676554.804 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:35:54.804Z,1761676554.804 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:35:54.804Z,1761676554.804 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateRudder:A] Stopped 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:35:54.805Z,1761676554.805 [marl:UpdateCommandMode] Stopped 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed] Stopped 2025-10-28T18:35:54.806Z,1761676554.806 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:35:55.126Z,1761676555.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214162,0.897128,0.386388],[-0.976639,-0.189512,-0.101301],[-0.017655,-0.399056,0.916756]] 2025-10-28T18:35:55.179Z,1761676555.179 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:35:55.179Z,1761676555.179 [marl:UpdateRudder:B] Stopped 2025-10-28T18:35:55.179Z,1761676555.179 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:35:55.179Z,1761676555.179 [marl:UpdateRudder] Stopped 2025-10-28T18:35:55.179Z,1761676555.179 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:35:55.344Z,1761676555.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:35:55.531Z,1761676555.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241556,0.891115,0.384141],[-0.970232,-0.214710,-0.112026],[-0.017349,-0.399766,0.916453]] 2025-10-28T18:35:55.947Z,1761676555.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269178,0.882923,0.384695],[-0.962936,-0.239589,-0.123898],[-0.017223,-0.403788,0.914690]] 2025-10-28T18:35:56.338Z,1761676556.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297972,0.872335,0.387613],[-0.954420,-0.264940,-0.137441],[-0.017201,-0.410899,0.911519]] 2025-10-28T18:35:56.348Z,1761676556.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:35:56.742Z,1761676556.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326709,0.861365,0.388987],[-0.944963,-0.290092,-0.151296],[-0.017479,-0.417008,0.908735]] 2025-10-28T18:35:57.148Z,1761676557.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356031,0.851389,0.385199],[-0.934303,-0.316427,-0.164171],[-0.017886,-0.418343,0.908113]] 2025-10-28T18:35:57.554Z,1761676557.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386141,0.841124,0.378690],[-0.922260,-0.343924,-0.176501],[-0.018219,-0.417405,0.908538]] 2025-10-28T18:35:57.959Z,1761676557.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416943,0.829072,0.372556],[-0.908751,-0.372035,-0.189109],[-0.018181,-0.417408,0.908537]] 2025-10-28T18:35:58.360Z,1761676558.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446707,0.815583,0.367802],[-0.894500,-0.398881,-0.201899],[-0.017956,-0.419188,0.907722]] 2025-10-28T18:35:58.774Z,1761676558.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475621,0.802530,0.360182],[-0.879468,-0.425501,-0.213271],[-0.017899,-0.418205,0.908176]] 2025-10-28T18:35:59.168Z,1761676559.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503031,0.788211,0.354518],[-0.864071,-0.449903,-0.225762],[-0.018449,-0.419894,0.907386]] 2025-10-28T18:35:59.572Z,1761676559.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527812,0.774061,0.349636],[-0.849135,-0.471372,-0.238283],[-0.019637,-0.422656,0.906077]] 2025-10-28T18:35:59.974Z,1761676559.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550717,0.759912,0.345317],[-0.834435,-0.490967,-0.250338],[-0.020695,-0.426010,0.904482]] 2025-10-28T18:36:00.379Z,1761676560.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572267,0.746027,0.340521],[-0.819782,-0.509457,-0.261556],[-0.021646,-0.428833,0.903125]] 2025-10-28T18:36:00.788Z,1761676560.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592992,0.732617,0.334115],[-0.804894,-0.527723,-0.271394],[-0.022507,-0.429862,0.902614]] 2025-10-28T18:36:01.186Z,1761676561.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613350,0.720020,0.324612],[-0.789476,-0.546952,-0.278515],[-0.022989,-0.427101,0.903912]] 2025-10-28T18:36:01.592Z,1761676561.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634272,0.706821,0.313214],[-0.772767,-0.567574,-0.284061],[-0.023008,-0.422214,0.906204]] 2025-10-28T18:36:02.003Z,1761676562.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655245,0.692248,0.302403],[-0.755082,-0.588278,-0.289447],[-0.022472,-0.417998,0.908170]] 2025-10-28T18:36:02.400Z,1761676562.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676448,0.675907,0.292521],[-0.736162,-0.608673,-0.295944],[-0.021981,-0.415533,0.909312]] 2025-10-28T18:36:02.802Z,1761676562.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697236,0.657764,0.284971],[-0.716518,-0.627526,-0.304654],[-0.021563,-0.416602,0.908833]] 2025-10-28T18:36:03.207Z,1761676563.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717281,0.638994,0.277840],[-0.696462,-0.645374,-0.313739],[-0.021167,-0.418544,0.907950]] 2025-10-28T18:36:03.611Z,1761676563.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736152,0.620136,0.271129],[-0.676507,-0.662085,-0.322462],[-0.020460,-0.420801,0.906922]] 2025-10-28T18:36:04.022Z,1761676564.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753939,0.601094,0.265071],[-0.656668,-0.677832,-0.330653],[-0.019080,-0.423356,0.905763]] 2025-10-28T18:36:04.431Z,1761676564.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770756,0.581678,0.259972],[-0.636896,-0.692356,-0.339126],[-0.017269,-0.426959,0.904106]] 2025-10-28T18:36:04.822Z,1761676564.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786199,0.563132,0.254504],[-0.617792,-0.706267,-0.345717],[-0.014936,-0.429033,0.903165]] 2025-10-28T18:36:05.227Z,1761676565.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801474,0.543855,0.248720],[-0.597899,-0.720016,-0.352268],[-0.012500,-0.431044,0.902245]] 2025-10-28T18:36:05.265Z,1761676565.265 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:36:05.361Z,1761676565.361 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:36:05.361Z,1761676565.361 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:36:05.613Z,1761676565.613 [DAT](INFO): DAT read: user:132> 2025-10-28T18:36:05.614Z,1761676565.614 [DAT](INFO): DAT read: Tx time:18:36:05.3427 2025-10-28T18:36:05.614Z,1761676565.614 [DAT](INFO): Ping request sent. 2025-10-28T18:36:05.614Z,1761676565.614 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:36:05.614Z,1761676565.614 [DAT](INFO): publishing transmit ping time 2025-10-28T18:36:05.615Z,1761676565.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T18:36:05.631Z,1761676565.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816939,0.523299,0.242423],[-0.576636,-0.733834,-0.359135],[-0.010037,-0.433181,0.901251]] 2025-10-28T18:36:05.865Z,1761676565.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862 2025-10-28T18:36:06.037Z,1761676566.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832565,0.502506,0.233072],[-0.553876,-0.749527,-0.362534],[-0.007482,-0.430927,0.902356]] 2025-10-28T18:36:06.117Z,1761676566.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978 2025-10-28T18:36:06.369Z,1761676566.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875 2025-10-28T18:36:06.442Z,1761676566.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848804,0.479553,0.222624],[-0.528685,-0.765912,-0.365884],[-0.004951,-0.428261,0.903641]] 2025-10-28T18:36:06.624Z,1761676566.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009080 2025-10-28T18:36:06.842Z,1761676566.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864950,0.455282,0.211139],[-0.501851,-0.782504,-0.368555],[-0.002579,-0.424742,0.905311]] 2025-10-28T18:36:06.873Z,1761676566.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259028 2025-10-28T18:36:07.125Z,1761676567.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860 2025-10-28T18:36:07.246Z,1761676567.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881035,0.428936,0.199479],[-0.473052,-0.798563,-0.372182],[-0.000346,-0.422269,0.906470]] 2025-10-28T18:36:07.377Z,1761676567.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763013 2025-10-28T18:36:07.629Z,1761676567.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014931 2025-10-28T18:36:07.652Z,1761676567.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896835,0.400207,0.188471],[-0.442360,-0.813284,-0.378004],[0.002001,-0.422379,0.906417]] 2025-10-28T18:36:07.881Z,1761676567.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898 2025-10-28T18:36:08.063Z,1761676568.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911740,0.370496,0.177379],[-0.410748,-0.826660,-0.384602],[0.004138,-0.423515,0.905880]] 2025-10-28T18:36:08.087Z,1761676568.087 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:36:08.087Z,1761676568.087 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:36:08.087Z,1761676568.087 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:36:08.087Z,1761676568.087 [marl:UpdateRudder:A] Stopped 2025-10-28T18:36:08.088Z,1761676568.088 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:36:08.088Z,1761676568.088 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:36:08.088Z,1761676568.088 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:36:08.088Z,1761676568.088 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:36:08.088Z,1761676568.088 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateCommandMode] Stopped 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:36:08.089Z,1761676568.089 [marl:UpdateSpeed] Stopped 2025-10-28T18:36:08.090Z,1761676568.090 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:36:08.133Z,1761676568.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519329 2025-10-28T18:36:08.385Z,1761676568.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770936 2025-10-28T18:36:08.458Z,1761676568.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925232,0.341172,0.165973],[-0.379358,-0.838575,-0.390998],[0.005783,-0.424727,0.905303]] 2025-10-28T18:36:08.496Z,1761676568.496 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:36:08.496Z,1761676568.496 [marl:UpdateRudder:B] Stopped 2025-10-28T18:36:08.496Z,1761676568.496 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:36:08.496Z,1761676568.496 [marl:UpdateRudder] Stopped 2025-10-28T18:36:08.496Z,1761676568.496 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:36:08.640Z,1761676568.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025169 2025-10-28T18:36:08.863Z,1761676568.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937424,0.311808,0.154957],[-0.348116,-0.848471,-0.398639],[0.007177,-0.427637,0.903922]] 2025-10-28T18:36:08.890Z,1761676568.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276201 2025-10-28T18:36:09.141Z,1761676569.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527279 2025-10-28T18:36:09.266Z,1761676569.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947885,0.283701,0.145008],[-0.318492,-0.856195,-0.406807],[0.008743,-0.431791,0.901932]] 2025-10-28T18:36:09.395Z,1761676569.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781130 2025-10-28T18:36:09.645Z,1761676569.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030882 2025-10-28T18:36:09.671Z,1761676569.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956797,0.257020,0.135939],[-0.290568,-0.862005,-0.415352],[0.010426,-0.436908,0.899446]] 2025-10-28T18:36:09.898Z,1761676569.898 [DAT](INFO): DAT read: Rx Time:18:36:09.2014 2025-10-28T18:36:09.899Z,1761676569.899 [DAT](INFO): Rx dataTimestamp_ set to:1761676569.898347 2025-10-28T18:36:09.899Z,1761676569.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285469 2025-10-28T18:36:10.074Z,1761676570.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964554,0.231746,0.126211],[-0.263607,-0.868136,-0.420537],[0.012110,-0.438901,0.898454]] 2025-10-28T18:36:10.149Z,1761676570.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534817 2025-10-28T18:36:10.412Z,1761676570.412 [DAT](INFO): DAT read: 18:36:09.2014 LVL= 27088, 25377, 22322, 24243, AGC= 74, IDX= 251, 0.32, 3.091,-1.776,-1.226,-2.604, PHS=-0.487, 0.873, 1.333, RAW= 255.9, -20.4, CAL= 255.3, -25.4, ROT= 254.7, 25.4 2025-10-28T18:36:10.413Z,1761676570.413 [DAT](INFO): got valid direction response: 18:36:09.2014 LVL= 27088, 25377, 22322, 24243, AGC= 74, IDX= 251, 0.32, 3.091,-1.776,-1.226,-2.604, PHS=-0.487, 0.873, 1.333, RAW= 255.9, -20.4, CAL= 255.3, -25.4, ROT= 254.7, 25.4 2025-10-28T18:36:10.415Z,1761676570.415 [DAT](INFO): DAT read: Bearing 67, -14 (Remote) 2025-10-28T18:36:10.415Z,1761676570.415 [DAT](INFO): Remote Bearing received:Bearing 67, -14 (Remote) 2025-10-28T18:36:10.434Z,1761676570.434 [DAT](INFO): DAT read: Bearing 188.9, -35.8 (Local) 2025-10-28T18:36:10.434Z,1761676570.434 [DAT](INFO): Local bearing/azimuth received: Bearing 188.9, -35.8 (Local) 2025-10-28T18:36:10.435Z,1761676570.435 [DAT](INFO): DAT read: Range 11 to 20 : 1372.1 m (Round-trip 1829.5 ms) speed -0.5 m/s 2025-10-28T18:36:10.436Z,1761676570.436 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:36:10.437Z,1761676570.437 [DAT](INFO): direction in FSK: [-0.238366,-0.871319,-0.428935] 2025-10-28T18:36:10.438Z,1761676570.438 [DAT](INFO): publishing direction and range info 2025-10-28T18:36:10.478Z,1761676570.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971265,0.207490,0.116587],[-0.237590,-0.874099,-0.423676],[0.014000,-0.439202,0.898279]] 2025-10-28T18:36:10.561Z,1761676570.561 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676544.00. Resetting abort timer. 2025-10-28T18:36:10.882Z,1761676570.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977144,0.183829,0.106758],[-0.211975,-0.880427,-0.424165],[0.016019,-0.437100,0.899270]] 2025-10-28T18:36:11.286Z,1761676571.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982301,0.160564,0.096454],[-0.186410,-0.888360,-0.419604],[0.018313,-0.430157,0.902568]] 2025-10-28T18:36:11.691Z,1761676571.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986844,0.136519,0.086609],[-0.160377,-0.894326,-0.417685],[0.020434,-0.426080,0.904455]] 2025-10-28T18:36:12.102Z,1761676572.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990574,0.112914,0.077550],[-0.135135,-0.898165,-0.418377],[0.022412,-0.424913,0.904957]] 2025-10-28T18:36:12.499Z,1761676572.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993721,0.088993,0.067808],[-0.109208,-0.903243,-0.415002],[0.024314,-0.419801,0.907290]] 2025-10-28T18:36:12.911Z,1761676572.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996291,0.063760,0.057786],[-0.082070,-0.905952,-0.415349],[0.025869,-0.418551,0.907825]] 2025-10-28T18:36:13.316Z,1761676573.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998098,0.038991,0.047758],[-0.055347,-0.907940,-0.415430],[0.027164,-0.417283,0.908370]] 2025-10-28T18:36:13.713Z,1761676573.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999224,0.012897,0.037213],[-0.027201,-0.909315,-0.415219],[0.028483,-0.415909,0.908960]] 2025-10-28T18:36:14.115Z,1761676574.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999557,-0.014107,0.026209],[0.001965,-0.909894,-0.414837],[0.029700,-0.414601,0.909518]] 2025-10-28T18:36:14.518Z,1761676574.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999034,-0.041315,0.014949],[0.031400,-0.909377,-0.414786],[0.030731,-0.413916,0.909796]] 2025-10-28T18:36:14.925Z,1761676574.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997625,-0.068828,0.002833],[0.061464,-0.907948,-0.414550],[0.031105,-0.413391,0.910022]] 2025-10-28T18:36:15.327Z,1761676575.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995282,-0.096570,-0.009372],[0.091785,-0.905832,-0.413575],[0.031450,-0.412484,0.910422]] 2025-10-28T18:36:15.732Z,1761676575.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991875,-0.125244,-0.022303],[0.123298,-0.903276,-0.410963],[0.031325,-0.410373,0.911379]] 2025-10-28T18:36:16.134Z,1761676576.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987502,-0.153644,-0.035127],[0.154516,-0.899835,-0.407947],[0.031070,-0.408276,0.912329]] 2025-10-28T18:36:16.539Z,1761676576.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982175,-0.181673,-0.048239],[0.185433,-0.894467,-0.406870],[0.030770,-0.408563,0.912211]] 2025-10-28T18:36:16.942Z,1761676576.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976082,-0.208537,-0.061446],[0.215235,-0.887144,-0.408227],[0.030619,-0.411689,0.910810]] 2025-10-28T18:36:17.348Z,1761676577.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969298,-0.234381,-0.074344],[0.244002,-0.879452,-0.408691],[0.030407,-0.414283,0.909640]] 2025-10-28T18:36:17.753Z,1761676577.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961785,-0.259686,-0.086792],[0.272102,-0.871200,-0.408622],[0.030500,-0.416622,0.908568]] 2025-10-28T18:36:18.155Z,1761676578.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953564,-0.284482,-0.098922],[0.299614,-0.862396,-0.408049],[0.030772,-0.418739,0.907585]] 2025-10-28T18:36:18.559Z,1761676578.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944668,-0.308968,-0.110187],[0.326510,-0.853375,-0.406376],[0.031526,-0.419868,0.907037]] 2025-10-28T18:36:18.965Z,1761676578.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935245,-0.332795,-0.120681],[0.352506,-0.844221,-0.403770],[0.032491,-0.420165,0.906866]] 2025-10-28T18:36:19.366Z,1761676579.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925202,-0.356430,-0.130224],[0.377989,-0.835284,-0.399280],[0.033541,-0.418638,0.907533]] 2025-10-28T18:36:19.775Z,1761676579.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914456,-0.379733,-0.139907],[0.403221,-0.825570,-0.394775],[0.034406,-0.417417,0.908063]] 2025-10-28T18:36:20.177Z,1761676580.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903280,-0.402384,-0.148904],[0.427592,-0.815653,-0.389711],[0.035359,-0.415689,0.908819]] 2025-10-28T18:36:20.584Z,1761676580.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891352,-0.425162,-0.157254],[0.451844,-0.805407,-0.383609],[0.036442,-0.412985,0.910008]] 2025-10-28T18:36:20.982Z,1761676580.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879147,-0.446982,-0.165252],[0.475070,-0.794720,-0.377794],[0.037538,-0.410643,0.911023]] 2025-10-28T18:36:21.394Z,1761676581.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866568,-0.468245,-0.172647],[0.497554,-0.783765,-0.371688],[0.038726,-0.407994,0.912163]] 2025-10-28T18:36:21.434Z,1761676581.434 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:36:21.434Z,1761676581.434 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:36:21.434Z,1761676581.434 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:36:21.434Z,1761676581.434 [marl:UpdateRudder:A] Stopped 2025-10-28T18:36:21.434Z,1761676581.434 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode] Stopped 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:36:21.435Z,1761676581.435 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed] Stopped 2025-10-28T18:36:21.436Z,1761676581.436 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:36:21.797Z,1761676581.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853268,-0.488611,-0.182190],[0.519996,-0.770957,-0.367736],[0.039219,-0.408516,0.911908]] 2025-10-28T18:36:21.845Z,1761676581.845 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:36:21.845Z,1761676581.845 [marl:UpdateRudder:B] Stopped 2025-10-28T18:36:21.845Z,1761676581.845 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:36:21.845Z,1761676581.845 [marl:UpdateRudder] Stopped 2025-10-28T18:36:21.845Z,1761676581.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:36:22.194Z,1761676582.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839354,-0.508665,-0.191691],[0.542119,-0.757428,-0.363881],[0.039901,-0.409345,0.911507]] 2025-10-28T18:36:22.637Z,1761676582.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809799,-0.548418,-0.208480],[0.585264,-0.730169,-0.352589],[0.041140,-0.407542,0.912259]] 2025-10-28T18:36:23.417Z,1761676583.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778584,-0.584561,-0.228244],[0.626129,-0.699255,-0.344970],[0.042056,-0.411499,0.910439]] 2025-10-28T18:36:23.829Z,1761676583.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761868,-0.602819,-0.236993],[0.646332,-0.683464,-0.339312],[0.042568,-0.411687,0.910331]] 2025-10-28T18:36:24.219Z,1761676584.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744684,-0.620957,-0.244658],[0.666014,-0.667631,-0.332709],[0.043256,-0.410709,0.910740]] 2025-10-28T18:36:24.662Z,1761676584.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726747,-0.639062,-0.251872],[0.685499,-0.651290,-0.325440],[0.043934,-0.409171,0.911399]] 2025-10-28T18:36:25.029Z,1761676585.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707866,-0.657319,-0.258568],[0.704935,-0.634276,-0.317429],[0.044649,-0.406971,0.912349]] 2025-10-28T18:36:25.427Z,1761676585.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687997,-0.675056,-0.266381],[0.724289,-0.615734,-0.310285],[0.045440,-0.406412,0.912559]] 2025-10-28T18:36:25.831Z,1761676585.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668079,-0.691426,-0.274955],[0.742637,-0.596491,-0.304450],[0.046497,-0.407588,0.911981]] 2025-10-28T18:36:26.238Z,1761676586.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646457,-0.708746,-0.282440],[0.761496,-0.576536,-0.296193],[0.047089,-0.406553,0.912413]] 2025-10-28T18:36:26.469Z,1761676586.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:36:26.666Z,1761676586.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623924,-0.725449,-0.290590],[0.780037,-0.555481,-0.288068],[0.047562,-0.406404,0.912455]] 2025-10-28T18:36:27.046Z,1761676587.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600418,-0.741891,-0.298488],[0.798249,-0.533656,-0.279303],[0.047922,-0.405966,0.912631]] 2025-10-28T18:36:27.447Z,1761676587.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575790,-0.757519,-0.307623],[0.816189,-0.510482,-0.270635],[0.047975,-0.406907,0.912209]] 2025-10-28T18:36:27.472Z,1761676587.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:36:27.851Z,1761676587.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550420,-0.772492,-0.316693],[0.833510,-0.486652,-0.261595],[0.047961,-0.407954,0.911742]] 2025-10-28T18:36:28.262Z,1761676588.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524225,-0.787017,-0.325257],[0.850245,-0.462347,-0.251630],[0.047656,-0.408459,0.911532]] 2025-10-28T18:36:29.064Z,1761676589.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469729,-0.814220,-0.341174],[0.881567,-0.412115,-0.230219],[0.046846,-0.408908,0.911372]] 2025-10-28T18:36:29.466Z,1761676589.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440877,-0.827638,-0.347336],[0.896391,-0.386190,-0.217578],[0.045938,-0.407274,0.912150]] 2025-10-28T18:36:29.886Z,1761676589.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411173,-0.839941,-0.354170],[0.910472,-0.359462,-0.204518],[0.044472,-0.406554,0.912544]] 2025-10-28T18:36:30.282Z,1761676590.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380749,-0.851007,-0.361688],[0.923697,-0.332027,-0.191158],[0.042587,-0.406873,0.912491]] 2025-10-28T18:36:30.678Z,1761676590.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350100,-0.860772,-0.369462],[0.935856,-0.304561,-0.177245],[0.040044,-0.407817,0.912185]] 2025-10-28T18:36:31.084Z,1761676591.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319797,-0.869157,-0.377221],[0.946769,-0.277648,-0.162912],[0.036862,-0.409239,0.911682]] 2025-10-28T18:36:31.487Z,1761676591.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290286,-0.876793,-0.383365],[0.956354,-0.251797,-0.148271],[0.033473,-0.409674,0.911618]] 2025-10-28T18:36:31.899Z,1761676591.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261334,-0.883080,-0.389712],[0.964781,-0.226406,-0.133933],[0.030041,-0.410988,0.911146]] 2025-10-28T18:36:32.295Z,1761676592.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233727,-0.887347,-0.397476],[0.971931,-0.201924,-0.120737],[0.026875,-0.414539,0.909635]] 2025-10-28T18:36:32.698Z,1761676592.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207415,-0.891640,-0.402439],[0.977954,-0.178814,-0.107854],[0.024205,-0.415938,0.909071]] 2025-10-28T18:36:33.102Z,1761676593.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181127,-0.894759,-0.408166],[0.983216,-0.155516,-0.095395],[0.021879,-0.418594,0.907910]] 2025-10-28T18:36:33.510Z,1761676593.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156589,-0.896835,-0.413724],[0.987454,-0.133527,-0.084290],[0.020351,-0.421733,0.906492]] 2025-10-28T18:36:33.910Z,1761676593.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131788,-0.898123,-0.419532],[0.991083,-0.110990,-0.073725],[0.019650,-0.425507,0.904742]] 2025-10-28T18:36:34.314Z,1761676594.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106856,-0.898610,-0.425538],[0.994071,-0.087907,-0.063987],[0.020091,-0.429852,0.902676]] 2025-10-28T18:36:34.721Z,1761676594.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080861,-0.900194,-0.427917],[0.996493,-0.063738,-0.054220],[0.021534,-0.430800,0.902191]] 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateRudder:A] Stopped 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:36:34.797Z,1761676594.797 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode] Stopped 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:36:34.798Z,1761676594.798 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:36:34.799Z,1761676594.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:36:34.799Z,1761676594.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:36:34.799Z,1761676594.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:36:34.799Z,1761676594.799 [marl:UpdateSpeed] Stopped 2025-10-28T18:36:34.799Z,1761676594.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:36:35.122Z,1761676595.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053958,-0.902210,-0.427908],[0.998269,-0.038690,-0.044305],[0.023416,-0.429557,0.902736]] 2025-10-28T18:36:35.158Z,1761676595.158 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:36:35.158Z,1761676595.158 [marl:UpdateRudder:B] Stopped 2025-10-28T18:36:35.158Z,1761676595.158 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:36:35.158Z,1761676595.158 [marl:UpdateRudder] Stopped 2025-10-28T18:36:35.158Z,1761676595.158 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:36:35.526Z,1761676595.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025417,-0.904899,-0.424867],[0.999366,-0.012396,-0.033384],[0.024942,-0.425446,0.904640]] 2025-10-28T18:36:35.931Z,1761676595.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004088,-0.906548,-0.422084],[0.999649,0.014753,-0.022004],[0.026175,-0.421846,0.906290]] 2025-10-28T18:36:36.336Z,1761676596.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035038,-0.907512,-0.418562],[0.999025,0.043059,-0.009730],[0.026853,-0.417813,0.908136]] 2025-10-28T18:36:36.739Z,1761676596.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066948,-0.907093,-0.415572],[0.997384,0.072222,0.003034],[0.027262,-0.414687,0.909555]] 2025-10-28T18:36:37.143Z,1761676597.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099473,-0.905357,-0.412836],[0.994669,0.101812,0.016389],[0.027194,-0.412265,0.910658]] 2025-10-28T18:36:37.546Z,1761676597.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132928,-0.902673,-0.409283],[0.990766,0.132147,0.030333],[0.026705,-0.409535,0.911903]] 2025-10-28T18:36:37.953Z,1761676597.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166843,-0.898612,-0.405783],[0.985643,0.162824,0.044682],[0.025919,-0.407412,0.912876]] 2025-10-28T18:36:38.370Z,1761676598.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201326,-0.891985,-0.404760],[0.979206,0.193812,0.059942],[0.024980,-0.408411,0.912456]] 2025-10-28T18:36:38.763Z,1761676598.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236251,-0.883818,-0.403796],[0.971392,0.225138,0.075562],[0.024126,-0.410096,0.911723]] 2025-10-28T18:36:39.164Z,1761676599.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270852,-0.874587,-0.402165],[0.962347,0.255979,0.091449],[0.022966,-0.411791,0.910989]] 2025-10-28T18:36:39.569Z,1761676599.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305661,-0.863668,-0.400810],[0.951911,0.286436,0.108721],[0.020907,-0.414767,0.909687]] 2025-10-28T18:36:39.970Z,1761676599.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339894,-0.853380,-0.395241],[0.940285,0.316551,0.125138],[0.018324,-0.414172,0.910014]] 2025-10-28T18:36:40.378Z,1761676600.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373291,-0.841627,-0.390279],[0.927592,0.345445,0.142272],[0.015081,-0.415129,0.909638]] 2025-10-28T18:36:40.783Z,1761676600.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405245,-0.828754,-0.385932],[0.914137,0.372593,0.159772],[0.011384,-0.417542,0.908587]] 2025-10-28T18:36:41.185Z,1761676601.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435612,-0.816731,-0.378409],[0.900104,0.398692,0.175661],[0.007401,-0.417127,0.908818]] 2025-10-28T18:36:41.586Z,1761676601.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464908,-0.803144,-0.372587],[0.885354,0.423200,0.192486],[0.003085,-0.419359,0.907815]] 2025-10-28T18:36:41.991Z,1761676601.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492897,-0.791101,-0.362232],[0.870087,0.447768,0.206038],[-0.000800,-0.416729,0.909030]] 2025-10-28T18:36:42.394Z,1761676602.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519938,-0.777949,-0.352788],[0.854192,0.471302,0.219615],[-0.004579,-0.415535,0.909566]] 2025-10-28T18:36:42.800Z,1761676602.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545493,-0.763326,-0.346079],[0.838078,0.492879,0.233873],[-0.007946,-0.417617,0.908588]] 2025-10-28T18:36:43.203Z,1761676603.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570345,-0.748799,-0.337649],[0.821334,0.514454,0.246470],[-0.010852,-0.417895,0.908430]] 2025-10-28T18:36:43.606Z,1761676603.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594586,-0.732201,-0.332189],[0.803928,0.534738,0.260298],[-0.012957,-0.421825,0.906585]] 2025-10-28T18:36:44.010Z,1761676604.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618491,-0.714820,-0.326345],[0.785663,0.555025,0.273278],[-0.014215,-0.425417,0.904886]] 2025-10-28T18:36:44.423Z,1761676604.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642028,-0.695734,-0.322109],[0.766538,0.574387,0.287226],[-0.014817,-0.431316,0.902079]] 2025-10-28T18:36:44.821Z,1761676604.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665801,-0.675380,-0.317129],[0.745984,0.594149,0.300823],[-0.014748,-0.436862,0.899408]] 2025-10-28T18:36:45.222Z,1761676605.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689239,-0.656378,-0.306786],[0.724396,0.616015,0.309476],[-0.014148,-0.435538,0.900059]] 2025-10-28T18:36:45.627Z,1761676605.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712842,-0.636821,-0.293794],[0.701191,0.638979,0.316285],[-0.013689,-0.431467,0.902025]] 2025-10-28T18:36:46.032Z,1761676606.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736846,-0.614445,-0.281985],[0.675939,0.661650,0.324538],[-0.012836,-0.429739,0.902862]] 2025-10-28T18:36:46.434Z,1761676606.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761154,-0.591410,-0.266231],[0.648458,0.686287,0.329413],[-0.012107,-0.423373,0.905874]] 2025-10-28T18:36:46.845Z,1761676606.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785203,-0.567039,-0.248843],[0.619126,0.711238,0.332900],[-0.011781,-0.415460,0.909535]] 2025-10-28T18:36:47.243Z,1761676607.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808635,-0.541086,-0.230944],[0.588186,0.735495,0.336280],[-0.012098,-0.407766,0.913006]] 2025-10-28T18:36:47.648Z,1761676607.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831206,-0.513210,-0.213806],[0.555817,0.758200,0.340883],[-0.012837,-0.402180,0.915470]] 2025-10-28T18:36:48.051Z,1761676608.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852622,-0.484383,-0.195979],[0.522334,0.779879,0.344901],[-0.014225,-0.396437,0.917952]] 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateRudder:A] Stopped 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:36:48.086Z,1761676608.086 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateCommandMode] Stopped 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:36:48.087Z,1761676608.087 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:36:48.088Z,1761676608.088 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:36:48.088Z,1761676608.088 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:36:48.088Z,1761676608.088 [marl:UpdateSpeed] Stopped 2025-10-28T18:36:48.088Z,1761676608.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:36:48.455Z,1761676608.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872790,-0.454309,-0.178440],[0.487823,0.799700,0.350012],[-0.016315,-0.392534,0.919593]] 2025-10-28T18:36:48.509Z,1761676608.509 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:36:48.509Z,1761676608.509 [marl:UpdateRudder:B] Stopped 2025-10-28T18:36:48.509Z,1761676608.509 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:36:48.509Z,1761676608.509 [marl:UpdateRudder] Stopped 2025-10-28T18:36:48.509Z,1761676608.509 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:36:48.863Z,1761676608.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891608,-0.422861,-0.161936],[0.452422,0.817162,0.357157],[-0.018700,-0.391707,0.919900]] 2025-10-28T18:36:49.264Z,1761676609.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908614,-0.391719,-0.144835],[0.417077,0.833115,0.363273],[-0.021636,-0.390482,0.920356]] 2025-10-28T18:36:49.666Z,1761676609.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923685,-0.361823,-0.126058],[0.382357,0.849235,0.364148],[-0.024704,-0.384557,0.922771]] 2025-10-28T18:36:50.070Z,1761676610.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936440,-0.333652,-0.108426],[0.349675,0.862645,0.365473],[-0.028408,-0.380157,0.924485]] 2025-10-28T18:36:50.475Z,1761676610.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947692,-0.304935,-0.094313],[0.317577,0.871169,0.374447],[-0.032019,-0.384812,0.922440]] 2025-10-28T18:36:50.889Z,1761676610.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957535,-0.276964,-0.080105],[0.286109,0.878478,0.382646],[-0.035609,-0.389316,0.920416]] 2025-10-28T18:36:51.282Z,1761676611.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965922,-0.250377,-0.065620],[0.255904,0.885761,0.387222],[-0.038828,-0.390818,0.919649]] 2025-10-28T18:36:51.687Z,1761676611.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973170,-0.224233,-0.051566],[0.226188,0.891269,0.393039],[-0.042173,-0.394157,0.918075]] 2025-10-28T18:36:52.090Z,1761676612.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979437,-0.198245,-0.037436],[0.196555,0.895815,0.398600],[-0.045485,-0.397762,0.916360]] 2025-10-28T18:36:52.497Z,1761676612.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984707,-0.172606,-0.023639],[0.167272,0.898780,0.405235],[-0.048700,-0.402992,0.913907]] 2025-10-28T18:36:52.899Z,1761676612.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989173,-0.146469,-0.009153],[0.137423,0.902587,0.407985],[-0.051496,-0.404825,0.912943]] 2025-10-28T18:36:53.302Z,1761676613.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992962,-0.118292,0.005783],[0.105507,0.905718,0.410541],[-0.053802,-0.407041,0.911824]] 2025-10-28T18:36:53.706Z,1761676613.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995909,-0.087786,0.021420],[0.070870,0.905883,0.417557],[-0.056059,-0.414331,0.908398]] 2025-10-28T18:36:54.516Z,1761676614.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998177,-0.019735,0.057044],[-0.005568,0.910910,0.412568],[-0.060104,-0.412134,0.909139]] 2025-10-28T18:36:54.922Z,1761676614.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997059,0.015872,0.074970],[-0.044797,0.914467,0.402173],[-0.062174,-0.404349,0.912489]] 2025-10-28T18:36:55.333Z,1761676615.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994392,0.051535,0.092357],[-0.083880,0.916177,0.391899],[-0.064419,-0.397448,0.915361]] 2025-10-28T18:36:55.726Z,1761676615.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990336,0.085651,0.109083],[-0.121448,0.915376,0.383845],[-0.066976,-0.393383,0.916932]] 2025-10-28T18:36:56.130Z,1761676616.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985160,0.117627,0.124993],[-0.156838,0.912765,0.377176],[-0.069724,-0.391183,0.917668]] 2025-10-28T18:36:56.536Z,1761676616.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979073,0.146979,0.140760],[-0.190006,0.907941,0.373551],[-0.072897,-0.392479,0.916868]] 2025-10-28T18:36:56.951Z,1761676616.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972259,0.174464,0.155803],[-0.221250,0.902080,0.370539],[-0.075901,-0.394732,0.915656]] 2025-10-28T18:36:57.348Z,1761676617.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964882,0.200217,0.170046],[-0.250481,0.896279,0.365983],[-0.079133,-0.395724,0.914954]] 2025-10-28T18:36:57.596Z,1761676617.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:36:57.747Z,1761676617.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956539,0.225709,0.184632],[-0.279852,0.888485,0.363699],[-0.081953,-0.399561,0.913036]] 2025-10-28T18:36:58.151Z,1761676618.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946924,0.252276,0.199230],[-0.310065,0.880336,0.358982],[-0.084827,-0.401703,0.911833]] 2025-10-28T18:36:58.557Z,1761676618.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936082,0.280174,0.212726],[-0.340819,0.872092,0.351138],[-0.087137,-0.401195,0.911839]] 2025-10-28T18:36:58.601Z,1761676618.601 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:36:58.964Z,1761676618.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923415,0.309819,0.226531],[-0.373406,0.861669,0.343648],[-0.088727,-0.401918,0.911367]] 2025-10-28T18:36:59.363Z,1761676619.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909057,0.338531,0.242923],[-0.406783,0.847306,0.341467],[-0.090233,-0.409230,0.907958]] 2025-10-28T18:36:59.774Z,1761676619.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892439,0.369025,0.259564],[-0.441761,0.831608,0.336565],[-0.091654,-0.415029,0.905180]] 2025-10-28T18:37:00.171Z,1761676620.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874710,0.400539,0.272857],[-0.475743,0.817053,0.325721],[-0.092474,-0.414721,0.905238]] 2025-10-28T18:37:00.576Z,1761676620.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855792,0.432299,0.284145],[-0.508809,0.802603,0.311355],[-0.093457,-0.411030,0.906819]] 2025-10-28T18:37:00.993Z,1761676620.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836394,0.463154,0.293143],[-0.539985,0.788077,0.295552],[-0.094133,-0.405490,0.909239]] 2025-10-28T18:37:01.392Z,1761676621.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816584,0.491845,0.302125],[-0.569339,0.772523,0.281178],[-0.095102,-0.401617,0.910856]] 2025-10-28T18:37:01.456Z,1761676621.456 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:37:01.456Z,1761676621.456 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:37:01.456Z,1761676621.456 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateRudder:A] Stopped 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:37:01.457Z,1761676621.457 [marl:UpdateCommandMode] Stopped 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed] Stopped 2025-10-28T18:37:01.458Z,1761676621.458 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:37:01.795Z,1761676621.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796638,0.519424,0.309138],[-0.596789,0.757089,0.265817],[-0.095974,-0.396251,0.913113]] 2025-10-28T18:37:01.841Z,1761676621.841 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:37:01.841Z,1761676621.841 [marl:UpdateRudder:B] Stopped 2025-10-28T18:37:01.841Z,1761676621.841 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:37:01.841Z,1761676621.841 [marl:UpdateRudder] Stopped 2025-10-28T18:37:01.841Z,1761676621.841 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:37:02.199Z,1761676622.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777621,0.543755,0.315653],[-0.621192,0.741980,0.252163],[-0.097093,-0.392168,0.914755]] 2025-10-28T18:37:02.633Z,1761676622.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758658,0.564524,0.325195],[-0.643988,0.725346,0.243212],[-0.098580,-0.393936,0.913836]] 2025-10-28T18:37:03.017Z,1761676623.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739293,0.582028,0.338657],[-0.665880,0.706746,0.238986],[-0.100248,-0.402186,0.910053]] 2025-10-28T18:37:03.411Z,1761676623.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719315,0.598464,0.352740],[-0.687153,0.687531,0.234781],[-0.102012,-0.411268,0.905788]] 2025-10-28T18:37:03.823Z,1761676623.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699127,0.613453,0.367282],[-0.707475,0.667843,0.231225],[-0.103441,-0.421499,0.900910]] 2025-10-28T18:37:04.218Z,1761676624.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678573,0.627699,0.381487],[-0.727016,0.648055,0.226877],[-0.104814,-0.431300,0.896100]] 2025-10-28T18:37:04.663Z,1761676624.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634930,0.662329,0.397725],[-0.765325,0.609560,0.206672],[-0.105553,-0.435611,0.893925]] 2025-10-28T18:37:05.431Z,1761676625.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610878,0.680097,0.405334],[-0.784756,0.587906,0.196275],[-0.104812,-0.437989,0.892850]] 2025-10-28T18:37:05.486Z,1761676625.486 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:37:05.609Z,1761676625.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:37:05.609Z,1761676625.609 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:37:05.839Z,1761676625.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585752,0.699825,0.408827],[-0.803827,0.566163,0.182544],[-0.103714,-0.435552,0.894169]] 2025-10-28T18:37:05.861Z,1761676625.861 [DAT](INFO): DAT read: user:133> 2025-10-28T18:37:05.862Z,1761676625.862 [DAT](INFO): DAT read: Tx time:18:37:05.5925 2025-10-28T18:37:05.862Z,1761676625.862 [DAT](INFO): Ping request sent. 2025-10-28T18:37:05.862Z,1761676625.862 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:37:05.862Z,1761676625.862 [DAT](INFO): publishing transmit ping time 2025-10-28T18:37:05.863Z,1761676625.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T18:37:06.113Z,1761676626.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250537 2025-10-28T18:37:06.238Z,1761676626.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559016,0.722487,0.406834],[-0.822861,0.543751,0.165028],[-0.101986,-0.427021,0.898472]] 2025-10-28T18:37:06.365Z,1761676626.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502590 2025-10-28T18:37:06.619Z,1761676626.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756808 2025-10-28T18:37:06.674Z,1761676626.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501965,0.768356,0.397065],[-0.859173,0.495682,0.126968],[-0.099261,-0.404881,0.908966]] 2025-10-28T18:37:06.869Z,1761676626.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006512 2025-10-28T18:37:07.121Z,1761676627.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259101 2025-10-28T18:37:07.373Z,1761676627.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510593 2025-10-28T18:37:07.452Z,1761676627.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471427,0.787630,0.396730],[-0.876357,0.468764,0.110720],[-0.098766,-0.399873,0.911233]] 2025-10-28T18:37:07.625Z,1761676627.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762536 2025-10-28T18:37:07.862Z,1761676627.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407029,0.822748,0.396753],[-0.907977,0.411769,0.077608],[-0.099519,-0.391832,0.914639]] 2025-10-28T18:37:07.877Z,1761676627.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014651 2025-10-28T18:37:08.129Z,1761676628.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266615 2025-10-28T18:37:08.263Z,1761676628.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373668,0.838315,0.396989],[-0.922096,0.382121,0.061009],[-0.100553,-0.388859,0.915793]] 2025-10-28T18:37:08.381Z,1761676628.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518572 2025-10-28T18:37:08.639Z,1761676628.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776727 2025-10-28T18:37:08.672Z,1761676628.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339834,0.851827,0.398626],[-0.934951,0.351901,0.045078],[-0.101879,-0.388015,0.916005]] 2025-10-28T18:37:08.885Z,1761676628.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022621 2025-10-28T18:37:09.076Z,1761676629.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306197,0.863917,0.399862],[-0.946347,0.321812,0.029383],[-0.103296,-0.387406,0.916104]] 2025-10-28T18:37:09.137Z,1761676629.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274934 2025-10-28T18:37:09.389Z,1761676629.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526556 2025-10-28T18:37:09.475Z,1761676629.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272685,0.874005,0.402192],[-0.956361,0.291841,0.014209],[-0.104958,-0.388515,0.915445]] 2025-10-28T18:37:09.641Z,1761676629.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778607 2025-10-28T18:37:09.875Z,1761676629.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239655,0.881356,0.407157],[-0.965003,0.262237,0.000353],[-0.106461,-0.392992,0.913358]] 2025-10-28T18:37:09.893Z,1761676629.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030681 2025-10-28T18:37:10.145Z,1761676630.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282579 2025-10-28T18:37:10.278Z,1761676630.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207048,0.885952,0.414994],[-0.972375,0.233089,-0.012475],[-0.107783,-0.400947,0.909738]] 2025-10-28T18:37:10.398Z,1761676630.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535286 2025-10-28T18:37:10.652Z,1761676630.652 [DAT](INFO): DAT read: Rx Time:18:37:09.8555 2025-10-28T18:37:10.654Z,1761676630.654 [DAT](INFO): Rx dataTimestamp_ set to:1761676630.652797 2025-10-28T18:37:10.657Z,1761676630.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793243 2025-10-28T18:37:10.692Z,1761676630.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175494,0.890499,0.419778],[-0.978416,0.205017,-0.025873],[-0.109101,-0.406177,0.907258]] 2025-10-28T18:37:10.901Z,1761676630.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038581 2025-10-28T18:37:11.090Z,1761676631.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145319,0.892643,0.426697],[-0.983211,0.178398,-0.038357],[-0.110361,-0.413959,0.903581]] 2025-10-28T18:37:11.158Z,1761676631.158 [DAT](INFO): DAT read: 18:37:09.8555 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 471,-0.25, 0.683, 2.092, 0.069, 1.081, PHS=-0.297, 1.056,-1.057, RAW= 350.8, 3.2, CAL= 350.4, 0.3, ROT= 159.6, -0.3 2025-10-28T18:37:11.159Z,1761676631.159 [DAT](INFO): got valid direction response: 18:37:09.8555 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 471,-0.25, 0.683, 2.092, 0.069, 1.081, PHS=-0.297, 1.056,-1.057, RAW= 350.8, 3.2, CAL= 350.4, 0.3, ROT= 159.6, -0.3 2025-10-28T18:37:11.161Z,1761676631.161 [DAT](INFO): DAT read: Bearing 188.3, 25.1 (Local) 2025-10-28T18:37:11.161Z,1761676631.161 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 25.1 (Local) 2025-10-28T18:37:11.162Z,1761676631.162 [DAT](INFO): DAT read: Range 11 to 20 : 1394.1 m (Round-trip 1858.8 ms) speed -1.2 m/s 2025-10-28T18:37:11.163Z,1761676631.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:37:11.165Z,1761676631.165 [DAT](INFO): direction in FSK: [-0.937269,0.348567,0.005236] 2025-10-28T18:37:11.165Z,1761676631.165 [DAT](INFO): publishing direction and range info 2025-10-28T18:37:11.491Z,1761676631.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115414,0.895542,0.429748],[-0.987106,0.151710,-0.051044],[-0.110909,-0.418316,0.901505]] 2025-10-28T18:37:11.535Z,1761676631.535 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676672.00. Resetting abort timer. 2025-10-28T18:37:11.894Z,1761676631.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086915,0.896648,0.434130],[-0.989932,0.126603,-0.063295],[-0.111716,-0.424258,0.898624]] 2025-10-28T18:37:12.309Z,1761676632.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058791,0.896003,0.440138],[-0.991939,0.102011,-0.075168],[-0.112250,-0.432171,0.894778]] 2025-10-28T18:37:12.704Z,1761676632.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031013,0.895476,0.444027],[-0.993166,0.077616,-0.087161],[-0.112515,-0.438289,0.891764]] 2025-10-28T18:37:13.106Z,1761676633.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003476,0.893945,0.448164],[-0.993637,0.053542,-0.099093],[-0.112579,-0.444967,0.888443]] 2025-10-28T18:37:13.511Z,1761676633.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022741,0.891729,0.451998],[-0.993386,0.030744,-0.110634],[-0.112551,-0.451525,0.885131]] 2025-10-28T18:37:13.914Z,1761676633.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049414,0.892056,0.449214],[-0.992435,0.006756,-0.122587],[-0.112389,-0.451874,0.884974]] 2025-10-28T18:37:14.324Z,1761676634.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076779,0.892649,0.444166],[-0.990742,-0.018281,-0.134522],[-0.111961,-0.450382,0.885788]] 2025-10-28T18:37:14.723Z,1761676634.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104791,0.892924,0.437842],[-0.988264,-0.044293,-0.146196],[-0.111149,-0.448024,0.887085]] 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateRudder:A] Stopped 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:37:14.863Z,1761676634.863 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:37:14.864Z,1761676634.864 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:37:14.864Z,1761676634.864 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:37:14.864Z,1761676634.864 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateCommandMode] Stopped 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:37:14.865Z,1761676634.865 [marl:UpdateSpeed] Stopped 2025-10-28T18:37:14.866Z,1761676634.866 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:37:15.126Z,1761676635.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133199,0.895167,0.425363],[-0.984868,-0.071537,-0.157854],[-0.110877,-0.439952,0.891150]] 2025-10-28T18:37:15.174Z,1761676635.174 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:37:15.174Z,1761676635.174 [marl:UpdateRudder:B] Stopped 2025-10-28T18:37:15.174Z,1761676635.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:37:15.175Z,1761676635.175 [marl:UpdateRudder] Stopped 2025-10-28T18:37:15.175Z,1761676635.175 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:37:15.531Z,1761676635.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162840,0.895784,0.413588],[-0.980455,-0.100003,-0.169435],[-0.110418,-0.433095,0.894560]] 2025-10-28T18:37:15.937Z,1761676635.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193282,0.895871,0.400071],[-0.974923,-0.129521,-0.180970],[-0.110308,-0.425017,0.898439]] 2025-10-28T18:37:16.338Z,1761676636.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224510,0.893148,0.389721],[-0.968201,-0.159153,-0.193019],[-0.110369,-0.420663,0.900478]] 2025-10-28T18:37:16.742Z,1761676636.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256829,0.888892,0.379354],[-0.960157,-0.189931,-0.205000],[-0.110172,-0.416889,0.902256]] 2025-10-28T18:37:17.147Z,1761676637.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289290,0.882450,0.370935],[-0.950865,-0.220259,-0.217579],[-0.110301,-0.415653,0.902810]] 2025-10-28T18:37:17.552Z,1761676637.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321475,0.875434,0.360928],[-0.940472,-0.250786,-0.229386],[-0.110297,-0.413185,0.903943]] 2025-10-28T18:37:17.954Z,1761676637.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351658,0.867065,0.352894],[-0.929586,-0.278946,-0.240955],[-0.110485,-0.412779,0.904105]] 2025-10-28T18:37:18.379Z,1761676638.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380298,0.858034,0.345181],[-0.918213,-0.305601,-0.251980],[-0.110719,-0.412777,0.904078]] 2025-10-28T18:37:18.769Z,1761676638.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407460,0.848731,0.337094],[-0.906447,-0.330992,-0.262296],[-0.111043,-0.412432,0.904195]] 2025-10-28T18:37:19.175Z,1761676639.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432723,0.839259,0.329233],[-0.894592,-0.354528,-0.272056],[-0.111603,-0.412254,0.904207]] 2025-10-28T18:37:19.571Z,1761676639.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456305,0.830056,0.320613],[-0.882678,-0.376667,-0.281071],[-0.112541,-0.411252,0.904548]] 2025-10-28T18:37:19.975Z,1761676639.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479615,0.820297,0.311579],[-0.870175,-0.398908,-0.289255],[-0.112984,-0.409860,0.905124]] 2025-10-28T18:37:20.378Z,1761676640.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502583,0.809054,0.304698],[-0.857075,-0.420097,-0.298231],[-0.113282,-0.411035,0.904554]] 2025-10-28T18:37:20.795Z,1761676640.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525785,0.797895,0.294810],[-0.843055,-0.442700,-0.305408],[-0.113172,-0.409120,0.905435]] 2025-10-28T18:37:21.187Z,1761676641.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549610,0.784676,0.286727],[-0.827716,-0.464957,-0.314168],[-0.113205,-0.409998,0.905034]] 2025-10-28T18:37:21.590Z,1761676641.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573464,0.771496,0.275561],[-0.811422,-0.488567,-0.320776],[-0.112847,-0.407550,0.906184]] 2025-10-28T18:37:21.997Z,1761676641.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597233,0.756784,0.265688],[-0.794164,-0.511574,-0.328016],[-0.112318,-0.406902,0.906540]] 2025-10-28T18:37:22.400Z,1761676642.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621196,0.740499,0.256471],[-0.775685,-0.534457,-0.335662],[-0.111485,-0.407452,0.906396]] 2025-10-28T18:37:22.807Z,1761676642.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644787,0.722823,0.248547],[-0.756259,-0.556060,-0.344775],[-0.111004,-0.410272,0.905182]] 2025-10-28T18:37:23.206Z,1761676643.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667551,0.704458,0.241071],[-0.736284,-0.576416,-0.354444],[-0.110734,-0.414106,0.903468]] 2025-10-28T18:37:23.611Z,1761676643.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689955,0.685345,0.232945],[-0.715434,-0.596720,-0.363426],[-0.110069,-0.417405,0.902030]] 2025-10-28T18:37:24.017Z,1761676644.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711522,0.665576,0.225265],[-0.694104,-0.615870,-0.372725],[-0.109343,-0.421560,0.900184]] 2025-10-28T18:37:24.418Z,1761676644.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732391,0.645486,0.216681],[-0.672154,-0.634618,-0.381404],[-0.108681,-0.424980,0.898655]] 2025-10-28T18:37:24.822Z,1761676644.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752664,0.625003,0.207047],[-0.649538,-0.653423,-0.388766],[-0.107690,-0.427095,0.897771]] 2025-10-28T18:37:25.227Z,1761676645.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772510,0.603095,0.198755],[-0.626001,-0.670779,-0.397716],[-0.106540,-0.431661,0.895722]] 2025-10-28T18:37:25.631Z,1761676645.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790919,0.581369,0.190938],[-0.602811,-0.686601,-0.406446],[-0.105197,-0.436566,0.893501]] 2025-10-28T18:37:26.037Z,1761676646.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809045,0.559320,0.180575],[-0.578642,-0.704122,-0.411565],[-0.103049,-0.437463,0.893312]] 2025-10-28T18:37:26.438Z,1761676646.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826674,0.536514,0.169594],[-0.553570,-0.721449,-0.416020],[-0.100847,-0.437795,0.893401]] 2025-10-28T18:37:26.843Z,1761676646.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843046,0.514249,0.157544],[-0.528726,-0.738709,-0.418042],[-0.098598,-0.435726,0.894663]] 2025-10-28T18:37:27.251Z,1761676647.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859224,0.491472,0.142091],[-0.502478,-0.758489,-0.414982],[-0.096178,-0.427960,0.898666]] 2025-10-28T18:37:27.650Z,1761676647.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874916,0.467497,0.126362],[-0.475114,-0.778121,-0.410847],[-0.093745,-0.419493,0.902905]] 2025-10-28T18:37:28.055Z,1761676648.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889119,0.443612,0.112592],[-0.448400,-0.795046,-0.408461],[-0.091682,-0.413656,0.905805]] 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateRudder:A] Stopped 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:37:28.108Z,1761676648.108 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode] Stopped 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:37:28.109Z,1761676648.109 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:37:28.110Z,1761676648.110 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:37:28.110Z,1761676648.110 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:37:28.110Z,1761676648.110 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:37:28.110Z,1761676648.110 [marl:UpdateSpeed] Stopped 2025-10-28T18:37:28.110Z,1761676648.110 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:37:28.458Z,1761676648.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902102,0.419370,0.101687],[-0.422137,-0.808751,-0.409538],[-0.089509,-0.412371,0.906608]] 2025-10-28T18:37:28.483Z,1761676648.483 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:37:28.483Z,1761676648.483 [marl:UpdateRudder:B] Stopped 2025-10-28T18:37:28.483Z,1761676648.483 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:37:28.483Z,1761676648.483 [marl:UpdateRudder] Stopped 2025-10-28T18:37:28.483Z,1761676648.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:37:28.728Z,1761676648.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:37:28.865Z,1761676648.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913649,0.395809,0.092628],[-0.396958,-0.819639,-0.413058],[-0.087570,-0.414159,0.905982]] 2025-10-28T18:37:29.274Z,1761676649.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924037,0.372709,0.085113],[-0.372698,-0.828617,-0.417721],[-0.085162,-0.417711,0.904580]] 2025-10-28T18:37:29.671Z,1761676649.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933464,0.349934,0.078687],[-0.349046,-0.835800,-0.423798],[-0.082534,-0.423066,0.902332]] 2025-10-28T18:37:29.732Z,1761676649.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:37:30.078Z,1761676650.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942054,0.327880,0.070918],[-0.325855,-0.844159,-0.425693],[-0.079710,-0.424135,0.902084]] 2025-10-28T18:37:30.481Z,1761676650.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949924,0.306250,0.062086],[-0.302950,-0.853898,-0.423178],[-0.076583,-0.420796,0.903917]] 2025-10-28T18:37:30.882Z,1761676650.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957280,0.284275,0.052939],[-0.279667,-0.863665,-0.419367],[-0.073494,-0.416257,0.906272]] 2025-10-28T18:37:31.291Z,1761676651.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963986,0.262473,0.042886],[-0.256421,-0.874487,-0.411729],[-0.070565,-0.407898,0.910297]] 2025-10-28T18:37:31.692Z,1761676651.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970359,0.239508,0.032229],[-0.231944,-0.885552,-0.402492],[-0.067860,-0.398037,0.914856]] 2025-10-28T18:37:32.104Z,1761676652.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976567,0.214124,0.021641],[-0.205071,-0.895314,-0.395422],[-0.065294,-0.390594,0.918245]] 2025-10-28T18:37:32.499Z,1761676652.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982403,0.186464,0.010727],[-0.175679,-0.903031,-0.392011],[-0.063409,-0.386998,0.919898]] 2025-10-28T18:37:32.903Z,1761676652.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987703,0.156339,-0.001189],[-0.143501,-0.909565,-0.389997],[-0.062053,-0.385031,0.920815]] 2025-10-28T18:37:33.318Z,1761676653.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992081,0.124872,-0.013519],[-0.109654,-0.913568,-0.391624],[-0.061253,-0.387040,0.920026]] 2025-10-28T18:37:33.710Z,1761676653.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995336,0.092884,-0.026058],[-0.074650,-0.912673,-0.401814],[-0.061105,-0.397995,0.915350]] 2025-10-28T18:37:34.115Z,1761676654.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997369,0.060609,-0.039759],[-0.038845,-0.910009,-0.412765],[-0.061198,-0.410135,0.909969]] 2025-10-28T18:37:34.519Z,1761676654.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998106,0.028617,-0.054453],[-0.002891,-0.906044,-0.423173],[-0.061447,-0.422214,0.904411]] 2025-10-28T18:37:34.924Z,1761676654.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997531,-0.003189,-0.070162],[0.033250,-0.901377,-0.431757],[-0.061865,-0.433023,0.899257]] 2025-10-28T18:37:35.327Z,1761676655.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995612,-0.035197,-0.086710],[0.069698,-0.897197,-0.436096],[-0.062447,-0.440226,0.895713]] 2025-10-28T18:37:35.730Z,1761676655.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992476,-0.066243,-0.102969],[0.104940,-0.893481,-0.436668],[-0.063075,-0.444188,0.893710]] 2025-10-28T18:37:36.134Z,1761676656.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988767,-0.093581,-0.116545],[0.135628,-0.889419,-0.436507],[-0.062808,-0.447411,0.892120]] 2025-10-28T18:37:36.540Z,1761676656.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984799,-0.118783,-0.126733],[0.162586,-0.887141,-0.431911],[-0.061126,-0.445951,0.892968]] 2025-10-28T18:37:37.346Z,1761676657.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975164,-0.169702,-0.142323],[0.214282,-0.885408,-0.412476],[-0.056016,-0.432729,0.899782]] 2025-10-28T18:37:37.757Z,1761676657.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969575,-0.195465,-0.147373],[0.239101,-0.885279,-0.398889],[-0.052498,-0.421989,0.905080]] 2025-10-28T18:37:38.155Z,1761676658.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963010,-0.222608,-0.151847],[0.265096,-0.883718,-0.385703],[-0.048330,-0.411690,0.910042]] 2025-10-28T18:37:38.559Z,1761676658.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955208,-0.250282,-0.157915],[0.292564,-0.878972,-0.376582],[-0.044551,-0.405915,0.912824]] 2025-10-28T18:37:38.963Z,1761676658.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946312,-0.277886,-0.165144],[0.320606,-0.872097,-0.369674],[-0.041294,-0.402773,0.914368]] 2025-10-28T18:37:39.367Z,1761676659.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935880,-0.306330,-0.174041],[0.350185,-0.863081,-0.363954],[-0.038721,-0.401564,0.915012]] 2025-10-28T18:37:39.779Z,1761676659.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924504,-0.334103,-0.183488],[0.379422,-0.852696,-0.359093],[-0.036485,-0.401602,0.915087]] 2025-10-28T18:37:40.179Z,1761676660.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912084,-0.361377,-0.193674],[0.408571,-0.840557,-0.355715],[-0.034247,-0.403572,0.914307]] 2025-10-28T18:37:40.586Z,1761676660.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899319,-0.385921,-0.205647],[0.436111,-0.826078,-0.356934],[-0.032132,-0.410683,0.911212]] 2025-10-28T18:37:40.982Z,1761676660.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886284,-0.409109,-0.217095],[0.462173,-0.811544,-0.357481],[-0.029934,-0.417165,0.908338]] 2025-10-28T18:37:41.386Z,1761676661.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872738,-0.432029,-0.227332],[0.487399,-0.797573,-0.355415],[-0.027765,-0.420985,0.906643]] 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateRudder:A] Stopped 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:37:41.437Z,1761676661.437 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode] Stopped 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:37:41.438Z,1761676661.438 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:37:41.439Z,1761676661.439 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:37:41.439Z,1761676661.439 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:37:41.439Z,1761676661.439 [marl:UpdateSpeed] Stopped 2025-10-28T18:37:41.439Z,1761676661.439 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:37:41.795Z,1761676661.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858930,-0.454307,-0.236313],[0.511470,-0.783822,-0.352167],[-0.025236,-0.423354,0.905613]] 2025-10-28T18:37:41.819Z,1761676661.819 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:37:41.819Z,1761676661.819 [marl:UpdateRudder:B] Stopped 2025-10-28T18:37:41.819Z,1761676661.819 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:37:41.819Z,1761676661.819 [marl:UpdateRudder] Stopped 2025-10-28T18:37:41.819Z,1761676661.819 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:37:42.194Z,1761676662.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844769,-0.476415,-0.243709],[0.534659,-0.770537,-0.347005],[-0.022468,-0.423440,0.905645]] 2025-10-28T18:37:42.619Z,1761676662.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829978,-0.498471,-0.250327],[0.557462,-0.756799,-0.341308],[-0.019315,-0.422826,0.906005]] 2025-10-28T18:37:43.003Z,1761676663.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814003,-0.521199,-0.256421],[0.580646,-0.742142,-0.334776],[-0.015816,-0.421398,0.906738]] 2025-10-28T18:37:43.418Z,1761676663.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796905,-0.544155,-0.262370],[0.603978,-0.726582,-0.327552],[-0.012394,-0.419493,0.907674]] 2025-10-28T18:37:43.811Z,1761676663.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778503,-0.567716,-0.267640],[0.627576,-0.710252,-0.318890],[-0.009053,-0.416221,0.909218]] 2025-10-28T18:37:44.214Z,1761676664.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758667,-0.590913,-0.274311],[0.651450,-0.692070,-0.310889],[-0.006134,-0.414561,0.910001]] 2025-10-28T18:37:44.651Z,1761676664.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737672,-0.614012,-0.280766],[0.675151,-0.672927,-0.302225],[-0.003366,-0.412502,0.910950]] 2025-10-28T18:37:44.720Z,1761676664.720 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS, -24, +912, -13 0.00 2025-10-28T18:37:45.026Z,1761676665.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715561,-0.636687,-0.287407],[0.698550,-0.652834,-0.292978],[-0.001094,-0.410412,0.911900]] 2025-10-28T18:37:45.427Z,1761676665.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692732,-0.658379,-0.294381],[0.721195,-0.631813,-0.284060],[0.001025,-0.409083,0.912497]] 2025-10-28T18:37:45.831Z,1761676665.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668761,-0.679317,-0.302138],[0.743473,-0.609640,-0.274930],[0.002569,-0.408494,0.912757]] 2025-10-28T18:37:46.239Z,1761676666.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644472,-0.698631,-0.310758],[0.764619,-0.586901,-0.266280],[0.003648,-0.409221,0.912428]] 2025-10-28T18:37:46.665Z,1761676666.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619682,-0.717141,-0.318910],[0.784842,-0.564037,-0.256683],[0.004201,-0.409355,0.912365]] 2025-10-28T18:37:47.042Z,1761676667.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594800,-0.734782,-0.326051],[0.803860,-0.541269,-0.246653],[0.004755,-0.408808,0.912608]] 2025-10-28T18:37:47.447Z,1761676667.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569646,-0.750581,-0.334860],[0.821873,-0.517597,-0.237944],[0.005273,-0.410756,0.911730]] 2025-10-28T18:37:47.852Z,1761676667.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543720,-0.766012,-0.342920],[0.839248,-0.493508,-0.228284],[0.005635,-0.411918,0.911204]] 2025-10-28T18:37:48.261Z,1761676668.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517627,-0.779706,-0.352309],[0.855587,-0.468910,-0.219303],[0.005791,-0.414948,0.909827]] 2025-10-28T18:37:48.669Z,1761676668.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492064,-0.791931,-0.361550],[0.870537,-0.444620,-0.210900],[0.006266,-0.418519,0.908186]] 2025-10-28T18:37:49.063Z,1761676669.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467205,-0.803310,-0.369342],[0.884121,-0.421114,-0.202469],[0.007110,-0.421137,0.906969]] 2025-10-28T18:37:49.468Z,1761676669.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442715,-0.813859,-0.376345],[0.896624,-0.397930,-0.194209],[0.008300,-0.423420,0.905896]] 2025-10-28T18:37:49.870Z,1761676669.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418314,-0.823490,-0.383246],[0.908250,-0.374710,-0.186210],[0.009737,-0.425977,0.904682]] 2025-10-28T18:37:50.274Z,1761676670.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394657,-0.832247,-0.389372],[0.918751,-0.351913,-0.179037],[0.011978,-0.428394,0.903513]] 2025-10-28T18:37:50.679Z,1761676670.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370662,-0.841027,-0.394061],[0.928655,-0.328986,-0.171370],[0.014486,-0.429467,0.902966]] 2025-10-28T18:37:51.086Z,1761676671.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346559,-0.849488,-0.397829],[0.937869,-0.305983,-0.163635],[0.017278,-0.429820,0.902749]] 2025-10-28T18:37:51.487Z,1761676671.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321996,-0.859378,-0.397225],[0.946521,-0.283178,-0.154621],[0.020393,-0.425769,0.904602]] 2025-10-28T18:37:51.890Z,1761676671.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296900,-0.868463,-0.397016],[0.954617,-0.259673,-0.145861],[0.023580,-0.422305,0.906147]] 2025-10-28T18:37:52.295Z,1761676672.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270882,-0.876216,-0.398583],[0.962244,-0.235016,-0.137311],[0.026641,-0.420730,0.906795]] 2025-10-28T18:37:52.700Z,1761676672.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243824,-0.883332,-0.400343],[0.969371,-0.209428,-0.128294],[0.029483,-0.419363,0.907340]] 2025-10-28T18:37:53.107Z,1761676673.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216045,-0.889273,-0.403135],[0.975852,-0.183036,-0.119212],[0.032224,-0.419155,0.907342]] 2025-10-28T18:37:53.514Z,1761676673.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158984,-0.898297,-0.409617],[0.986580,-0.128915,-0.100205],[0.037208,-0.420051,0.906737]] 2025-10-28T18:37:53.915Z,1761676673.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128562,-0.901814,-0.412557],[0.990902,-0.100116,-0.089943],[0.039808,-0.420367,0.906480]] 2025-10-28T18:37:54.322Z,1761676674.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097730,-0.903458,-0.417388],[0.994294,-0.070614,-0.079963],[0.042770,-0.422821,0.905203]] 2025-10-28T18:37:54.727Z,1761676674.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066073,-0.905041,-0.420160],[0.996755,-0.040464,-0.069587],[0.045977,-0.423394,0.904778]] 2025-10-28T18:37:54.811Z,1761676674.811 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:37:54.811Z,1761676674.811 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:37:54.812Z,1761676674.812 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:37:54.812Z,1761676674.812 [marl:UpdateRudder:A] Stopped 2025-10-28T18:37:54.812Z,1761676674.812 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:37:54.812Z,1761676674.812 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:37:54.812Z,1761676674.812 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateCommandMode] Stopped 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:37:54.813Z,1761676674.813 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:37:54.814Z,1761676674.814 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:37:54.814Z,1761676674.814 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:37:54.814Z,1761676674.814 [marl:UpdateSpeed] Stopped 2025-10-28T18:37:54.814Z,1761676674.814 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:37:55.125Z,1761676675.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033545,-0.906870,-0.420073],[0.998245,-0.009878,-0.058390],[0.048802,-0.421294,0.905610]] 2025-10-28T18:37:55.154Z,1761676675.154 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:37:55.154Z,1761676675.154 [marl:UpdateRudder:B] Stopped 2025-10-28T18:37:55.154Z,1761676675.154 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:37:55.155Z,1761676675.155 [marl:UpdateRudder] Stopped 2025-10-28T18:37:55.155Z,1761676675.155 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:37:55.531Z,1761676675.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000020,-0.907433,-0.420197],[0.998690,0.021479,-0.046434],[0.051161,-0.419648,0.906244]] 2025-10-28T18:37:55.931Z,1761676675.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034167,-0.907080,-0.419570],[0.998022,0.053131,-0.033594],[0.052765,-0.417593,0.907101]] 2025-10-28T18:37:56.335Z,1761676676.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068601,-0.905085,-0.419661],[0.996204,0.084743,-0.019917],[0.053590,-0.416702,0.907462]] 2025-10-28T18:37:56.747Z,1761676676.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102647,-0.901731,-0.419935],[0.993280,0.115609,-0.005456],[0.053468,-0.416553,0.907538]] 2025-10-28T18:37:57.145Z,1761676677.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135524,-0.897933,-0.418748],[0.989362,0.145208,0.008824],[0.052882,-0.415490,0.908059]] 2025-10-28T18:37:57.548Z,1761676677.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167879,-0.894197,-0.415004],[0.984447,0.174181,0.022928],[0.051783,-0.412398,0.909531]] 2025-10-28T18:37:57.950Z,1761676677.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198775,-0.889001,-0.412512],[0.978731,0.201855,0.036601],[0.050729,-0.411014,0.910217]] 2025-10-28T18:37:58.355Z,1761676678.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227936,-0.883074,-0.410154],[0.972412,0.227915,0.049693],[0.049598,-0.410165,0.910662]] 2025-10-28T18:37:58.762Z,1761676678.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256078,-0.875274,-0.410267],[0.965432,0.252931,0.062987],[0.048639,-0.412214,0.909788]] 2025-10-28T18:37:59.164Z,1761676679.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284034,-0.866264,-0.410988],[0.957625,0.277638,0.076621],[0.047732,-0.415335,0.908415]] 2025-10-28T18:37:59.568Z,1761676679.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310831,-0.857110,-0.410788],[0.949291,0.301434,0.089356],[0.047237,-0.417731,0.907342]] 2025-10-28T18:37:59.852Z,1761676679.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:37:59.972Z,1761676679.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337020,-0.846974,-0.411159],[0.940320,0.324638,0.102021],[0.047069,-0.421004,0.905837]] 2025-10-28T18:38:00.374Z,1761676680.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362675,-0.836281,-0.411220],[0.930732,0.347279,0.114609],[0.046962,-0.424301,0.904303]] 2025-10-28T18:38:00.784Z,1761676680.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388289,-0.824929,-0.410759],[0.920326,0.369973,0.126962],[0.047236,-0.427331,0.902861]] 2025-10-28T18:38:00.856Z,1761676680.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:38:01.182Z,1761676681.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413756,-0.813506,-0.408674],[0.909129,0.392815,0.138498],[0.047865,-0.428842,0.902111]] 2025-10-28T18:38:01.589Z,1761676681.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439138,-0.801850,-0.405209],[0.897115,0.415664,0.149692],[0.048400,-0.429255,0.901886]] 2025-10-28T18:38:01.991Z,1761676681.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464448,-0.790099,-0.400040],[0.884226,0.438878,0.159783],[0.049324,-0.427936,0.902462]] 2025-10-28T18:38:02.394Z,1761676682.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489666,-0.778572,-0.392495],[0.870454,0.462524,0.168469],[0.050373,-0.424142,0.904194]] 2025-10-28T18:38:02.800Z,1761676682.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514899,-0.765320,-0.386217],[0.855699,0.485942,0.177873],[0.051549,-0.422072,0.905096]] 2025-10-28T18:38:03.203Z,1761676683.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540037,-0.751152,-0.379646],[0.839982,0.509333,0.187108],[0.052820,-0.419941,0.906013]] 2025-10-28T18:38:03.606Z,1761676683.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565809,-0.734144,-0.375357],[0.822755,0.532602,0.198519],[0.054174,-0.421151,0.905371]] 2025-10-28T18:38:04.010Z,1761676684.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591619,-0.715567,-0.371419],[0.804312,0.555518,0.210909],[0.055410,-0.423514,0.904193]] 2025-10-28T18:38:04.416Z,1761676684.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616804,-0.696792,-0.366106],[0.785071,0.578117,0.222361],[0.056713,-0.424572,0.903616]] 2025-10-28T18:38:04.818Z,1761676684.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641200,-0.677574,-0.360215],[0.765170,0.600090,0.233255],[0.058114,-0.425189,0.903237]] 2025-10-28T18:38:05.236Z,1761676685.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665090,-0.656712,-0.355506],[0.744388,0.620969,0.245528],[0.059517,-0.427933,0.901849]] 2025-10-28T18:38:05.626Z,1761676685.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688855,-0.634819,-0.349976],[0.722320,0.641801,0.257577],[0.061100,-0.430228,0.900650]] 2025-10-28T18:38:05.651Z,1761676685.651 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:38:05.857Z,1761676685.857 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:38:05.857Z,1761676685.857 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:38:06.034Z,1761676686.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711735,-0.612566,-0.343796],[0.699641,0.661894,0.269071],[0.062733,-0.432041,0.899669]] 2025-10-28T18:38:06.109Z,1761676686.109 [DAT](INFO): DAT read: user:134> 2025-10-28T18:38:06.110Z,1761676686.110 [DAT](INFO): DAT read: Tx time:18:38:05.8422 2025-10-28T18:38:06.110Z,1761676686.110 [DAT](INFO): Ping request sent. 2025-10-28T18:38:06.110Z,1761676686.110 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:38:06.110Z,1761676686.110 [DAT](INFO): publishing transmit ping time 2025-10-28T18:38:06.111Z,1761676686.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T18:38:06.361Z,1761676686.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250931 2025-10-28T18:38:06.434Z,1761676686.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734010,-0.591265,-0.334119],[0.676121,0.682523,0.277530],[0.063950,-0.429614,0.900745]] 2025-10-28T18:38:06.615Z,1761676686.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505037 2025-10-28T18:38:06.839Z,1761676686.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755424,-0.569916,-0.323310],[0.651991,0.702848,0.284450],[0.065125,-0.425676,0.902529]] 2025-10-28T18:38:06.865Z,1761676686.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754954 2025-10-28T18:38:07.121Z,1761676687.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010500 2025-10-28T18:38:07.246Z,1761676687.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776719,-0.546266,-0.313530],[0.626402,0.721953,0.293946],[0.065781,-0.424709,0.902937]] 2025-10-28T18:38:07.369Z,1761676687.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258866 2025-10-28T18:38:07.621Z,1761676687.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510871 2025-10-28T18:38:07.651Z,1761676687.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797547,-0.521731,-0.302846],[0.599620,0.740648,0.303144],[0.066142,-0.423364,0.903542]] 2025-10-28T18:38:07.873Z,1761676687.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762903 2025-10-28T18:38:08.060Z,1761676688.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817495,-0.497337,-0.290445],[0.572153,0.758996,0.310750],[0.065900,-0.420216,0.905028]] 2025-10-28T18:38:08.085Z,1761676688.085 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:38:08.085Z,1761676688.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:38:08.085Z,1761676688.085 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateRudder:A] Stopped 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:38:08.086Z,1761676688.086 [marl:UpdateCommandMode] Stopped 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed] Stopped 2025-10-28T18:38:08.087Z,1761676688.087 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:38:08.125Z,1761676688.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014945 2025-10-28T18:38:08.377Z,1761676688.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267486 2025-10-28T18:38:08.454Z,1761676688.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836600,-0.471981,-0.278089],[0.543913,0.776128,0.319036],[0.065254,-0.418162,0.906026]] 2025-10-28T18:38:08.495Z,1761676688.495 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:38:08.495Z,1761676688.495 [marl:UpdateRudder:B] Stopped 2025-10-28T18:38:08.495Z,1761676688.495 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:38:08.495Z,1761676688.495 [marl:UpdateRudder] Stopped 2025-10-28T18:38:08.495Z,1761676688.495 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:38:08.632Z,1761676688.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521610 2025-10-28T18:38:08.858Z,1761676688.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854907,-0.447263,-0.262848],[0.514843,0.793764,0.323843],[0.063797,-0.412182,0.908865]] 2025-10-28T18:38:08.881Z,1761676688.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770927 2025-10-28T18:38:09.133Z,1761676689.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881 2025-10-28T18:38:09.269Z,1761676689.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872237,-0.421422,-0.248205],[0.485117,0.809974,0.329552],[0.062159,-0.407856,0.910928]] 2025-10-28T18:38:09.385Z,1761676689.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275297 2025-10-28T18:38:09.637Z,1761676689.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526911 2025-10-28T18:38:09.672Z,1761676689.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888263,-0.394649,-0.235033],[0.455384,0.823576,0.338155],[0.060115,-0.407401,0.911269]] 2025-10-28T18:38:09.889Z,1761676689.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778889 2025-10-28T18:38:10.073Z,1761676690.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903228,-0.367811,-0.221120],[0.425260,0.836387,0.345848],[0.057735,-0.406413,0.911864]] 2025-10-28T18:38:10.141Z,1761676690.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030994 2025-10-28T18:38:10.393Z,1761676690.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282833 2025-10-28T18:38:10.475Z,1761676690.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916508,-0.342282,-0.207017],[0.396221,0.847906,0.352227],[0.054970,-0.404843,0.912732]] 2025-10-28T18:38:10.648Z,1761676690.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537421 2025-10-28T18:38:10.879Z,1761676690.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928399,-0.316571,-0.194574],[0.367888,0.856767,0.361398],[0.052296,-0.407103,0.911884]] 2025-10-28T18:38:10.897Z,1761676690.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787003 2025-10-28T18:38:11.149Z,1761676691.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038896 2025-10-28T18:38:11.286Z,1761676691.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938999,-0.291301,-0.182826],[0.340267,0.864163,0.370731],[0.049997,-0.410325,0.910568]] 2025-10-28T18:38:11.401Z,1761676691.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291467 2025-10-28T18:38:11.653Z,1761676691.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542932 2025-10-28T18:38:11.687Z,1761676691.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948445,-0.266305,-0.171855],[0.313310,0.869643,0.381522],[0.047851,-0.415696,0.908244]] 2025-10-28T18:38:11.906Z,1761676691.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795732 2025-10-28T18:38:12.093Z,1761676692.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957034,-0.241014,-0.161242],[0.286282,0.873789,0.393110],[0.046146,-0.422380,0.905243]] 2025-10-28T18:38:12.157Z,1761676692.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047360 2025-10-28T18:38:12.409Z,1761676692.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298915 2025-10-28T18:38:12.495Z,1761676692.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964901,-0.215472,-0.150125],[0.258742,0.877820,0.403094],[0.044927,-0.427790,0.902761]] 2025-10-28T18:38:12.661Z,1761676692.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551280 2025-10-28T18:38:12.913Z,1761676692.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802851 2025-10-28T18:38:13.165Z,1761676693.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054911 2025-10-28T18:38:13.302Z,1761676693.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978589,-0.161781,-0.127241],[0.200917,0.885028,0.419950],[0.044672,-0.436524,0.898583]] 2025-10-28T18:38:13.417Z,1761676693.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307240 2025-10-28T18:38:13.669Z,1761676693.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558895 2025-10-28T18:38:13.715Z,1761676693.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984454,-0.133373,-0.114290],[0.169824,0.888871,0.425522],[0.044836,-0.438316,0.897702]] 2025-10-28T18:38:13.921Z,1761676693.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810990 2025-10-28T18:38:14.119Z,1761676694.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989518,-0.103797,-0.100396],[0.137355,0.891119,0.432481],[0.044574,-0.441738,0.896036]] 2025-10-28T18:38:14.173Z,1761676694.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063096 2025-10-28T18:38:14.425Z,1761676694.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314898 2025-10-28T18:38:14.514Z,1761676694.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993770,-0.072717,-0.084465],[0.102481,0.894090,0.436005],[0.043815,-0.441945,0.895972]] 2025-10-28T18:38:14.677Z,1761676694.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566940 2025-10-28T18:38:14.918Z,1761676694.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996901,-0.040589,-0.067385],[0.065873,0.898953,0.433064],[0.042998,-0.436161,0.898841]] 2025-10-28T18:38:14.929Z,1761676694.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819014 2025-10-28T18:38:15.181Z,1761676695.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070876 2025-10-28T18:38:15.325Z,1761676695.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998688,-0.008724,-0.050454],[0.029328,0.905179,0.424018],[0.041970,-0.424941,0.904248]] 2025-10-28T18:38:15.433Z,1761676695.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322915 2025-10-28T18:38:15.686Z,1761676695.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575722 2025-10-28T18:38:15.727Z,1761676695.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999142,0.024013,-0.033728],[-0.007901,0.910243,0.413999],[0.040642,-0.413377,0.909652]] 2025-10-28T18:38:15.937Z,1761676695.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826965 2025-10-28T18:38:16.133Z,1761676696.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998231,0.056753,-0.017741],[-0.044798,0.913998,0.403238],[0.039101,-0.401730,0.914923]] 2025-10-28T18:38:16.189Z,1761676696.189 [DAT](INFO): Reached modem response timeout 2025-10-28T18:38:16.534Z,1761676696.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995945,0.089939,-0.002172],[-0.081833,0.915689,0.393469],[0.037377,-0.391696,0.919335]] 2025-10-28T18:38:16.941Z,1761676696.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992337,0.122811,0.013614],[-0.118396,0.913517,0.389190],[0.035360,-0.387820,0.921057]] 2025-10-28T18:38:17.343Z,1761676697.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987600,0.154228,0.029317],[-0.153529,0.909840,0.385514],[0.032783,-0.385235,0.922236]] 2025-10-28T18:38:17.747Z,1761676697.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981732,0.184766,0.045428],[-0.187875,0.903588,0.385009],[0.030089,-0.386511,0.921794]] 2025-10-28T18:38:18.153Z,1761676698.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974695,0.214747,0.062080],[-0.221833,0.894940,0.387134],[0.027578,-0.391108,0.919931]] 2025-10-28T18:38:18.457Z,1761676698.457 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:38:18.457Z,1761676698.457 [DAT](INFO): response not received 2025-10-28T18:38:18.457Z,1761676698.457 [DAT](ERROR): No response from remote modem. 2025-10-28T18:38:18.555Z,1761676698.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966557,0.243724,0.079791],[-0.255259,0.884324,0.390914],[0.024714,-0.398208,0.916962]] 2025-10-28T18:38:18.959Z,1761676698.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957157,0.272462,0.098054],[-0.288736,0.872344,0.394522],[0.021956,-0.405931,0.913640]] 2025-10-28T18:38:19.362Z,1761676699.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946253,0.301684,0.116589],[-0.322862,0.859767,0.395677],[0.019130,-0.412053,0.910959]] 2025-10-28T18:38:19.772Z,1761676699.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933891,0.331042,0.135127],[-0.357176,0.846229,0.395376],[0.016538,-0.417502,0.908526]] 2025-10-28T18:38:20.185Z,1761676700.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920011,0.360476,0.153745],[-0.391645,0.831749,0.393456],[0.013954,-0.422197,0.906397]] 2025-10-28T18:38:20.574Z,1761676700.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904941,0.390021,0.170193],[-0.425374,0.818011,0.387188],[0.011792,-0.422778,0.906157]] 2025-10-28T18:38:20.979Z,1761676700.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888706,0.418930,0.186278],[-0.458370,0.803067,0.380763],[0.009920,-0.423771,0.905715]] 2025-10-28T18:38:21.384Z,1761676701.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872022,0.447263,0.198833],[-0.489393,0.789641,0.370083],[0.008518,-0.420028,0.907471]] 2025-10-28T18:38:21.409Z,1761676701.409 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:38:21.409Z,1761676701.409 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:38:21.409Z,1761676701.409 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:38:21.409Z,1761676701.409 [marl:UpdateRudder:A] Stopped 2025-10-28T18:38:21.409Z,1761676701.409 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode] Stopped 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:38:21.410Z,1761676701.410 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed] Stopped 2025-10-28T18:38:21.411Z,1761676701.411 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:38:21.789Z,1761676701.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854703,0.474302,0.210997],[-0.519064,0.775050,0.360374],[0.007393,-0.417534,0.908631]] 2025-10-28T18:38:21.824Z,1761676701.824 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:38:21.824Z,1761676701.824 [marl:UpdateRudder:B] Stopped 2025-10-28T18:38:21.825Z,1761676701.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:38:21.825Z,1761676701.825 [marl:UpdateRudder] Stopped 2025-10-28T18:38:21.825Z,1761676701.825 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:38:22.200Z,1761676702.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837968,0.500431,0.217667],[-0.545682,0.763680,0.344998],[0.006419,-0.407874,0.913016]] 2025-10-28T18:38:22.607Z,1761676702.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821301,0.525131,0.222941],[-0.570464,0.751857,0.330579],[0.005977,-0.398684,0.917069]] 2025-10-28T18:38:23.002Z,1761676703.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804844,0.546860,0.230585],[-0.593456,0.737703,0.321877],[0.005918,-0.395903,0.918273]] 2025-10-28T18:38:23.402Z,1761676703.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788072,0.565635,0.242898],[-0.615552,0.720125,0.320181],[0.006189,-0.401842,0.915688]] 2025-10-28T18:38:23.807Z,1761676703.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770996,0.581955,0.258637],[-0.636804,0.700206,0.322788],[0.006749,-0.413569,0.910448]] 2025-10-28T18:38:24.217Z,1761676704.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753297,0.596848,0.276252],[-0.657637,0.678796,0.326724],[0.007486,-0.427794,0.903845]] 2025-10-28T18:38:24.655Z,1761676704.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734942,0.610658,0.294884],[-0.678089,0.657014,0.329437],[0.007430,-0.442074,0.896948]] 2025-10-28T18:38:25.020Z,1761676705.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716109,0.624827,0.311093],[-0.697959,0.636957,0.327320],[0.006365,-0.451527,0.892235]] 2025-10-28T18:38:25.423Z,1761676705.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696029,0.640190,0.325115],[-0.718001,0.617844,0.320538],[0.004335,-0.456536,0.889694]] 2025-10-28T18:38:25.826Z,1761676705.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673910,0.658006,0.335967],[-0.738811,0.598980,0.308838],[0.001980,-0.456345,0.889801]] 2025-10-28T18:38:26.239Z,1761676706.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649320,0.679235,0.342087],[-0.760516,0.580035,0.291847],[-0.000190,-0.449665,0.893197]] 2025-10-28T18:38:26.663Z,1761676706.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622101,0.703938,0.342727],[-0.782932,0.560826,0.269241],[-0.002681,-0.435827,0.900026]] 2025-10-28T18:38:27.038Z,1761676707.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592656,0.731166,0.337869],[-0.805438,0.540779,0.242544],[-0.005372,-0.415878,0.909405]] 2025-10-28T18:38:27.443Z,1761676707.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561969,0.756787,0.333863],[-0.827117,0.518167,0.217669],[-0.008268,-0.398467,0.917145]] 2025-10-28T18:38:27.847Z,1761676707.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530020,0.782683,0.326323],[-0.847916,0.494089,0.192131],[-0.010855,-0.378528,0.925526]] 2025-10-28T18:38:28.260Z,1761676708.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498007,0.804460,0.323781],[-0.867078,0.467469,0.172187],[-0.012840,-0.366494,0.930332]] 2025-10-28T18:38:28.673Z,1761676708.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467159,0.821305,0.327446],[-0.884049,0.440092,0.157407],[-0.014827,-0.363013,0.931666]] 2025-10-28T18:38:29.059Z,1761676709.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437397,0.833412,0.337799],[-0.899108,0.412382,0.146785],[-0.016969,-0.367922,0.929702]] 2025-10-28T18:38:29.462Z,1761676709.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408468,0.842933,0.350167],[-0.912574,0.385134,0.137405],[-0.019038,-0.375679,0.926554]] 2025-10-28T18:38:29.867Z,1761676709.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380203,0.851356,0.361439],[-0.924658,0.358874,0.127347],[-0.021293,-0.382625,0.923658]] 2025-10-28T18:38:30.271Z,1761676710.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352155,0.859434,0.370621],[-0.935649,0.333178,0.116423],[-0.023424,-0.387770,0.921458]] 2025-10-28T18:38:30.685Z,1761676710.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323187,0.865831,0.381951],[-0.945996,0.306393,0.105901],[-0.025335,-0.395550,0.918095]] 2025-10-28T18:38:30.984Z,1761676710.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:38:31.080Z,1761676711.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293232,0.869041,0.398475],[-0.955655,0.278294,0.096316],[-0.027191,-0.409048,0.912108]] 2025-10-28T18:38:31.483Z,1761676711.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261949,0.871879,0.413774],[-0.964641,0.249496,0.084965],[-0.029156,-0.421400,0.906406]] 2025-10-28T18:38:31.886Z,1761676711.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230265,0.878976,0.417587],[-0.972616,0.221797,0.069457],[-0.031569,-0.422146,0.905978]] 2025-10-28T18:38:31.989Z,1761676711.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:38:32.294Z,1761676712.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197254,0.887960,0.415472],[-0.979771,0.193153,0.052356],[-0.033760,-0.417395,0.908098]] 2025-10-28T18:38:32.700Z,1761676712.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163801,0.897080,0.410386],[-0.985831,0.164096,0.034780],[-0.036142,-0.410268,0.911249]] 2025-10-28T18:38:33.100Z,1761676713.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129988,0.906339,0.402060],[-0.990782,0.134334,0.017505],[-0.038145,-0.400629,0.915446]] 2025-10-28T18:38:33.504Z,1761676713.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096621,0.913470,0.395269],[-0.994511,0.104621,0.001321],[-0.040147,-0.393227,0.918564]] 2025-10-28T18:38:33.908Z,1761676713.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064186,0.917795,0.391833],[-0.997050,0.075543,-0.013618],[-0.042099,-0.389803,0.919936]] 2025-10-28T18:38:34.316Z,1761676714.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032944,0.920305,0.389811],[-0.998491,0.047447,-0.027632],[-0.043925,-0.388313,0.920480]] 2025-10-28T18:38:34.715Z,1761676714.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003462,0.921415,0.388565],[-0.998963,0.020824,-0.040482],[-0.045392,-0.388022,0.920532]] 2025-10-28T18:38:34.820Z,1761676714.820 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:38:34.824Z,1761676714.824 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:38:34.824Z,1761676714.824 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateRudder:A] Stopped 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:38:34.825Z,1761676714.825 [marl:UpdateCommandMode] Stopped 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed] Stopped 2025-10-28T18:38:34.826Z,1761676714.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:38:35.120Z,1761676715.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024749,0.919308,0.392759],[-0.998613,-0.004473,-0.052455],[-0.046466,-0.393513,0.918144]] 2025-10-28T18:38:35.185Z,1761676715.185 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:38:35.185Z,1761676715.185 [marl:UpdateRudder:B] Stopped 2025-10-28T18:38:35.185Z,1761676715.185 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:38:35.185Z,1761676715.185 [marl:UpdateRudder] Stopped 2025-10-28T18:38:35.185Z,1761676715.185 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:38:35.522Z,1761676715.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051873,0.914231,0.401860],[-0.997529,-0.028344,-0.064280],[-0.047377,-0.404201,0.913442]] 2025-10-28T18:38:35.929Z,1761676715.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078595,0.906348,0.415159],[-0.995747,-0.051295,-0.076526],[-0.048064,-0.419408,0.906525]] 2025-10-28T18:38:36.330Z,1761676716.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104907,0.898672,0.425892],[-0.993290,-0.073722,-0.089111],[-0.048684,-0.432382,0.900375]] 2025-10-28T18:38:36.734Z,1761676716.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130911,0.891091,0.434533],[-0.990165,-0.095705,-0.102044],[-0.049344,-0.443618,0.894857]] 2025-10-28T18:38:37.141Z,1761676717.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158270,0.884856,0.438155],[-0.986129,-0.119181,-0.115522],[-0.050001,-0.450361,0.891445]] 2025-10-28T18:38:37.542Z,1761676717.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187117,0.882978,0.430508],[-0.981020,-0.145271,-0.128440],[-0.050869,-0.446370,0.893401]] 2025-10-28T18:38:37.946Z,1761676717.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218010,0.881384,0.419087],[-0.974565,-0.173768,-0.141519],[-0.051909,-0.439280,0.896849]] 2025-10-28T18:38:38.370Z,1761676718.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284260,0.880441,0.379500],[-0.957258,-0.238582,-0.163512],[-0.053420,-0.409759,0.910628]] 2025-10-28T18:38:38.764Z,1761676718.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318089,0.878229,0.357118],[-0.946511,-0.272647,-0.172570],[-0.054188,-0.392909,0.917979]] 2025-10-28T18:38:39.170Z,1761676719.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350491,0.873517,0.337824],[-0.934928,-0.305001,-0.181338],[-0.055365,-0.379398,0.923576]] 2025-10-28T18:38:39.567Z,1761676719.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381067,0.865039,0.326336],[-0.922811,-0.334246,-0.191573],[-0.056642,-0.374149,0.925637]] 2025-10-28T18:38:39.972Z,1761676719.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408621,0.853059,0.324529],[-0.910865,-0.358586,-0.204308],[-0.057915,-0.379087,0.923547]] 2025-10-28T18:38:40.387Z,1761676720.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433321,0.839522,0.327775],[-0.899274,-0.378756,-0.218747],[-0.059496,-0.389547,0.919083]] 2025-10-28T18:38:40.781Z,1761676720.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456022,0.825105,0.333535],[-0.887869,-0.396059,-0.234150],[-0.061098,-0.402913,0.913197]] 2025-10-28T18:38:41.183Z,1761676721.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477455,0.810210,0.339994],[-0.876455,-0.411789,-0.249513],[-0.062152,-0.417121,0.906723]] 2025-10-28T18:38:41.584Z,1761676721.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498244,0.796379,0.342831],[-0.864743,-0.427688,-0.263253],[-0.063024,-0.427625,0.901757]] 2025-10-28T18:38:41.987Z,1761676721.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519092,0.784342,0.339634],[-0.852349,-0.445465,-0.273975],[-0.063595,-0.431705,0.899770]] 2025-10-28T18:38:42.394Z,1761676722.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541370,0.774100,0.328158],[-0.838366,-0.467415,-0.280475],[-0.063730,-0.426958,0.902023]] 2025-10-28T18:38:42.797Z,1761676722.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564238,0.763511,0.314145],[-0.823143,-0.490827,-0.285526],[-0.063811,-0.419690,0.905422]] 2025-10-28T18:38:43.201Z,1761676723.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588088,0.751171,0.299823],[-0.806282,-0.515277,-0.290515],[-0.063735,-0.412591,0.908684]] 2025-10-28T18:38:43.602Z,1761676723.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612207,0.736301,0.288208],[-0.788119,-0.538816,-0.297567],[-0.063808,-0.409315,0.910159]] 2025-10-28T18:38:44.007Z,1761676724.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635886,0.719961,0.278038],[-0.769094,-0.561079,-0.306078],[-0.064363,-0.408468,0.910500]] 2025-10-28T18:38:44.418Z,1761676724.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659156,0.703723,0.265118],[-0.749182,-0.583992,-0.312536],[-0.065112,-0.404631,0.912159]] 2025-10-28T18:38:44.816Z,1761676724.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681995,0.685690,0.254385],[-0.728369,-0.605389,-0.320909],[-0.066043,-0.404144,0.912308]] 2025-10-28T18:38:45.219Z,1761676725.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703900,0.667564,0.242658],[-0.707091,-0.626126,-0.328618],[-0.067439,-0.402895,0.912758]] 2025-10-28T18:38:45.623Z,1761676725.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725122,0.649337,0.229259],[-0.685140,-0.646867,-0.334883],[-0.069151,-0.399905,0.913944]] 2025-10-28T18:38:46.027Z,1761676726.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745473,0.630334,0.216678],[-0.662794,-0.666627,-0.341045],[-0.070529,-0.397853,0.914734]] 2025-10-28T18:38:46.445Z,1761676726.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765810,0.609687,0.204492],[-0.639057,-0.686074,-0.347718],[-0.071702,-0.396968,0.915027]] 2025-10-28T18:38:46.835Z,1761676726.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785172,0.588196,0.193728],[-0.614959,-0.703679,-0.355894],[-0.073013,-0.398573,0.914226]] 2025-10-28T18:38:47.239Z,1761676727.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803300,0.566234,0.184630],[-0.590984,-0.719425,-0.364919],[-0.073802,-0.402252,0.912549]] 2025-10-28T18:38:47.653Z,1761676727.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820216,0.544222,0.176264],[-0.567211,-0.733693,-0.374121],[-0.074281,-0.406839,0.910475]] 2025-10-28T18:38:48.049Z,1761676728.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835786,0.522463,0.168804],[-0.544002,-0.746368,-0.383402],[-0.074324,-0.412272,0.908024]] 2025-10-28T18:38:48.113Z,1761676728.113 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateRudder:A] Stopped 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:38:48.114Z,1761676728.114 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateCommandMode] Stopped 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:38:48.115Z,1761676728.115 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:38:48.116Z,1761676728.116 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:38:48.120Z,1761676728.120 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:38:48.120Z,1761676728.120 [marl:UpdateSpeed] Stopped 2025-10-28T18:38:48.120Z,1761676728.120 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:38:48.501Z,1761676728.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850294,0.501077,0.161003],[-0.521042,-0.758268,-0.391847],[-0.074262,-0.417074,0.905833]] 2025-10-28T18:38:48.545Z,1761676728.545 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:38:48.546Z,1761676728.546 [marl:UpdateRudder:B] Stopped 2025-10-28T18:38:48.546Z,1761676728.546 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:38:48.546Z,1761676728.546 [marl:UpdateRudder] Stopped 2025-10-28T18:38:48.546Z,1761676728.546 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:38:48.875Z,1761676728.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864056,0.479209,0.154163],[-0.497992,-0.768955,-0.400889],[-0.073565,-0.423162,0.903062]] 2025-10-28T18:38:49.279Z,1761676729.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877082,0.457518,0.146302],[-0.474850,-0.779941,-0.407687],[-0.072417,-0.427047,0.901325]] 2025-10-28T18:38:49.683Z,1761676729.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889629,0.434929,0.139276],[-0.451203,-0.789965,-0.415177],[-0.070549,-0.432195,0.899016]] 2025-10-28T18:38:50.086Z,1761676730.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901362,0.412353,0.132331],[-0.427580,-0.798886,-0.423032],[-0.068721,-0.437887,0.896400]] 2025-10-28T18:38:50.499Z,1761676730.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912327,0.390292,0.123825],[-0.403930,-0.808309,-0.428342],[-0.067090,-0.440805,0.895092]] 2025-10-28T18:38:50.894Z,1761676730.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922672,0.369095,0.111557],[-0.379902,-0.820705,-0.426753],[-0.065957,-0.436134,0.897461]] 2025-10-28T18:38:51.299Z,1761676731.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932611,0.348191,0.094866],[-0.354968,-0.837665,-0.415108],[-0.065071,-0.420809,0.904812]] 2025-10-28T18:38:51.703Z,1761676731.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942393,0.325655,0.076445],[-0.328106,-0.855403,-0.400789],[-0.065128,-0.402783,0.912975]] 2025-10-28T18:38:52.108Z,1761676732.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951938,0.300602,0.058760],[-0.299184,-0.871491,-0.388577],[-0.065598,-0.387482,0.919541]] 2025-10-28T18:38:52.521Z,1761676732.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960781,0.274046,0.042405],[-0.269193,-0.884982,-0.379924],[-0.066589,-0.376439,0.924045]] 2025-10-28T18:38:52.915Z,1761676732.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968687,0.246701,0.028005],[-0.238776,-0.894723,-0.377436],[-0.068057,-0.372304,0.925612]] 2025-10-28T18:38:53.318Z,1761676733.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975587,0.219040,0.015849],[-0.208269,-0.899887,-0.383182],[-0.069669,-0.377128,0.923537]] 2025-10-28T18:38:53.723Z,1761676733.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981433,0.191744,0.004816],[-0.178066,-0.901521,-0.394400],[-0.071282,-0.387935,0.918926]] 2025-10-28T18:38:54.137Z,1761676734.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986208,0.165417,-0.005578],[-0.148885,-0.901356,-0.406683],[-0.072300,-0.400244,0.913552]] 2025-10-28T18:38:54.532Z,1761676734.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989962,0.140428,-0.015951],[-0.120988,-0.900387,-0.417930],[-0.073051,-0.411805,0.908339]] 2025-10-28T18:38:54.938Z,1761676734.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992896,0.115997,-0.026514],[-0.093741,-0.899792,-0.426130],[-0.073287,-0.420617,0.904273]] 2025-10-28T18:38:55.339Z,1761676735.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995064,0.091974,-0.037253],[-0.067231,-0.900980,-0.428620],[-0.072986,-0.424000,0.902717]] 2025-10-28T18:38:55.742Z,1761676735.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996629,0.066132,-0.048544],[-0.039293,-0.904260,-0.425170],[-0.072013,-0.421829,0.903811]] 2025-10-28T18:38:56.158Z,1761676736.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997396,0.041894,-0.058712],[-0.013018,-0.905211,-0.424763],[-0.070942,-0.422893,0.903399]] 2025-10-28T18:38:56.552Z,1761676736.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997435,0.015582,-0.069855],[0.014962,-0.909058,-0.416402],[-0.069991,-0.416379,0.906493]] 2025-10-28T18:38:56.956Z,1761676736.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996552,-0.012918,-0.081964],[0.045109,-0.913432,-0.404485],[-0.069643,-0.406787,0.910864]] 2025-10-28T18:38:57.358Z,1761676737.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994711,-0.041414,-0.093996],[0.075469,-0.915440,-0.395316],[-0.069676,-0.400319,0.913723]] 2025-10-28T18:38:57.768Z,1761676737.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991948,-0.068910,-0.106256],[0.105232,-0.915292,-0.388801],[-0.070463,-0.396852,0.915174]] 2025-10-28T18:38:58.167Z,1761676738.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988126,-0.096760,-0.119347],[0.135789,-0.913416,-0.383708],[-0.071886,-0.395358,0.915710]] 2025-10-28T18:38:58.583Z,1761676738.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983457,-0.123321,-0.132680],[0.165534,-0.909285,-0.381835],[-0.073556,-0.397482,0.914657]] 2025-10-28T18:38:58.975Z,1761676738.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977816,-0.149698,-0.146516],[0.195419,-0.903783,-0.380773],[-0.075418,-0.400957,0.912987]] 2025-10-28T18:38:59.379Z,1761676739.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971645,-0.174433,-0.159623],[0.223654,-0.897073,-0.381102],[-0.076717,-0.405996,0.910649]] 2025-10-28T18:38:59.786Z,1761676739.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964902,-0.198637,-0.171779],[0.250982,-0.890021,-0.380619],[-0.077282,-0.410374,0.908637]] 2025-10-28T18:39:00.189Z,1761676740.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957508,-0.222685,-0.183276],[0.277979,-0.881916,-0.380724],[-0.076853,-0.415493,0.906344]] 2025-10-28T18:39:00.614Z,1761676740.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949437,-0.246493,-0.194452],[0.304653,-0.872996,-0.380873],[-0.075873,-0.420855,0.903949]] 2025-10-28T18:39:00.994Z,1761676740.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940707,-0.270201,-0.205088],[0.330989,-0.863497,-0.380550],[-0.074268,-0.425868,0.901732]] 2025-10-28T18:39:01.399Z,1761676741.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931336,-0.294101,-0.214752],[0.356960,-0.853982,-0.378541],[-0.072065,-0.429207,0.900326]] 2025-10-28T18:39:01.464Z,1761676741.464 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:39:01.464Z,1761676741.464 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:39:01.464Z,1761676741.464 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateRudder:A] Stopped 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:39:01.465Z,1761676741.465 [marl:UpdateCommandMode] Stopped 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed] Stopped 2025-10-28T18:39:01.466Z,1761676741.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:39:01.805Z,1761676741.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921209,-0.318678,-0.223201],[0.382822,-0.844814,-0.373814],[-0.069437,-0.429807,0.900247]] 2025-10-28T18:39:01.867Z,1761676741.867 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:39:01.867Z,1761676741.867 [marl:UpdateRudder:B] Stopped 2025-10-28T18:39:01.867Z,1761676741.867 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:39:01.867Z,1761676741.867 [marl:UpdateRudder] Stopped 2025-10-28T18:39:01.867Z,1761676741.867 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:39:02.117Z,1761676742.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:39:02.207Z,1761676742.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910101,-0.344127,-0.230851],[0.408968,-0.835704,-0.366530],[-0.066790,-0.427990,0.901312]] 2025-10-28T18:39:02.661Z,1761676742.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897905,-0.370474,-0.237728],[0.435482,-0.826388,-0.356986],[-0.064201,-0.424066,0.903353]] 2025-10-28T18:39:03.014Z,1761676743.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884152,-0.397955,-0.244759],[0.463038,-0.816172,-0.345628],[-0.062221,-0.418920,0.905889]] 2025-10-28T18:39:03.121Z,1761676743.121 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:39:03.420Z,1761676743.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869258,-0.425958,-0.250898],[0.490603,-0.805732,-0.331820],[-0.060815,-0.411528,0.909366]] 2025-10-28T18:39:03.823Z,1761676743.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853623,-0.452928,-0.257262],[0.517424,-0.794191,-0.318642],[-0.059993,-0.405114,0.912296]] 2025-10-28T18:39:04.226Z,1761676744.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836665,-0.480781,-0.262376],[0.544449,-0.782274,-0.302693],[-0.059721,-0.396103,0.916262]] 2025-10-28T18:39:04.668Z,1761676744.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818701,-0.506871,-0.269835],[0.571013,-0.768233,-0.289416],[-0.060600,-0.391024,0.918383]] 2025-10-28T18:39:05.036Z,1761676745.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800049,-0.532036,-0.277233],[0.596706,-0.753559,-0.275845],[-0.062152,-0.386116,0.920354]] 2025-10-28T18:39:05.439Z,1761676745.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781028,-0.554852,-0.286593],[0.621153,-0.737636,-0.264693],[-0.064536,-0.384751,0.920762]] 2025-10-28T18:39:05.842Z,1761676745.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761372,-0.576614,-0.296360],[0.644826,-0.720885,-0.254017],[-0.067171,-0.384502,0.920677]] 2025-10-28T18:39:05.883Z,1761676745.883 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:39:05.885Z,1761676745.885 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:39:05.886Z,1761676745.886 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:39:06.137Z,1761676746.137 [DAT](INFO): DAT read: user:135> 2025-10-28T18:39:06.138Z,1761676746.138 [DAT](INFO): DAT read: Tx time:18:39:05.8920 2025-10-28T18:39:06.138Z,1761676746.138 [DAT](INFO): Ping request sent. 2025-10-28T18:39:06.138Z,1761676746.138 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:39:06.138Z,1761676746.138 [DAT](INFO): publishing transmit ping time 2025-10-28T18:39:06.139Z,1761676746.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T18:39:06.247Z,1761676746.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741070,-0.595949,-0.309290],[0.667748,-0.702323,-0.246689],[-0.070207,-0.389341,0.918414]] 2025-10-28T18:39:06.389Z,1761676746.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848 2025-10-28T18:39:06.648Z,1761676746.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508833 2025-10-28T18:39:06.669Z,1761676746.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720765,-0.613805,-0.322089],[0.689324,-0.683620,-0.239782],[-0.073008,-0.394850,0.915840]] 2025-10-28T18:39:06.897Z,1761676746.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758795 2025-10-28T18:39:07.056Z,1761676747.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700608,-0.630752,-0.333616],[0.709560,-0.665209,-0.232428],[-0.075320,-0.399561,0.913607]] 2025-10-28T18:39:07.150Z,1761676747.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011562 2025-10-28T18:39:07.401Z,1761676747.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262797 2025-10-28T18:39:07.459Z,1761676747.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680143,-0.647244,-0.344211],[0.728999,-0.646634,-0.224555],[-0.077237,-0.403659,0.911643]] 2025-10-28T18:39:07.653Z,1761676747.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514922 2025-10-28T18:39:07.863Z,1761676747.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659899,-0.662866,-0.353754],[0.747295,-0.627911,-0.217436],[-0.077995,-0.407844,0.909714]] 2025-10-28T18:39:07.905Z,1761676747.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766774 2025-10-28T18:39:08.158Z,1761676748.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019534 2025-10-28T18:39:08.267Z,1761676748.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639504,-0.677943,-0.362530],[0.764814,-0.608903,-0.210466],[-0.078061,-0.411862,0.907896]] 2025-10-28T18:39:08.411Z,1761676748.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273032 2025-10-28T18:39:08.665Z,1761676748.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526878 2025-10-28T18:39:08.674Z,1761676748.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619130,-0.692824,-0.369693],[0.781457,-0.590014,-0.202999],[-0.077482,-0.414582,0.906707]] 2025-10-28T18:39:08.918Z,1761676748.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779420 2025-10-28T18:39:09.074Z,1761676749.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598276,-0.707650,-0.375895],[0.797639,-0.570686,-0.195166],[-0.076408,-0.416592,0.905877]] 2025-10-28T18:39:09.169Z,1761676749.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031217 2025-10-28T18:39:09.421Z,1761676749.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282802 2025-10-28T18:39:09.484Z,1761676749.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577116,-0.721336,-0.382900],[0.813224,-0.550583,-0.188480],[-0.074861,-0.420158,0.904358]] 2025-10-28T18:39:09.674Z,1761676749.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535510 2025-10-28T18:39:09.885Z,1761676749.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555346,-0.736051,-0.387067],[0.828436,-0.530331,-0.180119],[-0.072697,-0.420688,0.904288]] 2025-10-28T18:39:09.925Z,1761676749.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786913 2025-10-28T18:39:10.177Z,1761676750.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038784 2025-10-28T18:39:10.287Z,1761676750.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533285,-0.749650,-0.391960],[0.843021,-0.509385,-0.172747],[-0.070159,-0.422554,0.903618]] 2025-10-28T18:39:10.429Z,1761676750.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290907 2025-10-28T18:39:10.681Z,1761676750.681 [DAT](INFO): DAT read: Rx Time:18:39:09.8828 2025-10-28T18:39:10.682Z,1761676750.682 [DAT](INFO): Rx dataTimestamp_ set to:1761676750.681251 2025-10-28T18:39:10.682Z,1761676750.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.544018 2025-10-28T18:39:10.693Z,1761676750.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510250,-0.764586,-0.393769],[0.857395,-0.488026,-0.163417],[-0.067223,-0.420999,0.904567]] 2025-10-28T18:39:10.933Z,1761676750.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794772 2025-10-28T18:39:11.100Z,1761676751.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486846,-0.778594,-0.395946],[0.871143,-0.465981,-0.154827],[-0.063956,-0.420302,0.905127]] 2025-10-28T18:39:11.198Z,1761676751.198 [DAT](INFO): DAT read: 18:39:09.8828 LVL= 27408, 32577, 15154, 32755, AGC= 78, IDX= 163, 0.03, 1.746, 0.587, 2.777, 1.788, PHS= 0.060,-1.156, 0.944, RAW= 174.8, 1.7, CAL= 174.2, -0.9, ROT= 335.8, 0.9 2025-10-28T18:39:11.200Z,1761676751.200 [DAT](INFO): got valid direction response: 18:39:09.8828 LVL= 27408, 32577, 15154, 32755, AGC= 78, IDX= 163, 0.03, 1.746, 0.587, 2.777, 1.788, PHS= 0.060,-1.156, 0.944, RAW= 174.8, 1.7, CAL= 174.2, -0.9, ROT= 335.8, 0.9 2025-10-28T18:39:11.201Z,1761676751.201 [DAT](INFO): DAT read: Bearing 72, -21 (Remote) 2025-10-28T18:39:11.201Z,1761676751.201 [DAT](INFO): Remote Bearing received:Bearing 72, -21 (Remote) 2025-10-28T18:39:11.202Z,1761676751.202 [DAT](INFO): DAT read: Bearing 198.3, -25.3 (Local) 2025-10-28T18:39:11.202Z,1761676751.202 [DAT](INFO): Local bearing/azimuth received: Bearing 198.3, -25.3 (Local) 2025-10-28T18:39:11.203Z,1761676751.203 [DAT](INFO): DAT read: Range 11 to 20 : 1471.2 m (Round-trip 1961.6 ms) speed -0.2 m/s 2025-10-28T18:39:11.204Z,1761676751.204 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:39:11.205Z,1761676751.205 [DAT](INFO): direction in FSK: [0.912008,-0.409873,-0.015707] 2025-10-28T18:39:11.205Z,1761676751.205 [DAT](INFO): publishing direction and range info 2025-10-28T18:39:11.503Z,1761676751.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462405,-0.792982,-0.396687],[0.884633,-0.442899,-0.145828],[-0.060053,-0.418353,0.906297]] 2025-10-28T18:39:11.548Z,1761676751.548 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676800.00. Resetting abort timer. 2025-10-28T18:39:11.906Z,1761676751.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436601,-0.806687,-0.398291],[0.897895,-0.418396,-0.136854],[-0.056245,-0.417374,0.906992]] 2025-10-28T18:39:12.311Z,1761676752.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409287,-0.820716,-0.398635],[0.910887,-0.392746,-0.126635],[-0.052631,-0.414941,0.908325]] 2025-10-28T18:39:12.716Z,1761676752.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380520,-0.834887,-0.397704],[0.923459,-0.365958,-0.115314],[-0.049269,-0.411143,0.910238]] 2025-10-28T18:39:13.125Z,1761676753.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350958,-0.847221,-0.398805],[0.935255,-0.338128,-0.104728],[-0.046120,-0.409740,0.911036]] 2025-10-28T18:39:13.523Z,1761676753.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320409,-0.859494,-0.398257],[0.946261,-0.309895,-0.092498],[-0.043916,-0.406492,0.912598]] 2025-10-28T18:39:14.330Z,1761676754.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257157,-0.881278,-0.396509],[0.965443,-0.252252,-0.065488],[-0.042307,-0.399647,0.915692]] 2025-10-28T18:39:14.737Z,1761676754.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225015,-0.890018,-0.396531],[0.973422,-0.223148,-0.051517],[-0.042634,-0.397584,0.916575]] 2025-10-28T18:39:14.818Z,1761676754.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:39:14.818Z,1761676754.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateRudder:A] Stopped 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:39:14.819Z,1761676754.819 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateCommandMode] Stopped 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:39:14.820Z,1761676754.820 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:39:14.821Z,1761676754.821 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:39:14.821Z,1761676754.821 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:39:14.821Z,1761676754.821 [marl:UpdateSpeed] Stopped 2025-10-28T18:39:14.821Z,1761676754.821 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:39:15.138Z,1761676755.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193217,-0.896999,-0.397568],[0.980185,-0.194493,-0.037550],[-0.043642,-0.396946,0.916804]] 2025-10-28T18:39:15.198Z,1761676755.198 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:39:15.198Z,1761676755.198 [marl:UpdateRudder:B] Stopped 2025-10-28T18:39:15.198Z,1761676755.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:39:15.198Z,1761676755.198 [marl:UpdateRudder] Stopped 2025-10-28T18:39:15.198Z,1761676755.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:39:15.542Z,1761676755.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162511,-0.902607,-0.398612],[0.985675,-0.166978,-0.023752],[-0.045121,-0.396761,0.916812]] 2025-10-28T18:39:15.947Z,1761676755.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133220,-0.907210,-0.399026],[0.990003,-0.140633,-0.010788],[-0.046330,-0.396474,0.916876]] 2025-10-28T18:39:16.352Z,1761676756.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104471,-0.909248,-0.402932],[0.993401,-0.114690,0.001241],[-0.047341,-0.400143,0.915229]] 2025-10-28T18:39:16.757Z,1761676756.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076636,-0.909832,-0.407838],[0.995908,-0.089504,0.012535],[-0.047908,-0.405208,0.912968]] 2025-10-28T18:39:17.159Z,1761676757.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049777,-0.909928,-0.411768],[0.997620,-0.064991,0.023019],[-0.047706,-0.409642,0.910998]] 2025-10-28T18:39:17.562Z,1761676757.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023977,-0.909010,-0.416085],[0.998616,-0.041267,0.032610],[-0.046814,-0.414727,0.908741]] 2025-10-28T18:39:17.968Z,1761676757.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001948,-0.908481,-0.417921],[0.998962,-0.017255,0.042166],[-0.045518,-0.417569,0.907504]] 2025-10-28T18:39:18.371Z,1761676758.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027450,-0.907151,-0.419908],[0.998687,0.006712,0.050786],[-0.043252,-0.420751,0.906145]] 2025-10-28T18:39:18.779Z,1761676758.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053789,-0.906820,-0.418071],[0.997711,0.031625,0.059770],[-0.040979,-0.420330,0.906446]] 2025-10-28T18:39:19.179Z,1761676759.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080522,-0.906145,-0.415231],[0.996000,0.056957,0.068850],[-0.038738,-0.419114,0.907107]] 2025-10-28T18:39:19.592Z,1761676759.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108012,-0.905165,-0.411108],[0.993463,0.082907,0.078473],[-0.036947,-0.416896,0.908203]] 2025-10-28T18:39:20.391Z,1761676760.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163364,-0.900982,-0.401925],[0.985972,0.134968,0.098199],[-0.034228,-0.412329,0.910392]] 2025-10-28T18:39:20.801Z,1761676760.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190822,-0.898001,-0.396462],[0.981055,0.160707,0.108186],[-0.033437,-0.409595,0.911654]] 2025-10-28T18:39:21.216Z,1761676761.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244830,-0.887849,-0.389594],[0.969000,0.210336,0.129605],[-0.033124,-0.409247,0.911822]] 2025-10-28T18:39:21.611Z,1761676761.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270579,-0.881424,-0.387143],[0.962134,0.233831,0.140075],[-0.032940,-0.410385,0.911317]] 2025-10-28T18:39:22.012Z,1761676762.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295899,-0.874397,-0.384544],[0.954672,0.257078,0.150044],[-0.032340,-0.411511,0.910831]] 2025-10-28T18:39:22.417Z,1761676762.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320566,-0.867030,-0.381441],[0.946715,0.280047,0.159071],[-0.031098,-0.412109,0.910604]] 2025-10-28T18:39:22.818Z,1761676762.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344465,-0.859511,-0.377605],[0.938339,0.302632,0.167131],[-0.029375,-0.411892,0.910759]] 2025-10-28T18:39:23.222Z,1761676763.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366908,-0.851514,-0.374570],[0.929861,0.323961,0.174377],[-0.027139,-0.412279,0.910654]] 2025-10-28T18:39:23.623Z,1761676763.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389543,-0.842801,-0.371406],[0.920681,0.345593,0.181417],[-0.024543,-0.412616,0.910574]] 2025-10-28T18:39:24.028Z,1761676764.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412409,-0.834364,-0.365726],[0.910743,0.368101,0.187214],[-0.021581,-0.410291,0.911699]] 2025-10-28T18:39:24.431Z,1761676764.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435597,-0.825676,-0.358490],[0.899954,0.391340,0.192187],[-0.018392,-0.406340,0.913537]] 2025-10-28T18:39:24.834Z,1761676764.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460046,-0.815518,-0.351125],[0.887761,0.415614,0.197850],[-0.015417,-0.402735,0.915187]] 2025-10-28T18:39:25.243Z,1761676765.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485657,-0.803261,-0.344831],[0.874058,0.440509,0.204878],[-0.012669,-0.400902,0.916033]] 2025-10-28T18:39:25.645Z,1761676765.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512316,-0.789330,-0.338365],[0.858735,0.466109,0.212878],[-0.010316,-0.399626,0.916620]] 2025-10-28T18:39:26.047Z,1761676766.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539751,-0.773603,-0.331976],[0.841784,0.492076,0.221949],[-0.008343,-0.399249,0.916805]] 2025-10-28T18:39:26.450Z,1761676766.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567775,-0.757212,-0.322894],[0.823152,0.518790,0.230821],[-0.007266,-0.396846,0.917857]] 2025-10-28T18:39:26.855Z,1761676766.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595715,-0.738686,-0.315384],[0.803167,0.544512,0.241723],[-0.006827,-0.397304,0.917662]] 2025-10-28T18:39:27.268Z,1761676767.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623767,-0.718601,-0.307453],[0.781575,0.569701,0.254130],[-0.007461,-0.398815,0.917001]] 2025-10-28T18:39:27.662Z,1761676767.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651833,-0.696621,-0.299720],[0.758310,0.594093,0.268365],[-0.008888,-0.402210,0.915504]] 2025-10-28T18:39:28.073Z,1761676768.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678954,-0.673877,-0.291395],[0.734097,0.617117,0.283316],[-0.011095,-0.406270,0.913686]] 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateRudder:A] Stopped 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:39:28.127Z,1761676768.127 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:39:28.128Z,1761676768.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:39:28.128Z,1761676768.128 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:39:28.128Z,1761676768.128 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:39:28.128Z,1761676768.128 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:39:28.128Z,1761676768.128 [marl:UpdateCommandMode] Stopped 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed] Stopped 2025-10-28T18:39:28.129Z,1761676768.129 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:39:28.489Z,1761676768.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704751,-0.650671,-0.282759],[0.709318,0.638418,0.298813],[-0.013911,-0.411155,0.911459]] 2025-10-28T18:39:28.538Z,1761676768.538 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:39:28.538Z,1761676768.538 [marl:UpdateRudder:B] Stopped 2025-10-28T18:39:28.538Z,1761676768.538 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:39:28.538Z,1761676768.538 [marl:UpdateRudder] Stopped 2025-10-28T18:39:28.538Z,1761676768.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:39:28.874Z,1761676768.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728525,-0.627307,-0.275204],[0.684814,0.657096,0.315048],[-0.016796,-0.417984,0.908299]] 2025-10-28T18:39:29.279Z,1761676769.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750434,-0.604637,-0.266949],[0.660669,0.674534,0.329425],[-0.019116,-0.423577,0.905658]] 2025-10-28T18:39:29.683Z,1761676769.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769778,-0.582507,-0.261011],[0.637979,0.688918,0.344057],[-0.020601,-0.431367,0.901941]] 2025-10-28T18:39:30.098Z,1761676770.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787452,-0.561251,-0.254788],[0.616001,0.702191,0.357030],[-0.021474,-0.438094,0.898673]] 2025-10-28T18:39:30.491Z,1761676770.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803676,-0.540320,-0.249318],[0.594683,0.714201,0.369146],[-0.021394,-0.444939,0.895305]] 2025-10-28T18:39:30.895Z,1761676770.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819025,-0.520195,-0.242065],[0.573384,0.726849,0.378049],[-0.020715,-0.448427,0.893579]] 2025-10-28T18:39:31.305Z,1761676771.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833838,-0.500056,-0.233792],[0.551672,0.740088,0.384613],[-0.019301,-0.449681,0.892981]] 2025-10-28T18:39:31.705Z,1761676771.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847920,-0.479586,-0.225895],[0.529839,0.752710,0.390767],[-0.017373,-0.451027,0.892341]] 2025-10-28T18:39:32.107Z,1761676772.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861629,-0.458668,-0.217301],[0.507318,0.765682,0.395423],[-0.014984,-0.450948,0.892424]] 2025-10-28T18:39:32.510Z,1761676772.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875012,-0.437335,-0.207588],[0.483943,0.779256,0.398193],[-0.012380,-0.448885,0.893504]] 2025-10-28T18:39:32.915Z,1761676772.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888236,-0.415096,-0.196804],[0.459279,0.793139,0.399991],[-0.009942,-0.445675,0.895140]] 2025-10-28T18:39:33.240Z,1761676773.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:39:33.325Z,1761676773.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901304,-0.391412,-0.185600],[0.433117,0.806531,0.402390],[-0.007808,-0.443063,0.896457]] 2025-10-28T18:39:33.722Z,1761676773.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914265,-0.365854,-0.173985],[0.405079,0.819623,0.405128],[-0.005616,-0.440872,0.897552]] 2025-10-28T18:39:34.128Z,1761676774.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927103,-0.338536,-0.160851],[0.374788,0.833122,0.406744],[-0.003689,-0.437379,0.899270]] 2025-10-28T18:39:34.245Z,1761676774.245 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:39:34.531Z,1761676774.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939372,-0.309791,-0.147004],[0.342895,0.846327,0.407619],[-0.001863,-0.433313,0.901242]] 2025-10-28T18:39:34.936Z,1761676774.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950687,-0.280285,-0.132795],[0.310152,0.858707,0.407956],[-0.000312,-0.429025,0.903293]] 2025-10-28T18:39:35.339Z,1761676775.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961042,-0.249929,-0.118040],[0.276400,0.870398,0.407444],[0.000910,-0.424197,0.905570]] 2025-10-28T18:39:35.742Z,1761676775.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970398,-0.219194,-0.101395],[0.241506,0.883256,0.401911],[0.001461,-0.414502,0.910047]] 2025-10-28T18:39:36.149Z,1761676776.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978571,-0.187810,-0.084415],[0.205903,0.895703,0.394106],[0.001594,-0.403042,0.915180]] 2025-10-28T18:39:36.560Z,1761676776.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985503,-0.155392,-0.068096],[0.169654,0.905295,0.389434],[0.001132,-0.395341,0.918534]] 2025-10-28T18:39:36.955Z,1761676776.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991150,-0.122207,-0.051831],[0.132744,0.913247,0.385173],[0.000264,-0.388645,0.921388]] 2025-10-28T18:39:37.358Z,1761676777.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995393,-0.088669,-0.036476],[0.095877,0.918141,0.384479],[-0.000601,-0.386205,0.922413]] 2025-10-28T18:39:37.770Z,1761676777.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998245,-0.055242,-0.021317],[0.059185,0.919994,0.387438],[-0.001792,-0.388020,0.921649]] 2025-10-28T18:39:38.167Z,1761676778.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999735,-0.022101,-0.006450],[0.022853,0.918704,0.394284],[-0.002788,-0.394327,0.918966]] 2025-10-28T18:39:38.581Z,1761676778.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,0.009520,0.007876],[-0.011875,0.916558,0.399725],[-0.003413,-0.399788,0.916601]] 2025-10-28T18:39:38.975Z,1761676778.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999015,0.038796,0.021542],[-0.044208,0.912276,0.407183],[-0.003855,-0.407734,0.913092]] 2025-10-28T18:39:39.384Z,1761676779.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997215,0.066240,0.034260],[-0.074485,0.907331,0.413766],[-0.003677,-0.415166,0.909738]] 2025-10-28T18:39:39.786Z,1761676779.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994643,0.092395,0.046341],[-0.103320,0.901934,0.419332],[-0.003052,-0.421874,0.906649]] 2025-10-28T18:39:40.187Z,1761676780.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991334,0.117757,0.058224],[-0.131348,0.895584,0.425062],[-0.002090,-0.429026,0.903290]] 2025-10-28T18:39:40.606Z,1761676780.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987300,0.142516,0.070206],[-0.158865,0.889063,0.429334],[-0.001231,-0.435035,0.900413]] 2025-10-28T18:39:40.995Z,1761676780.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982533,0.166786,0.082536],[-0.186090,0.882121,0.432704],[-0.000638,-0.440505,0.897750]] 2025-10-28T18:39:41.399Z,1761676781.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976965,0.191117,0.094941],[-0.213400,0.875602,0.433338],[-0.000312,-0.443616,0.896217]] 2025-10-28T18:39:41.447Z,1761676781.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:39:41.448Z,1761676781.448 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:39:41.448Z,1761676781.448 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:39:41.448Z,1761676781.448 [marl:UpdateRudder:A] Stopped 2025-10-28T18:39:41.448Z,1761676781.448 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:39:41.448Z,1761676781.448 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode] Stopped 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:39:41.449Z,1761676781.449 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:39:41.450Z,1761676781.450 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:39:41.450Z,1761676781.450 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:39:41.450Z,1761676781.450 [marl:UpdateSpeed] Stopped 2025-10-28T18:39:41.450Z,1761676781.450 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:39:41.802Z,1761676781.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970458,0.215859,0.107782],[-0.241272,0.868492,0.433024],[-0.000136,-0.446236,0.894915]] 2025-10-28T18:39:41.852Z,1761676781.852 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:39:41.853Z,1761676781.853 [marl:UpdateRudder:B] Stopped 2025-10-28T18:39:41.853Z,1761676781.853 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:39:41.853Z,1761676781.853 [marl:UpdateRudder] Stopped 2025-10-28T18:39:41.853Z,1761676781.853 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:39:42.206Z,1761676782.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962715,0.242075,0.120743],[-0.270516,0.861032,0.430634],[0.000282,-0.447241,0.894413]] 2025-10-28T18:39:42.665Z,1761676782.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953685,0.269388,0.133846],[-0.300805,0.853030,0.426445],[0.000705,-0.446956,0.894556]] 2025-10-28T18:39:43.014Z,1761676783.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943231,0.297866,0.146937],[-0.332134,0.844225,0.420680],[0.001259,-0.445601,0.895231]] 2025-10-28T18:39:43.418Z,1761676783.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931257,0.327486,0.159728],[-0.364354,0.834025,0.414304],[0.002461,-0.444021,0.896013]] 2025-10-28T18:39:43.823Z,1761676783.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918427,0.356872,0.170689],[-0.395572,0.824310,0.405013],[0.003837,-0.439494,0.898237]] 2025-10-28T18:39:44.228Z,1761676784.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904539,0.386183,0.180751],[-0.426357,0.813870,0.394759],[0.005341,-0.434140,0.900830]] 2025-10-28T18:39:44.672Z,1761676784.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889598,0.415325,0.190055],[-0.456689,0.802333,0.384312],[0.007127,-0.428679,0.903429]] 2025-10-28T18:39:45.035Z,1761676785.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873417,0.445144,0.197457],[-0.486886,0.790587,0.371369],[0.009206,-0.420499,0.907246]] 2025-10-28T18:39:45.447Z,1761676785.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856573,0.473706,0.204658],[-0.515901,0.777445,0.359757],[0.011309,-0.413741,0.910324]] 2025-10-28T18:39:45.842Z,1761676785.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839054,0.500419,0.213469],[-0.543887,0.761984,0.351522],[0.013248,-0.411049,0.911517]] 2025-10-28T18:39:46.247Z,1761676786.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820955,0.525943,0.222299],[-0.570794,0.745645,0.343815],[0.015071,-0.409144,0.912346]] 2025-10-28T18:39:46.670Z,1761676786.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802309,0.549756,0.232524],[-0.596662,0.727444,0.338851],[0.017137,-0.410602,0.911654]] 2025-10-28T18:39:47.070Z,1761676787.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783663,0.571135,0.244290],[-0.620891,0.708044,0.336405],[0.019165,-0.415305,0.909480]] 2025-10-28T18:39:47.473Z,1761676787.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765087,0.591008,0.255641],[-0.643576,0.688711,0.333898],[0.021273,-0.419985,0.907282]] 2025-10-28T18:39:47.875Z,1761676787.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746211,0.609036,0.268783],[-0.665305,0.668189,0.333007],[0.023215,-0.427316,0.903804]] 2025-10-28T18:39:48.278Z,1761676788.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726536,0.626307,0.282639],[-0.686663,0.646653,0.332164],[0.025268,-0.435407,0.899879]] 2025-10-28T18:39:48.683Z,1761676788.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705536,0.643050,0.297834],[-0.708161,0.623749,0.330825],[0.026963,-0.444323,0.895461]] 2025-10-28T18:39:49.086Z,1761676789.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683196,0.661022,0.310312],[-0.729667,0.601201,0.325796],[0.028799,-0.449007,0.893064]] 2025-10-28T18:39:49.491Z,1761676789.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659707,0.679742,0.320528],[-0.750917,0.579082,0.317471],[0.030187,-0.450127,0.892454]] 2025-10-28T18:39:49.895Z,1761676789.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634587,0.699477,0.328681],[-0.772198,0.556373,0.306852],[0.031767,-0.448532,0.893202]] 2025-10-28T18:39:50.300Z,1761676790.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608628,0.719587,0.334316],[-0.792745,0.533639,0.294594],[0.033582,-0.444325,0.895236]] 2025-10-28T18:39:50.702Z,1761676790.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581195,0.739767,0.339055],[-0.812995,0.509727,0.281457],[0.035387,-0.439231,0.897677]] 2025-10-28T18:39:51.107Z,1761676791.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553323,0.760069,0.340776],[-0.832138,0.486152,0.266838],[0.037147,-0.431220,0.901482]] 2025-10-28T18:39:51.513Z,1761676791.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524476,0.779596,0.342280],[-0.850527,0.461266,0.252659],[0.039089,-0.423632,0.904991]] 2025-10-28T18:39:51.916Z,1761676791.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495524,0.797657,0.343802],[-0.867631,0.435917,0.239149],[0.040890,-0.416798,0.908079]] 2025-10-28T18:39:52.319Z,1761676792.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466525,0.814770,0.344244],[-0.883480,0.410482,0.225761],[0.042637,-0.409455,0.911333]] 2025-10-28T18:39:52.723Z,1761676792.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437540,0.829599,0.346878],[-0.898122,0.384311,0.213733],[0.044003,-0.405056,0.913233]] 2025-10-28T18:39:53.126Z,1761676793.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408948,0.841032,0.354156],[-0.911456,0.357377,0.203787],[0.044824,-0.406136,0.912713]] 2025-10-28T18:39:53.546Z,1761676793.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380257,0.851391,0.361301],[-0.923761,0.330403,0.193646],[0.045494,-0.407391,0.912120]] 2025-10-28T18:39:53.935Z,1761676793.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351803,0.858471,0.373178],[-0.934954,0.302753,0.184939],[0.045784,-0.413966,0.909140]] 2025-10-28T18:39:54.339Z,1761676794.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323376,0.864471,0.384861],[-0.945168,0.275451,0.175454],[0.045665,-0.420496,0.906144]] 2025-10-28T18:39:54.745Z,1761676794.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294538,0.869131,0.397313],[-0.954566,0.247871,0.165421],[0.045290,-0.427984,0.902651]] 2025-10-28T18:39:54.820Z,1761676794.820 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:39:54.820Z,1761676794.820 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:39:54.820Z,1761676794.820 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateRudder:A] Stopped 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:39:54.821Z,1761676794.821 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateCommandMode] Stopped 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed] Stopped 2025-10-28T18:39:54.822Z,1761676794.822 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:39:55.147Z,1761676795.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264574,0.872561,0.410655],[-0.963313,0.219240,0.154794],[0.045035,-0.436543,0.898555]] 2025-10-28T18:39:55.190Z,1761676795.190 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:39:55.190Z,1761676795.190 [marl:UpdateRudder:B] Stopped 2025-10-28T18:39:55.190Z,1761676795.190 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:39:55.190Z,1761676795.190 [marl:UpdateRudder] Stopped 2025-10-28T18:39:55.191Z,1761676795.191 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:39:55.557Z,1761676795.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234115,0.877732,0.418063],[-0.971173,0.191298,0.142223],[0.044859,-0.439308,0.897216]] 2025-10-28T18:39:55.955Z,1761676795.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203303,0.883592,0.421822],[-0.978096,0.163617,0.128679],[0.044683,-0.438743,0.897501]] 2025-10-28T18:39:56.360Z,1761676796.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171437,0.889424,0.423715],[-0.984174,0.135031,0.114755],[0.044851,-0.436683,0.898497]] 2025-10-28T18:39:56.770Z,1761676796.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139164,0.896232,0.421190],[-0.989228,0.106319,0.100617],[0.045396,-0.430655,0.901374]] 2025-10-28T18:39:57.167Z,1761676797.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106361,0.902977,0.416317],[-0.993256,0.077050,0.086639],[0.046156,-0.422724,0.905082]] 2025-10-28T18:39:57.572Z,1761676797.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075113,0.908527,0.411020],[-0.996105,0.049273,0.073121],[0.046180,-0.414911,0.908689]] 2025-10-28T18:39:57.975Z,1761676797.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044259,0.912586,0.406482],[-0.997937,0.021441,0.060522],[0.046516,-0.408322,0.911652]] 2025-10-28T18:39:58.381Z,1761676798.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014932,0.914317,0.404725],[-0.998801,-0.005237,0.048679],[0.046628,-0.404966,0.913142]] 2025-10-28T18:39:58.787Z,1761676798.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012286,0.913805,0.405967],[-0.998837,-0.030145,0.037626],[0.046621,-0.405033,0.913113]] 2025-10-28T18:39:59.186Z,1761676799.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038222,0.911460,0.409610],[-0.998178,-0.053981,0.026974],[0.046697,-0.407833,0.911862]] 2025-10-28T18:39:59.593Z,1761676799.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062654,0.907469,0.415421],[-0.996925,-0.076538,0.016836],[0.047074,-0.413088,0.909474]] 2025-10-28T18:39:59.996Z,1761676799.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086568,0.903477,0.419804],[-0.995102,-0.098604,0.007009],[0.047726,-0.417141,0.907588]] 2025-10-28T18:40:00.399Z,1761676800.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110611,0.898271,0.425294],[-0.992679,-0.120738,-0.003163],[0.048508,-0.422530,0.905050]] 2025-10-28T18:40:00.803Z,1761676800.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135698,0.893099,0.428907],[-0.989541,-0.143553,-0.014156],[0.048928,-0.426342,0.903238]] 2025-10-28T18:40:01.206Z,1761676801.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161599,0.889064,0.428313],[-0.985652,-0.166843,-0.025555],[0.048741,-0.426297,0.903269]] 2025-10-28T18:40:01.617Z,1761676801.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188440,0.886085,0.423489],[-0.980906,-0.190937,-0.036969],[0.048102,-0.422369,0.905147]] 2025-10-28T18:40:02.027Z,1761676802.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215946,0.884653,0.413228],[-0.975272,-0.215813,-0.047641],[0.047034,-0.413297,0.909381]] 2025-10-28T18:40:02.418Z,1761676802.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244762,0.882950,0.400612],[-0.968481,-0.242338,-0.057599],[0.046226,-0.402083,0.914436]] 2025-10-28T18:40:02.823Z,1761676802.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274615,0.879855,0.387870],[-0.960476,-0.270098,-0.067327],[0.045525,-0.391028,0.919252]] 2025-10-28T18:40:03.229Z,1761676803.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304106,0.873686,0.379728],[-0.951576,-0.297406,-0.077794],[0.044966,-0.384997,0.921822]] 2025-10-28T18:40:03.630Z,1761676803.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333945,0.865555,0.373223],[-0.941541,-0.325004,-0.088727],[0.044501,-0.381035,0.923489]] 2025-10-28T18:40:04.049Z,1761676804.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363101,0.854989,0.370339],[-0.930703,-0.351645,-0.100684],[0.044144,-0.381234,0.923424]] 2025-10-28T18:40:04.364Z,1761676804.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:40:04.439Z,1761676804.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391936,0.842415,0.369760],[-0.918941,-0.377682,-0.113589],[0.043963,-0.384308,0.922158]] 2025-10-28T18:40:04.843Z,1761676804.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419608,0.829156,0.369364],[-0.906643,-0.402532,-0.126360],[0.043909,-0.387903,0.920654]] 2025-10-28T18:40:05.252Z,1761676805.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473507,0.800856,0.366635],[-0.879696,-0.450742,-0.151546],[0.043891,-0.394285,0.917939]] 2025-10-28T18:40:05.369Z,1761676805.369 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:40:05.655Z,1761676805.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498535,0.786359,0.364832],[-0.865773,-0.472819,-0.163947],[0.043579,-0.397595,0.916525]] 2025-10-28T18:40:06.068Z,1761676806.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522766,0.771256,0.363152],[-0.851374,-0.493999,-0.176428],[0.043326,-0.401409,0.914874]] 2025-10-28T18:40:06.118Z,1761676806.118 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:40:06.133Z,1761676806.133 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:40:06.133Z,1761676806.133 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:40:06.385Z,1761676806.385 [DAT](INFO): DAT read: user:136> 2025-10-28T18:40:06.386Z,1761676806.386 [DAT](INFO): DAT read: Tx time:18:40:06.1418 2025-10-28T18:40:06.386Z,1761676806.386 [DAT](INFO): Ping request sent. 2025-10-28T18:40:06.386Z,1761676806.386 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:40:06.386Z,1761676806.386 [DAT](INFO): publishing transmit ping time 2025-10-28T18:40:06.387Z,1761676806.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T18:40:06.467Z,1761676806.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545398,0.755539,0.362907],[-0.837060,-0.513322,-0.189293],[0.043269,-0.407015,0.912396]] 2025-10-28T18:40:06.660Z,1761676806.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253116 2025-10-28T18:40:06.866Z,1761676806.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567327,0.739999,0.361307],[-0.822348,-0.532225,-0.201197],[0.043411,-0.411264,0.910482]] 2025-10-28T18:40:06.889Z,1761676806.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503003 2025-10-28T18:40:07.141Z,1761676807.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755097 2025-10-28T18:40:07.267Z,1761676807.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587597,0.723887,0.361550],[-0.807969,-0.549078,-0.213773],[0.043772,-0.417733,0.907515]] 2025-10-28T18:40:07.394Z,1761676807.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007567 2025-10-28T18:40:07.645Z,1761676807.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872 2025-10-28T18:40:07.677Z,1761676807.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606318,0.708413,0.361287],[-0.793977,-0.564696,-0.225207],[0.044478,-0.423401,0.904850]] 2025-10-28T18:40:07.897Z,1761676807.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885 2025-10-28T18:40:08.079Z,1761676808.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623511,0.693928,0.360136],[-0.780509,-0.579102,-0.235470],[0.045156,-0.427908,0.902694]] 2025-10-28T18:40:08.149Z,1761676808.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762976 2025-10-28T18:40:08.151Z,1761676808.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:40:08.151Z,1761676808.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:40:08.151Z,1761676808.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateRudder:A] Stopped 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:40:08.152Z,1761676808.152 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateCommandMode] Stopped 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:40:08.153Z,1761676808.153 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:40:08.154Z,1761676808.154 [marl:UpdateSpeed] Stopped 2025-10-28T18:40:08.154Z,1761676808.154 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:40:08.401Z,1761676808.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806 2025-10-28T18:40:08.479Z,1761676808.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639527,0.681797,0.355187],[-0.767430,-0.593443,-0.242646],[0.045347,-0.427760,0.902754]] 2025-10-28T18:40:08.584Z,1761676808.584 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:40:08.584Z,1761676808.584 [marl:UpdateRudder:B] Stopped 2025-10-28T18:40:08.585Z,1761676808.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:40:08.585Z,1761676808.585 [marl:UpdateRudder] Stopped 2025-10-28T18:40:08.585Z,1761676808.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:40:08.656Z,1761676808.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269254 2025-10-28T18:40:08.885Z,1761676808.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654816,0.670374,0.349020],[-0.754449,-0.607268,-0.249064],[0.044983,-0.426409,0.903411]] 2025-10-28T18:40:08.905Z,1761676808.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518990 2025-10-28T18:40:09.157Z,1761676809.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770901 2025-10-28T18:40:09.287Z,1761676809.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669345,0.661166,0.338876],[-0.741646,-0.621640,-0.252040],[0.044018,-0.420028,0.906443]] 2025-10-28T18:40:09.409Z,1761676809.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023321 2025-10-28T18:40:09.661Z,1761676809.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936 2025-10-28T18:40:09.691Z,1761676809.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683662,0.651919,0.328037],[-0.728556,-0.635885,-0.254669],[0.042570,-0.413101,0.909690]] 2025-10-28T18:40:09.913Z,1761676809.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527207 2025-10-28T18:40:10.098Z,1761676810.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698295,0.642002,0.316573],[-0.714640,-0.650544,-0.257064],[0.040909,-0.405742,0.913072]] 2025-10-28T18:40:10.166Z,1761676810.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779385 2025-10-28T18:40:10.417Z,1761676810.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031066 2025-10-28T18:40:10.505Z,1761676810.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713959,0.629981,0.305593],[-0.699096,-0.665733,-0.260892],[0.039087,-0.399905,0.915723]] 2025-10-28T18:40:10.669Z,1761676810.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283044 2025-10-28T18:40:10.904Z,1761676810.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731253,0.615551,0.293880],[-0.681081,-0.682526,-0.265118],[0.037387,-0.394025,0.918339]] 2025-10-28T18:40:10.921Z,1761676810.921 [DAT](INFO): DAT read: Rx Time:18:40:10.1729 2025-10-28T18:40:10.921Z,1761676810.921 [DAT](INFO): Rx dataTimestamp_ set to:1761676810.921179 2025-10-28T18:40:10.922Z,1761676810.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536005 2025-10-28T18:40:11.173Z,1761676811.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786931 2025-10-28T18:40:11.333Z,1761676811.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749978,0.598894,0.280819],[-0.660492,-0.701037,-0.268883],[0.035832,-0.387135,0.921327]] 2025-10-28T18:40:11.431Z,1761676811.431 [DAT](INFO): DAT read: 18:40:10.1729 LVL= 32752, 28529, 32530, 32755, AGC= 79, IDX= 319, 0.42,-2.462,-0.624,-1.290,-1.414, PHS=-0.946, 0.834, 0.079, RAW= 295.0, 0.4, CAL= 293.6, -4.1, ROT= 216.4, 4.1 2025-10-28T18:40:11.432Z,1761676811.432 [DAT](INFO): got valid direction response: 18:40:10.1729 LVL= 32752, 28529, 32530, 32755, AGC= 79, IDX= 319, 0.42,-2.462,-0.624,-1.290,-1.414, PHS=-0.946, 0.834, 0.079, RAW= 295.0, 0.4, CAL= 293.6, -4.1, ROT= 216.4, 4.1 2025-10-28T18:40:11.433Z,1761676811.433 [DAT](INFO): DAT read: Bearing 79, -23 (Remote) 2025-10-28T18:40:11.433Z,1761676811.433 [DAT](INFO): Remote Bearing received:Bearing 79, -23 (Remote) 2025-10-28T18:40:11.434Z,1761676811.434 [DAT](INFO): DAT read: Bearing 148.1, -33.5 (Local) 2025-10-28T18:40:11.434Z,1761676811.434 [DAT](INFO): Local bearing/azimuth received: Bearing 148.1, -33.5 (Local) 2025-10-28T18:40:11.435Z,1761676811.435 [DAT](INFO): DAT read: Range 11 to 20 : 1501.4 m (Round-trip 2001.9 ms) speed -1.1 m/s 2025-10-28T18:40:11.436Z,1761676811.436 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:40:11.437Z,1761676811.437 [DAT](INFO): direction in FSK: [-0.802834,-0.591900,-0.071497] 2025-10-28T18:40:11.437Z,1761676811.437 [DAT](INFO): publishing direction and range info 2025-10-28T18:40:11.711Z,1761676811.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769388,0.579322,0.269127],[-0.637866,-0.719320,-0.275145],[0.034191,-0.383360,0.922966]] 2025-10-28T18:40:11.785Z,1761676811.785 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676800.00. Resetting abort timer. 2025-10-28T18:40:12.119Z,1761676812.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788535,0.558163,0.258199],[-0.614112,-0.737071,-0.282121],[0.032842,-0.381026,0.923981]] 2025-10-28T18:40:12.526Z,1761676812.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807712,0.534908,0.247940],[-0.588738,-0.754204,-0.290798],[0.031448,-0.380853,0.924101]] 2025-10-28T18:40:12.923Z,1761676812.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826484,0.509899,0.238593],[-0.562135,-0.770417,-0.300769],[0.030454,-0.382702,0.923370]] 2025-10-28T18:40:13.327Z,1761676813.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844260,0.485000,0.228034],[-0.535142,-0.786002,-0.309553],[0.029102,-0.383374,0.923135]] 2025-10-28T18:40:13.732Z,1761676813.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860938,0.459288,0.218724],[-0.507945,-0.799700,-0.320112],[0.027890,-0.386697,0.921785]] 2025-10-28T18:40:14.138Z,1761676814.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876148,0.434145,0.209484],[-0.481307,-0.811889,-0.330424],[0.026626,-0.390326,0.920292]] 2025-10-28T18:40:14.538Z,1761676814.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889994,0.409693,0.200158],[-0.455279,-0.822661,-0.340515],[0.025155,-0.394184,0.918687]] 2025-10-28T18:40:14.943Z,1761676814.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902374,0.385740,0.192162],[-0.430292,-0.831169,-0.352146],[0.023882,-0.400453,0.916006]] 2025-10-28T18:40:15.349Z,1761676815.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913848,0.362667,0.182634],[-0.405418,-0.840134,-0.360293],[0.022770,-0.403296,0.914786]] 2025-10-28T18:40:15.752Z,1761676815.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924532,0.339749,0.172661],[-0.380504,-0.848343,-0.368144],[0.021399,-0.406059,0.913596]] 2025-10-28T18:40:16.158Z,1761676816.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934219,0.316636,0.164245],[-0.356118,-0.854238,-0.378759],[0.020375,-0.412334,0.910805]] 2025-10-28T18:40:16.559Z,1761676816.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942771,0.294923,0.155574],[-0.332873,-0.859662,-0.387526],[0.019451,-0.417135,0.908636]] 2025-10-28T18:40:16.964Z,1761676816.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950784,0.273468,0.145687],[-0.309293,-0.865891,-0.393155],[0.018634,-0.418865,0.907857]] 2025-10-28T18:40:17.366Z,1761676817.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958128,0.252274,0.135457],[-0.285773,-0.872242,-0.396897],[0.018025,-0.418988,0.907813]] 2025-10-28T18:40:17.778Z,1761676817.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965072,0.230802,0.123958],[-0.261417,-0.879452,-0.397776],[0.017207,-0.416288,0.909070]] 2025-10-28T18:40:18.185Z,1761676818.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971470,0.209032,0.112033],[-0.236581,-0.887187,-0.396143],[0.016587,-0.411345,0.911329]] 2025-10-28T18:40:18.586Z,1761676818.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977349,0.186440,0.100144],[-0.211038,-0.894034,-0.395179],[0.015855,-0.407363,0.913129]] 2025-10-28T18:40:18.988Z,1761676818.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982689,0.163019,0.088023],[-0.184648,-0.900568,-0.393551],[0.015114,-0.402992,0.915079]] 2025-10-28T18:40:19.387Z,1761676819.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987435,0.139000,0.075181],[-0.157440,-0.906320,-0.392170],[0.013626,-0.399079,0.916815]] 2025-10-28T18:40:19.800Z,1761676819.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991489,0.114600,0.061770],[-0.129677,-0.911331,-0.390718],[0.011517,-0.395403,0.918436]] 2025-10-28T18:40:20.199Z,1761676820.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994669,0.090737,0.048993],[-0.102728,-0.913253,-0.394228],[0.008972,-0.397160,0.917706]] 2025-10-28T18:40:20.633Z,1761676820.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997195,0.066113,0.035083],[-0.074606,-0.915423,-0.395518],[0.005967,-0.397026,0.917788]] 2025-10-28T18:40:21.009Z,1761676821.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998904,0.041750,0.021179],[-0.046731,-0.916219,-0.397943],[0.002791,-0.398497,0.917166]] 2025-10-28T18:40:21.408Z,1761676821.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999822,0.017326,0.007423],[-0.018848,-0.915534,-0.401799],[-0.000165,-0.401868,0.915698]] 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateRudder:A] Stopped 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:40:21.467Z,1761676821.467 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:40:21.468Z,1761676821.468 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:40:21.472Z,1761676821.472 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:40:21.472Z,1761676821.472 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:40:21.472Z,1761676821.472 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:40:21.472Z,1761676821.472 [marl:UpdateCommandMode] Stopped 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:40:21.473Z,1761676821.473 [marl:UpdateSpeed] Stopped 2025-10-28T18:40:21.474Z,1761676821.474 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:40:21.811Z,1761676821.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999950,-0.007502,-0.006574],[0.009518,-0.914728,-0.403958],[-0.002983,-0.404000,0.914754]] 2025-10-28T18:40:21.862Z,1761676821.862 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:40:21.862Z,1761676821.862 [marl:UpdateRudder:B] Stopped 2025-10-28T18:40:21.862Z,1761676821.862 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:40:21.862Z,1761676821.862 [marl:UpdateRudder] Stopped 2025-10-28T18:40:21.863Z,1761676821.863 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:40:22.218Z,1761676822.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999262,-0.032661,-0.020195],[0.038038,-0.913968,-0.403999],[-0.005263,-0.404469,0.914536]] 2025-10-28T18:40:22.658Z,1761676822.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997737,-0.058379,-0.033353],[0.066850,-0.914367,-0.399329],[-0.007184,-0.400655,0.916201]] 2025-10-28T18:40:23.024Z,1761676823.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995234,-0.085578,-0.046744],[0.097121,-0.912814,-0.396658],[-0.008723,-0.399307,0.916776]] 2025-10-28T18:40:23.429Z,1761676823.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991845,-0.112464,-0.059956],[0.127067,-0.908967,-0.397029],[-0.009846,-0.401410,0.915846]] 2025-10-28T18:40:23.831Z,1761676823.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987581,-0.139175,-0.072890],[0.156754,-0.903966,-0.397836],[-0.010522,-0.404321,0.914556]] 2025-10-28T18:40:24.238Z,1761676824.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982342,-0.165962,-0.086380],[0.186747,-0.897944,-0.398525],[-0.011425,-0.407619,0.913081]] 2025-10-28T18:40:24.662Z,1761676824.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976237,-0.192232,-0.100042],[0.216344,-0.891227,-0.398635],[-0.012530,-0.410805,0.911637]] 2025-10-28T18:40:25.045Z,1761676825.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969495,-0.217397,-0.113218],[0.244731,-0.884276,-0.397696],[-0.013658,-0.413272,0.910505]] 2025-10-28T18:40:25.446Z,1761676825.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961765,-0.243222,-0.125903],[0.273482,-0.877560,-0.393822],[-0.014701,-0.413196,0.910523]] 2025-10-28T18:40:25.850Z,1761676825.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953287,-0.268314,-0.138748],[0.301639,-0.869966,-0.390093],[-0.016039,-0.413723,0.910262]] 2025-10-28T18:40:26.261Z,1761676826.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944231,-0.292637,-0.150970],[0.328837,-0.861897,-0.386004],[-0.017162,-0.414121,0.910060]] 2025-10-28T18:40:26.671Z,1761676826.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934556,-0.316465,-0.162653],[0.355312,-0.854368,-0.379222],[-0.018955,-0.412197,0.910898]] 2025-10-28T18:40:27.062Z,1761676827.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924316,-0.339854,-0.173607],[0.381066,-0.846606,-0.371547],[-0.020704,-0.409582,0.912038]] 2025-10-28T18:40:27.471Z,1761676827.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913670,-0.363176,-0.182509],[0.405835,-0.839946,-0.360262],[-0.022459,-0.403229,0.914823]] 2025-10-28T18:40:27.871Z,1761676827.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902222,-0.386492,-0.191362],[0.430592,-0.832169,-0.349407],[-0.024203,-0.397642,0.917221]] 2025-10-28T18:40:28.280Z,1761676828.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889646,-0.410223,-0.200616],[0.455906,-0.822970,-0.338926],[-0.026066,-0.392986,0.919175]] 2025-10-28T18:40:28.679Z,1761676828.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875555,-0.434796,-0.210609],[0.482296,-0.812064,-0.328546],[-0.028178,-0.389236,0.920707]] 2025-10-28T18:40:29.084Z,1761676829.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860247,-0.458912,-0.222205],[0.508968,-0.798898,-0.320490],[-0.030443,-0.388795,0.920821]] 2025-10-28T18:40:29.494Z,1761676829.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844168,-0.481572,-0.235517],[0.535083,-0.783691,-0.315460],[-0.032656,-0.392323,0.919248]] 2025-10-28T18:40:29.891Z,1761676829.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827159,-0.504022,-0.248536],[0.560887,-0.767857,-0.309518],[-0.034836,-0.395421,0.917839]] 2025-10-28T18:40:30.299Z,1761676830.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809322,-0.526196,-0.260989],[0.586180,-0.751789,-0.302004],[-0.037296,-0.397405,0.916885]] 2025-10-28T18:40:30.698Z,1761676830.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791036,-0.547468,-0.273022],[0.610459,-0.735572,-0.293724],[-0.040023,-0.399015,0.916070]] 2025-10-28T18:40:31.106Z,1761676831.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772500,-0.567714,-0.284507],[0.633552,-0.719425,-0.284675],[-0.043067,-0.400161,0.915432]] 2025-10-28T18:40:31.507Z,1761676831.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754133,-0.587070,-0.294333],[0.655114,-0.703840,-0.274654],[-0.045922,-0.399947,0.915387]] 2025-10-28T18:40:31.911Z,1761676831.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735160,-0.606293,-0.303231],[0.676144,-0.687932,-0.263779],[-0.048674,-0.398947,0.915681]] 2025-10-28T18:40:32.319Z,1761676832.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716526,-0.623608,-0.312575],[0.695712,-0.671466,-0.255182],[-0.050750,-0.400307,0.914975]] 2025-10-28T18:40:32.720Z,1761676832.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697851,-0.639805,-0.321954],[0.714346,-0.654418,-0.247885],[-0.052094,-0.402974,0.913728]] 2025-10-28T18:40:33.123Z,1761676833.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678734,-0.655656,-0.330810],[0.732482,-0.636802,-0.240735],[-0.052822,-0.405707,0.912475]] 2025-10-28T18:40:33.554Z,1761676833.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659052,-0.671601,-0.338530],[0.750235,-0.618715,-0.233110],[-0.052897,-0.407609,0.911623]] 2025-10-28T18:40:33.930Z,1761676833.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638421,-0.688067,-0.344940],[0.767915,-0.599803,-0.224817],[-0.052207,-0.408412,0.911303]] 2025-10-28T18:40:34.339Z,1761676834.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617253,-0.703223,-0.352812],[0.785095,-0.579738,-0.218011],[-0.051228,-0.411559,0.909942]] 2025-10-28T18:40:34.739Z,1761676834.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595233,-0.718410,-0.359978],[0.802021,-0.558800,-0.210962],[-0.049598,-0.414282,0.908796]] 2025-10-28T18:40:34.824Z,1761676834.824 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:40:34.824Z,1761676834.824 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:40:34.824Z,1761676834.824 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateRudder:A] Stopped 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:40:34.825Z,1761676834.825 [marl:UpdateCommandMode] Stopped 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed] Stopped 2025-10-28T18:40:34.826Z,1761676834.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:40:35.144Z,1761676835.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572100,-0.734627,-0.364726],[0.818778,-0.537573,-0.201540],[-0.048010,-0.413931,0.909042]] 2025-10-28T18:40:35.192Z,1761676835.192 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:40:35.192Z,1761676835.192 [marl:UpdateRudder:B] Stopped 2025-10-28T18:40:35.192Z,1761676835.192 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:40:35.192Z,1761676835.192 [marl:UpdateRudder] Stopped 2025-10-28T18:40:35.193Z,1761676835.193 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:40:35.488Z,1761676835.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:40:35.548Z,1761676835.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547715,-0.751109,-0.368569],[0.835360,-0.515534,-0.190785],[-0.046710,-0.412383,0.909812]] 2025-10-28T18:40:35.957Z,1761676835.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522740,-0.767130,-0.371825],[0.851252,-0.493233,-0.179141],[-0.045972,-0.410161,0.910854]] 2025-10-28T18:40:36.358Z,1761676836.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496322,-0.783766,-0.373330],[0.866950,-0.469966,-0.165921],[-0.045409,-0.406009,0.912740]] 2025-10-28T18:40:36.492Z,1761676836.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:40:36.763Z,1761676836.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468595,-0.799393,-0.376018],[0.882254,-0.445272,-0.152845],[-0.045247,-0.403365,0.913920]] 2025-10-28T18:40:37.163Z,1761676837.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439831,-0.814402,-0.378546],[0.896919,-0.419768,-0.139040],[-0.045667,-0.400679,0.915080]] 2025-10-28T18:40:37.568Z,1761676837.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410159,-0.828644,-0.380944],[0.910815,-0.393588,-0.124518],[-0.046754,-0.398042,0.916175]] 2025-10-28T18:40:37.981Z,1761676837.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379883,-0.841546,-0.384042],[0.923773,-0.366799,-0.110007],[-0.048290,-0.396558,0.916739]] 2025-10-28T18:40:38.378Z,1761676838.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349031,-0.852439,-0.389262],[0.935747,-0.339440,-0.095700],[-0.050552,-0.397653,0.916142]] 2025-10-28T18:40:38.783Z,1761676838.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318224,-0.862112,-0.394329],[0.946514,-0.312335,-0.080989],[-0.053341,-0.399011,0.915394]] 2025-10-28T18:40:39.184Z,1761676839.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288136,-0.870507,-0.398992],[0.955937,-0.285946,-0.066471],[-0.056227,-0.400564,0.914542]] 2025-10-28T18:40:39.587Z,1761676839.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258894,-0.877622,-0.403427],[0.964083,-0.260434,-0.052135],[-0.059311,-0.402435,0.913525]] 2025-10-28T18:40:39.990Z,1761676839.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230752,-0.884871,-0.404669],[0.971042,-0.235881,-0.037922],[-0.061897,-0.401701,0.913677]] 2025-10-28T18:40:40.395Z,1761676840.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203570,-0.890756,-0.406340],[0.976983,-0.211838,-0.025073],[-0.063744,-0.402092,0.913378]] 2025-10-28T18:40:40.802Z,1761676840.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177372,-0.895254,-0.408729],[0.982016,-0.188301,-0.013713],[-0.064688,-0.403810,0.912553]] 2025-10-28T18:40:41.203Z,1761676841.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150575,-0.899367,-0.410445],[0.986435,-0.164138,-0.002222],[-0.065372,-0.405212,0.911882]] 2025-10-28T18:40:41.607Z,1761676841.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124075,-0.903036,-0.411256],[0.990127,-0.139916,0.008510],[-0.065226,-0.406140,0.911480]] 2025-10-28T18:40:42.011Z,1761676842.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097255,-0.907054,-0.409627],[0.993176,-0.115066,0.018993],[-0.064361,-0.404984,0.912055]] 2025-10-28T18:40:42.419Z,1761676842.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069652,-0.910333,-0.407975],[0.995573,-0.089309,0.029307],[-0.063115,-0.404127,0.912523]] 2025-10-28T18:40:42.819Z,1761676842.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041086,-0.912979,-0.405932],[0.997231,-0.062673,0.040024],[-0.061982,-0.403164,0.913026]] 2025-10-28T18:40:43.223Z,1761676843.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012062,-0.914683,-0.403991],[0.998068,-0.035639,0.050891],[-0.060947,-0.402597,0.913346]] 2025-10-28T18:40:43.627Z,1761676843.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017726,-0.915906,-0.401002],[0.998040,-0.007864,0.062079],[-0.060012,-0.401316,0.913971]] 2025-10-28T18:40:44.030Z,1761676844.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048658,-0.915768,-0.398750],[0.997031,0.020679,0.074173],[-0.059679,-0.401176,0.914055]] 2025-10-28T18:40:44.441Z,1761676844.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079961,-0.915447,-0.394414],[0.994987,0.049462,0.086916],[-0.060058,-0.399386,0.914813]] 2025-10-28T18:40:44.838Z,1761676844.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110664,-0.913490,-0.391522],[0.991983,0.077336,0.099945],[-0.061020,-0.399443,0.914725]] 2025-10-28T18:40:45.243Z,1761676845.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140310,-0.909490,-0.391332],[0.988151,0.103796,0.113067],[-0.062215,-0.402559,0.913277]] 2025-10-28T18:40:45.647Z,1761676845.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168933,-0.905805,-0.388561],[0.983590,0.129597,0.125517],[-0.063338,-0.403389,0.912834]] 2025-10-28T18:40:46.050Z,1761676846.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196124,-0.902113,-0.384354],[0.978464,0.154309,0.137101],[-0.064371,-0.402966,0.912948]] 2025-10-28T18:40:46.463Z,1761676846.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222917,-0.898343,-0.378533],[0.972633,0.178863,0.148301],[-0.065520,-0.401232,0.913630]] 2025-10-28T18:40:46.861Z,1761676846.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248524,-0.893603,-0.373777],[0.966383,0.202503,0.158416],[-0.065870,-0.400582,0.913890]] 2025-10-28T18:40:47.263Z,1761676847.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273916,-0.888204,-0.368868],[0.959492,0.226086,0.168108],[-0.065918,-0.399974,0.914153]] 2025-10-28T18:40:47.667Z,1761676847.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298700,-0.882217,-0.363968],[0.952079,0.249188,0.177345],[-0.065760,-0.399499,0.914372]] 2025-10-28T18:40:48.071Z,1761676848.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324067,-0.875654,-0.358064],[0.943764,0.273035,0.186445],[-0.065498,-0.398349,0.914893]] 2025-10-28T18:40:48.107Z,1761676848.107 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:40:48.108Z,1761676848.108 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:40:48.124Z,1761676848.124 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:40:48.124Z,1761676848.124 [marl:UpdateRudder:A] Stopped 2025-10-28T18:40:48.124Z,1761676848.124 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:40:48.124Z,1761676848.124 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:40:48.124Z,1761676848.124 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateCommandMode] Stopped 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:40:48.125Z,1761676848.125 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:40:48.126Z,1761676848.126 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:40:48.126Z,1761676848.126 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:40:48.126Z,1761676848.126 [marl:UpdateSpeed] Stopped 2025-10-28T18:40:48.126Z,1761676848.126 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:40:48.478Z,1761676848.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350137,-0.867823,-0.352543],[0.934411,0.297313,0.196165],[-0.065421,-0.398105,0.915004]] 2025-10-28T18:40:48.524Z,1761676848.523 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:40:48.524Z,1761676848.524 [marl:UpdateRudder:B] Stopped 2025-10-28T18:40:48.524Z,1761676848.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:40:48.524Z,1761676848.524 [marl:UpdateRudder] Stopped 2025-10-28T18:40:48.524Z,1761676848.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:40:48.878Z,1761676848.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376709,-0.859414,-0.345686],[0.924003,0.322169,0.205977],[-0.065650,-0.397008,0.915464]] 2025-10-28T18:40:49.283Z,1761676849.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403236,-0.849975,-0.339034],[0.912688,0.346694,0.216341],[-0.066344,-0.396669,0.915561]] 2025-10-28T18:40:49.688Z,1761676849.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429472,-0.839317,-0.333319],[0.900577,0.370581,0.227224],[-0.067191,-0.397765,0.915023]] 2025-10-28T18:40:50.091Z,1761676850.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454709,-0.828927,-0.325761],[0.888019,0.393917,0.237174],[-0.068276,-0.397127,0.915220]] 2025-10-28T18:40:50.502Z,1761676850.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502236,-0.806815,-0.311140],[0.861905,0.438007,0.255477],[-0.069841,-0.396483,0.915381]] 2025-10-28T18:40:50.903Z,1761676850.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524898,-0.794556,-0.305224],[0.848321,0.459065,0.263838],[-0.069516,-0.397416,0.915002]] 2025-10-28T18:40:51.309Z,1761676851.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547254,-0.781693,-0.299116],[0.834114,0.479887,0.271960],[-0.069047,-0.398328,0.914640]] 2025-10-28T18:40:51.713Z,1761676851.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568996,-0.768507,-0.292644],[0.819509,0.500411,0.279272],[-0.068180,-0.398730,0.914531]] 2025-10-28T18:40:52.114Z,1761676852.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591028,-0.754610,-0.285044],[0.803876,0.521709,0.285664],[-0.066855,-0.397975,0.914957]] 2025-10-28T18:40:52.518Z,1761676852.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613019,-0.739330,-0.278566],[0.787389,0.542692,0.292412],[-0.065014,-0.398593,0.914821]] 2025-10-28T18:40:52.935Z,1761676852.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635245,-0.722763,-0.272173],[0.769718,0.563638,0.299746],[-0.063238,-0.399908,0.914371]] 2025-10-28T18:40:53.323Z,1761676853.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657642,-0.705597,-0.263894],[0.750759,0.584947,0.306918],[-0.062197,-0.399963,0.914419]] 2025-10-28T18:40:53.726Z,1761676853.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680150,-0.687438,-0.254608],[0.730494,0.606454,0.313994],[-0.061443,-0.399553,0.914649]] 2025-10-28T18:40:54.131Z,1761676854.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702802,-0.667901,-0.244903],[0.708771,0.627931,0.321474],[-0.060931,-0.399513,0.914700]] 2025-10-28T18:40:54.540Z,1761676854.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725118,-0.647576,-0.234199],[0.685940,0.649235,0.328603],[-0.060746,-0.398922,0.914970]] 2025-10-28T18:40:54.958Z,1761676854.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746929,-0.626567,-0.222513],[0.662097,0.670169,0.335413],[-0.061037,-0.397854,0.915416]] 2025-10-28T18:40:55.343Z,1761676855.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767550,-0.605896,-0.209183],[0.637974,0.690498,0.340884],[-0.062100,-0.395098,0.916537]] 2025-10-28T18:40:55.747Z,1761676855.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787332,-0.584028,-0.197533],[0.613243,0.708815,0.348590],[-0.063572,-0.395591,0.916224]] 2025-10-28T18:40:56.150Z,1761676856.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805951,-0.561834,-0.186507],[0.588350,0.725368,0.357332],[-0.065475,-0.397724,0.915166]] 2025-10-28T18:40:56.559Z,1761676856.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823667,-0.539007,-0.176192],[0.563102,0.740711,0.366420],[-0.066996,-0.401022,0.913615]] 2025-10-28T18:40:56.960Z,1761676856.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839872,-0.516935,-0.165509],[0.538420,0.754849,0.374576],[-0.068698,-0.403710,0.912304]] 2025-10-28T18:40:57.363Z,1761676857.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855161,-0.494855,-0.154333],[0.513601,0.768612,0.381379],[-0.070105,-0.405405,0.911445]] 2025-10-28T18:40:57.771Z,1761676857.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869279,-0.472945,-0.143799],[0.489222,0.781420,0.387356],[-0.070831,-0.407070,0.910647]] 2025-10-28T18:40:58.171Z,1761676858.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882440,-0.450965,-0.133906],[0.465057,0.793400,0.392732],[-0.070868,-0.408836,0.909852]] 2025-10-28T18:40:58.637Z,1761676858.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894347,-0.430201,-0.122761],[0.441747,0.805816,0.394362],[-0.070732,-0.406925,0.910719]] 2025-10-28T18:40:58.985Z,1761676858.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905408,-0.409260,-0.112882],[0.418693,0.816810,0.396884],[-0.070226,-0.406605,0.910901]] 2025-10-28T18:40:59.383Z,1761676859.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915919,-0.387721,-0.103753],[0.395277,0.826524,0.400766],[-0.069631,-0.408081,0.910287]] 2025-10-28T18:40:59.790Z,1761676859.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926151,-0.365030,-0.094858],[0.370881,0.835790,0.404849],[-0.068501,-0.410132,0.909450]] 2025-10-28T18:41:00.191Z,1761676860.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936281,-0.340921,-0.084565],[0.344661,0.845269,0.408324],[-0.067726,-0.411452,0.908912]] 2025-10-28T18:41:00.628Z,1761676860.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945761,-0.316040,-0.075200],[0.317992,0.853255,0.413325],[-0.066462,-0.414819,0.907473]] 2025-10-28T18:41:01.003Z,1761676861.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955058,-0.289555,-0.063416],[0.289050,0.862350,0.415695],[-0.065679,-0.415343,0.907291]] 2025-10-28T18:41:01.403Z,1761676861.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963489,-0.262882,-0.050818],[0.259725,0.871513,0.415943],[-0.065055,-0.413956,0.907969]] 2025-10-28T18:41:01.485Z,1761676861.485 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateRudder:A] Stopped 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:41:01.486Z,1761676861.486 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateCommandMode] Stopped 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:41:01.487Z,1761676861.487 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:41:01.488Z,1761676861.488 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:41:01.488Z,1761676861.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:41:01.488Z,1761676861.488 [marl:UpdateSpeed] Stopped 2025-10-28T18:41:01.488Z,1761676861.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:41:01.806Z,1761676861.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971187,-0.235263,-0.038053],[0.229392,0.879514,0.416934],[-0.064621,-0.413650,0.908140]] 2025-10-28T18:41:01.859Z,1761676861.859 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:41:01.859Z,1761676861.859 [marl:UpdateRudder:B] Stopped 2025-10-28T18:41:01.859Z,1761676861.859 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:41:01.859Z,1761676861.859 [marl:UpdateRudder] Stopped 2025-10-28T18:41:01.859Z,1761676861.859 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:41:02.211Z,1761676862.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977692,-0.208482,-0.025585],[0.200034,0.887001,0.416193],[-0.064075,-0.412026,0.908916]] 2025-10-28T18:41:02.667Z,1761676862.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982950,-0.183392,-0.013286],[0.172415,0.894178,0.413182],[-0.063894,-0.408428,0.910552]] 2025-10-28T18:41:03.018Z,1761676863.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987287,-0.158939,-0.001566],[0.145621,0.900525,0.409693],[-0.063706,-0.404713,0.912222]] 2025-10-28T18:41:03.431Z,1761676863.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990732,-0.135504,0.009441],[0.120006,0.905738,0.406493],[-0.063632,-0.401593,0.913605]] 2025-10-28T18:41:03.829Z,1761676863.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993391,-0.113153,0.019272],[0.095627,0.908729,0.406284],[-0.063485,-0.401756,0.913544]] 2025-10-28T18:41:04.291Z,1761676864.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995439,-0.090872,0.029055],[0.071293,0.910908,0.406405],[-0.063398,-0.402479,0.913231]] 2025-10-28T18:41:04.671Z,1761676864.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996921,-0.068162,0.038752],[0.046469,0.911716,0.408184],[-0.063154,-0.405127,0.912077]] 2025-10-28T18:41:05.039Z,1761676865.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997845,-0.043802,0.048852],[0.020072,0.912624,0.408307],[-0.062468,-0.406447,0.911536]] 2025-10-28T18:41:05.446Z,1761676865.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998041,-0.017732,0.059997],[-0.008391,0.912386,0.409244],[-0.061997,-0.408946,0.910450]] 2025-10-28T18:41:05.846Z,1761676865.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997359,0.009440,0.072010],[-0.038355,0.910433,0.411875],[-0.061672,-0.413549,0.908391]] 2025-10-28T18:41:06.250Z,1761676866.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995616,0.038501,0.085240],[-0.070416,0.908375,0.412184],[-0.061560,-0.416380,0.907104]] 2025-10-28T18:41:06.294Z,1761676866.294 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:41:06.402Z,1761676866.402 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:41:06.402Z,1761676866.402 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:41:06.626Z,1761676866.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:41:06.655Z,1761676866.655 [DAT](INFO): DAT read: user:137> 2025-10-28T18:41:06.657Z,1761676866.657 [DAT](INFO): DAT read: Tx time:18:41:06.3916 2025-10-28T18:41:06.658Z,1761676866.658 [DAT](INFO): Ping request sent. 2025-10-28T18:41:06.658Z,1761676866.658 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:41:06.658Z,1761676866.658 [DAT](INFO): publishing transmit ping time 2025-10-28T18:41:06.659Z,1761676866.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000968 2025-10-28T18:41:06.704Z,1761676866.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992741,0.068682,0.098728],[-0.103268,0.907556,0.407035],[-0.061645,-0.414276,0.908061]] 2025-10-28T18:41:06.909Z,1761676866.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251178 2025-10-28T18:41:07.067Z,1761676867.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988738,0.099550,0.111748],[-0.136464,0.906262,0.400083],[-0.061445,-0.410827,0.909640]] 2025-10-28T18:41:07.161Z,1761676867.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033 2025-10-28T18:41:07.414Z,1761676867.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755591 2025-10-28T18:41:07.471Z,1761676867.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983547,0.130766,0.124639],[-0.169956,0.903669,0.393061],[-0.061233,-0.407777,0.911026]] 2025-10-28T18:41:07.629Z,1761676867.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:41:07.665Z,1761676867.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007013 2025-10-28T18:41:07.874Z,1761676867.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977182,0.162234,0.137099],[-0.203534,0.899787,0.385950],[-0.060746,-0.405048,0.912275]] 2025-10-28T18:41:07.918Z,1761676867.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260001 2025-10-28T18:41:08.169Z,1761676868.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511082 2025-10-28T18:41:08.279Z,1761676868.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969940,0.192646,0.148673],[-0.235780,0.895138,0.378333],[-0.060198,-0.402014,0.913653]] 2025-10-28T18:41:08.421Z,1761676868.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763243 2025-10-28T18:41:08.673Z,1761676868.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015106 2025-10-28T18:41:08.697Z,1761676868.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962447,0.220248,0.158701],[-0.264864,0.890024,0.371085],[-0.059517,-0.399184,0.914937]] 2025-10-28T18:41:08.926Z,1761676868.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267726 2025-10-28T18:41:09.087Z,1761676869.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954856,0.244932,0.168100],[-0.291085,0.884418,0.364794],[-0.059320,-0.397258,0.915788]] 2025-10-28T18:41:09.181Z,1761676869.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522943 2025-10-28T18:41:09.429Z,1761676869.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771103 2025-10-28T18:41:09.493Z,1761676869.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946768,0.268449,0.177668],[-0.316427,0.877546,0.360259],[-0.059201,-0.397301,0.915777]] 2025-10-28T18:41:09.681Z,1761676869.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022998 2025-10-28T18:41:09.898Z,1761676869.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938280,0.290917,0.187076],[-0.340798,0.869946,0.356442],[-0.059051,-0.398197,0.915397]] 2025-10-28T18:41:09.933Z,1761676869.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275117 2025-10-28T18:41:10.185Z,1761676870.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527061 2025-10-28T18:41:10.299Z,1761676870.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929081,0.313018,0.197048],[-0.365171,0.860966,0.354103],[-0.058811,-0.400946,0.914212]] 2025-10-28T18:41:10.437Z,1761676870.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779061 2025-10-28T18:41:10.689Z,1761676870.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030950 2025-10-28T18:41:10.714Z,1761676870.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918590,0.336104,0.207910],[-0.390880,0.850318,0.352380],[-0.058353,-0.404960,0.912470]] 2025-10-28T18:41:10.941Z,1761676870.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283037 2025-10-28T18:41:11.107Z,1761676871.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907079,0.359232,0.219454],[-0.416935,0.838586,0.350626],[-0.058075,-0.409544,0.910440]] 2025-10-28T18:41:11.193Z,1761676871.193 [DAT](INFO): DAT read: Rx Time:18:41:10.4348 2025-10-28T18:41:11.193Z,1761676871.193 [DAT](INFO): Rx dataTimestamp_ set to:1761676871.193189 2025-10-28T18:41:11.194Z,1761676871.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536147 2025-10-28T18:41:11.446Z,1761676871.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787622 2025-10-28T18:41:11.510Z,1761676871.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894785,0.381844,0.231420],[-0.442747,0.825833,0.349250],[-0.057755,-0.414964,0.908003]] 2025-10-28T18:41:11.703Z,1761676871.703 [DAT](INFO): DAT read: 18:41:10.4348 LVL= 15136, 18401, 29522, 29427, AGC= 75, IDX= 44,-0.02,-0.370,-0.369,-2.025,-0.294, PHS= 0.026,-0.030,-1.775, RAW= 31.5, 19.5, CAL= 28.8, 22.7, ROT= 121.2, -22.7 2025-10-28T18:41:11.704Z,1761676871.704 [DAT](INFO): got valid direction response: 18:41:10.4348 LVL= 15136, 18401, 29522, 29427, AGC= 75, IDX= 44,-0.02,-0.370,-0.369,-2.025,-0.294, PHS= 0.026,-0.030,-1.775, RAW= 31.5, 19.5, CAL= 28.8, 22.7, ROT= 121.2, -22.7 2025-10-28T18:41:11.705Z,1761676871.705 [DAT](INFO): DAT read: Bearing 72, -13 (Remote) 2025-10-28T18:41:11.706Z,1761676871.706 [DAT](INFO): Remote Bearing received:Bearing 72, -13 (Remote) 2025-10-28T18:41:11.706Z,1761676871.706 [DAT](INFO): DAT read: Bearing 175.5, 35.9 (Local) 2025-10-28T18:41:11.707Z,1761676871.707 [DAT](INFO): Local bearing/azimuth received: Bearing 175.5, 35.9 (Local) 2025-10-28T18:41:11.708Z,1761676871.708 [DAT](INFO): DAT read: Range 11 to 20 : 1510.5 m (Round-trip 2014.1 ms) speed -0.4 m/s 2025-10-28T18:41:11.709Z,1761676871.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:41:11.710Z,1761676871.710 [DAT](INFO): direction in FSK: [-0.477900,0.789106,0.385906] 2025-10-28T18:41:11.710Z,1761676871.710 [DAT](INFO): publishing direction and range info 2025-10-28T18:41:11.921Z,1761676871.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881449,0.405087,0.242798],[-0.468803,0.812734,0.345957],[-0.057187,-0.418769,0.906290]] 2025-10-28T18:41:11.999Z,1761676871.999 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676928.00. Resetting abort timer. 2025-10-28T18:41:12.319Z,1761676872.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867412,0.427742,0.254232],[-0.494388,0.798729,0.342946],[-0.056370,-0.423165,0.904298]] 2025-10-28T18:41:12.723Z,1761676872.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853291,0.449272,0.264667],[-0.518461,0.785138,0.338756],[-0.055607,-0.426277,0.902882]] 2025-10-28T18:41:13.127Z,1761676873.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839155,0.470382,0.273055],[-0.541155,0.772392,0.332509],[-0.054500,-0.426791,0.902706]] 2025-10-28T18:41:13.533Z,1761676873.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824921,0.490351,0.281179],[-0.562726,0.759364,0.326660],[-0.053339,-0.427695,0.902348]] 2025-10-28T18:41:13.935Z,1761676873.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810400,0.509607,0.289055],[-0.583561,0.745942,0.320978],[-0.052045,-0.428802,0.901898]] 2025-10-28T18:41:14.338Z,1761676874.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795312,0.527597,0.298529],[-0.604072,0.730989,0.317416],[-0.050754,-0.432778,0.900071]] 2025-10-28T18:41:14.745Z,1761676874.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779602,0.545446,0.307749],[-0.624271,0.716093,0.312243],[-0.050065,-0.435544,0.898774]] 2025-10-28T18:41:14.818Z,1761676874.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:41:14.818Z,1761676874.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateRudder:A] Stopped 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:41:14.819Z,1761676874.819 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateCommandMode] Stopped 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:41:14.820Z,1761676874.820 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:41:14.821Z,1761676874.821 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:41:14.821Z,1761676874.821 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:41:14.821Z,1761676874.821 [marl:UpdateSpeed] Stopped 2025-10-28T18:41:14.821Z,1761676874.821 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:41:15.203Z,1761676875.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762640,0.563990,0.316695],[-0.644900,0.700728,0.305098],[-0.049845,-0.436917,0.898120]] 2025-10-28T18:41:15.240Z,1761676875.240 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:41:15.240Z,1761676875.240 [marl:UpdateRudder:B] Stopped 2025-10-28T18:41:15.240Z,1761676875.240 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:41:15.240Z,1761676875.240 [marl:UpdateRudder] Stopped 2025-10-28T18:41:15.241Z,1761676875.241 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:41:15.550Z,1761676875.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744210,0.583407,0.325250],[-0.666090,0.684483,0.296323],[-0.049751,-0.437172,0.898001]] 2025-10-28T18:41:15.955Z,1761676875.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723122,0.604211,0.334699],[-0.688931,0.665771,0.286572],[-0.049683,-0.437811,0.897693]] 2025-10-28T18:41:16.358Z,1761676876.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699809,0.626484,0.343198],[-0.712579,0.645860,0.274037],[-0.049978,-0.436329,0.898398]] 2025-10-28T18:41:16.777Z,1761676876.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675418,0.649442,0.349336],[-0.735669,0.626172,0.258265],[-0.051016,-0.431432,0.900702]] 2025-10-28T18:41:17.167Z,1761676877.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650046,0.673020,0.352823],[-0.758062,0.606570,0.239614],[-0.052747,-0.423222,0.904489]] 2025-10-28T18:41:17.570Z,1761676877.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624241,0.696176,0.354489],[-0.779324,0.586612,0.220320],[-0.054566,-0.413795,0.908733]] 2025-10-28T18:41:17.974Z,1761676877.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598022,0.718886,0.354363],[-0.799530,0.565912,0.201236],[-0.055873,-0.403667,0.913198]] 2025-10-28T18:41:18.384Z,1761676878.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571366,0.740759,0.353295],[-0.818778,0.543916,0.183731],[-0.056062,-0.394248,0.917292]] 2025-10-28T18:41:18.786Z,1761676878.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543954,0.760877,0.353807],[-0.837317,0.519764,0.169544],[-0.054893,-0.388473,0.919824]] 2025-10-28T18:41:19.186Z,1761676879.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516023,0.779173,0.355822],[-0.855000,0.493711,0.158824],[-0.051922,-0.386185,0.920959]] 2025-10-28T18:41:19.591Z,1761676879.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488799,0.794935,0.359379],[-0.871072,0.467416,0.150853],[-0.048061,-0.386782,0.920918]] 2025-10-28T18:41:19.996Z,1761676879.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464850,0.806165,0.366077],[-0.884231,0.443848,0.145378],[-0.045284,-0.391276,0.919159]] 2025-10-28T18:41:20.405Z,1761676880.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442603,0.815027,0.373944],[-0.895681,0.421862,0.140670],[-0.043103,-0.397195,0.916721]] 2025-10-28T18:41:20.803Z,1761676880.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421065,0.822530,0.382294],[-0.906090,0.400627,0.136008],[-0.041286,-0.403661,0.913976]] 2025-10-28T18:41:21.206Z,1761676881.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399715,0.827982,0.393286],[-0.915779,0.379299,0.132215],[-0.039702,-0.413011,0.909860]] 2025-10-28T18:41:21.612Z,1761676881.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378241,0.832721,0.404364],[-0.924918,0.357992,0.127939],[-0.038221,-0.422395,0.905606]] 2025-10-28T18:41:22.015Z,1761676882.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356940,0.837651,0.413441],[-0.933388,0.337421,0.122201],[-0.037142,-0.429520,0.902293]] 2025-10-28T18:41:22.419Z,1761676882.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334699,0.842991,0.421122],[-0.941636,0.316287,0.115257],[-0.036035,-0.435120,0.899651]] 2025-10-28T18:41:22.823Z,1761676882.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311608,0.848804,0.427120],[-0.949572,0.294651,0.107212],[-0.034849,-0.438990,0.897816]] 2025-10-28T18:41:23.229Z,1761676883.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287132,0.855778,0.430348],[-0.957323,0.271844,0.098153],[-0.032990,-0.440165,0.897311]] 2025-10-28T18:41:23.630Z,1761676883.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261304,0.862848,0.432682],[-0.964759,0.247858,0.088359],[-0.031004,-0.440523,0.897206]] 2025-10-28T18:41:24.034Z,1761676884.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233694,0.871146,0.431846],[-0.971880,0.222493,0.077107],[-0.028911,-0.437722,0.898645]] 2025-10-28T18:41:24.439Z,1761676884.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203721,0.878531,0.432066],[-0.978655,0.194939,0.065065],[-0.027064,-0.436099,0.899492]] 2025-10-28T18:41:24.848Z,1761676884.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172601,0.885875,0.430622],[-0.984653,0.166641,0.051852],[-0.025825,-0.432963,0.901042]] 2025-10-28T18:41:25.246Z,1761676885.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140422,0.891389,0.430938],[-0.989780,0.137312,0.038492],[-0.024862,-0.431939,0.901560]] 2025-10-28T18:41:25.651Z,1761676885.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108219,0.895002,0.432736],[-0.993848,0.107717,0.025759],[-0.023559,-0.432861,0.901153]] 2025-10-28T18:41:26.060Z,1761676886.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076363,0.897796,0.433741],[-0.996848,0.078123,0.013795],[-0.021500,-0.433427,0.900932]] 2025-10-28T18:41:26.459Z,1761676886.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045341,0.902047,0.429250],[-0.998786,0.049214,0.002078],[-0.019250,-0.428823,0.903183]] 2025-10-28T18:41:26.863Z,1761676886.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015646,0.906913,0.421027],[-0.999735,0.021294,-0.008717],[-0.016871,-0.420779,0.907006]] 2025-10-28T18:41:27.266Z,1761676887.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013113,0.912080,0.409803],[-0.999811,-0.006077,-0.018466],[-0.014353,-0.409967,0.911987]] 2025-10-28T18:41:27.672Z,1761676887.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040747,0.916917,0.396993],[-0.999093,-0.032470,-0.027551],[-0.012371,-0.397755,0.917408]] 2025-10-28T18:41:28.083Z,1761676888.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067977,0.919350,0.387523],[-0.997626,-0.058352,-0.036566],[-0.011004,-0.389089,0.921134]] 2025-10-28T18:41:28.146Z,1761676888.146 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:41:28.146Z,1761676888.146 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateRudder:A] Stopped 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:41:28.147Z,1761676888.147 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:41:28.148Z,1761676888.148 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:41:28.152Z,1761676888.152 [marl:UpdateCommandMode] Stopped 2025-10-28T18:41:28.152Z,1761676888.152 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:41:28.152Z,1761676888.152 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:41:28.152Z,1761676888.152 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:41:28.152Z,1761676888.152 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:41:28.153Z,1761676888.153 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:41:28.153Z,1761676888.153 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:41:28.153Z,1761676888.153 [marl:UpdateSpeed] Stopped 2025-10-28T18:41:28.153Z,1761676888.153 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:41:28.479Z,1761676888.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095284,0.917809,0.385420],[-0.995401,-0.083983,-0.046094],[-0.009936,-0.388039,0.921589]] 2025-10-28T18:41:28.524Z,1761676888.524 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:41:28.524Z,1761676888.524 [marl:UpdateRudder:B] Stopped 2025-10-28T18:41:28.525Z,1761676888.525 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:41:28.525Z,1761676888.525 [marl:UpdateRudder] Stopped 2025-10-28T18:41:28.525Z,1761676888.525 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:41:28.892Z,1761676888.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122888,0.913766,0.387208],[-0.992375,-0.109409,-0.056757],[-0.009499,-0.391230,0.920244]] 2025-10-28T18:41:29.289Z,1761676889.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151343,0.907426,0.392011],[-0.988438,-0.135203,-0.068638],[-0.009283,-0.397866,0.917396]] 2025-10-28T18:41:29.691Z,1761676889.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179513,0.897078,0.403765],[-0.983710,-0.159737,-0.082454],[-0.009471,-0.411989,0.911139]] 2025-10-28T18:41:30.094Z,1761676890.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206389,0.887110,0.412844],[-0.978422,-0.182939,-0.096039],[-0.009672,-0.423757,0.905724]] 2025-10-28T18:41:30.499Z,1761676890.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233380,0.879014,0.415774],[-0.972334,-0.206549,-0.109106],[-0.010028,-0.429734,0.902900]] 2025-10-28T18:41:30.907Z,1761676890.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260370,0.870332,0.418008],[-0.965455,-0.230127,-0.122219],[-0.010176,-0.435390,0.900184]] 2025-10-28T18:41:31.306Z,1761676891.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287413,0.862447,0.416627],[-0.957755,-0.254251,-0.134397],[-0.009982,-0.437654,0.899088]] 2025-10-28T18:41:31.711Z,1761676891.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314527,0.856889,0.408429],[-0.949201,-0.279599,-0.144369],[-0.009512,-0.433089,0.901301]] 2025-10-28T18:41:32.122Z,1761676892.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342138,0.851068,0.398277],[-0.939609,-0.305944,-0.153403],[-0.008706,-0.426710,0.904347]] 2025-10-28T18:41:32.518Z,1761676892.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369578,0.844131,0.388400],[-0.929168,-0.332297,-0.161942],[-0.007636,-0.420739,0.907150]] 2025-10-28T18:41:32.923Z,1761676892.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397080,0.835366,0.380120],[-0.917763,-0.358628,-0.170578],[-0.006174,-0.416593,0.909072]] 2025-10-28T18:41:33.326Z,1761676893.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424288,0.825761,0.371615],[-0.905513,-0.384619,-0.179205],[-0.005050,-0.412537,0.910927]] 2025-10-28T18:41:33.731Z,1761676893.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449976,0.814633,0.365917],[-0.893029,-0.408380,-0.189009],[-0.004539,-0.411824,0.911252]] 2025-10-28T18:41:34.139Z,1761676894.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473649,0.803581,0.360436],[-0.880703,-0.430107,-0.198422],[-0.004422,-0.411419,0.911436]] 2025-10-28T18:41:34.538Z,1761676894.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497001,0.792020,0.354534],[-0.867738,-0.451497,-0.207801],[-0.004512,-0.410920,0.911660]] 2025-10-28T18:41:34.991Z,1761676894.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539181,0.766960,0.347933],[-0.842179,-0.488912,-0.227374],[-0.004278,-0.415617,0.909529]] 2025-10-28T18:41:35.355Z,1761676895.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559229,0.754944,0.342524],[-0.829007,-0.507639,-0.234627],[-0.003252,-0.415165,0.909740]] 2025-10-28T18:41:35.761Z,1761676895.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578882,0.742908,0.336131],[-0.815409,-0.526518,-0.240595],[-0.001761,-0.413360,0.910566]] 2025-10-28T18:41:36.161Z,1761676896.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598441,0.729665,0.330843],[-0.801167,-0.545114,-0.246946],[0.000159,-0.412843,0.910802]] 2025-10-28T18:41:36.562Z,1761676896.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618127,0.714677,0.327347],[-0.786075,-0.563211,-0.254715],[0.002326,-0.414765,0.909925]] 2025-10-28T18:41:36.969Z,1761676896.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638412,0.698743,0.322782],[-0.769683,-0.581867,-0.262715],[0.004246,-0.416160,0.909282]] 2025-10-28T18:41:37.381Z,1761676897.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659479,0.682657,0.314748],[-0.751698,-0.602252,-0.268779],[0.006073,-0.413849,0.910325]] 2025-10-28T18:41:37.769Z,1761676897.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:41:37.790Z,1761676897.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681098,0.663609,0.309399],[-0.732146,-0.621987,-0.277658],[0.008186,-0.415638,0.909493]] 2025-10-28T18:41:38.180Z,1761676898.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702140,0.643239,0.305357],[-0.711961,-0.640592,-0.287670],[0.010568,-0.419386,0.907746]] 2025-10-28T18:41:38.659Z,1761676898.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723170,0.623002,0.298151],[-0.690541,-0.660538,-0.294690],[0.013348,-0.418997,0.907890]] 2025-10-28T18:41:38.672Z,1761676898.672 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050422295851,3.2, 0.0,1504.2, 0 2025-10-28T18:41:38.772Z,1761676898.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:41:38.989Z,1761676898.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744405,0.601956,0.288981],[-0.667534,-0.681312,-0.300353],[0.016087,-0.416489,0.908999]] 2025-10-28T18:41:39.391Z,1761676899.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765162,0.579988,0.279538],[-0.643560,-0.701745,-0.305589],[0.018927,-0.413725,0.910205]] 2025-10-28T18:41:39.796Z,1761676899.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784606,0.555311,0.275724],[-0.619609,-0.718011,-0.317088],[0.021891,-0.419630,0.907431]] 2025-10-28T18:41:40.200Z,1761676900.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802832,0.531151,0.270814],[-0.595661,-0.733992,-0.326258],[0.025483,-0.423243,0.905658]] 2025-10-28T18:41:40.639Z,1761676900.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820320,0.506398,0.265774],[-0.571181,-0.748808,-0.336211],[0.028757,-0.427606,0.903508]] 2025-10-28T18:41:41.006Z,1761676901.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836811,0.481500,0.260587],[-0.546546,-0.762646,-0.345917],[0.032176,-0.431890,0.901352]] 2025-10-28T18:41:41.411Z,1761676901.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852294,0.456565,0.255231],[-0.521844,-0.775499,-0.355358],[0.035687,-0.436060,0.899209]] 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateRudder:A] Stopped 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:41:41.459Z,1761676901.459 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:41:41.460Z,1761676901.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:41:41.464Z,1761676901.464 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:41:41.464Z,1761676901.464 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:41:41.464Z,1761676901.464 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:41:41.464Z,1761676901.464 [marl:UpdateCommandMode] Stopped 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed] Stopped 2025-10-28T18:41:41.465Z,1761676901.465 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:41:41.815Z,1761676901.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866647,0.432630,0.248502],[-0.497395,-0.788129,-0.362563],[0.038996,-0.437818,0.898218]] 2025-10-28T18:41:41.878Z,1761676901.878 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:41:41.878Z,1761676901.878 [marl:UpdateRudder:B] Stopped 2025-10-28T18:41:41.878Z,1761676901.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:41:41.878Z,1761676901.878 [marl:UpdateRudder] Stopped 2025-10-28T18:41:41.878Z,1761676901.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:41:42.219Z,1761676902.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880506,0.410064,0.237817],[-0.472178,-0.803055,-0.363525],[0.041912,-0.432378,0.900718]] 2025-10-28T18:41:42.660Z,1761676902.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893653,0.386738,0.227636],[-0.446564,-0.816487,-0.365963],[0.044330,-0.428698,0.902360]] 2025-10-28T18:41:43.029Z,1761676903.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905865,0.363524,0.217389],[-0.421034,-0.828841,-0.368447],[0.046242,-0.425291,0.903874]] 2025-10-28T18:41:43.430Z,1761676903.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916684,0.341308,0.207842],[-0.396744,-0.839525,-0.371203],[0.047794,-0.422736,0.904992]] 2025-10-28T18:41:43.835Z,1761676903.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926610,0.319600,0.198116],[-0.372829,-0.849414,-0.373489],[0.048916,-0.419942,0.906232]] 2025-10-28T18:41:44.238Z,1761676904.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935843,0.297686,0.188629],[-0.348825,-0.858677,-0.375493],[0.050192,-0.417201,0.907427]] 2025-10-28T18:41:44.664Z,1761676904.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944271,0.275955,0.179447],[-0.325116,-0.867160,-0.377270],[0.051500,-0.414586,0.908552]] 2025-10-28T18:41:45.047Z,1761676905.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952029,0.253392,0.171562],[-0.301355,-0.873744,-0.381781],[0.053161,-0.415168,0.908190]] 2025-10-28T18:41:45.450Z,1761676905.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959104,0.230236,0.164655],[-0.277659,-0.878298,-0.389228],[0.055002,-0.419028,0.906306]] 2025-10-28T18:41:45.861Z,1761676905.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965617,0.206247,0.158262],[-0.253514,-0.881870,-0.397538],[0.057575,-0.423991,0.903835]] 2025-10-28T18:41:46.262Z,1761676906.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971437,0.182627,0.151517],[-0.229357,-0.886408,-0.402090],[0.060873,-0.425357,0.902976]] 2025-10-28T18:41:46.673Z,1761676906.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976578,0.159462,0.144456],[-0.205350,-0.891198,-0.404473],[0.064241,-0.424663,0.903069]] 2025-10-28T18:41:47.067Z,1761676907.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981153,0.136303,0.136970],[-0.181234,-0.895000,-0.407589],[0.067032,-0.424731,0.902835]] 2025-10-28T18:41:47.471Z,1761676907.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985166,0.113194,0.128978],[-0.156890,-0.898617,-0.409724],[0.069523,-0.423881,0.903046]] 2025-10-28T18:41:47.876Z,1761676907.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988548,0.090571,0.120704],[-0.132841,-0.901766,-0.411305],[0.071595,-0.422629,0.903471]] 2025-10-28T18:41:48.278Z,1761676908.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991439,0.067548,0.111743],[-0.107945,-0.905508,-0.410370],[0.073465,-0.418919,0.905047]] 2025-10-28T18:41:48.683Z,1761676908.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993731,0.044687,0.102474],[-0.082928,-0.909377,-0.407624],[0.074972,-0.413566,0.907382]] 2025-10-28T18:41:48.694Z,1761676908.694 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050422300851,3.2, 0.0,1504.2, 0 2025-10-28T18:41:49.087Z,1761676909.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995510,0.020866,0.092333],[-0.056780,-0.912076,-0.406071],[0.075742,-0.409490,0.909165]] 2025-10-28T18:41:49.493Z,1761676909.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996672,-0.004394,0.081399],[-0.029094,-0.913611,-0.405546],[0.076148,-0.406565,0.910443]] 2025-10-28T18:41:49.895Z,1761676909.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997085,-0.031623,0.069439],[0.000849,-0.914613,-0.404331],[0.076296,-0.403093,0.911973]] 2025-10-28T18:41:50.298Z,1761676910.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996576,-0.059651,0.057246],[0.031662,-0.914987,-0.402240],[0.076373,-0.399051,0.913743]] 2025-10-28T18:41:50.702Z,1761676910.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995051,-0.088951,0.044282],[0.063750,-0.913342,-0.402172],[0.076218,-0.397358,0.914493]] 2025-10-28T18:41:51.109Z,1761676911.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992419,-0.119020,0.030645],[0.096704,-0.910096,-0.402956],[0.075850,-0.396938,0.914706]] 2025-10-28T18:41:51.511Z,1761676911.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988625,-0.149525,0.016214],[0.130227,-0.904957,-0.405086],[0.075243,-0.398366,0.914135]] 2025-10-28T18:41:51.915Z,1761676911.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983715,-0.179732,0.001467],[0.163611,-0.898798,-0.406686],[0.074413,-0.399823,0.913567]] 2025-10-28T18:41:52.319Z,1761676912.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977786,-0.209151,-0.013787],[0.196357,-0.890988,-0.409371],[0.073336,-0.402985,0.912264]] 2025-10-28T18:41:52.725Z,1761676912.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971175,-0.236533,-0.029512],[0.227241,-0.881339,-0.414250],[0.071974,-0.409016,0.909684]] 2025-10-28T18:41:53.127Z,1761676913.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964022,-0.262058,-0.044575],[0.256331,-0.872032,-0.416959],[0.070397,-0.413383,0.907832]] 2025-10-28T18:41:53.531Z,1761676913.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956403,-0.286184,-0.058239],[0.283788,-0.863583,-0.416760],[0.068976,-0.415118,0.907149]] 2025-10-28T18:41:53.936Z,1761676913.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948371,-0.308841,-0.072175],[0.309836,-0.853527,-0.418920],[0.067777,-0.419654,0.905150]] 2025-10-28T18:41:54.350Z,1761676914.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940197,-0.329880,-0.084905],[0.333959,-0.843591,-0.420506],[0.067092,-0.423713,0.903308]] 2025-10-28T18:41:54.743Z,1761676914.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931746,-0.350310,-0.095559],[0.356931,-0.835262,-0.418256],[0.066702,-0.423817,0.903288]] 2025-10-28T18:41:54.809Z,1761676914.809 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:41:54.809Z,1761676914.809 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:41:54.809Z,1761676914.809 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateRudder:A] Stopped 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:41:54.810Z,1761676914.810 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateCommandMode] Stopped 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed] Stopped 2025-10-28T18:41:54.811Z,1761676914.811 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:41:55.147Z,1761676915.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923049,-0.369818,-0.105903],[0.378913,-0.826570,-0.416182],[0.066376,-0.424284,0.903093]] 2025-10-28T18:41:55.171Z,1761676915.171 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:41:55.171Z,1761676915.171 [marl:UpdateRudder:B] Stopped 2025-10-28T18:41:55.171Z,1761676915.171 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:41:55.171Z,1761676915.171 [marl:UpdateRudder] Stopped 2025-10-28T18:41:55.171Z,1761676915.171 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:41:55.556Z,1761676915.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913890,-0.389251,-0.115277],[0.400515,-0.818155,-0.412565],[0.066276,-0.423209,0.903605]] 2025-10-28T18:41:55.955Z,1761676915.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904146,-0.408869,-0.123878],[0.422023,-0.809666,-0.407845],[0.066455,-0.421030,0.904609]] 2025-10-28T18:41:56.361Z,1761676916.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893568,-0.429305,-0.131279],[0.443881,-0.801172,-0.401364],[0.067130,-0.416918,0.906462]] 2025-10-28T18:41:56.771Z,1761676916.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882010,-0.449967,-0.139960],[0.466320,-0.790664,-0.396732],[0.067854,-0.415188,0.907202]] 2025-10-28T18:41:57.167Z,1761676917.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869108,-0.471598,-0.149151],[0.489827,-0.778740,-0.391960],[0.068698,-0.413714,0.907811]] 2025-10-28T18:41:57.574Z,1761676917.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854751,-0.493966,-0.159368],[0.514394,-0.765201,-0.387125],[0.069278,-0.412874,0.908150]] 2025-10-28T18:41:57.974Z,1761676917.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839511,-0.516258,-0.169407],[0.538904,-0.751377,-0.380807],[0.069306,-0.410986,0.909003]] 2025-10-28T18:41:58.382Z,1761676918.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822137,-0.540562,-0.178560],[0.565137,-0.737139,-0.370468],[0.068637,-0.405486,0.911521]] 2025-10-28T18:41:58.786Z,1761676918.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803315,-0.564578,-0.189567],[0.591711,-0.720519,-0.361567],[0.067546,-0.402622,0.912871]] 2025-10-28T18:41:59.186Z,1761676919.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783795,-0.587206,-0.202126],[0.617552,-0.702628,-0.353475],[0.065543,-0.401875,0.913346]] 2025-10-28T18:41:59.595Z,1761676919.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763739,-0.609175,-0.213561],[0.642413,-0.684810,-0.344009],[0.063313,-0.399927,0.914358]] 2025-10-28T18:41:59.996Z,1761676919.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742921,-0.629745,-0.226913],[0.666604,-0.665195,-0.336387],[0.060896,-0.401170,0.913977]] 2025-10-28T18:42:00.398Z,1761676920.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721507,-0.649319,-0.240444],[0.689960,-0.645042,-0.328445],[0.058169,-0.402872,0.913406]] 2025-10-28T18:42:00.803Z,1761676920.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699486,-0.667972,-0.254031],[0.712459,-0.624018,-0.320941],[0.055859,-0.405480,0.912395]] 2025-10-28T18:42:01.210Z,1761676921.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676734,-0.685899,-0.267533],[0.734209,-0.601849,-0.314190],[0.054488,-0.409048,0.910884]] 2025-10-28T18:42:01.625Z,1761676921.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653091,-0.703859,-0.279384],[0.755383,-0.579404,-0.306085],[0.053565,-0.410943,0.910086]] 2025-10-28T18:42:02.015Z,1761676922.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627910,-0.722284,-0.289888],[0.776508,-0.556237,-0.296033],[0.052574,-0.410982,0.910126]] 2025-10-28T18:42:02.418Z,1761676922.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602280,-0.740003,-0.299425],[0.796622,-0.532947,-0.285238],[0.051500,-0.410321,0.910486]] 2025-10-28T18:42:02.833Z,1761676922.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575695,-0.757612,-0.307570],[0.816124,-0.509332,-0.272987],[0.050163,-0.408172,0.911526]] 2025-10-28T18:42:03.232Z,1761676923.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548196,-0.774533,-0.315564],[0.834952,-0.485018,-0.260027],[0.048345,-0.406026,0.912582]] 2025-10-28T18:42:03.653Z,1761676923.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520414,-0.788475,-0.327837],[0.852638,-0.458834,-0.249959],[0.046663,-0.409608,0.911067]] 2025-10-28T18:42:04.035Z,1761676924.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491905,-0.801657,-0.339671],[0.869502,-0.432306,-0.238912],[0.044684,-0.412866,0.909695]] 2025-10-28T18:42:04.439Z,1761676924.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463276,-0.813202,-0.352247],[0.885190,-0.405514,-0.228030],[0.042593,-0.417446,0.907703]] 2025-10-28T18:42:04.845Z,1761676924.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434262,-0.823898,-0.364155],[0.899882,-0.378681,-0.216363],[0.040363,-0.421655,0.905858]] 2025-10-28T18:42:05.246Z,1761676925.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405370,-0.833729,-0.374929],[0.913359,-0.352295,-0.204119],[0.038094,-0.425188,0.904303]] 2025-10-28T18:42:05.658Z,1761676925.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376259,-0.842695,-0.385089],[0.925829,-0.325976,-0.191262],[0.035646,-0.428491,0.902843]] 2025-10-28T18:42:06.055Z,1761676926.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347422,-0.851127,-0.393550],[0.937119,-0.300259,-0.177912],[0.033259,-0.430613,0.901923]] 2025-10-28T18:42:06.458Z,1761676926.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318609,-0.860222,-0.398128],[0.947389,-0.275389,-0.163142],[0.030698,-0.429161,0.902706]] 2025-10-28T18:42:06.504Z,1761676926.504 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:42:06.661Z,1761676926.661 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:42:06.661Z,1761676926.661 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:42:06.862Z,1761676926.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289787,-0.869188,-0.400670],[0.956672,-0.250669,-0.148134],[0.028321,-0.426237,0.904168]] 2025-10-28T18:42:06.913Z,1761676926.913 [DAT](INFO): DAT read: user:138> 2025-10-28T18:42:06.914Z,1761676926.914 [DAT](INFO): DAT read: Tx time:18:42:06.6414 2025-10-28T18:42:06.914Z,1761676926.914 [DAT](INFO): Ping request sent. 2025-10-28T18:42:06.914Z,1761676926.914 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:42:06.914Z,1761676926.914 [DAT](INFO): publishing transmit ping time 2025-10-28T18:42:06.915Z,1761676926.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T18:42:07.165Z,1761676927.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250869 2025-10-28T18:42:07.269Z,1761676927.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261208,-0.878033,-0.401034],[0.964921,-0.226137,-0.133378],[0.026421,-0.421805,0.906301]] 2025-10-28T18:42:07.417Z,1761676927.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503264 2025-10-28T18:42:07.669Z,1761676927.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754966 2025-10-28T18:42:07.688Z,1761676927.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232278,-0.885917,-0.401495],[0.972340,-0.201093,-0.118809],[0.024517,-0.417987,0.908122]] 2025-10-28T18:42:07.921Z,1761676927.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789 2025-10-28T18:42:08.075Z,1761676928.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203317,-0.892516,-0.402588],[0.978852,-0.175800,-0.104607],[0.022588,-0.415343,0.909384]] 2025-10-28T18:42:08.113Z,1761676928.113 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateRudder:A] Stopped 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:42:08.114Z,1761676928.114 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateCommandMode] Stopped 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:42:08.115Z,1761676928.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:42:08.116Z,1761676928.116 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:42:08.116Z,1761676928.116 [marl:UpdateSpeed] Stopped 2025-10-28T18:42:08.116Z,1761676928.116 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:42:08.178Z,1761676928.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262717 2025-10-28T18:42:08.425Z,1761676928.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848 2025-10-28T18:42:08.478Z,1761676928.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173811,-0.898603,-0.402867],[0.984559,-0.149910,-0.090395],[0.020835,-0.412358,0.910784]] 2025-10-28T18:42:08.531Z,1761676928.531 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:42:08.531Z,1761676928.531 [marl:UpdateRudder:B] Stopped 2025-10-28T18:42:08.531Z,1761676928.531 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:42:08.531Z,1761676928.531 [marl:UpdateRudder] Stopped 2025-10-28T18:42:08.531Z,1761676928.531 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:42:08.677Z,1761676928.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762879 2025-10-28T18:42:08.882Z,1761676928.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143836,-0.903424,-0.403902],[0.989422,-0.123513,-0.076083],[0.018848,-0.410573,0.911633]] 2025-10-28T18:42:08.892Z,1761676928.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:42:08.914Z,1761676928.914 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -107.20, +5974.7-56.37, 20.00, 0.00 2025-10-28T18:42:08.929Z,1761676928.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063 2025-10-28T18:42:09.181Z,1761676929.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266934 2025-10-28T18:42:09.287Z,1761676929.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113396,-0.907190,-0.405151],[0.993403,-0.096520,-0.061916],[0.017064,-0.409499,0.912151]] 2025-10-28T18:42:09.433Z,1761676929.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518817 2025-10-28T18:42:09.685Z,1761676929.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770906 2025-10-28T18:42:09.696Z,1761676929.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081765,-0.909559,-0.407452],[0.996537,-0.068424,-0.047235],[0.015083,-0.409903,0.912004]] 2025-10-28T18:42:09.896Z,1761676929.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:42:09.937Z,1761676929.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022938 2025-10-28T18:42:10.095Z,1761676930.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049732,-0.910689,-0.410089],[0.998678,-0.039999,-0.032285],[0.012999,-0.411152,0.911474]] 2025-10-28T18:42:10.189Z,1761676930.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885 2025-10-28T18:42:10.441Z,1761676930.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526865 2025-10-28T18:42:10.501Z,1761676930.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017322,-0.910883,-0.412301],[0.999789,-0.011207,-0.017244],[0.011087,-0.412513,0.910884]] 2025-10-28T18:42:10.693Z,1761676930.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778949 2025-10-28T18:42:10.903Z,1761676930.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015952,-0.911565,-0.410846],[0.999833,0.018191,-0.001539],[0.008877,-0.410753,0.911703]] 2025-10-28T18:42:10.945Z,1761676930.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030899 2025-10-28T18:42:11.197Z,1761676931.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282888 2025-10-28T18:42:11.314Z,1761676931.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048755,-0.912696,-0.405721],[0.998789,0.047227,0.013782],[0.006582,-0.405901,0.913893]] 2025-10-28T18:42:11.449Z,1761676931.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535355 2025-10-28T18:42:11.703Z,1761676931.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788260 2025-10-28T18:42:11.720Z,1761676931.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081477,-0.912029,-0.401950],[0.996668,0.076135,0.029278],[0.003900,-0.402996,0.915193]] 2025-10-28T18:42:11.953Z,1761676931.953 [DAT](INFO): DAT read: Rx Time:18:42:11.0998 2025-10-28T18:42:11.953Z,1761676931.953 [DAT](INFO): Rx dataTimestamp_ set to:1761676931.953076 2025-10-28T18:42:11.954Z,1761676931.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039855 2025-10-28T18:42:12.117Z,1761676932.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113666,-0.911090,-0.396225],[0.993518,0.104746,0.044156],[0.001273,-0.398676,0.917091]] 2025-10-28T18:42:12.208Z,1761676932.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293644 2025-10-28T18:42:12.466Z,1761676932.466 [DAT](INFO): DAT read: 18:42:11.0998 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 72,-0.17,-2.464, 2.144,-2.502,-2.682, PHS= 0.320,-1.413, 0.135, RAW= 144.4, 11.6, CAL= 144.0, 12.7, ROT= 6.0, -12.7 2025-10-28T18:42:12.467Z,1761676932.467 [DAT](INFO): got valid direction response: 18:42:11.0998 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 72,-0.17,-2.464, 2.144,-2.502,-2.682, PHS= 0.320,-1.413, 0.135, RAW= 144.4, 11.6, CAL= 144.0, 12.7, ROT= 6.0, -12.7 2025-10-28T18:42:12.468Z,1761676932.468 [DAT](INFO): DAT read: Bearing 169.6, 0.2 (Local) 2025-10-28T18:42:12.469Z,1761676932.469 [DAT](INFO): Local bearing/azimuth received: Bearing 169.6, 0.2 (Local) 2025-10-28T18:42:12.470Z,1761676932.470 [DAT](INFO): DAT read: Range 11 to 20 : 1540.6 m (Round-trip 2054.2 ms) speed 0.1 m/s 2025-10-28T18:42:12.471Z,1761676932.471 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:42:12.472Z,1761676932.472 [DAT](INFO): direction in FSK: [0.970190,0.101971,0.219846] 2025-10-28T18:42:12.472Z,1761676932.472 [DAT](INFO): publishing direction and range info 2025-10-28T18:42:12.519Z,1761676932.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145630,-0.908208,-0.392364],[0.989338,0.132991,0.059368],[-0.001738,-0.396826,0.917892]] 2025-10-28T18:42:12.643Z,1761676932.643 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761676928.00. Resetting abort timer. 2025-10-28T18:42:12.923Z,1761676932.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176974,-0.905618,-0.385404],[0.984204,0.160931,0.073783],[-0.004795,-0.392374,0.919793]] 2025-10-28T18:42:13.329Z,1761676933.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207776,-0.901620,-0.379356],[0.978147,0.188497,0.087736],[-0.007597,-0.389295,0.921082]] 2025-10-28T18:42:13.735Z,1761676933.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237511,-0.895828,-0.375607],[0.971333,0.215029,0.101365],[-0.010039,-0.388915,0.921219]] 2025-10-28T18:42:14.137Z,1761676934.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267328,-0.889293,-0.371070],[0.963528,0.241814,0.114627],[-0.012207,-0.388179,0.921503]] 2025-10-28T18:42:14.538Z,1761676934.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296963,-0.881522,-0.367058],[0.954789,0.268538,0.127539],[-0.013859,-0.388337,0.921413]] 2025-10-28T18:42:14.949Z,1761676934.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327266,-0.871768,-0.364578],[0.944808,0.295640,0.141189],[-0.015301,-0.390663,0.920407]] 2025-10-28T18:42:15.347Z,1761676935.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357382,-0.860309,-0.363519],[0.933820,0.322455,0.154928],[-0.016067,-0.394830,0.918614]] 2025-10-28T18:42:15.770Z,1761676935.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388289,-0.846627,-0.363944],[0.921387,0.349515,0.169959],[-0.016688,-0.401326,0.915783]] 2025-10-28T18:42:16.559Z,1761676936.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451063,-0.818140,-0.356637],[0.892313,0.405381,0.198607],[-0.017915,-0.407816,0.912889]] 2025-10-28T18:42:16.963Z,1761676936.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482336,-0.802944,-0.350189],[0.875779,0.433321,0.212706],[-0.019046,-0.409284,0.912208]] 2025-10-28T18:42:17.367Z,1761676937.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513077,-0.787492,-0.341481],[0.858091,0.460959,0.226265],[-0.020773,-0.409114,0.912247]] 2025-10-28T18:42:17.782Z,1761676937.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543161,-0.772997,-0.327799],[0.839316,0.489216,0.237101],[-0.022914,-0.403911,0.914511]] 2025-10-28T18:42:18.175Z,1761676938.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571401,-0.759262,-0.311484],[0.820274,0.516583,0.245544],[-0.025525,-0.395806,0.917979]] 2025-10-28T18:42:18.583Z,1761676938.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597483,-0.745446,-0.295507],[0.801369,0.541911,0.253258],[-0.028651,-0.388127,0.921160]] 2025-10-28T18:42:18.985Z,1761676938.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622247,-0.730958,-0.280194],[0.782159,0.565817,0.260919],[-0.032182,-0.381512,0.923803]] 2025-10-28T18:42:19.386Z,1761676939.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645894,-0.715289,-0.266800],[0.762582,0.588056,0.269554],[-0.035915,-0.377560,0.925288]] 2025-10-28T18:42:19.811Z,1761676939.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688680,-0.681898,-0.246443],[0.723815,0.626613,0.288873],[-0.042558,-0.377321,0.925104]] 2025-10-28T18:42:20.201Z,1761676940.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708322,-0.664536,-0.238057],[0.704426,0.643736,0.298980],[-0.045437,-0.379467,0.924089]] 2025-10-28T18:42:20.627Z,1761676940.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727080,-0.645718,-0.233246],[0.684883,0.658491,0.311967],[-0.047853,-0.386571,0.921017]] 2025-10-28T18:42:21.007Z,1761676941.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745548,-0.626094,-0.228394],[0.664631,0.673178,0.324186],[-0.049221,-0.393494,0.918009]] 2025-10-28T18:42:21.411Z,1761676941.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763743,-0.606004,-0.222387],[0.643600,0.688303,0.334692],[-0.049755,-0.398746,0.915711]] 2025-10-28T18:42:21.451Z,1761676941.451 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:42:21.451Z,1761676941.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:42:21.451Z,1761676941.451 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:42:21.451Z,1761676941.451 [marl:UpdateRudder:A] Stopped 2025-10-28T18:42:21.452Z,1761676941.452 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:42:21.452Z,1761676941.452 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:42:21.456Z,1761676941.456 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:42:21.456Z,1761676941.456 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:42:21.456Z,1761676941.456 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:42:21.456Z,1761676941.456 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateCommandMode] Stopped 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:42:21.457Z,1761676941.457 [marl:UpdateSpeed] Stopped 2025-10-28T18:42:21.458Z,1761676941.458 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:42:21.821Z,1761676941.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782046,-0.583611,-0.218637],[0.621285,0.702442,0.347245],[-0.049076,-0.407398,0.911931]] 2025-10-28T18:42:21.845Z,1761676941.845 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:42:21.845Z,1761676941.845 [marl:UpdateRudder:B] Stopped 2025-10-28T18:42:21.845Z,1761676941.845 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:42:21.845Z,1761676941.845 [marl:UpdateRudder] Stopped 2025-10-28T18:42:21.845Z,1761676941.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:42:22.215Z,1761676942.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800707,-0.559058,-0.215226],[0.597149,0.716221,0.361164],[-0.047762,-0.417709,0.907325]] 2025-10-28T18:42:22.657Z,1761676942.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819327,-0.534110,-0.208399],[0.571470,0.731583,0.371765],[-0.046103,-0.423690,0.904633]] 2025-10-28T18:42:23.022Z,1761676943.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838146,-0.508360,-0.197687],[0.543625,0.748972,0.378830],[-0.044520,-0.424982,0.904106]] 2025-10-28T18:42:23.427Z,1761676943.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856383,-0.481961,-0.185261],[0.514550,0.766732,0.383876],[-0.042967,-0.424071,0.904609]] 2025-10-28T18:42:23.841Z,1761676943.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874132,-0.454755,-0.170562],[0.483903,0.785357,0.386074],[-0.041617,-0.420015,0.906562]] 2025-10-28T18:42:24.234Z,1761676944.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891140,-0.426416,-0.155045],[0.451897,0.803446,0.387638],[-0.040725,-0.415504,0.908679]] 2025-10-28T18:42:24.661Z,1761676944.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906983,-0.398227,-0.137102],[0.419261,0.822767,0.383762],[-0.040021,-0.405548,0.913197]] 2025-10-28T18:42:25.045Z,1761676945.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921557,-0.369792,-0.118267],[0.386189,0.841814,0.377103],[-0.039891,-0.393195,0.918589]] 2025-10-28T18:42:25.446Z,1761676945.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934563,-0.340987,-0.101589],[0.353516,0.857629,0.373496],[-0.040231,-0.384969,0.922052]] 2025-10-28T18:42:25.853Z,1761676945.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946458,-0.311612,-0.084351],[0.320138,0.872313,0.369569],[-0.041582,-0.376785,0.925367]] 2025-10-28T18:42:26.255Z,1761676946.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956865,-0.282708,-0.066969],[0.287245,0.885993,0.364016],[-0.043576,-0.367550,0.928982]] 2025-10-28T18:42:27.062Z,1761676947.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974130,-0.223234,-0.035183],[0.220712,0.906330,0.360351],[-0.048555,-0.358794,0.932153]] 2025-10-28T18:42:27.467Z,1761676947.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981015,-0.192805,-0.020872],[0.187036,0.912198,0.364570],[-0.051251,-0.361552,0.930942]] 2025-10-28T18:42:27.877Z,1761676947.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986736,-0.162158,-0.007528],[0.153117,0.914320,0.374933],[-0.053916,-0.371113,0.927021]] 2025-10-28T18:42:28.285Z,1761676948.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991256,-0.131790,0.006549],[0.119246,0.915942,0.383184],[-0.056498,-0.379052,0.923649]] 2025-10-28T18:42:28.678Z,1761676948.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994631,-0.101405,0.020634],[0.085376,0.916795,0.390124],[-0.058478,-0.386268,0.920531]] 2025-10-28T18:42:29.082Z,1761676949.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996886,-0.070956,0.034414],[0.051304,0.914945,0.400304],[-0.059891,-0.397292,0.915736]] 2025-10-28T18:42:29.488Z,1761676949.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997979,-0.041526,0.048103],[0.018475,0.913862,0.405605],[-0.060803,-0.403896,0.912782]] 2025-10-28T18:42:29.895Z,1761676949.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998018,-0.013677,0.061431],[-0.012840,0.911323,0.411492],[-0.061612,-0.411465,0.909341]] 2025-10-28T18:42:30.298Z,1761676950.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997145,0.013360,0.074316],[-0.043229,0.907972,0.416795],[-0.061908,-0.418817,0.905958]] 2025-10-28T18:42:30.698Z,1761676950.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995494,0.039630,0.086142],[-0.072079,0.906545,0.415909],[-0.061609,-0.420244,0.905317]] 2025-10-28T18:42:31.104Z,1761676951.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993150,0.064987,0.097104],[-0.099576,0.905545,0.412398],[-0.061132,-0.419242,0.905814]] 2025-10-28T18:42:31.506Z,1761676951.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990138,0.089549,0.107739],[-0.126365,0.902906,0.410843],[-0.060488,-0.420406,0.905318]] 2025-10-28T18:42:31.916Z,1761676951.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986436,0.113474,0.118604],[-0.152805,0.898722,0.411034],[-0.059951,-0.423582,0.903872]] 2025-10-28T18:42:32.319Z,1761676952.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982029,0.137354,0.129432],[-0.179172,0.893989,0.410708],[-0.059298,-0.426518,0.902533]] 2025-10-28T18:42:32.722Z,1761676952.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976851,0.161463,0.140329],[-0.205701,0.889079,0.408934],[-0.058736,-0.428333,0.901710]] 2025-10-28T18:42:33.128Z,1761676953.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970781,0.186041,0.151570],[-0.232727,0.883901,0.405656],[-0.058504,-0.429078,0.901371]] 2025-10-28T18:42:33.531Z,1761676953.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963742,0.211160,0.163135],[-0.260393,0.877777,0.402123],[-0.058284,-0.430023,0.900935]] 2025-10-28T18:42:33.936Z,1761676953.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955339,0.237874,0.175339],[-0.289831,0.870004,0.398862],[-0.057667,-0.431867,0.900092]] 2025-10-28T18:42:34.344Z,1761676954.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945758,0.265829,0.186753],[-0.319818,0.862845,0.391428],[-0.057086,-0.429923,0.901059]] 2025-10-28T18:42:34.742Z,1761676954.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934793,0.294413,0.198705],[-0.350697,0.853758,0.384849],[-0.056342,-0.429439,0.901337]] 2025-10-28T18:42:34.825Z,1761676954.825 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:42:34.825Z,1761676954.825 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:42:34.825Z,1761676954.825 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateRudder:A] Stopped 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:42:34.826Z,1761676954.826 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateCommandMode] Stopped 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed] Stopped 2025-10-28T18:42:34.827Z,1761676954.827 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:42:35.147Z,1761676955.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922505,0.323784,0.210115],[-0.381949,0.844265,0.375942],[-0.055669,-0.427061,0.902507]] 2025-10-28T18:42:35.191Z,1761676955.191 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:42:35.191Z,1761676955.191 [marl:UpdateRudder:B] Stopped 2025-10-28T18:42:35.191Z,1761676955.191 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:42:35.191Z,1761676955.191 [marl:UpdateRudder] Stopped 2025-10-28T18:42:35.191Z,1761676955.191 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:42:35.551Z,1761676955.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908954,0.353564,0.220894],[-0.413213,0.834333,0.364888],[-0.055288,-0.422943,0.904468]] 2025-10-28T18:42:35.962Z,1761676955.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893765,0.384861,0.230363],[-0.445144,0.824128,0.350228],[-0.055059,-0.415566,0.907895]] 2025-10-28T18:42:36.368Z,1761676956.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876936,0.417292,0.238432],[-0.477453,0.813148,0.332909],[-0.054960,-0.405780,0.912317]] 2025-10-28T18:42:37.171Z,1761676957.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838594,0.479717,0.258130],[-0.541765,0.784007,0.303025],[-0.057009,-0.393960,0.917358]] 2025-10-28T18:42:37.575Z,1761676957.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817729,0.509709,0.267424],[-0.572546,0.768092,0.286752],[-0.059246,-0.387597,0.919923]] 2025-10-28T18:42:37.985Z,1761676957.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796065,0.538731,0.275770],[-0.602046,0.751454,0.269921],[-0.061814,-0.380901,0.922547]] 2025-10-28T18:42:38.383Z,1761676958.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773761,0.566766,0.282966],[-0.630188,0.734141,0.252783],[-0.064468,-0.373916,0.925219]] 2025-10-28T18:42:38.790Z,1761676958.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750754,0.593139,0.290783],[-0.657212,0.715071,0.238213],[-0.066637,-0.369946,0.926660]] 2025-10-28T18:42:39.191Z,1761676959.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727072,0.619175,0.296629],[-0.683209,0.695154,0.223578],[-0.067769,-0.365217,0.928452]] 2025-10-28T18:42:39.597Z,1761676959.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703211,0.642067,0.305359],[-0.707707,0.673298,0.214058],[-0.068158,-0.366633,0.927866]] 2025-10-28T18:42:39.998Z,1761676959.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680228,0.661242,0.316306],[-0.729825,0.651100,0.208383],[-0.068155,-0.372596,0.925487]] 2025-10-28T18:42:40.036Z,1761676960.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:42:40.403Z,1761676960.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658774,0.676944,0.328274],[-0.749300,0.629550,0.205467],[-0.067575,-0.381332,0.921965]] 2025-10-28T18:42:40.807Z,1761676960.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638196,0.689547,0.342390],[-0.767003,0.607847,0.205494],[-0.066423,-0.393760,0.916810]] 2025-10-28T18:42:41.041Z,1761676961.041 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:42:41.212Z,1761676961.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617894,0.700876,0.356343],[-0.783597,0.586208,0.205757],[-0.064681,-0.406365,0.911419]] 2025-10-28T18:42:41.615Z,1761676961.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597711,0.710656,0.371093],[-0.799251,0.564433,0.206428],[-0.062757,-0.419981,0.905361]] 2025-10-28T18:42:42.019Z,1761676962.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577204,0.719672,0.385885],[-0.814324,0.542534,0.206237],[-0.060933,-0.433276,0.899199]] 2025-10-28T18:42:42.423Z,1761676962.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556268,0.729544,0.397908],[-0.828886,0.521267,0.203051],[-0.059281,-0.442771,0.894673]] 2025-10-28T18:42:42.826Z,1761676962.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534837,0.739328,0.409076],[-0.842959,0.500132,0.198214],[-0.058047,-0.450847,0.890712]] 2025-10-28T18:42:43.231Z,1761676963.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512331,0.750757,0.416991],[-0.856885,0.479198,0.190046],[-0.057143,-0.454680,0.888820]] 2025-10-28T18:42:43.653Z,1761676963.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487927,0.763238,0.423551],[-0.871084,0.456907,0.180137],[-0.056036,-0.456842,0.887781]] 2025-10-28T18:42:44.047Z,1761676964.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462975,0.782348,0.416636],[-0.884665,0.437008,0.162458],[-0.054974,-0.443797,0.894440]] 2025-10-28T18:42:44.443Z,1761676964.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437441,0.801804,0.407131],[-0.897607,0.416662,0.143857],[-0.054291,-0.428372,0.901970]] 2025-10-28T18:42:44.846Z,1761676964.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411178,0.819435,0.399323],[-0.909941,0.395031,0.126328],[-0.054227,-0.415304,0.908065]] 2025-10-28T18:42:45.259Z,1761676965.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384811,0.834774,0.393792],[-0.921378,0.372663,0.110381],[-0.054608,-0.405308,0.912548]] 2025-10-28T18:42:45.656Z,1761676965.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357996,0.847666,0.391538],[-0.932059,0.349444,0.095679],[-0.055717,-0.399189,0.915174]] 2025-10-28T18:42:46.065Z,1761676966.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330080,0.859623,0.389994],[-0.942231,0.324984,0.081151],[-0.056983,-0.394251,0.917234]] 2025-10-28T18:42:46.462Z,1761676966.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300863,0.868792,0.393295],[-0.951887,0.298765,0.068200],[-0.058252,-0.394891,0.916879]] 2025-10-28T18:42:46.867Z,1761676966.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270499,0.876180,0.398922],[-0.960881,0.271317,0.055636],[-0.059488,-0.398366,0.915295]] 2025-10-28T18:42:47.274Z,1761676967.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239596,0.882174,0.405418],[-0.968994,0.243248,0.043363],[-0.060364,-0.403237,0.913102]] 2025-10-28T18:42:47.676Z,1761676967.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208640,0.887253,0.411402],[-0.976111,0.214998,0.031351],[-0.060635,-0.408115,0.910914]] 2025-10-28T18:42:48.079Z,1761676968.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177447,0.892992,0.413615],[-0.982293,0.186386,0.019011],[-0.060115,-0.409665,0.910253]] 2025-10-28T18:42:48.114Z,1761676968.114 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:42:48.114Z,1761676968.114 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:42:48.114Z,1761676968.114 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:42:48.114Z,1761676968.114 [marl:UpdateRudder:A] Stopped 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode] Stopped 2025-10-28T18:42:48.115Z,1761676968.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:42:48.116Z,1761676968.116 [marl:UpdateSpeed] Stopped 2025-10-28T18:42:48.117Z,1761676968.117 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:42:48.483Z,1761676968.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146422,0.898289,0.414292],[-0.987445,0.157818,0.006800],[-0.059274,-0.410086,0.910118]] 2025-10-28T18:42:48.507Z,1761676968.507 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:42:48.507Z,1761676968.507 [marl:UpdateRudder:B] Stopped 2025-10-28T18:42:48.507Z,1761676968.507 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:42:48.507Z,1761676968.507 [marl:UpdateRudder] Stopped 2025-10-28T18:42:48.507Z,1761676968.507 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:42:48.888Z,1761676968.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115183,0.902321,0.415392],[-0.991632,0.128991,-0.005230],[-0.058301,-0.411314,0.909627]] 2025-10-28T18:42:49.295Z,1761676969.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084271,0.905711,0.415434],[-0.994771,0.100610,-0.017557],[-0.057698,-0.411783,0.909454]] 2025-10-28T18:42:49.694Z,1761676969.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053470,0.909038,0.413268],[-0.996934,0.072272,-0.029986],[-0.057126,-0.410398,0.910116]] 2025-10-28T18:42:50.098Z,1761676970.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023747,0.911456,0.410713],[-0.998092,0.045035,-0.042235],[-0.056991,-0.408926,0.910786]] 2025-10-28T18:42:50.504Z,1761676970.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004475,0.914071,0.405529],[-0.998349,0.019138,-0.054155],[-0.057262,-0.405102,0.912476]] 2025-10-28T18:42:50.906Z,1761676970.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031411,0.915539,0.401000],[-0.997867,-0.005757,-0.065021],[-0.057221,-0.402187,0.913768]] 2025-10-28T18:42:51.311Z,1761676971.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056744,0.915231,0.398914],[-0.996750,-0.029047,-0.075142],[-0.057185,-0.401882,0.913904]] 2025-10-28T18:42:51.715Z,1761676971.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080972,0.911826,0.402512],[-0.995071,-0.050760,-0.085187],[-0.057244,-0.407426,0.911442]] 2025-10-28T18:42:52.126Z,1761676972.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104244,0.908323,0.405071],[-0.992927,-0.071777,-0.094575],[-0.056830,-0.412065,0.909381]] 2025-10-28T18:42:52.525Z,1761676972.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126503,0.904777,0.406664],[-0.990361,-0.091882,-0.103649],[-0.056414,-0.415856,0.907679]] 2025-10-28T18:42:52.927Z,1761676972.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149388,0.901792,0.405529],[-0.987200,-0.112862,-0.112687],[-0.055851,-0.417172,0.907110]] 2025-10-28T18:42:53.331Z,1761676973.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174740,0.898307,0.403126],[-0.983083,-0.136351,-0.122291],[-0.054889,-0.417676,0.906937]] 2025-10-28T18:42:53.742Z,1761676973.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201085,0.894832,0.398547],[-0.978072,-0.160887,-0.132253],[-0.054223,-0.416402,0.907562]] 2025-10-28T18:42:54.140Z,1761676974.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230049,0.891465,0.390343],[-0.971707,-0.188364,-0.142492],[-0.053500,-0.412079,0.909576]] 2025-10-28T18:42:54.542Z,1761676974.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260777,0.887008,0.381066],[-0.963955,-0.217665,-0.153010],[-0.052776,-0.407232,0.911799]] 2025-10-28T18:42:54.947Z,1761676974.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292225,0.881192,0.371624],[-0.954954,-0.247879,-0.163155],[-0.051653,-0.402562,0.913934]] 2025-10-28T18:42:55.352Z,1761676975.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322873,0.872974,0.365608],[-0.945082,-0.276680,-0.173976],[-0.050720,-0.401702,0.914365]] 2025-10-28T18:42:55.763Z,1761676975.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351768,0.862609,0.363546],[-0.934776,-0.303152,-0.185182],[-0.049530,-0.404975,0.912985]] 2025-10-28T18:42:56.159Z,1761676976.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378361,0.851609,0.362775],[-0.924384,-0.327062,-0.196327],[-0.048544,-0.409626,0.910961]] 2025-10-28T18:42:56.563Z,1761676976.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403608,0.840671,0.361073],[-0.913699,-0.349863,-0.206762],[-0.047492,-0.413363,0.909327]] 2025-10-28T18:42:57.371Z,1761676977.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451297,0.825373,0.339249],[-0.891093,-0.396455,-0.220852],[-0.047788,-0.401973,0.914404]] 2025-10-28T18:42:57.779Z,1761676977.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475996,0.815411,0.329444],[-0.878120,-0.420095,-0.228967],[-0.048304,-0.398278,0.915992]] 2025-10-28T18:42:58.178Z,1761676978.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501033,0.800806,0.328140],[-0.864066,-0.441632,-0.241558],[-0.048524,-0.404563,0.913222]] 2025-10-28T18:42:58.699Z,1761676978.699 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -119.65 -7.95, 54.73, 0.00 2025-10-28T18:42:58.989Z,1761676978.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552264,0.769106,0.321685],[-0.832248,-0.486098,-0.266596],[-0.048670,-0.414953,0.908540]] 2025-10-28T18:42:59.795Z,1761676979.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602941,0.729660,0.322581],[-0.796291,-0.525681,-0.299298],[-0.048811,-0.437327,0.897977]] 2025-10-28T18:43:00.201Z,1761676980.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627035,0.709840,0.320863],[-0.777457,-0.544411,-0.314925],[-0.048865,-0.446927,0.893235]] 2025-10-28T18:43:00.658Z,1761676980.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672344,0.680642,0.290997],[-0.738653,-0.591169,-0.323900],[-0.048432,-0.432718,0.900227]] 2025-10-28T18:43:01.413Z,1761676981.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693713,0.666778,0.272338],[-0.718642,-0.615518,-0.323560],[-0.048113,-0.420172,0.906168]] 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateRudder:A] Stopped 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:43:01.474Z,1761676981.474 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode] Stopped 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:43:01.475Z,1761676981.475 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:43:01.476Z,1761676981.476 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:43:01.476Z,1761676981.476 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:43:01.476Z,1761676981.476 [marl:UpdateSpeed] Stopped 2025-10-28T18:43:01.476Z,1761676981.476 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:43:01.816Z,1761676981.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715062,0.650937,0.254887],[-0.697459,-0.639637,-0.323135],[-0.047306,-0.408835,0.911382]] 2025-10-28T18:43:01.845Z,1761676981.845 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:43:01.845Z,1761676981.845 [marl:UpdateRudder:B] Stopped 2025-10-28T18:43:01.846Z,1761676981.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:43:01.846Z,1761676981.846 [marl:UpdateRudder] Stopped 2025-10-28T18:43:01.846Z,1761676981.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:43:02.226Z,1761676982.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734963,0.632995,0.243199],[-0.676520,-0.659947,-0.326787],[-0.046357,-0.404705,0.913271]] 2025-10-28T18:43:02.671Z,1761676982.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772963,0.592123,0.227857],[-0.632989,-0.695357,-0.340300],[-0.043058,-0.407271,0.912292]] 2025-10-28T18:43:03.431Z,1761676983.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790697,0.569250,0.225283],[-0.610793,-0.708524,-0.353447],[-0.041581,-0.417071,0.907922]] 2025-10-28T18:43:03.839Z,1761676983.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807485,0.546812,0.221280],[-0.588525,-0.721301,-0.365188],[-0.040080,-0.425113,0.904253]] 2025-10-28T18:43:04.248Z,1761676984.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839165,0.505900,0.199670],[-0.542535,-0.752864,-0.372627],[-0.038188,-0.421023,0.906246]] 2025-10-28T18:43:04.675Z,1761676984.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854353,0.486274,0.183356],[-0.518271,-0.771138,-0.369784],[-0.038424,-0.410954,0.910846]] 2025-10-28T18:43:05.052Z,1761676985.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869303,0.465252,0.166890],[-0.492714,-0.788813,-0.367433],[-0.039304,-0.401640,0.914954]] 2025-10-28T18:43:05.457Z,1761676985.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883772,0.442844,0.151116],[-0.466141,-0.805130,-0.366713],[-0.040728,-0.394532,0.917979]] 2025-10-28T18:43:05.858Z,1761676985.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897751,0.418632,0.137075],[-0.438451,-0.819215,-0.369659],[-0.042458,-0.391962,0.919001]] 2025-10-28T18:43:06.260Z,1761676986.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911430,0.392789,0.122527],[-0.409061,-0.832931,-0.372686],[-0.044331,-0.389798,0.919833]] 2025-10-28T18:43:06.781Z,1761676986.781 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:43:06.941Z,1761676986.941 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:43:06.941Z,1761676986.941 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:43:07.068Z,1761676987.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936506,0.336538,0.098482],[-0.347606,-0.854065,-0.386966],[-0.046118,-0.396629,0.916820]] 2025-10-28T18:43:07.193Z,1761676987.193 [DAT](INFO): DAT read: user:139> 2025-10-28T18:43:07.194Z,1761676987.194 [DAT](INFO): DAT read: Tx time:18:43:06.9412 2025-10-28T18:43:07.194Z,1761676987.194 [DAT](INFO): Ping request sent. 2025-10-28T18:43:07.194Z,1761676987.194 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:43:07.194Z,1761676987.194 [DAT](INFO): publishing transmit ping time 2025-10-28T18:43:07.195Z,1761676987.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T18:43:07.447Z,1761676987.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252880 2025-10-28T18:43:07.474Z,1761676987.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947765,0.306611,0.087924],[-0.315611,-0.861559,-0.397626],[-0.046164,-0.404605,0.913325]] 2025-10-28T18:43:07.698Z,1761676987.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503553 2025-10-28T18:43:07.875Z,1761676987.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957871,0.276782,0.076644],[-0.283496,-0.868522,-0.406572],[-0.045965,-0.411171,0.910398]] 2025-10-28T18:43:07.949Z,1761676987.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754816 2025-10-28T18:43:08.202Z,1761676988.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007787 2025-10-28T18:43:08.278Z,1761676988.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966824,0.247217,0.064308],[-0.251326,-0.875576,-0.412556],[-0.045684,-0.415031,0.908659]] 2025-10-28T18:43:08.453Z,1761676988.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258842 2025-10-28T18:43:08.706Z,1761676988.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511790 2025-10-28T18:43:08.707Z,1761676988.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974215,0.219454,0.052394],[-0.220932,-0.880784,-0.418818],[-0.045763,-0.419594,0.906557]] 2025-10-28T18:43:08.957Z,1761676988.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762881 2025-10-28T18:43:09.087Z,1761676989.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980077,0.194349,0.040961],[-0.193155,-0.884586,-0.424498],[-0.046267,-0.423952,0.904502]] 2025-10-28T18:43:09.209Z,1761676989.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015198 2025-10-28T18:43:09.461Z,1761676989.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266840 2025-10-28T18:43:09.495Z,1761676989.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984642,0.171826,0.030907],[-0.168234,-0.886534,-0.430992],[-0.046656,-0.429572,0.901826]] 2025-10-28T18:43:09.714Z,1761676989.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519942 2025-10-28T18:43:09.895Z,1761676989.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988342,0.150836,0.020709],[-0.144852,-0.889684,-0.432991],[-0.046886,-0.430943,0.901160]] 2025-10-28T18:43:09.967Z,1761676989.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772744 2025-10-28T18:43:10.217Z,1761676990.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023283 2025-10-28T18:43:10.299Z,1761676990.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991515,0.129617,0.009897],[-0.121259,-0.894763,-0.429762],[-0.046849,-0.427316,0.902888]] 2025-10-28T18:43:10.469Z,1761676990.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274912 2025-10-28T18:43:10.711Z,1761676990.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994166,0.107856,-0.001113],[-0.097404,-0.902157,-0.420268],[-0.046333,-0.417708,0.907399]] 2025-10-28T18:43:10.732Z,1761676990.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537508 2025-10-28T18:43:10.985Z,1761676990.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790799 2025-10-28T18:43:11.107Z,1761676991.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996306,0.085102,-0.011451],[-0.073032,-0.909934,-0.408272],[-0.045165,-0.405928,0.912789]] 2025-10-28T18:43:11.164Z,1761676991.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:43:11.237Z,1761676991.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043272 2025-10-28T18:43:11.489Z,1761676991.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294817 2025-10-28T18:43:11.520Z,1761676991.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997862,0.062074,-0.020474],[-0.048847,-0.916328,-0.397437],[-0.043432,-0.395587,0.917401]] 2025-10-28T18:43:11.741Z,1761676991.741 [DAT](INFO): DAT read: Rx Time:18:43:11.0435 2025-10-28T18:43:11.741Z,1761676991.741 [DAT](INFO): Rx dataTimestamp_ set to:1761676991.741127 2025-10-28T18:43:11.742Z,1761676991.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547919 2025-10-28T18:43:11.914Z,1761676991.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998861,0.037966,-0.028915],[-0.023656,-0.920121,-0.390919],[-0.041447,-0.389789,0.919971]] 2025-10-28T18:43:11.993Z,1761676991.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798958 2025-10-28T18:43:12.169Z,1761676992.169 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:43:12.255Z,1761676992.255 [DAT](INFO): DAT read: 18:43:11.0435 LVL= 32752, 31393, 32754, 32755, AGC= 77, IDX= 378,-0.33, 0.267, 1.240, 2.015, 1.204, PHS=-0.835, 0.080, 0.767, RAW= 244.7, -0.2, CAL= 240.6, -0.6, ROT= 269.4, 0.6 2025-10-28T18:43:12.256Z,1761676992.256 [DAT](INFO): got valid direction response: 18:43:11.0435 LVL= 32752, 31393, 32754, 32755, AGC= 77, IDX= 378,-0.33, 0.267, 1.240, 2.015, 1.204, PHS=-0.835, 0.080, 0.767, RAW= 244.7, -0.2, CAL= 240.6, -0.6, ROT= 269.4, 0.6 2025-10-28T18:43:12.257Z,1761676992.257 [DAT](INFO): DAT read: Bearing 69, -15 (Remote) 2025-10-28T18:43:12.258Z,1761676992.258 [DAT](INFO): Remote Bearing received:Bearing 69, -15 (Remote) 2025-10-28T18:43:12.258Z,1761676992.258 [DAT](INFO): DAT read: Bearing 147.4, -65.3 (Local) 2025-10-28T18:43:12.259Z,1761676992.259 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, -65.3 (Local) 2025-10-28T18:43:12.260Z,1761676992.260 [DAT](INFO): DAT read: Range 11 to 20 : 1554.9 m (Round-trip 2073.2 ms) speed -0.1 m/s 2025-10-28T18:43:12.261Z,1761676992.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:43:12.262Z,1761676992.262 [DAT](INFO): direction in FSK: [-0.010472,-0.999890,-0.010472] 2025-10-28T18:43:12.262Z,1761676992.262 [DAT](INFO): publishing direction and range info 2025-10-28T18:43:12.319Z,1761676992.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999219,0.011184,-0.037903],[0.004275,-0.922897,-0.385024],[-0.039287,-0.384885,0.922128]] 2025-10-28T18:43:12.417Z,1761676992.417 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677056.00. Resetting abort timer. 2025-10-28T18:43:12.730Z,1761676992.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998704,-0.017107,-0.047943],[0.034094,-0.924176,-0.380442],[-0.037800,-0.381584,0.923561]] 2025-10-28T18:43:13.128Z,1761676993.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997153,-0.046524,-0.059335],[0.065758,-0.921636,-0.382443],[-0.036893,-0.385256,0.922072]] 2025-10-28T18:43:13.531Z,1761676993.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994454,-0.076615,-0.072056],[0.098589,-0.917674,-0.384908],[-0.036634,-0.389877,0.920138]] 2025-10-28T18:43:13.934Z,1761676993.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990562,-0.106797,-0.085910],[0.132043,-0.911635,-0.389213],[-0.036751,-0.396883,0.917133]] 2025-10-28T18:43:14.340Z,1761676994.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985542,-0.136231,-0.100738],[0.165315,-0.903437,-0.395566],[-0.037122,-0.406500,0.912896]] 2025-10-28T18:43:14.746Z,1761676994.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979359,-0.165564,-0.115950],[0.198556,-0.895388,-0.398567],[-0.037832,-0.413362,0.909780]] 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateRudder:A] Stopped 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:43:14.830Z,1761676994.830 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode] Stopped 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:43:14.831Z,1761676994.831 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:43:14.832Z,1761676994.832 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:43:14.836Z,1761676994.836 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:43:14.836Z,1761676994.836 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:43:14.836Z,1761676994.836 [marl:UpdateSpeed] Stopped 2025-10-28T18:43:14.836Z,1761676994.836 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:43:15.147Z,1761676995.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972253,-0.193820,-0.130988],[0.230690,-0.887273,-0.399411],[-0.038809,-0.418546,0.907366]] 2025-10-28T18:43:15.171Z,1761676995.171 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:43:15.171Z,1761676995.171 [marl:UpdateRudder:B] Stopped 2025-10-28T18:43:15.171Z,1761676995.171 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:43:15.171Z,1761676995.171 [marl:UpdateRudder] Stopped 2025-10-28T18:43:15.171Z,1761676995.171 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:43:15.557Z,1761676995.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964144,-0.221687,-0.145877],[0.262364,-0.878873,-0.398431],[-0.039880,-0.422418,0.905523]] 2025-10-28T18:43:15.955Z,1761676995.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955244,-0.248840,-0.159961],[0.292989,-0.870468,-0.395529],[-0.040818,-0.424694,0.904417]] 2025-10-28T18:43:16.359Z,1761676996.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945913,-0.274453,-0.172986],[0.321755,-0.861864,-0.392000],[-0.041505,-0.426457,0.903555]] 2025-10-28T18:43:16.774Z,1761676996.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935867,-0.300140,-0.184578],[0.349868,-0.853674,-0.385789],[-0.041779,-0.425626,0.903934]] 2025-10-28T18:43:17.170Z,1761676997.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925723,-0.323918,-0.195229],[0.375898,-0.844916,-0.380548],[-0.041686,-0.425668,0.903919]] 2025-10-28T18:43:17.570Z,1761676997.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915086,-0.348217,-0.203380],[0.401200,-0.837051,-0.372001],[-0.040703,-0.422009,0.905678]] 2025-10-28T18:43:17.974Z,1761676997.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903752,-0.372421,-0.211034],[0.426258,-0.828142,-0.363987],[-0.039210,-0.418908,0.907182]] 2025-10-28T18:43:18.379Z,1761676998.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892177,-0.396056,-0.217163],[0.450163,-0.819100,-0.355568],[-0.037053,-0.414988,0.909072]] 2025-10-28T18:43:18.795Z,1761676998.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880003,-0.419766,-0.222240],[0.473721,-0.809560,-0.346701],[-0.034383,-0.410377,0.911267]] 2025-10-28T18:43:19.198Z,1761676999.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866647,-0.444042,-0.227487],[0.497934,-0.798470,-0.338389],[-0.031383,-0.406537,0.913095]] 2025-10-28T18:43:19.591Z,1761676999.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852342,-0.467203,-0.235020],[0.522210,-0.784760,-0.333840],[-0.028463,-0.407275,0.912862]] 2025-10-28T18:43:19.995Z,1761676999.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836590,-0.490948,-0.243079],[0.547225,-0.769748,-0.328684],[-0.025743,-0.407993,0.912622]] 2025-10-28T18:43:20.401Z,1761677000.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819798,-0.514239,-0.251972],[0.572167,-0.753673,-0.323422],[-0.023588,-0.409310,0.912090]] 2025-10-28T18:43:20.816Z,1761677000.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802026,-0.536967,-0.261572],[0.596905,-0.736265,-0.318777],[-0.021414,-0.411801,0.911022]] 2025-10-28T18:43:21.211Z,1761677001.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783035,-0.560093,-0.270465],[0.621663,-0.718584,-0.311724],[-0.019758,-0.412229,0.910866]] 2025-10-28T18:43:21.610Z,1761677001.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763494,-0.582541,-0.278787],[0.645555,-0.700654,-0.303879],[-0.018311,-0.411982,0.911008]] 2025-10-28T18:43:22.015Z,1761677002.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743409,-0.603800,-0.287694],[0.668606,-0.682186,-0.295953],[-0.017564,-0.412368,0.910848]] 2025-10-28T18:43:22.418Z,1761677002.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723031,-0.624089,-0.296207],[0.690604,-0.663589,-0.287602],[-0.017071,-0.412507,0.910794]] 2025-10-28T18:43:22.826Z,1761677002.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702531,-0.642855,-0.305267],[0.711453,-0.644604,-0.279857],[-0.016869,-0.413791,0.910216]] 2025-10-28T18:43:23.227Z,1761677003.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681941,-0.660641,-0.313864],[0.731213,-0.625677,-0.271763],[-0.016840,-0.414827,0.909744]] 2025-10-28T18:43:23.631Z,1761677003.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661489,-0.677085,-0.322472],[0.749763,-0.606806,-0.263898],[-0.016997,-0.416343,0.909049]] 2025-10-28T18:43:24.034Z,1761677004.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641228,-0.693470,-0.328522],[0.767164,-0.588799,-0.254511],[-0.016938,-0.415230,0.909559]] 2025-10-28T18:43:24.438Z,1761677004.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620904,-0.709532,-0.333231],[0.783709,-0.570922,-0.244638],[-0.016670,-0.413053,0.910554]] 2025-10-28T18:43:24.842Z,1761677004.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600130,-0.724626,-0.338764],[0.799738,-0.552123,-0.235754],[-0.016206,-0.412405,0.910856]] 2025-10-28T18:43:25.249Z,1761677005.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579586,-0.738769,-0.343947],[0.814765,-0.533330,-0.227415],[-0.015431,-0.412043,0.911034]] 2025-10-28T18:43:25.651Z,1761677005.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558360,-0.752373,-0.349527],[0.829475,-0.513584,-0.219551],[-0.014327,-0.412512,0.910839]] 2025-10-28T18:43:26.054Z,1761677006.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536249,-0.765960,-0.354600],[0.843960,-0.493026,-0.211321],[-0.012964,-0.412589,0.910825]] 2025-10-28T18:43:26.458Z,1761677006.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513339,-0.778835,-0.360416],[0.858111,-0.471390,-0.203561],[-0.011356,-0.413773,0.910309]] 2025-10-28T18:43:26.873Z,1761677006.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489362,-0.791175,-0.366833],[0.872030,-0.448460,-0.196078],[-0.009377,-0.415843,0.909388]] 2025-10-28T18:43:27.268Z,1761677007.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464830,-0.802799,-0.373426],[0.885371,-0.424863,-0.188706],[-0.007162,-0.418337,0.908264]] 2025-10-28T18:43:27.676Z,1761677007.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439793,-0.813846,-0.379785],[0.898088,-0.400697,-0.181331],[-0.004604,-0.420828,0.907129]] 2025-10-28T18:43:28.075Z,1761677008.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414523,-0.825337,-0.383393],[0.910038,-0.376638,-0.173133],[-0.001507,-0.420670,0.907213]] 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateRudder:A] Stopped 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:43:28.122Z,1761677008.122 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateCommandMode] Stopped 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:43:28.123Z,1761677008.123 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:43:28.125Z,1761677008.125 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:43:28.126Z,1761677008.126 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:43:28.126Z,1761677008.126 [marl:UpdateSpeed] Stopped 2025-10-28T18:43:28.126Z,1761677008.126 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:43:28.481Z,1761677008.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388140,-0.836271,-0.387296],[0.921599,-0.351530,-0.164565],[0.001475,-0.420806,0.907150]] 2025-10-28T18:43:28.505Z,1761677008.505 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:43:28.505Z,1761677008.505 [marl:UpdateRudder:B] Stopped 2025-10-28T18:43:28.505Z,1761677008.505 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:43:28.505Z,1761677008.505 [marl:UpdateRudder] Stopped 2025-10-28T18:43:28.505Z,1761677008.505 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:43:28.883Z,1761677008.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360721,-0.847536,-0.389310],[0.932664,-0.325914,-0.154651],[0.004190,-0.418882,0.908031]] 2025-10-28T18:43:29.287Z,1761677009.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332123,-0.858970,-0.389699],[0.943211,-0.299422,-0.143873],[0.006898,-0.415351,0.909635]] 2025-10-28T18:43:29.696Z,1761677009.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302024,-0.868969,-0.392013],[0.953256,-0.271351,-0.132931],[0.009139,-0.413838,0.910305]] 2025-10-28T18:43:30.097Z,1761677010.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270822,-0.878512,-0.393537],[0.962568,-0.242510,-0.121046],[0.010904,-0.411588,0.911305]] 2025-10-28T18:43:30.499Z,1761677010.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238835,-0.887789,-0.393431],[0.970986,-0.213337,-0.108041],[0.011985,-0.407820,0.912984]] 2025-10-28T18:43:30.903Z,1761677010.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206233,-0.895344,-0.394749],[0.978428,-0.183715,-0.094480],[0.012071,-0.405719,0.913918]] 2025-10-28T18:43:31.306Z,1761677011.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173065,-0.901736,-0.396132],[0.984846,-0.153850,-0.080052],[0.011241,-0.403984,0.914697]] 2025-10-28T18:43:31.713Z,1761677011.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139985,-0.905499,-0.400595],[0.990110,-0.124193,-0.065263],[0.009344,-0.405768,0.913928]] 2025-10-28T18:43:32.115Z,1761677012.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107437,-0.908902,-0.402933],[0.994185,-0.095227,-0.050282],[0.007332,-0.405992,0.913847]] 2025-10-28T18:43:32.519Z,1761677012.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075833,-0.910831,-0.405753],[0.997105,-0.067011,-0.035930],[0.005536,-0.407304,0.913276]] 2025-10-28T18:43:32.923Z,1761677012.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045513,-0.911823,-0.408053],[0.998955,-0.039794,-0.022497],[0.004275,-0.408651,0.912681]] 2025-10-28T18:43:33.329Z,1761677013.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015884,-0.911352,-0.411321],[0.999868,-0.013060,-0.009675],[0.003445,-0.411420,0.911439]] 2025-10-28T18:43:33.730Z,1761677013.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013780,-0.909165,-0.416208],[0.999900,0.013863,0.002823],[0.003204,-0.416205,0.909265]] 2025-10-28T18:43:34.134Z,1761677014.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043153,-0.906224,-0.420589],[0.999061,0.040728,0.014752],[0.003761,-0.420831,0.907131]] 2025-10-28T18:43:34.538Z,1761677014.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072564,-0.903002,-0.423465],[0.997353,0.067705,0.026528],[0.004716,-0.424269,0.905524]] 2025-10-28T18:43:34.947Z,1761677014.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102226,-0.899185,-0.425460],[0.994743,0.094977,0.038280],[0.005988,-0.427137,0.904167]] 2025-10-28T18:43:35.347Z,1761677015.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132501,-0.894487,-0.427009],[0.991155,0.122808,0.050299],[0.007449,-0.429897,0.902847]] 2025-10-28T18:43:35.752Z,1761677015.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163336,-0.888896,-0.428002],[0.986531,0.151033,0.062810],[0.008811,-0.432496,0.901593]] 2025-10-28T18:43:36.161Z,1761677016.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194679,-0.882285,-0.428571],[0.980816,0.179541,0.075923],[0.009961,-0.435130,0.900312]] 2025-10-28T18:43:36.561Z,1761677016.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225514,-0.875871,-0.426606],[0.974179,0.207639,0.088667],[0.010919,-0.435586,0.900081]] 2025-10-28T18:43:36.963Z,1761677016.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256467,-0.869591,-0.421943],[0.966483,0.235991,0.101093],[0.011665,-0.433728,0.900968]] 2025-10-28T18:43:37.366Z,1761677017.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286506,-0.862091,-0.417987],[0.958001,0.263319,0.113565],[0.012161,-0.432969,0.901327]] 2025-10-28T18:43:37.775Z,1761677017.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315650,-0.854011,-0.413558],[0.948794,0.289789,0.125748],[0.012454,-0.432074,0.901752]] 2025-10-28T18:43:38.181Z,1761677018.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344472,-0.846581,-0.405757],[0.938715,0.316302,0.136991],[0.012368,-0.428080,0.903656]] 2025-10-28T18:43:38.582Z,1761677018.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372497,-0.837215,-0.400397],[0.927952,0.341728,0.148752],[0.012289,-0.426959,0.904187]] 2025-10-28T18:43:39.389Z,1761677019.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426217,-0.819607,-0.382862],[0.904527,0.392213,0.167331],[0.013017,-0.417629,0.908525]] 2025-10-28T18:43:39.793Z,1761677019.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452213,-0.810219,-0.372893],[0.891807,0.417110,0.175215],[0.013575,-0.411783,0.911181]] 2025-10-28T18:43:40.195Z,1761677020.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478354,-0.798268,-0.365985],[0.878054,0.441460,0.184755],[0.014084,-0.409733,0.912097]] 2025-10-28T18:43:40.659Z,1761677020.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504579,-0.785988,-0.357244],[0.863239,0.466386,0.193142],[0.014806,-0.405842,0.913823]] 2025-10-28T18:43:41.011Z,1761677021.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530647,-0.772998,-0.347688],[0.847446,0.491504,0.200649],[0.015789,-0.401121,0.915889]] 2025-10-28T18:43:41.407Z,1761677021.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556983,-0.758128,-0.339133],[0.830349,0.516693,0.208683],[0.017019,-0.397832,0.917300]] 2025-10-28T18:43:41.444Z,1761677021.444 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:43:41.444Z,1761677021.444 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:43:41.444Z,1761677021.444 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:43:41.444Z,1761677021.444 [marl:UpdateRudder:A] Stopped 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode] Stopped 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:43:41.445Z,1761677021.445 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed] Stopped 2025-10-28T18:43:41.446Z,1761677021.446 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:43:41.810Z,1761677021.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584210,-0.740103,-0.333086],[0.811398,0.541829,0.219213],[0.018236,-0.398332,0.917060]] 2025-10-28T18:43:41.858Z,1761677021.858 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:43:41.858Z,1761677021.858 [marl:UpdateRudder:B] Stopped 2025-10-28T18:43:41.858Z,1761677021.858 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:43:41.858Z,1761677021.858 [marl:UpdateRudder] Stopped 2025-10-28T18:43:41.858Z,1761677021.858 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:43:42.216Z,1761677022.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611544,-0.720209,-0.327585],[0.790969,0.566713,0.230660],[0.019524,-0.400169,0.916234]] 2025-10-28T18:43:42.304Z,1761677022.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:43:42.672Z,1761677022.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639164,-0.698110,-0.322664],[0.768789,0.591339,0.243480],[0.020827,-0.403684,0.914661]] 2025-10-28T18:43:43.023Z,1761677023.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666678,-0.674290,-0.317605],[0.745024,0.615381,0.257383],[0.021897,-0.408215,0.912623]] 2025-10-28T18:43:43.308Z,1761677023.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:43:43.426Z,1761677023.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693631,-0.649828,-0.310804],[0.719964,0.639177,0.270378],[0.022959,-0.411310,0.911206]] 2025-10-28T18:43:43.833Z,1761677023.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719693,-0.624887,-0.302587],[0.693892,0.662170,0.282921],[0.023570,-0.413579,0.910163]] 2025-10-28T18:43:44.235Z,1761677024.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744445,-0.599492,-0.293959],[0.667261,0.683658,0.295590],[0.023764,-0.416198,0.908963]] 2025-10-28T18:43:44.671Z,1761677024.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767857,-0.574221,-0.284015],[0.640200,0.703876,0.307737],[0.023202,-0.418125,0.908093]] 2025-10-28T18:43:45.046Z,1761677025.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789733,-0.549904,-0.271895],[0.613050,0.723469,0.317431],[0.022151,-0.417371,0.908466]] 2025-10-28T18:43:45.448Z,1761677025.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810140,-0.525872,-0.259098],[0.585876,0.741769,0.326387],[0.020553,-0.416218,0.909032]] 2025-10-28T18:43:45.850Z,1761677025.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828934,-0.503112,-0.244432],[0.559032,0.759836,0.331862],[0.018765,-0.411737,0.911109]] 2025-10-28T18:43:46.255Z,1761677026.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845892,-0.480436,-0.231619],[0.533080,0.775477,0.338322],[0.017073,-0.409655,0.912081]] 2025-10-28T18:43:46.675Z,1761677026.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861731,-0.456947,-0.220498],[0.507136,0.788831,0.347216],[0.015276,-0.411029,0.911494]] 2025-10-28T18:43:47.067Z,1761677027.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876300,-0.433227,-0.210745],[0.481562,0.800416,0.356976],[0.014032,-0.414304,0.910030]] 2025-10-28T18:43:47.470Z,1761677027.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890191,-0.409086,-0.200519],[0.455408,0.811369,0.366448],[0.012786,-0.417527,0.908575]] 2025-10-28T18:43:47.874Z,1761677027.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903221,-0.384276,-0.191113],[0.428995,0.821318,0.376032],[0.012464,-0.421626,0.906684]] 2025-10-28T18:43:48.279Z,1761677028.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915569,-0.358624,-0.181995],[0.401965,0.830159,0.386342],[0.012534,-0.426878,0.904222]] 2025-10-28T18:43:49.497Z,1761677029.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958972,-0.249653,-0.134333],[0.283126,0.867685,0.408610],[0.014549,-0.429879,0.902769]] 2025-10-28T18:43:49.901Z,1761677029.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967585,-0.221785,-0.120794],[0.252117,0.876180,0.410787],[0.014731,-0.427925,0.903694]] 2025-10-28T18:43:50.306Z,1761677030.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975374,-0.192945,-0.106853],[0.220069,0.883578,0.413351],[0.014660,-0.426687,0.904281]] 2025-10-28T18:43:50.707Z,1761677030.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982203,-0.163655,-0.092159],[0.187236,0.891837,0.411787],[0.014800,-0.421714,0.906608]] 2025-10-28T18:43:51.108Z,1761677031.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987942,-0.134105,-0.077367],[0.154103,0.899891,0.407981],[0.014910,-0.414984,0.909707]] 2025-10-28T18:43:51.511Z,1761677031.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992727,-0.102894,-0.062502],[0.119437,0.906934,0.403986],[0.015118,-0.408513,0.912627]] 2025-10-28T18:43:51.916Z,1761677031.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996323,-0.070878,-0.048133],[0.084284,0.911712,0.402092],[0.015384,-0.404670,0.914333]] 2025-10-28T18:43:52.319Z,1761677032.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998735,-0.037355,-0.033663],[0.047741,0.914623,0.401479],[0.015792,-0.402579,0.915249]] 2025-10-28T18:43:52.723Z,1761677032.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999808,-0.003668,-0.019270],[0.011080,0.916254,0.400445],[0.016187,-0.400582,0.916118]] 2025-10-28T18:43:53.136Z,1761677033.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999520,0.030608,-0.004860],[-0.026161,0.917357,0.397205],[0.016616,-0.396887,0.917717]] 2025-10-28T18:43:53.531Z,1761677033.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997852,0.064794,0.009666],[-0.063299,0.915584,0.397113],[0.016880,-0.396872,0.917719]] 2025-10-28T18:43:53.934Z,1761677033.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994886,0.098036,0.024303],[-0.099590,0.912017,0.397878],[0.016841,-0.398263,0.917117]] 2025-10-28T18:43:54.338Z,1761677034.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990692,0.130463,0.038853],[-0.135076,0.906782,0.399376],[0.016872,-0.400907,0.915963]] 2025-10-28T18:43:54.745Z,1761677034.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985625,0.160606,0.052427],[-0.168127,0.901906,0.397869],[0.016616,-0.400964,0.915943]] 2025-10-28T18:43:54.821Z,1761677034.821 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:43:54.821Z,1761677034.821 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:43:54.821Z,1761677034.821 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateRudder:A] Stopped 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:43:54.822Z,1761677034.822 [marl:UpdateCommandMode] Stopped 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed] Stopped 2025-10-28T18:43:54.823Z,1761677034.823 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:43:55.155Z,1761677035.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979509,0.190252,0.066086],[-0.200719,0.895112,0.398103],[0.016586,-0.403210,0.914957]] 2025-10-28T18:43:55.179Z,1761677035.179 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:43:55.179Z,1761677035.179 [marl:UpdateRudder:B] Stopped 2025-10-28T18:43:55.179Z,1761677035.179 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:43:55.179Z,1761677035.179 [marl:UpdateRudder] Stopped 2025-10-28T18:43:55.179Z,1761677035.179 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:43:55.550Z,1761677035.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972454,0.218894,0.080119],[-0.232487,0.886001,0.401189],[0.016832,-0.408764,0.912485]] 2025-10-28T18:43:55.956Z,1761677035.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964316,0.247181,0.094848],[-0.264201,0.875280,0.405072],[0.017107,-0.415676,0.909352]] 2025-10-28T18:43:56.362Z,1761677036.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955507,0.274677,0.107517],[-0.294453,0.866645,0.402771],[0.017453,-0.416509,0.908964]] 2025-10-28T18:43:56.768Z,1761677036.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945960,0.300505,0.121886],[-0.323814,0.855125,0.404852],[0.017432,-0.422442,0.906222]] 2025-10-28T18:43:57.167Z,1761677037.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935215,0.327267,0.135163],[-0.353628,0.844023,0.403203],[0.017875,-0.424879,0.905074]] 2025-10-28T18:43:57.571Z,1761677037.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923882,0.353690,0.146099],[-0.382241,0.834703,0.396438],[0.018267,-0.422107,0.906362]] 2025-10-28T18:43:57.976Z,1761677037.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911960,0.379685,0.155461],[-0.409849,0.825728,0.387553],[0.018779,-0.417148,0.908644]] 2025-10-28T18:43:58.383Z,1761677038.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899594,0.404369,0.164974],[-0.436303,0.815485,0.380293],[0.019245,-0.414088,0.910033]] 2025-10-28T18:43:59.188Z,1761677039.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872433,0.453346,0.182589],[-0.488342,0.793636,0.362857],[0.019591,-0.405734,0.913781]] 2025-10-28T18:43:59.591Z,1761677039.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857488,0.476718,0.193530],[-0.514155,0.780133,0.356421],[0.018933,-0.405132,0.914062]] 2025-10-28T18:44:00.070Z,1761677040.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841541,0.499410,0.205910],[-0.539922,0.765532,0.349923],[0.017124,-0.405649,0.913868]] 2025-10-28T18:44:00.401Z,1761677040.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824388,0.522040,0.218767],[-0.565838,0.750125,0.342256],[0.014569,-0.405939,0.913784]] 2025-10-28T18:44:00.805Z,1761677040.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805257,0.545886,0.231454],[-0.592807,0.733401,0.332720],[0.011879,-0.405132,0.914181]] 2025-10-28T18:44:01.206Z,1761677041.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785315,0.568662,0.244753],[-0.619030,0.715470,0.323888],[0.009070,-0.405863,0.913889]] 2025-10-28T18:44:01.618Z,1761677041.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763398,0.591397,0.259756],[-0.645899,0.695057,0.315770],[0.006200,-0.408834,0.912588]] 2025-10-28T18:44:02.015Z,1761677042.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739582,0.615239,0.272944],[-0.673056,0.673778,0.304991],[0.003739,-0.409272,0.912405]] 2025-10-28T18:44:02.421Z,1761677042.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714201,0.640165,0.283030],[-0.699939,0.652188,0.291096],[0.001761,-0.406005,0.913869]] 2025-10-28T18:44:02.822Z,1761677042.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687790,0.664693,0.291767],[-0.725909,0.629416,0.277293],[0.000672,-0.402515,0.915413]] 2025-10-28T18:44:03.227Z,1761677043.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661054,0.689555,0.295839],[-0.750338,0.607237,0.261260],[0.000509,-0.394686,0.918816]] 2025-10-28T18:44:03.641Z,1761677043.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633299,0.713234,0.300383],[-0.773907,0.583088,0.247138],[0.001118,-0.388981,0.921245]] 2025-10-28T18:44:04.034Z,1761677044.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604725,0.735377,0.305823],[-0.796432,0.557480,0.234334],[0.001834,-0.385275,0.922800]] 2025-10-28T18:44:04.440Z,1761677044.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575303,0.755524,0.313385],[-0.817937,0.530310,0.223048],[0.002327,-0.384649,0.923060]] 2025-10-28T18:44:04.842Z,1761677044.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545179,0.772711,0.325110],[-0.838316,0.501319,0.214257],[0.002574,-0.389353,0.921085]] 2025-10-28T18:44:05.246Z,1761677045.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514904,0.789783,0.333342],[-0.857243,0.473116,0.203213],[0.002785,-0.390390,0.920645]] 2025-10-28T18:44:05.654Z,1761677045.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484423,0.805988,0.340173],[-0.874829,0.445019,0.191394],[0.002878,-0.390309,0.920680]] 2025-10-28T18:44:06.055Z,1761677046.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453709,0.820675,0.347334],[-0.891145,0.416501,0.179967],[0.003029,-0.391177,0.920310]] 2025-10-28T18:44:06.460Z,1761677046.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423475,0.834070,0.353548],[-0.905903,0.388661,0.168171],[0.002856,-0.391497,0.920175]] 2025-10-28T18:44:06.863Z,1761677046.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393366,0.844427,0.363602],[-0.919378,0.360153,0.158219],[0.002652,-0.396525,0.918020]] 2025-10-28T18:44:06.958Z,1761677046.958 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:44:07.197Z,1761677047.197 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:44:07.197Z,1761677047.197 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:44:07.267Z,1761677047.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363147,0.853268,0.374243],[-0.931728,0.331459,0.148383],[0.002564,-0.402577,0.915382]] 2025-10-28T18:44:07.449Z,1761677047.449 [DAT](INFO): DAT read: user:140> 2025-10-28T18:44:07.449Z,1761677047.449 [DAT](INFO): DAT read: Tx time:18:44:07.1909 2025-10-28T18:44:07.450Z,1761677047.450 [DAT](INFO): Ping request sent. 2025-10-28T18:44:07.450Z,1761677047.450 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:44:07.450Z,1761677047.450 [DAT](INFO): publishing transmit ping time 2025-10-28T18:44:07.451Z,1761677047.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000953 2025-10-28T18:44:07.674Z,1761677047.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333322,0.861196,0.383715],[-0.942809,0.303323,0.138224],[0.002648,-0.407844,0.913048]] 2025-10-28T18:44:07.701Z,1761677047.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251136 2025-10-28T18:44:07.953Z,1761677047.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502918 2025-10-28T18:44:08.075Z,1761677048.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304003,0.867388,0.393979],[-0.952667,0.275550,0.128445],[0.002851,-0.414379,0.910100]] 2025-10-28T18:44:08.131Z,1761677048.131 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:44:08.131Z,1761677048.131 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateRudder:A] Stopped 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:44:08.132Z,1761677048.132 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateCommandMode] Stopped 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:44:08.133Z,1761677048.133 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:44:08.134Z,1761677048.134 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:44:08.134Z,1761677048.134 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:44:08.134Z,1761677048.134 [marl:UpdateSpeed] Stopped 2025-10-28T18:44:08.134Z,1761677048.134 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:44:08.206Z,1761677048.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755799 2025-10-28T18:44:08.457Z,1761677048.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006992 2025-10-28T18:44:08.478Z,1761677048.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275661,0.872369,0.403711],[-0.961250,0.248799,0.118735],[0.003137,-0.420798,0.907149]] 2025-10-28T18:44:08.519Z,1761677048.519 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:44:08.519Z,1761677048.519 [marl:UpdateRudder:B] Stopped 2025-10-28T18:44:08.519Z,1761677048.519 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:44:08.519Z,1761677048.519 [marl:UpdateRudder] Stopped 2025-10-28T18:44:08.520Z,1761677048.520 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:44:08.717Z,1761677048.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267010 2025-10-28T18:44:08.882Z,1761677048.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247673,0.874730,0.416540],[-0.968837,0.222039,0.109788],[0.003547,-0.430751,0.902464]] 2025-10-28T18:44:08.961Z,1761677048.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511040 2025-10-28T18:44:09.213Z,1761677049.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762985 2025-10-28T18:44:09.287Z,1761677049.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219724,0.877722,0.425824],[-0.975552,0.195679,0.100042],[0.004484,-0.437395,0.899258]] 2025-10-28T18:44:09.465Z,1761677049.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861 2025-10-28T18:44:09.693Z,1761677049.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192562,0.880394,0.433389],[-0.981268,0.170190,0.090267],[0.005712,-0.442653,0.896675]] 2025-10-28T18:44:09.717Z,1761677049.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267121 2025-10-28T18:44:09.969Z,1761677049.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518931 2025-10-28T18:44:10.104Z,1761677050.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165940,0.883678,0.437696],[-0.986111,0.145527,0.080046],[0.007039,-0.444900,0.895553]] 2025-10-28T18:44:10.221Z,1761677050.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770936 2025-10-28T18:44:10.473Z,1761677050.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022938 2025-10-28T18:44:10.499Z,1761677050.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140045,0.887110,0.439799],[-0.990111,0.121765,0.069671],[0.008254,-0.445206,0.895390]] 2025-10-28T18:44:10.735Z,1761677050.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285446 2025-10-28T18:44:10.902Z,1761677050.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114413,0.892740,0.435803],[-0.993391,0.098779,0.058452],[0.009134,-0.439611,0.898142]] 2025-10-28T18:44:10.977Z,1761677050.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526814 2025-10-28T18:44:11.229Z,1761677051.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778901 2025-10-28T18:44:11.306Z,1761677051.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088805,0.898320,0.430274],[-0.996004,0.075981,0.046936],[0.009471,-0.432723,0.901477]] 2025-10-28T18:44:11.485Z,1761677051.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035491 2025-10-28T18:44:11.715Z,1761677051.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062943,0.904901,0.420942],[-0.997977,0.053293,0.034662],[0.008932,-0.422272,0.906425]] 2025-10-28T18:44:11.737Z,1761677051.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287019 2025-10-28T18:44:11.989Z,1761677051.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538952 2025-10-28T18:44:12.122Z,1761677052.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035837,0.911761,0.409154],[-0.999327,0.029512,0.021765],[0.007769,-0.409659,0.912206]] 2025-10-28T18:44:12.241Z,1761677052.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791068 2025-10-28T18:44:12.493Z,1761677052.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042936 2025-10-28T18:44:12.518Z,1761677052.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006228,0.916902,0.399064],[-0.999961,0.003184,0.008292],[0.006332,-0.399100,0.916886]] 2025-10-28T18:44:12.745Z,1761677052.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294866 2025-10-28T18:44:12.923Z,1761677052.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025617,0.922069,0.386177],[-0.999662,-0.025308,-0.005886],[0.004346,-0.386198,0.922406]] 2025-10-28T18:44:12.998Z,1761677052.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547471 2025-10-28T18:44:13.249Z,1761677053.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798926 2025-10-28T18:44:13.328Z,1761677053.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058703,0.925803,0.373421],[-0.998274,-0.055149,-0.020205],[0.001888,-0.373963,0.927442]] 2025-10-28T18:44:13.428Z,1761677053.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:44:13.501Z,1761677053.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051099 2025-10-28T18:44:13.754Z,1761677053.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303622 2025-10-28T18:44:13.776Z,1761677053.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092835,0.927280,0.362674],[-0.995681,-0.086070,-0.034804],[-0.001057,-0.364339,0.931266]] 2025-10-28T18:44:14.005Z,1761677054.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554932 2025-10-28T18:44:14.135Z,1761677054.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127021,0.924685,0.358920],[-0.991890,-0.116780,-0.050167],[-0.004474,-0.362382,0.932019]] 2025-10-28T18:44:14.258Z,1761677054.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807933 2025-10-28T18:44:14.432Z,1761677054.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:44:14.509Z,1761677054.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059067 2025-10-28T18:44:14.539Z,1761677054.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161632,0.919044,0.359490],[-0.986819,-0.147590,-0.066372],[-0.007942,-0.365479,0.930786]] 2025-10-28T18:44:14.761Z,1761677054.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311250 2025-10-28T18:44:14.942Z,1761677054.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195333,0.910720,0.363914],[-0.980675,-0.177187,-0.082959],[-0.011072,-0.373086,0.927731]] 2025-10-28T18:44:15.014Z,1761677055.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563563 2025-10-28T18:44:15.265Z,1761677055.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815018 2025-10-28T18:44:15.347Z,1761677055.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228548,0.902290,0.365566],[-0.973436,-0.206507,-0.098883],[-0.013729,-0.378455,0.925518]] 2025-10-28T18:44:15.521Z,1761677055.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071179 2025-10-28T18:44:15.754Z,1761677055.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261694,0.892582,0.367171],[-0.965025,-0.235840,-0.114483],[-0.015592,-0.384288,0.923081]] 2025-10-28T18:44:15.774Z,1761677055.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323707 2025-10-28T18:44:16.025Z,1761677056.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574988 2025-10-28T18:44:16.156Z,1761677056.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294288,0.881304,0.369726],[-0.955569,-0.264525,-0.130057],[-0.016818,-0.391573,0.919994]] 2025-10-28T18:44:16.277Z,1761677056.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826990 2025-10-28T18:44:16.529Z,1761677056.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079103 2025-10-28T18:44:16.559Z,1761677056.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326719,0.869989,0.369287],[-0.944963,-0.293530,-0.144519],[-0.017334,-0.396180,0.918009]] 2025-10-28T18:44:16.782Z,1761677056.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331678 2025-10-28T18:44:16.962Z,1761677056.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359017,0.857393,0.368760],[-0.933173,-0.322481,-0.158728],[-0.017174,-0.401103,0.915872]] 2025-10-28T18:44:17.033Z,1761677057.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583147 2025-10-28T18:44:17.285Z,1761677057.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834974 2025-10-28T18:44:17.366Z,1761677057.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390321,0.843521,0.368947],[-0.920535,-0.350468,-0.172590],[-0.016279,-0.406994,0.913286]] 2025-10-28T18:44:17.537Z,1761677057.537 [DAT](INFO): Reached modem response timeout 2025-10-28T18:44:17.785Z,1761677057.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420444,0.829411,0.367837],[-0.907190,-0.377475,-0.185790],[-0.015247,-0.411813,0.911141]] 2025-10-28T18:44:18.175Z,1761677058.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449223,0.814525,0.367081],[-0.893309,-0.403054,-0.198862],[-0.014025,-0.417250,0.908684]] 2025-10-28T18:44:18.586Z,1761677058.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475686,0.799438,0.366909],[-0.879522,-0.426208,-0.211629],[-0.012805,-0.423374,0.905865]] 2025-10-28T18:44:19.386Z,1761677059.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524784,0.770967,0.360847],[-0.851183,-0.470551,-0.232529],[-0.009476,-0.429175,0.903172]] 2025-10-28T18:44:19.796Z,1761677059.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547353,0.756558,0.357806],[-0.836867,-0.490891,-0.242238],[-0.007623,-0.432026,0.901829]] 2025-10-28T18:44:19.805Z,1761677059.805 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:44:19.805Z,1761677059.805 [DAT](INFO): response not received 2025-10-28T18:44:19.806Z,1761677059.806 [DAT](ERROR): No response from remote modem. 2025-10-28T18:44:20.195Z,1761677060.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568573,0.742253,0.354664],[-0.822612,-0.509920,-0.251576],[-0.005883,-0.434790,0.900513]] 2025-10-28T18:44:20.638Z,1761677060.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588019,0.729158,0.350090],[-0.808835,-0.527683,-0.259493],[-0.004475,-0.435752,0.900056]] 2025-10-28T18:44:21.002Z,1761677061.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606003,0.716426,0.345679],[-0.795454,-0.543800,-0.267459],[-0.003634,-0.437052,0.899429]] 2025-10-28T18:44:21.407Z,1761677061.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622626,0.706349,0.336760],[-0.782511,-0.560060,-0.272046],[-0.003554,-0.432901,0.901434]] 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateRudder:A] Stopped 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:44:21.459Z,1761677061.459 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:44:21.460Z,1761677061.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:44:21.464Z,1761677061.464 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:44:21.464Z,1761677061.464 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:44:21.464Z,1761677061.464 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:44:21.464Z,1761677061.464 [marl:UpdateCommandMode] Stopped 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed] Stopped 2025-10-28T18:44:21.465Z,1761677061.465 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:44:21.819Z,1761677061.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638389,0.699017,0.322233],[-0.769702,-0.577478,-0.272172],[-0.004171,-0.421776,0.906691]] 2025-10-28T18:44:21.873Z,1761677061.873 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:44:21.873Z,1761677061.873 [marl:UpdateRudder:B] Stopped 2025-10-28T18:44:21.873Z,1761677061.873 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:44:21.873Z,1761677061.873 [marl:UpdateRudder] Stopped 2025-10-28T18:44:21.873Z,1761677061.873 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:44:22.216Z,1761677062.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653874,0.691762,0.306454],[-0.756583,-0.594827,-0.271595],[-0.005592,-0.409446,0.912317]] 2025-10-28T18:44:22.656Z,1761677062.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670408,0.683021,0.289889],[-0.741960,-0.613412,-0.270594],[-0.007000,-0.396494,0.918010]] 2025-10-28T18:44:23.022Z,1761677063.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688304,0.672763,0.271344],[-0.725372,-0.633927,-0.268274],[-0.008472,-0.381479,0.924339]] 2025-10-28T18:44:23.427Z,1761677063.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708303,0.658044,0.255508],[-0.705840,-0.655167,-0.269344],[-0.009840,-0.371125,0.928531]] 2025-10-28T18:44:23.840Z,1761677063.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728642,0.640288,0.243131],[-0.684805,-0.675351,-0.273757],[-0.011085,-0.365968,0.930561]] 2025-10-28T18:44:24.235Z,1761677064.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749700,0.619624,0.232414],[-0.661666,-0.695377,-0.280445],[-0.012156,-0.364030,0.931308]] 2025-10-28T18:44:24.661Z,1761677064.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770641,0.596189,0.225102],[-0.637132,-0.713470,-0.291589],[-0.013239,-0.368130,0.929680]] 2025-10-28T18:44:25.043Z,1761677065.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790920,0.570823,0.220467],[-0.611759,-0.729376,-0.306206],[-0.013986,-0.377057,0.926084]] 2025-10-28T18:44:25.448Z,1761677065.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810277,0.545090,0.215238],[-0.585870,-0.744404,-0.320343],[-0.014392,-0.385668,0.922525]] 2025-10-28T18:44:25.850Z,1761677065.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828605,0.518894,0.210149],[-0.559644,-0.757992,-0.335032],[-0.014554,-0.395218,0.918472]] 2025-10-28T18:44:26.255Z,1761677066.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845970,0.492025,0.205536],[-0.533031,-0.769787,-0.351150],[-0.014556,-0.406620,0.913481]] 2025-10-28T18:44:26.667Z,1761677066.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861953,0.465996,0.199712],[-0.506788,-0.780889,-0.365209],[-0.014233,-0.416005,0.909251]] 2025-10-28T18:44:27.069Z,1761677067.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877785,0.439282,0.191114],[-0.478858,-0.793140,-0.376330],[-0.013735,-0.421853,0.906560]] 2025-10-28T18:44:27.467Z,1761677067.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892070,0.414129,0.180854],[-0.451703,-0.805430,-0.383728],[-0.013248,-0.424005,0.905563]] 2025-10-28T18:44:27.872Z,1761677067.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905313,0.389774,0.168775],[-0.424560,-0.818649,-0.386733],[-0.012571,-0.421769,0.906616]] 2025-10-28T18:44:28.274Z,1761677068.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917863,0.365043,0.155792],[-0.396709,-0.831717,-0.388419],[-0.012214,-0.418319,0.908218]] 2025-10-28T18:44:28.681Z,1761677068.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929201,0.340607,0.143430],[-0.369368,-0.842924,-0.391211],[-0.012348,-0.416492,0.909056]] 2025-10-28T18:44:29.487Z,1761677069.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948709,0.293317,0.117968],[-0.315880,-0.863979,-0.392122],[-0.013094,-0.409274,0.912318]] 2025-10-28T18:44:29.893Z,1761677069.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957127,0.269530,0.106123],[-0.289356,-0.872582,-0.393540],[-0.013470,-0.407375,0.913162]] 2025-10-28T18:44:30.295Z,1761677070.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964877,0.245119,0.094497],[-0.262331,-0.879902,-0.396175],[-0.013962,-0.407050,0.913299]] 2025-10-28T18:44:30.700Z,1761677070.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972002,0.220037,0.082438],[-0.234521,-0.886709,-0.398432],[-0.014571,-0.406610,0.913486]] 2025-10-28T18:44:31.102Z,1761677071.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978323,0.194781,0.070310],[-0.206532,-0.893000,-0.399869],[-0.015101,-0.405723,0.913871]] 2025-10-28T18:44:31.507Z,1761677071.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983861,0.169320,0.057858],[-0.178243,-0.899065,-0.399890],[-0.015691,-0.403749,0.914735]] 2025-10-28T18:44:31.928Z,1761677071.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988532,0.144070,0.045249],[-0.150106,-0.904756,-0.398603],[-0.016488,-0.400824,0.916007]] 2025-10-28T18:44:32.315Z,1761677072.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992420,0.118564,0.032316],[-0.121589,-0.909211,-0.398186],[-0.017828,-0.399098,0.916735]] 2025-10-28T18:44:32.718Z,1761677072.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995378,0.093965,0.019851],[-0.094074,-0.912358,-0.398439],[-0.019328,-0.398465,0.916980]] 2025-10-28T18:44:33.122Z,1761677073.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997553,0.069512,0.007513],[-0.066694,-0.913816,-0.400615],[-0.020982,-0.400136,0.916216]] 2025-10-28T18:44:33.529Z,1761677073.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998925,0.046136,-0.004464],[-0.040389,-0.913627,-0.404542],[-0.022742,-0.403927,0.914508]] 2025-10-28T18:44:33.932Z,1761677073.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999570,0.024514,-0.016073],[-0.015869,-0.913547,-0.406423],[-0.024647,-0.405993,0.913544]] 2025-10-28T18:44:34.334Z,1761677074.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999617,0.003383,-0.027471],[0.008124,-0.912935,-0.408024],[-0.026460,-0.408091,0.912558]] 2025-10-28T18:44:34.745Z,1761677074.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998018,-0.039048,-0.049344],[0.055761,-0.912182,-0.405975],[-0.029158,-0.407922,0.912551]] 2025-10-28T18:44:34.805Z,1761677074.805 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:44:34.805Z,1761677074.805 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:44:34.805Z,1761677074.805 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateRudder:A] Stopped 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode] Stopped 2025-10-28T18:44:34.806Z,1761677074.806 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed] Stopped 2025-10-28T18:44:34.807Z,1761677074.807 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:44:35.149Z,1761677075.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996349,-0.061288,-0.059437],[0.080107,-0.911878,-0.402568],[-0.029527,-0.405859,0.913459]] 2025-10-28T18:44:35.178Z,1761677075.178 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:44:35.178Z,1761677075.178 [marl:UpdateRudder:B] Stopped 2025-10-28T18:44:35.178Z,1761677075.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:44:35.178Z,1761677075.178 [marl:UpdateRudder] Stopped 2025-10-28T18:44:35.178Z,1761677075.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:44:35.561Z,1761677075.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994025,-0.084622,-0.068942],[0.105180,-0.911426,-0.397793],[-0.029173,-0.402667,0.914881]] 2025-10-28T18:44:35.957Z,1761677075.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990998,-0.109148,-0.077516],[0.131021,-0.909643,-0.394185],[-0.027488,-0.400793,0.915756]] 2025-10-28T18:44:36.359Z,1761677076.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987187,-0.133960,-0.086701],[0.157507,-0.905120,-0.394905],[-0.025573,-0.403501,0.914622]] 2025-10-28T18:44:36.762Z,1761677076.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982268,-0.161268,-0.095614],[0.186043,-0.901509,-0.390730],[-0.023185,-0.401590,0.915526]] 2025-10-28T18:44:37.163Z,1761677077.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975970,-0.190436,-0.105905],[0.216891,-0.895771,-0.388012],[-0.020975,-0.401658,0.915549]] 2025-10-28T18:44:37.573Z,1761677077.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968298,-0.220440,-0.117497],[0.249053,-0.888276,-0.385925],[-0.019296,-0.402954,0.915017]] 2025-10-28T18:44:37.978Z,1761677077.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959383,-0.250507,-0.129731],[0.281513,-0.879942,-0.382691],[-0.018289,-0.403668,0.914723]] 2025-10-28T18:44:38.374Z,1761677078.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949340,-0.279961,-0.142739],[0.313753,-0.869946,-0.380465],[-0.017659,-0.405976,0.913713]] 2025-10-28T18:44:39.184Z,1761677079.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926145,-0.336501,-0.170359],[0.376670,-0.848392,-0.371955],[-0.019368,-0.408654,0.912484]] 2025-10-28T18:44:39.587Z,1761677079.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913122,-0.363623,-0.184357],[0.407112,-0.837289,-0.364976],[-0.021647,-0.408321,0.912582]] 2025-10-28T18:44:40.022Z,1761677080.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898940,-0.390044,-0.199431],[0.437345,-0.825274,-0.357284],[-0.025229,-0.408397,0.912456]] 2025-10-28T18:44:40.394Z,1761677080.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883641,-0.416523,-0.213744],[0.467227,-0.813468,-0.346364],[-0.029605,-0.405928,0.913425]] 2025-10-28T18:44:40.801Z,1761677080.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868586,-0.440416,-0.227141],[0.494385,-0.801437,-0.336573],[-0.033807,-0.404638,0.913852]] 2025-10-28T18:44:41.202Z,1761677081.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853917,-0.462808,-0.237982],[0.519076,-0.790170,-0.325869],[-0.037232,-0.401796,0.914972]] 2025-10-28T18:44:41.606Z,1761677081.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839168,-0.484712,-0.246681],[0.542419,-0.779026,-0.314483],[-0.039738,-0.397709,0.916651]] 2025-10-28T18:44:42.011Z,1761677082.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824324,-0.504914,-0.256029],[0.564584,-0.766478,-0.306196],[-0.041638,-0.396955,0.916893]] 2025-10-28T18:44:42.417Z,1761677082.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809187,-0.524731,-0.264336],[0.585974,-0.753673,-0.297676],[-0.043023,-0.395770,0.917342]] 2025-10-28T18:44:42.819Z,1761677082.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793712,-0.543815,-0.272556],[0.606707,-0.740069,-0.290180],[-0.043906,-0.395681,0.917338]] 2025-10-28T18:44:43.223Z,1761677083.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777520,-0.562440,-0.281290],[0.627275,-0.725365,-0.283497],[-0.044588,-0.396871,0.916791]] 2025-10-28T18:44:43.627Z,1761677083.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761233,-0.580376,-0.289288],[0.646909,-0.710652,-0.276554],[-0.045078,-0.397666,0.916422]] 2025-10-28T18:44:44.045Z,1761677084.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744088,-0.599167,-0.295520],[0.666543,-0.695802,-0.267545],[-0.045320,-0.396054,0.917108]] 2025-10-28T18:44:44.437Z,1761677084.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726303,-0.617250,-0.302468],[0.685854,-0.680025,-0.259173],[-0.045711,-0.395687,0.917247]] 2025-10-28T18:44:44.553Z,1761677084.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:44:44.838Z,1761677084.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707362,-0.635535,-0.309410],[0.705334,-0.663297,-0.250084],[-0.046294,-0.395137,0.917455]] 2025-10-28T18:44:45.242Z,1761677085.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687905,-0.652670,-0.317502],[0.724295,-0.645469,-0.242418],[-0.046718,-0.396726,0.916747]] 2025-10-28T18:44:45.556Z,1761677085.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:44:45.647Z,1761677085.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667968,-0.668613,-0.326765],[0.742700,-0.626703,-0.235882],[-0.047071,-0.400250,0.915196]] 2025-10-28T18:44:46.066Z,1761677086.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647546,-0.684056,-0.335785],[0.760561,-0.607481,-0.229157],[-0.047228,-0.403775,0.913639]] 2025-10-28T18:44:46.455Z,1761677086.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626474,-0.699298,-0.344256],[0.778017,-0.587723,-0.221970],[-0.047104,-0.406896,0.912259]] 2025-10-28T18:44:46.859Z,1761677086.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604866,-0.714587,-0.351430],[0.794968,-0.567626,-0.214070],[-0.046509,-0.408859,0.911412]] 2025-10-28T18:44:47.262Z,1761677087.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582780,-0.729915,-0.357200],[0.811354,-0.547261,-0.205451],[-0.045520,-0.409548,0.911152]] 2025-10-28T18:44:47.668Z,1761677087.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559776,-0.745338,-0.362108],[0.827458,-0.526146,-0.196170],[-0.044309,-0.409440,0.911260]] 2025-10-28T18:44:48.071Z,1761677088.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536778,-0.759444,-0.367579],[0.842626,-0.504747,-0.187651],[-0.043024,-0.410458,0.910864]] 2025-10-28T18:44:48.104Z,1761677088.104 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:44:48.104Z,1761677088.104 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:44:48.104Z,1761677088.104 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:44:48.104Z,1761677088.104 [marl:UpdateRudder:A] Stopped 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode] Stopped 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:44:48.105Z,1761677088.105 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed] Stopped 2025-10-28T18:44:48.106Z,1761677088.106 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:44:48.474Z,1761677088.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512855,-0.774314,-0.370698],[0.857455,-0.483079,-0.177218],[-0.041854,-0.408744,0.911689]] 2025-10-28T18:44:48.513Z,1761677088.513 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:44:48.513Z,1761677088.513 [marl:UpdateRudder:B] Stopped 2025-10-28T18:44:48.513Z,1761677088.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:44:48.513Z,1761677088.513 [marl:UpdateRudder] Stopped 2025-10-28T18:44:48.514Z,1761677088.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:44:48.879Z,1761677088.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487815,-0.789691,-0.372055],[0.871979,-0.460865,-0.165093],[-0.041095,-0.404959,0.913411]] 2025-10-28T18:44:49.284Z,1761677089.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462243,-0.803953,-0.374153],[0.885816,-0.438030,-0.153164],[-0.040754,-0.402230,0.914631]] 2025-10-28T18:44:49.688Z,1761677089.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435591,-0.817404,-0.376976],[0.899211,-0.414209,-0.140890],[-0.040983,-0.400352,0.915445]] 2025-10-28T18:44:50.090Z,1761677090.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408339,-0.829822,-0.380336],[0.911892,-0.389714,-0.128749],[-0.041384,-0.399398,0.915843]] 2025-10-28T18:44:50.495Z,1761677090.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380314,-0.841801,-0.383056],[0.923904,-0.364605,-0.116039],[-0.041982,-0.398038,0.916408]] 2025-10-28T18:44:50.911Z,1761677090.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352411,-0.852202,-0.386728],[0.934882,-0.339326,-0.104177],[-0.042447,-0.398259,0.916290]] 2025-10-28T18:44:51.302Z,1761677091.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323381,-0.862463,-0.389336],[0.945295,-0.313100,-0.091575],[-0.042921,-0.397651,0.916532]] 2025-10-28T18:44:51.707Z,1761677091.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294053,-0.871105,-0.393332],[0.954803,-0.286417,-0.079483],[-0.043419,-0.398926,0.915955]] 2025-10-28T18:44:52.110Z,1761677092.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264171,-0.878976,-0.397007],[0.963467,-0.259323,-0.066955],[-0.044101,-0.400191,0.915370]] 2025-10-28T18:44:52.519Z,1761677092.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233936,-0.886189,-0.399930],[0.971197,-0.232152,-0.053678],[-0.045276,-0.400968,0.914973]] 2025-10-28T18:44:52.919Z,1761677092.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203698,-0.893689,-0.399784],[0.977911,-0.205277,-0.039383],[-0.046870,-0.398975,0.915763]] 2025-10-28T18:44:53.323Z,1761677093.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173082,-0.900794,-0.398262],[0.983693,-0.178180,-0.024497],[-0.048895,-0.396008,0.916944]] 2025-10-28T18:44:53.726Z,1761677093.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142140,-0.906756,-0.396975],[0.988510,-0.150870,-0.009331],[-0.051431,-0.393740,0.917782]] 2025-10-28T18:44:54.133Z,1761677094.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111164,-0.910927,-0.397308],[0.992298,-0.123725,0.006032],[-0.054652,-0.393577,0.917665]] 2025-10-28T18:44:54.545Z,1761677094.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080732,-0.914109,-0.397349],[0.995036,-0.097183,0.021403],[-0.058180,-0.393649,0.917418]] 2025-10-28T18:44:54.950Z,1761677094.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050491,-0.916111,-0.397732],[0.996779,-0.071071,0.037161],[-0.062311,-0.394575,0.916749]] 2025-10-28T18:44:55.344Z,1761677095.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020947,-0.917554,-0.397059],[0.997578,-0.045530,0.052586],[-0.066329,-0.394996,0.916285]] 2025-10-28T18:44:55.747Z,1761677095.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006721,-0.917542,-0.397583],[0.997527,-0.021665,0.066863],[-0.069963,-0.397049,0.915127]] 2025-10-28T18:44:56.151Z,1761677096.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033775,-0.916825,-0.397859],[0.996773,0.001898,0.080245],[-0.072815,-0.399286,0.913931]] 2025-10-28T18:44:56.555Z,1761677096.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060575,-0.915734,-0.397192],[0.995340,0.025503,0.092999],[-0.075033,-0.400975,0.913011]] 2025-10-28T18:44:56.962Z,1761677096.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087320,-0.913582,-0.397170],[0.993255,0.049311,0.104946],[-0.076292,-0.403654,0.911725]] 2025-10-28T18:44:57.364Z,1761677097.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113911,-0.911121,-0.396085],[0.990534,0.073420,0.115982],[-0.076593,-0.405547,0.910859]] 2025-10-28T18:44:57.771Z,1761677097.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140652,-0.907904,-0.394877],[0.987113,0.097853,0.126619],[-0.076318,-0.407598,0.909967]] 2025-10-28T18:44:58.170Z,1761677098.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167667,-0.903979,-0.393332],[0.982959,0.122792,0.136800],[-0.075367,-0.409566,0.909162]] 2025-10-28T18:44:58.579Z,1761677098.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195163,-0.899954,-0.389865],[0.977962,0.148505,0.146754],[-0.074175,-0.409914,0.909103]] 2025-10-28T18:44:58.985Z,1761677098.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223332,-0.895595,-0.384751],[0.971999,0.175024,0.156796],[-0.073085,-0.408995,0.909605]] 2025-10-28T18:44:59.383Z,1761677099.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251967,-0.890498,-0.378848],[0.965035,0.201982,0.167064],[-0.072250,-0.407696,0.910255]] 2025-10-28T18:44:59.790Z,1761677099.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281426,-0.884498,-0.372105],[0.956867,0.229515,0.178127],[-0.072149,-0.406184,0.910939]] 2025-10-28T18:45:00.195Z,1761677100.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310960,-0.878329,-0.363102],[0.947655,0.257396,0.188940],[-0.072490,-0.402848,0.912392]] 2025-10-28T18:45:00.617Z,1761677100.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340516,-0.870600,-0.355113],[0.937367,0.284836,0.200529],[-0.073432,-0.401154,0.913063]] 2025-10-28T18:45:00.999Z,1761677100.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369255,-0.862213,-0.346756],[0.926318,0.311469,0.211949],[-0.074742,-0.399469,0.913695]] 2025-10-28T18:45:01.403Z,1761677101.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396713,-0.853609,-0.337594],[0.914764,0.337053,0.222715],[-0.076324,-0.397173,0.914564]] 2025-10-28T18:45:01.428Z,1761677101.428 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:45:01.428Z,1761677101.428 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateRudder:A] Stopped 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:45:01.429Z,1761677101.429 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateCommandMode] Stopped 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:45:01.430Z,1761677101.430 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:45:01.431Z,1761677101.431 [marl:UpdateSpeed] Stopped 2025-10-28T18:45:01.431Z,1761677101.431 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:45:01.808Z,1761677101.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423327,-0.844026,-0.329262],[0.902568,0.361397,0.234017],[-0.078523,-0.396247,0.914780]] 2025-10-28T18:45:01.832Z,1761677101.832 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:45:01.832Z,1761677101.832 [marl:UpdateRudder:B] Stopped 2025-10-28T18:45:01.832Z,1761677101.832 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:45:01.833Z,1761677101.833 [marl:UpdateRudder] Stopped 2025-10-28T18:45:01.833Z,1761677101.833 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:45:02.210Z,1761677102.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449228,-0.832722,-0.323679],[0.889777,0.384334,0.246138],[-0.080563,-0.398575,0.913591]] 2025-10-28T18:45:02.661Z,1761677102.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473864,-0.821599,-0.316902],[0.876743,0.406542,0.256994],[-0.082312,-0.399622,0.912977]] 2025-10-28T18:45:03.029Z,1761677103.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498057,-0.809950,-0.309710],[0.863122,0.428685,0.266926],[-0.083429,-0.400262,0.912595]] 2025-10-28T18:45:03.426Z,1761677103.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522380,-0.796776,-0.303755],[0.848537,0.450513,0.277531],[-0.084284,-0.402724,0.911433]] 2025-10-28T18:45:03.827Z,1761677103.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547081,-0.782805,-0.296512],[0.832792,0.473179,0.287332],[-0.084622,-0.404126,0.910781]] 2025-10-28T18:45:04.232Z,1761677104.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572275,-0.768368,-0.286551],[0.815680,0.497260,0.295634],[-0.084666,-0.402918,0.911312]] 2025-10-28T18:45:04.661Z,1761677104.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598187,-0.751675,-0.277772],[0.796878,0.521366,0.305227],[-0.084610,-0.403933,0.910867]] 2025-10-28T18:45:05.039Z,1761677105.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624038,-0.733583,-0.269133],[0.776875,0.545477,0.314516],[-0.083918,-0.405352,0.910301]] 2025-10-28T18:45:05.446Z,1761677105.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649968,-0.714513,-0.258869],[0.755368,0.570009,0.323277],[-0.083428,-0.405661,0.910208]] 2025-10-28T18:45:05.846Z,1761677105.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675623,-0.694223,-0.248170],[0.732507,0.593995,0.332570],[-0.083466,-0.406478,0.909840]] 2025-10-28T18:45:06.251Z,1761677106.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700754,-0.673177,-0.236171],[0.708498,0.617941,0.340851],[-0.083514,-0.406179,0.909969]] 2025-10-28T18:45:06.667Z,1761677106.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724243,-0.652308,-0.223531],[0.684378,0.640392,0.348603],[-0.084249,-0.405454,0.910225]] 2025-10-28T18:45:07.058Z,1761677107.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745773,-0.632283,-0.209859],[0.660714,0.661634,0.354537],[-0.085318,-0.403061,0.911187]] 2025-10-28T18:45:07.105Z,1761677107.105 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:45:07.201Z,1761677107.201 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:45:07.201Z,1761677107.201 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:45:07.454Z,1761677107.454 [DAT](INFO): DAT read: user:141> 2025-10-28T18:45:07.455Z,1761677107.455 [DAT](INFO): DAT read: Tx time:18:45:07.1907 2025-10-28T18:45:07.455Z,1761677107.455 [DAT](INFO): Ping request sent. 2025-10-28T18:45:07.455Z,1761677107.455 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:45:07.455Z,1761677107.455 [DAT](INFO): publishing transmit ping time 2025-10-28T18:45:07.456Z,1761677107.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001062 2025-10-28T18:45:07.468Z,1761677107.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765306,-0.613184,-0.195735],[0.637773,0.681330,0.359215],[-0.086904,-0.399744,0.912498]] 2025-10-28T18:45:07.705Z,1761677107.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249878 2025-10-28T18:45:07.866Z,1761677107.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782935,-0.594386,-0.183625],[0.615730,0.698244,0.365147],[-0.088823,-0.398950,0.912661]] 2025-10-28T18:45:07.957Z,1761677107.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501864 2025-10-28T18:45:08.209Z,1761677108.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753951 2025-10-28T18:45:08.272Z,1761677108.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799087,-0.576086,-0.172002],[0.594326,0.713727,0.370635],[-0.090756,-0.398395,0.912713]] 2025-10-28T18:45:08.461Z,1761677108.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005820 2025-10-28T18:45:08.675Z,1761677108.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813752,-0.558100,-0.162273],[0.573800,0.726980,0.377166],[-0.092527,-0.400031,0.911819]] 2025-10-28T18:45:08.713Z,1761677108.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258009 2025-10-28T18:45:08.965Z,1761677108.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510039 2025-10-28T18:45:09.217Z,1761677109.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761972 2025-10-28T18:45:09.469Z,1761677109.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013849 2025-10-28T18:45:09.494Z,1761677109.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840010,-0.522588,-0.145894],[0.534255,0.749774,0.390399],[-0.094630,-0.405884,0.909012]] 2025-10-28T18:45:09.721Z,1761677109.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265927 2025-10-28T18:45:09.889Z,1761677109.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852107,-0.504225,-0.140252],[0.514809,0.759253,0.398129],[-0.094260,-0.411452,0.906544]] 2025-10-28T18:45:09.977Z,1761677109.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521160 2025-10-28T18:45:10.225Z,1761677110.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769904 2025-10-28T18:45:10.291Z,1761677110.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864017,-0.484965,-0.135214],[0.494841,0.768537,0.405565],[-0.092768,-0.417324,0.904010]] 2025-10-28T18:45:10.477Z,1761677110.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021922 2025-10-28T18:45:10.694Z,1761677110.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875921,-0.464599,-0.130043],[0.473885,0.777937,0.412610],[-0.090533,-0.423039,0.901577]] 2025-10-28T18:45:10.729Z,1761677110.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273806 2025-10-28T18:45:10.981Z,1761677110.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525874 2025-10-28T18:45:11.099Z,1761677111.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888871,-0.441491,-0.122446],[0.449726,0.789743,0.417196],[-0.087488,-0.425901,0.900530]] 2025-10-28T18:45:11.233Z,1761677111.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778080 2025-10-28T18:45:11.486Z,1761677111.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031002 2025-10-28T18:45:11.518Z,1761677111.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902486,-0.415713,-0.112698],[0.422352,0.802807,0.420855],[-0.084481,-0.427414,0.900100]] 2025-10-28T18:45:11.737Z,1761677111.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281894 2025-10-28T18:45:11.907Z,1761677111.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916064,-0.388613,-0.099029],[0.392606,0.818687,0.419062],[-0.081780,-0.422767,0.902541]] 2025-10-28T18:45:11.990Z,1761677111.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535019 2025-10-28T18:45:12.241Z,1761677112.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785883 2025-10-28T18:45:12.311Z,1761677112.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928796,-0.360635,-0.085330],[0.361983,0.833499,0.417430],[-0.079417,-0.418595,0.904694]] 2025-10-28T18:45:12.494Z,1761677112.494 [DAT](INFO): DAT read: Rx Time:18:45:11.6414 2025-10-28T18:45:12.494Z,1761677112.494 [DAT](INFO): Rx dataTimestamp_ set to:1761677112.493856 2025-10-28T18:45:12.495Z,1761677112.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040261 2025-10-28T18:45:12.715Z,1761677112.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940916,-0.331040,-0.071335],[0.329635,0.847095,0.416858],[-0.077570,-0.415743,0.906168]] 2025-10-28T18:45:12.745Z,1761677112.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290135 2025-10-28T18:45:13.005Z,1761677113.005 [DAT](INFO): DAT read: 18:45:11.6414 LVL= 26192, 32753, 31218, 32755, AGC= 79, IDX= 378,-0.39, 1.439,-0.663,-0.428, 0.754, PHS= 0.788,-1.371,-1.226, RAW= 93.5, 17.0, CAL= 93.8, 21.0, ROT= 56.2, -21.0 2025-10-28T18:45:13.007Z,1761677113.007 [DAT](INFO): got valid direction response: 18:45:11.6414 LVL= 26192, 32753, 31218, 32755, AGC= 79, IDX= 378,-0.39, 1.439,-0.663,-0.428, 0.754, PHS= 0.788,-1.371,-1.226, RAW= 93.5, 17.0, CAL= 93.8, 21.0, ROT= 56.2, -21.0 2025-10-28T18:45:13.009Z,1761677113.009 [DAT](INFO): DAT read: Bearing 119.1, 29.9 (Local) 2025-10-28T18:45:13.009Z,1761677113.009 [DAT](INFO): Local bearing/azimuth received: Bearing 119.1, 29.9 (Local) 2025-10-28T18:45:13.011Z,1761677113.011 [DAT](INFO): DAT read: Range 11 to 20 : 1534.8 m (Round-trip 2046.5 ms) speed 0.0 m/s 2025-10-28T18:45:13.012Z,1761677113.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:45:13.013Z,1761677113.013 [DAT](INFO): direction in FSK: [0.519347,0.775791,0.358368] 2025-10-28T18:45:13.014Z,1761677113.014 [DAT](INFO): publishing direction and range info 2025-10-28T18:45:13.119Z,1761677113.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952012,-0.301108,-0.054843],[0.296408,0.862409,0.410358],[-0.076265,-0.406921,0.910274]] 2025-10-28T18:45:13.160Z,1761677113.160 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677056.00. Resetting abort timer. 2025-10-28T18:45:13.524Z,1761677113.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962023,-0.270149,-0.039129],[0.262161,0.874460,0.408155],[-0.076046,-0.402912,0.912074]] 2025-10-28T18:45:13.927Z,1761677113.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970758,-0.238992,-0.022604],[0.227528,0.885976,0.404076],[-0.076544,-0.397404,0.914446]] 2025-10-28T18:45:14.330Z,1761677114.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978048,-0.208268,-0.006886],[0.193308,0.894463,0.403197],[-0.077813,-0.395677,0.915087]] 2025-10-28T18:45:14.735Z,1761677114.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984085,-0.177507,0.008199],[0.159072,0.900568,0.404566],[-0.079197,-0.396823,0.914472]] 2025-10-28T18:45:14.823Z,1761677114.823 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:45:14.823Z,1761677114.823 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:45:14.823Z,1761677114.823 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:45:14.824Z,1761677114.824 [marl:UpdateRudder:A] Stopped 2025-10-28T18:45:14.824Z,1761677114.824 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:45:14.828Z,1761677114.828 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:45:14.828Z,1761677114.828 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:45:14.828Z,1761677114.828 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:45:14.828Z,1761677114.828 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateCommandMode] Stopped 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:45:14.829Z,1761677114.829 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:45:14.830Z,1761677114.830 [marl:UpdateSpeed] Stopped 2025-10-28T18:45:14.830Z,1761677114.830 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:45:15.139Z,1761677115.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988564,-0.149197,0.021942],[0.127227,0.903262,0.409795],[-0.080960,-0.402317,0.911914]] 2025-10-28T18:45:15.163Z,1761677115.163 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:45:15.163Z,1761677115.163 [marl:UpdateRudder:B] Stopped 2025-10-28T18:45:15.164Z,1761677115.164 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:45:15.180Z,1761677115.180 [marl:UpdateRudder] Stopped 2025-10-28T18:45:15.181Z,1761677115.181 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:45:15.544Z,1761677115.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992022,-0.121113,0.034982],[0.095751,0.904393,0.415818],[-0.081999,-0.409151,0.908775]] 2025-10-28T18:45:15.684Z,1761677115.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:45:15.947Z,1761677115.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994374,-0.094552,0.047755],[0.066180,0.906548,0.416882],[-0.082710,-0.411376,0.907705]] 2025-10-28T18:45:16.688Z,1761677116.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:45:16.758Z,1761677116.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996414,-0.045539,0.071307],[0.011985,0.910263,0.413858],[-0.083755,-0.411519,0.907545]] 2025-10-28T18:45:17.161Z,1761677117.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996389,-0.022123,0.081969],[-0.013807,0.910382,0.413538],[-0.083772,-0.413177,0.906789]] 2025-10-28T18:45:17.562Z,1761677117.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995754,0.001181,0.092045],[-0.039316,0.909588,0.413648],[-0.083234,-0.415510,0.905772]] 2025-10-28T18:45:17.966Z,1761677117.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994530,0.024002,0.101654],[-0.064527,0.906493,0.417260],[-0.082134,-0.421537,0.903084]] 2025-10-28T18:45:18.371Z,1761677118.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992647,0.047047,0.111525],[-0.090086,0.902533,0.421093],[-0.080844,-0.428044,0.900135]] 2025-10-28T18:45:18.812Z,1761677118.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986882,0.093693,0.131475],[-0.141461,0.894291,0.424539],[-0.077801,-0.437568,0.895813]] 2025-10-28T18:45:19.583Z,1761677119.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982756,0.118344,0.142078],[-0.168472,0.889762,0.424193],[-0.076215,-0.440815,0.894357]] 2025-10-28T18:45:19.999Z,1761677119.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970912,0.174520,0.163931],[-0.228058,0.882601,0.411102],[-0.072940,-0.436530,0.896728]] 2025-10-28T18:45:20.397Z,1761677120.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962808,0.204850,0.176174],[-0.260396,0.877466,0.402800],[-0.072073,-0.433694,0.898173]] 2025-10-28T18:45:20.811Z,1761677120.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953408,0.236127,0.187769],[-0.292999,0.873018,0.389861],[-0.071869,-0.426712,0.901527]] 2025-10-28T18:45:21.203Z,1761677121.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942735,0.268916,0.197319],[-0.325737,0.869522,0.371252],[-0.071737,-0.414266,0.907324]] 2025-10-28T18:45:21.605Z,1761677121.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931000,0.301451,0.205830],[-0.357787,0.865320,0.351011],[-0.072296,-0.400435,0.913469]] 2025-10-28T18:45:22.010Z,1761677122.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918032,0.333825,0.213958],[-0.389818,0.858561,0.333038],[-0.072519,-0.389145,0.918318]] 2025-10-28T18:45:22.412Z,1761677122.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903754,0.366069,0.221862],[-0.421917,0.849250,0.317428],[-0.072216,-0.380484,0.921964]] 2025-10-28T18:45:22.817Z,1761677122.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888840,0.396483,0.229705],[-0.452543,0.838210,0.304317],[-0.071885,-0.374440,0.924460]] 2025-10-28T18:45:23.623Z,1761677123.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860597,0.443597,0.250190],[-0.504126,0.811755,0.294805],[-0.072318,-0.379835,0.922223]] 2025-10-28T18:45:24.035Z,1761677124.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846855,0.462627,0.262322],[-0.526898,0.796827,0.295713],[-0.072220,-0.388643,0.918554]] 2025-10-28T18:45:24.431Z,1761677124.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832571,0.479720,0.276937],[-0.549252,0.779728,0.300577],[-0.071743,-0.402360,0.912666]] 2025-10-28T18:45:24.837Z,1761677124.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817799,0.494937,0.293671],[-0.571017,0.761422,0.306879],[-0.071722,-0.418657,0.905308]] 2025-10-28T18:45:25.239Z,1761677125.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802587,0.509916,0.309579],[-0.592113,0.744033,0.309543],[-0.072496,-0.431741,0.899080]] 2025-10-28T18:45:25.645Z,1761677125.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786250,0.526466,0.323487],[-0.613518,0.727428,0.307318],[-0.073521,-0.440094,0.894937]] 2025-10-28T18:45:26.047Z,1761677126.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767279,0.545935,0.336509],[-0.637040,0.709291,0.301805],[-0.073917,-0.445938,0.892006]] 2025-10-28T18:45:26.451Z,1761677126.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746240,0.567911,0.347281],[-0.661535,0.690788,0.291862],[-0.074146,-0.447537,0.891186]] 2025-10-28T18:45:26.858Z,1761677126.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723889,0.592208,0.353941],[-0.685933,0.672830,0.277121],[-0.074029,-0.443384,0.893269]] 2025-10-28T18:45:27.260Z,1761677127.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700209,0.617032,0.359136],[-0.710117,0.653900,0.261053],[-0.073761,-0.437820,0.896032]] 2025-10-28T18:45:27.662Z,1761677127.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676051,0.642231,0.361241],[-0.733230,0.634905,0.243453],[-0.073001,-0.429460,0.900131]] 2025-10-28T18:45:28.067Z,1761677128.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651736,0.667832,0.359501],[-0.755047,0.616125,0.224265],[-0.071726,-0.417601,0.905795]] 2025-10-28T18:45:28.113Z,1761677128.113 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateRudder:A] Stopped 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:45:28.114Z,1761677128.114 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateCommandMode] Stopped 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:45:28.115Z,1761677128.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:45:28.116Z,1761677128.116 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:45:28.116Z,1761677128.116 [marl:UpdateSpeed] Stopped 2025-10-28T18:45:28.116Z,1761677128.116 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:45:28.481Z,1761677128.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628642,0.691375,0.356104],[-0.774513,0.597956,0.206343],[-0.070274,-0.405523,0.911380]] 2025-10-28T18:45:28.532Z,1761677128.532 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:45:28.532Z,1761677128.532 [marl:UpdateRudder:B] Stopped 2025-10-28T18:45:28.532Z,1761677128.532 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:45:28.532Z,1761677128.532 [marl:UpdateRudder] Stopped 2025-10-28T18:45:28.532Z,1761677128.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:45:28.885Z,1761677128.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607050,0.711073,0.354776],[-0.791703,0.579675,0.192831],[-0.068538,-0.397935,0.914850]] 2025-10-28T18:45:29.279Z,1761677129.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585746,0.727696,0.356877],[-0.807742,0.560381,0.183102],[-0.066745,-0.395516,0.916031]] 2025-10-28T18:45:29.683Z,1761677129.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563714,0.741348,0.364183],[-0.823432,0.538946,0.177476],[-0.064704,-0.399925,0.914261]] 2025-10-28T18:45:30.087Z,1761677130.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541004,0.752214,0.376150],[-0.838635,0.516162,0.173976],[-0.063288,-0.409575,0.910079]] 2025-10-28T18:45:30.496Z,1761677130.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518058,0.761684,0.389170],[-0.853078,0.493211,0.170293],[-0.062234,-0.420214,0.905288]] 2025-10-28T18:45:30.895Z,1761677130.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494031,0.770220,0.403354],[-0.867281,0.469267,0.166169],[-0.061294,-0.431914,0.899829]] 2025-10-28T18:45:31.298Z,1761677131.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468838,0.780015,0.414449],[-0.881226,0.445071,0.159224],[-0.060262,-0.439873,0.896036]] 2025-10-28T18:45:31.705Z,1761677131.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442271,0.792552,0.419830],[-0.894898,0.421075,0.147829],[-0.059617,-0.441085,0.895483]] 2025-10-28T18:45:32.106Z,1761677132.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414822,0.808295,0.417831],[-0.907940,0.397850,0.131760],[-0.059733,-0.434022,0.898920]] 2025-10-28T18:45:32.511Z,1761677132.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387851,0.825323,0.410381],[-0.919748,0.375668,0.113742],[-0.060294,-0.421562,0.904793]] 2025-10-28T18:45:32.915Z,1761677132.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360721,0.842419,0.400263],[-0.930674,0.353204,0.095357],[-0.061044,-0.406911,0.911426]] 2025-10-28T18:45:33.319Z,1761677133.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333898,0.854523,0.397871],[-0.940566,0.329816,0.080976],[-0.062029,-0.401262,0.913861]] 2025-10-28T18:45:33.722Z,1761677133.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307215,0.864447,0.397933],[-0.949567,0.306046,0.068254],[-0.062784,-0.398833,0.914872]] 2025-10-28T18:45:34.127Z,1761677134.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280516,0.873666,0.397515],[-0.957754,0.282124,0.055803],[-0.063395,-0.396375,0.915897]] 2025-10-28T18:45:34.530Z,1761677134.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253958,0.880597,0.400067],[-0.965114,0.257964,0.044832],[-0.063724,-0.397495,0.915389]] 2025-10-28T18:45:34.943Z,1761677134.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227336,0.885395,0.405455],[-0.971774,0.233215,0.035594],[-0.063043,-0.402102,0.913422]] 2025-10-28T18:45:35.342Z,1761677135.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201031,0.886310,0.417183],[-0.977656,0.208242,0.028698],[-0.061440,-0.413631,0.908369]] 2025-10-28T18:45:35.743Z,1761677135.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175141,0.885035,0.431322],[-0.982759,0.183517,0.022494],[-0.059247,-0.427826,0.901917]] 2025-10-28T18:45:36.147Z,1761677136.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150583,0.882865,0.444830],[-0.986953,0.160194,0.016162],[-0.056990,-0.441460,0.895469]] 2025-10-28T18:45:36.551Z,1761677136.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126869,0.881171,0.455458],[-0.990399,0.137947,0.008991],[-0.054906,-0.452226,0.890212]] 2025-10-28T18:45:36.975Z,1761677136.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102695,0.880188,0.463382],[-0.993313,0.115445,0.000853],[-0.052745,-0.460371,0.886158]] 2025-10-28T18:45:37.358Z,1761677137.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076923,0.879892,0.468906],[-0.995779,0.091416,-0.008185],[-0.050068,-0.466298,0.883210]] 2025-10-28T18:45:37.768Z,1761677137.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050437,0.883198,0.466281],[-0.997615,0.066576,-0.018194],[-0.047112,-0.464252,0.884449]] 2025-10-28T18:45:38.167Z,1761677138.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023513,0.888973,0.457356],[-0.998725,0.041329,-0.028986],[-0.044669,-0.456091,0.888811]] 2025-10-28T18:45:38.574Z,1761677138.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004062,0.898668,0.438610],[-0.999061,0.015273,-0.040547],[-0.043137,-0.438362,0.897763]] 2025-10-28T18:45:38.983Z,1761677138.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032334,0.905423,0.423277],[-0.998582,-0.011342,-0.052020],[-0.042299,-0.424359,0.904505]] 2025-10-28T18:45:39.378Z,1761677139.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062321,0.912077,0.405254],[-0.997184,-0.039929,-0.063486],[-0.041723,-0.408069,0.911997]] 2025-10-28T18:45:39.787Z,1761677139.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094167,0.917072,0.387442],[-0.994717,-0.070690,-0.074440],[-0.040878,-0.392405,0.918884]] 2025-10-28T18:45:40.187Z,1761677140.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127439,0.918052,0.375419],[-0.991049,-0.102682,-0.085318],[-0.039778,-0.382931,0.922920]] 2025-10-28T18:45:40.613Z,1761677140.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160624,0.916621,0.366068],[-0.986271,-0.134648,-0.095604],[-0.038343,-0.376399,0.925664]] 2025-10-28T18:45:40.994Z,1761677140.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194403,0.913766,0.356705],[-0.980238,-0.167390,-0.105427],[-0.036627,-0.370151,0.928249]] 2025-10-28T18:45:41.399Z,1761677141.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227473,0.904424,0.360933],[-0.973156,-0.197824,-0.117613],[-0.034971,-0.377998,0.925146]] 2025-10-28T18:45:41.472Z,1761677141.472 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:45:41.472Z,1761677141.472 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:45:41.472Z,1761677141.472 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateRudder:A] Stopped 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:45:41.473Z,1761677141.473 [marl:UpdateCommandMode] Stopped 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed] Stopped 2025-10-28T18:45:41.474Z,1761677141.474 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:45:41.803Z,1761677141.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258808,0.891958,0.370715],[-0.965352,-0.225591,-0.131162],[-0.033361,-0.391816,0.919439]] 2025-10-28T18:45:41.833Z,1761677141.833 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:45:41.833Z,1761677141.833 [marl:UpdateRudder:B] Stopped 2025-10-28T18:45:41.833Z,1761677141.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:45:41.833Z,1761677141.833 [marl:UpdateRudder] Stopped 2025-10-28T18:45:41.834Z,1761677141.834 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:45:42.208Z,1761677142.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288754,0.880397,0.376194],[-0.956864,-0.252197,-0.144247],[-0.032120,-0.401619,0.915244]] 2025-10-28T18:45:42.655Z,1761677142.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317994,0.867650,0.382181],[-0.947601,-0.277884,-0.157584],[-0.030525,-0.412266,0.910552]] 2025-10-28T18:45:43.014Z,1761677143.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345903,0.853820,0.389028],[-0.937830,-0.301912,-0.171246],[-0.028761,-0.424076,0.905170]] 2025-10-28T18:45:43.418Z,1761677143.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373651,0.840501,0.392355],[-0.927178,-0.326143,-0.184315],[-0.026953,-0.432652,0.901158]] 2025-10-28T18:45:43.823Z,1761677143.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400622,0.826024,0.396467],[-0.915902,-0.349235,-0.197884],[-0.024996,-0.442402,0.896468]] 2025-10-28T18:45:44.226Z,1761677144.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426858,0.815812,0.390184],[-0.904031,-0.374073,-0.206875],[-0.022814,-0.441044,0.897195]] 2025-10-28T18:45:44.660Z,1761677144.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452785,0.805874,0.381513],[-0.891378,-0.399154,-0.214760],[-0.020787,-0.437312,0.899069]] 2025-10-28T18:45:45.039Z,1761677145.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478031,0.794743,0.373991],[-0.878142,-0.423333,-0.222834],[-0.018773,-0.434939,0.900264]] 2025-10-28T18:45:45.451Z,1761677145.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501385,0.781359,0.371606],[-0.865061,-0.444356,-0.232846],[-0.016811,-0.438207,0.898717]] 2025-10-28T18:45:45.842Z,1761677145.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523548,0.770614,0.363389],[-0.851867,-0.466026,-0.239047],[-0.014864,-0.434711,0.900447]] 2025-10-28T18:45:46.247Z,1761677146.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544336,0.759467,0.356241],[-0.838762,-0.486034,-0.245455],[-0.013270,-0.432412,0.901579]] 2025-10-28T18:45:46.665Z,1761677146.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563872,0.748392,0.349223],[-0.825782,-0.505033,-0.251050],[-0.011515,-0.429942,0.902783]] 2025-10-28T18:45:46.809Z,1761677146.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:45:47.055Z,1761677147.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582993,0.737359,0.341205],[-0.812414,-0.523838,-0.256080],[-0.010087,-0.426493,0.904435]] 2025-10-28T18:45:47.463Z,1761677147.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601726,0.726337,0.332206],[-0.798652,-0.542500,-0.260478],[-0.008973,-0.422053,0.906527]] 2025-10-28T18:45:47.812Z,1761677147.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:45:47.865Z,1761677147.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620499,0.715216,0.321632],[-0.784166,-0.561694,-0.263787],[-0.008006,-0.415892,0.909379]] 2025-10-28T18:45:48.269Z,1761677148.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639576,0.703506,0.309874],[-0.768695,-0.581553,-0.266279],[-0.007121,-0.408504,0.912729]] 2025-10-28T18:45:48.671Z,1761677148.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659329,0.690350,0.297831],[-0.751828,-0.602042,-0.268886],[-0.006319,-0.401202,0.915968]] 2025-10-28T18:45:49.885Z,1761677149.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722281,0.638340,0.266146],[-0.691570,-0.663036,-0.286555],[-0.006455,-0.391031,0.920355]] 2025-10-28T18:45:50.286Z,1761677150.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744552,0.616259,0.256644],[-0.667528,-0.683332,-0.295741],[-0.006880,-0.391512,0.920147]] 2025-10-28T18:45:50.692Z,1761677150.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766828,0.591593,0.248981],[-0.641814,-0.702530,-0.307452],[-0.006970,-0.395562,0.918413]] 2025-10-28T18:45:51.095Z,1761677151.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788951,0.564893,0.241768],[-0.614422,-0.721143,-0.320061],[-0.006451,-0.401060,0.916029]] 2025-10-28T18:45:51.499Z,1761677151.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810651,0.536099,0.235464],[-0.585507,-0.738589,-0.334167],[-0.005235,-0.408758,0.912628]] 2025-10-28T18:45:51.902Z,1761677151.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831523,0.505940,0.229335],[-0.555481,-0.754907,-0.348648],[-0.003268,-0.417300,0.908763]] 2025-10-28T18:45:52.309Z,1761677152.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851249,0.474266,0.224604],[-0.524762,-0.768808,-0.365459],[-0.000647,-0.428960,0.903323]] 2025-10-28T18:45:52.711Z,1761677152.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869580,0.441932,0.220286],[-0.493787,-0.780272,-0.383862],[0.002242,-0.442573,0.896730]] 2025-10-28T18:45:53.114Z,1761677153.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886448,0.410441,0.213891],[-0.462800,-0.791201,-0.399771],[0.005149,-0.453365,0.891310]] 2025-10-28T18:45:53.519Z,1761677153.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901116,0.381307,0.206384],[-0.433513,-0.800600,-0.413650],[0.007503,-0.462217,0.886735]] 2025-10-28T18:45:53.931Z,1761677153.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913634,0.355281,0.197607],[-0.406432,-0.809295,-0.424093],[0.009250,-0.467779,0.883797]] 2025-10-28T18:45:54.326Z,1761677154.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923639,0.333359,0.189113],[-0.383117,-0.816748,-0.431445],[0.010632,-0.470951,0.882095]] 2025-10-28T18:45:54.731Z,1761677154.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931868,0.316093,0.178066],[-0.362602,-0.827592,-0.428498],[0.011920,-0.463871,0.885823]] 2025-10-28T18:45:54.798Z,1761677154.798 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:45:54.798Z,1761677154.798 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:45:54.798Z,1761677154.798 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateRudder:A] Stopped 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:45:54.799Z,1761677154.799 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateCommandMode] Stopped 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:45:54.800Z,1761677154.800 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:45:54.801Z,1761677154.801 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:45:54.801Z,1761677154.801 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:45:54.801Z,1761677154.801 [marl:UpdateSpeed] Stopped 2025-10-28T18:45:54.801Z,1761677154.801 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:45:55.134Z,1761677155.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939315,0.300932,0.164702],[-0.342798,-0.841937,-0.416691],[0.013273,-0.447864,0.894003]] 2025-10-28T18:45:55.178Z,1761677155.178 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:45:55.178Z,1761677155.178 [marl:UpdateRudder:B] Stopped 2025-10-28T18:45:55.178Z,1761677155.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:45:55.178Z,1761677155.178 [marl:UpdateRudder] Stopped 2025-10-28T18:45:55.178Z,1761677155.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:45:55.538Z,1761677155.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946368,0.285841,0.150607],[-0.322772,-0.857130,-0.401429],[0.014345,-0.428512,0.903422]] 2025-10-28T18:45:55.947Z,1761677155.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953038,0.270327,0.136537],[-0.302476,-0.872061,-0.384732],[0.015065,-0.407963,0.912874]] 2025-10-28T18:45:56.347Z,1761677156.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959450,0.253427,0.123414],[-0.281428,-0.885990,-0.368537],[0.015946,-0.388325,0.921384]] 2025-10-28T18:45:56.754Z,1761677156.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965662,0.234319,0.112215],[-0.259270,-0.896815,-0.358473],[0.016639,-0.375257,0.926771]] 2025-10-28T18:45:57.159Z,1761677157.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971819,0.212471,0.102097],[-0.235104,-0.905112,-0.354258],[0.017139,-0.368279,0.929558]] 2025-10-28T18:45:57.559Z,1761677157.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977826,0.187994,0.092277],[-0.208674,-0.911814,-0.353624],[0.017661,-0.365039,0.930825]] 2025-10-28T18:45:57.963Z,1761677157.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983483,0.160753,0.083185],[-0.180121,-0.914479,-0.362331],[0.017825,-0.371329,0.928330]] 2025-10-28T18:45:58.370Z,1761677158.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988528,0.131651,0.074032],[-0.149943,-0.914311,-0.376234],[0.018157,-0.383018,0.923562]] 2025-10-28T18:45:58.775Z,1761677158.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992853,0.101120,0.063384],[-0.117911,-0.913189,-0.390106],[0.018435,-0.394791,0.918586]] 2025-10-28T18:45:59.183Z,1761677159.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996203,0.070327,0.051310],[-0.085039,-0.912249,-0.400711],[0.018626,-0.403554,0.914766]] 2025-10-28T18:45:59.581Z,1761677159.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998459,0.039646,0.038823],[-0.052085,-0.910917,-0.409289],[0.019138,-0.410680,0.911578]] 2025-10-28T18:45:59.982Z,1761677159.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999631,0.008973,0.025638],[-0.018839,-0.908984,-0.416405],[0.019568,-0.416735,0.908818]] 2025-10-28T18:46:00.386Z,1761677160.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999696,-0.021506,0.012073],[0.014421,-0.906814,-0.421283],[0.020008,-0.420981,0.906849]] 2025-10-28T18:46:00.795Z,1761677160.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998673,-0.051474,-0.001741],[0.047345,-0.904210,-0.424456],[0.020274,-0.423975,0.905447]] 2025-10-28T18:46:01.195Z,1761677161.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996647,-0.080371,-0.015352],[0.079221,-0.900844,-0.426854],[0.020477,-0.426638,0.904190]] 2025-10-28T18:46:01.599Z,1761677161.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993715,-0.108240,-0.028549],[0.110015,-0.897216,-0.427668],[0.020676,-0.428121,0.903485]] 2025-10-28T18:46:02.003Z,1761677162.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989980,-0.135016,-0.041358],[0.139713,-0.894042,-0.425640],[0.020492,-0.427153,0.903947]] 2025-10-28T18:46:02.415Z,1761677162.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985613,-0.160321,-0.053516],[0.167784,-0.889895,-0.424188],[0.020382,-0.427065,0.903991]] 2025-10-28T18:46:02.810Z,1761677162.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980779,-0.184178,-0.064428],[0.194061,-0.886354,-0.420376],[0.020318,-0.424799,0.905060]] 2025-10-28T18:46:03.214Z,1761677163.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975372,-0.207568,-0.074594],[0.219593,-0.882143,-0.416658],[0.020682,-0.422777,0.905998]] 2025-10-28T18:46:03.619Z,1761677163.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969425,-0.230293,-0.084742],[0.244483,-0.876770,-0.414128],[0.021071,-0.422184,0.906265]] 2025-10-28T18:46:04.024Z,1761677164.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963090,-0.252115,-0.094317],[0.268312,-0.871028,-0.411485],[0.021589,-0.421603,0.906523]] 2025-10-28T18:46:04.441Z,1761677164.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955973,-0.274668,-0.103311],[0.292582,-0.864987,-0.407668],[0.022611,-0.419946,0.907267]] 2025-10-28T18:46:04.830Z,1761677164.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948076,-0.297873,-0.111460],[0.317142,-0.859063,-0.401785],[0.023929,-0.416271,0.908925]] 2025-10-28T18:46:05.246Z,1761677165.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929072,-0.347092,-0.127873],[0.368896,-0.843999,-0.389334],[0.027210,-0.408892,0.912177]] 2025-10-28T18:46:05.646Z,1761677165.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917948,-0.372100,-0.137522],[0.395647,-0.833506,-0.385657],[0.028877,-0.408423,0.912336]] 2025-10-28T18:46:06.047Z,1761677166.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905423,-0.398164,-0.147220],[0.423414,-0.822137,-0.380541],[0.030483,-0.406886,0.912970]] 2025-10-28T18:46:06.452Z,1761677166.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891988,-0.423453,-0.158254],[0.450933,-0.808776,-0.377545],[0.031881,-0.408128,0.912368]] 2025-10-28T18:46:06.855Z,1761677166.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877610,-0.447985,-0.170617],[0.478263,-0.794005,-0.375260],[0.032640,-0.410932,0.911082]] 2025-10-28T18:46:07.257Z,1761677167.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862780,-0.471240,-0.183152],[0.504496,-0.778741,-0.372888],[0.033092,-0.414120,0.909621]] 2025-10-28T18:46:07.286Z,1761677167.286 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:46:07.457Z,1761677167.457 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:46:07.457Z,1761677167.457 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:46:07.658Z,1761677167.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847227,-0.494111,-0.195089],[0.530191,-0.763524,-0.368684],[0.033216,-0.415794,0.908852]] 2025-10-28T18:46:07.709Z,1761677167.709 [DAT](INFO): DAT read: user:142> 2025-10-28T18:46:07.710Z,1761677167.710 [DAT](INFO): DAT read: Tx time:18:46:07.4404 2025-10-28T18:46:07.711Z,1761677167.711 [DAT](INFO): Ping request sent. 2025-10-28T18:46:07.711Z,1761677167.711 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:46:07.711Z,1761677167.711 [DAT](INFO): publishing transmit ping time 2025-10-28T18:46:07.712Z,1761677167.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001554 2025-10-28T18:46:07.961Z,1761677167.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250250 2025-10-28T18:46:08.063Z,1761677168.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831494,-0.515435,-0.207230],[0.554555,-0.747980,-0.364686],[0.032967,-0.418155,0.907777]] 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateRudder:A] Stopped 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:46:08.113Z,1761677168.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateCommandMode] Stopped 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:46:08.114Z,1761677168.114 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:46:08.115Z,1761677168.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:46:08.115Z,1761677168.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:46:08.115Z,1761677168.115 [marl:UpdateSpeed] Stopped 2025-10-28T18:46:08.115Z,1761677168.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:46:08.213Z,1761677168.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502526 2025-10-28T18:46:08.465Z,1761677168.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754312 2025-10-28T18:46:08.468Z,1761677168.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814998,-0.536297,-0.219463],[0.578545,-0.731764,-0.360288],[0.032627,-0.420603,0.906658]] 2025-10-28T18:46:08.498Z,1761677168.498 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:46:08.498Z,1761677168.498 [marl:UpdateRudder:B] Stopped 2025-10-28T18:46:08.499Z,1761677168.499 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:46:08.499Z,1761677168.499 [marl:UpdateRudder] Stopped 2025-10-28T18:46:08.499Z,1761677168.499 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:46:08.718Z,1761677168.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926 2025-10-28T18:46:08.870Z,1761677168.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798134,-0.556831,-0.230047],[0.601615,-0.716147,-0.353827],[0.032274,-0.420801,0.906579]] 2025-10-28T18:46:08.970Z,1761677168.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884 2025-10-28T18:46:09.221Z,1761677169.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510246 2025-10-28T18:46:09.274Z,1761677169.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781022,-0.576900,-0.239147],[0.623665,-0.700687,-0.346524],[0.032343,-0.419790,0.907045]] 2025-10-28T18:46:09.473Z,1761677169.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762259 2025-10-28T18:46:09.679Z,1761677169.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763673,-0.596144,-0.247821],[0.644783,-0.684940,-0.339282],[0.032518,-0.418892,0.907454]] 2025-10-28T18:46:09.725Z,1761677169.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014375 2025-10-28T18:46:09.977Z,1761677169.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266226 2025-10-28T18:46:10.083Z,1761677170.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746035,-0.614378,-0.256848],[0.665094,-0.668424,-0.332956],[0.032877,-0.419225,0.907287]] 2025-10-28T18:46:10.229Z,1761677170.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518363 2025-10-28T18:46:10.481Z,1761677170.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770665 2025-10-28T18:46:10.494Z,1761677170.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727610,-0.632864,-0.264703],[0.685167,-0.651542,-0.325637],[0.033619,-0.418302,0.907686]] 2025-10-28T18:46:10.733Z,1761677170.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022243 2025-10-28T18:46:10.895Z,1761677170.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708600,-0.650180,-0.274139],[0.704758,-0.633052,-0.320251],[0.034677,-0.420132,0.906800]] 2025-10-28T18:46:10.985Z,1761677170.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274236 2025-10-28T18:46:11.237Z,1761677171.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526316 2025-10-28T18:46:11.294Z,1761677171.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689160,-0.667077,-0.282960],[0.723688,-0.613951,-0.315183],[0.036528,-0.421986,0.905866]] 2025-10-28T18:46:11.489Z,1761677171.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778394 2025-10-28T18:46:11.699Z,1761677171.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668852,-0.683847,-0.291531],[0.742387,-0.594010,-0.309862],[0.038726,-0.423681,0.904983]] 2025-10-28T18:46:11.741Z,1761677171.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030187 2025-10-28T18:46:11.993Z,1761677171.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282242 2025-10-28T18:46:12.104Z,1761677172.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647460,-0.700310,-0.300603],[0.760992,-0.572837,-0.304548],[0.041081,-0.425939,0.903819]] 2025-10-28T18:46:12.245Z,1761677172.245 [DAT](INFO): DAT read: Rx Time:18:46:11.5505 2025-10-28T18:46:12.245Z,1761677172.245 [DAT](INFO): Rx dataTimestamp_ set to:1761677172.245097 2025-10-28T18:46:12.246Z,1761677172.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535324 2025-10-28T18:46:12.497Z,1761677172.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786379 2025-10-28T18:46:12.508Z,1761677172.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624568,-0.717550,-0.308282],[0.779748,-0.550864,-0.297561],[0.043693,-0.426229,0.903559]] 2025-10-28T18:46:12.757Z,1761677172.757 [DAT](INFO): DAT read: 18:46:11.5505 LVL= 20592, 21185, 13090, 22771, AGC= 76, IDX= 10, 0.24, 0.248,-1.020, 1.274, 0.203, PHS= 0.147,-1.178, 1.027, RAW= 173.3, 0.0, CAL= 172.8, -2.3, ROT= 337.2, 2.3 2025-10-28T18:46:12.758Z,1761677172.758 [DAT](INFO): got valid direction response: 18:46:11.5505 LVL= 20592, 21185, 13090, 22771, AGC= 76, IDX= 10, 0.24, 0.248,-1.020, 1.274, 0.203, PHS= 0.147,-1.178, 1.027, RAW= 173.3, 0.0, CAL= 172.8, -2.3, ROT= 337.2, 2.3 2025-10-28T18:46:12.760Z,1761677172.760 [DAT](INFO): DAT read: Bearing 74, -20 (Remote) 2025-10-28T18:46:12.760Z,1761677172.760 [DAT](INFO): Remote Bearing received:Bearing 74, -20 (Remote) 2025-10-28T18:46:12.761Z,1761677172.761 [DAT](INFO): DAT read: Bearing 160.0, -17.4 (Local) 2025-10-28T18:46:12.762Z,1761677172.762 [DAT](INFO): Local bearing/azimuth received: Bearing 160.0, -17.4 (Local) 2025-10-28T18:46:12.763Z,1761677172.763 [DAT](INFO): DAT read: Range 11 to 20 : 1560.7 m (Round-trip 2081.0 ms) speed 0.3 m/s 2025-10-28T18:46:12.765Z,1761677172.765 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:46:12.766Z,1761677172.766 [DAT](INFO): direction in FSK: [0.921121,-0.387203,-0.040132] 2025-10-28T18:46:12.766Z,1761677172.766 [DAT](INFO): publishing direction and range info 2025-10-28T18:46:12.916Z,1761677172.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600197,-0.735242,-0.314933],[0.798537,-0.528234,-0.288630],[0.045854,-0.424721,0.904162]] 2025-10-28T18:46:12.978Z,1761677172.978 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677184.00. Resetting abort timer. 2025-10-28T18:46:13.316Z,1761677173.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574414,-0.753331,-0.320219],[0.817166,-0.504879,-0.278095],[0.047826,-0.421414,0.905607]] 2025-10-28T18:46:13.718Z,1761677173.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547080,-0.770797,-0.326459],[0.835631,-0.479948,-0.267154],[0.049238,-0.418954,0.906672]] 2025-10-28T18:46:14.123Z,1761677174.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518741,-0.787390,-0.333053],[0.853461,-0.454097,-0.255736],[0.050126,-0.416909,0.907565]] 2025-10-28T18:46:14.528Z,1761677174.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489155,-0.804174,-0.337686],[0.870719,-0.427710,-0.242721],[0.050759,-0.412758,0.909425]] 2025-10-28T18:46:14.931Z,1761677174.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458928,-0.818182,-0.346357],[0.887030,-0.399717,-0.231095],[0.050633,-0.413284,0.909193]] 2025-10-28T18:46:15.335Z,1761677175.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428225,-0.831853,-0.353050],[0.902290,-0.371993,-0.217930],[0.049954,-0.411876,0.909869]] 2025-10-28T18:46:15.738Z,1761677175.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397041,-0.844821,-0.358659],[0.916502,-0.344170,-0.203892],[0.048812,-0.409665,0.910929]] 2025-10-28T18:46:16.143Z,1761677176.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365967,-0.856411,-0.364183],[0.929431,-0.316507,-0.189690],[0.047186,-0.407903,0.911805]] 2025-10-28T18:46:16.549Z,1761677176.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334947,-0.865951,-0.371402],[0.941178,-0.288802,-0.175435],[0.044657,-0.408316,0.911747]] 2025-10-28T18:46:16.951Z,1761677176.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304739,-0.873952,-0.378605],[0.951529,-0.262020,-0.161052],[0.041549,-0.409332,0.911439]] 2025-10-28T18:46:17.354Z,1761677177.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276463,-0.881170,-0.383547],[0.960258,-0.237352,-0.146861],[0.038374,-0.408905,0.911770]] 2025-10-28T18:46:17.763Z,1761677177.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249473,-0.886949,-0.388696],[0.967752,-0.213876,-0.133089],[0.034910,-0.409363,0.911703]] 2025-10-28T18:46:17.953Z,1761677177.953 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:46:18.164Z,1761677178.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223022,-0.891790,-0.393665],[0.974315,-0.191006,-0.119281],[0.031182,-0.410155,0.911482]] 2025-10-28T18:46:18.566Z,1761677178.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197153,-0.896058,-0.397758],[0.979974,-0.168560,-0.106009],[0.027944,-0.410693,0.911346]] 2025-10-28T18:46:18.960Z,1761677178.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:46:18.972Z,1761677178.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172298,-0.898203,-0.404407],[0.984714,-0.146418,-0.094338],[0.025522,-0.414479,0.909701]] 2025-10-28T18:46:19.379Z,1761677179.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147714,-0.899022,-0.412237],[0.988729,-0.123938,-0.083996],[0.024422,-0.419998,0.907196]] 2025-10-28T18:46:19.785Z,1761677179.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122896,-0.900034,-0.418133],[0.992097,-0.100680,-0.074879],[0.025296,-0.424031,0.905294]] 2025-10-28T18:46:20.182Z,1761677180.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098124,-0.900627,-0.423370],[0.994771,-0.076660,-0.067481],[0.028320,-0.427778,0.903440]] 2025-10-28T18:46:20.598Z,1761677180.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072724,-0.901303,-0.427040],[0.996798,-0.051410,-0.061249],[0.033250,-0.430127,0.902156]] 2025-10-28T18:46:20.990Z,1761677180.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045389,-0.902091,-0.429152],[0.998211,-0.024221,-0.054662],[0.038916,-0.430865,0.901577]] 2025-10-28T18:46:21.403Z,1761677181.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015872,-0.903068,-0.429204],[0.998886,0.004763,-0.046959],[0.044451,-0.429471,0.901986]] 2025-10-28T18:46:21.427Z,1761677181.427 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateRudder:A] Stopped 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:46:21.428Z,1761677181.428 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateCommandMode] Stopped 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:46:21.429Z,1761677181.429 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:46:21.430Z,1761677181.430 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:46:21.430Z,1761677181.430 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:46:21.430Z,1761677181.430 [marl:UpdateSpeed] Stopped 2025-10-28T18:46:21.430Z,1761677181.430 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:46:21.798Z,1761677181.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016878,-0.903333,-0.428607],[0.998667,0.036140,-0.036843],[0.048772,-0.427414,0.902739]] 2025-10-28T18:46:21.841Z,1761677181.841 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:46:21.841Z,1761677181.841 [marl:UpdateRudder:B] Stopped 2025-10-28T18:46:21.841Z,1761677181.841 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:46:21.841Z,1761677181.841 [marl:UpdateRudder] Stopped 2025-10-28T18:46:21.841Z,1761677181.841 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:46:22.202Z,1761677182.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051493,-0.902347,-0.427923],[0.997340,0.068595,-0.024632],[0.051580,-0.425517,0.903479]] 2025-10-28T18:46:22.641Z,1761677182.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087086,-0.901716,-0.423467],[0.994796,0.101280,-0.011082],[0.052882,-0.420298,0.905844]] 2025-10-28T18:46:23.012Z,1761677183.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122773,-0.900060,-0.418114],[0.991042,0.133498,0.003629],[0.052551,-0.414814,0.908387]] 2025-10-28T18:46:23.415Z,1761677183.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157917,-0.897844,-0.411021],[0.986135,0.164886,0.018698],[0.050984,-0.408275,0.911434]] 2025-10-28T18:46:23.857Z,1761677183.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191881,-0.895249,-0.402134],[0.980237,0.194916,0.033796],[0.048127,-0.400672,0.914957]] 2025-10-28T18:46:24.223Z,1761677184.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222846,-0.891694,-0.393981],[0.973825,0.222185,0.047952],[0.044779,-0.394355,0.917867]] 2025-10-28T18:46:24.657Z,1761677184.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252157,-0.886187,-0.388703],[0.966812,0.247783,0.062274],[0.041127,-0.391506,0.919256]] 2025-10-28T18:46:25.031Z,1761677185.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279705,-0.879649,-0.384686],[0.959339,0.271878,0.075841],[0.037874,-0.390257,0.919927]] 2025-10-28T18:46:25.434Z,1761677185.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306764,-0.871408,-0.382811],[0.951134,0.295544,0.089429],[0.035209,-0.391538,0.919488]] 2025-10-28T18:46:25.848Z,1761677185.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333648,-0.861483,-0.382787],[0.942117,0.318961,0.103337],[0.033071,-0.395108,0.918039]] 2025-10-28T18:46:26.243Z,1761677186.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360939,-0.850362,-0.382894],[0.932049,0.342904,0.117057],[0.031755,-0.399126,0.916346]] 2025-10-28T18:46:26.662Z,1761677186.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388829,-0.837347,-0.384268],[0.920785,0.367270,0.131407],[0.031097,-0.404923,0.913822]] 2025-10-28T18:46:27.052Z,1761677187.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418270,-0.822419,-0.385587],[0.907804,0.392839,0.146865],[0.030689,-0.411467,0.910908]] 2025-10-28T18:46:27.454Z,1761677187.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448942,-0.805908,-0.385957],[0.893043,0.419368,0.163108],[0.030408,-0.417903,0.907983]] 2025-10-28T18:46:27.866Z,1761677187.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480116,-0.789096,-0.383166],[0.876685,0.446683,0.178602],[0.030219,-0.421666,0.906248]] 2025-10-28T18:46:28.262Z,1761677188.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511781,-0.770605,-0.379801],[0.858594,0.474183,0.194849],[0.029944,-0.425815,0.904315]] 2025-10-28T18:46:28.670Z,1761677188.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543272,-0.751663,-0.373975],[0.839035,0.501800,0.210280],[0.029601,-0.428017,0.903286]] 2025-10-28T18:46:29.070Z,1761677189.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574265,-0.733306,-0.363982],[0.818151,0.529883,0.223278],[0.029136,-0.426013,0.904248]] 2025-10-28T18:46:29.475Z,1761677189.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604291,-0.713449,-0.354715],[0.796258,0.556614,0.236968],[0.028375,-0.425642,0.904446]] 2025-10-28T18:46:29.889Z,1761677189.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632615,-0.696682,-0.338279],[0.773996,0.583954,0.244803],[0.026989,-0.416693,0.908647]] 2025-10-28T18:46:30.283Z,1761677190.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659509,-0.679117,-0.322255],[0.751277,0.609821,0.252390],[0.025115,-0.408556,0.912388]] 2025-10-28T18:46:30.686Z,1761677190.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684621,-0.662182,-0.304646],[0.728545,0.634692,0.257659],[0.022739,-0.398347,0.916953]] 2025-10-28T18:46:31.091Z,1761677191.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707972,-0.644751,-0.288223],[0.705961,0.657558,0.263128],[0.019871,-0.389761,0.920702]] 2025-10-28T18:46:31.496Z,1761677191.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730242,-0.626539,-0.272389],[0.682987,0.679176,0.268789],[0.016593,-0.382319,0.923881]] 2025-10-28T18:46:31.907Z,1761677191.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751021,-0.607026,-0.259783],[0.660151,0.698064,0.277322],[0.013004,-0.379771,0.924989]] 2025-10-28T18:46:32.306Z,1761677192.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770853,-0.586291,-0.249097],[0.636944,0.715183,0.287779],[0.009428,-0.380496,0.924734]] 2025-10-28T18:46:32.706Z,1761677192.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789839,-0.564643,-0.239441],[0.613287,0.730818,0.299641],[0.005797,-0.383514,0.923517]] 2025-10-28T18:46:33.111Z,1761677193.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808043,-0.541006,-0.233193],[0.589118,0.743686,0.316023],[0.002452,-0.392738,0.919647]] 2025-10-28T18:46:33.516Z,1761677193.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825255,-0.517859,-0.225336],[0.564760,0.756365,0.330087],[-0.000503,-0.399667,0.916660]] 2025-10-28T18:46:33.922Z,1761677193.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841764,-0.494208,-0.217235],[0.539837,0.768377,0.343763],[-0.002972,-0.406639,0.913584]] 2025-10-28T18:46:34.323Z,1761677194.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857538,-0.469754,-0.209667],[0.514400,0.779390,0.357691],[-0.004614,-0.414587,0.909998]] 2025-10-28T18:46:34.726Z,1761677194.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872704,-0.445373,-0.200076],[0.488218,0.791326,0.368030],[-0.005585,-0.418862,0.908033]] 2025-10-28T18:46:34.799Z,1761677194.799 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:46:34.800Z,1761677194.800 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:46:34.804Z,1761677194.804 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:46:34.804Z,1761677194.804 [marl:UpdateRudder:A] Stopped 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode] Stopped 2025-10-28T18:46:34.805Z,1761677194.805 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed] Stopped 2025-10-28T18:46:34.806Z,1761677194.806 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:46:35.132Z,1761677195.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887573,-0.419207,-0.190998],[0.460634,0.802619,0.378970],[-0.005568,-0.424343,0.905484]] 2025-10-28T18:46:35.156Z,1761677195.156 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:46:35.157Z,1761677195.157 [marl:UpdateRudder:B] Stopped 2025-10-28T18:46:35.157Z,1761677195.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:46:35.157Z,1761677195.157 [marl:UpdateRudder] Stopped 2025-10-28T18:46:35.157Z,1761677195.157 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:46:35.534Z,1761677195.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902311,-0.391806,-0.179786],[0.431062,0.815643,0.385892],[-0.004554,-0.425694,0.904856]] 2025-10-28T18:46:35.941Z,1761677195.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916169,-0.364522,-0.166606],[0.400781,0.830243,0.387389],[-0.002888,-0.421687,0.906737]] 2025-10-28T18:46:36.347Z,1761677196.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929528,-0.335690,-0.152609],[0.368749,0.845159,0.386949],[-0.000916,-0.415954,0.909385]] 2025-10-28T18:46:36.749Z,1761677196.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942066,-0.305497,-0.138502],[0.335426,0.859245,0.386248],[0.001009,-0.410328,0.911937]] 2025-10-28T18:46:37.151Z,1761677197.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953755,-0.273257,-0.125228],[0.300571,0.871030,0.388540],[0.002906,-0.408212,0.912883]] 2025-10-28T18:46:37.554Z,1761677197.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964500,-0.239649,-0.110941],[0.264040,0.882702,0.388742],[0.004766,-0.404235,0.914643]] 2025-10-28T18:46:37.963Z,1761677197.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974006,-0.205425,-0.095460],[0.226439,0.894360,0.385805],[0.006121,-0.397392,0.917628]] 2025-10-28T18:46:38.376Z,1761677198.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982198,-0.170063,-0.079789],[0.187719,0.904451,0.383054],[0.007022,-0.391212,0.920274]] 2025-10-28T18:46:38.771Z,1761677198.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988793,-0.134685,-0.064404],[0.149106,0.912408,0.381155],[0.007427,-0.386486,0.922265]] 2025-10-28T18:46:39.170Z,1761677199.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993867,-0.099352,-0.048548],[0.110354,0.919141,0.378156],[0.007052,-0.381194,0.924468]] 2025-10-28T18:46:39.575Z,1761677199.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997297,-0.065525,-0.033231],[0.073235,0.922693,0.378515],[0.005860,-0.379925,0.924999]] 2025-10-28T18:46:39.989Z,1761677199.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999275,-0.033756,-0.017604],[0.037909,0.924882,0.378361],[0.003509,-0.378754,0.925491]] 2025-10-28T18:46:40.383Z,1761677200.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999992,-0.003354,-0.001984],[0.003856,0.924969,0.380022],[0.000560,-0.380027,0.924975]] 2025-10-28T18:46:40.790Z,1761677200.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999563,0.026218,0.013675],[-0.029452,0.924029,0.381186],[-0.002642,-0.381422,0.924397]] 2025-10-28T18:46:41.190Z,1761677201.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998069,0.054961,0.028929],[-0.061836,0.923019,0.379753],[-0.005830,-0.380808,0.924636]] 2025-10-28T18:46:41.596Z,1761677201.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995541,0.083299,0.044262],[-0.093911,0.919346,0.382079],[-0.008865,-0.384532,0.923069]] 2025-10-28T18:46:42.003Z,1761677202.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992003,0.111387,0.059353],[-0.125659,0.915661,0.381806],[-0.011819,-0.386211,0.922335]] 2025-10-28T18:46:42.403Z,1761677202.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987543,0.138518,0.074644],[-0.156656,0.910007,0.383856],[-0.014756,-0.390768,0.920371]] 2025-10-28T18:46:42.807Z,1761677202.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981993,0.166041,0.090115],[-0.188121,0.903240,0.385704],[-0.017353,-0.395711,0.918211]] 2025-10-28T18:46:43.213Z,1761677203.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975295,0.193875,0.105884],[-0.220026,0.895265,0.387413],[-0.019684,-0.401140,0.915805]] 2025-10-28T18:46:43.614Z,1761677203.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967400,0.222297,0.121329],[-0.252267,0.888060,0.384332],[-0.022312,-0.402410,0.915187]] 2025-10-28T18:46:44.018Z,1761677204.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958554,0.250155,0.136369],[-0.283789,0.880737,0.379164],[-0.025255,-0.402149,0.915226]] 2025-10-28T18:46:44.423Z,1761677204.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948441,0.279098,0.150214],[-0.315711,0.873829,0.369798],[-0.028052,-0.398156,0.916889]] 2025-10-28T18:46:44.831Z,1761677204.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937034,0.307990,0.164648],[-0.347870,0.864808,0.362069],[-0.030876,-0.396547,0.917495]] 2025-10-28T18:46:45.232Z,1761677205.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923803,0.336989,0.181731],[-0.381364,0.851941,0.358827],[-0.033903,-0.400792,0.915542]] 2025-10-28T18:46:45.634Z,1761677205.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909304,0.365772,0.198434],[-0.414503,0.838276,0.354232],[-0.036775,-0.404356,0.913862]] 2025-10-28T18:46:46.039Z,1761677206.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893139,0.394509,0.216023],[-0.448040,0.822568,0.350203],[-0.039535,-0.409567,0.911423]] 2025-10-28T18:46:46.443Z,1761677206.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875595,0.424097,0.231248],[-0.481224,0.807385,0.341399],[-0.041920,-0.410209,0.911027]] 2025-10-28T18:46:46.855Z,1761677206.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857076,0.453621,0.244230],[-0.513322,0.792236,0.329943],[-0.043819,-0.408155,0.911860]] 2025-10-28T18:46:47.251Z,1761677207.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837837,0.482083,0.256174],[-0.544033,0.776287,0.318444],[-0.045348,-0.406171,0.912671]] 2025-10-28T18:46:47.654Z,1761677207.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817659,0.511317,0.264553],[-0.573858,0.760644,0.303493],[-0.046049,-0.399969,0.915371]] 2025-10-28T18:46:48.059Z,1761677208.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797396,0.539003,0.271359],[-0.601657,0.744801,0.288582],[-0.046562,-0.393379,0.918196]] 2025-10-28T18:46:48.105Z,1761677208.105 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:46:48.105Z,1761677208.105 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateRudder:A] Stopped 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:46:48.106Z,1761677208.106 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateCommandMode] Stopped 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:46:48.107Z,1761677208.107 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:46:48.108Z,1761677208.108 [marl:UpdateSpeed] Stopped 2025-10-28T18:46:48.112Z,1761677208.112 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:46:48.464Z,1761677208.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776994,0.565234,0.277111],[-0.627775,0.728377,0.274528],[-0.046669,-0.387270,0.920784]] 2025-10-28T18:46:48.493Z,1761677208.493 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:46:48.494Z,1761677208.494 [marl:UpdateRudder:B] Stopped 2025-10-28T18:46:48.494Z,1761677208.494 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:46:48.494Z,1761677208.494 [marl:UpdateRudder] Stopped 2025-10-28T18:46:48.494Z,1761677208.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:46:49.080Z,1761677209.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:46:49.674Z,1761677209.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714911,0.630690,0.301882],[-0.697712,0.671759,0.248875],[-0.045829,-0.388550,0.920287]] 2025-10-28T18:46:50.078Z,1761677210.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693203,0.647650,0.316259],[-0.719318,0.649247,0.247102],[-0.045295,-0.398783,0.915926]] 2025-10-28T18:46:50.086Z,1761677210.086 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:46:50.488Z,1761677210.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670312,0.664362,0.330613],[-0.740691,0.626228,0.243341],[-0.045373,-0.407997,0.911855]] 2025-10-28T18:46:50.893Z,1761677210.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620302,0.697758,0.358273],[-0.782945,0.578274,0.229341],[-0.047156,-0.422769,0.905010]] 2025-10-28T18:46:51.297Z,1761677211.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593505,0.714043,0.371341],[-0.803380,0.553293,0.220108],[-0.048293,-0.428963,0.902030]] 2025-10-28T18:46:51.699Z,1761677211.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566218,0.731807,0.379283],[-0.822783,0.529308,0.207032],[-0.049250,-0.429293,0.901822]] 2025-10-28T18:46:52.103Z,1761677212.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537971,0.749600,0.385599],[-0.841498,0.504519,0.193241],[-0.049688,-0.428439,0.902204]] 2025-10-28T18:46:52.505Z,1761677212.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508455,0.770128,0.385197],[-0.859660,0.479752,0.175566],[-0.049591,-0.420406,0.905980]] 2025-10-28T18:46:52.907Z,1761677212.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478151,0.793152,0.377201],[-0.876891,0.455247,0.154311],[-0.049328,-0.404548,0.913185]] 2025-10-28T18:46:53.313Z,1761677213.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447532,0.813670,0.371021],[-0.892916,0.429385,0.135385],[-0.049152,-0.391880,0.918702]] 2025-10-28T18:46:53.714Z,1761677213.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416963,0.832626,0.364521],[-0.907615,0.402927,0.117835],[-0.048763,-0.379978,0.923709]] 2025-10-28T18:46:53.777Z,1761677213.777 [marl:NeedComms] Running Loop=1 2025-10-28T18:46:53.777Z,1761677213.777 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T18:46:53.777Z,1761677213.777 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T18:46:53.777Z,1761677213.777 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T18:46:53.778Z,1761677213.778 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T18:46:53.778Z,1761677213.778 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T18:46:53.779Z,1761677213.779 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T18:46:53.779Z,1761677213.779 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T18:46:53.780Z,1761677213.780 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T18:46:53.784Z,1761677213.784 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T18:46:53.784Z,1761677213.784 [marl:NeedComms:A] Running Loop=1 2025-10-28T18:46:53.786Z,1761677213.786 [marl:NeedComms:A](INFO): last time_fix was: 1761676012.000000 second since 1970/01/01T00:00:00Z 2025-10-28T18:46:53.786Z,1761677213.786 [marl:NeedComms:A] Stopped 2025-10-28T18:46:54.127Z,1761677214.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387234,0.847587,0.362830],[-0.920712,0.376141,0.103955],[-0.048364,-0.374317,0.926039]] 2025-10-28T18:46:54.522Z,1761677214.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358059,0.857341,0.369811],[-0.932453,0.348791,0.094212],[-0.048214,-0.378565,0.924318]] 2025-10-28T18:46:54.926Z,1761677214.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328411,0.865807,0.377524],[-0.943304,0.321045,0.084308],[-0.048208,-0.383808,0.922154]] 2025-10-28T18:46:55.342Z,1761677215.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299853,0.872014,0.386884],[-0.952723,0.294580,0.074438],[-0.049057,-0.390914,0.919119]] 2025-10-28T18:46:56.141Z,1761677216.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239811,0.886021,0.396809],[-0.969342,0.241075,0.047533],[-0.053545,-0.396042,0.916670]] 2025-10-28T18:46:56.543Z,1761677216.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207537,0.892240,0.401043],[-0.976366,0.214215,0.028677],[-0.060323,-0.397516,0.915610]] 2025-10-28T18:46:56.948Z,1761677216.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174282,0.899672,0.400270],[-0.982200,0.187752,0.005657],[-0.070063,-0.394131,0.916380]] 2025-10-28T18:46:57.351Z,1761677217.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140424,0.907007,0.397014],[-0.986699,0.161364,-0.019650],[-0.081886,-0.388974,0.917602]] 2025-10-28T18:46:57.758Z,1761677217.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106192,0.914354,0.390743],[-0.989781,0.134812,-0.046473],[-0.095170,-0.381815,0.919326]] 2025-10-28T18:46:58.160Z,1761677218.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071775,0.920872,0.383201],[-0.991384,0.108071,-0.074018],[-0.109574,-0.374587,0.920694]] 2025-10-28T18:46:58.564Z,1761677218.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037125,0.925869,0.376016],[-0.991528,0.080999,-0.101549],[-0.124478,-0.369061,0.921032]] 2025-10-28T18:46:58.967Z,1761677218.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003351,0.926765,0.375627],[-0.990204,0.055509,-0.128120],[-0.139588,-0.371518,0.917872]] 2025-10-28T18:46:59.371Z,1761677219.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030863,0.926209,0.375746],[-0.987476,0.029937,-0.154903],[-0.154721,-0.375821,0.913685]] 2025-10-28T18:46:59.782Z,1761677219.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064544,0.924318,0.376125],[-0.983413,0.005109,-0.181310],[-0.169510,-0.381588,0.908657]] 2025-10-28T18:47:00.186Z,1761677220.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097729,0.921445,0.376015],[-0.978098,-0.019161,-0.207260],[-0.183774,-0.388035,0.903137]] 2025-10-28T18:47:00.986Z,1761677220.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162028,0.914897,0.369744],[-0.964045,-0.066784,-0.257209],[-0.210627,-0.398125,0.892823]] 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateRudder:A] Stopped 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:47:01.455Z,1761677221.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateCommandMode] Stopped 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:47:01.456Z,1761677221.456 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed] Stopped 2025-10-28T18:47:01.457Z,1761677221.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:47:01.801Z,1761677221.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224261,0.907796,0.354421],[-0.945787,-0.115069,-0.303720],[-0.234933,-0.403319,0.884387]] 2025-10-28T18:47:01.835Z,1761677221.835 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:47:01.835Z,1761677221.835 [marl:UpdateRudder:B] Stopped 2025-10-28T18:47:01.835Z,1761677221.835 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:47:01.835Z,1761677221.835 [marl:UpdateRudder] Stopped 2025-10-28T18:47:01.836Z,1761677221.836 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:47:02.199Z,1761677222.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254337,0.905332,0.340128],[-0.935099,-0.140464,-0.325360],[-0.246783,-0.400805,0.882300]] 2025-10-28T18:47:02.647Z,1761677222.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284734,0.901030,0.327216],[-0.923173,-0.165791,-0.346793],[-0.258222,-0.400821,0.879013]] 2025-10-28T18:47:03.006Z,1761677223.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314881,0.895230,0.315298],[-0.910074,-0.190463,-0.368087],[-0.269470,-0.402848,0.874699]] 2025-10-28T18:47:03.410Z,1761677223.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345053,0.889868,0.298451],[-0.895703,-0.217184,-0.388003],[-0.280453,-0.401205,0.871998]] 2025-10-28T18:47:04.219Z,1761677224.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403910,0.876506,0.261904],[-0.863829,-0.271209,-0.424553],[-0.301092,-0.397722,0.866696]] 2025-10-28T18:47:04.656Z,1761677224.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431887,0.868320,0.243914],[-0.846835,-0.297326,-0.440984],[-0.310394,-0.397010,0.863735]] 2025-10-28T18:47:05.043Z,1761677225.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458986,0.859076,0.226541],[-0.829219,-0.322690,-0.456363],[-0.318947,-0.397316,0.860472]] 2025-10-28T18:47:05.435Z,1761677225.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485065,0.849303,0.208316],[-0.811131,-0.347959,-0.470098],[-0.326770,-0.397000,0.857678]] 2025-10-28T18:47:05.836Z,1761677225.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510974,0.838850,0.187712],[-0.791951,-0.374491,-0.482255],[-0.334243,-0.395078,0.855684]] 2025-10-28T18:47:06.243Z,1761677226.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536819,0.827078,0.166638],[-0.771371,-0.401120,-0.494054],[-0.341779,-0.393757,0.853312]] 2025-10-28T18:47:06.669Z,1761677226.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561928,0.814423,0.144751],[-0.749779,-0.427572,-0.504988],[-0.349382,-0.392298,0.850902]] 2025-10-28T18:47:07.455Z,1761677227.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612977,0.784910,0.090416],[-0.700873,-0.487353,-0.520830],[-0.364740,-0.382627,0.848859]] 2025-10-28T18:47:07.509Z,1761677227.509 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:47:07.730Z,1761677227.730 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:47:07.730Z,1761677227.730 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:47:07.859Z,1761677227.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637314,0.767617,0.067786],[-0.674476,-0.513106,-0.530852],[-0.372710,-0.384040,0.844749]] 2025-10-28T18:47:07.981Z,1761677227.981 [DAT](INFO): DAT read: user:143> 2025-10-28T18:47:07.982Z,1761677227.982 [DAT](INFO): DAT read: Tx time:18:47:07.7401 2025-10-28T18:47:07.982Z,1761677227.982 [DAT](INFO): Ping request sent. 2025-10-28T18:47:07.982Z,1761677227.982 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:47:07.982Z,1761677227.982 [DAT](INFO): publishing transmit ping time 2025-10-28T18:47:07.983Z,1761677227.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969 2025-10-28T18:47:08.233Z,1761677228.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251210 2025-10-28T18:47:08.334Z,1761677228.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661252,0.748886,0.043761],[-0.646371,-0.539185,-0.539892],[-0.380723,-0.385291,0.840596]] 2025-10-28T18:47:08.485Z,1761677228.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951 2025-10-28T18:47:08.718Z,1761677228.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684519,0.728806,0.016610],[-0.616645,-0.566720,-0.546422],[-0.388822,-0.384279,0.837345]] 2025-10-28T18:47:08.737Z,1761677228.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834 2025-10-28T18:47:08.989Z,1761677228.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855 2025-10-28T18:47:09.183Z,1761677229.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706254,0.707919,-0.007529],[-0.586534,-0.591044,-0.553755],[-0.396463,-0.386676,0.832646]] 2025-10-28T18:47:09.241Z,1761677229.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258847 2025-10-28T18:47:09.493Z,1761677229.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878 2025-10-28T18:47:09.575Z,1761677229.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726857,0.686142,-0.029785],[-0.556020,-0.613363,-0.560917],[-0.403138,-0.391146,0.827336]] 2025-10-28T18:47:09.750Z,1761677229.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766922 2025-10-28T18:47:09.979Z,1761677229.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745844,0.664184,-0.050761],[-0.525659,-0.633666,-0.567583],[-0.409144,-0.396645,0.821750]] 2025-10-28T18:47:09.997Z,1761677229.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014911 2025-10-28T18:47:10.249Z,1761677230.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267149 2025-10-28T18:47:10.383Z,1761677230.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762950,0.642693,-0.069664],[-0.496384,-0.651458,-0.573764],[-0.414137,-0.403174,0.816052]] 2025-10-28T18:47:10.501Z,1761677230.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518755 2025-10-28T18:47:10.754Z,1761677230.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772118 2025-10-28T18:47:10.795Z,1761677230.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778907,0.620569,-0.090543],[-0.467217,-0.670511,-0.576301],[-0.418345,-0.406582,0.812206]] 2025-10-28T18:47:11.005Z,1761677231.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860 2025-10-28T18:47:11.191Z,1761677231.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793615,0.598508,-0.109380],[-0.438754,-0.687529,-0.578618],[-0.421509,-0.411209,0.808231]] 2025-10-28T18:47:11.257Z,1761677231.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274827 2025-10-28T18:47:11.509Z,1761677231.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526917 2025-10-28T18:47:11.595Z,1761677231.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807616,0.574966,-0.131040],[-0.410587,-0.707749,-0.574900],[-0.423291,-0.410495,0.807663]] 2025-10-28T18:47:11.762Z,1761677231.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779807 2025-10-28T18:47:11.999Z,1761677231.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820836,0.551706,-0.147812],[-0.382569,-0.723233,-0.574956],[-0.424109,-0.415396,0.804722]] 2025-10-28T18:47:12.013Z,1761677232.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030873 2025-10-28T18:47:12.265Z,1761677232.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282922 2025-10-28T18:47:12.403Z,1761677232.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833353,0.527516,-0.165076],[-0.355171,-0.739880,-0.571342],[-0.423528,-0.417499,0.803939]] 2025-10-28T18:47:12.517Z,1761677232.517 [DAT](INFO): DAT read: Rx Time:18:47:11.8545 2025-10-28T18:47:12.517Z,1761677232.517 [DAT](INFO): Rx dataTimestamp_ set to:1761677232.517166 2025-10-28T18:47:12.518Z,1761677232.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535924 2025-10-28T18:47:12.769Z,1761677232.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787312 2025-10-28T18:47:12.820Z,1761677232.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845244,0.502305,-0.182352],[-0.327962,-0.757026,-0.565113],[-0.421904,-0.417854,0.804608]] 2025-10-28T18:47:13.034Z,1761677233.034 [DAT](INFO): DAT read: 18:47:11.8545 LVL= 32752, 32753, 24978, 32755, AGC= 74, IDX= 486, 0.06,-2.795,-1.670,-1.420,-2.337, PHS=-0.356, 0.712, 0.872, RAW= 263.1, -20.6, CAL= 262.4, -25.5, ROT= 247.6, 25.5 2025-10-28T18:47:13.035Z,1761677233.035 [DAT](INFO): got valid direction response: 18:47:11.8545 LVL= 32752, 32753, 24978, 32755, AGC= 74, IDX= 486, 0.06,-2.795,-1.670,-1.420,-2.337, PHS=-0.356, 0.712, 0.872, RAW= 263.1, -20.6, CAL= 262.4, -25.5, ROT= 247.6, 25.5 2025-10-28T18:47:13.036Z,1761677233.036 [DAT](INFO): DAT read: $Error in header 2025-10-28T18:47:13.038Z,1761677233.038 [DAT](INFO): Received a bad header 2025-10-28T18:47:13.052Z,1761677233.052 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T18:47:13.053Z,1761677233.053 [DAT](INFO): direction in FSK: [-0.343948,-0.834482,-0.430511] 2025-10-28T18:47:13.211Z,1761677233.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856381,0.476659,-0.198516],[-0.301266,-0.773498,-0.557619],[-0.419346,-0.417728,0.806010]] 2025-10-28T18:47:13.343Z,1761677233.343 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677184.00. Resetting abort timer. 2025-10-28T18:47:14.018Z,1761677234.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877345,0.421920,-0.228582],[-0.247324,-0.805797,-0.538073],[-0.411214,-0.415542,0.811313]] 2025-10-28T18:47:14.424Z,1761677234.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886879,0.394526,-0.240406],[-0.220614,-0.818845,-0.529927],[-0.405925,-0.416945,0.813254]] 2025-10-28T18:47:14.826Z,1761677234.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895683,0.367172,-0.250871],[-0.194047,-0.830309,-0.522429],[-0.400122,-0.419250,0.814943]] 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateRudder:A] Stopped 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:47:14.879Z,1761677234.879 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:47:14.880Z,1761677234.880 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:47:14.880Z,1761677234.880 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateCommandMode] Stopped 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:47:14.881Z,1761677234.881 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:47:14.882Z,1761677234.882 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:47:14.882Z,1761677234.882 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:47:14.882Z,1761677234.882 [marl:UpdateSpeed] Stopped 2025-10-28T18:47:14.882Z,1761677234.882 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:47:15.231Z,1761677235.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903756,0.338090,-0.262528],[-0.167409,-0.843636,-0.510149],[-0.393954,-0.417101,0.819040]] 2025-10-28T18:47:15.281Z,1761677235.281 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:47:15.281Z,1761677235.281 [marl:UpdateRudder:B] Stopped 2025-10-28T18:47:15.281Z,1761677235.281 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:47:15.281Z,1761677235.281 [marl:UpdateRudder] Stopped 2025-10-28T18:47:15.282Z,1761677235.282 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:47:15.634Z,1761677235.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910872,0.307727,-0.274982],[-0.140259,-0.857497,-0.495002],[-0.388122,-0.412315,0.824232]] 2025-10-28T18:47:16.042Z,1761677236.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917335,0.274650,-0.288209],[-0.111553,-0.872256,-0.476157],[-0.382168,-0.404645,0.830789]] 2025-10-28T18:47:16.442Z,1761677236.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922655,0.242198,-0.300079],[-0.082502,-0.884121,-0.459916],[-0.376697,-0.399587,0.835721]] 2025-10-28T18:47:16.847Z,1761677236.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926780,0.207344,-0.313190],[-0.052276,-0.896916,-0.439100],[-0.371950,-0.390577,0.842083]] 2025-10-28T18:47:17.251Z,1761677237.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929532,0.171737,-0.326307],[-0.020926,-0.908065,-0.418307],[-0.368146,-0.382002,0.847669]] 2025-10-28T18:47:17.656Z,1761677237.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930875,0.137563,-0.338450],[0.011206,-0.915214,-0.402812],[-0.365166,-0.378761,0.850408]] 2025-10-28T18:47:18.059Z,1761677238.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930812,0.104034,-0.350381],[0.044103,-0.919662,-0.390227],[-0.362829,-0.378681,0.851444]] 2025-10-28T18:47:18.069Z,1761677238.069 [DAT](INFO): Reached modem response timeout 2025-10-28T18:47:18.463Z,1761677238.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929394,0.071531,-0.362092],[0.077359,-0.921498,-0.380601],[-0.360892,-0.381739,0.850901]] 2025-10-28T18:47:19.278Z,1761677239.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923379,0.010986,-0.383732],[0.143952,-0.916743,-0.372640],[-0.355877,-0.399327,0.844920]] 2025-10-28T18:47:19.675Z,1761677239.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919196,-0.020035,-0.393290],[0.176435,-0.913812,-0.365812],[-0.352064,-0.405643,0.843508]] 2025-10-28T18:47:20.078Z,1761677240.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914784,-0.048312,-0.401044],[0.207143,-0.908450,-0.363057],[-0.346789,-0.415192,0.841043]] 2025-10-28T18:47:20.215Z,1761677240.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:47:20.337Z,1761677240.337 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:47:20.337Z,1761677240.337 [DAT](INFO): response not received 2025-10-28T18:47:20.337Z,1761677240.337 [DAT](ERROR): No response from remote modem. 2025-10-28T18:47:20.483Z,1761677240.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909591,-0.079093,-0.407908],[0.237395,-0.904631,-0.353959],[-0.341011,-0.418793,0.841620]] 2025-10-28T18:47:20.888Z,1761677240.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903585,-0.110901,-0.413806],[0.267119,-0.901008,-0.341807],[-0.334936,-0.419387,0.843761]] 2025-10-28T18:47:21.216Z,1761677241.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:47:21.302Z,1761677241.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896381,-0.145628,-0.418682],[0.297240,-0.898157,-0.323978],[-0.328862,-0.414857,0.848377]] 2025-10-28T18:47:22.098Z,1761677242.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878364,-0.211790,-0.428511],[0.355698,-0.888474,-0.289988],[-0.319304,-0.407136,0.855736]] 2025-10-28T18:47:22.509Z,1761677242.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867258,-0.244556,-0.433654],[0.384777,-0.881985,-0.272121],[-0.315927,-0.402859,0.859008]] 2025-10-28T18:47:22.907Z,1761677242.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854747,-0.275968,-0.439601],[0.413669,-0.873748,-0.255815],[-0.313504,-0.400507,0.860993]] 2025-10-28T18:47:23.312Z,1761677243.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841520,-0.305769,-0.445364],[0.441355,-0.864533,-0.240393],[-0.311527,-0.398859,0.862474]] 2025-10-28T18:47:24.127Z,1761677244.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799871,-0.376234,-0.467605],[0.516343,-0.828538,-0.216600],[-0.305936,-0.414696,0.856989]] 2025-10-28T18:47:24.531Z,1761677244.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785183,-0.400901,-0.471980],[0.539970,-0.816372,-0.204863],[-0.303182,-0.415710,0.857476]] 2025-10-28T18:47:24.931Z,1761677244.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769989,-0.425813,-0.475184],[0.563153,-0.803645,-0.192388],[-0.299958,-0.415738,0.858596]] 2025-10-28T18:47:25.741Z,1761677245.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738495,-0.477282,-0.476264],[0.608716,-0.775722,-0.166494],[-0.289984,-0.412864,0.863396]] 2025-10-28T18:47:26.142Z,1761677246.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722762,-0.504751,-0.472062],[0.630849,-0.760792,-0.152402],[-0.282216,-0.407950,0.868292]] 2025-10-28T18:47:26.553Z,1761677246.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707172,-0.530168,-0.467792],[0.652515,-0.744152,-0.143046],[-0.272270,-0.406400,0.872186]] 2025-10-28T18:47:26.946Z,1761677246.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691205,-0.551368,-0.467150],[0.673803,-0.725364,-0.140840],[-0.261199,-0.412116,0.872889]] 2025-10-28T18:47:27.761Z,1761677247.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655306,-0.593632,-0.467093],[0.716075,-0.685043,-0.133989],[-0.240438,-0.422278,0.873997]] 2025-10-28T18:47:28.160Z,1761677248.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631925,-0.618406,-0.467166],[0.738742,-0.662895,-0.121779],[-0.234373,-0.422071,0.875743]] 2025-10-28T18:47:28.193Z,1761677248.193 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:47:28.193Z,1761677248.193 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:47:28.193Z,1761677248.193 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateRudder:A] Stopped 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:47:28.194Z,1761677248.194 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateCommandMode] Stopped 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:47:28.195Z,1761677248.195 [marl:UpdateSpeed] Stopped 2025-10-28T18:47:28.196Z,1761677248.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:47:28.562Z,1761677248.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605157,-0.644325,-0.467579],[0.761727,-0.639365,-0.104809],[-0.231423,-0.419593,0.877716]] 2025-10-28T18:47:28.670Z,1761677248.670 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:47:28.670Z,1761677248.670 [marl:UpdateRudder:B] Stopped 2025-10-28T18:47:28.671Z,1761677248.671 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:47:28.671Z,1761677248.671 [marl:UpdateRudder] Stopped 2025-10-28T18:47:28.671Z,1761677248.671 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:47:28.967Z,1761677248.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576227,-0.669874,-0.468221],[0.783984,-0.614924,-0.085069],[-0.230935,-0.416097,0.879507]] 2025-10-28T18:47:29.377Z,1761677249.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546063,-0.694588,-0.468362],[0.804708,-0.590350,-0.062711],[-0.232939,-0.411138,0.881308]] 2025-10-28T18:47:29.790Z,1761677249.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514690,-0.719244,-0.466671],[0.823972,-0.565398,-0.037353],[-0.236989,-0.403749,0.883642]] 2025-10-28T18:47:30.179Z,1761677250.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482512,-0.743768,-0.462592],[0.841495,-0.540187,-0.009204],[-0.243041,-0.393710,0.886523]] 2025-10-28T18:47:30.589Z,1761677250.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449961,-0.765489,-0.459958],[0.856974,-0.515018,0.018776],[-0.251260,-0.385724,0.887742]] 2025-10-28T18:47:30.988Z,1761677250.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417079,-0.786335,-0.455766],[0.870488,-0.489798,0.048453],[-0.261333,-0.376530,0.888780]] 2025-10-28T18:47:31.394Z,1761677251.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383799,-0.802374,-0.457050],[0.882069,-0.465008,0.075644],[-0.273227,-0.374118,0.886218]] 2025-10-28T18:47:31.797Z,1761677251.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349764,-0.814705,-0.462516],[0.891871,-0.440685,0.101800],[-0.286761,-0.376898,0.880747]] 2025-10-28T18:47:32.200Z,1761677252.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315133,-0.822551,-0.473394],[0.900099,-0.417168,0.125669],[-0.300854,-0.386499,0.871840]] 2025-10-28T18:47:32.655Z,1761677252.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280135,-0.828665,-0.484601],[0.906977,-0.393866,0.149208],[-0.314511,-0.397724,0.861916]] 2025-10-28T18:47:33.007Z,1761677253.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246316,-0.834285,-0.493251],[0.912619,-0.370985,0.171749],[-0.326276,-0.407845,0.852764]] 2025-10-28T18:47:33.414Z,1761677253.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215313,-0.839242,-0.499313],[0.917362,-0.349119,0.191214],[-0.334794,-0.416880,0.845059]] 2025-10-28T18:47:33.814Z,1761677253.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187765,-0.842218,-0.505385],[0.921759,-0.328821,0.205517],[-0.339271,-0.427254,0.838063]] 2025-10-28T18:47:34.221Z,1761677254.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162158,-0.847185,-0.505947],[0.926149,-0.307605,0.218238],[-0.340520,-0.433193,0.834500]] 2025-10-28T18:47:34.656Z,1761677254.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136982,-0.854103,-0.501740],[0.930478,-0.284683,0.230577],[-0.339773,-0.435273,0.833721]] 2025-10-28T18:47:35.026Z,1761677255.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112069,-0.861397,-0.495414],[0.934315,-0.261108,0.242646],[-0.338372,-0.435680,0.834079]] 2025-10-28T18:47:35.434Z,1761677255.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087137,-0.868909,-0.487242],[0.937328,-0.237154,0.255291],[-0.337376,-0.434460,0.835118]] 2025-10-28T18:47:35.836Z,1761677255.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061999,-0.878618,-0.473484],[0.939303,-0.211753,0.269945],[-0.337440,-0.428009,0.838417]] 2025-10-28T18:47:36.238Z,1761677256.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036238,-0.888607,-0.457235],[0.940128,-0.185470,0.285939],[-0.338890,-0.419497,0.842125]] 2025-10-28T18:47:36.661Z,1761677256.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009259,-0.898224,-0.439441],[0.939662,-0.158107,0.303376],[-0.341978,-0.410117,0.845491]] 2025-10-28T18:47:37.047Z,1761677257.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019420,-0.906786,-0.421145],[0.938081,-0.129192,0.321425],[-0.345872,-0.401309,0.848129]] 2025-10-28T18:47:37.459Z,1761677257.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049746,-0.913233,-0.404389],[0.935532,-0.099168,0.339036],[-0.349722,-0.395184,0.849426]] 2025-10-28T18:47:37.855Z,1761677257.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079969,-0.918619,-0.386969],[0.932339,-0.068404,0.355056],[-0.352631,-0.389179,0.850994]] 2025-10-28T18:47:38.270Z,1761677258.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110500,-0.921315,-0.372786],[0.928410,-0.038194,0.369589],[-0.354746,-0.386938,0.851137]] 2025-10-28T18:47:38.667Z,1761677258.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140432,-0.921786,-0.361371],[0.923984,-0.009116,0.382322],[-0.355714,-0.387591,0.850435]] 2025-10-28T18:47:39.069Z,1761677259.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170195,-0.921180,-0.349945],[0.918836,0.020036,0.394132],[-0.356055,-0.388622,0.849823]] 2025-10-28T18:47:39.875Z,1761677259.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230187,-0.918345,-0.321959],[0.904234,0.079558,0.419560],[-0.359687,-0.387703,0.848712]] 2025-10-28T18:47:40.287Z,1761677260.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260761,-0.917122,-0.301480],[0.894050,0.111585,0.433848],[-0.364251,-0.382669,0.849050]] 2025-10-28T18:47:40.682Z,1761677260.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291864,-0.915566,-0.276684],[0.881769,0.145499,0.448679],[-0.370538,-0.374925,0.849784]] 2025-10-28T18:47:41.086Z,1761677261.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323257,-0.911765,-0.253358],[0.867168,0.178224,0.465033],[-0.378847,-0.370029,0.848265]] 2025-10-28T18:47:41.491Z,1761677261.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354174,-0.905578,-0.233428],[0.850352,0.207979,0.483370],[-0.389181,-0.369693,0.843721]] 2025-10-28T18:47:41.515Z,1761677261.515 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:47:41.516Z,1761677261.516 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:47:41.533Z,1761677261.533 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:47:41.533Z,1761677261.533 [marl:UpdateRudder:A] Stopped 2025-10-28T18:47:41.533Z,1761677261.533 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:47:41.533Z,1761677261.533 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode] Stopped 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:47:41.534Z,1761677261.534 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:47:41.535Z,1761677261.535 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:47:41.535Z,1761677261.535 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:47:41.535Z,1761677261.535 [marl:UpdateSpeed] Stopped 2025-10-28T18:47:41.535Z,1761677261.535 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:47:42.010Z,1761677262.010 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:47:42.010Z,1761677262.010 [marl:UpdateRudder:B] Stopped 2025-10-28T18:47:42.010Z,1761677262.010 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:47:42.010Z,1761677262.010 [marl:UpdateRudder] Stopped 2025-10-28T18:47:42.010Z,1761677262.010 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:47:42.302Z,1761677262.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409757,-0.890021,-0.199906],[0.814577,0.258377,0.519331],[-0.410564,-0.375639,0.830862]] 2025-10-28T18:47:42.703Z,1761677262.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434275,-0.880868,-0.188352],[0.797709,0.278956,0.534643],[-0.418408,-0.382432,0.823821]] 2025-10-28T18:47:43.106Z,1761677263.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456729,-0.871519,-0.178476],[0.782583,0.298210,0.546475],[-0.423040,-0.389263,0.818237]] 2025-10-28T18:47:43.513Z,1761677263.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477346,-0.862373,-0.168682],[0.769548,0.317600,0.554009],[-0.424189,-0.394263,0.815243]] 2025-10-28T18:47:43.919Z,1761677263.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498320,-0.852274,-0.159078],[0.756704,0.337990,0.559608],[-0.423173,-0.399239,0.813347]] 2025-10-28T18:47:44.321Z,1761677264.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520670,-0.840675,-0.148891],[0.742684,0.359973,0.564658],[-0.421097,-0.404580,0.811783]] 2025-10-28T18:47:45.127Z,1761677265.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564389,-0.816302,-0.122948],[0.712625,0.406599,0.571702],[-0.416691,-0.410278,0.811197]] 2025-10-28T18:47:45.536Z,1761677265.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582531,-0.805233,-0.110712],[0.698555,0.426344,0.574675],[-0.415546,-0.412105,0.810858]] 2025-10-28T18:47:45.934Z,1761677265.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599093,-0.794325,-0.100676],[0.685742,0.444111,0.576648],[-0.413335,-0.414503,0.810766]] 2025-10-28T18:47:46.339Z,1761677266.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614617,-0.783421,-0.092178],[0.674442,0.461289,0.576489],[-0.409113,-0.416489,0.811889]] 2025-10-28T18:47:46.756Z,1761677266.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629757,-0.772132,-0.084956],[0.664278,0.478617,0.574160],[-0.402666,-0.418016,0.814323]] 2025-10-28T18:47:47.147Z,1761677267.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644163,-0.760526,-0.081573],[0.655164,0.493573,0.571967],[-0.394733,-0.421884,0.816211]] 2025-10-28T18:47:47.551Z,1761677267.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658118,-0.748834,-0.078282],[0.646534,0.508787,0.568445],[-0.385842,-0.424715,0.818989]] 2025-10-28T18:47:47.956Z,1761677267.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674422,-0.734932,-0.070919],[0.635120,0.528467,0.563334],[-0.376534,-0.424967,0.823180]] 2025-10-28T18:47:48.358Z,1761677268.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695518,-0.716235,-0.057117],[0.617079,0.554722,0.558119],[-0.368060,-0.423427,0.827793]] 2025-10-28T18:47:48.773Z,1761677268.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717683,-0.695279,-0.038949],[0.595502,0.583775,0.551891],[-0.360981,-0.419277,0.833006]] 2025-10-28T18:47:49.577Z,1761677269.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761164,-0.648558,0.001270],[0.545797,0.641617,0.538918],[-0.350334,-0.409512,0.842357]] 2025-10-28T18:47:49.975Z,1761677269.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781536,-0.623306,0.026287],[0.518494,0.672396,0.528249],[-0.346936,-0.399216,0.848683]] 2025-10-28T18:47:50.379Z,1761677270.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801063,-0.596545,0.049321],[0.489009,0.699721,0.520827],[-0.345207,-0.393097,0.852236]] 2025-10-28T18:47:50.789Z,1761677270.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813809,-0.577294,0.066688],[0.468273,0.719388,0.513032],[-0.344144,-0.386281,0.855775]] 2025-10-28T18:47:51.187Z,1761677271.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824371,-0.561089,0.074774],[0.451346,0.731282,0.511385],[-0.341613,-0.387822,0.856093]] 2025-10-28T18:47:51.336Z,1761677271.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:47:51.591Z,1761677271.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834676,-0.545631,0.074854],[0.435075,0.736593,0.517823],[-0.337676,-0.399647,0.852207]] 2025-10-28T18:47:52.343Z,1761677272.343 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:47:52.401Z,1761677272.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857351,-0.510029,0.069419],[0.400801,0.746106,0.531681],[-0.322967,-0.428014,0.844095]] 2025-10-28T18:47:52.803Z,1761677272.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872062,-0.484240,0.070843],[0.376468,0.756261,0.535109],[-0.312697,-0.439978,0.841807]] 2025-10-28T18:47:53.206Z,1761677273.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888645,-0.451890,0.078135],[0.344212,0.769829,0.537477],[-0.303032,-0.450731,0.839651]] 2025-10-28T18:47:53.617Z,1761677273.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902421,-0.420334,0.094632],[0.310853,0.787265,0.532526],[-0.298339,-0.451147,0.841107]] 2025-10-28T18:47:54.015Z,1761677274.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913706,-0.387185,0.123409],[0.276374,0.814695,0.509794],[-0.297926,-0.431695,0.851399]] 2025-10-28T18:47:54.418Z,1761677274.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922126,-0.354460,0.155051],[0.243852,0.843628,0.478360],[-0.300365,-0.403299,0.864367]] 2025-10-28T18:47:54.824Z,1761677274.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928175,-0.324163,0.182783],[0.214544,0.867432,0.448924],[-0.304077,-0.377465,0.874676]] 2025-10-28T18:47:54.881Z,1761677274.881 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:47:54.881Z,1761677274.881 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateRudder:A] Stopped 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:47:54.882Z,1761677274.882 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateCommandMode] Stopped 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:47:54.883Z,1761677274.883 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:47:54.884Z,1761677274.884 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:47:54.884Z,1761677274.884 [marl:UpdateSpeed] Stopped 2025-10-28T18:47:54.884Z,1761677274.884 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:47:55.238Z,1761677275.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932967,-0.295392,0.205707],[0.187473,0.886591,0.422860],[-0.307287,-0.355950,0.882538]] 2025-10-28T18:47:55.290Z,1761677275.290 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:47:55.290Z,1761677275.290 [marl:UpdateRudder:B] Stopped 2025-10-28T18:47:55.290Z,1761677275.290 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:47:55.290Z,1761677275.290 [marl:UpdateRudder] Stopped 2025-10-28T18:47:55.290Z,1761677275.290 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:47:55.631Z,1761677275.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936845,-0.271447,0.220540],[0.164271,0.898208,0.407723],[-0.308766,-0.345745,0.886072]] 2025-10-28T18:47:56.035Z,1761677276.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941098,-0.250415,0.227217],[0.141931,0.902453,0.406735],[-0.306905,-0.350528,0.884839]] 2025-10-28T18:47:56.438Z,1761677276.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946920,-0.229803,0.224794],[0.116577,0.897148,0.426069],[-0.299586,-0.377247,0.876318]] 2025-10-28T18:47:56.843Z,1761677276.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953522,-0.208932,0.217123],[0.090399,0.885728,0.455317],[-0.287443,-0.414527,0.863449]] 2025-10-28T18:47:57.256Z,1761677277.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958610,-0.190292,0.211790],[0.064564,0.869756,0.489240],[-0.277305,-0.455316,0.846043]] 2025-10-28T18:47:57.655Z,1761677277.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961260,-0.169366,0.217474],[0.033867,0.855557,0.516599],[-0.273556,-0.489221,0.828149]] 2025-10-28T18:47:58.054Z,1761677278.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961875,-0.143442,0.232855],[-0.001584,0.848483,0.529220],[-0.273486,-0.509412,0.815907]] 2025-10-28T18:47:58.864Z,1761677278.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959573,-0.075826,0.271053],[-0.075781,0.857863,0.508260],[-0.271066,-0.508253,0.817436]] 2025-10-28T18:47:59.266Z,1761677279.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955892,-0.035568,0.291555],[-0.110112,0.876851,0.467983],[-0.272296,-0.479445,0.834259]] 2025-10-28T18:47:59.671Z,1761677279.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950134,0.005574,0.311791],[-0.140559,0.900168,0.412238],[-0.278366,-0.435507,0.856064]] 2025-10-28T18:48:00.074Z,1761677280.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942222,0.049560,0.331303],[-0.170429,0.922354,0.346723],[-0.288395,-0.383154,0.877509]] 2025-10-28T18:48:00.481Z,1761677280.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932979,0.095004,0.347166],[-0.201258,0.937359,0.284349],[-0.298405,-0.335161,0.893656]] 2025-10-28T18:48:00.883Z,1761677280.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923926,0.137086,0.357167],[-0.230104,0.944975,0.232541],[-0.305636,-0.297036,0.904631]] 2025-10-28T18:48:01.287Z,1761677281.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915872,0.174303,0.361658],[-0.258326,0.945438,0.198530],[-0.307321,-0.275254,0.910928]] 2025-10-28T18:48:01.700Z,1761677281.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907141,0.207456,0.366139],[-0.288348,0.940123,0.181728],[-0.306515,-0.270428,0.912643]] 2025-10-28T18:48:02.095Z,1761677282.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895025,0.228010,0.383329],[-0.318138,0.928731,0.190389],[-0.312599,-0.292354,0.903776]] 2025-10-28T18:48:02.499Z,1761677282.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880333,0.237406,0.410672],[-0.347439,0.912133,0.217486],[-0.322955,-0.334144,0.885465]] 2025-10-28T18:48:02.903Z,1761677282.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866719,0.244014,0.435034],[-0.376104,0.892591,0.248650],[-0.327634,-0.379128,0.865400]] 2025-10-28T18:48:03.308Z,1761677283.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855837,0.250966,0.452281],[-0.404951,0.869108,0.284018],[-0.321802,-0.426225,0.845444]] 2025-10-28T18:48:03.717Z,1761677283.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844411,0.265711,0.465153],[-0.439545,0.840015,0.318081],[-0.306218,-0.473047,0.826109]] 2025-10-28T18:48:04.115Z,1761677284.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829893,0.285279,0.479472],[-0.478256,0.806309,0.348047],[-0.287312,-0.518152,0.805587]] 2025-10-28T18:48:04.520Z,1761677284.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810736,0.298260,0.503734],[-0.512110,0.778250,0.363416],[-0.283638,-0.552601,0.783697]] 2025-10-28T18:48:04.922Z,1761677284.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786738,0.310178,0.533698],[-0.540682,0.763421,0.353343],[-0.297837,-0.566549,0.768319]] 2025-10-28T18:48:05.327Z,1761677285.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765345,0.345254,0.543182],[-0.567482,0.760161,0.316416],[-0.303662,-0.550414,0.777711]] 2025-10-28T18:48:05.754Z,1761677285.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755628,0.387929,0.527766],[-0.581833,0.767596,0.268824],[-0.300827,-0.510203,0.805727]] 2025-10-28T18:48:06.134Z,1761677286.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746002,0.436457,0.502977],[-0.587858,0.786470,0.189438],[-0.312895,-0.437001,0.843284]] 2025-10-28T18:48:06.171Z,1761677286.171 [marl:NeedComms:C] Running Loop=1 2025-10-28T18:48:06.538Z,1761677286.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708807,0.492445,0.505065],[-0.613807,0.783401,0.097589],[-0.347611,-0.379185,0.857546]] 2025-10-28T18:48:06.656Z,1761677286.656 [Radio_Surface](INFO): Powering up 2025-10-28T18:48:07.059Z,1761677287.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649045,0.575761,0.497233],[-0.674774,0.737539,0.026774],[-0.351313,-0.352897,0.867204]] 2025-10-28T18:48:07.460Z,1761677287.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651883,0.601893,0.461273],[-0.658368,0.751060,-0.049600],[-0.376297,-0.271354,0.885871]] 2025-10-28T18:48:07.862Z,1761677287.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636941,0.630419,0.443709],[-0.639736,0.753398,-0.152087],[-0.430168,-0.186986,0.883171]] 2025-10-28T18:48:07.917Z,1761677287.917 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:48:07.917Z,1761677287.917 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:48:07.917Z,1761677287.917 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:48:07.917Z,1761677287.917 [marl:UpdateRudder:A] Stopped 2025-10-28T18:48:07.918Z,1761677287.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:48:07.920Z,1761677287.920 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:48:07.997Z,1761677287.997 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:48:07.997Z,1761677287.997 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:48:08.249Z,1761677288.249 [DAT](INFO): DAT read: 2025-10-28T18:48:08.249Z,1761677288.249 [DAT](INFO): DAT read: Tx time:18:48:07.9898 2025-10-28T18:48:08.250Z,1761677288.250 [DAT](INFO): Ping request sent. 2025-10-28T18:48:08.250Z,1761677288.250 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:48:08.250Z,1761677288.250 [DAT](INFO): publishing transmit ping time 2025-10-28T18:48:08.251Z,1761677288.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000965 2025-10-28T18:48:08.281Z,1761677288.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602499,0.669098,0.435089],[-0.671329,0.719684,-0.177123],[-0.431639,-0.185372,0.882794]] 2025-10-28T18:48:08.356Z,1761677288.356 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:48:08.356Z,1761677288.356 [marl:UpdateRudder:B] Stopped 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateRudder] Stopped 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:48:08.357Z,1761677288.357 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateCommandMode] Stopped 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:48:08.358Z,1761677288.358 [marl:UpdateSpeed] Stopped 2025-10-28T18:48:08.359Z,1761677288.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:48:08.501Z,1761677288.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251137 2025-10-28T18:48:08.684Z,1761677288.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566010,0.722486,0.397047],[-0.743630,0.655347,-0.132418],[-0.355874,-0.220307,0.908195]] 2025-10-28T18:48:08.754Z,1761677288.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503713 2025-10-28T18:48:09.005Z,1761677289.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755007 2025-10-28T18:48:09.087Z,1761677289.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564650,0.764646,0.310623],[-0.794464,0.605534,-0.046439],[-0.223602,-0.220557,0.949398]] 2025-10-28T18:48:09.257Z,1761677289.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007060 2025-10-28T18:48:09.491Z,1761677289.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578964,0.762084,0.289877],[-0.800142,0.599397,0.022295],[-0.156761,-0.244851,0.956804]] 2025-10-28T18:48:09.509Z,1761677289.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259583 2025-10-28T18:48:09.761Z,1761677289.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511237 2025-10-28T18:48:09.895Z,1761677289.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554962,0.765034,0.326711],[-0.813127,0.581779,0.018898],[-0.175616,-0.276145,0.944935]] 2025-10-28T18:48:10.015Z,1761677290.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765183 2025-10-28T18:48:10.269Z,1761677290.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019017 2025-10-28T18:48:10.299Z,1761677290.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518002,0.799557,0.303947],[-0.838586,0.544756,-0.003865],[-0.168667,-0.252883,0.952681]] 2025-10-28T18:48:10.521Z,1761677290.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271085 2025-10-28T18:48:10.717Z,1761677290.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512222,0.825244,0.237911],[-0.849678,0.527303,0.000295],[-0.125207,-0.202299,0.971287]] 2025-10-28T18:48:10.774Z,1761677290.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523707 2025-10-28T18:48:11.025Z,1761677291.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775046 2025-10-28T18:48:11.109Z,1761677291.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532182,0.827742,0.177835],[-0.840325,0.542022,-0.008146],[-0.103133,-0.145104,0.984027]] 2025-10-28T18:48:11.277Z,1761677291.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026982 2025-10-28T18:48:11.511Z,1761677291.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513520,0.832942,0.206167],[-0.851122,0.524966,-0.000962],[-0.109032,-0.174979,0.978516]] 2025-10-28T18:48:11.529Z,1761677291.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279101 2025-10-28T18:48:11.782Z,1761677291.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531970 2025-10-28T18:48:11.908Z,1761677291.908 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T18:48:11.909Z,1761677291.909 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T18:48:11.916Z,1761677291.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480063,0.839378,0.254919],[-0.868748,0.495225,0.005384],[-0.121723,-0.224045,0.966948]] 2025-10-28T18:48:12.033Z,1761677292.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783108 2025-10-28T18:48:12.285Z,1761677292.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035162 2025-10-28T18:48:12.320Z,1761677292.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438627,0.873104,0.212828],[-0.893107,0.449820,-0.004691],[-0.099831,-0.188021,0.977078]] 2025-10-28T18:48:12.537Z,1761677292.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287055 2025-10-28T18:48:12.741Z,1761677292.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411563,0.899109,0.149059],[-0.910823,0.411497,0.032738],[-0.031903,-0.149240,0.988286]] 2025-10-28T18:48:12.789Z,1761677292.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539083 2025-10-28T18:48:13.041Z,1761677293.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791088 2025-10-28T18:48:13.127Z,1761677293.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432897,0.894038,0.115307],[-0.901418,0.430282,0.047979],[-0.006719,-0.124710,0.992170]] 2025-10-28T18:48:13.293Z,1761677293.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043112 2025-10-28T18:48:13.531Z,1761677293.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431782,0.889192,0.151333],[-0.900254,0.435217,0.011376],[-0.055747,-0.141150,0.988417]] 2025-10-28T18:48:13.545Z,1761677293.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295167 2025-10-28T18:48:13.797Z,1761677293.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547074 2025-10-28T18:48:13.935Z,1761677293.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375772,0.907803,0.186250],[-0.920206,0.389294,-0.040883],[-0.109620,-0.156025,0.981651]] 2025-10-28T18:48:14.049Z,1761677294.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799068 2025-10-28T18:48:14.301Z,1761677294.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051617 2025-10-28T18:48:14.342Z,1761677294.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314698,0.929314,0.193239],[-0.944322,0.327122,-0.035305],[-0.096022,-0.171369,0.980516]] 2025-10-28T18:48:14.553Z,1761677294.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303076 2025-10-28T18:48:14.761Z,1761677294.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295422,0.939182,0.175111],[-0.952813,0.303033,-0.017825],[-0.069805,-0.161582,0.984387]] 2025-10-28T18:48:14.805Z,1761677294.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555088 2025-10-28T18:48:15.057Z,1761677295.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806975 2025-10-28T18:48:15.182Z,1761677295.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297043,0.943604,0.146208],[-0.952552,0.303478,-0.023346],[-0.066401,-0.132336,0.988978]] 2025-10-28T18:48:15.309Z,1761677295.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059196 2025-10-28T18:48:15.551Z,1761677295.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283416,0.947980,0.144946],[-0.957660,0.287748,-0.009404],[-0.050622,-0.136144,0.989395]] 2025-10-28T18:48:15.561Z,1761677295.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311116 2025-10-28T18:48:15.813Z,1761677295.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563632 2025-10-28T18:48:15.955Z,1761677295.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285152,0.947523,0.144526],[-0.958168,0.285661,0.017666],[-0.024547,-0.143518,0.989343]] 2025-10-28T18:48:16.066Z,1761677296.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815731 2025-10-28T18:48:16.317Z,1761677296.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066997 2025-10-28T18:48:16.365Z,1761677296.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261707,0.951044,0.164393],[-0.962070,0.270651,-0.034190],[-0.077009,-0.149210,0.985802]] 2025-10-28T18:48:16.569Z,1761677296.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318977 2025-10-28T18:48:16.821Z,1761677296.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571097 2025-10-28T18:48:17.073Z,1761677297.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823011 2025-10-28T18:48:17.167Z,1761677297.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138496,0.977856,0.156898],[-0.990316,0.135195,0.031571],[0.009660,-0.159751,0.987110]] 2025-10-28T18:48:17.326Z,1761677297.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075908 2025-10-28T18:48:17.573Z,1761677297.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161995,0.978100,0.130679],[-0.982724,0.147894,0.111270],[0.089507,-0.146447,0.985161]] 2025-10-28T18:48:17.577Z,1761677297.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327179 2025-10-28T18:48:17.829Z,1761677297.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578943 2025-10-28T18:48:17.976Z,1761677297.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197382,0.969858,0.142885],[-0.980121,0.192244,0.049050],[0.020102,-0.149726,0.988523]] 2025-10-28T18:48:18.081Z,1761677298.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831366 2025-10-28T18:48:18.333Z,1761677298.333 [DAT](INFO): Reached modem response timeout 2025-10-28T18:48:18.379Z,1761677298.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142487,0.972680,0.183280],[-0.987617,0.151997,-0.038857],[-0.065653,-0.175474,0.982292]] 2025-10-28T18:48:18.801Z,1761677298.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066675,0.978779,0.193768],[-0.997734,0.067157,0.004092],[-0.009008,-0.193602,0.981039]] 2025-10-28T18:48:19.193Z,1761677299.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006408,0.988037,0.154081],[-0.996909,-0.005754,0.078355],[0.078304,-0.154107,0.984946]] 2025-10-28T18:48:19.591Z,1761677299.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008288,0.996611,0.081838],[-0.997050,-0.014481,0.075372],[0.076302,-0.080971,0.993792]] 2025-10-28T18:48:19.995Z,1761677299.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027123,0.998154,0.054339],[-0.999624,-0.026866,-0.005458],[-0.003988,-0.054466,0.998508]] 2025-10-28T18:48:20.399Z,1761677300.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077661,0.989182,0.124449],[-0.996922,-0.078398,0.001027],[0.010772,-0.123987,0.992225]] 2025-10-28T18:48:20.604Z,1761677300.604 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:48:20.605Z,1761677300.605 [DAT](INFO): response not received 2025-10-28T18:48:20.605Z,1761677300.605 [DAT](ERROR): No response from remote modem. 2025-10-28T18:48:20.809Z,1761677300.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112152,0.979734,0.165961],[-0.989604,-0.125254,0.070674],[0.090029,-0.156310,0.983597]] 2025-10-28T18:48:20.875Z,1761677300.875 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:48:20.875Z,1761677300.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:48:20.875Z,1761677300.875 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:48:20.876Z,1761677300.876 [marl:UpdateRudder:A] Stopped 2025-10-28T18:48:20.876Z,1761677300.876 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:48:21.216Z,1761677301.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116728,0.983571,0.137701],[-0.986599,-0.130752,0.097603],[0.114004,-0.124463,0.985653]] 2025-10-28T18:48:21.240Z,1761677301.240 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:48:21.240Z,1761677301.240 [marl:UpdateRudder:B] Stopped 2025-10-28T18:48:21.240Z,1761677301.240 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:48:21.240Z,1761677301.240 [marl:UpdateRudder] Stopped 2025-10-28T18:48:21.240Z,1761677301.240 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:48:21.611Z,1761677301.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142288,0.985877,0.088327],[-0.987373,-0.147646,0.057395],[0.069626,-0.079045,0.994437]] 2025-10-28T18:48:21.658Z,1761677301.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:48:21.658Z,1761677301.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:48:21.658Z,1761677301.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateCommandMode] Stopped 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:48:21.659Z,1761677301.659 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:48:21.660Z,1761677301.660 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:48:21.660Z,1761677301.660 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:48:21.660Z,1761677301.660 [marl:UpdateSpeed] Stopped 2025-10-28T18:48:21.660Z,1761677301.660 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:48:22.015Z,1761677302.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183226,0.980955,0.064458],[-0.980999,-0.186701,0.052759],[0.063788,-0.053566,0.996525]] 2025-10-28T18:48:22.421Z,1761677302.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223182,0.973274,0.054115],[-0.971688,-0.226548,0.067069],[0.077536,-0.037615,0.996280]] 2025-10-28T18:48:22.473Z,1761677302.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:48:22.831Z,1761677302.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228119,0.969997,0.084067],[-0.970540,-0.233422,0.059717],[0.077548,-0.067968,0.994669]] 2025-10-28T18:48:23.227Z,1761677303.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215268,0.972594,0.087866],[-0.976448,-0.215701,-0.004652],[0.014428,-0.086798,0.996121]] 2025-10-28T18:48:23.476Z,1761677303.476 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T18:48:23.477Z,1761677303.477 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:48:23.632Z,1761677303.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276828,0.955394,0.102905],[-0.957330,-0.264961,-0.115387],[-0.082974,-0.130457,0.987976]] 2025-10-28T18:48:24.036Z,1761677304.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362547,0.921116,0.141788],[-0.931215,-0.351933,-0.094775],[-0.037399,-0.166396,0.985350]] 2025-10-28T18:48:24.442Z,1761677304.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360904,0.919318,0.156855],[-0.929279,-0.368682,0.022664],[0.078665,-0.137582,0.987362]] 2025-10-28T18:48:24.848Z,1761677304.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328809,0.932699,0.148177],[-0.938817,-0.339848,0.055914],[0.102509,-0.120726,0.987379]] 2025-10-28T18:48:25.247Z,1761677305.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366530,0.922324,0.122372],[-0.928929,-0.370178,0.007714],[0.052414,-0.110848,0.992454]] 2025-10-28T18:48:25.652Z,1761677305.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425529,0.903064,0.058315],[-0.904943,-0.424503,-0.029587],[-0.001964,-0.065362,0.997860]] 2025-10-28T18:48:26.056Z,1761677306.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445605,0.895218,0.004698],[-0.894868,-0.445269,-0.030775],[-0.025459,-0.017918,0.999515]] 2025-10-28T18:48:26.459Z,1761677306.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454424,0.890280,0.030022],[-0.890771,-0.453962,-0.021123],[-0.005176,-0.036341,0.999326]] 2025-10-28T18:48:26.867Z,1761677306.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470225,0.878103,0.088455],[-0.882466,-0.469167,-0.033696],[0.011912,-0.093904,0.995510]] 2025-10-28T18:48:27.267Z,1761677307.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499101,0.854119,0.146214],[-0.866386,-0.495078,-0.065371],[0.016553,-0.159305,0.987091]] 2025-10-28T18:48:27.678Z,1761677307.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537964,0.826186,0.167367],[-0.842802,-0.531091,-0.087339],[0.016729,-0.188042,0.982018]] 2025-10-28T18:48:28.075Z,1761677308.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543305,0.827847,0.139606],[-0.838916,-0.541734,-0.052391],[0.032258,-0.145582,0.988820]] 2025-10-28T18:48:28.479Z,1761677308.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548103,0.832448,0.081324],[-0.835601,-0.549256,-0.009454],[0.036797,-0.073136,0.996643]] 2025-10-28T18:48:28.896Z,1761677308.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577646,0.814823,0.048860],[-0.815907,-0.578169,-0.004106],[0.024904,-0.042237,0.998797]] 2025-10-28T18:48:29.293Z,1761677309.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572797,0.816517,0.072140],[-0.818296,-0.574743,0.007908],[0.047919,-0.054502,0.997363]] 2025-10-28T18:48:29.703Z,1761677309.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575378,0.811284,0.103727],[-0.817345,-0.574972,-0.036794],[0.029790,-0.105951,0.993925]] 2025-10-28T18:48:30.099Z,1761677310.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605161,0.787846,0.114361],[-0.795341,-0.592027,-0.130142],[-0.034827,-0.169713,0.984878]] 2025-10-28T18:48:30.503Z,1761677310.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621886,0.769220,0.146828],[-0.782765,-0.605045,-0.145603],[-0.023163,-0.205480,0.978387]] 2025-10-28T18:48:30.907Z,1761677310.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625869,0.759282,0.178265],[-0.778276,-0.622880,-0.079415],[0.050739,-0.188443,0.980772]] 2025-10-28T18:48:30.930Z,1761677310.930 [NAL9602](INFO): SBD MO Status=0, MOMSN=3320, MT Status=0, MTMSN=0 2025-10-28T18:48:30.931Z,1761677310.931 [NAL9602](INFO): No messages in MT queue 2025-10-28T18:48:31.312Z,1761677311.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632900,0.757029,0.162310],[-0.770305,-0.636788,-0.033632],[0.077897,-0.146314,0.986166]] 2025-10-28T18:48:31.716Z,1761677311.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659341,0.748004,0.075893],[-0.751767,-0.657349,-0.052324],[0.010750,-0.091554,0.995742]] 2025-10-28T18:48:32.121Z,1761677312.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667981,0.743819,-0.023125],[-0.739076,-0.666713,-0.096232],[-0.086997,-0.047190,0.995090]] 2025-10-28T18:48:32.126Z,1761677312.126 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184831.00,A,3646.02736,N,12151.58603,W,0.836,197.43,281025,,,A*7B 2025-10-28T18:48:32.128Z,1761677312.128 [NAL9602](INFO): GPS fix at 20251028T184831: (36.767123, -121.859767) 2025-10-28T18:48:32.142Z,1761677312.142 [UniversalFixResidualReporter](INFO): Fix residual: 3.6 %DT, over the last 987.3 m. Residual distance 35.7 m at bearing 10.7 degrees. Fix at (36.7671, -121.8598) with 179.6 m made good. 2025-10-28T18:48:32.152Z,1761677312.152 [marl:NeedComms:C] Stopped 2025-10-28T18:48:32.152Z,1761677312.152 [marl:NeedComms:D] Running Loop=1 2025-10-28T18:48:32.154Z,1761677312.154 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761677312.00. Resetting abort timer. 2025-10-28T18:48:32.524Z,1761677312.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661697,0.748874,0.036656],[-0.749755,-0.661214,-0.025768],[0.004940,-0.044534,0.998996]] 2025-10-28T18:48:32.927Z,1761677312.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661043,0.736085,0.145605],[-0.732884,-0.675007,0.085128],[0.160946,-0.050438,0.985673]] 2025-10-28T18:48:33.332Z,1761677313.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678639,0.723142,0.128513],[-0.718967,-0.689827,0.085003],[0.150121,-0.034711,0.988058]] 2025-10-28T18:48:33.737Z,1761677313.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693320,0.720079,0.028169],[-0.720626,-0.692917,-0.023746],[0.002420,-0.036763,0.999321]] 2025-10-28T18:48:34.140Z,1761677314.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682188,0.730360,0.034549],[-0.730808,-0.679584,-0.063911],[-0.023199,-0.068848,0.997357]] 2025-10-28T18:48:34.215Z,1761677314.215 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:48:34.215Z,1761677314.215 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:48:34.215Z,1761677314.215 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:48:34.215Z,1761677314.215 [marl:UpdateRudder:A] Stopped 2025-10-28T18:48:34.215Z,1761677314.215 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:48:34.544Z,1761677314.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677449,0.722372,0.138714],[-0.732241,-0.680203,-0.033857],[0.069897,-0.124509,0.989754]] 2025-10-28T18:48:34.569Z,1761677314.569 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:48:34.569Z,1761677314.569 [marl:UpdateRudder:B] Stopped 2025-10-28T18:48:34.569Z,1761677314.569 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:48:34.570Z,1761677314.570 [marl:UpdateRudder] Stopped 2025-10-28T18:48:34.570Z,1761677314.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:48:34.948Z,1761677314.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674337,0.706811,0.213747],[-0.721172,-0.692592,0.015057],[0.158682,-0.143995,0.976773]] 2025-10-28T18:48:35.011Z,1761677315.011 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:48:35.011Z,1761677315.011 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:48:35.012Z,1761677315.012 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateCommandMode] Stopped 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:48:35.030Z,1761677315.030 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:48:35.031Z,1761677315.031 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:48:35.031Z,1761677315.031 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:48:35.031Z,1761677315.031 [marl:UpdateSpeed] Stopped 2025-10-28T18:48:35.031Z,1761677315.031 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:48:35.351Z,1761677315.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690636,0.707978,0.147609],[-0.714712,-0.699344,0.010260],[0.110493,-0.098412,0.988993]] 2025-10-28T18:48:35.761Z,1761677315.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689005,0.722790,0.053345],[-0.724111,-0.689630,-0.008591],[0.030578,-0.044547,0.998539]] 2025-10-28T18:48:36.275Z,1761677316.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679638,0.731631,0.052992],[-0.732794,-0.680439,-0.003864],[0.033230,-0.041458,0.998587]] 2025-10-28T18:48:38.432Z,1761677318.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719408,0.688044,0.095120],[-0.694530,-0.710806,-0.111278],[-0.008953,-0.146118,0.989227]] 2025-10-28T18:48:38.831Z,1761677318.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716668,0.693905,0.069870],[-0.697311,-0.714683,-0.054648],[0.012014,-0.087886,0.996058]] 2025-10-28T18:48:39.235Z,1761677319.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709400,0.702010,0.062724],[-0.703284,-0.710905,0.002432],[0.046298,-0.042388,0.998028]] 2025-10-28T18:48:39.639Z,1761677319.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716759,0.696630,0.031050],[-0.696009,-0.717431,0.029403],[0.042759,-0.000536,0.999085]] 2025-10-28T18:48:40.043Z,1761677320.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719186,0.694572,-0.018490],[-0.694522,-0.717848,0.048304],[0.020277,0.047581,0.998662]] 2025-10-28T18:48:40.448Z,1761677320.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702298,0.711636,-0.018767],[-0.711430,-0.700667,0.054163],[0.025395,0.051390,0.998356]] 2025-10-28T18:48:40.850Z,1761677320.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709175,0.703648,0.044167],[-0.703436,-0.710393,0.022809],[0.047425,-0.014893,0.998764]] 2025-10-28T18:48:41.254Z,1761677321.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717997,0.686782,0.113186],[-0.695248,-0.715412,-0.069394],[0.033316,-0.128518,0.991147]] 2025-10-28T18:48:41.666Z,1761677321.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723834,0.674358,0.145964],[-0.689838,-0.703118,-0.172478],[-0.013682,-0.225537,0.974138]] 2025-10-28T18:48:42.066Z,1761677322.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739883,0.653541,0.159553],[-0.672499,-0.724808,-0.149661],[0.017836,-0.218031,0.975779]] 2025-10-28T18:48:42.466Z,1761677322.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743871,0.648132,0.163039],[-0.659997,-0.750797,-0.026600],[0.105169,-0.127392,0.986261]] 2025-10-28T18:48:42.870Z,1761677322.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725226,0.683201,0.085349],[-0.681302,-0.729989,0.054256],[0.099372,-0.018800,0.994873]] 2025-10-28T18:48:43.274Z,1761677323.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720238,0.693548,-0.015773],[-0.693716,-0.719912,0.021998],[0.003901,0.026786,0.999634]] 2025-10-28T18:48:43.684Z,1761677323.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730889,0.682434,0.009262],[-0.682444,-0.730933,0.002480],[0.008462,-0.004508,0.999954]] 2025-10-28T18:48:44.083Z,1761677324.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736949,0.667335,0.107569],[-0.670685,-0.741713,0.006605],[0.084193,-0.067277,0.994176]] 2025-10-28T18:48:44.488Z,1761677324.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752401,0.643007,0.142951],[-0.651540,-0.758403,-0.017915],[0.096895,-0.106617,0.989568]] 2025-10-28T18:48:44.890Z,1761677324.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752241,0.649809,0.108999],[-0.655005,-0.755438,-0.016793],[0.071430,-0.084028,0.993900]] 2025-10-28T18:48:45.296Z,1761677325.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748676,0.659210,0.070191],[-0.661719,-0.749514,-0.018891],[0.040156,-0.060590,0.997355]] 2025-10-28T18:48:45.698Z,1761677325.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756010,0.653606,0.035315],[-0.654546,-0.755241,-0.034359],[0.004214,-0.049091,0.998785]] 2025-10-28T18:48:46.103Z,1761677326.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783116,0.621868,0.003141],[-0.620578,-0.781145,-0.068530],[-0.040163,-0.055616,0.997644]] 2025-10-28T18:48:46.507Z,1761677326.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793473,0.606650,0.048749],[-0.608506,-0.789347,-0.081559],[-0.010998,-0.094379,0.995476]] 2025-10-28T18:48:46.910Z,1761677326.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793126,0.590761,0.148165],[-0.603913,-0.794353,-0.065510],[0.078995,-0.141437,0.986790]] 2025-10-28T18:48:47.314Z,1761677327.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799555,0.573457,0.178489],[-0.593420,-0.800105,-0.087656],[0.092542,-0.176005,0.980030]] 2025-10-28T18:48:47.719Z,1761677327.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816897,0.569228,0.093046],[-0.576743,-0.808037,-0.120179],[0.006775,-0.151837,0.988382]] 2025-10-28T18:48:48.125Z,1761677328.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819666,0.572691,0.013139],[-0.569536,-0.812262,-0.125933],[-0.061448,-0.110706,0.991952]] 2025-10-28T18:48:48.536Z,1761677328.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822476,0.568651,0.013000],[-0.567558,-0.818958,-0.084767],[-0.037556,-0.077097,0.996316]] 2025-10-28T18:48:48.969Z,1761677328.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826343,0.558798,0.070009],[-0.561124,-0.827538,-0.017908],[0.047928,-0.054081,0.997386]] 2025-10-28T18:48:49.334Z,1761677329.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856705,0.509595,0.079814],[-0.507415,-0.860415,0.047085],[0.092667,-0.000161,0.995697]] 2025-10-28T18:48:49.339Z,1761677329.339 [NAL9602](INFO): SBD MO Status=1, MOMSN=3321, MT Status=0, MTMSN=0 2025-10-28T18:48:49.396Z,1761677329.396 [NAL9602](INFO): Sent 83 bytes from file Logs/20251028T162422/Courier0027.lzma 2025-10-28T18:48:49.396Z,1761677329.396 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:48:49.440Z,1761677329.440 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:48:49.440Z,1761677329.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:48:49.441Z,1761677329.441 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:48:49.441Z,1761677329.441 [marl:UpdateRudder:A] Stopped 2025-10-28T18:48:49.441Z,1761677329.441 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:48:49.739Z,1761677329.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852982,0.521849,0.009755],[-0.519000,-0.850010,0.090116],[0.055319,0.071805,0.995883]] 2025-10-28T18:48:50.430Z,1761677330.430 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:48:50.431Z,1761677330.431 [marl:UpdateRudder:B] Stopped 2025-10-28T18:48:50.431Z,1761677330.431 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:48:50.431Z,1761677330.431 [marl:UpdateRudder] Stopped 2025-10-28T18:48:50.431Z,1761677330.431 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:48:50.523Z,1761677330.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868283,0.496059,-0.003148],[-0.496008,-0.868060,0.021147],[0.007758,0.019923,0.999771]] 2025-10-28T18:48:50.550Z,1761677330.550 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:48:50.550Z,1761677330.550 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateCommandMode] Stopped 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:48:50.551Z,1761677330.551 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:48:50.552Z,1761677330.552 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:48:50.552Z,1761677330.552 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:48:50.552Z,1761677330.552 [marl:UpdateSpeed] Stopped 2025-10-28T18:48:50.552Z,1761677330.552 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:48:53.182Z,1761677333.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876375,0.479728,0.042757],[-0.481317,-0.875546,-0.041872],[0.017348,-0.057275,0.998208]] 2025-10-28T18:48:53.575Z,1761677333.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873783,0.479032,0.083852],[-0.484512,-0.872341,-0.065341],[0.041847,-0.097721,0.994334]] 2025-10-28T18:48:53.608Z,1761677333.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:48:53.974Z,1761677333.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879039,0.466167,0.099897],[-0.471389,-0.881195,-0.035887],[0.071299,-0.078637,0.994350]] 2025-10-28T18:48:54.380Z,1761677334.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880449,0.466661,0.083889],[-0.468046,-0.883697,0.003536],[0.075783,-0.036151,0.996469]] 2025-10-28T18:48:54.613Z,1761677334.613 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:48:54.786Z,1761677334.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896986,0.441184,-0.027798],[-0.441685,-0.897039,0.015332],[-0.018171,0.026030,0.999496]] 2025-10-28T18:48:55.187Z,1761677335.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889251,0.453949,-0.056237],[-0.455663,-0.889880,0.022015],[-0.040051,0.045202,0.998175]] 2025-10-28T18:48:55.594Z,1761677335.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870558,0.490740,0.036092],[-0.490899,-0.871203,0.004941],[0.033868,-0.013416,0.999336]] 2025-10-28T18:48:55.997Z,1761677335.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866864,0.488150,0.101278],[-0.495293,-0.866417,-0.063291],[0.056853,-0.105027,0.992843]] 2025-10-28T18:48:56.398Z,1761677336.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882536,0.455046,0.118589],[-0.467796,-0.875265,-0.122791],[0.047921,-0.163844,0.985322]] 2025-10-28T18:48:56.803Z,1761677336.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905822,0.412853,0.095070],[-0.422522,-0.896775,-0.131414],[0.031002,-0.159207,0.986758]] 2025-10-28T18:48:57.206Z,1761677337.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899067,0.437590,0.013872],[-0.437317,-0.896100,-0.075885],[-0.020776,-0.074292,0.997020]] 2025-10-28T18:48:57.620Z,1761677337.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893414,0.449116,0.010325],[-0.449168,-0.892647,-0.037806],[-0.007763,-0.038414,0.999232]] 2025-10-28T18:48:58.014Z,1761677338.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906720,0.419429,0.044025],[-0.420354,-0.907252,-0.013973],[0.034081,-0.031176,0.998933]] 2025-10-28T18:48:58.418Z,1761677338.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916112,0.394768,0.069974],[-0.397107,-0.917488,-0.022860],[0.055176,-0.048730,0.997287]] 2025-10-28T18:48:59.229Z,1761677339.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918735,0.392148,0.046325],[-0.393000,-0.919477,-0.010617],[0.038431,-0.027960,0.998870]] 2025-10-28T18:48:59.639Z,1761677339.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927518,0.371929,0.037133],[-0.372703,-0.927804,-0.016469],[0.028327,-0.029115,0.999175]] 2025-10-28T18:49:00.034Z,1761677340.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921526,0.387708,-0.021756],[-0.387370,-0.921745,-0.018188],[-0.027105,-0.008333,0.999598]] 2025-10-28T18:49:00.439Z,1761677340.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914827,0.403795,0.006444],[-0.403797,-0.914848,0.001033],[0.006312,-0.001657,0.999979]] 2025-10-28T18:49:00.844Z,1761677340.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923603,0.376852,0.070284],[-0.376473,-0.926231,0.019070],[0.072285,-0.008847,0.997345]] 2025-10-28T18:49:01.246Z,1761677341.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929303,0.360290,0.081164],[-0.360377,-0.932700,0.014092],[0.080779,-0.016154,0.996601]] 2025-10-28T18:49:01.658Z,1761677341.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935535,0.342693,0.085655],[-0.346693,-0.937256,-0.036809],[0.067666,-0.064132,0.995645]] 2025-10-28T18:49:02.055Z,1761677342.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933588,0.350000,0.076900],[-0.355585,-0.931406,-0.077736],[0.044418,-0.099918,0.994004]] 2025-10-28T18:49:02.060Z,1761677342.060 [NAL9602](INFO): SBD MO Status=1, MOMSN=3322, MT Status=0, MTMSN=0 2025-10-28T18:49:02.108Z,1761677342.108 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0028.lzma 2025-10-28T18:49:02.108Z,1761677342.108 [NAL9602](INFO): Packets left to send: 1 2025-10-28T18:49:02.460Z,1761677342.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922935,0.375083,0.086629],[-0.380751,-0.922610,-0.061799],[0.056745,-0.090020,0.994322]] 2025-10-28T18:49:03.253Z,1761677343.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930629,0.355842,0.085477],[-0.358285,-0.933497,-0.014655],[0.074577,-0.044263,0.996232]] 2025-10-28T18:49:05.394Z,1761677345.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951768,0.282258,0.120282],[-0.297351,-0.945198,-0.134841],[0.075630,-0.164104,0.983540]] 2025-10-28T18:49:05.794Z,1761677345.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950946,0.306170,0.044293],[-0.309012,-0.946862,-0.089241],[0.014616,-0.098550,0.995025]] 2025-10-28T18:49:06.198Z,1761677346.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951564,0.307151,0.013592],[-0.307164,-0.951656,0.001175],[0.013296,-0.003057,0.999907]] 2025-10-28T18:49:06.633Z,1761677346.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956241,0.291657,0.023231],[-0.288714,-0.953491,0.086603],[0.047409,0.076107,0.995972]] 2025-10-28T18:49:07.005Z,1761677347.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966784,0.254814,0.019975],[-0.251425,-0.962159,0.105052],[0.045988,0.096540,0.994266]] 2025-10-28T18:49:07.069Z,1761677347.069 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:49:07.069Z,1761677347.069 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:49:07.069Z,1761677347.069 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:49:07.070Z,1761677347.070 [marl:UpdateRudder:A] Stopped 2025-10-28T18:49:07.070Z,1761677347.070 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:49:07.408Z,1761677347.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962714,0.270519,-0.001462],[-0.269004,-0.956723,0.110989],[0.028626,0.107244,0.993821]] 2025-10-28T18:49:07.470Z,1761677347.470 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:49:07.471Z,1761677347.471 [marl:UpdateRudder:B] Stopped 2025-10-28T18:49:07.471Z,1761677347.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:49:07.471Z,1761677347.471 [marl:UpdateRudder] Stopped 2025-10-28T18:49:07.471Z,1761677347.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:49:07.811Z,1761677347.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955971,0.293275,0.010482],[-0.291649,-0.953422,0.076982],[0.032571,0.070535,0.996977]] 2025-10-28T18:49:07.856Z,1761677347.856 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:49:07.856Z,1761677347.856 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateCommandMode] Stopped 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:49:07.857Z,1761677347.857 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:49:07.858Z,1761677347.858 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:49:07.858Z,1761677347.858 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:49:07.858Z,1761677347.858 [marl:UpdateSpeed] Stopped 2025-10-28T18:49:07.858Z,1761677347.858 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:49:08.215Z,1761677348.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962169,0.271898,0.017371],[-0.272236,-0.961989,-0.021547],[0.010853,-0.025461,0.999617]] 2025-10-28T18:49:08.278Z,1761677348.278 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:49:08.317Z,1761677348.317 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:49:08.317Z,1761677348.317 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:49:08.569Z,1761677348.569 [DAT](INFO): DAT read: user:145> 2025-10-28T18:49:08.570Z,1761677348.570 [DAT](INFO): DAT read: Tx time:18:49:08.3396 2025-10-28T18:49:08.571Z,1761677348.571 [DAT](INFO): Ping request sent. 2025-10-28T18:49:08.572Z,1761677348.572 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:49:08.572Z,1761677348.572 [DAT](INFO): publishing transmit ping time 2025-10-28T18:49:08.575Z,1761677348.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003141 2025-10-28T18:49:08.678Z,1761677348.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960869,0.269600,0.063605],[-0.274811,-0.956620,-0.096735],[0.034766,-0.110429,0.993276]] 2025-10-28T18:49:08.821Z,1761677348.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249490 2025-10-28T18:49:09.082Z,1761677349.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510190 2025-10-28T18:49:09.333Z,1761677349.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761516 2025-10-28T18:49:09.426Z,1761677349.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967142,0.248000,0.055961],[-0.252545,-0.962491,-0.099157],[0.029271,-0.110032,0.993497]] 2025-10-28T18:49:09.585Z,1761677349.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013649 2025-10-28T18:49:09.830Z,1761677349.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965772,0.254957,0.047769],[-0.258552,-0.960999,-0.098140],[0.020884,-0.107131,0.994026]] 2025-10-28T18:49:09.838Z,1761677349.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267014 2025-10-28T18:49:10.089Z,1761677350.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517633 2025-10-28T18:49:10.245Z,1761677350.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961145,0.254186,0.107660],[-0.265105,-0.958667,-0.103333],[0.076944,-0.127859,0.988803]] 2025-10-28T18:49:10.341Z,1761677350.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769520 2025-10-28T18:49:10.598Z,1761677350.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025880 2025-10-28T18:49:10.665Z,1761677350.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965780,0.239132,0.100421],[-0.248199,-0.964496,-0.090254],[0.075273,-0.112090,0.990843]] 2025-10-28T18:49:10.845Z,1761677350.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273602 2025-10-28T18:49:11.047Z,1761677351.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970543,0.238362,0.035063],[-0.239644,-0.970095,-0.038544],[0.024827,-0.045812,0.998642]] 2025-10-28T18:49:11.097Z,1761677351.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525530 2025-10-28T18:49:11.349Z,1761677351.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777519 2025-10-28T18:49:11.451Z,1761677351.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968074,0.249966,0.018729],[-0.250294,-0.968004,-0.017910],[0.013653,-0.022026,0.999664]] 2025-10-28T18:49:11.602Z,1761677351.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030289 2025-10-28T18:49:11.853Z,1761677351.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281617 2025-10-28T18:49:11.855Z,1761677351.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963171,0.263526,0.053446],[-0.264292,-0.964412,-0.007679],[0.049520,-0.021521,0.998541]] 2025-10-28T18:49:12.106Z,1761677352.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534012 2025-10-28T18:49:12.259Z,1761677352.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966042,0.253565,0.049677],[-0.253776,-0.967261,0.002111],[0.048586,-0.010567,0.998763]] 2025-10-28T18:49:12.357Z,1761677352.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785599 2025-10-28T18:49:12.613Z,1761677352.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040637 2025-10-28T18:49:12.665Z,1761677352.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962321,0.268826,0.040882],[-0.269327,-0.963022,-0.007179],[0.037440,-0.017919,0.999138]] 2025-10-28T18:49:12.861Z,1761677352.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289544 2025-10-28T18:49:13.065Z,1761677353.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968039,0.245367,0.051920],[-0.248081,-0.967202,-0.054562],[0.036829,-0.065698,0.997160]] 2025-10-28T18:49:13.114Z,1761677353.114 [DAT](INFO): DAT read: Rx Time:18:49:12.4582 2025-10-28T18:49:13.114Z,1761677353.114 [DAT](INFO): Rx dataTimestamp_ set to:1761677353.114148 2025-10-28T18:49:13.115Z,1761677353.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543727 2025-10-28T18:49:13.365Z,1761677353.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793492 2025-10-28T18:49:13.468Z,1761677353.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974965,0.214990,0.056767],[-0.219936,-0.969969,-0.103864],[0.032732,-0.113749,0.992970]] 2025-10-28T18:49:13.618Z,1761677353.618 [DAT](INFO): DAT read: Bearing 71, -8 (Remote) 2025-10-28T18:49:13.619Z,1761677353.619 [DAT](INFO): Remote Bearing received:Bearing 71, -8 (Remote) 2025-10-28T18:49:13.621Z,1761677353.621 [DAT](INFO): DAT read: Range 11 to 20 : 1567.0 m (Round-trip 2089.4 ms) speed -0.2 m/s 2025-10-28T18:49:13.622Z,1761677353.622 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T18:49:13.872Z,1761677353.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973504,0.223326,0.049143],[-0.227377,-0.968201,-0.104343],[0.024278,-0.112752,0.993326]] 2025-10-28T18:49:13.906Z,1761677353.906 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677312.00. Resetting abort timer. 2025-10-28T18:49:14.274Z,1761677354.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968663,0.242772,0.052482],[-0.247128,-0.963209,-0.105624],[0.024908,-0.115284,0.993020]] 2025-10-28T18:49:14.679Z,1761677354.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966703,0.242054,0.083042],[-0.249929,-0.962751,-0.103185],[0.054973,-0.120503,0.991190]] 2025-10-28T18:49:15.099Z,1761677355.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970027,0.220188,0.102782],[-0.228391,-0.970580,-0.076231],[0.082973,-0.097421,0.991778]] 2025-10-28T18:49:15.492Z,1761677355.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973739,0.219031,0.062112],[-0.222848,-0.972807,-0.063127],[0.046596,-0.075310,0.996071]] 2025-10-28T18:49:15.892Z,1761677355.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977360,0.211563,-0.002746],[-0.211151,-0.976120,-0.051038],[-0.013478,-0.049303,0.998693]] 2025-10-28T18:49:16.295Z,1761677356.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982587,0.185590,-0.008921],[-0.184614,-0.980593,-0.065998],[-0.020996,-0.063202,0.997780]] 2025-10-28T18:49:16.701Z,1761677356.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979953,0.197514,0.026070],[-0.198793,-0.978045,-0.062525],[0.013148,-0.066454,0.997703]] 2025-10-28T18:49:17.114Z,1761677357.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981685,0.185514,0.043341],[-0.187671,-0.980826,-0.052528],[0.032765,-0.059699,0.997679]] 2025-10-28T18:49:17.507Z,1761677357.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985356,0.170509,0.000823],[-0.170509,-0.985300,-0.010568],[-0.000991,-0.010553,0.999944]] 2025-10-28T18:49:17.911Z,1761677357.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983747,0.176848,-0.031086],[-0.177719,-0.983686,0.027884],[-0.025647,0.032955,0.999128]] 2025-10-28T18:49:18.319Z,1761677358.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986546,0.162592,0.017036],[-0.162340,-0.986617,0.015276],[0.019292,0.012304,0.999738]] 2025-10-28T18:49:18.734Z,1761677358.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988625,0.149456,0.016845],[-0.149232,-0.988705,0.013861],[0.018727,0.011189,0.999762]] 2025-10-28T18:49:19.126Z,1761677359.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985019,0.171410,0.018865],[-0.171467,-0.985189,-0.001463],[0.018335,-0.004676,0.999821]] 2025-10-28T18:49:19.130Z,1761677359.130 [NAL9602](INFO): SBD MO Status=2, MOMSN=3323, MT Status=2, MTMSN=0 2025-10-28T18:49:19.131Z,1761677359.131 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T18:49:19.527Z,1761677359.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985910,0.156885,0.058041],[-0.160553,-0.984879,-0.065089],[0.046952,-0.073490,0.996190]] 2025-10-28T18:49:19.934Z,1761677359.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986147,0.148151,0.074603],[-0.153239,-0.985858,-0.067834],[0.063498,-0.078326,0.994904]] 2025-10-28T18:49:20.342Z,1761677360.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986999,0.146931,0.065147],[-0.150074,-0.987591,-0.046287],[0.057538,-0.055463,0.996802]] 2025-10-28T18:49:20.437Z,1761677360.437 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:49:20.438Z,1761677360.438 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:49:20.438Z,1761677360.438 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:49:20.438Z,1761677360.438 [marl:UpdateRudder:A] Stopped 2025-10-28T18:49:20.438Z,1761677360.438 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:49:20.837Z,1761677360.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:49:20.837Z,1761677360.837 [marl:UpdateRudder:B] Stopped 2025-10-28T18:49:20.837Z,1761677360.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:49:20.837Z,1761677360.837 [marl:UpdateRudder] Stopped 2025-10-28T18:49:20.837Z,1761677360.837 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:49:21.143Z,1761677361.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992308,0.122836,0.015355],[-0.123616,-0.989857,-0.070014],[0.006599,-0.071374,0.997428]] 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode] Stopped 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:49:21.205Z,1761677361.205 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed] Stopped 2025-10-28T18:49:21.206Z,1761677361.206 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:49:21.547Z,1761677361.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992693,0.118903,0.020544],[-0.120425,-0.986980,-0.106619],[0.007599,-0.108314,0.994088]] 2025-10-28T18:49:21.952Z,1761677361.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992492,0.112220,0.048639],[-0.117496,-0.985258,-0.124342],[0.033968,-0.129123,0.991047]] 2025-10-28T18:49:22.354Z,1761677362.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994674,0.066800,0.078498],[-0.074840,-0.991716,-0.104397],[0.070874,-0.109716,0.991433]] 2025-10-28T18:49:22.762Z,1761677362.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997645,0.036877,0.057838],[-0.041487,-0.995880,-0.080633],[0.054626,-0.082843,0.995064]] 2025-10-28T18:49:23.166Z,1761677363.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997377,0.071493,0.011321],[-0.071372,-0.997392,0.010691],[0.012056,0.009855,0.999879]] 2025-10-28T18:49:23.566Z,1761677363.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994063,0.100249,0.042294],[-0.098260,-0.994062,0.046742],[0.046728,0.042308,0.998011]] 2025-10-28T18:49:24.006Z,1761677364.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996329,0.068612,0.051197],[-0.066942,-0.997190,0.033637],[0.053361,0.030087,0.998122]] 2025-10-28T18:49:24.732Z,1761677364.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:49:24.786Z,1761677364.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998084,0.041536,-0.045857],[-0.039521,-0.998249,-0.044001],[-0.047605,-0.042105,0.997978]] 2025-10-28T18:49:25.174Z,1761677365.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997170,0.064079,-0.039327],[-0.059588,-0.992543,-0.106333],[-0.045847,-0.103689,0.993553]] 2025-10-28T18:49:25.582Z,1761677365.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998411,0.046463,0.031893],[-0.050634,-0.988035,-0.145682],[0.024743,-0.147065,0.988817]] 2025-10-28T18:49:25.736Z,1761677365.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:49:25.985Z,1761677365.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998978,0.021347,0.039832],[-0.025039,-0.995199,-0.094611],[0.037621,-0.095511,0.994717]] 2025-10-28T18:49:26.394Z,1761677366.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999612,0.027741,0.002658],[-0.027647,-0.999149,0.030613],[0.003505,0.030528,0.999528]] 2025-10-28T18:49:26.792Z,1761677366.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998169,0.059645,-0.010068],[-0.060356,-0.993107,0.100474],[-0.004006,0.100898,0.994889]] 2025-10-28T18:49:27.194Z,1761677367.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997638,0.060107,0.033251],[-0.057085,-0.994711,0.085391],[0.038208,0.083291,0.995793]] 2025-10-28T18:49:27.847Z,1761677367.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998613,0.016927,0.049854],[-0.017194,-0.999840,-0.004929],[0.049762,-0.005779,0.998744]] 2025-10-28T18:49:28.248Z,1761677368.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999345,0.023871,0.027212],[-0.026781,-0.993329,-0.112157],[0.024353,-0.112813,0.993318]] 2025-10-28T18:49:28.666Z,1761677368.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997790,0.009445,0.065765],[-0.018878,-0.989351,-0.144319],[0.063702,-0.145242,0.987343]] 2025-10-28T18:49:29.467Z,1761677369.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995590,0.065256,0.067396],[-0.061892,-0.996787,0.050852],[0.070497,0.046457,0.996430]] 2025-10-28T18:49:29.867Z,1761677369.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997110,0.038068,0.065744],[-0.032510,-0.995967,0.083628],[0.068662,0.081249,0.994326]] 2025-10-28T18:49:30.274Z,1761677370.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999775,0.005466,0.020495],[-0.004231,-0.998199,0.059836],[0.020785,0.059736,0.997998]] 2025-10-28T18:49:30.674Z,1761677370.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999770,0.018344,0.011136],[-0.018335,-0.999831,0.000926],[0.011151,0.000722,0.999938]] 2025-10-28T18:49:31.098Z,1761677371.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997884,0.033165,0.055926],[-0.039434,-0.992583,-0.114998],[0.051697,-0.116960,0.991790]] 2025-10-28T18:49:31.479Z,1761677371.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998259,0.025752,0.053068],[-0.035470,-0.980905,-0.191226],[0.047130,-0.192775,0.980110]] 2025-10-28T18:49:31.882Z,1761677371.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998228,0.059181,-0.006245],[-0.057593,-0.987163,-0.148972],[-0.014981,-0.148348,0.988822]] 2025-10-28T18:49:32.289Z,1761677372.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997946,0.063238,-0.010268],[-0.062706,-0.996981,-0.045793],[-0.013133,-0.045055,0.998898]] 2025-10-28T18:49:32.690Z,1761677372.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999032,0.033862,0.028092],[-0.032803,-0.998764,0.037347],[0.029322,0.036389,0.998907]] 2025-10-28T18:49:33.098Z,1761677373.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999060,-0.000407,0.043354],[0.003505,-0.997440,0.071416],[0.043214,0.071500,0.996504]] 2025-10-28T18:49:33.499Z,1761677373.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999787,0.005988,0.019767],[-0.005209,-0.999216,0.039248],[0.019987,0.039136,0.999034]] 2025-10-28T18:49:33.904Z,1761677373.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997371,0.051081,0.051398],[-0.054476,-0.996267,-0.066969],[0.047785,-0.069593,0.996430]] 2025-10-28T18:49:34.308Z,1761677374.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996895,0.057196,0.054116],[-0.064481,-0.987447,-0.144187],[0.045190,-0.147229,0.988070]] 2025-10-28T18:49:34.350Z,1761677374.350 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:49:34.350Z,1761677374.350 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:49:34.350Z,1761677374.350 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:49:34.351Z,1761677374.351 [marl:UpdateRudder:A] Stopped 2025-10-28T18:49:34.351Z,1761677374.351 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:49:34.710Z,1761677374.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996867,0.062569,0.048394],[-0.066926,-0.993284,-0.094377],[0.042164,-0.097320,0.994360]] 2025-10-28T18:49:34.805Z,1761677374.805 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:49:34.805Z,1761677374.805 [marl:UpdateRudder:B] Stopped 2025-10-28T18:49:34.805Z,1761677374.805 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:49:34.805Z,1761677374.805 [marl:UpdateRudder] Stopped 2025-10-28T18:49:34.805Z,1761677374.805 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:49:35.114Z,1761677375.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997994,0.023704,0.058703],[-0.024535,-0.999608,-0.013473],[0.058361,-0.014886,0.998185]] 2025-10-28T18:49:35.163Z,1761677375.163 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:49:35.163Z,1761677375.163 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:49:35.163Z,1761677375.163 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:49:35.163Z,1761677375.163 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:49:35.164Z,1761677375.164 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:49:35.164Z,1761677375.164 [marl:UpdateCommandMode] Stopped 2025-10-28T18:49:35.168Z,1761677375.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:49:35.168Z,1761677375.168 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:49:35.168Z,1761677375.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:49:35.168Z,1761677375.168 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:49:35.169Z,1761677375.169 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:49:35.169Z,1761677375.169 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:49:35.169Z,1761677375.169 [marl:UpdateSpeed] Stopped 2025-10-28T18:49:35.169Z,1761677375.169 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:49:35.520Z,1761677375.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999345,0.017272,0.031788],[-0.014268,-0.995619,0.092410],[0.033245,0.091896,0.995214]] 2025-10-28T18:49:35.926Z,1761677375.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999438,0.033392,0.002981],[-0.032757,-0.991597,0.125152],[0.007135,0.124984,0.992133]] 2025-10-28T18:49:36.891Z,1761677376.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998807,0.021332,0.043936],[-0.026897,-0.991117,-0.130241],[0.040767,-0.131267,0.990508]] 2025-10-28T18:49:39.059Z,1761677379.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999180,0.028724,-0.028545],[-0.029080,-0.999503,0.012132],[-0.028183,0.012952,0.999519]] 2025-10-28T18:49:39.436Z,1761677379.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996955,0.070142,0.034077],[-0.066770,-0.993549,0.091659],[0.040286,0.089105,0.995207]] 2025-10-28T18:49:39.840Z,1761677379.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997468,-0.010957,0.070265],[0.020580,-0.990254,0.137742],[0.068071,0.138839,0.987973]] 2025-10-28T18:49:40.243Z,1761677380.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998723,-0.050489,0.002055],[0.049640,-0.972705,0.226673],[-0.009446,0.226485,0.973969]] 2025-10-28T18:49:40.660Z,1761677380.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998979,0.009323,-0.044211],[-0.018017,-0.979519,0.200547],[-0.041436,0.201138,0.978686]] 2025-10-28T18:49:41.054Z,1761677381.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998344,0.054236,-0.019171],[-0.055222,-0.996942,0.055287],[-0.016114,0.056254,0.998286]] 2025-10-28T18:49:41.457Z,1761677381.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996819,0.074844,0.027394],[-0.077283,-0.991705,-0.102706],[0.019480,-0.104496,0.994334]] 2025-10-28T18:49:41.860Z,1761677381.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995617,0.059747,0.071955],[-0.071836,-0.981174,-0.179269],[0.059889,-0.183653,0.981165]] 2025-10-28T18:49:42.262Z,1761677382.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996067,0.002436,0.088574],[-0.016903,-0.986491,-0.162944],[0.086980,-0.163800,0.982651]] 2025-10-28T18:49:42.667Z,1761677382.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998062,0.002404,0.062178],[-0.007034,-0.997208,-0.074340],[0.061826,-0.074633,0.995293]] 2025-10-28T18:49:43.085Z,1761677383.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996086,0.080553,0.036384],[-0.082053,-0.995751,-0.041805],[0.032862,-0.044627,0.998463]] 2025-10-28T18:49:43.479Z,1761677383.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987670,0.119402,0.101250],[-0.123920,-0.991504,-0.039548],[0.095668,-0.051607,0.994075]] 2025-10-28T18:49:43.886Z,1761677383.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983165,0.109262,0.146454],[-0.111226,-0.993781,-0.005261],[0.144968,-0.021462,0.989204]] 2025-10-28T18:49:44.287Z,1761677384.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988182,0.083103,0.128803],[-0.080297,-0.996410,0.026837],[0.130570,0.016177,0.991307]] 2025-10-28T18:49:44.689Z,1761677384.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993877,0.096923,0.053059],[-0.095562,-0.995040,0.027608],[0.055472,0.022369,0.998210]] 2025-10-28T18:49:45.094Z,1761677385.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990974,0.133263,-0.014564],[-0.133280,-0.991078,0.000245],[-0.014401,0.002184,0.999894]] 2025-10-28T18:49:45.497Z,1761677385.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987510,0.157414,0.006741],[-0.157533,-0.985685,-0.060064],[-0.002810,-0.060375,0.998172]] 2025-10-28T18:49:45.900Z,1761677385.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981972,0.149275,0.115969],[-0.162307,-0.980307,-0.112495],[0.096893,-0.129290,0.986862]] 2025-10-28T18:49:46.303Z,1761677386.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979702,0.105522,0.170441],[-0.129734,-0.981927,-0.137798],[0.152819,-0.157113,0.975685]] 2025-10-28T18:49:46.706Z,1761677386.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992834,0.104527,0.057927],[-0.109032,-0.990733,-0.080996],[0.048924,-0.086732,0.995030]] 2025-10-28T18:49:47.114Z,1761677387.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981173,0.180534,-0.068613],[-0.180017,-0.983568,-0.013701],[-0.069959,-0.001091,0.997549]] 2025-10-28T18:49:47.515Z,1761677387.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963704,0.266930,-0.004730],[-0.266813,-0.963591,-0.017406],[-0.009204,-0.015513,0.999837]] 2025-10-28T18:49:47.919Z,1761677387.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957295,0.267998,0.108461],[-0.273491,-0.961078,-0.039131],[0.093752,-0.067123,0.993330]] 2025-10-28T18:49:48.322Z,1761677388.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967589,0.236047,0.089745],[-0.239125,-0.970664,-0.025097],[0.081188,-0.045744,0.995649]] 2025-10-28T18:49:48.727Z,1761677388.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965888,0.256857,-0.032941],[-0.257119,-0.966372,0.003918],[-0.030827,0.012254,0.999450]] 2025-10-28T18:49:49.130Z,1761677389.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944719,0.322049,-0.061573],[-0.321674,-0.946712,-0.016170],[-0.063499,0.004530,0.997972]] 2025-10-28T18:49:49.539Z,1761677389.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935585,0.352856,-0.013179],[-0.351969,-0.934919,-0.045214],[-0.028276,-0.037663,0.998890]] 2025-10-28T18:49:49.547Z,1761677389.547 [NAL9602](INFO): SBD MO Status=2, MOMSN=3323, MT Status=2, MTMSN=0 2025-10-28T18:49:49.547Z,1761677389.547 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T18:49:49.939Z,1761677389.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924987,0.377469,0.043778],[-0.379872,-0.921503,-0.080803],[0.009841,-0.091371,0.995768]] 2025-10-28T18:49:49.973Z,1761677389.973 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:49:49.973Z,1761677389.973 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:49:49.974Z,1761677389.974 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:49:49.974Z,1761677389.974 [marl:UpdateRudder:A] Stopped 2025-10-28T18:49:49.974Z,1761677389.974 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:49:50.342Z,1761677390.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918688,0.376375,0.119811],[-0.387712,-0.917225,-0.091525],[0.075446,-0.130535,0.988569]] 2025-10-28T18:49:50.390Z,1761677390.390 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:49:50.390Z,1761677390.390 [marl:UpdateRudder:B] Stopped 2025-10-28T18:49:50.390Z,1761677390.390 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:49:50.390Z,1761677390.390 [marl:UpdateRudder] Stopped 2025-10-28T18:49:50.390Z,1761677390.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:49:50.748Z,1761677390.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922564,0.373637,0.096283],[-0.379203,-0.924101,-0.047365],[0.071278,-0.080208,0.994226]] 2025-10-28T18:49:50.827Z,1761677390.827 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:49:50.827Z,1761677390.827 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:49:50.827Z,1761677390.827 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:49:50.827Z,1761677390.827 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateCommandMode] Stopped 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:49:50.828Z,1761677390.828 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:49:50.829Z,1761677390.829 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:49:50.829Z,1761677390.829 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:49:50.829Z,1761677390.829 [marl:UpdateSpeed] Stopped 2025-10-28T18:49:50.829Z,1761677390.829 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:49:51.154Z,1761677391.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916308,0.399185,-0.032109],[-0.398803,-0.916864,-0.017808],[-0.036548,-0.003512,0.999326]] 2025-10-28T18:49:51.562Z,1761677391.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904194,0.424767,-0.044792],[-0.423693,-0.905251,-0.031707],[-0.054016,-0.009691,0.998493]] 2025-10-28T18:49:51.959Z,1761677391.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880978,0.465193,0.086447],[-0.468846,-0.882865,-0.027070],[0.063728,-0.064379,0.995889]] 2025-10-28T18:49:52.363Z,1761677392.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857402,0.479771,0.186229],[-0.494687,-0.868098,-0.041118],[0.141938,-0.127380,0.981646]] 2025-10-28T18:49:52.771Z,1761677392.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872203,0.476094,0.112237],[-0.484474,-0.872459,-0.064035],[0.067436,-0.110228,0.991616]] 2025-10-28T18:49:53.171Z,1761677393.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853495,0.518517,0.051828],[-0.520811,-0.852109,-0.051638],[0.017388,-0.071065,0.997320]] 2025-10-28T18:49:53.579Z,1761677393.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835622,0.545869,0.061335],[-0.547620,-0.836588,-0.015253],[0.042986,-0.046334,0.998001]] 2025-10-28T18:49:53.980Z,1761677393.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833714,0.547480,0.072015],[-0.549417,-0.835502,-0.008835],[0.055332,-0.046932,0.997364]] 2025-10-28T18:49:54.383Z,1761677394.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827156,0.554693,0.090159],[-0.556087,-0.831049,0.011169],[0.081122,-0.040898,0.995865]] 2025-10-28T18:49:55.201Z,1761677395.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779839,0.622803,0.062989],[-0.623059,-0.781970,0.017908],[0.060409,-0.025281,0.997854]] 2025-10-28T18:49:55.864Z,1761677395.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:49:56.868Z,1761677396.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:49:57.335Z,1761677397.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726111,0.687183,0.023311],[-0.687562,-0.725908,-0.017788],[0.004698,-0.028944,0.999570]] 2025-10-28T18:49:57.706Z,1761677397.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718248,0.695786,-0.001357],[-0.694509,-0.717044,-0.059206],[-0.042168,-0.041582,0.998245]] 2025-10-28T18:49:58.114Z,1761677398.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714217,0.696694,0.067178],[-0.699535,-0.707320,-0.101730],[-0.023358,-0.119650,0.992541]] 2025-10-28T18:49:58.516Z,1761677398.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718628,0.682366,0.133975],[-0.695068,-0.710733,-0.108346],[0.021289,-0.170982,0.985044]] 2025-10-28T18:49:58.918Z,1761677398.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700863,0.694884,0.161021],[-0.711274,-0.697820,-0.084473],[0.053665,-0.173734,0.983329]] 2025-10-28T18:49:59.322Z,1761677399.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687043,0.712761,0.141220],[-0.722835,-0.690237,-0.032891],[0.074032,-0.124677,0.989432]] 2025-10-28T18:49:59.726Z,1761677399.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703946,0.706457,0.073337],[-0.709314,-0.704565,-0.021461],[0.036509,-0.067127,0.997076]] 2025-10-28T18:50:00.138Z,1761677400.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700082,0.713417,0.030369],[-0.713871,-0.700246,-0.006631],[0.016535,-0.026322,0.999517]] 2025-10-28T18:50:00.544Z,1761677400.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677604,0.734306,0.040589],[-0.734410,-0.678537,0.015141],[0.038659,-0.019549,0.999061]] 2025-10-28T18:50:00.938Z,1761677400.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675050,0.732452,0.088437],[-0.734495,-0.678491,0.012900],[0.069452,-0.056249,0.995998]] 2025-10-28T18:50:01.342Z,1761677401.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682617,0.726695,0.077126],[-0.729803,-0.683346,-0.020638],[0.037707,-0.070375,0.996808]] 2025-10-28T18:50:01.747Z,1761677401.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680511,0.729078,0.073151],[-0.732577,-0.679054,-0.047071],[0.015355,-0.085621,0.996209]] 2025-10-28T18:50:02.159Z,1761677402.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651520,0.752590,0.095554],[-0.757569,-0.652091,-0.029448],[0.040148,-0.091575,0.994989]] 2025-10-28T18:50:02.557Z,1761677402.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620972,0.774203,0.122494],[-0.780010,-0.625767,0.000866],[0.077323,-0.095009,0.992469]] 2025-10-28T18:50:02.959Z,1761677402.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631993,0.768245,0.101905],[-0.772138,-0.635452,0.001936],[0.066243,-0.077462,0.994792]] 2025-10-28T18:50:03.365Z,1761677403.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640521,0.765850,0.056628],[-0.764307,-0.642919,0.049891],[0.074617,-0.011325,0.997148]] 2025-10-28T18:50:03.771Z,1761677403.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611533,0.790723,0.028003],[-0.787557,-0.611723,0.074488],[0.076030,0.023498,0.996829]] 2025-10-28T18:50:04.171Z,1761677404.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585268,0.810656,-0.017272],[-0.810839,-0.585159,0.011308],[-0.000940,0.020623,0.999787]] 2025-10-28T18:50:04.578Z,1761677404.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594527,0.803233,0.036815],[-0.803377,-0.591479,-0.068830],[-0.033511,-0.070497,0.996949]] 2025-10-28T18:50:04.980Z,1761677404.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599450,0.783732,0.162557],[-0.798638,-0.599173,-0.056300],[0.053276,-0.163573,0.985092]] 2025-10-28T18:50:05.383Z,1761677405.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595065,0.771282,0.225880],[-0.797508,-0.601453,-0.047277],[0.099392,-0.208274,0.973007]] 2025-10-28T18:50:05.456Z,1761677405.456 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:50:05.456Z,1761677405.456 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:50:05.456Z,1761677405.456 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:50:05.457Z,1761677405.457 [marl:UpdateRudder:A] Stopped 2025-10-28T18:50:05.457Z,1761677405.457 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:50:05.790Z,1761677405.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605700,0.779644,0.159007],[-0.795690,-0.592974,-0.123527],[-0.002021,-0.201341,0.979519]] 2025-10-28T18:50:05.843Z,1761677405.843 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:50:05.843Z,1761677405.843 [marl:UpdateRudder:B] Stopped 2025-10-28T18:50:05.843Z,1761677405.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:50:05.843Z,1761677405.843 [marl:UpdateRudder] Stopped 2025-10-28T18:50:05.843Z,1761677405.843 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:50:06.191Z,1761677406.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599343,0.792577,0.112297],[-0.798344,-0.581553,-0.156340],[-0.058604,-0.183353,0.981299]] 2025-10-28T18:50:06.249Z,1761677406.249 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:50:06.249Z,1761677406.249 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:50:06.249Z,1761677406.249 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateCommandMode] Stopped 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:50:06.250Z,1761677406.250 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:50:06.251Z,1761677406.251 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:50:06.251Z,1761677406.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:50:06.251Z,1761677406.251 [marl:UpdateSpeed] Stopped 2025-10-28T18:50:06.251Z,1761677406.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:50:06.623Z,1761677406.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588024,0.794093,0.153765],[-0.807773,-0.586314,-0.061141],[0.041602,-0.160160,0.986214]] 2025-10-28T18:50:06.999Z,1761677406.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593161,0.791122,0.149286],[-0.797562,-0.602717,0.025053],[0.109797,-0.104205,0.988477]] 2025-10-28T18:50:07.403Z,1761677407.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577206,0.813983,0.065307],[-0.809587,-0.580874,0.084578],[0.106780,-0.004053,0.994274]] 2025-10-28T18:50:07.807Z,1761677407.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538364,0.841154,-0.051216],[-0.842350,-0.535356,0.061972],[0.024710,0.076505,0.996763]] 2025-10-28T18:50:08.221Z,1761677408.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544847,0.836076,-0.064174],[-0.836387,-0.547332,-0.029743],[-0.059992,0.037469,0.997495]] 2025-10-28T18:50:08.646Z,1761677408.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595165,0.801826,0.053417],[-0.803319,-0.591871,-0.066084],[-0.021371,-0.082242,0.996383]] 2025-10-28T18:50:08.713Z,1761677408.713 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:50:08.825Z,1761677408.825 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:50:08.825Z,1761677408.825 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:50:09.051Z,1761677409.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616158,0.766424,0.181504],[-0.784699,-0.617186,-0.057703],[0.067797,-0.177980,0.981696]] 2025-10-28T18:50:09.077Z,1761677409.077 [DAT](INFO): DAT read: user:146> 2025-10-28T18:50:09.078Z,1761677409.078 [DAT](INFO): DAT read: Tx time:18:50:08.8394 2025-10-28T18:50:09.078Z,1761677409.078 [DAT](INFO): Ping request sent. 2025-10-28T18:50:09.078Z,1761677409.078 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:50:09.078Z,1761677409.078 [DAT](INFO): publishing transmit ping time 2025-10-28T18:50:09.079Z,1761677409.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T18:50:09.329Z,1761677409.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250812 2025-10-28T18:50:09.422Z,1761677409.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597465,0.766233,0.236482],[-0.794876,-0.604831,-0.048500],[0.105870,-0.216951,0.970425]] 2025-10-28T18:50:09.581Z,1761677409.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503437 2025-10-28T18:50:09.828Z,1761677409.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577430,0.795469,0.183858],[-0.814746,-0.575933,-0.067018],[0.052579,-0.188496,0.980666]] 2025-10-28T18:50:09.833Z,1761677409.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755000 2025-10-28T18:50:10.085Z,1761677410.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006800 2025-10-28T18:50:10.231Z,1761677410.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565934,0.821891,0.064912],[-0.822992,-0.558497,-0.103755],[-0.049022,-0.112140,0.992482]] 2025-10-28T18:50:10.337Z,1761677410.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258771 2025-10-28T18:50:10.591Z,1761677410.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512687 2025-10-28T18:50:10.716Z,1761677410.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671918,0.736309,0.079838],[-0.737487,-0.675085,0.019293],[0.068103,-0.045917,0.996621]] 2025-10-28T18:50:10.841Z,1761677410.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762968 2025-10-28T18:50:11.093Z,1761677411.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808 2025-10-28T18:50:11.345Z,1761677411.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847 2025-10-28T18:50:11.444Z,1761677411.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654792,0.751835,0.077400],[-0.748146,-0.659291,0.074921],[0.107357,-0.008849,0.994181]] 2025-10-28T18:50:11.597Z,1761677411.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518906 2025-10-28T18:50:11.846Z,1761677411.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640605,0.761386,0.099581],[-0.755362,-0.648161,0.096519],[0.138033,-0.013388,0.990337]] 2025-10-28T18:50:11.849Z,1761677411.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770922 2025-10-28T18:50:12.101Z,1761677412.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023050 2025-10-28T18:50:12.250Z,1761677412.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648674,0.754413,0.100417],[-0.755908,-0.653981,0.030208],[0.088460,-0.056311,0.994487]] 2025-10-28T18:50:12.353Z,1761677412.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274816 2025-10-28T18:50:12.609Z,1761677412.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530959 2025-10-28T18:50:12.662Z,1761677412.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657939,0.752312,0.033795],[-0.752943,-0.656336,-0.047968],[-0.013907,-0.057006,0.998277]] 2025-10-28T18:50:12.857Z,1761677412.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778883 2025-10-28T18:50:13.058Z,1761677413.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675382,0.736903,0.028860],[-0.737046,-0.673156,-0.060195],[-0.024931,-0.061926,0.997769]] 2025-10-28T18:50:13.109Z,1761677413.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030924 2025-10-28T18:50:13.361Z,1761677413.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282823 2025-10-28T18:50:13.464Z,1761677413.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697702,0.709719,0.097524],[-0.714491,-0.699278,-0.022674],[0.052104,-0.085500,0.994975]] 2025-10-28T18:50:13.613Z,1761677413.613 [DAT](INFO): DAT read: Rx Time:18:50:12.9649 2025-10-28T18:50:13.613Z,1761677413.613 [DAT](INFO): Rx dataTimestamp_ set to:1761677413.613182 2025-10-28T18:50:13.614Z,1761677413.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535979 2025-10-28T18:50:13.865Z,1761677413.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786894 2025-10-28T18:50:13.869Z,1761677413.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712475,0.685552,0.149658],[-0.693302,-0.720647,0.000534],[0.108217,-0.103378,0.988738]] 2025-10-28T18:50:14.117Z,1761677414.117 [DAT](INFO): DAT read: Bearing 72, -22 (Remote) 2025-10-28T18:50:14.118Z,1761677414.118 [DAT](INFO): Remote Bearing received:Bearing 72, -22 (Remote) 2025-10-28T18:50:14.119Z,1761677414.119 [DAT](INFO): DAT read: Range 11 to 20 : 1572.3 m (Round-trip 2096.4 ms) speed -0.6 m/s 2025-10-28T18:50:14.120Z,1761677414.120 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T18:50:14.271Z,1761677414.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720078,0.688269,0.088170],[-0.693615,-0.717556,-0.063337],[0.019674,-0.106764,0.994090]] 2025-10-28T18:50:14.343Z,1761677414.343 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677440.00. Resetting abort timer. 2025-10-28T18:50:14.674Z,1761677414.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722364,0.690463,0.038077],[-0.687937,-0.711947,-0.140975],[-0.070229,-0.128030,0.989281]] 2025-10-28T18:50:15.078Z,1761677415.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734549,0.672736,0.088675],[-0.677999,-0.722359,-0.136070],[-0.027484,-0.160071,0.986723]] 2025-10-28T18:50:15.484Z,1761677415.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745558,0.653723,0.129578],[-0.665309,-0.741414,-0.087569],[0.038825,-0.151497,0.987695]] 2025-10-28T18:50:15.490Z,1761677415.490 [NAL9602](INFO): SBD MO Status=2, MOMSN=3323, MT Status=2, MTMSN=0 2025-10-28T18:50:15.490Z,1761677415.490 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T18:50:15.888Z,1761677415.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749117,0.651985,0.117217],[-0.659074,-0.751361,-0.032822],[0.066673,-0.101843,0.992564]] 2025-10-28T18:50:16.291Z,1761677416.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759567,0.645548,0.079533],[-0.648666,-0.760821,-0.019596],[0.047861,-0.066475,0.996640]] 2025-10-28T18:50:16.695Z,1761677416.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782588,0.621047,0.043084],[-0.622495,-0.781487,-0.042165],[0.007483,-0.059817,0.998181]] 2025-10-28T18:50:17.100Z,1761677417.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794292,0.604704,0.058587],[-0.607402,-0.792441,-0.055674],[0.012760,-0.079807,0.996729]] 2025-10-28T18:50:17.520Z,1761677417.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784753,0.599436,0.157607],[-0.607747,-0.794109,-0.005799],[0.121681,-0.100336,0.987485]] 2025-10-28T18:50:18.320Z,1761677418.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811594,0.576485,0.094771],[-0.572961,-0.817104,0.063697],[0.114158,-0.002604,0.993459]] 2025-10-28T18:50:18.721Z,1761677418.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840231,0.541893,-0.019062],[-0.540977,-0.840161,-0.038393],[-0.036820,-0.021947,0.999081]] 2025-10-28T18:50:18.803Z,1761677418.803 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:50:18.803Z,1761677418.803 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:50:18.803Z,1761677418.803 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:50:18.803Z,1761677418.803 [marl:UpdateRudder:A] Stopped 2025-10-28T18:50:18.803Z,1761677418.803 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:50:19.123Z,1761677419.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831361,0.553934,0.044685],[-0.555229,-0.824490,-0.109256],[-0.023678,-0.115641,0.993009]] 2025-10-28T18:50:19.159Z,1761677419.159 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:50:19.159Z,1761677419.159 [marl:UpdateRudder:B] Stopped 2025-10-28T18:50:19.159Z,1761677419.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:50:19.160Z,1761677419.160 [marl:UpdateRudder] Stopped 2025-10-28T18:50:19.160Z,1761677419.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:50:19.528Z,1761677419.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823311,0.530982,0.200542],[-0.551222,-0.832237,-0.059464],[0.135324,-0.159501,0.977879]] 2025-10-28T18:50:19.565Z,1761677419.565 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:50:19.565Z,1761677419.565 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:50:19.565Z,1761677419.565 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:50:19.565Z,1761677419.565 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:50:19.565Z,1761677419.565 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateCommandMode] Stopped 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:50:19.566Z,1761677419.566 [marl:UpdateSpeed] Stopped 2025-10-28T18:50:19.567Z,1761677419.567 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:50:19.929Z,1761677419.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828726,0.520820,0.204841],[-0.534094,-0.845348,-0.011440],[0.167204,-0.118885,0.978728]] 2025-10-28T18:50:20.338Z,1761677420.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849117,0.521159,0.085986],[-0.524776,-0.850871,-0.025084],[0.060090,-0.066423,0.995981]] 2025-10-28T18:50:21.126Z,1761677421.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833178,0.549520,0.061989],[-0.549466,-0.835290,0.019447],[0.062466,-0.017858,0.997887]] 2025-10-28T18:50:23.308Z,1761677423.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857994,0.513455,0.014521],[-0.511884,-0.852337,-0.107220],[-0.042676,-0.099427,0.994129]] 2025-10-28T18:50:23.656Z,1761677423.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849851,0.525791,0.036030],[-0.526801,-0.845517,-0.087072],[-0.015318,-0.092979,0.995550]] 2025-10-28T18:50:24.062Z,1761677424.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849068,0.524674,0.061652],[-0.527166,-0.849070,-0.034307],[0.034347,-0.061630,0.997508]] 2025-10-28T18:50:24.465Z,1761677424.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863303,0.502256,0.049470],[-0.503390,-0.863960,-0.013118],[0.036151,-0.036227,0.998689]] 2025-10-28T18:50:24.874Z,1761677424.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878027,0.478542,0.008060],[-0.478558,-0.877557,-0.029596],[-0.007090,-0.029843,0.999529]] 2025-10-28T18:50:25.277Z,1761677425.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876935,0.480133,0.021387],[-0.480606,-0.876222,-0.035395],[0.001746,-0.041318,0.999144]] 2025-10-28T18:50:25.675Z,1761677425.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866861,0.492561,0.077047],[-0.494811,-0.868915,-0.012186],[0.060944,-0.048687,0.996953]] 2025-10-28T18:50:26.079Z,1761677426.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861331,0.499648,0.091982],[-0.502062,-0.864824,-0.003634],[0.077732,-0.049311,0.995754]] 2025-10-28T18:50:26.491Z,1761677426.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862490,0.503045,0.055295],[-0.504533,-0.863236,-0.016425],[0.039470,-0.042064,0.998335]] 2025-10-28T18:50:26.894Z,1761677426.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871453,0.489631,0.028828],[-0.490200,-0.871434,-0.017542],[0.016532,-0.029418,0.999430]] 2025-10-28T18:50:26.989Z,1761677426.989 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:50:27.292Z,1761677427.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884778,0.466012,0.000177],[-0.466004,-0.884760,-0.006390],[-0.002822,-0.005736,0.999980]] 2025-10-28T18:50:27.695Z,1761677427.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879552,0.475780,-0.004640],[-0.475473,-0.879265,-0.028597],[-0.017686,-0.022946,0.999580]] 2025-10-28T18:50:27.994Z,1761677427.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:50:28.099Z,1761677428.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870126,0.489743,0.055061],[-0.492728,-0.866760,-0.077115],[0.009958,-0.094230,0.995501]] 2025-10-28T18:50:28.511Z,1761677428.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865876,0.482619,0.131674],[-0.497505,-0.858326,-0.125558],[0.052423,-0.174226,0.983309]] 2025-10-28T18:50:28.907Z,1761677428.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867992,0.486540,0.099344],[-0.496101,-0.858402,-0.130498],[0.021784,-0.162555,0.986459]] 2025-10-28T18:50:29.311Z,1761677429.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865905,0.499784,0.020591],[-0.499246,-0.860958,-0.097496],[-0.030999,-0.094702,0.995023]] 2025-10-28T18:50:29.715Z,1761677429.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867366,0.497491,0.013414],[-0.497590,-0.866419,-0.041495],[-0.009021,-0.042667,0.999049]] 2025-10-28T18:50:30.121Z,1761677430.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864430,0.499337,0.058509],[-0.500775,-0.865492,-0.012180],[0.044557,-0.039829,0.998213]] 2025-10-28T18:50:30.525Z,1761677430.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858822,0.506035,0.079703],[-0.510430,-0.858499,-0.049405],[0.043425,-0.083113,0.995594]] 2025-10-28T18:50:30.927Z,1761677430.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879983,0.469234,0.073816],[-0.474964,-0.871255,-0.123790],[0.006226,-0.143993,0.989559]] 2025-10-28T18:50:31.332Z,1761677431.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884798,0.461319,0.065703],[-0.465259,-0.866802,-0.179412],[-0.025814,-0.189312,0.981578]] 2025-10-28T18:50:31.736Z,1761677431.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876305,0.478391,0.056853],[-0.480669,-0.860288,-0.169889],[-0.032363,-0.176202,0.983822]] 2025-10-28T18:50:32.139Z,1761677432.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866672,0.495447,0.058415],[-0.498858,-0.859631,-0.110338],[-0.004452,-0.124768,0.992176]] 2025-10-28T18:50:32.545Z,1761677432.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864376,0.500550,0.047997],[-0.502324,-0.863885,-0.037072],[0.022908,-0.056154,0.998159]] 2025-10-28T18:50:32.954Z,1761677432.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864430,0.502734,-0.004319],[-0.502489,-0.863669,0.039760],[0.016259,0.036540,0.999200]] 2025-10-28T18:50:33.353Z,1761677433.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864291,0.502573,-0.020506],[-0.502658,-0.861518,0.071565],[0.018301,0.072161,0.997225]] 2025-10-28T18:50:33.759Z,1761677433.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861035,0.508079,-0.021796],[-0.508533,-0.859919,0.043973],[0.003599,0.048946,0.998795]] 2025-10-28T18:50:34.159Z,1761677434.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856050,0.516841,0.007295],[-0.516886,-0.855883,-0.017134],[-0.002612,-0.018438,0.999827]] 2025-10-28T18:50:34.171Z,1761677434.171 [NAL9602](INFO): SBD MO Status=1, MOMSN=3323, MT Status=0, MTMSN=0 2025-10-28T18:50:34.228Z,1761677434.228 [NAL9602](INFO): Sent 48 bytes from file Logs/20251028T162422/Express0028.lzma 2025-10-28T18:50:34.228Z,1761677434.228 [NAL9602](INFO): Packets left to send: 0 2025-10-28T18:50:34.265Z,1761677434.265 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:50:34.265Z,1761677434.265 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:50:34.265Z,1761677434.265 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:50:34.265Z,1761677434.265 [marl:UpdateRudder:A] Stopped 2025-10-28T18:50:34.265Z,1761677434.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:50:34.564Z,1761677434.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860724,0.502308,0.082713],[-0.507472,-0.859489,-0.061244],[0.040328,-0.094689,0.994690]] 2025-10-28T18:50:35.219Z,1761677435.219 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:50:35.219Z,1761677435.219 [marl:UpdateRudder:B] Stopped 2025-10-28T18:50:35.219Z,1761677435.219 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:50:35.219Z,1761677435.219 [marl:UpdateRudder] Stopped 2025-10-28T18:50:35.219Z,1761677435.219 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:50:35.305Z,1761677435.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850625,0.511424,0.121995],[-0.518250,-0.854682,-0.030583],[0.088626,-0.089238,0.992059]] 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode] Stopped 2025-10-28T18:50:35.331Z,1761677435.331 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:50:35.332Z,1761677435.332 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:50:35.344Z,1761677435.344 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:50:35.344Z,1761677435.344 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:50:35.344Z,1761677435.344 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:50:35.344Z,1761677435.344 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:50:35.345Z,1761677435.345 [marl:UpdateSpeed] Stopped 2025-10-28T18:50:35.345Z,1761677435.345 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:50:35.682Z,1761677435.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841575,0.525189,0.126204],[-0.525151,-0.850235,0.036287],[0.126360,-0.035737,0.991340]] 2025-10-28T18:50:36.087Z,1761677436.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846482,0.521584,0.106855],[-0.516105,-0.853151,0.075957],[0.130781,0.009148,0.991369]] 2025-10-28T18:50:36.498Z,1761677436.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851515,0.523554,0.028531],[-0.521543,-0.851336,0.056743],[0.053998,0.033437,0.997981]] 2025-10-28T18:50:36.894Z,1761677436.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844027,0.534313,0.046135],[-0.534196,-0.845212,0.015864],[0.047470,-0.011255,0.998809]] 2025-10-28T18:50:37.300Z,1761677437.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843912,0.522938,0.119783],[-0.530002,-0.847269,-0.035117],[0.083124,-0.093121,0.992179]] 2025-10-28T18:50:37.703Z,1761677437.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850163,0.520438,0.079790],[-0.526497,-0.841702,-0.119742],[0.004842,-0.143809,0.989594]] 2025-10-28T18:50:38.107Z,1761677438.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846665,0.528864,0.058834],[-0.530232,-0.829157,-0.177066],[-0.044862,-0.181111,0.982439]] 2025-10-28T18:50:38.510Z,1761677438.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850973,0.512922,0.112940],[-0.524842,-0.838517,-0.146388],[0.019617,-0.183848,0.982759]] 2025-10-28T18:50:38.915Z,1761677438.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853442,0.504574,0.130544],[-0.517091,-0.851087,-0.090932],[0.065222,-0.145109,0.987264]] 2025-10-28T18:50:39.318Z,1761677439.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851035,0.517854,0.086989],[-0.523166,-0.850410,-0.055686],[0.045139,-0.092901,0.994652]] 2025-10-28T18:50:39.722Z,1761677439.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852793,0.521212,0.032896],[-0.522078,-0.852431,-0.028191],[0.013348,-0.041216,0.999061]] 2025-10-28T18:50:40.126Z,1761677440.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860577,0.509278,0.006537],[-0.509254,-0.860601,0.005089],[0.008217,0.001051,0.999966]] 2025-10-28T18:50:40.531Z,1761677440.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861921,0.505987,0.032695],[-0.504725,-0.862355,0.039963],[0.048416,0.017943,0.998666]] 2025-10-28T18:50:40.935Z,1761677440.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864869,0.497159,0.069528],[-0.496042,-0.867643,0.033725],[0.077092,-0.005321,0.997010]] 2025-10-28T18:50:41.338Z,1761677441.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869978,0.486080,0.082853],[-0.488234,-0.872687,-0.006735],[0.069031,-0.046311,0.996539]] 2025-10-28T18:50:41.742Z,1761677441.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867014,0.489284,0.094277],[-0.495305,-0.866923,-0.055833],[0.054412,-0.095104,0.993979]] 2025-10-28T18:50:42.147Z,1761677442.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875140,0.461787,0.144508],[-0.476422,-0.874542,-0.090541],[0.084568,-0.148083,0.985353]] 2025-10-28T18:50:42.550Z,1761677442.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880042,0.447645,0.158557],[-0.462422,-0.883774,-0.071480],[0.108131,-0.136226,0.984759]] 2025-10-28T18:50:42.959Z,1761677442.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870119,0.474087,0.134665],[-0.479129,-0.877725,-0.005801],[0.115449,-0.069570,0.990874]] 2025-10-28T18:50:43.364Z,1761677443.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882204,0.461507,0.093421],[-0.460706,-0.887002,0.031265],[0.097294,-0.015458,0.995136]] 2025-10-28T18:50:43.773Z,1761677443.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886727,0.454629,0.083832],[-0.451851,-0.890653,0.050679],[0.097705,0.007059,0.995190]] 2025-10-28T18:50:44.167Z,1761677444.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886258,0.454271,0.090470],[-0.452375,-0.890854,0.041649],[0.099516,-0.004015,0.995028]] 2025-10-28T18:50:44.575Z,1761677444.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891293,0.450332,0.052899],[-0.451777,-0.891930,-0.018938],[0.038654,-0.040778,0.998420]] 2025-10-28T18:50:44.981Z,1761677444.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894058,0.441321,0.076788],[-0.446139,-0.892665,-0.064109],[0.040253,-0.091575,0.994984]] 2025-10-28T18:50:45.379Z,1761677445.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899306,0.405044,0.164887],[-0.419514,-0.905513,-0.063676],[0.123516,-0.126436,0.984255]] 2025-10-28T18:50:45.786Z,1761677445.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903561,0.409119,0.127279],[-0.414830,-0.909658,-0.020945],[0.107211,-0.071724,0.991646]] 2025-10-28T18:50:46.186Z,1761677446.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899807,0.435350,0.028598],[-0.434972,-0.900251,0.018659],[0.033868,0.004350,0.999417]] 2025-10-28T18:50:46.609Z,1761677446.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908942,0.416820,0.009232],[-0.416882,-0.908939,-0.006189],[0.005812,-0.009474,0.999938]] 2025-10-28T18:50:46.995Z,1761677446.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915254,0.402369,0.020235],[-0.402871,-0.913793,-0.051747],[-0.002330,-0.055514,0.998455]] 2025-10-28T18:50:47.398Z,1761677447.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919287,0.393052,0.020520],[-0.392851,-0.913131,-0.108907],[-0.024069,-0.108178,0.993840]] 2025-10-28T18:50:47.802Z,1761677447.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931195,0.364484,-0.005193],[-0.361906,-0.926125,-0.106381],[-0.043584,-0.097182,0.994312]] 2025-10-28T18:50:47.827Z,1761677447.827 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:50:47.827Z,1761677447.827 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:50:47.827Z,1761677447.827 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:50:47.827Z,1761677447.827 [marl:UpdateRudder:A] Stopped 2025-10-28T18:50:47.827Z,1761677447.827 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:50:48.207Z,1761677448.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933378,0.356642,-0.040144],[-0.354113,-0.933361,-0.058666],[-0.058392,-0.040542,0.997470]] 2025-10-28T18:50:48.231Z,1761677448.231 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:50:48.231Z,1761677448.231 [marl:UpdateRudder:B] Stopped 2025-10-28T18:50:48.231Z,1761677448.231 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:50:48.231Z,1761677448.231 [marl:UpdateRudder] Stopped 2025-10-28T18:50:48.231Z,1761677448.231 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:50:48.643Z,1761677448.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926240,0.376850,-0.007966],[-0.376901,-0.926232,0.006277],[-0.005013,0.008816,0.999949]] 2025-10-28T18:50:48.701Z,1761677448.701 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:50:48.701Z,1761677448.701 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:50:48.701Z,1761677448.701 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateCommandMode] Stopped 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:50:48.702Z,1761677448.702 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:50:48.703Z,1761677448.703 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:50:48.703Z,1761677448.703 [marl:UpdateSpeed] Stopped 2025-10-28T18:50:48.703Z,1761677448.703 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:50:49.014Z,1761677449.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934807,0.347843,0.071704],[-0.345566,-0.937435,0.042430],[0.081976,0.014885,0.996523]] 2025-10-28T18:50:49.418Z,1761677449.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944133,0.324108,0.059716],[-0.321871,-0.945753,0.044160],[0.070789,0.022472,0.997238]] 2025-10-28T18:50:49.825Z,1761677449.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943534,0.331057,0.012036],[-0.330386,-0.943040,0.038987],[0.024257,0.032809,0.999167]] 2025-10-28T18:50:50.226Z,1761677450.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942950,0.331774,0.027779],[-0.331816,-0.943339,0.003213],[0.027272,-0.006188,0.999609]] 2025-10-28T18:50:50.860Z,1761677450.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934014,0.352650,0.057061],[-0.356001,-0.932106,-0.066648],[0.029683,-0.082563,0.996144]] 2025-10-28T18:50:51.212Z,1761677451.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941492,0.331772,0.059332],[-0.336082,-0.937399,-0.091275],[0.025335,-0.105875,0.994057]] 2025-10-28T18:50:51.614Z,1761677451.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952077,0.297081,0.072751],[-0.303744,-0.946280,-0.110872],[0.035905,-0.127657,0.991168]] 2025-10-28T18:50:52.020Z,1761677452.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957220,0.281632,0.066436],[-0.287814,-0.950385,-0.118034],[0.029897,-0.132106,0.990785]] 2025-10-28T18:50:52.026Z,1761677452.026 [NAL9602](INFO): SBD MO Status=2, MOMSN=3324, MT Status=2, MTMSN=0 2025-10-28T18:50:52.026Z,1761677452.026 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T18:50:52.423Z,1761677452.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957537,0.287304,0.024060],[-0.288285,-0.955206,-0.066880],[0.003768,-0.070977,0.997471]] 2025-10-28T18:50:52.827Z,1761677452.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958648,0.284098,0.016793],[-0.284134,-0.958785,0.000244],[0.016170,-0.004538,0.999859]] 2025-10-28T18:50:53.231Z,1761677453.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963483,0.264967,0.038631],[-0.263660,-0.963951,0.035810],[0.046727,0.024316,0.998612]] 2025-10-28T18:50:53.636Z,1761677453.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962616,0.263239,0.063843],[-0.259530,-0.963815,0.060871],[0.077556,0.042026,0.996102]] 2025-10-28T18:50:54.038Z,1761677454.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966706,0.252377,0.042253],[-0.252230,-0.967627,0.008857],[0.043120,-0.002095,0.999068]] 2025-10-28T18:50:54.449Z,1761677454.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965059,0.259047,-0.039448],[-0.257246,-0.965275,-0.045473],[-0.049858,-0.033736,0.998186]] 2025-10-28T18:50:54.846Z,1761677454.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960876,0.276796,-0.010058],[-0.275993,-0.959886,-0.049464],[-0.023346,-0.044753,0.998725]] 2025-10-28T18:50:55.252Z,1761677455.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962922,0.262013,0.064264],[-0.262647,-0.964891,-0.001473],[0.061621,-0.018297,0.997932]] 2025-10-28T18:50:55.654Z,1761677455.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976624,0.212632,0.031505],[-0.211332,-0.976593,0.040065],[0.039286,0.032471,0.998700]] 2025-10-28T18:50:56.058Z,1761677456.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975670,0.217850,-0.024676],[-0.219036,-0.973449,0.066489],[-0.009536,0.070276,0.997482]] 2025-10-28T18:50:56.467Z,1761677456.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970793,0.239068,0.020173],[-0.237808,-0.969976,0.050929],[0.031743,0.044644,0.998498]] 2025-10-28T18:50:56.866Z,1761677456.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971243,0.231232,0.056737],[-0.230662,-0.972894,0.016495],[0.059013,0.002933,0.998253]] 2025-10-28T18:50:57.613Z,1761677457.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953036,0.300786,0.035344],[-0.302470,-0.951205,-0.060994],[0.015274,-0.068820,0.997512]] 2025-10-28T18:50:57.999Z,1761677457.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959635,0.275190,0.058063],[-0.278719,-0.958143,-0.065405],[0.037634,-0.078948,0.996168]] 2025-10-28T18:50:58.112Z,1761677458.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:50:58.403Z,1761677458.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957519,0.285734,0.038903],[-0.286947,-0.957470,-0.030212],[0.028616,-0.040091,0.998786]] 2025-10-28T18:50:58.810Z,1761677458.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961436,0.271269,0.045325],[-0.272819,-0.961521,-0.032367],[0.034801,-0.043484,0.998448]] 2025-10-28T18:50:59.120Z,1761677459.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:50:59.211Z,1761677459.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967550,0.247325,0.051736],[-0.250895,-0.964650,-0.080638],[0.029963,-0.091002,0.995400]] 2025-10-28T18:50:59.619Z,1761677459.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966024,0.254145,0.046998],[-0.258217,-0.956824,-0.133458],[0.011051,-0.141059,0.989940]] 2025-10-28T18:51:00.021Z,1761677460.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968491,0.243186,0.053722],[-0.248987,-0.950291,-0.186956],[0.005586,-0.194441,0.980898]] 2025-10-28T18:51:00.434Z,1761677460.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972205,0.225306,0.063676],[-0.233078,-0.957111,-0.172082],[0.022174,-0.182140,0.983022]] 2025-10-28T18:51:00.827Z,1761677460.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972688,0.222101,0.067453],[-0.228988,-0.965724,-0.122237],[0.037992,-0.134344,0.990206]] 2025-10-28T18:51:01.231Z,1761677461.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973624,0.220843,0.057319],[-0.223413,-0.973771,-0.043090],[0.046300,-0.054759,0.997426]] 2025-10-28T18:51:01.639Z,1761677461.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980758,0.191970,0.035512],[-0.191341,-0.981312,0.020357],[0.038757,0.013170,0.999162]] 2025-10-28T18:51:01.662Z,1761677461.662 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:51:01.662Z,1761677461.662 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:51:01.662Z,1761677461.662 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:51:01.663Z,1761677461.663 [marl:UpdateRudder:A] Stopped 2025-10-28T18:51:01.663Z,1761677461.663 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:51:02.043Z,1761677462.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979995,0.196141,0.033740],[-0.194773,-0.980033,0.039976],[0.040907,0.032605,0.998631]] 2025-10-28T18:51:02.066Z,1761677462.066 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:51:02.067Z,1761677462.067 [marl:UpdateRudder:B] Stopped 2025-10-28T18:51:02.067Z,1761677462.067 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:51:02.067Z,1761677462.067 [marl:UpdateRudder] Stopped 2025-10-28T18:51:02.067Z,1761677462.067 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:51:02.449Z,1761677462.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979144,0.191680,0.067345],[-0.191353,-0.981456,0.011336],[0.068269,-0.001787,0.997665]] 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:51:02.485Z,1761677462.485 [marl:UpdateCommandMode] Stopped 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed] Stopped 2025-10-28T18:51:02.486Z,1761677462.486 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:51:02.847Z,1761677462.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984972,0.164061,0.053981],[-0.165515,-0.985924,-0.023635],[0.049344,-0.032215,0.998262]] 2025-10-28T18:51:03.252Z,1761677463.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984915,0.170167,0.031404],[-0.170842,-0.985090,-0.020247],[0.027491,-0.025306,0.999302]] 2025-10-28T18:51:03.667Z,1761677463.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981953,0.183052,0.047547],[-0.182283,-0.983041,0.020073],[0.050415,0.011044,0.998667]] 2025-10-28T18:51:04.088Z,1761677464.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987103,0.155936,0.036207],[-0.154143,-0.986884,0.047953],[0.043209,0.041753,0.998193]] 2025-10-28T18:51:04.463Z,1761677464.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986718,0.161061,0.021142],[-0.159288,-0.984851,0.068522],[0.031858,0.064245,0.997426]] 2025-10-28T18:51:04.868Z,1761677464.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985243,0.169006,0.027090],[-0.166542,-0.983088,0.076171],[0.039505,0.070535,0.996727]] 2025-10-28T18:51:05.273Z,1761677465.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989108,0.144361,0.028717],[-0.143794,-0.989386,0.020922],[0.031432,0.016565,0.999369]] 2025-10-28T18:51:05.676Z,1761677465.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988414,0.150436,0.020189],[-0.151465,-0.986192,-0.066961],[0.009837,-0.069243,0.997551]] 2025-10-28T18:51:06.079Z,1761677466.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988856,0.141424,0.046513],[-0.145728,-0.983401,-0.108096],[0.030453,-0.113670,0.993052]] 2025-10-28T18:51:06.483Z,1761677466.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993701,0.105961,0.036466],[-0.108362,-0.991516,-0.071792],[0.028549,-0.075291,0.996753]] 2025-10-28T18:51:06.888Z,1761677466.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991630,0.128286,0.014569],[-0.128221,-0.991732,0.005279],[0.015126,0.003367,0.999880]] 2025-10-28T18:51:07.291Z,1761677467.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988165,0.152083,0.020038],[-0.151622,-0.988175,0.022818],[0.023271,0.019509,0.999539]] 2025-10-28T18:51:07.695Z,1761677467.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987827,0.146624,0.051950],[-0.146844,-0.989160,-0.000413],[0.051327,-0.008036,0.998650]] 2025-10-28T18:51:08.099Z,1761677468.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994226,0.106142,0.015745],[-0.105881,-0.994241,0.016542],[0.017410,0.014780,0.999739]] 2025-10-28T18:51:08.505Z,1761677468.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992650,0.106750,-0.057004],[-0.110016,-0.992260,0.057598],[-0.050414,0.063446,0.996711]] 2025-10-28T18:51:08.909Z,1761677468.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990274,0.136543,-0.026693],[-0.137896,-0.988748,0.057983],[-0.018475,0.061100,0.997961]] 2025-10-28T18:51:08.932Z,1761677468.932 [NAL9602](INFO): SBD MO Status=0, MOMSN=3324, MT Status=0, MTMSN=0 2025-10-28T18:51:09.049Z,1761677469.049 [marl:NeedComms:D] Stopped 2025-10-28T18:51:09.049Z,1761677469.049 [marl:NeedComms:E] Running Loop=1 2025-10-28T18:51:09.050Z,1761677469.050 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:51:09.113Z,1761677469.113 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:51:09.113Z,1761677469.113 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:51:09.312Z,1761677469.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990069,0.130525,0.052217],[-0.130710,-0.991421,-0.000146],[0.051750,-0.006970,0.998636]] 2025-10-28T18:51:09.365Z,1761677469.365 [DAT](INFO): DAT read: user:147> 2025-10-28T18:51:09.366Z,1761677469.366 [DAT](INFO): DAT read: Tx time:18:51:09.0891 2025-10-28T18:51:09.366Z,1761677469.366 [DAT](INFO): Ping request sent. 2025-10-28T18:51:09.366Z,1761677469.366 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:51:09.366Z,1761677469.366 [DAT](INFO): publishing transmit ping time 2025-10-28T18:51:09.367Z,1761677469.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932 2025-10-28T18:51:09.617Z,1761677469.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250679 2025-10-28T18:51:09.719Z,1761677469.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994554,0.084620,0.060835],[-0.088817,-0.993589,-0.069944],[0.054527,-0.074966,0.995694]] 2025-10-28T18:51:09.869Z,1761677469.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502651 2025-10-28T18:51:10.119Z,1761677470.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995673,0.092784,0.005029],[-0.092884,-0.992312,-0.081783],[-0.002598,-0.081897,0.996637]] 2025-10-28T18:51:10.121Z,1761677470.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754526 2025-10-28T18:51:10.373Z,1761677470.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006702 2025-10-28T18:51:10.523Z,1761677470.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992007,0.119951,0.039155],[-0.123077,-0.988239,-0.090751],[0.027809,-0.094845,0.995104]] 2025-10-28T18:51:10.627Z,1761677470.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260196 2025-10-28T18:51:10.877Z,1761677470.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510649 2025-10-28T18:51:10.934Z,1761677470.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988625,0.119906,0.090792],[-0.128266,-0.987402,-0.092650],[0.078539,-0.103242,0.991551]] 2025-10-28T18:51:11.129Z,1761677471.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762682 2025-10-28T18:51:11.331Z,1761677471.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987116,0.114980,0.111271],[-0.121889,-0.990882,-0.057403],[0.103657,-0.070226,0.992131]] 2025-10-28T18:51:11.347Z,1761677471.347 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185110.00,A,3646.01115,N,12151.59186,W,0.836,257.97,281025,,,D*7C 2025-10-28T18:51:11.349Z,1761677471.349 [NAL9602](INFO): GPS fix at 20251028T185110: (36.766852, -121.859864) 2025-10-28T18:51:11.371Z,1761677471.371 [marl:NeedComms:E] Stopped 2025-10-28T18:51:11.372Z,1761677471.372 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T18:51:11.372Z,1761677471.372 [marl:NeedComms] Stopped 2025-10-28T18:51:11.372Z,1761677471.372 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T18:51:11.372Z,1761677471.372 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T18:51:11.372Z,1761677471.372 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T18:51:11.373Z,1761677471.373 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761677440.00. Resetting abort timer. 2025-10-28T18:51:11.381Z,1761677471.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014704 2025-10-28T18:51:11.633Z,1761677471.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266660 2025-10-28T18:51:11.735Z,1761677471.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988911,0.110654,0.099046],[-0.112051,-0.993665,-0.008639],[0.097463,-0.019641,0.995045]] 2025-10-28T18:51:11.885Z,1761677471.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518719 2025-10-28T18:51:12.137Z,1761677472.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770726 2025-10-28T18:51:12.141Z,1761677472.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992940,0.109744,0.045024],[-0.110607,-0.993716,-0.017139],[0.042860,-0.021998,0.998839]] 2025-10-28T18:51:12.389Z,1761677472.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022654 2025-10-28T18:51:12.544Z,1761677472.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989565,0.141629,0.026510],[-0.142345,-0.989439,-0.027362],[0.022354,-0.030850,0.999274]] 2025-10-28T18:51:12.644Z,1761677472.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277316 2025-10-28T18:51:12.893Z,1761677472.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526653 2025-10-28T18:51:12.947Z,1761677472.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981283,0.163774,0.101296],[-0.169892,-0.983927,-0.054992],[0.090662,-0.071172,0.993335]] 2025-10-28T18:51:13.146Z,1761677473.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779757 2025-10-28T18:51:13.351Z,1761677473.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987135,0.145736,0.065767],[-0.148915,-0.987765,-0.046316],[0.058213,-0.055514,0.996759]] 2025-10-28T18:51:13.398Z,1761677473.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031642 2025-10-28T18:51:13.649Z,1761677473.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282645 2025-10-28T18:51:13.770Z,1761677473.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983314,0.180399,-0.023458],[-0.179628,-0.983226,-0.031638],[-0.028772,-0.026896,0.999224]] 2025-10-28T18:51:13.902Z,1761677473.902 [DAT](INFO): DAT read: Rx Time:18:51:13.2284 2025-10-28T18:51:13.903Z,1761677473.903 [DAT](INFO): Rx dataTimestamp_ set to:1761677473.902761 2025-10-28T18:51:13.905Z,1761677473.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538226 2025-10-28T18:51:14.153Z,1761677474.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786858 2025-10-28T18:51:14.164Z,1761677474.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977910,0.206598,-0.031769],[-0.205670,-0.978157,-0.030148],[-0.037304,-0.022948,0.999040]] 2025-10-28T18:51:14.406Z,1761677474.406 [DAT](INFO): DAT read: Bearing 77, -6 (Remote) 2025-10-28T18:51:14.407Z,1761677474.407 [DAT](INFO): Remote Bearing received:Bearing 77, -6 (Remote) 2025-10-28T18:51:14.409Z,1761677474.409 [DAT](INFO): DAT read: Range 11 to 20 : 1582.5 m (Round-trip 2110.1 ms) speed 0.6 m/s 2025-10-28T18:51:14.410Z,1761677474.410 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T18:51:14.563Z,1761677474.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980268,0.197669,0.000920],[-0.197625,-0.979927,-0.026208],[-0.004279,-0.025872,0.999656]] 2025-10-28T18:51:14.661Z,1761677474.661 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677440.00. Resetting abort timer. 2025-10-28T18:51:14.968Z,1761677474.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984066,0.176643,0.020274],[-0.176529,-0.984268,0.007310],[0.021246,0.003614,0.999768]] 2025-10-28T18:51:15.030Z,1761677475.030 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:51:15.030Z,1761677475.030 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:51:15.030Z,1761677475.030 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:51:15.030Z,1761677475.030 [marl:UpdateRudder:A] Stopped 2025-10-28T18:51:15.030Z,1761677475.030 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:51:15.373Z,1761677475.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983072,0.182542,0.015732],[-0.182266,-0.983094,0.017492],[0.018659,0.014328,0.999723]] 2025-10-28T18:51:15.403Z,1761677475.403 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:51:15.403Z,1761677475.403 [marl:UpdateRudder:B] Stopped 2025-10-28T18:51:15.403Z,1761677475.403 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:51:15.403Z,1761677475.403 [marl:UpdateRudder] Stopped 2025-10-28T18:51:15.404Z,1761677475.404 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:51:15.783Z,1761677475.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980466,0.196660,0.003192],[-0.196567,-0.980307,0.018982],[0.006862,0.017984,0.999815]] 2025-10-28T18:51:15.824Z,1761677475.824 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:51:15.824Z,1761677475.824 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:51:15.824Z,1761677475.824 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateCommandMode] Stopped 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:51:15.825Z,1761677475.825 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:51:15.826Z,1761677475.826 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:51:15.826Z,1761677475.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:51:15.826Z,1761677475.826 [marl:UpdateSpeed] Stopped 2025-10-28T18:51:15.826Z,1761677475.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:51:16.181Z,1761677476.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977662,0.210015,0.008440],[-0.210077,-0.977657,-0.007305],[0.006718,-0.008915,0.999938]] 2025-10-28T18:51:16.603Z,1761677476.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973179,0.228395,0.027536],[-0.229739,-0.971095,-0.064769],[0.011947,-0.069358,0.997520]] 2025-10-28T18:51:16.987Z,1761677476.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967202,0.249400,0.048176],[-0.253412,-0.960422,-0.115637],[0.017430,-0.124053,0.992122]] 2025-10-28T18:51:17.393Z,1761677477.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965269,0.249363,0.077939],[-0.259230,-0.951269,-0.166995],[0.032499,-0.181399,0.982872]] 2025-10-28T18:51:17.803Z,1761677477.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970257,0.231780,0.069851],[-0.240635,-0.954895,-0.173985],[0.026374,-0.185618,0.982268]] 2025-10-28T18:51:18.203Z,1761677478.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970126,0.238836,0.042574],[-0.242319,-0.962420,-0.122595],[0.011694,-0.129249,0.991543]] 2025-10-28T18:51:18.644Z,1761677478.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967496,0.249059,0.043829],[-0.251147,-0.966594,-0.051201],[0.029613,-0.060544,0.997726]] 2025-10-28T18:51:19.007Z,1761677479.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968936,0.236190,0.073332],[-0.238337,-0.970935,-0.021920],[0.066023,-0.038717,0.997067]] 2025-10-28T18:51:19.422Z,1761677479.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975060,0.201369,0.093321],[-0.205989,-0.977620,-0.042757],[0.082622,-0.060914,0.994718]] 2025-10-28T18:51:19.823Z,1761677479.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978706,0.198463,0.052413],[-0.201582,-0.977442,-0.063018],[0.038724,-0.072241,0.996635]] 2025-10-28T18:51:20.220Z,1761677480.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977670,0.205697,0.043003],[-0.209214,-0.971974,-0.107217],[0.019743,-0.113820,0.993305]] 2025-10-28T18:51:20.654Z,1761677480.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981162,0.184220,0.058179],[-0.191426,-0.967668,-0.164240],[0.026041,-0.172283,0.984703]] 2025-10-28T18:51:21.027Z,1761677481.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981269,0.176496,0.077197],[-0.188110,-0.964284,-0.186472],[0.041529,-0.197501,0.979423]] 2025-10-28T18:51:21.434Z,1761677481.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983273,0.161882,0.083479],[-0.174422,-0.968888,-0.175596],[0.052456,-0.187219,0.980917]] 2025-10-28T18:51:21.835Z,1761677481.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984383,0.147192,0.096563],[-0.156952,-0.982246,-0.102758],[0.079724,-0.116310,0.990008]] 2025-10-28T18:51:22.239Z,1761677482.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990195,0.102848,0.094533],[-0.109143,-0.991963,-0.064011],[0.087190,-0.073701,0.993462]] 2025-10-28T18:51:22.659Z,1761677482.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995036,0.077528,0.062400],[-0.084326,-0.989788,-0.114927],[0.052853,-0.119618,0.991412]] 2025-10-28T18:51:23.049Z,1761677483.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996650,0.074593,0.033544],[-0.078836,-0.985358,-0.151179],[0.021776,-0.153317,0.987937]] 2025-10-28T18:51:23.451Z,1761677483.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994812,0.093848,0.039275],[-0.099195,-0.980503,-0.169629],[0.022590,-0.172645,0.984725]] 2025-10-28T18:51:23.855Z,1761677483.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990209,0.051921,0.129576],[-0.077620,-0.976312,-0.201964],[0.116020,-0.210044,0.970784]] 2025-10-28T18:51:24.259Z,1761677484.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985326,-0.045213,0.164584],[0.014767,-0.983243,-0.181702],[0.170041,-0.176606,0.969482]] 2025-10-28T18:51:24.666Z,1761677484.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991835,-0.065614,0.109350],[0.058261,-0.995905,-0.069137],[0.113438,-0.062202,0.991596]] 2025-10-28T18:51:25.073Z,1761677485.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996206,-0.067957,0.054368],[0.068867,-0.997512,0.015038],[0.053210,0.018725,0.998408]] 2025-10-28T18:51:25.685Z,1761677485.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993967,-0.101210,0.042260],[0.099206,-0.993951,-0.047109],[0.046772,-0.042632,0.997995]] 2025-10-28T18:51:26.564Z,1761677486.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972700,-0.224457,0.058939],[0.215183,-0.967461,-0.133098],[0.086896,-0.116782,0.989349]] 2025-10-28T18:51:26.924Z,1761677486.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959585,-0.280955,0.016117],[0.277225,-0.953588,-0.117539],[0.048392,-0.108321,0.992937]] 2025-10-28T18:51:27.327Z,1761677487.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958105,-0.285936,0.016582],[0.284048,-0.956018,-0.073117],[0.036760,-0.065344,0.997186]] 2025-10-28T18:51:27.732Z,1761677487.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956156,-0.287581,0.055348],[0.281650,-0.954774,-0.095287],[0.080247,-0.075520,0.993910]] 2025-10-28T18:51:28.135Z,1761677488.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942405,-0.321578,0.091980],[0.307520,-0.941209,-0.139846],[0.131544,-0.103506,0.985892]] 2025-10-28T18:51:28.538Z,1761677488.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916020,-0.382524,0.120756],[0.363385,-0.918816,-0.154040],[0.169876,-0.097223,0.980658]] 2025-10-28T18:51:28.579Z,1761677488.579 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:51:28.579Z,1761677488.579 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:51:28.579Z,1761677488.579 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:51:28.579Z,1761677488.579 [marl:UpdateRudder:A] Stopped 2025-10-28T18:51:28.579Z,1761677488.579 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:51:28.943Z,1761677488.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889035,-0.444584,0.109373],[0.431784,-0.893604,-0.122615],[0.152249,-0.061783,0.986409]] 2025-10-28T18:51:29.021Z,1761677489.021 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:51:29.021Z,1761677489.021 [marl:UpdateRudder:B] Stopped 2025-10-28T18:51:29.021Z,1761677489.021 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:51:29.021Z,1761677489.021 [marl:UpdateRudder] Stopped 2025-10-28T18:51:29.022Z,1761677489.022 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:51:29.241Z,1761677489.241 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:51:29.357Z,1761677489.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880211,-0.467802,0.079938],[0.459236,-0.882066,-0.105171],[0.119709,-0.055862,0.991236]] 2025-10-28T18:51:29.392Z,1761677489.392 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:51:29.393Z,1761677489.393 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:51:29.393Z,1761677489.393 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:51:29.393Z,1761677489.393 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateCommandMode] Stopped 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:51:29.394Z,1761677489.394 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:51:29.395Z,1761677489.395 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:51:29.395Z,1761677489.395 [marl:UpdateSpeed] Stopped 2025-10-28T18:51:29.395Z,1761677489.395 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:51:29.753Z,1761677489.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872769,-0.482732,0.072413],[0.470700,-0.871579,-0.137083],[0.129288,-0.085557,0.987909]] 2025-10-28T18:51:30.154Z,1761677490.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862940,-0.500279,0.071108],[0.477898,-0.853727,-0.206793],[0.164161,-0.144467,0.975797]] 2025-10-28T18:51:30.245Z,1761677490.245 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:51:30.563Z,1761677490.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845997,-0.525486,0.090302],[0.495052,-0.837040,-0.232995],[0.198022,-0.152409,0.968276]] 2025-10-28T18:51:30.963Z,1761677490.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818529,-0.563285,0.112782],[0.529473,-0.815905,-0.232286],[0.222863,-0.130417,0.966087]] 2025-10-28T18:51:31.374Z,1761677491.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789209,-0.603574,0.113353],[0.568369,-0.787768,-0.237440],[0.232609,-0.122964,0.964766]] 2025-10-28T18:51:31.777Z,1761677491.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768280,-0.633613,0.090996],[0.597867,-0.761075,-0.251635],[0.228695,-0.138923,0.963535]] 2025-10-28T18:51:32.176Z,1761677492.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754840,-0.651578,0.075251],[0.610751,-0.740063,-0.281583],[0.239164,-0.166591,0.956582]] 2025-10-28T18:51:32.582Z,1761677492.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735034,-0.674933,0.064731],[0.626919,-0.712886,-0.314270],[0.258257,-0.190418,0.947124]] 2025-10-28T18:51:32.983Z,1761677492.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700862,-0.713036,0.019294],[0.666958,-0.664682,-0.336697],[0.252901,-0.223110,0.941415]] 2025-10-28T18:51:33.399Z,1761677493.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683152,-0.726241,-0.076668],[0.696725,-0.616708,-0.366396],[0.218810,-0.303721,0.927295]] 2025-10-28T18:51:33.796Z,1761677493.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675954,-0.729917,-0.101526],[0.702494,-0.596582,-0.388061],[0.222683,-0.333633,0.916025]] 2025-10-28T18:51:34.195Z,1761677494.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653103,-0.751767,-0.091118],[0.717273,-0.575527,-0.392796],[0.242850,-0.321893,0.915101]] 2025-10-28T18:51:34.639Z,1761677494.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630898,-0.765176,-0.128346],[0.737749,-0.540427,-0.404554],[0.240194,-0.349920,0.905463]] 2025-10-28T18:51:35.002Z,1761677495.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608073,-0.777824,-0.158860],[0.754888,-0.504570,-0.418989],[0.245744,-0.374698,0.893986]] 2025-10-28T18:51:35.418Z,1761677495.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581056,-0.789358,-0.198213],[0.775582,-0.463236,-0.428818],[0.246672,-0.402898,0.881378]] 2025-10-28T18:51:35.810Z,1761677495.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565305,-0.792896,-0.227477],[0.784754,-0.431985,-0.444466],[0.254149,-0.429772,0.866432]] 2025-10-28T18:51:36.214Z,1761677496.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543807,-0.820532,-0.176072],[0.789762,-0.429420,-0.438035],[0.283813,-0.377262,0.881546]] 2025-10-28T18:51:37.024Z,1761677497.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475875,-0.853806,-0.211089],[0.821926,-0.346300,-0.452232],[0.313018,-0.388705,0.866561]] 2025-10-28T18:51:37.426Z,1761677497.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457806,-0.862464,-0.215801],[0.826193,-0.323065,-0.461557],[0.328358,-0.389597,0.860462]] 2025-10-28T18:51:37.831Z,1761677497.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435280,-0.881252,-0.184193],[0.828996,-0.312534,-0.463776],[0.351137,-0.354567,0.866594]] 2025-10-28T18:51:38.234Z,1761677498.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399538,-0.901931,-0.163983],[0.838734,-0.287456,-0.462488],[0.369994,-0.322320,0.871329]] 2025-10-28T18:51:38.659Z,1761677498.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365775,-0.913626,-0.177472],[0.846124,-0.247007,-0.472295],[0.387664,-0.322917,0.863389]] 2025-10-28T18:51:39.043Z,1761677499.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332567,-0.923054,-0.193316],[0.849042,-0.203819,-0.487427],[0.410520,-0.326235,0.851495]] 2025-10-28T18:51:39.447Z,1761677499.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294315,-0.930111,-0.219709],[0.857122,-0.155195,-0.491178],[0.422752,-0.332878,0.842895]] 2025-10-28T18:51:39.851Z,1761677499.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258871,-0.933562,-0.247888],[0.869431,-0.113405,-0.480863],[0.420803,-0.340003,0.841025]] 2025-10-28T18:51:40.258Z,1761677500.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228135,-0.938831,-0.257976],[0.881784,-0.086888,-0.463581],[0.412809,-0.333238,0.847668]] 2025-10-28T18:51:40.663Z,1761677500.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199491,-0.944179,-0.262162],[0.894391,-0.066142,-0.442369],[0.400336,-0.322724,0.857660]] 2025-10-28T18:51:41.062Z,1761677501.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171326,-0.945247,-0.277769],[0.907143,-0.041356,-0.418786],[0.384369,-0.323725,0.864559]] 2025-10-28T18:51:41.475Z,1761677501.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143410,-0.942214,-0.302764],[0.917501,-0.011901,-0.397556],[0.370980,-0.334800,0.866189]] 2025-10-28T18:51:41.882Z,1761677501.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111724,-0.936842,-0.331429],[0.926143,0.022743,-0.376487],[0.360247,-0.349013,0.865108]] 2025-10-28T18:51:41.907Z,1761677501.907 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:51:41.907Z,1761677501.907 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:51:41.907Z,1761677501.907 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:51:41.908Z,1761677501.908 [marl:UpdateRudder:A] Stopped 2025-10-28T18:51:41.908Z,1761677501.908 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:51:42.274Z,1761677502.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077741,-0.929062,-0.361663],[0.931731,0.061368,-0.357926],[0.354730,-0.364798,0.860865]] 2025-10-28T18:51:42.316Z,1761677502.316 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:51:42.316Z,1761677502.316 [marl:UpdateRudder:B] Stopped 2025-10-28T18:51:42.316Z,1761677502.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:51:42.316Z,1761677502.316 [marl:UpdateRudder] Stopped 2025-10-28T18:51:42.316Z,1761677502.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:51:42.679Z,1761677502.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042176,-0.925630,-0.376072],[0.931677,0.099503,-0.349394],[0.360830,-0.365113,0.858192]] 2025-10-28T18:51:42.737Z,1761677502.737 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:51:42.737Z,1761677502.737 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:51:42.737Z,1761677502.737 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:51:42.737Z,1761677502.737 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:51:42.737Z,1761677502.737 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateCommandMode] Stopped 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:51:42.738Z,1761677502.738 [marl:UpdateSpeed] Stopped 2025-10-28T18:51:42.739Z,1761677502.739 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:51:43.083Z,1761677503.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002573,-0.925259,-0.379328],[0.929253,0.142350,-0.340919],[0.369436,-0.351615,0.860165]] 2025-10-28T18:51:43.493Z,1761677503.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048228,-0.920996,-0.386574],[0.926585,0.185774,-0.326999],[0.372981,-0.342423,0.862341]] 2025-10-28T18:51:43.498Z,1761677503.498 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T18:51:43.893Z,1761677503.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088028,-0.912623,-0.399213],[0.925320,0.223308,-0.306457],[0.368827,-0.342423,0.864126]] 2025-10-28T18:51:44.294Z,1761677504.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126056,-0.903511,-0.409607],[0.925917,0.255363,-0.278329],[0.356072,-0.344177,0.868766]] 2025-10-28T18:51:44.698Z,1761677504.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162644,-0.895272,-0.414771],[0.925835,0.283814,-0.249557],[0.341140,-0.343421,0.875035]] 2025-10-28T18:51:45.506Z,1761677505.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231960,-0.874312,-0.426349],[0.916988,0.342781,-0.204043],[0.324541,-0.343627,0.881245]] 2025-10-28T18:51:46.316Z,1761677506.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304443,-0.835643,-0.457182],[0.900180,0.409331,-0.148741],[0.311433,-0.366263,0.876847]] 2025-10-28T18:51:46.719Z,1761677506.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336155,-0.819788,-0.463624],[0.891227,0.436042,-0.124825],[0.304489,-0.371234,0.877195]] 2025-10-28T18:51:47.122Z,1761677507.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364871,-0.807060,-0.464245],[0.882666,0.458498,-0.103341],[0.296258,-0.372067,0.879658]] 2025-10-28T18:51:47.526Z,1761677507.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392259,-0.795538,-0.461792],[0.874281,0.478499,-0.081681],[0.285948,-0.371696,0.883219]] 2025-10-28T18:51:47.930Z,1761677507.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418708,-0.783323,-0.459443],[0.865569,0.497298,-0.059037],[0.274725,-0.372960,0.886243]] 2025-10-28T18:51:48.336Z,1761677508.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444128,-0.769751,-0.458513],[0.855623,0.516214,-0.037842],[0.265820,-0.375508,0.887882]] 2025-10-28T18:51:48.738Z,1761677508.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468763,-0.756579,-0.455905],[0.843565,0.536533,-0.023026],[0.262029,-0.373792,0.889731]] 2025-10-28T18:51:49.148Z,1761677509.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494611,-0.742253,-0.452129],[0.828717,0.559540,-0.012006],[0.261895,-0.368749,0.891872]] 2025-10-28T18:51:49.556Z,1761677509.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523299,-0.722039,-0.452568],[0.811231,0.584703,0.005165],[0.260888,-0.369841,0.891715]] 2025-10-28T18:51:49.956Z,1761677509.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553167,-0.698931,-0.453323],[0.792042,0.609907,0.026135],[0.258218,-0.373508,0.890963]] 2025-10-28T18:51:50.367Z,1761677510.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582822,-0.675296,-0.451989],[0.771131,0.635044,0.045552],[0.256272,-0.375092,0.890859]] 2025-10-28T18:51:50.767Z,1761677510.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612411,-0.652109,-0.446887],[0.748349,0.660416,0.061836],[0.254807,-0.372296,0.892451]] 2025-10-28T18:51:51.168Z,1761677511.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640963,-0.628075,-0.441234],[0.725081,0.684049,0.079586],[0.251840,-0.370942,0.893856]] 2025-10-28T18:51:51.570Z,1761677511.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668378,-0.604411,-0.433542],[0.701797,0.705562,0.098296],[0.246479,-0.369958,0.895756]] 2025-10-28T18:51:51.976Z,1761677511.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693415,-0.583667,-0.422503],[0.679064,0.725432,0.112338],[0.240930,-0.364804,0.899373]] 2025-10-28T18:51:52.382Z,1761677512.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716486,-0.562938,-0.412004],[0.656104,0.744444,0.123817],[0.237013,-0.359031,0.902730]] 2025-10-28T18:51:52.787Z,1761677512.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738744,-0.538882,-0.404800],[0.632428,0.761877,0.139921],[0.233007,-0.359373,0.903636]] 2025-10-28T18:51:53.186Z,1761677513.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759901,-0.513387,-0.398728],[0.608831,0.777029,0.159845],[0.227761,-0.364224,0.903031]] 2025-10-28T18:51:53.593Z,1761677513.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779607,-0.488548,-0.391834],[0.585709,0.790281,0.180005],[0.221718,-0.369834,0.902255]] 2025-10-28T18:51:53.997Z,1761677513.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797647,-0.465037,-0.384057],[0.563454,0.801699,0.199495],[0.215126,-0.375525,0.901500]] 2025-10-28T18:51:54.398Z,1761677514.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814612,-0.441516,-0.376126],[0.541062,0.812086,0.218561],[0.208948,-0.381550,0.900423]] 2025-10-28T18:51:54.802Z,1761677514.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830803,-0.417742,-0.367774],[0.517859,0.822330,0.235789],[0.203932,-0.386349,0.899525]] 2025-10-28T18:51:55.209Z,1761677515.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846869,-0.393148,-0.358117],[0.492856,0.833175,0.250823],[0.199764,-0.388914,0.899355]] 2025-10-28T18:51:55.253Z,1761677515.253 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:51:55.253Z,1761677515.253 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:51:55.253Z,1761677515.253 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:51:55.254Z,1761677515.254 [marl:UpdateRudder:A] Stopped 2025-10-28T18:51:55.254Z,1761677515.254 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:51:55.627Z,1761677515.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879730,-0.338096,-0.334315],[0.435364,0.855431,0.280529],[0.191137,-0.392338,0.899743]] 2025-10-28T18:51:55.651Z,1761677515.651 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:51:55.651Z,1761677515.651 [marl:UpdateRudder:B] Stopped 2025-10-28T18:51:55.651Z,1761677515.651 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:51:55.651Z,1761677515.651 [marl:UpdateRudder] Stopped 2025-10-28T18:51:55.651Z,1761677515.651 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:51:56.021Z,1761677516.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894760,-0.313425,-0.318070],[0.405826,0.867925,0.286376],[0.186304,-0.385319,0.903781]] 2025-10-28T18:51:56.046Z,1761677516.046 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:51:56.046Z,1761677516.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:51:56.046Z,1761677516.046 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateCommandMode] Stopped 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:51:56.047Z,1761677516.047 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:51:56.048Z,1761677516.048 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:51:56.048Z,1761677516.048 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:51:56.048Z,1761677516.048 [marl:UpdateSpeed] Stopped 2025-10-28T18:51:56.048Z,1761677516.048 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:51:56.423Z,1761677516.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908324,-0.289625,-0.301769],[0.376836,0.879731,0.289946],[0.181499,-0.377082,0.908222]] 2025-10-28T18:51:56.827Z,1761677516.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920585,-0.264759,-0.287100],[0.347693,0.890401,0.293762],[0.177858,-0.370255,0.911744]] 2025-10-28T18:51:57.232Z,1761677517.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931973,-0.237783,-0.273653],[0.317378,0.899966,0.298886],[0.175208,-0.365406,0.914210]] 2025-10-28T18:51:57.649Z,1761677517.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942762,-0.207769,-0.260828],[0.285471,0.907124,0.309246],[0.172351,-0.366004,0.914514]] 2025-10-28T18:51:58.034Z,1761677518.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952695,-0.175774,-0.247945],[0.252760,0.911240,0.325197],[0.168776,-0.372484,0.912562]] 2025-10-28T18:51:58.438Z,1761677518.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961680,-0.143660,-0.233523],[0.219087,0.914734,0.339503],[0.164838,-0.377655,0.911156]] 2025-10-28T18:51:58.855Z,1761677518.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969250,-0.113834,-0.218164],[0.186621,0.917911,0.350161],[0.160395,-0.380108,0.910929]] 2025-10-28T18:51:59.246Z,1761677519.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975303,-0.086496,-0.203229],[0.156558,0.919775,0.359865],[0.155798,-0.382795,0.910602]] 2025-10-28T18:51:59.654Z,1761677519.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980332,-0.059895,-0.188049],[0.127172,0.920354,0.369832],[0.150920,-0.386473,0.909869]] 2025-10-28T18:52:00.054Z,1761677520.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984467,-0.033926,-0.172259],[0.098190,0.919754,0.380015],[0.145543,-0.391027,0.908799]] 2025-10-28T18:52:00.364Z,1761677520.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:52:00.460Z,1761677520.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987599,-0.007982,-0.156792],[0.069714,0.917139,0.392423],[0.140668,-0.398487,0.906322]] 2025-10-28T18:52:00.866Z,1761677520.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989829,0.017678,-0.141159],[0.041462,0.913324,0.405117],[0.136085,-0.406849,0.903302]] 2025-10-28T18:52:01.267Z,1761677521.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991200,0.042796,-0.125266],[0.013356,0.909137,0.416282],[0.131699,-0.414292,0.900565]] 2025-10-28T18:52:01.369Z,1761677521.369 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:52:01.677Z,1761677521.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991769,0.067239,-0.108960],[-0.014531,0.904620,0.425971],[0.127210,-0.420881,0.898152]] 2025-10-28T18:52:02.076Z,1761677522.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991489,0.092005,-0.092111],[-0.043162,0.899798,0.434167],[0.122827,-0.426497,0.896111]] 2025-10-28T18:52:02.478Z,1761677522.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990085,0.119244,-0.074241],[-0.074832,0.895053,0.439636],[0.118873,-0.429722,0.895102]] 2025-10-28T18:52:02.882Z,1761677522.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987258,0.148952,-0.055994],[-0.109200,0.890114,0.442461],[0.115746,-0.430709,0.895038]] 2025-10-28T18:52:03.287Z,1761677523.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983192,0.178570,-0.038018],[-0.143876,0.886013,0.440773],[0.112393,-0.427895,0.896813]] 2025-10-28T18:52:03.699Z,1761677523.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978095,0.207164,-0.020313],[-0.177935,0.882734,0.434880],[0.108022,-0.421739,0.900259]] 2025-10-28T18:52:04.094Z,1761677524.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971734,0.236062,-0.002799],[-0.212315,0.879042,0.426857],[0.103225,-0.414197,0.904315]] 2025-10-28T18:52:04.499Z,1761677524.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963925,0.265739,0.015222],[-0.247612,0.874254,0.417575],[0.097658,-0.406280,0.908515]] 2025-10-28T18:52:04.903Z,1761677524.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954638,0.295827,0.033939],[-0.283595,0.868529,0.406487],[0.090773,-0.397673,0.913026]] 2025-10-28T18:52:05.308Z,1761677525.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944372,0.324551,0.053187],[-0.318270,0.861127,0.396440],[0.082864,-0.391314,0.916519]] 2025-10-28T18:52:05.710Z,1761677525.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932980,0.353018,0.070196],[-0.352074,0.854572,0.381772],[0.074785,-0.380900,0.921587]] 2025-10-28T18:52:06.114Z,1761677526.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920613,0.380792,0.086427],[-0.384615,0.846097,0.369041],[0.067403,-0.372985,0.925386]] 2025-10-28T18:52:06.518Z,1761677526.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906661,0.409870,0.099860],[-0.417269,0.836483,0.355222],[0.062064,-0.363735,0.929433]] 2025-10-28T18:52:06.922Z,1761677526.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891113,0.439410,0.113300],[-0.449933,0.823121,0.346457],[0.058977,-0.359710,0.931198]] 2025-10-28T18:52:07.331Z,1761677527.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874098,0.469045,0.126292],[-0.482296,0.807090,0.340583],[0.057820,-0.358613,0.931694]] 2025-10-28T18:52:07.734Z,1761677527.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855811,0.497024,0.143367],[-0.514102,0.786509,0.342202],[0.057324,-0.366565,0.928625]] 2025-10-28T18:52:08.135Z,1761677528.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837261,0.521977,0.162894],[-0.543872,0.764154,0.346801],[0.056546,-0.378957,0.923685]] 2025-10-28T18:52:08.539Z,1761677528.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818738,0.544127,0.183288],[-0.571459,0.741266,0.352079],[0.055710,-0.393002,0.917849]] 2025-10-28T18:52:08.589Z,1761677528.589 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:52:08.589Z,1761677528.589 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:52:08.590Z,1761677528.590 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:52:08.591Z,1761677528.591 [marl:UpdateRudder:A] Stopped 2025-10-28T18:52:08.591Z,1761677528.591 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:52:08.942Z,1761677528.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800628,0.563831,0.202706],[-0.596604,0.718970,0.356574],[0.055308,-0.406418,0.912012]] 2025-10-28T18:52:09.004Z,1761677529.004 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:52:09.004Z,1761677529.004 [marl:UpdateRudder:B] Stopped 2025-10-28T18:52:09.004Z,1761677529.004 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:52:09.005Z,1761677529.005 [marl:UpdateRudder] Stopped 2025-10-28T18:52:09.005Z,1761677529.005 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:52:09.354Z,1761677529.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781802,0.582745,0.221797],[-0.621017,0.695841,0.360755],[0.055893,-0.419778,0.905904]] 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode] Stopped 2025-10-28T18:52:09.381Z,1761677529.381 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed] Stopped 2025-10-28T18:52:09.382Z,1761677529.382 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:52:09.384Z,1761677529.384 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:52:09.609Z,1761677529.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:52:09.609Z,1761677529.609 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:52:09.752Z,1761677529.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761904,0.601302,0.240704],[-0.645210,0.672135,0.363234],[0.056628,-0.432054,0.900068]] 2025-10-28T18:52:09.861Z,1761677529.861 [DAT](INFO): DAT read: user:148> 2025-10-28T18:52:09.862Z,1761677529.862 [DAT](INFO): DAT read: Tx time:18:52:09.5889 2025-10-28T18:52:09.862Z,1761677529.862 [DAT](INFO): Ping request sent. 2025-10-28T18:52:09.862Z,1761677529.862 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:52:09.862Z,1761677529.862 [DAT](INFO): publishing transmit ping time 2025-10-28T18:52:09.863Z,1761677529.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T18:52:10.113Z,1761677530.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250945 2025-10-28T18:52:10.154Z,1761677530.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742052,0.617197,0.261584],[-0.668046,0.648612,0.364716],[0.055435,-0.445389,0.893620]] 2025-10-28T18:52:10.366Z,1761677530.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503684 2025-10-28T18:52:10.559Z,1761677530.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721426,0.632409,0.282141],[-0.690530,0.626315,0.361798],[0.052095,-0.455837,0.888537]] 2025-10-28T18:52:10.620Z,1761677530.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757479 2025-10-28T18:52:10.869Z,1761677530.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007376 2025-10-28T18:52:10.964Z,1761677530.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698320,0.649077,0.301743],[-0.714196,0.603746,0.354141],[0.047689,-0.462807,0.885175]] 2025-10-28T18:52:11.121Z,1761677531.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258896 2025-10-28T18:52:11.366Z,1761677531.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672934,0.671226,0.310830],[-0.738389,0.584526,0.336320],[0.044059,-0.455834,0.888974]] 2025-10-28T18:52:11.373Z,1761677531.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510811 2025-10-28T18:52:11.625Z,1761677531.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763012 2025-10-28T18:52:11.780Z,1761677531.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647186,0.695987,0.311050],[-0.761218,0.567949,0.313018],[0.041196,-0.439358,0.897367]] 2025-10-28T18:52:11.877Z,1761677531.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015472 2025-10-28T18:52:12.129Z,1761677532.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266885 2025-10-28T18:52:12.180Z,1761677532.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621569,0.721025,0.306226],[-0.782413,0.552207,0.287919],[0.038497,-0.418556,0.907375]] 2025-10-28T18:52:12.381Z,1761677532.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518926 2025-10-28T18:52:12.587Z,1761677532.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596965,0.743704,0.300894],[-0.801509,0.536562,0.263980],[0.034874,-0.398756,0.916394]] 2025-10-28T18:52:12.651Z,1761677532.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788935 2025-10-28T18:52:12.901Z,1761677532.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038903 2025-10-28T18:52:12.983Z,1761677532.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571386,0.766239,0.293931],[-0.820105,0.519692,0.239473],[0.030741,-0.377886,0.925342]] 2025-10-28T18:52:13.153Z,1761677533.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290957 2025-10-28T18:52:13.386Z,1761677533.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544740,0.785914,0.292571],[-0.838216,0.499655,0.218493],[0.025532,-0.364259,0.930947]] 2025-10-28T18:52:13.405Z,1761677533.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542971 2025-10-28T18:52:13.657Z,1761677533.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794856 2025-10-28T18:52:13.794Z,1761677533.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515755,0.801932,0.301499],[-0.856508,0.474525,0.203026],[0.019744,-0.362948,0.931600]] 2025-10-28T18:52:13.909Z,1761677533.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047063 2025-10-28T18:52:14.161Z,1761677534.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298888 2025-10-28T18:52:14.195Z,1761677534.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485568,0.816219,0.313064],[-0.874085,0.447538,0.188903],[0.014078,-0.365371,0.930756]] 2025-10-28T18:52:14.413Z,1761677534.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550903 2025-10-28T18:52:14.637Z,1761677534.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454669,0.826652,0.331545],[-0.890611,0.418041,0.179038],[0.009402,-0.376681,0.926295]] 2025-10-28T18:52:14.665Z,1761677534.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802987 2025-10-28T18:52:14.917Z,1761677534.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054853 2025-10-28T18:52:15.003Z,1761677535.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424813,0.836712,0.345612],[-0.905262,0.390159,0.168154],[0.005853,-0.384303,0.923188]] 2025-10-28T18:52:15.169Z,1761677535.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306808 2025-10-28T18:52:15.410Z,1761677535.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396757,0.844731,0.359185],[-0.917918,0.363784,0.158390],[0.003131,-0.392545,0.919728]] 2025-10-28T18:52:15.421Z,1761677535.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559027 2025-10-28T18:52:15.673Z,1761677535.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810858 2025-10-28T18:52:15.814Z,1761677535.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369650,0.849889,0.375564],[-0.929171,0.337914,0.149851],[0.000448,-0.404355,0.914602]] 2025-10-28T18:52:15.925Z,1761677535.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063236 2025-10-28T18:52:16.177Z,1761677536.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314886 2025-10-28T18:52:16.215Z,1761677536.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341600,0.854745,0.390795],[-0.939842,0.311795,0.139575],[-0.002547,-0.414964,0.909834]] 2025-10-28T18:52:16.429Z,1761677536.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566844 2025-10-28T18:52:16.655Z,1761677536.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312075,0.860427,0.402834],[-0.950036,0.285463,0.126261],[-0.006356,-0.422110,0.906523]] 2025-10-28T18:52:16.682Z,1761677536.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819563 2025-10-28T18:52:16.933Z,1761677536.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070916 2025-10-28T18:52:17.025Z,1761677537.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279488,0.868719,0.408917],[-0.960091,0.257547,0.109065],[-0.010568,-0.423080,0.906031]] 2025-10-28T18:52:17.185Z,1761677537.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322864 2025-10-28T18:52:17.426Z,1761677537.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244797,0.878213,0.410873],[-0.969449,0.228507,0.089176],[-0.015572,-0.420150,0.907321]] 2025-10-28T18:52:17.437Z,1761677537.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575021 2025-10-28T18:52:17.689Z,1761677537.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826970 2025-10-28T18:52:17.838Z,1761677537.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208205,0.889729,0.406243],[-0.977865,0.198176,0.067135],[-0.020776,-0.411228,0.911295]] 2025-10-28T18:52:17.941Z,1761677537.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079341 2025-10-28T18:52:18.193Z,1761677538.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330864 2025-10-28T18:52:18.235Z,1761677538.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171032,0.903216,0.393636],[-0.984918,0.167345,0.043960],[-0.026167,-0.395218,0.918215]] 2025-10-28T18:52:18.445Z,1761677538.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582959 2025-10-28T18:52:18.659Z,1761677538.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133387,0.917008,0.375905],[-0.990569,0.135344,0.021329],[-0.031317,-0.375205,0.926413]] 2025-10-28T18:52:18.697Z,1761677538.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834931 2025-10-28T18:52:18.949Z,1761677538.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086819 2025-10-28T18:52:19.043Z,1761677539.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096210,0.927477,0.361291],[-0.994703,0.102790,0.001010],[-0.036200,-0.359474,0.932453]] 2025-10-28T18:52:19.201Z,1761677539.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338907 2025-10-28T18:52:19.446Z,1761677539.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059679,0.932621,0.355888],[-0.997412,0.070036,-0.016274],[-0.040102,-0.353996,0.934387]] 2025-10-28T18:52:19.454Z,1761677539.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591651 2025-10-28T18:52:19.705Z,1761677539.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842805 2025-10-28T18:52:19.850Z,1761677539.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023905,0.933672,0.357331],[-0.998814,0.037473,-0.031095],[-0.042423,-0.356163,0.933460]] 2025-10-28T18:52:19.957Z,1761677539.957 [DAT](INFO): Reached modem response timeout 2025-10-28T18:52:20.257Z,1761677540.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010217,0.929781,0.367971],[-0.999039,0.006198,-0.043401],[-0.042634,-0.368061,0.928824]] 2025-10-28T18:52:20.663Z,1761677540.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041787,0.922168,0.384527],[-0.998281,-0.022706,-0.054030],[-0.041094,-0.386124,0.921531]] 2025-10-28T18:52:21.062Z,1761677541.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070038,0.911862,0.404477],[-0.996768,-0.047982,-0.064425],[-0.039339,-0.407682,0.912276]] 2025-10-28T18:52:21.470Z,1761677541.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096007,0.901281,0.422463],[-0.994628,-0.070366,-0.075916],[-0.038695,-0.427482,0.903195]] 2025-10-28T18:52:21.872Z,1761677541.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120341,0.891860,0.436008],[-0.991929,-0.090363,-0.088942],[-0.039925,-0.443193,0.895537]] 2025-10-28T18:52:21.901Z,1761677541.901 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:52:21.901Z,1761677541.901 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:52:21.902Z,1761677541.902 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:52:21.902Z,1761677541.902 [marl:UpdateRudder:A] Stopped 2025-10-28T18:52:21.902Z,1761677541.902 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:52:22.226Z,1761677542.226 [DAT](INFO): DAT read: Response Not Received 2025-10-28T18:52:22.226Z,1761677542.226 [DAT](INFO): response not received 2025-10-28T18:52:22.226Z,1761677542.226 [DAT](ERROR): No response from remote modem. 2025-10-28T18:52:22.274Z,1761677542.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144510,0.884852,0.442893],[-0.988586,-0.109840,-0.103114],[-0.042594,-0.452739,0.890625]] 2025-10-28T18:52:22.351Z,1761677542.351 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:52:22.352Z,1761677542.352 [marl:UpdateRudder:B] Stopped 2025-10-28T18:52:22.356Z,1761677542.356 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:52:22.356Z,1761677542.356 [marl:UpdateRudder] Stopped 2025-10-28T18:52:22.356Z,1761677542.356 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:52:22.678Z,1761677542.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171656,0.880113,0.442646],[-0.984148,-0.132868,-0.117467],[-0.044570,-0.455793,0.888969]] 2025-10-28T18:52:22.734Z,1761677542.734 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:52:22.734Z,1761677542.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:52:22.734Z,1761677542.734 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateCommandMode] Stopped 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:52:22.735Z,1761677542.735 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:52:22.736Z,1761677542.736 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:52:22.736Z,1761677542.736 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:52:22.736Z,1761677542.736 [marl:UpdateSpeed] Stopped 2025-10-28T18:52:22.736Z,1761677542.736 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:52:23.082Z,1761677543.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201017,0.880054,0.430230],[-0.978575,-0.160443,-0.129028],[-0.044524,-0.446949,0.893451]] 2025-10-28T18:52:23.490Z,1761677543.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229829,0.882443,0.410455],[-0.972280,-0.189544,-0.136912],[-0.043018,-0.430544,0.901544]] 2025-10-28T18:52:23.890Z,1761677543.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256531,0.884408,0.389889],[-0.965663,-0.217384,-0.142261],[-0.041061,-0.412996,0.909807]] 2025-10-28T18:52:24.294Z,1761677544.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281335,0.884135,0.373037],[-0.958811,-0.243133,-0.146860],[-0.039146,-0.398989,0.916120]] 2025-10-28T18:52:24.699Z,1761677544.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304951,0.881892,0.359543],[-0.951550,-0.266500,-0.153395],[-0.039460,-0.388901,0.920434]] 2025-10-28T18:52:25.105Z,1761677545.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328580,0.878260,0.347412],[-0.943524,-0.288726,-0.162478],[-0.042391,-0.381178,0.923529]] 2025-10-28T18:52:25.508Z,1761677545.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354386,0.872135,0.337329],[-0.933914,-0.311947,-0.174625],[-0.047067,-0.376921,0.925049]] 2025-10-28T18:52:25.910Z,1761677545.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382984,0.864182,0.326362],[-0.922259,-0.337606,-0.188310],[-0.052552,-0.373110,0.926298]] 2025-10-28T18:52:26.322Z,1761677546.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413877,0.853662,0.316176],[-0.908474,-0.365139,-0.203342],[-0.058137,-0.371397,0.926652]] 2025-10-28T18:52:26.720Z,1761677546.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445957,0.840032,0.308980],[-0.892815,-0.393089,-0.219916],[-0.063280,-0.373935,0.925294]] 2025-10-28T18:52:27.122Z,1761677547.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478264,0.824091,0.303543],[-0.875627,-0.420942,-0.236825],[-0.067391,-0.379055,0.922917]] 2025-10-28T18:52:27.528Z,1761677547.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511265,0.805808,0.298800],[-0.856573,-0.449486,-0.253467],[-0.069939,-0.385533,0.920040]] 2025-10-28T18:52:27.931Z,1761677547.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543934,0.785892,0.294125],[-0.836121,-0.477955,-0.269186],[-0.070972,-0.392344,0.917077]] 2025-10-28T18:52:28.337Z,1761677548.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575706,0.765342,0.287775],[-0.814605,-0.506480,-0.282662],[-0.070581,-0.397152,0.915035]] 2025-10-28T18:52:28.739Z,1761677548.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604407,0.745018,0.282208],[-0.793600,-0.531934,-0.295373],[-0.069942,-0.402486,0.912750]] 2025-10-28T18:52:29.159Z,1761677549.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631038,0.724909,0.276220],[-0.772653,-0.555529,-0.307239],[-0.069272,-0.407302,0.910663]] 2025-10-28T18:52:29.547Z,1761677549.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656322,0.704539,0.269937],[-0.751382,-0.577968,-0.318399],[-0.068309,-0.411798,0.908711]] 2025-10-28T18:52:29.953Z,1761677549.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680496,0.683842,0.263223],[-0.729641,-0.599310,-0.329318],[-0.067449,-0.416158,0.906787]] 2025-10-28T18:52:30.354Z,1761677550.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703564,0.663014,0.255755],[-0.707507,-0.619817,-0.339500],[-0.066572,-0.419808,0.905168]] 2025-10-28T18:52:30.764Z,1761677550.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725891,0.641525,0.248047],[-0.684705,-0.639765,-0.349111],[-0.065272,-0.423256,0.903656]] 2025-10-28T18:52:31.163Z,1761677551.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746839,0.619822,0.240941],[-0.661968,-0.658329,-0.358330],[-0.063482,-0.427110,0.901969]] 2025-10-28T18:52:31.500Z,1761677551.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:52:31.569Z,1761677551.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766397,0.598074,0.234401],[-0.639445,-0.675538,-0.367095],[-0.061203,-0.431227,0.900165]] 2025-10-28T18:52:31.970Z,1761677551.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784295,0.576768,0.228518],[-0.617579,-0.690832,-0.375961],[-0.058975,-0.435992,0.898016]] 2025-10-28T18:52:32.378Z,1761677552.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800189,0.556460,0.223719],[-0.596975,-0.703172,-0.386226],[-0.057607,-0.442608,0.894863]] 2025-10-28T18:52:32.505Z,1761677552.505 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:52:32.785Z,1761677552.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814433,0.537743,0.218016],[-0.577405,-0.713842,-0.396274],[-0.057464,-0.448623,0.891872]] 2025-10-28T18:52:33.184Z,1761677553.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827313,0.522376,0.206583],[-0.558717,-0.727085,-0.398977],[-0.058212,-0.445501,0.893387]] 2025-10-28T18:52:33.592Z,1761677553.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839481,0.508683,0.191086],[-0.540135,-0.742726,-0.395743],[-0.059384,-0.435431,0.898262]] 2025-10-28T18:52:33.990Z,1761677553.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851863,0.495416,0.169977],[-0.520263,-0.762909,-0.383791],[-0.060460,-0.415370,0.907641]] 2025-10-28T18:52:34.398Z,1761677554.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864398,0.480875,0.146886],[-0.499024,-0.784698,-0.367728],[-0.061570,-0.391163,0.918259]] 2025-10-28T18:52:34.815Z,1761677554.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876904,0.464034,0.125347],[-0.476511,-0.805034,-0.353350],[-0.063058,-0.369583,0.927055]] 2025-10-28T18:52:35.204Z,1761677555.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889432,0.444076,0.108198],[-0.452466,-0.821945,-0.345949],[-0.064695,-0.356654,0.931994]] 2025-10-28T18:52:35.228Z,1761677555.228 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:52:35.229Z,1761677555.229 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:52:35.229Z,1761677555.229 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:52:35.229Z,1761677555.229 [marl:UpdateRudder:A] Stopped 2025-10-28T18:52:35.229Z,1761677555.229 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:52:35.607Z,1761677555.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902078,0.421145,0.094301],[-0.426434,-0.836173,-0.344918],[-0.066409,-0.351356,0.933884]] 2025-10-28T18:52:35.648Z,1761677555.648 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:52:35.649Z,1761677555.649 [marl:UpdateRudder:B] Stopped 2025-10-28T18:52:35.649Z,1761677555.649 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:52:35.649Z,1761677555.649 [marl:UpdateRudder] Stopped 2025-10-28T18:52:35.649Z,1761677555.649 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:52:36.011Z,1761677556.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915060,0.394501,0.083875],[-0.397588,-0.847402,-0.351900],[-0.067749,-0.355357,0.932272]] 2025-10-28T18:52:36.068Z,1761677556.068 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode] Stopped 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:52:36.069Z,1761677556.069 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed] Stopped 2025-10-28T18:52:36.070Z,1761677556.070 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:52:36.418Z,1761677556.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928026,0.364897,0.074950],[-0.366046,-0.855927,-0.365240],[-0.069124,-0.366387,0.927891]] 2025-10-28T18:52:36.826Z,1761677556.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940241,0.333918,0.066679],[-0.333194,-0.861848,-0.382361],[-0.070210,-0.381729,0.921604]] 2025-10-28T18:52:37.222Z,1761677557.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951324,0.302891,0.056913],[-0.299846,-0.866960,-0.398086],[-0.071235,-0.395774,0.915581]] 2025-10-28T18:52:37.626Z,1761677557.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961294,0.271564,0.046543],[-0.265937,-0.870341,-0.414468],[-0.072046,-0.410803,0.908873]] 2025-10-28T18:52:38.031Z,1761677558.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970204,0.239797,0.034657],[-0.231131,-0.873107,-0.429259],[-0.072676,-0.424479,0.902516]] 2025-10-28T18:52:38.212Z,1761677558.212 [Radio_Surface](INFO): Powering down 2025-10-28T18:52:38.443Z,1761677558.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977906,0.208012,0.020762],[-0.195739,-0.876267,-0.440275],[-0.073390,-0.434611,0.897623]] 2025-10-28T18:52:38.839Z,1761677558.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984239,0.176769,0.005145],[-0.160286,-0.879416,-0.448258],[-0.074713,-0.442018,0.893889]] 2025-10-28T18:52:39.243Z,1761677559.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989095,0.146850,-0.011214],[-0.125895,-0.882550,-0.453051],[-0.076427,-0.446699,0.891414]] 2025-10-28T18:52:39.646Z,1761677559.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992477,0.119628,-0.026060],[-0.094626,-0.884546,-0.456755],[-0.077692,-0.450852,0.889211]] 2025-10-28T18:52:40.052Z,1761677560.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994735,0.094987,-0.038472],[-0.067087,-0.887337,-0.456216],[-0.077472,-0.451233,0.889037]] 2025-10-28T18:52:40.455Z,1761677560.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996295,0.070014,-0.049942],[-0.040476,-0.894112,-0.446010],[-0.075881,-0.442336,0.893634]] 2025-10-28T18:52:40.858Z,1761677560.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997237,0.045107,-0.059030],[-0.015396,-0.902804,-0.429776],[-0.072678,-0.427679,0.901004]] 2025-10-28T18:52:41.271Z,1761677561.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997561,-0.003295,-0.069722],[0.030737,-0.917553,-0.396423],[-0.062667,-0.397599,0.915417]] 2025-10-28T18:52:41.673Z,1761677561.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996809,-0.028380,-0.074615],[0.054968,-0.921812,-0.383719],[-0.057891,-0.386596,0.920430]] 2025-10-28T18:52:42.075Z,1761677562.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994977,-0.057430,-0.081987],[0.083978,-0.924649,-0.371445],[-0.054477,-0.376464,0.924828]] 2025-10-28T18:52:42.479Z,1761677562.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991769,-0.088094,-0.092914],[0.116492,-0.921983,-0.369292],[-0.053133,-0.377076,0.924657]] 2025-10-28T18:52:42.882Z,1761677562.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987189,-0.118488,-0.106852],[0.150334,-0.915099,-0.374157],[-0.053447,-0.385428,0.921189]] 2025-10-28T18:52:43.293Z,1761677563.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981221,-0.148770,-0.122768],[0.184996,-0.906020,-0.380662],[-0.054600,-0.396225,0.916528]] 2025-10-28T18:52:43.686Z,1761677563.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974385,-0.176274,-0.139646],[0.217686,-0.895176,-0.388939],[-0.056447,-0.409375,0.910618]] 2025-10-28T18:52:44.090Z,1761677564.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967438,-0.200449,-0.154541],[0.246415,-0.885385,-0.394174],[-0.057816,-0.419420,0.905949]] 2025-10-28T18:52:44.498Z,1761677564.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959870,-0.224509,-0.168066],[0.274270,-0.876571,-0.395474],[-0.058534,-0.425699,0.902970]] 2025-10-28T18:52:44.900Z,1761677564.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951559,-0.249342,-0.179898],[0.301959,-0.868090,-0.394006],[-0.057926,-0.429242,0.901330]] 2025-10-28T18:52:45.307Z,1761677565.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942281,-0.276238,-0.189204],[0.330205,-0.860208,-0.388596],[-0.055409,-0.428642,0.901774]] 2025-10-28T18:52:45.707Z,1761677565.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932315,-0.303561,-0.196567],[0.358156,-0.850353,-0.385518],[-0.050123,-0.429826,0.901520]] 2025-10-28T18:52:46.111Z,1761677566.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922092,-0.329294,-0.203256],[0.384624,-0.837660,-0.387801],[-0.042559,-0.435765,0.899054]] 2025-10-28T18:52:46.113Z,1761677566.113 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.114Z,1761677566.114 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:52:46.114Z,1761677566.114 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.115Z,1761677566.115 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T18:52:46.116Z,1761677566.116 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:52:46.117Z,1761677566.117 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.117Z,1761677566.117 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.118Z,1761677566.118 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.119Z,1761677566.119 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T18:52:46.119Z,1761677566.119 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.120Z,1761677566.120 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T18:52:46.121Z,1761677566.121 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T18:52:46.121Z,1761677566.121 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T18:52:46.127Z,1761677566.127 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T18:52:46.518Z,1761677566.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910541,-0.356490,-0.209358],[0.411977,-0.824686,-0.387516],[-0.034509,-0.439099,0.897775]] 2025-10-28T18:52:46.919Z,1761677566.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897668,-0.383899,-0.216366],[0.439877,-0.810108,-0.387600],[-0.026481,-0.443111,0.896076]] 2025-10-28T18:52:47.322Z,1761677567.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884235,-0.411591,-0.220728],[0.466675,-0.797377,-0.382628],[-0.018517,-0.441342,0.897148]] 2025-10-28T18:52:47.727Z,1761677567.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869783,-0.440273,-0.222796],[0.493306,-0.786194,-0.372222],[-0.011281,-0.433658,0.901007]] 2025-10-28T18:52:48.132Z,1761677568.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854113,-0.469104,-0.224570],[0.520055,-0.775168,-0.358688],[-0.005817,-0.423149,0.906041]] 2025-10-28T18:52:48.534Z,1761677568.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837412,-0.496903,-0.227659],[0.546563,-0.763631,-0.343710],[-0.003056,-0.412257,0.911063]] 2025-10-28T18:52:48.578Z,1761677568.578 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:52:48.579Z,1761677568.579 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:52:48.579Z,1761677568.579 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:52:48.579Z,1761677568.579 [marl:UpdateRudder:A] Stopped 2025-10-28T18:52:48.579Z,1761677568.579 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:52:48.938Z,1761677568.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819486,-0.523823,-0.232492],[0.573089,-0.751483,-0.326869],[-0.003492,-0.401103,0.916026]] 2025-10-28T18:52:48.991Z,1761677568.991 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:52:48.991Z,1761677568.991 [marl:UpdateRudder:B] Stopped 2025-10-28T18:52:48.991Z,1761677568.991 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:52:48.991Z,1761677568.991 [marl:UpdateRudder] Stopped 2025-10-28T18:52:48.991Z,1761677568.991 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:52:49.343Z,1761677569.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800927,-0.548615,-0.239870],[0.598726,-0.738239,-0.310693],[-0.006631,-0.392459,0.919746]] 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode] Stopped 2025-10-28T18:52:49.374Z,1761677569.374 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed] Stopped 2025-10-28T18:52:49.375Z,1761677569.375 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:52:49.749Z,1761677569.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783146,-0.569436,-0.249850],[0.621761,-0.723380,-0.300224],[-0.009778,-0.390466,0.920565]] 2025-10-28T18:52:50.151Z,1761677570.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766675,-0.587690,-0.258516],[0.641945,-0.708430,-0.293314],[-0.010763,-0.390830,0.920400]] 2025-10-28T18:52:50.555Z,1761677570.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749210,-0.605296,-0.268889],[0.662250,-0.691032,-0.289655],[-0.010484,-0.395084,0.918585]] 2025-10-28T18:52:50.959Z,1761677570.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730846,-0.621792,-0.281494],[0.682493,-0.670747,-0.290348],[-0.008275,-0.404318,0.914581]] 2025-10-28T18:52:51.364Z,1761677571.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711235,-0.639637,-0.291562],[0.702942,-0.649601,-0.289640],[-0.004135,-0.410953,0.911647]] 2025-10-28T18:52:51.779Z,1761677571.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690337,-0.657166,-0.302602],[0.723487,-0.626330,-0.290306],[0.001251,-0.419337,0.907830]] 2025-10-28T18:52:52.170Z,1761677572.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668575,-0.674701,-0.312708],[0.743608,-0.602365,-0.290179],[0.007420,-0.426539,0.904439]] 2025-10-28T18:52:52.578Z,1761677572.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645563,-0.692649,-0.321691],[0.763584,-0.577842,-0.288163],[0.013709,-0.431666,0.901929]] 2025-10-28T18:52:52.981Z,1761677572.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621555,-0.710858,-0.329166],[0.783120,-0.553214,-0.284036],[0.019810,-0.434320,0.900541]] 2025-10-28T18:52:53.382Z,1761677573.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595937,-0.729631,-0.335406],[0.802631,-0.528015,-0.277459],[0.025343,-0.434556,0.900288]] 2025-10-28T18:52:53.793Z,1761677573.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569721,-0.746884,-0.342903],[0.821294,-0.502237,-0.270618],[0.029902,-0.435801,0.899546]] 2025-10-28T18:52:54.191Z,1761677574.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543433,-0.763066,-0.349872],[0.838804,-0.477231,-0.262026],[0.032974,-0.435868,0.899406]] 2025-10-28T18:52:54.651Z,1761677574.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516903,-0.778247,-0.356569],[0.855342,-0.452685,-0.251924],[0.034646,-0.435210,0.899662]] 2025-10-28T18:52:54.999Z,1761677574.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491328,-0.792664,-0.360945],[0.870241,-0.429762,-0.240804],[0.035756,-0.432422,0.900962]] 2025-10-28T18:52:55.403Z,1761677575.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467046,-0.806981,-0.361454],[0.883464,-0.408822,-0.228817],[0.036880,-0.426200,0.903877]] 2025-10-28T18:52:55.807Z,1761677575.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443719,-0.820667,-0.360026],[0.895349,-0.388819,-0.217186],[0.038252,-0.418719,0.907310]] 2025-10-28T18:52:56.212Z,1761677576.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420380,-0.833734,-0.358007],[0.906490,-0.368755,-0.205658],[0.039447,-0.410984,0.910789]] 2025-10-28T18:52:56.651Z,1761677576.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396949,-0.845162,-0.357956],[0.916924,-0.347724,-0.195801],[0.041014,-0.405941,0.912978]] 2025-10-28T18:52:57.019Z,1761677577.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373720,-0.854407,-0.361001],[0.926526,-0.325672,-0.188378],[0.043384,-0.404878,0.913341]] 2025-10-28T18:52:57.423Z,1761677577.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350850,-0.861614,-0.366776],[0.935233,-0.302599,-0.183773],[0.047355,-0.407498,0.911977]] 2025-10-28T18:52:57.829Z,1761677577.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328479,-0.866612,-0.375613],[0.943053,-0.278830,-0.181397],[0.052469,-0.413808,0.908851]] 2025-10-28T18:52:58.230Z,1761677578.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305522,-0.870892,-0.384973],[0.950432,-0.254398,-0.178778],[0.057760,-0.420511,0.905447]] 2025-10-28T18:52:58.659Z,1761677578.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282083,-0.875311,-0.392760],[0.957333,-0.230016,-0.174946],[0.062791,-0.425351,0.902848]] 2025-10-28T18:52:59.040Z,1761677579.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257552,-0.881138,-0.396564],[0.963879,-0.205460,-0.169481],[0.067858,-0.425890,0.902227]] 2025-10-28T18:52:59.444Z,1761677579.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231357,-0.887436,-0.398662],[0.970150,-0.179838,-0.162687],[0.072680,-0.424401,0.902553]] 2025-10-28T18:52:59.846Z,1761677579.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203583,-0.892980,-0.401424],[0.975923,-0.152306,-0.156133],[0.078284,-0.423545,0.902486]] 2025-10-28T18:53:00.250Z,1761677580.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173488,-0.897009,-0.406541],[0.981188,-0.121932,-0.149678],[0.084692,-0.424861,0.901288]] 2025-10-28T18:53:00.668Z,1761677580.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141637,-0.901071,-0.409890],[0.985621,-0.089822,-0.143122],[0.092146,-0.424267,0.900836]] 2025-10-28T18:53:01.061Z,1761677581.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107718,-0.903999,-0.413743],[0.989136,-0.055574,-0.136097],[0.100038,-0.423908,0.900163]] 2025-10-28T18:53:01.463Z,1761677581.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073700,-0.906053,-0.416698],[0.991327,-0.020970,-0.129737],[0.108811,-0.422645,0.899740]] 2025-10-28T18:53:01.866Z,1761677581.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039223,-0.907863,-0.417428],[0.992293,0.013750,-0.123146],[0.117540,-0.419041,0.900327]] 2025-10-28T18:53:01.912Z,1761677581.912 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:53:01.913Z,1761677581.913 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:53:01.913Z,1761677581.913 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:53:01.913Z,1761677581.913 [marl:UpdateRudder:A] Stopped 2025-10-28T18:53:01.913Z,1761677581.913 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:53:02.278Z,1761677582.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004855,-0.908518,-0.417817],[0.992158,0.047810,-0.115488],[0.124899,-0.415101,0.901161]] 2025-10-28T18:53:02.321Z,1761677582.321 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:53:02.322Z,1761677582.322 [marl:UpdateRudder:B] Stopped 2025-10-28T18:53:02.322Z,1761677582.322 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:53:02.322Z,1761677582.322 [marl:UpdateRudder] Stopped 2025-10-28T18:53:02.322Z,1761677582.322 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:53:02.638Z,1761677582.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:53:02.677Z,1761677582.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029645,-0.908750,-0.416287],[0.991126,0.080715,-0.105619],[0.129581,-0.409461,0.903078]] 2025-10-28T18:53:02.720Z,1761677582.720 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:53:02.720Z,1761677582.720 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:53:02.720Z,1761677582.720 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:53:02.720Z,1761677582.720 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateCommandMode] Stopped 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:53:02.721Z,1761677582.721 [marl:UpdateSpeed] Stopped 2025-10-28T18:53:02.722Z,1761677582.722 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:53:03.078Z,1761677583.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064464,-0.907765,-0.414496],[0.989334,0.112504,-0.092524],[0.130623,-0.404110,0.905336]] 2025-10-28T18:53:03.483Z,1761677583.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099560,-0.905299,-0.412941],[0.986795,0.143120,-0.075850],[0.127767,-0.399937,0.907594]] 2025-10-28T18:53:03.640Z,1761677583.640 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T18:53:03.640Z,1761677583.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:53:03.887Z,1761677583.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134550,-0.902149,-0.409907],[0.983406,0.172374,-0.056572],[0.121694,-0.395493,0.910371]] 2025-10-28T18:53:04.294Z,1761677584.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167480,-0.896161,-0.410908],[0.979214,0.199580,-0.036158],[0.114412,-0.396312,0.910959]] 2025-10-28T18:53:04.694Z,1761677584.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194647,-0.889180,-0.414091],[0.974746,0.222465,-0.019511],[0.109470,-0.399836,0.910026]] 2025-10-28T18:53:05.099Z,1761677585.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217659,-0.879544,-0.423117],[0.970035,0.242895,-0.005908],[0.107969,-0.409152,0.906056]] 2025-10-28T18:53:05.503Z,1761677585.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240560,-0.870980,-0.428398],[0.964500,0.264038,0.004781],[0.108949,-0.414341,0.903577]] 2025-10-28T18:53:05.908Z,1761677585.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263185,-0.862031,-0.433170],[0.958097,0.286164,0.012638],[0.113063,-0.418345,0.901224]] 2025-10-28T18:53:06.311Z,1761677586.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287239,-0.851705,-0.438284],[0.950316,0.310704,0.019029],[0.119969,-0.421974,0.898635]] 2025-10-28T18:53:06.715Z,1761677586.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316228,-0.839260,-0.442314],[0.940154,0.339617,0.027754],[0.126925,-0.424620,0.896430]] 2025-10-28T18:53:07.119Z,1761677587.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348178,-0.827059,-0.441300],[0.927978,0.370764,0.037294],[0.132774,-0.422502,0.896584]] 2025-10-28T18:53:07.525Z,1761677587.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381301,-0.814544,-0.437181],[0.914227,0.402391,0.047647],[0.137107,-0.417850,0.898111]] 2025-10-28T18:53:07.931Z,1761677587.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414379,-0.802120,-0.429992],[0.899399,0.433170,0.058693],[0.139181,-0.411056,0.900923]] 2025-10-28T18:53:08.330Z,1761677588.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447039,-0.786286,-0.426510],[0.883744,0.461987,0.074591],[0.138392,-0.410271,0.901402]] 2025-10-28T18:53:08.735Z,1761677588.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476814,-0.769221,-0.425379],[0.868433,0.487070,0.092662],[0.135912,-0.413596,0.900259]] 2025-10-28T18:53:09.140Z,1761677589.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502743,-0.751697,-0.426851],[0.854137,0.507964,0.111459],[0.133041,-0.420624,0.897427]] 2025-10-28T18:53:09.542Z,1761677589.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525463,-0.734175,-0.429972],[0.840695,0.525749,0.129690],[0.130842,-0.429623,0.893479]] 2025-10-28T18:53:09.581Z,1761677589.581 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:53:09.609Z,1761677589.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:53:09.609Z,1761677589.609 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:53:09.861Z,1761677589.861 [DAT](INFO): DAT read: user:149> 2025-10-28T18:53:09.862Z,1761677589.862 [DAT](INFO): DAT read: Tx time:18:53:09.5887 2025-10-28T18:53:09.862Z,1761677589.862 [DAT](INFO): Ping request sent. 2025-10-28T18:53:09.862Z,1761677589.862 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:53:09.862Z,1761677589.862 [DAT](INFO): publishing transmit ping time 2025-10-28T18:53:09.863Z,1761677589.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950 2025-10-28T18:53:09.975Z,1761677589.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545733,-0.717113,-0.433502],[0.827744,0.541868,0.145667],[0.130441,-0.438324,0.889301]] 2025-10-28T18:53:10.113Z,1761677590.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250949 2025-10-28T18:53:10.351Z,1761677590.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564882,-0.700756,-0.435717],[0.814554,0.557975,0.158641],[0.131951,-0.444528,0.885993]] 2025-10-28T18:53:10.365Z,1761677590.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502786 2025-10-28T18:53:10.620Z,1761677590.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757385 2025-10-28T18:53:10.768Z,1761677590.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583451,-0.685667,-0.435254],[0.800697,0.575321,0.167004],[0.135902,-0.445946,0.884683]] 2025-10-28T18:53:10.869Z,1761677590.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006838 2025-10-28T18:53:11.121Z,1761677591.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258883 2025-10-28T18:53:11.159Z,1761677591.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601866,-0.671586,-0.432123],[0.785989,0.593922,0.171688],[0.141344,-0.442977,0.885321]] 2025-10-28T18:53:11.373Z,1761677591.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510845 2025-10-28T18:53:11.563Z,1761677591.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621293,-0.656281,-0.428125],[0.769561,0.613934,0.175672],[0.147550,-0.438612,0.886481]] 2025-10-28T18:53:11.626Z,1761677591.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763292 2025-10-28T18:53:11.877Z,1761677591.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014857 2025-10-28T18:53:11.966Z,1761677591.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641612,-0.641140,-0.421040],[0.751514,0.635307,0.177796],[0.153498,-0.430493,0.889446]] 2025-10-28T18:53:12.129Z,1761677592.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898 2025-10-28T18:53:12.372Z,1761677592.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663722,-0.624156,-0.412192],[0.731028,0.657952,0.180824],[0.158340,-0.421341,0.892973]] 2025-10-28T18:53:12.381Z,1761677592.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519078 2025-10-28T18:53:12.635Z,1761677592.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772888 2025-10-28T18:53:12.785Z,1761677592.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687045,-0.604661,-0.402931],[0.708428,0.680713,0.186439],[0.161548,-0.413540,0.896040]] 2025-10-28T18:53:12.885Z,1761677592.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022853 2025-10-28T18:53:13.137Z,1761677593.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274956 2025-10-28T18:53:13.178Z,1761677593.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710720,-0.582779,-0.394012],[0.684234,0.702777,0.194754],[0.163404,-0.408012,0.898235]] 2025-10-28T18:53:13.389Z,1761677593.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526938 2025-10-28T18:53:13.583Z,1761677593.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733870,-0.559371,-0.385408],[0.659061,0.723748,0.204515],[0.164539,-0.404095,0.899797]] 2025-10-28T18:53:13.641Z,1761677593.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778971 2025-10-28T18:53:13.893Z,1761677593.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030929 2025-10-28T18:53:13.993Z,1761677593.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756204,-0.534698,-0.377165],[0.633181,0.743345,0.215685],[0.165038,-0.401915,0.900681]] 2025-10-28T18:53:14.145Z,1761677594.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282929 2025-10-28T18:53:14.390Z,1761677594.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777174,-0.508873,-0.370202],[0.607109,0.761115,0.228303],[0.165589,-0.402185,0.900460]] 2025-10-28T18:53:14.398Z,1761677594.398 [DAT](INFO): DAT read: Rx Time:18:53:13.6953 2025-10-28T18:53:14.398Z,1761677594.398 [DAT](INFO): Rx dataTimestamp_ set to:1761677594.397874 2025-10-28T18:53:14.399Z,1761677594.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536726 2025-10-28T18:53:14.650Z,1761677594.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787989 2025-10-28T18:53:14.795Z,1761677594.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797208,-0.481448,-0.364235],[0.580443,0.777133,0.243207],[0.165968,-0.405304,0.898990]] 2025-10-28T18:53:14.908Z,1761677594.908 [DAT](INFO): DAT read: 18:53:13.6952 LVL= 12912, 18385, 21586, 27635, AGC= 75, IDX= 69, 0.13,-2.992, 1.482, 1.764, 2.846, PHS= 0.548,-1.318,-1.126, RAW= 95.4, 20.7, CAL= 95.3, 25.6, ROT= 54.7, -25.6 2025-10-28T18:53:14.910Z,1761677594.910 [DAT](INFO): got valid direction response: 18:53:13.6952 LVL= 12912, 18385, 21586, 27635, AGC= 75, IDX= 69, 0.13,-2.992, 1.482, 1.764, 2.846, PHS= 0.548,-1.318,-1.126, RAW= 95.4, 20.7, CAL= 95.3, 25.6, ROT= 54.7, -25.6 2025-10-28T18:53:14.910Z,1761677594.910 [DAT](INFO): DAT read: Bearing 77, -9 (Remote) 2025-10-28T18:53:14.911Z,1761677594.911 [DAT](INFO): Remote Bearing received:Bearing 77, -9 (Remote) 2025-10-28T18:53:14.912Z,1761677594.912 [DAT](INFO): DAT read: Bearing 232.7, 35.1 (Local) 2025-10-28T18:53:14.912Z,1761677594.912 [DAT](INFO): Local bearing/azimuth received: Bearing 232.7, 35.1 (Local) 2025-10-28T18:53:14.913Z,1761677594.913 [DAT](INFO): DAT read: Range 11 to 20 : 1558.0 m (Round-trip 2077.4 ms) speed -0.4 m/s 2025-10-28T18:53:14.914Z,1761677594.914 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:53:14.915Z,1761677594.915 [DAT](INFO): direction in FSK: [0.521131,0.736019,0.432086] 2025-10-28T18:53:14.915Z,1761677594.915 [DAT](INFO): publishing direction and range info 2025-10-28T18:53:14.993Z,1761677594.993 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677568.00. Resetting abort timer. 2025-10-28T18:53:15.199Z,1761677595.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816294,-0.454238,-0.356836],[0.553295,0.792303,0.257140],[0.165919,-0.407338,0.898080]] 2025-10-28T18:53:15.234Z,1761677595.234 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:53:15.234Z,1761677595.234 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:53:15.235Z,1761677595.235 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:53:15.235Z,1761677595.235 [marl:UpdateRudder:A] Stopped 2025-10-28T18:53:15.235Z,1761677595.235 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:53:15.602Z,1761677595.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833952,-0.426955,-0.349618],[0.526417,0.805578,0.271899],[0.165556,-0.410795,0.896570]] 2025-10-28T18:53:15.643Z,1761677595.643 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:53:15.643Z,1761677595.643 [marl:UpdateRudder:B] Stopped 2025-10-28T18:53:15.643Z,1761677595.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:53:15.643Z,1761677595.643 [marl:UpdateRudder] Stopped 2025-10-28T18:53:15.643Z,1761677595.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:53:16.006Z,1761677596.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850195,-0.400208,-0.342055],[0.499857,0.817580,0.285843],[0.165261,-0.414001,0.895149]] 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode] Stopped 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:53:16.058Z,1761677596.058 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed] Stopped 2025-10-28T18:53:16.059Z,1761677596.059 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:53:16.411Z,1761677596.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865361,-0.372809,-0.334907],[0.473117,0.828113,0.300648],[0.165256,-0.418620,0.892999]] 2025-10-28T18:53:16.820Z,1761677596.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879250,-0.346586,-0.326800],[0.446621,0.838380,0.312488],[0.165679,-0.420710,0.891938]] 2025-10-28T18:53:17.221Z,1761677597.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892353,-0.319759,-0.318528],[0.419490,0.848001,0.323917],[0.166536,-0.422667,0.890852]] 2025-10-28T18:53:17.623Z,1761677597.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904372,-0.293902,-0.309407],[0.392598,0.857196,0.333291],[0.167267,-0.422891,0.890609]] 2025-10-28T18:53:18.028Z,1761677598.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915590,-0.267622,-0.300121],[0.365365,0.865384,0.342957],[0.167937,-0.423662,0.890117]] 2025-10-28T18:53:18.432Z,1761677598.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926364,-0.241605,-0.288924],[0.336832,0.874680,0.348539],[0.168507,-0.420193,0.891652]] 2025-10-28T18:53:18.834Z,1761677598.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936200,-0.215940,-0.277308],[0.308239,0.883549,0.352604],[0.168874,-0.415586,0.893739]] 2025-10-28T18:53:19.245Z,1761677599.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944682,-0.192053,-0.265879],[0.281157,0.891618,0.354920],[0.168899,-0.410040,0.896293]] 2025-10-28T18:53:19.644Z,1761677599.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952291,-0.167562,-0.255079],[0.254350,0.897651,0.359901],[0.168666,-0.407610,0.897444]] 2025-10-28T18:53:20.046Z,1761677600.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958908,-0.142638,-0.245256],[0.228056,0.901744,0.367216],[0.168779,-0.408058,0.897219]] 2025-10-28T18:53:20.452Z,1761677600.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964786,-0.116852,-0.235657],[0.201654,0.903824,0.377409],[0.168892,-0.411640,0.895560]] 2025-10-28T18:53:20.854Z,1761677600.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969943,-0.089986,-0.226084],[0.175013,0.903500,0.391227],[0.169061,-0.419035,0.892092]] 2025-10-28T18:53:21.264Z,1761677601.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974353,-0.062783,-0.216088],[0.148119,0.901860,0.405845],[0.169400,-0.427443,0.888029]] 2025-10-28T18:53:21.662Z,1761677601.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978053,-0.035827,-0.205254],[0.120913,0.899856,0.419093],[0.169684,-0.434713,0.884439]] 2025-10-28T18:53:22.067Z,1761677602.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981111,-0.009624,-0.193206],[0.093316,0.898418,0.429112],[0.169450,-0.439035,0.882346]] 2025-10-28T18:53:22.471Z,1761677602.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983634,0.017466,-0.179332],[0.063394,0.898106,0.435187],[0.168661,-0.439433,0.882299]] 2025-10-28T18:53:22.876Z,1761677602.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985360,0.046204,-0.164104],[0.030954,0.898089,0.438724],[0.167651,-0.437381,0.883511]] 2025-10-28T18:53:23.278Z,1761677603.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986073,0.076415,-0.147721],[-0.003453,0.897413,0.441179],[0.166279,-0.434524,0.885178]] 2025-10-28T18:53:23.683Z,1761677603.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985639,0.106084,-0.131385],[-0.038547,0.898841,0.436576],[0.164408,-0.425241,0.890022]] 2025-10-28T18:53:24.087Z,1761677604.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984044,0.134820,-0.116103],[-0.073259,0.901687,0.426137],[0.162141,-0.410832,0.897177]] 2025-10-28T18:53:24.494Z,1761677604.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981196,0.163526,-0.102533],[-0.107323,0.903767,0.414351],[0.160423,-0.395555,0.904323]] 2025-10-28T18:53:24.894Z,1761677604.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977066,0.193052,-0.089848],[-0.141130,0.903070,0.405645],[0.159450,-0.383661,0.909604]] 2025-10-28T18:53:25.298Z,1761677605.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971498,0.223884,-0.077894],[-0.175061,0.899173,0.401050],[0.159829,-0.375983,0.912738]] 2025-10-28T18:53:25.704Z,1761677605.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964600,0.255500,-0.065323],[-0.208799,0.891228,0.402636],[0.161091,-0.374743,0.913026]] 2025-10-28T18:53:26.107Z,1761677606.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957023,0.285530,-0.050789],[-0.240751,0.879828,0.409808],[0.161698,-0.379968,0.910757]] 2025-10-28T18:53:26.517Z,1761677606.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940030,0.340573,-0.018817],[-0.300442,0.852857,0.427048],[0.161489,-0.395785,0.904033]] 2025-10-28T18:53:26.919Z,1761677606.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930824,0.365462,-0.002049],[-0.328021,0.837910,0.436243],[0.161147,-0.405394,0.899826]] 2025-10-28T18:53:27.329Z,1761677607.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920851,0.389632,0.014823],[-0.355325,0.822902,0.443370],[0.160553,-0.413545,0.896216]] 2025-10-28T18:53:27.738Z,1761677607.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910056,0.413270,0.031719],[-0.382329,0.807439,0.449295],[0.160069,-0.421011,0.892820]] 2025-10-28T18:53:28.130Z,1761677608.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898430,0.436418,0.048604],[-0.409104,0.791667,0.453759],[0.159551,-0.427555,0.889798]] 2025-10-28T18:53:28.173Z,1761677608.173 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:53:28.173Z,1761677608.173 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:53:28.174Z,1761677608.174 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:53:28.174Z,1761677608.174 [marl:UpdateRudder:A] Stopped 2025-10-28T18:53:28.174Z,1761677608.174 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:53:28.531Z,1761677608.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885704,0.459563,0.065804],[-0.436255,0.775414,0.456525],[0.158776,-0.433053,0.887274]] 2025-10-28T18:53:28.554Z,1761677608.554 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:53:28.555Z,1761677608.555 [marl:UpdateRudder:B] Stopped 2025-10-28T18:53:28.555Z,1761677608.555 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:53:28.555Z,1761677608.555 [marl:UpdateRudder] Stopped 2025-10-28T18:53:28.555Z,1761677608.555 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:53:28.934Z,1761677608.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871654,0.483340,0.081251],[-0.463808,0.759856,0.455523],[0.158433,-0.434743,0.886508]] 2025-10-28T18:53:29.342Z,1761677609.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855748,0.508196,0.097122],[-0.492671,0.743042,0.452950],[0.158021,-0.435461,0.886230]] 2025-10-28T18:53:29.390Z,1761677609.390 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:53:29.390Z,1761677609.390 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:53:29.390Z,1761677609.390 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateCommandMode] Stopped 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:53:29.391Z,1761677609.391 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:53:29.392Z,1761677609.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:53:29.392Z,1761677609.392 [marl:UpdateSpeed] Stopped 2025-10-28T18:53:29.397Z,1761677609.397 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:53:29.751Z,1761677609.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837782,0.534597,0.111027],[-0.522692,0.726473,0.446127],[0.157840,-0.431790,0.888056]] 2025-10-28T18:53:30.147Z,1761677610.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818285,0.561320,0.123812],[-0.552812,0.709472,0.437092],[0.157507,-0.426110,0.890854]] 2025-10-28T18:53:30.554Z,1761677610.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797681,0.588142,0.133393],[-0.582230,0.693371,0.424554],[0.157207,-0.416324,0.895522]] 2025-10-28T18:53:30.954Z,1761677610.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776877,0.613647,0.141064],[-0.609955,0.677846,0.410462],[0.156259,-0.404921,0.900901]] 2025-10-28T18:53:31.362Z,1761677611.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756472,0.637046,0.148064],[-0.635505,0.662471,0.396568],[0.154544,-0.394088,0.905986]] 2025-10-28T18:53:31.771Z,1761677611.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738039,0.657212,0.152875],[-0.657425,0.649359,0.382265],[0.151959,-0.382630,0.911319]] 2025-10-28T18:53:32.166Z,1761677612.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721096,0.673933,0.160733],[-0.676636,0.635148,0.372492],[0.148945,-0.377360,0.914010]] 2025-10-28T18:53:32.575Z,1761677612.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705088,0.688111,0.171332],[-0.693939,0.619824,0.366423],[0.145944,-0.377255,0.914538]] 2025-10-28T18:53:32.975Z,1761677612.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690394,0.700287,0.181531],[-0.709148,0.605488,0.361240],[0.143057,-0.378130,0.914632]] 2025-10-28T18:53:33.389Z,1761677613.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676477,0.711058,0.191770],[-0.722922,0.591425,0.357211],[0.140580,-0.380280,0.914125]] 2025-10-28T18:53:33.760Z,1761677613.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:53:33.786Z,1761677613.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663181,0.720686,0.201996],[-0.735511,0.577543,0.354215],[0.138616,-0.383479,0.913088]] 2025-10-28T18:53:34.213Z,1761677614.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650277,0.729192,0.213118],[-0.747299,0.563502,0.352149],[0.136692,-0.388258,0.911357]] 2025-10-28T18:53:34.616Z,1761677614.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637523,0.736804,0.225134],[-0.758629,0.549403,0.350196],[0.134337,-0.394051,0.909218]] 2025-10-28T18:53:34.765Z,1761677614.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:53:34.994Z,1761677614.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624488,0.744002,0.237648],[-0.769904,0.535214,0.347554],[0.131388,-0.400010,0.907044]] 2025-10-28T18:53:35.398Z,1761677615.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610902,0.751154,0.250133],[-0.781369,0.521154,0.343309],[0.127521,-0.405174,0.905302]] 2025-10-28T18:53:35.804Z,1761677615.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596202,0.759320,0.260723],[-0.793321,0.507360,0.336493],[0.123225,-0.407455,0.904874]] 2025-10-28T18:53:36.209Z,1761677616.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580551,0.768140,0.270039],[-0.805602,0.493757,0.327429],[0.118178,-0.407633,0.905466]] 2025-10-28T18:53:36.652Z,1761677616.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563405,0.778604,0.276318],[-0.818389,0.480126,0.315782],[0.113202,-0.404048,0.907706]] 2025-10-28T18:53:37.017Z,1761677617.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545136,0.790132,0.280210],[-0.831379,0.466508,0.301958],[0.107867,-0.397569,0.911210]] 2025-10-28T18:53:37.419Z,1761677617.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525815,0.802520,0.281924],[-0.844401,0.452537,0.286702],[0.102503,-0.388809,0.915599]] 2025-10-28T18:53:37.823Z,1761677617.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505917,0.814758,0.283226],[-0.857082,0.437802,0.271550],[0.097251,-0.380130,0.919806]] 2025-10-28T18:53:38.233Z,1761677618.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484583,0.827455,0.283721],[-0.869809,0.421390,0.256636],[0.092798,-0.371144,0.923927]] 2025-10-28T18:53:38.654Z,1761677618.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462555,0.839447,0.285256],[-0.882060,0.403237,0.243659],[0.089514,-0.364319,0.926962]] 2025-10-28T18:53:39.036Z,1761677619.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440129,0.850945,0.286669],[-0.893648,0.383949,0.232327],[0.087631,-0.358435,0.929433]] 2025-10-28T18:53:39.438Z,1761677619.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417672,0.860719,0.291054],[-0.904386,0.363023,0.224275],[0.087378,-0.356899,0.930047]] 2025-10-28T18:53:39.842Z,1761677619.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395685,0.868447,0.298720],[-0.914090,0.340993,0.219462],[0.088729,-0.359895,0.928764]] 2025-10-28T18:53:40.247Z,1761677620.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374935,0.874164,0.308644],[-0.922525,0.318961,0.217281],[0.091494,-0.366198,0.926028]] 2025-10-28T18:53:40.662Z,1761677620.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355697,0.877645,0.321278],[-0.929718,0.297180,0.217506],[0.095415,-0.376064,0.921668]] 2025-10-28T18:53:41.059Z,1761677621.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338692,0.878968,0.335712],[-0.935625,0.276907,0.218927],[0.099469,-0.388249,0.916171]] 2025-10-28T18:53:41.459Z,1761677621.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323977,0.878647,0.350740],[-0.940454,0.258786,0.220401],[0.102889,-0.401259,0.910168]] 2025-10-28T18:53:41.507Z,1761677621.507 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:53:41.507Z,1761677621.507 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:53:41.507Z,1761677621.507 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:53:41.512Z,1761677621.512 [marl:UpdateRudder:A] Stopped 2025-10-28T18:53:41.512Z,1761677621.512 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:53:41.863Z,1761677621.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311395,0.877572,0.364556],[-0.944456,0.243398,0.220816],[0.105050,-0.413068,0.904621]] 2025-10-28T18:53:41.888Z,1761677621.888 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:53:41.888Z,1761677621.888 [marl:UpdateRudder:B] Stopped 2025-10-28T18:53:41.888Z,1761677621.888 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:53:41.888Z,1761677621.888 [marl:UpdateRudder] Stopped 2025-10-28T18:53:41.888Z,1761677621.888 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:53:42.268Z,1761677622.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299824,0.876943,0.375602],[-0.948118,0.230278,0.219190],[0.105725,-0.421833,0.900488]] 2025-10-28T18:53:42.671Z,1761677622.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288465,0.877512,0.383094],[-0.951692,0.218803,0.215424],[0.105215,-0.426730,0.898238]] 2025-10-28T18:53:42.756Z,1761677622.756 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:53:42.756Z,1761677622.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:53:42.756Z,1761677622.756 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:53:42.757Z,1761677622.757 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:53:42.757Z,1761677622.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:53:42.757Z,1761677622.757 [marl:UpdateCommandMode] Stopped 2025-10-28T18:53:42.757Z,1761677622.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:53:42.757Z,1761677622.757 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:53:42.758Z,1761677622.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:53:42.758Z,1761677622.758 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:53:42.758Z,1761677622.758 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:53:42.758Z,1761677622.758 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:53:42.758Z,1761677622.758 [marl:UpdateSpeed] Stopped 2025-10-28T18:53:42.759Z,1761677622.759 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:53:43.079Z,1761677623.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276797,0.879209,0.387782],[-0.955337,0.208314,0.209611],[0.103511,-0.428482,0.897601]] 2025-10-28T18:53:43.483Z,1761677623.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263901,0.882493,0.389311],[-0.959221,0.197749,0.201964],[0.101246,-0.426734,0.898692]] 2025-10-28T18:53:43.887Z,1761677623.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248240,0.887609,0.387977],[-0.963562,0.185066,0.193127],[0.099620,-0.421782,0.901208]] 2025-10-28T18:53:44.290Z,1761677624.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228900,0.894103,0.384949],[-0.968347,0.168702,0.183966],[0.099543,-0.414874,0.904418]] 2025-10-28T18:53:44.695Z,1761677624.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206156,0.899951,0.384172],[-0.973286,0.148042,0.175492],[0.101061,-0.410088,0.906430]] 2025-10-28T18:53:45.104Z,1761677625.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180223,0.903231,0.389478],[-0.978085,0.122591,0.168291],[0.104259,-0.411272,0.905530]] 2025-10-28T18:53:45.503Z,1761677625.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153059,0.905143,0.396596],[-0.982269,0.095383,0.161398],[0.108260,-0.414267,0.903694]] 2025-10-28T18:53:45.906Z,1761677625.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125764,0.905602,0.405054],[-0.985671,0.067799,0.154456],[0.112413,-0.418674,0.901152]] 2025-10-28T18:53:46.310Z,1761677626.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100132,0.905324,0.412748],[-0.988150,0.041985,0.147634],[0.116328,-0.422640,0.898801]] 2025-10-28T18:53:46.725Z,1761677626.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074203,0.904679,0.419582],[-0.990031,0.016319,0.139900],[0.119718,-0.425780,0.896872]] 2025-10-28T18:53:47.118Z,1761677627.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047918,0.904983,0.422740],[-0.991279,-0.008928,0.131475],[0.122757,-0.425353,0.896663]] 2025-10-28T18:53:47.523Z,1761677627.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020615,0.904858,0.425214],[-0.991916,-0.034754,0.122047],[0.125213,-0.424292,0.896827]] 2025-10-28T18:53:47.928Z,1761677627.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007832,0.905120,0.425085],[-0.991823,-0.061182,0.112001],[0.127382,-0.420732,0.898197]] 2025-10-28T18:53:48.331Z,1761677628.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038011,0.905573,0.422484],[-0.990868,-0.088891,0.101383],[0.129365,-0.414772,0.900682]] 2025-10-28T18:53:48.735Z,1761677628.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069547,0.904437,0.420901],[-0.988853,-0.118186,0.090568],[0.131657,-0.409910,0.902574]] 2025-10-28T18:53:49.138Z,1761677629.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101833,0.902236,0.419047],[-0.985618,-0.148610,0.080451],[0.134861,-0.404828,0.904393]] 2025-10-28T18:53:49.550Z,1761677629.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133790,0.896685,0.421968],[-0.981206,-0.179604,0.070556],[0.139053,-0.404597,0.903861]] 2025-10-28T18:53:49.955Z,1761677629.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164701,0.888691,0.427904],[-0.975733,-0.210260,0.061115],[0.144283,-0.407455,0.901756]] 2025-10-28T18:53:50.351Z,1761677630.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193558,0.877461,0.438859],[-0.969523,-0.239555,0.051365],[0.150202,-0.415542,0.897087]] 2025-10-28T18:53:50.760Z,1761677630.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220129,0.863515,0.453745],[-0.962832,-0.266975,0.040970],[0.156517,-0.427862,0.890189]] 2025-10-28T18:53:51.159Z,1761677631.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245007,0.848192,0.469620],[-0.955730,-0.292707,0.030048],[0.162947,-0.441468,0.882357]] 2025-10-28T18:53:51.563Z,1761677631.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267473,0.833050,0.484238],[-0.948655,-0.315732,0.019165],[0.168854,-0.454249,0.874726]] 2025-10-28T18:53:51.967Z,1761677631.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288593,0.818620,0.496563],[-0.941467,-0.337000,0.008405],[0.174222,-0.465072,0.867960]] 2025-10-28T18:53:52.373Z,1761677632.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308346,0.806196,0.504947],[-0.934389,-0.356250,-0.001798],[0.178437,-0.472371,0.863149]] 2025-10-28T18:53:52.783Z,1761677632.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326838,0.796524,0.508651],[-0.927541,-0.373557,-0.011026],[0.181228,-0.475399,0.860902]] 2025-10-28T18:53:53.178Z,1761677633.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344219,0.790740,0.506205],[-0.920969,-0.389206,-0.018283],[0.182561,-0.472493,0.862219]] 2025-10-28T18:53:53.589Z,1761677633.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360905,0.788673,0.497737],[-0.914574,-0.403739,-0.023419],[0.182486,-0.463669,0.867012]] 2025-10-28T18:53:53.988Z,1761677633.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377544,0.789695,0.483572],[-0.908009,-0.418138,-0.026080],[0.181605,-0.448934,0.874916]] 2025-10-28T18:53:54.392Z,1761677634.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395331,0.789687,0.469156],[-0.900651,-0.433564,-0.029150],[0.180390,-0.434070,0.882634]] 2025-10-28T18:53:54.795Z,1761677634.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415241,0.789307,0.452294],[-0.891753,-0.451471,-0.030828],[0.179865,-0.416135,0.891336]] 2025-10-28T18:53:54.845Z,1761677634.845 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:53:54.845Z,1761677634.845 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:53:54.845Z,1761677634.845 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:53:54.845Z,1761677634.845 [marl:UpdateRudder:A] Stopped 2025-10-28T18:53:54.845Z,1761677634.845 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:53:55.207Z,1761677635.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436900,0.785702,0.437940],[-0.881363,-0.471225,-0.033850],[0.179772,-0.400773,0.898367]] 2025-10-28T18:53:55.257Z,1761677635.257 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:53:55.257Z,1761677635.257 [marl:UpdateRudder:B] Stopped 2025-10-28T18:53:55.257Z,1761677635.257 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:53:55.257Z,1761677635.257 [marl:UpdateRudder] Stopped 2025-10-28T18:53:55.257Z,1761677635.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:53:55.602Z,1761677635.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460262,0.778849,0.426090],[-0.869297,-0.492811,-0.038206],[0.180225,-0.387984,0.903874]] 2025-10-28T18:53:56.009Z,1761677636.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484571,0.768062,0.418656],[-0.855864,-0.515202,-0.045430],[0.180799,-0.380326,0.907008]] 2025-10-28T18:53:56.033Z,1761677636.033 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:53:56.033Z,1761677636.033 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:53:56.033Z,1761677636.033 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateCommandMode] Stopped 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:53:56.034Z,1761677636.034 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:53:56.035Z,1761677636.035 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:53:56.035Z,1761677636.035 [marl:UpdateSpeed] Stopped 2025-10-28T18:53:56.035Z,1761677636.035 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:53:56.412Z,1761677636.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509747,0.754447,0.413482],[-0.840996,-0.538275,-0.054645],[0.181340,-0.375592,0.908871]] 2025-10-28T18:53:56.814Z,1761677636.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534962,0.739175,0.409189],[-0.825140,-0.561171,-0.065042],[0.181548,-0.372433,0.910128]] 2025-10-28T18:53:57.221Z,1761677637.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559512,0.723177,0.404922],[-0.808870,-0.582994,-0.076472],[0.180764,-0.370316,0.911148]] 2025-10-28T18:53:57.627Z,1761677637.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582501,0.705158,0.404283],[-0.792754,-0.602719,-0.090944],[0.179539,-0.373472,0.910101]] 2025-10-28T18:53:58.029Z,1761677638.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605079,0.686800,0.402722],[-0.775944,-0.621983,-0.105109],[0.178298,-0.376089,0.909267]] 2025-10-28T18:53:58.431Z,1761677638.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626532,0.668335,0.400982],[-0.758988,-0.640146,-0.118954],[0.177186,-0.378869,0.908330]] 2025-10-28T18:53:58.834Z,1761677638.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646782,0.650389,0.398332],[-0.742126,-0.657118,-0.132079],[0.175848,-0.381039,0.907682]] 2025-10-28T18:53:59.243Z,1761677639.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665751,0.633065,0.394973],[-0.725517,-0.672885,-0.144400],[0.174356,-0.382694,0.907274]] 2025-10-28T18:53:59.642Z,1761677639.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683113,0.616147,0.392071],[-0.709549,-0.687044,-0.156559],[0.172907,-0.385141,0.906515]] 2025-10-28T18:54:00.047Z,1761677640.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698610,0.600110,0.389632],[-0.694635,-0.699410,-0.168250],[0.171544,-0.388193,0.905472]] 2025-10-28T18:54:00.451Z,1761677640.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712399,0.584312,0.388674],[-0.680881,-0.709638,-0.181152],[0.169968,-0.393693,0.903392]] 2025-10-28T18:54:00.856Z,1761677640.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724096,0.569837,0.388551],[-0.668866,-0.717604,-0.194068],[0.168239,-0.400412,0.900759]] 2025-10-28T18:54:01.258Z,1761677641.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733896,0.557525,0.388023],[-0.658546,-0.723999,-0.205289],[0.166475,-0.406192,0.898496]] 2025-10-28T18:54:01.662Z,1761677641.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741668,0.548673,0.385858],[-0.650244,-0.729315,-0.212798],[0.164655,-0.408727,0.897681]] 2025-10-28T18:54:02.068Z,1761677642.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748015,0.543063,0.381518],[-0.643365,-0.734477,-0.215927],[0.162954,-0.406972,0.898788]] 2025-10-28T18:54:02.471Z,1761677642.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753572,0.539310,0.375863],[-0.637290,-0.739584,-0.216512],[0.161215,-0.402691,0.901027]] 2025-10-28T18:54:02.874Z,1761677642.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758760,0.534840,0.371791],[-0.631540,-0.743818,-0.218843],[0.159499,-0.400850,0.902152]] 2025-10-28T18:54:03.279Z,1761677643.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764187,0.530759,0.366487],[-0.625421,-0.748674,-0.219853],[0.157690,-0.397217,0.904075]] 2025-10-28T18:54:03.691Z,1761677643.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769710,0.528363,0.358301],[-0.619198,-0.754488,-0.217580],[0.155372,-0.389333,0.907898]] 2025-10-28T18:54:04.088Z,1761677644.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775685,0.524875,0.350455],[-0.612305,-0.760450,-0.216329],[0.152958,-0.382389,0.911253]] 2025-10-28T18:54:04.491Z,1761677644.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782540,0.519672,0.342888],[-0.604182,-0.766814,-0.216702],[0.150317,-0.376745,0.914039]] 2025-10-28T18:54:04.888Z,1761677644.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:54:04.895Z,1761677644.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790223,0.513297,0.334774],[-0.594808,-0.773907,-0.217421],[0.147483,-0.370937,0.916872]] 2025-10-28T18:54:05.298Z,1761677645.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799301,0.502880,0.328982],[-0.583145,-0.781291,-0.222545],[0.145117,-0.369724,0.917739]] 2025-10-28T18:54:05.707Z,1761677645.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810504,0.488618,0.323012],[-0.567945,-0.790462,-0.229366],[0.143256,-0.369355,0.918180]] 2025-10-28T18:54:05.892Z,1761677645.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:54:06.106Z,1761677646.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823532,0.471385,0.315583],[-0.549330,-0.801490,-0.236327],[0.141536,-0.367982,0.918998]] 2025-10-28T18:54:06.510Z,1761677646.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837128,0.452197,0.307789],[-0.528738,-0.813126,-0.243439],[0.140188,-0.366529,0.919785]] 2025-10-28T18:54:06.915Z,1761677646.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850672,0.431354,0.300484],[-0.506995,-0.824280,-0.252028],[0.138970,-0.366737,0.919887]] 2025-10-28T18:54:07.320Z,1761677647.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863794,0.410006,0.292840],[-0.484673,-0.834975,-0.260593],[0.137669,-0.367030,0.919965]] 2025-10-28T18:54:07.722Z,1761677647.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876389,0.385790,0.288287],[-0.462099,-0.842232,-0.277687],[0.135676,-0.376579,0.916396]] 2025-10-28T18:54:08.127Z,1761677648.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888053,0.361457,0.284096],[-0.439793,-0.847958,-0.295886],[0.133951,-0.387706,0.911998]] 2025-10-28T18:54:08.188Z,1761677648.188 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:54:08.189Z,1761677648.189 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:54:08.189Z,1761677648.189 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:54:08.189Z,1761677648.189 [marl:UpdateRudder:A] Stopped 2025-10-28T18:54:08.189Z,1761677648.189 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:54:08.530Z,1761677648.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898602,0.339053,0.278491],[-0.418358,-0.853412,-0.310908],[0.132253,-0.395891,0.908724]] 2025-10-28T18:54:08.554Z,1761677648.554 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:54:08.555Z,1761677648.555 [marl:UpdateRudder:B] Stopped 2025-10-28T18:54:08.555Z,1761677648.555 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:54:08.556Z,1761677648.556 [marl:UpdateRudder] Stopped 2025-10-28T18:54:08.557Z,1761677648.557 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:54:08.936Z,1761677648.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907817,0.319672,0.271436],[-0.398405,-0.859489,-0.320238],[0.130925,-0.398859,0.907618]] 2025-10-28T18:54:09.339Z,1761677649.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915967,0.303091,0.262944],[-0.379637,-0.866798,-0.323322],[0.129924,-0.395975,0.909023]] 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:54:09.379Z,1761677649.379 [marl:UpdateCommandMode] Stopped 2025-10-28T18:54:09.380Z,1761677649.380 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:54:09.380Z,1761677649.380 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:54:09.380Z,1761677649.380 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:54:09.380Z,1761677649.380 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:54:09.380Z,1761677649.380 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:54:09.381Z,1761677649.381 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:54:09.381Z,1761677649.381 [marl:UpdateSpeed] Stopped 2025-10-28T18:54:09.381Z,1761677649.381 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:54:09.742Z,1761677649.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923204,0.286119,0.256573],[-0.361953,-0.871730,-0.330269],[0.129166,-0.397773,0.908346]] 2025-10-28T18:54:09.804Z,1761677649.804 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:54:09.861Z,1761677649.861 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:54:09.861Z,1761677649.861 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:54:10.113Z,1761677650.113 [DAT](INFO): DAT read: user:150> 2025-10-28T18:54:10.114Z,1761677650.114 [DAT](INFO): DAT read: Tx time:18:54:09.8384 2025-10-28T18:54:10.114Z,1761677650.114 [DAT](INFO): Ping request sent. 2025-10-28T18:54:10.114Z,1761677650.114 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:54:10.114Z,1761677650.114 [DAT](INFO): publishing transmit ping time 2025-10-28T18:54:10.115Z,1761677650.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000966 2025-10-28T18:54:10.181Z,1761677650.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935084,0.256890,0.244183],[-0.330953,-0.879422,-0.342179],[0.126838,-0.400779,0.907352]] 2025-10-28T18:54:10.365Z,1761677650.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-28T18:54:10.620Z,1761677650.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505424 2025-10-28T18:54:10.869Z,1761677650.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754861 2025-10-28T18:54:10.954Z,1761677650.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940719,0.243303,0.236330],[-0.315263,-0.884231,-0.344593],[0.125130,-0.398671,0.908517]] 2025-10-28T18:54:11.121Z,1761677651.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811 2025-10-28T18:54:11.363Z,1761677651.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945996,0.229559,0.228897],[-0.299887,-0.887860,-0.348959],[0.123122,-0.398757,0.908754]] 2025-10-28T18:54:11.373Z,1761677651.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258970 2025-10-28T18:54:11.625Z,1761677651.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885 2025-10-28T18:54:11.775Z,1761677651.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955886,0.201574,0.213660],[-0.268552,-0.894408,-0.357650],[0.119006,-0.399251,0.909085]] 2025-10-28T18:54:11.878Z,1761677651.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763515 2025-10-28T18:54:12.129Z,1761677652.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014786 2025-10-28T18:54:12.196Z,1761677652.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960766,0.186555,0.205247],[-0.251680,-0.897370,-0.362471],[0.116562,-0.399906,0.909114]] 2025-10-28T18:54:12.382Z,1761677652.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268049 2025-10-28T18:54:12.579Z,1761677652.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965451,0.170745,0.196850],[-0.234227,-0.899681,-0.368390],[0.114202,-0.401770,0.908592]] 2025-10-28T18:54:12.636Z,1761677652.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521287 2025-10-28T18:54:12.885Z,1761677652.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771004 2025-10-28T18:54:12.979Z,1761677652.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970089,0.154298,0.187402],[-0.215553,-0.902584,-0.372665],[0.111644,-0.401913,0.908846]] 2025-10-28T18:54:13.137Z,1761677653.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007 2025-10-28T18:54:13.381Z,1761677653.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974702,0.136582,0.176922],[-0.195065,-0.906256,-0.375033],[0.109114,-0.400057,0.909972]] 2025-10-28T18:54:13.389Z,1761677653.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274914 2025-10-28T18:54:13.642Z,1761677653.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527497 2025-10-28T18:54:13.786Z,1761677653.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978915,0.118422,0.166437],[-0.174395,-0.908762,-0.379127],[0.106355,-0.400159,0.910253]] 2025-10-28T18:54:13.893Z,1761677653.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778958 2025-10-28T18:54:14.145Z,1761677654.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030822 2025-10-28T18:54:14.197Z,1761677654.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982756,0.100252,0.155372],[-0.153351,-0.911389,-0.381909],[0.103317,-0.399150,0.911046]] 2025-10-28T18:54:14.397Z,1761677654.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282840 2025-10-28T18:54:14.615Z,1761677654.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986317,0.081138,0.143514],[-0.131065,-0.913973,-0.384026],[0.100009,-0.397581,0.912101]] 2025-10-28T18:54:14.650Z,1761677654.650 [DAT](INFO): DAT read: Rx Time:18:54:13.9995 2025-10-28T18:54:14.651Z,1761677654.651 [DAT](INFO): Rx dataTimestamp_ set to:1761677654.650590 2025-10-28T18:54:14.652Z,1761677654.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538010 2025-10-28T18:54:14.901Z,1761677654.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786832 2025-10-28T18:54:14.996Z,1761677654.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989432,0.061435,0.131342],[-0.108054,-0.916426,-0.385342],[0.096691,-0.395462,0.913379]] 2025-10-28T18:54:15.158Z,1761677655.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041266 2025-10-28T18:54:15.399Z,1761677655.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992043,0.041293,0.118939],[-0.084580,-0.918345,-0.386638],[0.093261,-0.393621,0.914530]] 2025-10-28T18:54:15.411Z,1761677655.411 [DAT](INFO): DAT read: 18:54:13.9995 LVL= 32144, 25937, 20594, 30579, AGC= 74, IDX= 467, 0.08, 2.449,-2.980,-1.972,-3.041, PHS=-0.691, 0.106, 1.025, RAW= 237.6, -6.0, CAL= 235.5, -9.1, ROT= 274.5, 9.1 2025-10-28T18:54:15.412Z,1761677655.412 [DAT](INFO): got valid direction response: 18:54:13.9995 LVL= 32144, 25937, 20594, 30579, AGC= 74, IDX= 467, 0.08, 2.449,-2.980,-1.972,-3.041, PHS=-0.691, 0.106, 1.025, RAW= 237.6, -6.0, CAL= 235.5, -9.1, ROT= 274.5, 9.1 2025-10-28T18:54:15.413Z,1761677655.413 [DAT](INFO): DAT read: Bearing 78, -4 (Remote) 2025-10-28T18:54:15.413Z,1761677655.413 [DAT](INFO): Remote Bearing received:Bearing 78, -4 (Remote) 2025-10-28T18:54:15.414Z,1761677655.414 [DAT](INFO): DAT read: Bearing 251.5, -55.1 (Local) 2025-10-28T18:54:15.414Z,1761677655.414 [DAT](INFO): Local bearing/azimuth received: Bearing 251.5, -55.1 (Local) 2025-10-28T18:54:15.416Z,1761677655.416 [DAT](INFO): DAT read: Range 11 to 20 : 1598.9 m (Round-trip 2131.9 ms) speed -0.2 m/s 2025-10-28T18:54:15.416Z,1761677655.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:54:15.417Z,1761677655.417 [DAT](INFO): direction in FSK: [0.077472,-0.984370,-0.158158] 2025-10-28T18:54:15.418Z,1761677655.418 [DAT](INFO): publishing direction and range info 2025-10-28T18:54:15.534Z,1761677655.534 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677696.00. Resetting abort timer. 2025-10-28T18:54:15.805Z,1761677655.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994109,0.020816,0.106368],[-0.060824,-0.919428,-0.388526],[0.089711,-0.392707,0.915278]] 2025-10-28T18:54:16.215Z,1761677656.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995494,0.001669,0.094806],[-0.038916,-0.918952,-0.392446],[0.086467,-0.394367,0.914876]] 2025-10-28T18:54:16.650Z,1761677656.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996381,-0.016624,0.083356],[-0.017752,-0.918358,-0.395352],[0.083123,-0.395401,0.914740]] 2025-10-28T18:54:17.014Z,1761677657.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996784,-0.033940,0.072592],[0.002246,-0.917355,-0.398065],[0.080104,-0.396622,0.914481]] 2025-10-28T18:54:17.421Z,1761677657.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996779,-0.050394,0.062382],[0.021303,-0.916331,-0.399854],[0.077313,-0.397238,0.914453]] 2025-10-28T18:54:17.822Z,1761677657.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996408,-0.066127,0.052906],[0.039379,-0.914864,-0.401838],[0.074974,-0.398311,0.914181]] 2025-10-28T18:54:18.230Z,1761677658.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995659,-0.082315,0.043440],[0.057870,-0.913041,-0.403742],[0.072896,-0.399475,0.913841]] 2025-10-28T18:54:18.655Z,1761677658.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994469,-0.099262,0.034324],[0.076997,-0.911285,-0.404513],[0.071431,-0.399633,0.913888]] 2025-10-28T18:54:19.037Z,1761677659.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992790,-0.117242,0.024953],[0.097135,-0.908858,-0.405638],[0.070237,-0.400290,0.913693]] 2025-10-28T18:54:19.439Z,1761677659.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990397,-0.137436,0.015017],[0.119649,-0.906465,-0.404977],[0.069271,-0.399291,0.914204]] 2025-10-28T18:54:19.843Z,1761677659.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987180,-0.159553,0.004187],[0.144283,-0.903304,-0.404009],[0.068243,-0.398226,0.914745]] 2025-10-28T18:54:20.250Z,1761677660.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983056,-0.183154,-0.007423],[0.170553,-0.899082,-0.403191],[0.067172,-0.397625,0.915086]] 2025-10-28T18:54:20.668Z,1761677660.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978051,-0.207422,-0.019813],[0.197653,-0.893465,-0.403304],[0.065952,-0.398368,0.914851]] 2025-10-28T18:54:21.054Z,1761677661.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972231,-0.231768,-0.032419],[0.224928,-0.887186,-0.402876],[0.064612,-0.398980,0.914680]] 2025-10-28T18:54:21.460Z,1761677661.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965715,-0.255718,-0.044759],[0.251820,-0.880816,-0.400937],[0.063103,-0.398462,0.915012]] 2025-10-28T18:54:21.508Z,1761677661.508 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:54:21.508Z,1761677661.508 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:54:21.508Z,1761677661.508 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:54:21.509Z,1761677661.509 [marl:UpdateRudder:A] Stopped 2025-10-28T18:54:21.509Z,1761677661.509 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:54:21.862Z,1761677661.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958573,-0.279070,-0.057073],[0.278202,-0.874207,-0.397952],[0.061163,-0.397344,0.915629]] 2025-10-28T18:54:21.885Z,1761677661.885 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:54:21.886Z,1761677661.886 [marl:UpdateRudder:B] Stopped 2025-10-28T18:54:21.886Z,1761677661.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:54:21.886Z,1761677661.886 [marl:UpdateRudder] Stopped 2025-10-28T18:54:21.886Z,1761677661.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:54:22.280Z,1761677662.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950856,-0.301627,-0.069954],[0.304002,-0.866535,-0.395853],[0.058782,-0.397665,0.915646]] 2025-10-28T18:54:22.673Z,1761677662.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942764,-0.323135,-0.082339],[0.328736,-0.859211,-0.392032],[0.055932,-0.396662,0.916259]] 2025-10-28T18:54:22.723Z,1761677662.723 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:54:22.723Z,1761677662.723 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:54:22.723Z,1761677662.723 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:54:22.724Z,1761677662.724 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:54:22.724Z,1761677662.724 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:54:22.724Z,1761677662.724 [marl:UpdateCommandMode] Stopped 2025-10-28T18:54:22.724Z,1761677662.724 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:54:22.724Z,1761677662.724 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed] Stopped 2025-10-28T18:54:22.725Z,1761677662.725 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:54:23.075Z,1761677663.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934483,-0.343208,-0.094600],[0.352134,-0.851994,-0.387438],[0.052373,-0.395366,0.917029]] 2025-10-28T18:54:23.482Z,1761677663.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926210,-0.361688,-0.106378],[0.373903,-0.845122,-0.382054],[0.048282,-0.393638,0.917997]] 2025-10-28T18:54:23.882Z,1761677663.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918001,-0.378764,-0.117528],[0.394156,-0.838698,-0.375802],[0.043769,-0.391311,0.919217]] 2025-10-28T18:54:24.287Z,1761677664.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910140,-0.394002,-0.128094],[0.412461,-0.832593,-0.369683],[0.039006,-0.389297,0.920286]] 2025-10-28T18:54:24.690Z,1761677664.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902571,-0.407778,-0.138139],[0.429139,-0.826203,-0.365003],[0.034710,-0.388722,0.920701]] 2025-10-28T18:54:25.094Z,1761677665.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894987,-0.420974,-0.147577],[0.445047,-0.819991,-0.359929],[0.030508,-0.387810,0.921234]] 2025-10-28T18:54:25.499Z,1761677665.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887069,-0.434206,-0.156759],[0.460877,-0.813518,-0.354655],[0.026468,-0.386850,0.921763]] 2025-10-28T18:54:25.904Z,1761677665.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878913,-0.447242,-0.165788],[0.476434,-0.806526,-0.350038],[0.022839,-0.386640,0.921948]] 2025-10-28T18:54:26.307Z,1761677666.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870424,-0.460435,-0.174243],[0.491902,-0.799156,-0.345517],[0.019841,-0.386457,0.922094]] 2025-10-28T18:54:26.711Z,1761677666.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861486,-0.473628,-0.183081],[0.507479,-0.790633,-0.342583],[0.017507,-0.388041,0.921476]] 2025-10-28T18:54:27.114Z,1761677667.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852072,-0.487153,-0.191454],[0.523176,-0.781404,-0.340139],[0.016097,-0.389987,0.920680]] 2025-10-28T18:54:27.520Z,1761677667.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842228,-0.500891,-0.199398],[0.538904,-0.771688,-0.337759],[0.015307,-0.391926,0.919869]] 2025-10-28T18:54:27.923Z,1761677667.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831298,-0.515746,-0.207246],[0.555629,-0.761102,-0.334665],[0.014867,-0.393358,0.919265]] 2025-10-28T18:54:28.326Z,1761677668.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819144,-0.531625,-0.215355],[0.573405,-0.749484,-0.330879],[0.014498,-0.394523,0.918772]] 2025-10-28T18:54:28.731Z,1761677668.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805573,-0.548981,-0.222872],[0.592333,-0.737364,-0.324710],[0.013922,-0.393592,0.919180]] 2025-10-28T18:54:29.146Z,1761677669.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790747,-0.566605,-0.231684],[0.612009,-0.723867,-0.318530],[0.012772,-0.393670,0.919163]] 2025-10-28T18:54:29.538Z,1761677669.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775307,-0.584196,-0.240031],[0.631478,-0.710019,-0.311622],[0.011622,-0.393177,0.919389]] 2025-10-28T18:54:29.943Z,1761677669.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759117,-0.602036,-0.247577],[0.650874,-0.696006,-0.303213],[0.010230,-0.391315,0.920200]] 2025-10-28T18:54:30.346Z,1761677670.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742345,-0.619373,-0.255542],[0.669967,-0.681456,-0.294554],[0.008298,-0.389865,0.920835]] 2025-10-28T18:54:30.752Z,1761677670.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725210,-0.636131,-0.263455],[0.688503,-0.666738,-0.285349],[0.005864,-0.388328,0.921503]] 2025-10-28T18:54:31.161Z,1761677671.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707821,-0.652170,-0.271410],[0.706386,-0.651899,-0.275766],[0.002915,-0.386913,0.922112]] 2025-10-28T18:54:31.560Z,1761677671.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690195,-0.667508,-0.279399],[0.723623,-0.637081,-0.265513],[-0.000768,-0.385435,0.922734]] 2025-10-28T18:54:31.962Z,1761677671.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672500,-0.682020,-0.287388],[0.740079,-0.622425,-0.254696],[-0.005169,-0.383973,0.923330]] 2025-10-28T18:54:32.367Z,1761677672.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655850,-0.694345,-0.296218],[0.754827,-0.608307,-0.245355],[-0.009830,-0.384509,0.923069]] 2025-10-28T18:54:32.777Z,1761677672.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640400,-0.705436,-0.303723],[0.767913,-0.595335,-0.236401],[-0.014052,-0.384624,0.922966]] 2025-10-28T18:54:33.177Z,1761677673.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625172,-0.715918,-0.310840],[0.780274,-0.582593,-0.227504],[-0.018219,-0.384769,0.922833]] 2025-10-28T18:54:33.579Z,1761677673.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611002,-0.725285,-0.317235],[0.791327,-0.570657,-0.219436],[-0.021879,-0.385112,0.922610]] 2025-10-28T18:54:33.982Z,1761677673.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597175,-0.733887,-0.323715],[0.801727,-0.558602,-0.212595],[-0.024807,-0.386488,0.921961]] 2025-10-28T18:54:34.389Z,1761677674.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583087,-0.742554,-0.329580],[0.811964,-0.546086,-0.206164],[-0.026891,-0.387819,0.921343]] 2025-10-28T18:54:34.795Z,1761677674.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570029,-0.750300,-0.334838],[0.821145,-0.534165,-0.200968],[-0.028072,-0.389509,0.920595]] 2025-10-28T18:54:34.861Z,1761677674.861 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:54:34.861Z,1761677674.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:54:34.861Z,1761677674.861 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:54:34.862Z,1761677674.862 [marl:UpdateRudder:A] Stopped 2025-10-28T18:54:34.862Z,1761677674.862 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:54:35.194Z,1761677675.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556687,-0.758255,-0.339337],[0.830231,-0.521880,-0.195853],[-0.028586,-0.390756,0.920050]] 2025-10-28T18:54:35.225Z,1761677675.225 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:54:35.225Z,1761677675.225 [marl:UpdateRudder:B] Stopped 2025-10-28T18:54:35.225Z,1761677675.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:54:35.226Z,1761677675.226 [marl:UpdateRudder] Stopped 2025-10-28T18:54:35.226Z,1761677675.226 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:54:35.598Z,1761677675.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542473,-0.766857,-0.343006],[0.839603,-0.508580,-0.190824],[-0.028111,-0.391506,0.919746]] 2025-10-28T18:54:36.003Z,1761677676.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527465,-0.775972,-0.345902],[0.849153,-0.494383,-0.185808],[-0.026826,-0.391731,0.919689]] 2025-10-28T18:54:36.020Z,1761677676.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:54:36.028Z,1761677676.028 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:54:36.028Z,1761677676.028 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateCommandMode] Stopped 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:54:36.029Z,1761677676.029 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:54:36.030Z,1761677676.030 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:54:36.030Z,1761677676.030 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:54:36.030Z,1761677676.030 [marl:UpdateSpeed] Stopped 2025-10-28T18:54:36.030Z,1761677676.030 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:54:36.410Z,1761677676.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510300,-0.785756,-0.349546],[0.859616,-0.478129,-0.180147],[-0.025576,-0.392405,0.919437]] 2025-10-28T18:54:36.810Z,1761677676.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492027,-0.795167,-0.354429],[0.870243,-0.460560,-0.174819],[-0.024225,-0.394455,0.918596]] 2025-10-28T18:54:37.024Z,1761677677.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:54:37.214Z,1761677677.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472372,-0.805104,-0.358708],[0.881103,-0.441891,-0.168492],[-0.022856,-0.395650,0.918117]] 2025-10-28T18:54:37.627Z,1761677677.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451327,-0.815475,-0.362359],[0.892098,-0.422123,-0.161161],[-0.021538,-0.395997,0.917999]] 2025-10-28T18:54:38.023Z,1761677678.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427996,-0.825525,-0.367868],[0.903554,-0.399947,-0.153727],[-0.020222,-0.398184,0.917083]] 2025-10-28T18:54:38.434Z,1761677678.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401251,-0.834205,-0.378284],[0.915779,-0.373753,-0.147166],[-0.018618,-0.405475,0.913917]] 2025-10-28T18:54:38.830Z,1761677678.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371708,-0.842645,-0.389593],[0.928192,-0.345057,-0.139264],[-0.017082,-0.413383,0.910397]] 2025-10-28T18:54:39.263Z,1761677679.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340840,-0.851272,-0.398953],[0.939983,-0.315869,-0.129071],[-0.016142,-0.419002,0.907842]] 2025-10-28T18:54:39.641Z,1761677679.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309370,-0.859492,-0.406895],[0.950809,-0.286727,-0.117261],[-0.015883,-0.423157,0.905917]] 2025-10-28T18:54:40.045Z,1761677680.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278213,-0.866957,-0.413502],[0.960382,-0.258356,-0.104492],[-0.016240,-0.426191,0.904488]] 2025-10-28T18:54:40.447Z,1761677680.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248437,-0.874040,-0.417531],[0.968508,-0.231454,-0.091761],[-0.016436,-0.427180,0.904017]] 2025-10-28T18:54:40.851Z,1761677680.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219743,-0.880329,-0.420397],[0.975414,-0.205666,-0.079178],[-0.016759,-0.427460,0.903879]] 2025-10-28T18:54:41.254Z,1761677681.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192461,-0.886052,-0.421747],[0.981155,-0.181263,-0.066924],[-0.017149,-0.426680,0.904240]] 2025-10-28T18:54:41.660Z,1761677681.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165833,-0.891614,-0.421337],[0.986000,-0.157455,-0.054878],[-0.017412,-0.424539,0.905242]] 2025-10-28T18:54:42.062Z,1761677682.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140356,-0.895707,-0.421911],[0.989958,-0.134203,-0.044418],[-0.016836,-0.423908,0.905549]] 2025-10-28T18:54:42.466Z,1761677682.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115091,-0.899062,-0.422424],[0.993227,-0.110976,-0.034413],[-0.015939,-0.423523,0.905745]] 2025-10-28T18:54:43.276Z,1761677683.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066655,-0.903085,-0.424258],[0.997690,-0.065902,-0.016465],[-0.013090,-0.424375,0.905392]] 2025-10-28T18:54:43.678Z,1761677683.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042175,-0.905131,-0.423036],[0.999046,-0.042994,-0.007610],[-0.011300,-0.422954,0.906081]] 2025-10-28T18:54:44.083Z,1761677684.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017719,-0.906079,-0.422738],[0.999798,-0.020057,0.001083],[-0.009460,-0.422634,0.906251]] 2025-10-28T18:54:44.487Z,1761677684.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007570,-0.905954,-0.423308],[0.999943,0.003655,0.010060],[-0.007567,-0.423360,0.905930]] 2025-10-28T18:54:44.893Z,1761677684.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033329,-0.906333,-0.421249],[0.999429,0.027889,0.019070],[-0.005536,-0.421644,0.906745]] 2025-10-28T18:54:45.294Z,1761677685.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059913,-0.905537,-0.420015],[0.998196,0.052734,0.028695],[-0.003835,-0.420976,0.907063]] 2025-10-28T18:54:45.699Z,1761677685.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085829,-0.904590,-0.417552],[0.996309,0.077398,0.037117],[-0.001258,-0.419196,0.907895]] 2025-10-28T18:54:46.125Z,1761677686.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112860,-0.902964,-0.414630],[0.993610,0.103015,0.046113],[0.001074,-0.417185,0.908821]] 2025-10-28T18:54:46.526Z,1761677686.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141131,-0.900205,-0.411962],[0.989985,0.129763,0.055599],[0.003406,-0.415683,0.909503]] 2025-10-28T18:54:47.345Z,1761677687.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200182,-0.892015,-0.405262],[0.979729,0.185473,0.075703],[0.007637,-0.412201,0.911061]] 2025-10-28T18:54:47.738Z,1761677687.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230813,-0.886023,-0.402106],[0.972955,0.214056,0.086824],[0.009146,-0.411271,0.911467]] 2025-10-28T18:54:48.142Z,1761677688.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261921,-0.879176,-0.398054],[0.965036,0.242912,0.098483],[0.010109,-0.409932,0.912060]] 2025-10-28T18:54:48.186Z,1761677688.186 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:54:48.186Z,1761677688.186 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:54:48.186Z,1761677688.186 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:54:48.186Z,1761677688.186 [marl:UpdateRudder:A] Stopped 2025-10-28T18:54:48.186Z,1761677688.186 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:54:48.546Z,1761677688.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292537,-0.871652,-0.393249],[0.956199,0.271047,0.110526],[0.010249,-0.408357,0.912765]] 2025-10-28T18:54:48.587Z,1761677688.587 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T18:54:48.592Z,1761677688.592 [marl:UpdateRudder:B] Stopped 2025-10-28T18:54:48.593Z,1761677688.593 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:54:48.593Z,1761677688.593 [marl:UpdateRudder] Stopped 2025-10-28T18:54:48.593Z,1761677688.593 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:54:49.355Z,1761677689.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352221,-0.852707,-0.385785],[0.935875,0.324759,0.136633],[0.008779,-0.409172,0.912415]] 2025-10-28T18:54:49.394Z,1761677689.394 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:54:49.394Z,1761677689.394 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:54:49.394Z,1761677689.394 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:54:49.394Z,1761677689.394 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:54:49.394Z,1761677689.394 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateCommandMode] Stopped 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed] Stopped 2025-10-28T18:54:49.395Z,1761677689.395 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:54:49.763Z,1761677689.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380797,-0.841948,-0.382252],[0.924629,0.350028,0.150139],[0.007390,-0.410614,0.911779]] 2025-10-28T18:54:50.162Z,1761677690.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408107,-0.831245,-0.377466],[0.912915,0.374241,0.162880],[0.005870,-0.411067,0.911586]] 2025-10-28T18:54:50.573Z,1761677690.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433039,-0.821573,-0.370803],[0.901365,0.396685,0.173731],[0.004359,-0.409461,0.912317]] 2025-10-28T18:54:51.451Z,1761677691.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499355,-0.790949,-0.353615],[0.866397,0.456291,0.202866],[0.000895,-0.407674,0.913127]] 2025-10-28T18:54:51.851Z,1761677691.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519918,-0.779716,-0.348895],[0.854216,0.474496,0.212527],[-0.000162,-0.408529,0.912745]] 2025-10-28T18:54:52.254Z,1761677692.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540564,-0.768373,-0.342627],[0.841302,0.493109,0.221483],[-0.001229,-0.407979,0.912991]] 2025-10-28T18:54:52.662Z,1761677692.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561284,-0.755693,-0.337474],[0.827622,0.511601,0.230884],[-0.001825,-0.408892,0.912581]] 2025-10-28T18:54:53.076Z,1761677693.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582286,-0.741751,-0.332790],[0.812980,0.530019,0.241129],[-0.002473,-0.410958,0.911651]] 2025-10-28T18:54:53.471Z,1761677693.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603953,-0.726926,-0.326833],[0.797014,0.549299,0.251076],[-0.002985,-0.412129,0.911121]] 2025-10-28T18:54:53.871Z,1761677693.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626087,-0.710749,-0.320704],[0.779746,0.568903,0.261431],[-0.003362,-0.413746,0.910386]] 2025-10-28T18:54:54.280Z,1761677694.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648507,-0.693580,-0.313665],[0.761200,0.588930,0.271541],[-0.003609,-0.414858,0.909879]] 2025-10-28T18:54:54.681Z,1761677694.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670339,-0.676487,-0.304977],[0.742045,0.608989,0.280181],[-0.003811,-0.414123,0.910213]] 2025-10-28T18:54:55.091Z,1761677695.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692083,-0.658526,-0.295576],[0.721806,0.628985,0.288746],[-0.004234,-0.413185,0.910637]] 2025-10-28T18:54:55.488Z,1761677695.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713338,-0.640091,-0.285365],[0.700805,0.648828,0.296469],[-0.004614,-0.411468,0.911413]] 2025-10-28T18:54:55.891Z,1761677695.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733522,-0.621722,-0.274603],[0.679643,0.667648,0.303862],[-0.005580,-0.409522,0.912283]] 2025-10-28T18:54:56.296Z,1761677696.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753227,-0.602653,-0.263549],[0.657727,0.686039,0.311039],[-0.006644,-0.407626,0.913125]] 2025-10-28T18:54:56.699Z,1761677696.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772241,-0.583237,-0.251948],[0.635278,0.703800,0.317943],[-0.008116,-0.405586,0.914021]] 2025-10-28T18:54:57.103Z,1761677697.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790190,-0.563834,-0.240190],[0.612781,0.720498,0.324626],[-0.009979,-0.403700,0.914837]] 2025-10-28T18:54:57.506Z,1761677697.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806860,-0.544379,-0.229407],[0.590624,0.735608,0.331730],[-0.011834,-0.403153,0.915056]] 2025-10-28T18:54:57.913Z,1761677697.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822937,-0.524331,-0.218750],[0.567971,0.750099,0.338762],[-0.013539,-0.403023,0.915090]] 2025-10-28T18:54:58.314Z,1761677698.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837977,-0.504401,-0.208262],[0.545488,0.763486,0.345734],[-0.015384,-0.403322,0.914929]] 2025-10-28T18:54:58.718Z,1761677698.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852391,-0.484141,-0.197580],[0.522620,0.776296,0.352465],[-0.017263,-0.403697,0.914730]] 2025-10-28T18:54:59.124Z,1761677699.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865630,-0.464114,-0.187841],[0.500332,0.787754,0.359321],[-0.018794,-0.405022,0.914114]] 2025-10-28T18:54:59.528Z,1761677699.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878280,-0.443543,-0.178589],[0.477733,0.798461,0.366376],[-0.019907,-0.407098,0.913167]] 2025-10-28T18:54:59.994Z,1761677699.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890141,-0.423481,-0.168266],[0.455220,0.809686,0.370383],[-0.020607,-0.406291,0.913511]] 2025-10-28T18:55:00.397Z,1761677700.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900926,-0.404008,-0.158463],[0.433448,0.819732,0.374382],[-0.021356,-0.405976,0.913634]] 2025-10-28T18:55:00.798Z,1761677700.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911426,-0.383873,-0.148137],[0.410883,0.829981,0.377234],[-0.021859,-0.404688,0.914193]] 2025-10-28T18:55:01.203Z,1761677701.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921440,-0.363092,-0.138251],[0.387904,0.839711,0.380020],[-0.021891,-0.403794,0.914588]] 2025-10-28T18:55:01.614Z,1761677701.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930807,-0.341911,-0.129212],[0.364860,0.848070,0.384257],[-0.021801,-0.404813,0.914139]] 2025-10-28T18:55:01.637Z,1761677701.637 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:55:01.637Z,1761677701.637 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:55:01.637Z,1761677701.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:55:01.638Z,1761677701.638 [marl:UpdateRudder:A] Stopped 2025-10-28T18:55:01.638Z,1761677701.638 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:55:02.010Z,1761677702.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939926,-0.319879,-0.119234],[0.340684,0.856667,0.387371],[-0.021768,-0.404721,0.914181]] 2025-10-28T18:55:02.050Z,1761677702.050 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:55:02.050Z,1761677702.050 [marl:UpdateRudder:B] Stopped 2025-10-28T18:55:02.050Z,1761677702.050 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:55:02.051Z,1761677702.051 [marl:UpdateRudder] Stopped 2025-10-28T18:55:02.051Z,1761677702.051 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:55:02.884Z,1761677702.884 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode] Stopped 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:55:02.885Z,1761677702.885 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed] Stopped 2025-10-28T18:55:02.886Z,1761677702.886 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:55:03.224Z,1761677703.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964587,-0.249789,-0.084714],[0.262635,0.879899,0.395982],[-0.024372,-0.404208,0.914342]] 2025-10-28T18:55:03.626Z,1761677703.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971703,-0.225364,-0.070745],[0.234639,0.886497,0.398832],[-0.027167,-0.404145,0.914291]] 2025-10-28T18:55:04.030Z,1761677704.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977536,-0.203354,-0.055420],[0.208372,0.892861,0.399224],[-0.031701,-0.401804,0.915177]] 2025-10-28T18:55:04.435Z,1761677704.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982422,-0.182432,-0.039571],[0.182928,0.898574,0.398877],[-0.037211,-0.399104,0.916150]] 2025-10-28T18:55:04.840Z,1761677704.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986409,-0.162580,-0.023778],[0.158504,0.903405,0.398416],[-0.043293,-0.396770,0.916896]] 2025-10-28T18:55:05.242Z,1761677705.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989571,-0.143808,-0.008272],[0.135293,0.908201,0.396064],[-0.049445,-0.393053,0.918186]] 2025-10-28T18:55:05.647Z,1761677705.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992003,-0.126031,0.006857],[0.113159,0.912120,0.393996],[-0.055910,-0.390069,0.919087]] 2025-10-28T18:55:06.058Z,1761677706.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993835,-0.108716,0.021736],[0.091632,0.915831,0.390969],[-0.062411,-0.386567,0.920147]] 2025-10-28T18:55:06.461Z,1761677706.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995154,-0.091685,0.035542],[0.070711,0.918406,0.389269],[-0.068332,-0.384869,0.920438]] 2025-10-28T18:55:06.858Z,1761677706.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995994,-0.074877,0.048873],[0.050044,0.919758,0.389284],[-0.074100,-0.385278,0.919821]] 2025-10-28T18:55:07.144Z,1761677707.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:55:07.262Z,1761677707.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996415,-0.057974,0.061615],[0.029649,0.921400,0.387482],[-0.079236,-0.384266,0.919816]] 2025-10-28T18:55:07.670Z,1761677707.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996440,-0.041124,0.073588],[0.009522,0.922260,0.386454],[-0.083760,-0.384378,0.919368]] 2025-10-28T18:55:08.148Z,1761677708.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:55:08.474Z,1761677708.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995304,-0.008297,0.096447],[-0.029349,0.923562,0.382324],[-0.092247,-0.383359,0.918981]] 2025-10-28T18:55:08.878Z,1761677708.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994178,0.008597,0.107404],[-0.049076,0.923544,0.380339],[-0.095922,-0.383396,0.918590]] 2025-10-28T18:55:09.287Z,1761677709.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992624,0.025567,0.118505],[-0.069020,0.922807,0.379030],[-0.099666,-0.384414,0.917765]] 2025-10-28T18:55:09.690Z,1761677709.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990586,0.042874,0.130003],[-0.089560,0.921212,0.378611],[-0.103527,-0.386690,0.916380]] 2025-10-28T18:55:10.090Z,1761677710.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988029,0.060612,0.141860],[-0.110627,0.919289,0.377715],[-0.107516,-0.388887,0.914990]] 2025-10-28T18:55:10.126Z,1761677710.126 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:55:10.349Z,1761677710.349 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:55:10.349Z,1761677710.349 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:55:10.495Z,1761677710.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984832,0.079798,0.154069],[-0.133124,0.917009,0.375996],[-0.111279,-0.390803,0.913723]] 2025-10-28T18:55:10.606Z,1761677710.606 [DAT](INFO): DAT read: user:151> 2025-10-28T18:55:10.609Z,1761677710.609 [DAT](INFO): DAT read: Tx time:18:55:10.3382 2025-10-28T18:55:10.611Z,1761677710.611 [DAT](INFO): Ping request sent. 2025-10-28T18:55:10.611Z,1761677710.611 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:55:10.640Z,1761677710.640 [DAT](INFO): publishing transmit ping time 2025-10-28T18:55:10.643Z,1761677710.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.031817 2025-10-28T18:55:10.853Z,1761677710.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242319 2025-10-28T18:55:10.905Z,1761677710.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981157,0.098595,0.166163],[-0.154980,0.915164,0.372098],[-0.115379,-0.390839,0.913199]] 2025-10-28T18:55:11.107Z,1761677711.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495980 2025-10-28T18:55:11.302Z,1761677711.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976916,0.117419,0.178458],[-0.176966,0.912753,0.368192],[-0.119655,-0.391274,0.912462]] 2025-10-28T18:55:11.357Z,1761677711.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746718 2025-10-28T18:55:11.609Z,1761677711.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998300 2025-10-28T18:55:11.707Z,1761677711.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972079,0.136578,0.190809],[-0.199329,0.909678,0.364353],[-0.123813,-0.392214,0.911503]] 2025-10-28T18:55:11.861Z,1761677711.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250314 2025-10-28T18:55:12.110Z,1761677712.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966696,0.155857,0.202998],[-0.221672,0.906330,0.359761],[-0.127912,-0.392778,0.910694]] 2025-10-28T18:55:12.113Z,1761677712.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502444 2025-10-28T18:55:12.365Z,1761677712.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754386 2025-10-28T18:55:12.516Z,1761677712.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960877,0.174600,0.215011],[-0.243695,0.901877,0.356694],[-0.131635,-0.395136,0.909142]] 2025-10-28T18:55:12.620Z,1761677712.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008597 2025-10-28T18:55:12.869Z,1761677712.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258367 2025-10-28T18:55:12.918Z,1761677712.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954714,0.193503,0.226002],[-0.265195,0.897813,0.351572],[-0.134878,-0.395586,0.908471]] 2025-10-28T18:55:13.121Z,1761677713.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510299 2025-10-28T18:55:13.322Z,1761677713.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948438,0.211528,0.236055],[-0.285573,0.893399,0.346823],[-0.137528,-0.396351,0.907740]] 2025-10-28T18:55:13.373Z,1761677713.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762425 2025-10-28T18:55:13.625Z,1761677713.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014386 2025-10-28T18:55:13.727Z,1761677713.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941896,0.229055,0.245692],[-0.305352,0.888654,0.342133],[-0.139968,-0.397276,0.906962]] 2025-10-28T18:55:13.877Z,1761677713.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266316 2025-10-28T18:55:14.129Z,1761677714.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518392 2025-10-28T18:55:14.134Z,1761677714.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935279,0.245548,0.254871],[-0.324116,0.883499,0.338200],[-0.142134,-0.398919,0.905904]] 2025-10-28T18:55:14.381Z,1761677714.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770827 2025-10-28T18:55:14.546Z,1761677714.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928202,0.262143,0.264048],[-0.343132,0.877506,0.335027],[-0.143879,-0.401577,0.904453]] 2025-10-28T18:55:14.575Z,1761677714.575 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:55:14.575Z,1761677714.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:55:14.575Z,1761677714.575 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:55:14.576Z,1761677714.576 [marl:UpdateRudder:A] Stopped 2025-10-28T18:55:14.576Z,1761677714.576 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:55:14.636Z,1761677714.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024571 2025-10-28T18:55:14.885Z,1761677714.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274322 2025-10-28T18:55:14.998Z,1761677714.998 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:55:14.998Z,1761677714.998 [marl:UpdateRudder:B] Stopped 2025-10-28T18:55:14.998Z,1761677714.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:55:14.998Z,1761677714.998 [marl:UpdateRudder] Stopped 2025-10-28T18:55:14.998Z,1761677714.998 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:55:15.137Z,1761677715.137 [DAT](INFO): DAT read: Rx Time:18:55:14.4768 2025-10-28T18:55:15.138Z,1761677715.138 [DAT](INFO): Rx dataTimestamp_ set to:1761677715.137843 2025-10-28T18:55:15.139Z,1761677715.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528132 2025-10-28T18:55:15.342Z,1761677715.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913114,0.294375,0.282075],[-0.380221,0.864573,0.328550],[-0.147158,-0.407254,0.901381]] 2025-10-28T18:55:15.389Z,1761677715.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778406 2025-10-28T18:55:15.655Z,1761677715.655 [DAT](INFO): DAT read: 18:55:14.4768 LVL= 31168, 19377, 32754, 32755, AGC= 80, IDX= 189, 0.14,-2.989,-2.268, 2.023,-2.629, PHS=-0.258, 0.406,-1.675, RAW= 11.8, 16.3, CAL= 11.4, 20.1, ROT= 138.6, -20.1 2025-10-28T18:55:15.656Z,1761677715.656 [DAT](INFO): got valid direction response: 18:55:14.4768 LVL= 31168, 19377, 32754, 32755, AGC= 80, IDX= 189, 0.14,-2.989,-2.268, 2.023,-2.629, PHS=-0.258, 0.406,-1.675, RAW= 11.8, 16.3, CAL= 11.4, 20.1, ROT= 138.6, -20.1 2025-10-28T18:55:15.657Z,1761677715.657 [DAT](INFO): DAT read: Bearing 80, -5 (Remote) 2025-10-28T18:55:15.658Z,1761677715.658 [DAT](INFO): Remote Bearing received:Bearing 80, -5 (Remote) 2025-10-28T18:55:15.658Z,1761677715.658 [DAT](INFO): DAT read: Bearing 251.2, 31.2 (Local) 2025-10-28T18:55:15.659Z,1761677715.659 [DAT](INFO): Local bearing/azimuth received: Bearing 251.2, 31.2 (Local) 2025-10-28T18:55:15.660Z,1761677715.660 [DAT](INFO): DAT read: Range 11 to 20 : 1582.0 m (Round-trip 2109.4 ms) speed -0.5 m/s 2025-10-28T18:55:15.661Z,1761677715.661 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:55:15.662Z,1761677715.662 [DAT](INFO): direction in FSK: [-0.704425,0.621034,0.343660] 2025-10-28T18:55:15.662Z,1761677715.662 [DAT](INFO): publishing direction and range info 2025-10-28T18:55:15.747Z,1761677715.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905042,0.311157,0.289967],[-0.398788,0.857837,0.324167],[-0.147877,-0.409020,0.900464]] 2025-10-28T18:55:15.837Z,1761677715.837 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677696.00. Resetting abort timer. 2025-10-28T18:55:16.153Z,1761677716.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896637,0.328168,0.297233],[-0.417156,0.851126,0.318692],[-0.148398,-0.409744,0.900049]] 2025-10-28T18:55:16.177Z,1761677716.177 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:55:16.177Z,1761677716.177 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:55:16.177Z,1761677716.177 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:55:16.177Z,1761677716.177 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:55:16.177Z,1761677716.177 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateCommandMode] Stopped 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:55:16.178Z,1761677716.178 [marl:UpdateSpeed] Stopped 2025-10-28T18:55:16.179Z,1761677716.179 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:55:16.557Z,1761677716.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887736,0.344808,0.305013],[-0.435622,0.843442,0.314387],[-0.148858,-0.411964,0.898959]] 2025-10-28T18:55:16.958Z,1761677716.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878543,0.362054,0.311575],[-0.453903,0.835949,0.308482],[-0.148774,-0.412439,0.898755]] 2025-10-28T18:55:17.364Z,1761677717.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868544,0.379776,0.318437],[-0.472832,0.827510,0.302751],[-0.148533,-0.413520,0.898298]] 2025-10-28T18:55:17.775Z,1761677717.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857714,0.397425,0.326159],[-0.492172,0.818115,0.297413],[-0.148636,-0.415622,0.897310]] 2025-10-28T18:55:18.172Z,1761677718.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846260,0.414979,0.334122],[-0.511587,0.808035,0.292161],[-0.148741,-0.418177,0.896105]] 2025-10-28T18:55:18.579Z,1761677718.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834375,0.433272,0.340726],[-0.530807,0.798182,0.284869],[-0.148536,-0.418547,0.895966]] 2025-10-28T18:55:18.979Z,1761677718.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822365,0.451363,0.346390],[-0.549302,0.788503,0.276640],[-0.148265,-0.417772,0.896373]] 2025-10-28T18:55:19.384Z,1761677719.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810344,0.469394,0.350731],[-0.567100,0.778877,0.267857],[-0.147446,-0.415956,0.897352]] 2025-10-28T18:55:19.789Z,1761677719.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798343,0.485897,0.355743],[-0.584162,0.768372,0.261457],[-0.146302,-0.416544,0.897266]] 2025-10-28T18:55:20.191Z,1761677720.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786050,0.502351,0.360234],[-0.601022,0.757350,0.255329],[-0.144559,-0.417210,0.897239]] 2025-10-28T18:55:20.627Z,1761677720.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773608,0.517835,0.365208],[-0.617377,0.745781,0.250312],[-0.142745,-0.419115,0.896642]] 2025-10-28T18:55:21.000Z,1761677721.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761568,0.532463,0.369456],[-0.632570,0.734713,0.245055],[-0.140962,-0.420333,0.896354]] 2025-10-28T18:55:21.402Z,1761677721.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749617,0.546364,0.373577],[-0.647078,0.723632,0.240097],[-0.139152,-0.421715,0.895987]] 2025-10-28T18:55:21.806Z,1761677721.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737606,0.560275,0.376869],[-0.661175,0.712580,0.234685],[-0.137061,-0.422282,0.896043]] 2025-10-28T18:55:22.213Z,1761677722.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725615,0.573756,0.379851],[-0.674820,0.701293,0.229798],[-0.134539,-0.423076,0.896050]] 2025-10-28T18:55:22.651Z,1761677722.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703327,0.597607,0.384963],[-0.698962,0.680061,0.221293],[-0.129552,-0.424716,0.896009]] 2025-10-28T18:55:23.423Z,1761677723.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692441,0.608296,0.387947],[-0.710189,0.669420,0.217963],[-0.127113,-0.426442,0.895539]] 2025-10-28T18:55:23.827Z,1761677723.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680470,0.619950,0.390670],[-0.722078,0.658060,0.213450],[-0.124756,-0.427340,0.895442]] 2025-10-28T18:55:24.232Z,1761677724.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667599,0.632092,0.393409],[-0.734328,0.646164,0.207931],[-0.122775,-0.427706,0.895541]] 2025-10-28T18:55:24.659Z,1761677724.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635981,0.660668,0.398806],[-0.762538,0.617421,0.193200],[-0.118590,-0.426976,0.896453]] 2025-10-28T18:55:25.046Z,1761677725.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618483,0.675654,0.401211],[-0.777070,0.601773,0.184478],[-0.116795,-0.425866,0.897217]] 2025-10-28T18:55:25.448Z,1761677725.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599911,0.692153,0.401286],[-0.791857,0.585337,0.174193],[-0.114319,-0.422262,0.899236]] 2025-10-28T18:55:25.853Z,1761677725.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581280,0.708477,0.400218],[-0.806061,0.568610,0.164160],[-0.111265,-0.418023,0.901597]] 2025-10-28T18:55:26.255Z,1761677726.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562188,0.724760,0.398331],[-0.819977,0.551171,0.154430],[-0.107624,-0.413440,0.904148]] 2025-10-28T18:55:26.661Z,1761677726.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543023,0.740574,0.395823],[-0.833332,0.533290,0.145464],[-0.103361,-0.408843,0.906733]] 2025-10-28T18:55:27.061Z,1761677727.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524319,0.755343,0.393125],[-0.845783,0.515473,0.137619],[-0.098696,-0.404654,0.909128]] 2025-10-28T18:55:27.462Z,1761677727.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507041,0.767975,0.391310],[-0.856739,0.498771,0.131248],[-0.094379,-0.401798,0.910852]] 2025-10-28T18:55:27.866Z,1761677727.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491518,0.777959,0.391395],[-0.866148,0.483425,0.126835],[-0.090537,-0.401348,0.911440]] 2025-10-28T18:55:27.911Z,1761677727.911 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:55:27.911Z,1761677727.911 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:55:27.911Z,1761677727.911 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:55:27.911Z,1761677727.911 [marl:UpdateRudder:A] Stopped 2025-10-28T18:55:27.911Z,1761677727.911 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:55:28.271Z,1761677728.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477059,0.786714,0.391786],[-0.874569,0.469001,0.123158],[-0.086858,-0.401398,0.911776]] 2025-10-28T18:55:28.298Z,1761677728.298 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:55:28.298Z,1761677728.298 [marl:UpdateRudder:B] Stopped 2025-10-28T18:55:28.298Z,1761677728.298 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:55:28.298Z,1761677728.298 [marl:UpdateRudder] Stopped 2025-10-28T18:55:28.298Z,1761677728.298 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:55:28.676Z,1761677728.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462871,0.794204,0.393689],[-0.882508,0.454593,0.120521],[-0.083250,-0.403219,0.911309]] 2025-10-28T18:55:29.079Z,1761677729.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449708,0.800773,0.395632],[-0.889612,0.441103,0.118398],[-0.079705,-0.405203,0.910746]] 2025-10-28T18:55:29.483Z,1761677729.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437693,0.805742,0.399005],[-0.895860,0.428592,0.117235],[-0.076549,-0.408765,0.909423]] 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode] Stopped 2025-10-28T18:55:29.539Z,1761677729.539 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:55:29.540Z,1761677729.540 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:55:29.544Z,1761677729.544 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:55:29.544Z,1761677729.544 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:55:29.544Z,1761677729.544 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:55:29.544Z,1761677729.544 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:55:29.545Z,1761677729.545 [marl:UpdateSpeed] Stopped 2025-10-28T18:55:29.545Z,1761677729.545 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:55:29.887Z,1761677729.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425393,0.810560,0.402533],[-0.902004,0.415946,0.115660],[-0.073683,-0.412288,0.908069]] 2025-10-28T18:55:30.293Z,1761677730.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411949,0.814621,0.408277],[-0.908433,0.402099,0.114308],[-0.071050,-0.417981,0.905673]] 2025-10-28T18:55:30.694Z,1761677730.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397070,0.819476,0.413272],[-0.915220,0.387208,0.111547],[-0.068612,-0.422526,0.903750]] 2025-10-28T18:55:31.098Z,1761677731.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380654,0.825956,0.415811],[-0.922338,0.371363,0.106689],[-0.066297,-0.424130,0.903171]] 2025-10-28T18:55:31.513Z,1761677731.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362332,0.832748,0.418625],[-0.929851,0.353796,0.101026],[-0.063979,-0.425863,0.902523]] 2025-10-28T18:55:31.906Z,1761677731.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342767,0.839998,0.420612],[-0.937389,0.335254,0.094372],[-0.061739,-0.426625,0.902319]] 2025-10-28T18:55:32.310Z,1761677732.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322122,0.847605,0.421667],[-0.944817,0.315892,0.086787],[-0.059640,-0.426354,0.902588]] 2025-10-28T18:55:32.714Z,1761677732.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300641,0.856243,0.420076],[-0.952012,0.295901,0.078202],[-0.057341,-0.423428,0.904113]] 2025-10-28T18:55:33.120Z,1761677733.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279270,0.864479,0.417953],[-0.958643,0.275892,0.069905],[-0.054878,-0.420191,0.905775]] 2025-10-28T18:55:33.525Z,1761677733.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258649,0.872044,0.415500],[-0.964563,0.256379,0.062356],[-0.052148,-0.416905,0.907453]] 2025-10-28T18:55:33.926Z,1761677733.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239281,0.878760,0.412947],[-0.969697,0.237889,0.055656],[-0.049327,-0.413751,0.909053]] 2025-10-28T18:55:34.330Z,1761677734.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220772,0.883836,0.412424],[-0.974232,0.219858,0.050347],[-0.046176,-0.412912,0.909600]] 2025-10-28T18:55:34.736Z,1761677734.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203622,0.887571,0.413227],[-0.978107,0.202935,0.046088],[-0.042952,-0.413565,0.909461]] 2025-10-28T18:55:35.138Z,1761677735.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188054,0.889558,0.416320],[-0.981335,0.187533,0.042570],[-0.040205,-0.416555,0.908221]] 2025-10-28T18:55:35.547Z,1761677735.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172354,0.890266,0.421569],[-0.984312,0.172057,0.039078],[-0.037744,-0.421691,0.905954]] 2025-10-28T18:55:35.947Z,1761677735.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155618,0.891201,0.426079],[-0.987193,0.155642,0.035011],[-0.035114,-0.426071,0.904008]] 2025-10-28T18:55:36.355Z,1761677736.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137783,0.892164,0.430185],[-0.989921,0.138396,0.030040],[-0.032735,-0.429988,0.902241]] 2025-10-28T18:55:36.757Z,1761677736.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118435,0.894449,0.431200],[-0.992482,0.120130,0.023409],[-0.030862,-0.430731,0.901953]] 2025-10-28T18:55:37.158Z,1761677737.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097423,0.896777,0.431625],[-0.994813,0.100494,0.015748],[-0.029253,-0.430920,0.901916]] 2025-10-28T18:55:37.563Z,1761677737.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074948,0.899711,0.430003],[-0.996800,0.079617,0.007153],[-0.027800,-0.429163,0.902799]] 2025-10-28T18:55:37.968Z,1761677737.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051722,0.901819,0.429007],[-0.998310,0.058082,-0.001735],[-0.026482,-0.428192,0.903300]] 2025-10-28T18:55:38.268Z,1761677738.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:55:38.374Z,1761677738.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028090,0.904870,0.424760],[-0.999298,0.035961,-0.010524],[-0.024798,-0.424166,0.905245]] 2025-10-28T18:55:38.779Z,1761677738.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004635,0.907336,0.420381],[-0.999726,0.013853,-0.018879],[-0.022953,-0.420179,0.907151]] 2025-10-28T18:55:39.179Z,1761677739.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017983,0.908973,0.416467],[-0.999621,-0.007669,-0.026427],[-0.020828,-0.416785,0.908766]] 2025-10-28T18:55:39.272Z,1761677739.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:55:39.582Z,1761677739.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039592,0.909681,0.413417],[-0.999045,-0.028380,-0.033228],[-0.018494,-0.414338,0.909935]] 2025-10-28T18:55:40.009Z,1761677740.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059295,0.909837,0.410709],[-0.998108,-0.047328,-0.039253],[-0.016276,-0.412259,0.910921]] 2025-10-28T18:55:40.394Z,1761677740.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077396,0.908025,0.411705],[-0.996902,-0.064693,-0.044725],[-0.013977,-0.413891,0.910219]] 2025-10-28T18:55:40.797Z,1761677740.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094704,0.904719,0.415349],[-0.995442,-0.081342,-0.049793],[-0.011263,-0.418172,0.908298]] 2025-10-28T18:55:41.198Z,1761677741.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110764,0.901176,0.419063],[-0.993811,-0.096854,-0.054398],[-0.008435,-0.422494,0.906326]] 2025-10-28T18:55:41.231Z,1761677741.231 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:55:41.231Z,1761677741.231 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:55:41.232Z,1761677741.232 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:55:41.232Z,1761677741.232 [marl:UpdateRudder:A] Stopped 2025-10-28T18:55:41.232Z,1761677741.232 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:55:41.602Z,1761677741.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125345,0.897053,0.423773],[-0.992097,-0.110925,-0.058636],[-0.005593,-0.427774,0.903868]] 2025-10-28T18:55:41.651Z,1761677741.651 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:55:41.651Z,1761677741.651 [marl:UpdateRudder:B] Stopped 2025-10-28T18:55:41.652Z,1761677741.652 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:55:41.652Z,1761677741.652 [marl:UpdateRudder] Stopped 2025-10-28T18:55:41.652Z,1761677741.652 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:55:42.010Z,1761677742.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138764,0.893857,0.426339],[-0.990321,-0.123997,-0.062357],[-0.002874,-0.430865,0.902412]] 2025-10-28T18:55:42.421Z,1761677742.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151523,0.890543,0.428923],[-0.988454,-0.136236,-0.066328],[-0.000633,-0.434021,0.900903]] 2025-10-28T18:55:42.815Z,1761677742.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163490,0.887247,0.431351],[-0.986545,-0.147356,-0.070820],[0.000727,-0.437125,0.899400]] 2025-10-28T18:55:42.876Z,1761677742.876 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:55:42.876Z,1761677742.876 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:55:42.876Z,1761677742.876 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateCommandMode] Stopped 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:55:42.877Z,1761677742.877 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:55:42.878Z,1761677742.878 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:55:42.878Z,1761677742.878 [marl:UpdateSpeed] Stopped 2025-10-28T18:55:42.878Z,1761677742.878 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:55:43.218Z,1761677743.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175247,0.885326,0.430682],[-0.984524,-0.158114,-0.075583],[0.001181,-0.437262,0.899333]] 2025-10-28T18:55:43.631Z,1761677743.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188874,0.884671,0.426243],[-0.982001,-0.170649,-0.080953],[0.001121,-0.433861,0.900979]] 2025-10-28T18:55:44.027Z,1761677744.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205319,0.884057,0.419865],[-0.978695,-0.185950,-0.087060],[0.001108,-0.428795,0.903401]] 2025-10-28T18:55:44.433Z,1761677744.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223976,0.882788,0.412940],[-0.974594,-0.203381,-0.093823],[0.001159,-0.423463,0.905913]] 2025-10-28T18:55:44.835Z,1761677744.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244783,0.880540,0.405871],[-0.969577,-0.222692,-0.101626],[0.000899,-0.418400,0.908263]] 2025-10-28T18:55:45.241Z,1761677745.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267028,0.879783,0.393292],[-0.963688,-0.244097,-0.108264],[0.000753,-0.407920,0.913017]] 2025-10-28T18:55:45.643Z,1761677745.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290527,0.877443,0.381691],[-0.956866,-0.266851,-0.114881],[0.001053,-0.398603,0.917123]] 2025-10-28T18:55:46.046Z,1761677746.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315180,0.871584,0.375503],[-0.949029,-0.290463,-0.122375],[0.002410,-0.394934,0.918707]] 2025-10-28T18:55:46.454Z,1761677746.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340921,0.863266,0.372216],[-0.940081,-0.314997,-0.130480],[0.004608,-0.394396,0.918929]] 2025-10-28T18:55:46.854Z,1761677746.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366648,0.853400,0.370509],[-0.930329,-0.339558,-0.138523],[0.007594,-0.395485,0.918441]] 2025-10-28T18:55:47.258Z,1761677747.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390362,0.843760,0.368356],[-0.920598,-0.362420,-0.145432],[0.010790,-0.395879,0.918239]] 2025-10-28T18:55:47.664Z,1761677747.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411591,0.832401,0.371082],[-0.911274,-0.381771,-0.154375],[0.013166,-0.401697,0.915678]] 2025-10-28T18:55:48.068Z,1761677748.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429759,0.820477,0.376994],[-0.902821,-0.397341,-0.164421],[0.014891,-0.411019,0.911505]] 2025-10-28T18:55:48.490Z,1761677748.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446433,0.809633,0.381041],[-0.894668,-0.411643,-0.173550],[0.016342,-0.418384,0.908123]] 2025-10-28T18:55:48.875Z,1761677748.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462379,0.799700,0.382996],[-0.886509,-0.425477,-0.181853],[0.017528,-0.423615,0.905673]] 2025-10-28T18:55:49.278Z,1761677749.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476903,0.790522,0.384238],[-0.878755,-0.438165,-0.189210],[0.018785,-0.427886,0.903638]] 2025-10-28T18:55:49.684Z,1761677749.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490295,0.782076,0.384667],[-0.871325,-0.450028,-0.195624],[0.020118,-0.431083,0.902088]] 2025-10-28T18:55:50.087Z,1761677750.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502852,0.775140,0.382488],[-0.864112,-0.461656,-0.200458],[0.021195,-0.431314,0.901953]] 2025-10-28T18:55:50.498Z,1761677750.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514792,0.767189,0.382636],[-0.857027,-0.472098,-0.206467],[0.022243,-0.434217,0.900534]] 2025-10-28T18:55:50.896Z,1761677750.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526374,0.760441,0.380342],[-0.849932,-0.482886,-0.210800],[0.023361,-0.434225,0.900501]] 2025-10-28T18:55:51.299Z,1761677751.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538129,0.753747,0.377204],[-0.842513,-0.493927,-0.214961],[0.024285,-0.433476,0.900838]] 2025-10-28T18:55:51.704Z,1761677751.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550283,0.747420,0.372225],[-0.834603,-0.505721,-0.218368],[0.025029,-0.430825,0.902089]] 2025-10-28T18:55:52.107Z,1761677752.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563515,0.739967,0.367287],[-0.825699,-0.518466,-0.222295],[0.025935,-0.428535,0.903153]] 2025-10-28T18:55:52.518Z,1761677752.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577417,0.732344,0.360917],[-0.816007,-0.532209,-0.225581],[0.026880,-0.424765,0.904904]] 2025-10-28T18:55:52.914Z,1761677752.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592216,0.723986,0.353728],[-0.805293,-0.547021,-0.228628],[0.027973,-0.420252,0.906976]] 2025-10-28T18:55:53.320Z,1761677753.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607811,0.714514,0.346461],[-0.793544,-0.562584,-0.231920],[0.029204,-0.415896,0.908943]] 2025-10-28T18:55:53.724Z,1761677753.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623935,0.703852,0.339556],[-0.780886,-0.578418,-0.235901],[0.030366,-0.412341,0.910523]] 2025-10-28T18:55:54.126Z,1761677754.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640433,0.691835,0.333481],[-0.767364,-0.594278,-0.240802],[0.031585,-0.410119,0.911485]] 2025-10-28T18:55:54.536Z,1761677754.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657240,0.678761,0.327595],[-0.752978,-0.610122,-0.246525],[0.032541,-0.408698,0.912089]] 2025-10-28T18:55:54.559Z,1761677754.559 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:55:54.559Z,1761677754.559 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:55:54.559Z,1761677754.559 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:55:54.560Z,1761677754.560 [marl:UpdateRudder:A] Stopped 2025-10-28T18:55:54.560Z,1761677754.560 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:55:54.935Z,1761677754.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674434,0.664922,0.320965],[-0.737581,-0.626398,-0.252190],[0.033365,-0.406823,0.912898]] 2025-10-28T18:55:55.018Z,1761677755.018 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:55:55.018Z,1761677755.018 [marl:UpdateRudder:B] Stopped 2025-10-28T18:55:55.018Z,1761677755.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:55:55.018Z,1761677755.018 [marl:UpdateRudder] Stopped 2025-10-28T18:55:55.018Z,1761677755.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:55:55.339Z,1761677755.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691894,0.649345,0.315648],[-0.721180,-0.642390,-0.259296],[0.034397,-0.407044,0.912760]] 2025-10-28T18:55:55.743Z,1761677755.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709119,0.633328,0.309911],[-0.704189,-0.658327,-0.265939],[0.035596,-0.406818,0.912815]] 2025-10-28T18:55:56.149Z,1761677756.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725533,0.617507,0.303788],[-0.687193,-0.673797,-0.271592],[0.036981,-0.405810,0.913209]] 2025-10-28T18:55:56.173Z,1761677756.173 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:55:56.173Z,1761677756.173 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:55:56.173Z,1761677756.173 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateCommandMode] Stopped 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:55:56.174Z,1761677756.174 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:55:56.175Z,1761677756.175 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:55:56.175Z,1761677756.175 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:55:56.175Z,1761677756.175 [marl:UpdateSpeed] Stopped 2025-10-28T18:55:56.175Z,1761677756.175 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:55:56.550Z,1761677756.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740870,0.601342,0.299164],[-0.670558,-0.687613,-0.278461],[0.038259,-0.406910,0.912667]] 2025-10-28T18:55:56.961Z,1761677756.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754515,0.585327,0.296814],[-0.655090,-0.698970,-0.286877],[0.039548,-0.410893,0.910825]] 2025-10-28T18:55:57.359Z,1761677757.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766137,0.570374,0.296154],[-0.641395,-0.707685,-0.296303],[0.040580,-0.416960,0.908018]] 2025-10-28T18:55:57.770Z,1761677757.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775938,0.557392,0.295356],[-0.629437,-0.715012,-0.304250],[0.041597,-0.421987,0.905647]] 2025-10-28T18:55:58.166Z,1761677758.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784385,0.546555,0.293289],[-0.618817,-0.721933,-0.309641],[0.042499,-0.424370,0.904491]] 2025-10-28T18:55:58.575Z,1761677758.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791843,0.536954,0.290972],[-0.609172,-0.728372,-0.313661],[0.043514,-0.425623,0.903854]] 2025-10-28T18:55:58.979Z,1761677758.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799111,0.527995,0.287478],[-0.599506,-0.735569,-0.315484],[0.044886,-0.424452,0.904337]] 2025-10-28T18:55:59.380Z,1761677759.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806354,0.518864,0.283853],[-0.589627,-0.742732,-0.317317],[0.046182,-0.423237,0.904841]] 2025-10-28T18:55:59.786Z,1761677759.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814139,0.509184,0.279124],[-0.578731,-0.750775,-0.318444],[0.047413,-0.420795,0.905916]] 2025-10-28T18:56:00.187Z,1761677760.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822443,0.499055,0.273005],[-0.566794,-0.759673,-0.318812],[0.048290,-0.416942,0.907649]] 2025-10-28T18:56:00.650Z,1761677760.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831715,0.487263,0.266129],[-0.553057,-0.769219,-0.320047],[0.048764,-0.413372,0.909256]] 2025-10-28T18:56:00.997Z,1761677760.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842255,0.473505,0.257680],[-0.536820,-0.780412,-0.320594],[0.049294,-0.408350,0.911494]] 2025-10-28T18:56:01.398Z,1761677761.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853032,0.457743,0.250613],[-0.519500,-0.790454,-0.324505],[0.049558,-0.407006,0.912080]] 2025-10-28T18:56:01.803Z,1761677761.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863977,0.440589,0.243773],[-0.501082,-0.799997,-0.330034],[0.049609,-0.407292,0.911950]] 2025-10-28T18:56:02.207Z,1761677762.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874903,0.422872,0.236057],[-0.481773,-0.809660,-0.335181],[0.049388,-0.406977,0.912102]] 2025-10-28T18:56:02.663Z,1761677762.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885455,0.405167,0.227616],[-0.462098,-0.819621,-0.338655],[0.049347,-0.405045,0.912964]] 2025-10-28T18:56:03.015Z,1761677763.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895430,0.387073,0.219954],[-0.442467,-0.828416,-0.343440],[0.049277,-0.404848,0.913055]] 2025-10-28T18:56:03.419Z,1761677763.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904739,0.369010,0.212788],[-0.423092,-0.836413,-0.348434],[0.049403,-0.405271,0.912861]] 2025-10-28T18:56:03.823Z,1761677763.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913801,0.350826,0.204669],[-0.403120,-0.844959,-0.351482],[0.049628,-0.403690,0.913549]] 2025-10-28T18:56:04.226Z,1761677764.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922298,0.332326,0.197295],[-0.383228,-0.852473,-0.355565],[0.050025,-0.403546,0.913591]] 2025-10-28T18:56:04.655Z,1761677764.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930318,0.313314,0.190639],[-0.363255,-0.858811,-0.361232],[0.050543,-0.405311,0.912780]] 2025-10-28T18:56:05.035Z,1761677765.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937645,0.294511,0.184620],[-0.343833,-0.863774,-0.368338],[0.050991,-0.408849,0.911176]] 2025-10-28T18:56:05.449Z,1761677765.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944644,0.275837,0.177657],[-0.324093,-0.868827,-0.374304],[0.051106,-0.411161,0.910129]] 2025-10-28T18:56:05.843Z,1761677765.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951052,0.257642,0.170649],[-0.304788,-0.873208,-0.380278],[0.051036,-0.413676,0.908993]] 2025-10-28T18:56:06.246Z,1761677766.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956990,0.239858,0.163211],[-0.285594,-0.877834,-0.384505],[0.051046,-0.414579,0.908580]] 2025-10-28T18:56:06.663Z,1761677766.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962460,0.222093,0.156031],[-0.266540,-0.881923,-0.388804],[0.051256,-0.415796,0.908012]] 2025-10-28T18:56:07.056Z,1761677767.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967908,0.203903,0.146892],[-0.246054,-0.887792,-0.388951],[0.051101,-0.412612,0.909472]] 2025-10-28T18:56:07.465Z,1761677767.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972883,0.185259,0.138485],[-0.225665,-0.891595,-0.392599],[0.050739,-0.413204,0.909224]] 2025-10-28T18:56:07.862Z,1761677767.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977239,0.167658,0.129983],[-0.206085,-0.895646,-0.394141],[0.050337,-0.411957,0.909812]] 2025-10-28T18:56:07.905Z,1761677767.905 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:56:07.905Z,1761677767.905 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:56:07.905Z,1761677767.905 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:56:07.906Z,1761677767.906 [marl:UpdateRudder:A] Stopped 2025-10-28T18:56:07.906Z,1761677767.906 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:56:08.267Z,1761677768.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981148,0.149876,0.122010],[-0.186600,-0.898980,-0.396251],[0.050296,-0.411548,0.909999]] 2025-10-28T18:56:08.312Z,1761677768.312 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:56:08.316Z,1761677768.316 [marl:UpdateRudder:B] Stopped 2025-10-28T18:56:08.316Z,1761677768.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:56:08.316Z,1761677768.316 [marl:UpdateRudder] Stopped 2025-10-28T18:56:08.316Z,1761677768.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:56:08.694Z,1761677768.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987150,0.118029,0.107720],[-0.151851,-0.902791,-0.402380],[0.049756,-0.413567,0.909113]] 2025-10-28T18:56:09.396Z,1761677769.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:56:09.478Z,1761677769.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989401,0.103904,0.101437],[-0.136550,-0.903360,-0.406564],[0.049390,-0.416106,0.907974]] 2025-10-28T18:56:09.518Z,1761677769.518 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:56:09.518Z,1761677769.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:56:09.518Z,1761677769.518 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateCommandMode] Stopped 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:56:09.519Z,1761677769.519 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:56:09.520Z,1761677769.520 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:56:09.520Z,1761677769.520 [marl:UpdateSpeed] Stopped 2025-10-28T18:56:09.520Z,1761677769.520 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:56:09.882Z,1761677769.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991191,0.091539,0.095715],[-0.123014,-0.904095,-0.409243],[0.049073,-0.417412,0.907391]] 2025-10-28T18:56:10.291Z,1761677770.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992835,0.079326,0.089366],[-0.109210,-0.905898,-0.409172],[0.048498,-0.416000,0.908070]] 2025-10-28T18:56:10.316Z,1761677770.316 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:56:10.341Z,1761677770.341 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:56:10.341Z,1761677770.341 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:56:10.402Z,1761677770.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:56:10.595Z,1761677770.595 [DAT](INFO): DAT read: user:152> 2025-10-28T18:56:10.598Z,1761677770.598 [DAT](INFO): DAT read: Tx time:18:56:10.3379 2025-10-28T18:56:10.599Z,1761677770.599 [DAT](INFO): Ping request sent. 2025-10-28T18:56:10.599Z,1761677770.599 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:56:10.600Z,1761677770.600 [DAT](INFO): publishing transmit ping time 2025-10-28T18:56:10.602Z,1761677770.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003563 2025-10-28T18:56:10.707Z,1761677770.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995529,0.054312,0.077275],[-0.081279,-0.909370,-0.407970],[0.048114,-0.412427,0.909719]] 2025-10-28T18:56:10.845Z,1761677770.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246649 2025-10-28T18:56:11.097Z,1761677771.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498410 2025-10-28T18:56:11.101Z,1761677771.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996604,0.041208,0.071291],[-0.066758,-0.911187,-0.406549],[0.048206,-0.409928,0.910843]] 2025-10-28T18:56:11.349Z,1761677771.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750219 2025-10-28T18:56:11.504Z,1761677771.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997565,0.025856,0.064765],[-0.050025,-0.912378,-0.406280],[0.048586,-0.408531,0.911450]] 2025-10-28T18:56:11.602Z,1761677771.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003426 2025-10-28T18:56:11.853Z,1761677771.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254313 2025-10-28T18:56:11.913Z,1761677771.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998362,0.007295,0.056751],[-0.029741,-0.913483,-0.405788],[0.048881,-0.406811,0.912204]] 2025-10-28T18:56:12.105Z,1761677772.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506207 2025-10-28T18:56:12.308Z,1761677772.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998755,-0.012791,0.048217],[-0.007903,-0.913793,-0.406103],[0.049255,-0.405979,0.912554]] 2025-10-28T18:56:12.357Z,1761677772.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758327 2025-10-28T18:56:12.612Z,1761677772.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012632 2025-10-28T18:56:12.711Z,1761677772.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998651,-0.034731,0.038608],[0.016044,-0.913425,-0.406690],[0.049390,-0.405521,0.912750]] 2025-10-28T18:56:12.861Z,1761677772.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262204 2025-10-28T18:56:13.113Z,1761677773.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514321 2025-10-28T18:56:13.116Z,1761677773.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997960,-0.057185,0.028401],[0.040721,-0.912643,-0.406724],[0.049178,-0.404738,0.913110]] 2025-10-28T18:56:13.365Z,1761677773.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766238 2025-10-28T18:56:13.520Z,1761677773.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996599,-0.080467,0.017756],[0.066295,-0.910933,-0.407193],[0.048940,-0.404631,0.913170]] 2025-10-28T18:56:13.617Z,1761677773.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018162 2025-10-28T18:56:13.869Z,1761677773.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270243 2025-10-28T18:56:13.934Z,1761677773.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994585,-0.103707,0.006682],[0.091936,-0.908028,-0.408697],[0.048452,-0.405870,0.912645]] 2025-10-28T18:56:14.121Z,1761677774.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522286 2025-10-28T18:56:14.343Z,1761677774.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991928,-0.126718,-0.004607],[0.117520,-0.905064,-0.408716],[0.047622,-0.405958,0.912650]] 2025-10-28T18:56:14.373Z,1761677774.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774345 2025-10-28T18:56:14.627Z,1761677774.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028124 2025-10-28T18:56:14.733Z,1761677774.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988773,-0.148614,-0.015517],[0.141964,-0.901938,-0.407865],[0.046619,-0.405490,0.912910]] 2025-10-28T18:56:14.878Z,1761677774.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279097 2025-10-28T18:56:15.129Z,1761677775.129 [DAT](INFO): DAT read: Rx Time:18:56:14.5309 2025-10-28T18:56:15.129Z,1761677775.129 [DAT](INFO): Rx dataTimestamp_ set to:1761677775.129192 2025-10-28T18:56:15.130Z,1761677775.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531394 2025-10-28T18:56:15.381Z,1761677775.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782292 2025-10-28T18:56:15.539Z,1761677775.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981481,-0.188258,-0.035403],[0.186188,-0.894079,-0.407378],[0.045039,-0.406426,0.912573]] 2025-10-28T18:56:15.633Z,1761677775.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034288 2025-10-28T18:56:15.704Z,1761677775.704 [CTD_Seabird](ERROR): Failed to parse device response: 15.46,13.01838,4165.18 2025-10-28T18:56:15.891Z,1761677775.891 [DAT](INFO): DAT read: 18:56:14.5309 LVL= 25120, 30673, 17010, 26547, AGC= 70, IDX= 474,-0.39, 2.363, 2.694,-2.148, 2.514, PHS=-0.048, 0.225, 1.578, RAW= 219.0, -22.4, CAL= 218.5, -27.0, ROT= 291.5, 27.0 2025-10-28T18:56:15.894Z,1761677775.894 [DAT](INFO): got valid direction response: 18:56:14.5309 LVL= 25120, 30673, 17010, 26547, AGC= 70, IDX= 474,-0.39, 2.363, 2.694,-2.148, 2.514, PHS=-0.048, 0.225, 1.578, RAW= 219.0, -22.4, CAL= 218.5, -27.0, ROT= 291.5, 27.0 2025-10-28T18:56:15.897Z,1761677775.897 [DAT](INFO): DAT read: Bearing 84, -10 (Remote) 2025-10-28T18:56:15.898Z,1761677775.898 [DAT](INFO): Remote Bearing received:Bearing 84, -10 (Remote) 2025-10-28T18:56:15.899Z,1761677775.899 [DAT](INFO): DAT read: Bearing 237.9, -32.9 (Local) 2025-10-28T18:56:15.899Z,1761677775.899 [DAT](INFO): Local bearing/azimuth received: Bearing 237.9, -32.9 (Local) 2025-10-28T18:56:15.901Z,1761677775.901 [DAT](INFO): DAT read: Range 11 to 20 : 1622.8 m (Round-trip 2163.8 ms) speed 0.0 m/s 2025-10-28T18:56:15.901Z,1761677775.901 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:56:15.902Z,1761677775.902 [DAT](INFO): direction in FSK: [0.326555,-0.829008,-0.453991] 2025-10-28T18:56:15.903Z,1761677775.903 [DAT](INFO): publishing direction and range info 2025-10-28T18:56:15.966Z,1761677775.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977505,-0.206207,-0.044305],[0.206165,-0.889856,-0.407003],[0.044502,-0.406982,0.912352]] 2025-10-28T18:56:16.043Z,1761677776.043 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677824.00. Resetting abort timer. 2025-10-28T18:56:16.346Z,1761677776.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973344,-0.223099,-0.053185],[0.225177,-0.885544,-0.406333],[0.043555,-0.407478,0.912176]] 2025-10-28T18:56:16.762Z,1761677776.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968883,-0.239793,-0.061369],[0.243749,-0.881209,-0.405040],[0.043047,-0.407394,0.912237]] 2025-10-28T18:56:17.159Z,1761677777.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963901,-0.256869,-0.070102],[0.262878,-0.876229,-0.403879],[0.042319,-0.407727,0.912123]] 2025-10-28T18:56:17.558Z,1761677777.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958678,-0.273544,-0.078172],[0.281398,-0.871320,-0.402016],[0.041856,-0.407401,0.912290]] 2025-10-28T18:56:17.963Z,1761677777.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953116,-0.290045,-0.086272],[0.299746,-0.865846,-0.400577],[0.041487,-0.407656,0.912193]] 2025-10-28T18:56:18.366Z,1761677778.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947161,-0.306649,-0.094084],[0.318129,-0.860605,-0.397685],[0.040981,-0.406603,0.912685]] 2025-10-28T18:56:18.774Z,1761677778.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940591,-0.323677,-0.102575],[0.337182,-0.854859,-0.394366],[0.039959,-0.405524,0.913211]] 2025-10-28T18:56:19.177Z,1761677779.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933716,-0.340605,-0.110283],[0.355869,-0.849314,-0.389901],[0.039137,-0.403303,0.914229]] 2025-10-28T18:56:19.579Z,1761677779.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926300,-0.357675,-0.118481],[0.374862,-0.843066,-0.385641],[0.038047,-0.401633,0.915010]] 2025-10-28T18:56:19.982Z,1761677779.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918374,-0.374857,-0.126775],[0.394008,-0.836493,-0.380837],[0.036713,-0.399701,0.915910]] 2025-10-28T18:56:20.387Z,1761677780.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910120,-0.391856,-0.134653],[0.412828,-0.829780,-0.375550],[0.035429,-0.397384,0.916968]] 2025-10-28T18:56:20.793Z,1761677780.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901146,-0.409418,-0.142526],[0.432150,-0.822287,-0.370256],[0.034392,-0.395247,0.917931]] 2025-10-28T18:56:21.199Z,1761677781.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891406,-0.427406,-0.150730],[0.451987,-0.814026,-0.364787],[0.033214,-0.393301,0.918810]] 2025-10-28T18:56:21.227Z,1761677781.227 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:56:21.227Z,1761677781.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:56:21.227Z,1761677781.227 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:56:21.227Z,1761677781.227 [marl:UpdateRudder:A] Stopped 2025-10-28T18:56:21.227Z,1761677781.227 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:56:21.599Z,1761677781.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880978,-0.445615,-0.159073],[0.472057,-0.804854,-0.359684],[0.032250,-0.391965,0.919415]] 2025-10-28T18:56:21.643Z,1761677781.643 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:56:21.643Z,1761677781.643 [marl:UpdateRudder:B] Stopped 2025-10-28T18:56:21.643Z,1761677781.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:56:21.643Z,1761677781.643 [marl:UpdateRudder] Stopped 2025-10-28T18:56:21.643Z,1761677781.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:56:22.415Z,1761677782.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857838,-0.483112,-0.175261],[0.512971,-0.784204,-0.349120],[0.031224,-0.389392,0.920543]] 2025-10-28T18:56:22.811Z,1761677782.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845135,-0.501850,-0.184102],[0.533685,-0.772526,-0.344070],[0.030448,-0.389038,0.920718]] 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode] Stopped 2025-10-28T18:56:22.862Z,1761677782.862 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed] Stopped 2025-10-28T18:56:22.863Z,1761677782.863 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:56:23.215Z,1761677783.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831805,-0.520482,-0.192872],[0.554308,-0.760721,-0.337707],[0.029048,-0.387817,0.921279]] 2025-10-28T18:56:23.620Z,1761677783.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818197,-0.538185,-0.202263],[0.574303,-0.748515,-0.331514],[0.027019,-0.387404,0.921514]] 2025-10-28T18:56:24.022Z,1761677784.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804496,-0.554842,-0.211983],[0.593465,-0.736353,-0.324936],[0.024194,-0.387214,0.921672]] 2025-10-28T18:56:24.433Z,1761677784.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790882,-0.570686,-0.220960],[0.611607,-0.724675,-0.317463],[0.021047,-0.386217,0.922168]] 2025-10-28T18:56:24.834Z,1761677784.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777306,-0.584904,-0.231695],[0.628894,-0.712485,-0.311219],[0.016954,-0.387624,0.921662]] 2025-10-28T18:56:25.234Z,1761677785.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764536,-0.597681,-0.241374],[0.644449,-0.701194,-0.304979],[0.013030,-0.388720,0.921264]] 2025-10-28T18:56:25.639Z,1761677785.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752186,-0.609994,-0.249245],[0.658877,-0.690554,-0.298356],[0.009878,-0.388641,0.921336]] 2025-10-28T18:56:26.042Z,1761677786.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739794,-0.621837,-0.256948],[0.672794,-0.679589,-0.292414],[0.007215,-0.389200,0.921125]] 2025-10-28T18:56:26.447Z,1761677786.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727021,-0.633846,-0.263970],[0.686596,-0.668228,-0.286457],[0.005178,-0.389500,0.921012]] 2025-10-28T18:56:26.850Z,1761677786.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713880,-0.645796,-0.270784],[0.700256,-0.656042,-0.281515],[0.004156,-0.390586,0.920557]] 2025-10-28T18:56:27.255Z,1761677787.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700334,-0.657931,-0.276875],[0.713804,-0.643284,-0.276893],[0.004067,-0.391552,0.920147]] 2025-10-28T18:56:27.661Z,1761677787.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685889,-0.670778,-0.282159],[0.727692,-0.629830,-0.271621],[0.004485,-0.391627,0.920113]] 2025-10-28T18:56:28.063Z,1761677788.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670206,-0.684098,-0.287809],[0.742158,-0.615045,-0.266310],[0.005167,-0.392082,0.919916]] 2025-10-28T18:56:28.466Z,1761677788.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653294,-0.697900,-0.293501],[0.757083,-0.599274,-0.260185],[0.005696,-0.392182,0.919870]] 2025-10-28T18:56:28.870Z,1761677788.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634461,-0.712901,-0.298716],[0.772935,-0.582438,-0.251667],[0.005430,-0.390561,0.920561]] 2025-10-28T18:56:29.276Z,1761677789.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615817,-0.726724,-0.304371],[0.787876,-0.565780,-0.243195],[0.004529,-0.389570,0.920986]] 2025-10-28T18:56:29.678Z,1761677789.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596334,-0.740309,-0.310367],[0.802732,-0.548680,-0.233606],[0.002648,-0.388449,0.921467]] 2025-10-28T18:56:30.083Z,1761677790.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576438,-0.753538,-0.316070],[0.817141,-0.531614,-0.222862],[-0.000092,-0.386740,0.922189]] 2025-10-28T18:56:30.487Z,1761677790.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556551,-0.765536,-0.322811],[0.830806,-0.514456,-0.212358],[-0.003505,-0.386381,0.922333]] 2025-10-28T18:56:30.897Z,1761677790.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537240,-0.776584,-0.329075],[0.843398,-0.498026,-0.201619],[-0.007313,-0.385859,0.922529]] 2025-10-28T18:56:31.295Z,1761677791.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518681,-0.786908,-0.334283],[0.854891,-0.482589,-0.190445],[-0.011458,-0.384556,0.923031]] 2025-10-28T18:56:31.698Z,1761677791.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501054,-0.796497,-0.338434],[0.865282,-0.467971,-0.179697],[-0.015249,-0.382878,0.923673]] 2025-10-28T18:56:32.102Z,1761677792.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483494,-0.805082,-0.343624],[0.875145,-0.453032,-0.169951],[-0.018848,-0.382891,0.923601]] 2025-10-28T18:56:32.507Z,1761677792.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466683,-0.812776,-0.348716],[0.884160,-0.438397,-0.161462],[-0.021644,-0.383672,0.923216]] 2025-10-28T18:56:32.916Z,1761677792.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449404,-0.820405,-0.353515],[0.893003,-0.423258,-0.152966],[-0.024134,-0.384433,0.922837]] 2025-10-28T18:56:33.314Z,1761677793.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431782,-0.827496,-0.358908],[0.901603,-0.407429,-0.145304],[-0.025991,-0.386332,0.921993]] 2025-10-28T18:56:33.719Z,1761677793.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414019,-0.834554,-0.363467],[0.909860,-0.391373,-0.137777],[-0.027269,-0.387747,0.921362]] 2025-10-28T18:56:34.124Z,1761677794.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395741,-0.841582,-0.367599],[0.917933,-0.374727,-0.130305],[-0.028087,-0.388998,0.920810]] 2025-10-28T18:56:34.526Z,1761677794.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376686,-0.848546,-0.371588],[0.925890,-0.357406,-0.122432],[-0.028918,-0.390168,0.920290]] 2025-10-28T18:56:34.565Z,1761677794.565 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:56:34.565Z,1761677794.565 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:56:34.566Z,1761677794.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:56:34.567Z,1761677794.567 [marl:UpdateRudder:A] Stopped 2025-10-28T18:56:34.567Z,1761677794.567 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:56:34.932Z,1761677794.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357102,-0.855187,-0.375676],[0.933583,-0.339704,-0.114123],[-0.030022,-0.391479,0.919697]] 2025-10-28T18:56:34.992Z,1761677794.992 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:56:34.992Z,1761677794.992 [marl:UpdateRudder:B] Stopped 2025-10-28T18:56:34.992Z,1761677794.992 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:56:34.992Z,1761677794.992 [marl:UpdateRudder] Stopped 2025-10-28T18:56:34.992Z,1761677794.992 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:56:35.335Z,1761677795.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337356,-0.861428,-0.379649],[0.940854,-0.321978,-0.105471],[-0.031383,-0.392775,0.919099]] 2025-10-28T18:56:35.740Z,1761677795.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317867,-0.867582,-0.382441],[0.947573,-0.304583,-0.096619],[-0.032661,-0.393103,0.918914]] 2025-10-28T18:56:36.143Z,1761677796.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298416,-0.873816,-0.383918],[0.953827,-0.287401,-0.087263],[-0.034086,-0.392232,0.919235]] 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode] Stopped 2025-10-28T18:56:36.181Z,1761677796.181 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed] Stopped 2025-10-28T18:56:36.182Z,1761677796.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:56:36.546Z,1761677796.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278638,-0.879778,-0.385164],[0.959733,-0.269980,-0.077617],[-0.035700,-0.391281,0.919578]] 2025-10-28T18:56:36.951Z,1761677796.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258997,-0.884838,-0.387275],[0.965153,-0.252625,-0.068271],[-0.037427,-0.391462,0.919433]] 2025-10-28T18:56:37.357Z,1761677797.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239469,-0.889493,-0.389175],[0.970117,-0.235346,-0.059034],[-0.039081,-0.391683,0.919270]] 2025-10-28T18:56:37.762Z,1761677797.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219906,-0.893991,-0.390412],[0.974673,-0.218034,-0.049731],[-0.040665,-0.391460,0.919296]] 2025-10-28T18:56:38.163Z,1761677798.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200595,-0.897660,-0.392388],[0.978761,-0.200924,-0.040709],[-0.042298,-0.392220,0.918899]] 2025-10-28T18:56:38.573Z,1761677798.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181156,-0.901465,-0.393121],[0.982476,-0.183718,-0.031456],[-0.043867,-0.391930,0.918949]] 2025-10-28T18:56:38.979Z,1761677798.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162386,-0.904972,-0.393263],[0.985697,-0.166986,-0.022747],[-0.045085,-0.391332,0.919145]] 2025-10-28T18:56:39.387Z,1761677799.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143774,-0.907549,-0.394568],[0.988527,-0.150358,-0.014364],[-0.046291,-0.392106,0.918754]] 2025-10-28T18:56:39.784Z,1761677799.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125585,-0.910156,-0.394772],[0.990968,-0.133946,-0.006433],[-0.047023,-0.392014,0.918757]] 2025-10-28T18:56:40.183Z,1761677800.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107092,-0.911516,-0.397077],[0.993113,-0.117153,0.001088],[-0.047510,-0.394226,0.917784]] 2025-10-28T18:56:40.528Z,1761677800.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:56:40.623Z,1761677800.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088196,-0.913535,-0.397083],[0.994971,-0.099792,0.008591],[-0.047473,-0.394329,0.917742]] 2025-10-28T18:56:40.991Z,1761677800.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069388,-0.915180,-0.397027],[0.996495,-0.082225,0.015379],[-0.046720,-0.394568,0.917678]] 2025-10-28T18:56:41.402Z,1761677801.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050345,-0.916372,-0.397150],[0.997703,-0.064193,0.021643],[-0.045327,-0.395148,0.917498]] 2025-10-28T18:56:41.533Z,1761677801.533 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:56:41.799Z,1761677801.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030097,-0.918004,-0.395428],[0.998579,-0.045025,0.028523],[-0.043989,-0.394008,0.918054]] 2025-10-28T18:56:42.203Z,1761677802.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008426,-0.919007,-0.394151],[0.999041,-0.024671,0.036165],[-0.042960,-0.393469,0.918334]] 2025-10-28T18:56:42.648Z,1761677802.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014574,-0.919455,-0.392925],[0.998996,-0.003262,0.044689],[-0.042371,-0.393182,0.918484]] 2025-10-28T18:56:43.010Z,1761677803.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038143,-0.919829,-0.390461],[0.998383,0.018594,0.053726],[-0.042158,-0.391879,0.919050]] 2025-10-28T18:56:43.417Z,1761677803.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062249,-0.919087,-0.389106],[0.997139,0.040519,0.063814],[-0.042884,-0.391965,0.918980]] 2025-10-28T18:56:43.819Z,1761677803.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086591,-0.917851,-0.387365],[0.995244,0.062284,0.074894],[-0.044615,-0.392008,0.918879]] 2025-10-28T18:56:44.222Z,1761677804.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110181,-0.916052,-0.385627],[0.992800,0.083093,0.086275],[-0.046989,-0.392357,0.918612]] 2025-10-28T18:56:44.654Z,1761677804.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132551,-0.913808,-0.383908],[0.989912,0.102492,0.097826],[-0.050047,-0.393002,0.918175]] 2025-10-28T18:56:45.031Z,1761677805.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153509,-0.911678,-0.381154],[0.986721,0.120706,0.108683],[-0.053077,-0.392776,0.918101]] 2025-10-28T18:56:45.439Z,1761677805.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172802,-0.909245,-0.378700],[0.983369,0.137441,0.118722],[-0.055899,-0.392918,0.917873]] 2025-10-28T18:56:45.844Z,1761677805.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190637,-0.906299,-0.377201],[0.979929,0.152880,0.127932],[-0.058278,-0.394018,0.917253]] 2025-10-28T18:56:46.243Z,1761677806.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207589,-0.903077,-0.375977],[0.976365,0.167647,0.136402],[-0.060150,-0.395406,0.916535]] 2025-10-28T18:56:46.658Z,1761677806.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224096,-0.899704,-0.374584],[0.972630,0.182251,0.144135],[-0.061410,-0.396631,0.915922]] 2025-10-28T18:56:47.050Z,1761677807.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239894,-0.896289,-0.372985],[0.968839,0.196632,0.150621],[-0.061659,-0.397495,0.915530]] 2025-10-28T18:56:47.463Z,1761677807.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255637,-0.892896,-0.370656],[0.964828,0.211324,0.156360],[-0.061284,-0.397591,0.915514]] 2025-10-28T18:56:47.876Z,1761677807.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272188,-0.888630,-0.369121],[0.960338,0.226735,0.162300],[-0.060532,-0.398657,0.915100]] 2025-10-28T18:56:47.907Z,1761677807.907 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:56:47.907Z,1761677807.907 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:56:47.907Z,1761677807.907 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:56:47.907Z,1761677807.907 [marl:UpdateRudder:A] Stopped 2025-10-28T18:56:47.907Z,1761677807.907 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:56:48.262Z,1761677808.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289641,-0.884017,-0.366910],[0.955283,0.243161,0.168245],[-0.059513,-0.399233,0.914916]] 2025-10-28T18:56:48.309Z,1761677808.309 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:56:48.309Z,1761677808.309 [marl:UpdateRudder:B] Stopped 2025-10-28T18:56:48.309Z,1761677808.309 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:56:48.309Z,1761677808.309 [marl:UpdateRudder] Stopped 2025-10-28T18:56:48.309Z,1761677808.309 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:56:48.667Z,1761677808.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307489,-0.879225,-0.363886],[0.949749,0.260052,0.174212],[-0.058542,-0.399169,0.915007]] 2025-10-28T18:56:49.072Z,1761677809.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326418,-0.873555,-0.361045],[0.943466,0.277809,0.180815],[-0.057650,-0.399655,0.914851]] 2025-10-28T18:56:49.485Z,1761677809.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345977,-0.867807,-0.356667],[0.936504,0.296272,0.187574],[-0.057107,-0.398916,0.915208]] 2025-10-28T18:56:49.509Z,1761677809.509 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:56:49.509Z,1761677809.509 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:56:49.509Z,1761677809.509 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateCommandMode] Stopped 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:56:49.510Z,1761677809.510 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:56:49.511Z,1761677809.511 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:56:49.511Z,1761677809.511 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:56:49.511Z,1761677809.511 [marl:UpdateSpeed] Stopped 2025-10-28T18:56:49.511Z,1761677809.511 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:56:49.885Z,1761677809.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365719,-0.861644,-0.351879],[0.928989,0.314864,0.194524],[-0.056817,-0.398033,0.915610]] 2025-10-28T18:56:50.688Z,1761677810.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404737,-0.848057,-0.342035],[0.912661,0.351354,0.208807],[-0.056904,-0.396673,0.916194]] 2025-10-28T18:56:51.092Z,1761677811.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423286,-0.841541,-0.335615],[0.904181,0.368948,0.215253],[-0.057320,-0.394570,0.917076]] 2025-10-28T18:56:51.495Z,1761677811.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441843,-0.834393,-0.329489],[0.895236,0.386497,0.221748],[-0.057678,-0.392949,0.917750]] 2025-10-28T18:56:51.899Z,1761677811.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459843,-0.826768,-0.324036],[0.886103,0.403378,0.228271],[-0.058018,-0.392097,0.918092]] 2025-10-28T18:56:52.302Z,1761677812.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477506,-0.818685,-0.318972],[0.876694,0.419870,0.234769],[-0.058275,-0.391744,0.918227]] 2025-10-28T18:56:52.708Z,1761677812.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495396,-0.810181,-0.313353],[0.866692,0.436676,0.241162],[-0.058551,-0.391051,0.918505]] 2025-10-28T18:56:53.111Z,1761677813.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513946,-0.800465,-0.308408],[0.855784,0.453675,0.248620],[-0.059094,-0.391708,0.918190]] 2025-10-28T18:56:53.523Z,1761677813.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532147,-0.790438,-0.303360],[0.844555,0.470381,0.255869],[-0.059554,-0.392364,0.917880]] 2025-10-28T18:56:53.919Z,1761677813.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550152,-0.779675,-0.299066],[0.832892,0.486508,0.263819],[-0.060195,-0.394230,0.917038]] 2025-10-28T18:56:54.324Z,1761677814.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567653,-0.768878,-0.294273],[0.821017,0.502286,0.271367],[-0.060839,-0.395646,0.916386]] 2025-10-28T18:56:55.131Z,1761677815.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600985,-0.746583,-0.285361],[0.796869,0.532095,0.286138],[-0.061786,-0.399360,0.914710]] 2025-10-28T18:56:55.536Z,1761677815.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616963,-0.735193,-0.280800],[0.784525,0.546313,0.293365],[-0.062275,-0.401290,0.913832]] 2025-10-28T18:56:55.949Z,1761677815.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647139,-0.713114,-0.269593],[0.759754,0.573967,0.305507],[-0.063124,-0.402530,0.913228]] 2025-10-28T18:56:56.354Z,1761677816.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661496,-0.701620,-0.264863],[0.747228,0.586567,0.312392],[-0.063821,-0.404560,0.912282]] 2025-10-28T18:56:56.753Z,1761677816.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675370,-0.690629,-0.258664],[0.734665,0.599445,0.317699],[-0.064357,-0.404596,0.912228]] 2025-10-28T18:56:57.155Z,1761677817.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689021,-0.679543,-0.251936],[0.721827,0.612308,0.322561],[-0.064932,-0.404105,0.912405]] 2025-10-28T18:56:57.563Z,1761677817.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702647,-0.668070,-0.244885],[0.708541,0.625384,0.326902],[-0.065246,-0.403208,0.912780]] 2025-10-28T18:56:57.958Z,1761677817.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716063,-0.656244,-0.237904],[0.694945,0.638173,0.331341],[-0.065617,-0.402591,0.913025]] 2025-10-28T18:56:58.369Z,1761677818.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729279,-0.644160,-0.230674],[0.681019,0.650817,0.335635],[-0.066076,-0.401865,0.913312]] 2025-10-28T18:56:58.772Z,1761677818.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742581,-0.631231,-0.223875],[0.666460,0.663307,0.340374],[-0.066357,-0.401960,0.913250]] 2025-10-28T18:56:59.172Z,1761677819.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755816,-0.617883,-0.216707],[0.651393,0.675893,0.344755],[-0.066547,-0.401733,0.913336]] 2025-10-28T18:56:59.574Z,1761677819.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768664,-0.604416,-0.209373],[0.636156,0.688175,0.348883],[-0.066785,-0.401368,0.913479]] 2025-10-28T18:56:59.978Z,1761677819.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781284,-0.590495,-0.202265],[0.620592,0.700204,0.352961],[-0.066795,-0.401286,0.913514]] 2025-10-28T18:57:00.382Z,1761677820.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793709,-0.576012,-0.195543],[0.604627,0.711784,0.357477],[-0.066726,-0.401964,0.913221]] 2025-10-28T18:57:00.790Z,1761677820.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805494,-0.562130,-0.187587],[0.588787,0.723283,0.360821],[-0.067150,-0.401088,0.913575]] 2025-10-28T18:57:01.190Z,1761677821.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816996,-0.547830,-0.179996],[0.572665,0.734218,0.364662],[-0.067616,-0.401005,0.913577]] 2025-10-28T18:57:01.219Z,1761677821.219 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:57:01.219Z,1761677821.219 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:57:01.220Z,1761677821.220 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:57:01.220Z,1761677821.220 [marl:UpdateRudder:A] Stopped 2025-10-28T18:57:01.220Z,1761677821.220 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:57:01.595Z,1761677821.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827952,-0.533514,-0.172797],[0.556646,0.744401,0.368799],[-0.068129,-0.401535,0.913306]] 2025-10-28T18:57:01.642Z,1761677821.642 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:57:01.642Z,1761677821.642 [marl:UpdateRudder:B] Stopped 2025-10-28T18:57:01.642Z,1761677821.642 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:57:01.642Z,1761677821.642 [marl:UpdateRudder] Stopped 2025-10-28T18:57:01.642Z,1761677821.642 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:57:01.999Z,1761677821.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838376,-0.519334,-0.165584],[0.540767,0.754226,0.372442],[-0.068534,-0.401789,0.913164]] 2025-10-28T18:57:02.403Z,1761677822.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847921,-0.505716,-0.159003],[0.525624,0.763024,0.376183],[-0.068918,-0.402549,0.912800]] 2025-10-28T18:57:02.808Z,1761677822.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857407,-0.491631,-0.152160],[0.509970,0.771905,0.379596],[-0.069168,-0.403065,0.912554]] 2025-10-28T18:57:02.895Z,1761677822.895 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:57:02.895Z,1761677822.895 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:57:02.895Z,1761677822.895 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:57:02.895Z,1761677822.895 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:57:02.895Z,1761677822.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateCommandMode] Stopped 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:57:02.896Z,1761677822.896 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:57:02.897Z,1761677822.897 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:57:02.897Z,1761677822.897 [marl:UpdateSpeed] Stopped 2025-10-28T18:57:02.897Z,1761677822.897 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:57:03.210Z,1761677823.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866511,-0.477571,-0.145204],[0.494344,0.780742,0.382186],[-0.069155,-0.402949,0.912606]] 2025-10-28T18:57:03.614Z,1761677823.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875343,-0.463473,-0.137721],[0.478536,0.789743,0.383808],[-0.069120,-0.401868,0.913085]] 2025-10-28T18:57:04.018Z,1761677824.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883773,-0.449341,-0.130533],[0.462793,0.798226,0.385562],[-0.069054,-0.401159,0.913402]] 2025-10-28T18:57:04.426Z,1761677824.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892645,-0.433527,-0.123448],[0.445409,0.806250,0.389322],[-0.069252,-0.402511,0.912792]] 2025-10-28T18:57:04.831Z,1761677824.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901787,-0.416389,-0.115764],[0.426626,0.814856,0.392427],[-0.069071,-0.403274,0.912469]] 2025-10-28T18:57:05.231Z,1761677825.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910592,-0.399124,-0.107346],[0.407416,0.823115,0.395593],[-0.069533,-0.403958,0.912131]] 2025-10-28T18:57:05.637Z,1761677825.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919489,-0.380597,-0.098414],[0.386817,0.831312,0.399115],[-0.070089,-0.405050,0.911604]] 2025-10-28T18:57:06.038Z,1761677826.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928400,-0.360862,-0.088617],[0.364767,0.839601,0.402511],[-0.070848,-0.406016,0.911116]] 2025-10-28T18:57:06.443Z,1761677826.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936755,-0.341044,-0.078605],[0.342543,0.847341,0.405806],[-0.071793,-0.407066,0.910573]] 2025-10-28T18:57:06.852Z,1761677826.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944713,-0.320675,-0.068452],[0.319796,0.854941,0.408419],[-0.072447,-0.407730,0.910224]] 2025-10-28T18:57:07.252Z,1761677827.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951962,-0.300651,-0.058109],[0.297369,0.862377,0.409729],[-0.073074,-0.407326,0.910355]] 2025-10-28T18:57:07.655Z,1761677827.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958563,-0.280857,-0.047717],[0.275148,0.869322,0.410575],[-0.073832,-0.406691,0.910577]] 2025-10-28T18:57:08.059Z,1761677828.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964338,-0.262021,-0.037367],[0.253928,0.876106,0.409827],[-0.074646,-0.404700,0.911398]] 2025-10-28T18:57:08.463Z,1761677828.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969409,-0.243849,-0.027981],[0.233628,0.881752,0.409795],[-0.075256,-0.403796,0.911748]] 2025-10-28T18:57:08.869Z,1761677828.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973564,-0.227613,-0.019113],[0.215456,0.887329,0.407708],[-0.075840,-0.401048,0.912912]] 2025-10-28T18:57:09.270Z,1761677829.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977296,-0.211610,-0.010669],[0.197552,0.891855,0.406900],[-0.076589,-0.399769,0.913410]] 2025-10-28T18:57:09.675Z,1761677829.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980593,-0.196046,-0.002044],[0.180062,0.896420,0.404980],[-0.077562,-0.397489,0.914323]] 2025-10-28T18:57:10.078Z,1761677830.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983590,-0.180322,0.005816],[0.162642,0.900180,0.404009],[-0.078087,-0.396433,0.914737]] 2025-10-28T18:57:10.485Z,1761677830.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986185,-0.165102,0.013462],[0.145691,0.903164,0.403817],[-0.078829,-0.396277,0.914741]] 2025-10-28T18:57:10.515Z,1761677830.515 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:57:10.603Z,1761677830.603 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:57:10.604Z,1761677830.604 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:57:10.853Z,1761677830.853 [DAT](INFO): DAT read: user:153> 2025-10-28T18:57:10.854Z,1761677830.854 [DAT](INFO): DAT read: Tx time:18:57:10.5877 2025-10-28T18:57:10.854Z,1761677830.854 [DAT](INFO): Ping request sent. 2025-10-28T18:57:10.854Z,1761677830.854 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:57:10.854Z,1761677830.854 [DAT](INFO): publishing transmit ping time 2025-10-28T18:57:10.855Z,1761677830.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T18:57:10.886Z,1761677830.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988579,-0.149206,0.021176],[0.128002,0.905508,0.404563],[-0.079539,-0.397232,0.914265]] 2025-10-28T18:57:11.105Z,1761677831.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250833 2025-10-28T18:57:11.291Z,1761677831.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990749,-0.132682,0.028506],[0.109846,0.907387,0.405688],[-0.079693,-0.398804,0.913567]] 2025-10-28T18:57:11.357Z,1761677831.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502910 2025-10-28T18:57:11.609Z,1761677831.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889 2025-10-28T18:57:11.652Z,1761677831.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:57:11.703Z,1761677831.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992603,-0.115967,0.035945],[0.091576,0.909509,0.405473],[-0.079713,-0.399181,0.913400]] 2025-10-28T18:57:11.861Z,1761677831.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006797 2025-10-28T18:57:12.100Z,1761677832.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994132,-0.099109,0.043341],[0.073173,0.911232,0.405342],[-0.079667,-0.399792,0.913137]] 2025-10-28T18:57:12.114Z,1761677832.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571 2025-10-28T18:57:12.366Z,1761677832.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511691 2025-10-28T18:57:12.503Z,1761677832.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995402,-0.080939,0.051215],[0.053460,0.913153,0.404096],[-0.079474,-0.399500,0.913282]] 2025-10-28T18:57:12.620Z,1761677832.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765236 2025-10-28T18:57:12.656Z,1761677832.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:57:12.869Z,1761677832.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831 2025-10-28T18:57:12.906Z,1761677832.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996280,-0.062682,0.059130],[0.033695,0.914943,0.402173],[-0.079309,-0.398685,0.913652]] 2025-10-28T18:57:13.121Z,1761677833.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266886 2025-10-28T18:57:13.318Z,1761677833.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996793,-0.043479,0.067180],[0.012968,0.916188,0.400538],[-0.078964,-0.398383,0.913814]] 2025-10-28T18:57:13.373Z,1761677833.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905 2025-10-28T18:57:13.625Z,1761677833.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849 2025-10-28T18:57:13.715Z,1761677833.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996868,-0.023830,0.075404],[-0.008235,0.917049,0.398689],[-0.078650,-0.398061,0.913981]] 2025-10-28T18:57:13.877Z,1761677833.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022911 2025-10-28T18:57:14.118Z,1761677834.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996467,-0.003757,0.083901],[-0.029887,0.917737,0.396062],[-0.078488,-0.397170,0.914383]] 2025-10-28T18:57:14.129Z,1761677834.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274919 2025-10-28T18:57:14.382Z,1761677834.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528300 2025-10-28T18:57:14.579Z,1761677834.579 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:57:14.579Z,1761677834.579 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:57:14.579Z,1761677834.579 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:57:14.580Z,1761677834.580 [marl:UpdateRudder:A] Stopped 2025-10-28T18:57:14.580Z,1761677834.580 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:57:14.636Z,1761677834.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781225 2025-10-28T18:57:14.885Z,1761677834.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030817 2025-10-28T18:57:14.927Z,1761677834.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994239,0.037454,0.100427],[-0.073841,0.918492,0.388485],[-0.077691,-0.393663,0.915966]] 2025-10-28T18:57:14.999Z,1761677834.999 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:57:14.999Z,1761677834.999 [marl:UpdateRudder:B] Stopped 2025-10-28T18:57:14.999Z,1761677834.999 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:57:14.999Z,1761677834.999 [marl:UpdateRudder] Stopped 2025-10-28T18:57:14.999Z,1761677834.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:57:15.141Z,1761677835.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286759 2025-10-28T18:57:15.337Z,1761677835.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992441,0.057617,0.108354],[-0.095390,0.917667,0.385731],[-0.077208,-0.393151,0.916227]] 2025-10-28T18:57:15.390Z,1761677835.390 [DAT](INFO): DAT read: Rx Time:18:57:14.7471 2025-10-28T18:57:15.390Z,1761677835.390 [DAT](INFO): Rx dataTimestamp_ set to:1761677835.389796 2025-10-28T18:57:15.391Z,1761677835.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536852 2025-10-28T18:57:15.641Z,1761677835.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786820 2025-10-28T18:57:15.734Z,1761677835.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990281,0.077648,0.115391],[-0.116260,0.917509,0.380343],[-0.076339,-0.390061,0.917619]] 2025-10-28T18:57:15.895Z,1761677835.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040398 2025-10-28T18:57:16.139Z,1761677836.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987718,0.096878,0.122592],[-0.136702,0.915774,0.377718],[-0.075674,-0.389837,0.917769]] 2025-10-28T18:57:16.150Z,1761677836.150 [DAT](INFO): DAT read: 18:57:14.7471 LVL= 13040, 13585, 21810, 24051, AGC= 77, IDX= 99,-0.20,-2.640,-2.741, 1.943,-2.654, PHS= 0.116,-0.042,-1.730, RAW= 34.4, 18.3, CAL= 31.3, 21.1, ROT= 118.7, -21.1 2025-10-28T18:57:16.152Z,1761677836.152 [DAT](INFO): got valid direction response: 18:57:14.7471 LVL= 13040, 13585, 21810, 24051, AGC= 77, IDX= 99,-0.20,-2.640,-2.741, 1.943,-2.654, PHS= 0.116,-0.042,-1.730, RAW= 34.4, 18.3, CAL= 31.3, 21.1, ROT= 118.7, -21.1 2025-10-28T18:57:16.153Z,1761677836.153 [DAT](INFO): DAT read: Bearing 81, -13 (Remote) 2025-10-28T18:57:16.153Z,1761677836.153 [DAT](INFO): Remote Bearing received:Bearing 81, -13 (Remote) 2025-10-28T18:57:16.154Z,1761677836.154 [DAT](INFO): DAT read: Bearing 245.7, 39.6 (Local) 2025-10-28T18:57:16.154Z,1761677836.154 [DAT](INFO): Local bearing/azimuth received: Bearing 245.7, 39.6 (Local) 2025-10-28T18:57:16.155Z,1761677836.155 [DAT](INFO): DAT read: Range 11 to 20 : 1597.7 m (Round-trip 2130.3 ms) speed -0.5 m/s 2025-10-28T18:57:16.156Z,1761677836.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:57:16.157Z,1761677836.157 [DAT](INFO): direction in FSK: [-0.448026,0.818337,0.359997] 2025-10-28T18:57:16.157Z,1761677836.157 [DAT](INFO): publishing direction and range info 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:57:16.235Z,1761677836.235 [marl:UpdateCommandMode] Stopped 2025-10-28T18:57:16.236Z,1761677836.236 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:57:16.248Z,1761677836.248 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:57:16.248Z,1761677836.248 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:57:16.248Z,1761677836.248 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:57:16.249Z,1761677836.249 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:57:16.249Z,1761677836.249 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:57:16.249Z,1761677836.249 [marl:UpdateSpeed] Stopped 2025-10-28T18:57:16.249Z,1761677836.249 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:57:16.259Z,1761677836.259 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677824.00. Resetting abort timer. 2025-10-28T18:57:16.542Z,1761677836.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984857,0.115503,0.129287],[-0.156404,0.913668,0.375166],[-0.074793,-0.389706,0.917897]] 2025-10-28T18:57:16.946Z,1761677836.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981657,0.133890,0.135729],[-0.175745,0.911461,0.371957],[-0.073910,-0.388988,0.918273]] 2025-10-28T18:57:17.350Z,1761677837.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978236,0.150786,0.142544],[-0.194094,0.907854,0.371657],[-0.073369,-0.391235,0.917362]] 2025-10-28T18:57:17.757Z,1761677837.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974433,0.167873,0.149331],[-0.212593,0.903955,0.371039],[-0.072701,-0.393299,0.916532]] 2025-10-28T18:57:18.159Z,1761677838.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969850,0.186339,0.157063],[-0.232778,0.899118,0.370677],[-0.072147,-0.396062,0.915385]] 2025-10-28T18:57:18.562Z,1761677838.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964748,0.205394,0.164544],[-0.253199,0.894906,0.367469],[-0.071775,-0.396178,0.915364]] 2025-10-28T18:57:18.968Z,1761677838.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958911,0.224996,0.172821],[-0.274509,0.889672,0.364867],[-0.071661,-0.397316,0.914880]] 2025-10-28T18:57:19.398Z,1761677839.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952543,0.245014,0.180637],[-0.295803,0.885103,0.359297],[-0.071850,-0.395678,0.915574]] 2025-10-28T18:57:19.779Z,1761677839.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945828,0.264339,0.188504],[-0.316441,0.880438,0.353120],[-0.072623,-0.393642,0.916391]] 2025-10-28T18:57:20.180Z,1761677840.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938852,0.283300,0.195701],[-0.336488,0.875439,0.346962],[-0.073030,-0.391597,0.917234]] 2025-10-28T18:57:20.599Z,1761677840.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932039,0.300920,0.201868],[-0.354854,0.870768,0.340354],[-0.073362,-0.388857,0.918373]] 2025-10-28T18:57:20.990Z,1761677840.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925650,0.316624,0.207173],[-0.371134,0.866380,0.334134],[-0.073695,-0.386180,0.919475]] 2025-10-28T18:57:21.391Z,1761677841.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919649,0.330900,0.211542],[-0.385749,0.862231,0.328262],[-0.073776,-0.383489,0.920594]] 2025-10-28T18:57:21.806Z,1761677841.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913939,0.344137,0.215140],[-0.399129,0.858210,0.322756],[-0.073563,-0.380849,0.921706]] 2025-10-28T18:57:22.202Z,1761677842.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908215,0.356486,0.219233],[-0.412083,0.853170,0.319827],[-0.073029,-0.380814,0.921763]] 2025-10-28T18:57:22.641Z,1761677842.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902196,0.368100,0.224822],[-0.425246,0.846301,0.320843],[-0.072165,-0.385068,0.920063]] 2025-10-28T18:57:23.010Z,1761677843.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895926,0.379424,0.230987],[-0.438426,0.838913,0.322502],[-0.071413,-0.390209,0.917953]] 2025-10-28T18:57:23.410Z,1761677843.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889084,0.391167,0.237734],[-0.452209,0.831101,0.323693],[-0.070963,-0.395296,0.915809]] 2025-10-28T18:57:23.823Z,1761677843.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881053,0.404130,0.245815],[-0.467716,0.821895,0.325162],[-0.070626,-0.401456,0.913151]] 2025-10-28T18:57:24.222Z,1761677844.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870857,0.419518,0.256149],[-0.486499,0.810055,0.327306],[-0.070184,-0.409653,0.909538]] 2025-10-28T18:57:25.074Z,1761677845.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846466,0.455515,0.275682],[-0.527684,0.786766,0.320234],[-0.071026,-0.416540,0.906339]] 2025-10-28T18:57:25.432Z,1761677845.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833201,0.474974,0.283154],[-0.548253,0.776316,0.311050],[-0.072077,-0.414407,0.907233]] 2025-10-28T18:57:25.835Z,1761677845.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819408,0.495629,0.287961],[-0.568572,0.766550,0.298540],[-0.072771,-0.408353,0.909919]] 2025-10-28T18:57:26.239Z,1761677846.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805235,0.516538,0.291180],[-0.588464,0.756475,0.285403],[-0.072849,-0.401165,0.913104]] 2025-10-28T18:57:26.656Z,1761677846.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790791,0.537434,0.292942],[-0.607841,0.745799,0.272605],[-0.071969,-0.393636,0.916445]] 2025-10-28T18:57:27.052Z,1761677847.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776909,0.556351,0.294764],[-0.625658,0.734585,0.262559],[-0.070454,-0.388406,0.918791]] 2025-10-28T18:57:27.450Z,1761677847.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763702,0.572960,0.297449],[-0.641921,0.722890,0.255673],[-0.068533,-0.386196,0.919867]] 2025-10-28T18:57:27.854Z,1761677847.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751308,0.587356,0.300913],[-0.656565,0.711364,0.250766],[-0.066770,-0.385971,0.920091]] 2025-10-28T18:57:27.901Z,1761677847.901 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:57:27.901Z,1761677847.901 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:57:27.901Z,1761677847.901 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:57:27.902Z,1761677847.902 [marl:UpdateRudder:A] Stopped 2025-10-28T18:57:27.902Z,1761677847.902 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:57:28.259Z,1761677848.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739969,0.598927,0.306158],[-0.669428,0.700165,0.248265],[-0.065669,-0.388659,0.919039]] 2025-10-28T18:57:28.289Z,1761677848.289 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:57:28.289Z,1761677848.289 [marl:UpdateRudder:B] Stopped 2025-10-28T18:57:28.289Z,1761677848.289 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:57:28.289Z,1761677848.289 [marl:UpdateRudder] Stopped 2025-10-28T18:57:28.289Z,1761677848.289 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:57:28.665Z,1761677848.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728767,0.608938,0.313197],[-0.681685,0.688468,0.247624],[-0.064839,-0.393962,0.916837]] 2025-10-28T18:57:29.066Z,1761677849.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717367,0.618627,0.320445],[-0.693742,0.676587,0.246884],[-0.064080,-0.399413,0.914529]] 2025-10-28T18:57:29.471Z,1761677849.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705749,0.627793,0.328321],[-0.705609,0.664418,0.246302],[-0.063516,-0.405494,0.911888]] 2025-10-28T18:57:29.515Z,1761677849.515 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:57:29.515Z,1761677849.515 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:57:29.515Z,1761677849.515 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:57:29.516Z,1761677849.516 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateCommandMode] Stopped 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:57:29.520Z,1761677849.520 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:57:29.521Z,1761677849.521 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:57:29.521Z,1761677849.521 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:57:29.521Z,1761677849.521 [marl:UpdateSpeed] Stopped 2025-10-28T18:57:29.521Z,1761677849.521 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:57:29.875Z,1761677849.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693776,0.637151,0.335729],[-0.717406,0.652365,0.244435],[-0.063276,-0.410437,0.909691]] 2025-10-28T18:57:30.286Z,1761677850.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681590,0.646883,0.342020],[-0.729006,0.640629,0.241130],[-0.063125,-0.413686,0.908228]] 2025-10-28T18:57:30.683Z,1761677850.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668669,0.659019,0.344348],[-0.740884,0.629761,0.233433],[-0.063020,-0.411212,0.909359]] 2025-10-28T18:57:31.491Z,1761677851.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643160,0.679947,0.352162],[-0.763083,0.607350,0.220974],[-0.063635,-0.410851,0.909479]] 2025-10-28T18:57:31.896Z,1761677851.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629365,0.690789,0.355965],[-0.774542,0.594816,0.215125],[-0.063127,-0.411102,0.909401]] 2025-10-28T18:57:32.308Z,1761677852.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614076,0.702173,0.360366],[-0.786832,0.580344,0.209991],[-0.061687,-0.412498,0.908867]] 2025-10-28T18:57:32.702Z,1761677852.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597734,0.714488,0.363622],[-0.799444,0.565182,0.203614],[-0.060033,-0.412403,0.909022]] 2025-10-28T18:57:33.107Z,1761677853.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580608,0.726722,0.367109],[-0.812069,0.549368,0.196824],[-0.058642,-0.412395,0.909116]] 2025-10-28T18:57:33.511Z,1761677853.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562968,0.739871,0.368317],[-0.824496,0.533617,0.188309],[-0.057216,-0.409688,0.910430]] 2025-10-28T18:57:33.914Z,1761677853.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544855,0.752464,0.370041],[-0.836690,0.517076,0.180503],[-0.055517,-0.407957,0.911311]] 2025-10-28T18:57:34.318Z,1761677854.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526684,0.764101,0.372498],[-0.848381,0.500025,0.173850],[-0.053419,-0.407584,0.911604]] 2025-10-28T18:57:34.722Z,1761677854.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508479,0.776301,0.372565],[-0.859590,0.483019,0.166724],[-0.050529,-0.405029,0.912906]] 2025-10-28T18:57:35.129Z,1761677855.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491683,0.786585,0.373540],[-0.869459,0.467045,0.160968],[-0.047845,-0.403923,0.913541]] 2025-10-28T18:57:35.530Z,1761677855.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475424,0.797135,0.372220],[-0.878624,0.451685,0.154922],[-0.044632,-0.400695,0.915124]] 2025-10-28T18:57:35.934Z,1761677855.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460091,0.804706,0.375186],[-0.886910,0.436201,0.152046],[-0.041304,-0.402711,0.914395]] 2025-10-28T18:57:36.338Z,1761677856.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445686,0.811110,0.378767],[-0.894371,0.421543,0.149672],[-0.038267,-0.405465,0.913309]] 2025-10-28T18:57:36.744Z,1761677856.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431884,0.816483,0.383187],[-0.901228,0.407419,0.147643],[-0.035569,-0.409104,0.911794]] 2025-10-28T18:57:37.550Z,1761677857.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404107,0.824888,0.395294],[-0.914134,0.379555,0.142471],[-0.032513,-0.418925,0.907439]] 2025-10-28T18:57:37.955Z,1761677857.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388230,0.828756,0.403039],[-0.921022,0.363903,0.138900],[-0.031553,-0.425133,0.904581]] 2025-10-28T18:57:38.359Z,1761677858.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370044,0.834578,0.408101],[-0.928510,0.346714,0.132883],[-0.030593,-0.428099,0.903214]] 2025-10-28T18:57:38.774Z,1761677858.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351488,0.841135,0.411034],[-0.935721,0.329572,0.125731],[-0.029709,-0.428806,0.902908]] 2025-10-28T18:57:39.167Z,1761677859.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330921,0.849434,0.411039],[-0.943227,0.310917,0.116852],[-0.028541,-0.426372,0.904098]] 2025-10-28T18:57:39.570Z,1761677859.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309340,0.858360,0.409301],[-0.950573,0.291244,0.107644],[-0.026809,-0.422369,0.906027]] 2025-10-28T18:57:39.976Z,1761677859.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286718,0.867257,0.407012],[-0.957700,0.270360,0.098568],[-0.024556,-0.418056,0.908089]] 2025-10-28T18:57:40.378Z,1761677860.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263231,0.876523,0.403009],[-0.964492,0.248428,0.089654],[-0.021535,-0.412299,0.910794]] 2025-10-28T18:57:40.795Z,1761677860.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217240,0.890192,0.400455],[-0.976006,0.204321,0.075270],[-0.014817,-0.407199,0.913220]] 2025-10-28T18:57:41.238Z,1761677861.238 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:57:41.238Z,1761677861.238 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:57:41.239Z,1761677861.239 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:57:41.239Z,1761677861.239 [marl:UpdateRudder:A] Stopped 2025-10-28T18:57:41.239Z,1761677861.239 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:57:41.598Z,1761677861.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176280,0.895992,0.407582],[-0.984301,0.164135,0.064891],[-0.008756,-0.412623,0.910860]] 2025-10-28T18:57:41.623Z,1761677861.623 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:57:41.623Z,1761677861.623 [marl:UpdateRudder:B] Stopped 2025-10-28T18:57:41.623Z,1761677861.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:57:41.623Z,1761677861.623 [marl:UpdateRudder] Stopped 2025-10-28T18:57:41.623Z,1761677861.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:57:41.999Z,1761677861.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158461,0.897341,0.411908],[-0.987346,0.146638,0.060382],[-0.006218,-0.416264,0.909222]] 2025-10-28T18:57:42.407Z,1761677862.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142160,0.898395,0.415545],[-0.989836,0.130656,0.056154],[-0.003845,-0.419304,0.907838]] 2025-10-28T18:57:42.777Z,1761677862.777 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:57:42.809Z,1761677862.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126959,0.898177,0.420902],[-0.991907,0.115576,0.052564],[-0.001434,-0.424169,0.905582]] 2025-10-28T18:57:42.868Z,1761677862.868 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:57:42.868Z,1761677862.868 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:57:42.868Z,1761677862.868 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:57:42.868Z,1761677862.868 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:57:42.868Z,1761677862.868 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateCommandMode] Stopped 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed] Stopped 2025-10-28T18:57:42.869Z,1761677862.869 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:57:43.206Z,1761677863.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112896,0.897118,0.427122],[-0.993606,0.101547,0.049342],[0.000892,-0.429962,0.902847]] 2025-10-28T18:57:43.610Z,1761677863.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099909,0.897828,0.428863],[-0.994992,0.088914,0.045654],[0.002857,-0.431277,0.902215]] 2025-10-28T18:57:43.782Z,1761677863.782 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:57:44.015Z,1761677864.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087325,0.899364,0.428391],[-0.996171,0.077035,0.041335],[0.004174,-0.430360,0.902647]] 2025-10-28T18:57:44.822Z,1761677864.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060481,0.900574,0.430476],[-0.998155,0.052254,0.030920],[0.005352,-0.431552,0.902072]] 2025-10-28T18:57:45.226Z,1761677865.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044033,0.901688,0.430140],[-0.999013,0.037260,0.024163],[0.005760,-0.430779,0.902439]] 2025-10-28T18:57:45.630Z,1761677865.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024525,0.903571,0.427736],[-0.999679,0.019421,0.016294],[0.006416,-0.427998,0.903757]] 2025-10-28T18:57:46.035Z,1761677866.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003154,0.905864,0.423558],[-0.999972,-0.000051,0.007555],[0.006865,-0.423570,0.905837]] 2025-10-28T18:57:46.449Z,1761677866.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019283,0.909489,0.415281],[-0.999788,-0.020550,-0.001416],[0.007246,-0.415220,0.909692]] 2025-10-28T18:57:46.842Z,1761677866.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043104,0.912454,0.406903],[-0.999041,-0.042472,-0.010589],[0.007620,-0.406970,0.913410]] 2025-10-28T18:57:47.247Z,1761677867.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068397,0.913183,0.401769],[-0.997621,-0.066085,-0.019629],[0.008626,-0.402156,0.915531]] 2025-10-28T18:57:47.651Z,1761677867.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094587,0.911861,0.399454],[-0.995463,-0.090786,-0.028473],[0.010301,-0.400335,0.916311]] 2025-10-28T18:57:48.056Z,1761677868.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120716,0.909146,0.398599],[-0.992607,-0.115647,-0.036837],[0.012606,-0.400099,0.916385]] 2025-10-28T18:57:48.462Z,1761677868.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145436,0.905223,0.399274],[-0.989250,-0.139263,-0.044601],[0.015231,-0.401469,0.915746]] 2025-10-28T18:57:48.862Z,1761677868.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167498,0.900127,0.402138],[-0.985712,-0.160263,-0.051843],[0.017783,-0.405076,0.914110]] 2025-10-28T18:57:49.273Z,1761677869.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186325,0.894252,0.406935],[-0.982284,-0.177998,-0.058607],[0.020024,-0.410646,0.911575]] 2025-10-28T18:57:49.673Z,1761677869.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203229,0.887763,0.413008],[-0.978887,-0.193630,-0.065474],[0.021845,-0.417594,0.908371]] 2025-10-28T18:57:50.075Z,1761677870.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217998,0.881502,0.418844],[-0.975679,-0.206950,-0.072268],[0.022975,-0.424411,0.905178]] 2025-10-28T18:57:50.483Z,1761677870.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231802,0.875847,0.423274],[-0.972483,-0.219083,-0.079240],[0.023330,-0.429995,0.902530]] 2025-10-28T18:57:50.883Z,1761677870.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247036,0.870702,0.425265],[-0.968730,-0.232399,-0.086912],[0.023156,-0.433437,0.900886]] 2025-10-28T18:57:51.290Z,1761677871.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262857,0.866145,0.425088],[-0.964556,-0.246493,-0.094195],[0.023195,-0.434781,0.900238]] 2025-10-28T18:57:51.692Z,1761677871.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280953,0.861715,0.422508],[-0.959431,-0.263011,-0.101571],[0.023599,-0.433904,0.900650]] 2025-10-28T18:57:52.095Z,1761677872.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301613,0.857558,0.416682],[-0.953124,-0.282285,-0.108952],[0.024190,-0.430010,0.902500]] 2025-10-28T18:57:52.502Z,1761677872.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323173,0.853089,0.409631],[-0.946016,-0.302549,-0.116265],[0.024749,-0.425091,0.904812]] 2025-10-28T18:57:52.904Z,1761677872.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345303,0.847475,0.403177],[-0.938136,-0.323519,-0.123435],[0.025827,-0.420857,0.906759]] 2025-10-28T18:57:53.307Z,1761677873.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366167,0.840266,0.399845],[-0.930161,-0.342918,-0.131180],[0.026888,-0.419953,0.907147]] 2025-10-28T18:57:53.710Z,1761677873.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385859,0.832878,0.396770],[-0.922123,-0.361385,-0.138164],[0.028314,-0.419183,0.907460]] 2025-10-28T18:57:54.115Z,1761677874.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403621,0.824892,0.395781],[-0.914444,-0.377752,-0.145243],[0.029698,-0.420543,0.906787]] 2025-10-28T18:57:54.926Z,1761677874.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432535,0.811291,0.393345],[-0.901052,-0.404396,-0.156743],[0.031903,-0.422222,0.905931]] 2025-10-28T18:57:54.986Z,1761677874.986 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:57:54.986Z,1761677874.986 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:57:54.986Z,1761677874.986 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:57:54.986Z,1761677874.986 [marl:UpdateRudder:A] Stopped 2025-10-28T18:57:54.986Z,1761677874.986 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:57:55.331Z,1761677875.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446390,0.804576,0.391655],[-0.894232,-0.417198,-0.162156],[0.032931,-0.422615,0.905711]] 2025-10-28T18:57:55.367Z,1761677875.367 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:57:55.367Z,1761677875.367 [marl:UpdateRudder:B] Stopped 2025-10-28T18:57:55.367Z,1761677875.367 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:57:55.367Z,1761677875.367 [marl:UpdateRudder] Stopped 2025-10-28T18:57:55.367Z,1761677875.367 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:57:55.739Z,1761677875.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460850,0.797607,0.389155],[-0.886829,-0.430644,-0.167569],[0.033933,-0.422338,0.905803]] 2025-10-28T18:57:56.149Z,1761677876.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475256,0.791101,0.385086],[-0.879154,-0.444355,-0.172152],[0.034926,-0.420366,0.906682]] 2025-10-28T18:57:56.542Z,1761677876.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490550,0.784128,0.380135],[-0.870654,-0.459235,-0.176253],[0.036366,-0.417427,0.907982]] 2025-10-28T18:57:56.656Z,1761677876.656 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:57:56.656Z,1761677876.656 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:57:56.656Z,1761677876.656 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:57:56.656Z,1761677876.656 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateCommandMode] Stopped 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:57:56.657Z,1761677876.657 [marl:UpdateSpeed] Stopped 2025-10-28T18:57:56.658Z,1761677876.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:57:56.946Z,1761677876.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506676,0.776388,0.374835],[-0.861300,-0.474984,-0.180420],[0.037964,-0.414260,0.909367]] 2025-10-28T18:57:57.353Z,1761677877.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523691,0.767378,0.369970],[-0.850993,-0.491350,-0.185436],[0.039485,-0.411953,0.910349]] 2025-10-28T18:57:57.770Z,1761677877.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540501,0.757584,0.365959],[-0.840370,-0.507049,-0.191519],[0.040467,-0.411057,0.910711]] 2025-10-28T18:57:58.158Z,1761677878.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557389,0.747571,0.361186],[-0.829210,-0.523033,-0.197095],[0.041570,-0.409358,0.911427]] 2025-10-28T18:57:58.571Z,1761677878.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574153,0.737003,0.356616],[-0.817654,-0.538643,-0.203236],[0.042303,-0.408277,0.911877]] 2025-10-28T18:57:58.968Z,1761677878.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590702,0.725914,0.352306],[-0.805762,-0.553752,-0.210012],[0.042639,-0.407930,0.912017]] 2025-10-28T18:57:59.370Z,1761677879.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606253,0.714590,0.349026],[-0.794126,-0.567514,-0.217466],[0.042678,-0.409010,0.911532]] 2025-10-28T18:57:59.781Z,1761677879.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621939,0.703270,0.344388],[-0.781889,-0.581829,-0.223886],[0.042923,-0.408516,0.911741]] 2025-10-28T18:58:00.178Z,1761677880.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637547,0.691320,0.340017],[-0.769196,-0.595976,-0.230543],[0.043263,-0.408522,0.911723]] 2025-10-28T18:58:00.610Z,1761677880.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653227,0.678863,0.335322],[-0.755906,-0.610206,-0.237181],[0.043602,-0.408405,0.911759]] 2025-10-28T18:58:00.987Z,1761677880.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669320,0.666086,0.329151],[-0.741676,-0.625182,-0.243030],[0.043901,-0.406788,0.912467]] 2025-10-28T18:58:01.391Z,1761677881.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684939,0.652768,0.323655],[-0.727260,-0.639453,-0.249386],[0.044171,-0.406195,0.912718]] 2025-10-28T18:58:01.798Z,1761677881.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700689,0.639342,0.316666],[-0.712078,-0.654353,-0.254494],[0.044503,-0.403812,0.913759]] 2025-10-28T18:58:02.199Z,1761677882.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715783,0.625224,0.311047],[-0.696899,-0.667981,-0.261023],[0.044576,-0.403604,0.913847]] 2025-10-28T18:58:02.654Z,1761677882.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730399,0.611295,0.304691],[-0.681559,-0.681474,-0.266592],[0.044672,-0.402383,0.914381]] 2025-10-28T18:58:03.006Z,1761677883.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744061,0.597722,0.298498],[-0.666597,-0.694232,-0.271461],[0.044968,-0.400961,0.914991]] 2025-10-28T18:58:03.413Z,1761677883.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756641,0.584317,0.293373],[-0.652267,-0.705588,-0.276934],[0.045183,-0.400898,0.915008]] 2025-10-28T18:58:03.816Z,1761677883.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768406,0.570755,0.289465],[-0.638334,-0.715809,-0.283102],[0.045620,-0.402313,0.914365]] 2025-10-28T18:58:04.220Z,1761677884.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779099,0.557295,0.287100],[-0.625197,-0.724448,-0.290350],[0.046179,-0.405706,0.912836]] 2025-10-28T18:58:04.662Z,1761677884.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789073,0.543885,0.285576],[-0.612480,-0.732314,-0.297633],[0.047253,-0.409764,0.910967]] 2025-10-28T18:58:05.027Z,1761677885.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798437,0.531046,0.283705],[-0.600141,-0.739743,-0.304321],[0.048260,-0.413244,0.909341]] 2025-10-28T18:58:05.431Z,1761677885.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807374,0.518271,0.282032],[-0.587965,-0.746721,-0.310974],[0.049431,-0.416897,0.907609]] 2025-10-28T18:58:05.836Z,1761677885.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815887,0.506153,0.279530],[-0.575979,-0.753892,-0.316063],[0.050759,-0.418875,0.906624]] 2025-10-28T18:58:06.247Z,1761677886.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824305,0.493673,0.277144],[-0.563747,-0.760760,-0.321611],[0.052070,-0.421344,0.905405]] 2025-10-28T18:58:06.663Z,1761677886.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832860,0.480739,0.274288],[-0.550915,-0.767722,-0.327254],[0.053253,-0.423666,0.904252]] 2025-10-28T18:58:07.046Z,1761677887.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841466,0.467577,0.270753],[-0.537597,-0.774693,-0.332927],[0.054081,-0.425702,0.903246]] 2025-10-28T18:58:07.856Z,1761677887.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858230,0.441865,0.261145],[-0.510289,-0.789273,-0.341546],[0.055197,-0.426385,0.902856]] 2025-10-28T18:58:08.261Z,1761677888.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866252,0.429305,0.255549],[-0.496503,-0.796670,-0.344676],[0.055617,-0.425457,0.903268]] 2025-10-28T18:58:08.285Z,1761677888.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:58:08.285Z,1761677888.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:58:08.285Z,1761677888.285 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:58:08.285Z,1761677888.285 [marl:UpdateRudder:A] Stopped 2025-10-28T18:58:08.285Z,1761677888.285 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:58:08.663Z,1761677888.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874064,0.416525,0.250039],[-0.482574,-0.803730,-0.348052],[0.055992,-0.424882,0.903516]] 2025-10-28T18:58:08.743Z,1761677888.743 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:58:08.743Z,1761677888.743 [marl:UpdateRudder:B] Stopped 2025-10-28T18:58:08.743Z,1761677888.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:58:08.744Z,1761677888.744 [marl:UpdateRudder] Stopped 2025-10-28T18:58:08.748Z,1761677888.748 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:58:09.066Z,1761677889.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881600,0.404353,0.243474],[-0.468627,-0.811390,-0.349335],[0.056298,-0.422072,0.904812]] 2025-10-28T18:58:09.877Z,1761677889.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897279,0.377327,0.229160],[-0.437728,-0.827818,-0.350873],[0.057309,-0.415141,0.907950]] 2025-10-28T18:58:09.901Z,1761677889.901 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode] Stopped 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:58:09.902Z,1761677889.902 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed] Stopped 2025-10-28T18:58:09.903Z,1761677889.903 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:58:10.279Z,1761677890.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905917,0.361841,0.219968],[-0.419504,-0.837680,-0.349727],[0.057717,-0.409101,0.910662]] 2025-10-28T18:58:10.682Z,1761677890.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914985,0.344022,0.210835],[-0.399298,-0.847140,-0.350592],[0.057995,-0.404973,0.912488]] 2025-10-28T18:58:10.745Z,1761677890.745 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:58:10.873Z,1761677890.873 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:58:10.873Z,1761677890.873 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:58:11.087Z,1761677891.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924293,0.324183,0.201463],[-0.377225,-0.856318,-0.352734],[0.058166,-0.402026,0.913779]] 2025-10-28T18:58:11.125Z,1761677891.125 [DAT](INFO): DAT read: user:154> 2025-10-28T18:58:11.126Z,1761677891.126 [DAT](INFO): DAT read: Tx time:18:58:10.8875 2025-10-28T18:58:11.126Z,1761677891.126 [DAT](INFO): Ping request sent. 2025-10-28T18:58:11.126Z,1761677891.126 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:58:11.127Z,1761677891.127 [DAT](INFO): publishing transmit ping time 2025-10-28T18:58:11.127Z,1761677891.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T18:58:11.377Z,1761677891.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250476 2025-10-28T18:58:11.491Z,1761677891.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933548,0.302947,0.191603],[-0.353683,-0.865401,-0.354950],[0.058283,-0.399129,0.915040]] 2025-10-28T18:58:11.629Z,1761677891.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502327 2025-10-28T18:58:11.881Z,1761677891.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754387 2025-10-28T18:58:11.897Z,1761677891.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942394,0.280647,0.182020],[-0.329391,-0.873363,-0.358802],[0.058272,-0.398089,0.915494]] 2025-10-28T18:58:12.133Z,1761677892.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006522 2025-10-28T18:58:12.298Z,1761677892.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950659,0.257664,0.172791],[-0.304752,-0.879875,-0.364619],[0.058085,-0.399287,0.914984]] 2025-10-28T18:58:12.386Z,1761677892.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259316 2025-10-28T18:58:12.639Z,1761677892.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512491 2025-10-28T18:58:12.702Z,1761677892.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958079,0.234841,0.164115],[-0.280577,-0.884981,-0.371598],[0.057972,-0.402067,0.913773]] 2025-10-28T18:58:12.889Z,1761677892.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762557 2025-10-28T18:58:13.106Z,1761677893.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964320,0.213704,0.156261],[-0.258384,-0.888291,-0.379706],[0.057661,-0.406533,0.911815]] 2025-10-28T18:58:13.141Z,1761677893.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014739 2025-10-28T18:58:13.393Z,1761677893.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266466 2025-10-28T18:58:13.510Z,1761677893.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969392,0.195416,0.148630],[-0.238803,-0.891076,-0.385950],[0.057020,-0.409630,0.910468]] 2025-10-28T18:58:13.645Z,1761677893.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518604 2025-10-28T18:58:13.897Z,1761677893.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770434 2025-10-28T18:58:13.900Z,1761677893.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:58:13.915Z,1761677893.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973582,0.179128,0.141599],[-0.221241,-0.893422,-0.390960],[0.056475,-0.411959,0.909450]] 2025-10-28T18:58:14.149Z,1761677894.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022450 2025-10-28T18:58:14.319Z,1761677894.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977091,0.164395,0.135154],[-0.205313,-0.895322,-0.395278],[0.056025,-0.413971,0.908564]] 2025-10-28T18:58:14.402Z,1761677894.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275838 2025-10-28T18:58:14.653Z,1761677894.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526441 2025-10-28T18:58:14.737Z,1761677894.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980018,0.151039,0.129426],[-0.190883,-0.897095,-0.398477],[0.055922,-0.415220,0.908001]] 2025-10-28T18:58:14.905Z,1761677894.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778639 2025-10-28T18:58:14.906Z,1761677894.906 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:58:15.127Z,1761677895.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982571,0.138169,0.124351],[-0.177159,-0.898623,-0.401362],[0.056290,-0.416397,0.907439]] 2025-10-28T18:58:15.157Z,1761677895.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030623 2025-10-28T18:58:15.409Z,1761677895.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282505 2025-10-28T18:58:15.530Z,1761677895.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984904,0.125348,0.119385],[-0.163559,-0.899712,-0.404682],[0.056686,-0.418099,0.906631]] 2025-10-28T18:58:15.661Z,1761677895.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534387 2025-10-28T18:58:15.913Z,1761677895.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786530 2025-10-28T18:58:15.934Z,1761677895.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987085,0.112471,0.114077],[-0.149659,-0.901429,-0.406236],[0.057142,-0.418062,0.906619]] 2025-10-28T18:58:16.165Z,1761677896.165 [DAT](INFO): DAT read: Rx Time:18:58:15.4812 2025-10-28T18:58:16.165Z,1761677896.165 [DAT](INFO): Rx dataTimestamp_ set to:1761677896.165117 2025-10-28T18:58:16.166Z,1761677896.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039514 2025-10-28T18:58:16.338Z,1761677896.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989087,0.099514,0.108641],[-0.135560,-0.903515,-0.406552],[0.057701,-0.416843,0.907145]] 2025-10-28T18:58:16.417Z,1761677896.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290677 2025-10-28T18:58:16.674Z,1761677896.674 [DAT](INFO): DAT read: 18:58:15.4812 LVL= 32752, 31137, 20834, 32755, AGC= 73, IDX= 258,-0.16,-1.945,-1.473,-0.168,-1.682, PHS=-0.161, 0.253, 1.470, RAW= 224.2, -20.6, CAL= 223.7, -25.8, ROT= 286.3, 25.8 2025-10-28T18:58:16.675Z,1761677896.675 [DAT](INFO): got valid direction response: 18:58:15.4812 LVL= 32752, 31137, 20834, 32755, AGC= 73, IDX= 258,-0.16,-1.945,-1.473,-0.168,-1.682, PHS=-0.161, 0.253, 1.470, RAW= 224.2, -20.6, CAL= 223.7, -25.8, ROT= 286.3, 25.8 2025-10-28T18:58:16.676Z,1761677896.676 [DAT](INFO): DAT read: Bearing 246.9, -35.6 (Local) 2025-10-28T18:58:16.677Z,1761677896.677 [DAT](INFO): Local bearing/azimuth received: Bearing 246.9, -35.6 (Local) 2025-10-28T18:58:16.678Z,1761677896.678 [DAT](INFO): DAT read: Range 11 to 20 : 1642.2 m (Round-trip 2189.6 ms) speed -0.4 m/s 2025-10-28T18:58:16.679Z,1761677896.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:58:16.685Z,1761677896.685 [DAT](INFO): direction in FSK: [0.252690,-0.864131,-0.435231] 2025-10-28T18:58:16.686Z,1761677896.686 [DAT](INFO): publishing direction and range info 2025-10-28T18:58:16.766Z,1761677896.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990996,0.085451,0.103079],[-0.120324,-0.906065,-0.405670],[0.058731,-0.414420,0.908189]] 2025-10-28T18:58:16.890Z,1761677896.890 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677952.00. Resetting abort timer. 2025-10-28T18:58:17.147Z,1761677897.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992768,0.070757,0.096984],[-0.104340,-0.908104,-0.405538],[0.059377,-0.412724,0.908919]] 2025-10-28T18:58:17.551Z,1761677897.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994427,0.054956,0.089974],[-0.086980,-0.909922,-0.405556],[0.059582,-0.411122,0.909631]] 2025-10-28T18:58:17.957Z,1761677897.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995822,0.039182,0.082488],[-0.069408,-0.911751,-0.404837],[0.059346,-0.408871,0.910661]] 2025-10-28T18:58:18.359Z,1761677898.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996946,0.022888,0.074665],[-0.051254,-0.913124,-0.404447],[0.058921,-0.407038,0.911509]] 2025-10-28T18:58:18.767Z,1761677898.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997791,0.005705,0.066184],[-0.031945,-0.914747,-0.402763],[0.058244,-0.403988,0.912908]] 2025-10-28T18:58:19.167Z,1761677899.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998289,-0.012596,0.057093],[-0.011539,-0.914864,-0.403597],[0.057316,-0.403565,0.913154]] 2025-10-28T18:58:19.572Z,1761677899.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998387,-0.031706,0.047097],[0.009978,-0.914617,-0.404198],[0.055891,-0.403076,0.913458]] 2025-10-28T18:58:19.974Z,1761677899.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998006,-0.050955,0.037259],[0.031642,-0.914569,-0.403190],[0.054620,-0.401207,0.914357]] 2025-10-28T18:58:20.378Z,1761677900.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997102,-0.071220,0.026746],[0.054435,-0.913510,-0.403159],[0.053146,-0.400535,0.914739]] 2025-10-28T18:58:20.787Z,1761677900.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995651,-0.091809,0.015849],[0.077556,-0.911002,-0.405043],[0.051625,-0.402052,0.914160]] 2025-10-28T18:58:21.187Z,1761677901.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993647,-0.112438,0.004892],[0.100782,-0.908305,-0.405987],[0.050092,-0.402914,0.913866]] 2025-10-28T18:58:21.591Z,1761677901.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991054,-0.133301,-0.006602],[0.124452,-0.905133,-0.406503],[0.048212,-0.403688,0.913625]] 2025-10-28T18:58:21.709Z,1761677901.709 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:58:21.709Z,1761677901.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:58:21.710Z,1761677901.710 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:58:21.710Z,1761677901.710 [marl:UpdateRudder:A] Stopped 2025-10-28T18:58:21.710Z,1761677901.710 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:58:21.995Z,1761677901.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987970,-0.153563,-0.018264],[0.147627,-0.901361,-0.407131],[0.046058,-0.404929,0.913187]] 2025-10-28T18:58:22.026Z,1761677902.026 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:58:22.026Z,1761677902.026 [marl:UpdateRudder:B] Stopped 2025-10-28T18:58:22.026Z,1761677902.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:58:22.026Z,1761677902.026 [marl:UpdateRudder] Stopped 2025-10-28T18:58:22.026Z,1761677902.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:58:22.398Z,1761677902.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984504,-0.172898,-0.029308],[0.169771,-0.897828,-0.406304],[0.043936,-0.404984,0.913268]] 2025-10-28T18:58:22.802Z,1761677902.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980677,-0.191532,-0.039859],[0.191121,-0.894431,-0.404310],[0.041787,-0.404115,0.913753]] 2025-10-28T18:58:23.216Z,1761677903.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976581,-0.209163,-0.050408],[0.211501,-0.890315,-0.403245],[0.039465,-0.404463,0.913703]] 2025-10-28T18:58:23.251Z,1761677903.251 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:58:23.251Z,1761677903.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:58:23.251Z,1761677903.251 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateCommandMode] Stopped 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:58:23.272Z,1761677903.272 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:58:23.273Z,1761677903.273 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:58:23.273Z,1761677903.273 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:58:23.273Z,1761677903.273 [marl:UpdateSpeed] Stopped 2025-10-28T18:58:23.273Z,1761677903.273 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:58:23.610Z,1761677903.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972156,-0.226307,-0.060816],[0.231417,-0.886322,-0.401098],[0.036868,-0.404003,0.914014]] 2025-10-28T18:58:24.014Z,1761677904.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967477,-0.242793,-0.070993],[0.250643,-0.882201,-0.398621],[0.034152,-0.403451,0.914364]] 2025-10-28T18:58:24.447Z,1761677904.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957076,-0.274833,-0.092050],[0.288475,-0.872482,-0.394409],[0.028085,-0.404033,0.914313]] 2025-10-28T18:58:25.228Z,1761677905.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951334,-0.290475,-0.102899],[0.307182,-0.867267,-0.391774],[0.024560,-0.404317,0.914289]] 2025-10-28T18:58:25.631Z,1761677905.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945116,-0.306333,-0.113645],[0.326055,-0.861858,-0.388444],[0.021047,-0.404179,0.914438]] 2025-10-28T18:58:26.448Z,1761677906.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923720,-0.354362,-0.145499],[0.382868,-0.841726,-0.380670],[0.012424,-0.407339,0.913193]] 2025-10-28T18:58:26.847Z,1761677906.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915458,-0.371097,-0.155640],[0.402284,-0.834125,-0.377364],[0.010216,-0.408072,0.912892]] 2025-10-28T18:58:27.251Z,1761677907.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906951,-0.387412,-0.165381],[0.421147,-0.825908,-0.374849],[0.008632,-0.409619,0.912216]] 2025-10-28T18:58:27.656Z,1761677907.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898022,-0.403912,-0.174391],[0.439885,-0.817475,-0.371801],[0.007615,-0.410598,0.911785]] 2025-10-28T18:58:28.055Z,1761677908.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888563,-0.420082,-0.184354],[0.458709,-0.807954,-0.369860],[0.006422,-0.413209,0.910614]] 2025-10-28T18:58:28.459Z,1761677908.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878640,-0.436668,-0.193163],[0.477453,-0.798840,-0.365915],[0.005477,-0.413734,0.910381]] 2025-10-28T18:58:28.869Z,1761677908.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868573,-0.452360,-0.202364],[0.495536,-0.788691,-0.363881],[0.005002,-0.416336,0.909197]] 2025-10-28T18:58:29.270Z,1761677909.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858115,-0.468133,-0.210927],[0.513436,-0.778566,-0.360858],[0.004709,-0.417955,0.908456]] 2025-10-28T18:58:29.671Z,1761677909.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847240,-0.483583,-0.219844],[0.531193,-0.767932,-0.357931],[0.004264,-0.420033,0.907499]] 2025-10-28T18:58:30.075Z,1761677910.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836151,-0.499247,-0.227166],[0.548485,-0.758083,-0.352808],[0.003928,-0.419598,0.907702]] 2025-10-28T18:58:30.481Z,1761677910.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824568,-0.515158,-0.233880],[0.565751,-0.748181,-0.346629],[0.003584,-0.418137,0.908377]] 2025-10-28T18:58:30.882Z,1761677910.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812689,-0.530434,-0.241196],[0.582688,-0.737513,-0.341393],[0.003201,-0.417988,0.908447]] 2025-10-28T18:58:31.287Z,1761677911.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800303,-0.546291,-0.247147],[0.599590,-0.727332,-0.333886],[0.002641,-0.415397,0.909636]] 2025-10-28T18:58:31.698Z,1761677911.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787741,-0.562009,-0.252208],[0.616003,-0.717299,-0.325612],[0.002088,-0.411858,0.911245]] 2025-10-28T18:58:32.095Z,1761677912.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774326,-0.577882,-0.257819],[0.632786,-0.706527,-0.316863],[0.000953,-0.408500,0.912758]] 2025-10-28T18:58:32.501Z,1761677912.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760268,-0.594017,-0.262939],[0.649610,-0.695354,-0.307392],[-0.000239,-0.404508,0.914534]] 2025-10-28T18:58:32.902Z,1761677912.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745632,-0.609967,-0.268279],[0.666356,-0.683564,-0.297843],[-0.001711,-0.400851,0.916142]] 2025-10-28T18:58:33.307Z,1761677913.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730955,-0.624637,-0.274834],[0.682418,-0.670883,-0.290208],[-0.003106,-0.399681,0.916649]] 2025-10-28T18:58:33.712Z,1761677913.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715567,-0.639516,-0.281041],[0.698526,-0.658012,-0.281214],[-0.005088,-0.397542,0.917570]] 2025-10-28T18:58:34.116Z,1761677914.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699983,-0.653885,-0.287157],[0.714122,-0.645012,-0.272010],[-0.007357,-0.395468,0.918450]] 2025-10-28T18:58:34.519Z,1761677914.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684149,-0.667289,-0.294390],[0.729272,-0.631505,-0.263372],[-0.010163,-0.394876,0.918678]] 2025-10-28T18:58:34.922Z,1761677914.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668727,-0.679842,-0.301029],[0.743398,-0.618339,-0.254985],[-0.012789,-0.394300,0.918893]] 2025-10-28T18:58:35.218Z,1761677915.218 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:58:35.218Z,1761677915.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:58:35.218Z,1761677915.218 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:58:35.218Z,1761677915.218 [marl:UpdateRudder:A] Stopped 2025-10-28T18:58:35.218Z,1761677915.218 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:58:35.336Z,1761677915.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653148,-0.692261,-0.306876],[0.757074,-0.605232,-0.246036],[-0.015410,-0.393026,0.919398]] 2025-10-28T18:58:35.376Z,1761677915.376 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:58:35.376Z,1761677915.376 [marl:UpdateRudder:B] Stopped 2025-10-28T18:58:35.377Z,1761677915.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:58:35.377Z,1761677915.377 [marl:UpdateRudder] Stopped 2025-10-28T18:58:35.377Z,1761677915.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:58:35.738Z,1761677915.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637680,-0.703397,-0.314001],[0.770089,-0.591719,-0.238394],[-0.018115,-0.393828,0.919006]] 2025-10-28T18:58:36.145Z,1761677916.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622287,-0.714569,-0.319610],[0.782520,-0.578561,-0.230063],[-0.020518,-0.393266,0.919196]] 2025-10-28T18:58:36.546Z,1761677916.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606870,-0.724977,-0.325756],[0.794478,-0.565013,-0.222632],[-0.022653,-0.393914,0.918868]] 2025-10-28T18:58:36.595Z,1761677916.595 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:58:36.595Z,1761677916.595 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:58:36.596Z,1761677916.596 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:58:36.597Z,1761677916.597 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:58:36.598Z,1761677916.598 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:58:36.598Z,1761677916.598 [marl:UpdateCommandMode] Stopped 2025-10-28T18:58:36.598Z,1761677916.598 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:58:36.599Z,1761677916.599 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:58:36.599Z,1761677916.599 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:58:36.599Z,1761677916.599 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:58:36.601Z,1761677916.601 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:58:36.601Z,1761677916.601 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:58:36.601Z,1761677916.601 [marl:UpdateSpeed] Stopped 2025-10-28T18:58:36.602Z,1761677916.602 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:58:36.950Z,1761677916.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591302,-0.734675,-0.332589],[0.806087,-0.550806,-0.216417],[-0.024195,-0.396064,0.917904]] 2025-10-28T18:58:37.360Z,1761677917.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575994,-0.744559,-0.337436],[0.817071,-0.537016,-0.209781],[-0.025015,-0.396542,0.917676]] 2025-10-28T18:58:37.766Z,1761677917.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560082,-0.754199,-0.342770],[0.828039,-0.522475,-0.203401],[-0.025683,-0.397748,0.917135]] 2025-10-28T18:58:38.167Z,1761677918.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543357,-0.763916,-0.348131],[0.839105,-0.506946,-0.197252],[-0.025800,-0.399297,0.916458]] 2025-10-28T18:58:38.571Z,1761677918.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525857,-0.773965,-0.352777],[0.850189,-0.490730,-0.190689],[-0.025532,-0.400203,0.916071]] 2025-10-28T18:58:38.971Z,1761677918.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507424,-0.784028,-0.357522],[0.861329,-0.473609,-0.183866],[-0.025170,-0.401241,0.915626]] 2025-10-28T18:58:39.377Z,1761677919.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487676,-0.794994,-0.360772],[0.872669,-0.455695,-0.175471],[-0.024904,-0.400408,0.915999]] 2025-10-28T18:58:39.783Z,1761677919.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467134,-0.805223,-0.365243],[0.883829,-0.436990,-0.166992],[-0.025142,-0.400820,0.915812]] 2025-10-28T18:58:40.189Z,1761677920.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446021,-0.815367,-0.369110],[0.894654,-0.417984,-0.157743],[-0.025664,-0.400582,0.915901]] 2025-10-28T18:58:40.605Z,1761677920.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424523,-0.825258,-0.372465],[0.905022,-0.398915,-0.147652],[-0.026731,-0.399770,0.916225]] 2025-10-28T18:58:40.992Z,1761677920.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402888,-0.834977,-0.374827],[0.914814,-0.380009,-0.136780],[-0.028229,-0.398004,0.916949]] 2025-10-28T18:58:41.395Z,1761677921.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381249,-0.844042,-0.377152],[0.923972,-0.361309,-0.125422],[-0.030407,-0.396295,0.917620]] 2025-10-28T18:58:41.799Z,1761677921.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359786,-0.852530,-0.379140],[0.932452,-0.342904,-0.113801],[-0.032990,-0.394474,0.918315]] 2025-10-28T18:58:42.202Z,1761677922.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338634,-0.860273,-0.381127],[0.940234,-0.324833,-0.102197],[-0.035886,-0.392956,0.918857]] 2025-10-28T18:58:42.647Z,1761677922.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318170,-0.867421,-0.382555],[0.947236,-0.307417,-0.090765],[-0.038872,-0.391248,0.919464]] 2025-10-28T18:58:43.010Z,1761677923.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298396,-0.873016,-0.385751],[0.953526,-0.290377,-0.080425],[-0.041801,-0.391822,0.919091]] 2025-10-28T18:58:43.414Z,1761677923.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279399,-0.878274,-0.388034],[0.959153,-0.273941,-0.070587],[-0.044304,-0.391906,0.918938]] 2025-10-28T18:58:43.818Z,1761677923.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260705,-0.883104,-0.390078],[0.964287,-0.257751,-0.060946],[-0.046721,-0.392036,0.918763]] 2025-10-28T18:58:44.225Z,1761677924.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242572,-0.886892,-0.393168],[0.968909,-0.241834,-0.052265],[-0.048728,-0.393622,0.917980]] 2025-10-28T18:58:45.024Z,1761677925.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:58:45.031Z,1761677925.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207364,-0.894324,-0.396466],[0.976915,-0.210585,-0.035932],[-0.051355,-0.394764,0.917346]] 2025-10-28T18:58:45.435Z,1761677925.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189742,-0.897172,-0.398849],[0.980440,-0.194770,-0.028303],[-0.052291,-0.396417,0.916580]] 2025-10-28T18:58:45.839Z,1761677925.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172563,-0.900010,-0.400254],[0.983574,-0.179291,-0.020899],[-0.052953,-0.397286,0.916166]] 2025-10-28T18:58:46.028Z,1761677926.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:58:46.242Z,1761677926.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155307,-0.902791,-0.401059],[0.986422,-0.163667,-0.013567],[-0.053392,-0.397720,0.915952]] 2025-10-28T18:58:46.669Z,1761677926.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137719,-0.905775,-0.400755],[0.989017,-0.147679,-0.006094],[-0.053663,-0.397193,0.916165]] 2025-10-28T18:58:47.051Z,1761677927.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119941,-0.908935,-0.399314],[0.991345,-0.131281,0.001060],[-0.053386,-0.395730,0.916814]] 2025-10-28T18:58:47.455Z,1761677927.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101869,-0.911706,-0.398014],[0.993416,-0.114311,0.007588],[-0.052415,-0.394621,0.917348]] 2025-10-28T18:58:47.861Z,1761677927.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082875,-0.914124,-0.396875],[0.995249,-0.096341,0.014076],[-0.051103,-0.393822,0.917765]] 2025-10-28T18:58:48.262Z,1761677928.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062656,-0.916181,-0.395837],[0.996788,-0.077270,0.021066],[-0.049887,-0.393245,0.918079]] 2025-10-28T18:58:48.673Z,1761677928.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041110,-0.918049,-0.394331],[0.997965,-0.056982,0.028620],[-0.048745,-0.392352,0.918523]] 2025-10-28T18:58:48.723Z,1761677928.723 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:58:48.723Z,1761677928.723 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:58:48.724Z,1761677928.724 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:58:48.724Z,1761677928.724 [marl:UpdateRudder:A] Stopped 2025-10-28T18:58:48.724Z,1761677928.724 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:58:49.071Z,1761677929.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019053,-0.919325,-0.393037],[0.998690,-0.036172,0.036194],[-0.047491,-0.391832,0.918810]] 2025-10-28T18:58:49.094Z,1761677929.094 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:58:49.094Z,1761677929.094 [marl:UpdateRudder:B] Stopped 2025-10-28T18:58:49.094Z,1761677929.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:58:49.094Z,1761677929.094 [marl:UpdateRudder] Stopped 2025-10-28T18:58:49.094Z,1761677929.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:58:49.503Z,1761677929.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004628,-0.920403,-0.390943],[0.998900,-0.013987,0.044755],[-0.046661,-0.390721,0.919326]] 2025-10-28T18:58:49.879Z,1761677929.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029379,-0.921030,-0.388383],[0.998486,0.008965,0.054269],[-0.046502,-0.389389,0.919899]] 2025-10-28T18:58:49.921Z,1761677929.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:58:49.921Z,1761677929.921 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateCommandMode] Stopped 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:58:49.922Z,1761677929.922 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:58:49.923Z,1761677929.923 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:58:49.923Z,1761677929.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:58:49.923Z,1761677929.923 [marl:UpdateSpeed] Stopped 2025-10-28T18:58:49.923Z,1761677929.923 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:58:50.283Z,1761677930.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054564,-0.921141,-0.385386],[0.997408,0.032149,0.064372],[-0.046906,-0.387899,0.920507]] 2025-10-28T18:58:50.689Z,1761677930.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080327,-0.920620,-0.382108],[0.995601,0.055551,0.075457],[-0.048241,-0.386488,0.921032]] 2025-10-28T18:58:51.091Z,1761677931.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105794,-0.919303,-0.379064],[0.993101,0.078293,0.087292],[-0.050570,-0.385684,0.921244]] 2025-10-28T18:58:51.499Z,1761677931.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130707,-0.917722,-0.375102],[0.989963,0.100304,0.099557],[-0.053741,-0.384350,0.921622]] 2025-10-28T18:58:51.899Z,1761677931.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154670,-0.916124,-0.369857],[0.986296,0.121420,0.111702],[-0.057425,-0.382065,0.922350]] 2025-10-28T18:58:52.304Z,1761677932.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177203,-0.913457,-0.366326],[0.982249,0.140880,0.123851],[-0.061524,-0.381770,0.922207]] 2025-10-28T18:58:52.706Z,1761677932.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198202,-0.910593,-0.362679],[0.977956,0.158911,0.135461],[-0.065716,-0.381533,0.922017]] 2025-10-28T18:58:53.110Z,1761677933.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217595,-0.907427,-0.359484],[0.973550,0.175496,0.146291],[-0.069660,-0.381808,0.921613]] 2025-10-28T18:58:53.518Z,1761677933.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235754,-0.903940,-0.356808],[0.969061,0.191054,0.156269],[-0.073088,-0.382610,0.921015]] 2025-10-28T18:58:53.918Z,1761677933.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252785,-0.899940,-0.355257],[0.964542,0.205602,0.165491],[-0.075890,-0.384494,0.920003]] 2025-10-28T18:58:54.323Z,1761677934.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269068,-0.895614,-0.354229],[0.959975,0.219688,0.173738],[-0.077783,-0.386798,0.918878]] 2025-10-28T18:58:54.730Z,1761677934.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284788,-0.891298,-0.352824],[0.955340,0.233610,0.180976],[-0.078881,-0.388607,0.918021]] 2025-10-28T18:58:55.133Z,1761677935.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300379,-0.886585,-0.351767],[0.950524,0.247609,0.187598],[-0.079221,-0.390714,0.917097]] 2025-10-28T18:58:55.534Z,1761677935.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315996,-0.881777,-0.350166],[0.945493,0.262071,0.193292],[-0.078672,-0.392159,0.916527]] 2025-10-28T18:58:55.938Z,1761677935.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331877,-0.876328,-0.349150],[0.940138,0.276879,0.198693],[-0.077448,-0.394191,0.915759]] 2025-10-28T18:58:56.343Z,1761677936.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348209,-0.870876,-0.346878],[0.934357,0.292562,0.203433],[-0.075681,-0.394945,0.915582]] 2025-10-28T18:58:56.749Z,1761677936.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365295,-0.865415,-0.342952],[0.927969,0.309364,0.207767],[-0.073708,-0.394145,0.916088]] 2025-10-28T18:58:57.157Z,1761677937.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382729,-0.859337,-0.339204],[0.921058,0.326340,0.212497],[-0.071910,-0.393755,0.916398]] 2025-10-28T18:58:57.559Z,1761677937.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401354,-0.852816,-0.334096],[0.913199,0.344478,0.217721],[-0.070587,-0.392480,0.917048]] 2025-10-28T18:58:57.961Z,1761677937.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420676,-0.845959,-0.327695],[0.904550,0.363477,0.222879],[-0.069437,-0.390176,0.918118]] 2025-10-28T18:58:58.362Z,1761677938.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439833,-0.838417,-0.321875],[0.895426,0.381871,0.228880],[-0.068982,-0.388884,0.918700]] 2025-10-28T18:58:58.773Z,1761677938.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458690,-0.830740,-0.315395],[0.885893,0.399856,0.235178],[-0.069259,-0.387280,0.919357]] 2025-10-28T18:58:59.170Z,1761677939.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477851,-0.822223,-0.309204],[0.875636,0.417733,0.242407],[-0.070148,-0.386585,0.919582]] 2025-10-28T18:58:59.579Z,1761677939.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496631,-0.814106,-0.300980],[0.865026,0.435745,0.248708],[-0.071324,-0.383871,0.920628]] 2025-10-28T18:58:59.978Z,1761677939.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514892,-0.805181,-0.294229],[0.854178,0.452821,0.255605],[-0.072575,-0.382932,0.920921]] 2025-10-28T18:59:00.383Z,1761677940.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532790,-0.795494,-0.288657],[0.843018,0.469153,0.263090],[-0.073862,-0.383515,0.920576]] 2025-10-28T18:59:00.791Z,1761677940.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550109,-0.786123,-0.281765],[0.831746,0.485596,0.269065],[-0.074694,-0.382372,0.920984]] 2025-10-28T18:59:01.193Z,1761677941.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566630,-0.777068,-0.274037],[0.820514,0.501692,0.273975],[-0.075415,-0.380093,0.921869]] 2025-10-28T18:59:01.599Z,1761677941.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583324,-0.767172,-0.266797],[0.808683,0.517840,0.279057],[-0.075927,-0.378534,0.922468]] 2025-10-28T18:59:01.999Z,1761677941.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600086,-0.756591,-0.259746],[0.796275,0.533941,0.284347],[-0.076445,-0.377462,0.922864]] 2025-10-28T18:59:02.043Z,1761677942.043 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:59:02.043Z,1761677942.043 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:59:02.044Z,1761677942.044 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:59:02.045Z,1761677942.045 [marl:UpdateRudder:A] Stopped 2025-10-28T18:59:02.045Z,1761677942.045 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:59:02.402Z,1761677942.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616313,-0.745416,-0.253995],[0.783744,0.549123,0.290189],[-0.076837,-0.377914,0.922647]] 2025-10-28T18:59:02.430Z,1761677942.430 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:59:02.430Z,1761677942.430 [marl:UpdateRudder:B] Stopped 2025-10-28T18:59:02.430Z,1761677942.430 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:59:02.430Z,1761677942.430 [marl:UpdateRudder] Stopped 2025-10-28T18:59:02.430Z,1761677942.430 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:59:02.810Z,1761677942.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632400,-0.733764,-0.248316],[0.770789,0.564118,0.296066],[-0.077163,-0.378631,0.922325]] 2025-10-28T18:59:03.210Z,1761677943.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648530,-0.721458,-0.242707],[0.757208,0.578893,0.302522],[-0.077755,-0.379974,0.921723]] 2025-10-28T18:59:03.244Z,1761677943.244 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:59:03.244Z,1761677943.244 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateCommandMode] Stopped 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:59:03.245Z,1761677943.245 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:59:03.246Z,1761677943.246 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:59:03.246Z,1761677943.246 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:59:03.246Z,1761677943.246 [marl:UpdateSpeed] Stopped 2025-10-28T18:59:03.246Z,1761677943.246 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:59:03.622Z,1761677943.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663682,-0.709890,-0.235760],[0.743890,0.593327,0.307556],[-0.078448,-0.379499,0.921860]] 2025-10-28T18:59:04.019Z,1761677944.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678189,-0.698428,-0.228602],[0.730597,0.607213,0.312282],[-0.079296,-0.378802,0.922074]] 2025-10-28T18:59:04.422Z,1761677944.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691998,-0.686987,-0.221785],[0.717418,0.620259,0.317161],[-0.080321,-0.378587,0.922074]] 2025-10-28T18:59:04.828Z,1761677944.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705415,-0.675196,-0.215637],[0.704149,0.632796,0.322092],[-0.081021,-0.379049,0.921823]] 2025-10-28T18:59:05.231Z,1761677945.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718197,-0.663928,-0.208308],[0.691019,0.645336,0.325630],[-0.081766,-0.377811,0.922265]] 2025-10-28T18:59:05.645Z,1761677945.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730357,-0.652652,-0.201555],[0.678081,0.657163,0.329156],[-0.082370,-0.377072,0.922514]] 2025-10-28T18:59:06.038Z,1761677946.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742670,-0.640861,-0.194266],[0.664516,0.669392,0.332165],[-0.082831,-0.375782,0.922999]] 2025-10-28T18:59:06.447Z,1761677946.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754426,-0.628988,-0.187658],[0.651087,0.680850,0.335454],[-0.083230,-0.375257,0.923177]] 2025-10-28T18:59:06.846Z,1761677946.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766253,-0.616508,-0.181036],[0.637081,0.692319,0.338854],[-0.083571,-0.374983,0.923257]] 2025-10-28T18:59:07.252Z,1761677947.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778149,-0.603482,-0.174050],[0.622481,0.704092,0.341719],[-0.083674,-0.374251,0.923545]] 2025-10-28T18:59:07.666Z,1761677947.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789985,-0.589815,-0.167457],[0.607406,0.715640,0.344844],[-0.083554,-0.374136,0.923602]] 2025-10-28T18:59:08.059Z,1761677948.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801332,-0.576104,-0.161156],[0.592378,0.726614,0.348023],[-0.083399,-0.374347,0.923531]] 2025-10-28T18:59:08.463Z,1761677948.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812556,-0.561926,-0.154893],[0.576863,0.737154,0.351900],[-0.083562,-0.375291,0.923133]] 2025-10-28T18:59:09.270Z,1761677949.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834357,-0.532874,-0.141042],[0.544734,0.757939,0.358879],[-0.084336,-0.376264,0.922666]] 2025-10-28T18:59:09.674Z,1761677949.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844542,-0.518215,-0.134916],[0.528722,0.767041,0.363457],[-0.084863,-0.378287,0.921790]] 2025-10-28T18:59:10.078Z,1761677950.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854240,-0.503560,-0.129237],[0.512783,0.775194,0.368955],[-0.085607,-0.381446,0.920418]] 2025-10-28T18:59:10.497Z,1761677950.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872740,-0.474260,-0.115767],[0.480423,0.792246,0.376219],[-0.086710,-0.383959,0.919270]] 2025-10-28T18:59:10.891Z,1761677950.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881851,-0.459273,-0.106805],[0.463511,0.802737,0.375194],[-0.086580,-0.380370,0.920773]] 2025-10-28T18:59:10.960Z,1761677950.960 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T18:59:11.113Z,1761677951.113 [DAT](DEBUG): Acoustic response timeout 2025-10-28T18:59:11.113Z,1761677951.113 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T18:59:11.296Z,1761677951.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890118,-0.444876,-0.098866],[0.447473,0.812071,0.374578],[-0.086355,-0.377659,0.921909]] 2025-10-28T18:59:11.365Z,1761677951.365 [DAT](INFO): DAT read: user:155> 2025-10-28T18:59:11.366Z,1761677951.366 [DAT](INFO): DAT read: Tx time:18:59:11.0872 2025-10-28T18:59:11.366Z,1761677951.366 [DAT](INFO): Ping request sent. 2025-10-28T18:59:11.366Z,1761677951.366 [DAT](INFO): transmitted an acoustic signal 2025-10-28T18:59:11.366Z,1761677951.366 [DAT](INFO): publishing transmit ping time 2025-10-28T18:59:11.367Z,1761677951.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T18:59:11.618Z,1761677951.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251868 2025-10-28T18:59:11.700Z,1761677951.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898652,-0.428844,-0.092284],[0.430129,0.820160,0.377263],[-0.086100,-0.378722,0.921497]] 2025-10-28T18:59:11.869Z,1761677951.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502950 2025-10-28T18:59:12.108Z,1761677952.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907461,-0.411472,-0.084886],[0.411253,0.828624,0.379806],[-0.085941,-0.379569,0.921163]] 2025-10-28T18:59:12.121Z,1761677952.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755341 2025-10-28T18:59:12.373Z,1761677952.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006915 2025-10-28T18:59:12.504Z,1761677952.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916246,-0.393229,-0.076585],[0.391358,0.837699,0.380919],[-0.085633,-0.378988,0.921431]] 2025-10-28T18:59:12.629Z,1761677952.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262284 2025-10-28T18:59:12.877Z,1761677952.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889 2025-10-28T18:59:12.907Z,1761677952.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924650,-0.374954,-0.066573],[0.371122,0.848033,0.378297],[-0.085387,-0.374499,0.923287]] 2025-10-28T18:59:13.130Z,1761677953.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764229 2025-10-28T18:59:13.310Z,1761677953.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932855,-0.355795,-0.056504],[0.350061,0.858198,0.375438],[-0.085088,-0.370009,0.925123]] 2025-10-28T18:59:13.381Z,1761677953.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925 2025-10-28T18:59:13.633Z,1761677953.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965 2025-10-28T18:59:13.714Z,1761677953.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940733,-0.335865,-0.047069],[0.328239,0.866746,0.375515],[-0.085325,-0.368710,0.925620]] 2025-10-28T18:59:13.885Z,1761677953.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937 2025-10-28T18:59:14.128Z,1761677954.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948224,-0.315278,-0.038368],[0.305875,0.873990,0.377600],[-0.085515,-0.369785,0.925174]] 2025-10-28T18:59:14.137Z,1761677954.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771079 2025-10-28T18:59:14.389Z,1761677954.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022873 2025-10-28T18:59:14.523Z,1761677954.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954790,-0.295777,-0.029875],[0.284549,0.880175,0.379900],[-0.086071,-0.371225,0.924545]] 2025-10-28T18:59:14.646Z,1761677954.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279616 2025-10-28T18:59:14.893Z,1761677954.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526883 2025-10-28T18:59:14.927Z,1761677954.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960386,-0.277737,-0.022811],[0.264917,0.884516,0.383993],[-0.086473,-0.374825,0.923054]] 2025-10-28T18:59:15.145Z,1761677955.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779162 2025-10-28T18:59:15.330Z,1761677955.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965327,-0.260532,-0.016304],[0.246219,0.887987,0.388400],[-0.086713,-0.378948,0.921346]] 2025-10-28T18:59:15.354Z,1761677955.354 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:59:15.354Z,1761677955.354 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:59:15.354Z,1761677955.354 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:59:15.355Z,1761677955.355 [marl:UpdateRudder:A] Stopped 2025-10-28T18:59:15.355Z,1761677955.355 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:59:15.398Z,1761677955.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031374 2025-10-28T18:59:15.649Z,1761677955.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282973 2025-10-28T18:59:15.738Z,1761677955.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969639,-0.244331,-0.010146],[0.228670,0.891222,0.391705],[-0.086663,-0.382133,0.920035]] 2025-10-28T18:59:15.801Z,1761677955.801 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:59:15.801Z,1761677955.801 [marl:UpdateRudder:B] Stopped 2025-10-28T18:59:15.801Z,1761677955.801 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:59:15.801Z,1761677955.801 [marl:UpdateRudder] Stopped 2025-10-28T18:59:15.801Z,1761677955.801 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:59:15.901Z,1761677955.901 [DAT](INFO): DAT read: Rx Time:18:59:15.2794 2025-10-28T18:59:15.901Z,1761677955.901 [DAT](INFO): Rx dataTimestamp_ set to:1761677955.901093 2025-10-28T18:59:15.902Z,1761677955.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535974 2025-10-28T18:59:16.139Z,1761677956.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973713,-0.227747,-0.003733],[0.210691,0.894321,0.394715],[-0.086557,-0.385125,0.918796]] 2025-10-28T18:59:16.148Z,1761677956.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:59:16.153Z,1761677956.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787034 2025-10-28T18:59:16.407Z,1761677956.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040699 2025-10-28T18:59:16.542Z,1761677956.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977407,-0.211344,0.002981],[0.192985,0.898076,0.395241],[-0.086209,-0.385736,0.918572]] 2025-10-28T18:59:16.607Z,1761677956.607 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:59:16.607Z,1761677956.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:59:16.612Z,1761677956.612 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:59:16.614Z,1761677956.614 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:59:16.614Z,1761677956.614 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:59:16.615Z,1761677956.615 [marl:UpdateCommandMode] Stopped 2025-10-28T18:59:16.615Z,1761677956.615 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:59:16.615Z,1761677956.615 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:59:16.620Z,1761677956.620 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:59:16.621Z,1761677956.621 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:59:16.622Z,1761677956.622 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:59:16.622Z,1761677956.622 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:59:16.623Z,1761677956.623 [marl:UpdateSpeed] Stopped 2025-10-28T18:59:16.623Z,1761677956.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:59:16.663Z,1761677956.663 [DAT](INFO): DAT read: 18:59:15.2794 LVL= 20688, 24305, 31010, 30099, AGC= 73, IDX= 419, 0.05,-2.503, 2.901, 1.781,-2.805, PHS= 0.405,-0.532,-1.741, RAW= 55.8, 19.5, CAL= 51.3, 24.1, ROT= 98.7, -24.1 2025-10-28T18:59:16.664Z,1761677956.664 [DAT](INFO): got valid direction response: 18:59:15.2794 LVL= 20688, 24305, 31010, 30099, AGC= 73, IDX= 419, 0.05,-2.503, 2.901, 1.781,-2.805, PHS= 0.405,-0.532,-1.741, RAW= 55.8, 19.5, CAL= 51.3, 24.1, ROT= 98.7, -24.1 2025-10-28T18:59:16.665Z,1761677956.665 [DAT](INFO): DAT read: Bearing 84, -18 (Remote) 2025-10-28T18:59:16.665Z,1761677956.665 [DAT](INFO): Remote Bearing received:Bearing 84, -18 (Remote) 2025-10-28T18:59:16.666Z,1761677956.666 [DAT](INFO): DAT read: Bearing 237.6, 43.1 (Local) 2025-10-28T18:59:16.666Z,1761677956.666 [DAT](INFO): Local bearing/azimuth received: Bearing 237.6, 43.1 (Local) 2025-10-28T18:59:16.668Z,1761677956.668 [DAT](INFO): DAT read: Range 11 to 20 : 1622.3 m (Round-trip 2163.1 ms) speed -0.4 m/s 2025-10-28T18:59:16.669Z,1761677956.669 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T18:59:16.670Z,1761677956.670 [DAT](INFO): direction in FSK: [-0.138076,0.902331,0.408330] 2025-10-28T18:59:16.670Z,1761677956.670 [DAT](INFO): publishing direction and range info 2025-10-28T18:59:16.946Z,1761677956.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980880,-0.194377,0.009565],[0.174886,0.901951,0.394840],[-0.085375,-0.385618,0.918700]] 2025-10-28T18:59:16.999Z,1761677956.999 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761677952.00. Resetting abort timer. 2025-10-28T18:59:17.152Z,1761677957.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:59:17.350Z,1761677957.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984129,-0.176705,0.016286],[0.155902,0.904794,0.396286],[-0.084761,-0.387458,0.917983]] 2025-10-28T18:59:17.757Z,1761677957.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987085,-0.158461,0.023525],[0.136047,0.906726,0.399172],[-0.084584,-0.390816,0.916574]] 2025-10-28T18:59:18.165Z,1761677958.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989641,-0.140071,0.031487],[0.115825,0.908559,0.401380],[-0.084829,-0.393575,0.915370]] 2025-10-28T18:59:18.562Z,1761677958.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991766,-0.121638,0.040055],[0.095607,0.911363,0.400346],[-0.085202,-0.393220,0.915488]] 2025-10-28T18:59:18.966Z,1761677958.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993483,-0.103147,0.048510],[0.075510,0.914369,0.397778],[-0.085385,-0.391522,0.916198]] 2025-10-28T18:59:19.371Z,1761677959.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994780,-0.084957,0.056525],[0.055953,0.917371,0.394081],[-0.085335,-0.388861,0.917336]] 2025-10-28T18:59:19.783Z,1761677959.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995691,-0.066879,0.064240],[0.036563,0.919745,0.390809],[-0.085222,-0.386777,0.918227]] 2025-10-28T18:59:20.179Z,1761677960.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996208,-0.050151,0.071095],[0.018316,0.919726,0.392133],[-0.085053,-0.389344,0.917157]] 2025-10-28T18:59:20.598Z,1761677960.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996368,-0.033903,0.078109],[0.000278,0.918607,0.395172],[-0.085149,-0.393715,0.915280]] 2025-10-28T18:59:20.987Z,1761677960.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996224,-0.017437,0.085052],[-0.017815,0.917723,0.396820],[-0.084974,-0.396837,0.913947]] 2025-10-28T18:59:21.392Z,1761677961.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995794,-0.001985,0.091595],[-0.034655,0.917318,0.396645],[-0.084809,-0.398151,0.913391]] 2025-10-28T18:59:21.795Z,1761677961.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995080,0.014000,0.098077],[-0.051649,0.918098,0.392973],[-0.084542,-0.396105,0.914305]] 2025-10-28T18:59:22.198Z,1761677962.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994091,0.030589,0.104148],[-0.068901,0.919215,0.387682],[-0.083876,-0.392567,0.915891]] 2025-10-28T18:59:22.648Z,1761677962.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992764,0.047898,0.110112],[-0.087008,0.918921,0.384726],[-0.082757,-0.391523,0.916439]] 2025-10-28T18:59:23.008Z,1761677963.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991033,0.066345,0.115979],[-0.106126,0.918225,0.381575],[-0.081179,-0.390462,0.917033]] 2025-10-28T18:59:23.410Z,1761677963.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988893,0.085099,0.121857],[-0.125447,0.917584,0.377230],[-0.079712,-0.388326,0.918068]] 2025-10-28T18:59:23.814Z,1761677963.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986228,0.104641,0.128079],[-0.145851,0.915404,0.375184],[-0.077985,-0.388698,0.918059]] 2025-10-28T18:59:24.220Z,1761677964.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982942,0.125328,0.134604],[-0.167370,0.912946,0.372179],[-0.076242,-0.388359,0.918349]] 2025-10-28T18:59:24.650Z,1761677964.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979153,0.146368,0.140839],[-0.189009,0.910489,0.367812],[-0.074397,-0.386764,0.919173]] 2025-10-28T18:59:25.026Z,1761677965.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975034,0.166684,0.146714],[-0.209860,0.907651,0.363496],[-0.072576,-0.385210,0.919971]] 2025-10-28T18:59:25.430Z,1761677965.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970491,0.186368,0.153017],[-0.230463,0.903571,0.361172],[-0.070951,-0.385779,0.919859]] 2025-10-28T18:59:25.835Z,1761677965.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965949,0.204572,0.158408],[-0.249202,0.900259,0.356977],[-0.069581,-0.384297,0.920584]] 2025-10-28T18:59:26.242Z,1761677966.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961253,0.221906,0.163555],[-0.267157,0.896182,0.354239],[-0.067968,-0.384208,0.920741]] 2025-10-28T18:59:26.657Z,1761677966.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956443,0.238103,0.168890],[-0.284213,0.891585,0.352561],[-0.066634,-0.385205,0.920422]] 2025-10-28T18:59:27.046Z,1761677967.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951655,0.252955,0.174260],[-0.300085,0.886755,0.351590],[-0.065589,-0.386885,0.919792]] 2025-10-28T18:59:27.450Z,1761677967.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946620,0.267186,0.180341],[-0.315764,0.881115,0.352036],[-0.064842,-0.390189,0.918449]] 2025-10-28T18:59:27.863Z,1761677967.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941078,0.281996,0.186682],[-0.332096,0.874883,0.352552],[-0.063906,-0.393775,0.916983]] 2025-10-28T18:59:28.261Z,1761677968.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935005,0.297034,0.193743],[-0.348967,0.867901,0.353510],[-0.063145,-0.398144,0.915147]] 2025-10-28T18:59:28.662Z,1761677968.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928111,0.313255,0.201199],[-0.367097,0.860053,0.354328],[-0.062047,-0.402715,0.913220]] 2025-10-28T18:59:28.717Z,1761677968.717 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:59:28.717Z,1761677968.717 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:59:28.718Z,1761677968.718 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:59:28.718Z,1761677968.718 [marl:UpdateRudder:A] Stopped 2025-10-28T18:59:28.718Z,1761677968.718 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:59:29.066Z,1761677969.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920411,0.330902,0.208201],[-0.386208,0.852295,0.352756],[-0.060721,-0.405089,0.912259]] 2025-10-28T18:59:29.126Z,1761677969.126 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:59:29.126Z,1761677969.126 [marl:UpdateRudder:B] Stopped 2025-10-28T18:59:29.126Z,1761677969.126 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:59:29.126Z,1761677969.126 [marl:UpdateRudder] Stopped 2025-10-28T18:59:29.126Z,1761677969.126 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:59:29.470Z,1761677969.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912244,0.347780,0.216473],[-0.405257,0.843332,0.352929],[-0.059817,-0.409684,0.910264]] 2025-10-28T18:59:29.874Z,1761677969.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902993,0.366907,0.223570],[-0.425695,0.834495,0.349858],[-0.058203,-0.411092,0.909734]] 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:59:29.918Z,1761677969.918 [marl:UpdateCommandMode] Stopped 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed] Stopped 2025-10-28T18:59:29.919Z,1761677969.919 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:59:30.279Z,1761677970.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893629,0.385932,0.229093],[-0.445253,0.826456,0.344559],[-0.056359,-0.409912,0.910382]] 2025-10-28T18:59:30.683Z,1761677970.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883848,0.405328,0.233498],[-0.464598,0.818724,0.337402],[-0.054412,-0.406695,0.911942]] 2025-10-28T18:59:31.099Z,1761677971.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874349,0.423575,0.236851],[-0.482438,0.811553,0.329599],[-0.052607,-0.402451,0.913929]] 2025-10-28T18:59:31.491Z,1761677971.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864747,0.440632,0.240947],[-0.499668,0.803074,0.324661],[-0.050442,-0.401143,0.914626]] 2025-10-28T18:59:31.894Z,1761677971.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855491,0.456573,0.244288],[-0.515617,0.794559,0.320649],[-0.047702,-0.400271,0.915154]] 2025-10-28T18:59:32.299Z,1761677972.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846594,0.471148,0.247584],[-0.530349,0.785931,0.317872],[-0.044819,-0.400415,0.915237]] 2025-10-28T18:59:32.702Z,1761677972.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837783,0.485197,0.250405],[-0.544411,0.777305,0.315297],[-0.041660,-0.400474,0.915360]] 2025-10-28T18:59:33.108Z,1761677973.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829106,0.498326,0.253485],[-0.557780,0.768293,0.314017],[-0.038268,-0.401742,0.914953]] 2025-10-28T18:59:33.510Z,1761677973.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820377,0.510675,0.257279],[-0.570752,0.758801,0.313788],[-0.034980,-0.404267,0.913972]] 2025-10-28T18:59:33.922Z,1761677973.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811336,0.522932,0.261296],[-0.583716,0.748994,0.313503],[-0.031769,-0.406878,0.912930]] 2025-10-28T18:59:34.322Z,1761677974.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801635,0.535032,0.266688],[-0.597113,0.738194,0.313887],[-0.028928,-0.410866,0.911237]] 2025-10-28T18:59:34.722Z,1761677974.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791100,0.547612,0.272546],[-0.611118,0.726782,0.313564],[-0.026370,-0.414619,0.909613]] 2025-10-28T18:59:35.126Z,1761677975.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778983,0.560929,0.280258],[-0.626583,0.713488,0.313576],[-0.024067,-0.419875,0.907263]] 2025-10-28T18:59:35.531Z,1761677975.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765209,0.576363,0.286811],[-0.643412,0.699772,0.310386],[-0.021808,-0.422048,0.906311]] 2025-10-28T18:59:35.942Z,1761677975.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750717,0.592554,0.292069],[-0.660331,0.686239,0.305022],[-0.019687,-0.421848,0.906453]] 2025-10-28T18:59:36.338Z,1761677976.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735541,0.609670,0.295435],[-0.677242,0.673241,0.296798],[-0.017950,-0.418388,0.908091]] 2025-10-28T18:59:36.742Z,1761677976.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719442,0.627676,0.297366],[-0.694368,0.659871,0.287095],[-0.016021,-0.413030,0.910577]] 2025-10-28T18:59:37.147Z,1761677977.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703427,0.645081,0.298431],[-0.710641,0.646242,0.278140],[-0.013436,-0.407728,0.913004]] 2025-10-28T18:59:37.551Z,1761677977.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687139,0.662425,0.298385],[-0.726459,0.632063,0.269731],[-0.009921,-0.402107,0.915539]] 2025-10-28T18:59:37.954Z,1761677977.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670658,0.679276,0.297998],[-0.741746,0.617134,0.262598],[-0.005528,-0.397152,0.917736]] 2025-10-28T18:59:38.359Z,1761677978.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655821,0.693556,0.298126],[-0.754916,0.603116,0.257590],[-0.001151,-0.393993,0.919113]] 2025-10-28T18:59:38.769Z,1761677978.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642148,0.705716,0.299349],[-0.766575,0.589620,0.254384],[0.003020,-0.392826,0.919608]] 2025-10-28T18:59:39.167Z,1761677979.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629646,0.715534,0.302584],[-0.776854,0.576557,0.253141],[0.006675,-0.394453,0.918892]] 2025-10-28T18:59:39.584Z,1761677979.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617088,0.724100,0.308030],[-0.786830,0.562791,0.253309],[0.010065,-0.398681,0.917035]] 2025-10-28T18:59:39.982Z,1761677979.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604381,0.731146,0.316465],[-0.796600,0.548433,0.254261],[0.012342,-0.405766,0.913893]] 2025-10-28T18:59:40.384Z,1761677980.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591360,0.737463,0.326255],[-0.806291,0.533828,0.254801],[0.013742,-0.413735,0.910293]] 2025-10-28T18:59:40.790Z,1761677980.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577400,0.744601,0.334930],[-0.816328,0.519079,0.253309],[0.014759,-0.419674,0.907555]] 2025-10-28T18:59:41.191Z,1761677981.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562785,0.752284,0.342552],[-0.826454,0.504217,0.250476],[0.015709,-0.424068,0.905494]] 2025-10-28T18:59:41.598Z,1761677981.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546853,0.761656,0.347608],[-0.837055,0.488933,0.245527],[0.017050,-0.425234,0.904923]] 2025-10-28T18:59:41.000Z,1761677982.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530561,0.771398,0.351353],[-0.847448,0.473751,0.239567],[0.018348,-0.424859,0.905074]] 2025-10-28T18:59:42.023Z,1761677982.023 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:59:42.023Z,1761677982.023 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:59:42.024Z,1761677982.024 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:59:42.024Z,1761677982.024 [marl:UpdateRudder:A] Stopped 2025-10-28T18:59:42.024Z,1761677982.024 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:59:42.402Z,1761677982.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513334,0.782233,0.352986],[-0.857948,0.458021,0.232685],[0.020339,-0.422289,0.906233]] 2025-10-28T18:59:42.435Z,1761677982.435 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:59:42.435Z,1761677982.435 [marl:UpdateRudder:B] Stopped 2025-10-28T18:59:42.435Z,1761677982.435 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:59:42.435Z,1761677982.435 [marl:UpdateRudder] Stopped 2025-10-28T18:59:42.435Z,1761677982.435 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:59:42.806Z,1761677982.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495653,0.793642,0.352789],[-0.868223,0.442125,0.225200],[0.022752,-0.417921,0.908199]] 2025-10-28T18:59:43.210Z,1761677983.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477804,0.805045,0.351576],[-0.878099,0.426114,0.217645],[0.025403,-0.412711,0.910508]] 2025-10-28T18:59:43.234Z,1761677983.234 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:59:43.234Z,1761677983.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:59:43.234Z,1761677983.234 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:59:43.234Z,1761677983.234 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:59:43.234Z,1761677983.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateCommandMode] Stopped 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed] Stopped 2025-10-28T18:59:43.235Z,1761677983.235 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:59:43.620Z,1761677983.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459454,0.815697,0.351484],[-0.887761,0.409272,0.210658],[0.027980,-0.408821,0.912185]] 2025-10-28T18:59:44.018Z,1761677984.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440523,0.825687,0.352393],[-0.897228,0.391660,0.203922],[0.030357,-0.406009,0.913365]] 2025-10-28T18:59:44.423Z,1761677984.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421697,0.833254,0.357574],[-0.906174,0.373397,0.198551],[0.031926,-0.407753,0.912534]] 2025-10-28T18:59:44.826Z,1761677984.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402623,0.841325,0.360647],[-0.914764,0.355525,0.191856],[0.033194,-0.407153,0.912757]] 2025-10-28T18:59:45.232Z,1761677985.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383327,0.848952,0.363787],[-0.922968,0.337382,0.185212],[0.034501,-0.406761,0.912883]] 2025-10-28T18:59:45.635Z,1761677985.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363876,0.857501,0.363713],[-0.930755,0.319685,0.177473],[0.035910,-0.403106,0.914449]] 2025-10-28T18:59:46.038Z,1761677986.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345203,0.864955,0.364264],[-0.937776,0.302350,0.170765],[0.037569,-0.400547,0.915506]] 2025-10-28T18:59:46.442Z,1761677986.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327025,0.871092,0.366407],[-0.944183,0.284902,0.165376],[0.039668,-0.400037,0.915640]] 2025-10-28T18:59:46.846Z,1761677986.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309233,0.877267,0.367121],[-0.950052,0.267874,0.160140],[0.042143,-0.398304,0.916285]] 2025-10-28T18:59:47.250Z,1761677987.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292659,0.881620,0.370265],[-0.955177,0.251481,0.156187],[0.044583,-0.399378,0.915702]] 2025-10-28T18:59:47.276Z,1761677987.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T18:59:47.655Z,1761677987.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277039,0.885599,0.372778],[-0.959703,0.236011,0.152539],[0.047109,-0.400015,0.915297]] 2025-10-28T18:59:48.071Z,1761677988.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262420,0.890114,0.372602],[-0.963681,0.221924,0.148554],[0.049541,-0.398053,0.916024]] 2025-10-28T18:59:48.280Z,1761677988.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T18:59:48.463Z,1761677988.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247336,0.894077,0.373433],[-0.967551,0.207353,0.144392],[0.051665,-0.397029,0.916351]] 2025-10-28T18:59:48.867Z,1761677988.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231973,0.895682,0.379397],[-0.971275,0.192014,0.140555],[0.053043,-0.401104,0.914495]] 2025-10-28T18:59:49.271Z,1761677989.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217685,0.896573,0.385707],[-0.974530,0.177843,0.136611],[0.053887,-0.405621,0.912451]] 2025-10-28T18:59:49.676Z,1761677989.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202634,0.898036,0.390475],[-0.977750,0.163447,0.131490],[0.054261,-0.408432,0.911175]] 2025-10-28T18:59:50.080Z,1761677990.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186547,0.898397,0.397596],[-0.980945,0.147967,0.125906],[0.054283,-0.413507,0.908881]] 2025-10-28T18:59:50.483Z,1761677990.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169780,0.898758,0.404238],[-0.983989,0.132037,0.119712],[0.054218,-0.418091,0.906786]] 2025-10-28T18:59:50.887Z,1761677990.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151998,0.898815,0.411130],[-0.986894,0.115209,0.112992],[0.054193,-0.422916,0.904547]] 2025-10-28T18:59:51.293Z,1761677991.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132326,0.900265,0.414744],[-0.989700,0.096943,0.105340],[0.054627,-0.424411,0.903820]] 2025-10-28T18:59:51.694Z,1761677991.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111578,0.903114,0.414650],[-0.992202,0.077922,0.097275],[0.055540,-0.422271,0.904767]] 2025-10-28T18:59:52.098Z,1761677992.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090091,0.906292,0.412938],[-0.994330,0.058330,0.088915],[0.056497,-0.418607,0.906408]] 2025-10-28T18:59:52.502Z,1761677992.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067539,0.909391,0.410422],[-0.996040,0.037622,0.080548],[0.057809,-0.414237,0.908331]] 2025-10-28T18:59:52.906Z,1761677992.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043704,0.911793,0.408318],[-0.997278,0.015521,0.072083],[0.059387,-0.410357,0.909989]] 2025-10-28T18:59:53.311Z,1761677993.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018813,0.913780,0.405773],[-0.997950,-0.007670,0.063540],[0.061174,-0.406137,0.911762]] 2025-10-28T18:59:53.715Z,1761677993.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006415,0.914807,0.403841],[-0.997994,-0.031294,0.055035],[0.062984,-0.402678,0.913172]] 2025-10-28T18:59:54.119Z,1761677994.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031359,0.914761,0.402777],[-0.997389,-0.054867,0.046957],[0.065053,-0.400253,0.914093]] 2025-10-28T18:59:54.543Z,1761677994.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076681,0.911315,0.404507],[-0.994667,-0.097984,0.032192],[0.068972,-0.399881,0.913968]] 2025-10-28T18:59:55.338Z,1761677995.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097108,0.907463,0.408755],[-0.992792,-0.117305,0.024565],[0.070241,-0.403423,0.912313]] 2025-10-28T18:59:55.361Z,1761677995.361 [marl:UpdateRudder] Running Loop=1 2025-10-28T18:59:55.361Z,1761677995.361 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T18:59:55.362Z,1761677995.362 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T18:59:55.362Z,1761677995.362 [marl:UpdateRudder:A] Stopped 2025-10-28T18:59:55.362Z,1761677995.362 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T18:59:55.742Z,1761677995.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133844,0.898935,0.417134],[-0.988462,-0.151216,0.008711],[0.070908,-0.411155,0.908803]] 2025-10-28T18:59:55.785Z,1761677995.785 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T18:59:55.785Z,1761677995.785 [marl:UpdateRudder:B] Stopped 2025-10-28T18:59:55.786Z,1761677995.786 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T18:59:55.786Z,1761677995.786 [marl:UpdateRudder] Stopped 2025-10-28T18:59:55.786Z,1761677995.786 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T18:59:56.149Z,1761677996.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150927,0.894168,0.421526],[-0.986033,-0.166548,0.000243],[0.070422,-0.415602,0.906816]] 2025-10-28T18:59:56.558Z,1761677996.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167618,0.890164,0.423689],[-0.983389,-0.181332,-0.008068],[0.069647,-0.418003,0.905772]] 2025-10-28T18:59:56.652Z,1761677996.652 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T18:59:56.652Z,1761677996.652 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateCommandMode:A] Stopped 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateCommandMode] Stopped 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateSpeed] Running Loop=1 2025-10-28T18:59:56.653Z,1761677996.653 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T18:59:56.654Z,1761677996.654 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T18:59:56.654Z,1761677996.654 [marl:UpdateSpeed:A] Stopped 2025-10-28T18:59:56.654Z,1761677996.654 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T18:59:56.654Z,1761677996.654 [marl:UpdateSpeed] Stopped 2025-10-28T18:59:56.654Z,1761677996.654 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T18:59:56.952Z,1761677996.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183780,0.885453,0.426847],[-0.980569,-0.195462,-0.016718],[0.068629,-0.421625,0.904169]] 2025-10-28T18:59:57.352Z,1761677997.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199725,0.881421,0.428027],[-0.977480,-0.209602,-0.024485],[0.068133,-0.423278,0.903434]] 2025-10-28T18:59:57.757Z,1761677997.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215024,0.877622,0.428421],[-0.974256,-0.223197,-0.031759],[0.067750,-0.424220,0.903021]] 2025-10-28T18:59:58.158Z,1761677998.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229437,0.874471,0.427387],[-0.970970,-0.236152,-0.038065],[0.067642,-0.423714,0.903267]] 2025-10-28T18:59:58.573Z,1761677998.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244227,0.872214,0.423788],[-0.967346,-0.249684,-0.043593],[0.067790,-0.420596,0.904712]] 2025-10-28T18:59:58.967Z,1761677998.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260372,0.869755,0.419204],[-0.963089,-0.264677,-0.049040],[0.068300,-0.416500,0.906567]] 2025-10-28T18:59:59.370Z,1761677999.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277183,0.866524,0.415097],[-0.958355,-0.280251,-0.054915],[0.068746,-0.413032,0.908118]] 2025-10-28T18:59:59.779Z,1761677999.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294643,0.862922,0.410551],[-0.953100,-0.296472,-0.060874],[0.069187,-0.409232,0.909803]] 2025-10-28T19:00:00.180Z,1761678000.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312443,0.858762,0.406088],[-0.947392,-0.312968,-0.067083],[0.069484,-0.405684,0.911368]] 2025-10-28T19:00:00.638Z,1761678000.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331107,0.853733,0.401881],[-0.941028,-0.330141,-0.073974],[0.069523,-0.402675,0.912699]] 2025-10-28T19:00:00.987Z,1761678000.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348765,0.848315,0.398402],[-0.934649,-0.346227,-0.080982],[0.069239,-0.400610,0.913629]] 2025-10-28T19:00:01.391Z,1761678001.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366219,0.842872,0.394272],[-0.928034,-0.361836,-0.088472],[0.068091,-0.398298,0.914725]] 2025-10-28T19:00:01.797Z,1761678001.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383891,0.837331,0.389237],[-0.920988,-0.377526,-0.096200],[0.066396,-0.395413,0.916100]] 2025-10-28T19:00:02.199Z,1761678002.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402078,0.830660,0.385147],[-0.913340,-0.393442,-0.104940],[0.064364,-0.393964,0.916869]] 2025-10-28T19:00:02.653Z,1761678002.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420103,0.823319,0.381653],[-0.905347,-0.409040,-0.114160],[0.062121,-0.393488,0.917229]] 2025-10-28T19:00:03.006Z,1761678003.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438766,0.816094,0.376131],[-0.896599,-0.425517,-0.122658],[0.059950,-0.391056,0.918412]] 2025-10-28T19:00:03.412Z,1761678003.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457870,0.808122,0.370531],[-0.887116,-0.442571,-0.130980],[0.058139,-0.388676,0.919538]] 2025-10-28T19:00:03.814Z,1761678003.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476824,0.799246,0.365847],[-0.877191,-0.459345,-0.139775],[0.056336,-0.387566,0.920119]] 2025-10-28T19:00:04.219Z,1761678004.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495376,0.790346,0.360495],[-0.866932,-0.476104,-0.147491],[0.055064,-0.385588,0.921027]] 2025-10-28T19:00:04.659Z,1761678004.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512675,0.780343,0.358091],[-0.856884,-0.491259,-0.156252],[0.053985,-0.386949,0.920520]] 2025-10-28T19:00:05.041Z,1761678005.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528382,0.770694,0.356152],[-0.847364,-0.504803,-0.164769],[0.052800,-0.388851,0.919787]] 2025-10-28T19:00:05.440Z,1761678005.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543747,0.761628,0.352508],[-0.837667,-0.518305,-0.172260],[0.051509,-0.388950,0.919818]] 2025-10-28T19:00:05.843Z,1761678005.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558634,0.751968,0.349961],[-0.827883,-0.531164,-0.180206],[0.050377,-0.390396,0.919268]] 2025-10-28T19:00:06.246Z,1761678006.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572923,0.742120,0.347876],[-0.818121,-0.543381,-0.188190],[0.049370,-0.392423,0.918459]] 2025-10-28T19:00:06.662Z,1761678006.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587280,0.731898,0.345582],[-0.807940,-0.555601,-0.196316],[0.048323,-0.394502,0.917623]] 2025-10-28T19:00:07.056Z,1761678007.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601381,0.721394,0.343411],[-0.797562,-0.567486,-0.204586],[0.047293,-0.396926,0.916631]] 2025-10-28T19:00:07.459Z,1761678007.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615723,0.710441,0.340821],[-0.786609,-0.579537,-0.213035],[0.046170,-0.399263,0.915673]] 2025-10-28T19:00:07.863Z,1761678007.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629777,0.699369,0.338030],[-0.775472,-0.591269,-0.221458],[0.044986,-0.401602,0.914709]] 2025-10-28T19:00:08.266Z,1761678008.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644116,0.687836,0.334657],[-0.763678,-0.603250,-0.229968],[0.043702,-0.403696,0.913849]] 2025-10-28T19:00:08.676Z,1761678008.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657719,0.675779,0.332758],[-0.752080,-0.613886,-0.239834],[0.042201,-0.408004,0.912004]] 2025-10-28T19:00:08.742Z,1761678008.742 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:00:08.742Z,1761678008.742 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:00:08.742Z,1761678008.742 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:00:08.742Z,1761678008.742 [marl:UpdateRudder:A] Stopped 2025-10-28T19:00:08.742Z,1761678008.742 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:00:09.074Z,1761678009.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671639,0.664162,0.328314],[-0.739751,-0.625615,-0.247738],[0.040861,-0.409261,0.911502]] 2025-10-28T19:00:09.105Z,1761678009.105 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:00:09.105Z,1761678009.105 [marl:UpdateRudder:B] Stopped 2025-10-28T19:00:09.105Z,1761678009.105 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:00:09.105Z,1761678009.105 [marl:UpdateRudder] Stopped 2025-10-28T19:00:09.105Z,1761678009.105 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:00:09.478Z,1761678009.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685397,0.652549,0.323126],[-0.727112,-0.637234,-0.255423],[0.039230,-0.410015,0.911235]] 2025-10-28T19:00:09.883Z,1761678009.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698528,0.641754,0.316560],[-0.714606,-0.648708,-0.261757],[0.037372,-0.409060,0.911742]] 2025-10-28T19:00:09.907Z,1761678009.907 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:00:09.907Z,1761678009.907 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:00:09.907Z,1761678009.907 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateCommandMode] Stopped 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:00:09.908Z,1761678009.908 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:00:09.909Z,1761678009.909 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:00:09.909Z,1761678009.909 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:00:09.909Z,1761678009.909 [marl:UpdateSpeed] Stopped 2025-10-28T19:00:09.909Z,1761678009.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:00:10.289Z,1761678010.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711802,0.630757,0.309003],[-0.701498,-0.660460,-0.267757],[0.035194,-0.407355,0.912592]] 2025-10-28T19:00:10.691Z,1761678010.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724679,0.620078,0.300572],[-0.688274,-0.672522,-0.272017],[0.033470,-0.404000,0.914146]] 2025-10-28T19:00:11.095Z,1761678011.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737097,0.609037,0.292851],[-0.675037,-0.683965,-0.276618],[0.031829,-0.401580,0.915271]] 2025-10-28T19:00:11.136Z,1761678011.136 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:00:11.381Z,1761678011.381 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:00:11.381Z,1761678011.381 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:00:11.499Z,1761678011.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749320,0.598176,0.284088],[-0.661526,-0.695633,-0.280139],[0.030049,-0.397845,0.916960]] 2025-10-28T19:00:11.633Z,1761678011.633 [DAT](INFO): DAT read: user:156> 2025-10-28T19:00:11.634Z,1761678011.634 [DAT](INFO): DAT read: Tx time:19:00:11.3870 2025-10-28T19:00:11.634Z,1761678011.634 [DAT](INFO): Ping request sent. 2025-10-28T19:00:11.634Z,1761678011.634 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:00:11.635Z,1761678011.635 [DAT](INFO): publishing transmit ping time 2025-10-28T19:00:11.635Z,1761678011.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000963 2025-10-28T19:00:11.885Z,1761678011.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250475 2025-10-28T19:00:11.907Z,1761678011.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761774,0.585644,0.276985],[-0.647222,-0.706685,-0.285831],[0.028346,-0.397010,0.917377]] 2025-10-28T19:00:12.137Z,1761678012.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502499 2025-10-28T19:00:12.308Z,1761678012.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773775,0.572759,0.270590],[-0.632898,-0.717006,-0.292136],[0.026691,-0.397303,0.917299]] 2025-10-28T19:00:12.389Z,1761678012.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754620 2025-10-28T19:00:12.644Z,1761678012.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009698 2025-10-28T19:00:12.710Z,1761678012.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785725,0.559288,0.264259],[-0.618056,-0.727329,-0.298329],[0.025351,-0.397731,0.917152]] 2025-10-28T19:00:12.893Z,1761678012.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258499 2025-10-28T19:00:13.115Z,1761678013.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797873,0.544588,0.258503],[-0.602332,-0.737561,-0.305287],[0.024406,-0.399285,0.916502]] 2025-10-28T19:00:13.145Z,1761678013.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510598 2025-10-28T19:00:13.397Z,1761678013.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762465 2025-10-28T19:00:13.527Z,1761678013.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810251,0.529175,0.251928],[-0.585604,-0.748356,-0.311497],[0.023696,-0.399921,0.916243]] 2025-10-28T19:00:13.649Z,1761678013.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014487 2025-10-28T19:00:13.901Z,1761678013.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266568 2025-10-28T19:00:13.922Z,1761678013.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822664,0.513421,0.244178],[-0.568057,-0.759789,-0.316277],[0.023141,-0.398897,0.916704]] 2025-10-28T19:00:14.156Z,1761678014.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521422 2025-10-28T19:00:14.327Z,1761678014.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835103,0.496498,0.236839],[-0.549612,-0.771098,-0.321458],[0.023023,-0.398620,0.916827]] 2025-10-28T19:00:14.405Z,1761678014.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770502 2025-10-28T19:00:14.658Z,1761678014.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023365 2025-10-28T19:00:14.739Z,1761678014.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847441,0.478812,0.229307],[-0.530396,-0.782217,-0.326829],[0.022878,-0.398591,0.916843]] 2025-10-28T19:00:14.909Z,1761678014.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274461 2025-10-28T19:00:15.136Z,1761678015.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859487,0.460987,0.220847],[-0.510678,-0.793116,-0.331926],[0.022144,-0.398068,0.917089]] 2025-10-28T19:00:15.161Z,1761678015.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526631 2025-10-28T19:00:15.413Z,1761678015.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778696 2025-10-28T19:00:15.539Z,1761678015.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870582,0.443216,0.213649],[-0.491575,-0.802023,-0.339283],[0.020976,-0.400398,0.916101]] 2025-10-28T19:00:15.665Z,1761678015.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031088 2025-10-28T19:00:15.917Z,1761678015.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282512 2025-10-28T19:00:15.942Z,1761678015.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880692,0.425702,0.207747],[-0.473287,-0.808875,-0.348885],[0.019520,-0.405584,0.913849]] 2025-10-28T19:00:16.169Z,1761678016.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534558 2025-10-28T19:00:16.346Z,1761678016.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890244,0.409016,0.200431],[-0.455140,-0.815923,-0.356535],[0.017708,-0.408627,0.912530]] 2025-10-28T19:00:16.421Z,1761678016.421 [DAT](INFO): DAT read: Rx Time:19:00:15.6368 2025-10-28T19:00:16.422Z,1761678016.422 [DAT](INFO): Rx dataTimestamp_ set to:1761678016.421671 2025-10-28T19:00:16.422Z,1761678016.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788130 2025-10-28T19:00:16.673Z,1761678016.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038488 2025-10-28T19:00:16.802Z,1761678016.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898830,0.392723,0.194612],[-0.438000,-0.821192,-0.365787],[0.016161,-0.414020,0.910124]] 2025-10-28T19:00:16.933Z,1761678016.933 [DAT](INFO): DAT read: 19:00:15.6368 LVL= 32752, 32753, 30002, 32755, AGC= 74, IDX= 496,-0.14,-0.963, 0.191, 0.868,-0.133, PHS=-0.729, 0.369, 0.957, RAW= 249.9, -8.1, CAL= 248.2, -12.8, ROT= 261.8, 12.8 2025-10-28T19:00:16.934Z,1761678016.934 [DAT](INFO): got valid direction response: 19:00:15.6368 LVL= 32752, 32753, 30002, 32755, AGC= 74, IDX= 496,-0.14,-0.963, 0.191, 0.868,-0.133, PHS=-0.729, 0.369, 0.957, RAW= 249.9, -8.1, CAL= 248.2, -12.8, ROT= 261.8, 12.8 2025-10-28T19:00:16.935Z,1761678016.935 [DAT](INFO): DAT read: Bearing 86, 0 (Remote) 2025-10-28T19:00:16.935Z,1761678016.935 [DAT](INFO): Remote Bearing received:Bearing 86, 0 (Remote) 2025-10-28T19:00:16.937Z,1761678016.937 [DAT](INFO): DAT read: Bearing 232.0, -51.9 (Local) 2025-10-28T19:00:16.937Z,1761678016.937 [DAT](INFO): Local bearing/azimuth received: Bearing 232.0, -51.9 (Local) 2025-10-28T19:00:16.938Z,1761678016.938 [DAT](INFO): DAT read: Range 11 to 20 : 1665.5 m (Round-trip 2220.7 ms) speed -0.4 m/s 2025-10-28T19:00:16.939Z,1761678016.939 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:00:16.940Z,1761678016.940 [DAT](INFO): direction in FSK: [-0.139085,-0.965180,-0.221548] 2025-10-28T19:00:16.940Z,1761678016.940 [DAT](INFO): publishing direction and range info 2025-10-28T19:00:17.155Z,1761678017.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906855,0.377548,0.187276],[-0.421177,-0.827705,-0.370830],[0.015003,-0.415165,0.909622]] 2025-10-28T19:00:17.207Z,1761678017.207 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678080.00. Resetting abort timer. 2025-10-28T19:00:17.559Z,1761678017.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914811,0.361795,0.179513],[-0.403645,-0.834229,-0.375675],[0.013837,-0.416132,0.909199]] 2025-10-28T19:00:17.963Z,1761678017.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922265,0.346516,0.171331],[-0.386365,-0.840371,-0.380130],[0.012261,-0.416777,0.908926]] 2025-10-28T19:00:18.368Z,1761678018.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929280,0.331641,0.162643],[-0.369225,-0.846594,-0.383344],[0.010560,-0.416285,0.909173]] 2025-10-28T19:00:18.402Z,1761678018.402 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:00:18.776Z,1761678018.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936151,0.316613,0.152899],[-0.351492,-0.853484,-0.384731],[0.008686,-0.413909,0.910277]] 2025-10-28T19:00:19.174Z,1761678019.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942906,0.300477,0.143673],[-0.332984,-0.859632,-0.387498],[0.007072,-0.413215,0.910606]] 2025-10-28T19:00:19.404Z,1761678019.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:00:19.578Z,1761678019.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949492,0.283969,0.133512],[-0.313749,-0.866067,-0.389217],[0.005105,-0.411448,0.911419]] 2025-10-28T19:00:19.985Z,1761678019.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955594,0.267396,0.123855],[-0.294670,-0.871579,-0.391815],[0.003180,-0.410912,0.911669]] 2025-10-28T19:00:20.386Z,1761678020.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961429,0.250428,0.113755],[-0.275051,-0.877256,-0.393407],[0.001273,-0.409521,0.912300]] 2025-10-28T19:00:20.797Z,1761678020.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966904,0.233537,0.102746],[-0.255138,-0.883235,-0.393447],[-0.001135,-0.406640,0.913588]] 2025-10-28T19:00:21.195Z,1761678021.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971824,0.216956,0.092129],[-0.235680,-0.888511,-0.393703],[-0.003559,-0.404323,0.914609]] 2025-10-28T19:00:21.600Z,1761678021.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976479,0.199615,0.081508],[-0.215538,-0.893634,-0.393653],[-0.005741,-0.401961,0.915639]] 2025-10-28T19:00:22.014Z,1761678022.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980790,0.181804,0.070701],[-0.194897,-0.898166,-0.394097],[-0.008147,-0.400306,0.916345]] 2025-10-28T19:00:22.037Z,1761678022.037 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:00:22.037Z,1761678022.037 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:00:22.038Z,1761678022.038 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:00:22.038Z,1761678022.038 [marl:UpdateRudder:A] Stopped 2025-10-28T19:00:22.038Z,1761678022.038 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:00:22.406Z,1761678022.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984699,0.163636,0.059929],[-0.173937,-0.901807,-0.395587],[-0.010688,-0.399958,0.916471]] 2025-10-28T19:00:22.442Z,1761678022.442 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:00:22.442Z,1761678022.442 [marl:UpdateRudder:B] Stopped 2025-10-28T19:00:22.442Z,1761678022.442 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:00:22.442Z,1761678022.442 [marl:UpdateRudder] Stopped 2025-10-28T19:00:22.442Z,1761678022.442 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:00:22.815Z,1761678022.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988258,0.144618,0.049321],[-0.152263,-0.905145,-0.396899],[-0.012756,-0.399749,0.916536]] 2025-10-28T19:00:23.216Z,1761678023.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991368,0.125191,0.038944],[-0.130286,-0.907478,-0.399386],[-0.014658,-0.401012,0.915955]] 2025-10-28T19:00:23.241Z,1761678023.241 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:00:23.241Z,1761678023.241 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:00:23.241Z,1761678023.241 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:00:23.241Z,1761678023.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:00:23.241Z,1761678023.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateCommandMode] Stopped 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed] Stopped 2025-10-28T19:00:23.242Z,1761678023.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:00:23.630Z,1761678023.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993940,0.106136,0.028603],[-0.108650,-0.909102,-0.402156],[-0.016680,-0.402827,0.915124]] 2025-10-28T19:00:24.023Z,1761678024.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996050,0.086937,0.018084],[-0.086829,-0.910895,-0.403399],[-0.018598,-0.403375,0.914846]] 2025-10-28T19:00:24.428Z,1761678024.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997693,0.067445,0.007735],[-0.064791,-0.911980,-0.405086],[-0.020267,-0.404652,0.914246]] 2025-10-28T19:00:24.838Z,1761678024.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998784,0.049249,-0.002162],[-0.044105,-0.912315,-0.407108],[-0.022022,-0.406517,0.913378]] 2025-10-28T19:00:25.235Z,1761678025.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999389,0.032912,-0.011748],[-0.025240,-0.912309,-0.408725],[-0.024169,-0.408178,0.912582]] 2025-10-28T19:00:25.639Z,1761678025.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999628,0.017840,-0.020609],[-0.007807,-0.911773,-0.410621],[-0.026116,-0.410307,0.911573]] 2025-10-28T19:00:26.043Z,1761678026.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999569,0.003224,-0.029166],[0.009021,-0.912056,-0.409966],[-0.027923,-0.410052,0.911635]] 2025-10-28T19:00:26.449Z,1761678026.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999194,-0.011389,-0.038484],[0.026110,-0.912687,-0.407824],[-0.030479,-0.408501,0.912249]] 2025-10-28T19:00:26.851Z,1761678026.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998547,-0.025676,-0.047385],[0.042793,-0.912208,-0.407486],[-0.032762,-0.408921,0.911981]] 2025-10-28T19:00:27.254Z,1761678027.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997662,-0.039664,-0.055660],[0.058855,-0.912599,-0.404598],[-0.034747,-0.406928,0.912799]] 2025-10-28T19:00:27.659Z,1761678027.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996367,-0.055721,-0.064411],[0.076986,-0.912689,-0.401337],[-0.036424,-0.404837,0.913663]] 2025-10-28T19:00:28.064Z,1761678028.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994621,-0.073109,-0.073375],[0.096454,-0.911942,-0.398821],[-0.037756,-0.403753,0.914089]] 2025-10-28T19:00:28.466Z,1761678028.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992253,-0.092289,-0.083163],[0.117878,-0.910757,-0.395759],[-0.039217,-0.402497,0.914581]] 2025-10-28T19:00:28.870Z,1761678028.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989254,-0.112586,-0.093279],[0.140488,-0.908675,-0.393158],[-0.040496,-0.402038,0.914727]] 2025-10-28T19:00:29.276Z,1761678029.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985583,-0.133836,-0.103512],[0.163927,-0.906816,-0.388347],[-0.041892,-0.399716,0.915681]] 2025-10-28T19:00:29.680Z,1761678029.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981141,-0.155891,-0.114284],[0.188353,-0.903891,-0.384062],[-0.043429,-0.398345,0.916207]] 2025-10-28T19:00:30.082Z,1761678030.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976045,-0.177600,-0.125672],[0.212779,-0.899724,-0.381080],[-0.045391,-0.398691,0.915961]] 2025-10-28T19:00:30.495Z,1761678030.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970433,-0.199198,-0.136306],[0.236760,-0.895426,-0.377038],[-0.046947,-0.398162,0.916113]] 2025-10-28T19:00:30.891Z,1761678030.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964464,-0.219542,-0.147008],[0.259699,-0.890131,-0.374464],[-0.048646,-0.399334,0.915514]] 2025-10-28T19:00:31.298Z,1761678031.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958171,-0.238288,-0.158514],[0.281628,-0.883597,-0.374088],[-0.050922,-0.403082,0.913746]] 2025-10-28T19:00:31.698Z,1761678031.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951765,-0.256273,-0.168722],[0.302242,-0.877779,-0.371690],[-0.052847,-0.404757,0.912896]] 2025-10-28T19:00:32.102Z,1761678032.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945276,-0.273670,-0.177646],[0.321715,-0.872485,-0.367789],[-0.054341,-0.404814,0.912783]] 2025-10-28T19:00:32.508Z,1761678032.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938896,-0.289064,-0.186860],[0.339680,-0.865838,-0.367344],[-0.055605,-0.408371,0.911121]] 2025-10-28T19:00:32.918Z,1761678032.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932071,-0.305390,-0.194886],[0.357764,-0.860560,-0.362547],[-0.056993,-0.407643,0.911361]] 2025-10-28T19:00:33.321Z,1761678033.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924913,-0.322377,-0.201518],[0.375677,-0.856335,-0.354341],[-0.058336,-0.403441,0.913144]] 2025-10-28T19:00:33.723Z,1761678033.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917462,-0.338725,-0.208637],[0.393373,-0.850662,-0.348758],[-0.059347,-0.402045,0.913695]] 2025-10-28T19:00:34.126Z,1761678034.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909964,-0.353887,-0.216169],[0.410264,-0.844198,-0.344982],[-0.060405,-0.402608,0.913377]] 2025-10-28T19:00:34.554Z,1761678034.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901392,-0.370879,-0.223474],[0.428571,-0.837815,-0.338221],[-0.061791,-0.400644,0.914148]] 2025-10-28T19:00:35.001Z,1761678035.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883751,-0.402839,-0.238126],[0.463592,-0.823014,-0.328221],[-0.063761,-0.400459,0.914093]] 2025-10-28T19:00:35.383Z,1761678035.383 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:00:35.383Z,1761678035.383 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:00:35.383Z,1761678035.383 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:00:35.383Z,1761678035.383 [marl:UpdateRudder:A] Stopped 2025-10-28T19:00:35.384Z,1761678035.384 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:00:35.742Z,1761678035.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874597,-0.417997,-0.245680],[0.480531,-0.814777,-0.324389],[-0.064581,-0.401766,0.913462]] 2025-10-28T19:00:35.793Z,1761678035.793 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:00:35.793Z,1761678035.793 [marl:UpdateRudder:B] Stopped 2025-10-28T19:00:35.793Z,1761678035.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:00:35.794Z,1761678035.794 [marl:UpdateRudder] Stopped 2025-10-28T19:00:35.794Z,1761678035.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:00:36.153Z,1761678036.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864847,-0.433404,-0.253377],[0.497745,-0.806075,-0.320144],[-0.065489,-0.402993,0.912857]] 2025-10-28T19:00:36.550Z,1761678036.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854944,-0.448855,-0.259999],[0.514464,-0.797798,-0.314396],[-0.066308,-0.402552,0.912993]] 2025-10-28T19:00:36.650Z,1761678036.650 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:00:36.650Z,1761678036.650 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:00:36.650Z,1761678036.650 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:00:36.650Z,1761678036.650 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:00:36.650Z,1761678036.650 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateCommandMode] Stopped 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:00:36.651Z,1761678036.651 [marl:UpdateSpeed] Stopped 2025-10-28T19:00:36.652Z,1761678036.652 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:00:36.956Z,1761678036.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844585,-0.464257,-0.266723],[0.531233,-0.788790,-0.309197],[-0.066842,-0.402835,0.912828]] 2025-10-28T19:00:37.360Z,1761678037.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833656,-0.479650,-0.273775],[0.548175,-0.778984,-0.304447],[-0.067238,-0.403880,0.912338]] 2025-10-28T19:00:37.770Z,1761678037.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821599,-0.496639,-0.279864],[0.566041,-0.768953,-0.297168],[-0.067617,-0.402568,0.912889]] 2025-10-28T19:00:38.167Z,1761678038.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808563,-0.513558,-0.287201],[0.584438,-0.757561,-0.290748],[-0.068256,-0.402939,0.912678]] 2025-10-28T19:00:38.575Z,1761678038.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794829,-0.529757,-0.295980],[0.602877,-0.744951,-0.285634],[-0.069174,-0.405470,0.911487]] 2025-10-28T19:00:38.986Z,1761678038.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765173,-0.561760,-0.314541],[0.639702,-0.718568,-0.272841],[-0.072748,-0.409983,0.909188]] 2025-10-28T19:00:39.792Z,1761678039.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734363,-0.592502,-0.331137],[0.674465,-0.691761,-0.257998],[-0.076203,-0.412805,0.907626]] 2025-10-28T19:00:40.191Z,1761678040.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719158,-0.606476,-0.339114],[0.690479,-0.678385,-0.251062],[-0.077787,-0.414705,0.906625]] 2025-10-28T19:00:40.635Z,1761678040.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704583,-0.619816,-0.345530],[0.705239,-0.665648,-0.244031],[-0.078747,-0.415621,0.906123]] 2025-10-28T19:00:41.001Z,1761678041.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690635,-0.632541,-0.350594],[0.718860,-0.653477,-0.237081],[-0.079141,-0.415764,0.906022]] 2025-10-28T19:00:41.399Z,1761678041.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677110,-0.644748,-0.354715],[0.731631,-0.641563,-0.230462],[-0.078982,-0.415568,0.906126]] 2025-10-28T19:00:41.802Z,1761678041.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663664,-0.657017,-0.357601],[0.743928,-0.629720,-0.223661],[-0.078239,-0.414465,0.906696]] 2025-10-28T19:00:42.206Z,1761678042.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650351,-0.669102,-0.359647],[0.755723,-0.617872,-0.217064],[-0.076978,-0.412962,0.907489]] 2025-10-28T19:00:42.647Z,1761678042.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637081,-0.681094,-0.360886],[0.767132,-0.605866,-0.210795],[-0.075077,-0.411141,0.908475]] 2025-10-28T19:00:43.014Z,1761678043.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623654,-0.693165,-0.361356],[0.778314,-0.593608,-0.204590],[-0.072689,-0.408841,0.909706]] 2025-10-28T19:00:43.418Z,1761678043.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609680,-0.705014,-0.362278],[0.789558,-0.580478,-0.199108],[-0.069921,-0.407431,0.910555]] 2025-10-28T19:00:43.822Z,1761678043.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595263,-0.716494,-0.363728],[0.800722,-0.566746,-0.194018],[-0.067128,-0.406736,0.911076]] 2025-10-28T19:00:44.228Z,1761678044.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579985,-0.727890,-0.365778],[0.812070,-0.552151,-0.188868],[-0.064489,-0.406578,0.911337]] 2025-10-28T19:00:44.654Z,1761678044.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563866,-0.739443,-0.367802],[0.823512,-0.537025,-0.182847],[-0.062314,-0.405991,0.911750]] 2025-10-28T19:00:45.034Z,1761678045.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546951,-0.751337,-0.369239],[0.834972,-0.521490,-0.175698],[-0.060546,-0.404403,0.912575]] 2025-10-28T19:00:45.440Z,1761678045.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529202,-0.763583,-0.369981],[0.846428,-0.505508,-0.167398],[-0.059206,-0.401750,0.913833]] 2025-10-28T19:00:45.842Z,1761678045.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511938,-0.774885,-0.370773],[0.857038,-0.490052,-0.159169],[-0.058361,-0.399251,0.914982]] 2025-10-28T19:00:46.246Z,1761678046.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493471,-0.786510,-0.371334],[0.867816,-0.473781,-0.149754],[-0.058148,-0.396149,0.916343]] 2025-10-28T19:00:46.657Z,1761678046.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474842,-0.797568,-0.372035],[0.878143,-0.457351,-0.140336],[-0.058223,-0.393338,0.917549]] 2025-10-28T19:00:47.055Z,1761678047.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455886,-0.808422,-0.372319],[0.888111,-0.440696,-0.130558],[-0.058533,-0.390180,0.918876]] 2025-10-28T19:00:47.471Z,1761678047.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436450,-0.818574,-0.373428],[0.897778,-0.423534,-0.120882],[-0.059208,-0.388014,0.919750]] 2025-10-28T19:00:47.862Z,1761678047.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416681,-0.828170,-0.374849],[0.907064,-0.406039,-0.111209],[-0.060103,-0.386351,0.920392]] 2025-10-28T19:00:48.266Z,1761678048.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397020,-0.836949,-0.376685],[0.915784,-0.388498,-0.102026],[-0.060951,-0.385469,0.920706]] 2025-10-28T19:00:48.737Z,1761678048.737 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:00:48.737Z,1761678048.737 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:00:48.737Z,1761678048.737 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:00:48.738Z,1761678048.738 [marl:UpdateRudder:A] Stopped 2025-10-28T19:00:48.738Z,1761678048.738 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:00:49.075Z,1761678049.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355847,-0.853576,-0.380501],[0.932328,-0.352267,-0.081681],[-0.064317,-0.383818,0.921166]] 2025-10-28T19:00:49.116Z,1761678049.116 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:00:49.116Z,1761678049.116 [marl:UpdateRudder:B] Stopped 2025-10-28T19:00:49.116Z,1761678049.116 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:00:49.116Z,1761678049.116 [marl:UpdateRudder] Stopped 2025-10-28T19:00:49.117Z,1761678049.117 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:00:49.483Z,1761678049.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335304,-0.861133,-0.382128],[0.939781,-0.334228,-0.071436],[-0.066202,-0.383070,0.921344]] 2025-10-28T19:00:49.534Z,1761678049.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:00:49.887Z,1761678049.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315221,-0.867653,-0.384465],[0.946562,-0.316577,-0.061638],[-0.068232,-0.383349,0.921080]] 2025-10-28T19:00:49.926Z,1761678049.926 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:00:49.926Z,1761678049.926 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:00:49.926Z,1761678049.926 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateCommandMode] Stopped 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:00:49.927Z,1761678049.927 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:00:49.928Z,1761678049.928 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:00:49.928Z,1761678049.928 [marl:UpdateSpeed] Stopped 2025-10-28T19:00:49.934Z,1761678049.934 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:00:50.287Z,1761678050.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295550,-0.873539,-0.386755],[0.952744,-0.299268,-0.052130],[-0.070206,-0.383885,0.920708]] 2025-10-28T19:00:50.536Z,1761678050.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:00:50.694Z,1761678050.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276696,-0.878954,-0.388431],[0.958260,-0.282637,-0.043050],[-0.071946,-0.384130,0.920472]] 2025-10-28T19:00:51.095Z,1761678051.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258678,-0.883634,-0.390225],[0.963173,-0.266630,-0.034720],[-0.073366,-0.384836,0.920064]] 2025-10-28T19:00:51.502Z,1761678051.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241050,-0.887422,-0.392909],[0.967654,-0.250815,-0.027167],[-0.074439,-0.386748,0.919176]] 2025-10-28T19:00:51.903Z,1761678051.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223999,-0.891179,-0.394493],[0.971698,-0.235377,-0.020018],[-0.075015,-0.387812,0.918681]] 2025-10-28T19:00:52.308Z,1761678052.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207146,-0.894127,-0.397024],[0.975422,-0.219920,-0.013646],[-0.075113,-0.390093,0.917707]] 2025-10-28T19:00:52.711Z,1761678052.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190371,-0.897363,-0.398118],[0.978901,-0.204185,-0.007852],[-0.074244,-0.391213,0.917301]] 2025-10-28T19:00:53.115Z,1761678053.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172964,-0.900638,-0.398666],[0.982225,-0.187696,-0.002113],[-0.072925,-0.391945,0.917094]] 2025-10-28T19:00:53.522Z,1761678053.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155355,-0.903633,-0.399139],[0.985317,-0.170710,0.002970],[-0.070821,-0.392817,0.916886]] 2025-10-28T19:00:53.931Z,1761678053.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137311,-0.906333,-0.399632],[0.988163,-0.153201,0.007922],[-0.068404,-0.393814,0.916641]] 2025-10-28T19:00:54.326Z,1761678054.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118157,-0.909285,-0.399048],[0.990806,-0.134624,0.013384],[-0.065891,-0.393798,0.916832]] 2025-10-28T19:00:54.731Z,1761678054.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098404,-0.911630,-0.399059],[0.993102,-0.115654,0.019316],[-0.063762,-0.394405,0.916722]] 2025-10-28T19:00:55.134Z,1761678055.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078415,-0.913535,-0.399131],[0.995014,-0.096471,0.025319],[-0.061635,-0.395156,0.916544]] 2025-10-28T19:00:55.543Z,1761678055.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058426,-0.915139,-0.398882],[0.996498,-0.077402,0.031618],[-0.059809,-0.395638,0.916457]] 2025-10-28T19:00:55.950Z,1761678055.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038415,-0.916479,-0.398235],[0.997570,-0.058357,0.038071],[-0.058131,-0.395804,0.916493]] 2025-10-28T19:00:56.346Z,1761678056.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019512,-0.917263,-0.397803],[0.998205,-0.040405,0.044205],[-0.056621,-0.396226,0.916405]] 2025-10-28T19:00:56.754Z,1761678056.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001008,-0.917553,-0.397612],[0.998483,-0.022813,0.050113],[-0.055052,-0.396958,0.916184]] 2025-10-28T19:00:57.156Z,1761678057.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016758,-0.918492,-0.395085],[0.998434,-0.005723,0.055653],[-0.053377,-0.395398,0.916957]] 2025-10-28T19:00:57.561Z,1761678057.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033857,-0.919191,-0.392353],[0.998095,0.010839,0.060735],[-0.051574,-0.393662,0.917807]] 2025-10-28T19:00:57.963Z,1761678057.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050532,-0.919513,-0.389799],[0.997486,0.027054,0.065492],[-0.049675,-0.392128,0.918568]] 2025-10-28T19:00:58.366Z,1761678058.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067104,-0.919636,-0.386998],[0.996600,0.043191,0.070169],[-0.047815,-0.390391,0.919407]] 2025-10-28T19:00:58.779Z,1761678058.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084312,-0.919611,-0.383676],[0.995382,0.059995,0.074935],[-0.045893,-0.388222,0.920423]] 2025-10-28T19:00:59.174Z,1761678059.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102032,-0.918902,-0.381063],[0.993809,0.077225,0.079879],[-0.043973,-0.386854,0.921092]] 2025-10-28T19:00:59.589Z,1761678059.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120553,-0.917373,-0.379334],[0.991811,0.095074,0.085274],[-0.042164,-0.386508,0.921322]] 2025-10-28T19:00:59.983Z,1761678059.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140012,-0.915662,-0.376774],[0.989320,0.113791,0.091096],[-0.040540,-0.385505,0.921815]] 2025-10-28T19:01:00.387Z,1761678060.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160572,-0.912952,-0.375146],[0.986248,0.133341,0.097642],[-0.039120,-0.385666,0.921809]] 2025-10-28T19:01:00.793Z,1761678060.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182148,-0.909126,-0.374583],[0.982542,0.153624,0.104930],[-0.037849,-0.387156,0.921237]] 2025-10-28T19:01:01.194Z,1761678061.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204025,-0.904807,-0.373762],[0.978290,0.174254,0.112181],[-0.036373,-0.388535,0.920716]] 2025-10-28T19:01:01.601Z,1761678061.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226723,-0.900026,-0.372223],[0.973329,0.195627,0.119838],[-0.035040,-0.389465,0.920374]] 2025-10-28T19:01:02.004Z,1761678062.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249743,-0.894502,-0.370802],[0.967717,0.217146,0.127948],[-0.033931,-0.390786,0.919856]] 2025-10-28T19:01:02.027Z,1761678062.027 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:01:02.027Z,1761678062.027 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:01:02.028Z,1761678062.028 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:01:02.028Z,1761678062.028 [marl:UpdateRudder:A] Stopped 2025-10-28T19:01:02.028Z,1761678062.028 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:01:02.406Z,1761678062.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273130,-0.888499,-0.368741],[0.961405,0.238904,0.136471],[-0.033161,-0.391784,0.919460]] 2025-10-28T19:01:02.455Z,1761678062.455 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:01:02.455Z,1761678062.455 [marl:UpdateRudder:B] Stopped 2025-10-28T19:01:02.455Z,1761678062.455 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:01:02.455Z,1761678062.455 [marl:UpdateRudder] Stopped 2025-10-28T19:01:02.455Z,1761678062.455 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:01:02.810Z,1761678062.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296660,-0.882845,-0.364111],[0.954424,0.261046,0.144672],[-0.032673,-0.390435,0.920051]] 2025-10-28T19:01:03.215Z,1761678063.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319603,-0.876111,-0.360949],[0.946997,0.282303,0.153304],[-0.032415,-0.390814,0.919899]] 2025-10-28T19:01:03.238Z,1761678063.238 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:01:03.238Z,1761678063.238 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateCommandMode] Stopped 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:01:03.239Z,1761678063.239 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:01:03.240Z,1761678063.240 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:01:03.240Z,1761678063.240 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:01:03.240Z,1761678063.240 [marl:UpdateSpeed] Stopped 2025-10-28T19:01:03.240Z,1761678063.240 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:01:03.623Z,1761678063.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341725,-0.869396,-0.356896],[0.939230,0.302713,0.161898],[-0.032717,-0.390532,0.920008]] 2025-10-28T19:01:04.022Z,1761678064.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362650,-0.862994,-0.351747],[0.931327,0.322090,0.169963],[-0.033383,-0.389228,0.920536]] 2025-10-28T19:01:04.433Z,1761678064.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382135,-0.856115,-0.347908],[0.923454,0.339629,0.178562],[-0.034710,-0.389512,0.920367]] 2025-10-28T19:01:04.830Z,1761678064.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399885,-0.849252,-0.344765],[0.915866,0.355547,0.186483],[-0.035790,-0.390331,0.919979]] 2025-10-28T19:01:05.235Z,1761678065.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416313,-0.842584,-0.341667],[0.908466,0.370164,0.194084],[-0.037059,-0.391192,0.919563]] 2025-10-28T19:01:05.644Z,1761678065.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431488,-0.836206,-0.338494],[0.901297,0.383587,0.201307],[-0.038492,-0.391945,0.919183]] 2025-10-28T19:01:06.042Z,1761678066.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445474,-0.829835,-0.336046],[0.894422,0.395934,0.207953],[-0.039515,-0.393205,0.918601]] 2025-10-28T19:01:06.449Z,1761678066.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457817,-0.823562,-0.334886],[0.888157,0.406832,0.213692],[-0.039747,-0.395263,0.917708]] 2025-10-28T19:01:06.850Z,1761678066.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469587,-0.817779,-0.332754],[0.882016,0.417804,0.217914],[-0.039179,-0.395824,0.917490]] 2025-10-28T19:01:07.255Z,1761678067.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480859,-0.811817,-0.331252],[0.876021,0.428926,0.220477],[-0.036905,-0.396203,0.917421]] 2025-10-28T19:01:07.658Z,1761678067.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492413,-0.805678,-0.329261],[0.869708,0.440814,0.222016],[-0.033731,-0.395685,0.917767]] 2025-10-28T19:01:08.062Z,1761678068.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504831,-0.798452,-0.328054],[0.862714,0.453692,0.223358],[-0.029506,-0.395775,0.917874]] 2025-10-28T19:01:08.466Z,1761678068.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518559,-0.790257,-0.326482],[0.854673,0.467849,0.225060],[-0.025111,-0.395742,0.918018]] 2025-10-28T19:01:08.873Z,1761678068.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533477,-0.781056,-0.324582],[0.845562,0.483120,0.227197],[-0.020642,-0.395659,0.918166]] 2025-10-28T19:01:09.274Z,1761678069.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549968,-0.769942,-0.323612],[0.835030,0.499415,0.230889],[-0.016155,-0.397207,0.917587]] 2025-10-28T19:01:09.679Z,1761678069.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567411,-0.758380,-0.320787],[0.823346,0.516808,0.234543],[-0.012087,-0.397201,0.917652]] 2025-10-28T19:01:10.100Z,1761678070.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585476,-0.746199,-0.316867],[0.810646,0.534844,0.238315],[-0.008356,-0.396394,0.918042]] 2025-10-28T19:01:10.487Z,1761678070.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604172,-0.733382,-0.311651],[0.796837,0.553462,0.242344],[-0.005244,-0.394753,0.918772]] 2025-10-28T19:01:10.890Z,1761678070.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623273,-0.719393,-0.306600],[0.781999,0.571965,0.247657],[-0.002798,-0.394119,0.919055]] 2025-10-28T19:01:11.295Z,1761678071.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642112,-0.704683,-0.301851],[0.766611,0.589810,0.253835],[-0.000839,-0.394392,0.918942]] 2025-10-28T19:01:11.319Z,1761678071.319 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:01:11.365Z,1761678071.365 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:01:11.365Z,1761678071.365 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:01:11.617Z,1761678071.617 [DAT](INFO): DAT read: user:157> 2025-10-28T19:01:11.618Z,1761678071.618 [DAT](INFO): DAT read: Tx time:19:01:11.3868 2025-10-28T19:01:11.618Z,1761678071.618 [DAT](INFO): Ping request sent. 2025-10-28T19:01:11.618Z,1761678071.618 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:01:11.618Z,1761678071.618 [DAT](INFO): publishing transmit ping time 2025-10-28T19:01:11.619Z,1761678071.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T19:01:11.699Z,1761678071.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660078,-0.690142,-0.296651],[0.751196,0.606957,0.259436],[0.001007,-0.394091,0.919071]] 2025-10-28T19:01:11.869Z,1761678071.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879 2025-10-28T19:01:12.102Z,1761678072.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677034,-0.675296,-0.292576],[0.735947,0.622636,0.265906],[0.002603,-0.395348,0.918528]] 2025-10-28T19:01:12.121Z,1761678072.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503044 2025-10-28T19:01:12.373Z,1761678072.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754817 2025-10-28T19:01:12.507Z,1761678072.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692673,-0.661124,-0.288303],[0.721239,0.637263,0.271495],[0.004233,-0.395993,0.918244]] 2025-10-28T19:01:12.631Z,1761678072.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012337 2025-10-28T19:01:12.877Z,1761678072.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924 2025-10-28T19:01:12.918Z,1761678072.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707234,-0.647200,-0.284522],[0.706954,0.650834,0.276824],[0.006016,-0.396923,0.917832]] 2025-10-28T19:01:13.129Z,1761678073.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836 2025-10-28T19:01:13.315Z,1761678073.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720519,-0.634220,-0.280389],[0.693390,0.663563,0.280881],[0.007915,-0.396799,0.917871]] 2025-10-28T19:01:13.385Z,1761678073.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766782 2025-10-28T19:01:13.633Z,1761678073.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927 2025-10-28T19:01:13.726Z,1761678073.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733350,-0.620882,-0.276954],[0.679776,0.675728,0.285124],[0.010117,-0.397362,0.917606]] 2025-10-28T19:01:13.885Z,1761678073.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266922 2025-10-28T19:01:14.122Z,1761678074.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746127,-0.607005,-0.273567],[0.665688,0.687784,0.289505],[0.012424,-0.398118,0.917250]] 2025-10-28T19:01:14.137Z,1761678074.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019 2025-10-28T19:01:14.389Z,1761678074.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770913 2025-10-28T19:01:14.526Z,1761678074.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758425,-0.593258,-0.269883],[0.651596,0.699477,0.293522],[0.014642,-0.398469,0.917065]] 2025-10-28T19:01:14.644Z,1761678074.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024983 2025-10-28T19:01:14.894Z,1761678074.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275849 2025-10-28T19:01:14.963Z,1761678074.963 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050422493451,35.0, +14.1, 0.0,1503.8RA, 0.00, 760.66, 466.13, 578.82, 571.14 2025-10-28T19:01:15.145Z,1761678075.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526950 2025-10-28T19:01:15.334Z,1761678075.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783816,-0.562704,-0.262673],[0.620716,0.722556,0.304342],[0.018541,-0.401594,0.915630]] 2025-10-28T19:01:15.366Z,1761678075.366 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:01:15.366Z,1761678075.366 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:01:15.366Z,1761678075.366 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:01:15.367Z,1761678075.367 [marl:UpdateRudder:A] Stopped 2025-10-28T19:01:15.367Z,1761678075.367 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:01:15.398Z,1761678075.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779684 2025-10-28T19:01:15.649Z,1761678075.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031487 2025-10-28T19:01:15.738Z,1761678075.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796604,-0.546560,-0.258252],[0.604166,0.734081,0.310014],[0.020137,-0.402986,0.914985]] 2025-10-28T19:01:15.783Z,1761678075.783 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:01:15.783Z,1761678075.783 [marl:UpdateRudder:B] Stopped 2025-10-28T19:01:15.783Z,1761678075.783 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:01:15.783Z,1761678075.783 [marl:UpdateRudder] Stopped 2025-10-28T19:01:15.783Z,1761678075.783 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:01:15.902Z,1761678075.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283352 2025-10-28T19:01:16.146Z,1761678076.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808905,-0.530886,-0.252650],[0.587543,0.745688,0.314234],[0.021576,-0.402628,0.915109]] 2025-10-28T19:01:16.153Z,1761678076.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534872 2025-10-28T19:01:16.406Z,1761678076.406 [DAT](INFO): DAT read: Rx Time:19:01:15.6217 2025-10-28T19:01:16.406Z,1761678076.406 [DAT](INFO): Rx dataTimestamp_ set to:1761678076.406069 2025-10-28T19:01:16.407Z,1761678076.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789204 2025-10-28T19:01:16.549Z,1761678076.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820606,-0.515136,-0.247470],[0.571029,0.756560,0.318659],[0.023073,-0.402806,0.914995]] 2025-10-28T19:01:16.575Z,1761678076.575 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode] Stopped 2025-10-28T19:01:16.576Z,1761678076.576 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:01:16.577Z,1761678076.577 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:01:16.577Z,1761678076.577 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:01:16.577Z,1761678076.577 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:01:16.577Z,1761678076.577 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:01:16.578Z,1761678076.578 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:01:16.578Z,1761678076.578 [marl:UpdateSpeed] Stopped 2025-10-28T19:01:16.578Z,1761678076.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:01:16.657Z,1761678076.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039034 2025-10-28T19:01:16.918Z,1761678076.918 [DAT](INFO): DAT read: 19:01:15.6217 LVL= 19280, 27601, 32738, 32755, AGC= 74, IDX= 354,-0.25,-1.715, 2.671, 2.868,-2.179, PHS= 0.565,-1.389,-1.281, RAW= 92.8, 21.4, CAL= 92.5, 26.7, ROT= 57.5, -26.7 2025-10-28T19:01:16.919Z,1761678076.919 [DAT](INFO): got valid direction response: 19:01:15.6217 LVL= 19280, 27601, 32738, 32755, AGC= 74, IDX= 354,-0.25,-1.715, 2.671, 2.868,-2.179, PHS= 0.565,-1.389,-1.281, RAW= 92.8, 21.4, CAL= 92.5, 26.7, ROT= 57.5, -26.7 2025-10-28T19:01:16.920Z,1761678076.920 [DAT](INFO): DAT read: Bearing 90, -13 (Remote) 2025-10-28T19:01:16.921Z,1761678076.921 [DAT](INFO): Remote Bearing received:Bearing 90, -13 (Remote) 2025-10-28T19:01:16.921Z,1761678076.921 [DAT](INFO): DAT read: Bearing 217.4, 31.0 (Local) 2025-10-28T19:01:16.922Z,1761678076.922 [DAT](INFO): Local bearing/azimuth received: Bearing 217.4, 31.0 (Local) 2025-10-28T19:01:16.923Z,1761678076.923 [DAT](INFO): DAT read: Range 11 to 20 : 1654.4 m (Round-trip 2205.9 ms) speed 0.2 m/s 2025-10-28T19:01:16.951Z,1761678076.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831538,-0.500176,-0.241595],[0.554938,0.767048,0.321995],[0.024261,-0.401821,0.915397]] 2025-10-28T19:01:16.959Z,1761678076.959 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:01:16.960Z,1761678076.960 [DAT](INFO): direction in FSK: [0.480008,0.753462,0.449319] 2025-10-28T19:01:16.968Z,1761678076.968 [DAT](INFO): publishing direction and range info 2025-10-28T19:01:17.086Z,1761678077.086 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678080.00. Resetting abort timer. 2025-10-28T19:01:17.355Z,1761678077.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841890,-0.484992,-0.236652],[0.539041,0.776589,0.326104],[0.025623,-0.402109,0.915233]] 2025-10-28T19:01:17.762Z,1761678077.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851491,-0.470115,-0.232281],[0.523665,0.785307,0.330253],[0.027155,-0.402845,0.914865]] 2025-10-28T19:01:18.162Z,1761678078.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860550,-0.456132,-0.226710],[0.508572,0.794249,0.332449],[0.028423,-0.401387,0.915467]] 2025-10-28T19:01:18.571Z,1761678078.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869214,-0.442193,-0.221208],[0.493521,0.803143,0.333765],[0.030073,-0.399284,0.916334]] 2025-10-28T19:01:18.972Z,1761678078.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877609,-0.427533,-0.216838],[0.478310,0.811129,0.336585],[0.031982,-0.399105,0.916347]] 2025-10-28T19:01:19.374Z,1761678079.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885884,-0.412002,-0.213224],[0.462651,0.818441,0.340748],[0.034122,-0.400511,0.915656]] 2025-10-28T19:01:19.784Z,1761678079.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894123,-0.396340,-0.208466],[0.446365,0.826271,0.343563],[0.036082,-0.400239,0.915700]] 2025-10-28T19:01:20.182Z,1761678080.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902344,-0.380448,-0.202568],[0.429364,0.834541,0.345236],[0.037707,-0.398497,0.916394]] 2025-10-28T19:01:20.612Z,1761678080.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910446,-0.364164,-0.196145],[0.411768,0.842888,0.346391],[0.039186,-0.396136,0.917355]] 2025-10-28T19:01:20.688Z,1761678080.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:01:20.993Z,1761678080.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918682,-0.346397,-0.189819],[0.392926,0.850571,0.349483],[0.040395,-0.395649,0.917513]] 2025-10-28T19:01:21.692Z,1761678081.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:01:21.799Z,1761678081.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934806,-0.308487,-0.175991],[0.352608,0.865407,0.356003],[0.042482,-0.394849,0.917763]] 2025-10-28T19:01:22.203Z,1761678082.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942544,-0.288110,-0.169125],[0.331236,0.871854,0.360768],[0.043511,-0.396060,0.917193]] 2025-10-28T19:01:22.646Z,1761678082.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956862,-0.246465,-0.153853],[0.287054,0.883768,0.369532],[0.044893,-0.397755,0.916393]] 2025-10-28T19:01:23.418Z,1761678083.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963397,-0.224936,-0.145842],[0.264156,0.889254,0.373428],[0.045693,-0.398285,0.916123]] 2025-10-28T19:01:23.818Z,1761678083.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969375,-0.203413,-0.137605],[0.241171,0.894238,0.377061],[0.046352,-0.398700,0.915909]] 2025-10-28T19:01:24.225Z,1761678084.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974750,-0.181943,-0.129460],[0.218295,0.898480,0.380895],[0.047016,-0.399538,0.915510]] 2025-10-28T19:01:24.654Z,1761678084.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983821,-0.139344,-0.112605],[0.172430,0.907067,0.384053],[0.048625,-0.397256,0.916419]] 2025-10-28T19:01:25.039Z,1761678085.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987504,-0.118161,-0.104281],[0.149679,0.910303,0.385933],[0.049325,-0.396719,0.916614]] 2025-10-28T19:01:25.439Z,1761678085.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990622,-0.097364,-0.095860],[0.127228,0.913115,0.387341],[0.049818,-0.395905,0.916939]] 2025-10-28T19:01:25.845Z,1761678085.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993198,-0.076781,-0.087541],[0.104965,0.915823,0.387623],[0.050410,-0.394175,0.917652]] 2025-10-28T19:01:26.251Z,1761678086.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995309,-0.055635,-0.079150],[0.082271,0.917195,0.389852],[0.050906,-0.394535,0.917470]] 2025-10-28T19:01:26.657Z,1761678086.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996876,-0.035103,-0.070755],[0.060116,0.918244,0.391426],[0.051230,-0.394457,0.917485]] 2025-10-28T19:01:27.055Z,1761678087.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997941,-0.015072,-0.062337],[0.038404,0.918890,0.392639],[0.051363,-0.394225,0.917577]] 2025-10-28T19:01:27.455Z,1761678087.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998529,0.004434,-0.054045],[0.017192,0.919351,0.393062],[0.051429,-0.393413,0.917922]] 2025-10-28T19:01:27.858Z,1761678087.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998656,0.023258,-0.046311],[-0.003142,0.919161,0.393869],[0.051728,-0.393194,0.917999]] 2025-10-28T19:01:28.263Z,1761678088.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998394,0.040830,-0.039275],[-0.022008,0.918325,0.395214],[0.052203,-0.393715,0.917749]] 2025-10-28T19:01:28.668Z,1761678088.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997829,0.057066,-0.032888],[-0.039448,0.917652,0.395422],[0.052745,-0.393266,0.917911]] 2025-10-28T19:01:28.709Z,1761678088.709 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:01:28.709Z,1761678088.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:01:28.709Z,1761678088.709 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:01:28.710Z,1761678088.710 [marl:UpdateRudder:A] Stopped 2025-10-28T19:01:28.710Z,1761678088.710 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:01:29.071Z,1761678089.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997008,0.072468,-0.026904],[-0.056005,0.917072,0.394768],[0.053281,-0.392081,0.918387]] 2025-10-28T19:01:29.118Z,1761678089.118 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:01:29.118Z,1761678089.118 [marl:UpdateRudder:B] Stopped 2025-10-28T19:01:29.118Z,1761678089.118 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:01:29.118Z,1761678089.118 [marl:UpdateRudder] Stopped 2025-10-28T19:01:29.118Z,1761678089.118 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:01:29.474Z,1761678089.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995892,0.088065,-0.021060],[-0.072659,0.916019,0.394501],[0.054034,-0.391350,0.918654]] 2025-10-28T19:01:29.889Z,1761678089.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994478,0.103913,-0.014673],[-0.089601,0.913531,0.396777],[0.054634,-0.393272,0.917798]] 2025-10-28T19:01:29.936Z,1761678089.936 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:01:29.936Z,1761678089.936 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateCommandMode] Stopped 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:01:29.937Z,1761678089.937 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:01:29.938Z,1761678089.938 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:01:29.938Z,1761678089.938 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:01:29.938Z,1761678089.938 [marl:UpdateSpeed] Stopped 2025-10-28T19:01:29.938Z,1761678089.938 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:01:30.285Z,1761678090.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992777,0.119720,-0.007772],[-0.106627,0.910190,0.400231],[0.054990,-0.396511,0.916381]] 2025-10-28T19:01:30.686Z,1761678090.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990764,0.135596,-0.000353],[-0.123889,0.906281,0.404112],[0.055116,-0.400336,0.914710]] 2025-10-28T19:01:31.090Z,1761678091.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988482,0.151123,0.008054],[-0.141154,0.901468,0.409183],[0.054577,-0.405607,0.912417]] 2025-10-28T19:01:31.495Z,1761678091.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985867,0.166667,0.016957],[-0.158684,0.896577,0.413484],[0.053711,-0.410332,0.910353]] 2025-10-28T19:01:31.903Z,1761678091.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982797,0.182857,0.025958],[-0.177017,0.892529,0.414796],[0.052680,-0.412256,0.909544]] 2025-10-28T19:01:32.303Z,1761678092.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979137,0.200105,0.035337],[-0.196568,0.888675,0.414268],[0.051494,-0.412571,0.909469]] 2025-10-28T19:01:32.707Z,1761678092.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974587,0.219398,0.045227],[-0.218303,0.884909,0.411437],[0.050246,-0.410854,0.910315]] 2025-10-28T19:01:33.110Z,1761678093.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969228,0.239843,0.055423],[-0.241315,0.881277,0.406346],[0.048616,-0.407217,0.912037]] 2025-10-28T19:01:33.516Z,1761678093.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963126,0.261155,0.064708],[-0.264940,0.878679,0.397152],[0.046861,-0.399651,0.915469]] 2025-10-28T19:01:33.918Z,1761678093.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956373,0.282872,0.073033],[-0.288603,0.875945,0.386559],[0.045374,-0.390772,0.919368]] 2025-10-28T19:01:34.324Z,1761678094.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949024,0.304646,0.080899],[-0.312069,0.871998,0.377138],[0.044349,-0.383159,0.922617]] 2025-10-28T19:01:34.727Z,1761678094.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940878,0.326904,0.088783],[-0.335896,0.866431,0.369419],[0.043841,-0.377400,0.925012]] 2025-10-28T19:01:34.751Z,1761678094.751 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD14.82, +6758.14, -72.66, 20.00, 0.00 2025-10-28T19:01:35.131Z,1761678095.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932065,0.349256,0.096308],[-0.359608,0.859583,0.363042],[0.044010,-0.373012,0.926782]] 2025-10-28T19:01:35.536Z,1761678095.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922440,0.371890,0.103936],[-0.383521,0.851070,0.358595],[0.044901,-0.370644,0.927689]] 2025-10-28T19:01:35.939Z,1761678095.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912204,0.393962,0.112593],[-0.407128,0.840552,0.357378],[0.046153,-0.371842,0.927148]] 2025-10-28T19:01:36.343Z,1761678096.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901846,0.415004,0.120186],[-0.429432,0.830376,0.355054],[0.047549,-0.371816,0.927088]] 2025-10-28T19:01:36.747Z,1761678096.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892351,0.432985,0.127415],[-0.448704,0.820566,0.354030],[0.048737,-0.373090,0.926514]] 2025-10-28T19:01:37.152Z,1761678097.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883941,0.447896,0.134305],[-0.464977,0.811580,0.353744],[0.049442,-0.375137,0.925650]] 2025-10-28T19:01:37.554Z,1761678097.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875855,0.461513,0.141010],[-0.479949,0.802632,0.354161],[0.050271,-0.377872,0.924492]] 2025-10-28T19:01:37.959Z,1761678097.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867866,0.473987,0.148814],[-0.494169,0.792849,0.356632],[0.051052,-0.383048,0.922317]] 2025-10-28T19:01:38.374Z,1761678098.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859574,0.486177,0.157369],[-0.508385,0.782411,0.359691],[0.051746,-0.389185,0.919705]] 2025-10-28T19:01:38.775Z,1761678098.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850966,0.498157,0.166423],[-0.522604,0.771503,0.362862],[0.052366,-0.395756,0.916861]] 2025-10-28T19:01:39.171Z,1761678099.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841993,0.509797,0.176508],[-0.536935,0.760097,0.365995],[0.052420,-0.402939,0.913724]] 2025-10-28T19:01:39.575Z,1761678099.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833005,0.520679,0.187070],[-0.550906,0.749411,0.367267],[0.051036,-0.408993,0.911109]] 2025-10-28T19:01:39.979Z,1761678099.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823417,0.531910,0.197625],[-0.565357,0.739253,0.365892],[0.048527,-0.413010,0.909433]] 2025-10-28T19:01:40.392Z,1761678100.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812446,0.544783,0.207709],[-0.581250,0.728945,0.361645],[0.045610,-0.414548,0.908884]] 2025-10-28T19:01:40.789Z,1761678100.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799723,0.559601,0.217464],[-0.598863,0.717904,0.354933],[0.042502,-0.414079,0.909248]] 2025-10-28T19:01:41.191Z,1761678101.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785704,0.575938,0.225755],[-0.617336,0.706671,0.345705],[0.039570,-0.410988,0.910782]] 2025-10-28T19:01:41.594Z,1761678101.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770561,0.593206,0.233115],[-0.636319,0.695029,0.334713],[0.036532,-0.406252,0.913030]] 2025-10-28T19:01:41.998Z,1761678101.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754900,0.610792,0.238871],[-0.654966,0.683307,0.322662],[0.033857,-0.400030,0.915877]] 2025-10-28T19:01:42.045Z,1761678102.045 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:01:42.045Z,1761678102.045 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:01:42.045Z,1761678102.045 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:01:42.046Z,1761678102.046 [marl:UpdateRudder:A] Stopped 2025-10-28T19:01:42.046Z,1761678102.046 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:01:42.402Z,1761678102.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738389,0.628860,0.243551],[-0.673628,0.670793,0.310261],[0.031738,-0.393156,0.918924]] 2025-10-28T19:01:42.429Z,1761678102.429 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:01:42.429Z,1761678102.429 [marl:UpdateRudder:B] Stopped 2025-10-28T19:01:42.429Z,1761678102.429 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:01:42.430Z,1761678102.430 [marl:UpdateRudder] Stopped 2025-10-28T19:01:42.430Z,1761678102.430 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:01:42.809Z,1761678102.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721361,0.646649,0.247960],[-0.691900,0.657282,0.298755],[0.030210,-0.387074,0.921554]] 2025-10-28T19:01:43.210Z,1761678103.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703509,0.664366,0.252374],[-0.710080,0.642433,0.288213],[0.029346,-0.381966,0.923710]] 2025-10-28T19:01:43.240Z,1761678103.240 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:01:43.240Z,1761678103.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:01:43.240Z,1761678103.240 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateCommandMode] Stopped 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:01:43.241Z,1761678103.241 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:01:43.242Z,1761678103.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:01:43.242Z,1761678103.242 [marl:UpdateSpeed] Stopped 2025-10-28T19:01:43.242Z,1761678103.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:01:43.614Z,1761678103.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685370,0.681462,0.256666],[-0.727615,0.626809,0.278722],[0.029058,-0.377782,0.925439]] 2025-10-28T19:01:44.019Z,1761678104.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667810,0.696756,0.261840],[-0.743774,0.611047,0.270963],[0.028799,-0.375702,0.926293]] 2025-10-28T19:01:44.428Z,1761678104.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651210,0.710036,0.267908],[-0.758371,0.595715,0.264569],[0.028257,-0.375463,0.926407]] 2025-10-28T19:01:44.826Z,1761678104.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636351,0.720825,0.274716],[-0.770928,0.581812,0.259162],[0.026978,-0.376705,0.925941]] 2025-10-28T19:01:44.842Z,1761678104.842 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050422500451,35.0, +14.1, 0.0,150 2025-10-28T19:01:45.230Z,1761678105.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621437,0.731024,0.281814],[-0.783043,0.567747,0.253982],[0.025667,-0.378507,0.925243]] 2025-10-28T19:01:45.634Z,1761678105.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607081,0.740820,0.287470],[-0.794266,0.554596,0.248123],[0.024385,-0.378959,0.925092]] 2025-10-28T19:01:46.041Z,1761678106.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593205,0.749481,0.293915],[-0.804727,0.541664,0.242930],[0.022868,-0.380629,0.924445]] 2025-10-28T19:01:46.456Z,1761678106.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579606,0.757596,0.300176],[-0.814617,0.529003,0.237814],[0.021373,-0.382366,0.923764]] 2025-10-28T19:01:46.853Z,1761678106.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565747,0.764930,0.307917],[-0.824340,0.515680,0.233534],[0.019850,-0.385950,0.922306]] 2025-10-28T19:01:47.250Z,1761678107.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551387,0.771609,0.317163],[-0.834042,0.501377,0.230206],[0.018611,-0.391460,0.920007]] 2025-10-28T19:01:47.655Z,1761678107.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536759,0.778350,0.325670],[-0.843562,0.487243,0.225825],[0.017091,-0.395937,0.918119]] 2025-10-28T19:01:48.060Z,1761678108.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521684,0.785694,0.332462],[-0.852998,0.473283,0.219994],[0.015499,-0.398357,0.917100]] 2025-10-28T19:01:48.466Z,1761678108.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505854,0.793761,0.337720],[-0.862505,0.459035,0.213007],[0.014051,-0.399036,0.916828]] 2025-10-28T19:01:48.871Z,1761678108.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488693,0.802231,0.342936],[-0.872360,0.443464,0.205738],[0.012969,-0.399706,0.916552]] 2025-10-28T19:01:49.271Z,1761678109.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470973,0.810688,0.347806],[-0.882065,0.427383,0.198255],[0.012077,-0.400161,0.916366]] 2025-10-28T19:01:49.677Z,1761678109.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452720,0.818769,0.353076],[-0.891581,0.410646,0.190928],[0.011336,-0.401232,0.915906]] 2025-10-28T19:01:50.079Z,1761678110.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434674,0.826688,0.357274],[-0.900522,0.394201,0.183480],[0.010843,-0.401487,0.915800]] 2025-10-28T19:01:50.486Z,1761678110.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416604,0.833906,0.361999],[-0.909027,0.377498,0.176537],[0.010561,-0.402612,0.915310]] 2025-10-28T19:01:50.886Z,1761678110.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399009,0.840667,0.366158],[-0.916889,0.361311,0.169611],[0.010289,-0.403403,0.914965]] 2025-10-28T19:01:51.293Z,1761678111.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381052,0.847743,0.368961],[-0.924497,0.344965,0.162185],[0.010212,-0.402904,0.915185]] 2025-10-28T19:01:51.694Z,1761678111.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363716,0.854362,0.371182],[-0.931457,0.329343,0.154661],[0.009891,-0.401993,0.915589]] 2025-10-28T19:01:51.813Z,1761678111.813 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:01:52.098Z,1761678112.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346281,0.860939,0.372657],[-0.938084,0.313807,0.146710],[0.009366,-0.400387,0.916298]] 2025-10-28T19:01:52.507Z,1761678112.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328156,0.866964,0.375083],[-0.944581,0.297401,0.138993],[0.008952,-0.399908,0.916512]] 2025-10-28T19:01:52.816Z,1761678112.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:01:52.908Z,1761678112.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309407,0.873070,0.376850],[-0.950895,0.280697,0.130412],[0.008078,-0.398695,0.917048]] 2025-10-28T19:01:53.310Z,1761678113.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290799,0.878369,0.379347],[-0.956759,0.264061,0.122004],[0.006994,-0.398423,0.917175]] 2025-10-28T19:01:53.714Z,1761678113.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271224,0.884063,0.380617],[-0.962500,0.246821,0.112575],[0.005579,-0.396877,0.917855]] 2025-10-28T19:01:54.118Z,1761678114.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250270,0.889918,0.381328],[-0.968168,0.228381,0.102439],[0.004074,-0.394826,0.918747]] 2025-10-28T19:01:54.533Z,1761678114.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228105,0.895463,0.382247],[-0.973633,0.208729,0.092038],[0.002631,-0.393163,0.919465]] 2025-10-28T19:01:54.927Z,1761678114.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204886,0.901112,0.382125],[-0.978785,0.188242,0.080896],[0.000964,-0.390593,0.920563]] 2025-10-28T19:01:55.338Z,1761678115.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180897,0.906619,0.381206],[-0.983502,0.167106,0.069284],[-0.000888,-0.387450,0.921890]] 2025-10-28T19:01:55.366Z,1761678115.366 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:01:55.366Z,1761678115.366 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:01:55.367Z,1761678115.367 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:01:55.367Z,1761678115.367 [marl:UpdateRudder:A] Stopped 2025-10-28T19:01:55.367Z,1761678115.367 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:01:55.734Z,1761678115.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156854,0.911337,0.380608],[-0.987619,0.145722,0.058093],[-0.002521,-0.385008,0.922910]] 2025-10-28T19:01:55.779Z,1761678115.779 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:01:55.779Z,1761678115.779 [marl:UpdateRudder:B] Stopped 2025-10-28T19:01:55.779Z,1761678115.779 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:01:55.779Z,1761678115.779 [marl:UpdateRudder] Stopped 2025-10-28T19:01:55.780Z,1761678115.780 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:01:56.139Z,1761678116.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133606,0.914719,0.381365],[-0.991027,0.124810,0.047831],[-0.003846,-0.384333,0.923186]] 2025-10-28T19:01:56.547Z,1761678116.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111761,0.916554,0.383977],[-0.993722,0.105061,0.038453],[-0.005097,-0.385864,0.922542]] 2025-10-28T19:01:56.626Z,1761678116.626 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:01:56.626Z,1761678116.626 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:01:56.627Z,1761678116.627 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:01:56.632Z,1761678116.632 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:01:56.633Z,1761678116.633 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:01:56.633Z,1761678116.633 [marl:UpdateCommandMode] Stopped 2025-10-28T19:01:56.633Z,1761678116.633 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:01:56.634Z,1761678116.634 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:01:56.634Z,1761678116.634 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:01:56.634Z,1761678116.634 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:01:56.635Z,1761678116.635 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:01:56.640Z,1761678116.640 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:01:56.641Z,1761678116.641 [marl:UpdateSpeed] Stopped 2025-10-28T19:01:56.641Z,1761678116.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:01:56.948Z,1761678116.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091833,0.917816,0.386238],[-0.995754,0.087116,0.029740],[-0.006352,-0.387329,0.921920]] 2025-10-28T19:01:57.355Z,1761678117.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073794,0.917459,0.390927],[-0.997242,0.070993,0.021634],[-0.007905,-0.391445,0.920167]] 2025-10-28T19:01:57.757Z,1761678117.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056445,0.916487,0.396063],[-0.998361,0.055548,0.013745],[-0.009404,-0.396190,0.918120]] 2025-10-28T19:01:58.162Z,1761678118.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039939,0.914300,0.403064],[-0.999134,0.041253,0.005427],[-0.011665,-0.402932,0.915156]] 2025-10-28T19:01:58.586Z,1761678118.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023900,0.912044,0.409396],[-0.999608,0.027765,-0.003498],[-0.014558,-0.409152,0.912350]] 2025-10-28T19:01:58.967Z,1761678118.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007699,0.910251,0.413986],[-0.999811,0.014407,-0.013084],[-0.017874,-0.413807,0.910189]] 2025-10-28T19:01:59.371Z,1761678119.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009631,0.909285,0.416062],[-0.999737,-0.000086,-0.022953],[-0.020834,-0.416174,0.909046]] 2025-10-28T19:01:59.782Z,1761678119.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027578,0.908700,0.416539],[-0.999343,-0.015253,-0.032890],[-0.023534,-0.417172,0.908523]] 2025-10-28T19:02:00.184Z,1761678120.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045878,0.907814,0.416856],[-0.998617,-0.030946,-0.042510],[-0.025691,-0.418230,0.907978]] 2025-10-28T19:02:00.646Z,1761678120.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063991,0.907244,0.415709],[-0.997566,-0.046589,-0.051882],[-0.027702,-0.418017,0.908017]] 2025-10-28T19:02:00.987Z,1761678120.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081379,0.906187,0.414974],[-0.996241,-0.061559,-0.060942],[-0.029680,-0.418373,0.907790]] 2025-10-28T19:02:01.390Z,1761678121.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098731,0.905462,0.412783],[-0.994617,-0.076674,-0.069706],[-0.031466,-0.417443,0.908158]] 2025-10-28T19:02:01.798Z,1761678121.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115824,0.904941,0.409471],[-0.992703,-0.091540,-0.078493],[-0.033549,-0.415574,0.908940]] 2025-10-28T19:02:02.205Z,1761678122.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133666,0.903724,0.406714],[-0.990385,-0.107053,-0.087616],[-0.035640,-0.414515,0.909344]] 2025-10-28T19:02:02.654Z,1761678122.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151760,0.903584,0.400631],[-0.987700,-0.123198,-0.096283],[-0.037643,-0.410316,0.911166]] 2025-10-28T19:02:03.006Z,1761678123.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171616,0.903083,0.393686],[-0.984376,-0.141212,-0.105181],[-0.039394,-0.405586,0.913208]] 2025-10-28T19:02:03.410Z,1761678123.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192484,0.902137,0.386133],[-0.980438,-0.160311,-0.114200],[-0.041123,-0.400561,0.915347]] 2025-10-28T19:02:03.825Z,1761678123.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214546,0.900353,0.378596],[-0.975780,-0.180636,-0.123387],[-0.042704,-0.395899,0.917301]] 2025-10-28T19:02:04.218Z,1761678124.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237689,0.897620,0.371190],[-0.970332,-0.202004,-0.132855],[-0.044272,-0.391755,0.919004]] 2025-10-28T19:02:04.681Z,1761678124.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284706,0.888234,0.360532],[-0.957420,-0.244703,-0.153190],[-0.047845,-0.388794,0.920081]] 2025-10-28T19:02:05.431Z,1761678125.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308696,0.881786,0.356595],[-0.949849,-0.266106,-0.164236],[-0.049929,-0.389411,0.919710]] 2025-10-28T19:02:05.841Z,1761678125.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332463,0.874411,0.353376],[-0.941671,-0.287031,-0.175698],[-0.052202,-0.391176,0.918834]] 2025-10-28T19:02:06.241Z,1761678126.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356019,0.866084,0.350927],[-0.932888,-0.307497,-0.187524],[-0.054503,-0.394137,0.917434]] 2025-10-28T19:02:06.665Z,1761678126.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379418,0.857835,0.346643],[-0.923479,-0.328114,-0.198815],[-0.056812,-0.395552,0.916685]] 2025-10-28T19:02:07.047Z,1761678127.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401615,0.848888,0.343649],[-0.913908,-0.347331,-0.210080],[-0.058974,-0.398435,0.915299]] 2025-10-28T19:02:07.450Z,1761678127.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422354,0.839481,0.341890],[-0.904378,-0.364903,-0.221238],[-0.060969,-0.402639,0.913326]] 2025-10-28T19:02:07.858Z,1761678127.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441391,0.830420,0.339964],[-0.895144,-0.381161,-0.231155],[-0.062375,-0.406347,0.911587]] 2025-10-28T19:02:08.259Z,1761678128.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459275,0.821834,0.337128],[-0.886054,-0.396903,-0.239533],[-0.063049,-0.408725,0.910477]] 2025-10-28T19:02:08.666Z,1761678128.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475760,0.813361,0.334808],[-0.877285,-0.411349,-0.247310],[-0.063430,-0.411382,0.909253]] 2025-10-28T19:02:08.725Z,1761678128.725 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:02:08.725Z,1761678128.725 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:02:08.725Z,1761678128.725 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:02:08.725Z,1761678128.725 [marl:UpdateRudder:A] Stopped 2025-10-28T19:02:08.725Z,1761678128.725 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:02:09.066Z,1761678129.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490009,0.804891,0.334727],[-0.869379,-0.423128,-0.255229],[-0.063799,-0.416069,0.907092]] 2025-10-28T19:02:09.095Z,1761678129.095 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:02:09.095Z,1761678129.095 [marl:UpdateRudder:B] Stopped 2025-10-28T19:02:09.095Z,1761678129.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:02:09.095Z,1761678129.095 [marl:UpdateRudder] Stopped 2025-10-28T19:02:09.095Z,1761678129.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:02:09.470Z,1761678129.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503297,0.796540,0.334986],[-0.861731,-0.433891,-0.262980],[-0.064127,-0.421025,0.904779]] 2025-10-28T19:02:09.881Z,1761678129.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515575,0.788613,0.335070],[-0.854396,-0.443624,-0.270565],[-0.064726,-0.425779,0.902509]] 2025-10-28T19:02:09.921Z,1761678129.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:02:09.921Z,1761678129.921 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:02:09.921Z,1761678129.921 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateCommandMode] Stopped 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:02:09.922Z,1761678129.922 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:02:09.923Z,1761678129.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:02:09.923Z,1761678129.923 [marl:UpdateSpeed] Stopped 2025-10-28T19:02:09.923Z,1761678129.923 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:02:10.285Z,1761678130.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540831,0.774786,0.327427],[-0.838525,-0.466007,-0.282337],[-0.066167,-0.427253,0.901708]] 2025-10-28T19:02:10.691Z,1761678130.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553883,0.767743,0.322156],[-0.829908,-0.478037,-0.287634],[-0.066826,-0.426675,0.901933]] 2025-10-28T19:02:11.095Z,1761678131.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568036,0.760216,0.315289],[-0.820232,-0.491520,-0.292620],[-0.067484,-0.424829,0.902755]] 2025-10-28T19:02:11.496Z,1761678131.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583063,0.751282,0.309213],[-0.809590,-0.505520,-0.298353],[-0.067834,-0.424294,0.902980]] 2025-10-28T19:02:11.534Z,1761678131.534 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:02:11.629Z,1761678131.629 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:02:11.630Z,1761678131.630 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:02:11.883Z,1761678131.883 [DAT](INFO): DAT read: user:158> 2025-10-28T19:02:11.884Z,1761678131.884 [DAT](INFO): DAT read: Tx time:19:02:11.6366 2025-10-28T19:02:11.884Z,1761678131.884 [DAT](INFO): Ping request sent. 2025-10-28T19:02:11.885Z,1761678131.885 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:02:11.885Z,1761678131.885 [DAT](INFO): publishing transmit ping time 2025-10-28T19:02:11.886Z,1761678131.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T19:02:11.903Z,1761678131.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599732,0.742025,0.299533],[-0.797335,-0.522488,-0.302098],[-0.067662,-0.420006,0.904996]] 2025-10-28T19:02:12.133Z,1761678132.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248187 2025-10-28T19:02:12.311Z,1761678132.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616955,0.732426,0.287957],[-0.784084,-0.540585,-0.304926],[-0.067671,-0.413908,0.907800]] 2025-10-28T19:02:12.385Z,1761678132.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500756 2025-10-28T19:02:12.640Z,1761678132.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756 2025-10-28T19:02:12.707Z,1761678132.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634756,0.722148,0.274932],[-0.769716,-0.559612,-0.307199],[-0.067988,-0.406616,0.911066]] 2025-10-28T19:02:12.889Z,1761678132.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004315 2025-10-28T19:02:13.111Z,1761678133.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652878,0.709458,0.265367],[-0.754374,-0.577402,-0.312292],[-0.068335,-0.404075,0.912170]] 2025-10-28T19:02:13.141Z,1761678133.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256696 2025-10-28T19:02:13.393Z,1761678133.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508467 2025-10-28T19:02:13.515Z,1761678133.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670386,0.695813,0.257732],[-0.738779,-0.593515,-0.319290],[-0.069198,-0.404455,0.911936]] 2025-10-28T19:02:13.645Z,1761678133.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760242 2025-10-28T19:02:13.897Z,1761678133.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012291 2025-10-28T19:02:13.924Z,1761678133.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687681,0.681714,0.249720],[-0.722620,-0.609491,-0.326101],[-0.070106,-0.404706,0.911756]] 2025-10-28T19:02:14.149Z,1761678134.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264332 2025-10-28T19:02:14.327Z,1761678134.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704272,0.667616,0.241432],[-0.706360,-0.624901,-0.332497],[-0.071109,-0.404706,0.911678]] 2025-10-28T19:02:14.401Z,1761678134.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516872 2025-10-28T19:02:14.653Z,1761678134.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768290 2025-10-28T19:02:14.727Z,1761678134.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720221,0.653358,0.233249],[-0.690000,-0.639750,-0.338555],[-0.071977,-0.404776,0.911579]] 2025-10-28T19:02:14.742Z,1761678134.742 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, ,88.81, -71.92, 20.00, 0.00 2025-10-28T19:02:14.905Z,1761678134.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020442 2025-10-28T19:02:15.131Z,1761678135.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734719,0.639825,0.225415],[-0.674456,-0.653320,-0.343921],[-0.072781,-0.404718,0.911541]] 2025-10-28T19:02:15.157Z,1761678135.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272320 2025-10-28T19:02:15.409Z,1761678135.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524426 2025-10-28T19:02:15.537Z,1761678135.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747891,0.626430,0.219645],[-0.659707,-0.664607,-0.350834],[-0.073795,-0.407287,0.910314]] 2025-10-28T19:02:15.661Z,1761678135.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776343 2025-10-28T19:02:15.913Z,1761678135.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028270 2025-10-28T19:02:15.939Z,1761678135.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760224,0.613392,0.214030],[-0.645389,-0.675345,-0.356906],[-0.074379,-0.409461,0.909290]] 2025-10-28T19:02:16.165Z,1761678136.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280877 2025-10-28T19:02:16.343Z,1761678136.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772583,0.600150,0.207207],[-0.630508,-0.686837,-0.361545],[-0.074664,-0.409970,0.909038]] 2025-10-28T19:02:16.421Z,1761678136.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536509 2025-10-28T19:02:16.669Z,1761678136.669 [DAT](INFO): DAT read: Rx Time:19:02:15.9258 2025-10-28T19:02:16.669Z,1761678136.669 [DAT](INFO): Rx dataTimestamp_ set to:1761678136.669096 2025-10-28T19:02:16.670Z,1761678136.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785314 2025-10-28T19:02:16.746Z,1761678136.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784382,0.586882,0.200786],[-0.615692,-0.697372,-0.366872],[-0.075287,-0.411390,0.908345]] 2025-10-28T19:02:16.921Z,1761678136.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036237 2025-10-28T19:02:17.179Z,1761678137.179 [DAT](INFO): DAT read: 19:02:15.9258 LVL= 32752, 32753, 31906, 32755, AGC= 75, IDX= 485,-0.24, 1.822, 3.111,-2.606, 2.466, PHS=-0.542, 0.690, 1.168, RAW= 254.3, -16.9, CAL= 254.0, -22.6, ROT= 256.0, 22.6 2025-10-28T19:02:17.180Z,1761678137.180 [DAT](INFO): got valid direction response: 19:02:15.9258 LVL= 32752, 32753, 31906, 32755, AGC= 75, IDX= 485,-0.24, 1.822, 3.111,-2.606, 2.466, PHS=-0.542, 0.690, 1.168, RAW= 254.3, -16.9, CAL= 254.0, -22.6, ROT= 256.0, 22.6 2025-10-28T19:02:17.181Z,1761678137.181 [DAT](INFO): DAT read: Bearing 89, -14 (Remote) 2025-10-28T19:02:17.181Z,1761678137.181 [DAT](INFO): Remote Bearing received:Bearing 89, -14 (Remote) 2025-10-28T19:02:17.182Z,1761678137.182 [DAT](INFO): DAT read: Bearing 231.8, -39.0 (Local) 2025-10-28T19:02:17.182Z,1761678137.182 [DAT](INFO): Local bearing/azimuth received: Bearing 231.8, -39.0 (Local) 2025-10-28T19:02:17.183Z,1761678137.183 [DAT](INFO): DAT read: Range 11 to 20 : 1695.1 m (Round-trip 2260.2 ms) speed -0.2 m/s 2025-10-28T19:02:17.184Z,1761678137.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:02:17.185Z,1761678137.185 [DAT](INFO): direction in FSK: [-0.223345,-0.895787,-0.384295] 2025-10-28T19:02:17.186Z,1761678137.186 [DAT](INFO): publishing direction and range info 2025-10-28T19:02:17.333Z,1761678137.333 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678080.00. Resetting abort timer. 2025-10-28T19:02:17.554Z,1761678137.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809922,0.557311,0.182842],[-0.581682,-0.723163,-0.372399],[-0.075318,-0.407970,0.909883]] 2025-10-28T19:02:17.958Z,1761678137.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823731,0.540531,0.171156],[-0.561951,-0.738211,-0.373170],[-0.075360,-0.403573,0.911839]] 2025-10-28T19:02:18.363Z,1761678138.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837446,0.521865,0.162298],[-0.541278,-0.750963,-0.378250],[-0.075516,-0.404612,0.911365]] 2025-10-28T19:02:18.772Z,1761678138.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850884,0.502069,0.154672],[-0.519833,-0.762055,-0.386064],[-0.075962,-0.408899,0.909412]] 2025-10-28T19:02:19.171Z,1761678139.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863456,0.482539,0.146969],[-0.498614,-0.772387,-0.393450],[-0.076338,-0.413007,0.907523]] 2025-10-28T19:02:19.574Z,1761678139.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874798,0.464127,0.138974],[-0.478408,-0.782222,-0.399066],[-0.076509,-0.415588,0.906329]] 2025-10-28T19:02:19.995Z,1761678139.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884827,0.446951,0.131589],[-0.459552,-0.790673,-0.404535],[-0.076764,-0.418415,0.905006]] 2025-10-28T19:02:20.382Z,1761678140.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893740,0.430758,0.125208],[-0.441951,-0.797693,-0.410323],[-0.076872,-0.422057,0.903304]] 2025-10-28T19:02:20.795Z,1761678140.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901376,0.416171,0.119681],[-0.426199,-0.803661,-0.415312],[-0.076658,-0.425360,0.901772]] 2025-10-28T19:02:21.190Z,1761678141.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907941,0.403378,0.113708],[-0.412109,-0.809967,-0.417275],[-0.076220,-0.425722,0.901638]] 2025-10-28T19:02:21.595Z,1761678141.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913987,0.391157,0.107813],[-0.398659,-0.816310,-0.417982],[-0.075488,-0.425011,0.902035]] 2025-10-28T19:02:21.998Z,1761678141.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919776,0.378969,0.101953],[-0.385269,-0.822508,-0.418388],[-0.074699,-0.424103,0.902528]] 2025-10-28T19:02:22.033Z,1761678142.033 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:02:22.033Z,1761678142.033 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:02:22.034Z,1761678142.034 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:02:22.034Z,1761678142.034 [marl:UpdateRudder:A] Stopped 2025-10-28T19:02:22.034Z,1761678142.034 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:02:22.402Z,1761678142.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925505,0.366148,0.096831],[-0.371539,-0.828135,-0.419704],[-0.073485,-0.424415,0.902481]] 2025-10-28T19:02:22.450Z,1761678142.450 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:02:22.450Z,1761678142.450 [marl:UpdateRudder:B] Stopped 2025-10-28T19:02:22.451Z,1761678142.451 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:02:22.451Z,1761678142.451 [marl:UpdateRudder] Stopped 2025-10-28T19:02:22.451Z,1761678142.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:02:22.811Z,1761678142.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931279,0.352439,0.092222],[-0.357103,-0.833048,-0.422503],[-0.072081,-0.426402,0.901657]] 2025-10-28T19:02:22.937Z,1761678142.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:02:23.212Z,1761678143.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937370,0.337598,0.085823],[-0.341073,-0.839481,-0.423015],[-0.070762,-0.425793,0.902049]] 2025-10-28T19:02:23.237Z,1761678143.237 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:02:23.237Z,1761678143.237 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:02:23.237Z,1761678143.237 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:02:23.237Z,1761678143.237 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateCommandMode] Stopped 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:02:23.238Z,1761678143.238 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:02:23.239Z,1761678143.239 [marl:UpdateSpeed] Stopped 2025-10-28T19:02:23.239Z,1761678143.239 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:02:23.614Z,1761678143.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943509,0.321677,0.079469],[-0.324025,-0.845584,-0.424259],[-0.069277,-0.426042,0.902047]] 2025-10-28T19:02:23.940Z,1761678143.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:02:24.018Z,1761678144.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949688,0.304643,0.072706],[-0.305809,-0.851820,-0.425304],[-0.067633,-0.426140,0.902126]] 2025-10-28T19:02:24.425Z,1761678144.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955892,0.286377,0.065263],[-0.286160,-0.857920,-0.426714],[-0.066211,-0.426568,0.902029]] 2025-10-28T19:02:24.826Z,1761678144.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961980,0.267329,0.055949],[-0.265227,-0.865471,-0.424988],[-0.065189,-0.423669,0.903468]] 2025-10-28T19:02:25.230Z,1761678145.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967978,0.246801,0.045903],[-0.242654,-0.873037,-0.422997],[-0.064321,-0.420590,0.904968]] 2025-10-28T19:02:25.635Z,1761678145.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973458,0.225967,0.036324],[-0.219852,-0.879153,-0.422794],[-0.063603,-0.419558,0.905498]] 2025-10-28T19:02:26.039Z,1761678146.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978346,0.205277,0.026484],[-0.197052,-0.884621,-0.422630],[-0.063328,-0.418697,0.905915]] 2025-10-28T19:02:26.445Z,1761678146.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982701,0.184445,0.016677],[-0.174085,-0.889259,-0.422981],[-0.063186,-0.418567,0.905985]] 2025-10-28T19:02:26.846Z,1761678146.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986494,0.163649,0.006958],[-0.151262,-0.893878,-0.422022],[-0.062844,-0.417375,0.906559]] 2025-10-28T19:02:27.250Z,1761678147.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989706,0.143095,-0.002245],[-0.128684,-0.896677,-0.423570],[-0.062624,-0.418921,0.905861]] 2025-10-28T19:02:27.656Z,1761678147.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992340,0.123048,-0.010968],[-0.106675,-0.898294,-0.426249],[-0.062302,-0.421814,0.904539]] 2025-10-28T19:02:28.060Z,1761678148.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994444,0.103425,-0.019603],[-0.085083,-0.899368,-0.428833],[-0.061983,-0.424782,0.903171]] 2025-10-28T19:02:28.462Z,1761678148.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996135,0.083069,-0.028524],[-0.062834,-0.900930,-0.429392],[-0.061367,-0.425941,0.902667]] 2025-10-28T19:02:28.866Z,1761678148.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997328,0.062810,-0.037313],[-0.040758,-0.902225,-0.429336],[-0.060631,-0.426668,0.902374]] 2025-10-28T19:02:29.285Z,1761678149.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998069,0.041889,-0.045864],[-0.018385,-0.904518,-0.426038],[-0.059331,-0.424373,0.903542]] 2025-10-28T19:02:29.679Z,1761678149.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998321,0.020413,-0.054199],[0.004362,-0.906671,-0.421816],[-0.057751,-0.421344,0.905060]] 2025-10-28T19:02:30.078Z,1761678150.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998022,-0.001151,-0.062856],[0.027431,-0.907607,-0.418924],[-0.056566,-0.419820,0.905843]] 2025-10-28T19:02:30.483Z,1761678150.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997233,-0.021635,-0.071126],[0.049224,-0.909118,-0.413621],[-0.055713,-0.415977,0.907667]] 2025-10-28T19:02:30.887Z,1761678150.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995990,-0.041879,-0.079053],[0.070693,-0.909970,-0.408604],[-0.054824,-0.412554,0.909282]] 2025-10-28T19:02:31.304Z,1761678151.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994314,-0.061464,-0.086964],[0.091653,-0.909740,-0.404935],[-0.054226,-0.410603,0.910200]] 2025-10-28T19:02:31.694Z,1761678151.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992244,-0.080248,-0.094928],[0.111993,-0.908491,-0.402618],[-0.053932,-0.410127,0.910432]] 2025-10-28T19:02:32.098Z,1761678152.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989807,-0.098135,-0.103210],[0.131768,-0.906010,-0.402222],[-0.054037,-0.411722,0.909706]] 2025-10-28T19:02:32.503Z,1761678152.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987087,-0.114901,-0.111610],[0.150601,-0.903068,-0.402228],[-0.054575,-0.413843,0.908711]] 2025-10-28T19:02:32.913Z,1761678152.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984125,-0.131008,-0.119726],[0.168700,-0.900041,-0.401829],[-0.055115,-0.415647,0.907854]] 2025-10-28T19:02:33.312Z,1761678153.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981076,-0.145652,-0.127579],[0.185499,-0.895913,-0.403647],[-0.055508,-0.419674,0.905976]] 2025-10-28T19:02:33.714Z,1761678153.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977800,-0.160481,-0.134736],[0.202056,-0.892443,-0.403384],[-0.055508,-0.421653,0.905057]] 2025-10-28T19:02:34.118Z,1761678154.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974359,-0.175303,-0.141045],[0.218240,-0.888847,-0.402893],[-0.054739,-0.423344,0.904314]] 2025-10-28T19:02:34.523Z,1761678154.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970746,-0.189873,-0.146972],[0.234055,-0.884878,-0.402753],[-0.053580,-0.425370,0.903432]] 2025-10-28T19:02:34.927Z,1761678154.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966980,-0.204618,-0.151926],[0.249544,-0.881251,-0.401403],[-0.051751,-0.426061,0.903213]] 2025-10-28T19:02:35.332Z,1761678155.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962979,-0.219348,-0.156706],[0.264998,-0.876919,-0.400986],[-0.049463,-0.427668,0.902581]] 2025-10-28T19:02:35.377Z,1761678155.377 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:02:35.377Z,1761678155.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:02:35.377Z,1761678155.377 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:02:35.377Z,1761678155.377 [marl:UpdateRudder:A] Stopped 2025-10-28T19:02:35.377Z,1761678155.377 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:02:35.734Z,1761678155.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958699,-0.234933,-0.160318],[0.280580,-0.873525,-0.397780],[-0.046590,-0.426333,0.903366]] 2025-10-28T19:02:35.799Z,1761678155.799 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:02:35.799Z,1761678155.799 [marl:UpdateRudder:B] Stopped 2025-10-28T19:02:35.799Z,1761678155.799 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:02:35.799Z,1761678155.799 [marl:UpdateRudder] Stopped 2025-10-28T19:02:35.799Z,1761678155.799 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:02:36.141Z,1761678156.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953880,-0.251282,-0.164224],[0.297009,-0.869420,-0.394834],[-0.043565,-0.425400,0.903956]] 2025-10-28T19:02:36.543Z,1761678156.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948515,-0.268341,-0.168262],[0.314138,-0.864873,-0.391550],[-0.040457,-0.424249,0.904642]] 2025-10-28T19:02:36.664Z,1761678156.664 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:02:36.664Z,1761678156.664 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:02:36.664Z,1761678156.664 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:02:36.664Z,1761678156.664 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateCommandMode] Stopped 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:02:36.665Z,1761678156.665 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:02:36.666Z,1761678156.666 [marl:UpdateSpeed] Stopped 2025-10-28T19:02:36.666Z,1761678156.666 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:02:36.955Z,1761678156.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942403,-0.286439,-0.172713],[0.332361,-0.859969,-0.387285],[-0.037594,-0.422381,0.905638]] 2025-10-28T19:02:37.357Z,1761678157.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935360,-0.305522,-0.178208],[0.351935,-0.854174,-0.382790],[-0.035270,-0.420764,0.906484]] 2025-10-28T19:02:37.761Z,1761678157.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927692,-0.324462,-0.184692],[0.371854,-0.847181,-0.379484],[-0.033340,-0.420723,0.906576]] 2025-10-28T19:02:38.158Z,1761678158.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919516,-0.343198,-0.191587],[0.391777,-0.839525,-0.376442],[-0.031648,-0.421204,0.906414]] 2025-10-28T19:02:38.567Z,1761678158.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910468,-0.362943,-0.198295],[0.412476,-0.831864,-0.371302],[-0.030193,-0.419850,0.907091]] 2025-10-28T19:02:38.968Z,1761678158.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901128,-0.381793,-0.205433],[0.432585,-0.823421,-0.367217],[-0.028957,-0.419776,0.907165]] 2025-10-28T19:02:39.371Z,1761678159.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891258,-0.401267,-0.211290],[0.452659,-0.815456,-0.360738],[-0.027546,-0.417153,0.908419]] 2025-10-28T19:02:39.783Z,1761678159.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880755,-0.420735,-0.217376],[0.472862,-0.806443,-0.355037],[-0.025924,-0.415490,0.909228]] 2025-10-28T19:02:40.179Z,1761678160.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869528,-0.440618,-0.223108],[0.493287,-0.797009,-0.348490],[-0.024268,-0.413078,0.910372]] 2025-10-28T19:02:40.605Z,1761678160.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857532,-0.460792,-0.228712],[0.513940,-0.786794,-0.341790],[-0.022455,-0.410641,0.911521]] 2025-10-28T19:02:40.986Z,1761678160.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845007,-0.480253,-0.235203],[0.534344,-0.775544,-0.336166],[-0.020966,-0.409742,0.911961]] 2025-10-28T19:02:41.391Z,1761678161.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832131,-0.499389,-0.241182],[0.554247,-0.763935,-0.330476],[-0.019211,-0.408674,0.912478]] 2025-10-28T19:02:41.795Z,1761678161.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819099,-0.517807,-0.246885],[0.573387,-0.752102,-0.324917],[-0.017438,-0.407699,0.912950]] 2025-10-28T19:02:42.200Z,1761678162.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806034,-0.535147,-0.252837],[0.591658,-0.739945,-0.320034],[-0.015820,-0.407551,0.913045]] 2025-10-28T19:02:42.644Z,1761678162.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792744,-0.551527,-0.259567],[0.609369,-0.727589,-0.315093],[-0.015076,-0.407960,0.912875]] 2025-10-28T19:02:43.006Z,1761678163.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779322,-0.566918,-0.266949],[0.626434,-0.715349,-0.309607],[-0.015440,-0.408510,0.912623]] 2025-10-28T19:02:43.411Z,1761678163.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765760,-0.581807,-0.274065],[0.642906,-0.703653,-0.302563],[-0.016813,-0.407888,0.912877]] 2025-10-28T19:02:43.816Z,1761678163.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752468,-0.595556,-0.281258],[0.658357,-0.692398,-0.295214],[-0.018925,-0.407307,0.913095]] 2025-10-28T19:02:44.218Z,1761678164.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739958,-0.607784,-0.288202],[0.672324,-0.681663,-0.288644],[-0.021023,-0.407349,0.913030]] 2025-10-28T19:02:44.674Z,1761678164.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728589,-0.618838,-0.293595],[0.684584,-0.671959,-0.282517],[-0.022452,-0.406829,0.913228]] 2025-10-28T19:02:45.027Z,1761678165.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717921,-0.628842,-0.298576],[0.695751,-0.662234,-0.278166],[-0.022804,-0.407436,0.912949]] 2025-10-28T19:02:45.432Z,1761678165.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707352,-0.638568,-0.303123],[0.706515,-0.652114,-0.274924],[-0.022113,-0.408629,0.912433]] 2025-10-28T19:02:45.837Z,1761678165.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696471,-0.648611,-0.306970],[0.717299,-0.641351,-0.272309],[-0.020253,-0.409845,0.911930]] 2025-10-28T19:02:46.243Z,1761678166.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685094,-0.658810,-0.310830],[0.728247,-0.629621,-0.270619],[-0.017419,-0.411761,0.911126]] 2025-10-28T19:02:46.653Z,1761678166.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673089,-0.670160,-0.312787],[0.739439,-0.617524,-0.268132],[-0.013462,-0.411764,0.911191]] 2025-10-28T19:02:47.048Z,1761678167.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661047,-0.681356,-0.314278],[0.750298,-0.604912,-0.266710],[-0.008386,-0.412110,0.911095]] 2025-10-28T19:02:47.452Z,1761678167.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648918,-0.692169,-0.315922],[0.760854,-0.591673,-0.266504],[-0.002456,-0.413310,0.910587]] 2025-10-28T19:02:47.854Z,1761678167.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636868,-0.702621,-0.317370],[0.770962,-0.578191,-0.267044],[0.004131,-0.414752,0.909925]] 2025-10-28T19:02:48.265Z,1761678168.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625212,-0.712786,-0.317878],[0.780378,-0.565228,-0.267446],[0.010959,-0.415276,0.909630]] 2025-10-28T19:02:48.663Z,1761678168.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612992,-0.723369,-0.317770],[0.789886,-0.551952,-0.267264],[0.017937,-0.414833,0.909721]] 2025-10-28T19:02:48.734Z,1761678168.734 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:02:48.734Z,1761678168.734 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:02:48.735Z,1761678168.735 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:02:48.735Z,1761678168.735 [marl:UpdateRudder:A] Stopped 2025-10-28T19:02:48.735Z,1761678168.735 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:02:49.068Z,1761678169.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598966,-0.734778,-0.318341],[0.800412,-0.537405,-0.265585],[0.024068,-0.413881,0.910013]] 2025-10-28T19:02:49.097Z,1761678169.097 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:02:49.098Z,1761678169.098 [marl:UpdateRudder:B] Stopped 2025-10-28T19:02:49.098Z,1761678169.098 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:02:49.098Z,1761678169.098 [marl:UpdateRudder] Stopped 2025-10-28T19:02:49.098Z,1761678169.098 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:02:49.470Z,1761678169.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582336,-0.747093,-0.320525],[0.812439,-0.520881,-0.261964],[0.028756,-0.412958,0.910296]] 2025-10-28T19:02:49.876Z,1761678169.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563621,-0.760099,-0.323388],[0.825415,-0.503098,-0.256090],[0.031958,-0.411267,0.910954]] 2025-10-28T19:02:49.905Z,1761678169.905 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode] Stopped 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:02:49.906Z,1761678169.906 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed] Stopped 2025-10-28T19:02:49.907Z,1761678169.907 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:02:50.278Z,1761678170.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543944,-0.772840,-0.326868],[0.838404,-0.484443,-0.249787],[0.034696,-0.409918,0.911462]] 2025-10-28T19:02:50.683Z,1761678170.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523498,-0.785284,-0.330575],[0.851230,-0.465261,-0.242774],[0.036843,-0.408487,0.912020]] 2025-10-28T19:02:51.088Z,1761678171.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502639,-0.796929,-0.335049],[0.863640,-0.445646,-0.235639],[0.038474,-0.407803,0.912259]] 2025-10-28T19:02:51.491Z,1761678171.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481564,-0.808386,-0.338540],[0.875512,-0.426237,-0.227598],[0.039689,-0.405999,0.913011]] 2025-10-28T19:02:51.895Z,1761678171.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460621,-0.818660,-0.342965],[0.886670,-0.406747,-0.219938],[0.040555,-0.405405,0.913237]] 2025-10-28T19:02:52.299Z,1761678172.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439580,-0.828280,-0.347450],[0.897255,-0.387164,-0.212219],[0.041257,-0.405039,0.913368]] 2025-10-28T19:02:52.704Z,1761678172.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418748,-0.837380,-0.351346],[0.907156,-0.368077,-0.203928],[0.041443,-0.404121,0.913766]] 2025-10-28T19:02:53.106Z,1761678173.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397970,-0.846564,-0.353481],[0.916474,-0.349575,-0.194609],[0.041181,-0.401405,0.914974]] 2025-10-28T19:02:53.511Z,1761678173.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377280,-0.854839,-0.356243],[0.925224,-0.331200,-0.185116],[0.040257,-0.399446,0.915873]] 2025-10-28T19:02:53.915Z,1761678173.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356657,-0.861992,-0.360231],[0.933439,-0.312881,-0.175488],[0.038560,-0.398843,0.916208]] 2025-10-28T19:02:54.068Z,1761678174.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:02:54.320Z,1761678174.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336721,-0.867800,-0.365434],[0.940902,-0.295107,-0.166178],[0.036367,-0.399793,0.915884]] 2025-10-28T19:02:54.730Z,1761678174.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318194,-0.872636,-0.370485],[0.947412,-0.278637,-0.157393],[0.034116,-0.401083,0.915406]] 2025-10-28T19:02:55.072Z,1761678175.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:02:55.131Z,1761678175.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300622,-0.877671,-0.373257],[0.953211,-0.263418,-0.148322],[0.031855,-0.400381,0.915795]] 2025-10-28T19:02:55.541Z,1761678175.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266941,-0.885965,-0.379220],[0.963337,-0.234318,-0.130679],[0.026919,-0.400200,0.916032]] 2025-10-28T19:02:55.941Z,1761678175.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250926,-0.889246,-0.382462],[0.967683,-0.220226,-0.122842],[0.025008,-0.400927,0.915769]] 2025-10-28T19:02:56.343Z,1761678176.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235168,-0.892331,-0.385281],[0.971660,-0.206080,-0.115789],[0.023923,-0.401592,0.915506]] 2025-10-28T19:02:56.755Z,1761678176.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219392,-0.894482,-0.389575],[0.975351,-0.191411,-0.109786],[0.023633,-0.404058,0.914428]] 2025-10-28T19:02:57.148Z,1761678177.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204038,-0.897512,-0.390948],[0.978651,-0.176924,-0.104593],[0.024706,-0.403942,0.914451]] 2025-10-28T19:02:57.558Z,1761678177.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188397,-0.900359,-0.392249],[0.981716,-0.161590,-0.100606],[0.027198,-0.404031,0.914341]] 2025-10-28T19:02:57.954Z,1761678177.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173937,-0.903141,-0.392533],[0.984264,-0.146836,-0.098301],[0.031142,-0.403455,0.914470]] 2025-10-28T19:02:58.359Z,1761678178.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158548,-0.905979,-0.392511],[0.986693,-0.130869,-0.096489],[0.036049,-0.402586,0.914672]] 2025-10-28T19:02:58.770Z,1761678178.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141834,-0.908610,-0.392825],[0.989027,-0.113500,-0.094571],[0.041343,-0.401928,0.914738]] 2025-10-28T19:02:59.168Z,1761678179.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122614,-0.910667,-0.394527],[0.991372,-0.093826,-0.091531],[0.046338,-0.402346,0.914314]] 2025-10-28T19:02:59.574Z,1761678179.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100445,-0.912888,-0.395659],[0.993668,-0.071924,-0.086313],[0.050336,-0.401824,0.914333]] 2025-10-28T19:02:59.974Z,1761678179.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076304,-0.915206,-0.395696],[0.995641,-0.048593,-0.079604],[0.053626,-0.400046,0.914925]] 2025-10-28T19:03:00.379Z,1761678180.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050901,-0.917001,-0.395624],[0.997133,-0.024452,-0.071614],[0.055996,-0.398135,0.915616]] 2025-10-28T19:03:00.789Z,1761678180.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024985,-0.918280,-0.395142],[0.998030,-0.000157,-0.062739],[0.057550,-0.395931,0.916475]] 2025-10-28T19:03:01.188Z,1761678181.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001026,-0.919139,-0.393931],[0.998300,0.023901,-0.053167],[0.058283,-0.393207,0.917601]] 2025-10-28T19:03:01.594Z,1761678181.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026951,-0.918419,-0.394691],[0.997945,0.047677,-0.042797],[0.058124,-0.392727,0.917817]] 2025-10-28T19:03:01.995Z,1761678181.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052623,-0.916820,-0.395818],[0.996985,0.070864,-0.031594],[0.057015,-0.392962,0.917785]] 2025-10-28T19:03:02.034Z,1761678182.034 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:03:02.034Z,1761678182.034 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:03:02.034Z,1761678182.034 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:03:02.034Z,1761678182.034 [marl:UpdateRudder:A] Stopped 2025-10-28T19:03:02.034Z,1761678182.034 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:03:02.399Z,1761678182.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077651,-0.914246,-0.397649],[0.995475,0.093012,-0.019456],[0.054773,-0.394339,0.917331]] 2025-10-28T19:03:02.422Z,1761678182.422 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:03:02.422Z,1761678182.422 [marl:UpdateRudder:B] Stopped 2025-10-28T19:03:02.422Z,1761678182.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:03:02.422Z,1761678182.422 [marl:UpdateRudder] Stopped 2025-10-28T19:03:02.422Z,1761678182.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:03:02.804Z,1761678182.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101300,-0.911665,-0.398253],[0.993509,0.113526,-0.007169],[0.051748,-0.394942,0.917248]] 2025-10-28T19:03:03.211Z,1761678183.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122598,-0.909129,-0.398064],[0.991261,0.131854,0.004158],[0.048706,-0.395095,0.917348]] 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode] Stopped 2025-10-28T19:03:03.255Z,1761678183.255 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:03:03.256Z,1761678183.256 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:03:03.256Z,1761678183.256 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:03:03.256Z,1761678183.256 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:03:03.256Z,1761678183.256 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:03:03.256Z,1761678183.256 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:03:03.257Z,1761678183.257 [marl:UpdateSpeed] Stopped 2025-10-28T19:03:03.257Z,1761678183.257 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:03:03.614Z,1761678183.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141774,-0.906512,-0.397663],[0.988820,0.148440,0.014148],[0.046204,-0.395223,0.917422]] 2025-10-28T19:03:04.017Z,1761678184.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158974,-0.903520,-0.397969],[0.986286,0.163452,0.022897],[0.044361,-0.396152,0.917113]] 2025-10-28T19:03:04.419Z,1761678184.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175209,-0.900662,-0.397630],[0.983603,0.177665,0.030985],[0.042738,-0.396539,0.917023]] 2025-10-28T19:03:04.823Z,1761678184.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191108,-0.897454,-0.397561],[0.980677,0.191838,0.038357],[0.041844,-0.397209,0.916774]] 2025-10-28T19:03:05.235Z,1761678185.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206831,-0.894292,-0.396815],[0.977480,0.206243,0.044685],[0.041878,-0.397121,0.916810]] 2025-10-28T19:03:05.638Z,1761678185.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221931,-0.891210,-0.395590],[0.974124,0.220446,0.049861],[0.042770,-0.396419,0.917073]] 2025-10-28T19:03:06.035Z,1761678186.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238008,-0.887460,-0.394673],[0.970245,0.235844,0.054789],[0.044459,-0.395970,0.917187]] 2025-10-28T19:03:06.439Z,1761678186.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255432,-0.883253,-0.393216],[0.965711,0.252617,0.059890],[0.046435,-0.395031,0.917493]] 2025-10-28T19:03:06.847Z,1761678186.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274476,-0.878508,-0.391006],[0.960373,0.270928,0.065439],[0.048446,-0.393473,0.918059]] 2025-10-28T19:03:07.247Z,1761678187.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295477,-0.872344,-0.389498],[0.954038,0.290793,0.072465],[0.050049,-0.393007,0.918172]] 2025-10-28T19:03:07.651Z,1761678187.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317777,-0.865692,-0.386775],[0.946787,0.311707,0.080213],[0.051121,-0.391683,0.918679]] 2025-10-28T19:03:08.055Z,1761678188.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340586,-0.857978,-0.384545],[0.938803,0.332726,0.089122],[0.051484,-0.391366,0.918794]] 2025-10-28T19:03:08.467Z,1761678188.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363748,-0.849970,-0.381101],[0.930098,0.353832,0.098594],[0.051044,-0.390324,0.919261]] 2025-10-28T19:03:08.862Z,1761678188.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386596,-0.842042,-0.376176],[0.920901,0.374507,0.108105],[0.049851,-0.388214,0.920220]] 2025-10-28T19:03:09.266Z,1761678189.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408832,-0.833154,-0.372440],[0.911351,0.394148,0.118686],[0.047912,-0.387946,0.920436]] 2025-10-28T19:03:09.701Z,1761678189.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429659,-0.824324,-0.368622],[0.901833,0.412398,0.128941],[0.045730,-0.387836,0.920593]] 2025-10-28T19:03:10.076Z,1761678190.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448894,-0.814992,-0.366445],[0.892517,0.428967,0.139287],[0.043675,-0.389584,0.919955]] 2025-10-28T19:03:10.479Z,1761678190.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466563,-0.806353,-0.363474],[0.883519,0.444116,0.148849],[0.041399,-0.390583,0.919636]] 2025-10-28T19:03:10.882Z,1761678190.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482724,-0.797661,-0.361544],[0.874886,0.457790,0.158121],[0.039384,-0.392639,0.918849]] 2025-10-28T19:03:11.286Z,1761678191.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498206,-0.789530,-0.358376],[0.866245,0.471132,0.166294],[0.037548,-0.393290,0.918647]] 2025-10-28T19:03:11.704Z,1761678191.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513293,-0.781312,-0.355080],[0.857439,0.484451,0.173509],[0.036454,-0.393521,0.918593]] 2025-10-28T19:03:11.735Z,1761678191.735 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:03:11.869Z,1761678191.869 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:03:11.869Z,1761678191.869 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:03:12.121Z,1761678192.121 [DAT](INFO): DAT read: user:159> 2025-10-28T19:03:12.122Z,1761678192.122 [DAT](INFO): DAT read: Tx time:19:03:11.8863 2025-10-28T19:03:12.122Z,1761678192.122 [DAT](INFO): Ping request sent. 2025-10-28T19:03:12.122Z,1761678192.122 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:03:12.122Z,1761678192.122 [DAT](INFO): publishing transmit ping time 2025-10-28T19:03:12.123Z,1761678192.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T19:03:12.373Z,1761678192.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841 2025-10-28T19:03:12.498Z,1761678192.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543684,-0.763873,-0.347716],[0.838504,0.512296,0.185646],[0.036323,-0.392494,0.919037]] 2025-10-28T19:03:12.629Z,1761678192.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506631 2025-10-28T19:03:12.877Z,1761678192.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754749 2025-10-28T19:03:12.903Z,1761678192.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560118,-0.753428,-0.344403],[0.827585,0.527485,0.191996],[0.037012,-0.392563,0.918980]] 2025-10-28T19:03:13.129Z,1761678193.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006780 2025-10-28T19:03:13.307Z,1761678193.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577780,-0.741519,-0.341057],[0.815301,0.543871,0.198716],[0.038139,-0.392878,0.918799]] 2025-10-28T19:03:13.381Z,1761678193.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258817 2025-10-28T19:03:13.633Z,1761678193.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510682 2025-10-28T19:03:13.725Z,1761678193.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596629,-0.727939,-0.337846],[0.801561,0.561089,0.206590],[0.039177,-0.394061,0.918249]] 2025-10-28T19:03:13.885Z,1761678193.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762866 2025-10-28T19:03:14.114Z,1761678194.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616431,-0.713458,-0.333151],[0.786384,0.579392,0.214256],[0.040162,-0.394059,0.918207]] 2025-10-28T19:03:14.137Z,1761678194.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870 2025-10-28T19:03:14.389Z,1761678194.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728 2025-10-28T19:03:14.518Z,1761678194.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636040,-0.698632,-0.327668],[0.770562,0.597638,0.221501],[0.041079,-0.393372,0.918461]] 2025-10-28T19:03:14.645Z,1761678194.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522455 2025-10-28T19:03:14.893Z,1761678194.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770724 2025-10-28T19:03:14.928Z,1761678194.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655527,-0.683055,-0.322056],[0.754024,0.615534,0.229275],[0.041629,-0.393134,0.918538]] 2025-10-28T19:03:15.150Z,1761678195.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027411 2025-10-28T19:03:15.326Z,1761678195.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674414,-0.667743,-0.315096],[0.737171,0.633088,0.236176],[0.041778,-0.391560,0.919204]] 2025-10-28T19:03:15.357Z,1761678195.357 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:03:15.357Z,1761678195.357 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:03:15.357Z,1761678195.357 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:03:15.358Z,1761678195.358 [marl:UpdateRudder:A] Stopped 2025-10-28T19:03:15.358Z,1761678195.358 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:03:15.397Z,1761678195.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274744 2025-10-28T19:03:15.649Z,1761678195.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526772 2025-10-28T19:03:15.734Z,1761678195.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692533,-0.652660,-0.307299],[0.720212,0.649835,0.242918],[0.041151,-0.389549,0.920086]] 2025-10-28T19:03:15.785Z,1761678195.785 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:03:15.785Z,1761678195.785 [marl:UpdateRudder:B] Stopped 2025-10-28T19:03:15.785Z,1761678195.785 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:03:15.786Z,1761678195.786 [marl:UpdateRudder] Stopped 2025-10-28T19:03:15.786Z,1761678195.786 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:03:15.901Z,1761678195.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778695 2025-10-28T19:03:16.134Z,1761678196.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709255,-0.638109,-0.299624],[0.703832,0.664931,0.249975],[0.039718,-0.388180,0.920727]] 2025-10-28T19:03:16.153Z,1761678196.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030915 2025-10-28T19:03:16.405Z,1761678196.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282758 2025-10-28T19:03:16.546Z,1761678196.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724547,-0.624689,-0.291197],[0.688210,0.678665,0.256479],[0.037405,-0.386236,0.921641]] 2025-10-28T19:03:16.631Z,1761678196.631 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:03:16.636Z,1761678196.636 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:03:16.637Z,1761678196.637 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:03:16.638Z,1761678196.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:03:16.638Z,1761678196.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:03:16.639Z,1761678196.639 [marl:UpdateCommandMode] Stopped 2025-10-28T19:03:16.639Z,1761678196.639 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:03:16.640Z,1761678196.640 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:03:16.644Z,1761678196.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:03:16.644Z,1761678196.644 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:03:16.645Z,1761678196.645 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:03:16.645Z,1761678196.645 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:03:16.645Z,1761678196.645 [marl:UpdateSpeed] Stopped 2025-10-28T19:03:16.645Z,1761678196.645 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:03:16.657Z,1761678196.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534783 2025-10-28T19:03:16.909Z,1761678196.909 [DAT](INFO): DAT read: Rx Time:19:03:16.1483 2025-10-28T19:03:16.909Z,1761678196.909 [DAT](INFO): Rx dataTimestamp_ set to:1761678196.909151 2025-10-28T19:03:16.910Z,1761678196.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787861 2025-10-28T19:03:16.942Z,1761678196.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738777,-0.611511,-0.283309],[0.673058,0.691071,0.263465],[0.034675,-0.385325,0.922129]] 2025-10-28T19:03:17.161Z,1761678197.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038776 2025-10-28T19:03:17.346Z,1761678197.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752045,-0.598314,-0.276492],[0.658344,0.702114,0.271328],[0.031790,-0.386078,0.921918]] 2025-10-28T19:03:17.419Z,1761678197.419 [DAT](INFO): DAT read: 19:03:16.1483 LVL= 12768, 19377, 20722, 26659, AGC= 75, IDX= 141,-0.04,-0.444,-2.335,-2.230,-1.104, PHS= 0.762,-1.186,-1.170, RAW= 90.4, 16.2, CAL= 90.5, 20.2, ROT= 59.5, -20.2 2025-10-28T19:03:17.420Z,1761678197.420 [DAT](INFO): got valid direction response: 19:03:16.1483 LVL= 12768, 19377, 20722, 26659, AGC= 75, IDX= 141,-0.04,-0.444,-2.335,-2.230,-1.104, PHS= 0.762,-1.186,-1.170, RAW= 90.4, 16.2, CAL= 90.5, 20.2, ROT= 59.5, -20.2 2025-10-28T19:03:17.421Z,1761678197.421 [DAT](INFO): DAT read: Bearing 91, -8 (Remote) 2025-10-28T19:03:17.421Z,1761678197.421 [DAT](INFO): Remote Bearing received:Bearing 91, -8 (Remote) 2025-10-28T19:03:17.422Z,1761678197.422 [DAT](INFO): DAT read: Bearing 221.7, 39.1 (Local) 2025-10-28T19:03:17.422Z,1761678197.422 [DAT](INFO): Local bearing/azimuth received: Bearing 221.7, 39.1 (Local) 2025-10-28T19:03:17.423Z,1761678197.423 [DAT](INFO): DAT read: Range 11 to 20 : 1674.6 m (Round-trip 2232.9 ms) speed -0.3 m/s 2025-10-28T19:03:17.428Z,1761678197.428 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:03:17.429Z,1761678197.429 [DAT](INFO): direction in FSK: [0.476321,0.808633,0.345298] 2025-10-28T19:03:17.429Z,1761678197.429 [DAT](INFO): publishing direction and range info 2025-10-28T19:03:17.756Z,1761678197.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764612,-0.585248,-0.269915],[0.643823,0.712674,0.278545],[0.029343,-0.386756,0.921715]] 2025-10-28T19:03:17.815Z,1761678197.815 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678208.00. Resetting abort timer. 2025-10-28T19:03:18.155Z,1761678198.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776873,-0.572106,-0.262988],[0.629073,0.723204,0.285032],[0.027125,-0.386873,0.921734]] 2025-10-28T19:03:18.559Z,1761678198.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789213,-0.558317,-0.255783],[0.613611,0.733860,0.291429],[0.024999,-0.386951,0.921761]] 2025-10-28T19:03:18.964Z,1761678198.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801731,-0.543995,-0.247583],[0.597228,0.745350,0.296263],[0.023371,-0.385387,0.922459]] 2025-10-28T19:03:19.367Z,1761678199.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814585,-0.528215,-0.239665],[0.579632,0.756834,0.302041],[0.021844,-0.384956,0.922676]] 2025-10-28T19:03:19.775Z,1761678199.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827826,-0.510851,-0.231808],[0.560617,0.768305,0.308896],[0.020299,-0.385667,0.922415]] 2025-10-28T19:03:20.178Z,1761678200.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840998,-0.492978,-0.222924],[0.540709,0.780197,0.314526],[0.018870,-0.385053,0.922702]] 2025-10-28T19:03:20.595Z,1761678200.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853800,-0.474659,-0.213832],[0.520305,0.791881,0.319700],[0.017581,-0.384218,0.923075]] 2025-10-28T19:03:20.983Z,1761678200.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866171,-0.456094,-0.204272],[0.499485,0.803353,0.324251],[0.016214,-0.382887,0.923653]] 2025-10-28T19:03:21.386Z,1761678201.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877392,-0.438326,-0.195073],[0.479555,0.813506,0.328991],[0.014488,-0.382203,0.923965]] 2025-10-28T19:03:21.794Z,1761678201.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887576,-0.421467,-0.185943],[0.460478,0.823116,0.332325],[0.012988,-0.380586,0.924654]] 2025-10-28T19:03:22.205Z,1761678202.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897035,-0.405209,-0.176448],[0.441819,0.832232,0.334942],[0.011124,-0.378413,0.925570]] 2025-10-28T19:03:22.638Z,1761678202.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905050,-0.390777,-0.167866],[0.425199,0.840206,0.336540],[0.009530,-0.375961,0.926586]] 2025-10-28T19:03:23.003Z,1761678203.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912611,-0.376149,-0.160164],[0.408750,0.847170,0.339451],[0.008003,-0.375254,0.926888]] 2025-10-28T19:03:23.407Z,1761678203.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919687,-0.361353,-0.153619],[0.392593,0.852991,0.343914],[0.006761,-0.376604,0.926350]] 2025-10-28T19:03:23.817Z,1761678203.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926537,-0.346449,-0.146640],[0.376163,0.858930,0.347476],[0.005570,-0.377110,0.926152]] 2025-10-28T19:03:24.214Z,1761678204.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933163,-0.330961,-0.140258],[0.359428,0.863885,0.352865],[0.004382,-0.379693,0.925102]] 2025-10-28T19:03:24.649Z,1761678204.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939693,-0.314527,-0.134348],[0.342005,0.867699,0.360738],[0.003112,-0.384930,0.922940]] 2025-10-28T19:03:25.022Z,1761678205.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946480,-0.296515,-0.127495],[0.322758,0.871722,0.368685],[0.001819,-0.390103,0.920770]] 2025-10-28T19:03:25.197Z,1761678205.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:03:25.428Z,1761678205.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953148,-0.278024,-0.119210],[0.302504,0.876599,0.374254],[0.000448,-0.392781,0.919632]] 2025-10-28T19:03:25.831Z,1761678205.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959732,-0.258383,-0.110237],[0.280914,0.881312,0.379970],[-0.001025,-0.395637,0.918407]] 2025-10-28T19:03:26.201Z,1761678206.201 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:03:26.235Z,1761678206.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966078,-0.238180,-0.099817],[0.258237,0.887034,0.382732],[-0.002618,-0.395525,0.918451]] 2025-10-28T19:03:26.652Z,1761678206.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971858,-0.218066,-0.089100],[0.235536,0.893414,0.382537],[-0.003815,-0.392758,0.919634]] 2025-10-28T19:03:27.043Z,1761678207.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977292,-0.197052,-0.077914],[0.211832,0.899548,0.382021],[-0.005191,-0.389851,0.920863]] 2025-10-28T19:03:27.446Z,1761678207.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982047,-0.176175,-0.067425],[0.188530,0.904651,0.382181],[-0.006335,-0.388031,0.921624]] 2025-10-28T19:03:27.850Z,1761678207.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986192,-0.155220,-0.057723],[0.165450,0.908380,0.384022],[-0.007174,-0.388269,0.921518]] 2025-10-28T19:03:28.254Z,1761678208.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989758,-0.134444,-0.047992],[0.142519,0.911392,0.386073],[-0.008166,-0.388959,0.921219]] 2025-10-28T19:03:28.662Z,1761678208.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992670,-0.114499,-0.038675],[0.120519,0.914040,0.387307],[-0.008996,-0.389129,0.921139]] 2025-10-28T19:03:28.730Z,1761678208.730 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:03:28.730Z,1761678208.730 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:03:28.730Z,1761678208.730 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:03:28.730Z,1761678208.730 [marl:UpdateRudder:A] Stopped 2025-10-28T19:03:28.730Z,1761678208.730 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:03:29.062Z,1761678209.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995013,-0.095227,-0.029673],[0.099276,0.916765,0.386892],[-0.009639,-0.387909,0.921647]] 2025-10-28T19:03:29.097Z,1761678209.097 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:03:29.097Z,1761678209.097 [marl:UpdateRudder:B] Stopped 2025-10-28T19:03:29.097Z,1761678209.097 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:03:29.097Z,1761678209.097 [marl:UpdateRudder] Stopped 2025-10-28T19:03:29.097Z,1761678209.097 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:03:29.466Z,1761678209.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996939,-0.075364,-0.020787],[0.077534,0.919093,0.386336],[-0.010011,-0.386766,0.922124]] 2025-10-28T19:03:29.873Z,1761678209.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998407,-0.055193,-0.011704],[0.055430,0.920853,0.385950],[-0.010525,-0.385984,0.922445]] 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode] Stopped 2025-10-28T19:03:29.897Z,1761678209.897 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed] Stopped 2025-10-28T19:03:29.898Z,1761678209.898 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:03:30.274Z,1761678210.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999376,-0.035214,-0.002743],[0.033540,0.921783,0.386252],[-0.011073,-0.386103,0.922389]] 2025-10-28T19:03:30.686Z,1761678210.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999862,-0.015425,0.006238],[0.011799,0.921658,0.387825],[-0.011731,-0.387698,0.921712]] 2025-10-28T19:03:31.082Z,1761678211.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999875,0.004449,0.015178],[-0.009994,0.921485,0.388286],[-0.012259,-0.388389,0.921414]] 2025-10-28T19:03:31.487Z,1761678211.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999461,0.023133,0.023281],[-0.030350,0.921434,0.387349],[-0.012492,-0.387846,0.921639]] 2025-10-28T19:03:31.892Z,1761678211.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998658,0.041252,0.031325],[-0.050169,0.920770,0.386868],[-0.012885,-0.387920,0.921603]] 2025-10-28T19:03:32.294Z,1761678212.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997572,0.058060,0.038454],[-0.068404,0.920484,0.384747],[-0.013058,-0.386443,0.922221]] 2025-10-28T19:03:32.699Z,1761678212.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996230,0.074129,0.045062],[-0.085759,0.919883,0.382702],[-0.013082,-0.385124,0.922772]] 2025-10-28T19:03:33.104Z,1761678213.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994647,0.089556,0.051549],[-0.102497,0.918395,0.382159],[-0.013118,-0.385397,0.922658]] 2025-10-28T19:03:33.508Z,1761678213.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992794,0.104861,0.057995],[-0.119120,0.916235,0.382524],[-0.013026,-0.386676,0.922124]] 2025-10-28T19:03:33.910Z,1761678213.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990717,0.119585,0.064640],[-0.135317,0.912945,0.384994],[-0.012973,-0.390168,0.920653]] 2025-10-28T19:03:34.315Z,1761678214.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988302,0.134561,0.071779],[-0.151939,0.909374,0.387237],[-0.013167,-0.393613,0.919182]] 2025-10-28T19:03:34.727Z,1761678214.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985530,0.149828,0.079261],[-0.168960,0.905706,0.388779],[-0.013537,-0.396546,0.917915]] 2025-10-28T19:03:35.122Z,1761678215.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982173,0.166269,0.087703],[-0.187453,0.901264,0.390622],[-0.014096,-0.400098,0.916364]] 2025-10-28T19:03:35.526Z,1761678215.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978122,0.184109,0.096858],[-0.207502,0.896667,0.391065],[-0.014851,-0.402608,0.915252]] 2025-10-28T19:03:35.931Z,1761678215.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973208,0.203561,0.106904],[-0.229360,0.892078,0.389347],[-0.016111,-0.403435,0.914866]] 2025-10-28T19:03:36.340Z,1761678216.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967504,0.224072,0.117166],[-0.252246,0.887481,0.385680],[-0.017563,-0.402701,0.915163]] 2025-10-28T19:03:36.738Z,1761678216.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961152,0.244968,0.127193],[-0.275368,0.882674,0.380865],[-0.018970,-0.401094,0.915840]] 2025-10-28T19:03:37.142Z,1761678217.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954260,0.266084,0.136331],[-0.298295,0.878108,0.374093],[-0.020173,-0.397649,0.917316]] 2025-10-28T19:03:37.546Z,1761678217.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946802,0.287763,0.144077],[-0.321144,0.873775,0.365217],[-0.020795,-0.392058,0.919705]] 2025-10-28T19:03:37.953Z,1761678217.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938611,0.310233,0.150882],[-0.344358,0.868766,0.355898],[-0.020670,-0.386007,0.922264]] 2025-10-28T19:03:38.356Z,1761678218.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929954,0.332156,0.157661],[-0.367127,0.862270,0.348867],[-0.020068,-0.382312,0.923815]] 2025-10-28T19:03:38.762Z,1761678218.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921144,0.352869,0.164250],[-0.388745,0.854995,0.343309],[-0.019290,-0.380088,0.924749]] 2025-10-28T19:03:39.171Z,1761678219.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912705,0.371155,0.170922],[-0.408198,0.847166,0.340125],[-0.018560,-0.380203,0.924717]] 2025-10-28T19:03:39.970Z,1761678219.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897606,0.401419,0.182117],[-0.440427,0.833699,0.333123],[-0.018109,-0.379222,0.925128]] 2025-10-28T19:03:40.382Z,1761678220.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882493,0.427433,0.196230],[-0.469962,0.817785,0.332210],[-0.018477,-0.385393,0.922567]] 2025-10-28T19:03:40.787Z,1761678220.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874790,0.439511,0.203892],[-0.484125,0.809524,0.332104],[-0.019092,-0.389231,0.920942]] 2025-10-28T19:03:41.190Z,1761678221.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866401,0.452112,0.212001],[-0.498951,0.800774,0.331375],[-0.019947,-0.392881,0.919373]] 2025-10-28T19:03:41.604Z,1761678221.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856876,0.466199,0.220050],[-0.515112,0.791299,0.329402],[-0.020558,-0.395607,0.918190]] 2025-10-28T19:03:41.994Z,1761678221.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846313,0.480837,0.229239],[-0.532248,0.780763,0.327294],[-0.021607,-0.399005,0.916694]] 2025-10-28T19:03:42.037Z,1761678222.037 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:03:42.037Z,1761678222.037 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:03:42.038Z,1761678222.038 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:03:42.038Z,1761678222.038 [marl:UpdateRudder:A] Stopped 2025-10-28T19:03:42.038Z,1761678222.038 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:03:42.397Z,1761678222.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835037,0.495673,0.238793],[-0.549717,0.769699,0.324614],[-0.022897,-0.402333,0.915207]] 2025-10-28T19:03:42.423Z,1761678222.423 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:03:42.423Z,1761678222.423 [marl:UpdateRudder:B] Stopped 2025-10-28T19:03:42.423Z,1761678222.423 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:03:42.424Z,1761678222.424 [marl:UpdateRudder] Stopped 2025-10-28T19:03:42.440Z,1761678222.440 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:03:42.801Z,1761678222.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822827,0.511770,0.247077],[-0.567766,0.759005,0.318675],[-0.024444,-0.402496,0.915095]] 2025-10-28T19:03:43.203Z,1761678223.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810035,0.527493,0.256113],[-0.585788,0.747602,0.312961],[-0.026386,-0.403537,0.914583]] 2025-10-28T19:03:43.238Z,1761678223.238 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:03:43.238Z,1761678223.238 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:03:43.238Z,1761678223.238 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:03:43.238Z,1761678223.238 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:03:43.238Z,1761678223.238 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateCommandMode] Stopped 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:03:43.239Z,1761678223.239 [marl:UpdateSpeed] Stopped 2025-10-28T19:03:43.240Z,1761678223.240 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:03:43.610Z,1761678223.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797235,0.542956,0.263848],[-0.603014,0.736640,0.306163],[-0.028128,-0.403187,0.914685]] 2025-10-28T19:03:44.012Z,1761678224.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784590,0.558002,0.270280],[-0.619297,0.726269,0.298336],[-0.029824,-0.401456,0.915393]] 2025-10-28T19:03:44.415Z,1761678224.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772420,0.572545,0.274881],[-0.634318,0.717089,0.288832],[-0.031745,-0.397462,0.917069]] 2025-10-28T19:03:44.818Z,1761678224.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760667,0.586335,0.278561],[-0.648275,0.708319,0.279325],[-0.033532,-0.393058,0.918902]] 2025-10-28T19:03:45.223Z,1761678225.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748592,0.599038,0.284189],[-0.662089,0.698216,0.272273],[-0.035323,-0.391980,0.919295]] 2025-10-28T19:03:45.635Z,1761678225.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736311,0.611267,0.290170],[-0.675615,0.687795,0.265486],[-0.037295,-0.391523,0.919412]] 2025-10-28T19:03:46.031Z,1761678226.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723336,0.623832,0.296006],[-0.689381,0.676806,0.258241],[-0.039240,-0.390856,0.919615]] 2025-10-28T19:03:46.439Z,1761678226.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709005,0.636333,0.303961],[-0.704015,0.663694,0.252730],[-0.040917,-0.393180,0.918551]] 2025-10-28T19:03:46.838Z,1761678226.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692702,0.649614,0.313312],[-0.719961,0.648528,0.247120],[-0.042659,-0.396753,0.916933]] 2025-10-28T19:03:47.242Z,1761678227.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674960,0.663328,0.323149],[-0.736495,0.632235,0.240527],[-0.044758,-0.400344,0.915271]] 2025-10-28T19:03:47.654Z,1761678227.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656021,0.678364,0.330845],[-0.753285,0.615726,0.231179],[-0.046886,-0.400879,0.914931]] 2025-10-28T19:03:48.053Z,1761678228.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636357,0.694503,0.335731],[-0.769888,0.598994,0.220177],[-0.048187,-0.398587,0.915864]] 2025-10-28T19:03:48.465Z,1761678228.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616711,0.710052,0.339843],[-0.785665,0.582058,0.209617],[-0.048969,-0.396276,0.916825]] 2025-10-28T19:03:48.859Z,1761678228.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597200,0.725060,0.342986],[-0.800576,0.565106,0.199332],[-0.049296,-0.393628,0.917947]] 2025-10-28T19:03:49.263Z,1761678229.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578714,0.738370,0.346266],[-0.814015,0.548859,0.190087],[-0.049697,-0.391871,0.918677]] 2025-10-28T19:03:49.674Z,1761678229.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561437,0.750160,0.349355],[-0.825995,0.533625,0.181592],[-0.050202,-0.390518,0.919226]] 2025-10-28T19:03:50.071Z,1761678230.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545462,0.759943,0.353494],[-0.836581,0.519332,0.174431],[-0.051023,-0.390872,0.919030]] 2025-10-28T19:03:50.477Z,1761678230.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530292,0.768906,0.357174],[-0.846214,0.505905,0.167276],[-0.052077,-0.390951,0.918937]] 2025-10-28T19:03:50.878Z,1761678230.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515685,0.776712,0.361646],[-0.855095,0.493024,0.160438],[-0.053686,-0.391977,0.918407]] 2025-10-28T19:03:51.283Z,1761678231.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500768,0.784004,0.366835],[-0.863801,0.479809,0.153724],[-0.055490,-0.393853,0.917497]] 2025-10-28T19:03:51.688Z,1761678231.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485487,0.790597,0.373174],[-0.872373,0.466007,0.147658],[-0.057164,-0.397233,0.915936]] 2025-10-28T19:03:52.090Z,1761678232.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470130,0.797519,0.378077],[-0.880641,0.452374,0.140815],[-0.058729,-0.399152,0.915002]] 2025-10-28T19:03:52.498Z,1761678232.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454597,0.804674,0.381892],[-0.888650,0.438800,0.133250],[-0.060352,-0.399944,0.914551]] 2025-10-28T19:03:52.899Z,1761678232.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438725,0.811679,0.385612],[-0.896503,0.424791,0.125836],[-0.061666,-0.400910,0.914040]] 2025-10-28T19:03:53.304Z,1761678233.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422513,0.817876,0.390592],[-0.904168,0.410280,0.118960],[-0.062957,-0.403423,0.912845]] 2025-10-28T19:03:53.719Z,1761678233.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407058,0.823944,0.394235],[-0.911150,0.396579,0.111942],[-0.064111,-0.404774,0.912167]] 2025-10-28T19:03:54.110Z,1761678234.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390880,0.829632,0.398652],[-0.918117,0.382185,0.104856],[-0.065367,-0.406995,0.911088]] 2025-10-28T19:03:54.517Z,1761678234.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373735,0.835810,0.402174],[-0.925151,0.366979,0.097063],[-0.066464,-0.408347,0.910404]] 2025-10-28T19:03:54.919Z,1761678234.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356644,0.842250,0.404253],[-0.931770,0.352124,0.088396],[-0.067896,-0.408197,0.910366]] 2025-10-28T19:03:55.323Z,1761678235.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337721,0.849110,0.406150],[-0.938706,0.335520,0.079103],[-0.069105,-0.407970,0.910376]] 2025-10-28T19:03:55.347Z,1761678235.347 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:03:55.347Z,1761678235.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:03:55.347Z,1761678235.347 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:03:55.347Z,1761678235.347 [marl:UpdateRudder:A] Stopped 2025-10-28T19:03:55.348Z,1761678235.348 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:03:55.728Z,1761678235.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317773,0.856739,0.406225],[-0.945569,0.318039,0.068927],[-0.070143,-0.406017,0.911170]] 2025-10-28T19:03:55.757Z,1761678235.757 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:03:55.757Z,1761678235.757 [marl:UpdateRudder:B] Stopped 2025-10-28T19:03:55.757Z,1761678235.757 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:03:55.757Z,1761678235.757 [marl:UpdateRudder] Stopped 2025-10-28T19:03:55.757Z,1761678235.757 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:03:56.145Z,1761678236.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296925,0.864747,0.405029],[-0.952239,0.299791,0.058021],[-0.071251,-0.402912,0.912461]] 2025-10-28T19:03:56.324Z,1761678236.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:03:56.535Z,1761678236.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275461,0.872348,0.403894],[-0.958578,0.280921,0.047019],[-0.072445,-0.400116,0.913597]] 2025-10-28T19:03:56.590Z,1761678236.590 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:03:56.591Z,1761678236.591 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:03:56.591Z,1761678236.591 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:03:56.593Z,1761678236.593 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:03:56.593Z,1761678236.593 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:03:56.593Z,1761678236.593 [marl:UpdateCommandMode] Stopped 2025-10-28T19:03:56.594Z,1761678236.594 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:03:56.594Z,1761678236.594 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:03:56.594Z,1761678236.594 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:03:56.595Z,1761678236.595 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:03:56.598Z,1761678236.598 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:03:56.598Z,1761678236.598 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:03:56.598Z,1761678236.598 [marl:UpdateSpeed] Stopped 2025-10-28T19:03:56.599Z,1761678236.599 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:03:56.938Z,1761678236.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253427,0.879710,0.402350],[-0.964543,0.261486,0.035811],[-0.073705,-0.397159,0.914785]] 2025-10-28T19:03:57.328Z,1761678237.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:03:57.348Z,1761678237.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230684,0.886418,0.401307],[-0.970166,0.241148,0.025028],[-0.074589,-0.395108,0.915602]] 2025-10-28T19:03:57.746Z,1761678237.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207526,0.892678,0.400075],[-0.975313,0.220370,0.014205],[-0.075484,-0.393146,0.916373]] 2025-10-28T19:03:58.152Z,1761678238.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184273,0.898304,0.398866],[-0.979920,0.199354,0.003741],[-0.076155,-0.391546,0.917002]] 2025-10-28T19:03:58.555Z,1761678238.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161217,0.902703,0.398920],[-0.983938,0.178409,-0.006072],[-0.076652,-0.391533,0.916966]] 2025-10-28T19:03:58.959Z,1761678238.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139309,0.906093,0.399484],[-0.987204,0.158689,-0.015671],[-0.077593,-0.392190,0.916606]] 2025-10-28T19:03:59.362Z,1761678239.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118123,0.908304,0.401287],[-0.989910,0.139565,-0.024511],[-0.078269,-0.394342,0.915624]] 2025-10-28T19:03:59.772Z,1761678239.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098056,0.910216,0.402358],[-0.992058,0.121405,-0.032875],[-0.078772,-0.395939,0.914892]] 2025-10-28T19:04:00.171Z,1761678240.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079048,0.911591,0.403428],[-0.993724,0.104189,-0.040717],[-0.079150,-0.397677,0.914105]] 2025-10-28T19:04:00.616Z,1761678240.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061097,0.911194,0.407421],[-0.994966,0.088082,-0.047790],[-0.079432,-0.402451,0.911989]] 2025-10-28T19:04:00.979Z,1761678240.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044542,0.910372,0.411386],[-0.995809,0.073388,-0.054583],[-0.079882,-0.407230,0.909825]] 2025-10-28T19:04:01.382Z,1761678241.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028423,0.909374,0.415008],[-0.996360,0.059156,-0.061384],[-0.080372,-0.411753,0.907744]] 2025-10-28T19:04:01.790Z,1761678241.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011516,0.907932,0.418959],[-0.996667,0.044262,-0.068525],[-0.080760,-0.416773,0.905416]] 2025-10-28T19:04:02.192Z,1761678242.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006201,0.908459,0.417928],[-0.996690,0.028263,-0.076224],[-0.081058,-0.417017,0.905277]] 2025-10-28T19:04:02.649Z,1761678242.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024159,0.908830,0.416467],[-0.996361,0.012172,-0.084361],[-0.081739,-0.416989,0.905228]] 2025-10-28T19:04:02.999Z,1761678242.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043679,0.909226,0.414006],[-0.995682,-0.005642,-0.092656],[-0.081909,-0.416265,0.905546]] 2025-10-28T19:04:03.403Z,1761678243.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063385,0.908421,0.413224],[-0.994625,-0.023533,-0.100831],[-0.081873,-0.417394,0.905030]] 2025-10-28T19:04:03.807Z,1761678243.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084120,0.907111,0.412400],[-0.993097,-0.042368,-0.109377],[-0.081744,-0.418754,0.904413]] 2025-10-28T19:04:04.211Z,1761678244.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104463,0.906275,0.409577],[-0.991165,-0.061028,-0.117760],[-0.081727,-0.418260,0.904643]] 2025-10-28T19:04:04.654Z,1761678244.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125062,0.905196,0.406178],[-0.988798,-0.080099,-0.125944],[-0.081469,-0.417379,0.905073]] 2025-10-28T19:04:05.107Z,1761678245.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145074,0.903444,0.403412],[-0.986100,-0.098644,-0.133704],[-0.081000,-0.417202,0.905197]] 2025-10-28T19:04:05.423Z,1761678245.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164548,0.902676,0.397618],[-0.983073,-0.117153,-0.140867],[-0.080576,-0.414066,0.906673]] 2025-10-28T19:04:05.828Z,1761678245.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183150,0.900766,0.393797],[-0.979801,-0.134540,-0.147948],[-0.080285,-0.412939,0.907213]] 2025-10-28T19:04:06.231Z,1761678246.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201381,0.897546,0.392245],[-0.976247,-0.151240,-0.155138],[-0.079921,-0.414170,0.906684]] 2025-10-28T19:04:06.659Z,1761678246.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219649,0.894242,0.389980],[-0.972322,-0.168025,-0.162352],[-0.079655,-0.414847,0.906398]] 2025-10-28T19:04:07.039Z,1761678247.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238682,0.890753,0.386769],[-0.967852,-0.185668,-0.169673],[-0.079326,-0.414833,0.906433]] 2025-10-28T19:04:07.443Z,1761678247.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258615,0.887097,0.382332],[-0.962733,-0.204270,-0.177256],[-0.079144,-0.413924,0.906864]] 2025-10-28T19:04:07.848Z,1761678247.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279402,0.883145,0.376815],[-0.956937,-0.223923,-0.184742],[-0.078777,-0.412206,0.907679]] 2025-10-28T19:04:08.251Z,1761678248.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300901,0.879086,0.369685],[-0.950433,-0.244592,-0.191971],[-0.078336,-0.409125,0.909110]] 2025-10-28T19:04:08.660Z,1761678248.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322599,0.874120,0.363104],[-0.943305,-0.265230,-0.199573],[-0.078144,-0.406900,0.910124]] 2025-10-28T19:04:08.737Z,1761678248.737 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:04:08.737Z,1761678248.737 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:04:08.737Z,1761678248.737 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:04:08.737Z,1761678248.737 [marl:UpdateRudder:A] Stopped 2025-10-28T19:04:08.737Z,1761678248.737 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:04:09.060Z,1761678249.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344596,0.868326,0.356740],[-0.935541,-0.286253,-0.206936],[-0.077570,-0.405054,0.910996]] 2025-10-28T19:04:09.084Z,1761678249.084 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:04:09.085Z,1761678249.085 [marl:UpdateRudder:B] Stopped 2025-10-28T19:04:09.085Z,1761678249.085 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:04:09.085Z,1761678249.085 [marl:UpdateRudder] Stopped 2025-10-28T19:04:09.085Z,1761678249.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:04:09.463Z,1761678249.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365929,0.861421,0.352207],[-0.927474,-0.306356,-0.214330],[-0.076727,-0.405092,0.911051]] 2025-10-28T19:04:09.867Z,1761678249.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386675,0.853725,0.348764],[-0.919127,-0.325829,-0.221454],[-0.075423,-0.406189,0.910671]] 2025-10-28T19:04:09.941Z,1761678249.941 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:04:09.941Z,1761678249.941 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:04:09.941Z,1761678249.941 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:04:09.941Z,1761678249.941 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateCommandMode] Stopped 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:04:09.942Z,1761678249.942 [marl:UpdateSpeed] Stopped 2025-10-28T19:04:09.943Z,1761678249.943 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:04:10.271Z,1761678250.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406242,0.844860,0.348108],[-0.910752,-0.343455,-0.229282],[-0.074152,-0.410184,0.908983]] 2025-10-28T19:04:10.682Z,1761678250.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424348,0.836642,0.346350],[-0.902571,-0.360077,-0.236029],[-0.072759,-0.412764,0.907927]] 2025-10-28T19:04:11.079Z,1761678251.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441828,0.827312,0.346904],[-0.894270,-0.375484,-0.243501],[-0.071195,-0.417811,0.905740]] 2025-10-28T19:04:11.483Z,1761678251.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457431,0.817752,0.349339],[-0.886534,-0.388720,-0.250907],[-0.069385,-0.424474,0.902778]] 2025-10-28T19:04:11.887Z,1761678251.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472143,0.809195,0.349691],[-0.878893,-0.401500,-0.257573],[-0.068026,-0.428952,0.900762]] 2025-10-28T19:04:11.935Z,1761678251.935 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:04:12.137Z,1761678252.137 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:04:12.137Z,1761678252.137 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:04:12.292Z,1761678252.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485332,0.801986,0.348241],[-0.871769,-0.413409,-0.262890],[-0.066868,-0.431175,0.899787]] 2025-10-28T19:04:12.389Z,1761678252.389 [DAT](INFO): DAT read: user:160> 2025-10-28T19:04:12.390Z,1761678252.390 [DAT](INFO): DAT read: Tx time:19:04:12.1361 2025-10-28T19:04:12.390Z,1761678252.390 [DAT](INFO): Ping request sent. 2025-10-28T19:04:12.390Z,1761678252.390 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:04:12.390Z,1761678252.390 [DAT](INFO): publishing transmit ping time 2025-10-28T19:04:12.391Z,1761678252.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T19:04:12.643Z,1761678252.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252636 2025-10-28T19:04:12.694Z,1761678252.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497794,0.795335,0.345896],[-0.864804,-0.424973,-0.267416],[-0.065689,-0.432250,0.899358]] 2025-10-28T19:04:12.893Z,1761678252.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502841 2025-10-28T19:04:13.106Z,1761678253.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509372,0.789057,0.343408],[-0.858110,-0.435727,-0.271642],[-0.064709,-0.433048,0.899045]] 2025-10-28T19:04:13.145Z,1761678253.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754940 2025-10-28T19:04:13.397Z,1761678253.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006800 2025-10-28T19:04:13.504Z,1761678253.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521084,0.783440,0.338665],[-0.851110,-0.447258,-0.274904],[-0.063900,-0.431489,0.899852]] 2025-10-28T19:04:13.649Z,1761678253.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258857 2025-10-28T19:04:13.901Z,1761678253.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910 2025-10-28T19:04:13.908Z,1761678253.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533688,0.776830,0.334234],[-0.843287,-0.459130,-0.279403],[-0.063592,-0.430969,0.900123]] 2025-10-28T19:04:14.153Z,1761678254.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762844 2025-10-28T19:04:14.311Z,1761678254.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546839,0.769859,0.329064],[-0.834841,-0.471677,-0.283832],[-0.063298,-0.429927,0.900642]] 2025-10-28T19:04:14.409Z,1761678254.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018843 2025-10-28T19:04:14.658Z,1761678254.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267720 2025-10-28T19:04:14.761Z,1761678254.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560484,0.763086,0.321804],[-0.825760,-0.485343,-0.287338],[-0.063079,-0.426781,0.902152]] 2025-10-28T19:04:14.909Z,1761678254.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519286 2025-10-28T19:04:15.121Z,1761678255.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575665,0.755815,0.312015],[-0.815270,-0.501226,-0.290012],[-0.062805,-0.421326,0.904732]] 2025-10-28T19:04:15.164Z,1761678255.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773640 2025-10-28T19:04:15.413Z,1761678255.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022913 2025-10-28T19:04:15.523Z,1761678255.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592323,0.747454,0.300775],[-0.803258,-0.518793,-0.292627],[-0.062686,-0.414929,0.907692]] 2025-10-28T19:04:15.665Z,1761678255.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274836 2025-10-28T19:04:15.918Z,1761678255.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527526 2025-10-28T19:04:16.169Z,1761678256.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778917 2025-10-28T19:04:16.332Z,1761678256.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629231,0.726551,0.276030],[-0.774669,-0.557541,-0.298389],[-0.062897,-0.401587,0.913658]] 2025-10-28T19:04:16.421Z,1761678256.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031001 2025-10-28T19:04:16.673Z,1761678256.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282848 2025-10-28T19:04:16.753Z,1761678256.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649298,0.712236,0.266705],[-0.757930,-0.576988,-0.304348],[-0.062882,-0.399757,0.914462]] 2025-10-28T19:04:16.925Z,1761678256.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534947 2025-10-28T19:04:17.138Z,1761678257.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669797,0.695769,0.259380],[-0.739948,-0.596222,-0.311442],[-0.062043,-0.400531,0.914180]] 2025-10-28T19:04:17.177Z,1761678257.177 [DAT](INFO): DAT read: Rx Time:19:04:16.4669 2025-10-28T19:04:17.177Z,1761678257.177 [DAT](INFO): Rx dataTimestamp_ set to:1761678257.177192 2025-10-28T19:04:17.178Z,1761678257.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788011 2025-10-28T19:04:17.429Z,1761678257.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038842 2025-10-28T19:04:17.542Z,1761678257.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690118,0.678227,0.252478],[-0.721123,-0.615063,-0.318872],[-0.060978,-0.402128,0.913551]] 2025-10-28T19:04:17.687Z,1761678257.687 [DAT](INFO): DAT read: 19:04:16.4669 LVL= 22256, 20129, 20706, 19427, AGC= 74, IDX= 110, 0.07, 2.534,-2.492,-1.918,-2.937, PHS=-0.710, 0.490, 0.975, RAW= 253.8, -10.1, CAL= 252.7, -15.4, ROT= 257.3, 15.4 2025-10-28T19:04:17.688Z,1761678257.688 [DAT](INFO): got valid direction response: 19:04:16.4669 LVL= 22256, 20129, 20706, 19427, AGC= 74, IDX= 110, 0.07, 2.534,-2.492,-1.918,-2.937, PHS=-0.710, 0.490, 0.975, RAW= 253.8, -10.1, CAL= 252.7, -15.4, ROT= 257.3, 15.4 2025-10-28T19:04:17.689Z,1761678257.689 [DAT](INFO): DAT read: Bearing 91, -11 (Remote) 2025-10-28T19:04:17.689Z,1761678257.689 [DAT](INFO): Remote Bearing received:Bearing 91, -11 (Remote) 2025-10-28T19:04:17.690Z,1761678257.690 [DAT](INFO): DAT read: Bearing 239.3, -47.0 (Local) 2025-10-28T19:04:17.690Z,1761678257.690 [DAT](INFO): Local bearing/azimuth received: Bearing 239.3, -47.0 (Local) 2025-10-28T19:04:17.692Z,1761678257.692 [DAT](INFO): DAT read: Range 11 to 20 : 1726.2 m (Round-trip 2301.7 ms) speed -0.4 m/s 2025-10-28T19:04:17.692Z,1761678257.692 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:04:17.693Z,1761678257.693 [DAT](INFO): direction in FSK: [-0.211953,-0.940508,-0.265556] 2025-10-28T19:04:17.694Z,1761678257.694 [DAT](INFO): publishing direction and range info 2025-10-28T19:04:17.959Z,1761678257.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709654,0.660995,0.243879],[-0.702093,-0.634575,-0.323078],[-0.058793,-0.400499,0.914409]] 2025-10-28T19:04:17.992Z,1761678257.992 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678208.00. Resetting abort timer. 2025-10-28T19:04:18.358Z,1761678258.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727180,0.642581,0.241452],[-0.684187,-0.649951,-0.330835],[-0.055656,-0.405775,0.912277]] 2025-10-28T19:04:18.767Z,1761678258.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742740,0.623166,0.244953],[-0.667596,-0.661062,-0.342508],[-0.051510,-0.417924,0.907020]] 2025-10-28T19:04:19.167Z,1761678259.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755064,0.604906,0.252917],[-0.653948,-0.667033,-0.356958],[-0.047222,-0.434921,0.899230]] 2025-10-28T19:04:19.575Z,1761678259.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764646,0.589800,0.259714],[-0.643021,-0.671424,-0.368394],[-0.042901,-0.448693,0.892656]] 2025-10-28T19:04:19.974Z,1761678259.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772044,0.578638,0.262919],[-0.634390,-0.676388,-0.374232],[-0.038710,-0.455716,0.889283]] 2025-10-28T19:04:20.379Z,1761678260.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778574,0.570533,0.261369],[-0.626573,-0.683469,-0.374535],[-0.035047,-0.455370,0.889612]] 2025-10-28T19:04:20.795Z,1761678260.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784829,0.563375,0.258170],[-0.618889,-0.691064,-0.373372],[-0.031937,-0.452811,0.891034]] 2025-10-28T19:04:21.188Z,1761678261.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791748,0.556067,0.252833],[-0.610159,-0.700282,-0.370555],[-0.028998,-0.447655,0.893736]] 2025-10-28T19:04:21.602Z,1761678261.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800121,0.547774,0.244437],[-0.599289,-0.712570,-0.364823],[-0.025662,-0.438392,0.898418]] 2025-10-28T19:04:21.994Z,1761678261.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810754,0.535583,0.236282],[-0.584976,-0.726119,-0.361324],[-0.021950,-0.431164,0.902007]] 2025-10-28T19:04:22.101Z,1761678262.101 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:04:22.101Z,1761678262.101 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:04:22.101Z,1761678262.101 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:04:22.102Z,1761678262.102 [marl:UpdateRudder:A] Stopped 2025-10-28T19:04:22.102Z,1761678262.102 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:04:22.398Z,1761678262.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822633,0.520878,0.227949],[-0.568279,-0.740362,-0.359059],[-0.018262,-0.424913,0.905050]] 2025-10-28T19:04:22.455Z,1761678262.455 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:04:22.455Z,1761678262.455 [marl:UpdateRudder:B] Stopped 2025-10-28T19:04:22.455Z,1761678262.455 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:04:22.455Z,1761678262.455 [marl:UpdateRudder] Stopped 2025-10-28T19:04:22.455Z,1761678262.455 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:04:23.207Z,1761678263.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847167,0.486365,0.213910],[-0.531221,-0.767294,-0.359256],[-0.010597,-0.417983,0.908393]] 2025-10-28T19:04:23.249Z,1761678263.249 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:04:23.249Z,1761678263.249 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:04:23.249Z,1761678263.249 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateCommandMode] Stopped 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:04:23.250Z,1761678263.250 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:04:23.251Z,1761678263.251 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:04:23.251Z,1761678263.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:04:23.251Z,1761678263.251 [marl:UpdateSpeed] Stopped 2025-10-28T19:04:23.251Z,1761678263.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:04:23.611Z,1761678263.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858798,0.468317,0.207712],[-0.512265,-0.779405,-0.360710],[-0.007035,-0.416180,0.909255]] 2025-10-28T19:04:24.015Z,1761678264.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869848,0.450106,0.201916],[-0.493305,-0.790385,-0.363238],[-0.003904,-0.415568,0.909554]] 2025-10-28T19:04:24.422Z,1761678264.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880073,0.432293,0.196455],[-0.474837,-0.800180,-0.366390],[-0.001189,-0.415734,0.909486]] 2025-10-28T19:04:24.828Z,1761678264.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889564,0.415106,0.190689],[-0.456808,-0.809466,-0.368905],[0.001222,-0.415273,0.909696]] 2025-10-28T19:04:25.233Z,1761678265.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907128,0.379574,0.181776],[-0.420803,-0.824856,-0.377542],[0.006634,-0.418971,0.907976]] 2025-10-28T19:04:25.637Z,1761678265.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914331,0.363747,0.178009],[-0.404867,-0.830873,-0.381749],[0.009043,-0.421115,0.906962]] 2025-10-28T19:04:26.040Z,1761678266.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921324,0.348436,0.172494],[-0.388629,-0.838310,-0.382367],[0.011372,-0.419320,0.907767]] 2025-10-28T19:04:26.442Z,1761678266.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928424,0.332022,0.166703],[-0.371265,-0.845829,-0.383060],[0.013818,-0.417533,0.908557]] 2025-10-28T19:04:26.846Z,1761678266.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935242,0.314749,0.162038],[-0.353618,-0.852153,-0.385733],[0.016672,-0.418053,0.908270]] 2025-10-28T19:04:27.247Z,1761678267.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941693,0.296852,0.158406],[-0.335910,-0.856628,-0.391603],[0.019447,-0.421980,0.906397]] 2025-10-28T19:04:27.452Z,1761678267.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:04:27.653Z,1761678267.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948008,0.278678,0.153683],[-0.317495,-0.861316,-0.396650],[0.021832,-0.424822,0.905014]] 2025-10-28T19:04:28.054Z,1761678268.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954197,0.260377,0.147348],[-0.298168,-0.868078,-0.396909],[0.024564,-0.422664,0.905953]] 2025-10-28T19:04:28.456Z,1761678268.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:04:28.459Z,1761678268.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960047,0.241014,0.142204],[-0.278522,-0.872188,-0.402136],[0.027109,-0.425676,0.904469]] 2025-10-28T19:04:28.864Z,1761678268.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965116,0.222458,0.138071],[-0.260142,-0.874410,-0.409553],[0.029622,-0.431184,0.901778]] 2025-10-28T19:04:29.268Z,1761678269.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969738,0.205095,0.132456],[-0.242092,-0.878024,-0.412874],[0.031621,-0.432446,0.901105]] 2025-10-28T19:04:29.670Z,1761678269.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973994,0.188146,0.126240],[-0.224071,-0.882448,-0.413616],[0.033580,-0.431146,0.901657]] 2025-10-28T19:04:30.082Z,1761678270.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977898,0.171564,0.119506],[-0.206100,-0.887173,-0.412852],[0.035192,-0.428357,0.902924]] 2025-10-28T19:04:30.479Z,1761678270.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981449,0.155036,0.112786],[-0.188188,-0.891450,-0.412192],[0.036639,-0.425771,0.904089]] 2025-10-28T19:04:30.883Z,1761678270.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984707,0.138555,0.105616],[-0.170103,-0.895622,-0.411006],[0.037645,-0.422686,0.905494]] 2025-10-28T19:04:31.287Z,1761678271.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987597,0.122300,0.098461],[-0.152242,-0.899279,-0.410024],[0.038398,-0.419929,0.906744]] 2025-10-28T19:04:31.691Z,1761678271.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990202,0.105381,0.091626],[-0.133927,-0.902466,-0.409413],[0.039545,-0.417672,0.907737]] 2025-10-28T19:04:32.096Z,1761678272.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992368,0.088864,0.085495],[-0.116383,-0.904100,-0.411167],[0.040758,-0.417979,0.907542]] 2025-10-28T19:04:32.501Z,1761678272.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994232,0.072173,0.079335],[-0.098736,-0.904786,-0.414262],[0.041882,-0.419705,0.906694]] 2025-10-28T19:04:32.902Z,1761678272.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995739,0.056284,0.073044],[-0.081729,-0.905503,-0.416394],[0.042705,-0.420589,0.906245]] 2025-10-28T19:04:33.308Z,1761678273.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996919,0.040168,0.067375],[-0.064729,-0.906424,-0.417380],[0.044305,-0.420455,0.906231]] 2025-10-28T19:04:33.710Z,1761678273.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997825,0.023725,0.061495],[-0.047400,-0.906581,-0.419362],[0.045801,-0.421365,0.905734]] 2025-10-28T19:04:34.116Z,1761678274.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998444,0.007064,0.055316],[-0.029721,-0.906723,-0.420678],[0.047185,-0.421668,0.905522]] 2025-10-28T19:04:34.520Z,1761678274.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998756,-0.009109,0.049031],[-0.012342,-0.907441,-0.419997],[0.048319,-0.420080,0.906200]] 2025-10-28T19:04:34.923Z,1761678274.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998745,-0.025198,0.043276],[0.004847,-0.908767,-0.417276],[0.049842,-0.416543,0.907749]] 2025-10-28T19:04:35.328Z,1761678275.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998430,-0.042114,0.036928],[0.022947,-0.908977,-0.416215],[0.051095,-0.414714,0.908516]] 2025-10-28T19:04:35.375Z,1761678275.375 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:04:35.375Z,1761678275.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:04:35.375Z,1761678275.375 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:04:35.377Z,1761678275.377 [marl:UpdateRudder:A] Stopped 2025-10-28T19:04:35.377Z,1761678275.377 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:04:35.731Z,1761678275.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997788,-0.059233,0.030171],[0.041318,-0.908182,-0.416532],[0.052073,-0.414364,0.908620]] 2025-10-28T19:04:35.780Z,1761678275.780 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:04:35.780Z,1761678275.780 [marl:UpdateRudder:B] Stopped 2025-10-28T19:04:35.781Z,1761678275.781 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:04:35.781Z,1761678275.781 [marl:UpdateRudder] Stopped 2025-10-28T19:04:35.781Z,1761678275.781 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:04:36.135Z,1761678276.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996769,-0.076966,0.022964],[0.060436,-0.907031,-0.416704],[0.052901,-0.413970,0.908752]] 2025-10-28T19:04:36.538Z,1761678276.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995380,-0.094598,0.016411],[0.079363,-0.906873,-0.413863],[0.054033,-0.410648,0.910191]] 2025-10-28T19:04:36.705Z,1761678276.705 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:04:36.705Z,1761678276.705 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:04:36.705Z,1761678276.705 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:04:36.705Z,1761678276.705 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:04:36.705Z,1761678276.705 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateCommandMode] Stopped 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:04:36.706Z,1761678276.706 [marl:UpdateSpeed] Stopped 2025-10-28T19:04:36.707Z,1761678276.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:04:36.942Z,1761678276.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993554,-0.112947,0.009639],[0.098881,-0.905108,-0.413524],[0.055430,-0.409905,0.910442]] 2025-10-28T19:04:37.349Z,1761678277.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991443,-0.130505,0.002921],[0.117523,-0.902108,-0.415198],[0.056821,-0.411302,0.909726]] 2025-10-28T19:04:37.754Z,1761678277.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988804,-0.149172,-0.003832],[0.137285,-0.899349,-0.415119],[0.058478,-0.410998,0.909759]] 2025-10-28T19:04:38.154Z,1761678278.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985745,-0.167893,-0.010869],[0.157119,-0.895533,-0.416335],[0.060166,-0.412108,0.909146]] 2025-10-28T19:04:38.571Z,1761678278.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982351,-0.186207,-0.017687],[0.176588,-0.892099,-0.415904],[0.061666,-0.411687,0.909237]] 2025-10-28T19:04:38.963Z,1761678278.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978658,-0.203996,-0.024788],[0.195660,-0.888140,-0.415843],[0.062815,-0.411817,0.909099]] 2025-10-28T19:04:39.367Z,1761678279.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974474,-0.222206,-0.032012],[0.215231,-0.884142,-0.414691],[0.063844,-0.410995,0.909399]] 2025-10-28T19:04:39.785Z,1761678279.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970033,-0.239722,-0.039617],[0.234249,-0.879391,-0.414485],[0.064522,-0.411345,0.909193]] 2025-10-28T19:04:40.176Z,1761678280.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965178,-0.257337,-0.047001],[0.253340,-0.874739,-0.413098],[0.065192,-0.410620,0.909473]] 2025-10-28T19:04:40.601Z,1761678280.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960143,-0.274210,-0.054177],[0.271661,-0.869869,-0.411737],[0.065775,-0.410044,0.909691]] 2025-10-28T19:04:40.983Z,1761678280.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954879,-0.290735,-0.060656],[0.289478,-0.865434,-0.408933],[0.066397,-0.408040,0.910547]] 2025-10-28T19:04:41.387Z,1761678281.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949164,-0.307367,-0.067919],[0.307644,-0.860103,-0.406914],[0.066655,-0.407123,0.910938]] 2025-10-28T19:04:41.794Z,1761678281.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943057,-0.323761,-0.076308],[0.325923,-0.853549,-0.406483],[0.066471,-0.408207,0.910466]] 2025-10-28T19:04:42.195Z,1761678282.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936628,-0.340020,-0.084344],[0.343969,-0.846931,-0.405455],[0.066429,-0.408772,0.910215]] 2025-10-28T19:04:42.643Z,1761678282.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929469,-0.357225,-0.092074],[0.362803,-0.839987,-0.403480],[0.066792,-0.408427,0.910344]] 2025-10-28T19:04:43.002Z,1761678283.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921900,-0.374360,-0.099773],[0.381561,-0.832675,-0.401328],[0.067163,-0.408054,0.910484]] 2025-10-28T19:04:43.412Z,1761678283.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913735,-0.391754,-0.107782],[0.400650,-0.824600,-0.399393],[0.067587,-0.408122,0.910422]] 2025-10-28T19:04:43.810Z,1761678283.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905454,-0.408441,-0.115451],[0.418930,-0.816293,-0.397698],[0.068195,-0.408463,0.910224]] 2025-10-28T19:04:44.214Z,1761678284.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896620,-0.425587,-0.122265],[0.437417,-0.808355,-0.393991],[0.068843,-0.406741,0.910946]] 2025-10-28T19:04:44.647Z,1761678284.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887082,-0.442907,-0.130069],[0.456372,-0.799147,-0.391266],[0.069350,-0.406445,0.911040]] 2025-10-28T19:04:45.025Z,1761678285.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877530,-0.458944,-0.138969],[0.474456,-0.788981,-0.390385],[0.069521,-0.408509,0.910103]] 2025-10-28T19:04:45.437Z,1761678285.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867898,-0.474672,-0.146422],[0.491796,-0.779583,-0.387797],[0.069928,-0.408578,0.910041]] 2025-10-28T19:04:45.832Z,1761678285.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858002,-0.490405,-0.152761],[0.508779,-0.770564,-0.383896],[0.070552,-0.407105,0.910653]] 2025-10-28T19:04:46.235Z,1761678286.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847259,-0.506540,-0.159903],[0.526405,-0.760422,-0.380336],[0.071062,-0.406417,0.910920]] 2025-10-28T19:04:46.652Z,1761678286.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836040,-0.522670,-0.166896],[0.543990,-0.749990,-0.376284],[0.071502,-0.405378,0.911348]] 2025-10-28T19:04:47.055Z,1761678287.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824756,-0.538027,-0.174080],[0.560890,-0.739144,-0.372918],[0.071970,-0.405206,0.911388]] 2025-10-28T19:04:47.450Z,1761678287.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812941,-0.553580,-0.180766],[0.577806,-0.728072,-0.368851],[0.072578,-0.404302,0.911742]] 2025-10-28T19:04:47.854Z,1761678287.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800310,-0.569569,-0.187336],[0.595150,-0.716682,-0.363541],[0.072801,-0.402439,0.912547]] 2025-10-28T19:04:48.256Z,1761678288.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787490,-0.584730,-0.194810],[0.612050,-0.704757,-0.358766],[0.072487,-0.401758,0.912872]] 2025-10-28T19:04:48.658Z,1761678288.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773844,-0.600102,-0.202590],[0.629322,-0.692366,-0.352962],[0.071547,-0.400633,0.913441]] 2025-10-28T19:04:48.709Z,1761678288.709 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:04:48.709Z,1761678288.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:04:48.709Z,1761678288.709 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:04:48.709Z,1761678288.709 [marl:UpdateRudder:A] Stopped 2025-10-28T19:04:48.709Z,1761678288.709 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:04:49.064Z,1761678289.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760081,-0.614744,-0.210632],[0.646009,-0.679729,-0.347334],[0.070349,-0.400072,0.913780]] 2025-10-28T19:04:49.109Z,1761678289.109 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:04:49.109Z,1761678289.109 [marl:UpdateRudder:B] Stopped 2025-10-28T19:04:49.109Z,1761678289.109 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:04:49.109Z,1761678289.109 [marl:UpdateRudder] Stopped 2025-10-28T19:04:49.109Z,1761678289.109 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:04:49.470Z,1761678289.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746407,-0.628294,-0.219370],[0.661912,-0.666765,-0.342486],[0.068913,-0.400838,0.913554]] 2025-10-28T19:04:49.874Z,1761678289.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732121,-0.641611,-0.228769],[0.677850,-0.653090,-0.337628],[0.067219,-0.402255,0.913057]] 2025-10-28T19:04:49.910Z,1761678289.910 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode] Stopped 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:04:49.911Z,1761678289.911 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:04:49.912Z,1761678289.912 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:04:49.912Z,1761678289.912 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:04:49.912Z,1761678289.912 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:04:49.912Z,1761678289.912 [marl:UpdateSpeed] Stopped 2025-10-28T19:04:49.912Z,1761678289.912 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:04:50.274Z,1761678290.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718181,-0.654064,-0.237520],[0.692784,-0.640030,-0.332283],[0.065314,-0.403189,0.912783]] 2025-10-28T19:04:50.679Z,1761678290.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705203,-0.665099,-0.245627],[0.706144,-0.627770,-0.327513],[0.063631,-0.404411,0.912361]] 2025-10-28T19:04:51.083Z,1761678291.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692135,-0.676204,-0.252383],[0.719105,-0.616035,-0.321543],[0.061952,-0.404040,0.912641]] 2025-10-28T19:04:51.495Z,1761678291.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679300,-0.686670,-0.258913],[0.731372,-0.604435,-0.315837],[0.060380,-0.403910,0.912804]] 2025-10-28T19:04:51.891Z,1761678291.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666265,-0.697040,-0.265003],[0.743389,-0.592785,-0.309805],[0.058856,-0.403412,0.913124]] 2025-10-28T19:04:52.295Z,1761678292.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653059,-0.707395,-0.270382],[0.755107,-0.581048,-0.303638],[0.057687,-0.402461,0.913618]] 2025-10-28T19:04:52.698Z,1761678292.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639569,-0.717066,-0.277070],[0.766645,-0.568410,-0.298607],[0.056631,-0.403394,0.913272]] 2025-10-28T19:04:53.112Z,1761678293.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625471,-0.726822,-0.283753],[0.778232,-0.555016,-0.293790],[0.056046,-0.404583,0.912782]] 2025-10-28T19:04:53.509Z,1761678293.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610579,-0.737334,-0.289019],[0.789960,-0.541147,-0.288310],[0.056179,-0.404350,0.912877]] 2025-10-28T19:04:53.910Z,1761678293.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595089,-0.747698,-0.294646],[0.801651,-0.526365,-0.283365],[0.056780,-0.404831,0.912627]] 2025-10-28T19:04:54.314Z,1761678294.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578148,-0.758667,-0.300282],[0.813891,-0.510214,-0.277962],[0.057672,-0.405100,0.912451]] 2025-10-28T19:04:54.720Z,1761678294.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559662,-0.770200,-0.305893],[0.826649,-0.492757,-0.271738],[0.058562,-0.404948,0.912462]] 2025-10-28T19:04:55.122Z,1761678295.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539646,-0.781961,-0.311959],[0.839799,-0.473876,-0.264913],[0.059322,-0.404943,0.912416]] 2025-10-28T19:04:55.538Z,1761678295.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519068,-0.793545,-0.317576],[0.852620,-0.454606,-0.257630],[0.060069,-0.404499,0.912564]] 2025-10-28T19:04:55.931Z,1761678295.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497727,-0.805104,-0.322608],[0.865231,-0.435012,-0.249279],[0.060357,-0.403203,0.913118]] 2025-10-28T19:04:56.336Z,1761678296.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476024,-0.815924,-0.328130],[0.877401,-0.415280,-0.240229],[0.059743,-0.402256,0.913576]] 2025-10-28T19:04:56.739Z,1761678296.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453743,-0.826261,-0.333781],[0.889247,-0.395467,-0.229883],[0.057944,-0.401121,0.914191]] 2025-10-28T19:04:57.143Z,1761678297.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430912,-0.836005,-0.339721],[0.900716,-0.375522,-0.218389],[0.055001,-0.400098,0.914820]] 2025-10-28T19:04:57.550Z,1761678297.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408395,-0.844896,-0.345490],[0.911382,-0.356299,-0.205993],[0.050945,-0.399000,0.915535]] 2025-10-28T19:04:57.955Z,1761678297.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386811,-0.853126,-0.350076],[0.920979,-0.338199,-0.193439],[0.046632,-0.397237,0.916531]] 2025-10-28T19:04:58.354Z,1761678298.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366054,-0.860580,-0.354128],[0.929639,-0.320938,-0.181025],[0.042133,-0.395476,0.917509]] 2025-10-28T19:04:58.578Z,1761678298.578 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:04:58.763Z,1761678298.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347111,-0.866886,-0.357803],[0.937047,-0.305064,-0.169935],[0.038162,-0.394265,0.918204]] 2025-10-28T19:04:59.163Z,1761678299.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328964,-0.872570,-0.361116],[0.943720,-0.289873,-0.159272],[0.034298,-0.393187,0.918819]] 2025-10-28T19:04:59.572Z,1761678299.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311557,-0.877771,-0.363939],[0.949728,-0.275228,-0.149221],[0.030816,-0.392134,0.919392]] 2025-10-28T19:04:59.580Z,1761678299.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:04:59.970Z,1761678299.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294272,-0.882857,-0.366015],[0.955318,-0.260595,-0.139489],[0.027767,-0.390708,0.920096]] 2025-10-28T19:05:00.375Z,1761678300.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277356,-0.887208,-0.368693],[0.960433,-0.245909,-0.130758],[0.025344,-0.390372,0.920309]] 2025-10-28T19:05:00.783Z,1761678300.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260677,-0.891171,-0.371298],[0.965137,-0.231140,-0.122822],[0.023634,-0.390370,0.920355]] 2025-10-28T19:05:01.183Z,1761678301.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243675,-0.894715,-0.374310],[0.969594,-0.215753,-0.115488],[0.022570,-0.391070,0.920084]] 2025-10-28T19:05:01.594Z,1761678301.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225892,-0.897774,-0.378119],[0.973903,-0.199342,-0.108517],[0.022048,-0.392764,0.919375]] 2025-10-28T19:05:01.991Z,1761678301.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207119,-0.901279,-0.380524],[0.978069,-0.182018,-0.101249],[0.021991,-0.393149,0.919212]] 2025-10-28T19:05:02.051Z,1761678302.051 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:05:02.052Z,1761678302.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:05:02.057Z,1761678302.057 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:05:02.057Z,1761678302.057 [marl:UpdateRudder:A] Stopped 2025-10-28T19:05:02.057Z,1761678302.057 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:05:02.395Z,1761678302.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186449,-0.905278,-0.381717],[0.982218,-0.163043,-0.093089],[0.022035,-0.392286,0.919580]] 2025-10-28T19:05:02.435Z,1761678302.435 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:05:02.435Z,1761678302.435 [marl:UpdateRudder:B] Stopped 2025-10-28T19:05:02.436Z,1761678302.436 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:05:02.440Z,1761678302.440 [marl:UpdateRudder] Stopped 2025-10-28T19:05:02.440Z,1761678302.440 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:05:02.799Z,1761678302.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164851,-0.909107,-0.382555],[0.986069,-0.143176,-0.084672],[0.022203,-0.391184,0.920045]] 2025-10-28T19:05:03.203Z,1761678303.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141581,-0.912810,-0.383057],[0.989675,-0.121795,-0.075559],[0.022317,-0.389800,0.920629]] 2025-10-28T19:05:03.251Z,1761678303.251 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:05:03.251Z,1761678303.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:05:03.251Z,1761678303.251 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateCommandMode] Stopped 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:05:03.252Z,1761678303.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:05:03.253Z,1761678303.253 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:05:03.253Z,1761678303.253 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:05:03.253Z,1761678303.253 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:05:03.253Z,1761678303.253 [marl:UpdateSpeed] Stopped 2025-10-28T19:05:03.253Z,1761678303.253 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:05:03.607Z,1761678303.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116950,-0.916248,-0.383160],[0.992890,-0.099249,-0.065721],[0.022188,-0.388122,0.921341]] 2025-10-28T19:05:04.018Z,1761678304.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091363,-0.918716,-0.384205],[0.995590,-0.076018,-0.054974],[0.021299,-0.387533,0.921610]] 2025-10-28T19:05:04.417Z,1761678304.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065067,-0.920709,-0.384788],[0.997689,-0.052452,-0.043202],[0.019594,-0.386710,0.921993]] 2025-10-28T19:05:04.818Z,1761678304.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038960,-0.921961,-0.385318],[0.999102,-0.029507,-0.030420],[0.016676,-0.386157,0.922282]] 2025-10-28T19:05:05.223Z,1761678305.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013343,-0.922627,-0.385463],[0.999831,-0.007433,-0.016819],[0.012652,-0.385622,0.922570]] 2025-10-28T19:05:05.629Z,1761678305.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011178,-0.922663,-0.385445],[0.999907,0.013316,-0.002876],[0.007786,-0.385377,0.922726]] 2025-10-28T19:05:06.034Z,1761678306.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033057,-0.922449,-0.384700],[0.999450,0.031563,0.010199],[0.002735,-0.384826,0.922985]] 2025-10-28T19:05:06.435Z,1761678306.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052455,-0.921850,-0.383980],[0.998621,0.047520,0.022334],[-0.002342,-0.384622,0.923071]] 2025-10-28T19:05:06.840Z,1761678306.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070400,-0.921034,-0.383066],[0.997493,0.062239,0.033672],[-0.007172,-0.384476,0.923107]] 2025-10-28T19:05:07.242Z,1761678307.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086734,-0.920376,-0.381294],[0.996166,0.075746,0.043763],[-0.011397,-0.383628,0.923417]] 2025-10-28T19:05:07.653Z,1761678307.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102217,-0.919522,-0.379514],[0.994649,0.088728,0.052917],[-0.014985,-0.382892,0.923671]] 2025-10-28T19:05:08.051Z,1761678308.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117028,-0.918074,-0.378741],[0.992971,0.101378,0.061079],[-0.017679,-0.383227,0.923485]] 2025-10-28T19:05:08.454Z,1761678308.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131661,-0.916529,-0.377676],[0.991112,0.114399,0.067892],[-0.019019,-0.383258,0.923445]] 2025-10-28T19:05:08.861Z,1761678308.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146457,-0.914491,-0.377170],[0.989034,0.128039,0.073601],[-0.019015,-0.383813,0.923215]] 2025-10-28T19:05:09.265Z,1761678309.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161705,-0.912068,-0.376808],[0.986675,0.142467,0.078581],[-0.017989,-0.384494,0.922952]] 2025-10-28T19:05:09.666Z,1761678309.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178315,-0.908943,-0.376865],[0.983836,0.158283,0.083750],[-0.016473,-0.385707,0.922474]] 2025-10-28T19:05:10.074Z,1761678310.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196721,-0.905838,-0.375177],[0.980351,0.176035,0.089015],[-0.014589,-0.385317,0.922669]] 2025-10-28T19:05:10.483Z,1761678310.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238865,-0.896837,-0.372327],[0.970986,0.216098,0.102410],[-0.011386,-0.385986,0.922434]] 2025-10-28T19:05:10.886Z,1761678310.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261818,-0.891590,-0.369485],[0.965065,0.237861,0.109875],[-0.010077,-0.385344,0.922718]] 2025-10-28T19:05:11.287Z,1761678311.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285560,-0.885602,-0.366284],[0.958315,0.260118,0.118201],[-0.009402,-0.384769,0.922965]] 2025-10-28T19:05:11.691Z,1761678311.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309840,-0.879076,-0.362249],[0.950743,0.282720,0.127109],[-0.009324,-0.383789,0.923374]] 2025-10-28T19:05:12.093Z,1761678312.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333625,-0.871774,-0.358754],[0.942653,0.304462,0.136780],[-0.010014,-0.383813,0.923356]] 2025-10-28T19:05:12.117Z,1761678312.117 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:05:12.141Z,1761678312.141 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:05:12.141Z,1761678312.141 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:05:12.393Z,1761678312.393 [DAT](INFO): DAT read: user:161> 2025-10-28T19:05:12.393Z,1761678312.393 [DAT](INFO): DAT read: Tx time:19:05:12.1360 2025-10-28T19:05:12.394Z,1761678312.394 [DAT](INFO): Ping request sent. 2025-10-28T19:05:12.394Z,1761678312.394 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:05:12.394Z,1761678312.394 [DAT](INFO): publishing transmit ping time 2025-10-28T19:05:12.395Z,1761678312.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T19:05:12.506Z,1761678312.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357460,-0.864486,-0.353394],[0.933858,0.326191,0.146662],[-0.011513,-0.382445,0.923907]] 2025-10-28T19:05:12.645Z,1761678312.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251013 2025-10-28T19:05:12.897Z,1761678312.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503187 2025-10-28T19:05:12.900Z,1761678312.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380368,-0.856530,-0.348822],[0.924732,0.346604,0.157279],[-0.013811,-0.382390,0.923898]] 2025-10-28T19:05:13.149Z,1761678313.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755094 2025-10-28T19:05:13.302Z,1761678313.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402512,-0.848213,-0.344267],[0.915264,0.366064,0.168195],[-0.016641,-0.382795,0.923683]] 2025-10-28T19:05:13.401Z,1761678313.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006909 2025-10-28T19:05:13.653Z,1761678313.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024 2025-10-28T19:05:13.713Z,1761678313.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423681,-0.839580,-0.340000],[0.905596,0.384420,0.179213],[-0.019761,-0.383832,0.923191]] 2025-10-28T19:05:13.905Z,1761678313.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510934 2025-10-28T19:05:14.112Z,1761678314.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443145,-0.831661,-0.334609],[0.896156,0.401416,0.189131],[-0.022975,-0.383674,0.923183]] 2025-10-28T19:05:14.169Z,1761678314.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775557 2025-10-28T19:05:14.421Z,1761678314.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027027 2025-10-28T19:05:14.517Z,1761678314.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461420,-0.823390,-0.330333],[0.886799,0.417119,0.198996],[-0.026063,-0.384760,0.922649]] 2025-10-28T19:05:14.673Z,1761678314.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279018 2025-10-28T19:05:14.918Z,1761678314.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477897,-0.815743,-0.325851],[0.877938,0.431324,0.207808],[-0.028970,-0.385387,0.922300]] 2025-10-28T19:05:14.925Z,1761678314.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530929 2025-10-28T19:05:15.177Z,1761678315.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783091 2025-10-28T19:05:15.322Z,1761678315.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493310,-0.807934,-0.322316],[0.869287,0.444528,0.216182],[-0.031383,-0.386830,0.921617]] 2025-10-28T19:05:15.347Z,1761678315.347 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:05:15.347Z,1761678315.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:05:15.347Z,1761678315.347 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:05:15.348Z,1761678315.348 [marl:UpdateRudder:A] Stopped 2025-10-28T19:05:15.348Z,1761678315.348 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:05:15.429Z,1761678315.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034954 2025-10-28T19:05:15.684Z,1761678315.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290401 2025-10-28T19:05:15.730Z,1761678315.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507732,-0.800298,-0.318954],[0.860875,0.457038,0.223628],[-0.033195,-0.388123,0.921010]] 2025-10-28T19:05:15.793Z,1761678315.793 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:05:15.793Z,1761678315.793 [marl:UpdateRudder:B] Stopped 2025-10-28T19:05:15.793Z,1761678315.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:05:15.793Z,1761678315.793 [marl:UpdateRudder] Stopped 2025-10-28T19:05:15.794Z,1761678315.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:05:15.937Z,1761678315.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543005 2025-10-28T19:05:16.131Z,1761678316.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521238,-0.792841,-0.315774],[0.852720,0.468961,0.230098],[-0.034346,-0.389203,0.920512]] 2025-10-28T19:05:16.201Z,1761678316.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.807252 2025-10-28T19:05:16.453Z,1761678316.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.059128 2025-10-28T19:05:16.534Z,1761678316.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534355,-0.785944,-0.311057],[0.844542,0.481262,0.234811],[-0.034848,-0.388173,0.920927]] 2025-10-28T19:05:16.598Z,1761678316.598 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:05:16.599Z,1761678316.599 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:05:16.599Z,1761678316.599 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:05:16.600Z,1761678316.600 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:05:16.601Z,1761678316.601 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:05:16.601Z,1761678316.601 [marl:UpdateCommandMode] Stopped 2025-10-28T19:05:16.602Z,1761678316.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:05:16.602Z,1761678316.602 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:05:16.602Z,1761678316.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:05:16.603Z,1761678316.603 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:05:16.620Z,1761678316.620 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:05:16.621Z,1761678316.621 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:05:16.621Z,1761678316.621 [marl:UpdateSpeed] Stopped 2025-10-28T19:05:16.621Z,1761678316.621 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:05:16.705Z,1761678316.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.311076 2025-10-28T19:05:16.938Z,1761678316.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547217,-0.778651,-0.307011],[0.836269,0.493401,0.239186],[-0.034763,-0.387631,0.921159]] 2025-10-28T19:05:16.957Z,1761678316.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.563032 2025-10-28T19:05:17.209Z,1761678317.209 [DAT](INFO): DAT read: Rx Time:19:05:16.4634 2025-10-28T19:05:17.209Z,1761678317.209 [DAT](INFO): Rx dataTimestamp_ set to:1761678317.209148 2025-10-28T19:05:17.210Z,1761678317.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.816073 2025-10-28T19:05:17.345Z,1761678317.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560449,-0.770473,-0.303755],[0.827483,0.505804,0.243792],[-0.034194,-0.387985,0.921031]] 2025-10-28T19:05:17.461Z,1761678317.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.067130 2025-10-28T19:05:17.719Z,1761678317.719 [DAT](INFO): DAT read: 19:05:16.4634 LVL= 21104, 31441, 32754, 32755, AGC= 77, IDX= 388, 0.15, 3.130, 1.063, 1.421, 2.500, PHS= 0.731,-1.392,-1.123, RAW= 96.7, 17.5, CAL= 97.2, 21.4, ROT= 52.8, -21.4 2025-10-28T19:05:17.720Z,1761678317.720 [DAT](INFO): got valid direction response: 19:05:16.4634 LVL= 21104, 31441, 32754, 32755, AGC= 77, IDX= 388, 0.15, 3.130, 1.063, 1.421, 2.500, PHS= 0.731,-1.392,-1.123, RAW= 96.7, 17.5, CAL= 97.2, 21.4, ROT= 52.8, -21.4 2025-10-28T19:05:17.721Z,1761678317.721 [DAT](INFO): DAT read: Bearing 92, -6 (Remote) 2025-10-28T19:05:17.721Z,1761678317.721 [DAT](INFO): Remote Bearing received:Bearing 92, -6 (Remote) 2025-10-28T19:05:17.722Z,1761678317.722 [DAT](INFO): DAT read: Bearing 228.1, 31.3 (Local) 2025-10-28T19:05:17.722Z,1761678317.722 [DAT](INFO): Local bearing/azimuth received: Bearing 228.1, 31.3 (Local) 2025-10-28T19:05:17.724Z,1761678317.724 [DAT](INFO): DAT read: Range 11 to 20 : 1723.8 m (Round-trip 2298.4 ms) speed -0.2 m/s 2025-10-28T19:05:17.724Z,1761678317.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:05:17.725Z,1761678317.725 [DAT](INFO): direction in FSK: [0.562916,0.741614,0.364877] 2025-10-28T19:05:17.726Z,1761678317.726 [DAT](INFO): publishing direction and range info 2025-10-28T19:05:17.771Z,1761678317.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574119,-0.762022,-0.299514],[0.818085,0.518900,0.247952],[-0.033527,-0.387382,0.921309]] 2025-10-28T19:05:17.849Z,1761678317.849 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678336.00. Resetting abort timer. 2025-10-28T19:05:18.151Z,1761678318.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588011,-0.752619,-0.296324],[0.808193,0.531892,0.252815],[-0.032661,-0.388145,0.921020]] 2025-10-28T19:05:18.555Z,1761678318.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602704,-0.742346,-0.292696],[0.797321,0.545510,0.258260],[-0.032049,-0.389027,0.920669]] 2025-10-28T19:05:18.959Z,1761678318.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617884,-0.731843,-0.287446],[0.785631,0.559923,0.263191],[-0.031667,-0.388448,0.920926]] 2025-10-28T19:05:19.362Z,1761678319.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633618,-0.720083,-0.282857],[0.773008,0.574417,0.269265],[-0.031415,-0.389262,0.920591]] 2025-10-28T19:05:19.805Z,1761678319.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649475,-0.708053,-0.277204],[0.759750,0.589412,0.274542],[-0.031003,-0.388914,0.920752]] 2025-10-28T19:05:20.171Z,1761678320.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665553,-0.695053,-0.271919],[0.745717,0.604278,0.280631],[-0.030739,-0.389550,0.920492]] 2025-10-28T19:05:20.585Z,1761678320.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681618,-0.681681,-0.265910],[0.731063,0.619193,0.286615],[-0.030730,-0.389759,0.920404]] 2025-10-28T19:05:20.995Z,1761678320.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697577,-0.667971,-0.259232],[0.715859,0.634316,0.291870],[-0.030526,-0.389176,0.920658]] 2025-10-28T19:05:21.383Z,1761678321.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713139,-0.653829,-0.252865],[0.700370,0.648942,0.297249],[-0.030255,-0.389079,0.920708]] 2025-10-28T19:05:21.789Z,1761678321.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728740,-0.639050,-0.246076],[0.684128,0.663596,0.302671],[-0.030127,-0.388916,0.920780]] 2025-10-28T19:05:22.190Z,1761678322.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744209,-0.623988,-0.238311],[0.667253,0.678241,0.307837],[-0.030454,-0.388108,0.921111]] 2025-10-28T19:05:22.627Z,1761678322.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759381,-0.608699,-0.229840],[0.649917,0.692903,0.312238],[-0.030802,-0.386484,0.921781]] 2025-10-28T19:05:23.011Z,1761678323.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774317,-0.592214,-0.222970],[0.632020,0.706302,0.318887],[-0.031365,-0.387841,0.921192]] 2025-10-28T19:05:23.403Z,1761678323.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789196,-0.575100,-0.215476],[0.613299,0.719643,0.325542],[-0.032153,-0.389068,0.920648]] 2025-10-28T19:05:23.806Z,1761678323.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804048,-0.557478,-0.206700],[0.593613,0.733040,0.332078],[-0.033607,-0.389707,0.920326]] 2025-10-28T19:05:24.211Z,1761678324.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818378,-0.539856,-0.197012],[0.573606,0.746383,0.337474],[-0.035141,-0.389189,0.920488]] 2025-10-28T19:05:24.645Z,1761678324.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831777,-0.522585,-0.187222],[0.553893,0.758998,0.342235],[-0.036746,-0.388364,0.920773]] 2025-10-28T19:05:25.018Z,1761678325.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844397,-0.505156,-0.178356],[0.534348,0.770393,0.347804],[-0.038291,-0.388989,0.920446]] 2025-10-28T19:05:25.422Z,1761678325.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855609,-0.489200,-0.169165],[0.516065,0.780862,0.352040],[-0.040123,-0.388508,0.920571]] 2025-10-28T19:05:25.828Z,1761678325.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865756,-0.473894,-0.160909],[0.498700,0.789898,0.356874],[-0.042019,-0.389211,0.920190]] 2025-10-28T19:05:26.232Z,1761678326.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874582,-0.460093,-0.153038],[0.482907,0.798082,0.360368],[-0.043666,-0.389075,0.920171]] 2025-10-28T19:05:26.651Z,1761678326.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882636,-0.446908,-0.145694],[0.467895,0.805614,0.363401],[-0.045033,-0.388920,0.920170]] 2025-10-28T19:05:27.039Z,1761678327.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889458,-0.435143,-0.139696],[0.454691,0.811772,0.366447],[-0.046056,-0.389458,0.919892]] 2025-10-28T19:05:27.443Z,1761678327.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895795,-0.423930,-0.133543],[0.442031,0.818311,0.367391],[-0.046468,-0.388137,0.920429]] 2025-10-28T19:05:27.848Z,1761678327.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901605,-0.413138,-0.128164],[0.430049,0.824233,0.368373],[-0.046552,-0.387244,0.920801]] 2025-10-28T19:05:28.250Z,1761678328.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907100,-0.402506,-0.123123],[0.418346,0.829853,0.369230],[-0.046443,-0.386437,0.921146]] 2025-10-28T19:05:28.656Z,1761678328.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912777,-0.391088,-0.117848],[0.405845,0.835787,0.369797],[-0.046127,-0.385370,0.921609]] 2025-10-28T19:05:28.712Z,1761678328.712 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:05:28.712Z,1761678328.712 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:05:28.712Z,1761678328.712 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:05:28.713Z,1761678328.713 [marl:UpdateRudder:A] Stopped 2025-10-28T19:05:28.713Z,1761678328.713 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:05:29.058Z,1761678329.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918086,-0.379946,-0.112956],[0.393711,0.841069,0.370937],[-0.045932,-0.385024,0.921763]] 2025-10-28T19:05:29.109Z,1761678329.109 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:05:29.110Z,1761678329.110 [marl:UpdateRudder:B] Stopped 2025-10-28T19:05:29.110Z,1761678329.110 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:05:29.110Z,1761678329.110 [marl:UpdateRudder] Stopped 2025-10-28T19:05:29.110Z,1761678329.110 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:05:29.473Z,1761678329.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924099,-0.366864,-0.107011],[0.379419,0.847348,0.371541],[-0.045629,-0.383942,0.922229]] 2025-10-28T19:05:29.700Z,1761678329.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:05:29.866Z,1761678329.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931188,-0.350450,-0.100365],[0.361720,0.854102,0.373722],[-0.045249,-0.384310,0.922095]] 2025-10-28T19:05:29.900Z,1761678329.900 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:05:29.900Z,1761678329.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:05:29.900Z,1761678329.900 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:05:29.900Z,1761678329.900 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:05:29.900Z,1761678329.900 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateCommandMode] Stopped 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:05:29.901Z,1761678329.901 [marl:UpdateSpeed] Stopped 2025-10-28T19:05:29.902Z,1761678329.902 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:05:30.270Z,1761678330.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938689,-0.331808,-0.093624],[0.341752,0.859710,0.379609],[-0.045468,-0.388331,0.920397]] 2025-10-28T19:05:30.675Z,1761678330.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946821,-0.310349,-0.084931],[0.318439,0.865989,0.385563],[-0.046110,-0.392104,0.918764]] 2025-10-28T19:05:30.712Z,1761678330.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:05:31.083Z,1761678331.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954573,-0.288177,-0.075789],[0.294265,0.871670,0.391918],[-0.046879,-0.396417,0.916873]] 2025-10-28T19:05:31.486Z,1761678331.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961780,-0.265892,-0.065423],[0.269709,0.878643,0.394009],[-0.047280,-0.396595,0.916775]] 2025-10-28T19:05:31.887Z,1761678331.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968346,-0.243522,-0.054809],[0.244989,0.885141,0.395609],[-0.047826,-0.396513,0.916782]] 2025-10-28T19:05:32.290Z,1761678332.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974222,-0.221135,-0.044627],[0.220348,0.890358,0.398384],[-0.048363,-0.397948,0.916132]] 2025-10-28T19:05:32.696Z,1761678332.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979479,-0.198764,-0.033382],[0.195491,0.896630,0.397288],[-0.049036,-0.395661,0.917087]] 2025-10-28T19:05:33.100Z,1761678333.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984017,-0.176732,-0.021818],[0.171035,0.903892,0.392079],[-0.049572,-0.389544,0.919673]] 2025-10-28T19:05:33.503Z,1761678333.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987921,-0.154578,-0.010852],[0.146592,0.909587,0.388796],[-0.050228,-0.385690,0.921260]] 2025-10-28T19:05:33.906Z,1761678333.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991175,-0.132560,-0.000295],[0.122298,0.913582,0.387828],[-0.051141,-0.384442,0.921732]] 2025-10-28T19:05:34.312Z,1761678334.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993815,-0.110595,0.010025],[0.098146,0.916994,0.386638],[-0.051953,-0.383263,0.922177]] 2025-10-28T19:05:34.714Z,1761678334.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995809,-0.089216,0.020126],[0.074571,0.919445,0.386084],[-0.052950,-0.382965,0.922244]] 2025-10-28T19:05:35.119Z,1761678335.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997159,-0.069346,0.029404],[0.052692,0.921170,0.385576],[-0.053824,-0.382931,0.922208]] 2025-10-28T19:05:35.523Z,1761678335.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997964,-0.051120,0.038132],[0.032590,0.922720,0.384090],[-0.054820,-0.382066,0.922508]] 2025-10-28T19:05:35.928Z,1761678335.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998357,-0.033934,0.046171],[0.013762,0.924198,0.381666],[-0.055622,-0.380404,0.923146]] 2025-10-28T19:05:36.330Z,1761678336.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998402,-0.018381,0.053429],[-0.003286,0.925119,0.379663],[-0.056407,-0.379232,0.923581]] 2025-10-28T19:05:36.735Z,1761678336.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998174,-0.003285,0.060318],[-0.019785,0.925672,0.377809],[-0.057076,-0.378312,0.923917]] 2025-10-28T19:05:37.140Z,1761678337.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997721,0.010960,0.066575],[-0.035302,0.925678,0.376662],[-0.057498,-0.378154,0.923955]] 2025-10-28T19:05:37.543Z,1761678337.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997075,0.024429,0.072425],[-0.050242,0.923552,0.380167],[-0.057601,-0.382693,0.922078]] 2025-10-28T19:05:37.958Z,1761678337.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996199,0.038235,0.078265],[-0.065479,0.921267,0.383379],[-0.057445,-0.387047,0.920269]] 2025-10-28T19:05:38.350Z,1761678338.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995013,0.053072,0.084457],[-0.081650,0.919714,0.384004],[-0.057296,-0.388985,0.919461]] 2025-10-28T19:05:38.758Z,1761678338.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993424,0.069154,0.091247],[-0.099179,0.917952,0.384094],[-0.057198,-0.390618,0.918774]] 2025-10-28T19:05:39.161Z,1761678339.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991324,0.086738,0.098762],[-0.118362,0.915831,0.383723],[-0.057166,-0.392084,0.918152]] 2025-10-28T19:05:39.562Z,1761678339.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988750,0.105183,0.106346],[-0.138300,0.913698,0.382138],[-0.056974,-0.392547,0.917966]] 2025-10-28T19:05:39.969Z,1761678339.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985608,0.124744,0.114083],[-0.159279,0.911356,0.379552],[-0.056623,-0.392261,0.918109]] 2025-10-28T19:05:40.371Z,1761678340.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982135,0.143520,0.121705],[-0.179530,0.908441,0.377498],[-0.056383,-0.392604,0.917978]] 2025-10-28T19:05:40.781Z,1761678340.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978379,0.161657,0.129001],[-0.199001,0.905704,0.374297],[-0.056329,-0.391876,0.918292]] 2025-10-28T19:05:41.181Z,1761678341.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974395,0.179229,0.135761],[-0.217706,0.902980,0.370447],[-0.056195,-0.390518,0.918879]] 2025-10-28T19:05:41.582Z,1761678341.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970387,0.195747,0.141534],[-0.234996,0.900627,0.365579],[-0.055908,-0.388013,0.919957]] 2025-10-28T19:05:41.987Z,1761678341.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966384,0.210896,0.147051],[-0.250969,0.897975,0.361463],[-0.055817,-0.386218,0.920717]] 2025-10-28T19:05:42.010Z,1761678342.010 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:05:42.011Z,1761678342.011 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:05:42.011Z,1761678342.011 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:05:42.011Z,1761678342.011 [marl:UpdateRudder:A] Stopped 2025-10-28T19:05:42.011Z,1761678342.011 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:05:42.391Z,1761678342.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962156,0.225512,0.152971],[-0.266712,0.894415,0.359007],[-0.055859,-0.386220,0.920714]] 2025-10-28T19:05:42.419Z,1761678342.419 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:05:42.419Z,1761678342.419 [marl:UpdateRudder:B] Stopped 2025-10-28T19:05:42.419Z,1761678342.419 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:05:42.419Z,1761678342.419 [marl:UpdateRudder] Stopped 2025-10-28T19:05:42.419Z,1761678342.419 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:05:42.799Z,1761678342.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957617,0.239876,0.159468],[-0.282516,0.890127,0.357575],[-0.056173,-0.387472,0.920169]] 2025-10-28T19:05:43.200Z,1761678343.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952630,0.254045,0.167207],[-0.298777,0.884450,0.358441],[-0.056826,-0.391419,0.918456]] 2025-10-28T19:05:43.240Z,1761678343.240 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:05:43.240Z,1761678343.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:05:43.240Z,1761678343.240 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateCommandMode] Stopped 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:05:43.241Z,1761678343.241 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:05:43.242Z,1761678343.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:05:43.242Z,1761678343.242 [marl:UpdateSpeed] Stopped 2025-10-28T19:05:43.242Z,1761678343.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:05:43.602Z,1761678343.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946706,0.269862,0.175849],[-0.316922,0.877913,0.358927],[-0.057519,-0.395529,0.916651]] 2025-10-28T19:05:44.006Z,1761678344.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939897,0.286862,0.185212],[-0.336462,0.870510,0.359174],[-0.058195,-0.399903,0.914708]] 2025-10-28T19:05:44.410Z,1761678344.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931728,0.306252,0.195171],[-0.358353,0.862459,0.357418],[-0.058867,-0.402956,0.913324]] 2025-10-28T19:05:44.828Z,1761678344.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922539,0.326539,0.205653],[-0.381261,0.853640,0.354878],[-0.059672,-0.405797,0.912013]] 2025-10-28T19:05:45.221Z,1761678345.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912671,0.347768,0.214684],[-0.404167,0.845985,0.347790],[-0.060669,-0.404186,0.912662]] 2025-10-28T19:05:45.624Z,1761678345.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902230,0.369540,0.222308],[-0.426871,0.838572,0.338495],[-0.061334,-0.400297,0.914330]] 2025-10-28T19:05:46.026Z,1761678346.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891218,0.391260,0.229445],[-0.449372,0.830358,0.329500],[-0.061601,-0.396762,0.915852]] 2025-10-28T19:05:46.438Z,1761678346.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879676,0.413214,0.235423],[-0.471635,0.821572,0.320280],[-0.061073,-0.392776,0.917604]] 2025-10-28T19:05:46.835Z,1761678346.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867811,0.434143,0.241711],[-0.493233,0.811579,0.313146],[-0.060217,-0.390971,0.918431]] 2025-10-28T19:05:47.241Z,1761678347.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856212,0.454104,0.246355],[-0.513212,0.802344,0.304726],[-0.059284,-0.387343,0.920028]] 2025-10-28T19:05:47.643Z,1761678347.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845280,0.471990,0.250456],[-0.531103,0.793561,0.296968],[-0.058586,-0.384039,0.921456]] 2025-10-28T19:05:48.047Z,1761678348.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834521,0.487954,0.255881],[-0.547880,0.784077,0.291634],[-0.058327,-0.383567,0.921669]] 2025-10-28T19:05:48.455Z,1761678348.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823307,0.502842,0.263278],[-0.564612,0.773046,0.289159],[-0.058125,-0.386716,0.920365]] 2025-10-28T19:05:48.857Z,1761678348.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812249,0.516739,0.270614],[-0.580402,0.762236,0.286585],[-0.058182,-0.389843,0.919042]] 2025-10-28T19:05:49.259Z,1761678349.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800962,0.531004,0.276576],[-0.595876,0.751945,0.281977],[-0.058239,-0.390658,0.918692]] 2025-10-28T19:05:49.662Z,1761678349.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789419,0.544374,0.283681],[-0.611026,0.741157,0.278089],[-0.058868,-0.392865,0.917710]] 2025-10-28T19:05:50.067Z,1761678350.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776900,0.557889,0.291865],[-0.626808,0.729099,0.274822],[-0.059478,-0.396452,0.916127]] 2025-10-28T19:05:50.471Z,1761678350.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764877,0.571245,0.297730],[-0.641392,0.718276,0.269621],[-0.059833,-0.397188,0.915785]] 2025-10-28T19:05:50.874Z,1761678350.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752879,0.584109,0.303297],[-0.655386,0.707617,0.264099],[-0.060356,-0.397611,0.915567]] 2025-10-28T19:05:51.279Z,1761678351.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741405,0.596249,0.307906],[-0.668323,0.697456,0.258650],[-0.060531,-0.397545,0.915584]] 2025-10-28T19:05:51.682Z,1761678351.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730095,0.608371,0.311200],[-0.680674,0.687681,0.252544],[-0.060366,-0.396207,0.916175]] 2025-10-28T19:05:52.088Z,1761678352.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719048,0.619157,0.315619],[-0.692381,0.677335,0.248649],[-0.059827,-0.397319,0.915728]] 2025-10-28T19:05:52.491Z,1761678352.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708133,0.629499,0.319810],[-0.703609,0.666979,0.245099],[-0.059017,-0.398584,0.915231]] 2025-10-28T19:05:52.894Z,1761678352.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697122,0.638702,0.325700],[-0.714592,0.655825,0.243418],[-0.058131,-0.402435,0.913601]] 2025-10-28T19:05:53.299Z,1761678353.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686256,0.647109,0.332118],[-0.725073,0.644800,0.241872],[-0.057632,-0.406796,0.911699]] 2025-10-28T19:05:53.703Z,1761678353.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675289,0.654616,0.339798],[-0.735291,0.633574,0.240689],[-0.057728,-0.412385,0.909179]] 2025-10-28T19:05:54.108Z,1761678354.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663256,0.662065,0.348942],[-0.746127,0.621224,0.239532],[-0.058185,-0.419226,0.906015]] 2025-10-28T19:05:54.510Z,1761678354.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649533,0.671677,0.356310],[-0.758068,0.608234,0.235340],[-0.058647,-0.422968,0.904245]] 2025-10-28T19:05:54.926Z,1761678354.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634030,0.683375,0.361945],[-0.771058,0.594348,0.228517],[-0.058958,-0.423968,0.903756]] 2025-10-28T19:05:55.318Z,1761678355.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617140,0.696756,0.365608],[-0.784615,0.579945,0.219190],[-0.059310,-0.422133,0.904592]] 2025-10-28T19:05:55.347Z,1761678355.347 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:05:55.347Z,1761678355.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:05:55.347Z,1761678355.347 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:05:55.348Z,1761678355.348 [marl:UpdateRudder:A] Stopped 2025-10-28T19:05:55.348Z,1761678355.348 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:05:55.730Z,1761678355.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580845,0.727899,0.364391],[-0.811764,0.551221,0.192858],[-0.060479,-0.407820,0.911057]] 2025-10-28T19:05:55.757Z,1761678355.757 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:05:55.757Z,1761678355.757 [marl:UpdateRudder:B] Stopped 2025-10-28T19:05:55.757Z,1761678355.757 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:05:55.757Z,1761678355.757 [marl:UpdateRudder] Stopped 2025-10-28T19:05:55.757Z,1761678355.757 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:05:56.140Z,1761678356.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560944,0.743893,0.363270],[-0.825652,0.534691,0.180009],[-0.060330,-0.400910,0.914129]] 2025-10-28T19:05:56.539Z,1761678356.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540386,0.758931,0.363326],[-0.839323,0.516645,0.169159],[-0.059331,-0.396359,0.916176]] 2025-10-28T19:05:56.637Z,1761678356.637 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:05:56.638Z,1761678356.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:05:56.638Z,1761678356.638 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:05:56.639Z,1761678356.639 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:05:56.644Z,1761678356.644 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:05:56.644Z,1761678356.644 [marl:UpdateCommandMode] Stopped 2025-10-28T19:05:56.644Z,1761678356.644 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:05:56.644Z,1761678356.644 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:05:56.644Z,1761678356.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:05:56.645Z,1761678356.645 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:05:56.648Z,1761678356.648 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:05:56.648Z,1761678356.648 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:05:56.648Z,1761678356.648 [marl:UpdateSpeed] Stopped 2025-10-28T19:05:56.648Z,1761678356.648 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:05:56.942Z,1761678356.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519989,0.773857,0.361605],[-0.852216,0.498659,0.158327],[-0.057795,-0.390493,0.918790]] 2025-10-28T19:05:57.342Z,1761678357.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501220,0.787173,0.359357],[-0.863479,0.482058,0.148404],[-0.056411,-0.384680,0.921325]] 2025-10-28T19:05:57.742Z,1761678357.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483754,0.797722,0.360030],[-0.873477,0.465887,0.141376],[-0.054955,-0.382869,0.922166]] 2025-10-28T19:05:58.146Z,1761678358.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467672,0.805087,0.364854],[-0.882268,0.450267,0.137339],[-0.053711,-0.386129,0.920880]] 2025-10-28T19:05:58.555Z,1761678358.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451995,0.810938,0.371592],[-0.890466,0.434778,0.134308],[-0.052645,-0.391597,0.918630]] 2025-10-28T19:05:58.954Z,1761678358.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436384,0.815610,0.379933],[-0.898262,0.419270,0.131671],[-0.051903,-0.398738,0.915595]] 2025-10-28T19:05:59.358Z,1761678359.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419661,0.820905,0.387297],[-0.906210,0.403205,0.127314],[-0.051647,-0.404401,0.913122]] 2025-10-28T19:05:59.767Z,1761678359.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402121,0.825638,0.395752],[-0.914116,0.386518,0.122454],[-0.051863,-0.411005,0.910157]] 2025-10-28T19:06:00.172Z,1761678360.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383149,0.831249,0.402769],[-0.922206,0.368930,0.115871],[-0.052276,-0.415832,0.907938]] 2025-10-28T19:06:00.629Z,1761678360.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362119,0.839566,0.404968],[-0.930620,0.350361,0.105795],[-0.053063,-0.415182,0.908189]] 2025-10-28T19:06:00.832Z,1761678360.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:06:00.975Z,1761678360.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339626,0.849184,0.404402],[-0.939017,0.330749,0.094084],[-0.053861,-0.411693,0.909729]] 2025-10-28T19:06:01.378Z,1761678361.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316429,0.858318,0.403934],[-0.947057,0.310243,0.082658],[-0.054370,-0.408704,0.911046]] 2025-10-28T19:06:01.788Z,1761678361.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293407,0.866786,0.403229],[-0.954449,0.289526,0.072130],[-0.054224,-0.406025,0.912252]] 2025-10-28T19:06:01.837Z,1761678361.837 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:06:02.187Z,1761678362.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272161,0.874655,0.401132],[-0.960765,0.270169,0.062768],[-0.053473,-0.402477,0.913867]] 2025-10-28T19:06:02.650Z,1761678362.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253654,0.879880,0.401834],[-0.965889,0.252791,0.056182],[-0.052147,-0.402377,0.913988]] 2025-10-28T19:06:03.040Z,1761678363.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237110,0.883556,0.403866],[-0.970193,0.236776,0.051595],[-0.050039,-0.404062,0.913362]] 2025-10-28T19:06:03.439Z,1761678363.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222114,0.886380,0.406197],[-0.973877,0.221856,0.048406],[-0.047212,-0.406337,0.912503]] 2025-10-28T19:06:03.842Z,1761678363.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208004,0.887477,0.411242],[-0.977138,0.207448,0.046550],[-0.044000,-0.411522,0.910337]] 2025-10-28T19:06:04.246Z,1761678364.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194932,0.886756,0.419125],[-0.979949,0.194054,0.045200],[-0.041252,-0.419532,0.906803]] 2025-10-28T19:06:04.662Z,1761678364.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182698,0.886308,0.425534],[-0.982354,0.182186,0.042302],[-0.040034,-0.425753,0.903953]] 2025-10-28T19:06:05.054Z,1761678365.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170648,0.887216,0.428633],[-0.984494,0.171462,0.037045],[-0.040628,-0.428308,0.902719]] 2025-10-28T19:06:05.458Z,1761678365.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157030,0.889064,0.430009],[-0.986684,0.159915,0.029685],[-0.042372,-0.428944,0.902337]] 2025-10-28T19:06:05.863Z,1761678365.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139850,0.890947,0.432037],[-0.989217,0.144885,0.021427],[-0.043505,-0.430375,0.901601]] 2025-10-28T19:06:06.267Z,1761678366.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119404,0.894727,0.430356],[-0.991883,0.126585,0.012026],[-0.043717,-0.428299,0.902579]] 2025-10-28T19:06:06.670Z,1761678366.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097557,0.899860,0.425130],[-0.994287,0.106718,0.002276],[-0.043321,-0.422923,0.905130]] 2025-10-28T19:06:07.074Z,1761678367.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074934,0.904976,0.418812],[-0.996282,0.085851,-0.007254],[-0.042521,-0.416711,0.908044]] 2025-10-28T19:06:07.478Z,1761678367.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052122,0.909440,0.412555],[-0.997777,0.064606,-0.016360],[-0.041532,-0.410785,0.910786]] 2025-10-28T19:06:07.886Z,1761678367.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029083,0.913451,0.405908],[-0.998752,0.043049,-0.025318],[-0.040601,-0.404665,0.913563]] 2025-10-28T19:06:08.287Z,1761678368.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006310,0.916199,0.400675],[-0.999185,0.021755,-0.034010],[-0.039876,-0.400133,0.915589]] 2025-10-28T19:06:08.690Z,1761678368.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016303,0.916622,0.399422],[-0.999082,0.000895,-0.042834],[-0.039620,-0.399753,0.915766]] 2025-10-28T19:06:08.748Z,1761678368.748 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:06:08.748Z,1761678368.748 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:06:08.748Z,1761678368.748 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:06:08.749Z,1761678368.749 [marl:UpdateRudder:A] Stopped 2025-10-28T19:06:08.749Z,1761678368.749 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:06:09.094Z,1761678369.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039228,0.915831,0.399643],[-0.998465,-0.020278,-0.051539],[-0.039097,-0.401052,0.915221]] 2025-10-28T19:06:09.119Z,1761678369.119 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:06:09.119Z,1761678369.119 [marl:UpdateRudder:B] Stopped 2025-10-28T19:06:09.119Z,1761678369.119 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:06:09.119Z,1761678369.119 [marl:UpdateRudder] Stopped 2025-10-28T19:06:09.119Z,1761678369.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:06:09.499Z,1761678369.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061934,0.914384,0.400081],[-0.997328,-0.041137,-0.060372],[-0.038745,-0.402752,0.914489]] 2025-10-28T19:06:09.911Z,1761678369.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084541,0.910962,0.403733],[-0.995688,-0.061701,-0.069276],[-0.038197,-0.407849,0.912250]] 2025-10-28T19:06:09.937Z,1761678369.937 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:06:09.937Z,1761678369.937 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:06:09.937Z,1761678369.937 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateCommandMode] Stopped 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:06:09.938Z,1761678369.938 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:06:09.939Z,1761678369.939 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:06:09.939Z,1761678369.939 [marl:UpdateSpeed] Stopped 2025-10-28T19:06:09.939Z,1761678369.939 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:06:10.306Z,1761678370.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106025,0.907768,0.405851],[-0.993659,-0.081357,-0.077613],[-0.037436,-0.411506,0.910638]] 2025-10-28T19:06:10.711Z,1761678370.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126492,0.905092,0.405965],[-0.991286,-0.100164,-0.085554],[-0.036771,-0.413250,0.909875]] 2025-10-28T19:06:11.114Z,1761678371.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144868,0.903509,0.403342],[-0.988794,-0.117349,-0.092276],[-0.036040,-0.412190,0.910385]] 2025-10-28T19:06:11.521Z,1761678371.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161640,0.898980,0.407073],[-0.986220,-0.132421,-0.099167],[-0.035244,-0.417493,0.907996]] 2025-10-28T19:06:11.923Z,1761678371.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177100,0.894330,0.410864],[-0.983590,-0.146227,-0.105676],[-0.034430,-0.422837,0.905552]] 2025-10-28T19:06:12.326Z,1761678372.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191405,0.890765,0.412191],[-0.980938,-0.159255,-0.111351],[-0.033544,-0.425647,0.904267]] 2025-10-28T19:06:12.371Z,1761678372.371 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:06:12.441Z,1761678372.441 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:06:12.441Z,1761678372.441 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:06:12.693Z,1761678372.693 [DAT](INFO): DAT read: user:162> 2025-10-28T19:06:12.694Z,1761678372.694 [DAT](INFO): DAT read: Tx time:19:06:12.4358 2025-10-28T19:06:12.694Z,1761678372.694 [DAT](INFO): Ping request sent. 2025-10-28T19:06:12.694Z,1761678372.694 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:06:12.694Z,1761678372.694 [DAT](INFO): publishing transmit ping time 2025-10-28T19:06:12.695Z,1761678372.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000927 2025-10-28T19:06:12.743Z,1761678372.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205553,0.889262,0.408610],[-0.978092,-0.172625,-0.116348],[-0.032927,-0.423573,0.905263]] 2025-10-28T19:06:12.945Z,1761678372.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250940 2025-10-28T19:06:13.137Z,1761678373.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219947,0.886885,0.406273],[-0.974977,-0.186072,-0.121640],[-0.032285,-0.422861,0.905619]] 2025-10-28T19:06:13.197Z,1761678373.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502922 2025-10-28T19:06:13.449Z,1761678373.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754859 2025-10-28T19:06:13.539Z,1761678373.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234565,0.882700,0.407211],[-0.971586,-0.199260,-0.127731],[-0.031607,-0.425602,0.904358]] 2025-10-28T19:06:13.701Z,1761678373.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007008 2025-10-28T19:06:13.942Z,1761678373.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249618,0.879108,0.406030],[-0.967870,-0.213376,-0.133037],[-0.030316,-0.426192,0.904124]] 2025-10-28T19:06:13.953Z,1761678373.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258620 2025-10-28T19:06:14.205Z,1761678374.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832 2025-10-28T19:06:14.347Z,1761678374.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266723,0.876394,0.400990],[-0.963345,-0.230029,-0.138034],[-0.028733,-0.423108,0.905623]] 2025-10-28T19:06:14.457Z,1761678374.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762848 2025-10-28T19:06:14.709Z,1761678374.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021 2025-10-28T19:06:14.760Z,1761678374.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285062,0.872608,0.396604],[-0.958135,-0.247859,-0.143327],[-0.026767,-0.420858,0.906732]] 2025-10-28T19:06:14.961Z,1761678374.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841 2025-10-28T19:06:15.155Z,1761678375.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304474,0.868733,0.390639],[-0.952202,-0.266987,-0.148426],[-0.024647,-0.417158,0.908499]] 2025-10-28T19:06:15.213Z,1761678375.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519089 2025-10-28T19:06:15.465Z,1761678375.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770774 2025-10-28T19:06:15.559Z,1761678375.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324932,0.864109,0.384362],[-0.945472,-0.287179,-0.153657],[-0.022396,-0.413332,0.910305]] 2025-10-28T19:06:15.717Z,1761678375.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023049 2025-10-28T19:06:15.964Z,1761678375.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345513,0.858402,0.379167],[-0.938209,-0.307543,-0.158686],[-0.019606,-0.410566,0.911620]] 2025-10-28T19:06:15.969Z,1761678375.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274932 2025-10-28T19:06:16.221Z,1761678376.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526787 2025-10-28T19:06:16.366Z,1761678376.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365763,0.850632,0.377681],[-0.930567,-0.327173,-0.164326],[-0.016214,-0.411562,0.911238]] 2025-10-28T19:06:16.473Z,1761678376.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778891 2025-10-28T19:06:16.725Z,1761678376.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030935 2025-10-28T19:06:16.775Z,1761678376.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384285,0.843488,0.375303],[-0.923128,-0.345510,-0.168693],[-0.012619,-0.411279,0.911422]] 2025-10-28T19:06:16.977Z,1761678376.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282772 2025-10-28T19:06:17.175Z,1761678377.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400984,0.837341,0.371581],[-0.916043,-0.362611,-0.171402],[-0.008782,-0.409114,0.912441]] 2025-10-28T19:06:17.229Z,1761678377.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534904 2025-10-28T19:06:17.481Z,1761678377.481 [DAT](INFO): DAT read: Rx Time:19:06:16.8028 2025-10-28T19:06:17.482Z,1761678377.482 [DAT](INFO): Rx dataTimestamp_ set to:1761678377.481660 2025-10-28T19:06:17.482Z,1761678377.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788417 2025-10-28T19:06:17.581Z,1761678377.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415379,0.829476,0.373403],[-0.909635,-0.376539,-0.175449],[-0.004930,-0.412538,0.910927]] 2025-10-28T19:06:17.733Z,1761678377.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038805 2025-10-28T19:06:17.991Z,1761678377.991 [DAT](INFO): DAT read: 19:06:16.8028 LVL= 31792, 21585, 27362, 32755, AGC= 71, IDX= 320,-0.13,-0.652, 1.143, 0.703, 0.272, PHS=-0.821, 0.916, 0.388, RAW= 287.2, -6.3, CAL= 287.1, -11.5, ROT= 222.9, 11.5 2025-10-28T19:06:17.993Z,1761678377.993 [DAT](INFO): got valid direction response: 19:06:16.8028 LVL= 31792, 21585, 27362, 32755, AGC= 71, IDX= 320,-0.13,-0.652, 1.143, 0.703, 0.272, PHS=-0.821, 0.916, 0.388, RAW= 287.2, -6.3, CAL= 287.1, -11.5, ROT= 222.9, 11.5 2025-10-28T19:06:17.993Z,1761678377.993 [DAT](INFO): DAT read: Bearing 91, 1 (Remote) 2025-10-28T19:06:17.994Z,1761678377.994 [DAT](INFO): Remote Bearing received:Bearing 91, 1 (Remote) 2025-10-28T19:06:17.995Z,1761678377.995 [DAT](INFO): DAT read: Bearing 217.0, -31.0 (Local) 2025-10-28T19:06:17.995Z,1761678377.995 [DAT](INFO): Local bearing/azimuth received: Bearing 217.0, -31.0 (Local) 2025-10-28T19:06:17.996Z,1761678377.996 [DAT](INFO): DAT read: Range 11 to 20 : 1753.3 m (Round-trip 2337.8 ms) speed -0.7 m/s 2025-10-28T19:06:17.997Z,1761678377.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:06:17.998Z,1761678377.998 [DAT](INFO): direction in FSK: [-0.717837,-0.667055,-0.199368] 2025-10-28T19:06:17.998Z,1761678377.998 [DAT](INFO): publishing direction and range info 2025-10-28T19:06:18.061Z,1761678378.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428497,0.821284,0.376674],[-0.903542,-0.388874,-0.179966],[-0.001325,-0.417456,0.908696]] 2025-10-28T19:06:18.155Z,1761678378.155 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678336.00. Resetting abort timer. 2025-10-28T19:06:18.395Z,1761678378.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439796,0.813176,0.381215],[-0.898096,-0.399028,-0.184932],[0.001734,-0.423700,0.905801]] 2025-10-28T19:06:18.793Z,1761678378.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451406,0.806740,0.381318],[-0.892308,-0.410145,-0.188591],[0.004251,-0.425385,0.905003]] 2025-10-28T19:06:19.195Z,1761678379.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464085,0.800534,0.379172],[-0.885767,-0.422532,-0.192051],[0.006469,-0.424986,0.905177]] 2025-10-28T19:06:19.599Z,1761678379.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478418,0.793689,0.375731],[-0.878090,-0.436593,-0.195817],[0.008623,-0.423608,0.905805]] 2025-10-28T19:06:20.005Z,1761678380.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494534,0.786474,0.369993],[-0.869098,-0.452491,-0.199804],[0.010278,-0.420369,0.907295]] 2025-10-28T19:06:20.408Z,1761678380.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512365,0.777848,0.363917],[-0.858686,-0.469907,-0.204563],[0.011888,-0.417301,0.908690]] 2025-10-28T19:06:20.810Z,1761678380.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531131,0.767884,0.358125],[-0.847183,-0.487991,-0.210107],[0.013424,-0.414992,0.909726]] 2025-10-28T19:06:21.214Z,1761678381.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550900,0.756363,0.352739],[-0.834434,-0.506858,-0.216368],[0.015136,-0.413535,0.910363]] 2025-10-28T19:06:22.024Z,1761678382.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589895,0.730062,0.345013],[-0.807254,-0.543292,-0.230595],[0.019095,-0.414540,0.909831]] 2025-10-28T19:06:22.067Z,1761678382.067 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:06:22.067Z,1761678382.067 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:06:22.068Z,1761678382.068 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:06:22.068Z,1761678382.068 [marl:UpdateRudder:A] Stopped 2025-10-28T19:06:22.068Z,1761678382.068 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:06:22.426Z,1761678382.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607287,0.716311,0.343657],[-0.794203,-0.558813,-0.238684],[0.021068,-0.417883,0.908257]] 2025-10-28T19:06:22.458Z,1761678382.458 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:06:22.458Z,1761678382.458 [marl:UpdateRudder:B] Stopped 2025-10-28T19:06:22.459Z,1761678382.459 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:06:22.459Z,1761678382.459 [marl:UpdateRudder] Stopped 2025-10-28T19:06:22.459Z,1761678382.459 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:06:22.833Z,1761678382.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622595,0.703628,0.342466],[-0.782209,-0.572386,-0.246016],[0.022920,-0.421048,0.906749]] 2025-10-28T19:06:23.236Z,1761678383.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635972,0.691253,0.343088],[-0.771312,-0.583687,-0.253746],[0.024853,-0.426003,0.904380]] 2025-10-28T19:06:23.264Z,1761678383.264 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode] Stopped 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:06:23.265Z,1761678383.265 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:06:23.266Z,1761678383.266 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:06:23.266Z,1761678383.266 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:06:23.266Z,1761678383.266 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:06:23.266Z,1761678383.266 [marl:UpdateSpeed] Stopped 2025-10-28T19:06:23.266Z,1761678383.266 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:06:23.639Z,1761678383.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647571,0.679940,0.343996],[-0.761536,-0.593314,-0.260849],[0.026736,-0.430883,0.902012]] 2025-10-28T19:06:24.044Z,1761678384.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657525,0.670468,0.343706],[-0.752898,-0.601886,-0.266228],[0.028374,-0.433827,0.900549]] 2025-10-28T19:06:24.447Z,1761678384.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666684,0.662458,0.341589],[-0.744756,-0.610232,-0.270103],[0.029516,-0.434474,0.900201]] 2025-10-28T19:06:24.867Z,1761678384.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675536,0.655444,0.337705],[-0.736711,-0.618729,-0.272820],[0.030129,-0.433091,0.900847]] 2025-10-28T19:06:25.259Z,1761678385.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685318,0.648055,0.332211],[-0.727584,-0.628722,-0.274464],[0.031001,-0.429806,0.902389]] 2025-10-28T19:06:25.658Z,1761678385.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696605,0.638896,0.326426],[-0.716734,-0.640093,-0.276719],[0.032148,-0.426724,0.903810]] 2025-10-28T19:06:26.064Z,1761678386.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709318,0.628465,0.319217],[-0.704102,-0.653096,-0.278759],[0.033290,-0.422490,0.905756]] 2025-10-28T19:06:26.466Z,1761678386.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723323,0.616449,0.311118],[-0.689646,-0.667469,-0.280845],[0.034536,-0.417703,0.907927]] 2025-10-28T19:06:26.879Z,1761678386.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738231,0.602983,0.302368],[-0.673597,-0.682765,-0.283017],[0.035792,-0.412607,0.910206]] 2025-10-28T19:06:27.275Z,1761678387.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753841,0.587642,0.293939],[-0.655994,-0.698547,-0.285841],[0.037358,-0.408301,0.912083]] 2025-10-28T19:06:27.679Z,1761678387.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769252,0.571455,0.285816],[-0.637762,-0.713939,-0.289052],[0.038874,-0.404637,0.913651]] 2025-10-28T19:06:28.085Z,1761678388.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783798,0.554829,0.278971],[-0.619704,-0.727966,-0.293313],[0.040342,-0.402778,0.914408]] 2025-10-28T19:06:28.487Z,1761678388.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796772,0.538161,0.274842],[-0.602863,-0.739057,-0.300584],[0.041362,-0.405189,0.913297]] 2025-10-28T19:06:28.892Z,1761678388.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809039,0.521717,0.270680],[-0.586232,-0.749417,-0.307745],[0.042296,-0.407659,0.912154]] 2025-10-28T19:06:29.295Z,1761678389.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820613,0.505146,0.267248],[-0.569868,-0.758447,-0.316241],[0.042946,-0.411807,0.910258]] 2025-10-28T19:06:29.700Z,1761678389.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831600,0.489313,0.262706],[-0.553684,-0.767335,-0.323466],[0.043308,-0.414451,0.909041]] 2025-10-28T19:06:30.103Z,1761678390.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841694,0.474197,0.258242],[-0.538188,-0.775438,-0.330226],[0.043659,-0.416932,0.907889]] 2025-10-28T19:06:30.507Z,1761678390.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851591,0.458973,0.253251],[-0.522352,-0.783583,-0.336373],[0.044057,-0.418738,0.907038]] 2025-10-28T19:06:30.910Z,1761678390.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861255,0.443313,0.248424],[-0.506221,-0.791259,-0.343002],[0.044511,-0.421170,0.905889]] 2025-10-28T19:06:31.319Z,1761678391.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870562,0.428030,0.242718],[-0.489999,-0.799197,-0.348116],[0.044976,-0.421988,0.905485]] 2025-10-28T19:06:31.718Z,1761678391.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879837,0.412553,0.235979],[-0.473098,-0.807692,-0.351869],[0.045433,-0.421229,0.905816]] 2025-10-28T19:06:31.968Z,1761678391.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:06:32.122Z,1761678392.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888791,0.397300,0.228480],[-0.455985,-0.816735,-0.353584],[0.046128,-0.418446,0.907069]] 2025-10-28T19:06:32.936Z,1761678392.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905103,0.366711,0.215201],[-0.422510,-0.832456,-0.358474],[0.047689,-0.415380,0.908397]] 2025-10-28T19:06:32.972Z,1761678392.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:06:33.334Z,1761678393.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912163,0.351864,0.210118],[-0.406915,-0.838600,-0.362176],[0.048768,-0.415863,0.908119]] 2025-10-28T19:06:33.739Z,1761678393.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918263,0.338481,0.205482],[-0.392827,-0.843970,-0.365243],[0.049793,-0.416108,0.907951]] 2025-10-28T19:06:34.143Z,1761678394.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923693,0.326023,0.201248],[-0.379745,-0.848763,-0.367961],[0.050848,-0.416306,0.907802]] 2025-10-28T19:06:34.547Z,1761678394.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928611,0.313748,0.198100],[-0.367395,-0.852246,-0.372422],[0.051983,-0.418616,0.906674]] 2025-10-28T19:06:34.951Z,1761678394.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933354,0.302235,0.193661],[-0.355005,-0.857057,-0.373397],[0.053124,-0.417262,0.907232]] 2025-10-28T19:06:35.362Z,1761678395.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938245,0.289701,0.189129],[-0.341666,-0.861840,-0.374828],[0.054411,-0.416299,0.907598]] 2025-10-28T19:06:35.407Z,1761678395.407 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:06:35.407Z,1761678395.407 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:06:35.407Z,1761678395.407 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:06:35.408Z,1761678395.408 [marl:UpdateRudder:A] Stopped 2025-10-28T19:06:35.408Z,1761678395.408 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:06:35.762Z,1761678395.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943680,0.275216,0.183641],[-0.326076,-0.867666,-0.375273],[0.056058,-0.414018,0.908541]] 2025-10-28T19:06:35.817Z,1761678395.817 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:06:35.817Z,1761678395.817 [marl:UpdateRudder:B] Stopped 2025-10-28T19:06:35.817Z,1761678395.817 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:06:35.817Z,1761678395.817 [marl:UpdateRudder] Stopped 2025-10-28T19:06:35.817Z,1761678395.817 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:06:36.171Z,1761678396.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955691,0.240370,0.169932],[-0.288426,-0.880046,-0.377264],[0.058865,-0.409561,0.910381]] 2025-10-28T19:06:36.594Z,1761678396.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961738,0.221059,0.161843],[-0.267342,-0.886386,-0.377952],[0.059905,-0.406758,0.911570]] 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:06:36.662Z,1761678396.662 [marl:UpdateCommandMode] Stopped 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed] Stopped 2025-10-28T19:06:36.663Z,1761678396.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:06:36.975Z,1761678396.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967603,0.200695,0.153186],[-0.245035,-0.892709,-0.378191],[0.060850,-0.403475,0.912965]] 2025-10-28T19:06:37.382Z,1761678397.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972979,0.179951,0.144672],[-0.222596,-0.897524,-0.380658],[0.061347,-0.402576,0.913329]] 2025-10-28T19:06:37.789Z,1761678397.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977720,0.159758,0.136164],[-0.200773,-0.901036,-0.384478],[0.061266,-0.403250,0.913037]] 2025-10-28T19:06:38.185Z,1761678398.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981909,0.140158,0.127320],[-0.179317,-0.904282,-0.387453],[0.060829,-0.403274,0.913055]] 2025-10-28T19:06:38.626Z,1761678398.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985374,0.121551,0.119427],[-0.159236,-0.906355,-0.391362],[0.060673,-0.404655,0.912454]] 2025-10-28T19:06:38.991Z,1761678398.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988451,0.102805,0.111339],[-0.138859,-0.908671,-0.393746],[0.060692,-0.404659,0.912452]] 2025-10-28T19:06:39.394Z,1761678399.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991109,0.083770,0.103370],[-0.118398,-0.909733,-0.397955],[0.060703,-0.406656,0.911562]] 2025-10-28T19:06:39.799Z,1761678399.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993361,0.064825,0.095034],[-0.097764,-0.911107,-0.400409],[0.060630,-0.407041,0.911395]] 2025-10-28T19:06:40.203Z,1761678400.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995213,0.045325,0.086579],[-0.076565,-0.912180,-0.402573],[0.060729,-0.407275,0.911284]] 2025-10-28T19:06:40.642Z,1761678400.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996510,0.026671,0.079101],[-0.056449,-0.913378,-0.403180],[0.061496,-0.406238,0.911696]] 2025-10-28T19:06:41.014Z,1761678401.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997459,0.007715,0.070823],[-0.035739,-0.914169,-0.403754],[0.061629,-0.405259,0.912122]] 2025-10-28T19:06:41.415Z,1761678401.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998004,-0.011893,0.062016],[-0.014266,-0.914247,-0.404905],[0.061514,-0.404982,0.912253]] 2025-10-28T19:06:41.818Z,1761678401.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998107,-0.031304,0.052930],[0.007017,-0.913089,-0.407700],[0.061093,-0.406557,0.911581]] 2025-10-28T19:06:42.223Z,1761678402.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997780,-0.050363,0.043565],[0.028114,-0.911648,-0.410009],[0.060366,-0.407874,0.911040]] 2025-10-28T19:06:42.648Z,1761678402.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996931,-0.070432,0.034167],[0.050152,-0.909772,-0.412068],[0.060107,-0.409090,0.910512]] 2025-10-28T19:06:43.030Z,1761678403.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995557,-0.090898,0.024576],[0.072664,-0.907634,-0.413425],[0.059886,-0.409802,0.910206]] 2025-10-28T19:06:43.439Z,1761678403.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993647,-0.111592,0.014586],[0.095665,-0.905783,-0.412802],[0.059277,-0.408784,0.910704]] 2025-10-28T19:06:43.847Z,1761678403.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991321,-0.131379,0.004627],[0.117831,-0.903600,-0.411854],[0.058290,-0.407735,0.911238]] 2025-10-28T19:06:44.244Z,1761678404.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988428,-0.151582,-0.005759],[0.140664,-0.901702,-0.408837],[0.056780,-0.404916,0.912589]] 2025-10-28T19:06:45.050Z,1761678405.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981476,-0.189793,-0.026159],[0.184055,-0.896151,-0.403778],[0.053192,-0.401113,0.914483]] 2025-10-28T19:06:45.458Z,1761678405.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977488,-0.207919,-0.035862],[0.204689,-0.893277,-0.400199],[0.051175,-0.398530,0.915726]] 2025-10-28T19:06:45.862Z,1761678405.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973286,-0.225126,-0.045082],[0.224299,-0.890387,-0.396106],[0.049033,-0.395637,0.917097]] 2025-10-28T19:06:46.262Z,1761678406.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968930,-0.241398,-0.053860],[0.242847,-0.887232,-0.392230],[0.046898,-0.393124,0.918289]] 2025-10-28T19:06:46.666Z,1761678406.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964426,-0.256878,-0.062420],[0.260525,-0.883544,-0.389201],[0.044827,-0.391618,0.919035]] 2025-10-28T19:06:47.071Z,1761678407.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959736,-0.271736,-0.071171],[0.277646,-0.879198,-0.387199],[0.042643,-0.391370,0.919245]] 2025-10-28T19:06:47.484Z,1761678407.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954683,-0.286650,-0.080081],[0.294859,-0.874321,-0.385513],[0.040491,-0.391655,0.919221]] 2025-10-28T19:06:47.878Z,1761678407.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949545,-0.300789,-0.088828],[0.311234,-0.868754,-0.385226],[0.038702,-0.393436,0.918537]] 2025-10-28T19:06:48.283Z,1761678408.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944053,-0.315245,-0.096870],[0.327698,-0.863620,-0.383112],[0.037115,-0.393422,0.918608]] 2025-10-28T19:06:48.687Z,1761678408.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938172,-0.329811,-0.105160],[0.344312,-0.857602,-0.382058],[0.035821,-0.394644,0.918136]] 2025-10-28T19:06:48.753Z,1761678408.753 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:06:48.753Z,1761678408.753 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:06:48.753Z,1761678408.753 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:06:48.753Z,1761678408.753 [marl:UpdateRudder:A] Stopped 2025-10-28T19:06:48.754Z,1761678408.754 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:06:49.092Z,1761678409.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931881,-0.344792,-0.112768],[0.361069,-0.851547,-0.380129],[0.035038,-0.394952,0.918034]] 2025-10-28T19:06:49.116Z,1761678409.116 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:06:49.116Z,1761678409.116 [marl:UpdateRudder:B] Stopped 2025-10-28T19:06:49.116Z,1761678409.116 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:06:49.116Z,1761678409.116 [marl:UpdateRudder] Stopped 2025-10-28T19:06:49.116Z,1761678409.116 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:06:49.506Z,1761678409.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924979,-0.360321,-0.120761],[0.378441,-0.844455,-0.379048],[0.034602,-0.396312,0.917463]] 2025-10-28T19:06:49.898Z,1761678409.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917602,-0.376194,-0.128390],[0.395977,-0.836843,-0.378015],[0.034765,-0.397707,0.916853]] 2025-10-28T19:06:49.949Z,1761678409.949 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:06:49.949Z,1761678409.949 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:06:49.949Z,1761678409.949 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateCommandMode] Stopped 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:06:49.950Z,1761678409.950 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:06:49.951Z,1761678409.951 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:06:49.951Z,1761678409.951 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:06:49.951Z,1761678409.951 [marl:UpdateSpeed] Stopped 2025-10-28T19:06:49.951Z,1761678409.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:06:50.303Z,1761678410.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909506,-0.392970,-0.135546],[0.414169,-0.828780,-0.376281],[0.035530,-0.398369,0.916537]] 2025-10-28T19:06:51.112Z,1761678411.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890632,-0.429339,-0.149812],[0.453057,-0.809628,-0.373151],[0.038916,-0.400214,0.915595]] 2025-10-28T19:06:51.515Z,1761678411.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879177,-0.449461,-0.158214],[0.474756,-0.797934,-0.371359],[0.040667,-0.401604,0.914910]] 2025-10-28T19:06:51.918Z,1761678411.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866561,-0.470531,-0.166351],[0.497289,-0.785939,-0.367429],[0.042144,-0.401124,0.915054]] 2025-10-28T19:06:52.331Z,1761678412.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853066,-0.491690,-0.174700],[0.520005,-0.773290,-0.362792],[0.043287,-0.400330,0.915348]] 2025-10-28T19:06:52.728Z,1761678412.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838931,-0.512239,-0.183863],[0.542478,-0.759908,-0.358131],[0.043730,-0.400189,0.915389]] 2025-10-28T19:06:53.131Z,1761678413.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824302,-0.532324,-0.192766],[0.564474,-0.746570,-0.352139],[0.043539,-0.399080,0.915882]] 2025-10-28T19:06:53.539Z,1761678413.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809399,-0.551811,-0.200941],[0.585702,-0.733632,-0.344582],[0.042727,-0.396596,0.916999]] 2025-10-28T19:06:53.940Z,1761678413.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794418,-0.570035,-0.209666],[0.605983,-0.720561,-0.337010],[0.041031,-0.394781,0.917859]] 2025-10-28T19:06:54.348Z,1761678414.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779099,-0.587596,-0.218484],[0.625728,-0.707576,-0.328329],[0.038331,-0.392513,0.918947]] 2025-10-28T19:06:54.747Z,1761678414.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763327,-0.604540,-0.227736],[0.645089,-0.694464,-0.318714],[0.034521,-0.390193,0.920086]] 2025-10-28T19:06:55.151Z,1761678415.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747135,-0.620573,-0.238073],[0.664017,-0.680979,-0.308786],[0.029501,-0.388790,0.920854]] 2025-10-28T19:06:55.563Z,1761678415.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730615,-0.636118,-0.248105],[0.682383,-0.667734,-0.297465],[0.023555,-0.386634,0.921932]] 2025-10-28T19:06:55.958Z,1761678415.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714342,-0.650563,-0.257841],[0.699580,-0.654726,-0.286220],[0.017389,-0.384839,0.922820]] 2025-10-28T19:06:56.363Z,1761678416.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699543,-0.662786,-0.267122],[0.714487,-0.642377,-0.277237],[0.012156,-0.384794,0.922922]] 2025-10-28T19:06:56.772Z,1761678416.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686230,-0.673482,-0.274793],[0.727340,-0.631150,-0.269492],[0.008063,-0.384802,0.922964]] 2025-10-28T19:06:57.172Z,1761678417.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673488,-0.683635,-0.281172],[0.739182,-0.620321,-0.262320],[0.004915,-0.384506,0.923109]] 2025-10-28T19:06:57.574Z,1761678417.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660616,-0.693359,-0.287819],[0.750720,-0.608936,-0.256157],[0.002346,-0.385293,0.922791]] 2025-10-28T19:06:57.979Z,1761678417.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648040,-0.702856,-0.293320],[0.761606,-0.597843,-0.250079],[0.000410,-0.385456,0.922726]] 2025-10-28T19:06:58.382Z,1761678418.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634931,-0.712307,-0.299133],[0.772568,-0.585975,-0.244484],[-0.001137,-0.386332,0.922359]] 2025-10-28T19:06:58.789Z,1761678418.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621436,-0.721606,-0.305125],[0.783462,-0.573427,-0.239517],[-0.002130,-0.387899,0.921700]] 2025-10-28T19:06:59.191Z,1761678419.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608406,-0.730504,-0.310172],[0.793622,-0.561233,-0.234907],[-0.002478,-0.389079,0.921201]] 2025-10-28T19:06:59.599Z,1761678419.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594251,-0.739889,-0.315325],[0.804275,-0.547998,-0.229870],[-0.002719,-0.390209,0.920722]] 2025-10-28T19:07:00.001Z,1761678420.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579587,-0.749103,-0.320817],[0.814905,-0.534230,-0.224786],[-0.003003,-0.391718,0.920080]] 2025-10-28T19:07:00.407Z,1761678420.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563821,-0.758905,-0.325836],[0.825891,-0.519632,-0.218830],[-0.003244,-0.392486,0.919752]] 2025-10-28T19:07:00.814Z,1761678420.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547440,-0.768266,-0.331779],[0.836837,-0.504303,-0.213030],[-0.003653,-0.394266,0.918989]] 2025-10-28T19:07:01.210Z,1761678421.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530447,-0.777984,-0.336700],[0.847708,-0.488815,-0.206039],[-0.004289,-0.394716,0.918793]] 2025-10-28T19:07:01.623Z,1761678421.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513206,-0.787310,-0.341704],[0.858251,-0.473060,-0.199045],[-0.004936,-0.395419,0.918487]] 2025-10-28T19:07:02.019Z,1761678422.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495745,-0.797091,-0.344795],[0.868452,-0.457451,-0.191130],[-0.005379,-0.394189,0.919014]] 2025-10-28T19:07:02.048Z,1761678422.048 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:07:02.048Z,1761678422.048 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:07:02.049Z,1761678422.049 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:07:02.049Z,1761678422.049 [marl:UpdateRudder:A] Stopped 2025-10-28T19:07:02.049Z,1761678422.049 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:07:02.423Z,1761678422.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477745,-0.806573,-0.348137],[0.878478,-0.441307,-0.183096],[-0.005955,-0.393304,0.919389]] 2025-10-28T19:07:02.471Z,1761678422.471 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:07:02.471Z,1761678422.471 [marl:UpdateRudder:B] Stopped 2025-10-28T19:07:02.471Z,1761678422.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:07:02.471Z,1761678422.471 [marl:UpdateRudder] Stopped 2025-10-28T19:07:02.472Z,1761678422.472 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:07:02.829Z,1761678422.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459014,-0.816107,-0.351104],[0.888404,-0.424589,-0.174535],[-0.006636,-0.392037,0.919926]] 2025-10-28T19:07:03.096Z,1761678423.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:07:03.233Z,1761678423.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439720,-0.825609,-0.353577],[0.898107,-0.407332,-0.165786],[-0.007149,-0.390449,0.920597]] 2025-10-28T19:07:03.257Z,1761678423.257 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:07:03.257Z,1761678423.257 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:07:03.257Z,1761678423.257 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateCommandMode] Stopped 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:07:03.258Z,1761678423.258 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:07:03.259Z,1761678423.259 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:07:03.259Z,1761678423.259 [marl:UpdateSpeed] Stopped 2025-10-28T19:07:03.259Z,1761678423.259 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:07:03.634Z,1761678423.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419914,-0.834678,-0.356349],[0.907532,-0.389485,-0.157124],[-0.007645,-0.389377,0.921047]] 2025-10-28T19:07:04.039Z,1761678424.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399477,-0.843381,-0.359342],[0.916708,-0.370912,-0.148561],[-0.007991,-0.388759,0.921305]] 2025-10-28T19:07:04.100Z,1761678424.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:07:04.447Z,1761678424.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378175,-0.852328,-0.361277],[0.925697,-0.351666,-0.139340],[-0.008285,-0.387128,0.921989]] 2025-10-28T19:07:04.846Z,1761678424.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356449,-0.859975,-0.365224],[0.934274,-0.331740,-0.130693],[-0.008767,-0.387804,0.921700]] 2025-10-28T19:07:05.251Z,1761678425.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334074,-0.867191,-0.369289],[0.942498,-0.311329,-0.121536],[-0.009575,-0.388656,0.921333]] 2025-10-28T19:07:05.659Z,1761678425.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311399,-0.874659,-0.371487],[0.950218,-0.291040,-0.111270],[-0.010794,-0.387643,0.921746]] 2025-10-28T19:07:06.060Z,1761678426.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288499,-0.881506,-0.373786],[0.957395,-0.270790,-0.100338],[-0.012769,-0.386809,0.922072]] 2025-10-28T19:07:06.462Z,1761678426.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265612,-0.887709,-0.376061],[0.963959,-0.250715,-0.089021],[-0.015259,-0.386153,0.922309]] 2025-10-28T19:07:06.867Z,1761678426.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243221,-0.893077,-0.378492],[0.969806,-0.231088,-0.077937],[-0.017861,-0.386020,0.922318]] 2025-10-28T19:07:07.270Z,1761678427.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221358,-0.897495,-0.381450],[0.974972,-0.211990,-0.067002],[-0.020730,-0.386734,0.921958]] 2025-10-28T19:07:07.682Z,1761678427.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200081,-0.901381,-0.384031],[0.979493,-0.193495,-0.056155],[-0.023691,-0.387391,0.921611]] 2025-10-28T19:07:08.078Z,1761678428.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179215,-0.904859,-0.386151],[0.983449,-0.175406,-0.045399],[-0.026654,-0.387896,0.921318]] 2025-10-28T19:07:08.483Z,1761678428.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159796,-0.907621,-0.388188],[0.986725,-0.158394,-0.035840],[-0.028957,-0.388762,0.920883]] 2025-10-28T19:07:08.886Z,1761678428.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140941,-0.909966,-0.389996],[0.989530,-0.141851,-0.026629],[-0.031090,-0.389666,0.920431]] 2025-10-28T19:07:09.301Z,1761678429.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122733,-0.912347,-0.390589],[0.991895,-0.125802,-0.017828],[-0.032872,-0.389611,0.920393]] 2025-10-28T19:07:09.696Z,1761678429.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105379,-0.913976,-0.391846],[0.993828,-0.110522,-0.009477],[-0.034646,-0.390427,0.919982]] 2025-10-28T19:07:10.099Z,1761678430.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088690,-0.915188,-0.393146],[0.995411,-0.095673,-0.001843],[-0.035927,-0.391506,0.919474]] 2025-10-28T19:07:10.502Z,1761678430.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072635,-0.915975,-0.394606],[0.996677,-0.081293,0.005241],[-0.036879,-0.392914,0.918835]] 2025-10-28T19:07:10.908Z,1761678430.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057658,-0.916295,-0.396333],[0.997629,-0.067824,0.011670],[-0.037575,-0.394720,0.918033]] 2025-10-28T19:07:11.313Z,1761678431.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042768,-0.917560,-0.395291],[0.998372,-0.054194,0.017779],[-0.037735,-0.393888,0.918384]] 2025-10-28T19:07:11.716Z,1761678431.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027788,-0.918808,-0.393725],[0.998916,-0.040243,0.023412],[-0.037356,-0.392647,0.918930]] 2025-10-28T19:07:12.118Z,1761678432.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012164,-0.920128,-0.391430],[0.999269,-0.025374,0.028594],[-0.036242,-0.390796,0.919764]] 2025-10-28T19:07:12.522Z,1761678432.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004500,-0.920771,-0.390079],[0.999399,-0.009263,0.033393],[-0.034361,-0.389995,0.920176]] 2025-10-28T19:07:12.554Z,1761678432.554 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:07:12.721Z,1761678432.721 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:07:12.721Z,1761678432.721 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:07:12.927Z,1761678432.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021954,-0.920943,-0.389080],[0.999247,0.007757,0.038023],[-0.031999,-0.389621,0.920419]] 2025-10-28T19:07:12.973Z,1761678432.973 [DAT](INFO): DAT read: user:163> 2025-10-28T19:07:12.974Z,1761678432.974 [DAT](INFO): DAT read: Tx time:19:07:12.7356 2025-10-28T19:07:12.974Z,1761678432.974 [DAT](INFO): Ping request sent. 2025-10-28T19:07:12.974Z,1761678432.974 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:07:12.974Z,1761678432.974 [DAT](INFO): publishing transmit ping time 2025-10-28T19:07:12.975Z,1761678432.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T19:07:13.225Z,1761678433.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250783 2025-10-28T19:07:13.331Z,1761678433.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040965,-0.920900,-0.387641],[0.998714,0.026139,0.043446],[-0.029877,-0.388922,0.920786]] 2025-10-28T19:07:13.477Z,1761678433.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-28T19:07:13.729Z,1761678433.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754692 2025-10-28T19:07:13.749Z,1761678433.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061857,-0.920566,-0.385658],[0.997693,0.046206,0.049730],[-0.027960,-0.387844,0.921301]] 2025-10-28T19:07:13.981Z,1761678433.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752 2025-10-28T19:07:14.139Z,1761678434.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084243,-0.919286,-0.384468],[0.996097,0.067490,0.056886],[-0.026346,-0.387760,0.921384]] 2025-10-28T19:07:14.233Z,1761678434.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259263 2025-10-28T19:07:14.485Z,1761678434.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510772 2025-10-28T19:07:14.542Z,1761678434.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107775,-0.917427,-0.383029],[0.993857,0.089682,0.064842],[-0.025137,-0.387665,0.921458]] 2025-10-28T19:07:14.737Z,1761678434.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855 2025-10-28T19:07:14.947Z,1761678434.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131901,-0.915261,-0.380658],[0.990962,0.112289,0.073386],[-0.024424,-0.386897,0.921799]] 2025-10-28T19:07:14.989Z,1761678434.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014599 2025-10-28T19:07:15.242Z,1761678435.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267492 2025-10-28T19:07:15.353Z,1761678435.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156295,-0.912274,-0.378586],[0.987407,0.134811,0.082786],[-0.024486,-0.386758,0.921856]] 2025-10-28T19:07:15.414Z,1761678435.414 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:07:15.414Z,1761678435.414 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:07:15.415Z,1761678435.415 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:07:15.415Z,1761678435.415 [marl:UpdateRudder:A] Stopped 2025-10-28T19:07:15.415Z,1761678435.415 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:07:15.493Z,1761678435.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519026 2025-10-28T19:07:15.745Z,1761678435.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770759 2025-10-28T19:07:15.775Z,1761678435.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180684,-0.909078,-0.375406],[0.983212,0.157079,0.092843],[-0.025434,-0.385880,0.922199]] 2025-10-28T19:07:15.837Z,1761678435.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:07:15.837Z,1761678435.837 [marl:UpdateRudder:B] Stopped 2025-10-28T19:07:15.838Z,1761678435.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:07:15.838Z,1761678435.838 [marl:UpdateRudder] Stopped 2025-10-28T19:07:15.838Z,1761678435.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:07:15.997Z,1761678435.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022697 2025-10-28T19:07:16.164Z,1761678436.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204437,-0.905142,-0.372723],[0.978510,0.178508,0.103211],[-0.026887,-0.385814,0.922185]] 2025-10-28T19:07:16.249Z,1761678436.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274852 2025-10-28T19:07:16.501Z,1761678436.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526706 2025-10-28T19:07:16.567Z,1761678436.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227562,-0.900737,-0.369984],[0.973338,0.199170,0.113775],[-0.028792,-0.386010,0.922045]] 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:07:16.658Z,1761678436.658 [marl:UpdateCommandMode] Stopped 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed] Stopped 2025-10-28T19:07:16.659Z,1761678436.659 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:07:16.754Z,1761678436.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780089 2025-10-28T19:07:17.005Z,1761678437.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030853 2025-10-28T19:07:17.257Z,1761678437.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283173 2025-10-28T19:07:17.371Z,1761678437.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270969,-0.890561,-0.365345],[0.961995,0.237221,0.135245],[-0.033776,-0.388108,0.920995]] 2025-10-28T19:07:17.509Z,1761678437.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534738 2025-10-28T19:07:17.766Z,1761678437.766 [DAT](INFO): DAT read: Rx Time:19:07:17.1001 2025-10-28T19:07:17.767Z,1761678437.767 [DAT](INFO): Rx dataTimestamp_ set to:1761678437.766480 2025-10-28T19:07:17.767Z,1761678437.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793275 2025-10-28T19:07:17.787Z,1761678437.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290810,-0.885314,-0.362833],[0.956069,0.254264,0.145883],[-0.036896,-0.389318,0.920364]] 2025-10-28T19:07:18.017Z,1761678438.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042676 2025-10-28T19:07:18.179Z,1761678438.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309189,-0.881351,-0.357244],[0.950148,0.270385,0.155275],[-0.040258,-0.387444,0.921014]] 2025-10-28T19:07:18.294Z,1761678438.294 [DAT](INFO): DAT read: 19:07:17.1001 LVL= 28848, 32753, 32754, 32755, AGC= 83, IDX= 408, 0.41, 3.050, 0.744, 1.753, 2.371, PHS= 0.781,-1.583,-0.663, RAW= 112.7, 14.1, CAL= 114.1, 15.9, ROT= 35.9, -15.9 2025-10-28T19:07:18.301Z,1761678438.301 [DAT](INFO): got valid direction response: 19:07:17.1001 LVL= 28848, 32753, 32754, 32755, AGC= 83, IDX= 408, 0.41, 3.050, 0.744, 1.753, 2.371, PHS= 0.781,-1.583,-0.663, RAW= 112.7, 14.1, CAL= 114.1, 15.9, ROT= 35.9, -15.9 2025-10-28T19:07:18.302Z,1761678438.302 [DAT](INFO): DAT read: Bearing 91, -6 (Remote) 2025-10-28T19:07:18.302Z,1761678438.302 [DAT](INFO): Remote Bearing received:Bearing 91, -6 (Remote) 2025-10-28T19:07:18.303Z,1761678438.303 [DAT](INFO): DAT read: Bearing 220.1, 22.7 (Local) 2025-10-28T19:07:18.308Z,1761678438.308 [DAT](INFO): Local bearing/azimuth received: Bearing 220.1, 22.7 (Local) 2025-10-28T19:07:18.309Z,1761678438.309 [DAT](INFO): DAT read: Range 11 to 20 : 1751.6 m (Round-trip 2335.5 ms) speed -0.4 m/s 2025-10-28T19:07:18.310Z,1761678438.310 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:07:18.311Z,1761678438.311 [DAT](INFO): direction in FSK: [0.779051,0.563939,0.273959] 2025-10-28T19:07:18.311Z,1761678438.311 [DAT](INFO): publishing direction and range info 2025-10-28T19:07:18.621Z,1761678438.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326696,-0.877100,-0.352087],[0.944106,0.285526,0.164736],[-0.043960,-0.386226,0.921356]] 2025-10-28T19:07:18.688Z,1761678438.688 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678464.00. Resetting abort timer. 2025-10-28T19:07:18.987Z,1761678438.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343199,-0.872736,-0.347198],[0.938084,0.299973,0.173250],[-0.047051,-0.385160,0.921649]] 2025-10-28T19:07:19.392Z,1761678439.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358342,-0.869086,-0.340999],[0.932262,0.313627,0.180351],[-0.049794,-0.382528,0.922601]] 2025-10-28T19:07:19.799Z,1761678439.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373113,-0.864655,-0.336391],[0.926327,0.326851,0.187318],[-0.052016,-0.381498,0.922905]] 2025-10-28T19:07:20.199Z,1761678440.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388003,-0.859894,-0.331718],[0.920105,0.340510,0.193544],[-0.053474,-0.380311,0.923312]] 2025-10-28T19:07:20.644Z,1761678440.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416108,-0.849494,-0.324367],[0.907645,0.366410,0.204753],[-0.055085,-0.379610,0.923505]] 2025-10-28T19:07:21.410Z,1761678441.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431011,-0.843465,-0.320619],[0.900664,0.380448,0.209912],[-0.055075,-0.379244,0.923656]] 2025-10-28T19:07:21.821Z,1761678441.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464225,-0.827210,-0.316574],[0.884029,0.410678,0.223239],[-0.054656,-0.383494,0.921925]] 2025-10-28T19:07:22.223Z,1761678442.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482634,-0.817772,-0.313550],[0.874140,0.427597,0.230305],[-0.054264,-0.385239,0.921220]] 2025-10-28T19:07:23.032Z,1761678443.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520932,-0.796939,-0.305807],[0.851900,0.462799,0.245119],[-0.053818,-0.388207,0.919999]] 2025-10-28T19:07:23.435Z,1761678443.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540951,-0.785309,-0.301101],[0.839316,0.481050,0.253257],[-0.054040,-0.389718,0.919347]] 2025-10-28T19:07:23.842Z,1761678443.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561362,-0.773345,-0.294636],[0.825759,0.499888,0.261216],[-0.054725,-0.389935,0.919215]] 2025-10-28T19:07:24.240Z,1761678444.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581747,-0.760824,-0.287604],[0.811455,0.518635,0.269368],[-0.055780,-0.390082,0.919089]] 2025-10-28T19:07:24.651Z,1761678444.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602152,-0.747597,-0.280200],[0.796341,0.537330,0.277701],[-0.057048,-0.390353,0.918896]] 2025-10-28T19:07:25.046Z,1761678445.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621913,-0.734573,-0.271343],[0.780879,0.555739,0.285275],[-0.058759,-0.389302,0.919234]] 2025-10-28T19:07:25.451Z,1761678445.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640627,-0.721421,-0.262961],[0.765416,0.572719,0.293480],[-0.061120,-0.389286,0.919087]] 2025-10-28T19:07:25.854Z,1761678445.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658284,-0.708831,-0.253420],[0.750070,0.589147,0.300501],[-0.063703,-0.387897,0.919499]] 2025-10-28T19:07:26.266Z,1761678446.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674979,-0.695940,-0.245094],[0.734850,0.604217,0.308085],[-0.066319,-0.388058,0.919246]] 2025-10-28T19:07:26.663Z,1761678446.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690232,-0.683221,-0.238304],[0.720276,0.617268,0.316516],[-0.069153,-0.390114,0.918166]] 2025-10-28T19:07:27.068Z,1761678447.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704413,-0.670888,-0.231759],[0.706113,0.629161,0.324901],[-0.072158,-0.392513,0.916912]] 2025-10-28T19:07:27.470Z,1761678447.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717148,-0.659453,-0.225435],[0.692881,0.639880,0.332368],[-0.074930,-0.394557,0.915811]] 2025-10-28T19:07:27.874Z,1761678447.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728887,-0.648512,-0.219444],[0.680273,0.649913,0.338885],[-0.077152,-0.396290,0.914878]] 2025-10-28T19:07:28.281Z,1761678448.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739432,-0.637919,-0.215176],[0.668656,0.658682,0.345018],[-0.078361,-0.398996,0.913598]] 2025-10-28T19:07:28.762Z,1761678448.762 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:07:28.762Z,1761678448.762 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:07:28.762Z,1761678448.762 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:07:28.763Z,1761678448.763 [marl:UpdateRudder:A] Stopped 2025-10-28T19:07:28.763Z,1761678448.763 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:07:29.086Z,1761678449.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759325,-0.617456,-0.205363],[0.645885,0.676802,0.353231],[-0.079115,-0.400858,0.912718]] 2025-10-28T19:07:29.186Z,1761678449.186 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:07:29.186Z,1761678449.186 [marl:UpdateRudder:B] Stopped 2025-10-28T19:07:29.186Z,1761678449.186 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:07:29.186Z,1761678449.186 [marl:UpdateRudder] Stopped 2025-10-28T19:07:29.186Z,1761678449.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:07:29.491Z,1761678449.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769547,-0.607157,-0.197883],[0.633708,0.687833,0.353977],[-0.078809,-0.397802,0.914080]] 2025-10-28T19:07:29.912Z,1761678449.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780415,-0.595735,-0.189874],[0.620294,0.699452,0.354968],[-0.078659,-0.394800,0.915394]] 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode] Stopped 2025-10-28T19:07:29.963Z,1761678449.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:07:29.964Z,1761678449.964 [marl:UpdateSpeed] Stopped 2025-10-28T19:07:29.965Z,1761678449.965 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:07:30.299Z,1761678450.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791775,-0.583188,-0.181615],[0.605723,0.711363,0.356458],[-0.078687,-0.392243,0.916490]] 2025-10-28T19:07:30.703Z,1761678450.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803911,-0.568615,-0.174369],[0.589556,0.723210,0.359709],[-0.078430,-0.391974,0.916627]] 2025-10-28T19:07:31.107Z,1761678451.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816928,-0.552212,-0.166408],[0.571379,0.735662,0.363769],[-0.078458,-0.392255,0.916505]] 2025-10-28T19:07:31.511Z,1761678451.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830231,-0.534892,-0.156864],[0.551880,0.749189,0.366259],[-0.078389,-0.390649,0.917196]] 2025-10-28T19:07:31.916Z,1761678451.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843462,-0.516856,-0.146396],[0.531350,0.762644,0.368836],[-0.078987,-0.388887,0.917893]] 2025-10-28T19:07:32.318Z,1761678452.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856012,-0.498766,-0.135926],[0.510765,0.775431,0.371249],[-0.079765,-0.387220,0.918530]] 2025-10-28T19:07:32.722Z,1761678452.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868004,-0.480748,-0.124301],[0.489998,0.788712,0.371263],[-0.080446,-0.383165,0.920170]] 2025-10-28T19:07:33.127Z,1761678453.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878992,-0.462957,-0.114207],[0.469893,0.800258,0.372542],[-0.081076,-0.381126,0.920961]] 2025-10-28T19:07:33.536Z,1761678453.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888217,-0.446939,-0.106378],[0.452080,0.809026,0.375633],[-0.081822,-0.381735,0.920643]] 2025-10-28T19:07:33.935Z,1761678453.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896542,-0.431453,-0.100299],[0.435166,0.815611,0.381326],[-0.082719,-0.385522,0.918983]] 2025-10-28T19:07:34.220Z,1761678454.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:07:34.342Z,1761678454.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904078,-0.416847,-0.094242],[0.419077,0.821495,0.386679],[-0.083767,-0.389082,0.917387]] 2025-10-28T19:07:34.750Z,1761678454.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911409,-0.402224,-0.086887],[0.402766,0.828673,0.388690],[-0.084340,-0.389251,0.917263]] 2025-10-28T19:07:35.147Z,1761678455.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918130,-0.388476,-0.078258],[0.387041,0.836670,0.387534],[-0.085072,-0.386096,0.918528]] 2025-10-28T19:07:35.225Z,1761678455.225 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:07:35.560Z,1761678455.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924098,-0.375494,-0.071038],[0.372409,0.843121,0.387891],[-0.085757,-0.384905,0.918964]] 2025-10-28T19:07:35.954Z,1761678455.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929785,-0.362364,-0.064747],[0.357755,0.848145,0.390719],[-0.086668,-0.386448,0.918230]] 2025-10-28T19:07:36.771Z,1761678456.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940892,-0.334673,-0.052128],[0.327288,0.858706,0.394343],[-0.087213,-0.388095,0.917484]] 2025-10-28T19:07:37.168Z,1761678457.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946275,-0.320064,-0.046075],[0.311512,0.864068,0.395406],[-0.086744,-0.388516,0.917350]] 2025-10-28T19:07:37.570Z,1761678457.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951776,-0.304183,-0.039940],[0.294572,0.869703,0.396035],[-0.085731,-0.388702,0.917366]] 2025-10-28T19:07:37.974Z,1761678457.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957340,-0.287039,-0.033311],[0.276373,0.875857,0.395591],[-0.084375,-0.387921,0.917823]] 2025-10-28T19:07:38.381Z,1761678458.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962866,-0.268669,-0.026560],[0.257067,0.882311,0.394263],[-0.082492,-0.386450,0.918614]] 2025-10-28T19:07:38.788Z,1761678458.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968240,-0.249281,-0.019224],[0.236543,0.888429,0.393371],[-0.080981,-0.385425,0.919179]] 2025-10-28T19:07:39.188Z,1761678459.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973371,-0.228956,-0.011333],[0.214939,0.894358,0.392332],[-0.079691,-0.384321,0.919754]] 2025-10-28T19:07:39.591Z,1761678459.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978145,-0.207905,-0.002879],[0.192457,0.900052,0.390981],[-0.078696,-0.382990,0.920394]] 2025-10-28T19:07:39.995Z,1761678459.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982434,-0.186516,0.005854],[0.169649,0.905777,0.388314],[-0.077729,-0.380499,0.921509]] 2025-10-28T19:07:40.402Z,1761678460.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986107,-0.165531,0.013893],[0.147279,0.909922,0.387751],[-0.076826,-0.380317,0.921660]] 2025-10-28T19:07:40.803Z,1761678460.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989156,-0.145230,0.021888],[0.125637,0.913886,0.386042],[-0.076068,-0.379105,0.922222]] 2025-10-28T19:07:41.208Z,1761678461.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991480,-0.126889,0.029444],[0.106066,0.917646,0.382983],[-0.075616,-0.376597,0.923286]] 2025-10-28T19:07:41.610Z,1761678461.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993251,-0.110163,0.036286],[0.088165,0.920388,0.380937],[-0.075362,-0.375167,0.923889]] 2025-10-28T19:07:42.015Z,1761678462.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994643,-0.094423,0.042058],[0.071430,0.921973,0.380610],[-0.074715,-0.375567,0.923779]] 2025-10-28T19:07:42.058Z,1761678462.058 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:07:42.058Z,1761678462.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:07:42.059Z,1761678462.059 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:07:42.059Z,1761678462.059 [marl:UpdateRudder:A] Stopped 2025-10-28T19:07:42.059Z,1761678462.059 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:07:42.422Z,1761678462.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995686,-0.079721,0.047470],[0.055710,0.922802,0.381226],[-0.074197,-0.376937,0.923262]] 2025-10-28T19:07:42.463Z,1761678462.463 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:07:42.463Z,1761678462.463 [marl:UpdateRudder:B] Stopped 2025-10-28T19:07:42.463Z,1761678462.463 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:07:42.463Z,1761678462.463 [marl:UpdateRudder] Stopped 2025-10-28T19:07:42.463Z,1761678462.463 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:07:42.823Z,1761678462.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996471,-0.065302,0.052729],[0.040214,0.922882,0.382979],[-0.073672,-0.379507,0.922251]] 2025-10-28T19:07:43.238Z,1761678463.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997040,-0.050658,0.057839],[0.024636,0.923091,0.383791],[-0.072833,-0.381230,0.921607]] 2025-10-28T19:07:43.266Z,1761678463.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:07:43.266Z,1761678463.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:07:43.266Z,1761678463.266 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateCommandMode] Stopped 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:07:43.267Z,1761678463.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:07:43.268Z,1761678463.268 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:07:43.268Z,1761678463.268 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:07:43.268Z,1761678463.268 [marl:UpdateSpeed] Stopped 2025-10-28T19:07:43.268Z,1761678463.268 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:07:43.630Z,1761678463.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997351,-0.035461,0.063509],[0.008191,0.922314,0.386355],[-0.072275,-0.384812,0.920161]] 2025-10-28T19:07:44.035Z,1761678464.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997383,-0.018847,0.069805],[-0.009905,0.920714,0.390113],[-0.071623,-0.389783,0.918117]] 2025-10-28T19:07:44.442Z,1761678464.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997036,-0.000444,0.076934],[-0.029689,0.920306,0.390072],[-0.070976,-0.391200,0.917565]] 2025-10-28T19:07:44.844Z,1761678464.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996267,0.018225,0.084374],[-0.049760,0.919960,0.388841],[-0.070534,-0.391588,0.917433]] 2025-10-28T19:07:45.252Z,1761678465.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995083,0.036903,0.091915],[-0.070013,0.918489,0.389199],[-0.070061,-0.393720,0.916557]] 2025-10-28T19:07:45.651Z,1761678465.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993534,0.055986,0.098766],[-0.090323,0.916850,0.388879],[-0.068782,-0.395286,0.915979]] 2025-10-28T19:07:46.055Z,1761678466.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991684,0.074616,0.104860],[-0.109826,0.915403,0.387266],[-0.067093,-0.395561,0.915986]] 2025-10-28T19:07:46.468Z,1761678466.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989630,0.092594,0.109809],[-0.128255,0.913838,0.385294],[-0.064672,-0.395382,0.916237]] 2025-10-28T19:07:46.862Z,1761678466.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987374,0.109623,0.114352],[-0.145680,0.911895,0.383699],[-0.062215,-0.395513,0.916351]] 2025-10-28T19:07:47.267Z,1761678467.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984937,0.126036,0.118382],[-0.162436,0.909112,0.383575],[-0.059278,-0.397027,0.915891]] 2025-10-28T19:07:47.671Z,1761678467.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982165,0.142808,0.122298],[-0.179380,0.906624,0.381910],[-0.056339,-0.397037,0.916072]] 2025-10-28T19:07:48.076Z,1761678468.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979147,0.158903,0.126576],[-0.195917,0.903399,0.381428],[-0.053738,-0.398272,0.915692]] 2025-10-28T19:07:48.489Z,1761678468.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975540,0.176306,0.131297],[-0.213854,0.899417,0.381203],[-0.050882,-0.399957,0.915120]] 2025-10-28T19:07:48.883Z,1761678468.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971252,0.194802,0.136830],[-0.233073,0.895125,0.380036],[-0.048448,-0.401002,0.914795]] 2025-10-28T19:07:49.288Z,1761678469.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966261,0.214123,0.143149],[-0.253401,0.889837,0.379444],[-0.046132,-0.402916,0.914074]] 2025-10-28T19:07:49.691Z,1761678469.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960360,0.235230,0.149583],[-0.275338,0.884276,0.377153],[-0.043555,-0.403389,0.913992]] 2025-10-28T19:07:50.097Z,1761678470.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953829,0.256717,0.155906],[-0.297508,0.878792,0.373113],[-0.041224,-0.402269,0.914593]] 2025-10-28T19:07:50.498Z,1761678470.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946721,0.277779,0.162966],[-0.319663,0.872059,0.370579],[-0.039177,-0.402929,0.914392]] 2025-10-28T19:07:50.902Z,1761678470.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939068,0.299002,0.169553],[-0.341753,0.865007,0.367379],[-0.036818,-0.402939,0.914486]] 2025-10-28T19:07:51.306Z,1761678471.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931026,0.320252,0.175012],[-0.363367,0.858096,0.362816],[-0.033984,-0.401385,0.915279]] 2025-10-28T19:07:51.721Z,1761678471.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923004,0.340851,0.178563],[-0.383571,0.851945,0.356459],[-0.030627,-0.397505,0.917089]] 2025-10-28T19:07:52.115Z,1761678472.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915445,0.359493,0.180901],[-0.401512,0.846417,0.349809],[-0.027364,-0.392865,0.919189]] 2025-10-28T19:07:52.519Z,1761678472.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908553,0.375681,0.182742],[-0.417057,0.841168,0.344239],[-0.024393,-0.388974,0.920926]] 2025-10-28T19:07:52.922Z,1761678472.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901937,0.390036,0.185425],[-0.431338,0.834846,0.342022],[-0.021400,-0.388463,0.921216]] 2025-10-28T19:07:53.328Z,1761678473.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895187,0.403592,0.189087],[-0.445309,0.827490,0.341995],[-0.018441,-0.390351,0.920481]] 2025-10-28T19:07:53.737Z,1761678473.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888450,0.416233,0.193408],[-0.458697,0.819843,0.342717],[-0.015915,-0.393203,0.919314]] 2025-10-28T19:07:54.134Z,1761678474.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881548,0.428031,0.199157],[-0.471888,0.811424,0.344837],[-0.014000,-0.397970,0.917292]] 2025-10-28T19:07:54.538Z,1761678474.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874374,0.440061,0.204493],[-0.485092,0.803543,0.344970],[-0.012511,-0.400831,0.916067]] 2025-10-28T19:07:54.950Z,1761678474.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866437,0.452510,0.211001],[-0.499157,0.794662,0.345477],[-0.011343,-0.404657,0.914398]] 2025-10-28T19:07:55.346Z,1761678475.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857691,0.465693,0.217938],[-0.514060,0.785294,0.345046],[-0.010460,-0.407976,0.912933]] 2025-10-28T19:07:55.381Z,1761678475.381 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:07:55.381Z,1761678475.381 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:07:55.381Z,1761678475.381 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:07:55.382Z,1761678475.382 [marl:UpdateRudder:A] Stopped 2025-10-28T19:07:55.382Z,1761678475.382 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:07:55.753Z,1761678475.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847935,0.480413,0.224077],[-0.530019,0.775761,0.342454],[-0.009311,-0.409144,0.912423]] 2025-10-28T19:07:55.802Z,1761678475.802 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:07:55.802Z,1761678475.802 [marl:UpdateRudder:B] Stopped 2025-10-28T19:07:55.803Z,1761678475.803 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:07:55.803Z,1761678475.803 [marl:UpdateRudder] Stopped 2025-10-28T19:07:55.803Z,1761678475.803 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:07:56.166Z,1761678476.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837107,0.496144,0.230420],[-0.546985,0.765050,0.339862],[-0.007662,-0.410537,0.911812]] 2025-10-28T19:07:56.568Z,1761678476.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825950,0.512232,0.235426],[-0.563713,0.754765,0.335496],[-0.005839,-0.409816,0.912150]] 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode] Stopped 2025-10-28T19:07:56.666Z,1761678476.666 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed] Stopped 2025-10-28T19:07:56.667Z,1761678476.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:07:56.962Z,1761678476.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814227,0.528495,0.240264],[-0.580534,0.743940,0.330958],[-0.003832,-0.408957,0.912546]] 2025-10-28T19:07:57.366Z,1761678477.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802125,0.544386,0.245437],[-0.597153,0.732620,0.326612],[-0.002009,-0.408547,0.912735]] 2025-10-28T19:07:57.776Z,1761678477.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790024,0.559321,0.251042],[-0.613076,0.720922,0.323125],[-0.000251,-0.409184,0.912452]] 2025-10-28T19:07:58.176Z,1761678478.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777603,0.574220,0.256137],[-0.628754,0.709159,0.319002],[0.001535,-0.409104,0.912487]] 2025-10-28T19:07:58.618Z,1761678478.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764365,0.589423,0.261393],[-0.644774,0.696600,0.314666],[0.003385,-0.409059,0.912501]] 2025-10-28T19:07:58.982Z,1761678478.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750616,0.604709,0.266275],[-0.660718,0.683821,0.309580],[0.005121,-0.408308,0.912830]] 2025-10-28T19:07:59.387Z,1761678479.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736392,0.618887,0.273324],[-0.676524,0.669710,0.306273],[0.006501,-0.410447,0.911861]] 2025-10-28T19:07:59.795Z,1761678479.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721181,0.633755,0.279735],[-0.692703,0.655192,0.301474],[0.007780,-0.411191,0.911516]] 2025-10-28T19:08:00.205Z,1761678480.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704741,0.649207,0.286129],[-0.709403,0.639532,0.296219],[0.009319,-0.411738,0.911255]] 2025-10-28T19:08:00.645Z,1761678480.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687954,0.664406,0.292034],[-0.725674,0.623713,0.290482],[0.010853,-0.411760,0.911228]] 2025-10-28T19:08:01.003Z,1761678481.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671328,0.679622,0.295689],[-0.741047,0.608538,0.283779],[0.012925,-0.409629,0.912161]] 2025-10-28T19:08:01.408Z,1761678481.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655312,0.693321,0.299787],[-0.755201,0.593265,0.278764],[0.015420,-0.409077,0.912370]] 2025-10-28T19:08:01.810Z,1761678481.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639135,0.706744,0.303345],[-0.768881,0.577868,0.273663],[0.018116,-0.408144,0.912738]] 2025-10-28T19:08:02.219Z,1761678482.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623480,0.719514,0.305897],[-0.781559,0.563103,0.268477],[0.020922,-0.406467,0.913426]] 2025-10-28T19:08:02.663Z,1761678482.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608838,0.731239,0.307580],[-0.792954,0.549613,0.262962],[0.023238,-0.403998,0.914465]] 2025-10-28T19:08:03.023Z,1761678483.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594866,0.742158,0.308765],[-0.803432,0.536961,0.257234],[0.025114,-0.401092,0.915694]] 2025-10-28T19:08:03.426Z,1761678483.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582163,0.751516,0.310337],[-0.812644,0.525422,0.252073],[0.026379,-0.398942,0.916597]] 2025-10-28T19:08:03.830Z,1761678483.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569383,0.759361,0.314919],[-0.821618,0.512924,0.248700],[0.027324,-0.400348,0.915956]] 2025-10-28T19:08:04.234Z,1761678484.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556671,0.766609,0.320045],[-0.830245,0.500199,0.245955],[0.028465,-0.402632,0.914919]] 2025-10-28T19:08:04.669Z,1761678484.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530556,0.778940,0.334309],[-0.847079,0.472751,0.242824],[0.031100,-0.412017,0.910645]] 2025-10-28T19:08:05.344Z,1761678485.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:08:05.447Z,1761678485.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517039,0.785530,0.340020],[-0.855380,0.459539,0.239057],[0.031534,-0.414448,0.909526]] 2025-10-28T19:08:05.852Z,1761678485.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502112,0.793233,0.344477],[-0.864224,0.445685,0.233413],[0.031623,-0.414905,0.909315]] 2025-10-28T19:08:06.256Z,1761678486.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485370,0.801762,0.348703],[-0.873744,0.430481,0.226399],[0.031408,-0.414564,0.909478]] 2025-10-28T19:08:06.348Z,1761678486.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:08:06.659Z,1761678486.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465996,0.810643,0.354549],[-0.884212,0.412232,0.219622],[0.031879,-0.415840,0.908879]] 2025-10-28T19:08:07.067Z,1761678487.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445218,0.819762,0.360239],[-0.894832,0.392721,0.212240],[0.032513,-0.416847,0.908395]] 2025-10-28T19:08:07.474Z,1761678487.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402679,0.839949,0.363779],[-0.914674,0.354072,0.194946],[0.034941,-0.411240,0.910857]] 2025-10-28T19:08:07.875Z,1761678487.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382369,0.849660,0.363142],[-0.923277,0.335675,0.186767],[0.036790,-0.406695,0.912823]] 2025-10-28T19:08:08.280Z,1761678488.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363973,0.857828,0.362842],[-0.930611,0.318809,0.179788],[0.038550,-0.403102,0.914343]] 2025-10-28T19:08:08.711Z,1761678488.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346890,0.863996,0.364936],[-0.937047,0.302617,0.174256],[0.040121,-0.402410,0.914580]] 2025-10-28T19:08:08.765Z,1761678488.765 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:08:08.765Z,1761678488.765 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:08:08.765Z,1761678488.765 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:08:08.765Z,1761678488.765 [marl:UpdateRudder:A] Stopped 2025-10-28T19:08:08.765Z,1761678488.765 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:08:09.085Z,1761678489.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330527,0.868164,0.370194],[-0.942905,0.286702,0.169508],[0.041025,-0.405085,0.913358]] 2025-10-28T19:08:09.110Z,1761678489.110 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:08:09.110Z,1761678489.110 [marl:UpdateRudder:B] Stopped 2025-10-28T19:08:09.110Z,1761678489.110 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:08:09.110Z,1761678489.110 [marl:UpdateRudder] Stopped 2025-10-28T19:08:09.110Z,1761678489.110 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:08:09.487Z,1761678489.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314494,0.872242,0.374548],[-0.948349,0.271429,0.164195],[0.041554,-0.406841,0.912553]] 2025-10-28T19:08:09.890Z,1761678489.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297893,0.876976,0.377059],[-0.953678,0.256059,0.157896],[0.041921,-0.406629,0.912631]] 2025-10-28T19:08:09.956Z,1761678489.956 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode] Stopped 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:08:09.957Z,1761678489.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:08:09.958Z,1761678489.958 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:08:09.958Z,1761678489.958 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:08:09.958Z,1761678489.958 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:08:09.958Z,1761678489.958 [marl:UpdateSpeed] Stopped 2025-10-28T19:08:09.958Z,1761678489.958 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:08:10.294Z,1761678490.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280646,0.881315,0.380161],[-0.958872,0.239920,0.151668],[0.042459,-0.407091,0.912400]] 2025-10-28T19:08:10.717Z,1761678490.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262446,0.885553,0.383300],[-0.963993,0.222962,0.144931],[0.042883,-0.407535,0.912182]] 2025-10-28T19:08:11.102Z,1761678491.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243381,0.890021,0.385524],[-0.968959,0.205313,0.137716],[0.043417,-0.407074,0.912363]] 2025-10-28T19:08:11.507Z,1761678491.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224891,0.894112,0.387283],[-0.973396,0.188259,0.130610],[0.043871,-0.406353,0.912662]] 2025-10-28T19:08:11.911Z,1761678491.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206088,0.897885,0.389012],[-0.977514,0.170768,0.123708],[0.044645,-0.405759,0.912889]] 2025-10-28T19:08:12.314Z,1761678492.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187889,0.901180,0.390605],[-0.981130,0.153733,0.117261],[0.045624,-0.405266,0.913060]] 2025-10-28T19:08:12.730Z,1761678492.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170220,0.903168,0.394098],[-0.984310,0.136982,0.111220],[0.046466,-0.406846,0.912314]] 2025-10-28T19:08:12.851Z,1761678492.851 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:08:12.969Z,1761678492.969 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:08:12.969Z,1761678492.969 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:08:13.122Z,1761678493.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153054,0.904368,0.398364],[-0.987096,0.120705,0.105224],[0.047076,-0.409328,0.911172]] 2025-10-28T19:08:13.221Z,1761678493.221 [DAT](INFO): DAT read: user:164> 2025-10-28T19:08:13.222Z,1761678493.222 [DAT](INFO): DAT read: Tx time:19:08:12.9854 2025-10-28T19:08:13.222Z,1761678493.222 [DAT](INFO): Ping request sent. 2025-10-28T19:08:13.222Z,1761678493.222 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:08:13.222Z,1761678493.222 [DAT](INFO): publishing transmit ping time 2025-10-28T19:08:13.223Z,1761678493.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T19:08:13.474Z,1761678493.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252226 2025-10-28T19:08:13.526Z,1761678493.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136253,0.906288,0.400095],[-0.989533,0.105127,0.098854],[0.047529,-0.409377,0.911127]] 2025-10-28T19:08:13.725Z,1761678493.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838 2025-10-28T19:08:13.930Z,1761678493.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119106,0.908448,0.400670],[-0.991735,0.089461,0.091972],[0.047708,-0.408312,0.911595]] 2025-10-28T19:08:13.977Z,1761678493.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741 2025-10-28T19:08:14.230Z,1761678494.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007418 2025-10-28T19:08:14.336Z,1761678494.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101330,0.909153,0.403947],[-0.993709,0.073030,0.084905],[0.047691,-0.410010,0.910833]] 2025-10-28T19:08:14.482Z,1761678494.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259755 2025-10-28T19:08:14.733Z,1761678494.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510785 2025-10-28T19:08:14.741Z,1761678494.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083053,0.909916,0.406394],[-0.995397,0.056173,0.077653],[0.047830,-0.410972,0.910392]] 2025-10-28T19:08:14.985Z,1761678494.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788 2025-10-28T19:08:15.143Z,1761678495.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063868,0.911704,0.405854],[-0.996765,0.038393,0.070613],[0.048796,-0.409050,0.911206]] 2025-10-28T19:08:15.237Z,1761678495.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913 2025-10-28T19:08:15.489Z,1761678495.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924 2025-10-28T19:08:15.547Z,1761678495.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044457,0.913525,0.404345],[-0.997758,0.020337,0.063755],[0.050019,-0.406273,0.912382]] 2025-10-28T19:08:15.741Z,1761678495.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518763 2025-10-28T19:08:15.952Z,1761678495.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025410,0.914486,0.403820],[-0.998373,0.002590,0.056957],[0.051041,-0.404610,0.913064]] 2025-10-28T19:08:15.993Z,1761678495.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771188 2025-10-28T19:08:16.245Z,1761678496.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022745 2025-10-28T19:08:16.355Z,1761678496.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006251,0.915549,0.402157],[-0.998595,-0.015450,0.050695],[0.052627,-0.401909,0.914166]] 2025-10-28T19:08:16.497Z,1761678496.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274832 2025-10-28T19:08:16.749Z,1761678496.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527219 2025-10-28T19:08:16.765Z,1761678496.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012290,0.916363,0.400161],[-0.998460,-0.032900,0.044675],[0.054104,-0.398995,0.915355]] 2025-10-28T19:08:17.001Z,1761678497.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778712 2025-10-28T19:08:17.207Z,1761678497.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030402,0.916581,0.398691],[-0.997993,-0.050001,0.038850],[0.055544,-0.396710,0.916262]] 2025-10-28T19:08:17.253Z,1761678497.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030801 2025-10-28T19:08:17.505Z,1761678497.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282952 2025-10-28T19:08:17.568Z,1761678497.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048163,0.915774,0.398796],[-0.997235,-0.066705,0.032741],[0.056585,-0.396116,0.916455]] 2025-10-28T19:08:17.757Z,1761678497.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535297 2025-10-28T19:08:17.971Z,1761678497.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066245,0.914438,0.399267],[-0.996144,-0.083678,0.026370],[0.057524,-0.395980,0.916455]] 2025-10-28T19:08:18.009Z,1761678498.009 [DAT](INFO): DAT read: Rx Time:19:08:17.3947 2025-10-28T19:08:18.009Z,1761678498.009 [DAT](INFO): Rx dataTimestamp_ set to:1761678498.009209 2025-10-28T19:08:18.010Z,1761678498.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787932 2025-10-28T19:08:18.261Z,1761678498.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038802 2025-10-28T19:08:18.375Z,1761678498.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084440,0.912363,0.400580],[-0.994707,-0.100804,0.019913],[0.058548,-0.396778,0.916045]] 2025-10-28T19:08:18.514Z,1761678498.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291284 2025-10-28T19:08:18.773Z,1761678498.773 [DAT](INFO): DAT read: 19:08:17.3947 LVL= 32752, 24769, 29218, 32755, AGC= 78, IDX= 368, 0.36,-2.517,-0.384,-1.411,-1.440, PHS=-0.975, 1.101,-0.014, RAW= 302.5, -1.3, CAL= 301.1, -5.2, ROT= 208.9, 5.2 2025-10-28T19:08:18.775Z,1761678498.775 [DAT](INFO): got valid direction response: 19:08:17.3947 LVL= 32752, 24769, 29218, 32755, AGC= 78, IDX= 368, 0.36,-2.517,-0.384,-1.411,-1.440, PHS=-0.975, 1.101,-0.014, RAW= 302.5, -1.3, CAL= 301.1, -5.2, ROT= 208.9, 5.2 2025-10-28T19:08:18.777Z,1761678498.777 [DAT](INFO): DAT read: Bearing 97, -25 (Remote) 2025-10-28T19:08:18.777Z,1761678498.777 [DAT](INFO): Remote Bearing received:Bearing 97, -25 (Remote) 2025-10-28T19:08:18.778Z,1761678498.778 [DAT](INFO): DAT read: Bearing 220.5, -27.1 (Local) 2025-10-28T19:08:18.779Z,1761678498.779 [DAT](INFO): Local bearing/azimuth received: Bearing 220.5, -27.1 (Local) 2025-10-28T19:08:18.781Z,1761678498.781 [DAT](INFO): DAT read: Range 11 to 20 : 1785.0 m (Round-trip 2380.1 ms) speed -1.1 m/s 2025-10-28T19:08:18.782Z,1761678498.782 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:08:18.783Z,1761678498.783 [DAT](INFO): direction in FSK: [-0.871861,-0.481293,-0.090633] 2025-10-28T19:08:18.784Z,1761678498.784 [DAT](INFO): publishing direction and range info 2025-10-28T19:08:18.799Z,1761678498.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102518,0.909916,0.401923],[-0.992978,-0.117589,0.012935],[0.059031,-0.397775,0.915582]] 2025-10-28T19:08:18.957Z,1761678498.957 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678464.00. Resetting abort timer. 2025-10-28T19:08:19.203Z,1761678499.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120835,0.906872,0.403710],[-0.990897,-0.134510,0.005570],[0.059354,-0.399362,0.914870]] 2025-10-28T19:08:19.608Z,1761678499.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139956,0.905208,0.401262],[-0.988354,-0.152165,-0.001457],[0.059739,-0.396793,0.915962]] 2025-10-28T19:08:20.010Z,1761678500.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159761,0.902495,0.399973],[-0.985336,-0.170381,-0.009125],[0.059912,-0.395566,0.916481]] 2025-10-28T19:08:20.415Z,1761678500.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180011,0.899027,0.399181],[-0.981833,-0.188966,-0.017174],[0.059992,-0.395021,0.916711]] 2025-10-28T19:08:20.818Z,1761678500.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200462,0.893660,0.401481],[-0.977859,-0.207634,-0.026077],[0.060057,-0.397819,0.915496]] 2025-10-28T19:08:21.227Z,1761678501.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220531,0.887235,0.405192],[-0.973542,-0.225715,-0.035621],[0.059854,-0.402327,0.913537]] 2025-10-28T19:08:21.627Z,1761678501.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239558,0.879257,0.411727],[-0.969062,-0.242498,-0.045973],[0.059421,-0.410002,0.910147]] 2025-10-28T19:08:22.030Z,1761678502.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258057,0.872946,0.413971],[-0.964321,-0.258939,-0.055100],[0.059094,-0.413420,0.908621]] 2025-10-28T19:08:22.074Z,1761678502.074 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:08:22.074Z,1761678502.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:08:22.074Z,1761678502.074 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:08:22.075Z,1761678502.075 [marl:UpdateRudder:A] Stopped 2025-10-28T19:08:22.075Z,1761678502.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:08:22.436Z,1761678502.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275201,0.867234,0.414933],[-0.959580,-0.274228,-0.063281],[0.058907,-0.415576,0.907649]] 2025-10-28T19:08:22.499Z,1761678502.499 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:08:22.499Z,1761678502.499 [marl:UpdateRudder:B] Stopped 2025-10-28T19:08:22.500Z,1761678502.500 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:08:22.500Z,1761678502.500 [marl:UpdateRudder] Stopped 2025-10-28T19:08:22.500Z,1761678502.500 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:08:22.842Z,1761678502.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291390,0.862611,0.413513],[-0.954811,-0.288725,-0.070529],[0.058553,-0.415378,0.907762]] 2025-10-28T19:08:23.245Z,1761678503.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307453,0.857637,0.412226],[-0.949765,-0.303199,-0.077562],[0.058467,-0.415365,0.907774]] 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode] Stopped 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:08:23.282Z,1761678503.282 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed] Stopped 2025-10-28T19:08:23.283Z,1761678503.283 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:08:23.649Z,1761678503.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322374,0.853173,0.410086],[-0.944816,-0.316676,-0.083897],[0.058285,-0.414502,0.908180]] 2025-10-28T19:08:24.051Z,1761678504.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337089,0.848640,0.407653],[-0.939656,-0.330149,-0.089710],[0.058454,-0.413294,0.908719]] 2025-10-28T19:08:24.456Z,1761678504.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352156,0.845070,0.402297],[-0.934105,-0.344252,-0.094539],[0.058599,-0.409080,0.910615]] 2025-10-28T19:08:24.858Z,1761678504.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367171,0.841698,0.395891],[-0.928304,-0.358420,-0.098929],[0.058627,-0.403831,0.912953]] 2025-10-28T19:08:25.266Z,1761678505.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382632,0.836561,0.392120],[-0.922041,-0.372677,-0.104652],[0.058587,-0.401594,0.913942]] 2025-10-28T19:08:25.675Z,1761678505.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398284,0.829894,0.390700],[-0.915385,-0.386845,-0.111448],[0.058650,-0.402029,0.913746]] 2025-10-28T19:08:26.073Z,1761678506.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413975,0.823550,0.387801],[-0.908430,-0.400972,-0.118222],[0.058136,-0.401231,0.914130]] 2025-10-28T19:08:26.475Z,1761678506.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430887,0.817465,0.382215],[-0.900564,-0.416579,-0.124281],[0.057628,-0.397760,0.915678]] 2025-10-28T19:08:26.878Z,1761678506.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448662,0.810708,0.376104],[-0.891885,-0.432987,-0.130626],[0.056949,-0.394048,0.917324]] 2025-10-28T19:08:27.285Z,1761678507.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466976,0.802589,0.371193],[-0.882467,-0.449770,-0.137693],[0.056441,-0.391865,0.918290]] 2025-10-28T19:08:27.688Z,1761678507.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485839,0.793817,0.365807],[-0.872285,-0.466925,-0.145260],[0.055494,-0.389661,0.919285]] 2025-10-28T19:08:28.093Z,1761678508.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504820,0.784718,0.359687],[-0.861497,-0.484338,-0.152444],[0.054585,-0.386827,0.920536]] 2025-10-28T19:08:28.495Z,1761678508.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523570,0.775829,0.352085],[-0.850277,-0.501955,-0.158337],[0.053889,-0.382270,0.922478]] 2025-10-28T19:08:28.899Z,1761678508.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542072,0.765420,0.346828],[-0.838642,-0.518915,-0.165548],[0.053261,-0.380604,0.923203]] 2025-10-28T19:08:29.307Z,1761678509.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559999,0.753541,0.344350],[-0.826810,-0.534779,-0.174344],[0.052775,-0.382345,0.922511]] 2025-10-28T19:08:29.709Z,1761678509.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576719,0.741012,0.343942],[-0.815301,-0.548742,-0.184841],[0.051766,-0.387018,0.920618]] 2025-10-28T19:08:30.112Z,1761678510.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592560,0.728462,0.343825],[-0.803927,-0.561688,-0.195468],[0.050732,-0.392237,0.918464]] 2025-10-28T19:08:30.514Z,1761678510.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607510,0.716184,0.343529],[-0.792746,-0.573821,-0.205629],[0.049855,-0.397253,0.916354]] 2025-10-28T19:08:30.918Z,1761678510.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621363,0.703836,0.344272],[-0.781982,-0.584614,-0.216173],[0.049116,-0.403536,0.913644]] 2025-10-28T19:08:31.332Z,1761678511.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634554,0.692763,0.342668],[-0.771377,-0.595297,-0.224942],[0.048158,-0.407064,0.912129]] 2025-10-28T19:08:31.727Z,1761678511.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647471,0.681887,0.340310],[-0.760648,-0.605696,-0.233553],[0.046868,-0.410075,0.910847]] 2025-10-28T19:08:32.134Z,1761678512.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660553,0.670676,0.337435],[-0.749366,-0.616527,-0.241547],[0.046038,-0.412417,0.909831]] 2025-10-28T19:08:32.535Z,1761678512.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674759,0.659570,0.331161],[-0.736624,-0.629622,-0.246902],[0.045657,-0.410540,0.910699]] 2025-10-28T19:08:32.941Z,1761678512.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689512,0.647959,0.323609],[-0.722873,-0.643444,-0.251862],[0.045028,-0.407589,0.912054]] 2025-10-28T19:08:33.343Z,1761678513.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705101,0.634819,0.315970],[-0.707711,-0.657928,-0.257439],[0.044458,-0.405136,0.913175]] 2025-10-28T19:08:33.747Z,1761678513.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721229,0.620387,0.308136],[-0.691336,-0.672537,-0.264099],[0.043390,-0.403501,0.913950]] 2025-10-28T19:08:34.159Z,1761678514.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737284,0.605357,0.299925],[-0.674266,-0.687061,-0.270763],[0.042159,-0.401859,0.914731]] 2025-10-28T19:08:34.556Z,1761678514.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752961,0.589881,0.291702],[-0.656814,-0.700982,-0.277884],[0.040559,-0.400830,0.915254]] 2025-10-28T19:08:34.976Z,1761678514.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768008,0.574276,0.283496],[-0.639261,-0.714244,-0.284958],[0.038840,-0.400078,0.915658]] 2025-10-28T19:08:35.362Z,1761678515.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782244,0.559162,0.274650],[-0.621905,-0.726711,-0.291760],[0.036450,-0.399034,0.916211]] 2025-10-28T19:08:35.421Z,1761678515.421 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:08:35.421Z,1761678515.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:08:35.421Z,1761678515.421 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:08:35.422Z,1761678515.422 [marl:UpdateRudder:A] Stopped 2025-10-28T19:08:35.422Z,1761678515.422 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:08:35.774Z,1761678515.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795115,0.544627,0.266784],[-0.605519,-0.737424,-0.299254],[0.033751,-0.399484,0.916119]] 2025-10-28T19:08:35.822Z,1761678515.822 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:08:35.822Z,1761678515.822 [marl:UpdateRudder:B] Stopped 2025-10-28T19:08:35.822Z,1761678515.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:08:35.822Z,1761678515.822 [marl:UpdateRudder] Stopped 2025-10-28T19:08:35.822Z,1761678515.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:08:36.171Z,1761678516.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807217,0.530298,0.259200],[-0.589443,-0.747245,-0.306889],[0.030944,-0.400510,0.915770]] 2025-10-28T19:08:36.485Z,1761678516.485 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:08:36.586Z,1761678516.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818515,0.516868,0.250759],[-0.573801,-0.756838,-0.312968],[0.028021,-0.400055,0.916063]] 2025-10-28T19:08:36.667Z,1761678516.667 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:08:36.667Z,1761678516.667 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:08:36.667Z,1761678516.667 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:08:36.667Z,1761678516.667 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateCommandMode] Stopped 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:08:36.668Z,1761678516.668 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:08:36.669Z,1761678516.669 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:08:36.669Z,1761678516.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:08:36.669Z,1761678516.669 [marl:UpdateSpeed] Stopped 2025-10-28T19:08:36.669Z,1761678516.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:08:36.978Z,1761678516.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828828,0.503478,0.244037],[-0.558921,-0.764942,-0.320110],[0.025506,-0.401714,0.915410]] 2025-10-28T19:08:37.389Z,1761678517.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838595,0.490472,0.237055],[-0.544259,-0.772917,-0.326162],[0.023251,-0.402538,0.915108]] 2025-10-28T19:08:37.488Z,1761678517.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:08:37.802Z,1761678517.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848002,0.477532,0.229904],[-0.529573,-0.780717,-0.331713],[0.021087,-0.403044,0.914938]] 2025-10-28T19:08:38.190Z,1761678518.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857387,0.464454,0.221743],[-0.514324,-0.789065,-0.335927],[0.018947,-0.402067,0.915414]] 2025-10-28T19:08:38.640Z,1761678518.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866637,0.451160,0.213062],[-0.498660,-0.797493,-0.339623],[0.016691,-0.400575,0.916112]] 2025-10-28T19:08:39.000Z,1761678519.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876400,0.436554,0.203332],[-0.481353,-0.807143,-0.341789],[0.014909,-0.397418,0.917517]] 2025-10-28T19:08:39.402Z,1761678519.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886623,0.420014,0.193617],[-0.462302,-0.816885,-0.344929],[0.013288,-0.395331,0.918442]] 2025-10-28T19:08:39.811Z,1761678519.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896920,0.402303,0.183542],[-0.442043,-0.826577,-0.348379],[0.011557,-0.393601,0.919209]] 2025-10-28T19:08:40.211Z,1761678520.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907508,0.382781,0.172941],[-0.419918,-0.836537,-0.351959],[0.009948,-0.392026,0.919900]] 2025-10-28T19:08:40.646Z,1761678520.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917897,0.362166,0.162174],[-0.396732,-0.846066,-0.356056],[0.008258,-0.391163,0.920284]] 2025-10-28T19:08:41.019Z,1761678521.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927768,0.341170,0.151162],[-0.373098,-0.855335,-0.359443],[0.006663,-0.389877,0.920843]] 2025-10-28T19:08:41.423Z,1761678521.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936678,0.320650,0.140773],[-0.350160,-0.862890,-0.364430],[0.004618,-0.390647,0.920529]] 2025-10-28T19:08:41.827Z,1761678521.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944857,0.300165,0.130944],[-0.327472,-0.869327,-0.370178],[0.002719,-0.392646,0.919686]] 2025-10-28T19:08:42.233Z,1761678522.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952186,0.280430,0.121245],[-0.305517,-0.875070,-0.375382],[0.000830,-0.394476,0.918906]] 2025-10-28T19:08:42.653Z,1761678522.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958515,0.262182,0.111846],[-0.285040,-0.880138,-0.379618],[-0.001089,-0.395750,0.918358]] 2025-10-28T19:08:43.038Z,1761678523.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964301,0.244025,0.102839],[-0.264797,-0.884829,-0.383354],[-0.002553,-0.396900,0.917858]] 2025-10-28T19:08:43.443Z,1761678523.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969556,0.226303,0.093531],[-0.244836,-0.889667,-0.385419],[-0.004010,-0.396586,0.917989]] 2025-10-28T19:08:43.850Z,1761678523.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974373,0.208597,0.084169],[-0.224873,-0.894330,-0.386790],[-0.005408,-0.395805,0.918319]] 2025-10-28T19:08:44.250Z,1761678524.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978875,0.190361,0.074607],[-0.204349,-0.898963,-0.387437],[-0.006684,-0.394498,0.918872]] 2025-10-28T19:08:44.655Z,1761678524.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982839,0.172433,0.065537],[-0.184297,-0.902611,-0.389008],[-0.007923,-0.394410,0.918900]] 2025-10-28T19:08:45.058Z,1761678525.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986400,0.154233,0.056803],[-0.164113,-0.905254,-0.391896],[-0.009022,-0.395889,0.918254]] 2025-10-28T19:08:45.468Z,1761678525.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989529,0.136320,0.047429],[-0.143962,-0.908537,-0.392219],[-0.010376,-0.394940,0.918648]] 2025-10-28T19:08:45.873Z,1761678525.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992330,0.117714,0.037757],[-0.123067,-0.911800,-0.391760],[-0.011688,-0.393402,0.919292]] 2025-10-28T19:08:46.270Z,1761678526.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994643,0.099398,0.028388],[-0.102560,-0.914516,-0.391334],[-0.012936,-0.392149,0.919811]] 2025-10-28T19:08:46.674Z,1761678526.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996492,0.081483,0.019111],[-0.082452,-0.916570,-0.391281],[-0.014366,-0.391484,0.920073]] 2025-10-28T19:08:47.079Z,1761678527.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997956,0.063173,0.009683],[-0.061953,-0.919001,-0.389356],[-0.015698,-0.389160,0.921036]] 2025-10-28T19:08:47.886Z,1761678527.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999653,0.024358,-0.010036],[-0.018693,-0.924260,-0.381306],[-0.018564,-0.380986,0.924394]] 2025-10-28T19:08:48.291Z,1761678528.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999791,0.004515,-0.019926],[0.003391,-0.925077,-0.379765],[-0.020147,-0.379754,0.924868]] 2025-10-28T19:08:48.696Z,1761678528.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999457,-0.014654,-0.029508],[0.024788,-0.924450,-0.380498],[-0.021702,-0.381022,0.924311]] 2025-10-28T19:08:48.743Z,1761678528.743 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:08:48.743Z,1761678528.743 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:08:48.743Z,1761678528.743 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:08:48.743Z,1761678528.743 [marl:UpdateRudder:A] Stopped 2025-10-28T19:08:48.743Z,1761678528.743 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:08:49.099Z,1761678529.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998646,-0.034133,-0.039256],[0.046536,-0.923427,-0.380942],[-0.023247,-0.382253,0.923765]] 2025-10-28T19:08:49.147Z,1761678529.147 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:08:49.147Z,1761678529.147 [marl:UpdateRudder:B] Stopped 2025-10-28T19:08:49.147Z,1761678529.147 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:08:49.147Z,1761678529.147 [marl:UpdateRudder] Stopped 2025-10-28T19:08:49.147Z,1761678529.147 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:08:49.504Z,1761678529.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997340,-0.054160,-0.048791],[0.068726,-0.921752,-0.381641],[-0.024303,-0.383979,0.923022]] 2025-10-28T19:08:49.907Z,1761678529.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995569,-0.073688,-0.058419],[0.090476,-0.919920,-0.381525],[-0.025627,-0.385120,0.922511]] 2025-10-28T19:08:49.939Z,1761678529.939 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:08:49.939Z,1761678529.939 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:08:49.939Z,1761678529.939 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:08:49.939Z,1761678529.939 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateCommandMode] Stopped 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:08:49.940Z,1761678529.940 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:08:49.941Z,1761678529.941 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:08:49.941Z,1761678529.941 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:08:49.941Z,1761678529.941 [marl:UpdateSpeed] Stopped 2025-10-28T19:08:49.941Z,1761678529.941 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:08:50.318Z,1761678530.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990652,-0.111778,-0.078197],[0.133262,-0.915512,-0.379578],[-0.029162,-0.386450,0.921849]] 2025-10-28T19:08:50.719Z,1761678530.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987557,-0.130183,-0.088224],[0.154152,-0.912360,-0.379258],[-0.031119,-0.388139,0.921076]] 2025-10-28T19:08:51.129Z,1761678531.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984085,-0.148116,-0.098178],[0.174589,-0.908825,-0.378887],[-0.033107,-0.389997,0.920221]] 2025-10-28T19:08:51.530Z,1761678531.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980275,-0.165499,-0.108033],[0.194492,-0.904948,-0.378472],[-0.035128,-0.392019,0.919286]] 2025-10-28T19:08:51.931Z,1761678531.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976044,-0.183081,-0.117553],[0.214397,-0.901292,-0.376440],[-0.037031,-0.392625,0.918953]] 2025-10-28T19:08:52.330Z,1761678532.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971537,-0.200234,-0.126579],[0.233703,-0.897490,-0.374024],[-0.038711,-0.392960,0.918740]] 2025-10-28T19:08:52.735Z,1761678532.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966434,-0.218028,-0.135904],[0.253630,-0.893997,-0.369378],[-0.040963,-0.391449,0.919288]] 2025-10-28T19:08:53.139Z,1761678533.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961047,-0.235698,-0.144345],[0.273053,-0.890540,-0.363841],[-0.042788,-0.389082,0.920209]] 2025-10-28T19:08:53.549Z,1761678533.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955133,-0.253812,-0.152643],[0.292765,-0.887084,-0.356890],[-0.044825,-0.385566,0.921591]] 2025-10-28T19:08:53.947Z,1761678533.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948851,-0.271429,-0.161272],[0.312252,-0.882310,-0.352177],[-0.046700,-0.384521,0.921934]] 2025-10-28T19:08:54.351Z,1761678534.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941996,-0.289314,-0.170121],[0.332040,-0.877222,-0.346743],[-0.048916,-0.383117,0.922404]] 2025-10-28T19:08:54.757Z,1761678534.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934620,-0.307548,-0.178608],[0.351955,-0.872013,-0.340179],[-0.051127,-0.380800,0.923243]] 2025-10-28T19:08:55.160Z,1761678535.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926625,-0.325897,-0.187500],[0.372170,-0.865897,-0.334234],[-0.053430,-0.379492,0.923651]] 2025-10-28T19:08:55.563Z,1761678535.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918088,-0.344147,-0.196665],[0.392428,-0.859033,-0.328728],[-0.055810,-0.378978,0.923721]] 2025-10-28T19:08:55.966Z,1761678535.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908998,-0.362909,-0.204988],[0.412772,-0.852030,-0.321968],[-0.057811,-0.377282,0.924292]] 2025-10-28T19:08:56.371Z,1761678536.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899461,-0.381013,-0.214005],[0.432857,-0.844068,-0.316519],[-0.060037,-0.377330,0.924131]] 2025-10-28T19:08:56.781Z,1761678536.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889231,-0.399556,-0.222762],[0.453199,-0.835739,-0.310081],[-0.062276,-0.376690,0.924244]] 2025-10-28T19:08:57.180Z,1761678537.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878590,-0.417801,-0.231349],[0.473229,-0.826846,-0.303942],[-0.064302,-0.376521,0.924174]] 2025-10-28T19:08:57.584Z,1761678537.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867263,-0.436298,-0.239791],[0.493437,-0.817289,-0.297588],[-0.066142,-0.376408,0.924090]] 2025-10-28T19:08:57.987Z,1761678537.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856022,-0.453545,-0.248038],[0.512471,-0.807504,-0.292081],[-0.067820,-0.377140,0.923670]] 2025-10-28T19:08:58.390Z,1761678538.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844943,-0.469561,-0.256095],[0.530292,-0.797882,-0.286661],[-0.069729,-0.378017,0.923169]] 2025-10-28T19:08:58.796Z,1761678538.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833234,-0.486231,-0.263250],[0.548220,-0.788455,-0.278916],[-0.071943,-0.376721,0.923529]] 2025-10-28T19:08:59.199Z,1761678539.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821431,-0.502325,-0.270039],[0.565476,-0.778887,-0.271241],[-0.074079,-0.375506,0.923855]] 2025-10-28T19:08:59.611Z,1761678539.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809735,-0.517321,-0.276963],[0.581822,-0.769136,-0.264409],[-0.076238,-0.375244,0.923785]] 2025-10-28T19:09:00.010Z,1761678540.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797663,-0.531825,-0.284423],[0.597955,-0.758874,-0.257992],[-0.078634,-0.375863,0.923333]] 2025-10-28T19:09:00.411Z,1761678540.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785301,-0.546630,-0.290685],[0.613798,-0.748801,-0.250096],[-0.080955,-0.374823,0.923555]] 2025-10-28T19:09:00.814Z,1761678540.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773366,-0.559956,-0.297243],[0.628497,-0.738622,-0.243781],[-0.083044,-0.375349,0.923156]] 2025-10-28T19:09:01.218Z,1761678541.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761517,-0.572645,-0.303595],[0.642528,-0.728513,-0.237543],[-0.085145,-0.375962,0.922715]] 2025-10-28T19:09:01.631Z,1761678541.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749445,-0.585248,-0.309544],[0.656304,-0.718273,-0.230974],[-0.087160,-0.376257,0.922406]] 2025-10-28T19:09:02.026Z,1761678542.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737126,-0.597722,-0.315236],[0.669877,-0.707729,-0.224464],[-0.088935,-0.376627,0.922086]] 2025-10-28T19:09:02.063Z,1761678542.063 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:09:02.064Z,1761678542.064 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:09:02.064Z,1761678542.064 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:09:02.064Z,1761678542.064 [marl:UpdateRudder:A] Stopped 2025-10-28T19:09:02.064Z,1761678542.064 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:09:02.431Z,1761678542.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724463,-0.610365,-0.320324],[0.683354,-0.696917,-0.217564],[-0.090446,-0.376511,0.921986]] 2025-10-28T19:09:02.471Z,1761678542.471 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:09:02.471Z,1761678542.471 [marl:UpdateRudder:B] Stopped 2025-10-28T19:09:02.472Z,1761678542.472 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:09:02.472Z,1761678542.472 [marl:UpdateRudder] Stopped 2025-10-28T19:09:02.476Z,1761678542.476 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:09:02.837Z,1761678542.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711527,-0.622492,-0.325934],[0.696658,-0.685459,-0.211692],[-0.091638,-0.377689,0.921387]] 2025-10-28T19:09:03.239Z,1761678543.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698535,-0.633886,-0.332021],[0.709616,-0.673395,-0.207326],[-0.092160,-0.380431,0.920206]] 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode] Stopped 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:09:03.270Z,1761678543.270 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed] Stopped 2025-10-28T19:09:03.271Z,1761678543.271 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:09:03.642Z,1761678543.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684860,-0.646138,-0.336857],[0.722800,-0.660973,-0.201680],[-0.092341,-0.381603,0.919702]] 2025-10-28T19:09:04.047Z,1761678544.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670890,-0.658245,-0.341495],[0.735796,-0.648180,-0.196128],[-0.092250,-0.382851,0.919192]] 2025-10-28T19:09:04.452Z,1761678544.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656591,-0.670534,-0.345357],[0.748615,-0.635208,-0.189963],[-0.091997,-0.383268,0.919044]] 2025-10-28T19:09:04.854Z,1761678544.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641760,-0.683191,-0.348416],[0.761431,-0.621813,-0.183227],[-0.091471,-0.382882,0.919257]] 2025-10-28T19:09:05.259Z,1761678545.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626379,-0.694884,-0.353250],[0.774190,-0.607450,-0.177861],[-0.090989,-0.384891,0.918466]] 2025-10-28T19:09:05.665Z,1761678545.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610316,-0.707114,-0.357077],[0.786955,-0.592794,-0.171164],[-0.090640,-0.385468,0.918259]] 2025-10-28T19:09:06.070Z,1761678546.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593702,-0.719398,-0.360533],[0.799562,-0.577874,-0.163592],[-0.090655,-0.385393,0.918288]] 2025-10-28T19:09:06.471Z,1761678546.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577207,-0.731239,-0.363485],[0.811560,-0.563052,-0.156024],[-0.090570,-0.385048,0.918442]] 2025-10-28T19:09:06.874Z,1761678546.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559929,-0.743534,-0.365564],[0.823538,-0.547858,-0.147093],[-0.090908,-0.383417,0.919090]] 2025-10-28T19:09:07.278Z,1761678547.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542037,-0.755398,-0.368197],[0.835363,-0.532028,-0.138256],[-0.091453,-0.382518,0.919411]] 2025-10-28T19:09:07.608Z,1761678547.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:09:07.689Z,1761678547.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523761,-0.766764,-0.371143],[0.846876,-0.515760,-0.129583],[-0.092061,-0.382183,0.919490]] 2025-10-28T19:09:08.098Z,1761678548.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505234,-0.778490,-0.372415],[0.858020,-0.499361,-0.120170],[-0.092419,-0.380253,0.920254]] 2025-10-28T19:09:08.491Z,1761678548.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486592,-0.789341,-0.374392],[0.868682,-0.482700,-0.111325],[-0.092846,-0.379397,0.920564]] 2025-10-28T19:09:08.616Z,1761678548.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:09:08.895Z,1761678548.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467258,-0.800347,-0.375652],[0.879143,-0.465627,-0.101486],[-0.093690,-0.377672,0.921187]] 2025-10-28T19:09:09.301Z,1761678549.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448303,-0.810314,-0.377381],[0.888855,-0.448818,-0.092194],[-0.094669,-0.376768,0.921457]] 2025-10-28T19:09:09.702Z,1761678549.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428929,-0.819071,-0.380975],[0.898214,-0.431568,-0.083432],[-0.096080,-0.377984,0.920813]] 2025-10-28T19:09:10.108Z,1761678550.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410086,-0.827365,-0.383792],[0.906812,-0.414894,-0.074526],[-0.097572,-0.378589,0.920407]] 2025-10-28T19:09:10.511Z,1761678550.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391654,-0.834807,-0.386917],[0.914788,-0.398458,-0.066281],[-0.098839,-0.379906,0.919729]] 2025-10-28T19:09:10.915Z,1761678550.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373128,-0.842724,-0.388062],[0.922344,-0.382147,-0.056971],[-0.100286,-0.379184,0.919871]] 2025-10-28T19:09:11.321Z,1761678551.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354919,-0.850592,-0.387978],[0.929344,-0.366160,-0.047396],[-0.101748,-0.377386,0.920449]] 2025-10-28T19:09:11.722Z,1761678551.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336943,-0.858065,-0.387549],[0.935870,-0.350278,-0.038121],[-0.103040,-0.375540,0.921060]] 2025-10-28T19:09:12.126Z,1761678552.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319280,-0.865273,-0.386475],[0.941951,-0.334464,-0.029353],[-0.103864,-0.373413,0.921833]] 2025-10-28T19:09:12.531Z,1761678552.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301325,-0.871401,-0.387121],[0.947792,-0.318159,-0.021569],[-0.104371,-0.373410,0.921776]] 2025-10-28T19:09:12.936Z,1761678552.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283386,-0.875727,-0.390888],[0.953293,-0.301661,-0.015292],[-0.104524,-0.376964,0.920311]] 2025-10-28T19:09:13.005Z,1761678553.005 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:09:13.009Z,1761678553.009 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:09:13.009Z,1761678553.009 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:09:13.261Z,1761678553.261 [DAT](INFO): DAT read: user:165> 2025-10-28T19:09:13.262Z,1761678553.262 [DAT](INFO): DAT read: Tx time:19:09:13.0352 2025-10-28T19:09:13.262Z,1761678553.262 [DAT](INFO): Ping request sent. 2025-10-28T19:09:13.262Z,1761678553.262 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:09:13.262Z,1761678553.262 [DAT](INFO): publishing transmit ping time 2025-10-28T19:09:13.263Z,1761678553.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000958 2025-10-28T19:09:13.339Z,1761678553.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265168,-0.880050,-0.393952],[0.958537,-0.284828,-0.008912],[-0.104366,-0.379981,0.919088]] 2025-10-28T19:09:13.513Z,1761678553.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250934 2025-10-28T19:09:13.743Z,1761678553.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246989,-0.884044,-0.396815],[0.963451,-0.267867,-0.002912],[-0.103719,-0.383031,0.917894]] 2025-10-28T19:09:13.766Z,1761678553.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503247 2025-10-28T19:09:14.017Z,1761678554.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884 2025-10-28T19:09:14.146Z,1761678554.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228183,-0.887674,-0.399958],[0.968158,-0.250319,0.003211],[-0.102968,-0.386490,0.916528]] 2025-10-28T19:09:14.269Z,1761678554.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933 2025-10-28T19:09:14.521Z,1761678554.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879 2025-10-28T19:09:14.563Z,1761678554.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208870,-0.890540,-0.404117],[0.972604,-0.232285,0.009184],[-0.102049,-0.391128,0.914661]] 2025-10-28T19:09:14.773Z,1761678554.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511198 2025-10-28T19:09:14.955Z,1761678554.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188572,-0.893460,-0.407640],[0.976805,-0.213523,0.016131],[-0.101453,-0.395142,0.913000]] 2025-10-28T19:09:15.025Z,1761678555.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763011 2025-10-28T19:09:15.277Z,1761678555.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014903 2025-10-28T19:09:15.358Z,1761678555.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168283,-0.896074,-0.410770],[0.980533,-0.194939,0.023548],[-0.101176,-0.398811,0.911435]] 2025-10-28T19:09:15.401Z,1761678555.401 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:09:15.401Z,1761678555.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:09:15.401Z,1761678555.401 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:09:15.402Z,1761678555.402 [marl:UpdateRudder:A] Stopped 2025-10-28T19:09:15.402Z,1761678555.402 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:09:15.529Z,1761678555.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028 2025-10-28T19:09:15.768Z,1761678555.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148341,-0.898385,-0.413400],[0.983778,-0.176695,0.030975],[-0.100873,-0.402099,0.910022]] 2025-10-28T19:09:15.782Z,1761678555.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519542 2025-10-28T19:09:15.815Z,1761678555.815 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:09:15.815Z,1761678555.815 [marl:UpdateRudder:B] Stopped 2025-10-28T19:09:15.815Z,1761678555.815 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:09:15.815Z,1761678555.815 [marl:UpdateRudder] Stopped 2025-10-28T19:09:15.815Z,1761678555.815 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:09:16.033Z,1761678556.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848 2025-10-28T19:09:16.169Z,1761678556.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128503,-0.900970,-0.414416],[0.986587,-0.158559,0.038797],[-0.100664,-0.403872,0.909260]] 2025-10-28T19:09:16.285Z,1761678556.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022952 2025-10-28T19:09:16.537Z,1761678556.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274947 2025-10-28T19:09:16.619Z,1761678556.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109740,-0.903942,-0.413335],[0.988888,-0.141251,0.046358],[-0.100289,-0.403655,0.909398]] 2025-10-28T19:09:16.699Z,1761678556.699 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:09:16.699Z,1761678556.699 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:09:16.699Z,1761678556.699 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:09:16.699Z,1761678556.699 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:09:16.699Z,1761678556.699 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:09:16.700Z,1761678556.700 [marl:UpdateCommandMode] Stopped 2025-10-28T19:09:16.704Z,1761678556.704 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:09:16.704Z,1761678556.704 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:09:16.704Z,1761678556.704 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:09:16.704Z,1761678556.704 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:09:16.704Z,1761678556.704 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:09:16.705Z,1761678556.705 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:09:16.705Z,1761678556.705 [marl:UpdateSpeed] Stopped 2025-10-28T19:09:16.705Z,1761678556.705 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:09:16.789Z,1761678556.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527049 2025-10-28T19:09:16.978Z,1761678556.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091637,-0.906608,-0.411904],[0.990775,-0.124480,0.053563],[-0.099834,-0.403196,0.909652]] 2025-10-28T19:09:17.041Z,1761678557.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779134 2025-10-28T19:09:17.293Z,1761678557.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030931 2025-10-28T19:09:17.379Z,1761678557.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073968,-0.908862,-0.410486],[0.992292,-0.108113,0.060565],[-0.099424,-0.402842,0.909853]] 2025-10-28T19:09:17.545Z,1761678557.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282923 2025-10-28T19:09:17.793Z,1761678557.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056742,-0.910780,-0.408973],[0.993463,-0.092146,0.067374],[-0.099049,-0.402477,0.910056]] 2025-10-28T19:09:17.798Z,1761678557.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535634 2025-10-28T19:09:18.050Z,1761678558.050 [DAT](INFO): DAT read: Rx Time:19:09:17.4601 2025-10-28T19:09:18.051Z,1761678558.051 [DAT](INFO): Rx dataTimestamp_ set to:1761678558.050322 2025-10-28T19:09:18.054Z,1761678558.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789708 2025-10-28T19:09:18.186Z,1761678558.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040146,-0.912530,-0.407034],[0.994352,-0.076542,0.073527],[-0.098251,-0.401783,0.910449]] 2025-10-28T19:09:18.301Z,1761678558.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038881 2025-10-28T19:09:18.554Z,1761678558.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291903 2025-10-28T19:09:18.645Z,1761678558.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023841,-0.914250,-0.404449],[0.994984,-0.061013,0.079270],[-0.097149,-0.400530,0.911119]] 2025-10-28T19:09:18.811Z,1761678558.811 [DAT](INFO): DAT read: 19:09:17.4600 LVL= 32752, 29297, 32754, 32755, AGC= 90, IDX= 5,-0.34,-2.357, 1.598, 3.000,-3.069, PHS= 0.814,-1.571,-0.259, RAW= 123.3, 9.9, CAL= 123.9, 11.0, ROT= 26.1, -11.0 2025-10-28T19:09:18.812Z,1761678558.812 [DAT](INFO): got valid direction response: 19:09:17.4600 LVL= 32752, 29297, 32754, 32755, AGC= 90, IDX= 5,-0.34,-2.357, 1.598, 3.000,-3.069, PHS= 0.814,-1.571,-0.259, RAW= 123.3, 9.9, CAL= 123.9, 11.0, ROT= 26.1, -11.0 2025-10-28T19:09:18.813Z,1761678558.813 [DAT](INFO): DAT read: Bearing 94, -23 (Remote) 2025-10-28T19:09:18.813Z,1761678558.813 [DAT](INFO): Remote Bearing received:Bearing 94, -23 (Remote) 2025-10-28T19:09:18.814Z,1761678558.814 [DAT](INFO): DAT read: Bearing 233.7, 12.7 (Local) 2025-10-28T19:09:18.814Z,1761678558.814 [DAT](INFO): Local bearing/azimuth received: Bearing 233.7, 12.7 (Local) 2025-10-28T19:09:18.816Z,1761678558.816 [DAT](INFO): DAT read: Range 11 to 20 : 1796.8 m (Round-trip 2395.8 ms) speed 0.2 m/s 2025-10-28T19:09:18.816Z,1761678558.816 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:09:18.817Z,1761678558.817 [DAT](INFO): direction in FSK: [0.881528,0.431856,0.190809] 2025-10-28T19:09:18.818Z,1761678558.818 [DAT](INFO): publishing direction and range info 2025-10-28T19:09:18.995Z,1761678558.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007817,-0.915437,-0.402386],[0.995414,-0.045489,0.084153],[-0.095341,-0.399883,0.911594]] 2025-10-28T19:09:19.080Z,1761678559.080 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678592.00. Resetting abort timer. 2025-10-28T19:09:19.400Z,1761678559.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008036,-0.916901,-0.399033],[0.995640,-0.029749,0.088407],[-0.092931,-0.398004,0.912665]] 2025-10-28T19:09:19.803Z,1761678559.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024815,-0.918075,-0.395629],[0.995601,-0.013068,0.092773],[-0.090343,-0.396191,0.913713]] 2025-10-28T19:09:20.206Z,1761678560.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041093,-0.918744,-0.392710],[0.995313,0.003205,0.096650],[-0.087538,-0.394841,0.914570]] 2025-10-28T19:09:20.644Z,1761678560.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058823,-0.919243,-0.389271],[0.994671,0.020897,0.100958],[-0.084671,-0.393135,0.915574]] 2025-10-28T19:09:21.019Z,1761678561.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077542,-0.919638,-0.385037],[0.993624,0.039581,0.105568],[-0.081844,-0.390768,0.916843]] 2025-10-28T19:09:21.418Z,1761678561.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097593,-0.919656,-0.380407],[0.992040,0.059331,0.111069],[-0.079575,-0.388218,0.918126]] 2025-10-28T19:09:21.822Z,1761678561.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118648,-0.919312,-0.375218],[0.989896,0.079964,0.117097],[-0.077645,-0.385320,0.919511]] 2025-10-28T19:09:22.227Z,1761678562.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140648,-0.917581,-0.371837],[0.987114,0.101014,0.124106],[-0.076316,-0.384501,0.919965]] 2025-10-28T19:09:22.648Z,1761678562.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163540,-0.914966,-0.368908],[0.983657,0.122679,0.131793],[-0.075329,-0.384432,0.920075]] 2025-10-28T19:09:23.034Z,1761678563.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186622,-0.911600,-0.366274],[0.979589,0.144325,0.139912],[-0.074682,-0.384909,0.919928]] 2025-10-28T19:09:23.439Z,1761678563.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210088,-0.908063,-0.362332],[0.974843,0.166337,0.148367],[-0.074458,-0.384387,0.920164]] 2025-10-28T19:09:23.842Z,1761678563.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233669,-0.903544,-0.359176],[0.969423,0.188019,0.157697],[-0.074954,-0.385042,0.919850]] 2025-10-28T19:09:24.248Z,1761678564.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257286,-0.898210,-0.356402],[0.963359,0.209485,0.167499],[-0.075789,-0.386438,0.919196]] 2025-10-28T19:09:24.653Z,1761678564.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280651,-0.892419,-0.353304],[0.956732,0.230651,0.177382],[-0.076809,-0.387799,0.918538]] 2025-10-28T19:09:25.062Z,1761678565.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303299,-0.886166,-0.350314],[0.949717,0.251115,0.187026],[-0.077767,-0.389424,0.917770]] 2025-10-28T19:09:25.458Z,1761678565.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325341,-0.879626,-0.347003],[0.942289,0.270921,0.196704],[-0.079015,-0.390974,0.917004]] 2025-10-28T19:09:25.866Z,1761678565.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346765,-0.873177,-0.342516],[0.934511,0.290381,0.205834],[-0.080269,-0.391461,0.916687]] 2025-10-28T19:09:26.267Z,1761678566.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367369,-0.866674,-0.337514],[0.926486,0.309156,0.214582],[-0.081629,-0.391533,0.916536]] 2025-10-28T19:09:26.671Z,1761678566.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386426,-0.859668,-0.334134],[0.918618,0.326305,0.222858],[-0.082554,-0.393060,0.915799]] 2025-10-28T19:09:27.076Z,1761678567.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403996,-0.852813,-0.330902],[0.910962,0.342144,0.230403],[-0.083275,-0.394521,0.915106]] 2025-10-28T19:09:27.479Z,1761678567.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420364,-0.846471,-0.326774],[0.903477,0.357219,0.236904],[-0.083802,-0.394819,0.914929]] 2025-10-28T19:09:27.885Z,1761678567.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434934,-0.839922,-0.324598],[0.896569,0.370453,0.242753],[-0.083645,-0.396606,0.914170]] 2025-10-28T19:09:28.287Z,1761678568.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448364,-0.833729,-0.322283],[0.890052,0.383222,0.246877],[-0.082322,-0.397539,0.913885]] 2025-10-28T19:09:28.691Z,1761678568.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460248,-0.827990,-0.320320],[0.884171,0.394947,0.249518],[-0.080089,-0.398057,0.913858]] 2025-10-28T19:09:28.743Z,1761678568.743 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:09:28.743Z,1761678568.743 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:09:28.743Z,1761678568.743 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:09:28.743Z,1761678568.743 [marl:UpdateRudder:A] Stopped 2025-10-28T19:09:28.743Z,1761678568.743 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:09:29.095Z,1761678569.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470984,-0.822892,-0.317842],[0.878778,0.406238,0.250441],[-0.076967,-0.397266,0.914470]] 2025-10-28T19:09:29.119Z,1761678569.119 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:09:29.119Z,1761678569.119 [marl:UpdateRudder:B] Stopped 2025-10-28T19:09:29.119Z,1761678569.119 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:09:29.119Z,1761678569.119 [marl:UpdateRudder] Stopped 2025-10-28T19:09:29.119Z,1761678569.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:09:29.499Z,1761678569.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481305,-0.817935,-0.315162],[0.873498,0.417557,0.250297],[-0.073128,-0.395763,0.915437]] 2025-10-28T19:09:29.904Z,1761678569.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491366,-0.812975,-0.312459],[0.868248,0.428977,0.249249],[-0.068596,-0.393764,0.916648]] 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:09:30.012Z,1761678570.012 [marl:UpdateCommandMode] Stopped 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed] Stopped 2025-10-28T19:09:30.013Z,1761678570.013 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:09:30.306Z,1761678570.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502228,-0.807541,-0.309266],[0.862372,0.441305,0.248120],[-0.063886,-0.391316,0.918036]] 2025-10-28T19:09:30.713Z,1761678570.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513873,-0.801241,-0.306509],[0.855803,0.454035,0.247898],[-0.059461,-0.389699,0.919021]] 2025-10-28T19:09:31.115Z,1761678571.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527201,-0.794002,-0.302689],[0.847935,0.468363,0.248278],[-0.055364,-0.387553,0.920183]] 2025-10-28T19:09:31.519Z,1761678571.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541537,-0.786085,-0.298008],[0.839113,0.483814,0.248624],[-0.051260,-0.384702,0.921617]] 2025-10-28T19:09:31.924Z,1761678571.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557363,-0.776383,-0.294239],[0.828926,0.500200,0.250363],[-0.047199,-0.383445,0.922357]] 2025-10-28T19:09:32.327Z,1761678572.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574062,-0.765688,-0.290129],[0.817665,0.517318,0.252599],[-0.043323,-0.382236,0.923049]] 2025-10-28T19:09:32.732Z,1761678572.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591615,-0.753943,-0.285589],[0.805217,0.534898,0.255949],[-0.040211,-0.381384,0.923542]] 2025-10-28T19:09:33.135Z,1761678573.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609630,-0.741541,-0.280122],[0.791799,0.552941,0.259442],[-0.037496,-0.379964,0.924241]] 2025-10-28T19:09:33.546Z,1761678573.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627724,-0.728350,-0.274718],[0.777652,0.570905,0.263297],[-0.034934,-0.378912,0.924773]] 2025-10-28T19:09:33.944Z,1761678573.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645718,-0.714419,-0.269544],[0.762880,0.588529,0.267671],[-0.032595,-0.378469,0.925040]] 2025-10-28T19:09:34.349Z,1761678574.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663701,-0.700498,-0.262304],[0.747364,0.606593,0.271094],[-0.030789,-0.375962,0.926123]] 2025-10-28T19:09:34.752Z,1761678574.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680961,-0.685813,-0.256811],[0.731720,0.623013,0.276478],[-0.029615,-0.376185,0.926071]] 2025-10-28T19:09:35.155Z,1761678575.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697164,-0.671231,-0.251816],[0.716330,0.638067,0.282386],[-0.028870,-0.377253,0.925660]] 2025-10-28T19:09:35.567Z,1761678575.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726502,-0.643022,-0.242318],[0.686626,0.665337,0.293039],[-0.027207,-0.379275,0.924884]] 2025-10-28T19:09:35.969Z,1761678575.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739355,-0.629700,-0.238394],[0.672802,0.677100,0.298117],[-0.026307,-0.380806,0.924281]] 2025-10-28T19:09:36.371Z,1761678576.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752166,-0.615883,-0.234381],[0.658501,0.688999,0.302749],[-0.024969,-0.382058,0.923801]] 2025-10-28T19:09:36.779Z,1761678576.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764082,-0.602799,-0.229806],[0.644692,0.700530,0.305991],[-0.023465,-0.381957,0.923882]] 2025-10-28T19:09:37.179Z,1761678577.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775849,-0.588622,-0.227117],[0.630556,0.711223,0.310744],[-0.021380,-0.384300,0.922961]] 2025-10-28T19:09:37.579Z,1761678577.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787794,-0.573615,-0.224378],[0.615637,0.721912,0.315964],[-0.019260,-0.387050,0.921857]] 2025-10-28T19:09:37.983Z,1761678577.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799937,-0.557831,-0.221193],[0.599833,0.732625,0.321654],[-0.017376,-0.389982,0.920659]] 2025-10-28T19:09:38.386Z,1761678578.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812250,-0.541242,-0.217502],[0.583099,0.743382,0.327689],[-0.015672,-0.392990,0.919409]] 2025-10-28T19:09:38.737Z,1761678578.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:09:38.797Z,1761678578.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823994,-0.525318,-0.212309],[0.566428,0.754512,0.331468],[-0.013937,-0.393385,0.919268]] 2025-10-28T19:09:39.195Z,1761678579.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835264,-0.509472,-0.206815],[0.549705,0.765134,0.335253],[-0.012561,-0.393712,0.919148]] 2025-10-28T19:09:39.598Z,1761678579.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845988,-0.494141,-0.200324],[0.533067,0.775364,0.338599],[-0.011992,-0.393237,0.919359]] 2025-10-28T19:09:39.740Z,1761678579.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:09:40.033Z,1761678580.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855865,-0.479533,-0.193762],[0.517073,0.785045,0.341086],[-0.011450,-0.392113,0.919846]] 2025-10-28T19:09:40.409Z,1761678580.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864795,-0.465744,-0.187647],[0.502008,0.793914,0.343057],[-0.010801,-0.390874,0.920381]] 2025-10-28T19:09:40.810Z,1761678580.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872934,-0.452636,-0.181951],[0.487731,0.801973,0.344903],[-0.010196,-0.389821,0.920834]] 2025-10-28T19:09:41.214Z,1761678581.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880167,-0.440389,-0.177098],[0.474565,0.808844,0.347215],[-0.009665,-0.389652,0.920911]] 2025-10-28T19:09:41.619Z,1761678581.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886850,-0.428578,-0.172677],[0.461977,0.815481,0.348667],[-0.008617,-0.388988,0.921202]] 2025-10-28T19:09:42.033Z,1761678582.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893489,-0.416160,-0.168786],[0.449033,0.822119,0.349986],[-0.006888,-0.388499,0.921423]] 2025-10-28T19:09:42.058Z,1761678582.058 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:09:42.058Z,1761678582.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:09:42.058Z,1761678582.058 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:09:42.059Z,1761678582.059 [marl:UpdateRudder:A] Stopped 2025-10-28T19:09:42.059Z,1761678582.059 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:09:42.426Z,1761678582.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900232,-0.402984,-0.164883],[0.435385,0.829029,0.350930],[-0.004726,-0.387706,0.921771]] 2025-10-28T19:09:42.470Z,1761678582.470 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:09:42.470Z,1761678582.470 [marl:UpdateRudder:B] Stopped 2025-10-28T19:09:42.470Z,1761678582.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:09:42.471Z,1761678582.471 [marl:UpdateRudder] Stopped 2025-10-28T19:09:42.471Z,1761678582.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:09:42.831Z,1761678582.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907873,-0.387205,-0.160744],[0.419239,0.836356,0.353196],[-0.002320,-0.388047,0.921637]] 2025-10-28T19:09:43.234Z,1761678583.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915732,-0.369879,-0.156922],[0.401790,0.843229,0.357112],[0.000233,-0.390069,0.920786]] 2025-10-28T19:09:43.260Z,1761678583.260 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:09:43.260Z,1761678583.260 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:09:43.260Z,1761678583.260 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:09:43.260Z,1761678583.260 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:09:43.260Z,1761678583.260 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateCommandMode] Stopped 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed] Stopped 2025-10-28T19:09:43.261Z,1761678583.261 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:09:43.638Z,1761678583.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924392,-0.349771,-0.152185],[0.381435,0.850537,0.362070],[0.002798,-0.392743,0.919644]] 2025-10-28T19:09:44.045Z,1761678584.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933025,-0.329019,-0.145638],[0.359769,0.859229,0.363719],[0.005466,-0.391756,0.920053]] 2025-10-28T19:09:44.451Z,1761678584.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941603,-0.307247,-0.137777],[0.336637,0.868294,0.364336],[0.007690,-0.389440,0.921020]] 2025-10-28T19:09:44.851Z,1761678584.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949743,-0.284890,-0.129716],[0.312884,0.876657,0.365482],[0.009595,-0.387700,0.921736]] 2025-10-28T19:09:45.258Z,1761678585.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957430,-0.262111,-0.120941],[0.288465,0.884427,0.366846],[0.010809,-0.386117,0.922387]] 2025-10-28T19:09:45.659Z,1761678585.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964639,-0.238981,-0.111175],[0.263331,0.891969,0.367489],[0.011342,-0.383770,0.923359]] 2025-10-28T19:09:46.063Z,1761678586.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971159,-0.215875,-0.101237],[0.238166,0.898403,0.368985],[0.011297,-0.382454,0.923906]] 2025-10-28T19:09:46.470Z,1761678586.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976833,-0.193517,-0.091370],[0.213726,0.903901,0.370519],[0.010888,-0.381464,0.924320]] 2025-10-28T19:09:46.870Z,1761678586.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981337,-0.173598,-0.082716],[0.192023,0.907629,0.373279],[0.010275,-0.382196,0.924024]] 2025-10-28T19:09:47.274Z,1761678587.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984681,-0.157203,-0.075434],[0.174087,0.910786,0.374383],[0.009850,-0.381780,0.924201]] 2025-10-28T19:09:47.679Z,1761678587.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987418,-0.142074,-0.069435],[0.157825,0.912827,0.376615],[0.009875,-0.382834,0.923764]] 2025-10-28T19:09:48.084Z,1761678588.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989788,-0.127506,-0.063726],[0.142202,0.914196,0.379505],[0.009869,-0.384691,0.922993]] 2025-10-28T19:09:48.505Z,1761678588.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991864,-0.113120,-0.058389],[0.126898,0.915017,0.382936],[0.010110,-0.387230,0.921928]] 2025-10-28T19:09:48.891Z,1761678588.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993640,-0.099078,-0.053505],[0.112115,0.914673,0.388334],[0.010464,-0.391863,0.919964]] 2025-10-28T19:09:49.294Z,1761678589.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995169,-0.085266,-0.048670],[0.097554,0.914596,0.392424],[0.011053,-0.395276,0.918496]] 2025-10-28T19:09:49.698Z,1761678589.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996539,-0.070841,-0.043495],[0.082296,0.914577,0.395950],[0.011730,-0.398159,0.917241]] 2025-10-28T19:09:50.113Z,1761678590.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997863,-0.053719,-0.037207],[0.064110,0.914997,0.398336],[0.012646,-0.399870,0.916485]] 2025-10-28T19:09:50.522Z,1761678590.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998950,-0.034437,-0.030212],[0.043658,0.915440,0.400080],[0.013879,-0.400979,0.915982]] 2025-10-28T19:09:50.910Z,1761678590.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999634,-0.014278,-0.022957],[0.022296,0.915647,0.401364],[0.015290,-0.401729,0.915631]] 2025-10-28T19:09:51.315Z,1761678591.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999859,0.006905,-0.015331],[-0.000160,0.915645,0.401989],[0.016813,-0.401929,0.915516]] 2025-10-28T19:09:51.720Z,1761678591.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999562,0.028610,-0.007610],[-0.023134,0.915235,0.402255],[0.018474,-0.401903,0.915496]] 2025-10-28T19:09:52.122Z,1761678592.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998725,0.050469,0.000520],[-0.046377,0.913595,0.403973],[0.019913,-0.403482,0.914771]] 2025-10-28T19:09:52.531Z,1761678592.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997401,0.071535,0.008565],[-0.068904,0.912421,0.403411],[0.021043,-0.402953,0.914979]] 2025-10-28T19:09:52.930Z,1761678592.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995643,0.091827,0.016210],[-0.090583,0.911232,0.401810],[0.022126,-0.401528,0.915580]] 2025-10-28T19:09:53.337Z,1761678593.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993565,0.110760,0.023672],[-0.110941,0.909626,0.400340],[0.022809,-0.400390,0.916061]] 2025-10-28T19:09:53.739Z,1761678593.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991134,0.129188,0.031053],[-0.130802,0.907646,0.398835],[0.023339,-0.399361,0.916497]] 2025-10-28T19:09:54.142Z,1761678594.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988374,0.147109,0.038414],[-0.150183,0.905232,0.397493],[0.023701,-0.398641,0.916801]] 2025-10-28T19:09:54.550Z,1761678594.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985291,0.164841,0.045039],[-0.169129,0.903034,0.394873],[0.024419,-0.396683,0.917631]] 2025-10-28T19:09:54.953Z,1761678594.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981900,0.182105,0.052059],[-0.187760,0.899811,0.393811],[0.024872,-0.396457,0.917716]] 2025-10-28T19:09:55.355Z,1761678595.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978129,0.199428,0.059090],[-0.206479,0.896709,0.391509],[0.025091,-0.395147,0.918275]] 2025-10-28T19:09:55.390Z,1761678595.390 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:09:55.390Z,1761678595.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:09:55.390Z,1761678595.390 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:09:55.391Z,1761678595.391 [marl:UpdateRudder:A] Stopped 2025-10-28T19:09:55.391Z,1761678595.391 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:09:55.762Z,1761678595.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973816,0.217561,0.065953],[-0.225886,0.893250,0.388690],[0.025651,-0.393410,0.919005]] 2025-10-28T19:09:55.815Z,1761678595.815 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:09:55.815Z,1761678595.815 [marl:UpdateRudder:B] Stopped 2025-10-28T19:09:55.815Z,1761678595.815 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:09:55.815Z,1761678595.815 [marl:UpdateRudder] Stopped 2025-10-28T19:09:55.815Z,1761678595.815 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:09:56.163Z,1761678596.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968882,0.236349,0.073527],[-0.246138,0.888599,0.387050],[0.026143,-0.393104,0.919122]] 2025-10-28T19:09:56.605Z,1761678596.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963527,0.255017,0.081135],[-0.266268,0.883213,0.386052],[0.026790,-0.393575,0.918902]] 2025-10-28T19:09:56.695Z,1761678596.695 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:09:56.695Z,1761678596.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateCommandMode] Stopped 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:09:56.696Z,1761678596.696 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed] Stopped 2025-10-28T19:09:56.697Z,1761678596.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:09:56.970Z,1761678596.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957561,0.274245,0.088696],[-0.286909,0.877470,0.384357],[0.027580,-0.393493,0.918914]] 2025-10-28T19:09:57.376Z,1761678597.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951307,0.292995,0.095753],[-0.306931,0.871748,0.381902],[0.028422,-0.392696,0.919229]] 2025-10-28T19:09:57.783Z,1761678597.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944735,0.311418,0.102443],[-0.326513,0.865775,0.379240],[0.029410,-0.391730,0.919610]] 2025-10-28T19:09:58.182Z,1761678598.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937897,0.329464,0.108643],[-0.345568,0.859702,0.376158],[0.030530,-0.390341,0.920164]] 2025-10-28T19:09:58.649Z,1761678598.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931172,0.346290,0.114024],[-0.363228,0.854271,0.371868],[0.031367,-0.387690,0.921256]] 2025-10-28T19:09:59.001Z,1761678599.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924459,0.362005,0.119700],[-0.379908,0.847934,0.369699],[0.032335,-0.387246,0.921409]] 2025-10-28T19:09:59.395Z,1761678599.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917500,0.377277,0.125922],[-0.396342,0.840764,0.368822],[0.033277,-0.388302,0.920931]] 2025-10-28T19:09:59.799Z,1761678599.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910086,0.392741,0.132284],[-0.413002,0.833136,0.367850],[0.034259,-0.389408,0.920428]] 2025-10-28T19:10:00.203Z,1761678600.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902652,0.407430,0.138637],[-0.428947,0.825517,0.366779],[0.034990,-0.390542,0.919920]] 2025-10-28T19:10:00.645Z,1761678600.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894748,0.422004,0.146077],[-0.445164,0.816914,0.366716],[0.035423,-0.393147,0.918793]] 2025-10-28T19:10:01.016Z,1761678601.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886188,0.436844,0.154395],[-0.461949,0.807392,0.367045],[0.035684,-0.396594,0.917300]] 2025-10-28T19:10:01.416Z,1761678601.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876362,0.452801,0.164198],[-0.480323,0.796271,0.367754],[0.035774,-0.401154,0.915312]] 2025-10-28T19:10:01.818Z,1761678601.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865796,0.469138,0.174088],[-0.499119,0.784790,0.367402],[0.035740,-0.404986,0.913624]] 2025-10-28T19:10:02.224Z,1761678602.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854807,0.485661,0.182862],[-0.517674,0.773366,0.365949],[0.036308,-0.407479,0.912492]] 2025-10-28T19:10:02.657Z,1761678602.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843352,0.502586,0.190170],[-0.536034,0.761964,0.363426],[0.037750,-0.408434,0.912007]] 2025-10-28T19:10:03.038Z,1761678603.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831615,0.519058,0.197472],[-0.553962,0.750172,0.361064],[0.039275,-0.409658,0.911393]] 2025-10-28T19:10:03.443Z,1761678603.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819819,0.535446,0.202963],[-0.571155,0.739275,0.356728],[0.040963,-0.408376,0.911894]] 2025-10-28T19:10:03.847Z,1761678603.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808451,0.551666,0.205113],[-0.586982,0.730206,0.349645],[0.043113,-0.403069,0.914154]] 2025-10-28T19:10:04.253Z,1761678604.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797105,0.568076,0.204726],[-0.602148,0.722424,0.339884],[0.045181,-0.394199,0.917914]] 2025-10-28T19:10:04.655Z,1761678604.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786020,0.583232,0.204969],[-0.616435,0.714397,0.331126],[0.046694,-0.386622,0.921055]] 2025-10-28T19:10:05.145Z,1761678605.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774699,0.597076,0.208186],[-0.630553,0.704789,0.325079],[0.047369,-0.383111,0.922487]] 2025-10-28T19:10:05.462Z,1761678605.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763470,0.609544,0.213469],[-0.644092,0.694284,0.321115],[0.047525,-0.382656,0.922668]] 2025-10-28T19:10:05.869Z,1761678605.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751800,0.621377,0.220649],[-0.657640,0.682210,0.319530],[0.048020,-0.385331,0.921528]] 2025-10-28T19:10:06.271Z,1761678606.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739898,0.632512,0.229084],[-0.670979,0.669400,0.318890],[0.048353,-0.389657,0.919690]] 2025-10-28T19:10:06.674Z,1761678606.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727214,0.642939,0.240396],[-0.684687,0.654634,0.320403],[0.048628,-0.397597,0.916271]] 2025-10-28T19:10:07.079Z,1761678607.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713110,0.654500,0.251204],[-0.699351,0.639200,0.319892],[0.048800,-0.403798,0.913546]] 2025-10-28T19:10:07.494Z,1761678607.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697934,0.667032,0.260686],[-0.714495,0.623716,0.316980],[0.048841,-0.407490,0.911903]] 2025-10-28T19:10:07.886Z,1761678607.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681470,0.681199,0.267520],[-0.730208,0.608441,0.310798],[0.048945,-0.407145,0.912051]] 2025-10-28T19:10:08.291Z,1761678608.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664277,0.695036,0.275066],[-0.745914,0.592508,0.304213],[0.048460,-0.407257,0.912027]] 2025-10-28T19:10:08.695Z,1761678608.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646124,0.708437,0.283973],[-0.761741,0.575316,0.297929],[0.047690,-0.408813,0.911371]] 2025-10-28T19:10:08.763Z,1761678608.763 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:10:08.763Z,1761678608.763 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:10:08.763Z,1761678608.763 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:10:08.763Z,1761678608.763 [marl:UpdateRudder:A] Stopped 2025-10-28T19:10:08.764Z,1761678608.764 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:10:09.099Z,1761678609.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627329,0.722855,0.289723],[-0.777356,0.558965,0.288576],[0.046654,-0.406250,0.912570]] 2025-10-28T19:10:09.123Z,1761678609.123 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:10:09.123Z,1761678609.123 [marl:UpdateRudder:B] Stopped 2025-10-28T19:10:09.123Z,1761678609.123 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:10:09.124Z,1761678609.124 [marl:UpdateRudder] Stopped 2025-10-28T19:10:09.124Z,1761678609.124 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:10:09.506Z,1761678609.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608517,0.737419,0.293120],[-0.792201,0.543071,0.278373],[0.046092,-0.401605,0.914652]] 2025-10-28T19:10:09.860Z,1761678609.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:10:09.906Z,1761678609.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589040,0.752406,0.294818],[-0.806784,0.526700,0.267744],[0.046172,-0.395567,0.917276]] 2025-10-28T19:10:09.943Z,1761678609.943 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:10:09.943Z,1761678609.943 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:10:09.944Z,1761678609.944 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:10:09.944Z,1761678609.944 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:10:09.944Z,1761678609.944 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:10:09.944Z,1761678609.944 [marl:UpdateCommandMode] Stopped 2025-10-28T19:10:09.944Z,1761678609.944 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed] Stopped 2025-10-28T19:10:09.945Z,1761678609.945 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:10:10.310Z,1761678610.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569388,0.766968,0.295900],[-0.820696,0.509542,0.258506],[0.047492,-0.390034,0.919575]] 2025-10-28T19:10:10.725Z,1761678610.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550399,0.780242,0.297124],[-0.833427,0.492314,0.251052],[0.049603,-0.385810,0.921244]] 2025-10-28T19:10:10.865Z,1761678610.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:10:11.118Z,1761678611.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533558,0.791215,0.298823],[-0.844177,0.476578,0.245437],[0.051781,-0.383214,0.922207]] 2025-10-28T19:10:11.522Z,1761678611.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518708,0.800056,0.301418],[-0.853229,0.462059,0.241871],[0.054237,-0.382639,0.922305]] 2025-10-28T19:10:11.927Z,1761678611.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504775,0.806841,0.306937],[-0.861358,0.447218,0.240954],[0.057144,-0.386010,0.920723]] 2025-10-28T19:10:12.332Z,1761678612.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491076,0.812702,0.313623],[-0.869022,0.432092,0.241035],[0.060375,-0.390912,0.918446]] 2025-10-28T19:10:12.734Z,1761678612.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477616,0.817530,0.321758],[-0.876277,0.416838,0.241629],[0.063418,-0.397355,0.915471]] 2025-10-28T19:10:13.138Z,1761678613.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464202,0.821347,0.331521],[-0.883321,0.401706,0.241612],[0.065273,-0.404996,0.911986]] 2025-10-28T19:10:13.195Z,1761678613.195 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:10:13.261Z,1761678613.261 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:10:13.261Z,1761678613.261 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:10:13.513Z,1761678613.513 [DAT](INFO): DAT read: user:166> 2025-10-28T19:10:13.514Z,1761678613.514 [DAT](INFO): DAT read: Tx time:19:10:13.2850 2025-10-28T19:10:13.514Z,1761678613.514 [DAT](INFO): Ping request sent. 2025-10-28T19:10:13.514Z,1761678613.514 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:10:13.514Z,1761678613.514 [DAT](INFO): publishing transmit ping time 2025-10-28T19:10:13.515Z,1761678613.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T19:10:13.559Z,1761678613.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451161,0.824296,0.342037],[-0.890062,0.387622,0.239873],[0.065145,-0.412655,0.908555]] 2025-10-28T19:10:13.766Z,1761678613.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252106 2025-10-28T19:10:13.949Z,1761678613.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438685,0.826839,0.351984],[-0.896445,0.375280,0.235694],[0.062788,-0.418930,0.905845]] 2025-10-28T19:10:14.017Z,1761678614.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503027 2025-10-28T19:10:14.269Z,1761678614.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869 2025-10-28T19:10:14.351Z,1761678614.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426299,0.829908,0.359890],[-0.902679,0.364490,0.228732],[0.058650,-0.422373,0.904523]] 2025-10-28T19:10:14.521Z,1761678614.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893 2025-10-28T19:10:14.757Z,1761678614.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411615,0.834921,0.365350],[-0.909716,0.352357,0.219686],[0.054687,-0.422791,0.904576]] 2025-10-28T19:10:14.773Z,1761678614.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259350 2025-10-28T19:10:15.025Z,1761678615.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511338 2025-10-28T19:10:15.158Z,1761678615.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392959,0.842560,0.368341],[-0.918052,0.336570,0.209525],[0.052565,-0.420491,0.905773]] 2025-10-28T19:10:15.277Z,1761678615.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869 2025-10-28T19:10:15.529Z,1761678615.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015070 2025-10-28T19:10:15.781Z,1761678615.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267391 2025-10-28T19:10:15.978Z,1761678615.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351168,0.862246,0.364985],[-0.934878,0.301319,0.187645],[0.051819,-0.407111,0.911908]] 2025-10-28T19:10:16.033Z,1761678616.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519249 2025-10-28T19:10:16.285Z,1761678616.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770863 2025-10-28T19:10:16.370Z,1761678616.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329638,0.872486,0.360704],[-0.942621,0.282717,0.177588],[0.052966,-0.398546,0.915617]] 2025-10-28T19:10:16.537Z,1761678616.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023325 2025-10-28T19:10:16.780Z,1761678616.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308644,0.881704,0.356843],[-0.949613,0.264122,0.168743],[0.054531,-0.390944,0.918797]] 2025-10-28T19:10:16.789Z,1761678616.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275141 2025-10-28T19:10:17.041Z,1761678617.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526899 2025-10-28T19:10:17.181Z,1761678617.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288936,0.889681,0.353531],[-0.955719,0.246521,0.160711],[0.055828,-0.384311,0.921514]] 2025-10-28T19:10:17.293Z,1761678617.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779084 2025-10-28T19:10:17.545Z,1761678617.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030806 2025-10-28T19:10:17.582Z,1761678617.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269615,0.895012,0.355333],[-0.961286,0.228352,0.154220],[0.056887,-0.383157,0.921930]] 2025-10-28T19:10:17.799Z,1761678617.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285264 2025-10-28T19:10:17.988Z,1761678617.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251255,0.899087,0.358487],[-0.966208,0.210951,0.148126],[0.057555,-0.383590,0.921708]] 2025-10-28T19:10:18.053Z,1761678618.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539255 2025-10-28T19:10:18.305Z,1761678618.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790863 2025-10-28T19:10:18.390Z,1761678618.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233067,0.902057,0.363282],[-0.970726,0.193507,0.142286],[0.058052,-0.385810,0.920750]] 2025-10-28T19:10:18.560Z,1761678618.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045105 2025-10-28T19:10:18.800Z,1761678618.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215629,0.903711,0.369879],[-0.974730,0.176566,0.136842],[0.058358,-0.390040,0.918947]] 2025-10-28T19:10:18.810Z,1761678618.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295597 2025-10-28T19:10:19.061Z,1761678619.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546862 2025-10-28T19:10:19.198Z,1761678619.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197702,0.905315,0.375924],[-0.978508,0.159327,0.130908],[0.058618,-0.393725,0.917357]] 2025-10-28T19:10:19.313Z,1761678619.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799276 2025-10-28T19:10:19.565Z,1761678619.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050841 2025-10-28T19:10:19.602Z,1761678619.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179623,0.906881,0.381185],[-0.982000,0.142291,0.124213],[0.058407,-0.396636,0.916116]] 2025-10-28T19:10:19.818Z,1761678619.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303524 2025-10-28T19:10:20.011Z,1761678620.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161138,0.908718,0.385054],[-0.985213,0.125095,0.117072],[0.058217,-0.398225,0.915439]] 2025-10-28T19:10:20.069Z,1761678620.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555026 2025-10-28T19:10:20.321Z,1761678620.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806886 2025-10-28T19:10:20.420Z,1761678620.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123531,0.911444,0.392440],[-0.990681,0.090405,0.101877],[0.057377,-0.401368,0.914118]] 2025-10-28T19:10:20.576Z,1761678620.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061177 2025-10-28T19:10:20.819Z,1761678620.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104562,0.913454,0.393279],[-0.992921,0.073479,0.093324],[0.056349,-0.400253,0.914671]] 2025-10-28T19:10:20.825Z,1761678620.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311058 2025-10-28T19:10:21.077Z,1761678621.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562830 2025-10-28T19:10:21.227Z,1761678621.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084753,0.915364,0.393606],[-0.994868,0.055828,0.084386],[0.055270,-0.398738,0.915398]] 2025-10-28T19:10:21.329Z,1761678621.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814888 2025-10-28T19:10:21.581Z,1761678621.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066897 2025-10-28T19:10:21.629Z,1761678621.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064005,0.916893,0.393968],[-0.996484,0.037331,0.075009],[0.054068,-0.397383,0.916058]] 2025-10-28T19:10:21.833Z,1761678621.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318870 2025-10-28T19:10:22.029Z,1761678622.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043311,0.918394,0.393288],[-0.997672,0.019001,0.065497],[0.052680,-0.395210,0.917079]] 2025-10-28T19:10:22.052Z,1761678622.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:10:22.052Z,1761678622.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:10:22.053Z,1761678622.053 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:10:22.053Z,1761678622.053 [marl:UpdateRudder:A] Stopped 2025-10-28T19:10:22.053Z,1761678622.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:10:22.085Z,1761678622.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570954 2025-10-28T19:10:22.337Z,1761678622.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822917 2025-10-28T19:10:22.430Z,1761678622.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022057,0.919534,0.392392],[-0.998428,0.000030,0.056053],[0.051531,-0.393011,0.918089]] 2025-10-28T19:10:22.474Z,1761678622.474 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:10:22.474Z,1761678622.474 [marl:UpdateRudder:B] Stopped 2025-10-28T19:10:22.475Z,1761678622.475 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:10:22.475Z,1761678622.475 [marl:UpdateRudder] Stopped 2025-10-28T19:10:22.475Z,1761678622.475 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:10:22.591Z,1761678622.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076828 2025-10-28T19:10:22.835Z,1761678622.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000536,0.920422,0.390927],[-0.998723,-0.019258,0.046711],[0.050523,-0.390452,0.919236]] 2025-10-28T19:10:22.841Z,1761678622.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326813 2025-10-28T19:10:23.093Z,1761678623.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578893 2025-10-28T19:10:23.243Z,1761678623.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020656,0.920158,0.391003],[-0.998566,-0.038309,0.037400],[0.049393,-0.389670,0.919629]] 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode] Stopped 2025-10-28T19:10:23.295Z,1761678623.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:10:23.296Z,1761678623.296 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:10:23.300Z,1761678623.300 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:10:23.300Z,1761678623.300 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:10:23.300Z,1761678623.300 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:10:23.300Z,1761678623.300 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:10:23.300Z,1761678623.300 [marl:UpdateSpeed] Stopped 2025-10-28T19:10:23.301Z,1761678623.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:10:23.345Z,1761678623.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830985 2025-10-28T19:10:23.597Z,1761678623.597 [DAT](INFO): Reached modem response timeout 2025-10-28T19:10:23.642Z,1761678623.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041234,0.917948,0.394553],[-0.997974,-0.056988,0.028290],[0.048454,-0.392587,0.918438]] 2025-10-28T19:10:24.047Z,1761678624.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060650,0.914569,0.399857],[-0.997025,-0.074600,0.019399],[0.047571,-0.397490,0.916372]] 2025-10-28T19:10:24.458Z,1761678624.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078520,0.911186,0.404443],[-0.995822,-0.090661,0.010922],[0.046619,-0.401896,0.914498]] 2025-10-28T19:10:24.856Z,1761678624.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094899,0.906893,0.410536],[-0.994437,-0.105297,0.002734],[0.045708,-0.407993,0.911840]] 2025-10-28T19:10:25.258Z,1761678625.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109989,0.902487,0.416438],[-0.992921,-0.118667,-0.005078],[0.044834,-0.414048,0.909150]] 2025-10-28T19:10:25.662Z,1761678625.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124213,0.899393,0.419122],[-0.991294,-0.131070,-0.012520],[0.043674,-0.417028,0.907844]] 2025-10-28T19:10:25.865Z,1761678625.865 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:10:25.866Z,1761678625.866 [DAT](INFO): response not received 2025-10-28T19:10:25.866Z,1761678625.866 [DAT](ERROR): No response from remote modem. 2025-10-28T19:10:26.066Z,1761678626.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137889,0.896678,0.420661],[-0.989557,-0.142731,-0.020124],[0.041996,-0.419043,0.906995]] 2025-10-28T19:10:26.476Z,1761678626.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152061,0.894776,0.419824],[-0.987554,-0.154817,-0.027729],[0.040185,-0.418816,0.907182]] 2025-10-28T19:10:26.877Z,1761678626.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168278,0.893220,0.416942],[-0.984988,-0.168882,-0.035746],[0.038485,-0.416698,0.908230]] 2025-10-28T19:10:27.278Z,1761678627.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186666,0.892600,0.410390],[-0.981741,-0.185054,-0.044051],[0.036625,-0.411120,0.910845]] 2025-10-28T19:10:27.683Z,1761678627.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207614,0.892498,0.400430],[-0.977594,-0.203841,-0.052529],[0.034743,-0.402363,0.914821]] 2025-10-28T19:10:28.088Z,1761678628.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230880,0.890224,0.392678],[-0.972417,-0.224874,-0.061942],[0.033160,-0.396148,0.917588]] 2025-10-28T19:10:28.491Z,1761678628.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255734,0.886591,0.385431],[-0.966203,-0.247769,-0.071144],[0.032422,-0.390599,0.919990]] 2025-10-28T19:10:28.895Z,1761678628.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280148,0.881754,0.379509],[-0.959416,-0.270449,-0.079863],[0.032218,-0.386480,0.921735]] 2025-10-28T19:10:29.299Z,1761678629.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302974,0.875702,0.375969],[-0.952468,-0.291412,-0.088792],[0.031807,-0.385000,0.922368]] 2025-10-28T19:10:29.704Z,1761678629.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323768,0.869161,0.373808],[-0.945617,-0.310355,-0.097410],[0.031348,-0.385017,0.922377]] 2025-10-28T19:10:30.107Z,1761678630.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341784,0.861425,0.375675],[-0.939278,-0.326164,-0.106645],[0.030665,-0.389313,0.920595]] 2025-10-28T19:10:30.511Z,1761678630.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357652,0.852175,0.381945],[-0.933378,-0.339275,-0.117040],[0.029846,-0.398358,0.916744]] 2025-10-28T19:10:30.914Z,1761678630.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371778,0.844007,0.386566],[-0.927883,-0.350656,-0.126783],[0.028546,-0.405823,0.913506]] 2025-10-28T19:10:31.324Z,1761678631.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385072,0.837082,0.388604],[-0.922496,-0.361364,-0.135706],[0.026830,-0.410743,0.911356]] 2025-10-28T19:10:31.723Z,1761678631.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398365,0.831404,0.387393],[-0.916905,-0.372150,-0.144186],[0.024292,-0.412641,0.910570]] 2025-10-28T19:10:32.126Z,1761678632.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413183,0.825490,0.384506],[-0.910393,-0.384439,-0.152945],[0.021565,-0.413246,0.910364]] 2025-10-28T19:10:32.531Z,1761678632.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429862,0.818768,0.380576],[-0.902694,-0.398605,-0.162041],[0.019025,-0.413199,0.910442]] 2025-10-28T19:10:32.947Z,1761678632.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447804,0.811973,0.374395],[-0.893973,-0.414485,-0.170339],[0.016871,-0.410977,0.911490]] 2025-10-28T19:10:33.339Z,1761678633.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466949,0.805617,0.364610],[-0.884159,-0.432281,-0.177188],[0.014868,-0.405111,0.914147]] 2025-10-28T19:10:33.743Z,1761678633.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487294,0.798526,0.353412],[-0.873138,-0.451672,-0.183366],[0.013204,-0.397931,0.917320]] 2025-10-28T19:10:34.146Z,1761678634.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508363,0.790200,0.342274],[-0.861065,-0.471799,-0.189666],[0.011611,-0.391140,0.920258]] 2025-10-28T19:10:34.551Z,1761678634.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529721,0.780196,0.332700],[-0.848108,-0.492042,-0.196488],[0.010403,-0.386249,0.922336]] 2025-10-28T19:10:34.960Z,1761678634.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550903,0.768640,0.325114],[-0.834519,-0.511619,-0.204509],[0.009141,-0.383978,0.923297]] 2025-10-28T19:10:35.359Z,1761678635.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571938,0.755585,0.319340],[-0.820259,-0.530522,-0.213827],[0.007852,-0.384237,0.923201]] 2025-10-28T19:10:35.406Z,1761678635.406 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:10:35.406Z,1761678635.406 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:10:35.406Z,1761678635.406 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:10:35.407Z,1761678635.407 [marl:UpdateRudder:A] Stopped 2025-10-28T19:10:35.407Z,1761678635.407 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:10:35.769Z,1761678635.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591767,0.742144,0.314697],[-0.806086,-0.547738,-0.224071],[0.006078,-0.386271,0.922365]] 2025-10-28T19:10:35.797Z,1761678635.797 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:10:35.797Z,1761678635.797 [marl:UpdateRudder:B] Stopped 2025-10-28T19:10:35.797Z,1761678635.797 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:10:35.797Z,1761678635.797 [marl:UpdateRudder] Stopped 2025-10-28T19:10:35.798Z,1761678635.798 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:10:36.169Z,1761678636.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610836,0.728398,0.310347],[-0.791747,-0.563933,-0.234769],[0.004010,-0.389122,0.921178]] 2025-10-28T19:10:36.591Z,1761678636.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628176,0.715083,0.306678],[-0.778070,-0.578109,-0.245758],[0.001556,-0.392996,0.919539]] 2025-10-28T19:10:36.671Z,1761678636.671 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:10:36.672Z,1761678636.672 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:10:36.672Z,1761678636.672 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:10:36.672Z,1761678636.672 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateCommandMode] Stopped 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:10:36.673Z,1761678636.673 [marl:UpdateSpeed] Stopped 2025-10-28T19:10:36.674Z,1761678636.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:10:36.977Z,1761678636.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644880,0.702138,0.301882],[-0.764283,-0.592032,-0.255674],[-0.000795,-0.395602,0.918422]] 2025-10-28T19:10:37.379Z,1761678637.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660780,0.689081,0.297552],[-0.750574,-0.605139,-0.265417],[-0.002833,-0.398717,0.917070]] 2025-10-28T19:10:37.787Z,1761678637.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675871,0.675891,0.293887],[-0.737004,-0.617211,-0.275454],[-0.004786,-0.402767,0.915290]] 2025-10-28T19:10:38.186Z,1761678638.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689706,0.663807,0.289249],[-0.724059,-0.628590,-0.283925],[-0.006652,-0.405258,0.914178]] 2025-10-28T19:10:38.640Z,1761678638.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702243,0.653037,0.283546],[-0.711888,-0.639405,-0.290475],[-0.008390,-0.405837,0.913907]] 2025-10-28T19:10:38.998Z,1761678638.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713953,0.643405,0.276227],[-0.700125,-0.650452,-0.294513],[-0.009819,-0.403662,0.914856]] 2025-10-28T19:10:39.398Z,1761678639.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724812,0.633984,0.269649],[-0.688848,-0.660276,-0.299207],[-0.011650,-0.402617,0.915295]] 2025-10-28T19:10:39.803Z,1761678639.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735136,0.625278,0.261921],[-0.677779,-0.670054,-0.302725],[-0.013787,-0.400069,0.916381]] 2025-10-28T19:10:40.207Z,1761678640.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745193,0.616027,0.255339],[-0.666658,-0.679052,-0.307335],[-0.015938,-0.399247,0.916705]] 2025-10-28T19:10:40.643Z,1761678640.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755285,0.606414,0.248611],[-0.655151,-0.688186,-0.311734],[-0.017950,-0.398325,0.917069]] 2025-10-28T19:10:41.000Z,1761678641.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:10:41.017Z,1761678641.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765695,0.596450,0.240746],[-0.642892,-0.698042,-0.315320],[-0.020021,-0.396213,0.917940]] 2025-10-28T19:10:41.428Z,1761678641.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776967,0.585089,0.232365],[-0.629150,-0.708636,-0.319383],[-0.022205,-0.394342,0.918695]] 2025-10-28T19:10:41.822Z,1761678641.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789124,0.572087,0.223608],[-0.613756,-0.720041,-0.323796],[-0.024233,-0.392756,0.919324]] 2025-10-28T19:10:42.004Z,1761678642.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:10:42.228Z,1761678642.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801947,0.557703,0.214123],[-0.596807,-0.732022,-0.328580],[-0.026507,-0.391293,0.919884]] 2025-10-28T19:10:43.034Z,1761678643.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829147,0.524768,0.192703],[-0.558114,-0.757317,-0.339087],[-0.032005,-0.388704,0.920807]] 2025-10-28T19:10:43.446Z,1761678643.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842884,0.507152,0.179842],[-0.536942,-0.770845,-0.342770],[-0.035206,-0.385480,0.922044]] 2025-10-28T19:10:43.843Z,1761678643.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856554,0.488318,0.166918],[-0.514600,-0.783924,-0.347349],[-0.038765,-0.383419,0.922761]] 2025-10-28T19:10:44.248Z,1761678644.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869853,0.468690,0.153900],[-0.491486,-0.796583,-0.351990],[-0.042380,-0.381820,0.923265]] 2025-10-28T19:10:44.653Z,1761678644.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882426,0.448420,0.142281],[-0.468207,-0.807584,-0.358596],[-0.045898,-0.383052,0.922586]] 2025-10-28T19:10:45.136Z,1761678645.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893998,0.428402,0.131300],[-0.445350,-0.817309,-0.365609],[-0.049315,-0.385328,0.921461]] 2025-10-28T19:10:45.462Z,1761678645.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904755,0.408564,0.120388],[-0.422678,-0.826363,-0.372111],[-0.052547,-0.387555,0.920348]] 2025-10-28T19:10:45.865Z,1761678645.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914115,0.390013,0.110833],[-0.401643,-0.833629,-0.379137],[-0.055475,-0.391091,0.918679]] 2025-10-28T19:10:46.266Z,1761678646.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922079,0.373216,0.102376],[-0.382583,-0.839212,-0.386463],[-0.058319,-0.395517,0.916605]] 2025-10-28T19:10:46.670Z,1761678646.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928854,0.358315,0.094026],[-0.365413,-0.844532,-0.391457],[-0.060857,-0.397964,0.915380]] 2025-10-28T19:10:47.075Z,1761678647.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934922,0.344359,0.085664],[-0.349201,-0.849899,-0.394626],[-0.063087,-0.398858,0.914840]] 2025-10-28T19:10:47.491Z,1761678647.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940388,0.331049,0.077960],[-0.333786,-0.854362,-0.398312],[-0.065255,-0.400589,0.913931]] 2025-10-28T19:10:47.882Z,1761678647.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945387,0.318160,0.070831],[-0.318954,-0.858214,-0.402165],[-0.067164,-0.402794,0.912823]] 2025-10-28T19:10:48.287Z,1761678648.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950110,0.305290,0.063947],[-0.304327,-0.862358,-0.404628],[-0.068384,-0.403902,0.912243]] 2025-10-28T19:10:48.691Z,1761678648.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954765,0.292050,0.055947],[-0.289100,-0.867625,-0.404535],[-0.069603,-0.402410,0.912810]] 2025-10-28T19:10:49.094Z,1761678649.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959578,0.277405,0.047500],[-0.272514,-0.873637,-0.403106],[-0.070326,-0.399756,0.913920]] 2025-10-28T19:10:49.125Z,1761678649.125 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:10:49.126Z,1761678649.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:10:49.126Z,1761678649.126 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:10:49.126Z,1761678649.126 [marl:UpdateRudder:A] Stopped 2025-10-28T19:10:49.126Z,1761678649.126 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:10:49.502Z,1761678649.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964643,0.260743,0.038431],[-0.253867,-0.880058,-0.401310],[-0.070817,-0.396877,0.915136]] 2025-10-28T19:10:49.550Z,1761678649.550 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:10:49.550Z,1761678649.550 [marl:UpdateRudder:B] Stopped 2025-10-28T19:10:49.550Z,1761678649.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:10:49.550Z,1761678649.550 [marl:UpdateRudder] Stopped 2025-10-28T19:10:49.550Z,1761678649.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:10:49.911Z,1761678649.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969684,0.242525,0.029918],[-0.233825,-0.885318,-0.401918],[-0.070988,-0.396729,0.915187]] 2025-10-28T19:10:50.308Z,1761678650.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974603,0.222921,0.021318],[-0.212451,-0.890310,-0.402756],[-0.070803,-0.397056,0.915059]] 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode] Stopped 2025-10-28T19:10:50.333Z,1761678650.333 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed] Stopped 2025-10-28T19:10:50.334Z,1761678650.334 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:10:50.711Z,1761678650.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979196,0.202558,0.012076],[-0.190196,-0.895435,-0.402520],[-0.070720,-0.396443,0.915331]] 2025-10-28T19:10:51.116Z,1761678651.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983317,0.181882,0.002671],[-0.167611,-0.900262,-0.401789],[-0.070674,-0.395533,0.915728]] 2025-10-28T19:10:51.518Z,1761678651.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986971,0.160718,-0.007623],[-0.144336,-0.905317,-0.399461],[-0.071102,-0.393156,0.916719]] 2025-10-28T19:10:51.927Z,1761678651.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990068,0.139467,-0.017746],[-0.120971,-0.909402,-0.397938],[-0.071637,-0.391839,0.917241]] 2025-10-28T19:10:52.329Z,1761678652.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992597,0.118128,-0.028248],[-0.097253,-0.912313,-0.397777],[-0.072760,-0.392085,0.917047]] 2025-10-28T19:10:52.730Z,1761678652.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994538,0.097126,-0.038208],[-0.074020,-0.914455,-0.397861],[-0.073582,-0.392860,0.916650]] 2025-10-28T19:10:53.137Z,1761678653.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995905,0.076483,-0.048209],[-0.051184,-0.916527,-0.396685],[-0.074525,-0.392593,0.916688]] 2025-10-28T19:10:53.543Z,1761678653.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996711,0.056102,-0.058474],[-0.028440,-0.917866,-0.395870],[-0.075880,-0.392905,0.916443]] 2025-10-28T19:10:53.944Z,1761678653.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996986,0.036878,-0.068260],[-0.006711,-0.917501,-0.397677],[-0.077294,-0.396020,0.914983]] 2025-10-28T19:10:54.347Z,1761678654.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996810,0.018406,-0.077665],[0.013970,-0.917792,-0.396816],[-0.078584,-0.396635,0.914607]] 2025-10-28T19:10:54.753Z,1761678654.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996202,0.001369,-0.087064],[0.033388,-0.917445,-0.396460],[-0.080420,-0.397861,0.913914]] 2025-10-28T19:10:55.156Z,1761678655.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995240,-0.015518,-0.096207],[0.052466,-0.917272,-0.394790],[-0.082121,-0.397958,0.913721]] 2025-10-28T19:10:55.567Z,1761678655.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993977,-0.032037,-0.104803],[0.070960,-0.916925,-0.392699],[-0.083516,-0.397771,0.913676]] 2025-10-28T19:10:55.962Z,1761678655.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992403,-0.048088,-0.113245],[0.088953,-0.916331,-0.390417],[-0.084996,-0.397524,0.913647]] 2025-10-28T19:10:56.370Z,1761678656.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990536,-0.064041,-0.121398],[0.106705,-0.915619,-0.387630],[-0.086330,-0.396915,0.913786]] 2025-10-28T19:10:56.777Z,1761678656.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988225,-0.081199,-0.129683],[0.125521,-0.914909,-0.383648],[-0.087496,-0.395409,0.914328]] 2025-10-28T19:10:57.177Z,1761678657.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985555,-0.098594,-0.137695],[0.144532,-0.913445,-0.380433],[-0.088268,-0.394839,0.914500]] 2025-10-28T19:10:57.578Z,1761678657.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982420,-0.116523,-0.145853],[0.164213,-0.911012,-0.378275],[-0.088796,-0.395576,0.914131]] 2025-10-28T19:10:57.983Z,1761678657.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978913,-0.134243,-0.153971],[0.183723,-0.908083,-0.376339],[-0.089298,-0.396691,0.913598]] 2025-10-28T19:10:58.396Z,1761678658.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974883,-0.152877,-0.161962],[0.203905,-0.905169,-0.372950],[-0.089587,-0.396607,0.913607]] 2025-10-28T19:10:58.794Z,1761678658.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970362,-0.171436,-0.170316],[0.224164,-0.901829,-0.369398],[-0.090268,-0.396629,0.913530]] 2025-10-28T19:10:59.195Z,1761678659.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965551,-0.189533,-0.178296],[0.243988,-0.897598,-0.367135],[-0.090454,-0.397989,0.912920]] 2025-10-28T19:10:59.599Z,1761678659.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960456,-0.207062,-0.186145],[0.263390,-0.892444,-0.366291],[-0.090279,-0.400835,0.911691]] 2025-10-28T19:11:00.003Z,1761678660.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954948,-0.224746,-0.193813],[0.282741,-0.887429,-0.364043],[-0.090178,-0.402441,0.910994]] 2025-10-28T19:11:00.414Z,1761678660.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948863,-0.243104,-0.201395],[0.302590,-0.882238,-0.360689],[-0.089993,-0.403184,0.910683]] 2025-10-28T19:11:00.810Z,1761678660.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942209,-0.262003,-0.208798],[0.322756,-0.876977,-0.356004],[-0.089837,-0.402821,0.910859]] 2025-10-28T19:11:01.214Z,1761678661.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935153,-0.280714,-0.216076],[0.342679,-0.871437,-0.350954],[-0.089779,-0.402240,0.911122]] 2025-10-28T19:11:01.622Z,1761678661.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927677,-0.299243,-0.223312],[0.362371,-0.865727,-0.345259],[-0.090011,-0.401211,0.911552]] 2025-10-28T19:11:02.024Z,1761678662.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919801,-0.317830,-0.230110],[0.381902,-0.859784,-0.339002],[-0.090100,-0.399694,0.912210]] 2025-10-28T19:11:02.426Z,1761678662.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911289,-0.336300,-0.237601],[0.401639,-0.853157,-0.332881],[-0.090763,-0.398781,0.912544]] 2025-10-28T19:11:02.466Z,1761678662.466 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:11:02.467Z,1761678662.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:11:02.467Z,1761678662.467 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:11:02.467Z,1761678662.467 [marl:UpdateRudder:A] Stopped 2025-10-28T19:11:02.467Z,1761678662.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:11:02.831Z,1761678662.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902566,-0.354131,-0.244878],[0.420799,-0.845920,-0.327640],[-0.091120,-0.398761,0.912517]] 2025-10-28T19:11:02.898Z,1761678662.898 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:11:02.898Z,1761678662.898 [marl:UpdateRudder:B] Stopped 2025-10-28T19:11:02.898Z,1761678662.898 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:11:02.898Z,1761678662.898 [marl:UpdateRudder] Stopped 2025-10-28T19:11:02.899Z,1761678662.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:11:03.235Z,1761678663.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893495,-0.371729,-0.251960],[0.439691,-0.838245,-0.322517],[-0.091315,-0.398952,0.912414]] 2025-10-28T19:11:03.646Z,1761678663.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884092,-0.388805,-0.259254],[0.458286,-0.829872,-0.318255],[-0.091409,-0.400179,0.911867]] 2025-10-28T19:11:03.675Z,1761678663.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:11:03.675Z,1761678663.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:11:03.675Z,1761678663.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateCommandMode] Stopped 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:11:03.676Z,1761678663.676 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:11:03.677Z,1761678663.677 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:11:03.677Z,1761678663.677 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:11:03.677Z,1761678663.677 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:11:03.677Z,1761678663.677 [marl:UpdateSpeed] Stopped 2025-10-28T19:11:03.677Z,1761678663.677 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:11:04.042Z,1761678664.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874423,-0.405856,-0.265830],[0.476558,-0.821253,-0.313744],[-0.090979,-0.401029,0.911536]] 2025-10-28T19:11:04.446Z,1761678664.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864130,-0.423263,-0.272265],[0.495108,-0.812001,-0.309068],[-0.090262,-0.401875,0.911235]] 2025-10-28T19:11:04.850Z,1761678664.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853553,-0.440162,-0.278756],[0.513352,-0.801886,-0.305694],[-0.088976,-0.404026,0.910410]] 2025-10-28T19:11:05.263Z,1761678665.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842317,-0.457686,-0.284650],[0.531810,-0.791623,-0.300851],[-0.087640,-0.404791,0.910200]] 2025-10-28T19:11:05.671Z,1761678665.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818755,-0.491962,-0.295995],[0.567776,-0.770344,-0.290172],[-0.085265,-0.405639,0.910048]] 2025-10-28T19:11:06.067Z,1761678666.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805685,-0.510243,-0.300871],[0.586255,-0.759521,-0.281839],[-0.084712,-0.403461,0.911067]] 2025-10-28T19:11:06.472Z,1761678666.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792144,-0.528019,-0.306112],[0.604397,-0.748427,-0.273057],[-0.084923,-0.401314,0.911995]] 2025-10-28T19:11:06.884Z,1761678666.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778259,-0.545197,-0.311565],[0.622018,-0.737327,-0.263518],[-0.086056,-0.398884,0.912954]] 2025-10-28T19:11:07.275Z,1761678667.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764377,-0.561520,-0.316896],[0.638721,-0.726603,-0.253148],[-0.088110,-0.395909,0.914053]] 2025-10-28T19:11:07.679Z,1761678667.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750586,-0.576528,-0.322856],[0.654509,-0.715800,-0.243409],[-0.090769,-0.394012,0.914612]] 2025-10-28T19:11:08.082Z,1761678668.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737220,-0.589976,-0.329296],[0.669090,-0.705247,-0.234402],[-0.093943,-0.393135,0.914669]] 2025-10-28T19:11:08.489Z,1761678668.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723896,-0.603015,-0.335183],[0.683038,-0.694816,-0.225145],[-0.097124,-0.391925,0.914856]] 2025-10-28T19:11:08.894Z,1761678668.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711446,-0.613704,-0.342363],[0.695632,-0.684141,-0.219196],[-0.099703,-0.394105,0.913641]] 2025-10-28T19:11:09.295Z,1761678669.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699365,-0.624260,-0.348121],[0.707521,-0.673783,-0.213144],[-0.101501,-0.395368,0.912897]] 2025-10-28T19:11:09.706Z,1761678669.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687348,-0.634345,-0.353778],[0.719116,-0.662812,-0.208694],[-0.102104,-0.397853,0.911750]] 2025-10-28T19:11:10.109Z,1761678670.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675598,-0.643590,-0.359666],[0.730249,-0.651302,-0.206256],[-0.101507,-0.401992,0.909999]] 2025-10-28T19:11:10.507Z,1761678670.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663593,-0.653332,-0.364418],[0.741465,-0.639104,-0.204390],[-0.099367,-0.405835,0.908528]] 2025-10-28T19:11:10.911Z,1761678670.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651323,-0.663746,-0.367721],[0.752723,-0.626379,-0.202625],[-0.095842,-0.408767,0.907592]] 2025-10-28T19:11:11.315Z,1761678671.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638543,-0.674944,-0.369747],[0.764123,-0.613185,-0.200300],[-0.091532,-0.410433,0.907286]] 2025-10-28T19:11:11.726Z,1761678671.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625297,-0.686534,-0.371045],[0.775584,-0.599380,-0.198025],[-0.086446,-0.411601,0.907255]] 2025-10-28T19:11:11.752Z,1761678671.752 [marl:NeedComms] Running Loop=1 2025-10-28T19:11:11.752Z,1761678671.752 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T19:11:11.752Z,1761678671.752 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T19:11:11.753Z,1761678671.753 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T19:11:11.753Z,1761678671.753 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T19:11:11.754Z,1761678671.754 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T19:11:11.754Z,1761678671.754 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T19:11:11.755Z,1761678671.755 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T19:11:11.755Z,1761678671.755 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T19:11:11.755Z,1761678671.755 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T19:11:11.756Z,1761678671.756 [marl:NeedComms:A] Running Loop=1 2025-10-28T19:11:11.758Z,1761678671.758 [marl:NeedComms:A](INFO): last time_fix was: 1761677470.000000 second since 1970/01/01T00:00:00Z 2025-10-28T19:11:11.758Z,1761678671.758 [marl:NeedComms:A] Stopped 2025-10-28T19:11:12.122Z,1761678672.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611274,-0.698408,-0.372251],[0.787228,-0.584919,-0.195298],[-0.081339,-0.412427,0.907352]] 2025-10-28T19:11:12.132Z,1761678672.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:11:12.527Z,1761678672.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595632,-0.712294,-0.371295],[0.799562,-0.570040,-0.189092],[-0.076964,-0.409502,0.909057]] 2025-10-28T19:11:12.931Z,1761678672.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578633,-0.725770,-0.372078],[0.812265,-0.553950,-0.182658],[-0.073545,-0.407918,0.910052]] 2025-10-28T19:11:13.136Z,1761678673.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:11:13.358Z,1761678673.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560563,-0.739270,-0.373162],[0.825046,-0.537312,-0.174915],[-0.071195,-0.405926,0.911129]] 2025-10-28T19:11:13.416Z,1761678673.416 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:11:13.545Z,1761678673.545 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:11:13.545Z,1761678673.545 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:11:13.759Z,1761678673.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541939,-0.752168,-0.374894],[0.837500,-0.520487,-0.166395],[-0.069971,-0.404150,0.912013]] 2025-10-28T19:11:13.798Z,1761678673.798 [DAT](INFO): DAT read: user:167> 2025-10-28T19:11:13.798Z,1761678673.798 [DAT](INFO): DAT read: Tx time:19:11:13.5347 2025-10-28T19:11:13.799Z,1761678673.799 [DAT](INFO): Ping request sent. 2025-10-28T19:11:13.799Z,1761678673.799 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:11:13.799Z,1761678673.799 [DAT](INFO): publishing transmit ping time 2025-10-28T19:11:13.800Z,1761678673.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001260 2025-10-28T19:11:14.049Z,1761678674.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250113 2025-10-28T19:11:14.158Z,1761678674.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522356,-0.765643,-0.375414],[0.849800,-0.503850,-0.154840],[-0.070600,-0.399909,0.913832]] 2025-10-28T19:11:14.302Z,1761678674.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803 2025-10-28T19:11:14.553Z,1761678674.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754248 2025-10-28T19:11:14.568Z,1761678674.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501893,-0.778872,-0.376113],[0.861653,-0.488061,-0.139107],[-0.075220,-0.393896,0.916072]] 2025-10-28T19:11:14.805Z,1761678674.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006097 2025-10-28T19:11:15.057Z,1761678675.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258153 2025-10-28T19:11:15.309Z,1761678675.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510330 2025-10-28T19:11:15.380Z,1761678675.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457819,-0.803642,-0.380212],[0.883914,-0.457334,-0.097684],[-0.095381,-0.380797,0.919726]] 2025-10-28T19:11:15.561Z,1761678675.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761984 2025-10-28T19:11:15.782Z,1761678675.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434430,-0.814392,-0.384755],[0.894236,-0.441084,-0.076069],[-0.107759,-0.377108,0.919879]] 2025-10-28T19:11:15.813Z,1761678675.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014291 2025-10-28T19:11:15.818Z,1761678675.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:11:15.818Z,1761678675.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:11:15.819Z,1761678675.819 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:11:15.819Z,1761678675.819 [marl:UpdateRudder:A] Stopped 2025-10-28T19:11:15.819Z,1761678675.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:11:16.066Z,1761678676.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923 2025-10-28T19:11:16.179Z,1761678676.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410291,-0.824914,-0.388816],[0.903913,-0.424353,-0.053527],[-0.120841,-0.373418,0.919759]] 2025-10-28T19:11:16.206Z,1761678676.206 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:11:16.206Z,1761678676.206 [marl:UpdateRudder:B] Stopped 2025-10-28T19:11:16.206Z,1761678676.206 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:11:16.206Z,1761678676.206 [marl:UpdateRudder] Stopped 2025-10-28T19:11:16.207Z,1761678676.207 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:11:16.317Z,1761678676.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518161 2025-10-28T19:11:16.569Z,1761678676.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770089 2025-10-28T19:11:16.639Z,1761678676.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385724,-0.834787,-0.392870],[0.912802,-0.407233,-0.030891],[-0.134202,-0.370528,0.919075]] 2025-10-28T19:11:16.821Z,1761678676.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022308 2025-10-28T19:11:17.026Z,1761678677.026 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:11:17.026Z,1761678677.026 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:11:17.026Z,1761678677.026 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:11:17.026Z,1761678677.026 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateCommandMode] Stopped 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:11:17.027Z,1761678677.027 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:11:17.028Z,1761678677.028 [marl:UpdateSpeed] Stopped 2025-10-28T19:11:17.028Z,1761678677.028 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:11:17.073Z,1761678677.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274310 2025-10-28T19:11:17.325Z,1761678677.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526149 2025-10-28T19:11:17.390Z,1761678677.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336458,-0.852588,-0.399862],[0.927812,-0.372780,0.014150],[-0.161125,-0.366236,0.916466]] 2025-10-28T19:11:17.577Z,1761678677.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778254 2025-10-28T19:11:17.796Z,1761678677.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311883,-0.860475,-0.402879],[0.933887,-0.355679,0.036710],[-0.174883,-0.364794,0.914517]] 2025-10-28T19:11:17.829Z,1761678677.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030244 2025-10-28T19:11:18.081Z,1761678678.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282145 2025-10-28T19:11:18.200Z,1761678678.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287977,-0.867593,-0.405403],[0.938839,-0.339246,0.059111],[-0.188815,-0.363586,0.912225]] 2025-10-28T19:11:18.333Z,1761678678.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534200 2025-10-28T19:11:18.597Z,1761678678.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788699 2025-10-28T19:11:18.646Z,1761678678.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265155,-0.874271,-0.406623],[0.942647,-0.323727,0.081347],[-0.202754,-0.361733,0.909967]] 2025-10-28T19:11:18.840Z,1761678678.840 [DAT](INFO): DAT read: Rx Time:19:11:18.0096 2025-10-28T19:11:18.841Z,1761678678.841 [DAT](INFO): Rx dataTimestamp_ set to:1761678678.840155 2025-10-28T19:11:18.842Z,1761678678.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043127 2025-10-28T19:11:19.007Z,1761678679.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242886,-0.879436,-0.409389],[0.945525,-0.308935,0.102676],[-0.216772,-0.362149,0.906564]] 2025-10-28T19:11:19.090Z,1761678679.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291471 2025-10-28T19:11:19.351Z,1761678679.351 [DAT](INFO): DAT read: 19:11:18.0096 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.43,-0.111,-2.138,-0.488,-0.345, PHS= 0.336,-1.748,-0.187, RAW= 136.0, 16.8, CAL= 134.9, 17.9, ROT= 15.1, -17.9 2025-10-28T19:11:19.353Z,1761678679.353 [DAT](INFO): got valid direction response: 19:11:18.0096 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.43,-0.111,-2.138,-0.488,-0.345, PHS= 0.336,-1.748,-0.187, RAW= 136.0, 16.8, CAL= 134.9, 17.9, ROT= 15.1, -17.9 2025-10-28T19:11:19.354Z,1761678679.354 [DAT](INFO): DAT read: $Error in header 2025-10-28T19:11:19.355Z,1761678679.355 [DAT](INFO): Received a bad header 2025-10-28T19:11:19.368Z,1761678679.368 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T19:11:19.369Z,1761678679.369 [DAT](INFO): direction in FSK: [0.918738,0.247895,0.307357] 2025-10-28T19:11:19.433Z,1761678679.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221592,-0.884051,-0.411522],[0.947525,-0.294924,0.123355],[-0.230420,-0.362593,0.903013]] 2025-10-28T19:11:19.488Z,1761678679.488 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678720.00. Resetting abort timer. 2025-10-28T19:11:19.818Z,1761678679.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200733,-0.888944,-0.411685],[0.948894,-0.280897,0.143865],[-0.243529,-0.361767,0.899899]] 2025-10-28T19:11:20.219Z,1761678680.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181413,-0.892917,-0.412054],[0.949732,-0.267791,0.162165],[-0.255144,-0.361922,0.896612]] 2025-10-28T19:11:20.643Z,1761678680.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161645,-0.896424,-0.412668],[0.950381,-0.254035,0.179562],[-0.265796,-0.363166,0.893008]] 2025-10-28T19:11:21.027Z,1761678681.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142509,-0.898796,-0.414556],[0.950921,-0.240550,0.194642],[-0.274665,-0.366472,0.888964]] 2025-10-28T19:11:21.431Z,1761678681.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123686,-0.901615,-0.414477],[0.951323,-0.226557,0.208942],[-0.282289,-0.368458,0.885749]] 2025-10-28T19:11:21.839Z,1761678681.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104402,-0.905561,-0.411169],[0.951654,-0.211052,0.223183],[-0.288884,-0.367990,0.883815]] 2025-10-28T19:11:22.239Z,1761678682.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085114,-0.909176,-0.407620],[0.951663,-0.195353,0.237011],[-0.295115,-0.367744,0.881857]] 2025-10-28T19:11:22.652Z,1761678682.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066016,-0.912543,-0.403619],[0.951295,-0.179633,0.250538],[-0.301129,-0.367421,0.879956]] 2025-10-28T19:11:23.047Z,1761678683.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045919,-0.915592,-0.399479],[0.950336,-0.163267,0.264963],[-0.307820,-0.367472,0.877617]] 2025-10-28T19:11:23.451Z,1761678683.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025604,-0.920056,-0.390949],[0.948883,-0.145436,0.280124],[-0.314588,-0.363792,0.876750]] 2025-10-28T19:11:23.863Z,1761678683.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005377,-0.924760,-0.380512],[0.946919,-0.127019,0.295314],[-0.321427,-0.358726,0.876356]] 2025-10-28T19:11:23.877Z,1761678683.877 [DAT](INFO): Reached modem response timeout 2025-10-28T19:11:24.263Z,1761678684.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014862,-0.927973,-0.372350],[0.944495,-0.109199,0.309845],[-0.328188,-0.356288,0.874844]] 2025-10-28T19:11:24.663Z,1761678684.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035433,-0.930995,-0.363307],[0.941622,-0.090689,0.324229],[-0.334804,-0.353586,0.873432]] 2025-10-28T19:11:25.066Z,1761678685.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055414,-0.933008,-0.355563],[0.938347,-0.073037,0.337891],[-0.341224,-0.352366,0.871438]] 2025-10-28T19:11:25.470Z,1761678685.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074786,-0.934768,-0.347299],[0.934683,-0.055665,0.351097],[-0.347526,-0.350872,0.869549]] 2025-10-28T19:11:25.877Z,1761678685.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093686,-0.936147,-0.338897],[0.930564,-0.038675,0.364081],[-0.353941,-0.349474,0.867522]] 2025-10-28T19:11:26.145Z,1761678686.145 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:11:26.145Z,1761678686.145 [DAT](INFO): response not received 2025-10-28T19:11:26.145Z,1761678686.145 [DAT](ERROR): No response from remote modem. 2025-10-28T19:11:26.283Z,1761678686.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111981,-0.936772,-0.331541],[0.926012,-0.022666,0.376813],[-0.360502,-0.349207,0.864924]] 2025-10-28T19:11:26.682Z,1761678686.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129137,-0.937402,-0.323422],[0.921287,-0.007232,0.388816],[-0.366815,-0.348175,0.862682]] 2025-10-28T19:11:27.118Z,1761678687.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145086,-0.937820,-0.315348],[0.916466,0.007264,0.400047],[-0.372881,-0.347047,0.860534]] 2025-10-28T19:11:27.518Z,1761678687.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158989,-0.938090,-0.307749],[0.911996,0.020160,0.409703],[-0.378134,-0.345804,0.858740]] 2025-10-28T19:11:27.923Z,1761678687.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171787,-0.938218,-0.300393],[0.907791,0.032327,0.418175],[-0.382629,-0.344531,0.857259]] 2025-10-28T19:11:28.342Z,1761678688.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183822,-0.938371,-0.292693],[0.903978,0.044438,0.425264],[-0.386049,-0.342761,0.856435]] 2025-10-28T19:11:28.730Z,1761678688.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195806,-0.938495,-0.284407],[0.900311,0.057079,0.431488],[-0.388716,-0.340543,0.856114]] 2025-10-28T19:11:29.134Z,1761678689.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207810,-0.938202,-0.276754],[0.896941,0.069884,0.436592],[-0.390270,-0.338960,0.856035]] 2025-10-28T19:11:29.174Z,1761678689.174 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:11:29.174Z,1761678689.174 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:11:29.175Z,1761678689.175 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:11:29.175Z,1761678689.175 [marl:UpdateRudder:A] Stopped 2025-10-28T19:11:29.175Z,1761678689.175 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:11:29.539Z,1761678689.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221354,-0.937395,-0.268873],[0.893148,0.084180,0.441815],[-0.391521,-0.337940,0.855866]] 2025-10-28T19:11:29.584Z,1761678689.584 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:11:29.584Z,1761678689.584 [marl:UpdateRudder:B] Stopped 2025-10-28T19:11:29.584Z,1761678689.584 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:11:29.584Z,1761678689.584 [marl:UpdateRudder] Stopped 2025-10-28T19:11:29.585Z,1761678689.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:11:30.363Z,1761678690.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254108,-0.933386,-0.253418],[0.882913,0.116900,0.454752],[-0.394835,-0.339302,0.853803]] 2025-10-28T19:11:30.386Z,1761678690.386 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:11:30.386Z,1761678690.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:11:30.386Z,1761678690.386 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateCommandMode] Stopped 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:11:30.387Z,1761678690.387 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:11:30.388Z,1761678690.388 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:11:30.388Z,1761678690.388 [marl:UpdateSpeed] Stopped 2025-10-28T19:11:30.388Z,1761678690.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:11:30.754Z,1761678690.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273133,-0.930318,-0.244758],[0.875960,0.135363,0.463002],[-0.397609,-0.340859,0.851893]] 2025-10-28T19:11:31.155Z,1761678691.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292741,-0.926910,-0.234818],[0.868149,0.154718,0.471571],[-0.400773,-0.341905,0.849989]] 2025-10-28T19:11:31.564Z,1761678691.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313151,-0.922433,-0.225951],[0.859252,0.173855,0.481104],[-0.404504,-0.344807,0.847045]] 2025-10-28T19:11:31.963Z,1761678691.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333718,-0.917312,-0.217189],[0.849494,0.192764,0.491123],[-0.408646,-0.348398,0.843580]] 2025-10-28T19:11:32.369Z,1761678692.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352832,-0.911954,-0.209405],[0.839796,0.209951,0.500663],[-0.412616,-0.352507,0.839932]] 2025-10-28T19:11:32.778Z,1761678692.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370340,-0.906436,-0.203034],[0.830642,0.225321,0.509180],[-0.415791,-0.357218,0.836369]] 2025-10-28T19:11:33.174Z,1761678693.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386426,-0.900970,-0.197301],[0.822224,0.239593,0.516277],[-0.417879,-0.361728,0.833385]] 2025-10-28T19:11:33.578Z,1761678693.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400946,-0.895223,-0.194470],[0.815000,0.251627,0.521976],[-0.418351,-0.367778,0.830495]] 2025-10-28T19:11:33.983Z,1761678693.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414186,-0.889209,-0.194311],[0.808952,0.261779,0.526373],[-0.417189,-0.375205,0.827753]] 2025-10-28T19:11:34.393Z,1761678694.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427590,-0.882868,-0.194191],[0.803166,0.272456,0.529804],[-0.414839,-0.382506,0.825589]] 2025-10-28T19:11:34.793Z,1761678694.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440803,-0.876236,-0.194688],[0.798030,0.283283,0.531883],[-0.410903,-0.389822,0.824134]] 2025-10-28T19:11:35.194Z,1761678695.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454951,-0.868909,-0.194979],[0.792475,0.295166,0.533723],[-0.406205,-0.397334,0.822875]] 2025-10-28T19:11:35.599Z,1761678695.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471130,-0.860739,-0.192782],[0.785418,0.309899,0.535799],[-0.401440,-0.403846,0.822043]] 2025-10-28T19:11:36.004Z,1761678696.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487924,-0.852427,-0.187876],[0.777415,0.326497,0.537610],[-0.396933,-0.408371,0.821996]] 2025-10-28T19:11:36.406Z,1761678696.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504984,-0.843719,-0.182016],[0.768632,0.343645,0.539549],[-0.392679,-0.412367,0.822044]] 2025-10-28T19:11:36.813Z,1761678696.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521564,-0.835167,-0.174548],[0.759621,0.361376,0.540725],[-0.388518,-0.414613,0.822891]] 2025-10-28T19:11:37.215Z,1761678697.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536829,-0.827080,-0.166593],[0.750994,0.378455,0.541091],[-0.384478,-0.415584,0.824298]] 2025-10-28T19:11:37.620Z,1761678697.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551035,-0.819012,-0.159937],[0.742900,0.394171,0.541044],[-0.380079,-0.416951,0.825646]] 2025-10-28T19:11:38.023Z,1761678698.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563763,-0.811451,-0.154007],[0.735858,0.408791,0.539818],[-0.375080,-0.417657,0.827574]] 2025-10-28T19:11:38.427Z,1761678698.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575575,-0.804173,-0.148387],[0.729739,0.423212,0.537003],[-0.369044,-0.417370,0.830427]] 2025-10-28T19:11:38.838Z,1761678698.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586453,-0.797148,-0.143624],[0.724553,0.437024,0.532947],[-0.362071,-0.416611,0.833871]] 2025-10-28T19:11:39.236Z,1761678699.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597517,-0.789387,-0.140860],[0.719603,0.450386,0.528511],[-0.353759,-0.417158,0.837158]] 2025-10-28T19:11:39.638Z,1761678699.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609232,-0.780954,-0.137651],[0.714298,0.465053,0.522975],[-0.344404,-0.416937,0.841159]] 2025-10-28T19:11:40.042Z,1761678700.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622483,-0.771229,-0.133116],[0.707691,0.482045,0.516533],[-0.334197,-0.415738,0.845857]] 2025-10-28T19:11:40.854Z,1761678700.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654770,-0.746328,-0.119455],[0.687807,0.522831,0.503556],[-0.313364,-0.411875,0.855664]] 2025-10-28T19:11:41.254Z,1761678701.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673483,-0.730929,-0.110284],[0.673715,0.545554,0.498477],[-0.304186,-0.410015,0.859860]] 2025-10-28T19:11:41.682Z,1761678701.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692925,-0.714218,-0.098731],[0.657172,0.569291,0.493997],[-0.296615,-0.407186,0.863840]] 2025-10-28T19:11:42.078Z,1761678702.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712054,-0.696819,-0.086152],[0.639056,0.592370,0.490618],[-0.290838,-0.404402,0.867106]] 2025-10-28T19:11:42.483Z,1761678702.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730299,-0.679200,-0.073145],[0.619953,0.613980,0.488556],[-0.286918,-0.402138,0.869461]] 2025-10-28T19:11:42.527Z,1761678702.527 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:11:42.527Z,1761678702.527 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:11:42.527Z,1761678702.527 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:11:42.532Z,1761678702.532 [marl:UpdateRudder:A] Stopped 2025-10-28T19:11:42.532Z,1761678702.532 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:11:42.887Z,1761678702.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747691,-0.661275,-0.060601],[0.599878,0.633483,0.488718],[-0.284787,-0.401763,0.870335]] 2025-10-28T19:11:42.965Z,1761678702.965 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:11:42.965Z,1761678702.965 [marl:UpdateRudder:B] Stopped 2025-10-28T19:11:42.966Z,1761678702.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:11:42.966Z,1761678702.966 [marl:UpdateRudder] Stopped 2025-10-28T19:11:42.966Z,1761678702.966 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:11:43.284Z,1761678703.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:11:43.311Z,1761678703.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763762,-0.643768,-0.047224],[0.579641,0.651807,0.489043],[-0.284049,-0.400886,0.870980]] 2025-10-28T19:11:43.695Z,1761678703.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778355,-0.626836,-0.035207],[0.559856,0.667622,0.490756],[-0.284119,-0.401694,0.870585]] 2025-10-28T19:11:43.740Z,1761678703.740 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:11:43.748Z,1761678703.748 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:11:43.748Z,1761678703.748 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateCommandMode] Stopped 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:11:43.749Z,1761678703.749 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:11:43.750Z,1761678703.750 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:11:43.750Z,1761678703.750 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:11:43.750Z,1761678703.750 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:11:43.750Z,1761678703.750 [marl:UpdateSpeed] Stopped 2025-10-28T19:11:43.750Z,1761678703.750 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:11:44.105Z,1761678704.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804633,-0.593606,-0.014061],[0.521195,0.694738,0.495676],[-0.284467,-0.406166,0.868394]] 2025-10-28T19:11:44.289Z,1761678704.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:11:44.510Z,1761678704.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816109,-0.577894,-0.002371],[0.502867,0.708122,0.495669],[-0.284766,-0.405712,0.868508]] 2025-10-28T19:11:44.911Z,1761678704.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826186,-0.563345,0.007727],[0.486077,0.719667,0.495790],[-0.284861,-0.405859,0.868408]] 2025-10-28T19:11:45.325Z,1761678705.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835196,-0.549731,0.015575],[0.470940,0.729542,0.495968],[-0.284012,-0.406896,0.868201]] 2025-10-28T19:11:45.717Z,1761678705.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843214,-0.537075,0.023247],[0.457071,0.739029,0.494896],[-0.282976,-0.406678,0.868641]] 2025-10-28T19:11:46.120Z,1761678706.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850323,-0.525315,0.031536],[0.444474,0.748968,0.491415],[-0.281767,-0.403845,0.870354]] 2025-10-28T19:11:46.523Z,1761678706.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856472,-0.514649,0.039899],[0.433316,0.758815,0.486247],[-0.280522,-0.399168,0.872910]] 2025-10-28T19:11:46.926Z,1761678706.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861937,-0.504856,0.046752],[0.423333,0.767354,0.481618],[-0.279023,-0.395333,0.875133]] 2025-10-28T19:11:47.337Z,1761678707.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867338,-0.494957,0.052363],[0.413431,0.775034,0.477909],[-0.277128,-0.392861,0.876847]] 2025-10-28T19:11:47.737Z,1761678707.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872735,-0.484761,0.057796],[0.403535,0.782947,0.473448],[-0.274761,-0.389872,0.878924]] 2025-10-28T19:11:48.138Z,1761678708.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878207,-0.474140,0.062796],[0.393048,0.790267,0.470097],[-0.272518,-0.388161,0.880378]] 2025-10-28T19:11:48.542Z,1761678708.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883762,-0.462981,0.067928],[0.381965,0.797607,0.466826],[-0.270311,-0.386617,0.881737]] 2025-10-28T19:11:48.947Z,1761678708.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889885,-0.450014,0.074775],[0.368937,0.806364,0.462236],[-0.268309,-0.383749,0.883599]] 2025-10-28T19:11:49.353Z,1761678709.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896702,-0.434901,0.082384],[0.352997,0.814908,0.459693],[-0.267056,-0.383127,0.884248]] 2025-10-28T19:11:49.758Z,1761678709.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904307,-0.416781,0.092319],[0.333346,0.824541,0.457179],[-0.266664,-0.382655,0.884570]] 2025-10-28T19:11:50.567Z,1761678710.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918985,-0.375724,0.119579],[0.286779,0.845055,0.451265],[-0.270602,-0.380413,0.884342]] 2025-10-28T19:11:50.968Z,1761678710.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925092,-0.354545,0.136024],[0.262146,0.855395,0.446743],[-0.274745,-0.377620,0.884262]] 2025-10-28T19:11:51.372Z,1761678711.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930112,-0.334212,0.152296],[0.237825,0.864048,0.443689],[-0.279877,-0.376460,0.883146]] 2025-10-28T19:11:51.780Z,1761678711.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934342,-0.313817,0.168890],[0.213559,0.872429,0.439614],[-0.285303,-0.374682,0.882165]] 2025-10-28T19:11:52.178Z,1761678712.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937682,-0.294327,0.184727],[0.190284,0.879715,0.435768],[-0.290765,-0.373461,0.880899]] 2025-10-28T19:11:52.642Z,1761678712.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939902,-0.276914,0.199756],[0.169328,0.886049,0.431561],[-0.296499,-0.371801,0.879689]] 2025-10-28T19:11:52.986Z,1761678712.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941634,-0.259667,0.214240],[0.148657,0.891740,0.427436],[-0.302037,-0.370640,0.878294]] 2025-10-28T19:11:53.390Z,1761678713.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943158,-0.240152,0.229740],[0.125367,0.897285,0.423277],[-0.307792,-0.370415,0.876388]] 2025-10-28T19:11:53.804Z,1761678713.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944054,-0.219102,0.246488],[0.099470,0.901773,0.420607],[-0.314432,-0.372558,0.873117]] 2025-10-28T19:11:54.199Z,1761678714.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943801,-0.198214,0.264482],[0.073702,0.906281,0.416201],[-0.322192,-0.373318,0.869958]] 2025-10-28T19:11:54.645Z,1761678714.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942531,-0.178556,0.282406],[0.050172,0.911278,0.408723],[-0.330330,-0.371065,0.867867]] 2025-10-28T19:11:55.042Z,1761678715.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940510,-0.162947,0.298143],[0.031011,0.915001,0.402258],[-0.338348,-0.369082,0.865621]] 2025-10-28T19:11:55.433Z,1761678715.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938435,-0.150544,0.310927],[0.015207,0.917181,0.398179],[-0.345120,-0.368937,0.863005]] 2025-10-28T19:11:55.834Z,1761678715.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936601,-0.140104,0.321168],[0.001079,0.917732,0.397198],[-0.350396,-0.371670,0.859700]] 2025-10-28T19:11:55.858Z,1761678715.858 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:11:55.858Z,1761678715.858 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:11:55.858Z,1761678715.858 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:11:55.858Z,1761678715.858 [marl:UpdateRudder:A] Stopped 2025-10-28T19:11:55.859Z,1761678715.859 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:11:56.250Z,1761678716.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935028,-0.131101,0.329446],[-0.012305,0.916576,0.399670],[-0.354360,-0.377757,0.855412]] 2025-10-28T19:11:56.274Z,1761678716.274 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:11:56.274Z,1761678716.274 [marl:UpdateRudder:B] Stopped 2025-10-28T19:11:56.274Z,1761678716.274 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:11:56.274Z,1761678716.274 [marl:UpdateRudder] Stopped 2025-10-28T19:11:56.274Z,1761678716.274 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:11:56.659Z,1761678716.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933563,-0.122097,0.336974],[-0.025810,0.914844,0.402981],[-0.357482,-0.384906,0.850914]] 2025-10-28T19:11:57.089Z,1761678717.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932125,-0.112195,0.344318],[-0.039452,0.913677,0.404521],[-0.359980,-0.390649,0.847235]] 2025-10-28T19:11:57.125Z,1761678717.125 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:11:57.125Z,1761678717.125 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:11:57.125Z,1761678717.125 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateCommandMode] Stopped 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:11:57.126Z,1761678717.126 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:11:57.127Z,1761678717.127 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:11:57.127Z,1761678717.127 [marl:UpdateSpeed] Stopped 2025-10-28T19:11:57.127Z,1761678717.127 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:11:57.489Z,1761678717.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930662,-0.101675,0.351470],[-0.052818,0.913216,0.404038],[-0.362049,-0.394587,0.844525]] 2025-10-28T19:11:57.890Z,1761678717.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928955,-0.091213,0.358780],[-0.065558,0.913317,0.401938],[-0.364342,-0.396903,0.842451]] 2025-10-28T19:11:58.302Z,1761678718.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926416,-0.074788,0.368999],[-0.084805,0.913437,0.398047],[-0.366826,-0.400050,0.839880]] 2025-10-28T19:11:58.699Z,1761678718.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923210,-0.055415,0.380279],[-0.106777,0.913595,0.392355],[-0.369164,-0.402831,0.837523]] 2025-10-28T19:11:59.106Z,1761678719.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919514,-0.036279,0.391378],[-0.127901,0.913922,0.385211],[-0.371665,-0.404264,0.835725]] 2025-10-28T19:11:59.506Z,1761678719.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915596,-0.018132,0.401690],[-0.147261,0.914457,0.376938],[-0.374163,-0.404276,0.834603]] 2025-10-28T19:11:59.911Z,1761678719.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911203,0.000983,0.411957],[-0.166220,0.915860,0.365475],[-0.376935,-0.401497,0.834697]] 2025-10-28T19:12:00.319Z,1761678720.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905522,0.021479,0.423756],[-0.186766,0.916938,0.352623],[-0.380984,-0.398451,0.834319]] 2025-10-28T19:12:00.720Z,1761678720.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898544,0.045323,0.436538],[-0.210106,0.917691,0.337191],[-0.385325,-0.394700,0.834108]] 2025-10-28T19:12:01.123Z,1761678721.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890583,0.072748,0.448965],[-0.236129,0.917622,0.319708],[-0.388723,-0.390740,0.834396]] 2025-10-28T19:12:01.526Z,1761678721.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882859,0.099665,0.458940],[-0.261636,0.915906,0.304405],[-0.390008,-0.388822,0.834692]] 2025-10-28T19:12:01.931Z,1761678721.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875234,0.125985,0.467004],[-0.287179,0.912249,0.292114],[-0.389222,-0.389782,0.834611]] 2025-10-28T19:12:02.337Z,1761678722.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867129,0.150382,0.474840],[-0.311374,0.907751,0.281131],[-0.388759,-0.391630,0.833962]] 2025-10-28T19:12:02.738Z,1761678722.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859187,0.169639,0.482721],[-0.330877,0.903836,0.271294],[-0.390278,-0.392814,0.832694]] 2025-10-28T19:12:03.143Z,1761678723.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850630,0.188321,0.490880],[-0.349265,0.900273,0.259851],[-0.392991,-0.392485,0.831573]] 2025-10-28T19:12:03.548Z,1761678723.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841541,0.206104,0.499329],[-0.366701,0.896705,0.247893],[-0.396659,-0.391716,0.830193]] 2025-10-28T19:12:03.950Z,1761678723.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832115,0.223252,0.507685],[-0.383107,0.893281,0.235110],[-0.401016,-0.390137,0.828842]] 2025-10-28T19:12:04.354Z,1761678724.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822606,0.241079,0.514976],[-0.399315,0.889690,0.221358],[-0.404804,-0.387728,0.828131]] 2025-10-28T19:12:04.767Z,1761678724.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813712,0.259809,0.519974],[-0.416416,0.884680,0.209615],[-0.405550,-0.387092,0.828063]] 2025-10-28T19:12:05.162Z,1761678725.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806421,0.277784,0.522036],[-0.432582,0.879019,0.200494],[-0.403186,-0.387506,0.829024]] 2025-10-28T19:12:05.567Z,1761678725.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801138,0.290049,0.523497],[-0.444667,0.873922,0.196295],[-0.400560,-0.390041,0.829107]] 2025-10-28T19:12:05.971Z,1761678725.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797469,0.299048,0.524035],[-0.453612,0.869848,0.193910],[-0.397843,-0.392346,0.829328]] 2025-10-28T19:12:06.377Z,1761678726.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793466,0.309914,0.523799],[-0.464987,0.863982,0.193188],[-0.392681,-0.396848,0.829646]] 2025-10-28T19:12:06.788Z,1761678726.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788275,0.323495,0.523425],[-0.480354,0.855145,0.194901],[-0.384555,-0.405065,0.829482]] 2025-10-28T19:12:07.183Z,1761678727.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780345,0.336233,0.527266],[-0.498771,0.843236,0.200449],[-0.377213,-0.419404,0.825718]] 2025-10-28T19:12:07.586Z,1761678727.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768777,0.345915,0.537890],[-0.517385,0.830788,0.205194],[-0.375892,-0.436044,0.817662]] 2025-10-28T19:12:07.993Z,1761678727.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752812,0.359438,0.551433],[-0.536847,0.820023,0.198388],[-0.380880,-0.445384,0.810286]] 2025-10-28T19:12:08.395Z,1761678728.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736426,0.381837,0.558460],[-0.554651,0.813421,0.175241],[-0.387350,-0.438802,0.810810]] 2025-10-28T19:12:08.805Z,1761678728.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726796,0.406438,0.553693],[-0.565122,0.812035,0.145725],[-0.390390,-0.418816,0.819871]] 2025-10-28T19:12:08.853Z,1761678728.853 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:12:08.853Z,1761678728.853 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:12:08.854Z,1761678728.854 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:12:08.854Z,1761678728.854 [marl:UpdateRudder:A] Stopped 2025-10-28T19:12:08.854Z,1761678728.854 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:12:09.209Z,1761678729.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724897,0.428455,0.539398],[-0.572932,0.809739,0.126771],[-0.382456,-0.400935,0.832453]] 2025-10-28T19:12:09.233Z,1761678729.233 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:12:09.233Z,1761678729.233 [marl:UpdateRudder:B] Stopped 2025-10-28T19:12:09.234Z,1761678729.234 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:12:09.234Z,1761678729.234 [marl:UpdateRudder] Stopped 2025-10-28T19:12:09.234Z,1761678729.234 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:12:09.607Z,1761678729.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724130,0.449537,0.523023],[-0.589196,0.797401,0.130383],[-0.358447,-0.402577,0.842287]] 2025-10-28T19:12:10.011Z,1761678730.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714860,0.469965,0.517792],[-0.617219,0.772098,0.151346],[-0.328659,-0.427781,0.842013]] 2025-10-28T19:12:10.459Z,1761678730.459 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:12:10.459Z,1761678730.459 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:12:10.460Z,1761678730.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateCommandMode] Stopped 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:12:10.461Z,1761678730.461 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:12:10.462Z,1761678730.462 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:12:10.462Z,1761678730.462 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:12:10.462Z,1761678730.462 [marl:UpdateSpeed] Stopped 2025-10-28T19:12:10.462Z,1761678730.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:12:10.819Z,1761678730.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661931,0.494041,0.563711],[-0.674408,0.720763,0.160232],[-0.327141,-0.486234,0.810281]] 2025-10-28T19:12:11.224Z,1761678731.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640120,0.514588,0.570479],[-0.683987,0.719864,0.118146],[-0.349870,-0.465827,0.812770]] 2025-10-28T19:12:11.626Z,1761678731.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634601,0.552952,0.539931],[-0.678828,0.732765,0.047417],[-0.369423,-0.396611,0.840372]] 2025-10-28T19:12:12.033Z,1761678732.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626841,0.609515,0.485348],[-0.682371,0.730138,-0.035629],[-0.376087,-0.308854,0.873595]] 2025-10-28T19:12:12.435Z,1761678732.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612861,0.651021,0.447853],[-0.696429,0.712794,-0.083130],[-0.373346,-0.260951,0.890234]] 2025-10-28T19:12:12.838Z,1761678732.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590769,0.666405,0.454859],[-0.717903,0.691458,-0.080632],[-0.368250,-0.278910,0.886905]] 2025-10-28T19:12:13.301Z,1761678733.301 [marl:NeedComms:C] Running Loop=1 2025-10-28T19:12:13.646Z,1761678733.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569602,0.665957,0.481721],[-0.733130,0.676627,-0.068530],[-0.371583,-0.314129,0.873641]] 2025-10-28T19:12:13.672Z,1761678733.672 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:12:13.756Z,1761678733.756 [Radio_Surface](INFO): Powering up 2025-10-28T19:12:13.790Z,1761678733.790 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:12:13.790Z,1761678733.790 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:12:14.041Z,1761678734.041 [DAT](INFO): DAT read: 2025-10-28T19:12:14.041Z,1761678734.041 [DAT](INFO): DAT read: Tx time:19:12:13.7845 2025-10-28T19:12:14.042Z,1761678734.042 [DAT](INFO): Ping request sent. 2025-10-28T19:12:14.042Z,1761678734.042 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:12:14.042Z,1761678734.042 [DAT](INFO): publishing transmit ping time 2025-10-28T19:12:14.043Z,1761678734.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T19:12:14.294Z,1761678734.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251707 2025-10-28T19:12:14.409Z,1761678734.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:12:14.455Z,1761678734.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548566,0.672356,0.497003],[-0.750625,0.657863,-0.061469],[-0.368289,-0.339343,0.865569]] 2025-10-28T19:12:14.545Z,1761678734.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503216 2025-10-28T19:12:14.797Z,1761678734.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755119 2025-10-28T19:12:14.858Z,1761678734.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531280,0.677605,0.508520],[-0.774870,0.631325,-0.031692],[-0.342516,-0.377200,0.860467]] 2025-10-28T19:12:15.049Z,1761678735.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007232 2025-10-28T19:12:15.271Z,1761678735.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496947,0.699978,0.512907],[-0.822346,0.568609,0.020761],[-0.277111,-0.432105,0.858193]] 2025-10-28T19:12:15.301Z,1761678735.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258984 2025-10-28T19:12:15.412Z,1761678735.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:12:15.553Z,1761678735.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511152 2025-10-28T19:12:15.694Z,1761678735.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491506,0.719218,0.491068],[-0.860575,0.487579,0.147236],[-0.133540,-0.494968,0.858588]] 2025-10-28T19:12:15.805Z,1761678735.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763238 2025-10-28T19:12:16.057Z,1761678736.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015012 2025-10-28T19:12:16.087Z,1761678736.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498315,0.731891,0.464777],[-0.865513,0.451282,0.217328],[-0.050685,-0.510568,0.858342]] 2025-10-28T19:12:16.310Z,1761678736.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268297 2025-10-28T19:12:16.491Z,1761678736.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494448,0.754843,0.430967],[-0.867036,0.463345,0.183197],[-0.061401,-0.464245,0.883576]] 2025-10-28T19:12:16.561Z,1761678736.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519672 2025-10-28T19:12:16.813Z,1761678736.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060 2025-10-28T19:12:16.895Z,1761678736.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481283,0.814501,0.323967],[-0.873382,0.477053,0.098107],[-0.074642,-0.330164,0.940968]] 2025-10-28T19:12:17.065Z,1761678737.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023102 2025-10-28T19:12:17.317Z,1761678737.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275090 2025-10-28T19:12:17.569Z,1761678737.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527047 2025-10-28T19:12:17.702Z,1761678737.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438522,0.893888,0.093075],[-0.896215,0.442676,-0.028923],[-0.067056,-0.070731,0.995239]] 2025-10-28T19:12:17.821Z,1761678737.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779175 2025-10-28T19:12:18.073Z,1761678738.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031122 2025-10-28T19:12:18.113Z,1761678738.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438371,0.897127,0.054712],[-0.897799,0.439938,-0.020308],[-0.042289,-0.040218,0.998296]] 2025-10-28T19:12:18.325Z,1761678738.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283061 2025-10-28T19:12:18.511Z,1761678738.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439971,0.895366,0.068880],[-0.897360,0.441279,-0.004277],[-0.034225,-0.059929,0.997616]] 2025-10-28T19:12:18.579Z,1761678738.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537168 2025-10-28T19:12:18.829Z,1761678738.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787146 2025-10-28T19:12:18.915Z,1761678738.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445823,0.887979,0.112849],[-0.894447,0.446825,0.017668],[-0.034734,-0.108814,0.993455]] 2025-10-28T19:12:19.008Z,1761678739.008 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T19:12:19.009Z,1761678739.009 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T19:12:19.081Z,1761678739.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039094 2025-10-28T19:12:19.319Z,1761678739.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436930,0.884856,0.161624],[-0.897368,0.441154,0.010696],[-0.061837,-0.149710,0.986794]] 2025-10-28T19:12:19.334Z,1761678739.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291969 2025-10-28T19:12:19.585Z,1761678739.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543121 2025-10-28T19:12:19.746Z,1761678739.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373396,0.912135,0.169069],[-0.927025,0.373692,0.031287],[-0.034642,-0.168414,0.985107]] 2025-10-28T19:12:19.837Z,1761678739.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795663 2025-10-28T19:12:20.089Z,1761678740.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047055 2025-10-28T19:12:20.157Z,1761678740.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352439,0.927711,0.123038],[-0.934484,0.341815,0.099509],[0.050260,-0.150048,0.987400]] 2025-10-28T19:12:20.341Z,1761678740.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299150 2025-10-28T19:12:20.596Z,1761678740.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553503 2025-10-28T19:12:20.845Z,1761678740.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803709 2025-10-28T19:12:20.941Z,1761678740.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364169,0.926674,0.093045],[-0.927485,0.351777,0.126590],[0.084576,-0.132398,0.987582]] 2025-10-28T19:12:21.097Z,1761678741.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055135 2025-10-28T19:12:21.345Z,1761678741.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324151,0.940105,0.105496],[-0.945974,0.323030,0.028020],[-0.007736,-0.108879,0.994025]] 2025-10-28T19:12:21.349Z,1761678741.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307176 2025-10-28T19:12:21.601Z,1761678741.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559072 2025-10-28T19:12:21.757Z,1761678741.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289668,0.953497,0.083277],[-0.957124,0.288803,0.022522],[-0.002576,-0.086230,0.996272]] 2025-10-28T19:12:21.857Z,1761678741.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815277 2025-10-28T19:12:22.109Z,1761678742.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067057 2025-10-28T19:12:22.158Z,1761678742.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261560,0.962617,0.070390],[-0.964572,0.258093,0.054678],[0.034467,-0.082198,0.996020]] 2025-10-28T19:12:22.214Z,1761678742.214 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:12:22.214Z,1761678742.214 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:12:22.214Z,1761678742.214 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:12:22.215Z,1761678742.215 [marl:UpdateRudder:A] Stopped 2025-10-28T19:12:22.215Z,1761678742.215 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:12:22.362Z,1761678742.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319717 2025-10-28T19:12:22.558Z,1761678742.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252851,0.963019,0.093062],[-0.965596,0.245142,0.086775],[0.060752,-0.111802,0.991872]] 2025-10-28T19:12:22.633Z,1761678742.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590154 2025-10-28T19:12:22.665Z,1761678742.665 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:12:22.665Z,1761678742.665 [marl:UpdateRudder:B] Stopped 2025-10-28T19:12:22.665Z,1761678742.665 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:12:22.665Z,1761678742.665 [marl:UpdateRudder] Stopped 2025-10-28T19:12:22.665Z,1761678742.665 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:12:22.881Z,1761678742.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.839098 2025-10-28T19:12:22.957Z,1761678742.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227392,0.966383,0.119989],[-0.972240,0.218318,0.084186],[0.055160,-0.135801,0.989199]] 2025-10-28T19:12:23.134Z,1761678743.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.092366 2025-10-28T19:12:23.363Z,1761678743.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209969,0.967153,0.143279],[-0.974585,0.195335,0.109671],[0.078081,-0.162665,0.983587]] 2025-10-28T19:12:23.385Z,1761678743.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343108 2025-10-28T19:12:23.637Z,1761678743.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595058 2025-10-28T19:12:23.785Z,1761678743.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209513,0.972272,0.103881],[-0.976508,0.202580,0.073433],[0.050353,-0.116825,0.991875]] 2025-10-28T19:12:23.833Z,1761678743.833 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode] Stopped 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:12:23.834Z,1761678743.834 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:12:23.835Z,1761678743.835 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:12:23.835Z,1761678743.835 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:12:23.835Z,1761678743.835 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:12:23.835Z,1761678743.835 [marl:UpdateSpeed] Stopped 2025-10-28T19:12:23.835Z,1761678743.835 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:12:23.890Z,1761678743.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.847803 2025-10-28T19:12:24.144Z,1761678744.144 [DAT](INFO): Reached modem response timeout 2025-10-28T19:12:24.167Z,1761678744.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170649,0.983560,0.059065],[-0.984596,0.167899,0.048784],[0.038065,-0.066480,0.997061]] 2025-10-28T19:12:24.584Z,1761678744.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166630,0.983811,0.065961],[-0.985062,0.163148,0.055095],[0.043442,-0.074156,0.996300]] 2025-10-28T19:12:24.977Z,1761678744.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154662,0.984901,0.077778],[-0.984568,0.147126,0.094766],[0.081892,-0.091234,0.992456]] 2025-10-28T19:12:25.379Z,1761678745.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143795,0.986243,0.081533],[-0.982828,0.132697,0.128218],[0.115635,-0.098570,0.988389]] 2025-10-28T19:12:25.791Z,1761678745.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109192,0.989973,0.089612],[-0.989854,0.100046,0.100894],[0.090917,-0.099719,0.990853]] 2025-10-28T19:12:26.187Z,1761678746.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093511,0.989785,0.107617],[-0.994493,0.087720,0.057351],[0.047325,-0.112387,0.992537]] 2025-10-28T19:12:26.409Z,1761678746.409 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:12:26.409Z,1761678746.409 [DAT](INFO): response not received 2025-10-28T19:12:26.409Z,1761678746.409 [DAT](ERROR): No response from remote modem. 2025-10-28T19:12:26.629Z,1761678746.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115760,0.988220,0.100106],[-0.993102,0.117044,-0.007030],[-0.018664,-0.098601,0.994952]] 2025-10-28T19:12:26.995Z,1761678746.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100405,0.989874,0.100338],[-0.994187,0.103757,-0.028757],[-0.038877,-0.096868,0.994538]] 2025-10-28T19:12:27.398Z,1761678747.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067733,0.991229,0.113480],[-0.997694,0.066788,0.012117],[0.004432,-0.114039,0.993466]] 2025-10-28T19:12:27.817Z,1761678747.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050573,0.993750,0.099520],[-0.997766,0.045919,0.048515],[0.043642,-0.101751,0.993852]] 2025-10-28T19:12:28.206Z,1761678748.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050224,0.993367,0.103443],[-0.998734,0.050231,0.002540],[-0.002673,-0.103440,0.994632]] 2025-10-28T19:12:28.641Z,1761678748.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006927,0.988451,0.151385],[-0.998341,0.015489,-0.055455],[-0.057159,-0.150749,0.986918]] 2025-10-28T19:12:29.014Z,1761678749.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020892,0.987896,0.153703],[-0.998059,-0.011586,-0.061194],[-0.058673,-0.154683,0.986220]] 2025-10-28T19:12:29.420Z,1761678749.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036534,0.988706,0.145344],[-0.999158,-0.033424,-0.023783],[-0.018657,-0.146091,0.989095]] 2025-10-28T19:12:29.822Z,1761678749.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064538,0.990239,0.123536],[-0.997520,-0.067501,0.019951],[0.028095,-0.121942,0.992139]] 2025-10-28T19:12:30.226Z,1761678750.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067987,0.993699,0.089103],[-0.995631,-0.073305,0.057835],[0.064002,-0.084781,0.994342]] 2025-10-28T19:12:30.647Z,1761678750.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059459,0.995606,0.072337],[-0.995376,-0.064610,0.071072],[0.075434,-0.067776,0.994845]] 2025-10-28T19:12:31.034Z,1761678751.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078604,0.993036,0.087755],[-0.994085,-0.084694,0.067985],[0.074944,-0.081892,0.993819]] 2025-10-28T19:12:31.438Z,1761678751.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127737,0.986017,0.107018],[-0.987633,-0.136347,0.077405],[0.090914,-0.095807,0.991239]] 2025-10-28T19:12:31.847Z,1761678751.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101971,0.989499,0.102435],[-0.991519,-0.109436,0.070096],[0.080570,-0.094419,0.992267]] 2025-10-28T19:12:32.259Z,1761678752.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105557,0.983407,0.147538],[-0.993744,-0.109761,0.020625],[0.036477,-0.144437,0.988841]] 2025-10-28T19:12:32.651Z,1761678752.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163383,0.973069,0.162611],[-0.986320,-0.164762,-0.005061],[0.021867,-0.161213,0.986677]] 2025-10-28T19:12:33.054Z,1761678753.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190177,0.972827,0.132063],[-0.980816,-0.194135,0.017654],[0.042812,-0.126172,0.991084]] 2025-10-28T19:12:33.460Z,1761678753.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169991,0.981560,0.087429],[-0.984208,-0.173552,0.034833],[0.049365,-0.080127,0.995562]] 2025-10-28T19:12:33.862Z,1761678753.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153092,0.987169,0.045381],[-0.988210,-0.152849,-0.008814],[-0.001764,-0.046195,0.998931]] 2025-10-28T19:12:34.269Z,1761678754.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165425,0.985127,0.046473],[-0.985892,-0.163966,-0.033654],[-0.025534,-0.051385,0.998352]] 2025-10-28T19:12:34.670Z,1761678754.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187835,0.978408,0.086225],[-0.982142,-0.186143,-0.027333],[-0.010693,-0.089820,0.995901]] 2025-10-28T19:12:35.075Z,1761678755.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207815,0.972291,0.107068],[-0.978079,-0.205071,-0.036150],[-0.013191,-0.112233,0.993594]] 2025-10-28T19:12:35.478Z,1761678755.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235427,0.964734,0.117734],[-0.971292,-0.229293,-0.063378],[-0.034147,-0.129275,0.991021]] 2025-10-28T19:12:35.682Z,1761678755.682 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:12:35.682Z,1761678755.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:12:35.682Z,1761678755.682 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:12:35.683Z,1761678755.683 [marl:UpdateRudder:A] Stopped 2025-10-28T19:12:35.683Z,1761678755.683 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:12:35.935Z,1761678755.935 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:12:35.935Z,1761678755.935 [marl:UpdateRudder:B] Stopped 2025-10-28T19:12:35.935Z,1761678755.935 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:12:35.935Z,1761678755.935 [marl:UpdateRudder] Stopped 2025-10-28T19:12:35.935Z,1761678755.935 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:12:36.288Z,1761678756.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238085,0.968267,0.075986],[-0.961155,-0.223642,-0.161756],[-0.139630,-0.111546,0.983901]] 2025-10-28T19:12:36.690Z,1761678756.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277349,0.955114,0.104087],[-0.953287,-0.260076,-0.153636],[-0.119670,-0.141835,0.982630]] 2025-10-28T19:12:37.095Z,1761678757.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319784,0.933686,0.161151],[-0.947469,-0.313965,-0.061061],[-0.006416,-0.172212,0.985039]] 2025-10-28T19:12:37.134Z,1761678757.134 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode] Stopped 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:12:37.135Z,1761678757.135 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:12:37.136Z,1761678757.136 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:12:37.140Z,1761678757.140 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:12:37.141Z,1761678757.141 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:12:37.141Z,1761678757.141 [marl:UpdateSpeed] Stopped 2025-10-28T19:12:37.141Z,1761678757.141 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:12:37.499Z,1761678757.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334302,0.930018,0.152670],[-0.942197,-0.333661,-0.030578],[0.022501,-0.154068,0.987804]] 2025-10-28T19:12:37.911Z,1761678757.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342019,0.935266,0.091105],[-0.939643,-0.339392,-0.043397],[-0.009668,-0.100449,0.994895]] 2025-10-28T19:12:38.307Z,1761678758.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323106,0.945888,0.029972],[-0.946348,-0.322762,-0.015812],[-0.005283,-0.033473,0.999426]] 2025-10-28T19:12:38.711Z,1761678758.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325942,0.945159,0.020880],[-0.944658,-0.326479,0.032120],[0.037176,-0.009255,0.999266]] 2025-10-28T19:12:39.114Z,1761678759.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381481,0.919631,0.093549],[-0.914157,-0.390334,0.109349],[0.137076,-0.043804,0.989592]] 2025-10-28T19:12:39.522Z,1761678759.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388018,0.911329,0.137554],[-0.906184,-0.404462,0.123455],[0.168144,-0.076746,0.982770]] 2025-10-28T19:12:39.929Z,1761678759.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385644,0.911131,0.145327],[-0.917408,-0.395430,0.044694],[0.098189,-0.116088,0.988374]] 2025-10-28T19:12:39.935Z,1761678759.935 [NAL9602](INFO): SBD MO Status=0, MOMSN=3325, MT Status=0, MTMSN=0 2025-10-28T19:12:39.935Z,1761678759.935 [NAL9602](INFO): No messages in MT queue 2025-10-28T19:12:40.738Z,1761678760.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403718,0.900443,0.161906],[-0.912749,-0.408501,-0.004080],[0.062464,-0.149426,0.986798]] 2025-10-28T19:12:41.134Z,1761678761.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405012,0.904421,0.134122],[-0.910106,-0.412841,0.035624],[0.087590,-0.107637,0.990324]] 2025-10-28T19:12:41.141Z,1761678761.141 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191240.00,A,3645.91690,N,12151.62531,W,0.680,202.78,281025,,,A*78 2025-10-28T19:12:41.146Z,1761678761.146 [NAL9602](INFO): GPS fix at 20251028T191240: (36.765282, -121.860422) 2025-10-28T19:12:41.163Z,1761678761.163 [UniversalFixResidualReporter](INFO): Fix residual: 3.7 %DT, over the last 1033.5 m. Residual distance 38.6 m at bearing 13.9 degrees. Fix at (36.7653, -121.8604) with 181.6 m made good. 2025-10-28T19:12:41.198Z,1761678761.198 [marl:NeedComms:C] Stopped 2025-10-28T19:12:41.198Z,1761678761.198 [marl:NeedComms:D] Running Loop=1 2025-10-28T19:12:41.199Z,1761678761.199 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761678720.00. Resetting abort timer. 2025-10-28T19:12:41.543Z,1761678761.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412888,0.906246,0.090778],[-0.908537,-0.416813,0.028766],[0.063907,-0.070598,0.995456]] 2025-10-28T19:12:41.943Z,1761678761.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450285,0.889508,0.077581],[-0.892281,-0.451475,-0.002450],[0.032847,-0.070327,0.996983]] 2025-10-28T19:12:42.346Z,1761678762.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486401,0.865627,0.118762],[-0.869241,-0.493177,0.034586],[0.088509,-0.086410,0.992320]] 2025-10-28T19:12:42.758Z,1761678762.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488277,0.861515,0.139205],[-0.867184,-0.496873,0.033312],[0.097866,-0.104451,0.989703]] 2025-10-28T19:12:43.155Z,1761678763.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501178,0.856003,0.126806],[-0.863949,-0.503287,-0.017165],[0.049127,-0.118157,0.991779]] 2025-10-28T19:12:43.560Z,1761678763.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537584,0.826285,0.168098],[-0.837746,-0.546039,0.004910],[0.095845,-0.138184,0.985758]] 2025-10-28T19:12:43.962Z,1761678763.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545752,0.810163,0.213987],[-0.818008,-0.570478,0.073606],[0.181708,-0.134873,0.974059]] 2025-10-28T19:12:44.368Z,1761678764.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527462,0.833784,0.163056],[-0.837163,-0.542783,0.067416],[0.144715,-0.100945,0.984311]] 2025-10-28T19:12:44.778Z,1761678764.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552878,0.831498,0.054197],[-0.833260,-0.551573,-0.038005],[-0.001708,-0.066172,0.997807]] 2025-10-28T19:12:45.305Z,1761678765.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610821,0.789409,0.061079],[-0.790639,-0.604013,-0.100289],[-0.042276,-0.109551,0.993082]] 2025-10-28T19:12:45.544Z,1761678765.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:12:46.548Z,1761678766.548 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T19:12:46.548Z,1761678766.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:12:47.463Z,1761678767.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709301,0.701508,0.069134],[-0.704823,-0.704293,-0.084828],[-0.010817,-0.108896,0.993994]] 2025-10-28T19:12:47.863Z,1761678767.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720881,0.687405,0.088347],[-0.689636,-0.724123,0.007016],[0.068797,-0.055869,0.996065]] 2025-10-28T19:12:48.266Z,1761678768.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721544,0.682231,0.118046],[-0.685665,-0.727763,0.014957],[0.096114,-0.070148,0.992895]] 2025-10-28T19:12:48.671Z,1761678768.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735063,0.671355,0.094678],[-0.675971,-0.736476,-0.025823],[0.052392,-0.082981,0.995173]] 2025-10-28T19:12:49.075Z,1761678769.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751208,0.658149,0.050274],[-0.659830,-0.746720,-0.083869],[-0.017658,-0.096175,0.995208]] 2025-10-28T19:12:49.485Z,1761678769.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760246,0.644966,0.077746],[-0.649635,-0.754724,-0.091466],[-0.000316,-0.120044,0.992769]] 2025-10-28T19:12:49.883Z,1761678769.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762421,0.637971,0.108196],[-0.645823,-0.760648,-0.065783],[0.040331,-0.120030,0.991951]] 2025-10-28T19:12:50.690Z,1761678770.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787142,0.612161,0.075271],[-0.615073,-0.788158,-0.022191],[0.045741,-0.063765,0.996916]] 2025-10-28T19:12:50.769Z,1761678770.769 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:12:50.769Z,1761678770.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:12:50.769Z,1761678770.769 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:12:50.770Z,1761678770.770 [marl:UpdateRudder:A] Stopped 2025-10-28T19:12:50.770Z,1761678770.770 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:12:51.097Z,1761678771.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797664,0.596129,0.091449],[-0.599139,-0.800614,-0.007026],[0.069027,-0.060395,0.995785]] 2025-10-28T19:12:51.121Z,1761678771.121 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:12:51.121Z,1761678771.121 [marl:UpdateRudder:B] Stopped 2025-10-28T19:12:51.121Z,1761678771.121 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:12:51.121Z,1761678771.121 [marl:UpdateRudder] Stopped 2025-10-28T19:12:51.121Z,1761678771.121 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:12:51.501Z,1761678771.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807573,0.581027,0.101161],[-0.585095,-0.810849,-0.013662],[0.074088,-0.070221,0.994776]] 2025-10-28T19:12:51.902Z,1761678771.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804343,0.584865,0.104717],[-0.590196,-0.806801,-0.027225],[0.068563,-0.083702,0.994129]] 2025-10-28T19:12:52.307Z,1761678772.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801062,0.591487,0.091882],[-0.595747,-0.802741,-0.026325],[0.058187,-0.075826,0.995422]] 2025-10-28T19:12:52.331Z,1761678772.331 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:12:52.331Z,1761678772.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:12:52.332Z,1761678772.332 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:12:52.332Z,1761678772.332 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:12:52.332Z,1761678772.332 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:12:52.332Z,1761678772.332 [marl:UpdateCommandMode] Stopped 2025-10-28T19:12:52.332Z,1761678772.332 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed] Stopped 2025-10-28T19:12:52.333Z,1761678772.333 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:12:52.721Z,1761678772.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807450,0.585925,0.068681],[-0.586606,-0.809785,0.011909],[0.062595,-0.030673,0.997568]] 2025-10-28T19:12:53.114Z,1761678773.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810312,0.578224,0.095141],[-0.573059,-0.815835,0.077559],[0.122466,0.008326,0.992438]] 2025-10-28T19:12:53.522Z,1761678773.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806225,0.579674,0.118234],[-0.567017,-0.814145,0.125139],[0.168799,0.033849,0.985069]] 2025-10-28T19:12:53.924Z,1761678773.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799171,0.596634,0.073165],[-0.590732,-0.802056,0.087993],[0.111183,0.027101,0.993430]] 2025-10-28T19:12:54.326Z,1761678774.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798683,0.593826,0.097342],[-0.594625,-0.803652,0.023754],[0.092335,-0.038910,0.994968]] 2025-10-28T19:12:54.735Z,1761678774.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814559,0.560921,0.147854],[-0.570182,-0.821101,-0.026202],[0.106706,-0.105647,0.988662]] 2025-10-28T19:12:55.135Z,1761678775.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839405,0.535141,0.094994],[-0.542514,-0.835533,-0.086967],[0.032831,-0.124536,0.991672]] 2025-10-28T19:12:55.549Z,1761678775.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843556,0.528988,0.092656],[-0.536777,-0.835914,-0.114535],[0.016865,-0.146353,0.989089]] 2025-10-28T19:12:55.943Z,1761678775.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839817,0.522889,0.145928],[-0.539314,-0.834325,-0.114204],[0.062035,-0.174611,0.982681]] 2025-10-28T19:12:56.346Z,1761678776.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844330,0.525436,0.104999],[-0.535327,-0.835629,-0.123082],[0.023069,-0.160130,0.986826]] 2025-10-28T19:12:56.752Z,1761678776.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845410,0.532255,0.044574],[-0.533022,-0.835385,-0.134237],[-0.034212,-0.137244,0.989946]] 2025-10-28T19:12:57.155Z,1761678777.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846057,0.531598,0.039893],[-0.532639,-0.839877,-0.104420],[-0.022004,-0.109594,0.993733]] 2025-10-28T19:12:57.562Z,1761678777.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859804,0.508156,0.050141],[-0.509924,-0.859616,-0.032223],[0.026728,-0.053274,0.998222]] 2025-10-28T19:12:57.965Z,1761678777.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872575,0.487560,0.029954],[-0.487189,-0.873087,0.019149],[0.035489,0.002115,0.999368]] 2025-10-28T19:12:58.367Z,1761678778.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868911,0.494931,0.006089],[-0.493662,-0.867446,0.061930],[0.035933,0.050806,0.998062]] 2025-10-28T19:12:58.775Z,1761678778.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862535,0.505919,0.008877],[-0.504672,-0.861412,0.057230],[0.036601,0.044883,0.998322]] 2025-10-28T19:12:59.175Z,1761678779.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870991,0.490636,0.025515],[-0.490365,-0.871363,0.016399],[0.030279,0.001772,0.999540]] 2025-10-28T19:12:59.587Z,1761678779.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866138,0.494951,0.069481],[-0.497693,-0.866870,-0.028967],[0.045893,-0.059670,0.997163]] 2025-10-28T19:12:59.983Z,1761678779.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868872,0.483640,0.105613],[-0.491382,-0.868478,-0.065495],[0.060047,-0.108803,0.992248]] 2025-10-28T19:13:00.386Z,1761678780.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870917,0.475293,0.124899],[-0.487190,-0.868365,-0.092672],[0.064411,-0.141559,0.987832]] 2025-10-28T19:13:00.793Z,1761678780.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870280,0.472607,0.138766],[-0.485185,-0.871093,-0.076113],[0.084906,-0.133567,0.987396]] 2025-10-28T19:13:01.203Z,1761678781.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873940,0.473814,0.108305],[-0.477373,-0.878664,-0.008051],[0.091349,-0.058738,0.994085]] 2025-10-28T19:13:01.601Z,1761678781.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879314,0.470637,0.072856],[-0.468710,-0.882320,0.042681],[0.084370,0.003381,0.996429]] 2025-10-28T19:13:02.003Z,1761678782.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874711,0.480145,0.065890],[-0.477332,-0.877042,0.054324],[0.083872,0.016066,0.996347]] 2025-10-28T19:13:02.407Z,1761678782.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863391,0.495241,0.096399],[-0.495572,-0.868284,0.022169],[0.094681,-0.028632,0.995096]] 2025-10-28T19:13:02.812Z,1761678782.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872318,0.470518,0.132943],[-0.480471,-0.875300,-0.054749],[0.090604,-0.111634,0.989610]] 2025-10-28T19:13:03.219Z,1761678783.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889346,0.440955,0.120925],[-0.453557,-0.884259,-0.111229],[0.057882,-0.153768,0.986410]] 2025-10-28T19:13:03.619Z,1761678783.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892624,0.441674,0.090258],[-0.449658,-0.886584,-0.108522],[0.032090,-0.137454,0.989988]] 2025-10-28T19:13:04.023Z,1761678784.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890097,0.444503,0.100723],[-0.452854,-0.887498,-0.085266],[0.051491,-0.121508,0.991254]] 2025-10-28T19:13:04.047Z,1761678784.047 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:13:04.047Z,1761678784.047 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:13:04.047Z,1761678784.047 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:13:04.048Z,1761678784.048 [marl:UpdateRudder:A] Stopped 2025-10-28T19:13:04.048Z,1761678784.048 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:13:04.427Z,1761678784.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899465,0.413288,0.141969],[-0.422648,-0.905307,-0.042294],[0.111046,-0.098044,0.988967]] 2025-10-28T19:13:04.452Z,1761678784.452 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:13:04.452Z,1761678784.452 [marl:UpdateRudder:B] Stopped 2025-10-28T19:13:04.453Z,1761678784.453 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:13:04.453Z,1761678784.453 [marl:UpdateRudder] Stopped 2025-10-28T19:13:04.453Z,1761678784.453 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:13:04.831Z,1761678784.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896410,0.414094,0.158035],[-0.418771,-0.908083,0.004058],[0.145189,-0.062543,0.987425]] 2025-10-28T19:13:05.234Z,1761678785.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895335,0.426026,0.129913],[-0.426649,-0.904088,0.024415],[0.127854,-0.033567,0.991225]] 2025-10-28T19:13:05.639Z,1761678785.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900376,0.433316,0.039514],[-0.433407,-0.901173,0.006658],[0.038493,-0.011131,0.999197]] 2025-10-28T19:13:05.644Z,1761678785.644 [NAL9602](INFO): SBD MO Status=2, MOMSN=3326, MT Status=2, MTMSN=0 2025-10-28T19:13:05.645Z,1761678785.645 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T19:13:05.665Z,1761678785.665 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:13:05.665Z,1761678785.665 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:13:05.665Z,1761678785.665 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:13:05.665Z,1761678785.665 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateCommandMode] Stopped 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:13:05.666Z,1761678785.666 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:13:05.667Z,1761678785.667 [marl:UpdateSpeed] Stopped 2025-10-28T19:13:05.667Z,1761678785.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:13:06.042Z,1761678786.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892875,0.450239,0.007633],[-0.450302,-0.892696,-0.017958],[-0.001271,-0.019472,0.999810]] 2025-10-28T19:13:06.446Z,1761678786.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889625,0.450726,0.073577],[-0.452272,-0.891866,-0.004970],[0.063380,-0.037698,0.997277]] 2025-10-28T19:13:06.851Z,1761678786.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898616,0.426115,0.104478],[-0.427171,-0.904075,0.013186],[0.100074,-0.032781,0.994440]] 2025-10-28T19:13:07.255Z,1761678787.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910914,0.411957,0.022954],[-0.412008,-0.911176,0.002682],[0.022020,-0.007014,0.999733]] 2025-10-28T19:13:07.664Z,1761678787.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888004,0.456782,-0.052900],[-0.456698,-0.889505,-0.014376],[-0.053621,0.011393,0.998496]] 2025-10-28T19:13:08.063Z,1761678788.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868071,0.496403,-0.006035],[-0.495287,-0.866821,-0.057549],[-0.033799,-0.046967,0.998324]] 2025-10-28T19:13:08.466Z,1761678788.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883838,0.461424,0.076925],[-0.467710,-0.874736,-0.126820],[0.008771,-0.148067,0.988938]] 2025-10-28T19:13:08.870Z,1761678788.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906567,0.402382,0.127374],[-0.419901,-0.890368,-0.175864],[0.042645,-0.212917,0.976139]] 2025-10-28T19:13:08.925Z,1761678788.925 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T19:13:09.278Z,1761678789.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919513,0.380691,0.097822],[-0.392670,-0.900764,-0.185567],[0.017471,-0.209043,0.977750]] 2025-10-28T19:13:09.683Z,1761678789.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903010,0.426313,0.053205],[-0.429539,-0.893484,-0.131080],[-0.008343,-0.141220,0.989943]] 2025-10-28T19:13:10.083Z,1761678790.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878692,0.472939,0.065032],[-0.475672,-0.878913,-0.035328],[0.040449,-0.061977,0.997258]] 2025-10-28T19:13:11.734Z,1761678791.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851906,0.518634,0.072626],[-0.520706,-0.853654,-0.011822],[0.055866,-0.047888,0.997289]] 2025-10-28T19:13:13.815Z,1761678793.815 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:13:13.880Z,1761678793.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848612,0.528307,0.027370],[-0.528791,-0.848624,-0.014753],[0.015433,-0.026993,0.999516]] 2025-10-28T19:13:14.061Z,1761678794.061 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:13:14.061Z,1761678794.061 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:13:14.247Z,1761678794.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847251,0.526444,0.070864],[-0.529915,-0.846905,-0.044069],[0.036815,-0.074889,0.996512]] 2025-10-28T19:13:14.313Z,1761678794.313 [DAT](INFO): DAT read: user:169> 2025-10-28T19:13:14.314Z,1761678794.314 [DAT](INFO): DAT read: Tx time:19:13:14.0343 2025-10-28T19:13:14.314Z,1761678794.314 [DAT](INFO): Ping request sent. 2025-10-28T19:13:14.314Z,1761678794.314 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:13:14.314Z,1761678794.314 [DAT](INFO): publishing transmit ping time 2025-10-28T19:13:14.315Z,1761678794.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T19:13:14.565Z,1761678794.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925 2025-10-28T19:13:14.652Z,1761678794.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867185,0.492643,0.072754],[-0.496838,-0.865818,-0.059256],[0.033800,-0.087533,0.995588]] 2025-10-28T19:13:14.817Z,1761678794.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503489 2025-10-28T19:13:15.055Z,1761678795.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861777,0.507183,0.010263],[-0.507223,-0.861172,-0.033279],[-0.008040,-0.033885,0.999393]] 2025-10-28T19:13:15.070Z,1761678795.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755625 2025-10-28T19:13:15.321Z,1761678795.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007072 2025-10-28T19:13:15.458Z,1761678795.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840802,0.541279,-0.008264],[-0.541338,-0.840759,0.008812],[-0.002178,0.011883,0.999927]] 2025-10-28T19:13:15.573Z,1761678795.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259015 2025-10-28T19:13:15.825Z,1761678795.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916 2025-10-28T19:13:15.862Z,1761678795.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830757,0.555532,0.035035],[-0.555052,-0.831495,0.023081],[0.041954,-0.000271,0.999120]] 2025-10-28T19:13:16.077Z,1761678796.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762915 2025-10-28T19:13:16.270Z,1761678796.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835666,0.546333,0.056410],[-0.548299,-0.835829,-0.027543],[0.032102,-0.053946,0.998028]] 2025-10-28T19:13:16.329Z,1761678796.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015044 2025-10-28T19:13:16.583Z,1761678796.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268811 2025-10-28T19:13:16.668Z,1761678796.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:13:16.691Z,1761678796.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841142,0.537249,0.061998],[-0.540732,-0.837472,-0.079054],[0.009450,-0.100020,0.994941]] 2025-10-28T19:13:16.833Z,1761678796.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519524 2025-10-28T19:13:17.078Z,1761678797.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840922,0.536614,0.069966],[-0.541086,-0.831680,-0.124636],[-0.008692,-0.142667,0.989733]] 2025-10-28T19:13:17.085Z,1761678797.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943 2025-10-28T19:13:17.337Z,1761678797.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906 2025-10-28T19:13:17.483Z,1761678797.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823445,0.562752,0.072442],[-0.567284,-0.814010,-0.124804],[-0.011265,-0.143865,0.989533]] 2025-10-28T19:13:17.589Z,1761678797.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274933 2025-10-28T19:13:17.673Z,1761678797.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:13:17.841Z,1761678797.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968 2025-10-28T19:13:17.889Z,1761678797.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827708,0.553393,0.093038],[-0.560290,-0.824213,-0.082147],[0.031224,-0.120122,0.992268]] 2025-10-28T19:13:18.093Z,1761678798.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778913 2025-10-28T19:13:18.291Z,1761678798.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839432,0.538600,0.072556],[-0.540863,-0.840983,-0.014655],[0.053125,-0.051544,0.997257]] 2025-10-28T19:13:18.345Z,1761678798.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031470 2025-10-28T19:13:18.602Z,1761678798.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286909 2025-10-28T19:13:18.697Z,1761678798.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823098,0.565134,0.055978],[-0.564095,-0.824993,0.034401],[0.065623,-0.003262,0.997839]] 2025-10-28T19:13:18.849Z,1761678798.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534902 2025-10-28T19:13:19.098Z,1761678799.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818283,0.570631,0.069226],[-0.572362,-0.819975,-0.006517],[0.053045,-0.044955,0.997580]] 2025-10-28T19:13:19.101Z,1761678799.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786985 2025-10-28T19:13:19.353Z,1761678799.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038956 2025-10-28T19:13:19.503Z,1761678799.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826409,0.558363,0.072658],[-0.563006,-0.821350,-0.091696],[0.008478,-0.116685,0.993133]] 2025-10-28T19:13:19.605Z,1761678799.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290899 2025-10-28T19:13:19.857Z,1761678799.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542922 2025-10-28T19:13:19.911Z,1761678799.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806727,0.580254,0.111794],[-0.589642,-0.802897,-0.087624],[0.038915,-0.136607,0.989861]] 2025-10-28T19:13:19.947Z,1761678799.947 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:13:19.947Z,1761678799.947 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:13:19.947Z,1761678799.947 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:13:19.948Z,1761678799.948 [marl:UpdateRudder:A] Stopped 2025-10-28T19:13:19.948Z,1761678799.948 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:13:20.109Z,1761678800.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794938 2025-10-28T19:13:20.310Z,1761678800.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797462,0.595372,0.097907],[-0.601103,-0.797988,-0.043480],[0.052242,-0.093527,0.994245]] 2025-10-28T19:13:20.347Z,1761678800.347 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:13:20.347Z,1761678800.347 [marl:UpdateRudder:B] Stopped 2025-10-28T19:13:20.348Z,1761678800.348 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:13:20.348Z,1761678800.348 [marl:UpdateRudder] Stopped 2025-10-28T19:13:20.348Z,1761678800.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:13:20.361Z,1761678800.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046967 2025-10-28T19:13:20.615Z,1761678800.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300624 2025-10-28T19:13:20.714Z,1761678800.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808621,0.588228,0.010923],[-0.588001,-0.807410,-0.048409],[-0.019656,-0.045568,0.998768]] 2025-10-28T19:13:20.865Z,1761678800.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550975 2025-10-28T19:13:21.117Z,1761678801.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802792 2025-10-28T19:13:21.121Z,1761678801.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805683,0.590939,-0.040802],[-0.589294,-0.806612,-0.045943],[-0.060060,-0.012971,0.998110]] 2025-10-28T19:13:21.370Z,1761678801.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055565 2025-10-28T19:13:21.524Z,1761678801.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796223,0.604035,0.034210],[-0.604911,-0.795815,-0.027602],[0.010552,-0.042671,0.999033]] 2025-10-28T19:13:21.554Z,1761678801.554 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:13:21.554Z,1761678801.554 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateCommandMode] Stopped 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:13:21.555Z,1761678801.555 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:13:21.556Z,1761678801.556 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:13:21.556Z,1761678801.556 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:13:21.556Z,1761678801.556 [marl:UpdateSpeed] Stopped 2025-10-28T19:13:21.556Z,1761678801.556 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:13:21.621Z,1761678801.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307150 2025-10-28T19:13:21.873Z,1761678801.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558837 2025-10-28T19:13:21.927Z,1761678801.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798164,0.596611,0.083609],[-0.600695,-0.798706,-0.035122],[0.045825,-0.078257,0.995879]] 2025-10-28T19:13:22.125Z,1761678802.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810931 2025-10-28T19:13:22.330Z,1761678802.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792529,0.605576,0.071939],[-0.609072,-0.791908,-0.043740],[0.030481,-0.078481,0.996450]] 2025-10-28T19:13:22.377Z,1761678802.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063073 2025-10-28T19:13:22.631Z,1761678802.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317018 2025-10-28T19:13:22.736Z,1761678802.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790494,0.607079,0.081083],[-0.611268,-0.790287,-0.042398],[0.038340,-0.083079,0.995805]] 2025-10-28T19:13:22.882Z,1761678802.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568020 2025-10-28T19:13:23.133Z,1761678803.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819002 2025-10-28T19:13:23.149Z,1761678803.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799037,0.592666,0.101426],[-0.598462,-0.800212,-0.038790],[0.058173,-0.091694,0.994087]] 2025-10-28T19:13:23.385Z,1761678803.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070919 2025-10-28T19:13:23.542Z,1761678803.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780342,0.616617,0.104165],[-0.622765,-0.781395,-0.039818],[0.056842,-0.095942,0.993763]] 2025-10-28T19:13:23.637Z,1761678803.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322942 2025-10-28T19:13:23.889Z,1761678803.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574960 2025-10-28T19:13:23.947Z,1761678803.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760252,0.640431,0.108927],[-0.647201,-0.761169,-0.041860],[0.056104,-0.102321,0.993168]] 2025-10-28T19:13:24.141Z,1761678804.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826923 2025-10-28T19:13:24.352Z,1761678804.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779059,0.618761,0.101002],[-0.625753,-0.777367,-0.064296],[0.038732,-0.113292,0.992806]] 2025-10-28T19:13:24.393Z,1761678804.393 [DAT](INFO): Reached modem response timeout 2025-10-28T19:13:24.757Z,1761678804.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792895,0.607963,0.041222],[-0.608834,-0.787591,-0.094986],[-0.025282,-0.100412,0.994625]] 2025-10-28T19:13:25.167Z,1761678805.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778007,0.627147,0.037310],[-0.627704,-0.773461,-0.088010],[-0.026337,-0.091893,0.995421]] 2025-10-28T19:13:25.562Z,1761678805.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759833,0.637138,0.129265],[-0.643557,-0.765324,-0.010661],[0.092137,-0.091290,0.991553]] 2025-10-28T19:13:25.969Z,1761678805.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747990,0.651551,0.126460],[-0.654354,-0.755816,0.023746],[0.111053,-0.064988,0.991687]] 2025-10-28T19:13:26.371Z,1761678806.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749168,0.662331,0.008056],[-0.662203,-0.748632,-0.032202],[-0.015297,-0.029460,0.999449]] 2025-10-28T19:13:26.669Z,1761678806.669 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:13:26.670Z,1761678806.670 [DAT](INFO): response not received 2025-10-28T19:13:26.670Z,1761678806.670 [DAT](ERROR): No response from remote modem. 2025-10-28T19:13:26.778Z,1761678806.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749083,0.661727,0.031503],[-0.662278,-0.746846,-0.060076],[-0.016226,-0.065866,0.997697]] 2025-10-28T19:13:27.184Z,1761678807.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738854,0.651631,0.171678],[-0.662978,-0.748541,-0.012067],[0.120644,-0.122734,0.985079]] 2025-10-28T19:13:27.583Z,1761678807.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721185,0.666537,0.188735],[-0.679691,-0.733467,-0.006890],[0.133838,-0.133251,0.982004]] 2025-10-28T19:13:27.986Z,1761678807.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713987,0.695271,0.082588],[-0.700088,-0.710609,-0.070088],[0.009958,-0.107861,0.994116]] 2025-10-28T19:13:28.011Z,1761678808.011 [NAL9602](INFO): SBD MO Status=1, MOMSN=3326, MT Status=0, MTMSN=0 2025-10-28T19:13:28.060Z,1761678808.060 [NAL9602](INFO): Sent 94 bytes from file Logs/20251028T162422/Courier0030.lzma 2025-10-28T19:13:28.060Z,1761678808.060 [NAL9602](INFO): Packets left to send: 0 2025-10-28T19:13:28.391Z,1761678808.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718271,0.693853,0.051520],[-0.695760,-0.716057,-0.056402],[-0.002243,-0.076357,0.997078]] 2025-10-28T19:13:29.240Z,1761678809.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718096,0.695689,0.018841],[-0.695942,-0.717751,-0.022343],[-0.002021,-0.029156,0.999573]] 2025-10-28T19:13:29.624Z,1761678809.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704979,0.708317,0.035942],[-0.709227,-0.703982,-0.037498],[-0.001258,-0.051926,0.998650]] 2025-10-28T19:13:31.778Z,1761678811.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721729,0.679384,0.132456],[-0.691551,-0.715879,-0.096306],[0.029394,-0.161107,0.986499]] 2025-10-28T19:13:32.166Z,1761678812.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725412,0.670500,0.155587],[-0.683937,-0.727595,-0.053244],[0.077505,-0.145036,0.986386]] 2025-10-28T19:13:32.568Z,1761678812.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719295,0.678589,0.148769],[-0.688469,-0.724931,-0.022061],[0.092877,-0.118291,0.988626]] 2025-10-28T19:13:32.968Z,1761678812.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722589,0.680740,0.120247],[-0.684430,-0.728948,0.013823],[0.097064,-0.072312,0.992648]] 2025-10-28T19:13:33.375Z,1761678813.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707749,0.699430,0.099444],[-0.698107,-0.714000,0.053385],[0.108342,-0.031640,0.993610]] 2025-10-28T19:13:33.779Z,1761678813.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702450,0.708022,0.072583],[-0.707016,-0.705878,0.043176],[0.081804,-0.020988,0.996427]] 2025-10-28T19:13:34.181Z,1761678814.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715857,0.695669,0.059953],[-0.696182,-0.717703,0.015294],[0.053668,-0.030790,0.998084]] 2025-10-28T19:13:34.621Z,1761678814.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715547,0.692440,0.092298],[-0.695120,-0.718881,0.004244],[0.069290,-0.061122,0.995722]] 2025-10-28T19:13:35.001Z,1761678815.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711196,0.694570,0.108502],[-0.700827,-0.712616,-0.031933],[0.055141,-0.098752,0.993583]] 2025-10-28T19:13:35.395Z,1761678815.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728568,0.679041,0.089953],[-0.684773,-0.718875,-0.119604],[-0.016551,-0.148737,0.988738]] 2025-10-28T19:13:35.439Z,1761678815.439 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:13:35.439Z,1761678815.439 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:13:35.440Z,1761678815.440 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:13:35.444Z,1761678815.444 [marl:UpdateRudder:A] Stopped 2025-10-28T19:13:35.444Z,1761678815.444 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:13:35.798Z,1761678815.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749686,0.654029,0.101084],[-0.661339,-0.734718,-0.151064],[-0.024532,-0.180102,0.983342]] 2025-10-28T19:13:35.827Z,1761678815.827 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:13:35.827Z,1761678815.827 [marl:UpdateRudder:B] Stopped 2025-10-28T19:13:35.827Z,1761678815.827 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:13:35.827Z,1761678815.827 [marl:UpdateRudder] Stopped 2025-10-28T19:13:35.827Z,1761678815.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:13:36.198Z,1761678816.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749150,0.645290,0.149584],[-0.659688,-0.747225,-0.080414],[0.059882,-0.158921,0.985474]] 2025-10-28T19:13:36.645Z,1761678816.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694216,0.719176,0.029175],[-0.714940,-0.693680,0.087569],[0.083216,0.039934,0.995731]] 2025-10-28T19:13:37.060Z,1761678817.060 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:13:37.060Z,1761678817.060 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:13:37.060Z,1761678817.060 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateCommandMode] Stopped 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:13:37.061Z,1761678817.061 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:13:37.062Z,1761678817.062 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:13:37.062Z,1761678817.062 [marl:UpdateSpeed] Stopped 2025-10-28T19:13:37.062Z,1761678817.062 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:13:37.433Z,1761678817.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753217,0.655054,0.059737],[-0.657770,-0.749820,-0.071474],[-0.002027,-0.093129,0.995652]] 2025-10-28T19:13:37.840Z,1761678817.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740512,0.653595,0.156383],[-0.672000,-0.717491,-0.183366],[-0.007644,-0.240874,0.970526]] 2025-10-28T19:13:38.653Z,1761678818.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777794,0.602479,0.179040],[-0.627550,-0.728610,-0.274424],[-0.034885,-0.325802,0.944794]] 2025-10-28T19:13:39.040Z,1761678819.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792060,0.594275,0.139567],[-0.610435,-0.772280,-0.175936],[0.003231,-0.224548,0.974458]] 2025-10-28T19:13:39.439Z,1761678819.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788312,0.611924,0.064134],[-0.615058,-0.786512,-0.055704],[0.016356,-0.083358,0.996385]] 2025-10-28T19:13:39.841Z,1761678819.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797387,0.603468,-0.000518],[-0.603456,-0.797375,-0.005838],[-0.003936,-0.004343,0.999983]] 2025-10-28T19:13:40.254Z,1761678820.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821055,0.570778,0.009023],[-0.570447,-0.820967,0.024545],[0.021417,0.015005,0.999658]] 2025-10-28T19:13:41.075Z,1761678821.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807133,0.586382,0.068500],[-0.588713,-0.808119,-0.019025],[0.044200,-0.055683,0.997470]] 2025-10-28T19:13:41.456Z,1761678821.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815865,0.566961,0.113667],[-0.574709,-0.816757,-0.051165],[0.063830,-0.107069,0.992200]] 2025-10-28T19:13:41.864Z,1761678821.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821557,0.558936,0.112407],[-0.568453,-0.818163,-0.086431],[0.043658,-0.134906,0.989896]] 2025-10-28T19:13:42.273Z,1761678822.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824076,0.558411,0.095267],[-0.566167,-0.817474,-0.105786],[0.018806,-0.141113,0.989815]] 2025-10-28T19:13:42.678Z,1761678822.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822379,0.561273,0.093090],[-0.568271,-0.818275,-0.086564],[0.027587,-0.124089,0.991888]] 2025-10-28T19:13:43.079Z,1761678823.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822465,0.557259,0.114078],[-0.565782,-0.822143,-0.063018],[0.058671,-0.116374,0.991471]] 2025-10-28T19:13:43.487Z,1761678823.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835911,0.536749,0.114686],[-0.544098,-0.837838,-0.044544],[0.072180,-0.099635,0.992403]] 2025-10-28T19:13:43.492Z,1761678823.492 [NAL9602](INFO): SBD MO Status=1, MOMSN=3327, MT Status=0, MTMSN=0 2025-10-28T19:13:43.540Z,1761678823.540 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0031.lzma 2025-10-28T19:13:43.540Z,1761678823.540 [NAL9602](INFO): Packets left to send: 1 2025-10-28T19:13:43.881Z,1761678823.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842385,0.526796,0.113458],[-0.532719,-0.845830,-0.027978],[0.081228,-0.084010,0.993149]] 2025-10-28T19:13:44.673Z,1761678824.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846304,0.505361,0.168461],[-0.520632,-0.851614,-0.060787],[0.112744,-0.139151,0.983832]] 2025-10-28T19:13:47.197Z,1761678827.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850181,0.524823,0.041881],[-0.522346,-0.850776,0.057744],[0.065936,0.027216,0.997453]] 2025-10-28T19:13:47.588Z,1761678827.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872636,0.481004,0.084504],[-0.483723,-0.875109,-0.014005],[0.067213,-0.053097,0.996325]] 2025-10-28T19:13:47.793Z,1761678827.793 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:13:47.989Z,1761678827.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881244,0.471683,0.030389],[-0.472079,-0.875150,-0.106084],[-0.023443,-0.107832,0.993893]] 2025-10-28T19:13:48.391Z,1761678828.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865662,0.498837,0.042325],[-0.499954,-0.857006,-0.124851],[-0.026007,-0.129240,0.991272]] 2025-10-28T19:13:48.796Z,1761678828.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:13:48.799Z,1761678828.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844648,0.530183,0.074006],[-0.535163,-0.839661,-0.092571],[0.013060,-0.117795,0.992952]] 2025-10-28T19:13:49.205Z,1761678829.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849681,0.524377,0.055415],[-0.526529,-0.849415,-0.035519],[0.028445,-0.059357,0.997831]] 2025-10-28T19:13:49.604Z,1761678829.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860160,0.507277,0.052863],[-0.507578,-0.861563,0.008578],[0.049896,-0.019454,0.998565]] 2025-10-28T19:13:50.010Z,1761678830.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858693,0.507965,0.067961],[-0.508107,-0.861137,0.016468],[0.066889,-0.020390,0.997552]] 2025-10-28T19:13:50.411Z,1761678830.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841294,0.536370,0.067310],[-0.539508,-0.840924,-0.042169],[0.033984,-0.071791,0.996841]] 2025-10-28T19:13:50.818Z,1761678830.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820841,0.562622,0.098371],[-0.570762,-0.814421,-0.104636],[0.021245,-0.142036,0.989633]] 2025-10-28T19:13:50.859Z,1761678830.859 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:13:50.859Z,1761678830.859 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:13:50.859Z,1761678830.859 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:13:50.861Z,1761678830.861 [marl:UpdateRudder:A] Stopped 2025-10-28T19:13:50.861Z,1761678830.861 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:13:51.218Z,1761678831.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827175,0.545547,0.134756],[-0.560918,-0.816055,-0.139373],[0.033934,-0.190873,0.981028]] 2025-10-28T19:13:51.255Z,1761678831.255 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:13:51.256Z,1761678831.256 [marl:UpdateRudder:B] Stopped 2025-10-28T19:13:51.256Z,1761678831.256 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:13:51.256Z,1761678831.256 [marl:UpdateRudder] Stopped 2025-10-28T19:13:51.256Z,1761678831.256 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:13:51.630Z,1761678831.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837575,0.535214,0.109606],[-0.546103,-0.825899,-0.140224],[0.015474,-0.177305,0.984034]] 2025-10-28T19:13:52.031Z,1761678832.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836668,0.546194,0.040737],[-0.547053,-0.829704,-0.111018],[-0.026838,-0.115170,0.992983]] 2025-10-28T19:13:52.432Z,1761678832.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821492,0.570220,0.000052],[-0.567836,-0.818050,-0.091419],[-0.052086,-0.075129,0.995813]] 2025-10-28T19:13:52.462Z,1761678832.462 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:13:52.462Z,1761678832.462 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:13:52.462Z,1761678832.462 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:13:52.462Z,1761678832.462 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateCommandMode] Stopped 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:13:52.463Z,1761678832.463 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:13:52.464Z,1761678832.464 [marl:UpdateSpeed] Stopped 2025-10-28T19:13:52.464Z,1761678832.464 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:13:52.834Z,1761678832.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820912,0.570415,0.027009],[-0.570974,-0.819083,-0.055609],[-0.009598,-0.061072,0.998087]] 2025-10-28T19:13:53.239Z,1761678833.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830641,0.552343,0.070376],[-0.554294,-0.832256,-0.010345],[0.052857,-0.047602,0.997467]] 2025-10-28T19:13:53.645Z,1761678833.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845371,0.531214,0.056200],[-0.533099,-0.845667,-0.025561],[0.033948,-0.051569,0.998092]] 2025-10-28T19:13:54.055Z,1761678834.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837731,0.544698,0.038876],[-0.546024,-0.834460,-0.074392],[-0.008081,-0.083547,0.996471]] 2025-10-28T19:13:54.450Z,1761678834.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818595,0.569219,0.076758],[-0.574371,-0.811375,-0.108482],[0.000530,-0.132890,0.991131]] 2025-10-28T19:13:54.855Z,1761678834.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822591,0.554939,0.124042],[-0.567639,-0.814273,-0.121434],[0.033615,-0.170302,0.984818]] 2025-10-28T19:13:55.262Z,1761678835.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826949,0.544589,0.139921],[-0.558653,-0.823979,-0.094684],[0.063728,-0.156466,0.985625]] 2025-10-28T19:13:55.666Z,1761678835.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818987,0.562910,0.111326],[-0.568729,-0.822076,-0.027186],[0.076215,-0.085579,0.993412]] 2025-10-28T19:13:56.069Z,1761678836.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801331,0.597834,0.021529],[-0.598026,-0.801470,-0.003290],[0.015288,-0.015511,0.999763]] 2025-10-28T19:13:56.470Z,1761678836.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785534,0.618160,-0.028534],[-0.616910,-0.785898,-0.042273],[-0.048557,-0.015604,0.998699]] 2025-10-28T19:13:56.875Z,1761678836.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794700,0.603675,0.063464],[-0.606739,-0.793079,-0.053792],[0.017859,-0.081254,0.996533]] 2025-10-28T19:13:57.280Z,1761678837.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804382,0.577876,0.137947],[-0.589243,-0.805653,-0.060956],[0.075912,-0.130316,0.988562]] 2025-10-28T19:13:57.683Z,1761678837.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795927,0.597102,0.099847],[-0.605167,-0.789240,-0.104275],[0.016540,-0.143420,0.989524]] 2025-10-28T19:13:58.089Z,1761678838.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792368,0.601654,0.100821],[-0.610041,-0.781093,-0.133203],[-0.001391,-0.167051,0.985947]] 2025-10-28T19:13:58.492Z,1761678838.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806224,0.581051,0.111279],[-0.590932,-0.799931,-0.104452],[0.028324,-0.149970,0.988285]] 2025-10-28T19:13:58.894Z,1761678838.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799980,0.590958,0.103932],[-0.598423,-0.798440,-0.066216],[0.043853,-0.115166,0.992378]] 2025-10-28T19:13:59.298Z,1761678839.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794219,0.599970,0.096189],[-0.606607,-0.792069,-0.068215],[0.035262,-0.112527,0.993023]] 2025-10-28T19:13:59.703Z,1761678839.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800378,0.591840,0.095502],[-0.598662,-0.797458,-0.075259],[0.031618,-0.117409,0.992580]] 2025-10-28T19:14:00.117Z,1761678840.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796539,0.598267,0.087197],[-0.602012,-0.798151,-0.023151],[0.055746,-0.070935,0.995922]] 2025-10-28T19:14:00.123Z,1761678840.123 [NAL9602](INFO): SBD MO Status=2, MOMSN=3328, MT Status=2, MTMSN=0 2025-10-28T19:14:00.123Z,1761678840.123 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T19:14:00.510Z,1761678840.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800362,0.596423,0.060839],[-0.596234,-0.802475,0.023202],[0.062660,-0.017704,0.997878]] 2025-10-28T19:14:00.914Z,1761678840.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793976,0.607923,-0.005594],[-0.607943,-0.793893,0.011801],[0.002733,0.012770,0.999915]] 2025-10-28T19:14:01.318Z,1761678841.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774890,0.632086,0.003635],[-0.632094,-0.774861,-0.006931],[-0.001564,-0.007668,0.999969]] 2025-10-28T19:14:01.723Z,1761678841.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768891,0.633791,0.084356],[-0.636568,-0.771178,-0.008133],[0.059899,-0.059951,0.996403]] 2025-10-28T19:14:02.138Z,1761678842.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783364,0.615321,0.087870],[-0.620635,-0.782062,-0.056493],[0.033958,-0.098790,0.994529]] 2025-10-28T19:14:02.530Z,1761678842.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767168,0.639978,0.043377],[-0.641147,-0.762991,-0.082314],[-0.019583,-0.090960,0.995662]] 2025-10-28T19:14:02.934Z,1761678842.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756397,0.651829,0.054606],[-0.654105,-0.753344,-0.067971],[-0.003168,-0.087131,0.996192]] 2025-10-28T19:14:03.340Z,1761678843.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766591,0.638621,0.067088],[-0.641906,-0.764915,-0.053488],[0.017158,-0.084067,0.996312]] 2025-10-28T19:14:03.742Z,1761678843.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760875,0.647348,0.044839],[-0.648812,-0.757824,-0.068890],[-0.010616,-0.081509,0.996616]] 2025-10-28T19:14:04.150Z,1761678844.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758141,0.649231,0.061000],[-0.651518,-0.750234,-0.112577],[-0.027324,-0.125092,0.991769]] 2025-10-28T19:14:04.205Z,1761678844.205 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:14:04.205Z,1761678844.205 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:14:04.205Z,1761678844.205 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:14:04.206Z,1761678844.206 [marl:UpdateRudder:A] Stopped 2025-10-28T19:14:04.206Z,1761678844.206 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:14:04.551Z,1761678844.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754598,0.639874,0.145407],[-0.654419,-0.750113,-0.095214],[0.048146,-0.167005,0.984780]] 2025-10-28T19:14:04.675Z,1761678844.675 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:14:04.675Z,1761678844.675 [marl:UpdateRudder:B] Stopped 2025-10-28T19:14:04.675Z,1761678844.675 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:14:04.675Z,1761678844.675 [marl:UpdateRudder] Stopped 2025-10-28T19:14:04.676Z,1761678844.676 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:14:04.957Z,1761678844.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739029,0.647346,0.186493],[-0.666981,-0.742015,-0.067445],[0.094721,-0.174231,0.980138]] 2025-10-28T19:14:05.813Z,1761678845.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723567,0.686445,0.072419],[-0.689227,-0.724225,-0.021554],[0.037652,-0.065509,0.997141]] 2025-10-28T19:14:06.215Z,1761678846.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704386,0.709024,0.033546],[-0.709510,-0.704684,-0.003919],[0.020861,-0.026561,0.999429]] 2025-10-28T19:14:08.308Z,1761678848.308 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:14:08.308Z,1761678848.308 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:14:08.308Z,1761678848.308 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateCommandMode] Stopped 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:14:08.309Z,1761678848.309 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:14:08.310Z,1761678848.310 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:14:08.310Z,1761678848.310 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:14:08.310Z,1761678848.310 [marl:UpdateSpeed] Stopped 2025-10-28T19:14:08.310Z,1761678848.310 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:14:08.386Z,1761678848.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709274,0.677631,0.194284],[-0.702650,-0.701758,-0.117552],[0.056684,-0.219890,0.973876]] 2025-10-28T19:14:08.772Z,1761678848.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692840,0.720693,-0.023960],[-0.720826,-0.693104,-0.004095],[-0.019558,0.014434,0.999705]] 2025-10-28T19:14:09.166Z,1761678849.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696309,0.714098,-0.072237],[-0.717334,-0.695773,0.036491],[-0.024203,0.077227,0.996720]] 2025-10-28T19:14:09.571Z,1761678849.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706267,0.707908,-0.007326],[-0.707734,-0.705764,0.031779],[0.017327,0.027629,0.999468]] 2025-10-28T19:14:10.003Z,1761678850.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698830,0.708511,0.098227],[-0.712930,-0.701069,-0.015296],[0.058026,-0.080719,0.995046]] 2025-10-28T19:14:10.378Z,1761678850.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697040,0.700819,0.151617],[-0.716259,-0.690362,-0.101853],[0.033290,-0.179593,0.983178]] 2025-10-28T19:14:10.787Z,1761678850.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710971,0.690495,0.133181],[-0.702301,-0.687507,-0.184681],[-0.035958,-0.224836,0.973733]] 2025-10-28T19:14:11.190Z,1761678851.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735205,0.664630,0.133194],[-0.676978,-0.710018,-0.193844],[-0.034264,-0.232685,0.971949]] 2025-10-28T19:14:11.597Z,1761678851.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735958,0.655525,0.169270],[-0.674399,-0.731825,-0.098073],[0.059587,-0.186333,0.980678]] 2025-10-28T19:14:11.996Z,1761678851.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706836,0.688241,0.163425],[-0.698029,-0.716061,-0.003481],[0.114627,-0.116536,0.986550]] 2025-10-28T19:14:12.398Z,1761678852.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705031,0.702567,0.096602],[-0.705893,-0.708318,-0.000372],[0.068163,-0.068453,0.995323]] 2025-10-28T19:14:12.803Z,1761678852.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725212,0.687557,0.036504],[-0.688480,-0.724757,-0.026895],[0.007964,-0.044637,0.998972]] 2025-10-28T19:14:13.211Z,1761678853.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733534,0.678492,0.039705],[-0.679389,-0.733625,-0.015026],[0.018934,-0.037997,0.999098]] 2025-10-28T19:14:13.612Z,1761678853.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761591,0.642441,0.085143],[-0.646223,-0.762732,-0.025215],[0.048742,-0.074225,0.996050]] 2025-10-28T19:14:14.014Z,1761678854.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752951,0.654062,0.072582],[-0.656559,-0.754118,-0.015386],[0.044672,-0.059240,0.997244]] 2025-10-28T19:14:14.056Z,1761678854.056 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:14:14.305Z,1761678854.305 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:14:14.305Z,1761678854.305 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:14:14.418Z,1761678854.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716846,0.689984,0.100265],[-0.691525,-0.721950,0.024103],[0.089017,-0.052058,0.994669]] 2025-10-28T19:14:14.559Z,1761678854.559 [DAT](INFO): DAT read: user:170> 2025-10-28T19:14:14.559Z,1761678854.559 [DAT](INFO): DAT read: Tx time:19:14:14.3341 2025-10-28T19:14:14.562Z,1761678854.562 [DAT](INFO): Ping request sent. 2025-10-28T19:14:14.562Z,1761678854.562 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:14:14.562Z,1761678854.562 [DAT](INFO): publishing transmit ping time 2025-10-28T19:14:14.563Z,1761678854.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000971 2025-10-28T19:14:14.809Z,1761678854.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247254 2025-10-28T19:14:14.826Z,1761678854.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715994,0.689138,0.111544],[-0.690306,-0.722717,0.034032],[0.104067,-0.052633,0.993177]] 2025-10-28T19:14:15.064Z,1761678855.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502002 2025-10-28T19:14:15.267Z,1761678855.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738525,0.672458,0.048794],[-0.673626,-0.738985,-0.011342],[0.028431,-0.041246,0.998744]] 2025-10-28T19:14:15.313Z,1761678855.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751367 2025-10-28T19:14:15.566Z,1761678855.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004138 2025-10-28T19:14:15.630Z,1761678855.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734086,0.678952,0.011913],[-0.678531,-0.732715,-0.052191],[-0.026707,-0.046396,0.998566]] 2025-10-28T19:14:15.817Z,1761678855.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255257 2025-10-28T19:14:16.035Z,1761678856.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704165,0.705058,0.083932],[-0.709663,-0.702693,-0.050994],[0.023025,-0.095472,0.995166]] 2025-10-28T19:14:16.070Z,1761678856.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508188 2025-10-28T19:14:16.321Z,1761678856.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759277 2025-10-28T19:14:16.439Z,1761678856.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715506,0.682073,0.151088],[-0.695540,-0.715747,-0.062689],[0.065382,-0.149942,0.986531]] 2025-10-28T19:14:16.586Z,1761678856.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013711 2025-10-28T19:14:16.825Z,1761678856.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263233 2025-10-28T19:14:16.845Z,1761678856.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729051,0.675420,0.110874],[-0.684151,-0.723959,-0.088432],[0.020539,-0.140326,0.989892]] 2025-10-28T19:14:17.077Z,1761678857.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515462 2025-10-28T19:14:17.250Z,1761678857.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727423,0.681945,0.076201],[-0.685594,-0.717675,-0.122076],[-0.028561,-0.141044,0.989591]] 2025-10-28T19:14:17.329Z,1761678857.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767325 2025-10-28T19:14:17.582Z,1761678857.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019862 2025-10-28T19:14:17.650Z,1761678857.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714219,0.691215,0.110059],[-0.699921,-0.705674,-0.110159],[0.001522,-0.155710,0.987802]] 2025-10-28T19:14:17.833Z,1761678857.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271313 2025-10-28T19:14:18.054Z,1761678858.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676619,0.727226,0.115453],[-0.735804,-0.673714,-0.068572],[0.027915,-0.131348,0.990943]] 2025-10-28T19:14:18.085Z,1761678858.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523584 2025-10-28T19:14:18.337Z,1761678858.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775237 2025-10-28T19:14:18.460Z,1761678858.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655549,0.749120,0.095261],[-0.754354,-0.655422,-0.037023],[0.034702,-0.096131,0.994764]] 2025-10-28T19:14:18.592Z,1761678858.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030173 2025-10-28T19:14:18.841Z,1761678858.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279226 2025-10-28T19:14:18.862Z,1761678858.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676873,0.734754,0.044497],[-0.735442,-0.677587,0.001317],[0.031118,-0.031834,0.999009]] 2025-10-28T19:14:18.916Z,1761678858.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:14:19.093Z,1761678859.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531302 2025-10-28T19:14:19.270Z,1761678859.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699675,0.714276,0.016281],[-0.714179,-0.699857,0.012180],[0.020094,-0.003106,0.999793]] 2025-10-28T19:14:19.345Z,1761678859.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783368 2025-10-28T19:14:19.597Z,1761678859.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035223 2025-10-28T19:14:19.671Z,1761678859.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695359,0.716885,0.050523],[-0.718133,-0.695827,-0.010532],[0.027605,-0.043606,0.998667]] 2025-10-28T19:14:19.695Z,1761678859.695 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:14:19.695Z,1761678859.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:14:19.695Z,1761678859.695 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:14:19.696Z,1761678859.696 [marl:UpdateRudder:A] Stopped 2025-10-28T19:14:19.696Z,1761678859.696 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:14:19.849Z,1761678859.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287265 2025-10-28T19:14:19.920Z,1761678859.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:14:20.101Z,1761678860.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539230 2025-10-28T19:14:20.106Z,1761678860.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684718,0.715244,0.139956],[-0.726312,-0.685552,-0.049892],[0.060262,-0.135814,0.988900]] 2025-10-28T19:14:20.301Z,1761678860.301 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:14:20.301Z,1761678860.301 [marl:UpdateRudder:B] Stopped 2025-10-28T19:14:20.302Z,1761678860.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:14:20.302Z,1761678860.302 [marl:UpdateRudder] Stopped 2025-10-28T19:14:20.302Z,1761678860.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:14:20.353Z,1761678860.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791292 2025-10-28T19:14:20.478Z,1761678860.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665683,0.713031,0.220119],[-0.739237,-0.670400,-0.063975],[0.101952,-0.205307,0.973373]] 2025-10-28T19:14:20.607Z,1761678860.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045000 2025-10-28T19:14:20.857Z,1761678860.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295308 2025-10-28T19:14:21.078Z,1761678861.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680165,0.703889,0.204733],[-0.730224,-0.675111,-0.104868],[0.064402,-0.220829,0.973184]] 2025-10-28T19:14:21.109Z,1761678861.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547152 2025-10-28T19:14:21.361Z,1761678861.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799280 2025-10-28T19:14:21.472Z,1761678861.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673607,0.729108,0.121059],[-0.738858,-0.668403,-0.085596],[0.018507,-0.147104,0.988948]] 2025-10-28T19:14:21.613Z,1761678861.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051299 2025-10-28T19:14:21.849Z,1761678861.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647269,0.759516,0.064633],[-0.760921,-0.648831,0.004289],[0.045193,-0.046404,0.997900]] 2025-10-28T19:14:21.867Z,1761678861.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304520 2025-10-28T19:14:21.890Z,1761678861.890 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode] Stopped 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:14:21.891Z,1761678861.891 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:14:21.892Z,1761678861.892 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:14:21.892Z,1761678861.892 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:14:21.892Z,1761678861.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:14:21.892Z,1761678861.892 [marl:UpdateSpeed] Stopped 2025-10-28T19:14:21.892Z,1761678861.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:14:22.117Z,1761678862.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555186 2025-10-28T19:14:22.263Z,1761678862.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661646,0.749724,0.011802],[-0.748020,-0.661067,0.058789],[0.051878,0.030070,0.998201]] 2025-10-28T19:14:22.369Z,1761678862.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807436 2025-10-28T19:14:22.623Z,1761678862.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061450 2025-10-28T19:14:22.655Z,1761678862.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652401,0.757422,-0.026180],[-0.756890,-0.649406,0.073406],[0.038598,0.067706,0.996958]] 2025-10-28T19:14:22.873Z,1761678862.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311262 2025-10-28T19:14:23.077Z,1761678863.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582073,0.812129,0.040466],[-0.813090,-0.580788,-0.039628],[-0.008681,-0.055969,0.998395]] 2025-10-28T19:14:23.125Z,1761678863.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563389 2025-10-28T19:14:23.377Z,1761678863.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815263 2025-10-28T19:14:23.475Z,1761678863.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609540,0.782906,0.124575],[-0.792722,-0.600513,-0.104764],[-0.007211,-0.162611,0.986664]] 2025-10-28T19:14:23.630Z,1761678863.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067874 2025-10-28T19:14:23.881Z,1761678863.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319362 2025-10-28T19:14:23.904Z,1761678863.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625612,0.766060,0.147520],[-0.780079,-0.612029,-0.129990],[-0.009294,-0.196400,0.980480]] 2025-10-28T19:14:24.133Z,1761678864.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571488 2025-10-28T19:14:24.291Z,1761678864.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598656,0.784715,0.160725],[-0.800334,-0.594206,-0.079907],[0.032800,-0.176471,0.983759]] 2025-10-28T19:14:24.385Z,1761678864.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823305 2025-10-28T19:14:24.637Z,1761678864.637 [DAT](INFO): Reached modem response timeout 2025-10-28T19:14:24.689Z,1761678864.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559920,0.813375,0.157828],[-0.826086,-0.562706,-0.030734],[0.063812,-0.147588,0.986988]] 2025-10-28T19:14:25.091Z,1761678865.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551974,0.826482,0.110685],[-0.833587,-0.550311,-0.047855],[0.021360,-0.118681,0.992703]] 2025-10-28T19:14:25.485Z,1761678865.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579596,0.809265,0.095699],[-0.814867,-0.574435,-0.077566],[-0.007799,-0.122939,0.992384]] 2025-10-28T19:14:25.888Z,1761678865.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591803,0.797582,0.116757],[-0.805685,-0.589824,-0.054589],[0.025327,-0.126375,0.991659]] 2025-10-28T19:14:26.291Z,1761678866.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569049,0.812099,0.129144],[-0.821524,-0.568293,-0.046282],[0.035806,-0.132431,0.990545]] 2025-10-28T19:14:26.693Z,1761678866.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561023,0.820258,0.111486],[-0.827742,-0.554271,-0.087331],[-0.009841,-0.141277,0.989921]] 2025-10-28T19:14:26.905Z,1761678866.905 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:14:26.905Z,1761678866.905 [DAT](INFO): response not received 2025-10-28T19:14:26.905Z,1761678866.905 [DAT](ERROR): No response from remote modem. 2025-10-28T19:14:27.094Z,1761678867.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579148,0.807205,0.114052],[-0.815108,-0.571027,-0.097603],[-0.013658,-0.149491,0.988669]] 2025-10-28T19:14:27.499Z,1761678867.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596368,0.788827,0.148650],[-0.801575,-0.595072,-0.058018],[0.042691,-0.153755,0.987186]] 2025-10-28T19:14:27.901Z,1761678867.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597866,0.792330,0.121531],[-0.797988,-0.602664,0.003445],[0.075972,-0.094920,0.992582]] 2025-10-28T19:14:28.304Z,1761678868.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577634,0.812918,0.074183],[-0.813563,-0.580748,0.029109],[0.066744,-0.043538,0.996820]] 2025-10-28T19:14:28.709Z,1761678868.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574094,0.817383,0.047979],[-0.818556,-0.574342,-0.009817],[0.019532,-0.044909,0.998800]] 2025-10-28T19:14:29.115Z,1761678869.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566389,0.820410,0.078302],[-0.823958,-0.565690,-0.032980],[0.017238,-0.083197,0.996384]] 2025-10-28T19:14:29.119Z,1761678869.119 [NAL9602](INFO): SBD MO Status=2, MOMSN=3328, MT Status=2, MTMSN=0 2025-10-28T19:14:29.120Z,1761678869.120 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T19:14:29.516Z,1761678869.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581625,0.804450,0.120720],[-0.812211,-0.582514,-0.031471],[0.045004,-0.116354,0.992188]] 2025-10-28T19:14:29.920Z,1761678869.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601785,0.793306,0.092303],[-0.798201,-0.601320,-0.035911],[0.027015,-0.095287,0.995083]] 2025-10-28T19:14:30.326Z,1761678870.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571197,0.817667,0.071797],[-0.820798,-0.569521,-0.043994],[0.004917,-0.084060,0.996449]] 2025-10-28T19:14:30.730Z,1761678870.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554152,0.829422,0.070533],[-0.832381,-0.551371,-0.055955],[-0.007520,-0.089718,0.995939]] 2025-10-28T19:14:31.133Z,1761678871.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564574,0.823094,0.061424],[-0.825143,-0.561051,-0.066031],[-0.019888,-0.087963,0.995925]] 2025-10-28T19:14:31.537Z,1761678871.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573497,0.816639,0.064820],[-0.819199,-0.572046,-0.040940],[0.003647,-0.076579,0.997057]] 2025-10-28T19:14:31.940Z,1761678871.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564443,0.818544,0.106726],[-0.822904,-0.568154,0.005407],[0.065063,-0.084773,0.994274]] 2025-10-28T19:14:32.353Z,1761678872.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550544,0.821294,0.149592],[-0.831223,-0.555893,-0.007170],[0.077268,-0.128292,0.988722]] 2025-10-28T19:14:32.783Z,1761678872.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552351,0.815439,0.173112],[-0.832327,-0.551001,-0.060243],[0.046260,-0.177361,0.983058]] 2025-10-28T19:14:33.170Z,1761678873.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570477,0.802021,0.176968],[-0.819897,-0.568767,-0.065370],[0.048225,-0.182388,0.982043]] 2025-10-28T19:14:33.207Z,1761678873.207 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:14:33.207Z,1761678873.207 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:14:33.207Z,1761678873.207 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:14:33.207Z,1761678873.207 [marl:UpdateRudder:A] Stopped 2025-10-28T19:14:33.207Z,1761678873.207 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:14:33.567Z,1761678873.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576469,0.803285,0.149723],[-0.813219,-0.581884,-0.009199],[0.079732,-0.127061,0.988685]] 2025-10-28T19:14:33.631Z,1761678873.631 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:14:33.631Z,1761678873.631 [marl:UpdateRudder:B] Stopped 2025-10-28T19:14:33.631Z,1761678873.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:14:33.631Z,1761678873.631 [marl:UpdateRudder] Stopped 2025-10-28T19:14:33.631Z,1761678873.631 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:14:33.963Z,1761678873.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554712,0.828758,0.073859],[-0.829060,-0.558051,0.035191],[0.070382,-0.041713,0.996648]] 2025-10-28T19:14:34.710Z,1761678874.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584911,0.803551,0.110388],[-0.810267,-0.585034,-0.034687],[0.036708,-0.109732,0.993283]] 2025-10-28T19:14:35.103Z,1761678875.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607878,0.778206,0.157732],[-0.793024,-0.605009,-0.071254],[0.039979,-0.168399,0.984908]] 2025-10-28T19:14:37.251Z,1761678877.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609783,0.788967,0.075466],[-0.792324,-0.604462,-0.082760],[-0.019678,-0.110259,0.993708]] 2025-10-28T19:14:37.275Z,1761678877.275 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:14:37.275Z,1761678877.275 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:14:37.275Z,1761678877.275 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateCommandMode] Stopped 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:14:37.276Z,1761678877.276 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:14:37.277Z,1761678877.277 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:14:37.277Z,1761678877.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:14:37.277Z,1761678877.277 [marl:UpdateSpeed] Stopped 2025-10-28T19:14:37.277Z,1761678877.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:14:37.628Z,1761678877.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599513,0.796265,0.080912],[-0.799986,-0.593046,-0.091206],[-0.024640,-0.119408,0.992539]] 2025-10-28T19:14:38.016Z,1761678878.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606076,0.784818,0.129355],[-0.793165,-0.608523,-0.024260],[0.059676,-0.117303,0.991302]] 2025-10-28T19:14:38.419Z,1761678878.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608736,0.783861,0.122485],[-0.788177,-0.615139,0.019534],[0.090657,-0.084649,0.992278]] 2025-10-28T19:14:38.823Z,1761678878.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593995,0.801845,0.064920],[-0.804023,-0.594416,-0.014731],[0.026777,-0.060947,0.997782]] 2025-10-28T19:14:39.219Z,1761678879.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613951,0.787090,0.059606],[-0.789168,-0.610467,-0.067412],[-0.016672,-0.088427,0.995943]] 2025-10-28T19:14:39.622Z,1761678879.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629967,0.767573,0.118209],[-0.776021,-0.628133,-0.056932],[0.030552,-0.127598,0.991355]] 2025-10-28T19:14:40.034Z,1761678880.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607598,0.776482,0.167031],[-0.788487,-0.614980,-0.009353],[0.095459,-0.137385,0.985907]] 2025-10-28T19:14:40.430Z,1761678880.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598428,0.782759,0.170801],[-0.792269,-0.609872,0.019123],[0.119135,-0.123877,0.985120]] 2025-10-28T19:14:40.833Z,1761678880.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606826,0.785539,0.121202],[-0.791139,-0.611628,0.003087],[0.076555,-0.094014,0.992623]] 2025-10-28T19:14:41.237Z,1761678881.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606856,0.793439,0.046696],[-0.794666,-0.606822,-0.016530],[0.015221,-0.047139,0.998772]] 2025-10-28T19:14:41.641Z,1761678881.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611092,0.790600,0.038959],[-0.791109,-0.611665,0.003643],[0.026710,-0.028594,0.999234]] 2025-10-28T19:14:42.056Z,1761678882.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604720,0.793332,0.070273],[-0.796010,-0.604930,-0.020675],[0.026108,-0.068440,0.997313]] 2025-10-28T19:14:42.449Z,1761678882.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620749,0.776307,0.109626],[-0.783980,-0.613413,-0.095393],[-0.006808,-0.145159,0.989385]] 2025-10-28T19:14:42.852Z,1761678882.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624444,0.769086,0.136297],[-0.780862,-0.610672,-0.131660],[-0.018025,-0.188643,0.981880]] 2025-10-28T19:14:43.258Z,1761678883.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612423,0.773393,0.163710],[-0.790511,-0.600557,-0.120095],[0.005436,-0.202964,0.979171]] 2025-10-28T19:14:43.661Z,1761678883.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618721,0.770065,0.155509],[-0.784452,-0.616331,-0.069074],[0.042654,-0.164727,0.985417]] 2025-10-28T19:14:44.066Z,1761678884.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609693,0.788390,0.081949],[-0.791898,-0.610324,-0.020041],[0.034215,-0.077114,0.996435]] 2025-10-28T19:14:44.469Z,1761678884.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599653,0.799323,0.038721],[-0.799673,-0.600364,0.009243],[0.030635,-0.025422,0.999207]] 2025-10-28T19:14:44.874Z,1761678884.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594206,0.801411,0.068256],[-0.801242,-0.597211,0.036754],[0.070218,-0.032850,0.996991]] 2025-10-28T19:14:45.290Z,1761678885.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590489,0.800958,0.098935],[-0.804059,-0.594403,0.013182],[0.069366,-0.071766,0.995007]] 2025-10-28T19:14:45.680Z,1761678885.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595004,0.796548,0.107150],[-0.803311,-0.593659,-0.047550],[0.025735,-0.114367,0.993105]] 2025-10-28T19:14:46.091Z,1761678886.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602199,0.788558,0.124633],[-0.798310,-0.596272,-0.084618],[0.007589,-0.150453,0.988588]] 2025-10-28T19:14:46.529Z,1761678886.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605088,0.783509,0.141357],[-0.794881,-0.604572,-0.051538],[0.045080,-0.143547,0.988616]] 2025-10-28T19:14:46.911Z,1761678886.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589660,0.795001,0.142390],[-0.801966,-0.597221,0.013372],[0.095669,-0.106307,0.989720]] 2025-10-28T19:14:47.299Z,1761678887.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576579,0.807047,0.127406],[-0.808343,-0.586156,0.054802],[0.118907,-0.071390,0.990336]] 2025-10-28T19:14:47.704Z,1761678887.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585294,0.806479,0.083802],[-0.808850,-0.587947,0.008975],[0.056509,-0.062530,0.996442]] 2025-10-28T19:14:48.111Z,1761678888.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614635,0.787450,0.046331],[-0.787290,-0.608744,-0.098007],[-0.048972,-0.096714,0.994107]] 2025-10-28T19:14:48.511Z,1761678888.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624485,0.773570,0.107742],[-0.781024,-0.617707,-0.091870],[-0.004515,-0.141520,0.989925]] 2025-10-28T19:14:48.565Z,1761678888.565 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:14:48.566Z,1761678888.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:14:48.566Z,1761678888.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:14:48.566Z,1761678888.566 [marl:UpdateRudder:A] Stopped 2025-10-28T19:14:48.566Z,1761678888.566 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:14:48.913Z,1761678888.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620085,0.762881,0.183051],[-0.776213,-0.630468,-0.001891],[0.113965,-0.143259,0.983102]] 2025-10-28T19:14:48.980Z,1761678888.980 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:14:48.980Z,1761678888.980 [marl:UpdateRudder:B] Stopped 2025-10-28T19:14:48.980Z,1761678888.980 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:14:48.980Z,1761678888.980 [marl:UpdateRudder] Stopped 2025-10-28T19:14:48.980Z,1761678888.980 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:14:49.324Z,1761678889.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610134,0.775297,0.163251],[-0.779930,-0.623986,0.048470],[0.139445,-0.097751,0.985393]] 2025-10-28T19:14:49.729Z,1761678889.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583289,0.811487,0.035548],[-0.810428,-0.584354,0.041689],[0.054602,-0.004492,0.998498]] 2025-10-28T19:14:50.052Z,1761678890.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:14:50.159Z,1761678890.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578109,0.815808,-0.015737],[-0.815954,-0.577928,0.014769],[0.002954,0.021379,0.999767]] 2025-10-28T19:14:50.538Z,1761678890.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595141,0.803309,0.022422],[-0.803239,-0.595487,0.014240],[0.024791,-0.009535,0.999647]] 2025-10-28T19:14:50.575Z,1761678890.575 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:14:50.575Z,1761678890.575 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:14:50.592Z,1761678890.592 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:14:50.593Z,1761678890.593 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:14:50.594Z,1761678890.594 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:14:50.594Z,1761678890.594 [marl:UpdateCommandMode] Stopped 2025-10-28T19:14:50.595Z,1761678890.595 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:14:50.595Z,1761678890.595 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:14:50.595Z,1761678890.595 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:14:50.595Z,1761678890.595 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:14:50.606Z,1761678890.606 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:14:50.607Z,1761678890.607 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:14:50.608Z,1761678890.608 [marl:UpdateSpeed] Stopped 2025-10-28T19:14:50.608Z,1761678890.608 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:14:50.943Z,1761678890.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587947,0.805991,0.068532],[-0.808856,-0.586683,-0.039439],[0.008419,-0.078621,0.996869]] 2025-10-28T19:14:50.954Z,1761678890.954 [NAL9602](INFO): SBD MO Status=1, MOMSN=3328, MT Status=0, MTMSN=0 2025-10-28T19:14:51.004Z,1761678891.004 [NAL9602](INFO): Sent 262 bytes from file Logs/20251028T162422/Express0031.lzma 2025-10-28T19:14:51.004Z,1761678891.004 [NAL9602](INFO): Packets left to send: 0 2025-10-28T19:14:51.057Z,1761678891.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:14:51.351Z,1761678891.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588420,0.800726,0.112244],[-0.808551,-0.582291,-0.084747],[-0.002500,-0.140622,0.990060]] 2025-10-28T19:14:52.064Z,1761678892.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602129,0.790463,0.112290],[-0.798033,-0.591617,-0.114598],[-0.024153,-0.158614,0.987045]] 2025-10-28T19:14:52.464Z,1761678892.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589473,0.802258,0.094362],[-0.807765,-0.586309,-0.061295],[0.006151,-0.112354,0.993649]] 2025-10-28T19:14:52.866Z,1761678892.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598908,0.797451,0.073360],[-0.800100,-0.599733,-0.012667],[0.033895,-0.066282,0.997225]] 2025-10-28T19:14:53.271Z,1761678893.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613051,0.789528,0.028515],[-0.789802,-0.613357,0.002589],[0.019534,-0.020934,0.999590]] 2025-10-28T19:14:53.676Z,1761678893.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605283,0.795368,0.031978],[-0.795839,-0.605497,-0.003606],[0.016495,-0.027632,0.999482]] 2025-10-28T19:14:54.085Z,1761678894.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597469,0.796033,0.096762],[-0.800100,-0.599841,-0.005600],[0.053584,-0.080765,0.995292]] 2025-10-28T19:14:54.484Z,1761678894.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602804,0.787896,0.125885],[-0.795980,-0.604738,-0.026605],[0.055166,-0.116240,0.991688]] 2025-10-28T19:14:54.886Z,1761678894.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610861,0.785419,0.099829],[-0.791579,-0.608390,-0.057132],[0.015863,-0.113922,0.993363]] 2025-10-28T19:14:55.294Z,1761678895.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604393,0.790147,0.101868],[-0.796593,-0.601322,-0.062061],[0.012218,-0.118656,0.992860]] 2025-10-28T19:14:55.695Z,1761678895.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569094,0.816058,0.100901],[-0.822271,-0.565055,-0.067705],[0.001764,-0.121498,0.992590]] 2025-10-28T19:14:56.098Z,1761678896.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564547,0.819317,0.100029],[-0.825400,-0.560168,-0.070196],[-0.001479,-0.122193,0.992505]] 2025-10-28T19:14:56.506Z,1761678896.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591653,0.796671,0.123542],[-0.804018,-0.594336,-0.017884],[0.059177,-0.109911,0.992178]] 2025-10-28T19:14:56.909Z,1761678896.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590376,0.799019,0.114123],[-0.805126,-0.592948,-0.013584],[0.056815,-0.099903,0.993374]] 2025-10-28T19:14:57.310Z,1761678897.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576959,0.811951,0.088619],[-0.816687,-0.575066,-0.048181],[0.011841,-0.100173,0.994900]] 2025-10-28T19:14:57.715Z,1761678897.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561951,0.820145,0.107582],[-0.826720,-0.561166,-0.040332],[0.027293,-0.111605,0.993378]] 2025-10-28T19:14:58.119Z,1761678898.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560556,0.818038,0.128804],[-0.826468,-0.562442,-0.024706],[0.052234,-0.120301,0.991362]] 2025-10-28T19:14:58.529Z,1761678898.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559194,0.821509,0.111464],[-0.827138,-0.561943,-0.007979],[0.056081,-0.096657,0.993737]] 2025-10-28T19:14:58.926Z,1761678898.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566428,0.819605,0.086059],[-0.823947,-0.565301,-0.039313],[0.016429,-0.093176,0.995514]] 2025-10-28T19:14:59.330Z,1761678899.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578890,0.811844,0.076132],[-0.815350,-0.575231,-0.065685],[-0.009532,-0.100099,0.994932]] 2025-10-28T19:14:59.735Z,1761678899.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583602,0.804949,0.107077],[-0.811898,-0.580864,-0.058465],[0.015136,-0.121056,0.992530]] 2025-10-28T19:15:00.142Z,1761678900.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581121,0.803220,0.130904],[-0.813426,-0.578262,-0.062853],[0.025212,-0.143006,0.989401]] 2025-10-28T19:15:00.163Z,1761678900.163 [NAL9602](INFO): SBD MO Status=0, MOMSN=3329, MT Status=0, MTMSN=0 2025-10-28T19:15:00.286Z,1761678900.286 [marl:NeedComms:D] Stopped 2025-10-28T19:15:00.286Z,1761678900.286 [marl:NeedComms:E] Running Loop=1 2025-10-28T19:15:00.542Z,1761678900.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590306,0.797920,0.121913],[-0.806904,-0.587282,-0.063289],[0.021098,-0.135732,0.990521]] 2025-10-28T19:15:00.946Z,1761678900.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590022,0.797318,0.127118],[-0.805936,-0.591053,-0.033534],[0.048396,-0.122234,0.991321]] 2025-10-28T19:15:01.352Z,1761678901.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572213,0.812884,0.108591],[-0.819051,-0.573156,-0.025439],[0.041561,-0.103498,0.993761]] 2025-10-28T19:15:01.757Z,1761678901.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574131,0.816296,0.063518],[-0.818761,-0.572600,-0.041953],[0.002124,-0.076092,0.997099]] 2025-10-28T19:15:02.159Z,1761678902.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577870,0.814838,0.045878],[-0.816076,-0.576280,-0.043828],[-0.009275,-0.062767,0.997985]] 2025-10-28T19:15:02.214Z,1761678902.214 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:15:02.214Z,1761678902.214 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:15:02.214Z,1761678902.214 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:15:02.214Z,1761678902.214 [marl:UpdateRudder:A] Stopped 2025-10-28T19:15:02.214Z,1761678902.214 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:15:02.566Z,1761678902.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599866,0.797865,0.059768],[-0.799998,-0.599311,-0.028814],[0.012830,-0.065099,0.997796]] 2025-10-28T19:15:02.577Z,1761678902.577 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191501.00,A,3645.89938,N,12151.63609,W,1.166,208.99,281025,,,A*7C 2025-10-28T19:15:02.584Z,1761678902.584 [NAL9602](INFO): GPS fix at 20251028T191501: (36.764990, -121.860602) 2025-10-28T19:15:02.674Z,1761678902.674 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:15:02.674Z,1761678902.674 [marl:UpdateRudder:B] Stopped 2025-10-28T19:15:02.674Z,1761678902.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:15:02.674Z,1761678902.674 [marl:UpdateRudder] Stopped 2025-10-28T19:15:02.674Z,1761678902.674 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:15:02.675Z,1761678902.675 [marl:NeedComms:E] Stopped 2025-10-28T19:15:02.680Z,1761678902.680 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T19:15:02.680Z,1761678902.680 [marl:NeedComms] Stopped 2025-10-28T19:15:02.681Z,1761678902.681 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T19:15:02.681Z,1761678902.681 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T19:15:02.681Z,1761678902.681 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T19:15:02.682Z,1761678902.682 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761678848.00. Resetting abort timer. 2025-10-28T19:15:02.969Z,1761678902.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609316,0.784691,0.113988],[-0.790662,-0.612123,-0.012592],[0.059894,-0.097798,0.993402]] 2025-10-28T19:15:03.371Z,1761678903.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589443,0.800406,0.109120],[-0.806409,-0.590980,-0.021147],[0.047561,-0.100460,0.993804]] 2025-10-28T19:15:03.782Z,1761678903.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592104,0.801584,0.082919],[-0.805555,-0.585899,-0.088339],[-0.022229,-0.119102,0.992633]] 2025-10-28T19:15:04.178Z,1761678904.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610041,0.786857,0.093306],[-0.792316,-0.604379,-0.083438],[-0.009262,-0.124828,0.992135]] 2025-10-28T19:15:04.207Z,1761678904.207 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:15:04.207Z,1761678904.207 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:15:04.207Z,1761678904.207 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateCommandMode] Stopped 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:15:04.224Z,1761678904.224 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:15:04.225Z,1761678904.225 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:15:04.225Z,1761678904.225 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:15:04.225Z,1761678904.225 [marl:UpdateSpeed] Stopped 2025-10-28T19:15:04.225Z,1761678904.225 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:15:04.623Z,1761678904.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616332,0.779487,0.111960],[-0.785322,-0.618928,-0.014048],[0.058345,-0.096583,0.993613]] 2025-10-28T19:15:04.992Z,1761678904.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621103,0.777043,0.102152],[-0.780177,-0.625408,0.013694],[0.074528,-0.071191,0.994675]] 2025-10-28T19:15:05.796Z,1761678905.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605898,0.790395,0.090351],[-0.792642,-0.609472,0.016194],[0.067866,-0.061805,0.995778]] 2025-10-28T19:15:06.204Z,1761678906.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606335,0.790637,0.085151],[-0.793445,-0.608641,0.001416],[0.052946,-0.066704,0.996367]] 2025-10-28T19:15:06.638Z,1761678906.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626234,0.777314,0.060123],[-0.779521,-0.625600,-0.031187],[0.013371,-0.066398,0.997704]] 2025-10-28T19:15:07.015Z,1761678907.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593748,0.800992,0.076649],[-0.803522,-0.595263,-0.003764],[0.042611,-0.063825,0.997051]] 2025-10-28T19:15:07.410Z,1761678907.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563921,0.817932,0.113927],[-0.821297,-0.569897,0.026248],[0.086395,-0.078766,0.993142]] 2025-10-28T19:15:07.816Z,1761678907.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573568,0.813477,0.096305],[-0.815094,-0.578461,0.031705],[0.081500,-0.060313,0.994847]] 2025-10-28T19:15:08.218Z,1761678908.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560307,0.827183,0.042709],[-0.828262,-0.559931,-0.021432],[0.006185,-0.047382,0.998858]] 2025-10-28T19:15:08.643Z,1761678908.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573580,0.814407,0.088014],[-0.818056,-0.563947,-0.112911],[-0.042320,-0.136764,0.989699]] 2025-10-28T19:15:09.433Z,1761678909.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602794,0.758321,0.248172],[-0.797161,-0.585723,-0.146503],[0.034264,-0.286144,0.957574]] 2025-10-28T19:15:09.834Z,1761678909.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611669,0.750138,0.251305],[-0.788689,-0.603061,-0.119527],[0.061890,-0.271313,0.960499]] 2025-10-28T19:15:10.238Z,1761678910.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610197,0.772440,0.176058],[-0.791444,-0.604350,-0.091523],[0.035705,-0.195187,0.980116]] 2025-10-28T19:15:10.649Z,1761678910.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607304,0.789177,0.091555],[-0.794454,-0.603962,-0.063817],[0.004933,-0.111493,0.993753]] 2025-10-28T19:15:11.048Z,1761678911.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638260,0.766517,0.071249],[-0.769658,-0.637290,-0.038582],[0.015833,-0.079463,0.996712]] 2025-10-28T19:15:11.454Z,1761678911.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656272,0.747530,0.102500],[-0.752539,-0.658326,-0.017086],[0.054706,-0.088349,0.994586]] 2025-10-28T19:15:11.854Z,1761678911.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639313,0.759721,0.118756],[-0.765884,-0.642897,-0.010249],[0.068562,-0.097505,0.992871]] 2025-10-28T19:15:12.260Z,1761678912.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612267,0.779964,0.129555],[-0.785953,-0.618238,0.007645],[0.086058,-0.097144,0.991543]] 2025-10-28T19:15:12.664Z,1761678912.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622865,0.770860,0.133471],[-0.777135,-0.629285,0.007793],[0.089999,-0.098871,0.991022]] 2025-10-28T19:15:13.066Z,1761678913.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640248,0.764566,0.074306],[-0.768147,-0.637945,-0.054560],[0.005688,-0.092010,0.995742]] 2025-10-28T19:15:13.478Z,1761678913.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623488,0.779122,0.065047],[-0.781377,-0.618124,-0.085862],[-0.026690,-0.104361,0.994181]] 2025-10-28T19:15:13.875Z,1761678913.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599591,0.784731,0.157122],[-0.796709,-0.603873,-0.024322],[0.075795,-0.139764,0.987280]] 2025-10-28T19:15:14.286Z,1761678914.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579104,0.780664,0.234951],[-0.801171,-0.598290,0.013205],[0.150878,-0.180589,0.971917]] 2025-10-28T19:15:14.357Z,1761678914.357 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:15:14.585Z,1761678914.585 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:15:14.586Z,1761678914.586 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:15:14.682Z,1761678914.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583556,0.790643,0.185329],[-0.809193,-0.585343,-0.050788],[0.068326,-0.179605,0.981363]] 2025-10-28T19:15:14.833Z,1761678914.833 [DAT](INFO): DAT read: user:171> 2025-10-28T19:15:14.834Z,1761678914.834 [DAT](INFO): DAT read: Tx time:19:15:14.5839 2025-10-28T19:15:14.834Z,1761678914.834 [DAT](INFO): Ping request sent. 2025-10-28T19:15:14.834Z,1761678914.834 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:15:14.834Z,1761678914.834 [DAT](INFO): publishing transmit ping time 2025-10-28T19:15:14.835Z,1761678914.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T19:15:15.085Z,1761678915.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 2025-10-28T19:15:15.337Z,1761678915.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503048 2025-10-28T19:15:15.501Z,1761678915.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593673,0.790897,0.148438],[-0.804677,-0.585045,-0.101083],[0.006897,-0.179454,0.983742]] 2025-10-28T19:15:15.552Z,1761678915.552 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:15:15.552Z,1761678915.552 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:15:15.552Z,1761678915.552 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:15:15.553Z,1761678915.553 [marl:UpdateRudder:A] Stopped 2025-10-28T19:15:15.553Z,1761678915.553 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:15:15.589Z,1761678915.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755149 2025-10-28T19:15:15.841Z,1761678915.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863 2025-10-28T19:15:15.901Z,1761678915.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608059,0.759973,0.229577],[-0.788070,-0.612768,-0.058829],[0.095968,-0.216694,0.971511]] 2025-10-28T19:15:15.930Z,1761678915.930 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:15:15.930Z,1761678915.930 [marl:UpdateRudder:B] Stopped 2025-10-28T19:15:15.930Z,1761678915.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:15:15.930Z,1761678915.930 [marl:UpdateRudder] Stopped 2025-10-28T19:15:15.930Z,1761678915.930 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:15:16.093Z,1761678916.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259082 2025-10-28T19:15:16.299Z,1761678916.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612718,0.741289,0.273985],[-0.776058,-0.629883,-0.031313],[0.149367,-0.231814,0.961224]] 2025-10-28T19:15:16.345Z,1761678916.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511021 2025-10-28T19:15:16.600Z,1761678916.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765226 2025-10-28T19:15:16.703Z,1761678916.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599659,0.765182,0.234318],[-0.791270,-0.610694,-0.030732],[0.119581,-0.203837,0.971674]] 2025-10-28T19:15:16.849Z,1761678916.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991 2025-10-28T19:15:17.101Z,1761678917.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267005 2025-10-28T19:15:17.108Z,1761678917.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618284,0.765275,0.179107],[-0.783411,-0.618388,-0.062163],[0.063186,-0.178749,0.981864]] 2025-10-28T19:15:17.353Z,1761678917.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936 2025-10-28T19:15:17.516Z,1761678917.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634286,0.756398,0.159823],[-0.769918,-0.636763,-0.041937],[0.070048,-0.149651,0.986254]] 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode] Stopped 2025-10-28T19:15:17.546Z,1761678917.546 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed] Stopped 2025-10-28T19:15:17.547Z,1761678917.547 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:15:17.605Z,1761678917.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771137 2025-10-28T19:15:17.857Z,1761678917.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022909 2025-10-28T19:15:17.915Z,1761678917.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634603,0.756846,0.156404],[-0.764572,-0.644345,0.015798],[0.112734,-0.109557,0.987567]] 2025-10-28T19:15:18.109Z,1761678918.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275302 2025-10-28T19:15:18.318Z,1761678918.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645994,0.745462,0.164250],[-0.751563,-0.658782,0.034047],[0.133586,-0.101450,0.985831]] 2025-10-28T19:15:18.361Z,1761678918.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527127 2025-10-28T19:15:18.616Z,1761678918.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781175 2025-10-28T19:15:18.722Z,1761678918.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679843,0.708664,0.188702],[-0.723806,-0.689789,-0.017199],[0.117976,-0.148277,0.981884]] 2025-10-28T19:15:18.865Z,1761678918.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031048 2025-10-28T19:15:19.117Z,1761678919.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283041 2025-10-28T19:15:19.139Z,1761678919.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701900,0.671570,0.237338],[-0.698928,-0.713592,-0.047823],[0.137246,-0.199449,0.970249]] 2025-10-28T19:15:19.369Z,1761678919.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534931 2025-10-28T19:15:19.535Z,1761678919.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690203,0.681417,0.243498],[-0.699091,-0.714788,0.018700],[0.186792,-0.157320,0.969721]] 2025-10-28T19:15:19.622Z,1761678919.622 [DAT](INFO): DAT read: Rx Time:19:15:18.9549 2025-10-28T19:15:19.622Z,1761678919.622 [DAT](INFO): Rx dataTimestamp_ set to:1761678919.621734 2025-10-28T19:15:19.623Z,1761678919.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788645 2025-10-28T19:15:19.873Z,1761678919.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038978 2025-10-28T19:15:19.939Z,1761678919.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694759,0.689563,0.204483],[-0.688854,-0.719714,0.086562],[0.206859,-0.080720,0.975035]] 2025-10-28T19:15:20.148Z,1761678920.148 [DAT](INFO): DAT read: 19:15:18.9549 LVL= 32752, 28609, 32754, 32755, AGC= 78, IDX= 442,-0.26,-0.495, 0.703, 0.878, 0.100, PHS=-0.493, 0.648, 0.734, RAW= 266.4, -14.8, CAL= 266.4, -20.5, ROT= 243.6, 20.5 2025-10-28T19:15:20.149Z,1761678920.149 [DAT](INFO): got valid direction response: 19:15:18.9549 LVL= 32752, 28609, 32754, 32755, AGC= 78, IDX= 442,-0.26,-0.495, 0.703, 0.878, 0.100, PHS=-0.493, 0.648, 0.734, RAW= 266.4, -14.8, CAL= 266.4, -20.5, ROT= 243.6, 20.5 2025-10-28T19:15:20.150Z,1761678920.150 [DAT](INFO): DAT read: Bearing 93, -20 (Remote) 2025-10-28T19:15:20.151Z,1761678920.151 [DAT](INFO): Remote Bearing received:Bearing 93, -20 (Remote) 2025-10-28T19:15:20.151Z,1761678920.151 [DAT](INFO): DAT read: Bearing 249.8, -54.1 (Local) 2025-10-28T19:15:20.156Z,1761678920.156 [DAT](INFO): Local bearing/azimuth received: Bearing 249.8, -54.1 (Local) 2025-10-28T19:15:20.157Z,1761678920.157 [DAT](INFO): DAT read: Range 11 to 20 : 1756.3 m (Round-trip 2341.8 ms) speed 0.6 m/s 2025-10-28T19:15:20.158Z,1761678920.158 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:15:20.159Z,1761678920.159 [DAT](INFO): direction in FSK: [-0.416477,-0.838988,-0.350207] 2025-10-28T19:15:20.159Z,1761678920.159 [DAT](INFO): publishing direction and range info 2025-10-28T19:15:20.351Z,1761678920.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714784,0.673663,0.187782],[-0.665825,-0.737666,0.111920],[0.213917,-0.045032,0.975813]] 2025-10-28T19:15:20.417Z,1761678920.417 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678976.00. Resetting abort timer. 2025-10-28T19:15:20.748Z,1761678920.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731311,0.653575,0.194999],[-0.647415,-0.755147,0.102993],[0.214566,-0.050925,0.975381]] 2025-10-28T19:15:21.151Z,1761678921.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736699,0.654107,0.171518],[-0.654957,-0.753306,0.059677],[0.168241,-0.068373,0.983372]] 2025-10-28T19:15:21.196Z,1761678921.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:15:21.554Z,1761678921.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758342,0.629273,0.170099],[-0.640905,-0.767401,-0.018344],[0.118991,-0.122928,0.985256]] 2025-10-28T19:15:22.200Z,1761678922.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:15:22.358Z,1761678922.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797414,0.518274,0.309067],[-0.555783,-0.830283,-0.041655],[0.235024,-0.204990,0.950128]] 2025-10-28T19:15:22.769Z,1761678922.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798984,0.497676,0.337554],[-0.534002,-0.845298,-0.017700],[0.276525,-0.194397,0.941140]] 2025-10-28T19:15:23.166Z,1761678923.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801229,0.511720,0.310120],[-0.536225,-0.844043,0.007334],[0.265508,-0.160418,0.950669]] 2025-10-28T19:15:23.573Z,1761678923.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813712,0.509283,0.280184],[-0.531316,-0.847167,-0.003180],[0.235743,-0.151454,0.959941]] 2025-10-28T19:15:23.988Z,1761678923.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826614,0.485432,0.284719],[-0.514671,-0.856731,-0.033541],[0.227646,-0.174262,0.958024]] 2025-10-28T19:15:24.379Z,1761678924.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833482,0.438856,0.335729],[-0.485075,-0.872109,-0.064252],[0.264595,-0.216406,0.939765]] 2025-10-28T19:15:24.788Z,1761678924.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834585,0.384065,0.394920],[-0.448763,-0.889784,-0.083045],[0.319499,-0.246533,0.914955]] 2025-10-28T19:15:25.188Z,1761678925.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838937,0.333202,0.430304],[-0.414375,-0.903659,-0.108140],[0.352815,-0.269030,0.896183]] 2025-10-28T19:15:25.591Z,1761678925.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849558,0.300394,0.433606],[-0.396411,-0.905884,-0.149103],[0.348008,-0.298558,0.888681]] 2025-10-28T19:15:25.996Z,1761678925.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858732,0.290501,0.422124],[-0.396782,-0.898241,-0.189018],[0.324259,-0.329807,0.886613]] 2025-10-28T19:15:26.399Z,1761678926.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863297,0.278141,0.421136],[-0.397102,-0.889346,-0.226658],[0.311493,-0.362907,0.878220]] 2025-10-28T19:15:26.804Z,1761678926.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866493,0.253423,0.430077],[-0.382351,-0.890830,-0.245417],[0.320931,-0.377093,0.868795]] 2025-10-28T19:15:27.206Z,1761678927.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870711,0.233836,0.432647],[-0.355116,-0.907547,-0.224169],[0.340229,-0.348826,0.873249]] 2025-10-28T19:15:27.611Z,1761678927.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877637,0.226312,0.422536],[-0.330682,-0.924017,-0.191944],[0.346991,-0.308183,0.885788]] 2025-10-28T19:15:28.420Z,1761678928.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889620,0.210536,0.405278],[-0.316700,-0.923768,-0.215299],[0.329055,-0.319886,0.888480]] 2025-10-28T19:15:28.822Z,1761678928.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894874,0.201977,0.398001],[-0.308927,-0.923910,-0.225733],[0.322124,-0.324956,0.889179]] 2025-10-28T19:15:28.912Z,1761678928.912 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:15:28.918Z,1761678928.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:15:28.918Z,1761678928.918 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:15:28.918Z,1761678928.918 [marl:UpdateRudder:A] Stopped 2025-10-28T19:15:28.918Z,1761678928.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:15:29.226Z,1761678929.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901541,0.177568,0.394581],[-0.285154,-0.929694,-0.233144],[0.325440,-0.322705,0.888791]] 2025-10-28T19:15:29.271Z,1761678929.271 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:15:29.271Z,1761678929.271 [marl:UpdateRudder:B] Stopped 2025-10-28T19:15:29.271Z,1761678929.271 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:15:29.271Z,1761678929.271 [marl:UpdateRudder] Stopped 2025-10-28T19:15:29.271Z,1761678929.271 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:15:29.631Z,1761678929.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908154,0.135903,0.395963],[-0.247445,-0.937190,-0.245858],[0.337679,-0.321256,0.884741]] 2025-10-28T19:15:30.036Z,1761678930.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912298,0.086317,0.400326],[-0.206310,-0.941298,-0.267197],[0.353763,-0.326355,0.876553]] 2025-10-28T19:15:30.439Z,1761678930.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912524,0.042495,0.406809],[-0.176533,-0.938103,-0.297992],[0.368965,-0.343740,0.863543]] 2025-10-28T19:15:30.842Z,1761678930.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912059,0.006743,0.410003],[-0.160100,-0.926363,-0.340910],[0.377513,-0.376572,0.845977]] 2025-10-28T19:15:30.902Z,1761678930.902 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:15:30.902Z,1761678930.902 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:15:30.902Z,1761678930.902 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateCommandMode] Stopped 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:15:30.903Z,1761678930.903 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:15:30.904Z,1761678930.904 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:15:30.904Z,1761678930.904 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:15:30.904Z,1761678930.904 [marl:UpdateSpeed] Stopped 2025-10-28T19:15:30.904Z,1761678930.904 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:15:31.249Z,1761678931.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914208,-0.016592,0.404905],[-0.152508,-0.911620,-0.381694],[0.375453,-0.410699,0.830880]] 2025-10-28T19:15:31.650Z,1761678931.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918750,-0.022005,0.394226],[-0.150904,-0.903078,-0.402093],[0.364865,-0.428913,0.826382]] 2025-10-28T19:15:32.055Z,1761678932.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922863,-0.018326,0.384692],[-0.146561,-0.907000,-0.394804],[0.356151,-0.420731,0.834351]] 2025-10-28T19:15:32.467Z,1761678932.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926535,-0.019779,0.375689],[-0.129280,-0.921064,-0.367326],[0.353299,-0.388909,0.850841]] 2025-10-28T19:15:32.863Z,1761678932.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929097,-0.030067,0.368613],[-0.104201,-0.935031,-0.338909],[0.354855,-0.353289,0.865601]] 2025-10-28T19:15:33.268Z,1761678933.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930328,-0.053121,0.362860],[-0.073040,-0.942792,-0.325284],[0.359381,-0.329124,0.873226]] 2025-10-28T19:15:33.670Z,1761678933.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931251,-0.087628,0.353686],[-0.038404,-0.941644,-0.334414],[0.362350,-0.325006,0.873541]] 2025-10-28T19:15:34.074Z,1761678934.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932566,-0.122328,0.339643],[-0.009500,-0.932196,-0.361830],[0.360876,-0.340657,0.868171]] 2025-10-28T19:15:34.482Z,1761678934.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934404,-0.147560,0.324216],[0.009729,-0.920399,-0.390859],[0.356084,-0.362066,0.861460]] 2025-10-28T19:15:34.485Z,1761678934.485 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T19:15:35.350Z,1761678935.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936121,-0.190576,0.295563],[0.049393,-0.903357,-0.426036],[0.348192,-0.384223,0.855065]] 2025-10-28T19:15:35.875Z,1761678935.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934701,-0.216772,0.281679],[0.079185,-0.899575,-0.429528],[0.346501,-0.379176,0.857999]] 2025-10-28T19:15:36.230Z,1761678936.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932406,-0.243972,0.266638],[0.109648,-0.893955,-0.434536],[0.344377,-0.375928,0.860280]] 2025-10-28T19:15:36.705Z,1761678936.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929739,-0.270245,0.250105],[0.138809,-0.886351,-0.441717],[0.341052,-0.375965,0.861588]] 2025-10-28T19:15:37.391Z,1761678937.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925714,-0.309732,0.217070],[0.184527,-0.870830,-0.455637],[0.330157,-0.381734,0.863293]] 2025-10-28T19:15:37.800Z,1761678937.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923677,-0.325834,0.201626],[0.204303,-0.863962,-0.460250],[0.324162,-0.383930,0.864591]] 2025-10-28T19:15:38.199Z,1761678938.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920860,-0.342337,0.186605],[0.224282,-0.856600,-0.464687],[0.318926,-0.386060,0.865589]] 2025-10-28T19:15:38.646Z,1761678938.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917524,-0.358483,0.172161],[0.243251,-0.848392,-0.470170],[0.314608,-0.389514,0.865622]] 2025-10-28T19:15:39.006Z,1761678939.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913118,-0.376270,0.156963],[0.264524,-0.839746,-0.474188],[0.310231,-0.391469,0.866319]] 2025-10-28T19:15:39.815Z,1761678939.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899198,-0.419498,0.124356],[0.318793,-0.822807,-0.470488],[0.299690,-0.383418,0.873600]] 2025-10-28T19:15:40.219Z,1761678940.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890688,-0.442352,0.104881],[0.347553,-0.811277,-0.470144],[0.293057,-0.382300,0.876336]] 2025-10-28T19:15:40.647Z,1761678940.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882514,-0.462783,0.083674],[0.374166,-0.798723,-0.471213],[0.284901,-0.384544,0.878042]] 2025-10-28T19:15:41.034Z,1761678941.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874702,-0.480345,0.064539],[0.398042,-0.787950,-0.469784],[0.276512,-0.385232,0.880419]] 2025-10-28T19:15:41.438Z,1761678941.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867050,-0.496072,0.046218],[0.420061,-0.777759,-0.467588],[0.267904,-0.386008,0.882737]] 2025-10-28T19:15:41.835Z,1761678941.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858376,-0.512052,0.031516],[0.442030,-0.769378,-0.461158],[0.260385,-0.381916,0.886758]] 2025-10-28T19:15:42.239Z,1761678942.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847723,-0.530133,0.018017],[0.466067,-0.760636,-0.451901],[0.253272,-0.374690,0.891886]] 2025-10-28T19:15:42.333Z,1761678942.333 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:15:42.334Z,1761678942.334 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:15:42.334Z,1761678942.334 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:15:42.334Z,1761678942.334 [marl:UpdateRudder:A] Stopped 2025-10-28T19:15:42.334Z,1761678942.334 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:15:42.654Z,1761678942.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836300,-0.548258,0.003863],[0.489809,-0.750271,-0.444050],[0.246352,-0.369467,0.895994]] 2025-10-28T19:15:42.742Z,1761678942.742 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:15:42.742Z,1761678942.742 [marl:UpdateRudder:B] Stopped 2025-10-28T19:15:42.742Z,1761678942.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:15:42.742Z,1761678942.742 [marl:UpdateRudder] Stopped 2025-10-28T19:15:42.742Z,1761678942.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:15:43.048Z,1761678943.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824592,-0.565604,-0.011858],[0.512662,-0.738216,-0.438423],[0.239220,-0.367599,0.898690]] 2025-10-28T19:15:43.462Z,1761678943.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813170,-0.581386,-0.027300],[0.533816,-0.726301,-0.433044],[0.231938,-0.366712,0.900959]] 2025-10-28T19:15:43.855Z,1761678943.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802171,-0.595527,-0.043243],[0.553274,-0.714115,-0.428867],[0.224522,-0.367950,0.902332]] 2025-10-28T19:15:44.258Z,1761678944.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791144,-0.608763,-0.059147],[0.571716,-0.701688,-0.425176],[0.217329,-0.370191,0.903176]] 2025-10-28T19:15:44.285Z,1761678944.285 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:15:44.285Z,1761678944.285 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:15:44.285Z,1761678944.285 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateCommandMode] Stopped 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:15:44.286Z,1761678944.286 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:15:44.287Z,1761678944.287 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:15:44.287Z,1761678944.287 [marl:UpdateSpeed] Stopped 2025-10-28T19:15:44.287Z,1761678944.287 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:15:44.664Z,1761678944.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779125,-0.622566,-0.073316],[0.590341,-0.689351,-0.419873],[0.210858,-0.370415,0.904617]] 2025-10-28T19:15:45.066Z,1761678945.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764661,-0.638523,-0.087069],[0.611026,-0.675437,-0.412835],[0.204795,-0.368880,0.906635]] 2025-10-28T19:15:45.470Z,1761678945.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748906,-0.654818,-0.101753],[0.632171,-0.659907,-0.406058],[0.198747,-0.368424,0.908165]] 2025-10-28T19:15:45.875Z,1761678945.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732242,-0.670993,-0.116575],[0.653220,-0.643534,-0.398957],[0.192677,-0.368282,0.909529]] 2025-10-28T19:15:46.278Z,1761678946.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715352,-0.685978,-0.133062],[0.673656,-0.626440,-0.392124],[0.185633,-0.370144,0.910238]] 2025-10-28T19:15:46.682Z,1761678946.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699207,-0.699255,-0.148836],[0.692672,-0.611074,-0.383138],[0.176962,-0.370987,0.911621]] 2025-10-28T19:15:47.107Z,1761678947.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683855,-0.710878,-0.164304],[0.710507,-0.597634,-0.371501],[0.165898,-0.370792,0.913779]] 2025-10-28T19:15:47.493Z,1761678947.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670475,-0.720199,-0.178259],[0.725898,-0.587090,-0.358326],[0.153412,-0.369647,0.916420]] 2025-10-28T19:15:47.894Z,1761678947.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658882,-0.727457,-0.191524],[0.739125,-0.578708,-0.344661],[0.139889,-0.368651,0.918982]] 2025-10-28T19:15:48.298Z,1761678948.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647925,-0.733618,-0.204934],[0.751287,-0.571156,-0.330680],[0.125543,-0.368220,0.921224]] 2025-10-28T19:15:48.702Z,1761678948.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635703,-0.740438,-0.218248],[0.763983,-0.563012,-0.315195],[0.110506,-0.367108,0.923591]] 2025-10-28T19:15:49.107Z,1761678949.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621319,-0.749039,-0.230007],[0.777685,-0.553624,-0.297836],[0.095753,-0.363924,0.926494]] 2025-10-28T19:15:49.512Z,1761678949.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605318,-0.758637,-0.240958],[0.791713,-0.542503,-0.280859],[0.082349,-0.360778,0.929009]] 2025-10-28T19:15:49.914Z,1761678949.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588097,-0.769103,-0.250246],[0.805673,-0.529943,-0.264673],[0.070945,-0.357270,0.931303]] 2025-10-28T19:15:50.348Z,1761678950.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570312,-0.779515,-0.259037],[0.819082,-0.515850,-0.251005],[0.062038,-0.355324,0.932682]] 2025-10-28T19:15:50.722Z,1761678950.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552322,-0.789092,-0.268838],[0.831741,-0.499923,-0.241420],[0.056104,-0.356945,0.932439]] 2025-10-28T19:15:51.126Z,1761678951.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534730,-0.797524,-0.279319],[0.843325,-0.482712,-0.236205],[0.053549,-0.361863,0.930692]] 2025-10-28T19:15:51.532Z,1761678951.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517876,-0.805615,-0.287730],[0.853727,-0.465348,-0.233669],[0.054353,-0.366655,0.928768]] 2025-10-28T19:15:51.957Z,1761678951.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501461,-0.813695,-0.294002],[0.863200,-0.447563,-0.233608],[0.058502,-0.370928,0.926817]] 2025-10-28T19:15:52.332Z,1761678952.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:15:52.389Z,1761678952.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463888,-0.832249,-0.303594],[0.883174,-0.407627,-0.232042],[0.069364,-0.375768,0.924114]] 2025-10-28T19:15:52.789Z,1761678952.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440662,-0.842377,-0.310190],[0.894861,-0.384890,-0.226016],[0.071001,-0.377173,0.923417]] 2025-10-28T19:15:53.187Z,1761678953.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416423,-0.851527,-0.318579],[0.906521,-0.362151,-0.216947],[0.069363,-0.379141,0.922736]] 2025-10-28T19:15:53.336Z,1761678953.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:15:53.593Z,1761678953.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391919,-0.860015,-0.326763],[0.917777,-0.340804,-0.203810],[0.063917,-0.379772,0.922869]] 2025-10-28T19:15:53.996Z,1761678953.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367270,-0.868119,-0.333889],[0.928496,-0.321029,-0.186642],[0.054839,-0.378563,0.923950]] 2025-10-28T19:15:54.399Z,1761678954.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343206,-0.875216,-0.340890],[0.938253,-0.302654,-0.167579],[0.043496,-0.377355,0.925046]] 2025-10-28T19:15:54.802Z,1761678954.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319435,-0.880925,-0.349188],[0.947116,-0.284923,-0.147619],[0.030550,-0.377876,0.925352]] 2025-10-28T19:15:55.207Z,1761678955.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296350,-0.886097,-0.356384],[0.954921,-0.268105,-0.127458],[0.017391,-0.378091,0.925605]] 2025-10-28T19:15:55.616Z,1761678955.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274197,-0.890260,-0.363667],[0.961662,-0.251979,-0.108227],[0.004714,-0.379400,0.925221]] 2025-10-28T19:15:55.645Z,1761678955.645 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:15:55.645Z,1761678955.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:15:55.645Z,1761678955.645 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:15:55.645Z,1761678955.645 [marl:UpdateRudder:A] Stopped 2025-10-28T19:15:55.645Z,1761678955.645 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:15:56.016Z,1761678956.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253643,-0.894041,-0.369263],[0.967274,-0.237117,-0.090315],[-0.006813,-0.380086,0.924926]] 2025-10-28T19:15:56.046Z,1761678956.046 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:15:56.046Z,1761678956.046 [marl:UpdateRudder:B] Stopped 2025-10-28T19:15:56.046Z,1761678956.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:15:56.046Z,1761678956.046 [marl:UpdateRudder] Stopped 2025-10-28T19:15:56.046Z,1761678956.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:15:56.427Z,1761678956.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235562,-0.897344,-0.373209],[0.971708,-0.224250,-0.074136],[-0.017167,-0.380114,0.924781]] 2025-10-28T19:15:56.822Z,1761678956.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220063,-0.898835,-0.379036],[0.975104,-0.213555,-0.059714],[-0.027272,-0.382741,0.923453]] 2025-10-28T19:15:57.226Z,1761678957.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204488,-0.899931,-0.385108],[0.978121,-0.203234,-0.044448],[-0.038266,-0.385771,0.921801]] 2025-10-28T19:15:57.641Z,1761678957.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188697,-0.900211,-0.392446],[0.980762,-0.193091,-0.028652],[-0.049985,-0.390303,0.919329]] 2025-10-28T19:15:57.717Z,1761678957.717 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:15:57.717Z,1761678957.717 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:15:57.717Z,1761678957.717 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateCommandMode] Stopped 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:15:57.718Z,1761678957.718 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:15:57.719Z,1761678957.719 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:15:57.719Z,1761678957.719 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:15:57.719Z,1761678957.719 [marl:UpdateSpeed] Stopped 2025-10-28T19:15:57.719Z,1761678957.719 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:15:58.035Z,1761678958.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172427,-0.902036,-0.395726],[0.983100,-0.182682,-0.011947],[-0.061515,-0.391098,0.918291]] 2025-10-28T19:15:58.443Z,1761678958.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156044,-0.903308,-0.399606],[0.985200,-0.171385,0.002699],[-0.070924,-0.393271,0.916683]] 2025-10-28T19:15:58.843Z,1761678958.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139360,-0.904820,-0.402343],[0.987283,-0.158344,0.014129],[-0.076493,-0.395257,0.915380]] 2025-10-28T19:15:59.248Z,1761678959.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122377,-0.906625,-0.403801],[0.989518,-0.142886,0.020927],[-0.076671,-0.397007,0.914607]] 2025-10-28T19:15:59.655Z,1761678959.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105059,-0.907781,-0.406075],[0.991894,-0.125004,0.022825],[-0.071481,-0.400386,0.913554]] 2025-10-28T19:16:00.055Z,1761678960.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087597,-0.909566,-0.406223],[0.994236,-0.105135,0.021010],[-0.061818,-0.402041,0.913532]] 2025-10-28T19:16:00.474Z,1761678960.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069569,-0.911054,-0.406375],[0.996326,-0.083849,0.017415],[-0.049940,-0.403671,0.913540]] 2025-10-28T19:16:00.868Z,1761678960.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050751,-0.912254,-0.406470],[0.997975,-0.061952,0.014437],[-0.038352,-0.404914,0.913550]] 2025-10-28T19:16:01.267Z,1761678961.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030427,-0.914551,-0.403326],[0.999109,-0.039637,0.014506],[-0.029253,-0.402525,0.914942]] 2025-10-28T19:16:01.671Z,1761678961.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007007,-0.915559,-0.402122],[0.999678,-0.016225,0.019520],[-0.024396,-0.401855,0.915378]] 2025-10-28T19:16:02.075Z,1761678962.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020944,-0.916138,-0.400316],[0.999474,0.009265,0.031088],[-0.024772,-0.400757,0.915850]] 2025-10-28T19:16:02.481Z,1761678962.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051745,-0.915924,-0.398003],[0.998230,0.035740,0.047534],[-0.029313,-0.399758,0.916152]] 2025-10-28T19:16:02.882Z,1761678962.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082154,-0.914263,-0.396703],[0.995972,0.060971,0.065740],[-0.035916,-0.400506,0.915590]] 2025-10-28T19:16:03.286Z,1761678963.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109797,-0.911081,-0.397336],[0.993076,0.083751,0.082382],[-0.041780,-0.403630,0.913968]] 2025-10-28T19:16:03.700Z,1761678963.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134628,-0.907875,-0.397037],[0.989837,0.104691,0.096247],[-0.045814,-0.405959,0.912742]] 2025-10-28T19:16:04.112Z,1761678964.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157958,-0.904885,-0.395263],[0.986286,0.125182,0.107563],[-0.047852,-0.406833,0.912248]] 2025-10-28T19:16:04.499Z,1761678964.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181077,-0.901387,-0.393335],[0.982248,0.145832,0.117994],[-0.048997,-0.407719,0.911792]] 2025-10-28T19:16:04.907Z,1761678964.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204843,-0.896897,-0.391938],[0.977475,0.166659,0.129492],[-0.050820,-0.409635,0.910833]] 2025-10-28T19:16:05.307Z,1761678965.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227626,-0.891906,-0.390755],[0.972241,0.185847,0.142160],[-0.054173,-0.412267,0.909451]] 2025-10-28T19:16:05.727Z,1761678965.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246695,-0.887756,-0.388627],[0.967323,0.201350,0.154092],[-0.058546,-0.413942,0.908419]] 2025-10-28T19:16:06.115Z,1761678966.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263406,-0.885196,-0.383465],[0.962511,0.214484,0.166040],[-0.064731,-0.412825,0.908507]] 2025-10-28T19:16:06.519Z,1761678966.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278480,-0.882695,-0.378547],[0.957750,0.225731,0.178214],[-0.071859,-0.412182,0.908263]] 2025-10-28T19:16:06.929Z,1761678966.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292429,-0.878946,-0.376748],[0.953021,0.235327,0.190715],[-0.078969,-0.414820,0.906470]] 2025-10-28T19:16:07.330Z,1761678967.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306045,-0.874884,-0.375386],[0.948198,0.244836,0.202425],[-0.085190,-0.417891,0.904494]] 2025-10-28T19:16:07.730Z,1761678967.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319508,-0.871134,-0.372881],[0.943341,0.255219,0.212065],[-0.089571,-0.419511,0.903320]] 2025-10-28T19:16:08.134Z,1761678968.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333491,-0.867063,-0.370117],[0.938346,0.267366,0.219139],[-0.091051,-0.420379,0.902769]] 2025-10-28T19:16:08.539Z,1761678968.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347368,-0.863231,-0.366289],[0.933513,0.281334,0.222271],[-0.088822,-0.419145,0.903564]] 2025-10-28T19:16:08.943Z,1761678968.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361016,-0.859176,-0.362607],[0.928811,0.296441,0.222337],[-0.083535,-0.417061,0.905032]] 2025-10-28T19:16:08.990Z,1761678968.990 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:16:08.990Z,1761678968.990 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:16:08.990Z,1761678968.990 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:16:08.991Z,1761678968.991 [marl:UpdateRudder:A] Stopped 2025-10-28T19:16:08.991Z,1761678968.991 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:16:09.346Z,1761678969.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373867,-0.854813,-0.359888],[0.924370,0.311655,0.220026],[-0.075920,-0.414930,0.906680]] 2025-10-28T19:16:09.393Z,1761678969.393 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:16:09.393Z,1761678969.393 [marl:UpdateRudder:B] Stopped 2025-10-28T19:16:09.394Z,1761678969.394 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:16:09.394Z,1761678969.394 [marl:UpdateRudder] Stopped 2025-10-28T19:16:09.394Z,1761678969.394 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:16:09.752Z,1761678969.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385702,-0.850256,-0.358189],[0.920203,0.326412,0.216060],[-0.066790,-0.412941,0.908305]] 2025-10-28T19:16:10.155Z,1761678970.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398975,-0.844520,-0.357218],[0.915082,0.341769,0.214053],[-0.058686,-0.412286,0.909162]] 2025-10-28T19:16:10.564Z,1761678970.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415363,-0.837887,-0.354146],[0.908057,0.358846,0.216016],[-0.053913,-0.411309,0.909900]] 2025-10-28T19:16:10.963Z,1761678970.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433719,-0.830518,-0.349468],[0.899571,0.376910,0.220707],[-0.051583,-0.410096,0.910583]] 2025-10-28T19:16:11.071Z,1761678971.071 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:16:11.071Z,1761678971.071 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:16:11.071Z,1761678971.071 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateCommandMode] Stopped 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:16:11.072Z,1761678971.072 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:16:11.073Z,1761678971.073 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:16:11.073Z,1761678971.073 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:16:11.073Z,1761678971.073 [marl:UpdateSpeed] Stopped 2025-10-28T19:16:11.073Z,1761678971.073 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:16:11.366Z,1761678971.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453109,-0.821906,-0.345199],[0.890009,0.395035,0.227665],[-0.050754,-0.410387,0.910498]] 2025-10-28T19:16:11.786Z,1761678971.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473665,-0.812447,-0.339958],[0.879235,0.413927,0.235819],[-0.050873,-0.410602,0.910394]] 2025-10-28T19:16:12.177Z,1761678972.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494736,-0.802541,-0.333413],[0.867553,0.433634,0.243544],[-0.050875,-0.409744,0.910781]] 2025-10-28T19:16:12.620Z,1761678972.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516489,-0.792302,-0.324803],[0.854776,0.454468,0.250634],[-0.050966,-0.407083,0.911968]] 2025-10-28T19:16:12.982Z,1761678972.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538469,-0.781654,-0.314752],[0.841083,0.475834,0.257216],[-0.051284,-0.403236,0.913658]] 2025-10-28T19:16:13.389Z,1761678973.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560816,-0.769447,-0.305675],[0.826312,0.497028,0.264899],[-0.051897,-0.401143,0.914544]] 2025-10-28T19:16:13.803Z,1761678973.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583104,-0.756487,-0.296172],[0.810669,0.518044,0.272849],[-0.052976,-0.399197,0.915333]] 2025-10-28T19:16:14.194Z,1761678974.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604514,-0.742690,-0.288051],[0.794679,0.537195,0.282676],[-0.055201,-0.399790,0.914943]] 2025-10-28T19:16:14.651Z,1761678974.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624126,-0.728724,-0.281831],[0.779143,0.553548,0.294146],[-0.058344,-0.403170,0.913263]] 2025-10-28T19:16:14.763Z,1761678974.763 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:16:14.873Z,1761678974.873 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:16:14.873Z,1761678974.873 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:16:15.047Z,1761678975.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640027,-0.717152,-0.275787],[0.765873,0.566638,0.303906],[-0.061676,-0.405726,0.911911]] 2025-10-28T19:16:15.125Z,1761678975.125 [DAT](INFO): DAT read: user:172> 2025-10-28T19:16:15.126Z,1761678975.126 [DAT](INFO): DAT read: Tx time:19:16:14.8837 2025-10-28T19:16:15.126Z,1761678975.126 [DAT](INFO): Ping request sent. 2025-10-28T19:16:15.126Z,1761678975.126 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:16:15.126Z,1761678975.126 [DAT](INFO): publishing transmit ping time 2025-10-28T19:16:15.127Z,1761678975.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T19:16:15.377Z,1761678975.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839 2025-10-28T19:16:15.421Z,1761678975.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652488,-0.707895,-0.270453],[0.755044,0.576897,0.311607],[-0.064561,-0.407524,0.910910]] 2025-10-28T19:16:15.629Z,1761678975.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912 2025-10-28T19:16:15.811Z,1761678975.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663281,-0.699059,-0.267161],[0.745400,0.585340,0.318991],[-0.066614,-0.410723,0.909324]] 2025-10-28T19:16:15.881Z,1761678975.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755021 2025-10-28T19:16:16.133Z,1761678976.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007055 2025-10-28T19:16:16.214Z,1761678976.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673388,-0.689920,-0.265632],[0.736220,0.593103,0.325897],[-0.067296,-0.415018,0.907321]] 2025-10-28T19:16:16.386Z,1761678976.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259854 2025-10-28T19:16:16.637Z,1761678976.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511085 2025-10-28T19:16:16.642Z,1761678976.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682935,-0.680001,-0.266830],[0.727472,0.600013,0.332820],[-0.066217,-0.421405,0.904452]] 2025-10-28T19:16:16.890Z,1761678976.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763715 2025-10-28T19:16:17.023Z,1761678977.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692202,-0.670067,-0.268080],[0.718936,0.607711,0.337371],[-0.063146,-0.426261,0.902394]] 2025-10-28T19:16:17.141Z,1761678977.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015275 2025-10-28T19:16:17.394Z,1761678977.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267968 2025-10-28T19:16:17.428Z,1761678977.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701767,-0.660641,-0.266602],[0.709955,0.617515,0.338585],[-0.059052,-0.426883,0.902377]] 2025-10-28T19:16:17.645Z,1761678977.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518909 2025-10-28T19:16:17.830Z,1761678977.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712913,-0.650311,-0.262393],[0.699046,0.629390,0.339415],[-0.055578,-0.425398,0.903298]] 2025-10-28T19:16:17.898Z,1761678977.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771536 2025-10-28T19:16:18.149Z,1761678978.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022949 2025-10-28T19:16:18.243Z,1761678978.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728116,-0.636800,-0.253641],[0.683330,0.645229,0.341671],[-0.053920,-0.422096,0.904946]] 2025-10-28T19:16:18.402Z,1761678978.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275613 2025-10-28T19:16:18.648Z,1761678978.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744606,-0.621266,-0.244111],[0.665337,0.661332,0.346362],[-0.053744,-0.420319,0.905783]] 2025-10-28T19:16:18.653Z,1761678978.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527006 2025-10-28T19:16:18.906Z,1761678978.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779713 2025-10-28T19:16:19.043Z,1761678979.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759899,-0.606560,-0.233751],[0.647822,0.676958,0.349362],[-0.053669,-0.416909,0.907363]] 2025-10-28T19:16:19.157Z,1761678979.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030867 2025-10-28T19:16:19.409Z,1761678979.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283218 2025-10-28T19:16:19.454Z,1761678979.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772839,-0.593058,-0.225837],[0.632307,0.689391,0.353451],[-0.053927,-0.415959,0.907783]] 2025-10-28T19:16:19.661Z,1761678979.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534920 2025-10-28T19:16:19.866Z,1761678979.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784079,-0.579715,-0.221699],[0.618314,0.698550,0.360160],[-0.053923,-0.419473,0.906165]] 2025-10-28T19:16:19.913Z,1761678979.913 [DAT](INFO): DAT read: Rx Time:19:16:19.1752 2025-10-28T19:16:19.913Z,1761678979.913 [DAT](INFO): Rx dataTimestamp_ set to:1761678979.913131 2025-10-28T19:16:19.914Z,1761678979.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788022 2025-10-28T19:16:20.165Z,1761678980.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038910 2025-10-28T19:16:20.254Z,1761678980.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793814,-0.567622,-0.218321],[0.605851,0.706838,0.365135],[-0.052941,-0.422120,0.904993]] 2025-10-28T19:16:20.423Z,1761678980.423 [DAT](INFO): DAT read: 19:16:19.1752 LVL= 22448, 31873, 31346, 31939, AGC= 80, IDX= 139, 0.19, 1.848, 0.679,-0.081, 1.802, PHS= 0.149,-1.078,-1.926, RAW= 66.0, 29.2, CAL= 61.5, 36.0, ROT= 88.5, -36.0 2025-10-28T19:16:20.424Z,1761678980.424 [DAT](INFO): got valid direction response: 19:16:19.1752 LVL= 22448, 31873, 31346, 31939, AGC= 80, IDX= 139, 0.19, 1.848, 0.679,-0.081, 1.802, PHS= 0.149,-1.078,-1.926, RAW= 66.0, 29.2, CAL= 61.5, 36.0, ROT= 88.5, -36.0 2025-10-28T19:16:20.425Z,1761678980.425 [DAT](INFO): DAT read: Bearing 95, -20 (Remote) 2025-10-28T19:16:20.425Z,1761678980.425 [DAT](INFO): Remote Bearing received:Bearing 95, -20 (Remote) 2025-10-28T19:16:20.426Z,1761678980.426 [DAT](INFO): DAT read: Bearing 271.7, 28.1 (Local) 2025-10-28T19:16:20.426Z,1761678980.426 [DAT](INFO): Local bearing/azimuth received: Bearing 271.7, 28.1 (Local) 2025-10-28T19:16:20.428Z,1761678980.428 [DAT](INFO): DAT read: Range 11 to 20 : 1696.8 m (Round-trip 2262.4 ms) speed 0.8 m/s 2025-10-28T19:16:20.429Z,1761678980.429 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:16:20.430Z,1761678980.430 [DAT](INFO): direction in FSK: [0.021178,0.808740,0.587785] 2025-10-28T19:16:20.430Z,1761678980.430 [DAT](INFO): publishing direction and range info 2025-10-28T19:16:20.658Z,1761678980.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802706,-0.555857,-0.216070],[0.594228,0.714756,0.368805],[-0.050565,-0.424437,0.904045]] 2025-10-28T19:16:20.726Z,1761678980.726 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761678976.00. Resetting abort timer. 2025-10-28T19:16:21.469Z,1761678981.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822795,-0.528363,-0.209383],[0.566638,0.734159,0.374075],[-0.043927,-0.426431,0.903453]] 2025-10-28T19:16:21.871Z,1761678981.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833587,-0.513412,-0.203817],[0.550886,0.745466,0.375240],[-0.040714,-0.425075,0.904242]] 2025-10-28T19:16:22.275Z,1761678982.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844285,-0.498123,-0.197626],[0.534563,0.756848,0.376063],[-0.037753,-0.423148,0.905274]] 2025-10-28T19:16:22.318Z,1761678982.318 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:16:22.318Z,1761678982.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:16:22.318Z,1761678982.318 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:16:22.319Z,1761678982.319 [marl:UpdateRudder:A] Stopped 2025-10-28T19:16:22.319Z,1761678982.319 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:16:22.679Z,1761678982.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855266,-0.481923,-0.190448],[0.517047,0.769259,0.375370],[-0.034396,-0.419512,0.907098]] 2025-10-28T19:16:22.734Z,1761678982.734 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:16:22.734Z,1761678982.734 [marl:UpdateRudder:B] Stopped 2025-10-28T19:16:22.734Z,1761678982.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:16:22.735Z,1761678982.735 [marl:UpdateRudder] Stopped 2025-10-28T19:16:22.735Z,1761678982.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:16:23.083Z,1761678983.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867267,-0.463755,-0.181049],[0.496938,0.784503,0.370954],[-0.029999,-0.411687,0.910832]] 2025-10-28T19:16:23.464Z,1761678983.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:16:23.490Z,1761678983.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880179,-0.442539,-0.171593],[0.473965,0.800173,0.367534],[-0.025344,-0.404825,0.914043]] 2025-10-28T19:16:23.898Z,1761678983.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891700,-0.421869,-0.164007],[0.452087,0.812401,0.368270],[-0.022122,-0.402532,0.915139]] 2025-10-28T19:16:24.295Z,1761678984.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901165,-0.403782,-0.157678],[0.433019,0.821835,0.370245],[-0.019914,-0.401929,0.915454]] 2025-10-28T19:16:24.335Z,1761678984.335 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:16:24.335Z,1761678984.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:16:24.335Z,1761678984.335 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:16:24.335Z,1761678984.335 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:16:24.336Z,1761678984.336 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:16:24.340Z,1761678984.340 [marl:UpdateCommandMode] Stopped 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:16:24.341Z,1761678984.341 [marl:UpdateSpeed] Stopped 2025-10-28T19:16:24.342Z,1761678984.342 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:16:24.468Z,1761678984.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:16:25.102Z,1761678985.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916052,-0.372260,-0.149235],[0.400701,0.833793,0.379773],[-0.016943,-0.407691,0.912963]] 2025-10-28T19:16:25.506Z,1761678985.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922255,-0.357786,-0.146406],[0.386242,0.836946,0.387734],[-0.016192,-0.414138,0.910070]] 2025-10-28T19:16:25.914Z,1761678985.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928183,-0.343299,-0.143607],[0.371823,0.840055,0.395039],[-0.014979,-0.420065,0.907371]] 2025-10-28T19:16:26.315Z,1761678986.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934609,-0.327111,-0.139659],[0.355415,0.843853,0.401986],[-0.013643,-0.425336,0.904933]] 2025-10-28T19:16:26.721Z,1761678986.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941459,-0.309455,-0.133762],[0.336903,0.849123,0.406801],[-0.012306,-0.428051,0.903671]] 2025-10-28T19:16:27.122Z,1761678987.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948360,-0.291057,-0.126095],[0.317005,0.855851,0.408689],[-0.011034,-0.427556,0.903921]] 2025-10-28T19:16:27.526Z,1761678987.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955261,-0.271278,-0.117837],[0.295630,0.863709,0.408179],[-0.008954,-0.424754,0.905265]] 2025-10-28T19:16:27.930Z,1761678987.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961781,-0.250907,-0.109648],[0.273747,0.871899,0.406023],[-0.006272,-0.420522,0.907261]] 2025-10-28T19:16:28.336Z,1761678988.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967847,-0.230023,-0.101789],[0.251515,0.879409,0.404204],[-0.003462,-0.416809,0.908987]] 2025-10-28T19:16:28.752Z,1761678988.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973480,-0.208835,-0.093411],[0.228774,0.887684,0.399600],[-0.000531,-0.410372,0.911918]] 2025-10-28T19:16:29.147Z,1761678989.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978393,-0.187619,-0.086866],[0.206727,0.894330,0.396784],[0.003242,-0.406168,0.913793]] 2025-10-28T19:16:29.248Z,1761678989.248 [Radio_Surface](INFO): Powering down 2025-10-28T19:16:29.546Z,1761678989.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982206,-0.168615,-0.082707],[0.187661,0.898523,0.396786],[0.007410,-0.405246,0.914178]] 2025-10-28T19:16:29.957Z,1761678989.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985081,-0.152455,-0.079827],[0.171709,0.901579,0.397078],[0.011434,-0.404861,0.914307]] 2025-10-28T19:16:30.378Z,1761678990.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987561,-0.136953,-0.077245],[0.156492,0.903805,0.398304],[0.015266,-0.405438,0.913995]] 2025-10-28T19:16:30.765Z,1761678990.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989911,-0.120535,-0.074487],[0.140420,0.904841,0.401927],[0.018952,-0.408331,0.912637]] 2025-10-28T19:16:31.162Z,1761678991.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992123,-0.102935,-0.071383],[0.123259,0.903792,0.409838],[0.022329,-0.415409,0.909361]] 2025-10-28T19:16:31.569Z,1761678991.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994052,-0.085511,-0.067442],[0.106039,0.901128,0.420385],[0.024827,-0.425036,0.904836]] 2025-10-28T19:16:31.970Z,1761678991.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995559,-0.070043,-0.062897],[0.090385,0.897992,0.430628],[0.026319,-0.434401,0.900335]] 2025-10-28T19:16:32.399Z,1761678992.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996647,-0.057347,-0.058360],[0.077145,0.896268,0.436752],[0.027260,-0.439790,0.897687]] 2025-10-28T19:16:32.785Z,1761678992.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997382,-0.046829,-0.055097],[0.066274,0.896771,0.437503],[0.028921,-0.440010,0.897527]] 2025-10-28T19:16:33.184Z,1761678993.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997889,-0.036809,-0.053503],[0.056434,0.899169,0.433948],[0.032135,-0.436051,0.899348]] 2025-10-28T19:16:33.587Z,1761678993.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998354,-0.024251,-0.051964],[0.044276,0.901861,0.429751],[0.036442,-0.431345,0.901451]] 2025-10-28T19:16:33.990Z,1761678993.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998749,-0.009155,-0.049158],[0.029302,0.903766,0.427022],[0.040518,-0.427928,0.902904]] 2025-10-28T19:16:34.399Z,1761678994.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998933,0.007543,-0.045553],[0.012565,0.904921,0.425394],[0.044430,-0.425513,0.903861]] 2025-10-28T19:16:34.806Z,1761678994.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998846,0.026058,-0.040338],[-0.006301,0.903836,0.427832],[0.047607,-0.427085,0.902957]] 2025-10-28T19:16:35.203Z,1761678995.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998395,0.045999,-0.033037],[-0.027296,0.901965,0.430947],[0.049621,-0.429353,0.901772]] 2025-10-28T19:16:35.607Z,1761678995.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997599,0.064870,-0.024257],[-0.048005,0.900138,0.432951],[0.049920,-0.430747,0.901091]] 2025-10-28T19:16:35.655Z,1761678995.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:16:35.655Z,1761678995.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:16:35.656Z,1761678995.656 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:16:35.657Z,1761678995.657 [marl:UpdateRudder:A] Stopped 2025-10-28T19:16:35.657Z,1761678995.657 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:16:36.016Z,1761678996.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996518,0.081970,-0.015263],[-0.067530,0.900821,0.428906],[0.048907,-0.426382,0.903220]] 2025-10-28T19:16:36.057Z,1761678996.057 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:16:36.057Z,1761678996.057 [marl:UpdateRudder:B] Stopped 2025-10-28T19:16:36.057Z,1761678996.057 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:16:36.057Z,1761678996.057 [marl:UpdateRudder] Stopped 2025-10-28T19:16:36.057Z,1761678996.057 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:16:36.422Z,1761678996.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993471,0.114050,-0.002889],[-0.103182,0.909028,0.403760],[0.048675,-0.400825,0.914861]] 2025-10-28T19:16:36.832Z,1761678996.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991375,0.131057,-0.000116],[-0.120635,0.912878,0.390001],[0.051219,-0.386623,0.920815]] 2025-10-28T19:16:37.227Z,1761678997.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988776,0.149402,0.000818],[-0.138662,0.915634,0.377341],[0.055627,-0.373219,0.926074]] 2025-10-28T19:16:37.630Z,1761678997.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985525,0.169527,0.001127],[-0.157869,0.915291,0.370568],[0.061790,-0.365382,0.928805]] 2025-10-28T19:16:37.670Z,1761678997.670 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode] Stopped 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:16:37.671Z,1761678997.671 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:16:37.672Z,1761678997.672 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:16:37.676Z,1761678997.676 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:16:37.676Z,1761678997.676 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:16:37.676Z,1761678997.676 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:16:37.676Z,1761678997.676 [marl:UpdateSpeed] Stopped 2025-10-28T19:16:37.676Z,1761678997.676 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:16:38.032Z,1761678998.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981521,0.191347,0.001926],[-0.178524,0.912028,0.369234],[0.068895,-0.362755,0.929334]] 2025-10-28T19:16:38.436Z,1761678998.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976653,0.214772,0.004693],[-0.200880,0.905305,0.374260],[0.076132,-0.366465,0.927312]] 2025-10-28T19:16:38.839Z,1761678998.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971402,0.237205,0.010565],[-0.222846,0.895429,0.385419],[0.081963,-0.376751,0.922681]] 2025-10-28T19:16:39.243Z,1761678999.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966792,0.254837,0.019251],[-0.241025,0.884160,0.400211],[0.084967,-0.391561,0.916221]] 2025-10-28T19:16:39.646Z,1761678999.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962087,0.271088,0.029987],[-0.258568,0.871581,0.416520],[0.086778,-0.408482,0.908632]] 2025-10-28T19:16:40.052Z,1761679000.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955511,0.291683,0.043808],[-0.281275,0.856387,0.432995],[0.088781,-0.426054,0.900331]] 2025-10-28T19:16:40.454Z,1761679000.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948277,0.312283,0.057012],[-0.304479,0.843952,0.441630],[0.089798,-0.436147,0.895384]] 2025-10-28T19:16:40.863Z,1761679000.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941091,0.331600,0.066255],[-0.325726,0.836307,0.441014],[0.090831,-0.436615,0.895051]] 2025-10-28T19:16:41.262Z,1761679001.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933886,0.350516,0.070685],[-0.345187,0.832177,0.433967],[0.093290,-0.429675,0.898151]] 2025-10-28T19:16:41.668Z,1761679001.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926155,0.370426,0.070869],[-0.364057,0.829021,0.424483],[0.098488,-0.418938,0.902658]] 2025-10-28T19:16:42.070Z,1761679002.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918145,0.390288,0.068442],[-0.381808,0.825203,0.416248],[0.105978,-0.408308,0.906671]] 2025-10-28T19:16:42.478Z,1761679002.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910648,0.408021,0.065105],[-0.397080,0.820666,0.410896],[0.114224,-0.400033,0.909355]] 2025-10-28T19:16:42.905Z,1761679002.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903176,0.424517,0.063711],[-0.411404,0.813625,0.410806],[0.122557,-0.397241,0.909494]] 2025-10-28T19:16:43.287Z,1761679003.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894620,0.441551,0.068468],[-0.427444,0.801062,0.419036],[0.130179,-0.404144,0.905385]] 2025-10-28T19:16:43.686Z,1761679003.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885313,0.458226,0.079051],[-0.444716,0.784719,0.431791],[0.135826,-0.417426,0.898503]] 2025-10-28T19:16:44.090Z,1761679004.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875735,0.473617,0.093677],[-0.462544,0.767458,0.443916],[0.138353,-0.432083,0.891158]] 2025-10-28T19:16:44.504Z,1761679004.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866833,0.486453,0.109380],[-0.479286,0.752494,0.451705],[0.137426,-0.443977,0.885437]] 2025-10-28T19:16:44.899Z,1761679004.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858534,0.497872,0.122649],[-0.494831,0.741777,0.452669],[0.134393,-0.449322,0.883203]] 2025-10-28T19:16:45.303Z,1761679005.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849423,0.511212,0.130931],[-0.510951,0.734691,0.446272],[0.131946,-0.445973,0.885268]] 2025-10-28T19:16:45.707Z,1761679005.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837590,0.529256,0.135391],[-0.530075,0.727410,0.435770],[0.132149,-0.436764,0.889817]] 2025-10-28T19:16:46.112Z,1761679006.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824178,0.549242,0.138072],[-0.550276,0.719010,0.424524],[0.133891,-0.425861,0.894827]] 2025-10-28T19:16:46.531Z,1761679006.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810762,0.568058,0.141336],[-0.569468,0.709486,0.415134],[0.135544,-0.417061,0.898715]] 2025-10-28T19:16:46.919Z,1761679006.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797335,0.585741,0.145479],[-0.587850,0.699110,0.407036],[0.136712,-0.410064,0.901752]] 2025-10-28T19:16:47.323Z,1761679007.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782995,0.603220,0.151800],[-0.606680,0.686711,0.400459],[0.137322,-0.405652,0.903653]] 2025-10-28T19:16:47.728Z,1761679007.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768158,0.619929,0.160065],[-0.625478,0.673185,0.394460],[0.136784,-0.403125,0.904865]] 2025-10-28T19:16:48.142Z,1761679008.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752048,0.636672,0.170508],[-0.645101,0.657959,0.388504],[0.135162,-0.402168,0.905534]] 2025-10-28T19:16:48.538Z,1761679008.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735231,0.652717,0.182745],[-0.664716,0.641571,0.382804],[0.132619,-0.402923,0.905575]] 2025-10-28T19:16:48.939Z,1761679008.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718404,0.668012,0.194051],[-0.683461,0.625881,0.375703],[0.129522,-0.402533,0.906196]] 2025-10-28T19:16:49.005Z,1761679009.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:16:49.005Z,1761679009.005 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:16:49.005Z,1761679009.005 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:16:49.005Z,1761679009.005 [marl:UpdateRudder:A] Stopped 2025-10-28T19:16:49.006Z,1761679009.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:16:49.347Z,1761679009.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701272,0.683557,0.202404],[-0.701526,0.611190,0.366480],[0.126803,-0.398994,0.908144]] 2025-10-28T19:16:49.382Z,1761679009.382 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:16:49.382Z,1761679009.382 [marl:UpdateRudder:B] Stopped 2025-10-28T19:16:49.382Z,1761679009.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:16:49.382Z,1761679009.382 [marl:UpdateRudder] Stopped 2025-10-28T19:16:49.382Z,1761679009.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:16:49.747Z,1761679009.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683945,0.699267,0.207953],[-0.718667,0.596790,0.356873],[0.125446,-0.393531,0.910712]] 2025-10-28T19:16:50.150Z,1761679010.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666027,0.715366,0.211329],[-0.735089,0.581335,0.348846],[0.126699,-0.387687,0.913042]] 2025-10-28T19:16:50.561Z,1761679010.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647730,0.731016,0.214620],[-0.750616,0.564077,0.344083],[0.130468,-0.383970,0.914082]] 2025-10-28T19:16:50.960Z,1761679010.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630082,0.744980,0.219095],[-0.764587,0.545895,0.342646],[0.135662,-0.383412,0.913560]] 2025-10-28T19:16:51.018Z,1761679011.018 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:16:51.018Z,1761679011.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:16:51.018Z,1761679011.018 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateCommandMode] Stopped 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:16:51.019Z,1761679011.019 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:16:51.024Z,1761679011.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:16:51.024Z,1761679011.024 [marl:UpdateSpeed] Stopped 2025-10-28T19:16:51.024Z,1761679011.024 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:16:51.372Z,1761679011.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614236,0.756075,0.225976],[-0.776453,0.527956,0.344069],[0.140837,-0.386799,0.911346]] 2025-10-28T19:16:51.771Z,1761679011.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599490,0.765173,0.234781],[-0.787014,0.510156,0.346914],[0.145675,-0.392748,0.908035]] 2025-10-28T19:16:52.172Z,1761679012.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584840,0.773119,0.245458],[-0.797174,0.491889,0.350085],[0.149919,-0.400416,0.903986]] 2025-10-28T19:16:52.624Z,1761679012.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569997,0.780222,0.257598],[-0.807207,0.473229,0.352806],[0.153364,-0.409033,0.899539]] 2025-10-28T19:16:52.980Z,1761679012.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555049,0.786663,0.270338],[-0.817137,0.454864,0.354098],[0.155588,-0.417445,0.895283]] 2025-10-28T19:16:53.384Z,1761679013.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540240,0.792889,0.281902],[-0.826906,0.438048,0.352619],[0.156101,-0.423605,0.892296]] 2025-10-28T19:16:53.790Z,1761679013.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526027,0.798429,0.292927],[-0.836327,0.423080,0.348656],[0.154445,-0.428385,0.890300]] 2025-10-28T19:16:54.200Z,1761679014.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512427,0.803609,0.302706],[-0.845511,0.410536,0.341426],[0.150101,-0.430897,0.889830]] 2025-10-28T19:16:54.610Z,1761679014.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:16:54.647Z,1761679014.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499028,0.808759,0.311255],[-0.854626,0.399835,0.331279],[0.143474,-0.431324,0.890716]] 2025-10-28T19:16:55.082Z,1761679015.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482725,0.816545,0.316592],[-0.864947,0.387853,0.318492],[0.137272,-0.427579,0.893495]] 2025-10-28T19:16:55.402Z,1761679015.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463402,0.827342,0.317432],[-0.876089,0.373919,0.304388],[0.133139,-0.419153,0.898101]] 2025-10-28T19:16:55.612Z,1761679015.612 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T19:16:55.612Z,1761679015.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:16:55.808Z,1761679015.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442099,0.839572,0.315702],[-0.887353,0.357983,0.290608],[0.130971,-0.408617,0.903260]] 2025-10-28T19:16:56.214Z,1761679016.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420154,0.851550,0.313582],[-0.898085,0.340675,0.278180],[0.130054,-0.398502,0.907900]] 2025-10-28T19:16:56.650Z,1761679016.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398158,0.862337,0.312803],[-0.908092,0.322292,0.267389],[0.129765,-0.390517,0.911404]] 2025-10-28T19:16:57.030Z,1761679017.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376526,0.871058,0.315413],[-0.917404,0.303243,0.257708],[0.128832,-0.386395,0.913292]] 2025-10-28T19:16:57.427Z,1761679017.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354771,0.878841,0.319024],[-0.926229,0.283861,0.248038],[0.127427,-0.383485,0.914714]] 2025-10-28T19:16:57.826Z,1761679017.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332912,0.886136,0.322386],[-0.934559,0.264535,0.237950],[0.125573,-0.380505,0.916213]] 2025-10-28T19:16:58.231Z,1761679018.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310717,0.892807,0.326115],[-0.942342,0.244487,0.228513],[0.124287,-0.378315,0.917295]] 2025-10-28T19:16:58.657Z,1761679018.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289656,0.897423,0.332764],[-0.949122,0.224433,0.220899],[0.123557,-0.379818,0.916772]] 2025-10-28T19:16:59.047Z,1761679019.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269784,0.901376,0.338730],[-0.954918,0.205184,0.214548],[0.123887,-0.381342,0.916095]] 2025-10-28T19:16:59.451Z,1761679019.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251744,0.903111,0.347874],[-0.959760,0.186748,0.209729],[0.124444,-0.386674,0.913782]] 2025-10-28T19:16:59.861Z,1761679019.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235188,0.903342,0.358692],[-0.963935,0.169489,0.205190],[0.124562,-0.394014,0.910625]] 2025-10-28T19:17:00.259Z,1761679020.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219956,0.902614,0.370009],[-0.967713,0.154035,0.199511],[0.123087,-0.401947,0.907353]] 2025-10-28T19:17:00.671Z,1761679020.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204735,0.901543,0.381186],[-0.971493,0.139609,0.191598],[0.119517,-0.409547,0.904426]] 2025-10-28T19:17:01.066Z,1761679021.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187386,0.901937,0.389096],[-0.975571,0.124644,0.180899],[0.114661,-0.413488,0.903261]] 2025-10-28T19:17:01.470Z,1761679021.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166663,0.905125,0.391117],[-0.979951,0.108129,0.167344],[0.109176,-0.411166,0.904999]] 2025-10-28T19:17:01.876Z,1761679021.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142721,0.910730,0.387560],[-0.984273,0.089410,0.152359],[0.104106,-0.403209,0.909167]] 2025-10-28T19:17:02.287Z,1761679022.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117520,0.916499,0.382386],[-0.987991,0.069008,0.138245],[0.100313,-0.394041,0.913602]] 2025-10-28T19:17:02.404Z,1761679022.404 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:17:02.404Z,1761679022.404 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:17:02.405Z,1761679022.405 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:17:02.405Z,1761679022.405 [marl:UpdateRudder:A] Stopped 2025-10-28T19:17:02.405Z,1761679022.405 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:17:02.682Z,1761679022.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090802,0.921739,0.377030],[-0.991037,0.046386,0.125275],[0.097982,-0.385026,0.917690]] 2025-10-28T19:17:02.775Z,1761679022.775 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:17:02.776Z,1761679022.776 [marl:UpdateRudder:B] Stopped 2025-10-28T19:17:02.780Z,1761679022.780 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:17:02.780Z,1761679022.780 [marl:UpdateRudder] Stopped 2025-10-28T19:17:02.780Z,1761679022.780 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:17:03.086Z,1761679023.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063209,0.924833,0.375085],[-0.993235,0.021612,0.114090],[0.097408,-0.379759,0.919943]] 2025-10-28T19:17:03.493Z,1761679023.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034764,0.925595,0.376915],[-0.994534,-0.005114,0.104286],[0.098455,-0.378481,0.920358]] 2025-10-28T19:17:03.894Z,1761679023.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007483,0.924632,0.380789],[-0.994931,-0.031305,0.095564],[0.100282,-0.379574,0.919710]] 2025-10-28T19:17:04.299Z,1761679024.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016776,0.922099,0.386590],[-0.994681,-0.054691,0.087286],[0.101630,-0.383069,0.918112]] 2025-10-28T19:17:04.353Z,1761679024.353 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:17:04.353Z,1761679024.353 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:17:04.353Z,1761679024.353 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:17:04.354Z,1761679024.354 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:17:04.354Z,1761679024.354 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:17:04.354Z,1761679024.354 [marl:UpdateCommandMode] Stopped 2025-10-28T19:17:04.354Z,1761679024.354 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:17:04.354Z,1761679024.354 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:17:04.355Z,1761679024.355 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:17:04.355Z,1761679024.355 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:17:04.355Z,1761679024.355 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:17:04.355Z,1761679024.355 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:17:04.355Z,1761679024.355 [marl:UpdateSpeed] Stopped 2025-10-28T19:17:04.356Z,1761679024.356 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:17:04.704Z,1761679024.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037492,0.918029,0.394736],[-0.994056,-0.074667,0.079237],[0.102215,-0.389419,0.915371]] 2025-10-28T19:17:05.109Z,1761679025.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056015,0.912706,0.404758],[-0.993156,-0.092547,0.071244],[0.102484,-0.397998,0.911644]] 2025-10-28T19:17:05.511Z,1761679025.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073266,0.907532,0.413543],[-0.992016,-0.108995,0.063441],[0.102649,-0.405593,0.908272]] 2025-10-28T19:17:05.915Z,1761679025.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089334,0.902986,0.420280],[-0.990694,-0.124066,0.055981],[0.102692,-0.411368,0.905666]] 2025-10-28T19:17:06.318Z,1761679026.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104671,0.899126,0.424990],[-0.989225,-0.138116,0.048566],[0.102364,-0.415327,0.903894]] 2025-10-28T19:17:06.729Z,1761679026.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119633,0.896051,0.427528],[-0.987600,-0.151498,0.041167],[0.101658,-0.417302,0.903064]] 2025-10-28T19:17:07.127Z,1761679027.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134502,0.893734,0.427959],[-0.985852,-0.164286,0.033248],[0.100023,-0.417432,0.903187]] 2025-10-28T19:17:07.530Z,1761679027.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149919,0.891800,0.426870],[-0.983887,-0.177108,0.024461],[0.097416,-0.416325,0.903982]] 2025-10-28T19:17:07.938Z,1761679027.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168089,0.890493,0.422809],[-0.981218,-0.192320,0.014964],[0.094640,-0.412353,0.906095]] 2025-10-28T19:17:08.347Z,1761679028.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189933,0.889422,0.415756],[-0.977426,-0.211211,0.005318],[0.092543,-0.405361,0.909460]] 2025-10-28T19:17:08.743Z,1761679028.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214002,0.887210,0.408731],[-0.972571,-0.232565,-0.004398],[0.091155,-0.398461,0.912644]] 2025-10-28T19:17:09.147Z,1761679029.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238867,0.884249,0.401305],[-0.966811,-0.255149,-0.013268],[0.090660,-0.391156,0.915848]] 2025-10-28T19:17:09.550Z,1761679029.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262645,0.878914,0.398156],[-0.960606,-0.277030,-0.022134],[0.090847,-0.388285,0.917050]] 2025-10-28T19:17:09.966Z,1761679029.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285132,0.872367,0.397084],[-0.954060,-0.298091,-0.030191],[0.092029,-0.387451,0.917285]] 2025-10-28T19:17:10.396Z,1761679030.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304541,0.865086,0.398598],[-0.947904,-0.316313,-0.037726],[0.093446,-0.389322,0.916349]] 2025-10-28T19:17:10.781Z,1761679030.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320931,0.856889,0.403415],[-0.942366,-0.331456,-0.045644],[0.094602,-0.394814,0.913878]] 2025-10-28T19:17:11.175Z,1761679031.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334253,0.848820,0.409608],[-0.937661,-0.343403,-0.053534],[0.095220,-0.401968,0.910689]] 2025-10-28T19:17:11.579Z,1761679031.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347250,0.841190,0.414508],[-0.932898,-0.354876,-0.061350],[0.095492,-0.407998,0.907975]] 2025-10-28T19:17:11.988Z,1761679031.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360143,0.834652,0.416716],[-0.928029,-0.366109,-0.068750],[0.095182,-0.411485,0.906433]] 2025-10-28T19:17:12.387Z,1761679032.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374612,0.829765,0.413710],[-0.922391,-0.378822,-0.075428],[0.094135,-0.409858,0.907279]] 2025-10-28T19:17:12.793Z,1761679032.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390996,0.825367,0.407299],[-0.915746,-0.393269,-0.082155],[0.092369,-0.405104,0.909592]] 2025-10-28T19:17:13.195Z,1761679033.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409223,0.820731,0.398668],[-0.907948,-0.409559,-0.088834],[0.090369,-0.398323,0.912783]] 2025-10-28T19:17:13.600Z,1761679033.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430255,0.815016,0.388110],[-0.898341,-0.428818,-0.095389],[0.088685,-0.389697,0.916663]] 2025-10-28T19:17:14.003Z,1761679034.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453744,0.806749,0.378514],[-0.886805,-0.450592,-0.102687],[0.087713,-0.382261,0.919882]] 2025-10-28T19:17:14.407Z,1761679034.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478706,0.795693,0.371096],[-0.873598,-0.473835,-0.110940],[0.087564,-0.377296,0.921944]] 2025-10-28T19:17:14.819Z,1761679034.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504707,0.781449,0.366891],[-0.858768,-0.497914,-0.120830],[0.088258,-0.376058,0.922383]] 2025-10-28T19:17:14.923Z,1761679034.923 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:17:15.121Z,1761679035.121 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:17:15.121Z,1761679035.121 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:17:15.218Z,1761679035.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530371,0.764693,0.365995],[-0.843003,-0.521410,-0.132204],[0.089738,-0.378652,0.921179]] 2025-10-28T19:17:15.373Z,1761679035.373 [DAT](INFO): DAT read: user:173> 2025-10-28T19:17:15.374Z,1761679035.374 [DAT](INFO): DAT read: Tx time:19:17:15.1335 2025-10-28T19:17:15.375Z,1761679035.375 [DAT](INFO): Ping request sent. 2025-10-28T19:17:15.375Z,1761679035.375 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:17:15.375Z,1761679035.375 [DAT](INFO): publishing transmit ping time 2025-10-28T19:17:15.376Z,1761679035.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000961 2025-10-28T19:17:15.618Z,1761679035.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554757,0.746700,0.366993],[-0.826933,-0.543500,-0.144185],[0.091798,-0.383467,0.918981]] 2025-10-28T19:17:15.625Z,1761679035.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250195 2025-10-28T19:17:15.712Z,1761679035.712 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:17:15.712Z,1761679035.712 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:17:15.712Z,1761679035.712 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:17:15.712Z,1761679035.712 [marl:UpdateRudder:A] Stopped 2025-10-28T19:17:15.712Z,1761679035.712 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:17:15.877Z,1761679035.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502147 2025-10-28T19:17:16.022Z,1761679036.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576982,0.728026,0.370229],[-0.811335,-0.563029,-0.157270],[0.093953,-0.391122,0.915531]] 2025-10-28T19:17:16.070Z,1761679036.070 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:17:16.070Z,1761679036.070 [marl:UpdateRudder:B] Stopped 2025-10-28T19:17:16.070Z,1761679036.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:17:16.070Z,1761679036.070 [marl:UpdateRudder] Stopped 2025-10-28T19:17:16.070Z,1761679036.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:17:16.129Z,1761679036.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754291 2025-10-28T19:17:16.381Z,1761679036.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006209 2025-10-28T19:17:16.432Z,1761679036.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596716,0.710311,0.373347],[-0.796741,-0.579849,-0.170231],[0.095567,-0.399041,0.911939]] 2025-10-28T19:17:16.635Z,1761679036.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260553 2025-10-28T19:17:16.841Z,1761679036.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613559,0.693890,0.376912],[-0.783709,-0.593533,-0.183080],[0.096673,-0.407720,0.907975]] 2025-10-28T19:17:16.885Z,1761679036.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510284 2025-10-28T19:17:17.137Z,1761679037.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762197 2025-10-28T19:17:17.234Z,1761679037.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628246,0.679491,0.378945],[-0.771879,-0.605411,-0.194113],[0.097519,-0.414450,0.904832]] 2025-10-28T19:17:17.389Z,1761679037.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014172 2025-10-28T19:17:17.639Z,1761679037.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641494,0.666464,0.379883],[-0.760828,-0.616071,-0.203953],[0.098108,-0.419861,0.902270]] 2025-10-28T19:17:17.641Z,1761679037.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266200 2025-10-28T19:17:17.695Z,1761679037.695 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:17:17.695Z,1761679037.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:17:17.695Z,1761679037.695 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:17:17.695Z,1761679037.695 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:17:17.695Z,1761679037.695 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:17:17.696Z,1761679037.696 [marl:UpdateCommandMode] Stopped 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:17:17.701Z,1761679037.701 [marl:UpdateSpeed] Stopped 2025-10-28T19:17:17.702Z,1761679037.702 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:17:17.893Z,1761679037.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518210 2025-10-28T19:17:18.043Z,1761679038.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653289,0.654645,0.380335],[-0.750682,-0.625396,-0.212971],[0.098440,-0.424642,0.899994]] 2025-10-28T19:17:18.145Z,1761679038.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770239 2025-10-28T19:17:18.397Z,1761679038.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022179 2025-10-28T19:17:18.447Z,1761679038.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664036,0.644075,0.379768],[-0.741190,-0.633906,-0.220906],[0.098457,-0.428170,0.898319]] 2025-10-28T19:17:18.649Z,1761679038.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274149 2025-10-28T19:17:18.851Z,1761679038.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673990,0.635929,0.375941],[-0.732229,-0.642494,-0.225926],[0.097867,-0.427547,0.898680]] 2025-10-28T19:17:18.901Z,1761679038.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526293 2025-10-28T19:17:19.154Z,1761679039.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778841 2025-10-28T19:17:19.255Z,1761679039.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683736,0.628340,0.371071],[-0.723221,-0.651249,-0.229839],[0.097243,-0.425516,0.899711]] 2025-10-28T19:17:19.405Z,1761679039.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030248 2025-10-28T19:17:19.661Z,1761679039.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285944 2025-10-28T19:17:19.670Z,1761679039.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704390,0.612415,0.358862],[-0.703225,-0.670817,-0.235540],[0.096482,-0.418273,0.903183]] 2025-10-28T19:17:19.909Z,1761679039.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534316 2025-10-28T19:17:20.067Z,1761679040.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716049,0.603511,0.350783],[-0.691356,-0.682561,-0.236931],[0.096440,-0.412170,0.905988]] 2025-10-28T19:17:20.162Z,1761679040.162 [DAT](INFO): DAT read: Rx Time:19:17:19.4196 2025-10-28T19:17:20.162Z,1761679040.162 [DAT](INFO): Rx dataTimestamp_ set to:1761679040.161959 2025-10-28T19:17:20.163Z,1761679040.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788379 2025-10-28T19:17:20.413Z,1761679040.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038252 2025-10-28T19:17:20.471Z,1761679040.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728817,0.593527,0.341397],[-0.677864,-0.695769,-0.237500],[0.096570,-0.404515,0.909419]] 2025-10-28T19:17:20.675Z,1761679040.675 [DAT](INFO): DAT read: 19:17:19.4196 LVL= 32752, 32753, 30498, 32755, AGC= 79, IDX= 387, 0.05, 0.932, 2.173, 2.767, 1.747, PHS=-0.712, 0.472, 0.977, RAW= 253.1, -9.8, CAL= 251.9, -15.1, ROT= 258.1, 15.1 2025-10-28T19:17:20.676Z,1761679040.676 [DAT](INFO): got valid direction response: 19:17:19.4196 LVL= 32752, 32753, 30498, 32755, AGC= 79, IDX= 387, 0.05, 0.932, 2.173, 2.767, 1.747, PHS=-0.712, 0.472, 0.977, RAW= 253.1, -9.8, CAL= 251.9, -15.1, ROT= 258.1, 15.1 2025-10-28T19:17:20.678Z,1761679040.678 [DAT](INFO): DAT read: Bearing 97, -17 (Remote) 2025-10-28T19:17:20.678Z,1761679040.678 [DAT](INFO): Remote Bearing received:Bearing 97, -17 (Remote) 2025-10-28T19:17:20.679Z,1761679040.679 [DAT](INFO): DAT read: Bearing 269.8, -49.9 (Local) 2025-10-28T19:17:20.679Z,1761679040.679 [DAT](INFO): Local bearing/azimuth received: Bearing 269.8, -49.9 (Local) 2025-10-28T19:17:20.682Z,1761679040.682 [DAT](INFO): DAT read: Range 11 to 20 : 1692.6 m (Round-trip 2256.9 ms) speed 0.3 m/s 2025-10-28T19:17:20.682Z,1761679040.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:17:20.683Z,1761679040.683 [DAT](INFO): direction in FSK: [-0.199084,-0.944724,-0.260505] 2025-10-28T19:17:20.683Z,1761679040.683 [DAT](INFO): publishing direction and range info 2025-10-28T19:17:20.877Z,1761679040.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742633,0.581267,0.332604],[-0.662621,-0.709772,-0.239074],[0.097107,-0.397934,0.912260]] 2025-10-28T19:17:20.957Z,1761679040.957 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679104.00. Resetting abort timer. 2025-10-28T19:17:21.278Z,1761679041.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757319,0.566898,0.324184],[-0.645657,-0.724442,-0.241478],[0.097959,-0.392188,0.914654]] 2025-10-28T19:17:21.681Z,1761679041.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772619,0.550138,0.316871],[-0.627020,-0.739466,-0.245019],[0.099521,-0.387991,0.916274]] 2025-10-28T19:17:22.085Z,1761679042.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787877,0.531880,0.310409],[-0.607446,-0.754105,-0.249669],[0.101287,-0.385265,0.917230]] 2025-10-28T19:17:22.487Z,1761679042.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802674,0.512439,0.305156],[-0.587356,-0.768026,-0.255245],[0.103570,-0.384113,0.917459]] 2025-10-28T19:17:22.891Z,1761679042.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816415,0.491906,0.302481],[-0.567652,-0.779791,-0.264003],[0.106008,-0.387240,0.915864]] 2025-10-28T19:17:23.294Z,1761679043.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828682,0.471800,0.301150],[-0.549121,-0.789497,-0.274153],[0.108412,-0.392553,0.913317]] 2025-10-28T19:17:23.702Z,1761679043.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839662,0.452950,0.299674],[-0.531720,-0.797995,-0.283685],[0.110644,-0.397542,0.910889]] 2025-10-28T19:17:24.103Z,1761679044.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849630,0.434869,0.298359],[-0.515204,-0.805280,-0.293409],[0.112668,-0.403005,0.908236]] 2025-10-28T19:17:24.507Z,1761679044.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859327,0.416963,0.296141],[-0.498334,-0.812853,-0.301551],[0.114984,-0.406708,0.906293]] 2025-10-28T19:17:24.911Z,1761679044.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868799,0.399339,0.292773],[-0.481037,-0.820903,-0.307768],[0.117435,-0.408223,0.905297]] 2025-10-28T19:17:25.342Z,1761679045.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878315,0.381241,0.288475],[-0.462785,-0.829410,-0.312904],[0.119972,-0.408330,0.904916]] 2025-10-28T19:17:25.720Z,1761679045.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887463,0.363112,0.283829],[-0.444372,-0.837505,-0.317994],[0.122241,-0.408333,0.904611]] 2025-10-28T19:17:25.732Z,1761679045.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:17:26.123Z,1761679046.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896136,0.345504,0.278510],[-0.426106,-0.845248,-0.322475],[0.123993,-0.407656,0.904678]] 2025-10-28T19:17:26.526Z,1761679046.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904042,0.328146,0.273912],[-0.408527,-0.851839,-0.327834],[0.125752,-0.408277,0.904155]] 2025-10-28T19:17:26.736Z,1761679046.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:17:26.933Z,1761679046.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911355,0.311858,0.268658],[-0.391411,-0.858574,-0.331131],[0.127397,-0.406933,0.904530]] 2025-10-28T19:17:27.340Z,1761679047.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918228,0.295650,0.263532],[-0.374336,-0.865177,-0.333680],[0.129349,-0.405044,0.905101]] 2025-10-28T19:17:27.741Z,1761679047.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924592,0.279506,0.258854],[-0.357581,-0.871099,-0.336633],[0.131396,-0.403810,0.905358]] 2025-10-28T19:17:28.143Z,1761679048.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930510,0.263533,0.254364],[-0.341166,-0.876296,-0.340163],[0.133254,-0.403305,0.905311]] 2025-10-28T19:17:28.548Z,1761679048.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935900,0.247700,0.250471],[-0.325156,-0.880975,-0.343737],[0.135515,-0.403146,0.905046]] 2025-10-28T19:17:28.955Z,1761679048.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940644,0.232240,0.247496],[-0.310113,-0.884439,-0.348707],[0.137912,-0.404761,0.903963]] 2025-10-28T19:17:29.043Z,1761679049.043 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:17:29.043Z,1761679049.043 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:17:29.043Z,1761679049.043 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:17:29.043Z,1761679049.043 [marl:UpdateRudder:A] Stopped 2025-10-28T19:17:29.043Z,1761679049.043 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:17:29.354Z,1761679049.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945020,0.216825,0.244796],[-0.295322,-0.887348,-0.354116],[0.140438,-0.406940,0.902595]] 2025-10-28T19:17:29.450Z,1761679049.450 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:17:29.450Z,1761679049.450 [marl:UpdateRudder:B] Stopped 2025-10-28T19:17:29.450Z,1761679049.450 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:17:29.450Z,1761679049.450 [marl:UpdateRudder] Stopped 2025-10-28T19:17:29.450Z,1761679049.450 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:17:29.764Z,1761679049.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949228,0.201420,0.241653],[-0.280409,-0.889939,-0.359694],[0.142607,-0.409193,0.901235]] 2025-10-28T19:17:30.163Z,1761679050.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953300,0.185784,0.238125],[-0.264967,-0.892849,-0.364161],[0.144955,-0.410250,0.900379]] 2025-10-28T19:17:30.595Z,1761679050.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957475,0.169496,0.233481],[-0.248120,-0.896708,-0.366540],[0.147237,-0.408884,0.900630]] 2025-10-28T19:17:30.971Z,1761679050.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961705,0.151717,0.228267],[-0.229785,-0.900274,-0.369736],[0.149408,-0.408029,0.900661]] 2025-10-28T19:17:31.007Z,1761679051.007 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:17:31.007Z,1761679051.007 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:17:31.007Z,1761679051.007 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:17:31.008Z,1761679051.008 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:17:31.008Z,1761679051.008 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:17:31.008Z,1761679051.008 [marl:UpdateCommandMode] Stopped 2025-10-28T19:17:31.008Z,1761679051.008 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:17:31.008Z,1761679051.008 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed] Stopped 2025-10-28T19:17:31.009Z,1761679051.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:17:31.374Z,1761679051.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965948,0.132295,0.222359],[-0.209362,-0.904608,-0.371283],[0.152029,-0.405193,0.901502]] 2025-10-28T19:17:31.784Z,1761679051.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969820,0.112339,0.216401],[-0.188808,-0.907591,-0.375006],[0.154276,-0.404547,0.901411]] 2025-10-28T19:17:32.186Z,1761679052.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973254,0.092295,0.210375],[-0.168024,-0.910477,-0.377887],[0.156664,-0.403128,0.901634]] 2025-10-28T19:17:32.626Z,1761679052.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975972,0.073809,0.205016],[-0.149357,-0.911682,-0.382790],[0.158656,-0.404213,0.900800]] 2025-10-28T19:17:32.990Z,1761679052.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978082,0.056762,0.200332],[-0.132342,-0.912256,-0.387653],[0.160750,-0.405669,0.899773]] 2025-10-28T19:17:33.395Z,1761679053.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979782,0.041137,0.195792],[-0.116733,-0.912329,-0.392465],[0.162482,-0.407386,0.898686]] 2025-10-28T19:17:33.809Z,1761679053.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981031,0.027254,0.191927],[-0.102635,-0.912940,-0.394978],[0.164453,-0.407184,0.898419]] 2025-10-28T19:17:34.202Z,1761679054.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982027,0.012978,0.188292],[-0.088391,-0.913089,-0.398065],[0.166761,-0.407555,0.897825]] 2025-10-28T19:17:34.639Z,1761679054.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982905,-0.002358,0.184096],[-0.072770,-0.913522,-0.400227],[0.169120,-0.406782,0.897734]] 2025-10-28T19:17:35.011Z,1761679055.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983619,-0.019761,0.179175],[-0.054878,-0.913967,-0.402061],[0.171705,-0.405308,0.897910]] 2025-10-28T19:17:35.426Z,1761679055.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984078,-0.039473,0.173297],[-0.034516,-0.914022,-0.404193],[0.174352,-0.403739,0.898107]] 2025-10-28T19:17:35.825Z,1761679055.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984127,-0.061393,0.166506],[-0.011747,-0.913659,-0.406311],[0.177074,-0.401818,0.898436]] 2025-10-28T19:17:36.222Z,1761679056.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983638,-0.084516,0.159100],[0.012127,-0.912187,-0.409595],[0.179746,-0.400964,0.898287]] 2025-10-28T19:17:36.642Z,1761679056.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982624,-0.107512,0.151296],[0.035873,-0.909791,-0.413514],[0.182106,-0.400902,0.897839]] 2025-10-28T19:17:37.031Z,1761679057.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981178,-0.129931,0.142857],[0.059332,-0.906839,-0.417280],[0.183766,-0.400950,0.897479]] 2025-10-28T19:17:37.445Z,1761679057.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979374,-0.151156,0.134080],[0.081843,-0.903483,-0.420737],[0.184736,-0.401085,0.897220]] 2025-10-28T19:17:37.839Z,1761679057.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977339,-0.170887,0.124928],[0.103112,-0.899740,-0.424070],[0.184870,-0.401578,0.896971]] 2025-10-28T19:17:38.242Z,1761679058.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975204,-0.188360,0.116178],[0.122335,-0.896287,-0.426268],[0.184421,-0.401486,0.897105]] 2025-10-28T19:17:38.649Z,1761679058.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973153,-0.203013,0.108443],[0.138529,-0.892895,-0.428425],[0.183804,-0.401900,0.897046]] 2025-10-28T19:17:39.051Z,1761679059.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971059,-0.215986,0.101954],[0.152775,-0.889825,-0.429968],[0.183588,-0.401948,0.897069]] 2025-10-28T19:17:39.459Z,1761679059.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968730,-0.229018,0.095466],[0.166946,-0.886265,-0.432045],[0.183554,-0.402597,0.896785]] 2025-10-28T19:17:39.858Z,1761679059.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965985,-0.242875,0.088791],[0.181673,-0.881730,-0.435369],[0.184030,-0.404429,0.895863]] 2025-10-28T19:17:40.263Z,1761679060.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962743,-0.257567,0.082369],[0.196956,-0.876601,-0.439066],[0.185294,-0.406485,0.894671]] 2025-10-28T19:17:40.669Z,1761679060.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958984,-0.272888,0.076699],[0.212594,-0.871376,-0.442162],[0.187494,-0.407721,0.893650]] 2025-10-28T19:17:41.071Z,1761679061.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954646,-0.289081,0.071294],[0.228476,-0.864785,-0.447153],[0.190917,-0.410584,0.891612]] 2025-10-28T19:17:41.478Z,1761679061.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949733,-0.305946,0.066367],[0.244847,-0.858012,-0.451515],[0.195082,-0.412569,0.889792]] 2025-10-28T19:17:41.879Z,1761679061.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944079,-0.323981,0.061241],[0.262658,-0.851256,-0.454284],[0.199311,-0.412795,0.888749]] 2025-10-28T19:17:42.293Z,1761679062.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937233,-0.344478,0.054126],[0.283794,-0.843718,-0.455633],[0.202622,-0.411674,0.888521]] 2025-10-28T19:17:42.321Z,1761679062.321 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:17:42.321Z,1761679062.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:17:42.321Z,1761679062.321 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:17:42.322Z,1761679062.322 [marl:UpdateRudder:A] Stopped 2025-10-28T19:17:42.322Z,1761679062.322 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:17:42.686Z,1761679062.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929310,-0.366652,0.044146],[0.307485,-0.834419,-0.457381],[0.204536,-0.411475,0.888174]] 2025-10-28T19:17:42.826Z,1761679062.826 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:17:42.826Z,1761679062.826 [marl:UpdateRudder:B] Stopped 2025-10-28T19:17:42.826Z,1761679062.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:17:42.826Z,1761679062.826 [marl:UpdateRudder] Stopped 2025-10-28T19:17:42.827Z,1761679062.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:17:43.099Z,1761679063.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921017,-0.388120,0.033019],[0.330823,-0.824158,-0.459696],[0.205631,-0.412464,0.887462]] 2025-10-28T19:17:43.499Z,1761679063.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912203,-0.409135,0.022222],[0.354108,-0.814478,-0.459600],[0.206138,-0.411380,0.887848]] 2025-10-28T19:17:43.900Z,1761679063.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903006,-0.429508,0.010182],[0.377071,-0.803675,-0.460351],[0.205907,-0.411861,0.887678]] 2025-10-28T19:17:44.310Z,1761679064.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893616,-0.448825,-0.002601],[0.399481,-0.792702,-0.460476],[0.204612,-0.412528,0.887668]] 2025-10-28T19:17:44.334Z,1761679064.334 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:17:44.334Z,1761679064.334 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:17:44.334Z,1761679064.334 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:17:44.334Z,1761679064.334 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateCommandMode] Stopped 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:17:44.335Z,1761679064.335 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:17:44.336Z,1761679064.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:17:44.336Z,1761679064.336 [marl:UpdateSpeed] Stopped 2025-10-28T19:17:44.336Z,1761679064.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:17:44.707Z,1761679064.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883774,-0.467650,-0.015684],[0.421913,-0.781951,-0.458849],[0.202317,-0.412136,0.888376]] 2025-10-28T19:17:45.118Z,1761679065.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874028,-0.485106,-0.027351],[0.442895,-0.772300,-0.455409],[0.199798,-0.410153,0.889862]] 2025-10-28T19:17:45.527Z,1761679065.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865088,-0.500198,-0.037758],[0.461006,-0.763118,-0.452907],[0.197729,-0.409211,0.890758]] 2025-10-28T19:17:45.918Z,1761679065.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856447,-0.514042,-0.047533],[0.477669,-0.754178,-0.450608],[0.195783,-0.408627,0.891456]] 2025-10-28T19:17:46.322Z,1761679066.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847882,-0.527243,-0.055775],[0.493324,-0.746018,-0.447313],[0.194233,-0.406783,0.892637]] 2025-10-28T19:17:46.726Z,1761679066.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839150,-0.540192,-0.063405],[0.508509,-0.737834,-0.443868],[0.192991,-0.404714,0.893846]] 2025-10-28T19:17:47.135Z,1761679067.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830057,-0.553025,-0.071897],[0.523724,-0.728713,-0.441237],[0.191623,-0.403906,0.894506]] 2025-10-28T19:17:47.535Z,1761679067.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820759,-0.565451,-0.081355],[0.538722,-0.718717,-0.439574],[0.190086,-0.404612,0.894514]] 2025-10-28T19:17:47.939Z,1761679067.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811213,-0.577718,-0.090418],[0.553449,-0.708643,-0.437629],[0.188752,-0.405052,0.894598]] 2025-10-28T19:17:48.343Z,1761679068.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801427,-0.589597,-0.100452],[0.567993,-0.697672,-0.436621],[0.187348,-0.406975,0.894020]] 2025-10-28T19:17:48.748Z,1761679068.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791239,-0.601577,-0.109754],[0.582631,-0.687132,-0.434041],[0.185693,-0.407376,0.894183]] 2025-10-28T19:17:49.151Z,1761679069.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780448,-0.613851,-0.118689],[0.597534,-0.676461,-0.430527],[0.183991,-0.406925,0.894740]] 2025-10-28T19:17:49.554Z,1761679069.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769519,-0.625827,-0.127200],[0.612020,-0.665798,-0.426784],[0.182403,-0.406267,0.895363]] 2025-10-28T19:17:49.958Z,1761679069.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758229,-0.637572,-0.136349],[0.626354,-0.654246,-0.423843],[0.181025,-0.406772,0.895414]] 2025-10-28T19:17:50.364Z,1761679070.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746494,-0.649161,-0.146075],[0.640716,-0.642042,-0.421030],[0.179529,-0.407889,0.895207]] 2025-10-28T19:17:50.779Z,1761679070.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733676,-0.661387,-0.155841],[0.655921,-0.629449,-0.416608],[0.177446,-0.407875,0.895629]] 2025-10-28T19:17:51.171Z,1761679071.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720274,-0.673682,-0.165400],[0.671150,-0.616486,-0.411707],[0.175393,-0.407550,0.896181]] 2025-10-28T19:17:51.575Z,1761679071.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705997,-0.686082,-0.175672],[0.686754,-0.602605,-0.406492],[0.173026,-0.407626,0.896607]] 2025-10-28T19:17:51.979Z,1761679071.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690400,-0.698957,-0.186567],[0.702978,-0.587306,-0.401115],[0.170790,-0.408083,0.896827]] 2025-10-28T19:17:52.384Z,1761679072.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673952,-0.711722,-0.198091],[0.719195,-0.570742,-0.396248],[0.168959,-0.409518,0.896520]] 2025-10-28T19:17:52.796Z,1761679072.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655861,-0.725683,-0.207917],[0.736102,-0.553754,-0.389243],[0.167332,-0.408338,0.897363]] 2025-10-28T19:17:53.191Z,1761679073.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636412,-0.739729,-0.218589],[0.753414,-0.535376,-0.381759],[0.165371,-0.407643,0.898042]] 2025-10-28T19:17:53.598Z,1761679073.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615914,-0.753332,-0.230524],[0.770800,-0.515754,-0.373986],[0.162842,-0.408031,0.898328]] 2025-10-28T19:17:54.001Z,1761679074.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594795,-0.766937,-0.240888],[0.787840,-0.496582,-0.364302],[0.159776,-0.406466,0.899587]] 2025-10-28T19:17:54.403Z,1761679074.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573485,-0.779288,-0.252637],[0.804176,-0.476697,-0.355049],[0.156254,-0.406781,0.900063]] 2025-10-28T19:17:54.807Z,1761679074.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552366,-0.790702,-0.263973],[0.819577,-0.457280,-0.345238],[0.152270,-0.407044,0.900627]] 2025-10-28T19:17:55.211Z,1761679075.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531205,-0.801767,-0.273844],[0.834296,-0.438718,-0.333882],[0.147555,-0.405827,0.901960]] 2025-10-28T19:17:55.623Z,1761679075.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510489,-0.811876,-0.283299],[0.848031,-0.420828,-0.322100],[0.142285,-0.404675,0.903323]] 2025-10-28T19:17:55.647Z,1761679075.647 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:17:55.647Z,1761679075.647 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:17:55.647Z,1761679075.647 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:17:55.647Z,1761679075.647 [marl:UpdateRudder:A] Stopped 2025-10-28T19:17:55.648Z,1761679075.648 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:17:56.019Z,1761679076.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490527,-0.820692,-0.292999],[0.860614,-0.403436,-0.310778],[0.136846,-0.404604,0.904195]] 2025-10-28T19:17:56.111Z,1761679076.111 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:17:56.111Z,1761679076.111 [marl:UpdateRudder:B] Stopped 2025-10-28T19:17:56.111Z,1761679076.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:17:56.111Z,1761679076.111 [marl:UpdateRudder] Stopped 2025-10-28T19:17:56.111Z,1761679076.111 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:17:56.423Z,1761679076.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471394,-0.828466,-0.302376],[0.872074,-0.386781,-0.299811],[0.131430,-0.405024,0.904810]] 2025-10-28T19:17:56.826Z,1761679076.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452096,-0.836331,-0.310097],[0.883071,-0.370683,-0.287714],[0.125677,-0.403912,0.906124]] 2025-10-28T19:17:56.856Z,1761679076.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:17:57.240Z,1761679077.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433417,-0.843231,-0.317979],[0.893168,-0.354944,-0.276163],[0.120004,-0.403702,0.906986]] 2025-10-28T19:17:57.635Z,1761679077.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415253,-0.849986,-0.324175],[0.902458,-0.340009,-0.264505],[0.114603,-0.402391,0.908266]] 2025-10-28T19:17:57.671Z,1761679077.671 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:17:57.672Z,1761679077.672 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:17:57.672Z,1761679077.672 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:17:57.672Z,1761679077.672 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:17:57.672Z,1761679077.672 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateCommandMode] Stopped 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:17:57.673Z,1761679077.673 [marl:UpdateSpeed] Stopped 2025-10-28T19:17:57.674Z,1761679077.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:17:57.860Z,1761679077.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:17:58.038Z,1761679078.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396917,-0.856048,-0.331117],[0.911350,-0.324696,-0.253008],[0.109074,-0.402186,0.909037]] 2025-10-28T19:17:58.442Z,1761679078.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378261,-0.862448,-0.336306],[0.919871,-0.309495,-0.240937],[0.103711,-0.400495,0.910411]] 2025-10-28T19:17:58.857Z,1761679078.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358967,-0.868747,-0.341207],[0.928148,-0.293714,-0.228632],[0.098406,-0.398762,0.911759]] 2025-10-28T19:17:59.255Z,1761679079.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338869,-0.875027,-0.345681],[0.936186,-0.277135,-0.216222],[0.093400,-0.396892,0.913101]] 2025-10-28T19:17:59.654Z,1761679079.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318682,-0.880470,-0.351019],[0.943691,-0.260020,-0.204541],[0.088820,-0.396437,0.913755]] 2025-10-28T19:18:00.059Z,1761679080.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296980,-0.885890,-0.356373],[0.951155,-0.241496,-0.192313],[0.084306,-0.396079,0.914338]] 2025-10-28T19:18:00.466Z,1761679080.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274927,-0.890842,-0.361685],[0.958136,-0.222572,-0.180103],[0.079942,-0.396058,0.914739]] 2025-10-28T19:18:00.868Z,1761679080.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252769,-0.895899,-0.365338],[0.964559,-0.203789,-0.167616],[0.075715,-0.394758,0.915660]] 2025-10-28T19:18:01.277Z,1761679081.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229655,-0.900758,-0.368637],[0.970625,-0.184049,-0.154963],[0.071736,-0.393397,0.916566]] 2025-10-28T19:18:01.675Z,1761679081.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206691,-0.905412,-0.370820],[0.976019,-0.164346,-0.142748],[0.068303,-0.391432,0.917669]] 2025-10-28T19:18:02.079Z,1761679082.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182451,-0.909455,-0.373635],[0.981071,-0.143314,-0.130234],[0.064895,-0.390324,0.918388]] 2025-10-28T19:18:02.483Z,1761679082.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157661,-0.913355,-0.375400],[0.985573,-0.121842,-0.117478],[0.061559,-0.388506,0.919388]] 2025-10-28T19:18:02.887Z,1761679082.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132021,-0.916820,-0.376845],[0.989552,-0.099675,-0.104175],[0.057948,-0.386661,0.920399]] 2025-10-28T19:18:03.291Z,1761679083.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105917,-0.919315,-0.379000],[0.992890,-0.076957,-0.090808],[0.054314,-0.385924,0.920930]] 2025-10-28T19:18:03.702Z,1761679083.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079287,-0.921380,-0.380489],[0.995580,-0.053914,-0.076905],[0.050345,-0.384904,0.921582]] 2025-10-28T19:18:04.100Z,1761679084.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052585,-0.922123,-0.383306],[0.997557,-0.030833,-0.062678],[0.045978,-0.385666,0.921492]] 2025-10-28T19:18:04.503Z,1761679084.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025624,-0.922327,-0.385560],[0.998827,-0.007769,-0.047794],[0.041086,-0.386332,0.921444]] 2025-10-28T19:18:04.912Z,1761679084.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001057,-0.921713,-0.387872],[0.999383,0.014587,-0.031940],[0.035098,-0.387599,0.921160]] 2025-10-28T19:18:05.318Z,1761679085.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048579,-0.919056,-0.391122],[0.998567,0.053495,-0.001677],[0.022464,-0.390480,0.920337]] 2025-10-28T19:18:05.728Z,1761679085.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068081,-0.917602,-0.391628],[0.997542,0.069137,0.011422],[0.016595,-0.391443,0.920053]] 2025-10-28T19:18:06.123Z,1761679086.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085542,-0.916010,-0.391929],[0.996275,0.082946,0.023587],[0.010903,-0.392486,0.919693]] 2025-10-28T19:18:06.526Z,1761679086.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101231,-0.915073,-0.390376],[0.994846,0.095374,0.034417],[0.005738,-0.391849,0.920012]] 2025-10-28T19:18:06.927Z,1761679086.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115706,-0.914259,-0.388257],[0.993282,0.107054,0.043924],[0.001407,-0.390731,0.920504]] 2025-10-28T19:18:07.334Z,1761679087.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128956,-0.912961,-0.387134],[0.991648,0.117984,0.052087],[-0.001877,-0.390617,0.920551]] 2025-10-28T19:18:07.755Z,1761679087.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141719,-0.912292,-0.384239],[0.989901,0.129241,0.058251],[-0.003482,-0.388613,0.921394]] 2025-10-28T19:18:08.138Z,1761679088.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154380,-0.911125,-0.382123],[0.988005,0.140981,0.063009],[-0.003537,-0.387267,0.921961]] 2025-10-28T19:18:08.542Z,1761679088.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167879,-0.909401,-0.380534],[0.985805,0.153937,0.067028],[-0.002377,-0.386385,0.922335]] 2025-10-28T19:18:08.948Z,1761679088.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183832,-0.907125,-0.378589],[0.982957,0.169402,0.071399],[-0.000635,-0.385262,0.922807]] 2025-10-28T19:18:08.990Z,1761679088.990 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:18:08.990Z,1761679088.990 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:18:08.991Z,1761679088.991 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:18:08.991Z,1761679088.991 [marl:UpdateRudder:A] Stopped 2025-10-28T19:18:08.991Z,1761679088.991 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:18:09.354Z,1761679089.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202243,-0.903794,-0.377165],[0.979335,0.187037,0.076945],[0.001001,-0.384933,0.922944]] 2025-10-28T19:18:09.436Z,1761679089.436 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:18:09.436Z,1761679089.436 [marl:UpdateRudder:B] Stopped 2025-10-28T19:18:09.437Z,1761679089.437 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:18:09.437Z,1761679089.437 [marl:UpdateRudder] Stopped 2025-10-28T19:18:09.437Z,1761679089.437 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:18:09.761Z,1761679089.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223680,-0.899222,-0.375988],[0.974660,0.207200,0.084294],[0.002105,-0.385315,0.922783]] 2025-10-28T19:18:10.159Z,1761679090.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247437,-0.893908,-0.373768],[0.968901,0.229306,0.093008],[0.002566,-0.385158,0.922847]] 2025-10-28T19:18:10.572Z,1761679090.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272242,-0.887981,-0.370639],[0.962226,0.252215,0.102515],[0.002449,-0.384548,0.923102]] 2025-10-28T19:18:10.967Z,1761679090.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297984,-0.881125,-0.367183],[0.954569,0.275830,0.112766],[0.001919,-0.384104,0.923288]] 2025-10-28T19:18:11.015Z,1761679091.015 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:18:11.015Z,1761679091.015 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:18:11.015Z,1761679091.015 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:18:11.016Z,1761679091.016 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:18:11.016Z,1761679091.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:18:11.016Z,1761679091.016 [marl:UpdateCommandMode] Stopped 2025-10-28T19:18:11.016Z,1761679091.016 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed] Stopped 2025-10-28T19:18:11.017Z,1761679091.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:18:11.371Z,1761679091.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323177,-0.873091,-0.365061],[0.946339,0.298383,0.124141],[0.000542,-0.385591,0.922670]] 2025-10-28T19:18:11.786Z,1761679091.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348586,-0.864083,-0.363109],[0.937276,0.320722,0.136571],[-0.001552,-0.387941,0.921683]] 2025-10-28T19:18:12.181Z,1761679092.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372837,-0.854477,-0.361748],[0.927886,0.341501,0.149679],[-0.004360,-0.391467,0.920182]] 2025-10-28T19:18:12.618Z,1761679092.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395597,-0.845537,-0.358567],[0.918391,0.360863,0.162284],[-0.007824,-0.393503,0.919290]] 2025-10-28T19:18:12.991Z,1761679092.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416170,-0.837131,-0.354986],[0.909214,0.378176,0.174105],[-0.011502,-0.395215,0.918516]] 2025-10-28T19:18:13.393Z,1761679093.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434142,-0.829768,-0.350721],[0.900720,0.393369,0.184291],[-0.014956,-0.395911,0.918167]] 2025-10-28T19:18:13.802Z,1761679093.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449985,-0.822887,-0.346945],[0.892859,0.406810,0.193155],[-0.017803,-0.396690,0.917780]] 2025-10-28T19:18:14.199Z,1761679094.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464066,-0.816673,-0.343057],[0.885573,0.418969,0.200561],[-0.020062,-0.396876,0.917653]] 2025-10-28T19:18:14.637Z,1761679094.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477545,-0.810423,-0.339359],[0.878337,0.430761,0.207292],[-0.021811,-0.397063,0.917532]] 2025-10-28T19:18:15.006Z,1761679095.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490460,-0.804360,-0.335341],[0.871163,0.442429,0.212912],[-0.022893,-0.396561,0.917723]] 2025-10-28T19:18:15.039Z,1761679095.039 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:18:15.153Z,1761679095.153 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:18:15.153Z,1761679095.153 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:18:15.406Z,1761679095.406 [DAT](INFO): DAT read: user:174> 2025-10-28T19:18:15.406Z,1761679095.406 [DAT](INFO): DAT read: Tx time:19:18:15.1333 2025-10-28T19:18:15.407Z,1761679095.407 [DAT](INFO): Ping request sent. 2025-10-28T19:18:15.407Z,1761679095.407 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:18:15.407Z,1761679095.407 [DAT](INFO): publishing transmit ping time 2025-10-28T19:18:15.408Z,1761679095.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000920 2025-10-28T19:18:15.449Z,1761679095.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503435,-0.797946,-0.331414],[0.863719,0.454415,0.217938],[-0.023303,-0.395966,0.917969]] 2025-10-28T19:18:15.657Z,1761679095.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250076 2025-10-28T19:18:15.814Z,1761679095.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516733,-0.790984,-0.327614],[0.855833,0.466868,0.222677],[-0.023181,-0.395447,0.918196]] 2025-10-28T19:18:15.909Z,1761679095.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502011 2025-10-28T19:18:16.161Z,1761679096.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753990 2025-10-28T19:18:16.230Z,1761679096.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531309,-0.782995,-0.323465],[0.846866,0.480514,0.227869],[-0.022991,-0.395001,0.918393]] 2025-10-28T19:18:16.413Z,1761679096.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006050 2025-10-28T19:18:16.643Z,1761679096.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546536,-0.774393,-0.318770],[0.837118,0.494722,0.233416],[-0.023053,-0.394419,0.918642]] 2025-10-28T19:18:16.665Z,1761679096.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258077 2025-10-28T19:18:16.917Z,1761679096.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509999 2025-10-28T19:18:17.027Z,1761679097.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562914,-0.764429,-0.314287],[0.826191,0.509763,0.239897],[-0.023172,-0.394702,0.918517]] 2025-10-28T19:18:17.169Z,1761679097.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762044 2025-10-28T19:18:17.425Z,1761679097.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017879 2025-10-28T19:18:17.432Z,1761679097.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579863,-0.753920,-0.308810],[0.814375,0.525432,0.246405],[-0.023511,-0.394368,0.918652]] 2025-10-28T19:18:17.677Z,1761679097.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270014 2025-10-28T19:18:17.835Z,1761679097.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597069,-0.742514,-0.303613],[0.801830,0.541072,0.253594],[-0.024020,-0.394859,0.918428]] 2025-10-28T19:18:17.929Z,1761679097.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522126 2025-10-28T19:18:18.181Z,1761679098.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774015 2025-10-28T19:18:18.255Z,1761679098.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614248,-0.730547,-0.298330],[0.788736,0.556707,0.260715],[-0.024382,-0.395448,0.918165]] 2025-10-28T19:18:18.433Z,1761679098.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026015 2025-10-28T19:18:18.647Z,1761679098.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631055,-0.718629,-0.292134],[0.775341,0.572260,0.267140],[-0.024798,-0.395084,0.918310]] 2025-10-28T19:18:18.685Z,1761679098.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278167 2025-10-28T19:18:18.937Z,1761679098.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530143 2025-10-28T19:18:19.047Z,1761679099.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647785,-0.706032,-0.286172],[0.761407,0.587592,0.273852],[-0.025196,-0.395290,0.918211]] 2025-10-28T19:18:19.189Z,1761679099.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782037 2025-10-28T19:18:19.445Z,1761679099.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038056 2025-10-28T19:18:19.453Z,1761679099.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663960,-0.693492,-0.279690],[0.747327,0.602558,0.280046],[-0.025681,-0.394959,0.918340]] 2025-10-28T19:18:19.697Z,1761679099.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290018 2025-10-28T19:18:19.856Z,1761679099.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679295,-0.681247,-0.272876],[0.733398,0.616916,0.285556],[-0.026192,-0.394103,0.918693]] 2025-10-28T19:18:19.952Z,1761679099.952 [DAT](INFO): DAT read: Rx Time:19:18:19.3400 2025-10-28T19:18:19.953Z,1761679099.953 [DAT](INFO): Rx dataTimestamp_ set to:1761679099.952297 2025-10-28T19:18:19.953Z,1761679099.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546275 2025-10-28T19:18:20.201Z,1761679100.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794074 2025-10-28T19:18:20.258Z,1761679100.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694167,-0.668842,-0.266050],[0.719307,0.630688,0.291254],[-0.027009,-0.393550,0.918906]] 2025-10-28T19:18:20.453Z,1761679100.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046027 2025-10-28T19:18:20.663Z,1761679100.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708558,-0.656218,-0.259466],[0.705101,0.643878,0.297076],[-0.027882,-0.393445,0.918925]] 2025-10-28T19:18:20.714Z,1761679100.714 [DAT](INFO): DAT read: 19:18:19.3400 LVL= 11936, 18961, 18802, 24179, AGC= 77, IDX= 134,-0.14, 2.943, 1.065, 1.053, 2.269, PHS= 0.776,-1.159,-1.260, RAW= 87.5, 16.3, CAL= 87.5, 20.7, ROT= 62.5, -20.7 2025-10-28T19:18:20.716Z,1761679100.716 [DAT](INFO): got valid direction response: 19:18:19.3400 LVL= 11936, 18961, 18802, 24179, AGC= 77, IDX= 134,-0.14, 2.943, 1.065, 1.053, 2.269, PHS= 0.776,-1.159,-1.260, RAW= 87.5, 16.3, CAL= 87.5, 20.7, ROT= 62.5, -20.7 2025-10-28T19:18:20.718Z,1761679100.718 [DAT](INFO): DAT read: Bearing 93, -17 (Remote) 2025-10-28T19:18:20.718Z,1761679100.718 [DAT](INFO): Remote Bearing received:Bearing 93, -17 (Remote) 2025-10-28T19:18:20.719Z,1761679100.719 [DAT](INFO): DAT read: Bearing 250.9, 37.8 (Local) 2025-10-28T19:18:20.724Z,1761679100.724 [DAT](INFO): Local bearing/azimuth received: Bearing 250.9, 37.8 (Local) 2025-10-28T19:18:20.726Z,1761679100.726 [DAT](INFO): DAT read: Range 11 to 20 : 1633.1 m (Round-trip 2177.5 ms) speed 0.0 m/s 2025-10-28T19:18:20.727Z,1761679100.727 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:18:20.733Z,1761679100.733 [DAT](INFO): direction in FSK: [0.431940,0.829749,0.353475] 2025-10-28T19:18:20.733Z,1761679100.733 [DAT](INFO): publishing direction and range info 2025-10-28T19:18:20.857Z,1761679100.857 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679104.00. Resetting abort timer. 2025-10-28T19:18:21.067Z,1761679101.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722453,-0.643131,-0.253860],[0.690824,0.656178,0.303631],[-0.028697,-0.394732,0.918348]] 2025-10-28T19:18:21.477Z,1761679101.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735609,-0.630072,-0.248776],[0.676767,0.667599,0.310319],[-0.029441,-0.396637,0.917503]] 2025-10-28T19:18:21.875Z,1761679101.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748312,-0.617305,-0.242825],[0.662653,0.678901,0.316204],[-0.030340,-0.397528,0.917088]] 2025-10-28T19:18:22.279Z,1761679102.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760730,-0.604132,-0.237305],[0.648286,0.689274,0.323460],[-0.031844,-0.399908,0.916002]] 2025-10-28T19:18:22.307Z,1761679102.307 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:18:22.307Z,1761679102.307 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:18:22.307Z,1761679102.307 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:18:22.307Z,1761679102.307 [marl:UpdateRudder:A] Stopped 2025-10-28T19:18:22.307Z,1761679102.307 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:18:22.683Z,1761679102.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773179,-0.590388,-0.231595],[0.633329,0.699796,0.330425],[-0.033010,-0.402153,0.914977]] 2025-10-28T19:18:22.810Z,1761679102.810 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:18:22.810Z,1761679102.810 [marl:UpdateRudder:B] Stopped 2025-10-28T19:18:22.811Z,1761679102.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:18:22.811Z,1761679102.811 [marl:UpdateRudder] Stopped 2025-10-28T19:18:22.811Z,1761679102.811 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:18:23.087Z,1761679103.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785485,-0.575950,-0.226483],[0.617948,0.709809,0.338101],[-0.033970,-0.405528,0.913451]] 2025-10-28T19:18:23.492Z,1761679103.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797553,-0.561303,-0.221016],[0.602261,0.719921,0.344958],[-0.034512,-0.408231,0.912226]] 2025-10-28T19:18:23.894Z,1761679103.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809834,-0.546138,-0.214248],[0.585597,0.730573,0.351197],[-0.035278,-0.409874,0.911460]] 2025-10-28T19:18:24.305Z,1761679104.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821797,-0.531046,-0.206495],[0.568620,0.741241,0.356697],[-0.036360,-0.410550,0.911113]] 2025-10-28T19:18:24.333Z,1761679104.333 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:18:24.333Z,1761679104.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:18:24.333Z,1761679104.333 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateCommandMode] Stopped 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:18:24.334Z,1761679104.334 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:18:24.335Z,1761679104.335 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:18:24.335Z,1761679104.335 [marl:UpdateSpeed] Stopped 2025-10-28T19:18:24.335Z,1761679104.335 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:18:24.714Z,1761679104.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833338,-0.516104,-0.197952],[0.551505,0.752131,0.360752],[-0.037300,-0.409799,0.911413]] 2025-10-28T19:18:25.106Z,1761679105.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844367,-0.500978,-0.189909],[0.534412,0.762374,0.364951],[-0.038051,-0.409642,0.911452]] 2025-10-28T19:18:25.510Z,1761679105.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854567,-0.486437,-0.181919],[0.517852,0.771623,0.369359],[-0.039297,-0.409849,0.911307]] 2025-10-28T19:18:25.916Z,1761679105.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864057,-0.472271,-0.174260],[0.501776,0.780291,0.373318],[-0.040333,-0.410008,0.911190]] 2025-10-28T19:18:26.318Z,1761679106.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872504,-0.459369,-0.166483],[0.486879,0.788757,0.375249],[-0.041063,-0.408463,0.911851]] 2025-10-28T19:18:26.727Z,1761679106.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880422,-0.446384,-0.159995],[0.472379,0.796151,0.378155],[-0.041422,-0.408515,0.911811]] 2025-10-28T19:18:27.134Z,1761679107.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887666,-0.433874,-0.154280],[0.458615,0.802778,0.381077],[-0.041487,-0.409024,0.911580]] 2025-10-28T19:18:27.532Z,1761679107.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895187,-0.420189,-0.148596],[0.443818,0.809894,0.383533],[-0.040809,-0.409283,0.911494]] 2025-10-28T19:18:27.935Z,1761679107.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902862,-0.405536,-0.142760],[0.428082,0.817221,0.385869],[-0.039817,-0.409500,0.911441]] 2025-10-28T19:18:27.984Z,1761679107.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:18:28.338Z,1761679108.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910705,-0.389544,-0.137377],[0.411265,0.824176,0.389353],[-0.038447,-0.411084,0.910786]] 2025-10-28T19:18:28.742Z,1761679108.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919069,-0.371660,-0.131074],[0.392332,0.831431,0.393444],[-0.037248,-0.413027,0.909957]] 2025-10-28T19:18:28.988Z,1761679108.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:18:29.149Z,1761679109.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927442,-0.353001,-0.123453],[0.372188,0.839132,0.396653],[-0.036426,-0.413821,0.909629]] 2025-10-28T19:18:29.550Z,1761679109.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935698,-0.333438,-0.115276],[0.351008,0.846931,0.399376],[-0.035536,-0.414159,0.909511]] 2025-10-28T19:18:29.954Z,1761679109.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943528,-0.313746,-0.106390],[0.329445,0.854698,0.401196],[-0.034943,-0.413589,0.909793]] 2025-10-28T19:18:30.359Z,1761679110.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950762,-0.294425,-0.096772],[0.307964,0.862488,0.401588],[-0.034772,-0.411617,0.910693]] 2025-10-28T19:18:30.770Z,1761679110.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957059,-0.276400,-0.087411],[0.287760,0.869287,0.401914],[-0.035104,-0.409809,0.911496]] 2025-10-28T19:18:31.167Z,1761679111.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962613,-0.259252,-0.078516],[0.268520,0.875080,0.402656],[-0.035682,-0.408685,0.911978]] 2025-10-28T19:18:31.571Z,1761679111.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967385,-0.243286,-0.070550],[0.250707,0.879744,0.403976],[-0.036216,-0.408488,0.912045]] 2025-10-28T19:18:31.976Z,1761679111.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971467,-0.228593,-0.063223],[0.234311,0.883710,0.405160],[-0.036746,-0.408414,0.912057]] 2025-10-28T19:18:32.378Z,1761679112.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974987,-0.214850,-0.056927],[0.219146,0.886501,0.407543],[-0.037095,-0.409824,0.911410]] 2025-10-28T19:18:32.787Z,1761679112.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978253,-0.201042,-0.051011],[0.204062,0.888855,0.410239],[-0.037134,-0.411727,0.910550]] 2025-10-28T19:18:33.194Z,1761679113.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981227,-0.187377,-0.045638],[0.189283,0.890368,0.414026],[-0.036945,-0.414892,0.909120]] 2025-10-28T19:18:33.593Z,1761679113.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984093,-0.173112,-0.039922],[0.173848,0.892095,0.417065],[-0.036585,-0.417371,0.908000]] 2025-10-28T19:18:33.995Z,1761679113.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986925,-0.157689,-0.033366],[0.156971,0.893326,0.421104],[-0.036597,-0.420836,0.906398]] 2025-10-28T19:18:34.402Z,1761679114.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989657,-0.141019,-0.026323],[0.138786,0.894758,0.424436],[-0.036301,-0.423699,0.905075]] 2025-10-28T19:18:34.802Z,1761679114.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992338,-0.122243,-0.017948],[0.118137,0.896234,0.427561],[-0.036181,-0.426405,0.903809]] 2025-10-28T19:18:35.214Z,1761679115.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994728,-0.102162,-0.008884],[0.096045,0.897794,0.429816],[-0.035934,-0.428403,0.902873]] 2025-10-28T19:18:35.610Z,1761679115.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996673,-0.081500,0.001033],[0.073127,0.899726,0.430286],[-0.035998,-0.428779,0.902692]] 2025-10-28T19:18:35.641Z,1761679115.641 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:18:35.641Z,1761679115.641 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:18:35.641Z,1761679115.641 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:18:35.642Z,1761679115.642 [marl:UpdateRudder:A] Stopped 2025-10-28T19:18:35.642Z,1761679115.642 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:18:36.019Z,1761679116.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998117,-0.060179,0.011887],[0.049282,0.902079,0.428747],[-0.036525,-0.427354,0.903346]] 2025-10-28T19:18:36.113Z,1761679116.113 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:18:36.113Z,1761679116.113 [marl:UpdateRudder:B] Stopped 2025-10-28T19:18:36.113Z,1761679116.113 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:18:36.113Z,1761679116.113 [marl:UpdateRudder] Stopped 2025-10-28T19:18:36.113Z,1761679116.113 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:18:36.423Z,1761679116.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998989,-0.038786,0.022741],[0.025424,0.904474,0.425770],[-0.037082,-0.424761,0.904546]] 2025-10-28T19:18:36.825Z,1761679116.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999308,-0.017260,0.032949],[0.001751,0.906659,0.421860],[-0.037155,-0.421510,0.906062]] 2025-10-28T19:18:37.226Z,1761679117.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999095,0.003859,0.042358],[-0.021233,0.908156,0.418093],[-0.036854,-0.418614,0.907416]] 2025-10-28T19:18:37.630Z,1761679117.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998431,0.023968,0.050612],[-0.042799,0.909439,0.413629],[-0.036115,-0.415146,0.909038]] 2025-10-28T19:18:37.674Z,1761679117.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:18:37.674Z,1761679117.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:18:37.675Z,1761679117.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:18:37.675Z,1761679117.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:18:37.675Z,1761679117.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:18:37.676Z,1761679117.676 [marl:UpdateCommandMode] Stopped 2025-10-28T19:18:37.680Z,1761679117.680 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:18:37.680Z,1761679117.680 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed] Stopped 2025-10-28T19:18:37.681Z,1761679117.681 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:18:38.036Z,1761679118.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997488,0.041288,0.057566],[-0.061345,0.909832,0.410417],[-0.035430,-0.412917,0.910079]] 2025-10-28T19:18:38.449Z,1761679118.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996446,0.056118,0.062816],[-0.076927,0.910071,0.407252],[-0.034313,-0.410636,0.911153]] 2025-10-28T19:18:38.842Z,1761679118.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995229,0.070295,0.067667],[-0.091839,0.909089,0.406353],[-0.032951,-0.410628,0.911207]] 2025-10-28T19:18:39.246Z,1761679119.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993885,0.083504,0.072243],[-0.105806,0.907355,0.406831],[-0.031578,-0.411987,0.910642]] 2025-10-28T19:18:39.650Z,1761679119.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992322,0.096696,0.077118],[-0.119940,0.904559,0.409129],[-0.030197,-0.415237,0.909212]] 2025-10-28T19:18:40.058Z,1761679120.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990487,0.109954,0.082736],[-0.134456,0.901243,0.411925],[-0.029272,-0.419131,0.907454]] 2025-10-28T19:18:40.486Z,1761679120.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988399,0.122899,0.089237],[-0.149097,0.897090,0.415932],[-0.028936,-0.424412,0.905007]] 2025-10-28T19:18:40.867Z,1761679120.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985894,0.136449,0.096930],[-0.164767,0.893020,0.418768],[-0.029420,-0.428832,0.902905]] 2025-10-28T19:18:41.271Z,1761679121.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982913,0.151129,0.105078],[-0.181615,0.889165,0.420002],[-0.029957,-0.431909,0.901419]] 2025-10-28T19:18:41.684Z,1761679121.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979225,0.167582,0.114170],[-0.200454,0.884963,0.420308],[-0.030600,-0.434462,0.900170]] 2025-10-28T19:18:42.079Z,1761679122.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974780,0.185690,0.123787],[-0.220963,0.880844,0.418674],[-0.031294,-0.435468,0.899660]] 2025-10-28T19:18:42.484Z,1761679122.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969490,0.205502,0.133634],[-0.243115,0.875843,0.416887],[-0.031372,-0.436656,0.899081]] 2025-10-28T19:18:42.887Z,1761679122.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963643,0.225791,0.142864],[-0.265340,0.871540,0.412325],[-0.031413,-0.435242,0.899765]] 2025-10-28T19:18:43.292Z,1761679123.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957248,0.246162,0.151920],[-0.287545,0.866979,0.407020],[-0.031518,-0.433303,0.900697]] 2025-10-28T19:18:43.701Z,1761679123.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950352,0.266656,0.160394],[-0.309579,0.862377,0.400584],[-0.031502,-0.430350,0.902112]] 2025-10-28T19:18:44.098Z,1761679124.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942889,0.287198,0.168752],[-0.331622,0.857105,0.394207],[-0.031423,-0.427655,0.903396]] 2025-10-28T19:18:44.503Z,1761679124.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935154,0.307299,0.176224],[-0.352877,0.851732,0.387336],[-0.031067,-0.424404,0.904940]] 2025-10-28T19:18:44.908Z,1761679124.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927040,0.326908,0.183650],[-0.373717,0.845417,0.381583],[-0.030519,-0.422376,0.905907]] 2025-10-28T19:18:45.313Z,1761679125.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918588,0.345826,0.191311],[-0.394081,0.838138,0.377126],[-0.029926,-0.421816,0.906187]] 2025-10-28T19:18:45.714Z,1761679125.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909744,0.364541,0.198686],[-0.414128,0.830679,0.372117],[-0.029393,-0.420812,0.906671]] 2025-10-28T19:18:46.119Z,1761679126.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900813,0.382604,0.205303],[-0.433261,0.823215,0.366882],[-0.028638,-0.419442,0.907330]] 2025-10-28T19:18:46.526Z,1761679126.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892096,0.399334,0.211417],[-0.450969,0.816035,0.361545],[-0.028147,-0.417875,0.908068]] 2025-10-28T19:18:46.929Z,1761679126.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883413,0.415285,0.217071],[-0.467772,0.808993,0.355977],[-0.027777,-0.416014,0.908934]] 2025-10-28T19:18:47.331Z,1761679127.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874974,0.430022,0.222491],[-0.483392,0.801915,0.351090],[-0.027442,-0.414745,0.909524]] 2025-10-28T19:18:47.735Z,1761679127.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866601,0.444032,0.227679],[-0.498278,0.794573,0.346948],[-0.026851,-0.414113,0.909829]] 2025-10-28T19:18:48.138Z,1761679128.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858685,0.456345,0.233260],[-0.511820,0.787088,0.344286],[-0.026483,-0.415020,0.909427]] 2025-10-28T19:18:48.558Z,1761679128.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850954,0.467799,0.238832],[-0.524599,0.779422,0.342487],[-0.025936,-0.416732,0.908659]] 2025-10-28T19:18:48.951Z,1761679128.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843197,0.478533,0.244998],[-0.536994,0.771403,0.341431],[-0.025606,-0.419456,0.907414]] 2025-10-28T19:18:48.997Z,1761679128.997 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:18:48.997Z,1761679128.997 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:18:48.998Z,1761679128.998 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:18:49.017Z,1761679129.017 [marl:UpdateRudder:A] Stopped 2025-10-28T19:18:49.017Z,1761679129.017 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:18:49.359Z,1761679129.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835450,0.488704,0.251382],[-0.548982,0.763227,0.340739],[-0.025341,-0.422674,0.905927]] 2025-10-28T19:18:49.447Z,1761679129.447 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:18:49.447Z,1761679129.447 [marl:UpdateRudder:B] Stopped 2025-10-28T19:18:49.447Z,1761679129.447 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:18:49.447Z,1761679129.447 [marl:UpdateRudder] Stopped 2025-10-28T19:18:49.447Z,1761679129.447 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:18:49.764Z,1761679129.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819250,0.508247,0.265544],[-0.572859,0.746147,0.339259],[-0.025708,-0.430058,0.902435]] 2025-10-28T19:18:50.185Z,1761679130.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810205,0.518911,0.272579],[-0.585564,0.737289,0.336927],[-0.026134,-0.432593,0.901211]] 2025-10-28T19:18:50.601Z,1761679130.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800057,0.530404,0.280323],[-0.599343,0.727229,0.334554],[-0.026410,-0.435672,0.899718]] 2025-10-28T19:18:50.973Z,1761679130.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788240,0.543312,0.288946],[-0.614802,0.715431,0.331929],[-0.026380,-0.439284,0.897961]] 2025-10-28T19:18:51.009Z,1761679131.009 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode] Stopped 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:18:51.010Z,1761679131.010 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed] Stopped 2025-10-28T19:18:51.011Z,1761679131.011 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:18:51.378Z,1761679131.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775357,0.557719,0.296262],[-0.630958,0.703976,0.326052],[-0.026716,-0.439736,0.897730]] 2025-10-28T19:18:51.786Z,1761679131.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761582,0.572983,0.302794],[-0.647495,0.692400,0.318326],[-0.027259,-0.438489,0.898323]] 2025-10-28T19:18:52.189Z,1761679132.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746745,0.589368,0.308250],[-0.664541,0.680312,0.309128],[-0.027516,-0.435684,0.899679]] 2025-10-28T19:18:52.625Z,1761679132.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730972,0.606634,0.312530],[-0.681843,0.667885,0.298361],[-0.027738,-0.431190,0.901835]] 2025-10-28T19:18:52.992Z,1761679132.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715491,0.623218,0.315709],[-0.698078,0.655600,0.287882],[-0.027566,-0.426367,0.904130]] 2025-10-28T19:18:53.399Z,1761679133.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699159,0.640082,0.318548],[-0.714463,0.642203,0.277701],[-0.026821,-0.421748,0.906316]] 2025-10-28T19:18:53.803Z,1761679133.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682699,0.656509,0.320808],[-0.730260,0.628237,0.268400],[-0.025336,-0.417510,0.908319]] 2025-10-28T19:18:54.202Z,1761679134.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665571,0.672934,0.322761],[-0.745975,0.613244,0.259715],[-0.023160,-0.413631,0.910150]] 2025-10-28T19:18:54.653Z,1761679134.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649419,0.687680,0.324579],[-0.760154,0.598593,0.252690],[-0.020521,-0.410832,0.911480]] 2025-10-28T19:18:55.013Z,1761679135.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633723,0.700614,0.327925],[-0.773358,0.583486,0.247914],[-0.017647,-0.410712,0.911594]] 2025-10-28T19:18:55.415Z,1761679135.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619769,0.711348,0.331466],[-0.784635,0.569888,0.244080],[-0.015273,-0.411353,0.911348]] 2025-10-28T19:18:55.819Z,1761679135.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606553,0.721027,0.334984],[-0.794941,0.556759,0.241015],[-0.012727,-0.412481,0.910878]] 2025-10-28T19:18:56.224Z,1761679136.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594496,0.728909,0.339508],[-0.804028,0.544458,0.238966],[-0.010663,-0.415038,0.909742]] 2025-10-28T19:18:56.659Z,1761679136.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582647,0.735819,0.345098],[-0.812677,0.532123,0.237489],[-0.008886,-0.418826,0.908023]] 2025-10-28T19:18:57.031Z,1761679137.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570932,0.742796,0.349700],[-0.820964,0.520359,0.235041],[-0.007382,-0.421284,0.906899]] 2025-10-28T19:18:57.439Z,1761679137.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558894,0.749096,0.355658],[-0.829216,0.508118,0.232848],[-0.006291,-0.425054,0.905146]] 2025-10-28T19:18:57.840Z,1761679137.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545866,0.756305,0.360600],[-0.837856,0.495412,0.229269],[-0.005248,-0.427280,0.904104]] 2025-10-28T19:18:58.243Z,1761679138.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531669,0.764138,0.365269],[-0.846941,0.481891,0.224659],[-0.004350,-0.428806,0.903386]] 2025-10-28T19:18:59.053Z,1761679139.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498811,0.782197,0.373304],[-0.866708,0.451261,0.212557],[-0.002197,-0.429571,0.903030]] 2025-10-28T19:18:59.112Z,1761679139.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:18:59.455Z,1761679139.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480199,0.792365,0.376252],[-0.877159,0.434122,0.205255],[-0.000702,-0.428597,0.903496]] 2025-10-28T19:18:59.859Z,1761679139.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460897,0.802676,0.378531],[-0.887453,0.416450,0.197475],[0.000869,-0.426944,0.904278]] 2025-10-28T19:19:00.116Z,1761679140.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:19:00.262Z,1761679140.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441804,0.812431,0.380479],[-0.897108,0.398949,0.189835],[0.002436,-0.425201,0.905096]] 2025-10-28T19:19:00.673Z,1761679140.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422839,0.821054,0.383507],[-0.906196,0.381207,0.183005],[0.004062,-0.424914,0.905225]] 2025-10-28T19:19:01.072Z,1761679141.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404585,0.828868,0.386378],[-0.914480,0.363880,0.176969],[0.006089,-0.424934,0.905204]] 2025-10-28T19:19:01.474Z,1761679141.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387354,0.836016,0.388631],[-0.921894,0.347476,0.171380],[0.008237,-0.424662,0.905315]] 2025-10-28T19:19:01.878Z,1761679141.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371105,0.842348,0.390808],[-0.928535,0.332007,0.166115],[0.010176,-0.424525,0.905359]] 2025-10-28T19:19:02.284Z,1761679142.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355340,0.847678,0.393924],[-0.934664,0.316927,0.161125],[0.011737,-0.425441,0.904910]] 2025-10-28T19:19:02.308Z,1761679142.308 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:19:02.308Z,1761679142.308 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:19:02.309Z,1761679142.309 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:19:02.309Z,1761679142.309 [marl:UpdateRudder:A] Stopped 2025-10-28T19:19:02.309Z,1761679142.309 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:19:02.687Z,1761679142.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339084,0.852679,0.397441],[-0.940663,0.301378,0.155961],[0.013204,-0.426742,0.904277]] 2025-10-28T19:19:02.742Z,1761679142.742 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:19:02.742Z,1761679142.742 [marl:UpdateRudder:B] Stopped 2025-10-28T19:19:02.742Z,1761679142.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:19:02.742Z,1761679142.742 [marl:UpdateRudder] Stopped 2025-10-28T19:19:02.743Z,1761679142.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:19:03.091Z,1761679143.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322429,0.857530,0.400852],[-0.946488,0.285729,0.150065],[0.014150,-0.427787,0.903769]] 2025-10-28T19:19:03.495Z,1761679143.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304034,0.862778,0.403951],[-0.952544,0.268665,0.143106],[0.014941,-0.428290,0.903518]] 2025-10-28T19:19:03.899Z,1761679143.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284428,0.868908,0.405093],[-0.958575,0.251016,0.134625],[0.015292,-0.426603,0.904310]] 2025-10-28T19:19:04.303Z,1761679144.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263694,0.875603,0.404703],[-0.964480,0.232547,0.125299],[0.015599,-0.423369,0.905823]] 2025-10-28T19:19:04.355Z,1761679144.355 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:19:04.355Z,1761679144.355 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:19:04.356Z,1761679144.356 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:19:04.376Z,1761679144.376 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:19:04.376Z,1761679144.376 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:19:04.376Z,1761679144.376 [marl:UpdateCommandMode] Stopped 2025-10-28T19:19:04.376Z,1761679144.376 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:19:04.376Z,1761679144.376 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed] Stopped 2025-10-28T19:19:04.377Z,1761679144.377 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:19:04.707Z,1761679144.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241902,0.883009,0.402218],[-0.970167,0.213237,0.115349],[0.016086,-0.418121,0.908249]] 2025-10-28T19:19:05.111Z,1761679145.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219207,0.890084,0.399624],[-0.975535,0.192919,0.105423],[0.016741,-0.412957,0.910597]] 2025-10-28T19:19:05.518Z,1761679145.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196638,0.896636,0.396707],[-0.980317,0.172497,0.096041],[0.017683,-0.407784,0.912907]] 2025-10-28T19:19:05.921Z,1761679145.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174752,0.902046,0.394682],[-0.984427,0.152297,0.087796],[0.019087,-0.403879,0.914613]] 2025-10-28T19:19:06.322Z,1761679146.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154172,0.905622,0.395068],[-0.987820,0.132773,0.081131],[0.021020,-0.402765,0.915062]] 2025-10-28T19:19:06.727Z,1761679146.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135536,0.907607,0.397340],[-0.990499,0.114703,0.075861],[0.023276,-0.403846,0.914531]] 2025-10-28T19:19:07.141Z,1761679147.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118289,0.908168,0.401545],[-0.992645,0.097654,0.071555],[0.025772,-0.407056,0.913040]] 2025-10-28T19:19:07.534Z,1761679147.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102521,0.907441,0.407481],[-0.994320,0.081712,0.068200],[0.028591,-0.412158,0.910664]] 2025-10-28T19:19:07.938Z,1761679147.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087633,0.905214,0.415822],[-0.995662,0.066493,0.065082],[0.031264,-0.419722,0.907114]] 2025-10-28T19:19:08.342Z,1761679148.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073637,0.902707,0.423908],[-0.996734,0.052489,0.061367],[0.033146,-0.427043,0.903624]] 2025-10-28T19:19:08.763Z,1761679148.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060625,0.899791,0.432090],[-0.997595,0.040051,0.056565],[0.033591,-0.434480,0.900055]] 2025-10-28T19:19:09.158Z,1761679149.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047893,0.897987,0.437408],[-0.998313,0.028644,0.050503],[0.032822,-0.439089,0.897844]] 2025-10-28T19:19:09.559Z,1761679149.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034330,0.897867,0.438926],[-0.998923,0.017103,0.043143],[0.031230,-0.439935,0.897487]] 2025-10-28T19:19:09.962Z,1761679149.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018744,0.898803,0.437952],[-0.999395,0.004005,0.034554],[0.029303,-0.438335,0.898334]] 2025-10-28T19:19:10.367Z,1761679150.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000347,0.902104,0.431517],[-0.999613,-0.011685,0.025232],[0.027804,-0.431359,0.901752]] 2025-10-28T19:19:10.778Z,1761679150.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019922,0.905703,0.423444],[-0.999456,-0.029175,0.015381],[0.026285,-0.422907,0.905792]] 2025-10-28T19:19:11.175Z,1761679151.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041875,0.909282,0.414068],[-0.998811,-0.048456,0.005396],[0.024971,-0.413350,0.910230]] 2025-10-28T19:19:11.579Z,1761679151.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065717,0.912414,0.403957],[-0.997550,-0.069804,-0.004619],[0.023983,-0.403271,0.914766]] 2025-10-28T19:19:11.982Z,1761679151.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090772,0.914075,0.395255],[-0.995596,-0.092624,-0.014440],[0.023411,-0.394825,0.918458]] 2025-10-28T19:19:12.388Z,1761679152.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117003,0.913983,0.388517],[-0.992857,-0.116849,-0.024114],[0.023358,-0.388563,0.921126]] 2025-10-28T19:19:12.796Z,1761679152.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143797,0.912073,0.383985],[-0.989323,-0.141796,-0.033682],[0.023727,-0.384729,0.922725]] 2025-10-28T19:19:13.195Z,1761679153.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170375,0.907725,0.383416],[-0.985087,-0.166378,-0.043839],[0.023998,-0.385167,0.922535]] 2025-10-28T19:19:13.599Z,1761679153.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196154,0.902107,0.384353],[-0.980273,-0.190097,-0.054107],[0.024254,-0.387384,0.921599]] 2025-10-28T19:19:14.003Z,1761679154.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220326,0.895430,0.386861],[-0.975122,-0.212095,-0.064440],[0.024350,-0.391435,0.919883]] 2025-10-28T19:19:14.408Z,1761679154.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242787,0.887756,0.391080],[-0.969776,-0.232197,-0.074959],[0.024262,-0.397459,0.917299]] 2025-10-28T19:19:14.810Z,1761679154.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262644,0.879695,0.396429],[-0.964584,-0.249776,-0.084796],[0.024424,-0.404660,0.914141]] 2025-10-28T19:19:15.215Z,1761679155.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281140,0.871476,0.401857],[-0.959345,-0.266062,-0.094171],[0.024851,-0.411995,0.910847]] 2025-10-28T19:19:15.260Z,1761679155.260 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:19:15.421Z,1761679155.421 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:19:15.421Z,1761679155.421 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:19:15.626Z,1761679155.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297891,0.863559,0.406850],[-0.954258,-0.280795,-0.102694],[0.025559,-0.418832,0.907704]] 2025-10-28T19:19:15.665Z,1761679155.665 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:19:15.665Z,1761679155.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:19:15.665Z,1761679155.665 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:19:15.665Z,1761679155.665 [marl:UpdateRudder:A] Stopped 2025-10-28T19:19:15.666Z,1761679155.666 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:19:15.673Z,1761679155.673 [DAT](INFO): DAT read: user:175> 2025-10-28T19:19:15.674Z,1761679155.674 [DAT](INFO): DAT read: Tx time:19:19:15.4332 2025-10-28T19:19:15.674Z,1761679155.674 [DAT](INFO): Ping request sent. 2025-10-28T19:19:15.674Z,1761679155.674 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:19:15.674Z,1761679155.674 [DAT](INFO): publishing transmit ping time 2025-10-28T19:19:15.675Z,1761679155.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T19:19:15.926Z,1761679155.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251295 2025-10-28T19:19:16.024Z,1761679156.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312778,0.855859,0.411916],[-0.949456,-0.293827,-0.110447],[0.026505,-0.425642,0.904503]] 2025-10-28T19:19:16.054Z,1761679156.054 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:19:16.054Z,1761679156.054 [marl:UpdateRudder:B] Stopped 2025-10-28T19:19:16.054Z,1761679156.054 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:19:16.054Z,1761679156.054 [marl:UpdateRudder] Stopped 2025-10-28T19:19:16.054Z,1761679156.054 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:19:16.177Z,1761679156.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502629 2025-10-28T19:19:16.427Z,1761679156.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326459,0.849448,0.414563],[-0.944817,-0.305925,-0.117175],[0.027291,-0.429939,0.902445]] 2025-10-28T19:19:16.429Z,1761679156.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754739 2025-10-28T19:19:16.681Z,1761679156.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006645 2025-10-28T19:19:16.831Z,1761679156.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338929,0.844239,0.415197],[-0.940403,-0.317020,-0.123049],[0.027743,-0.432157,0.901372]] 2025-10-28T19:19:16.934Z,1761679156.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259395 2025-10-28T19:19:17.185Z,1761679157.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510685 2025-10-28T19:19:17.235Z,1761679157.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350260,0.840922,0.412514],[-0.936251,-0.327221,-0.127908],[0.027422,-0.431018,0.901927]] 2025-10-28T19:19:17.437Z,1761679157.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803 2025-10-28T19:19:17.643Z,1761679157.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360908,0.838883,0.407456],[-0.932229,-0.336856,-0.132201],[0.026353,-0.427554,0.903605]] 2025-10-28T19:19:17.689Z,1761679157.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014839 2025-10-28T19:19:17.706Z,1761679157.706 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode] Stopped 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:19:17.707Z,1761679157.707 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:19:17.708Z,1761679157.708 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:19:17.716Z,1761679157.716 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:19:17.716Z,1761679157.716 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:19:17.716Z,1761679157.716 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:19:17.716Z,1761679157.716 [marl:UpdateSpeed] Stopped 2025-10-28T19:19:17.717Z,1761679157.717 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:19:17.941Z,1761679157.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266643 2025-10-28T19:19:18.193Z,1761679158.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518732 2025-10-28T19:19:18.445Z,1761679158.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782 2025-10-28T19:19:18.449Z,1761679158.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383900,0.835340,0.393482],[-0.923102,-0.357544,-0.141578],[0.022421,-0.417576,0.908365]] 2025-10-28T19:19:18.697Z,1761679158.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022622 2025-10-28T19:19:18.851Z,1761679158.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397767,0.833767,0.382903],[-0.917263,-0.370599,-0.145896],[0.020260,-0.409255,0.912195]] 2025-10-28T19:19:18.949Z,1761679158.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274866 2025-10-28T19:19:19.201Z,1761679159.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526659 2025-10-28T19:19:19.265Z,1761679159.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414201,0.830442,0.372563],[-0.910001,-0.386063,-0.151171],[0.018294,-0.401648,0.915611]] 2025-10-28T19:19:19.453Z,1761679159.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778937 2025-10-28T19:19:19.659Z,1761679159.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433603,0.825054,0.362319],[-0.900949,-0.404396,-0.157335],[0.016711,-0.394652,0.918679]] 2025-10-28T19:19:19.706Z,1761679159.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031935 2025-10-28T19:19:19.957Z,1761679159.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282699 2025-10-28T19:19:20.063Z,1761679160.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454983,0.817987,0.351978],[-0.890361,-0.424869,-0.163537],[0.015773,-0.387794,0.921611]] 2025-10-28T19:19:20.209Z,1761679160.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534670 2025-10-28T19:19:20.461Z,1761679160.461 [DAT](INFO): DAT read: Rx Time:19:19:19.6460 2025-10-28T19:19:20.462Z,1761679160.462 [DAT](INFO): Rx dataTimestamp_ set to:1761679160.461226 2025-10-28T19:19:20.462Z,1761679160.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787836 2025-10-28T19:19:20.499Z,1761679160.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478088,0.808635,0.342843],[-0.878186,-0.446696,-0.171031],[0.014845,-0.382848,0.923692]] 2025-10-28T19:19:20.713Z,1761679160.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038664 2025-10-28T19:19:20.971Z,1761679160.971 [DAT](INFO): DAT read: 19:19:19.6460 LVL= 26720, 17889, 22898, 25731, AGC= 69, IDX= 502,-0.11, 2.706,-2.138,-1.737,-2.807, PHS=-0.668, 0.714, 1.027, RAW= 260.0, -13.7, CAL= 259.9, -19.5, ROT= 250.1, 19.5 2025-10-28T19:19:20.976Z,1761679160.976 [DAT](INFO): got valid direction response: 19:19:19.6460 LVL= 26720, 17889, 22898, 25731, AGC= 69, IDX= 502,-0.11, 2.706,-2.138,-1.737,-2.807, PHS=-0.668, 0.714, 1.027, RAW= 260.0, -13.7, CAL= 259.9, -19.5, ROT= 250.1, 19.5 2025-10-28T19:19:20.977Z,1761679160.977 [DAT](INFO): DAT read: Bearing 97, -18 (Remote) 2025-10-28T19:19:20.977Z,1761679160.977 [DAT](INFO): Remote Bearing received:Bearing 97, -18 (Remote) 2025-10-28T19:19:20.978Z,1761679160.978 [DAT](INFO): DAT read: Bearing 273.7, -44.4 (Local) 2025-10-28T19:19:20.978Z,1761679160.978 [DAT](INFO): Local bearing/azimuth received: Bearing 273.7, -44.4 (Local) 2025-10-28T19:19:20.980Z,1761679160.980 [DAT](INFO): DAT read: Range 11 to 20 : 1637.7 m (Round-trip 2183.7 ms) speed -0.1 m/s 2025-10-28T19:19:20.993Z,1761679160.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:19:20.994Z,1761679160.994 [DAT](INFO): direction in FSK: [-0.320856,-0.886355,-0.333807] 2025-10-28T19:19:20.995Z,1761679160.995 [DAT](INFO): publishing direction and range info 2025-10-28T19:19:21.275Z,1761679161.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526170,0.783719,0.330045],[-0.850279,-0.490840,-0.190007],[0.013087,-0.380606,0.924645]] 2025-10-28T19:19:21.327Z,1761679161.327 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679104.00. Resetting abort timer. 2025-10-28T19:19:21.678Z,1761679161.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550334,0.769154,0.324860],[-0.834855,-0.512606,-0.200629],[0.012211,-0.381624,0.924237]] 2025-10-28T19:19:22.083Z,1761679162.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573064,0.753752,0.321645],[-0.819433,-0.532425,-0.212257],[0.011263,-0.385203,0.922763]] 2025-10-28T19:19:22.498Z,1761679162.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594331,0.738061,0.319433],[-0.804157,-0.550402,-0.224478],[0.010138,-0.390288,0.920637]] 2025-10-28T19:19:22.890Z,1761679162.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614258,0.722435,0.317451],[-0.789052,-0.566982,-0.236492],[0.009139,-0.395753,0.918312]] 2025-10-28T19:19:23.294Z,1761679163.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631914,0.707649,0.316098],[-0.774998,-0.581111,-0.248371],[0.007928,-0.401925,0.915638]] 2025-10-28T19:19:23.699Z,1761679163.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647341,0.694319,0.314436],[-0.762172,-0.593248,-0.259136],[0.006616,-0.407404,0.913224]] 2025-10-28T19:19:24.112Z,1761679164.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660484,0.682931,0.312035],[-0.750825,-0.603407,-0.268630],[0.004828,-0.411709,0.911302]] 2025-10-28T19:19:24.508Z,1761679164.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671453,0.673381,0.309369],[-0.741041,-0.611826,-0.276635],[0.002999,-0.415002,0.909815]] 2025-10-28T19:19:24.911Z,1761679164.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681604,0.665016,0.305237],[-0.731720,-0.620241,-0.282643],[0.001358,-0.415999,0.909364]] 2025-10-28T19:19:25.316Z,1761679165.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691625,0.656608,0.300867],[-0.722256,-0.628597,-0.288464],[-0.000284,-0.416812,0.908992]] 2025-10-28T19:19:25.718Z,1761679165.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701579,0.648732,0.294845],[-0.712590,-0.637812,-0.292251],[-0.001537,-0.415141,0.909756]] 2025-10-28T19:19:26.125Z,1761679166.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712043,0.640946,0.286675],[-0.702130,-0.648352,-0.294370],[-0.002809,-0.410887,0.911682]] 2025-10-28T19:19:26.526Z,1761679166.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723710,0.632126,0.276876],[-0.690093,-0.660589,-0.295623],[-0.003970,-0.405016,0.914301]] 2025-10-28T19:19:26.932Z,1761679166.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736470,0.621774,0.266475],[-0.676452,-0.674025,-0.296821],[-0.004945,-0.398857,0.917000]] 2025-10-28T19:19:27.335Z,1761679167.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750327,0.609276,0.256499],[-0.661042,-0.688189,-0.299030],[-0.005672,-0.393927,0.919124]] 2025-10-28T19:19:27.739Z,1761679167.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765386,0.594382,0.246768],[-0.643540,-0.703051,-0.302616],[-0.006379,-0.390423,0.920613]] 2025-10-28T19:19:28.150Z,1761679168.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780985,0.577878,0.236895],[-0.624508,-0.718235,-0.306803],[-0.007148,-0.387552,0.921820]] 2025-10-28T19:19:28.558Z,1761679168.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796567,0.560382,0.226833],[-0.604496,-0.733255,-0.311323],[-0.008134,-0.385109,0.922835]] 2025-10-28T19:19:28.951Z,1761679168.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811417,0.542484,0.217519],[-0.584390,-0.746933,-0.317144],[-0.009573,-0.384451,0.923096]] 2025-10-28T19:19:29.020Z,1761679169.020 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:19:29.020Z,1761679169.020 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:19:29.020Z,1761679169.020 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:19:29.021Z,1761679169.021 [marl:UpdateRudder:A] Stopped 2025-10-28T19:19:29.021Z,1761679169.021 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:19:29.355Z,1761679169.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825532,0.524524,0.208256],[-0.564244,-0.759817,-0.322964],[-0.011166,-0.384124,0.923214]] 2025-10-28T19:19:29.403Z,1761679169.403 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:19:29.403Z,1761679169.403 [marl:UpdateRudder:B] Stopped 2025-10-28T19:19:29.403Z,1761679169.403 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:19:29.403Z,1761679169.403 [marl:UpdateRudder] Stopped 2025-10-28T19:19:29.403Z,1761679169.403 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:19:29.762Z,1761679169.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838785,0.506560,0.199590],[-0.544307,-0.771409,-0.329635],[-0.013014,-0.385131,0.922770]] 2025-10-28T19:19:30.163Z,1761679170.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850820,0.489314,0.191511],[-0.525235,-0.781369,-0.337032],[-0.015274,-0.387343,0.921809]] 2025-10-28T19:19:30.244Z,1761679170.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:19:30.586Z,1761679170.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862056,0.472239,0.183984],[-0.506518,-0.790402,-0.344534],[-0.017281,-0.390200,0.920568]] 2025-10-28T19:19:30.970Z,1761679170.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871868,0.456389,0.177641],[-0.489363,-0.797609,-0.352624],[-0.019245,-0.394372,0.918749]] 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode] Stopped 2025-10-28T19:19:31.019Z,1761679171.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:19:31.020Z,1761679171.020 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:19:31.020Z,1761679171.020 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:19:31.020Z,1761679171.020 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:19:31.020Z,1761679171.020 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:19:31.020Z,1761679171.020 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:19:31.021Z,1761679171.021 [marl:UpdateSpeed] Stopped 2025-10-28T19:19:31.021Z,1761679171.021 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:19:31.248Z,1761679171.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:19:31.374Z,1761679171.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881509,0.440564,0.169840],[-0.471705,-0.805788,-0.358050],[-0.020889,-0.395739,0.918126]] 2025-10-28T19:19:31.785Z,1761679171.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890533,0.425122,0.161935],[-0.454362,-0.813563,-0.362863],[-0.022517,-0.396719,0.917664]] 2025-10-28T19:19:32.185Z,1761679172.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898978,0.410121,0.153748],[-0.437326,-0.821126,-0.366741],[-0.024162,-0.396930,0.917531]] 2025-10-28T19:19:32.634Z,1761679172.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914729,0.379833,0.137830],[-0.403213,-0.835875,-0.372468],[-0.026267,-0.396282,0.917753]] 2025-10-28T19:19:33.399Z,1761679173.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922207,0.364444,0.129287],[-0.385738,-0.843451,-0.373895],[-0.027217,-0.394679,0.918416]] 2025-10-28T19:19:33.801Z,1761679173.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929310,0.348907,0.121023],[-0.368227,-0.850486,-0.375610],[-0.028125,-0.393622,0.918842]] 2025-10-28T19:19:34.207Z,1761679174.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936020,0.333308,0.113019],[-0.350748,-0.856929,-0.377689],[-0.029038,-0.393165,0.919009]] 2025-10-28T19:19:34.640Z,1761679174.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948717,0.300848,0.097089],[-0.314726,-0.869983,-0.379575],[-0.029729,-0.390666,0.920052]] 2025-10-28T19:19:35.015Z,1761679175.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954740,0.284012,0.088365],[-0.295865,-0.876263,-0.380299],[-0.030579,-0.389231,0.920633]] 2025-10-28T19:19:35.430Z,1761679175.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960442,0.266796,0.079824],[-0.276718,-0.882104,-0.381209],[-0.031292,-0.388218,0.921036]] 2025-10-28T19:19:35.823Z,1761679175.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965987,0.248643,0.071027],[-0.256619,-0.887911,-0.381786],[-0.031862,-0.387027,0.921518]] 2025-10-28T19:19:36.224Z,1761679176.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971204,0.230005,0.062127],[-0.236023,-0.893290,-0.382527],[-0.032486,-0.386175,0.921853]] 2025-10-28T19:19:36.641Z,1761679176.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976100,0.210857,0.052612],[-0.214734,-0.898542,-0.382768],[-0.033435,-0.384918,0.922345]] 2025-10-28T19:19:37.032Z,1761679177.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980513,0.191664,0.043121],[-0.193388,-0.903041,-0.383559],[-0.034574,-0.384423,0.922509]] 2025-10-28T19:19:37.438Z,1761679177.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984344,0.172953,0.033974],[-0.172581,-0.906566,-0.385167],[-0.035816,-0.385000,0.922221]] 2025-10-28T19:19:37.839Z,1761679177.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987644,0.154679,0.025167],[-0.152304,-0.909568,-0.386640],[-0.036914,-0.385696,0.921887]] 2025-10-28T19:19:38.242Z,1761679178.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990606,0.135798,0.016072],[-0.131375,-0.912489,-0.387434],[-0.037947,-0.385906,0.921757]] 2025-10-28T19:19:38.653Z,1761679178.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993115,0.116929,0.007137],[-0.110474,-0.914534,-0.389131],[-0.038973,-0.387240,0.921155]] 2025-10-28T19:19:39.050Z,1761679179.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995192,0.097921,-0.001875],[-0.089434,-0.916405,-0.390134],[-0.039921,-0.388090,0.920756]] 2025-10-28T19:19:39.458Z,1761679179.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996885,0.078093,-0.011043],[-0.067632,-0.918453,-0.389705],[-0.040576,-0.387744,0.920874]] 2025-10-28T19:19:39.859Z,1761679179.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998125,0.057752,-0.020284],[-0.045315,-0.919944,-0.389423],[-0.041150,-0.387773,0.920836]] 2025-10-28T19:19:40.262Z,1761679180.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998875,0.036653,-0.030090],[-0.022176,-0.921886,-0.386827],[-0.041918,-0.385725,0.921661]] 2025-10-28T19:19:40.667Z,1761679180.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999082,0.014820,-0.040183],[0.001779,-0.923049,-0.384679],[-0.042792,-0.384397,0.922176]] 2025-10-28T19:19:41.079Z,1761679181.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998716,-0.006961,-0.050180],[0.025675,-0.923431,-0.382905],[-0.043672,-0.383702,0.922424]] 2025-10-28T19:19:41.483Z,1761679181.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997789,-0.028034,-0.060256],[0.048959,-0.923195,-0.381200],[-0.044941,-0.383307,0.922527]] 2025-10-28T19:19:41.879Z,1761679181.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996395,-0.047930,-0.069999],[0.071099,-0.921927,-0.380783],[-0.046283,-0.384387,0.922011]] 2025-10-28T19:19:42.283Z,1761679182.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994572,-0.067007,-0.079600],[0.092454,-0.920085,-0.380653],[-0.047733,-0.385946,0.921286]] 2025-10-28T19:19:42.322Z,1761679182.322 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:19:42.322Z,1761679182.322 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:19:42.323Z,1761679182.323 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:19:42.323Z,1761679182.323 [marl:UpdateRudder:A] Stopped 2025-10-28T19:19:42.323Z,1761679182.323 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:19:42.686Z,1761679182.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992547,-0.083813,-0.088464],[0.111469,-0.917771,-0.381145],[-0.049245,-0.388165,0.920273]] 2025-10-28T19:19:42.750Z,1761679182.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:19:42.750Z,1761679182.750 [marl:UpdateRudder:B] Stopped 2025-10-28T19:19:42.750Z,1761679182.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:19:42.750Z,1761679182.750 [marl:UpdateRudder] Stopped 2025-10-28T19:19:42.750Z,1761679182.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:19:43.094Z,1761679183.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990288,-0.099864,-0.096733],[0.129524,-0.915535,-0.380813],[-0.050533,-0.389644,0.919578]] 2025-10-28T19:19:43.498Z,1761679183.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987884,-0.114924,-0.104299],[0.146387,-0.913213,-0.380280],[-0.051544,-0.390940,0.918972]] 2025-10-28T19:19:43.899Z,1761679183.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985261,-0.129825,-0.111382],[0.162925,-0.910603,-0.379812],[-0.052116,-0.392361,0.918334]] 2025-10-28T19:19:44.303Z,1761679184.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982437,-0.144968,-0.117482],[0.179206,-0.908466,-0.377592],[-0.051990,-0.392014,0.918489]] 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:19:44.358Z,1761679184.358 [marl:UpdateCommandMode] Stopped 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed] Stopped 2025-10-28T19:19:44.359Z,1761679184.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:19:44.708Z,1761679184.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979308,-0.160238,-0.123611],[0.195695,-0.905450,-0.376649],[-0.051571,-0.393045,0.918072]] 2025-10-28T19:19:45.110Z,1761679185.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975924,-0.175715,-0.129216],[0.212139,-0.902382,-0.375104],[-0.050690,-0.393485,0.917933]] 2025-10-28T19:19:45.527Z,1761679185.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972168,-0.191910,-0.134390],[0.229008,-0.899465,-0.372179],[-0.049455,-0.392597,0.918380]] 2025-10-28T19:19:45.919Z,1761679185.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967942,-0.208585,-0.139933],[0.246505,-0.895804,-0.369825],[-0.048212,-0.392463,0.918503]] 2025-10-28T19:19:46.325Z,1761679186.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963171,-0.225985,-0.145716],[0.264737,-0.891857,-0.366749],[-0.047078,-0.391818,0.918837]] 2025-10-28T19:19:46.727Z,1761679186.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957609,-0.244806,-0.151841],[0.284378,-0.887490,-0.362615],[-0.045987,-0.390424,0.919486]] 2025-10-28T19:19:47.131Z,1761679187.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951410,-0.264099,-0.158335],[0.304603,-0.882532,-0.358266],[-0.045118,-0.389087,0.920096]] 2025-10-28T19:19:47.538Z,1761679187.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944379,-0.284481,-0.164983],[0.325802,-0.877594,-0.351684],[-0.044741,-0.385875,0.921466]] 2025-10-28T19:19:47.943Z,1761679187.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936788,-0.304592,-0.172199],[0.347045,-0.871563,-0.346319],[-0.044596,-0.384188,0.922177]] 2025-10-28T19:19:48.343Z,1761679188.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928349,-0.325261,-0.179926],[0.369011,-0.864669,-0.340849],[-0.044712,-0.382821,0.922740]] 2025-10-28T19:19:48.747Z,1761679188.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919317,-0.345761,-0.187898],[0.390952,-0.856916,-0.335932],[-0.044860,-0.382287,0.922954]] 2025-10-28T19:19:49.151Z,1761679189.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910019,-0.365389,-0.195848],[0.412079,-0.848929,-0.330923],[-0.045345,-0.381851,0.923111]] 2025-10-28T19:19:49.566Z,1761679189.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900291,-0.384752,-0.203574],[0.432857,-0.840687,-0.325393],[-0.045946,-0.381067,0.923405]] 2025-10-28T19:19:49.959Z,1761679189.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889970,-0.403862,-0.211778],[0.453598,-0.831792,-0.319956],[-0.046937,-0.380813,0.923460]] 2025-10-28T19:19:50.363Z,1761679190.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879441,-0.422522,-0.219224],[0.473559,-0.823264,-0.313015],[-0.048223,-0.379093,0.924101]] 2025-10-28T19:19:50.772Z,1761679190.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868509,-0.440602,-0.227074],[0.493141,-0.814322,-0.306090],[-0.050048,-0.377822,0.924525]] 2025-10-28T19:19:51.173Z,1761679191.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857336,-0.458243,-0.234494],[0.512114,-0.805398,-0.298451],[-0.052098,-0.375961,0.925170]] 2025-10-28T19:19:51.579Z,1761679191.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846342,-0.474220,-0.242530],[0.529852,-0.796096,-0.292382],[-0.054424,-0.375960,0.925036]] 2025-10-28T19:19:51.983Z,1761679191.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835361,-0.489386,-0.250348],[0.546751,-0.786838,-0.286268],[-0.056888,-0.376015,0.924866]] 2025-10-28T19:19:52.383Z,1761679192.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824454,-0.503829,-0.257742],[0.562815,-0.777654,-0.280167],[-0.059278,-0.376046,0.924703]] 2025-10-28T19:19:52.790Z,1761679192.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813948,-0.516728,-0.265481],[0.577675,-0.768282,-0.275743],[-0.061481,-0.377802,0.923843]] 2025-10-28T19:19:53.191Z,1761679193.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803504,-0.529165,-0.272701],[0.591944,-0.758783,-0.271755],[-0.063118,-0.379780,0.922921]] 2025-10-28T19:19:53.600Z,1761679193.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793091,-0.540870,-0.280117],[0.605734,-0.748651,-0.269459],[-0.063967,-0.383382,0.921372]] 2025-10-28T19:19:54.002Z,1761679194.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782574,-0.552625,-0.286676],[0.619242,-0.738425,-0.266961],[-0.064159,-0.386438,0.920081]] 2025-10-28T19:19:54.402Z,1761679194.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772117,-0.564241,-0.292348],[0.632287,-0.728182,-0.264507],[-0.063637,-0.389079,0.919004]] 2025-10-28T19:19:54.807Z,1761679194.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761478,-0.575974,-0.297331],[0.645164,-0.717761,-0.261883],[-0.062575,-0.391245,0.918157]] 2025-10-28T19:19:55.211Z,1761679195.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750470,-0.587945,-0.301855],[0.658061,-0.707073,-0.258850],[-0.061244,-0.392898,0.917540]] 2025-10-28T19:19:55.621Z,1761679195.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739052,-0.600208,-0.305865],[0.671001,-0.696107,-0.255328],[-0.059665,-0.393936,0.917199]] 2025-10-28T19:19:55.650Z,1761679195.650 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:19:55.650Z,1761679195.650 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:19:55.650Z,1761679195.650 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:19:55.650Z,1761679195.650 [marl:UpdateRudder:A] Stopped 2025-10-28T19:19:55.650Z,1761679195.650 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:19:56.020Z,1761679196.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727085,-0.612228,-0.310684],[0.684060,-0.684517,-0.251989],[-0.058394,-0.395744,0.916503]] 2025-10-28T19:19:56.117Z,1761679196.117 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:19:56.117Z,1761679196.117 [marl:UpdateRudder:B] Stopped 2025-10-28T19:19:56.117Z,1761679196.117 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:19:56.117Z,1761679196.117 [marl:UpdateRudder] Stopped 2025-10-28T19:19:56.117Z,1761679196.117 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:19:56.423Z,1761679196.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714612,-0.625358,-0.313461],[0.697214,-0.673106,-0.246617],[-0.056769,-0.394785,0.917018]] 2025-10-28T19:19:56.827Z,1761679196.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701335,-0.638360,-0.317214],[0.710664,-0.660835,-0.241360],[-0.055552,-0.394707,0.917126]] 2025-10-28T19:19:57.232Z,1761679197.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687105,-0.651972,-0.320655],[0.724516,-0.647902,-0.235158],[-0.054437,-0.393898,0.917541]] 2025-10-28T19:19:57.635Z,1761679197.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671924,-0.665769,-0.324453],[0.738677,-0.634141,-0.228519],[-0.053609,-0.393214,0.917883]] 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:19:57.678Z,1761679197.678 [marl:UpdateCommandMode] Stopped 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed] Stopped 2025-10-28T19:19:57.679Z,1761679197.679 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:19:58.047Z,1761679198.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656114,-0.679549,-0.328219],[0.752817,-0.619757,-0.221737],[-0.052735,-0.392574,0.918207]] 2025-10-28T19:19:58.442Z,1761679198.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639040,-0.694048,-0.331548],[0.767425,-0.604362,-0.214023],[-0.051833,-0.391208,0.918842]] 2025-10-28T19:19:58.849Z,1761679198.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620912,-0.708138,-0.336169],[0.782212,-0.587685,-0.206809],[-0.051112,-0.391365,0.918815]] 2025-10-28T19:19:59.250Z,1761679199.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602207,-0.722284,-0.340078],[0.796732,-0.570765,-0.198609],[-0.050653,-0.390554,0.919185]] 2025-10-28T19:19:59.658Z,1761679199.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582952,-0.735712,-0.344811],[0.810933,-0.553231,-0.190586],[-0.050544,-0.390721,0.919120]] 2025-10-28T19:20:00.063Z,1761679200.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563535,-0.748537,-0.349457],[0.824526,-0.535696,-0.182170],[-0.050842,-0.390796,0.919072]] 2025-10-28T19:20:00.464Z,1761679200.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543933,-0.760853,-0.353893],[0.837534,-0.518244,-0.173089],[-0.051708,-0.390546,0.919130]] 2025-10-28T19:20:01.271Z,1761679201.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507510,-0.782526,-0.360675],[0.859845,-0.486996,-0.153303],[-0.055683,-0.387927,0.920006]] 2025-10-28T19:20:01.380Z,1761679201.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:20:01.675Z,1761679201.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490479,-0.792102,-0.363323],[0.869515,-0.472614,-0.143456],[-0.058080,-0.386277,0.920552]] 2025-10-28T19:20:02.081Z,1761679202.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474453,-0.799895,-0.367509],[0.878210,-0.458732,-0.135324],[-0.060343,-0.386955,0.920122]] 2025-10-28T19:20:02.384Z,1761679202.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:20:02.486Z,1761679202.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458760,-0.807624,-0.370519],[0.886357,-0.445289,-0.126846],[-0.062544,-0.386604,0.920123]] 2025-10-28T19:20:02.886Z,1761679202.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443811,-0.814661,-0.373308],[0.893811,-0.432316,-0.119185],[-0.064291,-0.386563,0.920020]] 2025-10-28T19:20:03.291Z,1761679203.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429035,-0.821418,-0.375767],[0.900909,-0.419293,-0.112055],[-0.065512,-0.386608,0.919914]] 2025-10-28T19:20:03.705Z,1761679203.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413967,-0.828287,-0.377587],[0.907896,-0.405756,-0.105290],[-0.065998,-0.386396,0.919969]] 2025-10-28T19:20:04.100Z,1761679204.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398276,-0.835196,-0.379242],[0.914903,-0.391365,-0.098928],[-0.065798,-0.386370,0.919994]] 2025-10-28T19:20:04.503Z,1761679204.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382191,-0.841764,-0.381266],[0.921794,-0.376305,-0.093221],[-0.065002,-0.387077,0.919753]] 2025-10-28T19:20:04.907Z,1761679204.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364855,-0.848551,-0.383200],[0.928871,-0.359971,-0.087289],[-0.063872,-0.387791,0.919532]] 2025-10-28T19:20:05.312Z,1761679205.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346450,-0.855606,-0.384590],[0.935984,-0.342606,-0.080958],[-0.062495,-0.388018,0.919530]] 2025-10-28T19:20:05.715Z,1761679205.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327073,-0.861977,-0.387322],[0.943017,-0.324246,-0.074725],[-0.061177,-0.389691,0.918911]] 2025-10-28T19:20:06.124Z,1761679206.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306774,-0.868420,-0.389533],[0.949899,-0.305085,-0.067935],[-0.059844,-0.390858,0.918504]] 2025-10-28T19:20:06.532Z,1761679206.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286128,-0.874646,-0.391312],[0.956395,-0.285686,-0.060765],[-0.058644,-0.391635,0.918250]] 2025-10-28T19:20:06.928Z,1761679206.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264899,-0.881184,-0.391591],[0.962539,-0.266001,-0.052556],[-0.057853,-0.390844,0.918637]] 2025-10-28T19:20:07.331Z,1761679207.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243435,-0.887736,-0.390722],[0.968216,-0.246267,-0.043707],[-0.057422,-0.388943,0.919471]] 2025-10-28T19:20:07.739Z,1761679207.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222422,-0.893382,-0.390381],[0.973275,-0.226930,-0.035202],[-0.057140,-0.387778,0.919980]] 2025-10-28T19:20:08.139Z,1761679208.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201503,-0.899115,-0.388572],[0.977844,-0.207631,-0.026646],[-0.056721,-0.385333,0.921033]] 2025-10-28T19:20:08.547Z,1761679208.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180427,-0.904259,-0.386990],[0.981936,-0.188391,-0.017606],[-0.056985,-0.383177,0.921916]] 2025-10-28T19:20:08.946Z,1761679208.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159636,-0.908293,-0.386679],[0.985517,-0.169333,-0.009102],[-0.057210,-0.382532,0.922169]] 2025-10-28T19:20:09.081Z,1761679209.081 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:20:09.081Z,1761679209.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:20:09.081Z,1761679209.081 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:20:09.081Z,1761679209.081 [marl:UpdateRudder:A] Stopped 2025-10-28T19:20:09.081Z,1761679209.081 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:20:09.350Z,1761679209.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138610,-0.911817,-0.386494],[0.988676,-0.150065,-0.000541],[-0.057506,-0.382192,0.922292]] 2025-10-28T19:20:09.410Z,1761679209.410 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:20:09.410Z,1761679209.410 [marl:UpdateRudder:B] Stopped 2025-10-28T19:20:09.410Z,1761679209.410 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:20:09.410Z,1761679209.410 [marl:UpdateRudder] Stopped 2025-10-28T19:20:09.410Z,1761679209.410 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:20:09.774Z,1761679209.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117630,-0.914552,-0.386985],[0.991371,-0.130850,0.007892],[-0.057854,-0.382717,0.922052]] 2025-10-28T19:20:10.159Z,1761679210.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096735,-0.916900,-0.387216],[0.993604,-0.111734,0.016353],[-0.058259,-0.383157,0.921844]] 2025-10-28T19:20:10.571Z,1761679210.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075710,-0.918756,-0.387498],[0.995390,-0.092584,0.025036],[-0.058878,-0.383816,0.921531]] 2025-10-28T19:20:10.967Z,1761679210.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055555,-0.920172,-0.387553],[0.996692,-0.074167,0.033224],[-0.059316,-0.384425,0.921249]] 2025-10-28T19:20:11.056Z,1761679211.056 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode] Stopped 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:20:11.057Z,1761679211.057 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:20:11.058Z,1761679211.058 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:20:11.058Z,1761679211.058 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:20:11.058Z,1761679211.058 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:20:11.058Z,1761679211.058 [marl:UpdateSpeed] Stopped 2025-10-28T19:20:11.058Z,1761679211.058 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:20:11.372Z,1761679211.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034513,-0.921168,-0.387632],[0.997580,-0.055176,0.042300],[-0.060354,-0.385234,0.920843]] 2025-10-28T19:20:12.179Z,1761679212.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004460,-0.921760,-0.387735],[0.998033,-0.020142,0.059363],[-0.062529,-0.387237,0.919858]] 2025-10-28T19:20:12.622Z,1761679212.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023226,-0.921397,-0.387928],[0.997678,-0.003490,0.068022],[-0.064029,-0.388607,0.919176]] 2025-10-28T19:20:12.987Z,1761679212.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041470,-0.920760,-0.387919],[0.996974,0.012581,0.076716],[-0.065757,-0.389926,0.918495]] 2025-10-28T19:20:13.392Z,1761679213.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059048,-0.919848,-0.387806],[0.995976,0.028049,0.085118],[-0.067418,-0.391272,0.917802]] 2025-10-28T19:20:13.796Z,1761679213.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075578,-0.918872,-0.387249],[0.994776,0.042757,0.092693],[-0.068616,-0.392232,0.917304]] 2025-10-28T19:20:14.634Z,1761679214.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107207,-0.916378,-0.385691],[0.991780,0.071315,0.106236],[-0.069847,-0.393910,0.916491]] 2025-10-28T19:20:15.017Z,1761679215.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122356,-0.915325,-0.383679],[0.990096,0.085756,0.111158],[-0.068843,-0.393480,0.916752]] 2025-10-28T19:20:15.411Z,1761679215.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137550,-0.914300,-0.380966],[0.988232,0.100694,0.115148],[-0.066919,-0.392322,0.917391]] 2025-10-28T19:20:15.453Z,1761679215.453 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:20:15.681Z,1761679215.681 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:20:15.681Z,1761679215.681 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:20:15.815Z,1761679215.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152761,-0.912955,-0.378389],[0.986167,0.115897,0.118499],[-0.064330,-0.391257,0.918030]] 2025-10-28T19:20:15.933Z,1761679215.933 [DAT](INFO): DAT read: user:176> 2025-10-28T19:20:15.934Z,1761679215.934 [DAT](INFO): DAT read: Tx time:19:20:15.6830 2025-10-28T19:20:15.934Z,1761679215.934 [DAT](INFO): Ping request sent. 2025-10-28T19:20:15.934Z,1761679215.934 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:20:15.934Z,1761679215.934 [DAT](INFO): publishing transmit ping time 2025-10-28T19:20:15.935Z,1761679215.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T19:20:16.185Z,1761679216.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250761 2025-10-28T19:20:16.223Z,1761679216.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169333,-0.910586,-0.377041],[0.983634,0.132250,0.122366],[-0.061562,-0.391591,0.918078]] 2025-10-28T19:20:16.437Z,1761679216.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503353 2025-10-28T19:20:16.654Z,1761679216.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187338,-0.908583,-0.373337],[0.980533,0.150215,0.126451],[-0.058810,-0.389758,0.919037]] 2025-10-28T19:20:16.689Z,1761679216.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881 2025-10-28T19:20:16.941Z,1761679216.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006665 2025-10-28T19:20:17.030Z,1761679217.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206595,-0.905333,-0.371068],[0.976791,0.168923,0.131697],[-0.056548,-0.389664,0.919219]] 2025-10-28T19:20:17.193Z,1761679217.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258750 2025-10-28T19:20:17.430Z,1761679217.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227250,-0.901425,-0.368498],[0.972299,0.188765,0.137848],[-0.054700,-0.389616,0.919352]] 2025-10-28T19:20:17.446Z,1761679217.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511539 2025-10-28T19:20:17.697Z,1761679217.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762715 2025-10-28T19:20:17.835Z,1761679217.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249038,-0.897096,-0.364965],[0.967017,0.209522,0.144841],[-0.053468,-0.388999,0.919685]] 2025-10-28T19:20:17.949Z,1761679217.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015144 2025-10-28T19:20:18.201Z,1761679218.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266826 2025-10-28T19:20:18.245Z,1761679218.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272016,-0.892192,-0.360555],[0.960843,0.231261,0.152642],[-0.052803,-0.387958,0.920163]] 2025-10-28T19:20:18.453Z,1761679218.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518783 2025-10-28T19:20:18.646Z,1761679218.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295483,-0.886104,-0.357084],[0.953898,0.253067,0.161355],[-0.052611,-0.388300,0.920030]] 2025-10-28T19:20:18.705Z,1761679218.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771256 2025-10-28T19:20:18.957Z,1761679218.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022814 2025-10-28T19:20:19.046Z,1761679219.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319594,-0.879514,-0.352583],[0.946057,0.275269,0.170887],[-0.053243,-0.388178,0.920045]] 2025-10-28T19:20:19.209Z,1761679219.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274701 2025-10-28T19:20:19.457Z,1761679219.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343301,-0.872229,-0.348370],[0.937663,0.296898,0.180665],[-0.054151,-0.388676,0.919782]] 2025-10-28T19:20:19.461Z,1761679219.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526851 2025-10-28T19:20:19.713Z,1761679219.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778816 2025-10-28T19:20:19.862Z,1761679219.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388844,-0.856212,-0.340149],[0.919596,0.338233,0.199853],[-0.056067,-0.390511,0.918889]] 2025-10-28T19:20:19.965Z,1761679219.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030855 2025-10-28T19:20:20.217Z,1761679220.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282631 2025-10-28T19:20:20.267Z,1761679220.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410377,-0.848073,-0.335206],[0.910136,0.357941,0.208643],[-0.056961,-0.390705,0.918752]] 2025-10-28T19:20:20.469Z,1761679220.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534786 2025-10-28T19:20:20.667Z,1761679220.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430614,-0.839582,-0.331171],[0.900669,0.376158,0.217485],[-0.058024,-0.391927,0.918165]] 2025-10-28T19:20:20.721Z,1761679220.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786871 2025-10-28T19:20:20.973Z,1761679220.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038755 2025-10-28T19:20:21.071Z,1761679221.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450192,-0.831480,-0.325527],[0.890993,0.394289,0.225095],[-0.058810,-0.391379,0.918349]] 2025-10-28T19:20:21.225Z,1761679221.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290799 2025-10-28T19:20:21.474Z,1761679221.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468490,-0.823081,-0.321020],[0.881458,0.410974,0.232664],[-0.059570,-0.391967,0.918049]] 2025-10-28T19:20:21.477Z,1761679221.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542780 2025-10-28T19:20:21.729Z,1761679221.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794714 2025-10-28T19:20:21.874Z,1761679221.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486091,-0.814243,-0.317370],[0.871835,0.426830,0.240251],[-0.060160,-0.393478,0.917364]] 2025-10-28T19:20:21.982Z,1761679221.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047639 2025-10-28T19:20:22.233Z,1761679222.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298786 2025-10-28T19:20:22.279Z,1761679222.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503435,-0.805132,-0.313553],[0.861881,0.442348,0.247971],[-0.060949,-0.395083,0.916621]] 2025-10-28T19:20:22.336Z,1761679222.336 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:20:22.336Z,1761679222.336 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:20:22.337Z,1761679222.337 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:20:22.337Z,1761679222.337 [marl:UpdateRudder:A] Stopped 2025-10-28T19:20:22.337Z,1761679222.337 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:20:22.486Z,1761679222.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552117 2025-10-28T19:20:22.683Z,1761679222.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519923,-0.796097,-0.309692],[0.851982,0.457099,0.255318],[-0.061698,-0.396598,0.915917]] 2025-10-28T19:20:22.737Z,1761679222.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802907 2025-10-28T19:20:22.760Z,1761679222.760 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:20:22.760Z,1761679222.760 [marl:UpdateRudder:B] Stopped 2025-10-28T19:20:22.761Z,1761679222.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:20:22.761Z,1761679222.761 [marl:UpdateRudder] Stopped 2025-10-28T19:20:22.761Z,1761679222.761 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:20:22.990Z,1761679222.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055532 2025-10-28T19:20:23.089Z,1761679223.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535517,-0.788328,-0.302918],[0.842212,0.471992,0.260581],[-0.062449,-0.394667,0.916700]] 2025-10-28T19:20:23.241Z,1761679223.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306673 2025-10-28T19:20:23.493Z,1761679223.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558939 2025-10-28T19:20:23.512Z,1761679223.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550238,-0.781216,-0.294855],[0.832617,0.486615,0.264490],[-0.063143,-0.391034,0.918208]] 2025-10-28T19:20:23.745Z,1761679223.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810664 2025-10-28T19:20:23.894Z,1761679223.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563929,-0.773736,-0.288646],[0.823322,0.499578,0.269375],[-0.064224,-0.389557,0.918760]] 2025-10-28T19:20:23.999Z,1761679223.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064558 2025-10-28T19:20:24.249Z,1761679224.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314665 2025-10-28T19:20:24.309Z,1761679224.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576936,-0.765745,-0.284217],[0.814211,0.511545,0.274559],[-0.064852,-0.389816,0.918606]] 2025-10-28T19:20:24.356Z,1761679224.356 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:20:24.356Z,1761679224.356 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:20:24.356Z,1761679224.356 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateCommandMode] Stopped 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:20:24.357Z,1761679224.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:20:24.358Z,1761679224.358 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:20:24.358Z,1761679224.358 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:20:24.358Z,1761679224.358 [marl:UpdateSpeed] Stopped 2025-10-28T19:20:24.358Z,1761679224.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:20:24.501Z,1761679224.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567169 2025-10-28T19:20:24.702Z,1761679224.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589082,-0.758252,-0.279350],[0.805441,0.523084,0.278653],[-0.065166,-0.389149,0.918867]] 2025-10-28T19:20:24.754Z,1761679224.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819442 2025-10-28T19:20:25.006Z,1761679225.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071556 2025-10-28T19:20:25.106Z,1761679225.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600963,-0.750512,-0.274910],[0.796627,0.534444,0.282407],[-0.065026,-0.388717,0.919060]] 2025-10-28T19:20:25.257Z,1761679225.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322725 2025-10-28T19:20:25.509Z,1761679225.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574869 2025-10-28T19:20:25.516Z,1761679225.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612540,-0.742328,-0.271557],[0.787833,0.545484,0.285947],[-0.064136,-0.389096,0.918962]] 2025-10-28T19:20:25.761Z,1761679225.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827153 2025-10-28T19:20:25.915Z,1761679225.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624070,-0.733537,-0.269185],[0.778852,0.556358,0.289577],[-0.062652,-0.390372,0.918523]] 2025-10-28T19:20:26.012Z,1761679226.012 [DAT](INFO): Reached modem response timeout 2025-10-28T19:20:26.331Z,1761679226.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635904,-0.724545,-0.265819],[0.769381,0.568083,0.292121],[-0.060648,-0.390277,0.918698]] 2025-10-28T19:20:26.722Z,1761679226.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648235,-0.714949,-0.261991],[0.759190,0.580421,0.294521],[-0.058503,-0.389820,0.919031]] 2025-10-28T19:20:27.127Z,1761679227.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662059,-0.703426,-0.258592],[0.747345,0.593804,0.298115],[-0.056149,-0.390627,0.918835]] 2025-10-28T19:20:27.532Z,1761679227.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676946,-0.690997,-0.253509],[0.734064,0.608649,0.301160],[-0.053802,-0.389961,0.919258]] 2025-10-28T19:20:27.936Z,1761679227.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692426,-0.678152,-0.246285],[0.719630,0.624670,0.303182],[-0.051757,-0.387165,0.920557]] 2025-10-28T19:20:28.281Z,1761679228.281 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:20:28.281Z,1761679228.281 [DAT](INFO): response not received 2025-10-28T19:20:28.281Z,1761679228.281 [DAT](ERROR): No response from remote modem. 2025-10-28T19:20:28.338Z,1761679228.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708501,-0.664447,-0.237775],[0.703920,0.641401,0.305125],[-0.050230,-0.383556,0.922151]] 2025-10-28T19:20:28.742Z,1761679228.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724801,-0.649516,-0.229767],[0.687202,0.657768,0.308375],[-0.049161,-0.381407,0.923099]] 2025-10-28T19:20:29.148Z,1761679229.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741185,-0.633566,-0.221898],[0.669541,0.673765,0.312658],[-0.048582,-0.380307,0.923583]] 2025-10-28T19:20:29.554Z,1761679229.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756901,-0.617780,-0.213187],[0.651730,0.689335,0.316330],[-0.048465,-0.378370,0.924385]] 2025-10-28T19:20:29.954Z,1761679229.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771507,-0.602171,-0.205344],[0.634354,0.703371,0.320724],[-0.048698,-0.377702,0.924646]] 2025-10-28T19:20:30.359Z,1761679230.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784655,-0.587411,-0.198152],[0.618002,0.715971,0.324744],[-0.048887,-0.377270,0.924812]] 2025-10-28T19:20:30.767Z,1761679230.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796801,-0.572794,-0.192392],[0.602257,0.727065,0.329640],[-0.048934,-0.378527,0.924296]] 2025-10-28T19:20:31.168Z,1761679231.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807881,-0.558860,-0.187092],[0.587312,0.737098,0.334292],[-0.048917,-0.379949,0.923713]] 2025-10-28T19:20:31.572Z,1761679231.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818539,-0.544946,-0.181733],[0.572374,0.746818,0.338602],[-0.048798,-0.381178,0.923213]] 2025-10-28T19:20:31.983Z,1761679231.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828957,-0.531082,-0.175446],[0.557192,0.756847,0.341643],[-0.048654,-0.380965,0.923309]] 2025-10-28T19:20:32.381Z,1761679232.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839391,-0.516566,-0.169060],[0.541376,0.766946,0.344539],[-0.048318,-0.380728,0.923424]] 2025-10-28T19:20:32.504Z,1761679232.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:20:32.793Z,1761679232.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850047,-0.501313,-0.161572],[0.524502,0.777637,0.346668],[-0.048145,-0.379428,0.923968]] 2025-10-28T19:20:33.186Z,1761679233.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860614,-0.485087,-0.155031],[0.507013,0.787596,0.350187],[-0.047769,-0.379979,0.923761]] 2025-10-28T19:20:33.509Z,1761679233.509 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:20:33.591Z,1761679233.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871307,-0.467710,-0.148563],[0.488479,0.797585,0.353902],[-0.047032,-0.380928,0.923408]] 2025-10-28T19:20:33.998Z,1761679233.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881624,-0.449844,-0.142755],[0.469697,0.806783,0.358450],[-0.046074,-0.383070,0.922570]] 2025-10-28T19:20:34.407Z,1761679234.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891621,-0.431764,-0.136351],[0.450534,0.816037,0.362082],[-0.045066,-0.384271,0.922120]] 2025-10-28T19:20:34.806Z,1761679234.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900814,-0.414195,-0.130295],[0.431986,0.824610,0.365248],[-0.043841,-0.385306,0.921747]] 2025-10-28T19:20:35.207Z,1761679235.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908993,-0.397709,-0.124733],[0.414619,0.832135,0.368297],[-0.042681,-0.386497,0.921303]] 2025-10-28T19:20:35.614Z,1761679235.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916324,-0.382260,-0.119277],[0.398288,0.839218,0.370244],[-0.041430,-0.386770,0.921245]] 2025-10-28T19:20:35.674Z,1761679235.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:20:35.674Z,1761679235.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:20:35.675Z,1761679235.675 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:20:35.675Z,1761679235.675 [marl:UpdateRudder:A] Stopped 2025-10-28T19:20:35.675Z,1761679235.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:20:36.015Z,1761679236.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922534,-0.368835,-0.113542],[0.383813,0.846235,0.369559],[-0.040223,-0.384510,0.922244]] 2025-10-28T19:20:36.057Z,1761679236.057 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:20:36.058Z,1761679236.058 [marl:UpdateRudder:B] Stopped 2025-10-28T19:20:36.058Z,1761679236.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:20:36.058Z,1761679236.058 [marl:UpdateRudder] Stopped 2025-10-28T19:20:36.058Z,1761679236.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:20:36.421Z,1761679236.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928405,-0.355381,-0.108482],[0.369512,0.852354,0.370071],[-0.039051,-0.383662,0.922648]] 2025-10-28T19:20:36.828Z,1761679236.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933788,-0.342409,-0.103900],[0.355860,0.858257,0.369808],[-0.037452,-0.382296,0.923280]] 2025-10-28T19:20:37.226Z,1761679237.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939055,-0.328870,-0.100100],[0.341928,0.863487,0.370777],[-0.035502,-0.382407,0.923312]] 2025-10-28T19:20:37.630Z,1761679237.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944118,-0.314835,-0.097567],[0.327919,0.867272,0.374579],[-0.033313,-0.385641,0.922047]] 2025-10-28T19:20:37.678Z,1761679237.678 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:20:37.678Z,1761679237.678 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:20:37.678Z,1761679237.678 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateCommandMode] Stopped 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:20:37.679Z,1761679237.679 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:20:37.680Z,1761679237.680 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:20:37.680Z,1761679237.680 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:20:37.680Z,1761679237.680 [marl:UpdateSpeed] Stopped 2025-10-28T19:20:37.680Z,1761679237.680 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:20:38.034Z,1761679238.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949257,-0.300047,-0.094253],[0.312951,0.871439,0.377698],[-0.031192,-0.388029,0.921119]] 2025-10-28T19:20:38.448Z,1761679238.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954755,-0.283349,-0.090308],[0.295984,0.875842,0.381176],[-0.028910,-0.390659,0.920081]] 2025-10-28T19:20:38.843Z,1761679238.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960484,-0.264688,-0.086085],[0.277043,0.879392,0.387191],[-0.026782,-0.395740,0.917972]] 2025-10-28T19:20:39.247Z,1761679239.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966404,-0.244067,-0.080584],[0.255843,0.883411,0.392593],[-0.024630,-0.400021,0.916175]] 2025-10-28T19:20:39.650Z,1761679239.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972146,-0.222459,-0.073789],[0.233298,0.888271,0.395660],[-0.022474,-0.401853,0.915428]] 2025-10-28T19:20:40.056Z,1761679240.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977465,-0.200619,-0.065676],[0.210096,0.894300,0.395078],[-0.020526,-0.399973,0.916297]] 2025-10-28T19:20:40.481Z,1761679240.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982243,-0.178465,-0.057864],[0.186725,0.899987,0.393899],[-0.018221,-0.397709,0.917331]] 2025-10-28T19:20:40.862Z,1761679240.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986473,-0.156064,-0.050151],[0.163145,0.904903,0.393107],[-0.015968,-0.395972,0.918124]] 2025-10-28T19:20:41.268Z,1761679241.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989930,-0.134897,-0.042912],[0.140873,0.909010,0.392243],[-0.013905,-0.394339,0.918860]] 2025-10-28T19:20:41.672Z,1761679241.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992637,-0.115593,-0.036185],[0.120506,0.912319,0.391347],[-0.012225,-0.392826,0.919531]] 2025-10-28T19:20:42.074Z,1761679242.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994787,-0.097499,-0.029879],[0.101424,0.915572,0.389154],[-0.010586,-0.390156,0.920688]] 2025-10-28T19:20:42.486Z,1761679242.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996508,-0.079914,-0.024186],[0.083017,0.917406,0.389197],[-0.008914,-0.389846,0.920837]] 2025-10-28T19:20:42.883Z,1761679242.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997871,-0.062629,-0.018191],[0.064755,0.918338,0.390465],[-0.007749,-0.390811,0.920438]] 2025-10-28T19:20:43.288Z,1761679243.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998933,-0.044606,-0.011980],[0.045732,0.918949,0.391715],[-0.006463,-0.391845,0.920008]] 2025-10-28T19:20:43.690Z,1761679243.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999643,-0.026183,-0.005297],[0.026159,0.919226,0.392862],[-0.005417,-0.392860,0.919582]] 2025-10-28T19:20:44.094Z,1761679244.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999967,-0.007941,0.001471],[0.006714,0.918658,0.394998],[-0.004488,-0.394975,0.918681]] 2025-10-28T19:20:44.499Z,1761679244.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999916,0.009853,0.008466],[-0.012404,0.917844,0.396747],[-0.003862,-0.396819,0.917889]] 2025-10-28T19:20:44.911Z,1761679244.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999511,0.027292,0.015238],[-0.031101,0.917017,0.397635],[-0.003121,-0.397914,0.917417]] 2025-10-28T19:20:45.307Z,1761679245.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998755,0.044742,0.022073],[-0.049828,0.916754,0.396332],[-0.002503,-0.396939,0.917842]] 2025-10-28T19:20:45.710Z,1761679245.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997629,0.062510,0.028796],[-0.068805,0.915620,0.396113],[-0.001605,-0.397155,0.917750]] 2025-10-28T19:20:46.117Z,1761679246.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996132,0.080231,0.035824],[-0.087861,0.913633,0.396933],[-0.000884,-0.398545,0.917148]] 2025-10-28T19:20:46.518Z,1761679246.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994206,0.098551,0.042927],[-0.107494,0.911634,0.396697],[-0.000039,-0.399013,0.916945]] 2025-10-28T19:20:46.923Z,1761679246.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991878,0.116836,0.050280],[-0.127194,0.909369,0.396068],[0.000552,-0.399247,0.916843]] 2025-10-28T19:20:47.327Z,1761679247.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988943,0.136527,0.057896],[-0.148287,0.906382,0.395580],[0.001532,-0.399791,0.916605]] 2025-10-28T19:20:47.732Z,1761679247.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985623,0.155917,0.065093],[-0.168937,0.903199,0.394578],[0.002729,-0.399902,0.916554]] 2025-10-28T19:20:48.134Z,1761679248.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981884,0.175161,0.072263],[-0.189442,0.899710,0.393234],[0.003863,-0.399800,0.916594]] 2025-10-28T19:20:48.539Z,1761679248.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977812,0.193968,0.079126],[-0.209427,0.896148,0.391228],[0.004977,-0.399118,0.916886]] 2025-10-28T19:20:48.954Z,1761679248.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973436,0.212422,0.085440],[-0.228872,0.892381,0.388938],[0.006374,-0.398161,0.917293]] 2025-10-28T19:20:49.025Z,1761679249.025 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:20:49.025Z,1761679249.025 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:20:49.026Z,1761679249.026 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:20:49.026Z,1761679249.026 [marl:UpdateRudder:A] Stopped 2025-10-28T19:20:49.026Z,1761679249.026 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:20:49.347Z,1761679249.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968814,0.230319,0.091391],[-0.247663,0.888309,0.386744],[0.007891,-0.397317,0.917648]] 2025-10-28T19:20:49.377Z,1761679249.377 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:20:49.377Z,1761679249.377 [marl:UpdateRudder:B] Stopped 2025-10-28T19:20:49.377Z,1761679249.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:20:49.377Z,1761679249.377 [marl:UpdateRudder] Stopped 2025-10-28T19:20:49.377Z,1761679249.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:20:49.752Z,1761679249.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964190,0.246885,0.096879],[-0.265049,0.884173,0.384691],[0.009316,-0.396593,0.917947]] 2025-10-28T19:20:50.641Z,1761679250.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954341,0.278519,0.107980],[-0.298461,0.874037,0.383380],[0.012400,-0.398104,0.917257]] 2025-10-28T19:20:50.969Z,1761679250.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948978,0.293925,0.114233],[-0.315036,0.867697,0.384517],[0.013900,-0.400886,0.916023]] 2025-10-28T19:20:51.061Z,1761679251.061 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:20:51.061Z,1761679251.061 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateCommandMode] Stopped 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:20:51.062Z,1761679251.062 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:20:51.063Z,1761679251.063 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:20:51.063Z,1761679251.063 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:20:51.063Z,1761679251.063 [marl:UpdateSpeed] Stopped 2025-10-28T19:20:51.063Z,1761679251.063 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:20:51.366Z,1761679251.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943475,0.308883,0.120193],[-0.331094,0.861649,0.384627],[0.015241,-0.402681,0.915213]] 2025-10-28T19:20:51.776Z,1761679251.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937576,0.323811,0.126879],[-0.347398,0.854888,0.385333],[0.016308,-0.405356,0.914013]] 2025-10-28T19:20:52.176Z,1761679252.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931330,0.338729,0.133742],[-0.363786,0.848331,0.384699],[0.016851,-0.406935,0.913301]] 2025-10-28T19:20:52.633Z,1761679252.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924436,0.354363,0.140874],[-0.380945,0.841401,0.383308],[0.017298,-0.408009,0.912814]] 2025-10-28T19:20:52.982Z,1761679252.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916833,0.370782,0.148116],[-0.398873,0.834010,0.381219],[0.017819,-0.408593,0.912543]] 2025-10-28T19:20:53.386Z,1761679253.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908512,0.387877,0.155426],[-0.417466,0.826403,0.377862],[0.018119,-0.408177,0.912723]] 2025-10-28T19:20:53.795Z,1761679253.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899332,0.405549,0.163497],[-0.436890,0.817872,0.374450],[0.018138,-0.408185,0.912719]] 2025-10-28T19:20:54.194Z,1761679254.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889159,0.424489,0.170895],[-0.457229,0.809156,0.369064],[0.018383,-0.406295,0.913557]] 2025-10-28T19:20:54.636Z,1761679254.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878253,0.443612,0.178550],[-0.477830,0.799499,0.363978],[0.018715,-0.404981,0.914133]] 2025-10-28T19:20:55.004Z,1761679255.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866687,0.462864,0.186036],[-0.498496,0.789510,0.358018],[0.018836,-0.403027,0.914994]] 2025-10-28T19:20:55.409Z,1761679255.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854426,0.482522,0.192690],[-0.519224,0.779370,0.350696],[0.019042,-0.399693,0.916451]] 2025-10-28T19:20:55.811Z,1761679255.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841774,0.501952,0.198648],[-0.539474,0.768818,0.343346],[0.019618,-0.396185,0.917961]] 2025-10-28T19:20:56.214Z,1761679256.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828426,0.521319,0.204785],[-0.559725,0.757195,0.336695],[0.020464,-0.393550,0.919075]] 2025-10-28T19:20:56.644Z,1761679256.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815113,0.540081,0.209529],[-0.578902,0.745965,0.329255],[0.021523,-0.389677,0.920700]] 2025-10-28T19:20:57.025Z,1761679257.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801416,0.558475,0.214097],[-0.597661,0.733941,0.322693],[0.023081,-0.386569,0.921972]] 2025-10-28T19:20:57.434Z,1761679257.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788579,0.574820,0.218460],[-0.614437,0.722277,0.317463],[0.024695,-0.384575,0.922763]] 2025-10-28T19:20:57.830Z,1761679257.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776566,0.589292,0.222891],[-0.629481,0.710865,0.313726],[0.026431,-0.383935,0.922982]] 2025-10-28T19:20:58.235Z,1761679258.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765617,0.601746,0.227447],[-0.642681,0.700024,0.311330],[0.028124,-0.384536,0.922682]] 2025-10-28T19:20:58.653Z,1761679258.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755307,0.612707,0.232596],[-0.654682,0.689126,0.310640],[0.030044,-0.386904,0.921630]] 2025-10-28T19:20:59.052Z,1761679259.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745296,0.622566,0.238632],[-0.665955,0.677814,0.311563],[0.032220,-0.391125,0.919773]] 2025-10-28T19:20:59.452Z,1761679259.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735400,0.631289,0.246296],[-0.676770,0.665893,0.313958],[0.034191,-0.397570,0.916935]] 2025-10-28T19:20:59.851Z,1761679259.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724982,0.639932,0.254731],[-0.687835,0.653418,0.316115],[0.035846,-0.404390,0.913884]] 2025-10-28T19:21:00.256Z,1761679260.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714672,0.647702,0.264057],[-0.698484,0.640934,0.318315],[0.036930,-0.411930,0.910467]] 2025-10-28T19:21:00.659Z,1761679260.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704391,0.655096,0.273280],[-0.708855,0.629227,0.318745],[0.036853,-0.418237,0.907590]] 2025-10-28T19:21:00.738Z,1761679260.738 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050423092051,35.0, +13.9, 0.0,1503.4,A, 0.00, 775.89, 458.36, 583.84, 571.03 2025-10-28T19:21:01.064Z,1761679261.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693551,0.662958,0.281911],[-0.719528,0.618123,0.316550],[0.035603,-0.422386,0.905717]] 2025-10-28T19:21:01.467Z,1761679261.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681118,0.671614,0.291570],[-0.731411,0.605960,0.312812],[0.033409,-0.426319,0.903956]] 2025-10-28T19:21:01.872Z,1761679261.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666122,0.682814,0.300078],[-0.745183,0.592380,0.306248],[0.031350,-0.427612,0.903419]] 2025-10-28T19:21:02.274Z,1761679262.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648823,0.696939,0.305458],[-0.760371,0.578295,0.295652],[0.029406,-0.424088,0.905144]] 2025-10-28T19:21:02.314Z,1761679262.314 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:21:02.314Z,1761679262.314 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:21:02.314Z,1761679262.314 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:21:02.314Z,1761679262.314 [marl:UpdateRudder:A] Stopped 2025-10-28T19:21:02.314Z,1761679262.314 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:21:02.686Z,1761679262.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631548,0.711724,0.307565],[-0.774841,0.565184,0.283174],[0.027711,-0.417152,0.908414]] 2025-10-28T19:21:02.774Z,1761679262.774 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:21:02.775Z,1761679262.775 [marl:UpdateRudder:B] Stopped 2025-10-28T19:21:02.775Z,1761679262.775 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:21:02.775Z,1761679262.775 [marl:UpdateRudder] Stopped 2025-10-28T19:21:02.775Z,1761679262.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:21:03.085Z,1761679263.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613120,0.727941,0.306898],[-0.789541,0.551544,0.269118],[0.026634,-0.407310,0.912901]] 2025-10-28T19:21:03.487Z,1761679263.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594393,0.744081,0.305024],[-0.803741,0.537223,0.255718],[0.026409,-0.397158,0.917370]] 2025-10-28T19:21:03.648Z,1761679263.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:21:03.890Z,1761679263.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575725,0.759140,0.303723],[-0.817185,0.521794,0.244824],[0.027375,-0.389149,0.920768]] 2025-10-28T19:21:04.305Z,1761679264.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557874,0.772326,0.303791],[-0.829405,0.505863,0.237046],[0.029400,-0.384208,0.922779]] 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:21:04.329Z,1761679264.329 [marl:UpdateCommandMode] Stopped 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed] Stopped 2025-10-28T19:21:04.330Z,1761679264.330 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:21:04.652Z,1761679264.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:21:04.701Z,1761679264.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541858,0.782488,0.306761],[-0.839875,0.490384,0.232667],[0.031629,-0.383714,0.922910]] 2025-10-28T19:21:05.110Z,1761679265.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514048,0.795615,0.320549],[-0.856990,0.460530,0.231259],[0.036370,-0.393585,0.918568]] 2025-10-28T19:21:05.513Z,1761679265.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501498,0.799710,0.330096],[-0.864309,0.446198,0.232114],[0.038336,-0.401709,0.914964]] 2025-10-28T19:21:05.930Z,1761679265.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489067,0.803196,0.340132],[-0.871356,0.432284,0.232097],[0.039385,-0.409887,0.911286]] 2025-10-28T19:21:06.319Z,1761679266.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476099,0.806778,0.349912],[-0.878500,0.418437,0.230538],[0.039577,-0.417157,0.907972]] 2025-10-28T19:21:06.721Z,1761679266.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461758,0.811397,0.358349],[-0.886150,0.404243,0.226552],[0.038963,-0.422163,0.905682]] 2025-10-28T19:21:07.125Z,1761679267.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446031,0.817354,0.364676],[-0.894215,0.389709,0.220244],[0.037900,-0.424334,0.904712]] 2025-10-28T19:21:07.528Z,1761679267.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428343,0.825396,0.367755],[-0.902861,0.374298,0.211527],[0.036944,-0.422637,0.905546]] 2025-10-28T19:21:07.947Z,1761679267.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409192,0.835028,0.367818],[-0.911739,0.358292,0.200894],[0.035966,-0.417558,0.907938]] 2025-10-28T19:21:08.335Z,1761679268.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388633,0.845664,0.365809],[-0.920719,0.341257,0.189260],[0.035216,-0.410360,0.911243]] 2025-10-28T19:21:08.740Z,1761679268.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366742,0.856141,0.364037],[-0.929671,0.322616,0.177851],[0.034822,-0.403660,0.914246]] 2025-10-28T19:21:09.145Z,1761679269.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343813,0.866711,0.361392],[-0.938394,0.302867,0.166396],[0.034764,-0.396337,0.917447]] 2025-10-28T19:21:09.546Z,1761679269.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319905,0.876414,0.359943],[-0.946792,0.281558,0.155919],[0.035305,-0.390670,0.919853]] 2025-10-28T19:21:09.954Z,1761679269.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295762,0.884723,0.360264],[-0.954572,0.259396,0.146648],[0.036291,-0.387271,0.921251]] 2025-10-28T19:21:10.355Z,1761679270.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272372,0.891094,0.362995],[-0.961464,0.237387,0.138685],[0.037411,-0.386781,0.921412]] 2025-10-28T19:21:10.771Z,1761679270.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250266,0.895980,0.366861],[-0.967404,0.216282,0.131724],[0.038677,-0.387869,0.920903]] 2025-10-28T19:21:10.790Z,1761679270.790 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -119.91, , -81.47, 20.00, 0.00 2025-10-28T19:21:11.162Z,1761679271.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230712,0.898203,0.374170],[-0.972192,0.196910,0.126764],[0.040182,-0.393011,0.918656]] 2025-10-28T19:21:11.567Z,1761679271.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212773,0.899861,0.380759],[-0.976209,0.179121,0.122195],[0.041757,-0.397700,0.916565]] 2025-10-28T19:21:11.971Z,1761679271.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196762,0.900206,0.388476],[-0.979472,0.162774,0.118907],[0.043807,-0.403897,0.913755]] 2025-10-28T19:21:12.376Z,1761679272.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182091,0.900154,0.395684],[-0.982196,0.147606,0.116206],[0.046198,-0.409799,0.911005]] 2025-10-28T19:21:12.792Z,1761679272.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168264,0.898793,0.404794],[-0.984552,0.133062,0.113810],[0.048429,-0.417690,0.907298]] 2025-10-28T19:21:13.187Z,1761679273.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155599,0.897562,0.412519],[-0.986563,0.120141,0.110720],[0.049818,-0.424204,0.904195]] 2025-10-28T19:21:13.586Z,1761679273.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143670,0.897631,0.416674],[-0.988366,0.108913,0.106161],[0.049912,-0.427079,0.902836]] 2025-10-28T19:21:13.996Z,1761679273.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132144,0.897682,0.420362],[-0.990048,0.098818,0.100202],[0.048410,-0.429420,0.901807]] 2025-10-28T19:21:14.399Z,1761679274.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119698,0.898642,0.422038],[-0.991746,0.088553,0.092723],[0.045952,-0.429653,0.901824]] 2025-10-28T19:21:14.799Z,1761679274.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104274,0.901491,0.420050],[-0.993574,0.075732,0.084115],[0.044017,-0.426121,0.903594]] 2025-10-28T19:21:15.203Z,1761679275.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086080,0.905750,0.414978],[-0.995360,0.060208,0.075058],[0.042998,-0.419513,0.906730]] 2025-10-28T19:21:15.619Z,1761679275.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065337,0.910636,0.408011],[-0.996939,0.041978,0.065957],[0.042935,-0.411072,0.910591]] 2025-10-28T19:21:15.642Z,1761679275.642 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:21:15.642Z,1761679275.642 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:21:15.642Z,1761679275.642 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:21:15.643Z,1761679275.643 [marl:UpdateRudder:A] Stopped 2025-10-28T19:21:15.643Z,1761679275.643 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:21:15.644Z,1761679275.644 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:21:15.677Z,1761679275.677 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:21:15.678Z,1761679275.678 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:21:15.929Z,1761679275.929 [DAT](INFO): DAT read: user:177> 2025-10-28T19:21:15.930Z,1761679275.930 [DAT](INFO): DAT read: Tx time:19:21:15.6828 2025-10-28T19:21:15.930Z,1761679275.930 [DAT](INFO): Ping request sent. 2025-10-28T19:21:15.930Z,1761679275.930 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:21:15.930Z,1761679275.930 [DAT](INFO): publishing transmit ping time 2025-10-28T19:21:15.931Z,1761679275.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950 2025-10-28T19:21:16.011Z,1761679276.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043459,0.914872,0.401398],[-0.998122,0.022396,0.057020],[0.043177,-0.403122,0.914127]] 2025-10-28T19:21:16.057Z,1761679276.057 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:21:16.057Z,1761679276.057 [marl:UpdateRudder:B] Stopped 2025-10-28T19:21:16.057Z,1761679276.057 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:21:16.057Z,1761679276.057 [marl:UpdateRudder] Stopped 2025-10-28T19:21:16.057Z,1761679276.057 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:21:16.181Z,1761679276.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250915 2025-10-28T19:21:16.421Z,1761679276.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020796,0.918009,0.396014],[-0.998813,0.001622,0.048692],[0.044057,-0.396557,0.916952]] 2025-10-28T19:21:16.433Z,1761679276.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503081 2025-10-28T19:21:16.685Z,1761679276.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886 2025-10-28T19:21:16.819Z,1761679276.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002010,0.920011,0.391887],[-0.998971,-0.019601,0.040894],[0.045305,-0.391401,0.919104]] 2025-10-28T19:21:16.937Z,1761679276.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007506 2025-10-28T19:21:17.189Z,1761679277.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258951 2025-10-28T19:21:17.227Z,1761679277.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024179,0.919724,0.391820],[-0.998597,-0.040687,0.033881],[0.047103,-0.390451,0.919418]] 2025-10-28T19:21:17.441Z,1761679277.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510897 2025-10-28T19:21:17.627Z,1761679277.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044688,0.917248,0.395802],[-0.997830,-0.060163,0.026765],[0.048363,-0.393747,0.917946]] 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:21:17.662Z,1761679277.662 [marl:UpdateCommandMode] Stopped 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed] Stopped 2025-10-28T19:21:17.663Z,1761679277.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:21:17.693Z,1761679277.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763109 2025-10-28T19:21:17.945Z,1761679277.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014999 2025-10-28T19:21:18.031Z,1761679278.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063421,0.913800,0.401184],[-0.996756,-0.077957,0.019995],[0.049547,-0.398614,0.915779]] 2025-10-28T19:21:18.197Z,1761679278.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870 2025-10-28T19:21:18.435Z,1761679278.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080753,0.910573,0.405383],[-0.995445,-0.094358,0.013653],[0.050684,-0.402434,0.914045]] 2025-10-28T19:21:18.449Z,1761679278.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936 2025-10-28T19:21:18.701Z,1761679278.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770954 2025-10-28T19:21:18.841Z,1761679278.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097450,0.906979,0.409748],[-0.993889,-0.110138,0.007416],[0.051855,-0.406521,0.912169]] 2025-10-28T19:21:18.953Z,1761679278.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023041 2025-10-28T19:21:19.205Z,1761679279.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274887 2025-10-28T19:21:19.242Z,1761679279.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112997,0.903083,0.414334],[-0.992177,-0.124834,0.001503],[0.053081,-0.410922,0.910124]] 2025-10-28T19:21:19.457Z,1761679279.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527033 2025-10-28T19:21:19.646Z,1761679279.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128251,0.899907,0.416795],[-0.990263,-0.139143,-0.004285],[0.054138,-0.413287,0.908990]] 2025-10-28T19:21:19.709Z,1761679279.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778971 2025-10-28T19:21:19.961Z,1761679279.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030791 2025-10-28T19:21:20.051Z,1761679280.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144184,0.897458,0.416870],[-0.988018,-0.154001,-0.010188],[0.055056,-0.413344,0.908909]] 2025-10-28T19:21:20.213Z,1761679280.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283042 2025-10-28T19:21:20.456Z,1761679280.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160142,0.895203,0.415893],[-0.985507,-0.168879,-0.015965],[0.055944,-0.412422,0.909274]] 2025-10-28T19:21:20.465Z,1761679280.465 [DAT](INFO): DAT read: Rx Time:19:21:19.8144 2025-10-28T19:21:20.465Z,1761679280.465 [DAT](INFO): Rx dataTimestamp_ set to:1761679280.465209 2025-10-28T19:21:20.466Z,1761679280.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536070 2025-10-28T19:21:20.720Z,1761679280.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789144 2025-10-28T19:21:20.858Z,1761679280.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176627,0.892811,0.414356],[-0.982644,-0.184189,-0.021999],[0.056679,-0.411050,0.909849]] 2025-10-28T19:21:20.999Z,1761679280.999 [DAT](INFO): DAT read: 19:21:19.8144 LVL= 25488, 18465, 18914, 27571, AGC= 74, IDX= 69, 0.37,-0.372, 1.518, 0.779, 0.634, PHS=-0.905, 0.929, 0.100, RAW= 296.8, -1.6, CAL= 295.8, -6.0, ROT= 214.2, 6.0 2025-10-28T19:21:21.005Z,1761679281.005 [DAT](INFO): got valid direction response: 19:21:19.8144 LVL= 25488, 18465, 18914, 27571, AGC= 74, IDX= 69, 0.37,-0.372, 1.518, 0.779, 0.634, PHS=-0.905, 0.929, 0.100, RAW= 296.8, -1.6, CAL= 295.8, -6.0, ROT= 214.2, 6.0 2025-10-28T19:21:21.006Z,1761679281.006 [DAT](INFO): DAT read: Bearing 96, -18 (Remote) 2025-10-28T19:21:21.006Z,1761679281.006 [DAT](INFO): Remote Bearing received:Bearing 96, -18 (Remote) 2025-10-28T19:21:21.007Z,1761679281.007 [DAT](INFO): DAT read: Bearing 249.3, -30.8 (Local) 2025-10-28T19:21:21.007Z,1761679281.007 [DAT](INFO): Local bearing/azimuth received: Bearing 249.3, -30.8 (Local) 2025-10-28T19:21:21.013Z,1761679281.013 [DAT](INFO): DAT read: Range 11 to 20 : 1576.8 m (Round-trip 2102.5 ms) speed -0.4 m/s 2025-10-28T19:21:21.013Z,1761679281.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:21:21.014Z,1761679281.014 [DAT](INFO): direction in FSK: [-0.822550,-0.559004,-0.104528] 2025-10-28T19:21:21.015Z,1761679281.015 [DAT](INFO): publishing direction and range info 2025-10-28T19:21:21.263Z,1761679281.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193838,0.890047,0.412605],[-0.979375,-0.200011,-0.028650],[0.057026,-0.409648,0.910459]] 2025-10-28T19:21:21.306Z,1761679281.306 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679232.00. Resetting abort timer. 2025-10-28T19:21:21.666Z,1761679281.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212170,0.887901,0.408186],[-0.975558,-0.216890,-0.035297],[0.057191,-0.405698,0.912216]] 2025-10-28T19:21:22.071Z,1761679282.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231575,0.884205,0.405654],[-0.971111,-0.234794,-0.042596],[0.057581,-0.403800,0.913034]] 2025-10-28T19:21:22.476Z,1761679282.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251632,0.880028,0.402779],[-0.966100,-0.253218,-0.050308],[0.057719,-0.401784,0.913914]] 2025-10-28T19:21:22.883Z,1761679282.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272407,0.875579,0.398944],[-0.960461,-0.272236,-0.058333],[0.057532,-0.399060,0.915118]] 2025-10-28T19:21:23.282Z,1761679283.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293306,0.869323,0.397805],[-0.954306,-0.291127,-0.067421],[0.057202,-0.399403,0.914989]] 2025-10-28T19:21:23.687Z,1761679283.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314977,0.861875,0.397443],[-0.947373,-0.310753,-0.076919],[0.057212,-0.400755,0.914397]] 2025-10-28T19:21:24.092Z,1761679284.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334838,0.854861,0.396353],[-0.940549,-0.328670,-0.085692],[0.057015,-0.401483,0.914090]] 2025-10-28T19:21:24.495Z,1761679284.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355475,0.846780,0.395729],[-0.932965,-0.347128,-0.095278],[0.056689,-0.403071,0.913411]] 2025-10-28T19:21:24.907Z,1761679284.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376007,0.838180,0.395061],[-0.924899,-0.365443,-0.104950],[0.056406,-0.404853,0.912640]] 2025-10-28T19:21:25.303Z,1761679285.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396130,0.829310,0.394114],[-0.916455,-0.383515,-0.114136],[0.056494,-0.406401,0.911947]] 2025-10-28T19:21:25.706Z,1761679285.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414918,0.820491,0.393239],[-0.908110,-0.400230,-0.123094],[0.056389,-0.408178,0.911159]] 2025-10-28T19:21:26.111Z,1761679286.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432646,0.811947,0.391867],[-0.899830,-0.415834,-0.131865],[0.055884,-0.409665,0.910523]] 2025-10-28T19:21:26.516Z,1761679286.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448507,0.802944,0.392584],[-0.892056,-0.429410,-0.140864],[0.055473,-0.413386,0.908865]] 2025-10-28T19:21:26.918Z,1761679286.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463749,0.795004,0.391032],[-0.884265,-0.442678,-0.148700],[0.054884,-0.414736,0.908285]] 2025-10-28T19:21:27.323Z,1761679287.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477652,0.787151,0.390182],[-0.876885,-0.454472,-0.156613],[0.054049,-0.416951,0.907320]] 2025-10-28T19:21:27.727Z,1761679287.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490635,0.779538,0.389356],[-0.869750,-0.465313,-0.164374],[0.053036,-0.419290,0.906302]] 2025-10-28T19:21:28.133Z,1761679288.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502888,0.773479,0.385790],[-0.862806,-0.475893,-0.170565],[0.051666,-0.418636,0.906683]] 2025-10-28T19:21:28.537Z,1761679288.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514989,0.767495,0.381757],[-0.855742,-0.486255,-0.176812],[0.049929,-0.417741,0.907193]] 2025-10-28T19:21:28.938Z,1761679288.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527921,0.761932,0.375178],[-0.847922,-0.497950,-0.181865],[0.048251,-0.414132,0.908937]] 2025-10-28T19:21:28.994Z,1761679288.994 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:21:28.994Z,1761679288.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:21:28.994Z,1761679288.994 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:21:28.995Z,1761679288.995 [marl:UpdateRudder:A] Stopped 2025-10-28T19:21:28.995Z,1761679288.995 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:21:29.343Z,1761679289.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541567,0.755638,0.368396],[-0.839353,-0.510442,-0.186908],[0.046810,-0.410438,0.910686]] 2025-10-28T19:21:29.375Z,1761679289.375 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:21:29.375Z,1761679289.375 [marl:UpdateRudder:B] Stopped 2025-10-28T19:21:29.376Z,1761679289.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:21:29.376Z,1761679289.376 [marl:UpdateRudder] Stopped 2025-10-28T19:21:29.376Z,1761679289.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:21:29.747Z,1761679289.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555749,0.748766,0.361238],[-0.830115,-0.523480,-0.192037],[0.045310,-0.406593,0.912485]] 2025-10-28T19:21:30.150Z,1761679290.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570978,0.740810,0.353814],[-0.819797,-0.537485,-0.197593],[0.043790,-0.402877,0.914206]] 2025-10-28T19:21:30.559Z,1761679290.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586684,0.732387,0.345560],[-0.808710,-0.552162,-0.202747],[0.042316,-0.398406,0.916233]] 2025-10-28T19:21:30.966Z,1761679290.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602863,0.722905,0.337587],[-0.796784,-0.567323,-0.208038],[0.041129,-0.394402,0.918017]] 2025-10-28T19:21:31.046Z,1761679291.046 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:21:31.046Z,1761679291.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:21:31.046Z,1761679291.046 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateCommandMode] Stopped 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:21:31.047Z,1761679291.047 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:21:31.053Z,1761679291.053 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:21:31.053Z,1761679291.053 [marl:UpdateSpeed] Stopped 2025-10-28T19:21:31.053Z,1761679291.053 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:21:31.373Z,1761679291.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619525,0.712827,0.328734],[-0.783962,-0.583142,-0.212953],[0.039900,-0.389645,0.920101]] 2025-10-28T19:21:31.773Z,1761679291.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636271,0.701854,0.320250],[-0.770497,-0.598926,-0.218226],[0.038643,-0.385602,0.921856]] 2025-10-28T19:21:32.171Z,1761679292.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653850,0.689333,0.311931],[-0.755699,-0.615352,-0.224189],[0.037407,-0.382312,0.923276]] 2025-10-28T19:21:32.634Z,1761679292.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671833,0.675918,0.302943],[-0.739821,-0.632287,-0.229951],[0.036118,-0.378613,0.924850]] 2025-10-28T19:21:32.978Z,1761679292.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689911,0.660200,0.296915],[-0.723039,-0.648392,-0.238333],[0.035170,-0.379109,0.924683]] 2025-10-28T19:21:33.389Z,1761679293.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708287,0.643042,0.291250],[-0.705090,-0.664486,-0.247599],[0.034315,-0.380729,0.924050]] 2025-10-28T19:21:33.791Z,1761679293.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726501,0.624495,0.286711],[-0.686334,-0.679970,-0.258044],[0.033808,-0.384249,0.922610]] 2025-10-28T19:21:34.192Z,1761679294.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744461,0.605440,0.281462],[-0.666824,-0.695390,-0.267914],[0.033520,-0.387137,0.921413]] 2025-10-28T19:21:34.634Z,1761679294.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761910,0.586345,0.275121],[-0.646837,-0.710548,-0.276989],[0.033076,-0.388999,0.920644]] 2025-10-28T19:21:34.777Z,1761679294.777 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:21:35.403Z,1761679295.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792387,0.549784,0.264311],[-0.609162,-0.736096,-0.295102],[0.032316,-0.394843,0.918180]] 2025-10-28T19:21:35.781Z,1761679295.781 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:21:35.810Z,1761679295.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805046,0.533286,0.259821],[-0.592360,-0.746151,-0.303920],[0.031790,-0.398578,0.916583]] 2025-10-28T19:21:36.211Z,1761679296.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816499,0.518205,0.254547],[-0.576516,-0.755459,-0.311306],[0.030979,-0.400931,0.915584]] 2025-10-28T19:21:36.638Z,1761679296.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826618,0.504516,0.249331],[-0.561966,-0.763579,-0.318025],[0.029935,-0.403001,0.914710]] 2025-10-28T19:21:37.019Z,1761679297.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835840,0.492344,0.242836],[-0.548241,-0.771463,-0.322919],[0.028351,-0.403041,0.914743]] 2025-10-28T19:21:37.424Z,1761679297.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844640,0.480531,0.235953],[-0.534676,-0.779094,-0.327312],[0.026546,-0.402619,0.914983]] 2025-10-28T19:21:37.827Z,1761679297.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853371,0.468760,0.228085],[-0.520723,-0.787165,-0.330483],[0.024623,-0.400794,0.915837]] 2025-10-28T19:21:38.231Z,1761679298.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862391,0.456107,0.219656],[-0.505754,-0.795310,-0.334208],[0.022260,-0.399310,0.916546]] 2025-10-28T19:21:38.643Z,1761679298.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871685,0.442631,0.210340],[-0.489653,-0.804278,-0.336715],[0.020131,-0.396503,0.917813]] 2025-10-28T19:21:39.039Z,1761679299.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881140,0.428321,0.200332],[-0.472512,-0.813692,-0.338580],[0.017987,-0.392996,0.919364]] 2025-10-28T19:21:39.445Z,1761679299.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890601,0.413309,0.189752],[-0.454524,-0.823092,-0.340483],[0.015459,-0.389481,0.920905]] 2025-10-28T19:21:39.851Z,1761679299.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899785,0.397811,0.179258],[-0.436137,-0.832303,-0.342134],[0.013092,-0.386028,0.922394]] 2025-10-28T19:21:40.250Z,1761679300.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908476,0.382071,0.169389],[-0.417796,-0.840756,-0.344348],[0.010850,-0.383602,0.923435]] 2025-10-28T19:21:40.661Z,1761679300.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916756,0.365867,0.160313],[-0.399356,-0.848140,-0.348099],[0.008609,-0.383144,0.923648]] 2025-10-28T19:21:41.058Z,1761679301.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924774,0.349019,0.151587],[-0.380461,-0.854897,-0.352705],[0.006490,-0.383845,0.923375]] 2025-10-28T19:21:41.467Z,1761679301.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932124,0.332564,0.143337],[-0.362111,-0.860822,-0.357577],[0.004470,-0.385211,0.922818]] 2025-10-28T19:21:41.874Z,1761679301.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938889,0.316622,0.135048],[-0.344210,-0.866619,-0.361236],[0.002660,-0.385646,0.922643]] 2025-10-28T19:21:42.272Z,1761679302.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945448,0.300137,0.126673],[-0.325772,-0.872113,-0.365091],[0.000896,-0.386441,0.922314]] 2025-10-28T19:21:42.295Z,1761679302.295 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:21:42.295Z,1761679302.295 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:21:42.295Z,1761679302.295 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:21:42.296Z,1761679302.296 [marl:UpdateRudder:A] Stopped 2025-10-28T19:21:42.296Z,1761679302.296 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:21:42.750Z,1761679302.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:21:42.750Z,1761679302.750 [marl:UpdateRudder:B] Stopped 2025-10-28T19:21:42.750Z,1761679302.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:21:42.750Z,1761679302.750 [marl:UpdateRudder] Stopped 2025-10-28T19:21:42.750Z,1761679302.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:21:43.082Z,1761679303.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958130,0.265142,0.108102],[-0.286308,-0.882171,-0.373902],[-0.003773,-0.389197,0.921147]] 2025-10-28T19:21:43.483Z,1761679303.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963992,0.247227,0.097967],[-0.265857,-0.887302,-0.376848],[-0.006241,-0.389324,0.921080]] 2025-10-28T19:21:43.888Z,1761679303.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969510,0.228797,0.087760],[-0.244900,-0.892071,-0.379781],[-0.008604,-0.389694,0.920904]] 2025-10-28T19:21:44.290Z,1761679304.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974591,0.210072,0.077734],[-0.223728,-0.896093,-0.383358],[-0.010876,-0.391008,0.920323]] 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode] Stopped 2025-10-28T19:21:44.326Z,1761679304.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed] Stopped 2025-10-28T19:21:44.327Z,1761679304.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:21:44.694Z,1761679304.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979499,0.190165,0.066470],[-0.201003,-0.900704,-0.385136],[-0.013370,-0.390601,0.920463]] 2025-10-28T19:21:45.103Z,1761679305.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983953,0.169727,0.055032],[-0.177719,-0.904849,-0.386865],[-0.015866,-0.390437,0.920493]] 2025-10-28T19:21:45.505Z,1761679305.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987907,0.148905,0.043199],[-0.153935,-0.908715,-0.387995],[-0.018519,-0.389953,0.920649]] 2025-10-28T19:21:45.906Z,1761679305.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991257,0.128158,0.031378],[-0.130247,-0.912433,-0.387945],[-0.021088,-0.388640,0.921148]] 2025-10-28T19:21:46.310Z,1761679306.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994057,0.107197,0.018946],[-0.106165,-0.916203,-0.386394],[-0.024062,-0.386109,0.922139]] 2025-10-28T19:21:46.715Z,1761679306.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996295,0.085804,0.005862],[-0.081462,-0.919616,-0.384279],[-0.027582,-0.383332,0.923199]] 2025-10-28T19:21:47.122Z,1761679307.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997886,0.064557,-0.007431],[-0.056811,-0.922187,-0.382549],[-0.031549,-0.381319,0.923905]] 2025-10-28T19:21:47.523Z,1761679307.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998843,0.043261,-0.020988],[-0.032092,-0.924846,-0.378986],[-0.035806,-0.377874,0.925164]] 2025-10-28T19:21:47.927Z,1761679307.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999155,0.022946,-0.034096],[-0.008374,-0.925888,-0.377706],[-0.040236,-0.377101,0.925298]] 2025-10-28T19:21:48.335Z,1761679308.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998890,0.003623,-0.046967],[0.014414,-0.925714,-0.377949],[-0.044848,-0.378207,0.924634]] 2025-10-28T19:21:48.736Z,1761679308.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998165,-0.014374,-0.058815],[0.035540,-0.925544,-0.376968],[-0.049017,-0.378367,0.924357]] 2025-10-28T19:21:49.139Z,1761679309.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997098,-0.031186,-0.069445],[0.055063,-0.925371,-0.375043],[-0.052566,-0.377779,0.924403]] 2025-10-28T19:21:49.546Z,1761679309.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995733,-0.047397,-0.079177],[0.073731,-0.924587,-0.373769],[-0.055490,-0.378012,0.924136]] 2025-10-28T19:21:49.948Z,1761679309.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994076,-0.063134,-0.088466],[0.091889,-0.922908,-0.373895],[-0.058041,-0.379809,0.923242]] 2025-10-28T19:21:50.363Z,1761679310.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990135,-0.092817,-0.104962],[0.125766,-0.918963,-0.373751],[-0.061766,-0.383265,0.921571]] 2025-10-28T19:21:50.761Z,1761679310.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987777,-0.107766,-0.112615],[0.142546,-0.916837,-0.372948],[-0.063058,-0.384442,0.920993]] 2025-10-28T19:21:51.164Z,1761679311.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985214,-0.122329,-0.119955],[0.158902,-0.914204,-0.372802],[-0.064059,-0.386351,0.920125]] 2025-10-28T19:21:51.572Z,1761679311.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982302,-0.137392,-0.127305],[0.175649,-0.911717,-0.371376],[-0.065042,-0.387164,0.919714]] 2025-10-28T19:21:51.971Z,1761679311.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979018,-0.153200,-0.134367],[0.192898,-0.909298,-0.368737],[-0.065689,-0.386919,0.919771]] 2025-10-28T19:21:52.371Z,1761679312.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975313,-0.169480,-0.141564],[0.210624,-0.906556,-0.365777],[-0.066344,-0.386564,0.919873]] 2025-10-28T19:21:52.779Z,1761679312.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971124,-0.186467,-0.148821],[0.228993,-0.903545,-0.362172],[-0.066934,-0.385793,0.920154]] 2025-10-28T19:21:53.178Z,1761679313.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966319,-0.204345,-0.156433],[0.248321,-0.899969,-0.358320],[-0.067564,-0.385097,0.920400]] 2025-10-28T19:21:53.593Z,1761679313.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960991,-0.222626,-0.164115],[0.268049,-0.895902,-0.354273],[-0.068160,-0.384444,0.920629]] 2025-10-28T19:21:53.987Z,1761679313.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954838,-0.242309,-0.171964],[0.289052,-0.891529,-0.348747],[-0.068806,-0.382703,0.921306]] 2025-10-28T19:21:54.390Z,1761679314.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948025,-0.262722,-0.179516],[0.310596,-0.886617,-0.342695],[-0.069129,-0.380641,0.922135]] 2025-10-28T19:21:55.200Z,1761679315.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932192,-0.304861,-0.195136],[0.355150,-0.874459,-0.330437],[-0.069901,-0.377334,0.923436]] 2025-10-28T19:21:55.638Z,1761679315.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923369,-0.325615,-0.203383],[0.377345,-0.867328,-0.324580],[-0.070712,-0.376453,0.923733]] 2025-10-28T19:21:55.683Z,1761679315.683 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:21:55.683Z,1761679315.683 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:21:55.683Z,1761679315.683 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:21:55.683Z,1761679315.683 [marl:UpdateRudder:A] Stopped 2025-10-28T19:21:55.683Z,1761679315.683 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:21:56.007Z,1761679316.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913950,-0.346364,-0.211489],[0.399375,-0.860193,-0.317125],[-0.072081,-0.374299,0.924502]] 2025-10-28T19:21:56.058Z,1761679316.058 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:21:56.058Z,1761679316.058 [marl:UpdateRudder:B] Stopped 2025-10-28T19:21:56.058Z,1761679316.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:21:56.059Z,1761679316.059 [marl:UpdateRudder] Stopped 2025-10-28T19:21:56.059Z,1761679316.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:21:56.411Z,1761679316.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903933,-0.366444,-0.220506],[0.421190,-0.852212,-0.310376],[-0.074182,-0.373435,0.924686]] 2025-10-28T19:21:56.822Z,1761679316.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893477,-0.386112,-0.229382],[0.442501,-0.844136,-0.302698],[-0.076754,-0.371955,0.925072]] 2025-10-28T19:21:57.218Z,1761679317.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882686,-0.405053,-0.238320],[0.463098,-0.836019,-0.294300],[-0.080033,-0.370140,0.925522]] 2025-10-28T19:21:57.623Z,1761679317.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871894,-0.422526,-0.247532],[0.482481,-0.827659,-0.286691],[-0.083738,-0.369394,0.925492]] 2025-10-28T19:21:57.647Z,1761679317.647 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:21:57.647Z,1761679317.647 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:21:57.648Z,1761679317.648 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:21:57.648Z,1761679317.648 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:21:57.648Z,1761679317.648 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:21:57.648Z,1761679317.648 [marl:UpdateCommandMode] Stopped 2025-10-28T19:21:57.648Z,1761679317.648 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed] Stopped 2025-10-28T19:21:57.649Z,1761679317.649 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:21:58.031Z,1761679318.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861313,-0.438703,-0.256282],[0.500500,-0.819399,-0.279436],[-0.087408,-0.368951,0.925330]] 2025-10-28T19:21:58.431Z,1761679318.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851253,-0.453309,-0.264345],[0.516879,-0.811266,-0.273282],[-0.090573,-0.369267,0.924899]] 2025-10-28T19:21:58.841Z,1761679318.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841459,-0.466613,-0.272432],[0.532192,-0.802868,-0.268654],[-0.093369,-0.371047,0.923908]] 2025-10-28T19:21:59.243Z,1761679319.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831607,-0.479543,-0.280122],[0.547028,-0.794360,-0.264108],[-0.095867,-0.372868,0.922919]] 2025-10-28T19:21:59.643Z,1761679319.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822466,-0.491140,-0.286936],[0.560392,-0.786123,-0.260712],[-0.097521,-0.375223,0.921790]] 2025-10-28T19:22:00.048Z,1761679320.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813888,-0.502210,-0.292184],[0.572641,-0.778449,-0.257099],[-0.098333,-0.376566,0.921156]] 2025-10-28T19:22:00.450Z,1761679320.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805175,-0.513086,-0.297383],[0.584782,-0.770305,-0.254283],[-0.098607,-0.378646,0.920274]] 2025-10-28T19:22:00.856Z,1761679320.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795974,-0.524071,-0.302943],[0.597334,-0.761097,-0.252831],[-0.098067,-0.382205,0.918859]] 2025-10-28T19:22:00.891Z,1761679320.891 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +7597.60, -25.32, 58.45, 2025-10-28T19:22:01.259Z,1761679321.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786315,-0.535995,-0.307274],[0.610237,-0.751501,-0.250714],[-0.096535,-0.384650,0.918001]] 2025-10-28T19:22:01.663Z,1761679321.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775962,-0.548129,-0.312148],[0.623713,-0.740598,-0.249992],[-0.094149,-0.388675,0.916552]] 2025-10-28T19:22:02.068Z,1761679322.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764982,-0.561318,-0.315792],[0.637613,-0.729206,-0.248411],[-0.090840,-0.391383,0.915733]] 2025-10-28T19:22:02.473Z,1761679322.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753603,-0.575138,-0.318275],[0.651602,-0.717406,-0.246462],[-0.086583,-0.393123,0.915400]] 2025-10-28T19:22:02.874Z,1761679322.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741512,-0.589893,-0.319664],[0.665942,-0.705129,-0.243546],[-0.081738,-0.393470,0.915697]] 2025-10-28T19:22:03.278Z,1761679323.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728716,-0.604744,-0.321338],[0.680528,-0.691908,-0.241131],[-0.076514,-0.394396,0.915750]] 2025-10-28T19:22:03.686Z,1761679323.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714534,-0.620155,-0.323804],[0.695925,-0.677444,-0.238239],[-0.071614,-0.395573,0.915638]] 2025-10-28T19:22:04.089Z,1761679324.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698907,-0.636388,-0.326403],[0.712007,-0.662253,-0.233383],[-0.067639,-0.395514,0.915966]] 2025-10-28T19:22:04.491Z,1761679324.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682097,-0.653293,-0.328560],[0.728355,-0.646972,-0.225669],[-0.065141,-0.393236,0.917127]] 2025-10-28T19:22:04.895Z,1761679324.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664999,-0.669708,-0.330556],[0.744120,-0.631910,-0.216737],[-0.063731,-0.390104,0.918563]] 2025-10-28T19:22:05.304Z,1761679325.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647847,-0.684801,-0.333678],[0.759095,-0.617022,-0.207505],[-0.063787,-0.387725,0.919565]] 2025-10-28T19:22:05.702Z,1761679325.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630456,-0.699101,-0.337317],[0.773469,-0.602388,-0.197167],[-0.065356,-0.385210,0.920512]] 2025-10-28T19:22:05.917Z,1761679325.917 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:22:06.107Z,1761679326.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612596,-0.711799,-0.343611],[0.787383,-0.587498,-0.186743],[-0.068947,-0.384952,0.920358]] 2025-10-28T19:22:06.510Z,1761679326.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594271,-0.724435,-0.349337],[0.800875,-0.572867,-0.174421],[-0.073767,-0.383429,0.920620]] 2025-10-28T19:22:06.914Z,1761679326.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575415,-0.737463,-0.353618],[0.813986,-0.558432,-0.159938],[-0.079523,-0.379870,0.921615]] 2025-10-28T19:22:06.920Z,1761679326.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:22:07.326Z,1761679327.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556887,-0.748750,-0.359514],[0.826180,-0.543888,-0.147013],[-0.085459,-0.378893,0.921486]] 2025-10-28T19:22:07.723Z,1761679327.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539699,-0.759168,-0.363853],[0.836960,-0.530412,-0.134765],[-0.090683,-0.377263,0.921656]] 2025-10-28T19:22:08.127Z,1761679328.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524440,-0.768311,-0.366962],[0.846209,-0.518055,-0.124696],[-0.094301,-0.375922,0.921840]] 2025-10-28T19:22:08.533Z,1761679328.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509977,-0.776487,-0.370124],[0.854761,-0.505708,-0.116807],[-0.096476,-0.375937,0.921610]] 2025-10-28T19:22:08.935Z,1761679328.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495834,-0.783718,-0.374079],[0.862893,-0.493137,-0.110596],[-0.097796,-0.377627,0.920779]] 2025-10-28T19:22:08.985Z,1761679328.985 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:22:08.985Z,1761679328.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:22:08.985Z,1761679328.985 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:22:08.986Z,1761679328.986 [marl:UpdateRudder:A] Stopped 2025-10-28T19:22:08.986Z,1761679328.986 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:22:09.338Z,1761679329.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482040,-0.790134,-0.378583],[0.870621,-0.480437,-0.105827],[-0.098268,-0.380615,0.919497]] 2025-10-28T19:22:09.390Z,1761679329.390 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:22:09.390Z,1761679329.390 [marl:UpdateRudder:B] Stopped 2025-10-28T19:22:09.390Z,1761679329.390 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:22:09.390Z,1761679329.390 [marl:UpdateRudder] Stopped 2025-10-28T19:22:09.390Z,1761679329.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:22:09.754Z,1761679329.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467662,-0.796518,-0.383212],[0.878453,-0.466913,-0.101549],[-0.098041,-0.384125,0.918061]] 2025-10-28T19:22:10.148Z,1761679330.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453509,-0.802562,-0.387586],[0.885922,-0.453424,-0.097715],[-0.097318,-0.387686,0.916640]] 2025-10-28T19:22:10.555Z,1761679330.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438380,-0.809436,-0.390687],[0.893608,-0.439133,-0.092886],[-0.096378,-0.389840,0.915825]] 2025-10-28T19:22:10.955Z,1761679330.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422603,-0.816663,-0.393024],[0.901306,-0.424223,-0.087647],[-0.095152,-0.391275,0.915341]] 2025-10-28T19:22:11.008Z,1761679331.008 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:22:11.008Z,1761679331.008 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:22:11.008Z,1761679331.008 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateCommandMode] Stopped 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:22:11.009Z,1761679331.009 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:22:11.010Z,1761679331.010 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:22:11.010Z,1761679331.010 [marl:UpdateSpeed] Stopped 2025-10-28T19:22:11.010Z,1761679331.010 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:22:11.358Z,1761679331.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405748,-0.824166,-0.395118],[0.909146,-0.408363,-0.081811],[-0.093926,-0.392414,0.914980]] 2025-10-28T19:22:11.777Z,1761679331.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387950,-0.831843,-0.396903],[0.917003,-0.391686,-0.075410],[-0.092732,-0.393217,0.914757]] 2025-10-28T19:22:12.167Z,1761679332.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369700,-0.839491,-0.398216],[0.924650,-0.374542,-0.068854],[-0.091346,-0.393666,0.914704]] 2025-10-28T19:22:12.597Z,1761679332.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351078,-0.847453,-0.398207],[0.932003,-0.357189,-0.061538],[-0.090085,-0.392734,0.915229]] 2025-10-28T19:22:12.975Z,1761679332.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331977,-0.854787,-0.398911],[0.939057,-0.339489,-0.054034],[-0.089238,-0.392538,0.915396]] 2025-10-28T19:22:13.393Z,1761679333.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312686,-0.862033,-0.398907],[0.945716,-0.321707,-0.046100],[-0.088592,-0.391667,0.915832]] 2025-10-28T19:22:13.810Z,1761679333.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292653,-0.869118,-0.398734],[0.952150,-0.303289,-0.037759],[-0.088115,-0.390705,0.916289]] 2025-10-28T19:22:14.186Z,1761679334.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272710,-0.875179,-0.399612],[0.958068,-0.285003,-0.029644],[-0.087947,-0.390940,0.916205]] 2025-10-28T19:22:14.635Z,1761679334.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252643,-0.881612,-0.398663],[0.963575,-0.266607,-0.021063],[-0.087716,-0.389463,0.916856]] 2025-10-28T19:22:15.036Z,1761679335.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231994,-0.887498,-0.398152],[0.968727,-0.247839,-0.012012],[-0.088017,-0.388487,0.917241]] 2025-10-28T19:22:15.398Z,1761679335.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210994,-0.893134,-0.397231],[0.973450,-0.228888,-0.002429],[-0.088752,-0.387197,0.917715]] 2025-10-28T19:22:15.811Z,1761679335.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189656,-0.898898,-0.394986],[0.977707,-0.209821,0.008052],[-0.090114,-0.384653,0.918652]] 2025-10-28T19:22:15.862Z,1761679335.862 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:22:15.921Z,1761679335.921 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:22:15.922Z,1761679335.922 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:22:16.173Z,1761679336.173 [DAT](INFO): DAT read: user:178> 2025-10-28T19:22:16.173Z,1761679336.173 [DAT](INFO): DAT read: Tx time:19:22:15.9326 2025-10-28T19:22:16.174Z,1761679336.174 [DAT](INFO): Ping request sent. 2025-10-28T19:22:16.174Z,1761679336.174 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:22:16.174Z,1761679336.174 [DAT](INFO): publishing transmit ping time 2025-10-28T19:22:16.175Z,1761679336.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000970 2025-10-28T19:22:16.227Z,1761679336.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168519,-0.903919,-0.393104],[0.981403,-0.191053,0.018601],[-0.091917,-0.382660,0.919306]] 2025-10-28T19:22:16.425Z,1761679336.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251183 2025-10-28T19:22:16.636Z,1761679336.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147733,-0.907879,-0.392341],[0.984572,-0.172611,0.028691],[-0.093771,-0.382049,0.919372]] 2025-10-28T19:22:16.677Z,1761679336.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502940 2025-10-28T19:22:16.929Z,1761679336.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933 2025-10-28T19:22:17.015Z,1761679337.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126930,-0.911068,-0.392230],[0.987294,-0.154155,0.038570],[-0.095604,-0.382350,0.919058]] 2025-10-28T19:22:17.184Z,1761679337.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009750 2025-10-28T19:22:17.418Z,1761679337.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106282,-0.913644,-0.392376],[0.989553,-0.135845,0.048275],[-0.097408,-0.383146,0.918537]] 2025-10-28T19:22:17.434Z,1761679337.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259663 2025-10-28T19:22:17.685Z,1761679337.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511015 2025-10-28T19:22:17.826Z,1761679337.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085942,-0.915450,-0.393149],[0.991394,-0.117692,0.057330],[-0.098753,-0.384838,0.917686]] 2025-10-28T19:22:17.937Z,1761679337.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763526 2025-10-28T19:22:18.189Z,1761679338.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015010 2025-10-28T19:22:18.230Z,1761679338.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066096,-0.917180,-0.392953],[0.992859,-0.099649,0.065586],[-0.099311,-0.385812,0.917217]] 2025-10-28T19:22:18.441Z,1761679338.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937 2025-10-28T19:22:18.641Z,1761679338.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046372,-0.917858,-0.394190],[0.993968,-0.081660,0.073212],[-0.099388,-0.388417,0.916108]] 2025-10-28T19:22:18.693Z,1761679338.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002 2025-10-28T19:22:18.945Z,1761679338.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770941 2025-10-28T19:22:19.034Z,1761679339.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027237,-0.918842,-0.393683],[0.994742,-0.063807,0.080103],[-0.098722,-0.389432,0.915749]] 2025-10-28T19:22:19.197Z,1761679339.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023498 2025-10-28T19:22:19.440Z,1761679339.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008246,-0.919857,-0.392166],[0.995188,-0.045842,0.086602],[-0.097639,-0.389565,0.915809]] 2025-10-28T19:22:19.449Z,1761679339.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275040 2025-10-28T19:22:19.701Z,1761679339.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526881 2025-10-28T19:22:19.842Z,1761679339.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011272,-0.920445,-0.390709],[0.995258,-0.027424,0.093320],[-0.096611,-0.389908,0.915772]] 2025-10-28T19:22:19.953Z,1761679339.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778993 2025-10-28T19:22:20.205Z,1761679340.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030866 2025-10-28T19:22:20.247Z,1761679340.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031334,-0.920712,-0.388982],[0.994932,-0.008468,0.100189],[-0.095540,-0.390150,0.915781]] 2025-10-28T19:22:20.460Z,1761679340.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285654 2025-10-28T19:22:20.670Z,1761679340.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049739,-0.921209,-0.385877],[0.994311,0.009235,0.106118],[-0.094193,-0.388959,0.916427]] 2025-10-28T19:22:20.709Z,1761679340.709 [DAT](INFO): DAT read: Rx Time:19:22:20.0089 2025-10-28T19:22:20.710Z,1761679340.710 [DAT](INFO): Rx dataTimestamp_ set to:1761679340.709302 2025-10-28T19:22:20.710Z,1761679340.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536201 2025-10-28T19:22:20.961Z,1761679340.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786892 2025-10-28T19:22:21.055Z,1761679341.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068730,-0.920794,-0.383946],[0.993275,0.027216,0.112535],[-0.093172,-0.389098,0.916472]] 2025-10-28T19:22:21.221Z,1761679341.221 [DAT](INFO): DAT read: 19:22:20.0089 LVL= 31952, 32753, 32754, 32755, AGC= 85, IDX= 366,-0.19,-2.191, 1.609, 3.075,-2.961, PHS= 0.872,-1.669,-0.291, RAW= 122.8, 9.9, CAL= 123.4, 11.1, ROT= 26.6, -11.1 2025-10-28T19:22:21.222Z,1761679341.222 [DAT](INFO): got valid direction response: 19:22:20.0089 LVL= 31952, 32753, 32754, 32755, AGC= 85, IDX= 366,-0.19,-2.191, 1.609, 3.075,-2.961, PHS= 0.872,-1.669,-0.291, RAW= 122.8, 9.9, CAL= 123.4, 11.1, ROT= 26.6, -11.1 2025-10-28T19:22:21.223Z,1761679341.223 [DAT](INFO): DAT read: Bearing 98, -18 (Remote) 2025-10-28T19:22:21.223Z,1761679341.223 [DAT](INFO): Remote Bearing received:Bearing 98, -18 (Remote) 2025-10-28T19:22:21.225Z,1761679341.225 [DAT](INFO): DAT read: Bearing 253.9, 14.0 (Local) 2025-10-28T19:22:21.225Z,1761679341.225 [DAT](INFO): Local bearing/azimuth received: Bearing 253.9, 14.0 (Local) 2025-10-28T19:22:21.227Z,1761679341.227 [DAT](INFO): DAT read: Range 11 to 20 : 1535.4 m (Round-trip 2047.2 ms) speed 1.4 m/s 2025-10-28T19:22:21.227Z,1761679341.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:22:21.228Z,1761679341.228 [DAT](INFO): direction in FSK: [0.877427,0.439383,0.192522] 2025-10-28T19:22:21.229Z,1761679341.229 [DAT](INFO): publishing direction and range info 2025-10-28T19:22:21.458Z,1761679341.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088129,-0.920089,-0.381667],[0.991836,0.045602,0.119088],[-0.092166,-0.389046,0.916596]] 2025-10-28T19:22:21.513Z,1761679341.513 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679360.00. Resetting abort timer. 2025-10-28T19:22:21.863Z,1761679341.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106703,-0.918652,-0.380384],[0.990150,0.063296,0.124887],[-0.090651,-0.389963,0.916357]] 2025-10-28T19:22:22.276Z,1761679342.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124199,-0.917197,-0.378582],[0.988285,0.080238,0.129826],[-0.088700,-0.390271,0.916417]] 2025-10-28T19:22:22.328Z,1761679342.328 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:22:22.329Z,1761679342.329 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:22:22.329Z,1761679342.329 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:22:22.329Z,1761679342.329 [marl:UpdateRudder:A] Stopped 2025-10-28T19:22:22.329Z,1761679342.329 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:22:22.670Z,1761679342.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140541,-0.915333,-0.377378],[0.986327,0.096308,0.133729],[-0.086062,-0.391013,0.916353]] 2025-10-28T19:22:22.724Z,1761679342.724 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:22:22.750Z,1761679342.750 [marl:UpdateRudder:B] Stopped 2025-10-28T19:22:22.750Z,1761679342.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:22:22.750Z,1761679342.750 [marl:UpdateRudder] Stopped 2025-10-28T19:22:22.750Z,1761679342.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:22:23.075Z,1761679343.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156359,-0.913658,-0.375209],[0.984215,0.112242,0.136831],[-0.082902,-0.390681,0.916785]] 2025-10-28T19:22:23.479Z,1761679343.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171692,-0.911873,-0.372841],[0.981948,0.127913,0.139342],[-0.079371,-0.390034,0.917373]] 2025-10-28T19:22:23.897Z,1761679343.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186694,-0.909550,-0.371300],[0.979525,0.143352,0.141357],[-0.075345,-0.390088,0.917690]] 2025-10-28T19:22:24.301Z,1761679344.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201761,-0.907527,-0.368358],[0.976855,0.159177,0.142888],[-0.071041,-0.388662,0.918638]] 2025-10-28T19:22:24.324Z,1761679344.324 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode] Stopped 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:22:24.325Z,1761679344.325 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:22:24.326Z,1761679344.326 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:22:24.326Z,1761679344.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:22:24.326Z,1761679344.326 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:22:24.326Z,1761679344.326 [marl:UpdateSpeed] Stopped 2025-10-28T19:22:24.326Z,1761679344.326 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:22:24.690Z,1761679344.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216877,-0.905679,-0.364294],[0.973919,0.175254,0.144107],[-0.066671,-0.386047,0.920067]] 2025-10-28T19:22:25.094Z,1761679345.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232984,-0.903238,-0.360387],[0.970475,0.192164,0.145776],[-0.062417,-0.383710,0.921342]] 2025-10-28T19:22:25.500Z,1761679345.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250320,-0.899571,-0.357928],[0.966419,0.209987,0.148120],[-0.058084,-0.382986,0.921926]] 2025-10-28T19:22:25.909Z,1761679345.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268413,-0.895428,-0.355194],[0.961810,0.228588,0.150562],[-0.053625,-0.382043,0.922588]] 2025-10-28T19:22:26.307Z,1761679346.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287403,-0.890441,-0.352866],[0.956528,0.247781,0.153812],[-0.049527,-0.381732,0.922945]] 2025-10-28T19:22:26.711Z,1761679346.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307765,-0.884882,-0.349663],[0.950342,0.268058,0.158100],[-0.046170,-0.380957,0.923439]] 2025-10-28T19:22:27.115Z,1761679347.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328807,-0.878034,-0.347768],[0.943419,0.288631,0.163255],[-0.042967,-0.381771,0.923258]] 2025-10-28T19:22:27.523Z,1761679347.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350264,-0.870856,-0.344855],[0.935807,0.309742,0.168298],[-0.039747,-0.381667,0.923445]] 2025-10-28T19:22:27.923Z,1761679347.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372419,-0.862346,-0.343022],[0.927321,0.330980,0.174721],[-0.037137,-0.383161,0.922935]] 2025-10-28T19:22:28.327Z,1761679348.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394089,-0.853775,-0.340238],[0.918408,0.351754,0.181096],[-0.034935,-0.383846,0.922736]] 2025-10-28T19:22:28.731Z,1761679348.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415801,-0.844460,-0.337633],[0.908845,0.372227,0.188274],[-0.033314,-0.385141,0.922256]] 2025-10-28T19:22:29.142Z,1761679349.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437425,-0.834583,-0.334860],[0.898678,0.392371,0.196017],[-0.032203,-0.386674,0.921654]] 2025-10-28T19:22:29.538Z,1761679349.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458252,-0.824816,-0.331186],[0.888271,0.411863,0.203330],[-0.031306,-0.387359,0.921397]] 2025-10-28T19:22:29.945Z,1761679349.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477158,-0.815372,-0.327857],[0.878284,0.429438,0.210238],[-0.030628,-0.388268,0.921037]] 2025-10-28T19:22:30.347Z,1761679350.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494616,-0.805804,-0.325630],[0.868587,0.445287,0.217433],[-0.030209,-0.390384,0.920157]] 2025-10-28T19:22:30.757Z,1761679350.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510586,-0.796426,-0.324047],[0.859303,0.459501,0.224627],[-0.029999,-0.393146,0.918986]] 2025-10-28T19:22:31.155Z,1761679351.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524998,-0.787471,-0.322905],[0.850594,0.472324,0.231085],[-0.029457,-0.395980,0.917787]] 2025-10-28T19:22:31.558Z,1761679351.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538248,-0.779413,-0.320633],[0.842300,0.484564,0.236067],[-0.028627,-0.397131,0.917315]] 2025-10-28T19:22:31.965Z,1761679351.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550300,-0.772087,-0.317888],[0.834519,0.496103,0.239709],[-0.027371,-0.397195,0.917326]] 2025-10-28T19:22:32.368Z,1761679352.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561605,-0.764536,-0.316360],[0.827018,0.506992,0.242899],[-0.025313,-0.398049,0.917015]] 2025-10-28T19:22:32.783Z,1761679352.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572446,-0.757055,-0.314916],[0.819631,0.517753,0.245230],[-0.022604,-0.398496,0.916891]] 2025-10-28T19:22:33.174Z,1761679353.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583679,-0.749336,-0.312752],[0.811751,0.529251,0.246889],[-0.019479,-0.397981,0.917187]] 2025-10-28T19:22:33.579Z,1761679353.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595453,-0.741469,-0.309288],[0.803235,0.541892,0.247319],[-0.015779,-0.395698,0.918245]] 2025-10-28T19:22:33.990Z,1761679353.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609194,-0.731724,-0.305716],[0.792930,0.556194,0.248818],[-0.012029,-0.393990,0.919036]] 2025-10-28T19:22:34.386Z,1761679354.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624625,-0.720801,-0.300483],[0.780879,0.572340,0.250308],[-0.008444,-0.390989,0.920356]] 2025-10-28T19:22:34.793Z,1761679354.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641459,-0.708349,-0.294573],[0.767140,0.589644,0.252620],[-0.005250,-0.388024,0.921634]] 2025-10-28T19:22:35.195Z,1761679355.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659505,-0.694140,-0.288482],[0.751695,0.607541,0.256611],[-0.002859,-0.386087,0.922458]] 2025-10-28T19:22:35.607Z,1761679355.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697396,-0.660796,-0.277467],[0.716686,0.643170,0.269617],[0.000297,-0.386887,0.922127]] 2025-10-28T19:22:35.631Z,1761679355.631 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:22:35.631Z,1761679355.631 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:22:35.631Z,1761679355.631 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:22:35.632Z,1761679355.632 [marl:UpdateRudder:A] Stopped 2025-10-28T19:22:35.632Z,1761679355.632 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:22:36.013Z,1761679356.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716456,-0.642690,-0.271368],[0.697631,0.660699,0.277105],[0.001201,-0.387849,0.921722]] 2025-10-28T19:22:36.039Z,1761679356.039 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:22:36.039Z,1761679356.039 [marl:UpdateRudder:B] Stopped 2025-10-28T19:22:36.039Z,1761679356.039 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:22:36.039Z,1761679356.039 [marl:UpdateRudder] Stopped 2025-10-28T19:22:36.039Z,1761679356.039 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:22:36.411Z,1761679356.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735123,-0.623724,-0.265637],[0.677932,0.677375,0.285608],[0.001796,-0.390040,0.920796]] 2025-10-28T19:22:36.815Z,1761679356.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752492,-0.605570,-0.258922],[0.658598,0.693083,0.293060],[0.001986,-0.391051,0.920367]] 2025-10-28T19:22:37.040Z,1761679357.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:22:37.219Z,1761679357.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768489,-0.587625,-0.253224],[0.639861,0.706884,0.301486],[0.001839,-0.393717,0.919230]] 2025-10-28T19:22:37.623Z,1761679357.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782342,-0.571579,-0.247462],[0.622845,0.719344,0.307586],[0.002201,-0.394768,0.918778]] 2025-10-28T19:22:37.647Z,1761679357.647 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:22:37.648Z,1761679357.648 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:22:37.648Z,1761679357.648 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:22:37.648Z,1761679357.648 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:22:37.648Z,1761679357.648 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:22:37.648Z,1761679357.648 [marl:UpdateCommandMode] Stopped 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed] Stopped 2025-10-28T19:22:37.649Z,1761679357.649 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:22:38.030Z,1761679358.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794178,-0.557377,-0.242098],[0.607680,0.730074,0.312599],[0.002514,-0.395377,0.918515]] 2025-10-28T19:22:38.044Z,1761679358.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:22:38.427Z,1761679358.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804560,-0.544213,-0.237728],[0.593865,0.739068,0.317966],[0.002656,-0.397001,0.917814]] 2025-10-28T19:22:38.832Z,1761679358.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813960,-0.531541,-0.234379],[0.580914,0.746799,0.323775],[0.002935,-0.399694,0.916644]] 2025-10-28T19:22:39.235Z,1761679359.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822738,-0.519800,-0.230022],[0.568411,0.754670,0.327693],[0.003256,-0.400352,0.916355]] 2025-10-28T19:22:39.641Z,1761679359.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831107,-0.508683,-0.224730],[0.556100,0.762950,0.329635],[0.003778,-0.398934,0.916972]] 2025-10-28T19:22:40.048Z,1761679360.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839260,-0.497428,-0.219565],[0.543712,0.771125,0.331275],[0.004527,-0.397406,0.917632]] 2025-10-28T19:22:40.452Z,1761679360.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847461,-0.485195,-0.215394],[0.530827,0.778832,0.334131],[0.005637,-0.397501,0.917585]] 2025-10-28T19:22:40.854Z,1761679360.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855947,-0.471653,-0.211893],[0.517014,0.786386,0.338073],[0.007176,-0.398924,0.916956]] 2025-10-28T19:22:41.266Z,1761679361.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865204,-0.456505,-0.207425],[0.501340,0.794980,0.341564],[0.008973,-0.399513,0.916684]] 2025-10-28T19:22:41.665Z,1761679361.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875151,-0.439672,-0.201989],[0.483731,0.804345,0.345013],[0.010776,-0.399646,0.916606]] 2025-10-28T19:22:42.067Z,1761679362.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885367,-0.421252,-0.196654],[0.464720,0.813495,0.349658],[0.012683,-0.400965,0.916006]] 2025-10-28T19:22:42.471Z,1761679362.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895594,-0.402082,-0.190372],[0.444640,0.822864,0.353821],[0.014386,-0.401527,0.915734]] 2025-10-28T19:22:42.875Z,1761679362.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905653,-0.382795,-0.182374],[0.423718,0.833234,0.355223],[0.015983,-0.398984,0.916819]] 2025-10-28T19:22:43.284Z,1761679363.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915340,-0.363024,-0.174256],[0.402309,0.843019,0.357025],[0.017292,-0.396905,0.917697]] 2025-10-28T19:22:43.684Z,1761679363.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924149,-0.344162,-0.165833],[0.381606,0.852113,0.358162],[0.018042,-0.394278,0.918814]] 2025-10-28T19:22:44.086Z,1761679364.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932097,-0.326087,-0.157677],[0.361730,0.860406,0.358961],[0.018614,-0.391624,0.919937]] 2025-10-28T19:22:44.491Z,1761679364.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939138,-0.309111,-0.149902],[0.343029,0.867566,0.360085],[0.018744,-0.389590,0.920798]] 2025-10-28T19:22:44.896Z,1761679364.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945395,-0.292586,-0.143605],[0.325361,0.873177,0.362907],[0.019211,-0.389813,0.920693]] 2025-10-28T19:22:45.298Z,1761679365.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951237,-0.276199,-0.137337],[0.307835,0.878358,0.365684],[0.019630,-0.390129,0.920551]] 2025-10-28T19:22:45.702Z,1761679365.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956854,-0.259215,-0.131297],[0.289869,0.882913,0.369379],[0.020176,-0.391501,0.919957]] 2025-10-28T19:22:46.107Z,1761679366.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962352,-0.241363,-0.124986],[0.271017,0.887074,0.373696],[0.020676,-0.393501,0.919092]] 2025-10-28T19:22:46.511Z,1761679366.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967569,-0.223056,-0.118562],[0.251699,0.891092,0.377628],[0.021417,-0.395222,0.918336]] 2025-10-28T19:22:46.914Z,1761679366.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972782,-0.203397,-0.111020],[0.230690,0.895265,0.381160],[0.021865,-0.396397,0.917819]] 2025-10-28T19:22:47.319Z,1761679367.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977596,-0.183298,-0.103478],[0.209241,0.899734,0.383010],[0.022897,-0.396081,0.917930]] 2025-10-28T19:22:47.723Z,1761679367.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982015,-0.162842,-0.095545],[0.187289,0.904147,0.383980],[0.023858,-0.394969,0.918385]] 2025-10-28T19:22:48.133Z,1761679368.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985950,-0.142053,-0.087889],[0.165119,0.908425,0.384057],[0.025284,-0.393173,0.919117]] 2025-10-28T19:22:48.530Z,1761679368.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989323,-0.121567,-0.080385],[0.143284,0.912153,0.383988],[0.026643,-0.391406,0.919832]] 2025-10-28T19:22:48.934Z,1761679368.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992120,-0.101564,-0.073372],[0.122099,0.915114,0.384264],[0.028116,-0.390194,0.920303]] 2025-10-28T19:22:48.984Z,1761679368.984 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:22:48.984Z,1761679368.984 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:22:48.985Z,1761679368.985 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:22:48.985Z,1761679368.985 [marl:UpdateRudder:A] Stopped 2025-10-28T19:22:48.985Z,1761679368.985 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:22:49.338Z,1761679369.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994468,-0.081594,-0.066147],[0.100893,0.917181,0.385485],[0.029215,-0.390027,0.920340]] 2025-10-28T19:22:49.382Z,1761679369.382 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:22:49.382Z,1761679369.382 [marl:UpdateRudder:B] Stopped 2025-10-28T19:22:49.382Z,1761679369.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:22:49.382Z,1761679369.382 [marl:UpdateRudder] Stopped 2025-10-28T19:22:49.383Z,1761679369.383 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:22:49.752Z,1761679369.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996321,-0.062060,-0.059105],[0.080188,0.918426,0.387381],[0.030242,-0.390695,0.920023]] 2025-10-28T19:22:50.227Z,1761679370.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997750,-0.042616,-0.051759],[0.059445,0.919322,0.388991],[0.031006,-0.391192,0.919787]] 2025-10-28T19:22:50.554Z,1761679370.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998765,-0.023384,-0.043840],[0.038676,0.919784,0.390515],[0.031192,-0.391728,0.919552]] 2025-10-28T19:22:50.955Z,1761679370.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999338,-0.004816,-0.036071],[0.018521,0.920534,0.390222],[0.031325,-0.390632,0.920014]] 2025-10-28T19:22:51.022Z,1761679371.022 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:22:51.022Z,1761679371.022 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateCommandMode] Stopped 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:22:51.023Z,1761679371.023 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:22:51.028Z,1761679371.028 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:22:51.028Z,1761679371.028 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:22:51.028Z,1761679371.028 [marl:UpdateSpeed] Stopped 2025-10-28T19:22:51.028Z,1761679371.028 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:22:51.365Z,1761679371.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,0.012924,-0.028943],[-0.000594,0.920577,0.390560],[0.031692,-0.390347,0.920122]] 2025-10-28T19:22:51.767Z,1761679371.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999286,0.031046,-0.021554],[-0.020126,0.919818,0.391829],[0.031990,-0.391115,0.919786]] 2025-10-28T19:22:52.171Z,1761679372.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998706,0.048828,-0.014194],[-0.039342,0.918842,0.392661],[0.032215,-0.391594,0.919574]] 2025-10-28T19:22:52.592Z,1761679372.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997833,0.065393,-0.007230],[-0.057285,0.917610,0.393333],[0.032355,-0.392067,0.919368]] 2025-10-28T19:22:52.977Z,1761679372.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996683,0.081384,-0.000811],[-0.074481,0.916076,0.394027],[0.032811,-0.392660,0.919098]] 2025-10-28T19:22:53.383Z,1761679373.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995296,0.096724,0.005543],[-0.091004,0.913746,0.395964],[0.033235,-0.394606,0.918249]] 2025-10-28T19:22:53.787Z,1761679373.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993647,0.111891,0.012063],[-0.107382,0.910576,0.399149],[0.033677,-0.397909,0.916807]] 2025-10-28T19:22:54.187Z,1761679374.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991677,0.127380,0.018737],[-0.124132,0.907288,0.401771],[0.034178,-0.400753,0.915549]] 2025-10-28T19:22:54.631Z,1761679374.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989366,0.143173,0.025604],[-0.141246,0.903803,0.403967],[0.034696,-0.403288,0.914415]] 2025-10-28T19:22:54.994Z,1761679374.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986523,0.160146,0.033547],[-0.159855,0.899598,0.406410],[0.034906,-0.406296,0.913075]] 2025-10-28T19:22:55.398Z,1761679375.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983085,0.178185,0.042359],[-0.179844,0.895412,0.407300],[0.034646,-0.408028,0.912312]] 2025-10-28T19:22:55.813Z,1761679375.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978971,0.197393,0.051498],[-0.201098,0.891357,0.406254],[0.034288,-0.408067,0.912308]] 2025-10-28T19:22:56.207Z,1761679376.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974090,0.217728,0.061180],[-0.223670,0.887411,0.403080],[0.033470,-0.406320,0.913118]] 2025-10-28T19:22:56.637Z,1761679376.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968479,0.238827,0.070777],[-0.246932,0.883151,0.398835],[0.032746,-0.403740,0.914288]] 2025-10-28T19:22:57.015Z,1761679377.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962165,0.260434,0.080086],[-0.270566,0.878557,0.393615],[0.032150,-0.400391,0.915780]] 2025-10-28T19:22:57.422Z,1761679377.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955158,0.282367,0.089123],[-0.294387,0.873289,0.388204],[0.031785,-0.397033,0.917254]] 2025-10-28T19:22:57.826Z,1761679377.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947505,0.304566,0.097331],[-0.318120,0.867353,0.382750],[0.032153,-0.393621,0.918710]] 2025-10-28T19:22:58.234Z,1761679378.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939325,0.326537,0.105082],[-0.341440,0.860571,0.377937],[0.032980,-0.390884,0.919849]] 2025-10-28T19:22:58.643Z,1761679378.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930900,0.347786,0.111670],[-0.363663,0.853744,0.372652],[0.034266,-0.387512,0.921228]] 2025-10-28T19:22:59.036Z,1761679379.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922606,0.367472,0.117312],[-0.384075,0.846846,0.367885],[0.035842,-0.384470,0.922442]] 2025-10-28T19:22:59.439Z,1761679379.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914735,0.385130,0.122204],[-0.402293,0.839895,0.364331],[0.037676,-0.382429,0.923216]] 2025-10-28T19:22:59.842Z,1761679379.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907205,0.400975,0.127269],[-0.418885,0.833008,0.361432],[0.038909,-0.381204,0.923672]] 2025-10-28T19:23:00.247Z,1761679380.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899810,0.415748,0.132269],[-0.434417,0.825793,0.359650],[0.040297,-0.381077,0.923665]] 2025-10-28T19:23:00.651Z,1761679380.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892238,0.429938,0.138071],[-0.449679,0.818047,0.358592],[0.041224,-0.382037,0.923227]] 2025-10-28T19:23:01.056Z,1761679381.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884572,0.443744,0.143608],[-0.464511,0.810479,0.356865],[0.041965,-0.382381,0.923051]] 2025-10-28T19:23:01.459Z,1761679381.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876696,0.456932,0.150392],[-0.479192,0.802123,0.356333],[0.042187,-0.384463,0.922176]] 2025-10-28T19:23:01.863Z,1761679381.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868096,0.470232,0.159033],[-0.494619,0.792302,0.357225],[0.041977,-0.388766,0.920380]] 2025-10-28T19:23:02.269Z,1761679382.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859242,0.483160,0.168107],[-0.509937,0.782701,0.356853],[0.040840,-0.392347,0.918910]] 2025-10-28T19:23:02.293Z,1761679382.293 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:23:02.293Z,1761679382.293 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:23:02.293Z,1761679382.293 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:23:02.294Z,1761679382.294 [marl:UpdateRudder:A] Stopped 2025-10-28T19:23:02.294Z,1761679382.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:23:02.673Z,1761679382.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849581,0.497113,0.176326],[-0.525934,0.772991,0.354795],[0.040075,-0.394163,0.918167]] 2025-10-28T19:23:02.748Z,1761679382.748 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:23:02.748Z,1761679382.748 [marl:UpdateRudder:B] Stopped 2025-10-28T19:23:02.748Z,1761679382.748 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:23:02.748Z,1761679382.748 [marl:UpdateRudder] Stopped 2025-10-28T19:23:02.749Z,1761679382.749 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:23:03.075Z,1761679383.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838862,0.511855,0.185241],[-0.542886,0.761801,0.353459],[0.039803,-0.397069,0.916925]] 2025-10-28T19:23:03.479Z,1761679383.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827184,0.527254,0.194344],[-0.560493,0.749427,0.352430],[0.040173,-0.400453,0.915436]] 2025-10-28T19:23:03.882Z,1761679383.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815150,0.542486,0.203076],[-0.577825,0.736959,0.350727],[0.040606,-0.403238,0.914194]] 2025-10-28T19:23:04.293Z,1761679384.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803762,0.556467,0.210502],[-0.593542,0.725656,0.348040],[0.040921,-0.404683,0.913541]] 2025-10-28T19:23:04.317Z,1761679384.317 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:23:04.317Z,1761679384.317 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:23:04.317Z,1761679384.317 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:23:04.317Z,1761679384.317 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:23:04.317Z,1761679384.317 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateCommandMode] Stopped 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:23:04.318Z,1761679384.318 [marl:UpdateSpeed] Stopped 2025-10-28T19:23:04.319Z,1761679384.319 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:23:04.690Z,1761679384.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791748,0.571455,0.215809],[-0.609422,0.714838,0.342946],[0.041710,-0.403046,0.914229]] 2025-10-28T19:23:05.094Z,1761679385.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779510,0.586170,0.220836],[-0.624931,0.703716,0.338003],[0.042721,-0.401484,0.914869]] 2025-10-28T19:23:05.499Z,1761679385.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767613,0.599821,0.225798],[-0.639443,0.692899,0.333172],[0.043388,-0.400132,0.915430]] 2025-10-28T19:23:05.904Z,1761679385.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755671,0.613144,0.230251],[-0.653474,0.682235,0.327913],[0.043973,-0.398257,0.916219]] 2025-10-28T19:23:06.309Z,1761679386.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743395,0.626603,0.233950],[-0.667368,0.671602,0.321824],[0.044534,-0.395373,0.917440]] 2025-10-28T19:23:06.726Z,1761679386.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730760,0.638422,0.241675],[-0.681180,0.658876,0.319181],[0.044538,-0.397869,0.916360]] 2025-10-28T19:23:07.114Z,1761679387.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716793,0.651132,0.249470],[-0.695865,0.645154,0.315512],[0.044493,-0.399754,0.915542]] 2025-10-28T19:23:07.520Z,1761679387.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702030,0.664235,0.256798],[-0.710797,0.631362,0.310080],[0.043834,-0.400217,0.915372]] 2025-10-28T19:23:07.923Z,1761679387.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686293,0.678840,0.261110],[-0.726031,0.617995,0.301598],[0.043372,-0.396559,0.916984]] 2025-10-28T19:23:08.165Z,1761679388.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:23:08.326Z,1761679388.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669984,0.692852,0.266604],[-0.741139,0.603526,0.294058],[0.042836,-0.394604,0.917852]] 2025-10-28T19:23:08.731Z,1761679388.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653294,0.706970,0.270927],[-0.755915,0.589020,0.285742],[0.042430,-0.391471,0.919212]] 2025-10-28T19:23:09.137Z,1761679389.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636986,0.720132,0.275061],[-0.769722,0.574658,0.278021],[0.042146,-0.388816,0.920351]] 2025-10-28T19:23:09.168Z,1761679389.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:23:09.539Z,1761679389.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621282,0.732334,0.278739],[-0.782444,0.560591,0.271146],[0.042310,-0.386556,0.921295]] 2025-10-28T19:23:09.943Z,1761679389.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607021,0.742737,0.282608],[-0.793538,0.547414,0.265773],[0.042696,-0.385590,0.921682]] 2025-10-28T19:23:10.350Z,1761679390.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593520,0.751837,0.287186],[-0.803650,0.534414,0.261818],[0.043368,-0.386191,0.921399]] 2025-10-28T19:23:10.755Z,1761679390.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580259,0.760183,0.292269],[-0.813231,0.521330,0.258592],[0.044209,-0.387733,0.920711]] 2025-10-28T19:23:11.155Z,1761679391.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566994,0.767634,0.298758],[-0.822491,0.507780,0.256256],[0.045007,-0.391021,0.919280]] 2025-10-28T19:23:11.559Z,1761679391.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553885,0.774082,0.306610],[-0.831362,0.494180,0.254210],[0.045259,-0.395707,0.917261]] 2025-10-28T19:23:11.962Z,1761679391.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540390,0.779500,0.316795],[-0.840226,0.479912,0.252399],[0.044711,-0.402573,0.914295]] 2025-10-28T19:23:12.368Z,1761679392.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525638,0.785302,0.327117],[-0.849586,0.464842,0.249248],[0.043677,-0.408928,0.911521]] 2025-10-28T19:23:12.778Z,1761679392.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509243,0.792121,0.336476],[-0.859558,0.448684,0.244629],[0.042805,-0.413796,0.909363]] 2025-10-28T19:23:13.176Z,1761679393.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490966,0.799933,0.345051],[-0.870152,0.431060,0.238795],[0.042282,-0.417487,0.907699]] 2025-10-28T19:23:13.578Z,1761679393.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471541,0.808567,0.351950],[-0.880851,0.412936,0.231484],[0.041838,-0.419170,0.906943]] 2025-10-28T19:23:13.983Z,1761679393.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451691,0.818439,0.355153],[-0.891205,0.395354,0.222373],[0.041588,-0.416958,0.907974]] 2025-10-28T19:23:14.388Z,1761679394.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431393,0.828300,0.357519],[-0.901206,0.377390,0.213085],[0.041574,-0.414122,0.909272]] 2025-10-28T19:23:14.793Z,1761679394.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411293,0.837384,0.360035],[-0.910536,0.359260,0.204587],[0.041971,-0.411971,0.910230]] 2025-10-28T19:23:15.207Z,1761679395.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391853,0.846199,0.361107],[-0.919034,0.341781,0.196373],[0.042751,-0.408819,0.911614]] 2025-10-28T19:23:15.598Z,1761679395.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373884,0.853794,0.362279],[-0.926471,0.325637,0.188709],[0.043147,-0.406196,0.912767]] 2025-10-28T19:23:15.622Z,1761679395.622 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:23:15.622Z,1761679395.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:23:15.622Z,1761679395.622 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:23:15.623Z,1761679395.623 [marl:UpdateRudder:A] Stopped 2025-10-28T19:23:15.623Z,1761679395.623 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:23:16.003Z,1761679396.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356859,0.861426,0.361382],[-0.933147,0.310719,0.180806],[0.043462,-0.401745,0.914720]] 2025-10-28T19:23:16.049Z,1761679396.049 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:23:16.049Z,1761679396.049 [marl:UpdateRudder:B] Stopped 2025-10-28T19:23:16.050Z,1761679396.050 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:23:16.050Z,1761679396.050 [marl:UpdateRudder] Stopped 2025-10-28T19:23:16.050Z,1761679396.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:23:16.051Z,1761679396.051 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:23:16.197Z,1761679396.197 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:23:16.198Z,1761679396.198 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:23:16.407Z,1761679396.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340368,0.866931,0.364116],[-0.939304,0.295727,0.173939],[0.043114,-0.401219,0.914967]] 2025-10-28T19:23:16.449Z,1761679396.449 [DAT](INFO): DAT read: user:179> 2025-10-28T19:23:16.450Z,1761679396.450 [DAT](INFO): DAT read: Tx time:19:23:16.1825 2025-10-28T19:23:16.450Z,1761679396.450 [DAT](INFO): Ping request sent. 2025-10-28T19:23:16.450Z,1761679396.450 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:23:16.450Z,1761679396.450 [DAT](INFO): publishing transmit ping time 2025-10-28T19:23:16.451Z,1761679396.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T19:23:16.701Z,1761679396.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251336 2025-10-28T19:23:16.812Z,1761679396.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324033,0.871089,0.369061],[-0.945104,0.280662,0.167352],[0.042197,-0.403029,0.914214]] 2025-10-28T19:23:16.953Z,1761679396.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503068 2025-10-28T19:23:17.208Z,1761679397.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757847 2025-10-28T19:23:17.218Z,1761679397.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307400,0.874922,0.374188],[-0.950704,0.265507,0.160209],[0.040821,-0.404991,0.913409]] 2025-10-28T19:23:17.461Z,1761679397.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010804 2025-10-28T19:23:17.619Z,1761679397.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290753,0.878658,0.378713],[-0.956001,0.250627,0.152476],[0.039058,-0.406383,0.912868]] 2025-10-28T19:23:17.661Z,1761679397.661 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:23:17.661Z,1761679397.661 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:23:17.661Z,1761679397.661 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateCommandMode] Stopped 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:23:17.662Z,1761679397.662 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:23:17.663Z,1761679397.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:23:17.663Z,1761679397.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:23:17.663Z,1761679397.663 [marl:UpdateSpeed] Stopped 2025-10-28T19:23:17.663Z,1761679397.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:23:17.713Z,1761679397.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263299 2025-10-28T19:23:17.965Z,1761679397.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515313 2025-10-28T19:23:18.024Z,1761679398.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274005,0.882489,0.382276],[-0.961003,0.235807,0.144455],[0.037337,-0.406950,0.912687]] 2025-10-28T19:23:18.217Z,1761679398.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766785 2025-10-28T19:23:18.426Z,1761679398.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256639,0.886613,0.384778],[-0.965842,0.220494,0.136130],[0.035853,-0.406571,0.912915]] 2025-10-28T19:23:18.469Z,1761679398.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018886 2025-10-28T19:23:18.721Z,1761679398.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270748 2025-10-28T19:23:18.831Z,1761679398.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239962,0.890401,0.386787],[-0.970180,0.205929,0.127840],[0.034178,-0.405930,0.913265]] 2025-10-28T19:23:18.973Z,1761679398.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522786 2025-10-28T19:23:19.227Z,1761679399.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776734 2025-10-28T19:23:19.238Z,1761679399.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222814,0.893377,0.390169],[-0.974314,0.190674,0.119813],[0.032643,-0.406844,0.912914]] 2025-10-28T19:23:19.477Z,1761679399.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026844 2025-10-28T19:23:19.638Z,1761679399.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205486,0.895494,0.394800],[-0.978159,0.175016,0.112139],[0.031323,-0.409220,0.911898]] 2025-10-28T19:23:19.729Z,1761679399.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278881 2025-10-28T19:23:19.981Z,1761679399.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530720 2025-10-28T19:23:20.043Z,1761679400.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187879,0.896866,0.400417],[-0.981732,0.159001,0.104502],[0.030057,-0.412735,0.910355]] 2025-10-28T19:23:20.233Z,1761679400.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782727 2025-10-28T19:23:20.450Z,1761679400.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170451,0.898105,0.405405],[-0.984949,0.143324,0.096607],[0.028659,-0.415771,0.909018]] 2025-10-28T19:23:20.486Z,1761679400.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035417 2025-10-28T19:23:20.739Z,1761679400.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289234 2025-10-28T19:23:20.870Z,1761679400.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135299,0.900492,0.413290],[-0.990481,0.112268,0.079642],[0.025318,-0.420131,0.907110]] 2025-10-28T19:23:20.993Z,1761679400.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543195 2025-10-28T19:23:21.245Z,1761679401.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794867 2025-10-28T19:23:21.269Z,1761679401.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116581,0.901333,0.417141],[-0.992901,0.095792,0.070510],[0.023594,-0.422400,0.906102]] 2025-10-28T19:23:21.498Z,1761679401.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047594 2025-10-28T19:23:21.666Z,1761679401.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096305,0.902714,0.419324],[-0.995105,0.077930,0.060775],[0.022184,-0.423124,0.905800]] 2025-10-28T19:23:21.750Z,1761679401.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299377 2025-10-28T19:23:22.001Z,1761679402.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550793 2025-10-28T19:23:22.067Z,1761679402.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075103,0.905107,0.418499],[-0.996960,0.059419,0.050406],[0.020756,-0.421013,0.906817]] 2025-10-28T19:23:22.253Z,1761679402.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802744 2025-10-28T19:23:22.471Z,1761679402.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052781,0.907815,0.416036],[-0.998415,0.039829,0.039756],[0.019521,-0.417475,0.908479]] 2025-10-28T19:23:22.505Z,1761679402.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054845 2025-10-28T19:23:22.758Z,1761679402.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307155 2025-10-28T19:23:22.874Z,1761679402.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029957,0.910652,0.412087],[-0.999381,0.019691,0.029136],[0.018418,-0.412705,0.910679]] 2025-10-28T19:23:23.009Z,1761679403.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558775 2025-10-28T19:23:23.261Z,1761679403.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810703 2025-10-28T19:23:23.276Z,1761679403.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006523,0.914054,0.405541],[-0.999828,-0.001074,0.018503],[0.017349,-0.405592,0.913890]] 2025-10-28T19:23:23.513Z,1761679403.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062790 2025-10-28T19:23:23.686Z,1761679403.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016734,0.915522,0.401920],[-0.999732,-0.021740,0.007898],[0.015969,-0.401680,0.915641]] 2025-10-28T19:23:23.766Z,1761679403.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315493 2025-10-28T19:23:24.017Z,1761679404.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566740 2025-10-28T19:23:24.084Z,1761679404.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039981,0.916067,0.399028],[-0.999092,-0.042547,-0.002429],[0.014752,-0.398762,0.916936]] 2025-10-28T19:23:24.269Z,1761679404.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818793 2025-10-28T19:23:24.487Z,1761679404.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063059,0.915602,0.397111],[-0.997918,-0.063257,-0.012614],[0.013570,-0.397079,0.917684]] 2025-10-28T19:23:24.521Z,1761679404.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070768 2025-10-28T19:23:24.773Z,1761679404.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323050 2025-10-28T19:23:24.895Z,1761679404.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085500,0.914130,0.396304],[-0.996266,-0.083239,-0.022936],[0.012021,-0.396785,0.917833]] 2025-10-28T19:23:25.027Z,1761679405.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576109 2025-10-28T19:23:25.277Z,1761679405.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826760 2025-10-28T19:23:25.301Z,1761679405.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107696,0.911971,0.395868],[-0.994130,-0.102934,-0.033321],[0.010360,-0.397132,0.917703]] 2025-10-28T19:23:25.529Z,1761679405.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078759 2025-10-28T19:23:25.709Z,1761679405.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129842,0.909104,0.395817],[-0.991495,-0.122604,-0.043649],[0.008847,-0.398118,0.917291]] 2025-10-28T19:23:25.782Z,1761679405.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331266 2025-10-28T19:23:26.033Z,1761679406.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582749 2025-10-28T19:23:26.103Z,1761679406.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151591,0.905844,0.395558],[-0.988415,-0.141924,-0.053781],[0.007422,-0.399129,0.916865]] 2025-10-28T19:23:26.285Z,1761679406.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834760 2025-10-28T19:23:26.512Z,1761679406.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172432,0.902038,0.395721],[-0.985003,-0.160361,-0.063667],[0.006028,-0.400765,0.916161]] 2025-10-28T19:23:26.551Z,1761679406.551 [DAT](INFO): Reached modem response timeout 2025-10-28T19:23:26.923Z,1761679406.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192217,0.898685,0.394230],[-0.981339,-0.178109,-0.072461],[0.005097,-0.400801,0.916151]] 2025-10-28T19:23:27.316Z,1761679407.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211563,0.894592,0.393633],[-0.977353,-0.195562,-0.080844],[0.004657,-0.401823,0.915706]] 2025-10-28T19:23:27.718Z,1761679407.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228522,0.890396,0.393665],[-0.973531,-0.210608,-0.088777],[0.003862,-0.403532,0.914957]] 2025-10-28T19:23:28.123Z,1761679408.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245364,0.886391,0.392566],[-0.969427,-0.225577,-0.096578],[0.002947,-0.404260,0.914639]] 2025-10-28T19:23:28.533Z,1761679408.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261073,0.881956,0.392421],[-0.965317,-0.239312,-0.104365],[0.001865,-0.406058,0.913845]] 2025-10-28T19:23:28.817Z,1761679408.817 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:23:28.817Z,1761679408.817 [DAT](INFO): response not received 2025-10-28T19:23:28.817Z,1761679408.817 [DAT](ERROR): No response from remote modem. 2025-10-28T19:23:28.941Z,1761679408.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276560,0.876820,0.393320],[-0.960996,-0.252534,-0.112748],[0.000467,-0.409161,0.912462]] 2025-10-28T19:23:29.015Z,1761679409.015 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:23:29.016Z,1761679409.016 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:23:29.016Z,1761679409.016 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:23:29.016Z,1761679409.016 [marl:UpdateRudder:A] Stopped 2025-10-28T19:23:29.016Z,1761679409.016 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:23:29.335Z,1761679409.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291847,0.871727,0.393596],[-0.956464,-0.265237,-0.121766],[-0.001750,-0.411997,0.911183]] 2025-10-28T19:23:29.376Z,1761679409.376 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:23:29.376Z,1761679409.376 [marl:UpdateRudder:B] Stopped 2025-10-28T19:23:29.376Z,1761679409.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:23:29.376Z,1761679409.376 [marl:UpdateRudder] Stopped 2025-10-28T19:23:29.376Z,1761679409.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:23:29.739Z,1761679409.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307527,0.867519,0.390944],[-0.951528,-0.278312,-0.130912],[-0.004764,-0.412253,0.911057]] 2025-10-28T19:23:30.144Z,1761679410.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324315,0.863453,0.386354],[-0.945914,-0.292481,-0.140365],[-0.008197,-0.410980,0.911608]] 2025-10-28T19:23:30.555Z,1761679410.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342781,0.858669,0.381037],[-0.939345,-0.308322,-0.150229],[-0.011515,-0.409421,0.912273]] 2025-10-28T19:23:30.951Z,1761679410.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362395,0.853207,0.375109],[-0.931906,-0.325286,-0.160437],[-0.014868,-0.407708,0.912991]] 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode] Stopped 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:23:31.006Z,1761679411.006 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed] Stopped 2025-10-28T19:23:31.007Z,1761679411.007 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:23:31.355Z,1761679411.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382615,0.847464,0.367982],[-0.923733,-0.343136,-0.170222],[-0.017989,-0.405047,0.914119]] 2025-10-28T19:23:31.763Z,1761679411.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403372,0.841340,0.359775],[-0.914791,-0.361693,-0.179818],[-0.021160,-0.401652,0.915548]] 2025-10-28T19:23:32.175Z,1761679412.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424452,0.834376,0.351650],[-0.905127,-0.380617,-0.189409],[-0.024195,-0.398683,0.916770]] 2025-10-28T19:23:32.593Z,1761679412.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444296,0.826569,0.345521],[-0.895463,-0.397956,-0.199445],[-0.027353,-0.398014,0.916972]] 2025-10-28T19:23:32.970Z,1761679412.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463801,0.818247,0.339646],[-0.885428,-0.415100,-0.209066],[-0.030080,-0.397697,0.917024]] 2025-10-28T19:23:33.375Z,1761679413.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482488,0.809492,0.334555],[-0.875280,-0.431198,-0.218980],[-0.033003,-0.398485,0.916581]] 2025-10-28T19:23:33.785Z,1761679413.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500505,0.800867,0.328797],[-0.864994,-0.446908,-0.228163],[-0.035786,-0.398604,0.916425]] 2025-10-28T19:23:34.184Z,1761679414.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516747,0.792596,0.323672],[-0.855271,-0.460900,-0.236817],[-0.038520,-0.399202,0.916054]] 2025-10-28T19:23:34.631Z,1761679414.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533259,0.783910,0.317994],[-0.844960,-0.475366,-0.245093],[-0.040968,-0.399391,0.915865]] 2025-10-28T19:23:34.999Z,1761679414.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549912,0.774572,0.312466],[-0.834097,-0.489877,-0.253579],[-0.043345,-0.400073,0.915458]] 2025-10-28T19:23:35.395Z,1761679415.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566486,0.765287,0.305662],[-0.822804,-0.504707,-0.261274],[-0.045679,-0.399508,0.915591]] 2025-10-28T19:23:35.799Z,1761679415.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583500,0.756091,0.296401],[-0.810701,-0.520792,-0.267469],[-0.047868,-0.396361,0.916846]] 2025-10-28T19:23:36.202Z,1761679416.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600675,0.745930,0.287712],[-0.797902,-0.536617,-0.274582],[-0.050428,-0.394500,0.917511]] 2025-10-28T19:23:36.647Z,1761679416.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618460,0.734756,0.278641],[-0.784038,-0.553120,-0.281680],[-0.052844,-0.392673,0.918159]] 2025-10-28T19:23:37.018Z,1761679417.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637063,0.722618,0.268280],[-0.768811,-0.570623,-0.288650],[-0.055497,-0.390145,0.919080]] 2025-10-28T19:23:37.415Z,1761679417.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655485,0.709965,0.257468],[-0.752913,-0.587784,-0.296027],[-0.058833,-0.387893,0.919825]] 2025-10-28T19:23:37.818Z,1761679417.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673199,0.696971,0.247050],[-0.736900,-0.604541,-0.302503],[-0.061485,-0.385696,0.920575]] 2025-10-28T19:23:38.224Z,1761679418.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690526,0.683389,0.236966],[-0.720501,-0.621059,-0.308486],[-0.063646,-0.383752,0.921240]] 2025-10-28T19:23:38.652Z,1761679418.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706884,0.669438,0.228401],[-0.704254,-0.636030,-0.315424],[-0.065887,-0.383820,0.921054]] 2025-10-28T19:23:39.047Z,1761679419.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721886,0.655749,0.221074],[-0.688665,-0.649371,-0.322579],[-0.067971,-0.385112,0.920363]] 2025-10-28T19:23:39.288Z,1761679419.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:23:39.435Z,1761679419.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735331,0.643052,0.213943],[-0.674092,-0.661437,-0.328788],[-0.069918,-0.385986,0.919851]] 2025-10-28T19:23:39.839Z,1761679419.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747612,0.631163,0.206661],[-0.660267,-0.672822,-0.333703],[-0.071575,-0.385932,0.919746]] 2025-10-28T19:23:40.244Z,1761679420.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759377,0.619161,0.199964],[-0.646572,-0.683742,-0.338292],[-0.072734,-0.386183,0.919550]] 2025-10-28T19:23:40.292Z,1761679420.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:23:40.675Z,1761679420.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770830,0.606979,0.193383],[-0.632754,-0.694357,-0.342769],[-0.073777,-0.386581,0.919300]] 2025-10-28T19:23:41.051Z,1761679421.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781942,0.594313,0.188036],[-0.618867,-0.704042,-0.348322],[-0.074627,-0.388737,0.918322]] 2025-10-28T19:23:41.454Z,1761679421.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792780,0.581475,0.182719],[-0.604854,-0.713570,-0.353511],[-0.075175,-0.390774,0.917412]] 2025-10-28T19:23:41.861Z,1761679421.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804265,0.567594,0.176056],[-0.589523,-0.724648,-0.356858],[-0.074972,-0.390797,0.917419]] 2025-10-28T19:23:42.262Z,1761679422.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815862,0.552702,0.169968],[-0.573388,-0.735244,-0.361445],[-0.074803,-0.392347,0.916770]] 2025-10-28T19:23:42.293Z,1761679422.293 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:23:42.294Z,1761679422.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:23:42.294Z,1761679422.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:23:42.294Z,1761679422.294 [marl:UpdateRudder:A] Stopped 2025-10-28T19:23:42.294Z,1761679422.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:23:42.667Z,1761679422.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827026,0.537894,0.163395],[-0.557178,-0.745680,-0.365396],[-0.074704,-0.393232,0.916399]] 2025-10-28T19:23:42.787Z,1761679422.787 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:23:42.787Z,1761679422.787 [marl:UpdateRudder:B] Stopped 2025-10-28T19:23:42.787Z,1761679422.787 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:23:42.787Z,1761679422.787 [marl:UpdateRudder] Stopped 2025-10-28T19:23:42.788Z,1761679422.788 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:23:43.071Z,1761679423.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837504,0.523272,0.157393],[-0.541384,-0.755548,-0.368849],[-0.074091,-0.394123,0.916066]] 2025-10-28T19:23:43.476Z,1761679423.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846798,0.509611,0.152413],[-0.526790,-0.763796,-0.372972],[-0.073658,-0.396121,0.915239]] 2025-10-28T19:23:43.878Z,1761679423.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855799,0.495955,0.147095],[-0.512137,-0.772165,-0.376135],[-0.072964,-0.397229,0.914814]] 2025-10-28T19:23:44.283Z,1761679424.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864451,0.482306,0.141793],[-0.497462,-0.780010,-0.379625],[-0.072495,-0.398704,0.914210]] 2025-10-28T19:23:44.331Z,1761679424.331 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:23:44.331Z,1761679424.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:23:44.332Z,1761679424.332 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:23:44.332Z,1761679424.332 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:23:44.332Z,1761679424.332 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:23:44.332Z,1761679424.332 [marl:UpdateCommandMode] Stopped 2025-10-28T19:23:44.332Z,1761679424.332 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed] Stopped 2025-10-28T19:23:44.333Z,1761679424.333 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:23:44.686Z,1761679424.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872703,0.468728,0.136689],[-0.482876,-0.787151,-0.383697],[-0.072254,-0.400857,0.913287]] 2025-10-28T19:23:45.099Z,1761679425.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880707,0.455414,0.130205],[-0.468127,-0.794982,-0.385826],[-0.072200,-0.400752,0.913337]] 2025-10-28T19:23:45.495Z,1761679425.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888782,0.441381,0.123491],[-0.452599,-0.802731,-0.388300],[-0.072257,-0.401006,0.913221]] 2025-10-28T19:23:45.898Z,1761679425.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897249,0.426359,0.114730],[-0.435554,-0.812118,-0.388274],[-0.072370,-0.398349,0.914374]] 2025-10-28T19:23:46.302Z,1761679426.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906264,0.409524,0.104766],[-0.416427,-0.822357,-0.387708],[-0.072620,-0.394993,0.915809]] 2025-10-28T19:23:46.709Z,1761679426.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915411,0.391255,0.094563],[-0.395798,-0.832174,-0.388370],[-0.073259,-0.392945,0.916639]] 2025-10-28T19:23:47.110Z,1761679427.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924647,0.371475,0.083865],[-0.373519,-0.841715,-0.389870],[-0.074237,-0.391818,0.917043]] 2025-10-28T19:23:47.514Z,1761679427.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933604,0.350880,0.072578],[-0.350241,-0.850926,-0.391481],[-0.075604,-0.390908,0.917319]] 2025-10-28T19:23:47.919Z,1761679427.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942206,0.329438,0.060976],[-0.326006,-0.859543,-0.393580],[-0.077249,-0.390712,0.917266]] 2025-10-28T19:23:48.324Z,1761679428.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950267,0.307589,0.048803],[-0.301166,-0.867665,-0.395546],[-0.079321,-0.390572,0.917149]] 2025-10-28T19:23:48.726Z,1761679428.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957553,0.285938,0.036505],[-0.276398,-0.874807,-0.397891],[-0.081837,-0.391092,0.916706]] 2025-10-28T19:23:49.138Z,1761679429.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963966,0.264896,0.024472],[-0.252258,-0.881002,-0.400252],[-0.084465,-0.392003,0.916078]] 2025-10-28T19:23:49.535Z,1761679429.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969358,0.245307,0.012975],[-0.229664,-0.886265,-0.402229],[-0.087170,-0.392884,0.915447]] 2025-10-28T19:23:49.940Z,1761679429.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973737,0.227649,0.003599],[-0.209423,-0.889349,-0.406449],[-0.089327,-0.396528,0.913666]] 2025-10-28T19:23:50.344Z,1761679430.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977398,0.211347,-0.005056],[-0.190853,-0.892402,-0.408893],[-0.090930,-0.398686,0.912569]] 2025-10-28T19:23:50.755Z,1761679430.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980579,0.195646,-0.013667],[-0.173100,-0.896128,-0.408645],[-0.092197,-0.398343,0.912591]] 2025-10-28T19:23:51.155Z,1761679431.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983443,0.179954,-0.021355],[-0.155619,-0.899028,-0.409307],[-0.092855,-0.399207,0.912147]] 2025-10-28T19:23:51.556Z,1761679431.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985999,0.164207,-0.029035],[-0.138204,-0.902133,-0.408725],[-0.093308,-0.398990,0.912196]] 2025-10-28T19:23:51.958Z,1761679431.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988318,0.148087,-0.036029],[-0.120607,-0.904463,-0.409147],[-0.093176,-0.400022,0.911757]] 2025-10-28T19:23:52.362Z,1761679432.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990377,0.131748,-0.042378],[-0.102885,-0.905691,-0.411264],[-0.092565,-0.402947,0.910530]] 2025-10-28T19:23:52.773Z,1761679432.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992146,0.114979,-0.049247],[-0.084707,-0.907315,-0.411830],[-0.092034,-0.404424,0.909929]] 2025-10-28T19:23:53.184Z,1761679433.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993619,0.097739,-0.056292],[-0.066047,-0.908758,-0.412063],[-0.091430,-0.405716,0.909415]] 2025-10-28T19:23:53.574Z,1761679433.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994714,0.080809,-0.063355],[-0.047663,-0.909857,-0.412175],[-0.090951,-0.406977,0.908899]] 2025-10-28T19:23:53.979Z,1761679433.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995474,0.064019,-0.070237],[-0.029455,-0.910511,-0.412434],[-0.090355,-0.408499,0.908276]] 2025-10-28T19:23:54.382Z,1761679434.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995935,0.046870,-0.076922],[-0.011050,-0.911085,-0.412071],[-0.089396,-0.409546,0.907899]] 2025-10-28T19:23:54.796Z,1761679434.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996043,0.030729,-0.083386],[0.006304,-0.911516,-0.411217],[-0.088644,-0.410116,0.907715]] 2025-10-28T19:23:55.191Z,1761679435.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995813,0.013250,-0.090448],[0.025037,-0.912071,-0.409268],[-0.087918,-0.409819,0.907920]] 2025-10-28T19:23:55.595Z,1761679435.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995243,-0.003860,-0.097348],[0.043507,-0.911652,-0.408654],[-0.087170,-0.410945,0.907483]] 2025-10-28T19:23:55.658Z,1761679435.658 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:23:55.658Z,1761679435.658 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:23:55.658Z,1761679435.658 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:23:55.659Z,1761679435.659 [marl:UpdateRudder:A] Stopped 2025-10-28T19:23:55.659Z,1761679435.659 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:23:55.998Z,1761679435.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994300,-0.022104,-0.104304],[0.062882,-0.911596,-0.406250],[-0.086103,-0.410493,0.907790]] 2025-10-28T19:23:56.023Z,1761679436.023 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:23:56.023Z,1761679436.023 [marl:UpdateRudder:B] Stopped 2025-10-28T19:23:56.023Z,1761679436.023 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:23:56.023Z,1761679436.023 [marl:UpdateRudder] Stopped 2025-10-28T19:23:56.023Z,1761679436.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:23:56.405Z,1761679436.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992962,-0.040320,-0.111358],[0.082216,-0.911459,-0.403092],[-0.085246,-0.409411,0.908359]] 2025-10-28T19:23:56.807Z,1761679436.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991052,-0.060331,-0.119060],[0.103293,-0.911612,-0.397862],[-0.084533,-0.406601,0.909687]] 2025-10-28T19:23:57.211Z,1761679437.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988691,-0.080449,-0.126566],[0.124494,-0.910835,-0.393549],[-0.083620,-0.404854,0.910550]] 2025-10-28T19:23:57.623Z,1761679437.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985691,-0.101724,-0.134407],[0.146847,-0.909703,-0.388428],[-0.082758,-0.402607,0.911624]] 2025-10-28T19:23:57.704Z,1761679437.704 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode] Stopped 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:23:57.705Z,1761679437.705 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed] Stopped 2025-10-28T19:23:57.706Z,1761679437.706 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:23:58.020Z,1761679438.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981966,-0.123888,-0.142807],[0.170320,-0.907566,-0.383817],[-0.082056,-0.401218,0.912300]] 2025-10-28T19:23:58.422Z,1761679438.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977531,-0.146277,-0.151775],[0.194325,-0.904347,-0.379993],[-0.081673,-0.400949,0.912453]] 2025-10-28T19:23:58.827Z,1761679438.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972539,-0.168228,-0.160831],[0.217961,-0.900651,-0.375927],[-0.081611,-0.400658,0.912586]] 2025-10-28T19:23:59.230Z,1761679439.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967117,-0.189342,-0.169807],[0.240799,-0.896565,-0.371735],[-0.081858,-0.400401,0.912676]] 2025-10-28T19:23:59.637Z,1761679439.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961116,-0.210581,-0.178639],[0.263585,-0.892465,-0.366100],[-0.082336,-0.398951,0.913268]] 2025-10-28T19:24:00.109Z,1761679440.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954630,-0.231379,-0.187469],[0.286019,-0.887669,-0.360884],[-0.082910,-0.398131,0.913574]] 2025-10-28T19:24:00.443Z,1761679440.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947712,-0.251784,-0.196078],[0.307944,-0.882746,-0.354865],[-0.083738,-0.396691,0.914125]] 2025-10-28T19:24:00.847Z,1761679440.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940650,-0.270480,-0.204985],[0.328638,-0.876711,-0.351249],[-0.084707,-0.397768,0.913567]] 2025-10-28T19:24:01.252Z,1761679441.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933662,-0.287742,-0.213261],[0.347798,-0.870575,-0.348045],[-0.085513,-0.399128,0.912899]] 2025-10-28T19:24:01.667Z,1761679441.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926966,-0.303082,-0.221078],[0.365123,-0.864200,-0.346183],[-0.086134,-0.401621,0.911747]] 2025-10-28T19:24:02.058Z,1761679442.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920448,-0.317408,-0.228096],[0.381181,-0.858043,-0.344186],[-0.086468,-0.403751,0.910773]] 2025-10-28T19:24:02.463Z,1761679442.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914077,-0.331034,-0.234263],[0.396267,-0.851909,-0.342379],[-0.086232,-0.405791,0.909889]] 2025-10-28T19:24:02.868Z,1761679442.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907795,-0.344516,-0.239199],[0.410653,-0.846065,-0.339908],[-0.085274,-0.406795,0.909531]] 2025-10-28T19:24:03.272Z,1761679443.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901407,-0.358004,-0.243512],[0.424825,-0.839897,-0.337782],[-0.083597,-0.407929,0.909178]] 2025-10-28T19:24:03.675Z,1761679443.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894887,-0.371762,-0.246921],[0.438858,-0.833586,-0.335465],[-0.081117,-0.408567,0.909117]] 2025-10-28T19:24:04.079Z,1761679444.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887829,-0.386265,-0.250120],[0.453465,-0.826846,-0.332710],[-0.078296,-0.408810,0.909255]] 2025-10-28T19:24:04.483Z,1761679444.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880108,-0.401482,-0.253422],[0.468790,-0.819345,-0.330015],[-0.075145,-0.409250,0.909323]] 2025-10-28T19:24:04.889Z,1761679444.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871841,-0.417383,-0.256292],[0.484573,-0.811207,-0.327311],[-0.071292,-0.409555,0.909496]] 2025-10-28T19:24:05.290Z,1761679445.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862681,-0.434388,-0.259016],[0.501276,-0.802366,-0.323930],[-0.067115,-0.409286,0.909934]] 2025-10-28T19:24:05.694Z,1761679445.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852680,-0.452351,-0.261372],[0.518632,-0.793169,-0.319223],[-0.062911,-0.407751,0.910923]] 2025-10-28T19:24:06.112Z,1761679446.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830281,-0.488580,-0.268184],[0.554642,-0.771640,-0.311357],[-0.054819,-0.407260,0.911666]] 2025-10-28T19:24:06.509Z,1761679446.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818216,-0.506324,-0.272322],[0.572613,-0.760035,-0.307345],[-0.051358,-0.407409,0.911800]] 2025-10-28T19:24:06.911Z,1761679446.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805793,-0.523811,-0.276260],[0.590203,-0.748597,-0.302099],[-0.048564,-0.406479,0.912369]] 2025-10-28T19:24:07.331Z,1761679447.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792945,-0.540855,-0.280560],[0.607526,-0.736879,-0.296516],[-0.046367,-0.405568,0.912888]] 2025-10-28T19:24:07.723Z,1761679447.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779841,-0.557555,-0.284573],[0.624391,-0.725187,-0.290240],[-0.044544,-0.404025,0.913663]] 2025-10-28T19:24:08.122Z,1761679448.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766905,-0.572900,-0.289211],[0.640312,-0.713334,-0.284878],[-0.043097,-0.403659,0.913894]] 2025-10-28T19:24:08.523Z,1761679448.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754107,-0.587350,-0.293841],[0.655428,-0.701450,-0.279968],[-0.041675,-0.403717,0.913934]] 2025-10-28T19:24:08.931Z,1761679448.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741843,-0.601008,-0.297419],[0.669373,-0.690217,-0.274844],[-0.040100,-0.402976,0.914332]] 2025-10-28T19:24:08.992Z,1761679448.992 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:24:08.992Z,1761679448.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:24:08.993Z,1761679448.993 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:24:08.993Z,1761679448.993 [marl:UpdateRudder:A] Stopped 2025-10-28T19:24:08.993Z,1761679448.993 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:24:09.332Z,1761679449.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729426,-0.613983,-0.301600],[0.682968,-0.678561,-0.270389],[-0.038639,-0.403212,0.914290]] 2025-10-28T19:24:09.362Z,1761679449.362 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:24:09.362Z,1761679449.362 [marl:UpdateRudder:B] Stopped 2025-10-28T19:24:09.362Z,1761679449.362 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:24:09.362Z,1761679449.362 [marl:UpdateRudder] Stopped 2025-10-28T19:24:09.362Z,1761679449.362 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:24:09.735Z,1761679449.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717046,-0.626514,-0.305492],[0.696052,-0.666771,-0.266325],[-0.036837,-0.403606,0.914191]] 2025-10-28T19:24:10.139Z,1761679450.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704435,-0.638750,-0.309466],[0.708919,-0.654515,-0.262761],[-0.034712,-0.404485,0.913886]] 2025-10-28T19:24:10.412Z,1761679450.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:24:10.543Z,1761679450.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691737,-0.650641,-0.313314],[0.721439,-0.641865,-0.259876],[-0.032019,-0.405803,0.913400]] 2025-10-28T19:24:10.949Z,1761679450.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678583,-0.662893,-0.316383],[0.733950,-0.628952,-0.256391],[-0.029030,-0.406192,0.913326]] 2025-10-28T19:24:11.012Z,1761679451.012 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:24:11.012Z,1761679451.012 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:24:11.012Z,1761679451.012 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateCommandMode] Stopped 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:24:11.013Z,1761679451.013 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:24:11.014Z,1761679451.014 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:24:11.014Z,1761679451.014 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:24:11.014Z,1761679451.014 [marl:UpdateSpeed] Stopped 2025-10-28T19:24:11.014Z,1761679451.014 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:24:11.350Z,1761679451.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664771,-0.675376,-0.319292],[0.746601,-0.615413,-0.252694],[-0.025833,-0.406367,0.913345]] 2025-10-28T19:24:11.416Z,1761679451.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:24:11.763Z,1761679451.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650367,-0.688087,-0.321807],[0.759293,-0.601295,-0.248834],[-0.022281,-0.406179,0.913522]] 2025-10-28T19:24:12.161Z,1761679452.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635249,-0.700985,-0.324158],[0.772078,-0.586630,-0.244459],[-0.018799,-0.405568,0.913872]] 2025-10-28T19:24:12.589Z,1761679452.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619361,-0.714222,-0.326005],[0.784954,-0.571519,-0.239193],[-0.015481,-0.404046,0.914608]] 2025-10-28T19:24:12.966Z,1761679452.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602408,-0.727589,-0.328206],[0.798089,-0.555544,-0.233291],[-0.012593,-0.402473,0.915345]] 2025-10-28T19:24:13.371Z,1761679453.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586405,-0.739012,-0.331649],[0.809956,-0.540029,-0.228779],[-0.010030,-0.402778,0.915243]] 2025-10-28T19:24:13.782Z,1761679453.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569654,-0.750751,-0.334466],[0.821847,-0.524240,-0.223026],[-0.007903,-0.401927,0.915637]] 2025-10-28T19:24:14.178Z,1761679454.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553022,-0.761868,-0.337231],[0.833145,-0.508601,-0.217241],[-0.006007,-0.401101,0.916014]] 2025-10-28T19:24:14.626Z,1761679454.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536143,-0.772887,-0.339407],[0.844115,-0.493023,-0.210707],[-0.004483,-0.399468,0.916736]] 2025-10-28T19:24:14.987Z,1761679454.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518779,-0.783403,-0.342270],[0.854903,-0.476825,-0.204398],[-0.003077,-0.398645,0.917100]] 2025-10-28T19:24:15.392Z,1761679455.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501381,-0.793061,-0.345936],[0.865225,-0.460433,-0.198463],[-0.001887,-0.398818,0.917028]] 2025-10-28T19:24:15.799Z,1761679455.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483603,-0.802901,-0.348536],[0.875287,-0.443895,-0.191912],[-0.000627,-0.397878,0.917438]] 2025-10-28T19:24:16.200Z,1761679456.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466060,-0.811469,-0.352572],[0.884753,-0.427218,-0.186270],[0.000527,-0.398752,0.917059]] 2025-10-28T19:24:16.240Z,1761679456.240 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:24:16.449Z,1761679456.449 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:24:16.449Z,1761679456.449 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:24:16.634Z,1761679456.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448075,-0.820556,-0.354846],[0.893994,-0.410481,-0.179666],[0.001768,-0.397734,0.917499]] 2025-10-28T19:24:16.701Z,1761679456.701 [DAT](INFO): DAT read: user:180> 2025-10-28T19:24:16.702Z,1761679456.702 [DAT](INFO): DAT read: Tx time:19:24:16.4323 2025-10-28T19:24:16.702Z,1761679456.702 [DAT](INFO): Ping request sent. 2025-10-28T19:24:16.702Z,1761679456.702 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:24:16.702Z,1761679456.702 [DAT](INFO): publishing transmit ping time 2025-10-28T19:24:16.703Z,1761679456.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937 2025-10-28T19:24:16.953Z,1761679456.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908 2025-10-28T19:24:17.014Z,1761679457.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430409,-0.828272,-0.358767],[0.902630,-0.393833,-0.173650],[0.002535,-0.398574,0.917133]] 2025-10-28T19:24:17.205Z,1761679457.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502941 2025-10-28T19:24:17.411Z,1761679457.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413506,-0.835409,-0.362084],[0.910496,-0.378038,-0.167584],[0.003120,-0.398973,0.916957]] 2025-10-28T19:24:17.458Z,1761679457.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755858 2025-10-28T19:24:17.718Z,1761679457.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009789 2025-10-28T19:24:17.818Z,1761679457.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397065,-0.841967,-0.365283],[0.917784,-0.362764,-0.161477],[0.003447,-0.399367,0.916784]] 2025-10-28T19:24:17.961Z,1761679457.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960 2025-10-28T19:24:18.213Z,1761679458.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511001 2025-10-28T19:24:18.220Z,1761679458.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381838,-0.847762,-0.368103],[0.924221,-0.348599,-0.155863],[0.003814,-0.399723,0.916628]] 2025-10-28T19:24:18.465Z,1761679458.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762949 2025-10-28T19:24:18.638Z,1761679458.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367061,-0.853081,-0.370835],[0.930189,-0.334929,-0.150239],[0.003962,-0.400093,0.916466]] 2025-10-28T19:24:18.718Z,1761679458.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016255 2025-10-28T19:24:18.969Z,1761679458.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266968 2025-10-28T19:24:19.026Z,1761679459.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352491,-0.858281,-0.372967],[0.935806,-0.321529,-0.144520],[0.004120,-0.399967,0.916520]] 2025-10-28T19:24:19.221Z,1761679459.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518891 2025-10-28T19:24:19.430Z,1761679459.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338073,-0.862633,-0.376259],[0.941109,-0.307945,-0.139586],[0.004544,-0.401291,0.915939]] 2025-10-28T19:24:19.473Z,1761679459.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771019 2025-10-28T19:24:19.725Z,1761679459.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023061 2025-10-28T19:24:19.835Z,1761679459.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323692,-0.867179,-0.378451],[0.946145,-0.294207,-0.135103],[0.005816,-0.401801,0.915709]] 2025-10-28T19:24:19.977Z,1761679459.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856 2025-10-28T19:24:20.233Z,1761679460.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530823 2025-10-28T19:24:20.246Z,1761679460.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309133,-0.871413,-0.380890],[0.950984,-0.279816,-0.131653],[0.008145,-0.402918,0.915200]] 2025-10-28T19:24:20.481Z,1761679460.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779459 2025-10-28T19:24:20.644Z,1761679460.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294152,-0.875530,-0.383303],[0.955688,-0.264563,-0.129100],[0.011623,-0.404293,0.914556]] 2025-10-28T19:24:20.734Z,1761679460.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031762 2025-10-28T19:24:20.985Z,1761679460.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282929 2025-10-28T19:24:21.046Z,1761679461.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278248,-0.878937,-0.387360],[0.960377,-0.247892,-0.127380],[0.015935,-0.407455,0.913086]] 2025-10-28T19:24:21.237Z,1761679461.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534970 2025-10-28T19:24:21.459Z,1761679461.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260645,-0.883472,-0.389283],[0.965218,-0.229915,-0.124474],[0.020468,-0.408186,0.912669]] 2025-10-28T19:24:21.489Z,1761679461.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787060 2025-10-28T19:24:21.741Z,1761679461.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038988 2025-10-28T19:24:21.854Z,1761679461.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240971,-0.887542,-0.392686],[0.970220,-0.210035,-0.120657],[0.024611,-0.410066,0.911723]] 2025-10-28T19:24:21.993Z,1761679461.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291205 2025-10-28T19:24:22.250Z,1761679462.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547904 2025-10-28T19:24:22.260Z,1761679462.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219921,-0.892129,-0.394639],[0.975105,-0.189275,-0.115520],[0.028364,-0.410220,0.911545]] 2025-10-28T19:24:22.301Z,1761679462.301 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:24:22.301Z,1761679462.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:24:22.301Z,1761679462.301 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:24:22.301Z,1761679462.301 [marl:UpdateRudder:A] Stopped 2025-10-28T19:24:22.301Z,1761679462.301 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:24:22.497Z,1761679462.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795102 2025-10-28T19:24:22.662Z,1761679462.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197211,-0.897386,-0.394723],[0.979860,-0.167555,-0.108626],[0.031342,-0.408195,0.912356]] 2025-10-28T19:24:22.729Z,1761679462.729 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:24:22.729Z,1761679462.729 [marl:UpdateRudder:B] Stopped 2025-10-28T19:24:22.729Z,1761679462.729 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:24:22.729Z,1761679462.729 [marl:UpdateRudder] Stopped 2025-10-28T19:24:22.729Z,1761679462.729 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:24:22.750Z,1761679462.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047661 2025-10-28T19:24:23.001Z,1761679463.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298930 2025-10-28T19:24:23.090Z,1761679463.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174627,-0.901900,-0.395073],[0.984069,-0.146259,-0.101081],[0.033382,-0.406430,0.913072]] 2025-10-28T19:24:23.253Z,1761679463.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550873 2025-10-28T19:24:23.471Z,1761679463.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151058,-0.905939,-0.395545],[0.987916,-0.124309,-0.092571],[0.034694,-0.404749,0.913769]] 2025-10-28T19:24:23.505Z,1761679463.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803110 2025-10-28T19:24:23.757Z,1761679463.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055283 2025-10-28T19:24:23.874Z,1761679463.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126672,-0.909741,-0.395379],[0.991325,-0.102016,-0.082871],[0.035056,-0.402447,0.914772]] 2025-10-28T19:24:24.010Z,1761679464.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307655 2025-10-28T19:24:24.261Z,1761679464.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558936 2025-10-28T19:24:24.281Z,1761679464.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102285,-0.913866,-0.392922],[0.994154,-0.080184,-0.072305],[0.034572,-0.398021,0.916725]] 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode] Stopped 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:24:24.307Z,1761679464.307 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:24:24.308Z,1761679464.308 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:24:24.308Z,1761679464.308 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:24:24.308Z,1761679464.308 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:24:24.308Z,1761679464.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:24:24.308Z,1761679464.308 [marl:UpdateSpeed] Stopped 2025-10-28T19:24:24.309Z,1761679464.309 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:24:24.514Z,1761679464.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811609 2025-10-28T19:24:24.684Z,1761679464.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078247,-0.916912,-0.391343],[0.996370,-0.058725,-0.061626],[0.033524,-0.394745,0.918179]] 2025-10-28T19:24:24.766Z,1761679464.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064246 2025-10-28T19:24:25.017Z,1761679465.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314927 2025-10-28T19:24:25.090Z,1761679465.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054440,-0.919132,-0.390169],[0.997996,-0.037469,-0.050985],[0.032243,-0.392163,0.919331]] 2025-10-28T19:24:25.269Z,1761679465.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566888 2025-10-28T19:24:25.494Z,1761679465.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031011,-0.919675,-0.391453],[0.999040,-0.016398,-0.040619],[0.030937,-0.392337,0.919301]] 2025-10-28T19:24:25.521Z,1761679465.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819061 2025-10-28T19:24:25.774Z,1761679465.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071570 2025-10-28T19:24:25.898Z,1761679465.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007756,-0.919605,-0.392767],[0.999525,0.004586,-0.030474],[0.029825,-0.392817,0.919133]] 2025-10-28T19:24:26.025Z,1761679466.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323001 2025-10-28T19:24:26.277Z,1761679466.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575487 2025-10-28T19:24:26.298Z,1761679466.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015158,-0.918532,-0.395057],[0.999473,0.025261,-0.020385],[0.028704,-0.394540,0.918430]] 2025-10-28T19:24:26.529Z,1761679466.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826938 2025-10-28T19:24:26.703Z,1761679466.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038262,-0.917188,-0.396614],[0.998884,0.046101,-0.010246],[0.027682,-0.395779,0.917928]] 2025-10-28T19:24:26.781Z,1761679466.781 [DAT](INFO): Reached modem response timeout 2025-10-28T19:24:27.108Z,1761679467.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061307,-0.915357,-0.397948],[0.997760,0.066895,-0.000157],[0.026764,-0.397047,0.917408]] 2025-10-28T19:24:27.511Z,1761679467.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083729,-0.912621,-0.400140],[0.996147,0.087169,0.009630],[0.026091,-0.399405,0.916403]] 2025-10-28T19:24:27.919Z,1761679467.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106147,-0.909031,-0.402982],[0.994029,0.107308,0.019769],[0.025273,-0.402675,0.914994]] 2025-10-28T19:24:28.319Z,1761679468.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127536,-0.904954,-0.405946],[0.991529,0.126480,0.029554],[0.024599,-0.406276,0.913419]] 2025-10-28T19:24:28.724Z,1761679468.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148123,-0.901213,-0.407277],[0.988681,0.144879,0.038989],[0.023869,-0.408442,0.912472]] 2025-10-28T19:24:29.050Z,1761679469.050 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:24:29.050Z,1761679469.050 [DAT](INFO): response not received 2025-10-28T19:24:29.050Z,1761679469.050 [DAT](ERROR): No response from remote modem. 2025-10-28T19:24:29.127Z,1761679469.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167554,-0.898452,-0.405844],[0.985592,0.162303,0.047601],[0.023103,-0.407973,0.912702]] 2025-10-28T19:24:29.530Z,1761679469.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185821,-0.895701,-0.403968],[0.982327,0.178735,0.055560],[0.022438,-0.407153,0.913084]] 2025-10-28T19:24:29.939Z,1761679469.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203331,-0.892806,-0.401938],[0.978859,0.194657,0.062799],[0.022172,-0.406209,0.913511]] 2025-10-28T19:24:30.341Z,1761679470.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219845,-0.889574,-0.400407],[0.975274,0.209911,0.069124],[0.022558,-0.405703,0.913726]] 2025-10-28T19:24:30.777Z,1761679470.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236635,-0.886033,-0.398685],[0.971326,0.225449,0.075484],[0.023002,-0.405115,0.913976]] 2025-10-28T19:24:31.147Z,1761679471.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252842,-0.883012,-0.395426],[0.967221,0.240637,0.081100],[0.023542,-0.402970,0.914910]] 2025-10-28T19:24:31.559Z,1761679471.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269239,-0.879962,-0.391379],[0.962770,0.256125,0.086451],[0.024168,-0.400084,0.916160]] 2025-10-28T19:24:31.977Z,1761679471.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286266,-0.875089,-0.390220],[0.957834,0.271819,0.093102],[0.024597,-0.400418,0.916003]] 2025-10-28T19:24:32.358Z,1761679472.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304219,-0.869750,-0.388568],[0.952268,0.288468,0.099862],[0.025235,-0.400401,0.915992]] 2025-10-28T19:24:32.767Z,1761679472.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322873,-0.863748,-0.386900],[0.946094,0.305640,0.107190],[0.025667,-0.400653,0.915870]] 2025-10-28T19:24:33.167Z,1761679473.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342129,-0.857768,-0.383643],[0.939291,0.323534,0.114277],[0.026099,-0.399450,0.916383]] 2025-10-28T19:24:33.575Z,1761679473.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361793,-0.850872,-0.380949],[0.931876,0.341770,0.121655],[0.026684,-0.399012,0.916558]] 2025-10-28T19:24:33.978Z,1761679473.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382248,-0.843069,-0.378313],[0.923640,0.360924,0.128928],[0.027847,-0.398707,0.916655]] 2025-10-28T19:24:34.378Z,1761679474.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403101,-0.834139,-0.376460],[0.914688,0.380380,0.136593],[0.029261,-0.399404,0.916308]] 2025-10-28T19:24:34.788Z,1761679474.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424346,-0.825081,-0.373058],[0.904975,0.400458,0.143712],[0.030820,-0.398592,0.916610]] 2025-10-28T19:24:35.188Z,1761679475.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446550,-0.815117,-0.369022],[0.894192,0.421223,0.151632],[0.031843,-0.397688,0.916968]] 2025-10-28T19:24:35.611Z,1761679475.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469072,-0.804407,-0.364555],[0.882557,0.442206,0.159837],[0.032634,-0.396715,0.917361]] 2025-10-28T19:24:35.636Z,1761679475.636 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:24:35.636Z,1761679475.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:24:35.637Z,1761679475.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:24:35.637Z,1761679475.637 [marl:UpdateRudder:A] Stopped 2025-10-28T19:24:35.637Z,1761679475.637 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:24:35.998Z,1761679475.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491415,-0.793425,-0.359149],[0.870306,0.462914,0.168159],[0.032833,-0.395205,0.918006]] 2025-10-28T19:24:36.046Z,1761679476.046 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:24:36.047Z,1761679476.047 [marl:UpdateRudder:B] Stopped 2025-10-28T19:24:36.047Z,1761679476.047 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:24:36.047Z,1761679476.047 [marl:UpdateRudder] Stopped 2025-10-28T19:24:36.047Z,1761679476.047 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:24:36.399Z,1761679476.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513285,-0.781443,-0.354803],[0.857594,0.482789,0.177333],[0.032719,-0.395300,0.917969]] 2025-10-28T19:24:36.814Z,1761679476.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533904,-0.770142,-0.349039],[0.844939,0.501577,0.185739],[0.032024,-0.394083,0.918517]] 2025-10-28T19:24:37.216Z,1761679477.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553651,-0.758132,-0.344539],[0.832191,0.518844,0.195598],[0.030473,-0.395016,0.918169]] 2025-10-28T19:24:37.619Z,1761679477.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571915,-0.746171,-0.340795],[0.819794,0.534662,0.205119],[0.029156,-0.396693,0.917488]] 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:24:37.658Z,1761679477.658 [marl:UpdateCommandMode] Stopped 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed] Stopped 2025-10-28T19:24:37.659Z,1761679477.659 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:24:38.023Z,1761679478.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588287,-0.735229,-0.336685],[0.808169,0.548937,0.213377],[0.027938,-0.397625,0.917122]] 2025-10-28T19:24:38.429Z,1761679478.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603362,-0.724425,-0.333410],[0.797009,0.561962,0.221304],[0.027045,-0.399257,0.916440]] 2025-10-28T19:24:38.831Z,1761679478.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617262,-0.714266,-0.329865],[0.786304,0.574291,0.227849],[0.026693,-0.400016,0.916119]] 2025-10-28T19:24:39.235Z,1761679479.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631079,-0.703404,-0.327051],[0.775258,0.586447,0.234640],[0.026752,-0.401625,0.915413]] 2025-10-28T19:24:39.638Z,1761679479.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644859,-0.692652,-0.323093],[0.763800,0.599336,0.239597],[0.027684,-0.401285,0.915535]] 2025-10-28T19:24:40.083Z,1761679480.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659186,-0.681265,-0.318357],[0.751429,0.612964,0.244191],[0.028783,-0.400190,0.915980]] 2025-10-28T19:24:40.446Z,1761679480.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674299,-0.668275,-0.314211],[0.737843,0.627064,0.249755],[0.030125,-0.400248,0.915911]] 2025-10-28T19:24:40.850Z,1761679480.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690252,-0.653667,-0.310278],[0.722887,0.641600,0.256483],[0.031420,-0.401334,0.915393]] 2025-10-28T19:24:41.254Z,1761679481.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706672,-0.638479,-0.304891],[0.706783,0.656958,0.262419],[0.032752,-0.400936,0.915520]] 2025-10-28T19:24:41.554Z,1761679481.554 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:24:41.662Z,1761679481.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722963,-0.622461,-0.299777],[0.690064,0.671748,0.269382],[0.033695,-0.401618,0.915187]] 2025-10-28T19:24:42.066Z,1761679482.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738540,-0.607157,-0.293121],[0.673334,0.686381,0.274778],[0.034359,-0.400303,0.915739]] 2025-10-28T19:24:42.467Z,1761679482.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753022,-0.593135,-0.284866],[0.657077,0.700718,0.277929],[0.034761,-0.396465,0.917391]] 2025-10-28T19:24:42.556Z,1761679482.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:24:42.875Z,1761679482.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766755,-0.579279,-0.276628],[0.640999,0.714222,0.281082],[0.034749,-0.392839,0.918950]] 2025-10-28T19:24:43.274Z,1761679483.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779489,-0.565075,-0.270348],[0.625471,0.725796,0.286366],[0.034400,-0.392314,0.919188]] 2025-10-28T19:24:43.680Z,1761679483.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791722,-0.550529,-0.264755],[0.609929,0.736586,0.292279],[0.034106,-0.392886,0.918955]] 2025-10-28T19:24:44.082Z,1761679484.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803388,-0.535904,-0.259567],[0.594507,0.746492,0.298850],[0.033610,-0.394406,0.918321]] 2025-10-28T19:24:44.490Z,1761679484.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814376,-0.521662,-0.254285],[0.579390,0.755870,0.304906],[0.033148,-0.395638,0.917808]] 2025-10-28T19:24:44.891Z,1761679484.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825118,-0.507336,-0.248579],[0.564030,0.764982,0.310923],[0.032416,-0.396754,0.917352]] 2025-10-28T19:24:45.295Z,1761679485.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836021,-0.492224,-0.242454],[0.547786,0.774193,0.317105],[0.031620,-0.397920,0.916875]] 2025-10-28T19:24:45.699Z,1761679485.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847141,-0.476576,-0.235005],[0.530452,0.784442,0.321359],[0.031196,-0.396895,0.917334]] 2025-10-28T19:24:46.114Z,1761679486.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857882,-0.460865,-0.227248],[0.512933,0.794421,0.325262],[0.030628,-0.395600,0.917912]] 2025-10-28T19:24:46.507Z,1761679486.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868677,-0.444289,-0.219108],[0.494460,0.804585,0.328865],[0.030180,-0.394018,0.918607]] 2025-10-28T19:24:46.910Z,1761679486.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879043,-0.427613,-0.210788],[0.475838,0.814188,0.332680],[0.029362,-0.392741,0.919180]] 2025-10-28T19:24:47.314Z,1761679487.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889035,-0.410823,-0.202093],[0.456941,0.823812,0.335469],[0.028668,-0.390588,0.920119]] 2025-10-28T19:24:47.721Z,1761679487.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898576,-0.393471,-0.194271],[0.437944,0.832029,0.340490],[0.027666,-0.391036,0.919960]] 2025-10-28T19:24:48.122Z,1761679488.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907562,-0.376475,-0.186007],[0.419103,0.839683,0.345378],[0.026161,-0.391407,0.919846]] 2025-10-28T19:24:48.533Z,1761679488.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915675,-0.360431,-0.177846],[0.401161,0.846782,0.349329],[0.024688,-0.391216,0.919968]] 2025-10-28T19:24:48.931Z,1761679488.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923754,-0.343687,-0.168992],[0.382300,0.853902,0.353126],[0.022938,-0.390807,0.920187]] 2025-10-28T19:24:49.005Z,1761679489.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:24:49.006Z,1761679489.006 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:24:49.006Z,1761679489.006 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:24:49.007Z,1761679489.007 [marl:UpdateRudder:A] Stopped 2025-10-28T19:24:49.007Z,1761679489.007 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:24:49.337Z,1761679489.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931282,-0.327157,-0.160256],[0.363664,0.860840,0.355953],[0.021503,-0.389772,0.920660]] 2025-10-28T19:24:49.365Z,1761679489.365 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:24:49.365Z,1761679489.365 [marl:UpdateRudder:B] Stopped 2025-10-28T19:24:49.365Z,1761679489.365 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:24:49.365Z,1761679489.365 [marl:UpdateRudder] Stopped 2025-10-28T19:24:49.366Z,1761679489.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:24:49.741Z,1761679489.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938749,-0.309437,-0.151654],[0.344029,0.866917,0.360693],[0.019860,-0.390774,0.920272]] 2025-10-28T19:24:50.142Z,1761679490.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946033,-0.291004,-0.142613],[0.323537,0.873339,0.364147],[0.018581,-0.390635,0.920358]] 2025-10-28T19:24:50.556Z,1761679490.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959130,-0.253598,-0.125527],[0.282470,0.884302,0.371781],[0.016721,-0.392044,0.919794]] 2025-10-28T19:24:50.957Z,1761679490.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964561,-0.235966,-0.118078],[0.263348,0.888787,0.375108],[0.016433,-0.392910,0.919430]] 2025-10-28T19:24:51.023Z,1761679491.023 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:24:51.023Z,1761679491.023 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:24:51.023Z,1761679491.023 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:24:51.024Z,1761679491.024 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateCommandMode] Stopped 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:24:51.028Z,1761679491.028 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:24:51.029Z,1761679491.029 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:24:51.029Z,1761679491.029 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:24:51.030Z,1761679491.030 [marl:UpdateSpeed] Stopped 2025-10-28T19:24:51.030Z,1761679491.030 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:24:51.363Z,1761679491.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969331,-0.219250,-0.111028],[0.245224,0.892707,0.378074],[0.016223,-0.393705,0.919094]] 2025-10-28T19:24:51.768Z,1761679491.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973540,-0.203375,-0.104208],[0.227969,0.895935,0.381221],[0.015833,-0.394890,0.918592]] 2025-10-28T19:24:52.171Z,1761679492.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977351,-0.187688,-0.097769],[0.211041,0.898736,0.384363],[0.015729,-0.396290,0.917991]] 2025-10-28T19:24:52.585Z,1761679492.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980735,-0.172347,-0.091951],[0.194708,0.900395,0.389073],[0.015737,-0.399481,0.916606]] 2025-10-28T19:24:52.971Z,1761679492.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983855,-0.156917,-0.086062],[0.178278,0.901478,0.394403],[0.015695,-0.403378,0.914899]] 2025-10-28T19:24:53.374Z,1761679493.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986734,-0.141490,-0.079598],[0.161589,0.903200,0.397641],[0.015630,-0.405228,0.914082]] 2025-10-28T19:24:53.785Z,1761679493.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989401,-0.125673,-0.072751],[0.144366,0.905260,0.399578],[0.015642,-0.405846,0.913808]] 2025-10-28T19:24:54.189Z,1761679494.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991888,-0.109077,-0.065269],[0.126169,0.907316,0.401072],[0.015472,-0.406053,0.913719]] 2025-10-28T19:24:54.625Z,1761679494.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994204,-0.091045,-0.057185],[0.106419,0.909056,0.402855],[0.015307,-0.406605,0.913476]] 2025-10-28T19:24:54.990Z,1761679494.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996236,-0.071760,-0.048616],[0.085342,0.910156,0.405379],[0.015158,-0.408003,0.912855]] 2025-10-28T19:24:55.394Z,1761679495.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997890,-0.051570,-0.039438],[0.063180,0.911160,0.407179],[0.014936,-0.408812,0.912497]] 2025-10-28T19:24:56.203Z,1761679496.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999723,-0.011477,-0.020569],[0.018850,0.913478,0.406452],[0.014124,-0.406727,0.913440]] 2025-10-28T19:24:56.636Z,1761679496.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999901,0.007696,-0.011736],[-0.002278,0.914156,0.405356],[0.013848,-0.405290,0.914083]] 2025-10-28T19:24:57.018Z,1761679497.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999642,0.026593,-0.003083],[-0.023082,0.914492,0.403945],[0.013562,-0.403729,0.914778]] 2025-10-28T19:24:57.416Z,1761679497.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998998,0.044529,0.004461],[-0.042586,0.915280,0.400560],[0.013753,-0.400349,0.916259]] 2025-10-28T19:24:57.820Z,1761679497.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998042,0.061539,0.011187],[-0.060913,0.915681,0.397263],[0.014204,-0.397167,0.917637]] 2025-10-28T19:24:58.223Z,1761679498.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996817,0.077758,0.017608],[-0.078369,0.915068,0.395613],[0.014650,-0.395733,0.918249]] 2025-10-28T19:24:58.639Z,1761679498.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995295,0.093780,0.024376],[-0.095750,0.913311,0.395846],[0.014860,-0.396317,0.917993]] 2025-10-28T19:24:59.033Z,1761679499.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993555,0.108994,0.031139],[-0.112385,0.911290,0.396130],[0.014799,-0.397077,0.917666]] 2025-10-28T19:24:59.436Z,1761679499.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991586,0.123813,0.037789],[-0.128584,0.908303,0.398061],[0.014961,-0.399570,0.916580]] 2025-10-28T19:24:59.839Z,1761679499.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989262,0.139051,0.045006],[-0.145376,0.904478,0.400981],[0.015050,-0.403218,0.914980]] 2025-10-28T19:25:00.246Z,1761679500.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986820,0.153376,0.051586],[-0.161110,0.901434,0.401822],[0.015129,-0.404837,0.914264]] 2025-10-28T19:25:00.647Z,1761679500.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983938,0.168553,0.058782],[-0.177865,0.897770,0.402956],[0.015147,-0.406939,0.913330]] 2025-10-28T19:25:01.052Z,1761679501.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980637,0.184365,0.066032],[-0.195267,0.894921,0.401233],[0.014880,-0.406358,0.913593]] 2025-10-28T19:25:01.454Z,1761679501.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976984,0.200288,0.073398],[-0.212808,0.891499,0.399928],[0.014667,-0.406343,0.913603]] 2025-10-28T19:25:01.859Z,1761679501.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972921,0.216444,0.081097],[-0.230679,0.887164,0.399658],[0.014558,-0.407543,0.913070]] 2025-10-28T19:25:02.265Z,1761679502.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968518,0.232615,0.088675],[-0.248509,0.882370,0.399583],[0.014705,-0.409040,0.912398]] 2025-10-28T19:25:02.289Z,1761679502.289 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:25:02.289Z,1761679502.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:25:02.290Z,1761679502.290 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:25:02.290Z,1761679502.290 [marl:UpdateRudder:A] Stopped 2025-10-28T19:25:02.290Z,1761679502.290 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:25:02.668Z,1761679502.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963802,0.248434,0.096783],[-0.266215,0.876703,0.400651],[0.014686,-0.411913,0.911105]] 2025-10-28T19:25:02.710Z,1761679502.710 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:25:02.710Z,1761679502.710 [marl:UpdateRudder:B] Stopped 2025-10-28T19:25:02.710Z,1761679502.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:25:02.710Z,1761679502.710 [marl:UpdateRudder] Stopped 2025-10-28T19:25:02.710Z,1761679502.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:25:03.071Z,1761679503.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958613,0.264869,0.104427],[-0.284338,0.871856,0.398772],[0.014577,-0.411961,0.911085]] 2025-10-28T19:25:03.475Z,1761679503.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953121,0.280967,0.112328],[-0.302260,0.866735,0.396748],[0.014114,-0.412101,0.911029]] 2025-10-28T19:25:03.878Z,1761679503.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947150,0.297498,0.120008],[-0.320496,0.861523,0.393778],[0.013759,-0.411428,0.911338]] 2025-10-28T19:25:04.298Z,1761679504.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940926,0.313929,0.126913],[-0.338353,0.856997,0.388681],[0.013254,-0.408661,0.912590]] 2025-10-28T19:25:04.325Z,1761679504.325 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:25:04.325Z,1761679504.325 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:25:04.325Z,1761679504.325 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateCommandMode] Stopped 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:25:04.326Z,1761679504.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:25:04.327Z,1761679504.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:25:04.327Z,1761679504.327 [marl:UpdateSpeed] Stopped 2025-10-28T19:25:04.327Z,1761679504.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:25:04.686Z,1761679504.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934629,0.329284,0.134315],[-0.355408,0.851724,0.385035],[0.012386,-0.407602,0.913076]] 2025-10-28T19:25:05.090Z,1761679505.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927979,0.344666,0.141637],[-0.372461,0.846396,0.380639],[0.011312,-0.405979,0.913812]] 2025-10-28T19:25:05.503Z,1761679505.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920695,0.360062,0.150584],[-0.390149,0.839023,0.379241],[0.010207,-0.407916,0.912963]] 2025-10-28T19:25:06.303Z,1761679506.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904493,0.391987,0.168043],[-0.426421,0.824202,0.372635],[0.007567,-0.408703,0.912636]] 2025-10-28T19:25:06.707Z,1761679506.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895662,0.408424,0.176010],[-0.444689,0.816737,0.367686],[0.006418,-0.407592,0.913142]] 2025-10-28T19:25:07.111Z,1761679507.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886423,0.424709,0.184057],[-0.462846,0.808743,0.362916],[0.005279,-0.406887,0.913463]] 2025-10-28T19:25:07.517Z,1761679507.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876681,0.440827,0.192618],[-0.481055,0.799914,0.358781],[0.004083,-0.407196,0.913332]] 2025-10-28T19:25:07.918Z,1761679507.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866837,0.456560,0.200367],[-0.498582,0.791336,0.353841],[0.002992,-0.406622,0.913592]] 2025-10-28T19:25:08.322Z,1761679508.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856494,0.472538,0.207668],[-0.516153,0.782359,0.348570],[0.002241,-0.405737,0.913987]] 2025-10-28T19:25:08.726Z,1761679508.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846142,0.487816,0.214661],[-0.532956,0.773616,0.342748],[0.001133,-0.404419,0.914573]] 2025-10-28T19:25:09.132Z,1761679509.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835837,0.502122,0.221923],[-0.548977,0.764385,0.338141],[0.000154,-0.404461,0.914555]] 2025-10-28T19:25:09.535Z,1761679509.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825350,0.516023,0.229167],[-0.564621,0.754734,0.334035],[-0.000590,-0.405088,0.914277]] 2025-10-28T19:25:09.939Z,1761679509.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814705,0.529341,0.236755],[-0.579875,0.744362,0.331166],[-0.000932,-0.407091,0.913387]] 2025-10-28T19:25:10.345Z,1761679510.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804086,0.541740,0.244876],[-0.594512,0.733703,0.328992],[-0.001438,-0.410120,0.912031]] 2025-10-28T19:25:10.748Z,1761679510.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793334,0.553130,0.254301],[-0.608782,0.722381,0.327947],[-0.002305,-0.414985,0.909825]] 2025-10-28T19:25:11.151Z,1761679511.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782156,0.564387,0.264005],[-0.623073,0.710754,0.326510],[-0.003365,-0.419876,0.907575]] 2025-10-28T19:25:11.555Z,1761679511.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770367,0.576148,0.273110],[-0.637585,0.699121,0.323597],[-0.004497,-0.423419,0.905923]] 2025-10-28T19:25:11.965Z,1761679511.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757886,0.588331,0.281914],[-0.652361,0.687261,0.319527],[-0.005761,-0.426075,0.904670]] 2025-10-28T19:25:12.371Z,1761679512.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744899,0.600967,0.289767],[-0.667142,0.675464,0.314119],[-0.006952,-0.427302,0.904082]] 2025-10-28T19:25:12.677Z,1761679512.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:25:12.773Z,1761679512.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731328,0.613918,0.297094],[-0.681979,0.663389,0.307928],[-0.008046,-0.427808,0.903834]] 2025-10-28T19:25:13.171Z,1761679513.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716894,0.627193,0.304453],[-0.697127,0.650383,0.301690],[-0.008793,-0.428521,0.903489]] 2025-10-28T19:25:13.575Z,1761679513.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701851,0.640961,0.310764],[-0.712260,0.637325,0.294112],[-0.009544,-0.427768,0.903838]] 2025-10-28T19:25:13.680Z,1761679513.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:25:13.994Z,1761679513.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687148,0.654906,0.314524],[-0.726446,0.625412,0.284844],[-0.010161,-0.424215,0.905505]] 2025-10-28T19:25:14.384Z,1761679514.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671490,0.669137,0.318367],[-0.740935,0.612544,0.275328],[-0.010782,-0.420769,0.907104]] 2025-10-28T19:25:14.797Z,1761679514.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655437,0.683329,0.321658],[-0.755163,0.599411,0.265398],[-0.011451,-0.416856,0.908900]] 2025-10-28T19:25:15.209Z,1761679515.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639659,0.696621,0.324892],[-0.768555,0.586566,0.255467],[-0.012607,-0.413109,0.910594]] 2025-10-28T19:25:15.595Z,1761679515.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622647,0.710797,0.327228],[-0.782383,0.572807,0.244477],[-0.013665,-0.408240,0.912772]] 2025-10-28T19:25:15.625Z,1761679515.625 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:25:15.625Z,1761679515.625 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:25:15.626Z,1761679515.626 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:25:15.626Z,1761679515.626 [marl:UpdateRudder:A] Stopped 2025-10-28T19:25:15.626Z,1761679515.626 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:25:16.045Z,1761679516.045 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:25:16.046Z,1761679516.046 [marl:UpdateRudder:B] Stopped 2025-10-28T19:25:16.046Z,1761679516.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:25:16.046Z,1761679516.046 [marl:UpdateRudder] Stopped 2025-10-28T19:25:16.046Z,1761679516.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:25:16.403Z,1761679516.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587442,0.736367,0.335671],[-0.809116,0.542422,0.226075],[-0.015601,-0.404403,0.914448]] 2025-10-28T19:25:16.444Z,1761679516.444 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:25:16.458Z,1761679516.458 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:25:16.458Z,1761679516.458 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:25:16.709Z,1761679516.709 [DAT](INFO): DAT read: user:181> 2025-10-28T19:25:16.710Z,1761679516.710 [DAT](INFO): DAT read: Tx time:19:25:16.4321 2025-10-28T19:25:16.710Z,1761679516.710 [DAT](INFO): Ping request sent. 2025-10-28T19:25:16.710Z,1761679516.710 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:25:16.710Z,1761679516.710 [DAT](INFO): publishing transmit ping time 2025-10-28T19:25:16.711Z,1761679516.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T19:25:16.806Z,1761679516.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569910,0.748361,0.339350],[-0.821542,0.527217,0.217051],[-0.016479,-0.402490,0.915276]] 2025-10-28T19:25:16.962Z,1761679516.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251562 2025-10-28T19:25:17.210Z,1761679517.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552677,0.758831,0.344561],[-0.833222,0.511546,0.209907],[-0.016975,-0.403107,0.914995]] 2025-10-28T19:25:17.213Z,1761679517.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502866 2025-10-28T19:25:17.465Z,1761679517.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755094 2025-10-28T19:25:17.617Z,1761679517.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535766,0.769181,0.348302],[-0.844191,0.496375,0.202371],[-0.017229,-0.402457,0.915277]] 2025-10-28T19:25:17.641Z,1761679517.641 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode] Stopped 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:25:17.642Z,1761679517.642 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed] Stopped 2025-10-28T19:25:17.643Z,1761679517.643 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:25:17.717Z,1761679517.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006949 2025-10-28T19:25:17.970Z,1761679517.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259497 2025-10-28T19:25:18.018Z,1761679518.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519158,0.778936,0.351757],[-0.854500,0.481458,0.195009],[-0.017456,-0.401817,0.915554]] 2025-10-28T19:25:18.221Z,1761679518.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510792 2025-10-28T19:25:18.423Z,1761679518.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502304,0.788336,0.355270],[-0.864517,0.466100,0.188046],[-0.017348,-0.401593,0.915654]] 2025-10-28T19:25:18.473Z,1761679518.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763327 2025-10-28T19:25:18.725Z,1761679518.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014826 2025-10-28T19:25:18.828Z,1761679518.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486155,0.796941,0.358521],[-0.873699,0.451451,0.181226],[-0.017428,-0.401344,0.915762]] 2025-10-28T19:25:18.981Z,1761679518.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270471 2025-10-28T19:25:19.229Z,1761679519.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518765 2025-10-28T19:25:19.232Z,1761679519.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470029,0.804946,0.362125],[-0.882478,0.436698,0.174723],[-0.017496,-0.401693,0.915607]] 2025-10-28T19:25:19.482Z,1761679519.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771895 2025-10-28T19:25:19.634Z,1761679519.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454194,0.811936,0.366699],[-0.890722,0.422145,0.168546],[-0.017951,-0.403179,0.914945]] 2025-10-28T19:25:19.733Z,1761679519.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023201 2025-10-28T19:25:19.985Z,1761679519.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274797 2025-10-28T19:25:20.048Z,1761679520.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438042,0.819114,0.370366],[-0.898766,0.407478,0.161804],[-0.018380,-0.403749,0.914685]] 2025-10-28T19:25:20.237Z,1761679520.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526792 2025-10-28T19:25:20.442Z,1761679520.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422076,0.825241,0.375272],[-0.906358,0.392878,0.155442],[-0.019159,-0.405740,0.913788]] 2025-10-28T19:25:20.489Z,1761679520.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779008 2025-10-28T19:25:20.741Z,1761679520.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030768 2025-10-28T19:25:20.846Z,1761679520.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406186,0.830556,0.381037],[-0.913568,0.378304,0.149266],[-0.020174,-0.408733,0.912431]] 2025-10-28T19:25:20.993Z,1761679520.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282942 2025-10-28T19:25:21.245Z,1761679521.245 [DAT](INFO): DAT read: Rx Time:19:25:20.4244 2025-10-28T19:25:21.245Z,1761679521.245 [DAT](INFO): Rx dataTimestamp_ set to:1761679521.245087 2025-10-28T19:25:21.246Z,1761679521.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535853 2025-10-28T19:25:21.254Z,1761679521.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389944,0.835559,0.387019],[-0.920593,0.363432,0.142915],[-0.021241,-0.412016,0.910929]] 2025-10-28T19:25:21.497Z,1761679521.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786838 2025-10-28T19:25:21.654Z,1761679521.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373837,0.840295,0.392621],[-0.927225,0.348803,0.136348],[-0.022375,-0.415020,0.909537]] 2025-10-28T19:25:21.757Z,1761679521.757 [DAT](INFO): DAT read: 19:25:20.4244 LVL= 15536, 10305, 13394, 21107, AGC= 78, IDX= 35,-0.41,-0.203, 1.753, 0.344, 0.456, PHS=-0.557, 1.342,-0.156, RAW= 318.4, -7.3, CAL= 318.0, -10.7, ROT= 192.0, 10.7 2025-10-28T19:25:21.758Z,1761679521.758 [DAT](INFO): got valid direction response: 19:25:20.4244 LVL= 15536, 10305, 13394, 21107, AGC= 78, IDX= 35,-0.41,-0.203, 1.753, 0.344, 0.456, PHS=-0.557, 1.342,-0.156, RAW= 318.4, -7.3, CAL= 318.0, -10.7, ROT= 192.0, 10.7 2025-10-28T19:25:21.759Z,1761679521.759 [DAT](INFO): DAT read: Bearing 101, -15 (Remote) 2025-10-28T19:25:21.764Z,1761679521.764 [DAT](INFO): Remote Bearing received:Bearing 101, -15 (Remote) 2025-10-28T19:25:21.765Z,1761679521.765 [DAT](INFO): DAT read: Bearing 271.7, -5.0 (Local) 2025-10-28T19:25:21.766Z,1761679521.766 [DAT](INFO): Local bearing/azimuth received: Bearing 271.7, -5.0 (Local) 2025-10-28T19:25:21.767Z,1761679521.767 [DAT](INFO): DAT read: Range 11 to 20 : 1472.3 m (Round-trip 1963.1 ms) speed -0.3 m/s 2025-10-28T19:25:21.794Z,1761679521.794 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:25:21.795Z,1761679521.795 [DAT](INFO): direction in FSK: [-0.961140,-0.204297,-0.185667] 2025-10-28T19:25:21.795Z,1761679521.795 [DAT](INFO): publishing direction and range info 2025-10-28T19:25:22.058Z,1761679522.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357467,0.845074,0.397576],[-0.933628,0.334097,0.129296],[-0.023564,-0.417407,0.908414]] 2025-10-28T19:25:22.121Z,1761679522.121 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679488.00. Resetting abort timer. 2025-10-28T19:25:22.472Z,1761679522.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341360,0.849830,0.401575],[-0.939607,0.319770,0.122006],[-0.024728,-0.418971,0.907663]] 2025-10-28T19:25:22.868Z,1761679522.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324108,0.855151,0.404563],[-0.945672,0.304465,0.114040],[-0.025654,-0.419545,0.907372]] 2025-10-28T19:25:23.272Z,1761679523.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306145,0.861382,0.405336],[-0.951615,0.288765,0.105085],[-0.026528,-0.417895,0.908108]] 2025-10-28T19:25:23.675Z,1761679523.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287519,0.866928,0.407146],[-0.957389,0.272217,0.096462],[-0.027206,-0.417532,0.908255]] 2025-10-28T19:25:24.079Z,1761679524.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268416,0.872384,0.408532],[-0.962900,0.255245,0.087596],[-0.027858,-0.416888,0.908531]] 2025-10-28T19:25:24.486Z,1761679524.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248459,0.878826,0.407350],[-0.968237,0.237494,0.078190],[-0.028028,-0.413838,0.909919]] 2025-10-28T19:25:24.887Z,1761679524.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228225,0.884058,0.407866],[-0.973192,0.219388,0.069029],[-0.028455,-0.412686,0.910429]] 2025-10-28T19:25:25.292Z,1761679525.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208282,0.889511,0.406679],[-0.977639,0.201671,0.059594],[-0.029006,-0.409998,0.911625]] 2025-10-28T19:25:25.694Z,1761679525.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188059,0.893990,0.406714],[-0.981700,0.183732,0.050068],[-0.029966,-0.408687,0.912183]] 2025-10-28T19:25:26.102Z,1761679526.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167137,0.898352,0.406238],[-0.985451,0.165113,0.040310],[-0.030863,-0.407065,0.912878]] 2025-10-28T19:25:26.503Z,1761679526.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145254,0.902373,0.405739],[-0.988878,0.145655,0.030075],[-0.031959,-0.405595,0.913494]] 2025-10-28T19:25:26.906Z,1761679526.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122417,0.905648,0.405975],[-0.991925,0.125310,0.019563],[-0.033155,-0.405091,0.913675]] 2025-10-28T19:25:27.311Z,1761679527.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098954,0.909126,0.404596],[-0.994502,0.104356,0.008742],[-0.034274,-0.403236,0.914454]] 2025-10-28T19:25:27.716Z,1761679527.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074734,0.912468,0.402264],[-0.996578,0.082625,-0.002274],[-0.035312,-0.400718,0.915521]] 2025-10-28T19:25:28.119Z,1761679528.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050402,0.915255,0.399709],[-0.998087,0.060509,-0.012700],[-0.035809,-0.398304,0.916554]] 2025-10-28T19:25:28.522Z,1761679528.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026513,0.916753,0.398573],[-0.998993,0.038732,-0.022635],[-0.036188,-0.397572,0.916857]] 2025-10-28T19:25:28.927Z,1761679528.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003975,0.917704,0.397245],[-0.999323,0.018179,-0.031999],[-0.036587,-0.396849,0.917154]] 2025-10-28T19:25:29.005Z,1761679529.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:25:29.005Z,1761679529.005 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:25:29.005Z,1761679529.005 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:25:29.005Z,1761679529.005 [marl:UpdateRudder:A] Stopped 2025-10-28T19:25:29.006Z,1761679529.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:25:29.332Z,1761679529.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016527,0.916690,0.399256],[-0.999181,-0.000388,-0.040470],[-0.036944,-0.399598,0.915946]] 2025-10-28T19:25:29.356Z,1761679529.356 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:25:29.357Z,1761679529.357 [marl:UpdateRudder:B] Stopped 2025-10-28T19:25:29.357Z,1761679529.357 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:25:29.357Z,1761679529.357 [marl:UpdateRudder] Stopped 2025-10-28T19:25:29.357Z,1761679529.357 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:25:29.735Z,1761679529.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035361,0.915359,0.401084],[-0.998694,-0.017561,-0.047971],[-0.036867,-0.402256,0.914784]] 2025-10-28T19:25:30.139Z,1761679530.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052514,0.912846,0.404913],[-0.997949,-0.033111,-0.054780],[-0.036599,-0.406959,0.912713]] 2025-10-28T19:25:30.543Z,1761679530.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068049,0.910236,0.408461],[-0.997027,-0.047207,-0.060903],[-0.036154,-0.411391,0.910742]] 2025-10-28T19:25:30.958Z,1761679530.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082358,0.907417,0.412083],[-0.995954,-0.060024,-0.066876],[-0.035950,-0.415923,0.908689]] 2025-10-28T19:25:31.043Z,1761679531.043 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:25:31.043Z,1761679531.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:25:31.044Z,1761679531.044 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:25:31.048Z,1761679531.048 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:25:31.048Z,1761679531.048 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:25:31.048Z,1761679531.048 [marl:UpdateCommandMode] Stopped 2025-10-28T19:25:31.048Z,1761679531.048 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:25:31.048Z,1761679531.048 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed] Stopped 2025-10-28T19:25:31.049Z,1761679531.049 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:25:31.351Z,1761679531.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095693,0.905081,0.414333],[-0.994762,-0.071926,-0.072629],[-0.035934,-0.419113,0.907223]] 2025-10-28T19:25:31.758Z,1761679531.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107882,0.902898,0.416096],[-0.993497,-0.082591,-0.078369],[-0.036393,-0.421845,0.905937]] 2025-10-28T19:25:32.158Z,1761679532.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121024,0.901360,0.415816],[-0.991965,-0.094260,-0.084387],[-0.036869,-0.422688,0.905525]] 2025-10-28T19:25:32.597Z,1761679532.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135672,0.900034,0.414163],[-0.990059,-0.107513,-0.090682],[-0.037089,-0.422349,0.905674]] 2025-10-28T19:25:32.971Z,1761679532.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152867,0.898875,0.410676],[-0.987574,-0.123618,-0.097035],[-0.036455,-0.420406,0.906603]] 2025-10-28T19:25:33.371Z,1761679533.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173496,0.896358,0.407971],[-0.984206,-0.143008,-0.104342],[-0.035184,-0.419631,0.907013]] 2025-10-28T19:25:33.780Z,1761679533.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195540,0.893149,0.405031],[-0.980110,-0.163703,-0.112188],[-0.033896,-0.418912,0.907394]] 2025-10-28T19:25:34.180Z,1761679534.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218403,0.888771,0.402972],[-0.975315,-0.185021,-0.120533],[-0.032568,-0.419350,0.907240]] 2025-10-28T19:25:34.630Z,1761679534.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265181,0.880208,0.393591],[-0.963709,-0.228943,-0.137298],[-0.030741,-0.415716,0.908975]] 2025-10-28T19:25:35.393Z,1761679535.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287847,0.874901,0.389477],[-0.957200,-0.250017,-0.145804],[-0.030188,-0.414777,0.909422]] 2025-10-28T19:25:36.203Z,1761679536.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349779,0.856448,0.379672],[-0.936359,-0.306725,-0.170739],[-0.029775,-0.415230,0.909229]] 2025-10-28T19:25:36.634Z,1761679536.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369462,0.849947,0.375617],[-0.928752,-0.324576,-0.179080],[-0.030292,-0.415018,0.909309]] 2025-10-28T19:25:37.015Z,1761679537.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388428,0.843341,0.371349],[-0.920952,-0.341655,-0.187403],[-0.031171,-0.414787,0.909384]] 2025-10-28T19:25:37.415Z,1761679537.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407639,0.836720,0.365691],[-0.912562,-0.358996,-0.195839],[-0.032581,-0.413547,0.909900]] 2025-10-28T19:25:37.815Z,1761679537.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426923,0.828920,0.361426],[-0.903649,-0.376038,-0.204973],[-0.033996,-0.414109,0.909592]] 2025-10-28T19:25:38.219Z,1761679538.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445784,0.821042,0.356603],[-0.894440,-0.392809,-0.213723],[-0.035399,-0.414234,0.909482]] 2025-10-28T19:25:38.638Z,1761679538.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464277,0.813435,0.350385],[-0.884923,-0.409566,-0.221739],[-0.036865,-0.413012,0.909979]] 2025-10-28T19:25:39.035Z,1761679539.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482442,0.805926,0.343123],[-0.875086,-0.426292,-0.229127],[-0.038389,-0.410802,0.910916]] 2025-10-28T19:25:39.443Z,1761679539.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500340,0.798265,0.335311],[-0.864890,-0.442763,-0.236487],[-0.040316,-0.408331,0.911943]] 2025-10-28T19:25:39.835Z,1761679539.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518340,0.790264,0.326812],[-0.854142,-0.459644,-0.243248],[-0.042013,-0.405229,0.913249]] 2025-10-28T19:25:40.238Z,1761679540.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536425,0.781225,0.319274],[-0.842811,-0.476256,-0.250699],[-0.043796,-0.403569,0.913901]] 2025-10-28T19:25:40.646Z,1761679540.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554413,0.771579,0.311916],[-0.830988,-0.492668,-0.258334],[-0.045654,-0.402422,0.914315]] 2025-10-28T19:25:41.049Z,1761679541.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571573,0.761339,0.306051],[-0.819184,-0.507919,-0.266376],[-0.047353,-0.402966,0.913989]] 2025-10-28T19:25:41.453Z,1761679541.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587848,0.750865,0.301057],[-0.807511,-0.522295,-0.274104],[-0.048574,-0.404238,0.913363]] 2025-10-28T19:25:41.855Z,1761679541.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603014,0.740394,0.296970],[-0.796167,-0.535281,-0.282120],[-0.049918,-0.406559,0.912260]] 2025-10-28T19:25:42.260Z,1761679542.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617095,0.729743,0.294396],[-0.785209,-0.546630,-0.290933],[-0.051381,-0.410696,0.910324]] 2025-10-28T19:25:42.284Z,1761679542.284 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:25:42.284Z,1761679542.284 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:25:42.284Z,1761679542.284 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:25:42.284Z,1761679542.284 [marl:UpdateRudder:A] Stopped 2025-10-28T19:25:42.284Z,1761679542.284 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:25:42.662Z,1761679542.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629502,0.720249,0.291494],[-0.775210,-0.556739,-0.298482],[-0.052695,-0.413864,0.908812]] 2025-10-28T19:25:42.714Z,1761679542.714 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:25:42.714Z,1761679542.714 [marl:UpdateRudder:B] Stopped 2025-10-28T19:25:42.714Z,1761679542.714 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:25:42.714Z,1761679542.714 [marl:UpdateRudder] Stopped 2025-10-28T19:25:42.715Z,1761679542.715 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:25:43.074Z,1761679543.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640669,0.711484,0.288676],[-0.765881,-0.565484,-0.306029],[-0.054493,-0.417155,0.907200]] 2025-10-28T19:25:43.471Z,1761679543.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651291,0.704217,0.282663],[-0.756697,-0.574823,-0.311429],[-0.056832,-0.416721,0.907256]] 2025-10-28T19:25:43.800Z,1761679543.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:25:43.876Z,1761679543.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662028,0.696742,0.276167],[-0.747112,-0.584243,-0.316991],[-0.059513,-0.416185,0.907330]] 2025-10-28T19:25:44.279Z,1761679544.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673367,0.689420,0.266977],[-0.736705,-0.595444,-0.320487],[-0.061981,-0.412488,0.908852]] 2025-10-28T19:25:44.314Z,1761679544.314 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:25:44.314Z,1761679544.314 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:25:44.314Z,1761679544.314 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:25:44.314Z,1761679544.314 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:25:44.314Z,1761679544.314 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateCommandMode] Stopped 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed] Stopped 2025-10-28T19:25:44.315Z,1761679544.315 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:25:44.683Z,1761679544.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685388,0.681307,0.257029],[-0.725338,-0.607624,-0.323539],[-0.064252,-0.408183,0.910636]] 2025-10-28T19:25:44.805Z,1761679544.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:25:45.087Z,1761679545.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698328,0.672531,0.245031],[-0.712691,-0.621547,-0.325193],[-0.066404,-0.401723,0.913351]] 2025-10-28T19:25:45.493Z,1761679545.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712348,0.662158,0.232612],[-0.698466,-0.636467,-0.327193],[-0.068603,-0.395547,0.915880]] 2025-10-28T19:25:45.894Z,1761679545.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727272,0.650428,0.219132],[-0.682681,-0.652561,-0.328802],[-0.070865,-0.388726,0.918624]] 2025-10-28T19:25:46.298Z,1761679546.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743045,0.636731,0.206050],[-0.665234,-0.669075,-0.331365],[-0.073128,-0.383291,0.920728]] 2025-10-28T19:25:46.712Z,1761679546.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759596,0.621267,0.192461],[-0.646042,-0.686544,-0.333596],[-0.075119,-0.377736,0.922861]] 2025-10-28T19:25:47.119Z,1761679547.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776393,0.603839,0.180537],[-0.625537,-0.703329,-0.337687],[-0.076931,-0.375110,0.923783]] 2025-10-28T19:25:47.511Z,1761679547.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793209,0.584636,0.170353],[-0.603872,-0.719137,-0.343774],[-0.078476,-0.375556,0.923471]] 2025-10-28T19:25:47.923Z,1761679547.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810038,0.563619,0.161776],[-0.580862,-0.733525,-0.352903],[-0.080236,-0.379835,0.921568]] 2025-10-28T19:25:48.321Z,1761679548.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826686,0.541606,0.152490],[-0.556715,-0.748033,-0.361269],[-0.081598,-0.383550,0.919908]] 2025-10-28T19:25:48.723Z,1761679548.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842428,0.519543,0.142795],[-0.532441,-0.762084,-0.368421],[-0.082589,-0.386398,0.918627]] 2025-10-28T19:25:49.127Z,1761679549.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857039,0.497405,0.134433],[-0.508418,-0.774027,-0.377350],[-0.083641,-0.391752,0.916261]] 2025-10-28T19:25:49.530Z,1761679549.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870211,0.476280,0.126059],[-0.485417,-0.785072,-0.384750],[-0.084283,-0.396004,0.914372]] 2025-10-28T19:25:49.938Z,1761679549.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881348,0.457227,0.119036],[-0.464795,-0.793845,-0.392142],[-0.084802,-0.400941,0.912170]] 2025-10-28T19:25:50.341Z,1761679550.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890592,0.440863,0.111738],[-0.446760,-0.802026,-0.396434],[-0.085156,-0.402981,0.911238]] 2025-10-28T19:25:50.744Z,1761679550.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898253,0.426378,0.106506],[-0.431151,-0.808006,-0.401541],[-0.085151,-0.406605,0.909627]] 2025-10-28T19:25:51.147Z,1761679551.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904916,0.413275,0.101642],[-0.417122,-0.813842,-0.404561],[-0.084474,-0.408491,0.908845]] 2025-10-28T19:25:51.551Z,1761679551.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910976,0.401091,0.096170],[-0.403964,-0.820544,-0.404377],[-0.083281,-0.407227,0.909522]] 2025-10-28T19:25:51.956Z,1761679551.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916356,0.389666,0.091939],[-0.391864,-0.825860,-0.405461],[-0.082066,-0.407574,0.909477]] 2025-10-28T19:25:52.358Z,1761679552.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921386,0.378463,0.088395],[-0.380217,-0.830651,-0.406760],[-0.080519,-0.408393,0.909248]] 2025-10-28T19:25:52.769Z,1761679552.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926115,0.367789,0.083923],[-0.368914,-0.836486,-0.405209],[-0.078831,-0.406230,0.910364]] 2025-10-28T19:25:53.170Z,1761679553.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930800,0.356908,0.078918],[-0.357270,-0.842677,-0.402807],[-0.077263,-0.403128,0.911876]] 2025-10-28T19:25:53.573Z,1761679553.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935673,0.345299,0.072696],[-0.344553,-0.849563,-0.399406],[-0.076154,-0.398761,0.913887]] 2025-10-28T19:25:53.975Z,1761679553.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941085,0.331750,0.065578],[-0.329654,-0.856728,-0.396668],[-0.075412,-0.394916,0.915617]] 2025-10-28T19:25:54.379Z,1761679554.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947253,0.315358,0.057106],[-0.311584,-0.864492,-0.394422],[-0.075016,-0.391411,0.917153]] 2025-10-28T19:25:54.787Z,1761679554.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953865,0.296454,0.047506],[-0.290716,-0.872450,-0.392831],[-0.075010,-0.388518,0.918383]] 2025-10-28T19:25:55.197Z,1761679555.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960596,0.275507,0.036765],[-0.267577,-0.880829,-0.390568],[-0.075221,-0.385015,0.919840]] 2025-10-28T19:25:55.591Z,1761679555.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966969,0.253540,0.026253],[-0.243399,-0.887862,-0.390459],[-0.075688,-0.383952,0.920246]] 2025-10-28T19:25:55.620Z,1761679555.620 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:25:55.621Z,1761679555.621 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:25:55.621Z,1761679555.621 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:25:55.621Z,1761679555.621 [marl:UpdateRudder:A] Stopped 2025-10-28T19:25:55.621Z,1761679555.621 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:25:55.994Z,1761679555.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972809,0.231085,0.015588],[-0.218612,-0.893900,-0.391346],[-0.076500,-0.384112,0.920112]] 2025-10-28T19:25:56.038Z,1761679556.038 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:25:56.038Z,1761679556.038 [marl:UpdateRudder:B] Stopped 2025-10-28T19:25:56.038Z,1761679556.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:25:56.038Z,1761679556.038 [marl:UpdateRudder] Stopped 2025-10-28T19:25:56.038Z,1761679556.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:25:56.406Z,1761679556.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978052,0.208310,0.004591],[-0.193388,-0.899345,-0.392147],[-0.077559,-0.384428,0.919891]] 2025-10-28T19:25:56.804Z,1761679556.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982660,0.185308,-0.006343],[-0.167952,-0.904079,-0.392980],[-0.078557,-0.385101,0.919525]] 2025-10-28T19:25:57.218Z,1761679557.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986493,0.162966,-0.016538],[-0.143154,-0.906801,-0.396508],[-0.079614,-0.388785,0.917882]] 2025-10-28T19:25:57.611Z,1761679557.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989591,0.141513,-0.026147],[-0.119457,-0.909094,-0.399096],[-0.080247,-0.391819,0.916536]] 2025-10-28T19:25:57.650Z,1761679557.650 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode] Stopped 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:25:57.651Z,1761679557.651 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed] Stopped 2025-10-28T19:25:57.652Z,1761679557.652 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:25:58.014Z,1761679558.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992020,0.120884,-0.035831],[-0.096577,-0.911228,-0.400420],[-0.081054,-0.393764,0.915631]] 2025-10-28T19:25:58.422Z,1761679558.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993815,0.101401,-0.045274],[-0.074960,-0.913353,-0.400210],[-0.081933,-0.394341,0.915304]] 2025-10-28T19:25:58.825Z,1761679558.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995051,0.083565,-0.053756],[-0.055056,-0.914064,-0.401816],[-0.082714,-0.396868,0.914141]] 2025-10-28T19:25:59.226Z,1761679559.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995867,0.066323,-0.062056],[-0.035884,-0.914938,-0.401996],[-0.083440,-0.398107,0.913536]] 2025-10-28T19:25:59.630Z,1761679559.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996336,0.050563,-0.068981],[-0.018336,-0.914057,-0.405170],[-0.083540,-0.402421,0.911635]] 2025-10-28T19:26:00.035Z,1761679560.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996518,0.034772,-0.075774],[-0.000964,-0.913616,-0.406578],[-0.083366,-0.405089,0.910468]] 2025-10-28T19:26:00.440Z,1761679560.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996438,0.020076,-0.081904],[0.015068,-0.913232,-0.407162],[-0.082972,-0.406946,0.909676]] 2025-10-28T19:26:00.854Z,1761679560.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996126,0.004931,-0.087803],[0.031352,-0.912913,-0.406949],[-0.082163,-0.408125,0.909221]] 2025-10-28T19:26:01.247Z,1761679561.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995587,-0.010404,-0.093269],[0.047499,-0.913005,-0.405174],[-0.080940,-0.407816,0.909470]] 2025-10-28T19:26:01.651Z,1761679561.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994741,-0.027074,-0.098780],[0.064717,-0.913656,-0.401304],[-0.079386,-0.405586,0.910603]] 2025-10-28T19:26:02.056Z,1761679562.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993566,-0.043468,-0.104577],[0.081988,-0.913097,-0.399415],[-0.078127,-0.405419,0.910786]] 2025-10-28T19:26:02.459Z,1761679562.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992055,-0.059972,-0.110589],[0.099592,-0.911480,-0.399106],[-0.076864,-0.406949,0.910211]] 2025-10-28T19:26:02.863Z,1761679562.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990226,-0.076648,-0.116519],[0.117421,-0.908987,-0.399943],[-0.075260,-0.409716,0.909103]] 2025-10-28T19:26:03.273Z,1761679563.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988078,-0.093394,-0.122394],[0.135304,-0.906069,-0.400914],[-0.073454,-0.412695,0.907903]] 2025-10-28T19:26:03.677Z,1761679563.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985571,-0.110576,-0.128154],[0.153383,-0.903631,-0.399906],[-0.071584,-0.413792,0.907553]] 2025-10-28T19:26:04.078Z,1761679564.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982696,-0.128270,-0.133621],[0.171758,-0.901092,-0.398161],[-0.069333,-0.414222,0.907531]] 2025-10-28T19:26:04.483Z,1761679564.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979414,-0.146332,-0.139051],[0.190388,-0.898564,-0.395392],[-0.067088,-0.413726,0.907926]] 2025-10-28T19:26:04.897Z,1761679564.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975638,-0.165296,-0.144247],[0.209667,-0.896059,-0.391303],[-0.064573,-0.412014,0.908887]] 2025-10-28T19:26:05.298Z,1761679565.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971302,-0.184788,-0.149753],[0.229591,-0.892883,-0.387360],[-0.062132,-0.410626,0.909685]] 2025-10-28T19:26:05.695Z,1761679565.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966338,-0.204863,-0.155631],[0.250134,-0.889654,-0.382033],[-0.060193,-0.408102,0.910950]] 2025-10-28T19:26:06.503Z,1761679566.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954307,-0.247628,-0.167269],[0.293438,-0.882370,-0.367854],[-0.056502,-0.400129,0.914716]] 2025-10-28T19:26:06.911Z,1761679566.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947552,-0.268294,-0.173676],[0.314914,-0.876497,-0.364118],[-0.054536,-0.399714,0.915016]] 2025-10-28T19:26:07.310Z,1761679567.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940352,-0.288303,-0.180606],[0.336065,-0.869746,-0.361389],[-0.052891,-0.400528,0.914757]] 2025-10-28T19:26:07.714Z,1761679567.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932677,-0.308176,-0.187458],[0.356989,-0.863084,-0.357273],[-0.051689,-0.400141,0.914995]] 2025-10-28T19:26:08.118Z,1761679568.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924676,-0.327516,-0.194186],[0.377390,-0.856014,-0.353294],[-0.050517,-0.399966,0.915137]] 2025-10-28T19:26:08.525Z,1761679568.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916513,-0.345399,-0.201749],[0.396949,-0.847571,-0.352215],[-0.049342,-0.402894,0.913916]] 2025-10-28T19:26:08.926Z,1761679568.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908427,-0.362245,-0.208658],[0.415253,-0.839488,-0.350464],[-0.048212,-0.405017,0.913037]] 2025-10-28T19:26:08.975Z,1761679568.975 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:26:08.975Z,1761679568.975 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:26:08.976Z,1761679568.976 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:26:08.978Z,1761679568.978 [marl:UpdateRudder:A] Stopped 2025-10-28T19:26:08.978Z,1761679568.978 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:26:09.330Z,1761679569.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900746,-0.377511,-0.214810],[0.431805,-0.831723,-0.348971],[-0.046922,-0.407090,0.912182]] 2025-10-28T19:26:09.354Z,1761679569.354 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:26:09.355Z,1761679569.355 [marl:UpdateRudder:B] Stopped 2025-10-28T19:26:09.355Z,1761679569.355 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:26:09.355Z,1761679569.355 [marl:UpdateRudder] Stopped 2025-10-28T19:26:09.355Z,1761679569.355 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:26:09.736Z,1761679569.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893702,-0.391040,-0.219964],[0.446420,-0.823970,-0.348972],[-0.044782,-0.410074,0.910952]] 2025-10-28T19:26:10.142Z,1761679570.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886979,-0.404711,-0.222434],[0.459896,-0.817888,-0.345766],[-0.041991,-0.408984,0.911575]] 2025-10-28T19:26:10.542Z,1761679570.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879759,-0.418757,-0.225092],[0.473835,-0.810946,-0.343287],[-0.038783,-0.408667,0.911859]] 2025-10-28T19:26:10.947Z,1761679570.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872409,-0.432434,-0.227823],[0.487509,-0.803389,-0.341907],[-0.035179,-0.409349,0.911699]] 2025-10-28T19:26:11.004Z,1761679571.004 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:26:11.004Z,1761679571.004 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:26:11.004Z,1761679571.004 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateCommandMode] Stopped 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:26:11.005Z,1761679571.005 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:26:11.006Z,1761679571.006 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:26:11.006Z,1761679571.006 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:26:11.006Z,1761679571.006 [marl:UpdateSpeed] Stopped 2025-10-28T19:26:11.006Z,1761679571.006 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:26:11.351Z,1761679571.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864649,-0.446771,-0.229733],[0.501407,-0.795850,-0.339432],[-0.031185,-0.408679,0.912145]] 2025-10-28T19:26:11.760Z,1761679571.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856477,-0.460862,-0.232494],[0.515471,-0.787310,-0.338279],[-0.027145,-0.409572,0.911874]] 2025-10-28T19:26:12.159Z,1761679572.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847605,-0.476083,-0.234332],[0.530134,-0.778826,-0.335244],[-0.022900,-0.408382,0.912524]] 2025-10-28T19:26:12.575Z,1761679572.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837927,-0.491606,-0.237068],[0.545458,-0.769262,-0.332734],[-0.018794,-0.408118,0.912736]] 2025-10-28T19:26:12.966Z,1761679572.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827413,-0.507352,-0.240793],[0.561385,-0.758917,-0.329988],[-0.015322,-0.408214,0.912758]] 2025-10-28T19:26:13.384Z,1761679573.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816253,-0.523533,-0.244222],[0.577569,-0.748361,-0.326143],[-0.012020,-0.407270,0.913229]] 2025-10-28T19:26:13.779Z,1761679573.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804809,-0.539465,-0.247508],[0.593456,-0.738137,-0.320880],[-0.009591,-0.405132,0.914208]] 2025-10-28T19:26:14.180Z,1761679574.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792891,-0.554995,-0.251603],[0.609314,-0.727315,-0.315830],[-0.007710,-0.403724,0.914848]] 2025-10-28T19:26:14.630Z,1761679574.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780494,-0.570103,-0.256538],[0.625132,-0.715831,-0.311120],[-0.006267,-0.403197,0.915092]] 2025-10-28T19:26:14.925Z,1761679574.925 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:26:14.995Z,1761679574.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767737,-0.584789,-0.261919],[0.640743,-0.703994,-0.306334],[-0.005249,-0.403007,0.915182]] 2025-10-28T19:26:15.796Z,1761679575.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741708,-0.612756,-0.272761],[0.670715,-0.679523,-0.297304],[-0.003172,-0.403458,0.914993]] 2025-10-28T19:26:15.929Z,1761679575.929 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:26:16.651Z,1761679576.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699301,-0.653352,-0.290017],[0.714827,-0.638892,-0.284323],[0.000474,-0.406139,0.913811]] 2025-10-28T19:26:16.716Z,1761679576.716 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:26:16.945Z,1761679576.945 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:26:16.946Z,1761679576.946 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:26:17.197Z,1761679577.197 [DAT](INFO): DAT read: user:182> 2025-10-28T19:26:17.198Z,1761679577.198 [DAT](INFO): DAT read: Tx time:19:26:16.9319 2025-10-28T19:26:17.198Z,1761679577.198 [DAT](INFO): Ping request sent. 2025-10-28T19:26:17.198Z,1761679577.198 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:26:17.198Z,1761679577.198 [DAT](INFO): publishing transmit ping time 2025-10-28T19:26:17.199Z,1761679577.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T19:26:17.411Z,1761679577.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684091,-0.666220,-0.296936],[0.729394,-0.623697,-0.281046],[0.002041,-0.408844,0.912602]] 2025-10-28T19:26:17.449Z,1761679577.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250871 2025-10-28T19:26:17.701Z,1761679577.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812 2025-10-28T19:26:17.814Z,1761679577.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669018,-0.678095,-0.304307],[0.743237,-0.608247,-0.278631],[0.003844,-0.412581,0.910913]] 2025-10-28T19:26:17.953Z,1761679577.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754831 2025-10-28T19:26:18.205Z,1761679578.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006738 2025-10-28T19:26:18.227Z,1761679578.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653446,-0.691736,-0.307424],[0.756953,-0.594134,-0.272079],[0.005556,-0.410495,0.911846]] 2025-10-28T19:26:18.457Z,1761679578.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259380 2025-10-28T19:26:18.640Z,1761679578.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636809,-0.705771,-0.310422],[0.770993,-0.579397,-0.264329],[0.006699,-0.407660,0.913109]] 2025-10-28T19:26:18.709Z,1761679578.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511138 2025-10-28T19:26:18.961Z,1761679578.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762826 2025-10-28T19:26:19.026Z,1761679579.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620116,-0.718888,-0.314097],[0.784474,-0.564350,-0.257119],[0.007579,-0.405844,0.913911]] 2025-10-28T19:26:19.213Z,1761679579.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861 2025-10-28T19:26:19.430Z,1761679579.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602771,-0.731710,-0.318226],[0.797873,-0.548663,-0.249735],[0.008135,-0.404436,0.914530]] 2025-10-28T19:26:19.465Z,1761679579.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267010 2025-10-28T19:26:19.717Z,1761679579.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518833 2025-10-28T19:26:19.836Z,1761679579.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585244,-0.743806,-0.322865],[0.810813,-0.532682,-0.242553],[0.008427,-0.403736,0.914837]] 2025-10-28T19:26:19.969Z,1761679579.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770818 2025-10-28T19:26:20.221Z,1761679580.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022880 2025-10-28T19:26:20.257Z,1761679580.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567528,-0.755997,-0.326161],[0.823311,-0.517007,-0.234230],[0.008450,-0.401464,0.915836]] 2025-10-28T19:26:20.473Z,1761679580.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826 2025-10-28T19:26:20.648Z,1761679580.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549790,-0.767856,-0.328828],[0.835264,-0.501582,-0.225276],[0.008045,-0.398513,0.917128]] 2025-10-28T19:26:20.725Z,1761679580.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526848 2025-10-28T19:26:20.977Z,1761679580.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778861 2025-10-28T19:26:21.052Z,1761679581.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516407,-0.787165,-0.337187],[0.856311,-0.471250,-0.211317],[0.007443,-0.397862,0.917415]] 2025-10-28T19:26:21.229Z,1761679581.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030886 2025-10-28T19:26:21.457Z,1761679581.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500470,-0.795331,-0.342022],[0.865720,-0.456256,-0.205812],[0.007639,-0.399098,0.916876]] 2025-10-28T19:26:21.481Z,1761679581.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283386 2025-10-28T19:26:21.733Z,1761679581.733 [DAT](INFO): DAT read: Rx Time:19:26:20.8896 2025-10-28T19:26:21.733Z,1761679581.733 [DAT](INFO): Rx dataTimestamp_ set to:1761679581.733145 2025-10-28T19:26:21.734Z,1761679581.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535925 2025-10-28T19:26:21.872Z,1761679581.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485175,-0.802848,-0.346468],[0.874375,-0.441540,-0.201275],[0.008613,-0.400597,0.916214]] 2025-10-28T19:26:21.985Z,1761679581.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787127 2025-10-28T19:26:22.243Z,1761679582.243 [DAT](INFO): DAT read: 19:26:20.8896 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 65,-0.07, 0.370,-1.189, 0.416, 0.324, PHS= 0.148,-1.468, 0.048, RAW= 146.8, 16.0, CAL= 146.8, 17.6, ROT= 3.2, -17.6 2025-10-28T19:26:22.257Z,1761679582.257 [DAT](INFO): got valid direction response: 19:26:20.8896 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 65,-0.07, 0.370,-1.189, 0.416, 0.324, PHS= 0.148,-1.468, 0.048, RAW= 146.8, 16.0, CAL= 146.8, 17.6, ROT= 3.2, -17.6 2025-10-28T19:26:22.257Z,1761679582.257 [DAT](INFO): DAT read: Bearing 98, -19 (Remote) 2025-10-28T19:26:22.258Z,1761679582.258 [DAT](INFO): Remote Bearing received:Bearing 98, -19 (Remote) 2025-10-28T19:26:22.259Z,1761679582.259 [DAT](INFO): DAT read: Bearing 282.4, -3.4 (Local) 2025-10-28T19:26:22.259Z,1761679582.259 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, -3.4 (Local) 2025-10-28T19:26:22.260Z,1761679582.260 [DAT](INFO): DAT read: Range 11 to 20 : 1446.4 m (Round-trip 1928.6 ms) speed 1.4 m/s 2025-10-28T19:26:22.261Z,1761679582.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:26:22.262Z,1761679582.262 [DAT](INFO): direction in FSK: [0.951704,0.053209,0.302370] 2025-10-28T19:26:22.262Z,1761679582.262 [DAT](INFO): publishing direction and range info 2025-10-28T19:26:22.311Z,1761679582.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469560,-0.810264,-0.350693],[0.882844,-0.426415,-0.196867],[0.009974,-0.402048,0.915564]] 2025-10-28T19:26:22.412Z,1761679582.412 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:26:22.412Z,1761679582.412 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:26:22.412Z,1761679582.412 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:26:22.413Z,1761679582.413 [marl:UpdateRudder:A] Stopped 2025-10-28T19:26:22.413Z,1761679582.413 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:26:22.423Z,1761679582.423 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679616.00. Resetting abort timer. 2025-10-28T19:26:22.670Z,1761679582.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453725,-0.817623,-0.354438],[0.891061,-0.410917,-0.192763],[0.011963,-0.403287,0.914995]] 2025-10-28T19:26:22.722Z,1761679582.722 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:26:22.722Z,1761679582.722 [marl:UpdateRudder:B] Stopped 2025-10-28T19:26:22.722Z,1761679582.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:26:22.722Z,1761679582.722 [marl:UpdateRudder] Stopped 2025-10-28T19:26:22.723Z,1761679582.723 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:26:23.076Z,1761679583.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437205,-0.825224,-0.357570],[0.899252,-0.394910,-0.188126],[0.014039,-0.403796,0.914742]] 2025-10-28T19:26:23.480Z,1761679583.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419910,-0.832792,-0.360739],[0.907421,-0.378164,-0.183245],[0.016187,-0.404289,0.914488]] 2025-10-28T19:26:23.885Z,1761679583.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402130,-0.840308,-0.363557],[0.915397,-0.360985,-0.178154],[0.018465,-0.404440,0.914378]] 2025-10-28T19:26:24.286Z,1761679584.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383876,-0.847360,-0.366906],[0.923159,-0.343402,-0.172779],[0.020409,-0.405038,0.914072]] 2025-10-28T19:26:24.330Z,1761679584.330 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode] Stopped 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:26:24.331Z,1761679584.331 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:26:24.332Z,1761679584.332 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:26:24.337Z,1761679584.337 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:26:24.337Z,1761679584.337 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:26:24.337Z,1761679584.337 [marl:UpdateSpeed] Stopped 2025-10-28T19:26:24.337Z,1761679584.337 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:26:24.690Z,1761679584.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365627,-0.854101,-0.369903],[0.930503,-0.326054,-0.166892],[0.021934,-0.405216,0.913958]] 2025-10-28T19:26:25.096Z,1761679585.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347473,-0.861165,-0.371021],[0.937400,-0.309176,-0.160286],[0.023322,-0.403490,0.914687]] 2025-10-28T19:26:25.499Z,1761679585.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328953,-0.867946,-0.372102],[0.944038,-0.292179,-0.153048],[0.024117,-0.401624,0.915487]] 2025-10-28T19:26:25.905Z,1761679585.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310911,-0.874712,-0.371771],[0.950106,-0.275677,-0.145950],[0.025176,-0.398599,0.916780]] 2025-10-28T19:26:26.306Z,1761679586.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292914,-0.880718,-0.372206],[0.955782,-0.259074,-0.139144],[0.026117,-0.396505,0.917661]] 2025-10-28T19:26:26.713Z,1761679586.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275221,-0.885764,-0.373731],[0.960999,-0.242519,-0.132909],[0.027089,-0.395735,0.917965]] 2025-10-28T19:26:27.114Z,1761679587.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257247,-0.890290,-0.375775],[0.965938,-0.225612,-0.126737],[0.028053,-0.395578,0.918004]] 2025-10-28T19:26:27.518Z,1761679587.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239437,-0.893946,-0.378855],[0.970469,-0.208575,-0.121183],[0.029312,-0.396683,0.917488]] 2025-10-28T19:26:27.926Z,1761679587.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221455,-0.897307,-0.381834],[0.974682,-0.191278,-0.115790],[0.030862,-0.397809,0.916949]] 2025-10-28T19:26:28.326Z,1761679588.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203186,-0.900104,-0.385393],[0.978595,-0.173552,-0.110594],[0.032660,-0.399615,0.916101]] 2025-10-28T19:26:28.731Z,1761679588.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185460,-0.902737,-0.388162],[0.982044,-0.156378,-0.105529],[0.034565,-0.400764,0.915529]] 2025-10-28T19:26:29.134Z,1761679589.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167165,-0.904817,-0.391615],[0.985244,-0.138506,-0.100546],[0.036735,-0.402644,0.914619]] 2025-10-28T19:26:29.539Z,1761679589.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148289,-0.907742,-0.392446],[0.988180,-0.120409,-0.094882],[0.038874,-0.401877,0.914868]] 2025-10-28T19:26:29.958Z,1761679589.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128300,-0.910214,-0.393763],[0.990893,-0.101292,-0.088718],[0.040868,-0.401560,0.914921]] 2025-10-28T19:26:30.354Z,1761679590.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107685,-0.912245,-0.395239],[0.993270,-0.081666,-0.082131],[0.042646,-0.401423,0.914899]] 2025-10-28T19:26:30.752Z,1761679590.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086235,-0.914146,-0.396106],[0.995293,-0.061401,-0.074979],[0.044220,-0.400707,0.915138]] 2025-10-28T19:26:31.156Z,1761679591.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063909,-0.916100,-0.395823],[0.996918,-0.040525,-0.067169],[0.045493,-0.398896,0.915867]] 2025-10-28T19:26:31.559Z,1761679591.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040722,-0.917434,-0.395798],[0.998093,-0.018959,-0.058744],[0.046390,-0.397436,0.916457]] 2025-10-28T19:26:31.965Z,1761679591.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016715,-0.917947,-0.396350],[0.998762,0.003245,-0.049635],[0.046849,-0.396689,0.916757]] 2025-10-28T19:26:32.368Z,1761679592.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007972,-0.918119,-0.396224],[0.998880,0.025789,-0.039662],[0.046633,-0.395464,0.917297]] 2025-10-28T19:26:32.777Z,1761679592.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032815,-0.917143,-0.397205],[0.998417,0.048247,-0.028917],[0.045685,-0.395627,0.917274]] 2025-10-28T19:26:33.174Z,1761679593.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057379,-0.915750,-0.397631],[0.997370,0.070246,-0.017854],[0.044281,-0.395561,0.917372]] 2025-10-28T19:26:33.578Z,1761679593.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080831,-0.914062,-0.397439],[0.995813,0.091138,-0.007078],[0.042691,-0.395203,0.917601]] 2025-10-28T19:26:33.986Z,1761679593.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102486,-0.911221,-0.398965],[0.993882,0.110397,0.003164],[0.041162,-0.396849,0.916961]] 2025-10-28T19:26:34.388Z,1761679594.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122552,-0.908513,-0.399481],[0.991657,0.128299,0.012436],[0.039955,-0.397672,0.916657]] 2025-10-28T19:26:34.796Z,1761679594.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141337,-0.905597,-0.399898],[0.989196,0.145075,0.021081],[0.038925,-0.398557,0.916317]] 2025-10-28T19:26:35.195Z,1761679595.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159133,-0.902778,-0.399586],[0.986519,0.161059,0.028998],[0.038178,-0.398814,0.916237]] 2025-10-28T19:26:35.600Z,1761679595.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175822,-0.899378,-0.400257],[0.983678,0.176314,0.035927],[0.038259,-0.400040,0.915699]] 2025-10-28T19:26:35.660Z,1761679595.660 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:26:35.660Z,1761679595.660 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:26:35.660Z,1761679595.660 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:26:35.661Z,1761679595.661 [marl:UpdateRudder:A] Stopped 2025-10-28T19:26:35.661Z,1761679595.661 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:26:36.011Z,1761679596.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191717,-0.896020,-0.400491],[0.980667,0.191187,0.041708],[0.039197,-0.400745,0.915351]] 2025-10-28T19:26:36.070Z,1761679596.070 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:26:36.070Z,1761679596.070 [marl:UpdateRudder:B] Stopped 2025-10-28T19:26:36.070Z,1761679596.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:26:36.070Z,1761679596.070 [marl:UpdateRudder] Stopped 2025-10-28T19:26:36.071Z,1761679596.071 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:26:36.407Z,1761679596.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208250,-0.892454,-0.400197],[0.977225,0.206917,0.047085],[0.040787,-0.400888,0.915219]] 2025-10-28T19:26:36.810Z,1761679596.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224545,-0.888681,-0.399783],[0.973521,0.222618,0.051935],[0.042845,-0.400859,0.915137]] 2025-10-28T19:26:37.214Z,1761679597.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242335,-0.884489,-0.398688],[0.969144,0.239789,0.057105],[0.045092,-0.400225,0.915307]] 2025-10-28T19:26:37.621Z,1761679597.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262443,-0.879929,-0.396042],[0.963804,0.259007,0.063215],[0.046953,-0.398297,0.916054]] 2025-10-28T19:26:37.645Z,1761679597.645 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode] Stopped 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:26:37.646Z,1761679597.646 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed] Stopped 2025-10-28T19:26:37.647Z,1761679597.647 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:26:38.029Z,1761679598.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283939,-0.874107,-0.394102],[0.957607,0.279373,0.070285],[0.048664,-0.397351,0.916375]] 2025-10-28T19:26:38.427Z,1761679598.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306260,-0.867420,-0.392156],[0.950620,0.300424,0.077885],[0.050254,-0.396645,0.916595]] 2025-10-28T19:26:38.838Z,1761679598.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329220,-0.859381,-0.391253],[0.942857,0.321708,0.086741],[0.051326,-0.397453,0.916186]] 2025-10-28T19:26:39.234Z,1761679599.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352522,-0.850920,-0.389440],[0.934368,0.343095,0.096135],[0.051812,-0.397770,0.916021]] 2025-10-28T19:26:39.640Z,1761679599.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375580,-0.842354,-0.386497],[0.925349,0.364077,0.105720],[0.051662,-0.397351,0.916211]] 2025-10-28T19:26:40.043Z,1761679600.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397576,-0.833643,-0.383371],[0.916152,0.383862,0.115389],[0.050969,-0.397102,0.916358]] 2025-10-28T19:26:40.447Z,1761679600.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418610,-0.824515,-0.380711],[0.906778,0.402639,0.125042],[0.050190,-0.397565,0.916200]] 2025-10-28T19:26:40.879Z,1761679600.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437883,-0.815604,-0.378218],[0.897678,0.419732,0.134162],[0.049327,-0.398265,0.915943]] 2025-10-28T19:26:41.255Z,1761679601.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455898,-0.806958,-0.375468],[0.888728,0.435570,0.142976],[0.048167,-0.398871,0.915741]] 2025-10-28T19:26:41.660Z,1761679601.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472250,-0.798356,-0.373641],[0.880201,0.449798,0.151419],[0.047177,-0.400387,0.915131]] 2025-10-28T19:26:42.065Z,1761679602.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487843,-0.790719,-0.369828],[0.871680,0.463942,0.157899],[0.046725,-0.399401,0.915585]] 2025-10-28T19:26:42.466Z,1761679602.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502581,-0.782307,-0.367979],[0.863266,0.477122,0.164697],[0.046727,-0.400438,0.915132]] 2025-10-28T19:26:42.870Z,1761679602.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517272,-0.773565,-0.366098],[0.854510,0.490510,0.170918],[0.047359,-0.401246,0.914745]] 2025-10-28T19:26:43.274Z,1761679603.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531943,-0.764962,-0.363140],[0.845391,0.504309,0.176027],[0.048480,-0.400632,0.914956]] 2025-10-28T19:26:43.681Z,1761679603.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546753,-0.756322,-0.359220],[0.835799,0.518620,0.180203],[0.050007,-0.398762,0.915690]] 2025-10-28T19:26:44.082Z,1761679604.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562028,-0.746617,-0.355933],[0.825494,0.533286,0.184839],[0.051811,-0.397705,0.916049]] 2025-10-28T19:26:44.487Z,1761679604.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578041,-0.735905,-0.352580],[0.814260,0.548443,0.190237],[0.053374,-0.397057,0.916241]] 2025-10-28T19:26:44.891Z,1761679604.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593873,-0.724853,-0.349146],[0.802687,0.563379,0.195697],[0.054850,-0.396474,0.916406]] 2025-10-28T19:26:45.295Z,1761679605.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609913,-0.713352,-0.345159],[0.790487,0.578431,0.201365],[0.056007,-0.395659,0.916688]] 2025-10-28T19:26:45.700Z,1761679605.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626687,-0.700902,-0.340587],[0.777184,0.594123,0.207373],[0.057002,-0.394657,0.917059]] 2025-10-28T19:26:46.068Z,1761679606.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:26:46.102Z,1761679606.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643460,-0.687874,-0.335840],[0.763301,0.609655,0.213758],[0.057708,-0.393892,0.917343]] 2025-10-28T19:26:46.506Z,1761679606.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660559,-0.673795,-0.331154],[0.748501,0.625334,0.220690],[0.058382,-0.393648,0.917405]] 2025-10-28T19:26:46.911Z,1761679606.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677836,-0.658966,-0.326041],[0.732865,0.641014,0.228055],[0.058716,-0.393528,0.917436]] 2025-10-28T19:26:47.079Z,1761679607.079 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:26:47.326Z,1761679607.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695011,-0.644004,-0.319715],[0.716594,0.656773,0.234824],[0.058753,-0.392311,0.917954]] 2025-10-28T19:26:47.719Z,1761679607.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712023,-0.628108,-0.313854],[0.699689,0.672137,0.242213],[0.058817,-0.392061,0.918057]] 2025-10-28T19:26:48.123Z,1761679608.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729134,-0.611233,-0.307828],[0.681857,0.687338,0.250276],[0.058604,-0.392380,0.917935]] 2025-10-28T19:26:48.527Z,1761679608.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745847,-0.593827,-0.301796],[0.663599,0.701752,0.259193],[0.057870,-0.393590,0.917463]] 2025-10-28T19:26:48.932Z,1761679608.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761539,-0.576738,-0.295688],[0.645606,0.715173,0.267805],[0.057015,-0.394842,0.916978]] 2025-10-28T19:26:48.975Z,1761679608.975 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:26:48.976Z,1761679608.976 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:26:48.992Z,1761679608.992 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:26:48.993Z,1761679608.993 [marl:UpdateRudder:A] Stopped 2025-10-28T19:26:48.993Z,1761679608.993 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:26:49.335Z,1761679609.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775841,-0.560941,-0.288819],[0.628465,0.727501,0.275271],[0.055706,-0.395079,0.916957]] 2025-10-28T19:26:49.371Z,1761679609.371 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:26:49.371Z,1761679609.371 [marl:UpdateRudder:B] Stopped 2025-10-28T19:26:49.371Z,1761679609.371 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:26:49.371Z,1761679609.371 [marl:UpdateRudder] Stopped 2025-10-28T19:26:49.371Z,1761679609.371 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:26:49.738Z,1761679609.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788962,-0.545545,-0.282701],[0.612035,0.738441,0.283052],[0.054341,-0.396340,0.916494]] 2025-10-28T19:26:50.142Z,1761679610.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800976,-0.530809,-0.276910],[0.596342,0.748337,0.290462],[0.053042,-0.397786,0.915944]] 2025-10-28T19:26:50.552Z,1761679610.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811988,-0.516877,-0.271135],[0.581374,0.757432,0.297156],[0.051773,-0.398918,0.915524]] 2025-10-28T19:26:50.950Z,1761679610.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821985,-0.503921,-0.265337],[0.567240,0.765967,0.302546],[0.050780,-0.399198,0.915458]] 2025-10-28T19:26:51.033Z,1761679611.033 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:26:51.033Z,1761679611.033 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:26:51.033Z,1761679611.033 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateCommandMode] Stopped 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:26:51.034Z,1761679611.034 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:26:51.035Z,1761679611.035 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:26:51.035Z,1761679611.035 [marl:UpdateSpeed] Stopped 2025-10-28T19:26:51.035Z,1761679611.035 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:26:51.763Z,1761679611.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840117,-0.478952,-0.254575],[0.540151,0.781500,0.312242],[0.049401,-0.399829,0.915258]] 2025-10-28T19:26:52.169Z,1761679612.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848875,-0.466126,-0.249276],[0.526296,0.789228,0.316435],[0.049237,-0.399806,0.915276]] 2025-10-28T19:26:52.586Z,1761679612.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857391,-0.453063,-0.244159],[0.512300,0.796725,0.320590],[0.049280,-0.399954,0.915209]] 2025-10-28T19:26:52.970Z,1761679612.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866513,-0.438642,-0.238217],[0.496707,0.804928,0.324612],[0.049359,-0.399605,0.915358]] 2025-10-28T19:26:53.378Z,1761679613.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875838,-0.423315,-0.231757],[0.480058,0.813450,0.328394],[0.049508,-0.398877,0.915667]] 2025-10-28T19:26:53.786Z,1761679613.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885356,-0.406775,-0.225120],[0.462225,0.822170,0.332243],[0.049939,-0.398210,0.915934]] 2025-10-28T19:26:54.182Z,1761679614.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894952,-0.389186,-0.218163],[0.443320,0.830801,0.336508],[0.050286,-0.397875,0.916061]] 2025-10-28T19:26:54.629Z,1761679614.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904283,-0.370869,-0.211493],[0.423884,0.839034,0.341093],[0.050949,-0.398092,0.915929]] 2025-10-28T19:26:54.990Z,1761679614.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912867,-0.353252,-0.204665],[0.404978,0.846944,0.344498],[0.051645,-0.397366,0.916206]] 2025-10-28T19:26:55.400Z,1761679615.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920955,-0.335634,-0.197970],[0.386122,0.854423,0.347665],[0.052462,-0.396624,0.916481]] 2025-10-28T19:26:55.810Z,1761679615.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928246,-0.318505,-0.192127],[0.368131,0.860615,0.351882],[0.053271,-0.397361,0.916115]] 2025-10-28T19:26:56.202Z,1761679616.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934951,-0.301624,-0.186789],[0.350620,0.865925,0.356707],[0.054154,-0.398996,0.915352]] 2025-10-28T19:26:56.643Z,1761679616.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941072,-0.285479,-0.181343],[0.333697,0.871029,0.360492],[0.055042,-0.399762,0.914965]] 2025-10-28T19:26:57.418Z,1761679617.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952521,-0.252631,-0.169948],[0.299194,0.880127,0.368591],[0.056458,-0.401938,0.913925]] 2025-10-28T19:26:57.820Z,1761679617.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957989,-0.236172,-0.162725],[0.281166,0.885308,0.370373],[0.056590,-0.400566,0.914519]] 2025-10-28T19:26:58.223Z,1761679618.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963289,-0.218810,-0.155555],[0.262502,0.889134,0.374877],[0.056283,-0.401948,0.913931]] 2025-10-28T19:26:58.638Z,1761679618.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968500,-0.200220,-0.148053],[0.242638,0.892462,0.380313],[0.055985,-0.404256,0.912931]] 2025-10-28T19:26:59.030Z,1761679619.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973482,-0.181511,-0.139239],[0.221954,0.896819,0.382692],[0.055410,-0.403448,0.913323]] 2025-10-28T19:26:59.435Z,1761679619.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978068,-0.162763,-0.129967],[0.201122,0.900261,0.386108],[0.054160,-0.403779,0.913252]] 2025-10-28T19:26:59.838Z,1761679619.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982105,-0.144285,-0.121045],[0.180653,0.903400,0.388888],[0.053241,-0.403796,0.913299]] 2025-10-28T19:27:00.249Z,1761679620.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985760,-0.125272,-0.112177],[0.159749,0.905945,0.392101],[0.052507,-0.404438,0.913057]] 2025-10-28T19:27:00.646Z,1761679620.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988920,-0.106987,-0.102916],[0.139247,0.908823,0.393256],[0.051459,-0.403230,0.913651]] 2025-10-28T19:27:01.051Z,1761679621.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991501,-0.089377,-0.094542],[0.119717,0.911264,0.394038],[0.050935,-0.402007,0.914219]] 2025-10-28T19:27:01.455Z,1761679621.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993668,-0.071844,-0.086382],[0.100287,0.913786,0.393621],[0.050655,-0.399792,0.915205]] 2025-10-28T19:27:01.859Z,1761679621.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995325,-0.055750,-0.078869],[0.082373,0.916350,0.391813],[0.050428,-0.396478,0.916658]] 2025-10-28T19:27:02.264Z,1761679622.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996634,-0.040066,-0.071528],[0.065114,0.916958,0.393635],[0.049817,-0.396967,0.916480]] 2025-10-28T19:27:02.306Z,1761679622.306 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:27:02.306Z,1761679622.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:27:02.306Z,1761679622.306 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:27:02.306Z,1761679622.306 [marl:UpdateRudder:A] Stopped 2025-10-28T19:27:02.306Z,1761679622.306 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:27:02.748Z,1761679622.748 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:27:02.749Z,1761679622.749 [marl:UpdateRudder:B] Stopped 2025-10-28T19:27:02.749Z,1761679622.749 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:27:02.749Z,1761679622.749 [marl:UpdateRudder] Stopped 2025-10-28T19:27:02.749Z,1761679622.749 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:27:03.070Z,1761679623.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998297,-0.010943,-0.057293],[0.032952,0.916290,0.399159],[0.048129,-0.400367,0.915090]] 2025-10-28T19:27:03.480Z,1761679623.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998719,0.003156,-0.050494],[0.017394,0.915794,0.401272],[0.047508,-0.401637,0.914566]] 2025-10-28T19:27:03.884Z,1761679623.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998917,0.017290,-0.043202],[0.001644,0.914717,0.404091],[0.046504,-0.403725,0.913698]] 2025-10-28T19:27:04.300Z,1761679624.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998534,0.047115,-0.026647],[-0.032213,0.912876,0.406965],[0.043500,-0.405510,0.913055]] 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:27:04.333Z,1761679624.333 [marl:UpdateCommandMode] Stopped 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed] Stopped 2025-10-28T19:27:04.334Z,1761679624.334 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:27:05.102Z,1761679625.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996929,0.077703,-0.009753],[-0.066992,0.910678,0.407648],[0.040558,-0.405743,0.913087]] 2025-10-28T19:27:05.504Z,1761679625.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995698,0.092636,-0.001831],[-0.083992,0.910775,0.404270],[0.039117,-0.402378,0.914638]] 2025-10-28T19:27:05.910Z,1761679625.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994193,0.107420,0.006454],[-0.100872,0.909338,0.403646],[0.037491,-0.401953,0.914893]] 2025-10-28T19:27:06.310Z,1761679626.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992446,0.121794,0.014753],[-0.117331,0.907119,0.404189],[0.035845,-0.402866,0.914557]] 2025-10-28T19:27:06.712Z,1761679626.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990380,0.136398,0.023319],[-0.134119,0.904694,0.404402],[0.034063,-0.403639,0.914284]] 2025-10-28T19:27:07.115Z,1761679627.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988012,0.151104,0.031612],[-0.150946,0.902671,0.402989],[0.032358,-0.402930,0.914659]] 2025-10-28T19:27:07.520Z,1761679627.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985159,0.166785,0.040541],[-0.168893,0.899854,0.402166],[0.030594,-0.403045,0.914669]] 2025-10-28T19:27:07.923Z,1761679627.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981714,0.183745,0.049758],[-0.188146,0.896773,0.400498],[0.028968,-0.402536,0.914946]] 2025-10-28T19:27:08.326Z,1761679628.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977560,0.201995,0.059788],[-0.208892,0.892845,0.398989],[0.027212,-0.402525,0.915005]] 2025-10-28T19:27:08.730Z,1761679628.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972685,0.221191,0.070418],[-0.230756,0.888408,0.396841],[0.025217,-0.402251,0.915182]] 2025-10-28T19:27:09.137Z,1761679629.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967060,0.241193,0.081371],[-0.253498,0.883516,0.393876],[0.023107,-0.401529,0.915555]] 2025-10-28T19:27:09.538Z,1761679629.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960813,0.261419,0.092185],[-0.276422,0.878764,0.389055],[0.020698,-0.399291,0.916590]] 2025-10-28T19:27:09.947Z,1761679629.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954115,0.281543,0.101972],[-0.298890,0.874799,0.381302],[0.018148,-0.394284,0.918809]] 2025-10-28T19:27:10.348Z,1761679630.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946867,0.301871,0.110985],[-0.321236,0.870627,0.372581],[0.015845,-0.388437,0.921339]] 2025-10-28T19:27:10.756Z,1761679630.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939146,0.322124,0.119331],[-0.343238,0.865935,0.363792],[0.013853,-0.382613,0.923805]] 2025-10-28T19:27:11.156Z,1761679631.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931088,0.341827,0.127397],[-0.364589,0.860240,0.356457],[0.012255,-0.378341,0.925585]] 2025-10-28T19:27:11.558Z,1761679631.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922795,0.360830,0.135099],[-0.385130,0.853668,0.350607],[0.011180,-0.375569,0.926727]] 2025-10-28T19:27:11.962Z,1761679631.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914609,0.378468,0.142313],[-0.404198,0.846433,0.346664],[0.010743,-0.374585,0.927130]] 2025-10-28T19:27:12.368Z,1761679632.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906998,0.393811,0.149225],[-0.421004,0.839029,0.344653],[0.010524,-0.375424,0.926793]] 2025-10-28T19:27:12.781Z,1761679632.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899763,0.407569,0.155931],[-0.436249,0.831359,0.344281],[0.010684,-0.377796,0.925827]] 2025-10-28T19:27:13.175Z,1761679633.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892781,0.419498,0.164206],[-0.450365,0.822483,0.347410],[0.010682,-0.384113,0.923224]] 2025-10-28T19:27:13.578Z,1761679633.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885756,0.430580,0.173310],[-0.464030,0.812978,0.351772],[0.010569,-0.392005,0.919902]] 2025-10-28T19:27:13.984Z,1761679633.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878570,0.440996,0.183404],[-0.477513,0.803193,0.356177],[0.009764,-0.400505,0.916243]] 2025-10-28T19:27:14.387Z,1761679634.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871417,0.450139,0.194954],[-0.490485,0.793485,0.360286],[0.007486,-0.409582,0.912243]] 2025-10-28T19:27:14.794Z,1761679634.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864094,0.459007,0.206528],[-0.503317,0.785055,0.361055],[0.003591,-0.415935,0.909387]] 2025-10-28T19:27:15.197Z,1761679635.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855801,0.469384,0.217448],[-0.517305,0.777137,0.358405],[-0.000757,-0.419210,0.907889]] 2025-10-28T19:27:15.599Z,1761679635.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845801,0.482222,0.228215],[-0.533479,0.768106,0.354136],[-0.004521,-0.421277,0.906921]] 2025-10-28T19:27:15.623Z,1761679635.623 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:27:15.623Z,1761679635.623 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:27:15.623Z,1761679635.623 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:27:15.623Z,1761679635.623 [marl:UpdateRudder:A] Stopped 2025-10-28T19:27:15.623Z,1761679635.623 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:27:16.004Z,1761679636.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834263,0.497498,0.237700],[-0.551314,0.758621,0.347198],[-0.007594,-0.420702,0.907167]] 2025-10-28T19:27:16.028Z,1761679636.028 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:27:16.028Z,1761679636.028 [marl:UpdateRudder:B] Stopped 2025-10-28T19:27:16.028Z,1761679636.028 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:27:16.028Z,1761679636.028 [marl:UpdateRudder] Stopped 2025-10-28T19:27:16.028Z,1761679636.028 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:27:16.407Z,1761679636.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821849,0.514113,0.245465],[-0.569615,0.749238,0.337907],[-0.010189,-0.417529,0.908606]] 2025-10-28T19:27:16.810Z,1761679636.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809316,0.531217,0.250630],[-0.587242,0.740784,0.326168],[-0.012397,-0.411153,0.911482]] 2025-10-28T19:27:16.869Z,1761679636.869 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:27:16.945Z,1761679636.945 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:27:16.945Z,1761679636.945 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:27:17.192Z,1761679637.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:27:17.206Z,1761679637.206 [DAT](INFO): DAT read: user:183> 2025-10-28T19:27:17.206Z,1761679637.206 [DAT](INFO): DAT read: Tx time:19:27:16.9317 2025-10-28T19:27:17.207Z,1761679637.207 [DAT](INFO): Ping request sent. 2025-10-28T19:27:17.207Z,1761679637.207 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:27:17.207Z,1761679637.207 [DAT](INFO): publishing transmit ping time 2025-10-28T19:27:17.208Z,1761679637.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T19:27:17.258Z,1761679637.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796965,0.547421,0.255297],[-0.603851,0.732208,0.315016],[-0.014484,-0.405218,0.914105]] 2025-10-28T19:27:17.449Z,1761679637.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242140 2025-10-28T19:27:17.622Z,1761679637.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785085,0.562313,0.259703],[-0.619165,0.723744,0.304678],[-0.016634,-0.399997,0.916365]] 2025-10-28T19:27:17.653Z,1761679637.653 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode] Stopped 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:27:17.654Z,1761679637.654 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed] Stopped 2025-10-28T19:27:17.655Z,1761679637.655 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:27:17.701Z,1761679637.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494724 2025-10-28T19:27:17.953Z,1761679637.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746136 2025-10-28T19:27:18.022Z,1761679638.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772424,0.576667,0.266114],[-0.634826,0.713522,0.296450],[-0.018925,-0.397921,0.917225]] 2025-10-28T19:27:18.196Z,1761679638.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:27:18.205Z,1761679638.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998155 2025-10-28T19:27:18.426Z,1761679638.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759700,0.589908,0.273616],[-0.649919,0.702705,0.289501],[-0.021492,-0.397762,0.917237]] 2025-10-28T19:27:18.457Z,1761679638.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250200 2025-10-28T19:27:18.710Z,1761679638.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503564 2025-10-28T19:27:18.833Z,1761679638.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746229,0.602989,0.282042],[-0.665247,0.690946,0.282914],[-0.024281,-0.398746,0.916740]] 2025-10-28T19:27:18.961Z,1761679638.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754097 2025-10-28T19:27:19.213Z,1761679639.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006185 2025-10-28T19:27:19.239Z,1761679639.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731643,0.616791,0.290287],[-0.681157,0.678274,0.275626],[-0.026890,-0.399391,0.916386]] 2025-10-28T19:27:19.465Z,1761679639.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258128 2025-10-28T19:27:19.638Z,1761679639.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716098,0.630760,0.298906],[-0.697378,0.664617,0.268232],[-0.029468,-0.400531,0.915809]] 2025-10-28T19:27:19.717Z,1761679639.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510051 2025-10-28T19:27:19.969Z,1761679639.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762172 2025-10-28T19:27:20.043Z,1761679640.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699675,0.645161,0.306956],[-0.713744,0.650421,0.259851],[-0.032005,-0.400900,0.915563]] 2025-10-28T19:27:20.221Z,1761679640.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014124 2025-10-28T19:27:20.448Z,1761679640.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682819,0.659474,0.314407],[-0.729769,0.636031,0.250804],[-0.034574,-0.400698,0.915558]] 2025-10-28T19:27:20.474Z,1761679640.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266872 2025-10-28T19:27:20.725Z,1761679640.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518174 2025-10-28T19:27:20.850Z,1761679640.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665030,0.674467,0.320670],[-0.745925,0.620862,0.241093],[-0.036482,-0.399530,0.915994]] 2025-10-28T19:27:20.977Z,1761679640.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770176 2025-10-28T19:27:21.230Z,1761679641.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022951 2025-10-28T19:27:21.261Z,1761679641.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646793,0.689500,0.325959],[-0.761720,0.605292,0.231092],[-0.037963,-0.397758,0.916705]] 2025-10-28T19:27:21.481Z,1761679641.481 [DAT](INFO): DAT read: Rx Time:19:27:20.8541 2025-10-28T19:27:21.482Z,1761679641.482 [DAT](INFO): Rx dataTimestamp_ set to:1761679641.481659 2025-10-28T19:27:21.482Z,1761679641.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275731 2025-10-28T19:27:21.659Z,1761679641.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629094,0.703828,0.329950],[-0.776358,0.590114,0.221438],[-0.038854,-0.395464,0.917659]] 2025-10-28T19:27:21.733Z,1761679641.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526502 2025-10-28T19:27:21.987Z,1761679641.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779941 2025-10-28T19:27:22.062Z,1761679642.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612320,0.716863,0.333424],[-0.789608,0.575727,0.212270],[-0.039793,-0.393252,0.918569]] 2025-10-28T19:27:22.245Z,1761679642.245 [DAT](INFO): DAT read: 19:27:20.8541 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 87, 0.06,-1.700,-0.050,-1.834,-1.119, PHS=-0.479, 1.114,-0.758, RAW= 337.9, 1.4, CAL= 337.3, -1.4, ROT= 172.7, 1.4 2025-10-28T19:27:22.247Z,1761679642.247 [DAT](INFO): got valid direction response: 19:27:20.8541 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 87, 0.06,-1.700,-0.050,-1.834,-1.119, PHS=-0.479, 1.114,-0.758, RAW= 337.9, 1.4, CAL= 337.3, -1.4, ROT= 172.7, 1.4 2025-10-28T19:27:22.248Z,1761679642.248 [DAT](INFO): DAT read: Bearing 99, 6 (Remote) 2025-10-28T19:27:22.249Z,1761679642.249 [DAT](INFO): Remote Bearing received:Bearing 99, 6 (Remote) 2025-10-28T19:27:22.250Z,1761679642.250 [DAT](INFO): DAT read: Bearing 271.9, 9.8 (Local) 2025-10-28T19:27:22.251Z,1761679642.251 [DAT](INFO): Local bearing/azimuth received: Bearing 271.9, 9.8 (Local) 2025-10-28T19:27:22.253Z,1761679642.253 [DAT](INFO): DAT read: Range 11 to 20 : 1419.9 m (Round-trip 1893.2 ms) speed -0.4 m/s 2025-10-28T19:27:22.254Z,1761679642.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:27:22.255Z,1761679642.255 [DAT](INFO): direction in FSK: [-0.991598,0.127027,-0.024432] 2025-10-28T19:27:22.255Z,1761679642.255 [DAT](INFO): publishing direction and range info 2025-10-28T19:27:22.467Z,1761679642.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596267,0.727982,0.338390],[-0.801759,0.561332,0.205156],[-0.040600,-0.393635,0.918370]] 2025-10-28T19:27:22.540Z,1761679642.540 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679616.00. Resetting abort timer. 2025-10-28T19:27:22.872Z,1761679642.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581541,0.737049,0.344338],[-0.812460,0.547765,0.199657],[-0.041459,-0.395870,0.917370]] 2025-10-28T19:27:23.274Z,1761679643.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567274,0.745409,0.350094],[-0.822453,0.534515,0.194589],[-0.042082,-0.398321,0.916280]] 2025-10-28T19:27:23.679Z,1761679643.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553684,0.752366,0.356903],[-0.831604,0.521830,0.190074],[-0.043237,-0.402043,0.914599]] 2025-10-28T19:27:24.083Z,1761679644.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540323,0.758248,0.364843],[-0.840269,0.509246,0.186056],[-0.044719,-0.407096,0.912290]] 2025-10-28T19:27:24.488Z,1761679644.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526962,0.763642,0.373045],[-0.848607,0.496868,0.181626],[-0.046657,-0.412279,0.909862]] 2025-10-28T19:27:24.890Z,1761679644.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513366,0.769321,0.380265],[-0.856756,0.484882,0.175666],[-0.049240,-0.415976,0.908042]] 2025-10-28T19:27:25.294Z,1761679645.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498740,0.775717,0.386680],[-0.865197,0.472263,0.168529],[-0.051884,-0.418606,0.906685]] 2025-10-28T19:27:25.699Z,1761679645.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482714,0.783201,0.391897],[-0.874098,0.458563,0.160228],[-0.054219,-0.419901,0.905949]] 2025-10-28T19:27:26.104Z,1761679646.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465044,0.791890,0.395782],[-0.883504,0.443506,0.150739],[-0.056163,-0.419776,0.905889]] 2025-10-28T19:27:26.507Z,1761679646.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445909,0.801154,0.399146],[-0.893222,0.426998,0.140813],[-0.057622,-0.419316,0.906010]] 2025-10-28T19:27:26.915Z,1761679646.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426129,0.810446,0.401985],[-0.902740,0.409892,0.130573],[-0.058948,-0.418529,0.906288]] 2025-10-28T19:27:27.317Z,1761679647.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406662,0.819484,0.403821],[-0.911588,0.393145,0.120182],[-0.060273,-0.416992,0.906910]] 2025-10-28T19:27:27.728Z,1761679647.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387045,0.828459,0.404786],[-0.920018,0.376194,0.109755],[-0.061350,-0.414891,0.907801]] 2025-10-28T19:27:28.122Z,1761679648.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367372,0.837075,0.405393],[-0.928000,0.358992,0.099701],[-0.062076,-0.412832,0.908689]] 2025-10-28T19:27:28.526Z,1761679648.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347628,0.844681,0.407024],[-0.935543,0.341432,0.090460],[-0.062562,-0.412235,0.908927]] 2025-10-28T19:27:28.935Z,1761679648.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327814,0.852816,0.406500],[-0.942648,0.323894,0.080666],[-0.062870,-0.409630,0.910083]] 2025-10-28T19:27:29.005Z,1761679649.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:27:29.005Z,1761679649.005 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:27:29.005Z,1761679649.005 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:27:29.006Z,1761679649.006 [marl:UpdateRudder:A] Stopped 2025-10-28T19:27:29.006Z,1761679649.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:27:29.336Z,1761679649.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308465,0.859564,0.407429],[-0.949110,0.306731,0.071454],[-0.063552,-0.408736,0.910437]] 2025-10-28T19:27:29.360Z,1761679649.360 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:27:29.360Z,1761679649.360 [marl:UpdateRudder:B] Stopped 2025-10-28T19:27:29.361Z,1761679649.361 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:27:29.361Z,1761679649.361 [marl:UpdateRudder] Stopped 2025-10-28T19:27:29.361Z,1761679649.361 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:27:29.743Z,1761679649.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288312,0.866207,0.408119],[-0.955383,0.288798,0.061964],[-0.064190,-0.407775,0.910823]] 2025-10-28T19:27:30.143Z,1761679650.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267524,0.872650,0.408550],[-0.961357,0.270331,0.052092],[-0.064985,-0.406698,0.911248]] 2025-10-28T19:27:30.556Z,1761679650.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246043,0.878180,0.410199],[-0.966986,0.251366,0.041872],[-0.066339,-0.406959,0.911034]] 2025-10-28T19:27:30.963Z,1761679650.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223701,0.884889,0.408571],[-0.972307,0.231702,0.030534],[-0.067647,-0.404087,0.912216]] 2025-10-28T19:27:31.032Z,1761679651.032 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:27:31.032Z,1761679651.032 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:27:31.032Z,1761679651.032 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:27:31.032Z,1761679651.032 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:27:31.032Z,1761679651.032 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateCommandMode] Stopped 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed] Stopped 2025-10-28T19:27:31.033Z,1761679651.033 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:27:31.354Z,1761679651.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201037,0.891181,0.406671],[-0.977149,0.211694,0.019144],[-0.069029,-0.401227,0.913374]] 2025-10-28T19:27:31.762Z,1761679651.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178121,0.896814,0.404966],[-0.981504,0.191271,0.008130],[-0.070167,-0.398923,0.914296]] 2025-10-28T19:27:32.163Z,1761679652.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155729,0.901667,0.403417],[-0.985218,0.171288,-0.002524],[-0.071376,-0.397061,0.915013]] 2025-10-28T19:27:32.630Z,1761679652.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134083,0.905942,0.401611],[-0.988312,0.151911,-0.012716],[-0.072529,-0.395212,0.915722]] 2025-10-28T19:27:32.974Z,1761679652.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114029,0.908849,0.401237],[-0.990738,0.134001,-0.021966],[-0.073730,-0.395016,0.915711]] 2025-10-28T19:27:33.375Z,1761679653.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095023,0.910196,0.403130],[-0.992658,0.117083,-0.030369],[-0.074841,-0.397285,0.914638]] 2025-10-28T19:27:33.785Z,1761679653.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076813,0.911007,0.405174],[-0.994169,0.100828,-0.038230],[-0.075680,-0.399875,0.913440]] 2025-10-28T19:27:34.182Z,1761679654.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059583,0.910700,0.408749],[-0.995287,0.085582,-0.045595],[-0.076505,-0.404106,0.911507]] 2025-10-28T19:27:34.636Z,1761679654.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043161,0.909443,0.413583],[-0.996064,0.071248,-0.052723],[-0.077415,-0.409680,0.908938]] 2025-10-28T19:27:35.009Z,1761679655.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027219,0.907974,0.418141],[-0.996543,0.057492,-0.059970],[-0.078491,-0.415063,0.906400]] 2025-10-28T19:27:35.411Z,1761679655.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010893,0.906739,0.421551],[-0.996769,0.043399,-0.067594],[-0.079585,-0.419453,0.904282]] 2025-10-28T19:27:35.815Z,1761679655.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006324,0.905559,0.424174],[-0.996736,0.028433,-0.075560],[-0.080485,-0.423267,0.902423]] 2025-10-28T19:27:36.636Z,1761679656.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043806,0.906265,0.420434],[-0.995731,-0.005384,-0.092142],[-0.081241,-0.422676,0.902632]] 2025-10-28T19:27:37.027Z,1761679657.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063342,0.906653,0.417094],[-0.994672,-0.023295,-0.100419],[-0.081329,-0.421233,0.903299]] 2025-10-28T19:27:37.433Z,1761679657.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083699,0.907942,0.410653],[-0.993158,-0.042331,-0.108833],[-0.081431,-0.416952,0.905273]] 2025-10-28T19:27:37.834Z,1761679657.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104547,0.909256,0.402894],[-0.991152,-0.061947,-0.117391],[-0.081781,-0.411602,0.907687]] 2025-10-28T19:27:38.239Z,1761679658.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126371,0.909801,0.395338],[-0.988602,-0.082628,-0.125855],[-0.081837,-0.406737,0.909873]] 2025-10-28T19:27:38.647Z,1761679658.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148981,0.910260,0.386304],[-0.985454,-0.104371,-0.134114],[-0.081759,-0.400665,0.912569]] 2025-10-28T19:27:39.058Z,1761679659.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172063,0.909474,0.378486],[-0.981686,-0.126412,-0.142524],[-0.081777,-0.396077,0.914568]] 2025-10-28T19:27:39.454Z,1761679659.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194899,0.907303,0.372580],[-0.977390,-0.147904,-0.151105],[-0.081991,-0.393606,0.915615]] 2025-10-28T19:27:39.859Z,1761679659.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217828,0.904378,0.366949],[-0.972510,-0.169418,-0.159756],[-0.082312,-0.391660,0.916421]] 2025-10-28T19:27:40.263Z,1761679660.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240543,0.900790,0.361549],[-0.967139,-0.190824,-0.168016],[-0.082355,-0.390083,0.917090]] 2025-10-28T19:27:40.668Z,1761679660.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262825,0.896350,0.357044],[-0.961308,-0.211622,-0.176359],[-0.082521,-0.389581,0.917288]] 2025-10-28T19:27:41.070Z,1761679661.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284083,0.890947,0.354274],[-0.955218,-0.231086,-0.184817],[-0.082794,-0.390912,0.916697]] 2025-10-28T19:27:41.474Z,1761679661.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303844,0.884837,0.353188],[-0.949090,-0.248781,-0.193224],[-0.083105,-0.393918,0.915381]] 2025-10-28T19:27:41.878Z,1761679661.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322485,0.878584,0.352268],[-0.942892,-0.265363,-0.201337],[-0.083412,-0.397079,0.913986]] 2025-10-28T19:27:42.284Z,1761679662.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340670,0.871795,0.352020],[-0.936459,-0.281348,-0.209495],[-0.083597,-0.401021,0.912246]] 2025-10-28T19:27:42.308Z,1761679662.308 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:27:42.309Z,1761679662.309 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:27:42.309Z,1761679662.309 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:27:42.309Z,1761679662.309 [marl:UpdateRudder:A] Stopped 2025-10-28T19:27:42.309Z,1761679662.309 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:27:42.697Z,1761679662.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358079,0.865030,0.351428],[-0.929919,-0.296606,-0.217432],[-0.083849,-0.404657,0.910616]] 2025-10-28T19:27:42.782Z,1761679662.782 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:27:42.782Z,1761679662.782 [marl:UpdateRudder:B] Stopped 2025-10-28T19:27:42.782Z,1761679662.782 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:27:42.782Z,1761679662.782 [marl:UpdateRudder] Stopped 2025-10-28T19:27:42.782Z,1761679662.782 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:27:43.091Z,1761679663.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374930,0.858967,0.348718],[-0.923217,-0.311770,-0.224656],[-0.084252,-0.406172,0.909904]] 2025-10-28T19:27:43.495Z,1761679663.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391887,0.853026,0.344631],[-0.916101,-0.327301,-0.231587],[-0.084752,-0.406472,0.909724]] 2025-10-28T19:27:43.900Z,1761679663.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409446,0.846743,0.339676],[-0.908367,-0.343674,-0.238238],[-0.084989,-0.406096,0.909870]] 2025-10-28T19:27:44.304Z,1761679664.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427255,0.840116,0.334153],[-0.900097,-0.360359,-0.244880],[-0.085313,-0.405397,0.910151]] 2025-10-28T19:27:44.338Z,1761679664.338 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode] Stopped 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:27:44.339Z,1761679664.339 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:27:44.340Z,1761679664.340 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:27:44.340Z,1761679664.340 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:27:44.340Z,1761679664.340 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:27:44.340Z,1761679664.340 [marl:UpdateSpeed] Stopped 2025-10-28T19:27:44.340Z,1761679664.340 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:27:44.711Z,1761679664.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444233,0.833891,0.327542],[-0.891792,-0.376559,-0.250821],[-0.085819,-0.403522,0.910936]] 2025-10-28T19:27:45.139Z,1761679665.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460791,0.826791,0.322629],[-0.883302,-0.391880,-0.257307],[-0.086307,-0.403543,0.910881]] 2025-10-28T19:27:45.517Z,1761679665.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476946,0.819136,0.318653],[-0.874648,-0.406577,-0.263981],[-0.086680,-0.404614,0.910371]] 2025-10-28T19:27:45.944Z,1761679665.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507409,0.804484,0.308775],[-0.857311,-0.435156,-0.275059],[-0.086915,-0.404284,0.910495]] 2025-10-28T19:27:46.727Z,1761679666.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521310,0.797625,0.303364],[-0.848919,-0.448470,-0.279662],[-0.087016,-0.403322,0.910912]] 2025-10-28T19:27:47.144Z,1761679667.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549610,0.782643,0.292231],[-0.830950,-0.475990,-0.288020],[-0.086318,-0.401128,0.911946]] 2025-10-28T19:27:47.218Z,1761679667.218 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T19:27:47.945Z,1761679667.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578779,0.767073,0.276792],[-0.810993,-0.505844,-0.293961],[-0.085476,-0.394614,0.914862]] 2025-10-28T19:27:48.320Z,1761679668.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:27:48.347Z,1761679668.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594046,0.758243,0.268659],[-0.799948,-0.521603,-0.296671],[-0.084815,-0.391149,0.916411]] 2025-10-28T19:27:48.753Z,1761679668.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610383,0.748636,0.258798],[-0.787624,-0.538913,-0.298699],[-0.084147,-0.386157,0.918587]] 2025-10-28T19:27:49.163Z,1761679669.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627963,0.737253,0.249238],[-0.773749,-0.557085,-0.301610],[-0.083516,-0.382248,0.920278]] 2025-10-28T19:27:49.324Z,1761679669.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:27:49.558Z,1761679669.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646297,0.724304,0.240174],[-0.758563,-0.575598,-0.305400],[-0.082959,-0.379566,0.921438]] 2025-10-28T19:27:49.958Z,1761679669.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665192,0.709813,0.231701],[-0.742172,-0.594521,-0.309395],[-0.081862,-0.377769,0.922274]] 2025-10-28T19:27:50.362Z,1761679670.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684210,0.693547,0.225498],[-0.724795,-0.612419,-0.315619],[-0.080797,-0.379389,0.921702]] 2025-10-28T19:27:50.774Z,1761679670.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702415,0.676188,0.222223],[-0.707307,-0.628222,-0.324121],[-0.079561,-0.384847,0.919545]] 2025-10-28T19:27:51.177Z,1761679671.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718951,0.659810,0.218538],[-0.690623,-0.642661,-0.331703],[-0.078416,-0.389406,0.917722]] 2025-10-28T19:27:51.574Z,1761679671.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732958,0.644825,0.216733],[-0.675868,-0.654059,-0.339719],[-0.077303,-0.395483,0.915215]] 2025-10-28T19:27:51.980Z,1761679671.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744886,0.630913,0.217011],[-0.662869,-0.662849,-0.348190],[-0.075832,-0.403212,0.911959]] 2025-10-28T19:27:52.382Z,1761679672.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754945,0.618674,0.217487],[-0.651569,-0.670083,-0.355593],[-0.074262,-0.410161,0.908985]] 2025-10-28T19:27:52.790Z,1761679672.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764145,0.607861,0.215839],[-0.640911,-0.677663,-0.360563],[-0.072906,-0.413856,0.907418]] 2025-10-28T19:27:53.198Z,1761679673.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772741,0.597996,0.212772],[-0.630666,-0.685545,-0.363716],[-0.071636,-0.415246,0.906884]] 2025-10-28T19:27:53.595Z,1761679673.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781488,0.588547,0.207095],[-0.619886,-0.694733,-0.364812],[-0.070834,-0.413471,0.907758]] 2025-10-28T19:27:53.999Z,1761679673.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791079,0.578098,0.199994],[-0.607662,-0.705080,-0.365525],[-0.070298,-0.410688,0.909062]] 2025-10-28T19:27:54.402Z,1761679674.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801890,0.565805,0.191932],[-0.593392,-0.716724,-0.366324],[-0.069706,-0.407642,0.910478]] 2025-10-28T19:27:54.806Z,1761679674.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813821,0.551709,0.182517],[-0.576943,-0.729520,-0.367337],[-0.069513,-0.404249,0.912004]] 2025-10-28T19:27:55.231Z,1761679675.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826558,0.536017,0.171718],[-0.558539,-0.743427,-0.367899],[-0.069540,-0.400002,0.913872]] 2025-10-28T19:27:55.614Z,1761679675.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839499,0.518975,0.160954],[-0.538870,-0.757193,-0.369158],[-0.069711,-0.396641,0.915323]] 2025-10-28T19:27:55.644Z,1761679675.644 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:27:55.644Z,1761679675.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:27:55.644Z,1761679675.644 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:27:55.645Z,1761679675.645 [marl:UpdateRudder:A] Stopped 2025-10-28T19:27:55.645Z,1761679675.645 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:27:56.019Z,1761679676.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852271,0.500917,0.150721],[-0.518461,-0.770598,-0.370643],[-0.069516,-0.394031,0.916465]] 2025-10-28T19:27:56.059Z,1761679676.059 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:27:56.059Z,1761679676.059 [marl:UpdateRudder:B] Stopped 2025-10-28T19:27:56.059Z,1761679676.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:27:56.059Z,1761679676.059 [marl:UpdateRudder] Stopped 2025-10-28T19:27:56.059Z,1761679676.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:27:56.423Z,1761679676.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864731,0.482175,0.140530],[-0.497448,-0.783730,-0.371905],[-0.069186,-0.391504,0.917572]] 2025-10-28T19:27:56.828Z,1761679676.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876502,0.462459,0.133699],[-0.476474,-0.793788,-0.377985],[-0.068674,-0.395009,0.916107]] 2025-10-28T19:27:57.230Z,1761679677.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887172,0.443378,0.127836],[-0.456411,-0.802368,-0.384571],[-0.067939,-0.399526,0.914201]] 2025-10-28T19:27:57.635Z,1761679677.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896531,0.425498,0.123220],[-0.437860,-0.809020,-0.392130],[-0.067163,-0.405510,0.911620]] 2025-10-28T19:27:57.710Z,1761679677.710 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:27:57.710Z,1761679677.710 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateCommandMode] Stopped 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:27:57.711Z,1761679677.711 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:27:57.716Z,1761679677.716 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:27:57.716Z,1761679677.716 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:27:57.716Z,1761679677.716 [marl:UpdateSpeed] Stopped 2025-10-28T19:27:57.716Z,1761679677.716 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:27:58.040Z,1761679678.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904268,0.409415,0.121158],[-0.421772,-0.812422,-0.402589],[-0.066394,-0.415150,0.907327]] 2025-10-28T19:27:58.445Z,1761679678.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910716,0.395773,0.118152],[-0.407806,-0.816249,-0.409184],[-0.065503,-0.420834,0.904770]] 2025-10-28T19:27:58.847Z,1761679678.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916578,0.383404,0.113517],[-0.394670,-0.821894,-0.410761],[-0.064189,-0.421297,0.904649]] 2025-10-28T19:27:59.250Z,1761679679.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922076,0.371321,0.109069],[-0.381901,-0.827387,-0.411804],[-0.062669,-0.421368,0.904722]] 2025-10-28T19:27:59.662Z,1761679679.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927356,0.359136,0.105035],[-0.369180,-0.832443,-0.413213],[-0.060964,-0.421972,0.904557]] 2025-10-28T19:28:00.063Z,1761679680.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932503,0.346704,0.101168],[-0.356291,-0.837244,-0.414824],[-0.059118,-0.422870,0.904260]] 2025-10-28T19:28:00.463Z,1761679680.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937775,0.333861,0.095474],[-0.342646,-0.845096,-0.410374],[-0.056323,-0.417552,0.906906]] 2025-10-28T19:28:00.867Z,1761679680.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943673,0.318537,0.089523],[-0.326695,-0.854104,-0.404692],[-0.052448,-0.411144,0.910060]] 2025-10-28T19:28:01.278Z,1761679681.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949872,0.300938,0.084725],[-0.308867,-0.861336,-0.403364],[-0.048411,-0.409313,0.911109]] 2025-10-28T19:28:01.683Z,1761679681.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956099,0.282105,0.079319],[-0.289638,-0.868564,-0.402127],[-0.044548,-0.407447,0.912142]] 2025-10-28T19:28:02.080Z,1761679682.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962397,0.261611,0.073157],[-0.268566,-0.875879,-0.400883],[-0.040799,-0.405457,0.913203]] 2025-10-28T19:28:02.483Z,1761679682.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968451,0.240237,0.066245],[-0.246349,-0.882789,-0.399995],[-0.037613,-0.403695,0.914120]] 2025-10-28T19:28:02.887Z,1761679682.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974151,0.218086,0.058895],[-0.223186,-0.888885,-0.400090],[-0.034903,-0.402893,0.914581]] 2025-10-28T19:28:03.291Z,1761679683.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979293,0.195846,0.051275],[-0.199784,-0.893961,-0.401149],[-0.032725,-0.403087,0.914576]] 2025-10-28T19:28:03.699Z,1761679683.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983812,0.173762,0.043821],[-0.176562,-0.898060,-0.402882],[-0.030652,-0.404097,0.914202]] 2025-10-28T19:28:04.101Z,1761679684.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987668,0.152208,0.036669],[-0.153895,-0.900775,-0.406104],[-0.028782,-0.406739,0.913091]] 2025-10-28T19:28:04.503Z,1761679684.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990815,0.131959,0.029542],[-0.132462,-0.903180,-0.408313],[-0.027199,-0.408476,0.912364]] 2025-10-28T19:28:04.907Z,1761679684.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993376,0.112643,0.022709],[-0.111999,-0.904921,-0.410578],[-0.025699,-0.410402,0.911542]] 2025-10-28T19:28:05.310Z,1761679685.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995320,0.095244,0.016324],[-0.093446,-0.905655,-0.413590],[-0.024608,-0.413180,0.910317]] 2025-10-28T19:28:05.719Z,1761679685.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996763,0.079728,0.010339],[-0.076819,-0.906590,-0.414962],[-0.023711,-0.414413,0.909780]] 2025-10-28T19:28:06.120Z,1761679686.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997904,0.064556,0.004395],[-0.060516,-0.907085,-0.416575],[-0.022906,-0.415968,0.909091]] 2025-10-28T19:28:06.522Z,1761679686.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998681,0.051345,-0.000001],[-0.046624,-0.906863,-0.418838],[-0.021506,-0.418285,0.908061]] 2025-10-28T19:28:06.927Z,1761679686.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999264,0.038104,-0.004448],[-0.032729,-0.907255,-0.419306],[-0.020013,-0.418852,0.907834]] 2025-10-28T19:28:07.333Z,1761679687.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999667,0.024248,-0.008870],[-0.018315,-0.908091,-0.418371],[-0.018199,-0.418069,0.908233]] 2025-10-28T19:28:07.734Z,1761679687.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999871,0.009356,-0.013075],[-0.003037,-0.908512,-0.417847],[-0.015788,-0.417753,0.908423]] 2025-10-28T19:28:08.144Z,1761679688.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999825,-0.006608,-0.017519],[0.013326,-0.908386,-0.417920],[-0.013152,-0.418080,0.908315]] 2025-10-28T19:28:08.543Z,1761679688.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999521,-0.022528,-0.021239],[0.029364,-0.907224,-0.419621],[-0.009815,-0.420044,0.907451]] 2025-10-28T19:28:08.948Z,1761679688.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998873,-0.040274,-0.025131],[0.047096,-0.907155,-0.418152],[-0.005957,-0.418864,0.908029]] 2025-10-28T19:28:08.990Z,1761679688.990 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:28:08.990Z,1761679688.990 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:28:08.990Z,1761679688.990 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:28:08.991Z,1761679688.991 [marl:UpdateRudder:A] Stopped 2025-10-28T19:28:08.991Z,1761679688.991 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:28:09.350Z,1761679689.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997793,-0.059669,-0.029145],[0.066385,-0.907601,-0.414553],[-0.001716,-0.415572,0.909558]] 2025-10-28T19:28:09.388Z,1761679689.388 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:28:09.388Z,1761679689.388 [marl:UpdateRudder:B] Stopped 2025-10-28T19:28:09.388Z,1761679689.388 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:28:09.388Z,1761679689.388 [marl:UpdateRudder] Stopped 2025-10-28T19:28:09.389Z,1761679689.389 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:28:09.757Z,1761679689.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996180,-0.080633,-0.033531],[0.087286,-0.907652,-0.410548],[0.002669,-0.411906,0.911222]] 2025-10-28T19:28:10.165Z,1761679690.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993958,-0.102788,-0.038508],[0.109548,-0.906949,-0.406747],[0.006884,-0.408508,0.912729]] 2025-10-28T19:28:10.581Z,1761679690.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991129,-0.125083,-0.044915],[0.132495,-0.903515,-0.407560],[0.010398,-0.409896,0.912073]] 2025-10-28T19:28:10.967Z,1761679690.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987697,-0.147480,-0.052012],[0.155812,-0.899692,-0.407772],[0.013343,-0.410859,0.911601]] 2025-10-28T19:28:11.019Z,1761679691.019 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:28:11.019Z,1761679691.019 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateCommandMode] Stopped 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:28:11.020Z,1761679691.020 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed] Stopped 2025-10-28T19:28:11.021Z,1761679691.021 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:28:11.370Z,1761679691.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983779,-0.169100,-0.059871],[0.178711,-0.894951,-0.408808],[0.015548,-0.412877,0.910654]] 2025-10-28T19:28:11.779Z,1761679691.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979383,-0.190230,-0.067984],[0.201302,-0.890793,-0.407389],[0.016938,-0.412675,0.910721]] 2025-10-28T19:28:12.180Z,1761679692.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974614,-0.210588,-0.076030],[0.223185,-0.886844,-0.404594],[0.017776,-0.411292,0.911330]] 2025-10-28T19:28:12.621Z,1761679692.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969463,-0.230466,-0.083830],[0.244547,-0.882832,-0.401005],[0.018410,-0.409260,0.912232]] 2025-10-28T19:28:12.986Z,1761679692.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964120,-0.249260,-0.091339],[0.264795,-0.878485,-0.397679],[0.018886,-0.407596,0.912967]] 2025-10-28T19:28:13.391Z,1761679693.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958982,-0.266105,-0.097678],[0.282810,-0.874758,-0.393468],[0.019259,-0.404953,0.914135]] 2025-10-28T19:28:13.798Z,1761679693.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953568,-0.282760,-0.103705],[0.300524,-0.870630,-0.389472],[0.019839,-0.402553,0.915181]] 2025-10-28T19:28:14.198Z,1761679694.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948061,-0.298624,-0.109562],[0.317411,-0.865688,-0.387086],[0.020747,-0.401757,0.915511]] 2025-10-28T19:28:14.636Z,1761679694.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941999,-0.315080,-0.115598],[0.334918,-0.860309,-0.384316],[0.021640,-0.400741,0.915936]] 2025-10-28T19:28:15.006Z,1761679695.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935506,-0.331496,-0.122224],[0.352606,-0.854167,-0.382189],[0.022295,-0.400637,0.915966]] 2025-10-28T19:28:15.413Z,1761679695.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928662,-0.347862,-0.128759],[0.370230,-0.848014,-0.379211],[0.022724,-0.399830,0.916308]] 2025-10-28T19:28:15.815Z,1761679695.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921620,-0.363732,-0.135333],[0.387390,-0.841238,-0.377158],[0.023338,-0.400023,0.916208]] 2025-10-28T19:28:16.219Z,1761679696.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914544,-0.378636,-0.142279],[0.403779,-0.833822,-0.376436],[0.023897,-0.401717,0.915452]] 2025-10-28T19:28:16.640Z,1761679696.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907161,-0.393598,-0.148796],[0.420081,-0.826682,-0.374338],[0.024331,-0.402091,0.915276]] 2025-10-28T19:28:17.028Z,1761679697.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899534,-0.408189,-0.155632],[0.436134,-0.818725,-0.373464],[0.025024,-0.403820,0.914496]] 2025-10-28T19:28:17.053Z,1761679697.053 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:28:17.197Z,1761679697.197 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:28:17.197Z,1761679697.197 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:28:17.432Z,1761679697.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891634,-0.422593,-0.162492],[0.452006,-0.810200,-0.373183],[0.026053,-0.406190,0.913417]] 2025-10-28T19:28:17.449Z,1761679697.449 [DAT](INFO): DAT read: user:184> 2025-10-28T19:28:17.450Z,1761679697.450 [DAT](INFO): DAT read: Tx time:19:28:17.1815 2025-10-28T19:28:17.450Z,1761679697.450 [DAT](INFO): Ping request sent. 2025-10-28T19:28:17.450Z,1761679697.450 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:28:17.450Z,1761679697.450 [DAT](INFO): publishing transmit ping time 2025-10-28T19:28:17.451Z,1761679697.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T19:28:17.701Z,1761679697.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250836 2025-10-28T19:28:17.834Z,1761679697.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883434,-0.437238,-0.168424],[0.467736,-0.801703,-0.372150],[0.027692,-0.407548,0.912764]] 2025-10-28T19:28:17.953Z,1761679697.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502797 2025-10-28T19:28:18.205Z,1761679698.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-10-28T19:28:18.239Z,1761679698.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874827,-0.452178,-0.173816],[0.483504,-0.792770,-0.371133],[0.030022,-0.408718,0.912167]] 2025-10-28T19:28:18.457Z,1761679698.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006803 2025-10-28T19:28:18.651Z,1761679698.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865566,-0.467491,-0.179576],[0.499744,-0.783087,-0.370176],[0.032431,-0.410154,0.911439]] 2025-10-28T19:28:18.709Z,1761679698.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258870 2025-10-28T19:28:18.961Z,1761679698.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-10-28T19:28:19.046Z,1761679699.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855847,-0.483279,-0.184303],[0.516013,-0.773369,-0.368280],[0.035448,-0.410294,0.911264]] 2025-10-28T19:28:19.213Z,1761679699.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762840 2025-10-28T19:28:19.451Z,1761679699.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845335,-0.499566,-0.189321],[0.532832,-0.762713,-0.366550],[0.038718,-0.410734,0.910933]] 2025-10-28T19:28:19.464Z,1761679699.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:28:19.466Z,1761679699.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015750 2025-10-28T19:28:19.717Z,1761679699.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266762 2025-10-28T19:28:19.855Z,1761679699.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833977,-0.516258,-0.194835],[0.550194,-0.751077,-0.364924],[0.042058,-0.411535,0.910423]] 2025-10-28T19:28:19.970Z,1761679699.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519684 2025-10-28T19:28:20.221Z,1761679700.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770773 2025-10-28T19:28:20.265Z,1761679700.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821932,-0.533342,-0.199932],[0.567775,-0.739222,-0.362192],[0.045378,-0.411214,0.910409]] 2025-10-28T19:28:20.469Z,1761679700.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:28:20.474Z,1761679700.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023275 2025-10-28T19:28:20.662Z,1761679700.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808652,-0.551356,-0.205156],[0.586305,-0.726724,-0.357936],[0.048258,-0.409729,0.910930]] 2025-10-28T19:28:20.725Z,1761679700.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274742 2025-10-28T19:28:20.977Z,1761679700.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526754 2025-10-28T19:28:21.229Z,1761679701.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778823 2025-10-28T19:28:21.470Z,1761679701.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780204,-0.586913,-0.216368],[0.623370,-0.700830,-0.346767],[0.051885,-0.405426,0.912654]] 2025-10-28T19:28:21.482Z,1761679701.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031448 2025-10-28T19:28:21.733Z,1761679701.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282753 2025-10-28T19:28:21.877Z,1761679701.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764945,-0.604390,-0.222648],[0.641968,-0.687337,-0.339772],[0.052321,-0.402840,0.913774]] 2025-10-28T19:28:21.985Z,1761679701.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534799 2025-10-28T19:28:22.237Z,1761679702.237 [DAT](INFO): DAT read: Rx Time:19:28:21.4560 2025-10-28T19:28:22.237Z,1761679702.237 [DAT](INFO): Rx dataTimestamp_ set to:1761679702.237158 2025-10-28T19:28:22.238Z,1761679702.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787886 2025-10-28T19:28:22.278Z,1761679702.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749537,-0.620117,-0.231622],[0.659957,-0.672809,-0.334343],[0.051494,-0.403463,0.913546]] 2025-10-28T19:28:22.330Z,1761679702.330 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:28:22.330Z,1761679702.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:28:22.330Z,1761679702.330 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:28:22.330Z,1761679702.330 [marl:UpdateRudder:A] Stopped 2025-10-28T19:28:22.330Z,1761679702.330 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:28:22.489Z,1761679702.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038914 2025-10-28T19:28:22.682Z,1761679702.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733546,-0.635998,-0.239619],[0.677793,-0.658596,-0.326877],[0.050081,-0.402191,0.914185]] 2025-10-28T19:28:22.734Z,1761679702.734 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:28:22.734Z,1761679702.734 [marl:UpdateRudder:B] Stopped 2025-10-28T19:28:22.734Z,1761679702.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:28:22.735Z,1761679702.735 [marl:UpdateRudder] Stopped 2025-10-28T19:28:22.735Z,1761679702.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:28:22.746Z,1761679702.746 [DAT](INFO): DAT read: 19:28:21.4560 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 445,-0.05, 2.344, 0.977, 2.908, 2.328, PHS= 0.118,-1.306, 0.536, RAW= 162.62.1, 7.9, ROT= 347.9, -7.9 2025-10-28T19:28:22.747Z,1761679702.747 [DAT](INFO): unknown deviceResponse_: 19:28:21.4560 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 445,-0.05, 2.344, 0.977, 2.908, 2.328, PHS= 0.118,-1.306, 0.536, RAW= 162.62.1, 7.9, ROT= 347.9, -7.9 2025-10-28T19:28:22.748Z,1761679702.748 [DAT](INFO): DAT read: Bearing 280.5, -11.2 (Local) 2025-10-28T19:28:22.749Z,1761679702.749 [DAT](INFO): Local bearing/azimuth received: Bearing 280.5, -11.2 (Local) 2025-10-28T19:28:22.751Z,1761679702.751 [DAT](INFO): DAT read: Range 11 to 20 : 1402.8 m (Round-trip 1870.4 ms) speed 0.9 m/s 2025-10-28T19:28:22.752Z,1761679702.752 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T19:28:23.088Z,1761679703.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717768,-0.650980,-0.247050],[0.694605,-0.644844,-0.318905],[0.048292,-0.400502,0.915023]] 2025-10-28T19:28:23.151Z,1761679703.151 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679744.00. Resetting abort timer. 2025-10-28T19:28:23.493Z,1761679703.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701775,-0.665447,-0.254346],[0.710880,-0.630825,-0.310981],[0.046493,-0.399048,0.915751]] 2025-10-28T19:28:23.894Z,1761679703.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686462,-0.678810,-0.260744],[0.725772,-0.617395,-0.303444],[0.044999,-0.397543,0.916479]] 2025-10-28T19:28:24.298Z,1761679704.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671391,-0.691306,-0.267077],[0.739811,-0.603915,-0.296591],[0.043744,-0.396715,0.916899]] 2025-10-28T19:28:24.345Z,1761679704.345 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode] Stopped 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:28:24.346Z,1761679704.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:28:24.347Z,1761679704.347 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:28:24.347Z,1761679704.347 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:28:24.347Z,1761679704.347 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:28:24.347Z,1761679704.347 [marl:UpdateSpeed] Stopped 2025-10-28T19:28:24.347Z,1761679704.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:28:24.702Z,1761679704.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655928,-0.703794,-0.272822],[0.753590,-0.589930,-0.289975],[0.043137,-0.395799,0.917323]] 2025-10-28T19:28:25.114Z,1761679705.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640512,-0.715434,-0.279102],[0.766749,-0.575479,-0.284463],[0.042897,-0.396204,0.917160]] 2025-10-28T19:28:25.511Z,1761679705.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624512,-0.727117,-0.285108],[0.779832,-0.560445,-0.278861],[0.042977,-0.396488,0.917033]] 2025-10-28T19:28:25.915Z,1761679705.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608278,-0.738277,-0.291455],[0.792558,-0.545049,-0.273448],[0.043023,-0.397327,0.916668]] 2025-10-28T19:28:26.319Z,1761679706.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591878,-0.749183,-0.297330],[0.804868,-0.529567,-0.267854],[0.043216,-0.397848,0.916433]] 2025-10-28T19:28:26.723Z,1761679706.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575633,-0.759222,-0.303692],[0.816568,-0.514111,-0.262501],[0.043166,-0.399089,0.915896]] 2025-10-28T19:28:27.134Z,1761679707.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559620,-0.768807,-0.309452],[0.827651,-0.499236,-0.256434],[0.042659,-0.399624,0.915686]] 2025-10-28T19:28:27.532Z,1761679707.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544308,-0.778451,-0.312638],[0.837835,-0.485825,-0.249010],[0.041955,-0.397477,0.916652]] 2025-10-28T19:28:27.935Z,1761679707.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529077,-0.787079,-0.317149],[0.847588,-0.472159,-0.242198],[0.040884,-0.396954,0.916928]] 2025-10-28T19:28:28.339Z,1761679708.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514307,-0.795013,-0.321624],[0.856682,-0.458851,-0.235695],[0.039803,-0.396749,0.917064]] 2025-10-28T19:28:28.744Z,1761679708.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499672,-0.802399,-0.326318],[0.865335,-0.445413,-0.229789],[0.039036,-0.397193,0.916904]] 2025-10-28T19:28:29.155Z,1761679709.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484930,-0.809639,-0.330647],[0.873669,-0.431488,-0.224766],[0.039310,-0.397872,0.916599]] 2025-10-28T19:28:29.551Z,1761679709.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469811,-0.817234,-0.333777],[0.881828,-0.417034,-0.220140],[0.040710,-0.397758,0.916587]] 2025-10-28T19:28:29.955Z,1761679709.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453344,-0.825100,-0.337178],[0.890292,-0.400867,-0.216068],[0.043114,-0.398140,0.916311]] 2025-10-28T19:28:30.360Z,1761679710.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434675,-0.833495,-0.341092],[0.899437,-0.382639,-0.211190],[0.045511,-0.398590,0.915999]] 2025-10-28T19:28:30.767Z,1761679710.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414369,-0.841740,-0.346080],[0.908849,-0.362713,-0.205991],[0.047863,-0.399891,0.915312]] 2025-10-28T19:28:31.166Z,1761679711.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392594,-0.850513,-0.349996],[0.918346,-0.341782,-0.199564],[0.050109,-0.399765,0.915247]] 2025-10-28T19:28:31.572Z,1761679711.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369698,-0.859266,-0.353532],[0.927711,-0.320184,-0.191921],[0.051717,-0.398928,0.915523]] 2025-10-28T19:28:31.980Z,1761679711.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346300,-0.867597,-0.356864],[0.936651,-0.298458,-0.183323],[0.052541,-0.397741,0.915992]] 2025-10-28T19:28:32.378Z,1761679712.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322791,-0.874618,-0.361731],[0.945031,-0.276764,-0.174120],[0.052174,-0.398052,0.915878]] 2025-10-28T19:28:32.793Z,1761679712.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276012,-0.887027,-0.370137],[0.959979,-0.235372,-0.151793],[0.047525,-0.397220,0.916492]] 2025-10-28T19:28:33.604Z,1761679713.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234946,-0.897505,-0.373210],[0.971107,-0.200207,-0.129877],[0.041845,-0.392941,0.918611]] 2025-10-28T19:28:34.010Z,1761679714.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216262,-0.901624,-0.374573],[0.975515,-0.183822,-0.120747],[0.040013,-0.391514,0.919302]] 2025-10-28T19:28:34.403Z,1761679714.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198743,-0.905100,-0.375893],[0.979283,-0.168217,-0.112726],[0.038797,-0.390509,0.919781]] 2025-10-28T19:28:34.806Z,1761679714.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180984,-0.908068,-0.377700],[0.982758,-0.152201,-0.104988],[0.037850,-0.390188,0.919957]] 2025-10-28T19:28:35.209Z,1761679715.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162405,-0.911365,-0.378205],[0.986009,-0.135298,-0.097371],[0.037570,-0.388727,0.920587]] 2025-10-28T19:28:35.619Z,1761679715.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143035,-0.913759,-0.380245],[0.989011,-0.117448,-0.089794],[0.037391,-0.388910,0.920517]] 2025-10-28T19:28:35.642Z,1761679715.642 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:28:35.643Z,1761679715.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:28:35.643Z,1761679715.643 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:28:35.643Z,1761679715.643 [marl:UpdateRudder:A] Stopped 2025-10-28T19:28:35.643Z,1761679715.643 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:28:36.018Z,1761679716.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123390,-0.915379,-0.383217],[0.991648,-0.099130,-0.082507],[0.037537,-0.390197,0.919966]] 2025-10-28T19:28:36.062Z,1761679716.062 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:28:36.062Z,1761679716.062 [marl:UpdateRudder:B] Stopped 2025-10-28T19:28:36.062Z,1761679716.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:28:36.062Z,1761679716.062 [marl:UpdateRudder] Stopped 2025-10-28T19:28:36.062Z,1761679716.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:28:36.419Z,1761679716.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102828,-0.916153,-0.387414],[0.994004,-0.080084,-0.074449],[0.037181,-0.392746,0.918895]] 2025-10-28T19:28:36.824Z,1761679716.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082328,-0.916834,-0.390689],[0.995928,-0.061236,-0.066165],[0.036738,-0.394545,0.918142]] 2025-10-28T19:28:37.226Z,1761679717.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061774,-0.917480,-0.392956],[0.997439,-0.042527,-0.057508],[0.036051,-0.395502,0.917757]] 2025-10-28T19:28:37.631Z,1761679717.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041530,-0.917465,-0.395643],[0.998520,-0.024192,-0.048713],[0.035121,-0.397080,0.917112]] 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode] Stopped 2025-10-28T19:28:37.678Z,1761679717.678 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed] Stopped 2025-10-28T19:28:37.679Z,1761679717.679 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:28:38.039Z,1761679718.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021709,-0.918069,-0.395827],[0.999177,-0.006356,-0.040058],[0.034260,-0.396371,0.917451]] 2025-10-28T19:28:38.440Z,1761679718.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002481,-0.918169,-0.396182],[0.999435,0.011001,-0.031755],[0.033515,-0.396037,0.917623]] 2025-10-28T19:28:38.843Z,1761679718.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016173,-0.918064,-0.396102],[0.999322,0.027946,-0.023968],[0.033074,-0.395446,0.917893]] 2025-10-28T19:28:39.247Z,1761679719.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035146,-0.917387,-0.396443],[0.998853,0.045150,-0.015927],[0.032511,-0.395428,0.917921]] 2025-10-28T19:28:39.651Z,1761679719.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053929,-0.916518,-0.396341],[0.998036,0.062137,-0.007890],[0.031859,-0.395137,0.918069]] 2025-10-28T19:28:40.066Z,1761679720.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072492,-0.915393,-0.395980],[0.996873,0.079021,-0.000177],[0.031452,-0.394729,0.918259]] 2025-10-28T19:28:40.458Z,1761679720.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091510,-0.914126,-0.394968],[0.995340,0.096072,0.008256],[0.030398,-0.393883,0.918658]] 2025-10-28T19:28:40.862Z,1761679720.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110202,-0.912730,-0.393420],[0.993469,0.112941,0.016261],[0.029592,-0.392642,0.919215]] 2025-10-28T19:28:41.267Z,1761679721.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129023,-0.910346,-0.393222],[0.991225,0.129892,0.024527],[0.028748,-0.392936,0.919116]] 2025-10-28T19:28:41.673Z,1761679721.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148052,-0.907755,-0.392508],[0.988585,0.147043,0.032823],[0.027920,-0.392887,0.919163]] 2025-10-28T19:28:42.079Z,1761679722.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166994,-0.904297,-0.392888],[0.985582,0.164107,0.041195],[0.027223,-0.394102,0.918663]] 2025-10-28T19:28:42.478Z,1761679722.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185881,-0.900185,-0.393846],[0.982200,0.181263,0.049263],[0.027044,-0.395992,0.917856]] 2025-10-28T19:28:42.888Z,1761679722.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205183,-0.895789,-0.394287],[0.978350,0.198855,0.057342],[0.027040,-0.397516,0.917197]] 2025-10-28T19:28:43.286Z,1761679723.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225401,-0.890991,-0.394118],[0.973883,0.217395,0.065507],[0.027313,-0.398590,0.916722]] 2025-10-28T19:28:43.690Z,1761679723.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246049,-0.885985,-0.393054],[0.968859,0.236439,0.073541],[0.027777,-0.398908,0.916570]] 2025-10-28T19:28:44.102Z,1761679724.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266942,-0.880687,-0.391322],[0.963292,0.255838,0.081340],[0.028480,-0.398670,0.916652]] 2025-10-28T19:28:44.499Z,1761679724.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289002,-0.874231,-0.390125],[0.956894,0.276069,0.090217],[0.028831,-0.399381,0.916332]] 2025-10-28T19:28:44.908Z,1761679724.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311855,-0.867309,-0.387971],[0.949695,0.296890,0.099676],[0.028735,-0.399539,0.916266]] 2025-10-28T19:28:45.306Z,1761679725.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334217,-0.859565,-0.386584],[0.942060,0.317143,0.109283],[0.028666,-0.400710,0.915756]] 2025-10-28T19:28:45.710Z,1761679725.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355932,-0.852078,-0.383765],[0.934084,0.336818,0.118496],[0.028291,-0.400645,0.915797]] 2025-10-28T19:28:46.118Z,1761679726.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376573,-0.844005,-0.381902],[0.925982,0.355122,0.128241],[0.027386,-0.401927,0.915262]] 2025-10-28T19:28:46.520Z,1761679726.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395784,-0.836570,-0.378822],[0.917975,0.372083,0.137391],[0.026017,-0.402126,0.915215]] 2025-10-28T19:28:46.922Z,1761679726.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413269,-0.829408,-0.375886],[0.910277,0.387420,0.145950],[0.024574,-0.402477,0.915100]] 2025-10-28T19:28:47.327Z,1761679727.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429128,-0.822701,-0.372842],[0.902945,0.401355,0.153642],[0.023241,-0.402588,0.915086]] 2025-10-28T19:28:47.732Z,1761679727.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443716,-0.816858,-0.368592],[0.895898,0.414406,0.160105],[0.021964,-0.401262,0.915700]] 2025-10-28T19:28:48.135Z,1761679728.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457608,-0.810926,-0.364682],[0.888908,0.426870,0.166203],[0.020894,-0.400225,0.916179]] 2025-10-28T19:28:48.538Z,1761679728.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471263,-0.804840,-0.360755],[0.881772,0.439091,0.172273],[0.019752,-0.399290,0.916612]] 2025-10-28T19:28:48.943Z,1761679728.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485255,-0.798356,-0.356587],[0.874166,0.451827,0.178007],[0.019003,-0.398095,0.917147]] 2025-10-28T19:28:48.998Z,1761679728.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:28:48.998Z,1761679728.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:28:48.999Z,1761679728.999 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:28:48.999Z,1761679728.999 [marl:UpdateRudder:A] Stopped 2025-10-28T19:28:48.999Z,1761679728.999 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:28:49.347Z,1761679729.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500075,-0.791083,-0.352297],[0.865792,0.465244,0.184261],[0.018138,-0.397160,0.917570]] 2025-10-28T19:28:49.372Z,1761679729.372 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:28:49.372Z,1761679729.372 [marl:UpdateRudder:B] Stopped 2025-10-28T19:28:49.372Z,1761679729.372 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:28:49.372Z,1761679729.372 [marl:UpdateRudder] Stopped 2025-10-28T19:28:49.372Z,1761679729.372 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:28:49.754Z,1761679729.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515549,-0.782974,-0.348083],[0.856681,0.479303,0.190700],[0.017524,-0.396511,0.917863]] 2025-10-28T19:28:50.155Z,1761679730.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531998,-0.773705,-0.344034],[0.846579,0.494087,0.197946],[0.016831,-0.396559,0.917855]] 2025-10-28T19:28:50.593Z,1761679730.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:28:50.613Z,1761679730.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549766,-0.763380,-0.339130],[0.835165,0.510133,0.205583],[0.016064,-0.396251,0.918001]] 2025-10-28T19:28:51.003Z,1761679731.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568032,-0.751962,-0.334504],[0.822863,0.526501,0.213761],[0.015376,-0.396674,0.917831]] 2025-10-28T19:28:51.028Z,1761679731.028 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:28:51.028Z,1761679731.028 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:28:51.028Z,1761679731.028 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:28:51.028Z,1761679731.028 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateCommandMode] Stopped 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:28:51.029Z,1761679731.029 [marl:UpdateSpeed] Stopped 2025-10-28T19:28:51.030Z,1761679731.030 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:28:51.366Z,1761679731.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587042,-0.740007,-0.328286],[0.809430,0.543682,0.221884],[0.014288,-0.395980,0.918148]] 2025-10-28T19:28:51.596Z,1761679731.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:28:51.775Z,1761679731.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605893,-0.727661,-0.321565],[0.795438,0.560801,0.229743],[0.013159,-0.394984,0.918594]] 2025-10-28T19:28:52.175Z,1761679732.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624232,-0.714501,-0.315948],[0.781147,0.577063,0.238344],[0.012025,-0.395584,0.918351]] 2025-10-28T19:28:52.628Z,1761679732.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642249,-0.701014,-0.309994],[0.766424,0.592861,0.247203],[0.010491,-0.396352,0.918039]] 2025-10-28T19:28:52.984Z,1761679732.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659317,-0.687804,-0.303689],[0.751817,0.607644,0.256007],[0.008452,-0.397108,0.917733]] 2025-10-28T19:28:53.387Z,1761679733.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675300,-0.675242,-0.296677],[0.737516,0.621690,0.263765],[0.006336,-0.396925,0.917829]] 2025-10-28T19:28:53.793Z,1761679733.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689978,-0.663028,-0.290388],[0.723819,0.634228,0.271736],[0.004003,-0.397680,0.917515]] 2025-10-28T19:28:54.198Z,1761679734.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703346,-0.650987,-0.285518],[0.710846,0.645047,0.280378],[0.001650,-0.400162,0.916443]] 2025-10-28T19:28:54.631Z,1761679734.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716003,-0.639349,-0.280307],[0.698096,0.655363,0.288376],[-0.000670,-0.402159,0.915569]] 2025-10-28T19:28:55.003Z,1761679735.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728076,-0.628524,-0.273610],[0.685492,0.666043,0.294088],[-0.002605,-0.401676,0.915778]] 2025-10-28T19:28:55.406Z,1761679735.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739511,-0.617672,-0.267591],[0.673132,0.676113,0.299607],[-0.004138,-0.401687,0.915768]] 2025-10-28T19:28:55.811Z,1761679735.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750747,-0.605841,-0.263318],[0.660571,0.685474,0.306221],[-0.005024,-0.403835,0.914818]] 2025-10-28T19:28:56.222Z,1761679736.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762465,-0.593643,-0.257361],[0.647003,0.695935,0.311547],[-0.005841,-0.404057,0.914715]] 2025-10-28T19:28:56.637Z,1761679736.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773945,-0.582491,-0.248421],[0.633223,0.708032,0.312600],[-0.006197,-0.399241,0.916825]] 2025-10-28T19:28:57.023Z,1761679737.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785587,-0.569606,-0.241666],[0.618721,0.719253,0.316006],[-0.006180,-0.397774,0.917463]] 2025-10-28T19:28:57.427Z,1761679737.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797862,-0.554769,-0.235898],[0.602804,0.729939,0.322205],[-0.006558,-0.399276,0.916807]] 2025-10-28T19:28:57.832Z,1761679737.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810097,-0.539364,-0.229846],[0.586250,0.740346,0.328934],[-0.007250,-0.401216,0.915955]] 2025-10-28T19:28:58.234Z,1761679738.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822575,-0.522886,-0.223517],[0.568600,0.750796,0.336153],[-0.007954,-0.403603,0.914899]] 2025-10-28T19:28:58.641Z,1761679738.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834966,-0.505504,-0.217482],[0.550227,0.760362,0.345110],[-0.009089,-0.407819,0.913018]] 2025-10-28T19:28:59.054Z,1761679739.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847255,-0.487214,-0.211617],[0.531092,0.769449,0.354809],[-0.010040,-0.413002,0.910675]] 2025-10-28T19:28:59.446Z,1761679739.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858846,-0.469993,-0.203693],[0.512116,0.779291,0.361168],[-0.011010,-0.414502,0.909982]] 2025-10-28T19:28:59.850Z,1761679739.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869391,-0.454207,-0.194566],[0.493989,0.789683,0.363836],[-0.011612,-0.412429,0.910916]] 2025-10-28T19:29:00.258Z,1761679740.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879737,-0.437240,-0.186774],[0.475307,0.798749,0.368895],[-0.012110,-0.413305,0.910512]] 2025-10-28T19:29:00.661Z,1761679740.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889213,-0.421297,-0.178351],[0.457317,0.807717,0.372094],[-0.012705,-0.412433,0.910899]] 2025-10-28T19:29:01.068Z,1761679741.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897944,-0.405393,-0.171328],[0.439931,0.815673,0.375683],[-0.012552,-0.412715,0.910774]] 2025-10-28T19:29:01.466Z,1761679741.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905394,-0.391185,-0.165030],[0.424400,0.822816,0.377967],[-0.012066,-0.412248,0.910992]] 2025-10-28T19:29:01.870Z,1761679741.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912613,-0.376751,-0.158731],[0.408660,0.829696,0.380266],[-0.011567,-0.411903,0.911154]] 2025-10-28T19:29:02.282Z,1761679742.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919446,-0.362246,-0.152960],[0.393056,0.835596,0.383778],[-0.011209,-0.412986,0.910669]] 2025-10-28T19:29:02.306Z,1761679742.306 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:29:02.306Z,1761679742.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:29:02.306Z,1761679742.306 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:29:02.306Z,1761679742.306 [marl:UpdateRudder:A] Stopped 2025-10-28T19:29:02.306Z,1761679742.306 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:29:02.678Z,1761679742.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926221,-0.347283,-0.146663],[0.376824,0.841657,0.386803],[-0.010890,-0.413532,0.910425]] 2025-10-28T19:29:02.730Z,1761679742.730 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:29:02.731Z,1761679742.731 [marl:UpdateRudder:B] Stopped 2025-10-28T19:29:02.731Z,1761679742.731 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:29:02.731Z,1761679742.731 [marl:UpdateRudder] Stopped 2025-10-28T19:29:02.731Z,1761679742.731 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:29:03.082Z,1761679743.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932213,-0.333523,-0.140505],[0.361760,0.847506,0.388411],[-0.010465,-0.412911,0.910711]] 2025-10-28T19:29:03.487Z,1761679743.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938446,-0.318604,-0.133457],[0.345263,0.853298,0.390737],[-0.010612,-0.412763,0.910777]] 2025-10-28T19:29:03.892Z,1761679743.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944826,-0.302379,-0.125980],[0.327398,0.859112,0.393366],[-0.010715,-0.412908,0.910710]] 2025-10-28T19:29:04.295Z,1761679744.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951079,-0.285291,-0.118561],[0.308749,0.863998,0.397721],[-0.011030,-0.414870,0.909814]] 2025-10-28T19:29:04.325Z,1761679744.325 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:29:04.325Z,1761679744.325 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:29:04.325Z,1761679744.325 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:29:04.325Z,1761679744.325 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateCommandMode] Stopped 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:29:04.326Z,1761679744.326 [marl:UpdateSpeed] Stopped 2025-10-28T19:29:04.327Z,1761679744.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:29:04.698Z,1761679744.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957255,-0.267584,-0.109827],[0.289014,0.869676,0.400167],[-0.011565,-0.414804,0.909837]] 2025-10-28T19:29:05.102Z,1761679745.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963335,-0.248863,-0.100266],[0.268019,0.875453,0.402178],[-0.012309,-0.414305,0.910055]] 2025-10-28T19:29:05.508Z,1761679745.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968851,-0.230313,-0.091019],[0.247311,0.880719,0.403945],[-0.012872,-0.413872,0.910244]] 2025-10-28T19:29:05.911Z,1761679745.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973924,-0.211455,-0.082211],[0.226500,0.885448,0.405807],[-0.013016,-0.413846,0.910254]] 2025-10-28T19:29:06.314Z,1761679746.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978510,-0.192793,-0.073132],[0.205769,0.890140,0.406584],[-0.013289,-0.412895,0.910682]] 2025-10-28T19:29:06.719Z,1761679746.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982450,-0.174957,-0.064668],[0.186061,0.894746,0.405970],[-0.013166,-0.410877,0.911595]] 2025-10-28T19:29:07.123Z,1761679747.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985916,-0.157361,-0.056635],[0.166743,0.898774,0.405466],[-0.012903,-0.409199,0.912354]] 2025-10-28T19:29:07.538Z,1761679747.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988912,-0.140312,-0.048644],[0.147959,0.902861,0.403672],[-0.012721,-0.406393,0.913610]] 2025-10-28T19:29:07.931Z,1761679747.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991540,-0.123272,-0.040658],[0.129156,0.905681,0.403807],[-0.012955,-0.405642,0.913940]] 2025-10-28T19:29:08.335Z,1761679748.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993763,-0.106541,-0.032922],[0.110733,0.908019,0.404029],[-0.013152,-0.405155,0.914153]] 2025-10-28T19:29:08.740Z,1761679748.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995612,-0.090091,-0.025312],[0.092608,0.909672,0.404871],[-0.013449,-0.405438,0.914023]] 2025-10-28T19:29:09.147Z,1761679749.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997194,-0.072811,-0.017410],[0.073596,0.910806,0.406222],[-0.013720,-0.406364,0.913608]] 2025-10-28T19:29:09.551Z,1761679749.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998435,-0.055148,-0.009233],[0.054136,0.912067,0.406451],[-0.013994,-0.406315,0.913626]] 2025-10-28T19:29:09.950Z,1761679749.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999299,-0.037413,-0.001085],[0.034601,0.912345,0.407957],[-0.014273,-0.407709,0.913001]] 2025-10-28T19:29:10.356Z,1761679750.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999769,-0.020323,0.006938],[0.015721,0.912757,0.408200],[-0.014628,-0.407997,0.912866]] 2025-10-28T19:29:10.765Z,1761679750.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999879,-0.003024,0.015242],[-0.003466,0.912763,0.408474],[-0.015147,-0.408478,0.912643]] 2025-10-28T19:29:11.162Z,1761679751.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999638,0.013657,0.023197],[-0.021891,0.913936,0.405268],[-0.015666,-0.405629,0.913904]] 2025-10-28T19:29:11.567Z,1761679751.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999069,0.029925,0.031075],[-0.039947,0.913697,0.404427],[-0.016291,-0.405292,0.914042]] 2025-10-28T19:29:11.971Z,1761679751.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998178,0.046164,0.038852],[-0.057947,0.912896,0.404059],[-0.016815,-0.405574,0.913907]] 2025-10-28T19:29:12.376Z,1761679752.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996953,0.062293,0.046950],[-0.075979,0.911748,0.403662],[-0.017661,-0.405999,0.913703]] 2025-10-28T19:29:12.785Z,1761679752.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995357,0.079047,0.054927],[-0.094529,0.910347,0.402904],[-0.018155,-0.406226,0.913593]] 2025-10-28T19:29:13.182Z,1761679753.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993389,0.096179,0.062675],[-0.113314,0.909010,0.401074],[-0.018397,-0.405525,0.913899]] 2025-10-28T19:29:13.587Z,1761679753.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990948,0.113868,0.071104],[-0.132911,0.906647,0.400406],[-0.018873,-0.406232,0.913575]] 2025-10-28T19:29:13.993Z,1761679753.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988159,0.131367,0.079272],[-0.152194,0.904732,0.397865],[-0.019454,-0.405219,0.914013]] 2025-10-28T19:29:14.394Z,1761679754.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985008,0.148667,0.087506],[-0.171345,0.901982,0.396319],[-0.020009,-0.405371,0.913933]] 2025-10-28T19:29:14.799Z,1761679754.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981570,0.165533,0.095499],[-0.190008,0.898809,0.395018],[-0.020447,-0.405883,0.913696]] 2025-10-28T19:29:15.204Z,1761679755.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977904,0.181788,0.103231],[-0.208005,0.895490,0.393486],[-0.020911,-0.406264,0.913516]] 2025-10-28T19:29:15.608Z,1761679755.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974067,0.197528,0.110346],[-0.225242,0.892755,0.390197],[-0.021437,-0.404933,0.914095]] 2025-10-28T19:29:15.642Z,1761679755.642 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:29:15.643Z,1761679755.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:29:15.643Z,1761679755.643 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:29:15.643Z,1761679755.643 [marl:UpdateRudder:A] Stopped 2025-10-28T19:29:15.643Z,1761679755.643 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:29:16.043Z,1761679756.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965827,0.227357,0.124449],[-0.258208,0.885735,0.385749],[-0.022526,-0.404701,0.914172]] 2025-10-28T19:29:16.067Z,1761679756.067 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:29:16.067Z,1761679756.067 [marl:UpdateRudder:B] Stopped 2025-10-28T19:29:16.067Z,1761679756.067 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:29:16.067Z,1761679756.067 [marl:UpdateRudder] Stopped 2025-10-28T19:29:16.067Z,1761679756.067 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:29:16.818Z,1761679756.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960831,0.243204,0.132872],[-0.276186,0.879934,0.386573],[-0.022902,-0.408128,0.912637]] 2025-10-28T19:29:17.225Z,1761679757.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955030,0.260381,0.141840],[-0.295595,0.873599,0.386585],[-0.023252,-0.411128,0.911281]] 2025-10-28T19:29:17.255Z,1761679757.255 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:29:17.469Z,1761679757.469 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:29:17.469Z,1761679757.469 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:29:17.627Z,1761679757.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948396,0.278972,0.150733],[-0.316202,0.867595,0.383791],[-0.023708,-0.411648,0.911035]] 2025-10-28T19:29:17.670Z,1761679757.670 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:29:17.670Z,1761679757.670 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:29:17.670Z,1761679757.670 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateCommandMode] Stopped 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:29:17.671Z,1761679757.671 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:29:17.672Z,1761679757.672 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:29:17.672Z,1761679757.672 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:29:17.672Z,1761679757.672 [marl:UpdateSpeed] Stopped 2025-10-28T19:29:17.672Z,1761679757.672 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:29:17.721Z,1761679757.721 [DAT](INFO): DAT read: user:185> 2025-10-28T19:29:17.722Z,1761679757.722 [DAT](INFO): DAT read: Tx time:19:29:17.4813 2025-10-28T19:29:17.722Z,1761679757.722 [DAT](INFO): Ping request sent. 2025-10-28T19:29:17.722Z,1761679757.722 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:29:17.722Z,1761679757.722 [DAT](INFO): publishing transmit ping time 2025-10-28T19:29:17.723Z,1761679757.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T19:29:17.973Z,1761679757.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790 2025-10-28T19:29:18.041Z,1761679758.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933323,0.317322,0.167975],[-0.358222,0.854553,0.376053],[-0.024214,-0.411151,0.911246]] 2025-10-28T19:29:18.225Z,1761679758.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 2025-10-28T19:29:18.477Z,1761679758.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754806 2025-10-28T19:29:18.729Z,1761679758.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006775 2025-10-28T19:29:18.846Z,1761679758.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915958,0.356906,0.183410],[-0.400543,0.840782,0.364212],[-0.024218,-0.407067,0.913077]] 2025-10-28T19:29:18.982Z,1761679758.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259207 2025-10-28T19:29:19.233Z,1761679759.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510815 2025-10-28T19:29:19.255Z,1761679759.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906956,0.375690,0.190492],[-0.420554,0.833140,0.359183],[-0.023765,-0.405875,0.913619]] 2025-10-28T19:29:19.485Z,1761679759.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762998 2025-10-28T19:29:19.652Z,1761679759.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898162,0.392918,0.197284],[-0.439030,0.825603,0.354446],[-0.023610,-0.404964,0.914028]] 2025-10-28T19:29:19.738Z,1761679759.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015601 2025-10-28T19:29:19.990Z,1761679759.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267661 2025-10-28T19:29:20.055Z,1761679760.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889151,0.408504,0.206240],[-0.456997,0.816049,0.353861],[-0.023748,-0.408887,0.912276]] 2025-10-28T19:29:20.241Z,1761679760.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518775 2025-10-28T19:29:20.457Z,1761679760.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880164,0.423272,0.214830],[-0.474057,0.806822,0.352573],[-0.024096,-0.412164,0.910791]] 2025-10-28T19:29:20.502Z,1761679760.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779668 2025-10-28T19:29:20.753Z,1761679760.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030973 2025-10-28T19:29:20.859Z,1761679760.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870763,0.438557,0.222349],[-0.491093,0.798190,0.348884],[-0.024472,-0.412989,0.910407]] 2025-10-28T19:29:21.009Z,1761679761.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287028 2025-10-28T19:29:21.257Z,1761679761.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534949 2025-10-28T19:29:21.265Z,1761679761.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861324,0.454453,0.227141],[-0.507457,0.791230,0.341237],[-0.024645,-0.409180,0.912121]] 2025-10-28T19:29:21.509Z,1761679761.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787328 2025-10-28T19:29:21.667Z,1761679761.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851396,0.470551,0.231746],[-0.523941,0.783739,0.333524],[-0.024688,-0.405383,0.913814]] 2025-10-28T19:29:21.716Z,1761679761.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:29:21.761Z,1761679761.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039296 2025-10-28T19:29:22.013Z,1761679762.013 [DAT](INFO): DAT read: Rx Time:19:29:21.3312 2025-10-28T19:29:22.014Z,1761679762.014 [DAT](INFO): Rx dataTimestamp_ set to:1761679762.013832 2025-10-28T19:29:22.015Z,1761679762.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.293043 2025-10-28T19:29:22.072Z,1761679762.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841251,0.486082,0.236688],[-0.540089,0.775427,0.327135],[-0.024520,-0.403036,0.914856]] 2025-10-28T19:29:22.265Z,1761679762.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542733 2025-10-28T19:29:22.515Z,1761679762.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831209,0.499701,0.243702],[-0.555444,0.765291,0.325286],[-0.023957,-0.405744,0.913673]] 2025-10-28T19:29:22.524Z,1761679762.524 [DAT](INFO): DAT read: 19:29:21.3312 LVL= 32752, 28881, 32754, 32755, AGC= 83, IDX= 193,-0.14,-0.808, 0.665,-1.379,-0.297, PHS=-0.409, 1.007,-1.126, RAW= 349.3, 5.7, CAL= 349.1, 4.2, ROT= 160.9, -4.2 2025-10-28T19:29:22.525Z,1761679762.525 [DAT](INFO): got valid direction response: 19:29:21.3312 LVL= 32752, 28881, 32754, 32755, AGC= 83, IDX= 193,-0.14,-0.808, 0.665,-1.379,-0.297, PHS=-0.409, 1.007,-1.126, RAW= 349.3, 5.7, CAL= 349.1, 4.2, ROT= 160.9, -4.2 2025-10-28T19:29:22.526Z,1761679762.526 [DAT](INFO): DAT read: Bearing 100, -10 (Remote) 2025-10-28T19:29:22.526Z,1761679762.526 [DAT](INFO): Remote Bearing received:Bearing 100, -10 (Remote) 2025-10-28T19:29:22.527Z,1761679762.527 [DAT](INFO): DAT read: Bearing 270.7, 17.0 (Local) 2025-10-28T19:29:22.528Z,1761679762.528 [DAT](INFO): Local bearing/azimuth received: Bearing 270.7, 17.0 (Local) 2025-10-28T19:29:22.529Z,1761679762.529 [DAT](INFO): DAT read: Range 11 to 20 : 1365.6 m (Round-trip 1820.8 ms) speed -0.3 m/s 2025-10-28T19:29:22.530Z,1761679762.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:29:22.531Z,1761679762.531 [DAT](INFO): direction in FSK: [-0.942411,0.326339,0.073238] 2025-10-28T19:29:22.531Z,1761679762.531 [DAT](INFO): publishing direction and range info 2025-10-28T19:29:22.670Z,1761679762.670 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679744.00. Resetting abort timer. 2025-10-28T19:29:22.720Z,1761679762.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:29:22.879Z,1761679762.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821429,0.512158,0.250896],[-0.569844,0.754874,0.324720],[-0.023087,-0.409706,0.911925]] 2025-10-28T19:29:23.284Z,1761679763.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812164,0.523202,0.258164],[-0.583028,0.744226,0.325891],[-0.021626,-0.415194,0.909476]] 2025-10-28T19:29:23.689Z,1761679763.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803279,0.534059,0.263675],[-0.595276,0.734561,0.325679],[-0.019754,-0.418571,0.907969]] 2025-10-28T19:29:24.090Z,1761679764.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794574,0.543940,0.269779],[-0.606906,0.724562,0.326612],[-0.017814,-0.423248,0.905839]] 2025-10-28T19:29:24.503Z,1761679764.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785867,0.553571,0.275632],[-0.618175,0.715154,0.326212],[-0.016537,-0.426748,0.904219]] 2025-10-28T19:29:24.899Z,1761679764.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776891,0.562948,0.282011],[-0.629427,0.705893,0.324865],[-0.016187,-0.429890,0.902736]] 2025-10-28T19:29:25.305Z,1761679765.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767272,0.572112,0.289796],[-0.641096,0.696230,0.322894],[-0.017034,-0.433535,0.900976]] 2025-10-28T19:29:25.706Z,1761679765.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755967,0.583127,0.297448],[-0.654351,0.685913,0.318353],[-0.018383,-0.435300,0.900098]] 2025-10-28T19:29:26.110Z,1761679766.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742399,0.596411,0.305185],[-0.669662,0.674139,0.311590],[-0.019902,-0.435695,0.899874]] 2025-10-28T19:29:26.518Z,1761679766.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726887,0.611449,0.312674],[-0.686416,0.661202,0.302728],[-0.021638,-0.434673,0.900328]] 2025-10-28T19:29:26.920Z,1761679766.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711119,0.627074,0.317944],[-0.702667,0.649232,0.291130],[-0.023860,-0.430436,0.902305]] 2025-10-28T19:29:27.322Z,1761679767.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694747,0.643601,0.321098],[-0.718761,0.637779,0.276804],[-0.026638,-0.423102,0.905691]] 2025-10-28T19:29:27.726Z,1761679767.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678173,0.660822,0.321552],[-0.734306,0.626934,0.260285],[-0.029590,-0.412636,0.910415]] 2025-10-28T19:29:28.134Z,1761679768.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661619,0.677259,0.321841],[-0.749151,0.615426,0.244996],[-0.032143,-0.403202,0.914546]] 2025-10-28T19:29:28.535Z,1761679768.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644466,0.693540,0.321972],[-0.763890,0.602540,0.231124],[-0.033707,-0.394903,0.918104]] 2025-10-28T19:29:28.939Z,1761679768.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626415,0.710034,0.321646],[-0.778776,0.587735,0.219264],[-0.033358,-0.387840,0.921123]] 2025-10-28T19:29:29.008Z,1761679769.008 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:29:29.008Z,1761679769.008 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:29:29.008Z,1761679769.008 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:29:29.009Z,1761679769.009 [marl:UpdateRudder:A] Stopped 2025-10-28T19:29:29.009Z,1761679769.009 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:29:29.343Z,1761679769.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607713,0.726239,0.321344],[-0.793550,0.571126,0.209983],[-0.031030,-0.382612,0.923388]] 2025-10-28T19:29:29.368Z,1761679769.368 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:29:29.368Z,1761679769.368 [marl:UpdateRudder:B] Stopped 2025-10-28T19:29:29.369Z,1761679769.369 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:29:29.369Z,1761679769.369 [marl:UpdateRudder] Stopped 2025-10-28T19:29:29.369Z,1761679769.369 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:29:29.751Z,1761679769.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589712,0.740440,0.322474],[-0.807142,0.553994,0.203991],[-0.027605,-0.380578,0.924337]] 2025-10-28T19:29:30.150Z,1761679770.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574520,0.751014,0.325429],[-0.818119,0.538887,0.200703],[-0.024639,-0.381548,0.924021]] 2025-10-28T19:29:30.558Z,1761679770.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561543,0.757472,0.333026],[-0.827134,0.524928,0.200746],[-0.022755,-0.388184,0.921301]] 2025-10-28T19:29:30.963Z,1761679770.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549054,0.761944,0.343484],[-0.835518,0.510813,0.202436],[-0.021212,-0.398135,0.917081]] 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:29:31.077Z,1761679771.077 [marl:UpdateCommandMode] Stopped 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed] Stopped 2025-10-28T19:29:31.078Z,1761679771.078 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:29:31.365Z,1761679771.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536688,0.765631,0.354647],[-0.843535,0.496979,0.203619],[-0.020355,-0.408437,0.912559]] 2025-10-28T19:29:31.777Z,1761679771.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524538,0.768825,0.365744],[-0.851138,0.483919,0.203436],[-0.020584,-0.418009,0.908210]] 2025-10-28T19:29:32.171Z,1761679772.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511992,0.771950,0.376773],[-0.858717,0.471042,0.201806],[-0.021692,-0.426864,0.904056]] 2025-10-28T19:29:32.622Z,1761679772.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498535,0.776458,0.385455],[-0.866560,0.458260,0.197667],[-0.023159,-0.432564,0.901306]] 2025-10-28T19:29:32.992Z,1761679772.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483131,0.782729,0.392325],[-0.875213,0.444145,0.191671],[-0.024223,-0.435970,0.899635]] 2025-10-28T19:29:33.383Z,1761679773.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464968,0.791608,0.396436],[-0.884989,0.427968,0.183406],[-0.024476,-0.436119,0.899556]] 2025-10-28T19:29:33.790Z,1761679773.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445542,0.801455,0.398952],[-0.894921,0.410994,0.173785],[-0.024687,-0.434459,0.900353]] 2025-10-28T19:29:34.191Z,1761679774.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424925,0.811974,0.400172],[-0.904884,0.393198,0.163033],[-0.024968,-0.431386,0.901822]] 2025-10-28T19:29:34.630Z,1761679774.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403102,0.823026,0.400170],[-0.914809,0.374411,0.151465],[-0.025168,-0.427135,0.903838]] 2025-10-28T19:29:35.002Z,1761679775.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380754,0.833761,0.399836],[-0.924322,0.355163,0.139604],[-0.025611,-0.422732,0.905893]] 2025-10-28T19:29:35.402Z,1761679775.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358026,0.845128,0.396960],[-0.933352,0.335726,0.127049],[-0.025897,-0.415990,0.909000]] 2025-10-28T19:29:35.807Z,1761679775.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335538,0.856633,0.391911],[-0.941677,0.316338,0.114778],[-0.025654,-0.407566,0.912815]] 2025-10-28T19:29:36.213Z,1761679776.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313645,0.866596,0.388121],[-0.949214,0.296867,0.104227],[-0.024897,-0.401100,0.915696]] 2025-10-28T19:29:36.635Z,1761679776.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293398,0.874967,0.385162],[-0.955690,0.278546,0.095231],[-0.023962,-0.396035,0.917922]] 2025-10-28T19:29:37.021Z,1761679777.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274959,0.880679,0.385748],[-0.961185,0.261316,0.088532],[-0.022834,-0.395118,0.918346]] 2025-10-28T19:29:37.424Z,1761679777.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258823,0.884186,0.388878],[-0.965672,0.246061,0.083252],[-0.022077,-0.397077,0.917520]] 2025-10-28T19:29:37.826Z,1761679777.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243599,0.886371,0.393707],[-0.969634,0.231627,0.078473],[-0.021637,-0.400868,0.915880]] 2025-10-28T19:29:38.231Z,1761679778.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229149,0.887330,0.400170],[-0.973149,0.218003,0.073856],[-0.021703,-0.406349,0.913460]] 2025-10-28T19:29:39.042Z,1761679779.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198624,0.889743,0.410982],[-0.979803,0.190151,0.061869],[-0.023102,-0.414970,0.909542]] 2025-10-28T19:29:39.443Z,1761679779.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181000,0.891509,0.415272],[-0.983189,0.174357,0.054221],[-0.024067,-0.418104,0.908080]] 2025-10-28T19:29:39.846Z,1761679779.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161409,0.894686,0.416516],[-0.986577,0.156878,0.045341],[-0.024777,-0.418243,0.907997]] 2025-10-28T19:29:40.250Z,1761679780.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140735,0.898933,0.414866],[-0.989718,0.138549,0.035534],[-0.025537,-0.415601,0.909188]] 2025-10-28T19:29:40.656Z,1761679780.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118980,0.903219,0.412357],[-0.992549,0.119189,0.025317],[-0.026282,-0.412297,0.910670]] 2025-10-28T19:29:41.062Z,1761679781.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096465,0.907572,0.408665],[-0.994974,0.099010,0.014979],[-0.026867,-0.408056,0.912561]] 2025-10-28T19:29:41.469Z,1761679781.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074265,0.910288,0.407259],[-0.996860,0.079011,0.005179],[-0.027463,-0.406365,0.913298]] 2025-10-28T19:29:41.867Z,1761679781.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052361,0.912477,0.405763],[-0.998240,0.059148,-0.004196],[-0.027829,-0.404830,0.913969]] 2025-10-28T19:29:42.271Z,1761679782.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031394,0.913999,0.404501],[-0.999107,0.040146,-0.013170],[-0.028277,-0.403726,0.914443]] 2025-10-28T19:29:42.298Z,1761679782.298 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:29:42.298Z,1761679782.298 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:29:42.298Z,1761679782.298 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:29:42.298Z,1761679782.298 [marl:UpdateRudder:A] Stopped 2025-10-28T19:29:42.298Z,1761679782.298 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:29:42.674Z,1761679782.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011384,0.914504,0.404417],[-0.999527,0.021964,-0.021532],[-0.028574,-0.403981,0.914321]] 2025-10-28T19:29:42.728Z,1761679782.728 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:29:42.728Z,1761679782.728 [marl:UpdateRudder:B] Stopped 2025-10-28T19:29:42.728Z,1761679782.728 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:29:42.728Z,1761679782.728 [marl:UpdateRudder] Stopped 2025-10-28T19:29:42.729Z,1761679782.729 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:29:43.078Z,1761679783.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007667,0.914751,0.403946],[-0.999552,0.004676,-0.029562],[-0.028930,-0.403991,0.914305]] 2025-10-28T19:29:43.484Z,1761679783.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025820,0.914384,0.404025],[-0.999238,-0.011770,-0.037220],[-0.029278,-0.404678,0.913990]] 2025-10-28T19:29:43.888Z,1761679783.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043833,0.913325,0.404865],[-0.998607,-0.028144,-0.044624],[-0.029362,-0.406257,0.913287]] 2025-10-28T19:29:44.291Z,1761679784.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061174,0.913670,0.401826],[-0.997689,-0.044050,-0.051727],[-0.029561,-0.404062,0.914254]] 2025-10-28T19:29:44.329Z,1761679784.329 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:29:44.329Z,1761679784.329 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateCommandMode] Stopped 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:29:44.330Z,1761679784.330 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:29:44.331Z,1761679784.331 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:29:44.331Z,1761679784.331 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:29:44.331Z,1761679784.331 [marl:UpdateSpeed] Stopped 2025-10-28T19:29:44.331Z,1761679784.331 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:29:44.694Z,1761679784.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078525,0.913966,0.398120],[-0.996459,-0.059922,-0.058977],[-0.030047,-0.401342,0.915435]] 2025-10-28T19:29:45.102Z,1761679785.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096228,0.913441,0.395431],[-0.994890,-0.076067,-0.066393],[-0.030566,-0.399799,0.916093]] 2025-10-28T19:29:45.505Z,1761679785.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114736,0.911017,0.396085],[-0.992924,-0.092883,-0.073989],[-0.030616,-0.401772,0.915228]] 2025-10-28T19:29:45.906Z,1761679785.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134200,0.908576,0.395576],[-0.990473,-0.110545,-0.082114],[-0.030878,-0.402827,0.914755]] 2025-10-28T19:29:46.310Z,1761679786.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153770,0.906778,0.392566],[-0.987611,-0.128465,-0.090115],[-0.031283,-0.401560,0.915298]] 2025-10-28T19:29:46.715Z,1761679786.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174665,0.904488,0.389093],[-0.984119,-0.147668,-0.098503],[-0.031638,-0.400119,0.915917]] 2025-10-28T19:29:47.125Z,1761679787.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196843,0.901434,0.385578],[-0.979912,-0.168035,-0.107414],[-0.032036,-0.398976,0.916402]] 2025-10-28T19:29:47.522Z,1761679787.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219916,0.898278,0.380439],[-0.974970,-0.189311,-0.116596],[-0.032714,-0.396558,0.917426]] 2025-10-28T19:29:47.930Z,1761679787.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243581,0.894070,0.375908],[-0.969313,-0.211149,-0.125894],[-0.033185,-0.395037,0.918065]] 2025-10-28T19:29:48.331Z,1761679788.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267468,0.889746,0.369884],[-0.962982,-0.233458,-0.134768],[-0.033557,-0.392237,0.919252]] 2025-10-28T19:29:48.736Z,1761679788.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291030,0.885304,0.362683],[-0.956115,-0.255720,-0.143012],[-0.033863,-0.388387,0.920874]] 2025-10-28T19:29:49.139Z,1761679789.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313350,0.879792,0.357461],[-0.949023,-0.276578,-0.151194],[-0.034153,-0.386615,0.921608]] 2025-10-28T19:29:49.543Z,1761679789.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333785,0.873064,0.355454],[-0.942029,-0.295263,-0.159378],[-0.034194,-0.388046,0.921006]] 2025-10-28T19:29:49.953Z,1761679789.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353126,0.865692,0.354794],[-0.934967,-0.312853,-0.167215],[-0.033759,-0.390768,0.919870]] 2025-10-28T19:29:50.353Z,1761679790.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370458,0.857835,0.356202],[-0.928255,-0.328194,-0.175021],[-0.033236,-0.395484,0.917871]] 2025-10-28T19:29:50.757Z,1761679790.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385746,0.850049,0.358630],[-0.922032,-0.341493,-0.182318],[-0.032510,-0.400997,0.915502]] 2025-10-28T19:29:51.158Z,1761679791.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399735,0.843554,0.358648],[-0.916064,-0.353884,-0.188662],[-0.032227,-0.403959,0.914209]] 2025-10-28T19:29:51.565Z,1761679791.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413348,0.838712,0.354549],[-0.910007,-0.366761,-0.193322],[-0.032107,-0.402552,0.914834]] 2025-10-28T19:29:51.967Z,1761679791.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426715,0.833574,0.350812],[-0.903814,-0.379262,-0.198191],[-0.032157,-0.401640,0.915233]] 2025-10-28T19:29:52.370Z,1761679792.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440762,0.828216,0.346103],[-0.897046,-0.392585,-0.202939],[-0.032203,-0.399918,0.915985]] 2025-10-28T19:29:52.780Z,1761679792.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455958,0.822309,0.340456],[-0.889402,-0.406957,-0.208207],[-0.032659,-0.397736,0.916918]] 2025-10-28T19:29:52.840Z,1761679792.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:29:53.190Z,1761679793.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472566,0.815647,0.333769],[-0.880681,-0.422921,-0.213397],[-0.032898,-0.394788,0.918183]] 2025-10-28T19:29:53.584Z,1761679793.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490911,0.806743,0.328896],[-0.870585,-0.439964,-0.220256],[-0.032988,-0.394458,0.918322]] 2025-10-28T19:29:53.844Z,1761679793.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:29:53.987Z,1761679793.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510097,0.797111,0.323133],[-0.859474,-0.457861,-0.227303],[-0.033236,-0.393671,0.918650]] 2025-10-28T19:29:54.391Z,1761679794.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528902,0.787382,0.316688],[-0.848021,-0.475580,-0.233847],[-0.033516,-0.392240,0.919252]] 2025-10-28T19:29:54.795Z,1761679794.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547214,0.777562,0.309766],[-0.836301,-0.492892,-0.240123],[-0.034029,-0.390456,0.919992]] 2025-10-28T19:29:55.205Z,1761679795.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564308,0.767243,0.304787],[-0.824849,-0.508625,-0.246828],[-0.034355,-0.390690,0.919881]] 2025-10-28T19:29:55.603Z,1761679795.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579876,0.756174,0.303225],[-0.813972,-0.521952,-0.254982],[-0.034542,-0.394674,0.918172]] 2025-10-28T19:29:55.633Z,1761679795.633 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:29:55.633Z,1761679795.633 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:29:55.634Z,1761679795.634 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:29:55.634Z,1761679795.634 [marl:UpdateRudder:A] Stopped 2025-10-28T19:29:55.634Z,1761679795.634 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:29:56.006Z,1761679796.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594355,0.745473,0.301682],[-0.803452,-0.534233,-0.262791],[-0.034735,-0.398578,0.916476]] 2025-10-28T19:29:56.063Z,1761679796.063 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:29:56.063Z,1761679796.063 [marl:UpdateRudder:B] Stopped 2025-10-28T19:29:56.063Z,1761679796.063 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:29:56.063Z,1761679796.063 [marl:UpdateRudder] Stopped 2025-10-28T19:29:56.064Z,1761679796.064 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:29:56.415Z,1761679796.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608354,0.735069,0.299298],[-0.792898,-0.546310,-0.269922],[-0.034902,-0.401520,0.915185]] 2025-10-28T19:29:56.816Z,1761679796.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620861,0.725929,0.295903],[-0.783122,-0.557315,-0.275899],[-0.035372,-0.403023,0.914506]] 2025-10-28T19:29:57.222Z,1761679797.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633541,0.716784,0.291284],[-0.772881,-0.568888,-0.281106],[-0.035784,-0.403220,0.914403]] 2025-10-28T19:29:57.623Z,1761679797.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647097,0.707290,0.284616],[-0.761542,-0.581854,-0.285480],[-0.036312,-0.401481,0.915147]] 2025-10-28T19:29:57.663Z,1761679797.663 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:29:57.663Z,1761679797.663 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:29:57.663Z,1761679797.663 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:29:57.663Z,1761679797.663 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateCommandMode] Stopped 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:29:57.668Z,1761679797.668 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:29:57.669Z,1761679797.669 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:29:57.669Z,1761679797.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:29:57.669Z,1761679797.669 [marl:UpdateSpeed] Stopped 2025-10-28T19:29:57.669Z,1761679797.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:29:58.027Z,1761679798.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661870,0.696789,0.276431],[-0.748708,-0.596299,-0.289594],[-0.036951,-0.398640,0.916363]] 2025-10-28T19:29:58.439Z,1761679798.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677939,0.684758,0.267406],[-0.734143,-0.611918,-0.294264],[-0.037869,-0.395807,0.917553]] 2025-10-28T19:29:58.835Z,1761679798.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695146,0.671647,0.256246],[-0.717816,-0.629252,-0.297964],[-0.038884,-0.391066,0.919541]] 2025-10-28T19:29:59.242Z,1761679799.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713408,0.656853,0.244118],[-0.699619,-0.647865,-0.301336],[-0.039778,-0.385765,0.921739]] 2025-10-28T19:29:59.643Z,1761679799.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732150,0.640306,0.232305],[-0.679968,-0.667036,-0.304477],[-0.040003,-0.380883,0.923758]] 2025-10-28T19:30:00.046Z,1761679800.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750998,0.621516,0.222980],[-0.659103,-0.685237,-0.309893],[-0.039809,-0.379696,0.924254]] 2025-10-28T19:30:00.450Z,1761679800.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769255,0.601366,0.215883],[-0.637728,-0.701830,-0.317391],[-0.039355,-0.381830,0.923394]] 2025-10-28T19:30:00.855Z,1761679800.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786357,0.580665,0.210880],[-0.616547,-0.716170,-0.327063],[-0.038888,-0.387205,0.921173]] 2025-10-28T19:30:01.270Z,1761679801.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801666,0.560772,0.207043],[-0.596522,-0.728081,-0.337726],[-0.038644,-0.394249,0.918191]] 2025-10-28T19:30:01.665Z,1761679801.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814998,0.542722,0.203056],[-0.578198,-0.738504,-0.346842],[-0.038281,-0.400082,0.915680]] 2025-10-28T19:30:02.067Z,1761679802.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826203,0.526875,0.199475],[-0.562090,-0.747043,-0.354939],[-0.037992,-0.405375,0.913361]] 2025-10-28T19:30:02.471Z,1761679802.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835548,0.513224,0.196114],[-0.548107,-0.754009,-0.362007],[-0.037919,-0.409965,0.911313]] 2025-10-28T19:30:02.875Z,1761679802.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843557,0.501195,0.192913],[-0.535701,-0.759943,-0.368120],[-0.037897,-0.413873,0.909545]] 2025-10-28T19:30:03.296Z,1761679803.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857340,0.481060,0.183168],[-0.513385,-0.773196,-0.372295],[-0.037472,-0.413219,0.909860]] 2025-10-28T19:30:04.093Z,1761679804.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869906,0.462315,0.171838],[-0.491843,-0.787142,-0.372153],[-0.036791,-0.408255,0.912126]] 2025-10-28T19:30:04.497Z,1761679804.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876585,0.451852,0.165617],[-0.479879,-0.794759,-0.371584],[-0.036276,-0.405201,0.913508]] 2025-10-28T19:30:04.910Z,1761679804.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883907,0.439799,0.159013],[-0.466312,-0.803016,-0.371104],[-0.035521,-0.402171,0.914875]] 2025-10-28T19:30:05.303Z,1761679805.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892332,0.425215,0.151445],[-0.450063,-0.812551,-0.370411],[-0.034448,-0.398690,0.916439]] 2025-10-28T19:30:05.704Z,1761679805.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901805,0.407972,0.142497],[-0.430840,-0.823224,-0.369702],[-0.033521,-0.394793,0.918158]] 2025-10-28T19:30:06.107Z,1761679806.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911724,0.388655,0.133068],[-0.409497,-0.834009,-0.369784],[-0.032738,-0.391632,0.919539]] 2025-10-28T19:30:06.512Z,1761679806.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921864,0.367346,0.123385],[-0.386170,-0.844356,-0.371396],[-0.032250,-0.390024,0.920240]] 2025-10-28T19:30:06.922Z,1761679806.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931419,0.345679,0.113857],[-0.362523,-0.853553,-0.374199],[-0.032170,-0.389813,0.920332]] 2025-10-28T19:30:07.318Z,1761679807.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940507,0.323406,0.104185],[-0.338236,-0.862016,-0.377525],[-0.032285,-0.390304,0.920120]] 2025-10-28T19:30:07.724Z,1761679807.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948797,0.301415,0.094513],[-0.314186,-0.869468,-0.381199],[-0.032723,-0.391375,0.919649]] 2025-10-28T19:30:08.126Z,1761679808.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956168,0.280204,0.085019],[-0.290932,-0.876181,-0.384274],[-0.033183,-0.392165,0.919296]] 2025-10-28T19:30:08.531Z,1761679808.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962499,0.260424,0.075989],[-0.269140,-0.881529,-0.387906],[-0.034034,-0.393811,0.918561]] 2025-10-28T19:30:08.935Z,1761679808.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967988,0.241807,0.067290],[-0.248541,-0.886037,-0.391364],[-0.035013,-0.395561,0.917772]] 2025-10-28T19:30:08.991Z,1761679808.991 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:30:08.991Z,1761679808.991 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:30:08.992Z,1761679808.992 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:30:08.992Z,1761679808.992 [marl:UpdateRudder:A] Stopped 2025-10-28T19:30:08.992Z,1761679808.992 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:30:09.345Z,1761679809.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972746,0.224200,0.059150],[-0.229094,-0.889934,-0.394376],[-0.035780,-0.397179,0.917043]] 2025-10-28T19:30:09.370Z,1761679809.370 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:30:09.370Z,1761679809.370 [marl:UpdateRudder:B] Stopped 2025-10-28T19:30:09.370Z,1761679809.370 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:30:09.370Z,1761679809.370 [marl:UpdateRudder] Stopped 2025-10-28T19:30:09.370Z,1761679809.370 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:30:09.749Z,1761679809.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976964,0.207117,0.051421],[-0.210296,-0.893391,-0.397023],[-0.036291,-0.398691,0.916367]] 2025-10-28T19:30:10.150Z,1761679810.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980696,0.190596,0.043689],[-0.192043,-0.896753,-0.398689],[-0.036810,-0.399383,0.916045]] 2025-10-28T19:30:10.558Z,1761679810.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984020,0.174326,0.036260],[-0.174157,-0.899905,-0.399801],[-0.037065,-0.399727,0.915885]] 2025-10-28T19:30:10.959Z,1761679810.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986992,0.158133,0.028995],[-0.156418,-0.902850,-0.400493],[-0.037153,-0.399819,0.915841]] 2025-10-28T19:30:11.048Z,1761679811.048 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:30:11.052Z,1761679811.052 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:30:11.052Z,1761679811.052 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:30:11.052Z,1761679811.052 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:30:11.052Z,1761679811.052 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateCommandMode] Stopped 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:30:11.053Z,1761679811.053 [marl:UpdateSpeed] Stopped 2025-10-28T19:30:11.054Z,1761679811.054 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:30:11.364Z,1761679811.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989575,0.142236,0.022589],[-0.139215,-0.904563,-0.402970],[-0.036883,-0.401913,0.914935]] 2025-10-28T19:30:11.772Z,1761679811.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991889,0.126111,0.015894],[-0.121721,-0.906374,-0.404562],[-0.036614,-0.403215,0.914373]] 2025-10-28T19:30:12.171Z,1761679812.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993878,0.110052,0.009733],[-0.104465,-0.907425,-0.407022],[-0.035962,-0.405547,0.913367]] 2025-10-28T19:30:12.622Z,1761679812.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995562,0.094043,0.003523],[-0.087304,-0.908954,-0.407653],[-0.035134,-0.406151,0.913130]] 2025-10-28T19:30:13.393Z,1761679813.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998100,0.061126,-0.007792],[-0.052513,-0.909923,-0.411440],[-0.032240,-0.410249,0.911403]] 2025-10-28T19:30:13.790Z,1761679813.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998938,0.044067,-0.013466],[-0.034619,-0.910612,-0.411810],[-0.030409,-0.410906,0.911170]] 2025-10-28T19:30:14.190Z,1761679814.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999452,0.026851,-0.019373],[-0.016525,-0.911538,-0.410884],[-0.028692,-0.410338,0.911482]] 2025-10-28T19:30:14.630Z,1761679814.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999636,0.009204,-0.025347],[0.002013,-0.911858,-0.410501],[-0.026891,-0.410403,0.911508]] 2025-10-28T19:30:15.002Z,1761679815.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,-0.008763,-0.031537],[0.020876,-0.912757,-0.407969],[-0.025210,-0.408409,0.912451]] 2025-10-28T19:30:15.408Z,1761679815.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998889,-0.027580,-0.038209],[0.040708,-0.913477,-0.404849],[-0.023737,-0.405955,0.913585]] 2025-10-28T19:30:15.807Z,1761679815.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997908,-0.045970,-0.045466],[0.060401,-0.913706,-0.401863],[-0.023069,-0.403769,0.914570]] 2025-10-28T19:30:16.212Z,1761679816.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996540,-0.064373,-0.052572],[0.080045,-0.913616,-0.398622],[-0.022370,-0.401451,0.915607]] 2025-10-28T19:30:16.635Z,1761679816.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994673,-0.083553,-0.060366],[0.100685,-0.913001,-0.395337],[-0.022082,-0.399309,0.916551]] 2025-10-28T19:30:17.020Z,1761679817.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992293,-0.103408,-0.068274],[0.121975,-0.912216,-0.391132],[-0.021835,-0.396446,0.917799]] 2025-10-28T19:30:17.424Z,1761679817.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989443,-0.123342,-0.076092],[0.143315,-0.910790,-0.387198],[-0.021546,-0.394015,0.918851]] 2025-10-28T19:30:17.449Z,1761679817.449 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:30:17.517Z,1761679817.517 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:30:17.517Z,1761679817.517 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:30:17.769Z,1761679817.769 [DAT](INFO): DAT read: user:186> 2025-10-28T19:30:17.770Z,1761679817.770 [DAT](INFO): DAT read: Tx time:19:30:17.5311 2025-10-28T19:30:17.771Z,1761679817.771 [DAT](INFO): Ping request sent. 2025-10-28T19:30:17.771Z,1761679817.771 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:30:17.771Z,1761679817.771 [DAT](INFO): publishing transmit ping time 2025-10-28T19:30:17.772Z,1761679817.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001289 2025-10-28T19:30:17.826Z,1761679817.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985895,-0.144590,-0.084288],[0.166015,-0.908684,-0.383057],[-0.021205,-0.391647,0.919871]] 2025-10-28T19:30:18.021Z,1761679818.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250129 2025-10-28T19:30:18.230Z,1761679818.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981753,-0.165882,-0.092980],[0.188998,-0.905205,-0.380637],[-0.021025,-0.391264,0.920038]] 2025-10-28T19:30:18.273Z,1761679818.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502309 2025-10-28T19:30:18.525Z,1761679818.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754107 2025-10-28T19:30:18.639Z,1761679818.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977060,-0.187195,-0.101550],[0.211909,-0.902008,-0.376133],[-0.021189,-0.389024,0.920984]] 2025-10-28T19:30:18.777Z,1761679818.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006467 2025-10-28T19:30:19.033Z,1761679819.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262077 2025-10-28T19:30:19.046Z,1761679819.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971746,-0.208717,-0.110209],[0.235062,-0.897986,-0.371977],[-0.021328,-0.387373,0.921676]] 2025-10-28T19:30:19.285Z,1761679819.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514092 2025-10-28T19:30:19.443Z,1761679819.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965797,-0.230276,-0.119204],[0.258389,-0.893193,-0.368023],[-0.021726,-0.386236,0.922144]] 2025-10-28T19:30:19.538Z,1761679819.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766891 2025-10-28T19:30:19.789Z,1761679819.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018230 2025-10-28T19:30:19.846Z,1761679819.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959302,-0.251363,-0.128671],[0.281479,-0.887607,-0.364587],[-0.022565,-0.385967,0.922237]] 2025-10-28T19:30:20.041Z,1761679820.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270096 2025-10-28T19:30:20.251Z,1761679820.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952521,-0.271432,-0.137946],[0.303560,-0.881687,-0.361220],[-0.023578,-0.385945,0.922221]] 2025-10-28T19:30:20.294Z,1761679820.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522803 2025-10-28T19:30:20.547Z,1761679820.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776196 2025-10-28T19:30:20.657Z,1761679820.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945653,-0.289728,-0.147639],[0.324226,-0.874780,-0.360051],[-0.024835,-0.388352,0.921176]] 2025-10-28T19:30:20.797Z,1761679820.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026193 2025-10-28T19:30:21.049Z,1761679821.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278727 2025-10-28T19:30:21.079Z,1761679821.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939092,-0.306054,-0.156324],[0.342696,-0.868105,-0.359100],[-0.025801,-0.390800,0.920114]] 2025-10-28T19:30:21.301Z,1761679821.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530179 2025-10-28T19:30:21.462Z,1761679821.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932716,-0.321140,-0.164042],[0.359638,-0.861781,-0.357762],[-0.026476,-0.392686,0.919291]] 2025-10-28T19:30:21.553Z,1761679821.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782132 2025-10-28T19:30:21.805Z,1761679821.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034089 2025-10-28T19:30:21.873Z,1761679821.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926641,-0.334917,-0.170784],[0.374988,-0.855823,-0.356301],[-0.026830,-0.394205,0.918631]] 2025-10-28T19:30:22.059Z,1761679822.059 [DAT](INFO): DAT read: Rx Time:19:30:21.3724 2025-10-28T19:30:22.059Z,1761679822.059 [DAT](INFO): Rx dataTimestamp_ set to:1761679822.059111 2025-10-28T19:30:22.060Z,1761679822.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289323 2025-10-28T19:30:22.272Z,1761679822.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920467,-0.348666,-0.176558],[0.389898,-0.850264,-0.353596],[-0.026834,-0.394313,0.918584]] 2025-10-28T19:30:22.302Z,1761679822.302 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:30:22.303Z,1761679822.303 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:30:22.303Z,1761679822.303 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:30:22.303Z,1761679822.303 [marl:UpdateRudder:A] Stopped 2025-10-28T19:30:22.303Z,1761679822.303 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:30:22.309Z,1761679822.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538229 2025-10-28T19:30:22.591Z,1761679822.591 [DAT](INFO): DAT read: 19:30:21.3724 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 345, 0.14, 1.306, 0.248, 2.205, 1.457, PHS=-0.050,-1.165, 0.704, RAW= 173.6, 6.3, CAL= 173.2, 5.7, ROT= 336.8, -5.7 2025-10-28T19:30:22.598Z,1761679822.598 [DAT](INFO): got valid direction response: 19:30:21.3724 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 345, 0.14, 1.306, 0.248, 2.205, 1.457, PHS=-0.050,-1.165, 0.704, RAW= 173.6, 6.3, CAL= 173.2, 5.7, ROT= 336.8, -5.7 2025-10-28T19:30:22.601Z,1761679822.601 [DAT](INFO): DAT read: Bearing 102, -15 (Remote) 2025-10-28T19:30:22.602Z,1761679822.602 [DAT](INFO): Remote Bearing received:Bearing 102, -15 (Remote) 2025-10-28T19:30:22.605Z,1761679822.605 [DAT](INFO): DAT read: Bearing 288.0, -24.3 (Local) 2025-10-28T19:30:22.606Z,1761679822.606 [DAT](INFO): Local bearing/azimuth received: Bearing 288.0, -24.3 (Local) 2025-10-28T19:30:22.611Z,1761679822.611 [DAT](INFO): DAT read: Range 11 to 20 : 1359.1 m (Round-trip 1812.2 ms) speed 1.4 m/s 2025-10-28T19:30:22.614Z,1761679822.614 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:30:22.617Z,1761679822.617 [DAT](INFO): direction in FSK: [0.914591,-0.391994,0.099320] 2025-10-28T19:30:22.618Z,1761679822.618 [DAT](INFO): publishing direction and range info 2025-10-28T19:30:22.675Z,1761679822.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914163,-0.362497,-0.181388],[0.404483,-0.844963,-0.349901],[-0.026428,-0.393235,0.919058]] 2025-10-28T19:30:22.791Z,1761679822.791 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:30:22.791Z,1761679822.791 [marl:UpdateRudder:B] Stopped 2025-10-28T19:30:22.791Z,1761679822.791 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:30:22.791Z,1761679822.791 [marl:UpdateRudder] Stopped 2025-10-28T19:30:22.792Z,1761679822.792 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:30:22.806Z,1761679822.806 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679872.00. Resetting abort timer. 2025-10-28T19:30:23.484Z,1761679823.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901191,-0.389159,-0.190815],[0.432731,-0.832713,-0.345447],[-0.024460,-0.393885,0.918834]] 2025-10-28T19:30:23.892Z,1761679823.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893945,-0.403567,-0.194927],[0.447610,-0.825816,-0.343035],[-0.022537,-0.393906,0.918875]] 2025-10-28T19:30:23.964Z,1761679823.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:30:24.291Z,1761679824.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886009,-0.418399,-0.199828],[0.463217,-0.817744,-0.341649],[-0.020463,-0.395268,0.918338]] 2025-10-28T19:30:24.344Z,1761679824.344 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode] Stopped 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:30:24.345Z,1761679824.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed] Stopped 2025-10-28T19:30:24.346Z,1761679824.346 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:30:24.695Z,1761679824.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877059,-0.434318,-0.205267],[0.480029,-0.808746,-0.339855],[-0.018404,-0.396607,0.917804]] 2025-10-28T19:30:24.969Z,1761679824.969 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:30:25.100Z,1761679825.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867280,-0.450707,-0.211396],[0.497554,-0.798681,-0.338452],[-0.016295,-0.398713,0.916931]] 2025-10-28T19:30:25.504Z,1761679825.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856736,-0.467722,-0.217347],[0.515561,-0.788228,-0.335996],[-0.014166,-0.399915,0.916443]] 2025-10-28T19:30:25.906Z,1761679825.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845721,-0.484969,-0.222624],[0.533494,-0.777658,-0.332614],[-0.011818,-0.400068,0.916409]] 2025-10-28T19:30:26.311Z,1761679826.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833758,-0.502389,-0.229026],[0.552039,-0.766076,-0.329213],[-0.010058,-0.400915,0.916060]] 2025-10-28T19:30:26.717Z,1761679826.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821614,-0.519084,-0.235591],[0.569985,-0.754057,-0.326365],[-0.008238,-0.402429,0.915414]] 2025-10-28T19:30:27.119Z,1761679827.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809547,-0.534940,-0.241811],[0.587020,-0.742091,-0.323586],[-0.006346,-0.403906,0.914779]] 2025-10-28T19:30:27.523Z,1761679827.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797047,-0.551179,-0.246815],[0.603902,-0.730327,-0.319256],[-0.004289,-0.403514,0.914963]] 2025-10-28T19:30:27.927Z,1761679827.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784322,-0.567004,-0.251685],[0.620349,-0.718420,-0.314706],[-0.002376,-0.402964,0.915213]] 2025-10-28T19:30:28.331Z,1761679828.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771239,-0.582607,-0.256436],[0.636545,-0.706359,-0.309624],[-0.000747,-0.402027,0.915628]] 2025-10-28T19:30:28.737Z,1761679828.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757901,-0.598100,-0.260504],[0.652369,-0.694201,-0.304139],[0.001064,-0.400452,0.916317]] 2025-10-28T19:30:29.140Z,1761679829.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744281,-0.613865,-0.263089],[0.667860,-0.682323,-0.297320],[0.003003,-0.396996,0.917816]] 2025-10-28T19:30:29.543Z,1761679829.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730028,-0.629378,-0.266351],[0.683400,-0.669498,-0.291096],[0.004888,-0.394532,0.918869]] 2025-10-28T19:30:29.948Z,1761679829.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715370,-0.644262,-0.270501],[0.698714,-0.655875,-0.285705],[0.006654,-0.393388,0.919348]] 2025-10-28T19:30:30.365Z,1761679830.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700620,-0.657713,-0.276669],[0.713487,-0.641270,-0.282328],[0.008271,-0.395205,0.918556]] 2025-10-28T19:30:30.757Z,1761679830.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685463,-0.670689,-0.283401],[0.728042,-0.626153,-0.279083],[0.009726,-0.397629,0.917495]] 2025-10-28T19:30:31.158Z,1761679831.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669936,-0.683454,-0.289959],[0.742337,-0.610878,-0.275252],[0.010992,-0.399649,0.916602]] 2025-10-28T19:30:31.563Z,1761679831.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654228,-0.695951,-0.296038],[0.756201,-0.595686,-0.270774],[0.012100,-0.401011,0.915993]] 2025-10-28T19:30:31.968Z,1761679831.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638710,-0.709018,-0.298902],[0.769335,-0.581820,-0.263835],[0.013157,-0.398470,0.917087]] 2025-10-28T19:30:32.387Z,1761679832.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623354,-0.721009,-0.302614],[0.781814,-0.567753,-0.257725],[0.014012,-0.397242,0.917607]] 2025-10-28T19:30:32.781Z,1761679832.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608051,-0.732353,-0.306486],[0.793764,-0.553721,-0.251658],[0.014594,-0.396298,0.918006]] 2025-10-28T19:30:33.178Z,1761679833.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593171,-0.742578,-0.311008],[0.804936,-0.539804,-0.246354],[0.015054,-0.396472,0.917923]] 2025-10-28T19:30:33.583Z,1761679833.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578075,-0.752577,-0.315366],[0.815838,-0.525769,-0.240781],[0.015397,-0.396478,0.917915]] 2025-10-28T19:30:33.987Z,1761679833.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563429,-0.762293,-0.318523],[0.826007,-0.512254,-0.235176],[0.016108,-0.395608,0.918278]] 2025-10-28T19:30:34.391Z,1761679834.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548883,-0.771627,-0.321433],[0.835726,-0.498739,-0.229830],[0.017032,-0.394780,0.918618]] 2025-10-28T19:30:34.795Z,1761679834.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534548,-0.779997,-0.325365],[0.844932,-0.484731,-0.226109],[0.018650,-0.395778,0.918157]] 2025-10-28T19:30:35.200Z,1761679835.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520185,-0.788193,-0.328877],[0.853799,-0.470518,-0.222801],[0.020867,-0.396693,0.917714]] 2025-10-28T19:30:35.602Z,1761679835.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505373,-0.796613,-0.331671],[0.862579,-0.455885,-0.219377],[0.023554,-0.396960,0.917534]] 2025-10-28T19:30:35.633Z,1761679835.633 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:30:35.633Z,1761679835.633 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:30:35.633Z,1761679835.633 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:30:35.633Z,1761679835.633 [marl:UpdateRudder:A] Stopped 2025-10-28T19:30:35.633Z,1761679835.633 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:30:36.007Z,1761679836.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490071,-0.804921,-0.334564],[0.871272,-0.440545,-0.216345],[0.026750,-0.397520,0.917203]] 2025-10-28T19:30:36.089Z,1761679836.089 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:30:36.089Z,1761679836.089 [marl:UpdateRudder:B] Stopped 2025-10-28T19:30:36.089Z,1761679836.089 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:30:36.090Z,1761679836.090 [marl:UpdateRudder] Stopped 2025-10-28T19:30:36.090Z,1761679836.090 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:30:36.411Z,1761679836.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473428,-0.813490,-0.337788],[0.880327,-0.423996,-0.212723],[0.029828,-0.398073,0.916869]] 2025-10-28T19:30:36.816Z,1761679836.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454985,-0.823373,-0.339183],[0.889899,-0.406425,-0.207120],[0.032685,-0.396075,0.917636]] 2025-10-28T19:30:37.218Z,1761679837.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435027,-0.832735,-0.342496],[0.899728,-0.387138,-0.201527],[0.035225,-0.395823,0.917651]] 2025-10-28T19:30:37.623Z,1761679837.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413950,-0.841830,-0.346364],[0.909530,-0.366850,-0.195386],[0.037418,-0.395909,0.917527]] 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode] Stopped 2025-10-28T19:30:37.663Z,1761679837.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:30:37.664Z,1761679837.664 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:30:37.668Z,1761679837.668 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:30:37.668Z,1761679837.668 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:30:37.668Z,1761679837.668 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:30:37.668Z,1761679837.668 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:30:37.669Z,1761679837.669 [marl:UpdateSpeed] Stopped 2025-10-28T19:30:37.669Z,1761679837.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:30:38.027Z,1761679838.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391887,-0.850848,-0.349974],[0.919185,-0.345959,-0.188181],[0.039037,-0.395437,0.917663]] 2025-10-28T19:30:38.439Z,1761679838.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369406,-0.858872,-0.354792],[0.928413,-0.324735,-0.180545],[0.039852,-0.396088,0.917347]] 2025-10-28T19:30:38.846Z,1761679838.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346873,-0.866525,-0.358905],[0.937063,-0.303907,-0.171910],[0.039890,-0.395948,0.917406]] 2025-10-28T19:30:39.238Z,1761679839.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325118,-0.872392,-0.365008],[0.944860,-0.283655,-0.163646],[0.039227,-0.398085,0.916509]] 2025-10-28T19:30:39.642Z,1761679839.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304284,-0.877271,-0.371223],[0.951808,-0.264295,-0.155597],[0.038388,-0.400678,0.915414]] 2025-10-28T19:30:40.064Z,1761679840.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285586,-0.881699,-0.375564],[0.957593,-0.246929,-0.148467],[0.038165,-0.402037,0.914828]] 2025-10-28T19:30:40.450Z,1761679840.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268035,-0.887137,-0.375693],[0.962646,-0.231103,-0.141082],[0.038336,-0.399474,0.915942]] 2025-10-28T19:30:40.860Z,1761679840.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250505,-0.892171,-0.375870],[0.967358,-0.215316,-0.133635],[0.038294,-0.397077,0.916986]] 2025-10-28T19:30:41.259Z,1761679841.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233737,-0.896128,-0.377254],[0.971537,-0.199886,-0.127129],[0.038516,-0.396231,0.917343]] 2025-10-28T19:30:41.664Z,1761679841.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217122,-0.899924,-0.378147],[0.975348,-0.184356,-0.121282],[0.039431,-0.395158,0.917767]] 2025-10-28T19:30:42.070Z,1761679842.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201431,-0.902939,-0.379639],[0.978653,-0.169381,-0.116402],[0.040801,-0.394982,0.917783]] 2025-10-28T19:30:42.473Z,1761679842.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185629,-0.906251,-0.379805],[0.981692,-0.154252,-0.111742],[0.042681,-0.393594,0.918293]] 2025-10-28T19:30:42.875Z,1761679842.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169161,-0.909159,-0.380545],[0.984573,-0.138360,-0.107109],[0.044727,-0.392793,0.918539]] 2025-10-28T19:30:43.279Z,1761679843.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151551,-0.911783,-0.381687],[0.987330,-0.121264,-0.102347],[0.047033,-0.392362,0.918608]] 2025-10-28T19:30:43.683Z,1761679843.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132483,-0.913700,-0.384188],[0.989956,-0.102675,-0.097187],[0.049353,-0.393205,0.918125]] 2025-10-28T19:30:44.089Z,1761679844.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111917,-0.916262,-0.384628],[0.992368,-0.082886,-0.091301],[0.051775,-0.391911,0.918545]] 2025-10-28T19:30:44.492Z,1761679844.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090089,-0.918000,-0.386212],[0.994478,-0.061955,-0.084712],[0.053838,-0.391711,0.918512]] 2025-10-28T19:30:44.896Z,1761679844.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067279,-0.918369,-0.389965],[0.996184,-0.040052,-0.077544],[0.055595,-0.393694,0.917559]] 2025-10-28T19:30:45.298Z,1761679845.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042936,-0.918219,-0.393738],[0.997470,-0.017048,-0.069015],[0.056658,-0.395705,0.916628]] 2025-10-28T19:30:45.703Z,1761679845.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017894,-0.917233,-0.397949],[0.998205,0.006364,-0.059552],[0.057156,-0.398300,0.915473]] 2025-10-28T19:30:46.110Z,1761679846.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007404,-0.916214,-0.400620],[0.998350,0.029587,-0.049213],[0.056943,-0.399595,0.914922]] 2025-10-28T19:30:46.513Z,1761679846.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032402,-0.914393,-0.403529],[0.997908,0.052199,-0.038153],[0.055951,-0.401448,0.914171]] 2025-10-28T19:30:46.914Z,1761679846.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056337,-0.911775,-0.406808],[0.996920,0.073640,-0.026990],[0.054566,-0.404034,0.913115]] 2025-10-28T19:30:47.325Z,1761679847.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078964,-0.909286,-0.408611],[0.995460,0.093771,-0.016297],[0.053134,-0.405469,0.912563]] 2025-10-28T19:30:48.139Z,1761679848.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138026,-0.902361,-0.408281],[0.989174,0.146337,0.010980],[0.049839,-0.405377,0.912790]] 2025-10-28T19:30:48.941Z,1761679848.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171778,-0.897460,-0.406273],[0.983899,0.176949,0.025124],[0.049342,-0.404048,0.913406]] 2025-10-28T19:30:48.989Z,1761679848.989 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:30:48.990Z,1761679848.990 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:30:48.990Z,1761679848.990 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:30:48.990Z,1761679848.990 [marl:UpdateRudder:A] Stopped 2025-10-28T19:30:48.990Z,1761679848.990 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:30:49.346Z,1761679849.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188061,-0.894469,-0.405658],[0.980911,0.191851,0.031718],[0.049455,-0.403880,0.913474]] 2025-10-28T19:30:49.370Z,1761679849.370 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:30:49.370Z,1761679849.370 [marl:UpdateRudder:B] Stopped 2025-10-28T19:30:49.370Z,1761679849.370 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:30:49.370Z,1761679849.370 [marl:UpdateRudder] Stopped 2025-10-28T19:30:49.370Z,1761679849.370 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:30:49.750Z,1761679849.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203568,-0.891922,-0.403776],[0.977800,0.206137,0.037620],[0.049679,-0.402471,0.914084]] 2025-10-28T19:30:50.151Z,1761679850.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218948,-0.889170,-0.401794],[0.974427,0.220585,0.042834],[0.050543,-0.400897,0.914728]] 2025-10-28T19:30:50.556Z,1761679850.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235036,-0.885461,-0.400895],[0.970601,0.235823,0.048177],[0.051881,-0.400432,0.914856]] 2025-10-28T19:30:50.955Z,1761679850.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251892,-0.881217,-0.400010],[0.966290,0.251754,0.053877],[0.053227,-0.400097,0.914926]] 2025-10-28T19:30:51.029Z,1761679851.029 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:30:51.029Z,1761679851.029 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateCommandMode] Stopped 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:30:51.030Z,1761679851.030 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:30:51.031Z,1761679851.031 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:30:51.031Z,1761679851.031 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:30:51.031Z,1761679851.031 [marl:UpdateSpeed] Stopped 2025-10-28T19:30:51.031Z,1761679851.031 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:30:51.360Z,1761679851.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269499,-0.876744,-0.398360],[0.961454,0.268398,0.059732],[0.054550,-0.399102,0.915282]] 2025-10-28T19:30:51.767Z,1761679851.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287844,-0.872053,-0.395815],[0.956033,0.285868,0.065426],[0.056096,-0.397244,0.915997]] 2025-10-28T19:30:52.167Z,1761679852.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306977,-0.867115,-0.392272],[0.949979,0.304078,0.071253],[0.057497,-0.394523,0.917085]] 2025-10-28T19:30:52.601Z,1761679852.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326881,-0.860710,-0.390291],[0.943244,0.322759,0.078215],[0.058650,-0.393706,0.917363]] 2025-10-28T19:30:52.976Z,1761679852.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347265,-0.853279,-0.389000],[0.935871,0.341703,0.085933],[0.059597,-0.393895,0.917221]] 2025-10-28T19:30:53.379Z,1761679853.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367759,-0.844844,-0.388577],[0.927978,0.360416,0.094645],[0.060088,-0.395397,0.916543]] 2025-10-28T19:30:53.787Z,1761679853.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388171,-0.836813,-0.386092],[0.919636,0.378969,0.103213],[0.059947,-0.395128,0.916668]] 2025-10-28T19:30:54.186Z,1761679854.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408807,-0.827692,-0.384451],[0.910680,0.397430,0.112740],[0.059478,-0.396201,0.916235]] 2025-10-28T19:30:54.628Z,1761679854.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429265,-0.817713,-0.383506],[0.901277,0.415367,0.123167],[0.058581,-0.398517,0.915288]] 2025-10-28T19:30:55.015Z,1761679855.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449455,-0.807652,-0.381692],[0.891454,0.432997,0.133506],[0.057445,-0.400266,0.914597]] 2025-10-28T19:30:55.089Z,1761679855.089 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:30:55.398Z,1761679855.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469031,-0.797536,-0.379402],[0.881378,0.450124,0.143391],[0.056419,-0.401652,0.914053]] 2025-10-28T19:30:55.810Z,1761679855.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488289,-0.786881,-0.377348],[0.870939,0.466718,0.153752],[0.055131,-0.403723,0.913219]] 2025-10-28T19:30:56.095Z,1761679856.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:30:56.224Z,1761679856.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507083,-0.776839,-0.373347],[0.860213,0.483213,0.162907],[0.053854,-0.403765,0.913276]] 2025-10-28T19:30:56.633Z,1761679856.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524739,-0.767340,-0.368562],[0.849619,0.498987,0.170761],[0.052876,-0.402742,0.913785]] 2025-10-28T19:30:57.015Z,1761679857.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541525,-0.757765,-0.364064],[0.839077,0.513953,0.178334],[0.051976,-0.402050,0.914141]] 2025-10-28T19:30:57.418Z,1761679857.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558067,-0.747783,-0.359697],[0.828228,0.528599,0.186069],[0.050996,-0.401750,0.914328]] 2025-10-28T19:30:57.827Z,1761679857.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573845,-0.738205,-0.354620],[0.817427,0.542801,0.192820],[0.050147,-0.400525,0.914913]] 2025-10-28T19:30:58.227Z,1761679858.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589123,-0.728608,-0.349377],[0.806527,0.556687,0.199032],[0.049477,-0.399036,0.915599]] 2025-10-28T19:30:58.638Z,1761679858.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603276,-0.719291,-0.344498],[0.795995,0.569856,0.204099],[0.049507,-0.397347,0.916332]] 2025-10-28T19:30:59.034Z,1761679859.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617046,-0.709433,-0.340528],[0.785373,0.582369,0.209849],[0.049440,-0.396928,0.916517]] 2025-10-28T19:30:59.442Z,1761679859.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630841,-0.699070,-0.336662],[0.774356,0.594696,0.216124],[0.049126,-0.397036,0.916487]] 2025-10-28T19:30:59.843Z,1761679859.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644117,-0.688407,-0.333480],[0.763359,0.606394,0.222643],[0.048951,-0.397973,0.916090]] 2025-10-28T19:31:00.246Z,1761679860.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657138,-0.677530,-0.330336],[0.752186,0.617826,0.229145],[0.048837,-0.399054,0.915626]] 2025-10-28T19:31:00.650Z,1761679860.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669898,-0.666659,-0.326806],[0.740838,0.629217,0.235042],[0.048939,-0.399565,0.915398]] 2025-10-28T19:31:01.056Z,1761679861.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682975,-0.655397,-0.322490],[0.728794,0.641066,0.240612],[0.049041,-0.399361,0.915481]] 2025-10-28T19:31:01.458Z,1761679861.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696701,-0.643325,-0.317396],[0.715688,0.653544,0.246315],[0.048972,-0.398765,0.915745]] 2025-10-28T19:31:01.863Z,1761679861.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711153,-0.630460,-0.311098],[0.701352,0.666827,0.251885],[0.048646,-0.397318,0.916391]] 2025-10-28T19:31:02.268Z,1761679862.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726648,-0.615969,-0.304245],[0.685354,0.680673,0.258795],[0.047682,-0.396569,0.916766]] 2025-10-28T19:31:02.321Z,1761679862.321 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:31:02.321Z,1761679862.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:31:02.321Z,1761679862.321 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:31:02.321Z,1761679862.321 [marl:UpdateRudder:A] Stopped 2025-10-28T19:31:02.321Z,1761679862.321 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:31:02.672Z,1761679862.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742546,-0.600197,-0.297302],[0.668197,0.694443,0.266948],[0.046238,-0.396878,0.916706]] 2025-10-28T19:31:02.735Z,1761679862.735 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:31:02.735Z,1761679862.735 [marl:UpdateRudder:B] Stopped 2025-10-28T19:31:02.735Z,1761679862.735 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:31:02.735Z,1761679862.735 [marl:UpdateRudder] Stopped 2025-10-28T19:31:02.735Z,1761679862.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:31:03.075Z,1761679863.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758346,-0.584401,-0.288768],[0.650349,0.708376,0.274315],[0.044246,-0.395826,0.917259]] 2025-10-28T19:31:03.478Z,1761679863.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773816,-0.568202,-0.279921],[0.632025,0.721848,0.281921],[0.041872,-0.395072,0.917695]] 2025-10-28T19:31:03.882Z,1761679863.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788299,-0.552299,-0.271202],[0.614030,0.734369,0.289259],[0.039405,-0.394548,0.918030]] 2025-10-28T19:31:04.302Z,1761679864.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801981,-0.536528,-0.262609],[0.596223,0.745956,0.296764],[0.036673,-0.394573,0.918133]] 2025-10-28T19:31:04.399Z,1761679864.399 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:31:04.399Z,1761679864.399 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateCommandMode] Stopped 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:31:04.400Z,1761679864.400 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed] Stopped 2025-10-28T19:31:04.401Z,1761679864.401 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:31:04.690Z,1761679864.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814455,-0.521441,-0.254485],[0.579229,0.756401,0.303894],[0.034030,-0.394913,0.918088]] 2025-10-28T19:31:05.094Z,1761679865.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825618,-0.507389,-0.246803],[0.563358,0.765607,0.310603],[0.031358,-0.395478,0.917940]] 2025-10-28T19:31:05.502Z,1761679865.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835321,-0.494619,-0.239981],[0.549004,0.773420,0.316885],[0.028868,-0.396451,0.917602]] 2025-10-28T19:31:05.904Z,1761679865.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844199,-0.482416,-0.233672],[0.535376,0.780347,0.323158],[0.026449,-0.397912,0.917042]] 2025-10-28T19:31:06.309Z,1761679866.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852591,-0.470401,-0.227622],[0.522003,0.787052,0.328728],[0.024516,-0.399090,0.916584]] 2025-10-28T19:31:06.711Z,1761679866.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860619,-0.458520,-0.221571],[0.508718,0.793938,0.332968],[0.023241,-0.399276,0.916536]] 2025-10-28T19:31:07.114Z,1761679867.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868804,-0.445606,-0.215904],[0.494649,0.800784,0.337738],[0.022395,-0.400225,0.916143]] 2025-10-28T19:31:07.527Z,1761679867.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877720,-0.430868,-0.209669],[0.478678,0.808330,0.342739],[0.021806,-0.401192,0.915734]] 2025-10-28T19:31:07.923Z,1761679867.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886951,-0.414946,-0.202826],[0.461373,0.816254,0.347657],[0.021298,-0.401933,0.915421]] 2025-10-28T19:31:08.326Z,1761679868.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896546,-0.397758,-0.194919],[0.442459,0.824905,0.351799],[0.020859,-0.401648,0.915557]] 2025-10-28T19:31:08.730Z,1761679868.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906429,-0.379144,-0.186105],[0.421868,0.833947,0.355753],[0.020320,-0.400977,0.915863]] 2025-10-28T19:31:09.137Z,1761679869.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916252,-0.359922,-0.175895],[0.400142,0.843319,0.358748],[0.019214,-0.399086,0.916712]] 2025-10-28T19:31:09.539Z,1761679869.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925629,-0.340425,-0.165291],[0.378022,0.852074,0.362036],[0.017594,-0.397595,0.917392]] 2025-10-28T19:31:09.943Z,1761679869.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934513,-0.320825,-0.154129],[0.355581,0.860651,0.364476],[0.015718,-0.395413,0.918369]] 2025-10-28T19:31:10.347Z,1761679870.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942508,-0.301781,-0.143553],[0.333903,0.868022,0.367488],[0.013706,-0.394293,0.918883]] 2025-10-28T19:31:10.754Z,1761679870.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949708,-0.283478,-0.133023],[0.312931,0.874634,0.370257],[0.011387,-0.393263,0.919355]] 2025-10-28T19:31:11.155Z,1761679871.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955996,-0.266328,-0.123048],[0.293237,0.880503,0.372460],[0.009147,-0.392152,0.919855]] 2025-10-28T19:31:11.559Z,1761679871.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961485,-0.249851,-0.114545],[0.274758,0.884853,0.376222],[0.007356,-0.393204,0.919422]] 2025-10-28T19:31:11.963Z,1761679871.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966574,-0.233241,-0.106454],[0.256323,0.888336,0.380996],[0.005703,-0.395548,0.918428]] 2025-10-28T19:31:12.372Z,1761679872.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970968,-0.218053,-0.098353],[0.239175,0.891805,0.384030],[0.003973,-0.396405,0.918067]] 2025-10-28T19:31:12.783Z,1761679872.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974963,-0.202897,-0.090997],[0.222353,0.894356,0.388182],[0.002623,-0.398697,0.917079]] 2025-10-28T19:31:13.175Z,1761679873.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978762,-0.187112,-0.083747],[0.204990,0.896935,0.391773],[0.001810,-0.400620,0.916243]] 2025-10-28T19:31:13.578Z,1761679873.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982220,-0.171617,-0.076098],[0.187729,0.899919,0.393577],[0.000937,-0.400865,0.916137]] 2025-10-28T19:31:13.985Z,1761679873.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985391,-0.155975,-0.068389],[0.170309,0.902517,0.395548],[0.000027,-0.401416,0.915896]] 2025-10-28T19:31:14.386Z,1761679874.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988448,-0.139068,-0.060255],[0.151558,0.904723,0.398129],[-0.000853,-0.402662,0.915349]] 2025-10-28T19:31:14.793Z,1761679874.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991210,-0.121673,-0.051952],[0.132292,0.907186,0.399391],[-0.001465,-0.402753,0.915308]] 2025-10-28T19:31:15.195Z,1761679875.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993669,-0.103663,-0.043322],[0.112332,0.909558,0.400108],[-0.002072,-0.402441,0.915444]] 2025-10-28T19:31:15.603Z,1761679875.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995679,-0.086092,-0.034819],[0.092824,0.911204,0.401362],[-0.002827,-0.402860,0.915257]] 2025-10-28T19:31:15.627Z,1761679875.627 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:31:15.627Z,1761679875.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:31:15.627Z,1761679875.627 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:31:15.627Z,1761679875.627 [marl:UpdateRudder:A] Stopped 2025-10-28T19:31:15.627Z,1761679875.627 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:31:16.002Z,1761679876.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997300,-0.068634,-0.026123],[0.073337,0.912259,0.402995],[-0.003828,-0.403823,0.914829]] 2025-10-28T19:31:16.034Z,1761679876.034 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:31:16.034Z,1761679876.034 [marl:UpdateRudder:B] Stopped 2025-10-28T19:31:16.034Z,1761679876.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:31:16.034Z,1761679876.034 [marl:UpdateRudder] Stopped 2025-10-28T19:31:16.034Z,1761679876.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:31:16.407Z,1761679876.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998528,-0.051262,-0.017738],[0.054055,0.913131,0.404067],[-0.004516,-0.404431,0.914557]] 2025-10-28T19:31:16.811Z,1761679876.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999404,-0.033292,-0.009142],[0.034137,0.913408,0.405611],[-0.005153,-0.405681,0.914000]] 2025-10-28T19:31:17.214Z,1761679877.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999893,-0.014607,0.000165],[0.013275,0.913384,0.406883],[-0.006094,-0.406837,0.913480]] 2025-10-28T19:31:17.685Z,1761679877.685 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode] Stopped 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:31:17.686Z,1761679877.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:31:17.687Z,1761679877.687 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:31:17.687Z,1761679877.687 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:31:17.687Z,1761679877.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:31:17.687Z,1761679877.687 [marl:UpdateSpeed] Stopped 2025-10-28T19:31:17.687Z,1761679877.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:31:17.693Z,1761679877.693 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:31:17.773Z,1761679877.773 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:31:17.774Z,1761679877.774 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:31:18.025Z,1761679878.025 [DAT](INFO): DAT read: user:187> 2025-10-28T19:31:18.026Z,1761679878.026 [DAT](INFO): DAT read: Tx time:19:31:17.7810 2025-10-28T19:31:18.026Z,1761679878.026 [DAT](INFO): Ping request sent. 2025-10-28T19:31:18.026Z,1761679878.026 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:31:18.026Z,1761679878.026 [DAT](INFO): publishing transmit ping time 2025-10-28T19:31:18.027Z,1761679878.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924 2025-10-28T19:31:18.277Z,1761679878.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250756 2025-10-28T19:31:18.426Z,1761679878.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998533,0.044115,0.031410],[-0.053069,0.912682,0.405211],[-0.010791,-0.406283,0.913683]] 2025-10-28T19:31:18.529Z,1761679878.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886 2025-10-28T19:31:18.781Z,1761679878.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755146 2025-10-28T19:31:18.831Z,1761679878.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997062,0.063719,0.042505],[-0.075454,0.912520,0.402013],[-0.013171,-0.404039,0.914647]] 2025-10-28T19:31:19.033Z,1761679879.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798 2025-10-28T19:31:19.238Z,1761679879.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995095,0.083220,0.053479],[-0.097683,0.911965,0.398470],[-0.015611,-0.401740,0.915621]] 2025-10-28T19:31:19.285Z,1761679879.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258971 2025-10-28T19:31:19.537Z,1761679879.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-28T19:31:19.639Z,1761679879.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992688,0.102573,0.063631],[-0.119403,0.911705,0.393113],[-0.017690,-0.397836,0.917286]] 2025-10-28T19:31:19.789Z,1761679879.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762851 2025-10-28T19:31:20.041Z,1761679880.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014819 2025-10-28T19:31:20.051Z,1761679880.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989844,0.121362,0.074025],[-0.140717,0.910416,0.389025],[-0.020181,-0.395491,0.918248]] 2025-10-28T19:31:20.293Z,1761679880.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851 2025-10-28T19:31:20.446Z,1761679880.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986675,0.139414,0.083884],[-0.161132,0.908768,0.384937],[-0.022566,-0.393324,0.919123]] 2025-10-28T19:31:20.548Z,1761679880.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521551 2025-10-28T19:31:20.797Z,1761679880.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770839 2025-10-28T19:31:20.850Z,1761679880.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983193,0.157022,0.093140],[-0.180897,0.906747,0.380902],[-0.024645,-0.391349,0.919912]] 2025-10-28T19:31:21.049Z,1761679881.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022891 2025-10-28T19:31:21.262Z,1761679881.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979258,0.174546,0.102897],[-0.200827,0.903499,0.378626],[-0.026880,-0.391437,0.919812]] 2025-10-28T19:31:21.301Z,1761679881.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274834 2025-10-28T19:31:21.553Z,1761679881.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527395 2025-10-28T19:31:21.658Z,1761679881.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975147,0.191111,0.112095],[-0.219662,0.900005,0.376483],[-0.028936,-0.391750,0.919617]] 2025-10-28T19:31:21.805Z,1761679881.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778870 2025-10-28T19:31:22.057Z,1761679882.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030808 2025-10-28T19:31:22.064Z,1761679882.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970689,0.207463,0.121336],[-0.238312,0.896284,0.374009],[-0.031159,-0.391962,0.919454]] 2025-10-28T19:31:22.309Z,1761679882.309 [DAT](INFO): DAT read: Rx Time:19:31:21.5645 2025-10-28T19:31:22.309Z,1761679882.309 [DAT](INFO): Rx dataTimestamp_ set to:1761679882.309094 2025-10-28T19:31:22.310Z,1761679882.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283881 2025-10-28T19:31:22.467Z,1761679882.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965943,0.223486,0.130419],[-0.256589,0.892385,0.371228],[-0.033420,-0.392049,0.919337]] 2025-10-28T19:31:22.581Z,1761679882.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537243 2025-10-28T19:31:22.819Z,1761679882.819 [DAT](INFO): DAT read: 19:31:21.5645 LVL= 26592, 23537, 32754, 32755, AGC= 73, IDX= 362, 0.12, 1.289, 2.369, 0.514, 1.910, PHS=-0.519, 0.505,-1.440, RAW= 358.3, 17.0, CAL= 358.7, 21.3, ROT= 151.3, -21.3 2025-10-28T19:31:22.820Z,1761679882.820 [DAT](INFO): got valid direction response: 19:31:21.5645 LVL= 26592, 23537, 32754, 32755, AGC= 73, IDX= 362, 0.12, 1.289, 2.369, 0.514, 1.910, PHS=-0.519, 0.505,-1.440, RAW= 358.3, 17.0, CAL= 358.7, 21.3, ROT= 151.3, -21.3 2025-10-28T19:31:22.821Z,1761679882.821 [DAT](INFO): DAT read: Bearing 101, -23 (Remote) 2025-10-28T19:31:22.821Z,1761679882.821 [DAT](INFO): Remote Bearing received:Bearing 101, -23 (Remote) 2025-10-28T19:31:22.822Z,1761679882.822 [DAT](INFO): DAT read: Bearing 269.5, 17.2 (Local) 2025-10-28T19:31:22.822Z,1761679882.822 [DAT](INFO): Local bearing/azimuth received: Bearing 269.5, 17.2 (Local) 2025-10-28T19:31:22.824Z,1761679882.824 [DAT](INFO): DAT read: Range 11 to 20 : 1315.8 m (Round-trip 1754.4 ms) speed 0.0 m/s 2025-10-28T19:31:22.824Z,1761679882.824 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:31:22.825Z,1761679882.825 [DAT](INFO): direction in FSK: [-0.817229,0.447420,0.363251] 2025-10-28T19:31:22.825Z,1761679882.825 [DAT](INFO): publishing direction and range info 2025-10-28T19:31:22.891Z,1761679882.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960873,0.239163,0.139730],[-0.274660,0.887967,0.368885],[-0.035851,-0.392830,0.918912]] 2025-10-28T19:31:23.007Z,1761679883.007 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761679872.00. Resetting abort timer. 2025-10-28T19:31:23.274Z,1761679883.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955314,0.255164,0.149219],[-0.293087,0.883249,0.366020],[-0.038402,-0.393398,0.918566]] 2025-10-28T19:31:23.679Z,1761679883.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948934,0.272173,0.159516],[-0.312819,0.877251,0.364109],[-0.040835,-0.395415,0.917594]] 2025-10-28T19:31:24.085Z,1761679884.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942204,0.288897,0.169676],[-0.332205,0.871308,0.361196],[-0.043492,-0.396688,0.916923]] 2025-10-28T19:31:24.487Z,1761679884.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934652,0.306356,0.180474],[-0.352527,0.864611,0.358011],[-0.046361,-0.398238,0.916110]] 2025-10-28T19:31:24.893Z,1761679884.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926217,0.325257,0.190605],[-0.373838,0.857686,0.353014],[-0.048658,-0.398223,0.915997]] 2025-10-28T19:31:25.295Z,1761679885.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917482,0.343594,0.200425],[-0.394496,0.850560,0.347736],[-0.050993,-0.398109,0.915920]] 2025-10-28T19:31:25.698Z,1761679885.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908193,0.362353,0.209487],[-0.415199,0.843169,0.341577],[-0.052861,-0.397197,0.916210]] 2025-10-28T19:31:26.120Z,1761679886.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899091,0.380178,0.217025],[-0.434333,0.836635,0.333762],[-0.054682,-0.394344,0.917335]] 2025-10-28T19:31:26.212Z,1761679886.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:31:26.508Z,1761679886.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889980,0.396645,0.224961],[-0.452505,0.829163,0.328220],[-0.056343,-0.393906,0.917422]] 2025-10-28T19:31:26.910Z,1761679886.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881071,0.412271,0.231834],[-0.469444,0.822088,0.322170],[-0.057767,-0.392688,0.917856]] 2025-10-28T19:31:27.217Z,1761679887.217 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:31:27.315Z,1761679887.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872418,0.426808,0.238164],[-0.485208,0.814940,0.316931],[-0.058820,-0.392056,0.918059]] 2025-10-28T19:31:27.725Z,1761679887.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863933,0.440378,0.244311],[-0.500055,0.807654,0.312475],[-0.059712,-0.392126,0.917971]] 2025-10-28T19:31:28.125Z,1761679888.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855625,0.452758,0.250831],[-0.514020,0.800142,0.309123],[-0.060742,-0.393425,0.917348]] 2025-10-28T19:31:28.527Z,1761679888.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847256,0.464359,0.257931],[-0.527583,0.792093,0.306992],[-0.061751,-0.396181,0.916094]] 2025-10-28T19:31:28.936Z,1761679888.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838564,0.475450,0.266004],[-0.541155,0.783327,0.305860],[-0.062947,-0.400432,0.914162]] 2025-10-28T19:31:28.998Z,1761679888.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:31:28.998Z,1761679888.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:31:28.999Z,1761679888.999 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:31:28.000Z,1761679889.000 [marl:UpdateRudder:A] Stopped 2025-10-28T19:31:29.000Z,1761679889.000 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:31:29.334Z,1761679889.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829371,0.486661,0.274417],[-0.554952,0.774370,0.303940],[-0.064584,-0.404368,0.912313]] 2025-10-28T19:31:29.371Z,1761679889.371 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:31:29.371Z,1761679889.371 [marl:UpdateRudder:B] Stopped 2025-10-28T19:31:29.371Z,1761679889.371 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:31:29.371Z,1761679889.371 [marl:UpdateRudder] Stopped 2025-10-28T19:31:29.371Z,1761679889.371 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:31:29.745Z,1761679889.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819261,0.499043,0.282432],[-0.569585,0.765105,0.300311],[-0.066222,-0.406902,0.911068]] 2025-10-28T19:31:30.142Z,1761679890.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808236,0.511972,0.290928],[-0.584924,0.755025,0.296311],[-0.067955,-0.409660,0.909703]] 2025-10-28T19:31:30.552Z,1761679890.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795630,0.527167,0.298442],[-0.601812,0.744151,0.289932],[-0.069243,-0.410285,0.909325]] 2025-10-28T19:31:30.954Z,1761679890.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782150,0.542559,0.306383],[-0.619077,0.732388,0.283463],[-0.070596,-0.411386,0.908723]] 2025-10-28T19:31:31.033Z,1761679891.033 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:31:31.033Z,1761679891.033 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:31:31.033Z,1761679891.033 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateCommandMode] Stopped 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:31:31.034Z,1761679891.034 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:31:31.035Z,1761679891.035 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:31:31.035Z,1761679891.035 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:31:31.035Z,1761679891.035 [marl:UpdateSpeed] Stopped 2025-10-28T19:31:31.035Z,1761679891.035 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:31:31.355Z,1761679891.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767388,0.559117,0.313852],[-0.637148,0.719788,0.275587],[-0.071822,-0.411453,0.908597]] 2025-10-28T19:31:31.767Z,1761679891.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752067,0.576143,0.320084],[-0.655042,0.707108,0.266306],[-0.072903,-0.409948,0.909191]] 2025-10-28T19:31:32.163Z,1761679892.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735754,0.593970,0.325370],[-0.673205,0.693848,0.255675],[-0.073894,-0.407155,0.910365]] 2025-10-28T19:31:32.602Z,1761679892.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701397,0.630026,0.333330],[-0.708721,0.666232,0.232056],[-0.075874,-0.399002,0.913806]] 2025-10-28T19:31:33.377Z,1761679893.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683680,0.647950,0.335772],[-0.725755,0.651935,0.219681],[-0.076559,-0.393879,0.915968]] 2025-10-28T19:31:33.789Z,1761679893.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646821,0.682320,0.340679],[-0.758736,0.620887,0.197026],[-0.077088,-0.385926,0.919303]] 2025-10-28T19:31:34.633Z,1761679894.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611874,0.712010,0.344460],[-0.787093,0.591097,0.176318],[-0.078069,-0.379007,0.922095]] 2025-10-28T19:31:35.006Z,1761679895.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596739,0.723841,0.346348],[-0.798550,0.578109,0.167653],[-0.078872,-0.376621,0.923004]] 2025-10-28T19:31:35.399Z,1761679895.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582812,0.733396,0.349945],[-0.808711,0.565600,0.161505],[-0.079482,-0.377131,0.922743]] 2025-10-28T19:31:35.801Z,1761679895.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569426,0.741521,0.354824],[-0.818197,0.552947,0.157487],[-0.079419,-0.379994,0.921573]] 2025-10-28T19:31:36.209Z,1761679896.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556096,0.748731,0.360776],[-0.827400,0.539743,0.155197],[-0.078526,-0.384811,0.919649]] 2025-10-28T19:31:36.637Z,1761679896.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542644,0.755167,0.367778],[-0.836437,0.525893,0.154306],[-0.076884,-0.391356,0.917022]] 2025-10-28T19:31:37.015Z,1761679897.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529006,0.760282,0.376994],[-0.845292,0.511376,0.154842],[-0.075062,-0.400582,0.913181]] 2025-10-28T19:31:37.414Z,1761679897.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515200,0.764719,0.387007],[-0.853885,0.496869,0.154924],[-0.073818,-0.410276,0.908969]] 2025-10-28T19:31:37.819Z,1761679897.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501794,0.767733,0.398482],[-0.861821,0.483125,0.154451],[-0.073939,-0.420923,0.904078]] 2025-10-28T19:31:38.229Z,1761679898.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488829,0.771107,0.407972],[-0.869076,0.471105,0.150886],[-0.075848,-0.428316,0.900440]] 2025-10-28T19:31:38.646Z,1761679898.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475498,0.775810,0.414752],[-0.876126,0.460176,0.143669],[-0.079400,-0.431690,0.898521]] 2025-10-28T19:31:39.034Z,1761679899.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459486,0.783013,0.419241],[-0.884282,0.447500,0.133376],[-0.083175,-0.432012,0.898024]] 2025-10-28T19:31:39.437Z,1761679899.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441188,0.793177,0.419789],[-0.893261,0.433094,0.120479],[-0.086247,-0.428135,0.899590]] 2025-10-28T19:31:39.838Z,1761679899.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420024,0.806152,0.416772],[-0.903222,0.415954,0.105701],[-0.088147,-0.420834,0.902845]] 2025-10-28T19:31:40.242Z,1761679900.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397702,0.820723,0.410180],[-0.913154,0.397592,0.089839],[-0.089351,-0.410286,0.907569]] 2025-10-28T19:31:40.651Z,1761679900.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374719,0.834782,0.403391],[-0.922820,0.377766,0.075475],[-0.089382,-0.400539,0.911910]] 2025-10-28T19:31:41.062Z,1761679901.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352094,0.847260,0.397719],[-0.931759,0.357531,0.063221],[-0.088632,-0.392837,0.915327]] 2025-10-28T19:31:41.454Z,1761679901.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330609,0.856510,0.396343],[-0.939677,0.337802,0.053827],[-0.087782,-0.390230,0.916523]] 2025-10-28T19:31:41.859Z,1761679901.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310539,0.863731,0.396906],[-0.946567,0.319220,0.045921],[-0.087037,-0.389959,0.916710]] 2025-10-28T19:31:42.262Z,1761679902.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291636,0.868862,0.400034],[-0.952589,0.301738,0.039097],[-0.086736,-0.392470,0.915666]] 2025-10-28T19:31:42.286Z,1761679902.286 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:31:42.286Z,1761679902.286 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:31:42.286Z,1761679902.286 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:31:42.287Z,1761679902.287 [marl:UpdateRudder:A] Stopped 2025-10-28T19:31:42.287Z,1761679902.287 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:31:42.672Z,1761679902.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273167,0.873460,0.403047],[-0.958070,0.284702,0.032347],[-0.086494,-0.394984,0.914607]] 2025-10-28T19:31:42.739Z,1761679902.739 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:31:42.739Z,1761679902.739 [marl:UpdateRudder:B] Stopped 2025-10-28T19:31:42.739Z,1761679902.739 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:31:42.739Z,1761679902.739 [marl:UpdateRudder] Stopped 2025-10-28T19:31:42.739Z,1761679902.739 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:31:43.082Z,1761679903.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254360,0.877835,0.405840],[-0.963237,0.267473,0.025161],[-0.086464,-0.397320,0.913598]] 2025-10-28T19:31:43.474Z,1761679903.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234724,0.881991,0.408652],[-0.968186,0.249630,0.017338],[-0.086720,-0.399721,0.912526]] 2025-10-28T19:31:43.878Z,1761679903.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213742,0.886429,0.410558],[-0.973018,0.230563,0.008762],[-0.086892,-0.401354,0.911792]] 2025-10-28T19:31:44.285Z,1761679904.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192060,0.890960,0.411464],[-0.977495,0.210959,-0.000532],[-0.087276,-0.402102,0.911426]] 2025-10-28T19:31:44.309Z,1761679904.309 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode] Stopped 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:31:44.310Z,1761679904.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:31:44.311Z,1761679904.311 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:31:44.311Z,1761679904.311 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:31:44.311Z,1761679904.311 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:31:44.311Z,1761679904.311 [marl:UpdateSpeed] Stopped 2025-10-28T19:31:44.311Z,1761679904.311 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:31:44.704Z,1761679904.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169842,0.895527,0.411321],[-0.981568,0.190844,-0.010196],[-0.087629,-0.402007,0.911434]] 2025-10-28T19:31:45.094Z,1761679905.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147261,0.900230,0.409757],[-0.985224,0.170135,-0.019708],[-0.087456,-0.400800,0.911982]] 2025-10-28T19:31:45.495Z,1761679905.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125594,0.904263,0.408086],[-0.988250,0.150153,-0.028571],[-0.087111,-0.399703,0.912496]] 2025-10-28T19:31:45.899Z,1761679905.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105431,0.908089,0.405289],[-0.990661,0.131347,-0.036588],[-0.086459,-0.397647,0.913456]] 2025-10-28T19:31:46.302Z,1761679906.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087607,0.910575,0.403953],[-0.992456,0.114697,-0.043306],[-0.085766,-0.397111,0.913754]] 2025-10-28T19:31:47.120Z,1761679907.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056158,0.912472,0.405267],[-0.994986,0.084793,-0.053040],[-0.082761,-0.400256,0.912659]] 2025-10-28T19:31:47.515Z,1761679907.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041961,0.912829,0.406180],[-0.995829,0.071175,-0.057080],[-0.081014,-0.402090,0.912009]] 2025-10-28T19:31:47.919Z,1761679907.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028126,0.912293,0.408571],[-0.996422,0.058177,-0.061310],[-0.079702,-0.405385,0.910665]] 2025-10-28T19:31:48.322Z,1761679908.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014314,0.909934,0.414507],[-0.996771,0.045743,-0.065995],[-0.079012,-0.412224,0.907650]] 2025-10-28T19:31:48.727Z,1761679908.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000938,0.908133,0.418681],[-0.996942,0.031864,-0.071349],[-0.078135,-0.417468,0.905326]] 2025-10-28T19:31:49.142Z,1761679909.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018386,0.908203,0.418127],[-0.996858,0.015575,-0.077666],[-0.077049,-0.418241,0.905062]] 2025-10-28T19:31:49.534Z,1761679909.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037887,0.907344,0.418679],[-0.996395,-0.002477,-0.084799],[-0.075905,-0.420382,0.904167]] 2025-10-28T19:31:49.938Z,1761679909.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058698,0.907892,0.415073],[-0.995476,-0.022115,-0.092403],[-0.074713,-0.418620,0.905083]] 2025-10-28T19:31:50.343Z,1761679910.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079704,0.909619,0.407727],[-0.994135,-0.042545,-0.099421],[-0.073088,-0.413260,0.907675]] 2025-10-28T19:31:50.749Z,1761679910.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101839,0.911114,0.399374],[-0.992265,-0.064387,-0.106135],[-0.070987,-0.407094,0.910624]] 2025-10-28T19:31:51.173Z,1761679911.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123691,0.911599,0.392031],[-0.989943,-0.086027,-0.112301],[-0.068648,-0.401979,0.913072]] 2025-10-28T19:31:51.555Z,1761679911.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145179,0.911272,0.385365],[-0.987176,-0.107279,-0.118218],[-0.066387,-0.397585,0.915161]] 2025-10-28T19:31:51.959Z,1761679911.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165750,0.910115,0.379760],[-0.984081,-0.127606,-0.123698],[-0.064120,-0.394217,0.916778]] 2025-10-28T19:31:52.363Z,1761679912.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186176,0.907989,0.375359],[-0.980565,-0.147648,-0.129197],[-0.061889,-0.392117,0.917831]] 2025-10-28T19:31:52.771Z,1761679912.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206291,0.904186,0.374021],[-0.976642,-0.166779,-0.135482],[-0.060122,-0.393233,0.917471]] 2025-10-28T19:31:53.180Z,1761679913.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225956,0.900632,0.371223],[-0.972353,-0.185465,-0.141889],[-0.058941,-0.393020,0.917639]] 2025-10-28T19:31:53.576Z,1761679913.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245485,0.896212,0.369514],[-0.967658,-0.203696,-0.148818],[-0.058103,-0.394096,0.917231]] 2025-10-28T19:31:53.978Z,1761679913.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265004,0.890862,0.368968],[-0.962557,-0.221757,-0.155909],[-0.057072,-0.396469,0.916272]] 2025-10-28T19:31:54.382Z,1761679914.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284508,0.886346,0.365302],[-0.957037,-0.240340,-0.162223],[-0.055989,-0.395762,0.916645]] 2025-10-28T19:31:54.790Z,1761679914.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303826,0.882130,0.359912],[-0.951143,-0.259066,-0.167965],[-0.054926,-0.393359,0.917743]] 2025-10-28T19:31:55.198Z,1761679915.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322866,0.876935,0.356009],[-0.944909,-0.277249,-0.174012],[-0.053894,-0.392579,0.918138]] 2025-10-28T19:31:55.594Z,1761679915.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341571,0.870699,0.353854],[-0.938369,-0.294772,-0.180477],[-0.052835,-0.393692,0.917723]] 2025-10-28T19:31:55.625Z,1761679915.625 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:31:55.625Z,1761679915.625 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:31:55.626Z,1761679915.626 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:31:55.626Z,1761679915.626 [marl:UpdateRudder:A] Stopped 2025-10-28T19:31:55.626Z,1761679915.626 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:31:55.998Z,1761679915.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360075,0.863731,0.352582],[-0.931489,-0.311912,-0.187185],[-0.051703,-0.395827,0.916868]] 2025-10-28T19:31:56.037Z,1761679916.037 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:31:56.037Z,1761679916.037 [marl:UpdateRudder:B] Stopped 2025-10-28T19:31:56.038Z,1761679916.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:31:56.038Z,1761679916.038 [marl:UpdateRudder] Stopped 2025-10-28T19:31:56.038Z,1761679916.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:31:56.403Z,1761679916.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378459,0.856238,0.351603],[-0.924241,-0.328856,-0.193992],[-0.050476,-0.398384,0.915829]] 2025-10-28T19:31:56.807Z,1761679916.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395649,0.847648,0.353490],[-0.917080,-0.344002,-0.201558],[-0.049249,-0.403925,0.913465]] 2025-10-28T19:31:57.219Z,1761679917.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412351,0.839936,0.352809],[-0.909771,-0.359339,-0.207827],[-0.047783,-0.406673,0.912323]] 2025-10-28T19:31:57.360Z,1761679917.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:31:57.615Z,1761679917.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428285,0.832602,0.351207],[-0.902482,-0.374402,-0.212957],[-0.045815,-0.408164,0.911758]] 2025-10-28T19:31:57.659Z,1761679917.659 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:31:57.659Z,1761679917.659 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:31:57.660Z,1761679917.660 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:31:57.660Z,1761679917.660 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateCommandMode] Stopped 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:31:57.661Z,1761679917.661 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:31:57.662Z,1761679917.662 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:31:57.662Z,1761679917.662 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:31:57.662Z,1761679917.662 [marl:UpdateSpeed] Stopped 2025-10-28T19:31:57.662Z,1761679917.662 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:31:58.019Z,1761679918.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444056,0.824806,0.350014],[-0.894942,-0.389318,-0.217970],[-0.043517,-0.410033,0.911032]] 2025-10-28T19:31:58.364Z,1761679918.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:31:58.422Z,1761679918.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459148,0.817266,0.348223],[-0.887420,-0.403935,-0.222085],[-0.040843,-0.410990,0.910724]] 2025-10-28T19:31:58.829Z,1761679918.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473714,0.809862,0.346005],[-0.879866,-0.418347,-0.225436],[-0.037822,-0.411230,0.910747]] 2025-10-28T19:31:59.230Z,1761679919.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488651,0.802429,0.342531],[-0.871798,-0.433553,-0.228036],[-0.034477,-0.410048,0.911412]] 2025-10-28T19:31:59.634Z,1761679919.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504290,0.795347,0.336325],[-0.862972,-0.450110,-0.229524],[-0.031168,-0.405986,0.913348]] 2025-10-28T19:32:00.039Z,1761679920.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520597,0.786289,0.332758],[-0.853338,-0.466319,-0.233154],[-0.028156,-0.405335,0.913735]] 2025-10-28T19:32:00.444Z,1761679920.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537663,0.776615,0.328310],[-0.842792,-0.483512,-0.236468],[-0.024903,-0.403838,0.914492]] 2025-10-28T19:32:00.846Z,1761679920.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555559,0.765738,0.324036],[-0.831185,-0.501122,-0.240852],[-0.022048,-0.403141,0.914872]] 2025-10-28T19:32:01.251Z,1761679921.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573941,0.754183,0.319061],[-0.818663,-0.519133,-0.245544],[-0.019550,-0.402131,0.915373]] 2025-10-28T19:32:01.665Z,1761679921.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591964,0.742765,0.312856],[-0.805775,-0.537018,-0.249676],[-0.017441,-0.399891,0.916397]] 2025-10-28T19:32:02.060Z,1761679922.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609922,0.730422,0.307374],[-0.792316,-0.554651,-0.254159],[-0.015158,-0.398555,0.917019]] 2025-10-28T19:32:02.463Z,1761679922.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627126,0.717685,0.302724],[-0.778811,-0.571315,-0.258944],[-0.012890,-0.398155,0.917227]] 2025-10-28T19:32:02.866Z,1761679922.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643174,0.704662,0.299630],[-0.765647,-0.586427,-0.264364],[-0.010576,-0.399443,0.916697]] 2025-10-28T19:32:03.272Z,1761679923.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657892,0.691863,0.297494],[-0.753064,-0.599911,-0.270187],[-0.008463,-0.401787,0.915694]] 2025-10-28T19:32:03.680Z,1761679923.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670692,0.679735,0.296870],[-0.741707,-0.611064,-0.276535],[-0.006564,-0.405661,0.914000]] 2025-10-28T19:32:04.078Z,1761679924.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682077,0.668818,0.295727],[-0.731266,-0.621290,-0.281509],[-0.004546,-0.408266,0.912852]] 2025-10-28T19:32:04.483Z,1761679924.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692473,0.658450,0.294830],[-0.721440,-0.630686,-0.285937],[-0.002330,-0.410706,0.911765]] 2025-10-28T19:32:04.887Z,1761679924.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702275,0.648552,0.293582],[-0.711906,-0.639392,-0.290463],[-0.000667,-0.412988,0.910736]] 2025-10-28T19:32:05.297Z,1761679925.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712311,0.639188,0.289916],[-0.701863,-0.649289,-0.292937],[0.000997,-0.412144,0.911118]] 2025-10-28T19:32:05.696Z,1761679925.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722836,0.629097,0.285911],[-0.691013,-0.659822,-0.295188],[0.002949,-0.410941,0.911657]] 2025-10-28T19:32:06.099Z,1761679926.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734039,0.618690,0.280017],[-0.679091,-0.671569,-0.296361],[0.004695,-0.407698,0.913105]] 2025-10-28T19:32:06.502Z,1761679926.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746126,0.607057,0.273454],[-0.665775,-0.684128,-0.297846],[0.006268,-0.404290,0.914609]] 2025-10-28T19:32:06.906Z,1761679926.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759564,0.593944,0.265128],[-0.650386,-0.698440,-0.298630],[0.007807,-0.399264,0.916803]] 2025-10-28T19:32:07.311Z,1761679927.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773721,0.579318,0.256410],[-0.633458,-0.713375,-0.299711],[0.009288,-0.394318,0.918927]] 2025-10-28T19:32:07.722Z,1761679927.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788365,0.562882,0.248283],[-0.615114,-0.728269,-0.302091],[0.010775,-0.390881,0.920378]] 2025-10-28T19:32:08.120Z,1761679928.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803123,0.544558,0.241765],[-0.595683,-0.742356,-0.306706],[0.012456,-0.390338,0.920587]] 2025-10-28T19:32:08.523Z,1761679928.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817331,0.525507,0.236246],[-0.575999,-0.755187,-0.312919],[0.013968,-0.391836,0.919929]] 2025-10-28T19:32:08.926Z,1761679928.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830579,0.506692,0.231089],[-0.556684,-0.766992,-0.319102],[0.015557,-0.393683,0.919115]] 2025-10-28T19:32:08.984Z,1761679928.984 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:32:08.984Z,1761679928.984 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:32:08.985Z,1761679928.985 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:32:08.987Z,1761679928.987 [marl:UpdateRudder:A] Stopped 2025-10-28T19:32:08.987Z,1761679928.987 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:32:09.330Z,1761679929.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842888,0.488018,0.226670],[-0.537817,-0.777466,-0.326035],[0.017117,-0.396718,0.917781]] 2025-10-28T19:32:09.354Z,1761679929.354 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:32:09.355Z,1761679929.355 [marl:UpdateRudder:B] Stopped 2025-10-28T19:32:09.355Z,1761679929.355 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:32:09.355Z,1761679929.355 [marl:UpdateRudder] Stopped 2025-10-28T19:32:09.355Z,1761679929.355 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:32:09.738Z,1761679929.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854393,0.469735,0.222173],[-0.519294,-0.787156,-0.332744],[0.018584,-0.399667,0.916472]] 2025-10-28T19:32:10.146Z,1761679930.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864884,0.452256,0.217808],[-0.501584,-0.795680,-0.339568],[0.019734,-0.402936,0.915015]] 2025-10-28T19:32:10.547Z,1761679930.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874405,0.435688,0.213521],[-0.484739,-0.803535,-0.345485],[0.021047,-0.405596,0.913810]] 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:32:11.018Z,1761679931.018 [marl:UpdateCommandMode] Stopped 2025-10-28T19:32:11.019Z,1761679931.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:32:11.019Z,1761679931.019 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:32:11.019Z,1761679931.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:32:11.019Z,1761679931.019 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:32:11.020Z,1761679931.020 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:32:11.021Z,1761679931.021 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:32:11.021Z,1761679931.021 [marl:UpdateSpeed] Stopped 2025-10-28T19:32:11.022Z,1761679931.022 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:32:11.351Z,1761679931.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892582,0.402447,0.203309],[-0.450269,-0.819176,-0.355259],[0.023573,-0.408641,0.912391]] 2025-10-28T19:32:11.759Z,1761679931.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901319,0.385734,0.197061],[-0.432456,-0.827197,-0.358786],[0.024613,-0.408601,0.912381]] 2025-10-28T19:32:12.163Z,1761679932.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909829,0.368260,0.191298],[-0.414170,-0.834654,-0.363065],[0.025965,-0.409557,0.911915]] 2025-10-28T19:32:12.575Z,1761679932.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918060,0.350587,0.185080],[-0.395478,-0.842442,-0.365909],[0.027636,-0.409122,0.912061]] 2025-10-28T19:32:13.377Z,1761679933.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932456,0.316578,0.174079],[-0.359926,-0.855729,-0.371726],[0.031284,-0.409274,0.911875]] 2025-10-28T19:32:13.782Z,1761679933.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938399,0.301093,0.169557],[-0.343970,-0.860838,-0.375025],[0.033044,-0.410245,0.911376]] 2025-10-28T19:32:14.179Z,1761679934.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943480,0.286871,0.165984],[-0.329585,-0.864860,-0.378671],[0.034923,-0.411974,0.910526]] 2025-10-28T19:32:14.987Z,1761679934.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952112,0.261714,0.158077],[-0.303413,-0.872549,-0.382883],[0.037724,-0.412510,0.910172]] 2025-10-28T19:32:15.391Z,1761679935.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956209,0.249261,0.153402],[-0.290064,-0.877018,-0.383018],[0.039065,-0.410742,0.910914]] 2025-10-28T19:32:15.800Z,1761679935.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960413,0.235910,0.148167],[-0.275646,-0.881730,-0.382847],[0.040325,-0.408533,0.911852]] 2025-10-28T19:32:16.202Z,1761679936.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964823,0.221143,0.142171],[-0.259577,-0.887037,-0.381819],[0.041674,-0.405292,0.913237]] 2025-10-28T19:32:16.639Z,1761679936.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974685,0.184144,0.126805],[-0.219247,-0.898332,-0.380698],[0.043809,-0.398863,0.915964]] 2025-10-28T19:32:17.411Z,1761679937.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979767,0.161959,0.117584],[-0.195098,-0.903925,-0.380600],[0.044645,-0.395840,0.917234]] 2025-10-28T19:32:17.815Z,1761679937.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984592,0.137955,0.107457],[-0.168910,-0.909322,-0.380266],[0.045253,-0.392557,0.918614]] 2025-10-28T19:32:17.845Z,1761679937.845 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:32:18.041Z,1761679938.041 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:32:18.041Z,1761679938.041 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:32:18.220Z,1761679938.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988845,0.112977,0.097065],[-0.141818,-0.913335,-0.381715],[0.045528,-0.391223,0.919169]] 2025-10-28T19:32:18.293Z,1761679938.293 [DAT](INFO): DAT read: user:188> 2025-10-28T19:32:18.294Z,1761679938.294 [DAT](INFO): DAT read: Tx time:19:32:18.0308 2025-10-28T19:32:18.294Z,1761679938.294 [DAT](INFO): Ping request sent. 2025-10-28T19:32:18.294Z,1761679938.294 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:32:18.295Z,1761679938.295 [DAT](INFO): publishing transmit ping time 2025-10-28T19:32:18.296Z,1761679938.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001451 2025-10-28T19:32:18.547Z,1761679938.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252677 2025-10-28T19:32:18.646Z,1761679938.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995156,0.062314,0.076031],[-0.087191,-0.916726,-0.389887],[0.045404,-0.394628,0.917718]] 2025-10-28T19:32:18.798Z,1761679938.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503393 2025-10-28T19:32:19.049Z,1761679939.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754315 2025-10-28T19:32:19.301Z,1761679939.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006409 2025-10-28T19:32:19.438Z,1761679939.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998392,0.015546,0.054515],[-0.036111,-0.915710,-0.400214],[0.043698,-0.401540,0.914799]] 2025-10-28T19:32:19.553Z,1761679939.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258442 2025-10-28T19:32:19.805Z,1761679939.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510420 2025-10-28T19:32:19.845Z,1761679939.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999010,-0.004485,0.044270],[-0.013871,-0.913940,-0.405612],[0.042279,-0.405825,0.912973]] 2025-10-28T19:32:20.057Z,1761679940.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762402 2025-10-28T19:32:20.243Z,1761679940.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999131,-0.022123,0.035313],[0.005736,-0.912381,-0.409302],[0.041274,-0.408744,0.911716]] 2025-10-28T19:32:20.309Z,1761679940.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014391 2025-10-28T19:32:20.563Z,1761679940.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268197 2025-10-28T19:32:20.648Z,1761679940.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998937,-0.036678,0.027936],[0.021927,-0.910941,-0.411954],[0.040558,-0.410903,0.910776]] 2025-10-28T19:32:20.813Z,1761679940.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420 2025-10-28T19:32:21.050Z,1761679941.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998452,-0.051649,0.020649],[0.038567,-0.910311,-0.412124],[0.040082,-0.410689,0.910894]] 2025-10-28T19:32:21.065Z,1761679941.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770686 2025-10-28T19:32:21.317Z,1761679941.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022387 2025-10-28T19:32:21.451Z,1761679941.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997681,-0.066624,0.013926],[0.055046,-0.910135,-0.410638],[0.040033,-0.408919,0.911692]] 2025-10-28T19:32:21.569Z,1761679941.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274790 2025-10-28T19:32:21.825Z,1761679941.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530303 2025-10-28T19:32:21.867Z,1761679941.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996586,-0.082264,0.007066],[0.072199,-0.909767,-0.408793],[0.040057,-0.406887,0.912600]] 2025-10-28T19:32:22.073Z,1761679942.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778374 2025-10-28T19:32:22.258Z,1761679942.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995086,-0.099011,-0.000106],[0.090479,-0.908902,-0.407076],[0.040208,-0.405086,0.913394]] 2025-10-28T19:32:22.290Z,1761679942.290 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:32:22.290Z,1761679942.290 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:32:22.290Z,1761679942.290 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:32:22.290Z,1761679942.290 [marl:UpdateRudder:A] Stopped 2025-10-28T19:32:22.291Z,1761679942.291 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:32:22.326Z,1761679942.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030821 2025-10-28T19:32:22.579Z,1761679942.579 [DAT](INFO): DAT read: Rx Time:19:32:21.8175 2025-10-28T19:32:22.581Z,1761679942.581 [DAT](INFO): Rx dataTimestamp_ set to:1761679942.580309 2025-10-28T19:32:22.583Z,1761679942.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287851 2025-10-28T19:32:22.663Z,1761679942.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993151,-0.116604,-0.007358],[0.109565,-0.907626,-0.405229],[0.040573,-0.403260,0.914186]] 2025-10-28T19:32:22.707Z,1761679942.707 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:32:22.707Z,1761679942.707 [marl:UpdateRudder:B] Stopped 2025-10-28T19:32:22.707Z,1761679942.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:32:22.707Z,1761679942.707 [marl:UpdateRudder] Stopped 2025-10-28T19:32:22.707Z,1761679942.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:32:22.829Z,1761679942.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534339 2025-10-28T19:32:23.067Z,1761679943.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990776,-0.134646,-0.015252],[0.129245,-0.905163,-0.404940],[0.040718,-0.403176,0.914216]] 2025-10-28T19:32:23.087Z,1761679943.087 [DAT](INFO): DAT read: 19:32:21.8175 LVL= 21456, 28769, 13666, 24499, AGC= 64, IDX= 474, 0.33,-1.190,-1.765, 0.161,-0.981, PHS=-0.107,-0.740, 1.097, RAW= 190.2, -3.1, CAL= 190.4, -5.7, ROT= 319.6, 5.7 2025-10-28T19:32:23.088Z,1761679943.088 [DAT](INFO): got valid direction response: 19:32:21.8175 LVL= 21456, 28769, 13666, 24499, AGC= 64, IDX= 474, 0.33,-1.190,-1.765, 0.161,-0.981, PHS=-0.107,-0.740, 1.097, RAW= 190.2, -3.1, CAL= 190.4, -5.7, ROT= 319.6, 5.7 2025-10-28T19:32:23.089Z,1761679943.089 [DAT](INFO): DAT read: Bearing 100, -20 (Remote) 2025-10-28T19:32:23.089Z,1761679943.089 [DAT](INFO): Remote Bearing received:Bearing 100, -20 (Remote) 2025-10-28T19:32:23.090Z,1761679943.090 [DAT](INFO): DAT read: Bearing 293.7, -30.6 (Local) 2025-10-28T19:32:23.090Z,1761679943.090 [DAT](INFO): Local bearing/azimuth received: Bearing 293.7, -30.6 (Local) 2025-10-28T19:32:23.092Z,1761679943.092 [DAT](INFO): DAT read: Range 11 to 20 : 1318.2 m (Round-trip 1757.6 ms) speed 1.0 m/s 2025-10-28T19:32:23.093Z,1761679943.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:32:23.094Z,1761679943.094 [DAT](INFO): direction in FSK: [0.757773,-0.644915,-0.099320] 2025-10-28T19:32:23.094Z,1761679943.094 [DAT](INFO): publishing direction and range info 2025-10-28T19:32:23.191Z,1761679943.191 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680000.00. Resetting abort timer. 2025-10-28T19:32:23.471Z,1761679943.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987926,-0.153138,-0.023454],[0.149442,-0.902074,-0.404881],[0.040846,-0.403498,0.914068]] 2025-10-28T19:32:23.883Z,1761679943.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984569,-0.172182,-0.031269],[0.169984,-0.898499,-0.404729],[0.041592,-0.403798,0.913902]] 2025-10-28T19:32:24.279Z,1761679944.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980830,-0.190888,-0.039173],[0.190215,-0.894218,-0.405208],[0.042320,-0.404891,0.913385]] 2025-10-28T19:32:24.309Z,1761679944.309 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:32:24.309Z,1761679944.309 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:32:24.309Z,1761679944.309 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateCommandMode] Stopped 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:32:24.310Z,1761679944.310 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:32:24.311Z,1761679944.311 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:32:24.311Z,1761679944.311 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:32:24.311Z,1761679944.311 [marl:UpdateSpeed] Stopped 2025-10-28T19:32:24.311Z,1761679944.311 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:32:24.683Z,1761679944.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976658,-0.209542,-0.047242],[0.210447,-0.889366,-0.405882],[0.043034,-0.406349,0.912704]] 2025-10-28T19:32:25.086Z,1761679945.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972129,-0.227911,-0.054978],[0.230294,-0.884323,-0.406125],[0.043942,-0.407467,0.912162]] 2025-10-28T19:32:25.505Z,1761679945.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967051,-0.246647,-0.063074],[0.250607,-0.878648,-0.406416],[0.044821,-0.408832,0.911509]] 2025-10-28T19:32:25.895Z,1761679945.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961635,-0.264984,-0.071006],[0.270498,-0.872749,-0.406375],[0.045712,-0.409992,0.910943]] 2025-10-28T19:32:26.299Z,1761679946.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955918,-0.282882,-0.078732],[0.289923,-0.866781,-0.405754],[0.046537,-0.410694,0.910585]] 2025-10-28T19:32:26.703Z,1761679946.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949801,-0.300715,-0.086301],[0.309249,-0.860673,-0.404484],[0.047357,-0.410867,0.910464]] 2025-10-28T19:32:27.124Z,1761679947.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943086,-0.318958,-0.094097],[0.329072,-0.854281,-0.402388],[0.047960,-0.410451,0.910621]] 2025-10-28T19:32:27.511Z,1761679947.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935925,-0.337158,-0.101830],[0.348884,-0.847934,-0.399108],[0.048217,-0.409062,0.911232]] 2025-10-28T19:32:27.915Z,1761679947.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928325,-0.355322,-0.109357],[0.368630,-0.841609,-0.394724],[0.048218,-0.406744,0.912269]] 2025-10-28T19:32:28.319Z,1761679948.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920157,-0.373589,-0.117225],[0.388609,-0.834736,-0.390126],[0.047895,-0.404532,0.913269]] 2025-10-28T19:32:28.484Z,1761679948.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:32:28.724Z,1761679948.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911573,-0.391581,-0.125299],[0.408394,-0.827248,-0.385845],[0.047436,-0.402897,0.914015]] 2025-10-28T19:32:29.128Z,1761679949.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902560,-0.409521,-0.132961],[0.427996,-0.819643,-0.380795],[0.046963,-0.400598,0.915050]] 2025-10-28T19:32:29.488Z,1761679949.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:32:29.530Z,1761679949.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893045,-0.427133,-0.141520],[0.447587,-0.810938,-0.376889],[0.046217,-0.399921,0.915384]] 2025-10-28T19:32:29.943Z,1761679949.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882909,-0.444978,-0.149888],[0.467363,-0.802096,-0.371771],[0.045205,-0.398292,0.916144]] 2025-10-28T19:32:30.341Z,1761679950.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872154,-0.463121,-0.157692],[0.487217,-0.792986,-0.365776],[0.044351,-0.395843,0.917247]] 2025-10-28T19:32:30.743Z,1761679950.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860865,-0.481014,-0.165943],[0.506964,-0.782876,-0.360684],[0.043581,-0.394627,0.917807]] 2025-10-28T19:32:31.176Z,1761679951.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848827,-0.499105,-0.174318],[0.526918,-0.771876,-0.355760],[0.043010,-0.393830,0.918177]] 2025-10-28T19:32:31.551Z,1761679951.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836300,-0.516858,-0.182923],[0.546632,-0.760230,-0.351062],[0.042386,-0.393584,0.918311]] 2025-10-28T19:32:31.956Z,1761679951.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823638,-0.533614,-0.192034],[0.565594,-0.748103,-0.347053],[0.041531,-0.394459,0.917975]] 2025-10-28T19:32:32.358Z,1761679952.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810843,-0.549893,-0.200375],[0.583853,-0.736254,-0.342119],[0.040602,-0.394395,0.918044]] 2025-10-28T19:32:32.767Z,1761679952.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797772,-0.565695,-0.208685],[0.601657,-0.724114,-0.337145],[0.039610,-0.394522,0.918033]] 2025-10-28T19:32:33.168Z,1761679953.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784755,-0.580781,-0.216455],[0.618608,-0.712217,-0.331771],[0.038523,-0.394260,0.918191]] 2025-10-28T19:32:33.573Z,1761679953.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772070,-0.594862,-0.223712],[0.634428,-0.700606,-0.326577],[0.037534,-0.394070,0.918314]] 2025-10-28T19:32:33.977Z,1761679953.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759623,-0.608015,-0.230849],[0.649324,-0.688968,-0.322027],[0.036750,-0.394515,0.918154]] 2025-10-28T19:32:34.379Z,1761679954.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747528,-0.620195,-0.237822],[0.663257,-0.677581,-0.317762],[0.035931,-0.395274,0.917860]] 2025-10-28T19:32:34.787Z,1761679954.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735647,-0.631705,-0.244484],[0.676456,-0.666440,-0.313473],[0.035088,-0.395988,0.917585]] 2025-10-28T19:32:35.188Z,1761679955.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723670,-0.642988,-0.250736],[0.689292,-0.655316,-0.308930],[0.034327,-0.396393,0.917439]] 2025-10-28T19:32:35.599Z,1761679955.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711432,-0.654198,-0.256688],[0.701959,-0.644150,-0.303849],[0.033432,-0.396352,0.917489]] 2025-10-28T19:32:35.624Z,1761679955.624 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:32:35.624Z,1761679955.624 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:32:35.625Z,1761679955.625 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:32:35.625Z,1761679955.625 [marl:UpdateRudder:A] Stopped 2025-10-28T19:32:35.625Z,1761679955.625 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:32:35.995Z,1761679955.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699355,-0.664895,-0.262329],[0.714026,-0.633089,-0.298940],[0.032686,-0.396375,0.917506]] 2025-10-28T19:32:36.037Z,1761679956.037 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:32:36.037Z,1761679956.037 [marl:UpdateRudder:B] Stopped 2025-10-28T19:32:36.037Z,1761679956.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:32:36.037Z,1761679956.037 [marl:UpdateRudder] Stopped 2025-10-28T19:32:36.037Z,1761679956.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:32:36.398Z,1761679956.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687273,-0.674840,-0.268788],[0.725693,-0.621557,-0.295021],[0.032025,-0.397817,0.916906]] 2025-10-28T19:32:36.803Z,1761679956.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674890,-0.684456,-0.275758],[0.737249,-0.609511,-0.291480],[0.031428,-0.400019,0.915968]] 2025-10-28T19:32:37.207Z,1761679957.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663017,-0.693447,-0.282026],[0.747956,-0.597957,-0.288114],[0.031152,-0.401967,0.915124]] 2025-10-28T19:32:37.611Z,1761679957.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650844,-0.702466,-0.288001],[0.758573,-0.586140,-0.284615],[0.031124,-0.403710,0.914357]] 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:32:37.650Z,1761679957.650 [marl:UpdateCommandMode] Stopped 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed] Stopped 2025-10-28T19:32:37.651Z,1761679957.651 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:32:38.015Z,1761679958.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637967,-0.712339,-0.292525],[0.769412,-0.574023,-0.280182],[0.031669,-0.403820,0.914290]] 2025-10-28T19:32:38.419Z,1761679958.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624712,-0.722016,-0.297368],[0.780163,-0.561100,-0.276608],[0.032862,-0.404796,0.913816]] 2025-10-28T19:32:38.825Z,1761679958.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610565,-0.732259,-0.301674],[0.791212,-0.547380,-0.272687],[0.034547,-0.405182,0.913583]] 2025-10-28T19:32:39.230Z,1761679959.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595440,-0.743433,-0.304563],[0.802570,-0.533193,-0.267558],[0.036521,-0.403748,0.914141]] 2025-10-28T19:32:39.634Z,1761679959.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578902,-0.755032,-0.307894],[0.814492,-0.517666,-0.261963],[0.038404,-0.402428,0.914646]] 2025-10-28T19:32:40.035Z,1761679960.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560727,-0.766726,-0.312595],[0.827054,-0.500594,-0.255710],[0.039576,-0.401917,0.914821]] 2025-10-28T19:32:40.440Z,1761679960.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540947,-0.779206,-0.316565],[0.840108,-0.482735,-0.247355],[0.039924,-0.399755,0.915752]] 2025-10-28T19:32:40.842Z,1761679960.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520147,-0.791418,-0.321099],[0.853156,-0.464014,-0.238361],[0.039649,-0.397930,0.916558]] 2025-10-28T19:32:41.251Z,1761679961.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499252,-0.802660,-0.326320],[0.865590,-0.445189,-0.229261],[0.038745,-0.396918,0.917036]] 2025-10-28T19:32:41.657Z,1761679961.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478211,-0.813124,-0.331879],[0.877472,-0.426514,-0.219383],[0.036834,-0.396126,0.917457]] 2025-10-28T19:32:42.063Z,1761679962.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457100,-0.822857,-0.337588],[0.888767,-0.408092,-0.208697],[0.033960,-0.395433,0.917867]] 2025-10-28T19:32:42.459Z,1761679962.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435706,-0.831985,-0.343455],[0.899582,-0.389706,-0.197183],[0.030207,-0.394880,0.918236]] 2025-10-28T19:32:42.862Z,1761679962.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414286,-0.840555,-0.349048],[0.909783,-0.371616,-0.184922],[0.025725,-0.394169,0.918678]] 2025-10-28T19:32:43.267Z,1761679963.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393948,-0.847494,-0.355752],[0.918886,-0.354174,-0.173808],[0.021303,-0.395367,0.918276]] 2025-10-28T19:32:43.674Z,1761679963.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375483,-0.853425,-0.361495],[0.926661,-0.338261,-0.163945],[0.017635,-0.396542,0.917847]] 2025-10-28T19:32:44.091Z,1761679964.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357944,-0.859082,-0.365862],[0.933629,-0.323152,-0.154628],[0.014609,-0.396928,0.917734]] 2025-10-28T19:32:44.478Z,1761679964.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340491,-0.865141,-0.368236],[0.940167,-0.308143,-0.145373],[0.012299,-0.395701,0.918297]] 2025-10-28T19:32:44.883Z,1761679964.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323495,-0.870240,-0.371529],[0.946164,-0.292860,-0.137865],[0.011170,-0.396126,0.918128]] 2025-10-28T19:32:45.288Z,1761679965.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306303,-0.874772,-0.375437],[0.951870,-0.276893,-0.131426],[0.011012,-0.397623,0.917483]] 2025-10-28T19:32:45.690Z,1761679965.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287784,-0.880016,-0.377827],[0.957631,-0.259849,-0.124183],[0.011105,-0.397557,0.917510]] 2025-10-28T19:32:46.099Z,1761679966.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268052,-0.885072,-0.380520],[0.963339,-0.241635,-0.116579],[0.011233,-0.397819,0.917395]] 2025-10-28T19:32:46.498Z,1761679966.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247401,-0.890115,-0.382738],[0.968847,-0.222651,-0.108452],[0.011318,-0.397646,0.917469]] 2025-10-28T19:32:46.904Z,1761679966.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225899,-0.895044,-0.384534],[0.974088,-0.203072,-0.099568],[0.011029,-0.397063,0.917725]] 2025-10-28T19:32:47.307Z,1761679967.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203293,-0.899927,-0.385749],[0.979069,-0.182909,-0.089264],[0.009774,-0.395822,0.918275]] 2025-10-28T19:32:47.710Z,1761679967.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180514,-0.903496,-0.388728],[0.983543,-0.162775,-0.078400],[0.007559,-0.396483,0.918011]] 2025-10-28T19:32:48.119Z,1761679968.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158380,-0.906543,-0.391274],[0.987367,-0.143556,-0.067061],[0.004624,-0.396952,0.917828]] 2025-10-28T19:32:48.521Z,1761679968.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137774,-0.909131,-0.393065],[0.990463,-0.125962,-0.055829],[0.001245,-0.397008,0.917814]] 2025-10-28T19:32:48.923Z,1761679968.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119231,-0.911279,-0.394151],[0.992863,-0.110433,-0.045020],[-0.002501,-0.396706,0.917942]] 2025-10-28T19:32:48.989Z,1761679968.989 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:32:48.989Z,1761679968.989 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:32:48.990Z,1761679968.990 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:32:48.991Z,1761679968.991 [marl:UpdateRudder:A] Stopped 2025-10-28T19:32:48.991Z,1761679968.991 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:32:49.327Z,1761679969.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101383,-0.912845,-0.395520],[0.994828,-0.095540,-0.034500],[-0.006295,-0.396972,0.917809]] 2025-10-28T19:32:49.351Z,1761679969.351 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:32:49.351Z,1761679969.351 [marl:UpdateRudder:B] Stopped 2025-10-28T19:32:49.351Z,1761679969.351 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:32:49.351Z,1761679969.351 [marl:UpdateRudder] Stopped 2025-10-28T19:32:49.351Z,1761679969.351 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:32:49.733Z,1761679969.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084986,-0.914193,-0.396268],[0.996336,-0.081804,-0.024956],[-0.009602,-0.396937,0.917796]] 2025-10-28T19:32:50.138Z,1761679970.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069686,-0.915326,-0.396639],[0.997492,-0.068886,-0.016280],[-0.012421,-0.396778,0.917831]] 2025-10-28T19:32:50.548Z,1761679970.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054843,-0.915669,-0.398174],[0.998393,-0.056002,-0.008728],[-0.014307,-0.398013,0.917268]] 2025-10-28T19:32:50.948Z,1761679970.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040317,-0.916237,-0.398603],[0.999072,-0.043021,-0.002164],[-0.015165,-0.398320,0.917121]] 2025-10-28T19:32:51.018Z,1761679971.018 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:32:51.018Z,1761679971.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:32:51.018Z,1761679971.018 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:32:51.018Z,1761679971.018 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:32:51.018Z,1761679971.018 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateCommandMode] Stopped 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:32:51.019Z,1761679971.019 [marl:UpdateSpeed] Stopped 2025-10-28T19:32:51.020Z,1761679971.020 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:32:51.347Z,1761679971.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025481,-0.916851,-0.398416],[0.999559,-0.029436,0.003810],[-0.015221,-0.398144,0.917197]] 2025-10-28T19:32:51.751Z,1761679971.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009967,-0.917012,-0.398736],[0.999847,-0.014876,0.009221],[-0.014387,-0.398583,0.917019]] 2025-10-28T19:32:52.158Z,1761679972.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006977,-0.916757,-0.399386],[0.999887,0.001077,0.014994],[-0.013315,-0.399445,0.916660]] 2025-10-28T19:32:52.591Z,1761679972.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025023,-0.916579,-0.399069],[0.999616,0.018202,0.020872],[-0.011867,-0.399439,0.916683]] 2025-10-28T19:32:52.966Z,1761679972.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044829,-0.916021,-0.398618],[0.998936,0.036794,0.027789],[-0.010789,-0.399440,0.916696]] 2025-10-28T19:32:53.367Z,1761679973.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065838,-0.915066,-0.397895],[0.997779,0.056325,0.035565],[-0.010133,-0.399353,0.916741]] 2025-10-28T19:32:53.784Z,1761679973.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087598,-0.913516,-0.397260],[0.996109,0.076462,0.043822],[-0.009656,-0.399553,0.916659]] 2025-10-28T19:32:54.187Z,1761679974.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110208,-0.912166,-0.394724],[0.993861,0.097277,0.052692],[-0.009666,-0.398108,0.917287]] 2025-10-28T19:32:54.626Z,1761679974.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133209,-0.909779,-0.393138],[0.991037,0.118238,0.062177],[-0.010084,-0.397897,0.917375]] 2025-10-28T19:32:54.982Z,1761679974.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156293,-0.906822,-0.391466],[0.987650,0.139078,0.072148],[-0.010981,-0.397908,0.917360]] 2025-10-28T19:32:55.387Z,1761679975.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179307,-0.903781,-0.388624],[0.983717,0.159792,0.082265],[-0.012251,-0.397047,0.917717]] 2025-10-28T19:32:55.793Z,1761679975.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202332,-0.899955,-0.386191],[0.979213,0.180185,0.093135],[-0.014232,-0.397007,0.917705]] 2025-10-28T19:32:56.200Z,1761679976.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224796,-0.895615,-0.383849],[0.974268,0.199960,0.104012],[-0.016401,-0.397353,0.917519]] 2025-10-28T19:32:56.629Z,1761679976.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246869,-0.891412,-0.380054],[0.968870,0.219507,0.114491],[-0.018634,-0.396487,0.917851]] 2025-10-28T19:32:57.003Z,1761679977.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268366,-0.886850,-0.376133],[0.963091,0.238557,0.124681],[-0.020844,-0.395711,0.918139]] 2025-10-28T19:32:57.406Z,1761679977.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290071,-0.881658,-0.372207],[0.956726,0.257772,0.135012],[-0.023090,-0.395263,0.918278]] 2025-10-28T19:32:57.811Z,1761679977.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311900,-0.875574,-0.368902],[0.949775,0.276933,0.145727],[-0.025433,-0.395825,0.917974]] 2025-10-28T19:32:58.219Z,1761679978.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333751,-0.869157,-0.364932],[0.942257,0.296261,0.156145],[-0.027599,-0.395974,0.917847]] 2025-10-28T19:32:58.637Z,1761679978.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355074,-0.862132,-0.361457],[0.934354,0.314843,0.166903],[-0.030090,-0.396992,0.917329]] 2025-10-28T19:32:59.030Z,1761679979.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375595,-0.855538,-0.356348],[0.926201,0.332863,0.177071],[-0.032876,-0.396557,0.917421]] 2025-10-28T19:32:59.427Z,1761679979.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396201,-0.848763,-0.350182],[0.917464,0.351088,0.187074],[-0.035837,-0.395398,0.917811]] 2025-10-28T19:32:59.628Z,1761679979.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:32:59.831Z,1761679979.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415549,-0.841005,-0.346452],[0.908746,0.367662,0.197497],[-0.038719,-0.396906,0.917042]] 2025-10-28T19:33:00.246Z,1761679980.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434734,-0.832218,-0.344121],[0.899591,0.383595,0.208785],[-0.041751,-0.400334,0.915418]] 2025-10-28T19:33:00.632Z,1761679980.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:33:00.641Z,1761679980.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453036,-0.824613,-0.338779],[0.890359,0.399356,0.218578],[-0.044948,-0.400658,0.915124]] 2025-10-28T19:33:01.046Z,1761679981.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470019,-0.818048,-0.331482],[0.881348,0.414526,0.226703],[-0.048046,-0.398706,0.915819]] 2025-10-28T19:33:01.446Z,1761679981.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485609,-0.810978,-0.326340],[0.872696,0.428027,0.234936],[-0.050846,-0.398883,0.915591]] 2025-10-28T19:33:01.853Z,1761679981.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499791,-0.804080,-0.321968],[0.864517,0.440316,0.242348],[-0.053100,-0.399470,0.915207]] 2025-10-28T19:33:02.254Z,1761679982.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513213,-0.797629,-0.316861],[0.856480,0.452195,0.248919],[-0.055262,-0.399133,0.915226]] 2025-10-28T19:33:02.310Z,1761679982.310 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:33:02.311Z,1761679982.311 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:33:02.311Z,1761679982.311 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:33:02.311Z,1761679982.311 [marl:UpdateRudder:A] Stopped 2025-10-28T19:33:02.311Z,1761679982.311 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:33:02.659Z,1761679982.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525622,-0.791789,-0.311114],[0.848802,0.463578,0.254224],[-0.057066,-0.397700,0.915739]] 2025-10-28T19:33:02.714Z,1761679982.714 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:33:02.714Z,1761679982.714 [marl:UpdateRudder:B] Stopped 2025-10-28T19:33:02.714Z,1761679982.714 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:33:02.714Z,1761679982.714 [marl:UpdateRudder] Stopped 2025-10-28T19:33:02.714Z,1761679982.714 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:33:03.063Z,1761679983.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537837,-0.785702,-0.305619],[0.841015,0.474875,0.259206],[-0.058528,-0.396441,0.916193]] 2025-10-28T19:33:03.468Z,1761679983.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550228,-0.778813,-0.301164],[0.832916,0.486353,0.264029],[-0.059158,-0.396121,0.916291]] 2025-10-28T19:33:03.870Z,1761679983.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563323,-0.770924,-0.297226],[0.824075,0.498226,0.269577],[-0.059738,-0.396795,0.915961]] 2025-10-28T19:33:04.275Z,1761679984.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577259,-0.762301,-0.292694],[0.814362,0.511159,0.274829],[-0.059889,-0.397006,0.915860]] 2025-10-28T19:33:04.384Z,1761679984.384 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:33:04.384Z,1761679984.384 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateCommandMode] Stopped 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:33:04.385Z,1761679984.385 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:33:04.386Z,1761679984.386 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:33:04.386Z,1761679984.386 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:33:04.386Z,1761679984.386 [marl:UpdateSpeed] Stopped 2025-10-28T19:33:04.386Z,1761679984.386 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:33:04.686Z,1761679984.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607332,-0.743506,-0.279903],[0.792286,0.540863,0.282402],[-0.058578,-0.393275,0.917553]] 2025-10-28T19:33:05.089Z,1761679985.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623657,-0.732122,-0.273953],[0.779584,0.556764,0.286816],[-0.057457,-0.392444,0.917980]] 2025-10-28T19:33:05.497Z,1761679985.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641057,-0.719383,-0.267456],[0.765407,0.573565,0.291848],[-0.056547,-0.391804,0.918309]] 2025-10-28T19:33:05.895Z,1761679985.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658909,-0.706268,-0.258889],[0.750160,0.591488,0.295638],[-0.055670,-0.389007,0.919551]] 2025-10-28T19:33:06.298Z,1761679986.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677309,-0.691751,-0.250467],[0.733615,0.609436,0.300660],[-0.055338,-0.387386,0.920255]] 2025-10-28T19:33:06.702Z,1761679986.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696402,-0.676137,-0.240547],[0.715463,0.627960,0.306232],[-0.056001,-0.385363,0.921064]] 2025-10-28T19:33:07.102Z,1761679987.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715502,-0.659034,-0.231798],[0.696240,0.645366,0.314251],[-0.057508,-0.386234,0.920606]] 2025-10-28T19:33:07.514Z,1761679987.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733835,-0.641487,-0.223562],[0.676697,0.661340,0.323590],[-0.059728,-0.388745,0.919407]] 2025-10-28T19:33:07.911Z,1761679987.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750538,-0.624894,-0.214943],[0.657880,0.675871,0.332254],[-0.062350,-0.390776,0.918372]] 2025-10-28T19:33:08.322Z,1761679988.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765166,-0.609633,-0.207048],[0.640530,0.688270,0.340595],[-0.065133,-0.393232,0.917129]] 2025-10-28T19:33:08.719Z,1761679988.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777815,-0.595894,-0.199788],[0.624824,0.698862,0.348119],[-0.067817,-0.395605,0.915914]] 2025-10-28T19:33:09.123Z,1761679989.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789029,-0.583137,-0.193349],[0.610344,0.708142,0.354986],[-0.070087,-0.398104,0.914659]] 2025-10-28T19:33:09.537Z,1761679989.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798918,-0.571490,-0.187430],[0.597125,0.716424,0.360801],[-0.071915,-0.400170,0.913615]] 2025-10-28T19:33:10.034Z,1761679990.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807516,-0.561311,-0.181239],[0.585345,0.724706,0.363555],[-0.072722,-0.399664,0.913773]] 2025-10-28T19:33:10.335Z,1761679990.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815362,-0.551434,-0.176368],[0.574341,0.732050,0.366381],[-0.072924,-0.400028,0.913597]] 2025-10-28T19:33:10.742Z,1761679990.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823005,-0.541278,-0.172282],[0.563407,0.739217,0.368961],[-0.072357,-0.400721,0.913338]] 2025-10-28T19:33:11.143Z,1761679991.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830798,-0.530570,-0.168139],[0.551940,0.746483,0.371653],[-0.071675,-0.401571,0.913019]] 2025-10-28T19:33:11.547Z,1761679991.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839357,-0.518248,-0.164011],[0.538975,0.754264,0.374955],[-0.070612,-0.403119,0.912419]] 2025-10-28T19:33:11.950Z,1761679991.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848753,-0.504479,-0.158492],[0.524184,0.763209,0.377813],[-0.069636,-0.403749,0.912216]] 2025-10-28T19:33:12.363Z,1761679992.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858471,-0.489887,-0.151783],[0.508228,0.772908,0.379892],[-0.068790,-0.403267,0.912493]] 2025-10-28T19:33:12.766Z,1761679992.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868751,-0.473807,-0.144150],[0.490448,0.782646,0.383310],[-0.068797,-0.403699,0.912302]] 2025-10-28T19:33:13.162Z,1761679993.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879586,-0.456172,-0.135036],[0.470703,0.793287,0.386180],[-0.069042,-0.403240,0.912486]] 2025-10-28T19:33:13.566Z,1761679993.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890206,-0.437736,-0.126175],[0.450264,0.803341,0.389751],[-0.069247,-0.403770,0.912236]] 2025-10-28T19:33:13.972Z,1761679993.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900887,-0.418319,-0.115807],[0.428385,0.813916,0.392462],[-0.069917,-0.403174,0.912449]] 2025-10-28T19:33:14.375Z,1761679994.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910791,-0.399075,-0.105829],[0.406711,0.823128,0.396290],[-0.071038,-0.403979,0.912006]] 2025-10-28T19:33:15.183Z,1761679995.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929172,-0.359938,-0.084165],[0.362221,0.841173,0.401527],[-0.073727,-0.403574,0.911972]] 2025-10-28T19:33:15.587Z,1761679995.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936811,-0.342047,-0.073404],[0.341597,0.849124,0.402865],[-0.075470,-0.402483,0.912311]] 2025-10-28T19:33:15.611Z,1761679995.611 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:33:15.611Z,1761679995.611 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:33:15.611Z,1761679995.611 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:33:15.611Z,1761679995.611 [marl:UpdateRudder:A] Stopped 2025-10-28T19:33:15.611Z,1761679995.611 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:33:16.001Z,1761679996.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943769,-0.324422,-0.063637],[0.321486,0.855680,0.405535],[-0.077112,-0.403190,0.911862]] 2025-10-28T19:33:16.027Z,1761679996.027 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:33:16.027Z,1761679996.027 [marl:UpdateRudder:B] Stopped 2025-10-28T19:33:16.027Z,1761679996.027 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:33:16.027Z,1761679996.027 [marl:UpdateRudder] Stopped 2025-10-28T19:33:16.027Z,1761679996.027 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:33:16.395Z,1761679996.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949642,-0.308468,-0.055025],[0.303330,0.860999,0.408254],[-0.078556,-0.404386,0.911208]] 2025-10-28T19:33:16.799Z,1761679996.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954982,-0.292964,-0.046696],[0.285758,0.866129,0.410078],[-0.079693,-0.404961,0.910854]] 2025-10-28T19:33:17.202Z,1761679997.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959683,-0.278328,-0.039278],[0.269342,0.870597,0.411723],[-0.080399,-0.405703,0.910462]] 2025-10-28T19:33:17.609Z,1761679997.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963859,-0.264343,-0.033148],[0.253947,0.874000,0.414288],[-0.080543,-0.407733,0.909542]] 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode] Stopped 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:33:17.638Z,1761679997.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed] Stopped 2025-10-28T19:33:17.639Z,1761679997.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:33:18.012Z,1761679998.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967705,-0.250620,-0.027131],[0.238839,0.877105,0.416704],[-0.080638,-0.409726,0.908637]] 2025-10-28T19:33:18.048Z,1761679998.048 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:33:18.285Z,1761679998.285 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:33:18.285Z,1761679998.285 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:33:18.414Z,1761679998.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971349,-0.236695,-0.021385],[0.223672,0.880059,0.418888],[-0.080329,-0.411669,0.907786]] 2025-10-28T19:33:18.537Z,1761679998.537 [DAT](INFO): DAT read: user:189> 2025-10-28T19:33:18.538Z,1761679998.538 [DAT](INFO): DAT read: Tx time:19:33:18.2806 2025-10-28T19:33:18.538Z,1761679998.538 [DAT](INFO): Ping request sent. 2025-10-28T19:33:18.538Z,1761679998.538 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:33:18.538Z,1761679998.538 [DAT](INFO): publishing transmit ping time 2025-10-28T19:33:18.539Z,1761679998.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T19:33:18.789Z,1761679998.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250796 2025-10-28T19:33:18.822Z,1761679998.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974874,-0.222196,-0.015772],[0.208111,0.883250,0.420189],[-0.079434,-0.412914,0.907299]] 2025-10-28T19:33:19.041Z,1761679999.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502760 2025-10-28T19:33:19.224Z,1761679999.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978468,-0.206177,-0.009537],[0.191006,0.887024,0.420363],[-0.078209,-0.413134,0.907306]] 2025-10-28T19:33:19.295Z,1761679999.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756660 2025-10-28T19:33:19.545Z,1761679999.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006715 2025-10-28T19:33:19.627Z,1761679999.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982019,-0.188762,-0.002783],[0.172254,0.889910,0.422360],[-0.077249,-0.415245,0.906424]] 2025-10-28T19:33:19.797Z,1761679999.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258779 2025-10-28T19:33:20.031Z,1761680000.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985522,-0.169471,0.005104],[0.151331,0.892808,0.424256],[-0.076456,-0.417341,0.905528]] 2025-10-28T19:33:20.049Z,1761680000.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909 2025-10-28T19:33:20.301Z,1761680000.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762678 2025-10-28T19:33:20.438Z,1761680000.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988698,-0.149262,0.014017],[0.129248,0.896019,0.424789],[-0.075965,-0.418176,0.905184]] 2025-10-28T19:33:20.554Z,1761680000.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015379 2025-10-28T19:33:20.805Z,1761680000.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266782 2025-10-28T19:33:20.844Z,1761680000.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991397,-0.128818,0.023193],[0.106798,0.898565,0.425647],[-0.075671,-0.419509,0.904592]] 2025-10-28T19:33:21.057Z,1761680001.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518670 2025-10-28T19:33:21.243Z,1761680001.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993550,-0.108583,0.032695],[0.084459,0.900959,0.425604],[-0.075670,-0.420097,0.904319]] 2025-10-28T19:33:21.310Z,1761680001.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771405 2025-10-28T19:33:21.561Z,1761680001.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022791 2025-10-28T19:33:21.646Z,1761680001.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995207,-0.088206,0.042219],[0.062224,0.904254,0.422437],[-0.075438,-0.417785,0.905409]] 2025-10-28T19:33:21.813Z,1761680001.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274889 2025-10-28T19:33:22.054Z,1761680002.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996316,-0.068559,0.051520],[0.040689,0.906734,0.419735],[-0.075492,-0.416092,0.906183]] 2025-10-28T19:33:22.065Z,1761680002.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526853 2025-10-28T19:33:22.317Z,1761680002.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779008 2025-10-28T19:33:22.470Z,1761680002.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996966,-0.049677,0.059927],[0.020116,0.908148,0.418165],[-0.075196,-0.415691,0.906392]] 2025-10-28T19:33:22.571Z,1761680002.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032741 2025-10-28T19:33:22.821Z,1761680002.821 [DAT](INFO): DAT read: Rx Time:19:33:21.9992 2025-10-28T19:33:22.821Z,1761680002.821 [DAT](INFO): Rx dataTimestamp_ set to:1761680002.821003 2025-10-28T19:33:22.822Z,1761680002.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283699 2025-10-28T19:33:22.858Z,1761680002.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997210,-0.031277,0.067773],[0.000208,0.909135,0.416501],[-0.074641,-0.415325,0.906606]] 2025-10-28T19:33:23.073Z,1761680003.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534726 2025-10-28T19:33:23.262Z,1761680003.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997085,-0.013290,0.075131],[-0.019113,0.909809,0.414587],[-0.073864,-0.414814,0.906903]] 2025-10-28T19:33:23.337Z,1761680003.337 [DAT](INFO): DAT read: 19:33:21.9992 LVL= 23584, 23345, 32754, 32755, AGC= 74, IDX= 256, 0.35,-0.262, 0.403,-1.552, 0.120, PHS=-0.281, 0.327,-1.717, RAW= 13.2, 18.0, CAL= 12.5, 21.9, ROT= 137.5, -21.9 2025-10-28T19:33:23.339Z,1761680003.339 [DAT](INFO): got valid direction response: 19:33:21.9992 LVL= 23584, 23345, 32754, 32755, AGC= 74, IDX= 256, 0.35,-0.262, 0.403,-1.552, 0.120, PHS=-0.281, 0.327,-1.717, RAW= 13.2, 18.0, CAL= 12.5, 21.9, ROT= 137.5, -21.9 2025-10-28T19:33:23.344Z,1761680003.344 [DAT](INFO): DAT read: Bearing 101, -16 (Remote) 2025-10-28T19:33:23.344Z,1761680003.344 [DAT](INFO): Remote Bearing received:Bearing 101, -16 (Remote) 2025-10-28T19:33:23.345Z,1761680003.345 [DAT](INFO): DAT read: Bearing 284.4, 27.3 (Local) 2025-10-28T19:33:23.346Z,1761680003.346 [DAT](INFO): Local bearing/azimuth received: Bearing 284.4, 27.3 (Local) 2025-10-28T19:33:23.347Z,1761680003.347 [DAT](INFO): DAT read: Range 11 to 20 : 1267.0 m (Round-trip 1689.4 ms) speed 0.0 m/s 2025-10-28T19:33:23.348Z,1761680003.348 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:33:23.373Z,1761680003.373 [DAT](INFO): direction in FSK: [-0.684073,0.626837,0.372988] 2025-10-28T19:33:23.373Z,1761680003.373 [DAT](INFO): publishing direction and range info 2025-10-28T19:33:23.667Z,1761680003.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996633,0.004822,0.081856],[-0.038336,0.909848,0.413167],[-0.072484,-0.414914,0.906969]] 2025-10-28T19:33:23.709Z,1761680003.709 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680000.00. Resetting abort timer. 2025-10-28T19:33:24.071Z,1761680004.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995799,0.022540,0.088744],[-0.057319,0.909274,0.412233],[-0.071401,-0.415588,0.906746]] 2025-10-28T19:33:24.486Z,1761680004.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994639,0.040205,0.095277],[-0.076231,0.907621,0.412812],[-0.069878,-0.417862,0.905819]] 2025-10-28T19:33:24.880Z,1761680004.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993035,0.058101,0.102495],[-0.095831,0.904389,0.415808],[-0.068537,-0.422734,0.903658]] 2025-10-28T19:33:25.282Z,1761680005.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991120,0.075718,0.109310],[-0.114858,0.901702,0.416824],[-0.067004,-0.425677,0.902391]] 2025-10-28T19:33:25.686Z,1761680005.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988816,0.092893,0.116677],[-0.133765,0.898364,0.418390],[-0.065953,-0.429318,0.900742]] 2025-10-28T19:33:26.095Z,1761680006.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986183,0.110320,0.123579],[-0.152557,0.895569,0.417949],[-0.064566,-0.431028,0.900026]] 2025-10-28T19:33:26.505Z,1761680006.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983283,0.127804,0.129696],[-0.170860,0.893828,0.414582],[-0.062940,-0.429812,0.900722]] 2025-10-28T19:33:26.898Z,1761680006.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980185,0.144033,0.135986],[-0.188192,0.891369,0.412366],[-0.061819,-0.429787,0.900812]] 2025-10-28T19:33:27.303Z,1761680007.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976780,0.160549,0.141863],[-0.205498,0.889356,0.408432],[-0.060593,-0.428101,0.901697]] 2025-10-28T19:33:27.707Z,1761680007.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973156,0.176937,0.147173],[-0.222423,0.887325,0.403958],[-0.059115,-0.425849,0.902861]] 2025-10-28T19:33:28.115Z,1761680008.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969130,0.192915,0.153528],[-0.239680,0.883147,0.403243],[-0.057797,-0.427592,0.902122]] 2025-10-28T19:33:28.523Z,1761680008.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964718,0.209194,0.159868],[-0.257145,0.879020,0.401498],[-0.056536,-0.428442,0.901799]] 2025-10-28T19:33:28.918Z,1761680008.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959816,0.225681,0.166800],[-0.275112,0.873991,0.400566],[-0.055381,-0.430358,0.900958]] 2025-10-28T19:33:28.991Z,1761680008.991 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:33:28.991Z,1761680008.991 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:33:28.991Z,1761680008.991 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:33:29.008Z,1761680009.008 [marl:UpdateRudder:A] Stopped 2025-10-28T19:33:29.008Z,1761680009.008 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:33:29.322Z,1761680009.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954546,0.242324,0.173555],[-0.293113,0.868838,0.399006],[-0.054103,-0.431741,0.900374]] 2025-10-28T19:33:29.347Z,1761680009.347 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:33:29.347Z,1761680009.347 [marl:UpdateRudder:B] Stopped 2025-10-28T19:33:29.347Z,1761680009.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:33:29.347Z,1761680009.347 [marl:UpdateRudder] Stopped 2025-10-28T19:33:29.347Z,1761680009.347 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:33:29.729Z,1761680009.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948403,0.260342,0.180980],[-0.312729,0.862176,0.398563],[-0.052274,-0.434596,0.899107]] 2025-10-28T19:33:30.132Z,1761680010.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941755,0.278488,0.188525],[-0.332443,0.855573,0.396832],[-0.050784,-0.436393,0.898322]] 2025-10-28T19:33:30.534Z,1761680010.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934498,0.297153,0.195992],[-0.352502,0.849141,0.393322],[-0.049547,-0.436647,0.898268]] 2025-10-28T19:33:30.765Z,1761680010.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:33:30.943Z,1761680010.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926608,0.316804,0.202567],[-0.372973,0.842864,0.387906],[-0.047846,-0.434989,0.899164]] 2025-10-28T19:33:31.002Z,1761680011.002 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode] Stopped 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:33:31.003Z,1761680011.003 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:33:31.004Z,1761680011.004 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:33:31.007Z,1761680011.007 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:33:31.007Z,1761680011.007 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:33:31.007Z,1761680011.007 [marl:UpdateSpeed] Stopped 2025-10-28T19:33:31.007Z,1761680011.007 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:33:31.342Z,1761680011.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918419,0.336130,0.208622],[-0.392918,0.836428,0.382104],[-0.046061,-0.432903,0.900263]] 2025-10-28T19:33:31.746Z,1761680011.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910122,0.354180,0.215021],[-0.411941,0.829240,0.377712],[-0.044526,-0.432340,0.900611]] 2025-10-28T19:33:31.768Z,1761680011.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:33:32.152Z,1761680012.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902175,0.371273,0.219630],[-0.429281,0.822779,0.372494],[-0.042410,-0.430338,0.901671]] 2025-10-28T19:33:32.621Z,1761680012.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894497,0.387175,0.223541],[-0.445278,0.816312,0.367917],[-0.040031,-0.428638,0.902589]] 2025-10-28T19:33:32.965Z,1761680012.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886731,0.402779,0.226888],[-0.460770,0.809774,0.363259],[-0.037414,-0.426656,0.903640]] 2025-10-28T19:33:33.363Z,1761680013.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878886,0.417541,0.230691],[-0.475781,0.802262,0.360567],[-0.034523,-0.426656,0.903755]] 2025-10-28T19:33:33.773Z,1761680013.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870753,0.431785,0.235266],[-0.490693,0.793924,0.359032],[-0.031758,-0.428072,0.903187]] 2025-10-28T19:33:34.179Z,1761680014.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861886,0.446876,0.239697],[-0.506267,0.785391,0.356166],[-0.029094,-0.428325,0.903156]] 2025-10-28T19:33:34.627Z,1761680014.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852568,0.462446,0.243458],[-0.521952,0.776947,0.352022],[-0.026363,-0.427196,0.903775]] 2025-10-28T19:33:34.979Z,1761680014.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843132,0.476819,0.248540],[-0.537173,0.767489,0.349864],[-0.023930,-0.428490,0.903229]] 2025-10-28T19:33:35.382Z,1761680015.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833270,0.491321,0.253506],[-0.552453,0.757683,0.347436],[-0.021374,-0.429558,0.902786]] 2025-10-28T19:33:35.793Z,1761680015.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823361,0.505357,0.258248],[-0.567207,0.747857,0.344944],[-0.018813,-0.430493,0.902398]] 2025-10-28T19:33:36.218Z,1761680016.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812856,0.519385,0.263637],[-0.582235,0.737234,0.342766],[-0.016335,-0.432118,0.901669]] 2025-10-28T19:33:36.634Z,1761680016.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802153,0.533535,0.268126],[-0.596955,0.727069,0.339139],[-0.014004,-0.432101,0.901717]] 2025-10-28T19:33:37.002Z,1761680017.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791182,0.547915,0.271701],[-0.611472,0.717094,0.334482],[-0.011567,-0.430773,0.902386]] 2025-10-28T19:33:37.402Z,1761680017.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779756,0.561711,0.276515],[-0.626012,0.706168,0.330810],[-0.009446,-0.431053,0.902277]] 2025-10-28T19:33:37.807Z,1761680017.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767703,0.576091,0.280627],[-0.640763,0.695201,0.325759],[-0.007426,-0.429901,0.902845]] 2025-10-28T19:33:38.211Z,1761680018.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755063,0.590945,0.284014],[-0.655630,0.684094,0.319632],[-0.005408,-0.427550,0.903976]] 2025-10-28T19:33:38.641Z,1761680018.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742259,0.605582,0.286919],[-0.670107,0.672594,0.313963],[-0.002849,-0.425308,0.905044]] 2025-10-28T19:33:39.018Z,1761680019.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728971,0.620256,0.289627],[-0.684544,0.660546,0.308348],[-0.000058,-0.423039,0.906111]] 2025-10-28T19:33:39.426Z,1761680019.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715813,0.634017,0.292634],[-0.698287,0.648362,0.303350],[0.002596,-0.421485,0.906832]] 2025-10-28T19:33:39.826Z,1761680019.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703629,0.646004,0.295947],[-0.710549,0.636735,0.299479],[0.005025,-0.421008,0.907043]] 2025-10-28T19:33:40.232Z,1761680020.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691772,0.657856,0.297789],[-0.722075,0.625757,0.295018],[0.007736,-0.419111,0.907902]] 2025-10-28T19:33:40.638Z,1761680020.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680179,0.668946,0.299780],[-0.732971,0.614783,0.291196],[0.010494,-0.417795,0.908481]] 2025-10-28T19:33:41.038Z,1761680021.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668893,0.679175,0.302164],[-0.743233,0.603561,0.288651],[0.013671,-0.417655,0.908503]] 2025-10-28T19:33:41.450Z,1761680021.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658594,0.688176,0.304413],[-0.752314,0.593180,0.286639],[0.016686,-0.417793,0.908389]] 2025-10-28T19:33:41.849Z,1761680021.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647698,0.696681,0.308420],[-0.761646,0.581672,0.285576],[0.019556,-0.419873,0.907372]] 2025-10-28T19:33:42.251Z,1761680022.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635535,0.705936,0.312649],[-0.771750,0.569163,0.283645],[0.022287,-0.421553,0.906530]] 2025-10-28T19:33:42.287Z,1761680022.287 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:33:42.287Z,1761680022.287 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:33:42.287Z,1761680022.287 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:33:42.287Z,1761680022.287 [marl:UpdateRudder:A] Stopped 2025-10-28T19:33:42.287Z,1761680022.287 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:33:42.655Z,1761680022.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621282,0.715575,0.319314],[-0.783202,0.554315,0.281654],[0.024544,-0.425074,0.904826]] 2025-10-28T19:33:42.707Z,1761680022.707 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:33:42.707Z,1761680022.707 [marl:UpdateRudder:B] Stopped 2025-10-28T19:33:42.707Z,1761680022.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:33:42.707Z,1761680022.707 [marl:UpdateRudder] Stopped 2025-10-28T19:33:42.708Z,1761680022.708 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:33:43.059Z,1761680023.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605827,0.725631,0.326243],[-0.795176,0.538929,0.277940],[0.025860,-0.427804,0.903502]] 2025-10-28T19:33:43.464Z,1761680023.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589597,0.735642,0.333475],[-0.807260,0.523122,0.273265],[0.026577,-0.430317,0.902286]] 2025-10-28T19:33:43.867Z,1761680023.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572966,0.745952,0.339509],[-0.819133,0.507539,0.267254],[0.027044,-0.431231,0.901836]] 2025-10-28T19:33:44.271Z,1761680024.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555402,0.756790,0.344670],[-0.831105,0.491123,0.260889],[0.028163,-0.431356,0.901742]] 2025-10-28T19:33:44.308Z,1761680024.308 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:33:44.312Z,1761680024.312 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:33:44.312Z,1761680024.312 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:33:44.312Z,1761680024.312 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateCommandMode] Stopped 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:33:44.313Z,1761680024.313 [marl:UpdateSpeed] Stopped 2025-10-28T19:33:44.314Z,1761680024.314 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:33:44.675Z,1761680024.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537395,0.768044,0.348303],[-0.842800,0.474464,0.254108],[0.029909,-0.430106,0.902283]] 2025-10-28T19:33:45.079Z,1761680025.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519730,0.778692,0.351455],[-0.853729,0.457942,0.247862],[0.032062,-0.428868,0.902798]] 2025-10-28T19:33:45.483Z,1761680025.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502664,0.789332,0.352539],[-0.863763,0.441964,0.242036],[0.035237,-0.426173,0.903955]] 2025-10-28T19:33:45.887Z,1761680025.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486817,0.799394,0.352106],[-0.872638,0.427130,0.236777],[0.038883,-0.422528,0.905515]] 2025-10-28T19:33:46.291Z,1761680026.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471598,0.807305,0.354759],[-0.880762,0.411593,0.234200],[0.043054,-0.422906,0.905150]] 2025-10-28T19:33:46.712Z,1761680026.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457215,0.814955,0.356093],[-0.888103,0.397128,0.231436],[0.047195,-0.422063,0.905337]] 2025-10-28T19:33:47.099Z,1761680027.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443904,0.821262,0.358439],[-0.894620,0.383397,0.229484],[0.051042,-0.422535,0.904908]] 2025-10-28T19:33:47.503Z,1761680027.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431145,0.827484,0.359700],[-0.900641,0.370647,0.226861],[0.054402,-0.421771,0.905069]] 2025-10-28T19:33:47.934Z,1761680027.934 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.935Z,1761680027.935 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T19:33:47.935Z,1761680027.935 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.936Z,1761680027.936 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T19:33:47.937Z,1761680027.937 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T19:33:47.937Z,1761680027.937 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.938Z,1761680027.938 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.939Z,1761680027.939 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.939Z,1761680027.939 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T19:33:47.940Z,1761680027.940 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.941Z,1761680027.941 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T19:33:47.942Z,1761680027.942 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T19:33:47.942Z,1761680027.942 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1. 2025-10-28T19:33:47.947Z,1761680027.947 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T19:33:48.311Z,1761680028.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406477,0.833102,0.375122],[-0.911842,0.344008,0.224058],[0.057618,-0.433127,0.899490]] 2025-10-28T19:33:48.714Z,1761680028.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393273,0.837382,0.379640],[-0.917614,0.331596,0.219156],[0.057630,-0.434551,0.898801]] 2025-10-28T19:33:49.524Z,1761680029.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361214,0.852369,0.378142],[-0.930726,0.304678,0.202286],[0.057211,-0.425015,0.903376]] 2025-10-28T19:33:49.940Z,1761680029.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321540,0.870329,0.373014],[-0.945101,0.270740,0.182984],[0.058266,-0.411373,0.909603]] 2025-10-28T19:33:50.335Z,1761680030.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300303,0.879156,0.370004],[-0.952029,0.252344,0.173100],[0.058813,-0.404236,0.912762]] 2025-10-28T19:33:50.754Z,1761680030.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277922,0.886436,0.370122],[-0.958753,0.232066,0.164126],[0.059595,-0.400469,0.914370]] 2025-10-28T19:33:51.145Z,1761680031.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255292,0.892981,0.370691],[-0.965004,0.211560,0.154951],[0.059945,-0.397276,0.915739]] 2025-10-28T19:33:51.547Z,1761680031.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231606,0.897911,0.374319],[-0.970947,0.189564,0.146040],[0.060174,-0.397268,0.915728]] 2025-10-28T19:33:51.948Z,1761680031.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207896,0.901422,0.379759],[-0.976326,0.167526,0.136831],[0.059723,-0.399215,0.914910]] 2025-10-28T19:33:52.356Z,1761680032.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183738,0.905635,0.382186],[-0.981175,0.145448,0.127048],[0.059470,-0.398335,0.915310]] 2025-10-28T19:33:52.757Z,1761680032.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159628,0.909697,0.383366],[-0.985413,0.123630,0.116949],[0.058993,-0.396442,0.916162]] 2025-10-28T19:33:53.158Z,1761680033.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136137,0.912358,0.386095],[-0.988974,0.102228,0.107142],[0.058282,-0.396424,0.916216]] 2025-10-28T19:33:53.563Z,1761680033.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113584,0.913298,0.391133],[-0.991847,0.081339,0.098103],[0.057783,-0.399087,0.915091]] 2025-10-28T19:33:53.969Z,1761680033.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092650,0.912973,0.397362],[-0.994025,0.061680,0.090055],[0.057709,-0.403331,0.913232]] 2025-10-28T19:33:54.370Z,1761680034.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073523,0.911160,0.405441],[-0.995607,0.043426,0.082950],[0.057974,-0.409759,0.910350]] 2025-10-28T19:33:54.783Z,1761680034.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056902,0.909178,0.412502],[-0.996668,0.027546,0.076771],[0.058436,-0.415496,0.907716]] 2025-10-28T19:33:55.179Z,1761680035.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042271,0.907145,0.418690],[-0.997380,0.013693,0.071028],[0.058699,-0.420595,0.905347]] 2025-10-28T19:33:55.584Z,1761680035.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028835,0.904952,0.424536],[-0.997868,0.001185,0.065252],[0.058547,-0.425512,0.903057]] 2025-10-28T19:33:55.609Z,1761680035.609 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:33:55.609Z,1761680035.609 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:33:55.609Z,1761680035.609 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:33:55.609Z,1761680035.609 [marl:UpdateRudder:A] Stopped 2025-10-28T19:33:55.609Z,1761680035.609 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:33:55.986Z,1761680035.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015957,0.904252,0.426702],[-0.998205,-0.010231,0.059009],[0.057724,-0.426877,0.902465]] 2025-10-28T19:33:56.017Z,1761680036.017 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:33:56.018Z,1761680036.018 [marl:UpdateRudder:B] Stopped 2025-10-28T19:33:56.018Z,1761680036.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:33:56.018Z,1761680036.018 [marl:UpdateRudder] Stopped 2025-10-28T19:33:56.018Z,1761680036.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:33:56.396Z,1761680036.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002878,0.904822,0.425780],[-0.998416,-0.021326,0.052069],[0.056194,-0.425255,0.903327]] 2025-10-28T19:33:56.797Z,1761680036.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011742,0.906423,0.422208],[-0.998446,-0.033629,0.044430],[0.054471,-0.421030,0.905410]] 2025-10-28T19:33:57.199Z,1761680037.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029512,0.907912,0.418121],[-0.998140,-0.049094,0.036151],[0.053349,-0.416276,0.907672]] 2025-10-28T19:33:57.603Z,1761680037.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049276,0.909917,0.411853],[-0.997409,-0.066467,0.027513],[0.052409,-0.409431,0.910835]] 2025-10-28T19:33:57.634Z,1761680037.634 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:33:57.634Z,1761680037.634 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateCommandMode] Stopped 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:33:57.635Z,1761680037.635 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:33:57.636Z,1761680037.636 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:33:57.636Z,1761680037.636 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:33:57.636Z,1761680037.636 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:33:57.636Z,1761680037.636 [marl:UpdateSpeed] Stopped 2025-10-28T19:33:57.636Z,1761680037.636 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:33:58.006Z,1761680038.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070879,0.911114,0.406015],[-0.996149,-0.085712,0.018440],[0.051601,-0.403145,0.913680]] 2025-10-28T19:33:58.416Z,1761680038.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092996,0.910939,0.401923],[-0.994385,-0.105449,0.008918],[0.050506,-0.398837,0.915630]] 2025-10-28T19:33:58.860Z,1761680038.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115006,0.909569,0.399321],[-0.992147,-0.125078,-0.000841],[0.049181,-0.396282,0.916811]] 2025-10-28T19:33:59.220Z,1761680039.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136653,0.907694,0.396758],[-0.989474,-0.144322,-0.010622],[0.047619,-0.394033,0.917862]] 2025-10-28T19:33:59.623Z,1761680039.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156537,0.904016,0.397807],[-0.986611,-0.161789,-0.020567],[0.045768,-0.395700,0.917239]] 2025-10-28T19:34:00.027Z,1761680040.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175922,0.899993,0.398828],[-0.983415,-0.178829,-0.030236],[0.044110,-0.397533,0.916527]] 2025-10-28T19:34:00.432Z,1761680040.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194019,0.895678,0.400146],[-0.980079,-0.194626,-0.039565],[0.042442,-0.399851,0.915597]] 2025-10-28T19:34:00.834Z,1761680040.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212338,0.890893,0.401526],[-0.976332,-0.210688,-0.048844],[0.041081,-0.402394,0.914544]] 2025-10-28T19:34:01.271Z,1761680041.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230019,0.886336,0.401870],[-0.972401,-0.225910,-0.058324],[0.039092,-0.404194,0.913837]] 2025-10-28T19:34:01.644Z,1761680041.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248873,0.882186,0.399762],[-0.967814,-0.242449,-0.067484],[0.037388,-0.403691,0.914131]] 2025-10-28T19:34:01.891Z,1761680041.891 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:34:02.049Z,1761680042.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268882,0.877708,0.396650],[-0.962518,-0.260046,-0.077043],[0.035527,-0.402498,0.914731]] 2025-10-28T19:34:02.451Z,1761680042.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288904,0.873692,0.391403],[-0.956765,-0.277886,-0.085912],[0.033704,-0.399301,0.916200]] 2025-10-28T19:34:02.854Z,1761680042.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310099,0.869026,0.385530],[-0.950182,-0.296740,-0.095389],[0.031507,-0.395904,0.917751]] 2025-10-28T19:34:02.893Z,1761680042.893 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:34:03.259Z,1761680043.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331227,0.863215,0.380983],[-0.943098,-0.315388,-0.105337],[0.029229,-0.394195,0.918562]] 2025-10-28T19:34:03.666Z,1761680043.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353112,0.856636,0.376148],[-0.935182,-0.334923,-0.115159],[0.027331,-0.392431,0.919375]] 2025-10-28T19:34:04.066Z,1761680044.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374717,0.849065,0.372392],[-0.926795,-0.353969,-0.125522],[0.025239,-0.392167,0.919548]] 2025-10-28T19:34:04.470Z,1761680044.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394841,0.841119,0.369620],[-0.918458,-0.371493,-0.135748],[0.023131,-0.393080,0.919213]] 2025-10-28T19:34:04.891Z,1761680044.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414496,0.833529,0.365270],[-0.909816,-0.388662,-0.145519],[0.020672,-0.392646,0.919457]] 2025-10-28T19:34:05.283Z,1761680045.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434177,0.824782,0.362249],[-0.900633,-0.405785,-0.155556],[0.018695,-0.393793,0.919009]] 2025-10-28T19:34:05.683Z,1761680045.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453633,0.815817,0.358691],[-0.891033,-0.422709,-0.165458],[0.016638,-0.394663,0.918675]] 2025-10-28T19:34:06.087Z,1761680046.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473165,0.806125,0.355355],[-0.880854,-0.439564,-0.175727],[0.014543,-0.396164,0.918065]] 2025-10-28T19:34:06.493Z,1761680046.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492151,0.796432,0.351402],[-0.870416,-0.456166,-0.185173],[0.012820,-0.396999,0.917729]] 2025-10-28T19:34:06.898Z,1761680046.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510645,0.786895,0.346464],[-0.859718,-0.472590,-0.193765],[0.011263,-0.396807,0.917833]] 2025-10-28T19:34:07.299Z,1761680047.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528951,0.776693,0.341992],[-0.848594,-0.488803,-0.202386],[0.009975,-0.397265,0.917650]] 2025-10-28T19:34:07.705Z,1761680047.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546225,0.766707,0.337340],[-0.837596,-0.504005,-0.210742],[0.008444,-0.397667,0.917491]] 2025-10-28T19:34:08.106Z,1761680048.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562072,0.756476,0.334395],[-0.827059,-0.517493,-0.219486],[0.007011,-0.399931,0.916518]] 2025-10-28T19:34:08.511Z,1761680048.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577322,0.746451,0.330923],[-0.816497,-0.530587,-0.227619],[0.005677,-0.401607,0.915794]] 2025-10-28T19:34:08.915Z,1761680048.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591677,0.736627,0.327566],[-0.806162,-0.542931,-0.235220],[0.004576,-0.403245,0.915080]] 2025-10-28T19:34:08.979Z,1761680048.979 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:34:08.979Z,1761680048.979 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:34:08.979Z,1761680048.979 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:34:08.979Z,1761680048.979 [marl:UpdateRudder:A] Stopped 2025-10-28T19:34:08.979Z,1761680048.979 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:34:09.326Z,1761680049.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605367,0.726885,0.324296],[-0.795940,-0.554506,-0.242905],[0.003260,-0.405167,0.914237]] 2025-10-28T19:34:09.349Z,1761680049.349 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:34:09.349Z,1761680049.349 [marl:UpdateRudder:B] Stopped 2025-10-28T19:34:09.349Z,1761680049.349 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:34:09.350Z,1761680049.350 [marl:UpdateRudder] Stopped 2025-10-28T19:34:09.350Z,1761680049.350 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:34:09.727Z,1761680049.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618102,0.717376,0.321436],[-0.786095,-0.564997,-0.250665],[0.001790,-0.407616,0.913152]] 2025-10-28T19:34:10.126Z,1761680050.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630832,0.708535,0.316273],[-0.775919,-0.576238,-0.256709],[0.000361,-0.407343,0.913275]] 2025-10-28T19:34:10.530Z,1761680050.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643569,0.699565,0.310529],[-0.765387,-0.587604,-0.262495],[-0.001164,-0.406609,0.913602]] 2025-10-28T19:34:10.937Z,1761680050.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656917,0.690321,0.303179],[-0.753959,-0.600071,-0.267322],[-0.002609,-0.404192,0.914670]] 2025-10-28T19:34:11.003Z,1761680051.003 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:34:11.003Z,1761680051.003 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:34:11.003Z,1761680051.003 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:34:11.003Z,1761680051.003 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:34:11.004Z,1761680051.004 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:34:11.004Z,1761680051.004 [marl:UpdateCommandMode] Stopped 2025-10-28T19:34:11.012Z,1761680051.012 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:34:11.012Z,1761680051.012 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:34:11.012Z,1761680051.012 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:34:11.012Z,1761680051.012 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:34:11.013Z,1761680051.013 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:34:11.013Z,1761680051.013 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:34:11.013Z,1761680051.013 [marl:UpdateSpeed] Stopped 2025-10-28T19:34:11.013Z,1761680051.013 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:34:11.343Z,1761680051.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671499,0.679758,0.294990],[-0.740995,-0.613838,-0.272267],[-0.003999,-0.401413,0.915888]] 2025-10-28T19:34:11.743Z,1761680051.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686319,0.668387,0.286748],[-0.727280,-0.627762,-0.277450],[-0.005435,-0.398965,0.916950]] 2025-10-28T19:34:12.147Z,1761680052.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702262,0.655830,0.276974],[-0.711888,-0.643307,-0.281729],[-0.006587,-0.395022,0.918648]] 2025-10-28T19:34:12.554Z,1761680052.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718938,0.641892,0.266652],[-0.695034,-0.659742,-0.285776],[-0.007516,-0.390788,0.920450]] 2025-10-28T19:34:12.961Z,1761680052.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735888,0.626265,0.257411],[-0.677049,-0.675783,-0.291413],[-0.008548,-0.388728,0.921313]] 2025-10-28T19:34:13.371Z,1761680053.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752823,0.609343,0.248916],[-0.658160,-0.691615,-0.297479],[-0.009113,-0.387776,0.921709]] 2025-10-28T19:34:13.767Z,1761680053.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769500,0.591623,0.240524],[-0.638576,-0.707169,-0.303532],[-0.009485,-0.387161,0.921963]] 2025-10-28T19:34:14.166Z,1761680054.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785349,0.573584,0.232871],[-0.618976,-0.721590,-0.310124],[-0.009845,-0.387697,0.921734]] 2025-10-28T19:34:14.607Z,1761680054.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800076,0.555991,0.225281],[-0.599806,-0.734805,-0.316695],[-0.010542,-0.388505,0.921386]] 2025-10-28T19:34:14.981Z,1761680054.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813661,0.538584,0.218822],[-0.581224,-0.746165,-0.324680],[-0.011590,-0.391364,0.920163]] 2025-10-28T19:34:15.400Z,1761680055.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825605,0.522401,0.213244],[-0.564107,-0.755728,-0.332655],[-0.012625,-0.394935,0.918623]] 2025-10-28T19:34:15.788Z,1761680055.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836569,0.506705,0.208330],[-0.547689,-0.763963,-0.341170],[-0.013716,-0.399512,0.916625]] 2025-10-28T19:34:16.188Z,1761680056.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846611,0.492051,0.202818],[-0.532007,-0.771862,-0.348134],[-0.014752,-0.402635,0.915242]] 2025-10-28T19:34:16.625Z,1761680056.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855475,0.478565,0.197830],[-0.517605,-0.778629,-0.354715],[-0.015718,-0.405847,0.913806]] 2025-10-28T19:34:16.995Z,1761680056.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863363,0.466442,0.192447],[-0.504307,-0.785061,-0.359658],[-0.016677,-0.407568,0.913023]] 2025-10-28T19:34:17.398Z,1761680057.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870613,0.455208,0.186599],[-0.491661,-0.791622,-0.362773],[-0.017421,-0.407578,0.913004]] 2025-10-28T19:34:17.803Z,1761680057.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877470,0.444073,0.181235],[-0.479298,-0.797742,-0.365897],[-0.017907,-0.407929,0.912838]] 2025-10-28T19:34:18.209Z,1761680058.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884111,0.432982,0.175708],[-0.466911,-0.803724,-0.368812],[-0.018468,-0.408111,0.912746]] 2025-10-28T19:34:18.238Z,1761680058.238 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:34:18.281Z,1761680058.281 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:34:18.281Z,1761680058.281 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:34:18.533Z,1761680058.533 [DAT](INFO): DAT read: user:190> 2025-10-28T19:34:18.534Z,1761680058.534 [DAT](INFO): DAT read: Tx time:19:34:18.2804 2025-10-28T19:34:18.534Z,1761680058.534 [DAT](INFO): Ping request sent. 2025-10-28T19:34:18.534Z,1761680058.534 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:34:18.534Z,1761680058.534 [DAT](INFO): publishing transmit ping time 2025-10-28T19:34:18.535Z,1761680058.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T19:34:18.650Z,1761680058.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890974,0.421304,0.169318],[-0.453666,-0.810573,-0.370349],[-0.018785,-0.406785,0.913331]] 2025-10-28T19:34:18.786Z,1761680058.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251985 2025-10-28T19:34:19.015Z,1761680059.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898088,0.408836,0.162143],[-0.439406,-0.818155,-0.370870],[-0.018967,-0.404320,0.914421]] 2025-10-28T19:34:19.037Z,1761680059.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503084 2025-10-28T19:34:19.289Z,1761680059.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893 2025-10-28T19:34:19.420Z,1761680059.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905891,0.394676,0.153596],[-0.423079,-0.827010,-0.370213],[-0.019088,-0.400356,0.916161]] 2025-10-28T19:34:19.541Z,1761680059.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007039 2025-10-28T19:34:19.793Z,1761680059.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958 2025-10-28T19:34:19.822Z,1761680059.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914449,0.378209,0.144016],[-0.404244,-0.836728,-0.369424],[-0.019217,-0.396037,0.918034]] 2025-10-28T19:34:20.045Z,1761680060.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510729 2025-10-28T19:34:20.226Z,1761680060.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923371,0.359958,0.133475],[-0.383408,-0.846900,-0.368454],[-0.019588,-0.391395,0.920014]] 2025-10-28T19:34:20.297Z,1761680060.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762961 2025-10-28T19:34:20.549Z,1761680060.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998 2025-10-28T19:34:20.636Z,1761680060.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932512,0.339763,0.122404],[-0.360571,-0.856929,-0.368322],[-0.020250,-0.387600,0.921605]] 2025-10-28T19:34:20.801Z,1761680060.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266888 2025-10-28T19:34:21.036Z,1761680061.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941407,0.318312,0.111489],[-0.336607,-0.865988,-0.369811],[-0.021167,-0.385671,0.922394]] 2025-10-28T19:34:21.054Z,1761680061.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519635 2025-10-28T19:34:21.305Z,1761680061.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944 2025-10-28T19:34:21.438Z,1761680061.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949972,0.295704,0.100561],[-0.311545,-0.874211,-0.372419],[-0.022214,-0.385116,0.922601]] 2025-10-28T19:34:21.557Z,1761680061.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022895 2025-10-28T19:34:21.809Z,1761680061.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274921 2025-10-28T19:34:21.850Z,1761680061.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958014,0.272361,0.089600],[-0.285763,-0.881487,-0.375924],[-0.023406,-0.385745,0.922308]] 2025-10-28T19:34:22.061Z,1761680062.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526879 2025-10-28T19:34:22.247Z,1761680062.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965428,0.248426,0.078956],[-0.259516,-0.887511,-0.380756],[-0.024515,-0.388083,0.921298]] 2025-10-28T19:34:22.270Z,1761680062.270 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:34:22.270Z,1761680062.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:34:22.270Z,1761680062.270 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:34:22.271Z,1761680062.271 [marl:UpdateRudder:A] Stopped 2025-10-28T19:34:22.271Z,1761680062.271 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:34:22.313Z,1761680062.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778958 2025-10-28T19:34:22.567Z,1761680062.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032882 2025-10-28T19:34:22.651Z,1761680062.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972035,0.224566,0.068691],[-0.233447,-0.892249,-0.386516],[-0.025509,-0.391742,0.919721]] 2025-10-28T19:34:22.696Z,1761680062.696 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:34:22.696Z,1761680062.696 [marl:UpdateRudder:B] Stopped 2025-10-28T19:34:22.696Z,1761680062.696 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:34:22.696Z,1761680062.696 [marl:UpdateRudder] Stopped 2025-10-28T19:34:22.696Z,1761680062.696 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:34:22.817Z,1761680062.817 [DAT](INFO): DAT read: Rx Time:19:34:22.0119 2025-10-28T19:34:22.817Z,1761680062.817 [DAT](INFO): Rx dataTimestamp_ set to:1761680062.817155 2025-10-28T19:34:22.818Z,1761680062.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284013 2025-10-28T19:34:23.054Z,1761680063.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977497,0.202486,0.059146],[-0.209272,-0.895574,-0.392623],[-0.026531,-0.396165,0.917796]] 2025-10-28T19:34:23.069Z,1761680063.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535020 2025-10-28T19:34:23.336Z,1761680063.336 [DAT](INFO): DAT read: 19:34:22.0119 LVL= 21360, 23345, 9922, 20979, AGC= 69, IDX= 68,-0.10,-0.889,-0.590, 1.087,-0.505, PHS=-0.282,-0.041, 1.547, RAW= 217.0, -14.1, CAL= 216.1, -19.6, ROT= 293.9, 19.6 2025-10-28T19:34:23.345Z,1761680063.345 [DAT](INFO): got valid direction response: 19:34:22.0119 LVL= 21360, 23345, 9922, 20979, AGC= 69, IDX= 68,-0.10,-0.889,-0.590, 1.087,-0.505, PHS=-0.282,-0.041, 1.547, RAW= 217.0, -14.1, CAL= 216.1, -19.6, ROT= 293.9, 19.6 2025-10-28T19:34:23.346Z,1761680063.346 [DAT](INFO): DAT read: Bearing 102, -15 (Remote) 2025-10-28T19:34:23.346Z,1761680063.346 [DAT](INFO): Remote Bearing received:Bearing 102, -15 (Remote) 2025-10-28T19:34:23.348Z,1761680063.348 [DAT](INFO): DAT read: Bearing 283.2, -41.2 (Local) 2025-10-28T19:34:23.349Z,1761680063.349 [DAT](INFO): Local bearing/azimuth received: Bearing 283.2, -41.2 (Local) 2025-10-28T19:34:23.351Z,1761680063.351 [DAT](INFO): DAT read: Range 11 to 20 : 1276.7 m (Round-trip 1702.3 ms) speed 0.8 m/s 2025-10-28T19:34:23.352Z,1761680063.352 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:34:23.353Z,1761680063.353 [DAT](INFO): direction in FSK: [0.381667,-0.861280,-0.335452] 2025-10-28T19:34:23.353Z,1761680063.353 [DAT](INFO): publishing direction and range info 2025-10-28T19:34:23.459Z,1761680063.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981713,0.183518,0.050611],[-0.188371,-0.898040,-0.397543],[-0.027506,-0.399806,0.916187]] 2025-10-28T19:34:23.539Z,1761680063.539 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680000.00. Resetting abort timer. 2025-10-28T19:34:23.865Z,1761680063.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985019,0.166964,0.043143],[-0.170129,-0.899991,-0.401338],[-0.028181,-0.402665,0.914913]] 2025-10-28T19:34:24.267Z,1761680064.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987656,0.152281,0.036677],[-0.154047,-0.901934,-0.403466],[-0.028360,-0.404136,0.914259]] 2025-10-28T19:34:24.298Z,1761680064.298 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:34:24.298Z,1761680064.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:34:24.298Z,1761680064.298 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:34:24.298Z,1761680064.298 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateCommandMode] Stopped 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:34:24.299Z,1761680064.299 [marl:UpdateSpeed] Stopped 2025-10-28T19:34:24.300Z,1761680064.300 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:34:24.670Z,1761680064.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989897,0.138359,0.030986],[-0.138956,-0.903242,-0.406012],[-0.028187,-0.406215,0.913342]] 2025-10-28T19:34:25.074Z,1761680065.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991812,0.125070,0.025819],[-0.124652,-0.904135,-0.408658],[-0.027767,-0.408530,0.912322]] 2025-10-28T19:34:25.481Z,1761680065.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993503,0.111906,0.020729],[-0.110552,-0.905660,-0.409339],[-0.027034,-0.408971,0.912147]] 2025-10-28T19:34:25.883Z,1761680065.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995001,0.098613,0.015757],[-0.096401,-0.907264,-0.409365],[-0.026073,-0.408837,0.912235]] 2025-10-28T19:34:26.286Z,1761680066.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996388,0.084281,0.010329],[-0.081151,-0.909374,-0.407988],[-0.024992,-0.407353,0.912929]] 2025-10-28T19:34:26.690Z,1761680066.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997641,0.068499,0.004455],[-0.064451,-0.912404,-0.404185],[-0.023621,-0.403518,0.914667]] 2025-10-28T19:34:27.095Z,1761680067.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998750,0.049887,-0.003078],[-0.044493,-0.915435,-0.400000],[-0.022772,-0.399363,0.916510]] 2025-10-28T19:34:27.500Z,1761680067.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999505,0.029190,-0.011764],[-0.022135,-0.917743,-0.396558],[-0.022372,-0.396101,0.917934]] 2025-10-28T19:34:27.903Z,1761680067.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999745,0.008023,-0.021093],[0.000900,-0.919758,-0.392486],[-0.022550,-0.392405,0.919516]] 2025-10-28T19:34:28.306Z,1761680068.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999437,-0.013364,-0.030778],[0.024324,-0.920407,-0.390203],[-0.023113,-0.390732,0.920214]] 2025-10-28T19:34:28.710Z,1761680068.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998542,-0.035115,-0.040991],[0.048265,-0.920858,-0.386898],[-0.024161,-0.388313,0.921211]] 2025-10-28T19:34:29.119Z,1761680069.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997046,-0.056942,-0.051547],[0.072409,-0.920701,-0.383492],[-0.025622,-0.386091,0.922105]] 2025-10-28T19:34:29.519Z,1761680069.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995016,-0.077836,-0.062322],[0.095869,-0.918628,-0.383316],[-0.027415,-0.387380,0.921512]] 2025-10-28T19:34:29.922Z,1761680069.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992509,-0.097886,-0.073098],[0.118577,-0.915878,-0.383546],[-0.029405,-0.389341,0.920624]] 2025-10-28T19:34:30.341Z,1761680070.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989816,-0.115954,-0.082572],[0.138938,-0.913188,-0.383125],[-0.030978,-0.390696,0.919999]] 2025-10-28T19:34:30.732Z,1761680070.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986859,-0.133389,-0.091192],[0.158344,-0.910757,-0.381378],[-0.032183,-0.390806,0.919910]] 2025-10-28T19:34:31.136Z,1761680071.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983800,-0.149452,-0.099001],[0.176188,-0.908012,-0.380094],[-0.033089,-0.391379,0.919634]] 2025-10-28T19:34:31.539Z,1761680071.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980529,-0.165040,-0.106416],[0.193443,-0.905045,-0.378778],[-0.033798,-0.391988,0.919349]] 2025-10-28T19:34:31.943Z,1761680071.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977108,-0.180352,-0.112840],[0.210021,-0.902319,-0.376446],[-0.033925,-0.391527,0.919541]] 2025-10-28T19:34:32.348Z,1761680072.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973430,-0.196031,-0.118347],[0.226579,-0.899313,-0.374030],[-0.033110,-0.390907,0.919834]] 2025-10-28T19:34:32.752Z,1761680072.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969551,-0.211171,-0.124009],[0.242766,-0.895355,-0.373370],[-0.032188,-0.392106,0.919357]] 2025-10-28T19:34:33.016Z,1761680073.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:34:33.156Z,1761680073.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965307,-0.226738,-0.129508],[0.259283,-0.891017,-0.372641],[-0.030902,-0.393292,0.918894]] 2025-10-28T19:34:33.559Z,1761680073.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960738,-0.242180,-0.135394],[0.275887,-0.885692,-0.373411],[-0.029485,-0.396104,0.917732]] 2025-10-28T19:34:33.973Z,1761680073.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955633,-0.258358,-0.141481],[0.293219,-0.880148,-0.373313],[-0.028076,-0.398235,0.916854]] 2025-10-28T19:34:34.020Z,1761680074.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:34:34.367Z,1761680074.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949773,-0.275704,-0.148050],[0.311769,-0.874518,-0.371508],[-0.027047,-0.399005,0.916550]] 2025-10-28T19:34:34.780Z,1761680074.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943234,-0.293801,-0.154891],[0.331090,-0.868647,-0.368554],[-0.026264,-0.398915,0.916612]] 2025-10-28T19:34:35.183Z,1761680075.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928070,-0.331597,-0.169500],[0.371547,-0.855367,-0.360972],[-0.025287,-0.397984,0.917044]] 2025-10-28T19:34:35.590Z,1761680075.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919304,-0.351242,-0.177511],[0.392745,-0.847617,-0.356788],[-0.025142,-0.397713,0.917165]] 2025-10-28T19:34:35.613Z,1761680075.613 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:34:35.613Z,1761680075.613 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:34:35.614Z,1761680075.614 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:34:35.614Z,1761680075.614 [marl:UpdateRudder:A] Stopped 2025-10-28T19:34:35.614Z,1761680075.614 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:34:35.987Z,1761680075.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910024,-0.370604,-0.185763],[0.413759,-0.839735,-0.351638],[-0.025673,-0.396860,0.917520]] 2025-10-28T19:34:36.022Z,1761680076.022 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:34:36.022Z,1761680076.022 [marl:UpdateRudder:B] Stopped 2025-10-28T19:34:36.022Z,1761680076.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:34:36.022Z,1761680076.022 [marl:UpdateRudder] Stopped 2025-10-28T19:34:36.022Z,1761680076.022 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:34:36.395Z,1761680076.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900438,-0.389313,-0.194028],[0.434155,-0.831891,-0.345640],[-0.026848,-0.395466,0.918088]] 2025-10-28T19:34:36.804Z,1761680076.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890228,-0.407991,-0.202578],[0.454617,-0.823689,-0.338909],[-0.028590,-0.393801,0.918751]] 2025-10-28T19:34:37.199Z,1761680077.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879833,-0.425496,-0.211773],[0.474289,-0.814829,-0.333324],[-0.030731,-0.393710,0.918721]] 2025-10-28T19:34:37.599Z,1761680077.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868946,-0.442840,-0.220962],[0.493768,-0.806000,-0.326430],[-0.033539,-0.392754,0.919032]] 2025-10-28T19:34:37.639Z,1761680077.639 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:34:37.639Z,1761680077.639 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:34:37.639Z,1761680077.639 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateCommandMode] Stopped 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:34:37.640Z,1761680077.640 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:34:37.641Z,1761680077.641 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:34:37.641Z,1761680077.641 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:34:37.641Z,1761680077.641 [marl:UpdateSpeed] Stopped 2025-10-28T19:34:37.641Z,1761680077.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:34:38.002Z,1761680078.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858106,-0.459244,-0.229672],[0.512169,-0.797384,-0.319158],[-0.036565,-0.391503,0.919450]] 2025-10-28T19:34:38.411Z,1761680078.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847420,-0.475374,-0.236427],[0.529463,-0.789669,-0.309987],[-0.039339,-0.387869,0.920875]] 2025-10-28T19:34:38.820Z,1761680078.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836643,-0.490227,-0.244347],[0.546127,-0.780869,-0.303299],[-0.042118,-0.387197,0.921034]] 2025-10-28T19:34:39.215Z,1761680079.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825867,-0.504064,-0.252711],[0.562097,-0.771425,-0.298246],[-0.044612,-0.388360,0.920427]] 2025-10-28T19:34:39.622Z,1761680079.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815280,-0.517329,-0.260172],[0.577217,-0.761923,-0.293758],[-0.046262,-0.389671,0.919792]] 2025-10-28T19:34:40.023Z,1761680080.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804247,-0.531216,-0.266453],[0.592423,-0.752178,-0.288553],[-0.047136,-0.389921,0.919641]] 2025-10-28T19:34:40.431Z,1761680080.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792771,-0.545043,-0.272841],[0.607659,-0.741694,-0.283972],[-0.047588,-0.390919,0.919194]] 2025-10-28T19:34:40.830Z,1761680080.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780607,-0.559203,-0.279187],[0.623194,-0.730506,-0.279270],[-0.047779,-0.391987,0.918729]] 2025-10-28T19:34:41.234Z,1761680081.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767968,-0.573635,-0.284899],[0.638692,-0.719170,-0.273620],[-0.047933,-0.392094,0.918676]] 2025-10-28T19:34:41.643Z,1761680081.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754617,-0.587853,-0.291515],[0.654396,-0.706831,-0.268616],[-0.048145,-0.393469,0.918076]] 2025-10-28T19:34:42.043Z,1761680082.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741171,-0.601894,-0.297302],[0.669562,-0.694784,-0.262607],[-0.048498,-0.393699,0.917959]] 2025-10-28T19:34:42.447Z,1761680082.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726452,-0.616971,-0.302677],[0.685413,-0.682378,-0.254105],[-0.049765,-0.392054,0.918595]] 2025-10-28T19:34:42.851Z,1761680082.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711671,-0.631440,-0.307909],[0.700625,-0.670062,-0.245236],[-0.051467,-0.390256,0.919267]] 2025-10-28T19:34:43.254Z,1761680083.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696708,-0.645012,-0.313938],[0.715351,-0.657384,-0.236895],[-0.053578,-0.389623,0.919415]] 2025-10-28T19:34:43.671Z,1761680083.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681898,-0.657489,-0.320505],[0.729289,-0.644776,-0.228914],[-0.056146,-0.389837,0.919171]] 2025-10-28T19:34:44.063Z,1761680084.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667258,-0.668619,-0.328200],[0.742481,-0.632042,-0.221912],[-0.059061,-0.391755,0.918172]] 2025-10-28T19:34:44.467Z,1761680084.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652576,-0.679504,-0.335291],[0.755170,-0.619537,-0.214226],[-0.062158,-0.393000,0.917435]] 2025-10-28T19:34:44.871Z,1761680084.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638214,-0.690442,-0.340548],[0.767159,-0.607382,-0.206286],[-0.064414,-0.392909,0.917319]] 2025-10-28T19:34:45.283Z,1761680085.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623706,-0.701302,-0.345206],[0.778881,-0.594800,-0.198892],[-0.065845,-0.392924,0.917210]] 2025-10-28T19:34:45.682Z,1761680085.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608883,-0.711980,-0.349780],[0.790480,-0.581467,-0.192454],[-0.066362,-0.393675,0.916851]] 2025-10-28T19:34:46.083Z,1761680086.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593575,-0.723121,-0.353221],[0.802033,-0.567751,-0.185477],[-0.066420,-0.393389,0.916970]] 2025-10-28T19:34:46.487Z,1761680086.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577925,-0.734406,-0.355880],[0.813455,-0.553415,-0.178949],[-0.065528,-0.392912,0.917239]] 2025-10-28T19:34:46.892Z,1761680086.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561027,-0.745812,-0.359184],[0.825269,-0.537805,-0.172327],[-0.064648,-0.393104,0.917219]] 2025-10-28T19:34:47.302Z,1761680087.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543632,-0.757014,-0.362484],[0.836895,-0.521729,-0.165545],[-0.063798,-0.393357,0.917170]] 2025-10-28T19:34:47.702Z,1761680087.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524583,-0.768842,-0.365644],[0.848975,-0.504531,-0.157129],[-0.063672,-0.392850,0.917396]] 2025-10-28T19:34:48.102Z,1761680088.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505751,-0.779364,-0.369874],[0.860281,-0.487588,-0.148913],[-0.064289,-0.393508,0.917070]] 2025-10-28T19:34:48.509Z,1761680088.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485990,-0.789930,-0.373931],[0.871502,-0.470121,-0.139540],[-0.065566,-0.393696,0.916899]] 2025-10-28T19:34:48.910Z,1761680088.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465768,-0.801162,-0.375767],[0.882321,-0.452894,-0.128047],[-0.067596,-0.391187,0.917825]] 2025-10-28T19:34:48.959Z,1761680088.959 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:34:48.960Z,1761680088.960 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:34:48.960Z,1761680088.960 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:34:48.960Z,1761680088.960 [marl:UpdateRudder:A] Stopped 2025-10-28T19:34:48.961Z,1761680088.961 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:34:49.314Z,1761680089.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445142,-0.812159,-0.377155],[0.892695,-0.435556,-0.115697],[-0.070308,-0.388186,0.918895]] 2025-10-28T19:34:49.353Z,1761680089.353 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:34:49.353Z,1761680089.353 [marl:UpdateRudder:B] Stopped 2025-10-28T19:34:49.353Z,1761680089.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:34:49.353Z,1761680089.353 [marl:UpdateRudder] Stopped 2025-10-28T19:34:49.353Z,1761680089.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:34:49.722Z,1761680089.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424690,-0.821683,-0.380099],[0.902348,-0.418273,-0.104002],[-0.073528,-0.387150,0.919080]] 2025-10-28T19:34:50.123Z,1761680090.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404585,-0.830349,-0.383185],[0.911269,-0.401250,-0.092666],[-0.076808,-0.386676,0.919012]] 2025-10-28T19:34:50.528Z,1761680090.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385706,-0.837146,-0.387838],[0.919205,-0.384820,-0.083519],[-0.079330,-0.388717,0.917936]] 2025-10-28T19:34:50.931Z,1761680090.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367690,-0.843268,-0.392050],[0.926389,-0.368989,-0.075163],[-0.081280,-0.390828,0.916868]] 2025-10-28T19:34:50.979Z,1761680090.979 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:34:50.979Z,1761680090.979 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:34:50.979Z,1761680090.979 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateCommandMode] Stopped 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:34:50.980Z,1761680090.980 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:34:50.981Z,1761680090.981 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:34:50.981Z,1761680090.981 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:34:50.981Z,1761680090.981 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:34:50.981Z,1761680090.981 [marl:UpdateSpeed] Stopped 2025-10-28T19:34:50.981Z,1761680090.981 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:34:51.334Z,1761680091.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350067,-0.850165,-0.393284],[0.933080,-0.353480,-0.066427],[-0.082545,-0.390219,0.917014]] 2025-10-28T19:34:51.743Z,1761680091.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332912,-0.855882,-0.395773],[0.939300,-0.337932,-0.059311],[-0.082981,-0.391495,0.916431]] 2025-10-28T19:34:52.145Z,1761680092.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316022,-0.860876,-0.398775],[0.945147,-0.322265,-0.053307],[-0.082620,-0.393747,0.915498]] 2025-10-28T19:34:52.550Z,1761680092.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298998,-0.866316,-0.400121],[0.950743,-0.306380,-0.047106],[-0.081781,-0.394497,0.915251]] 2025-10-28T19:34:52.950Z,1761680092.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281686,-0.872035,-0.400260],[0.956092,-0.290256,-0.040486],[-0.080872,-0.394090,0.915507]] 2025-10-28T19:34:53.355Z,1761680093.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263429,-0.877814,-0.400059],[0.961352,-0.273293,-0.033363],[-0.080047,-0.393387,0.915882]] 2025-10-28T19:34:53.773Z,1761680093.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244537,-0.883294,-0.399993],[0.966388,-0.255771,-0.025992],[-0.079347,-0.392904,0.916150]] 2025-10-28T19:34:54.162Z,1761680094.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225138,-0.889392,-0.397863],[0.971130,-0.237890,-0.017745],[-0.078865,-0.390372,0.917273]] 2025-10-28T19:34:54.604Z,1761680094.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204697,-0.894551,-0.397339],[0.975637,-0.219202,-0.009117],[-0.078942,-0.389525,0.917627]] 2025-10-28T19:34:54.970Z,1761680094.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183706,-0.899628,-0.396134],[0.979766,-0.200145,0.000168],[-0.079435,-0.388088,0.918193]] 2025-10-28T19:34:55.375Z,1761680095.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163183,-0.903946,-0.395289],[0.983338,-0.181550,0.009227],[-0.080105,-0.387197,0.918510]] 2025-10-28T19:34:55.793Z,1761680095.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142396,-0.908113,-0.393769],[0.986459,-0.162906,0.018969],[-0.081373,-0.385736,0.919014]] 2025-10-28T19:34:56.182Z,1761680096.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122247,-0.911393,-0.392960],[0.989033,-0.144928,0.028451],[-0.082881,-0.385173,0.919115]] 2025-10-28T19:34:56.626Z,1761680096.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102708,-0.914218,-0.391990],[0.991109,-0.127565,0.037824],[-0.084583,-0.384620,0.919192]] 2025-10-28T19:34:56.993Z,1761680096.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083386,-0.916420,-0.391434],[0.992747,-0.110530,0.047290],[-0.086603,-0.384651,0.918990]] 2025-10-28T19:34:57.394Z,1761680097.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065120,-0.917653,-0.392011],[0.993984,-0.094321,0.055676],[-0.088066,-0.386027,0.918274]] 2025-10-28T19:34:57.800Z,1761680097.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047496,-0.918559,-0.392421],[0.994886,-0.078561,0.063477],[-0.089137,-0.387399,0.917593]] 2025-10-28T19:34:58.203Z,1761680098.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030797,-0.919053,-0.392928],[0.995515,-0.063387,0.070235],[-0.089456,-0.389003,0.916883]] 2025-10-28T19:34:58.641Z,1761680098.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014224,-0.919222,-0.393484],[0.995925,-0.048074,0.076304],[-0.089057,-0.390795,0.916160]] 2025-10-28T19:34:59.010Z,1761680099.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002472,-0.918813,-0.394686],[0.996116,-0.032475,0.081839],[-0.088012,-0.393356,0.915164]] 2025-10-28T19:34:59.415Z,1761680099.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019504,-0.917988,-0.396129],[0.996091,-0.016298,0.086813],[-0.086149,-0.396274,0.914082]] 2025-10-28T19:34:59.826Z,1761680099.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036697,-0.917480,-0.396084],[0.995797,0.000290,0.091588],[-0.083916,-0.397781,0.913635]] 2025-10-28T19:35:00.222Z,1761680100.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055794,-0.917106,-0.394720],[0.995103,0.018772,0.097041],[-0.081587,-0.398202,0.913662]] 2025-10-28T19:35:00.635Z,1761680100.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075954,-0.916259,-0.393320],[0.993913,0.038004,0.103403],[-0.079796,-0.398780,0.913568]] 2025-10-28T19:35:01.030Z,1761680101.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097415,-0.915217,-0.391009],[0.992141,0.058306,0.110706],[-0.078522,-0.398721,0.913704]] 2025-10-28T19:35:01.436Z,1761680101.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119822,-0.913593,-0.388574],[0.989737,0.079226,0.118926],[-0.077865,-0.398836,0.913710]] 2025-10-28T19:35:01.839Z,1761680101.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142909,-0.911767,-0.385042],[0.986644,0.100514,0.128180],[-0.078168,-0.398218,0.913954]] 2025-10-28T19:35:02.258Z,1761680102.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166138,-0.908683,-0.383006],[0.982916,0.121400,0.138342],[-0.079212,-0.399447,0.913328]] 2025-10-28T19:35:02.294Z,1761680102.294 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:35:02.294Z,1761680102.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:35:02.294Z,1761680102.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:35:02.294Z,1761680102.294 [marl:UpdateRudder:A] Stopped 2025-10-28T19:35:02.294Z,1761680102.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:35:02.647Z,1761680102.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188639,-0.905970,-0.378992],[0.978701,0.141606,0.148631],[-0.080987,-0.398957,0.913386]] 2025-10-28T19:35:02.725Z,1761680102.725 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:35:02.725Z,1761680102.725 [marl:UpdateRudder:B] Stopped 2025-10-28T19:35:02.725Z,1761680102.725 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:35:02.725Z,1761680102.725 [marl:UpdateRudder] Stopped 2025-10-28T19:35:02.725Z,1761680102.725 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:35:02.726Z,1761680102.726 [marl:NeedComms] Running Loop=1 2025-10-28T19:35:02.726Z,1761680102.726 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T19:35:02.727Z,1761680102.727 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T19:35:02.727Z,1761680102.727 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T19:35:02.727Z,1761680102.727 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T19:35:02.727Z,1761680102.727 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T19:35:02.728Z,1761680102.728 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T19:35:02.728Z,1761680102.728 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T19:35:02.729Z,1761680102.729 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T19:35:02.729Z,1761680102.729 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T19:35:02.729Z,1761680102.729 [marl:NeedComms:A] Running Loop=1 2025-10-28T19:35:02.731Z,1761680102.731 [marl:NeedComms:A](INFO): last time_fix was: 1761678901.000000 second since 1970/01/01T00:00:00Z 2025-10-28T19:35:02.731Z,1761680102.731 [marl:NeedComms:A] Stopped 2025-10-28T19:35:03.053Z,1761680103.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210173,-0.902668,-0.375524],[0.974123,0.160684,0.158950],[-0.083138,-0.399214,0.913081]] 2025-10-28T19:35:03.454Z,1761680103.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229883,-0.898712,-0.373457],[0.969483,0.177881,0.168704],[-0.085186,-0.400843,0.912178]] 2025-10-28T19:35:03.863Z,1761680103.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247573,-0.894965,-0.371140],[0.964959,0.193386,0.177357],[-0.086955,-0.402044,0.911482]] 2025-10-28T19:35:04.141Z,1761680104.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:35:04.270Z,1761680104.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263824,-0.892146,-0.366705],[0.960449,0.207866,0.185280],[-0.089071,-0.401083,0.911701]] 2025-10-28T19:35:04.293Z,1761680104.293 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:35:04.293Z,1761680104.293 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:35:04.293Z,1761680104.293 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateCommandMode] Stopped 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:35:04.294Z,1761680104.294 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:35:04.295Z,1761680104.295 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:35:04.295Z,1761680104.295 [marl:UpdateSpeed] Stopped 2025-10-28T19:35:04.295Z,1761680104.295 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:35:04.667Z,1761680104.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279426,-0.889385,-0.361822],[0.955580,0.220797,0.195234],[-0.093749,-0.400304,0.911574]] 2025-10-28T19:35:05.071Z,1761680105.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295563,-0.887448,-0.353664],[0.949907,0.233644,0.207572],[-0.101578,-0.397299,0.912050]] 2025-10-28T19:35:05.145Z,1761680105.145 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:35:05.475Z,1761680105.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312055,-0.885255,-0.344884],[0.943537,0.246292,0.221536],[-0.111173,-0.394543,0.912127]] 2025-10-28T19:35:05.889Z,1761680105.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329378,-0.883306,-0.333588],[0.936351,0.260120,0.235762],[-0.121477,-0.390010,0.912762]] 2025-10-28T19:35:06.302Z,1761680106.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348115,-0.881106,-0.320106],[0.928088,0.275782,0.250194],[-0.132168,-0.384183,0.913748]] 2025-10-28T19:35:06.687Z,1761680106.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367678,-0.877580,-0.307677],[0.918941,0.292097,0.265004],[-0.142690,-0.380174,0.913842]] 2025-10-28T19:35:07.090Z,1761680107.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389721,-0.872515,-0.294677],[0.908034,0.310693,0.280971],[-0.153598,-0.377077,0.913357]] 2025-10-28T19:35:07.497Z,1761680107.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413711,-0.865658,-0.281922],[0.895335,0.330746,0.298300],[-0.164981,-0.375825,0.911887]] 2025-10-28T19:35:07.903Z,1761680107.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438892,-0.857935,-0.267061],[0.880880,0.352185,0.316253],[-0.177270,-0.374050,0.910309]] 2025-10-28T19:35:08.302Z,1761680108.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464638,-0.849117,-0.251221],[0.864760,0.374068,0.335056],[-0.190528,-0.372926,0.908089]] 2025-10-28T19:35:08.708Z,1761680108.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490693,-0.838902,-0.235509],[0.846911,0.395645,0.355255],[-0.204846,-0.373776,0.904616]] 2025-10-28T19:35:09.113Z,1761680109.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515666,-0.828322,-0.219023],[0.828031,0.416124,0.375773],[-0.220121,-0.375131,0.900457]] 2025-10-28T19:35:09.514Z,1761680109.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538272,-0.818048,-0.202633],[0.808945,0.434076,0.396467],[-0.236371,-0.377326,0.895407]] 2025-10-28T19:35:09.922Z,1761680109.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557743,-0.809017,-0.185512],[0.790767,0.450013,0.414942],[-0.252212,-0.378128,0.890735]] 2025-10-28T19:35:10.322Z,1761680110.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574369,-0.800887,-0.169354],[0.773739,0.463604,0.431740],[-0.267261,-0.379014,0.885957]] 2025-10-28T19:35:10.740Z,1761680110.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587911,-0.794056,-0.154388],[0.758624,0.474965,0.445979],[-0.280803,-0.379319,0.881627]] 2025-10-28T19:35:11.131Z,1761680111.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599486,-0.787637,-0.142281],[0.744939,0.484058,0.459079],[-0.292715,-0.381202,0.876928]] 2025-10-28T19:35:11.942Z,1761680111.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619439,-0.776044,-0.118537],[0.721094,0.502762,0.476711],[-0.310353,-0.380770,0.871031]] 2025-10-28T19:35:12.344Z,1761680112.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629424,-0.769739,-0.106432],[0.709394,0.513294,0.483001],[-0.317154,-0.379515,0.869127]] 2025-10-28T19:35:12.769Z,1761680112.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640571,-0.762187,-0.093485],[0.696516,0.525443,0.488646],[-0.323319,-0.378126,0.867459]] 2025-10-28T19:35:13.151Z,1761680113.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653163,-0.753123,-0.078633],[0.681903,0.539869,0.493507],[-0.329220,-0.375961,0.866180]] 2025-10-28T19:35:13.972Z,1761680113.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681560,-0.730406,-0.044528],[0.647500,0.573611,0.501711],[-0.340911,-0.370778,0.863888]] 2025-10-28T19:35:14.362Z,1761680114.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696245,-0.717371,-0.024923],[0.628368,0.592344,0.504265],[-0.346982,-0.366753,0.863189]] 2025-10-28T19:35:14.774Z,1761680114.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710528,-0.703655,-0.004497],[0.608404,0.611109,0.506350],[-0.353547,-0.362512,0.862316]] 2025-10-28T19:35:15.171Z,1761680115.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723484,-0.690146,0.016397],[0.588593,0.629088,0.507746],[-0.360734,-0.357695,0.861351]] 2025-10-28T19:35:15.616Z,1761680115.616 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:35:15.616Z,1761680115.616 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:35:15.616Z,1761680115.616 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:35:15.617Z,1761680115.617 [marl:UpdateRudder:A] Stopped 2025-10-28T19:35:15.617Z,1761680115.617 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:35:15.982Z,1761680115.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743090,-0.666738,0.057246],[0.552936,0.659931,0.508677],[-0.376933,-0.346339,0.859052]] 2025-10-28T19:35:16.028Z,1761680116.028 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:35:16.028Z,1761680116.028 [marl:UpdateRudder:B] Stopped 2025-10-28T19:35:16.028Z,1761680116.028 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:35:16.028Z,1761680116.028 [marl:UpdateRudder] Stopped 2025-10-28T19:35:16.028Z,1761680116.028 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:35:16.383Z,1761680116.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749436,-0.657893,0.074310],[0.538498,0.670998,0.509688],[-0.385182,-0.341962,0.857144]] 2025-10-28T19:35:16.793Z,1761680116.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753870,-0.650926,0.089310],[0.526690,0.679977,0.510126],[-0.392783,-0.337530,0.855450]] 2025-10-28T19:35:17.192Z,1761680117.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757169,-0.645386,0.100855],[0.516864,0.686342,0.511651],[-0.399433,-0.335278,0.853253]] 2025-10-28T19:35:17.594Z,1761680117.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759856,-0.640741,0.109864],[0.508808,0.691353,0.512978],[-0.404641,-0.333889,0.851342]] 2025-10-28T19:35:17.637Z,1761680117.637 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:35:17.637Z,1761680117.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:35:17.637Z,1761680117.637 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateCommandMode] Stopped 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:35:17.638Z,1761680117.638 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:35:17.639Z,1761680117.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:35:17.639Z,1761680117.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:35:17.639Z,1761680117.639 [marl:UpdateSpeed] Stopped 2025-10-28T19:35:17.639Z,1761680117.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:35:18.006Z,1761680118.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762511,-0.636456,0.116197],[0.502275,0.695547,0.513745],[-0.407796,-0.333373,0.850038]] 2025-10-28T19:35:18.404Z,1761680118.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766300,-0.631005,0.120905],[0.495502,0.700224,0.513970],[-0.408978,-0.333946,0.849245]] 2025-10-28T19:35:18.434Z,1761680118.434 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:35:18.537Z,1761680118.537 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:35:18.537Z,1761680118.537 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:35:18.789Z,1761680118.789 [DAT](INFO): DAT read: user:191> 2025-10-28T19:35:18.790Z,1761680118.790 [DAT](INFO): DAT read: Tx time:19:35:18.5302 2025-10-28T19:35:18.790Z,1761680118.790 [DAT](INFO): Ping request sent. 2025-10-28T19:35:18.790Z,1761680118.790 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:35:18.790Z,1761680118.790 [DAT](INFO): publishing transmit ping time 2025-10-28T19:35:18.791Z,1761680118.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951 2025-10-28T19:35:18.818Z,1761680118.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771413,-0.623837,0.125497],[0.487686,0.706284,0.513153],[-0.408760,-0.334650,0.849073]] 2025-10-28T19:35:19.041Z,1761680119.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250837 2025-10-28T19:35:19.218Z,1761680119.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778670,-0.613684,0.130635],[0.477091,0.714336,0.511966],[-0.407502,-0.336328,0.849014]] 2025-10-28T19:35:19.293Z,1761680119.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502816 2025-10-28T19:35:19.545Z,1761680119.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737 2025-10-28T19:35:19.614Z,1761680119.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787426,-0.601058,0.136709],[0.463971,0.723950,0.510517],[-0.405820,-0.338566,0.848931]] 2025-10-28T19:35:19.799Z,1761680119.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008905 2025-10-28T19:35:20.031Z,1761680120.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806289,-0.571741,0.151695],[0.433075,0.745254,0.506994],[-0.402920,-0.343088,0.848496]] 2025-10-28T19:35:20.053Z,1761680120.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262845 2025-10-28T19:35:20.305Z,1761680120.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514738 2025-10-28T19:35:20.562Z,1761680120.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771195 2025-10-28T19:35:20.809Z,1761680120.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018697 2025-10-28T19:35:20.833Z,1761680120.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822500,-0.543687,0.167025],[0.402392,0.763789,0.504685],[-0.401963,-0.347894,0.846992]] 2025-10-28T19:35:21.061Z,1761680121.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270744 2025-10-28T19:35:21.241Z,1761680121.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829064,-0.531633,0.173261],[0.389440,0.771357,0.503333],[-0.401234,-0.349821,0.846544]] 2025-10-28T19:35:21.313Z,1761680121.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522994 2025-10-28T19:35:21.565Z,1761680121.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774653 2025-10-28T19:35:21.639Z,1761680121.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834655,-0.521314,0.177713],[0.378592,0.777389,0.502329],[-0.400024,-0.351991,0.846217]] 2025-10-28T19:35:21.817Z,1761680121.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026821 2025-10-28T19:35:22.051Z,1761680122.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839880,-0.511723,0.180945],[0.368431,0.782299,0.502263],[-0.398572,-0.355175,0.845571]] 2025-10-28T19:35:22.069Z,1761680122.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278816 2025-10-28T19:35:22.321Z,1761680122.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530694 2025-10-28T19:35:22.445Z,1761680122.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845112,-0.501782,0.184394],[0.358404,0.787742,0.501008],[-0.396652,-0.357319,0.845571]] 2025-10-28T19:35:22.576Z,1761680122.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784965 2025-10-28T19:35:22.825Z,1761680122.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034686 2025-10-28T19:35:22.846Z,1761680122.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850702,-0.490998,0.187689],[0.347088,0.792847,0.500923],[-0.394761,-0.360992,0.844896]] 2025-10-28T19:35:23.077Z,1761680123.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286580 2025-10-28T19:35:23.250Z,1761680123.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856955,-0.478318,0.191935],[0.333506,0.798570,0.501059],[-0.392939,-0.365373,0.843861]] 2025-10-28T19:35:23.330Z,1761680123.330 [DAT](INFO): DAT read: Rx Time:19:35:22.5622 2025-10-28T19:35:23.330Z,1761680123.330 [DAT](INFO): Rx dataTimestamp_ set to:1761680123.329759 2025-10-28T19:35:23.331Z,1761680123.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540699 2025-10-28T19:35:23.581Z,1761680123.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790629 2025-10-28T19:35:23.656Z,1761680123.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864081,-0.463400,0.196528],[0.317088,0.804355,0.502463],[-0.390920,-0.371852,0.841967]] 2025-10-28T19:35:23.838Z,1761680123.838 [DAT](INFO): DAT read: 19:35:22.5622 LVL= 20464, 15169, 27634, 32467, AGC= 66, IDX= 441, 0.49,-0.209,-0.594,-1.906,-0.330, PHS= 0.223,-0.219,-1.620, RAW= 43.3, 18.9, CAL= 39.1, 22.0, ROT= 110.9, -22.0 2025-10-28T19:35:23.839Z,1761680123.839 [DAT](INFO): got valid direction response: 19:35:22.5622 LVL= 20464, 15169, 27634, 32467, AGC= 66, IDX= 441, 0.49,-0.209,-0.594,-1.906,-0.330, PHS= 0.223,-0.219,-1.620, RAW= 43.3, 18.9, CAL= 39.1, 22.0, ROT= 110.9, -22.0 2025-10-28T19:35:23.840Z,1761680123.840 [DAT](INFO): DAT read: Bearing 266.7, 45.6 (Local) 2025-10-28T19:35:23.841Z,1761680123.841 [DAT](INFO): Local bearing/azimuth received: Bearing 266.7, 45.6 (Local) 2025-10-28T19:35:23.842Z,1761680123.842 [DAT](INFO): DAT read: Range 11 to 20 : 1220.8 m (Round-trip 1627.8 ms) speed 0.1 m/s 2025-10-28T19:35:23.843Z,1761680123.843 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:35:23.844Z,1761680123.844 [DAT](INFO): direction in FSK: [-0.330762,0.866179,0.374607] 2025-10-28T19:35:23.844Z,1761680123.844 [DAT](INFO): publishing direction and range info 2025-10-28T19:35:24.058Z,1761680124.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871711,-0.446153,0.202651],[0.298203,0.811155,0.503093],[-0.388838,-0.378121,0.840137]] 2025-10-28T19:35:24.127Z,1761680124.127 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680128.00. Resetting abort timer. 2025-10-28T19:35:24.462Z,1761680124.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879829,-0.426430,0.209902],[0.276698,0.818626,0.503279],[-0.386444,-0.384719,0.838243]] 2025-10-28T19:35:24.867Z,1761680124.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887616,-0.405825,0.217815],[0.254410,0.826218,0.502633],[-0.383944,-0.390731,0.836610]] 2025-10-28T19:35:25.273Z,1761680125.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894990,-0.384684,0.225858],[0.232366,0.834223,0.500078],[-0.380788,-0.395083,0.836009]] 2025-10-28T19:35:25.674Z,1761680125.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901717,-0.364340,0.232728],[0.211813,0.841592,0.496848],[-0.376883,-0.398722,0.836050]] 2025-10-28T19:35:26.079Z,1761680126.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907501,-0.346068,0.238074],[0.194667,0.848732,0.491690],[-0.372219,-0.399864,0.837593]] 2025-10-28T19:35:26.483Z,1761680126.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912729,-0.329013,0.242233],[0.179634,0.855666,0.485353],[-0.366958,-0.399482,0.840093]] 2025-10-28T19:35:26.888Z,1761680126.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917418,-0.314454,0.243851],[0.167122,0.860618,0.481048],[-0.361130,-0.400569,0.842098]] 2025-10-28T19:35:27.291Z,1761680127.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922165,-0.299695,0.244530],[0.155095,0.865641,0.476036],[-0.354341,-0.401059,0.844745]] 2025-10-28T19:35:27.698Z,1761680127.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926808,-0.284797,0.244782],[0.142430,0.869697,0.472590],[-0.347478,-0.403136,0.846605]] 2025-10-28T19:35:28.102Z,1761680128.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931646,-0.267542,0.245879],[0.127144,0.873914,0.469157],[-0.340396,-0.405826,0.848196]] 2025-10-28T19:35:28.505Z,1761680128.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936520,-0.247108,0.248733],[0.108044,0.878294,0.465753],[-0.333552,-0.409313,0.849239]] 2025-10-28T19:35:28.906Z,1761680128.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941022,-0.224663,0.252990],[0.086540,0.882675,0.461947],[-0.327090,-0.412809,0.850059]] 2025-10-28T19:35:28.961Z,1761680128.961 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:35:28.962Z,1761680128.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:35:28.962Z,1761680128.962 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:35:28.962Z,1761680128.962 [marl:UpdateRudder:A] Stopped 2025-10-28T19:35:28.962Z,1761680128.962 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:35:29.311Z,1761680129.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944853,-0.201195,0.258407],[0.063939,0.887182,0.456967],[-0.321194,-0.415245,0.851121]] 2025-10-28T19:35:29.335Z,1761680129.335 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:35:29.335Z,1761680129.335 [marl:UpdateRudder:B] Stopped 2025-10-28T19:35:29.335Z,1761680129.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:35:29.335Z,1761680129.335 [marl:UpdateRudder] Stopped 2025-10-28T19:35:29.335Z,1761680129.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:35:29.726Z,1761680129.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947927,-0.177276,0.264590],[0.041471,0.892400,0.449336],[-0.315776,-0.414965,0.853282]] 2025-10-28T19:35:30.145Z,1761680130.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950182,-0.155485,0.270147],[0.021822,0.897754,0.439956],[-0.310932,-0.412143,0.856422]] 2025-10-28T19:35:30.546Z,1761680130.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951911,-0.137278,0.273899],[0.006486,0.902828,0.429952],[-0.306307,-0.407500,0.860302]] 2025-10-28T19:35:30.947Z,1761680130.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953523,-0.122055,0.275494],[-0.005807,0.906675,0.421791],[-0.301265,-0.403787,0.863826]] 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode] Stopped 2025-10-28T19:35:30.995Z,1761680130.995 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:35:30.996Z,1761680130.996 [marl:UpdateSpeed] Stopped 2025-10-28T19:35:30.997Z,1761680130.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:35:31.350Z,1761680131.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955102,-0.106952,0.276299],[-0.018190,0.909645,0.414989],[-0.295718,-0.401383,0.866858]] 2025-10-28T19:35:31.759Z,1761680131.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956633,-0.092330,0.276277],[-0.031110,0.910632,0.412046],[-0.289631,-0.402772,0.868268]] 2025-10-28T19:35:32.164Z,1761680132.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957944,-0.077685,0.276239],[-0.044907,0.910211,0.411702],[-0.283419,-0.406793,0.868443]] 2025-10-28T19:35:32.590Z,1761680132.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958906,-0.063515,0.276523],[-0.059073,0.908568,0.413540],[-0.277506,-0.412881,0.867479]] 2025-10-28T19:35:32.966Z,1761680132.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959326,-0.048750,0.278060],[-0.074039,0.907048,0.414466],[-0.272419,-0.418195,0.866545]] 2025-10-28T19:35:33.371Z,1761680133.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958771,-0.029680,0.282624],[-0.093805,0.905733,0.413338],[-0.268250,-0.422808,0.865607]] 2025-10-28T19:35:33.783Z,1761680133.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956764,-0.005735,0.290809],[-0.118540,0.905320,0.407853],[-0.265615,-0.424691,0.865498]] 2025-10-28T19:35:34.179Z,1761680134.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953464,0.020312,0.300823],[-0.144287,0.906804,0.396092],[-0.264742,-0.421064,0.867535]] 2025-10-28T19:35:34.632Z,1761680134.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949082,0.046529,0.311573],[-0.169305,0.909395,0.379915],[-0.265666,-0.413322,0.870969]] 2025-10-28T19:35:34.986Z,1761680134.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943936,0.073095,0.321936],[-0.193225,0.913020,0.359248],[-0.267675,-0.401313,0.875956]] 2025-10-28T19:35:35.276Z,1761680135.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:35:35.390Z,1761680135.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938278,0.099504,0.331261],[-0.216171,0.916336,0.337043],[-0.270009,-0.387849,0.881288]] 2025-10-28T19:35:35.797Z,1761680135.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932441,0.126022,0.338634],[-0.238894,0.918151,0.316115],[-0.271080,-0.375656,0.886227]] 2025-10-28T19:35:36.210Z,1761680136.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926743,0.150555,0.344211],[-0.260455,0.917753,0.299822],[-0.270761,-0.367509,0.889733]] 2025-10-28T19:35:36.281Z,1761680136.281 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:35:36.628Z,1761680136.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922477,0.168428,0.347374],[-0.275363,0.917726,0.286276],[-0.270577,-0.359737,0.892960]] 2025-10-28T19:35:37.007Z,1761680137.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919072,0.180853,0.350141],[-0.286229,0.917055,0.277640],[-0.270886,-0.355391,0.894605]] 2025-10-28T19:35:37.411Z,1761680137.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915339,0.191725,0.354113],[-0.297354,0.914809,0.273322],[-0.271543,-0.355479,0.894370]] 2025-10-28T19:35:37.814Z,1761680137.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910569,0.202509,0.360354],[-0.309982,0.911244,0.271192],[-0.273451,-0.358642,0.892525]] 2025-10-28T19:35:38.223Z,1761680138.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903463,0.215912,0.370320],[-0.327258,0.905380,0.270534],[-0.276869,-0.365607,0.888637]] 2025-10-28T19:35:38.634Z,1761680138.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894064,0.233159,0.382473],[-0.349010,0.897825,0.268520],[-0.280786,-0.373561,0.884088]] 2025-10-28T19:35:39.027Z,1761680139.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883557,0.252056,0.394709],[-0.371509,0.890390,0.263033],[-0.285146,-0.379043,0.880351]] 2025-10-28T19:35:39.431Z,1761680139.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872621,0.272079,0.405594],[-0.393326,0.883801,0.253358],[-0.289531,-0.380616,0.878239]] 2025-10-28T19:35:39.834Z,1761680139.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862439,0.291214,0.413997],[-0.412567,0.878289,0.241653],[-0.293237,-0.379213,0.877616]] 2025-10-28T19:35:40.239Z,1761680140.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854497,0.306999,0.419031],[-0.426704,0.874872,0.229177],[-0.296241,-0.374633,0.878573]] 2025-10-28T19:35:40.642Z,1761680140.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847848,0.319702,0.423018],[-0.437959,0.871964,0.218795],[-0.298907,-0.370770,0.879309]] 2025-10-28T19:35:41.046Z,1761680141.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841344,0.331182,0.427152],[-0.448669,0.868610,0.210269],[-0.301391,-0.368559,0.879391]] 2025-10-28T19:35:41.452Z,1761680141.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834711,0.341372,0.432114],[-0.459054,0.864769,0.203578],[-0.304183,-0.368292,0.878541]] 2025-10-28T19:35:41.854Z,1761680141.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828080,0.349683,0.438184],[-0.468723,0.860643,0.198976],[-0.307542,-0.370155,0.876586]] 2025-10-28T19:35:42.260Z,1761680142.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821012,0.358824,0.444054],[-0.479015,0.856138,0.193838],[-0.310618,-0.371852,0.874782]] 2025-10-28T19:35:42.294Z,1761680142.294 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:35:42.294Z,1761680142.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:35:42.294Z,1761680142.294 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:35:42.295Z,1761680142.295 [marl:UpdateRudder:A] Stopped 2025-10-28T19:35:42.295Z,1761680142.295 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:35:42.666Z,1761680142.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813257,0.367720,0.450992],[-0.490169,0.850584,0.190373],[-0.313603,-0.375884,0.871989]] 2025-10-28T19:35:42.755Z,1761680142.755 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:35:42.755Z,1761680142.755 [marl:UpdateRudder:B] Stopped 2025-10-28T19:35:42.755Z,1761680142.755 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:35:42.755Z,1761680142.755 [marl:UpdateRudder] Stopped 2025-10-28T19:35:42.756Z,1761680142.756 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:35:43.068Z,1761680143.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803896,0.377556,0.459568],[-0.503232,0.843633,0.187192],[-0.317031,-0.381752,0.868192]] 2025-10-28T19:35:43.470Z,1761680143.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791396,0.390949,0.469949],[-0.519970,0.834741,0.181213],[-0.321441,-0.387770,0.863892]] 2025-10-28T19:35:43.874Z,1761680143.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776023,0.406738,0.482029],[-0.538715,0.824905,0.171224],[-0.327985,-0.392550,0.859261]] 2025-10-28T19:35:44.279Z,1761680144.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760068,0.424953,0.491641],[-0.555489,0.817479,0.152184],[-0.337235,-0.388772,0.857397]] 2025-10-28T19:35:44.322Z,1761680144.322 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:35:44.322Z,1761680144.322 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:35:44.322Z,1761680144.322 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateCommandMode] Stopped 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:35:44.323Z,1761680144.323 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:35:44.324Z,1761680144.324 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:35:44.328Z,1761680144.328 [marl:UpdateSpeed] Stopped 2025-10-28T19:35:44.328Z,1761680144.328 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:35:44.706Z,1761680144.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744596,0.446249,0.496425],[-0.569980,0.812110,0.124897],[-0.347417,-0.375951,0.859048]] 2025-10-28T19:35:45.086Z,1761680145.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729940,0.469126,0.497099],[-0.583578,0.806371,0.095931],[-0.355843,-0.360120,0.862374]] 2025-10-28T19:35:45.499Z,1761680145.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715534,0.493976,0.493963],[-0.598503,0.798163,0.068782],[-0.360286,-0.344854,0.866758]] 2025-10-28T19:35:45.899Z,1761680145.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700353,0.517933,0.491174],[-0.615977,0.786223,0.049250],[-0.360664,-0.337045,0.869668]] 2025-10-28T19:35:46.327Z,1761680146.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684592,0.538607,0.491159],[-0.634046,0.772424,0.036708],[-0.359612,-0.336547,0.870296]] 2025-10-28T19:35:46.715Z,1761680146.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670492,0.552016,0.495701],[-0.648358,0.760752,0.029799],[-0.360656,-0.341372,0.867982]] 2025-10-28T19:35:47.110Z,1761680147.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655863,0.562522,0.503401],[-0.661539,0.749516,0.024354],[-0.363607,-0.348992,0.863710]] 2025-10-28T19:35:47.514Z,1761680147.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639766,0.573166,0.512035],[-0.674785,0.737813,0.017216],[-0.367919,-0.356528,0.858792]] 2025-10-28T19:35:48.324Z,1761680148.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608260,0.596747,0.523367],[-0.697931,0.716144,-0.005415],[-0.378038,-0.361981,0.852090]] 2025-10-28T19:35:48.726Z,1761680148.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595427,0.608039,0.525123],[-0.706203,0.707760,-0.018763],[-0.383070,-0.359672,0.850819]] 2025-10-28T19:35:49.131Z,1761680149.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584414,0.618515,0.525262],[-0.713269,0.700208,-0.030927],[-0.386921,-0.356579,0.850379]] 2025-10-28T19:35:49.535Z,1761680149.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573777,0.628467,0.525175],[-0.721198,0.691592,-0.039676],[-0.388142,-0.355990,0.850069]] 2025-10-28T19:35:49.940Z,1761680149.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563069,0.637058,0.526413],[-0.730944,0.681117,-0.042435],[-0.385583,-0.360885,0.849169]] 2025-10-28T19:35:50.343Z,1761680150.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551753,0.643129,0.530994],[-0.742343,0.668896,-0.038787],[-0.380125,-0.372779,0.846488]] 2025-10-28T19:35:50.747Z,1761680150.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539331,0.647226,0.538722],[-0.754378,0.655638,-0.032459],[-0.374215,-0.388893,0.841858]] 2025-10-28T19:35:51.151Z,1761680151.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526323,0.649400,0.548875],[-0.765175,0.643242,-0.027315],[-0.370798,-0.405609,0.835458]] 2025-10-28T19:35:51.558Z,1761680151.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511974,0.652648,0.558510],[-0.774521,0.631909,-0.028432],[-0.371484,-0.418021,0.829010]] 2025-10-28T19:35:51.958Z,1761680151.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495113,0.659905,0.565145],[-0.783077,0.620716,-0.038755],[-0.376369,-0.423364,0.824081]] 2025-10-28T19:35:52.363Z,1761680152.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473881,0.674861,0.565685],[-0.792619,0.606769,-0.059888],[-0.383656,-0.419993,0.822444]] 2025-10-28T19:35:52.782Z,1761680152.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451645,0.696391,0.557723],[-0.801157,0.591651,-0.089976],[-0.392636,-0.406187,0.825136]] 2025-10-28T19:35:53.181Z,1761680153.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429995,0.722028,0.542015],[-0.808910,0.574733,-0.123881],[-0.400959,-0.385173,0.831188]] 2025-10-28T19:35:53.574Z,1761680153.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409843,0.748643,0.521117],[-0.817708,0.554707,-0.153795],[-0.404204,-0.363090,0.839514]] 2025-10-28T19:35:53.979Z,1761680153.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393526,0.769307,0.503293],[-0.827339,0.535055,-0.170959],[-0.400809,-0.349117,0.847036]] 2025-10-28T19:35:54.382Z,1761680154.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382695,0.780784,0.493883],[-0.835804,0.520380,-0.175034],[-0.393670,-0.345805,0.851729]] 2025-10-28T19:35:54.804Z,1761680154.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375240,0.784225,0.494151],[-0.842497,0.510851,-0.170968],[-0.386515,-0.352167,0.852400]] 2025-10-28T19:35:55.196Z,1761680155.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365206,0.785467,0.499666],[-0.850409,0.499847,-0.164188],[-0.378721,-0.364958,0.850515]] 2025-10-28T19:35:55.594Z,1761680155.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354036,0.784523,0.509100],[-0.857531,0.489550,-0.158055],[-0.373227,-0.380612,0.846071]] 2025-10-28T19:35:55.634Z,1761680155.634 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:35:55.634Z,1761680155.634 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:35:55.634Z,1761680155.634 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:35:55.635Z,1761680155.635 [marl:UpdateRudder:A] Stopped 2025-10-28T19:35:55.635Z,1761680155.635 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:35:56.052Z,1761680156.052 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:35:56.052Z,1761680156.052 [marl:UpdateRudder:B] Stopped 2025-10-28T19:35:56.052Z,1761680156.052 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:35:56.052Z,1761680156.052 [marl:UpdateRudder] Stopped 2025-10-28T19:35:56.052Z,1761680156.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:35:56.405Z,1761680156.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319768,0.791988,0.520099],[-0.871596,0.461143,-0.166337],[-0.371577,-0.400127,0.837753]] 2025-10-28T19:35:56.810Z,1761680156.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295960,0.805401,0.513553],[-0.879133,0.439923,-0.183284],[-0.373541,-0.397237,0.838254]] 2025-10-28T19:35:57.615Z,1761680157.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247953,0.832837,0.494875],[-0.892452,0.395102,-0.217771],[-0.376894,-0.387655,0.841234]] 2025-10-28T19:35:57.639Z,1761680157.639 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:35:57.639Z,1761680157.639 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:35:57.639Z,1761680157.639 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:35:57.639Z,1761680157.639 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:35:57.639Z,1761680157.639 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateCommandMode] Stopped 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:35:57.640Z,1761680157.640 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:35:57.641Z,1761680157.641 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:35:57.641Z,1761680157.641 [marl:UpdateSpeed] Stopped 2025-10-28T19:35:57.641Z,1761680157.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:35:58.020Z,1761680158.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230516,0.839978,0.491222],[-0.899914,0.376062,-0.220754],[-0.370158,-0.391170,0.842596]] 2025-10-28T19:35:58.422Z,1761680158.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221562,0.842064,0.491770],[-0.906497,0.363725,-0.214398],[-0.359406,-0.398286,0.843917]] 2025-10-28T19:35:58.831Z,1761680158.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219421,0.841754,0.493259],[-0.909856,0.359042,-0.207971],[-0.352161,-0.403161,0.844656]] 2025-10-28T19:35:59.230Z,1761680159.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209301,0.843666,0.494389],[-0.914691,0.347675,-0.206064],[-0.345736,-0.409084,0.844463]] 2025-10-28T19:35:59.635Z,1761680159.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185793,0.847030,0.498018],[-0.922660,0.324692,-0.208025],[-0.337905,-0.420851,0.841846]] 2025-10-28T19:36:00.039Z,1761680160.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155670,0.849799,0.503595],[-0.928336,0.300084,-0.219415],[-0.337579,-0.433349,0.835613]] 2025-10-28T19:36:00.442Z,1761680160.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133439,0.855527,0.500267],[-0.926568,0.286809,-0.243335],[-0.351661,-0.431061,0.830976]] 2025-10-28T19:36:00.850Z,1761680160.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116618,0.867449,0.483666],[-0.920287,0.277500,-0.275801],[-0.373460,-0.412949,0.830663]] 2025-10-28T19:36:01.252Z,1761680161.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093028,0.887776,0.450778],[-0.919646,0.250120,-0.302805],[-0.381572,-0.386387,0.839707]] 2025-10-28T19:36:02.059Z,1761680162.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031577,0.905328,0.423537],[-0.935470,0.176000,-0.306463],[-0.351992,-0.386529,0.852465]] 2025-10-28T19:36:02.102Z,1761680162.102 [marl:NeedComms:C] Running Loop=1 2025-10-28T19:36:02.463Z,1761680162.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006524,0.900360,0.435098],[-0.941390,0.152276,-0.300994],[-0.337258,-0.407633,0.848582]] 2025-10-28T19:36:02.664Z,1761680162.664 [Radio_Surface](INFO): Powering up 2025-10-28T19:36:02.936Z,1761680162.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015969,0.867018,0.498021],[-0.961204,0.123866,-0.246462],[-0.275375,-0.482635,0.831404]] 2025-10-28T19:36:03.339Z,1761680163.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025713,0.857987,0.513028],[-0.972667,0.097001,-0.210974],[-0.230777,-0.504430,0.832041]] 2025-10-28T19:36:03.754Z,1761680163.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028203,0.867489,0.496657],[-0.980738,0.072058,-0.181553],[-0.193283,-0.492210,0.848747]] 2025-10-28T19:36:04.170Z,1761680164.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029265,0.872604,0.487550],[-0.987624,0.049948,-0.148678],[-0.154089,-0.485867,0.860343]] 2025-10-28T19:36:04.573Z,1761680164.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072754,0.899264,0.431313],[-0.989333,-0.010349,-0.145302],[-0.126201,-0.437284,0.890425]] 2025-10-28T19:36:04.963Z,1761680164.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101108,0.940333,0.324887],[-0.989926,-0.062556,-0.127018],[-0.099115,-0.334457,0.937185]] 2025-10-28T19:36:05.367Z,1761680165.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097384,0.970895,0.218814],[-0.993788,-0.082963,-0.074174],[-0.053861,-0.224678,0.972943]] 2025-10-28T19:36:05.779Z,1761680165.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075843,0.989099,0.126219],[-0.996519,-0.070795,-0.044015],[-0.034599,-0.129118,0.991026]] 2025-10-28T19:36:06.179Z,1761680166.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102095,0.991032,0.086213],[-0.994382,-0.099235,-0.036838],[-0.027952,-0.089490,0.995595]] 2025-10-28T19:36:06.408Z,1761680166.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:36:06.615Z,1761680166.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140670,0.986740,0.080966],[-0.989892,-0.138683,-0.029691],[-0.018069,-0.084324,0.996275]] 2025-10-28T19:36:06.983Z,1761680166.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153965,0.981965,0.109726],[-0.987574,-0.149395,-0.048774],[-0.031502,-0.115872,0.992764]] 2025-10-28T19:36:07.395Z,1761680167.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169656,0.971061,0.168098],[-0.984627,-0.159831,-0.070451],[-0.041545,-0.177466,0.983250]] 2025-10-28T19:36:07.412Z,1761680167.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:36:07.796Z,1761680167.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196523,0.957910,0.209252],[-0.980493,-0.191248,-0.045359],[-0.003431,-0.214085,0.976809]] 2025-10-28T19:36:07.916Z,1761680167.916 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T19:36:07.917Z,1761680167.917 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T19:36:08.195Z,1761680168.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212320,0.950586,0.226508],[-0.975634,-0.219325,0.005917],[0.055303,-0.219732,0.973991]] 2025-10-28T19:36:08.629Z,1761680168.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221327,0.952972,0.207024],[-0.972866,-0.230441,0.020685],[0.067419,-0.196829,0.978117]] 2025-10-28T19:36:09.003Z,1761680169.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229457,0.960101,0.159858],[-0.972698,-0.232062,-0.002434],[0.034760,-0.156052,0.987137]] 2025-10-28T19:36:09.410Z,1761680169.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256860,0.958086,0.126863],[-0.966289,-0.256983,-0.015679],[0.017580,-0.126613,0.991796]] 2025-10-28T19:36:09.459Z,1761680169.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:36:09.459Z,1761680169.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:36:09.459Z,1761680169.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:36:09.459Z,1761680169.459 [marl:UpdateRudder:A] Stopped 2025-10-28T19:36:09.459Z,1761680169.459 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:36:09.814Z,1761680169.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276965,0.957271,0.083206],[-0.960158,-0.279074,0.014658],[0.037252,-0.075831,0.996425]] 2025-10-28T19:36:09.837Z,1761680169.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:36:09.837Z,1761680169.837 [marl:UpdateRudder:B] Stopped 2025-10-28T19:36:09.837Z,1761680169.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:36:09.837Z,1761680169.837 [marl:UpdateRudder] Stopped 2025-10-28T19:36:09.837Z,1761680169.837 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:36:10.216Z,1761680170.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290475,0.955650,0.048556],[-0.956144,-0.291870,0.024498],[0.037583,-0.039310,0.998520]] 2025-10-28T19:36:10.634Z,1761680170.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328956,0.942508,0.058881],[-0.943406,-0.330770,0.024017],[0.042112,-0.047648,0.997976]] 2025-10-28T19:36:11.023Z,1761680171.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348194,0.930203,0.116121],[-0.935830,-0.352142,0.014752],[0.054613,-0.103533,0.993126]] 2025-10-28T19:36:11.430Z,1761680171.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351832,0.921176,0.166282],[-0.931788,-0.361613,0.031733],[0.089362,-0.143775,0.985567]] 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode] Stopped 2025-10-28T19:36:11.454Z,1761680171.454 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed] Stopped 2025-10-28T19:36:11.455Z,1761680171.455 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:36:11.830Z,1761680171.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347395,0.921262,0.174908],[-0.929614,-0.362819,0.064651],[0.123021,-0.140138,0.982460]] 2025-10-28T19:36:12.234Z,1761680172.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371791,0.917729,0.139803],[-0.920429,-0.384018,0.073080],[0.120755,-0.101508,0.987479]] 2025-10-28T19:36:12.645Z,1761680172.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381288,0.922455,0.060800],[-0.922976,-0.383574,0.031409],[0.052295,-0.044141,0.997656]] 2025-10-28T19:36:13.042Z,1761680173.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399811,0.916169,0.028027],[-0.915864,-0.398081,-0.052199],[-0.036666,-0.046538,0.998243]] 2025-10-28T19:36:13.450Z,1761680173.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424250,0.898579,0.112110],[-0.905537,-0.421509,-0.048302],[0.003852,-0.122012,0.992521]] 2025-10-28T19:36:13.850Z,1761680173.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448046,0.875966,0.178713],[-0.890910,-0.454114,-0.007724],[0.074390,-0.162678,0.983871]] 2025-10-28T19:36:14.256Z,1761680174.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461652,0.871838,0.163633],[-0.885421,-0.464101,-0.025277],[0.053905,-0.156553,0.986197]] 2025-10-28T19:36:14.666Z,1761680174.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469068,0.878617,0.089487],[-0.882176,-0.461345,-0.094477],[-0.041724,-0.123260,0.991497]] 2025-10-28T19:36:15.062Z,1761680175.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494875,0.865753,0.074639],[-0.866882,-0.485921,-0.111342],[-0.060126,-0.119803,0.990975]] 2025-10-28T19:36:15.466Z,1761680175.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506618,0.851397,0.135874],[-0.861478,-0.506200,-0.040207],[0.034547,-0.137422,0.989910]] 2025-10-28T19:36:15.872Z,1761680175.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519059,0.839351,0.161453],[-0.847213,-0.530238,0.032838],[0.113171,-0.119740,0.986334]] 2025-10-28T19:36:16.274Z,1761680176.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534843,0.834134,0.134768],[-0.838348,-0.543772,0.038541],[0.105431,-0.092369,0.990127]] 2025-10-28T19:36:16.678Z,1761680176.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555921,0.826800,0.085753],[-0.830615,-0.556526,-0.018902],[0.032096,-0.081735,0.996137]] 2025-10-28T19:36:16.691Z,1761680176.691 [NAL9602](INFO): SBD MO Status=0, MOMSN=3330, MT Status=0, MTMSN=0 2025-10-28T19:36:16.691Z,1761680176.691 [NAL9602](INFO): No messages in MT queue 2025-10-28T19:36:17.083Z,1761680177.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574675,0.814211,0.082513],[-0.818381,-0.571633,-0.059055],[-0.000916,-0.101464,0.994839]] 2025-10-28T19:36:17.493Z,1761680177.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575078,0.808613,0.124219],[-0.816645,-0.576447,-0.028275],[0.048742,-0.117703,0.991852]] 2025-10-28T19:36:17.891Z,1761680177.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568476,0.811408,0.135836],[-0.816747,-0.576443,0.025246],[0.098787,-0.096592,0.990410]] 2025-10-28T19:36:17.903Z,1761680177.903 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193617.00,A,3645.81332,N,12151.68548,W,0.914,228.00,281025,,,A*71 2025-10-28T19:36:17.906Z,1761680177.906 [NAL9602](INFO): GPS fix at 20251028T193617: (36.763555, -121.861425) 2025-10-28T19:36:17.919Z,1761680177.919 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 1040.0 m. Residual distance 36.1 m at bearing 40.3 degrees. Fix at (36.7636, -121.8614) with 175.5 m made good. 2025-10-28T19:36:17.930Z,1761680177.930 [marl:NeedComms:C] Stopped 2025-10-28T19:36:17.930Z,1761680177.930 [marl:NeedComms:D] Running Loop=1 2025-10-28T19:36:17.931Z,1761680177.931 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761680128.00. Resetting abort timer. 2025-10-28T19:36:18.294Z,1761680178.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600267,0.790542,0.121340],[-0.793680,-0.607511,0.031667],[0.098749,-0.077296,0.992106]] 2025-10-28T19:36:18.698Z,1761680178.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620090,0.777594,0.104092],[-0.782385,-0.622733,-0.008797],[0.057981,-0.086895,0.994529]] 2025-10-28T19:36:18.779Z,1761680178.779 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:36:18.825Z,1761680178.825 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:36:18.825Z,1761680178.825 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:36:19.077Z,1761680179.077 [DAT](INFO): DAT read: user:192> 2025-10-28T19:36:19.078Z,1761680179.078 [DAT](INFO): DAT read: Tx time:19:36:18.8300 2025-10-28T19:36:19.078Z,1761680179.078 [DAT](INFO): Ping request sent. 2025-10-28T19:36:19.078Z,1761680179.078 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:36:19.078Z,1761680179.078 [DAT](INFO): publishing transmit ping time 2025-10-28T19:36:19.079Z,1761680179.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T19:36:19.120Z,1761680179.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619861,0.780805,0.078209],[-0.784689,-0.617510,-0.054254],[0.005933,-0.094999,0.995460]] 2025-10-28T19:36:19.329Z,1761680179.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250906 2025-10-28T19:36:19.506Z,1761680179.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624727,0.770972,0.123767],[-0.780524,-0.621107,-0.070767],[0.022313,-0.140813,0.989785]] 2025-10-28T19:36:19.581Z,1761680179.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503067 2025-10-28T19:36:19.833Z,1761680179.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754892 2025-10-28T19:36:19.912Z,1761680179.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637713,0.752289,0.165478],[-0.768407,-0.636262,-0.068710],[0.053598,-0.170972,0.983817]] 2025-10-28T19:36:20.085Z,1761680180.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006908 2025-10-28T19:36:20.314Z,1761680180.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643648,0.750865,0.148050],[-0.763671,-0.642828,-0.059825],[0.050250,-0.151568,0.987169]] 2025-10-28T19:36:20.337Z,1761680180.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003 2025-10-28T19:36:20.591Z,1761680180.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513045 2025-10-28T19:36:20.719Z,1761680180.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650331,0.751772,0.109130],[-0.758404,-0.650758,-0.036579],[0.043518,-0.106553,0.993354]] 2025-10-28T19:36:20.841Z,1761680180.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763222 2025-10-28T19:36:21.093Z,1761680181.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932 2025-10-28T19:36:21.138Z,1761680181.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670044,0.738936,0.070812],[-0.741527,-0.670687,-0.017808],[0.034334,-0.064441,0.997331]] 2025-10-28T19:36:21.345Z,1761680181.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962 2025-10-28T19:36:21.527Z,1761680181.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679920,0.730899,0.059126],[-0.733242,-0.678550,-0.043890],[0.008040,-0.073196,0.997285]] 2025-10-28T19:36:21.597Z,1761680181.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519038 2025-10-28T19:36:21.849Z,1761680181.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984 2025-10-28T19:36:21.931Z,1761680181.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688024,0.718271,0.103487],[-0.725668,-0.682021,-0.090847],[0.005328,-0.137602,0.990473]] 2025-10-28T19:36:22.101Z,1761680182.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023016 2025-10-28T19:36:22.353Z,1761680182.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275041 2025-10-28T19:36:22.422Z,1761680182.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707568,0.690500,0.150188],[-0.706328,-0.697454,-0.121070],[0.021150,-0.191747,0.981216]] 2025-10-28T19:36:22.608Z,1761680182.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529362 2025-10-28T19:36:22.826Z,1761680182.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737759,0.652529,0.172965],[-0.673794,-0.727501,-0.129398],[0.041396,-0.212007,0.976391]] 2025-10-28T19:36:22.857Z,1761680182.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778831 2025-10-28T19:36:23.109Z,1761680183.109 [DAT](INFO): DAT read: Rx Time:19:36:22.5179 2025-10-28T19:36:23.110Z,1761680183.110 [DAT](INFO): Rx dataTimestamp_ set to:1761680183.109226 2025-10-28T19:36:23.110Z,1761680183.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032091 2025-10-28T19:36:23.361Z,1761680183.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282933 2025-10-28T19:36:23.614Z,1761680183.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535668 2025-10-28T19:36:23.865Z,1761680183.865 [DAT](INFO): DAT read: Bearing 102, -17 (Remote) 2025-10-28T19:36:23.866Z,1761680183.866 [DAT](INFO): Remote Bearing received:Bearing 102, -17 (Remote) 2025-10-28T19:36:23.867Z,1761680183.867 [DAT](INFO): DAT read: Range 11 to 20 : 1244.0 m (Round-trip 1658.7 ms) speed 1.0 m/s 2025-10-28T19:36:23.868Z,1761680183.868 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T19:36:24.956Z,1761680184.956 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:36:24.956Z,1761680184.956 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:36:24.956Z,1761680184.956 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:36:24.956Z,1761680184.956 [marl:UpdateRudder:A] Stopped 2025-10-28T19:36:24.956Z,1761680184.956 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:36:24.959Z,1761680184.959 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680128.00. Resetting abort timer. 2025-10-28T19:36:25.054Z,1761680185.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732847,0.679963,0.024196],[-0.679560,-0.733246,0.023424],[0.033669,0.000723,0.999433]] 2025-10-28T19:36:25.092Z,1761680185.092 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:36:25.092Z,1761680185.092 [marl:UpdateRudder:B] Stopped 2025-10-28T19:36:25.092Z,1761680185.092 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:36:25.092Z,1761680185.092 [marl:UpdateRudder] Stopped 2025-10-28T19:36:25.092Z,1761680185.092 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:36:25.433Z,1761680185.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740525,0.667982,0.073633],[-0.672018,-0.736672,-0.075544],[0.003782,-0.105425,0.994420]] 2025-10-28T19:36:25.842Z,1761680185.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757003,0.643436,0.113742],[-0.652927,-0.751598,-0.093742],[0.025172,-0.145228,0.989078]] 2025-10-28T19:36:26.238Z,1761680186.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760590,0.644291,0.079954],[-0.649130,-0.752495,-0.111267],[-0.011523,-0.136529,0.990569]] 2025-10-28T19:36:26.649Z,1761680186.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751528,0.657335,0.055826],[-0.658294,-0.741708,-0.128529],[-0.043080,-0.133343,0.990133]] 2025-10-28T19:36:26.702Z,1761680186.702 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:36:26.702Z,1761680186.702 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:36:26.702Z,1761680186.702 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateCommandMode] Stopped 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:36:26.703Z,1761680186.703 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:36:26.704Z,1761680186.704 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:36:26.704Z,1761680186.704 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:36:26.704Z,1761680186.704 [marl:UpdateSpeed] Stopped 2025-10-28T19:36:26.704Z,1761680186.704 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:36:27.050Z,1761680187.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758237,0.643848,0.102644],[-0.651976,-0.749244,-0.116450],[0.001929,-0.155218,0.987878]] 2025-10-28T19:36:27.449Z,1761680187.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768394,0.629703,0.114213],[-0.639107,-0.764334,-0.085654],[0.033360,-0.138810,0.989757]] 2025-10-28T19:36:27.856Z,1761680187.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772340,0.624399,0.116696],[-0.634342,-0.767759,-0.090318],[0.033200,-0.143781,0.989052]] 2025-10-28T19:36:28.258Z,1761680188.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807185,0.573727,0.138885],[-0.589315,-0.796795,-0.133516],[0.034061,-0.189619,0.981267]] 2025-10-28T19:36:28.662Z,1761680188.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813243,0.566402,0.133510],[-0.581362,-0.800870,-0.143614],[0.025581,-0.194411,0.980587]] 2025-10-28T19:36:29.068Z,1761680189.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790997,0.599752,0.120915],[-0.611540,-0.781018,-0.126610],[0.018503,-0.174093,0.984555]] 2025-10-28T19:36:29.468Z,1761680189.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803660,0.584562,0.111434],[-0.594887,-0.794046,-0.124903],[0.015470,-0.166670,0.985891]] 2025-10-28T19:36:29.473Z,1761680189.473 [NAL9602](INFO): SBD MO Status=1, MOMSN=3331, MT Status=0, MTMSN=0 2025-10-28T19:36:29.520Z,1761680189.520 [NAL9602](INFO): Sent 95 bytes from file Logs/20251028T162422/Courier0033.lzma 2025-10-28T19:36:29.520Z,1761680189.520 [NAL9602](INFO): Packets left to send: 0 2025-10-28T19:36:29.879Z,1761680189.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825628,0.554003,0.106858],[-0.563413,-0.819626,-0.103819],[0.030068,-0.145921,0.988839]] 2025-10-28T19:36:30.654Z,1761680190.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841448,0.537674,0.053589],[-0.540317,-0.836376,-0.092373],[-0.004846,-0.106682,0.994281]] 2025-10-28T19:36:31.032Z,1761680191.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834825,0.550434,0.009458],[-0.548226,-0.829665,-0.105377],[-0.050156,-0.093156,0.994387]] 2025-10-28T19:36:33.224Z,1761680193.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852618,0.522325,0.014814],[-0.519522,-0.844322,-0.131216],[-0.056030,-0.119573,0.991243]] 2025-10-28T19:36:33.611Z,1761680193.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866625,0.493138,0.076004],[-0.498673,-0.850850,-0.165468],[-0.016930,-0.181300,0.983282]] 2025-10-28T19:36:34.006Z,1761680194.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869719,0.469694,0.151578],[-0.489356,-0.860596,-0.141085],[0.064180,-0.196880,0.978325]] 2025-10-28T19:36:34.413Z,1761680194.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856171,0.493403,0.153379],[-0.508165,-0.857794,-0.077180],[0.093486,-0.144021,0.985149]] 2025-10-28T19:36:34.814Z,1761680194.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868045,0.488265,0.089972],[-0.492904,-0.869242,-0.038258],[0.059528,-0.077557,0.995209]] 2025-10-28T19:36:35.632Z,1761680195.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865371,0.497917,0.056672],[-0.500698,-0.863781,-0.056428],[0.020856,-0.077206,0.996797]] 2025-10-28T19:36:36.028Z,1761680196.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866135,0.491164,0.092561],[-0.498882,-0.860854,-0.100237],[0.030449,-0.132996,0.990649]] 2025-10-28T19:36:36.430Z,1761680196.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896293,0.431448,0.102527],[-0.442050,-0.887669,-0.128979],[0.035363,-0.160925,0.986333]] 2025-10-28T19:36:36.835Z,1761680196.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911747,0.404250,0.072797],[-0.410736,-0.898846,-0.152879],[0.003632,-0.169287,0.985560]] 2025-10-28T19:36:37.241Z,1761680197.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903197,0.422736,0.074356],[-0.429225,-0.889813,-0.154916],[0.000675,-0.171836,0.985125]] 2025-10-28T19:36:37.532Z,1761680197.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:36:37.652Z,1761680197.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902721,0.424185,0.071846],[-0.429960,-0.895366,-0.115989],[0.015128,-0.135596,0.990649]] 2025-10-28T19:36:38.046Z,1761680198.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915373,0.399693,0.048362],[-0.402527,-0.910967,-0.090060],[0.008060,-0.101905,0.994761]] 2025-10-28T19:36:38.450Z,1761680198.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905442,0.424419,0.006612],[-0.424366,-0.904760,-0.036370],[-0.009454,-0.035737,0.999316]] 2025-10-28T19:36:38.537Z,1761680198.537 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T19:36:38.537Z,1761680198.537 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:36:38.854Z,1761680198.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900443,0.432385,0.047385],[-0.433308,-0.901181,-0.010826],[0.038022,-0.030280,0.998818]] 2025-10-28T19:36:39.260Z,1761680199.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912293,0.402557,0.075299],[-0.405393,-0.913758,-0.026525],[0.058127,-0.054724,0.996808]] 2025-10-28T19:36:39.663Z,1761680199.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920335,0.390545,0.021408],[-0.391126,-0.919219,-0.045351],[0.001967,-0.050111,0.998742]] 2025-10-28T19:36:40.069Z,1761680200.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918090,0.396291,0.008004],[-0.396281,-0.917263,-0.039884],[-0.008464,-0.039789,0.999172]] 2025-10-28T19:36:40.471Z,1761680200.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905301,0.421573,0.052017],[-0.422690,-0.906192,-0.012224],[0.041984,-0.033053,0.998571]] 2025-10-28T19:36:40.505Z,1761680200.505 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:36:40.505Z,1761680200.505 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:36:40.505Z,1761680200.505 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:36:40.506Z,1761680200.506 [marl:UpdateRudder:A] Stopped 2025-10-28T19:36:40.506Z,1761680200.506 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:36:40.875Z,1761680200.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889831,0.444278,0.104014],[-0.448789,-0.893324,-0.023676],[0.082399,-0.067748,0.994294]] 2025-10-28T19:36:40.883Z,1761680200.883 [NAL9602](INFO): SBD MO Status=1, MOMSN=3332, MT Status=0, MTMSN=0 2025-10-28T19:36:40.940Z,1761680200.940 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0034.lzma 2025-10-28T19:36:40.940Z,1761680200.940 [NAL9602](INFO): Packets left to send: 1 2025-10-28T19:36:40.990Z,1761680200.990 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:36:40.990Z,1761680200.990 [marl:UpdateRudder:B] Stopped 2025-10-28T19:36:40.990Z,1761680200.990 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:36:40.990Z,1761680200.990 [marl:UpdateRudder] Stopped 2025-10-28T19:36:40.990Z,1761680200.990 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:36:41.280Z,1761680201.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897951,0.423717,0.118946],[-0.433518,-0.898165,-0.073223],[0.075808,-0.117315,0.990197]] 2025-10-28T19:36:42.050Z,1761680202.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898283,0.435147,0.061120],[-0.439409,-0.888621,-0.131425],[-0.002876,-0.144914,0.989440]] 2025-10-28T19:36:42.442Z,1761680202.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895699,0.435219,0.091147],[-0.443329,-0.889909,-0.107339],[0.034396,-0.136551,0.990036]] 2025-10-28T19:36:44.511Z,1761680204.511 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:36:44.511Z,1761680204.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:36:44.511Z,1761680204.511 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:36:44.511Z,1761680204.511 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:36:44.511Z,1761680204.511 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateCommandMode] Stopped 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:36:44.512Z,1761680204.512 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:36:44.513Z,1761680204.513 [marl:UpdateSpeed] Stopped 2025-10-28T19:36:44.513Z,1761680204.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:36:44.663Z,1761680204.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897312,0.427266,0.110798],[-0.439659,-0.887421,-0.138505],[0.039146,-0.172995,0.984144]] 2025-10-28T19:36:45.037Z,1761680205.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900247,0.416967,0.125275],[-0.430546,-0.895360,-0.113842],[0.064698,-0.156423,0.985569]] 2025-10-28T19:36:45.439Z,1761680205.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911757,0.400891,0.089363],[-0.406519,-0.911868,-0.056919],[0.058669,-0.088224,0.994371]] 2025-10-28T19:36:45.842Z,1761680205.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905100,0.423144,0.041744],[-0.423136,-0.906017,0.009466],[0.041826,-0.009096,0.999084]] 2025-10-28T19:36:46.246Z,1761680206.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893901,0.446882,0.035169],[-0.446862,-0.894559,0.008849],[0.035415,-0.007806,0.999342]] 2025-10-28T19:36:46.650Z,1761680206.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907443,0.413579,0.074155],[-0.417228,-0.907801,-0.042652],[0.049678,-0.069644,0.996334]] 2025-10-28T19:36:47.057Z,1761680207.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913429,0.398059,0.084833],[-0.405154,-0.909138,-0.096527],[0.038701,-0.122541,0.991709]] 2025-10-28T19:36:47.459Z,1761680207.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900276,0.429021,0.073789],[-0.435320,-0.887421,-0.151593],[0.000445,-0.168597,0.985685]] 2025-10-28T19:36:47.862Z,1761680207.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893812,0.442268,0.074152],[-0.448405,-0.879309,-0.160467],[-0.005767,-0.176678,0.984252]] 2025-10-28T19:36:48.273Z,1761680208.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899248,0.422106,0.114800],[-0.434962,-0.890703,-0.132124],[0.046482,-0.168746,0.984563]] 2025-10-28T19:36:48.670Z,1761680208.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901391,0.421878,0.097541],[-0.429203,-0.900300,-0.072413],[0.057266,-0.107137,0.992594]] 2025-10-28T19:36:49.079Z,1761680209.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901255,0.431235,0.042143],[-0.432790,-0.900616,-0.039793],[0.020794,-0.054103,0.998319]] 2025-10-28T19:36:49.479Z,1761680209.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903354,0.426520,0.045083],[-0.428280,-0.902691,-0.041534],[0.022981,-0.056828,0.998119]] 2025-10-28T19:36:49.885Z,1761680209.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911863,0.404659,0.068976],[-0.409189,-0.909432,-0.074151],[0.032723,-0.095840,0.994859]] 2025-10-28T19:36:50.286Z,1761680210.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909893,0.401979,0.102509],[-0.411889,-0.904835,-0.107800],[0.049420,-0.140308,0.988874]] 2025-10-28T19:36:50.291Z,1761680210.291 [NAL9602](INFO): SBD MO Status=1, MOMSN=3333, MT Status=0, MTMSN=0 2025-10-28T19:36:50.345Z,1761680210.345 [NAL9602](INFO): Sent 233 bytes from file Logs/20251028T162422/Express0034.lzma 2025-10-28T19:36:50.345Z,1761680210.345 [NAL9602](INFO): Packets left to send: 0 2025-10-28T19:36:50.691Z,1761680210.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912363,0.391943,0.118212],[-0.406011,-0.903283,-0.138687],[0.052421,-0.174528,0.983256]] 2025-10-28T19:36:51.576Z,1761680211.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912381,0.399133,0.090848],[-0.408902,-0.898959,-0.157075],[0.018974,-0.180461,0.983399]] 2025-10-28T19:36:51.979Z,1761680211.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917950,0.385747,0.092560],[-0.394941,-0.910589,-0.121859],[0.037278,-0.148416,0.988222]] 2025-10-28T19:36:52.381Z,1761680212.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923959,0.379958,0.043962],[-0.381701,-0.923327,-0.042097],[0.024596,-0.055676,0.998146]] 2025-10-28T19:36:52.787Z,1761680212.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919348,0.391723,0.036782],[-0.390461,-0.919871,0.037108],[0.048370,0.019753,0.998634]] 2025-10-28T19:36:53.186Z,1761680213.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915365,0.402225,0.017953],[-0.400878,-0.914635,0.052343],[0.037474,0.040716,0.998468]] 2025-10-28T19:36:53.598Z,1761680213.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914549,0.404146,-0.016317],[-0.404290,-0.914607,0.006640],[-0.012240,0.012670,0.999845]] 2025-10-28T19:36:53.999Z,1761680213.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915135,0.401243,0.039139],[-0.402554,-0.914737,-0.034738],[0.021863,-0.047545,0.998630]] 2025-10-28T19:36:54.398Z,1761680214.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917892,0.380483,0.112727],[-0.390581,-0.916435,-0.087142],[0.070151,-0.124016,0.989797]] 2025-10-28T19:36:54.803Z,1761680214.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919267,0.379472,0.104634],[-0.391938,-0.907027,-0.153908],[0.036502,-0.182493,0.982529]] 2025-10-28T19:36:55.208Z,1761680215.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913685,0.403185,0.051204],[-0.405730,-0.897501,-0.172843],[-0.023732,-0.178699,0.983618]] 2025-10-28T19:36:55.611Z,1761680215.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911051,0.406221,0.070507],[-0.412140,-0.901973,-0.128785],[0.011281,-0.146388,0.989163]] 2025-10-28T19:36:56.015Z,1761680216.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913068,0.392631,0.110213],[-0.401381,-0.913026,-0.072641],[0.072106,-0.110564,0.991250]] 2025-10-28T19:36:56.421Z,1761680216.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914722,0.397415,0.073115],[-0.400621,-0.915552,-0.035593],[0.052795,-0.061849,0.996688]] 2025-10-28T19:36:56.445Z,1761680216.445 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:36:56.445Z,1761680216.445 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:36:56.446Z,1761680216.446 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:36:56.446Z,1761680216.446 [marl:UpdateRudder:A] Stopped 2025-10-28T19:36:56.446Z,1761680216.446 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:36:56.829Z,1761680216.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912211,0.409196,0.020743],[-0.409691,-0.911591,-0.033997],[0.004998,-0.039511,0.999207]] 2025-10-28T19:36:56.898Z,1761680216.898 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:36:56.898Z,1761680216.898 [marl:UpdateRudder:B] Stopped 2025-10-28T19:36:56.898Z,1761680216.898 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:36:56.898Z,1761680216.898 [marl:UpdateRudder] Stopped 2025-10-28T19:36:56.899Z,1761680216.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:36:57.226Z,1761680217.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916718,0.396971,0.045185],[-0.399516,-0.911865,-0.094281],[0.003775,-0.104481,0.994520]] 2025-10-28T19:36:57.631Z,1761680217.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922311,0.375517,0.091262],[-0.385665,-0.909432,-0.155548],[0.024586,-0.178660,0.983604]] 2025-10-28T19:36:58.034Z,1761680218.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920982,0.361571,0.145119],[-0.384908,-0.902073,-0.195218],[0.060323,-0.235649,0.969964]] 2025-10-28T19:36:58.440Z,1761680218.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927306,0.349441,0.134144],[-0.371344,-0.903844,-0.212530],[0.046979,-0.246894,0.967903]] 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode] Stopped 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:36:58.465Z,1761680218.465 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed] Stopped 2025-10-28T19:36:58.466Z,1761680218.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:36:58.842Z,1761680218.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923499,0.375778,0.077073],[-0.383569,-0.907187,-0.172878],[0.004955,-0.189216,0.981923]] 2025-10-28T19:36:59.247Z,1761680219.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917355,0.394947,0.049770],[-0.397739,-0.914502,-0.074089],[0.016254,-0.087762,0.996009]] 2025-10-28T19:36:59.650Z,1761680219.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913616,0.404541,0.040653],[-0.402200,-0.913882,0.055270],[0.059511,0.034145,0.997643]] 2025-10-28T19:37:00.059Z,1761680220.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909111,0.415252,0.032915],[-0.409492,-0.905391,0.112175],[0.076382,0.088501,0.993143]] 2025-10-28T19:37:00.458Z,1761680220.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913321,0.406343,0.027003],[-0.403772,-0.912186,0.069890],[0.053031,0.052929,0.997189]] 2025-10-28T19:37:00.863Z,1761680220.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917044,0.397525,0.031679],[-0.398705,-0.915555,-0.052855],[0.007993,-0.061101,0.998100]] 2025-10-28T19:37:01.266Z,1761680221.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915418,0.393235,0.085882],[-0.402269,-0.901111,-0.161796],[0.013765,-0.182659,0.983080]] 2025-10-28T19:37:01.672Z,1761680221.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913665,0.387008,0.124262],[-0.405624,-0.887808,-0.217409],[0.026182,-0.249043,0.968139]] 2025-10-28T19:37:02.085Z,1761680222.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912181,0.393858,0.113143],[-0.408382,-0.896562,-0.171467],[0.033906,-0.202614,0.978671]] 2025-10-28T19:37:02.479Z,1761680222.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914739,0.399413,0.061007],[-0.403358,-0.911517,-0.080243],[0.023558,-0.098009,0.994907]] 2025-10-28T19:37:02.882Z,1761680222.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913088,0.406170,0.036021],[-0.406695,-0.913525,-0.008394],[0.029496,-0.022314,0.999316]] 2025-10-28T19:37:03.287Z,1761680223.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912881,0.404887,0.052106],[-0.403778,-0.914340,0.030765],[0.060099,0.007046,0.998168]] 2025-10-28T19:37:03.690Z,1761680223.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909689,0.407799,0.078523],[-0.409435,-0.912324,-0.005272],[0.069488,-0.036946,0.996898]] 2025-10-28T19:37:04.094Z,1761680224.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917133,0.395641,0.048332],[-0.398509,-0.912523,-0.092160],[0.007642,-0.103784,0.994571]] 2025-10-28T19:37:04.498Z,1761680224.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916295,0.394845,0.067097],[-0.400483,-0.905059,-0.143115],[0.004218,-0.158007,0.987429]] 2025-10-28T19:37:04.907Z,1761680224.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906471,0.411344,0.095430],[-0.420850,-0.898558,-0.124410],[0.034574,-0.152936,0.987631]] 2025-10-28T19:37:05.306Z,1761680225.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915044,0.393934,0.086667],[-0.401658,-0.909600,-0.106297],[0.036959,-0.132077,0.990550]] 2025-10-28T19:37:05.710Z,1761680225.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922769,0.375253,0.087646],[-0.382235,-0.920189,-0.084555],[0.048921,-0.111526,0.992557]] 2025-10-28T19:37:06.115Z,1761680226.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917084,0.390590,0.079984],[-0.396012,-0.915628,-0.069281],[0.046175,-0.095211,0.994386]] 2025-10-28T19:37:06.520Z,1761680226.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915646,0.387691,0.106242],[-0.397740,-0.912070,-0.099657],[0.058264,-0.133507,0.989334]] 2025-10-28T19:37:06.923Z,1761680226.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916070,0.386837,0.105705],[-0.398907,-0.906037,-0.141313],[0.041107,-0.171619,0.984305]] 2025-10-28T19:37:07.327Z,1761680227.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909332,0.406940,0.086685],[-0.415423,-0.899611,-0.134627],[0.023198,-0.158432,0.987097]] 2025-10-28T19:37:07.730Z,1761680227.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909003,0.408178,0.084292],[-0.415410,-0.903715,-0.103601],[0.033889,-0.129189,0.991041]] 2025-10-28T19:37:08.137Z,1761680228.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914800,0.400908,0.049129],[-0.403320,-0.913243,-0.057616],[0.021768,-0.072522,0.997129]] 2025-10-28T19:37:08.551Z,1761680228.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913552,0.406464,0.014466],[-0.406655,-0.912182,-0.050557],[-0.007354,-0.052069,0.998616]] 2025-10-28T19:37:08.656Z,1761680228.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:37:08.949Z,1761680228.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905179,0.417991,0.077031],[-0.424453,-0.898418,-0.112626],[0.022129,-0.134643,0.990647]] 2025-10-28T19:37:09.351Z,1761680229.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894947,0.438542,0.082158],[-0.445648,-0.887533,-0.116973],[0.021620,-0.141298,0.989731]] 2025-10-28T19:37:09.660Z,1761680229.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:37:09.759Z,1761680229.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879649,0.471312,0.063895],[-0.475584,-0.873342,-0.105330],[0.006159,-0.123041,0.992382]] 2025-10-28T19:37:09.791Z,1761680229.791 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:37:09.792Z,1761680229.792 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:37:09.792Z,1761680229.792 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:37:09.792Z,1761680229.792 [marl:UpdateRudder:A] Stopped 2025-10-28T19:37:09.792Z,1761680229.792 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:37:10.159Z,1761680230.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882042,0.470891,0.016246],[-0.470225,-0.877562,-0.093670],[-0.029852,-0.090260,0.995471]] 2025-10-28T19:37:10.193Z,1761680230.193 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:37:10.193Z,1761680230.193 [marl:UpdateRudder:B] Stopped 2025-10-28T19:37:10.193Z,1761680230.193 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:37:10.193Z,1761680230.193 [marl:UpdateRudder] Stopped 2025-10-28T19:37:10.194Z,1761680230.194 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:37:10.589Z,1761680230.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886648,0.462376,0.008005],[-0.461949,-0.884763,-0.061628],[-0.021413,-0.058340,0.998067]] 2025-10-28T19:37:10.965Z,1761680230.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866268,0.496748,0.053105],[-0.498806,-0.865938,-0.036666],[0.027772,-0.058252,0.997916]] 2025-10-28T19:37:10.970Z,1761680230.970 [NAL9602](INFO): SBD MO Status=0, MOMSN=3334, MT Status=0, MTMSN=0 2025-10-28T19:37:11.087Z,1761680231.087 [marl:NeedComms:D] Stopped 2025-10-28T19:37:11.087Z,1761680231.087 [marl:NeedComms:E] Running Loop=1 2025-10-28T19:37:11.393Z,1761680231.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859611,0.494222,0.129668],[-0.503403,-0.862644,-0.049300],[0.087493,-0.107654,0.990331]] 2025-10-28T19:37:11.775Z,1761680231.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876022,0.467787,0.117304],[-0.478157,-0.874167,-0.084840],[0.062856,-0.130412,0.989465]] 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode] Stopped 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:37:11.809Z,1761680231.809 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed] Stopped 2025-10-28T19:37:11.810Z,1761680231.810 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:37:12.174Z,1761680232.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874331,0.480807,0.066101],[-0.485310,-0.867361,-0.110267],[0.004316,-0.128489,0.991701]] 2025-10-28T19:37:12.619Z,1761680232.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862456,0.503858,0.047928],[-0.505597,-0.853318,-0.127358],[-0.023272,-0.134073,0.990698]] 2025-10-28T19:37:12.985Z,1761680232.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865022,0.491209,0.102230],[-0.500482,-0.859148,-0.106685],[0.035427,-0.143449,0.989023]] 2025-10-28T19:37:13.387Z,1761680233.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872475,0.463521,0.154715],[-0.478307,-0.874883,-0.076168],[0.100052,-0.140456,0.985019]] 2025-10-28T19:37:13.391Z,1761680233.391 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193712.00,A,3645.80454,N,12151.69224,W,0.894,188.78,281025,,,A*70 2025-10-28T19:37:13.402Z,1761680233.402 [NAL9602](INFO): GPS fix at 20251028T193712: (36.763409, -121.861537) 2025-10-28T19:37:13.428Z,1761680233.428 [marl:NeedComms:E] Stopped 2025-10-28T19:37:13.429Z,1761680233.429 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T19:37:13.429Z,1761680233.429 [marl:NeedComms] Stopped 2025-10-28T19:37:13.429Z,1761680233.429 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T19:37:13.429Z,1761680233.429 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T19:37:13.429Z,1761680233.429 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T19:37:13.430Z,1761680233.430 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761680256.00. Resetting abort timer. 2025-10-28T19:37:13.792Z,1761680233.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869088,0.481817,0.111973],[-0.490552,-0.868606,-0.069873],[0.063594,-0.115654,0.991252]] 2025-10-28T19:37:14.195Z,1761680234.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849120,0.526353,0.044131],[-0.528148,-0.847241,-0.056947],[0.007416,-0.071662,0.997401]] 2025-10-28T19:37:14.628Z,1761680234.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835970,0.547821,0.032345],[-0.548769,-0.834795,-0.044390],[0.002684,-0.054859,0.998491]] 2025-10-28T19:37:15.002Z,1761680235.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843185,0.533308,0.067976],[-0.536174,-0.843441,-0.033545],[0.039443,-0.064732,0.997123]] 2025-10-28T19:37:15.410Z,1761680235.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838470,0.538771,0.081814],[-0.542728,-0.839126,-0.036237],[0.049128,-0.074786,0.995989]] 2025-10-28T19:37:15.810Z,1761680235.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818093,0.568639,0.085872],[-0.573672,-0.817397,-0.052565],[0.040301,-0.092265,0.994919]] 2025-10-28T19:37:16.214Z,1761680236.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803292,0.590497,0.077691],[-0.595556,-0.797695,-0.094851],[0.005965,-0.122462,0.992455]] 2025-10-28T19:37:16.632Z,1761680236.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792224,0.604599,0.082712],[-0.610228,-0.784537,-0.110109],[-0.001681,-0.137704,0.990472]] 2025-10-28T19:37:17.022Z,1761680237.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790861,0.606479,0.081989],[-0.611898,-0.781206,-0.123690],[-0.010965,-0.147990,0.988928]] 2025-10-28T19:37:17.831Z,1761680237.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798942,0.587299,0.129509],[-0.601403,-0.781101,-0.167913],[0.002544,-0.212040,0.977258]] 2025-10-28T19:37:18.236Z,1761680238.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794746,0.590422,0.140645],[-0.606770,-0.778422,-0.160903],[0.014481,-0.213216,0.976898]] 2025-10-28T19:37:18.639Z,1761680238.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778863,0.613629,0.129737],[-0.627125,-0.765002,-0.146585],[0.009301,-0.195531,0.980653]] 2025-10-28T19:37:19.057Z,1761680239.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760772,0.639021,0.113484],[-0.648676,-0.754342,-0.100934],[0.021107,-0.150402,0.988400]] 2025-10-28T19:37:19.095Z,1761680239.095 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:37:19.345Z,1761680239.345 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:37:19.345Z,1761680239.345 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:37:19.447Z,1761680239.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763472,0.639833,0.087892],[-0.644767,-0.762957,-0.046611],[0.037234,-0.092256,0.995039]] 2025-10-28T19:37:19.597Z,1761680239.597 [DAT](INFO): DAT read: user:193> 2025-10-28T19:37:19.598Z,1761680239.598 [DAT](INFO): DAT read: Tx time:19:37:19.3313 2025-10-28T19:37:19.598Z,1761680239.598 [DAT](INFO): Ping request sent. 2025-10-28T19:37:19.598Z,1761680239.598 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:37:19.598Z,1761680239.598 [DAT](INFO): publishing transmit ping time 2025-10-28T19:37:19.599Z,1761680239.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T19:37:19.849Z,1761680239.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250731 2025-10-28T19:37:19.852Z,1761680239.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755797,0.650759,0.072691],[-0.653219,-0.757029,-0.014550],[0.045560,-0.058480,0.997248]] 2025-10-28T19:37:20.101Z,1761680240.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502913 2025-10-28T19:37:20.257Z,1761680240.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725736,0.683146,0.081357],[-0.687584,-0.724215,-0.052350],[0.023158,-0.093932,0.995309]] 2025-10-28T19:37:20.353Z,1761680240.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754831 2025-10-28T19:37:20.608Z,1761680240.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009140 2025-10-28T19:37:20.658Z,1761680240.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728107,0.676488,0.110564],[-0.685446,-0.719724,-0.110279],[0.004973,-0.156080,0.987732]] 2025-10-28T19:37:20.857Z,1761680240.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881 2025-10-28T19:37:21.067Z,1761680241.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737604,0.654897,0.164468],[-0.675014,-0.721361,-0.154902],[0.017195,-0.225275,0.974144]] 2025-10-28T19:37:21.109Z,1761680241.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951 2025-10-28T19:37:21.361Z,1761680241.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909 2025-10-28T19:37:21.471Z,1761680241.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753510,0.627222,0.197016],[-0.656905,-0.730347,-0.187268],[0.026431,-0.270529,0.962349]] 2025-10-28T19:37:21.613Z,1761680241.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875 2025-10-28T19:37:21.865Z,1761680241.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882 2025-10-28T19:37:21.882Z,1761680241.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741396,0.644340,0.187505],[-0.670644,-0.721342,-0.172923],[0.023834,-0.253953,0.966923]] 2025-10-28T19:37:22.117Z,1761680242.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518820 2025-10-28T19:37:22.279Z,1761680242.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726492,0.658269,0.197209],[-0.685627,-0.713617,-0.143758],[0.046100,-0.239651,0.969764]] 2025-10-28T19:37:22.369Z,1761680242.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770983 2025-10-28T19:37:22.623Z,1761680242.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024490 2025-10-28T19:37:22.683Z,1761680242.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717785,0.665005,0.206282],[-0.691001,-0.716738,-0.093832],[0.085451,-0.209892,0.973983]] 2025-10-28T19:37:22.874Z,1761680242.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275471 2025-10-28T19:37:23.087Z,1761680243.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704392,0.693364,0.151916],[-0.705225,-0.707915,-0.038911],[0.080564,-0.134543,0.987627]] 2025-10-28T19:37:23.111Z,1761680243.111 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:37:23.111Z,1761680243.111 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:37:23.111Z,1761680243.111 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:37:23.112Z,1761680243.112 [marl:UpdateRudder:A] Stopped 2025-10-28T19:37:23.112Z,1761680243.112 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:37:23.125Z,1761680243.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526912 2025-10-28T19:37:23.377Z,1761680243.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778771 2025-10-28T19:37:23.492Z,1761680243.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699221,0.707921,0.099691],[-0.712946,-0.700809,-0.023967],[0.052898,-0.087833,0.994730]] 2025-10-28T19:37:23.529Z,1761680243.529 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:37:23.529Z,1761680243.529 [marl:UpdateRudder:B] Stopped 2025-10-28T19:37:23.529Z,1761680243.529 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:37:23.529Z,1761680243.529 [marl:UpdateRudder] Stopped 2025-10-28T19:37:23.530Z,1761680243.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:37:23.630Z,1761680243.630 [DAT](INFO): DAT read: Rx Time:19:37:22.9609 2025-10-28T19:37:23.630Z,1761680243.630 [DAT](INFO): Rx dataTimestamp_ set to:1761680243.629750 2025-10-28T19:37:23.631Z,1761680243.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032549 2025-10-28T19:37:23.881Z,1761680243.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282836 2025-10-28T19:37:23.897Z,1761680243.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709155,0.698235,0.097807],[-0.703852,-0.709193,-0.040454],[0.041118,-0.097530,0.994383]] 2025-10-28T19:37:24.150Z,1761680244.150 [DAT](INFO): DAT read: 19:37:22.9609 LVL= 16176, 17489, 17234, 13875, AGC= 64, IDX= 354,-0.01, 0.671, 0.987,-0.616, 0.713, PHS= 0.060, 0.319,-1.374, RAW= 21.8, 12.6, CAL= 20.8, 14.3, ROT= 129.2, -14.3 2025-10-28T19:37:24.152Z,1761680244.152 [DAT](INFO): got valid direction response: 19:37:22.9609 LVL= 16176, 17489, 17234, 13875, AGC= 64, IDX= 354,-0.01, 0.671, 0.987,-0.616, 0.713, PHS= 0.060, 0.319,-1.374, RAW= 21.8, 12.6, CAL= 20.8, 14.3, ROT= 129.2, -14.3 2025-10-28T19:37:24.153Z,1761680244.153 [DAT](INFO): DAT read: Bearing 102, -22 (Remote) 2025-10-28T19:37:24.154Z,1761680244.154 [DAT](INFO): Remote Bearing received:Bearing 102, -22 (Remote) 2025-10-28T19:37:24.155Z,1761680244.155 [DAT](INFO): DAT read: Bearing 163.8, 42.6 (Local) 2025-10-28T19:37:24.155Z,1761680244.155 [DAT](INFO): Local bearing/azimuth received: Bearing 163.8, 42.6 (Local) 2025-10-28T19:37:24.205Z,1761680244.205 [DAT](INFO): DAT read: Range 11 to 20 : 1200.3 m (Round-trip 1600.4 ms) speed 0.1 m/s 2025-10-28T19:37:24.205Z,1761680244.205 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:37:24.206Z,1761680244.206 [DAT](INFO): direction in FSK: [-0.612446,0.750933,0.246999] 2025-10-28T19:37:24.207Z,1761680244.207 [DAT](INFO): publishing direction and range info 2025-10-28T19:37:24.298Z,1761680244.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713454,0.685599,0.144698],[-0.700274,-0.704864,-0.113060],[0.024479,-0.181992,0.982995]] 2025-10-28T19:37:24.348Z,1761680244.348 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680256.00. Resetting abort timer. 2025-10-28T19:37:24.702Z,1761680244.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699043,0.686544,0.199989],[-0.714839,-0.678172,-0.170552],[0.018536,-0.262183,0.964840]] 2025-10-28T19:37:25.168Z,1761680245.168 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode] Stopped 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:37:25.169Z,1761680245.169 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:37:25.170Z,1761680245.170 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:37:25.170Z,1761680245.170 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:37:25.170Z,1761680245.170 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:37:25.170Z,1761680245.170 [marl:UpdateSpeed] Stopped 2025-10-28T19:37:25.170Z,1761680245.170 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:37:25.519Z,1761680245.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712050,0.654929,0.253086],[-0.698760,-0.696265,-0.164163],[0.068700,-0.293738,0.953414]] 2025-10-28T19:37:25.914Z,1761680245.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720933,0.648793,0.243563],[-0.684650,-0.721213,-0.105387],[0.107287,-0.242732,0.964142]] 2025-10-28T19:37:26.319Z,1761680246.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710333,0.677891,0.189452],[-0.698449,-0.712184,-0.070456],[0.087163,-0.182370,0.979359]] 2025-10-28T19:37:26.724Z,1761680246.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699391,0.703076,0.128593],[-0.712910,-0.699081,-0.055180],[0.051101,-0.130268,0.990161]] 2025-10-28T19:37:27.126Z,1761680247.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687147,0.711176,0.148518],[-0.723067,-0.689344,-0.044496],[0.070735,-0.137964,0.987908]] 2025-10-28T19:37:27.542Z,1761680247.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699554,0.685114,0.203086],[-0.707374,-0.704203,-0.060994],[0.101226,-0.186326,0.977259]] 2025-10-28T19:37:27.934Z,1761680247.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721014,0.656723,0.221030],[-0.684077,-0.725428,-0.076115],[0.110355,-0.206082,0.972292]] 2025-10-28T19:37:28.340Z,1761680248.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721340,0.673412,0.161817],[-0.689739,-0.719643,-0.079842],[0.062684,-0.169204,0.983586]] 2025-10-28T19:37:29.148Z,1761680249.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721539,0.664062,0.195967],[-0.688697,-0.717490,-0.104426],[0.071259,-0.210310,0.975034]] 2025-10-28T19:37:29.552Z,1761680249.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733969,0.619011,0.279489],[-0.661978,-0.744034,-0.090543],[0.151902,-0.251472,0.955870]] 2025-10-28T19:37:30.242Z,1761680250.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709148,0.671960,0.213492],[-0.665698,-0.737883,0.111242],[0.232282,-0.063234,0.970591]] 2025-10-28T19:37:30.995Z,1761680250.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751531,0.652388,0.097937],[-0.647868,-0.757864,0.076870],[0.124372,-0.005680,0.992219]] 2025-10-28T19:37:31.039Z,1761680251.039 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 618.03, 0.00, 636.48 2025-10-28T19:37:31.803Z,1761680251.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754473,0.587060,0.293480],[-0.618765,-0.785327,-0.019786],[0.218863,-0.196523,0.955760]] 2025-10-28T19:37:32.536Z,1761680252.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760498,0.581806,0.288349],[-0.614285,-0.788549,-0.029062],[0.210469,-0.199230,0.957084]] 2025-10-28T19:37:32.930Z,1761680252.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775115,0.589583,0.227131],[-0.612179,-0.789751,-0.039117],[0.156315,-0.169365,0.973078]] 2025-10-28T19:37:33.334Z,1761680253.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782260,0.579550,0.228455],[-0.602356,-0.797218,-0.040146],[0.158862,-0.169015,0.972727]] 2025-10-28T19:37:33.739Z,1761680253.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785109,0.548082,0.288463],[-0.580920,-0.813160,-0.036077],[0.214793,-0.195899,0.956811]] 2025-10-28T19:37:34.152Z,1761680254.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786909,0.506255,0.352817],[-0.549032,-0.835402,-0.025826],[0.281670,-0.214031,0.935336]] 2025-10-28T19:37:34.550Z,1761680254.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795470,0.492095,0.353654],[-0.521966,-0.852872,0.012683],[0.307862,-0.174507,0.935290]] 2025-10-28T19:37:34.951Z,1761680254.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818824,0.459590,0.343953],[-0.487464,-0.873121,0.006194],[0.303159,-0.162593,0.938966]] 2025-10-28T19:37:35.355Z,1761680255.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829072,0.402209,0.388417],[-0.462992,-0.883303,-0.073584],[0.313493,-0.240840,0.918541]] 2025-10-28T19:37:35.767Z,1761680255.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828155,0.356930,0.432158],[-0.452078,-0.881150,-0.138565],[0.331338,-0.310122,0.891089]] 2025-10-28T19:37:36.606Z,1761680256.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841801,0.266679,0.469312],[-0.409009,-0.882502,-0.232168],[0.352255,-0.387393,0.851965]] 2025-10-28T19:37:36.684Z,1761680256.684 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:37:36.684Z,1761680256.684 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:37:36.685Z,1761680256.685 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:37:36.685Z,1761680256.685 [marl:UpdateRudder:A] Stopped 2025-10-28T19:37:36.685Z,1761680256.685 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:37:37.039Z,1761680257.039 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:37:37.039Z,1761680257.039 [marl:UpdateRudder:B] Stopped 2025-10-28T19:37:37.039Z,1761680257.039 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:37:37.039Z,1761680257.039 [marl:UpdateRudder] Stopped 2025-10-28T19:37:37.039Z,1761680257.039 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:37:37.383Z,1761680257.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846092,0.260197,0.465215],[-0.387815,-0.899247,-0.202371],[0.365687,-0.351642,0.861755]] 2025-10-28T19:37:37.789Z,1761680257.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845629,0.258503,0.466999],[-0.381259,-0.904835,-0.189511],[0.373568,-0.338304,0.863712]] 2025-10-28T19:37:38.187Z,1761680258.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848415,0.246008,0.468692],[-0.370577,-0.908303,-0.194058],[0.377974,-0.338328,0.861783]] 2025-10-28T19:37:38.622Z,1761680258.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851870,0.236603,0.467266],[-0.359280,-0.913132,-0.192631],[0.381098,-0.331976,0.862877]] 2025-10-28T19:37:38.675Z,1761680258.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:37:38.675Z,1761680258.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:37:38.675Z,1761680258.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:37:38.675Z,1761680258.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:37:38.676Z,1761680258.676 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:37:38.692Z,1761680258.692 [marl:UpdateCommandMode] Stopped 2025-10-28T19:37:38.692Z,1761680258.692 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:37:38.692Z,1761680258.692 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:37:38.692Z,1761680258.692 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:37:38.692Z,1761680258.692 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:37:38.693Z,1761680258.693 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:37:38.693Z,1761680258.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:37:38.693Z,1761680258.693 [marl:UpdateSpeed] Stopped 2025-10-28T19:37:38.693Z,1761680258.693 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:37:38.999Z,1761680258.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853299,0.237206,0.464342],[-0.352176,-0.918897,-0.177765],[0.384515,-0.315216,0.867633]] 2025-10-28T19:37:39.394Z,1761680259.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855118,0.233324,0.462962],[-0.342188,-0.924865,-0.165928],[0.389462,-0.300308,0.870709]] 2025-10-28T19:37:39.780Z,1761680259.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:37:39.799Z,1761680259.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861117,0.212162,0.462023],[-0.318433,-0.933506,-0.164826],[0.396332,-0.289058,0.871417]] 2025-10-28T19:37:40.204Z,1761680260.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871246,0.174035,0.458958],[-0.282553,-0.942398,-0.179021],[0.401365,-0.285652,0.870235]] 2025-10-28T19:37:40.630Z,1761680260.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879709,0.131162,0.457064],[-0.250542,-0.944813,-0.211086],[0.404154,-0.300208,0.864022]] 2025-10-28T19:37:40.787Z,1761680260.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:37:41.021Z,1761680261.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885612,0.088514,0.455913],[-0.224576,-0.940887,-0.253569],[0.406518,-0.326951,0.853139]] 2025-10-28T19:37:41.425Z,1761680261.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890767,0.049569,0.451750],[-0.200356,-0.935051,-0.292467],[0.407912,-0.351030,0.842844]] 2025-10-28T19:37:41.819Z,1761680261.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897039,0.016998,0.441625],[-0.173842,-0.932280,-0.317228],[0.406326,-0.361339,0.839246]] 2025-10-28T19:37:42.224Z,1761680262.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903454,-0.010590,0.428555],[-0.146255,-0.932100,-0.331360],[0.402965,-0.362047,0.840560]] 2025-10-28T19:37:42.647Z,1761680262.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908024,-0.033614,0.417568],[-0.123707,-0.930808,-0.343937],[0.400236,-0.363960,0.841038]] 2025-10-28T19:37:43.043Z,1761680263.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910785,-0.053461,0.409404],[-0.106574,-0.927538,-0.358210],[0.398888,-0.369884,0.839091]] 2025-10-28T19:37:43.435Z,1761680263.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912501,-0.071875,0.402711],[-0.089956,-0.925090,-0.368940],[0.399062,-0.372884,0.837680]] 2025-10-28T19:37:43.840Z,1761680263.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914545,-0.088472,0.394689],[-0.072765,-0.923881,-0.375699],[0.397885,-0.372313,0.838493]] 2025-10-28T19:37:44.242Z,1761680264.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917968,-0.100214,0.383786],[-0.056586,-0.924576,-0.376772],[0.392598,-0.367581,0.843061]] 2025-10-28T19:37:44.646Z,1761680264.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922721,-0.110039,0.369428],[-0.039703,-0.926160,-0.375036],[0.383418,-0.360721,0.850218]] 2025-10-28T19:37:45.051Z,1761680265.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927302,-0.131497,0.350456],[-0.011016,-0.926270,-0.376700],[0.374151,-0.353175,0.857484]] 2025-10-28T19:37:45.456Z,1761680265.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930499,-0.161164,0.328934],[0.023578,-0.922496,-0.385287],[0.365534,-0.350753,0.862182]] 2025-10-28T19:37:45.459Z,1761680265.459 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T19:37:45.859Z,1761680265.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931611,-0.195594,0.306341],[0.060302,-0.914347,-0.400415],[0.358421,-0.354558,0.863610]] 2025-10-28T19:37:46.263Z,1761680266.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930940,-0.230532,0.283205],[0.096593,-0.903372,-0.417839],[0.352164,-0.361627,0.863253]] 2025-10-28T19:37:46.667Z,1761680266.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928962,-0.263048,0.260453],[0.131629,-0.892339,-0.431746],[0.345983,-0.366793,0.863573]] 2025-10-28T19:37:47.073Z,1761680267.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926342,-0.290749,0.239490],[0.162807,-0.882371,-0.441493],[0.339683,-0.369982,0.864713]] 2025-10-28T19:37:47.475Z,1761680267.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923895,-0.313040,0.220053],[0.189295,-0.873695,-0.448134],[0.332543,-0.372374,0.866460]] 2025-10-28T19:37:47.882Z,1761680267.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921839,-0.331693,0.200483],[0.212948,-0.865668,-0.453069],[0.323831,-0.374964,0.868640]] 2025-10-28T19:37:48.283Z,1761680268.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919763,-0.347908,0.181646],[0.234602,-0.858398,-0.456196],[0.314638,-0.376978,0.871143]] 2025-10-28T19:37:48.687Z,1761680268.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917631,-0.362185,0.163633],[0.254278,-0.851456,-0.458656],[0.305444,-0.379269,0.873418]] 2025-10-28T19:37:49.092Z,1761680269.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915348,-0.374744,0.147324],[0.272179,-0.845458,-0.459476],[0.296742,-0.380482,0.875887]] 2025-10-28T19:37:49.504Z,1761680269.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912776,-0.386333,0.132619],[0.289414,-0.840821,-0.457449],[0.288237,-0.379167,0.879291]] 2025-10-28T19:37:49.900Z,1761680269.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909440,-0.398308,0.119453],[0.307377,-0.837380,-0.452012],[0.280067,-0.374361,0.883977]] 2025-10-28T19:37:49.923Z,1761680269.923 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:37:49.923Z,1761680269.923 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:37:49.923Z,1761680269.923 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:37:49.923Z,1761680269.923 [marl:UpdateRudder:A] Stopped 2025-10-28T19:37:49.923Z,1761680269.923 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:37:50.304Z,1761680270.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905152,-0.411516,0.106552],[0.326173,-0.833102,-0.446713],[0.272599,-0.369589,0.888310]] 2025-10-28T19:37:50.328Z,1761680270.328 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:37:50.328Z,1761680270.328 [marl:UpdateRudder:B] Stopped 2025-10-28T19:37:50.329Z,1761680270.329 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:37:50.329Z,1761680270.329 [marl:UpdateRudder] Stopped 2025-10-28T19:37:50.329Z,1761680270.329 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:37:50.707Z,1761680270.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899657,-0.426422,0.093706],[0.346090,-0.827380,-0.442339],[0.266154,-0.365523,0.891939]] 2025-10-28T19:37:51.112Z,1761680271.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892682,-0.443712,0.078985],[0.368155,-0.819012,-0.440093],[0.259965,-0.363784,0.894472]] 2025-10-28T19:37:51.517Z,1761680271.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883749,-0.463984,0.060884],[0.393619,-0.807398,-0.439514],[0.253085,-0.364455,0.896170]] 2025-10-28T19:37:51.920Z,1761680271.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873862,-0.484413,0.041338],[0.419427,-0.794157,-0.439768],[0.245858,-0.366958,0.897160]] 2025-10-28T19:37:51.944Z,1761680271.944 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:37:51.944Z,1761680271.944 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:37:51.944Z,1761680271.944 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateCommandMode] Stopped 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:37:51.945Z,1761680271.945 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:37:51.946Z,1761680271.946 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:37:51.946Z,1761680271.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:37:51.946Z,1761680271.946 [marl:UpdateSpeed] Stopped 2025-10-28T19:37:51.946Z,1761680271.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:37:52.322Z,1761680272.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863786,-0.503343,0.022791],[0.443880,-0.781588,-0.438281],[0.238419,-0.368465,0.898549]] 2025-10-28T19:37:53.132Z,1761680273.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842597,-0.538404,-0.012306],[0.490532,-0.757846,-0.430172],[0.222281,-0.368498,0.902663]] 2025-10-28T19:37:53.536Z,1761680273.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831375,-0.554933,-0.029397],[0.513433,-0.746811,-0.422681],[0.212606,-0.366500,0.905802]] 2025-10-28T19:37:53.938Z,1761680273.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819719,-0.570883,-0.046404],[0.535735,-0.735544,-0.414686],[0.202605,-0.364786,0.908781]] 2025-10-28T19:37:54.342Z,1761680274.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807947,-0.585890,-0.062879],[0.556721,-0.724015,-0.407263],[0.193086,-0.364053,0.911144]] 2025-10-28T19:37:54.746Z,1761680274.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795731,-0.600572,-0.078271],[0.576869,-0.712195,-0.400000],[0.184484,-0.363445,0.913167]] 2025-10-28T19:37:55.153Z,1761680275.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783043,-0.614919,-0.093370],[0.596448,-0.699846,-0.393020],[0.176331,-0.363442,0.914777]] 2025-10-28T19:37:55.556Z,1761680275.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770650,-0.627978,-0.108362],[0.614600,-0.687483,-0.386825],[0.168420,-0.364706,0.915764]] 2025-10-28T19:37:55.959Z,1761680275.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758872,-0.639682,-0.122148],[0.631138,-0.676155,-0.380106],[0.160556,-0.365544,0.916842]] 2025-10-28T19:37:56.363Z,1761680276.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747543,-0.650295,-0.135263],[0.646559,-0.665787,-0.372410],[0.152120,-0.365848,0.918158]] 2025-10-28T19:37:56.792Z,1761680276.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736338,-0.659883,-0.149536],[0.661363,-0.655284,-0.364968],[0.142848,-0.367638,0.918933]] 2025-10-28T19:37:57.173Z,1761680277.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725324,-0.668631,-0.163821],[0.675480,-0.645358,-0.356705],[0.132781,-0.369385,0.919741]] 2025-10-28T19:37:57.574Z,1761680277.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713684,-0.677728,-0.177030],[0.689736,-0.635866,-0.346322],[0.122144,-0.369269,0.921261]] 2025-10-28T19:37:57.987Z,1761680277.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701561,-0.687327,-0.188133],[0.703736,-0.626712,-0.334646],[0.112107,-0.367171,0.923373]] 2025-10-28T19:37:58.382Z,1761680278.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689370,-0.696578,-0.198867],[0.716915,-0.616640,-0.325251],[0.103933,-0.366788,0.924480]] 2025-10-28T19:37:58.793Z,1761680278.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677340,-0.705790,-0.207534],[0.729066,-0.606282,-0.317624],[0.098351,-0.366446,0.925227]] 2025-10-28T19:37:59.191Z,1761680279.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665506,-0.714176,-0.216920],[0.740299,-0.594521,-0.313850],[0.095181,-0.369454,0.924362]] 2025-10-28T19:37:59.596Z,1761680279.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650969,-0.723801,-0.228804],[0.753474,-0.579451,-0.310665],[0.092278,-0.374632,0.922570]] 2025-10-28T19:38:00.005Z,1761680280.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633680,-0.735113,-0.240955],[0.768469,-0.562368,-0.305282],[0.088911,-0.378617,0.921273]] 2025-10-28T19:38:00.407Z,1761680280.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614836,-0.747257,-0.252157],[0.784015,-0.544501,-0.298059],[0.085427,-0.380952,0.920640]] 2025-10-28T19:38:00.809Z,1761680280.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595478,-0.759213,-0.262682],[0.799159,-0.526352,-0.290342],[0.082168,-0.382816,0.920163]] 2025-10-28T19:38:01.212Z,1761680281.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575324,-0.771689,-0.271106],[0.814083,-0.508161,-0.281142],[0.079189,-0.382451,0.920576]] 2025-10-28T19:38:01.614Z,1761680281.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555052,-0.783755,-0.278648],[0.828350,-0.490256,-0.271081],[0.075852,-0.381282,0.921341]] 2025-10-28T19:38:02.027Z,1761680282.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535074,-0.794996,-0.285791],[0.841800,-0.473227,-0.259670],[0.071193,-0.379522,0.922440]] 2025-10-28T19:38:02.422Z,1761680282.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515444,-0.805568,-0.292197],[0.854492,-0.457511,-0.246020],[0.064502,-0.376489,0.924173]] 2025-10-28T19:38:02.832Z,1761680282.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495940,-0.815460,-0.298443],[0.866573,-0.442753,-0.230265],[0.055635,-0.372820,0.926234]] 2025-10-28T19:38:03.240Z,1761680283.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475594,-0.824351,-0.307011],[0.878555,-0.427600,-0.212834],[0.044172,-0.370949,0.927602]] 2025-10-28T19:38:03.263Z,1761680283.263 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:38:03.263Z,1761680283.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:38:03.263Z,1761680283.263 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:38:03.264Z,1761680283.264 [marl:UpdateRudder:A] Stopped 2025-10-28T19:38:03.264Z,1761680283.264 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:38:03.635Z,1761680283.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454743,-0.832242,-0.317147],[0.890122,-0.412759,-0.193164],[0.029854,-0.370140,0.928496]] 2025-10-28T19:38:03.674Z,1761680283.674 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:38:03.674Z,1761680283.674 [marl:UpdateRudder:B] Stopped 2025-10-28T19:38:03.674Z,1761680283.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:38:03.674Z,1761680283.674 [marl:UpdateRudder] Stopped 2025-10-28T19:38:03.674Z,1761680283.674 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:38:04.038Z,1761680284.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433833,-0.838893,-0.328706],[0.900883,-0.398186,-0.172791],[0.014067,-0.371089,0.928491]] 2025-10-28T19:38:04.444Z,1761680284.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415911,-0.843871,-0.338967],[0.909405,-0.386004,-0.154866],[-0.000156,-0.372669,0.927964]] 2025-10-28T19:38:04.849Z,1761680284.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400857,-0.847542,-0.347829],[0.916069,-0.375552,-0.140636],[-0.011433,-0.375011,0.926950]] 2025-10-28T19:38:05.260Z,1761680285.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386664,-0.851256,-0.354760],[0.922017,-0.364915,-0.129313],[-0.019379,-0.377096,0.925972]] 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:38:05.283Z,1761680285.283 [marl:UpdateCommandMode] Stopped 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:38:05.284Z,1761680285.284 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:38:05.285Z,1761680285.285 [marl:UpdateSpeed] Stopped 2025-10-28T19:38:05.285Z,1761680285.285 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:38:05.655Z,1761680285.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372643,-0.855128,-0.360406],[0.927677,-0.353113,-0.121351],[-0.023493,-0.379561,0.924868]] 2025-10-28T19:38:06.058Z,1761680286.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358981,-0.858551,-0.366091],[0.933031,-0.340281,-0.116889],[-0.024219,-0.383535,0.923209]] 2025-10-28T19:38:06.470Z,1761680286.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344180,-0.862407,-0.371206],[0.938620,-0.325763,-0.113453],[-0.023083,-0.387470,0.921593]] 2025-10-28T19:38:06.876Z,1761680286.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326595,-0.866716,-0.377015],[0.944897,-0.308887,-0.108434],[-0.022473,-0.391654,0.919838]] 2025-10-28T19:38:07.270Z,1761680287.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306593,-0.872333,-0.380836],[0.951564,-0.290556,-0.100518],[-0.022969,-0.393208,0.919163]] 2025-10-28T19:38:07.675Z,1761680287.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284204,-0.877984,-0.385192],[0.958432,-0.270730,-0.090070],[-0.025203,-0.394778,0.918431]] 2025-10-28T19:38:08.079Z,1761680288.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259697,-0.884960,-0.386528],[0.965258,-0.249859,-0.076475],[-0.028900,-0.392960,0.919101]] 2025-10-28T19:38:08.490Z,1761680288.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234040,-0.891423,-0.388060],[0.971636,-0.228377,-0.061386],[-0.033904,-0.391420,0.919587]] 2025-10-28T19:38:08.887Z,1761680288.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208304,-0.896665,-0.390642],[0.977264,-0.206961,-0.046061],[-0.039546,-0.391355,0.919390]] 2025-10-28T19:38:09.291Z,1761680289.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183574,-0.900526,-0.394149],[0.981936,-0.186694,-0.030787],[-0.045861,-0.392680,0.918531]] 2025-10-28T19:38:09.695Z,1761680289.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160166,-0.903753,-0.396960],[0.985718,-0.167634,-0.016067],[-0.052024,-0.393865,0.917695]] 2025-10-28T19:38:10.101Z,1761680290.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138528,-0.906068,-0.399813],[0.988706,-0.149835,-0.003007],[-0.057181,-0.395714,0.916592]] 2025-10-28T19:38:10.503Z,1761680290.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117368,-0.908794,-0.400398],[0.991203,-0.132032,0.009127],[-0.061160,-0.395804,0.916296]] 2025-10-28T19:38:10.910Z,1761680290.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095488,-0.911507,-0.400047],[0.993362,-0.113148,0.020699],[-0.064132,-0.395415,0.916261]] 2025-10-28T19:38:10.920Z,1761680290.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:38:11.317Z,1761680291.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072221,-0.914169,-0.398847],[0.995172,-0.092694,0.032258],[-0.066461,-0.394592,0.916450]] 2025-10-28T19:38:11.924Z,1761680291.924 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:38:12.118Z,1761680292.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021241,-0.918285,-0.395350],[0.997254,-0.047521,0.056798],[-0.070944,-0.393058,0.916773]] 2025-10-28T19:38:12.523Z,1761680292.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005474,-0.918801,-0.394684],[0.997126,-0.024810,0.071586],[-0.075565,-0.393942,0.916024]] 2025-10-28T19:38:12.927Z,1761680292.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031391,-0.918568,-0.394015],[0.996089,-0.003822,0.088269],[-0.082587,-0.395245,0.914855]] 2025-10-28T19:38:13.335Z,1761680293.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056105,-0.917806,-0.393046],[0.994226,0.015291,0.106214],[-0.091474,-0.396735,0.913364]] 2025-10-28T19:38:13.737Z,1761680293.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078300,-0.917148,-0.390780],[0.991774,0.031845,0.123979],[-0.101263,-0.397273,0.912097]] 2025-10-28T19:38:14.139Z,1761680294.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097449,-0.916372,-0.388287],[0.989071,0.045797,0.140146],[-0.110644,-0.397700,0.910820]] 2025-10-28T19:38:14.546Z,1761680294.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114789,-0.914830,-0.387180],[0.986239,0.058268,0.154719],[-0.118982,-0.399612,0.908930]] 2025-10-28T19:38:14.961Z,1761680294.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130290,-0.912333,-0.388166],[0.983572,0.069598,0.166559],[-0.124941,-0.403490,0.906414]] 2025-10-28T19:38:15.350Z,1761680295.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144757,-0.909646,-0.389344],[0.981160,0.081081,0.175357],[-0.127945,-0.407393,0.904246]] 2025-10-28T19:38:15.757Z,1761680295.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158612,-0.907056,-0.389989],[0.979024,0.093326,0.181117],[-0.127887,-0.410535,0.902832]] 2025-10-28T19:38:16.163Z,1761680296.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171695,-0.904300,-0.390849],[0.977221,0.106102,0.183795],[-0.124736,-0.413503,0.901918]] 2025-10-28T19:38:16.595Z,1761680296.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183706,-0.901399,-0.392088],[0.975736,0.118876,0.183872],[-0.119132,-0.416352,0.901365]] 2025-10-28T19:38:16.644Z,1761680296.644 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:38:16.644Z,1761680296.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:38:16.644Z,1761680296.644 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:38:16.645Z,1761680296.645 [marl:UpdateRudder:A] Stopped 2025-10-28T19:38:16.645Z,1761680296.645 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:38:16.982Z,1761680296.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195425,-0.899005,-0.391917],[0.974363,0.132561,0.181780],[-0.111468,-0.417394,0.901863]] 2025-10-28T19:38:17.049Z,1761680297.049 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:38:17.049Z,1761680297.049 [marl:UpdateRudder:B] Stopped 2025-10-28T19:38:17.049Z,1761680297.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:38:17.049Z,1761680297.049 [marl:UpdateRudder] Stopped 2025-10-28T19:38:17.049Z,1761680297.049 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:38:17.371Z,1761680297.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208105,-0.895823,-0.392674],[0.972718,0.147466,0.179090],[-0.102527,-0.419230,0.902072]] 2025-10-28T19:38:17.781Z,1761680297.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222648,-0.893278,-0.390489],[0.970481,0.164991,0.175913],[-0.092712,-0.418129,0.903644]] 2025-10-28T19:38:18.178Z,1761680298.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240033,-0.889926,-0.387836],[0.967247,0.185266,0.173524],[-0.082571,-0.416784,0.905247]] 2025-10-28T19:38:18.625Z,1761680298.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285730,-0.880307,-0.378704],[0.956216,0.235786,0.173369],[-0.063324,-0.411660,0.909135]] 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode] Stopped 2025-10-28T19:38:18.679Z,1761680298.679 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:38:18.680Z,1761680298.680 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:38:18.680Z,1761680298.680 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:38:18.680Z,1761680298.680 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:38:18.680Z,1761680298.680 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:38:18.680Z,1761680298.680 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:38:18.681Z,1761680298.681 [marl:UpdateSpeed] Stopped 2025-10-28T19:38:18.681Z,1761680298.681 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:38:19.391Z,1761680299.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312152,-0.873511,-0.373551],[0.948407,0.263529,0.176286],[-0.055546,-0.409306,0.910705]] 2025-10-28T19:38:19.421Z,1761680299.421 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:38:19.593Z,1761680299.593 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:38:19.593Z,1761680299.593 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:38:19.799Z,1761680299.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338825,-0.864977,-0.370152],[0.939530,0.290236,0.181787],[-0.049810,-0.409363,0.911011]] 2025-10-28T19:38:19.858Z,1761680299.858 [DAT](INFO): DAT read: user:194> 2025-10-28T19:38:19.858Z,1761680299.858 [DAT](INFO): DAT read: Tx time:19:38:19.5796 2025-10-28T19:38:19.859Z,1761680299.859 [DAT](INFO): Ping request sent. 2025-10-28T19:38:19.859Z,1761680299.859 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:38:19.859Z,1761680299.859 [DAT](INFO): publishing transmit ping time 2025-10-28T19:38:19.860Z,1761680299.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932 2025-10-28T19:38:20.109Z,1761680300.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249990 2025-10-28T19:38:20.199Z,1761680300.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365296,-0.855449,-0.367106],[0.929682,0.315159,0.190700],[-0.047437,-0.410953,0.910421]] 2025-10-28T19:38:20.361Z,1761680300.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502024 2025-10-28T19:38:20.616Z,1761680300.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756395 2025-10-28T19:38:20.865Z,1761680300.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005943 2025-10-28T19:38:21.118Z,1761680301.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258910 2025-10-28T19:38:21.369Z,1761680301.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510040 2025-10-28T19:38:21.416Z,1761680301.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435942,-0.828637,-0.351163],[0.898016,0.374787,0.230438],[-0.059338,-0.415808,0.907515]] 2025-10-28T19:38:21.621Z,1761680301.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761991 2025-10-28T19:38:21.889Z,1761680301.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030262 2025-10-28T19:38:22.141Z,1761680302.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282033 2025-10-28T19:38:22.224Z,1761680302.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468827,-0.814206,-0.342446],[0.880601,0.400619,0.253073],[-0.068863,-0.420206,0.904812]] 2025-10-28T19:38:22.394Z,1761680302.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534894 2025-10-28T19:38:22.635Z,1761680302.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490213,-0.803506,-0.337741],[0.869093,0.421231,0.259310],[-0.066090,-0.420645,0.904815]] 2025-10-28T19:38:22.645Z,1761680302.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786065 2025-10-28T19:38:22.897Z,1761680302.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038046 2025-10-28T19:38:23.038Z,1761680303.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503703,-0.795944,-0.335792],[0.861623,0.434822,0.261791],[-0.062361,-0.421191,0.904825]] 2025-10-28T19:38:23.149Z,1761680303.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290421 2025-10-28T19:38:23.401Z,1761680303.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542047 2025-10-28T19:38:23.451Z,1761680303.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519653,-0.786935,-0.332707],[0.852321,0.450480,0.265737],[-0.059239,-0.421664,0.904815]] 2025-10-28T19:38:23.653Z,1761680303.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794055 2025-10-28T19:38:23.839Z,1761680303.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535026,-0.778635,-0.327833],[0.842896,0.465695,0.269545],[-0.057207,-0.420543,0.905467]] 2025-10-28T19:38:23.905Z,1761680303.905 [DAT](INFO): DAT read: Rx Time:19:38:23.1426 2025-10-28T19:38:23.906Z,1761680303.906 [DAT](INFO): Rx dataTimestamp_ set to:1761680303.905240 2025-10-28T19:38:23.906Z,1761680303.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047189 2025-10-28T19:38:24.157Z,1761680304.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297984 2025-10-28T19:38:24.240Z,1761680304.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548908,-0.770943,-0.323028],[0.833993,0.479149,0.273626],[-0.056171,-0.419598,0.905970]] 2025-10-28T19:38:24.415Z,1761680304.415 [DAT](INFO): DAT read: 19:38:23.1426 LVL= 21792, 32753, 31778, 32755, AGC= 77, IDX= 279, 0.30,-1.571, 2.808, 2.883,-2.151, PHS= 0.682,-1.279,-1.293, RAW= 89.6, 18.8, CAL= 89.4, 23.6, ROT= 60.6, -23.6 2025-10-28T19:38:24.416Z,1761680304.416 [DAT](INFO): got valid direction response: 19:38:23.1426 LVL= 21792, 32753, 31778, 32755, AGC= 77, IDX= 279, 0.30,-1.571, 2.808, 2.883,-2.151, PHS= 0.682,-1.279,-1.293, RAW= 89.6, 18.8, CAL= 89.4, 23.6, ROT= 60.6, -23.6 2025-10-28T19:38:24.417Z,1761680304.417 [DAT](INFO): DAT read: Bearing 103, -17 (Remote) 2025-10-28T19:38:24.417Z,1761680304.417 [DAT](INFO): Remote Bearing received:Bearing 103, -17 (Remote) 2025-10-28T19:38:24.418Z,1761680304.418 [DAT](INFO): DAT read: Bearing 261.3, 31.3 (Local) 2025-10-28T19:38:24.418Z,1761680304.418 [DAT](INFO): Local bearing/azimuth received: Bearing 261.3, 31.3 (Local) 2025-10-28T19:38:24.420Z,1761680304.420 [DAT](INFO): DAT read: Range 11 to 20 : 1150.3 m (Round-trip 1533.8 ms) speed 1.2 m/s 2025-10-28T19:38:24.420Z,1761680304.420 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:38:24.421Z,1761680304.421 [DAT](INFO): direction in FSK: [0.449846,0.798348,0.400349] 2025-10-28T19:38:24.422Z,1761680304.422 [DAT](INFO): publishing direction and range info 2025-10-28T19:38:24.644Z,1761680304.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561042,-0.765048,-0.316121],[0.825944,0.491898,0.275413],[-0.055205,-0.415617,0.907863]] 2025-10-28T19:38:24.720Z,1761680304.720 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680256.00. Resetting abort timer. 2025-10-28T19:38:25.058Z,1761680305.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571381,-0.758660,-0.312982],[0.818993,0.502634,0.276784],[-0.052670,-0.414479,0.908533]] 2025-10-28T19:38:25.469Z,1761680305.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582045,-0.751195,-0.311336],[0.811745,0.514210,0.276872],[-0.047893,-0.413877,0.909072]] 2025-10-28T19:38:25.854Z,1761680305.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595528,-0.740742,-0.310883],[0.802237,0.528146,0.278349],[-0.041993,-0.415167,0.908776]] 2025-10-28T19:38:26.259Z,1761680306.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610772,-0.728624,-0.309941],[0.791036,0.544224,0.279433],[-0.034925,-0.415845,0.908765]] 2025-10-28T19:38:26.663Z,1761680306.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627495,-0.715631,-0.306793],[0.778126,0.562332,0.279824],[-0.027731,-0.414312,0.909712]] 2025-10-28T19:38:27.066Z,1761680307.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646433,-0.701501,-0.300035],[0.762653,0.582760,0.280625],[-0.022010,-0.410228,0.911717]] 2025-10-28T19:38:27.472Z,1761680307.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667402,-0.685894,-0.290041],[0.744448,0.604404,0.283712],[-0.019295,-0.405271,0.913993]] 2025-10-28T19:38:27.875Z,1761680307.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688775,-0.669008,-0.279315],[0.724691,0.624571,0.291091],[-0.020290,-0.402914,0.915013]] 2025-10-28T19:38:28.279Z,1761680308.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707929,-0.652604,-0.270082],[0.705892,0.641019,0.301350],[-0.023535,-0.403983,0.914464]] 2025-10-28T19:38:28.682Z,1761680308.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723616,-0.637991,-0.263337],[0.689635,0.652858,0.313337],[-0.027984,-0.408342,0.912400]] 2025-10-28T19:38:29.097Z,1761680309.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735003,-0.626493,-0.259377],[0.677308,0.660294,0.324445],[-0.031997,-0.414147,0.909648]] 2025-10-28T19:38:29.493Z,1761680309.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743087,-0.617216,-0.258584],[0.668331,0.664865,0.333599],[-0.033979,-0.420713,0.906557]] 2025-10-28T19:38:29.895Z,1761680309.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749279,-0.609532,-0.258944],[0.661431,0.669272,0.338504],[-0.033025,-0.424907,0.904634]] 2025-10-28T19:38:29.934Z,1761680309.934 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:38:29.935Z,1761680309.935 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:38:29.935Z,1761680309.935 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:38:29.935Z,1761680309.935 [marl:UpdateRudder:A] Stopped 2025-10-28T19:38:29.935Z,1761680309.935 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:38:30.299Z,1761680310.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755118,-0.602264,-0.258988],[0.654939,0.675429,0.338896],[-0.029176,-0.425528,0.904475]] 2025-10-28T19:38:30.323Z,1761680310.323 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:38:30.323Z,1761680310.323 [marl:UpdateRudder:B] Stopped 2025-10-28T19:38:30.323Z,1761680310.323 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:38:30.323Z,1761680310.323 [marl:UpdateRudder] Stopped 2025-10-28T19:38:30.323Z,1761680310.323 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:38:30.703Z,1761680310.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762032,-0.593950,-0.257935],[0.647110,0.683985,0.336770],[-0.023601,-0.423542,0.905569]] 2025-10-28T19:38:31.107Z,1761680311.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771214,-0.583644,-0.254143],[0.636317,0.695407,0.333931],[-0.018165,-0.419248,0.907690]] 2025-10-28T19:38:31.917Z,1761680311.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797757,-0.553009,-0.240341],[0.602868,0.723901,0.335435],[-0.011516,-0.412490,0.910889]] 2025-10-28T19:38:31.953Z,1761680311.953 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:38:31.954Z,1761680311.954 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:38:31.954Z,1761680311.954 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:38:31.954Z,1761680311.954 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:38:31.954Z,1761680311.954 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:38:31.954Z,1761680311.954 [marl:UpdateCommandMode] Stopped 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed] Stopped 2025-10-28T19:38:31.955Z,1761680311.955 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:38:32.318Z,1761680312.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813026,-0.534137,-0.231703],[0.582140,0.738874,0.339378],[-0.010075,-0.410807,0.911667]] 2025-10-28T19:38:32.722Z,1761680312.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828102,-0.514220,-0.223214],[0.560508,0.753291,0.344069],[-0.008782,-0.410038,0.912026]] 2025-10-28T19:38:33.127Z,1761680313.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842754,-0.493158,-0.215779],[0.538253,0.766802,0.349712],[-0.007004,-0.410865,0.911669]] 2025-10-28T19:38:33.532Z,1761680313.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856888,-0.471356,-0.208724],[0.515481,0.779847,0.355130],[-0.004620,-0.411900,0.911217]] 2025-10-28T19:38:33.945Z,1761680313.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870040,-0.449638,-0.202130],[0.492980,0.792364,0.359347],[-0.001416,-0.412292,0.911051]] 2025-10-28T19:38:34.338Z,1761680314.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882113,-0.428357,-0.195924],[0.471033,0.803904,0.363133],[0.001954,-0.412611,0.910905]] 2025-10-28T19:38:34.742Z,1761680314.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893489,-0.407136,-0.189522],[0.449066,0.813974,0.368492],[0.004240,-0.414351,0.910107]] 2025-10-28T19:38:35.149Z,1761680315.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903757,-0.387610,-0.181610],[0.428023,0.822761,0.373979],[0.004464,-0.415719,0.909482]] 2025-10-28T19:38:35.553Z,1761680315.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913027,-0.369626,-0.172505],[0.407889,0.830172,0.380053],[0.002731,-0.417361,0.908736]] 2025-10-28T19:38:35.958Z,1761680315.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921859,-0.351828,-0.162459],[0.387526,0.837105,0.386107],[0.000152,-0.418893,0.908036]] 2025-10-28T19:38:36.358Z,1761680316.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929874,-0.334716,-0.152641],[0.367872,0.843570,0.391228],[-0.002187,-0.419945,0.907547]] 2025-10-28T19:38:36.768Z,1761680316.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936816,-0.319186,-0.143165],[0.349795,0.849592,0.394762],[-0.004370,-0.419898,0.907561]] 2025-10-28T19:38:37.173Z,1761680317.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943039,-0.304552,-0.133889],[0.332631,0.856001,0.395751],[-0.005918,-0.417744,0.908546]] 2025-10-28T19:38:37.570Z,1761680317.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948346,-0.291235,-0.125784],[0.317156,0.861380,0.396783],[-0.007209,-0.416181,0.909253]] 2025-10-28T19:38:37.974Z,1761680317.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953082,-0.278237,-0.119247],[0.302619,0.865889,0.398319],[-0.007572,-0.415717,0.909463]] 2025-10-28T19:38:38.382Z,1761680318.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957722,-0.264204,-0.113861],[0.287612,0.869826,0.400852],[-0.006868,-0.416652,0.909040]] 2025-10-28T19:38:38.788Z,1761680318.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962241,-0.248979,-0.110006],[0.272144,0.871953,0.406984],[-0.005410,-0.421554,0.906787]] 2025-10-28T19:38:39.192Z,1761680319.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966501,-0.232942,-0.107771],[0.256641,0.871490,0.417901],[-0.003426,-0.431560,0.902078]] 2025-10-28T19:38:39.484Z,1761680319.484 [Radio_Surface](INFO): Powering down 2025-10-28T19:38:39.590Z,1761680319.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970412,-0.217224,-0.105419],[0.241450,0.870697,0.428472],[-0.001287,-0.441248,0.897384]] 2025-10-28T19:38:40.004Z,1761680320.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973879,-0.202287,-0.103149],[0.227063,0.870499,0.436662],[0.001460,-0.448677,0.893693]] 2025-10-28T19:38:40.408Z,1761680320.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976973,-0.188277,-0.100377],[0.213312,0.872196,0.440196],[0.004670,-0.451471,0.892274]] 2025-10-28T19:38:40.803Z,1761680320.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979730,-0.175105,-0.097301],[0.200138,0.876473,0.437882],[0.008607,-0.448480,0.893752]] 2025-10-28T19:38:41.206Z,1761680321.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982418,-0.161373,-0.093877],[0.186226,0.882561,0.431748],[0.013180,-0.441640,0.897096]] 2025-10-28T19:38:41.611Z,1761680321.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985301,-0.145487,-0.089533],[0.169887,0.889469,0.424244],[0.017915,-0.433218,0.901111]] 2025-10-28T19:38:42.015Z,1761680322.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988483,-0.125766,-0.084165],[0.149592,0.896117,0.417847],[0.022871,-0.425626,0.904610]] 2025-10-28T19:38:42.048Z,1761680322.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:38:42.436Z,1761680322.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991634,-0.102913,-0.077920],[0.126043,0.902224,0.412438],[0.027856,-0.418808,0.907647]] 2025-10-28T19:38:42.823Z,1761680322.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994299,-0.079260,-0.071319],[0.101513,0.908304,0.405806],[0.032615,-0.410732,0.911173]] 2025-10-28T19:38:43.052Z,1761680323.052 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T19:38:43.052Z,1761680323.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:38:43.234Z,1761680323.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996406,-0.055352,-0.064124],[0.076386,0.914329,0.397702],[0.036617,-0.401171,0.915271]] 2025-10-28T19:38:43.293Z,1761680323.293 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:38:43.293Z,1761680323.293 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:38:43.293Z,1761680323.293 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:38:43.294Z,1761680323.294 [marl:UpdateRudder:A] Stopped 2025-10-28T19:38:43.294Z,1761680323.294 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:38:43.632Z,1761680323.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997932,-0.030920,-0.056359],[0.050583,0.918739,0.391613],[0.039671,-0.393654,0.918402]] 2025-10-28T19:38:43.656Z,1761680323.656 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:38:43.656Z,1761680323.656 [marl:UpdateRudder:B] Stopped 2025-10-28T19:38:43.656Z,1761680323.656 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:38:43.656Z,1761680323.656 [marl:UpdateRudder] Stopped 2025-10-28T19:38:43.656Z,1761680323.656 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:38:44.035Z,1761680324.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998850,-0.006116,-0.047543],[0.024129,0.921164,0.388426],[0.041419,-0.389127,0.920253]] 2025-10-28T19:38:44.451Z,1761680324.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999132,0.017525,-0.037788],[-0.001484,0.921595,0.388151],[0.041628,-0.387758,0.920821]] 2025-10-28T19:38:44.851Z,1761680324.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998911,0.036659,-0.028848],[-0.022444,0.919823,0.391691],[0.040894,-0.390617,0.919645]] 2025-10-28T19:38:45.255Z,1761680325.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998431,0.051483,-0.022034],[-0.038519,0.916970,0.397093],[0.040648,-0.395621,0.917514]] 2025-10-28T19:38:45.279Z,1761680325.279 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:38:45.280Z,1761680325.280 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:38:45.280Z,1761680325.280 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:38:45.280Z,1761680325.280 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:38:45.280Z,1761680325.280 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:38:45.280Z,1761680325.280 [marl:UpdateCommandMode] Stopped 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed] Stopped 2025-10-28T19:38:45.281Z,1761680325.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:38:45.650Z,1761680325.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997745,0.065111,-0.016275],[-0.052932,0.912503,0.405631],[0.041262,-0.403855,0.913892]] 2025-10-28T19:38:46.055Z,1761680326.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996875,0.078229,-0.010954],[-0.066573,0.906675,0.416543],[0.042517,-0.414513,0.909050]] 2025-10-28T19:38:46.483Z,1761680326.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995816,0.091149,-0.006486],[-0.079788,0.901903,0.424505],[0.044543,-0.422212,0.905402]] 2025-10-28T19:38:46.864Z,1761680326.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994648,0.103288,-0.002645],[-0.092115,0.898071,0.430096],[0.046799,-0.427550,0.902779]] 2025-10-28T19:38:47.266Z,1761680327.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993295,0.115608,0.000518],[-0.104509,0.896005,0.431571],[0.049428,-0.428731,0.902079]] 2025-10-28T19:38:47.671Z,1761680327.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991351,0.131133,0.005330],[-0.120597,0.894172,0.431175],[0.051775,-0.428089,0.902252]] 2025-10-28T19:38:48.075Z,1761680328.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988064,0.153549,0.012355],[-0.143878,0.891218,0.430151],[0.055038,-0.426795,0.902672]] 2025-10-28T19:38:48.483Z,1761680328.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983917,0.177477,0.020241],[-0.168982,0.888060,0.427545],[0.057904,-0.424089,0.903767]] 2025-10-28T19:38:48.883Z,1761680328.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979276,0.200653,0.027495],[-0.193218,0.884922,0.423768],[0.060699,-0.420299,0.905353]] 2025-10-28T19:38:49.287Z,1761680329.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974461,0.221976,0.033962],[-0.215363,0.880974,0.421313],[0.063602,-0.417867,0.906279]] 2025-10-28T19:38:49.690Z,1761680329.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969948,0.240363,0.037771],[-0.233833,0.877949,0.417766],[0.067254,-0.414043,0.907769]] 2025-10-28T19:38:50.097Z,1761680330.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966004,0.255564,0.039024],[-0.248328,0.875291,0.414969],[0.071894,-0.410553,0.908998]] 2025-10-28T19:38:50.499Z,1761680330.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962140,0.269755,0.038974],[-0.261175,0.871595,0.414861],[0.077941,-0.409333,0.909050]] 2025-10-28T19:38:50.909Z,1761680330.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957855,0.284563,0.039227],[-0.274370,0.865884,0.418290],[0.085064,-0.411424,0.907466]] 2025-10-28T19:38:51.307Z,1761680331.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952821,0.300628,0.041895],[-0.289323,0.857783,0.424854],[0.091787,-0.416930,0.904292]] 2025-10-28T19:38:52.116Z,1761680332.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940054,0.335729,0.059869],[-0.326740,0.836407,0.440073],[0.097671,-0.433254,0.895964]] 2025-10-28T19:38:52.519Z,1761680332.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932029,0.355241,0.071597],[-0.349057,0.826965,0.440781],[0.097376,-0.435812,0.894755]] 2025-10-28T19:38:52.929Z,1761680332.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923610,0.374887,0.080032],[-0.370919,0.821295,0.433467],[0.096771,-0.430040,0.897609]] 2025-10-28T19:38:53.327Z,1761680333.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915181,0.394221,0.083866],[-0.391143,0.818530,0.420733],[0.097216,-0.417850,0.903300]] 2025-10-28T19:38:53.741Z,1761680333.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906284,0.414249,0.083947],[-0.410769,0.816425,0.405856],[0.099589,-0.402304,0.910074]] 2025-10-28T19:38:54.135Z,1761680334.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896609,0.434854,0.083630],[-0.430562,0.811962,0.394125],[0.103482,-0.389384,0.915244]] 2025-10-28T19:38:54.542Z,1761680334.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885841,0.456097,0.085209],[-0.451143,0.803754,0.387878],[0.108423,-0.382040,0.917763]] 2025-10-28T19:38:54.947Z,1761680334.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874670,0.476324,0.089818],[-0.471260,0.792295,0.387534],[0.113429,-0.381292,0.917470]] 2025-10-28T19:38:55.348Z,1761680335.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865133,0.492499,0.094812],[-0.487532,0.781437,0.389447],[0.117713,-0.383147,0.916156]] 2025-10-28T19:38:55.757Z,1761680335.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855927,0.506839,0.102483],[-0.502700,0.769151,0.394588],[0.121168,-0.389256,0.913125]] 2025-10-28T19:38:56.155Z,1761680336.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846360,0.520797,0.111560],[-0.517941,0.755966,0.400316],[0.124148,-0.396592,0.909561]] 2025-10-28T19:38:56.572Z,1761680336.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836487,0.534344,0.121517],[-0.533040,0.741976,0.406621],[0.127113,-0.404906,0.905480]] 2025-10-28T19:38:56.652Z,1761680336.652 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:38:56.653Z,1761680336.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:38:56.653Z,1761680336.653 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:38:56.653Z,1761680336.653 [marl:UpdateRudder:A] Stopped 2025-10-28T19:38:56.653Z,1761680336.653 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:38:56.963Z,1761680336.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826599,0.547353,0.130918],[-0.547532,0.728321,0.412015],[0.130167,-0.412253,0.901723]] 2025-10-28T19:38:57.032Z,1761680337.032 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:38:57.033Z,1761680337.033 [marl:UpdateRudder:B] Stopped 2025-10-28T19:38:57.033Z,1761680337.033 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:38:57.033Z,1761680337.033 [marl:UpdateRudder] Stopped 2025-10-28T19:38:57.033Z,1761680337.033 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:38:57.371Z,1761680337.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816709,0.560036,0.139094],[-0.561377,0.715302,0.416171],[0.133576,-0.417975,0.898585]] 2025-10-28T19:38:57.776Z,1761680337.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806588,0.572356,0.147731],[-0.575104,0.702068,0.419948],[0.136643,-0.423685,0.895444]] 2025-10-28T19:38:58.174Z,1761680338.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795667,0.584886,0.157548],[-0.589631,0.688287,0.422606],[0.138738,-0.429149,0.892515]] 2025-10-28T19:38:58.623Z,1761680338.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783052,0.598651,0.168663],[-0.606106,0.673670,0.422853],[0.139518,-0.433343,0.890364]] 2025-10-28T19:38:58.675Z,1761680338.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:38:58.676Z,1761680338.676 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:38:58.692Z,1761680338.692 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:38:58.692Z,1761680338.692 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:38:58.692Z,1761680338.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:38:58.692Z,1761680338.692 [marl:UpdateCommandMode] Stopped 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed] Stopped 2025-10-28T19:38:58.693Z,1761680338.693 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:38:58.997Z,1761680338.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768954,0.613265,0.180601],[-0.624206,0.659180,0.419344],[0.138120,-0.435188,0.889682]] 2025-10-28T19:38:59.387Z,1761680339.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753955,0.628837,0.190041],[-0.642901,0.646849,0.410201],[0.135021,-0.431451,0.891975]] 2025-10-28T19:38:59.793Z,1761680339.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738838,0.644830,0.195738],[-0.660923,0.636692,0.397246],[0.131531,-0.422868,0.896595]] 2025-10-28T19:39:00.196Z,1761680340.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722991,0.662256,0.196725],[-0.678535,0.627156,0.382448],[0.129901,-0.409991,0.902792]] 2025-10-28T19:39:00.626Z,1761680340.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705987,0.681020,0.194409],[-0.695926,0.616143,0.368858],[0.131416,-0.395703,0.908927]] 2025-10-28T19:39:01.003Z,1761680341.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686605,0.700490,0.194647],[-0.714179,0.599726,0.360939],[0.136099,-0.386836,0.912050]] 2025-10-28T19:39:01.414Z,1761680341.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666988,0.717359,0.201306],[-0.731588,0.579397,0.359275],[0.141093,-0.386905,0.911262]] 2025-10-28T19:39:01.812Z,1761680341.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651245,0.728859,0.211292],[-0.745308,0.561916,0.358841],[0.142816,-0.391171,0.909169]] 2025-10-28T19:39:02.215Z,1761680342.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636322,0.738291,0.223653],[-0.758040,0.544654,0.358786],[0.143075,-0.397841,0.906229]] 2025-10-28T19:39:02.630Z,1761680342.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621566,0.747022,0.235825],[-0.770334,0.528200,0.357198],[0.142272,-0.403686,0.903768]] 2025-10-28T19:39:03.023Z,1761680343.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606334,0.756131,0.246223],[-0.782500,0.512182,0.354068],[0.141611,-0.407353,0.902225]] 2025-10-28T19:39:03.431Z,1761680343.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590903,0.765533,0.254545],[-0.794255,0.496738,0.349871],[0.141396,-0.408913,0.901553]] 2025-10-28T19:39:03.831Z,1761680343.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575398,0.775111,0.260999],[-0.805530,0.481850,0.344881],[0.141559,-0.408686,0.901630]] 2025-10-28T19:39:04.235Z,1761680344.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559965,0.785066,0.264786],[-0.816279,0.468035,0.338572],[0.141872,-0.405728,0.902916]] 2025-10-28T19:39:04.639Z,1761680344.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544244,0.794834,0.268395],[-0.826874,0.454196,0.331640],[0.141695,-0.402423,0.904422]] 2025-10-28T19:39:05.045Z,1761680345.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527559,0.803964,0.274451],[-0.837749,0.438763,0.325059],[0.140916,-0.401409,0.904994]] 2025-10-28T19:39:05.446Z,1761680345.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508788,0.813756,0.280956],[-0.849409,0.421389,0.317704],[0.140142,-0.400290,0.905609]] 2025-10-28T19:39:05.851Z,1761680345.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489405,0.822740,0.289107],[-0.860822,0.402736,0.311109],[0.139528,-0.401128,0.905333]] 2025-10-28T19:39:06.254Z,1761680346.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468775,0.831865,0.297069],[-0.872178,0.382659,0.304757],[0.139840,-0.401960,0.904916]] 2025-10-28T19:39:06.660Z,1761680346.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450229,0.839820,0.303308],[-0.881856,0.364923,0.298600],[0.140086,-0.401912,0.904899]] 2025-10-28T19:39:07.065Z,1761680347.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431516,0.846716,0.311234],[-0.891068,0.346261,0.293429],[0.140683,-0.403950,0.903899]] 2025-10-28T19:39:07.469Z,1761680347.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413464,0.852454,0.319952],[-0.899573,0.328116,0.288285],[0.140768,-0.407016,0.902509]] 2025-10-28T19:39:07.892Z,1761680347.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375549,0.863492,0.336666],[-0.916493,0.291970,0.273486],[0.137856,-0.411259,0.901034]] 2025-10-28T19:39:08.282Z,1761680348.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355048,0.870197,0.341611],[-0.925046,0.274249,0.262827],[0.135025,-0.409321,0.902344]] 2025-10-28T19:39:08.683Z,1761680348.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332717,0.878588,0.342611],[-0.933698,0.255941,0.250403],[0.132313,-0.403209,0.905492]] 2025-10-28T19:39:09.089Z,1761680349.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308798,0.887121,0.343017],[-0.942127,0.235795,0.238322],[0.130539,-0.396759,0.908593]] 2025-10-28T19:39:09.491Z,1761680349.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283849,0.895531,0.342715],[-0.949938,0.213963,0.227677],[0.130563,-0.390184,0.911433]] 2025-10-28T19:39:09.905Z,1761680349.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259354,0.902745,0.343202],[-0.956658,0.191402,0.219479],[0.132444,-0.385250,0.913259]] 2025-10-28T19:39:09.948Z,1761680349.948 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:39:09.948Z,1761680349.948 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:39:09.948Z,1761680349.948 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:39:09.949Z,1761680349.949 [marl:UpdateRudder:A] Stopped 2025-10-28T19:39:09.949Z,1761680349.949 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:39:10.298Z,1761680350.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236364,0.907966,0.346020],[-0.962110,0.168881,0.214063],[0.135926,-0.383506,0.913481]] 2025-10-28T19:39:10.335Z,1761680350.335 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:39:10.335Z,1761680350.335 [marl:UpdateRudder:B] Stopped 2025-10-28T19:39:10.335Z,1761680350.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:39:10.335Z,1761680350.335 [marl:UpdateRudder] Stopped 2025-10-28T19:39:10.335Z,1761680350.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:39:10.703Z,1761680350.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215692,0.910202,0.353567],[-0.966308,0.146884,0.211363],[0.140450,-0.387244,0.911217]] 2025-10-28T19:39:11.107Z,1761680351.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197185,0.909518,0.365916],[-0.969493,0.125471,0.210572],[0.145608,-0.396275,0.906512]] 2025-10-28T19:39:11.919Z,1761680351.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164593,0.903779,0.395086],[-0.974224,0.086313,0.208416],[0.154261,-0.419206,0.894690]] 2025-10-28T19:39:11.959Z,1761680351.959 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:39:11.959Z,1761680351.959 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:39:11.959Z,1761680351.959 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:39:11.959Z,1761680351.959 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateCommandMode] Stopped 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:39:11.960Z,1761680351.960 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:39:11.961Z,1761680351.961 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:39:11.961Z,1761680351.961 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:39:11.961Z,1761680351.961 [marl:UpdateSpeed] Stopped 2025-10-28T19:39:11.961Z,1761680351.961 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:39:12.318Z,1761680352.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149856,0.900847,0.407454],[-0.976408,0.070038,0.204262],[0.155472,-0.428451,0.890089]] 2025-10-28T19:39:12.723Z,1761680352.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135275,0.899490,0.415473],[-0.978879,0.056455,0.196491],[0.153286,-0.433279,0.888129]] 2025-10-28T19:39:13.135Z,1761680353.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120141,0.901468,0.415839],[-0.981723,0.045603,0.184771],[0.147601,-0.430437,0.890470]] 2025-10-28T19:39:13.188Z,1761680353.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:39:13.534Z,1761680353.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103018,0.905639,0.411346],[-0.984790,0.034694,0.170249],[0.139913,-0.422629,0.895438]] 2025-10-28T19:39:13.939Z,1761680353.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082839,0.911688,0.402447],[-0.987720,0.021434,0.154755],[0.132463,-0.410324,0.902268]] 2025-10-28T19:39:14.192Z,1761680354.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:39:14.339Z,1761680354.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058685,0.918817,0.390297],[-0.990138,0.003750,0.140049],[0.127215,-0.394666,0.909975]] 2025-10-28T19:39:14.744Z,1761680354.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030530,0.924835,0.379140],[-0.991660,-0.019491,0.127399],[0.125213,-0.379868,0.916527]] 2025-10-28T19:39:15.147Z,1761680355.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001098,0.927878,0.372881],[-0.992078,-0.045829,0.116962],[0.125616,-0.370056,0.920478]] 2025-10-28T19:39:15.551Z,1761680355.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026014,0.927836,0.372079],[-0.991652,-0.070973,0.107652],[0.126291,-0.366172,0.921937]] 2025-10-28T19:39:15.959Z,1761680355.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049462,0.924662,0.377563],[-0.990810,-0.093076,0.098147],[0.125894,-0.369238,0.920768]] 2025-10-28T19:39:16.358Z,1761680356.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069968,0.919549,0.386697],[-0.989808,-0.112198,0.087707],[0.124037,-0.376619,0.918027]] 2025-10-28T19:39:16.767Z,1761680356.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089911,0.914055,0.395498],[-0.988529,-0.130290,0.076391],[0.121355,-0.384093,0.915284]] 2025-10-28T19:39:17.167Z,1761680357.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111024,0.908504,0.402856],[-0.986739,-0.149065,0.064228],[0.118403,-0.390383,0.913007]] 2025-10-28T19:39:17.575Z,1761680357.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134487,0.903292,0.407402],[-0.984118,-0.169827,0.051676],[0.115866,-0.393982,0.911786]] 2025-10-28T19:39:17.978Z,1761680357.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159918,0.898182,0.409507],[-0.980550,-0.192359,0.038986],[0.113789,-0.395307,0.911474]] 2025-10-28T19:39:18.386Z,1761680358.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186627,0.892891,0.409775],[-0.975981,-0.216219,0.026640],[0.112387,-0.394961,0.911798]] 2025-10-28T19:39:18.786Z,1761680358.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213214,0.887140,0.409294],[-0.970592,-0.240254,0.015137],[0.111763,-0.394030,0.912277]] 2025-10-28T19:39:19.189Z,1761680359.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237471,0.879793,0.411792],[-0.964939,-0.262442,0.004249],[0.111810,-0.396345,0.911268]] 2025-10-28T19:39:19.590Z,1761680359.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258854,0.872319,0.414795],[-0.959369,-0.282102,-0.005432],[0.112276,-0.399347,0.909899]] 2025-10-28T19:39:19.628Z,1761680359.628 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:39:19.657Z,1761680359.657 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:39:19.657Z,1761680359.657 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:39:19.909Z,1761680359.909 [DAT](INFO): DAT read: user:195> 2025-10-28T19:39:19.910Z,1761680359.910 [DAT](INFO): DAT read: Tx time:19:39:19.6294 2025-10-28T19:39:19.910Z,1761680359.910 [DAT](INFO): Ping request sent. 2025-10-28T19:39:19.910Z,1761680359.910 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:39:19.910Z,1761680359.910 [DAT](INFO): publishing transmit ping time 2025-10-28T19:39:19.911Z,1761680359.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T19:39:19.994Z,1761680359.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277166,0.863228,0.421921],[-0.954179,-0.298842,-0.015399],[0.112794,-0.406856,0.906502]] 2025-10-28T19:39:20.161Z,1761680360.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-10-28T19:39:20.402Z,1761680360.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293296,0.854023,0.429677],[-0.949302,-0.313355,-0.025169],[0.113147,-0.415275,0.902632]] 2025-10-28T19:39:20.413Z,1761680360.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503020 2025-10-28T19:39:20.665Z,1761680360.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935 2025-10-28T19:39:20.805Z,1761680360.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307816,0.847077,0.433254],[-0.944717,-0.326172,-0.033483],[0.112952,-0.419609,0.900650]] 2025-10-28T19:39:20.917Z,1761680360.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006924 2025-10-28T19:39:21.171Z,1761680361.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260660 2025-10-28T19:39:21.206Z,1761680361.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321618,0.841311,0.434462],[-0.940288,-0.337782,-0.041969],[0.111445,-0.422018,0.899712]] 2025-10-28T19:39:21.421Z,1761680361.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510928 2025-10-28T19:39:21.673Z,1761680361.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762955 2025-10-28T19:39:21.925Z,1761680361.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871 2025-10-28T19:39:22.027Z,1761680362.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347718,0.833590,0.429208],[-0.931587,-0.358920,-0.057636],[0.106006,-0.419886,0.901365]] 2025-10-28T19:39:22.177Z,1761680362.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937 2025-10-28T19:39:22.418Z,1761680362.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361370,0.830675,0.423545],[-0.926741,-0.370043,-0.064955],[0.102773,-0.415990,0.903543]] 2025-10-28T19:39:22.429Z,1761680362.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519163 2025-10-28T19:39:22.682Z,1761680362.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771601 2025-10-28T19:39:22.822Z,1761680362.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375881,0.827674,0.416735],[-0.921255,-0.382303,-0.071653],[0.100014,-0.410852,0.906199]] 2025-10-28T19:39:22.934Z,1761680362.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023335 2025-10-28T19:39:23.185Z,1761680363.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274852 2025-10-28T19:39:23.228Z,1761680363.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392758,0.824227,0.407911],[-0.914337,-0.397553,-0.077073],[0.098641,-0.403239,0.909763]] 2025-10-28T19:39:23.252Z,1761680363.252 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:39:23.252Z,1761680363.252 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:39:23.253Z,1761680363.253 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:39:23.253Z,1761680363.253 [marl:UpdateRudder:A] Stopped 2025-10-28T19:39:23.253Z,1761680363.253 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:39:23.441Z,1761680363.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530707 2025-10-28T19:39:23.632Z,1761680363.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410387,0.819623,0.399750],[-0.906592,-0.413982,-0.081913],[0.098351,-0.396026,0.912957]] 2025-10-28T19:39:23.662Z,1761680363.662 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:39:23.662Z,1761680363.662 [marl:UpdateRudder:B] Stopped 2025-10-28T19:39:23.662Z,1761680363.662 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:39:23.662Z,1761680363.662 [marl:UpdateRudder] Stopped 2025-10-28T19:39:23.662Z,1761680363.662 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:39:23.689Z,1761680363.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778897 2025-10-28T19:39:23.941Z,1761680363.941 [DAT](INFO): DAT read: Rx Time:19:39:23.1913 2025-10-28T19:39:23.941Z,1761680363.941 [DAT](INFO): Rx dataTimestamp_ set to:1761680363.941122 2025-10-28T19:39:23.942Z,1761680363.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031959 2025-10-28T19:39:24.035Z,1761680364.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429025,0.813761,0.392084],[-0.897917,-0.431485,-0.086979],[0.098398,-0.389375,0.915808]] 2025-10-28T19:39:24.194Z,1761680364.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283732 2025-10-28T19:39:24.439Z,1761680364.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448521,0.806619,0.384961],[-0.888345,-0.449720,-0.092706],[0.098346,-0.383558,0.918265]] 2025-10-28T19:39:24.451Z,1761680364.451 [DAT](INFO): DAT read: 19:39:23.1913 LVL= 32752, 23857, 27410, 29107, AGC= 70, IDX= 427,-0.23, 0.365, 1.814, 2.259, 1.091, PHS=-0.625, 0.767, 1.124, RAW= 258.9, -15.6, CAL= 258.7, -21.3, ROT= 251.3, 21.3 2025-10-28T19:39:24.452Z,1761680364.452 [DAT](INFO): got valid direction response: 19:39:23.1913 LVL= 32752, 23857, 27410, 29107, AGC= 70, IDX= 427,-0.23, 0.365, 1.814, 2.259, 1.091, PHS=-0.625, 0.767, 1.124, RAW= 258.9, -15.6, CAL= 258.7, -21.3, ROT= 251.3, 21.3 2025-10-28T19:39:24.453Z,1761680364.453 [DAT](INFO): DAT read: Bearing 104, -14 (Remote) 2025-10-28T19:39:24.453Z,1761680364.453 [DAT](INFO): Remote Bearing received:Bearing 104, -14 (Remote) 2025-10-28T19:39:24.454Z,1761680364.454 [DAT](INFO): DAT read: Bearing 283.4, -44.0 (Local) 2025-10-28T19:39:24.454Z,1761680364.454 [DAT](INFO): Local bearing/azimuth received: Bearing 283.4, -44.0 (Local) 2025-10-28T19:39:24.456Z,1761680364.456 [DAT](INFO): DAT read: Range 11 to 20 : 1149.5 m (Round-trip 1532.7 ms) speed -0.2 m/s 2025-10-28T19:39:24.457Z,1761680364.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:39:24.458Z,1761680364.458 [DAT](INFO): direction in FSK: [-0.298712,-0.882508,-0.363251] 2025-10-28T19:39:24.458Z,1761680364.458 [DAT](INFO): publishing direction and range info 2025-10-28T19:39:24.622Z,1761680364.622 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680384.00. Resetting abort timer. 2025-10-28T19:39:24.843Z,1761680364.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468300,0.797796,0.379759],[-0.878132,-0.467845,-0.100024],[0.097869,-0.380320,0.919662]] 2025-10-28T19:39:25.250Z,1761680365.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488418,0.787314,0.376277],[-0.867192,-0.485916,-0.108919],[0.097085,-0.379502,0.920083]] 2025-10-28T19:39:25.273Z,1761680365.273 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode] Stopped 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:39:25.274Z,1761680365.274 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:39:25.275Z,1761680365.275 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:39:25.275Z,1761680365.275 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:39:25.275Z,1761680365.275 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:39:25.275Z,1761680365.275 [marl:UpdateSpeed] Stopped 2025-10-28T19:39:25.275Z,1761680365.275 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:39:25.651Z,1761680365.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509283,0.775496,0.373145],[-0.855233,-0.504402,-0.118972],[0.095953,-0.379717,0.920113]] 2025-10-28T19:39:26.054Z,1761680366.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530050,0.762291,0.371429],[-0.842627,-0.522573,-0.129990],[0.095009,-0.381877,0.919317]] 2025-10-28T19:39:26.459Z,1761680366.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551414,0.748099,0.369176],[-0.828898,-0.541281,-0.141219],[0.094182,-0.383879,0.918568]] 2025-10-28T19:39:26.874Z,1761680366.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572360,0.732711,0.368155],[-0.814659,-0.559271,-0.153451],[0.093463,-0.387750,0.917014]] 2025-10-28T19:39:27.280Z,1761680367.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592303,0.717066,0.367414],[-0.800354,-0.576145,-0.165802],[0.092793,-0.392266,0.915160]] 2025-10-28T19:39:27.670Z,1761680367.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611048,0.701062,0.367602],[-0.786180,-0.591679,-0.178428],[0.092414,-0.398030,0.912706]] 2025-10-28T19:39:28.077Z,1761680368.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628045,0.685735,0.367868],[-0.772746,-0.605329,-0.190894],[0.091778,-0.404158,0.910073]] 2025-10-28T19:39:28.481Z,1761680368.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643545,0.671313,0.367680],[-0.759926,-0.617777,-0.202147],[0.091441,-0.409500,0.907716]] 2025-10-28T19:39:28.887Z,1761680368.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657372,0.658064,0.367169],[-0.748045,-0.628729,-0.212436],[0.091053,-0.414309,0.905570]] 2025-10-28T19:39:29.287Z,1761680369.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670959,0.645680,0.364569],[-0.735872,-0.640263,-0.220356],[0.091141,-0.416126,0.904728]] 2025-10-28T19:39:29.691Z,1761680369.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683889,0.634274,0.360545],[-0.723867,-0.651640,-0.226673],[0.091173,-0.416006,0.904780]] 2025-10-28T19:39:30.103Z,1761680370.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696329,0.623366,0.355725],[-0.711881,-0.662970,-0.231725],[0.091386,-0.414591,0.905408]] 2025-10-28T19:39:30.504Z,1761680370.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708898,0.612345,0.349997],[-0.699281,-0.674950,-0.235477],[0.092037,-0.411675,0.906671]] 2025-10-28T19:39:30.902Z,1761680370.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721308,0.601234,0.343849],[-0.686383,-0.686955,-0.238688],[0.092702,-0.408180,0.908183]] 2025-10-28T19:39:31.309Z,1761680371.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733398,0.589585,0.338403],[-0.673424,-0.698120,-0.243163],[0.092881,-0.406224,0.909041]] 2025-10-28T19:39:32.114Z,1761680372.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757398,0.565636,0.326197],[-0.646207,-0.720962,-0.250260],[0.093620,-0.400337,0.911573]] 2025-10-28T19:39:32.519Z,1761680372.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768992,0.552754,0.321114],[-0.632249,-0.731823,-0.254353],[0.094404,-0.398620,0.912244]] 2025-10-28T19:39:32.922Z,1761680372.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779827,0.539640,0.317266],[-0.618748,-0.741365,-0.259864],[0.094977,-0.398956,0.912038]] 2025-10-28T19:39:33.327Z,1761680373.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790102,0.526073,0.314620],[-0.605448,-0.749948,-0.266477],[0.095763,-0.401030,0.911046]] 2025-10-28T19:39:33.730Z,1761680373.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800412,0.512541,0.310874],[-0.591670,-0.758767,-0.272396],[0.096267,-0.401964,0.910581]] 2025-10-28T19:39:34.145Z,1761680374.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810476,0.498416,0.307749],[-0.577725,-0.766921,-0.279405],[0.096759,-0.404245,0.909518]] 2025-10-28T19:39:34.545Z,1761680374.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820925,0.483683,0.303535],[-0.562725,-0.775585,-0.286023],[0.097073,-0.405610,0.908877]] 2025-10-28T19:39:34.945Z,1761680374.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831724,0.468387,0.298076],[-0.546602,-0.784897,-0.291826],[0.097272,-0.405648,0.908839]] 2025-10-28T19:39:35.352Z,1761680375.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843140,0.451832,0.291484],[-0.528814,-0.794917,-0.297426],[0.097319,-0.404912,0.909162]] 2025-10-28T19:39:35.752Z,1761680375.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854736,0.434235,0.284372],[-0.509853,-0.805110,-0.303065],[0.097349,-0.404028,0.909552]] 2025-10-28T19:39:36.163Z,1761680376.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866405,0.416017,0.276173],[-0.489735,-0.815907,-0.307335],[0.097475,-0.401528,0.910645]] 2025-10-28T19:39:36.590Z,1761680376.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877840,0.397072,0.267827],[-0.468885,-0.826522,-0.311460],[0.097693,-0.398992,0.911735]] 2025-10-28T19:39:36.662Z,1761680376.662 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:39:36.663Z,1761680376.663 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:39:36.663Z,1761680376.663 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:39:36.663Z,1761680376.663 [marl:UpdateRudder:A] Stopped 2025-10-28T19:39:36.663Z,1761680376.663 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:39:36.963Z,1761680376.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888956,0.377479,0.259358],[-0.447391,-0.836859,-0.315449],[0.097971,-0.396454,0.912812]] 2025-10-28T19:39:37.019Z,1761680377.019 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:39:37.019Z,1761680377.019 [marl:UpdateRudder:B] Stopped 2025-10-28T19:39:37.019Z,1761680377.019 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:39:37.019Z,1761680377.019 [marl:UpdateRudder] Stopped 2025-10-28T19:39:37.019Z,1761680377.019 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:39:37.373Z,1761680377.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898710,0.358470,0.252625],[-0.427335,-0.845244,-0.320854],[0.098513,-0.396310,0.912816]] 2025-10-28T19:39:37.778Z,1761680377.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906933,0.341219,0.247067],[-0.409491,-0.851783,-0.326777],[0.098945,-0.397536,0.912236]] 2025-10-28T19:39:38.174Z,1761680378.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913810,0.325339,0.243117],[-0.393721,-0.856525,-0.333688],[0.099674,-0.400648,0.910794]] 2025-10-28T19:39:38.628Z,1761680378.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919910,0.310778,0.239128],[-0.379065,-0.860874,-0.339420],[0.100375,-0.402880,0.909732]] 2025-10-28T19:39:38.685Z,1761680378.685 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:39:38.685Z,1761680378.685 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateCommandMode] Stopped 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:39:38.686Z,1761680378.686 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:39:38.687Z,1761680378.687 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:39:38.687Z,1761680378.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:39:38.687Z,1761680378.687 [marl:UpdateSpeed] Stopped 2025-10-28T19:39:38.687Z,1761680378.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:39:38.982Z,1761680378.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925413,0.296770,0.235665],[-0.365170,-0.864566,-0.345220],[0.101297,-0.405529,0.908452]] 2025-10-28T19:39:39.388Z,1761680379.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930414,0.283243,0.232599],[-0.351811,-0.868122,-0.350132],[0.102752,-0.407599,0.907362]] 2025-10-28T19:39:39.804Z,1761680379.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935547,0.269290,0.228548],[-0.337339,-0.872992,-0.352261],[0.104660,-0.406655,0.907567]] 2025-10-28T19:39:40.194Z,1761680380.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941029,0.253426,0.224142],[-0.320952,-0.878262,-0.354467],[0.107024,-0.405502,0.907807]] 2025-10-28T19:39:40.637Z,1761680380.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946869,0.235457,0.219089],[-0.302453,-0.883536,-0.357611],[0.109371,-0.404875,0.907807]] 2025-10-28T19:39:41.005Z,1761680381.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952664,0.216670,0.213273],[-0.282734,-0.889286,-0.359488],[0.111770,-0.402771,0.908451]] 2025-10-28T19:39:41.406Z,1761680381.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958252,0.196609,0.207598],[-0.262110,-0.894139,-0.363063],[0.114240,-0.402319,0.908344]] 2025-10-28T19:39:42.221Z,1761680382.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967849,0.156622,0.196821],[-0.221434,-0.901703,-0.371347],[0.119313,-0.402991,0.907394]] 2025-10-28T19:39:42.641Z,1761680382.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971574,0.137810,0.192489],[-0.202925,-0.903561,-0.377359],[0.121922,-0.405693,0.905841]] 2025-10-28T19:39:43.023Z,1761680383.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974739,0.119652,0.188593],[-0.185347,-0.904491,-0.384112],[0.124621,-0.409364,0.903820]] 2025-10-28T19:39:43.427Z,1761680383.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977148,0.103221,0.185816],[-0.169682,-0.905297,-0.389416],[0.128023,-0.412047,0.902124]] 2025-10-28T19:39:43.833Z,1761680383.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979300,0.087171,0.182679],[-0.154040,-0.906444,-0.393231],[0.131310,-0.413231,0.901109]] 2025-10-28T19:39:44.236Z,1761680384.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981241,0.071106,0.179195],[-0.138202,-0.907497,-0.396672],[0.134413,-0.413996,0.900300]] 2025-10-28T19:39:44.324Z,1761680384.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:39:44.639Z,1761680384.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983006,0.054450,0.175310],[-0.121541,-0.908746,-0.399260],[0.137572,-0.413782,0.899921]] 2025-10-28T19:39:45.042Z,1761680385.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984387,0.038469,0.171764],[-0.105584,-0.909824,-0.401338],[0.140836,-0.413207,0.899680]] 2025-10-28T19:39:45.329Z,1761680385.329 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:39:45.446Z,1761680385.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985584,0.021302,0.167841],[-0.088488,-0.910441,-0.404063],[0.144202,-0.413090,0.899201]] 2025-10-28T19:39:45.861Z,1761680385.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986493,0.003499,0.163766],[-0.070565,-0.911324,-0.405597],[0.147824,-0.411674,0.899262]] 2025-10-28T19:39:46.255Z,1761680386.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987169,-0.015107,0.158963],[-0.051506,-0.912179,-0.406542],[0.151144,-0.409513,0.899697]] 2025-10-28T19:39:46.662Z,1761680386.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987483,-0.035177,0.153753],[-0.031193,-0.912004,-0.408993],[0.154611,-0.408669,0.899492]] 2025-10-28T19:39:47.063Z,1761680387.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987409,-0.056562,0.147730],[-0.009354,-0.911378,-0.411465],[0.157912,-0.407666,0.899373]] 2025-10-28T19:39:47.468Z,1761680387.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986844,-0.078921,0.141104],[0.013427,-0.909755,-0.414928],[0.161117,-0.407575,0.898846]] 2025-10-28T19:39:47.871Z,1761680387.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985789,-0.101218,0.134068],[0.035947,-0.906708,-0.420225],[0.164095,-0.409434,0.897461]] 2025-10-28T19:39:48.275Z,1761680388.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984249,-0.123267,0.126722],[0.058483,-0.903486,-0.424609],[0.166832,-0.410510,0.896465]] 2025-10-28T19:39:48.678Z,1761680388.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982343,-0.144199,0.119201],[0.080175,-0.900131,-0.428178],[0.169040,-0.411060,0.895799]] 2025-10-28T19:39:49.085Z,1761680389.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980212,-0.163796,0.111156],[0.100521,-0.895615,-0.433323],[0.170529,-0.413575,0.894358]] 2025-10-28T19:39:49.491Z,1761680389.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977920,-0.181635,0.103350],[0.119302,-0.891263,-0.437513],[0.171580,-0.415522,0.893253]] 2025-10-28T19:39:49.890Z,1761680389.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975557,-0.197572,0.096193],[0.136102,-0.886936,-0.441386],[0.172523,-0.417505,0.892147]] 2025-10-28T19:39:49.945Z,1761680389.945 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:39:49.946Z,1761680389.946 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:39:49.946Z,1761680389.946 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:39:49.946Z,1761680389.946 [marl:UpdateRudder:A] Stopped 2025-10-28T19:39:49.946Z,1761680389.946 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:39:50.294Z,1761680390.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973105,-0.212061,0.089983],[0.151346,-0.883015,-0.444273],[0.173670,-0.418706,0.891361]] 2025-10-28T19:39:50.347Z,1761680390.347 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:39:50.347Z,1761680390.347 [marl:UpdateRudder:B] Stopped 2025-10-28T19:39:50.347Z,1761680390.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:39:50.347Z,1761680390.347 [marl:UpdateRudder] Stopped 2025-10-28T19:39:50.347Z,1761680390.347 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:39:50.707Z,1761680390.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970574,-0.225499,0.084477],[0.165534,-0.879571,-0.446042],[0.174886,-0.418933,0.891016]] 2025-10-28T19:39:51.103Z,1761680391.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967740,-0.239014,0.079693],[0.179804,-0.876740,-0.446092],[0.176492,-0.417372,0.891432]] 2025-10-28T19:39:51.548Z,1761680391.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961024,-0.267899,0.068286],[0.210195,-0.868467,-0.448980],[0.179585,-0.417127,0.890929]] 2025-10-28T19:39:51.964Z,1761680391.964 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:39:51.964Z,1761680391.964 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateCommandMode] Stopped 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:39:51.965Z,1761680391.965 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:39:51.966Z,1761680391.966 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:39:51.966Z,1761680391.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:39:51.966Z,1761680391.966 [marl:UpdateSpeed] Stopped 2025-10-28T19:39:51.966Z,1761680391.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:39:52.322Z,1761680392.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957033,-0.282999,0.063240],[0.226173,-0.864966,-0.447973],[0.181476,-0.414422,0.891808]] 2025-10-28T19:39:52.731Z,1761680392.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947151,-0.316554,0.051948],[0.261424,-0.855534,-0.446899],[0.185911,-0.409701,0.893075]] 2025-10-28T19:39:53.128Z,1761680393.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941013,-0.335360,0.045044],[0.281292,-0.849301,-0.446725],[0.188070,-0.407704,0.893537]] 2025-10-28T19:39:53.531Z,1761680393.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933751,-0.356062,0.036448],[0.303480,-0.841594,-0.446789],[0.189759,-0.406128,0.893897]] 2025-10-28T19:39:53.937Z,1761680393.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925664,-0.377449,0.026045],[0.326807,-0.832357,-0.447638],[0.190639,-0.405851,0.893835]] 2025-10-28T19:39:54.354Z,1761680394.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916849,-0.398975,0.014385],[0.350453,-0.821559,-0.449693],[0.191235,-0.407259,0.893067]] 2025-10-28T19:39:54.739Z,1761680394.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907602,-0.419824,0.002335],[0.373576,-0.810133,-0.451804],[0.191570,-0.409186,0.892114]] 2025-10-28T19:39:55.143Z,1761680395.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898077,-0.439729,-0.009827],[0.395822,-0.798259,-0.453990],[0.191788,-0.411607,0.890953]] 2025-10-28T19:39:55.548Z,1761680395.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888483,-0.458401,-0.021612],[0.416864,-0.786489,-0.455697],[0.191894,-0.413888,0.889872]] 2025-10-28T19:39:55.955Z,1761680395.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879255,-0.475241,-0.032516],[0.435968,-0.775332,-0.456937],[0.191944,-0.415940,0.888904]] 2025-10-28T19:39:56.356Z,1761680396.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869969,-0.491260,-0.042640],[0.454389,-0.765071,-0.456287],[0.191533,-0.416330,0.888811]] 2025-10-28T19:39:56.774Z,1761680396.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860944,-0.505991,-0.052435],[0.471757,-0.755604,-0.454431],[0.190318,-0.415977,0.889237]] 2025-10-28T19:39:57.164Z,1761680397.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852005,-0.519855,-0.061946],[0.488341,-0.746501,-0.451951],[0.188706,-0.415316,0.889889]] 2025-10-28T19:39:57.566Z,1761680397.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843119,-0.533097,-0.070411],[0.504122,-0.738059,-0.448475],[0.187114,-0.413614,0.891018]] 2025-10-28T19:39:57.971Z,1761680397.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834242,-0.545804,-0.078349],[0.519199,-0.729710,-0.444921],[0.185668,-0.411851,0.892136]] 2025-10-28T19:39:58.375Z,1761680398.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824745,-0.558950,-0.085850],[0.534543,-0.721011,-0.440916],[0.184551,-0.409533,0.893433]] 2025-10-28T19:39:58.789Z,1761680398.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814755,-0.572066,-0.094420],[0.550034,-0.711091,-0.437963],[0.183402,-0.408766,0.894021]] 2025-10-28T19:39:59.183Z,1761680399.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804310,-0.585351,-0.102222],[0.565511,-0.701235,-0.434128],[0.182435,-0.406981,0.895033]] 2025-10-28T19:39:59.586Z,1761680399.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793291,-0.598779,-0.110243],[0.581100,-0.690592,-0.430587],[0.181694,-0.405643,0.895791]] 2025-10-28T19:39:59.998Z,1761680399.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781551,-0.612294,-0.119472],[0.597048,-0.678618,-0.427798],[0.180863,-0.405677,0.895944]] 2025-10-28T19:40:00.397Z,1761680400.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769082,-0.625782,-0.130040],[0.613293,-0.665248,-0.425814],[0.179958,-0.407238,0.895418]] 2025-10-28T19:40:00.799Z,1761680400.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756385,-0.638967,-0.140011],[0.629201,-0.652176,-0.422815],[0.178853,-0.407906,0.895335]] 2025-10-28T19:40:01.202Z,1761680401.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743565,-0.651668,-0.149801],[0.644693,-0.639238,-0.419221],[0.177434,-0.408294,0.895440]] 2025-10-28T19:40:01.607Z,1761680401.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730069,-0.664434,-0.159769],[0.660397,-0.625855,-0.414948],[0.175713,-0.408451,0.895708]] 2025-10-28T19:40:02.012Z,1761680402.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716078,-0.676930,-0.170287],[0.676002,-0.611747,-0.410837],[0.173935,-0.409306,0.895665]] 2025-10-28T19:40:02.415Z,1761680402.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701446,-0.689177,-0.181682],[0.691870,-0.597219,-0.405765],[0.171140,-0.410323,0.895738]] 2025-10-28T19:40:02.830Z,1761680402.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686172,-0.701523,-0.192439],[0.707742,-0.582664,-0.399505],[0.168134,-0.410326,0.896305]] 2025-10-28T19:40:03.222Z,1761680403.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669810,-0.713997,-0.203867],[0.724064,-0.567198,-0.392451],[0.164576,-0.410481,0.896895]] 2025-10-28T19:40:03.266Z,1761680403.266 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:40:03.266Z,1761680403.266 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:40:03.266Z,1761680403.266 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:40:03.267Z,1761680403.267 [marl:UpdateRudder:A] Stopped 2025-10-28T19:40:03.267Z,1761680403.267 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:40:03.627Z,1761680403.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652760,-0.726452,-0.214876],[0.740231,-0.551299,-0.384874],[0.161132,-0.410288,0.897608]] 2025-10-28T19:40:03.651Z,1761680403.651 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:40:03.651Z,1761680403.651 [marl:UpdateRudder:B] Stopped 2025-10-28T19:40:03.651Z,1761680403.651 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:40:03.652Z,1761680403.652 [marl:UpdateRudder] Stopped 2025-10-28T19:40:03.652Z,1761680403.652 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:40:04.033Z,1761680404.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635019,-0.738732,-0.225889],[0.756170,-0.534627,-0.377334],[0.157983,-0.410425,0.898105]] 2025-10-28T19:40:04.435Z,1761680404.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616276,-0.751528,-0.235394],[0.772164,-0.517869,-0.368204],[0.154812,-0.408678,0.899453]] 2025-10-28T19:40:04.856Z,1761680404.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596291,-0.764464,-0.245014],[0.788369,-0.500103,-0.358290],[0.151368,-0.406807,0.900886]] 2025-10-28T19:40:05.243Z,1761680405.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576139,-0.776607,-0.254844],[0.803862,-0.481973,-0.348580],[0.147881,-0.405690,0.901968]] 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:40:05.274Z,1761680405.274 [marl:UpdateCommandMode] Stopped 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed] Stopped 2025-10-28T19:40:05.275Z,1761680405.275 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:40:05.649Z,1761680405.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555625,-0.788118,-0.264859],[0.818874,-0.463564,-0.338459],[0.143967,-0.404942,0.902937]] 2025-10-28T19:40:06.050Z,1761680406.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535126,-0.798572,-0.275540],[0.833179,-0.445067,-0.328221],[0.139474,-0.405214,0.903520]] 2025-10-28T19:40:06.455Z,1761680406.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514930,-0.808083,-0.286091],[0.846590,-0.426956,-0.317795],[0.134657,-0.405844,0.903968]] 2025-10-28T19:40:06.862Z,1761680406.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495517,-0.816967,-0.295005],[0.858857,-0.410113,-0.306876],[0.129722,-0.405429,0.904875]] 2025-10-28T19:40:07.264Z,1761680407.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477070,-0.824792,-0.303518],[0.869945,-0.394094,-0.296454],[0.124898,-0.405473,0.905534]] 2025-10-28T19:40:07.667Z,1761680407.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458835,-0.832804,-0.309691],[0.880355,-0.378962,-0.285242],[0.120190,-0.403517,0.907044]] 2025-10-28T19:40:08.070Z,1761680408.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440966,-0.840126,-0.315811],[0.890030,-0.363946,-0.274570],[0.115735,-0.402158,0.908226]] 2025-10-28T19:40:08.479Z,1761680408.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423505,-0.846787,-0.321862],[0.898973,-0.349014,-0.264645],[0.111764,-0.401424,0.909048]] 2025-10-28T19:40:08.890Z,1761680408.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406210,-0.853651,-0.325996],[0.907329,-0.334487,-0.254701],[0.108384,-0.399248,0.910414]] 2025-10-28T19:40:09.283Z,1761680409.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388244,-0.860747,-0.329213],[0.915493,-0.319327,-0.244749],[0.105540,-0.396415,0.911985]] 2025-10-28T19:40:09.686Z,1761680409.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369744,-0.867190,-0.333572],[0.923424,-0.303234,-0.235239],[0.102847,-0.395006,0.912903]] 2025-10-28T19:40:10.092Z,1761680410.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350930,-0.873175,-0.338250],[0.930977,-0.286513,-0.226256],[0.100648,-0.394303,0.913452]] 2025-10-28T19:40:10.495Z,1761680410.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331239,-0.879160,-0.342575],[0.938416,-0.269145,-0.216649],[0.098267,-0.393241,0.914169]] 2025-10-28T19:40:10.898Z,1761680410.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310306,-0.884998,-0.347115],[0.945807,-0.250653,-0.206451],[0.095703,-0.392367,0.914816]] 2025-10-28T19:40:11.310Z,1761680411.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289862,-0.889718,-0.352679],[0.952542,-0.232395,-0.196610],[0.092967,-0.392932,0.914856]] 2025-10-28T19:40:12.112Z,1761680412.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248167,-0.898380,-0.362390],[0.964831,-0.195750,-0.175450],[0.086683,-0.393186,0.915364]] 2025-10-28T19:40:12.515Z,1761680412.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227278,-0.902406,-0.366071],[0.970236,-0.177569,-0.164652],[0.083580,-0.392597,0.915905]] 2025-10-28T19:40:12.918Z,1761680412.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205864,-0.906600,-0.368371],[0.975279,-0.159181,-0.153274],[0.080321,-0.390818,0.916957]] 2025-10-28T19:40:13.326Z,1761680413.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185142,-0.909734,-0.371626],[0.979649,-0.141025,-0.142828],[0.077527,-0.390507,0.917330]] 2025-10-28T19:40:13.727Z,1761680413.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164052,-0.912797,-0.374018],[0.983619,-0.122656,-0.132093],[0.074698,-0.389561,0.917966]] 2025-10-28T19:40:14.131Z,1761680414.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142362,-0.915406,-0.376518],[0.987216,-0.103765,-0.120989],[0.071685,-0.388929,0.918475]] 2025-10-28T19:40:14.534Z,1761680414.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121086,-0.917508,-0.378836],[0.990236,-0.085094,-0.110415],[0.069070,-0.388506,0.918854]] 2025-10-28T19:40:14.945Z,1761680414.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099514,-0.919471,-0.380356],[0.992807,-0.066181,-0.099768],[0.066561,-0.387549,0.919443]] 2025-10-28T19:40:15.343Z,1761680415.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077728,-0.920415,-0.383137],[0.994919,-0.046943,-0.089069],[0.063995,-0.388113,0.919387]] 2025-10-28T19:40:15.461Z,1761680415.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:40:15.746Z,1761680415.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056339,-0.920551,-0.386539],[0.996517,-0.028008,-0.078544],[0.061477,-0.389618,0.918923]] 2025-10-28T19:40:16.151Z,1761680416.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035757,-0.920853,-0.388267],[0.997621,-0.009980,-0.068206],[0.058932,-0.389782,0.919019]] 2025-10-28T19:40:16.464Z,1761680416.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:40:16.597Z,1761680416.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016039,-0.920297,-0.390892],[0.998283,0.007287,-0.058118],[0.056334,-0.391153,0.918600]] 2025-10-28T19:40:16.681Z,1761680416.681 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:40:16.681Z,1761680416.681 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:40:16.681Z,1761680416.681 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:40:16.682Z,1761680416.682 [marl:UpdateRudder:A] Stopped 2025-10-28T19:40:16.682Z,1761680416.682 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:40:16.962Z,1761680416.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003589,-0.919873,-0.392200],[0.998561,0.024284,-0.047818],[0.053511,-0.391464,0.918636]] 2025-10-28T19:40:16.998Z,1761680416.998 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:40:16.998Z,1761680416.998 [marl:UpdateRudder:B] Stopped 2025-10-28T19:40:16.999Z,1761680416.999 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:40:16.999Z,1761680416.999 [marl:UpdateRudder] Stopped 2025-10-28T19:40:16.999Z,1761680416.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:40:17.362Z,1761680417.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022600,-0.919015,-0.393574],[0.998472,0.040607,-0.037485],[0.050431,-0.392126,0.918528]] 2025-10-28T19:40:17.772Z,1761680417.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040880,-0.918233,-0.393926],[0.998023,0.056366,-0.027816],[0.047745,-0.392010,0.918721]] 2025-10-28T19:40:18.173Z,1761680418.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058266,-0.916547,-0.395660],[0.997268,0.071463,-0.018686],[0.045402,-0.393490,0.918207]] 2025-10-28T19:40:18.615Z,1761680418.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075124,-0.915160,-0.396029],[0.996229,0.086164,-0.010133],[0.043397,-0.393774,0.918182]] 2025-10-28T19:40:18.667Z,1761680418.667 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:40:18.667Z,1761680418.667 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:40:18.667Z,1761680418.667 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateCommandMode] Stopped 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:40:18.668Z,1761680418.668 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:40:18.669Z,1761680418.669 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:40:18.669Z,1761680418.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:40:18.669Z,1761680418.669 [marl:UpdateSpeed] Stopped 2025-10-28T19:40:18.669Z,1761680418.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:40:18.987Z,1761680418.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091618,-0.913160,-0.397171],[0.994924,0.100609,-0.001810],[0.041612,-0.394989,0.917743]] 2025-10-28T19:40:19.382Z,1761680419.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108014,-0.911133,-0.397706],[0.993318,0.115265,0.005709],[0.040640,-0.395665,0.917495]] 2025-10-28T19:40:19.806Z,1761680419.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124693,-0.908899,-0.397937],[0.991388,0.130303,0.013033],[0.040007,-0.396135,0.917320]] 2025-10-28T19:40:19.831Z,1761680419.831 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:40:19.933Z,1761680419.933 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:40:19.933Z,1761680419.933 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:40:20.185Z,1761680420.185 [DAT](INFO): DAT read: user:196> 2025-10-28T19:40:20.186Z,1761680420.186 [DAT](INFO): DAT read: Tx time:19:40:19.9292 2025-10-28T19:40:20.186Z,1761680420.186 [DAT](INFO): Ping request sent. 2025-10-28T19:40:20.186Z,1761680420.186 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:40:20.186Z,1761680420.186 [DAT](INFO): publishing transmit ping time 2025-10-28T19:40:20.187Z,1761680420.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T19:40:20.196Z,1761680420.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141630,-0.906377,-0.398021],[0.989116,0.145769,0.020015],[0.039878,-0.396524,0.917158]] 2025-10-28T19:40:20.437Z,1761680420.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250968 2025-10-28T19:40:20.624Z,1761680420.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159225,-0.904404,-0.395855],[0.986424,0.162068,0.026494],[0.040194,-0.394699,0.917931]] 2025-10-28T19:40:20.689Z,1761680420.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502930 2025-10-28T19:40:20.941Z,1761680420.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 2025-10-28T19:40:21.011Z,1761680421.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178163,-0.902242,-0.392705],[0.983167,0.179647,0.033303],[0.040501,-0.392028,0.919061]] 2025-10-28T19:40:21.193Z,1761680421.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006939 2025-10-28T19:40:21.402Z,1761680421.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198154,-0.898945,-0.390682],[0.979318,0.198200,0.040661],[0.040881,-0.390659,0.919627]] 2025-10-28T19:40:21.445Z,1761680421.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259177 2025-10-28T19:40:21.697Z,1761680421.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 2025-10-28T19:40:21.952Z,1761680421.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766079 2025-10-28T19:40:22.205Z,1761680422.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018736 2025-10-28T19:40:22.217Z,1761680422.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241370,-0.890213,-0.386344],[0.969563,0.238077,0.057163],[0.041092,-0.388382,0.920582]] 2025-10-28T19:40:22.457Z,1761680422.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270881 2025-10-28T19:40:22.638Z,1761680422.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264133,-0.884399,-0.384802],[0.963632,0.258776,0.066700],[0.040588,-0.388425,0.920586]] 2025-10-28T19:40:22.709Z,1761680422.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522921 2025-10-28T19:40:22.961Z,1761680422.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774846 2025-10-28T19:40:23.029Z,1761680423.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287458,-0.877942,-0.382864],[0.956971,0.279827,0.076833],[0.039681,-0.388476,0.920604]] 2025-10-28T19:40:23.214Z,1761680423.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027505 2025-10-28T19:40:23.427Z,1761680423.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310830,-0.870041,-0.382640],[0.949692,0.300539,0.088101],[0.038347,-0.390775,0.919687]] 2025-10-28T19:40:23.465Z,1761680423.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279035 2025-10-28T19:40:23.717Z,1761680423.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530860 2025-10-28T19:40:23.830Z,1761680423.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333909,-0.861958,-0.381488],[0.941898,0.320791,0.099608],[0.036520,-0.392582,0.918992]] 2025-10-28T19:40:23.969Z,1761680423.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783330 2025-10-28T19:40:24.221Z,1761680424.221 [DAT](INFO): DAT read: Rx Time:19:40:23.4259 2025-10-28T19:40:24.221Z,1761680424.221 [DAT](INFO): Rx dataTimestamp_ set to:1761680424.221202 2025-10-28T19:40:24.222Z,1761680424.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036045 2025-10-28T19:40:24.241Z,1761680424.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356033,-0.853994,-0.379387],[0.933832,0.340183,0.110603],[0.034607,-0.393662,0.918604]] 2025-10-28T19:40:24.473Z,1761680424.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287114 2025-10-28T19:40:24.642Z,1761680424.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376160,-0.846823,-0.376026],[0.925982,0.357847,0.120429],[0.032578,-0.393494,0.918750]] 2025-10-28T19:40:24.732Z,1761680424.732 [DAT](INFO): DAT read: 19:40:23.4259 LVL= 29968, 32753, 32754, 32755, AGC= 72, IDX= 273,-0.48,-1.592, 2.661, 3.088,-1.986, PHS= 0.496,-1.591,-1.252, RAW= 98.7, 23.2, CAL= 98.2, 28.5, ROT= 51.8, -28.5 2025-10-28T19:40:24.734Z,1761680424.734 [DAT](INFO): got valid direction response: 19:40:23.4259 LVL= 29968, 32753, 32754, 32755, AGC= 72, IDX= 273,-0.48,-1.592, 2.661, 3.088,-1.986, PHS= 0.496,-1.591,-1.252, RAW= 98.7, 23.2, CAL= 98.2, 28.5, ROT= 51.8, -28.5 2025-10-28T19:40:24.735Z,1761680424.735 [DAT](INFO): DAT read: Bearing 105, -19 (Remote) 2025-10-28T19:40:24.736Z,1761680424.736 [DAT](INFO): Remote Bearing received:Bearing 105, -19 (Remote) 2025-10-28T19:40:24.745Z,1761680424.745 [DAT](INFO): DAT read: Bearing 271.6, 27.9 (Local) 2025-10-28T19:40:24.745Z,1761680424.745 [DAT](INFO): Local bearing/azimuth received: Bearing 271.6, 27.9 (Local) 2025-10-28T19:40:24.747Z,1761680424.747 [DAT](INFO): DAT read: Range 11 to 20 : 1100.6 m (Round-trip 1467.5 ms) speed 0.9 m/s 2025-10-28T19:40:24.755Z,1761680424.755 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:40:24.762Z,1761680424.762 [DAT](INFO): direction in FSK: [0.543468,0.690624,0.477159] 2025-10-28T19:40:24.762Z,1761680424.762 [DAT](INFO): publishing direction and range info 2025-10-28T19:40:25.043Z,1761680425.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394933,-0.839422,-0.373362],[0.918192,0.374289,0.129734],[0.030844,-0.394055,0.918569]] 2025-10-28T19:40:25.097Z,1761680425.097 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680384.00. Resetting abort timer. 2025-10-28T19:40:25.448Z,1761680425.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412102,-0.832465,-0.370370],[0.910672,0.389317,0.138232],[0.029118,-0.394251,0.918541]] 2025-10-28T19:40:25.851Z,1761680425.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428581,-0.826000,-0.366119],[0.903107,0.403652,0.146504],[0.026772,-0.393433,0.918963]] 2025-10-28T19:40:26.256Z,1761680426.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444699,-0.819399,-0.361702],[0.895348,0.417672,0.154603],[0.024391,-0.392601,0.919385]] 2025-10-28T19:40:26.658Z,1761680426.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460449,-0.812529,-0.357468],[0.887416,0.431270,0.162785],[0.021898,-0.392177,0.919629]] 2025-10-28T19:40:27.070Z,1761680427.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476359,-0.805188,-0.353206],[0.879040,0.444922,0.171270],[0.019244,-0.392068,0.919735]] 2025-10-28T19:40:27.468Z,1761680427.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492069,-0.797296,-0.349554],[0.870390,0.458419,0.179648],[0.017009,-0.392647,0.919532]] 2025-10-28T19:40:27.870Z,1761680427.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508586,-0.788763,-0.345245],[0.860890,0.472569,0.188539],[0.014440,-0.393106,0.919380]] 2025-10-28T19:40:28.282Z,1761680428.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525594,-0.779660,-0.340414],[0.850653,0.487200,0.197548],[0.011830,-0.393404,0.919290]] 2025-10-28T19:40:28.678Z,1761680428.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542720,-0.770033,-0.335418],[0.839867,0.501753,0.207043],[0.008867,-0.394072,0.919037]] 2025-10-28T19:40:29.091Z,1761680429.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559911,-0.760055,-0.329874],[0.828533,0.516405,0.216472],[0.005818,-0.394516,0.918871]] 2025-10-28T19:40:29.487Z,1761680429.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576964,-0.749451,-0.324709],[0.816765,0.530704,0.226380],[0.002664,-0.395824,0.918323]] 2025-10-28T19:40:29.890Z,1761680429.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592817,-0.739353,-0.319256],[0.805337,0.544111,0.235319],[-0.000273,-0.396610,0.917987]] 2025-10-28T19:40:29.937Z,1761680429.937 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:40:29.937Z,1761680429.937 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:40:29.937Z,1761680429.937 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:40:29.938Z,1761680429.938 [marl:UpdateRudder:A] Stopped 2025-10-28T19:40:29.938Z,1761680429.938 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:40:30.294Z,1761680430.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607937,-0.729672,-0.313035],[0.793978,0.557034,0.243541],[-0.003334,-0.396601,0.917985]] 2025-10-28T19:40:30.342Z,1761680430.342 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:40:30.342Z,1761680430.342 [marl:UpdateRudder:B] Stopped 2025-10-28T19:40:30.342Z,1761680430.342 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:40:30.342Z,1761680430.342 [marl:UpdateRudder] Stopped 2025-10-28T19:40:30.342Z,1761680430.342 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:40:30.700Z,1761680430.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622688,-0.719623,-0.307248],[0.782444,0.569432,0.252051],[-0.006425,-0.397354,0.917643]] 2025-10-28T19:40:31.103Z,1761680431.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636572,-0.710306,-0.300401],[0.771161,0.581555,0.259045],[-0.009302,-0.396559,0.917962]] 2025-10-28T19:40:31.507Z,1761680431.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649985,-0.700762,-0.294028],[0.759853,0.593216,0.265929],[-0.011931,-0.396268,0.918057]] 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode] Stopped 2025-10-28T19:40:31.966Z,1761680431.966 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed] Stopped 2025-10-28T19:40:31.967Z,1761680431.967 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:40:32.314Z,1761680432.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675023,-0.682563,-0.280093],[0.737607,0.615705,0.277207],[-0.016757,-0.393720,0.919078]] 2025-10-28T19:40:32.718Z,1761680432.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687266,-0.672736,-0.274028],[0.726165,0.626569,0.283011],[-0.018694,-0.393494,0.919137]] 2025-10-28T19:40:33.134Z,1761680433.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699772,-0.662296,-0.267736],[0.714079,0.637893,0.288414],[-0.020228,-0.393009,0.919312]] 2025-10-28T19:40:33.528Z,1761680433.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712597,-0.651026,-0.261477],[0.701242,0.649497,0.293959],[-0.021546,-0.392834,0.919357]] 2025-10-28T19:40:33.931Z,1761680433.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725998,-0.638633,-0.255098],[0.687333,0.661776,0.299376],[-0.022373,-0.392684,0.919401]] 2025-10-28T19:40:34.335Z,1761680434.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740299,-0.624240,-0.249563],[0.671881,0.674259,0.306514],[-0.023068,-0.394588,0.918568]] 2025-10-28T19:40:34.744Z,1761680434.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755245,-0.608848,-0.242712],[0.655025,0.687889,0.312650],[-0.023397,-0.395110,0.918336]] 2025-10-28T19:40:35.547Z,1761680435.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786343,-0.574578,-0.226990],[0.617314,0.716349,0.325219],[-0.024260,-0.395857,0.917991]] 2025-10-28T19:40:35.951Z,1761680435.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801991,-0.555815,-0.218816],[0.596808,0.730171,0.332673],[-0.025131,-0.397392,0.917305]] 2025-10-28T19:40:36.354Z,1761680436.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817475,-0.536366,-0.209873],[0.575349,0.743620,0.340591],[-0.026616,-0.399175,0.916488]] 2025-10-28T19:40:36.783Z,1761680436.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846408,-0.497838,-0.189079],[0.531552,0.768227,0.356763],[-0.032354,-0.402473,0.914860]] 2025-10-28T19:40:37.573Z,1761680437.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868946,-0.465205,-0.168872],[0.493329,0.786962,0.370562],[-0.039492,-0.405308,0.913327]] 2025-10-28T19:40:37.978Z,1761680437.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877699,-0.451830,-0.159671],[0.477294,0.794442,0.375569],[-0.042844,-0.405847,0.912936]] 2025-10-28T19:40:38.394Z,1761680438.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885296,-0.439729,-0.151290],[0.462772,0.801073,0.379636],[-0.045743,-0.406103,0.912682]] 2025-10-28T19:40:38.787Z,1761680438.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892221,-0.427919,-0.144314],[0.449014,0.806463,0.384712],[-0.048241,-0.408047,0.911686]] 2025-10-28T19:40:39.192Z,1761680439.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898545,-0.416628,-0.137978],[0.436026,0.811631,0.388762],[-0.049982,-0.409483,0.910948]] 2025-10-28T19:40:39.587Z,1761680439.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904271,-0.405783,-0.132794],[0.423917,0.816238,0.392492],[-0.050875,-0.411213,0.910119]] 2025-10-28T19:40:39.990Z,1761680439.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909244,-0.395874,-0.128684],[0.413140,0.820420,0.395256],[-0.050897,-0.412548,0.909513]] 2025-10-28T19:40:40.395Z,1761680440.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914504,-0.384649,-0.125411],[0.401470,0.824434,0.398911],[-0.050048,-0.415154,0.908373]] 2025-10-28T19:40:40.801Z,1761680440.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920825,-0.371034,-0.120065],[0.386841,0.830082,0.401645],[-0.049360,-0.416291,0.907891]] 2025-10-28T19:40:41.202Z,1761680441.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928446,-0.353875,-0.112966],[0.368242,0.836796,0.405180],[-0.048854,-0.417787,0.907231]] 2025-10-28T19:40:42.010Z,1761680442.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944387,-0.314967,-0.094493],[0.325191,0.851858,0.410596],[-0.048829,-0.418490,0.906908]] 2025-10-28T19:40:42.416Z,1761680442.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951988,-0.294442,-0.083803],[0.302137,0.859570,0.412131],[-0.049314,-0.417664,0.907262]] 2025-10-28T19:40:42.818Z,1761680442.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958993,-0.273916,-0.072823],[0.278982,0.866904,0.413093],[-0.050022,-0.416470,0.907772]] 2025-10-28T19:40:43.227Z,1761680443.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965384,-0.253439,-0.061661],[0.255837,0.874008,0.413107],[-0.050805,-0.414582,0.908593]] 2025-10-28T19:40:43.279Z,1761680443.279 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:40:43.279Z,1761680443.279 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:40:43.279Z,1761680443.279 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:40:43.280Z,1761680443.280 [marl:UpdateRudder:A] Stopped 2025-10-28T19:40:43.284Z,1761680443.284 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:40:43.626Z,1761680443.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971029,-0.233407,-0.051215],[0.233298,0.879611,0.414557],[-0.051711,-0.414495,0.908581]] 2025-10-28T19:40:43.651Z,1761680443.651 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:40:43.651Z,1761680443.651 [marl:UpdateRudder:B] Stopped 2025-10-28T19:40:43.651Z,1761680443.651 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:40:43.651Z,1761680443.651 [marl:UpdateRudder] Stopped 2025-10-28T19:40:43.651Z,1761680443.651 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:40:44.033Z,1761680444.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975835,-0.214640,-0.040927],[0.212066,0.885166,0.414137],[-0.052664,-0.412809,0.909294]] 2025-10-28T19:40:44.435Z,1761680444.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980003,-0.196523,-0.031179],[0.191604,0.889745,0.414297],[-0.053678,-0.411987,0.909608]] 2025-10-28T19:40:44.839Z,1761680444.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983625,-0.178886,-0.021951],[0.171755,0.893497,0.414927],[-0.054612,-0.411902,0.909590]] 2025-10-28T19:40:45.249Z,1761680445.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986762,-0.161631,-0.013276],[0.152431,0.896415,0.416180],[-0.055367,-0.412694,0.909186]] 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:40:45.289Z,1761680445.289 [marl:UpdateCommandMode] Stopped 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed] Stopped 2025-10-28T19:40:45.290Z,1761680445.290 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:40:45.647Z,1761680445.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989385,-0.145237,-0.004945],[0.134050,0.898976,0.416982],[-0.056115,-0.413218,0.908901]] 2025-10-28T19:40:46.052Z,1761680446.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991731,-0.128277,0.003839],[0.114966,0.901324,0.417609],[-0.057030,-0.413714,0.908619]] 2025-10-28T19:40:46.455Z,1761680446.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993742,-0.111015,0.012346],[0.095658,0.902881,0.419113],[-0.057675,-0.415309,0.907850]] 2025-10-28T19:40:46.586Z,1761680446.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:40:46.858Z,1761680446.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995343,-0.094105,0.020914],[0.076755,0.904880,0.418689],[-0.058325,-0.415134,0.907889]] 2025-10-28T19:40:47.272Z,1761680447.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996600,-0.077041,0.029214],[0.057795,0.906356,0.418544],[-0.058723,-0.415433,0.907726]] 2025-10-28T19:40:47.588Z,1761680447.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:40:47.667Z,1761680447.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997508,-0.059749,0.037522],[0.038558,0.907034,0.419288],[-0.059086,-0.416796,0.907078]] 2025-10-28T19:40:48.071Z,1761680448.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998056,-0.042312,0.045763],[0.019266,0.907734,0.419104],[-0.059273,-0.417408,0.906784]] 2025-10-28T19:40:48.474Z,1761680448.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998233,-0.024960,0.053929],[0.000125,0.908391,0.418122],[-0.059425,-0.417376,0.906789]] 2025-10-28T19:40:48.879Z,1761680448.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998052,-0.008267,0.061843],[-0.018335,0.908557,0.417358],[-0.059638,-0.417679,0.906635]] 2025-10-28T19:40:49.289Z,1761680449.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997508,0.009028,0.069977],[-0.037490,0.908016,0.417255],[-0.059774,-0.418838,0.906091]] 2025-10-28T19:40:49.686Z,1761680449.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996616,0.025707,0.078069],[-0.056088,0.907019,0.417337],[-0.060081,-0.420304,0.905392]] 2025-10-28T19:40:50.091Z,1761680450.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995310,0.043229,0.086535],[-0.075623,0.905559,0.417425],[-0.060318,-0.422011,0.904582]] 2025-10-28T19:40:50.495Z,1761680450.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993658,0.060172,0.094995],[-0.094538,0.904446,0.415980],[-0.060887,-0.422323,0.904398]] 2025-10-28T19:40:50.900Z,1761680450.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991531,0.077797,0.103991],[-0.114307,0.902866,0.414447],[-0.061647,-0.422824,0.904113]] 2025-10-28T19:40:51.303Z,1761680451.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988942,0.096157,0.112909],[-0.134728,0.900729,0.412960],[-0.061991,-0.423605,0.903723]] 2025-10-28T19:40:52.111Z,1761680452.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982496,0.133106,0.130321],[-0.175481,0.896086,0.407721],[-0.062509,-0.423453,0.903759]] 2025-10-28T19:40:52.517Z,1761680452.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978736,0.151332,0.138471],[-0.195308,0.893844,0.403605],[-0.062693,-0.422067,0.904394]] 2025-10-28T19:40:52.918Z,1761680452.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974553,0.169859,0.146268],[-0.215294,0.890962,0.399795],[-0.062411,-0.421112,0.904859]] 2025-10-28T19:40:53.322Z,1761680453.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969992,0.188208,0.153924],[-0.235060,0.887725,0.395842],[-0.062141,-0.420145,0.905327]] 2025-10-28T19:40:53.734Z,1761680453.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965181,0.205684,0.161618],[-0.254107,0.883894,0.392633],[-0.062095,-0.420030,0.905383]] 2025-10-28T19:40:54.132Z,1761680454.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960000,0.223286,0.168950],[-0.273107,0.879773,0.389117],[-0.061753,-0.419693,0.905563]] 2025-10-28T19:40:54.534Z,1761680454.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954458,0.240714,0.176259],[-0.291954,0.875222,0.385680],[-0.061427,-0.419574,0.905640]] 2025-10-28T19:40:54.943Z,1761680454.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948534,0.258140,0.183430],[-0.310712,0.870517,0.381652],[-0.061159,-0.419004,0.905922]] 2025-10-28T19:40:55.343Z,1761680455.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942257,0.275146,0.190908],[-0.329263,0.865211,0.378149],[-0.061130,-0.419172,0.905846]] 2025-10-28T19:40:55.750Z,1761680455.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935711,0.291919,0.198059],[-0.347449,0.859754,0.374301],[-0.061016,-0.419053,0.905909]] 2025-10-28T19:40:56.150Z,1761680456.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928599,0.308942,0.205571],[-0.366065,0.853449,0.370974],[-0.060835,-0.419739,0.905604]] 2025-10-28T19:40:56.621Z,1761680456.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921163,0.325645,0.213105],[-0.384404,0.846829,0.367580],[-0.060763,-0.420520,0.905246]] 2025-10-28T19:40:56.665Z,1761680456.665 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:40:56.665Z,1761680456.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:40:56.665Z,1761680456.665 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:40:56.665Z,1761680456.665 [marl:UpdateRudder:A] Stopped 2025-10-28T19:40:56.665Z,1761680456.665 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:40:56.962Z,1761680456.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913331,0.342130,0.220846],[-0.402628,0.839890,0.363970],[-0.060962,-0.421345,0.904849]] 2025-10-28T19:40:56.985Z,1761680456.985 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:40:56.985Z,1761680456.985 [marl:UpdateRudder:B] Stopped 2025-10-28T19:40:56.985Z,1761680456.985 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:40:56.985Z,1761680456.985 [marl:UpdateRudder] Stopped 2025-10-28T19:40:56.985Z,1761680456.985 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:40:57.365Z,1761680457.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905226,0.358405,0.228278],[-0.420464,0.833163,0.359234],[-0.061442,-0.421171,0.904898]] 2025-10-28T19:40:57.781Z,1761680457.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897118,0.374061,0.235068],[-0.437386,0.826957,0.353321],[-0.062228,-0.419786,0.905487]] 2025-10-28T19:40:58.170Z,1761680458.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888388,0.389869,0.242424],[-0.454814,0.819334,0.349051],[-0.062542,-0.420351,0.905204]] 2025-10-28T19:40:58.619Z,1761680458.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879546,0.405183,0.249452],[-0.471664,0.811544,0.344861],[-0.062710,-0.420978,0.904900]] 2025-10-28T19:40:58.693Z,1761680458.693 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:40:58.693Z,1761680458.693 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:40:58.693Z,1761680458.693 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:40:58.694Z,1761680458.694 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:40:58.694Z,1761680458.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:40:58.694Z,1761680458.694 [marl:UpdateCommandMode] Stopped 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed] Stopped 2025-10-28T19:40:58.695Z,1761680458.695 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:40:58.982Z,1761680458.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870846,0.419684,0.255916],[-0.487562,0.803710,0.341078],[-0.062538,-0.421801,0.904529]] 2025-10-28T19:40:59.384Z,1761680459.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862203,0.433193,0.262583],[-0.502712,0.795512,0.338292],[-0.062342,-0.423680,0.903664]] 2025-10-28T19:40:59.791Z,1761680459.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852981,0.447530,0.268588],[-0.518323,0.786791,0.335114],[-0.061349,-0.425061,0.903083]] 2025-10-28T19:41:00.196Z,1761680460.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843250,0.461829,0.275032],[-0.534111,0.777457,0.332093],[-0.060455,-0.426935,0.902259]] 2025-10-28T19:41:00.622Z,1761680460.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832470,0.477506,0.281037],[-0.550894,0.767553,0.327686],[-0.059239,-0.427610,0.902020]] 2025-10-28T19:41:01.006Z,1761680461.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820927,0.493252,0.287717],[-0.568064,0.756733,0.323509],[-0.058153,-0.429019,0.901421]] 2025-10-28T19:41:01.416Z,1761680461.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807988,0.510056,0.294956],[-0.586433,0.744625,0.318795],[-0.057029,-0.430554,0.900761]] 2025-10-28T19:41:01.811Z,1761680461.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794154,0.528101,0.300715],[-0.605137,0.732731,0.311310],[-0.055940,-0.429202,0.901475]] 2025-10-28T19:41:02.219Z,1761680462.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779699,0.546721,0.305230],[-0.623758,0.720791,0.302301],[-0.054733,-0.426093,0.903022]] 2025-10-28T19:41:02.630Z,1761680462.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764766,0.565042,0.309614],[-0.642081,0.708283,0.293371],[-0.053527,-0.423157,0.904474]] 2025-10-28T19:41:03.018Z,1761680463.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749937,0.582857,0.312845],[-0.659472,0.695830,0.284461],[-0.051887,-0.419641,0.906206]] 2025-10-28T19:41:03.423Z,1761680463.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735451,0.599667,0.315455],[-0.675720,0.683560,0.275950],[-0.050155,-0.416107,0.907931]] 2025-10-28T19:41:03.833Z,1761680463.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721528,0.615308,0.317478],[-0.690702,0.671598,0.268117],[-0.048243,-0.412737,0.909572]] 2025-10-28T19:41:04.230Z,1761680464.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708894,0.628854,0.319392],[-0.703789,0.660452,0.261696],[-0.046374,-0.410299,0.910771]] 2025-10-28T19:41:04.638Z,1761680464.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696817,0.641018,0.321781],[-0.715872,0.649350,0.256656],[-0.044427,-0.409196,0.911364]] 2025-10-28T19:41:05.057Z,1761680465.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685286,0.651358,0.325755],[-0.727031,0.637989,0.253764],[-0.042537,-0.410735,0.910762]] 2025-10-28T19:41:05.443Z,1761680465.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673886,0.660897,0.330293],[-0.737708,0.626567,0.251397],[-0.040803,-0.413073,0.909783]] 2025-10-28T19:41:05.850Z,1761680465.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662851,0.669304,0.335650],[-0.747710,0.615332,0.249595],[-0.039481,-0.416413,0.908318]] 2025-10-28T19:41:06.250Z,1761680466.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651929,0.677199,0.341161],[-0.757293,0.604413,0.247371],[-0.038683,-0.419627,0.906872]] 2025-10-28T19:41:06.664Z,1761680466.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640724,0.685290,0.346195],[-0.766814,0.593691,0.243982],[-0.038335,-0.421792,0.905882]] 2025-10-28T19:41:07.059Z,1761680467.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629207,0.693006,0.351912],[-0.776294,0.582649,0.240599],[-0.038304,-0.424574,0.904583]] 2025-10-28T19:41:07.463Z,1761680467.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616551,0.701709,0.357028],[-0.786386,0.570888,0.235974],[-0.038238,-0.426252,0.903796]] 2025-10-28T19:41:07.871Z,1761680467.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603316,0.710503,0.362209],[-0.796578,0.558740,0.230811],[-0.038388,-0.427780,0.903068]] 2025-10-28T19:41:08.274Z,1761680468.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588629,0.720445,0.366707],[-0.807502,0.545413,0.224645],[-0.038162,-0.428350,0.902807]] 2025-10-28T19:41:08.681Z,1761680468.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572662,0.730821,0.371428],[-0.818919,0.530860,0.218079],[-0.037800,-0.429055,0.902487]] 2025-10-28T19:41:09.078Z,1761680469.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555389,0.742407,0.374667],[-0.830764,0.515419,0.210178],[-0.037073,-0.427990,0.903023]] 2025-10-28T19:41:09.483Z,1761680469.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537247,0.754598,0.376760],[-0.842654,0.499319,0.201530],[-0.036049,-0.425750,0.904123]] 2025-10-28T19:41:09.895Z,1761680469.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518664,0.766233,0.379308],[-0.854265,0.482556,0.193316],[-0.034912,-0.424295,0.904851]] 2025-10-28T19:41:09.918Z,1761680469.918 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:41:09.918Z,1761680469.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:41:09.918Z,1761680469.918 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:41:09.918Z,1761680469.918 [marl:UpdateRudder:A] Stopped 2025-10-28T19:41:09.918Z,1761680469.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:41:10.290Z,1761680470.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499406,0.777856,0.381487],[-0.865714,0.465156,0.184851],[-0.033663,-0.422575,0.905703]] 2025-10-28T19:41:10.323Z,1761680470.323 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:41:10.323Z,1761680470.323 [marl:UpdateRudder:B] Stopped 2025-10-28T19:41:10.323Z,1761680470.323 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:41:10.323Z,1761680470.323 [marl:UpdateRudder] Stopped 2025-10-28T19:41:10.324Z,1761680470.324 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:41:10.701Z,1761680470.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479967,0.789449,0.382626],[-0.876683,0.447785,0.175826],[-0.032529,-0.419833,0.907018]] 2025-10-28T19:41:11.099Z,1761680471.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460422,0.801013,0.382609],[-0.887147,0.430422,0.166457],[-0.031349,-0.416070,0.908792]] 2025-10-28T19:41:11.505Z,1761680471.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441048,0.811820,0.382655],[-0.896967,0.413187,0.157248],[-0.030452,-0.412582,0.910411]] 2025-10-28T19:41:11.949Z,1761680471.949 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode] Stopped 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:41:11.950Z,1761680471.950 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed] Stopped 2025-10-28T19:41:11.951Z,1761680471.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:41:12.310Z,1761680472.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401115,0.831823,0.383638],[-0.915577,0.377196,0.139433],[-0.028723,-0.407179,0.912897]] 2025-10-28T19:41:12.714Z,1761680472.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380605,0.840743,0.385086],[-0.924310,0.358534,0.130781],[-0.028113,-0.405715,0.913567]] 2025-10-28T19:41:13.120Z,1761680473.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359736,0.849494,0.385940],[-0.932654,0.339497,0.122062],[-0.027335,-0.403858,0.914413]] 2025-10-28T19:41:13.522Z,1761680473.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339199,0.857795,0.386175],[-0.940339,0.320768,0.113443],[-0.026562,-0.401616,0.915423]] 2025-10-28T19:41:13.929Z,1761680473.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319416,0.865266,0.386377],[-0.947265,0.302620,0.105402],[-0.025725,-0.399669,0.916299]] 2025-10-28T19:41:14.331Z,1761680474.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300139,0.872100,0.386468],[-0.953579,0.284743,0.098020],[-0.024561,-0.397948,0.917079]] 2025-10-28T19:41:14.736Z,1761680474.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282563,0.877718,0.387001],[-0.958971,0.268173,0.091962],[-0.023066,-0.397108,0.917482]] 2025-10-28T19:41:15.139Z,1761680475.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266001,0.881493,0.390146],[-0.963744,0.252005,0.087702],[-0.021010,-0.399330,0.916567]] 2025-10-28T19:41:15.551Z,1761680475.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250437,0.883937,0.394888],[-0.967953,0.236477,0.084532],[-0.018661,-0.403403,0.914832]] 2025-10-28T19:41:15.949Z,1761680475.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235406,0.884848,0.402031],[-0.971762,0.221187,0.082189],[-0.016199,-0.410026,0.911930]] 2025-10-28T19:41:16.351Z,1761680476.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220908,0.884128,0.411725],[-0.975192,0.206352,0.080118],[-0.014126,-0.419210,0.907779]] 2025-10-28T19:41:16.757Z,1761680476.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207089,0.883884,0.419360],[-0.978233,0.192880,0.076540],[-0.013234,-0.426082,0.904588]] 2025-10-28T19:41:17.163Z,1761680477.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193743,0.883895,0.425667],[-0.980956,0.180627,0.071411],[-0.013767,-0.431396,0.902057]] 2025-10-28T19:41:17.563Z,1761680477.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180406,0.885660,0.427855],[-0.983470,0.169275,0.064285],[-0.015490,-0.432380,0.901558]] 2025-10-28T19:41:17.708Z,1761680477.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:41:17.976Z,1761680477.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165277,0.888456,0.428170],[-0.986095,0.156486,0.055930],[-0.017312,-0.431460,0.901966]] 2025-10-28T19:41:18.371Z,1761680478.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147298,0.892325,0.426685],[-0.988923,0.140847,0.046837],[-0.018304,-0.428858,0.903187]] 2025-10-28T19:41:18.712Z,1761680478.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:41:18.780Z,1761680478.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127220,0.896830,0.423686],[-0.991695,0.123132,0.037139],[-0.018862,-0.424893,0.905047]] 2025-10-28T19:41:19.200Z,1761680479.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105339,0.901380,0.420022],[-0.994263,0.103357,0.027549],[-0.018580,-0.420514,0.907096]] 2025-10-28T19:41:19.584Z,1761680479.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083026,0.906402,0.414176],[-0.996386,0.082979,0.018140],[-0.017926,-0.414185,0.910016]] 2025-10-28T19:41:19.989Z,1761680479.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060460,0.910482,0.409105],[-0.998025,0.062131,0.009220],[-0.017024,-0.408854,0.912441]] 2025-10-28T19:41:20.030Z,1761680480.030 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:41:20.201Z,1761680480.201 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:41:20.201Z,1761680480.201 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:41:20.391Z,1761680480.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038265,0.913473,0.405096],[-0.999142,0.041406,0.001008],[-0.015852,-0.404787,0.914274]] 2025-10-28T19:41:20.456Z,1761680480.456 [DAT](INFO): DAT read: user:197> 2025-10-28T19:41:20.457Z,1761680480.457 [DAT](INFO): DAT read: Tx time:19:41:20.1791 2025-10-28T19:41:20.457Z,1761680480.457 [DAT](INFO): Ping request sent. 2025-10-28T19:41:20.458Z,1761680480.458 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:41:20.458Z,1761680480.458 [DAT](INFO): publishing transmit ping time 2025-10-28T19:41:20.459Z,1761680480.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001473 2025-10-28T19:41:20.705Z,1761680480.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247435 2025-10-28T19:41:20.798Z,1761680480.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016164,0.915851,0.401194],[-0.999766,0.020586,-0.006712],[-0.014406,-0.400991,0.915969]] 2025-10-28T19:41:20.958Z,1761680480.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500111 2025-10-28T19:41:21.198Z,1761680481.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005251,0.916857,0.399182],[-0.999902,0.000364,-0.013990],[-0.012972,-0.399217,0.916765]] 2025-10-28T19:41:21.217Z,1761680481.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759629 2025-10-28T19:41:21.469Z,1761680481.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011391 2025-10-28T19:41:21.626Z,1761680481.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046454,0.916403,0.397553],[-0.998864,-0.038382,-0.028243],[-0.010623,-0.398413,0.917144]] 2025-10-28T19:41:21.721Z,1761680481.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263802 2025-10-28T19:41:21.973Z,1761680481.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515609 2025-10-28T19:41:22.024Z,1761680482.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067007,0.914619,0.398727],[-0.997702,-0.057408,-0.035981],[-0.010019,-0.400222,0.916364]] 2025-10-28T19:41:22.225Z,1761680482.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767441 2025-10-28T19:41:22.477Z,1761680482.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019377 2025-10-28T19:41:22.729Z,1761680482.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271465 2025-10-28T19:41:22.821Z,1761680482.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108778,0.910181,0.399673],[-0.994021,-0.095770,-0.052441],[-0.009454,-0.402988,0.915156]] 2025-10-28T19:41:22.981Z,1761680482.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523434 2025-10-28T19:41:23.223Z,1761680483.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130400,0.907350,0.399639],[-0.991419,-0.115624,-0.060981],[-0.009123,-0.404162,0.914642]] 2025-10-28T19:41:23.233Z,1761680483.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775591 2025-10-28T19:41:23.268Z,1761680483.268 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:41:23.268Z,1761680483.268 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:41:23.269Z,1761680483.269 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:41:23.269Z,1761680483.269 [marl:UpdateRudder:A] Stopped 2025-10-28T19:41:23.269Z,1761680483.269 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:41:23.485Z,1761680483.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027867 2025-10-28T19:41:23.628Z,1761680483.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152224,0.904328,0.398772],[-0.988305,-0.135610,-0.069734],[-0.008985,-0.404724,0.914395]] 2025-10-28T19:41:23.680Z,1761680483.680 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:41:23.680Z,1761680483.680 [marl:UpdateRudder:B] Stopped 2025-10-28T19:41:23.680Z,1761680483.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:41:23.680Z,1761680483.680 [marl:UpdateRudder] Stopped 2025-10-28T19:41:23.680Z,1761680483.680 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:41:23.737Z,1761680483.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279786 2025-10-28T19:41:23.989Z,1761680483.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531434 2025-10-28T19:41:24.045Z,1761680484.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174806,0.901363,0.396217],[-0.984562,-0.156347,-0.078698],[-0.008988,-0.403857,0.914778]] 2025-10-28T19:41:24.241Z,1761680484.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783515 2025-10-28T19:41:24.435Z,1761680484.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196610,0.898019,0.393582],[-0.980439,-0.176328,-0.087451],[-0.009133,-0.403077,0.915121]] 2025-10-28T19:41:24.501Z,1761680484.501 [DAT](INFO): DAT read: Rx Time:19:41:23.6862 2025-10-28T19:41:24.502Z,1761680484.502 [DAT](INFO): Rx dataTimestamp_ set to:1761680484.501523 2025-10-28T19:41:24.502Z,1761680484.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044945 2025-10-28T19:41:24.753Z,1761680484.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.295927 2025-10-28T19:41:24.860Z,1761680484.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218334,0.894709,0.389648],[-0.975832,-0.196473,-0.095655],[-0.009028,-0.401116,0.915983]] 2025-10-28T19:41:25.011Z,1761680485.011 [DAT](INFO): DAT read: 19:41:23.6862 LVL= 22448, 17265, 20290, 17779, AGC= 69, IDX= 43,-0.10,-0.862, 0.857, 0.419, 0.225, PHS=-0.985, 0.676, 0.150, RAW= 288.1, 2.2, CAL= 286.6, -2.8, ROT= 223.4, 2.8 2025-10-28T19:41:25.012Z,1761680485.012 [DAT](INFO): got valid direction response: 19:41:23.6862 LVL= 22448, 17265, 20290, 17779, AGC= 69, IDX= 43,-0.10,-0.862, 0.857, 0.419, 0.225, PHS=-0.985, 0.676, 0.150, RAW= 288.1, 2.2, CAL= 286.6, -2.8, ROT= 223.4, 2.8 2025-10-28T19:41:25.013Z,1761680485.013 [DAT](INFO): DAT read: Bearing 108, -15 (Remote) 2025-10-28T19:41:25.014Z,1761680485.014 [DAT](INFO): Remote Bearing received:Bearing 108, -15 (Remote) 2025-10-28T19:41:25.015Z,1761680485.015 [DAT](INFO): DAT read: Bearing 250.2, -36.3 (Local) 2025-10-28T19:41:25.015Z,1761680485.015 [DAT](INFO): Local bearing/azimuth received: Bearing 250.2, -36.3 (Local) 2025-10-28T19:41:25.016Z,1761680485.016 [DAT](INFO): DAT read: Range 11 to 20 : 1108.5 m (Round-trip 1478.0 ms) speed 0.3 m/s 2025-10-28T19:41:25.017Z,1761680485.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:41:25.018Z,1761680485.018 [DAT](INFO): direction in FSK: [-0.725707,-0.686267,-0.048850] 2025-10-28T19:41:25.018Z,1761680485.018 [DAT](INFO): publishing direction and range info 2025-10-28T19:41:25.244Z,1761680485.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239342,0.890526,0.386882],[-0.970891,-0.215696,-0.104146],[-0.009295,-0.400547,0.916229]] 2025-10-28T19:41:25.306Z,1761680485.306 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:41:25.306Z,1761680485.306 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:41:25.306Z,1761680485.306 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateCommandMode] Stopped 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:41:25.307Z,1761680485.307 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:41:25.308Z,1761680485.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:41:25.316Z,1761680485.316 [marl:UpdateSpeed] Stopped 2025-10-28T19:41:25.316Z,1761680485.316 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:41:25.322Z,1761680485.322 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680512.00. Resetting abort timer. 2025-10-28T19:41:25.656Z,1761680485.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259470,0.885496,0.385451],[-0.965702,-0.233884,-0.112770],[-0.009706,-0.401491,0.915811]] 2025-10-28T19:41:26.050Z,1761680486.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278321,0.880045,0.384784],[-0.960440,-0.251004,-0.120628],[-0.009575,-0.403136,0.915090]] 2025-10-28T19:41:26.455Z,1761680486.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295903,0.874686,0.383884],[-0.955172,-0.266994,-0.127909],[-0.009385,-0.404524,0.914479]] 2025-10-28T19:41:26.858Z,1761680486.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312371,0.868601,0.384650],[-0.949920,-0.281883,-0.134884],[-0.008734,-0.407521,0.913154]] 2025-10-28T19:41:26.873Z,1761680486.873 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -13 7, -94.01, 20.00, 0.00 2025-10-28T19:41:27.264Z,1761680487.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326691,0.862586,0.386288],[-0.945097,-0.294685,-0.141252],[-0.008009,-0.411225,0.911499]] 2025-10-28T19:41:27.671Z,1761680487.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340404,0.857554,0.385650],[-0.940251,-0.307263,-0.146688],[-0.007297,-0.412541,0.910910]] 2025-10-28T19:41:28.071Z,1761680488.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353349,0.852624,0.384938],[-0.935465,-0.318937,-0.152264],[-0.007053,-0.413898,0.910296]] 2025-10-28T19:41:28.475Z,1761680488.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366377,0.848202,0.382520],[-0.930440,-0.330870,-0.157501],[-0.007029,-0.413616,0.910424]] 2025-10-28T19:41:28.881Z,1761680488.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380308,0.844094,0.377984],[-0.924833,-0.343974,-0.162374],[-0.007043,-0.411324,0.911462]] 2025-10-28T19:41:29.282Z,1761680489.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394995,0.839347,0.373464],[-0.918654,-0.357643,-0.167826],[-0.007297,-0.409375,0.912337]] 2025-10-28T19:41:29.686Z,1761680489.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410938,0.834177,0.367803],[-0.911634,-0.372759,-0.173131],[-0.007320,-0.406448,0.913645]] 2025-10-28T19:41:30.095Z,1761680490.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427804,0.828055,0.362364],[-0.903841,-0.388635,-0.178979],[-0.007377,-0.404088,0.914690]] 2025-10-28T19:41:30.500Z,1761680490.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445851,0.820664,0.357390],[-0.895077,-0.405466,-0.185566],[-0.007378,-0.402626,0.915335]] 2025-10-28T19:41:30.902Z,1761680490.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465239,0.812560,0.351140],[-0.885156,-0.423833,-0.192002],[-0.007189,-0.400140,0.916426]] 2025-10-28T19:41:31.307Z,1761680491.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485323,0.803425,0.344919],[-0.874302,-0.442559,-0.199341],[-0.007509,-0.398308,0.917221]] 2025-10-28T19:41:31.713Z,1761680491.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505087,0.793967,0.338383],[-0.863030,-0.460930,-0.206696],[-0.008139,-0.396434,0.918027]] 2025-10-28T19:41:32.118Z,1761680492.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525040,0.783733,0.331806],[-0.851035,-0.479539,-0.213968],[-0.008580,-0.394720,0.918761]] 2025-10-28T19:41:32.519Z,1761680492.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545611,0.772244,0.325497],[-0.837990,-0.498568,-0.221815],[-0.009012,-0.393788,0.919157]] 2025-10-28T19:41:32.924Z,1761680492.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566348,0.759837,0.319213],[-0.824112,-0.517673,-0.229901],[-0.009440,-0.393271,0.919374]] 2025-10-28T19:41:33.326Z,1761680493.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586941,0.746696,0.312962],[-0.809571,-0.536613,-0.237996],[-0.009772,-0.393054,0.919463]] 2025-10-28T19:41:33.730Z,1761680493.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606965,0.733045,0.306982],[-0.794666,-0.554977,-0.245980],[-0.009947,-0.393250,0.919378]] 2025-10-28T19:41:34.148Z,1761680494.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626473,0.719564,0.299598],[-0.779381,-0.573426,-0.252485],[-0.009882,-0.391676,0.920050]] 2025-10-28T19:41:34.547Z,1761680494.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645190,0.705765,0.292617],[-0.763958,-0.590970,-0.259082],[-0.009923,-0.390704,0.920463]] 2025-10-28T19:41:34.951Z,1761680494.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663249,0.691239,0.286860],[-0.748335,-0.607552,-0.266224],[-0.009742,-0.391240,0.920237]] 2025-10-28T19:41:35.351Z,1761680495.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679603,0.676916,0.282710],[-0.733513,-0.621843,-0.274354],[-0.009913,-0.393823,0.919133]] 2025-10-28T19:41:35.757Z,1761680495.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694983,0.662694,0.278990],[-0.718959,-0.635152,-0.282276],[-0.009861,-0.396760,0.917870]] 2025-10-28T19:41:36.173Z,1761680496.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708923,0.649014,0.276058],[-0.705217,-0.646847,-0.290273],[-0.009824,-0.400462,0.916261]] 2025-10-28T19:41:36.591Z,1761680496.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721568,0.636468,0.272485],[-0.692275,-0.657767,-0.296812],[-0.009679,-0.402804,0.915235]] 2025-10-28T19:41:36.706Z,1761680496.706 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:41:36.706Z,1761680496.706 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:41:36.706Z,1761680496.706 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:41:36.707Z,1761680496.707 [marl:UpdateRudder:A] Stopped 2025-10-28T19:41:36.707Z,1761680496.707 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:41:36.966Z,1761680496.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733000,0.624342,0.270015],[-0.680163,-0.667230,-0.303616],[-0.009398,-0.406205,0.913734]] 2025-10-28T19:41:37.002Z,1761680497.002 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:41:37.002Z,1761680497.002 [marl:UpdateRudder:B] Stopped 2025-10-28T19:41:37.002Z,1761680497.002 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:41:37.002Z,1761680497.002 [marl:UpdateRudder] Stopped 2025-10-28T19:41:37.002Z,1761680497.002 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:41:37.372Z,1761680497.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743533,0.613227,0.266667],[-0.668638,-0.676393,-0.308894],[-0.009051,-0.407976,0.912948]] 2025-10-28T19:41:37.781Z,1761680497.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753071,0.602665,0.263967],[-0.657883,-0.684501,-0.314083],[-0.008601,-0.410186,0.911961]] 2025-10-28T19:41:38.178Z,1761680498.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762114,0.592464,0.261091],[-0.647393,-0.692375,-0.318589],[-0.007980,-0.411830,0.911226]] 2025-10-28T19:41:38.221Z,1761680498.221 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:41:38.221Z,1761680498.221 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:41:38.221Z,1761680498.221 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:41:38.221Z,1761680498.221 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:41:38.221Z,1761680498.221 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateCommandMode] Stopped 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:41:38.222Z,1761680498.222 [marl:UpdateSpeed] Stopped 2025-10-28T19:41:38.223Z,1761680498.223 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:41:38.623Z,1761680498.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770792,0.582851,0.257226],[-0.637046,-0.700568,-0.321523],[-0.007196,-0.411692,0.911295]] 2025-10-28T19:41:38.986Z,1761680498.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779210,0.573320,0.253251],[-0.626728,-0.708464,-0.324487],[-0.006616,-0.411563,0.911358]] 2025-10-28T19:41:39.393Z,1761680499.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787637,0.563924,0.248227],[-0.616108,-0.716836,-0.326431],[-0.006144,-0.410044,0.912045]] 2025-10-28T19:41:39.796Z,1761680499.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796461,0.554149,0.242009],[-0.604661,-0.725972,-0.327643],[-0.005871,-0.407288,0.913281]] 2025-10-28T19:41:40.198Z,1761680500.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805891,0.543699,0.234374],[-0.592036,-0.736125,-0.328046],[-0.005830,-0.403127,0.915125]] 2025-10-28T19:41:40.627Z,1761680500.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816000,0.531663,0.226888],[-0.578023,-0.746584,-0.329396],[-0.005736,-0.399934,0.916526]] 2025-10-28T19:41:41.008Z,1761680501.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826784,0.518190,0.218877],[-0.562488,-0.757465,-0.331444],[-0.005960,-0.397148,0.917735]] 2025-10-28T19:41:41.415Z,1761680501.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838136,0.503209,0.210496],[-0.545426,-0.768785,-0.333887],[-0.006189,-0.394652,0.918810]] 2025-10-28T19:41:41.815Z,1761680501.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849898,0.486992,0.201278],[-0.526905,-0.780559,-0.336301],[-0.006667,-0.391876,0.919994]] 2025-10-28T19:41:42.218Z,1761680502.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862205,0.469037,0.191327],[-0.506506,-0.792823,-0.338943],[-0.007289,-0.389147,0.921147]] 2025-10-28T19:41:42.637Z,1761680502.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874372,0.449817,0.182037],[-0.485188,-0.804162,-0.343388],[-0.008074,-0.388571,0.921383]] 2025-10-28T19:41:43.028Z,1761680503.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886377,0.429782,0.172117],[-0.462874,-0.815334,-0.347819],[-0.009153,-0.387967,0.921628]] 2025-10-28T19:41:43.432Z,1761680503.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898021,0.408891,0.162376],[-0.439834,-0.825863,-0.352840],[-0.010172,-0.388276,0.921487]] 2025-10-28T19:41:43.835Z,1761680503.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909236,0.387313,0.152575],[-0.416129,-0.835728,-0.358324],[-0.011272,-0.389292,0.921045]] 2025-10-28T19:41:44.242Z,1761680504.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919663,0.365872,0.142678],[-0.392514,-0.844992,-0.363209],[-0.012326,-0.390033,0.920718]] 2025-10-28T19:41:44.647Z,1761680504.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929467,0.343859,0.133609],[-0.368669,-0.852882,-0.369696],[-0.013170,-0.392878,0.919496]] 2025-10-28T19:41:45.047Z,1761680505.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938501,0.322102,0.124365],[-0.344993,-0.860167,-0.375622],[-0.014014,-0.395427,0.918390]] 2025-10-28T19:41:45.450Z,1761680505.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946283,0.301804,0.116027],[-0.323003,-0.866007,-0.381708],[-0.014721,-0.398681,0.916972]] 2025-10-28T19:41:45.855Z,1761680505.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952941,0.283133,0.108346],[-0.302759,-0.870565,-0.387883],[-0.015500,-0.402432,0.915318]] 2025-10-28T19:41:46.258Z,1761680506.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958556,0.266352,0.101124],[-0.284445,-0.874609,-0.392619],[-0.016131,-0.405112,0.914125]] 2025-10-28T19:41:46.663Z,1761680506.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963310,0.251087,0.094805],[-0.267888,-0.877941,-0.396808],[-0.016400,-0.407646,0.912993]] 2025-10-28T19:41:47.068Z,1761680507.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967528,0.236593,0.088957],[-0.252220,-0.880614,-0.401128],[-0.016567,-0.410540,0.911692]] 2025-10-28T19:41:47.470Z,1761680507.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971355,0.222509,0.083428],[-0.237082,-0.883486,-0.404035],[-0.016194,-0.412240,0.910931]] 2025-10-28T19:41:47.874Z,1761680507.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974811,0.208866,0.078218],[-0.222480,-0.886009,-0.406805],[-0.015666,-0.413960,0.910160]] 2025-10-28T19:41:48.279Z,1761680508.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977961,0.195587,0.073058],[-0.208254,-0.888841,-0.408158],[-0.014893,-0.414377,0.909983]] 2025-10-28T19:41:48.683Z,1761680508.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980838,0.182487,0.068229],[-0.194333,-0.891533,-0.409150],[-0.013836,-0.414569,0.909913]] 2025-10-28T19:41:48.842Z,1761680508.842 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:41:49.089Z,1761680509.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983580,0.168999,0.063321],[-0.180036,-0.894446,-0.409332],[-0.012539,-0.414011,0.910186]] 2025-10-28T19:41:49.491Z,1761680509.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986231,0.154892,0.057932],[-0.164989,-0.897783,-0.408367],[-0.011243,-0.412302,0.910978]] 2025-10-28T19:41:49.844Z,1761680509.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:41:49.894Z,1761680509.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988876,0.139527,0.051545],[-0.148399,-0.901879,-0.405699],[-0.010119,-0.408836,0.912552]] 2025-10-28T19:41:50.299Z,1761680510.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991446,0.122637,0.044653],[-0.130194,-0.905420,-0.404060],[-0.009123,-0.406418,0.913642]] 2025-10-28T19:41:50.322Z,1761680510.322 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:41:50.322Z,1761680510.322 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:41:50.322Z,1761680510.322 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:41:50.323Z,1761680510.323 [marl:UpdateRudder:A] Stopped 2025-10-28T19:41:50.323Z,1761680510.323 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:41:50.705Z,1761680510.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993938,0.103910,0.035926],[-0.109581,-0.909668,-0.400620],[-0.008947,-0.402128,0.915540]] 2025-10-28T19:41:50.750Z,1761680510.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:41:50.750Z,1761680510.750 [marl:UpdateRudder:B] Stopped 2025-10-28T19:41:50.751Z,1761680510.751 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:41:50.751Z,1761680510.751 [marl:UpdateRudder] Stopped 2025-10-28T19:41:50.751Z,1761680510.751 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:41:51.114Z,1761680511.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996175,0.083264,0.026488],[-0.086914,-0.913141,-0.398270],[-0.008974,-0.399049,0.916885]] 2025-10-28T19:41:51.511Z,1761680511.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997935,0.062213,0.015985],[-0.063458,-0.916289,-0.395459],[-0.009956,-0.395657,0.918344]] 2025-10-28T19:41:51.556Z,1761680511.556 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:41:51.556Z,1761680511.556 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateCommandMode] Stopped 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:41:51.557Z,1761680511.557 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:41:51.558Z,1761680511.558 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:41:51.558Z,1761680511.558 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:41:51.558Z,1761680511.558 [marl:UpdateSpeed] Stopped 2025-10-28T19:41:51.558Z,1761680511.558 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:41:51.916Z,1761680511.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999139,0.041068,0.005946],[-0.040081,-0.917991,-0.394572],[-0.010746,-0.394470,0.918846]] 2025-10-28T19:41:52.318Z,1761680512.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999799,0.019532,-0.004422],[-0.016211,-0.918998,-0.393930],[-0.011758,-0.393779,0.919130]] 2025-10-28T19:41:52.722Z,1761680512.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999893,-0.001158,-0.014562],[0.006780,-0.919774,-0.392390],[-0.012939,-0.392446,0.919684]] 2025-10-28T19:41:53.129Z,1761680513.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999454,-0.021963,-0.024700],[0.029887,-0.919640,-0.391624],[-0.014114,-0.392149,0.919794]] 2025-10-28T19:41:53.533Z,1761680513.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998518,-0.042063,-0.034546],[0.052234,-0.918991,-0.390804],[-0.015309,-0.392029,0.919826]] 2025-10-28T19:41:53.934Z,1761680513.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997136,-0.061653,-0.043796],[0.073870,-0.918076,-0.389461],[-0.016197,-0.391581,0.920001]] 2025-10-28T19:41:54.338Z,1761680514.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995305,-0.080944,-0.053073],[0.095261,-0.916326,-0.388938],[-0.017150,-0.392168,0.919734]] 2025-10-28T19:41:54.743Z,1761680514.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993027,-0.100386,-0.061808],[0.116557,-0.914604,-0.387186],[-0.017662,-0.391691,0.919927]] 2025-10-28T19:41:55.149Z,1761680515.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990403,-0.118847,-0.070544],[0.136994,-0.911668,-0.387419],[-0.018269,-0.393365,0.919201]] 2025-10-28T19:41:55.551Z,1761680515.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987342,-0.137499,-0.079052],[0.157499,-0.908720,-0.386551],[-0.018686,-0.394109,0.918874]] 2025-10-28T19:41:55.954Z,1761680515.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983820,-0.156362,-0.087462],[0.178140,-0.905770,-0.384508],[-0.019098,-0.393867,0.918969]] 2025-10-28T19:41:56.358Z,1761680516.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980097,-0.174076,-0.095435],[0.197572,-0.902238,-0.383318],[-0.019379,-0.394544,0.918673]] 2025-10-28T19:41:56.771Z,1761680516.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976086,-0.191359,-0.103138],[0.216489,-0.898687,-0.381436],[-0.019697,-0.394643,0.918623]] 2025-10-28T19:41:56.796Z,1761680516.796 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, - +8519.87, -31.03, 0.00 2025-10-28T19:41:57.572Z,1761680517.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967235,-0.225328,-0.116978],[0.253127,-0.891424,-0.375886],[-0.019579,-0.393181,0.919253]] 2025-10-28T19:41:57.975Z,1761680517.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962280,-0.242075,-0.124160],[0.271363,-0.886669,-0.374407],[-0.019454,-0.393977,0.918915]] 2025-10-28T19:41:58.380Z,1761680518.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956882,-0.259219,-0.131078],[0.289848,-0.881720,-0.372233],[-0.019085,-0.394176,0.918837]] 2025-10-28T19:41:58.787Z,1761680518.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951002,-0.276498,-0.138362],[0.308613,-0.876078,-0.370466],[-0.018783,-0.395014,0.918483]] 2025-10-28T19:41:59.187Z,1761680519.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944680,-0.294032,-0.145345],[0.327480,-0.870322,-0.367827],[-0.018344,-0.395077,0.918465]] 2025-10-28T19:41:59.601Z,1761680519.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937541,-0.312635,-0.152566],[0.347399,-0.864340,-0.363635],[-0.018184,-0.393924,0.918963]] 2025-10-28T19:41:59.996Z,1761680519.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929747,-0.331736,-0.159754],[0.367776,-0.857494,-0.359786],[-0.017634,-0.393264,0.919257]] 2025-10-28T19:42:00.399Z,1761680520.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921135,-0.351367,-0.167488],[0.388847,-0.850081,-0.355190],[-0.017576,-0.392305,0.919667]] 2025-10-28T19:42:00.803Z,1761680520.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911987,-0.370718,-0.175633],[0.409831,-0.842002,-0.350815],[-0.017830,-0.391919,0.919827]] 2025-10-28T19:42:01.207Z,1761680521.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902091,-0.390440,-0.183817],[0.431144,-0.833774,-0.344870],[-0.018611,-0.390356,0.920476]] 2025-10-28T19:42:01.647Z,1761680521.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891895,-0.409419,-0.192090],[0.451807,-0.825297,-0.338756],[-0.019838,-0.388923,0.921057]] 2025-10-28T19:42:02.014Z,1761680522.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881711,-0.427196,-0.200221],[0.471315,-0.816606,-0.333192],[-0.021164,-0.388146,0.921355]] 2025-10-28T19:42:02.418Z,1761680522.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871336,-0.444213,-0.208442],[0.490138,-0.808013,-0.326924],[-0.023200,-0.387026,0.921777]] 2025-10-28T19:42:02.825Z,1761680522.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861053,-0.459979,-0.216813],[0.507871,-0.799336,-0.321136],[-0.025591,-0.386629,0.921880]] 2025-10-28T19:42:03.226Z,1761680523.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850671,-0.475152,-0.224919],[0.524942,-0.790711,-0.314980],[-0.028182,-0.386014,0.922062]] 2025-10-28T19:42:03.632Z,1761680523.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840705,-0.488836,-0.232924],[0.540655,-0.781693,-0.310882],[-0.030105,-0.387291,0.921466]] 2025-10-28T19:42:03.656Z,1761680523.656 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:42:03.657Z,1761680523.657 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:42:03.658Z,1761680523.658 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:42:03.676Z,1761680523.676 [marl:UpdateRudder:A] Stopped 2025-10-28T19:42:03.676Z,1761680523.676 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:42:04.036Z,1761680524.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830982,-0.501812,-0.240112],[0.555420,-0.772665,-0.307404],[-0.031267,-0.388811,0.920787]] 2025-10-28T19:42:04.065Z,1761680524.065 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:42:04.065Z,1761680524.065 [marl:UpdateRudder:B] Stopped 2025-10-28T19:42:04.065Z,1761680524.065 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:42:04.065Z,1761680524.065 [marl:UpdateRudder] Stopped 2025-10-28T19:42:04.065Z,1761680524.065 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:42:04.439Z,1761680524.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821226,-0.514539,-0.246652],[0.569736,-0.763220,-0.304789],[-0.031424,-0.390827,0.919928]] 2025-10-28T19:42:04.843Z,1761680524.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811294,-0.526972,-0.253183],[0.583835,-0.752955,-0.303636],[-0.030628,-0.394155,0.918533]] 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode] Stopped 2025-10-28T19:42:04.905Z,1761680524.905 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed] Stopped 2025-10-28T19:42:04.906Z,1761680524.906 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:42:05.250Z,1761680525.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801010,-0.539799,-0.258845],[0.597966,-0.742125,-0.302800],[-0.028645,-0.397326,0.917230]] 2025-10-28T19:42:05.652Z,1761680525.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790317,-0.553282,-0.263206],[0.612172,-0.730867,-0.301794],[-0.025391,-0.399640,0.916320]] 2025-10-28T19:42:06.056Z,1761680526.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779025,-0.567513,-0.266551],[0.626635,-0.719101,-0.300370],[-0.021213,-0.401026,0.915821]] 2025-10-28T19:42:06.461Z,1761680526.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766656,-0.582542,-0.269968],[0.641840,-0.706298,-0.298637],[-0.016709,-0.402228,0.915387]] 2025-10-28T19:42:06.871Z,1761680526.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737973,-0.615409,-0.276888],[0.674769,-0.678462,-0.290476],[-0.009096,-0.401199,0.915946]] 2025-10-28T19:42:07.275Z,1761680527.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722292,-0.632206,-0.280375],[0.691563,-0.663758,-0.284897],[-0.005987,-0.399676,0.916637]] 2025-10-28T19:42:07.678Z,1761680527.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705860,-0.648723,-0.284464],[0.708341,-0.648543,-0.278647],[-0.003723,-0.398184,0.917298]] 2025-10-28T19:42:08.090Z,1761680528.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688864,-0.664907,-0.288731],[0.724887,-0.633128,-0.271454],[-0.002312,-0.396293,0.918121]] 2025-10-28T19:42:08.481Z,1761680528.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671652,-0.679756,-0.294644],[0.740865,-0.617023,-0.265333],[-0.001440,-0.396503,0.918032]] 2025-10-28T19:42:08.886Z,1761680528.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654466,-0.693795,-0.300536],[0.756091,-0.600893,-0.259335],[-0.000665,-0.396959,0.917836]] 2025-10-28T19:42:09.292Z,1761680529.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637507,-0.706466,-0.307392],[0.770444,-0.584587,-0.254311],[-0.000035,-0.398954,0.916971]] 2025-10-28T19:42:09.691Z,1761680529.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620488,-0.719020,-0.313058],[0.784216,-0.568532,-0.248550],[0.000729,-0.399728,0.916634]] 2025-10-28T19:42:10.098Z,1761680530.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604377,-0.730162,-0.318734],[0.796696,-0.553013,-0.243827],[0.001769,-0.401298,0.915946]] 2025-10-28T19:42:10.498Z,1761680530.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587894,-0.741086,-0.324302],[0.808933,-0.537156,-0.238938],[0.002873,-0.402809,0.915280]] 2025-10-28T19:42:10.909Z,1761680530.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571066,-0.751906,-0.329425],[0.820895,-0.521165,-0.233492],[0.003879,-0.403763,0.914855]] 2025-10-28T19:42:11.307Z,1761680531.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554255,-0.762417,-0.333947],[0.832332,-0.505263,-0.227889],[0.005016,-0.404264,0.914629]] 2025-10-28T19:42:11.713Z,1761680531.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537631,-0.772974,-0.336845],[0.843153,-0.489650,-0.222117],[0.006755,-0.403429,0.914986]] 2025-10-28T19:42:12.120Z,1761680532.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520753,-0.783499,-0.339037],[0.853663,-0.473866,-0.216126],[0.008676,-0.401972,0.915611]] 2025-10-28T19:42:12.518Z,1761680532.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504157,-0.793488,-0.340885],[0.863545,-0.458249,-0.210473],[0.010798,-0.400481,0.916242]] 2025-10-28T19:42:12.925Z,1761680532.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488097,-0.803028,-0.341916],[0.872687,-0.443024,-0.205299],[0.013384,-0.398592,0.917031]] 2025-10-28T19:42:13.331Z,1761680533.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472674,-0.812738,-0.340642],[0.881086,-0.428688,-0.199786],[0.016344,-0.394568,0.918721]] 2025-10-28T19:42:13.731Z,1761680533.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457778,-0.822192,-0.338288],[0.888862,-0.415088,-0.193974],[0.019064,-0.389488,0.920834]] 2025-10-28T19:42:14.135Z,1761680534.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443407,-0.830743,-0.336536],[0.896072,-0.402016,-0.188249],[0.021094,-0.385031,0.922662]] 2025-10-28T19:42:14.542Z,1761680534.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429082,-0.837951,-0.337234],[0.902987,-0.388666,-0.183175],[0.022421,-0.383115,0.923429]] 2025-10-28T19:42:14.950Z,1761680534.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415013,-0.844577,-0.338310],[0.909510,-0.375484,-0.178335],[0.023587,-0.381708,0.923982]] 2025-10-28T19:42:15.353Z,1761680535.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401063,-0.849905,-0.341775],[0.915715,-0.361877,-0.174672],[0.024775,-0.383023,0.923406]] 2025-10-28T19:42:15.757Z,1761680535.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386636,-0.854618,-0.346613],[0.921858,-0.347441,-0.171646],[0.026264,-0.385892,0.922170]] 2025-10-28T19:42:16.158Z,1761680536.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371406,-0.858834,-0.352792],[0.928053,-0.331998,-0.168805],[0.027849,-0.390105,0.920349]] 2025-10-28T19:42:16.613Z,1761680536.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355297,-0.863402,-0.358191],[0.934285,-0.315881,-0.165320],[0.029592,-0.393390,0.918895]] 2025-10-28T19:42:16.973Z,1761680536.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337396,-0.868012,-0.364308],[0.940836,-0.297984,-0.161347],[0.031493,-0.397191,0.917195]] 2025-10-28T19:42:16.997Z,1761680536.997 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:42:16.997Z,1761680536.997 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:42:16.997Z,1761680536.997 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:42:16.998Z,1761680536.998 [marl:UpdateRudder:A] Stopped 2025-10-28T19:42:16.998Z,1761680536.998 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:42:17.371Z,1761680537.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317629,-0.872904,-0.370339],[0.947636,-0.278579,-0.156140],[0.033127,-0.400541,0.915680]] 2025-10-28T19:42:17.416Z,1761680537.416 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:42:17.416Z,1761680537.416 [marl:UpdateRudder:B] Stopped 2025-10-28T19:42:17.416Z,1761680537.416 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:42:17.416Z,1761680537.416 [marl:UpdateRudder] Stopped 2025-10-28T19:42:17.416Z,1761680537.416 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:42:17.782Z,1761680537.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296194,-0.878642,-0.374510],[0.954497,-0.258044,-0.149497],[0.034714,-0.401749,0.915092]] 2025-10-28T19:42:18.178Z,1761680538.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273990,-0.884217,-0.378272],[0.961047,-0.236879,-0.142398],[0.036306,-0.402553,0.914676]] 2025-10-28T19:42:18.223Z,1761680538.223 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:42:18.223Z,1761680538.223 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:42:18.223Z,1761680538.223 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:42:18.228Z,1761680538.228 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:42:18.228Z,1761680538.228 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:42:18.228Z,1761680538.228 [marl:UpdateCommandMode] Stopped 2025-10-28T19:42:18.228Z,1761680538.228 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:42:18.228Z,1761680538.228 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed] Stopped 2025-10-28T19:42:18.229Z,1761680538.229 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:42:18.620Z,1761680538.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250825,-0.890350,-0.379952],[0.967299,-0.215246,-0.134171],[0.037676,-0.401181,0.915224]] 2025-10-28T19:42:18.989Z,1761680538.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226928,-0.895552,-0.382741],[0.973161,-0.193086,-0.125198],[0.038219,-0.400880,0.915333]] 2025-10-28T19:42:19.392Z,1761680539.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202570,-0.900271,-0.385328],[0.978531,-0.170831,-0.115295],[0.037970,-0.400411,0.915549]] 2025-10-28T19:42:19.796Z,1761680539.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179079,-0.904304,-0.387512],[0.983132,-0.149601,-0.105217],[0.037176,-0.399817,0.915841]] 2025-10-28T19:42:19.973Z,1761680539.973 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:42:20.199Z,1761680540.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156134,-0.908073,-0.388619],[0.987074,-0.129042,-0.095045],[0.036160,-0.398436,0.916483]] 2025-10-28T19:42:20.227Z,1761680540.227 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:42:20.265Z,1761680540.265 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:42:20.266Z,1761680540.266 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:42:20.517Z,1761680540.517 [DAT](INFO): DAT read: user:198> 2025-10-28T19:42:20.518Z,1761680540.518 [DAT](INFO): DAT read: Tx time:19:42:20.2789 2025-10-28T19:42:20.518Z,1761680540.518 [DAT](INFO): Ping request sent. 2025-10-28T19:42:20.518Z,1761680540.518 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:42:20.518Z,1761680540.518 [DAT](INFO): publishing transmit ping time 2025-10-28T19:42:20.519Z,1761680540.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T19:42:20.642Z,1761680540.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133951,-0.911092,-0.389831],[0.990373,-0.109224,-0.085032],[0.034893,-0.397468,0.916952]] 2025-10-28T19:42:20.769Z,1761680540.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251150 2025-10-28T19:42:20.976Z,1761680540.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:42:21.007Z,1761680541.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113279,-0.913414,-0.390951],[0.992993,-0.090747,-0.075702],[0.033669,-0.396787,0.917293]] 2025-10-28T19:42:21.021Z,1761680541.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944 2025-10-28T19:42:21.273Z,1761680541.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869 2025-10-28T19:42:21.412Z,1761680541.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093406,-0.915866,-0.390467],[0.995107,-0.073196,-0.066361],[0.032197,-0.394755,0.918222]] 2025-10-28T19:42:21.525Z,1761680541.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007422 2025-10-28T19:42:21.777Z,1761680541.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259240 2025-10-28T19:42:21.815Z,1761680541.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074401,-0.917747,-0.390134],[0.996755,-0.056383,-0.057454],[0.030731,-0.393143,0.918964]] 2025-10-28T19:42:22.029Z,1761680542.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-28T19:42:22.219Z,1761680542.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055824,-0.918977,-0.390339],[0.998017,-0.039969,-0.048631],[0.029089,-0.392280,0.919386]] 2025-10-28T19:42:22.281Z,1761680542.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763039 2025-10-28T19:42:22.534Z,1761680542.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015884 2025-10-28T19:42:22.630Z,1761680542.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038104,-0.919674,-0.390830],[0.998885,-0.024147,-0.040567],[0.027871,-0.391940,0.919568]] 2025-10-28T19:42:22.785Z,1761680542.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267450 2025-10-28T19:42:23.034Z,1761680543.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020856,-0.920729,-0.389645],[0.999416,-0.008643,-0.033071],[0.027082,-0.390107,0.920371]] 2025-10-28T19:42:23.038Z,1761680543.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520061 2025-10-28T19:42:23.289Z,1761680543.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859 2025-10-28T19:42:23.433Z,1761680543.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003559,-0.920895,-0.389794],[0.999647,0.006982,-0.025621],[0.026315,-0.389748,0.920546]] 2025-10-28T19:42:23.541Z,1761680543.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022959 2025-10-28T19:42:23.794Z,1761680543.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275650 2025-10-28T19:42:23.834Z,1761680543.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013812,-0.920190,-0.391227],[0.999565,0.022901,-0.018577],[0.026054,-0.390801,0.920106]] 2025-10-28T19:42:24.046Z,1761680544.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527716 2025-10-28T19:42:24.239Z,1761680544.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031646,-0.918789,-0.393479],[0.999154,0.039422,-0.011694],[0.026257,-0.392776,0.919259]] 2025-10-28T19:42:24.297Z,1761680544.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778975 2025-10-28T19:42:24.550Z,1761680544.550 [DAT](INFO): DAT read: Rx Time:19:42:23.7305 2025-10-28T19:42:24.551Z,1761680544.551 [DAT](INFO): Rx dataTimestamp_ set to:1761680544.550221 2025-10-28T19:42:24.553Z,1761680544.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034410 2025-10-28T19:42:24.643Z,1761680544.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049862,-0.918092,-0.393220],[0.998391,0.056470,-0.005246],[0.027022,-0.392325,0.919430]] 2025-10-28T19:42:24.801Z,1761680544.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282841 2025-10-28T19:42:25.062Z,1761680545.062 [DAT](INFO): DAT read: 19:42:23.7305 LVL= 25168, 30961, 32754, 32755, AGC= 77, IDX= 387,-0.19,-0.609,-2.643,-1.667,-1.157, PHS= 0.650,-1.442,-0.554, RAW= 115.0, 14.7, CAL= 116.1, 16.3, ROT= 33.9, -16.3 2025-10-28T19:42:25.063Z,1761680545.063 [DAT](INFO): got valid direction response: 19:42:23.7305 LVL= 25168, 30961, 32754, 32755, AGC= 77, IDX= 387,-0.19,-0.609,-2.643,-1.667,-1.157, PHS= 0.650,-1.442,-0.554, RAW= 115.0, 14.7, CAL= 116.1, 16.3, ROT= 33.9, -16.3 2025-10-28T19:42:25.064Z,1761680545.064 [DAT](INFO): DAT read: Bearing 104, -18 (Remote) 2025-10-28T19:42:25.064Z,1761680545.064 [DAT](INFO): Remote Bearing received:Bearing 104, -18 (Remote) 2025-10-28T19:42:25.065Z,1761680545.065 [DAT](INFO): DAT read: Bearing 263.6, 23.6 (Local) 2025-10-28T19:42:25.065Z,1761680545.065 [DAT](INFO): Local bearing/azimuth received: Bearing 263.6, 23.6 (Local) 2025-10-28T19:42:25.067Z,1761680545.067 [DAT](INFO): DAT read: Range 11 to 20 : 1066.8 m (Round-trip 1422.5 ms) speed 0.7 m/s 2025-10-28T19:42:25.067Z,1761680545.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:42:25.083Z,1761680545.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068697,-0.916756,-0.393496],[0.997247,0.074138,0.001374],[0.027913,-0.392507,0.919325]] 2025-10-28T19:42:25.097Z,1761680545.097 [DAT](INFO): direction in FSK: [0.796650,0.535327,0.280667] 2025-10-28T19:42:25.097Z,1761680545.097 [DAT](INFO): publishing direction and range info 2025-10-28T19:42:25.186Z,1761680545.186 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680512.00. Resetting abort timer. 2025-10-28T19:42:25.451Z,1761680545.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088179,-0.914093,-0.395801],[0.995683,0.092452,0.008310],[0.028997,-0.394825,0.918298]] 2025-10-28T19:42:25.855Z,1761680545.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108957,-0.912235,-0.394912],[0.993603,0.111814,0.015851],[0.029697,-0.394113,0.918582]] 2025-10-28T19:42:26.260Z,1761680546.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131030,-0.909712,-0.394023],[0.990933,0.132101,0.024536],[0.029731,-0.393665,0.918773]] 2025-10-28T19:42:26.663Z,1761680546.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153991,-0.906641,-0.392796],[0.987633,0.153091,0.033828],[0.029464,-0.393147,0.919003]] 2025-10-28T19:42:27.069Z,1761680547.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176816,-0.903104,-0.391330],[0.983822,0.173807,0.043416],[0.028806,-0.392676,0.919226]] 2025-10-28T19:42:27.470Z,1761680547.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200080,-0.899951,-0.387370],[0.979392,0.194824,0.053243],[0.027553,-0.390040,0.920385]] 2025-10-28T19:42:27.876Z,1761680547.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222906,-0.895983,-0.384093],[0.974491,0.215347,0.063193],[0.026094,-0.388382,0.921129]] 2025-10-28T19:42:28.279Z,1761680548.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246066,-0.890828,-0.381938],[0.968955,0.235862,0.074133],[0.024045,-0.388322,0.921210]] 2025-10-28T19:42:28.682Z,1761680548.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267351,-0.885836,-0.379234],[0.963351,0.254642,0.084333],[0.021864,-0.387881,0.921450]] 2025-10-28T19:42:29.088Z,1761680549.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287736,-0.880604,-0.376491],[0.957504,0.272663,0.094026],[0.019856,-0.387546,0.921636]] 2025-10-28T19:42:29.492Z,1761680549.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308005,-0.874562,-0.374533],[0.951222,0.290361,0.104244],[0.017582,-0.388372,0.921335]] 2025-10-28T19:42:29.894Z,1761680549.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327723,-0.868019,-0.373015],[0.944657,0.307270,0.114928],[0.014857,-0.390035,0.920680]] 2025-10-28T19:42:30.298Z,1761680550.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346635,-0.861318,-0.371451],[0.937922,0.323381,0.125406],[0.012105,-0.391862,0.919944]] 2025-10-28T19:42:30.347Z,1761680550.347 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:42:30.347Z,1761680550.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:42:30.347Z,1761680550.347 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:42:30.347Z,1761680550.347 [marl:UpdateRudder:A] Stopped 2025-10-28T19:42:30.347Z,1761680550.347 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:42:30.702Z,1761680550.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364482,-0.854906,-0.369172],[0.931166,0.338482,0.135500],[0.009119,-0.393148,0.919430]] 2025-10-28T19:42:30.785Z,1761680550.785 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:42:30.785Z,1761680550.785 [marl:UpdateRudder:B] Stopped 2025-10-28T19:42:30.785Z,1761680550.785 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:42:30.786Z,1761680550.786 [marl:UpdateRudder] Stopped 2025-10-28T19:42:30.786Z,1761680550.786 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:42:31.113Z,1761680551.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380960,-0.849330,-0.365387],[0.924571,0.352616,0.144330],[0.006257,-0.392810,0.919598]] 2025-10-28T19:42:31.510Z,1761680551.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396898,-0.844166,-0.360355],[0.917857,0.366451,0.152489],[0.003326,-0.391277,0.920267]] 2025-10-28T19:42:31.555Z,1761680551.555 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:42:31.556Z,1761680551.556 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:42:31.559Z,1761680551.559 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:42:31.560Z,1761680551.560 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:42:31.560Z,1761680551.560 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:42:31.560Z,1761680551.560 [marl:UpdateCommandMode] Stopped 2025-10-28T19:42:31.560Z,1761680551.560 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:42:31.560Z,1761680551.560 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed] Stopped 2025-10-28T19:42:31.561Z,1761680551.561 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:42:31.914Z,1761680551.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411997,-0.839452,-0.354371],[0.911185,0.379640,0.160046],[0.000182,-0.388836,0.921307]] 2025-10-28T19:42:32.319Z,1761680552.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426783,-0.834371,-0.348828],[0.904348,0.392314,0.168062],[-0.003376,-0.387188,0.921995]] 2025-10-28T19:42:32.723Z,1761680552.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441812,-0.828457,-0.344182],[0.897084,0.405197,0.176226],[-0.006534,-0.386619,0.922217]] 2025-10-28T19:42:33.128Z,1761680553.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456933,-0.821349,-0.341464],[0.889458,0.418128,0.184482],[-0.008748,-0.388013,0.921612]] 2025-10-28T19:42:33.537Z,1761680553.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472880,-0.813124,-0.339432],[0.881069,0.431961,0.192682],[-0.010053,-0.390179,0.920684]] 2025-10-28T19:42:33.934Z,1761680553.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489448,-0.804995,-0.335296],[0.871966,0.447056,0.199539],[-0.010732,-0.390031,0.920739]] 2025-10-28T19:42:34.340Z,1761680554.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506756,-0.794813,-0.333873],[0.862021,0.462284,0.207879],[-0.010881,-0.393149,0.919410]] 2025-10-28T19:42:34.742Z,1761680554.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524689,-0.784218,-0.331215],[0.851225,0.478343,0.215881],[-0.010864,-0.395208,0.918527]] 2025-10-28T19:42:35.147Z,1761680555.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542973,-0.773465,-0.327003],[0.839674,0.494832,0.223805],[-0.011294,-0.396096,0.918139]] 2025-10-28T19:42:35.551Z,1761680555.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561359,-0.762428,-0.321837],[0.827486,0.511482,0.231631],[-0.011988,-0.396344,0.918024]] 2025-10-28T19:42:35.955Z,1761680555.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579742,-0.751249,-0.315474],[0.814699,0.528361,0.238957],[-0.012832,-0.395550,0.918355]] 2025-10-28T19:42:36.359Z,1761680556.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598031,-0.739838,-0.308220],[0.801344,0.545057,0.246495],[-0.014369,-0.394402,0.918826]] 2025-10-28T19:42:36.767Z,1761680556.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615617,-0.728968,-0.299367],[0.787875,0.561451,0.253032],[-0.016373,-0.391635,0.919975]] 2025-10-28T19:42:37.166Z,1761680557.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632626,-0.717651,-0.291137],[0.774231,0.576961,0.260160],[-0.018729,-0.389991,0.920628]] 2025-10-28T19:42:37.571Z,1761680557.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648995,-0.705715,-0.284204],[0.760498,0.591383,0.268158],[-0.021170,-0.390169,0.920500]] 2025-10-28T19:42:37.976Z,1761680557.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664028,-0.694476,-0.277074],[0.747335,0.604735,0.275294],[-0.023629,-0.389869,0.920567]] 2025-10-28T19:42:38.378Z,1761680558.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678531,-0.682689,-0.271168],[0.734111,0.617142,0.283225],[-0.026006,-0.391244,0.919919]] 2025-10-28T19:42:38.787Z,1761680558.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692615,-0.671069,-0.264482],[0.720743,0.629366,0.290565],[-0.028533,-0.391874,0.919577]] 2025-10-28T19:42:39.189Z,1761680559.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706161,-0.659139,-0.258597],[0.707373,0.640769,0.298393],[-0.030982,-0.393638,0.918743]] 2025-10-28T19:42:39.592Z,1761680559.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719579,-0.647021,-0.252133],[0.693617,0.652346,0.305516],[-0.033197,-0.394726,0.918199]] 2025-10-28T19:42:39.998Z,1761680559.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732924,-0.634447,-0.245558],[0.679398,0.663912,0.312473],[-0.035219,-0.395850,0.917639]] 2025-10-28T19:42:40.403Z,1761680560.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746314,-0.621380,-0.238542],[0.664541,0.675487,0.319534],[-0.037420,-0.396994,0.917058]] 2025-10-28T19:42:40.803Z,1761680560.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760174,-0.606962,-0.231804],[0.648518,0.687147,0.327496],[-0.039494,-0.399283,0.915977]] 2025-10-28T19:42:41.209Z,1761680561.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773994,-0.592012,-0.224621],[0.631852,0.699055,0.334792],[-0.041178,-0.401054,0.915128]] 2025-10-28T19:42:41.611Z,1761680561.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787308,-0.577093,-0.217048],[0.615087,0.710834,0.341149],[-0.042590,-0.402092,0.914608]] 2025-10-28T19:42:42.022Z,1761680562.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800505,-0.562033,-0.208112],[0.597676,0.722876,0.346747],[-0.044444,-0.401956,0.914580]] 2025-10-28T19:42:42.419Z,1761680562.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812901,-0.547098,-0.199690],[0.580578,0.734116,0.352141],[-0.046060,-0.402191,0.914397]] 2025-10-28T19:42:42.824Z,1761680562.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824683,-0.532422,-0.190856],[0.563599,0.745241,0.356331],[-0.047485,-0.401427,0.914660]] 2025-10-28T19:42:43.228Z,1761680563.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835551,-0.518495,-0.181709],[0.547242,0.756033,0.359084],[-0.048805,-0.399472,0.915446]] 2025-10-28T19:42:43.630Z,1761680563.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845591,-0.504811,-0.173616],[0.531466,0.765494,0.362716],[-0.050201,-0.398980,0.915584]] 2025-10-28T19:42:43.678Z,1761680563.678 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:42:43.678Z,1761680563.678 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:42:43.679Z,1761680563.679 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:42:43.679Z,1761680563.679 [marl:UpdateRudder:A] Stopped 2025-10-28T19:42:43.679Z,1761680563.679 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:42:44.035Z,1761680564.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855415,-0.490863,-0.165282],[0.515391,0.775054,0.365601],[-0.051358,-0.397926,0.915979]] 2025-10-28T19:42:44.058Z,1761680564.058 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:42:44.058Z,1761680564.058 [marl:UpdateRudder:B] Stopped 2025-10-28T19:42:44.058Z,1761680564.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:42:44.058Z,1761680564.058 [marl:UpdateRudder] Stopped 2025-10-28T19:42:44.058Z,1761680564.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:42:44.445Z,1761680564.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864522,-0.477225,-0.157663],[0.499855,0.783700,0.368727],[-0.052405,-0.397581,0.916069]] 2025-10-28T19:42:44.843Z,1761680564.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873441,-0.463157,-0.150285],[0.483982,0.791861,0.372449],[-0.053497,-0.398047,0.915804]] 2025-10-28T19:42:44.890Z,1761680564.890 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:42:44.890Z,1761680564.890 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:42:44.890Z,1761680564.890 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateCommandMode] Stopped 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:42:44.891Z,1761680564.891 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:42:44.892Z,1761680564.892 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:42:44.892Z,1761680564.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:42:44.892Z,1761680564.892 [marl:UpdateSpeed] Stopped 2025-10-28T19:42:44.892Z,1761680564.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:42:45.247Z,1761680565.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881921,-0.449150,-0.143110],[0.468204,0.799321,0.376657],[-0.054784,-0.399187,0.915231]] 2025-10-28T19:42:45.650Z,1761680565.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890275,-0.434945,-0.135028],[0.451943,0.807162,0.379785],[-0.056196,-0.399138,0.915167]] 2025-10-28T19:42:46.055Z,1761680566.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898248,-0.420773,-0.126891],[0.435706,0.814785,0.382472],[-0.057545,-0.398842,0.915212]] 2025-10-28T19:42:46.466Z,1761680566.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905792,-0.406604,-0.119224],[0.419603,0.821599,0.385886],[-0.058949,-0.399559,0.914810]] 2025-10-28T19:42:46.863Z,1761680566.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913232,-0.391809,-0.111774],[0.402950,0.827904,0.390136],[-0.060320,-0.401324,0.913948]] 2025-10-28T19:42:47.266Z,1761680567.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920503,-0.376626,-0.104057],[0.385848,0.834166,0.394067],[-0.061615,-0.402890,0.913172]] 2025-10-28T19:42:47.671Z,1761680567.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927818,-0.360494,-0.095906],[0.367721,0.840628,0.397651],[-0.062730,-0.404214,0.912511]] 2025-10-28T19:42:48.077Z,1761680568.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934485,-0.344849,-0.088411],[0.350254,0.846146,0.401695],[-0.063715,-0.406344,0.911496]] 2025-10-28T19:42:48.486Z,1761680568.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941151,-0.328350,-0.080134],[0.331738,0.852028,0.404967],[-0.064694,-0.407718,0.910813]] 2025-10-28T19:42:48.883Z,1761680568.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947715,-0.311050,-0.071305],[0.312273,0.857905,0.408026],[-0.065743,-0.408959,0.910181]] 2025-10-28T19:42:49.286Z,1761680569.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954219,-0.292545,-0.062313],[0.291573,0.863306,0.411933],[-0.066714,-0.411243,0.909081]] 2025-10-28T19:42:49.691Z,1761680569.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960507,-0.273228,-0.052660],[0.269929,0.868971,0.414761],[-0.067564,-0.412595,0.908405]] 2025-10-28T19:42:50.095Z,1761680570.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966407,-0.253458,-0.042625],[0.247810,0.874888,0.416127],[-0.068179,-0.412711,0.908307]] 2025-10-28T19:42:50.504Z,1761680570.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971882,-0.233253,-0.032235],[0.225137,0.880376,0.417435],[-0.068989,-0.412955,0.908135]] 2025-10-28T19:42:50.902Z,1761680570.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976783,-0.213098,-0.022006],[0.202585,0.885386,0.418390],[-0.069675,-0.413135,0.908001]] 2025-10-28T19:42:51.132Z,1761680571.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:42:51.316Z,1761680571.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984730,-0.174070,-0.002618],[0.158904,0.892591,0.421936],[-0.071109,-0.415909,0.906622]] 2025-10-28T19:42:51.716Z,1761680571.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987832,-0.155364,0.007125],[0.137894,0.896099,0.421891],[-0.071932,-0.415775,0.906619]] 2025-10-28T19:42:52.119Z,1761680572.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990399,-0.137251,0.016514],[0.117472,0.898550,0.422857],[-0.072876,-0.416857,0.906046]] 2025-10-28T19:42:52.136Z,1761680572.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:42:52.523Z,1761680572.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992427,-0.120148,0.025566],[0.098096,0.900446,0.423761],[-0.073935,-0.418044,0.905413]] 2025-10-28T19:42:52.928Z,1761680572.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993998,-0.103841,0.034422],[0.079585,0.902280,0.423741],[-0.075060,-0.418459,0.905129]] 2025-10-28T19:42:53.330Z,1761680573.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995118,-0.088994,0.042671],[0.062751,0.904225,0.422422],[-0.076177,-0.417682,0.905394]] 2025-10-28T19:42:53.731Z,1761680573.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995971,-0.074136,0.050447],[0.045970,0.905148,0.422603],[-0.076992,-0.418581,0.904910]] 2025-10-28T19:42:54.135Z,1761680574.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996560,-0.059222,0.057977],[0.029206,0.905632,0.423058],[-0.077560,-0.419909,0.904246]] 2025-10-28T19:42:54.544Z,1761680574.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996879,-0.044357,0.065310],[0.012639,0.906240,0.422575],[-0.077931,-0.420431,0.903971]] 2025-10-28T19:42:55.006Z,1761680575.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996932,-0.029932,0.072320],[-0.003421,0.906442,0.422316],[-0.078195,-0.421268,0.903559]] 2025-10-28T19:42:55.347Z,1761680575.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996754,-0.015584,0.078988],[-0.019252,0.906491,0.421785],[-0.078174,-0.421937,0.903249]] 2025-10-28T19:42:55.751Z,1761680575.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996334,-0.001522,0.085537],[-0.034889,0.905687,0.422509],[-0.078113,-0.423944,0.902314]] 2025-10-28T19:42:56.157Z,1761680576.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995647,0.012487,0.092367],[-0.050829,0.903405,0.425764],[-0.078129,-0.428606,0.900107]] 2025-10-28T19:42:56.580Z,1761680576.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994636,0.027666,0.099673],[-0.067949,0.901273,0.427891],[-0.077995,-0.432368,0.898318]] 2025-10-28T19:42:56.968Z,1761680576.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993186,0.044035,0.107899],[-0.086606,0.898411,0.430531],[-0.077979,-0.436943,0.896103]] 2025-10-28T19:42:57.024Z,1761680577.024 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:42:57.024Z,1761680577.024 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:42:57.024Z,1761680577.024 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:42:57.025Z,1761680577.025 [marl:UpdateRudder:A] Stopped 2025-10-28T19:42:57.025Z,1761680577.025 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:42:57.367Z,1761680577.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991110,0.062868,0.117255],[-0.107842,0.895754,0.431272],[-0.077919,-0.440083,0.894570]] 2025-10-28T19:42:57.391Z,1761680577.391 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:42:57.391Z,1761680577.391 [marl:UpdateRudder:B] Stopped 2025-10-28T19:42:57.392Z,1761680577.392 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:42:57.392Z,1761680577.392 [marl:UpdateRudder] Stopped 2025-10-28T19:42:57.392Z,1761680577.392 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:42:57.783Z,1761680577.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988301,0.083858,0.127395],[-0.131148,0.893654,0.429166],[-0.077858,-0.440853,0.894196]] 2025-10-28T19:42:58.175Z,1761680578.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984819,0.105968,0.137488],[-0.155152,0.892550,0.423418],[-0.077847,-0.438322,0.895441]] 2025-10-28T19:42:58.208Z,1761680578.208 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:42:58.208Z,1761680578.208 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:42:58.208Z,1761680578.208 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateCommandMode] Stopped 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:42:58.209Z,1761680578.209 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:42:58.210Z,1761680578.210 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:42:58.210Z,1761680578.210 [marl:UpdateSpeed] Stopped 2025-10-28T19:42:58.210Z,1761680578.210 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:42:58.623Z,1761680578.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980682,0.128623,0.147372],[-0.179410,0.891647,0.415665],[-0.077940,-0.434075,0.897499]] 2025-10-28T19:42:58.988Z,1761680578.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975940,0.151777,0.156543],[-0.203648,0.891030,0.405702],[-0.077908,-0.427820,0.900500]] 2025-10-28T19:42:59.388Z,1761680579.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970729,0.174337,0.165204],[-0.227270,0.889206,0.397064],[-0.077678,-0.422988,0.902800]] 2025-10-28T19:42:59.797Z,1761680579.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965247,0.196156,0.172688],[-0.249692,0.887277,0.387807],[-0.077152,-0.417448,0.905419]] 2025-10-28T19:43:00.194Z,1761680580.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959845,0.216035,0.178962],[-0.269897,0.885133,0.379072],[-0.076512,-0.412151,0.907897]] 2025-10-28T19:43:00.622Z,1761680580.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954588,0.233718,0.184767],[-0.288140,0.881917,0.373092],[-0.075751,-0.409388,0.909210]] 2025-10-28T19:43:01.006Z,1761680581.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949641,0.248906,0.190335],[-0.304205,0.877967,0.369639],[-0.075102,-0.408925,0.909472]] 2025-10-28T19:43:01.406Z,1761680581.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944636,0.262992,0.196210],[-0.319596,0.872885,0.368687],[-0.074307,-0.410983,0.908610]] 2025-10-28T19:43:01.814Z,1761680581.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939395,0.276766,0.202330],[-0.334857,0.867298,0.368327],[-0.073540,-0.413757,0.907412]] 2025-10-28T19:43:02.215Z,1761680582.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933664,0.290521,0.209450],[-0.350530,0.861240,0.367960],[-0.073486,-0.416970,0.905945]] 2025-10-28T19:43:02.630Z,1761680582.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927078,0.305866,0.216733],[-0.367619,0.854956,0.365933],[-0.073370,-0.418924,0.905052]] 2025-10-28T19:43:03.022Z,1761680583.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919618,0.322118,0.224818],[-0.385934,0.847552,0.364294],[-0.073199,-0.421776,0.903741]] 2025-10-28T19:43:03.427Z,1761680583.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910979,0.339870,0.233680],[-0.405929,0.839161,0.361980],[-0.073069,-0.424614,0.902421]] 2025-10-28T19:43:03.834Z,1761680583.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901311,0.358619,0.242965],[-0.426902,0.830477,0.357859],[-0.073442,-0.426264,0.901613]] 2025-10-28T19:43:04.236Z,1761680584.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890624,0.379125,0.251105],[-0.448731,0.822191,0.350202],[-0.073686,-0.424577,0.902388]] 2025-10-28T19:43:04.639Z,1761680584.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879474,0.399218,0.259134],[-0.470177,0.813267,0.342827],[-0.073882,-0.423346,0.902950]] 2025-10-28T19:43:05.042Z,1761680585.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867815,0.419906,0.265662],[-0.491355,0.804765,0.333052],[-0.073945,-0.419562,0.904710]] 2025-10-28T19:43:05.453Z,1761680585.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856048,0.439726,0.271704],[-0.511537,0.796192,0.323122],[-0.074244,-0.415595,0.906515]] 2025-10-28T19:43:05.859Z,1761680585.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843986,0.458971,0.277548],[-0.531150,0.787165,0.313450],[-0.074611,-0.411968,0.908139]] 2025-10-28T19:43:06.254Z,1761680586.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831983,0.477154,0.283070],[-0.549730,0.777830,0.304594],[-0.074842,-0.409029,0.909447]] 2025-10-28T19:43:06.658Z,1761680586.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819928,0.494190,0.288953],[-0.567538,0.767812,0.297264],[-0.074957,-0.407727,0.910022]] 2025-10-28T19:43:07.062Z,1761680587.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808514,0.509592,0.294316],[-0.583633,0.758409,0.290152],[-0.075352,-0.406364,0.910599]] 2025-10-28T19:43:07.477Z,1761680587.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797229,0.523827,0.300053],[-0.598922,0.748594,0.284429],[-0.075626,-0.406463,0.910532]] 2025-10-28T19:43:07.871Z,1761680587.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786204,0.536891,0.305994],[-0.613329,0.738482,0.280129],[-0.075572,-0.407913,0.909888]] 2025-10-28T19:43:08.275Z,1761680588.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774930,0.549991,0.311436],[-0.627559,0.728150,0.275621],[-0.075183,-0.409031,0.909418]] 2025-10-28T19:43:08.679Z,1761680588.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764163,0.561407,0.317611],[-0.640661,0.717773,0.272683],[-0.074886,-0.411855,0.908167]] 2025-10-28T19:43:09.084Z,1761680589.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753139,0.572238,0.324539],[-0.653627,0.706784,0.270608],[-0.074526,-0.415933,0.906337]] 2025-10-28T19:43:09.488Z,1761680589.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741938,0.583239,0.330696],[-0.666374,0.695894,0.267724],[-0.073982,-0.419002,0.904966]] 2025-10-28T19:43:09.891Z,1761680589.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730484,0.594175,0.336674],[-0.678970,0.684879,0.264463],[-0.073444,-0.421777,0.903720]] 2025-10-28T19:43:10.295Z,1761680590.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717869,0.605853,0.342938],[-0.692338,0.672951,0.260392],[-0.073021,-0.424357,0.902546]] 2025-10-28T19:43:10.318Z,1761680590.318 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:43:10.318Z,1761680590.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:43:10.318Z,1761680590.318 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:43:10.319Z,1761680590.319 [marl:UpdateRudder:A] Stopped 2025-10-28T19:43:10.319Z,1761680590.319 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:43:10.701Z,1761680590.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704308,0.618574,0.348305],[-0.706134,0.660887,0.254170],[-0.072967,-0.424964,0.902264]] 2025-10-28T19:43:10.743Z,1761680590.743 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:43:10.743Z,1761680590.743 [marl:UpdateRudder:B] Stopped 2025-10-28T19:43:10.743Z,1761680590.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:43:10.743Z,1761680590.743 [marl:UpdateRudder] Stopped 2025-10-28T19:43:10.743Z,1761680590.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:43:11.102Z,1761680591.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690159,0.631377,0.353614],[-0.719943,0.648505,0.247231],[-0.073225,-0.425210,0.902128]] 2025-10-28T19:43:11.506Z,1761680591.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675038,0.645126,0.357962],[-0.734154,0.635420,0.239289],[-0.073084,-0.424328,0.902554]] 2025-10-28T19:43:11.552Z,1761680591.552 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:43:11.552Z,1761680591.552 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:43:11.552Z,1761680591.552 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateCommandMode] Stopped 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:43:11.553Z,1761680591.553 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:43:11.554Z,1761680591.554 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:43:11.554Z,1761680591.554 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:43:11.554Z,1761680591.554 [marl:UpdateSpeed] Stopped 2025-10-28T19:43:11.554Z,1761680591.554 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:43:11.910Z,1761680591.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660050,0.658504,0.361532],[-0.747675,0.622561,0.231083],[-0.072906,-0.422835,0.903269]] 2025-10-28T19:43:12.314Z,1761680592.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645147,0.671025,0.365391],[-0.760602,0.609467,0.223685],[-0.072596,-0.422226,0.903579]] 2025-10-28T19:43:12.718Z,1761680592.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630930,0.683366,0.367339],[-0.772455,0.597482,0.215240],[-0.072390,-0.419554,0.904839]] 2025-10-28T19:43:13.124Z,1761680593.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617264,0.695206,0.368339],[-0.783464,0.585940,0.207023],[-0.071901,-0.416368,0.906349]] 2025-10-28T19:43:13.530Z,1761680593.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603575,0.706161,0.370181],[-0.794084,0.574116,0.199554],[-0.071609,-0.414400,0.907273]] 2025-10-28T19:43:13.938Z,1761680593.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589121,0.716965,0.372690],[-0.804903,0.561316,0.192496],[-0.071184,-0.413383,0.907771]] 2025-10-28T19:43:14.334Z,1761680594.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573833,0.727267,0.376562],[-0.815886,0.547538,0.185827],[-0.071036,-0.413865,0.907562]] 2025-10-28T19:43:14.740Z,1761680594.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556616,0.737317,0.382809],[-0.827768,0.531352,0.180178],[-0.070558,-0.417167,0.906087]] 2025-10-28T19:43:15.547Z,1761680595.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517305,0.759645,0.394127],[-0.852943,0.495256,0.164954],[-0.069887,-0.421499,0.904132]] 2025-10-28T19:43:15.961Z,1761680595.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496186,0.771644,0.397950],[-0.865394,0.476489,0.155087],[-0.069946,-0.421335,0.904204]] 2025-10-28T19:43:16.357Z,1761680596.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474338,0.784480,0.399493],[-0.877542,0.457509,0.143544],[-0.070164,-0.418660,0.905428]] 2025-10-28T19:43:16.763Z,1761680596.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452115,0.798124,0.398233],[-0.889201,0.438388,0.130910],[-0.070098,-0.413295,0.907895]] 2025-10-28T19:43:17.163Z,1761680597.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429671,0.811756,0.395519],[-0.900339,0.418638,0.118876],[-0.069081,-0.407179,0.910732]] 2025-10-28T19:43:17.571Z,1761680597.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407371,0.824898,0.391909],[-0.910790,0.398518,0.107915],[-0.067164,-0.400908,0.913653]] 2025-10-28T19:43:17.981Z,1761680597.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385317,0.836284,0.390078],[-0.920534,0.377852,0.099224],[-0.064413,-0.397313,0.915420]] 2025-10-28T19:43:18.374Z,1761680598.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364191,0.846094,0.389217],[-0.929313,0.357596,0.092204],[-0.061169,-0.395284,0.916520]] 2025-10-28T19:43:18.783Z,1761680598.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345423,0.854328,0.388339],[-0.936647,0.339476,0.086305],[-0.058099,-0.393548,0.917466]] 2025-10-28T19:43:19.183Z,1761680599.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328409,0.859486,0.391703],[-0.942917,0.322596,0.082704],[-0.055279,-0.396504,0.916367]] 2025-10-28T19:43:19.593Z,1761680599.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313172,0.862722,0.397031],[-0.948238,0.307212,0.080403],[-0.052607,-0.401660,0.914277]] 2025-10-28T19:43:19.991Z,1761680599.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299057,0.864619,0.403730],[-0.952921,0.292800,0.078809],[-0.050072,-0.408291,0.911477]] 2025-10-28T19:43:20.395Z,1761680600.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285710,0.866071,0.410233],[-0.957115,0.279306,0.076930],[-0.047953,-0.414620,0.908730]] 2025-10-28T19:43:20.450Z,1761680600.450 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:43:20.591Z,1761680600.591 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:43:20.593Z,1761680600.593 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:43:20.799Z,1761680600.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272985,0.866985,0.416913],[-0.960889,0.266720,0.074515],[-0.046596,-0.420949,0.905887]] 2025-10-28T19:43:20.841Z,1761680600.841 [DAT](INFO): DAT read: user:199> 2025-10-28T19:43:20.841Z,1761680600.841 [DAT](INFO): DAT read: Tx time:19:43:20.5787 2025-10-28T19:43:20.842Z,1761680600.842 [DAT](INFO): Ping request sent. 2025-10-28T19:43:20.842Z,1761680600.842 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:43:20.842Z,1761680600.842 [DAT](INFO): publishing transmit ping time 2025-10-28T19:43:20.843Z,1761680600.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T19:43:21.093Z,1761680601.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251519 2025-10-28T19:43:21.204Z,1761680601.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260695,0.867870,0.422895],[-0.964313,0.255069,0.070998],[-0.046251,-0.426312,0.903393]] 2025-10-28T19:43:21.346Z,1761680601.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503823 2025-10-28T19:43:21.598Z,1761680601.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756170 2025-10-28T19:43:21.609Z,1761680601.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248186,0.869425,0.427204],[-0.967601,0.243614,0.066341],[-0.046395,-0.429828,0.901718]] 2025-10-28T19:43:21.849Z,1761680601.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972 2025-10-28T19:43:22.011Z,1761680602.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233986,0.872096,0.429765],[-0.971127,0.230793,0.060397],[-0.046514,-0.431489,0.900918]] 2025-10-28T19:43:22.101Z,1761680602.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259137 2025-10-28T19:43:22.264Z,1761680602.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:43:22.353Z,1761680602.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939 2025-10-28T19:43:22.419Z,1761680602.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218068,0.875568,0.431076],[-0.974827,0.216451,0.053497],[-0.046466,-0.431891,0.900728]] 2025-10-28T19:43:22.611Z,1761680602.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768294 2025-10-28T19:43:22.821Z,1761680602.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199836,0.879759,0.431381],[-0.978757,0.199824,0.045885],[-0.045832,-0.431387,0.901002]] 2025-10-28T19:43:22.861Z,1761680602.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019134 2025-10-28T19:43:23.113Z,1761680603.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270946 2025-10-28T19:43:23.223Z,1761680603.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180139,0.884665,0.430021],[-0.982605,0.181908,0.037387],[-0.045149,-0.429276,0.902044]] 2025-10-28T19:43:23.268Z,1761680603.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:43:23.365Z,1761680603.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522976 2025-10-28T19:43:23.621Z,1761680603.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779004 2025-10-28T19:43:23.629Z,1761680603.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159533,0.889870,0.427411],[-0.986199,0.163076,0.028579],[-0.044269,-0.426072,0.903605]] 2025-10-28T19:43:23.668Z,1761680603.668 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:43:23.668Z,1761680603.668 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:43:23.668Z,1761680603.668 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:43:23.669Z,1761680603.669 [marl:UpdateRudder:A] Stopped 2025-10-28T19:43:23.669Z,1761680603.669 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:43:23.873Z,1761680603.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030945 2025-10-28T19:43:24.038Z,1761680604.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138628,0.895062,0.423847],[-0.989396,0.143893,0.019737],[-0.043322,-0.422089,0.905519]] 2025-10-28T19:43:24.062Z,1761680604.062 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:43:24.062Z,1761680604.062 [marl:UpdateRudder:B] Stopped 2025-10-28T19:43:24.062Z,1761680604.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:43:24.062Z,1761680604.062 [marl:UpdateRudder] Stopped 2025-10-28T19:43:24.062Z,1761680604.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:43:24.129Z,1761680604.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286753 2025-10-28T19:43:24.377Z,1761680604.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534987 2025-10-28T19:43:24.445Z,1761680604.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117723,0.898883,0.422078],[-0.992134,0.124683,0.011187],[-0.042570,-0.420075,0.906490]] 2025-10-28T19:43:24.629Z,1761680604.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787480 2025-10-28T19:43:24.842Z,1761680604.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096565,0.902264,0.420231],[-0.994460,0.105076,0.002911],[-0.041529,-0.418184,0.907413]] 2025-10-28T19:43:24.881Z,1761680604.881 [DAT](INFO): DAT read: Rx Time:19:43:24.0251 2025-10-28T19:43:24.881Z,1761680604.881 [DAT](INFO): Rx dataTimestamp_ set to:1761680604.881210 2025-10-28T19:43:24.882Z,1761680604.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040126 2025-10-28T19:43:24.893Z,1761680604.893 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode] Stopped 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:43:24.894Z,1761680604.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:43:24.895Z,1761680604.895 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:43:24.895Z,1761680604.895 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:43:24.895Z,1761680604.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:43:24.895Z,1761680604.895 [marl:UpdateSpeed] Stopped 2025-10-28T19:43:24.895Z,1761680604.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:43:25.133Z,1761680605.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291001 2025-10-28T19:43:25.247Z,1761680605.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076383,0.904614,0.419332],[-0.996239,0.086496,-0.005127],[-0.040908,-0.417363,0.907819]] 2025-10-28T19:43:25.391Z,1761680605.391 [DAT](INFO): DAT read: 19:43:24.0251 LVL= 32752, 26225, 30098, 32755, AGC= 67, IDX= 382,-0.18,-1.077, 0.925,-0.025,-0.047, PHS=-0.928, 1.017,-0.022, RAW= 302.3, -0.8, CAL= 300.8, -4.8, ROT= 209.2, 4.8 2025-10-28T19:43:25.392Z,1761680605.392 [DAT](INFO): got valid direction response: 19:43:24.0251 LVL= 32752, 26225, 30098, 32755, AGC= 67, IDX= 382,-0.18,-1.077, 0.925,-0.025,-0.047, PHS=-0.928, 1.017,-0.022, RAW= 302.3, -0.8, CAL= 300.8, -4.8, ROT= 209.2, 4.8 2025-10-28T19:43:25.393Z,1761680605.393 [DAT](INFO): DAT read: Bearing 105, -13 (Remote) 2025-10-28T19:43:25.394Z,1761680605.394 [DAT](INFO): Remote Bearing received:Bearing 105, -13 (Remote) 2025-10-28T19:43:25.394Z,1761680605.394 [DAT](INFO): DAT read: Bearing 255.8, -21.8 (Local) 2025-10-28T19:43:25.395Z,1761680605.395 [DAT](INFO): Local bearing/azimuth received: Bearing 255.8, -21.8 (Local) 2025-10-28T19:43:25.396Z,1761680605.396 [DAT](INFO): DAT read: Range 11 to 20 : 1062.9 m (Round-trip 1417.3 ms) speed 0.2 m/s 2025-10-28T19:43:25.397Z,1761680605.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:43:25.398Z,1761680605.398 [DAT](INFO): direction in FSK: [-0.869861,-0.486149,-0.083678] 2025-10-28T19:43:25.398Z,1761680605.398 [DAT](INFO): publishing direction and range info 2025-10-28T19:43:25.663Z,1761680605.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056006,0.905363,0.420928],[-0.997638,0.067544,-0.012538],[-0.039783,-0.419231,0.907007]] 2025-10-28T19:43:25.692Z,1761680605.692 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680640.00. Resetting abort timer. 2025-10-28T19:43:26.073Z,1761680606.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035849,0.906112,0.421516],[-0.998623,0.048644,-0.019637],[-0.038298,-0.420232,0.906608]] 2025-10-28T19:43:26.471Z,1761680606.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014735,0.906288,0.422404],[-0.999225,0.028771,-0.026873],[-0.036508,-0.421680,0.906009]] 2025-10-28T19:43:26.876Z,1761680606.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006804,0.905931,0.423370],[-0.999371,0.008574,-0.034408],[-0.034802,-0.423338,0.905303]] 2025-10-28T19:43:27.279Z,1761680607.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029260,0.905623,0.423073],[-0.999025,-0.012496,-0.042344],[-0.033061,-0.423900,0.905106]] 2025-10-28T19:43:27.683Z,1761680607.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052946,0.905793,0.420399],[-0.998111,-0.034868,-0.050576],[-0.031153,-0.422283,0.905929]] 2025-10-28T19:43:28.093Z,1761680608.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077204,0.905344,0.417603],[-0.996591,-0.057859,-0.058809],[-0.029081,-0.420719,0.906725]] 2025-10-28T19:43:28.491Z,1761680608.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101764,0.904296,0.414600],[-0.994452,-0.081309,-0.066743],[-0.026645,-0.419092,0.907553]] 2025-10-28T19:43:28.894Z,1761680608.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125931,0.901955,0.413059],[-0.991754,-0.104478,-0.074221],[-0.023788,-0.419000,0.907675]] 2025-10-28T19:43:29.299Z,1761680609.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149151,0.898963,0.411848],[-0.988605,-0.126999,-0.080817],[-0.020347,-0.419209,0.907662]] 2025-10-28T19:43:29.704Z,1761680609.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170491,0.894859,0.412504],[-0.985219,-0.147737,-0.086708],[-0.016650,-0.421189,0.906820]] 2025-10-28T19:43:30.107Z,1761680610.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188196,0.889826,0.415682],[-0.982045,-0.164876,-0.091671],[-0.013035,-0.425471,0.904878]] 2025-10-28T19:43:30.511Z,1761680610.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204172,0.883543,0.421504],[-0.978891,-0.180193,-0.096448],[-0.009264,-0.432298,0.901683]] 2025-10-28T19:43:30.922Z,1761680610.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218153,0.876659,0.428810],[-0.975896,-0.193276,-0.101343],[-0.005964,-0.440582,0.897692]] 2025-10-28T19:43:31.319Z,1761680611.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231415,0.870616,0.434137],[-0.972851,-0.205754,-0.105956],[-0.002922,-0.446870,0.894594]] 2025-10-28T19:43:31.722Z,1761680611.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243577,0.865165,0.438361],[-0.969882,-0.217163,-0.110318],[-0.000248,-0.452029,0.892003]] 2025-10-28T19:43:32.126Z,1761680612.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255028,0.860783,0.440469],[-0.966932,-0.227842,-0.114586],[0.001723,-0.455126,0.890425]] 2025-10-28T19:43:32.531Z,1761680612.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266729,0.857077,0.440767],[-0.963766,-0.238760,-0.118950],[0.003288,-0.456523,0.889705]] 2025-10-28T19:43:32.970Z,1761680612.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294793,0.852581,0.431512],[-0.955542,-0.265896,-0.127433],[0.006090,-0.449895,0.893061]] 2025-10-28T19:43:33.743Z,1761680613.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312576,0.850632,0.422754],[-0.949863,-0.283405,-0.132065],[0.007472,-0.442838,0.896570]] 2025-10-28T19:43:34.147Z,1761680614.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333213,0.847350,0.413483],[-0.942808,-0.303687,-0.137433],[0.009116,-0.435629,0.900080]] 2025-10-28T19:43:34.578Z,1761680614.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377795,0.836574,0.396755],[-0.925801,-0.347249,-0.149371],[0.012813,-0.423748,0.905690]] 2025-10-28T19:43:35.365Z,1761680615.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420077,0.820350,0.388022],[-0.907316,-0.388009,-0.161948],[0.017702,-0.420089,0.907310]] 2025-10-28T19:43:35.771Z,1761680615.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438432,0.811930,0.385418],[-0.898542,-0.405513,-0.167874],[0.019990,-0.419916,0.907343]] 2025-10-28T19:43:36.173Z,1761680616.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454841,0.802731,0.385672],[-0.890297,-0.420625,-0.174487],[0.022157,-0.422726,0.905987]] 2025-10-28T19:43:36.625Z,1761680616.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469923,0.794286,0.385073],[-0.882365,-0.434838,-0.179856],[0.024587,-0.424294,0.905191]] 2025-10-28T19:43:36.976Z,1761680616.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484125,0.786257,0.383956],[-0.874592,-0.448199,-0.184951],[0.026670,-0.425345,0.904638]] 2025-10-28T19:43:37.020Z,1761680617.020 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:43:37.020Z,1761680617.020 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:43:37.020Z,1761680617.020 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:43:37.021Z,1761680617.021 [marl:UpdateRudder:A] Stopped 2025-10-28T19:43:37.021Z,1761680617.021 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:43:37.379Z,1761680617.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498243,0.778557,0.381580],[-0.866563,-0.461703,-0.189469],[0.028664,-0.425065,0.904709]] 2025-10-28T19:43:37.431Z,1761680617.431 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:43:37.431Z,1761680617.431 [marl:UpdateRudder:B] Stopped 2025-10-28T19:43:37.431Z,1761680617.431 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:43:37.431Z,1761680617.431 [marl:UpdateRudder] Stopped 2025-10-28T19:43:37.431Z,1761680617.431 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:43:37.789Z,1761680617.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512604,0.770718,0.378458],[-0.858076,-0.475593,-0.193693],[0.030709,-0.424034,0.905126]] 2025-10-28T19:43:38.186Z,1761680618.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527043,0.762051,0.376171],[-0.849205,-0.489335,-0.198497],[0.032809,-0.424063,0.905038]] 2025-10-28T19:43:38.232Z,1761680618.232 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:43:38.232Z,1761680618.232 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:43:38.232Z,1761680618.232 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:43:38.232Z,1761680618.232 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateCommandMode] Stopped 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:43:38.233Z,1761680618.233 [marl:UpdateSpeed] Stopped 2025-10-28T19:43:38.234Z,1761680618.234 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:43:38.628Z,1761680618.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541777,0.753512,0.372421],[-0.839803,-0.503606,-0.202762],[0.034770,-0.422612,0.905644]] 2025-10-28T19:43:38.995Z,1761680618.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556721,0.745095,0.367281],[-0.829903,-0.518231,-0.206636],[0.036372,-0.419846,0.906866]] 2025-10-28T19:43:39.409Z,1761680619.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572445,0.735232,0.362961],[-0.819074,-0.533135,-0.211860],[0.037741,-0.418571,0.907400]] 2025-10-28T19:43:39.802Z,1761680619.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588610,0.723938,0.359794],[-0.807473,-0.547992,-0.218386],[0.039067,-0.419068,0.907114]] 2025-10-28T19:43:40.206Z,1761680620.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605404,0.712056,0.355615],[-0.794916,-0.563341,-0.225289],[0.039914,-0.419075,0.907074]] 2025-10-28T19:43:40.626Z,1761680620.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622418,0.699123,0.351886],[-0.781649,-0.578360,-0.233507],[0.040266,-0.420390,0.906450]] 2025-10-28T19:43:41.017Z,1761680621.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639668,0.686096,0.346551],[-0.767568,-0.594097,-0.240602],[0.040809,-0.419906,0.906650]] 2025-10-28T19:43:41.420Z,1761680621.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656224,0.672718,0.341790],[-0.753420,-0.609112,-0.247671],[0.041576,-0.420039,0.906553]] 2025-10-28T19:43:41.822Z,1761680621.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671689,0.660201,0.336108],[-0.739621,-0.623551,-0.253270],[0.042371,-0.418711,0.907131]] 2025-10-28T19:43:42.227Z,1761680622.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686323,0.647405,0.331402],[-0.726015,-0.636897,-0.259354],[0.043162,-0.418603,0.907143]] 2025-10-28T19:43:42.634Z,1761680622.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699625,0.634597,0.328347],[-0.713137,-0.648655,-0.265860],[0.044270,-0.420159,0.906370]] 2025-10-28T19:43:43.036Z,1761680623.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711568,0.623220,0.324451],[-0.701156,-0.659618,-0.270712],[0.045301,-0.420121,0.906337]] 2025-10-28T19:43:43.439Z,1761680623.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722940,0.612154,0.320352],[-0.689356,-0.670179,-0.275044],[0.046324,-0.419677,0.906491]] 2025-10-28T19:43:43.843Z,1761680623.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733494,0.601262,0.316971],[-0.678034,-0.679851,-0.279415],[0.047492,-0.419866,0.906343]] 2025-10-28T19:43:44.248Z,1761680624.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743687,0.590344,0.313725],[-0.666748,-0.689184,-0.283676],[0.048748,-0.420142,0.906148]] 2025-10-28T19:43:44.660Z,1761680624.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753630,0.579183,0.310789],[-0.655383,-0.698210,-0.288055],[0.050159,-0.420773,0.905778]] 2025-10-28T19:43:45.056Z,1761680625.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763293,0.567825,0.308154],[-0.643989,-0.706820,-0.292719],[0.051596,-0.421878,0.905183]] 2025-10-28T19:43:45.458Z,1761680625.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772662,0.556653,0.305174],[-0.632600,-0.715308,-0.296904],[0.053020,-0.422460,0.904830]] 2025-10-28T19:43:45.865Z,1761680625.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782162,0.544977,0.302032],[-0.620677,-0.723981,-0.301017],[0.054618,-0.422908,0.904525]] 2025-10-28T19:43:46.266Z,1761680626.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791743,0.533192,0.298075],[-0.608302,-0.732755,-0.305022],[0.055781,-0.422819,0.904496]] 2025-10-28T19:43:47.076Z,1761680627.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812262,0.507591,0.287371],[-0.580376,-0.752516,-0.311260],[0.058258,-0.419608,0.905834]] 2025-10-28T19:43:47.481Z,1761680627.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823292,0.492855,0.281575],[-0.564484,-0.762971,-0.315014],[0.059577,-0.418293,0.906356]] 2025-10-28T19:43:47.893Z,1761680627.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834370,0.477448,0.275446],[-0.547842,-0.773430,-0.318867],[0.060796,-0.416954,0.906892]] 2025-10-28T19:43:48.287Z,1761680628.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845787,0.461737,0.267289],[-0.529924,-0.785127,-0.320557],[0.061843,-0.412765,0.908736]] 2025-10-28T19:43:48.691Z,1761680628.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857111,0.445168,0.259203],[-0.511292,-0.796499,-0.322754],[0.062775,-0.409165,0.910299]] 2025-10-28T19:43:49.097Z,1761680629.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868385,0.427924,0.250578],[-0.491842,-0.807688,-0.325164],[0.063244,-0.405612,0.911855]] 2025-10-28T19:43:49.499Z,1761680629.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879268,0.409639,0.243071],[-0.472105,-0.817255,-0.330471],[0.063277,-0.405328,0.911979]] 2025-10-28T19:43:49.905Z,1761680629.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889247,0.392558,0.234816],[-0.453140,-0.826107,-0.334979],[0.062485,-0.404284,0.912497]] 2025-10-28T19:43:50.307Z,1761680630.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898161,0.376656,0.226796],[-0.435406,-0.833625,-0.339841],[0.061060,-0.403980,0.912728]] 2025-10-28T19:43:50.330Z,1761680630.330 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:43:50.330Z,1761680630.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:43:50.330Z,1761680630.330 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:43:50.330Z,1761680630.330 [marl:UpdateRudder:A] Stopped 2025-10-28T19:43:50.331Z,1761680630.331 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:43:50.721Z,1761680630.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905659,0.362447,0.220032],[-0.419849,-0.839072,-0.345956],[0.059232,-0.405698,0.912086]] 2025-10-28T19:43:50.787Z,1761680630.787 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:43:50.787Z,1761680630.787 [marl:UpdateRudder:B] Stopped 2025-10-28T19:43:50.788Z,1761680630.788 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:43:50.788Z,1761680630.788 [marl:UpdateRudder] Stopped 2025-10-28T19:43:50.788Z,1761680630.788 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:43:51.116Z,1761680631.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912040,0.349442,0.214646],[-0.406081,-0.842625,-0.353669],[0.057279,-0.409724,0.910409]] 2025-10-28T19:43:51.518Z,1761680631.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917991,0.336296,0.210234],[-0.392662,-0.845207,-0.362548],[0.055768,-0.415367,0.907943]] 2025-10-28T19:43:51.558Z,1761680631.558 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:43:51.558Z,1761680631.558 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateCommandMode] Stopped 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:43:51.559Z,1761680631.559 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:43:51.560Z,1761680631.560 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:43:51.564Z,1761680631.564 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:43:51.564Z,1761680631.564 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:43:51.564Z,1761680631.564 [marl:UpdateSpeed] Stopped 2025-10-28T19:43:51.564Z,1761680631.564 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:43:51.923Z,1761680631.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923322,0.323218,0.207383],[-0.380007,-0.846915,-0.371926],[0.055422,-0.422214,0.904800]] 2025-10-28T19:43:52.328Z,1761680632.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928549,0.309492,0.204967],[-0.366936,-0.848797,-0.380659],[0.056165,-0.428670,0.901713]] 2025-10-28T19:43:52.730Z,1761680632.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933907,0.295012,0.201955],[-0.352840,-0.851619,-0.387620],[0.057636,-0.433259,0.899425]] 2025-10-28T19:43:53.135Z,1761680633.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939399,0.280145,0.197605],[-0.337676,-0.855639,-0.392245],[0.059193,-0.435202,0.898385]] 2025-10-28T19:43:53.389Z,1761680633.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:43:53.538Z,1761680633.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944892,0.264815,0.192488],[-0.321662,-0.860379,-0.395324],[0.060925,-0.435455,0.898146]] 2025-10-28T19:43:53.945Z,1761680633.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950436,0.248490,0.186878],[-0.304544,-0.865116,-0.398531],[0.062640,-0.435690,0.897914]] 2025-10-28T19:43:54.347Z,1761680634.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955834,0.231632,0.180910],[-0.286807,-0.869594,-0.401930],[0.064219,-0.436064,0.897621]] 2025-10-28T19:43:54.392Z,1761680634.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:43:54.757Z,1761680634.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961219,0.214846,0.172913],[-0.267928,-0.876083,-0.400865],[0.065362,-0.431647,0.899671]] 2025-10-28T19:43:55.155Z,1761680635.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966350,0.197954,0.164259],[-0.248624,-0.882581,-0.399046],[0.065979,-0.426457,0.902098]] 2025-10-28T19:43:55.561Z,1761680635.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971016,0.181177,0.155893],[-0.229653,-0.887974,-0.398448],[0.066239,-0.422701,0.903845]] 2025-10-28T19:43:55.962Z,1761680635.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975467,0.163834,0.147047],[-0.209960,-0.893185,-0.397665],[0.066189,-0.418783,0.905671]] 2025-10-28T19:43:56.375Z,1761680636.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979624,0.146519,0.137366],[-0.189907,-0.898350,-0.396110],[0.065366,-0.414125,0.907870]] 2025-10-28T19:43:56.781Z,1761680636.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983544,0.128996,0.126496],[-0.169134,-0.903575,-0.393631],[0.063522,-0.408549,0.910523]] 2025-10-28T19:43:57.176Z,1761680637.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987225,0.110400,0.114886],[-0.147165,-0.908157,-0.391911],[0.061067,-0.403811,0.912802]] 2025-10-28T19:43:57.578Z,1761680637.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990507,0.090481,0.103484],[-0.124349,-0.910673,-0.393970],[0.058593,-0.403098,0.913279]] 2025-10-28T19:43:57.982Z,1761680637.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993214,0.070585,0.092431],[-0.101841,-0.911650,-0.398149],[0.056161,-0.404860,0.912652]] 2025-10-28T19:43:58.389Z,1761680638.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995521,0.049891,0.080303],[-0.078016,-0.913297,-0.399752],[0.053396,-0.404226,0.913099]] 2025-10-28T19:43:58.798Z,1761680638.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997179,0.029798,0.068896],[-0.055130,-0.913630,-0.402791],[0.050943,-0.405452,0.912696]] 2025-10-28T19:43:59.197Z,1761680639.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998279,0.010702,0.057654],[-0.033243,-0.913226,-0.406095],[0.048305,-0.407313,0.912010]] 2025-10-28T19:43:59.598Z,1761680639.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998899,-0.007809,0.046251],[-0.011727,-0.913154,-0.407445],[0.045416,-0.407539,0.912058]] 2025-10-28T19:44:00.003Z,1761680640.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999059,-0.025670,0.034959],[0.009228,-0.913394,-0.406972],[0.042378,-0.406266,0.912772]] 2025-10-28T19:44:00.406Z,1761680640.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998832,-0.041599,0.024560],[0.028091,-0.913755,-0.405293],[0.039301,-0.404130,0.913857]] 2025-10-28T19:44:00.821Z,1761680640.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998314,-0.056098,0.014908],[0.045311,-0.913683,-0.403894],[0.036279,-0.402538,0.914684]] 2025-10-28T19:44:01.215Z,1761680641.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997468,-0.070939,0.005069],[0.062895,-0.913147,-0.402749],[0.033200,-0.401410,0.915297]] 2025-10-28T19:44:01.619Z,1761680641.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996399,-0.084704,-0.003773],[0.079081,-0.912366,-0.401665],[0.030581,-0.400517,0.915779]] 2025-10-28T19:44:02.022Z,1761680642.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995024,-0.098852,-0.012483],[0.095540,-0.911029,-0.401122],[0.028279,-0.400319,0.915940]] 2025-10-28T19:44:02.429Z,1761680642.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993372,-0.112990,-0.021104],[0.111953,-0.909461,-0.400433],[0.026052,-0.400141,0.916083]] 2025-10-28T19:44:02.847Z,1761680642.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991298,-0.128349,-0.029251],[0.129349,-0.908419,-0.397547],[0.024452,-0.397871,0.917116]] 2025-10-28T19:44:03.235Z,1761680643.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988781,-0.144580,-0.037543],[0.147553,-0.906231,-0.396200],[0.023259,-0.397294,0.917396]] 2025-10-28T19:44:03.639Z,1761680643.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985736,-0.161858,-0.046115],[0.166802,-0.903105,-0.395700],[0.022400,-0.397748,0.917221]] 2025-10-28T19:44:03.662Z,1761680643.662 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:44:03.662Z,1761680643.662 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:44:03.663Z,1761680643.663 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:44:03.663Z,1761680643.663 [marl:UpdateRudder:A] Stopped 2025-10-28T19:44:03.663Z,1761680643.663 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:44:04.045Z,1761680644.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982026,-0.180497,-0.055194],[0.187472,-0.898826,-0.396190],[0.021901,-0.399417,0.916508]] 2025-10-28T19:44:04.073Z,1761680644.073 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:44:04.074Z,1761680644.074 [marl:UpdateRudder:B] Stopped 2025-10-28T19:44:04.074Z,1761680644.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:44:04.074Z,1761680644.074 [marl:UpdateRudder] Stopped 2025-10-28T19:44:04.074Z,1761680644.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:44:04.447Z,1761680644.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977642,-0.199923,-0.065165],[0.209188,-0.893221,-0.397992],[0.021361,-0.402725,0.915072]] 2025-10-28T19:44:04.870Z,1761680644.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972740,-0.219375,-0.075174],[0.230965,-0.887465,-0.398824],[0.020778,-0.405314,0.913941]] 2025-10-28T19:44:04.918Z,1761680644.918 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:44:04.918Z,1761680644.918 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:44:04.918Z,1761680644.918 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateCommandMode] Stopped 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:44:04.919Z,1761680644.919 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:44:04.920Z,1761680644.920 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:44:04.920Z,1761680644.920 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:44:04.920Z,1761680644.920 [marl:UpdateSpeed] Stopped 2025-10-28T19:44:04.920Z,1761680644.920 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:44:05.255Z,1761680645.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967142,-0.239436,-0.085475],[0.253444,-0.881496,-0.398410],[0.020048,-0.406982,0.913216]] 2025-10-28T19:44:05.659Z,1761680645.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960903,-0.259672,-0.096102],[0.276244,-0.875484,-0.396506],[0.018825,-0.407552,0.912988]] 2025-10-28T19:44:06.064Z,1761680646.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954195,-0.279410,-0.106968],[0.298692,-0.869123,-0.394218],[0.017180,-0.408111,0.912770]] 2025-10-28T19:44:06.468Z,1761680646.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947004,-0.298767,-0.117987],[0.320859,-0.862390,-0.391578],[0.015240,-0.408684,0.912549]] 2025-10-28T19:44:06.877Z,1761680646.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939399,-0.317780,-0.128632],[0.342583,-0.855979,-0.387217],[0.012944,-0.407818,0.912971]] 2025-10-28T19:44:07.275Z,1761680647.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931465,-0.336285,-0.138870],[0.363674,-0.849384,-0.382477],[0.010667,-0.406768,0.913469]] 2025-10-28T19:44:07.681Z,1761680647.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923076,-0.354461,-0.149292],[0.384534,-0.842414,-0.377454],[0.008027,-0.405827,0.913915]] 2025-10-28T19:44:08.082Z,1761680648.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914529,-0.371865,-0.159229],[0.404485,-0.835403,-0.372146],[0.005367,-0.404744,0.914414]] 2025-10-28T19:44:08.487Z,1761680648.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905729,-0.388943,-0.168459],[0.423847,-0.828344,-0.366334],[0.002941,-0.403200,0.915107]] 2025-10-28T19:44:08.895Z,1761680648.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896559,-0.406023,-0.176998],[0.442925,-0.821142,-0.359921],[0.000796,-0.401087,0.916040]] 2025-10-28T19:44:09.296Z,1761680649.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887397,-0.422198,-0.185136],[0.461005,-0.813733,-0.353997],[-0.001194,-0.399484,0.916739]] 2025-10-28T19:44:09.699Z,1761680649.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877892,-0.438219,-0.193053],[0.478851,-0.805582,-0.348911],[-0.002621,-0.398750,0.917056]] 2025-10-28T19:44:10.103Z,1761680650.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867835,-0.454670,-0.200342],[0.496837,-0.797187,-0.342994],[-0.003761,-0.397200,0.917724]] 2025-10-28T19:44:10.508Z,1761680650.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857316,-0.471323,-0.207037],[0.514772,-0.788402,-0.336798],[-0.004487,-0.395319,0.918533]] 2025-10-28T19:44:10.910Z,1761680650.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846223,-0.487893,-0.214167],[0.532803,-0.778786,-0.331079],[-0.005259,-0.394275,0.918977]] 2025-10-28T19:44:11.315Z,1761680651.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835010,-0.503952,-0.220886],[0.550205,-0.768903,-0.325672],[-0.005717,-0.393472,0.919319]] 2025-10-28T19:44:11.738Z,1761680651.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823100,-0.520014,-0.228234],[0.567861,-0.758130,-0.320583],[-0.006324,-0.393477,0.919313]] 2025-10-28T19:44:12.123Z,1761680652.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811284,-0.534997,-0.235790],[0.584611,-0.747148,-0.316229],[-0.006988,-0.394397,0.918914]] 2025-10-28T19:44:12.530Z,1761680652.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798805,-0.550469,-0.242682],[0.601538,-0.736198,-0.310106],[-0.007958,-0.393696,0.919206]] 2025-10-28T19:44:12.931Z,1761680652.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786141,-0.565401,-0.249607],[0.617981,-0.725007,-0.304079],[-0.009040,-0.393301,0.919365]] 2025-10-28T19:44:13.343Z,1761680653.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773437,-0.579788,-0.256205],[0.633792,-0.713809,-0.297965],[-0.010125,-0.392838,0.919552]] 2025-10-28T19:44:13.739Z,1761680653.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760075,-0.594568,-0.262251],[0.649738,-0.702309,-0.290864],[-0.011243,-0.391473,0.920121]] 2025-10-28T19:44:14.144Z,1761680654.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746364,-0.608925,-0.268609],[0.665421,-0.690315,-0.284042],[-0.012464,-0.390737,0.920418]] 2025-10-28T19:44:14.568Z,1761680654.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732256,-0.622992,-0.275103],[0.680889,-0.677904,-0.277192],[-0.013805,-0.390290,0.920588]] 2025-10-28T19:44:14.951Z,1761680654.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717261,-0.637599,-0.281078],[0.696636,-0.665033,-0.269127],[-0.015331,-0.388843,0.921176]] 2025-10-28T19:44:15.358Z,1761680655.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701864,-0.651462,-0.288070],[0.712119,-0.651120,-0.262543],[-0.016532,-0.389410,0.920916]] 2025-10-28T19:44:15.765Z,1761680655.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686154,-0.664848,-0.295244],[0.727253,-0.636519,-0.256802],[-0.017194,-0.390923,0.920263]] 2025-10-28T19:44:16.163Z,1761680656.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669723,-0.678753,-0.301275],[0.742396,-0.621716,-0.249635],[-0.017867,-0.390851,0.920281]] 2025-10-28T19:44:16.618Z,1761680656.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636563,-0.706171,-0.310017],[0.770971,-0.592984,-0.232323],[-0.019776,-0.386903,0.921909]] 2025-10-28T19:44:17.028Z,1761680657.028 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:44:17.028Z,1761680657.028 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:44:17.028Z,1761680657.028 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:44:17.028Z,1761680657.028 [marl:UpdateRudder:A] Stopped 2025-10-28T19:44:17.028Z,1761680657.028 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:44:17.377Z,1761680657.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619812,-0.718569,-0.315424],[0.784459,-0.578271,-0.224111],[-0.021361,-0.386344,0.922107]] 2025-10-28T19:44:17.405Z,1761680657.405 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:44:17.406Z,1761680657.406 [marl:UpdateRudder:B] Stopped 2025-10-28T19:44:17.406Z,1761680657.406 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:44:17.406Z,1761680657.406 [marl:UpdateRudder] Stopped 2025-10-28T19:44:17.406Z,1761680657.406 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:44:17.785Z,1761680657.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603271,-0.729692,-0.321892],[0.797178,-0.563800,-0.215954],[-0.023903,-0.386884,0.921818]] 2025-10-28T19:44:18.182Z,1761680658.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585885,-0.741310,-0.327411],[0.809919,-0.549458,-0.205247],[-0.027747,-0.385428,0.922321]] 2025-10-28T19:44:18.227Z,1761680658.227 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:44:18.227Z,1761680658.227 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:44:18.227Z,1761680658.227 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:44:18.227Z,1761680658.227 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:44:18.227Z,1761680658.227 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:44:18.228Z,1761680658.228 [marl:UpdateCommandMode] Stopped 2025-10-28T19:44:18.232Z,1761680658.232 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:44:18.232Z,1761680658.232 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:44:18.232Z,1761680658.232 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:44:18.232Z,1761680658.232 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:44:18.233Z,1761680658.233 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:44:18.233Z,1761680658.233 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:44:18.233Z,1761680658.233 [marl:UpdateSpeed] Stopped 2025-10-28T19:44:18.233Z,1761680658.233 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:44:18.622Z,1761680658.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553097,-0.760516,-0.340144],[0.832306,-0.522410,-0.185348],[-0.036735,-0.385620,0.921926]] 2025-10-28T19:44:19.395Z,1761680659.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537956,-0.768246,-0.346989],[0.841982,-0.509640,-0.177011],[-0.040852,-0.387383,0.921013]] 2025-10-28T19:44:19.810Z,1761680659.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523145,-0.775798,-0.352783],[0.851081,-0.497187,-0.168720],[-0.044506,-0.388512,0.920368]] 2025-10-28T19:44:20.214Z,1761680660.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494452,-0.790061,-0.362382],[0.867753,-0.472768,-0.153282],[-0.050220,-0.390249,0.919339]] 2025-10-28T19:44:20.629Z,1761680660.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479946,-0.796936,-0.366803],[0.875766,-0.459916,-0.146666],[-0.051815,-0.391625,0.918665]] 2025-10-28T19:44:20.692Z,1761680660.692 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:44:20.857Z,1761680660.857 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:44:20.857Z,1761680660.857 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:44:21.019Z,1761680661.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465214,-0.804059,-0.370223],[0.883658,-0.446500,-0.140667],[-0.052200,-0.392591,0.918231]] 2025-10-28T19:44:21.109Z,1761680661.109 [DAT](INFO): DAT read: user:200> 2025-10-28T19:44:21.111Z,1761680661.111 [DAT](INFO): DAT read: Tx time:19:44:20.8785 2025-10-28T19:44:21.111Z,1761680661.111 [DAT](INFO): Ping request sent. 2025-10-28T19:44:21.111Z,1761680661.111 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:44:21.111Z,1761680661.111 [DAT](INFO): publishing transmit ping time 2025-10-28T19:44:21.113Z,1761680661.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001303 2025-10-28T19:44:21.361Z,1761680661.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249858 2025-10-28T19:44:21.613Z,1761680661.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502489 2025-10-28T19:44:21.834Z,1761680661.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434213,-0.818971,-0.375161],[0.899438,-0.417145,-0.130392],[-0.049709,-0.394051,0.917743]] 2025-10-28T19:44:21.865Z,1761680661.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754193 2025-10-28T19:44:22.117Z,1761680662.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005870 2025-10-28T19:44:22.227Z,1761680662.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417273,-0.827876,-0.374841],[0.907541,-0.401145,-0.124304],[-0.047457,-0.392052,0.918718]] 2025-10-28T19:44:22.369Z,1761680662.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257949 2025-10-28T19:44:22.623Z,1761680662.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511795 2025-10-28T19:44:22.634Z,1761680662.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398382,-0.837095,-0.374918],[0.916075,-0.383545,-0.117051],[-0.045815,-0.390084,0.919639]] 2025-10-28T19:44:22.877Z,1761680662.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765896 2025-10-28T19:44:23.041Z,1761680663.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376840,-0.846835,-0.375316],[0.925176,-0.363868,-0.107930],[-0.045167,-0.387906,0.920592]] 2025-10-28T19:44:23.129Z,1761680663.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017960 2025-10-28T19:44:23.381Z,1761680663.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269967 2025-10-28T19:44:23.439Z,1761680663.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354531,-0.856212,-0.375779],[0.933954,-0.343663,-0.098108],[-0.045140,-0.385743,0.921501]] 2025-10-28T19:44:23.633Z,1761680663.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521884 2025-10-28T19:44:23.844Z,1761680663.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331301,-0.864776,-0.377362],[0.942406,-0.322767,-0.087709],[-0.045951,-0.384686,0.921903]] 2025-10-28T19:44:23.885Z,1761680663.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774050 2025-10-28T19:44:24.137Z,1761680664.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025935 2025-10-28T19:44:24.246Z,1761680664.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307663,-0.872577,-0.379410],[0.950295,-0.301813,-0.076475],[-0.047781,-0.384080,0.922063]] 2025-10-28T19:44:24.389Z,1761680664.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277916 2025-10-28T19:44:24.528Z,1761680664.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:44:24.642Z,1761680664.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530778 2025-10-28T19:44:24.658Z,1761680664.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283417,-0.879840,-0.381518],[0.957645,-0.280771,-0.063900],[-0.050898,-0.383469,0.922150]] 2025-10-28T19:44:24.893Z,1761680664.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781962 2025-10-28T19:44:25.054Z,1761680665.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258903,-0.886035,-0.384592],[0.964330,-0.259826,-0.050581],[-0.055110,-0.383969,0.921700]] 2025-10-28T19:44:25.146Z,1761680665.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034712 2025-10-28T19:44:25.397Z,1761680665.397 [DAT](INFO): DAT read: Rx Time:19:44:24.6553 2025-10-28T19:44:25.397Z,1761680665.397 [DAT](INFO): Rx dataTimestamp_ set to:1761680665.397072 2025-10-28T19:44:25.398Z,1761680665.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286933 2025-10-28T19:44:25.459Z,1761680665.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234729,-0.891768,-0.386850],[0.970214,-0.239449,-0.036719],[-0.059886,-0.383946,0.921411]] 2025-10-28T19:44:25.532Z,1761680665.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:44:25.649Z,1761680665.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537945 2025-10-28T19:44:25.863Z,1761680665.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211944,-0.896197,-0.389757],[0.975147,-0.220279,-0.023767],[-0.064555,-0.385108,0.920611]] 2025-10-28T19:44:25.909Z,1761680665.909 [DAT](INFO): DAT read: 19:44:24.6553 LVL= 28656, 32753, 32754, 32755, AGC= 76, IDX= 246,-0.43, 3.030, 1.163, 2.385, 2.475, PHS= 0.657,-1.267,-0.134, RAW= 125.8, 8.9, CAL= 126.3, 10.1, ROT= 23.7, -10.1 2025-10-28T19:44:25.910Z,1761680665.910 [DAT](INFO): got valid direction response: 19:44:24.6553 LVL= 28656, 32753, 32754, 32755, AGC= 76, IDX= 246,-0.43, 3.030, 1.163, 2.385, 2.475, PHS= 0.657,-1.267,-0.134, RAW= 125.8, 8.9, CAL= 126.3, 10.1, ROT= 23.7, -10.1 2025-10-28T19:44:25.911Z,1761680665.911 [DAT](INFO): DAT read: Bearing 265.1, 14.6 (Local) 2025-10-28T19:44:25.914Z,1761680665.914 [DAT](INFO): Local bearing/azimuth received: Bearing 265.1, 14.6 (Local) 2025-10-28T19:44:25.915Z,1761680665.915 [DAT](INFO): DAT read: Range 11 to 20 : 1029.5 m (Round-trip 1372.7 ms) speed 1.1 m/s 2025-10-28T19:44:25.924Z,1761680665.924 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:44:25.925Z,1761680665.925 [DAT](INFO): direction in FSK: [0.901473,0.395719,0.175367] 2025-10-28T19:44:25.926Z,1761680665.926 [DAT](INFO): publishing direction and range info 2025-10-28T19:44:26.266Z,1761680666.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191086,-0.900034,-0.391696],[0.979171,-0.202686,-0.011951],[-0.068635,-0.385821,0.920017]] 2025-10-28T19:44:26.341Z,1761680666.341 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680640.00. Resetting abort timer. 2025-10-28T19:44:26.671Z,1761680666.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171886,-0.903167,-0.393376],[0.982499,-0.186262,-0.001656],[-0.071775,-0.386776,0.919376]] 2025-10-28T19:44:27.075Z,1761680667.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153788,-0.905787,-0.394841],[0.985336,-0.170472,0.007290],[-0.073912,-0.387929,0.918721]] 2025-10-28T19:44:27.481Z,1761680667.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135843,-0.908402,-0.395413],[0.987877,-0.154463,0.015473],[-0.075132,-0.388518,0.918373]] 2025-10-28T19:44:27.882Z,1761680667.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117888,-0.911235,-0.394655],[0.990147,-0.138110,0.023118],[-0.075572,-0.388042,0.918538]] 2025-10-28T19:44:28.287Z,1761680668.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099942,-0.913854,-0.393552],[0.992138,-0.121472,0.030113],[-0.075325,-0.387448,0.918809]] 2025-10-28T19:44:28.691Z,1761680668.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081691,-0.915688,-0.393500],[0.993829,-0.104566,0.037008],[-0.075034,-0.388049,0.918579]] 2025-10-28T19:44:29.095Z,1761680669.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062662,-0.917312,-0.393207],[0.995216,-0.087019,0.044409],[-0.074954,-0.388544,0.918377]] 2025-10-28T19:44:29.501Z,1761680669.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043411,-0.919201,-0.391388],[0.996254,-0.069158,0.051923],[-0.074795,-0.387668,0.918760]] 2025-10-28T19:44:29.903Z,1761680669.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024364,-0.920899,-0.389039],[0.996892,-0.051545,0.059581],[-0.074921,-0.386378,0.919293]] 2025-10-28T19:44:30.314Z,1761680670.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005584,-0.922306,-0.386421],[0.997150,-0.034209,0.067241],[-0.075235,-0.384944,0.919868]] 2025-10-28T19:44:30.354Z,1761680670.354 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:44:30.354Z,1761680670.354 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:44:30.354Z,1761680670.354 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:44:30.355Z,1761680670.355 [marl:UpdateRudder:A] Stopped 2025-10-28T19:44:30.355Z,1761680670.355 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:44:30.711Z,1761680670.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012213,-0.922877,-0.384900],[0.997051,-0.017927,0.074620],[-0.075765,-0.384677,0.919937]] 2025-10-28T19:44:30.806Z,1761680670.806 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:44:30.806Z,1761680670.806 [marl:UpdateRudder:B] Stopped 2025-10-28T19:44:30.806Z,1761680670.806 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:44:30.807Z,1761680670.807 [marl:UpdateRudder] Stopped 2025-10-28T19:44:30.807Z,1761680670.807 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:44:31.116Z,1761680671.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030693,-0.922692,-0.384313],[0.996613,-0.001095,0.082224],[-0.076288,-0.385536,0.919534]] 2025-10-28T19:44:31.518Z,1761680671.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049295,-0.922121,-0.383749],[0.995848,0.015938,0.089626],[-0.076530,-0.386574,0.919078]] 2025-10-28T19:44:31.556Z,1761680671.556 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode] Stopped 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:44:31.557Z,1761680671.557 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed] Stopped 2025-10-28T19:44:31.558Z,1761680671.558 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:44:31.923Z,1761680671.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067869,-0.921895,-0.381450],[0.994762,0.033240,0.096658],[-0.076429,-0.386012,0.919322]] 2025-10-28T19:44:32.329Z,1761680672.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086990,-0.921278,-0.379051],[0.993277,0.051039,0.103901],[-0.076375,-0.385541,0.919524]] 2025-10-28T19:44:32.733Z,1761680672.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105855,-0.919928,-0.377528],[0.991481,0.068667,0.110680],[-0.075894,-0.386028,0.919360]] 2025-10-28T19:44:33.135Z,1761680673.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125389,-0.917895,-0.376492],[0.989199,0.086630,0.118243],[-0.075920,-0.387251,0.918843]] 2025-10-28T19:44:33.538Z,1761680673.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145186,-0.915943,-0.374125],[0.986470,0.104908,0.125979],[-0.076141,-0.387354,0.918782]] 2025-10-28T19:44:33.942Z,1761680673.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165102,-0.913821,-0.371041],[0.983299,0.123303,0.133861],[-0.076574,-0.386946,0.918918]] 2025-10-28T19:44:34.347Z,1761680674.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184509,-0.911744,-0.366987],[0.979822,0.141445,0.141215],[-0.076844,-0.385637,0.919445]] 2025-10-28T19:44:34.753Z,1761680674.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203899,-0.909360,-0.362615],[0.975910,0.159434,0.148930],[-0.077618,-0.384246,0.919962]] 2025-10-28T19:44:35.155Z,1761680675.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222813,-0.906081,-0.359683],[0.971712,0.176790,0.156592],[-0.078296,-0.384399,0.919841]] 2025-10-28T19:44:35.561Z,1761680675.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241466,-0.902757,-0.355983],[0.967174,0.193954,0.164184],[-0.079174,-0.383942,0.919956]] 2025-10-28T19:44:35.962Z,1761680675.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259789,-0.899349,-0.351684],[0.962365,0.211037,0.171222],[-0.079770,-0.382930,0.920327]] 2025-10-28T19:44:36.366Z,1761680676.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277748,-0.895882,-0.346773],[0.957297,0.227967,0.177800],[-0.080235,-0.381349,0.920943]] 2025-10-28T19:44:36.790Z,1761680676.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295727,-0.891415,-0.343403],[0.951890,0.244756,0.184390],[-0.080318,-0.381411,0.920910]] 2025-10-28T19:44:37.176Z,1761680677.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314276,-0.886579,-0.339424],[0.945936,0.262237,0.190885],[-0.080226,-0.381063,0.921062]] 2025-10-28T19:44:37.578Z,1761680677.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333782,-0.881109,-0.335017],[0.939221,0.280570,0.197849],[-0.080331,-0.380693,0.921205]] 2025-10-28T19:44:37.983Z,1761680677.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354491,-0.874751,-0.330374],[0.931590,0.299991,0.205292],[-0.080470,-0.380547,0.921254]] 2025-10-28T19:44:38.387Z,1761680678.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375461,-0.867993,-0.324988],[0.923302,0.319680,0.212880],[-0.080886,-0.379990,0.921447]] 2025-10-28T19:44:38.803Z,1761680678.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396828,-0.860355,-0.319871],[0.914247,0.339444,0.221202],[-0.081734,-0.380220,0.921277]] 2025-10-28T19:44:39.195Z,1761680679.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418676,-0.851671,-0.315224],[0.904362,0.359402,0.230129],[-0.082702,-0.381426,0.920693]] 2025-10-28T19:44:39.598Z,1761680679.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440420,-0.842443,-0.310355],[0.893830,0.379005,0.239631],[-0.084249,-0.382943,0.919922]] 2025-10-28T19:44:40.006Z,1761680680.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462227,-0.832495,-0.305448],[0.882540,0.398301,0.249961],[-0.086431,-0.385108,0.918815]] 2025-10-28T19:44:40.409Z,1761680680.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482032,-0.823266,-0.299798],[0.871662,0.416011,0.259113],[-0.088600,-0.386223,0.918140]] 2025-10-28T19:44:40.814Z,1761680680.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500366,-0.814095,-0.294758],[0.861042,0.432193,0.267983],[-0.090771,-0.387889,0.917226]] 2025-10-28T19:44:41.214Z,1761680681.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517484,-0.805157,-0.289711],[0.850679,0.447469,0.275894],[-0.092502,-0.389222,0.916488]] 2025-10-28T19:44:41.620Z,1761680681.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532944,-0.796709,-0.285000],[0.840926,0.461332,0.282871],[-0.093886,-0.390419,0.915838]] 2025-10-28T19:44:42.025Z,1761680682.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547060,-0.788747,-0.280363],[0.831744,0.474369,0.288402],[-0.094480,-0.390963,0.915544]] 2025-10-28T19:44:42.427Z,1761680682.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560385,-0.780923,-0.275912],[0.822816,0.486886,0.293113],[-0.094561,-0.391281,0.915400]] 2025-10-28T19:44:42.832Z,1761680682.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572957,-0.773115,-0.272054],[0.814166,0.498786,0.297231],[-0.094097,-0.391798,0.915227]] 2025-10-28T19:44:43.234Z,1761680683.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585072,-0.764930,-0.269392],[0.805631,0.510116,0.301232],[-0.093000,-0.393273,0.914706]] 2025-10-28T19:44:43.640Z,1761680683.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596964,-0.757005,-0.265664],[0.797013,0.521752,0.304213],[-0.091680,-0.393342,0.914810]] 2025-10-28T19:44:43.666Z,1761680683.666 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:44:43.666Z,1761680683.666 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:44:43.667Z,1761680683.667 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:44:43.667Z,1761680683.667 [marl:UpdateRudder:A] Stopped 2025-10-28T19:44:43.667Z,1761680683.667 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:44:44.043Z,1761680684.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609031,-0.749088,-0.260670],[0.787996,0.534071,0.306318],[-0.090243,-0.391964,0.915544]] 2025-10-28T19:44:44.073Z,1761680684.073 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:44:44.073Z,1761680684.073 [marl:UpdateRudder:B] Stopped 2025-10-28T19:44:44.074Z,1761680684.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:44:44.074Z,1761680684.074 [marl:UpdateRudder] Stopped 2025-10-28T19:44:44.074Z,1761680684.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:44:44.446Z,1761680684.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621682,-0.740378,-0.255640],[0.778205,0.546784,0.308908],[-0.088929,-0.390983,0.916092]] 2025-10-28T19:44:44.851Z,1761680684.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634825,-0.730602,-0.251431],[0.767665,0.559470,0.312545],[-0.087678,-0.391426,0.916023]] 2025-10-28T19:44:44.921Z,1761680684.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:44:44.921Z,1761680684.921 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:44:44.921Z,1761680684.921 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateCommandMode] Stopped 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:44:44.922Z,1761680684.922 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:44:44.923Z,1761680684.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:44:44.923Z,1761680684.923 [marl:UpdateSpeed] Stopped 2025-10-28T19:44:44.923Z,1761680684.923 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:44:45.256Z,1761680685.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648866,-0.720092,-0.245847],[0.755937,0.573204,0.316221],[-0.086788,-0.391030,0.916277]] 2025-10-28T19:44:45.660Z,1761680685.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663165,-0.709338,-0.238854],[0.743497,0.587578,0.319318],[-0.086159,-0.389348,0.917052]] 2025-10-28T19:44:46.062Z,1761680686.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677938,-0.697666,-0.231651],[0.730070,0.602112,0.323201],[-0.086006,-0.388231,0.917540]] 2025-10-28T19:44:46.467Z,1761680686.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692917,-0.684781,-0.225702],[0.715874,0.616075,0.328597],[-0.085968,-0.389265,0.917105]] 2025-10-28T19:44:46.871Z,1761680686.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708176,-0.671641,-0.217680],[0.700800,0.631204,0.332357],[-0.085824,-0.387917,0.917690]] 2025-10-28T19:44:47.286Z,1761680687.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723231,-0.657950,-0.209854],[0.685270,0.646010,0.336267],[-0.085679,-0.387006,0.918088]] 2025-10-28T19:44:48.082Z,1761680688.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753092,-0.628606,-0.194183],[0.652403,0.675386,0.343836],[-0.084989,-0.385626,0.918733]] 2025-10-28T19:44:48.489Z,1761680688.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767489,-0.613280,-0.186677],[0.635523,0.689685,0.347053],[-0.084093,-0.384996,0.919079]] 2025-10-28T19:44:48.891Z,1761680688.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781421,-0.597357,-0.180403],[0.618515,0.703209,0.350622],[-0.082585,-0.385566,0.918977]] 2025-10-28T19:44:49.297Z,1761680689.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795026,-0.581179,-0.173681],[0.601108,0.716518,0.353936],[-0.081254,-0.385789,0.919002]] 2025-10-28T19:44:49.703Z,1761680689.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807804,-0.565272,-0.167093],[0.584007,0.729073,0.356915],[-0.079931,-0.385901,0.919071]] 2025-10-28T19:44:50.102Z,1761680690.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820302,-0.549129,-0.159885],[0.566494,0.741655,0.359211],[-0.078674,-0.385235,0.919459]] 2025-10-28T19:44:50.507Z,1761680690.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831691,-0.533685,-0.153201],[0.549835,0.753224,0.361020],[-0.077276,-0.384493,0.919888]] 2025-10-28T19:44:50.910Z,1761680690.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841940,-0.519183,-0.146923],[0.534221,0.763838,0.362159],[-0.075801,-0.383406,0.920464]] 2025-10-28T19:44:51.317Z,1761680691.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851677,-0.504760,-0.140940],[0.518730,0.773659,0.363827],[-0.074606,-0.382973,0.920742]] 2025-10-28T19:44:51.722Z,1761680691.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860672,-0.490662,-0.135993],[0.503853,0.782299,0.366253],[-0.073320,-0.383744,0.920524]] 2025-10-28T19:44:52.122Z,1761680692.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869117,-0.476974,-0.130887],[0.489342,0.790702,0.367879],[-0.071976,-0.383778,0.920616]] 2025-10-28T19:44:52.526Z,1761680692.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877216,-0.463257,-0.126040],[0.474899,0.798754,0.369409],[-0.070456,-0.383907,0.920680]] 2025-10-28T19:44:52.939Z,1761680692.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884937,-0.449531,-0.121686],[0.460570,0.806052,0.371693],[-0.069002,-0.384970,0.920346]] 2025-10-28T19:44:53.334Z,1761680693.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892507,-0.435568,-0.117099],[0.445882,0.812929,0.374613],[-0.067976,-0.386557,0.919757]] 2025-10-28T19:44:53.741Z,1761680693.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900494,-0.420184,-0.112052],[0.429704,0.820164,0.377738],[-0.066818,-0.388301,0.919107]] 2025-10-28T19:44:54.143Z,1761680694.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908685,-0.403803,-0.105994],[0.412280,0.828006,0.380040],[-0.065698,-0.389036,0.918877]] 2025-10-28T19:44:54.559Z,1761680694.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917042,-0.386260,-0.099185],[0.393505,0.836086,0.382249],[-0.064720,-0.389568,0.918721]] 2025-10-28T19:44:54.951Z,1761680694.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924675,-0.369369,-0.092431],[0.375323,0.843336,0.384601],[-0.064109,-0.390322,0.918443]] 2025-10-28T19:44:55.355Z,1761680695.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932054,-0.352179,-0.085115],[0.356676,0.850567,0.386416],[-0.063692,-0.390519,0.918389]] 2025-10-28T19:44:55.668Z,1761680695.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:44:55.774Z,1761680695.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939057,-0.334784,-0.078049],[0.337913,0.857273,0.388455],[-0.063140,-0.391155,0.918156]] 2025-10-28T19:44:56.164Z,1761680696.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945398,-0.318044,-0.071213],[0.319924,0.863870,0.389073],[-0.062223,-0.390611,0.918450]] 2025-10-28T19:44:56.605Z,1761680696.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951218,-0.301682,-0.064592],[0.302380,0.870067,0.389294],[-0.061243,-0.389835,0.918846]] 2025-10-28T19:44:56.672Z,1761680696.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:44:56.971Z,1761680696.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956560,-0.285534,-0.058854],[0.285290,0.875231,0.390615],[-0.060023,-0.390438,0.918671]] 2025-10-28T19:44:57.375Z,1761680697.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961729,-0.268694,-0.053680],[0.267760,0.880016,0.392271],[-0.058162,-0.391632,0.918282]] 2025-10-28T19:44:57.399Z,1761680697.399 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:44:57.399Z,1761680697.399 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:44:57.399Z,1761680697.399 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:44:57.399Z,1761680697.399 [marl:UpdateRudder:A] Stopped 2025-10-28T19:44:57.399Z,1761680697.399 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:44:57.791Z,1761680697.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966730,-0.251037,-0.049123],[0.249684,0.884329,0.394486],[-0.055590,-0.393627,0.917588]] 2025-10-28T19:44:57.830Z,1761680697.830 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:44:57.830Z,1761680697.830 [marl:UpdateRudder:B] Stopped 2025-10-28T19:44:57.830Z,1761680697.830 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:44:57.830Z,1761680697.830 [marl:UpdateRudder] Stopped 2025-10-28T19:44:57.830Z,1761680697.830 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:44:58.182Z,1761680698.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971580,-0.232524,-0.044331],[0.230784,0.888838,0.395860],[-0.052644,-0.394841,0.917240]] 2025-10-28T19:44:58.692Z,1761680698.692 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:44:58.692Z,1761680698.692 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:44:58.692Z,1761680698.692 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:44:58.692Z,1761680698.692 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:44:58.692Z,1761680698.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateCommandMode] Stopped 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:44:58.693Z,1761680698.693 [marl:UpdateSpeed] Stopped 2025-10-28T19:44:58.694Z,1761680698.694 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:44:58.995Z,1761680698.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980490,-0.193604,-0.034011],[0.191027,0.897686,0.397076],[-0.046344,-0.395826,0.917156]] 2025-10-28T19:44:59.394Z,1761680699.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984420,-0.173474,-0.028724],[0.170487,0.901669,0.397400],[-0.043039,-0.396105,0.917196]] 2025-10-28T19:44:59.799Z,1761680699.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987863,-0.153568,-0.023299],[0.150056,0.904806,0.398508],[-0.040117,-0.397168,0.916869]] 2025-10-28T19:45:00.219Z,1761680700.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990791,-0.134200,-0.017974],[0.130209,0.907978,0.398272],[-0.037128,-0.396945,0.917091]] 2025-10-28T19:45:00.626Z,1761680700.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993197,-0.115729,-0.012924],[0.111295,0.910716,0.397757],[-0.034262,-0.396489,0.917400]] 2025-10-28T19:45:01.011Z,1761680701.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995182,-0.097711,-0.008066],[0.092847,0.912818,0.397672],[-0.031495,-0.396505,0.917492]] 2025-10-28T19:45:01.415Z,1761680701.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996802,-0.079825,-0.003682],[0.074698,0.914439,0.397772],[-0.028386,-0.396775,0.917477]] 2025-10-28T19:45:01.823Z,1761680701.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998059,-0.062276,0.000463],[0.056925,0.915267,0.398806],[-0.025260,-0.398006,0.917035]] 2025-10-28T19:45:02.223Z,1761680702.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998996,-0.044536,0.004828],[0.038924,0.916319,0.398553],[-0.022174,-0.397965,0.917132]] 2025-10-28T19:45:02.630Z,1761680702.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999590,-0.027094,0.009312],[0.021139,0.916888,0.398585],[-0.019337,-0.398224,0.917084]] 2025-10-28T19:45:03.030Z,1761680703.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999856,-0.008460,0.014723],[0.001873,0.916709,0.399551],[-0.016877,-0.399466,0.916593]] 2025-10-28T19:45:03.436Z,1761680703.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999741,0.010492,0.020213],[-0.017694,0.916618,0.399373],[-0.014338,-0.399627,0.916566]] 2025-10-28T19:45:03.838Z,1761680703.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999216,0.029981,0.025867],[-0.037818,0.916177,0.398986],[-0.011737,-0.399652,0.916592]] 2025-10-28T19:45:04.261Z,1761680704.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998255,0.049716,0.031878],[-0.058321,0.914870,0.399514],[-0.009302,-0.400676,0.916173]] 2025-10-28T19:45:04.647Z,1761680704.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996830,0.069708,0.038342],[-0.079241,0.912834,0.400567],[-0.007077,-0.402336,0.915465]] 2025-10-28T19:45:05.057Z,1761680705.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994965,0.089671,0.044758],[-0.100100,0.911085,0.399880],[-0.004920,-0.402347,0.915474]] 2025-10-28T19:45:05.461Z,1761680705.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989886,0.129495,0.057941],[-0.141864,0.905873,0.399085],[-0.000807,-0.403268,0.915082]] 2025-10-28T19:45:05.863Z,1761680705.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986716,0.149093,0.064523],[-0.162452,0.902650,0.398537],[0.001178,-0.403725,0.914880]] 2025-10-28T19:45:06.270Z,1761680706.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983294,0.167861,0.070401],[-0.181995,0.899442,0.397344],[0.003377,-0.403518,0.914965]] 2025-10-28T19:45:06.673Z,1761680706.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979635,0.185876,0.075934],[-0.200709,0.895949,0.396222],[0.005615,-0.403394,0.915009]] 2025-10-28T19:45:07.073Z,1761680707.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975883,0.202773,0.080840],[-0.218151,0.892518,0.394743],[0.007892,-0.402859,0.915228]] 2025-10-28T19:45:07.475Z,1761680707.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972123,0.218453,0.085181],[-0.234250,0.888993,0.393470],[0.010230,-0.402455,0.915383]] 2025-10-28T19:45:07.885Z,1761680707.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968244,0.233579,0.089134],[-0.249685,0.885321,0.392256],[0.012711,-0.402055,0.915527]] 2025-10-28T19:45:08.287Z,1761680708.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964204,0.248300,0.093046],[-0.264733,0.881504,0.390982],[0.015060,-0.401619,0.915683]] 2025-10-28T19:45:08.686Z,1761680708.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959812,0.263066,0.097758],[-0.280104,0.876400,0.391746],[0.017380,-0.403385,0.914865]] 2025-10-28T19:45:09.091Z,1761680709.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954966,0.278328,0.102823],[-0.296082,0.871282,0.391411],[0.019353,-0.404228,0.914453]] 2025-10-28T19:45:09.497Z,1761680709.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949558,0.294003,0.109094],[-0.312885,0.864895,0.392505],[0.021043,-0.406840,0.913257]] 2025-10-28T19:45:09.906Z,1761680709.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943164,0.311088,0.116898],[-0.331567,0.857099,0.394265],[0.022458,-0.410616,0.911532]] 2025-10-28T19:45:10.304Z,1761680710.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935850,0.329486,0.124993],[-0.351590,0.849009,0.394421],[0.023836,-0.413065,0.910389]] 2025-10-28T19:45:10.707Z,1761680710.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927958,0.348209,0.132832],[-0.371840,0.841057,0.392884],[0.025086,-0.413972,0.909944]] 2025-10-28T19:45:10.808Z,1761680710.808 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:45:10.808Z,1761680710.808 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:45:10.808Z,1761680710.808 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:45:10.808Z,1761680710.808 [marl:UpdateRudder:A] Stopped 2025-10-28T19:45:10.808Z,1761680710.808 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:45:11.111Z,1761680711.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919579,0.367267,0.139605],[-0.392015,0.833730,0.388868],[0.026425,-0.412322,0.910655]] 2025-10-28T19:45:11.160Z,1761680711.160 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:45:11.160Z,1761680711.160 [marl:UpdateRudder:B] Stopped 2025-10-28T19:45:11.161Z,1761680711.161 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:45:11.161Z,1761680711.161 [marl:UpdateRudder] Stopped 2025-10-28T19:45:11.161Z,1761680711.161 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:45:11.517Z,1761680711.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910776,0.386287,0.145838],[-0.411948,0.826139,0.384440],[0.028022,-0.410216,0.911558]] 2025-10-28T19:45:11.919Z,1761680711.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901785,0.404771,0.151474],[-0.431159,0.818440,0.379812],[0.029765,-0.407818,0.912578]] 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode] Stopped 2025-10-28T19:45:11.955Z,1761680711.955 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:45:11.956Z,1761680711.956 [marl:UpdateSpeed] Stopped 2025-10-28T19:45:11.957Z,1761680711.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:45:12.323Z,1761680712.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892470,0.422820,0.157230],[-0.449983,0.809824,0.376432],[0.031834,-0.406705,0.913005]] 2025-10-28T19:45:12.734Z,1761680712.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883119,0.439857,0.163174],[-0.467947,0.800989,0.373419],[0.033550,-0.406131,0.913199]] 2025-10-28T19:45:13.133Z,1761680713.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873661,0.456401,0.168566],[-0.485237,0.792065,0.370375],[0.035524,-0.405377,0.913459]] 2025-10-28T19:45:13.534Z,1761680713.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863942,0.472245,0.174900],[-0.502224,0.782378,0.368314],[0.037096,-0.406041,0.913102]] 2025-10-28T19:45:13.938Z,1761680713.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853685,0.488369,0.180881],[-0.519333,0.772337,0.365773],[0.038931,-0.406192,0.912958]] 2025-10-28T19:45:14.343Z,1761680714.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843374,0.503771,0.186909],[-0.535806,0.762310,0.363038],[0.040405,-0.406324,0.912836]] 2025-10-28T19:45:14.754Z,1761680714.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832906,0.519087,0.191876],[-0.551821,0.752707,0.359063],[0.041958,-0.404947,0.913377]] 2025-10-28T19:45:15.151Z,1761680715.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822172,0.534072,0.196979],[-0.567576,0.742687,0.355350],[0.043489,-0.403959,0.913743]] 2025-10-28T19:45:15.554Z,1761680715.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811660,0.548349,0.201300],[-0.582402,0.733195,0.351046],[0.044904,-0.402168,0.914464]] 2025-10-28T19:45:15.958Z,1761680715.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800998,0.562222,0.205690],[-0.596864,0.723321,0.347218],[0.046434,-0.400890,0.914949]] 2025-10-28T19:45:16.364Z,1761680716.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790216,0.575293,0.211179],[-0.610975,0.712792,0.344437],[0.047625,-0.401205,0.914749]] 2025-10-28T19:45:16.801Z,1761680716.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778764,0.588327,0.217711],[-0.625414,0.701138,0.342435],[0.048818,-0.402835,0.913970]] 2025-10-28T19:45:17.171Z,1761680717.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766989,0.601042,0.224669],[-0.639735,0.689181,0.340248],[0.049666,-0.404695,0.913102]] 2025-10-28T19:45:17.575Z,1761680717.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754937,0.613686,0.231215],[-0.653860,0.677289,0.337264],[0.050375,-0.405795,0.912575]] 2025-10-28T19:45:17.983Z,1761680717.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742139,0.626459,0.238283],[-0.668313,0.664672,0.334019],[0.050869,-0.407136,0.911950]] 2025-10-28T19:45:18.382Z,1761680718.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728391,0.639803,0.245149],[-0.683224,0.651358,0.330058],[0.051493,-0.407903,0.911572]] 2025-10-28T19:45:18.790Z,1761680718.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714278,0.653075,0.251595],[-0.697921,0.637919,0.325525],[0.052095,-0.408109,0.911446]] 2025-10-28T19:45:19.191Z,1761680719.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700517,0.665813,0.256846],[-0.711671,0.625080,0.320623],[0.052925,-0.407392,0.911719]] 2025-10-28T19:45:19.596Z,1761680719.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687311,0.677828,0.261060],[-0.724373,0.613042,0.315379],[0.053732,-0.405869,0.912351]] 2025-10-28T19:45:20.018Z,1761680720.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674237,0.689342,0.264976],[-0.736495,0.601102,0.310246],[0.054588,-0.404332,0.912982]] 2025-10-28T19:45:20.403Z,1761680720.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661296,0.699736,0.270291],[-0.748069,0.588517,0.306662],[0.055512,-0.404990,0.912634]] 2025-10-28T19:45:20.807Z,1761680720.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648255,0.709876,0.275394],[-0.759344,0.576004,0.302683],[0.056239,-0.405334,0.912437]] 2025-10-28T19:45:20.874Z,1761680720.874 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:45:20.877Z,1761680720.877 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:45:20.877Z,1761680720.877 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:45:21.129Z,1761680721.129 [DAT](INFO): DAT read: user:201> 2025-10-28T19:45:21.130Z,1761680721.130 [DAT](INFO): DAT read: Tx time:19:45:20.8783 2025-10-28T19:45:21.130Z,1761680721.130 [DAT](INFO): Ping request sent. 2025-10-28T19:45:21.130Z,1761680721.130 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:45:21.130Z,1761680721.130 [DAT](INFO): publishing transmit ping time 2025-10-28T19:45:21.131Z,1761680721.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T19:45:21.222Z,1761680721.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635025,0.718933,0.282626],[-0.770435,0.562747,0.299576],[0.056328,-0.407984,0.911250]] 2025-10-28T19:45:21.381Z,1761680721.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250919 2025-10-28T19:45:21.615Z,1761680721.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620607,0.728882,0.289099],[-0.782090,0.548865,0.295098],[0.056415,-0.409241,0.910681]] 2025-10-28T19:45:21.633Z,1761680721.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503050 2025-10-28T19:45:21.885Z,1761680721.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919 2025-10-28T19:45:22.019Z,1761680722.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604794,0.739568,0.295403],[-0.794423,0.534265,0.288883],[0.055825,-0.409390,0.910650]] 2025-10-28T19:45:22.137Z,1761680722.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006911 2025-10-28T19:45:22.389Z,1761680722.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258892 2025-10-28T19:45:22.423Z,1761680722.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588578,0.750179,0.301343],[-0.806571,0.519562,0.281955],[0.054951,-0.409007,0.910875]] 2025-10-28T19:45:22.641Z,1761680722.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510886 2025-10-28T19:45:22.829Z,1761680722.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571618,0.761578,0.305370],[-0.818769,0.505122,0.272892],[0.053580,-0.406018,0.912293]] 2025-10-28T19:45:22.893Z,1761680722.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906 2025-10-28T19:45:23.145Z,1761680723.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968 2025-10-28T19:45:23.235Z,1761680723.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553711,0.772955,0.309750],[-0.831059,0.489556,0.263960],[0.052389,-0.403578,0.913444]] 2025-10-28T19:45:23.397Z,1761680723.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845 2025-10-28T19:45:23.634Z,1761680723.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535382,0.784919,0.311879],[-0.843032,0.474054,0.254106],[0.051605,-0.398967,0.915512]] 2025-10-28T19:45:23.649Z,1761680723.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519007 2025-10-28T19:45:23.901Z,1761680723.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770948 2025-10-28T19:45:24.042Z,1761680724.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517927,0.795776,0.313835],[-0.853912,0.459149,0.244984],[0.050855,-0.394871,0.917328]] 2025-10-28T19:45:24.069Z,1761680724.069 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:45:24.069Z,1761680724.069 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:45:24.070Z,1761680724.070 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:45:24.070Z,1761680724.070 [marl:UpdateRudder:A] Stopped 2025-10-28T19:45:24.070Z,1761680724.070 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:45:24.153Z,1761680724.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023314 2025-10-28T19:45:24.405Z,1761680724.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274889 2025-10-28T19:45:24.449Z,1761680724.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501264,0.805576,0.315884],[-0.863817,0.444549,0.237058],[0.050542,-0.391694,0.918706]] 2025-10-28T19:45:24.477Z,1761680724.477 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:45:24.477Z,1761680724.477 [marl:UpdateRudder:B] Stopped 2025-10-28T19:45:24.477Z,1761680724.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:45:24.477Z,1761680724.477 [marl:UpdateRudder] Stopped 2025-10-28T19:45:24.477Z,1761680724.477 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:45:24.657Z,1761680724.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526987 2025-10-28T19:45:24.850Z,1761680724.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485450,0.814342,0.318096],[-0.872811,0.430451,0.230028],[0.050397,-0.389305,0.919729]] 2025-10-28T19:45:24.921Z,1761680724.921 [DAT](INFO): DAT read: Rx Time:19:45:24.2649 2025-10-28T19:45:24.921Z,1761680724.921 [DAT](INFO): Rx dataTimestamp_ set to:1761680724.920697 2025-10-28T19:45:24.922Z,1761680724.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791824 2025-10-28T19:45:25.161Z,1761680725.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030979 2025-10-28T19:45:25.251Z,1761680725.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470464,0.821763,0.321509],[-0.880983,0.416637,0.224237],[0.050317,-0.388740,0.919973]] 2025-10-28T19:45:25.294Z,1761680725.294 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode] Stopped 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:45:25.295Z,1761680725.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:45:25.296Z,1761680725.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:45:25.300Z,1761680725.300 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:45:25.300Z,1761680725.300 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:45:25.300Z,1761680725.300 [marl:UpdateSpeed] Stopped 2025-10-28T19:45:25.300Z,1761680725.300 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:45:25.415Z,1761680725.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284679 2025-10-28T19:45:25.656Z,1761680725.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455740,0.828753,0.324760],[-0.888685,0.402987,0.218724],[0.050394,-0.388291,0.920158]] 2025-10-28T19:45:25.671Z,1761680725.671 [DAT](INFO): DAT read: 19:45:24.2649 LVL= 32752, 29633, 32754, 32755, AGC= 74, IDX= 25,-0.31, 2.021,-2.385, 2.522, 2.718, PHS=-0.595, 1.225,-0.240, RAW= 319.4, -4.7, CAL= 318.6, -8.0, ROT= 191.4, 8.0 2025-10-28T19:45:25.672Z,1761680725.672 [DAT](INFO): got valid direction response: 19:45:24.2649 LVL= 32752, 29633, 32754, 32755, AGC= 74, IDX= 25,-0.31, 2.021,-2.385, 2.522, 2.718, PHS=-0.595, 1.225,-0.240, RAW= 319.4, -4.7, CAL= 318.6, -8.0, ROT= 191.4, 8.0 2025-10-28T19:45:25.673Z,1761680725.673 [DAT](INFO): DAT read: Bearing 108, -18 (Remote) 2025-10-28T19:45:25.673Z,1761680725.673 [DAT](INFO): Remote Bearing received:Bearing 108, -18 (Remote) 2025-10-28T19:45:25.674Z,1761680725.674 [DAT](INFO): DAT read: Bearing 270.9, -9.8 (Local) 2025-10-28T19:45:25.674Z,1761680725.674 [DAT](INFO): Local bearing/azimuth received: Bearing 270.9, -9.8 (Local) 2025-10-28T19:45:25.676Z,1761680725.676 [DAT](INFO): DAT read: Range 11 to 20 : 1018.1 m (Round-trip 1357.5 ms) speed 0.2 m/s 2025-10-28T19:45:25.676Z,1761680725.676 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:45:25.677Z,1761680725.677 [DAT](INFO): direction in FSK: [-0.970731,-0.195734,-0.139173] 2025-10-28T19:45:25.678Z,1761680725.678 [DAT](INFO): publishing direction and range info 2025-10-28T19:45:25.777Z,1761680725.777 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680768.00. Resetting abort timer. 2025-10-28T19:45:26.058Z,1761680726.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441166,0.834375,0.330440],[-0.896015,0.388890,0.214293],[0.050296,-0.390618,0.919178]] 2025-10-28T19:45:26.464Z,1761680726.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426814,0.838420,0.338941],[-0.902958,0.374390,0.210948],[0.049967,-0.396085,0.916853]] 2025-10-28T19:45:26.808Z,1761680726.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:45:26.868Z,1761680726.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412097,0.842169,0.347746],[-0.909779,0.359484,0.207541],[0.049775,-0.401899,0.914330]] 2025-10-28T19:45:27.270Z,1761680727.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397322,0.845424,0.356922],[-0.916348,0.344560,0.203926],[0.049423,-0.408089,0.911603]] 2025-10-28T19:45:27.675Z,1761680727.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381957,0.848589,0.366067],[-0.922876,0.329191,0.199830],[0.049067,-0.414161,0.908880]] 2025-10-28T19:45:27.812Z,1761680727.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:45:28.083Z,1761680728.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365509,0.851561,0.375828],[-0.929529,0.312774,0.195315],[0.048773,-0.420732,0.905873]] 2025-10-28T19:45:28.483Z,1761680728.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347885,0.855391,0.383774],[-0.936276,0.295750,0.189523],[0.048615,-0.425251,0.903769]] 2025-10-28T19:45:28.889Z,1761680728.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329330,0.860398,0.388918],[-0.942981,0.278652,0.182043],[0.048257,-0.426694,0.903108]] 2025-10-28T19:45:29.290Z,1761680729.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309807,0.866653,0.391066],[-0.949604,0.261414,0.172959],[0.047665,-0.424942,0.903965]] 2025-10-28T19:45:29.702Z,1761680729.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289783,0.874625,0.388660],[-0.955952,0.244679,0.162139],[0.046714,-0.418526,0.907003]] 2025-10-28T19:45:30.103Z,1761680730.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269301,0.883500,0.383282],[-0.961979,0.227958,0.150441],[0.045542,-0.409223,0.911297]] 2025-10-28T19:45:30.502Z,1761680730.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247557,0.892143,0.377883],[-0.967839,0.209689,0.138990],[0.044761,-0.400138,0.915361]] 2025-10-28T19:45:30.907Z,1761680730.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225679,0.899483,0.374165],[-0.973170,0.190474,0.129076],[0.044833,-0.393255,0.918336]] 2025-10-28T19:45:31.311Z,1761680731.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202320,0.907359,0.368464],[-0.978227,0.169477,0.119791],[0.046247,-0.384678,0.921892]] 2025-10-28T19:45:32.118Z,1761680732.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154639,0.919457,0.361504],[-0.986648,0.124789,0.104662],[0.051120,-0.372862,0.926478]] 2025-10-28T19:45:32.523Z,1761680732.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135045,0.921148,0.365033],[-0.989490,0.106156,0.098184],[0.051692,-0.374456,0.925803]] 2025-10-28T19:45:32.928Z,1761680732.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118362,0.920373,0.372699],[-0.991676,0.090403,0.091689],[0.050695,-0.380449,0.923412]] 2025-10-28T19:45:33.330Z,1761680733.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102903,0.918456,0.381903],[-0.993486,0.076002,0.084913],[0.048964,-0.388153,0.920293]] 2025-10-28T19:45:33.736Z,1761680733.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088272,0.915391,0.392769],[-0.995011,0.062627,0.077662],[0.046493,-0.397665,0.916352]] 2025-10-28T19:45:34.139Z,1761680734.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074218,0.910196,0.407473],[-0.996297,0.049892,0.070020],[0.043402,-0.411161,0.910529]] 2025-10-28T19:45:34.548Z,1761680734.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060040,0.908223,0.414158],[-0.997391,0.037921,0.061433],[0.040089,-0.416765,0.908130]] 2025-10-28T19:45:34.947Z,1761680734.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044720,0.910314,0.411495],[-0.998321,0.025542,0.051990],[0.036817,-0.413130,0.909928]] 2025-10-28T19:45:35.350Z,1761680735.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027916,0.910256,0.413104],[-0.999027,0.011287,0.042639],[0.034150,-0.413892,0.909685]] 2025-10-28T19:45:35.758Z,1761680735.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010088,0.908794,0.417122],[-0.999437,-0.004178,0.033274],[0.031982,-0.417223,0.908241]] 2025-10-28T19:45:36.163Z,1761680736.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008395,0.908343,0.418142],[-0.999513,-0.020195,0.023803],[0.030066,-0.417739,0.908070]] 2025-10-28T19:45:36.623Z,1761680736.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027627,0.907469,0.419210],[-0.999215,-0.036984,0.014210],[0.028399,-0.418488,0.907778]] 2025-10-28T19:45:36.966Z,1761680736.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046740,0.907787,0.416819],[-0.998550,-0.053624,0.004815],[0.026723,-0.415990,0.908976]] 2025-10-28T19:45:37.371Z,1761680737.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066095,0.908810,0.411941],[-0.997489,-0.070710,-0.004047],[0.025450,-0.411174,0.911201]] 2025-10-28T19:45:37.403Z,1761680737.403 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:45:37.403Z,1761680737.403 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:45:37.403Z,1761680737.403 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:45:37.403Z,1761680737.403 [marl:UpdateRudder:A] Stopped 2025-10-28T19:45:37.403Z,1761680737.403 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:45:37.782Z,1761680737.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085464,0.909548,0.406716],[-0.996039,-0.088050,-0.012390],[0.024543,-0.406164,0.913470]] 2025-10-28T19:45:37.807Z,1761680737.807 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:45:37.807Z,1761680737.807 [marl:UpdateRudder:B] Stopped 2025-10-28T19:45:37.807Z,1761680737.807 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:45:37.807Z,1761680737.807 [marl:UpdateRudder] Stopped 2025-10-28T19:45:37.808Z,1761680737.808 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:45:38.187Z,1761680738.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105200,0.908498,0.404432],[-0.994169,-0.105774,-0.020994],[0.023705,-0.404282,0.914327]] 2025-10-28T19:45:38.629Z,1761680738.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124358,0.904864,0.407131],[-0.991982,-0.122695,-0.030305],[0.022531,-0.407635,0.912867]] 2025-10-28T19:45:38.684Z,1761680738.684 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:45:38.685Z,1761680738.685 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:45:38.685Z,1761680738.685 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:45:38.685Z,1761680738.685 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateCommandMode] Stopped 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:45:38.686Z,1761680738.686 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:45:38.687Z,1761680738.687 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:45:38.687Z,1761680738.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:45:38.688Z,1761680738.688 [marl:UpdateSpeed] Stopped 2025-10-28T19:45:38.689Z,1761680738.689 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:45:38.987Z,1761680738.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143594,0.903244,0.404390],[-0.989401,-0.139938,-0.038759],[0.021581,-0.405670,0.913765]] 2025-10-28T19:45:39.390Z,1761680739.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164099,0.902823,0.397469],[-0.986222,-0.158693,-0.046713],[0.020902,-0.399658,0.916426]] 2025-10-28T19:45:39.800Z,1761680739.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184631,0.900626,0.393426],[-0.982602,-0.177357,-0.055122],[0.020133,-0.396758,0.917702]] 2025-10-28T19:45:40.207Z,1761680740.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205920,0.897624,0.389703],[-0.978377,-0.196736,-0.063822],[0.019381,-0.394418,0.918727]] 2025-10-28T19:45:40.634Z,1761680740.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227255,0.893295,0.387789],[-0.973659,-0.216007,-0.073005],[0.018550,-0.394164,0.918853]] 2025-10-28T19:45:41.007Z,1761680741.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247495,0.888812,0.385693],[-0.968729,-0.234238,-0.081831],[0.017611,-0.393885,0.918991]] 2025-10-28T19:45:41.412Z,1761680741.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267585,0.883562,0.384339],[-0.963392,-0.252184,-0.090986],[0.016532,-0.394615,0.918698]] 2025-10-28T19:45:41.830Z,1761680741.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287635,0.877620,0.383471],[-0.957618,-0.269937,-0.100509],[0.015305,-0.396129,0.918067]] 2025-10-28T19:45:42.219Z,1761680742.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308257,0.871472,0.381463],[-0.951197,-0.288335,-0.109937],[0.014182,-0.396736,0.917823]] 2025-10-28T19:45:42.640Z,1761680742.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329229,0.864275,0.380312],[-0.944159,-0.306909,-0.119876],[0.013116,-0.398542,0.917056]] 2025-10-28T19:45:43.028Z,1761680743.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350063,0.856988,0.378189],[-0.936646,-0.325500,-0.129395],[0.012210,-0.399526,0.916640]] 2025-10-28T19:45:43.431Z,1761680743.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370714,0.849714,0.374911],[-0.928681,-0.343962,-0.138715],[0.011087,-0.399596,0.916624]] 2025-10-28T19:45:43.835Z,1761680743.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391243,0.841547,0.372461],[-0.920238,-0.361970,-0.148797],[0.009600,-0.400968,0.916042]] 2025-10-28T19:45:44.238Z,1761680744.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411520,0.833548,0.368576],[-0.911368,-0.379783,-0.158660],[0.007728,-0.401200,0.915958]] 2025-10-28T19:45:44.653Z,1761680744.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430284,0.824892,0.366618],[-0.902676,-0.395721,-0.169058],[0.005623,-0.403680,0.914883]] 2025-10-28T19:45:45.046Z,1761680745.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447886,0.816229,0.364923],[-0.894085,-0.410405,-0.179391],[0.003342,-0.406618,0.913592]] 2025-10-28T19:45:45.450Z,1761680745.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464132,0.807902,0.363147],[-0.885766,-0.423798,-0.189247],[0.001008,-0.409499,0.912310]] 2025-10-28T19:45:45.856Z,1761680745.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479243,0.799478,0.362162],[-0.877682,-0.435936,-0.199085],[-0.001284,-0.413273,0.910606]] 2025-10-28T19:45:46.260Z,1761680746.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494011,0.791703,0.359387],[-0.869448,-0.448124,-0.207955],[-0.003589,-0.415200,0.909723]] 2025-10-28T19:45:46.672Z,1761680746.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507943,0.784448,0.355860],[-0.861369,-0.459600,-0.216359],[-0.006169,-0.416424,0.909149]] 2025-10-28T19:45:47.066Z,1761680747.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522099,0.777412,0.350775],[-0.852840,-0.471665,-0.224045],[-0.008727,-0.416129,0.909264]] 2025-10-28T19:45:47.471Z,1761680747.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536754,0.770218,0.344469],[-0.843666,-0.484590,-0.231084],[-0.011059,-0.414652,0.909913]] 2025-10-28T19:45:47.880Z,1761680747.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552735,0.762705,0.335806],[-0.833253,-0.499424,-0.237204],[-0.013207,-0.410922,0.911575]] 2025-10-28T19:45:48.278Z,1761680748.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569558,0.754567,0.325935],[-0.821805,-0.515284,-0.243145],[-0.015520,-0.406340,0.913590]] 2025-10-28T19:45:48.690Z,1761680748.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587587,0.745423,0.314778],[-0.808960,-0.532506,-0.249041],[-0.018020,-0.400976,0.915911]] 2025-10-28T19:45:49.087Z,1761680749.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606531,0.735230,0.302584],[-0.794793,-0.550849,-0.254693],[-0.020580,-0.394971,0.918463]] 2025-10-28T19:45:49.493Z,1761680749.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626546,0.723264,0.290395],[-0.779038,-0.570057,-0.261029],[-0.023251,-0.389775,0.920617]] 2025-10-28T19:45:49.895Z,1761680749.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646675,0.709847,0.279156],[-0.762319,-0.588939,-0.268367],[-0.026094,-0.386352,0.921982]] 2025-10-28T19:45:50.299Z,1761680750.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667356,0.694832,0.268036],[-0.744186,-0.608305,-0.275958],[-0.028697,-0.383631,0.923040]] 2025-10-28T19:45:50.710Z,1761680750.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707499,0.660363,0.251728],[-0.705933,-0.643619,-0.295656],[-0.033223,-0.386880,0.921532]] 2025-10-28T19:45:50.774Z,1761680750.774 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:45:50.774Z,1761680750.774 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:45:50.774Z,1761680750.774 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:45:50.775Z,1761680750.775 [marl:UpdateRudder:A] Stopped 2025-10-28T19:45:50.775Z,1761680750.775 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:45:51.113Z,1761680751.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726344,0.642327,0.244624],[-0.686440,-0.659786,-0.305749],[-0.034991,-0.389998,0.920150]] 2025-10-28T19:45:51.138Z,1761680751.138 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:45:51.138Z,1761680751.138 [marl:UpdateRudder:B] Stopped 2025-10-28T19:45:51.139Z,1761680751.139 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:45:51.139Z,1761680751.139 [marl:UpdateRudder] Stopped 2025-10-28T19:45:51.139Z,1761680751.139 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:45:51.515Z,1761680751.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743082,0.624843,0.239584],[-0.668188,-0.673085,-0.316989],[-0.036809,-0.395636,0.917670]] 2025-10-28T19:45:51.920Z,1761680751.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757460,0.609211,0.234769],[-0.651742,-0.684323,-0.327009],[-0.038560,-0.400705,0.915395]] 2025-10-28T19:45:51.966Z,1761680751.966 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:45:51.966Z,1761680751.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:45:51.966Z,1761680751.966 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:45:51.966Z,1761680751.966 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:45:51.966Z,1761680751.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateCommandMode] Stopped 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:45:51.967Z,1761680751.967 [marl:UpdateSpeed] Stopped 2025-10-28T19:45:51.968Z,1761680751.968 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:45:52.323Z,1761680752.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770042,0.594927,0.230427],[-0.636740,-0.694026,-0.335992],[-0.039969,-0.405450,0.913243]] 2025-10-28T19:45:52.723Z,1761680752.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780898,0.581919,0.227086],[-0.623296,-0.701884,-0.344763],[-0.041236,-0.410767,0.910808]] 2025-10-28T19:45:53.127Z,1761680753.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790525,0.570500,0.222712],[-0.610970,-0.709554,-0.351067],[-0.042258,-0.413598,0.909478]] 2025-10-28T19:45:53.531Z,1761680753.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799293,0.560075,0.217822],[-0.599382,-0.716904,-0.356076],[-0.043272,-0.415167,0.908715]] 2025-10-28T19:45:53.936Z,1761680753.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807147,0.550905,0.212174],[-0.588673,-0.723999,-0.359569],[-0.044474,-0.415127,0.908676]] 2025-10-28T19:45:54.339Z,1761680754.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814430,0.542847,0.204990],[-0.578418,-0.731358,-0.361315],[-0.046218,-0.412835,0.909632]] 2025-10-28T19:45:54.742Z,1761680754.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821360,0.535043,0.197729],[-0.568362,-0.738317,-0.363115],[-0.048296,-0.410630,0.910522]] 2025-10-28T19:45:55.152Z,1761680755.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828635,0.527299,0.187932],[-0.557492,-0.746961,-0.362287],[-0.050655,-0.404975,0.912924]] 2025-10-28T19:45:55.552Z,1761680755.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836863,0.517765,0.177708],[-0.544851,-0.756459,-0.361813],[-0.052905,-0.399612,0.915156]] 2025-10-28T19:45:55.955Z,1761680755.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846713,0.505177,0.166956],[-0.529222,-0.767360,-0.362053],[-0.054786,-0.394912,0.917084]] 2025-10-28T19:45:56.358Z,1761680756.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857682,0.489887,0.156181],[-0.511095,-0.779031,-0.363170],[-0.056242,-0.391308,0.918540]] 2025-10-28T19:45:56.768Z,1761680756.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869098,0.472895,0.145047],[-0.491250,-0.790930,-0.364833],[-0.057806,-0.388330,0.919706]] 2025-10-28T19:45:57.172Z,1761680757.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880363,0.454839,0.134470],[-0.470564,-0.802075,-0.367758],[-0.059415,-0.387037,0.920148]] 2025-10-28T19:45:57.572Z,1761680757.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891254,0.436290,0.123760],[-0.449417,-0.813148,-0.369884],[-0.060741,-0.385280,0.920798]] 2025-10-28T19:45:57.940Z,1761680757.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:45:57.975Z,1761680757.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901903,0.416705,0.113701],[-0.427451,-0.823206,-0.373655],[-0.062105,-0.385602,0.920573]] 2025-10-28T19:45:58.378Z,1761680758.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911756,0.397184,0.104622],[-0.405811,-0.831802,-0.378712],[-0.063394,-0.387749,0.919582]] 2025-10-28T19:45:58.793Z,1761680758.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920966,0.377996,0.094558],[-0.384183,-0.840432,-0.382201],[-0.065001,-0.388322,0.919229]] 2025-10-28T19:45:58.944Z,1761680758.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:45:59.189Z,1761680759.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929432,0.359164,0.084607],[-0.362890,-0.848166,-0.385909],[-0.066844,-0.389379,0.918649]] 2025-10-28T19:45:59.590Z,1761680759.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937194,0.340656,0.074965],[-0.342060,-0.855520,-0.388690],[-0.068276,-0.389921,0.918314]] 2025-10-28T19:45:59.994Z,1761680759.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944422,0.322129,0.065578],[-0.321287,-0.862243,-0.391550],[-0.069585,-0.390858,0.917817]] 2025-10-28T19:46:00.398Z,1761680760.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951093,0.303856,0.055619],[-0.300644,-0.869170,-0.392627],[-0.070959,-0.390146,0.918014]] 2025-10-28T19:46:00.808Z,1761680760.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957258,0.285678,0.045232],[-0.280020,-0.876185,-0.392287],[-0.072437,-0.388186,0.918730]] 2025-10-28T19:46:01.229Z,1761680761.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962620,0.268470,0.035866],[-0.260545,-0.881639,-0.393483],[-0.074017,-0.388119,0.918632]] 2025-10-28T19:46:01.611Z,1761680761.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967373,0.251903,0.027086],[-0.241942,-0.886773,-0.393824],[-0.075186,-0.387528,0.918787]] 2025-10-28T19:46:02.015Z,1761680762.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971607,0.235775,0.019730],[-0.224165,-0.890662,-0.395565],[-0.075692,-0.388756,0.918226]] 2025-10-28T19:46:02.421Z,1761680762.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975334,0.220356,0.012882],[-0.207229,-0.894007,-0.397250],[-0.076020,-0.390121,0.917620]] 2025-10-28T19:46:02.823Z,1761680762.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978678,0.205301,0.006407],[-0.190850,-0.897375,-0.397864],[-0.075932,-0.390603,0.917422]] 2025-10-28T19:46:03.231Z,1761680763.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981660,0.190640,0.000887],[-0.175209,-0.900351,-0.398335],[-0.075140,-0.391184,0.917240]] 2025-10-28T19:46:03.638Z,1761680763.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984380,0.176013,-0.003807],[-0.159778,-0.902245,-0.400530],[-0.073934,-0.393665,0.916276]] 2025-10-28T19:46:04.035Z,1761680764.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986829,0.161522,-0.008888],[-0.144364,-0.904131,-0.402127],[-0.072988,-0.395548,0.915541]] 2025-10-28T19:46:04.065Z,1761680764.065 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:46:04.065Z,1761680764.065 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:46:04.065Z,1761680764.065 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:46:04.066Z,1761680764.066 [marl:UpdateRudder:A] Stopped 2025-10-28T19:46:04.066Z,1761680764.066 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:46:04.439Z,1761680764.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989197,0.145856,-0.014676],[-0.127717,-0.906637,-0.402117],[-0.071957,-0.395899,0.915471]] 2025-10-28T19:46:04.477Z,1761680764.477 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:46:04.477Z,1761680764.477 [marl:UpdateRudder:B] Stopped 2025-10-28T19:46:04.477Z,1761680764.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:46:04.477Z,1761680764.477 [marl:UpdateRudder] Stopped 2025-10-28T19:46:04.478Z,1761680764.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:46:04.842Z,1761680764.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991353,0.129615,-0.020472],[-0.110461,-0.908507,-0.403006],[-0.070834,-0.397260,0.914968]] 2025-10-28T19:46:05.251Z,1761680765.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993404,0.111221,-0.027904],[-0.090722,-0.911157,-0.401948],[-0.070130,-0.396765,0.915237]] 2025-10-28T19:46:05.276Z,1761680765.276 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:46:05.276Z,1761680765.276 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:46:05.276Z,1761680765.276 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateCommandMode] Stopped 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:46:05.277Z,1761680765.277 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:46:05.278Z,1761680765.278 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:46:05.278Z,1761680765.278 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:46:05.278Z,1761680765.278 [marl:UpdateSpeed] Stopped 2025-10-28T19:46:05.278Z,1761680765.278 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:46:05.658Z,1761680765.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995118,0.091897,-0.035981],[-0.069816,-0.913203,-0.401479],[-0.069753,-0.397007,0.915161]] 2025-10-28T19:46:06.055Z,1761680766.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996441,0.070948,-0.045521],[-0.046978,-0.915761,-0.398966],[-0.069993,-0.395408,0.915835]] 2025-10-28T19:46:06.459Z,1761680766.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997231,0.049351,-0.055625],[-0.023315,-0.917825,-0.396301],[-0.070612,-0.393907,0.916434]] 2025-10-28T19:46:06.875Z,1761680766.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997463,0.027377,-0.065720],[0.000856,-0.918430,-0.395582],[-0.071189,-0.394635,0.916076]] 2025-10-28T19:46:07.266Z,1761680767.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997106,0.006328,-0.075756],[0.024157,-0.918501,-0.394680],[-0.072080,-0.395368,0.915690]] 2025-10-28T19:46:07.670Z,1761680767.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996234,-0.014097,-0.085550],[0.046738,-0.918375,-0.392940],[-0.073028,-0.395459,0.915576]] 2025-10-28T19:46:08.074Z,1761680768.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994936,-0.032959,-0.094958],[0.067806,-0.917459,-0.392009],[-0.074200,-0.396462,0.915048]] 2025-10-28T19:46:08.479Z,1761680768.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993445,-0.049467,-0.103049],[0.086180,-0.916378,-0.390927],[-0.075094,-0.397245,0.914635]] 2025-10-28T19:46:08.885Z,1761680768.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991841,-0.064464,-0.109983],[0.102704,-0.915154,-0.389802],[-0.075523,-0.397917,0.914307]] 2025-10-28T19:46:09.288Z,1761680769.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990066,-0.078895,-0.116386],[0.118686,-0.912746,-0.390907],[-0.075390,-0.400837,0.913042]] 2025-10-28T19:46:09.691Z,1761680769.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988113,-0.093121,-0.122315],[0.134332,-0.909905,-0.392464],[-0.074749,-0.404229,0.911598]] 2025-10-28T19:46:10.095Z,1761680770.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985921,-0.107856,-0.127778],[0.150049,-0.907895,-0.391424],[-0.073791,-0.405086,0.911296]] 2025-10-28T19:46:10.500Z,1761680770.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983473,-0.123051,-0.132815],[0.165960,-0.905911,-0.389594],[-0.072379,-0.405197,0.911360]] 2025-10-28T19:46:10.902Z,1761680770.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980746,-0.138878,-0.137296],[0.182130,-0.904156,-0.386432],[-0.070470,-0.403998,0.912042]] 2025-10-28T19:46:11.308Z,1761680771.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977310,-0.156654,-0.142567],[0.200387,-0.901893,-0.382666],[-0.068634,-0.402552,0.912821]] 2025-10-28T19:46:11.712Z,1761680771.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973223,-0.175275,-0.148714],[0.219878,-0.898476,-0.379992],[-0.067013,-0.402516,0.912957]] 2025-10-28T19:46:12.119Z,1761680772.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968048,-0.196195,-0.156173],[0.241853,-0.895024,-0.374753],[-0.066254,-0.400550,0.913876]] 2025-10-28T19:46:12.518Z,1761680772.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962174,-0.216992,-0.164730],[0.264281,-0.890252,-0.370954],[-0.066157,-0.400458,0.913924]] 2025-10-28T19:46:12.923Z,1761680772.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955793,-0.237387,-0.173516],[0.286381,-0.885353,-0.366247],[-0.066680,-0.399748,0.914197]] 2025-10-28T19:46:13.330Z,1761680773.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948852,-0.257705,-0.182397],[0.308374,-0.880379,-0.360331],[-0.067719,-0.398147,0.914819]] 2025-10-28T19:46:13.730Z,1761680773.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941292,-0.277593,-0.192125],[0.330381,-0.874473,-0.355170],[-0.069415,-0.397793,0.914845]] 2025-10-28T19:46:14.141Z,1761680774.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933164,-0.296769,-0.202810],[0.352217,-0.867555,-0.351129],[-0.071745,-0.399094,0.914099]] 2025-10-28T19:46:14.543Z,1761680774.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924984,-0.314872,-0.212745],[0.372676,-0.861088,-0.345892],[-0.074281,-0.399230,0.913837]] 2025-10-28T19:46:14.944Z,1761680774.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916718,-0.332287,-0.221840],[0.392170,-0.854480,-0.340686],[-0.076353,-0.399312,0.913630]] 2025-10-28T19:46:15.349Z,1761680775.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908479,-0.349010,-0.229908],[0.410733,-0.847250,-0.336847],[-0.077226,-0.400450,0.913059]] 2025-10-28T19:46:15.753Z,1761680775.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900512,-0.364984,-0.236359],[0.428049,-0.839701,-0.334179],[-0.076501,-0.402105,0.912392]] 2025-10-28T19:46:16.155Z,1761680776.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892679,-0.379724,-0.242762],[0.444399,-0.831317,-0.333800],[-0.075060,-0.405860,0.910848]] 2025-10-28T19:46:16.587Z,1761680776.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884746,-0.394205,-0.248648],[0.460280,-0.822870,-0.333207],[-0.073254,-0.409251,0.909476]] 2025-10-28T19:46:16.965Z,1761680776.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876756,-0.408310,-0.254129],[0.475664,-0.814219,-0.332854],[-0.071009,-0.412712,0.908090]] 2025-10-28T19:46:17.367Z,1761680777.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867922,-0.423286,-0.259885],[0.491941,-0.804810,-0.332076],[-0.068595,-0.416064,0.906745]] 2025-10-28T19:46:17.414Z,1761680777.414 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:46:17.414Z,1761680777.414 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:46:17.414Z,1761680777.414 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:46:17.414Z,1761680777.414 [marl:UpdateRudder:A] Stopped 2025-10-28T19:46:17.414Z,1761680777.414 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:46:17.775Z,1761680777.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858874,-0.437626,-0.266117],[0.507916,-0.794677,-0.332429],[-0.065998,-0.420680,0.904805]] 2025-10-28T19:46:17.823Z,1761680777.823 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:46:17.823Z,1761680777.823 [marl:UpdateRudder:B] Stopped 2025-10-28T19:46:17.823Z,1761680777.823 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:46:17.823Z,1761680777.823 [marl:UpdateRudder] Stopped 2025-10-28T19:46:17.823Z,1761680777.823 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:46:18.175Z,1761680778.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849302,-0.452762,-0.271464],[0.524028,-0.785277,-0.329749],[-0.063877,-0.422311,0.904198]] 2025-10-28T19:46:18.621Z,1761680778.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838972,-0.469123,-0.275771],[0.540617,-0.776387,-0.323969],[-0.062123,-0.420888,0.904983]] 2025-10-28T19:46:18.673Z,1761680778.673 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:46:18.673Z,1761680778.673 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateCommandMode] Stopped 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:46:18.674Z,1761680778.674 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:46:18.675Z,1761680778.675 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:46:18.675Z,1761680778.675 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:46:18.675Z,1761680778.675 [marl:UpdateSpeed] Stopped 2025-10-28T19:46:18.675Z,1761680778.675 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:46:18.983Z,1761680778.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827721,-0.486303,-0.279978],[0.557833,-0.767196,-0.316596],[-0.060837,-0.418234,0.906300]] 2025-10-28T19:46:19.387Z,1761680779.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815863,-0.504058,-0.283361],[0.575138,-0.758105,-0.307399],[-0.059871,-0.413767,0.908412]] 2025-10-28T19:46:19.794Z,1761680779.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803486,-0.521274,-0.287547],[0.592385,-0.748001,-0.299288],[-0.059074,-0.410813,0.909804]] 2025-10-28T19:46:20.196Z,1761680780.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790956,-0.537630,-0.292133],[0.609070,-0.737444,-0.291908],[-0.058493,-0.408816,0.910740]] 2025-10-28T19:46:20.635Z,1761680780.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778148,-0.553799,-0.296299],[0.625382,-0.726860,-0.283853],[-0.058171,-0.406179,0.911940]] 2025-10-28T19:46:21.003Z,1761680781.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765315,-0.569072,-0.300751],[0.641040,-0.715970,-0.276505],[-0.057977,-0.404406,0.912740]] 2025-10-28T19:46:21.058Z,1761680781.058 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:46:21.130Z,1761680781.130 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:46:21.130Z,1761680781.130 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:46:21.381Z,1761680781.381 [DAT](INFO): DAT read: user:202> 2025-10-28T19:46:21.382Z,1761680781.382 [DAT](INFO): DAT read: Tx time:19:46:21.1281 2025-10-28T19:46:21.382Z,1761680781.382 [DAT](INFO): Ping request sent. 2025-10-28T19:46:21.382Z,1761680781.382 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:46:21.382Z,1761680781.382 [DAT](INFO): publishing transmit ping time 2025-10-28T19:46:21.383Z,1761680781.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T19:46:21.431Z,1761680781.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752732,-0.583450,-0.304927],[0.655833,-0.704866,-0.270271],[-0.057243,-0.403424,0.913221]] 2025-10-28T19:46:21.634Z,1761680781.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251159 2025-10-28T19:46:21.812Z,1761680781.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739865,-0.597598,-0.308993],[0.670377,-0.693471,-0.263992],[-0.056517,-0.402460,0.913691]] 2025-10-28T19:46:21.885Z,1761680781.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942 2025-10-28T19:46:22.137Z,1761680782.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754871 2025-10-28T19:46:22.215Z,1761680782.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727366,-0.611637,-0.311188],[0.684038,-0.682568,-0.257279],[-0.055046,-0.400001,0.914860]] 2025-10-28T19:46:22.391Z,1761680782.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008735 2025-10-28T19:46:22.630Z,1761680782.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714804,-0.625013,-0.313711],[0.697302,-0.671099,-0.251785],[-0.053162,-0.398728,0.915527]] 2025-10-28T19:46:22.641Z,1761680782.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941 2025-10-28T19:46:22.893Z,1761680782.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882 2025-10-28T19:46:23.022Z,1761680783.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702050,-0.638265,-0.315821],[0.710339,-0.659066,-0.247085],[-0.050441,-0.397806,0.916082]] 2025-10-28T19:46:23.145Z,1761680783.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017 2025-10-28T19:46:23.397Z,1761680783.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014828 2025-10-28T19:46:23.430Z,1761680783.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688742,-0.651819,-0.317438],[0.723460,-0.646481,-0.242214],[-0.047338,-0.396477,0.916824]] 2025-10-28T19:46:23.649Z,1761680783.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266839 2025-10-28T19:46:23.830Z,1761680783.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675364,-0.664697,-0.319469],[0.736189,-0.633306,-0.238642],[-0.043698,-0.396360,0.917055]] 2025-10-28T19:46:23.901Z,1761680783.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518877 2025-10-28T19:46:24.153Z,1761680784.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770832 2025-10-28T19:46:24.234Z,1761680784.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661045,-0.677802,-0.321875],[0.749262,-0.619327,-0.234609],[-0.040328,-0.396256,0.917254]] 2025-10-28T19:46:24.405Z,1761680784.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022884 2025-10-28T19:46:24.638Z,1761680784.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645911,-0.690938,-0.324658],[0.762509,-0.604581,-0.230350],[-0.037125,-0.396340,0.917353]] 2025-10-28T19:46:24.657Z,1761680784.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274873 2025-10-28T19:46:24.909Z,1761680784.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526774 2025-10-28T19:46:25.044Z,1761680785.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630191,-0.703826,-0.327854],[0.775699,-0.589150,-0.226258],[-0.033909,-0.396902,0.917235]] 2025-10-28T19:46:25.161Z,1761680785.161 [DAT](INFO): DAT read: Rx Time:19:46:24.4781 2025-10-28T19:46:25.161Z,1761680785.161 [DAT](INFO): Rx dataTimestamp_ set to:1761680785.161152 2025-10-28T19:46:25.162Z,1761680785.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779939 2025-10-28T19:46:25.413Z,1761680785.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030978 2025-10-28T19:46:25.446Z,1761680785.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613582,-0.716894,-0.331028],[0.789011,-0.573233,-0.221056],[-0.031282,-0.396821,0.917363]] 2025-10-28T19:46:25.671Z,1761680785.671 [DAT](INFO): DAT read: 19:46:24.4781 LVL= 32528, 32753, 32754, 32755, AGC= 78, IDX= 49,-0.07, 2.048, 0.405, 2.227, 2.007, PHS= 0.143,-1.557, 0.176, RAW= 151.0, 14.3, CAL= 151.2, 16.0, ROT= 358.8, -16.0 2025-10-28T19:46:25.672Z,1761680785.672 [DAT](INFO): got valid direction response: 19:46:24.4781 LVL= 32528, 32753, 32754, 32755, AGC= 78, IDX= 49,-0.07, 2.048, 0.405, 2.227, 2.007, PHS= 0.143,-1.557, 0.176, RAW= 151.0, 14.3, CAL= 151.2, 16.0, ROT= 358.8, -16.0 2025-10-28T19:46:25.673Z,1761680785.673 [DAT](INFO): DAT read: Bearing 103, -16 (Remote) 2025-10-28T19:46:25.673Z,1761680785.673 [DAT](INFO): Remote Bearing received:Bearing 103, -16 (Remote) 2025-10-28T19:46:25.674Z,1761680785.674 [DAT](INFO): DAT read: Bearing 281.2, -9.1 (Local) 2025-10-28T19:46:25.674Z,1761680785.674 [DAT](INFO): Local bearing/azimuth received: Bearing 281.2, -9.1 (Local) 2025-10-28T19:46:25.675Z,1761680785.675 [DAT](INFO): DAT read: Range 11 to 20 : 990.6 m (Round-trip 1320.8 ms) speed 0.8 m/s 2025-10-28T19:46:25.676Z,1761680785.676 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:46:25.677Z,1761680785.677 [DAT](INFO): direction in FSK: [0.961051,-0.020131,0.275637] 2025-10-28T19:46:25.677Z,1761680785.677 [DAT](INFO): publishing direction and range info 2025-10-28T19:46:25.853Z,1761680785.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596331,-0.729661,-0.334640],[0.802206,-0.556865,-0.215328],[-0.029233,-0.396858,0.917415]] 2025-10-28T19:46:25.889Z,1761680785.889 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680768.00. Resetting abort timer. 2025-10-28T19:46:26.254Z,1761680786.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579223,-0.741498,-0.338648],[0.814715,-0.540451,-0.210125],[-0.027216,-0.397610,0.917151]] 2025-10-28T19:46:26.658Z,1761680786.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562547,-0.753088,-0.341173],[0.826377,-0.524813,-0.204136],[-0.025320,-0.396774,0.917567]] 2025-10-28T19:46:27.063Z,1761680787.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545569,-0.764386,-0.343610],[0.837736,-0.508919,-0.197991],[-0.023528,-0.395872,0.918004]] 2025-10-28T19:46:27.469Z,1761680787.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528600,-0.774761,-0.346882],[0.848594,-0.492735,-0.192617],[-0.021689,-0.396179,0.917917]] 2025-10-28T19:46:27.870Z,1761680787.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511773,-0.785238,-0.348554],[0.858899,-0.476859,-0.186811],[-0.019520,-0.394977,0.918483]] 2025-10-28T19:46:28.275Z,1761680788.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495401,-0.794582,-0.351025],[0.868496,-0.461030,-0.182117],[-0.017126,-0.395084,0.918485]] 2025-10-28T19:46:28.678Z,1761680788.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478871,-0.803748,-0.353090],[0.877763,-0.445085,-0.177288],[-0.014660,-0.394827,0.918638]] 2025-10-28T19:46:29.064Z,1761680789.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:46:29.096Z,1761680789.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462019,-0.812724,-0.354990],[0.886786,-0.428860,-0.172305],[-0.012204,-0.394408,0.918854]] 2025-10-28T19:46:29.489Z,1761680789.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445382,-0.821221,-0.356695],[0.895289,-0.412746,-0.167623],[-0.009569,-0.394002,0.919060]] 2025-10-28T19:46:29.891Z,1761680789.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428440,-0.829600,-0.358054],[0.903541,-0.396548,-0.162370],[-0.007283,-0.393082,0.919475]] 2025-10-28T19:46:30.068Z,1761680790.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:46:30.294Z,1761680790.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410922,-0.837267,-0.360731],[0.911654,-0.379785,-0.157006],[-0.005545,-0.393379,0.919360]] 2025-10-28T19:46:30.698Z,1761680790.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393242,-0.844727,-0.363037],[0.919426,-0.363017,-0.151244],[-0.004029,-0.393261,0.919418]] 2025-10-28T19:46:30.797Z,1761680790.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:46:30.797Z,1761680790.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:46:30.797Z,1761680790.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:46:30.797Z,1761680790.797 [marl:UpdateRudder:A] Stopped 2025-10-28T19:46:30.797Z,1761680790.797 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:46:31.111Z,1761680791.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375537,-0.851903,-0.365011],[0.926803,-0.346328,-0.145232],[-0.002690,-0.392833,0.919606]] 2025-10-28T19:46:31.178Z,1761680791.178 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:46:31.178Z,1761680791.178 [marl:UpdateRudder:B] Stopped 2025-10-28T19:46:31.178Z,1761680791.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:46:31.178Z,1761680791.178 [marl:UpdateRudder] Stopped 2025-10-28T19:46:31.178Z,1761680791.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:46:31.507Z,1761680791.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357969,-0.858235,-0.367819],[0.933733,-0.329598,-0.139673],[-0.001360,-0.393443,0.919348]] 2025-10-28T19:46:31.911Z,1761680791.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340291,-0.863732,-0.371711],[0.940320,-0.312625,-0.134401],[-0.000120,-0.395263,0.918568]] 2025-10-28T19:46:31.960Z,1761680791.960 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:46:31.960Z,1761680791.960 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:46:31.960Z,1761680791.960 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateCommandMode] Stopped 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:46:31.961Z,1761680791.961 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:46:31.962Z,1761680791.962 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:46:31.962Z,1761680791.962 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:46:31.962Z,1761680791.962 [marl:UpdateSpeed] Stopped 2025-10-28T19:46:31.962Z,1761680791.962 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:46:32.315Z,1761680792.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322128,-0.869481,-0.374482],[0.946696,-0.295495,-0.128257],[0.000859,-0.395836,0.918321]] 2025-10-28T19:46:32.722Z,1761680792.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304523,-0.874047,-0.378559],[0.952502,-0.278541,-0.123100],[0.002151,-0.398065,0.917355]] 2025-10-28T19:46:33.123Z,1761680793.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287096,-0.878320,-0.382270],[0.957894,-0.261645,-0.118240],[0.003833,-0.400121,0.916454]] 2025-10-28T19:46:33.527Z,1761680793.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269381,-0.882968,-0.384448],[0.963018,-0.244690,-0.112799],[0.005527,-0.400616,0.916229]] 2025-10-28T19:46:33.932Z,1761680793.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251976,-0.886663,-0.387732],[0.967703,-0.227685,-0.108212],[0.007666,-0.402477,0.915398]] 2025-10-28T19:46:34.335Z,1761680794.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234681,-0.890356,-0.390117],[0.972018,-0.210704,-0.103849],[0.010263,-0.403573,0.914890]] 2025-10-28T19:46:34.738Z,1761680794.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217085,-0.894420,-0.391008],[0.976066,-0.193544,-0.099177],[0.013029,-0.403180,0.915028]] 2025-10-28T19:46:35.144Z,1761680795.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198761,-0.898272,-0.391919],[0.979925,-0.175825,-0.093979],[0.015510,-0.402731,0.915187]] 2025-10-28T19:46:35.559Z,1761680795.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180363,-0.902539,-0.391014],[0.983430,-0.158084,-0.088738],[0.018277,-0.400540,0.916097]] 2025-10-28T19:46:35.957Z,1761680795.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144023,-0.909581,-0.389770],[0.989303,-0.123117,-0.078244],[0.023182,-0.396870,0.917582]] 2025-10-28T19:46:36.364Z,1761680796.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124539,-0.913115,-0.388216],[0.991894,-0.104620,-0.072122],[0.025240,-0.394051,0.918742]] 2025-10-28T19:46:36.766Z,1761680796.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104826,-0.915274,-0.388954],[0.994120,-0.085762,-0.066111],[0.027153,-0.393597,0.918882]] 2025-10-28T19:46:37.168Z,1761680797.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084762,-0.917119,-0.389498],[0.995979,-0.066612,-0.059898],[0.028988,-0.393009,0.919078]] 2025-10-28T19:46:37.579Z,1761680797.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063524,-0.919422,-0.388108],[0.997513,-0.046596,-0.052885],[0.030539,-0.390502,0.920095]] 2025-10-28T19:46:37.971Z,1761680797.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041657,-0.921189,-0.386879],[0.998615,-0.025934,-0.045774],[0.032133,-0.388250,0.920994]] 2025-10-28T19:46:38.375Z,1761680798.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018792,-0.922243,-0.386155],[0.999251,-0.004261,-0.038453],[0.033818,-0.386588,0.921632]] 2025-10-28T19:46:38.785Z,1761680798.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004780,-0.921961,-0.387253],[0.999364,0.018084,-0.030717],[0.035323,-0.386860,0.921462]] 2025-10-28T19:46:39.183Z,1761680799.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029157,-0.920872,-0.388773],[0.998912,0.041003,-0.022206],[0.036390,-0.387702,0.921066]] 2025-10-28T19:46:39.596Z,1761680799.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053779,-0.919009,-0.390551],[0.997867,0.063960,-0.013099],[0.037017,-0.389013,0.920488]] 2025-10-28T19:46:39.990Z,1761680799.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078194,-0.916834,-0.391536],[0.996251,0.086442,-0.003454],[0.037012,-0.389798,0.920156]] 2025-10-28T19:46:40.399Z,1761680800.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102097,-0.913681,-0.393399],[0.994112,0.108143,0.006831],[0.036301,-0.391780,0.919342]] 2025-10-28T19:46:40.799Z,1761680800.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124553,-0.910189,-0.395022],[0.991592,0.128265,0.017113],[0.035091,-0.393832,0.918512]] 2025-10-28T19:46:41.202Z,1761680801.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145576,-0.906873,-0.395461],[0.988781,0.146887,0.027144],[0.033472,-0.394976,0.918082]] 2025-10-28T19:46:41.611Z,1761680801.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164310,-0.903665,-0.395464],[0.985892,0.163425,0.036185],[0.031930,-0.395830,0.917769]] 2025-10-28T19:46:42.012Z,1761680802.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181530,-0.900547,-0.395047],[0.982913,0.178604,0.044519],[0.030465,-0.396379,0.917581]] 2025-10-28T19:46:42.415Z,1761680802.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196986,-0.896754,-0.396268],[0.979962,0.192261,0.052056],[0.029506,-0.398582,0.916658]] 2025-10-28T19:46:42.818Z,1761680802.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211274,-0.893401,-0.396482],[0.976981,0.205271,0.058065],[0.029511,-0.399623,0.916204]] 2025-10-28T19:46:43.223Z,1761680803.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225162,-0.889621,-0.397336],[0.973844,0.218258,0.063185],[0.030511,-0.401170,0.915496]] 2025-10-28T19:46:43.637Z,1761680803.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238012,-0.886613,-0.396570],[0.970709,0.230923,0.066321],[0.032776,-0.400739,0.915606]] 2025-10-28T19:46:44.031Z,1761680804.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252057,-0.883134,-0.395653],[0.967038,0.245128,0.068918],[0.036121,-0.399983,0.915811]] 2025-10-28T19:46:44.074Z,1761680804.074 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:46:44.075Z,1761680804.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:46:44.075Z,1761680804.075 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:46:44.076Z,1761680804.076 [marl:UpdateRudder:A] Stopped 2025-10-28T19:46:44.076Z,1761680804.076 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:46:44.435Z,1761680804.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267641,-0.879551,-0.393393],[0.962686,0.261074,0.071244],[0.040042,-0.397782,0.916606]] 2025-10-28T19:46:44.486Z,1761680804.486 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:46:44.486Z,1761680804.486 [marl:UpdateRudder:B] Stopped 2025-10-28T19:46:44.486Z,1761680804.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:46:44.486Z,1761680804.486 [marl:UpdateRudder] Stopped 2025-10-28T19:46:44.486Z,1761680804.486 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:46:44.839Z,1761680804.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285752,-0.874598,-0.391694],[0.957296,0.279260,0.074825],[0.043942,-0.396348,0.917048]] 2025-10-28T19:46:45.245Z,1761680805.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306665,-0.868362,-0.389748],[0.950650,0.299711,0.080240],[0.047135,-0.395121,0.917419]] 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:46:45.278Z,1761680805.278 [marl:UpdateCommandMode] Stopped 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed] Stopped 2025-10-28T19:46:45.279Z,1761680805.279 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:46:45.651Z,1761680805.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328991,-0.861151,-0.387536],[0.943035,0.321110,0.087027],[0.049499,-0.394091,0.917738]] 2025-10-28T19:46:46.053Z,1761680806.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352778,-0.853166,-0.384260],[0.934319,0.343540,0.095016],[0.050945,-0.392541,0.918323]] 2025-10-28T19:46:46.455Z,1761680806.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377034,-0.843766,-0.381975],[0.924770,0.365851,0.104660],[0.051437,-0.392699,0.918227]] 2025-10-28T19:46:46.881Z,1761680806.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401404,-0.834517,-0.377434],[0.914482,0.388103,0.114452],[0.050971,-0.391098,0.918937]] 2025-10-28T19:46:47.262Z,1761680807.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424752,-0.824330,-0.374254],[0.903919,0.409068,0.124874],[0.050158,-0.391336,0.918880]] 2025-10-28T19:46:47.666Z,1761680807.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446601,-0.813827,-0.371797],[0.893381,0.428437,0.135318],[0.049166,-0.392589,0.918399]] 2025-10-28T19:46:48.077Z,1761680808.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467036,-0.803765,-0.368564],[0.882912,0.446715,0.144609],[0.048412,-0.392948,0.918286]] 2025-10-28T19:46:48.475Z,1761680808.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485925,-0.794167,-0.364931],[0.872705,0.463612,0.153134],[0.047572,-0.392889,0.918355]] 2025-10-28T19:46:48.882Z,1761680808.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503845,-0.784932,-0.360585],[0.862528,0.479769,0.160833],[0.046755,-0.392050,0.918755]] 2025-10-28T19:46:49.283Z,1761680809.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520573,-0.775561,-0.357084],[0.852570,0.494767,0.168316],[0.046134,-0.392060,0.918782]] 2025-10-28T19:46:49.686Z,1761680809.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536673,-0.765383,-0.355205],[0.842554,0.508866,0.176515],[0.045650,-0.394010,0.917972]] 2025-10-28T19:46:50.091Z,1761680810.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552263,-0.755262,-0.352965],[0.832437,0.522594,0.184237],[0.045310,-0.395568,0.917318]] 2025-10-28T19:46:50.496Z,1761680810.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567451,-0.745572,-0.349458],[0.822177,0.536229,0.191003],[0.044983,-0.395702,0.917277]] 2025-10-28T19:46:50.899Z,1761680810.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582263,-0.735842,-0.345697],[0.811776,0.549536,0.197560],[0.044600,-0.395660,0.917313]] 2025-10-28T19:46:51.303Z,1761680811.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596873,-0.725986,-0.341595],[0.801115,0.562725,0.203849],[0.044233,-0.395328,0.917474]] 2025-10-28T19:46:51.707Z,1761680811.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611471,-0.715744,-0.337363],[0.790038,0.576000,0.209912],[0.044079,-0.394885,0.917673]] 2025-10-28T19:46:52.113Z,1761680812.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625877,-0.705171,-0.333184],[0.778640,0.589441,0.215125],[0.044692,-0.394072,0.917992]] 2025-10-28T19:46:52.515Z,1761680812.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640492,-0.693932,-0.328980],[0.766597,0.603272,0.219980],[0.045813,-0.393091,0.918358]] 2025-10-28T19:46:52.919Z,1761680812.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655489,-0.681404,-0.325611],[0.753747,0.617067,0.226040],[0.046899,-0.393595,0.918087]] 2025-10-28T19:46:53.322Z,1761680813.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671058,-0.668670,-0.320253],[0.739819,0.632165,0.230292],[0.048464,-0.391468,0.918915]] 2025-10-28T19:46:53.735Z,1761680813.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687646,-0.654428,-0.314431],[0.724324,0.648155,0.235053],[0.049975,-0.389383,0.919719]] 2025-10-28T19:46:54.130Z,1761680814.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704911,-0.638304,-0.309302],[0.707415,0.664409,0.241090],[0.051614,-0.388752,0.919896]] 2025-10-28T19:46:54.539Z,1761680814.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722694,-0.620821,-0.303800],[0.689138,0.680897,0.247928],[0.052938,-0.388537,0.919911]] 2025-10-28T19:46:54.940Z,1761680814.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740716,-0.602569,-0.297069],[0.669681,0.697494,0.255010],[0.053542,-0.387832,0.920174]] 2025-10-28T19:46:55.343Z,1761680815.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759086,-0.583428,-0.288793],[0.648828,0.714172,0.262640],[0.053016,-0.386743,0.920662]] 2025-10-28T19:46:55.757Z,1761680815.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777208,-0.563641,-0.279744],[0.627170,0.729947,0.271726],[0.051043,-0.386634,0.920819]] 2025-10-28T19:46:56.151Z,1761680816.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795008,-0.543105,-0.270184],[0.604714,0.744670,0.282468],[0.047788,-0.387948,0.920441]] 2025-10-28T19:46:56.593Z,1761680816.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811398,-0.523847,-0.259263],[0.582857,0.758344,0.291877],[0.043711,-0.387942,0.920647]] 2025-10-28T19:46:56.959Z,1761680816.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826010,-0.505807,-0.248732],[0.562300,0.770037,0.301431],[0.039067,-0.388847,0.920474]] 2025-10-28T19:46:57.363Z,1761680817.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838753,-0.489868,-0.237746],[0.543444,0.780447,0.309145],[0.034108,-0.388498,0.920818]] 2025-10-28T19:46:57.401Z,1761680817.401 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:46:57.401Z,1761680817.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:46:57.402Z,1761680817.402 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:46:57.402Z,1761680817.402 [marl:UpdateRudder:A] Stopped 2025-10-28T19:46:57.402Z,1761680817.402 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:46:57.772Z,1761680817.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849921,-0.475664,-0.226667],[0.526103,0.789881,0.315125],[0.029146,-0.387082,0.921585]] 2025-10-28T19:46:57.815Z,1761680817.815 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:46:57.815Z,1761680817.815 [marl:UpdateRudder:B] Stopped 2025-10-28T19:46:57.820Z,1761680817.820 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:46:57.821Z,1761680817.821 [marl:UpdateRudder] Stopped 2025-10-28T19:46:57.821Z,1761680817.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:46:58.171Z,1761680818.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859975,-0.462222,-0.216320],[0.509739,0.798487,0.320288],[0.024685,-0.385706,0.922291]] 2025-10-28T19:46:58.615Z,1761680818.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869059,-0.448813,-0.208095],[0.494269,0.805468,0.326987],[0.020858,-0.387026,0.921833]] 2025-10-28T19:46:58.665Z,1761680818.665 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:46:58.665Z,1761680818.665 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:46:58.665Z,1761680818.665 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateCommandMode] Stopped 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:46:58.666Z,1761680818.666 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:46:58.667Z,1761680818.667 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:46:58.667Z,1761680818.667 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:46:58.667Z,1761680818.667 [marl:UpdateSpeed] Stopped 2025-10-28T19:46:58.667Z,1761680818.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:46:58.979Z,1761680818.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876929,-0.435962,-0.202319],[0.480279,0.810739,0.334714],[0.018105,-0.390690,0.920344]] 2025-10-28T19:46:59.383Z,1761680819.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884267,-0.423219,-0.197378],[0.466698,0.815662,0.341889],[0.016300,-0.394437,0.918778]] 2025-10-28T19:46:59.794Z,1761680819.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891377,-0.410178,-0.192877],[0.453019,0.820170,0.349420],[0.014868,-0.398842,0.916899]] 2025-10-28T19:47:00.192Z,1761680820.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897872,-0.397693,-0.188856],[0.440029,0.824474,0.355834],[0.014195,-0.402595,0.915268]] 2025-10-28T19:47:00.220Z,1761680820.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:47:00.621Z,1761680820.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903934,-0.385750,-0.184665],[0.427442,0.829076,0.360453],[0.014056,-0.404759,0.914316]] 2025-10-28T19:47:00.998Z,1761680820.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909795,-0.373710,-0.180596],[0.414810,0.833744,0.364422],[0.014383,-0.406462,0.913554]] 2025-10-28T19:47:01.225Z,1761680821.225 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:47:01.402Z,1761680821.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915893,-0.361067,-0.175417],[0.401128,0.839958,0.365468],[0.015385,-0.405094,0.914145]] 2025-10-28T19:47:01.814Z,1761680821.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921887,-0.347705,-0.170952],[0.387093,0.845676,0.367411],[0.016819,-0.404885,0.914213]] 2025-10-28T19:47:02.211Z,1761680822.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928549,-0.331991,-0.166071],[0.370733,0.852058,0.369532],[0.018821,-0.404697,0.914257]] 2025-10-28T19:47:02.626Z,1761680822.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935657,-0.314418,-0.160274],[0.352281,0.859257,0.370913],[0.021095,-0.403509,0.914733]] 2025-10-28T19:47:03.020Z,1761680823.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942883,-0.295696,-0.153411],[0.332313,0.867006,0.371306],[0.023215,-0.401079,0.915749]] 2025-10-28T19:47:03.423Z,1761680823.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950112,-0.275780,-0.145715],[0.310914,0.874672,0.371861],[0.024900,-0.398614,0.916781]] 2025-10-28T19:47:03.827Z,1761680823.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956869,-0.255784,-0.137754],[0.289304,0.882274,0.371343],[0.026553,-0.395180,0.918220]] 2025-10-28T19:47:04.231Z,1761680824.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963156,-0.235739,-0.129454],[0.267466,0.889998,0.369277],[0.028161,-0.390295,0.920259]] 2025-10-28T19:47:04.636Z,1761680824.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968981,-0.215547,-0.120896],[0.245344,0.897803,0.365727],[0.029709,-0.384044,0.922837]] 2025-10-28T19:47:05.046Z,1761680825.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974461,-0.194525,-0.112191],[0.222435,0.904691,0.363396],[0.030808,-0.379071,0.924855]] 2025-10-28T19:47:05.443Z,1761680825.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979460,-0.173017,-0.103555],[0.199132,0.910717,0.361859],[0.031702,-0.375047,0.926463]] 2025-10-28T19:47:05.852Z,1761680825.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983884,-0.151329,-0.095247],[0.175807,0.915893,0.360877],[0.032625,-0.371806,0.927737]] 2025-10-28T19:47:06.251Z,1761680826.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987757,-0.128964,-0.087778],[0.152262,0.919458,0.362511],[0.033958,-0.371438,0.927837]] 2025-10-28T19:47:06.654Z,1761680826.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991086,-0.106082,-0.080591],[0.128360,0.922324,0.364476],[0.035667,-0.371571,0.927719]] 2025-10-28T19:47:07.060Z,1761680827.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993791,-0.083834,-0.073151],[0.105033,0.923785,0.368224],[0.036706,-0.373621,0.926855]] 2025-10-28T19:47:07.463Z,1761680827.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995805,-0.063161,-0.066203],[0.083418,0.923991,0.373206],[0.037599,-0.377163,0.925383]] 2025-10-28T19:47:08.271Z,1761680828.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998129,-0.028808,-0.053936],[0.047426,0.921504,0.385462],[0.038597,-0.387298,0.921146]] 2025-10-28T19:47:09.078Z,1761680829.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999192,0.001814,-0.040137],[0.014460,0.915804,0.401364],[0.037486,-0.401621,0.915039]] 2025-10-28T19:47:09.487Z,1761680829.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999352,0.016830,-0.031804],[-0.002317,0.912135,0.409883],[0.035908,-0.409544,0.911583]] 2025-10-28T19:47:09.886Z,1761680829.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999251,0.031124,-0.023005],[-0.018754,0.909336,0.415639],[0.033855,-0.414896,0.909239]] 2025-10-28T19:47:10.290Z,1761680830.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998903,0.044788,-0.013690],[-0.034800,0.905452,0.423020],[0.031342,-0.422079,0.906017]] 2025-10-28T19:47:10.694Z,1761680830.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998319,0.057825,-0.003881],[-0.050594,0.902232,0.428273],[0.028266,-0.427357,0.903641]] 2025-10-28T19:47:10.763Z,1761680830.763 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:47:10.763Z,1761680830.763 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:47:10.763Z,1761680830.763 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:47:10.768Z,1761680830.768 [marl:UpdateRudder:A] Stopped 2025-10-28T19:47:10.768Z,1761680830.768 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:47:11.100Z,1761680831.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997452,0.071043,0.006428],[-0.066927,0.900855,0.428929],[0.024682,-0.428267,0.903315]] 2025-10-28T19:47:11.125Z,1761680831.125 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:47:11.125Z,1761680831.125 [marl:UpdateRudder:B] Stopped 2025-10-28T19:47:11.125Z,1761680831.125 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:47:11.125Z,1761680831.125 [marl:UpdateRudder] Stopped 2025-10-28T19:47:11.125Z,1761680831.125 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:47:11.502Z,1761680831.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996245,0.084939,0.016760],[-0.083951,0.900454,0.426771],[0.021158,-0.426576,0.904204]] 2025-10-28T19:47:11.922Z,1761680831.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994466,0.101370,0.027587],[-0.103513,0.900615,0.422111],[0.017944,-0.422630,0.906124]] 2025-10-28T19:47:11.951Z,1761680831.951 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:47:11.952Z,1761680831.952 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:47:11.952Z,1761680831.952 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:47:11.952Z,1761680831.952 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:47:11.952Z,1761680831.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:47:11.952Z,1761680831.952 [marl:UpdateCommandMode] Stopped 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed] Stopped 2025-10-28T19:47:11.953Z,1761680831.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:47:12.310Z,1761680832.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991978,0.120289,0.038849],[-0.125514,0.900856,0.415577],[0.014992,-0.417119,0.908728]] 2025-10-28T19:47:12.716Z,1761680832.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988804,0.140520,0.050199],[-0.148736,0.901176,0.407136],[0.011973,-0.410044,0.911987]] 2025-10-28T19:47:13.119Z,1761680833.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985012,0.161256,0.061214],[-0.172256,0.901410,0.397227],[0.008876,-0.401818,0.915677]] 2025-10-28T19:47:13.530Z,1761680833.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980707,0.181872,0.071668],[-0.195398,0.901217,0.386816],[0.005762,-0.393357,0.919368]] 2025-10-28T19:47:13.927Z,1761680833.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975856,0.202662,0.081439],[-0.218394,0.900395,0.376289],[0.002932,-0.384990,0.922916]] 2025-10-28T19:47:14.332Z,1761680834.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970439,0.223754,0.090460],[-0.241347,0.898434,0.366836],[0.000809,-0.377824,0.925877]] 2025-10-28T19:47:14.736Z,1761680834.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964363,0.245383,0.098947],[-0.264581,0.895129,0.358804],[-0.000526,-0.372197,0.928153]] 2025-10-28T19:47:15.138Z,1761680835.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957620,0.267198,0.107559],[-0.288032,0.889934,0.353631],[-0.001231,-0.369625,0.929180]] 2025-10-28T19:47:15.544Z,1761680835.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950168,0.289214,0.116346],[-0.311736,0.883042,0.350796],[-0.001284,-0.369584,0.929196]] 2025-10-28T19:47:15.947Z,1761680835.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942252,0.310644,0.125146],[-0.334903,0.875024,0.349533],[-0.000925,-0.371260,0.928528]] 2025-10-28T19:47:16.351Z,1761680836.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934599,0.329473,0.134060],[-0.355701,0.866674,0.349790],[-0.000940,-0.374599,0.927186]] 2025-10-28T19:47:16.757Z,1761680836.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927722,0.344838,0.142893],[-0.373268,0.858717,0.351107],[-0.001630,-0.379067,0.925368]] 2025-10-28T19:47:17.158Z,1761680837.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921516,0.357198,0.152373],[-0.388331,0.850224,0.355412],[-0.002599,-0.386689,0.922206]] 2025-10-28T19:47:17.566Z,1761680837.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915523,0.368427,0.161488],[-0.402250,0.841901,0.359719],[-0.003427,-0.394289,0.918980]] 2025-10-28T19:47:17.969Z,1761680837.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909554,0.379243,0.169958],[-0.415564,0.834071,0.362811],[-0.004163,-0.400625,0.916233]] 2025-10-28T19:47:18.372Z,1761680838.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903418,0.390165,0.177782],[-0.428736,0.826393,0.365048],[-0.004489,-0.406013,0.913856]] 2025-10-28T19:47:18.780Z,1761680838.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897133,0.400676,0.186041],[-0.441736,0.818173,0.368053],[-0.004743,-0.412374,0.911002]] 2025-10-28T19:47:19.178Z,1761680839.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890567,0.411436,0.193932],[-0.454822,0.810380,0.369352],[-0.005194,-0.417137,0.908829]] 2025-10-28T19:47:19.584Z,1761680839.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883613,0.422369,0.202070],[-0.468180,0.802474,0.369922],[-0.005912,-0.421473,0.906822]] 2025-10-28T19:47:19.986Z,1761680839.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876059,0.433990,0.210173],[-0.482153,0.794704,0.368747],[-0.006993,-0.424380,0.905457]] 2025-10-28T19:47:20.392Z,1761680840.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867477,0.446927,0.218494],[-0.497407,0.786570,0.365916],[-0.008323,-0.426104,0.904636]] 2025-10-28T19:47:20.802Z,1761680840.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857656,0.461143,0.227535],[-0.514125,0.777614,0.361928],[-0.010034,-0.427391,0.904011]] 2025-10-28T19:47:21.203Z,1761680841.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846220,0.477603,0.236234],[-0.532707,0.767973,0.355586],[-0.011592,-0.426748,0.904296]] 2025-10-28T19:47:21.235Z,1761680841.235 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:47:21.393Z,1761680841.393 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:47:21.393Z,1761680841.393 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:47:21.608Z,1761680841.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820122,0.514925,0.249505],[-0.571999,0.749039,0.334302],[-0.014748,-0.416885,0.908840]] 2025-10-28T19:47:21.645Z,1761680841.645 [DAT](INFO): DAT read: user:203> 2025-10-28T19:47:21.646Z,1761680841.646 [DAT](INFO): DAT read: Tx time:19:47:21.3779 2025-10-28T19:47:21.646Z,1761680841.646 [DAT](INFO): Ping request sent. 2025-10-28T19:47:21.646Z,1761680841.646 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:47:21.646Z,1761680841.646 [DAT](INFO): publishing transmit ping time 2025-10-28T19:47:21.647Z,1761680841.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945 2025-10-28T19:47:21.897Z,1761680841.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250750 2025-10-28T19:47:22.019Z,1761680842.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806060,0.533946,0.255282],[-0.591622,0.738470,0.323488],[-0.015793,-0.411782,0.911146]] 2025-10-28T19:47:22.151Z,1761680842.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504697 2025-10-28T19:47:22.405Z,1761680842.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758990 2025-10-28T19:47:22.422Z,1761680842.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791423,0.553005,0.260453],[-0.611047,0.727214,0.312699],[-0.016480,-0.406626,0.913446]] 2025-10-28T19:47:22.657Z,1761680842.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010748 2025-10-28T19:47:22.818Z,1761680842.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776663,0.571650,0.264595],[-0.629702,0.715517,0.302507],[-0.016394,-0.401563,0.915685]] 2025-10-28T19:47:22.909Z,1761680842.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262821 2025-10-28T19:47:23.161Z,1761680843.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514738 2025-10-28T19:47:23.219Z,1761680843.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761763,0.589360,0.269021],[-0.647657,0.703072,0.293651],[-0.016075,-0.397926,0.917277]] 2025-10-28T19:47:23.414Z,1761680843.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767378 2025-10-28T19:47:23.622Z,1761680843.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747567,0.604636,0.274880],[-0.663988,0.690461,0.287026],[-0.016248,-0.397088,0.917637]] 2025-10-28T19:47:23.665Z,1761680843.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018763 2025-10-28T19:47:23.917Z,1761680843.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270690 2025-10-28T19:47:24.030Z,1761680844.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733729,0.618833,0.280513],[-0.679244,0.678055,0.280836],[-0.016413,-0.396594,0.917847]] 2025-10-28T19:47:24.061Z,1761680844.061 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:47:24.061Z,1761680844.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:47:24.062Z,1761680844.062 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:47:24.062Z,1761680844.062 [marl:UpdateRudder:A] Stopped 2025-10-28T19:47:24.062Z,1761680844.062 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:47:24.169Z,1761680844.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522765 2025-10-28T19:47:24.422Z,1761680844.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775921 2025-10-28T19:47:24.433Z,1761680844.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720107,0.631626,0.287219],[-0.693657,0.665407,0.275813],[-0.016906,-0.397846,0.917296]] 2025-10-28T19:47:24.476Z,1761680844.476 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:47:24.476Z,1761680844.476 [marl:UpdateRudder:B] Stopped 2025-10-28T19:47:24.476Z,1761680844.476 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:47:24.476Z,1761680844.476 [marl:UpdateRudder] Stopped 2025-10-28T19:47:24.477Z,1761680844.477 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:47:24.673Z,1761680844.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026757 2025-10-28T19:47:24.835Z,1761680844.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707270,0.642595,0.294689],[-0.706722,0.653136,0.271952],[-0.017717,-0.400607,0.916079]] 2025-10-28T19:47:24.925Z,1761680844.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278868 2025-10-28T19:47:25.177Z,1761680845.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530839 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:47:25.295Z,1761680845.295 [marl:UpdateCommandMode] Stopped 2025-10-28T19:47:25.296Z,1761680845.296 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:47:25.296Z,1761680845.296 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:47:25.296Z,1761680845.296 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:47:25.296Z,1761680845.296 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:47:25.296Z,1761680845.296 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:47:25.297Z,1761680845.297 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:47:25.297Z,1761680845.297 [marl:UpdateSpeed] Stopped 2025-10-28T19:47:25.297Z,1761680845.297 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:47:25.429Z,1761680845.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782928 2025-10-28T19:47:25.645Z,1761680845.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680906,0.664723,0.307426],[-0.732113,0.628922,0.261662],[-0.019415,-0.403238,0.914889]] 2025-10-28T19:47:25.682Z,1761680845.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035769 2025-10-28T19:47:25.933Z,1761680845.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286772 2025-10-28T19:47:26.046Z,1761680846.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667614,0.675995,0.311965],[-0.744236,0.617287,0.255088],[-0.020133,-0.402476,0.915209]] 2025-10-28T19:47:26.185Z,1761680846.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539246 2025-10-28T19:47:26.437Z,1761680846.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790642 2025-10-28T19:47:26.453Z,1761680846.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654161,0.686727,0.316986],[-0.756073,0.605178,0.249225],[-0.020683,-0.402698,0.915099]] 2025-10-28T19:47:26.689Z,1761680846.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042782 2025-10-28T19:47:26.855Z,1761680846.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640890,0.697018,0.321598],[-0.767347,0.593149,0.243624],[-0.020945,-0.402914,0.914998]] 2025-10-28T19:47:26.941Z,1761680846.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294841 2025-10-28T19:47:27.193Z,1761680847.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546809 2025-10-28T19:47:27.260Z,1761680847.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627437,0.706819,0.326695],[-0.778391,0.580504,0.239001],[-0.020717,-0.404255,0.914412]] 2025-10-28T19:47:27.445Z,1761680847.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798807 2025-10-28T19:47:27.663Z,1761680847.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614292,0.715801,0.332076],[-0.788814,0.567973,0.234905],[-0.020465,-0.406246,0.913534]] 2025-10-28T19:47:27.697Z,1761680847.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050809 2025-10-28T19:47:27.949Z,1761680847.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303373 2025-10-28T19:47:28.201Z,1761680848.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554799 2025-10-28T19:47:28.453Z,1761680848.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807133 2025-10-28T19:47:28.471Z,1761680848.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587350,0.731875,0.345513],[-0.809084,0.541572,0.228219],[-0.020092,-0.413593,0.910240]] 2025-10-28T19:47:28.705Z,1761680848.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058763 2025-10-28T19:47:28.874Z,1761680848.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572924,0.739867,0.352639],[-0.819365,0.527522,0.224415],[-0.019988,-0.417513,0.908451]] 2025-10-28T19:47:28.957Z,1761680848.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310872 2025-10-28T19:47:29.215Z,1761680849.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569003 2025-10-28T19:47:29.303Z,1761680849.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558191,0.747990,0.359073],[-0.829462,0.513678,0.219378],[-0.020356,-0.420293,0.907160]] 2025-10-28T19:47:29.469Z,1761680849.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822761 2025-10-28T19:47:29.683Z,1761680849.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542548,0.757321,0.363464],[-0.839769,0.499652,0.212452],[-0.020711,-0.420491,0.907060]] 2025-10-28T19:47:29.721Z,1761680849.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074744 2025-10-28T19:47:29.979Z,1761680849.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332950 2025-10-28T19:47:30.089Z,1761680850.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525497,0.766787,0.368632],[-0.850519,0.484502,0.204635],[-0.021692,-0.421064,0.906771]] 2025-10-28T19:47:30.229Z,1761680850.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582890 2025-10-28T19:47:30.483Z,1761680850.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.836379 2025-10-28T19:47:30.516Z,1761680850.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507279,0.776906,0.372940],[-0.861465,0.468880,0.195010],[-0.023360,-0.420200,0.907131]] 2025-10-28T19:47:30.733Z,1761680850.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086756 2025-10-28T19:47:30.895Z,1761680850.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487826,0.787555,0.376540],[-0.872574,0.452435,0.184169],[-0.025316,-0.418401,0.907909]] 2025-10-28T19:47:30.987Z,1761680850.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.340503 2025-10-28T19:47:31.237Z,1761680851.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590703 2025-10-28T19:47:31.299Z,1761680851.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467508,0.799310,0.377546],[-0.883566,0.435739,0.171589],[-0.027359,-0.413806,0.909954]] 2025-10-28T19:47:31.344Z,1761680851.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:47:31.489Z,1761680851.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842994 2025-10-28T19:47:31.705Z,1761680851.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446555,0.811095,0.377774],[-0.894273,0.418454,0.158657],[-0.029396,-0.408682,0.912203]] 2025-10-28T19:47:31.742Z,1761680851.742 [DAT](INFO): Reached modem response timeout 2025-10-28T19:47:32.106Z,1761680852.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424859,0.822172,0.378850],[-0.904719,0.400095,0.146314],[-0.031281,-0.404915,0.913819]] 2025-10-28T19:47:32.348Z,1761680852.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:47:32.517Z,1761680852.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403282,0.832897,0.379007],[-0.914481,0.381760,0.134106],[-0.032993,-0.400678,0.915625]] 2025-10-28T19:47:32.914Z,1761680852.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381588,0.842179,0.380954],[-0.923692,0.362773,0.123243],[-0.034407,-0.398913,0.916343]] 2025-10-28T19:47:33.318Z,1761680853.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361405,0.849623,0.384093],[-0.931719,0.344914,0.113725],[-0.035856,-0.398968,0.916264]] 2025-10-28T19:47:33.722Z,1761680853.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341941,0.855925,0.387903],[-0.938971,0.327692,0.104648],[-0.037542,-0.400013,0.915740]] 2025-10-28T19:47:34.018Z,1761680854.018 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:47:34.018Z,1761680854.018 [DAT](INFO): response not received 2025-10-28T19:47:34.018Z,1761680854.018 [DAT](ERROR): No response from remote modem. 2025-10-28T19:47:34.126Z,1761680854.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323367,0.861767,0.390886],[-0.945454,0.311418,0.095575],[-0.039365,-0.400471,0.915464]] 2025-10-28T19:47:34.545Z,1761680854.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305207,0.867001,0.393901],[-0.951398,0.295474,0.086816],[-0.041118,-0.401253,0.915044]] 2025-10-28T19:47:34.935Z,1761680854.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287306,0.871387,0.397668],[-0.956877,0.279717,0.078393],[-0.042924,-0.403042,0.914174]] 2025-10-28T19:47:35.339Z,1761680855.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269357,0.875165,0.401912],[-0.961993,0.263970,0.069922],[-0.044899,-0.405471,0.913005]] 2025-10-28T19:47:35.743Z,1761680855.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251032,0.878981,0.405432],[-0.966838,0.248008,0.060956],[-0.046971,-0.407289,0.912091]] 2025-10-28T19:47:36.149Z,1761680856.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232120,0.882078,0.409951],[-0.971452,0.231465,0.052014],[-0.049009,-0.410321,0.910623]] 2025-10-28T19:47:36.616Z,1761680856.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212225,0.886220,0.411795],[-0.975898,0.214123,0.042134],[-0.050835,-0.410812,0.910302]] 2025-10-28T19:47:36.954Z,1761680856.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191599,0.890953,0.411694],[-0.980064,0.196149,0.031627],[-0.052575,-0.409546,0.910773]] 2025-10-28T19:47:37.359Z,1761680857.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171106,0.896191,0.409346],[-0.983764,0.178231,0.021007],[-0.054132,-0.406294,0.912138]] 2025-10-28T19:47:37.383Z,1761680857.383 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:47:37.384Z,1761680857.384 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:47:37.384Z,1761680857.384 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:47:37.384Z,1761680857.384 [marl:UpdateRudder:A] Stopped 2025-10-28T19:47:37.384Z,1761680857.384 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:47:37.770Z,1761680857.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150267,0.901555,0.405732],[-0.987085,0.159861,0.010359],[-0.055522,-0.402049,0.913933]] 2025-10-28T19:47:37.799Z,1761680857.799 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:47:37.799Z,1761680857.799 [marl:UpdateRudder:B] Stopped 2025-10-28T19:47:37.799Z,1761680857.799 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:47:37.799Z,1761680857.799 [marl:UpdateRudder] Stopped 2025-10-28T19:47:37.799Z,1761680857.799 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:47:38.167Z,1761680858.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129808,0.905959,0.402974],[-0.989897,0.141785,0.000113],[-0.057033,-0.398918,0.915211]] 2025-10-28T19:47:38.633Z,1761680858.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109554,0.909494,0.401021],[-0.992257,0.123819,-0.009742],[-0.058514,-0.396849,0.916017]] 2025-10-28T19:47:38.681Z,1761680858.681 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:47:38.681Z,1761680858.681 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:47:38.681Z,1761680858.681 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateCommandMode] Stopped 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:47:38.682Z,1761680858.682 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:47:38.683Z,1761680858.683 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:47:38.683Z,1761680858.683 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:47:38.683Z,1761680858.683 [marl:UpdateSpeed] Stopped 2025-10-28T19:47:38.683Z,1761680858.683 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:47:38.982Z,1761680858.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090254,0.912040,0.400046],[-0.994108,0.106716,-0.019015],[-0.060033,-0.395972,0.916298]] 2025-10-28T19:47:39.380Z,1761680859.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071195,0.913951,0.399532],[-0.995569,0.089779,-0.027967],[-0.061430,-0.395770,0.916293]] 2025-10-28T19:47:39.786Z,1761680859.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052200,0.915271,0.399442],[-0.996651,0.072957,-0.036926],[-0.062939,-0.396176,0.916015]] 2025-10-28T19:47:40.187Z,1761680860.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032929,0.916053,0.399704],[-0.997387,0.055850,-0.045830],[-0.064306,-0.397150,0.915498]] 2025-10-28T19:47:40.635Z,1761680860.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013579,0.916620,0.399530],[-0.997733,0.038762,-0.055019],[-0.065918,-0.397877,0.915068]] 2025-10-28T19:47:41.003Z,1761680861.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006741,0.916913,0.399031],[-0.997716,0.020651,-0.064309],[-0.067207,-0.398554,0.914679]] 2025-10-28T19:47:41.409Z,1761680861.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027722,0.917314,0.397197],[-0.997273,0.001807,-0.073778],[-0.068396,-0.398160,0.914763]] 2025-10-28T19:47:41.810Z,1761680861.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049344,0.917111,0.395565],[-0.996390,-0.017808,-0.083003],[-0.069079,-0.398233,0.914679]] 2025-10-28T19:47:42.215Z,1761680862.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071621,0.916523,0.393517],[-0.994997,-0.038103,-0.092349],[-0.069646,-0.398162,0.914667]] 2025-10-28T19:47:42.644Z,1761680862.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093349,0.914925,0.392681],[-0.993155,-0.057754,-0.101531],[-0.070214,-0.399471,0.914053]] 2025-10-28T19:47:43.022Z,1761680863.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115827,0.913209,0.390682],[-0.990747,-0.078205,-0.110928],[-0.070747,-0.399916,0.913817]] 2025-10-28T19:47:43.427Z,1761680863.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138233,0.911489,0.387401],[-0.987819,-0.098669,-0.120322],[-0.071448,-0.399315,0.914026]] 2025-10-28T19:47:43.831Z,1761680863.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160513,0.909893,0.382533],[-0.984390,-0.119222,-0.129472],[-0.072200,-0.397343,0.914826]] 2025-10-28T19:47:44.236Z,1761680864.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182607,0.907408,0.378503],[-0.980468,-0.139461,-0.138684],[-0.073057,-0.396435,0.915152]] 2025-10-28T19:47:44.639Z,1761680864.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204217,0.904252,0.374999],[-0.976149,-0.159275,-0.147526],[-0.073673,-0.396182,0.915211]] 2025-10-28T19:47:45.134Z,1761680865.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225532,0.899813,0.373460],[-0.971428,-0.178617,-0.156284],[-0.073920,-0.398036,0.914387]] 2025-10-28T19:47:45.451Z,1761680865.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245285,0.894576,0.373589],[-0.966618,-0.196241,-0.164737],[-0.074056,-0.401525,0.912849]] 2025-10-28T19:47:45.854Z,1761680865.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263868,0.889281,0.373568],[-0.961712,-0.212824,-0.172673],[-0.074050,-0.404828,0.911390]] 2025-10-28T19:47:46.255Z,1761680866.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280717,0.884423,0.372818],[-0.956940,-0.227991,-0.179682],[-0.073916,-0.407205,0.910341]] 2025-10-28T19:47:46.668Z,1761680866.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296378,0.879834,0.371553],[-0.952230,-0.242239,-0.185951],[-0.073601,-0.408916,0.909599]] 2025-10-28T19:47:47.063Z,1761680867.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311097,0.875378,0.370043],[-0.947536,-0.255600,-0.191947],[-0.073443,-0.410343,0.908969]] 2025-10-28T19:47:47.473Z,1761680867.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325143,0.870975,0.368354],[-0.942806,-0.268293,-0.197828],[-0.073477,-0.411609,0.908394]] 2025-10-28T19:47:47.871Z,1761680867.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339130,0.866929,0.365275],[-0.937876,-0.281301,-0.203120],[-0.073338,-0.411466,0.908469]] 2025-10-28T19:47:48.277Z,1761680868.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353712,0.862951,0.360837],[-0.932482,-0.295122,-0.208278],[-0.073242,-0.410144,0.909075]] 2025-10-28T19:47:48.679Z,1761680868.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369362,0.858990,0.354553],[-0.926388,-0.310253,-0.213420],[-0.073325,-0.407283,0.910354]] 2025-10-28T19:47:49.487Z,1761680869.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403492,0.849090,0.340940],[-0.912000,-0.343152,-0.224727],[-0.073819,-0.401613,0.912830]] 2025-10-28T19:47:49.892Z,1761680869.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422123,0.842199,0.335429],[-0.903517,-0.360670,-0.231462],[-0.073958,-0.400771,0.913188]] 2025-10-28T19:47:50.295Z,1761680870.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441445,0.834366,0.330090],[-0.894223,-0.378708,-0.238631],[-0.074098,-0.400517,0.913289]] 2025-10-28T19:47:50.699Z,1761680870.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460729,0.826859,0.322542],[-0.884433,-0.397342,-0.244738],[-0.074204,-0.398025,0.914369]] 2025-10-28T19:47:50.748Z,1761680870.748 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:47:50.749Z,1761680870.749 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:47:50.749Z,1761680870.749 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:47:50.749Z,1761680870.749 [marl:UpdateRudder:A] Stopped 2025-10-28T19:47:50.749Z,1761680870.749 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:47:51.103Z,1761680871.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479595,0.819751,0.313045],[-0.874321,-0.416126,-0.249806],[-0.074512,-0.393508,0.916297]] 2025-10-28T19:47:51.127Z,1761680871.127 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:47:51.127Z,1761680871.127 [marl:UpdateRudder:B] Stopped 2025-10-28T19:47:51.127Z,1761680871.127 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:47:51.127Z,1761680871.127 [marl:UpdateRudder] Stopped 2025-10-28T19:47:51.127Z,1761680871.127 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:47:51.508Z,1761680871.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498529,0.811880,0.303843],[-0.863631,-0.434869,-0.255011],[-0.074906,-0.389538,0.917959]] 2025-10-28T19:47:51.964Z,1761680871.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517587,0.802634,0.296450],[-0.852339,-0.453295,-0.260850],[-0.074988,-0.387689,0.918735]] 2025-10-28T19:47:51.995Z,1761680871.995 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:47:51.995Z,1761680871.995 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:47:51.995Z,1761680871.995 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateCommandMode] Stopped 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:47:51.996Z,1761680871.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:47:51.997Z,1761680871.997 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:47:51.997Z,1761680871.997 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:47:51.997Z,1761680871.997 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:47:51.997Z,1761680871.997 [marl:UpdateSpeed] Stopped 2025-10-28T19:47:51.997Z,1761680871.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:47:52.314Z,1761680872.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536319,0.792794,0.289550],[-0.840639,-0.471100,-0.267192],[-0.075422,-0.386707,0.919113]] 2025-10-28T19:47:52.718Z,1761680872.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555804,0.782407,0.280929],[-0.827817,-0.489944,-0.273265],[-0.076165,-0.384439,0.920003]] 2025-10-28T19:47:53.122Z,1761680873.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574843,0.771331,0.273138],[-0.814619,-0.507986,-0.279904],[-0.077148,-0.383404,0.920353]] 2025-10-28T19:47:53.528Z,1761680873.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594381,0.759139,0.265366],[-0.800375,-0.526355,-0.286967],[-0.078172,-0.382960,0.920451]] 2025-10-28T19:47:53.934Z,1761680873.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614432,0.746212,0.256205],[-0.784996,-0.545657,-0.293325],[-0.079082,-0.381349,0.921043]] 2025-10-28T19:47:54.335Z,1761680874.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633915,0.732301,0.248770],[-0.769261,-0.563769,-0.300670],[-0.079932,-0.381969,0.920712]] 2025-10-28T19:47:54.739Z,1761680874.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652361,0.718311,0.241774],[-0.753576,-0.580682,-0.308111],[-0.080925,-0.383195,0.920116]] 2025-10-28T19:47:55.143Z,1761680875.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668833,0.704452,0.237509],[-0.738892,-0.594743,-0.316734],[-0.081867,-0.387336,0.918297]] 2025-10-28T19:47:55.547Z,1761680875.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683483,0.691475,0.233910],[-0.725259,-0.606932,-0.325012],[-0.082770,-0.391785,0.916326]] 2025-10-28T19:47:55.958Z,1761680875.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696351,0.679255,0.231749],[-0.712868,-0.617200,-0.332991],[-0.083151,-0.397085,0.914007]] 2025-10-28T19:47:56.355Z,1761680876.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707821,0.668401,0.228537],[-0.701453,-0.626882,-0.339091],[-0.083383,-0.400324,0.912572]] 2025-10-28T19:47:56.771Z,1761680876.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718145,0.658011,0.226470],[-0.690904,-0.635285,-0.345056],[-0.083178,-0.404270,0.910850]] 2025-10-28T19:47:57.567Z,1761680877.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736976,0.638951,0.220471],[-0.670990,-0.652268,-0.352589],[-0.081481,-0.407783,0.909436]] 2025-10-28T19:47:57.971Z,1761680877.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746444,0.629239,0.216516],[-0.660590,-0.661432,-0.355146],[-0.080261,-0.408125,0.909391]] 2025-10-28T19:47:58.375Z,1761680878.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756422,0.618570,0.212596],[-0.649340,-0.671084,-0.357776],[-0.078640,-0.408677,0.909285]] 2025-10-28T19:47:58.783Z,1761680878.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766847,0.607477,0.207165],[-0.637166,-0.681686,-0.359618],[-0.077238,-0.407770,0.909812]] 2025-10-28T19:47:59.182Z,1761680879.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778481,0.595176,0.199331],[-0.623073,-0.694422,-0.359942],[-0.075810,-0.404406,0.911432]] 2025-10-28T19:47:59.587Z,1761680879.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790720,0.581353,0.191811],[-0.607637,-0.707241,-0.361369],[-0.074427,-0.402293,0.912481]] 2025-10-28T19:47:59.993Z,1761680879.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803656,0.566209,0.183154],[-0.590553,-0.720860,-0.362778],[-0.073379,-0.399711,0.913700]] 2025-10-28T19:48:00.395Z,1761680880.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817088,0.549678,0.173842],[-0.571892,-0.734707,-0.364892],[-0.072850,-0.397568,0.914676]] 2025-10-28T19:48:00.799Z,1761680880.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830156,0.532422,0.165434],[-0.552809,-0.747518,-0.368264],[-0.072407,-0.397170,0.914884]] 2025-10-28T19:48:01.203Z,1761680881.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842839,0.514806,0.156837],[-0.533311,-0.759921,-0.371618],[-0.072127,-0.396856,0.915042]] 2025-10-28T19:48:01.608Z,1761680881.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854579,0.497227,0.149868],[-0.514302,-0.770281,-0.377043],[-0.072036,-0.399290,0.913990]] 2025-10-28T19:48:02.010Z,1761680882.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865631,0.479782,0.143153],[-0.495523,-0.780004,-0.382166],[-0.071697,-0.401750,0.912938]] 2025-10-28T19:48:02.419Z,1761680882.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875586,0.463171,0.137193],[-0.477744,-0.788259,-0.387826],[-0.071486,-0.405118,0.911465]] 2025-10-28T19:48:02.481Z,1761680882.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:48:02.818Z,1761680882.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884561,0.447384,0.131903],[-0.461049,-0.795869,-0.392462],[-0.070604,-0.407970,0.910261]] 2025-10-28T19:48:03.224Z,1761680883.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892894,0.432235,0.126144],[-0.444850,-0.803504,-0.395589],[-0.069631,-0.409334,0.909724]] 2025-10-28T19:48:03.485Z,1761680883.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:48:03.627Z,1761680883.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900933,0.416784,0.120874],[-0.428585,-0.810868,-0.398507],[-0.068079,-0.410833,0.909166]] 2025-10-28T19:48:04.033Z,1761680884.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908398,0.401625,0.116235],[-0.412835,-0.817583,-0.401404],[-0.066182,-0.412621,0.908495]] 2025-10-28T19:48:04.081Z,1761680884.081 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:48:04.081Z,1761680884.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:48:04.082Z,1761680884.082 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:48:04.082Z,1761680884.082 [marl:UpdateRudder:A] Stopped 2025-10-28T19:48:04.082Z,1761680884.082 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:48:04.442Z,1761680884.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915705,0.386111,0.111370],[-0.396778,-0.824822,-0.402785],[-0.063659,-0.413021,0.908494]] 2025-10-28T19:48:04.495Z,1761680884.495 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:48:04.495Z,1761680884.495 [marl:UpdateRudder:B] Stopped 2025-10-28T19:48:04.495Z,1761680884.495 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:48:04.495Z,1761680884.495 [marl:UpdateRudder] Stopped 2025-10-28T19:48:04.495Z,1761680884.495 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:48:04.840Z,1761680884.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922705,0.370549,0.106346],[-0.380656,-0.832117,-0.403339],[-0.060964,-0.412645,0.908850]] 2025-10-28T19:48:05.243Z,1761680885.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929721,0.354193,0.100828],[-0.363628,-0.839629,-0.403483],[-0.058253,-0.411790,0.909415]] 2025-10-28T19:48:05.282Z,1761680885.282 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:48:05.282Z,1761680885.282 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:48:05.282Z,1761680885.282 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateCommandMode] Stopped 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:48:05.283Z,1761680885.283 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:48:05.284Z,1761680885.284 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:48:05.284Z,1761680885.284 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:48:05.284Z,1761680885.284 [marl:UpdateSpeed] Stopped 2025-10-28T19:48:05.284Z,1761680885.284 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:48:05.651Z,1761680885.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936727,0.336954,0.094892],[-0.345662,-0.847487,-0.402844],[-0.055320,-0.410156,0.910336]] 2025-10-28T19:48:06.058Z,1761680886.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950236,0.300381,0.082603],[-0.307473,-0.861626,-0.403807],[-0.050123,-0.409110,0.911107]] 2025-10-28T19:48:06.461Z,1761680886.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956312,0.282133,0.076603],[-0.288450,-0.867948,-0.404305],[-0.047581,-0.408738,0.911411]] 2025-10-28T19:48:06.865Z,1761680886.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961932,0.263914,0.070962],[-0.269561,-0.873535,-0.405306],[-0.044978,-0.409005,0.911423]] 2025-10-28T19:48:07.267Z,1761680887.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967316,0.245199,0.064635],[-0.249989,-0.879422,-0.405121],[-0.042494,-0.408038,0.911975]] 2025-10-28T19:48:07.668Z,1761680887.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972153,0.226791,0.059021],[-0.230885,-0.883799,-0.406929],[-0.040126,-0.409225,0.911551]] 2025-10-28T19:48:08.073Z,1761680888.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976481,0.208769,0.053861],[-0.212276,-0.887194,-0.409667],[-0.037740,-0.411465,0.910644]] 2025-10-28T19:48:08.474Z,1761680888.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980270,0.191491,0.049017],[-0.194448,-0.889649,-0.413177],[-0.035512,-0.414556,0.909331]] 2025-10-28T19:48:08.878Z,1761680888.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983597,0.174774,0.044630],[-0.177344,-0.891742,-0.416348],[-0.032968,-0.417434,0.908109]] 2025-10-28T19:48:09.282Z,1761680889.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986612,0.158151,0.039824],[-0.160192,-0.893943,-0.418574],[-0.030598,-0.419350,0.907309]] 2025-10-28T19:48:09.687Z,1761680889.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989246,0.141930,0.035318],[-0.143555,-0.896022,-0.420162],[-0.027988,-0.420714,0.906762]] 2025-10-28T19:48:10.093Z,1761680890.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991571,0.125744,0.031221],[-0.127121,-0.897664,-0.421948],[-0.025032,-0.422360,0.906082]] 2025-10-28T19:48:10.495Z,1761680890.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993619,0.109437,0.027283],[-0.110642,-0.898829,-0.424105],[-0.021890,-0.424417,0.905202]] 2025-10-28T19:48:10.902Z,1761680890.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995391,0.093047,0.023220],[-0.094073,-0.900325,-0.424930],[-0.018633,-0.425155,0.904929]] 2025-10-28T19:48:11.303Z,1761680891.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996935,0.075838,0.019210],[-0.076792,-0.901694,-0.425501],[-0.014948,-0.425672,0.904754]] 2025-10-28T19:48:11.708Z,1761680891.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998139,0.058980,0.015503],[-0.059977,-0.903400,-0.424584],[-0.011036,-0.424724,0.905256]] 2025-10-28T19:48:12.112Z,1761680892.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999106,0.040845,0.010868],[-0.041612,-0.905512,-0.422276],[-0.007406,-0.422351,0.906402]] 2025-10-28T19:48:12.514Z,1761680892.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999755,0.021520,0.005153],[-0.021694,-0.907261,-0.420007],[-0.004363,-0.420016,0.907506]] 2025-10-28T19:48:12.931Z,1761680892.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999997,0.001846,-0.001362],[-0.001109,-0.908648,-0.417562],[-0.002008,-0.417559,0.908647]] 2025-10-28T19:48:13.324Z,1761680893.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999811,-0.017529,-0.008372],[0.019422,-0.909646,-0.414929],[-0.000343,-0.415014,0.909815]] 2025-10-28T19:48:13.727Z,1761680893.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999178,-0.037333,-0.015788],[0.040519,-0.909699,-0.413287],[0.001067,-0.413587,0.910464]] 2025-10-28T19:48:14.133Z,1761680894.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998072,-0.057255,-0.023944],[0.062029,-0.908263,-0.413776],[0.001943,-0.414463,0.910064]] 2025-10-28T19:48:14.539Z,1761680894.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996519,-0.076982,-0.032010],[0.083325,-0.906786,-0.413274],[0.002789,-0.414503,0.910044]] 2025-10-28T19:48:14.941Z,1761680894.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994517,-0.096830,-0.039497],[0.104503,-0.906106,-0.409940],[0.003906,-0.411820,0.911257]] 2025-10-28T19:48:15.342Z,1761680895.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992095,-0.116415,-0.046851],[0.125389,-0.904682,-0.407221],[0.005021,-0.409876,0.912127]] 2025-10-28T19:48:15.751Z,1761680895.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989324,-0.135337,-0.054048],[0.145600,-0.902243,-0.405905],[0.006169,-0.409441,0.912316]] 2025-10-28T19:48:16.152Z,1761680896.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986260,-0.153543,-0.060954],[0.165030,-0.899057,-0.405539],[0.007467,-0.410026,0.912043]] 2025-10-28T19:48:16.577Z,1761680896.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982965,-0.170971,-0.067436],[0.183566,-0.895160,-0.406193],[0.009081,-0.411653,0.911296]] 2025-10-28T19:48:16.964Z,1761680896.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979672,-0.186899,-0.072880],[0.200300,-0.891271,-0.406836],[0.011082,-0.413164,0.910589]] 2025-10-28T19:48:17.363Z,1761680897.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976119,-0.202673,-0.078203],[0.216841,-0.887280,-0.407081],[0.013116,-0.414317,0.910038]] 2025-10-28T19:48:17.410Z,1761680897.410 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:48:17.411Z,1761680897.411 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:48:17.411Z,1761680897.411 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:48:17.411Z,1761680897.411 [marl:UpdateRudder:A] Stopped 2025-10-28T19:48:17.411Z,1761680897.411 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:48:17.774Z,1761680897.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972270,-0.218531,-0.083275],[0.233356,-0.883198,-0.406825],[0.015355,-0.414977,0.909702]] 2025-10-28T19:48:17.822Z,1761680897.822 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:48:17.822Z,1761680897.822 [marl:UpdateRudder:B] Stopped 2025-10-28T19:48:17.822Z,1761680897.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:48:17.822Z,1761680897.822 [marl:UpdateRudder] Stopped 2025-10-28T19:48:17.822Z,1761680897.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:48:18.172Z,1761680898.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968263,-0.233786,-0.088375],[0.249298,-0.878243,-0.408092],[0.017792,-0.417173,0.908653]] 2025-10-28T19:48:18.616Z,1761680898.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964138,-0.248332,-0.093648],[0.264614,-0.872259,-0.411270],[0.020446,-0.421301,0.906690]] 2025-10-28T19:48:18.734Z,1761680898.734 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:48:18.734Z,1761680898.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:48:18.734Z,1761680898.734 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateCommandMode] Stopped 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:48:18.735Z,1761680898.735 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:48:18.736Z,1761680898.736 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:48:18.736Z,1761680898.736 [marl:UpdateSpeed] Stopped 2025-10-28T19:48:18.736Z,1761680898.736 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:48:18.979Z,1761680898.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959764,-0.262771,-0.099016],[0.279886,-0.866624,-0.413070],[0.022733,-0.424163,0.905300]] 2025-10-28T19:48:19.385Z,1761680899.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955047,-0.277818,-0.103452],[0.295436,-0.863031,-0.409749],[0.024553,-0.421893,0.906313]] 2025-10-28T19:48:19.792Z,1761680899.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950049,-0.292919,-0.107726],[0.311026,-0.859987,-0.404580],[0.025866,-0.417876,0.908136]] 2025-10-28T19:48:20.191Z,1761680900.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944564,-0.307792,-0.114295],[0.327247,-0.854343,-0.403741],[0.026621,-0.418762,0.907706]] 2025-10-28T19:48:20.621Z,1761680900.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938602,-0.322767,-0.121852],[0.343921,-0.847413,-0.404486],[0.027296,-0.421559,0.906390]] 2025-10-28T19:48:21.003Z,1761680901.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932414,-0.337715,-0.128655],[0.360244,-0.840217,-0.405290],[0.028774,-0.424245,0.905090]] 2025-10-28T19:48:21.413Z,1761680901.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925141,-0.355197,-0.133976],[0.378366,-0.834033,-0.401532],[0.030883,-0.422166,0.905992]] 2025-10-28T19:48:21.438Z,1761680901.438 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:48:21.444Z,1761680901.444 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:48:21.444Z,1761680901.444 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:48:21.697Z,1761680901.697 [DAT](INFO): DAT read: user:204> 2025-10-28T19:48:21.698Z,1761680901.698 [DAT](INFO): DAT read: Tx time:19:48:21.4276 2025-10-28T19:48:21.698Z,1761680901.698 [DAT](INFO): Ping request sent. 2025-10-28T19:48:21.698Z,1761680901.698 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:48:21.698Z,1761680901.698 [DAT](INFO): publishing transmit ping time 2025-10-28T19:48:21.699Z,1761680901.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955 2025-10-28T19:48:21.807Z,1761680901.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917051,-0.373607,-0.139410],[0.397383,-0.827067,-0.397552],[0.033226,-0.419974,0.906927]] 2025-10-28T19:48:21.949Z,1761680901.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068 2025-10-28T19:48:22.201Z,1761680902.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-28T19:48:22.212Z,1761680902.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907681,-0.394075,-0.144291],[0.418141,-0.820015,-0.390812],[0.035689,-0.415067,0.909091]] 2025-10-28T19:48:22.453Z,1761680902.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914 2025-10-28T19:48:22.627Z,1761680902.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897322,-0.415181,-0.149792],[0.439723,-0.811555,-0.384737],[0.038171,-0.411100,0.910791]] 2025-10-28T19:48:22.706Z,1761680902.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007582 2025-10-28T19:48:22.957Z,1761680902.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259006 2025-10-28T19:48:23.019Z,1761680903.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886362,-0.435618,-0.156840],[0.461187,-0.800822,-0.382087],[0.040843,-0.411000,0.910720]] 2025-10-28T19:48:23.209Z,1761680903.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933 2025-10-28T19:48:23.423Z,1761680903.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874809,-0.455267,-0.165653],[0.482528,-0.788224,-0.381928],[0.043307,-0.414047,0.909225]] 2025-10-28T19:48:23.461Z,1761680903.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763112 2025-10-28T19:48:23.713Z,1761680903.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014911 2025-10-28T19:48:23.827Z,1761680903.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862567,-0.475009,-0.174199],[0.503918,-0.775804,-0.379731],[0.045232,-0.415325,0.908548]] 2025-10-28T19:48:23.965Z,1761680903.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054 2025-10-28T19:48:24.217Z,1761680904.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935 2025-10-28T19:48:24.238Z,1761680904.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849892,-0.494635,-0.181717],[0.524915,-0.764331,-0.374517],[0.046357,-0.413685,0.909239]] 2025-10-28T19:48:24.471Z,1761680904.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773300 2025-10-28T19:48:24.635Z,1761680904.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836921,-0.513484,-0.189466],[0.545283,-0.752392,-0.369557],[0.047209,-0.412602,0.909687]] 2025-10-28T19:48:24.721Z,1761680904.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023386 2025-10-28T19:48:24.973Z,1761680904.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275058 2025-10-28T19:48:25.039Z,1761680905.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824041,-0.531074,-0.197276],[0.564535,-0.740542,-0.364553],[0.047513,-0.411775,0.910046]] 2025-10-28T19:48:25.225Z,1761680905.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526864 2025-10-28T19:48:25.443Z,1761680905.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811443,-0.547354,-0.204849],[0.582520,-0.729153,-0.359175],[0.047229,-0.410778,0.910511]] 2025-10-28T19:48:25.477Z,1761680905.477 [DAT](INFO): DAT read: Rx Time:19:48:24.7252 2025-10-28T19:48:25.478Z,1761680905.478 [DAT](INFO): Rx dataTimestamp_ set to:1761680905.477235 2025-10-28T19:48:25.478Z,1761680905.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780133 2025-10-28T19:48:25.729Z,1761680905.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030937 2025-10-28T19:48:25.880Z,1761680905.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799946,-0.561346,-0.212081],[0.598266,-0.718666,-0.354397],[0.046524,-0.410379,0.910727]] 2025-10-28T19:48:25.987Z,1761680905.987 [DAT](INFO): DAT read: 19:48:24.7252 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 360,-0.07,-2.316, 2.654,-1.710,-2.212, PHS=-0.002,-1.372, 0.459, RAW= 164.0, 11.1, CAL= 164.1, 12.5, ROT= 345.9, -12.5 2025-10-28T19:48:25.988Z,1761680905.988 [DAT](INFO): got valid direction response: 19:48:24.7252 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 360,-0.07,-2.316, 2.654,-1.710,-2.212, PHS=-0.002,-1.372, 0.459, RAW= 164.0, 11.1, CAL= 164.1, 12.5, ROT= 345.9, -12.5 2025-10-28T19:48:25.989Z,1761680905.989 [DAT](INFO): DAT read: Bearing 105, -14 (Remote) 2025-10-28T19:48:25.989Z,1761680905.989 [DAT](INFO): Remote Bearing received:Bearing 105, -14 (Remote) 2025-10-28T19:48:25.990Z,1761680905.990 [DAT](INFO): DAT read: Bearing 292.1, -14.9 (Local) 2025-10-28T19:48:25.990Z,1761680905.990 [DAT](INFO): Local bearing/azimuth received: Bearing 292.1, -14.9 (Local) 2025-10-28T19:48:25.992Z,1761680905.992 [DAT](INFO): DAT read: Range 11 to 20 : 951.3 m (Round-trip 1268.5 ms) speed 0.7 m/s 2025-10-28T19:48:25.992Z,1761680905.992 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:48:25.993Z,1761680905.993 [DAT](INFO): direction in FSK: [0.946882,-0.237841,0.216440] 2025-10-28T19:48:25.994Z,1761680905.994 [DAT](INFO): publishing direction and range info 2025-10-28T19:48:26.251Z,1761680906.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789464,-0.574048,-0.217290],[0.612097,-0.709966,-0.348262],[0.045650,-0.407943,0.911866]] 2025-10-28T19:48:26.309Z,1761680906.309 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761680896.00. Resetting abort timer. 2025-10-28T19:48:26.654Z,1761680906.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779358,-0.586276,-0.221090],[0.624958,-0.701984,-0.341534],[0.045031,-0.404349,0.913495]] 2025-10-28T19:48:27.060Z,1761680907.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769891,-0.597103,-0.225247],[0.636553,-0.693356,-0.337723],[0.045479,-0.403391,0.913897]] 2025-10-28T19:48:27.463Z,1761680907.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759932,-0.608661,-0.228114],[0.648343,-0.684718,-0.332885],[0.046421,-0.400866,0.914960]] 2025-10-28T19:48:27.867Z,1761680907.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749032,-0.620589,-0.231992],[0.660793,-0.674402,-0.329445],[0.047994,-0.400064,0.915230]] 2025-10-28T19:48:28.271Z,1761680908.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737115,-0.632775,-0.237186],[0.673933,-0.662500,-0.326967],[0.049761,-0.400860,0.914787]] 2025-10-28T19:48:28.676Z,1761680908.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723800,-0.646505,-0.241132],[0.688103,-0.650334,-0.321837],[0.051253,-0.398870,0.915574]] 2025-10-28T19:48:29.078Z,1761680909.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708388,-0.661485,-0.246221],[0.703901,-0.636353,-0.315560],[0.052055,-0.396854,0.916405]] 2025-10-28T19:48:29.483Z,1761680909.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693136,-0.674709,-0.253634],[0.718915,-0.621628,-0.311029],[0.052188,-0.397927,0.915931]] 2025-10-28T19:48:29.893Z,1761680909.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676997,-0.687961,-0.261505],[0.734158,-0.606219,-0.305795],[0.051846,-0.399008,0.915480]] 2025-10-28T19:48:30.292Z,1761680910.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660941,-0.700369,-0.269517],[0.748694,-0.590943,-0.300407],[0.051126,-0.400337,0.914941]] 2025-10-28T19:48:30.695Z,1761680910.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644517,-0.712691,-0.276894],[0.762967,-0.575908,-0.293617],[0.049792,-0.400502,0.914942]] 2025-10-28T19:48:30.764Z,1761680910.764 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:48:30.765Z,1761680910.765 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:48:30.765Z,1761680910.765 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:48:30.765Z,1761680910.765 [marl:UpdateRudder:A] Stopped 2025-10-28T19:48:30.765Z,1761680910.765 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:48:31.099Z,1761680911.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629339,-0.723283,-0.284244],[0.775597,-0.561606,-0.288180],[0.048803,-0.401822,0.914417]] 2025-10-28T19:48:31.144Z,1761680911.144 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:48:31.147Z,1761680911.147 [marl:UpdateRudder:B] Stopped 2025-10-28T19:48:31.147Z,1761680911.147 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:48:31.148Z,1761680911.148 [marl:UpdateRudder] Stopped 2025-10-28T19:48:31.148Z,1761680911.148 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:48:31.502Z,1761680911.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615157,-0.732901,-0.290583],[0.786926,-0.548216,-0.283208],[0.048261,-0.402884,0.913978]] 2025-10-28T19:48:31.908Z,1761680911.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601638,-0.741315,-0.297462],[0.797303,-0.534788,-0.279838],[0.048369,-0.405529,0.912802]] 2025-10-28T19:48:32.311Z,1761680912.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587937,-0.749876,-0.303341],[0.807429,-0.521375,-0.276092],[0.048880,-0.407251,0.912007]] 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode] Stopped 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:48:32.342Z,1761680912.342 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed] Stopped 2025-10-28T19:48:32.343Z,1761680912.343 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:48:32.714Z,1761680912.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574133,-0.758813,-0.307530],[0.817204,-0.507918,-0.272392],[0.050494,-0.407703,0.911717]] 2025-10-28T19:48:33.118Z,1761680913.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559979,-0.767802,-0.311294],[0.826813,-0.493873,-0.269202],[0.052954,-0.408129,0.911387]] 2025-10-28T19:48:33.524Z,1761680913.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544572,-0.777822,-0.313743],[0.836862,-0.479071,-0.264864],[0.055712,-0.406797,0.911818]] 2025-10-28T19:48:33.605Z,1761680913.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:48:33.926Z,1761680913.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527763,-0.788494,-0.315820],[0.847402,-0.463343,-0.259275],[0.058104,-0.404463,0.912707]] 2025-10-28T19:48:34.331Z,1761680914.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509561,-0.799482,-0.318081],[0.858341,-0.446541,-0.252691],[0.059985,-0.401784,0.913768]] 2025-10-28T19:48:34.610Z,1761680914.610 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:48:34.734Z,1761680914.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490459,-0.810571,-0.320039],[0.869312,-0.429265,-0.245008],[0.061215,-0.398380,0.915176]] 2025-10-28T19:48:35.140Z,1761680915.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471070,-0.820269,-0.324424],[0.879933,-0.411242,-0.237903],[0.061727,-0.397540,0.915506]] 2025-10-28T19:48:35.543Z,1761680915.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451053,-0.829715,-0.328823],[0.890385,-0.392995,-0.229717],[0.061374,-0.396393,0.916027]] 2025-10-28T19:48:35.947Z,1761680915.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431111,-0.838109,-0.334239],[0.900249,-0.374579,-0.221904],[0.060781,-0.396564,0.915993]] 2025-10-28T19:48:36.351Z,1761680916.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411853,-0.845418,-0.340067],[0.909254,-0.356574,-0.214735],[0.060282,-0.397647,0.915556]] 2025-10-28T19:48:36.759Z,1761680916.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392899,-0.852051,-0.345889],[0.917627,-0.338757,-0.207859],[0.059934,-0.399065,0.914962]] 2025-10-28T19:48:37.159Z,1761680917.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373974,-0.858064,-0.351951],[0.925517,-0.320860,-0.201167],[0.059687,-0.400968,0.914146]] 2025-10-28T19:48:37.563Z,1761680917.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355132,-0.863989,-0.356937],[0.932900,-0.303119,-0.194464],[0.059820,-0.402047,0.913663]] 2025-10-28T19:48:37.966Z,1761680917.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336049,-0.870252,-0.360184],[0.939921,-0.285444,-0.187270],[0.060159,-0.401476,0.913891]] 2025-10-28T19:48:38.379Z,1761680918.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316282,-0.876443,-0.363061],[0.946741,-0.267247,-0.179613],[0.060393,-0.400533,0.914290]] 2025-10-28T19:48:38.779Z,1761680918.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295843,-0.882003,-0.366806],[0.953315,-0.248268,-0.171911],[0.060559,-0.400541,0.914276]] 2025-10-28T19:48:39.179Z,1761680919.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274306,-0.888021,-0.369019],[0.959743,-0.228696,-0.163070],[0.060416,-0.398894,0.915005]] 2025-10-28T19:48:39.584Z,1761680919.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252335,-0.893658,-0.371084],[0.965766,-0.208738,-0.154026],[0.060187,-0.397246,0.915736]] 2025-10-28T19:48:39.986Z,1761680919.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231063,-0.898274,-0.373784],[0.971103,-0.189340,-0.145290],[0.059738,-0.396554,0.916066]] 2025-10-28T19:48:40.391Z,1761680920.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209819,-0.902240,-0.376748],[0.975962,-0.170036,-0.136330],[0.058941,-0.396297,0.916229]] 2025-10-28T19:48:40.797Z,1761680920.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189136,-0.905753,-0.379262],[0.980240,-0.151368,-0.127344],[0.057934,-0.395853,0.916485]] 2025-10-28T19:48:41.199Z,1761680921.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168717,-0.908455,-0.382420],[0.984033,-0.132930,-0.118358],[0.056687,-0.396283,0.916377]] 2025-10-28T19:48:41.610Z,1761680921.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149071,-0.910970,-0.384593],[0.987267,-0.115282,-0.109608],[0.055513,-0.396036,0.916556]] 2025-10-28T19:48:42.006Z,1761680922.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130452,-0.913132,-0.386228],[0.989963,-0.098603,-0.101249],[0.054371,-0.395560,0.916830]] 2025-10-28T19:48:42.410Z,1761680922.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112649,-0.915268,-0.386774],[0.992214,-0.082810,-0.093021],[0.053111,-0.394242,0.917471]] 2025-10-28T19:48:42.815Z,1761680922.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095485,-0.916530,-0.388402],[0.994076,-0.067445,-0.085231],[0.051921,-0.394240,0.917540]] 2025-10-28T19:48:43.220Z,1761680923.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078619,-0.917604,-0.389642],[0.995601,-0.052287,-0.077748],[0.050969,-0.394041,0.917679]] 2025-10-28T19:48:43.637Z,1761680923.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061978,-0.918716,-0.390024],[0.996814,-0.037320,-0.070493],[0.050207,-0.393151,0.918102]] 2025-10-28T19:48:44.027Z,1761680924.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045367,-0.919954,-0.389391],[0.997713,-0.022174,-0.063855],[0.050109,-0.391398,0.918856]] 2025-10-28T19:48:44.069Z,1761680924.069 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:48:44.070Z,1761680924.070 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:48:44.070Z,1761680924.070 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:48:44.070Z,1761680924.070 [marl:UpdateRudder:A] Stopped 2025-10-28T19:48:44.070Z,1761680924.070 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:48:44.431Z,1761680924.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028013,-0.920621,-0.389452],[0.998328,-0.006057,-0.057490],[0.050567,-0.390411,0.919251]] 2025-10-28T19:48:44.456Z,1761680924.456 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:48:44.456Z,1761680924.456 [marl:UpdateRudder:B] Stopped 2025-10-28T19:48:44.456Z,1761680924.456 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:48:44.456Z,1761680924.456 [marl:UpdateRudder] Stopped 2025-10-28T19:48:44.456Z,1761680924.456 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:48:44.836Z,1761680924.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009770,-0.921482,-0.388299],[0.998624,0.011015,-0.051268],[0.051519,-0.388266,0.920106]] 2025-10-28T19:48:45.238Z,1761680925.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010126,-0.921591,-0.388030],[0.998570,0.029687,-0.044450],[0.052484,-0.387025,0.920574]] 2025-10-28T19:48:45.647Z,1761680925.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032014,-0.920382,-0.389708],[0.998089,0.050061,-0.036238],[0.052861,-0.387803,0.920225]] 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode] Stopped 2025-10-28T19:48:45.741Z,1761680925.741 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed] Stopped 2025-10-28T19:48:45.742Z,1761680925.742 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:48:46.046Z,1761680926.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054699,-0.918739,-0.391058],[0.997089,0.071094,-0.027557],[0.053120,-0.388412,0.919953]] 2025-10-28T19:48:46.451Z,1761680926.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078311,-0.917103,-0.390882],[0.995522,0.092760,-0.018190],[0.052941,-0.387707,0.920261]] 2025-10-28T19:48:46.865Z,1761680926.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102198,-0.914810,-0.390740],[0.993384,0.114540,-0.008344],[0.052389,-0.387302,0.920463]] 2025-10-28T19:48:47.259Z,1761680927.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126471,-0.910905,-0.392756],[0.990641,0.136473,0.002480],[0.051341,-0.389394,0.919639]] 2025-10-28T19:48:47.668Z,1761680927.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150855,-0.907131,-0.392881],[0.987294,0.158327,0.013528],[0.049932,-0.389930,0.919490]] 2025-10-28T19:48:48.067Z,1761680928.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174870,-0.902537,-0.393507],[0.983420,0.179595,0.025106],[0.048013,-0.391373,0.918979]] 2025-10-28T19:48:48.471Z,1761680928.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198513,-0.896798,-0.395406],[0.979022,0.200348,0.037118],[0.045931,-0.394479,0.917756]] 2025-10-28T19:48:48.876Z,1761680928.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220315,-0.891346,-0.396186],[0.974442,0.219388,0.048294],[0.043871,-0.396700,0.916899]] 2025-10-28T19:48:49.279Z,1761680929.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241209,-0.886326,-0.395277],[0.969561,0.237742,0.058568],[0.042064,-0.397373,0.916693]] 2025-10-28T19:48:49.691Z,1761680929.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260641,-0.881104,-0.394616],[0.964589,0.254780,0.068228],[0.040425,-0.398426,0.916309]] 2025-10-28T19:48:50.087Z,1761680930.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279018,-0.876085,-0.393223],[0.959497,0.270937,0.077191],[0.038913,-0.398834,0.916197]] 2025-10-28T19:48:50.491Z,1761680930.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296727,-0.870983,-0.391589],[0.954228,0.286501,0.085825],[0.037438,-0.399132,0.916129]] 2025-10-28T19:48:50.905Z,1761680930.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328506,-0.861258,-0.387709],[0.943841,0.314700,0.100640],[0.035335,-0.398996,0.916272]] 2025-10-28T19:48:51.305Z,1761680931.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343199,-0.856789,-0.384873],[0.938626,0.327934,0.106957],[0.034573,-0.397960,0.916751]] 2025-10-28T19:48:51.718Z,1761680931.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357872,-0.852293,-0.381476],[0.933152,0.341299,0.112882],[0.033989,-0.396373,0.917460]] 2025-10-28T19:48:52.111Z,1761680932.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372278,-0.847080,-0.379296],[0.927510,0.354383,0.118906],[0.033694,-0.396067,0.917603]] 2025-10-28T19:48:52.515Z,1761680932.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386636,-0.841424,-0.377517],[0.921622,0.367413,0.124982],[0.033542,-0.396250,0.917530]] 2025-10-28T19:48:52.922Z,1761680932.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401084,-0.835544,-0.375496],[0.915423,0.380647,0.130800],[0.033643,-0.396200,0.917548]] 2025-10-28T19:48:53.319Z,1761680933.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416369,-0.828616,-0.374209],[0.908561,0.394575,0.137210],[0.033959,-0.397122,0.917137]] 2025-10-28T19:48:53.726Z,1761680933.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431762,-0.821563,-0.372313],[0.901316,0.408904,0.142927],[0.034817,-0.397282,0.917036]] 2025-10-28T19:48:54.126Z,1761680934.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448381,-0.814108,-0.369028],[0.893130,0.424538,0.148614],[0.035678,-0.396226,0.917459]] 2025-10-28T19:48:54.532Z,1761680934.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465835,-0.805500,-0.366289],[0.884105,0.440911,0.154777],[0.036828,-0.395939,0.917538]] 2025-10-28T19:48:54.943Z,1761680934.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484351,-0.796235,-0.362509],[0.874070,0.458171,0.161498],[0.037501,-0.395080,0.917881]] 2025-10-28T19:48:55.346Z,1761680935.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504011,-0.785827,-0.358399],[0.862877,0.476220,0.169289],[0.037645,-0.394577,0.918091]] 2025-10-28T19:48:55.745Z,1761680935.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523947,-0.774402,-0.354656],[0.850936,0.494120,0.178194],[0.037249,-0.395154,0.917860]] 2025-10-28T19:48:56.159Z,1761680936.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544110,-0.762535,-0.349979],[0.838232,0.512053,0.187531],[0.036209,-0.395401,0.917795]] 2025-10-28T19:48:56.570Z,1761680936.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564003,-0.750517,-0.344420],[0.825054,0.529555,0.197123],[0.034445,-0.395343,0.917888]] 2025-10-28T19:48:56.954Z,1761680936.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583431,-0.738461,-0.338057],[0.811534,0.546453,0.206888],[0.031954,-0.395050,0.918104]] 2025-10-28T19:48:57.360Z,1761680937.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602236,-0.725866,-0.332311],[0.797786,0.562417,0.217313],[0.029157,-0.395987,0.917793]] 2025-10-28T19:48:57.405Z,1761680937.405 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:48:57.405Z,1761680937.405 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:48:57.405Z,1761680937.405 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:48:57.406Z,1761680937.406 [marl:UpdateRudder:A] Stopped 2025-10-28T19:48:57.406Z,1761680937.406 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:48:57.772Z,1761680937.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620079,-0.713632,-0.325932],[0.784104,0.577568,0.227150],[0.026147,-0.396416,0.917699]] 2025-10-28T19:48:57.828Z,1761680937.828 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:48:57.828Z,1761680937.828 [marl:UpdateRudder:B] Stopped 2025-10-28T19:48:57.828Z,1761680937.828 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:48:57.828Z,1761680937.828 [marl:UpdateRudder] Stopped 2025-10-28T19:48:57.828Z,1761680937.828 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:48:58.168Z,1761680938.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636310,-0.702005,-0.319841],[0.771092,0.591122,0.236626],[0.022953,-0.397195,0.917447]] 2025-10-28T19:48:58.611Z,1761680938.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650677,-0.691495,-0.313775],[0.759091,0.603212,0.244777],[0.020011,-0.397455,0.917404]] 2025-10-28T19:48:58.975Z,1761680938.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664075,-0.681677,-0.307116],[0.747465,0.614807,0.251609],[0.017301,-0.396646,0.917809]] 2025-10-28T19:48:59.034Z,1761680939.034 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:48:59.034Z,1761680939.034 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:48:59.034Z,1761680939.034 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateCommandMode] Stopped 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:48:59.035Z,1761680939.035 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:48:59.036Z,1761680939.036 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:48:59.040Z,1761680939.040 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:48:59.040Z,1761680939.040 [marl:UpdateSpeed] Stopped 2025-10-28T19:48:59.040Z,1761680939.040 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:48:59.378Z,1761680939.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675917,-0.672463,-0.301546],[0.736824,0.624979,0.257859],[0.015059,-0.396478,0.917921]] 2025-10-28T19:48:59.795Z,1761680939.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686966,-0.663838,-0.295629],[0.726569,0.634854,0.262787],[0.013233,-0.395321,0.918448]] 2025-10-28T19:49:00.187Z,1761680940.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697624,-0.654924,-0.290509],[0.716365,0.644349,0.267648],[0.011900,-0.394828,0.918678]] 2025-10-28T19:49:00.619Z,1761680940.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708052,-0.645931,-0.285369],[0.706071,0.653986,0.271599],[0.011193,-0.393797,0.919129]] 2025-10-28T19:49:00.995Z,1761680940.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718293,-0.636739,-0.280389],[0.695652,0.663707,0.274883],[0.011067,-0.392500,0.919685]] 2025-10-28T19:49:01.399Z,1761680941.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728792,-0.626748,-0.275771],[0.684642,0.673603,0.278430],[0.011255,-0.391722,0.920015]] 2025-10-28T19:49:01.809Z,1761680941.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740431,-0.614954,-0.271280],[0.672034,0.684232,0.283191],[0.011468,-0.391993,0.919897]] 2025-10-28T19:49:02.206Z,1761680942.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753114,-0.601510,-0.266469],[0.657786,0.695681,0.288697],[0.011723,-0.392701,0.919591]] 2025-10-28T19:49:02.625Z,1761680942.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766427,-0.587255,-0.260232],[0.642226,0.707931,0.293904],[0.011630,-0.392383,0.919728]] 2025-10-28T19:49:03.014Z,1761680943.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780226,-0.571561,-0.254095],[0.625401,0.719946,0.300917],[0.010942,-0.393695,0.919176]] 2025-10-28T19:49:03.418Z,1761680943.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794264,-0.555259,-0.246641],[0.607488,0.732548,0.307134],[0.010138,-0.393777,0.919150]] 2025-10-28T19:49:03.831Z,1761680943.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808288,-0.538051,-0.239108],[0.588714,0.744976,0.313730],[0.009327,-0.394350,0.918913]] 2025-10-28T19:49:04.228Z,1761680944.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821854,-0.520446,-0.231715],[0.569635,0.756732,0.320736],[0.008421,-0.395591,0.918388]] 2025-10-28T19:49:04.630Z,1761680944.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835047,-0.502213,-0.224674],[0.550131,0.767578,0.328908],[0.007273,-0.398254,0.917247]] 2025-10-28T19:49:04.732Z,1761680944.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:49:05.035Z,1761680945.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847539,-0.484401,-0.216871],[0.530696,0.778314,0.335544],[0.006256,-0.399479,0.916721]] 2025-10-28T19:49:05.438Z,1761680945.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859053,-0.467070,-0.209461],[0.511860,0.788021,0.342086],[0.005282,-0.401085,0.916026]] 2025-10-28T19:49:05.737Z,1761680945.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:49:05.849Z,1761680945.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869729,-0.450114,-0.202409],[0.493509,0.796914,0.348392],[0.004486,-0.402897,0.915234]] 2025-10-28T19:49:06.246Z,1761680946.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879893,-0.433293,-0.195050],[0.475155,0.805650,0.353774],[0.003854,-0.403962,0.914768]] 2025-10-28T19:49:06.650Z,1761680946.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889120,-0.417285,-0.187987],[0.457662,0.813568,0.358681],[0.003268,-0.404945,0.914335]] 2025-10-28T19:49:07.058Z,1761680947.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897618,-0.401796,-0.181225],[0.440766,0.820751,0.363447],[0.002709,-0.406114,0.913818]] 2025-10-28T19:49:07.458Z,1761680947.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905788,-0.386376,-0.173957],[0.423726,0.827729,0.367859],[0.001858,-0.406913,0.913465]] 2025-10-28T19:49:07.862Z,1761680947.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913317,-0.371570,-0.166696],[0.407248,0.833937,0.372421],[0.000634,-0.408026,0.912970]] 2025-10-28T19:49:08.269Z,1761680948.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920581,-0.356959,-0.158462],[0.390550,0.840492,0.375559],[-0.000873,-0.407620,0.913151]] 2025-10-28T19:49:08.670Z,1761680948.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926849,-0.343898,-0.150613],[0.375425,0.846372,0.377769],[-0.002439,-0.406679,0.913568]] 2025-10-28T19:49:09.074Z,1761680949.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932821,-0.330493,-0.143592],[0.360313,0.850627,0.382894],[-0.004401,-0.408910,0.912564]] 2025-10-28T19:49:09.479Z,1761680949.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938627,-0.317145,-0.135640],[0.344877,0.855759,0.385664],[-0.006236,-0.408774,0.912615]] 2025-10-28T19:49:09.889Z,1761680949.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943861,-0.304479,-0.128134],[0.330249,0.860514,0.387880],[-0.007840,-0.408421,0.912760]] 2025-10-28T19:49:10.295Z,1761680950.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949312,-0.289905,-0.121498],[0.314205,0.864044,0.393324],[-0.009047,-0.411562,0.911337]] 2025-10-28T19:49:10.691Z,1761680950.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954758,-0.275151,-0.112825],[0.297221,0.870320,0.392687],[-0.009854,-0.408455,0.912725]] 2025-10-28T19:49:10.747Z,1761680950.747 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:49:10.747Z,1761680950.747 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:49:10.747Z,1761680950.747 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:49:10.748Z,1761680950.748 [marl:UpdateRudder:A] Stopped 2025-10-28T19:49:10.748Z,1761680950.748 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:49:11.094Z,1761680951.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960024,-0.259567,-0.104776],[0.279717,0.875480,0.394074],[-0.010559,-0.407628,0.913087]] 2025-10-28T19:49:11.127Z,1761680951.127 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:49:11.128Z,1761680951.128 [marl:UpdateRudder:B] Stopped 2025-10-28T19:49:11.144Z,1761680951.144 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:49:11.144Z,1761680951.144 [marl:UpdateRudder] Stopped 2025-10-28T19:49:11.144Z,1761680951.144 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:49:11.500Z,1761680951.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965247,-0.242696,-0.096938],[0.261108,0.879990,0.396787],[-0.010994,-0.408309,0.912778]] 2025-10-28T19:49:11.903Z,1761680951.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970376,-0.224545,-0.089166],[0.241341,0.883800,0.400814],[-0.011196,-0.410459,0.911810]] 2025-10-28T19:49:12.313Z,1761680952.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975053,-0.206775,-0.080715],[0.221690,0.888883,0.400925],[-0.011155,-0.408817,0.912548]] 2025-10-28T19:49:12.358Z,1761680952.358 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:49:12.358Z,1761680952.358 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:49:12.358Z,1761680952.358 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateCommandMode] Stopped 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:49:12.359Z,1761680952.359 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:49:12.360Z,1761680952.360 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:49:12.360Z,1761680952.360 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:49:12.360Z,1761680952.360 [marl:UpdateSpeed] Stopped 2025-10-28T19:49:12.360Z,1761680952.360 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:49:12.710Z,1761680952.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979317,-0.188747,-0.072884],[0.202031,0.892653,0.402931],[-0.010991,-0.409323,0.912324]] 2025-10-28T19:49:13.117Z,1761680953.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983067,-0.171311,-0.065048],[0.182929,0.896630,0.403227],[-0.010753,-0.408299,0.912785]] 2025-10-28T19:49:13.518Z,1761680953.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986386,-0.153951,-0.057809],[0.164120,0.899442,0.405054],[-0.010363,-0.409027,0.912463]] 2025-10-28T19:49:13.926Z,1761680953.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989354,-0.136441,-0.050617],[0.145169,0.900930,0.408963],[-0.010197,-0.411958,0.911146]] 2025-10-28T19:49:14.327Z,1761680954.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991971,-0.119095,-0.042549],[0.126063,0.904277,0.407911],[-0.010104,-0.410000,0.912030]] 2025-10-28T19:49:14.731Z,1761680954.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994216,-0.101686,-0.034549],[0.106919,0.906930,0.407488],[-0.010102,-0.408826,0.912557]] 2025-10-28T19:49:15.134Z,1761680955.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996039,-0.084877,-0.026502],[0.088303,0.909171,0.406952],[-0.010446,-0.407680,0.913065]] 2025-10-28T19:49:15.539Z,1761680955.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997533,-0.067869,-0.017916],[0.069288,0.911198,0.406101],[-0.011236,-0.406341,0.913653]] 2025-10-28T19:49:15.945Z,1761680955.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998716,-0.049980,-0.008253],[0.049022,0.912539,0.406042],[-0.012763,-0.405925,0.913817]] 2025-10-28T19:49:16.348Z,1761680956.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999500,-0.031547,0.002017],[0.028028,0.913897,0.404978],[-0.014620,-0.404719,0.914324]] 2025-10-28T19:49:16.757Z,1761680956.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999840,-0.012453,0.012870],[0.006187,0.914594,0.404326],[-0.016806,-0.404182,0.914524]] 2025-10-28T19:49:17.163Z,1761680957.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999683,0.007233,0.024119],[-0.016366,0.914579,0.404076],[-0.019136,-0.404343,0.914407]] 2025-10-28T19:49:17.559Z,1761680957.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999002,0.027269,0.035376],[-0.039216,0.914601,0.402452],[-0.021380,-0.403438,0.914757]] 2025-10-28T19:49:17.968Z,1761680957.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997785,0.047596,0.046481],[-0.062294,0.913679,0.401634],[-0.023353,-0.403640,0.914620]] 2025-10-28T19:49:18.366Z,1761680958.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995997,0.068257,0.057722],[-0.085722,0.912414,0.400190],[-0.025350,-0.403535,0.914613]] 2025-10-28T19:49:18.779Z,1761680958.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993791,0.087950,0.068143],[-0.107948,0.910510,0.399147],[-0.026940,-0.404024,0.914351]] 2025-10-28T19:49:19.176Z,1761680959.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991283,0.106165,0.078021],[-0.128555,0.909026,0.396415],[-0.028838,-0.402989,0.914750]] 2025-10-28T19:49:19.579Z,1761680959.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988627,0.122727,0.086913],[-0.147256,0.907291,0.393876],[-0.030516,-0.402195,0.915045]] 2025-10-28T19:49:19.986Z,1761680959.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985931,0.137561,0.094954],[-0.164055,0.905194,0.392058],[-0.032020,-0.402120,0.915027]] 2025-10-28T19:49:20.387Z,1761680960.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983096,0.151424,0.102924],[-0.179970,0.902566,0.391134],[-0.033669,-0.403045,0.914560]] 2025-10-28T19:49:20.797Z,1761680960.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980064,0.164900,0.110825],[-0.195543,0.899329,0.391113],[-0.035173,-0.404987,0.913646]] 2025-10-28T19:49:21.197Z,1761680961.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976778,0.178289,0.118818],[-0.211083,0.895846,0.391029],[-0.036727,-0.407029,0.912677]] 2025-10-28T19:49:21.599Z,1761680961.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973221,0.191292,0.127468],[-0.226571,0.891884,0.391419],[-0.038812,-0.409818,0.911341]] 2025-10-28T19:49:21.633Z,1761680961.633 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:49:21.689Z,1761680961.689 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:49:21.689Z,1761680961.689 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:49:21.941Z,1761680961.941 [DAT](INFO): DAT read: user:205> 2025-10-28T19:49:21.941Z,1761680961.941 [DAT](INFO): DAT read: Tx time:19:49:21.6774 2025-10-28T19:49:21.942Z,1761680961.942 [DAT](INFO): Ping request sent. 2025-10-28T19:49:21.942Z,1761680961.942 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:49:21.942Z,1761680961.942 [DAT](INFO): publishing transmit ping time 2025-10-28T19:49:21.943Z,1761680961.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T19:49:22.046Z,1761680962.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969231,0.204927,0.136370],[-0.242714,0.887914,0.390765],[-0.041006,-0.411841,0.910333]] 2025-10-28T19:49:22.193Z,1761680962.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251094 2025-10-28T19:49:22.406Z,1761680962.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964427,0.220167,0.146311],[-0.260769,0.883139,0.389956],[-0.043357,-0.414237,0.909136]] 2025-10-28T19:49:22.445Z,1761680962.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503019 2025-10-28T19:49:22.697Z,1761680962.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948 2025-10-28T19:49:22.813Z,1761680962.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958439,0.238205,0.157014],[-0.281604,0.878148,0.386724],[-0.045761,-0.414867,0.908730]] 2025-10-28T19:49:22.949Z,1761680962.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007132 2025-10-28T19:49:23.201Z,1761680963.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259026 2025-10-28T19:49:23.223Z,1761680963.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951558,0.257667,0.167765],[-0.303743,0.872463,0.382816],[-0.047730,-0.415229,0.908464]] 2025-10-28T19:49:23.453Z,1761680963.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511021 2025-10-28T19:49:23.618Z,1761680963.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943991,0.277468,0.178585],[-0.326179,0.866487,0.377899],[-0.049887,-0.414984,0.908460]] 2025-10-28T19:49:23.705Z,1761680963.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763142 2025-10-28T19:49:23.957Z,1761680963.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015097 2025-10-28T19:49:24.027Z,1761680964.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935741,0.297734,0.189058],[-0.348853,0.860184,0.372001],[-0.051867,-0.414050,0.908775]] 2025-10-28T19:49:24.068Z,1761680964.068 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:49:24.068Z,1761680964.068 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:49:24.068Z,1761680964.068 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:49:24.069Z,1761680964.069 [marl:UpdateRudder:A] Stopped 2025-10-28T19:49:24.069Z,1761680964.069 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:49:24.209Z,1761680964.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004 2025-10-28T19:49:24.428Z,1761680964.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927053,0.318170,0.198343],[-0.371049,0.854480,0.363574],[-0.053802,-0.410648,0.910205]] 2025-10-28T19:49:24.461Z,1761680964.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519040 2025-10-28T19:49:24.518Z,1761680964.518 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:49:24.518Z,1761680964.518 [marl:UpdateRudder:B] Stopped 2025-10-28T19:49:24.518Z,1761680964.518 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:49:24.518Z,1761680964.518 [marl:UpdateRudder] Stopped 2025-10-28T19:49:24.518Z,1761680964.518 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:49:24.713Z,1761680964.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068 2025-10-28T19:49:24.830Z,1761680964.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917893,0.338155,0.207660],[-0.392959,0.847448,0.356953],[-0.055276,-0.409247,0.910748]] 2025-10-28T19:49:24.969Z,1761680964.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026879 2025-10-28T19:49:25.217Z,1761680965.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275025 2025-10-28T19:49:25.235Z,1761680965.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908677,0.357450,0.215719],[-0.413671,0.840659,0.349525],[-0.056409,-0.406842,0.911755]] 2025-10-28T19:49:25.469Z,1761680965.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527463 2025-10-28T19:49:25.639Z,1761680965.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899382,0.375808,0.223338],[-0.433374,0.833576,0.342547],[-0.057437,-0.404870,0.912569]] 2025-10-28T19:49:25.702Z,1761680965.702 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:49:25.702Z,1761680965.702 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:49:25.702Z,1761680965.702 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:49:25.702Z,1761680965.702 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateCommandMode] Stopped 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:49:25.703Z,1761680965.703 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:49:25.704Z,1761680965.704 [marl:UpdateSpeed] Stopped 2025-10-28T19:49:25.704Z,1761680965.704 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:49:25.721Z,1761680965.721 [DAT](INFO): DAT read: Rx Time:19:49:24.9293 2025-10-28T19:49:25.722Z,1761680965.722 [DAT](INFO): Rx dataTimestamp_ set to:1761680965.721691 2025-10-28T19:49:25.723Z,1761680965.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780722 2025-10-28T19:49:25.974Z,1761680965.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031705 2025-10-28T19:49:26.050Z,1761680966.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889583,0.393945,0.231189],[-0.453026,0.825629,0.336310],[-0.058388,-0.403910,0.912933]] 2025-10-28T19:49:26.231Z,1761680966.231 [DAT](INFO): DAT read: 19:49:24.9293 LVL= 32752, 31841, 32754, 32755, AGC= 76, IDX= 486,-0.06,-1.076, 0.349,-1.615,-0.680, PHS=-0.294, 1.073,-0.979, RAW= 349.1, 2.2, CAL= 348.7, -0.8, ROT= 161.3, 0.8 2025-10-28T19:49:26.232Z,1761680966.232 [DAT](INFO): got valid direction response: 19:49:24.9293 LVL= 32752, 31841, 32754, 32755, AGC= 76, IDX= 486,-0.06,-1.076, 0.349,-1.615,-0.680, PHS=-0.294, 1.073,-0.979, RAW= 349.1, 2.2, CAL= 348.7, -0.8, ROT= 161.3, 0.8 2025-10-28T19:49:26.233Z,1761680966.233 [DAT](INFO): DAT read: Bearing 107, -14 (Remote) 2025-10-28T19:49:26.233Z,1761680966.233 [DAT](INFO): Remote Bearing received:Bearing 107, -14 (Remote) 2025-10-28T19:49:26.234Z,1761680966.234 [DAT](INFO): DAT read: Bearing 291.4, 20.7 (Local) 2025-10-28T19:49:26.235Z,1761680966.235 [DAT](INFO): Local bearing/azimuth received: Bearing 291.4, 20.7 (Local) 2025-10-28T19:49:26.236Z,1761680966.236 [DAT](INFO): DAT read: Range 11 to 20 : 917.1 m (Round-trip 1222.8 ms) speed -0.6 m/s 2025-10-28T19:49:26.237Z,1761680966.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:49:26.238Z,1761680966.238 [DAT](INFO): direction in FSK: [-0.947118,0.320582,-0.013962] 2025-10-28T19:49:26.238Z,1761680966.238 [DAT](INFO): publishing direction and range info 2025-10-28T19:49:26.446Z,1761680966.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879796,0.411074,0.238699],[-0.471643,0.817495,0.330537],[-0.059260,-0.403386,0.913109]] 2025-10-28T19:49:26.508Z,1761680966.508 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681024.00. Resetting abort timer. 2025-10-28T19:49:26.853Z,1761680966.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870079,0.426830,0.246533],[-0.489222,0.808880,0.326151],[-0.060204,-0.404387,0.912604]] 2025-10-28T19:49:27.302Z,1761680967.302 [marl:SendObservationData] Running Loop=1 2025-10-28T19:49:27.302Z,1761680967.302 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData 2025-10-28T19:49:27.302Z,1761680967.302 [marl:SendObservationData:D.SendDirect] Running Loop=1 2025-10-28T19:49:27.303Z,1761680967.303 [marl:SendObservationData:A] Running Loop=1 2025-10-28T19:49:27.303Z,1761680967.303 [marl:SendObservationData:D.SendDirect] Running Loop=1 2025-10-28T19:49:27.305Z,1761680967.305 [marl:SendObservationData:A](INFO): Got test_good : 41da40478000000040514000000000004042619b365cd653c05e772b221b5ad1402c7e1ce0000000408dba6660000000 n/a str and temp var is nan n/a str 2025-10-28T19:49:27.305Z,1761680967.305 [marl:SendObservationData:A] Stopped 2025-10-28T19:49:27.305Z,1761680967.305 [marl:SendObservationData:B] Running Loop=1 2025-10-28T19:49:27.486Z,1761680967.486 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str 2025-10-28T19:49:27.486Z,1761680967.486 [DAT](INFO): #Outgoing data=1 2025-10-28T19:49:27.486Z,1761680967.486 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:49:27.658Z,1761680967.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850379,0.456698,0.261308],[-0.522484,0.791612,0.316798],[-0.062174,-0.405928,0.911788]] 2025-10-28T19:49:27.712Z,1761680967.712 [marl:SendObservationData:B] Stopped 2025-10-28T19:49:27.712Z,1761680967.712 [marl:SendObservationData:C] Running Loop=1 2025-10-28T19:49:27.739Z,1761680967.739 [DAT](INFO): setting remote address to 10 2025-10-28T19:49:27.989Z,1761680967.989 [DAT](INFO): DAT read: user:206> 2025-10-28T19:49:27.990Z,1761680967.990 [DAT](INFO): DAT read: RemoteAddr | 10 2025-10-28T19:49:27.990Z,1761680967.990 [DAT](INFO): set remote address to 10 2025-10-28T19:49:27.990Z,1761680967.990 [DAT](INFO): entering online mode 2025-10-28T19:49:28.070Z,1761680968.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840492,0.470736,0.268294],[-0.538126,0.782988,0.312009],[-0.063197,-0.406617,0.911410]] 2025-10-28T19:49:28.112Z,1761680968.112 [marl:SendObservationData:C] Stopped 2025-10-28T19:49:28.112Z,1761680968.112 [marl:SendObservationData:E] Running Loop=1 2025-10-28T19:49:28.242Z,1761680968.242 [DAT](INFO): DAT read: user:207> 2025-10-28T19:49:28.243Z,1761680968.243 [DAT](INFO): DAT read: 2025-10-28T19:49:28.245Z,1761680968.245 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-28T19:49:28.245Z,1761680968.245 [DAT](INFO): commRate: 600 2025-10-28T19:49:28.246Z,1761680968.246 [DAT](INFO): online mode acknowledged 2025-10-28T19:49:28.246Z,1761680968.246 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:49:28.468Z,1761680968.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830611,0.484358,0.274742],[-0.553149,0.774484,0.306922],[-0.064123,-0.406906,0.911217]] 2025-10-28T19:49:28.501Z,1761680968.501 [marl:SendObservationData:E](INFO): SendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 200.013346 min 2025-10-28T19:49:28.502Z,1761680968.502 [marl:SendObservationData:E] Stopped 2025-10-28T19:49:28.502Z,1761680968.502 [marl:SendObservationData](INFO): Completed marl:SendObservationData 2025-10-28T19:49:28.502Z,1761680968.502 [marl:SendObservationData] Stopped 2025-10-28T19:49:28.502Z,1761680968.502 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData 2025-10-28T19:49:28.502Z,1761680968.502 [marl:SendObservationData:D.SendDirect] Stopped 2025-10-28T19:49:28.870Z,1761680968.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820293,0.497783,0.281659],[-0.568270,0.765075,0.302868],[-0.064728,-0.408499,0.910461]] 2025-10-28T19:49:29.278Z,1761680969.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809624,0.511098,0.288597],[-0.583293,0.755400,0.298563],[-0.065411,-0.410060,0.909710]] 2025-10-28T19:49:29.680Z,1761680969.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798802,0.524239,0.295109],[-0.597928,0.745918,0.293407],[-0.066312,-0.410828,0.909298]] 2025-10-28T19:49:30.891Z,1761680970.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763729,0.564104,0.313854],[-0.642000,0.714557,0.277930],[-0.067485,-0.413757,0.907883]] 2025-10-28T19:49:31.295Z,1761680971.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751988,0.576508,0.319612],[-0.655697,0.703961,0.272949],[-0.067637,-0.414823,0.907385]] 2025-10-28T19:49:31.518Z,1761680971.518 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:49:31.3262 2025-10-28T19:49:31.518Z,1761680971.518 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:49:31.698Z,1761680971.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740544,0.588374,0.324668],[-0.668573,0.693849,0.267550],[-0.067851,-0.415197,0.907198]] 2025-10-28T19:49:32.102Z,1761680972.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728189,0.600911,0.329615],[-0.682003,0.682958,0.261610],[-0.067909,-0.415300,0.907146]] 2025-10-28T19:49:32.508Z,1761680972.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715481,0.612717,0.335656],[-0.695295,0.671397,0.256497],[-0.068198,-0.416899,0.906391]] 2025-10-28T19:49:32.910Z,1761680972.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701362,0.625615,0.341610],[-0.709532,0.658623,0.250560],[-0.068238,-0.418117,0.905827]] 2025-10-28T19:49:33.314Z,1761680973.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686809,0.638031,0.348153],[-0.723603,0.645353,0.244783],[-0.068502,-0.420044,0.904915]] 2025-10-28T19:49:33.719Z,1761680973.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670893,0.651472,0.354240],[-0.738317,0.631407,0.237093],[-0.069210,-0.420606,0.904600]] 2025-10-28T19:49:34.134Z,1761680974.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653690,0.665746,0.359823],[-0.753496,0.616719,0.227818],[-0.070241,-0.420047,0.904780]] 2025-10-28T19:49:34.526Z,1761680974.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635391,0.680611,0.364756],[-0.768869,0.601395,0.217174],[-0.071551,-0.418440,0.905422]] 2025-10-28T19:49:34.931Z,1761680974.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616738,0.695948,0.367820],[-0.783785,0.586203,0.205055],[-0.072910,-0.414756,0.907007]] 2025-10-28T19:49:35.334Z,1761680975.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597217,0.711873,0.369552],[-0.798670,0.570236,0.192241],[-0.073881,-0.409960,0.909106]] 2025-10-28T19:49:35.756Z,1761680975.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558819,0.741974,0.370399],[-0.825875,0.538411,0.167461],[-0.075176,-0.399484,0.913653]] 2025-10-28T19:49:35.856Z,1761680975.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:49:36.583Z,1761680976.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523990,0.765584,0.373250],[-0.848419,0.507740,0.149619],[-0.074968,-0.395071,0.915586]] 2025-10-28T19:49:36.861Z,1761680976.861 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:49:36.956Z,1761680976.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508458,0.774908,0.375485],[-0.857850,0.493623,0.142931],[-0.074589,-0.394784,0.915741]] 2025-10-28T19:49:37.361Z,1761680977.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494058,0.782639,0.378659],[-0.866287,0.480125,0.137937],[-0.073849,-0.396176,0.915200]] 2025-10-28T19:49:37.770Z,1761680977.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479778,0.790535,0.380615],[-0.874358,0.466825,0.132565],[-0.072883,-0.396395,0.915182]] 2025-10-28T19:49:37.857Z,1761680977.857 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:49:37.857Z,1761680977.857 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:49:37.857Z,1761680977.857 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:49:37.858Z,1761680977.858 [marl:UpdateRudder:A] Stopped 2025-10-28T19:49:37.858Z,1761680977.858 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:49:38.164Z,1761680978.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465984,0.796533,0.385219],[-0.881860,0.453529,0.128972],[-0.071977,-0.399809,0.913768]] 2025-10-28T19:49:38.230Z,1761680978.230 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:49:38.230Z,1761680978.230 [marl:UpdateRudder:B] Stopped 2025-10-28T19:49:38.230Z,1761680978.230 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:49:38.230Z,1761680978.230 [marl:UpdateRudder] Stopped 2025-10-28T19:49:38.230Z,1761680978.230 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:49:38.617Z,1761680978.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451888,0.801411,0.391840],[-0.889220,0.439776,0.126036],[-0.071315,-0.405386,0.911360]] 2025-10-28T19:49:38.972Z,1761680978.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437527,0.805988,0.398689],[-0.896386,0.426024,0.122457],[-0.071152,-0.410958,0.908874]] 2025-10-28T19:49:39.374Z,1761680979.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422591,0.810807,0.404980],[-0.903539,0.411878,0.118212],[-0.070955,-0.415870,0.906652]] 2025-10-28T19:49:39.410Z,1761680979.410 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:49:39.410Z,1761680979.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:49:39.410Z,1761680979.410 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:49:39.410Z,1761680979.410 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateCommandMode] Stopped 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:49:39.411Z,1761680979.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:49:39.412Z,1761680979.412 [marl:UpdateSpeed] Stopped 2025-10-28T19:49:39.412Z,1761680979.412 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:49:39.783Z,1761680979.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405487,0.816416,0.411152],[-0.911353,0.395914,0.112638],[-0.070821,-0.420378,0.904581]] 2025-10-28T19:49:40.183Z,1761680980.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386678,0.821970,0.418145],[-0.919508,0.378350,0.106568],[-0.070609,-0.425695,0.902108]] 2025-10-28T19:49:40.618Z,1761680980.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366103,0.827817,0.425074],[-0.927916,0.359251,0.099558],[-0.070293,-0.430881,0.899667]] 2025-10-28T19:49:40.992Z,1761680980.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344364,0.835035,0.429104],[-0.936232,0.339461,0.090752],[-0.069883,-0.432993,0.898684]] 2025-10-28T19:49:41.395Z,1761680981.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321649,0.844066,0.429061],[-0.944320,0.319126,0.080119],[-0.069299,-0.430941,0.899715]] 2025-10-28T19:49:41.601Z,1761680981.601 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:49:41.799Z,1761680981.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298818,0.854356,0.425187],[-0.951864,0.298713,0.068738],[-0.068282,-0.425260,0.902492]] 2025-10-28T19:49:41.853Z,1761680981.853 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str 2025-10-28T19:49:41.853Z,1761680981.853 [DAT](INFO): #Outgoing data=1 2025-10-28T19:49:41.854Z,1761680981.854 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:49:42.105Z,1761680982.105 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:49:42.206Z,1761680982.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276451,0.864265,0.420262],[-0.958703,0.278413,0.058087],[-0.066804,-0.418965,0.905542]] 2025-10-28T19:49:42.626Z,1761680982.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256220,0.872559,0.415923],[-0.964387,0.259972,0.048696],[-0.065639,-0.413588,0.908095]] 2025-10-28T19:49:43.010Z,1761680983.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237670,0.878162,0.415144],[-0.969197,0.242805,0.041257],[-0.064568,-0.412162,0.908820]] 2025-10-28T19:49:43.415Z,1761680983.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220223,0.882761,0.415013],[-0.973386,0.226532,0.034670],[-0.063408,-0.411603,0.909155]] 2025-10-28T19:49:43.819Z,1761680983.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204100,0.886195,0.415935],[-0.976976,0.211358,0.029083],[-0.062138,-0.412295,0.908929]] 2025-10-28T19:49:44.235Z,1761680984.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188813,0.887466,0.420422],[-0.980113,0.196924,0.024487],[-0.061060,-0.416684,0.906998]] 2025-10-28T19:49:44.629Z,1761680984.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174112,0.888480,0.424603],[-0.982883,0.183167,0.019764],[-0.060213,-0.420776,0.905164]] 2025-10-28T19:49:45.030Z,1761680985.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159745,0.888856,0.429438],[-0.985341,0.169957,0.014756],[-0.059870,-0.425500,0.902976]] 2025-10-28T19:49:45.381Z,1761680985.381 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:49:45.1761 2025-10-28T19:49:45.382Z,1761680985.382 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:49:45.443Z,1761680985.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144953,0.889075,0.434205],[-0.987641,0.156455,0.009353],[-0.059618,-0.430194,0.900766]] 2025-10-28T19:49:45.841Z,1761680985.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128664,0.889961,0.437510],[-0.989933,0.141502,0.003285],[-0.058985,-0.433528,0.899208]] 2025-10-28T19:49:46.245Z,1761680986.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110524,0.892643,0.437005],[-0.992170,0.124826,-0.004043],[-0.058159,-0.433137,0.899450]] 2025-10-28T19:49:46.648Z,1761680986.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090942,0.896086,0.434464],[-0.994191,0.106916,-0.012411],[-0.057573,-0.430812,0.900603]] 2025-10-28T19:49:47.051Z,1761680987.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070283,0.900014,0.430158],[-0.995887,0.088028,-0.021465],[-0.057185,-0.426880,0.902498]] 2025-10-28T19:49:47.456Z,1761680987.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048148,0.905075,0.422516],[-0.997231,0.067560,-0.031081],[-0.056676,-0.419850,0.905822]] 2025-10-28T19:49:47.858Z,1761680987.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024954,0.910077,0.413687],[-0.998126,0.045812,-0.040576],[-0.055879,-0.411899,0.909515]] 2025-10-28T19:49:48.262Z,1761680988.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000268,0.914064,0.405571],[-0.998531,0.022216,-0.049412],[-0.054176,-0.404962,0.912727]] 2025-10-28T19:49:49.072Z,1761680989.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049552,0.917935,0.393623],[-0.997604,-0.026438,-0.063931],[-0.048278,-0.395848,0.917046]] 2025-10-28T19:49:49.474Z,1761680989.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071972,0.916616,0.393236],[-0.996383,-0.048221,-0.069962],[-0.045166,-0.396849,0.916772]] 2025-10-28T19:49:49.879Z,1761680989.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091236,0.914309,0.394607],[-0.994900,-0.066573,-0.075778],[-0.043014,-0.399508,0.915720]] 2025-10-28T19:49:50.282Z,1761680990.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109096,0.911800,0.395877],[-0.993145,-0.083165,-0.082142],[-0.041974,-0.402124,0.914622]] 2025-10-28T19:49:50.689Z,1761680990.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125743,0.909146,0.397041],[-0.991174,-0.098188,-0.089072],[-0.041994,-0.404737,0.913468]] 2025-10-28T19:49:51.090Z,1761680991.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141000,0.905976,0.399158],[-0.989091,-0.111543,-0.096219],[-0.042649,-0.408370,0.911819]] 2025-10-28T19:49:51.121Z,1761680991.121 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:49:51.122Z,1761680991.122 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:49:51.122Z,1761680991.122 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:49:51.122Z,1761680991.122 [marl:UpdateRudder:A] Stopped 2025-10-28T19:49:51.122Z,1761680991.122 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:49:51.495Z,1761680991.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157155,0.902900,0.400092],[-0.986603,-0.125579,-0.104139],[-0.043784,-0.411098,0.910539]] 2025-10-28T19:49:51.540Z,1761680991.540 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:49:51.540Z,1761680991.540 [marl:UpdateRudder:B] Stopped 2025-10-28T19:49:51.541Z,1761680991.541 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:49:51.541Z,1761680991.541 [marl:UpdateRudder] Stopped 2025-10-28T19:49:51.541Z,1761680991.541 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:49:51.898Z,1761680991.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173720,0.898955,0.402121],[-0.983741,-0.139525,-0.113073],[-0.045542,-0.415227,0.908577]] 2025-10-28T19:49:52.304Z,1761680992.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191937,0.895761,0.400964],[-0.980285,-0.155450,-0.121973],[-0.046929,-0.416469,0.907938]] 2025-10-28T19:49:52.715Z,1761680992.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211549,0.892167,0.399107],[-0.976184,-0.172785,-0.131186],[-0.048080,-0.417354,0.907471]] 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:49:52.798Z,1761680992.798 [marl:UpdateCommandMode] Stopped 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed] Stopped 2025-10-28T19:49:52.799Z,1761680992.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:49:53.110Z,1761680993.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232316,0.888515,0.395690],[-0.971404,-0.191450,-0.140430],[-0.049019,-0.416999,0.907584]] 2025-10-28T19:49:53.515Z,1761680993.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254061,0.885324,0.389429],[-0.965923,-0.211664,-0.148967],[-0.049456,-0.414005,0.908930]] 2025-10-28T19:49:53.920Z,1761680993.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275164,0.881992,0.382591],[-0.960108,-0.231498,-0.156845],[-0.049767,-0.410486,0.910508]] 2025-10-28T19:49:54.323Z,1761680994.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295671,0.878331,0.375651],[-0.953978,-0.250882,-0.164266],[-0.050036,-0.406931,0.912087]] 2025-10-28T19:49:54.730Z,1761680994.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314836,0.874258,0.369528],[-0.947823,-0.269043,-0.171018],[-0.050095,-0.404090,0.913346]] 2025-10-28T19:49:55.130Z,1761680995.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332136,0.869825,0.364816],[-0.941902,-0.285326,-0.177229],[-0.050066,-0.402485,0.914056]] 2025-10-28T19:49:55.460Z,1761680995.460 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:49:55.536Z,1761680995.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348238,0.864196,0.363175],[-0.936116,-0.300280,-0.183081],[-0.049163,-0.403730,0.913556]] 2025-10-28T19:49:55.714Z,1761680995.714 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str 2025-10-28T19:49:55.714Z,1761680995.714 [DAT](INFO): #Outgoing data=2 2025-10-28T19:49:55.715Z,1761680995.715 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:49:55.939Z,1761680995.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361990,0.858557,0.363102],[-0.930969,-0.313096,-0.187799],[-0.047550,-0.406017,0.912627]] 2025-10-28T19:49:55.965Z,1761680995.965 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:49:56.342Z,1761680996.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374972,0.852778,0.363545],[-0.925917,-0.325257,-0.192056],[-0.045536,-0.408629,0.911564]] 2025-10-28T19:49:56.747Z,1761680996.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387833,0.847176,0.363151],[-0.920708,-0.337527,-0.195886],[-0.043377,-0.410328,0.910906]] 2025-10-28T19:49:57.156Z,1761680997.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401289,0.841091,0.362675],[-0.915025,-0.350313,-0.200026],[-0.041190,-0.412125,0.910196]] 2025-10-28T19:49:57.554Z,1761680997.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415932,0.833363,0.364016],[-0.908565,-0.363697,-0.205511],[-0.038874,-0.416210,0.908437]] 2025-10-28T19:49:57.959Z,1761680997.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432629,0.825204,0.363139],[-0.900823,-0.379240,-0.211412],[-0.036741,-0.418587,0.907433]] 2025-10-28T19:49:58.362Z,1761680998.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451428,0.817372,0.357931],[-0.891650,-0.397814,-0.216113],[-0.034254,-0.416709,0.908394]] 2025-10-28T19:49:58.774Z,1761680998.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471451,0.809894,0.349007],[-0.881302,-0.418196,-0.220042],[-0.032257,-0.411320,0.910920]] 2025-10-28T19:49:59.174Z,1761680999.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492489,0.800545,0.341441],[-0.869804,-0.439247,-0.224729],[-0.029929,-0.407663,0.912642]] 2025-10-28T19:49:59.241Z,1761680999.241 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:49:59.0761 2025-10-28T19:49:59.242Z,1761680999.242 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:49:59.575Z,1761680999.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513691,0.789121,0.336764],[-0.857543,-0.459773,-0.230713],[-0.027225,-0.407305,0.912886]] 2025-10-28T19:49:59.978Z,1761680999.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533991,0.777097,0.333127],[-0.845147,-0.479380,-0.236476],[-0.024070,-0.407817,0.912746]] 2025-10-28T19:50:00.384Z,1761681000.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552283,0.765685,0.329712],[-0.833384,-0.496977,-0.241835],[-0.021310,-0.408338,0.912582]] 2025-10-28T19:50:00.791Z,1761681000.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568802,0.754142,0.328228],[-0.822270,-0.512517,-0.247383],[-0.018340,-0.410604,0.911629]] 2025-10-28T19:50:01.198Z,1761681001.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583883,0.743138,0.326844],[-0.811692,-0.526748,-0.252373],[-0.015384,-0.412653,0.910758]] 2025-10-28T19:50:01.594Z,1761681001.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597876,0.732364,0.325864],[-0.801491,-0.539812,-0.257325],[-0.012550,-0.415025,0.909724]] 2025-10-28T19:50:01.000Z,1761681002.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610572,0.721238,0.327135],[-0.791900,-0.550891,-0.263465],[-0.009805,-0.419922,0.907507]] 2025-10-28T19:50:02.402Z,1761681002.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623190,0.710733,0.326332],[-0.782036,-0.562394,-0.268576],[-0.007359,-0.422577,0.906297]] 2025-10-28T19:50:02.806Z,1761681002.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635911,0.700763,0.323340],[-0.771745,-0.574622,-0.272430],[-0.005111,-0.422777,0.906219]] 2025-10-28T19:50:03.215Z,1761681003.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649925,0.690524,0.317449],[-0.759993,-0.588926,-0.274913],[-0.002880,-0.419932,0.907551]] 2025-10-28T19:50:03.616Z,1761681003.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664697,0.679065,0.311527],[-0.747113,-0.603542,-0.278495],[-0.001097,-0.417860,0.908511]] 2025-10-28T19:50:04.019Z,1761681004.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680141,0.666350,0.305591],[-0.733081,-0.618321,-0.283321],[0.000162,-0.416721,0.909034]] 2025-10-28T19:50:04.423Z,1761681004.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695499,0.653536,0.298616],[-0.718525,-0.633457,-0.287148],[0.001499,-0.414274,0.910151]] 2025-10-28T19:50:04.461Z,1761681004.461 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:50:04.461Z,1761681004.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:50:04.461Z,1761681004.461 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:50:04.462Z,1761681004.462 [marl:UpdateRudder:A] Stopped 2025-10-28T19:50:04.462Z,1761681004.462 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:50:04.889Z,1761681004.889 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:50:04.889Z,1761681004.889 [marl:UpdateRudder:B] Stopped 2025-10-28T19:50:04.890Z,1761681004.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:50:04.890Z,1761681004.890 [marl:UpdateRudder] Stopped 2025-10-28T19:50:04.890Z,1761681004.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:50:05.235Z,1761681005.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725076,0.626588,0.285748],[-0.688659,-0.661938,-0.295950],[0.003709,-0.411370,0.911461]] 2025-10-28T19:50:05.634Z,1761681005.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738562,0.613218,0.280161],[-0.674171,-0.674547,-0.300800],[0.004526,-0.411035,0.911608]] 2025-10-28T19:50:06.039Z,1761681006.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751187,0.600240,0.274646],[-0.660064,-0.686663,-0.304645],[0.005729,-0.410129,0.912009]] 2025-10-28T19:50:06.080Z,1761681006.080 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:50:06.080Z,1761681006.080 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:50:06.080Z,1761681006.080 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateCommandMode] Stopped 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:50:06.081Z,1761681006.081 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:50:06.082Z,1761681006.082 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:50:06.082Z,1761681006.082 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:50:06.082Z,1761681006.082 [marl:UpdateSpeed] Stopped 2025-10-28T19:50:06.082Z,1761681006.082 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:50:06.443Z,1761681006.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762572,0.587717,0.270318],[-0.646867,-0.697143,-0.309117],[0.006777,-0.410584,0.911798]] 2025-10-28T19:50:06.982Z,1761681006.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:50:07.252Z,1761681007.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783031,0.561882,0.266743],[-0.621918,-0.713512,-0.322674],[0.009020,-0.418556,0.908146]] 2025-10-28T19:50:07.654Z,1761681007.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792504,0.549731,0.264070],[-0.609783,-0.721433,-0.328176],[0.010100,-0.421106,0.906955]] 2025-10-28T19:50:07.984Z,1761681007.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:50:08.058Z,1761681008.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802368,0.537745,0.258914],[-0.596723,-0.731027,-0.330940],[0.011312,-0.420036,0.907437]] 2025-10-28T19:50:08.462Z,1761681008.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812426,0.524599,0.254481],[-0.582925,-0.740313,-0.334865],[0.012726,-0.420396,0.907251]] 2025-10-28T19:50:08.868Z,1761681008.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822551,0.511186,0.249197],[-0.568504,-0.750398,-0.337204],[0.014623,-0.419037,0.907852]] 2025-10-28T19:50:09.270Z,1761681009.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833182,0.496977,0.242529],[-0.552747,-0.761654,-0.338163],[0.016664,-0.415809,0.909299]] 2025-10-28T19:50:09.329Z,1761681009.329 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:50:09.581Z,1761681009.581 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str 2025-10-28T19:50:09.581Z,1761681009.581 [DAT](INFO): #Outgoing data=3 2025-10-28T19:50:09.581Z,1761681009.581 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:50:09.682Z,1761681009.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843825,0.481830,0.236219],[-0.536295,-0.772485,-0.340079],[0.018615,-0.413651,0.910245]] 2025-10-28T19:50:09.833Z,1761681009.833 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:50:10.186Z,1761681010.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854163,0.466085,0.230589],[-0.519594,-0.782633,-0.342795],[0.020695,-0.412615,0.910670]] 2025-10-28T19:50:10.886Z,1761681010.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874323,0.432815,0.219615],[-0.484727,-0.801536,-0.350115],[0.024494,-0.412567,0.910598]] 2025-10-28T19:50:11.290Z,1761681011.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884346,0.415682,0.212462],[-0.466088,-0.811882,-0.351582],[0.026348,-0.409946,0.911729]] 2025-10-28T19:50:11.700Z,1761681011.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894299,0.397924,0.204658],[-0.446593,-0.822322,-0.352619],[0.027979,-0.406746,0.913113]] 2025-10-28T19:50:12.103Z,1761681012.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903932,0.379238,0.197701],[-0.426645,-0.831711,-0.355290],[0.029691,-0.405506,0.913610]] 2025-10-28T19:50:12.502Z,1761681012.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913516,0.359911,0.189610],[-0.405604,-0.841576,-0.356701],[0.031190,-0.402759,0.914775]] 2025-10-28T19:50:12.910Z,1761681012.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922775,0.339750,0.181812],[-0.383960,-0.850567,-0.359320],[0.032564,-0.401381,0.915332]] 2025-10-28T19:50:13.109Z,1761681013.109 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:50:12.9260 2025-10-28T19:50:13.110Z,1761681013.110 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:50:13.311Z,1761681013.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931642,0.318822,0.174344],[-0.361799,-0.858525,-0.363367],[0.033830,-0.401606,0.915188]] 2025-10-28T19:50:13.714Z,1761681013.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940027,0.297769,0.166381],[-0.339317,-0.866124,-0.367006],[0.034824,-0.401452,0.915218]] 2025-10-28T19:50:14.120Z,1761681014.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947497,0.277432,0.158999],[-0.317792,-0.872128,-0.372022],[0.035457,-0.403019,0.914505]] 2025-10-28T19:50:14.522Z,1761681014.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954109,0.258346,0.151436],[-0.297340,-0.877351,-0.376621],[0.035564,-0.404366,0.913906]] 2025-10-28T19:50:14.931Z,1761681014.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959997,0.240303,0.143735],[-0.277745,-0.882363,-0.379859],[0.035545,-0.404585,0.913809]] 2025-10-28T19:50:15.331Z,1761681015.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965209,0.223076,0.136414],[-0.259045,-0.886807,-0.382712],[0.035599,-0.404735,0.913741]] 2025-10-28T19:50:15.735Z,1761681015.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969932,0.206530,0.128752],[-0.240786,-0.891302,-0.384190],[0.035411,-0.403640,0.914232]] 2025-10-28T19:50:16.140Z,1761681016.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974164,0.190279,0.121652],[-0.223011,-0.895510,-0.385134],[0.035658,-0.402313,0.914808]] 2025-10-28T19:50:16.545Z,1761681016.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977960,0.174481,0.114679],[-0.205703,-0.899299,-0.385938],[0.035792,-0.401022,0.915369]] 2025-10-28T19:50:16.956Z,1761681016.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981739,0.157317,0.106953],[-0.186793,-0.903608,-0.385488],[0.036000,-0.398427,0.916494]] 2025-10-28T19:50:17.351Z,1761681017.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985250,0.139141,0.099615],[-0.167152,-0.907203,-0.386062],[0.036654,-0.397018,0.917079]] 2025-10-28T19:50:17.757Z,1761681017.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988454,0.120042,0.092459],[-0.146736,-0.910505,-0.386587],[0.037777,-0.395691,0.917606]] 2025-10-28T19:50:17.818Z,1761681017.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:50:17.818Z,1761681017.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:50:17.819Z,1761681017.819 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:50:17.819Z,1761681017.819 [marl:UpdateRudder:A] Stopped 2025-10-28T19:50:17.819Z,1761681017.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:50:18.169Z,1761681018.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991350,0.099974,0.085026],[-0.125345,-0.913246,-0.387646],[0.038896,-0.394951,0.917878]] 2025-10-28T19:50:18.218Z,1761681018.218 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:50:18.218Z,1761681018.218 [marl:UpdateRudder:B] Stopped 2025-10-28T19:50:18.218Z,1761681018.218 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:50:18.218Z,1761681018.218 [marl:UpdateRudder] Stopped 2025-10-28T19:50:18.218Z,1761681018.218 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:50:18.563Z,1761681018.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993838,0.079285,0.077458],[-0.103372,-0.915181,-0.389561],[0.040002,-0.395168,0.917738]] 2025-10-28T19:50:18.970Z,1761681018.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995878,0.057890,0.069832],[-0.080834,-0.915690,-0.393672],[0.041155,-0.397693,0.916595]] 2025-10-28T19:50:19.371Z,1761681019.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997372,0.036962,0.062311],[-0.058855,-0.914908,-0.399348],[0.042248,-0.401966,0.914680]] 2025-10-28T19:50:19.416Z,1761681019.416 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:50:19.416Z,1761681019.416 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateCommandMode] Stopped 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:50:19.417Z,1761681019.417 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:50:19.418Z,1761681019.418 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:50:19.418Z,1761681019.418 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:50:19.418Z,1761681019.418 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:50:19.418Z,1761681019.418 [marl:UpdateSpeed] Stopped 2025-10-28T19:50:19.418Z,1761681019.418 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:50:19.784Z,1761681019.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998344,0.017180,0.054893],[-0.037937,-0.914018,-0.403896],[0.043234,-0.405309,0.913157]] 2025-10-28T19:50:20.187Z,1761681020.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998873,-0.001921,0.047416],[-0.017580,-0.913110,-0.407334],[0.044078,-0.407709,0.912047]] 2025-10-28T19:50:20.583Z,1761681020.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999017,-0.019839,0.039638],[0.001856,-0.912183,-0.409778],[0.044287,-0.409302,0.911323]] 2025-10-28T19:50:20.989Z,1761681020.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998835,-0.035510,0.032678],[0.018908,-0.910988,-0.411999],[0.044399,-0.410901,0.910598]] 2025-10-28T19:50:21.397Z,1761681021.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998382,-0.050874,0.025391],[0.035873,-0.910071,-0.412897],[0.044113,-0.411318,0.910424]] 2025-10-28T19:50:21.803Z,1761681021.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996714,-0.080215,0.011226],[0.068440,-0.908198,-0.412907],[0.043317,-0.410782,0.910704]] 2025-10-28T19:50:21.847Z,1761681021.847 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:50:21.930Z,1761681021.930 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:50:21.987Z,1761681021.987 [DAT](INFO): entering command mode 2025-10-28T19:50:22.181Z,1761681022.181 [DAT](INFO): DAT read: 2025-10-28T19:50:22.181Z,1761681022.181 [DAT](INFO): DAT read: user:208> 2025-10-28T19:50:22.182Z,1761681022.182 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:50:22.182Z,1761681022.182 [DAT](INFO): setting remote address to 0 2025-10-28T19:50:22.205Z,1761681022.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995436,-0.095322,0.004561],[0.085076,-0.908059,-0.410112],[0.043234,-0.407852,0.912024]] 2025-10-28T19:50:22.433Z,1761681022.433 [DAT](INFO): DAT read: user:208> 2025-10-28T19:50:22.434Z,1761681022.434 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-28T19:50:22.434Z,1761681022.434 [DAT](INFO): set remote address to 0 2025-10-28T19:50:22.434Z,1761681022.434 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:50:22.435Z,1761681022.435 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:50:22.608Z,1761681022.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993796,-0.111196,-0.002183],[0.102537,-0.908455,-0.405210],[0.043075,-0.402920,0.914221]] 2025-10-28T19:50:22.685Z,1761681022.685 [DAT](INFO): DAT read: user:209> 2025-10-28T19:50:22.686Z,1761681022.686 [DAT](INFO): DAT read: Tx time:19:50:22.4272 2025-10-28T19:50:22.687Z,1761681022.687 [DAT](INFO): Ping request sent. 2025-10-28T19:50:22.687Z,1761681022.687 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:50:22.687Z,1761681022.687 [DAT](INFO): publishing transmit ping time 2025-10-28T19:50:22.689Z,1761681022.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001621 2025-10-28T19:50:22.937Z,1761681022.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250005 2025-10-28T19:50:23.016Z,1761681023.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991655,-0.128591,-0.009256],[0.121488,-0.908021,-0.400921],[0.043150,-0.398700,0.916066]] 2025-10-28T19:50:23.189Z,1761681023.189 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 2025-10-28T19:50:23.189Z,1761681023.189 [DAT](ERROR): Ack receipt timeout failure. 2025-10-28T19:50:23.189Z,1761681023.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502235 2025-10-28T19:50:23.416Z,1761681023.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988961,-0.147183,-0.017150],[0.141790,-0.906346,-0.398036],[0.043040,-0.396074,0.917209]] 2025-10-28T19:50:23.441Z,1761681023.441 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:50:23.441Z,1761681023.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754382 2025-10-28T19:50:23.693Z,1761681023.693 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:50:23.693Z,1761681023.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006184 2025-10-28T19:50:23.815Z,1761681023.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985667,-0.166755,-0.025578],[0.163118,-0.903305,-0.396779],[0.043060,-0.395264,0.917558]] 2025-10-28T19:50:23.945Z,1761681023.945 [DAT](INFO): setting remote address to 10 2025-10-28T19:50:23.946Z,1761681023.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258793 2025-10-28T19:50:24.200Z,1761681024.200 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:24.200Z,1761681024.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513411 2025-10-28T19:50:24.218Z,1761681024.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981585,-0.187833,-0.034786],[0.186180,-0.899929,-0.394290],[0.042755,-0.393506,0.918327]] 2025-10-28T19:50:24.449Z,1761681024.449 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:24.449Z,1761681024.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762188 2025-10-28T19:50:24.623Z,1761681024.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976882,-0.209144,-0.044267],[0.209428,-0.894704,-0.394519],[0.042905,-0.394670,0.917821]] 2025-10-28T19:50:24.701Z,1761681024.701 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:24.702Z,1761681024.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014536 2025-10-28T19:50:24.953Z,1761681024.953 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:24.953Z,1761681024.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266144 2025-10-28T19:50:25.035Z,1761681025.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971510,-0.230717,-0.054198],[0.233053,-0.888479,-0.395336],[0.043057,-0.396704,0.916936]] 2025-10-28T19:50:25.205Z,1761681025.205 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:25.205Z,1761681025.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518187 2025-10-28T19:50:25.431Z,1761681025.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965482,-0.252444,-0.064161],[0.256816,-0.881491,-0.396256],[0.043476,-0.399055,0.915896]] 2025-10-28T19:50:25.457Z,1761681025.457 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:25.457Z,1761681025.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770213 2025-10-28T19:50:25.709Z,1761681025.709 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:25.709Z,1761681025.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022136 2025-10-28T19:50:25.834Z,1761681025.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958796,-0.274284,-0.074020],[0.280673,-0.874202,-0.396225],[0.043970,-0.400674,0.915165]] 2025-10-28T19:50:25.962Z,1761681025.962 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:25.962Z,1761681025.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275178 2025-10-28T19:50:26.213Z,1761681026.213 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:26.213Z,1761681026.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526134 2025-10-28T19:50:26.242Z,1761681026.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951656,-0.295408,-0.084172],[0.303940,-0.866004,-0.397062],[0.044402,-0.403450,0.913924]] 2025-10-28T19:50:26.466Z,1761681026.466 [DAT](INFO): DAT read: Rx Time:19:50:25.6766 2025-10-28T19:50:26.466Z,1761681026.466 [DAT](INFO): Rx dataTimestamp_ set to:1761681026.465762 2025-10-28T19:50:26.466Z,1761681026.466 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:26.467Z,1761681026.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779847 2025-10-28T19:50:26.652Z,1761681026.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944141,-0.315619,-0.094777],[0.326537,-0.857247,-0.398122],[0.044407,-0.406832,0.912423]] 2025-10-28T19:50:26.717Z,1761681026.717 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:50:26.717Z,1761681026.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030268 2025-10-28T19:50:26.975Z,1761681026.975 [DAT](INFO): DAT read: 19:50:25.6766 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 268, 0.50, 2.914, 1.913,-2.729, 2.897, PHS= 0.119,-0.939, 0.613, RAW= 168.2, 3.0, CAL= 167.1, 1.0, ROT= 342.9, -1.0 2025-10-28T19:50:26.980Z,1761681026.980 [DAT](INFO): got valid direction response: 19:50:25.6766 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 268, 0.50, 2.914, 1.913,-2.729, 2.897, PHS= 0.119,-0.939, 0.613, RAW= 168.2, 3.0, CAL= 167.1, 1.0, ROT= 342.9, -1.0 2025-10-28T19:50:26.981Z,1761681026.981 [DAT](INFO): DAT read: Bearing 109, -11 (Remote) 2025-10-28T19:50:26.981Z,1761681026.981 [DAT](INFO): Remote Bearing received:Bearing 109, -11 (Remote) 2025-10-28T19:50:26.982Z,1761681026.982 [DAT](INFO): DAT read: Bearing 298.0, -13.2 (Local) 2025-10-28T19:50:26.983Z,1761681026.983 [DAT](INFO): Local bearing/azimuth received: Bearing 298.0, -13.2 (Local) 2025-10-28T19:50:26.984Z,1761681026.984 [DAT](INFO): DAT read: Range 11 to 20 : 915.2 m (Round-trip 1220.3 ms) speed 1.3 m/s 2025-10-28T19:50:26.985Z,1761681026.985 [DAT](INFO): DAT read: user:210> 2025-10-28T19:50:26.986Z,1761681026.986 [DAT](INFO): DAT read: RemoteAddr | 10 2025-10-28T19:50:26.986Z,1761681026.986 [DAT](INFO): set remote address to 10 2025-10-28T19:50:26.987Z,1761681026.987 [DAT](INFO): entering online mode 2025-10-28T19:50:27.093Z,1761681027.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936426,-0.335060,-0.104121],[0.348116,-0.850154,-0.395037],[0.043842,-0.406169,0.912746]] 2025-10-28T19:50:27.221Z,1761681027.221 [DAT](INFO): DAT read: user:211> 2025-10-28T19:50:27.221Z,1761681027.221 [DAT](INFO): DAT read: 2025-10-28T19:50:27.223Z,1761681027.223 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-28T19:50:27.223Z,1761681027.223 [DAT](INFO): commRate: 600 2025-10-28T19:50:27.223Z,1761681027.223 [DAT](INFO): online mode acknowledged 2025-10-28T19:50:27.223Z,1761681027.223 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:50:27.226Z,1761681027.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536892 2025-10-28T19:50:27.452Z,1761681027.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928554,-0.353791,-0.112333],[0.368695,-0.843976,-0.389575],[0.043022,-0.403158,0.914118]] 2025-10-28T19:50:27.473Z,1761681027.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786179 2025-10-28T19:50:27.725Z,1761681027.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037933 2025-10-28T19:50:27.854Z,1761681027.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920774,-0.371286,-0.119675],[0.387855,-0.838494,-0.382749],[0.041763,-0.398842,0.916068]] 2025-10-28T19:50:27.982Z,1761681027.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294813 2025-10-28T19:50:28.229Z,1761681028.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542011 2025-10-28T19:50:28.258Z,1761681028.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912973,-0.387830,-0.126761],[0.406038,-0.833000,-0.375824],[0.040163,-0.394587,0.917980]] 2025-10-28T19:50:28.481Z,1761681028.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794538 2025-10-28T19:50:28.667Z,1761681028.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905329,-0.402642,-0.135129],[0.422980,-0.826079,-0.372398],[0.038316,-0.394300,0.918183]] 2025-10-28T19:50:28.733Z,1761681028.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046048 2025-10-28T19:50:28.985Z,1761681028.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298057 2025-10-28T19:50:29.074Z,1761681029.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897555,-0.417156,-0.142745],[0.439390,-0.819508,-0.367890],[0.036487,-0.392922,0.918848]] 2025-10-28T19:50:29.237Z,1761681029.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549995 2025-10-28T19:50:29.471Z,1761681029.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889484,-0.431756,-0.149683],[0.455614,-0.812748,-0.363121],[0.035125,-0.391188,0.919640]] 2025-10-28T19:50:29.489Z,1761681029.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802080 2025-10-28T19:50:29.741Z,1761681029.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054016 2025-10-28T19:50:29.875Z,1761681029.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881136,-0.445977,-0.157177],[0.471680,-0.805446,-0.358852],[0.033442,-0.390335,0.920065]] 2025-10-28T19:50:29.993Z,1761681029.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306559 2025-10-28T19:50:30.245Z,1761681030.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558003 2025-10-28T19:50:30.279Z,1761681030.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872536,-0.459933,-0.164750],[0.487497,-0.797526,-0.355387],[0.032062,-0.390403,0.920086]] 2025-10-28T19:50:30.497Z,1761681030.497 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:50:30.3259 2025-10-28T19:50:30.498Z,1761681030.498 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:50:30.498Z,1761681030.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811422 2025-10-28T19:50:30.684Z,1761681030.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863283,-0.474596,-0.171757],[0.503774,-0.789418,-0.350758],[0.030881,-0.389330,0.920581]] 2025-10-28T19:50:30.749Z,1761681030.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062419 2025-10-28T19:50:31.001Z,1761681031.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313971 2025-10-28T19:50:31.087Z,1761681031.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853458,-0.489333,-0.179340],[0.520318,-0.780453,-0.346645],[0.029658,-0.389161,0.920692]] 2025-10-28T19:50:31.155Z,1761681031.155 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:50:31.156Z,1761681031.156 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:50:31.156Z,1761681031.156 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:50:31.156Z,1761681031.156 [marl:UpdateRudder:A] Stopped 2025-10-28T19:50:31.156Z,1761681031.156 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:50:31.253Z,1761681031.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566500 2025-10-28T19:50:31.491Z,1761681031.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843298,-0.503746,-0.187320],[0.536695,-0.770886,-0.343065],[0.028415,-0.389840,0.920444]] 2025-10-28T19:50:31.505Z,1761681031.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818127 2025-10-28T19:50:31.517Z,1761681031.517 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:50:31.517Z,1761681031.517 [marl:UpdateRudder:B] Stopped 2025-10-28T19:50:31.517Z,1761681031.517 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:50:31.517Z,1761681031.517 [marl:UpdateRudder] Stopped 2025-10-28T19:50:31.517Z,1761681031.517 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:50:31.757Z,1761681031.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070247 2025-10-28T19:50:31.894Z,1761681031.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833097,-0.517440,-0.195462],[0.552461,-0.761070,-0.339939],[0.027138,-0.391187,0.919911]] 2025-10-28T19:50:32.010Z,1761681032.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322621 2025-10-28T19:50:32.261Z,1761681032.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574002 2025-10-28T19:50:32.299Z,1761681032.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822349,-0.531576,-0.202900],[0.568390,-0.751197,-0.335613],[0.025986,-0.391318,0.919889]] 2025-10-28T19:50:32.513Z,1761681032.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826038 2025-10-28T19:50:32.703Z,1761681032.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811435,-0.545052,-0.210928],[0.583910,-0.740655,-0.332384],[0.024942,-0.392872,0.919255]] 2025-10-28T19:50:32.728Z,1761681032.728 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:50:32.728Z,1761681032.728 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:50:32.728Z,1761681032.728 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:50:32.728Z,1761681032.728 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateCommandMode] Stopped 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:50:32.729Z,1761681032.729 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:50:32.730Z,1761681032.730 [marl:UpdateSpeed] Stopped 2025-10-28T19:50:32.730Z,1761681032.730 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:50:32.766Z,1761681032.766 [DAT](INFO): Reached modem response timeout 2025-10-28T19:50:33.106Z,1761681033.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799816,-0.559063,-0.218502],[0.599767,-0.729813,-0.328103],[0.023965,-0.393472,0.919024]] 2025-10-28T19:50:33.511Z,1761681033.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787586,-0.573425,-0.225590],[0.615775,-0.718735,-0.322865],[0.023000,-0.393197,0.919167]] 2025-10-28T19:50:33.915Z,1761681033.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775162,-0.587647,-0.231936],[0.631355,-0.707394,-0.317781],[0.022673,-0.392765,0.919359]] 2025-10-28T19:50:34.327Z,1761681034.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761944,-0.602066,-0.238657],[0.647246,-0.695002,-0.313121],[0.022653,-0.393050,0.919238]] 2025-10-28T19:50:34.723Z,1761681034.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747572,-0.617189,-0.245385],[0.663785,-0.681518,-0.308095],[0.022918,-0.393206,0.919165]] 2025-10-28T19:50:35.134Z,1761681035.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732497,-0.631880,-0.253329],[0.680362,-0.666604,-0.304545],[0.023566,-0.395434,0.918192]] 2025-10-28T19:50:35.313Z,1761681035.313 [CTD_Seabird](ERROR): Failed to parse device response: 25,4149.35 2025-10-28T19:50:35.531Z,1761681035.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716693,-0.646767,-0.260853],[0.696951,-0.650995,-0.300773],[0.024716,-0.397364,0.917328]] 2025-10-28T19:50:35.936Z,1761681035.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699519,-0.662930,-0.266829],[0.714154,-0.635102,-0.294329],[0.025656,-0.396445,0.917700]] 2025-10-28T19:50:36.338Z,1761681036.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681591,-0.678864,-0.273088],[0.731256,-0.618461,-0.287698],[0.026413,-0.395789,0.917961]] 2025-10-28T19:50:36.742Z,1761681036.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662889,-0.695247,-0.277868],[0.748222,-0.601634,-0.279644],[0.027247,-0.393280,0.919015]] 2025-10-28T19:50:37.151Z,1761681037.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644275,-0.710109,-0.283998],[0.764302,-0.584512,-0.272375],[0.027416,-0.392544,0.919324]] 2025-10-28T19:50:37.551Z,1761681037.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624926,-0.725034,-0.289469],[0.780221,-0.567269,-0.263556],[0.026880,-0.390553,0.920188]] 2025-10-28T19:50:37.954Z,1761681037.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605064,-0.738827,-0.296702],[0.795766,-0.549225,-0.255164],[0.025566,-0.390496,0.920250]] 2025-10-28T19:50:38.104Z,1761681038.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:50:38.359Z,1761681038.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585054,-0.751703,-0.304392],[0.810650,-0.531115,-0.246502],[0.023629,-0.390973,0.920099]] 2025-10-28T19:50:38.767Z,1761681038.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565015,-0.764184,-0.311097],[0.824806,-0.513412,-0.236860],[0.021283,-0.390424,0.920389]] 2025-10-28T19:50:39.109Z,1761681039.109 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:50:39.172Z,1761681039.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545583,-0.775519,-0.317663],[0.837849,-0.496313,-0.227337],[0.018644,-0.390185,0.920548]] 2025-10-28T19:50:39.600Z,1761681039.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527040,-0.785755,-0.323756],[0.849690,-0.480053,-0.218118],[0.015967,-0.390050,0.920655]] 2025-10-28T19:50:39.974Z,1761681039.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509539,-0.794964,-0.329244],[0.860342,-0.464708,-0.209425],[0.013483,-0.389973,0.920728]] 2025-10-28T19:50:40.379Z,1761681040.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492837,-0.803259,-0.334496],[0.870045,-0.449819,-0.201704],[0.011558,-0.390433,0.920559]] 2025-10-28T19:50:40.581Z,1761681040.581 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:50:40.787Z,1761681040.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476963,-0.810433,-0.340153],[0.878869,-0.435448,-0.194870],[0.009810,-0.391896,0.919957]] 2025-10-28T19:50:40.833Z,1761681040.833 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:50:41.085Z,1761681041.085 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:50:41.195Z,1761681041.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461270,-0.817432,-0.345016],[0.887221,-0.421318,-0.187962],[0.008285,-0.392806,0.919584]] 2025-10-28T19:50:41.638Z,1761681041.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445887,-0.824449,-0.348524],[0.895059,-0.407485,-0.181177],[0.007353,-0.392734,0.919623]] 2025-10-28T19:50:41.995Z,1761681041.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430259,-0.831323,-0.351823],[0.902678,-0.393185,-0.174865],[0.007037,-0.392820,0.919588]] 2025-10-28T19:50:42.403Z,1761681042.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414228,-0.837584,-0.356186],[0.910145,-0.378109,-0.169320],[0.007142,-0.394318,0.918946]] 2025-10-28T19:50:42.804Z,1761681042.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397972,-0.843761,-0.360118],[0.917368,-0.362850,-0.163635],[0.007399,-0.395483,0.918443]] 2025-10-28T19:50:43.209Z,1761681043.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381069,-0.850410,-0.362752],[0.924514,-0.347173,-0.157307],[0.007838,-0.395314,0.918513]] 2025-10-28T19:50:43.647Z,1761681043.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363688,-0.856801,-0.365546],[0.931484,-0.331026,-0.150859],[0.008251,-0.395366,0.918487]] 2025-10-28T19:50:44.015Z,1761681044.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345570,-0.863249,-0.367945],[0.938357,-0.314449,-0.143556],[0.008224,-0.394872,0.918699]] 2025-10-28T19:50:44.370Z,1761681044.370 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:50:44.1759 2025-10-28T19:50:44.370Z,1761681044.370 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:50:44.420Z,1761681044.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327309,-0.869247,-0.370511],[0.944885,-0.297816,-0.136011],[0.007883,-0.394607,0.918816]] 2025-10-28T19:50:44.447Z,1761681044.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:50:44.447Z,1761681044.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:50:44.447Z,1761681044.447 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:50:44.447Z,1761681044.447 [marl:UpdateRudder:A] Stopped 2025-10-28T19:50:44.447Z,1761681044.447 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:50:44.822Z,1761681044.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308998,-0.875096,-0.372462],[0.951037,-0.281429,-0.127776],[0.006995,-0.393707,0.919209]] 2025-10-28T19:50:44.860Z,1761681044.860 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:50:44.860Z,1761681044.860 [marl:UpdateRudder:B] Stopped 2025-10-28T19:50:44.860Z,1761681044.860 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:50:44.860Z,1761681044.860 [marl:UpdateRudder] Stopped 2025-10-28T19:50:44.860Z,1761681044.860 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:50:45.229Z,1761681045.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290585,-0.880723,-0.374014],[0.956832,-0.265134,-0.119063],[0.005698,-0.392467,0.919748]] 2025-10-28T19:50:45.652Z,1761681045.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272869,-0.886256,-0.374290],[0.962040,-0.249522,-0.110531],[0.004566,-0.390243,0.920701]] 2025-10-28T19:50:46.034Z,1761681046.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255232,-0.890985,-0.375502],[0.966874,-0.233860,-0.102295],[0.003329,-0.389172,0.921159]] 2025-10-28T19:50:46.075Z,1761681046.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:50:46.075Z,1761681046.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:50:46.075Z,1761681046.075 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:50:46.075Z,1761681046.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:50:46.075Z,1761681046.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:50:46.076Z,1761681046.076 [marl:UpdateCommandMode] Stopped 2025-10-28T19:50:46.076Z,1761681046.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:50:46.076Z,1761681046.076 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:50:46.076Z,1761681046.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:50:46.076Z,1761681046.076 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:50:46.077Z,1761681046.077 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:50:46.077Z,1761681046.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:50:46.077Z,1761681046.077 [marl:UpdateSpeed] Stopped 2025-10-28T19:50:46.077Z,1761681046.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:50:46.439Z,1761681046.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237222,-0.895738,-0.376005],[0.971453,-0.217836,-0.093951],[0.002248,-0.387558,0.921843]] 2025-10-28T19:50:46.843Z,1761681046.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218562,-0.900505,-0.375929],[0.975823,-0.201263,-0.085228],[0.001087,-0.385467,0.922721]] 2025-10-28T19:50:47.253Z,1761681047.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199105,-0.904832,-0.376346],[0.979978,-0.183716,-0.076756],[0.000310,-0.384093,0.923294]] 2025-10-28T19:50:47.658Z,1761681047.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178900,-0.908217,-0.378334],[0.983867,-0.165173,-0.068725],[-0.000073,-0.384525,0.923114]] 2025-10-28T19:50:48.055Z,1761681048.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158004,-0.911241,-0.380361],[0.987438,-0.145843,-0.060788],[-0.000080,-0.385188,0.922838]] 2025-10-28T19:50:48.459Z,1761681048.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136100,-0.914115,-0.381930],[0.990695,-0.125609,-0.052399],[-0.000076,-0.385508,0.922704]] 2025-10-28T19:50:48.863Z,1761681048.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113713,-0.916674,-0.383115],[0.993513,-0.105095,-0.043427],[-0.000455,-0.385568,0.922679]] 2025-10-28T19:50:49.269Z,1761681049.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089854,-0.918493,-0.385093],[0.995954,-0.083295,-0.033717],[-0.001107,-0.386565,0.922262]] 2025-10-28T19:50:49.672Z,1761681049.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065402,-0.919346,-0.387976],[0.997857,-0.061085,-0.023465],[-0.002127,-0.388679,0.921371]] 2025-10-28T19:50:50.103Z,1761681050.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040399,-0.920216,-0.389320],[0.999176,-0.038696,-0.012219],[-0.003821,-0.389493,0.921022]] 2025-10-28T19:50:50.478Z,1761681050.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015610,-0.919893,-0.391860],[0.999859,-0.016777,-0.000444],[-0.006166,-0.391811,0.920025]] 2025-10-28T19:50:50.882Z,1761681050.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008734,-0.919403,-0.393220],[0.999922,0.004520,0.011641],[-0.008925,-0.393291,0.919371]] 2025-10-28T19:50:51.290Z,1761681051.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031601,-0.919010,-0.392966],[0.999435,0.024538,0.022985],[-0.011481,-0.393470,0.919266]] 2025-10-28T19:50:51.693Z,1761681051.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052928,-0.917369,-0.394504],[0.998498,0.043020,0.033925],[-0.014150,-0.395707,0.918268]] 2025-10-28T19:50:52.115Z,1761681052.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073574,-0.916318,-0.393635],[0.997147,0.060911,0.044585],[-0.016878,-0.395792,0.918185]] 2025-10-28T19:50:52.499Z,1761681052.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093012,-0.914728,-0.393220],[0.995475,0.077728,0.054655],[-0.019430,-0.396524,0.917819]] 2025-10-28T19:50:52.902Z,1761681052.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111366,-0.912547,-0.393516],[0.993541,0.093563,0.064205],[-0.021772,-0.398125,0.917073]] 2025-10-28T19:50:53.311Z,1761681053.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128128,-0.910427,-0.393326],[0.991481,0.108230,0.072462],[-0.023402,-0.399260,0.916539]] 2025-10-28T19:50:53.716Z,1761681053.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144462,-0.908125,-0.392987],[0.989200,0.122601,0.080321],[-0.024761,-0.400347,0.916029]] 2025-10-28T19:50:54.119Z,1761681054.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160093,-0.905836,-0.392213],[0.986774,0.136624,0.087241],[-0.025441,-0.400993,0.915728]] 2025-10-28T19:50:54.453Z,1761681054.453 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:50:54.522Z,1761681054.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175699,-0.903589,-0.390714],[0.984107,0.150830,0.093721],[-0.025754,-0.400971,0.915729]] 2025-10-28T19:50:54.705Z,1761681054.705 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:50:54.927Z,1761681054.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191093,-0.901730,-0.387771],[0.981234,0.165118,0.099583],[-0.025769,-0.399523,0.916361]] 2025-10-28T19:50:54.957Z,1761681054.957 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:50:55.338Z,1761681055.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207408,-0.898596,-0.386662],[0.977921,0.180129,0.105946],[-0.025553,-0.400099,0.916116]] 2025-10-28T19:50:55.735Z,1761681055.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224469,-0.895181,-0.385053],[0.974163,0.196037,0.112142],[-0.024903,-0.400276,0.916056]] 2025-10-28T19:50:56.138Z,1761681056.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242188,-0.891599,-0.382616],[0.969935,0.212781,0.118112],[-0.023895,-0.399718,0.916327]] 2025-10-28T19:50:56.542Z,1761681056.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260597,-0.887532,-0.379968],[0.965180,0.230237,0.124170],[-0.022722,-0.399096,0.916627]] 2025-10-28T19:50:56.948Z,1761681056.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280077,-0.882639,-0.377498],[0.959728,0.248488,0.131055],[-0.021870,-0.399001,0.916689]] 2025-10-28T19:50:57.351Z,1761681057.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300362,-0.877166,-0.374649],[0.953590,0.267425,0.138387],[-0.021198,-0.398828,0.916781]] 2025-10-28T19:50:57.757Z,1761681057.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321272,-0.871163,-0.371295],[0.946753,0.286752,0.146399],[-0.021068,-0.398558,0.916901]] 2025-10-28T19:50:57.814Z,1761681057.814 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:50:57.814Z,1761681057.814 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:50:57.814Z,1761681057.814 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:50:57.814Z,1761681057.814 [marl:UpdateRudder:A] Stopped 2025-10-28T19:50:57.815Z,1761681057.815 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:50:58.158Z,1761681058.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342340,-0.864776,-0.367376],[0.939324,0.305945,0.155139],[-0.021764,-0.398195,0.917042]] 2025-10-28T19:50:58.182Z,1761681058.182 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:50:58.182Z,1761681058.182 [marl:UpdateRudder:B] Stopped 2025-10-28T19:50:58.183Z,1761681058.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:50:58.183Z,1761681058.183 [marl:UpdateRudder] Stopped 2025-10-28T19:50:58.183Z,1761681058.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:50:58.237Z,1761681058.237 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:50:58.0259 2025-10-28T19:50:58.237Z,1761681058.237 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:50:58.569Z,1761681058.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363035,-0.858039,-0.363283],[0.931496,0.324649,0.164069],[-0.022838,-0.397960,0.917119]] 2025-10-28T19:50:58.967Z,1761681058.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383730,-0.849816,-0.361337],[0.923125,0.342709,0.174328],[-0.024313,-0.400454,0.915994]] 2025-10-28T19:50:59.370Z,1761681059.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403552,-0.841782,-0.358537],[0.914581,0.359896,0.184435],[-0.026218,-0.402340,0.915115]] 2025-10-28T19:50:59.420Z,1761681059.420 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:50:59.420Z,1761681059.420 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:50:59.420Z,1761681059.420 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateCommandMode] Stopped 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:50:59.421Z,1761681059.421 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:50:59.422Z,1761681059.422 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:50:59.422Z,1761681059.422 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:50:59.422Z,1761681059.422 [marl:UpdateSpeed] Stopped 2025-10-28T19:50:59.422Z,1761681059.422 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:50:59.779Z,1761681059.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422404,-0.833941,-0.355130],[0.905976,0.376361,0.193802],[-0.027963,-0.403602,0.914507]] 2025-10-28T19:51:00.180Z,1761681060.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440327,-0.825943,-0.352039],[0.897349,0.391913,0.202901],[-0.029616,-0.405244,0.913729]] 2025-10-28T19:51:00.592Z,1761681060.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456574,-0.818001,-0.349879],[0.889168,0.406124,0.210817],[-0.030354,-0.407355,0.912765]] 2025-10-28T19:51:00.987Z,1761681060.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471861,-0.810078,-0.348024],[0.881145,0.419624,0.217945],[-0.030514,-0.409499,0.911800]] 2025-10-28T19:51:01.391Z,1761681061.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486525,-0.802837,-0.344595],[0.873149,0.433236,0.223423],[-0.030081,-0.409583,0.911777]] 2025-10-28T19:51:01.798Z,1761681061.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501781,-0.794640,-0.341706],[0.864510,0.447496,0.228842],[-0.028935,-0.410237,0.911520]] 2025-10-28T19:51:02.199Z,1761681062.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516949,-0.785950,-0.339183],[0.855588,0.461872,0.233759],[-0.027064,-0.411043,0.911214]] 2025-10-28T19:51:02.603Z,1761681062.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532759,-0.776571,-0.336311],[0.845898,0.476942,0.238711],[-0.024975,-0.411661,0.910995]] 2025-10-28T19:51:03.006Z,1761681063.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550130,-0.766407,-0.331629],[0.834755,0.493635,0.243944],[-0.023257,-0.411029,0.911325]] 2025-10-28T19:51:03.417Z,1761681063.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568142,-0.754789,-0.327885],[0.822646,0.510439,0.250410],[-0.021641,-0.412002,0.910926]] 2025-10-28T19:51:03.815Z,1761681063.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586465,-0.743077,-0.322326],[0.809713,0.527741,0.256622],[-0.020585,-0.411491,0.911181]] 2025-10-28T19:51:04.219Z,1761681064.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604893,-0.731447,-0.314787],[0.796040,0.545198,0.262830],[-0.020625,-0.409567,0.912047]] 2025-10-28T19:51:04.622Z,1761681064.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622933,-0.719391,-0.307294],[0.781975,0.561769,0.270055],[-0.021647,-0.408523,0.912491]] 2025-10-28T19:51:05.028Z,1761681065.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640452,-0.707573,-0.298600],[0.767650,0.578089,0.276635],[-0.023122,-0.406392,0.913406]] 2025-10-28T19:51:05.431Z,1761681065.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656767,-0.696220,-0.289714],[0.753676,0.593254,0.282881],[-0.025074,-0.404137,0.914355]] 2025-10-28T19:51:05.835Z,1761681065.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672094,-0.685079,-0.280991],[0.739959,0.607363,0.289085],[-0.027383,-0.402215,0.915136]] 2025-10-28T19:51:06.239Z,1761681066.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686385,-0.674059,-0.272985],[0.726626,0.620249,0.295477],[-0.029850,-0.401169,0.915518]] 2025-10-28T19:51:06.650Z,1761681066.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711649,-0.653348,-0.258248],[0.701747,0.643670,0.305353],[-0.033275,-0.398528,0.916552]] 2025-10-28T19:51:07.090Z,1761681067.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723506,-0.642945,-0.251317],[0.689444,0.654693,0.309909],[-0.034719,-0.397490,0.916949]] 2025-10-28T19:51:07.462Z,1761681067.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734909,-0.631974,-0.246005],[0.677228,0.664834,0.315211],[-0.035653,-0.398253,0.916583]] 2025-10-28T19:51:07.859Z,1761681067.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745797,-0.620781,-0.241697],[0.665203,0.674392,0.320469],[-0.035942,-0.399782,0.915905]] 2025-10-28T19:51:08.263Z,1761681068.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756533,-0.609449,-0.237128],[0.652970,0.684083,0.325054],[-0.035889,-0.400752,0.915484]] 2025-10-28T19:51:08.313Z,1761681068.313 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:51:08.565Z,1761681068.565 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:51:08.663Z,1761681068.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767108,-0.597974,-0.232321],[0.640535,0.693896,0.328973],[-0.035510,-0.401168,0.915316]] 2025-10-28T19:51:08.817Z,1761681068.817 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:51:09.073Z,1761681069.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777796,-0.586349,-0.226337],[0.627549,0.704523,0.331405],[-0.034860,-0.399803,0.915938]] 2025-10-28T19:51:09.228Z,1761681069.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:51:09.475Z,1761681069.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788750,-0.573416,-0.221512],[0.613785,0.714845,0.335059],[-0.033781,-0.400239,0.915788]] 2025-10-28T19:51:09.876Z,1761681069.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800293,-0.559376,-0.215938],[0.598722,0.725909,0.338510],[-0.032603,-0.400194,0.915850]] 2025-10-28T19:51:10.232Z,1761681070.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:51:10.278Z,1761681070.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812187,-0.544209,-0.210211],[0.582531,0.736881,0.343020],[-0.031774,-0.401051,0.915504]] 2025-10-28T19:51:10.683Z,1761681070.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824307,-0.528002,-0.204284],[0.565292,0.747849,0.348091],[-0.031019,-0.402414,0.914932]] 2025-10-28T19:51:11.088Z,1761681071.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836789,-0.510963,-0.196728],[0.546678,0.759701,0.352134],[-0.030473,-0.402209,0.915041]] 2025-10-28T19:51:11.133Z,1761681071.133 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:51:11.133Z,1761681071.133 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:51:11.133Z,1761681071.133 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:51:11.134Z,1761681071.134 [marl:UpdateRudder:A] Stopped 2025-10-28T19:51:11.134Z,1761681071.134 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:51:11.505Z,1761681071.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849098,-0.493483,-0.188433],[0.527369,0.771526,0.355849],[-0.030225,-0.401525,0.915349]] 2025-10-28T19:51:11.531Z,1761681071.531 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:51:11.532Z,1761681071.532 [marl:UpdateRudder:B] Stopped 2025-10-28T19:51:11.532Z,1761681071.532 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:51:11.532Z,1761681071.532 [marl:UpdateRudder] Stopped 2025-10-28T19:51:11.532Z,1761681071.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:51:11.895Z,1761681071.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861184,-0.475255,-0.180262],[0.507397,0.782744,0.360361],[-0.030165,-0.401801,0.915230]] 2025-10-28T19:51:12.093Z,1761681072.093 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:51:11.9258 2025-10-28T19:51:12.094Z,1761681072.094 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:51:12.299Z,1761681072.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873087,-0.456151,-0.172178],[0.486616,0.793234,0.366040],[-0.030392,-0.403369,0.914533]] 2025-10-28T19:51:12.703Z,1761681072.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884270,-0.437270,-0.163895],[0.465961,0.803089,0.371386],[-0.030774,-0.404774,0.913899]] 2025-10-28T19:51:12.727Z,1761681072.727 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:51:12.728Z,1761681072.728 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:51:12.728Z,1761681072.728 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:51:12.728Z,1761681072.728 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:51:12.728Z,1761681072.728 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:51:12.728Z,1761681072.728 [marl:UpdateCommandMode] Stopped 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed] Stopped 2025-10-28T19:51:12.729Z,1761681072.729 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:51:13.110Z,1761681073.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894874,-0.418679,-0.154624],[0.445199,0.812813,0.375677],[-0.031608,-0.405022,0.913760]] 2025-10-28T19:51:13.514Z,1761681073.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904464,-0.400965,-0.145503],[0.425289,0.821509,0.379805],[-0.032757,-0.405401,0.913552]] 2025-10-28T19:51:13.914Z,1761681073.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913242,-0.384013,-0.136102],[0.405973,0.829618,0.383302],[-0.034281,-0.405301,0.913540]] 2025-10-28T19:51:14.319Z,1761681074.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921390,-0.367256,-0.127134],[0.387024,0.837285,0.386220],[-0.035394,-0.405064,0.913603]] 2025-10-28T19:51:14.722Z,1761681074.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928836,-0.350906,-0.118867],[0.368681,0.843744,0.390090],[-0.036591,-0.406153,0.913072]] 2025-10-28T19:51:15.128Z,1761681075.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935190,-0.336080,-0.111669],[0.352128,0.848802,0.394388],[-0.037761,-0.408149,0.912134]] 2025-10-28T19:51:15.543Z,1761681075.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941036,-0.321735,-0.104588],[0.336091,0.853746,0.397694],[-0.038660,-0.409396,0.911538]] 2025-10-28T19:51:15.935Z,1761681075.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946243,-0.308202,-0.098162],[0.321064,0.858095,0.400738],[-0.039276,-0.410712,0.910919]] 2025-10-28T19:51:16.338Z,1761681076.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950915,-0.295443,-0.092050],[0.306883,0.862097,0.403251],[-0.039781,-0.411706,0.910448]] 2025-10-28T19:51:16.742Z,1761681076.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955216,-0.283061,-0.086245],[0.293193,0.865967,0.405141],[-0.039994,-0.412284,0.910177]] 2025-10-28T19:51:17.150Z,1761681077.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959340,-0.270495,-0.080615],[0.279429,0.869888,0.406466],[-0.039821,-0.412466,0.910102]] 2025-10-28T19:51:17.569Z,1761681077.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963293,-0.257828,-0.074774],[0.265513,0.873941,0.407100],[-0.039614,-0.412010,0.910318]] 2025-10-28T19:51:17.954Z,1761681077.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967290,-0.244170,-0.068786],[0.250636,0.878062,0.407663],[-0.039141,-0.411568,0.910538]] 2025-10-28T19:51:18.359Z,1761681078.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971591,-0.228187,-0.062778],[0.233559,0.881653,0.410046],[-0.038219,-0.413059,0.909902]] 2025-10-28T19:51:18.770Z,1761681078.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975955,-0.210642,-0.056051],[0.214759,0.885244,0.412580],[-0.037288,-0.414697,0.909195]] 2025-10-28T19:51:19.169Z,1761681079.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980351,-0.191215,-0.048463],[0.193875,0.888673,0.415539],[-0.036390,-0.416770,0.908283]] 2025-10-28T19:51:19.575Z,1761681079.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984537,-0.170582,-0.039863],[0.171563,0.892933,0.416216],[-0.035405,-0.416619,0.908391]] 2025-10-28T19:51:19.975Z,1761681079.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988349,-0.149057,-0.030789],[0.148272,0.897237,0.415910],[-0.034370,-0.415629,0.908885]] 2025-10-28T19:51:20.381Z,1761681080.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991615,-0.127455,-0.021316],[0.124799,0.901735,0.413884],[-0.033530,-0.413073,0.910080]] 2025-10-28T19:51:20.787Z,1761681080.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994316,-0.105804,-0.011903],[0.101272,0.905328,0.412462],[-0.032864,-0.411323,0.910897]] 2025-10-28T19:51:21.188Z,1761681081.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996421,-0.084494,-0.002442],[0.078084,0.908987,0.409445],[-0.032375,-0.408170,0.912332]] 2025-10-28T19:51:21.641Z,1761681081.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997874,-0.064827,0.006649],[0.056514,0.911657,0.407047],[-0.032449,-0.405806,0.913383]] 2025-10-28T19:51:21.996Z,1761681081.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998791,-0.046708,0.015303],[0.036520,0.913614,0.404938],[-0.032894,-0.403890,0.914216]] 2025-10-28T19:51:22.034Z,1761681082.034 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:51:22.185Z,1761681082.185 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 2025-10-28T19:51:22.185Z,1761681082.185 [DAT](ERROR): Ack receipt timeout failure. 2025-10-28T19:51:22.185Z,1761681082.185 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:51:22.236Z,1761681082.236 [DAT](INFO): entering command mode 2025-10-28T19:51:22.398Z,1761681082.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999277,-0.029860,0.023556],[0.017829,0.914867,0.403360],[-0.033595,-0.402649,0.914738]] 2025-10-28T19:51:22.437Z,1761681082.437 [DAT](INFO): DAT read: 2025-10-28T19:51:22.438Z,1761681082.438 [DAT](INFO): DAT read: user:212> 2025-10-28T19:51:22.438Z,1761681082.438 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:51:22.439Z,1761681082.439 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:51:22.439Z,1761681082.439 [DAT](INFO): setting remote address to 0 2025-10-28T19:51:22.689Z,1761681082.689 [DAT](INFO): DAT read: user:212> 2025-10-28T19:51:22.690Z,1761681082.690 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-28T19:51:22.690Z,1761681082.690 [DAT](INFO): set remote address to 0 2025-10-28T19:51:22.690Z,1761681082.690 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:51:22.691Z,1761681082.691 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:51:22.691Z,1761681082.691 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:51:22.802Z,1761681082.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999405,-0.013610,0.031698],[-0.000274,0.915723,0.401810],[-0.034495,-0.401580,0.915174]] 2025-10-28T19:51:22.941Z,1761681082.941 [DAT](INFO): DAT read: user:213> 2025-10-28T19:51:22.942Z,1761681082.942 [DAT](INFO): DAT read: Tx time:19:51:22.6769 2025-10-28T19:51:22.942Z,1761681082.942 [DAT](INFO): Ping request sent. 2025-10-28T19:51:22.943Z,1761681082.943 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:51:22.943Z,1761681082.943 [DAT](INFO): setting remote address to 10 2025-10-28T19:51:22.943Z,1761681082.943 [DAT](INFO): publishing transmit ping time 2025-10-28T19:51:22.946Z,1761681082.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002157 2025-10-28T19:51:23.193Z,1761681083.193 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:23.193Z,1761681083.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250407 2025-10-28T19:51:23.208Z,1761681083.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999228,0.001439,0.039262],[-0.017107,0.915552,0.401836],[-0.035368,-0.402197,0.914870]] 2025-10-28T19:51:23.445Z,1761681083.445 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:23.445Z,1761681083.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502524 2025-10-28T19:51:23.652Z,1761681083.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998758,0.016704,0.046930],[-0.034223,0.914657,0.402779],[-0.036197,-0.403885,0.914093]] 2025-10-28T19:51:23.697Z,1761681083.697 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:23.697Z,1761681083.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754569 2025-10-28T19:51:23.948Z,1761681083.948 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:23.949Z,1761681083.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006368 2025-10-28T19:51:24.028Z,1761681084.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997978,0.032255,0.054765],[-0.051738,0.912745,0.405240],[-0.036916,-0.407254,0.912568]] 2025-10-28T19:51:24.201Z,1761681084.201 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:24.201Z,1761681084.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258485 2025-10-28T19:51:24.419Z,1761681084.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996871,0.048065,0.062759],[-0.069542,0.910728,0.407109],[-0.037588,-0.410200,0.911221]] 2025-10-28T19:51:24.453Z,1761681084.453 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:24.453Z,1761681084.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510423 2025-10-28T19:51:24.464Z,1761681084.464 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:51:24.464Z,1761681084.464 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:51:24.465Z,1761681084.465 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:51:24.465Z,1761681084.465 [marl:UpdateRudder:A] Stopped 2025-10-28T19:51:24.465Z,1761681084.465 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:51:24.705Z,1761681084.705 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:24.705Z,1761681084.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762479 2025-10-28T19:51:24.824Z,1761681084.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995394,0.064724,0.070718],[-0.088051,0.908987,0.407419],[-0.037912,-0.411769,0.910499]] 2025-10-28T19:51:24.853Z,1761681084.853 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:51:24.854Z,1761681084.854 [marl:UpdateRudder:B] Stopped 2025-10-28T19:51:24.854Z,1761681084.854 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:51:24.854Z,1761681084.854 [marl:UpdateRudder] Stopped 2025-10-28T19:51:24.854Z,1761681084.854 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:51:24.957Z,1761681084.957 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:24.957Z,1761681084.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014485 2025-10-28T19:51:25.209Z,1761681085.209 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:25.209Z,1761681085.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266443 2025-10-28T19:51:25.227Z,1761681085.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993583,0.081505,0.078424],[-0.106526,0.907376,0.406596],[-0.038020,-0.412341,0.910236]] 2025-10-28T19:51:25.464Z,1761681085.464 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:25.466Z,1761681085.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522822 2025-10-28T19:51:25.657Z,1761681085.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991372,0.098739,0.086206],[-0.125410,0.905795,0.404731],[-0.038122,-0.412050,0.910363]] 2025-10-28T19:51:25.713Z,1761681085.713 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:25.713Z,1761681085.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770554 2025-10-28T19:51:25.965Z,1761681085.965 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:25.965Z,1761681085.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022420 2025-10-28T19:51:26.038Z,1761681086.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988743,0.116239,0.094216],[-0.144645,0.903667,0.403068],[-0.038288,-0.412159,0.910307]] 2025-10-28T19:51:26.062Z,1761681086.062 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:51:26.062Z,1761681086.062 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateCommandMode] Stopped 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:51:26.063Z,1761681086.063 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:51:26.064Z,1761681086.064 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:51:26.064Z,1761681086.064 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:51:26.064Z,1761681086.064 [marl:UpdateSpeed] Stopped 2025-10-28T19:51:26.064Z,1761681086.064 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:51:26.217Z,1761681086.217 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:26.217Z,1761681086.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274422 2025-10-28T19:51:26.438Z,1761681086.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985674,0.133949,0.102496],[-0.164225,0.900703,0.402199],[-0.038444,-0.413269,0.909797]] 2025-10-28T19:51:26.469Z,1761681086.469 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:26.469Z,1761681086.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526619 2025-10-28T19:51:26.721Z,1761681086.721 [DAT](INFO): DAT read: Rx Time:19:51:25.8715 2025-10-28T19:51:26.721Z,1761681086.721 [DAT](INFO): Rx dataTimestamp_ set to:1761681086.721106 2025-10-28T19:51:26.722Z,1761681086.722 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:26.722Z,1761681086.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779506 2025-10-28T19:51:26.842Z,1761681086.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982131,0.151965,0.111023],[-0.184193,0.897237,0.401295],[-0.038631,-0.414574,0.909195]] 2025-10-28T19:51:26.973Z,1761681086.973 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:51:26.974Z,1761681086.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030918 2025-10-28T19:51:27.231Z,1761681087.231 [DAT](INFO): DAT read: 19:51:25.8715 LVL= 21072, 17585, 32754, 32755, AGC= 72, IDX= 267, 0.13, 1.189, 2.319, 0.430, 1.867, PHS=-0.576, 0.497,-1.481, RAW= 357.2, 17.8, CAL= 357.5, 22.2, ROT= 152.5, -22.2 2025-10-28T19:51:27.237Z,1761681087.237 [DAT](INFO): got valid direction response: 19:51:25.8715 LVL= 21072, 17585, 32754, 32755, AGC= 72, IDX= 267, 0.13, 1.189, 2.319, 0.430, 1.867, PHS=-0.576, 0.497,-1.481, RAW= 357.2, 17.8, CAL= 357.5, 22.2, ROT= 152.5, -22.2 2025-10-28T19:51:27.238Z,1761681087.238 [DAT](INFO): DAT read: Bearing 114, -6 (Remote) 2025-10-28T19:51:27.238Z,1761681087.238 [DAT](INFO): Remote Bearing received:Bearing 114, -6 (Remote) 2025-10-28T19:51:27.239Z,1761681087.239 [DAT](INFO): DAT read: Bearing 276.5, 15.1 (Local) 2025-10-28T19:51:27.239Z,1761681087.239 [DAT](INFO): Local bearing/azimuth received: Bearing 276.5, 15.1 (Local) 2025-10-28T19:51:27.269Z,1761681087.269 [DAT](INFO): DAT read: Range 11 to 20 : 874.1 m (Round-trip 1165.5 ms) speed -0.1 m/s 2025-10-28T19:51:27.270Z,1761681087.270 [DAT](INFO): DAT read: user:214> 2025-10-28T19:51:27.271Z,1761681087.271 [DAT](INFO): DAT read: RemoteAddr | 10 2025-10-28T19:51:27.271Z,1761681087.271 [DAT](INFO): set remote address to 10 2025-10-28T19:51:27.284Z,1761681087.284 [DAT](INFO): entering online mode 2025-10-28T19:51:27.288Z,1761681087.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978143,0.170092,0.119604],[-0.204234,0.893915,0.399003],[-0.039048,-0.414709,0.909116]] 2025-10-28T19:51:27.479Z,1761681087.479 [DAT](INFO): DAT read: user:215> 2025-10-28T19:51:27.483Z,1761681087.483 [DAT](INFO): DAT read: 2025-10-28T19:51:27.488Z,1761681087.488 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-28T19:51:27.490Z,1761681087.490 [DAT](INFO): commRate: 600 2025-10-28T19:51:27.490Z,1761681087.490 [DAT](INFO): online mode acknowledged 2025-10-28T19:51:27.492Z,1761681087.492 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:51:27.494Z,1761681087.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550796 2025-10-28T19:51:27.650Z,1761681087.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973598,0.188710,0.128437],[-0.224854,0.889803,0.397103],[-0.039346,-0.415498,0.908743]] 2025-10-28T19:51:27.729Z,1761681087.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786466 2025-10-28T19:51:27.981Z,1761681087.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038324 2025-10-28T19:51:28.054Z,1761681088.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968669,0.207289,0.136792],[-0.245181,0.885949,0.393675],[-0.039587,-0.414879,0.909015]] 2025-10-28T19:51:28.233Z,1761681088.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290280 2025-10-28T19:51:28.463Z,1761681088.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963267,0.225583,0.145699],[-0.265535,0.881086,0.391381],[-0.040085,-0.415693,0.908621]] 2025-10-28T19:51:28.491Z,1761681088.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548040 2025-10-28T19:51:28.737Z,1761681088.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794350 2025-10-28T19:51:28.862Z,1761681088.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957628,0.243484,0.153832],[-0.285155,0.876569,0.387703],[-0.040445,-0.415142,0.908857]] 2025-10-28T19:51:28.990Z,1761681088.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047230 2025-10-28T19:51:29.241Z,1761681089.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298286 2025-10-28T19:51:29.266Z,1761681089.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951865,0.260616,0.161345],[-0.303809,0.871988,0.383845],[-0.040654,-0.414387,0.909192]] 2025-10-28T19:51:29.496Z,1761681089.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552725 2025-10-28T19:51:29.670Z,1761681089.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945841,0.277072,0.169162],[-0.322056,0.866366,0.381693],[-0.040800,-0.415501,0.908677]] 2025-10-28T19:51:29.745Z,1761681089.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802632 2025-10-28T19:51:29.997Z,1761681089.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054712 2025-10-28T19:51:30.075Z,1761681090.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939870,0.292531,0.176264],[-0.339092,0.860852,0.379409],[-0.040748,-0.416365,0.908284]] 2025-10-28T19:51:30.249Z,1761681090.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306352 2025-10-28T19:51:30.484Z,1761681090.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933983,0.307167,0.182549],[-0.355032,0.855448,0.377041],[-0.040346,-0.416961,0.908028]] 2025-10-28T19:51:30.504Z,1761681090.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561054 2025-10-28T19:51:30.754Z,1761681090.754 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:51:30.5757 2025-10-28T19:51:30.754Z,1761681090.754 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:51:30.755Z,1761681090.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812231 2025-10-28T19:51:30.882Z,1761681090.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927971,0.321035,0.189227],[-0.370515,0.849157,0.376366],[-0.039857,-0.419368,0.906941]] 2025-10-28T19:51:31.006Z,1761681091.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062955 2025-10-28T19:51:31.257Z,1761681091.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314252 2025-10-28T19:51:31.287Z,1761681091.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921680,0.335006,0.195647],[-0.385960,0.842846,0.375028],[-0.039264,-0.421167,0.906133]] 2025-10-28T19:51:31.512Z,1761681091.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568898 2025-10-28T19:51:31.693Z,1761681091.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914815,0.349598,0.202224],[-0.402014,0.836220,0.372989],[-0.038708,-0.422513,0.905530]] 2025-10-28T19:51:31.762Z,1761681091.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818821 2025-10-28T19:51:32.013Z,1761681092.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070848 2025-10-28T19:51:32.123Z,1761681092.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907112,0.364670,0.210150],[-0.419119,0.828378,0.371657],[-0.038552,-0.425212,0.904272]] 2025-10-28T19:51:32.265Z,1761681092.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322395 2025-10-28T19:51:32.514Z,1761681092.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898405,0.380972,0.218469],[-0.437465,0.820100,0.368863],[-0.038640,-0.426961,0.903444]] 2025-10-28T19:51:32.517Z,1761681092.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574465 2025-10-28T19:51:32.769Z,1761681092.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826773 2025-10-28T19:51:32.903Z,1761681092.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888263,0.398944,0.227667],[-0.457701,0.810505,0.365501],[-0.038711,-0.428864,0.902539]] 2025-10-28T19:51:33.021Z,1761681093.021 [DAT](INFO): Reached modem response timeout 2025-10-28T19:51:33.307Z,1761681093.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877179,0.417622,0.236957],[-0.478592,0.800322,0.361158],[-0.038815,-0.430206,0.901896]] 2025-10-28T19:51:33.754Z,1761681093.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865505,0.436803,0.245162],[-0.499356,0.790827,0.353886],[-0.039302,-0.428713,0.902585]] 2025-10-28T19:51:34.115Z,1761681094.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853421,0.455689,0.253021],[-0.519679,0.781236,0.345838],[-0.040074,-0.426635,0.903535]] 2025-10-28T19:51:34.521Z,1761681094.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840887,0.475411,0.258637],[-0.539647,0.772820,0.333962],[-0.041111,-0.420397,0.906408]] 2025-10-28T19:51:34.923Z,1761681094.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827948,0.494815,0.263932],[-0.559263,0.763386,0.323212],[-0.041552,-0.415210,0.908776]] 2025-10-28T19:51:35.328Z,1761681095.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814776,0.513652,0.268890],[-0.578300,0.753088,0.313733],[-0.041349,-0.411121,0.910643]] 2025-10-28T19:51:35.746Z,1761681095.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801644,0.531975,0.272707],[-0.596413,0.742785,0.304238],[-0.040716,-0.406537,0.912727]] 2025-10-28T19:51:36.135Z,1761681096.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789421,0.547978,0.276649],[-0.612553,0.732521,0.296971],[-0.039918,-0.403897,0.913933]] 2025-10-28T19:51:36.539Z,1761681096.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778608,0.562761,0.277615],[-0.626288,0.724511,0.287830],[-0.039156,-0.397974,0.916561]] 2025-10-28T19:51:36.944Z,1761681096.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768409,0.576362,0.278128],[-0.638826,0.716670,0.279795],[-0.038063,-0.392673,0.918890]] 2025-10-28T19:51:37.347Z,1761681097.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758535,0.587331,0.282253],[-0.650592,0.707060,0.277122],[-0.036807,-0.393838,0.918443]] 2025-10-28T19:51:37.758Z,1761681097.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748218,0.597209,0.288983],[-0.662509,0.695780,0.277438],[-0.035380,-0.399038,0.916252]] 2025-10-28T19:51:37.814Z,1761681097.814 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:51:37.814Z,1761681097.814 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:51:37.814Z,1761681097.814 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:51:37.814Z,1761681097.814 [marl:UpdateRudder:A] Stopped 2025-10-28T19:51:37.814Z,1761681097.814 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:51:38.154Z,1761681098.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737716,0.605714,0.298135],[-0.674239,0.683461,0.279789],[-0.034292,-0.407420,0.912597]] 2025-10-28T19:51:38.179Z,1761681098.179 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:51:38.179Z,1761681098.179 [marl:UpdateRudder:B] Stopped 2025-10-28T19:51:38.179Z,1761681098.179 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:51:38.179Z,1761681098.179 [marl:UpdateRudder] Stopped 2025-10-28T19:51:38.179Z,1761681098.179 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:51:38.561Z,1761681098.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727848,0.613252,0.306854],[-0.684911,0.672100,0.281387],[-0.033675,-0.414975,0.909210]] 2025-10-28T19:51:38.962Z,1761681098.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717552,0.620564,0.316260],[-0.695677,0.660692,0.281992],[-0.033956,-0.422359,0.905793]] 2025-10-28T19:51:39.366Z,1761681099.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706724,0.628753,0.324363],[-0.706634,0.649854,0.279925],[-0.034785,-0.427036,0.903565]] 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode] Stopped 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:51:39.407Z,1761681099.407 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:51:39.408Z,1761681099.408 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:51:39.408Z,1761681099.408 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:51:39.408Z,1761681099.408 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:51:39.408Z,1761681099.408 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:51:39.408Z,1761681099.408 [marl:UpdateSpeed] Stopped 2025-10-28T19:51:39.409Z,1761681099.409 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:51:39.782Z,1761681099.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694967,0.637709,0.332188],[-0.718126,0.638881,0.275910],[-0.036278,-0.430301,0.901956]] 2025-10-28T19:51:40.176Z,1761681100.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680627,0.649544,0.338879],[-0.731688,0.626107,0.269484],[-0.037133,-0.431372,0.901409]] 2025-10-28T19:51:40.353Z,1761681100.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:51:40.582Z,1761681100.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664216,0.664279,0.342856],[-0.746594,0.612559,0.259555],[-0.037602,-0.428375,0.902818]] 2025-10-28T19:51:40.837Z,1761681100.837 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:51:40.990Z,1761681100.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646616,0.679346,0.346955],[-0.761881,0.597670,0.249657],[-0.037761,-0.425770,0.904043]] 2025-10-28T19:51:41.089Z,1761681101.089 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:51:41.341Z,1761681101.341 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:51:41.356Z,1761681101.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:51:41.387Z,1761681101.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628216,0.694557,0.350621],[-0.777111,0.582141,0.239185],[-0.037983,-0.422731,0.905459]] 2025-10-28T19:51:41.794Z,1761681101.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609544,0.710149,0.352342],[-0.791837,0.566757,0.227556],[-0.038094,-0.417703,0.907785]] 2025-10-28T19:51:42.194Z,1761681102.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590341,0.725322,0.354125],[-0.806252,0.550633,0.216244],[-0.038146,-0.413172,0.909854]] 2025-10-28T19:51:42.599Z,1761681102.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570830,0.740483,0.354735],[-0.820188,0.534249,0.204621],[-0.037998,-0.407754,0.912301]] 2025-10-28T19:51:43.003Z,1761681103.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551021,0.755361,0.354692],[-0.833638,0.517476,0.193044],[-0.037727,-0.402056,0.914838]] 2025-10-28T19:51:43.409Z,1761681103.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531187,0.768834,0.355999],[-0.846427,0.500119,0.182873],[-0.037443,-0.398467,0.916418]] 2025-10-28T19:51:43.811Z,1761681103.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511704,0.781240,0.357523],[-0.858351,0.482926,0.173250],[-0.037307,-0.395533,0.917694]] 2025-10-28T19:51:44.215Z,1761681104.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492918,0.792129,0.359949],[-0.869273,0.466112,0.164633],[-0.037366,-0.394045,0.918331]] 2025-10-28T19:51:44.618Z,1761681104.618 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:51:44.4256 2025-10-28T19:51:44.618Z,1761681104.618 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:51:44.622Z,1761681104.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474256,0.801260,0.364779],[-0.879598,0.448784,0.157799],[-0.037269,-0.395696,0.917625]] 2025-10-28T19:51:45.024Z,1761681105.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455871,0.809885,0.369145],[-0.889274,0.431724,0.151017],[-0.037063,-0.397115,0.917020]] 2025-10-28T19:51:45.427Z,1761681105.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437845,0.817788,0.373517],[-0.898295,0.414964,0.144467],[-0.036853,-0.398783,0.916305]] 2025-10-28T19:51:45.830Z,1761681105.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420685,0.825216,0.376885],[-0.906454,0.399271,0.137565],[-0.036959,-0.399501,0.915988]] 2025-10-28T19:51:46.235Z,1761681106.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404534,0.831692,0.380316],[-0.913773,0.384431,0.131270],[-0.037029,-0.400626,0.915493]] 2025-10-28T19:51:46.646Z,1761681106.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388872,0.836645,0.385751],[-0.920536,0.369809,0.125914],[-0.037308,-0.404062,0.913970]] 2025-10-28T19:51:47.045Z,1761681107.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374626,0.840566,0.391284],[-0.926432,0.356256,0.121675],[-0.037122,-0.408081,0.912191]] 2025-10-28T19:51:47.461Z,1761681107.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360808,0.844845,0.395038],[-0.931914,0.343300,0.116968],[-0.036797,-0.410344,0.911188]] 2025-10-28T19:51:47.851Z,1761681107.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346979,0.848887,0.398745],[-0.937153,0.330471,0.111951],[-0.036740,-0.412529,0.910203]] 2025-10-28T19:51:48.255Z,1761681108.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333471,0.853256,0.400938],[-0.942038,0.318226,0.106288],[-0.036898,-0.413142,0.909919]] 2025-10-28T19:51:48.663Z,1761681108.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319972,0.857639,0.402582],[-0.946690,0.306177,0.100168],[-0.037353,-0.413171,0.909887]] 2025-10-28T19:51:49.062Z,1761681109.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306466,0.860801,0.406325],[-0.951113,0.294074,0.094370],[-0.038256,-0.415382,0.908842]] 2025-10-28T19:51:49.474Z,1761681109.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292111,0.862802,0.412607],[-0.955570,0.281106,0.088689],[-0.039465,-0.420182,0.906582]] 2025-10-28T19:51:49.871Z,1761681109.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276297,0.865588,0.417634],[-0.960214,0.266985,0.081902],[-0.040608,-0.423647,0.904917]] 2025-10-28T19:51:50.276Z,1761681110.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258592,0.870003,0.419792],[-0.965080,0.251498,0.073269],[-0.041832,-0.424080,0.904658]] 2025-10-28T19:51:50.680Z,1761681110.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239151,0.875301,0.420303],[-0.970035,0.234492,0.063605],[-0.042884,-0.422919,0.905152]] 2025-10-28T19:51:51.083Z,1761681111.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218328,0.881888,0.417860],[-0.974875,0.216478,0.052490],[-0.044167,-0.418821,0.906994]] 2025-10-28T19:51:51.129Z,1761681111.129 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:51:51.129Z,1761681111.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:51:51.130Z,1761681111.130 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:51:51.130Z,1761681111.130 [marl:UpdateRudder:A] Stopped 2025-10-28T19:51:51.130Z,1761681111.130 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:51:51.489Z,1761681111.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196470,0.888146,0.415446],[-0.979411,0.197820,0.040273],[-0.046415,-0.414805,0.908726]] 2025-10-28T19:51:51.517Z,1761681111.517 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:51:51.517Z,1761681111.517 [marl:UpdateRudder:B] Stopped 2025-10-28T19:51:51.517Z,1761681111.517 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:51:51.517Z,1761681111.517 [marl:UpdateRudder] Stopped 2025-10-28T19:51:51.517Z,1761681111.517 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:51:51.897Z,1761681111.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150167,0.903033,0.402469],[-0.987260,0.158625,0.012451],[-0.052598,-0.399211,0.915349]] 2025-10-28T19:51:52.299Z,1761681112.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125642,0.910278,0.394471],[-0.990533,0.137270,-0.001272],[-0.055306,-0.390576,0.918908]] 2025-10-28T19:51:52.704Z,1761681112.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100024,0.916622,0.387040],[-0.993359,0.114227,-0.013806],[-0.056865,-0.383089,0.921960]] 2025-10-28T19:51:52.747Z,1761681112.747 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:51:52.747Z,1761681112.747 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:51:52.748Z,1761681112.748 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:51:52.748Z,1761681112.748 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:51:52.748Z,1761681112.748 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:51:52.749Z,1761681112.749 [marl:UpdateCommandMode] Stopped 2025-10-28T19:51:52.749Z,1761681112.749 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:51:52.749Z,1761681112.749 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:51:52.749Z,1761681112.749 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:51:52.749Z,1761681112.749 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:51:52.750Z,1761681112.750 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:51:52.750Z,1761681112.750 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:51:52.750Z,1761681112.750 [marl:UpdateSpeed] Stopped 2025-10-28T19:51:52.750Z,1761681112.750 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:51:53.107Z,1761681113.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073270,0.920754,0.383201],[-0.995702,0.089363,-0.024337],[-0.056653,-0.379771,0.923344]] 2025-10-28T19:51:53.511Z,1761681113.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045950,0.922399,0.383495],[-0.997449,0.063358,-0.032877],[-0.054624,-0.381006,0.922958]] 2025-10-28T19:51:53.911Z,1761681113.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019079,0.922493,0.385542],[-0.998518,0.037242,-0.039695],[-0.050977,-0.384213,0.921836]] 2025-10-28T19:51:54.315Z,1761681114.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004980,0.920280,0.391230],[-0.998855,0.014034,-0.045727],[-0.047572,-0.391010,0.919156]] 2025-10-28T19:51:54.709Z,1761681114.709 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:51:54.720Z,1761681114.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025505,0.916902,0.398297],[-0.998653,-0.005362,-0.051606],[-0.045181,-0.399077,0.915804]] 2025-10-28T19:51:54.961Z,1761681114.961 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:51:55.124Z,1761681115.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043442,0.913146,0.405311],[-0.998095,-0.021882,-0.057679],[-0.043801,-0.407045,0.912357]] 2025-10-28T19:51:55.213Z,1761681115.213 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:51:55.527Z,1761681115.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060094,0.908808,0.412864],[-0.997266,-0.036846,-0.064048],[-0.042994,-0.415585,0.908538]] 2025-10-28T19:51:55.932Z,1761681115.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076558,0.904892,0.418701],[-0.996158,-0.051512,-0.070817],[-0.042514,-0.422514,0.905359]] 2025-10-28T19:51:56.334Z,1761681116.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092913,0.901651,0.422365],[-0.994782,-0.066110,-0.077704],[-0.042140,-0.427381,0.903089]] 2025-10-28T19:51:56.741Z,1761681116.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108805,0.899800,0.422518],[-0.993179,-0.080475,-0.084380],[-0.041923,-0.428817,0.902418]] 2025-10-28T19:51:57.149Z,1761681117.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125009,0.898295,0.421235],[-0.991285,-0.095300,-0.090950],[-0.041556,-0.428934,0.902380]] 2025-10-28T19:51:57.546Z,1761681117.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139695,0.897645,0.417993],[-0.989336,-0.108954,-0.096659],[-0.041224,-0.427038,0.903293]] 2025-10-28T19:51:57.959Z,1761681117.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155018,0.896865,0.414249],[-0.987069,-0.123302,-0.102423],[-0.040782,-0.424770,0.904382]] 2025-10-28T19:51:58.355Z,1761681118.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170946,0.895855,0.410148],[-0.984451,-0.138225,-0.108398],[-0.040416,-0.422301,0.905554]] 2025-10-28T19:51:58.490Z,1761681118.490 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:51:58.3256 2025-10-28T19:51:58.490Z,1761681118.490 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:51:58.765Z,1761681118.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187781,0.894671,0.405342],[-0.981390,-0.154032,-0.114665],[-0.040152,-0.419330,0.906946]] 2025-10-28T19:51:59.163Z,1761681119.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205989,0.893308,0.399460],[-0.977728,-0.171115,-0.121523],[-0.040204,-0.415596,0.908660]] 2025-10-28T19:51:59.567Z,1761681119.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225565,0.890968,0.394078],[-0.973384,-0.189276,-0.129220],[-0.040541,-0.412737,0.909948]] 2025-10-28T19:51:59.971Z,1761681119.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247020,0.888135,0.387553],[-0.968140,-0.209257,-0.137535],[-0.041052,-0.409179,0.911530]] 2025-10-28T19:52:00.380Z,1761681120.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269980,0.884582,0.380296],[-0.961961,-0.230675,-0.146358],[-0.041741,-0.405343,0.913211]] 2025-10-28T19:52:00.787Z,1761681120.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293682,0.880576,0.371936],[-0.954965,-0.253043,-0.154953],[-0.042332,-0.400693,0.915234]] 2025-10-28T19:52:01.183Z,1761681121.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318076,0.875190,0.364513],[-0.947111,-0.276089,-0.163571],[-0.042517,-0.397262,0.916720]] 2025-10-28T19:52:01.587Z,1761681121.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342574,0.868725,0.357715],[-0.938532,-0.299253,-0.172061],[-0.042426,-0.394671,0.917843]] 2025-10-28T19:52:01.992Z,1761681121.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366703,0.860714,0.353130],[-0.929386,-0.321747,-0.180888],[-0.042075,-0.394526,0.917921]] 2025-10-28T19:52:02.397Z,1761681122.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388616,0.852064,0.350663],[-0.920442,-0.341647,-0.189905],[-0.042008,-0.396565,0.917045]] 2025-10-28T19:52:02.799Z,1761681122.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408452,0.842924,0.350209],[-0.911814,-0.359146,-0.199022],[-0.041984,-0.400616,0.915284]] 2025-10-28T19:52:03.203Z,1761681123.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426582,0.833914,0.350165],[-0.903466,-0.374846,-0.207941],[-0.042147,-0.405066,0.913315]] 2025-10-28T19:52:03.608Z,1761681123.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443512,0.824715,0.350917],[-0.895274,-0.389207,-0.216802],[-0.042220,-0.410321,0.910963]] 2025-10-28T19:52:04.011Z,1761681124.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459012,0.816258,0.350756],[-0.887409,-0.402319,-0.225044],[-0.042578,-0.414562,0.909024]] 2025-10-28T19:52:04.422Z,1761681124.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473249,0.808923,0.348826],[-0.879875,-0.414690,-0.232059],[-0.043063,-0.416745,0.908003]] 2025-10-28T19:52:04.472Z,1761681124.472 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:52:04.472Z,1761681124.472 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:52:04.472Z,1761681124.472 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:52:04.473Z,1761681124.473 [marl:UpdateRudder:A] Stopped 2025-10-28T19:52:04.473Z,1761681124.473 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:52:04.819Z,1761681124.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487256,0.801736,0.346123],[-0.872167,-0.426976,-0.238780],[-0.043653,-0.418225,0.907294]] 2025-10-28T19:52:04.843Z,1761681124.843 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:52:04.843Z,1761681124.843 [marl:UpdateRudder:B] Stopped 2025-10-28T19:52:04.843Z,1761681124.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:52:04.843Z,1761681124.843 [marl:UpdateRudder] Stopped 2025-10-28T19:52:04.844Z,1761681124.844 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:52:05.225Z,1761681125.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501628,0.794731,0.341718],[-0.863971,-0.440212,-0.244476],[-0.043865,-0.417871,0.907447]] 2025-10-28T19:52:05.626Z,1761681125.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515825,0.787629,0.336993],[-0.855558,-0.453359,-0.249974],[-0.044108,-0.417260,0.907716]] 2025-10-28T19:52:06.031Z,1761681126.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530454,0.780404,0.331040],[-0.846565,-0.467355,-0.254769],[-0.044109,-0.415390,0.908573]] 2025-10-28T19:52:06.082Z,1761681126.082 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:52:06.082Z,1761681126.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:52:06.082Z,1761681126.082 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateCommandMode] Stopped 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:52:06.083Z,1761681126.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:52:06.084Z,1761681126.084 [marl:UpdateSpeed] Stopped 2025-10-28T19:52:06.084Z,1761681126.084 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:52:06.445Z,1761681126.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545857,0.772899,0.323523],[-0.836727,-0.482597,-0.258821],[-0.043911,-0.411980,0.910134]] 2025-10-28T19:52:06.840Z,1761681126.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562375,0.763312,0.317944],[-0.825752,-0.498340,-0.264179],[-0.043207,-0.411111,0.910561]] 2025-10-28T19:52:07.242Z,1761681127.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579712,0.752949,0.311451],[-0.813692,-0.514832,-0.269913],[-0.042885,-0.409897,0.911123]] 2025-10-28T19:52:07.646Z,1761681127.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597197,0.741639,0.305496],[-0.800970,-0.531247,-0.276087],[-0.042463,-0.409571,0.911290]] 2025-10-28T19:52:08.051Z,1761681128.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615119,0.728507,0.301508],[-0.787301,-0.547054,-0.284408],[-0.042252,-0.412323,0.910058]] 2025-10-28T19:52:08.465Z,1761681128.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633309,0.714508,0.297320],[-0.772754,-0.562952,-0.293148],[-0.042079,-0.415408,0.908661]] 2025-10-28T19:52:08.569Z,1761681128.569 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:52:08.821Z,1761681128.821 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:52:08.858Z,1761681128.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650748,0.700932,0.291927],[-0.758116,-0.578386,-0.301215],[-0.042285,-0.417329,0.907771]] 2025-10-28T19:52:09.073Z,1761681129.073 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:52:09.262Z,1761681129.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667452,0.687487,0.286130],[-0.743419,-0.593073,-0.309182],[-0.042863,-0.419079,0.906938]] 2025-10-28T19:52:09.667Z,1761681129.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683140,0.674477,0.280002],[-0.728979,-0.606859,-0.316720],[-0.043699,-0.420479,0.906249]] 2025-10-28T19:52:10.071Z,1761681130.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697432,0.662072,0.274318],[-0.715283,-0.619440,-0.323519],[-0.044269,-0.421847,0.905586]] 2025-10-28T19:52:10.478Z,1761681130.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710506,0.651020,0.267122],[-0.702286,-0.632032,-0.327612],[-0.044452,-0.420366,0.906265]] 2025-10-28T19:52:10.878Z,1761681130.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722830,0.640231,0.260040],[-0.689566,-0.643832,-0.331632],[-0.044899,-0.419028,0.906862]] 2025-10-28T19:52:11.285Z,1761681131.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735008,0.628693,0.253987],[-0.676598,-0.655450,-0.335560],[-0.044489,-0.418486,0.907133]] 2025-10-28T19:52:11.476Z,1761681131.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:52:11.690Z,1761681131.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747099,0.616791,0.247813],[-0.663253,-0.667027,-0.339368],[-0.044022,-0.417904,0.907424]] 2025-10-28T19:52:12.091Z,1761681132.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759524,0.603783,0.242011],[-0.649033,-0.678636,-0.343816],[-0.043353,-0.418209,0.907316]] 2025-10-28T19:52:12.349Z,1761681132.349 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:52:12.1755 2025-10-28T19:52:12.350Z,1761681132.350 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:52:12.481Z,1761681132.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:52:12.497Z,1761681132.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771544,0.590784,0.235994],[-0.634736,-0.689927,-0.348010],[-0.042780,-0.418299,0.907301]] 2025-10-28T19:52:12.902Z,1761681132.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783333,0.577240,0.230616],[-0.620219,-0.701068,-0.351899],[-0.041453,-0.418686,0.907184]] 2025-10-28T19:52:13.303Z,1761681133.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794728,0.563591,0.225329],[-0.605616,-0.711543,-0.356280],[-0.040465,-0.419609,0.906803]] 2025-10-28T19:52:13.764Z,1761681133.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805348,0.549689,0.221940],[-0.591486,-0.720178,-0.362613],[-0.039488,-0.423304,0.905127]] 2025-10-28T19:52:14.111Z,1761681134.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814999,0.536832,0.218145],[-0.578165,-0.728181,-0.368073],[-0.038744,-0.426103,0.903844]] 2025-10-28T19:52:14.522Z,1761681134.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824676,0.524212,0.212394],[-0.564323,-0.737315,-0.371359],[-0.038069,-0.426109,0.903870]] 2025-10-28T19:52:14.931Z,1761681134.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834647,0.511126,0.205218],[-0.549521,-0.747535,-0.373119],[-0.037303,-0.424194,0.904803]] 2025-10-28T19:52:15.323Z,1761681135.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845070,0.497046,0.196979],[-0.533404,-0.758603,-0.374168],[-0.036550,-0.421268,0.906199]] 2025-10-28T19:52:15.775Z,1761681135.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855791,0.481137,0.190077],[-0.516075,-0.768521,-0.378208],[-0.035892,-0.421761,0.905996]] 2025-10-28T19:52:16.141Z,1761681136.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866430,0.464307,0.183625],[-0.498090,-0.778181,-0.382545],[-0.034725,-0.422910,0.905506]] 2025-10-28T19:52:16.549Z,1761681136.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876701,0.447539,0.176366],[-0.479857,-0.787992,-0.385753],[-0.033664,-0.422821,0.905588]] 2025-10-28T19:52:16.947Z,1761681136.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886652,0.430715,0.168325],[-0.461292,-0.798168,-0.387476],[-0.032540,-0.421203,0.906383]] 2025-10-28T19:52:17.351Z,1761681137.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896204,0.413836,0.159869],[-0.442503,-0.808039,-0.388927],[-0.031772,-0.419300,0.907291]] 2025-10-28T19:52:17.791Z,1761681137.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904985,0.397000,0.152949],[-0.424331,-0.816292,-0.391932],[-0.030746,-0.419593,0.907191]] 2025-10-28T19:52:17.875Z,1761681137.875 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:52:17.875Z,1761681137.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:52:17.875Z,1761681137.875 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:52:17.880Z,1761681137.880 [marl:UpdateRudder:A] Stopped 2025-10-28T19:52:17.880Z,1761681137.880 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:52:18.162Z,1761681138.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913223,0.380464,0.145847],[-0.406366,-0.824205,-0.394401],[-0.029847,-0.419444,0.907290]] 2025-10-28T19:52:18.246Z,1761681138.246 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:52:18.246Z,1761681138.246 [marl:UpdateRudder:B] Stopped 2025-10-28T19:52:18.246Z,1761681138.246 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:52:18.246Z,1761681138.246 [marl:UpdateRudder] Stopped 2025-10-28T19:52:18.246Z,1761681138.246 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:52:18.562Z,1761681138.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920944,0.364188,0.138667],[-0.388617,-0.831859,-0.396215],[-0.028945,-0.418781,0.907626]] 2025-10-28T19:52:18.966Z,1761681138.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928341,0.347632,0.131659],[-0.370657,-0.838780,-0.398826],[-0.028212,-0.419047,0.907526]] 2025-10-28T19:52:19.370Z,1761681139.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935837,0.330243,0.123077],[-0.351333,-0.846622,-0.399746],[-0.027814,-0.417338,0.908326]] 2025-10-28T19:52:19.435Z,1761681139.435 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:52:19.436Z,1761681139.436 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:52:19.436Z,1761681139.436 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:52:19.436Z,1761681139.436 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:52:19.436Z,1761681139.436 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:52:19.436Z,1761681139.436 [marl:UpdateCommandMode] Stopped 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed] Stopped 2025-10-28T19:52:19.437Z,1761681139.437 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:52:19.789Z,1761681139.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943014,0.312483,0.114367],[-0.331582,-0.853633,-0.401702],[-0.027898,-0.416733,0.908601]] 2025-10-28T19:52:20.179Z,1761681140.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949954,0.294131,0.105238],[-0.311124,-0.860490,-0.403435],[-0.028106,-0.415986,0.908936]] 2025-10-28T19:52:20.583Z,1761681140.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956605,0.275341,0.095362],[-0.289981,-0.867449,-0.404281],[-0.028594,-0.414390,0.909650]] 2025-10-28T19:52:20.987Z,1761681140.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962865,0.256397,0.084569],[-0.268374,-0.874790,-0.403383],[-0.029446,-0.411100,0.911115]] 2025-10-28T19:52:21.398Z,1761681141.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968779,0.236601,0.074081],[-0.246111,-0.881642,-0.402662],[-0.029958,-0.408322,0.912346]] 2025-10-28T19:52:21.796Z,1761681141.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974106,0.216769,0.064261],[-0.224025,-0.887036,-0.403707],[-0.030510,-0.407649,0.912629]] 2025-10-28T19:52:22.199Z,1761681142.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978913,0.196812,0.054725],[-0.201902,-0.891411,-0.405735],[-0.031071,-0.408228,0.912351]] 2025-10-28T19:52:22.249Z,1761681142.249 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:52:22.429Z,1761681142.429 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 2025-10-28T19:52:22.429Z,1761681142.429 [DAT](ERROR): Ack receipt timeout failure. 2025-10-28T19:52:22.429Z,1761681142.429 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:52:22.480Z,1761681142.480 [DAT](INFO): entering command mode 2025-10-28T19:52:22.603Z,1761681142.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982983,0.177629,0.046826],[-0.181044,-0.893614,-0.410703],[-0.031109,-0.412191,0.910566]] 2025-10-28T19:52:22.681Z,1761681142.681 [DAT](INFO): DAT read: 2025-10-28T19:52:22.682Z,1761681142.682 [DAT](INFO): DAT read: user:216> 2025-10-28T19:52:22.682Z,1761681142.682 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:52:22.683Z,1761681142.683 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:52:22.683Z,1761681142.683 [DAT](INFO): setting remote address to 0 2025-10-28T19:52:22.933Z,1761681142.933 [DAT](INFO): DAT read: user:216> 2025-10-28T19:52:22.934Z,1761681142.934 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-28T19:52:22.935Z,1761681142.935 [DAT](INFO): set remote address to 0 2025-10-28T19:52:22.935Z,1761681142.935 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:52:22.935Z,1761681142.935 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:52:22.935Z,1761681142.935 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:52:23.010Z,1761681143.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986401,0.159607,0.039236],[-0.161404,-0.895605,-0.414537],[-0.031023,-0.415232,0.909186]] 2025-10-28T19:52:23.185Z,1761681143.185 [DAT](INFO): DAT read: user:217> 2025-10-28T19:52:23.186Z,1761681143.186 [DAT](INFO): DAT read: Tx time:19:52:22.9267 2025-10-28T19:52:23.186Z,1761681143.186 [DAT](INFO): Ping request sent. 2025-10-28T19:52:23.186Z,1761681143.186 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:52:23.186Z,1761681143.186 [DAT](INFO): setting remote address to 10 2025-10-28T19:52:23.187Z,1761681143.187 [DAT](INFO): publishing transmit ping time 2025-10-28T19:52:23.187Z,1761681143.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001294 2025-10-28T19:52:23.419Z,1761681143.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989264,0.142557,0.032171],[-0.142836,-0.896604,-0.419165],[-0.030910,-0.419260,0.907340]] 2025-10-28T19:52:23.437Z,1761681143.437 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:23.437Z,1761681143.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251086 2025-10-28T19:52:23.689Z,1761681143.689 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:23.689Z,1761681143.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503054 2025-10-28T19:52:23.814Z,1761681143.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991661,0.126233,0.025969],[-0.125306,-0.897302,-0.423258],[-0.030127,-0.422982,0.905637]] 2025-10-28T19:52:23.941Z,1761681143.941 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:23.941Z,1761681143.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755120 2025-10-28T19:52:24.193Z,1761681144.193 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:24.193Z,1761681144.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006977 2025-10-28T19:52:24.219Z,1761681144.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993692,0.110383,0.019782],[-0.108278,-0.898514,-0.425380],[-0.029180,-0.424839,0.904799]] 2025-10-28T19:52:24.445Z,1761681144.445 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:24.445Z,1761681144.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258999 2025-10-28T19:52:24.630Z,1761681144.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995384,0.094989,0.013691],[-0.091702,-0.899314,-0.427581],[-0.028303,-0.426863,0.903873]] 2025-10-28T19:52:24.697Z,1761681144.697 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:24.698Z,1761681144.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511682 2025-10-28T19:52:24.949Z,1761681144.949 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:24.949Z,1761681144.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762974 2025-10-28T19:52:25.027Z,1761681145.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996813,0.079436,0.007343],[-0.074948,-0.900993,-0.427311],[-0.027328,-0.426500,0.904075]] 2025-10-28T19:52:25.201Z,1761681145.201 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:25.201Z,1761681145.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985 2025-10-28T19:52:25.431Z,1761681145.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997954,0.063919,0.001283],[-0.058398,-0.903217,-0.425192],[-0.026019,-0.424397,0.905102]] 2025-10-28T19:52:25.457Z,1761681145.457 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:25.457Z,1761681145.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271127 2025-10-28T19:52:25.710Z,1761681145.710 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:25.712Z,1761681145.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525615 2025-10-28T19:52:25.835Z,1761681145.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998841,0.047823,-0.005399],[-0.041041,-0.904999,-0.423429],[-0.025136,-0.422716,0.905913]] 2025-10-28T19:52:25.961Z,1761681145.961 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:25.961Z,1761681145.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775056 2025-10-28T19:52:26.213Z,1761681146.213 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:26.213Z,1761681146.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027036 2025-10-28T19:52:26.245Z,1761681146.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,0.030031,-0.012972],[-0.021814,-0.907346,-0.419818],[-0.024377,-0.419311,0.907515]] 2025-10-28T19:52:26.465Z,1761681146.465 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:26.465Z,1761681146.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278971 2025-10-28T19:52:26.643Z,1761681146.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999709,0.010756,-0.021583],[-0.000833,-0.909892,-0.414844],[-0.024100,-0.414705,0.909637]] 2025-10-28T19:52:26.717Z,1761681146.717 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:26.718Z,1761681146.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531952 2025-10-28T19:52:26.969Z,1761681146.969 [DAT](INFO): DAT read: Rx Time:19:52:26.1259 2025-10-28T19:52:26.969Z,1761681146.969 [DAT](INFO): Rx dataTimestamp_ set to:1761681146.969163 2025-10-28T19:52:26.970Z,1761681146.970 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:26.970Z,1761681146.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784116 2025-10-28T19:52:27.047Z,1761681147.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999502,-0.008682,-0.030331],[0.020358,-0.911948,-0.409801],[-0.024103,-0.410215,0.911670]] 2025-10-28T19:52:27.221Z,1761681147.221 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-28T19:52:27.221Z,1761681147.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034977 2025-10-28T19:52:27.479Z,1761681147.479 [DAT](INFO): DAT read: 19:52:26.1259 LVL= 24912, 30481, 17026, 29011, AGC= 68, IDX= 346,-0.32, 3.066, 2.200,-1.922,-2.969, PHS=-0.147,-1.070, 1.003, RAW= 183.6, 2.4, CAL= 183.5, -0.5, ROT= 326.5, 0.5 2025-10-28T19:52:27.481Z,1761681147.481 [DAT](INFO): got valid direction response: 19:52:26.1259 LVL= 24912, 30481, 17026, 29011, AGC= 68, IDX= 346,-0.32, 3.066, 2.200,-1.922,-2.969, PHS=-0.147,-1.070, 1.003, RAW= 183.6, 2.4, CAL= 183.5, -0.5, ROT= 326.5, 0.5 2025-10-28T19:52:27.482Z,1761681147.482 [DAT](INFO): DAT read: Bearing 112, -6 (Remote) 2025-10-28T19:52:27.482Z,1761681147.482 [DAT](INFO): Remote Bearing received:Bearing 112, -6 (Remote) 2025-10-28T19:52:27.483Z,1761681147.483 [DAT](INFO): DAT read: Bearing 293.6, -31.1 (Local) 2025-10-28T19:52:27.484Z,1761681147.484 [DAT](INFO): Local bearing/azimuth received: Bearing 293.6, -31.1 (Local) 2025-10-28T19:52:27.485Z,1761681147.485 [DAT](INFO): DAT read: Range 11 to 20 : 877.5 m (Round-trip 1170.1 ms) speed 1.2 m/s 2025-10-28T19:52:27.486Z,1761681147.486 [DAT](INFO): DAT read: user:218> 2025-10-28T19:52:27.487Z,1761681147.487 [DAT](INFO): DAT read: RemoteAddr | 10 2025-10-28T19:52:27.487Z,1761681147.487 [DAT](INFO): set remote address to 10 2025-10-28T19:52:27.492Z,1761681147.492 [DAT](INFO): entering online mode 2025-10-28T19:52:27.727Z,1761681147.727 [DAT](INFO): DAT read: user:219> 2025-10-28T19:52:27.729Z,1761681147.729 [DAT](INFO): DAT read: 2025-10-28T19:52:27.733Z,1761681147.733 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-28T19:52:27.734Z,1761681147.734 [DAT](INFO): commRate: 600 2025-10-28T19:52:27.735Z,1761681147.735 [DAT](INFO): online mode acknowledged 2025-10-28T19:52:27.739Z,1761681147.739 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:52:27.741Z,1761681147.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.554376 2025-10-28T19:52:27.855Z,1761681147.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997725,-0.047147,-0.048191],[0.062596,-0.913307,-0.402432],[-0.025040,-0.404533,0.914181]] 2025-10-28T19:52:27.977Z,1761681147.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791134 2025-10-28T19:52:28.229Z,1761681148.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042845 2025-10-28T19:52:28.259Z,1761681148.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996218,-0.065596,-0.056985],[0.083020,-0.912131,-0.401404],[-0.025648,-0.404616,0.914127]] 2025-10-28T19:52:28.482Z,1761681148.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296261 2025-10-28T19:52:28.669Z,1761681148.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994345,-0.083642,-0.065433],[0.102939,-0.910569,-0.400334],[-0.026097,-0.404806,0.914030]] 2025-10-28T19:52:28.745Z,1761681148.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558912 2025-10-28T19:52:28.998Z,1761681148.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.811510 2025-10-28T19:52:29.072Z,1761681149.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992116,-0.101382,-0.073676],[0.122513,-0.908409,-0.399730],[-0.026403,-0.405604,0.913667]] 2025-10-28T19:52:29.249Z,1761681149.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062899 2025-10-28T19:52:29.474Z,1761681149.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989528,-0.118863,-0.081893],[0.141890,-0.905167,-0.400675],[-0.026501,-0.408099,0.912553]] 2025-10-28T19:52:29.501Z,1761681149.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314935 2025-10-28T19:52:29.759Z,1761681149.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.569695 2025-10-28T19:52:29.885Z,1761681149.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986758,-0.135378,-0.089334],[0.160063,-0.901817,-0.401379],[-0.026225,-0.410363,0.911545]] 2025-10-28T19:52:30.007Z,1761681150.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.820635 2025-10-28T19:52:30.257Z,1761681150.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070867 2025-10-28T19:52:30.288Z,1761681150.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983676,-0.151944,-0.096406],[0.178106,-0.898545,-0.401118],[-0.025678,-0.411740,0.910939]] 2025-10-28T19:52:30.510Z,1761681150.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323574 2025-10-28T19:52:30.688Z,1761681150.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980220,-0.168717,-0.103457],[0.196316,-0.895123,-0.400268],[-0.025074,-0.412661,0.910539]] 2025-10-28T19:52:30.762Z,1761681150.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575383 2025-10-28T19:52:31.013Z,1761681151.013 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:52:30.8254 2025-10-28T19:52:31.014Z,1761681151.014 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:52:31.014Z,1761681151.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828072 2025-10-28T19:52:31.091Z,1761681151.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976335,-0.186202,-0.109991],[0.214951,-0.891441,-0.398909],[-0.023773,-0.413112,0.910370]] 2025-10-28T19:52:31.135Z,1761681151.135 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:52:31.135Z,1761681151.135 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:52:31.136Z,1761681151.136 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:52:31.137Z,1761681151.137 [marl:UpdateRudder:A] Stopped 2025-10-28T19:52:31.137Z,1761681151.137 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:52:31.265Z,1761681151.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078904 2025-10-28T19:52:31.496Z,1761681151.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972184,-0.203355,-0.116212],[0.233181,-0.886997,-0.398575],[-0.022028,-0.414587,0.909743]] 2025-10-28T19:52:31.537Z,1761681151.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.350680 2025-10-28T19:52:31.553Z,1761681151.553 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:52:31.554Z,1761681151.554 [marl:UpdateRudder:B] Stopped 2025-10-28T19:52:31.554Z,1761681151.554 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:52:31.554Z,1761681151.554 [marl:UpdateRudder] Stopped 2025-10-28T19:52:31.554Z,1761681151.554 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:52:31.785Z,1761681151.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.599210 2025-10-28T19:52:31.904Z,1761681151.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967514,-0.221358,-0.122138],[0.252039,-0.882404,-0.397291],[-0.019831,-0.415168,0.909529]] 2025-10-28T19:52:32.039Z,1761681152.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.852891 2025-10-28T19:52:32.294Z,1761681152.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.107892 2025-10-28T19:52:32.311Z,1761681152.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962312,-0.240064,-0.127767],[0.271386,-0.877902,-0.394511],[-0.017459,-0.414316,0.909965]] 2025-10-28T19:52:32.545Z,1761681152.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.358859 2025-10-28T19:52:32.706Z,1761681152.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956315,-0.259885,-0.133868],[0.291953,-0.872526,-0.391741],[-0.014996,-0.413711,0.910285]] 2025-10-28T19:52:32.797Z,1761681152.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.610997 2025-10-28T19:52:32.815Z,1761681152.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:52:32.815Z,1761681152.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:52:32.816Z,1761681152.816 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:52:32.816Z,1761681152.816 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:52:32.816Z,1761681152.816 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:52:32.816Z,1761681152.816 [marl:UpdateCommandMode] Stopped 2025-10-28T19:52:32.816Z,1761681152.816 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed] Stopped 2025-10-28T19:52:32.817Z,1761681152.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:52:33.049Z,1761681153.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.862915 2025-10-28T19:52:33.110Z,1761681153.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949770,-0.279595,-0.140586],[0.312693,-0.866065,-0.390069],[-0.012695,-0.414436,0.909990]] 2025-10-28T19:52:33.301Z,1761681153.301 [DAT](INFO): Reached modem response timeout 2025-10-28T19:52:33.516Z,1761681153.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942533,-0.299774,-0.147537],[0.333948,-0.859138,-0.387763],[-0.010513,-0.414749,0.909875]] 2025-10-28T19:52:33.919Z,1761681153.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934494,-0.320548,-0.154823],[0.355866,-0.852176,-0.383609],[-0.008972,-0.413577,0.910425]] 2025-10-28T19:52:34.324Z,1761681154.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926100,-0.340989,-0.161448],[0.377210,-0.844969,-0.379131],[-0.007139,-0.412013,0.911150]] 2025-10-28T19:52:34.727Z,1761681154.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917264,-0.360901,-0.168455],[0.398243,-0.836831,-0.375655],[-0.005394,-0.411661,0.911321]] 2025-10-28T19:52:35.132Z,1761681155.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908155,-0.380134,-0.175363],[0.418616,-0.828436,-0.372093],[-0.003832,-0.411328,0.911479]] 2025-10-28T19:52:35.534Z,1761681155.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898384,-0.399586,-0.182309],[0.439202,-0.819811,-0.367438],[-0.002636,-0.410171,0.912005]] 2025-10-28T19:52:35.944Z,1761681155.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879260,-0.434517,-0.195183],[0.476342,-0.802450,-0.359406],[-0.000456,-0.408985,0.912541]] 2025-10-28T19:52:36.347Z,1761681156.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870013,-0.450046,-0.201334],[0.493028,-0.793748,-0.356212],[0.000503,-0.409173,0.912457]] 2025-10-28T19:52:36.755Z,1761681156.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861000,-0.464822,-0.206447],[0.508604,-0.785910,-0.351664],[0.001213,-0.407782,0.913079]] 2025-10-28T19:52:37.184Z,1761681157.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852333,-0.478122,-0.211963],[0.522997,-0.777912,-0.348321],[0.001651,-0.407741,0.913096]] 2025-10-28T19:52:37.558Z,1761681157.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844366,-0.490105,-0.216431],[0.535761,-0.770646,-0.345057],[0.002322,-0.407310,0.913287]] 2025-10-28T19:52:37.959Z,1761681157.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836256,-0.502019,-0.220572],[0.548329,-0.763263,-0.341708],[0.003190,-0.406701,0.913556]] 2025-10-28T19:52:38.368Z,1761681158.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828096,-0.513830,-0.224135],[0.560570,-0.755933,-0.338122],[0.004306,-0.405641,0.914022]] 2025-10-28T19:52:38.773Z,1761681158.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819696,-0.525202,-0.228607],[0.572774,-0.747829,-0.335681],[0.005342,-0.406097,0.913814]] 2025-10-28T19:52:39.171Z,1761681159.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810795,-0.537247,-0.232330],[0.585295,-0.739758,-0.331946],[0.006469,-0.405122,0.914240]] 2025-10-28T19:52:39.575Z,1761681159.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801235,-0.549302,-0.237254],[0.598300,-0.730419,-0.329432],[0.007663,-0.405902,0.913885]] 2025-10-28T19:52:40.064Z,1761681160.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790842,-0.562230,-0.241797],[0.611945,-0.720244,-0.326760],[0.009561,-0.406382,0.913653]] 2025-10-28T19:52:40.393Z,1761681160.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779655,-0.575798,-0.246158],[0.626093,-0.709215,-0.324070],[0.012020,-0.406781,0.913447]] 2025-10-28T19:52:40.791Z,1761681160.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767296,-0.590137,-0.250989],[0.641122,-0.696865,-0.321466],[0.014804,-0.407574,0.913052]] 2025-10-28T19:52:41.113Z,1761681161.113 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:52:41.190Z,1761681161.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754103,-0.604926,-0.255721],[0.656517,-0.683841,-0.318350],[0.017706,-0.407954,0.912831]] 2025-10-28T19:52:41.365Z,1761681161.365 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:52:41.597Z,1761681161.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739668,-0.620395,-0.260773],[0.672661,-0.669771,-0.314538],[0.020480,-0.408065,0.912723]] 2025-10-28T19:52:41.617Z,1761681161.617 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:52:41.999Z,1761681161.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723813,-0.637316,-0.264430],[0.689630,-0.655698,-0.307362],[0.022501,-0.404831,0.914114]] 2025-10-28T19:52:42.402Z,1761681162.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707047,-0.654148,-0.268654],[0.706761,-0.640806,-0.299759],[0.023931,-0.401818,0.915407]] 2025-10-28T19:52:42.600Z,1761681162.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:52:42.806Z,1761681162.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689551,-0.669929,-0.275163],[0.723812,-0.624453,-0.293521],[0.024812,-0.401564,0.915495]] 2025-10-28T19:52:43.212Z,1761681163.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671276,-0.685444,-0.282055],[0.740777,-0.607444,-0.286813],[0.025261,-0.401470,0.915524]] 2025-10-28T19:52:43.604Z,1761681163.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:52:43.616Z,1761681163.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653109,-0.700052,-0.288749],[0.756850,-0.590825,-0.279471],[0.025044,-0.401065,0.915707]] 2025-10-28T19:52:44.019Z,1761681164.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634684,-0.713635,-0.296482],[0.772387,-0.573715,-0.272523],[0.024385,-0.401965,0.915330]] 2025-10-28T19:52:44.424Z,1761681164.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616181,-0.726454,-0.304278],[0.787272,-0.556881,-0.264739],[0.022874,-0.402677,0.915056]] 2025-10-28T19:52:44.453Z,1761681164.453 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:52:44.453Z,1761681164.453 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:52:44.454Z,1761681164.454 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:52:44.454Z,1761681164.454 [marl:UpdateRudder:A] Stopped 2025-10-28T19:52:44.454Z,1761681164.454 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:52:44.826Z,1761681164.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598167,-0.738817,-0.310396],[0.801084,-0.540897,-0.256311],[0.021475,-0.401970,0.915401]] 2025-10-28T19:52:44.893Z,1761681164.893 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:52:44.7254 2025-10-28T19:52:44.894Z,1761681164.894 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:52:44.904Z,1761681164.904 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:52:44.908Z,1761681164.908 [marl:UpdateRudder:B] Stopped 2025-10-28T19:52:44.908Z,1761681164.908 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:52:44.908Z,1761681164.908 [marl:UpdateRudder] Stopped 2025-10-28T19:52:44.908Z,1761681164.908 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:52:45.230Z,1761681165.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580646,-0.750008,-0.316763],[0.813915,-0.525256,-0.248293],[0.019840,-0.401988,0.915430]] 2025-10-28T19:52:45.634Z,1761681165.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563914,-0.760261,-0.322497],[0.825632,-0.510383,-0.240500],[0.018246,-0.401885,0.915508]] 2025-10-28T19:52:46.038Z,1761681166.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548530,-0.769235,-0.327708],[0.835954,-0.496463,-0.233893],[0.017224,-0.402246,0.915369]] 2025-10-28T19:52:46.108Z,1761681166.108 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode] Stopped 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:52:46.109Z,1761681166.109 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed] Stopped 2025-10-28T19:52:46.110Z,1761681166.110 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:52:46.443Z,1761681166.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533847,-0.777728,-0.331884],[0.845420,-0.483264,-0.227420],[0.016484,-0.401989,0.915496]] 2025-10-28T19:52:46.857Z,1761681166.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519403,-0.785425,-0.336642],[0.854378,-0.469916,-0.221847],[0.016051,-0.402848,0.915126]] 2025-10-28T19:52:47.655Z,1761681167.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490697,-0.799535,-0.346353],[0.871161,-0.442330,-0.213129],[0.017202,-0.406311,0.913573]] 2025-10-28T19:52:48.058Z,1761681168.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476246,-0.806439,-0.350494],[0.879108,-0.428092,-0.209538],[0.018936,-0.407914,0.912824]] 2025-10-28T19:52:48.462Z,1761681168.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461281,-0.813426,-0.354342],[0.886994,-0.413112,-0.206348],[0.021466,-0.409483,0.912065]] 2025-10-28T19:52:48.879Z,1761681168.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445517,-0.820977,-0.357088],[0.894932,-0.397383,-0.202936],[0.024705,-0.409981,0.911759]] 2025-10-28T19:52:49.271Z,1761681169.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428369,-0.828806,-0.359974],[0.903163,-0.380275,-0.199219],[0.028225,-0.410454,0.911444]] 2025-10-28T19:52:49.674Z,1761681169.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410264,-0.836333,-0.363635],[0.911421,-0.362219,-0.195216],[0.031550,-0.411515,0.910857]] 2025-10-28T19:52:50.078Z,1761681170.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390897,-0.844356,-0.366419],[0.919791,-0.343451,-0.189807],[0.034418,-0.411224,0.910884]] 2025-10-28T19:52:50.485Z,1761681170.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370854,-0.851934,-0.369696],[0.927974,-0.324295,-0.183568],[0.036497,-0.411146,0.910839]] 2025-10-28T19:52:50.886Z,1761681170.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349487,-0.859862,-0.372150],[0.936184,-0.304508,-0.175599],[0.037668,-0.409770,0.911411]] 2025-10-28T19:52:51.291Z,1761681171.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327860,-0.867409,-0.374311],[0.943956,-0.284787,-0.166862],[0.038139,-0.408041,0.912167]] 2025-10-28T19:52:51.717Z,1761681171.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306369,-0.874165,-0.376795],[0.951145,-0.265222,-0.158055],[0.038232,-0.406809,0.912713]] 2025-10-28T19:52:52.100Z,1761681172.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284862,-0.880378,-0.379194],[0.957821,-0.245806,-0.148855],[0.037840,-0.405604,0.913265]] 2025-10-28T19:52:52.503Z,1761681172.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263455,-0.886211,-0.381078],[0.963957,-0.226644,-0.139354],[0.037128,-0.404056,0.913980]] 2025-10-28T19:52:52.906Z,1761681172.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242036,-0.891673,-0.382540],[0.969584,-0.207483,-0.129836],[0.036400,-0.402330,0.914771]] 2025-10-28T19:52:53.310Z,1761681173.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220774,-0.896539,-0.384027],[0.974665,-0.188320,-0.120680],[0.035874,-0.400941,0.915401]] 2025-10-28T19:52:53.765Z,1761681173.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198822,-0.900502,-0.386738],[0.979385,-0.168191,-0.111878],[0.035700,-0.401009,0.915378]] 2025-10-28T19:52:54.119Z,1761681174.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176943,-0.904124,-0.388910],[0.983583,-0.148207,-0.102956],[0.035446,-0.400743,0.915505]] 2025-10-28T19:52:54.522Z,1761681174.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154388,-0.907727,-0.390124],[0.987379,-0.127636,-0.093766],[0.035320,-0.399676,0.915976]] 2025-10-28T19:52:54.927Z,1761681174.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131820,-0.910622,-0.391651],[0.990650,-0.107008,-0.084624],[0.035151,-0.399145,0.916214]] 2025-10-28T19:52:54.982Z,1761681174.982 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:52:55.233Z,1761681175.233 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:52:55.339Z,1761681175.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108958,-0.912758,-0.393702],[0.993441,-0.086164,-0.075175],[0.034694,-0.399311,0.916159]] 2025-10-28T19:52:55.485Z,1761681175.485 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:52:55.769Z,1761681175.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086544,-0.914116,-0.396109],[0.995668,-0.065802,-0.065684],[0.033978,-0.400077,0.915851]] 2025-10-28T19:52:56.139Z,1761681176.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064373,-0.915603,-0.396896],[0.997387,-0.045957,-0.055748],[0.032803,-0.399448,0.916169]] 2025-10-28T19:52:56.543Z,1761681176.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043149,-0.916794,-0.397022],[0.998573,-0.027064,-0.046031],[0.031456,-0.398441,0.916654]] 2025-10-28T19:52:56.948Z,1761681176.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023218,-0.917020,-0.398164],[0.999281,-0.009345,-0.036748],[0.029978,-0.398731,0.916578]] 2025-10-28T19:52:57.774Z,1761681177.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013536,-0.916836,-0.399035],[0.999569,0.022811,-0.018504],[0.026068,-0.398612,0.916749]] 2025-10-28T19:52:57.844Z,1761681177.844 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:52:57.845Z,1761681177.845 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:52:57.845Z,1761681177.845 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:52:57.845Z,1761681177.845 [marl:UpdateRudder:A] Stopped 2025-10-28T19:52:57.845Z,1761681177.845 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:52:58.215Z,1761681178.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030211,-0.916862,-0.398059],[0.999239,0.037535,-0.010616],[0.024675,-0.397435,0.917298]] 2025-10-28T19:52:58.265Z,1761681178.265 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:52:58.265Z,1761681178.265 [marl:UpdateRudder:B] Stopped 2025-10-28T19:52:58.266Z,1761681178.266 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:52:58.266Z,1761681178.266 [marl:UpdateRudder] Stopped 2025-10-28T19:52:58.266Z,1761681178.266 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:52:58.565Z,1761681178.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046229,-0.916356,-0.397686],[0.998646,0.051902,-0.003506],[0.023854,-0.396985,0.917515]] 2025-10-28T19:52:58.767Z,1761681178.767 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:52:58.5753 2025-10-28T19:52:58.767Z,1761681178.767 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:52:58.967Z,1761681178.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061936,-0.915576,-0.397347],[0.997798,0.066261,0.002851],[0.023718,-0.396648,0.917664]] 2025-10-28T19:52:59.374Z,1761681179.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077422,-0.915058,-0.395820],[0.996700,0.080750,0.008276],[0.024389,-0.395155,0.918291]] 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:52:59.419Z,1761681179.419 [marl:UpdateCommandMode] Stopped 2025-10-28T19:52:59.420Z,1761681179.420 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:52:59.424Z,1761681179.424 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:52:59.424Z,1761681179.424 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:52:59.424Z,1761681179.424 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:52:59.424Z,1761681179.424 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:52:59.425Z,1761681179.425 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:52:59.425Z,1761681179.425 [marl:UpdateSpeed] Stopped 2025-10-28T19:52:59.425Z,1761681179.425 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:52:59.784Z,1761681179.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093548,-0.914542,-0.393526],[0.995280,0.096148,0.013149],[0.025811,-0.392898,0.919220]] 2025-10-28T19:53:00.181Z,1761681180.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110748,-0.912588,-0.393595],[0.993462,0.112699,0.018235],[0.027717,-0.393041,0.919103]] 2025-10-28T19:53:00.582Z,1761681180.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129416,-0.909628,-0.394751],[0.991138,0.130689,0.023789],[0.029950,-0.394331,0.918480]] 2025-10-28T19:53:00.986Z,1761681180.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149703,-0.906368,-0.395078],[0.988212,0.150105,0.030090],[0.032031,-0.394925,0.918155]] 2025-10-28T19:53:01.394Z,1761681181.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171422,-0.902127,-0.395957],[0.984622,0.170619,0.037544],[0.033689,-0.396303,0.917501]] 2025-10-28T19:53:01.799Z,1761681181.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194336,-0.897579,-0.395707],[0.980318,0.192018,0.045891],[0.034792,-0.396837,0.917229]] 2025-10-28T19:53:02.201Z,1761681182.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218388,-0.891874,-0.396065],[0.975225,0.214129,0.055548],[0.035268,-0.398384,0.916541]] 2025-10-28T19:53:02.603Z,1761681182.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241600,-0.886254,-0.395200],[0.969725,0.235423,0.064881],[0.035538,-0.398911,0.916301]] 2025-10-28T19:53:03.006Z,1761681183.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264907,-0.880000,-0.394239],[0.963627,0.256562,0.074821],[0.035304,-0.399720,0.915957]] 2025-10-28T19:53:03.419Z,1761681183.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287784,-0.872710,-0.394408],[0.957064,0.277028,0.085348],[0.034779,-0.402036,0.914963]] 2025-10-28T19:53:03.824Z,1761681183.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309619,-0.865112,-0.394611],[0.950246,0.296430,0.095714],[0.034171,-0.404612,0.913850]] 2025-10-28T19:53:04.218Z,1761681184.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330856,-0.857388,-0.394234],[0.943098,0.315103,0.106189],[0.033179,-0.406934,0.912855]] 2025-10-28T19:53:04.623Z,1761681184.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350709,-0.850344,-0.392324],[0.935931,0.332660,0.115629],[0.032186,-0.407740,0.912531]] 2025-10-28T19:53:05.027Z,1761681185.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369403,-0.843453,-0.390036],[0.928751,0.349125,0.124636],[0.031047,-0.408287,0.912325]] 2025-10-28T19:53:05.431Z,1761681185.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386965,-0.836983,-0.386934],[0.921613,0.364618,0.132977],[0.029784,-0.408061,0.912469]] 2025-10-28T19:53:05.842Z,1761681185.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402963,-0.830603,-0.384343],[0.914765,0.378709,0.140657],[0.028724,-0.408264,0.912412]] 2025-10-28T19:53:06.238Z,1761681186.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418204,-0.825025,-0.380052],[0.907935,0.392360,0.147335],[0.027562,-0.406679,0.913155]] 2025-10-28T19:53:06.643Z,1761681186.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433008,-0.819422,-0.375567],[0.901003,0.405669,0.153708],[0.026404,-0.404944,0.913960]] 2025-10-28T19:53:07.047Z,1761681187.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447670,-0.813270,-0.371731],[0.893841,0.418747,0.160308],[0.025288,-0.404034,0.914395]] 2025-10-28T19:53:07.856Z,1761681187.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476212,-0.799866,-0.365290],[0.878995,0.444491,0.172615],[0.024299,-0.403289,0.914750]] 2025-10-28T19:53:08.260Z,1761681188.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490861,-0.792076,-0.362864],[0.870897,0.457736,0.178932],[0.024369,-0.403848,0.914501]] 2025-10-28T19:53:08.663Z,1761681188.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506195,-0.783893,-0.359552],[0.862070,0.471787,0.185075],[0.024553,-0.403643,0.914587]] 2025-10-28T19:53:08.853Z,1761681188.853 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:53:09.066Z,1761681189.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521721,-0.775545,-0.355439],[0.852752,0.486253,0.190715],[0.024925,-0.402602,0.915036]] 2025-10-28T19:53:09.105Z,1761681189.105 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-28T19:53:09.357Z,1761681189.357 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-28T19:53:09.471Z,1761681189.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537976,-0.766249,-0.351345],[0.842584,0.501242,0.196998],[0.025159,-0.402018,0.915286]] 2025-10-28T19:53:09.878Z,1761681189.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554935,-0.755689,-0.347825],[0.831508,0.516595,0.204264],[0.025324,-0.402573,0.915038]] 2025-10-28T19:53:10.279Z,1761681190.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572189,-0.744349,-0.344303],[0.819731,0.532032,0.212090],[0.025311,-0.403591,0.914589]] 2025-10-28T19:53:10.683Z,1761681190.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589893,-0.731794,-0.341325],[0.807091,0.547484,0.221057],[0.025102,-0.405881,0.913581]] 2025-10-28T19:53:11.086Z,1761681191.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607106,-0.718891,-0.338553],[0.794222,0.562461,0.229887],[0.025159,-0.408452,0.912433]] 2025-10-28T19:53:11.137Z,1761681191.137 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:53:11.137Z,1761681191.137 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:53:11.137Z,1761681191.137 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:53:11.138Z,1761681191.138 [marl:UpdateRudder:A] Stopped 2025-10-28T19:53:11.138Z,1761681191.138 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:53:11.497Z,1761681191.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623953,-0.706713,-0.333526],[0.781058,0.577701,0.237088],[0.025125,-0.408435,0.912442]] 2025-10-28T19:53:11.521Z,1761681191.521 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:53:11.521Z,1761681191.521 [marl:UpdateRudder:B] Stopped 2025-10-28T19:53:11.522Z,1761681191.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:53:11.522Z,1761681191.522 [marl:UpdateRudder] Stopped 2025-10-28T19:53:11.522Z,1761681191.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:53:11.900Z,1761681191.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639887,-0.695590,-0.326648],[0.768072,0.592566,0.242758],[0.024701,-0.406227,0.913438]] 2025-10-28T19:53:12.304Z,1761681192.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654331,-0.685202,-0.319921],[0.755815,0.606233,0.247437],[0.024402,-0.403707,0.914563]] 2025-10-28T19:53:12.637Z,1761681192.637 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:53:12.4253 2025-10-28T19:53:12.638Z,1761681192.638 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING 2025-10-28T19:53:12.702Z,1761681192.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668484,-0.674306,-0.313753],[0.743343,0.619323,0.252745],[0.023887,-0.402182,0.915248]] 2025-10-28T19:53:12.727Z,1761681192.727 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:53:12.728Z,1761681192.728 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:53:12.744Z,1761681192.744 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:53:12.744Z,1761681192.744 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:53:12.744Z,1761681192.744 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:53:12.744Z,1761681192.744 [marl:UpdateCommandMode] Stopped 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed] Stopped 2025-10-28T19:53:12.745Z,1761681192.745 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:53:13.109Z,1761681193.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681713,-0.663877,-0.307465],[0.731242,0.631774,0.257189],[0.023507,-0.400161,0.916144]] 2025-10-28T19:53:13.510Z,1761681193.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694119,-0.653610,-0.301652],[0.719492,0.643326,0.261655],[0.023041,-0.398656,0.916811]] 2025-10-28T19:53:13.732Z,1761681193.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:53:13.915Z,1761681193.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706377,-0.642690,-0.296615],[0.707483,0.654275,0.267194],[0.022345,-0.398590,0.916857]] 2025-10-28T19:53:14.324Z,1761681194.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718678,-0.632139,-0.289657],[0.695020,0.665734,0.271562],[0.021169,-0.396483,0.917798]] 2025-10-28T19:53:14.724Z,1761681194.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730780,-0.620759,-0.283933],[0.682329,0.676271,0.277640],[0.019668,-0.396630,0.917768]] 2025-10-28T19:53:14.728Z,1761681194.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:53:15.126Z,1761681195.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742953,-0.609103,-0.277513],[0.669096,0.687098,0.283207],[0.018176,-0.396093,0.918030]] 2025-10-28T19:53:15.531Z,1761681195.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755256,-0.597146,-0.270193],[0.655221,0.698283,0.288248],[0.016545,-0.394737,0.918645]] 2025-10-28T19:53:15.935Z,1761681195.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768156,-0.583801,-0.262892],[0.640091,0.709742,0.294195],[0.014834,-0.394262,0.918878]] 2025-10-28T19:53:16.338Z,1761681196.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781047,-0.570056,-0.254952],[0.624338,0.721279,0.299931],[0.012914,-0.393437,0.919261]] 2025-10-28T19:53:16.743Z,1761681196.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794009,-0.555405,-0.247133],[0.607806,0.732665,0.306225],[0.010987,-0.393355,0.919321]] 2025-10-28T19:53:17.148Z,1761681197.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807122,-0.539760,-0.239191],[0.590315,0.744043,0.312935],[0.009059,-0.393775,0.919162]] 2025-10-28T19:53:17.550Z,1761681197.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820032,-0.523647,-0.230958],[0.572273,0.755331,0.319341],[0.007228,-0.394041,0.919064]] 2025-10-28T19:53:17.955Z,1761681197.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832605,-0.507535,-0.221760],[0.553841,0.766815,0.324430],[0.005389,-0.392941,0.919548]] 2025-10-28T19:53:18.358Z,1761681198.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844734,-0.491071,-0.212777],[0.535175,0.777706,0.329790],[0.003528,-0.392458,0.919763]] 2025-10-28T19:53:18.770Z,1761681198.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856569,-0.474009,-0.203975],[0.516031,0.788028,0.335743],[0.001593,-0.392844,0.919604]] 2025-10-28T19:53:19.571Z,1761681199.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878476,-0.439213,-0.188073],[0.477782,0.805917,0.349602],[-0.001978,-0.396975,0.917827]] 2025-10-28T19:53:19.979Z,1761681199.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888833,-0.421661,-0.179379],[0.458216,0.814724,0.355336],[-0.003687,-0.398029,0.917366]] 2025-10-28T19:53:20.380Z,1761681200.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898567,-0.404444,-0.170300],[0.438802,0.823239,0.360181],[-0.005475,-0.398375,0.917206]] 2025-10-28T19:53:20.799Z,1761681200.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916790,-0.369719,-0.151011],[0.399256,0.839448,0.368677],[-0.009541,-0.398291,0.917209]] 2025-10-28T19:53:21.597Z,1761681201.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932386,-0.336408,-0.132231],[0.361187,0.852807,0.377178],[-0.014119,-0.399436,0.916652]] 2025-10-28T19:53:22.005Z,1761681202.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939213,-0.320616,-0.122823],[0.342933,0.858705,0.380818],[-0.016628,-0.399789,0.916456]] 2025-10-28T19:53:22.403Z,1761681202.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945321,-0.305688,-0.113676],[0.325586,0.864214,0.383572],[-0.019013,-0.399610,0.916488]] 2025-10-28T19:53:22.435Z,1761681202.435 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:53:22.465Z,1761681202.465 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:53:22.516Z,1761681202.516 [DAT](INFO): entering command mode 2025-10-28T19:53:22.716Z,1761681202.716 [DAT](INFO): DAT read: 2025-10-28T19:53:22.717Z,1761681202.717 [DAT](INFO): DAT read: user:220> 2025-10-28T19:53:22.717Z,1761681202.717 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 2025-10-28T19:53:22.718Z,1761681202.718 [DAT](ERROR): Ack receipt timeout failure. 2025-10-28T19:53:22.718Z,1761681202.718 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:53:22.718Z,1761681202.718 [DAT](INFO): setting remote address to 0 2025-10-28T19:53:22.809Z,1761681202.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950794,-0.291569,-0.104777],[0.309086,0.869314,0.385694],[-0.021372,-0.399100,0.916658]] 2025-10-28T19:53:22.969Z,1761681202.969 [DAT](INFO): DAT read: user:220> 2025-10-28T19:53:22.970Z,1761681202.970 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-28T19:53:22.970Z,1761681202.970 [DAT](INFO): set remote address to 0 2025-10-28T19:53:22.970Z,1761681202.970 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-28T19:53:22.971Z,1761681202.971 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:53:22.971Z,1761681202.971 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:53:23.207Z,1761681203.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955677,-0.278033,-0.096849],[0.293460,0.873040,0.389465],[-0.023731,-0.400624,0.915935]] 2025-10-28T19:53:23.221Z,1761681203.221 [DAT](INFO): DAT read: user:221> 2025-10-28T19:53:23.222Z,1761681203.222 [DAT](INFO): DAT read: Tx time:19:53:22.9764 2025-10-28T19:53:23.222Z,1761681203.222 [DAT](INFO): Ping request sent. 2025-10-28T19:53:23.222Z,1761681203.222 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:53:23.222Z,1761681203.222 [DAT](INFO): publishing transmit ping time 2025-10-28T19:53:23.223Z,1761681203.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001064 2025-10-28T19:53:23.473Z,1761681203.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832 2025-10-28T19:53:23.612Z,1761681203.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960072,-0.264973,-0.089731],[0.278597,0.876446,0.392715],[-0.025414,-0.402034,0.915272]] 2025-10-28T19:53:23.728Z,1761681203.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505719 2025-10-28T19:53:23.977Z,1761681203.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754806 2025-10-28T19:53:24.019Z,1761681204.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964062,-0.252336,-0.083127],[0.264309,0.879246,0.396318],[-0.026917,-0.404046,0.914342]] 2025-10-28T19:53:24.229Z,1761681204.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804 2025-10-28T19:53:24.419Z,1761681204.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967882,-0.239489,-0.076483],[0.249861,0.882674,0.398065],[-0.027823,-0.404390,0.914163]] 2025-10-28T19:53:24.458Z,1761681204.458 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:53:24.458Z,1761681204.458 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:53:24.459Z,1761681204.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:53:24.459Z,1761681204.459 [marl:UpdateRudder:A] Stopped 2025-10-28T19:53:24.459Z,1761681204.459 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:53:24.482Z,1761681204.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260091 2025-10-28T19:53:24.733Z,1761681204.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510781 2025-10-28T19:53:24.822Z,1761681204.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971616,-0.225946,-0.070075],[0.234856,0.885779,0.400298],[-0.028375,-0.405393,0.913702]] 2025-10-28T19:53:24.846Z,1761681204.846 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:53:24.846Z,1761681204.846 [marl:UpdateRudder:B] Stopped 2025-10-28T19:53:24.847Z,1761681204.847 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:53:24.847Z,1761681204.847 [marl:UpdateRudder] Stopped 2025-10-28T19:53:24.847Z,1761681204.847 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:53:24.985Z,1761681204.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762758 2025-10-28T19:53:25.228Z,1761681205.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975556,-0.210397,-0.063430],[0.217909,0.888907,0.402939],[-0.028394,-0.406911,0.913026]] 2025-10-28T19:53:25.237Z,1761681205.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014780 2025-10-28T19:53:25.489Z,1761681205.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804 2025-10-28T19:53:25.630Z,1761681205.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979373,-0.193990,-0.056538],[0.200079,0.891935,0.405487],[-0.028232,-0.408435,0.912351]] 2025-10-28T19:53:25.745Z,1761681205.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522267 2025-10-28T19:53:25.995Z,1761681205.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773363 2025-10-28T19:53:26.035Z,1761681206.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983383,-0.174995,-0.048320],[0.179367,0.895456,0.407415],[-0.028027,-0.409312,0.911964]] 2025-10-28T19:53:26.109Z,1761681206.109 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode] Stopped 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:53:26.110Z,1761681206.110 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed] Stopped 2025-10-28T19:53:26.111Z,1761681206.111 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:53:26.245Z,1761681206.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022812 2025-10-28T19:53:26.440Z,1761681206.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987202,-0.154565,-0.039272],[0.157040,0.899305,0.408153],[-0.027769,-0.409097,0.912068]] 2025-10-28T19:53:26.497Z,1761681206.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909 2025-10-28T19:53:26.749Z,1761681206.749 [DAT](INFO): DAT read: Rx Time:19:53:26.1161 2025-10-28T19:53:26.750Z,1761681206.750 [DAT](INFO): Rx dataTimestamp_ set to:1761681206.749662 2025-10-28T19:53:26.751Z,1761681206.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528705 2025-10-28T19:53:26.842Z,1761681206.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990660,-0.133200,-0.029163],[0.133439,0.903046,0.408292],[-0.028049,-0.408370,0.912385]] 2025-10-28T19:53:27.001Z,1761681207.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778806 2025-10-28T19:53:27.255Z,1761681207.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032689 2025-10-28T19:53:27.511Z,1761681207.511 [DAT](INFO): DAT read: 19:53:26.1161 LVL= 23840, 22433, 32754, 32755, AGC= 71, IDX= 216, 0.35,-1.027,-0.305,-2.121,-0.576, PHS=-0.349, 0.317,-1.589, RAW= 9.9, 18.9, CAL= 9.5, 23.1, ROT= 140.5, -23.1 2025-10-28T19:53:27.512Z,1761681207.512 [DAT](INFO): got valid direction response: 19:53:26.1161 LVL= 23840, 22433, 32754, 32755, AGC= 71, IDX= 216, 0.35,-1.027,-0.305,-2.121,-0.576, PHS=-0.349, 0.317,-1.589, RAW= 9.9, 18.9, CAL= 9.5, 23.1, ROT= 140.5, -23.1 2025-10-28T19:53:27.513Z,1761681207.513 [DAT](INFO): DAT read: Bearing 111, -20 (Remote) 2025-10-28T19:53:27.513Z,1761681207.513 [DAT](INFO): Remote Bearing received:Bearing 111, -20 (Remote) 2025-10-28T19:53:27.514Z,1761681207.514 [DAT](INFO): DAT read: Bearing 276.8, 22.2 (Local) 2025-10-28T19:53:27.514Z,1761681207.514 [DAT](INFO): Local bearing/azimuth received: Bearing 276.8, 22.2 (Local) 2025-10-28T19:53:27.516Z,1761681207.516 [DAT](INFO): DAT read: Range 11 to 20 : 832.8 m (Round-trip 1110.5 ms) speed -0.4 m/s 2025-10-28T19:53:27.516Z,1761681207.516 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:53:27.517Z,1761681207.517 [DAT](INFO): direction in FSK: [-0.709757,0.585078,0.392337] 2025-10-28T19:53:27.518Z,1761681207.518 [DAT](INFO): publishing direction and range info 2025-10-28T19:53:27.651Z,1761681207.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995984,-0.089195,-0.007693],[0.084704,0.911037,0.403530],[-0.028984,-0.402562,0.914934]] 2025-10-28T19:53:27.787Z,1761681207.787 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681152.00. Resetting abort timer. 2025-10-28T19:53:28.059Z,1761681208.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997805,-0.066125,0.003448],[0.059197,0.914179,0.400964],[-0.029665,-0.399879,0.916088]] 2025-10-28T19:53:28.458Z,1761681208.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998972,-0.042936,0.014530],[0.033575,0.916264,0.399166],[-0.030452,-0.398268,0.916764]] 2025-10-28T19:53:28.863Z,1761681208.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999466,-0.020833,0.025162],[0.009121,0.917589,0.397425],[-0.031368,-0.396983,0.917290]] 2025-10-28T19:53:29.278Z,1761681209.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999401,-0.001066,0.034582],[-0.012685,0.918626,0.394925],[-0.032189,-0.395127,0.918062]] 2025-10-28T19:53:29.672Z,1761681209.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998932,0.016807,0.043045],[-0.032391,0.919042,0.392826],[-0.032958,-0.393801,0.918605]] 2025-10-28T19:53:30.075Z,1761681210.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998166,0.032775,0.050900],[-0.050133,0.918817,0.391488],[-0.033937,-0.393322,0.918774]] 2025-10-28T19:53:30.479Z,1761681210.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997130,0.048047,0.058507],[-0.067150,0.918193,0.390399],[-0.034963,-0.393208,0.918785]] 2025-10-28T19:53:30.883Z,1761681210.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995851,0.062892,0.065762],[-0.083671,0.916957,0.390115],[-0.035766,-0.393999,0.918415]] 2025-10-28T19:53:31.292Z,1761681211.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994300,0.077630,0.073082],[-0.100187,0.914756,0.391387],[-0.036469,-0.396478,0.917319]] 2025-10-28T19:53:31.704Z,1761681211.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992369,0.093155,0.080785],[-0.117580,0.912221,0.392464],[-0.037134,-0.398968,0.916213]] 2025-10-28T19:53:32.095Z,1761681212.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990058,0.109087,0.088796],[-0.135457,0.909521,0.392967],[-0.037894,-0.401088,0.915255]] 2025-10-28T19:53:32.500Z,1761681212.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987243,0.126296,0.096954],[-0.154535,0.906683,0.392486],[-0.038337,-0.402462,0.914634]] 2025-10-28T19:53:32.903Z,1761681212.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984028,0.143804,0.104930],[-0.173780,0.903822,0.391034],[-0.038606,-0.403022,0.914375]] 2025-10-28T19:53:33.307Z,1761681213.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980436,0.161210,0.112946],[-0.192977,0.900316,0.390117],[-0.038797,-0.404281,0.913812]] 2025-10-28T19:53:33.758Z,1761681213.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976520,0.178107,0.121190],[-0.211911,0.895401,0.391600],[-0.038767,-0.408087,0.912120]] 2025-10-28T19:53:34.114Z,1761681214.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972227,0.194555,0.130086],[-0.230778,0.889399,0.394601],[-0.038927,-0.413663,0.909598]] 2025-10-28T19:53:34.519Z,1761681214.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967629,0.211027,0.138428],[-0.249376,0.883807,0.395849],[-0.038809,-0.417555,0.907822]] 2025-10-28T19:53:34.925Z,1761681214.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962881,0.226748,0.146445],[-0.267151,0.878151,0.396839],[-0.038618,-0.421232,0.906131]] 2025-10-28T19:53:35.327Z,1761681215.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958056,0.241770,0.153870],[-0.283983,0.873054,0.396397],[-0.038500,-0.423467,0.905093]] 2025-10-28T19:53:35.770Z,1761681215.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953195,0.256164,0.160624],[-0.299888,0.868722,0.394193],[-0.038559,-0.423912,0.904882]] 2025-10-28T19:53:36.137Z,1761681216.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948109,0.269973,0.167942],[-0.315548,0.863733,0.392930],[-0.038976,-0.425534,0.904103]] 2025-10-28T19:53:36.538Z,1761681216.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942559,0.284715,0.174700],[-0.331711,0.859425,0.389045],[-0.039375,-0.424648,0.904502]] 2025-10-28T19:53:36.943Z,1761681216.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936595,0.300185,0.180776],[-0.348132,0.855908,0.382395],[-0.039938,-0.421083,0.906142]] 2025-10-28T19:53:37.347Z,1761681217.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929851,0.316253,0.188047],[-0.365695,0.850699,0.377594],[-0.040556,-0.419874,0.906676]] 2025-10-28T19:53:37.775Z,1761681217.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922075,0.333620,0.196154],[-0.384777,0.844667,0.372134],[-0.041533,-0.418611,0.907215]] 2025-10-28T19:53:37.826Z,1761681217.826 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:53:37.826Z,1761681217.826 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:53:37.827Z,1761681217.827 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:53:37.827Z,1761681217.827 [marl:UpdateRudder:A] Stopped 2025-10-28T19:53:37.827Z,1761681217.827 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:53:38.154Z,1761681218.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913455,0.351855,0.204443],[-0.404701,0.838080,0.365841],[-0.042617,-0.416918,0.907945]] 2025-10-28T19:53:38.189Z,1761681218.189 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:53:38.190Z,1761681218.190 [marl:UpdateRudder:B] Stopped 2025-10-28T19:53:38.190Z,1761681218.190 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:53:38.190Z,1761681218.190 [marl:UpdateRudder] Stopped 2025-10-28T19:53:38.190Z,1761681218.190 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:53:38.559Z,1761681218.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903904,0.369492,0.215486],[-0.425490,0.828285,0.364557],[-0.043783,-0.421211,0.905905]] 2025-10-28T19:53:38.962Z,1761681218.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893549,0.387582,0.226607],[-0.446712,0.818022,0.362338],[-0.044933,-0.424995,0.904080]] 2025-10-28T19:53:39.369Z,1761681219.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882543,0.406863,0.235755],[-0.468006,0.808724,0.356282],[-0.045702,-0.424769,0.904148]] 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode] Stopped 2025-10-28T19:53:39.394Z,1761681219.394 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed] Stopped 2025-10-28T19:53:39.395Z,1761681219.395 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:53:39.791Z,1761681219.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871119,0.427589,0.241494],[-0.488936,0.801024,0.345401],[-0.045753,-0.418960,0.906851]] 2025-10-28T19:53:40.174Z,1761681220.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859511,0.447835,0.246341],[-0.509091,0.792976,0.334686],[-0.045459,-0.413076,0.909561]] 2025-10-28T19:53:40.580Z,1761681220.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848032,0.466887,0.250715],[-0.528037,0.784540,0.325076],[-0.044923,-0.408062,0.911848]] 2025-10-28T19:53:40.983Z,1761681220.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836712,0.484321,0.255628],[-0.545831,0.775458,0.317386],[-0.044512,-0.405090,0.913192]] 2025-10-28T19:53:41.386Z,1761681221.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825377,0.500798,0.260680],[-0.562861,0.765923,0.310724],[-0.044050,-0.403191,0.914055]] 2025-10-28T19:53:41.794Z,1761681221.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814447,0.516041,0.265289],[-0.578587,0.756747,0.304256],[-0.043748,-0.401293,0.914904]] 2025-10-28T19:53:42.227Z,1761681222.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803045,0.531390,0.269710],[-0.594339,0.747115,0.297624],[-0.043350,-0.399305,0.915793]] 2025-10-28T19:53:42.599Z,1761681222.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792007,0.545724,0.273698],[-0.609005,0.737692,0.291417],[-0.042871,-0.397488,0.916605]] 2025-10-28T19:53:43.003Z,1761681223.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779970,0.560000,0.279369],[-0.624371,0.726660,0.286576],[-0.042524,-0.397951,0.916421]] 2025-10-28T19:53:43.811Z,1761681223.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754616,0.586331,0.294567],[-0.654801,0.701840,0.280455],[-0.042300,-0.404519,0.913551]] 2025-10-28T19:53:44.214Z,1761681224.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742345,0.597782,0.302623],[-0.668659,0.689720,0.277817],[-0.042652,-0.408588,0.911722]] 2025-10-28T19:53:44.619Z,1761681224.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729793,0.608867,0.310940],[-0.682319,0.677226,0.275329],[-0.042938,-0.413093,0.909676]] 2025-10-28T19:53:44.864Z,1761681224.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:53:45.022Z,1761681225.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716611,0.620454,0.318600],[-0.696109,0.664789,0.271087],[-0.043604,-0.416044,0.908298]] 2025-10-28T19:53:45.429Z,1761681225.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703663,0.631749,0.325195],[-0.709137,0.653101,0.265677],[-0.044544,-0.417555,0.907559]] 2025-10-28T19:53:45.831Z,1761681225.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690863,0.643488,0.329591],[-0.721551,0.642380,0.258286],[-0.045519,-0.416258,0.908107]] 2025-10-28T19:53:45.868Z,1761681225.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:53:46.243Z,1761681226.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678589,0.653531,0.335284],[-0.733018,0.631695,0.252281],[-0.046923,-0.416964,0.907711]] 2025-10-28T19:53:46.264Z,1761681226.264 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T19:53:46.638Z,1761681226.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666146,0.663335,0.340935],[-0.744232,0.621040,0.245823],[-0.048671,-0.417488,0.907378]] 2025-10-28T19:53:47.043Z,1761681227.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653558,0.674105,0.344159],[-0.755179,0.611222,0.236882],[-0.050674,-0.414718,0.908538]] 2025-10-28T19:53:47.448Z,1761681227.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641112,0.684746,0.346551],[-0.765639,0.601658,0.227606],[-0.052653,-0.411254,0.909999]] 2025-10-28T19:53:47.850Z,1761681227.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627849,0.693780,0.352810],[-0.776404,0.590165,0.221137],[-0.054795,-0.412764,0.909188]] 2025-10-28T19:53:48.258Z,1761681228.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612906,0.703432,0.359903],[-0.788100,0.577055,0.214257],[-0.056968,-0.414959,0.908055]] 2025-10-28T19:53:48.659Z,1761681228.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596030,0.714898,0.365609],[-0.800777,0.562789,0.205002],[-0.059205,-0.414958,0.907912]] 2025-10-28T19:53:49.064Z,1761681229.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577415,0.727014,0.371542],[-0.814147,0.546877,0.195169],[-0.061297,-0.415183,0.907670]] 2025-10-28T19:53:49.467Z,1761681229.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557631,0.741242,0.373642],[-0.827642,0.531016,0.181746],[-0.063692,-0.410589,0.909593]] 2025-10-28T19:53:49.870Z,1761681229.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536469,0.757569,0.371874],[-0.841341,0.514526,0.165553],[-0.065921,-0.401687,0.913401]] 2025-10-28T19:53:50.278Z,1761681230.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514417,0.771559,0.374262],[-0.854851,0.495924,0.152608],[-0.067859,-0.398443,0.914679]] 2025-10-28T19:53:50.680Z,1761681230.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492221,0.782585,0.381155],[-0.867685,0.476107,0.142983],[-0.069574,-0.401102,0.913388]] 2025-10-28T19:53:51.082Z,1761681231.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470146,0.792885,0.387681],[-0.879750,0.456205,0.133856],[-0.070729,-0.403994,0.912023]] 2025-10-28T19:53:51.112Z,1761681231.112 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:53:51.112Z,1761681231.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:53:51.112Z,1761681231.112 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:53:51.113Z,1761681231.113 [marl:UpdateRudder:A] Stopped 2025-10-28T19:53:51.113Z,1761681231.113 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:53:51.487Z,1761681231.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447765,0.803674,0.391937],[-0.891348,0.435876,0.124543],[-0.070744,-0.405118,0.911523]] 2025-10-28T19:53:51.531Z,1761681231.531 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:53:51.531Z,1761681231.531 [marl:UpdateRudder:B] Stopped 2025-10-28T19:53:51.531Z,1761681231.531 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:53:51.531Z,1761681231.531 [marl:UpdateRudder] Stopped 2025-10-28T19:53:51.532Z,1761681231.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:53:51.891Z,1761681231.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425747,0.814355,0.394417],[-0.902154,0.415609,0.115704],[-0.069699,-0.405086,0.911618]] 2025-10-28T19:53:52.301Z,1761681232.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405185,0.823512,0.397054],[-0.911655,0.396552,0.107854],[-0.068633,-0.405677,0.911436]] 2025-10-28T19:53:52.702Z,1761681232.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387323,0.831287,0.398677],[-0.919407,0.380335,0.100182],[-0.068351,-0.405349,0.911603]] 2025-10-28T19:53:52.740Z,1761681232.740 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode] Stopped 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:53:52.741Z,1761681232.741 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:53:52.742Z,1761681232.742 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:53:52.742Z,1761681232.742 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:53:52.742Z,1761681232.742 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:53:52.742Z,1761681232.742 [marl:UpdateSpeed] Stopped 2025-10-28T19:53:52.742Z,1761681232.742 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:53:53.103Z,1761681233.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371090,0.837777,0.400528],[-0.926039,0.365866,0.092701],[-0.068877,-0.405305,0.911583]] 2025-10-28T19:53:53.506Z,1761681233.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355530,0.843516,0.402592],[-0.932078,0.351994,0.085618],[-0.069490,-0.405687,0.911367]] 2025-10-28T19:53:53.911Z,1761681233.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340450,0.848347,0.405464],[-0.937616,0.338634,0.078755],[-0.070493,-0.406982,0.910712]] 2025-10-28T19:53:54.327Z,1761681234.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327538,0.853356,0.405590],[-0.942037,0.327976,0.070694],[-0.072696,-0.405236,0.911317]] 2025-10-28T19:53:54.726Z,1761681234.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318482,0.859034,0.400786],[-0.944816,0.321905,0.060829],[-0.076761,-0.398042,0.914150]] 2025-10-28T19:53:55.122Z,1761681235.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313526,0.866970,0.387381],[-0.945965,0.320720,0.047833],[-0.082771,-0.381446,0.920678]] 2025-10-28T19:53:55.930Z,1761681235.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310323,0.882658,0.353007],[-0.945591,0.324794,0.019142],[-0.097759,-0.339740,0.935425]] 2025-10-28T19:53:56.338Z,1761681236.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309043,0.889094,0.337645],[-0.945115,0.326702,0.004775],[-0.106064,-0.320589,0.941261]] 2025-10-28T19:53:56.739Z,1761681236.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306957,0.894496,0.325044],[-0.944795,0.327534,-0.009125],[-0.114625,-0.304300,0.945655]] 2025-10-28T19:53:57.145Z,1761681237.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303634,0.900447,0.311452],[-0.944808,0.326770,-0.023639],[-0.123059,-0.287084,0.949968]] 2025-10-28T19:53:57.546Z,1761681237.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299261,0.905822,0.299882],[-0.945145,0.324537,-0.037110],[-0.130937,-0.272326,0.953254]] 2025-10-28T19:53:57.951Z,1761681237.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294055,0.910825,0.289706],[-0.945692,0.321203,-0.049960],[-0.138559,-0.259282,0.955811]] 2025-10-28T19:53:58.358Z,1761681238.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288356,0.915902,0.279239],[-0.946434,0.316882,-0.062036],[-0.145304,-0.246393,0.958216]] 2025-10-28T19:53:58.764Z,1761681238.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282692,0.919856,0.271937],[-0.947198,0.312426,-0.072156],[-0.151333,-0.237181,0.959606]] 2025-10-28T19:53:59.170Z,1761681239.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277641,0.923319,0.265326],[-0.947777,0.308378,-0.081370],[-0.156951,-0.228878,0.960719]] 2025-10-28T19:53:59.566Z,1761681239.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273782,0.926320,0.258796],[-0.947986,0.305327,-0.089989],[-0.162376,-0.220698,0.961731]] 2025-10-28T19:53:59.970Z,1761681239.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271191,0.927675,0.256662],[-0.947793,0.303848,-0.096776],[-0.167763,-0.217017,0.961644]] 2025-10-28T19:54:00.790Z,1761681240.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269107,0.926486,0.263070],[-0.946582,0.304817,-0.105207],[-0.177661,-0.220705,0.959023]] 2025-10-28T19:54:01.226Z,1761681241.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269006,0.924396,0.270422],[-0.945919,0.306424,-0.106497],[-0.181309,-0.227149,0.956833]] 2025-10-28T19:54:01.590Z,1761681241.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269594,0.921192,0.280577],[-0.945198,0.308862,-0.105857],[-0.184174,-0.236662,0.953976]] 2025-10-28T19:54:01.995Z,1761681241.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270561,0.917872,0.290357],[-0.944483,0.311481,-0.104558],[-0.186412,-0.245948,0.951189]] 2025-10-28T19:54:02.406Z,1761681242.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271834,0.914665,0.299154],[-0.943644,0.314330,-0.103599],[-0.188792,-0.254133,0.948564]] 2025-10-28T19:54:02.803Z,1761681242.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271869,0.911780,0.307804],[-0.943206,0.315923,-0.102739],[-0.190918,-0.262391,0.945886]] 2025-10-28T19:54:03.611Z,1761681243.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265811,0.909870,0.318562],[-0.944445,0.312046,-0.103206],[-0.193310,-0.273431,0.942267]] 2025-10-28T19:54:04.017Z,1761681244.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260840,0.910462,0.320970],[-0.945684,0.307803,-0.104588],[-0.194019,-0.276255,0.941297]] 2025-10-28T19:54:04.419Z,1761681244.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255881,0.911848,0.321027],[-0.947062,0.303064,-0.105952],[-0.193904,-0.276922,0.941125]] 2025-10-28T19:54:04.463Z,1761681244.463 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:54:04.463Z,1761681244.463 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:54:04.463Z,1761681244.463 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:54:04.468Z,1761681244.468 [marl:UpdateRudder:A] Stopped 2025-10-28T19:54:04.468Z,1761681244.468 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:54:04.822Z,1761681244.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251726,0.913803,0.318745],[-0.948497,0.298390,-0.106381],[-0.192322,-0.275550,0.941852]] 2025-10-28T19:54:04.874Z,1761681244.874 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:54:04.874Z,1761681244.874 [marl:UpdateRudder:B] Stopped 2025-10-28T19:54:04.874Z,1761681244.874 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:54:04.874Z,1761681244.874 [marl:UpdateRudder] Stopped 2025-10-28T19:54:04.874Z,1761681244.874 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:54:05.233Z,1761681245.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248464,0.915789,0.315589],[-0.949933,0.294094,-0.105530],[-0.189456,-0.273568,0.943009]] 2025-10-28T19:54:05.632Z,1761681245.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246696,0.917368,0.312375],[-0.951044,0.291100,-0.103809],[-0.186163,-0.271473,0.944270]] 2025-10-28T19:54:06.089Z,1761681246.089 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode] Stopped 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:54:06.090Z,1761681246.090 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed] Stopped 2025-10-28T19:54:06.091Z,1761681246.091 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:54:06.444Z,1761681246.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245857,0.922048,0.298967],[-0.953465,0.285582,-0.096680],[-0.174523,-0.261286,0.949353]] 2025-10-28T19:54:06.850Z,1761681246.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245752,0.923412,0.294815],[-0.954246,0.283918,-0.093840],[-0.170356,-0.258265,0.950935]] 2025-10-28T19:54:07.258Z,1761681247.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245121,0.925162,0.289811],[-0.955321,0.281418,-0.090362],[-0.165157,-0.254713,0.952809]] 2025-10-28T19:54:07.654Z,1761681247.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244319,0.926396,0.286528],[-0.956555,0.278725,-0.085524],[-0.159092,-0.253185,0.954247]] 2025-10-28T19:54:08.055Z,1761681248.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243678,0.927264,0.284257],[-0.957727,0.276272,-0.080210],[-0.152908,-0.252695,0.955387]] 2025-10-28T19:54:08.466Z,1761681248.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243531,0.928103,0.281634],[-0.958714,0.274312,-0.074966],[-0.146832,-0.251750,0.956589]] 2025-10-28T19:54:08.867Z,1761681248.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243494,0.928685,0.279741],[-0.959662,0.272485,-0.069282],[-0.140567,-0.251587,0.957573]] 2025-10-28T19:54:09.267Z,1761681249.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244091,0.929151,0.277666],[-0.960394,0.271298,-0.063575],[-0.134401,-0.251151,0.958572]] 2025-10-28T19:54:09.672Z,1761681249.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244892,0.929208,0.276767],[-0.961036,0.270390,-0.057442],[-0.128211,-0.251916,0.959219]] 2025-10-28T19:54:10.075Z,1761681250.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245834,0.929327,0.275529],[-0.961598,0.269607,-0.051388],[-0.122041,-0.252316,0.959918]] 2025-10-28T19:54:10.487Z,1761681250.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247219,0.929021,0.275322],[-0.961999,0.269323,-0.044973],[-0.115931,-0.253741,0.960300]] 2025-10-28T19:54:10.884Z,1761681250.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248576,0.928865,0.274626],[-0.962362,0.268994,-0.038738],[-0.109856,-0.254661,0.960770]] 2025-10-28T19:54:11.287Z,1761681251.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249796,0.928694,0.274099],[-0.962728,0.268520,-0.032424],[-0.103713,-0.255784,0.961155]] 2025-10-28T19:54:11.714Z,1761681251.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251033,0.928113,0.274936],[-0.963053,0.268085,-0.025662],[-0.097524,-0.258336,0.961120]] 2025-10-28T19:54:12.096Z,1761681252.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253223,0.927035,0.276559],[-0.963081,0.268578,-0.018464],[-0.091394,-0.261673,0.960820]] 2025-10-28T19:54:12.499Z,1761681252.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255779,0.925295,0.280010],[-0.962946,0.269474,-0.010861],[-0.085504,-0.266857,0.959936]] 2025-10-28T19:54:12.904Z,1761681252.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258629,0.923293,0.283974],[-0.962691,0.270585,-0.002991],[-0.079601,-0.272606,0.958827]] 2025-10-28T19:54:13.307Z,1761681253.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261712,0.921371,0.287371],[-0.962336,0.271817,0.004907],[-0.073591,-0.277832,0.957807]] 2025-10-28T19:54:13.750Z,1761681253.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265531,0.919600,0.289532],[-0.961713,0.273778,0.012426],[-0.067840,-0.281746,0.957088]] 2025-10-28T19:54:14.115Z,1761681254.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269694,0.918096,0.290456],[-0.960953,0.275996,0.019874],[-0.061919,-0.284475,0.956682]] 2025-10-28T19:54:14.519Z,1761681254.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274289,0.916786,0.290291],[-0.960003,0.278694,0.026922],[-0.056221,-0.286064,0.956560]] 2025-10-28T19:54:14.924Z,1761681254.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279046,0.916303,0.287268],[-0.958930,0.281739,0.032815],[-0.050867,-0.284627,0.957288]] 2025-10-28T19:54:15.329Z,1761681255.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282977,0.916614,0.282387],[-0.958067,0.283973,0.038307],[-0.045078,-0.281386,0.958535]] 2025-10-28T19:54:15.766Z,1761681255.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286144,0.917514,0.276205],[-0.957373,0.285639,0.042972],[-0.039467,-0.276728,0.960137]] 2025-10-28T19:54:15.988Z,1761681255.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:54:16.135Z,1761681256.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288839,0.918559,0.269856],[-0.956779,0.286920,0.047443],[-0.033848,-0.271896,0.961731]] 2025-10-28T19:54:16.538Z,1761681256.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291295,0.919960,0.262338],[-0.956238,0.287897,0.052199],[-0.027506,-0.266062,0.963563]] 2025-10-28T19:54:16.944Z,1761681256.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293444,0.921181,0.255569],[-0.955764,0.288337,0.058113],[-0.020158,-0.261316,0.965043]] 2025-10-28T19:54:16.993Z,1761681256.993 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:54:17.347Z,1761681257.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295507,0.922696,0.247602],[-0.955256,0.288830,0.063744],[-0.012699,-0.255360,0.966763]] 2025-10-28T19:54:17.773Z,1761681257.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296740,0.923488,0.243136],[-0.954944,0.288338,0.070304],[-0.005180,-0.253043,0.967441]] 2025-10-28T19:54:17.818Z,1761681257.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:54:17.818Z,1761681257.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:54:17.818Z,1761681257.818 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:54:17.818Z,1761681257.818 [marl:UpdateRudder:A] Stopped 2025-10-28T19:54:17.818Z,1761681257.818 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:54:18.155Z,1761681258.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296637,0.924282,0.240227],[-0.954987,0.286424,0.077207],[0.002554,-0.252316,0.967642]] 2025-10-28T19:54:18.210Z,1761681258.210 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:54:18.210Z,1761681258.210 [marl:UpdateRudder:B] Stopped 2025-10-28T19:54:18.211Z,1761681258.211 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:54:18.211Z,1761681258.211 [marl:UpdateRudder] Stopped 2025-10-28T19:54:18.211Z,1761681258.211 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:54:18.567Z,1761681258.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295629,0.925503,0.236743],[-0.955254,0.283897,0.083016],[0.009620,-0.250692,0.968019]] 2025-10-28T19:54:18.964Z,1761681258.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293638,0.926858,0.233902],[-0.955783,0.280574,0.088080],[0.016010,-0.249423,0.968262]] 2025-10-28T19:54:19.366Z,1761681259.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290692,0.928517,0.230984],[-0.956555,0.276378,0.092826],[0.022351,-0.247932,0.968519]] 2025-10-28T19:54:19.407Z,1761681259.407 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:54:19.407Z,1761681259.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:54:19.407Z,1761681259.407 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:54:19.408Z,1761681259.408 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:54:19.412Z,1761681259.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:54:19.412Z,1761681259.412 [marl:UpdateCommandMode] Stopped 2025-10-28T19:54:19.412Z,1761681259.412 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:54:19.412Z,1761681259.412 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:54:19.412Z,1761681259.412 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:54:19.413Z,1761681259.413 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:54:19.413Z,1761681259.413 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:54:19.413Z,1761681259.413 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:54:19.413Z,1761681259.413 [marl:UpdateSpeed] Stopped 2025-10-28T19:54:19.413Z,1761681259.413 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:54:19.782Z,1761681259.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286264,0.930196,0.229759],[-0.957709,0.270499,0.098105],[0.029108,-0.248126,0.968290]] 2025-10-28T19:54:20.182Z,1761681260.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280719,0.932201,0.228468],[-0.959084,0.263319,0.104024],[0.036811,-0.248322,0.967978]] 2025-10-28T19:54:20.579Z,1761681260.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276256,0.934119,0.226065],[-0.960001,0.257039,0.111036],[0.045613,-0.247697,0.967763]] 2025-10-28T19:54:20.985Z,1761681260.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274647,0.935198,0.223546],[-0.959986,0.253456,0.119109],[0.054731,-0.247314,0.967388]] 2025-10-28T19:54:21.387Z,1761681261.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276036,0.935048,0.222461],[-0.959056,0.252698,0.127886],[0.063364,-0.248654,0.966518]] 2025-10-28T19:54:21.793Z,1761681261.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280577,0.934339,0.219742],[-0.957193,0.255410,0.136190],[0.071123,-0.248547,0.966005]] 2025-10-28T19:54:22.196Z,1761681262.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286307,0.932496,0.220180],[-0.954934,0.258934,0.145103],[0.078296,-0.251802,0.964606]] 2025-10-28T19:54:22.607Z,1761681262.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293190,0.930356,0.220174],[-0.952300,0.263799,0.153410],[0.084644,-0.254650,0.963322]] 2025-10-28T19:54:22.632Z,1761681262.632 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:54:22.733Z,1761681262.733 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:54:22.733Z,1761681262.733 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:54:22.985Z,1761681262.985 [DAT](INFO): DAT read: user:222> 2025-10-28T19:54:22.986Z,1761681262.986 [DAT](INFO): DAT read: Tx time:19:54:22.7261 2025-10-28T19:54:22.986Z,1761681262.986 [DAT](INFO): Ping request sent. 2025-10-28T19:54:22.986Z,1761681262.986 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:54:22.986Z,1761681262.986 [DAT](INFO): publishing transmit ping time 2025-10-28T19:54:22.987Z,1761681262.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T19:54:23.003Z,1761681263.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300547,0.927870,0.220746],[-0.949497,0.269202,0.161199],[0.090146,-0.258045,0.961918]] 2025-10-28T19:54:23.237Z,1761681263.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250853 2025-10-28T19:54:23.407Z,1761681263.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308097,0.925537,0.220130],[-0.946644,0.275253,0.167632],[0.094558,-0.260032,0.960959]] 2025-10-28T19:54:23.489Z,1761681263.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502970 2025-10-28T19:54:23.743Z,1761681263.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756943 2025-10-28T19:54:23.810Z,1761681263.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315400,0.923725,0.217380],[-0.943859,0.281646,0.172646],[0.098253,-0.259629,0.960697]] 2025-10-28T19:54:23.996Z,1761681263.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009680 2025-10-28T19:54:24.217Z,1761681264.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321365,0.922328,0.214558],[-0.941518,0.286965,0.176620],[0.101331,-0.258770,0.960609]] 2025-10-28T19:54:24.245Z,1761681264.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258955 2025-10-28T19:54:24.497Z,1761681264.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510956 2025-10-28T19:54:24.618Z,1761681264.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325486,0.921322,0.212661],[-0.939851,0.290588,0.179550],[0.103627,-0.258310,0.960488]] 2025-10-28T19:54:24.749Z,1761681264.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763406 2025-10-28T19:54:25.001Z,1761681265.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014852 2025-10-28T19:54:25.022Z,1761681265.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327290,0.921027,0.211165],[-0.938964,0.291941,0.181983],[0.105964,-0.257838,0.960360]] 2025-10-28T19:54:25.254Z,1761681265.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267341 2025-10-28T19:54:25.437Z,1761681265.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328093,0.921398,0.208278],[-0.938444,0.292696,0.183445],[0.108064,-0.255645,0.960712]] 2025-10-28T19:54:25.505Z,1761681265.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519242 2025-10-28T19:54:25.760Z,1761681265.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773525 2025-10-28T19:54:25.833Z,1761681265.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327307,0.922355,0.205260],[-0.938401,0.291820,0.185051],[0.110784,-0.253184,0.961054]] 2025-10-28T19:54:26.009Z,1761681266.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022862 2025-10-28T19:54:26.235Z,1761681266.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326199,0.923454,0.202056],[-0.938452,0.290666,0.186605],[0.113590,-0.250490,0.961432]] 2025-10-28T19:54:26.261Z,1761681266.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274941 2025-10-28T19:54:26.513Z,1761681266.513 [DAT](INFO): DAT read: Rx Time:19:54:25.8982 2025-10-28T19:54:26.513Z,1761681266.513 [DAT](INFO): Rx dataTimestamp_ set to:1761681266.513073 2025-10-28T19:54:26.514Z,1761681266.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527891 2025-10-28T19:54:26.639Z,1761681266.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324754,0.924552,0.199346],[-0.938591,0.289069,0.188375],[0.116538,-0.248280,0.961653]] 2025-10-28T19:54:26.765Z,1761681266.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779190 2025-10-28T19:54:27.017Z,1761681267.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031211 2025-10-28T19:54:27.067Z,1761681267.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323472,0.925567,0.196700],[-0.938651,0.287599,0.190316],[0.119579,-0.246195,0.961815]] 2025-10-28T19:54:27.275Z,1761681267.275 [DAT](INFO): DAT read: 19:54:25.8982 LVL= 24976, 15345, 20402, 30163, AGC= 68, IDX= 244, 0.01,-0.999, 1.239, 0.174, 0.321, PHS=-1.218, 0.963,-0.192, RAW= 302.0, 4.8, CAL= 299.5, 1.9, ROT= 210.5, -1.9 2025-10-28T19:54:27.276Z,1761681267.276 [DAT](INFO): got valid direction response: 19:54:25.8982 LVL= 24976, 15345, 20402, 30163, AGC= 68, IDX= 244, 0.01,-0.999, 1.239, 0.174, 0.321, PHS=-1.218, 0.963,-0.192, RAW= 302.0, 4.8, CAL= 299.5, 1.9, ROT= 210.5, -1.9 2025-10-28T19:54:27.277Z,1761681267.277 [DAT](INFO): DAT read: Bearing 114, -11 (Remote) 2025-10-28T19:54:27.277Z,1761681267.277 [DAT](INFO): Remote Bearing received:Bearing 114, -11 (Remote) 2025-10-28T19:54:27.278Z,1761681267.278 [DAT](INFO): DAT read: Bearing 244.8, -36.8 (Local) 2025-10-28T19:54:27.278Z,1761681267.278 [DAT](INFO): Local bearing/azimuth received: Bearing 244.8, -36.8 (Local) 2025-10-28T19:54:27.280Z,1761681267.280 [DAT](INFO): DAT read: Range 11 to 20 : 857.1 m (Round-trip 1142.9 ms) speed -0.4 m/s 2025-10-28T19:54:27.281Z,1761681267.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:54:27.281Z,1761681267.281 [DAT](INFO): direction in FSK: [-0.861155,-0.507259,0.033155] 2025-10-28T19:54:27.282Z,1761681267.282 [DAT](INFO): publishing direction and range info 2025-10-28T19:54:27.447Z,1761681267.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322526,0.926589,0.193417],[-0.938619,0.286658,0.191890],[0.122358,-0.243434,0.962168]] 2025-10-28T19:54:27.532Z,1761681267.532 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681280.00. Resetting abort timer. 2025-10-28T19:54:27.851Z,1761681267.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321940,0.927453,0.190227],[-0.938467,0.286076,0.193494],[0.125037,-0.240815,0.962483]] 2025-10-28T19:54:28.255Z,1761681268.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321620,0.928110,0.187543],[-0.938178,0.285581,0.195615],[0.127994,-0.238863,0.962581]] 2025-10-28T19:54:28.677Z,1761681268.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322620,0.928395,0.184390],[-0.937477,0.286536,0.197569],[0.130588,-0.236601,0.962791]] 2025-10-28T19:54:29.063Z,1761681269.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324171,0.928517,0.181025],[-0.936597,0.288106,0.199453],[0.133041,-0.234204,0.963041]] 2025-10-28T19:54:29.467Z,1761681269.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326131,0.928284,0.178681],[-0.935677,0.290047,0.200952],[0.134715,-0.232725,0.963167]] 2025-10-28T19:54:29.870Z,1761681269.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328987,0.927675,0.176599],[-0.934595,0.293060,0.201613],[0.135277,-0.231376,0.963413]] 2025-10-28T19:54:30.276Z,1761681270.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331585,0.927153,0.174468],[-0.933691,0.296005,0.201501],[0.135179,-0.229713,0.963825]] 2025-10-28T19:54:30.681Z,1761681270.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333429,0.926774,0.172960],[-0.933120,0.298224,0.200872],[0.134582,-0.228369,0.964228]] 2025-10-28T19:54:31.083Z,1761681271.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335138,0.926268,0.172367],[-0.932636,0.300189,0.200191],[0.133687,-0.227848,0.964476]] 2025-10-28T19:54:31.127Z,1761681271.127 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:54:31.128Z,1761681271.128 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:54:31.131Z,1761681271.131 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:54:31.131Z,1761681271.131 [marl:UpdateRudder:A] Stopped 2025-10-28T19:54:31.132Z,1761681271.132 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:54:31.487Z,1761681271.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335809,0.926094,0.171996],[-0.932471,0.301033,0.199694],[0.133159,-0.227440,0.964645]] 2025-10-28T19:54:31.512Z,1761681271.512 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:54:31.512Z,1761681271.512 [marl:UpdateRudder:B] Stopped 2025-10-28T19:54:31.513Z,1761681271.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:54:31.513Z,1761681271.513 [marl:UpdateRudder] Stopped 2025-10-28T19:54:31.513Z,1761681271.513 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:54:31.893Z,1761681271.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336573,0.925581,0.173260],[-0.932332,0.301720,0.199304],[0.132196,-0.228616,0.964499]] 2025-10-28T19:54:32.295Z,1761681272.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336896,0.924846,0.176522],[-0.932338,0.301538,0.199551],[0.131325,-0.231806,0.963857]] 2025-10-28T19:54:32.699Z,1761681272.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337810,0.923975,0.179318],[-0.932134,0.302023,0.199772],[0.130426,-0.234633,0.963295]] 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:54:32.723Z,1761681272.723 [marl:UpdateCommandMode] Stopped 2025-10-28T19:54:32.724Z,1761681272.724 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:54:32.740Z,1761681272.740 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:54:32.740Z,1761681272.740 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:54:32.740Z,1761681272.740 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:54:32.745Z,1761681272.745 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:54:32.745Z,1761681272.745 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:54:32.745Z,1761681272.745 [marl:UpdateSpeed] Stopped 2025-10-28T19:54:32.745Z,1761681272.745 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:54:33.103Z,1761681273.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339128,0.922819,0.182749],[-0.931764,0.302723,0.200435],[0.129643,-0.238252,0.962512]] 2025-10-28T19:54:33.507Z,1761681273.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340772,0.921479,0.186419],[-0.931305,0.303734,0.201042],[0.128634,-0.242122,0.961681]] 2025-10-28T19:54:33.910Z,1761681273.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342682,0.920009,0.190140],[-0.930798,0.305090,0.201334],[0.127219,-0.245975,0.960891]] 2025-10-28T19:54:34.321Z,1761681274.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344540,0.918794,0.192639],[-0.930359,0.306776,0.200799],[0.125396,-0.248407,0.960505]] 2025-10-28T19:54:34.718Z,1761681274.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345045,0.917819,0.196346],[-0.930451,0.307003,0.200025],[0.123307,-0.251708,0.959916]] 2025-10-28T19:54:35.122Z,1761681275.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344874,0.917754,0.196951],[-0.930827,0.307355,0.197722],[0.120926,-0.251516,0.960269]] 2025-10-28T19:54:35.527Z,1761681275.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343753,0.918234,0.196673],[-0.931549,0.307004,0.194848],[0.118537,-0.250190,0.960913]] 2025-10-28T19:54:35.932Z,1761681275.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341911,0.919426,0.194299],[-0.932465,0.306270,0.191594],[0.116648,-0.246685,0.962050]] 2025-10-28T19:54:36.338Z,1761681276.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339302,0.921312,0.189891],[-0.933559,0.305015,0.188236],[0.115504,-0.241144,0.963591]] 2025-10-28T19:54:36.739Z,1761681276.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336620,0.923146,0.185713],[-0.934602,0.303473,0.185534],[0.114916,-0.236022,0.964929]] 2025-10-28T19:54:37.151Z,1761681277.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334365,0.925210,0.179404],[-0.935466,0.302699,0.182418],[0.114470,-0.228821,0.966715]] 2025-10-28T19:54:37.549Z,1761681277.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333283,0.926614,0.174094],[-0.935930,0.302863,0.179747],[0.113829,-0.222846,0.968185]] 2025-10-28T19:54:37.951Z,1761681277.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332310,0.927731,0.169956],[-0.936340,0.302857,0.177608],[0.113300,-0.218158,0.969314]] 2025-10-28T19:54:38.355Z,1761681278.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331896,0.928390,0.167142],[-0.936538,0.303095,0.176153],[0.112879,-0.215000,0.970069]] 2025-10-28T19:54:38.762Z,1761681278.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332308,0.928307,0.166787],[-0.936437,0.303642,0.175746],[0.112503,-0.214587,0.970204]] 2025-10-28T19:54:39.234Z,1761681279.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333804,0.927680,0.167287],[-0.935990,0.305140,0.175536],[0.111795,-0.215174,0.970156]] 2025-10-28T19:54:39.567Z,1761681279.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336031,0.926431,0.169730],[-0.935244,0.306903,0.176435],[0.111364,-0.218026,0.969568]] 2025-10-28T19:54:39.970Z,1761681279.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339044,0.924629,0.173526],[-0.934235,0.309207,0.177752],[0.110699,-0.222379,0.968655]] 2025-10-28T19:54:40.795Z,1761681280.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345799,0.920785,0.180495],[-0.931918,0.314618,0.180400],[0.109322,-0.230589,0.966891]] 2025-10-28T19:54:41.183Z,1761681281.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348824,0.919018,0.183652],[-0.930912,0.317130,0.181195],[0.108280,-0.234169,0.966147]] 2025-10-28T19:54:41.587Z,1761681281.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350382,0.917873,0.186388],[-0.930421,0.318273,0.181712],[0.107466,-0.237088,0.965526]] 2025-10-28T19:54:41.991Z,1761681281.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351186,0.917346,0.187471],[-0.930197,0.318995,0.181593],[0.106782,-0.238158,0.965339]] 2025-10-28T19:54:42.401Z,1761681282.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351476,0.916909,0.189056],[-0.930171,0.319143,0.181466],[0.106052,-0.239635,0.965053]] 2025-10-28T19:54:42.799Z,1761681282.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350888,0.916751,0.190908],[-0.930575,0.318638,0.180276],[0.104438,-0.240911,0.964912]] 2025-10-28T19:54:43.203Z,1761681283.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350054,0.916982,0.191327],[-0.931101,0.318258,0.178222],[0.102535,-0.240532,0.965210]] 2025-10-28T19:54:43.606Z,1761681283.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349127,0.917467,0.190698],[-0.931657,0.317991,0.175776],[0.100628,-0.239033,0.965783]] 2025-10-28T19:54:44.011Z,1761681284.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349005,0.917369,0.191390],[-0.931937,0.318309,0.173701],[0.098426,-0.238986,0.966022]] 2025-10-28T19:54:44.416Z,1761681284.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349003,0.917438,0.191060],[-0.932170,0.318936,0.171285],[0.096208,-0.237879,0.966518]] 2025-10-28T19:54:44.443Z,1761681284.443 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:54:44.443Z,1761681284.443 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:54:44.444Z,1761681284.444 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:54:44.446Z,1761681284.446 [marl:UpdateRudder:A] Stopped 2025-10-28T19:54:44.447Z,1761681284.447 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:54:44.819Z,1761681284.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349808,0.917337,0.190071],[-0.932111,0.320490,0.168687],[0.093826,-0.236175,0.967170]] 2025-10-28T19:54:44.863Z,1761681284.863 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:54:44.864Z,1761681284.864 [marl:UpdateRudder:B] Stopped 2025-10-28T19:54:44.864Z,1761681284.864 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:54:44.864Z,1761681284.864 [marl:UpdateRudder] Stopped 2025-10-28T19:54:44.864Z,1761681284.864 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:54:45.222Z,1761681285.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351245,0.917005,0.189020],[-0.931822,0.322688,0.166074],[0.091297,-0.234466,0.967828]] 2025-10-28T19:54:45.635Z,1761681285.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352775,0.916558,0.188340],[-0.931471,0.324855,0.163803],[0.088952,-0.233218,0.968347]] 2025-10-28T19:54:46.032Z,1761681286.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354289,0.915905,0.188673],[-0.931122,0.326840,0.161824],[0.086549,-0.233010,0.968615]] 2025-10-28T19:54:46.074Z,1761681286.074 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:54:46.074Z,1761681286.074 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:54:46.074Z,1761681286.074 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:54:46.075Z,1761681286.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:54:46.075Z,1761681286.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:54:46.075Z,1761681286.075 [marl:UpdateCommandMode] Stopped 2025-10-28T19:54:46.075Z,1761681286.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:54:46.075Z,1761681286.075 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:54:46.077Z,1761681286.077 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:54:46.077Z,1761681286.077 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:54:46.079Z,1761681286.079 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:54:46.100Z,1761681286.100 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:54:46.100Z,1761681286.100 [marl:UpdateSpeed] Stopped 2025-10-28T19:54:46.100Z,1761681286.100 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:54:46.436Z,1761681286.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355781,0.915572,0.187478],[-0.930799,0.329141,0.158996],[0.083865,-0.231072,0.969315]] 2025-10-28T19:54:46.839Z,1761681286.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357216,0.914763,0.188695],[-0.930497,0.330995,0.156900],[0.081069,-0.231627,0.969421]] 2025-10-28T19:54:47.116Z,1761681287.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:54:47.244Z,1761681287.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357588,0.914431,0.189595],[-0.930584,0.331865,0.154527],[0.078384,-0.231691,0.969626]] 2025-10-28T19:54:48.051Z,1761681288.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355537,0.914187,0.194567],[-0.931836,0.330519,0.149797],[0.072635,-0.234563,0.969384]] 2025-10-28T19:54:48.120Z,1761681288.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:54:48.454Z,1761681288.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353125,0.914607,0.196971],[-0.932971,0.328550,0.147038],[0.069767,-0.235691,0.969321]] 2025-10-28T19:54:48.861Z,1761681288.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350043,0.915430,0.198641],[-0.934323,0.325999,0.144101],[0.067158,-0.236036,0.969421]] 2025-10-28T19:54:49.262Z,1761681289.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347052,0.916303,0.199860],[-0.935579,0.323451,0.141674],[0.065172,-0.236153,0.969528]] 2025-10-28T19:54:49.666Z,1761681289.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345439,0.916831,0.200233],[-0.936312,0.322352,0.139315],[0.063183,-0.235606,0.969793]] 2025-10-28T19:54:50.071Z,1761681290.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345026,0.916915,0.200560],[-0.936576,0.322331,0.137580],[0.061502,-0.235308,0.969973]] 2025-10-28T19:54:50.477Z,1761681290.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345958,0.916412,0.201253],[-0.936329,0.323497,0.136518],[0.060002,-0.235669,0.969979]] 2025-10-28T19:54:50.878Z,1761681290.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348287,0.915628,0.200801],[-0.935584,0.326266,0.135030],[0.058122,-0.234896,0.970281]] 2025-10-28T19:54:51.287Z,1761681291.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351238,0.914450,0.201031],[-0.934609,0.329588,0.133705],[0.056009,-0.234848,0.970417]] 2025-10-28T19:54:51.701Z,1761681291.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357351,0.911869,0.201978],[-0.932561,0.336493,0.130778],[0.051288,-0.235091,0.970619]] 2025-10-28T19:54:52.098Z,1761681292.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359397,0.910910,0.202673],[-0.931894,0.338914,0.129270],[0.049065,-0.235329,0.970677]] 2025-10-28T19:54:52.502Z,1761681292.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360566,0.910375,0.202999],[-0.931547,0.340503,0.127583],[0.047027,-0.235105,0.970832]] 2025-10-28T19:54:52.902Z,1761681292.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360708,0.909928,0.204746],[-0.931593,0.340909,0.126159],[0.044996,-0.236246,0.970651]] 2025-10-28T19:54:53.303Z,1761681293.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360816,0.909509,0.206409],[-0.931635,0.341232,0.124970],[0.043228,-0.237389,0.970452]] 2025-10-28T19:54:53.761Z,1761681293.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361375,0.909094,0.207261],[-0.931498,0.342099,0.123611],[0.041470,-0.237733,0.970445]] 2025-10-28T19:54:54.122Z,1761681294.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361372,0.908668,0.209124],[-0.931575,0.342292,0.122490],[0.039721,-0.239079,0.970187]] 2025-10-28T19:54:54.515Z,1761681294.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361541,0.907960,0.211889],[-0.931589,0.342573,0.121596],[0.037817,-0.241356,0.969700]] 2025-10-28T19:54:54.919Z,1761681294.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361908,0.907242,0.214325],[-0.931524,0.343108,0.120582],[0.035860,-0.243288,0.969291]] 2025-10-28T19:54:55.323Z,1761681295.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362249,0.906470,0.216995],[-0.931471,0.343642,0.119467],[0.033724,-0.245402,0.968835]] 2025-10-28T19:54:55.765Z,1761681295.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362239,0.905615,0.220555],[-0.931542,0.343670,0.118830],[0.031816,-0.248501,0.968109]] 2025-10-28T19:54:56.132Z,1761681296.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361876,0.905073,0.223360],[-0.931743,0.343434,0.117936],[0.030031,-0.250792,0.967575]] 2025-10-28T19:54:56.534Z,1761681296.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361913,0.904774,0.224507],[-0.931775,0.343727,0.116818],[0.028525,-0.251468,0.967445]] 2025-10-28T19:54:56.939Z,1761681296.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361020,0.905037,0.224882],[-0.932171,0.343273,0.114982],[0.026867,-0.251140,0.967578]] 2025-10-28T19:54:57.354Z,1761681297.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360144,0.905051,0.226227],[-0.932544,0.342594,0.113977],[0.025651,-0.252014,0.967384]] 2025-10-28T19:54:57.773Z,1761681297.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358753,0.905548,0.226451],[-0.933136,0.341804,0.111482],[0.023550,-0.251304,0.967622]] 2025-10-28T19:54:57.844Z,1761681297.844 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:54:57.844Z,1761681297.844 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:54:57.845Z,1761681297.845 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:54:57.845Z,1761681297.845 [marl:UpdateRudder:A] Stopped 2025-10-28T19:54:57.845Z,1761681297.845 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:54:58.150Z,1761681298.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356369,0.906679,0.225685],[-0.934095,0.340132,0.108523],[0.021633,-0.249485,0.968137]] 2025-10-28T19:54:58.191Z,1761681298.191 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:54:58.191Z,1761681298.191 [marl:UpdateRudder:B] Stopped 2025-10-28T19:54:58.191Z,1761681298.191 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:54:58.191Z,1761681298.191 [marl:UpdateRudder] Stopped 2025-10-28T19:54:58.191Z,1761681298.191 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:54:58.557Z,1761681298.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353474,0.908173,0.224229],[-0.935239,0.338077,0.105031],[0.019580,-0.246833,0.968860]] 2025-10-28T19:54:58.958Z,1761681298.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350382,0.909959,0.221826],[-0.936442,0.335909,0.101203],[0.017577,-0.243187,0.969820]] 2025-10-28T19:54:59.362Z,1761681299.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346958,0.912055,0.218575],[-0.937749,0.333456,0.097128],[0.015701,-0.238668,0.970974]] 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode] Stopped 2025-10-28T19:54:59.407Z,1761681299.407 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:54:59.408Z,1761681299.408 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:54:59.416Z,1761681299.416 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:54:59.420Z,1761681299.420 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:54:59.420Z,1761681299.420 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:54:59.420Z,1761681299.420 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:54:59.420Z,1761681299.420 [marl:UpdateSpeed] Stopped 2025-10-28T19:54:59.421Z,1761681299.421 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:54:59.779Z,1761681299.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344009,0.913539,0.217034],[-0.938859,0.331163,0.094208],[0.014189,-0.236173,0.971608]] 2025-10-28T19:55:00.173Z,1761681300.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341793,0.914791,0.215255],[-0.939689,0.329573,0.091469],[0.012733,-0.233537,0.972265]] 2025-10-28T19:55:00.574Z,1761681300.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339824,0.915367,0.215925],[-0.940415,0.327830,0.090267],[0.011841,-0.233734,0.972228]] 2025-10-28T19:55:00.979Z,1761681300.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335262,0.915349,0.223014],[-0.942052,0.322764,0.091439],[0.011718,-0.240747,0.970517]] 2025-10-28T19:55:01.382Z,1761681301.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327136,0.914116,0.239527],[-0.944889,0.312970,0.096093],[0.012875,-0.257762,0.966123]] 2025-10-28T19:55:01.796Z,1761681301.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316216,0.911598,0.262671],[-0.948567,0.299400,0.102863],[0.015126,-0.281687,0.959387]] 2025-10-28T19:55:02.191Z,1761681302.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303980,0.907714,0.289226],[-0.952506,0.283812,0.110375],[0.018103,-0.309042,0.950876]] 2025-10-28T19:55:02.603Z,1761681302.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290975,0.903127,0.315744],[-0.956483,0.267099,0.117462],[0.021748,-0.336183,0.941546]] 2025-10-28T19:55:02.999Z,1761681302.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277685,0.898248,0.340647],[-0.960330,0.250092,0.123367],[0.025621,-0.361391,0.932062]] 2025-10-28T19:55:03.405Z,1761681303.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263790,0.893641,0.363071],[-0.964138,0.232889,0.127279],[0.029187,-0.383626,0.923027]] 2025-10-28T19:55:03.807Z,1761681303.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249854,0.889211,0.383245],[-0.967761,0.216320,0.129015],[0.031818,-0.403125,0.914592]] 2025-10-28T19:55:04.211Z,1761681304.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236359,0.886366,0.398108],[-0.971097,0.201468,0.127989],[0.033239,-0.416853,0.908366]] 2025-10-28T19:55:04.621Z,1761681304.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222802,0.884685,0.409501],[-0.974282,0.187565,0.124876],[0.033668,-0.426792,0.903723]] 2025-10-28T19:55:05.019Z,1761681305.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207483,0.886108,0.414444],[-0.977664,0.173316,0.118888],[0.033518,-0.429855,0.902276]] 2025-10-28T19:55:05.423Z,1761681305.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190065,0.890511,0.413359],[-0.981194,0.157862,0.111072],[0.033657,-0.426697,0.903768]] 2025-10-28T19:55:05.830Z,1761681305.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170241,0.896571,0.408874],[-0.984796,0.140249,0.102501],[0.034555,-0.420107,0.906816]] 2025-10-28T19:55:06.635Z,1761681306.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126333,0.910631,0.393434],[-0.991240,0.100488,0.085703],[0.038509,-0.400815,0.915349]] 2025-10-28T19:55:07.039Z,1761681307.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105284,0.916816,0.385180],[-0.993594,0.080984,0.078825],[0.041075,-0.391011,0.919469]] 2025-10-28T19:55:07.443Z,1761681307.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085521,0.921382,0.379133],[-0.995362,0.062183,0.073402],[0.044056,-0.383652,0.922426]] 2025-10-28T19:55:07.849Z,1761681307.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067748,0.923297,0.378066],[-0.996575,0.044615,0.069625],[0.047417,-0.381488,0.923157]] 2025-10-28T19:55:08.252Z,1761681308.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051190,0.922742,0.382003],[-0.997355,0.027470,0.067293],[0.051601,-0.384437,0.921708]] 2025-10-28T19:55:08.655Z,1761681308.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035514,0.920316,0.389560],[-0.997785,0.010712,0.065657],[0.056253,-0.391028,0.918658]] 2025-10-28T19:55:09.059Z,1761681309.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020785,0.916855,0.398679],[-0.997943,-0.005161,0.063896],[0.060641,-0.399187,0.914862]] 2025-10-28T19:55:09.489Z,1761681309.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007024,0.913168,0.407523],[-0.997917,-0.019737,0.061424],[0.064133,-0.407105,0.911127]] 2025-10-28T19:55:09.901Z,1761681309.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006032,0.909386,0.415910],[-0.997795,-0.032967,0.057611],[0.066102,-0.414645,0.907579]] 2025-10-28T19:55:10.305Z,1761681310.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018123,0.906852,0.421060],[-0.997608,-0.044501,0.052904],[0.066714,-0.419094,0.905488]] 2025-10-28T19:55:10.706Z,1761681310.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029169,0.905414,0.423526],[-0.997399,-0.054301,0.047392],[0.065907,-0.421042,0.904643]] 2025-10-28T19:55:11.111Z,1761681311.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039612,0.905491,0.422513],[-0.997152,-0.062983,0.041494],[0.064184,-0.419666,0.905406]] 2025-10-28T19:55:11.159Z,1761681311.159 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:55:11.159Z,1761681311.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:55:11.159Z,1761681311.159 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:55:11.159Z,1761681311.159 [marl:UpdateRudder:A] Stopped 2025-10-28T19:55:11.159Z,1761681311.159 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:55:11.534Z,1761681311.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049918,0.906505,0.419234],[-0.996815,-0.071359,0.035609],[0.062196,-0.416121,0.907180]] 2025-10-28T19:55:11.586Z,1761681311.586 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:55:11.586Z,1761681311.586 [marl:UpdateRudder:B] Stopped 2025-10-28T19:55:11.586Z,1761681311.586 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:55:11.586Z,1761681311.586 [marl:UpdateRudder] Stopped 2025-10-28T19:55:11.587Z,1761681311.587 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:55:11.935Z,1761681311.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060611,0.908508,0.413447],[-0.996332,-0.080133,0.030023],[0.060407,-0.410111,0.910033]] 2025-10-28T19:55:12.753Z,1761681312.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085694,0.913129,0.398563],[-0.994697,-0.101247,0.018096],[0.056878,-0.394898,0.916962]] 2025-10-28T19:55:12.788Z,1761681312.788 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode] Stopped 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:55:12.789Z,1761681312.789 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:55:12.790Z,1761681312.790 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:55:12.790Z,1761681312.790 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:55:12.790Z,1761681312.790 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:55:12.790Z,1761681312.790 [marl:UpdateSpeed] Stopped 2025-10-28T19:55:12.790Z,1761681312.790 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:55:13.155Z,1761681313.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100404,0.914499,0.391932],[-0.993403,-0.114076,0.011688],[0.055399,-0.388173,0.919920]] 2025-10-28T19:55:13.963Z,1761681313.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132564,0.914994,0.381069],[-0.989820,-0.142302,-0.002648],[0.051804,-0.377541,0.924543]] 2025-10-28T19:55:14.368Z,1761681314.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151186,0.913796,0.376989],[-0.987256,-0.158751,-0.011121],[0.049685,-0.373866,0.926151]] 2025-10-28T19:55:14.776Z,1761681314.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171463,0.912138,0.372297],[-0.984058,-0.176682,-0.020338],[0.047228,-0.369849,0.927891]] 2025-10-28T19:55:15.175Z,1761681315.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193216,0.909133,0.368978],[-0.980139,-0.195963,-0.030414],[0.044656,-0.367526,0.928940]] 2025-10-28T19:55:15.590Z,1761681315.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216230,0.905368,0.365449],[-0.975422,-0.216570,-0.040605],[0.042383,-0.365247,0.929945]] 2025-10-28T19:55:15.983Z,1761681315.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239707,0.900918,0.361782],[-0.970012,-0.237688,-0.050807],[0.040219,-0.363112,0.930877]] 2025-10-28T19:55:16.386Z,1761681316.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262724,0.895384,0.359533],[-0.964109,-0.258418,-0.060942],[0.038343,-0.362640,0.931140]] 2025-10-28T19:55:16.793Z,1761681316.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284249,0.889182,0.358550],[-0.958036,-0.277860,-0.070430],[0.037001,-0.363523,0.930850]] 2025-10-28T19:55:17.195Z,1761681317.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304841,0.881800,0.359862],[-0.951721,-0.296341,-0.080057],[0.036047,-0.366893,0.929564]] 2025-10-28T19:55:17.601Z,1761681317.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323980,0.873677,0.362940],[-0.945407,-0.313277,-0.089796],[0.035248,-0.372218,0.927476]] 2025-10-28T19:55:18.002Z,1761681318.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341811,0.865567,0.366005],[-0.939132,-0.328942,-0.099137],[0.034584,-0.377614,0.925317]] 2025-10-28T19:55:18.253Z,1761681318.253 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:55:18.409Z,1761681318.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357667,0.857434,0.369975],[-0.933243,-0.342463,-0.108524],[0.033650,-0.384091,0.922682]] 2025-10-28T19:55:18.810Z,1761681318.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372421,0.850159,0.372201],[-0.927498,-0.354961,-0.117266],[0.032422,-0.388887,0.920715]] 2025-10-28T19:55:19.214Z,1761681319.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385407,0.843032,0.375177],[-0.922220,-0.365651,-0.125739],[0.031182,-0.394456,0.918386]] 2025-10-28T19:55:19.256Z,1761681319.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:55:19.632Z,1761681319.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397608,0.836845,0.376295],[-0.917067,-0.375810,-0.133243],[0.029912,-0.398067,0.916869]] 2025-10-28T19:55:20.441Z,1761681320.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419379,0.827662,0.372957],[-0.907411,-0.394384,-0.145144],[0.026958,-0.399296,0.916426]] 2025-10-28T19:55:20.842Z,1761681320.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429718,0.824221,0.368785],[-0.902624,-0.403294,-0.150414],[0.024755,-0.397509,0.917264]] 2025-10-28T19:55:21.246Z,1761681321.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439482,0.821635,0.363003],[-0.897982,-0.411779,-0.155135],[0.022013,-0.394150,0.918783]] 2025-10-28T19:55:21.651Z,1761681321.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449109,0.819236,0.356585],[-0.893271,-0.420273,-0.159494],[0.019200,-0.390157,0.920548]] 2025-10-28T19:55:22.065Z,1761681322.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458736,0.816951,0.349503],[-0.888425,-0.428853,-0.163662],[0.016181,-0.385585,0.922530]] 2025-10-28T19:55:22.081Z,1761681322.081 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +865, -96,A 2025-10-28T19:55:22.459Z,1761681322.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469077,0.814113,0.342325],[-0.883063,-0.438001,-0.168386],[0.012854,-0.381281,0.924370]] 2025-10-28T19:55:22.863Z,1761681322.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480175,0.810841,0.334617],[-0.877121,-0.447987,-0.173109],[0.009540,-0.376622,0.926318]] 2025-10-28T19:55:22.908Z,1761681322.908 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:55:22.965Z,1761681322.965 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:55:22.965Z,1761681322.965 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:55:23.217Z,1761681323.217 [DAT](INFO): DAT read: user:223> 2025-10-28T19:55:23.218Z,1761681323.218 [DAT](INFO): DAT read: Tx time:19:55:22.9758 2025-10-28T19:55:23.218Z,1761681323.218 [DAT](INFO): Ping request sent. 2025-10-28T19:55:23.218Z,1761681323.218 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:55:23.218Z,1761681323.218 [DAT](INFO): publishing transmit ping time 2025-10-28T19:55:23.219Z,1761681323.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T19:55:23.296Z,1761681323.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492537,0.806476,0.327116],[-0.870267,-0.459249,-0.178119],[0.006578,-0.372408,0.928046]] 2025-10-28T19:55:23.470Z,1761681323.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251591 2025-10-28T19:55:23.672Z,1761681323.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506137,0.801097,0.319481],[-0.862446,-0.471653,-0.183659],[0.003555,-0.368492,0.929624]] 2025-10-28T19:55:23.725Z,1761681323.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505595 2025-10-28T19:55:23.973Z,1761681323.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900 2025-10-28T19:55:24.225Z,1761681324.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007032 2025-10-28T19:55:24.477Z,1761681324.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946 2025-10-28T19:55:24.481Z,1761681324.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537896,0.786427,0.303647],[-0.843009,-0.500921,-0.195995],[-0.002033,-0.361402,0.932408]] 2025-10-28T19:55:24.624Z,1761681324.624 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:55:24.624Z,1761681324.624 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:55:24.625Z,1761681324.625 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:55:24.625Z,1761681324.625 [marl:UpdateRudder:A] Stopped 2025-10-28T19:55:24.625Z,1761681324.625 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:55:24.729Z,1761681324.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793 2025-10-28T19:55:24.883Z,1761681324.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554643,0.777858,0.295480],[-0.832075,-0.516435,-0.202352],[-0.004805,-0.358095,0.933673]] 2025-10-28T19:55:24.915Z,1761681324.915 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:55:24.915Z,1761681324.915 [marl:UpdateRudder:B] Stopped 2025-10-28T19:55:24.915Z,1761681324.915 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:55:24.915Z,1761681324.915 [marl:UpdateRudder] Stopped 2025-10-28T19:55:24.915Z,1761681324.915 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:55:24.981Z,1761681324.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763057 2025-10-28T19:55:25.233Z,1761681325.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981 2025-10-28T19:55:25.294Z,1761681325.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571695,0.768339,0.287784],[-0.820427,-0.531936,-0.209626],[-0.007981,-0.355948,0.934472]] 2025-10-28T19:55:25.485Z,1761681325.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267448 2025-10-28T19:55:25.712Z,1761681325.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589309,0.757610,0.280610],[-0.807829,-0.547738,-0.217704],[-0.011234,-0.354980,0.934807]] 2025-10-28T19:55:25.739Z,1761681325.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520962 2025-10-28T19:55:25.989Z,1761681325.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770974 2025-10-28T19:55:26.095Z,1761681326.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607096,0.745770,0.274339],[-0.794500,-0.563477,-0.226415],[-0.014270,-0.355418,0.934599]] 2025-10-28T19:55:26.161Z,1761681326.161 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:55:26.161Z,1761681326.161 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:55:26.161Z,1761681326.161 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateCommandMode] Stopped 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:55:26.162Z,1761681326.162 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:55:26.163Z,1761681326.163 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:55:26.163Z,1761681326.163 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:55:26.163Z,1761681326.163 [marl:UpdateSpeed] Stopped 2025-10-28T19:55:26.163Z,1761681326.163 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:55:26.241Z,1761681326.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022861 2025-10-28T19:55:26.493Z,1761681326.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275001 2025-10-28T19:55:26.501Z,1761681326.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623793,0.734029,0.268483],[-0.781403,-0.578197,-0.234730],[-0.017062,-0.356216,0.934248]] 2025-10-28T19:55:26.745Z,1761681326.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527375 2025-10-28T19:55:26.904Z,1761681326.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640220,0.721374,0.264081],[-0.767940,-0.592208,-0.244043],[-0.019655,-0.359040,0.933115]] 2025-10-28T19:55:26.997Z,1761681326.997 [DAT](INFO): DAT read: Rx Time:19:55:26.1764 2025-10-28T19:55:26.997Z,1761681326.997 [DAT](INFO): Rx dataTimestamp_ set to:1761681326.997213 2025-10-28T19:55:26.998Z,1761681326.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780068 2025-10-28T19:55:27.249Z,1761681327.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030849 2025-10-28T19:55:27.507Z,1761681327.507 [DAT](INFO): DAT read: 19:55:26.1764 LVL= 32752, 32097, 31618, 32755, AGC= 69, IDX= 200,-0.01,-0.892, 0.176, 1.026, 0.042, PHS=-0.832, 0.179, 0.940, RAW= 244.7, -3.8, CAL= 241.7, -6.2, ROT= 268.3, 6.2 2025-10-28T19:55:27.508Z,1761681327.508 [DAT](INFO): got valid direction response: 19:55:26.1764 LVL= 32752, 32097, 31618, 32755, AGC= 69, IDX= 200,-0.01,-0.892, 0.176, 1.026, 0.042, PHS=-0.832, 0.179, 0.940, RAW= 244.7, -3.8, CAL= 241.7, -6.2, ROT= 268.3, 6.2 2025-10-28T19:55:27.509Z,1761681327.509 [DAT](INFO): DAT read: Bearing 106, -19 (Remote) 2025-10-28T19:55:27.509Z,1761681327.509 [DAT](INFO): Remote Bearing received:Bearing 106, -19 (Remote) 2025-10-28T19:55:27.510Z,1761681327.510 [DAT](INFO): DAT read: Bearing 285.2, -62.1 (Local) 2025-10-28T19:55:27.510Z,1761681327.510 [DAT](INFO): Local bearing/azimuth received: Bearing 285.2, -62.1 (Local) 2025-10-28T19:55:27.512Z,1761681327.512 [DAT](INFO): DAT read: Range 11 to 20 : 878.5 m (Round-trip 1171.4 ms) speed 0.0 m/s 2025-10-28T19:55:27.512Z,1761681327.512 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:55:27.513Z,1761681327.513 [DAT](INFO): direction in FSK: [-0.029493,-0.993713,-0.107999] 2025-10-28T19:55:27.514Z,1761681327.514 [DAT](INFO): publishing direction and range info 2025-10-28T19:55:27.776Z,1761681327.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684659,0.684361,0.250784],[-0.728335,-0.629282,-0.271167],[-0.027763,-0.368312,0.929288]] 2025-10-28T19:55:27.843Z,1761681327.843 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681280.00. Resetting abort timer. 2025-10-28T19:55:28.527Z,1761681328.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697695,0.672700,0.246367],[-0.715747,-0.639928,-0.279639],[-0.030456,-0.371439,0.927958]] 2025-10-28T19:55:28.921Z,1761681328.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710125,0.661301,0.241667],[-0.703304,-0.650194,-0.287420],[-0.032941,-0.374070,0.926815]] 2025-10-28T19:55:29.331Z,1761681329.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721664,0.650378,0.237084],[-0.691347,-0.659719,-0.294637],[-0.035216,-0.376536,0.925732]] 2025-10-28T19:55:29.766Z,1761681329.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743305,0.629706,0.225762],[-0.667783,-0.678519,-0.306069],[-0.039550,-0.378262,0.924853]] 2025-10-28T19:55:30.136Z,1761681330.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753299,0.619536,0.220716],[-0.656380,-0.687133,-0.311472],[-0.041307,-0.379505,0.924267]] 2025-10-28T19:55:30.553Z,1761681330.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762944,0.609537,0.215362],[-0.645039,-0.695661,-0.316197],[-0.042915,-0.380158,0.923926]] 2025-10-28T19:55:30.945Z,1761681330.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772058,0.599850,0.210016],[-0.633977,-0.703636,-0.320889],[-0.044711,-0.380890,0.923539]] 2025-10-28T19:55:31.344Z,1761681331.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780681,0.590411,0.204823],[-0.623217,-0.711283,-0.325081],[-0.046244,-0.381433,0.923239]] 2025-10-28T19:55:31.773Z,1761681331.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789102,0.580944,0.199556],[-0.612395,-0.718723,-0.329255],[-0.047853,-0.382023,0.922913]] 2025-10-28T19:55:32.151Z,1761681332.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797417,0.571548,0.193543],[-0.601377,-0.726292,-0.332936],[-0.049720,-0.381881,0.922873]] 2025-10-28T19:55:32.565Z,1761681332.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805828,0.561812,0.187106],[-0.589906,-0.734165,-0.336174],[-0.051500,-0.381273,0.923027]] 2025-10-28T19:55:32.958Z,1761681332.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814245,0.551787,0.180374],[-0.578081,-0.742236,-0.338981],[-0.053165,-0.380284,0.923340]] 2025-10-28T19:55:33.362Z,1761681333.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822590,0.541436,0.173758],[-0.566002,-0.750252,-0.341707],[-0.054650,-0.379432,0.923604]] 2025-10-28T19:55:33.778Z,1761681333.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831159,0.530809,0.165582],[-0.553169,-0.759161,-0.343045],[-0.056388,-0.376719,0.924610]] 2025-10-28T19:55:34.175Z,1761681334.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839846,0.519305,0.158052],[-0.539718,-0.767752,-0.345343],[-0.057994,-0.375338,0.925072]] 2025-10-28T19:55:34.576Z,1761681334.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848686,0.507079,0.150344],[-0.525543,-0.776550,-0.347527],[-0.059474,-0.373954,0.925538]] 2025-10-28T19:55:34.979Z,1761681334.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857223,0.494478,0.143735],[-0.511361,-0.784550,-0.350702],[-0.060647,-0.374130,0.925391]] 2025-10-28T19:55:35.383Z,1761681335.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865519,0.481778,0.136992],[-0.497057,-0.792460,-0.353470],[-0.061733,-0.374028,0.925360]] 2025-10-28T19:55:35.792Z,1761681335.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873728,0.468651,0.130253],[-0.482320,-0.800059,-0.356752],[-0.062982,-0.374528,0.925074]] 2025-10-28T19:55:36.194Z,1761681336.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881710,0.455244,0.123857],[-0.467472,-0.807548,-0.359633],[-0.063701,-0.374991,0.924837]] 2025-10-28T19:55:36.596Z,1761681336.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889695,0.441349,0.116847],[-0.451954,-0.815157,-0.362293],[-0.064649,-0.375140,0.924711]] 2025-10-28T19:55:37.002Z,1761681337.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897359,0.427281,0.110350],[-0.436418,-0.822144,-0.365539],[-0.065465,-0.376179,0.924232]] 2025-10-28T19:55:37.405Z,1761681337.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904638,0.413382,0.103662],[-0.421004,-0.829012,-0.368097],[-0.066227,-0.376637,0.923991]] 2025-10-28T19:55:37.806Z,1761681337.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911694,0.399318,0.096746],[-0.405359,-0.835732,-0.370453],[-0.067075,-0.376957,0.923799]] 2025-10-28T19:55:37.863Z,1761681337.863 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:55:37.863Z,1761681337.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:55:37.863Z,1761681337.863 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:55:37.863Z,1761681337.863 [marl:UpdateRudder:A] Stopped 2025-10-28T19:55:37.863Z,1761681337.863 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:55:38.213Z,1761681338.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918655,0.384770,0.089579],[-0.389157,-0.842308,-0.372926],[-0.068038,-0.377451,0.923527]] 2025-10-28T19:55:38.258Z,1761681338.258 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:55:38.258Z,1761681338.258 [marl:UpdateRudder:B] Stopped 2025-10-28T19:55:38.258Z,1761681338.258 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:55:38.258Z,1761681338.258 [marl:UpdateRudder] Stopped 2025-10-28T19:55:38.258Z,1761681338.258 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:55:38.621Z,1761681338.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925415,0.370100,0.081446],[-0.372580,-0.849327,-0.373935],[-0.069219,-0.376390,0.923872]] 2025-10-28T19:55:39.028Z,1761681339.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931920,0.355097,0.073694],[-0.355720,-0.855434,-0.376425],[-0.070627,-0.377013,0.923511]] 2025-10-28T19:55:39.422Z,1761681339.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938304,0.339666,0.064900],[-0.338233,-0.862364,-0.376732],[-0.071995,-0.375441,0.924046]] 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:55:39.466Z,1761681339.466 [marl:UpdateCommandMode] Stopped 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed] Stopped 2025-10-28T19:55:39.467Z,1761681339.467 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:55:39.826Z,1761681339.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944444,0.323930,0.055634],[-0.320236,-0.868815,-0.377638],[-0.073993,-0.374473,0.924281]] 2025-10-28T19:55:40.635Z,1761681340.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955946,0.291363,0.035717],[-0.282836,-0.881671,-0.377704],[-0.078558,-0.371166,0.925237]] 2025-10-28T19:55:41.039Z,1761681341.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961161,0.274762,0.025979],[-0.263914,-0.887494,-0.377761],[-0.080738,-0.369945,0.925539]] 2025-10-28T19:55:41.443Z,1761681341.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965814,0.258698,0.016717],[-0.245563,-0.892293,-0.378831],[-0.083086,-0.369985,0.925315]] 2025-10-28T19:55:41.846Z,1761681341.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969840,0.243599,0.008336],[-0.228353,-0.896118,-0.380563],[-0.085235,-0.370989,0.924717]] 2025-10-28T19:55:42.254Z,1761681342.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973394,0.229138,0.000560],[-0.211998,-0.899652,-0.381686],[-0.086954,-0.371649,0.924292]] 2025-10-28T19:55:42.655Z,1761681342.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976451,0.215661,-0.005824],[-0.196906,-0.901914,-0.384421],[-0.088157,-0.374222,0.923139]] 2025-10-28T19:55:43.059Z,1761681343.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979128,0.202940,-0.011105],[-0.182859,-0.903456,-0.387724],[-0.088717,-0.377600,0.921709]] 2025-10-28T19:55:43.465Z,1761681343.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981526,0.190694,-0.015589],[-0.169595,-0.904846,-0.390501],[-0.088572,-0.380642,0.920471]] 2025-10-28T19:55:44.676Z,1761681344.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987439,0.155402,-0.028550],[-0.132286,-0.911925,-0.388450],[-0.086402,-0.379793,0.921027]] 2025-10-28T19:55:45.080Z,1761681345.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989234,0.142543,-0.033136],[-0.118890,-0.914812,-0.385984],[-0.085333,-0.377889,0.921910]] 2025-10-28T19:55:45.887Z,1761681345.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992508,0.113964,-0.044045],[-0.088800,-0.920455,-0.380628],[-0.083920,-0.373866,0.923679]] 2025-10-28T19:55:46.293Z,1761681346.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993893,0.097888,-0.050938],[-0.071669,-0.923623,-0.376543],[-0.083906,-0.370593,0.924998]] 2025-10-28T19:55:46.696Z,1761681346.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995013,0.080947,-0.058276],[-0.053633,-0.926824,-0.371645],[-0.084095,-0.366666,0.926544]] 2025-10-28T19:55:47.099Z,1761681347.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995811,0.063159,-0.066117],[-0.034619,-0.929693,-0.366704],[-0.084629,-0.362879,0.927985]] 2025-10-28T19:55:47.509Z,1761681347.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996206,0.045671,-0.074078],[-0.015687,-0.931522,-0.363347],[-0.085600,-0.360807,0.928704]] 2025-10-28T19:55:47.906Z,1761681347.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996247,0.028407,-0.081761],[0.003003,-0.932699,-0.360643],[-0.086503,-0.359535,0.929113]] 2025-10-28T19:55:48.318Z,1761681348.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995932,0.011594,-0.089363],[0.021284,-0.933363,-0.358303],[-0.087562,-0.358747,0.929319]] 2025-10-28T19:55:48.715Z,1761681348.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995278,-0.004904,-0.096939],[0.039336,-0.933414,-0.356639],[-0.088735,-0.358768,0.929200]] 2025-10-28T19:55:49.119Z,1761681349.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994307,-0.021049,-0.104458],[0.056958,-0.933485,-0.354064],[-0.090058,-0.357998,0.929369]] 2025-10-28T19:55:49.384Z,1761681349.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:55:49.523Z,1761681349.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993048,-0.036877,-0.111785],[0.074323,-0.932849,-0.352518],[-0.091278,-0.358376,0.929104]] 2025-10-28T19:55:49.928Z,1761681349.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991563,-0.052262,-0.118626],[0.091033,-0.932237,-0.350210],[-0.092285,-0.358054,0.929129]] 2025-10-28T19:55:50.388Z,1761681350.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:55:50.409Z,1761681350.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989790,-0.067876,-0.125337],[0.107828,-0.931652,-0.346984],[-0.093218,-0.356956,0.929458]] 2025-10-28T19:55:50.829Z,1761681350.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987656,-0.084059,-0.132169],[0.125198,-0.930723,-0.343628],[-0.094128,-0.355933,0.929759]] 2025-10-28T19:55:51.235Z,1761681351.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985107,-0.100687,-0.139375],[0.143160,-0.929268,-0.340539],[-0.095228,-0.355420,0.929843]] 2025-10-28T19:55:51.259Z,1761681351.259 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:55:51.259Z,1761681351.259 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:55:51.259Z,1761681351.259 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:55:51.259Z,1761681351.259 [marl:UpdateRudder:A] Stopped 2025-10-28T19:55:51.259Z,1761681351.259 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:55:51.644Z,1761681351.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982320,-0.116781,-0.146319],[0.160544,-0.927518,-0.337545],[-0.096295,-0.355068,0.929868]] 2025-10-28T19:55:51.669Z,1761681351.669 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:55:51.669Z,1761681351.669 [marl:UpdateRudder:B] Stopped 2025-10-28T19:55:51.669Z,1761681351.669 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:55:51.669Z,1761681351.669 [marl:UpdateRudder] Stopped 2025-10-28T19:55:51.669Z,1761681351.669 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:55:52.447Z,1761681352.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975978,-0.147656,-0.160201],[0.194068,-0.923371,-0.331244],[-0.099015,-0.354377,0.929846]] 2025-10-28T19:55:52.851Z,1761681352.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972357,-0.162805,-0.167381],[0.210643,-0.920916,-0.327937],[-0.100754,-0.354130,0.929753]] 2025-10-28T19:55:52.953Z,1761681352.953 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode] Stopped 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:55:52.954Z,1761681352.954 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed] Stopped 2025-10-28T19:55:52.955Z,1761681352.955 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:55:53.256Z,1761681353.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968734,-0.176664,-0.174197],[0.225968,-0.918148,-0.325490],[-0.102437,-0.354676,0.929361]] 2025-10-28T19:55:53.663Z,1761681353.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965113,-0.189518,-0.180667],[0.240339,-0.915003,-0.324047],[-0.103899,-0.356163,0.928630]] 2025-10-28T19:55:54.878Z,1761681354.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954310,-0.224669,-0.197016],[0.279753,-0.903462,-0.324799],[-0.105025,-0.365075,0.925035]] 2025-10-28T19:55:55.275Z,1761681355.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950703,-0.235947,-0.201230],[0.292048,-0.899432,-0.325163],[-0.104271,-0.367902,0.924000]] 2025-10-28T19:55:55.682Z,1761681355.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946841,-0.248032,-0.204872],[0.304780,-0.895438,-0.324499],[-0.102964,-0.369690,0.923433]] 2025-10-28T19:55:56.527Z,1761681356.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937881,-0.274655,-0.211997],[0.332304,-0.886778,-0.321247],[-0.099762,-0.371739,0.922961]] 2025-10-28T19:55:56.931Z,1761681356.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932805,-0.288808,-0.215558],[0.346829,-0.881923,-0.319252],[-0.097903,-0.372562,0.922829]] 2025-10-28T19:55:57.388Z,1761681357.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920266,-0.320766,-0.224099],[0.379628,-0.870704,-0.312662],[-0.094832,-0.372807,0.923050]] 2025-10-28T19:55:57.791Z,1761681357.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913014,-0.337730,-0.228788],[0.396996,-0.864615,-0.307952],[-0.093809,-0.371992,0.923483]] 2025-10-28T19:55:58.191Z,1761681358.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905321,-0.354664,-0.233684],[0.414394,-0.858215,-0.302893],[-0.093126,-0.371053,0.923930]] 2025-10-28T19:55:58.595Z,1761681358.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897259,-0.370893,-0.239508],[0.431614,-0.851051,-0.299035],[-0.092924,-0.371687,0.923696]] 2025-10-28T19:55:59.001Z,1761681359.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888827,-0.387355,-0.244834],[0.448700,-0.844153,-0.293383],[-0.093034,-0.370624,0.924112]] 2025-10-28T19:55:59.403Z,1761681359.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880059,-0.403242,-0.250781],[0.465482,-0.837019,-0.287621],[-0.093927,-0.369858,0.924328]] 2025-10-28T19:55:59.807Z,1761681359.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871074,-0.418778,-0.256623],[0.481823,-0.829960,-0.281093],[-0.095271,-0.368500,0.924733]] 2025-10-28T19:56:00.211Z,1761681360.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861841,-0.433780,-0.262803],[0.497813,-0.822625,-0.274720],[-0.097020,-0.367591,0.924913]] 2025-10-28T19:56:00.617Z,1761681360.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852783,-0.447205,-0.269756],[0.512751,-0.815059,-0.269751],[-0.099233,-0.368357,0.924373]] 2025-10-28T19:56:01.018Z,1761681361.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843819,-0.460181,-0.276048],[0.526966,-0.807757,-0.264263],[-0.101371,-0.368458,0.924101]] 2025-10-28T19:56:01.423Z,1761681361.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835077,-0.472547,-0.281686],[0.540388,-0.800548,-0.259044],[-0.103093,-0.368541,0.923877]] 2025-10-28T19:56:01.826Z,1761681361.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826282,-0.484411,-0.287409],[0.553432,-0.793111,-0.254338],[-0.104742,-0.369216,0.923422]] 2025-10-28T19:56:02.232Z,1761681362.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817607,-0.495874,-0.292621],[0.565990,-0.785480,-0.250351],[-0.105706,-0.370310,0.922874]] 2025-10-28T19:56:02.634Z,1761681362.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808864,-0.507230,-0.297417],[0.578322,-0.777653,-0.246574],[-0.106218,-0.371448,0.922358]] 2025-10-28T19:56:03.039Z,1761681363.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800236,-0.518194,-0.301824],[0.590176,-0.769802,-0.243099],[-0.106373,-0.372666,0.921849]] 2025-10-28T19:56:03.443Z,1761681363.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791702,-0.528844,-0.305830],[0.601594,-0.761987,-0.239709],[-0.106270,-0.373764,0.921416]] 2025-10-28T19:56:03.848Z,1761681363.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782940,-0.539243,-0.310197],[0.613027,-0.753605,-0.237226],[-0.105844,-0.375893,0.920599]] 2025-10-28T19:56:04.286Z,1761681364.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774432,-0.549479,-0.313572],[0.623931,-0.745373,-0.234796],[-0.104713,-0.377481,0.920078]] 2025-10-28T19:56:04.693Z,1761681364.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765269,-0.560464,-0.316612],[0.635302,-0.736839,-0.231214],[-0.103705,-0.378085,0.919944]] 2025-10-28T19:56:04.717Z,1761681364.717 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:56:04.717Z,1761681364.717 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:56:04.717Z,1761681364.717 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:56:04.718Z,1761681364.718 [marl:UpdateRudder:A] Stopped 2025-10-28T19:56:04.718Z,1761681364.718 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:56:05.090Z,1761681365.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756105,-0.570747,-0.320240],[0.646362,-0.727942,-0.228726],[-0.102571,-0.379932,0.919310]] 2025-10-28T19:56:05.121Z,1761681365.121 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:56:05.121Z,1761681365.121 [marl:UpdateRudder:B] Stopped 2025-10-28T19:56:05.121Z,1761681365.121 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:56:05.121Z,1761681365.121 [marl:UpdateRudder] Stopped 2025-10-28T19:56:05.121Z,1761681365.121 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:56:05.495Z,1761681365.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747169,-0.580653,-0.323388],[0.656882,-0.719242,-0.226267],[-0.101212,-0.381487,0.918817]] 2025-10-28T19:56:05.899Z,1761681365.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737809,-0.590794,-0.326497],[0.667572,-0.710248,-0.223373],[-0.099926,-0.382767,0.918425]] 2025-10-28T19:56:06.304Z,1761681366.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728277,-0.601360,-0.328601],[0.678209,-0.701212,-0.219851],[-0.098209,-0.382973,0.918524]] 2025-10-28T19:56:06.329Z,1761681366.329 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:56:06.329Z,1761681366.329 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:56:06.329Z,1761681366.329 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:56:06.329Z,1761681366.329 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:56:06.329Z,1761681366.329 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateCommandMode] Stopped 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:56:06.330Z,1761681366.330 [marl:UpdateSpeed] Stopped 2025-10-28T19:56:06.331Z,1761681366.331 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:56:06.707Z,1761681366.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718370,-0.612050,-0.330665],[0.688983,-0.691668,-0.216560],[-0.096165,-0.383393,0.918565]] 2025-10-28T19:56:07.111Z,1761681367.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708317,-0.622902,-0.332085],[0.699637,-0.682001,-0.213032],[-0.093784,-0.383233,0.918878]] 2025-10-28T19:56:07.514Z,1761681367.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697673,-0.633974,-0.333660],[0.710601,-0.671596,-0.209774],[-0.091094,-0.383453,0.919057]] 2025-10-28T19:56:07.918Z,1761681367.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686339,-0.645867,-0.334356],[0.721959,-0.660566,-0.205980],[-0.087829,-0.382764,0.919662]] 2025-10-28T19:56:08.322Z,1761681368.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674270,-0.658037,-0.335183],[0.733659,-0.648696,-0.202331],[-0.084291,-0.382336,0.920171]] 2025-10-28T19:56:08.726Z,1761681368.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661240,-0.670642,-0.336156],[0.745828,-0.635879,-0.198490],[-0.080639,-0.381964,0.920652]] 2025-10-28T19:56:09.132Z,1761681369.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647737,-0.683102,-0.337355],[0.757973,-0.622503,-0.194852],[-0.076901,-0.381919,0.920991]] 2025-10-28T19:56:09.534Z,1761681369.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633254,-0.695993,-0.338500],[0.770431,-0.608513,-0.190127],[-0.073654,-0.381190,0.921558]] 2025-10-28T19:56:09.947Z,1761681369.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618411,-0.708625,-0.339734],[0.782652,-0.594356,-0.184924],[-0.070881,-0.380253,0.922163]] 2025-10-28T19:56:10.343Z,1761681370.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603393,-0.720892,-0.340926],[0.794497,-0.580173,-0.179371],[-0.068489,-0.379096,0.922819]] 2025-10-28T19:56:10.746Z,1761681370.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588086,-0.732797,-0.342291],[0.806020,-0.566041,-0.172999],[-0.066978,-0.377632,0.923530]] 2025-10-28T19:56:11.151Z,1761681371.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572486,-0.744687,-0.343075],[0.817224,-0.552123,-0.165242],[-0.066366,-0.374968,0.924659]] 2025-10-28T19:56:11.555Z,1761681371.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556616,-0.755703,-0.345098],[0.828080,-0.538084,-0.157320],[-0.066805,-0.373335,0.925288]] 2025-10-28T19:56:11.966Z,1761681371.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540556,-0.766571,-0.346654],[0.838531,-0.524363,-0.148019],[-0.068306,-0.370693,0.926240]] 2025-10-28T19:56:12.363Z,1761681372.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523899,-0.776615,-0.349855],[0.848816,-0.510243,-0.138433],[-0.071002,-0.369487,0.926519]] 2025-10-28T19:56:12.773Z,1761681372.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507245,-0.785898,-0.353648],[0.858588,-0.496253,-0.128687],[-0.074364,-0.368913,0.926484]] 2025-10-28T19:56:13.171Z,1761681373.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492728,-0.793546,-0.357076],[0.866736,-0.484043,-0.120296],[-0.077380,-0.368764,0.926297]] 2025-10-28T19:56:13.575Z,1761681373.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479472,-0.800186,-0.360291],[0.873900,-0.472820,-0.112871],[-0.080035,-0.368977,0.925986]] 2025-10-28T19:56:13.980Z,1761681373.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466949,-0.806021,-0.363716],[0.880465,-0.461970,-0.106605],[-0.082100,-0.370019,0.925389]] 2025-10-28T19:56:14.382Z,1761681374.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455146,-0.811168,-0.367218],[0.886489,-0.451500,-0.101410],[-0.083539,-0.371691,0.924590]] 2025-10-28T19:56:14.790Z,1761681374.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444367,-0.815629,-0.370522],[0.891958,-0.441308,-0.098274],[-0.083359,-0.374160,0.923610]] 2025-10-28T19:56:15.191Z,1761681375.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434080,-0.819736,-0.373641],[0.897154,-0.431008,-0.096681],[-0.081789,-0.377181,0.922521]] 2025-10-28T19:56:15.596Z,1761681375.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424106,-0.824452,-0.374717],[0.902169,-0.420678,-0.095503],[-0.078898,-0.378562,0.922207]] 2025-10-28T19:56:15.998Z,1761681375.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414407,-0.828600,-0.376415],[0.907001,-0.410077,-0.095845],[-0.074942,-0.381127,0.921480]] 2025-10-28T19:56:16.402Z,1761681376.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404794,-0.832833,-0.377531],[0.911729,-0.399185,-0.096967],[-0.069947,-0.383458,0.920906]] 2025-10-28T19:56:16.806Z,1761681376.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394916,-0.837036,-0.378698],[0.916470,-0.387739,-0.098698],[-0.064222,-0.386042,0.920243]] 2025-10-28T19:56:17.212Z,1761681377.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384570,-0.841939,-0.378476],[0.921286,-0.375730,-0.100290],[-0.057766,-0.387254,0.920162]] 2025-10-28T19:56:17.614Z,1761681377.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373668,-0.847307,-0.377416],[0.926172,-0.363095,-0.101818],[-0.050766,-0.387598,0.920430]] 2025-10-28T19:56:18.018Z,1761681378.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361706,-0.853328,-0.375499],[0.931280,-0.349470,-0.102895],[-0.043422,-0.386912,0.921094]] 2025-10-28T19:56:18.077Z,1761681378.077 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:56:18.077Z,1761681378.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:56:18.077Z,1761681378.077 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:56:18.077Z,1761681378.077 [marl:UpdateRudder:A] Stopped 2025-10-28T19:56:18.077Z,1761681378.077 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:56:18.425Z,1761681378.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348528,-0.859603,-0.373645],[0.936606,-0.334725,-0.103583],[-0.036028,-0.386060,0.921770]] 2025-10-28T19:56:18.481Z,1761681378.481 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:56:18.481Z,1761681378.481 [marl:UpdateRudder:B] Stopped 2025-10-28T19:56:18.482Z,1761681378.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:56:18.482Z,1761681378.482 [marl:UpdateRudder] Stopped 2025-10-28T19:56:18.482Z,1761681378.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:56:18.832Z,1761681378.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333744,-0.866352,-0.371551],[0.942220,-0.318669,-0.103300],[-0.028908,-0.384558,0.922648]] 2025-10-28T19:56:19.230Z,1761681379.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317391,-0.873555,-0.369005],[0.948029,-0.301495,-0.101690],[-0.022421,-0.382104,0.923847]] 2025-10-28T19:56:19.635Z,1761681379.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299455,-0.880819,-0.366722],[0.953965,-0.283121,-0.098960],[-0.016661,-0.379473,0.925053]] 2025-10-28T19:56:19.681Z,1761681379.681 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:56:19.682Z,1761681379.682 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:56:19.682Z,1761681379.682 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:56:19.682Z,1761681379.682 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateCommandMode] Stopped 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:56:19.683Z,1761681379.683 [marl:UpdateSpeed] Stopped 2025-10-28T19:56:19.684Z,1761681379.684 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:56:20.045Z,1761681380.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280434,-0.887316,-0.366096],[0.959801,-0.263903,-0.095591],[-0.011794,-0.378187,0.925654]] 2025-10-28T19:56:20.454Z,1761681380.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260641,-0.893829,-0.364878],[0.965405,-0.244329,-0.091087],[-0.007734,-0.375996,0.926589]] 2025-10-28T19:56:20.508Z,1761681380.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:56:20.846Z,1761681380.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240423,-0.899533,-0.364743],[0.970658,-0.224535,-0.086064],[-0.004480,-0.374733,0.927122]] 2025-10-28T19:56:21.251Z,1761681381.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219927,-0.904393,-0.365657],[0.975514,-0.204746,-0.080326],[-0.002221,-0.374369,0.927277]] 2025-10-28T19:56:21.513Z,1761681381.513 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:56:21.656Z,1761681381.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199128,-0.908811,-0.366621],[0.979973,-0.185017,-0.073630],[-0.000916,-0.373940,0.927453]] 2025-10-28T19:56:22.070Z,1761681382.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178134,-0.912662,-0.367854],[0.984006,-0.165490,-0.065918],[-0.000715,-0.373713,0.927544]] 2025-10-28T19:56:22.463Z,1761681382.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157233,-0.915292,-0.370834],[0.987560,-0.146332,-0.057546],[-0.001594,-0.375269,0.926915]] 2025-10-28T19:56:22.867Z,1761681382.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136970,-0.917670,-0.372990],[0.990571,-0.128022,-0.048786],[-0.002982,-0.376155,0.926552]] 2025-10-28T19:56:22.923Z,1761681382.923 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:56:22.969Z,1761681382.969 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:56:22.969Z,1761681382.969 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:56:23.221Z,1761681383.221 [DAT](INFO): DAT read: user:224> 2025-10-28T19:56:23.221Z,1761681383.221 [DAT](INFO): DAT read: Tx time:19:56:22.9755 2025-10-28T19:56:23.222Z,1761681383.222 [DAT](INFO): Ping request sent. 2025-10-28T19:56:23.222Z,1761681383.222 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:56:23.222Z,1761681383.222 [DAT](INFO): publishing transmit ping time 2025-10-28T19:56:23.223Z,1761681383.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933 2025-10-28T19:56:23.293Z,1761681383.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119875,-0.920031,-0.373059],[0.992782,-0.112535,-0.041478],[-0.003821,-0.375338,0.926880]] 2025-10-28T19:56:23.473Z,1761681383.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251011 2025-10-28T19:56:23.675Z,1761681383.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105316,-0.921681,-0.373380],[0.994431,-0.099133,-0.035783],[-0.004034,-0.375069,0.926988]] 2025-10-28T19:56:23.728Z,1761681383.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505677 2025-10-28T19:56:23.977Z,1761681383.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754937 2025-10-28T19:56:24.082Z,1761681384.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092017,-0.923375,-0.372709],[0.995751,-0.086675,-0.031103],[-0.003585,-0.373988,0.927427]] 2025-10-28T19:56:24.229Z,1761681384.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006965 2025-10-28T19:56:24.481Z,1761681384.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259360 2025-10-28T19:56:24.485Z,1761681384.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079899,-0.924726,-0.372153],[0.996801,-0.074936,-0.027804],[-0.002176,-0.373184,0.927755]] 2025-10-28T19:56:24.733Z,1761681384.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510923 2025-10-28T19:56:24.887Z,1761681384.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067991,-0.924752,-0.374449],[0.997686,-0.063065,-0.025410],[-0.000117,-0.375310,0.926899]] 2025-10-28T19:56:24.988Z,1761681384.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765779 2025-10-28T19:56:25.237Z,1761681385.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988 2025-10-28T19:56:25.291Z,1761681385.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055749,-0.925131,-0.375533],[0.998442,-0.050720,-0.023271],[0.002482,-0.376245,0.926517]] 2025-10-28T19:56:25.489Z,1761681385.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267097 2025-10-28T19:56:25.710Z,1761681385.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043552,-0.924933,-0.377628],[0.999033,-0.038073,-0.021967],[0.005940,-0.378220,0.925697]] 2025-10-28T19:56:25.746Z,1761681385.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523975 2025-10-28T19:56:25.993Z,1761681385.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771002 2025-10-28T19:56:26.111Z,1761681386.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030567,-0.924308,-0.380422],[0.999487,-0.024626,-0.020475],[0.009557,-0.380853,0.924586]] 2025-10-28T19:56:26.245Z,1761681386.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022955 2025-10-28T19:56:26.497Z,1761681386.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274969 2025-10-28T19:56:26.509Z,1761681386.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016734,-0.923791,-0.382532],[0.999775,-0.010475,-0.018439],[0.013027,-0.382755,0.923758]] 2025-10-28T19:56:26.749Z,1761681386.749 [DAT](INFO): DAT read: Rx Time:19:56:26.1072 2025-10-28T19:56:26.750Z,1761681386.750 [DAT](INFO): Rx dataTimestamp_ set to:1761681386.749642 2025-10-28T19:56:26.751Z,1761681386.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528840 2025-10-28T19:56:26.915Z,1761681386.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001961,-0.922934,-0.384953],[0.999861,0.004565,-0.016038],[0.016559,-0.384931,0.922797]] 2025-10-28T19:56:27.001Z,1761681387.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779321 2025-10-28T19:56:27.255Z,1761681387.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032781 2025-10-28T19:56:27.321Z,1761681387.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013699,-0.922182,-0.386513],[0.999709,0.020315,-0.013036],[0.019873,-0.386222,0.922192]] 2025-10-28T19:56:27.511Z,1761681387.511 [DAT](INFO): DAT read: 19:56:26.1072 LVL= 27216, 32753, 32754, 32755, AGC= 77, IDX= 247, 0.41,-1.907, 2.316, 3.085,-2.327, PHS= 0.522,-1.595,-0.915, RAW= 108.3, 20.6, CAL= 109.1, 24.5, ROT= 40.9, -24.5 2025-10-28T19:56:27.512Z,1761681387.512 [DAT](INFO): got valid direction response: 19:56:26.1072 LVL= 27216, 32753, 32754, 32755, AGC= 77, IDX= 247, 0.41,-1.907, 2.316, 3.085,-2.327, PHS= 0.522,-1.595,-0.915, RAW= 108.3, 20.6, CAL= 109.1, 24.5, ROT= 40.9, -24.5 2025-10-28T19:56:27.513Z,1761681387.513 [DAT](INFO): DAT read: Bearing 106, -24 (Remote) 2025-10-28T19:56:27.513Z,1761681387.513 [DAT](INFO): Remote Bearing received:Bearing 106, -24 (Remote) 2025-10-28T19:56:27.514Z,1761681387.514 [DAT](INFO): DAT read: Bearing 283.1, 23.4 (Local) 2025-10-28T19:56:27.515Z,1761681387.515 [DAT](INFO): Local bearing/azimuth received: Bearing 283.1, 23.4 (Local) 2025-10-28T19:56:27.516Z,1761681387.516 [DAT](INFO): DAT read: Range 11 to 20 : 826.9 m (Round-trip 1102.6 ms) speed 0.8 m/s 2025-10-28T19:56:27.517Z,1761681387.517 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T19:56:27.518Z,1761681387.518 [DAT](INFO): direction in FSK: [0.687797,0.595789,0.414693] 2025-10-28T19:56:27.518Z,1761681387.518 [DAT](INFO): publishing direction and range info 2025-10-28T19:56:27.774Z,1761681387.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029828,-0.921898,-0.386284],[0.999292,0.036373,-0.009643],[0.022940,-0.385722,0.922330]] 2025-10-28T19:56:27.870Z,1761681387.870 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681408.00. Resetting abort timer. 2025-10-28T19:56:28.134Z,1761681388.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046822,-0.921015,-0.386702],[0.998576,0.053070,-0.005490],[0.025579,-0.385894,0.922188]] 2025-10-28T19:56:28.533Z,1761681388.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063700,-0.920514,-0.385482],[0.997569,0.069663,-0.001508],[0.028242,-0.384449,0.922714]] 2025-10-28T19:56:28.941Z,1761681388.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080974,-0.919210,-0.385352],[0.996245,0.086528,0.002937],[0.030644,-0.384143,0.922765]] 2025-10-28T19:56:29.338Z,1761681389.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098124,-0.918503,-0.383045],[0.994624,0.103316,0.007050],[0.033099,-0.381677,0.923703]] 2025-10-28T19:56:29.767Z,1761681389.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114893,-0.916782,-0.382506],[0.992741,0.119752,0.011171],[0.035565,-0.381012,0.923886]] 2025-10-28T19:56:30.153Z,1761681390.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131571,-0.914713,-0.382085],[0.990567,0.136200,0.015038],[0.038285,-0.380460,0.924005]] 2025-10-28T19:56:30.955Z,1761681390.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166322,-0.910407,-0.378809],[0.985135,0.170149,0.023613],[0.042957,-0.377105,0.925174]] 2025-10-28T19:56:31.358Z,1761681391.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184546,-0.907626,-0.377037],[0.981793,0.187814,0.028436],[0.045004,-0.375420,0.925761]] 2025-10-28T19:56:31.382Z,1761681391.382 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:56:31.383Z,1761681391.383 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:56:31.383Z,1761681391.383 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:56:31.383Z,1761681391.383 [marl:UpdateRudder:A] Stopped 2025-10-28T19:56:31.383Z,1761681391.383 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:56:31.778Z,1761681391.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203479,-0.904000,-0.376005],[0.977958,0.206035,0.033878],[0.046844,-0.374611,0.925998]] 2025-10-28T19:56:31.843Z,1761681391.843 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T19:56:31.843Z,1761681391.843 [marl:UpdateRudder:B] Stopped 2025-10-28T19:56:31.844Z,1761681391.844 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:56:31.844Z,1761681391.844 [marl:UpdateRudder] Stopped 2025-10-28T19:56:31.845Z,1761681391.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:56:32.167Z,1761681392.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222885,-0.899462,-0.375885],[0.973652,0.224468,0.040204],[0.048212,-0.374942,0.925794]] 2025-10-28T19:56:32.571Z,1761681392.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243304,-0.893978,-0.376307],[0.968709,0.243583,0.047655],[0.049059,-0.376127,0.925269]] 2025-10-28T19:56:32.974Z,1761681392.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264060,-0.887992,-0.376486],[0.963234,0.262833,0.055667],[0.049521,-0.377344,0.924748]] 2025-10-28T19:56:33.021Z,1761681393.021 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:56:33.021Z,1761681393.021 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:56:33.021Z,1761681393.021 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:56:33.021Z,1761681393.021 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateCommandMode] Stopped 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:56:33.022Z,1761681393.022 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:56:33.023Z,1761681393.023 [marl:UpdateSpeed] Stopped 2025-10-28T19:56:33.023Z,1761681393.023 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:56:33.381Z,1761681393.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284741,-0.881027,-0.377775],[0.957330,0.281661,0.064695],[0.049407,-0.380077,0.923634]] 2025-10-28T19:56:33.787Z,1761681393.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305134,-0.874104,-0.377936],[0.951063,0.300007,0.073992],[0.048707,-0.382018,0.922870]] 2025-10-28T19:56:34.187Z,1761681394.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324305,-0.867176,-0.377931],[0.944740,0.317142,0.082992],[0.047889,-0.383961,0.922106]] 2025-10-28T19:56:34.591Z,1761681394.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341537,-0.860790,-0.377351],[0.938677,0.332615,0.090846],[0.047313,-0.385238,0.921604]] 2025-10-28T19:56:35.808Z,1761681395.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395713,-0.839777,-0.371734],[0.917109,0.382584,0.111980],[0.048181,-0.385233,0.921561]] 2025-10-28T19:56:36.214Z,1761681396.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406895,-0.835328,-0.369681],[0.912121,0.393557,0.114662],[0.049710,-0.383849,0.922057]] 2025-10-28T19:56:36.615Z,1761681396.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417725,-0.830905,-0.367563],[0.907110,0.404354,0.116832],[0.051549,-0.382223,0.922631]] 2025-10-28T19:56:37.015Z,1761681397.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428847,-0.825833,-0.366183],[0.901783,0.415410,0.119253],[0.053633,-0.381359,0.922870]] 2025-10-28T19:56:37.424Z,1761681397.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440421,-0.820475,-0.364487],[0.896037,0.427076,0.121345],[0.056103,-0.380036,0.923269]] 2025-10-28T19:56:37.822Z,1761681397.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453397,-0.814159,-0.362735],[0.889385,0.439984,0.124132],[0.058535,-0.378892,0.923588]] 2025-10-28T19:56:38.235Z,1761681398.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467399,-0.806368,-0.362367],[0.881972,0.453393,0.128685],[0.060527,-0.379745,0.923109]] 2025-10-28T19:56:38.631Z,1761681398.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481979,-0.798865,-0.359876],[0.873949,0.467638,0.132393],[0.062527,-0.378324,0.923559]] 2025-10-28T19:56:39.035Z,1761681399.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497235,-0.790298,-0.358032],[0.865225,0.482287,0.137054],[0.064361,-0.377926,0.923596]] 2025-10-28T19:56:39.440Z,1761681399.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513334,-0.780414,-0.356991],[0.855646,0.497431,0.142944],[0.066023,-0.378836,0.923106]] 2025-10-28T19:56:39.846Z,1761681399.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529678,-0.769872,-0.356002],[0.845516,0.512600,0.149478],[0.067408,-0.380181,0.922453]] 2025-10-28T19:56:40.247Z,1761681400.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546095,-0.759080,-0.354369],[0.834942,0.527628,0.156462],[0.068207,-0.381321,0.921923]] 2025-10-28T19:56:40.653Z,1761681400.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562506,-0.748142,-0.351953],[0.823929,0.542637,0.163360],[0.068766,-0.381875,0.921652]] 2025-10-28T19:56:41.057Z,1761681401.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578850,-0.737228,-0.348465],[0.812510,0.557616,0.169978],[0.068998,-0.381523,0.921781]] 2025-10-28T19:56:41.458Z,1761681401.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595272,-0.725968,-0.344415],[0.800560,0.572619,0.176668],[0.068963,-0.380890,0.922045]] 2025-10-28T19:56:41.863Z,1761681401.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611578,-0.714468,-0.339865],[0.788208,0.587424,0.183469],[0.068562,-0.380090,0.922405]] 2025-10-28T19:56:42.275Z,1761681402.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627719,-0.702304,-0.335766],[0.775468,0.601816,0.190961],[0.067956,-0.380245,0.922386]] 2025-10-28T19:56:42.671Z,1761681402.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643205,-0.690265,-0.331394],[0.762725,0.615669,0.197995],[0.067360,-0.380114,0.922484]] 2025-10-28T19:56:43.075Z,1761681403.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658023,-0.678857,-0.325821],[0.750055,0.629132,0.203985],[0.066508,-0.378611,0.923163]] 2025-10-28T19:56:43.479Z,1761681403.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671953,-0.667400,-0.321024],[0.737698,0.641471,0.210515],[0.065430,-0.378275,0.923378]] 2025-10-28T19:56:43.895Z,1761681403.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685215,-0.656211,-0.316017],[0.725510,0.653171,0.216800],[0.064147,-0.377828,0.923651]] 2025-10-28T19:56:44.294Z,1761681404.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697309,-0.645441,-0.311713],[0.714014,0.663602,0.223195],[0.062794,-0.378204,0.923590]] 2025-10-28T19:56:44.690Z,1761681404.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708330,-0.635012,-0.308268],[0.703214,0.672740,0.230026],[0.061315,-0.379712,0.923071]] 2025-10-28T19:56:44.735Z,1761681404.735 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:56:44.735Z,1761681404.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:56:44.735Z,1761681404.735 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:56:44.736Z,1761681404.736 [marl:UpdateRudder:A] Stopped 2025-10-28T19:56:44.736Z,1761681404.736 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:56:45.094Z,1761681405.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718528,-0.625535,-0.304013],[0.692953,0.681246,0.236051],[0.059450,-0.380276,0.922960]] 2025-10-28T19:56:45.147Z,1761681405.147 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:56:45.147Z,1761681405.147 [marl:UpdateRudder:B] Stopped 2025-10-28T19:56:45.147Z,1761681405.147 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:56:45.147Z,1761681405.147 [marl:UpdateRudder] Stopped 2025-10-28T19:56:45.147Z,1761681405.147 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:56:45.500Z,1761681405.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727436,-0.617041,-0.300162],[0.683743,0.688629,0.241424],[0.057732,-0.380854,0.922831]] 2025-10-28T19:56:45.918Z,1761681405.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735358,-0.609474,-0.296294],[0.675336,0.695389,0.245674],[0.056308,-0.380756,0.922959]] 2025-10-28T19:56:46.307Z,1761681406.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742478,-0.602692,-0.292384],[0.667605,0.701622,0.249058],[0.055037,-0.380117,0.923299]] 2025-10-28T19:56:46.340Z,1761681406.340 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:56:46.340Z,1761681406.340 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:56:46.340Z,1761681406.340 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateCommandMode] Stopped 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:56:46.341Z,1761681406.341 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:56:46.342Z,1761681406.342 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:56:46.342Z,1761681406.342 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:56:46.342Z,1761681406.342 [marl:UpdateSpeed] Stopped 2025-10-28T19:56:46.342Z,1761681406.342 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:56:46.711Z,1761681406.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748871,-0.595983,-0.289823],[0.660507,0.706898,0.253035],[0.054071,-0.380920,0.923025]] 2025-10-28T19:56:47.115Z,1761681407.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755158,-0.589635,-0.286473],[0.653347,0.712697,0.255345],[0.053608,-0.379992,0.923435]] 2025-10-28T19:56:47.520Z,1761681407.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761287,-0.583456,-0.282879],[0.646225,0.718533,0.257108],[0.053247,-0.378537,0.924053]] 2025-10-28T19:56:47.928Z,1761681407.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766548,-0.579605,-0.276517],[0.640046,0.724671,0.255330],[0.052393,-0.372706,0.926469]] 2025-10-28T19:56:48.327Z,1761681408.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770255,-0.579545,-0.266147],[0.635716,0.730940,0.248175],[0.050709,-0.360352,0.931437]] 2025-10-28T19:56:48.731Z,1761681408.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772893,-0.582250,-0.252233],[0.632714,0.737279,0.236839],[0.048066,-0.342643,0.938235]] 2025-10-28T19:56:49.136Z,1761681409.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775667,-0.585361,-0.235994],[0.629560,0.744060,0.223671],[0.044665,-0.322066,0.945663]] 2025-10-28T19:56:49.539Z,1761681409.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778865,-0.587333,-0.220019],[0.625870,0.750591,0.211896],[0.040691,-0.302741,0.952204]] 2025-10-28T19:56:49.947Z,1761681409.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781956,-0.588806,-0.204579],[0.622281,0.756460,0.201334],[0.036209,-0.284740,0.957921]] 2025-10-28T19:56:50.347Z,1761681410.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785438,-0.589104,-0.189850],[0.618170,0.761942,0.193158],[0.030865,-0.269073,0.962625]] 2025-10-28T19:56:50.753Z,1761681410.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788609,-0.589104,-0.176215],[0.614402,0.766394,0.187481],[0.024604,-0.256117,0.966333]] 2025-10-28T19:56:51.155Z,1761681411.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792024,-0.588306,-0.163076],[0.610234,0.770654,0.183593],[0.017666,-0.244924,0.969381]] 2025-10-28T19:56:51.559Z,1761681411.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795334,-0.586720,-0.152325],[0.606087,0.773898,0.183685],[0.010112,-0.238413,0.971111]] 2025-10-28T19:56:51.636Z,1761681411.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:56:51.963Z,1761681411.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798134,-0.585429,-0.142321],[0.602475,0.776499,0.184588],[0.002449,-0.233071,0.972457]] 2025-10-28T19:56:52.371Z,1761681412.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799396,-0.585693,-0.133902],[0.600784,0.777426,0.186192],[-0.004953,-0.229287,0.973346]] 2025-10-28T19:56:52.640Z,1761681412.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:56:52.778Z,1761681412.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799483,-0.587095,-0.127070],[0.600569,0.777002,0.188639],[-0.012015,-0.227128,0.973791]] 2025-10-28T19:56:53.174Z,1761681413.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798508,-0.589686,-0.121057],[0.601699,0.775640,0.190632],[-0.018517,-0.225061,0.974169]] 2025-10-28T19:56:53.579Z,1761681413.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796991,-0.592548,-0.117014],[0.603494,0.773388,0.194076],[-0.024502,-0.225294,0.973983]] 2025-10-28T19:56:53.985Z,1761681413.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795437,-0.595327,-0.113424],[0.605309,0.771282,0.196785],[-0.029669,-0.225187,0.973864]] 2025-10-28T19:56:54.395Z,1761681414.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793575,-0.598286,-0.110874],[0.607507,0.768789,0.199749],[-0.034269,-0.225873,0.973554]] 2025-10-28T19:56:54.793Z,1761681414.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791674,-0.601087,-0.109298],[0.609742,0.766159,0.203014],[-0.038289,-0.227365,0.973057]] 2025-10-28T19:56:55.195Z,1761681415.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789976,-0.603512,-0.108219],[0.611709,0.763717,0.206271],[-0.041838,-0.229147,0.972492]] 2025-10-28T19:56:55.601Z,1761681415.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788590,-0.605573,-0.106806],[0.613283,0.761873,0.208405],[-0.044832,-0.229848,0.972193]] 2025-10-28T19:56:56.004Z,1761681416.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787757,-0.606755,-0.106241],[0.614124,0.760205,0.211990],[-0.047861,-0.232242,0.971480]] 2025-10-28T19:56:56.407Z,1761681416.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787986,-0.606618,-0.105322],[0.613590,0.759593,0.215698],[-0.050845,-0.234591,0.970764]] 2025-10-28T19:56:56.811Z,1761681416.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789092,-0.605442,-0.103795],[0.611910,0.759937,0.219232],[-0.053855,-0.236508,0.970136]] 2025-10-28T19:56:57.221Z,1761681417.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791073,-0.603161,-0.101978],[0.609070,0.761117,0.223015],[-0.056897,-0.238533,0.969466]] 2025-10-28T19:56:57.619Z,1761681417.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793536,-0.600297,-0.099718],[0.605565,0.762865,0.226557],[-0.059930,-0.240167,0.968880]] 2025-10-28T19:56:58.023Z,1761681418.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796312,-0.597104,-0.096715],[0.601580,0.765078,0.229689],[-0.063154,-0.241086,0.968447]] 2025-10-28T19:56:58.071Z,1761681418.071 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:56:58.071Z,1761681418.071 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:56:58.071Z,1761681418.071 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:56:58.072Z,1761681418.072 [marl:UpdateRudder:A] Stopped 2025-10-28T19:56:58.072Z,1761681418.072 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:56:58.427Z,1761681418.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798987,-0.593953,-0.094015],[0.597687,0.767132,0.232977],[-0.066256,-0.242337,0.967927]] 2025-10-28T19:56:58.451Z,1761681418.451 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:56:58.451Z,1761681418.451 [marl:UpdateRudder:B] Stopped 2025-10-28T19:56:58.451Z,1761681418.451 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:56:58.451Z,1761681418.451 [marl:UpdateRudder] Stopped 2025-10-28T19:56:58.451Z,1761681418.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:56:58.833Z,1761681418.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801451,-0.591106,-0.090940],[0.593997,0.769057,0.236049],[-0.069592,-0.243200,0.967476]] 2025-10-28T19:56:59.235Z,1761681419.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803017,-0.589444,-0.087863],[0.591457,0.770164,0.238800],[-0.073090,-0.243727,0.967086]] 2025-10-28T19:56:59.638Z,1761681419.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803988,-0.588388,-0.086045],[0.589685,0.770239,0.242905],[-0.076648,-0.246032,0.966226]] 2025-10-28T19:56:59.688Z,1761681419.688 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:56:59.688Z,1761681419.688 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:56:59.688Z,1761681419.688 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateCommandMode] Stopped 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:56:59.689Z,1761681419.689 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:56:59.690Z,1761681419.690 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:56:59.690Z,1761681419.690 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:56:59.690Z,1761681419.690 [marl:UpdateSpeed] Stopped 2025-10-28T19:56:59.690Z,1761681419.690 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:57:00.044Z,1761681420.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803847,-0.588949,-0.083480],[0.589441,0.769815,0.244836],[-0.079932,-0.246017,0.965964]] 2025-10-28T19:57:00.448Z,1761681420.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802848,-0.590585,-0.081518],[0.590402,0.768595,0.246348],[-0.082835,-0.245908,0.965747]] 2025-10-28T19:57:00.856Z,1761681420.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801085,-0.593097,-0.080619],[0.592449,0.766508,0.247932],[-0.085252,-0.246377,0.965417]] 2025-10-28T19:57:01.255Z,1761681421.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798872,-0.596198,-0.079700],[0.595255,0.764559,0.247225],[-0.086460,-0.244943,0.965675]] 2025-10-28T19:57:01.659Z,1761681421.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796148,-0.599794,-0.079970],[0.598887,0.762168,0.245834],[-0.086499,-0.243613,0.966007]] 2025-10-28T19:57:02.063Z,1761681422.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793750,-0.602835,-0.080939],[0.602144,0.759998,0.244593],[-0.085936,-0.242882,0.966242]] 2025-10-28T19:57:02.467Z,1761681422.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791896,-0.605232,-0.081206],[0.604683,0.758633,0.242558],[-0.085198,-0.241185,0.966732]] 2025-10-28T19:57:02.877Z,1761681422.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790730,-0.606688,-0.081709],[0.606278,0.757650,0.241649],[-0.084699,-0.240617,0.966917]] 2025-10-28T19:57:03.274Z,1761681423.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790595,-0.606755,-0.082511],[0.606556,0.757508,0.241397],[-0.083966,-0.240894,0.966912]] 2025-10-28T19:57:04.083Z,1761681424.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792015,-0.604574,-0.084868],[0.605273,0.759453,0.238485],[-0.079729,-0.240252,0.967431]] 2025-10-28T19:57:04.489Z,1761681424.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793929,-0.601884,-0.086098],[0.603096,0.761609,0.237123],[-0.077147,-0.240184,0.967657]] 2025-10-28T19:57:04.891Z,1761681424.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796176,-0.598807,-0.086800],[0.600474,0.764324,0.235032],[-0.074396,-0.239248,0.968104]] 2025-10-28T19:57:05.295Z,1761681425.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798547,-0.595648,-0.086753],[0.597648,0.767420,0.232128],[-0.071690,-0.237213,0.968809]] 2025-10-28T19:57:05.719Z,1761681425.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801161,-0.592086,-0.087038],[0.594462,0.770601,0.229760],[-0.068966,-0.235815,0.969348]] 2025-10-28T19:57:06.104Z,1761681426.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803924,-0.588309,-0.087171],[0.591016,0.773914,0.227503],[-0.066380,-0.234415,0.969868]] 2025-10-28T19:57:06.508Z,1761681426.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806532,-0.584499,-0.088692],[0.587711,0.776461,0.227385],[-0.064041,-0.235519,0.969757]] 2025-10-28T19:57:06.910Z,1761681426.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808897,-0.580900,-0.090780],[0.584696,0.778548,0.228020],[-0.061780,-0.237523,0.969415]] 2025-10-28T19:57:07.315Z,1761681427.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810939,-0.577813,-0.092247],[0.582077,0.780533,0.227936],[-0.059703,-0.238537,0.969296]] 2025-10-28T19:57:07.760Z,1761681427.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811992,-0.576349,-0.092149],[0.580836,0.782382,0.224739],[-0.057432,-0.236010,0.970052]] 2025-10-28T19:57:08.124Z,1761681428.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812141,-0.575998,-0.093022],[0.580868,0.783174,0.221883],[-0.054952,-0.234233,0.970626]] 2025-10-28T19:57:08.527Z,1761681428.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811638,-0.576500,-0.094293],[0.581814,0.783320,0.218866],[-0.052315,-0.232501,0.971188]] 2025-10-28T19:57:08.931Z,1761681428.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810432,-0.577982,-0.095585],[0.583734,0.782913,0.215176],[-0.049533,-0.230182,0.971886]] 2025-10-28T19:57:09.341Z,1761681429.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808874,-0.579866,-0.097358],[0.586123,0.782026,0.211887],[-0.046730,-0.228453,0.972433]] 2025-10-28T19:57:09.767Z,1761681429.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807170,-0.581799,-0.099934],[0.588699,0.780802,0.209238],[-0.043706,-0.227722,0.972745]] 2025-10-28T19:57:10.142Z,1761681430.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805723,-0.583604,-0.101077],[0.590905,0.780371,0.204580],[-0.040516,-0.224562,0.973617]] 2025-10-28T19:57:10.546Z,1761681430.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804866,-0.584420,-0.103170],[0.592302,0.780231,0.201041],[-0.036997,-0.222919,0.974135]] 2025-10-28T19:57:10.951Z,1761681430.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804802,-0.584108,-0.105412],[0.592591,0.780680,0.198430],[-0.033612,-0.222163,0.974430]] 2025-10-28T19:57:11.362Z,1761681431.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805504,-0.582438,-0.109226],[0.591813,0.781225,0.198608],[-0.030346,-0.224621,0.973974]] 2025-10-28T19:57:11.387Z,1761681431.387 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:57:11.387Z,1761681431.387 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:57:11.388Z,1761681431.388 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:57:11.388Z,1761681431.388 [marl:UpdateRudder:A] Stopped 2025-10-28T19:57:11.388Z,1761681431.388 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:57:11.775Z,1761681431.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807031,-0.579704,-0.112446],[0.589862,0.782480,0.199469],[-0.027646,-0.227305,0.973431]] 2025-10-28T19:57:11.836Z,1761681431.836 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:57:11.837Z,1761681431.837 [marl:UpdateRudder:B] Stopped 2025-10-28T19:57:11.837Z,1761681431.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:57:11.838Z,1761681431.838 [marl:UpdateRudder] Stopped 2025-10-28T19:57:11.838Z,1761681431.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:57:12.163Z,1761681432.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808789,-0.576776,-0.114849],[0.587554,0.784072,0.200029],[-0.025323,-0.229261,0.973035]] 2025-10-28T19:57:12.567Z,1761681432.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810361,-0.574215,-0.116583],[0.585487,0.785823,0.199215],[-0.022779,-0.229694,0.972996]] 2025-10-28T19:57:12.983Z,1761681432.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811434,-0.572245,-0.118785],[0.584082,0.786853,0.199276],[-0.020568,-0.231080,0.972717]] 2025-10-28T19:57:13.007Z,1761681433.007 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:57:13.008Z,1761681433.008 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:57:13.008Z,1761681433.008 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:57:13.008Z,1761681433.008 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:57:13.008Z,1761681433.008 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:57:13.008Z,1761681433.008 [marl:UpdateCommandMode] Stopped 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed] Stopped 2025-10-28T19:57:13.009Z,1761681433.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:57:13.375Z,1761681433.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811820,-0.571378,-0.120316],[0.583611,0.787414,0.198438],[-0.018645,-0.231314,0.972701]] 2025-10-28T19:57:13.414Z,1761681433.414 [marl:NeedComms] Running Loop=1 2025-10-28T19:57:13.414Z,1761681433.414 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T19:57:13.414Z,1761681433.414 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T19:57:13.414Z,1761681433.414 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T19:57:13.415Z,1761681433.415 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T19:57:13.415Z,1761681433.415 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T19:57:13.415Z,1761681433.415 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T19:57:13.416Z,1761681433.416 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T19:57:13.417Z,1761681433.417 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T19:57:13.417Z,1761681433.417 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T19:57:13.417Z,1761681433.417 [marl:NeedComms:A] Running Loop=1 2025-10-28T19:57:13.419Z,1761681433.419 [marl:NeedComms:A](INFO): last time_fix was: 1761680232.000000 second since 1970/01/01T00:00:00Z 2025-10-28T19:57:13.419Z,1761681433.419 [marl:NeedComms:A] Stopped 2025-10-28T19:57:13.783Z,1761681433.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810931,-0.572408,-0.121404],[0.584903,0.787043,0.196090],[-0.016693,-0.230025,0.973041]] 2025-10-28T19:57:14.587Z,1761681434.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806479,-0.577841,-0.125267],[0.591147,0.783828,0.190153],[-0.011690,-0.227405,0.973730]] 2025-10-28T19:57:15.034Z,1761681435.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803790,-0.580958,-0.128096],[0.594849,0.781706,0.187323],[-0.008693,-0.226766,0.973911]] 2025-10-28T19:57:15.440Z,1761681435.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801430,-0.583839,-0.129778],[0.598067,0.780440,0.182289],[-0.005144,-0.223708,0.974643]] 2025-10-28T19:57:15.855Z,1761681435.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798910,-0.587766,-0.127568],[0.601447,0.780088,0.172408],[-0.001821,-0.214464,0.976730]] 2025-10-28T19:57:16.247Z,1761681436.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800458,-0.586940,-0.121523],[0.599349,0.781455,0.173518],[-0.006880,-0.211729,0.977304]] 2025-10-28T19:57:16.652Z,1761681436.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804347,-0.583505,-0.112016],[0.593915,0.784181,0.179793],[-0.017069,-0.211144,0.977306]] 2025-10-28T19:57:17.066Z,1761681437.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809728,-0.579056,-0.095049],[0.585960,0.789194,0.183912],[-0.031483,-0.204614,0.978336]] 2025-10-28T19:57:17.461Z,1761681437.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815454,-0.573961,-0.074859],[0.576669,0.794450,0.190532],[-0.049886,-0.198538,0.978823]] 2025-10-28T19:57:17.860Z,1761681437.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821090,-0.567875,-0.057692],[0.566395,0.798054,0.205685],[-0.070762,-0.201562,0.976916]] 2025-10-28T19:57:18.263Z,1761681438.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826187,-0.562121,-0.037877],[0.555605,0.801778,0.220127],[-0.093369,-0.202911,0.974735]] 2025-10-28T19:57:18.666Z,1761681438.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829550,-0.558204,-0.015988],[0.546000,0.804741,0.232971],[-0.117179,-0.201990,0.972352]] 2025-10-28T19:57:19.078Z,1761681439.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830615,-0.556812,0.006289],[0.538770,0.806453,0.243641],[-0.140734,-0.198984,0.969845]] 2025-10-28T19:57:19.475Z,1761681439.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829462,-0.557791,0.029368],[0.533902,0.807194,0.251765],[-0.164138,-0.193150,0.967343]] 2025-10-28T19:57:19.879Z,1761681439.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826579,-0.560451,0.051594],[0.530954,0.806904,0.258831],[-0.186693,-0.186551,0.964544]] 2025-10-28T19:57:20.283Z,1761681440.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822597,-0.564067,0.071856],[0.529412,0.805844,0.265216],[-0.207504,-0.180124,0.961508]] 2025-10-28T19:57:20.689Z,1761681440.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818092,-0.568062,0.089615],[0.528715,0.804241,0.271399],[-0.226243,-0.174649,0.958286]] 2025-10-28T19:57:21.090Z,1761681441.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813726,-0.571425,0.106407],[0.527868,0.803142,0.276258],[-0.243321,-0.168630,0.955175]] 2025-10-28T19:57:21.495Z,1761681441.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810065,-0.573537,0.121858],[0.526077,0.802711,0.280889],[-0.258917,-0.163431,0.951973]] 2025-10-28T19:57:21.901Z,1761681441.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806986,-0.574666,0.136136],[0.523317,0.802661,0.286137],[-0.273704,-0.159666,0.948469]] 2025-10-28T19:57:22.303Z,1761681442.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805358,-0.573814,0.148781],[0.518663,0.803625,0.291849],[-0.287031,-0.157876,0.944822]] 2025-10-28T19:57:22.706Z,1761681442.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804214,-0.572486,0.159687],[0.513422,0.804523,0.298565],[-0.299396,-0.158123,0.940935]] 2025-10-28T19:57:22.769Z,1761681442.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:57:23.118Z,1761681443.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803581,-0.570082,0.171070],[0.507229,0.806299,0.304304],[-0.311412,-0.157761,0.937088]] 2025-10-28T19:57:23.147Z,1761681443.147 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:57:23.229Z,1761681443.229 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:57:23.229Z,1761681443.229 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:57:23.481Z,1761681443.481 [DAT](INFO): DAT read: user:225> 2025-10-28T19:57:23.482Z,1761681443.482 [DAT](INFO): DAT read: Tx time:19:57:23.2252 2025-10-28T19:57:23.482Z,1761681443.482 [DAT](INFO): Ping request sent. 2025-10-28T19:57:23.482Z,1761681443.482 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:57:23.483Z,1761681443.483 [DAT](INFO): publishing transmit ping time 2025-10-28T19:57:23.483Z,1761681443.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T19:57:23.515Z,1761681443.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802316,-0.568340,0.182424],[0.501574,0.807612,0.310139],[-0.323592,-0.157330,0.933025]] 2025-10-28T19:57:23.736Z,1761681443.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253162 2025-10-28T19:57:23.773Z,1761681443.773 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:57:23.918Z,1761681443.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800424,-0.567456,0.193171],[0.496598,0.808217,0.316505],[-0.335727,-0.157410,0.928714]] 2025-10-28T19:57:23.985Z,1761681443.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502242 2025-10-28T19:57:24.237Z,1761681444.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754356 2025-10-28T19:57:24.333Z,1761681444.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797698,-0.567320,0.204514],[0.492483,0.808556,0.322021],[-0.348050,-0.156156,0.924379]] 2025-10-28T19:57:24.489Z,1761681444.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006598 2025-10-28T19:57:24.741Z,1761681444.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258571 2025-10-28T19:57:24.773Z,1761681444.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793690,-0.568909,0.215405],[0.490088,0.807767,0.327606],[-0.360375,-0.154450,0.919932]] 2025-10-28T19:57:24.837Z,1761681444.837 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:57:24.838Z,1761681444.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:57:24.838Z,1761681444.838 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:57:24.838Z,1761681444.838 [marl:UpdateRudder:A] Stopped 2025-10-28T19:57:24.838Z,1761681444.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:57:24.993Z,1761681444.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510400 2025-10-28T19:57:25.166Z,1761681445.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788480,-0.571710,0.226820],[0.489553,0.806598,0.331267],[-0.372341,-0.150157,0.915868]] 2025-10-28T19:57:25.210Z,1761681445.210 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:57:25.210Z,1761681445.210 [marl:UpdateRudder:B] Stopped 2025-10-28T19:57:25.210Z,1761681445.210 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:57:25.210Z,1761681445.210 [marl:UpdateRudder] Stopped 2025-10-28T19:57:25.210Z,1761681445.210 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:57:25.245Z,1761681445.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762429 2025-10-28T19:57:25.498Z,1761681445.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014882 2025-10-28T19:57:25.753Z,1761681445.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269636 2025-10-28T19:57:25.787Z,1761681445.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782209,-0.576416,0.236418],[0.491591,0.804158,0.334168],[-0.382737,-0.145168,0.912381]] 2025-10-28T19:57:26.001Z,1761681446.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925 2025-10-28T19:57:26.254Z,1761681446.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771767 2025-10-28T19:57:26.262Z,1761681446.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768636,-0.589647,0.248024],[0.500680,0.795869,0.340457],[-0.398144,-0.137507,0.906958]] 2025-10-28T19:57:26.506Z,1761681446.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023357 2025-10-28T19:57:26.689Z,1761681446.689 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:57:26.689Z,1761681446.689 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:57:26.689Z,1761681446.689 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateCommandMode] Stopped 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:57:26.690Z,1761681446.690 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:57:26.691Z,1761681446.691 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:57:26.691Z,1761681446.691 [marl:UpdateSpeed] Stopped 2025-10-28T19:57:26.691Z,1761681446.691 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:57:26.757Z,1761681446.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274751 2025-10-28T19:57:27.009Z,1761681447.009 [DAT](INFO): DAT read: Rx Time:19:57:26.3314 2025-10-28T19:57:27.009Z,1761681447.009 [DAT](INFO): Rx dataTimestamp_ set to:1761681447.009122 2025-10-28T19:57:27.010Z,1761681447.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527423 2025-10-28T19:57:27.061Z,1761681447.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754904,-0.606596,0.249323],[0.515534,0.783846,0.346136],[-0.405396,-0.132765,0.904449]] 2025-10-28T19:57:27.261Z,1761681447.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778377 2025-10-28T19:57:27.496Z,1761681447.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748322,-0.615546,0.247219],[0.523892,0.777036,0.348929],[-0.406880,-0.131595,0.903953]] 2025-10-28T19:57:27.518Z,1761681447.518 [DAT](INFO): DAT read: 19:57:26.3314 LVL= 16272, 15857, 23346, 24259, AGC= 63, IDX= 176, 0.35, 0.987, 0.005,-0.766, 0.259, PHS= 0.830,-0.209,-1.069, RAW= 63.1, 5.5, CAL= 62.1, 4.7, ROT= 87.9, -4.7 2025-10-28T19:57:27.519Z,1761681447.519 [DAT](INFO): got valid direction response: 19:57:26.3314 LVL= 16272, 15857, 23346, 24259, AGC= 63, IDX= 176, 0.35, 0.987, 0.005,-0.766, 0.259, PHS= 0.830,-0.209,-1.069, RAW= 63.1, 5.5, CAL= 62.1, 4.7, ROT= 87.9, -4.7 2025-10-28T19:57:27.520Z,1761681447.520 [DAT](INFO): DAT read: Bearing 116, -8 (Remote) 2025-10-28T19:57:27.521Z,1761681447.521 [DAT](INFO): Remote Bearing received:Bearing 116, -8 (Remote) 2025-10-28T19:57:27.521Z,1761681447.521 [DAT](INFO): DAT read: Bearing 213.7, 60.7 (Local) 2025-10-28T19:57:27.522Z,1761681447.522 [DAT](INFO): Local bearing/azimuth received: Bearing 213.7, 60.7 (Local) 2025-10-28T19:57:27.522Z,1761681447.522 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T19:57:27.523Z,1761681447.523 [DAT](INFO): direction in FSK: [0.036521,0.995968,0.081939] 2025-10-28T19:57:27.598Z,1761681447.598 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681408.00. Resetting abort timer. 2025-10-28T19:57:27.868Z,1761681447.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742549,-0.624382,0.242420],[0.532138,0.769744,0.352595],[-0.406756,-0.132818,0.903830]] 2025-10-28T19:57:28.270Z,1761681448.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737838,-0.631293,0.238881],[0.539473,0.764248,0.353403],[-0.405665,-0.131885,0.904457]] 2025-10-28T19:57:28.671Z,1761681448.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734865,-0.636034,0.235446],[0.544629,0.760302,0.354007],[-0.404170,-0.131917,0.905121]] 2025-10-28T19:57:29.074Z,1761681449.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734371,-0.637773,0.232260],[0.546763,0.758616,0.354333],[-0.402180,-0.133221,0.905817]] 2025-10-28T19:57:29.481Z,1761681449.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736050,-0.637167,0.228577],[0.546332,0.758533,0.355175],[-0.399690,-0.136548,0.906423]] 2025-10-28T19:57:29.883Z,1761681449.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739275,-0.635163,0.223698],[0.543996,0.759092,0.357558],[-0.396915,-0.142643,0.906704]] 2025-10-28T19:57:30.286Z,1761681450.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743568,-0.631691,0.219254],[0.540221,0.760759,0.359732],[-0.394039,-0.149040,0.906929]] 2025-10-28T19:57:30.691Z,1761681450.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748710,-0.626997,0.215193],[0.535024,0.763221,0.362275],[-0.391385,-0.156106,0.906889]] 2025-10-28T19:57:31.103Z,1761681451.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754086,-0.622149,0.210437],[0.529193,0.765334,0.366358],[-0.388984,-0.164904,0.906365]] 2025-10-28T19:57:31.499Z,1761681451.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759366,-0.616757,0.207301],[0.522787,0.768009,0.369941],[-0.387372,-0.172546,0.905633]] 2025-10-28T19:57:31.904Z,1761681451.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764302,-0.611373,0.205100],[0.516153,0.770647,0.373749],[-0.386560,-0.179794,0.904569]] 2025-10-28T19:57:32.322Z,1761681452.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768606,-0.606291,0.204096],[0.509600,0.773135,0.377584],[-0.386720,-0.186206,0.903203]] 2025-10-28T19:57:32.710Z,1761681452.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771842,-0.601996,0.204598],[0.503943,0.775429,0.380461],[-0.387688,-0.190550,0.901881]] 2025-10-28T19:57:33.115Z,1761681453.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774397,-0.598119,0.206309],[0.499130,0.777908,0.381745],[-0.388818,-0.192647,0.900948]] 2025-10-28T19:57:33.520Z,1761681453.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775528,-0.595655,0.209170],[0.496273,0.779998,0.381204],[-0.390218,-0.191829,0.900517]] 2025-10-28T19:57:33.565Z,1761681453.565 [DAT](INFO): Reached modem response timeout 2025-10-28T19:57:33.923Z,1761681453.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774944,-0.596114,0.210022],[0.496813,0.779947,0.380604],[-0.390689,-0.190605,0.900573]] 2025-10-28T19:57:34.332Z,1761681454.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772041,-0.600248,0.208936],[0.502165,0.777596,0.378385],[-0.389593,-0.187209,0.901760]] 2025-10-28T19:57:34.730Z,1761681454.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767758,-0.607326,0.204211],[0.511380,0.772829,0.375801],[-0.386054,-0.184095,0.903920]] 2025-10-28T19:57:35.135Z,1761681455.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763501,-0.615242,0.196324],[0.522037,0.766931,0.373221],[-0.380188,-0.182467,0.906732]] 2025-10-28T19:57:35.538Z,1761681455.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759979,-0.623011,0.185173],[0.532807,0.760350,0.371463],[-0.372222,-0.183642,0.909795]] 2025-10-28T19:57:35.942Z,1761681455.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757386,-0.630298,0.170560],[0.543071,0.753077,0.371415],[-0.362547,-0.188678,0.912667]] 2025-10-28T19:57:36.348Z,1761681456.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755456,-0.637049,0.153153],[0.552700,0.745149,0.373195],[-0.351865,-0.197285,0.915024]] 2025-10-28T19:57:36.754Z,1761681456.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753996,-0.642735,0.135581],[0.561675,0.737857,0.374282],[-0.340604,-0.206055,0.917350]] 2025-10-28T19:57:37.155Z,1761681457.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753166,-0.647150,0.118057],[0.569304,0.731146,0.375923],[-0.329596,-0.215922,0.919100]] 2025-10-28T19:57:37.559Z,1761681457.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754080,-0.648739,0.102480],[0.573755,0.726620,0.377925],[-0.319638,-0.226188,0.920147]] 2025-10-28T19:57:37.963Z,1761681457.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759081,-0.644457,0.092039],[0.571269,0.727222,0.380525],[-0.312165,-0.236270,0.920179]] 2025-10-28T19:57:38.398Z,1761681458.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765564,-0.637717,0.085020],[0.565800,0.730270,0.382852],[-0.306239,-0.244994,0.919889]] 2025-10-28T19:57:38.440Z,1761681458.440 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:57:38.440Z,1761681458.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:57:38.441Z,1761681458.441 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:57:38.441Z,1761681458.441 [marl:UpdateRudder:A] Stopped 2025-10-28T19:57:38.441Z,1761681458.441 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:57:38.814Z,1761681458.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771579,-0.631032,0.080409],[0.560211,0.733926,0.384078],[-0.301380,-0.251300,0.919792]] 2025-10-28T19:57:38.860Z,1761681458.860 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:57:38.860Z,1761681458.860 [marl:UpdateRudder:B] Stopped 2025-10-28T19:57:38.860Z,1761681458.860 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:57:38.860Z,1761681458.860 [marl:UpdateRudder] Stopped 2025-10-28T19:57:38.861Z,1761681458.861 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:57:39.211Z,1761681459.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777310,-0.624154,0.078869],[0.554109,0.738597,0.383975],[-0.297912,-0.254766,0.919969]] 2025-10-28T19:57:39.610Z,1761681459.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782643,-0.617636,0.077426],[0.547737,0.742425,0.385732],[-0.295725,-0.259482,0.919356]] 2025-10-28T19:57:40.015Z,1761681460.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788077,-0.610686,0.077449],[0.540919,0.747052,0.386419],[-0.293839,-0.262634,0.919066]] 2025-10-28T19:57:40.092Z,1761681460.092 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:57:40.092Z,1761681460.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateCommandMode] Stopped 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:57:40.093Z,1761681460.093 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:57:40.094Z,1761681460.094 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:57:40.094Z,1761681460.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:57:40.094Z,1761681460.094 [marl:UpdateSpeed] Stopped 2025-10-28T19:57:40.094Z,1761681460.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:57:40.419Z,1761681460.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793225,-0.603824,0.078679],[0.534142,0.752013,0.386224],[-0.292379,-0.264337,0.919043]] 2025-10-28T19:57:40.825Z,1761681460.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797342,-0.598229,0.079798],[0.529006,0.756397,0.384728],[-0.290515,-0.264546,0.919574]] 2025-10-28T19:57:41.230Z,1761681461.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799684,-0.594850,0.081603],[0.526520,0.760074,0.380873],[-0.288587,-0.261612,0.921019]] 2025-10-28T19:57:41.634Z,1761681461.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800212,-0.594014,0.082509],[0.526582,0.761787,0.377350],[-0.287005,-0.258512,0.922388]] 2025-10-28T19:57:42.035Z,1761681462.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800969,-0.592784,0.084001],[0.526145,0.763883,0.373704],[-0.285692,-0.255128,0.923737]] 2025-10-28T19:57:42.453Z,1761681462.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801938,-0.591135,0.086342],[0.524787,0.766122,0.371020],[-0.285472,-0.252223,0.924602]] 2025-10-28T19:57:42.843Z,1761681462.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803220,-0.589094,0.088354],[0.522696,0.768148,0.369782],[-0.285705,-0.250834,0.924908]] 2025-10-28T19:57:43.257Z,1761681463.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804222,-0.587334,0.090912],[0.520519,0.769886,0.369236],[-0.286857,-0.249626,0.924878]] 2025-10-28T19:57:43.652Z,1761681463.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804724,-0.586300,0.093128],[0.518776,0.770786,0.369811],[-0.288602,-0.249283,0.924428]] 2025-10-28T19:57:44.055Z,1761681464.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804025,-0.586665,0.096787],[0.518594,0.771530,0.368512],[-0.290867,-0.246099,0.924571]] 2025-10-28T19:57:44.459Z,1761681464.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801811,-0.589237,0.099492],[0.520725,0.770619,0.367413],[-0.293164,-0.242788,0.924721]] 2025-10-28T19:57:44.865Z,1761681464.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798486,-0.593386,0.101552],[0.524557,0.768553,0.366287],[-0.295398,-0.239205,0.924944]] 2025-10-28T19:57:45.266Z,1761681465.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794417,-0.598627,0.102703],[0.529530,0.765449,0.365630],[-0.297490,-0.236079,0.925077]] 2025-10-28T19:57:45.673Z,1761681465.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790209,-0.604100,0.103116],[0.534935,0.762024,0.364917],[-0.299023,-0.233200,0.925312]] 2025-10-28T19:57:46.075Z,1761681466.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786104,-0.609571,0.102291],[0.540466,0.758194,0.364744],[-0.299894,-0.231442,0.925472]] 2025-10-28T19:57:46.482Z,1761681466.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782456,-0.614488,0.100838],[0.545871,0.754779,0.363777],[-0.299647,-0.229595,0.926012]] 2025-10-28T19:57:46.883Z,1761681466.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779630,-0.618370,0.098970],[0.550711,0.752226,0.361764],[-0.298152,-0.227538,0.927001]] 2025-10-28T19:57:47.298Z,1761681467.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778374,-0.620113,0.097946],[0.553013,0.751103,0.360584],[-0.297171,-0.226503,0.927570]] 2025-10-28T19:57:47.707Z,1761681467.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779464,-0.618565,0.099057],[0.551512,0.752586,0.359791],[-0.297103,-0.225814,0.927760]] 2025-10-28T19:57:48.096Z,1761681468.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780861,-0.616213,0.102649],[0.549000,0.755311,0.357918],[-0.298086,-0.223130,0.928094]] 2025-10-28T19:57:48.499Z,1761681468.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782798,-0.612977,0.107177],[0.545169,0.758594,0.356827],[-0.300030,-0.220894,0.928002]] 2025-10-28T19:57:48.903Z,1761681468.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784827,-0.609438,0.112392],[0.540660,0.761992,0.356447],[-0.302875,-0.218983,0.927531]] 2025-10-28T19:57:49.317Z,1761681469.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786725,-0.605726,0.118999],[0.535652,0.765674,0.356118],[-0.306824,-0.216424,0.926833]] 2025-10-28T19:57:49.752Z,1761681469.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788621,-0.601720,0.126533],[0.530040,0.769565,0.356129],[-0.311665,-0.213783,0.925830]] 2025-10-28T19:57:50.118Z,1761681470.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790420,-0.597857,0.133431],[0.524158,0.772829,0.357763],[-0.317011,-0.212844,0.924230]] 2025-10-28T19:57:50.518Z,1761681470.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792049,-0.594159,0.140120],[0.518360,0.775832,0.359704],[-0.322431,-0.212270,0.922486]] 2025-10-28T19:57:50.924Z,1761681470.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793444,-0.590964,0.145631],[0.512790,0.777959,0.363080],[-0.327862,-0.213406,0.920307]] 2025-10-28T19:57:51.330Z,1761681471.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794339,-0.588608,0.150219],[0.508324,0.779443,0.366163],[-0.332614,-0.214497,0.918346]] 2025-10-28T19:57:51.763Z,1761681471.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794938,-0.586745,0.154284],[0.504475,0.780541,0.369135],[-0.337013,-0.215607,0.916480]] 2025-10-28T19:57:51.850Z,1761681471.850 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:57:51.850Z,1761681471.850 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:57:51.850Z,1761681471.850 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:57:51.851Z,1761681471.851 [marl:UpdateRudder:A] Stopped 2025-10-28T19:57:51.851Z,1761681471.851 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:57:52.140Z,1761681472.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796251,-0.584169,0.157261],[0.499584,0.781543,0.373639],[-0.341175,-0.218945,0.914146]] 2025-10-28T19:57:52.162Z,1761681472.162 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:57:52.163Z,1761681472.163 [marl:UpdateRudder:B] Stopped 2025-10-28T19:57:52.163Z,1761681472.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:57:52.163Z,1761681472.163 [marl:UpdateRudder] Stopped 2025-10-28T19:57:52.163Z,1761681472.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:57:52.538Z,1761681472.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797755,-0.581074,0.161058],[0.493560,0.782704,0.379172],[-0.346388,-0.222995,0.911202]] 2025-10-28T19:57:52.942Z,1761681472.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798549,-0.578639,0.165823],[0.487779,0.783487,0.384993],[-0.352692,-0.226551,0.907900]] 2025-10-28T19:57:53.350Z,1761681473.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797105,-0.578902,0.171743],[0.484447,0.782871,0.390416],[-0.360465,-0.228002,0.904478]] 2025-10-28T19:57:53.386Z,1761681473.386 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:57:53.386Z,1761681473.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:57:53.392Z,1761681473.392 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateCommandMode] Stopped 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:57:53.393Z,1761681473.393 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:57:53.394Z,1761681473.394 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:57:53.394Z,1761681473.394 [marl:UpdateSpeed] Stopped 2025-10-28T19:57:53.394Z,1761681473.394 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:57:53.803Z,1761681473.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794034,-0.581348,0.177608],[0.483355,0.781008,0.395467],[-0.368617,-0.228167,0.901145]] 2025-10-28T19:57:53.902Z,1761681473.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:57:54.250Z,1761681474.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790014,-0.585737,0.181080],[0.484226,0.777283,0.401691],[-0.376036,-0.229658,0.897694]] 2025-10-28T19:57:54.650Z,1761681474.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785672,-0.591622,0.180841],[0.486821,0.771631,0.409378],[-0.381739,-0.233600,0.894263]] 2025-10-28T19:57:54.904Z,1761681474.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:57:55.055Z,1761681475.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781700,-0.597932,0.177263],[0.490841,0.765198,0.416589],[-0.384734,-0.238640,0.891645]] 2025-10-28T19:57:55.460Z,1761681475.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778104,-0.604413,0.170991],[0.496435,0.758520,0.422137],[-0.384845,-0.243581,0.890260]] 2025-10-28T19:57:55.865Z,1761681475.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774755,-0.610909,0.162928],[0.502961,0.751649,0.426678],[-0.383126,-0.248625,0.889607]] 2025-10-28T19:57:56.272Z,1761681476.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772822,-0.614649,0.157965],[0.507593,0.748076,0.427472],[-0.380915,-0.250178,0.890121]] 2025-10-28T19:57:56.671Z,1761681476.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774171,-0.613478,0.155898],[0.506494,0.748110,0.428714],[-0.379636,-0.252937,0.889888]] 2025-10-28T19:57:57.478Z,1761681477.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782984,-0.599650,0.165396],[0.491141,0.759131,0.427201],[-0.381728,-0.253259,0.888900]] 2025-10-28T19:57:57.891Z,1761681477.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790071,-0.585364,0.182035],[0.474443,0.771937,0.423105],[-0.388190,-0.247917,0.887607]] 2025-10-28T19:57:58.297Z,1761681478.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791937,-0.580139,0.190457],[0.466384,0.776035,0.424564],[-0.394108,-0.247402,0.885139]] 2025-10-28T19:57:58.697Z,1761681478.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792937,-0.575158,0.201109],[0.457445,0.779978,0.427058],[-0.402486,-0.246634,0.881576]] 2025-10-28T19:57:59.100Z,1761681479.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793729,-0.570506,0.210991],[0.449113,0.783597,0.429272],[-0.410234,-0.245966,0.878185]] 2025-10-28T19:57:59.503Z,1761681479.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793633,-0.567684,0.218821],[0.443081,0.785780,0.431544],[-0.416926,-0.245532,0.875150]] 2025-10-28T19:57:59.907Z,1761681479.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791929,-0.568243,0.223493],[0.441879,0.785928,0.432504],[-0.421416,-0.243756,0.873494]] 2025-10-28T19:58:00.309Z,1761681480.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788864,-0.573235,0.221572],[0.447452,0.782870,0.432320],[-0.421283,-0.241899,0.874074]] 2025-10-28T19:58:00.710Z,1761681480.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786225,-0.580507,0.211804],[0.457813,0.777419,0.431309],[-0.415038,-0.242139,0.876990]] 2025-10-28T19:58:01.114Z,1761681481.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785440,-0.587147,0.195811],[0.468782,0.770908,0.431213],[-0.404138,-0.246899,0.880746]] 2025-10-28T19:58:01.519Z,1761681481.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786246,-0.590723,0.181281],[0.476298,0.766281,0.431223],[-0.393646,-0.252704,0.883846]] 2025-10-28T19:58:01.933Z,1761681481.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786184,-0.592592,0.175357],[0.480379,0.764509,0.429839],[-0.388782,-0.253695,0.885713]] 2025-10-28T19:58:02.327Z,1761681482.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784848,-0.593280,0.178978],[0.482736,0.766436,0.423724],[-0.388562,-0.246160,0.887933]] 2025-10-28T19:58:02.730Z,1761681482.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780558,-0.595587,0.189753],[0.487091,0.769791,0.412509],[-0.391755,-0.229560,0.890971]] 2025-10-28T19:58:03.136Z,1761681483.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778952,-0.594110,0.200667],[0.490097,0.776407,0.396228],[-0.391202,-0.210296,0.895956]] 2025-10-28T19:58:03.538Z,1761681483.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783536,-0.585416,0.208228],[0.487182,0.786826,0.378890],[-0.385648,-0.195429,0.901711]] 2025-10-28T19:58:03.943Z,1761681483.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785970,-0.579426,0.215678],[0.483037,0.793229,0.370760],[-0.385910,-0.187225,0.903338]] 2025-10-28T19:58:04.347Z,1761681484.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781571,-0.580006,0.229653],[0.480106,0.794329,0.372209],[-0.398304,-0.180650,0.899288]] 2025-10-28T19:58:04.757Z,1761681484.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778723,-0.579106,0.241300],[0.481617,0.798302,0.361606],[-0.402039,-0.165377,0.900564]] 2025-10-28T19:58:05.185Z,1761681485.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778524,-0.583034,0.232319],[0.494449,0.797755,0.345119],[-0.386549,-0.153813,0.909352]] 2025-10-28T19:58:05.254Z,1761681485.254 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:58:05.255Z,1761681485.255 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:58:05.255Z,1761681485.255 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:58:05.256Z,1761681485.256 [marl:UpdateRudder:A] Stopped 2025-10-28T19:58:05.256Z,1761681485.256 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:58:05.558Z,1761681485.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773637,-0.597096,0.212043],[0.514503,0.787292,0.339790],[-0.369827,-0.153777,0.916286]] 2025-10-28T19:58:05.607Z,1761681485.607 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:58:05.607Z,1761681485.607 [marl:UpdateRudder:B] Stopped 2025-10-28T19:58:05.607Z,1761681485.607 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:58:05.607Z,1761681485.607 [marl:UpdateRudder] Stopped 2025-10-28T19:58:05.607Z,1761681485.607 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:58:05.964Z,1761681485.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773033,-0.600804,0.203605],[0.520454,0.784172,0.337937],[-0.362695,-0.155269,0.918882]] 2025-10-28T19:58:06.368Z,1761681486.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778320,-0.598526,0.189697],[0.528391,0.787593,0.317017],[-0.339147,-0.146507,0.929255]] 2025-10-28T19:58:06.785Z,1761681486.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793703,-0.587616,0.157299],[0.525608,0.792649,0.308939],[-0.306221,-0.162528,0.937984]] 2025-10-28T19:58:06.809Z,1761681486.809 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:58:06.809Z,1761681486.809 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:58:06.809Z,1761681486.809 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateCommandMode] Stopped 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:58:06.810Z,1761681486.810 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:58:06.811Z,1761681486.811 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:58:06.811Z,1761681486.811 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:58:06.811Z,1761681486.811 [marl:UpdateSpeed] Stopped 2025-10-28T19:58:06.811Z,1761681486.811 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:58:06.813Z,1761681486.813 [marl:NeedComms:C] Running Loop=1 2025-10-28T19:58:07.207Z,1761681487.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795010,-0.583460,0.165930],[0.504335,0.787769,0.353646],[-0.337053,-0.197468,0.920544]] 2025-10-28T19:58:07.253Z,1761681487.253 [Radio_Surface](INFO): Powering up 2025-10-28T19:58:07.600Z,1761681487.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796510,-0.585184,0.152093],[0.505732,0.782672,0.362849],[-0.331372,-0.212095,0.919352]] 2025-10-28T19:58:08.003Z,1761681488.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831571,-0.555129,0.017948],[0.525518,0.796852,0.298091],[-0.179781,-0.238452,0.954369]] 2025-10-28T19:58:08.408Z,1761681488.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843220,-0.536624,-0.031861],[0.528651,0.817022,0.230225],[-0.097513,-0.210974,0.972616]] 2025-10-28T19:58:08.810Z,1761681488.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845047,-0.533629,-0.033706],[0.531284,0.830885,0.165433],[-0.060274,-0.157706,0.985645]] 2025-10-28T19:58:09.215Z,1761681489.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851781,-0.522356,-0.040165],[0.523513,0.845715,0.103437],[-0.020062,-0.109133,0.993825]] 2025-10-28T19:58:09.620Z,1761681489.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853903,-0.520386,0.007000],[0.516599,0.849165,0.109743],[-0.063053,-0.090094,0.993935]] 2025-10-28T19:58:10.028Z,1761681490.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847701,-0.528522,0.045477],[0.522734,0.846847,0.097975],[-0.090294,-0.059281,0.994149]] 2025-10-28T19:58:10.427Z,1761681490.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848548,-0.526325,0.054303],[0.517639,0.847017,0.120881],[-0.109618,-0.074464,0.991181]] 2025-10-28T19:58:10.831Z,1761681490.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833871,-0.551351,0.025901],[0.545177,0.830051,0.117467],[-0.086265,-0.083832,0.992739]] 2025-10-28T19:58:11.234Z,1761681491.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836737,-0.547557,-0.007247],[0.546301,0.833757,0.080032],[-0.037780,-0.070924,0.996766]] 2025-10-28T19:58:11.640Z,1761681491.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835783,-0.546546,-0.052478],[0.549051,0.832476,0.074339],[0.003057,-0.090944,0.995851]] 2025-10-28T19:58:12.049Z,1761681492.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833620,-0.545752,-0.085039],[0.548967,0.835638,0.018567],[0.060929,-0.062162,0.996205]] 2025-10-28T19:58:12.475Z,1761681492.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840852,-0.538570,-0.053942],[0.539418,0.842037,0.001395],[0.044670,-0.030270,0.998543]] 2025-10-28T19:58:12.504Z,1761681492.504 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T19:58:12.505Z,1761681492.505 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T19:58:12.850Z,1761681492.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843584,-0.530665,-0.082223],[0.533563,0.845594,0.016758],[0.060634,-0.058008,0.996473]] 2025-10-28T19:58:13.265Z,1761681493.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855135,-0.510921,-0.087767],[0.516127,0.854942,0.051845],[0.048547,-0.089633,0.994791]] 2025-10-28T19:58:13.661Z,1761681493.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851093,-0.522169,-0.054594],[0.524926,0.848250,0.070173],[0.009667,-0.088382,0.996040]] 2025-10-28T19:58:14.062Z,1761681494.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855652,-0.516134,-0.038290],[0.517531,0.853943,0.054251],[0.004697,-0.066236,0.997793]] 2025-10-28T19:58:14.466Z,1761681494.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852330,-0.522535,-0.022159],[0.522235,0.852609,-0.018101],[0.028352,0.003856,0.999591]] 2025-10-28T19:58:14.870Z,1761681494.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867888,-0.496749,0.003106],[0.495503,0.865232,-0.076492],[0.035309,0.067925,0.997065]] 2025-10-28T19:58:15.284Z,1761681495.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875170,-0.483742,0.008425],[0.482523,0.871429,-0.088225],[0.035336,0.081277,0.996065]] 2025-10-28T19:58:15.683Z,1761681495.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887521,-0.460740,-0.004999],[0.458516,0.884205,-0.089130],[0.045486,0.076813,0.996007]] 2025-10-28T19:58:16.082Z,1761681496.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904766,-0.425769,0.010875],[0.425810,0.903713,-0.044596],[0.009159,0.044979,0.998946]] 2025-10-28T19:58:16.487Z,1761681496.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914101,-0.405481,0.002125],[0.405356,0.913927,0.020590],[-0.010291,-0.017960,0.999786]] 2025-10-28T19:58:16.892Z,1761681496.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894976,-0.444682,-0.035713],[0.445950,0.893944,0.044635],[0.012077,-0.055874,0.998365]] 2025-10-28T19:58:17.294Z,1761681497.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906760,-0.420555,-0.030340],[0.421196,0.906770,0.019034],[0.019506,-0.030038,0.999358]] 2025-10-28T19:58:17.733Z,1761681497.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906324,-0.421172,-0.034507],[0.421650,0.906726,0.007664],[0.028060,-0.021496,0.999375]] 2025-10-28T19:58:18.103Z,1761681498.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898042,-0.438311,-0.037479],[0.438724,0.898616,0.003197],[0.032278,-0.019314,0.999292]] 2025-10-28T19:58:18.509Z,1761681498.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907352,-0.419995,-0.017788],[0.419626,0.907450,-0.021147],[0.025023,0.011723,0.999618]] 2025-10-28T19:58:18.533Z,1761681498.533 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:58:18.533Z,1761681498.533 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:58:18.533Z,1761681498.533 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:58:18.533Z,1761681498.533 [marl:UpdateRudder:A] Stopped 2025-10-28T19:58:18.533Z,1761681498.533 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:58:18.910Z,1761681498.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916061,-0.401015,0.004479],[0.400631,0.914566,-0.055353],[0.018101,0.052501,0.998457]] 2025-10-28T19:58:18.944Z,1761681498.944 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:58:18.944Z,1761681498.944 [marl:UpdateRudder:B] Stopped 2025-10-28T19:58:18.944Z,1761681498.944 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:58:18.944Z,1761681498.944 [marl:UpdateRudder] Stopped 2025-10-28T19:58:18.944Z,1761681498.944 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:58:19.314Z,1761681499.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914265,-0.404332,0.025182],[0.405107,0.912075,-0.063306],[0.002629,0.068080,0.997676]] 2025-10-28T19:58:19.761Z,1761681499.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915739,-0.401381,-0.017738],[0.399900,0.914840,-0.056106],[0.038747,0.044285,0.998267]] 2025-10-28T19:58:20.123Z,1761681500.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931230,-0.364146,-0.014422],[0.363266,0.930687,-0.043135],[0.029129,0.034930,0.998965]] 2025-10-28T19:58:20.155Z,1761681500.155 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:58:20.155Z,1761681500.155 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:58:20.155Z,1761681500.155 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateCommandMode] Stopped 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:58:20.156Z,1761681500.156 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:58:20.157Z,1761681500.157 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:58:20.157Z,1761681500.157 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:58:20.157Z,1761681500.157 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:58:20.157Z,1761681500.157 [marl:UpdateSpeed] Stopped 2025-10-28T19:58:20.157Z,1761681500.157 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:58:20.526Z,1761681500.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925600,-0.378170,-0.015913],[0.377874,0.925666,-0.018799],[0.021840,0.011387,0.999697]] 2025-10-28T19:58:20.931Z,1761681500.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922663,-0.382443,-0.049290],[0.380997,0.923861,-0.036367],[0.059445,0.014775,0.998122]] 2025-10-28T19:58:21.336Z,1761681501.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936740,-0.348291,-0.034798],[0.347842,0.937373,-0.018401],[0.039027,0.005132,0.999225]] 2025-10-28T19:58:21.772Z,1761681501.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945125,-0.324805,-0.035232],[0.325921,0.944834,0.032620],[0.022693,-0.042313,0.998847]] 2025-10-28T19:58:22.143Z,1761681502.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943220,-0.323332,-0.076107],[0.326086,0.944962,0.026729],[0.063276,-0.050029,0.996741]] 2025-10-28T19:58:22.547Z,1761681502.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954759,-0.297129,-0.012190],[0.297098,0.954837,-0.004354],[0.012934,0.000536,0.999916]] 2025-10-28T19:58:22.951Z,1761681502.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959534,-0.281301,-0.012800],[0.281146,0.959582,-0.012652],[0.015842,0.008541,0.999838]] 2025-10-28T19:58:23.356Z,1761681503.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962713,-0.266276,-0.047751],[0.265520,0.963862,-0.021649],[0.051790,0.008163,0.998625]] 2025-10-28T19:58:23.440Z,1761681503.440 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:58:23.501Z,1761681503.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:58:23.501Z,1761681503.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:58:23.758Z,1761681503.758 [DAT](INFO): DAT read: Range 11 to 20 : 807.7 m (Round-trip 1077.0 ms) > 2025-10-28T19:58:23.759Z,1761681503.759 [DAT](INFO): DAT read: Tx time:19:58:23.4750 2025-10-28T19:58:23.760Z,1761681503.760 [DAT](INFO): Ping request sent. 2025-10-28T19:58:23.760Z,1761681503.760 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:58:23.760Z,1761681503.760 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T19:58:23.761Z,1761681503.761 [DAT](INFO): publishing transmit ping time 2025-10-28T19:58:23.762Z,1761681503.762 [DAT](INFO): publishing transmit ping time 2025-10-28T19:58:23.814Z,1761681503.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962391,-0.270546,-0.024673],[0.270441,0.962707,-0.007564],[0.025799,0.000607,0.999667]] 2025-10-28T19:58:23.918Z,1761681503.918 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681536.00. Resetting abort timer. 2025-10-28T19:58:24.164Z,1761681504.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964570,-0.261676,-0.033631],[0.261067,0.965082,-0.021455],[0.038071,0.011915,0.999204]] 2025-10-28T19:58:24.568Z,1761681504.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975875,-0.212614,-0.049633],[0.211771,0.977078,-0.021724],[0.053114,0.010689,0.998531]] 2025-10-28T19:58:24.971Z,1761681504.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979146,-0.201084,-0.028952],[0.201219,0.979545,0.001803],[0.027997,-0.007591,0.999579]] 2025-10-28T19:58:25.038Z,1761681505.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:58:25.375Z,1761681505.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981862,-0.183112,-0.049167],[0.184994,0.982046,0.036907],[0.041526,-0.045333,0.998108]] 2025-10-28T19:58:25.785Z,1761681505.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984492,-0.167404,-0.052451],[0.171251,0.981946,0.080338],[0.038055,-0.088075,0.995387]] 2025-10-28T19:58:26.040Z,1761681506.040 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T19:58:26.040Z,1761681506.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:58:26.186Z,1761681506.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983029,-0.153464,-0.100509],[0.164653,0.979677,0.114553],[0.080886,-0.129158,0.988320]] 2025-10-28T19:58:26.586Z,1761681506.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987860,-0.139941,-0.067453],[0.145706,0.985238,0.089868],[0.053881,-0.098605,0.993667]] 2025-10-28T19:58:26.991Z,1761681506.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987323,-0.157587,0.018966],[0.158142,0.986879,-0.032565],[-0.013586,0.035152,0.999290]] 2025-10-28T19:58:27.395Z,1761681507.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992757,-0.120107,0.002921],[0.119046,0.980128,-0.158676],[0.016196,0.157874,0.987326]] 2025-10-28T19:58:27.801Z,1761681507.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991323,-0.130312,-0.017273],[0.124523,0.973024,-0.194214],[0.042115,0.190378,0.980807]] 2025-10-28T19:58:28.203Z,1761681508.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990283,-0.139059,0.001317],[0.137592,0.978373,-0.154451],[0.020189,0.153131,0.988000]] 2025-10-28T19:58:28.607Z,1761681508.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997752,-0.061938,-0.025602],[0.060662,0.997007,-0.047923],[0.028493,0.046262,0.998523]] 2025-10-28T19:58:29.011Z,1761681509.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997533,-0.058056,-0.039474],[0.060837,0.995448,0.073356],[0.035036,-0.075576,0.996524]] 2025-10-28T19:58:29.415Z,1761681509.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997060,-0.074784,-0.016715],[0.075661,0.995322,0.060083],[0.012144,-0.061171,0.998053]] 2025-10-28T19:58:29.820Z,1761681509.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998973,-0.044592,-0.008066],[0.044601,0.999004,0.001005],[0.008013,-0.001363,0.999967]] 2025-10-28T19:58:30.231Z,1761681510.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998078,-0.024851,-0.056775],[0.026292,0.999347,0.024778],[0.056122,-0.026223,0.998079]] 2025-10-28T19:58:30.627Z,1761681510.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997813,-0.049469,-0.043845],[0.052719,0.995685,0.076367],[0.039878,-0.078512,0.996115]] 2025-10-28T19:58:31.031Z,1761681511.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997732,-0.064313,-0.019862],[0.065612,0.995120,0.073698],[0.015025,-0.074834,0.997083]] 2025-10-28T19:58:31.435Z,1761681511.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999035,-0.036944,-0.023745],[0.038199,0.997767,0.054791],[0.021668,-0.055645,0.998215]] 2025-10-28T19:58:31.839Z,1761681511.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999517,-0.019015,-0.024578],[0.020044,0.998903,0.042314],[0.023746,-0.042786,0.998802]] 2025-10-28T19:58:31.923Z,1761681511.923 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:58:31.924Z,1761681511.924 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:58:31.927Z,1761681511.927 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:58:31.928Z,1761681511.928 [marl:UpdateRudder:A] Stopped 2025-10-28T19:58:31.936Z,1761681511.936 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:58:32.246Z,1761681512.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999146,-0.025112,-0.032819],[0.026442,0.998820,0.040743],[0.031757,-0.041576,0.998631]] 2025-10-28T19:58:32.294Z,1761681512.294 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:58:32.295Z,1761681512.295 [marl:UpdateRudder:B] Stopped 2025-10-28T19:58:32.295Z,1761681512.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:58:32.295Z,1761681512.295 [marl:UpdateRudder] Stopped 2025-10-28T19:58:32.295Z,1761681512.295 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:58:32.647Z,1761681512.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998873,-0.016157,-0.044623],[0.016128,0.999869,-0.000999],[0.044633,0.000278,0.999003]] 2025-10-28T19:58:33.053Z,1761681513.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999897,-0.009453,-0.010831],[0.008697,0.997658,-0.067841],[0.011447,0.067740,0.997637]] 2025-10-28T19:58:33.455Z,1761681513.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998677,0.023482,-0.045740],[-0.028003,0.994507,-0.100855],[0.043121,0.102003,0.993849]] 2025-10-28T19:58:33.490Z,1761681513.490 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:58:33.490Z,1761681513.490 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:58:33.490Z,1761681513.490 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateCommandMode] Stopped 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:58:33.491Z,1761681513.491 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:58:33.492Z,1761681513.492 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:58:33.492Z,1761681513.492 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:58:33.492Z,1761681513.492 [marl:UpdateSpeed] Stopped 2025-10-28T19:58:33.492Z,1761681513.492 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:58:33.859Z,1761681513.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996397,0.064736,-0.054800],[-0.068645,0.994986,-0.072738],[0.049816,0.076238,0.995844]] 2025-10-28T19:58:34.262Z,1761681514.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,0.033875,-0.017314],[-0.034174,0.999267,-0.017258],[0.016717,0.017837,0.999701]] 2025-10-28T19:58:34.668Z,1761681514.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999236,0.039037,-0.001826],[-0.039020,0.999204,0.008255],[0.002147,-0.008177,0.999964]] 2025-10-28T19:58:35.071Z,1761681515.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996560,0.082342,0.009430],[-0.082568,0.996225,0.026816],[-0.007186,-0.027503,0.999596]] 2025-10-28T19:58:35.474Z,1761681515.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995735,0.091836,-0.008825],[-0.091239,0.994396,0.053412],[0.013681,-0.052379,0.998534]] 2025-10-28T19:58:35.878Z,1761681515.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996043,0.087885,-0.013232],[-0.087539,0.995852,0.024800],[0.015357,-0.023543,0.999605]] 2025-10-28T19:58:36.105Z,1761681516.105 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:58:36.105Z,1761681516.105 [DAT](INFO): response not received 2025-10-28T19:58:36.105Z,1761681516.105 [DAT](ERROR): No response from remote modem. 2025-10-28T19:58:36.289Z,1761681516.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996750,0.079509,-0.012959],[-0.079853,0.996395,-0.028635],[0.010635,0.029577,0.999506]] 2025-10-28T19:58:36.686Z,1761681516.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991241,0.109489,-0.073842],[-0.111517,0.993475,-0.023900],[0.070744,0.031925,0.996984]] 2025-10-28T19:58:37.498Z,1761681517.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987442,0.152208,-0.042314],[-0.148014,0.984973,0.089000],[0.055225,-0.081620,0.995132]] 2025-10-28T19:58:37.899Z,1761681517.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982820,0.182899,-0.024745],[-0.178965,0.977170,0.114505],[0.045123,-0.108110,0.993114]] 2025-10-28T19:58:38.303Z,1761681518.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984810,0.170650,-0.032073],[-0.166833,0.981137,0.097654],[0.048132,-0.090820,0.994704]] 2025-10-28T19:58:38.714Z,1761681518.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986473,0.153671,-0.057060],[-0.153115,0.988109,0.014019],[0.058536,-0.005092,0.998272]] 2025-10-28T19:58:39.113Z,1761681519.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979953,0.193420,-0.047769],[-0.196491,0.977913,-0.071262],[0.032930,0.079220,0.996313]] 2025-10-28T19:58:39.515Z,1761681519.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978176,0.198140,-0.062547],[-0.201577,0.977959,-0.054440],[0.050382,0.065860,0.996556]] 2025-10-28T19:58:39.919Z,1761681519.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971677,0.218968,-0.088867],[-0.216525,0.975599,0.036386],[0.094666,-0.016113,0.995379]] 2025-10-28T19:58:40.361Z,1761681520.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977057,0.210697,0.031073],[-0.212346,0.974956,0.066101],[-0.016367,-0.071182,0.997329]] 2025-10-28T19:58:40.761Z,1761681520.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977255,0.211407,0.016744],[-0.211917,0.976497,0.039308],[-0.008040,-0.041962,0.999087]] 2025-10-28T19:58:41.163Z,1761681521.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979334,0.197636,0.042952],[-0.198574,0.979906,0.018751],[-0.038383,-0.026893,0.998901]] 2025-10-28T19:58:41.566Z,1761681521.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976204,0.213076,0.040308],[-0.215029,0.975186,0.052668],[-0.028086,-0.060082,0.997798]] 2025-10-28T19:58:41.970Z,1761681521.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977134,0.212216,-0.013150],[-0.208915,0.969757,0.126194],[0.039533,-0.120561,0.991918]] 2025-10-28T19:58:42.375Z,1761681522.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979009,0.203802,-0.002289],[-0.200882,0.966762,0.158171],[0.034449,-0.154392,0.987409]] 2025-10-28T19:58:42.792Z,1761681522.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976673,0.213888,0.019038],[-0.214329,0.965551,0.147564],[0.013180,-0.148202,0.988869]] 2025-10-28T19:58:43.182Z,1761681523.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971037,0.237394,-0.027048],[-0.233387,0.966656,0.105388],[0.051164,-0.096023,0.994063]] 2025-10-28T19:58:43.587Z,1761681523.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970962,0.236153,-0.038266],[-0.234494,0.971153,0.043295],[0.047386,-0.033065,0.998329]] 2025-10-28T19:58:43.992Z,1761681523.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971480,0.234633,-0.034260],[-0.235432,0.971653,-0.021488],[0.028247,0.028941,0.999182]] 2025-10-28T19:58:44.394Z,1761681524.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971772,0.232075,-0.042438],[-0.233136,0.972196,-0.021961],[0.036162,0.031235,0.998858]] 2025-10-28T19:58:44.799Z,1761681524.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970540,0.234725,-0.054363],[-0.234411,0.972061,0.012166],[0.055700,0.000935,0.998447]] 2025-10-28T19:58:45.213Z,1761681525.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964656,0.261974,-0.028454],[-0.261176,0.964858,0.028916],[0.035029,-0.020463,0.999177]] 2025-10-28T19:58:45.238Z,1761681525.238 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:58:45.238Z,1761681525.238 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:58:45.238Z,1761681525.238 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:58:45.239Z,1761681525.239 [marl:UpdateRudder:A] Stopped 2025-10-28T19:58:45.239Z,1761681525.239 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:58:45.606Z,1761681525.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961742,0.272436,-0.028825],[-0.271936,0.962105,0.020117],[0.033213,-0.011509,0.999382]] 2025-10-28T19:58:45.659Z,1761681525.659 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:58:45.659Z,1761681525.659 [marl:UpdateRudder:B] Stopped 2025-10-28T19:58:45.659Z,1761681525.659 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:58:45.660Z,1761681525.660 [marl:UpdateRudder] Stopped 2025-10-28T19:58:45.697Z,1761681525.697 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:58:46.012Z,1761681526.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954616,0.297103,-0.020933],[-0.296992,0.954844,0.008288],[0.022450,-0.001695,0.999747]] 2025-10-28T19:58:46.416Z,1761681526.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955125,0.296169,0.004428],[-0.295601,0.954032,-0.049417],[-0.018860,0.045890,0.998768]] 2025-10-28T19:58:46.819Z,1761681526.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966739,0.254731,-0.022993],[-0.255585,0.958749,-0.124405],[-0.009645,0.126144,0.991965]] 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:58:46.862Z,1761681526.862 [marl:UpdateCommandMode] Stopped 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed] Stopped 2025-10-28T19:58:46.863Z,1761681526.863 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:58:47.225Z,1761681527.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959101,0.278416,-0.051087],[-0.282805,0.950216,-0.130812],[0.012124,0.139910,0.990090]] 2025-10-28T19:58:47.627Z,1761681527.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947177,0.319881,-0.023080],[-0.319970,0.947428,-0.000159],[0.021816,0.007535,0.999734]] 2025-10-28T19:58:48.030Z,1761681528.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947390,0.320049,-0.004534],[-0.316373,0.938471,0.138490],[0.048579,-0.129770,0.990353]] 2025-10-28T19:58:48.435Z,1761681528.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958459,0.284884,0.014080],[-0.283004,0.943657,0.171526],[0.035578,-0.168385,0.985079]] 2025-10-28T19:58:48.847Z,1761681528.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954787,0.296007,0.027584],[-0.297000,0.945652,0.132411],[0.013110,-0.134617,0.990811]] 2025-10-28T19:58:49.245Z,1761681529.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939450,0.341875,-0.023543],[-0.336340,0.933036,0.127743],[0.065638,-0.112090,0.991528]] 2025-10-28T19:58:49.647Z,1761681529.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936157,0.350446,-0.028239],[-0.345020,0.931162,0.117892],[0.067610,-0.100623,0.992625]] 2025-10-28T19:58:50.052Z,1761681530.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945813,0.323419,0.028938],[-0.324706,0.942526,0.078814],[-0.001785,-0.083940,0.996469]] 2025-10-28T19:58:50.454Z,1761681530.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938416,0.345046,0.017834],[-0.345503,0.937405,0.043577],[-0.001681,-0.047055,0.998891]] 2025-10-28T19:58:50.859Z,1761681530.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932342,0.361036,-0.019779],[-0.360470,0.932373,0.027243],[0.028277,-0.018270,0.999433]] 2025-10-28T19:58:51.262Z,1761681531.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934480,0.354435,-0.033507],[-0.354320,0.935076,0.009524],[0.034707,0.002972,0.999393]] 2025-10-28T19:58:51.668Z,1761681531.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924737,0.378779,-0.037248],[-0.378790,0.925456,0.007039],[0.037137,0.007600,0.999281]] 2025-10-28T19:58:52.071Z,1761681532.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924525,0.379073,-0.039455],[-0.379472,0.925199,-0.002881],[0.035412,0.017636,0.999217]] 2025-10-28T19:58:52.523Z,1761681532.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918567,0.390816,-0.059133],[-0.391732,0.920070,-0.004288],[0.052730,0.027103,0.998241]] 2025-10-28T19:58:52.882Z,1761681532.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911056,0.409796,-0.045211],[-0.408414,0.912052,0.036876],[0.056346,-0.015131,0.998297]] 2025-10-28T19:58:53.285Z,1761681533.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917371,0.397699,-0.016324],[-0.396080,0.916158,0.061433],[0.039387,-0.049891,0.997978]] 2025-10-28T19:58:53.711Z,1761681533.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906601,0.421906,0.008355],[-0.421839,0.905573,0.044603],[0.011252,-0.043962,0.998970]] 2025-10-28T19:58:54.090Z,1761681534.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890840,0.453358,0.029513],[-0.454273,0.889778,0.043942],[-0.006339,-0.052553,0.998598]] 2025-10-28T19:58:54.495Z,1761681534.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881630,0.471895,0.006563],[-0.471168,0.879305,0.069445],[0.027000,-0.064317,0.997564]] 2025-10-28T19:58:54.906Z,1761681534.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887361,0.460351,0.025851],[-0.460977,0.886936,0.029062],[-0.009549,-0.037705,0.999243]] 2025-10-28T19:58:55.302Z,1761681535.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898701,0.437211,0.034412],[-0.437101,0.899345,-0.011044],[-0.035777,-0.005116,0.999347]] 2025-10-28T19:58:55.742Z,1761681535.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894363,0.447340,-0.001580],[-0.447319,0.894345,0.007238],[0.004651,-0.005766,0.999973]] 2025-10-28T19:58:56.110Z,1761681536.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887908,0.457065,-0.052070],[-0.455118,0.889280,0.045262],[0.066993,-0.016491,0.997617]] 2025-10-28T19:58:56.169Z,1761681536.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:58:56.516Z,1761681536.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877242,0.472710,-0.083615],[-0.467757,0.880877,0.072514],[0.107932,-0.024501,0.993856]] 2025-10-28T19:58:56.918Z,1761681536.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862383,0.503702,-0.050787],[-0.499036,0.862679,0.082145],[0.085190,-0.045496,0.995326]] 2025-10-28T19:58:57.173Z,1761681537.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:58:57.322Z,1761681537.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864518,0.501921,0.026156],[-0.502029,0.859878,0.092612],[0.023993,-0.093196,0.995359]] 2025-10-28T19:58:57.758Z,1761681537.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859388,0.508328,0.055274],[-0.511190,0.851648,0.115673],[0.011726,-0.127663,0.991748]] 2025-10-28T19:58:58.132Z,1761681538.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854353,0.516287,0.059407],[-0.519676,0.849669,0.089438],[-0.004300,-0.107284,0.994219]] 2025-10-28T19:58:58.538Z,1761681538.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852943,0.516553,0.075240],[-0.518952,0.854665,0.015367],[-0.056367,-0.052153,0.997047]] 2025-10-28T19:58:58.570Z,1761681538.570 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:58:58.570Z,1761681538.570 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:58:58.570Z,1761681538.570 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:58:58.570Z,1761681538.570 [marl:UpdateRudder:A] Stopped 2025-10-28T19:58:58.570Z,1761681538.570 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:58:58.939Z,1761681538.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862224,0.506207,0.017997],[-0.506260,0.862379,-0.001828],[-0.016446,-0.007535,0.999836]] 2025-10-28T19:58:58.979Z,1761681538.979 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:58:58.979Z,1761681538.979 [marl:UpdateRudder:B] Stopped 2025-10-28T19:58:58.979Z,1761681538.979 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:58:58.980Z,1761681538.980 [marl:UpdateRudder] Stopped 2025-10-28T19:58:58.984Z,1761681538.984 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:58:59.343Z,1761681539.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861307,0.502583,-0.074567],[-0.502515,0.864312,0.021048],[0.075027,0.019343,0.996994]] 2025-10-28T19:58:59.768Z,1761681539.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849533,0.523584,-0.064442],[-0.522720,0.851942,0.030970],[0.071116,0.007375,0.997441]] 2025-10-28T19:59:00.151Z,1761681540.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823430,0.566004,-0.040036],[-0.562434,0.823493,0.074343],[0.075047,-0.038699,0.996429]] 2025-10-28T19:59:00.217Z,1761681540.217 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:59:00.217Z,1761681540.217 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:59:00.217Z,1761681540.217 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateCommandMode] Stopped 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:59:00.218Z,1761681540.218 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:59:00.219Z,1761681540.219 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:59:00.219Z,1761681540.219 [marl:UpdateSpeed] Stopped 2025-10-28T19:59:00.219Z,1761681540.219 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:59:00.556Z,1761681540.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806151,0.591676,-0.006303],[-0.585888,0.799666,0.131414],[0.082795,-0.102247,0.991307]] 2025-10-28T19:59:00.967Z,1761681540.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817546,0.572032,0.066312],[-0.575133,0.805282,0.144024],[0.028986,-0.155885,0.987350]] 2025-10-28T19:59:01.365Z,1761681541.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810716,0.580475,0.076082],[-0.585439,0.804027,0.103929],[-0.000844,-0.128799,0.991670]] 2025-10-28T19:59:01.775Z,1761681541.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801873,0.594401,0.060720],[-0.597457,0.798809,0.070350],[-0.006688,-0.092689,0.995673]] 2025-10-28T19:59:02.178Z,1761681542.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806216,0.588384,0.061802],[-0.591153,0.805325,0.044606],[-0.023525,-0.072497,0.997091]] 2025-10-28T19:59:02.576Z,1761681542.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812843,0.581011,0.041375],[-0.582387,0.811947,0.039602],[-0.010585,-0.056287,0.998358]] 2025-10-28T19:59:02.981Z,1761681542.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793260,0.608866,0.004437],[-0.608262,0.792101,0.050924],[0.027492,-0.043095,0.998693]] 2025-10-28T19:59:03.382Z,1761681543.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776908,0.629171,0.023615],[-0.629236,0.774595,0.063754],[0.021820,-0.064390,0.997686]] 2025-10-28T19:59:03.790Z,1761681543.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772549,0.633122,0.048207],[-0.634641,0.767550,0.089988],[0.019972,-0.100114,0.994775]] 2025-10-28T19:59:04.194Z,1761681544.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780920,0.623124,0.043359],[-0.623678,0.774014,0.109214],[0.034493,-0.112330,0.993072]] 2025-10-28T19:59:04.597Z,1761681544.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780361,0.625275,0.008275],[-0.623026,0.776282,0.096045],[0.053631,-0.080106,0.995343]] 2025-10-28T19:59:04.998Z,1761681544.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770232,0.637693,-0.009509],[-0.635733,0.768883,0.068274],[0.050849,-0.046542,0.997621]] 2025-10-28T19:59:05.403Z,1761681545.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763653,0.645092,0.026272],[-0.645498,0.762056,0.051021],[0.012892,-0.055921,0.998352]] 2025-10-28T19:59:05.807Z,1761681545.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757218,0.650264,0.061454],[-0.653161,0.753761,0.072284],[0.000682,-0.094875,0.995489]] 2025-10-28T19:59:06.212Z,1761681546.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755340,0.653479,0.049264],[-0.653633,0.745838,0.128415],[0.047173,-0.129197,0.990496]] 2025-10-28T19:59:06.614Z,1761681546.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757824,0.649156,0.065570],[-0.651953,0.749441,0.115306],[0.025711,-0.130131,0.991163]] 2025-10-28T19:59:07.018Z,1761681547.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743780,0.664281,0.074312],[-0.668223,0.741675,0.058271],[-0.016407,-0.092997,0.995531]] 2025-10-28T19:59:07.422Z,1761681547.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735403,0.677364,0.018985],[-0.677307,0.733900,0.051432],[0.020905,-0.050682,0.998496]] 2025-10-28T19:59:07.829Z,1761681547.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753854,0.655646,-0.042813],[-0.655584,0.754921,0.017433],[0.043750,0.014926,0.998931]] 2025-10-28T19:59:08.231Z,1761681548.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758278,0.650586,-0.041859],[-0.651566,0.758437,-0.015299],[0.021794,0.038875,0.999006]] 2025-10-28T19:59:08.634Z,1761681548.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742089,0.670161,-0.013730],[-0.669740,0.742150,0.025698],[0.027411,-0.009875,0.999575]] 2025-10-28T19:59:09.039Z,1761681549.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733219,0.678245,0.048712],[-0.679805,0.729454,0.075903],[0.015947,-0.088768,0.995925]] 2025-10-28T19:59:09.451Z,1761681549.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721820,0.686861,0.084841],[-0.692073,0.715761,0.093389],[0.003419,-0.126126,0.992008]] 2025-10-28T19:59:09.846Z,1761681549.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716802,0.692188,0.084088],[-0.697259,0.710681,0.093608],[0.005035,-0.125730,0.992052]] 2025-10-28T19:59:10.251Z,1761681550.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733129,0.675215,0.081285],[-0.680090,0.727908,0.087333],[-0.000200,-0.119308,0.992857]] 2025-10-28T19:59:10.660Z,1761681550.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750521,0.658337,0.057541],[-0.660718,0.749247,0.045625],[-0.013076,-0.072261,0.997300]] 2025-10-28T19:59:11.060Z,1761681551.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744302,0.666668,0.039600],[-0.667404,0.744654,0.007886],[-0.024231,-0.032299,0.999185]] 2025-10-28T19:59:11.464Z,1761681551.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742158,0.670208,-0.004711],[-0.668606,0.740836,0.064253],[0.046553,-0.044536,0.997923]] 2025-10-28T19:59:11.866Z,1761681551.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747012,0.664439,-0.022230],[-0.655925,0.742064,0.138212],[0.108330,-0.088665,0.990153]] 2025-10-28T19:59:11.935Z,1761681551.935 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:59:11.935Z,1761681551.935 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:59:11.935Z,1761681551.935 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:59:11.935Z,1761681551.935 [marl:UpdateRudder:A] Stopped 2025-10-28T19:59:11.935Z,1761681551.935 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:59:12.271Z,1761681552.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725991,0.686993,0.031266],[-0.683125,0.715175,0.147867],[0.079222,-0.128709,0.988513]] 2025-10-28T19:59:12.297Z,1761681552.297 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:59:12.297Z,1761681552.297 [marl:UpdateRudder:B] Stopped 2025-10-28T19:59:12.297Z,1761681552.297 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:59:12.297Z,1761681552.297 [marl:UpdateRudder] Stopped 2025-10-28T19:59:12.297Z,1761681552.297 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:59:12.678Z,1761681552.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716317,0.694834,0.063996],[-0.695726,0.704180,0.141761],[0.053436,-0.146069,0.987830]] 2025-10-28T19:59:13.078Z,1761681553.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732753,0.678900,0.046570],[-0.678155,0.722851,0.132636],[0.056383,-0.128771,0.990070]] 2025-10-28T19:59:13.489Z,1761681553.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738651,0.674047,-0.007437],[-0.669553,0.734914,0.107701],[0.078062,-0.074574,0.994155]] 2025-10-28T19:59:13.517Z,1761681553.517 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:59:13.517Z,1761681553.517 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateCommandMode] Stopped 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:59:13.518Z,1761681553.518 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:59:13.519Z,1761681553.519 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:59:13.519Z,1761681553.519 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:59:13.519Z,1761681553.519 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:59:13.519Z,1761681553.519 [marl:UpdateSpeed] Stopped 2025-10-28T19:59:13.519Z,1761681553.519 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:59:13.886Z,1761681553.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736164,0.672838,-0.073150],[-0.669684,0.739789,0.065086],[0.097908,0.001073,0.995195]] 2025-10-28T19:59:14.290Z,1761681554.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739895,0.669998,-0.060487],[-0.667631,0.742362,0.056276],[0.082608,-0.001255,0.996581]] 2025-10-28T19:59:14.695Z,1761681554.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733183,0.679514,-0.026523],[-0.675897,0.732465,0.081602],[0.074877,-0.041903,0.996312]] 2025-10-28T19:59:15.101Z,1761681555.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736984,0.675571,-0.021401],[-0.670349,0.734607,0.104811],[0.086529,-0.062898,0.994262]] 2025-10-28T19:59:15.503Z,1761681555.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749907,0.660569,-0.035886],[-0.654103,0.748493,0.109118],[0.098940,-0.058356,0.993381]] 2025-10-28T19:59:15.908Z,1761681555.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738787,0.670785,-0.065132],[-0.662674,0.740633,0.111022],[0.122711,-0.038860,0.991681]] 2025-10-28T19:59:16.311Z,1761681556.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725990,0.685700,-0.052474],[-0.673165,0.724176,0.149723],[0.140666,-0.073374,0.987335]] 2025-10-28T19:59:16.342Z,1761681556.342 [NAL9602](INFO): SBD MO Status=0, MOMSN=3335, MT Status=0, MTMSN=0 2025-10-28T19:59:16.343Z,1761681556.343 [NAL9602](INFO): No messages in MT queue 2025-10-28T19:59:16.714Z,1761681556.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737037,0.675831,0.005443],[-0.666547,0.725534,0.171220],[0.111767,-0.129823,0.985218]] 2025-10-28T19:59:17.118Z,1761681557.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747796,0.663046,0.034221],[-0.661039,0.738750,0.131437],[0.061868,-0.120910,0.990734]] 2025-10-28T19:59:17.537Z,1761681557.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750103,0.660991,0.020895],[-0.659280,0.744933,0.102102],[0.051923,-0.090362,0.994555]] 2025-10-28T19:59:17.542Z,1761681557.542 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195916.00,A,3645.73776,N,12151.75894,W,0.855,211.64,281025,,,D*79 2025-10-28T19:59:17.545Z,1761681557.545 [NAL9602](INFO): GPS fix at 20251028T195916: (36.762296, -121.862649) 2025-10-28T19:59:17.558Z,1761681557.558 [UniversalFixResidualReporter](INFO): Fix residual: 4.1 %DT, over the last 1052.2 m. Residual distance 42.8 m at bearing 37.9 degrees. Fix at (36.7623, -121.8626) with 158.5 m made good. 2025-10-28T19:59:17.596Z,1761681557.596 [marl:NeedComms:C] Stopped 2025-10-28T19:59:17.600Z,1761681557.600 [marl:NeedComms:D] Running Loop=1 2025-10-28T19:59:17.602Z,1761681557.602 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761681536.00. Resetting abort timer. 2025-10-28T19:59:17.927Z,1761681557.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761668,0.647951,0.004688],[-0.645752,0.758445,0.088126],[0.053545,-0.070150,0.996098]] 2025-10-28T19:59:18.335Z,1761681558.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753212,0.657697,-0.010305],[-0.652209,0.748779,0.118125],[0.085406,-0.082252,0.992945]] 2025-10-28T19:59:18.738Z,1761681558.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742383,0.669912,-0.009307],[-0.661221,0.734849,0.150939],[0.107955,-0.105900,0.988499]] 2025-10-28T19:59:19.151Z,1761681559.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739626,0.670723,0.055536],[-0.669148,0.724029,0.167398],[0.072068,-0.160974,0.984324]] 2025-10-28T19:59:19.555Z,1761681559.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731594,0.671920,0.115299],[-0.679773,0.706131,0.198210],[0.051765,-0.223386,0.973355]] 2025-10-28T19:59:20.076Z,1761681560.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745194,0.656099,0.119252],[-0.666550,0.727509,0.162610],[0.019932,-0.200664,0.979457]] 2025-10-28T19:59:20.762Z,1761681560.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753756,0.656424,0.030993],[-0.653577,0.743903,0.139446],[0.068480,-0.125364,0.989744]] 2025-10-28T19:59:21.168Z,1761681561.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747783,0.663889,0.008444],[-0.661609,0.744030,0.093235],[0.055615,-0.075306,0.995608]] 2025-10-28T19:59:21.651Z,1761681561.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738822,0.673611,-0.019746],[-0.671116,0.738114,0.069220],[0.061203,-0.037889,0.997406]] 2025-10-28T19:59:23.801Z,1761681563.801 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T19:59:23.854Z,1761681563.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749560,0.654882,0.096380],[-0.660779,0.748880,0.050491],[-0.039111,-0.101532,0.994063]] 2025-10-28T19:59:23.993Z,1761681563.993 [DAT](DEBUG): Acoustic response timeout 2025-10-28T19:59:23.993Z,1761681563.993 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T19:59:24.242Z,1761681564.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749125,0.656247,0.090288],[-0.662135,0.745864,0.072555],[-0.019729,-0.114135,0.993269]] 2025-10-28T19:59:24.245Z,1761681564.245 [DAT](INFO): DAT read: user:227> 2025-10-28T19:59:24.246Z,1761681564.246 [DAT](INFO): DAT read: Tx time:19:59:23.9747 2025-10-28T19:59:24.246Z,1761681564.246 [DAT](INFO): Ping request sent. 2025-10-28T19:59:24.246Z,1761681564.246 [DAT](INFO): transmitted an acoustic signal 2025-10-28T19:59:24.246Z,1761681564.246 [DAT](INFO): publishing transmit ping time 2025-10-28T19:59:24.247Z,1761681564.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T19:59:24.497Z,1761681564.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838 2025-10-28T19:59:24.653Z,1761681564.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755829,0.651475,0.065592],[-0.654767,0.752237,0.073614],[-0.001383,-0.098587,0.995127]] 2025-10-28T19:59:24.749Z,1761681564.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502931 2025-10-28T19:59:25.001Z,1761681565.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768 2025-10-28T19:59:25.051Z,1761681565.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752390,0.658286,0.023863],[-0.658585,0.751017,0.047315],[0.013225,-0.051315,0.998595]] 2025-10-28T19:59:25.253Z,1761681565.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006843 2025-10-28T19:59:25.456Z,1761681565.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737741,0.675012,0.009859],[-0.673599,0.735071,0.077045],[0.044760,-0.063481,0.996979]] 2025-10-28T19:59:25.505Z,1761681565.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258739 2025-10-28T19:59:25.759Z,1761681565.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512954 2025-10-28T19:59:25.858Z,1761681565.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741947,0.669414,0.037412],[-0.667727,0.732741,0.131269],[0.060460,-0.122376,0.990641]] 2025-10-28T19:59:26.009Z,1761681566.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865 2025-10-28T19:59:26.261Z,1761681566.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014916 2025-10-28T19:59:26.265Z,1761681566.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746673,0.662419,0.060667],[-0.663491,0.735144,0.139076],[0.047528,-0.144097,0.988422]] 2025-10-28T19:59:26.513Z,1761681566.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266821 2025-10-28T19:59:26.667Z,1761681566.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733871,0.676365,0.062966],[-0.677502,0.722070,0.140019],[0.049238,-0.145415,0.988145]] 2025-10-28T19:59:26.765Z,1761681566.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519324 2025-10-28T19:59:27.017Z,1761681567.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823 2025-10-28T19:59:27.076Z,1761681567.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738996,0.670351,0.067188],[-0.672889,0.729496,0.122699],[0.033238,-0.135885,0.990167]] 2025-10-28T19:59:27.269Z,1761681567.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022798 2025-10-28T19:59:27.296Z,1761681567.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:59:27.475Z,1761681567.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753678,0.656551,0.030174],[-0.656764,0.750577,0.072766],[0.025127,-0.074659,0.996893]] 2025-10-28T19:59:27.521Z,1761681567.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274952 2025-10-28T19:59:27.556Z,1761681567.556 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:59:27.556Z,1761681567.556 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:59:27.557Z,1761681567.557 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:59:27.557Z,1761681567.557 [marl:UpdateRudder:A] Stopped 2025-10-28T19:59:27.557Z,1761681567.557 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:59:27.773Z,1761681567.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527044 2025-10-28T19:59:27.878Z,1761681567.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755227,0.654248,-0.039892],[-0.653902,0.756229,0.023005],[0.045219,0.008712,0.998939]] 2025-10-28T19:59:27.937Z,1761681567.937 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:59:27.937Z,1761681567.937 [marl:UpdateRudder:B] Stopped 2025-10-28T19:59:27.937Z,1761681567.937 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:59:27.937Z,1761681567.937 [marl:UpdateRudder] Stopped 2025-10-28T19:59:27.937Z,1761681567.937 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:59:28.025Z,1761681568.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778813 2025-10-28T19:59:28.277Z,1761681568.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031025 2025-10-28T19:59:28.284Z,1761681568.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735985,0.674140,-0.062138],[-0.675492,0.737367,-0.001026],[0.045127,0.042729,0.998067]] 2025-10-28T19:59:28.300Z,1761681568.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:59:28.529Z,1761681568.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282730 2025-10-28T19:59:28.691Z,1761681568.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714854,0.697948,-0.043042],[-0.696966,0.716140,0.037180],[0.056774,0.003420,0.998381]] 2025-10-28T19:59:28.751Z,1761681568.751 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:59:28.751Z,1761681568.751 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:59:28.751Z,1761681568.751 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:59:28.752Z,1761681568.752 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:59:28.756Z,1761681568.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:59:28.756Z,1761681568.756 [marl:UpdateCommandMode] Stopped 2025-10-28T19:59:28.756Z,1761681568.756 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:59:28.756Z,1761681568.756 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed] Stopped 2025-10-28T19:59:28.757Z,1761681568.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:59:28.784Z,1761681568.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538328 2025-10-28T19:59:29.033Z,1761681569.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786849 2025-10-28T19:59:29.090Z,1761681569.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732259,0.680995,-0.006469],[-0.677065,0.728990,0.100777],[0.073344,-0.069416,0.994888]] 2025-10-28T19:59:29.285Z,1761681569.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038785 2025-10-28T19:59:29.495Z,1761681569.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760187,0.647987,0.047211],[-0.649018,0.754038,0.101003],[0.029850,-0.107422,0.993765]] 2025-10-28T19:59:29.537Z,1761681569.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290916 2025-10-28T19:59:29.789Z,1761681569.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542939 2025-10-28T19:59:29.899Z,1761681569.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747633,0.660875,0.065490],[-0.663253,0.738012,0.124229],[0.033768,-0.136314,0.990090]] 2025-10-28T19:59:30.041Z,1761681570.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794886 2025-10-28T19:59:30.294Z,1761681570.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047508 2025-10-28T19:59:30.313Z,1761681570.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730231,0.678878,0.076735],[-0.681374,0.715461,0.154423],[0.049933,-0.165049,0.985021]] 2025-10-28T19:59:30.545Z,1761681570.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298883 2025-10-28T19:59:30.706Z,1761681570.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724622,0.682091,0.098365],[-0.688653,0.711288,0.140805],[0.026076,-0.169770,0.985139]] 2025-10-28T19:59:30.797Z,1761681570.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550825 2025-10-28T19:59:31.049Z,1761681571.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802824 2025-10-28T19:59:31.112Z,1761681571.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733618,0.675816,0.071253],[-0.679004,0.724730,0.117129],[0.027519,-0.134309,0.990557]] 2025-10-28T19:59:31.301Z,1761681571.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054971 2025-10-28T19:59:31.515Z,1761681571.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737815,0.673872,0.039058],[-0.674994,0.736873,0.037438],[-0.003552,-0.053986,0.998535]] 2025-10-28T19:59:31.553Z,1761681571.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306742 2025-10-28T19:59:31.806Z,1761681571.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560263 2025-10-28T19:59:31.918Z,1761681571.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734474,0.678637,0.000486],[-0.678630,0.734469,-0.004053],[-0.003107,0.002647,0.999992]] 2025-10-28T19:59:31.934Z,1761681571.934 [NAL9602](INFO): SBD MO Status=2, MOMSN=3336, MT Status=2, MTMSN=0 2025-10-28T19:59:31.935Z,1761681571.935 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T19:59:32.057Z,1761681572.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810859 2025-10-28T19:59:32.309Z,1761681572.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062737 2025-10-28T19:59:32.325Z,1761681572.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732690,0.676565,-0.073660],[-0.674518,0.736310,0.053603],[0.090502,0.010411,0.995842]] 2025-10-28T19:59:32.561Z,1761681572.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314831 2025-10-28T19:59:32.727Z,1761681572.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714079,0.695987,-0.075448],[-0.685940,0.717136,0.123297],[0.139920,-0.036291,0.989498]] 2025-10-28T19:59:32.814Z,1761681572.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567617 2025-10-28T19:59:33.065Z,1761681573.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818744 2025-10-28T19:59:33.138Z,1761681573.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708347,0.705760,0.012144],[-0.701630,0.702111,0.121471],[0.077203,-0.094564,0.992521]] 2025-10-28T19:59:33.317Z,1761681573.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070824 2025-10-28T19:59:33.537Z,1761681573.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701835,0.710840,0.046206],[-0.711022,0.695117,0.106110],[0.043309,-0.107326,0.993280]] 2025-10-28T19:59:33.569Z,1761681573.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322947 2025-10-28T19:59:33.821Z,1761681573.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574777 2025-10-28T19:59:33.939Z,1761681573.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687133,0.724867,0.049145],[-0.724446,0.678471,0.121882],[0.055005,-0.119352,0.991327]] 2025-10-28T19:59:34.073Z,1761681574.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826804 2025-10-28T19:59:34.325Z,1761681574.325 [DAT](INFO): Reached modem response timeout 2025-10-28T19:59:34.342Z,1761681574.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687594,0.725176,0.036544],[-0.723942,0.680812,0.111368],[0.055882,-0.103031,0.993107]] 2025-10-28T19:59:34.749Z,1761681574.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698947,0.715112,0.009371],[-0.713254,0.696052,0.082349],[0.052366,-0.064241,0.996560]] 2025-10-28T19:59:35.151Z,1761681575.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702580,0.711259,-0.022194],[-0.708850,0.702261,0.066037],[0.062556,-0.030664,0.997570]] 2025-10-28T19:59:35.554Z,1761681575.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700932,0.711264,-0.052895],[-0.707168,0.702710,0.078184],[0.092779,-0.017396,0.995535]] 2025-10-28T19:59:35.960Z,1761681575.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703998,0.707422,-0.062769],[-0.700796,0.706293,0.100177],[0.115201,-0.026536,0.992988]] 2025-10-28T19:59:36.365Z,1761681576.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683943,0.725242,-0.079031],[-0.712703,0.687367,0.139930],[0.155806,-0.039379,0.987002]] 2025-10-28T19:59:36.593Z,1761681576.593 [DAT](INFO): DAT read: Response Not Received 2025-10-28T19:59:36.593Z,1761681576.593 [DAT](INFO): response not received 2025-10-28T19:59:36.593Z,1761681576.593 [DAT](ERROR): No response from remote modem. 2025-10-28T19:59:36.770Z,1761681576.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671161,0.738963,-0.058968],[-0.712522,0.665004,0.223790],[0.204587,-0.108183,0.972852]] 2025-10-28T19:59:37.241Z,1761681577.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692793,0.720257,0.035608],[-0.692488,0.650680,0.311570],[0.201241,-0.240511,0.949556]] 2025-10-28T19:59:37.628Z,1761681577.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680583,0.732564,0.012513],[-0.705569,0.650710,0.280622],[0.197431,-0.199816,0.959737]] 2025-10-28T19:59:39.834Z,1761681579.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689867,0.722750,-0.041414],[-0.721177,0.691102,0.047763],[0.063142,-0.003083,0.998000]] 2025-10-28T19:59:40.215Z,1761681580.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673759,0.738342,-0.029985],[-0.735564,0.673999,0.068344],[0.070671,-0.023991,0.997211]] 2025-10-28T19:59:40.623Z,1761681580.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665791,0.746012,0.013708],[-0.744910,0.663530,0.069548],[0.042788,-0.056516,0.997484]] 2025-10-28T19:59:41.021Z,1761681581.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674103,0.736721,0.053163],[-0.738566,0.671294,0.062330],[0.010231,-0.081282,0.996639]] 2025-10-28T19:59:41.426Z,1761681581.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674609,0.736088,0.055463],[-0.737919,0.670493,0.076905],[0.019422,-0.092808,0.995495]] 2025-10-28T19:59:41.828Z,1761681581.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682731,0.728200,0.060030],[-0.730565,0.678936,0.072937],[0.012357,-0.093652,0.995528]] 2025-10-28T19:59:42.235Z,1761681582.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677650,0.731879,0.071726],[-0.735307,0.675765,0.051629],[-0.010684,-0.087727,0.996087]] 2025-10-28T19:59:42.643Z,1761681582.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667241,0.742849,0.054454],[-0.744305,0.662200,0.086605],[0.028275,-0.098316,0.994753]] 2025-10-28T19:59:42.669Z,1761681582.669 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:59:42.669Z,1761681582.669 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:59:42.669Z,1761681582.669 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:59:42.670Z,1761681582.670 [marl:UpdateRudder:A] Stopped 2025-10-28T19:59:42.670Z,1761681582.670 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:59:43.040Z,1761681583.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680970,0.732066,0.018937],[-0.728340,0.674362,0.121480],[0.076161,-0.096516,0.992413]] 2025-10-28T19:59:43.073Z,1761681583.073 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:59:43.073Z,1761681583.073 [marl:UpdateRudder:B] Stopped 2025-10-28T19:59:43.073Z,1761681583.073 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:59:43.073Z,1761681583.073 [marl:UpdateRudder] Stopped 2025-10-28T19:59:43.074Z,1761681583.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:59:43.444Z,1761681583.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671695,0.740434,0.024149],[-0.736618,0.664053,0.128172],[0.078866,-0.103881,0.991458]] 2025-10-28T19:59:43.848Z,1761681583.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651562,0.757210,0.045824],[-0.756665,0.644410,0.110424],[0.054085,-0.106622,0.992828]] 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode] Stopped 2025-10-28T19:59:43.909Z,1761681583.909 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed] Stopped 2025-10-28T19:59:43.910Z,1761681583.910 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:59:44.258Z,1761681584.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655905,0.754167,0.031951],[-0.753554,0.651725,0.086086],[0.044100,-0.080541,0.995775]] 2025-10-28T19:59:44.657Z,1761681584.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668793,0.743116,0.022241],[-0.743186,0.667462,0.046563],[0.019756,-0.047670,0.998668]] 2025-10-28T19:59:45.065Z,1761681585.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668529,0.743654,0.006820],[-0.743177,0.667705,0.043103],[0.027500,-0.033884,0.999047]] 2025-10-28T19:59:45.495Z,1761681585.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671740,0.740783,0.002432],[-0.737758,0.668693,0.092535],[0.066922,-0.063953,0.995706]] 2025-10-28T19:59:45.886Z,1761681585.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676978,0.736003,0.000471],[-0.731587,0.672846,0.109814],[0.080506,-0.074687,0.993952]] 2025-10-28T19:59:46.278Z,1761681586.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669236,0.742903,0.014777],[-0.738223,0.662493,0.127004],[0.084562,-0.095905,0.991792]] 2025-10-28T19:59:46.681Z,1761681586.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657545,0.748942,0.081982],[-0.751522,0.644288,0.141804],[0.053383,-0.154853,0.986494]] 2025-10-28T19:59:47.093Z,1761681587.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649243,0.748786,0.133429],[-0.759923,0.631324,0.154752],[0.031639,-0.201867,0.978902]] 2025-10-28T19:59:47.485Z,1761681587.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654877,0.739930,0.153755],[-0.755099,0.632293,0.173294],[0.031007,-0.229586,0.972794]] 2025-10-28T19:59:47.888Z,1761681587.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666386,0.734774,0.126633],[-0.745388,0.652402,0.137000],[0.018049,-0.185685,0.982444]] 2025-10-28T19:59:48.303Z,1761681588.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672888,0.737285,0.060267],[-0.739723,0.670012,0.062397],[0.005625,-0.086567,0.996230]] 2025-10-28T19:59:48.707Z,1761681588.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665958,0.745939,0.008708],[-0.745985,0.665867,0.011264],[0.002604,-0.013998,0.999899]] 2025-10-28T19:59:49.132Z,1761681589.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673703,0.738960,-0.007929],[-0.738411,0.673554,0.032773],[0.029558,-0.016225,0.999431]] 2025-10-28T19:59:49.504Z,1761681589.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685993,0.726587,0.038541],[-0.726888,0.681994,0.080734],[0.032376,-0.083398,0.995990]] 2025-10-28T19:59:49.921Z,1761681589.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677851,0.729286,0.093061],[-0.735093,0.670150,0.102652],[0.012498,-0.137991,0.990355]] 2025-10-28T19:59:50.333Z,1761681590.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659974,0.742325,0.115706],[-0.750701,0.645500,0.140633],[0.029708,-0.179674,0.983277]] 2025-10-28T19:59:50.736Z,1761681590.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671069,0.733119,0.110468],[-0.740435,0.655140,0.150155],[0.037709,-0.182558,0.982472]] 2025-10-28T19:59:51.133Z,1761681591.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675183,0.728190,0.117757],[-0.737580,0.668658,0.094191],[-0.010150,-0.150451,0.988565]] 2025-10-28T19:59:51.537Z,1761681591.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673117,0.737670,0.052506],[-0.739499,0.672095,0.037800],[-0.007405,-0.064272,0.997905]] 2025-10-28T19:59:51.937Z,1761681591.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706966,0.705230,-0.053384],[-0.706247,0.707965,-0.000269],[0.037604,0.037892,0.998574]] 2025-10-28T19:59:52.343Z,1761681592.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706610,0.704340,-0.067877],[-0.705135,0.708904,0.015532],[0.059058,0.036888,0.997573]] 2025-10-28T19:59:52.739Z,1761681592.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680375,0.732811,-0.008779],[-0.729676,0.678483,0.085058],[0.068288,-0.051465,0.996337]] 2025-10-28T19:59:53.147Z,1761681593.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651241,0.753604,0.089251],[-0.757220,0.637563,0.141884],[0.050021,-0.159983,0.985851]] 2025-10-28T19:59:53.546Z,1761681593.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643529,0.749713,0.154276],[-0.764774,0.621493,0.169906],[0.031499,-0.227325,0.973309]] 2025-10-28T19:59:53.950Z,1761681593.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673424,0.724071,0.149068],[-0.738842,0.652466,0.168527],[0.024764,-0.223628,0.974360]] 2025-10-28T19:59:54.359Z,1761681594.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674802,0.731929,0.094456],[-0.737998,0.669030,0.088082],[0.001276,-0.129146,0.991625]] 2025-10-28T19:59:55.160Z,1761681595.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645212,0.763190,-0.035248],[-0.763131,0.645993,0.017990],[0.036500,0.015291,0.999217]] 2025-10-28T19:59:55.565Z,1761681595.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673096,0.738873,-0.031750],[-0.737055,0.673730,0.053273],[0.060753,-0.012456,0.998075]] 2025-10-28T19:59:55.970Z,1761681595.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659595,0.750998,0.030591],[-0.750906,0.656646,0.070400],[0.032783,-0.069406,0.997050]] 2025-10-28T19:59:56.372Z,1761681596.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642273,0.762087,0.081907],[-0.765215,0.631418,0.125528],[0.043946,-0.143300,0.988703]] 2025-10-28T19:59:56.455Z,1761681596.455 [marl:UpdateRudder] Running Loop=1 2025-10-28T19:59:56.455Z,1761681596.455 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T19:59:56.455Z,1761681596.455 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T19:59:56.455Z,1761681596.455 [marl:UpdateRudder:A] Stopped 2025-10-28T19:59:56.455Z,1761681596.455 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T19:59:56.783Z,1761681596.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646250,0.759135,0.077943],[-0.759259,0.629345,0.165680],[0.076720,-0.166250,0.983095]] 2025-10-28T19:59:56.825Z,1761681596.825 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T19:59:56.825Z,1761681596.825 [marl:UpdateRudder:B] Stopped 2025-10-28T19:59:56.825Z,1761681596.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T19:59:56.826Z,1761681596.826 [marl:UpdateRudder] Stopped 2025-10-28T19:59:56.826Z,1761681596.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T19:59:57.181Z,1761681597.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650695,0.752762,0.099721],[-0.759141,0.641893,0.108069],[0.017340,-0.146022,0.989129]] 2025-10-28T19:59:57.598Z,1761681597.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641971,0.758001,0.115358],[-0.766077,0.640329,0.055730],[-0.031624,-0.124150,0.991759]] 2025-10-28T19:59:57.603Z,1761681597.603 [NAL9602](INFO): SBD MO Status=2, MOMSN=3336, MT Status=2, MTMSN=0 2025-10-28T19:59:57.603Z,1761681597.603 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T19:59:57.629Z,1761681597.629 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T19:59:57.629Z,1761681597.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateCommandMode:A] Stopped 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateCommandMode] Stopped 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateSpeed] Running Loop=1 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T19:59:57.630Z,1761681597.630 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T19:59:57.631Z,1761681597.631 [marl:UpdateSpeed:A] Stopped 2025-10-28T19:59:57.631Z,1761681597.631 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T19:59:57.631Z,1761681597.631 [marl:UpdateSpeed] Stopped 2025-10-28T19:59:57.631Z,1761681597.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T19:59:57.989Z,1761681597.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642461,0.764593,0.051395],[-0.766287,0.641593,0.034095],[-0.006906,-0.061287,0.998096]] 2025-10-28T19:59:58.401Z,1761681598.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646573,0.762684,0.015996],[-0.762777,0.646072,0.027608],[0.010721,-0.030052,0.999491]] 2025-10-28T19:59:58.420Z,1761681598.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T19:59:58.801Z,1761681598.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613724,0.788748,0.034925],[-0.789520,0.613094,0.027803],[0.000517,-0.044638,0.999003]] 2025-10-28T19:59:59.205Z,1761681599.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601619,0.795229,0.075271],[-0.798508,0.601210,0.030531],[-0.020975,-0.078473,0.996696]] 2025-10-28T19:59:59.424Z,1761681599.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T19:59:59.635Z,1761681599.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620687,0.783343,0.033494],[-0.779276,0.611627,0.136533],[0.086466,-0.110845,0.990069]] 2025-10-28T20:00:00.422Z,1761681600.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638844,0.767708,0.050025],[-0.766306,0.629215,0.129862],[0.068219,-0.121296,0.990269]] 2025-10-28T20:00:01.234Z,1761681601.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605265,0.792230,0.077629],[-0.793212,0.592062,0.142399],[0.066852,-0.147765,0.986760]] 2025-10-28T20:00:01.633Z,1761681601.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616323,0.778814,0.116593],[-0.786539,0.601504,0.139820],[0.038762,-0.177879,0.983289]] 2025-10-28T20:00:02.033Z,1761681602.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629322,0.766407,0.128743],[-0.777097,0.622416,0.093372],[-0.008570,-0.158807,0.987272]] 2025-10-28T20:00:02.444Z,1761681602.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643017,0.760943,0.086572],[-0.765847,0.639290,0.069185],[-0.002699,-0.110788,0.993840]] 2025-10-28T20:00:02.938Z,1761681602.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622371,0.781609,0.041734],[-0.782140,0.618968,0.071657],[0.030176,-0.077240,0.996556]] 2025-10-28T20:00:03.340Z,1761681603.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628727,0.777340,0.021105],[-0.774832,0.623937,0.101676],[0.065868,-0.080279,0.994594]] 2025-10-28T20:00:05.475Z,1761681605.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624547,0.780730,0.020066],[-0.779850,0.622045,0.069964],[0.042141,-0.059344,0.997348]] 2025-10-28T20:00:05.842Z,1761681605.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619888,0.783955,0.033958],[-0.784456,0.618065,0.051227],[0.019171,-0.058394,0.998110]] 2025-10-28T20:00:06.246Z,1761681606.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610167,0.791092,0.043231],[-0.791473,0.606192,0.078113],[0.035588,-0.081878,0.996007]] 2025-10-28T20:00:06.651Z,1761681606.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607196,0.791086,0.074133],[-0.792465,0.596200,0.128626],[0.057556,-0.136849,0.988918]] 2025-10-28T20:00:07.060Z,1761681607.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608112,0.784249,0.123096],[-0.793841,0.601548,0.089201],[-0.004093,-0.151963,0.988378]] 2025-10-28T20:00:07.459Z,1761681607.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607954,0.783133,0.130742],[-0.793318,0.605842,0.060016],[-0.032208,-0.140207,0.989598]] 2025-10-28T20:00:07.863Z,1761681607.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636256,0.767400,0.079218],[-0.771356,0.634624,0.047569],[-0.013770,-0.091371,0.995722]] 2025-10-28T20:00:08.267Z,1761681608.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641509,0.766746,0.023815],[-0.767000,0.640564,0.037275],[0.013326,-0.042178,0.999021]] 2025-10-28T20:00:08.671Z,1761681608.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632897,0.774236,-0.000141],[-0.771583,0.630743,0.082607],[0.064046,-0.052173,0.996582]] 2025-10-28T20:00:09.081Z,1761681609.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631140,0.775189,0.027282],[-0.771751,0.624032,0.122412],[0.077868,-0.098314,0.992104]] 2025-10-28T20:00:09.479Z,1761681609.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628214,0.776092,0.055028],[-0.775487,0.618859,0.125030],[0.062980,-0.121219,0.990626]] 2025-10-28T20:00:09.883Z,1761681609.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617230,0.781606,0.090107],[-0.784774,0.603425,0.141451],[0.056187,-0.158022,0.985836]] 2025-10-28T20:00:10.288Z,1761681610.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630468,0.766400,0.123048],[-0.773816,0.608117,0.177211],[0.060987,-0.206942,0.976450]] 2025-10-28T20:00:10.690Z,1761681610.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629133,0.770550,0.102199],[-0.776082,0.615347,0.138000],[0.043448,-0.166135,0.985145]] 2025-10-28T20:00:11.095Z,1761681611.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621334,0.782581,0.038870],[-0.781099,0.614713,0.109597],[0.061875,-0.098458,0.993216]] 2025-10-28T20:00:11.504Z,1761681611.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621381,0.783057,0.026580],[-0.782415,0.618366,0.073818],[0.041368,-0.066666,0.996917]] 2025-10-28T20:00:11.528Z,1761681611.528 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:00:11.528Z,1761681611.528 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:00:11.528Z,1761681611.528 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:00:11.529Z,1761681611.529 [marl:UpdateRudder:A] Stopped 2025-10-28T20:00:11.529Z,1761681611.529 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:00:11.903Z,1761681611.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618721,0.784730,0.037180],[-0.785610,0.618057,0.028666],[-0.000484,-0.046945,0.998897]] 2025-10-28T20:00:11.953Z,1761681611.953 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:00:11.954Z,1761681611.954 [marl:UpdateRudder:B] Stopped 2025-10-28T20:00:11.954Z,1761681611.954 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:00:11.954Z,1761681611.954 [marl:UpdateRudder] Stopped 2025-10-28T20:00:11.954Z,1761681611.954 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:00:12.306Z,1761681612.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616954,0.786893,0.012911],[-0.786877,0.616486,0.027748],[0.013875,-0.027279,0.999532]] 2025-10-28T20:00:12.711Z,1761681612.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621800,0.782647,0.028783],[-0.782466,0.619251,0.065383],[0.033347,-0.063177,0.997445]] 2025-10-28T20:00:12.772Z,1761681612.772 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:00:12.773Z,1761681612.773 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:00:12.773Z,1761681612.773 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:00:12.773Z,1761681612.773 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:00:12.773Z,1761681612.773 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:00:12.773Z,1761681612.773 [marl:UpdateCommandMode] Stopped 2025-10-28T20:00:12.774Z,1761681612.774 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:00:12.774Z,1761681612.774 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:00:12.774Z,1761681612.774 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:00:12.774Z,1761681612.774 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:00:12.774Z,1761681612.774 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:00:12.775Z,1761681612.775 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:00:12.775Z,1761681612.775 [marl:UpdateSpeed] Stopped 2025-10-28T20:00:12.775Z,1761681612.775 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:00:13.114Z,1761681613.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624295,0.777147,0.079356],[-0.780798,0.617543,0.094844],[0.024702,-0.121172,0.992324]] 2025-10-28T20:00:13.518Z,1761681613.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634425,0.768288,0.085079],[-0.771837,0.623639,0.123865],[0.042105,-0.144250,0.988645]] 2025-10-28T20:00:13.924Z,1761681613.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631449,0.773353,0.056543],[-0.772304,0.620712,0.135139],[0.069413,-0.129002,0.989212]] 2025-10-28T20:00:14.328Z,1761681614.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618620,0.782487,0.070876],[-0.785625,0.614884,0.068643],[0.010132,-0.098146,0.995120]] 2025-10-28T20:00:14.734Z,1761681614.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613811,0.785397,0.079922],[-0.788908,0.613998,0.025116],[-0.029345,-0.078467,0.996485]] 2025-10-28T20:00:15.135Z,1761681615.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611068,0.791577,-0.001566],[-0.790363,0.610238,0.054194],[0.043854,-0.031878,0.998529]] 2025-10-28T20:00:15.541Z,1761681615.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619674,0.781291,-0.074759],[-0.777962,0.624035,0.073175],[0.103823,0.012815,0.994513]] 2025-10-28T20:00:15.945Z,1761681615.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624541,0.779056,-0.054960],[-0.778307,0.626681,0.038842],[0.064703,0.018518,0.997733]] 2025-10-28T20:00:16.347Z,1761681616.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609101,0.792554,0.029235],[-0.792944,0.607859,0.041811],[0.015366,-0.048649,0.998698]] 2025-10-28T20:00:16.751Z,1761681616.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596505,0.797031,0.094462],[-0.802419,0.589661,0.091776],[0.017448,-0.130543,0.991289]] 2025-10-28T20:00:17.155Z,1761681617.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604984,0.787943,0.114635],[-0.795732,0.593169,0.122316],[0.028380,-0.165218,0.985849]] 2025-10-28T20:00:17.590Z,1761681617.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615502,0.783225,0.087835],[-0.786053,0.601956,0.140605],[0.057252,-0.155585,0.986162]] 2025-10-28T20:00:17.964Z,1761681617.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598824,0.800260,0.031518],[-0.791781,0.585646,0.173500],[0.120387,-0.128851,0.984329]] 2025-10-28T20:00:18.366Z,1761681618.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582329,0.812900,-0.009281],[-0.798339,0.573978,0.182218],[0.153453,-0.098702,0.983214]] 2025-10-28T20:00:18.774Z,1761681618.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595598,0.803280,0.001979],[-0.795026,0.589123,0.144457],[0.114873,-0.087612,0.989509]] 2025-10-28T20:00:19.176Z,1761681619.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589708,0.806767,0.037025],[-0.803958,0.582060,0.121894],[0.076789,-0.101648,0.991852]] 2025-10-28T20:00:19.578Z,1761681619.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579036,0.811552,0.078109],[-0.813185,0.567976,0.127017],[0.058717,-0.137065,0.988820]] 2025-10-28T20:00:19.984Z,1761681619.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610191,0.781735,0.128671],[-0.791942,0.597294,0.126759],[0.022238,-0.179247,0.983553]] 2025-10-28T20:00:20.388Z,1761681620.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627747,0.764580,0.146116],[-0.778413,0.616005,0.120876],[0.002411,-0.189619,0.981855]] 2025-10-28T20:00:20.793Z,1761681620.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611952,0.783188,0.110140],[-0.790635,0.602224,0.110554],[0.020256,-0.154735,0.987748]] 2025-10-28T20:00:21.195Z,1761681621.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616759,0.784245,0.067579],[-0.786169,0.609426,0.102660],[0.039326,-0.116445,0.992418]] 2025-10-28T20:00:21.599Z,1761681621.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632481,0.773656,0.037730],[-0.773869,0.629073,0.073448],[0.033088,-0.075653,0.996585]] 2025-10-28T20:00:22.004Z,1761681622.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629273,0.777166,0.005321],[-0.776802,0.628734,0.035677],[0.024381,-0.026584,0.999349]] 2025-10-28T20:00:22.407Z,1761681622.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617480,0.786579,-0.003393],[-0.786364,0.617403,0.021112],[0.018701,-0.010369,0.999771]] 2025-10-28T20:00:22.810Z,1761681622.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624986,0.780503,0.014407],[-0.780012,0.623642,0.051499],[0.031210,-0.043424,0.998569]] 2025-10-28T20:00:23.214Z,1761681623.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642651,0.766070,0.011690],[-0.764985,0.640747,0.065127],[0.042401,-0.050797,0.997809]] 2025-10-28T20:00:23.626Z,1761681623.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639745,0.768540,0.008472],[-0.767341,0.638042,0.063946],[0.043739,-0.047410,0.997917]] 2025-10-28T20:00:23.634Z,1761681623.634 [NAL9602](INFO): SBD MO Status=2, MOMSN=3336, MT Status=2, MTMSN=0 2025-10-28T20:00:23.635Z,1761681623.635 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:00:24.023Z,1761681624.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625116,0.779633,0.037449],[-0.776814,0.616744,0.127223],[0.076090,-0.108620,0.991167]] 2025-10-28T20:00:24.107Z,1761681624.107 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:00:24.253Z,1761681624.253 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:00:24.253Z,1761681624.253 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:00:24.427Z,1761681624.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637656,0.765745,0.083841],[-0.762455,0.611880,0.210396],[0.109809,-0.198085,0.974015]] 2025-10-28T20:00:24.505Z,1761681624.505 [DAT](INFO): DAT read: user:228> 2025-10-28T20:00:24.506Z,1761681624.506 [DAT](INFO): DAT read: Tx time:20:00:24.2744 2025-10-28T20:00:24.506Z,1761681624.506 [DAT](INFO): Ping request sent. 2025-10-28T20:00:24.506Z,1761681624.506 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:00:24.506Z,1761681624.506 [DAT](INFO): publishing transmit ping time 2025-10-28T20:00:24.507Z,1761681624.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924 2025-10-28T20:00:24.757Z,1761681624.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251187 2025-10-28T20:00:24.830Z,1761681624.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645883,0.753857,0.120559],[-0.761954,0.626705,0.163303],[0.047552,-0.197335,0.979182]] 2025-10-28T20:00:24.898Z,1761681624.898 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:00:24.898Z,1761681624.898 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:00:24.898Z,1761681624.898 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:00:24.898Z,1761681624.898 [marl:UpdateRudder:A] Stopped 2025-10-28T20:00:24.899Z,1761681624.899 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:00:25.009Z,1761681625.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502924 2025-10-28T20:00:25.236Z,1761681625.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629923,0.765293,0.132375],[-0.776657,0.620605,0.107947],[0.000459,-0.170809,0.985304]] 2025-10-28T20:00:25.261Z,1761681625.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755016 2025-10-28T20:00:25.267Z,1761681625.267 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:00:25.267Z,1761681625.267 [marl:UpdateRudder:B] Stopped 2025-10-28T20:00:25.267Z,1761681625.267 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:00:25.267Z,1761681625.267 [marl:UpdateRudder] Stopped 2025-10-28T20:00:25.267Z,1761681625.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:00:25.513Z,1761681625.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007010 2025-10-28T20:00:25.638Z,1761681625.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655210,0.752336,0.068480],[-0.754379,0.646772,0.112244],[0.040154,-0.125204,0.991318]] 2025-10-28T20:00:25.765Z,1761681625.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259514 2025-10-28T20:00:26.017Z,1761681626.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510877 2025-10-28T20:00:26.055Z,1761681626.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659545,0.750179,0.047241],[-0.751435,0.659594,0.016744],[-0.018600,-0.046542,0.998743]] 2025-10-28T20:00:26.269Z,1761681626.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762841 2025-10-28T20:00:26.451Z,1761681626.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644310,0.759895,0.086163],[-0.764607,0.642362,0.052410],[-0.015521,-0.099649,0.994902]] 2025-10-28T20:00:26.501Z,1761681626.501 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:00:26.501Z,1761681626.501 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateCommandMode] Stopped 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:00:26.502Z,1761681626.502 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:00:26.503Z,1761681626.503 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:00:26.503Z,1761681626.503 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:00:26.503Z,1761681626.503 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:00:26.503Z,1761681626.503 [marl:UpdateSpeed] Stopped 2025-10-28T20:00:26.503Z,1761681626.503 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:00:26.522Z,1761681626.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015682 2025-10-28T20:00:26.773Z,1761681626.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267140 2025-10-28T20:00:26.857Z,1761681626.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670369,0.733695,0.110893],[-0.741637,0.657640,0.132225],[0.024085,-0.170882,0.984997]] 2025-10-28T20:00:27.026Z,1761681627.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519655 2025-10-28T20:00:27.259Z,1761681627.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663488,0.735024,0.139727],[-0.747571,0.643702,0.163661],[0.030352,-0.213043,0.976571]] 2025-10-28T20:00:27.277Z,1761681627.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048 2025-10-28T20:00:27.530Z,1761681627.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023401 2025-10-28T20:00:27.662Z,1761681627.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662430,0.739707,0.118407],[-0.748628,0.647917,0.140568],[0.027262,-0.181759,0.982965]] 2025-10-28T20:00:27.781Z,1761681627.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275208 2025-10-28T20:00:28.033Z,1761681628.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527494 2025-10-28T20:00:28.069Z,1761681628.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676822,0.734250,0.052810],[-0.735403,0.671170,0.093345],[0.033094,-0.102015,0.994232]] 2025-10-28T20:00:28.285Z,1761681628.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778898 2025-10-28T20:00:28.469Z,1761681628.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675958,0.736796,-0.014617],[-0.734804,0.675374,0.062714],[0.056080,-0.031651,0.997925]] 2025-10-28T20:00:28.538Z,1761681628.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031533 2025-10-28T20:00:28.789Z,1761681628.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283006 2025-10-28T20:00:28.937Z,1761681628.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677329,0.732118,-0.072306],[-0.732223,0.680399,0.030103],[0.071236,0.032555,0.996928]] 2025-10-28T20:00:29.042Z,1761681629.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535592 2025-10-28T20:00:29.293Z,1761681629.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786911 2025-10-28T20:00:29.335Z,1761681629.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677520,0.731015,-0.081143],[-0.732191,0.680811,0.019825],[0.069735,0.045980,0.996505]] 2025-10-28T20:00:29.545Z,1761681629.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039308 2025-10-28T20:00:29.552Z,1761681629.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:00:29.797Z,1761681629.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291013 2025-10-28T20:00:30.050Z,1761681630.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544361 2025-10-28T20:00:30.301Z,1761681630.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794931 2025-10-28T20:00:30.553Z,1761681630.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046897 2025-10-28T20:00:30.556Z,1761681630.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:00:30.809Z,1761681630.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303486 2025-10-28T20:00:31.057Z,1761681631.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550933 2025-10-28T20:00:31.309Z,1761681631.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802832 2025-10-28T20:00:31.476Z,1761681631.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676393,0.726468,0.121394],[-0.736528,0.666159,0.117293],[0.004342,-0.168746,0.985650]] 2025-10-28T20:00:31.561Z,1761681631.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055428 2025-10-28T20:00:31.813Z,1761681631.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306955 2025-10-28T20:00:31.843Z,1761681631.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682859,0.724373,0.094798],[-0.730548,0.677380,0.086346],[-0.001668,-0.128217,0.991745]] 2025-10-28T20:00:32.065Z,1761681632.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558906 2025-10-28T20:00:32.246Z,1761681632.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686015,0.723293,0.078934],[-0.726608,0.686676,0.022755],[-0.037743,-0.072964,0.996620]] 2025-10-28T20:00:32.317Z,1761681632.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810978 2025-10-28T20:00:32.569Z,1761681632.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063423 2025-10-28T20:00:32.651Z,1761681632.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694223,0.719323,0.025068],[-0.718458,0.694641,-0.035961],[-0.043281,0.006955,0.999039]] 2025-10-28T20:00:32.821Z,1761681632.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314884 2025-10-28T20:00:33.057Z,1761681633.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695860,0.716929,-0.042326],[-0.718176,0.694769,-0.038974],[0.001465,0.057518,0.998343]] 2025-10-28T20:00:33.073Z,1761681633.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567008 2025-10-28T20:00:33.325Z,1761681633.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818940 2025-10-28T20:00:33.458Z,1761681633.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679441,0.732710,-0.038689],[-0.733283,0.679923,-0.000922],[0.025630,0.028996,0.999251]] 2025-10-28T20:00:33.577Z,1761681633.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070866 2025-10-28T20:00:33.833Z,1761681633.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326838 2025-10-28T20:00:33.862Z,1761681633.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660206,0.750545,0.028473],[-0.750810,0.658466,0.052026],[0.020299,-0.055726,0.998240]] 2025-10-28T20:00:34.081Z,1761681634.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574951 2025-10-28T20:00:34.266Z,1761681634.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669055,0.738447,0.084034],[-0.742969,0.661649,0.101086],[0.019045,-0.130067,0.991322]] 2025-10-28T20:00:34.333Z,1761681634.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826997 2025-10-28T20:00:34.585Z,1761681634.585 [DAT](INFO): Reached modem response timeout 2025-10-28T20:00:34.675Z,1761681634.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672076,0.733817,0.099125],[-0.740451,0.664777,0.099017],[0.006764,-0.139944,0.990136]] 2025-10-28T20:00:35.075Z,1761681635.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653628,0.751249,0.091628],[-0.756757,0.650279,0.066753],[-0.009436,-0.112971,0.993553]] 2025-10-28T20:00:35.479Z,1761681635.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664621,0.739995,0.103381],[-0.745836,0.665341,0.032401],[-0.044807,-0.098639,0.994114]] 2025-10-28T20:00:35.883Z,1761681635.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675937,0.734077,0.065120],[-0.736899,0.674373,0.046915],[-0.009476,-0.079699,0.996774]] 2025-10-28T20:00:36.289Z,1761681636.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658649,0.752134,0.021817],[-0.751878,0.656741,0.058052],[0.029335,-0.054639,0.998075]] 2025-10-28T20:00:36.691Z,1761681636.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640433,0.766784,0.043437],[-0.767991,0.638954,0.043911],[0.005916,-0.061481,0.998091]] 2025-10-28T20:00:36.858Z,1761681636.858 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:00:36.858Z,1761681636.858 [DAT](INFO): response not received 2025-10-28T20:00:36.858Z,1761681636.858 [DAT](ERROR): No response from remote modem. 2025-10-28T20:00:37.094Z,1761681637.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645420,0.761374,0.061187],[-0.763511,0.645387,0.022944],[-0.022020,-0.061525,0.997863]] 2025-10-28T20:00:37.500Z,1761681637.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642005,0.762221,0.082762],[-0.765198,0.643757,0.006955],[-0.047978,-0.067794,0.996545]] 2025-10-28T20:00:37.903Z,1761681637.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644854,0.759029,0.089657],[-0.764299,0.640915,0.071243],[-0.003387,-0.114466,0.993421]] 2025-10-28T20:00:38.307Z,1761681638.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663710,0.744436,0.072827],[-0.746854,0.654189,0.119355],[0.041210,-0.133609,0.990177]] 2025-10-28T20:00:38.714Z,1761681638.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665324,0.744984,0.048406],[-0.744812,0.657946,0.111182],[0.050980,-0.110026,0.992620]] 2025-10-28T20:00:39.116Z,1761681639.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631454,0.775136,0.020747],[-0.771642,0.625521,0.115293],[0.076390,-0.088811,0.993115]] 2025-10-28T20:00:39.529Z,1761681639.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612756,0.789360,0.037954],[-0.785020,0.602453,0.144203],[0.090963,-0.118156,0.988820]] 2025-10-28T20:00:39.922Z,1761681639.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643731,0.759957,0.089867],[-0.763060,0.628563,0.150492],[0.057880,-0.165451,0.984518]] 2025-10-28T20:00:39.982Z,1761681639.982 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:00:39.982Z,1761681639.982 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:00:39.982Z,1761681639.982 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:00:39.983Z,1761681639.983 [marl:UpdateRudder:A] Stopped 2025-10-28T20:00:39.983Z,1761681639.983 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:00:40.326Z,1761681640.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652823,0.749168,0.112113],[-0.756852,0.638899,0.137780],[0.031592,-0.174799,0.984097]] 2025-10-28T20:00:40.374Z,1761681640.374 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:00:40.374Z,1761681640.374 [marl:UpdateRudder:B] Stopped 2025-10-28T20:00:40.374Z,1761681640.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:00:40.374Z,1761681640.374 [marl:UpdateRudder] Stopped 2025-10-28T20:00:40.374Z,1761681640.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:00:40.731Z,1761681640.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650874,0.752509,0.100464],[-0.758777,0.640463,0.118597],[0.024902,-0.153422,0.987847]] 2025-10-28T20:00:41.135Z,1761681641.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652633,0.753797,0.076554],[-0.757513,0.647072,0.086433],[0.015617,-0.114400,0.993312]] 2025-10-28T20:00:41.540Z,1761681641.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642439,0.765508,0.035632],[-0.765199,0.638259,0.084242],[0.041746,-0.081386,0.995808]] 2025-10-28T20:00:41.590Z,1761681641.590 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:00:41.590Z,1761681641.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:00:41.590Z,1761681641.590 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:00:41.590Z,1761681641.590 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:00:41.590Z,1761681641.590 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateCommandMode] Stopped 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:00:41.591Z,1761681641.591 [marl:UpdateSpeed] Stopped 2025-10-28T20:00:41.592Z,1761681641.592 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:00:41.943Z,1761681641.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647358,0.762137,-0.008641],[-0.756969,0.644209,0.109513],[0.089031,-0.064353,0.993948]] 2025-10-28T20:00:42.349Z,1761681642.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662021,0.749203,-0.020566],[-0.745811,0.661242,0.080780],[0.074119,-0.038140,0.996520]] 2025-10-28T20:00:42.751Z,1761681642.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659055,0.751918,0.016299],[-0.751729,0.657905,0.045432],[0.023438,-0.042195,0.998834]] 2025-10-28T20:00:43.155Z,1761681643.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650497,0.756232,0.070469],[-0.759383,0.645898,0.078444],[0.013806,-0.104540,0.994425]] 2025-10-28T20:00:43.558Z,1761681643.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653852,0.746272,0.124721],[-0.756611,0.645815,0.102291],[-0.004210,-0.161248,0.986905]] 2025-10-28T20:00:43.965Z,1761681643.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662075,0.734952,0.146636],[-0.748066,0.659920,0.070018],[-0.045308,-0.156051,0.986709]] 2025-10-28T20:00:44.366Z,1761681644.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651232,0.753860,0.087128],[-0.758530,0.650107,0.044636],[-0.022994,-0.095158,0.995197]] 2025-10-28T20:00:44.775Z,1761681644.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647087,0.762412,-0.002583],[-0.759115,0.644597,0.090771],[0.070870,-0.056776,0.995868]] 2025-10-28T20:00:45.217Z,1761681645.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661410,0.750025,-0.000654],[-0.747638,0.659373,0.079151],[0.059796,-0.051862,0.996862]] 2025-10-28T20:00:45.580Z,1761681645.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670117,0.739868,0.059477],[-0.741786,0.670389,0.018224],[-0.026389,-0.056332,0.998063]] 2025-10-28T20:00:45.982Z,1761681645.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680781,0.731022,0.046306],[-0.731778,0.681542,-0.000895],[-0.032213,-0.033276,0.998927]] 2025-10-28T20:00:46.387Z,1761681646.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689425,0.724284,-0.010331],[-0.724269,0.689493,0.005795],[0.011320,0.003487,0.999930]] 2025-10-28T20:00:46.795Z,1761681646.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684486,0.729001,0.005932],[-0.728371,0.683504,0.047934],[0.030889,-0.037130,0.998833]] 2025-10-28T20:00:47.197Z,1761681647.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684011,0.726464,0.066171],[-0.727468,0.672604,0.135621],[0.054017,-0.140904,0.988549]] 2025-10-28T20:00:47.601Z,1761681647.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685404,0.720489,0.105441],[-0.726247,0.665896,0.170727],[0.052794,-0.193593,0.979660]] 2025-10-28T20:00:48.009Z,1761681648.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669714,0.731325,0.129021],[-0.742086,0.652476,0.153566],[0.028124,-0.198590,0.979679]] 2025-10-28T20:00:48.407Z,1761681648.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689201,0.714589,0.119854],[-0.724552,0.678532,0.120907],[0.005074,-0.170170,0.985402]] 2025-10-28T20:00:48.819Z,1761681648.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707062,0.704511,0.061058],[-0.707151,0.704505,0.060078],[-0.000690,-0.085656,0.996324]] 2025-10-28T20:00:49.214Z,1761681649.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674687,0.738084,0.005516],[-0.737770,0.674137,0.035129],[0.022210,-0.027771,0.999368]] 2025-10-28T20:00:49.619Z,1761681649.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670091,0.742263,-0.004914],[-0.741866,0.669924,0.028919],[0.024758,-0.015733,0.999570]] 2025-10-28T20:00:49.624Z,1761681649.624 [NAL9602](INFO): SBD MO Status=2, MOMSN=3336, MT Status=2, MTMSN=0 2025-10-28T20:00:49.624Z,1761681649.624 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:00:50.025Z,1761681650.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678191,0.734852,0.007080],[-0.734690,0.677756,0.029632],[0.016977,-0.025297,0.999536]] 2025-10-28T20:00:50.429Z,1761681650.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674786,0.736901,0.040513],[-0.737464,0.671148,0.075549],[0.028482,-0.080857,0.996319]] 2025-10-28T20:00:50.831Z,1761681650.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668724,0.736174,0.104192],[-0.743221,0.657959,0.121292],[0.020738,-0.158549,0.987133]] 2025-10-28T20:00:51.235Z,1761681651.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669493,0.731907,0.126850],[-0.742806,0.658694,0.119836],[0.004154,-0.174454,0.984657]] 2025-10-28T20:00:51.639Z,1761681651.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671219,0.737721,0.072336],[-0.739319,0.659211,0.137287],[0.053595,-0.145629,0.987886]] 2025-10-28T20:00:52.042Z,1761681652.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660801,0.749960,0.030049],[-0.746700,0.652818,0.127544],[0.076037,-0.106719,0.991378]] 2025-10-28T20:00:52.447Z,1761681652.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658788,0.751178,0.041585],[-0.752138,0.656374,0.058834],[0.016900,-0.070037,0.997401]] 2025-10-28T20:00:52.850Z,1761681652.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656487,0.753908,0.025452],[-0.754307,0.655782,0.031166],[0.006805,-0.039659,0.999190]] 2025-10-28T20:00:53.256Z,1761681653.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648762,0.760986,0.002749],[-0.760321,0.648035,0.044287],[0.031921,-0.030822,0.999015]] 2025-10-28T20:00:53.286Z,1761681653.286 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:00:53.286Z,1761681653.286 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:00:53.287Z,1761681653.287 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:00:53.287Z,1761681653.287 [marl:UpdateRudder:A] Stopped 2025-10-28T20:00:53.287Z,1761681653.287 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:00:53.659Z,1761681653.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657626,0.753033,0.021656],[-0.753267,0.656876,0.033203],[0.010778,-0.038148,0.999214]] 2025-10-28T20:00:53.751Z,1761681653.751 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:00:53.751Z,1761681653.751 [marl:UpdateRudder:B] Stopped 2025-10-28T20:00:53.752Z,1761681653.752 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:00:53.757Z,1761681653.757 [marl:UpdateRudder] Stopped 2025-10-28T20:00:53.757Z,1761681653.757 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:00:54.062Z,1761681654.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671880,0.740497,0.015531],[-0.740568,0.671320,0.029812],[0.011649,-0.031532,0.999435]] 2025-10-28T20:00:54.467Z,1761681654.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670140,0.741922,0.021549],[-0.742048,0.669038,0.041860],[0.016639,-0.044042,0.998891]] 2025-10-28T20:00:54.925Z,1761681654.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651146,0.753158,0.093605],[-0.758938,0.646932,0.074107],[-0.004742,-0.119294,0.992848]] 2025-10-28T20:00:54.949Z,1761681654.949 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode] Stopped 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:00:54.950Z,1761681654.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:00:54.951Z,1761681654.951 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:00:54.951Z,1761681654.951 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:00:54.951Z,1761681654.951 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:00:54.951Z,1761681654.951 [marl:UpdateSpeed] Stopped 2025-10-28T20:00:54.951Z,1761681654.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:00:55.310Z,1761681655.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665644,0.743689,0.062011],[-0.745467,0.658775,0.101462],[0.034605,-0.113765,0.992905]] 2025-10-28T20:00:55.743Z,1761681655.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663300,0.747406,0.037644],[-0.746998,0.658234,0.093391],[0.045022,-0.090067,0.994918]] 2025-10-28T20:00:56.120Z,1761681656.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643681,0.765103,0.017101],[-0.761300,0.637883,0.116307],[0.078079,-0.087884,0.993066]] 2025-10-28T20:00:56.522Z,1761681656.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634609,0.772176,0.031882],[-0.766649,0.623785,0.152127],[0.097581,-0.120983,0.987847]] 2025-10-28T20:00:56.927Z,1761681656.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622773,0.776963,0.092100],[-0.781558,0.612309,0.119350],[0.036337,-0.146309,0.988571]] 2025-10-28T20:00:57.331Z,1761681657.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606529,0.787686,0.108043],[-0.794808,0.604141,0.057396],[-0.020063,-0.120685,0.992488]] 2025-10-28T20:00:57.762Z,1761681657.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597624,0.799345,0.062397],[-0.801776,0.595903,0.045341],[-0.000939,-0.077125,0.997021]] 2025-10-28T20:00:58.139Z,1761681658.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605730,0.795639,-0.007064],[-0.794230,0.605144,0.054767],[0.047850,-0.027564,0.998474]] 2025-10-28T20:00:58.543Z,1761681658.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614970,0.787348,-0.043534],[-0.786632,0.616387,0.035740],[0.054973,0.012266,0.998412]] 2025-10-28T20:00:58.947Z,1761681658.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600196,0.799622,-0.019229],[-0.798158,0.600315,0.050655],[0.052048,-0.015055,0.998531]] 2025-10-28T20:00:59.351Z,1761681659.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589708,0.805430,0.059387],[-0.807119,0.585167,0.078353],[0.028357,-0.094137,0.995155]] 2025-10-28T20:00:59.769Z,1761681659.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597028,0.793824,0.115757],[-0.802115,0.588371,0.102129],[0.012964,-0.153825,0.988013]] 2025-10-28T20:01:00.158Z,1761681660.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593112,0.798174,0.105524],[-0.803677,0.579101,0.136912],[0.048171,-0.166011,0.984947]] 2025-10-28T20:01:00.565Z,1761681660.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589613,0.799783,0.112706],[-0.807247,0.578929,0.114866],[0.026619,-0.158708,0.986967]] 2025-10-28T20:01:00.676Z,1761681660.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:01:00.969Z,1761681660.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568045,0.809591,0.147945],[-0.821207,0.569428,0.037027],[-0.054268,-0.142526,0.988302]] 2025-10-28T20:01:01.371Z,1761681661.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563445,0.819502,0.104623],[-0.823487,0.567271,-0.008509],[-0.066323,-0.081362,0.994476]] 2025-10-28T20:01:01.682Z,1761681661.682 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:01:01.779Z,1761681661.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565105,0.824968,0.009223],[-0.824909,0.565176,-0.010006],[-0.013467,-0.001953,0.999907]] 2025-10-28T20:01:02.188Z,1761681662.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564425,0.824825,-0.032995],[-0.825484,0.563953,-0.023080],[-0.000429,0.040264,0.999189]] 2025-10-28T20:01:02.614Z,1761681662.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563771,0.825876,0.009606],[-0.825891,0.563820,-0.003301],[-0.008142,-0.006072,0.999948]] 2025-10-28T20:01:02.994Z,1761681662.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563389,0.822482,0.078209],[-0.826170,0.560159,0.060537],[0.005981,-0.098720,0.995097]] 2025-10-28T20:01:03.391Z,1761681663.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541954,0.828744,0.139533],[-0.840340,0.532277,0.102519],[0.010691,-0.172816,0.984896]] 2025-10-28T20:01:03.797Z,1761681663.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537372,0.827829,0.161030],[-0.842080,0.516237,0.156209],[0.046185,-0.219543,0.974509]] 2025-10-28T20:01:04.198Z,1761681664.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562779,0.814762,0.139437],[-0.821676,0.533008,0.201868],[0.090153,-0.228179,0.969436]] 2025-10-28T20:01:04.603Z,1761681664.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570039,0.818344,0.073270],[-0.818049,0.556999,0.143345],[0.076494,-0.141651,0.986957]] 2025-10-28T20:01:05.091Z,1761681665.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546555,0.837393,0.007098],[-0.836752,0.545758,0.044646],[0.033512,-0.030341,0.998978]] 2025-10-28T20:01:05.499Z,1761681665.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539553,0.841110,-0.037635],[-0.840255,0.540764,0.039321],[0.053425,0.010408,0.998518]] 2025-10-28T20:01:05.898Z,1761681665.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573535,0.815881,-0.073455],[-0.811652,0.578103,0.083767],[0.110809,0.011577,0.993774]] 2025-10-28T20:01:06.303Z,1761681666.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571565,0.818864,-0.052682],[-0.807568,0.572735,0.140743],[0.145422,-0.037900,0.988644]] 2025-10-28T20:01:06.707Z,1761681666.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545288,0.836199,0.058590],[-0.832506,0.532061,0.154417],[0.097950,-0.132978,0.986267]] 2025-10-28T20:01:06.739Z,1761681666.739 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:01:06.739Z,1761681666.739 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:01:06.739Z,1761681666.739 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:01:06.739Z,1761681666.739 [marl:UpdateRudder:A] Stopped 2025-10-28T20:01:06.739Z,1761681666.739 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:01:07.110Z,1761681667.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514335,0.842027,0.162635],[-0.857075,0.498132,0.131479],[0.029695,-0.207014,0.977887]] 2025-10-28T20:01:07.156Z,1761681667.156 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:01:07.156Z,1761681667.156 [marl:UpdateRudder:B] Stopped 2025-10-28T20:01:07.157Z,1761681667.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:01:07.157Z,1761681667.157 [marl:UpdateRudder] Stopped 2025-10-28T20:01:07.157Z,1761681667.157 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:01:07.514Z,1761681667.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530526,0.829448,0.174809],[-0.847478,0.514640,0.130098],[0.017946,-0.217168,0.975969]] 2025-10-28T20:01:07.921Z,1761681667.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543470,0.828243,0.136577],[-0.839285,0.533124,0.106676],[0.015541,-0.172602,0.984869]] 2025-10-28T20:01:08.322Z,1761681668.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537285,0.838749,0.088457],[-0.843401,0.534319,0.056383],[0.000027,-0.104899,0.994483]] 2025-10-28T20:01:08.421Z,1761681668.421 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:01:08.421Z,1761681668.421 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:01:08.421Z,1761681668.421 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateCommandMode] Stopped 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:01:08.422Z,1761681668.422 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:01:08.423Z,1761681668.423 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:01:08.423Z,1761681668.423 [marl:UpdateSpeed] Stopped 2025-10-28T20:01:08.423Z,1761681668.423 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:01:08.727Z,1761681668.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523294,0.851769,0.025541],[-0.851350,0.523867,-0.027682],[-0.036959,-0.007258,0.999290]] 2025-10-28T20:01:09.223Z,1761681669.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510812,0.859638,-0.009680],[-0.859444,0.510362,-0.029765],[-0.020647,0.023524,0.999510]] 2025-10-28T20:01:09.626Z,1761681669.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509290,0.860568,0.006906],[-0.860536,0.509332,-0.007688],[-0.010134,-0.002027,0.999947]] 2025-10-28T20:01:11.834Z,1761681671.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474589,0.873304,0.110027],[-0.879687,0.466287,0.093425],[0.030284,-0.141128,0.989528]] 2025-10-28T20:01:12.227Z,1761681672.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514146,0.857321,0.025590],[-0.855270,0.510215,0.090518],[0.064547,-0.068426,0.995566]] 2025-10-28T20:01:12.634Z,1761681672.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486716,0.873559,0.001678],[-0.870138,0.484638,0.089361],[0.077249,-0.044953,0.995998]] 2025-10-28T20:01:13.036Z,1761681673.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455902,0.889309,0.035821],[-0.886634,0.450281,0.105485],[0.077679,-0.079851,0.993776]] 2025-10-28T20:01:13.440Z,1761681673.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477973,0.873093,0.096174],[-0.876758,0.467586,0.112513],[0.053265,-0.138099,0.988985]] 2025-10-28T20:01:13.842Z,1761681673.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472300,0.868162,0.152404],[-0.881434,0.465686,0.078806],[-0.002556,-0.171554,0.985171]] 2025-10-28T20:01:14.246Z,1761681674.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432227,0.882814,0.183902],[-0.901107,0.430624,0.050686],[-0.034446,-0.187623,0.981637]] 2025-10-28T20:01:14.652Z,1761681674.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415249,0.896212,0.156115],[-0.909677,0.410487,0.063154],[-0.007484,-0.168239,0.985718]] 2025-10-28T20:01:15.054Z,1761681675.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417221,0.902701,0.105152],[-0.908668,0.412348,0.065509],[0.015776,-0.122880,0.992296]] 2025-10-28T20:01:15.465Z,1761681675.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395270,0.914885,0.082137],[-0.918508,0.392665,0.046452],[0.010246,-0.093805,0.995538]] 2025-10-28T20:01:15.862Z,1761681675.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389075,0.920395,0.038633],[-0.919497,0.385459,0.077119],[0.056089,-0.065528,0.996273]] 2025-10-28T20:01:16.268Z,1761681676.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403325,0.914956,0.013580],[-0.911712,0.400539,0.091372],[0.078162,-0.049233,0.995724]] 2025-10-28T20:01:16.671Z,1761681676.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377222,0.925717,0.027416],[-0.923015,0.373369,0.092945],[0.075804,-0.060366,0.995294]] 2025-10-28T20:01:17.075Z,1761681677.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369032,0.927514,0.059433],[-0.927257,0.363064,0.091542],[0.063329,-0.088892,0.994026]] 2025-10-28T20:01:17.482Z,1761681677.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371738,0.925827,0.068232],[-0.927289,0.366821,0.074685],[0.044116,-0.091034,0.994870]] 2025-10-28T20:01:18.287Z,1761681678.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351406,0.934806,0.051496],[-0.935407,0.348273,0.060984],[0.039074,-0.069600,0.996809]] 2025-10-28T20:01:18.691Z,1761681678.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339854,0.939959,0.031247],[-0.938703,0.336985,0.072649],[0.057758,-0.054022,0.996868]] 2025-10-28T20:01:19.095Z,1761681679.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326905,0.942255,0.072718],[-0.942791,0.319829,0.094095],[0.065404,-0.099318,0.992904]] 2025-10-28T20:01:19.501Z,1761681679.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330882,0.935517,0.123792],[-0.941450,0.318254,0.111290],[0.064716,-0.153368,0.986048]] 2025-10-28T20:01:19.902Z,1761681679.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315173,0.942221,0.113515],[-0.945391,0.301238,0.124461],[0.083074,-0.146543,0.985710]] 2025-10-28T20:01:20.307Z,1761681680.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301077,0.948771,0.095847],[-0.948754,0.287910,0.130279],[0.096009,-0.130159,0.986834]] 2025-10-28T20:01:20.711Z,1761681680.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297573,0.950314,0.091395],[-0.948218,0.283059,0.144086],[0.111057,-0.129539,0.985336]] 2025-10-28T20:01:21.122Z,1761681681.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307593,0.945997,0.102352],[-0.948483,0.296249,0.112321],[0.075934,-0.131629,0.988387]] 2025-10-28T20:01:21.520Z,1761681681.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273060,0.956902,0.098874],[-0.961993,0.271324,0.030859],[0.002702,-0.103542,0.994621]] 2025-10-28T20:01:21.922Z,1761681681.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262289,0.961470,0.082346],[-0.964857,0.259881,0.038903],[0.016004,-0.089655,0.995844]] 2025-10-28T20:01:22.010Z,1761681682.010 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:01:22.010Z,1761681682.010 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:01:22.010Z,1761681682.010 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:01:22.010Z,1761681682.010 [marl:UpdateRudder:A] Stopped 2025-10-28T20:01:22.010Z,1761681682.010 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:01:22.326Z,1761681682.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313148,0.947658,0.062311],[-0.948458,0.308702,0.071632],[0.048647,-0.081531,0.995483]] 2025-10-28T20:01:22.379Z,1761681682.379 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:01:22.379Z,1761681682.379 [marl:UpdateRudder:B] Stopped 2025-10-28T20:01:22.379Z,1761681682.379 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:01:22.379Z,1761681682.379 [marl:UpdateRudder] Stopped 2025-10-28T20:01:22.379Z,1761681682.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:01:22.731Z,1761681682.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314395,0.947037,0.065398],[-0.947876,0.309418,0.076105],[0.051839,-0.085916,0.994953]] 2025-10-28T20:01:23.136Z,1761681683.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299506,0.946393,0.120978],[-0.954093,0.297308,0.036259],[-0.001652,-0.126284,0.991993]] 2025-10-28T20:01:23.538Z,1761681683.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258291,0.954886,0.146557],[-0.966036,0.254082,0.047072],[0.007711,-0.153738,0.988082]] 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode] Stopped 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:01:23.574Z,1761681683.574 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed] Stopped 2025-10-28T20:01:23.575Z,1761681683.575 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:01:23.950Z,1761681683.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285613,0.943246,0.169448],[-0.956998,0.271346,0.102595],[0.050793,-0.191464,0.980184]] 2025-10-28T20:01:24.347Z,1761681684.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324103,0.925861,0.194264],[-0.946016,0.317943,0.062983],[-0.003451,-0.204190,0.978925]] 2025-10-28T20:01:24.373Z,1761681684.373 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:01:24.513Z,1761681684.513 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:01:24.513Z,1761681684.513 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:01:24.753Z,1761681684.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308903,0.936732,0.164656],[-0.951083,0.305064,0.048761],[-0.004555,-0.171664,0.985145]] 2025-10-28T20:01:24.765Z,1761681684.765 [DAT](INFO): DAT read: user:229> 2025-10-28T20:01:24.766Z,1761681684.766 [DAT](INFO): DAT read: Tx time:20:01:24.5241 2025-10-28T20:01:24.767Z,1761681684.767 [DAT](INFO): Ping request sent. 2025-10-28T20:01:24.767Z,1761681684.767 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:01:24.767Z,1761681684.767 [DAT](INFO): publishing transmit ping time 2025-10-28T20:01:24.769Z,1761681684.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001659 2025-10-28T20:01:25.017Z,1761681685.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250027 2025-10-28T20:01:25.155Z,1761681685.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290552,0.949010,0.122307],[-0.955934,0.282270,0.080707],[0.042068,-0.140367,0.989205]] 2025-10-28T20:01:25.269Z,1761681685.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501873 2025-10-28T20:01:25.521Z,1761681685.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753938 2025-10-28T20:01:25.558Z,1761681685.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292475,0.953394,0.074149],[-0.955642,0.288586,0.058873],[0.034731,-0.088078,0.995508]] 2025-10-28T20:01:25.773Z,1761681685.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006353 2025-10-28T20:01:25.965Z,1761681685.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308358,0.949121,0.063918],[-0.951032,0.309088,-0.001618],[-0.021292,-0.060289,0.997954]] 2025-10-28T20:01:26.025Z,1761681686.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258009 2025-10-28T20:01:26.277Z,1761681686.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509945 2025-10-28T20:01:26.366Z,1761681686.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308209,0.943127,0.124575],[-0.950974,0.308968,0.013670],[-0.025598,-0.122681,0.992116]] 2025-10-28T20:01:26.529Z,1761681686.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761956 2025-10-28T20:01:26.775Z,1761681686.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292553,0.935016,0.200395],[-0.956243,0.285302,0.064824],[0.003438,-0.210591,0.977568]] 2025-10-28T20:01:26.781Z,1761681686.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014123 2025-10-28T20:01:27.033Z,1761681687.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265940 2025-10-28T20:01:27.175Z,1761681687.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287296,0.934402,0.210602],[-0.957468,0.274017,0.090384],[0.026747,-0.227612,0.973385]] 2025-10-28T20:01:27.285Z,1761681687.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517986 2025-10-28T20:01:27.537Z,1761681687.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769930 2025-10-28T20:01:27.579Z,1761681687.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311025,0.936999,0.159051],[-0.948594,0.295739,0.112729],[0.058590,-0.185936,0.980813]] 2025-10-28T20:01:27.789Z,1761681687.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022355 2025-10-28T20:01:27.982Z,1761681687.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339251,0.934847,0.104733],[-0.937134,0.326186,0.124030],[0.081787,-0.140227,0.986736]] 2025-10-28T20:01:28.041Z,1761681688.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274120 2025-10-28T20:01:28.293Z,1761681688.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525919 2025-10-28T20:01:28.386Z,1761681688.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326125,0.941561,0.084301],[-0.943059,0.317872,0.097969],[0.065447,-0.111450,0.991613]] 2025-10-28T20:01:28.545Z,1761681688.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777927 2025-10-28T20:01:28.794Z,1761681688.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314996,0.942961,0.107713],[-0.948497,0.308745,0.070916],[0.033615,-0.124504,0.991650]] 2025-10-28T20:01:28.797Z,1761681688.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030108 2025-10-28T20:01:29.049Z,1761681689.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281947 2025-10-28T20:01:29.197Z,1761681689.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313430,0.941231,0.125880],[-0.949051,0.315033,0.007490],[-0.032606,-0.121814,0.992017]] 2025-10-28T20:01:29.301Z,1761681689.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533956 2025-10-28T20:01:29.553Z,1761681689.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785979 2025-10-28T20:01:29.598Z,1761681689.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285607,0.952893,0.102096],[-0.957526,0.288146,-0.010738],[-0.039651,-0.094693,0.994717]] 2025-10-28T20:01:29.805Z,1761681689.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037941 2025-10-28T20:01:30.010Z,1761681690.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305017,0.950327,0.061988],[-0.952045,0.302634,0.044979],[0.023985,-0.072735,0.997063]] 2025-10-28T20:01:30.058Z,1761681690.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290556 2025-10-28T20:01:30.309Z,1761681690.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542015 2025-10-28T20:01:30.407Z,1761681690.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311648,0.949351,0.040096],[-0.948071,0.307852,0.079923],[0.063531,-0.062922,0.995994]] 2025-10-28T20:01:30.413Z,1761681690.413 [NAL9602](INFO): SBD MO Status=1, MOMSN=3336, MT Status=0, MTMSN=0 2025-10-28T20:01:30.464Z,1761681690.464 [NAL9602](INFO): Sent 81 bytes from file Logs/20251028T162422/Courier0036.lzma 2025-10-28T20:01:30.464Z,1761681690.464 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:01:30.561Z,1761681690.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793901 2025-10-28T20:01:30.813Z,1761681690.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046085 2025-10-28T20:01:30.814Z,1761681690.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299322,0.953760,0.027360],[-0.948924,0.294562,0.113029],[0.099743,-0.059794,0.993215]] 2025-10-28T20:01:31.065Z,1761681691.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298126 2025-10-28T20:01:31.317Z,1761681691.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550089 2025-10-28T20:01:31.552Z,1761681691.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300168,0.953312,0.033110],[-0.948236,0.294437,0.118976],[0.103673,-0.067109,0.992345]] 2025-10-28T20:01:31.570Z,1761681691.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802669 2025-10-28T20:01:31.808Z,1761681691.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:01:31.821Z,1761681691.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054028 2025-10-28T20:01:31.948Z,1761681691.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312118,0.948416,0.055578],[-0.945785,0.304654,0.112589],[0.089849,-0.087706,0.992086]] 2025-10-28T20:01:32.073Z,1761681692.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305932 2025-10-28T20:01:32.325Z,1761681692.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558066 2025-10-28T20:01:32.577Z,1761681692.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809959 2025-10-28T20:01:32.812Z,1761681692.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:01:32.829Z,1761681692.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062027 2025-10-28T20:01:33.081Z,1761681693.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313936 2025-10-28T20:01:33.333Z,1761681693.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566004 2025-10-28T20:01:33.585Z,1761681693.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817917 2025-10-28T20:01:33.837Z,1761681693.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069871 2025-10-28T20:01:34.089Z,1761681694.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321936 2025-10-28T20:01:34.114Z,1761681694.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301414,0.953265,0.020876],[-0.938889,0.292909,0.180809],[0.166244,-0.074099,0.983297]] 2025-10-28T20:01:34.341Z,1761681694.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573930 2025-10-28T20:01:34.499Z,1761681694.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312239,0.946427,0.082354],[-0.925659,0.283593,0.250459],[0.213687,-0.154435,0.964618]] 2025-10-28T20:01:34.593Z,1761681694.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825888 2025-10-28T20:01:34.845Z,1761681694.845 [DAT](INFO): Reached modem response timeout 2025-10-28T20:01:34.902Z,1761681694.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339528,0.932666,0.121882],[-0.920350,0.302678,0.247674],[0.194107,-0.196266,0.961146]] 2025-10-28T20:01:35.309Z,1761681695.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349238,0.932349,0.093585],[-0.918453,0.320810,0.231353],[0.185678,-0.166751,0.968358]] 2025-10-28T20:01:35.761Z,1761681695.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378664,0.925409,0.015227],[-0.907432,0.367970,0.202892],[0.182155,-0.090645,0.979083]] 2025-10-28T20:01:36.525Z,1761681696.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404324,0.914600,-0.005317],[-0.906415,0.401469,0.131282],[0.122205,-0.048261,0.991331]] 2025-10-28T20:01:36.933Z,1761681696.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419445,0.906773,0.042756],[-0.904094,0.413037,0.109610],[0.081731,-0.084631,0.993055]] 2025-10-28T20:01:37.113Z,1761681697.113 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:01:37.113Z,1761681697.113 [DAT](INFO): response not received 2025-10-28T20:01:37.113Z,1761681697.113 [DAT](ERROR): No response from remote modem. 2025-10-28T20:01:37.333Z,1761681697.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397934,0.912712,0.092766],[-0.912939,0.383988,0.138189],[0.090506,-0.139679,0.986052]] 2025-10-28T20:01:37.356Z,1761681697.356 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:01:37.357Z,1761681697.357 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:01:37.357Z,1761681697.357 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:01:37.357Z,1761681697.357 [marl:UpdateRudder:A] Stopped 2025-10-28T20:01:37.357Z,1761681697.357 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:01:37.761Z,1761681697.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386619,0.900235,0.200258],[-0.921764,0.370229,0.115243],[0.029604,-0.229145,0.972942]] 2025-10-28T20:01:37.837Z,1761681697.837 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:01:37.837Z,1761681697.837 [marl:UpdateRudder:B] Stopped 2025-10-28T20:01:37.838Z,1761681697.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:01:37.838Z,1761681697.838 [marl:UpdateRudder] Stopped 2025-10-28T20:01:37.838Z,1761681697.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:01:38.139Z,1761681698.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390536,0.881447,0.265579],[-0.918767,0.391326,0.052254],[-0.057869,-0.264412,0.962672]] 2025-10-28T20:01:38.540Z,1761681698.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378197,0.898711,0.222006],[-0.922046,0.387061,0.003870],[-0.082452,-0.206163,0.975038]] 2025-10-28T20:01:38.945Z,1761681698.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398805,0.909374,0.118296],[-0.914878,0.403387,-0.016672],[-0.062880,-0.101577,0.992838]] 2025-10-28T20:01:38.977Z,1761681698.977 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:01:38.977Z,1761681698.977 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:01:38.977Z,1761681698.977 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:01:38.977Z,1761681698.977 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:01:38.977Z,1761681698.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateCommandMode] Stopped 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:01:38.978Z,1761681698.978 [marl:UpdateSpeed] Stopped 2025-10-28T20:01:38.979Z,1761681698.979 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:01:39.346Z,1761681699.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426052,0.903684,0.042829],[-0.902236,0.427906,-0.053538],[-0.066708,-0.015832,0.997647]] 2025-10-28T20:01:39.771Z,1761681699.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408890,0.912584,-0.000643],[-0.911339,0.408295,-0.052492],[-0.047641,0.022050,0.998621]] 2025-10-28T20:01:40.156Z,1761681700.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387176,0.922006,0.000646],[-0.921427,0.386908,0.035697],[0.032663,-0.014417,0.999362]] 2025-10-28T20:01:40.558Z,1761681700.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395757,0.915780,0.068731],[-0.915486,0.387502,0.108293],[0.072539,-0.105780,0.991740]] 2025-10-28T20:01:40.975Z,1761681700.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405925,0.899295,0.162766],[-0.913622,0.394870,0.096809],[0.022788,-0.188003,0.981904]] 2025-10-28T20:01:41.376Z,1761681701.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401005,0.889152,0.220464],[-0.915832,0.383567,0.118861],[0.021123,-0.249572,0.968126]] 2025-10-28T20:01:41.789Z,1761681701.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401570,0.887365,0.226553],[-0.914294,0.374125,0.155230],[0.052987,-0.269472,0.961549]] 2025-10-28T20:01:42.188Z,1761681702.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419963,0.891740,0.168613],[-0.905946,0.400913,0.136127],[0.053791,-0.209923,0.976237]] 2025-10-28T20:01:42.590Z,1761681702.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433990,0.894368,0.108442],[-0.900660,0.427832,0.075971],[0.021552,-0.130640,0.991196]] 2025-10-28T20:01:42.994Z,1761681702.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418434,0.904440,0.083078],[-0.908170,0.417841,0.025240],[-0.011885,-0.086010,0.996223]] 2025-10-28T20:01:43.401Z,1761681703.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408622,0.911428,0.048240],[-0.912330,0.409396,-0.006998],[-0.026127,-0.041151,0.998811]] 2025-10-28T20:01:43.804Z,1761681703.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395957,0.917511,0.037310],[-0.918198,0.395094,0.028530],[0.011436,-0.045555,0.998896]] 2025-10-28T20:01:44.206Z,1761681704.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398378,0.914351,0.072507],[-0.916422,0.393487,0.073066],[0.038277,-0.095555,0.994688]] 2025-10-28T20:01:44.610Z,1761681704.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418351,0.901670,0.109429],[-0.908285,0.415455,0.049152],[-0.001144,-0.119955,0.992779]] 2025-10-28T20:01:45.014Z,1761681705.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417042,0.896067,0.152120],[-0.908576,0.415396,0.043988],[-0.023774,-0.156557,0.987383]] 2025-10-28T20:01:45.426Z,1761681705.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411194,0.897623,0.158723],[-0.911545,0.404481,0.074034],[0.002254,-0.175125,0.984544]] 2025-10-28T20:01:45.433Z,1761681705.433 [NAL9602](INFO): SBD MO Status=1, MOMSN=3337, MT Status=0, MTMSN=0 2025-10-28T20:01:45.488Z,1761681705.488 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0037.lzma 2025-10-28T20:01:45.488Z,1761681705.488 [NAL9602](INFO): Packets left to send: 1 2025-10-28T20:01:45.824Z,1761681705.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408895,0.901692,0.140555],[-0.912275,0.399889,0.088562],[0.023649,-0.164438,0.986104]] 2025-10-28T20:01:46.557Z,1761681706.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458699,0.888237,0.025079],[-0.883375,0.452772,0.121020],[0.096139,-0.077666,0.992333]] 2025-10-28T20:01:46.952Z,1761681706.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463993,0.885834,0.002746],[-0.880801,0.461022,0.107923],[0.094336,-0.052494,0.994155]] 2025-10-28T20:01:49.078Z,1761681709.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484973,0.868824,0.099726],[-0.873798,0.476747,0.095857],[0.035739,-0.133629,0.990387]] 2025-10-28T20:01:49.450Z,1761681709.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501041,0.864227,0.045500],[-0.864365,0.497137,0.075687],[0.042791,-0.077251,0.996093]] 2025-10-28T20:01:49.854Z,1761681709.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518106,0.855163,0.016211],[-0.854281,0.516453,0.058995],[0.042078,-0.044414,0.998127]] 2025-10-28T20:01:50.259Z,1761681710.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511241,0.859028,0.026529],[-0.859347,0.510496,0.030267],[0.012457,-0.038272,0.999190]] 2025-10-28T20:01:50.664Z,1761681710.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493975,0.868527,0.040614],[-0.869223,0.492165,0.047174],[0.020983,-0.058606,0.998061]] 2025-10-28T20:01:51.066Z,1761681711.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526236,0.847033,0.074906],[-0.850170,0.522331,0.066188],[0.016938,-0.098514,0.994992]] 2025-10-28T20:01:51.470Z,1761681711.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549985,0.826670,0.118882],[-0.834421,0.549937,0.036193],[-0.035458,-0.119103,0.992249]] 2025-10-28T20:01:51.875Z,1761681711.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565454,0.815763,0.121623],[-0.824665,0.561658,0.066844],[-0.013781,-0.138096,0.990323]] 2025-10-28T20:01:52.279Z,1761681712.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555852,0.827663,0.077471],[-0.830096,0.547670,0.104870],[0.044368,-0.122600,0.991464]] 2025-10-28T20:01:52.682Z,1761681712.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561531,0.825997,0.049114],[-0.826101,0.556227,0.090382],[0.047337,-0.091325,0.994695]] 2025-10-28T20:01:52.717Z,1761681712.717 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:01:52.717Z,1761681712.717 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:01:52.717Z,1761681712.717 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:01:52.717Z,1761681712.717 [marl:UpdateRudder:A] Stopped 2025-10-28T20:01:52.717Z,1761681712.717 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:01:53.086Z,1761681713.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568308,0.821876,0.039315],[-0.822331,0.565686,0.061409],[0.028230,-0.067229,0.997338]] 2025-10-28T20:01:53.119Z,1761681713.119 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:01:53.119Z,1761681713.119 [marl:UpdateRudder:B] Stopped 2025-10-28T20:01:53.119Z,1761681713.119 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:01:53.119Z,1761681713.119 [marl:UpdateRudder] Stopped 2025-10-28T20:01:53.119Z,1761681713.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:01:53.491Z,1761681713.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569765,0.821769,0.007937],[-0.819786,0.567660,0.075580],[0.057604,-0.049570,0.997108]] 2025-10-28T20:01:53.905Z,1761681713.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590665,0.806844,-0.010898],[-0.804427,0.589848,0.070541],[0.063344,-0.032900,0.997449]] 2025-10-28T20:01:54.298Z,1761681714.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599947,0.800034,0.002954],[-0.798170,0.598289,0.070532],[0.054661,-0.044673,0.997505]] 2025-10-28T20:01:54.336Z,1761681714.336 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:01:54.336Z,1761681714.336 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:01:54.336Z,1761681714.336 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:01:54.336Z,1761681714.336 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateCommandMode] Stopped 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:01:54.337Z,1761681714.337 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:01:54.338Z,1761681714.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:01:54.338Z,1761681714.338 [marl:UpdateSpeed] Stopped 2025-10-28T20:01:54.338Z,1761681714.338 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:01:54.702Z,1761681714.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599262,0.800061,0.028047],[-0.797761,0.593882,0.104309],[0.066797,-0.084884,0.994149]] 2025-10-28T20:01:55.107Z,1761681715.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601814,0.796715,0.055369],[-0.793993,0.589410,0.148897],[0.085993,-0.133571,0.987301]] 2025-10-28T20:01:55.513Z,1761681715.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618586,0.782169,0.074587],[-0.780171,0.600187,0.176373],[0.093187,-0.167293,0.981493]] 2025-10-28T20:01:55.918Z,1761681715.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632576,0.771847,0.064031],[-0.767022,0.612865,0.189930],[0.107354,-0.169259,0.979707]] 2025-10-28T20:01:56.318Z,1761681716.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639624,0.767496,0.042795],[-0.761573,0.625163,0.170814],[0.104346,-0.141848,0.984373]] 2025-10-28T20:01:56.723Z,1761681716.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646815,0.760042,0.062981],[-0.761751,0.639845,0.101656],[0.036965,-0.113728,0.992824]] 2025-10-28T20:01:57.128Z,1761681717.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625900,0.777017,0.067038],[-0.779527,0.620612,0.084730],[0.024232,-0.105290,0.994146]] 2025-10-28T20:01:57.531Z,1761681717.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636584,0.769795,0.046650],[-0.767385,0.626254,0.137571],[0.076687,-0.123374,0.989393]] 2025-10-28T20:01:57.934Z,1761681717.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683318,0.727542,0.061308],[-0.729590,0.677208,0.095331],[0.027839,-0.109871,0.993556]] 2025-10-28T20:01:58.339Z,1761681718.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692743,0.715957,0.086682],[-0.719605,0.694165,0.017406],[-0.047710,-0.074435,0.996084]] 2025-10-28T20:01:58.744Z,1761681718.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686483,0.724091,0.066584],[-0.727092,0.684663,0.050726],[-0.008857,-0.083235,0.996491]] 2025-10-28T20:01:59.146Z,1761681719.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710132,0.700613,0.069670],[-0.703885,0.704203,0.092973],[0.016077,-0.115063,0.993228]] 2025-10-28T20:01:59.169Z,1761681719.169 [NAL9602](INFO): SBD MO Status=1, MOMSN=3338, MT Status=0, MTMSN=0 2025-10-28T20:01:59.220Z,1761681719.220 [NAL9602](INFO): Sent 91 bytes from file Logs/20251028T162422/Express0037.lzma 2025-10-28T20:01:59.220Z,1761681719.220 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:01:59.550Z,1761681719.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704265,0.701787,0.107269],[-0.709916,0.694975,0.114147],[0.005558,-0.156542,0.987656]] 2025-10-28T20:02:00.464Z,1761681720.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743024,0.667537,0.048064],[-0.664676,0.727630,0.169587],[0.078233,-0.157954,0.984343]] 2025-10-28T20:02:00.863Z,1761681720.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743180,0.664451,0.078665],[-0.668631,0.733162,0.124116],[0.024795,-0.144838,0.989145]] 2025-10-28T20:02:01.267Z,1761681721.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750857,0.656925,0.068282],[-0.660381,0.748385,0.061782],[-0.010515,-0.091481,0.995751]] 2025-10-28T20:02:01.672Z,1761681721.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762965,0.646439,0.000933],[-0.646114,0.762534,0.032837],[0.020516,-0.025656,0.999460]] 2025-10-28T20:02:02.078Z,1761681722.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750465,0.659793,-0.038420],[-0.659380,0.751415,0.024374],[0.044951,0.007041,0.998964]] 2025-10-28T20:02:02.479Z,1761681722.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748768,0.662674,-0.014478],[-0.662520,0.748907,0.014293],[0.020315,-0.001110,0.999793]] 2025-10-28T20:02:02.891Z,1761681722.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777728,0.628531,0.009333],[-0.628519,0.777304,0.027596],[0.010091,-0.027328,0.999576]] 2025-10-28T20:02:02.932Z,1761681722.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:02:03.287Z,1761681723.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776398,0.629689,-0.026439],[-0.628259,0.776598,0.046750],[0.049970,-0.019686,0.998557]] 2025-10-28T20:02:03.707Z,1761681723.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760835,0.648695,-0.018033],[-0.647284,0.760582,0.050385],[0.046400,-0.026663,0.998567]] 2025-10-28T20:02:03.936Z,1761681723.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:02:04.097Z,1761681724.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769009,0.637211,0.050865],[-0.639238,0.766614,0.060652],[-0.000346,-0.079157,0.996862]] 2025-10-28T20:02:04.500Z,1761681724.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768280,0.638078,0.051003],[-0.640029,0.764443,0.077387],[0.010390,-0.092098,0.995696]] 2025-10-28T20:02:04.909Z,1761681724.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770337,0.637516,0.012460],[-0.636380,0.767444,0.077782],[0.040025,-0.067847,0.996893]] 2025-10-28T20:02:05.310Z,1761681725.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793293,0.608259,0.026590],[-0.608794,0.793011,0.022419],[-0.007449,-0.033972,0.999395]] 2025-10-28T20:02:05.751Z,1761681725.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792891,0.609313,0.007833],[-0.609280,0.792506,0.026685],[0.010051,-0.025931,0.999613]] 2025-10-28T20:02:06.116Z,1761681726.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785799,0.618279,-0.015867],[-0.613463,0.782427,0.107106],[0.078637,-0.074430,0.994121]] 2025-10-28T20:02:06.519Z,1761681726.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798892,0.599936,0.042997],[-0.600444,0.791298,0.115391],[0.035204,-0.118002,0.992389]] 2025-10-28T20:02:06.566Z,1761681726.566 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:02:06.566Z,1761681726.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:02:06.566Z,1761681726.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:02:06.567Z,1761681726.567 [marl:UpdateRudder:A] Stopped 2025-10-28T20:02:06.567Z,1761681726.567 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:02:06.933Z,1761681726.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795188,0.596491,0.108974],[-0.605026,0.792444,0.077305],[-0.040244,-0.127404,0.991034]] 2025-10-28T20:02:06.964Z,1761681726.964 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:02:06.964Z,1761681726.964 [marl:UpdateRudder:B] Stopped 2025-10-28T20:02:06.964Z,1761681726.964 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:02:06.964Z,1761681726.964 [marl:UpdateRudder] Stopped 2025-10-28T20:02:06.964Z,1761681726.964 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:02:07.327Z,1761681727.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786109,0.615639,0.054966],[-0.617789,0.779854,0.100820],[0.019203,-0.113213,0.993385]] 2025-10-28T20:02:07.766Z,1761681727.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821287,0.569992,-0.024425],[-0.567010,0.820232,0.075629],[0.063142,-0.048264,0.996837]] 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:02:08.206Z,1761681728.206 [marl:UpdateCommandMode] Stopped 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed] Stopped 2025-10-28T20:02:08.207Z,1761681728.207 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:02:08.539Z,1761681728.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818038,0.571094,-0.068309],[-0.568698,0.820875,0.052412],[0.086005,-0.004028,0.996287]] 2025-10-28T20:02:08.946Z,1761681728.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805997,0.582563,-0.104828],[-0.576513,0.812753,0.084055],[0.134167,-0.007314,0.990932]] 2025-10-28T20:02:09.347Z,1761681729.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805974,0.590098,-0.046787],[-0.583856,0.805493,0.101462],[0.097559,-0.054458,0.993739]] 2025-10-28T20:02:09.770Z,1761681729.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826148,0.559559,0.066125],[-0.563418,0.819094,0.107916],[0.006223,-0.126410,0.991959]] 2025-10-28T20:02:10.164Z,1761681730.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823878,0.566137,0.026711],[-0.566214,0.820079,0.082896],[0.025026,-0.083420,0.996200]] 2025-10-28T20:02:10.564Z,1761681730.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819327,0.572485,0.031039],[-0.572933,0.815562,0.081271],[0.021212,-0.084371,0.996209]] 2025-10-28T20:02:10.972Z,1761681730.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827143,0.561044,0.032612],[-0.561941,0.824896,0.061399],[0.007546,-0.069112,0.997580]] 2025-10-28T20:02:11.381Z,1761681731.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819113,0.572776,0.031336],[-0.573586,0.817132,0.057395],[0.007268,-0.064987,0.997860]] 2025-10-28T20:02:11.387Z,1761681731.387 [NAL9602](INFO): SBD MO Status=0, MOMSN=3339, MT Status=0, MTMSN=0 2025-10-28T20:02:11.491Z,1761681731.491 [marl:NeedComms:D] Stopped 2025-10-28T20:02:11.492Z,1761681731.492 [marl:NeedComms:E] Running Loop=1 2025-10-28T20:02:11.782Z,1761681731.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812334,0.582604,0.026199],[-0.582972,0.809968,0.064002],[0.016068,-0.067264,0.997606]] 2025-10-28T20:02:12.177Z,1761681732.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825188,0.564421,0.022220],[-0.564640,0.823138,0.060208],[0.015692,-0.062229,0.997939]] 2025-10-28T20:02:12.580Z,1761681732.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818790,0.573977,0.011544],[-0.572540,0.814933,0.089900],[0.042193,-0.080218,0.995884]] 2025-10-28T20:02:12.988Z,1761681732.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809282,0.587389,-0.006095],[-0.579771,0.800369,0.152562],[0.094491,-0.119932,0.988275]] 2025-10-28T20:02:13.390Z,1761681733.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817400,0.575827,0.016765],[-0.572246,0.808281,0.138623],[0.066272,-0.122904,0.990203]] 2025-10-28T20:02:13.794Z,1761681733.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825044,0.563120,0.046886],[-0.564861,0.819651,0.095415],[0.015299,-0.105206,0.994333]] 2025-10-28T20:02:13.799Z,1761681733.799 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200213.00,A,3645.71776,N,12151.75833,W,0.486,164.46,281025,,,A*71 2025-10-28T20:02:13.801Z,1761681733.801 [NAL9602](INFO): GPS fix at 20251028T200213: (36.761963, -121.862639) 2025-10-28T20:02:13.886Z,1761681733.886 [marl:NeedComms:E] Stopped 2025-10-28T20:02:13.887Z,1761681733.887 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T20:02:13.887Z,1761681733.887 [marl:NeedComms] Stopped 2025-10-28T20:02:13.887Z,1761681733.887 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T20:02:13.887Z,1761681733.887 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T20:02:13.887Z,1761681733.887 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T20:02:13.893Z,1761681733.893 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761681792.00. Resetting abort timer. 2025-10-28T20:02:14.196Z,1761681734.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836325,0.548028,0.015032],[-0.546764,0.831764,0.096012],[0.040114,-0.088517,0.995267]] 2025-10-28T20:02:14.601Z,1761681734.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840167,0.541104,-0.036407],[-0.536244,0.838896,0.093253],[0.081002,-0.058825,0.994977]] 2025-10-28T20:02:15.046Z,1761681735.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835259,0.547677,-0.048912],[-0.544059,0.836060,0.070743],[0.079638,-0.032478,0.996295]] 2025-10-28T20:02:15.977Z,1761681735.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826598,0.562638,0.013181],[-0.562261,0.824574,0.062774],[0.024450,-0.059301,0.997941]] 2025-10-28T20:02:16.746Z,1761681736.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834056,0.551566,0.011189],[-0.549702,0.829180,0.101434],[0.046670,-0.090753,0.994779]] 2025-10-28T20:02:17.219Z,1761681737.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842280,0.537551,0.040050],[-0.538851,0.841628,0.036092],[-0.014306,-0.051980,0.998546]] 2025-10-28T20:02:17.688Z,1761681737.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827586,0.561064,0.017596],[-0.561335,0.827301,0.021822],[-0.002314,-0.027937,0.999607]] 2025-10-28T20:02:18.491Z,1761681738.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831989,0.554791,0.001139],[-0.554735,0.831873,0.015978],[0.007917,-0.013926,0.999872]] 2025-10-28T20:02:18.895Z,1761681738.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825539,0.563991,0.019967],[-0.564311,0.825359,0.018329],[-0.006142,-0.026399,0.999633]] 2025-10-28T20:02:19.301Z,1761681739.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838977,0.544018,0.012766],[-0.543864,0.837495,0.053048],[0.018167,-0.051449,0.998510]] 2025-10-28T20:02:19.745Z,1761681739.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840427,0.540731,0.035949],[-0.541165,0.833889,0.108485],[0.028684,-0.110628,0.993448]] 2025-10-28T20:02:20.107Z,1761681740.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833634,0.549074,0.059767],[-0.551318,0.820733,0.149818],[0.033208,-0.157845,0.986905]] 2025-10-28T20:02:20.510Z,1761681740.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840646,0.540091,0.040213],[-0.537710,0.823459,0.181060],[0.064675,-0.173830,0.982650]] 2025-10-28T20:02:20.915Z,1761681740.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844651,0.533778,0.040568],[-0.533113,0.831885,0.154132],[0.048525,-0.151815,0.987217]] 2025-10-28T20:02:20.940Z,1761681740.940 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:02:20.940Z,1761681740.940 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:02:20.940Z,1761681740.940 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:02:20.940Z,1761681740.940 [marl:UpdateRudder:A] Stopped 2025-10-28T20:02:20.940Z,1761681740.940 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:02:21.320Z,1761681741.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847405,0.527479,0.060584],[-0.530762,0.838558,0.122933],[0.014041,-0.136330,0.990564]] 2025-10-28T20:02:21.354Z,1761681741.354 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:02:21.355Z,1761681741.355 [marl:UpdateRudder:B] Stopped 2025-10-28T20:02:21.355Z,1761681741.355 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:02:21.355Z,1761681741.355 [marl:UpdateRudder] Stopped 2025-10-28T20:02:21.355Z,1761681741.355 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:02:21.761Z,1761681741.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845080,0.531499,0.057859],[-0.534164,0.834812,0.133257],[0.022525,-0.143519,0.989391]] 2025-10-28T20:02:22.173Z,1761681742.173 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:02:22.173Z,1761681742.173 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:02:22.173Z,1761681742.173 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateCommandMode] Stopped 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:02:22.174Z,1761681742.174 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:02:22.175Z,1761681742.175 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:02:22.175Z,1761681742.175 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:02:22.175Z,1761681742.175 [marl:UpdateSpeed] Stopped 2025-10-28T20:02:22.175Z,1761681742.175 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:02:22.937Z,1761681742.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831007,0.556220,0.006859],[-0.555357,0.828889,0.067243],[0.031717,-0.059689,0.997713]] 2025-10-28T20:02:23.349Z,1761681743.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825080,0.564827,0.014622],[-0.563878,0.821501,0.084727],[0.035844,-0.078152,0.996297]] 2025-10-28T20:02:23.774Z,1761681743.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823565,0.566902,0.019051],[-0.564494,0.815853,0.125422],[0.055559,-0.114047,0.991921]] 2025-10-28T20:02:24.147Z,1761681744.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821977,0.567023,0.053273],[-0.568240,0.810266,0.143428],[0.038161,-0.148166,0.988226]] 2025-10-28T20:02:24.552Z,1761681744.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823752,0.565724,0.037276],[-0.563510,0.809747,0.163604],[0.062371,-0.155775,0.985822]] 2025-10-28T20:02:24.623Z,1761681744.623 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:02:24.761Z,1761681744.761 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:02:24.762Z,1761681744.762 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:02:24.954Z,1761681744.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828684,0.559576,0.012571],[-0.554358,0.817443,0.156441],[0.077264,-0.136609,0.987607]] 2025-10-28T20:02:25.013Z,1761681745.013 [DAT](INFO): DAT read: user:230> 2025-10-28T20:02:25.015Z,1761681745.015 [DAT](INFO): DAT read: Tx time:20:02:24.7739 2025-10-28T20:02:25.015Z,1761681745.015 [DAT](INFO): Ping request sent. 2025-10-28T20:02:25.015Z,1761681745.015 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:02:25.015Z,1761681745.015 [DAT](INFO): publishing transmit ping time 2025-10-28T20:02:25.017Z,1761681745.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001837 2025-10-28T20:02:25.265Z,1761681745.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250002 2025-10-28T20:02:25.365Z,1761681745.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826204,0.562310,0.034564],[-0.562283,0.819244,0.112588],[0.034993,-0.112456,0.993040]] 2025-10-28T20:02:25.517Z,1761681745.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502003 2025-10-28T20:02:25.774Z,1761681745.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757652 2025-10-28T20:02:25.782Z,1761681745.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816495,0.574754,0.054713],[-0.574505,0.799413,0.175733],[0.057265,-0.174918,0.982916]] 2025-10-28T20:02:26.021Z,1761681746.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005832 2025-10-28T20:02:26.274Z,1761681746.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258545 2025-10-28T20:02:26.525Z,1761681746.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509754 2025-10-28T20:02:26.575Z,1761681746.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813191,0.568388,0.125123],[-0.581943,0.791176,0.188102],[0.007921,-0.225777,0.974147]] 2025-10-28T20:02:26.778Z,1761681746.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762422 2025-10-28T20:02:26.981Z,1761681746.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826183,0.558650,0.073015],[-0.562683,0.811630,0.156987],[0.028440,-0.170784,0.984898]] 2025-10-28T20:02:27.029Z,1761681747.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013905 2025-10-28T20:02:27.281Z,1761681747.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265837 2025-10-28T20:02:27.383Z,1761681747.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817312,0.573590,0.054737],[-0.576111,0.811873,0.094650],[0.009851,-0.108893,0.994005]] 2025-10-28T20:02:27.533Z,1761681747.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517813 2025-10-28T20:02:27.786Z,1761681747.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770506 2025-10-28T20:02:27.795Z,1761681747.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812925,0.580121,0.051109],[-0.582218,0.811572,0.048704],[-0.013224,-0.069349,0.997505]] 2025-10-28T20:02:28.037Z,1761681748.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021796 2025-10-28T20:02:28.190Z,1761681748.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821515,0.570049,0.012538],[-0.569168,0.818536,0.077755],[0.034061,-0.071013,0.996894]] 2025-10-28T20:02:28.289Z,1761681748.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274349 2025-10-28T20:02:28.541Z,1761681748.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525866 2025-10-28T20:02:28.591Z,1761681748.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811668,0.583046,0.035392],[-0.583379,0.806099,0.099363],[0.029404,-0.101297,0.994422]] 2025-10-28T20:02:28.793Z,1761681748.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778287 2025-10-28T20:02:28.995Z,1761681748.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814729,0.576981,0.057531],[-0.578295,0.801304,0.153256],[0.042326,-0.158132,0.986510]] 2025-10-28T20:02:29.045Z,1761681749.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029886 2025-10-28T20:02:29.297Z,1761681749.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281876 2025-10-28T20:02:29.400Z,1761681749.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811672,0.580259,0.066997],[-0.582850,0.797029,0.158211],[0.038405,-0.167465,0.985130]] 2025-10-28T20:02:29.549Z,1761681749.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533841 2025-10-28T20:02:29.801Z,1761681749.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785909 2025-10-28T20:02:29.812Z,1761681749.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794670,0.600808,0.086768],[-0.606847,0.782646,0.138571],[0.015346,-0.162773,0.986544]] 2025-10-28T20:02:30.053Z,1761681750.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037871 2025-10-28T20:02:30.206Z,1761681750.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797910,0.601445,0.040036],[-0.600372,0.787045,0.141823],[0.053789,-0.137199,0.989082]] 2025-10-28T20:02:30.305Z,1761681750.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290213 2025-10-28T20:02:30.557Z,1761681750.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541821 2025-10-28T20:02:30.610Z,1761681750.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815228,0.578973,0.013888],[-0.577555,0.810990,0.093415],[0.042821,-0.084176,0.995530]] 2025-10-28T20:02:30.809Z,1761681750.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793814 2025-10-28T20:02:31.015Z,1761681751.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799214,0.600250,0.030944],[-0.600817,0.796423,0.068775],[0.016638,-0.073558,0.997152]] 2025-10-28T20:02:31.061Z,1761681751.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046372 2025-10-28T20:02:31.313Z,1761681751.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297765 2025-10-28T20:02:31.420Z,1761681751.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794511,0.607017,0.016826],[-0.603888,0.786896,0.126937],[0.063813,-0.111014,0.991768]] 2025-10-28T20:02:31.565Z,1761681751.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549853 2025-10-28T20:02:31.817Z,1761681751.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802096 2025-10-28T20:02:31.845Z,1761681751.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801652,0.597786,0.002465],[-0.589820,0.790284,0.166024],[0.097299,-0.134547,0.986119]] 2025-10-28T20:02:32.069Z,1761681752.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053798 2025-10-28T20:02:32.226Z,1761681752.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791344,0.611305,-0.008948],[-0.602169,0.781879,0.161424],[0.105675,-0.122354,0.986845]] 2025-10-28T20:02:32.323Z,1761681752.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307366 2025-10-28T20:02:32.573Z,1761681752.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557818 2025-10-28T20:02:32.631Z,1761681752.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782212,0.622693,-0.019944],[-0.609107,0.771087,0.185507],[0.130892,-0.132958,0.982441]] 2025-10-28T20:02:32.826Z,1761681752.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810576 2025-10-28T20:02:33.034Z,1761681753.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770685,0.636087,-0.037906],[-0.614042,0.757240,0.222576],[0.170282,-0.148260,0.974178]] 2025-10-28T20:02:33.077Z,1761681753.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061976 2025-10-28T20:02:33.331Z,1761681753.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315600 2025-10-28T20:02:33.438Z,1761681753.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743114,0.666878,-0.055278],[-0.627999,0.723542,0.286539],[0.231083,-0.178216,0.956473]] 2025-10-28T20:02:33.581Z,1761681753.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565989 2025-10-28T20:02:33.846Z,1761681753.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830818 2025-10-28T20:02:33.852Z,1761681753.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738108,0.673738,-0.035690],[-0.626771,0.704312,0.333321],[0.249707,-0.223658,0.942138]] 2025-10-28T20:02:34.058Z,1761681754.058 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:02:34.097Z,1761681754.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081864 2025-10-28T20:02:34.248Z,1761681754.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749559,0.661684,-0.018328],[-0.628895,0.720508,0.292164],[0.206525,-0.207468,0.956193]] 2025-10-28T20:02:34.272Z,1761681754.272 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:02:34.272Z,1761681754.272 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:02:34.272Z,1761681754.272 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:02:34.273Z,1761681754.273 [marl:UpdateRudder:A] Stopped 2025-10-28T20:02:34.273Z,1761681754.273 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:02:34.350Z,1761681754.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334513 2025-10-28T20:02:34.601Z,1761681754.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585817 2025-10-28T20:02:34.650Z,1761681754.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725438,0.686557,-0.048784],[-0.662984,0.716052,0.218455],[0.184914,-0.126132,0.974627]] 2025-10-28T20:02:34.690Z,1761681754.690 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:02:34.690Z,1761681754.690 [marl:UpdateRudder:B] Stopped 2025-10-28T20:02:34.690Z,1761681754.690 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:02:34.690Z,1761681754.690 [marl:UpdateRudder] Stopped 2025-10-28T20:02:34.690Z,1761681754.690 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:02:34.853Z,1761681754.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837888 2025-10-28T20:02:35.055Z,1761681755.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713189,0.695552,-0.086998],[-0.666052,0.711106,0.225174],[0.218485,-0.102646,0.970427]] 2025-10-28T20:02:35.060Z,1761681755.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:02:35.105Z,1761681755.105 [DAT](INFO): Reached modem response timeout 2025-10-28T20:02:35.458Z,1761681755.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704684,0.698326,-0.125545],[-0.663937,0.711406,0.230413],[0.250217,-0.079014,0.964960]] 2025-10-28T20:02:35.512Z,1761681755.512 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode] Stopped 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:02:35.513Z,1761681755.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:02:35.514Z,1761681755.514 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:02:35.514Z,1761681755.514 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:02:35.514Z,1761681755.514 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:02:35.514Z,1761681755.514 [marl:UpdateSpeed] Stopped 2025-10-28T20:02:35.514Z,1761681755.514 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:02:35.865Z,1761681755.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685229,0.720554,-0.106127],[-0.686811,0.687766,0.235094],[0.242389,-0.088204,0.966161]] 2025-10-28T20:02:36.267Z,1761681756.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673867,0.734249,-0.082346],[-0.694725,0.667613,0.267674],[0.251515,-0.123169,0.959984]] 2025-10-28T20:02:36.670Z,1761681756.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662940,0.746334,-0.059133],[-0.702845,0.647625,0.294263],[0.257914,-0.153517,0.953893]] 2025-10-28T20:02:37.075Z,1761681757.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654924,0.754264,-0.046491],[-0.709230,0.634730,0.306776],[0.260899,-0.167942,0.950646]] 2025-10-28T20:02:37.373Z,1761681757.373 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:02:37.373Z,1761681757.373 [DAT](INFO): response not received 2025-10-28T20:02:37.373Z,1761681757.373 [DAT](ERROR): No response from remote modem. 2025-10-28T20:02:37.481Z,1761681757.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635759,0.764497,-0.106559],[-0.702850,0.630420,0.329502],[0.319081,-0.134589,0.938122]] 2025-10-28T20:02:37.884Z,1761681757.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620265,0.777016,-0.107321],[-0.707399,0.613236,0.351465],[0.338907,-0.142083,0.930029]] 2025-10-28T20:02:38.691Z,1761681758.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593951,0.804132,-0.024359],[-0.724673,0.547919,0.417892],[0.349387,-0.230555,0.908170]] 2025-10-28T20:02:39.096Z,1761681759.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584547,0.811290,0.010666],[-0.736578,0.525112,0.426274],[0.340232,-0.257033,0.904531]] 2025-10-28T20:02:39.499Z,1761681759.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563727,0.825877,-0.011798],[-0.743636,0.513704,0.427918],[0.359468,-0.232456,0.903741]] 2025-10-28T20:02:39.903Z,1761681759.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554906,0.831709,-0.018414],[-0.747053,0.507920,0.428869],[0.366047,-0.224225,0.903179]] 2025-10-28T20:02:40.310Z,1761681760.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556006,0.830847,0.023445],[-0.753524,0.491955,0.436099],[0.350798,-0.260140,0.899593]] 2025-10-28T20:02:40.717Z,1761681760.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560930,0.827461,0.025807],[-0.753131,0.497102,0.430910],[0.343732,-0.261146,0.902026]] 2025-10-28T20:02:41.114Z,1761681761.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557933,0.829886,0.000655],[-0.750447,0.504189,0.427343],[0.354316,-0.238920,0.904089]] 2025-10-28T20:02:41.518Z,1761681761.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548592,0.834445,-0.052423],[-0.745191,0.516419,0.421903],[0.379127,-0.192388,0.905124]] 2025-10-28T20:02:41.924Z,1761681761.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550691,0.833219,-0.049862],[-0.742468,0.516257,0.426873],[0.381420,-0.198054,0.902936]] 2025-10-28T20:02:42.342Z,1761681762.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553014,0.831090,-0.058869],[-0.737874,0.521349,0.428646],[0.386935,-0.193609,0.901553]] 2025-10-28T20:02:42.735Z,1761681762.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558614,0.826674,-0.067535],[-0.732705,0.529992,0.426909],[0.388707,-0.188995,0.901769]] 2025-10-28T20:02:43.134Z,1761681763.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559003,0.824403,-0.088739],[-0.732726,0.541243,0.412514],[0.388107,-0.165575,0.906619]] 2025-10-28T20:02:43.538Z,1761681763.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557101,0.824365,-0.100310],[-0.737930,0.546818,0.395536],[0.380917,-0.146332,0.912956]] 2025-10-28T20:02:43.944Z,1761681763.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559869,0.824961,-0.077376],[-0.745751,0.542397,0.386860],[0.361113,-0.158888,0.918886]] 2025-10-28T20:02:44.355Z,1761681764.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564452,0.824662,-0.036433],[-0.753952,0.533018,0.383991],[0.336082,-0.189276,0.922618]] 2025-10-28T20:02:44.757Z,1761681764.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567378,0.823279,-0.017142],[-0.757294,0.529853,0.381788],[0.323401,-0.203636,0.924091]] 2025-10-28T20:02:45.155Z,1761681765.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568278,0.822248,-0.031114],[-0.753484,0.535202,0.381865],[0.330640,-0.193562,0.923694]] 2025-10-28T20:02:45.561Z,1761681765.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565859,0.822404,-0.058781],[-0.747672,0.541876,0.383871],[0.347549,-0.173267,0.921514]] 2025-10-28T20:02:45.964Z,1761681765.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566168,0.821054,-0.072973],[-0.743738,0.547004,0.384240],[0.355398,-0.163272,0.920345]] 2025-10-28T20:02:46.370Z,1761681766.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568662,0.819961,-0.065486],[-0.743697,0.546520,0.385007],[0.351481,-0.170237,0.920587]] 2025-10-28T20:02:46.782Z,1761681766.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574130,0.817212,-0.050400],[-0.743787,0.546299,0.385147],[0.342280,-0.183637,0.921478]] 2025-10-28T20:02:46.786Z,1761681766.786 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T20:02:47.176Z,1761681767.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582012,0.812387,-0.035901],[-0.741917,0.548563,0.385535],[0.332898,-0.197751,0.921994]] 2025-10-28T20:02:47.578Z,1761681767.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587634,0.808807,-0.022744],[-0.741049,0.549265,0.386206],[0.324859,-0.210093,0.922132]] 2025-10-28T20:02:47.610Z,1761681767.610 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:02:47.610Z,1761681767.610 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:02:47.610Z,1761681767.610 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:02:47.611Z,1761681767.611 [marl:UpdateRudder:A] Stopped 2025-10-28T20:02:47.611Z,1761681767.611 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:02:48.043Z,1761681768.043 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:02:48.043Z,1761681768.043 [marl:UpdateRudder:B] Stopped 2025-10-28T20:02:48.043Z,1761681768.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:02:48.043Z,1761681768.043 [marl:UpdateRudder] Stopped 2025-10-28T20:02:48.043Z,1761681768.043 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:02:48.392Z,1761681768.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589662,0.807630,-0.005774],[-0.745082,0.546726,0.382025],[0.311692,-0.220963,0.924134]] 2025-10-28T20:02:48.816Z,1761681768.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589801,0.807537,-0.004272],[-0.746928,0.547530,0.377239],[0.306974,-0.219305,0.926106]] 2025-10-28T20:02:48.849Z,1761681768.849 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:02:48.849Z,1761681768.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:02:48.849Z,1761681768.849 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateCommandMode] Stopped 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:02:48.850Z,1761681768.850 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:02:48.851Z,1761681768.851 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:02:48.851Z,1761681768.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:02:48.851Z,1761681768.851 [marl:UpdateSpeed] Stopped 2025-10-28T20:02:48.851Z,1761681768.851 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:02:49.195Z,1761681769.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590328,0.807163,0.000987],[-0.748923,0.547277,0.373634],[0.301043,-0.221306,0.927576]] 2025-10-28T20:02:49.599Z,1761681769.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590820,0.806684,0.013843],[-0.752372,0.544684,0.370480],[0.291320,-0.229302,0.928737]] 2025-10-28T20:02:50.002Z,1761681770.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591969,0.805548,0.025787],[-0.756463,0.544289,0.362648],[0.278095,-0.234183,0.931570]] 2025-10-28T20:02:50.407Z,1761681770.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594621,0.803386,0.031559],[-0.759170,0.548104,0.351059],[0.264739,-0.232706,0.935821]] 2025-10-28T20:02:50.823Z,1761681770.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598989,0.800295,0.027193],[-0.759754,0.557263,0.335012],[0.252955,-0.221328,0.941822]] 2025-10-28T20:02:51.215Z,1761681771.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604123,0.796728,0.016145],[-0.758200,0.568436,0.319394],[0.245293,-0.205194,0.947484]] 2025-10-28T20:02:51.621Z,1761681771.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607357,0.794429,-0.000325],[-0.755712,0.577884,0.308139],[0.244982,-0.186905,0.951341]] 2025-10-28T20:02:52.022Z,1761681772.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606741,0.794693,-0.018135],[-0.754437,0.582893,0.301764],[0.250381,-0.169411,0.953210]] 2025-10-28T20:02:52.426Z,1761681772.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601874,0.798105,-0.027861],[-0.756346,0.580886,0.300854],[0.256297,-0.160003,0.953263]] 2025-10-28T20:02:52.835Z,1761681772.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596547,0.802174,-0.025448],[-0.760489,0.575112,0.301500],[0.256491,-0.160506,0.953127]] 2025-10-28T20:02:53.236Z,1761681773.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594463,0.804005,-0.013762],[-0.764485,0.570385,0.300374],[0.249352,-0.168041,0.953722]] 2025-10-28T20:02:53.638Z,1761681773.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591794,0.806087,0.001838],[-0.769273,0.564083,0.300048],[0.240828,-0.178981,0.953922]] 2025-10-28T20:02:54.042Z,1761681774.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589046,0.807958,0.015130],[-0.773336,0.558175,0.300654],[0.234471,-0.188800,0.953613]] 2025-10-28T20:02:54.450Z,1761681774.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585538,0.810300,0.023622],[-0.776197,0.552014,0.304628],[0.233800,-0.196707,0.952179]] 2025-10-28T20:02:54.859Z,1761681774.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583812,0.811538,0.023874],[-0.776334,0.549397,0.308980],[0.237632,-0.198921,0.950769]] 2025-10-28T20:02:55.254Z,1761681775.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584445,0.811148,0.021512],[-0.774314,0.549587,0.313676],[0.242615,-0.199983,0.949286]] 2025-10-28T20:02:55.659Z,1761681775.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585113,0.810655,0.021932],[-0.773019,0.549366,0.317237],[0.245121,-0.202574,0.948093]] 2025-10-28T20:02:56.063Z,1761681776.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585628,0.810036,0.029687],[-0.773326,0.547362,0.319939],[0.242913,-0.210324,0.946973]] 2025-10-28T20:02:56.469Z,1761681776.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587157,0.808335,0.042908],[-0.774379,0.545473,0.320620],[0.235763,-0.221481,0.946236]] 2025-10-28T20:02:56.871Z,1761681776.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590734,0.804807,0.057614],[-0.774927,0.546011,0.318372],[0.224770,-0.232720,0.946213]] 2025-10-28T20:02:57.274Z,1761681777.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595916,0.799875,0.071304],[-0.774656,0.549176,0.313550],[0.211643,-0.242085,0.946891]] 2025-10-28T20:02:57.751Z,1761681777.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598494,0.796971,0.081499],[-0.776025,0.551468,0.306052],[0.198971,-0.246416,0.948520]] 2025-10-28T20:02:58.085Z,1761681778.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596456,0.797819,0.087889],[-0.780259,0.550653,0.296610],[0.188245,-0.245491,0.950946]] 2025-10-28T20:02:58.487Z,1761681778.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592255,0.800841,0.088806],[-0.785771,0.549659,0.283619],[0.178320,-0.237756,0.954816]] 2025-10-28T20:02:58.891Z,1761681778.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588148,0.803744,0.089877],[-0.791153,0.548725,0.270144],[0.167809,-0.229991,0.958616]] 2025-10-28T20:02:59.303Z,1761681779.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584313,0.806215,0.092715],[-0.796210,0.547436,0.257612],[0.156935,-0.224347,0.961790]] 2025-10-28T20:02:59.733Z,1761681779.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580450,0.808674,0.095526],[-0.800881,0.545739,0.246492],[0.147199,-0.219581,0.964425]] 2025-10-28T20:03:00.103Z,1761681780.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576058,0.811625,0.097069],[-0.805110,0.542854,0.238970],[0.141260,-0.215812,0.966163]] 2025-10-28T20:03:00.506Z,1761681780.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570495,0.815664,0.096061],[-0.809150,0.538151,0.235945],[0.140757,-0.212333,0.967007]] 2025-10-28T20:03:00.914Z,1761681780.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569483,0.816565,0.094400],[-0.809807,0.537613,0.234915],[0.141072,-0.210226,0.967421]] 2025-10-28T20:03:00.949Z,1761681780.949 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:03:00.949Z,1761681780.949 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:03:00.949Z,1761681780.949 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:03:00.950Z,1761681780.950 [marl:UpdateRudder:A] Stopped 2025-10-28T20:03:00.950Z,1761681780.950 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:03:01.346Z,1761681781.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571638,0.814955,0.095275],[-0.808408,0.539534,0.235328],[0.140377,-0.211544,0.967235]] 2025-10-28T20:03:01.387Z,1761681781.386 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:03:01.387Z,1761681781.387 [marl:UpdateRudder:B] Stopped 2025-10-28T20:03:01.387Z,1761681781.387 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:03:01.387Z,1761681781.387 [marl:UpdateRudder] Stopped 2025-10-28T20:03:01.387Z,1761681781.387 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:03:01.769Z,1761681781.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572880,0.813426,0.100731],[-0.807811,0.539530,0.237377],[0.138741,-0.217361,0.966181]] 2025-10-28T20:03:02.150Z,1761681782.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573740,0.811761,0.108937],[-0.808122,0.539421,0.236567],[0.133273,-0.223763,0.965489]] 2025-10-28T20:03:02.182Z,1761681782.182 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:03:02.182Z,1761681782.182 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:03:02.182Z,1761681782.182 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:03:02.182Z,1761681782.182 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:03:02.182Z,1761681782.182 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateCommandMode] Stopped 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed] Stopped 2025-10-28T20:03:02.183Z,1761681782.183 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:03:02.555Z,1761681782.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574749,0.809526,0.119712],[-0.809080,0.540206,0.231447],[0.122693,-0.229880,0.965454]] 2025-10-28T20:03:02.959Z,1761681782.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575718,0.806995,0.131556],[-0.810559,0.542150,0.221513],[0.107437,-0.234163,0.966243]] 2025-10-28T20:03:03.363Z,1761681783.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574670,0.806058,0.141507],[-0.813363,0.543415,0.207702],[0.090523,-0.234457,0.967903]] 2025-10-28T20:03:03.777Z,1761681783.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570708,0.808035,0.146194],[-0.817703,0.542926,0.191294],[0.075200,-0.228717,0.970584]] 2025-10-28T20:03:04.170Z,1761681784.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566136,0.811027,0.147396],[-0.821985,0.542015,0.174817],[0.061891,-0.220127,0.973506]] 2025-10-28T20:03:04.574Z,1761681784.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561839,0.814500,0.144661],[-0.825677,0.541364,0.158690],[0.050939,-0.208602,0.976673]] 2025-10-28T20:03:04.983Z,1761681784.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557584,0.817819,0.142381],[-0.828973,0.539545,0.147293],[0.043638,-0.200158,0.978791]] 2025-10-28T20:03:05.192Z,1761681785.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:03:05.384Z,1761681785.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553647,0.821101,0.138810],[-0.831776,0.537198,0.139882],[0.040289,-0.192904,0.980390]] 2025-10-28T20:03:05.799Z,1761681785.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550975,0.823519,0.135070],[-0.833531,0.535178,0.137154],[0.040663,-0.188153,0.981297]] 2025-10-28T20:03:06.191Z,1761681786.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550580,0.824144,0.132849],[-0.833674,0.534642,0.138370],[0.043010,-0.186936,0.981430]] 2025-10-28T20:03:06.196Z,1761681786.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:03:06.594Z,1761681786.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551198,0.823653,0.133332],[-0.833076,0.534357,0.142991],[0.046528,-0.189892,0.980702]] 2025-10-28T20:03:06.000Z,1761681787.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551742,0.822370,0.138880],[-0.832547,0.533206,0.150189],[0.049459,-0.198490,0.978854]] 2025-10-28T20:03:07.403Z,1761681787.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552446,0.819878,0.150344],[-0.832075,0.531702,0.157937],[0.049551,-0.212349,0.975937]] 2025-10-28T20:03:07.809Z,1761681787.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553922,0.815718,0.166655],[-0.831368,0.531182,0.163319],[0.044698,-0.229017,0.972396]] 2025-10-28T20:03:08.211Z,1761681788.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556947,0.810279,0.182366],[-0.829828,0.533743,0.162801],[0.034578,-0.242004,0.969659]] 2025-10-28T20:03:08.624Z,1761681788.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562357,0.802133,0.200839],[-0.826853,0.543061,0.146283],[0.008271,-0.248328,0.968641]] 2025-10-28T20:03:09.023Z,1761681789.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557727,0.804961,0.202431],[-0.830024,0.540554,0.137336],[0.001125,-0.244618,0.969619]] 2025-10-28T20:03:09.427Z,1761681789.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552739,0.809384,0.198437],[-0.833347,0.537831,0.127556],[-0.003484,-0.235872,0.971778]] 2025-10-28T20:03:09.831Z,1761681789.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547877,0.813563,0.194801],[-0.836536,0.534527,0.120364],[-0.006202,-0.228903,0.973430]] 2025-10-28T20:03:10.237Z,1761681790.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543116,0.817631,0.191064],[-0.839622,0.530964,0.114510],[-0.007821,-0.222614,0.974875]] 2025-10-28T20:03:10.636Z,1761681790.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538950,0.820758,0.189444],[-0.842277,0.527793,0.109558],[-0.010067,-0.218611,0.975760]] 2025-10-28T20:03:11.039Z,1761681791.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534943,0.823414,0.189276],[-0.844786,0.524771,0.104651],[-0.013156,-0.215880,0.976331]] 2025-10-28T20:03:11.443Z,1761681791.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531645,0.825667,0.188750],[-0.846816,0.522397,0.100025],[-0.016015,-0.213015,0.976918]] 2025-10-28T20:03:11.848Z,1761681791.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530144,0.826971,0.187258],[-0.847723,0.521542,0.096742],[-0.017660,-0.210030,0.977535]] 2025-10-28T20:03:12.251Z,1761681792.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531501,0.827165,0.182496],[-0.846869,0.523452,0.093865],[-0.017886,-0.204439,0.978716]] 2025-10-28T20:03:12.655Z,1761681792.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534704,0.826002,0.178359],[-0.844884,0.526610,0.094089],[-0.016208,-0.201003,0.979457]] 2025-10-28T20:03:13.059Z,1761681793.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537939,0.824607,0.175058],[-0.842887,0.529294,0.096895],[-0.012757,-0.199677,0.979779]] 2025-10-28T20:03:13.466Z,1761681793.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540827,0.822754,0.174876],[-0.841084,0.531244,0.101770],[-0.009170,-0.202125,0.979317]] 2025-10-28T20:03:13.867Z,1761681793.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543588,0.820051,0.178963],[-0.839318,0.533002,0.107027],[-0.007620,-0.208386,0.978017]] 2025-10-28T20:03:14.278Z,1761681794.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546726,0.816446,0.185758],[-0.837257,0.535604,0.110131],[-0.009577,-0.215739,0.976404]] 2025-10-28T20:03:14.317Z,1761681794.317 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:03:14.318Z,1761681794.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:03:14.318Z,1761681794.318 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:03:14.318Z,1761681794.318 [marl:UpdateRudder:A] Stopped 2025-10-28T20:03:14.318Z,1761681794.318 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:03:14.675Z,1761681794.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550621,0.812082,0.193235],[-0.834604,0.539979,0.108901],[-0.015906,-0.221238,0.975090]] 2025-10-28T20:03:14.722Z,1761681794.722 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:03:14.722Z,1761681794.722 [marl:UpdateRudder:B] Stopped 2025-10-28T20:03:14.722Z,1761681794.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:03:14.722Z,1761681794.722 [marl:UpdateRudder] Stopped 2025-10-28T20:03:14.722Z,1761681794.722 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:03:15.079Z,1761681795.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551857,0.809289,0.201259],[-0.833587,0.542324,0.104963],[-0.024202,-0.225692,0.973898]] 2025-10-28T20:03:15.483Z,1761681795.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546886,0.811239,0.206899],[-0.836643,0.538640,0.099478],[-0.030743,-0.227503,0.973292]] 2025-10-28T20:03:15.523Z,1761681795.523 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:03:15.523Z,1761681795.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:03:15.523Z,1761681795.523 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateCommandMode] Stopped 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:03:15.524Z,1761681795.524 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:03:15.525Z,1761681795.525 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:03:15.525Z,1761681795.525 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:03:15.525Z,1761681795.525 [marl:UpdateSpeed] Stopped 2025-10-28T20:03:15.525Z,1761681795.525 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:03:15.886Z,1761681795.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541115,0.814416,0.209571],[-0.840173,0.534261,0.093140],[-0.036111,-0.226476,0.973347]] 2025-10-28T20:03:16.296Z,1761681796.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536626,0.817690,0.208366],[-0.842928,0.530810,0.087820],[-0.038793,-0.222764,0.974100]] 2025-10-28T20:03:16.697Z,1761681796.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533501,0.820803,0.204103],[-0.844964,0.527945,0.085500],[-0.037576,-0.218074,0.975209]] 2025-10-28T20:03:17.099Z,1761681797.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532443,0.823031,0.197798],[-0.845811,0.526491,0.086090],[-0.033284,-0.213138,0.976455]] 2025-10-28T20:03:17.503Z,1761681797.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534333,0.822755,0.193807],[-0.844803,0.527458,0.089976],[-0.028197,-0.211806,0.976905]] 2025-10-28T20:03:17.906Z,1761681797.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538367,0.821043,0.189868],[-0.842392,0.530519,0.094472],[-0.023163,-0.210804,0.977254]] 2025-10-28T20:03:18.311Z,1761681798.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543064,0.818556,0.187209],[-0.839500,0.534038,0.100219],[-0.017942,-0.211587,0.977194]] 2025-10-28T20:03:18.716Z,1761681798.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547251,0.815884,0.186677],[-0.836862,0.536952,0.106511],[-0.013336,-0.214511,0.976631]] 2025-10-28T20:03:19.119Z,1761681799.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550771,0.812526,0.190925],[-0.834584,0.539137,0.113143],[-0.011003,-0.221659,0.975062]] 2025-10-28T20:03:19.531Z,1761681799.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553078,0.809060,0.198811],[-0.833034,0.540656,0.117245],[-0.012630,-0.230462,0.972999]] 2025-10-28T20:03:19.927Z,1761681799.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553290,0.806758,0.207392],[-0.832810,0.540910,0.117662],[-0.017256,-0.237819,0.971156]] 2025-10-28T20:03:20.330Z,1761681800.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550776,0.807207,0.212279],[-0.834341,0.539417,0.113596],[-0.022812,-0.239679,0.970584]] 2025-10-28T20:03:20.735Z,1761681800.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545705,0.810634,0.212317],[-0.837555,0.535673,0.107494],[-0.026594,-0.236487,0.971271]] 2025-10-28T20:03:21.140Z,1761681801.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538745,0.816717,0.206703],[-0.842066,0.529613,0.102151],[-0.026044,-0.229091,0.973057]] 2025-10-28T20:03:21.543Z,1761681801.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534007,0.821877,0.198379],[-0.845190,0.525068,0.099785],[-0.022152,-0.220954,0.975033]] 2025-10-28T20:03:21.765Z,1761681801.765 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-10-28T20:03:21.947Z,1761681801.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534065,0.823248,0.192451],[-0.845270,0.524551,0.101809],[-0.017137,-0.217046,0.976011]] 2025-10-28T20:03:22.351Z,1761681802.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536815,0.822186,0.189313],[-0.843613,0.526284,0.106496],[-0.012073,-0.216876,0.976125]] 2025-10-28T20:03:22.531Z,1761681802.531 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-28T20:03:22.534Z,1761681802.534 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-28T20:03:22.770Z,1761681802.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541402,0.819426,0.188214],[-0.840726,0.529756,0.111977],[-0.007951,-0.218861,0.975724]] 2025-10-28T20:03:23.167Z,1761681803.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547340,0.815538,0.187928],[-0.836887,0.535028,0.115611],[-0.006261,-0.220553,0.975355]] 2025-10-28T20:03:23.534Z,1761681803.534 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-28T20:03:23.535Z,1761681803.535 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-28T20:03:23.563Z,1761681803.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553819,0.811153,0.187927],[-0.832609,0.541356,0.117025],[-0.006810,-0.221280,0.975186]] 2025-10-28T20:03:23.966Z,1761681803.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556449,0.809339,0.187973],[-0.830858,0.543721,0.118503],[-0.006296,-0.222120,0.974999]] 2025-10-28T20:03:24.371Z,1761681804.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555300,0.810197,0.187679],[-0.831636,0.542288,0.119605],[-0.004872,-0.222497,0.974921]] 2025-10-28T20:03:24.538Z,1761681804.538 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-28T20:03:24.539Z,1761681804.539 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-28T20:03:24.786Z,1761681804.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552451,0.812325,0.186885],[-0.833538,0.539342,0.119685],[-0.003572,-0.221895,0.975064]] 2025-10-28T20:03:24.811Z,1761681804.811 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:03:25.013Z,1761681805.013 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:03:25.013Z,1761681805.013 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:03:25.178Z,1761681805.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548296,0.815261,0.186333],[-0.836282,0.535063,0.119754],[-0.002069,-0.221488,0.975161]] 2025-10-28T20:03:25.266Z,1761681805.266 [DAT](INFO): DAT read: user:231> 2025-10-28T20:03:25.267Z,1761681805.267 [DAT](INFO): DAT read: Tx time:20:03:25.0236 2025-10-28T20:03:25.267Z,1761681805.267 [DAT](INFO): Ping request sent. 2025-10-28T20:03:25.267Z,1761681805.267 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:03:25.268Z,1761681805.268 [DAT](INFO): publishing transmit ping time 2025-10-28T20:03:25.269Z,1761681805.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001813 2025-10-28T20:03:25.517Z,1761681805.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249534 2025-10-28T20:03:25.542Z,1761681805.542 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-28T20:03:25.543Z,1761681805.543 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-28T20:03:25.586Z,1761681805.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543453,0.819162,0.183393],[-0.839437,0.529725,0.121396],[0.002295,-0.219920,0.975515]] 2025-10-28T20:03:25.770Z,1761681805.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236 2025-10-28T20:03:25.988Z,1761681805.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539182,0.823350,0.177137],[-0.842110,0.524183,0.126817],[0.011563,-0.217547,0.975981]] 2025-10-28T20:03:26.021Z,1761681806.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753679 2025-10-28T20:03:26.151Z,1761681806.151 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.003859 CHAN A1 (24V): -0.000205 CHAN A2 (12V): -0.008408 CHAN A3 (5V): -0.001020 CHAN B0 (3.3V): 0.000415 CHAN B1 (3.15aV): -0.000290 CHAN B2 (3.15bV): 0.000495 CHAN B3 (GND): 0.000320 OPEN: 0.006210 Full Scale: +/- 1 mA 2025-10-28T20:03:26.273Z,1761681806.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005824 2025-10-28T20:03:26.392Z,1761681806.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539525,0.824365,0.171273],[-0.841663,0.522562,0.136135],[0.022724,-0.217602,0.975773]] 2025-10-28T20:03:26.525Z,1761681806.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257565 2025-10-28T20:03:26.777Z,1761681806.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509983 2025-10-28T20:03:26.797Z,1761681806.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544049,0.822204,0.167309],[-0.838428,0.525028,0.146232],[0.032390,-0.219833,0.975000]] 2025-10-28T20:03:27.029Z,1761681807.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761530 2025-10-28T20:03:27.198Z,1761681807.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549280,0.818704,0.167380],[-0.834739,0.528276,0.155356],[0.038768,-0.225052,0.973575]] 2025-10-28T20:03:27.282Z,1761681807.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014637 2025-10-28T20:03:27.533Z,1761681807.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265550 2025-10-28T20:03:27.602Z,1761681807.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553821,0.815118,0.169897],[-0.831617,0.531416,0.161276],[0.041173,-0.230607,0.972175]] 2025-10-28T20:03:27.631Z,1761681807.631 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:03:27.631Z,1761681807.631 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:03:27.631Z,1761681807.631 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:03:27.631Z,1761681807.631 [marl:UpdateRudder:A] Stopped 2025-10-28T20:03:27.631Z,1761681807.631 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:03:27.785Z,1761681807.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517930 2025-10-28T20:03:28.006Z,1761681808.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557332,0.812362,0.171606],[-0.829248,0.534263,0.164046],[0.041582,-0.233732,0.971411]] 2025-10-28T20:03:28.037Z,1761681808.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769690 2025-10-28T20:03:28.051Z,1761681808.051 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:03:28.051Z,1761681808.051 [marl:UpdateRudder:B] Stopped 2025-10-28T20:03:28.051Z,1761681808.051 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:03:28.051Z,1761681808.051 [marl:UpdateRudder] Stopped 2025-10-28T20:03:28.052Z,1761681808.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:03:28.289Z,1761681808.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021628 2025-10-28T20:03:28.410Z,1761681808.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559963,0.811084,0.169067],[-0.827368,0.536677,0.165650],[0.043622,-0.232639,0.971584]] 2025-10-28T20:03:28.541Z,1761681808.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273613 2025-10-28T20:03:28.793Z,1761681808.793 [DAT](INFO): DAT read: Rx Time:20:03:28.0310 2025-10-28T20:03:28.793Z,1761681808.793 [DAT](INFO): Rx dataTimestamp_ set to:1761681808.793134 2025-10-28T20:03:28.794Z,1761681808.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526635 2025-10-28T20:03:28.814Z,1761681808.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562754,0.810624,0.161855],[-0.825215,0.539492,0.167237],[0.048246,-0.227679,0.972540]] 2025-10-28T20:03:28.865Z,1761681808.865 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:03:28.865Z,1761681808.865 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:03:28.865Z,1761681808.865 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateCommandMode] Stopped 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:03:28.866Z,1761681808.866 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:03:28.867Z,1761681808.867 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:03:28.867Z,1761681808.867 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:03:28.867Z,1761681808.867 [marl:UpdateSpeed] Stopped 2025-10-28T20:03:28.867Z,1761681808.867 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:03:29.045Z,1761681809.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777678 2025-10-28T20:03:29.225Z,1761681809.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565438,0.810122,0.154862],[-0.823036,0.541959,0.169978],[0.053774,-0.223569,0.973204]] 2025-10-28T20:03:29.303Z,1761681809.303 [DAT](INFO): DAT read: 20:03:28.0310 LVL= 32752, 28081, 32754, 32755, AGC= 74, IDX= 268, 0.36, 1.541,-2.565, 2.663, 2.925, PHS=-1.282, 0.838,-0.306, RAW= 302.6, 8.2, CAL= 300.1, 8.9, ROT= 209.9, -8.9 2025-10-28T20:03:29.304Z,1761681809.304 [DAT](INFO): got valid direction response: 20:03:28.0310 LVL= 32752, 28081, 32754, 32755, AGC= 74, IDX= 268, 0.36, 1.541,-2.565, 2.663, 2.925, PHS=-1.282, 0.838,-0.306, RAW= 302.6, 8.2, CAL= 300.1, 8.9, ROT= 209.9, -8.9 2025-10-28T20:03:29.305Z,1761681809.305 [DAT](INFO): DAT read: Bearing 121, 0 (Remote) 2025-10-28T20:03:29.305Z,1761681809.305 [DAT](INFO): Remote Bearing received:Bearing 121, 0 (Remote) 2025-10-28T20:03:29.306Z,1761681809.306 [DAT](INFO): DAT read: Bearing 291.1, -33.7 (Local) 2025-10-28T20:03:29.306Z,1761681809.306 [DAT](INFO): Local bearing/azimuth received: Bearing 291.1, -33.7 (Local) 2025-10-28T20:03:29.308Z,1761681809.308 [DAT](INFO): DAT read: Range 11 to 20 : 733.7 m (Round-trip 978.3 ms) speed -0.6 m/s 2025-10-28T20:03:29.309Z,1761681809.309 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:03:29.310Z,1761681809.310 [DAT](INFO): direction in FSK: [-0.856459,-0.492486,0.154710] 2025-10-28T20:03:29.310Z,1761681809.310 [DAT](INFO): publishing direction and range info 2025-10-28T20:03:29.623Z,1761681809.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566260,0.810170,0.151571],[-0.822181,0.542274,0.173081],[0.058032,-0.222627,0.973175]] 2025-10-28T20:03:29.680Z,1761681809.680 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681792.00. Resetting abort timer. 2025-10-28T20:03:30.026Z,1761681810.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564883,0.810719,0.153762],[-0.823004,0.540036,0.176142],[0.059765,-0.226046,0.972281]] 2025-10-28T20:03:30.431Z,1761681810.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561781,0.811998,0.158310],[-0.825139,0.536189,0.177899],[0.059570,-0.230568,0.971231]] 2025-10-28T20:03:30.834Z,1761681810.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557556,0.814089,0.162454],[-0.827998,0.531316,0.179228],[0.059593,-0.234441,0.970302]] 2025-10-28T20:03:31.241Z,1761681811.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552405,0.817689,0.161971],[-0.831259,0.525893,0.180123],[0.062105,-0.234141,0.970217]] 2025-10-28T20:03:31.646Z,1761681811.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546673,0.822013,0.159509],[-0.834640,0.519625,0.182663],[0.067266,-0.232990,0.970150]] 2025-10-28T20:03:32.047Z,1761681812.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541731,0.826019,0.155631],[-0.837284,0.513984,0.186483],[0.074046,-0.231331,0.970053]] 2025-10-28T20:03:32.453Z,1761681812.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539852,0.828344,0.149687],[-0.837901,0.511804,0.189679],[0.080509,-0.227821,0.970369]] 2025-10-28T20:03:32.854Z,1761681812.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541800,0.827898,0.145047],[-0.836131,0.513306,0.193394],[0.085657,-0.226059,0.970340]] 2025-10-28T20:03:33.266Z,1761681813.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544229,0.827154,0.140111],[-0.834014,0.515370,0.197013],[0.090751,-0.224075,0.970337]] 2025-10-28T20:03:33.666Z,1761681813.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546731,0.826036,0.136929],[-0.831850,0.517213,0.201285],[0.095447,-0.223953,0.969915]] 2025-10-28T20:03:34.069Z,1761681814.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548926,0.824669,0.136385],[-0.829994,0.518449,0.205720],[0.098943,-0.226123,0.969061]] 2025-10-28T20:03:34.875Z,1761681814.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551791,0.821275,0.145032],[-0.827804,0.518228,0.214896],[0.101329,-0.238636,0.965808]] 2025-10-28T20:03:35.279Z,1761681815.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552360,0.820291,0.148393],[-0.827384,0.517773,0.217592],[0.101655,-0.242968,0.964693]] 2025-10-28T20:03:35.725Z,1761681815.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551016,0.821414,0.147175],[-0.828157,0.516564,0.217526],[0.102654,-0.241744,0.964895]] 2025-10-28T20:03:36.086Z,1761681816.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548704,0.823839,0.142172],[-0.829561,0.515444,0.214814],[0.103691,-0.235810,0.966252]] 2025-10-28T20:03:36.320Z,1761681816.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:03:36.491Z,1761681816.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545481,0.826915,0.136611],[-0.831466,0.513406,0.212318],[0.105432,-0.229402,0.967605]] 2025-10-28T20:03:36.894Z,1761681816.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543036,0.829709,0.129208],[-0.832706,0.512263,0.210206],[0.108221,-0.221741,0.969081]] 2025-10-28T20:03:37.300Z,1761681817.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542768,0.831037,0.121572],[-0.832279,0.512756,0.210696],[0.112760,-0.215541,0.969962]] 2025-10-28T20:03:37.324Z,1761681817.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:03:37.786Z,1761681817.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543622,0.831639,0.113364],[-0.830751,0.513873,0.213980],[0.119699,-0.210502,0.970238]] 2025-10-28T20:03:38.106Z,1761681818.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544087,0.831919,0.108993],[-0.829363,0.513600,0.219938],[0.126992,-0.210060,0.969406]] 2025-10-28T20:03:38.510Z,1761681818.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544170,0.831628,0.110789],[-0.828665,0.512138,0.225898],[0.131124,-0.214733,0.967831]] 2025-10-28T20:03:38.915Z,1761681818.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544042,0.830594,0.118878],[-0.828988,0.510207,0.229059],[0.129603,-0.223166,0.966126]] 2025-10-28T20:03:39.320Z,1761681819.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543107,0.829500,0.130247],[-0.830512,0.507846,0.228782],[0.123630,-0.232425,0.964725]] 2025-10-28T20:03:39.774Z,1761681819.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540273,0.829821,0.139648],[-0.833322,0.504545,0.225853],[0.116959,-0.238394,0.964100]] 2025-10-28T20:03:40.136Z,1761681820.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535652,0.831937,0.144770],[-0.836934,0.500225,0.222073],[0.112333,-0.240117,0.964223]] 2025-10-28T20:03:40.538Z,1761681820.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529128,0.836495,0.142476],[-0.841150,0.494957,0.217908],[0.111759,-0.235145,0.965514]] 2025-10-28T20:03:40.944Z,1761681820.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521792,0.842115,0.136290],[-0.845132,0.488547,0.216966],[0.116127,-0.228394,0.966618]] 2025-10-28T20:03:40.968Z,1761681820.968 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:03:40.968Z,1761681820.968 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:03:40.968Z,1761681820.968 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:03:40.969Z,1761681820.969 [marl:UpdateRudder:A] Stopped 2025-10-28T20:03:40.969Z,1761681820.969 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:03:41.347Z,1761681821.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517441,0.845822,0.129773],[-0.846844,0.484367,0.219645],[0.122923,-0.223551,0.966910]] 2025-10-28T20:03:41.388Z,1761681821.388 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:03:41.393Z,1761681821.393 [marl:UpdateRudder:B] Stopped 2025-10-28T20:03:41.393Z,1761681821.393 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:03:41.393Z,1761681821.393 [marl:UpdateRudder] Stopped 2025-10-28T20:03:41.393Z,1761681821.393 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:03:41.775Z,1761681821.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517574,0.846416,0.125290],[-0.845675,0.483752,0.225425],[0.130194,-0.222629,0.966171]] 2025-10-28T20:03:42.155Z,1761681822.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519120,0.845860,0.122616],[-0.843444,0.483777,0.233585],[0.138262,-0.224678,0.964574]] 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode] Stopped 2025-10-28T20:03:42.187Z,1761681822.187 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:03:42.188Z,1761681822.188 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:03:42.188Z,1761681822.188 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:03:42.188Z,1761681822.188 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:03:42.188Z,1761681822.188 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:03:42.188Z,1761681822.188 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:03:42.189Z,1761681822.189 [marl:UpdateSpeed] Stopped 2025-10-28T20:03:42.189Z,1761681822.189 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:03:42.559Z,1761681822.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520656,0.844572,0.124961],[-0.841368,0.482715,0.243076],[0.144975,-0.231697,0.961924]] 2025-10-28T20:03:42.668Z,1761681822.668 [Radio_Surface](INFO): Powering down 2025-10-28T20:03:42.962Z,1761681822.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522907,0.842452,0.129781],[-0.839356,0.482384,0.250575],[0.148493,-0.239960,0.959359]] 2025-10-28T20:03:43.368Z,1761681823.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526350,0.839406,0.135473],[-0.837350,0.484062,0.254027],[0.147654,-0.247145,0.957662]] 2025-10-28T20:03:43.790Z,1761681823.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530986,0.835738,0.139985],[-0.835312,0.488452,0.252326],[0.142503,-0.250912,0.957463]] 2025-10-28T20:03:44.175Z,1761681824.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535232,0.832969,0.140316],[-0.833951,0.494654,0.244630],[0.134361,-0.247951,0.959410]] 2025-10-28T20:03:44.984Z,1761681824.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532889,0.835288,0.135368],[-0.837469,0.497705,0.225688],[0.121142,-0.233633,0.964749]] 2025-10-28T20:03:45.387Z,1761681825.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527282,0.840049,0.127639],[-0.841071,0.494668,0.218868],[0.120721,-0.222758,0.967370]] 2025-10-28T20:03:45.794Z,1761681825.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523984,0.843362,0.119085],[-0.842863,0.493317,0.214987],[0.122565,-0.213023,0.969329]] 2025-10-28T20:03:46.195Z,1761681826.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523928,0.844512,0.110903],[-0.842492,0.494656,0.213362],[0.125328,-0.205221,0.970658]] 2025-10-28T20:03:46.600Z,1761681826.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525081,0.844385,0.106320],[-0.841329,0.496185,0.214396],[0.128279,-0.202025,0.970943]] 2025-10-28T20:03:46.606Z,1761681826.606 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:03:47.003Z,1761681827.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526478,0.843391,0.107298],[-0.840165,0.496788,0.217542],[0.130168,-0.204679,0.970136]] 2025-10-28T20:03:47.407Z,1761681827.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528089,0.841672,0.112746],[-0.839219,0.496982,0.220729],[0.129749,-0.211183,0.968797]] 2025-10-28T20:03:47.811Z,1761681827.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530609,0.838830,0.121731],[-0.838209,0.497943,0.222394],[0.125936,-0.220040,0.967327]] 2025-10-28T20:03:48.218Z,1761681828.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532354,0.836298,0.131165],[-0.838010,0.498718,0.221406],[0.119747,-0.227784,0.966320]] 2025-10-28T20:03:48.619Z,1761681828.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529802,0.836169,0.141883],[-0.840476,0.495216,0.219914],[0.113622,-0.235760,0.965146]] 2025-10-28T20:03:49.023Z,1761681829.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525372,0.837777,0.148708],[-0.843970,0.490872,0.216241],[0.108165,-0.239112,0.964949]] 2025-10-28T20:03:49.426Z,1761681829.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521123,0.840214,0.149903],[-0.847208,0.487995,0.210000],[0.103293,-0.236435,0.966141]] 2025-10-28T20:03:49.837Z,1761681829.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516703,0.843392,0.147335],[-0.850218,0.485213,0.204201],[0.100733,-0.230778,0.967778]] 2025-10-28T20:03:50.246Z,1761681830.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512749,0.846928,0.140718],[-0.852498,0.482847,0.200263],[0.101663,-0.222647,0.969584]] 2025-10-28T20:03:50.638Z,1761681830.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510273,0.849788,0.132219],[-0.853481,0.481466,0.199399],[0.105788,-0.214594,0.970957]] 2025-10-28T20:03:51.042Z,1761681831.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509899,0.851080,0.125165],[-0.852915,0.481242,0.202341],[0.111974,-0.209929,0.971283]] 2025-10-28T20:03:51.447Z,1761681831.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510942,0.851088,0.120779],[-0.851334,0.481545,0.208196],[0.119033,-0.209199,0.970601]] 2025-10-28T20:03:51.850Z,1761681831.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511750,0.850661,0.120366],[-0.849981,0.480908,0.215081],[0.125076,-0.212376,0.969150]] 2025-10-28T20:03:52.258Z,1761681832.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511953,0.849853,0.125114],[-0.849262,0.478861,0.222364],[0.129065,-0.220094,0.966903]] 2025-10-28T20:03:52.669Z,1761681832.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512965,0.847913,0.133826],[-0.848490,0.477205,0.228780],[0.130123,-0.230907,0.964235]] 2025-10-28T20:03:53.069Z,1761681833.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514923,0.845312,0.142484],[-0.847663,0.477319,0.231588],[0.127754,-0.240028,0.962323]] 2025-10-28T20:03:53.475Z,1761681833.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523253,0.837975,0.154932],[-0.844531,0.485615,0.225713],[0.113905,-0.248950,0.961795]] 2025-10-28T20:03:53.875Z,1761681833.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528458,0.834350,0.156821],[-0.842477,0.492615,0.218090],[0.104711,-0.247369,0.963247]] 2025-10-28T20:03:54.280Z,1761681834.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529344,0.833946,0.155980],[-0.842751,0.495658,0.209983],[0.097802,-0.242605,0.965183]] 2025-10-28T20:03:54.327Z,1761681834.327 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:03:54.328Z,1761681834.328 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:03:54.328Z,1761681834.328 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:03:54.329Z,1761681834.329 [marl:UpdateRudder:A] Stopped 2025-10-28T20:03:54.329Z,1761681834.329 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:03:54.689Z,1761681834.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525423,0.836955,0.153090],[-0.845606,0.493739,0.202909],[0.094239,-0.236067,0.967156]] 2025-10-28T20:03:54.719Z,1761681834.719 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:03:54.719Z,1761681834.719 [marl:UpdateRudder:B] Stopped 2025-10-28T20:03:54.719Z,1761681834.719 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:03:54.719Z,1761681834.719 [marl:UpdateRudder] Stopped 2025-10-28T20:03:54.719Z,1761681834.719 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:03:55.084Z,1761681835.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520337,0.840963,0.148428],[-0.849027,0.490800,0.195625],[0.091665,-0.227810,0.969381]] 2025-10-28T20:03:55.487Z,1761681835.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514822,0.845210,0.143452],[-0.852614,0.487324,0.188589],[0.089490,-0.219399,0.971522]] 2025-10-28T20:03:55.538Z,1761681835.538 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:03:55.538Z,1761681835.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:03:55.538Z,1761681835.538 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:03:55.538Z,1761681835.538 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateCommandMode] Stopped 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:03:55.539Z,1761681835.539 [marl:UpdateSpeed] Stopped 2025-10-28T20:03:55.540Z,1761681835.540 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:03:55.895Z,1761681835.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509224,0.849137,0.140205],[-0.856141,0.483173,0.183211],[0.087828,-0.213331,0.973024]] 2025-10-28T20:03:56.297Z,1761681836.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503509,0.853115,0.136650],[-0.859584,0.478684,0.178823],[0.087144,-0.207501,0.974345]] 2025-10-28T20:03:56.699Z,1761681836.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498214,0.856652,0.133902],[-0.862663,0.474220,0.175865],[0.087156,-0.203130,0.975265]] 2025-10-28T20:03:57.103Z,1761681837.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495062,0.858665,0.132696],[-0.864381,0.471250,0.175409],[0.088085,-0.201539,0.975512]] 2025-10-28T20:03:57.507Z,1761681837.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494336,0.858823,0.134370],[-0.864697,0.469988,0.177233],[0.089059,-0.203802,0.974953]] 2025-10-28T20:03:57.911Z,1761681837.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495279,0.857602,0.138628],[-0.864054,0.469756,0.180945],[0.090057,-0.209400,0.973674]] 2025-10-28T20:03:57.936Z,1761681837.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -152.03, +94 -109.83, 20.00, 0.00 2025-10-28T20:03:58.316Z,1761681838.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496927,0.855844,0.143504],[-0.863046,0.470134,0.184730],[0.090634,-0.215648,0.972256]] 2025-10-28T20:03:58.727Z,1761681838.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498991,0.853339,0.151062],[-0.862007,0.470808,0.187837],[0.089168,-0.223945,0.970514]] 2025-10-28T20:03:59.123Z,1761681839.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501452,0.850293,0.159837],[-0.861074,0.472491,0.187892],[0.084242,-0.231850,0.969097]] 2025-10-28T20:03:59.527Z,1761681839.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504454,0.846840,0.168485],[-0.860106,0.475721,0.184137],[0.075783,-0.237804,0.968352]] 2025-10-28T20:03:59.957Z,1761681839.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506139,0.844479,0.175154],[-0.859948,0.478690,0.177045],[0.065666,-0.240233,0.968492]] 2025-10-28T20:04:00.336Z,1761681840.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503566,0.845069,0.179666],[-0.862042,0.477629,0.169569],[0.057483,-0.240269,0.969003]] 2025-10-28T20:04:00.746Z,1761681840.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498875,0.847796,0.179906],[-0.865143,0.474813,0.161494],[0.051492,-0.236210,0.970337]] 2025-10-28T20:04:01.143Z,1761681841.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494283,0.851268,0.176143],[-0.868013,0.472286,0.153295],[0.047305,-0.228666,0.972355]] 2025-10-28T20:04:01.546Z,1761681841.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490469,0.854899,0.169076],[-0.870291,0.470465,0.145796],[0.045096,-0.218653,0.974760]] 2025-10-28T20:04:01.951Z,1761681841.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489063,0.856909,0.162861],[-0.871142,0.470454,0.140655],[0.043910,-0.210664,0.976572]] 2025-10-28T20:04:02.356Z,1761681842.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490178,0.857287,0.157428],[-0.870535,0.472497,0.137535],[0.043523,-0.204464,0.977906]] 2025-10-28T20:04:02.770Z,1761681842.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491469,0.857393,0.152762],[-0.869715,0.474065,0.137326],[0.045324,-0.200351,0.978675]] 2025-10-28T20:04:03.162Z,1761681843.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491928,0.857148,0.152659],[-0.869242,0.473613,0.141807],[0.049248,-0.202456,0.978052]] 2025-10-28T20:04:03.567Z,1761681843.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492072,0.856635,0.155054],[-0.868838,0.472069,0.149239],[0.054648,-0.208153,0.976569]] 2025-10-28T20:04:03.978Z,1761681843.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492342,0.855015,0.162937],[-0.868319,0.469541,0.159853],[0.060171,-0.220184,0.973601]] 2025-10-28T20:04:04.376Z,1761681844.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492995,0.852697,0.172811],[-0.867677,0.467258,0.169727],[0.063978,-0.233619,0.970221]] 2025-10-28T20:04:04.783Z,1761681844.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494379,0.849863,0.182545],[-0.866841,0.466403,0.176224],[0.064626,-0.245359,0.967276]] 2025-10-28T20:04:05.182Z,1761681845.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496515,0.846853,0.190561],[-0.865859,0.467682,0.177654],[0.061325,-0.253207,0.965466]] 2025-10-28T20:04:05.587Z,1761681845.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499521,0.843732,0.196454],[-0.864587,0.471284,0.174300],[0.054477,-0.256918,0.964897]] 2025-10-28T20:04:05.990Z,1761681845.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502374,0.841434,0.199019],[-0.863486,0.476282,0.165976],[0.044868,-0.255232,0.965838]] 2025-10-28T20:04:06.395Z,1761681846.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503523,0.840972,0.198067],[-0.863285,0.480512,0.154425],[0.034693,-0.248745,0.967948]] 2025-10-28T20:04:06.799Z,1761681846.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501791,0.843176,0.193028],[-0.864606,0.482285,0.140916],[0.025722,-0.237603,0.971022]] 2025-10-28T20:04:07.213Z,1761681847.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497734,0.847158,0.185965],[-0.867132,0.481479,0.127514],[0.018486,-0.224724,0.974247]] 2025-10-28T20:04:07.449Z,1761681847.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:04:07.608Z,1761681847.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492237,0.852073,0.177972],[-0.870356,0.478597,0.115870],[0.013553,-0.211935,0.977190]] 2025-10-28T20:04:07.634Z,1761681847.634 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:04:07.634Z,1761681847.634 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:04:07.634Z,1761681847.634 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:04:07.634Z,1761681847.634 [marl:UpdateRudder:A] Stopped 2025-10-28T20:04:07.634Z,1761681847.634 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:04:08.010Z,1761681848.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485849,0.857667,0.168398],[-0.873968,0.474187,0.106426],[0.011426,-0.198882,0.979957]] 2025-10-28T20:04:08.036Z,1761681848.036 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -207.09353.16, -29.13, 62.91, 0.00 2025-10-28T20:04:08.056Z,1761681848.056 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:04:08.056Z,1761681848.056 [marl:UpdateRudder:B] Stopped 2025-10-28T20:04:08.057Z,1761681848.057 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:04:08.057Z,1761681848.057 [marl:UpdateRudder] Stopped 2025-10-28T20:04:08.057Z,1761681848.057 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:04:08.415Z,1761681848.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479412,0.862704,0.160953],[-0.877503,0.468650,0.101759],[0.012357,-0.190021,0.981702]] 2025-10-28T20:04:08.452Z,1761681848.452 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T20:04:08.452Z,1761681848.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:04:08.821Z,1761681848.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474176,0.866599,0.155445],[-0.880291,0.463517,0.101189],[0.015639,-0.184818,0.982648]] 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode] Stopped 2025-10-28T20:04:08.845Z,1761681848.845 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed] Stopped 2025-10-28T20:04:08.846Z,1761681848.846 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:04:09.229Z,1761681849.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471797,0.868482,0.152139],[-0.881478,0.460669,0.103827],[0.020087,-0.183092,0.982890]] 2025-10-28T20:04:09.626Z,1761681849.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472446,0.868485,0.150097],[-0.881009,0.460551,0.108244],[0.024881,-0.183376,0.982728]] 2025-10-28T20:04:10.034Z,1761681850.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474196,0.867469,0.150455],[-0.879905,0.461103,0.114680],[0.030106,-0.186767,0.981943]] 2025-10-28T20:04:10.435Z,1761681850.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475962,0.865866,0.154064],[-0.878757,0.461193,0.122829],[0.035300,-0.193847,0.980397]] 2025-10-28T20:04:10.838Z,1761681850.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477295,0.863800,0.161369],[-0.877828,0.460312,0.132401],[0.040088,-0.204848,0.977973]] 2025-10-28T20:04:11.243Z,1761681851.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478936,0.860921,0.171569],[-0.876754,0.459350,0.142479],[0.043852,-0.218662,0.974815]] 2025-10-28T20:04:11.648Z,1761681851.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481208,0.857815,0.180535],[-0.875379,0.459340,0.150724],[0.046366,-0.230566,0.971951]] 2025-10-28T20:04:12.051Z,1761681852.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484569,0.853754,0.190516],[-0.873479,0.460499,0.158032],[0.047188,-0.242989,0.968881]] 2025-10-28T20:04:12.455Z,1761681852.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488985,0.849229,0.199260],[-0.871059,0.463242,0.163288],[0.046363,-0.253413,0.966247]] 2025-10-28T20:04:12.859Z,1761681852.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494421,0.844922,0.204095],[-0.868097,0.468028,0.165402],[0.044230,-0.258953,0.964877]] 2025-10-28T20:04:13.264Z,1761681853.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500100,0.841193,0.205657],[-0.865009,0.474083,0.164330],[0.040735,-0.260077,0.964728]] 2025-10-28T20:04:13.666Z,1761681853.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504067,0.839270,0.203818],[-0.862840,0.479053,0.161290],[0.037726,-0.257164,0.965631]] 2025-10-28T20:04:14.071Z,1761681854.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504889,0.839783,0.199626],[-0.862406,0.480945,0.157948],[0.036633,-0.251905,0.967058]] 2025-10-28T20:04:14.475Z,1761681854.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504355,0.841657,0.192979],[-0.862702,0.481558,0.154428],[0.037045,-0.244370,0.968974]] 2025-10-28T20:04:14.880Z,1761681854.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503783,0.843803,0.184930],[-0.862985,0.482150,0.150960],[0.038216,-0.235643,0.971088]] 2025-10-28T20:04:15.283Z,1761681855.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503393,0.845723,0.177055],[-0.863110,0.482578,0.148862],[0.040453,-0.227754,0.972878]] 2025-10-28T20:04:15.725Z,1761681855.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503204,0.846649,0.173121],[-0.863083,0.482349,0.149761],[0.043290,-0.224779,0.973448]] 2025-10-28T20:04:16.090Z,1761681856.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502982,0.847221,0.170955],[-0.863046,0.481696,0.152055],[0.046476,-0.224023,0.973475]] 2025-10-28T20:04:16.498Z,1761681856.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502301,0.848384,0.167145],[-0.863254,0.480863,0.153502],[0.049855,-0.221393,0.973909]] 2025-10-28T20:04:16.899Z,1761681856.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501438,0.849345,0.164842],[-0.863582,0.479713,0.155246],[0.052781,-0.220201,0.974026]] 2025-10-28T20:04:17.303Z,1761681857.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499865,0.850585,0.163215],[-0.864303,0.477748,0.157277],[0.055802,-0.219684,0.973974]] 2025-10-28T20:04:17.779Z,1761681857.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497390,0.852430,0.161139],[-0.865516,0.474961,0.159042],[0.059037,-0.218574,0.974033]] 2025-10-28T20:04:17.814Z,1761681857.814 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS +897, +48,A 2025-10-28T20:04:18.112Z,1761681858.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494961,0.854457,0.157849],[-0.866676,0.472436,0.160243],[0.062347,-0.216118,0.974374]] 2025-10-28T20:04:18.515Z,1761681858.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492947,0.856376,0.153696],[-0.867541,0.470361,0.161655],[0.066145,-0.213026,0.974805]] 2025-10-28T20:04:18.919Z,1761681858.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491850,0.857630,0.150182],[-0.867838,0.468969,0.164091],[0.070298,-0.211042,0.974946]] 2025-10-28T20:04:19.324Z,1761681859.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492016,0.857708,0.149187],[-0.867377,0.468251,0.168519],[0.074683,-0.212315,0.974343]] 2025-10-28T20:04:19.765Z,1761681859.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492975,0.856992,0.150130],[-0.866442,0.467887,0.174242],[0.079080,-0.215976,0.973191]] 2025-10-28T20:04:20.131Z,1761681860.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495461,0.854928,0.153678],[-0.864669,0.468545,0.181143],[0.082859,-0.222630,0.971375]] 2025-10-28T20:04:20.534Z,1761681860.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499240,0.852318,0.155929],[-0.862184,0.470799,0.187051],[0.086015,-0.227823,0.969896]] 2025-10-28T20:04:20.940Z,1761681860.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503315,0.849374,0.158867],[-0.859552,0.473284,0.192803],[0.088573,-0.233595,0.968291]] 2025-10-28T20:04:20.964Z,1761681860.964 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:04:20.964Z,1761681860.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:04:20.964Z,1761681860.964 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:04:20.965Z,1761681860.965 [marl:UpdateRudder:A] Stopped 2025-10-28T20:04:20.965Z,1761681860.965 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:04:21.343Z,1761681861.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506201,0.847302,0.160749],[-0.857565,0.474791,0.197877],[0.091339,-0.238018,0.966956]] 2025-10-28T20:04:21.374Z,1761681861.374 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:04:21.374Z,1761681861.374 [marl:UpdateRudder:B] Stopped 2025-10-28T20:04:21.374Z,1761681861.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:04:21.374Z,1761681861.374 [marl:UpdateRudder] Stopped 2025-10-28T20:04:21.374Z,1761681861.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:04:21.772Z,1761681861.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507278,0.847041,0.158712],[-0.856522,0.475240,0.201290],[0.095075,-0.238051,0.966588]] 2025-10-28T20:04:22.150Z,1761681862.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507669,0.847637,0.154219],[-0.855772,0.475419,0.204039],[0.099632,-0.235561,0.966739]] 2025-10-28T20:04:22.195Z,1761681862.195 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:04:22.195Z,1761681862.195 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:04:22.195Z,1761681862.195 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:04:22.195Z,1761681862.195 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:04:22.195Z,1761681862.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:04:22.196Z,1761681862.196 [marl:UpdateCommandMode] Stopped 2025-10-28T20:04:22.200Z,1761681862.200 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:04:22.200Z,1761681862.200 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:04:22.200Z,1761681862.200 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:04:22.201Z,1761681862.201 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:04:22.201Z,1761681862.201 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:04:22.201Z,1761681862.201 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:04:22.201Z,1761681862.201 [marl:UpdateSpeed] Stopped 2025-10-28T20:04:22.202Z,1761681862.202 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:04:22.556Z,1761681862.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507301,0.849006,0.147764],[-0.855279,0.475020,0.207013],[0.105565,-0.231398,0.967115]] 2025-10-28T20:04:22.958Z,1761681862.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507620,0.850290,0.139030],[-0.854235,0.475668,0.209816],[0.112273,-0.225271,0.967806]] 2025-10-28T20:04:23.363Z,1761681863.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509220,0.850369,0.132543],[-0.852310,0.476907,0.214774],[0.119427,-0.222335,0.967628]] 2025-10-28T20:04:23.775Z,1761681863.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510752,0.850020,0.128832],[-0.850383,0.477462,0.221085],[0.126414,-0.222476,0.966708]] 2025-10-28T20:04:24.178Z,1761681864.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512507,0.848911,0.129177],[-0.848430,0.477446,0.228501],[0.132302,-0.226706,0.964936]] 2025-10-28T20:04:24.574Z,1761681864.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514788,0.846893,0.133288],[-0.846361,0.477253,0.236439],[0.136627,-0.234525,0.962461]] 2025-10-28T20:04:24.979Z,1761681864.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515965,0.845623,0.136754],[-0.845065,0.476361,0.242786],[0.140161,-0.240836,0.960392]] 2025-10-28T20:04:25.004Z,1761681865.004 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:04:25.033Z,1761681865.033 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:04:25.033Z,1761681865.033 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:04:25.285Z,1761681865.285 [DAT](INFO): DAT read: user:232> 2025-10-28T20:04:25.286Z,1761681865.286 [DAT](INFO): DAT read: Tx time:20:04:25.0233 2025-10-28T20:04:25.286Z,1761681865.286 [DAT](INFO): Ping request sent. 2025-10-28T20:04:25.286Z,1761681865.286 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:04:25.286Z,1761681865.286 [DAT](INFO): publishing transmit ping time 2025-10-28T20:04:25.287Z,1761681865.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000923 2025-10-28T20:04:25.385Z,1761681865.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515556,0.845404,0.139623],[-0.844870,0.474391,0.247279],[0.142815,-0.245450,0.958832]] 2025-10-28T20:04:25.538Z,1761681865.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251547 2025-10-28T20:04:25.790Z,1761681865.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503559 2025-10-28T20:04:25.806Z,1761681865.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514078,0.846271,0.139817],[-0.845332,0.472234,0.249818],[0.145387,-0.246618,0.958145]] 2025-10-28T20:04:26.041Z,1761681866.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754812 2025-10-28T20:04:26.198Z,1761681866.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511164,0.848534,0.136752],[-0.846557,0.469572,0.250686],[0.148501,-0.243910,0.958361]] 2025-10-28T20:04:26.293Z,1761681866.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006905 2025-10-28T20:04:26.545Z,1761681866.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258916 2025-10-28T20:04:26.595Z,1761681866.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507393,0.851674,0.131162],[-0.848119,0.466638,0.250885],[0.152467,-0.238539,0.959090]] 2025-10-28T20:04:26.797Z,1761681866.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510919 2025-10-28T20:04:27.000Z,1761681867.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503436,0.855021,0.124463],[-0.849538,0.463553,0.251802],[0.157601,-0.232503,0.959742]] 2025-10-28T20:04:27.050Z,1761681867.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764077 2025-10-28T20:04:27.301Z,1761681867.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014934 2025-10-28T20:04:27.403Z,1761681867.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500231,0.857750,0.118467],[-0.850365,0.460848,0.253964],[0.163242,-0.227781,0.959931]] 2025-10-28T20:04:27.553Z,1761681867.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852 2025-10-28T20:04:27.805Z,1761681867.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518892 2025-10-28T20:04:27.812Z,1761681867.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498411,0.859399,0.114100],[-0.850363,0.459014,0.257270],[0.168725,-0.225253,0.959580]] 2025-10-28T20:04:28.057Z,1761681868.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-10-28T20:04:28.212Z,1761681868.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498128,0.859975,0.110960],[-0.849545,0.458406,0.261031],[0.173615,-0.224292,0.958932]] 2025-10-28T20:04:28.309Z,1761681868.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022966 2025-10-28T20:04:28.561Z,1761681868.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274891 2025-10-28T20:04:28.620Z,1761681868.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499089,0.859925,0.106954],[-0.848049,0.459330,0.264251],[0.178109,-0.222587,0.958505]] 2025-10-28T20:04:28.813Z,1761681868.813 [DAT](INFO): DAT read: Rx Time:20:04:28.0643 2025-10-28T20:04:28.813Z,1761681868.813 [DAT](INFO): Rx dataTimestamp_ set to:1761681868.813170 2025-10-28T20:04:28.814Z,1761681868.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528016 2025-10-28T20:04:29.018Z,1761681869.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501008,0.859348,0.102527],[-0.845973,0.461301,0.267455],[0.182541,-0.220732,0.958100]] 2025-10-28T20:04:29.068Z,1761681869.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782003 2025-10-28T20:04:29.323Z,1761681869.323 [DAT](INFO): DAT read: 20:04:28.0643 LVL= 32752, 21649, 29506, 32755, AGC= 76, IDX= 262, 0.05,-1.710, 0.617,-0.684,-0.402, PHS=-1.206, 1.064,-0.326, RAW= 307.4, 4.8, CAL= 305.0, 2.6, ROT= 205.0, -2.6 2025-10-28T20:04:29.324Z,1761681869.324 [DAT](INFO): got valid direction response: 20:04:28.0643 LVL= 32752, 21649, 29506, 32755, AGC= 76, IDX= 262, 0.05,-1.710, 0.617,-0.684,-0.402, PHS=-1.206, 1.064,-0.326, RAW= 307.4, 4.8, CAL= 305.0, 2.6, ROT= 205.0, -2.6 2025-10-28T20:04:29.325Z,1761681869.325 [DAT](INFO): DAT read: Bearing 119, -15 (Remote) 2025-10-28T20:04:29.325Z,1761681869.325 [DAT](INFO): Remote Bearing received:Bearing 119, -15 (Remote) 2025-10-28T20:04:29.326Z,1761681869.326 [DAT](INFO): DAT read: Bearing 295.9, -34.8 (Local) 2025-10-28T20:04:29.326Z,1761681869.326 [DAT](INFO): Local bearing/azimuth received: Bearing 295.9, -34.8 (Local) 2025-10-28T20:04:29.327Z,1761681869.327 [DAT](INFO): DAT read: Range 11 to 20 : 758.9 m (Round-trip 1011.9 ms) speed 0.0 m/s 2025-10-28T20:04:29.328Z,1761681869.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:04:29.329Z,1761681869.329 [DAT](INFO): direction in FSK: [-0.905375,-0.422183,0.045363] 2025-10-28T20:04:29.329Z,1761681869.329 [DAT](INFO): publishing direction and range info 2025-10-28T20:04:29.423Z,1761681869.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504063,0.858027,0.098541],[-0.843161,0.464168,0.271344],[0.187081,-0.219860,0.957425]] 2025-10-28T20:04:29.490Z,1761681869.490 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681920.00. Resetting abort timer. 2025-10-28T20:04:29.831Z,1761681869.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507278,0.856583,0.094529],[-0.840194,0.467187,0.275335],[0.191685,-0.219094,0.956689]] 2025-10-28T20:04:30.231Z,1761681870.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510047,0.855228,0.091859],[-0.837432,0.469357,0.280022],[0.196368,-0.219750,0.955589]] 2025-10-28T20:04:30.635Z,1761681870.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512585,0.853730,0.091659],[-0.834928,0.470671,0.285243],[0.200380,-0.222740,0.954062]] 2025-10-28T20:04:31.039Z,1761681871.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514904,0.852038,0.094366],[-0.832874,0.471161,0.290393],[0.202964,-0.228119,0.952243]] 2025-10-28T20:04:31.444Z,1761681871.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517678,0.849865,0.098689],[-0.830896,0.471884,0.294850],[0.204013,-0.234637,0.950434]] 2025-10-28T20:04:31.852Z,1761681871.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520024,0.848017,0.102184],[-0.829395,0.472731,0.297707],[0.204156,-0.239566,0.949173]] 2025-10-28T20:04:32.251Z,1761681872.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521481,0.846649,0.106033],[-0.828611,0.472834,0.299718],[0.203620,-0.244157,0.948117]] 2025-10-28T20:04:32.655Z,1761681872.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520838,0.846871,0.107415],[-0.829011,0.471765,0.300296],[0.203637,-0.245454,0.947779]] 2025-10-28T20:04:33.058Z,1761681873.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518898,0.848138,0.106803],[-0.830202,0.470219,0.299430],[0.203737,-0.244041,0.948122]] 2025-10-28T20:04:33.464Z,1761681873.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516131,0.850138,0.104283],[-0.831850,0.468536,0.297488],[0.204045,-0.240291,0.949013]] 2025-10-28T20:04:33.867Z,1761681873.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513105,0.852324,0.101329],[-0.833636,0.466750,0.295287],[0.204385,-0.235985,0.950020]] 2025-10-28T20:04:34.270Z,1761681874.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509982,0.854598,0.097876],[-0.835371,0.464921,0.293265],[0.205120,-0.231323,0.951008]] 2025-10-28T20:04:34.323Z,1761681874.323 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:04:34.323Z,1761681874.323 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:04:34.323Z,1761681874.323 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:04:34.324Z,1761681874.324 [marl:UpdateRudder:A] Stopped 2025-10-28T20:04:34.324Z,1761681874.324 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:04:34.685Z,1761681874.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507139,0.856704,0.094176],[-0.836754,0.463231,0.291995],[0.206527,-0.226884,0.951772]] 2025-10-28T20:04:34.735Z,1761681874.735 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:04:34.735Z,1761681874.735 [marl:UpdateRudder:B] Stopped 2025-10-28T20:04:34.735Z,1761681874.735 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:04:34.735Z,1761681874.735 [marl:UpdateRudder] Stopped 2025-10-28T20:04:34.735Z,1761681874.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:04:35.080Z,1761681875.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504918,0.858405,0.090542],[-0.837619,0.461940,0.291557],[0.208449,-0.223052,0.952259]] 2025-10-28T20:04:35.483Z,1761681875.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504445,0.859079,0.086714],[-0.837532,0.462414,0.291055],[0.209941,-0.219446,0.952769]] 2025-10-28T20:04:35.521Z,1761681875.521 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:04:35.521Z,1761681875.521 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:04:35.521Z,1761681875.521 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateCommandMode] Stopped 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:04:35.522Z,1761681875.522 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:04:35.523Z,1761681875.523 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:04:35.523Z,1761681875.523 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:04:35.523Z,1761681875.523 [marl:UpdateSpeed] Stopped 2025-10-28T20:04:35.523Z,1761681875.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:04:35.886Z,1761681875.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505637,0.858562,0.084873],[-0.836563,0.463861,0.291539],[0.210935,-0.218414,0.952786]] 2025-10-28T20:04:36.291Z,1761681876.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507815,0.857288,0.084744],[-0.835160,0.465796,0.292477],[0.211263,-0.219299,0.952510]] 2025-10-28T20:04:36.705Z,1761681876.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510255,0.855801,0.085113],[-0.833678,0.467888,0.293363],[0.211237,-0.220647,0.952205]] 2025-10-28T20:04:37.099Z,1761681877.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512794,0.854156,0.086370],[-0.832202,0.469842,0.294427],[0.210907,-0.222858,0.951763]] 2025-10-28T20:04:37.503Z,1761681877.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515192,0.852505,0.088391],[-0.830910,0.471513,0.295404],[0.210156,-0.225634,0.951275]] 2025-10-28T20:04:37.907Z,1761681877.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517330,0.850817,0.092089],[-0.829849,0.472445,0.296895],[0.209097,-0.230012,0.950459]] 2025-10-28T20:04:37.933Z,1761681877.933 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -212.683 -27.63, 62.90, 0.00 2025-10-28T20:04:38.318Z,1761681878.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518679,0.849714,0.094650],[-0.829341,0.473137,0.297212],[0.207763,-0.232655,0.950109]] 2025-10-28T20:04:38.573Z,1761681878.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:04:38.723Z,1761681878.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518368,0.849287,0.100028],[-0.830380,0.471940,0.296213],[0.204362,-0.236609,0.949870]] 2025-10-28T20:04:39.123Z,1761681879.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516725,0.850082,0.101762],[-0.831818,0.470343,0.294715],[0.202669,-0.236934,0.950151]] 2025-10-28T20:04:39.528Z,1761681879.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514299,0.851555,0.101740],[-0.833510,0.468390,0.293038],[0.201884,-0.235511,0.950672]] 2025-10-28T20:04:39.576Z,1761681879.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:04:39.950Z,1761681879.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511840,0.853359,0.098988],[-0.835051,0.467147,0.290626],[0.201766,-0.231414,0.951703]] 2025-10-28T20:04:40.334Z,1761681880.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510392,0.854699,0.094815],[-0.835763,0.467055,0.288721],[0.202485,-0.226604,0.952707]] 2025-10-28T20:04:40.739Z,1761681880.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510333,0.855274,0.089814],[-0.835497,0.468354,0.287384],[0.203727,-0.221701,0.953595]] 2025-10-28T20:04:41.140Z,1761681881.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511612,0.855024,0.084772],[-0.834323,0.470789,0.286816],[0.205325,-0.217465,0.954228]] 2025-10-28T20:04:41.543Z,1761681881.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514263,0.853830,0.080678],[-0.832405,0.474273,0.286649],[0.206486,-0.214570,0.954633]] 2025-10-28T20:04:41.947Z,1761681881.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517327,0.852086,0.079512],[-0.830479,0.477428,0.286996],[0.206584,-0.214504,0.954626]] 2025-10-28T20:04:42.351Z,1761681882.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520660,0.849899,0.081152],[-0.828790,0.480319,0.287056],[0.204989,-0.216716,0.954470]] 2025-10-28T20:04:42.799Z,1761681882.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523966,0.847572,0.084152],[-0.827420,0.483073,0.286386],[0.202082,-0.219685,0.954412]] 2025-10-28T20:04:43.169Z,1761681883.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527063,0.845193,0.088620],[-0.826342,0.485358,0.285633],[0.198402,-0.223777,0.954233]] 2025-10-28T20:04:43.562Z,1761681883.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529693,0.843082,0.092946],[-0.825583,0.487339,0.284454],[0.194522,-0.227408,0.954173]] 2025-10-28T20:04:43.966Z,1761681883.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531447,0.841550,0.096737],[-0.825421,0.488798,0.282411],[0.190378,-0.229936,0.954403]] 2025-10-28T20:04:44.372Z,1761681884.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532413,0.840389,0.101405],[-0.825837,0.489387,0.280167],[0.185823,-0.232908,0.954580]] 2025-10-28T20:04:44.787Z,1761681884.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532394,0.839826,0.106061],[-0.826937,0.489216,0.277205],[0.180917,-0.235288,0.954939]] 2025-10-28T20:04:45.183Z,1761681885.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530814,0.840247,0.110552],[-0.828989,0.487684,0.273754],[0.176106,-0.236958,0.955425]] 2025-10-28T20:04:45.583Z,1761681885.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528181,0.841538,0.113308],[-0.831682,0.485787,0.268917],[0.171260,-0.236273,0.956475]] 2025-10-28T20:04:45.987Z,1761681885.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525035,0.843337,0.114543],[-0.834669,0.483925,0.262952],[0.166327,-0.233664,0.957985]] 2025-10-28T20:04:46.392Z,1761681886.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521039,0.845681,0.115510],[-0.838009,0.481162,0.257339],[0.162048,-0.230882,0.959393]] 2025-10-28T20:04:46.796Z,1761681886.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516719,0.848386,0.115074],[-0.841343,0.478279,0.251778],[0.158567,-0.226915,0.960919]] 2025-10-28T20:04:47.199Z,1761681887.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511947,0.851478,0.113555],[-0.844660,0.474907,0.247007],[0.156393,-0.222370,0.962337]] 2025-10-28T20:04:47.603Z,1761681887.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507472,0.854353,0.112044],[-0.847573,0.471510,0.243512],[0.155216,-0.218541,0.963404]] 2025-10-28T20:04:47.813Z,1761681887.813 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:04:47.813Z,1761681887.813 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:04:47.813Z,1761681887.813 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:04:47.814Z,1761681887.814 [marl:UpdateRudder:A] Stopped 2025-10-28T20:04:47.814Z,1761681887.814 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:04:48.010Z,1761681888.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504980,0.856152,0.109541],[-0.849235,0.470152,0.240327],[0.154255,-0.214386,0.964492]] 2025-10-28T20:04:48.084Z,1761681888.084 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T20:04:48.084Z,1761681888.084 [marl:UpdateRudder:B] Stopped 2025-10-28T20:04:48.084Z,1761681888.084 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:04:48.084Z,1761681888.084 [marl:UpdateRudder] Stopped 2025-10-28T20:04:48.084Z,1761681888.084 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:04:48.411Z,1761681888.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505312,0.856107,0.108356],[-0.849357,0.471235,0.237759],[0.152486,-0.212175,0.965261]] 2025-10-28T20:04:48.815Z,1761681888.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506829,0.855475,0.106240],[-0.848774,0.473679,0.234972],[0.150689,-0.209264,0.966179]] 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:04:48.871Z,1761681888.871 [marl:UpdateCommandMode] Stopped 2025-10-28T20:04:48.872Z,1761681888.872 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:04:48.872Z,1761681888.872 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:04:48.872Z,1761681888.872 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:04:48.872Z,1761681888.872 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:04:48.872Z,1761681888.872 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:04:48.873Z,1761681888.873 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:04:48.873Z,1761681888.873 [marl:UpdateSpeed] Stopped 2025-10-28T20:04:48.873Z,1761681888.873 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:04:49.219Z,1761681889.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509449,0.854014,0.105459],[-0.847531,0.476790,0.233159],[0.148839,-0.208162,0.966703]] 2025-10-28T20:04:49.625Z,1761681889.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512336,0.852200,0.106146],[-0.846211,0.479889,0.231590],[0.146423,-0.208474,0.967005]] 2025-10-28T20:04:50.026Z,1761681890.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515145,0.850110,0.109260],[-0.845074,0.482491,0.230331],[0.143089,-0.210987,0.966959]] 2025-10-28T20:04:50.430Z,1761681890.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518983,0.847281,0.113014],[-0.843421,0.486101,0.228794],[0.138916,-0.214058,0.966893]] 2025-10-28T20:04:50.835Z,1761681890.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524453,0.844672,0.107139],[-0.840753,0.493880,0.221849],[0.134476,-0.206427,0.969177]] 2025-10-28T20:04:51.240Z,1761681891.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534380,0.840636,0.088145],[-0.835244,0.509185,0.207599],[0.129633,-0.184559,0.974235]] 2025-10-28T20:04:51.651Z,1761681891.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549757,0.833525,0.054794],[-0.825962,0.532632,0.184634],[0.124712,-0.146761,0.981279]] 2025-10-28T20:04:52.046Z,1761681892.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570958,0.820944,0.007581],[-0.812132,0.563429,0.151625],[0.120204,-0.092728,0.988409]] 2025-10-28T20:04:52.451Z,1761681892.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596684,0.801130,-0.046470],[-0.793995,0.597784,0.110573],[0.116362,-0.029080,0.992781]] 2025-10-28T20:04:52.861Z,1761681892.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624859,0.774665,-0.097190],[-0.772520,0.631486,0.066612],[0.112976,0.033458,0.993034]] 2025-10-28T20:04:53.258Z,1761681893.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653165,0.744627,-0.137500],[-0.749174,0.661879,0.025593],[0.110066,0.086295,0.990171]] 2025-10-28T20:04:53.668Z,1761681893.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679831,0.714239,-0.166411],[-0.725332,0.688343,-0.008786],[0.108272,0.126676,0.986017]] 2025-10-28T20:04:54.067Z,1761681894.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704907,0.685215,-0.183264],[-0.701141,0.712215,-0.033930],[0.107274,0.152412,0.982478]] 2025-10-28T20:04:54.472Z,1761681894.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728228,0.658311,-0.190551],[-0.676951,0.734313,-0.050214],[0.106868,0.165561,0.980392]] 2025-10-28T20:04:54.874Z,1761681894.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749895,0.632451,-0.194069],[-0.652753,0.755062,-0.061607],[0.107571,0.172878,0.979052]] 2025-10-28T20:04:55.278Z,1761681895.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771100,0.606354,-0.194267],[-0.627408,0.775574,-0.069606],[0.108462,0.175558,0.978476]] 2025-10-28T20:04:55.686Z,1761681895.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791205,0.580256,-0.193128],[-0.601600,0.795238,-0.075327],[0.109874,0.175785,0.978278]] 2025-10-28T20:04:56.088Z,1761681896.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810360,0.554287,-0.189953],[-0.575289,0.814179,-0.078457],[0.111168,0.172856,0.978653]] 2025-10-28T20:04:56.491Z,1761681896.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828320,0.528463,-0.186046],[-0.548912,0.831981,-0.080641],[0.112171,0.168920,0.979226]] 2025-10-28T20:04:56.894Z,1761681896.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844308,0.504073,-0.181810],[-0.523755,0.847991,-0.081192],[0.113247,0.163775,0.979976]] 2025-10-28T20:04:57.300Z,1761681897.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858730,0.480538,-0.177950],[-0.499476,0.862517,-0.081163],[0.114483,0.158579,0.980687]] 2025-10-28T20:04:57.743Z,1761681897.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872108,0.457437,-0.173721],[-0.475567,0.875953,-0.080887],[0.115171,0.153158,0.981467]] 2025-10-28T20:04:58.107Z,1761681898.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884266,0.434889,-0.170131],[-0.452349,0.888178,-0.080746],[0.115991,0.148360,0.982108]] 2025-10-28T20:04:58.511Z,1761681898.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895577,0.412087,-0.167707],[-0.429248,0.899444,-0.082143],[0.116993,0.145553,0.982409]] 2025-10-28T20:04:58.915Z,1761681898.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906398,0.388501,-0.165863],[-0.405549,0.910176,-0.084314],[0.118208,0.143688,0.982538]] 2025-10-28T20:04:59.321Z,1761681899.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916809,0.363787,-0.164684],[-0.381085,0.920282,-0.088630],[0.119313,0.144015,0.982356]] 2025-10-28T20:04:59.757Z,1761681899.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927191,0.336974,-0.163601],[-0.354717,0.930199,-0.094364],[0.120384,0.145525,0.982003]] 2025-10-28T20:05:00.130Z,1761681900.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937367,0.308334,-0.162087],[-0.326533,0.939819,-0.100583],[0.121319,0.147210,0.981637]] 2025-10-28T20:05:00.530Z,1761681900.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947066,0.278136,-0.160333],[-0.296905,0.948795,-0.107868],[0.122121,0.149762,0.981151]] 2025-10-28T20:05:00.947Z,1761681900.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955902,0.247162,-0.158629],[-0.266591,0.956851,-0.115606],[0.123211,0.152797,0.980547]] 2025-10-28T20:05:01.340Z,1761681901.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963994,0.215289,-0.156097],[-0.235074,0.964325,-0.121726],[0.124322,0.154037,0.980212]] 2025-10-28T20:05:01.371Z,1761681901.371 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:05:01.371Z,1761681901.371 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:05:01.371Z,1761681901.371 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:05:01.371Z,1761681901.371 [marl:UpdateRudder:A] Stopped 2025-10-28T20:05:01.372Z,1761681901.372 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:05:01.765Z,1761681901.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971148,0.183092,-0.152806],[-0.202936,0.971015,-0.126280],[0.125256,0.153646,0.980155]] 2025-10-28T20:05:01.891Z,1761681901.891 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:05:01.891Z,1761681901.891 [marl:UpdateRudder:B] Stopped 2025-10-28T20:05:01.891Z,1761681901.891 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:05:01.891Z,1761681901.891 [marl:UpdateRudder] Stopped 2025-10-28T20:05:01.891Z,1761681901.891 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:05:02.153Z,1761681902.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977270,0.150701,-0.149106],[-0.170435,0.976778,-0.129835],[0.126077,0.152297,0.980260]] 2025-10-28T20:05:02.209Z,1761681902.209 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:05:02.209Z,1761681902.209 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:05:02.209Z,1761681902.209 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateCommandMode] Stopped 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:05:02.210Z,1761681902.210 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:05:02.211Z,1761681902.211 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:05:02.211Z,1761681902.211 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:05:02.211Z,1761681902.211 [marl:UpdateSpeed] Stopped 2025-10-28T20:05:02.211Z,1761681902.211 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:05:02.552Z,1761681902.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982356,0.117665,-0.145369],[-0.137601,0.981148,-0.135698],[0.126662,0.153306,0.980027]] 2025-10-28T20:05:02.954Z,1761681902.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986340,0.084290,-0.141519],[-0.104435,0.984405,-0.141561],[0.127380,0.154407,0.979762]] 2025-10-28T20:05:03.362Z,1761681903.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989127,0.052055,-0.137546],[-0.072065,0.986839,-0.144759],[0.128200,0.153098,0.979860]] 2025-10-28T20:05:03.773Z,1761681903.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990796,0.020830,-0.133755],[-0.040389,0.988573,-0.145228],[0.129201,0.149294,0.980315]] 2025-10-28T20:05:04.169Z,1761681904.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991402,-0.008446,-0.130581],[-0.010508,0.989553,-0.143785],[0.130431,0.143920,0.980956]] 2025-10-28T20:05:04.570Z,1761681904.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991242,-0.034047,-0.127592],[0.016339,0.990389,-0.137343],[0.131042,0.134055,0.982271]] 2025-10-28T20:05:04.975Z,1761681904.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990653,-0.053253,-0.125578],[0.037985,0.991927,-0.120988],[0.131008,0.115087,0.984679]] 2025-10-28T20:05:05.379Z,1761681905.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989968,-0.065288,-0.125302],[0.053489,0.994008,-0.095327],[0.130775,0.087669,0.987528]] 2025-10-28T20:05:05.789Z,1761681905.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989528,-0.069348,-0.126593],[0.061775,0.996112,-0.062809],[0.130456,0.054331,0.989964]] 2025-10-28T20:05:06.187Z,1761681906.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989558,-0.065249,-0.128518],[0.062564,0.997732,-0.024823],[0.129846,0.016523,0.991396]] 2025-10-28T20:05:06.590Z,1761681906.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990029,-0.054088,-0.130070],[0.056803,0.998236,0.017257],[0.128907,-0.024473,0.991355]] 2025-10-28T20:05:07.003Z,1761681907.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990750,-0.034797,-0.131166],[0.044044,0.996694,0.068272],[0.128357,-0.073418,0.989007]] 2025-10-28T20:05:07.403Z,1761681907.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991472,-0.006738,-0.130143],[0.023816,0.991213,0.130115],[0.128123,-0.132105,0.982921]] 2025-10-28T20:05:07.813Z,1761681907.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991726,0.028234,-0.125232],[-0.002692,0.979874,0.199598],[0.128347,-0.197610,0.971842]] 2025-10-28T20:05:08.207Z,1761681908.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990940,0.068099,-0.115762],[-0.034468,0.961999,0.270867],[0.129809,-0.264423,0.955631]] 2025-10-28T20:05:08.614Z,1761681908.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988688,0.109837,-0.102133],[-0.069604,0.939199,0.336244],[0.132855,-0.325332,0.936220]] 2025-10-28T20:05:09.016Z,1761681909.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984918,0.150192,-0.085901],[-0.105015,0.913483,0.393092],[0.137508,-0.378143,0.915478]] 2025-10-28T20:05:09.422Z,1761681909.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979749,0.188435,-0.067711],[-0.139891,0.886115,0.441848],[0.143259,-0.423428,0.894531]] 2025-10-28T20:05:09.698Z,1761681909.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:05:09.823Z,1761681909.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973436,0.223492,-0.049727],[-0.173161,0.860728,0.478708],[0.149789,-0.457381,0.876565]] 2025-10-28T20:05:10.227Z,1761681910.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966185,0.255700,-0.033233],[-0.204755,0.839172,0.503851],[0.156723,-0.480009,0.863151]] 2025-10-28T20:05:10.648Z,1761681910.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958149,0.285640,-0.019001],[-0.234631,0.821606,0.519530],[0.164010,-0.493328,0.854241]] 2025-10-28T20:05:10.700Z,1761681910.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:05:11.048Z,1761681911.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949490,0.313732,-0.006341],[-0.263171,0.807152,0.528438],[0.170906,-0.500078,0.848948]] 2025-10-28T20:05:11.450Z,1761681911.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940229,0.340515,0.004405],[-0.291026,0.796728,0.529649],[0.176845,-0.499273,0.848205]] 2025-10-28T20:05:11.850Z,1761681911.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930218,0.366776,0.013024],[-0.318910,0.790239,0.523277],[0.181633,-0.490916,0.852063]] 2025-10-28T20:05:12.265Z,1761681912.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919678,0.392060,0.021933],[-0.346615,0.784289,0.514537],[0.184528,-0.480811,0.857188]] 2025-10-28T20:05:12.675Z,1761681912.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908201,0.417352,0.031430],[-0.375219,0.778641,0.502921],[0.185422,-0.468546,0.863761]] 2025-10-28T20:05:13.079Z,1761681913.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895674,0.442848,0.040671],[-0.404535,0.773354,0.488135],[0.184717,-0.453662,0.871820]] 2025-10-28T20:05:13.483Z,1761681913.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881686,0.469010,0.051572],[-0.434918,0.765446,0.474278],[0.182965,-0.440594,0.878863]] 2025-10-28T20:05:13.886Z,1761681913.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865842,0.496574,0.061093],[-0.466680,0.757569,0.456397],[0.180353,-0.423679,0.887676]] 2025-10-28T20:05:14.321Z,1761681914.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848762,0.523941,0.071338],[-0.498342,0.747491,0.439219],[0.176800,-0.408343,0.895543]] 2025-10-28T20:05:14.724Z,1761681914.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830536,0.550567,0.084181],[-0.529595,0.733852,0.425429],[0.172451,-0.397915,0.901068]] 2025-10-28T20:05:14.772Z,1761681914.772 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:05:14.772Z,1761681914.772 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:05:14.772Z,1761681914.772 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:05:14.773Z,1761681914.773 [marl:UpdateRudder:A] Stopped 2025-10-28T20:05:14.773Z,1761681914.773 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:05:15.257Z,1761681915.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789747,0.603160,0.111791],[-0.591651,0.700821,0.398496],[0.162012,-0.380853,0.910331]] 2025-10-28T20:05:15.297Z,1761681915.297 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:05:15.297Z,1761681915.297 [marl:UpdateRudder:B] Stopped 2025-10-28T20:05:15.297Z,1761681915.297 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:05:15.297Z,1761681915.297 [marl:UpdateRudder] Stopped 2025-10-28T20:05:15.298Z,1761681915.298 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:05:15.659Z,1761681915.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767823,0.628112,0.126191],[-0.621244,0.681837,0.386205],[0.156539,-0.374932,0.913740]] 2025-10-28T20:05:15.762Z,1761681915.762 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:05:15.762Z,1761681915.762 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:05:15.763Z,1761681915.763 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:05:15.763Z,1761681915.763 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:05:15.763Z,1761681915.763 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:05:15.763Z,1761681915.763 [marl:UpdateCommandMode] Stopped 2025-10-28T20:05:15.764Z,1761681915.764 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:05:15.768Z,1761681915.768 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:05:15.768Z,1761681915.768 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:05:15.768Z,1761681915.768 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:05:15.769Z,1761681915.769 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:05:15.769Z,1761681915.769 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:05:15.769Z,1761681915.769 [marl:UpdateSpeed] Stopped 2025-10-28T20:05:15.769Z,1761681915.769 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:05:16.066Z,1761681916.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745003,0.651530,0.143105],[-0.649648,0.659966,0.377362],[0.151419,-0.374104,0.914942]] 2025-10-28T20:05:16.469Z,1761681916.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721279,0.673551,0.161512],[-0.676874,0.635949,0.370689],[0.146965,-0.376694,0.914605]] 2025-10-28T20:05:16.871Z,1761681916.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697633,0.694052,0.177764],[-0.702001,0.612595,0.363210],[0.143189,-0.378178,0.914592]] 2025-10-28T20:05:17.277Z,1761681917.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674713,0.712445,0.192832],[-0.724742,0.590063,0.355774],[0.139686,-0.379799,0.914462]] 2025-10-28T20:05:17.684Z,1761681917.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652735,0.728052,0.209468],[-0.745136,0.567058,0.351024],[0.136783,-0.385208,0.912637]] 2025-10-28T20:05:18.083Z,1761681918.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631401,0.741958,0.225459],[-0.763704,0.544541,0.346744],[0.134498,-0.391118,0.910460]] 2025-10-28T20:05:18.490Z,1761681918.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610887,0.754095,0.241160],[-0.780517,0.522568,0.343098],[0.132706,-0.397824,0.907814]] 2025-10-28T20:05:18.893Z,1761681918.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590587,0.765112,0.256536],[-0.796205,0.500716,0.339619],[0.131395,-0.404830,0.904902]] 2025-10-28T20:05:19.295Z,1761681919.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570481,0.776020,0.268969],[-0.810893,0.480192,0.334466],[0.130396,-0.408912,0.903210]] 2025-10-28T20:05:19.764Z,1761681919.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550884,0.785807,0.281129],[-0.824538,0.460344,0.328970],[0.129091,-0.413026,0.901524]] 2025-10-28T20:05:20.122Z,1761681920.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531771,0.795123,0.291546],[-0.837277,0.441885,0.322032],[0.127225,-0.415352,0.900720]] 2025-10-28T20:05:20.510Z,1761681920.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513212,0.803435,0.301838],[-0.849142,0.424192,0.314673],[0.124782,-0.417797,0.899931]] 2025-10-28T20:05:20.911Z,1761681920.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494819,0.811759,0.310163],[-0.860412,0.407617,0.305843],[0.121842,-0.418205,0.900144]] 2025-10-28T20:05:21.315Z,1761681921.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475870,0.820049,0.317912],[-0.871438,0.390745,0.296502],[0.118924,-0.418137,0.900566]] 2025-10-28T20:05:21.779Z,1761681921.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455349,0.829616,0.323102],[-0.882669,0.373209,0.285674],[0.116415,-0.415273,0.902217]] 2025-10-28T20:05:22.176Z,1761681922.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433268,0.839610,0.327617],[-0.893980,0.354240,0.274435],[0.114363,-0.411787,0.904076]] 2025-10-28T20:05:22.594Z,1761681922.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409590,0.850404,0.330225],[-0.905341,0.334386,0.261807],[0.112219,-0.406200,0.906867]] 2025-10-28T20:05:22.993Z,1761681922.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384727,0.860454,0.334071],[-0.916487,0.313081,0.249063],[0.109715,-0.401993,0.909046]] 2025-10-28T20:05:23.395Z,1761681923.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358957,0.870669,0.336282],[-0.927200,0.291335,0.235424],[0.107005,-0.396308,0.911861]] 2025-10-28T20:05:23.801Z,1761681923.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332008,0.880289,0.338913],[-0.937515,0.268295,0.221548],[0.104098,-0.391292,0.914360]] 2025-10-28T20:05:24.202Z,1761681924.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304375,0.889379,0.341118],[-0.947197,0.244671,0.207253],[0.100864,-0.386188,0.916889]] 2025-10-28T20:05:24.616Z,1761681924.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275990,0.898389,0.341653],[-0.956222,0.220652,0.192231],[0.097312,-0.379750,0.919957]] 2025-10-28T20:05:25.011Z,1761681925.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247140,0.906140,0.343267],[-0.964453,0.195831,0.177428],[0.093552,-0.374914,0.922327]] 2025-10-28T20:05:25.042Z,1761681925.042 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:05:25.285Z,1761681925.285 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:05:25.285Z,1761681925.285 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:05:25.416Z,1761681925.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217318,0.912033,0.347804],[-0.971966,0.169430,0.163022],[0.089753,-0.373481,0.923285]] 2025-10-28T20:05:25.537Z,1761681925.537 [DAT](INFO): DAT read: user:233> 2025-10-28T20:05:25.538Z,1761681925.538 [DAT](INFO): DAT read: Tx time:20:05:25.2731 2025-10-28T20:05:25.538Z,1761681925.538 [DAT](INFO): Ping request sent. 2025-10-28T20:05:25.538Z,1761681925.538 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:05:25.538Z,1761681925.538 [DAT](INFO): publishing transmit ping time 2025-10-28T20:05:25.539Z,1761681925.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000922 2025-10-28T20:05:25.789Z,1761681925.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250956 2025-10-28T20:05:25.819Z,1761681925.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186882,0.917050,0.352271],[-0.978613,0.142403,0.148450],[0.085972,-0.372480,0.924049]] 2025-10-28T20:05:26.041Z,1761681926.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502941 2025-10-28T20:05:26.223Z,1761681926.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156237,0.921373,0.355895],[-0.984274,0.115165,0.133944],[0.082426,-0.371225,0.924877]] 2025-10-28T20:05:26.294Z,1761681926.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755572 2025-10-28T20:05:26.545Z,1761681926.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006930 2025-10-28T20:05:26.635Z,1761681926.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125693,0.924393,0.360138],[-0.988922,0.087855,0.119643],[0.078957,-0.371187,0.925195]] 2025-10-28T20:05:26.797Z,1761681926.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258998 2025-10-28T20:05:27.047Z,1761681927.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094986,0.925898,0.365637],[-0.992586,0.060109,0.105643],[0.075836,-0.372961,0.924743]] 2025-10-28T20:05:27.049Z,1761681927.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-28T20:05:27.302Z,1761681927.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763862 2025-10-28T20:05:27.439Z,1761681927.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064281,0.925057,0.374350],[-0.995231,0.031845,0.092201],[0.073370,-0.378491,0.922692]] 2025-10-28T20:05:27.553Z,1761681927.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014794 2025-10-28T20:05:27.806Z,1761681927.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267523 2025-10-28T20:05:27.843Z,1761681927.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034170,0.923149,0.382920],[-0.996876,0.004182,0.078875],[0.071212,-0.384419,0.920408]] 2025-10-28T20:05:27.900Z,1761681927.900 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:05:27.900Z,1761681927.900 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:05:27.901Z,1761681927.901 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:05:27.901Z,1761681927.901 [marl:UpdateRudder:A] Stopped 2025-10-28T20:05:27.901Z,1761681927.901 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:05:28.058Z,1761681928.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520094 2025-10-28T20:05:28.252Z,1761681928.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004762,0.920436,0.390865],[-0.997582,-0.022727,0.065672],[0.069330,-0.390233,0.918102]] 2025-10-28T20:05:28.279Z,1761681928.279 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:05:28.279Z,1761681928.279 [marl:UpdateRudder:B] Stopped 2025-10-28T20:05:28.279Z,1761681928.279 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:05:28.279Z,1761681928.279 [marl:UpdateRudder] Stopped 2025-10-28T20:05:28.279Z,1761681928.279 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:05:28.311Z,1761681928.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772878 2025-10-28T20:05:28.561Z,1761681928.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022862 2025-10-28T20:05:28.655Z,1761681928.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023671,0.915886,0.400739],[-0.997434,-0.048728,0.052452],[0.067567,-0.398469,0.914690]] 2025-10-28T20:05:28.813Z,1761681928.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922 2025-10-28T20:05:29.055Z,1761681929.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051221,0.911085,0.409024],[-0.996493,-0.073760,0.039508],[0.066164,-0.405566,0.911668]] 2025-10-28T20:05:29.065Z,1761681929.065 [DAT](INFO): DAT read: Rx Time:20:05:28.3421 2025-10-28T20:05:29.065Z,1761681929.065 [DAT](INFO): Rx dataTimestamp_ set to:1761681929.065048 2025-10-28T20:05:29.066Z,1761681929.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527853 2025-10-28T20:05:29.142Z,1761681929.142 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:05:29.142Z,1761681929.142 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:05:29.142Z,1761681929.142 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateCommandMode] Stopped 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:05:29.143Z,1761681929.143 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:05:29.148Z,1761681929.148 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:05:29.148Z,1761681929.148 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:05:29.148Z,1761681929.148 [marl:UpdateSpeed] Stopped 2025-10-28T20:05:29.148Z,1761681929.148 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:05:29.317Z,1761681929.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778877 2025-10-28T20:05:29.461Z,1761681929.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077645,0.906006,0.416083],[-0.994885,-0.097460,0.026560],[0.064615,-0.411893,0.908939]] 2025-10-28T20:05:29.582Z,1761681929.582 [DAT](INFO): DAT read: 20:05:28.3421 LVL= 18736, 15233, 16322, 15715, AGC= 66, IDX= 213,-0.09,-1.222, 0.555, 0.488, 0.113, PHS=-1.233, 0.487, 0.331, RAW= 274.7, 5.1, CAL= 272.6, -0.5, ROT= 237.4, 0.5 2025-10-28T20:05:29.588Z,1761681929.588 [DAT](INFO): got valid direction response: 20:05:28.3421 LVL= 18736, 15233, 16322, 15715, AGC= 66, IDX= 213,-0.09,-1.222, 0.555, 0.488, 0.113, PHS=-1.233, 0.487, 0.331, RAW= 274.7, 5.1, CAL= 272.6, -0.5, ROT= 237.4, 0.5 2025-10-28T20:05:29.590Z,1761681929.590 [DAT](INFO): DAT read: Bearing 122, -10 (Remote) 2025-10-28T20:05:29.590Z,1761681929.590 [DAT](INFO): Remote Bearing received:Bearing 122, -10 (Remote) 2025-10-28T20:05:29.591Z,1761681929.591 [DAT](INFO): DAT read: Bearing 296.3, -52.6 (Local) 2025-10-28T20:05:29.604Z,1761681929.604 [DAT](INFO): Local bearing/azimuth received: Bearing 296.3, -52.6 (Local) 2025-10-28T20:05:29.606Z,1761681929.606 [DAT](INFO): DAT read: Range 11 to 20 : 779.9 m (Round-trip 1039.9 ms) speed 0.2 m/s 2025-10-28T20:05:29.607Z,1761681929.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:05:29.621Z,1761681929.621 [DAT](INFO): direction in FSK: [-0.538750,-0.842420,-0.008727] 2025-10-28T20:05:29.621Z,1761681929.621 [DAT](INFO): publishing direction and range info 2025-10-28T20:05:29.863Z,1761681929.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101627,0.901222,0.421272],[-0.992865,-0.118438,0.013856],[0.062382,-0.416858,0.906828]] 2025-10-28T20:05:29.955Z,1761681929.955 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761681920.00. Resetting abort timer. 2025-10-28T20:05:30.266Z,1761681930.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122419,0.898321,0.421939],[-0.990732,-0.135819,0.001718],[0.058851,-0.417818,0.906622]] 2025-10-28T20:05:30.671Z,1761681930.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140817,0.897024,0.418950],[-0.988546,-0.150603,-0.009807],[0.054298,-0.415532,0.907956]] 2025-10-28T20:05:30.679Z,1761681930.679 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2025-10-28T20:05:31.093Z,1761681931.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157441,0.896811,0.413452],[-0.986326,-0.163457,-0.021038],[0.048715,-0.411110,0.910283]] 2025-10-28T20:05:31.479Z,1761681931.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173774,0.897054,0.406322],[-0.983860,-0.176025,-0.032156],[0.042677,-0.405351,0.913164]] 2025-10-28T20:05:31.883Z,1761681931.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191424,0.897714,0.396820],[-0.980814,-0.190150,-0.042970],[0.036881,-0.397433,0.916890]] 2025-10-28T20:05:32.286Z,1761681932.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210837,0.897744,0.386787],[-0.977022,-0.206177,-0.054031],[0.031240,-0.389291,0.920585]] 2025-10-28T20:05:32.696Z,1761681932.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231953,0.896466,0.377554],[-0.972385,-0.223977,-0.065579],[0.025774,-0.382339,0.923663]] 2025-10-28T20:05:33.109Z,1761681933.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254280,0.894352,0.368070],[-0.966910,-0.243215,-0.077014],[0.020643,-0.375474,0.926603]] 2025-10-28T20:05:33.503Z,1761681933.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277884,0.891219,0.358482],[-0.960486,-0.263893,-0.088476],[0.015749,-0.368903,0.929335]] 2025-10-28T20:05:33.906Z,1761681933.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302484,0.886418,0.350380],[-0.953085,-0.285711,-0.099988],[0.011476,-0.364186,0.931255]] 2025-10-28T20:05:34.311Z,1761681934.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327272,0.880239,0.343616],[-0.944898,-0.307845,-0.111349],[0.007766,-0.361123,0.932486]] 2025-10-28T20:05:34.718Z,1761681934.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351829,0.872873,0.338096],[-0.936055,-0.329674,-0.122947],[0.004144,-0.359733,0.933046]] 2025-10-28T20:05:35.119Z,1761681935.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375347,0.864121,0.335277],[-0.926884,-0.350177,-0.135135],[0.000634,-0.361485,0.932378]] 2025-10-28T20:05:35.522Z,1761681935.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397528,0.854732,0.333775],[-0.917586,-0.369168,-0.147484],[-0.002840,-0.364896,0.931044]] 2025-10-28T20:05:35.926Z,1761681935.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418211,0.845574,0.331819],[-0.908327,-0.386698,-0.159397],[-0.006468,-0.368062,0.929779]] 2025-10-28T20:05:36.331Z,1761681936.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437644,0.836388,0.330036],[-0.899089,-0.402841,-0.171343],[-0.010357,-0.371718,0.928288]] 2025-10-28T20:05:36.735Z,1761681936.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455998,0.827240,0.328238],[-0.889874,-0.418083,-0.182568],[-0.013796,-0.375341,0.926784]] 2025-10-28T20:05:37.141Z,1761681937.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473800,0.817860,0.326524],[-0.880472,-0.432860,-0.193396],[-0.016832,-0.379126,0.925192]] 2025-10-28T20:05:37.542Z,1761681937.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490744,0.808147,0.325682],[-0.871077,-0.446530,-0.204537],[-0.019869,-0.384069,0.923090]] 2025-10-28T20:05:37.949Z,1761681937.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506955,0.798818,0.323861],[-0.861678,-0.459828,-0.214638],[-0.022536,-0.387876,0.921436]] 2025-10-28T20:05:38.351Z,1761681938.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521963,0.790072,0.321466],[-0.852595,-0.472115,-0.224029],[-0.025230,-0.391015,0.920038]] 2025-10-28T20:05:38.758Z,1761681938.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535485,0.781972,0.319024],[-0.844085,-0.483071,-0.232731],[-0.027878,-0.393908,0.918727]] 2025-10-28T20:05:39.160Z,1761681939.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548577,0.774033,0.316126],[-0.835526,-0.493507,-0.241549],[-0.030956,-0.396640,0.917452]] 2025-10-28T20:05:39.572Z,1761681939.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561682,0.766586,0.311222],[-0.826646,-0.504428,-0.249418],[-0.034211,-0.397364,0.917023]] 2025-10-28T20:05:39.966Z,1761681939.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574642,0.759168,0.305696],[-0.817557,-0.515504,-0.256622],[-0.037232,-0.397390,0.916894]] 2025-10-28T20:05:40.371Z,1761681940.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588575,0.751232,0.298712],[-0.807442,-0.527870,-0.263423],[-0.040211,-0.396237,0.917267]] 2025-10-28T20:05:40.785Z,1761681940.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603022,0.743066,0.290202],[-0.796557,-0.541213,-0.269415],[-0.043131,-0.393626,0.918258]] 2025-10-28T20:05:40.820Z,1761681940.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:05:41.187Z,1761681941.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634175,0.723393,0.272992],[-0.771698,-0.570265,-0.281568],[-0.048006,-0.389231,0.919888]] 2025-10-28T20:05:41.211Z,1761681941.211 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:05:41.211Z,1761681941.211 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:05:41.211Z,1761681941.211 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:05:41.212Z,1761681941.212 [marl:UpdateRudder:A] Stopped 2025-10-28T20:05:41.212Z,1761681941.212 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:05:41.593Z,1761681941.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650684,0.712376,0.262926],[-0.757678,-0.586137,-0.286997],[-0.050339,-0.385958,0.921142]] 2025-10-28T20:05:41.617Z,1761681941.617 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:05:41.617Z,1761681941.617 [marl:UpdateRudder:B] Stopped 2025-10-28T20:05:41.617Z,1761681941.617 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:05:41.617Z,1761681941.617 [marl:UpdateRudder] Stopped 2025-10-28T20:05:41.618Z,1761681941.618 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:05:41.824Z,1761681941.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:05:41.992Z,1761681941.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667338,0.700080,0.254062],[-0.742889,-0.601605,-0.293576],[-0.052682,-0.384655,0.921556]] 2025-10-28T20:05:42.399Z,1761681942.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684270,0.687088,0.244304],[-0.727141,-0.617545,-0.299841],[-0.055148,-0.382815,0.922177]] 2025-10-28T20:05:42.423Z,1761681942.423 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:05:42.423Z,1761681942.423 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:05:42.423Z,1761681942.423 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateCommandMode] Stopped 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:05:42.424Z,1761681942.424 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:05:42.425Z,1761681942.425 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:05:42.425Z,1761681942.425 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:05:42.425Z,1761681942.425 [marl:UpdateSpeed] Stopped 2025-10-28T20:05:42.425Z,1761681942.425 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:05:42.827Z,1761681942.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701603,0.673407,0.232974],[-0.710208,-0.634261,-0.305479],[-0.057946,-0.379785,0.923258]] 2025-10-28T20:05:43.202Z,1761681943.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719228,0.658331,0.222062],[-0.692141,-0.651119,-0.311424],[-0.060431,-0.377683,0.923961]] 2025-10-28T20:05:43.604Z,1761681943.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736481,0.642644,0.211198],[-0.673524,-0.667584,-0.317327],[-0.062936,-0.375952,0.924499]] 2025-10-28T20:05:44.007Z,1761681944.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751882,0.628722,0.198448],[-0.655978,-0.683234,-0.320756],[-0.066080,-0.371348,0.926139]] 2025-10-28T20:05:44.411Z,1761681944.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763797,0.618752,0.183738],[-0.641598,-0.696741,-0.320786],[-0.070469,-0.362902,0.929159]] 2025-10-28T20:05:44.814Z,1761681944.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771716,0.614401,0.164213],[-0.631366,-0.709146,-0.313828],[-0.076365,-0.345865,0.935172]] 2025-10-28T20:05:45.222Z,1761681945.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776921,0.612997,0.143625],[-0.624078,-0.719661,-0.304327],[-0.083190,-0.326072,0.941678]] 2025-10-28T20:05:45.623Z,1761681945.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779673,0.613629,0.124779],[-0.619633,-0.727286,-0.295144],[-0.090359,-0.307433,0.947270]] 2025-10-28T20:05:46.030Z,1761681946.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780410,0.615754,0.108667],[-0.617628,-0.732055,-0.287458],[-0.097453,-0.291451,0.951609]] 2025-10-28T20:05:46.431Z,1761681946.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779474,0.619091,0.095644],[-0.617700,-0.734184,-0.281817],[-0.104250,-0.278748,0.954689]] 2025-10-28T20:05:46.836Z,1761681946.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777079,0.623712,0.084448],[-0.619582,-0.734429,-0.277006],[-0.110750,-0.267578,0.957150]] 2025-10-28T20:05:47.238Z,1761681947.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774106,0.628698,0.074154],[-0.622116,-0.733809,-0.272938],[-0.117181,-0.257415,0.959170]] 2025-10-28T20:05:47.643Z,1761681947.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770218,0.634483,0.064771],[-0.625684,-0.732017,-0.269575],[-0.123627,-0.248157,0.960799]] 2025-10-28T20:05:48.058Z,1761681948.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766309,0.640008,0.056211],[-0.629125,-0.729771,-0.267650],[-0.130277,-0.240467,0.961875]] 2025-10-28T20:05:48.452Z,1761681948.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762366,0.645327,0.048493],[-0.632484,-0.727138,-0.266896],[-0.136974,-0.234143,0.962505]] 2025-10-28T20:05:48.855Z,1761681948.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759495,0.649307,0.039594],[-0.634464,-0.725947,-0.265435],[-0.143606,-0.226718,0.963315]] 2025-10-28T20:05:49.258Z,1761681949.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758545,0.650884,0.030981],[-0.634212,-0.726529,-0.264445],[-0.149615,-0.220242,0.963903]] 2025-10-28T20:05:49.662Z,1761681949.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758416,0.651353,0.023328],[-0.633149,-0.727783,-0.263542],[-0.154681,-0.214644,0.964366]] 2025-10-28T20:05:50.071Z,1761681950.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759343,0.650470,0.016930],[-0.631116,-0.729918,-0.262512],[-0.158399,-0.210021,0.964780]] 2025-10-28T20:05:50.471Z,1761681950.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761028,0.648596,0.012620],[-0.628363,-0.732175,-0.262830],[-0.161231,-0.207951,0.964760]] 2025-10-28T20:05:50.875Z,1761681950.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763202,0.646090,0.009507],[-0.625129,-0.734558,-0.263890],[-0.163513,-0.207345,0.964506]] 2025-10-28T20:05:51.279Z,1761681951.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765269,0.643651,0.008749],[-0.622175,-0.736113,-0.266527],[-0.165110,-0.209408,0.963788]] 2025-10-28T20:05:51.695Z,1761681951.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767034,0.641543,0.009054],[-0.619581,-0.736962,-0.270199],[-0.166672,-0.212861,0.962762]] 2025-10-28T20:05:52.086Z,1761681952.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768732,0.639489,0.010233],[-0.617259,-0.737630,-0.273666],[-0.167458,-0.216692,0.961770]] 2025-10-28T20:05:52.491Z,1761681952.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770115,0.637790,0.012101],[-0.615220,-0.737581,-0.278351],[-0.168604,-0.221807,0.960403]] 2025-10-28T20:05:52.895Z,1761681952.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770826,0.636885,0.014304],[-0.614108,-0.736913,-0.282543],[-0.169406,-0.226576,0.959148]] 2025-10-28T20:05:53.300Z,1761681953.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771167,0.636418,0.016534],[-0.613516,-0.735980,-0.286237],[-0.169997,-0.230881,0.958016]] 2025-10-28T20:05:53.743Z,1761681953.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771684,0.635729,0.018784],[-0.612815,-0.735318,-0.289423],[-0.170183,-0.234854,0.957017]] 2025-10-28T20:05:54.107Z,1761681954.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772576,0.634592,0.020480],[-0.611836,-0.735478,-0.291081],[-0.169655,-0.237413,0.956479]] 2025-10-28T20:05:54.511Z,1761681954.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773615,0.633283,0.021744],[-0.610749,-0.736066,-0.291878],[-0.168836,-0.239081,0.956208]] 2025-10-28T20:05:54.566Z,1761681954.566 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:05:54.566Z,1761681954.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:05:54.566Z,1761681954.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:05:54.566Z,1761681954.566 [marl:UpdateRudder:A] Stopped 2025-10-28T20:05:54.566Z,1761681954.566 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:05:54.915Z,1761681954.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774758,0.631837,0.023046],[-0.609632,-0.736874,-0.292174],[-0.167625,-0.240413,0.956088]] 2025-10-28T20:05:55.055Z,1761681955.055 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:05:55.055Z,1761681955.055 [marl:UpdateRudder:B] Stopped 2025-10-28T20:05:55.055Z,1761681955.055 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:05:55.055Z,1761681955.055 [marl:UpdateRudder] Stopped 2025-10-28T20:05:55.055Z,1761681955.055 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:05:55.320Z,1761681955.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776360,0.629852,0.023469],[-0.608058,-0.738655,-0.290953],[-0.165922,-0.240155,0.956449]] 2025-10-28T20:05:55.758Z,1761681955.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777748,0.628152,0.023109],[-0.606660,-0.740498,-0.289183],[-0.164539,-0.238931,0.956995]] 2025-10-28T20:05:55.815Z,1761681955.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:05:55.815Z,1761681955.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:05:55.815Z,1761681955.815 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateCommandMode] Stopped 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:05:55.816Z,1761681955.816 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:05:55.817Z,1761681955.817 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:05:55.817Z,1761681955.817 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:05:55.817Z,1761681955.817 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:05:55.817Z,1761681955.817 [marl:UpdateSpeed] Stopped 2025-10-28T20:05:55.817Z,1761681955.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:05:56.127Z,1761681956.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779028,0.626594,0.022248],[-0.605444,-0.742564,-0.286419],[-0.162948,-0.236598,0.957846]] 2025-10-28T20:05:56.548Z,1761681956.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780112,0.625263,0.021723],[-0.604673,-0.744599,-0.282742],[-0.160613,-0.233705,0.958950]] 2025-10-28T20:05:56.936Z,1761681956.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781346,0.623709,0.022034],[-0.603960,-0.746767,-0.278517],[-0.157259,-0.230926,0.960179]] 2025-10-28T20:05:57.339Z,1761681957.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782902,0.621708,0.023311],[-0.602924,-0.748941,-0.274899],[-0.153448,-0.229274,0.961190]] 2025-10-28T20:05:57.766Z,1761681957.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784491,0.619646,0.024765],[-0.601832,-0.751090,-0.271408],[-0.149577,-0.227821,0.962146]] 2025-10-28T20:05:58.147Z,1761681958.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785996,0.617625,0.027386],[-0.600882,-0.752767,-0.268854],[-0.145436,-0.227774,0.962792]] 2025-10-28T20:05:58.555Z,1761681958.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787566,0.615462,0.030773],[-0.599783,-0.754128,-0.267491],[-0.141424,-0.229124,0.963069]] 2025-10-28T20:05:58.954Z,1761681958.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788871,0.613528,0.035575],[-0.599011,-0.754685,-0.267649],[-0.137362,-0.232450,0.962859]] 2025-10-28T20:05:59.358Z,1761681959.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789047,0.612829,0.042956],[-0.599713,-0.753220,-0.270192],[-0.133226,-0.238956,0.961848]] 2025-10-28T20:05:59.772Z,1761681959.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788936,0.612345,0.051124],[-0.600783,-0.751215,-0.273378],[-0.128996,-0.246392,0.960547]] 2025-10-28T20:06:00.175Z,1761681960.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788542,0.612079,0.059677],[-0.602162,-0.748749,-0.277085],[-0.124914,-0.254428,0.958991]] 2025-10-28T20:06:00.571Z,1761681960.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786785,0.613315,0.069388],[-0.605230,-0.744545,-0.281690],[-0.121102,-0.263625,0.956993]] 2025-10-28T20:06:00.975Z,1761681960.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784489,0.615133,0.078671],[-0.608976,-0.740173,-0.285118],[-0.117155,-0.271581,0.955258]] 2025-10-28T20:06:01.379Z,1761681961.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781978,0.617246,0.086703],[-0.612889,-0.736109,-0.287247],[-0.113479,-0.277760,0.953924]] 2025-10-28T20:06:01.800Z,1761681961.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779205,0.619631,0.094329],[-0.617048,-0.731976,-0.288900],[-0.109965,-0.283318,0.952701]] 2025-10-28T20:06:02.187Z,1761681962.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776881,0.621787,0.099179],[-0.620558,-0.729440,-0.287794],[-0.106602,-0.285128,0.952543]] 2025-10-28T20:06:02.591Z,1761681962.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774919,0.623681,0.102580],[-0.623553,-0.727815,-0.285424],[-0.103355,-0.285145,0.952896]] 2025-10-28T20:06:02.994Z,1761681962.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774043,0.624394,0.104832],[-0.625162,-0.727559,-0.282542],[-0.100146,-0.284237,0.953509]] 2025-10-28T20:06:03.404Z,1761681963.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774667,0.623721,0.104223],[-0.624886,-0.729752,-0.277451],[-0.096995,-0.280059,0.955070]] 2025-10-28T20:06:03.803Z,1761681963.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776207,0.622025,0.102894],[-0.623450,-0.732962,-0.272172],[-0.093880,-0.275411,0.956731]] 2025-10-28T20:06:04.207Z,1761681964.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778537,0.619379,0.101242],[-0.621053,-0.737088,-0.266448],[-0.090407,-0.270316,0.958517]] 2025-10-28T20:06:04.611Z,1761681964.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781646,0.615680,0.099836],[-0.617677,-0.741859,-0.260998],[-0.086627,-0.265674,0.960163]] 2025-10-28T20:06:05.026Z,1761681965.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785383,0.610882,0.099982],[-0.613469,-0.746567,-0.257476],[-0.082644,-0.263553,0.961098]] 2025-10-28T20:06:05.423Z,1761681965.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789518,0.605326,0.101200],[-0.608728,-0.751364,-0.254760],[-0.078175,-0.262741,0.961694]] 2025-10-28T20:06:05.823Z,1761681965.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794074,0.598650,0.105191],[-0.603346,-0.755371,-0.255713],[-0.073624,-0.266521,0.961013]] 2025-10-28T20:06:06.227Z,1761681966.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798269,0.592167,0.110022],[-0.598327,-0.758708,-0.257619],[-0.069079,-0.271478,0.959962]] 2025-10-28T20:06:06.633Z,1761681966.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801372,0.587002,0.115027],[-0.594644,-0.760950,-0.259525],[-0.064812,-0.276376,0.958861]] 2025-10-28T20:06:07.040Z,1761681967.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802403,0.584343,0.121214],[-0.593675,-0.760884,-0.261927],[-0.060825,-0.282133,0.957445]] 2025-10-28T20:06:07.442Z,1761681967.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801571,0.584207,0.127224],[-0.595153,-0.759245,-0.263325],[-0.057242,-0.286792,0.956281]] 2025-10-28T20:06:07.853Z,1761681967.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799575,0.585724,0.132692],[-0.598155,-0.756904,-0.263262],[-0.053764,-0.289868,0.955555]] 2025-10-28T20:06:07.906Z,1761681967.906 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:06:07.906Z,1761681967.906 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:06:07.906Z,1761681967.906 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:06:07.906Z,1761681967.906 [marl:UpdateRudder:A] Stopped 2025-10-28T20:06:07.906Z,1761681967.906 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:06:08.251Z,1761681968.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796715,0.588417,0.137880],[-0.602235,-0.753886,-0.262619],[-0.050584,-0.292268,0.954998]] 2025-10-28T20:06:08.276Z,1761681968.276 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:06:08.276Z,1761681968.276 [marl:UpdateRudder:B] Stopped 2025-10-28T20:06:08.276Z,1761681968.276 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:06:08.276Z,1761681968.276 [marl:UpdateRudder] Stopped 2025-10-28T20:06:08.276Z,1761681968.276 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:06:08.654Z,1761681968.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793633,0.591357,0.142979],[-0.606574,-0.750915,-0.261142],[-0.047063,-0.293978,0.954653]] 2025-10-28T20:06:09.054Z,1761681969.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790143,0.594655,0.148523],[-0.611348,-0.747268,-0.260468],[-0.043902,-0.296606,0.953990]] 2025-10-28T20:06:09.100Z,1761681969.100 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:06:09.104Z,1761681969.104 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:06:09.104Z,1761681969.104 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:06:09.104Z,1761681969.104 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:06:09.104Z,1761681969.104 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateCommandMode] Stopped 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:06:09.105Z,1761681969.105 [marl:UpdateSpeed] Stopped 2025-10-28T20:06:09.106Z,1761681969.106 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:06:09.462Z,1761681969.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786514,0.598302,0.153071],[-0.616248,-0.744112,-0.257945],[-0.040427,-0.297207,0.953957]] 2025-10-28T20:06:09.863Z,1761681969.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782124,0.603198,0.156315],[-0.622010,-0.740775,-0.253683],[-0.037227,-0.295641,0.954574]] 2025-10-28T20:06:10.268Z,1761681970.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777028,0.609024,0.159115],[-0.628534,-0.736929,-0.248759],[-0.034244,-0.293302,0.955406]] 2025-10-28T20:06:10.675Z,1761681970.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771625,0.615071,0.162121],[-0.635335,-0.732956,-0.243155],[-0.030730,-0.290626,0.956343]] 2025-10-28T20:06:11.074Z,1761681971.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765982,0.621742,0.163426],[-0.642280,-0.729333,-0.235689],[-0.027346,-0.285499,0.957989]] 2025-10-28T20:06:11.486Z,1761681971.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760703,0.628006,0.164132],[-0.648661,-0.726193,-0.227779],[-0.023855,-0.279738,0.959780]] 2025-10-28T20:06:11.883Z,1761681971.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756497,0.633208,0.163585],[-0.653696,-0.724527,-0.218500],[-0.019834,-0.272229,0.962028]] 2025-10-28T20:06:11.948Z,1761681971.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:06:12.287Z,1761681972.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754203,0.636356,0.161950],[-0.656447,-0.724691,-0.209524],[-0.015968,-0.264336,0.964299]] 2025-10-28T20:06:12.692Z,1761681972.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753234,0.637806,0.160753],[-0.657642,-0.725788,-0.201838],[-0.012061,-0.257749,0.966137]] 2025-10-28T20:06:12.952Z,1761681972.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:06:13.095Z,1761681973.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753755,0.637637,0.158975],[-0.657107,-0.728382,-0.194086],[-0.007962,-0.250757,0.968017]] 2025-10-28T20:06:13.513Z,1761681973.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755365,0.636006,0.157860],[-0.655294,-0.731740,-0.187477],[-0.003724,-0.245059,0.969501]] 2025-10-28T20:06:13.902Z,1761681973.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757578,0.633421,0.157653],[-0.652745,-0.735352,-0.182160],[0.000546,-0.240908,0.970548]] 2025-10-28T20:06:14.307Z,1761681974.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760280,0.629557,0.160099],[-0.649578,-0.738628,-0.180213],[0.004799,-0.241009,0.970511]] 2025-10-28T20:06:14.713Z,1761681974.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763762,0.624550,0.163111],[-0.645437,-0.742402,-0.179584],[0.008935,-0.242437,0.970126]] 2025-10-28T20:06:15.117Z,1761681975.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767218,0.619415,0.166437],[-0.641261,-0.745927,-0.179939],[0.012693,-0.244782,0.969495]] 2025-10-28T20:06:15.524Z,1761681975.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770877,0.613923,0.169844],[-0.636774,-0.749569,-0.180736],[0.016352,-0.247478,0.968756]] 2025-10-28T20:06:15.924Z,1761681975.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774645,0.608551,0.172019],[-0.632085,-0.753605,-0.180409],[0.019846,-0.248484,0.968433]] 2025-10-28T20:06:16.327Z,1761681976.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778821,0.602278,0.175211],[-0.626814,-0.757673,-0.181758],[0.023284,-0.251382,0.967608]] 2025-10-28T20:06:16.734Z,1761681976.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782310,0.596915,0.177998],[-0.622314,-0.761272,-0.182183],[0.026757,-0.253294,0.967019]] 2025-10-28T20:06:17.135Z,1761681977.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785015,0.592081,0.182186],[-0.618751,-0.763653,-0.184340],[0.029983,-0.257438,0.965830]] 2025-10-28T20:06:17.538Z,1761681977.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786985,0.587685,0.187833],[-0.616066,-0.765020,-0.187635],[0.033425,-0.263384,0.964112]] 2025-10-28T20:06:17.944Z,1761681977.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787085,0.585318,0.194678],[-0.615746,-0.764354,-0.191363],[0.036795,-0.270491,0.962019]] 2025-10-28T20:06:18.348Z,1761681978.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785575,0.584886,0.201939],[-0.617428,-0.762410,-0.193685],[0.040676,-0.276837,0.960056]] 2025-10-28T20:06:18.751Z,1761681978.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782634,0.586217,0.209365],[-0.620856,-0.759409,-0.194514],[0.044966,-0.282218,0.958296]] 2025-10-28T20:06:19.155Z,1761681979.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778198,0.589406,0.216814],[-0.626058,-0.755330,-0.193720],[0.049586,-0.286491,0.956799]] 2025-10-28T20:06:19.562Z,1761681979.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772212,0.595014,0.222817],[-0.633070,-0.750339,-0.190299],[0.053958,-0.288010,0.956106]] 2025-10-28T20:06:19.964Z,1761681979.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765104,0.603124,0.225518],[-0.641295,-0.745253,-0.182589],[0.057944,-0.284323,0.956976]] 2025-10-28T20:06:20.367Z,1761681980.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757222,0.613638,0.223749],[-0.650304,-0.740286,-0.170534],[0.060992,-0.274637,0.959612]] 2025-10-28T20:06:20.776Z,1761681980.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748658,0.625799,0.218831],[-0.659959,-0.734856,-0.156338],[0.062973,-0.261463,0.963157]] 2025-10-28T20:06:21.175Z,1761681981.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740317,0.638395,0.210673],[-0.669237,-0.729543,-0.141031],[0.063662,-0.245397,0.967330]] 2025-10-28T20:06:21.199Z,1761681981.199 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:06:21.199Z,1761681981.199 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:06:21.199Z,1761681981.199 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:06:21.199Z,1761681981.199 [marl:UpdateRudder:A] Stopped 2025-10-28T20:06:21.199Z,1761681981.199 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:06:21.589Z,1761681981.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732200,0.650252,0.202622],[-0.678138,-0.723685,-0.128097],[0.063339,-0.231198,0.970843]] 2025-10-28T20:06:21.613Z,1761681981.613 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:06:21.613Z,1761681981.613 [marl:UpdateRudder:B] Stopped 2025-10-28T20:06:21.613Z,1761681981.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:06:21.614Z,1761681981.614 [marl:UpdateRudder] Stopped 2025-10-28T20:06:21.614Z,1761681981.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:06:21.995Z,1761681981.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725529,0.660078,0.194693],[-0.685317,-0.718813,-0.116825],[0.062834,-0.218187,0.973882]] 2025-10-28T20:06:22.386Z,1761681982.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721330,0.666808,0.187214],[-0.689775,-0.716007,-0.107446],[0.062401,-0.206640,0.976425]] 2025-10-28T20:06:22.436Z,1761681982.436 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode] Stopped 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:06:22.437Z,1761681982.437 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed] Stopped 2025-10-28T20:06:22.438Z,1761681982.438 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:06:22.794Z,1761681982.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720618,0.668979,0.182146],[-0.690461,-0.716312,-0.100802],[0.063039,-0.198405,0.978091]] 2025-10-28T20:06:23.196Z,1761681983.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723890,0.665848,0.180637],[-0.686847,-0.720196,-0.097771],[0.064994,-0.194845,0.978678]] 2025-10-28T20:06:23.599Z,1761681983.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730146,0.658606,0.182001],[-0.679921,-0.726718,-0.097916],[0.067776,-0.195239,0.978411]] 2025-10-28T20:06:24.007Z,1761681984.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737006,0.650149,0.184738],[-0.672189,-0.733615,-0.099860],[0.070603,-0.197776,0.977701]] 2025-10-28T20:06:24.407Z,1761681984.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742779,0.641145,0.192902],[-0.665513,-0.738547,-0.107894],[0.073292,-0.208520,0.975268]] 2025-10-28T20:06:25.215Z,1761681985.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747125,0.628935,0.215046],[-0.660089,-0.740032,-0.128979],[0.078021,-0.238313,0.968049]] 2025-10-28T20:06:25.253Z,1761681985.253 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:06:25.285Z,1761681985.285 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:06:25.285Z,1761681985.285 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:06:25.537Z,1761681985.537 [DAT](INFO): DAT read: user:234> 2025-10-28T20:06:25.538Z,1761681985.538 [DAT](INFO): DAT read: Tx time:20:06:25.2728 2025-10-28T20:06:25.538Z,1761681985.538 [DAT](INFO): Ping request sent. 2025-10-28T20:06:25.538Z,1761681985.538 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:06:25.538Z,1761681985.538 [DAT](INFO): publishing transmit ping time 2025-10-28T20:06:25.539Z,1761681985.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T20:06:25.623Z,1761681985.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746170,0.626565,0.225048],[-0.660858,-0.738007,-0.136425],[0.080608,-0.250521,0.964749]] 2025-10-28T20:06:25.789Z,1761681985.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251018 2025-10-28T20:06:26.023Z,1761681986.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743332,0.626321,0.234903],[-0.663715,-0.734307,-0.142394],[0.083306,-0.261754,0.961533]] 2025-10-28T20:06:26.041Z,1761681986.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502985 2025-10-28T20:06:26.293Z,1761681986.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754966 2025-10-28T20:06:26.434Z,1761681986.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738989,0.627955,0.244068],[-0.668205,-0.729405,-0.146527],[0.086012,-0.271369,0.958624]] 2025-10-28T20:06:26.545Z,1761681986.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007098 2025-10-28T20:06:26.797Z,1761681986.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258864 2025-10-28T20:06:26.848Z,1761681986.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724847,0.639795,0.255458],[-0.683077,-0.715620,-0.145921],[0.089451,-0.280268,0.955745]] 2025-10-28T20:06:27.050Z,1761681987.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511709 2025-10-28T20:06:27.239Z,1761681987.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716727,0.648287,0.256958],[-0.691556,-0.708173,-0.142270],[0.089739,-0.279669,0.955893]] 2025-10-28T20:06:27.301Z,1761681987.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762837 2025-10-28T20:06:27.553Z,1761681987.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838 2025-10-28T20:06:27.648Z,1761681987.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708341,0.658336,0.254650],[-0.700214,-0.700925,-0.135663],[0.089179,-0.274405,0.957470]] 2025-10-28T20:06:27.805Z,1761681987.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266990 2025-10-28T20:06:28.049Z,1761681988.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699190,0.668959,0.252244],[-0.709491,-0.692703,-0.129555],[0.088063,-0.269548,0.958952]] 2025-10-28T20:06:28.057Z,1761681988.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518901 2025-10-28T20:06:28.309Z,1761681988.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770861 2025-10-28T20:06:28.564Z,1761681988.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026317 2025-10-28T20:06:28.817Z,1761681988.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278807 2025-10-28T20:06:28.851Z,1761681988.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686288,0.685921,0.241912],[-0.722161,-0.682197,-0.114412],[0.086554,-0.253219,0.963529]] 2025-10-28T20:06:29.069Z,1761681989.069 [DAT](INFO): DAT read: Rx Time:20:06:28.3117 2025-10-28T20:06:29.069Z,1761681989.069 [DAT](INFO): Rx dataTimestamp_ set to:1761681989.069182 2025-10-28T20:06:29.070Z,1761681989.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531976 2025-10-28T20:06:29.254Z,1761681989.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684133,0.690903,0.233697],[-0.724248,-0.681383,-0.105748],[0.086176,-0.241600,0.966542]] 2025-10-28T20:06:29.321Z,1761681989.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782944 2025-10-28T20:06:29.579Z,1761681989.579 [DAT](INFO): DAT read: 20:06:28.3117 LVL= 20016, 17697, 13010, 18627, AGC= 67, IDX= 128, 0.30, 1.953, 2.973,-2.145, 2.973, PHS=-0.918, 0.045, 1.121, RAW= 238.2, -2.8, CAL= 235.1, -4.1, ROT= 274.9, 4.1 2025-10-28T20:06:29.580Z,1761681989.580 [DAT](INFO): got valid direction response: 20:06:28.3117 LVL= 20016, 17697, 13010, 18627, AGC= 67, IDX= 128, 0.30, 1.953, 2.973,-2.145, 2.973, PHS=-0.918, 0.045, 1.121, RAW= 238.2, -2.8, CAL= 235.1, -4.1, ROT= 274.9, 4.1 2025-10-28T20:06:29.581Z,1761681989.581 [DAT](INFO): DAT read: Bearing 119, -11 (Remote) 2025-10-28T20:06:29.581Z,1761681989.581 [DAT](INFO): Remote Bearing received:Bearing 119, -11 (Remote) 2025-10-28T20:06:29.582Z,1761681989.582 [DAT](INFO): DAT read: Bearing 324.1, -68.4 (Local) 2025-10-28T20:06:29.582Z,1761681989.582 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -68.4 (Local) 2025-10-28T20:06:29.584Z,1761681989.584 [DAT](INFO): DAT read: Range 11 to 20 : 757.2 m (Round-trip 1009.7 ms) speed 0.4 m/s 2025-10-28T20:06:29.585Z,1761681989.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:06:29.586Z,1761681989.586 [DAT](INFO): direction in FSK: [0.085198,-0.993795,-0.071497] 2025-10-28T20:06:29.586Z,1761681989.586 [DAT](INFO): publishing direction and range info 2025-10-28T20:06:29.679Z,1761681989.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683566,0.694246,0.225299],[-0.724830,-0.681959,-0.097744],[0.085786,-0.230118,0.969374]] 2025-10-28T20:06:29.807Z,1761681989.807 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682048.00. Resetting abort timer. 2025-10-28T20:06:30.063Z,1761681990.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684557,0.695076,0.219659],[-0.723923,-0.683588,-0.092967],[0.085537,-0.222657,0.971137]] 2025-10-28T20:06:30.475Z,1761681990.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686066,0.694639,0.216310],[-0.722473,-0.685507,-0.090078],[0.085710,-0.218078,0.972160]] 2025-10-28T20:06:30.873Z,1761681990.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687712,0.693367,0.215163],[-0.720852,-0.687347,-0.089028],[0.086162,-0.216326,0.972512]] 2025-10-28T20:06:31.274Z,1761681991.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689337,0.691833,0.214897],[-0.719228,-0.689095,-0.088653],[0.086752,-0.215672,0.972605]] 2025-10-28T20:06:31.683Z,1761681991.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690382,0.690100,0.217105],[-0.718231,-0.689778,-0.091376],[0.086696,-0.219016,0.971862]] 2025-10-28T20:06:32.083Z,1761681992.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690080,0.689249,0.220739],[-0.718540,-0.688955,-0.095086],[0.086542,-0.224227,0.970687]] 2025-10-28T20:06:32.494Z,1761681992.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688753,0.689556,0.223900],[-0.719813,-0.687264,-0.097662],[0.086535,-0.228431,0.969707]] 2025-10-28T20:06:32.890Z,1761681992.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687146,0.689836,0.227939],[-0.721353,-0.685162,-0.101011],[0.086494,-0.233834,0.968422]] 2025-10-28T20:06:33.294Z,1761681993.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685125,0.690895,0.230798],[-0.723311,-0.682744,-0.103351],[0.086171,-0.237747,0.967497]] 2025-10-28T20:06:33.746Z,1761681993.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682916,0.692536,0.232421],[-0.725439,-0.680319,-0.104420],[0.085806,-0.239917,0.966994]] 2025-10-28T20:06:34.105Z,1761681994.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680511,0.694257,0.234336],[-0.727702,-0.677771,-0.105243],[0.085760,-0.242146,0.966442]] 2025-10-28T20:06:34.507Z,1761681994.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678477,0.696144,0.234632],[-0.729603,-0.675820,-0.104632],[0.085730,-0.242179,0.966437]] 2025-10-28T20:06:34.538Z,1761681994.538 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:06:34.538Z,1761681994.538 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:06:34.538Z,1761681994.538 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:06:34.539Z,1761681994.539 [marl:UpdateRudder:A] Stopped 2025-10-28T20:06:34.539Z,1761681994.539 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:06:34.911Z,1761681994.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677055,0.697444,0.234880],[-0.730944,-0.674395,-0.104460],[0.085547,-0.242410,0.966395]] 2025-10-28T20:06:34.963Z,1761681994.963 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:06:34.963Z,1761681994.963 [marl:UpdateRudder:B] Stopped 2025-10-28T20:06:34.964Z,1761681994.964 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:06:34.964Z,1761681994.964 [marl:UpdateRudder] Stopped 2025-10-28T20:06:34.968Z,1761681994.968 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:06:35.315Z,1761681995.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675836,0.698433,0.235450],[-0.732139,-0.672978,-0.105226],[0.084959,-0.243498,0.966173]] 2025-10-28T20:06:35.765Z,1761681995.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674689,0.699646,0.235139],[-0.733259,-0.671773,-0.105128],[0.084408,-0.243346,0.966260]] 2025-10-28T20:06:35.818Z,1761681995.818 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:06:35.818Z,1761681995.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:06:35.818Z,1761681995.818 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:06:35.818Z,1761681995.818 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateCommandMode] Stopped 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:06:35.819Z,1761681995.819 [marl:UpdateSpeed] Stopped 2025-10-28T20:06:35.820Z,1761681995.820 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:06:36.123Z,1761681996.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674169,0.700386,0.234427],[-0.733767,-0.671309,-0.104546],[0.084150,-0.242497,0.966496]] 2025-10-28T20:06:36.527Z,1761681996.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674479,0.700477,0.233261],[-0.733564,-0.671538,-0.104502],[0.083442,-0.241596,0.966783]] 2025-10-28T20:06:36.930Z,1761681996.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674031,0.700796,0.233595],[-0.734012,-0.670962,-0.105050],[0.083115,-0.242269,0.966643]] 2025-10-28T20:06:37.336Z,1761681997.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672703,0.701650,0.234858],[-0.735254,-0.669463,-0.105930],[0.082903,-0.243939,0.966241]] 2025-10-28T20:06:37.773Z,1761681997.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670545,0.702874,0.237355],[-0.737242,-0.667013,-0.107553],[0.082723,-0.247107,0.965451]] 2025-10-28T20:06:38.143Z,1761681998.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667609,0.705068,0.239117],[-0.739994,-0.663731,-0.108951],[0.081892,-0.249682,0.964859]] 2025-10-28T20:06:38.546Z,1761681998.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664141,0.707806,0.240683],[-0.743247,-0.659836,-0.110456],[0.080630,-0.252245,0.964298]] 2025-10-28T20:06:38.971Z,1761681998.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660385,0.711387,0.240456],[-0.746766,-0.655808,-0.110707],[0.078938,-0.252674,0.964326]] 2025-10-28T20:06:39.358Z,1761681999.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657011,0.715379,0.237843],[-0.749944,-0.652401,-0.109349],[0.076943,-0.250212,0.965129]] 2025-10-28T20:06:39.779Z,1761681999.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654315,0.719160,0.233838],[-0.752518,-0.649766,-0.107331],[0.074752,-0.246196,0.966333]] 2025-10-28T20:06:40.165Z,1761682000.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652274,0.722175,0.230221],[-0.754542,-0.647546,-0.106535],[0.072142,-0.243201,0.967289]] 2025-10-28T20:06:40.567Z,1761682000.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651562,0.724379,0.225260],[-0.755403,-0.646768,-0.105156],[0.069518,-0.238678,0.968607]] 2025-10-28T20:06:40.975Z,1761682000.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652358,0.725243,0.220116],[-0.754938,-0.647490,-0.104044],[0.067066,-0.234048,0.969909]] 2025-10-28T20:06:41.375Z,1761682001.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654230,0.725293,0.214320],[-0.753557,-0.649234,-0.103184],[0.064305,-0.229009,0.971298]] 2025-10-28T20:06:41.793Z,1761682001.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657178,0.724170,0.209036],[-0.751196,-0.652018,-0.102842],[0.061820,-0.224612,0.972485]] 2025-10-28T20:06:42.188Z,1761682002.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660571,0.721912,0.206128],[-0.748417,-0.654892,-0.104828],[0.059315,-0.223516,0.972894]] 2025-10-28T20:06:42.591Z,1761682002.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664368,0.719111,0.203703],[-0.745248,-0.658067,-0.107488],[0.056755,-0.223221,0.973114]] 2025-10-28T20:06:42.991Z,1761682002.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667583,0.716604,0.202020],[-0.742565,-0.660563,-0.110691],[0.054125,-0.223908,0.973106]] 2025-10-28T20:06:43.085Z,1761682003.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:06:43.399Z,1761682003.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670115,0.714544,0.200929],[-0.740462,-0.662352,-0.114044],[0.051596,-0.225203,0.972945]] 2025-10-28T20:06:43.799Z,1761682003.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671862,0.712578,0.202071],[-0.739063,-0.662961,-0.119449],[0.048849,-0.229596,0.972059]] 2025-10-28T20:06:44.088Z,1761682004.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:06:44.208Z,1761682004.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672772,0.711456,0.202995],[-0.738419,-0.662756,-0.124467],[0.045983,-0.233634,0.971237]] 2025-10-28T20:06:44.607Z,1761682004.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673079,0.710792,0.204302],[-0.738303,-0.661941,-0.129389],[0.043267,-0.237926,0.970319]] 2025-10-28T20:06:45.013Z,1761682005.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672951,0.710821,0.204622],[-0.738580,-0.660851,-0.133327],[0.040453,-0.240852,0.969718]] 2025-10-28T20:06:45.415Z,1761682005.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672150,0.711532,0.204782],[-0.739461,-0.659135,-0.136890],[0.037577,-0.243439,0.969188]] 2025-10-28T20:06:45.819Z,1761682005.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671264,0.712726,0.203536],[-0.740416,-0.657536,-0.139394],[0.034482,-0.244271,0.969094]] 2025-10-28T20:06:46.225Z,1761682006.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670893,0.713680,0.201402],[-0.740895,-0.656552,-0.141471],[0.031266,-0.244130,0.969238]] 2025-10-28T20:06:46.628Z,1761682006.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670692,0.714467,0.199272],[-0.741201,-0.655768,-0.143487],[0.028159,-0.243936,0.969382]] 2025-10-28T20:06:47.031Z,1761682007.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671284,0.714490,0.197185],[-0.740768,-0.655806,-0.145541],[0.025328,-0.243768,0.969503]] 2025-10-28T20:06:47.441Z,1761682007.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672490,0.714129,0.194362],[-0.739761,-0.656610,-0.147031],[0.022621,-0.242658,0.969848]] 2025-10-28T20:06:47.842Z,1761682007.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673676,0.713697,0.191827],[-0.738757,-0.657357,-0.148725],[0.019955,-0.241906,0.970094]] 2025-10-28T20:06:47.914Z,1761682007.914 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:06:47.914Z,1761682007.914 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:06:47.914Z,1761682007.914 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:06:47.915Z,1761682007.915 [marl:UpdateRudder:A] Stopped 2025-10-28T20:06:47.915Z,1761682007.915 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:06:48.246Z,1761682008.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674640,0.713618,0.188706],[-0.737943,-0.658048,-0.149710],[0.017342,-0.240255,0.970555]] 2025-10-28T20:06:48.270Z,1761682008.270 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:06:48.270Z,1761682008.270 [marl:UpdateRudder:B] Stopped 2025-10-28T20:06:48.270Z,1761682008.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:06:48.270Z,1761682008.270 [marl:UpdateRudder] Stopped 2025-10-28T20:06:48.270Z,1761682008.270 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:06:48.646Z,1761682008.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675352,0.713407,0.186950],[-0.737343,-0.658307,-0.151518],[0.014976,-0.240174,0.970614]] 2025-10-28T20:06:49.050Z,1761682009.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675617,0.713508,0.185601],[-0.737136,-0.658228,-0.152861],[0.013100,-0.240089,0.970663]] 2025-10-28T20:06:49.090Z,1761682009.090 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode] Stopped 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:06:49.091Z,1761682009.091 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:06:49.092Z,1761682009.092 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:06:49.096Z,1761682009.096 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:06:49.096Z,1761682009.096 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:06:49.096Z,1761682009.096 [marl:UpdateSpeed] Stopped 2025-10-28T20:06:49.096Z,1761682009.096 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:06:49.463Z,1761682009.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675296,0.713889,0.185303],[-0.737461,-0.657392,-0.154878],[0.011251,-0.241242,0.970400]] 2025-10-28T20:06:49.866Z,1761682009.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674721,0.714329,0.185704],[-0.738013,-0.656180,-0.157370],[0.009441,-0.243232,0.969922]] 2025-10-28T20:06:50.264Z,1761682010.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673143,0.715926,0.185277],[-0.739471,-0.654263,-0.158498],[0.007747,-0.243699,0.969820]] 2025-10-28T20:06:50.666Z,1761682010.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670371,0.718769,0.184322],[-0.742005,-0.651240,-0.159110],[0.005675,-0.243431,0.969902]] 2025-10-28T20:06:51.071Z,1761682011.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664532,0.725673,0.178315],[-0.747256,-0.646142,-0.155271],[0.002541,-0.236429,0.971645]] 2025-10-28T20:06:51.476Z,1761682011.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655007,0.738469,0.160092],[-0.755620,-0.639644,-0.141044],[-0.001755,-0.213354,0.976973]] 2025-10-28T20:06:51.879Z,1761682011.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643087,0.754005,0.133849],[-0.765766,-0.631679,-0.120768],[-0.006510,-0.180161,0.983616]] 2025-10-28T20:06:52.284Z,1761682012.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630064,0.769536,0.104079],[-0.776459,-0.622348,-0.098961],[-0.011381,-0.143165,0.989633]] 2025-10-28T20:06:52.687Z,1761682012.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617735,0.782892,0.074051],[-0.786234,-0.613020,-0.077734],[-0.015463,-0.106240,0.994220]] 2025-10-28T20:06:53.495Z,1761682013.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593882,0.804006,0.029626],[-0.804244,-0.592234,-0.049502],[-0.022254,-0.053225,0.998335]] 2025-10-28T20:06:53.898Z,1761682013.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582105,0.812966,0.015508],[-0.812741,-0.581155,-0.041349],[-0.024603,-0.036674,0.999024]] 2025-10-28T20:06:54.305Z,1761682014.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570315,0.821400,0.006466],[-0.821005,-0.569753,-0.036502],[-0.026299,-0.026126,0.999313]] 2025-10-28T20:06:54.707Z,1761682014.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557927,0.829887,0.001922],[-0.829432,-0.557541,-0.034514],[-0.027571,-0.020850,0.999402]] 2025-10-28T20:06:55.110Z,1761682015.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544663,0.838655,0.000061],[-0.838150,-0.544333,-0.034718],[-0.029083,-0.018961,0.999397]] 2025-10-28T20:06:55.515Z,1761682015.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531191,0.847252,0.000008],[-0.846709,-0.530849,-0.035827],[-0.030351,-0.019037,0.999358]] 2025-10-28T20:06:55.516Z,1761682015.516 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-10-28T20:06:55.928Z,1761682015.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517347,0.855776,0.000488],[-0.855191,-0.516972,-0.037258],[-0.031632,-0.019693,0.999306]] 2025-10-28T20:06:56.323Z,1761682016.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503688,0.863885,0.000913],[-0.863249,-0.503276,-0.038909],[-0.033153,-0.020386,0.999242]] 2025-10-28T20:06:56.727Z,1761682016.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490370,0.871511,0.002524],[-0.870817,-0.489859,-0.041421],[-0.034863,-0.022510,0.999139]] 2025-10-28T20:06:57.131Z,1761682017.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477496,0.878622,0.004455],[-0.877878,-0.476869,-0.043888],[-0.036436,-0.024867,0.999027]] 2025-10-28T20:06:57.536Z,1761682017.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464980,0.885304,0.005497],[-0.884504,-0.464275,-0.045840],[-0.038030,-0.026177,0.998934]] 2025-10-28T20:06:57.944Z,1761682017.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451625,0.892174,0.007764],[-0.891328,-0.450775,-0.048332],[-0.039621,-0.028748,0.998801]] 2025-10-28T20:06:58.343Z,1761682018.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437947,0.898943,0.010153],[-0.898070,-0.436952,-0.050422],[-0.040890,-0.031200,0.998676]] 2025-10-28T20:06:58.747Z,1761682018.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423035,0.906019,0.013085],[-0.905116,-0.421848,-0.053012],[-0.042510,-0.034269,0.998508]] 2025-10-28T20:06:59.155Z,1761682019.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407266,0.913182,0.015258],[-0.912255,-0.405936,-0.054833],[-0.043878,-0.036251,0.998379]] 2025-10-28T20:06:59.555Z,1761682019.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390636,0.920364,0.018266],[-0.919444,-0.389121,-0.056635],[-0.045017,-0.038918,0.998228]] 2025-10-28T20:06:59.959Z,1761682019.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373171,0.927555,0.019604],[-0.926616,-0.371576,-0.057573],[-0.046117,-0.039650,0.998149]] 2025-10-28T20:07:00.363Z,1761682020.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355446,0.934453,0.021342],[-0.933515,-0.353756,-0.058362],[-0.046986,-0.040668,0.998067]] 2025-10-28T20:07:00.773Z,1761682020.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337728,0.940939,0.023933],[-0.940044,-0.335905,-0.059029],[-0.047504,-0.042434,0.997969]] 2025-10-28T20:07:01.171Z,1761682021.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320755,0.946838,0.024799],[-0.945962,-0.318921,-0.058698],[-0.047668,-0.042287,0.997968]] 2025-10-28T20:07:01.575Z,1761682021.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304344,0.952220,0.025524],[-0.951361,-0.302506,-0.058330],[-0.047821,-0.042035,0.997971]] 2025-10-28T20:07:01.624Z,1761682021.624 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:07:01.624Z,1761682021.624 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:07:01.625Z,1761682021.625 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:07:01.625Z,1761682021.625 [marl:UpdateRudder:A] Stopped 2025-10-28T20:07:01.625Z,1761682021.625 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:07:01.981Z,1761682021.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289336,0.956915,0.024454],[-0.956032,-0.287604,-0.057325],[-0.047822,-0.039965,0.998056]] 2025-10-28T20:07:02.052Z,1761682022.052 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:07:02.052Z,1761682022.052 [marl:UpdateRudder:B] Stopped 2025-10-28T20:07:02.052Z,1761682022.052 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:07:02.052Z,1761682022.052 [marl:UpdateRudder] Stopped 2025-10-28T20:07:02.052Z,1761682022.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:07:02.385Z,1761682022.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275266,0.961079,0.023574],[-0.960181,-0.273625,-0.056418],[-0.047772,-0.038165,0.998129]] 2025-10-28T20:07:02.419Z,1761682022.419 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:07:02.419Z,1761682022.419 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:07:02.419Z,1761682022.419 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:07:02.420Z,1761682022.420 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateCommandMode] Stopped 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:07:02.421Z,1761682022.421 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:07:02.422Z,1761682022.422 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:07:02.422Z,1761682022.422 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:07:02.422Z,1761682022.422 [marl:UpdateSpeed] Stopped 2025-10-28T20:07:02.422Z,1761682022.422 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:07:02.791Z,1761682022.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262302,0.964734,0.022027],[-0.963826,-0.260799,-0.054992],[-0.047308,-0.035654,0.998244]] 2025-10-28T20:07:03.595Z,1761682023.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237124,0.971219,0.022491],[-0.970375,-0.235687,-0.053143],[-0.046312,-0.034426,0.998334]] 2025-10-28T20:07:04.001Z,1761682024.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224848,0.974133,0.022534],[-0.973312,-0.223449,-0.052289],[-0.045901,-0.033690,0.998378]] 2025-10-28T20:07:04.409Z,1761682024.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212895,0.976804,0.023019],[-0.976010,-0.211504,-0.051684],[-0.045617,-0.033470,0.998398]] 2025-10-28T20:07:04.806Z,1761682024.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200972,0.979266,0.025451],[-0.978531,-0.199474,-0.051839],[-0.045687,-0.035323,0.998331]] 2025-10-28T20:07:05.211Z,1761682025.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189676,0.981494,0.026316],[-0.980780,-0.188153,-0.051656],[-0.045749,-0.035608,0.998318]] 2025-10-28T20:07:05.616Z,1761682025.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178641,0.983535,0.027312],[-0.982846,-0.177085,-0.051518],[-0.045834,-0.036047,0.998299]] 2025-10-28T20:07:06.018Z,1761682026.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167021,0.985522,0.029164],[-0.984873,-0.165381,-0.051710],[-0.046138,-0.037360,0.998236]] 2025-10-28T20:07:06.428Z,1761682026.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154644,0.987471,0.031395],[-0.986880,-0.152904,-0.051841],[-0.046391,-0.039000,0.998162]] 2025-10-28T20:07:06.828Z,1761682026.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140721,0.989467,0.033955],[-0.988958,-0.138874,-0.051734],[-0.046474,-0.040860,0.998083]] 2025-10-28T20:07:07.230Z,1761682027.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125372,0.991432,0.036677],[-0.991007,-0.123404,-0.051726],[-0.046757,-0.042832,0.997988]] 2025-10-28T20:07:07.634Z,1761682027.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108425,0.993301,0.039971],[-0.993009,-0.106331,-0.051246],[-0.046653,-0.045248,0.997886]] 2025-10-28T20:07:08.040Z,1761682028.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090025,0.994980,0.043720],[-0.994856,-0.087793,-0.050537],[-0.046445,-0.048044,0.997765]] 2025-10-28T20:07:08.443Z,1761682028.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071108,0.996383,0.046523],[-0.996384,-0.068779,-0.049883],[-0.046503,-0.049902,0.997671]] 2025-10-28T20:07:08.847Z,1761682028.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050845,0.997532,0.048418],[-0.997622,-0.048471,-0.049006],[-0.046539,-0.050794,0.997624]] 2025-10-28T20:07:09.251Z,1761682029.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030036,0.998287,0.050211],[-0.998468,-0.027631,-0.047938],[-0.046468,-0.051574,0.997588]] 2025-10-28T20:07:09.656Z,1761682029.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008774,0.998674,0.050725],[-0.998889,-0.006405,-0.046685],[-0.046298,-0.051078,0.997621]] 2025-10-28T20:07:10.059Z,1761682030.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012485,0.998593,0.051543],[-0.998854,0.014837,-0.045504],[-0.046204,-0.050916,0.997634]] 2025-10-28T20:07:10.462Z,1761682030.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033249,0.998056,0.052716],[-0.998365,0.035620,-0.044708],[-0.046499,-0.051144,0.997608]] 2025-10-28T20:07:10.870Z,1761682030.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052565,0.997163,0.053887],[-0.997526,0.054953,-0.043846],[-0.046683,-0.051449,0.997584]] 2025-10-28T20:07:11.273Z,1761682031.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069889,0.996162,0.052699],[-0.996439,0.072211,-0.043520],[-0.047159,-0.049470,0.997662]] 2025-10-28T20:07:11.702Z,1761682031.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098701,0.994024,0.046633],[-0.993919,0.100774,-0.044391],[-0.048825,-0.041968,0.997925]] 2025-10-28T20:07:12.501Z,1761682032.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120799,0.991873,0.039955],[-0.991418,0.122575,-0.045457],[-0.049985,-0.034121,0.998167]] 2025-10-28T20:07:13.295Z,1761682033.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137656,0.989864,0.034916],[-0.989374,0.139083,-0.042375],[-0.046801,-0.028712,0.998492]] 2025-10-28T20:07:13.733Z,1761682033.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145466,0.988779,0.034000],[-0.988440,0.146728,-0.038164],[-0.042724,-0.028055,0.998693]] 2025-10-28T20:07:14.100Z,1761682034.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154787,0.987384,0.033374],[-0.987235,0.155871,-0.032742],[-0.037531,-0.027880,0.998906]] 2025-10-28T20:07:14.214Z,1761682034.214 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:07:14.511Z,1761682034.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167796,0.985288,0.032436],[-0.985273,0.168709,-0.027816],[-0.032879,-0.027291,0.999087]] 2025-10-28T20:07:14.913Z,1761682034.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184083,0.982337,0.033565],[-0.982481,0.184905,-0.023246],[-0.029042,-0.028698,0.999166]] 2025-10-28T20:07:14.943Z,1761682034.943 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:07:14.944Z,1761682034.944 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:07:14.944Z,1761682034.944 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:07:14.944Z,1761682034.944 [marl:UpdateRudder:A] Stopped 2025-10-28T20:07:14.944Z,1761682034.944 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:07:15.216Z,1761682035.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:07:15.310Z,1761682035.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202049,0.978725,0.035700],[-0.979040,0.202800,-0.018793],[-0.025633,-0.031154,0.999186]] 2025-10-28T20:07:15.351Z,1761682035.351 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:07:15.351Z,1761682035.351 [marl:UpdateRudder:B] Stopped 2025-10-28T20:07:15.351Z,1761682035.351 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:07:15.351Z,1761682035.351 [marl:UpdateRudder] Stopped 2025-10-28T20:07:15.352Z,1761682035.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:07:15.758Z,1761682035.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221283,0.974474,0.037879],[-0.974940,0.221968,-0.014898],[-0.022926,-0.033633,0.999171]] 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode] Stopped 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:07:15.829Z,1761682035.829 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed] Stopped 2025-10-28T20:07:15.830Z,1761682035.830 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:07:16.121Z,1761682036.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241536,0.969516,0.041221],[-0.970167,0.242176,-0.011238],[-0.020878,-0.037277,0.999087]] 2025-10-28T20:07:16.522Z,1761682036.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262082,0.964104,0.042619],[-0.964854,0.262655,-0.008346],[-0.019240,-0.038934,0.999057]] 2025-10-28T20:07:16.926Z,1761682036.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282728,0.958194,0.043917],[-0.959030,0.283243,-0.005860],[-0.018054,-0.040461,0.999018]] 2025-10-28T20:07:17.331Z,1761682037.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302931,0.951972,0.044522],[-0.952866,0.303372,-0.003359],[-0.016705,-0.041406,0.999003]] 2025-10-28T20:07:17.763Z,1761682037.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321683,0.945753,0.045512],[-0.946725,0.322043,-0.000602],[-0.015226,-0.042894,0.998964]] 2025-10-28T20:07:18.139Z,1761682038.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335688,0.940471,0.053188],[-0.941878,0.335923,0.004725],[-0.013423,-0.051683,0.998573]] 2025-10-28T20:07:18.542Z,1761682038.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344793,0.936161,0.068712],[-0.938609,0.344734,0.013086],[-0.011437,-0.069006,0.997551]] 2025-10-28T20:07:18.946Z,1761682038.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348839,0.932757,0.090967],[-0.937137,0.348134,0.024024],[-0.009260,-0.093629,0.995564]] 2025-10-28T20:07:19.352Z,1761682039.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348943,0.929790,0.117170],[-0.937116,0.347169,0.035891],[-0.007307,-0.122326,0.992463]] 2025-10-28T20:07:19.770Z,1761682039.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347403,0.927013,0.141275],[-0.937698,0.344367,0.046198],[-0.005824,-0.148522,0.988892]] 2025-10-28T20:07:20.158Z,1761682040.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345079,0.924536,0.161723],[-0.938562,0.340753,0.054663],[-0.004570,-0.170650,0.985321]] 2025-10-28T20:07:20.566Z,1761682040.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342073,0.922843,0.177050],[-0.939668,0.336593,0.061069],[-0.003237,-0.187259,0.982305]] 2025-10-28T20:07:20.969Z,1761682040.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338411,0.922270,0.186806],[-0.940998,0.331935,0.065899],[-0.001231,-0.198085,0.980184]] 2025-10-28T20:07:21.375Z,1761682041.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334959,0.923065,0.189084],[-0.942231,0.327783,0.068988],[0.001702,-0.201269,0.979535]] 2025-10-28T20:07:21.781Z,1761682041.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332713,0.923645,0.190217],[-0.943013,0.324741,0.072587],[0.005273,-0.203528,0.979055]] 2025-10-28T20:07:22.181Z,1761682042.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333037,0.924038,0.187723],[-0.942875,0.324544,0.075224],[0.008585,-0.202051,0.979337]] 2025-10-28T20:07:22.586Z,1761682042.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335855,0.923459,0.185538],[-0.941842,0.326816,0.078266],[0.011639,-0.201034,0.979515]] 2025-10-28T20:07:23.397Z,1761682043.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345736,0.919701,0.186058],[-0.938172,0.335158,0.086611],[0.017298,-0.204499,0.978714]] 2025-10-28T20:07:23.798Z,1761682043.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352438,0.917143,0.186108],[-0.935636,0.341224,0.090288],[0.019302,-0.205950,0.978372]] 2025-10-28T20:07:24.198Z,1761682044.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359637,0.914216,0.186735],[-0.932868,0.347888,0.093440],[0.020462,-0.207804,0.977956]] 2025-10-28T20:07:24.607Z,1761682044.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365972,0.911589,0.187268],[-0.930384,0.353812,0.095928],[0.021189,-0.209338,0.977614]] 2025-10-28T20:07:25.007Z,1761682045.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369938,0.909599,0.189144],[-0.928791,0.357219,0.098704],[0.022215,-0.212190,0.976976]] 2025-10-28T20:07:25.412Z,1761682045.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371970,0.908474,0.190559],[-0.927957,0.358826,0.100692],[0.023098,-0.214285,0.976498]] 2025-10-28T20:07:25.455Z,1761682045.455 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:07:25.569Z,1761682045.569 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:07:25.569Z,1761682045.569 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:07:25.814Z,1761682045.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372716,0.908333,0.189774],[-0.927631,0.359390,0.101684],[0.024160,-0.213939,0.976548]] 2025-10-28T20:07:25.821Z,1761682045.821 [DAT](INFO): DAT read: user:235> 2025-10-28T20:07:25.821Z,1761682045.821 [DAT](INFO): DAT read: Tx time:20:07:25.5742 2025-10-28T20:07:25.822Z,1761682045.822 [DAT](INFO): Ping request sent. 2025-10-28T20:07:25.822Z,1761682045.822 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:07:25.822Z,1761682045.822 [DAT](INFO): publishing transmit ping time 2025-10-28T20:07:25.823Z,1761682045.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950 2025-10-28T20:07:26.073Z,1761682046.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251055 2025-10-28T20:07:26.218Z,1761682046.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372564,0.908661,0.188498],[-0.927652,0.359050,0.102685],[0.025626,-0.213117,0.976691]] 2025-10-28T20:07:26.325Z,1761682046.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503047 2025-10-28T20:07:26.577Z,1761682046.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755091 2025-10-28T20:07:26.638Z,1761682046.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371996,0.909539,0.185357],[-0.927822,0.358390,0.103453],[0.027665,-0.210463,0.977210]] 2025-10-28T20:07:26.829Z,1761682046.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059 2025-10-28T20:07:27.026Z,1761682047.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372011,0.910264,0.181733],[-0.927740,0.358271,0.104595],[0.030099,-0.207511,0.977769]] 2025-10-28T20:07:27.101Z,1761682047.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.279496 2025-10-28T20:07:27.354Z,1761682047.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.531888 2025-10-28T20:07:27.431Z,1761682047.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373928,0.910231,0.177926],[-0.926890,0.360046,0.106026],[0.032447,-0.204564,0.978315]] 2025-10-28T20:07:27.605Z,1761682047.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783021 2025-10-28T20:07:27.834Z,1761682047.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377846,0.909536,0.173137],[-0.925208,0.363855,0.107699],[0.034960,-0.200882,0.978991]] 2025-10-28T20:07:27.858Z,1761682047.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.036005 2025-10-28T20:07:28.109Z,1761682048.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.287009 2025-10-28T20:07:28.240Z,1761682048.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383307,0.908194,0.168107],[-0.922854,0.369173,0.109782],[0.037643,-0.197218,0.979637]] 2025-10-28T20:07:28.264Z,1761682048.264 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:07:28.264Z,1761682048.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:07:28.264Z,1761682048.264 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:07:28.265Z,1761682048.265 [marl:UpdateRudder:A] Stopped 2025-10-28T20:07:28.265Z,1761682048.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:07:28.362Z,1761682048.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539775 2025-10-28T20:07:28.613Z,1761682048.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790994 2025-10-28T20:07:28.643Z,1761682048.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390117,0.905740,0.165660],[-0.919882,0.375505,0.113194],[0.040318,-0.196547,0.979665]] 2025-10-28T20:07:28.688Z,1761682048.688 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:07:28.688Z,1761682048.688 [marl:UpdateRudder:B] Stopped 2025-10-28T20:07:28.689Z,1761682048.689 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:07:28.689Z,1761682048.689 [marl:UpdateRudder] Stopped 2025-10-28T20:07:28.689Z,1761682048.689 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:07:28.865Z,1761682048.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043336 2025-10-28T20:07:29.046Z,1761682049.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397312,0.902772,0.164760],[-0.916694,0.382096,0.116943],[0.042619,-0.197497,0.979377]] 2025-10-28T20:07:29.118Z,1761682049.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295761 2025-10-28T20:07:29.370Z,1761682049.370 [DAT](INFO): DAT read: Rx Time:20:07:28.6081 2025-10-28T20:07:29.370Z,1761682049.370 [DAT](INFO): Rx dataTimestamp_ set to:1761682049.370168 2025-10-28T20:07:29.372Z,1761682049.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.549453 2025-10-28T20:07:29.450Z,1761682049.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404839,0.899280,0.165534],[-0.913329,0.388981,0.120514],[0.043986,-0.199976,0.978813]] 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode] Stopped 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:07:29.506Z,1761682049.506 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed] Stopped 2025-10-28T20:07:29.507Z,1761682049.507 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:07:29.621Z,1761682049.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.799017 2025-10-28T20:07:29.883Z,1761682049.883 [DAT](INFO): DAT read: 20:07:28.6081 LVL= 32752, 26225, 32754, 32755, AGC= 70, IDX= 397, 0.46, 1.829,-2.337, 2.819, 3.063, PHS=-1.132, 0.928,-0.288, RAW= 305.9, 5.5, CAL= 303.6, 3.8, ROT= 206.4, -3.8 2025-10-28T20:07:29.884Z,1761682049.884 [DAT](INFO): got valid direction response: 20:07:28.6081 LVL= 32752, 26225, 32754, 32755, AGC= 70, IDX= 397, 0.46, 1.829,-2.337, 2.819, 3.063, PHS=-1.132, 0.928,-0.288, RAW= 305.9, 5.5, CAL= 303.6, 3.8, ROT= 206.4, -3.8 2025-10-28T20:07:29.885Z,1761682049.885 [DAT](INFO): DAT read: Bearing 118, -9 (Remote) 2025-10-28T20:07:29.885Z,1761682049.885 [DAT](INFO): Remote Bearing received:Bearing 118, -9 (Remote) 2025-10-28T20:07:29.886Z,1761682049.886 [DAT](INFO): DAT read: Bearing 267.5, -29.1 (Local) 2025-10-28T20:07:29.887Z,1761682049.887 [DAT](INFO): Local bearing/azimuth received: Bearing 267.5, -29.1 (Local) 2025-10-28T20:07:29.888Z,1761682049.888 [DAT](INFO): DAT read: Range 11 to 20 : 753.5 m (Round-trip 1004.7 ms) speed 0.0 m/s 2025-10-28T20:07:29.889Z,1761682049.889 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:07:29.890Z,1761682049.890 [DAT](INFO): direction in FSK: [-0.893743,-0.443658,0.066274] 2025-10-28T20:07:29.890Z,1761682049.890 [DAT](INFO): publishing direction and range info 2025-10-28T20:07:30.022Z,1761682050.022 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682048.00. Resetting abort timer. 2025-10-28T20:07:30.409Z,1761682050.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419290,0.892623,0.165591],[-0.906774,0.402878,0.124299],[0.044239,-0.202270,0.978330]] 2025-10-28T20:07:30.811Z,1761682050.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424326,0.890138,0.166140],[-0.904425,0.407647,0.125856],[0.044303,-0.203665,0.978038]] 2025-10-28T20:07:31.224Z,1761682051.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426930,0.888933,0.165917],[-0.903171,0.410063,0.127003],[0.044860,-0.204073,0.977927]] 2025-10-28T20:07:31.619Z,1761682051.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426979,0.888500,0.168100],[-0.903105,0.409600,0.128953],[0.045721,-0.206872,0.977299]] 2025-10-28T20:07:32.427Z,1761682052.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411494,0.889873,0.196972],[-0.910007,0.389153,0.142993],[0.050593,-0.238086,0.969925]] 2025-10-28T20:07:32.832Z,1761682052.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394255,0.889786,0.229878],[-0.917368,0.366136,0.156143],[0.054767,-0.272443,0.960612]] 2025-10-28T20:07:33.639Z,1761682053.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343048,0.886722,0.309906],[-0.936920,0.299457,0.180292],[0.067066,-0.352206,0.933517]] 2025-10-28T20:07:34.447Z,1761682054.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281996,0.877357,0.388229],[-0.955809,0.221856,0.192895],[0.083106,-0.425469,0.901149]] 2025-10-28T20:07:35.290Z,1761682055.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219709,0.868086,0.445144],[-0.970179,0.146544,0.193072],[0.102370,-0.474290,0.874397]] 2025-10-28T20:07:35.755Z,1761682055.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162405,0.862861,0.478639],[-0.979060,0.080572,0.186950],[0.122747,-0.498977,0.857878]] 2025-10-28T20:07:36.195Z,1761682056.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135935,0.862031,0.488286],[-0.981882,0.051546,0.182347],[0.132019,-0.504227,0.853420]] 2025-10-28T20:07:36.595Z,1761682056.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110234,0.861924,0.494910],[-0.983991,0.024484,0.176529],[0.140037,-0.506446,0.850824]] 2025-10-28T20:07:37.014Z,1761682057.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084879,0.864211,0.495917],[-0.985596,-0.000245,0.169118],[0.146275,-0.503129,0.851742]] 2025-10-28T20:07:37.417Z,1761682057.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058806,0.867497,0.493955],[-0.986766,-0.024388,0.160307],[0.151113,-0.496845,0.854582]] 2025-10-28T20:07:37.845Z,1761682057.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032525,0.872531,0.487476],[-0.987507,-0.047186,0.150345],[0.154182,-0.486276,0.860095]] 2025-10-28T20:07:38.318Z,1761682058.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005748,0.878719,0.477305],[-0.987781,-0.069350,0.139570],[0.155744,-0.472275,0.867583]] 2025-10-28T20:07:38.724Z,1761682058.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021115,0.884371,0.466307],[-0.987464,-0.091424,0.128675],[0.156428,-0.457744,0.875215]] 2025-10-28T20:07:39.123Z,1761682059.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047560,0.890341,0.452803],[-0.986509,-0.112958,0.118490],[0.156644,-0.441059,0.883702]] 2025-10-28T20:07:39.538Z,1761682059.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073970,0.893769,0.442386],[-0.984924,-0.135033,0.108127],[0.156377,-0.427718,0.890283]] 2025-10-28T20:07:39.931Z,1761682059.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099102,0.893869,0.437238],[-0.982777,-0.156796,0.097797],[0.155975,-0.420015,0.894013]] 2025-10-28T20:07:40.387Z,1761682060.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123598,0.891838,0.435142],[-0.980097,-0.178360,0.087167],[0.155351,-0.415707,0.896132]] 2025-10-28T20:07:40.793Z,1761682060.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147563,0.888962,0.433557],[-0.976939,-0.199402,0.076348],[0.154322,-0.412293,0.897886]] 2025-10-28T20:07:41.203Z,1761682061.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171496,0.885420,0.431997],[-0.973319,-0.220123,0.064773],[0.152444,-0.409363,0.899546]] 2025-10-28T20:07:42.011Z,1761682062.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220909,0.875738,0.429282],[-0.964255,-0.262151,0.038582],[0.146324,-0.405414,0.902346]] 2025-10-28T20:07:42.417Z,1761682062.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247015,0.870196,0.426313],[-0.958525,-0.283974,0.024260],[0.142173,-0.402639,0.904250]] 2025-10-28T20:07:42.441Z,1761682062.441 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:07:42.441Z,1761682062.441 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:07:42.441Z,1761682062.441 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:07:42.441Z,1761682062.441 [marl:UpdateRudder:A] Stopped 2025-10-28T20:07:42.441Z,1761682062.441 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:07:42.818Z,1761682062.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274577,0.864532,0.420941],[-0.951648,-0.307033,0.009833],[0.137744,-0.397888,0.907035]] 2025-10-28T20:07:42.871Z,1761682062.871 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:07:42.871Z,1761682062.871 [marl:UpdateRudder:B] Stopped 2025-10-28T20:07:42.871Z,1761682062.871 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:07:42.871Z,1761682062.871 [marl:UpdateRudder] Stopped 2025-10-28T20:07:42.871Z,1761682062.871 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:07:43.704Z,1761682063.704 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:07:43.705Z,1761682063.705 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:07:43.705Z,1761682063.705 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:07:43.706Z,1761682063.706 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:07:43.707Z,1761682063.707 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:07:43.707Z,1761682063.707 [marl:UpdateCommandMode] Stopped 2025-10-28T20:07:43.707Z,1761682063.707 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:07:43.707Z,1761682063.707 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:07:43.720Z,1761682063.720 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:07:43.720Z,1761682063.720 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:07:43.722Z,1761682063.722 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:07:43.722Z,1761682063.722 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:07:43.722Z,1761682063.722 [marl:UpdateSpeed] Stopped 2025-10-28T20:07:43.723Z,1761682063.723 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:07:44.145Z,1761682064.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395038,0.826494,0.401066],[-0.910598,-0.410012,-0.051983],[0.121478,-0.385745,0.914573]] 2025-10-28T20:07:44.566Z,1761682064.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426215,0.811718,0.399317],[-0.897003,-0.436391,-0.070344],[0.117159,-0.388171,0.914110]] 2025-10-28T20:07:44.968Z,1761682064.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455720,0.796395,0.397585],[-0.882991,-0.460896,-0.088891],[0.112453,-0.391574,0.913249]] 2025-10-28T20:07:45.337Z,1761682065.337 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:07:45.371Z,1761682065.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483293,0.780740,0.396073],[-0.868857,-0.483210,-0.107685],[0.107312,-0.396174,0.911883]] 2025-10-28T20:07:45.786Z,1761682065.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509661,0.764425,0.394843],[-0.854319,-0.503989,-0.127017],[0.101902,-0.402057,0.909926]] 2025-10-28T20:07:46.178Z,1761682066.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534481,0.748634,0.392272],[-0.839681,-0.523208,-0.145566],[0.096264,-0.407185,0.908258]] 2025-10-28T20:07:46.341Z,1761682066.341 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:07:46.584Z,1761682066.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558055,0.732991,0.388971],[-0.824809,-0.541338,-0.163232],[0.090917,-0.411919,0.906673]] 2025-10-28T20:07:46.986Z,1761682066.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581031,0.717700,0.383810],[-0.809365,-0.559134,-0.179715],[0.085620,-0.415062,0.905755]] 2025-10-28T20:07:47.390Z,1761682067.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603233,0.701952,0.378648],[-0.793494,-0.576112,-0.196116],[0.080480,-0.418758,0.904524]] 2025-10-28T20:07:47.800Z,1761682067.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624832,0.687107,0.370767],[-0.777063,-0.593430,-0.209793],[0.075874,-0.419195,0.904720]] 2025-10-28T20:07:48.203Z,1761682068.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645425,0.671384,0.364239],[-0.760458,-0.609529,-0.224004],[0.071621,-0.421566,0.903965]] 2025-10-28T20:07:48.608Z,1761682068.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665034,0.657490,0.354172],[-0.743761,-0.625931,-0.234584],[0.067451,-0.419425,0.905280]] 2025-10-28T20:07:49.010Z,1761682069.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683997,0.643917,0.342810],[-0.726764,-0.642063,-0.244069],[0.062946,-0.416084,0.907145]] 2025-10-28T20:07:49.414Z,1761682069.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702513,0.629706,0.331581],[-0.709281,-0.657665,-0.253765],[0.058273,-0.413457,0.908657]] 2025-10-28T20:07:49.826Z,1761682069.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721744,0.614490,0.318570],[-0.690049,-0.674714,-0.261902],[0.054008,-0.408855,0.911000]] 2025-10-28T20:07:50.225Z,1761682070.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741975,0.596944,0.305172],[-0.668561,-0.692751,-0.270412],[0.049987,-0.404665,0.913098]] 2025-10-28T20:07:50.627Z,1761682070.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762580,0.577491,0.291507],[-0.645276,-0.710915,-0.279676],[0.045726,-0.401378,0.914770]] 2025-10-28T20:07:51.031Z,1761682071.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783925,0.555657,0.276960],[-0.619471,-0.729817,-0.289177],[0.041447,-0.398262,0.916335]] 2025-10-28T20:07:51.435Z,1761682071.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804989,0.531656,0.263316],[-0.592133,-0.747666,-0.300623],[0.037044,-0.397916,0.916674]] 2025-10-28T20:07:51.860Z,1761682071.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825909,0.505832,0.249013],[-0.562846,-0.765455,-0.311902],[0.032838,-0.397758,0.916902]] 2025-10-28T20:07:52.264Z,1761682072.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846186,0.478425,0.234687],[-0.532116,-0.782283,-0.323860],[0.028649,-0.398927,0.916535]] 2025-10-28T20:07:52.713Z,1761682072.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865539,0.450051,0.219764],[-0.500249,-0.798175,-0.335660],[0.024346,-0.400463,0.915989]] 2025-10-28T20:07:53.115Z,1761682073.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883206,0.421483,0.205670],[-0.468583,-0.811242,-0.349738],[0.019440,-0.405263,0.913993]] 2025-10-28T20:07:53.924Z,1761682073.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911741,0.369552,0.179328],[-0.410659,-0.829946,-0.377555],[0.009307,-0.417876,0.908457]] 2025-10-28T20:07:54.345Z,1761682074.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922928,0.346772,0.167191],[-0.384944,-0.836511,-0.389957],[0.004631,-0.424262,0.905528]] 2025-10-28T20:07:54.731Z,1761682074.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932739,0.325726,0.154599],[-0.360552,-0.843131,-0.398914],[0.000410,-0.427824,0.903862]] 2025-10-28T20:07:55.136Z,1761682075.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941620,0.305492,0.141515],[-0.336660,-0.850038,-0.405086],[-0.003457,-0.429080,0.903260]] 2025-10-28T20:07:55.540Z,1761682075.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949688,0.286143,0.127338],[-0.313113,-0.858003,-0.407173],[-0.007254,-0.426559,0.904431]] 2025-10-28T20:07:55.943Z,1761682075.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957180,0.267029,0.111814],[-0.289289,-0.867724,-0.404186],[-0.010905,-0.419225,0.907817]] 2025-10-28T20:07:55.991Z,1761682075.991 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:07:55.992Z,1761682075.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:07:55.992Z,1761682075.992 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:07:55.992Z,1761682075.992 [marl:UpdateRudder:A] Stopped 2025-10-28T20:07:55.992Z,1761682075.992 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:07:56.351Z,1761682076.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964385,0.246594,0.095671],[-0.264117,-0.878260,-0.398623],[-0.014275,-0.409695,0.912111]] 2025-10-28T20:07:56.395Z,1761682076.395 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:07:56.395Z,1761682076.395 [marl:UpdateRudder:B] Stopped 2025-10-28T20:07:56.395Z,1761682076.395 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:07:56.395Z,1761682076.395 [marl:UpdateRudder] Stopped 2025-10-28T20:07:56.395Z,1761682076.395 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:07:56.753Z,1761682076.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971314,0.224314,0.078942],[-0.237146,-0.889131,-0.391418],[-0.017611,-0.398911,0.916821]] 2025-10-28T20:07:57.156Z,1761682077.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977946,0.199608,0.061468],[-0.207799,-0.900297,-0.382473],[-0.021005,-0.386811,0.921920]] 2025-10-28T20:07:57.181Z,1761682077.181 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:07:57.181Z,1761682077.181 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:07:57.181Z,1761682077.181 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:07:57.181Z,1761682077.181 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:07:57.181Z,1761682077.181 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateCommandMode] Stopped 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:07:57.182Z,1761682077.182 [marl:UpdateSpeed] Stopped 2025-10-28T20:07:57.183Z,1761682077.183 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:07:57.558Z,1761682077.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983995,0.172809,0.043479],[-0.176381,-0.909818,-0.375660],[-0.025359,-0.377316,0.925737]] 2025-10-28T20:07:57.963Z,1761682077.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988936,0.146031,0.026094],[-0.145155,-0.916321,-0.373211],[-0.030590,-0.372869,0.927379]] 2025-10-28T20:07:58.370Z,1761682078.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992627,0.120899,0.008624],[-0.115402,-0.920938,-0.372232],[-0.037060,-0.370482,0.928100]] 2025-10-28T20:07:58.779Z,1761682078.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995023,0.099273,-0.008572],[-0.089046,-0.924512,-0.370606],[-0.044716,-0.367998,0.928751]] 2025-10-28T20:07:59.175Z,1761682079.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996162,0.083741,-0.025480],[-0.068893,-0.929657,-0.361927],[-0.053995,-0.358783,0.931858]] 2025-10-28T20:08:00.395Z,1761682080.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995516,0.059439,-0.073584],[-0.035091,-0.954467,-0.296245],[-0.087842,-0.292335,0.952273]] 2025-10-28T20:08:00.798Z,1761682080.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994605,0.055754,-0.087474],[-0.029376,-0.960143,-0.277960],[-0.099485,-0.273891,0.956602]] 2025-10-28T20:08:01.195Z,1761682081.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993507,0.054260,-0.099995],[-0.025900,-0.963731,-0.265617],[-0.110781,-0.261302,0.958879]] 2025-10-28T20:08:01.599Z,1761682081.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992248,0.053697,-0.112075],[-0.023497,-0.966629,-0.255099],[-0.122033,-0.250488,0.960398]] 2025-10-28T20:08:02.005Z,1761682082.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990790,0.054583,-0.123916],[-0.022502,-0.968799,-0.246822],[-0.133522,-0.241761,0.961105]] 2025-10-28T20:08:02.411Z,1761682082.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989204,0.056165,-0.135355],[-0.022520,-0.970931,-0.238299],[-0.144805,-0.232678,0.961713]] 2025-10-28T20:08:02.817Z,1761682082.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987448,0.059066,-0.146487],[-0.023492,-0.972051,-0.233592],[-0.156191,-0.227218,0.961237]] 2025-10-28T20:08:03.214Z,1761682083.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985626,0.062682,-0.156882],[-0.025189,-0.972767,-0.230412],[-0.167052,-0.223148,0.960364]] 2025-10-28T20:08:03.621Z,1761682083.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983720,0.066318,-0.167024],[-0.026837,-0.973207,-0.228357],[-0.177693,-0.220157,0.959143]] 2025-10-28T20:08:04.023Z,1761682084.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981770,0.070084,-0.176680],[-0.028629,-0.973460,-0.227059],[-0.187905,-0.217861,0.957720]] 2025-10-28T20:08:04.430Z,1761682084.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979841,0.073342,-0.185827],[-0.030264,-0.973931,-0.224816],[-0.197471,-0.214661,0.956518]] 2025-10-28T20:08:04.833Z,1761682084.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977976,0.076039,-0.194373],[-0.031097,-0.973966,-0.224551],[-0.206387,-0.213561,0.954880]] 2025-10-28T20:08:05.235Z,1761682085.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976244,0.078624,-0.201906],[-0.031767,-0.973708,-0.225573],[-0.214333,-0.213800,0.953074]] 2025-10-28T20:08:05.639Z,1761682085.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974960,0.079639,-0.207630],[-0.031547,-0.973763,-0.225367],[-0.220130,-0.213173,0.951893]] 2025-10-28T20:08:06.043Z,1761682086.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974031,0.080755,-0.211522],[-0.031331,-0.973316,-0.227321],[-0.224235,-0.214791,0.950570]] 2025-10-28T20:08:06.453Z,1761682086.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973360,0.080341,-0.214746],[-0.030088,-0.973257,-0.227742],[-0.227300,-0.215213,0.949746]] 2025-10-28T20:08:06.850Z,1761682086.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972865,0.079188,-0.217399],[-0.027741,-0.972751,-0.230185],[-0.229703,-0.217908,0.948553]] 2025-10-28T20:08:07.255Z,1761682087.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972498,0.076984,-0.219823],[-0.024783,-0.972640,-0.230991],[-0.231591,-0.219190,0.947798]] 2025-10-28T20:08:07.659Z,1761682087.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972144,0.074094,-0.222363],[-0.021227,-0.972651,-0.231299],[-0.233420,-0.220136,0.947130]] 2025-10-28T20:08:08.064Z,1761682088.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971813,0.070477,-0.224970],[-0.017101,-0.972830,-0.230889],[-0.235130,-0.220533,0.946614]] 2025-10-28T20:08:08.467Z,1761682088.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971581,0.066609,-0.227141],[-0.013102,-0.973253,-0.229360],[-0.236344,-0.219866,0.946467]] 2025-10-28T20:08:08.871Z,1761682088.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971359,0.062363,-0.229288],[-0.008912,-0.973828,-0.227112],[-0.237451,-0.218564,0.946492]] 2025-10-28T20:08:09.279Z,1761682089.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971049,0.058254,-0.231668],[-0.004843,-0.974411,-0.224721],[-0.238831,-0.217093,0.946483]] 2025-10-28T20:08:09.332Z,1761682089.332 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:08:09.336Z,1761682089.336 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:08:09.336Z,1761682089.336 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:08:09.337Z,1761682089.337 [marl:UpdateRudder:A] Stopped 2025-10-28T20:08:09.337Z,1761682089.337 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:08:09.688Z,1761682089.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970631,0.053741,-0.234495],[-0.000536,-0.975211,-0.221276],[-0.240573,-0.214652,0.946599]] 2025-10-28T20:08:09.818Z,1761682089.818 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:08:09.818Z,1761682089.818 [marl:UpdateRudder:B] Stopped 2025-10-28T20:08:09.818Z,1761682089.818 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:08:09.818Z,1761682089.818 [marl:UpdateRudder] Stopped 2025-10-28T20:08:09.818Z,1761682089.818 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:08:10.083Z,1761682090.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970059,0.049432,-0.237785],[0.003442,-0.976172,-0.216971],[-0.242845,-0.211293,0.946774]] 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode] Stopped 2025-10-28T20:08:10.538Z,1761682090.538 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed] Stopped 2025-10-28T20:08:10.539Z,1761682090.539 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:08:10.891Z,1761682090.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968677,0.040844,-0.244941],[0.012014,-0.977517,-0.210515],[-0.248032,-0.206864,0.946408]] 2025-10-28T20:08:11.755Z,1761682091.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967318,0.032017,-0.251536],[0.020852,-0.978591,-0.204754],[-0.252707,-0.203307,0.945942]] 2025-10-28T20:08:12.510Z,1761682092.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967734,0.032503,-0.249868],[0.020825,-0.977936,-0.207866],[-0.251111,-0.206363,0.945705]] 2025-10-28T20:08:12.911Z,1761682092.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968668,0.034582,-0.245939],[0.019587,-0.976537,-0.214459],[-0.247585,-0.212557,0.945263]] 2025-10-28T20:08:13.314Z,1761682093.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969976,0.036788,-0.240402],[0.018255,-0.974691,-0.222811],[-0.242514,-0.220510,0.944755]] 2025-10-28T20:08:13.775Z,1761682093.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973260,0.040851,-0.226045],[0.015297,-0.970350,-0.241221],[-0.229197,-0.238229,0.943778]] 2025-10-28T20:08:14.532Z,1761682094.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974982,0.040987,-0.218470],[0.015062,-0.968412,-0.248901],[-0.221771,-0.245965,0.943567]] 2025-10-28T20:08:14.931Z,1761682094.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976671,0.039870,-0.211008],[0.015440,-0.967031,-0.254189],[-0.214186,-0.251517,0.943856]] 2025-10-28T20:08:15.335Z,1761682095.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978126,0.037190,-0.204660],[0.017327,-0.965901,-0.258330],[-0.207289,-0.256225,0.944129]] 2025-10-28T20:08:15.785Z,1761682095.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980551,0.033493,-0.193384],[0.021075,-0.961664,-0.273418],[-0.195128,-0.272176,0.942255]] 2025-10-28T20:08:16.468Z,1761682096.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:08:16.556Z,1761682096.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982621,0.029410,-0.183279],[0.023682,-0.959438,-0.280923],[-0.184106,-0.280381,0.942068]] 2025-10-28T20:08:16.955Z,1761682096.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983569,0.028479,-0.178271],[0.023432,-0.958987,-0.282480],[-0.179004,-0.282016,0.942563]] 2025-10-28T20:08:17.359Z,1761682097.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984535,0.028144,-0.172910],[0.021901,-0.959494,-0.280878],[-0.173811,-0.280321,0.944039]] 2025-10-28T20:08:17.473Z,1761682097.473 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:08:17.779Z,1761682097.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985459,0.027620,-0.167655],[0.020407,-0.960319,-0.278156],[-0.168685,-0.277533,0.945791]] 2025-10-28T20:08:18.169Z,1761682098.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986426,0.027635,-0.161867],[0.018756,-0.960325,-0.278253],[-0.163134,-0.277512,0.946770]] 2025-10-28T20:08:18.569Z,1761682098.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987354,0.028430,-0.155964],[0.016708,-0.959648,-0.280708],[-0.157651,-0.279764,0.947037]] 2025-10-28T20:08:18.971Z,1761682098.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988227,0.028737,-0.150270],[0.014687,-0.959847,-0.280140],[-0.152287,-0.279049,0.948125]] 2025-10-28T20:08:19.375Z,1761682099.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988966,0.027205,-0.145623],[0.013979,-0.961470,-0.274553],[-0.147482,-0.273560,0.950481]] 2025-10-28T20:08:19.790Z,1761682099.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989636,0.024334,-0.141521],[0.014485,-0.963594,-0.266975],[-0.142865,-0.266258,0.953255]] 2025-10-28T20:08:20.182Z,1761682100.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990203,0.021069,-0.138038],[0.015934,-0.965045,-0.261599],[-0.138724,-0.261235,0.955255]] 2025-10-28T20:08:20.587Z,1761682100.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990678,0.018459,-0.134968],[0.017439,-0.965440,-0.260041],[-0.135104,-0.259970,0.956118]] 2025-10-28T20:08:20.991Z,1761682100.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991074,0.015683,-0.132385],[0.019281,-0.965751,-0.258752],[-0.131909,-0.258995,0.956829]] 2025-10-28T20:08:21.396Z,1761682101.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991390,0.012295,-0.130366],[0.021309,-0.967163,-0.253261],[-0.129199,-0.253858,0.958574]] 2025-10-28T20:08:22.203Z,1761682102.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991951,0.003426,-0.126579],[0.026997,-0.970928,-0.237843],[-0.123714,-0.239346,0.963021]] 2025-10-28T20:08:22.607Z,1761682102.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992220,-0.000721,-0.124492],[0.030218,-0.971473,-0.235219],[-0.120771,-0.237151,0.963937]] 2025-10-28T20:08:22.632Z,1761682102.632 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:08:22.632Z,1761682102.632 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:08:22.632Z,1761682102.632 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:08:22.632Z,1761682102.632 [marl:UpdateRudder:A] Stopped 2025-10-28T20:08:22.632Z,1761682102.632 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:08:23.013Z,1761682103.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992465,-0.003828,-0.122471],[0.032699,-0.971536,-0.234623],[-0.118087,-0.236860,0.964341]] 2025-10-28T20:08:23.038Z,1761682103.038 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:08:23.038Z,1761682103.038 [marl:UpdateRudder:B] Stopped 2025-10-28T20:08:23.038Z,1761682103.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:08:23.038Z,1761682103.038 [marl:UpdateRudder] Stopped 2025-10-28T20:08:23.038Z,1761682103.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:08:23.414Z,1761682103.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992765,-0.005388,-0.119955],[0.033794,-0.971149,-0.236067],[-0.115223,-0.238413,0.964304]] 2025-10-28T20:08:23.819Z,1761682103.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993191,-0.005302,-0.116374],[0.033455,-0.969866,-0.241332],[-0.111588,-0.243582,0.963440]] 2025-10-28T20:08:23.875Z,1761682103.875 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:08:23.875Z,1761682103.875 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:08:23.876Z,1761682103.876 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:08:23.876Z,1761682103.876 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:08:23.876Z,1761682103.876 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:08:23.876Z,1761682103.876 [marl:UpdateCommandMode] Stopped 2025-10-28T20:08:23.876Z,1761682103.876 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed] Stopped 2025-10-28T20:08:23.877Z,1761682103.877 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:08:24.223Z,1761682104.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993677,-0.005301,-0.112149],[0.033009,-0.968532,-0.246690],[-0.107312,-0.248832,0.962583]] 2025-10-28T20:08:24.633Z,1761682104.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994210,-0.003643,-0.107396],[0.030833,-0.967071,-0.252632],[-0.102940,-0.254480,0.961584]] 2025-10-28T20:08:25.030Z,1761682105.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994691,-0.001511,-0.102899],[0.027989,-0.966173,-0.256370],[-0.099031,-0.257889,0.961086]] 2025-10-28T20:08:25.435Z,1761682105.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995180,0.001235,-0.098059],[0.024029,-0.966371,-0.256029],[-0.095078,-0.257151,0.961683]] 2025-10-28T20:08:25.481Z,1761682105.481 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:08:25.577Z,1761682105.577 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:08:25.577Z,1761682105.577 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:08:25.829Z,1761682105.829 [DAT](INFO): DAT read: user:236> 2025-10-28T20:08:25.830Z,1761682105.830 [DAT](INFO): DAT read: Tx time:20:08:25.5724 2025-10-28T20:08:25.830Z,1761682105.830 [DAT](INFO): Ping request sent. 2025-10-28T20:08:25.830Z,1761682105.830 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:08:25.830Z,1761682105.830 [DAT](INFO): publishing transmit ping time 2025-10-28T20:08:25.837Z,1761682105.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006514 2025-10-28T20:08:25.855Z,1761682105.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995670,0.004235,-0.092859],[0.019696,-0.966669,-0.255271],[-0.090845,-0.255994,0.962400]] 2025-10-28T20:08:26.081Z,1761682106.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834 2025-10-28T20:08:26.248Z,1761682106.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996148,0.007802,-0.087341],[0.014897,-0.966499,-0.256237],[-0.086414,-0.256551,0.962660]] 2025-10-28T20:08:26.334Z,1761682106.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503517 2025-10-28T20:08:26.585Z,1761682106.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754915 2025-10-28T20:08:26.647Z,1761682106.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996580,0.011734,-0.081801],[0.009702,-0.966410,-0.256822],[-0.082067,-0.256738,0.962991]] 2025-10-28T20:08:26.837Z,1761682106.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834 2025-10-28T20:08:27.050Z,1761682107.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997012,0.015507,-0.075680],[0.004512,-0.966286,-0.257430],[-0.077120,-0.257002,0.963329]] 2025-10-28T20:08:27.089Z,1761682107.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258964 2025-10-28T20:08:27.341Z,1761682107.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909 2025-10-28T20:08:27.455Z,1761682107.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997409,0.017666,-0.069735],[0.000654,-0.967110,-0.254356],[-0.071935,-0.253743,0.964593]] 2025-10-28T20:08:27.593Z,1761682107.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762768 2025-10-28T20:08:27.845Z,1761682107.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014800 2025-10-28T20:08:27.867Z,1761682107.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997829,0.017903,-0.063374],[-0.001280,-0.967426,-0.253151],[-0.065841,-0.252520,0.965349]] 2025-10-28T20:08:28.097Z,1761682108.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907 2025-10-28T20:08:28.308Z,1761682108.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998239,0.016645,-0.056935],[-0.001624,-0.967133,-0.254267],[-0.059296,-0.253727,0.965457]] 2025-10-28T20:08:28.349Z,1761682108.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518870 2025-10-28T20:08:28.601Z,1761682108.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770861 2025-10-28T20:08:28.667Z,1761682108.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998667,0.012649,-0.050040],[0.000344,-0.967853,-0.251518],[-0.051613,-0.251200,0.966558]] 2025-10-28T20:08:28.854Z,1761682108.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023511 2025-10-28T20:08:29.071Z,1761682109.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999053,0.006727,-0.042994],[0.004307,-0.967841,-0.251525],[-0.043303,-0.251472,0.966895]] 2025-10-28T20:08:29.108Z,1761682109.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278100 2025-10-28T20:08:29.357Z,1761682109.357 [DAT](INFO): DAT read: Rx Time:20:08:28.5693 2025-10-28T20:08:29.357Z,1761682109.357 [DAT](INFO): Rx dataTimestamp_ set to:1761682109.357104 2025-10-28T20:08:29.358Z,1761682109.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527916 2025-10-28T20:08:29.476Z,1761682109.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999350,0.000269,-0.036053],[0.008975,-0.966638,-0.255990],[-0.034920,-0.256147,0.966007]] 2025-10-28T20:08:29.609Z,1761682109.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778917 2025-10-28T20:08:29.872Z,1761682109.872 [DAT](INFO): DAT read: 20:08:28.5693 LVL= 23232, 29169, 12738, 25219, AGC= 67, IDX= 66,-0.25,-3.060, 2.275,-1.623,-2.548, PHS=-0.411,-1.415, 0.881, RAW= 184.1, 9.5, CAL= 184.1, 10.7, ROT= 325.9, -10.7 2025-10-28T20:08:29.873Z,1761682109.873 [DAT](INFO): got valid direction response: 20:08:28.5693 LVL= 23232, 29169, 12738, 25219, AGC= 67, IDX= 66,-0.25,-3.060, 2.275,-1.623,-2.548, PHS=-0.411,-1.415, 0.881, RAW= 184.1, 9.5, CAL= 184.1, 10.7, ROT= 325.9, -10.7 2025-10-28T20:08:29.874Z,1761682109.874 [DAT](INFO): DAT read: Bearing 111, -16 (Remote) 2025-10-28T20:08:29.874Z,1761682109.874 [DAT](INFO): Remote Bearing received:Bearing 111, -16 (Remote) 2025-10-28T20:08:29.875Z,1761682109.875 [DAT](INFO): DAT read: Bearing 332.6, -38.3 (Local) 2025-10-28T20:08:29.875Z,1761682109.875 [DAT](INFO): Local bearing/azimuth received: Bearing 332.6, -38.3 (Local) 2025-10-28T20:08:29.881Z,1761682109.881 [DAT](INFO): DAT read: Range 11 to 20 : 725.7 m (Round-trip 967.7 ms) speed 0.7 m/s 2025-10-28T20:08:29.881Z,1761682109.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:08:29.882Z,1761682109.882 [DAT](INFO): direction in FSK: [0.813663,-0.550891,0.185667] 2025-10-28T20:08:29.883Z,1761682109.883 [DAT](INFO): publishing direction and range info 2025-10-28T20:08:29.927Z,1761682109.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999537,-0.006479,-0.029735],[0.013936,-0.966055,-0.257959],[-0.027054,-0.258254,0.965698]] 2025-10-28T20:08:30.049Z,1761682110.049 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682048.00. Resetting abort timer. 2025-10-28T20:08:30.283Z,1761682110.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999636,-0.012674,-0.023803],[0.018433,-0.965411,-0.260080],[-0.019683,-0.260424,0.965294]] 2025-10-28T20:08:30.688Z,1761682110.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999670,-0.017885,-0.018460],[0.022069,-0.965419,-0.259769],[-0.013176,-0.260091,0.965494]] 2025-10-28T20:08:31.093Z,1761682111.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999683,-0.021402,-0.013270],[0.024145,-0.964303,-0.263699],[-0.007152,-0.263936,0.964514]] 2025-10-28T20:08:31.495Z,1761682111.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999710,-0.022570,-0.008450],[0.024012,-0.962769,-0.269256],[-0.002058,-0.269380,0.963032]] 2025-10-28T20:08:31.899Z,1761682111.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999752,-0.022026,-0.003400],[0.022132,-0.963236,-0.267743],[0.002623,-0.267752,0.963484]] 2025-10-28T20:08:32.302Z,1761682112.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999807,-0.019570,0.001931],[0.018375,-0.964685,-0.262763],[0.007005,-0.262676,0.964859]] 2025-10-28T20:08:32.714Z,1761682112.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999859,-0.015360,0.006770],[0.013093,-0.966023,-0.258126],[0.010505,-0.258001,0.966088]] 2025-10-28T20:08:33.111Z,1761682113.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999889,-0.009203,0.011711],[0.005913,-0.966932,-0.254968],[0.013671,-0.254870,0.966879]] 2025-10-28T20:08:33.515Z,1761682113.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999853,-0.001840,0.017063],[-0.002519,-0.967739,-0.251943],[0.016976,-0.251949,0.967592]] 2025-10-28T20:08:33.920Z,1761682113.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999719,0.005953,0.022954],[-0.011469,-0.968609,-0.248326],[0.020755,-0.248519,0.968405]] 2025-10-28T20:08:34.324Z,1761682114.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999496,0.012941,0.029006],[-0.019620,-0.969726,-0.243405],[0.024978,-0.243851,0.969491]] 2025-10-28T20:08:34.728Z,1761682114.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999221,0.017845,0.035194],[-0.025723,-0.970916,-0.238036],[0.029923,-0.238756,0.970618]] 2025-10-28T20:08:35.131Z,1761682115.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998944,0.020211,0.041264],[-0.029355,-0.971614,-0.234742],[0.035348,-0.235705,0.971181]] 2025-10-28T20:08:35.535Z,1761682115.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998706,0.019752,0.046870],[-0.030116,-0.972254,-0.231981],[0.040987,-0.233092,0.971591]] 2025-10-28T20:08:35.938Z,1761682115.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998510,0.016551,0.052000],[-0.028178,-0.972407,-0.231581],[0.046733,-0.232701,0.971425]] 2025-10-28T20:08:36.004Z,1761682116.004 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:08:36.004Z,1761682116.004 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:08:36.004Z,1761682116.004 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:08:36.005Z,1761682116.005 [marl:UpdateRudder:A] Stopped 2025-10-28T20:08:36.005Z,1761682116.005 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:08:36.342Z,1761682116.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998328,0.011396,0.056672],[-0.024267,-0.972423,-0.231956],[0.052466,-0.232943,0.971074]] 2025-10-28T20:08:36.388Z,1761682116.388 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:08:36.388Z,1761682116.388 [marl:UpdateRudder:B] Stopped 2025-10-28T20:08:36.388Z,1761682116.388 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:08:36.388Z,1761682116.388 [marl:UpdateRudder] Stopped 2025-10-28T20:08:36.388Z,1761682116.388 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:08:36.753Z,1761682116.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998142,0.005364,0.060691],[-0.019219,-0.972980,-0.230087],[0.057817,-0.230826,0.971276]] 2025-10-28T20:08:37.152Z,1761682117.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997926,-0.000765,0.064374],[-0.014272,-0.972420,-0.232800],[0.062777,-0.233236,0.970392]] 2025-10-28T20:08:37.177Z,1761682117.177 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode] Stopped 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:08:37.178Z,1761682117.178 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed] Stopped 2025-10-28T20:08:37.179Z,1761682117.179 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:08:37.554Z,1761682117.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997674,-0.004754,0.068006],[-0.011454,-0.971695,-0.235961],[0.067203,-0.236191,0.969380]] 2025-10-28T20:08:37.959Z,1761682117.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997398,-0.006810,0.071764],[-0.010707,-0.970492,-0.240895],[0.071287,-0.241037,0.967894]] 2025-10-28T20:08:38.363Z,1761682118.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997106,-0.006166,0.075772],[-0.012701,-0.969186,-0.246004],[0.074954,-0.246254,0.966303]] 2025-10-28T20:08:38.783Z,1761682118.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996777,-0.004044,0.080114],[-0.016259,-0.967812,-0.251150],[0.078551,-0.251643,0.964627]] 2025-10-28T20:08:39.170Z,1761682119.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996386,0.000224,0.084939],[-0.021874,-0.966945,-0.254045],[0.082074,-0.254984,0.963456]] 2025-10-28T20:08:39.575Z,1761682119.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995932,0.004985,0.089965],[-0.027801,-0.966754,-0.254193],[0.085706,-0.255660,0.962960]] 2025-10-28T20:08:40.001Z,1761682120.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995450,0.009617,0.094795],[-0.033276,-0.967339,-0.251291],[0.089283,-0.253302,0.963258]] 2025-10-28T20:08:40.384Z,1761682120.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995012,0.013420,0.098852],[-0.037712,-0.967976,-0.248194],[0.092355,-0.250684,0.963654]] 2025-10-28T20:08:40.796Z,1761682120.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994632,0.015617,0.102293],[-0.040362,-0.968796,-0.244551],[0.095282,-0.247367,0.964226]] 2025-10-28T20:08:41.191Z,1761682121.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994267,0.016968,0.105572],[-0.042366,-0.969036,-0.243257],[0.098176,-0.246335,0.964199]] 2025-10-28T20:08:41.595Z,1761682121.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993971,0.017524,0.108232],[-0.043268,-0.969721,-0.240354],[0.100743,-0.243587,0.964633]] 2025-10-28T20:08:41.999Z,1761682121.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993768,0.017071,0.110152],[-0.042871,-0.970726,-0.236331],[0.102893,-0.239580,0.965409]] 2025-10-28T20:08:42.404Z,1761682122.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993602,0.015827,0.111822],[-0.041431,-0.972182,-0.230533],[0.105063,-0.233691,0.966618]] 2025-10-28T20:08:42.807Z,1761682122.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993436,0.014118,0.113517],[-0.039743,-0.973134,-0.226782],[0.107265,-0.229804,0.967308]] 2025-10-28T20:08:43.210Z,1761682123.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993265,0.012338,0.115204],[-0.038469,-0.973027,-0.227461],[0.109291,-0.230361,0.966948]] 2025-10-28T20:08:43.615Z,1761682123.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993073,0.010924,0.116994],[-0.037572,-0.972918,-0.228076],[0.111334,-0.230892,0.966589]] 2025-10-28T20:08:44.018Z,1761682124.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992801,0.011203,0.119250],[-0.038660,-0.972300,-0.230516],[0.113365,-0.233466,0.965734]] 2025-10-28T20:08:44.422Z,1761682124.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992553,0.012235,0.121199],[-0.040360,-0.971777,-0.232424],[0.114935,-0.235584,0.965034]] 2025-10-28T20:08:44.827Z,1761682124.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992250,0.014712,0.123386],[-0.043583,-0.971090,-0.234702],[0.116366,-0.238260,0.964205]] 2025-10-28T20:08:45.243Z,1761682125.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991953,0.017574,0.125379],[-0.047009,-0.970647,-0.235871],[0.117553,-0.239867,0.963662]] 2025-10-28T20:08:45.636Z,1761682125.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991654,0.021721,0.127084],[-0.051814,-0.969742,-0.238572],[0.118057,-0.243165,0.962774]] 2025-10-28T20:08:46.039Z,1761682126.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991401,0.025954,0.128263],[-0.056473,-0.969026,-0.240417],[0.118050,-0.245593,0.962158]] 2025-10-28T20:08:46.442Z,1761682126.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991034,0.031303,0.129895],[-0.061978,-0.968953,-0.239351],[0.118369,-0.245256,0.962205]] 2025-10-28T20:08:47.255Z,1761682127.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990392,0.040642,0.132182],[-0.070796,-0.970094,-0.232174],[0.118793,-0.239302,0.963651]] 2025-10-28T20:08:47.600Z,1761682127.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:08:47.654Z,1761682127.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990241,0.042777,0.132638],[-0.073095,-0.969735,-0.232960],[0.118658,-0.240381,0.963399]] 2025-10-28T20:08:48.058Z,1761682128.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990194,0.043454,0.132769],[-0.073440,-0.970388,-0.230116],[0.118838,-0.237610,0.964064]] 2025-10-28T20:08:48.463Z,1761682128.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990387,0.041919,0.131819],[-0.071030,-0.971856,-0.224614],[0.118693,-0.231818,0.965491]] 2025-10-28T20:08:48.604Z,1761682128.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:08:48.879Z,1761682128.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990661,0.039046,0.130641],[-0.067203,-0.973486,-0.218653],[0.118639,-0.225391,0.967018]] 2025-10-28T20:08:49.272Z,1761682129.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991045,0.034060,0.129109],[-0.061621,-0.974461,-0.215938],[0.118457,-0.221960,0.967834]] 2025-10-28T20:08:49.328Z,1761682129.328 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:08:49.328Z,1761682129.328 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:08:49.328Z,1761682129.328 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:08:49.329Z,1761682129.329 [marl:UpdateRudder:A] Stopped 2025-10-28T20:08:49.329Z,1761682129.329 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:08:49.679Z,1761682129.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991443,0.028459,0.127402],[-0.055571,-0.975113,-0.214633],[0.118123,-0.219876,0.968350]] 2025-10-28T20:08:49.778Z,1761682129.778 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:08:49.778Z,1761682129.778 [marl:UpdateRudder:B] Stopped 2025-10-28T20:08:49.778Z,1761682129.778 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:08:49.779Z,1761682129.779 [marl:UpdateRudder] Stopped 2025-10-28T20:08:49.779Z,1761682129.779 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:08:50.080Z,1761682130.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991927,0.021573,0.124959],[-0.048481,-0.975076,-0.216509],[0.117174,-0.220819,0.968251]] 2025-10-28T20:08:50.483Z,1761682130.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992483,0.015111,0.121446],[-0.041730,-0.974662,-0.219755],[0.115048,-0.223171,0.967966]] 2025-10-28T20:08:50.513Z,1761682130.513 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode] Stopped 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:08:50.514Z,1761682130.514 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:08:50.515Z,1761682130.515 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:08:50.515Z,1761682130.515 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:08:50.515Z,1761682130.515 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:08:50.515Z,1761682130.515 [marl:UpdateSpeed] Stopped 2025-10-28T20:08:50.515Z,1761682130.515 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:08:50.891Z,1761682130.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993045,0.010039,0.117310],[-0.036597,-0.973323,-0.226500],[0.111907,-0.229218,0.966921]] 2025-10-28T20:08:51.291Z,1761682131.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993497,0.008271,0.113557],[-0.034509,-0.972318,-0.231098],[0.108502,-0.233514,0.966281]] 2025-10-28T20:08:51.729Z,1761682131.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993857,0.010130,0.110211],[-0.035781,-0.971733,-0.233354],[0.104732,-0.235864,0.966126]] 2025-10-28T20:08:52.101Z,1761682132.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994088,0.014669,0.107585],[-0.039814,-0.971062,-0.235486],[0.101018,-0.238377,0.965905]] 2025-10-28T20:08:52.503Z,1761682132.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994261,0.020262,0.105044],[-0.044721,-0.970710,-0.236055],[0.097184,-0.239398,0.966045]] 2025-10-28T20:08:52.907Z,1761682132.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994345,0.026658,0.102796],[-0.050308,-0.970720,-0.234885],[0.093525,-0.238728,0.966572]] 2025-10-28T20:08:53.313Z,1761682133.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994348,0.033495,0.100747],[-0.056270,-0.970953,-0.232558],[0.090031,-0.236913,0.967350]] 2025-10-28T20:08:53.753Z,1761682133.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994257,0.040699,0.098974],[-0.062619,-0.971256,-0.229654],[0.086782,-0.234533,0.968227]] 2025-10-28T20:08:54.118Z,1761682134.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994038,0.048247,0.097783],[-0.069419,-0.971578,-0.226313],[0.084085,-0.231751,0.969134]] 2025-10-28T20:08:54.522Z,1761682134.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993690,0.056350,0.096982],[-0.076868,-0.971795,-0.222949],[0.081683,-0.228997,0.969994]] 2025-10-28T20:08:54.927Z,1761682134.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993229,0.064200,0.096821],[-0.084568,-0.970981,-0.223705],[0.079649,-0.230379,0.969836]] 2025-10-28T20:08:55.334Z,1761682135.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992767,0.071350,0.096557],[-0.091476,-0.970415,-0.223443],[0.077758,-0.230660,0.969923]] 2025-10-28T20:08:55.762Z,1761682135.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992425,0.076673,0.095987],[-0.096484,-0.970112,-0.222652],[0.076047,-0.230226,0.970161]] 2025-10-28T20:08:56.139Z,1761682136.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992350,0.079348,0.094577],[-0.098722,-0.970034,-0.222009],[0.074127,-0.229648,0.970447]] 2025-10-28T20:08:56.542Z,1761682136.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992605,0.078939,0.092213],[-0.097762,-0.970175,-0.221816],[0.071953,-0.229191,0.970718]] 2025-10-28T20:08:56.950Z,1761682136.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992988,0.077147,0.089574],[-0.095468,-0.970192,-0.222742],[0.069721,-0.229732,0.970753]] 2025-10-28T20:08:57.352Z,1761682137.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993500,0.074155,0.086360],[-0.091818,-0.970495,-0.222953],[0.067279,-0.229433,0.970996]] 2025-10-28T20:08:57.766Z,1761682137.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994107,0.070029,0.082744],[-0.087003,-0.970773,-0.223676],[0.064662,-0.229557,0.971145]] 2025-10-28T20:08:58.159Z,1761682138.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994751,0.065174,0.078885],[-0.081477,-0.970872,-0.225318],[0.061902,-0.230563,0.971087]] 2025-10-28T20:08:58.562Z,1761682138.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995391,0.060067,0.074764],[-0.075514,-0.971453,-0.224891],[0.059121,-0.229500,0.971511]] 2025-10-28T20:08:58.966Z,1761682138.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995981,0.054930,0.070743],[-0.069586,-0.971851,-0.225084],[0.056388,-0.229102,0.971768]] 2025-10-28T20:08:59.371Z,1761682139.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996505,0.050222,0.066752],[-0.064063,-0.972283,-0.224857],[0.053609,-0.228348,0.972103]] 2025-10-28T20:08:59.779Z,1761682139.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996956,0.046007,0.062942],[-0.059202,-0.972043,-0.227218],[0.050729,-0.230252,0.971808]] 2025-10-28T20:09:00.179Z,1761682140.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997298,0.043369,0.059298],[-0.055996,-0.971240,-0.231423],[0.047556,-0.234118,0.971044]] 2025-10-28T20:09:00.584Z,1761682140.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997539,0.041756,0.056321],[-0.053914,-0.970389,-0.235455],[0.044821,-0.237912,0.970252]] 2025-10-28T20:09:00.986Z,1761682140.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997719,0.041136,0.053522],[-0.052812,-0.969498,-0.239343],[0.042044,-0.241624,0.969459]] 2025-10-28T20:09:01.391Z,1761682141.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997886,0.041052,0.050379],[-0.052057,-0.968998,-0.241523],[0.038902,-0.243635,0.969086]] 2025-10-28T20:09:01.802Z,1761682141.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998028,0.041256,0.047310],[-0.051565,-0.968624,-0.243123],[0.035795,-0.245083,0.968841]] 2025-10-28T20:09:02.214Z,1761682142.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998243,0.042388,0.041409],[-0.051224,-0.968578,-0.243379],[0.029791,-0.245072,0.969047]] 2025-10-28T20:09:02.607Z,1761682142.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998339,0.043056,0.038294],[-0.051060,-0.969024,-0.241632],[0.026704,-0.243186,0.969612]] 2025-10-28T20:09:02.648Z,1761682142.648 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:09:02.648Z,1761682142.648 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:09:02.648Z,1761682142.648 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:09:02.649Z,1761682142.649 [marl:UpdateRudder:A] Stopped 2025-10-28T20:09:02.649Z,1761682142.649 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:09:03.017Z,1761682143.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998386,0.044338,0.035476],[-0.051592,-0.969267,-0.240539],[0.023721,-0.241981,0.969991]] 2025-10-28T20:09:03.041Z,1761682143.041 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:09:03.041Z,1761682143.041 [marl:UpdateRudder:B] Stopped 2025-10-28T20:09:03.041Z,1761682143.041 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:09:03.041Z,1761682143.041 [marl:UpdateRudder] Stopped 2025-10-28T20:09:03.041Z,1761682143.041 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:09:03.415Z,1761682143.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998418,0.045765,0.032669],[-0.052263,-0.969634,-0.238913],[0.020744,-0.240243,0.970491]] 2025-10-28T20:09:03.817Z,1761682143.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998403,0.047757,0.030181],[-0.053598,-0.969577,-0.238848],[0.017857,-0.240084,0.970588]] 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode] Stopped 2025-10-28T20:09:03.871Z,1761682143.871 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:09:03.872Z,1761682143.872 [marl:UpdateSpeed] Stopped 2025-10-28T20:09:03.873Z,1761682143.873 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:09:04.222Z,1761682144.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998302,0.051050,0.028057],[-0.056315,-0.968960,-0.240720],[0.014898,-0.241891,0.970189]] 2025-10-28T20:09:04.625Z,1761682144.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998144,0.055020,0.026116],[-0.059705,-0.968615,-0.241288],[0.012021,-0.242399,0.970102]] 2025-10-28T20:09:05.027Z,1761682145.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997914,0.059629,0.024724],[-0.063845,-0.968243,-0.241721],[0.009525,-0.242796,0.970031]] 2025-10-28T20:09:05.432Z,1761682145.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997639,0.064514,0.023527],[-0.068289,-0.968119,-0.241002],[0.007229,-0.242040,0.970239]] 2025-10-28T20:09:05.835Z,1761682145.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997329,0.069423,0.022711],[-0.072851,-0.967949,-0.240350],[0.005298,-0.241363,0.970421]] 2025-10-28T20:09:06.241Z,1761682146.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996962,0.074672,0.022161],[-0.077813,-0.967546,-0.240417],[0.003489,-0.241411,0.970417]] 2025-10-28T20:09:06.643Z,1761682146.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996531,0.080338,0.021709],[-0.083202,-0.967264,-0.239744],[0.001738,-0.240718,0.970594]] 2025-10-28T20:09:07.046Z,1761682147.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996086,0.085785,0.021304],[-0.088391,-0.967117,-0.238479],[0.000146,-0.239429,0.970914]] 2025-10-28T20:09:07.451Z,1761682147.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995625,0.091058,0.020951],[-0.093426,-0.966641,-0.238490],[-0.001465,-0.239404,0.970919]] 2025-10-28T20:09:07.857Z,1761682147.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995234,0.095383,0.020283],[-0.097470,-0.966652,-0.236820],[-0.002982,-0.237669,0.971342]] 2025-10-28T20:09:08.258Z,1761682148.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995068,0.097279,0.019422],[-0.099109,-0.966598,-0.236361],[-0.004220,-0.237120,0.971471]] 2025-10-28T20:09:08.662Z,1761682148.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995183,0.096390,0.017875],[-0.097888,-0.967104,-0.234793],[-0.005345,-0.235412,0.971881]] 2025-10-28T20:09:09.067Z,1761682149.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995495,0.093439,0.016092],[-0.094608,-0.967706,-0.233653],[-0.006260,-0.234123,0.972187]] 2025-10-28T20:09:09.475Z,1761682149.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995960,0.088765,0.013546],[-0.089482,-0.968611,-0.231918],[-0.007466,-0.232194,0.972641]] 2025-10-28T20:09:09.874Z,1761682149.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996503,0.082900,0.010503],[-0.083083,-0.969470,-0.230706],[-0.008943,-0.230771,0.972967]] 2025-10-28T20:09:10.279Z,1761682150.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997072,0.076122,0.007235],[-0.075737,-0.970120,-0.230501],[-0.010528,-0.230374,0.973045]] 2025-10-28T20:09:10.692Z,1761682150.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997613,0.068944,0.003959],[-0.067984,-0.970418,-0.231661],[-0.012129,-0.231377,0.972789]] 2025-10-28T20:09:11.089Z,1761682151.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998111,0.061438,0.000357],[-0.059817,-0.970427,-0.233867],[-0.014022,-0.233446,0.972269]] 2025-10-28T20:09:11.494Z,1761682151.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998503,0.054593,-0.003382],[-0.052261,-0.970451,-0.235570],[-0.016142,-0.235040,0.971852]] 2025-10-28T20:09:11.894Z,1761682151.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998815,0.048144,-0.007125],[-0.045057,-0.970079,-0.238571],[-0.018398,-0.237968,0.971099]] 2025-10-28T20:09:12.298Z,1761682152.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999038,0.042500,-0.010854],[-0.038618,-0.969545,-0.241851],[-0.020802,-0.241199,0.970253]] 2025-10-28T20:09:12.706Z,1761682152.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999182,0.037849,-0.014264],[-0.033200,-0.968885,-0.245275],[-0.023104,-0.244601,0.969349]] 2025-10-28T20:09:13.106Z,1761682153.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999232,0.035058,-0.017477],[-0.029606,-0.968025,-0.249102],[-0.025651,-0.248394,0.968320]] 2025-10-28T20:09:13.513Z,1761682153.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999218,0.033994,-0.020188],[-0.027835,-0.967482,-0.251402],[-0.028077,-0.250643,0.967672]] 2025-10-28T20:09:13.915Z,1761682153.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999133,0.035388,-0.021918],[-0.028671,-0.966786,-0.253972],[-0.030177,-0.253124,0.966963]] 2025-10-28T20:09:14.320Z,1761682154.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998991,0.038635,-0.022889],[-0.031535,-0.966439,-0.254955],[-0.031971,-0.253976,0.966682]] 2025-10-28T20:09:14.723Z,1761682154.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998812,0.042652,-0.023549],[-0.035224,-0.966092,-0.255783],[-0.033660,-0.254650,0.966447]] 2025-10-28T20:09:15.127Z,1761682155.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998593,0.047297,-0.023987],[-0.039606,-0.965926,-0.255770],[-0.035267,-0.254460,0.966440]] 2025-10-28T20:09:15.533Z,1761682155.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998355,0.052032,-0.024090],[-0.044188,-0.965919,-0.255044],[-0.036539,-0.253560,0.966629]] 2025-10-28T20:09:15.935Z,1761682155.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998096,0.056894,-0.023821],[-0.048979,-0.965818,-0.254553],[-0.037490,-0.252902,0.966765]] 2025-10-28T20:09:16.014Z,1761682156.014 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:09:16.014Z,1761682156.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:09:16.014Z,1761682156.014 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:09:16.015Z,1761682156.015 [marl:UpdateRudder:A] Stopped 2025-10-28T20:09:16.015Z,1761682156.015 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:09:16.339Z,1761682156.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997836,0.061587,-0.023038],[-0.053760,-0.965842,-0.253492],[-0.037863,-0.251705,0.967063]] 2025-10-28T20:09:16.371Z,1761682156.371 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:09:16.371Z,1761682156.371 [marl:UpdateRudder:B] Stopped 2025-10-28T20:09:16.371Z,1761682156.371 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:09:16.371Z,1761682156.371 [marl:UpdateRudder] Stopped 2025-10-28T20:09:16.371Z,1761682156.371 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:09:16.743Z,1761682156.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997572,0.066142,-0.021811],[-0.058531,-0.965924,-0.252123],[-0.037744,-0.250234,0.967449]] 2025-10-28T20:09:17.156Z,1761682157.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997317,0.070389,-0.020121],[-0.063168,-0.966314,-0.249496],[-0.037005,-0.247555,0.968167]] 2025-10-28T20:09:17.212Z,1761682157.212 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode] Stopped 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:09:17.213Z,1761682157.213 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:09:17.214Z,1761682157.214 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:09:17.214Z,1761682157.214 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:09:17.214Z,1761682157.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:09:17.214Z,1761682157.214 [marl:UpdateSpeed] Stopped 2025-10-28T20:09:17.214Z,1761682157.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:09:17.561Z,1761682157.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997067,0.074437,-0.017772],[-0.067725,-0.966378,-0.248046],[-0.035638,-0.246115,0.968585]] 2025-10-28T20:09:17.955Z,1761682157.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996835,0.078033,-0.015218],[-0.071864,-0.966262,-0.247331],[-0.034005,-0.245455,0.968811]] 2025-10-28T20:09:18.359Z,1761682158.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996668,0.080555,-0.012834],[-0.074927,-0.966277,-0.246363],[-0.032247,-0.244580,0.969093]] 2025-10-28T20:09:18.732Z,1761682158.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:09:18.778Z,1761682158.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996575,0.081963,-0.010963],[-0.076752,-0.966151,-0.246295],[-0.030779,-0.244610,0.969133]] 2025-10-28T20:09:19.179Z,1761682159.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996649,0.081181,-0.010019],[-0.076233,-0.966263,-0.246017],[-0.029653,-0.244429,0.969214]] 2025-10-28T20:09:19.570Z,1761682159.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996924,0.077854,-0.009053],[-0.073252,-0.966565,-0.245737],[-0.027882,-0.244318,0.969294]] 2025-10-28T20:09:19.753Z,1761682159.753 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:09:19.975Z,1761682159.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997320,0.072649,-0.008606],[-0.068334,-0.967114,-0.244992],[-0.026121,-0.243748,0.969487]] 2025-10-28T20:09:20.380Z,1761682160.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997707,0.067125,-0.008664],[-0.062977,-0.967610,-0.244467],[-0.024794,-0.243361,0.969619]] 2025-10-28T20:09:20.787Z,1761682160.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998049,0.061800,-0.008852],[-0.057750,-0.967759,-0.245166],[-0.023718,-0.244177,0.969441]] 2025-10-28T20:09:21.189Z,1761682161.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998364,0.056419,-0.009263],[-0.052429,-0.968033,-0.245281],[-0.022806,-0.244394,0.969408]] 2025-10-28T20:09:21.591Z,1761682161.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998635,0.051326,-0.009644],[-0.047328,-0.967519,-0.248328],[-0.022077,-0.247533,0.968628]] 2025-10-28T20:09:21.996Z,1761682161.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998880,0.046191,-0.010286],[-0.042164,-0.967409,-0.249683],[-0.021484,-0.248970,0.968273]] 2025-10-28T20:09:22.398Z,1761682162.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999082,0.041503,-0.010626],[-0.037515,-0.967302,-0.250837],[-0.020689,-0.250208,0.967971]] 2025-10-28T20:09:22.803Z,1761682162.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999215,0.037957,-0.011323],[-0.033909,-0.967453,-0.250771],[-0.020473,-0.250190,0.967980]] 2025-10-28T20:09:23.207Z,1761682163.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999274,0.036166,-0.011944],[-0.032012,-0.967433,-0.251096],[-0.020636,-0.250531,0.967888]] 2025-10-28T20:09:23.615Z,1761682163.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999269,0.036331,-0.011878],[-0.032180,-0.967320,-0.251507],[-0.020627,-0.250941,0.967783]] 2025-10-28T20:09:24.019Z,1761682164.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999187,0.038828,-0.010894],[-0.034800,-0.966682,-0.253603],[-0.020378,-0.253018,0.967247]] 2025-10-28T20:09:24.418Z,1761682164.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999038,0.042846,-0.009352],[-0.039048,-0.966152,-0.255002],[-0.019961,-0.254391,0.966895]] 2025-10-28T20:09:24.822Z,1761682164.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998824,0.047885,-0.007611],[-0.044356,-0.965806,-0.255443],[-0.019582,-0.254805,0.966794]] 2025-10-28T20:09:25.228Z,1761682165.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998571,0.053088,-0.006154],[-0.049784,-0.965892,-0.254115],[-0.019434,-0.253445,0.967155]] 2025-10-28T20:09:25.631Z,1761682165.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998279,0.058477,-0.004377],[-0.055477,-0.965977,-0.252609],[-0.019000,-0.251932,0.967558]] 2025-10-28T20:09:25.683Z,1761682165.683 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:09:25.833Z,1761682165.833 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:09:25.833Z,1761682165.833 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:09:26.038Z,1761682166.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997974,0.063572,-0.002435],[-0.060952,-0.966410,-0.249672],[-0.018226,-0.249018,0.968327]] 2025-10-28T20:09:26.085Z,1761682166.085 [DAT](INFO): DAT read: user:237> 2025-10-28T20:09:26.086Z,1761682166.086 [DAT](INFO): DAT read: Tx time:20:09:25.8221 2025-10-28T20:09:26.086Z,1761682166.086 [DAT](INFO): Ping request sent. 2025-10-28T20:09:26.086Z,1761682166.086 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:09:26.086Z,1761682166.086 [DAT](INFO): publishing transmit ping time 2025-10-28T20:09:26.087Z,1761682166.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T20:09:26.337Z,1761682166.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250802 2025-10-28T20:09:26.440Z,1761682166.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997633,0.068761,0.000063],[-0.066628,-0.966451,-0.248061],[-0.016996,-0.247478,0.968744]] 2025-10-28T20:09:26.591Z,1761682166.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504656 2025-10-28T20:09:26.842Z,1761682166.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755382 2025-10-28T20:09:26.847Z,1761682166.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997255,0.073991,0.002930],[-0.072422,-0.966331,-0.246898],[-0.015437,-0.246432,0.969037]] 2025-10-28T20:09:27.093Z,1761682167.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006802 2025-10-28T20:09:27.247Z,1761682167.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996872,0.078807,0.006012],[-0.077869,-0.966293,-0.245387],[-0.013529,-0.245088,0.969406]] 2025-10-28T20:09:27.346Z,1761682167.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259393 2025-10-28T20:09:27.597Z,1761682167.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510762 2025-10-28T20:09:27.659Z,1761682167.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996505,0.083007,0.009408],[-0.082781,-0.966059,-0.244698],[-0.011223,-0.244621,0.969554]] 2025-10-28T20:09:27.849Z,1761682167.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763335 2025-10-28T20:09:28.054Z,1761682168.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996139,0.086810,0.013066],[-0.087366,-0.965717,-0.244454],[-0.008603,-0.244652,0.969573]] 2025-10-28T20:09:28.101Z,1761682168.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884 2025-10-28T20:09:28.353Z,1761682168.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266760 2025-10-28T20:09:28.459Z,1761682168.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995878,0.089217,0.016364],[-0.090507,-0.965472,-0.244281],[-0.005995,-0.244755,0.969566]] 2025-10-28T20:09:28.605Z,1761682168.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518755 2025-10-28T20:09:28.857Z,1761682168.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770834 2025-10-28T20:09:28.865Z,1761682168.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995814,0.089506,0.018518],[-0.091315,-0.965443,-0.244092],[-0.003969,-0.244761,0.969575]] 2025-10-28T20:09:29.109Z,1761682169.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022776 2025-10-28T20:09:29.268Z,1761682169.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995902,0.088224,0.019891],[-0.090409,-0.965570,-0.243929],[-0.002314,-0.244728,0.969589]] 2025-10-28T20:09:29.298Z,1761682169.298 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:09:29.298Z,1761682169.298 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:09:29.298Z,1761682169.298 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:09:29.299Z,1761682169.299 [marl:UpdateRudder:A] Stopped 2025-10-28T20:09:29.299Z,1761682169.299 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:09:29.361Z,1761682169.361 [DAT](INFO): DAT read: Rx Time:20:09:28.7533 2025-10-28T20:09:29.362Z,1761682169.362 [DAT](INFO): Rx dataTimestamp_ set to:1761682169.361272 2025-10-28T20:09:29.362Z,1761682169.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276005 2025-10-28T20:09:29.613Z,1761682169.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526748 2025-10-28T20:09:29.698Z,1761682169.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996033,0.086429,0.021160],[-0.088979,-0.965490,-0.244771],[-0.000725,-0.245683,0.969350]] 2025-10-28T20:09:29.787Z,1761682169.787 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:09:29.787Z,1761682169.787 [marl:UpdateRudder:B] Stopped 2025-10-28T20:09:29.793Z,1761682169.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:09:29.793Z,1761682169.793 [marl:UpdateRudder] Stopped 2025-10-28T20:09:29.793Z,1761682169.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:09:29.865Z,1761682169.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778831 2025-10-28T20:09:30.074Z,1761682170.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996209,0.084189,0.021886],[-0.086986,-0.965686,-0.244711],[0.000533,-0.245687,0.969349]] 2025-10-28T20:09:30.123Z,1761682170.123 [DAT](INFO): DAT read: 20:09:28.7533 LVL= 27520, 32241, 14578, 26579, AGC= 66, IDX= 274,-0.40,-0.837,-1.493, 0.803,-0.186, PHS=-0.549,-1.263, 0.944, RAW= 191.5, 8.9, CAL= 191.7, 9.8, ROT= 318.3, -9.8 2025-10-28T20:09:30.124Z,1761682170.124 [DAT](INFO): got valid direction response: 20:09:28.7533 LVL= 27520, 32241, 14578, 26579, AGC= 66, IDX= 274,-0.40,-0.837,-1.493, 0.803,-0.186, PHS=-0.549,-1.263, 0.944, RAW= 191.5, 8.9, CAL= 191.7, 9.8, ROT= 318.3, -9.8 2025-10-28T20:09:30.125Z,1761682170.125 [DAT](INFO): DAT read: Bearing 113, -2 (Remote) 2025-10-28T20:09:30.125Z,1761682170.125 [DAT](INFO): Remote Bearing received:Bearing 113, -2 (Remote) 2025-10-28T20:09:30.126Z,1761682170.126 [DAT](INFO): DAT read: Bearing 332.6, -42.7 (Local) 2025-10-28T20:09:30.126Z,1761682170.126 [DAT](INFO): Local bearing/azimuth received: Bearing 332.6, -42.7 (Local) 2025-10-28T20:09:30.128Z,1761682170.128 [DAT](INFO): DAT read: Range 11 to 20 : 676.5 m (Round-trip 902.0 ms) speed 0.5 m/s 2025-10-28T20:09:30.128Z,1761682170.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:09:30.129Z,1761682170.129 [DAT](INFO): direction in FSK: [0.735743,-0.655523,0.170209] 2025-10-28T20:09:30.130Z,1761682170.130 [DAT](INFO): publishing direction and range info 2025-10-28T20:09:30.199Z,1761682170.199 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682176.00. Resetting abort timer. 2025-10-28T20:09:30.478Z,1761682170.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996395,0.081742,0.022719],[-0.084821,-0.965566,-0.245942],[0.001833,-0.246982,0.969018]] 2025-10-28T20:09:30.515Z,1761682170.515 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:09:30.515Z,1761682170.515 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateCommandMode] Stopped 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:09:30.516Z,1761682170.516 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed] Stopped 2025-10-28T20:09:30.517Z,1761682170.517 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:09:30.884Z,1761682170.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996557,0.079632,0.023095],[-0.082869,-0.965689,-0.246124],[0.002703,-0.247190,0.968963]] 2025-10-28T20:09:31.287Z,1761682171.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996671,0.077942,0.023914],[-0.081439,-0.965535,-0.247202],[0.003822,-0.248327,0.968669]] 2025-10-28T20:09:31.730Z,1761682171.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996789,0.076005,0.025201],[-0.079890,-0.965297,-0.248634],[0.005429,-0.249849,0.968270]] 2025-10-28T20:09:32.095Z,1761682172.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996891,0.074315,0.026195],[-0.078509,-0.965142,-0.249673],[0.006728,-0.250953,0.967976]] 2025-10-28T20:09:32.499Z,1761682172.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997025,0.072435,0.026361],[-0.076728,-0.965363,-0.249373],[0.007385,-0.250654,0.968049]] 2025-10-28T20:09:32.908Z,1761682172.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997165,0.070408,0.026529],[-0.074799,-0.965769,-0.248386],[0.008132,-0.249666,0.968298]] 2025-10-28T20:09:33.307Z,1761682173.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997292,0.068435,0.026934],[-0.072980,-0.966174,-0.247349],[0.009095,-0.248645,0.968552]] 2025-10-28T20:09:33.759Z,1761682173.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997400,0.066686,0.027328],[-0.071373,-0.966549,-0.246351],[0.009986,-0.247661,0.968795]] 2025-10-28T20:09:34.115Z,1761682174.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997481,0.065241,0.027853],[-0.070098,-0.966744,-0.245950],[0.010880,-0.247283,0.968882]] 2025-10-28T20:09:34.520Z,1761682174.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997509,0.064523,0.028513],[-0.069554,-0.967013,-0.245048],[0.011761,-0.246421,0.969092]] 2025-10-28T20:09:34.924Z,1761682174.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997495,0.064358,0.029363],[-0.069604,-0.967021,-0.245003],[0.012626,-0.246433,0.969078]] 2025-10-28T20:09:35.326Z,1761682175.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997397,0.065405,0.030355],[-0.070868,-0.966845,-0.245333],[0.013302,-0.246846,0.968963]] 2025-10-28T20:09:35.769Z,1761682175.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997239,0.067305,0.031359],[-0.072954,-0.966759,-0.245061],[0.013823,-0.246673,0.969000]] 2025-10-28T20:09:36.145Z,1761682176.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996990,0.070155,0.032998],[-0.076142,-0.966172,-0.246401],[0.014596,-0.248172,0.968606]] 2025-10-28T20:09:36.538Z,1761682176.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996661,0.073884,0.034769],[-0.080196,-0.965840,-0.246416],[0.015375,-0.248382,0.968540]] 2025-10-28T20:09:36.943Z,1761682176.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996275,0.078014,0.036733],[-0.084676,-0.965613,-0.245809],[0.016294,-0.248004,0.968622]] 2025-10-28T20:09:37.346Z,1761682177.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995823,0.082696,0.038710],[-0.089690,-0.965375,-0.244961],[0.017112,-0.247410,0.968760]] 2025-10-28T20:09:37.773Z,1761682177.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995371,0.086993,0.040863],[-0.094381,-0.965041,-0.244516],[0.018163,-0.247241,0.968784]] 2025-10-28T20:09:38.158Z,1761682178.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994976,0.090661,0.042461],[-0.098293,-0.965160,-0.242498],[0.018997,-0.245453,0.969222]] 2025-10-28T20:09:38.559Z,1761682178.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994696,0.093007,0.043920],[-0.100873,-0.965548,-0.239878],[0.020097,-0.243036,0.969809]] 2025-10-28T20:09:38.963Z,1761682178.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994524,0.094279,0.045089],[-0.102351,-0.965862,-0.237979],[0.021113,-0.241291,0.970223]] 2025-10-28T20:09:39.369Z,1761682179.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994495,0.094134,0.046022],[-0.102400,-0.966246,-0.236396],[0.022216,-0.239807,0.970566]] 2025-10-28T20:09:39.784Z,1761682179.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994516,0.093399,0.047068],[-0.101938,-0.966287,-0.236428],[0.023399,-0.239929,0.970508]] 2025-10-28T20:09:40.174Z,1761682180.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994584,0.092164,0.048040],[-0.100981,-0.966292,-0.236820],[0.024594,-0.240388,0.970365]] 2025-10-28T20:09:40.579Z,1761682180.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994562,0.091747,0.049276],[-0.100916,-0.965904,-0.238422],[0.025721,-0.242098,0.969911]] 2025-10-28T20:09:40.984Z,1761682180.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994510,0.091680,0.050443],[-0.101219,-0.965107,-0.241503],[0.026542,-0.245283,0.969088]] 2025-10-28T20:09:41.386Z,1761682181.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994360,0.092389,0.052074],[-0.102411,-0.964072,-0.245108],[0.027558,-0.249059,0.968096]] 2025-10-28T20:09:41.793Z,1761682181.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994074,0.094472,0.053783],[-0.104990,-0.962633,-0.249630],[0.028190,-0.253798,0.966846]] 2025-10-28T20:09:42.195Z,1761682182.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993704,0.097535,0.055122],[-0.108339,-0.961890,-0.251060],[0.028534,-0.255451,0.966401]] 2025-10-28T20:09:42.600Z,1761682182.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993313,0.100615,0.056628],[-0.111745,-0.961158,-0.252364],[0.029037,-0.257004,0.965974]] 2025-10-28T20:09:42.656Z,1761682182.656 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:09:42.656Z,1761682182.656 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:09:42.656Z,1761682182.656 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:09:42.657Z,1761682182.657 [marl:UpdateRudder:A] Stopped 2025-10-28T20:09:42.657Z,1761682182.657 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:09:43.029Z,1761682183.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992877,0.104051,0.058048],[-0.115425,-0.960817,-0.252006],[0.029552,-0.256911,0.965983]] 2025-10-28T20:09:43.058Z,1761682183.058 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:09:43.058Z,1761682183.058 [marl:UpdateRudder:B] Stopped 2025-10-28T20:09:43.058Z,1761682183.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:09:43.058Z,1761682183.058 [marl:UpdateRudder] Stopped 2025-10-28T20:09:43.058Z,1761682183.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:09:43.407Z,1761682183.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992519,0.106827,0.059114],[-0.118372,-0.960573,-0.251570],[0.029909,-0.256685,0.966032]] 2025-10-28T20:09:43.813Z,1761682183.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992202,0.109465,0.059597],[-0.121019,-0.960501,-0.250585],[0.029812,-0.255844,0.966258]] 2025-10-28T20:09:43.879Z,1761682183.879 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:09:43.879Z,1761682183.879 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:09:43.879Z,1761682183.879 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:09:43.879Z,1761682183.879 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateCommandMode] Stopped 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:09:43.880Z,1761682183.880 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:09:43.881Z,1761682183.881 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:09:43.881Z,1761682183.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:09:43.881Z,1761682183.881 [marl:UpdateSpeed] Stopped 2025-10-28T20:09:43.881Z,1761682183.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:09:44.215Z,1761682184.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991964,0.111589,0.059620],[-0.122999,-0.960944,-0.247908],[0.029627,-0.253249,0.966947]] 2025-10-28T20:09:44.626Z,1761682184.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991861,0.112858,0.058947],[-0.123920,-0.962000,-0.243309],[0.029248,-0.248633,0.968156]] 2025-10-28T20:09:45.022Z,1761682185.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991872,0.113141,0.058210],[-0.123881,-0.963099,-0.238942],[0.029028,-0.244211,0.969288]] 2025-10-28T20:09:45.430Z,1761682185.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991983,0.112555,0.057454],[-0.123049,-0.963867,-0.236262],[0.028785,-0.241438,0.969989]] 2025-10-28T20:09:45.831Z,1761682185.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992172,0.111302,0.056629],[-0.121570,-0.964567,-0.234162],[0.028560,-0.239214,0.970547]] 2025-10-28T20:09:46.235Z,1761682186.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992376,0.109867,0.055846],[-0.119949,-0.965096,-0.232815],[0.028318,-0.237738,0.970916]] 2025-10-28T20:09:46.643Z,1761682186.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992660,0.107704,0.055018],[-0.117627,-0.965555,-0.232094],[0.028126,-0.236862,0.971136]] 2025-10-28T20:09:47.046Z,1761682187.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993045,0.104741,0.053764],[-0.114409,-0.966268,-0.230730],[0.027784,-0.235276,0.971531]] 2025-10-28T20:09:47.451Z,1761682187.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993436,0.101472,0.052807],[-0.111022,-0.966497,-0.231424],[0.027555,-0.235768,0.971419]] 2025-10-28T20:09:47.858Z,1761682187.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994268,0.094153,0.050657],[-0.103368,-0.967566,-0.230503],[0.027312,-0.234418,0.971752]] 2025-10-28T20:09:48.260Z,1761682188.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994684,0.090275,0.049550],[-0.099370,-0.967681,-0.231773],[0.027025,-0.235465,0.971507]] 2025-10-28T20:09:48.665Z,1761682188.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995082,0.086607,0.048070],[-0.095499,-0.967657,-0.233495],[0.026293,-0.236937,0.971169]] 2025-10-28T20:09:49.066Z,1761682189.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995390,0.083800,0.046643],[-0.092479,-0.967510,-0.235313],[0.025408,-0.238542,0.970800]] 2025-10-28T20:09:49.467Z,1761682189.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995543,0.082479,0.045731],[-0.091017,-0.967271,-0.236859],[0.024699,-0.239966,0.970467]] 2025-10-28T20:09:49.873Z,1761682189.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995601,0.082334,0.044717],[-0.090676,-0.966869,-0.238626],[0.023589,-0.241631,0.970081]] 2025-10-28T20:09:49.880Z,1761682189.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:09:50.277Z,1761682190.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995586,0.083035,0.043736],[-0.091139,-0.966618,-0.239465],[0.022392,-0.242394,0.969919]] 2025-10-28T20:09:50.679Z,1761682190.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995452,0.084888,0.043237],[-0.092900,-0.965505,-0.243248],[0.021097,-0.246158,0.969000]] 2025-10-28T20:09:50.884Z,1761682190.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:09:51.083Z,1761682191.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995200,0.087980,0.042861],[-0.095851,-0.964653,-0.245474],[0.019749,-0.248404,0.968455]] 2025-10-28T20:09:51.488Z,1761682191.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994865,0.091834,0.042540],[-0.099538,-0.963869,-0.247080],[0.018312,-0.250045,0.968061]] 2025-10-28T20:09:51.898Z,1761682191.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994465,0.096129,0.042416],[-0.103690,-0.963111,-0.248325],[0.016980,-0.251348,0.967748]] 2025-10-28T20:09:52.296Z,1761682192.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994011,0.100766,0.042292],[-0.108136,-0.962833,-0.247507],[0.015780,-0.250598,0.967963]] 2025-10-28T20:09:52.699Z,1761682192.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993524,0.105507,0.042163],[-0.112669,-0.962773,-0.245713],[0.014669,-0.248872,0.968425]] 2025-10-28T20:09:53.109Z,1761682193.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993015,0.110190,0.042185],[-0.117203,-0.962396,-0.245066],[0.013595,-0.248298,0.968588]] 2025-10-28T20:09:53.506Z,1761682193.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992501,0.114783,0.042023],[-0.121583,-0.962477,-0.242602],[0.012600,-0.245892,0.969215]] 2025-10-28T20:09:53.914Z,1761682193.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991995,0.119063,0.042077],[-0.125719,-0.962517,-0.240323],[0.011886,-0.243689,0.969781]] 2025-10-28T20:09:54.314Z,1761682194.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991505,0.122963,0.042409],[-0.129563,-0.962446,-0.238561],[0.011483,-0.242029,0.970201]] 2025-10-28T20:09:54.718Z,1761682194.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991115,0.125894,0.042909],[-0.132507,-0.962516,-0.236652],[0.011508,-0.240235,0.970647]] 2025-10-28T20:09:55.128Z,1761682195.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990850,0.127776,0.043469],[-0.134435,-0.962928,-0.233872],[0.011975,-0.237576,0.971295]] 2025-10-28T20:09:55.528Z,1761682195.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990750,0.128292,0.044219],[-0.135094,-0.963244,-0.232187],[0.012806,-0.236013,0.971665]] 2025-10-28T20:09:55.931Z,1761682195.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990988,0.126306,0.044607],[-0.133206,-0.964306,-0.228845],[0.014110,-0.232725,0.972440]] 2025-10-28T20:09:55.982Z,1761682195.982 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:09:55.982Z,1761682195.982 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:09:55.982Z,1761682195.982 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:09:55.982Z,1761682195.982 [marl:UpdateRudder:A] Stopped 2025-10-28T20:09:55.982Z,1761682195.982 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:09:56.334Z,1761682196.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991552,0.121594,0.045162],[-0.128734,-0.965147,-0.227858],[0.015881,-0.231747,0.972646]] 2025-10-28T20:09:56.375Z,1761682196.375 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:09:56.375Z,1761682196.375 [marl:UpdateRudder:B] Stopped 2025-10-28T20:09:56.375Z,1761682196.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:09:56.375Z,1761682196.375 [marl:UpdateRudder] Stopped 2025-10-28T20:09:56.375Z,1761682196.375 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:09:56.740Z,1761682196.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992445,0.114297,0.044593],[-0.121479,-0.966355,-0.226716],[0.017180,-0.230421,0.972939]] 2025-10-28T20:09:57.143Z,1761682197.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993320,0.106778,0.043741],[-0.113973,-0.967119,-0.227356],[0.018027,-0.230822,0.972829]] 2025-10-28T20:09:57.547Z,1761682197.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994077,0.100112,0.042301],[-0.107193,-0.967351,-0.229657],[0.017929,-0.232831,0.972352]] 2025-10-28T20:09:57.606Z,1761682197.606 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:09:57.606Z,1761682197.606 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:09:57.606Z,1761682197.606 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateCommandMode] Stopped 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:09:57.607Z,1761682197.607 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:09:57.608Z,1761682197.608 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:09:57.609Z,1761682197.609 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:09:57.609Z,1761682197.609 [marl:UpdateSpeed] Stopped 2025-10-28T20:09:57.609Z,1761682197.609 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:09:57.952Z,1761682197.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994690,0.094620,0.040492],[-0.101476,-0.967312,-0.232401],[0.017179,-0.235276,0.971777]] 2025-10-28T20:09:58.355Z,1761682198.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995187,0.090090,0.038567],[-0.096644,-0.967446,-0.233900],[0.016239,-0.236501,0.971496]] 2025-10-28T20:09:58.762Z,1761682198.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995552,0.086773,0.036701],[-0.093000,-0.967450,-0.235353],[0.015084,-0.237719,0.971217]] 2025-10-28T20:09:59.168Z,1761682199.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995835,0.084149,0.035096],[-0.090082,-0.967491,-0.236317],[0.014069,-0.238495,0.971042]] 2025-10-28T20:09:59.568Z,1761682199.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996027,0.082423,0.033703],[-0.088066,-0.967802,-0.235805],[0.013182,-0.237836,0.971216]] 2025-10-28T20:09:59.971Z,1761682199.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996179,0.081019,0.032602],[-0.086440,-0.967937,-0.235852],[0.012449,-0.237769,0.971242]] 2025-10-28T20:10:00.375Z,1761682200.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996296,0.080035,0.031444],[-0.085216,-0.967896,-0.236466],[0.011509,-0.238270,0.971131]] 2025-10-28T20:10:00.783Z,1761682200.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996337,0.079795,0.030738],[-0.084818,-0.967874,-0.236699],[0.010863,-0.238439,0.971097]] 2025-10-28T20:10:01.189Z,1761682201.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996319,0.080344,0.029894],[-0.085156,-0.967700,-0.237288],[0.009864,-0.238960,0.970979]] 2025-10-28T20:10:01.597Z,1761682201.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996212,0.081874,0.029299],[-0.086505,-0.967447,-0.237830],[0.008874,-0.239464,0.970865]] 2025-10-28T20:10:01.991Z,1761682201.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996047,0.083883,0.029234],[-0.088452,-0.966920,-0.239253],[0.008197,-0.240893,0.970517]] 2025-10-28T20:10:02.395Z,1761682202.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995809,0.086569,0.029482],[-0.091133,-0.966259,-0.240911],[0.007631,-0.242588,0.970099]] 2025-10-28T20:10:02.800Z,1761682202.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995470,0.090182,0.030101],[-0.094793,-0.965749,-0.241544],[0.007287,-0.243303,0.969923]] 2025-10-28T20:10:03.207Z,1761682203.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995074,0.094194,0.030916],[-0.098894,-0.964997,-0.242901],[0.006954,-0.244762,0.969558]] 2025-10-28T20:10:03.611Z,1761682203.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994602,0.098688,0.032059],[-0.103536,-0.964386,-0.243394],[0.006897,-0.245399,0.969398]] 2025-10-28T20:10:04.010Z,1761682204.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994090,0.103261,0.033501],[-0.108329,-0.963649,-0.244223],[0.007064,-0.246408,0.969140]] 2025-10-28T20:10:04.414Z,1761682204.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993504,0.108288,0.034978],[-0.113567,-0.963042,-0.244240],[0.007237,-0.246626,0.969084]] 2025-10-28T20:10:04.820Z,1761682204.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992881,0.113435,0.036315],[-0.118879,-0.962609,-0.243416],[0.007345,-0.246000,0.969242]] 2025-10-28T20:10:05.222Z,1761682205.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992305,0.118046,0.037354],[-0.123596,-0.962338,-0.242136],[0.007364,-0.244889,0.969523]] 2025-10-28T20:10:05.626Z,1761682205.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991809,0.121855,0.038292],[-0.127513,-0.962055,-0.241229],[0.007444,-0.244136,0.969712]] 2025-10-28T20:10:06.030Z,1761682206.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991476,0.124437,0.038605],[-0.130077,-0.962291,-0.238904],[0.007420,-0.241889,0.970276]] 2025-10-28T20:10:06.435Z,1761682206.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991343,0.125494,0.038605],[-0.131081,-0.962836,-0.236143],[0.007536,-0.239160,0.970951]] 2025-10-28T20:10:06.838Z,1761682206.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991485,0.124517,0.038125],[-0.129996,-0.963687,-0.233255],[0.007696,-0.236225,0.971668]] 2025-10-28T20:10:07.243Z,1761682207.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991774,0.122464,0.037230],[-0.127770,-0.964550,-0.230908],[0.007633,-0.233765,0.972263]] 2025-10-28T20:10:07.648Z,1761682207.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992300,0.118595,0.035719],[-0.123641,-0.965519,-0.229099],[0.007317,-0.231751,0.972748]] 2025-10-28T20:10:08.052Z,1761682208.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992969,0.113457,0.033750],[-0.118174,-0.966606,-0.227392],[0.006824,-0.229781,0.973218]] 2025-10-28T20:10:08.455Z,1761682208.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993762,0.106987,0.031471],[-0.111347,-0.967572,-0.226730],[0.006193,-0.228820,0.973449]] 2025-10-28T20:10:08.858Z,1761682208.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994574,0.099843,0.029216],[-0.103873,-0.968510,-0.226273],[0.005704,-0.228080,0.973626]] 2025-10-28T20:10:09.263Z,1761682209.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995384,0.092291,0.026342],[-0.095864,-0.969345,-0.226233],[0.004655,-0.227714,0.973717]] 2025-10-28T20:10:09.288Z,1761682209.288 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:10:09.289Z,1761682209.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:10:09.289Z,1761682209.289 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:10:09.289Z,1761682209.289 [marl:UpdateRudder:A] Stopped 2025-10-28T20:10:09.289Z,1761682209.289 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:10:09.667Z,1761682209.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996112,0.084961,0.023270],[-0.088027,-0.970082,-0.226257],[0.003351,-0.227426,0.973790]] 2025-10-28T20:10:09.763Z,1761682209.763 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:10:09.763Z,1761682209.763 [marl:UpdateRudder:B] Stopped 2025-10-28T20:10:09.764Z,1761682209.764 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:10:09.768Z,1761682209.768 [marl:UpdateRudder] Stopped 2025-10-28T20:10:09.768Z,1761682209.768 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:10:10.077Z,1761682210.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996755,0.077930,0.020174],[-0.080480,-0.970111,-0.228926],[0.001731,-0.229807,0.973235]] 2025-10-28T20:10:10.475Z,1761682210.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997310,0.071301,0.016997],[-0.073299,-0.970082,-0.231448],[-0.000014,-0.232071,0.972699]] 2025-10-28T20:10:10.878Z,1761682210.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997765,0.065458,0.013459],[-0.066790,-0.970046,-0.233561],[-0.002232,-0.233938,0.972249]] 2025-10-28T20:10:10.910Z,1761682210.910 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:10:10.910Z,1761682210.910 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:10:10.910Z,1761682210.910 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateCommandMode] Stopped 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:10:10.911Z,1761682210.911 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:10:10.912Z,1761682210.912 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:10:10.912Z,1761682210.912 [marl:UpdateSpeed] Stopped 2025-10-28T20:10:10.912Z,1761682210.912 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:10:11.282Z,1761682211.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998082,0.061101,0.009908],[-0.061713,-0.969873,-0.235663],[-0.004790,-0.235823,0.971784]] 2025-10-28T20:10:11.701Z,1761682211.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998280,0.058278,0.006354],[-0.058124,-0.969821,-0.236787],[-0.007637,-0.236749,0.971541]] 2025-10-28T20:10:12.097Z,1761682212.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998362,0.057126,0.003079],[-0.056226,-0.969867,-0.237059],[-0.010556,-0.236844,0.971490]] 2025-10-28T20:10:12.499Z,1761682212.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998304,0.058218,0.000756],[-0.056729,-0.969698,-0.237628],[-0.013101,-0.237268,0.971356]] 2025-10-28T20:10:12.898Z,1761682212.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998113,0.061387,-0.001207],[-0.059317,-0.969158,-0.239195],[-0.015853,-0.238672,0.970971]] 2025-10-28T20:10:13.302Z,1761682213.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997827,0.065819,-0.002990],[-0.063183,-0.968754,-0.239839],[-0.018682,-0.239129,0.970808]] 2025-10-28T20:10:13.744Z,1761682213.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997473,0.070880,-0.004772],[-0.067702,-0.968801,-0.238413],[-0.021522,-0.237488,0.971152]] 2025-10-28T20:10:14.111Z,1761682214.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997100,0.075808,-0.006629],[-0.072120,-0.969184,-0.235546],[-0.024281,-0.234385,0.971841]] 2025-10-28T20:10:14.518Z,1761682214.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996724,0.080427,-0.008518],[-0.076252,-0.969607,-0.232482],[-0.026957,-0.231071,0.972563]] 2025-10-28T20:10:14.919Z,1761682214.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996363,0.084617,-0.010074],[-0.080049,-0.969928,-0.229851],[-0.029220,-0.228208,0.973174]] 2025-10-28T20:10:15.324Z,1761682215.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996039,0.088219,-0.011143],[-0.083369,-0.970078,-0.228032],[-0.030927,-0.226200,0.973590]] 2025-10-28T20:10:15.759Z,1761682215.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995757,0.091272,-0.011726],[-0.086301,-0.970466,-0.225274],[-0.031941,-0.223307,0.974225]] 2025-10-28T20:10:16.130Z,1761682216.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995547,0.093504,-0.011975],[-0.088498,-0.970802,-0.222962],[-0.032473,-0.220909,0.974754]] 2025-10-28T20:10:16.539Z,1761682216.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995461,0.094422,-0.011916],[-0.089473,-0.971168,-0.220971],[-0.032437,-0.218902,0.975208]] 2025-10-28T20:10:16.940Z,1761682216.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995561,0.093408,-0.011555],[-0.088561,-0.971237,-0.221032],[-0.031869,-0.219027,0.975198]] 2025-10-28T20:10:17.342Z,1761682217.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995851,0.090302,-0.011284],[-0.085596,-0.971548,-0.220833],[-0.030905,-0.218951,0.975246]] 2025-10-28T20:10:17.766Z,1761682217.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996333,0.084773,-0.011555],[-0.080116,-0.971817,-0.221704],[-0.030024,-0.219965,0.975046]] 2025-10-28T20:10:18.150Z,1761682218.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996875,0.077971,-0.012691],[-0.073186,-0.972019,-0.223209],[-0.029739,-0.221583,0.974688]] 2025-10-28T20:10:18.568Z,1761682218.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997282,0.072255,-0.014411],[-0.067130,-0.971712,-0.226429],[-0.030364,-0.224846,0.973921]] 2025-10-28T20:10:18.960Z,1761682218.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997544,0.068265,-0.015697],[-0.062810,-0.970940,-0.230934],[-0.031006,-0.229380,0.972843]] 2025-10-28T20:10:19.363Z,1761682219.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997687,0.065754,-0.017261],[-0.059846,-0.969951,-0.235827],[-0.032249,-0.234248,0.971642]] 2025-10-28T20:10:19.771Z,1761682219.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997759,0.064162,-0.018955],[-0.057798,-0.969342,-0.238820],[-0.033697,-0.237189,0.970879]] 2025-10-28T20:10:20.170Z,1761682220.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997781,0.063407,-0.020322],[-0.056656,-0.968840,-0.241122],[-0.034978,-0.239435,0.970282]] 2025-10-28T20:10:20.587Z,1761682220.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997743,0.063634,-0.021424],[-0.056555,-0.968458,-0.242675],[-0.036191,-0.240916,0.969871]] 2025-10-28T20:10:20.978Z,1761682220.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997638,0.064863,-0.022590],[-0.057393,-0.967925,-0.244595],[-0.037731,-0.242720,0.969362]] 2025-10-28T20:10:21.020Z,1761682221.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:10:21.382Z,1761682221.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997508,0.066517,-0.023537],[-0.058777,-0.967907,-0.244337],[-0.039034,-0.242344,0.969405]] 2025-10-28T20:10:21.791Z,1761682221.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997353,0.068486,-0.024419],[-0.060505,-0.967981,-0.243621],[-0.040322,-0.241498,0.969563]] 2025-10-28T20:10:22.024Z,1761682222.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:10:22.192Z,1761682222.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997183,0.070681,-0.025093],[-0.062485,-0.967931,-0.243321],[-0.041487,-0.241068,0.969621]] 2025-10-28T20:10:22.595Z,1761682222.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997025,0.072827,-0.025257],[-0.064544,-0.967887,-0.242958],[-0.042140,-0.240605,0.969708]] 2025-10-28T20:10:22.651Z,1761682222.651 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:10:22.651Z,1761682222.651 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:10:22.651Z,1761682222.651 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:10:22.652Z,1761682222.652 [marl:UpdateRudder:A] Stopped 2025-10-28T20:10:22.656Z,1761682222.656 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:10:22.999Z,1761682222.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996872,0.074932,-0.025143],[-0.066687,-0.968156,-0.241302],[-0.042424,-0.238870,0.970124]] 2025-10-28T20:10:23.074Z,1761682223.074 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:10:23.074Z,1761682223.074 [marl:UpdateRudder:B] Stopped 2025-10-28T20:10:23.074Z,1761682223.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:10:23.074Z,1761682223.074 [marl:UpdateRudder] Stopped 2025-10-28T20:10:23.075Z,1761682223.075 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:10:23.808Z,1761682223.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996799,0.076026,-0.024724],[-0.067988,-0.968849,-0.238137],[-0.042059,-0.235694,0.970917]] 2025-10-28T20:10:24.211Z,1761682224.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996908,0.074600,-0.024668],[-0.066704,-0.969449,-0.236051],[-0.041524,-0.233676,0.971427]] 2025-10-28T20:10:24.245Z,1761682224.245 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:10:24.245Z,1761682224.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:10:24.245Z,1761682224.245 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateCommandMode] Stopped 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:10:24.246Z,1761682224.246 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:10:24.247Z,1761682224.247 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:10:24.247Z,1761682224.247 [marl:UpdateSpeed] Stopped 2025-10-28T20:10:24.247Z,1761682224.247 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:10:24.616Z,1761682224.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997063,0.072570,-0.024471],[-0.064762,-0.969498,-0.236389],[-0.040879,-0.234110,0.971350]] 2025-10-28T20:10:25.019Z,1761682225.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997252,0.069965,-0.024343],[-0.062269,-0.969715,-0.236166],[-0.040130,-0.234002,0.971408]] 2025-10-28T20:10:25.425Z,1761682225.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997477,0.066660,-0.024429],[-0.059039,-0.969945,-0.236054],[-0.039430,-0.234016,0.971433]] 2025-10-28T20:10:25.826Z,1761682225.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997674,0.063625,-0.024476],[-0.055992,-0.969605,-0.238182],[-0.038886,-0.236258,0.970912]] 2025-10-28T20:10:25.881Z,1761682225.881 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:10:26.125Z,1761682226.125 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:10:26.125Z,1761682226.125 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:10:26.230Z,1761682226.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997831,0.060965,-0.024833],[-0.053219,-0.969121,-0.240776],[-0.038745,-0.238932,0.970263]] 2025-10-28T20:10:26.377Z,1761682226.377 [DAT](INFO): DAT read: user:238> 2025-10-28T20:10:26.378Z,1761682226.378 [DAT](INFO): DAT read: Tx time:20:10:26.1219 2025-10-28T20:10:26.378Z,1761682226.378 [DAT](INFO): Ping request sent. 2025-10-28T20:10:26.378Z,1761682226.378 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:10:26.378Z,1761682226.378 [DAT](INFO): publishing transmit ping time 2025-10-28T20:10:26.379Z,1761682226.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T20:10:26.633Z,1761682226.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254819 2025-10-28T20:10:26.649Z,1761682226.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997918,0.059411,-0.025094],[-0.051525,-0.968451,-0.243818],[-0.038788,-0.242018,0.969496]] 2025-10-28T20:10:26.885Z,1761682226.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506921 2025-10-28T20:10:27.048Z,1761682227.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997948,0.059027,-0.024807],[-0.051113,-0.967772,-0.246588],[-0.038562,-0.244814,0.968803]] 2025-10-28T20:10:27.137Z,1761682227.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759131 2025-10-28T20:10:27.390Z,1761682227.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011541 2025-10-28T20:10:27.442Z,1761682227.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997936,0.059172,-0.024942],[-0.051136,-0.967237,-0.248673],[-0.038839,-0.246884,0.968266]] 2025-10-28T20:10:27.641Z,1761682227.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262971 2025-10-28T20:10:27.847Z,1761682227.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997874,0.060496,-0.024224],[-0.052568,-0.966969,-0.249414],[-0.038512,-0.247610,0.968094]] 2025-10-28T20:10:27.895Z,1761682227.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516691 2025-10-28T20:10:28.145Z,1761682228.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766949 2025-10-28T20:10:28.252Z,1761682228.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997817,0.061561,-0.023920],[-0.053677,-0.966925,-0.249350],[-0.038479,-0.247521,0.968118]] 2025-10-28T20:10:28.397Z,1761682228.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018985 2025-10-28T20:10:28.649Z,1761682228.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271188 2025-10-28T20:10:28.665Z,1761682228.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997781,0.062306,-0.023478],[-0.054518,-0.966934,-0.249129],[-0.038224,-0.247297,0.968186]] 2025-10-28T20:10:28.901Z,1761682228.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522902 2025-10-28T20:10:29.065Z,1761682229.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997753,0.062851,-0.023209],[-0.055124,-0.966975,-0.248838],[-0.038082,-0.246999,0.968267]] 2025-10-28T20:10:29.153Z,1761682229.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775235 2025-10-28T20:10:29.405Z,1761682229.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026891 2025-10-28T20:10:29.462Z,1761682229.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997768,0.062689,-0.023022],[-0.055056,-0.967261,-0.247740],[-0.037799,-0.245919,0.968553]] 2025-10-28T20:10:29.657Z,1761682229.657 [DAT](INFO): DAT read: Rx Time:20:10:28.9829 2025-10-28T20:10:29.657Z,1761682229.657 [DAT](INFO): Rx dataTimestamp_ set to:1761682229.656999 2025-10-28T20:10:29.658Z,1761682229.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279868 2025-10-28T20:10:29.868Z,1761682229.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997781,0.062580,-0.022749],[-0.055049,-0.967466,-0.246941],[-0.037462,-0.245140,0.968764]] 2025-10-28T20:10:29.909Z,1761682229.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531099 2025-10-28T20:10:30.170Z,1761682230.170 [DAT](INFO): DAT read: 20:10:28.9829 LVL= 24912, 30897, 16754, 30451, AGC= 70, IDX= 241, 0.47, 1.854, 1.305,-2.720, 2.553, PHS=-0.597,-1.203, 0.966, RAW= 194.3, 8.6, CAL= 194.5, 9.4, ROT= 315.5, -9.4 2025-10-28T20:10:30.171Z,1761682230.171 [DAT](INFO): got valid direction response: 20:10:28.9829 LVL= 24912, 30897, 16754, 30451, AGC= 70, IDX= 241, 0.47, 1.854, 1.305,-2.720, 2.553, PHS=-0.597,-1.203, 0.966, RAW= 194.3, 8.6, CAL= 194.5, 9.4, ROT= 315.5, -9.4 2025-10-28T20:10:30.172Z,1761682230.172 [DAT](INFO): DAT read: Bearing 105, -25 (Remote) 2025-10-28T20:10:30.173Z,1761682230.173 [DAT](INFO): Remote Bearing received:Bearing 105, -25 (Remote) 2025-10-28T20:10:30.174Z,1761682230.174 [DAT](INFO): DAT read: Bearing 329.3, -47.5 (Local) 2025-10-28T20:10:30.174Z,1761682230.174 [DAT](INFO): Local bearing/azimuth received: Bearing 329.3, -47.5 (Local) 2025-10-28T20:10:30.175Z,1761682230.175 [DAT](INFO): DAT read: Range 11 to 20 : 623.8 m (Round-trip 831.8 ms) speed 0.6 m/s 2025-10-28T20:10:30.196Z,1761682230.196 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:10:30.197Z,1761682230.197 [DAT](INFO): direction in FSK: [0.703673,-0.691498,0.163326] 2025-10-28T20:10:30.197Z,1761682230.197 [DAT](INFO): publishing direction and range info 2025-10-28T20:10:30.271Z,1761682230.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997807,0.062128,-0.022812],[-0.054645,-0.967820,-0.245639],[-0.037339,-0.243854,0.969093]] 2025-10-28T20:10:30.330Z,1761682230.330 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682176.00. Resetting abort timer. 2025-10-28T20:10:30.676Z,1761682230.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997836,0.061578,-0.023046],[-0.054090,-0.968088,-0.244704],[-0.037379,-0.242928,0.969324]] 2025-10-28T20:10:31.079Z,1761682231.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997828,0.061609,-0.023291],[-0.053987,-0.967605,-0.246631],[-0.037731,-0.244838,0.968830]] 2025-10-28T20:10:31.485Z,1761682231.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997752,0.062946,-0.022974],[-0.055235,-0.966710,-0.249842],[-0.037936,-0.248012,0.968014]] 2025-10-28T20:10:31.887Z,1761682231.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997658,0.064851,-0.021764],[-0.057262,-0.965786,-0.252940],[-0.037423,-0.251101,0.967237]] 2025-10-28T20:10:32.300Z,1761682232.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997485,0.067995,-0.020033],[-0.060645,-0.964917,-0.255457],[-0.036700,-0.253599,0.966613]] 2025-10-28T20:10:32.702Z,1761682232.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997078,0.074992,-0.014575],[-0.068623,-0.963032,-0.260501],[-0.033571,-0.258740,0.965363]] 2025-10-28T20:10:33.105Z,1761682233.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996951,0.077233,-0.011083],[-0.071686,-0.962750,-0.260716],[-0.030806,-0.259126,0.965352]] 2025-10-28T20:10:33.507Z,1761682233.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996887,0.078432,-0.008082],[-0.073660,-0.962958,-0.259395],[-0.028128,-0.257992,0.965738]] 2025-10-28T20:10:33.911Z,1761682233.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996926,0.078153,-0.005544],[-0.074093,-0.963411,-0.257585],[-0.025472,-0.256382,0.966240]] 2025-10-28T20:10:34.316Z,1761682234.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997089,0.076152,-0.003735],[-0.072684,-0.964187,-0.255071],[-0.023025,-0.254057,0.966915]] 2025-10-28T20:10:34.724Z,1761682234.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997361,0.072554,-0.002499],[-0.069564,-0.964968,-0.252978],[-0.020766,-0.252136,0.967469]] 2025-10-28T20:10:35.119Z,1761682235.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997647,0.068534,-0.001693],[-0.065895,-0.965462,-0.252072],[-0.018910,-0.251368,0.967707]] 2025-10-28T20:10:35.529Z,1761682235.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997954,0.063926,-0.001204],[-0.061583,-0.966092,-0.250746],[-0.017193,-0.250159,0.968052]] 2025-10-28T20:10:35.926Z,1761682235.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998239,0.059315,-0.000934],[-0.057202,-0.966617,-0.249760],[-0.015717,-0.249266,0.968307]] 2025-10-28T20:10:35.992Z,1761682235.992 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:10:35.992Z,1761682235.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:10:35.993Z,1761682235.993 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:10:35.993Z,1761682235.993 [marl:UpdateRudder:A] Stopped 2025-10-28T20:10:35.993Z,1761682235.993 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:10:36.335Z,1761682236.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998494,0.054862,-0.000813],[-0.052925,-0.966939,-0.249453],[-0.014472,-0.249035,0.968386]] 2025-10-28T20:10:36.359Z,1761682236.359 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:10:36.359Z,1761682236.359 [marl:UpdateRudder:B] Stopped 2025-10-28T20:10:36.359Z,1761682236.359 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:10:36.359Z,1761682236.359 [marl:UpdateRudder] Stopped 2025-10-28T20:10:36.359Z,1761682236.359 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:10:36.736Z,1761682236.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998705,0.050871,-0.000963],[-0.049019,-0.967068,-0.249755],[-0.013636,-0.249384,0.968309]] 2025-10-28T20:10:37.138Z,1761682237.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998867,0.047587,-0.000806],[-0.045873,-0.967114,-0.250174],[-0.012685,-0.249853,0.968201]] 2025-10-28T20:10:37.548Z,1761682237.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998954,0.045715,-0.000549],[-0.044113,-0.966960,-0.251081],[-0.012009,-0.250794,0.967966]] 2025-10-28T20:10:37.572Z,1761682237.572 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:10:37.572Z,1761682237.572 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:10:37.572Z,1761682237.572 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateCommandMode] Stopped 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:10:37.573Z,1761682237.573 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:10:37.574Z,1761682237.574 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:10:37.574Z,1761682237.574 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:10:37.574Z,1761682237.574 [marl:UpdateSpeed] Stopped 2025-10-28T20:10:37.574Z,1761682237.574 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:10:37.948Z,1761682237.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998984,0.045075,-0.000096],[-0.043603,-0.966896,-0.251419],[-0.011426,-0.251159,0.967878]] 2025-10-28T20:10:38.357Z,1761682238.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998954,0.045723,0.000942],[-0.044483,-0.966655,-0.252190],[-0.010621,-0.251968,0.967677]] 2025-10-28T20:10:38.759Z,1761682238.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998880,0.047286,0.001838],[-0.046217,-0.966468,-0.252592],[-0.010167,-0.252394,0.967571]] 2025-10-28T20:10:39.158Z,1761682239.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998736,0.050146,0.003473],[-0.049385,-0.966000,-0.253781],[-0.009371,-0.253632,0.967255]] 2025-10-28T20:10:39.563Z,1761682239.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998549,0.053569,0.005470],[-0.053198,-0.965667,-0.254277],[-0.008339,-0.254199,0.967116]] 2025-10-28T20:10:39.967Z,1761682239.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998315,0.057463,0.008028],[-0.057610,-0.965278,-0.254793],[-0.006892,-0.254827,0.966962]] 2025-10-28T20:10:40.371Z,1761682240.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998077,0.061077,0.010570],[-0.061759,-0.965313,-0.253688],[-0.005292,-0.253853,0.967228]] 2025-10-28T20:10:40.790Z,1761682240.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997810,0.064814,0.013203],[-0.066039,-0.964811,-0.254517],[-0.003758,-0.254832,0.966978]] 2025-10-28T20:10:41.179Z,1761682241.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997548,0.068175,0.015801],[-0.069949,-0.964430,-0.254917],[-0.002140,-0.255397,0.966834]] 2025-10-28T20:10:41.582Z,1761682241.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997307,0.071019,0.018310],[-0.073340,-0.964150,-0.255023],[-0.000458,-0.255679,0.966762]] 2025-10-28T20:10:41.987Z,1761682241.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997096,0.073272,0.020734],[-0.076137,-0.964219,-0.253940],[0.001386,-0.254781,0.966998]] 2025-10-28T20:10:42.393Z,1761682242.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996869,0.075639,0.023047],[-0.079010,-0.964424,-0.252277],[0.003145,-0.253308,0.967381]] 2025-10-28T20:10:42.800Z,1761682242.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996715,0.076985,0.025146],[-0.080835,-0.964769,-0.250373],[0.004985,-0.251583,0.967823]] 2025-10-28T20:10:43.199Z,1761682243.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996647,0.077310,0.026804],[-0.081540,-0.965691,-0.246561],[0.006823,-0.247920,0.968756]] 2025-10-28T20:10:43.603Z,1761682243.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996678,0.076511,0.027921],[-0.081018,-0.966483,-0.243613],[0.008346,-0.245066,0.969471]] 2025-10-28T20:10:44.013Z,1761682244.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996800,0.074662,0.028551],[-0.079363,-0.967050,-0.241899],[0.009550,-0.243391,0.969881]] 2025-10-28T20:10:44.413Z,1761682244.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996965,0.072255,0.028984],[-0.077126,-0.967386,-0.241281],[0.010605,-0.242784,0.970022]] 2025-10-28T20:10:44.815Z,1761682244.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997143,0.069688,0.029154],[-0.074681,-0.967487,-0.241646],[0.011367,-0.243132,0.969927]] 2025-10-28T20:10:45.219Z,1761682245.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997300,0.067398,0.029171],[-0.072478,-0.967349,-0.242864],[0.011850,-0.244322,0.969622]] 2025-10-28T20:10:45.623Z,1761682245.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997399,0.065830,0.029353],[-0.071039,-0.966703,-0.245844],[0.012192,-0.247290,0.968865]] 2025-10-28T20:10:46.034Z,1761682246.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997377,0.065818,0.030116],[-0.071270,-0.965650,-0.249883],[0.012634,-0.251374,0.967808]] 2025-10-28T20:10:46.430Z,1761682246.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997273,0.066856,0.031266],[-0.072624,-0.964405,-0.254262],[0.013154,-0.255840,0.966630]] 2025-10-28T20:10:46.834Z,1761682246.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997109,0.068644,0.032596],[-0.074758,-0.963046,-0.258754],[0.013629,-0.260443,0.965393]] 2025-10-28T20:10:47.240Z,1761682247.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996937,0.070560,0.033748],[-0.076932,-0.962431,-0.260398],[0.014106,-0.262197,0.964911]] 2025-10-28T20:10:47.643Z,1761682247.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996796,0.072109,0.034615],[-0.078652,-0.962358,-0.260156],[0.014552,-0.262045,0.964946]] 2025-10-28T20:10:48.073Z,1761682248.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996659,0.073387,0.035841],[-0.080158,-0.963050,-0.257118],[0.015647,-0.259132,0.965715]] 2025-10-28T20:10:48.451Z,1761682248.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996646,0.073234,0.036512],[-0.080128,-0.963935,-0.253789],[0.016610,-0.255864,0.966570]] 2025-10-28T20:10:48.856Z,1761682248.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996711,0.072169,0.036862],[-0.079150,-0.964569,-0.251679],[0.017392,-0.253769,0.967108]] 2025-10-28T20:10:49.260Z,1761682249.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996780,0.070986,0.037302],[-0.078075,-0.965229,-0.249474],[0.018296,-0.251583,0.967663]] 2025-10-28T20:10:49.284Z,1761682249.284 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:10:49.285Z,1761682249.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:10:49.285Z,1761682249.285 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:10:49.285Z,1761682249.285 [marl:UpdateRudder:A] Stopped 2025-10-28T20:10:49.285Z,1761682249.285 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:10:49.663Z,1761682249.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996866,0.069603,0.037594],[-0.076769,-0.965862,-0.247422],[0.019089,-0.249533,0.968178]] 2025-10-28T20:10:49.764Z,1761682249.764 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:10:49.765Z,1761682249.765 [marl:UpdateRudder:B] Stopped 2025-10-28T20:10:49.765Z,1761682249.765 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:10:49.765Z,1761682249.765 [marl:UpdateRudder] Stopped 2025-10-28T20:10:49.765Z,1761682249.765 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:10:50.066Z,1761682250.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996897,0.068952,0.037986],[-0.076207,-0.966270,-0.245996],[0.019743,-0.248128,0.968526]] 2025-10-28T20:10:50.471Z,1761682250.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996838,0.069365,0.038762],[-0.076803,-0.966198,-0.246095],[0.020381,-0.248294,0.968470]] 2025-10-28T20:10:50.877Z,1761682250.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996657,0.071157,0.040134],[-0.078896,-0.965850,-0.246798],[0.021202,-0.249139,0.968236]] 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode] Stopped 2025-10-28T20:10:50.902Z,1761682250.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed] Stopped 2025-10-28T20:10:50.903Z,1761682250.903 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:10:51.278Z,1761682251.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996415,0.073640,0.041643],[-0.081699,-0.965389,-0.247689],[0.021962,-0.250203,0.967944]] 2025-10-28T20:10:51.697Z,1761682251.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996172,0.075978,0.043236],[-0.084372,-0.965062,-0.248065],[0.022878,-0.250763,0.967778]] 2025-10-28T20:10:52.089Z,1761682252.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995932,0.078299,0.044606],[-0.086962,-0.964864,-0.247941],[0.023626,-0.250812,0.967748]] 2025-10-28T20:10:52.156Z,1761682252.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:10:52.495Z,1761682252.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995793,0.079408,0.045731],[-0.088300,-0.964934,-0.247196],[0.024498,-0.250194,0.967886]] 2025-10-28T20:10:52.894Z,1761682252.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995729,0.079703,0.046601],[-0.088758,-0.965334,-0.245465],[0.025421,-0.248552,0.968285]] 2025-10-28T20:10:53.160Z,1761682253.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:10:53.298Z,1761682253.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995743,0.079329,0.046938],[-0.088474,-0.965408,-0.245275],[0.025857,-0.248384,0.968317]] 2025-10-28T20:10:53.738Z,1761682253.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995776,0.078630,0.047403],[-0.087873,-0.965826,-0.243842],[0.026609,-0.246978,0.968656]] 2025-10-28T20:10:54.107Z,1761682254.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995809,0.077993,0.047767],[-0.087353,-0.965801,-0.244129],[0.027093,-0.247278,0.968566]] 2025-10-28T20:10:54.517Z,1761682254.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995745,0.078476,0.048304],[-0.087948,-0.965807,-0.243887],[0.027513,-0.247098,0.968600]] 2025-10-28T20:10:54.916Z,1761682254.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995680,0.078967,0.048849],[-0.088564,-0.965706,-0.244066],[0.027900,-0.247338,0.968528]] 2025-10-28T20:10:55.320Z,1761682255.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995436,0.081263,0.050036],[-0.091102,-0.965321,-0.244653],[0.028419,-0.248094,0.968319]] 2025-10-28T20:10:55.757Z,1761682255.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995091,0.084455,0.051590],[-0.094653,-0.964395,-0.246949],[0.028897,-0.250620,0.967654]] 2025-10-28T20:10:56.127Z,1761682256.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994616,0.088732,0.053526],[-0.099326,-0.963568,-0.248337],[0.029541,-0.252317,0.967194]] 2025-10-28T20:10:56.530Z,1761682256.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994085,0.093213,0.055731],[-0.104328,-0.962184,-0.251631],[0.030168,-0.255957,0.966217]] 2025-10-28T20:10:56.937Z,1761682256.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993482,0.098179,0.057919],[-0.109756,-0.961089,-0.253500],[0.030777,-0.258205,0.965600]] 2025-10-28T20:10:57.338Z,1761682257.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992889,0.102749,0.060113],[-0.114780,-0.960222,-0.254556],[0.031566,-0.259646,0.965188]] 2025-10-28T20:10:57.764Z,1761682257.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992345,0.106609,0.062330],[-0.119096,-0.959652,-0.254722],[0.032660,-0.260196,0.965003]] 2025-10-28T20:10:58.158Z,1761682258.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991917,0.109557,0.064020],[-0.122309,-0.959847,-0.252456],[0.033791,-0.258246,0.965488]] 2025-10-28T20:10:58.552Z,1761682258.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991716,0.110561,0.065394],[-0.123584,-0.960058,-0.251028],[0.035028,-0.257030,0.965768]] 2025-10-28T20:10:58.954Z,1761682258.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991716,0.110186,0.066017],[-0.123292,-0.960725,-0.248609],[0.036030,-0.254689,0.966352]] 2025-10-28T20:10:59.359Z,1761682259.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991854,0.108685,0.066438],[-0.121841,-0.961611,-0.245885],[0.037163,-0.251976,0.967019]] 2025-10-28T20:10:59.769Z,1761682259.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992115,0.106189,0.066569],[-0.119321,-0.962789,-0.242487],[0.038342,-0.248518,0.967868]] 2025-10-28T20:11:00.168Z,1761682260.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992486,0.102809,0.066339],[-0.115877,-0.963870,-0.239850],[0.039284,-0.245735,0.968541]] 2025-10-28T20:11:00.570Z,1761682260.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992881,0.099087,0.066096],[-0.112193,-0.964358,-0.239637],[0.039995,-0.245347,0.968610]] 2025-10-28T20:11:00.979Z,1761682260.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993301,0.095102,0.065647],[-0.108161,-0.965118,-0.238428],[0.040682,-0.243931,0.968939]] 2025-10-28T20:11:01.379Z,1761682261.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993662,0.091442,0.065372],[-0.104497,-0.965759,-0.237465],[0.041420,-0.242791,0.969194]] 2025-10-28T20:11:01.789Z,1761682261.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993941,0.088654,0.064974],[-0.101698,-0.966011,-0.237657],[0.041696,-0.242825,0.969174]] 2025-10-28T20:11:02.186Z,1761682262.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994056,0.087268,0.065091],[-0.100452,-0.965729,-0.239327],[0.041974,-0.244443,0.968755]] 2025-10-28T20:11:02.590Z,1761682262.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993977,0.087978,0.065337],[-0.101237,-0.965447,-0.240132],[0.041953,-0.245300,0.968539]] 2025-10-28T20:11:02.634Z,1761682262.634 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:11:02.634Z,1761682262.634 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:11:02.634Z,1761682262.634 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:11:02.634Z,1761682262.634 [marl:UpdateRudder:A] Stopped 2025-10-28T20:11:02.634Z,1761682262.634 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:11:03.001Z,1761682263.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993726,0.090207,0.066124],[-0.103647,-0.964897,-0.241313],[0.042035,-0.246653,0.968192]] 2025-10-28T20:11:03.046Z,1761682263.046 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:11:03.046Z,1761682263.046 [marl:UpdateRudder:B] Stopped 2025-10-28T20:11:03.046Z,1761682263.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:11:03.046Z,1761682263.046 [marl:UpdateRudder] Stopped 2025-10-28T20:11:03.046Z,1761682263.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:11:03.404Z,1761682263.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993297,0.093878,0.067443],[-0.107610,-0.964052,-0.242949],[0.042211,-0.248578,0.967692]] 2025-10-28T20:11:03.802Z,1761682263.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992764,0.098171,0.069160],[-0.112238,-0.963336,-0.243695],[0.042700,-0.249694,0.967383]] 2025-10-28T20:11:04.208Z,1761682264.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992130,0.103038,0.071143],[-0.117521,-0.962344,-0.245118],[0.043208,-0.251550,0.966879]] 2025-10-28T20:11:04.249Z,1761682264.249 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode] Stopped 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:11:04.250Z,1761682264.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:11:04.251Z,1761682264.251 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:11:04.251Z,1761682264.251 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:11:04.251Z,1761682264.251 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:11:04.251Z,1761682264.251 [marl:UpdateSpeed] Stopped 2025-10-28T20:11:04.251Z,1761682264.251 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:11:04.611Z,1761682264.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991502,0.107453,0.073328],[-0.122429,-0.961322,-0.246722],[0.043981,-0.253603,0.966308]] 2025-10-28T20:11:05.016Z,1761682265.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990887,0.111616,0.075402],[-0.126972,-0.960853,-0.246250],[0.044964,-0.253580,0.966269]] 2025-10-28T20:11:05.426Z,1761682265.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990382,0.114729,0.077336],[-0.130421,-0.960721,-0.244962],[0.046194,-0.252692,0.966443]] 2025-10-28T20:11:05.823Z,1761682265.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990114,0.116270,0.078451],[-0.132142,-0.960786,-0.243780],[0.047030,-0.251737,0.966652]] 2025-10-28T20:11:06.230Z,1761682266.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989922,0.117165,0.079545],[-0.133160,-0.961290,-0.241225],[0.048202,-0.249386,0.967204]] 2025-10-28T20:11:06.631Z,1761682266.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989825,0.117424,0.080361],[-0.133547,-0.961577,-0.239863],[0.049108,-0.248154,0.967475]] 2025-10-28T20:11:07.035Z,1761682267.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989874,0.116774,0.080705],[-0.132856,-0.962370,-0.237053],[0.049987,-0.245375,0.968139]] 2025-10-28T20:11:07.446Z,1761682267.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989999,0.115504,0.080994],[-0.131596,-0.962996,-0.235203],[0.050830,-0.243510,0.968566]] 2025-10-28T20:11:07.844Z,1761682267.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990086,0.114568,0.081263],[-0.130667,-0.963508,-0.233620],[0.051532,-0.241922,0.968926]] 2025-10-28T20:11:08.246Z,1761682268.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990185,0.113726,0.081241],[-0.129714,-0.964217,-0.231214],[0.052039,-0.239483,0.969505]] 2025-10-28T20:11:08.650Z,1761682268.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990121,0.113730,0.082009],[-0.129900,-0.964202,-0.231174],[0.052782,-0.239543,0.969450]] 2025-10-28T20:11:09.055Z,1761682269.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990084,0.113712,0.082484],[-0.129981,-0.964259,-0.230887],[0.053282,-0.239319,0.969478]] 2025-10-28T20:11:09.491Z,1761682269.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990055,0.113854,0.082636],[-0.130169,-0.964177,-0.231124],[0.053361,-0.239582,0.969409]] 2025-10-28T20:11:09.862Z,1761682269.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989981,0.114394,0.082779],[-0.130751,-0.964002,-0.231525],[0.053314,-0.240028,0.969301]] 2025-10-28T20:11:10.267Z,1761682270.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989871,0.115256,0.082894],[-0.131678,-0.963614,-0.232613],[0.053068,-0.241172,0.969030]] 2025-10-28T20:11:10.671Z,1761682270.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989708,0.116435,0.083194],[-0.132993,-0.963014,-0.234344],[0.052831,-0.242996,0.968588]] 2025-10-28T20:11:11.076Z,1761682271.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989519,0.117766,0.083562],[-0.134537,-0.962084,-0.237265],[0.052452,-0.246021,0.967844]] 2025-10-28T20:11:11.496Z,1761682271.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989311,0.119301,0.083858],[-0.136222,-0.961298,-0.239480],[0.052042,-0.248343,0.967273]] 2025-10-28T20:11:11.882Z,1761682271.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989164,0.120530,0.083830],[-0.137448,-0.960943,-0.240200],[0.051605,-0.249119,0.967097]] 2025-10-28T20:11:12.287Z,1761682272.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988949,0.122207,0.083935],[-0.139158,-0.960437,-0.241237],[0.051133,-0.250251,0.966830]] 2025-10-28T20:11:12.691Z,1761682272.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988793,0.123572,0.083774],[-0.140393,-0.960500,-0.240272],[0.050774,-0.249340,0.967084]] 2025-10-28T20:11:13.105Z,1761682273.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988767,0.124001,0.083445],[-0.140647,-0.960844,-0.238740],[0.050573,-0.247794,0.967492]] 2025-10-28T20:11:13.498Z,1761682273.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988810,0.123999,0.082939],[-0.140439,-0.961255,-0.237205],[0.050312,-0.246198,0.967913]] 2025-10-28T20:11:13.903Z,1761682273.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989001,0.123102,0.081994],[-0.139218,-0.961990,-0.234933],[0.049957,-0.243764,0.968547]] 2025-10-28T20:11:14.309Z,1761682274.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989444,0.120673,0.080239],[-0.136224,-0.963381,-0.230957],[0.049430,-0.239449,0.969650]] 2025-10-28T20:11:14.710Z,1761682274.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989978,0.117424,0.078457],[-0.132501,-0.964526,-0.228328],[0.048863,-0.236436,0.970418]] 2025-10-28T20:11:15.115Z,1761682275.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990591,0.113397,0.076618],[-0.128096,-0.965331,-0.227436],[0.048172,-0.235110,0.970774]] 2025-10-28T20:11:15.519Z,1761682275.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991139,0.109809,0.074732],[-0.124092,-0.966159,-0.226138],[0.047371,-0.233408,0.971224]] 2025-10-28T20:11:15.922Z,1761682275.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991649,0.106269,0.073069],[-0.120270,-0.966557,-0.226500],[0.046555,-0.233396,0.971267]] 2025-10-28T20:11:16.006Z,1761682276.006 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:11:16.006Z,1761682276.006 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:11:16.006Z,1761682276.006 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:11:16.006Z,1761682276.006 [marl:UpdateRudder:A] Stopped 2025-10-28T20:11:16.006Z,1761682276.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:11:16.327Z,1761682276.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992033,0.103620,0.071652],[-0.117468,-0.966339,-0.228891],[0.045522,-0.235484,0.970812]] 2025-10-28T20:11:16.377Z,1761682276.377 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:11:16.377Z,1761682276.377 [marl:UpdateRudder:B] Stopped 2025-10-28T20:11:16.377Z,1761682276.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:11:16.378Z,1761682276.378 [marl:UpdateRudder] Stopped 2025-10-28T20:11:16.378Z,1761682276.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:11:16.731Z,1761682276.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992257,0.102110,0.070715],[-0.115846,-0.966175,-0.230401],[0.044797,-0.236809,0.970523]] 2025-10-28T20:11:17.136Z,1761682277.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992327,0.101651,0.070388],[-0.115439,-0.965608,-0.232970],[0.044286,-0.239307,0.969933]] 2025-10-28T20:11:17.582Z,1761682277.582 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:11:17.582Z,1761682277.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:11:17.582Z,1761682277.582 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:11:17.582Z,1761682277.582 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:11:17.582Z,1761682277.582 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateCommandMode] Stopped 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:11:17.583Z,1761682277.583 [marl:UpdateSpeed] Stopped 2025-10-28T20:11:17.584Z,1761682277.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:11:17.951Z,1761682277.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992224,0.103058,0.069785],[-0.116688,-0.965326,-0.233517],[0.043299,-0.239844,0.969845]] 2025-10-28T20:11:18.354Z,1761682278.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992116,0.104620,0.068999],[-0.117949,-0.965558,-0.231920],[0.042359,-0.238230,0.970285]] 2025-10-28T20:11:18.762Z,1761682278.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992056,0.105379,0.068711],[-0.118547,-0.965880,-0.230265],[0.042101,-0.236581,0.970699]] 2025-10-28T20:11:19.159Z,1761682279.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992130,0.105067,0.068107],[-0.118007,-0.966462,-0.228093],[0.041858,-0.234335,0.971254]] 2025-10-28T20:11:19.563Z,1761682279.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992265,0.104452,0.067083],[-0.117069,-0.967117,-0.225785],[0.041293,-0.231892,0.971865]] 2025-10-28T20:11:20.071Z,1761682280.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992370,0.103893,0.066391],[-0.116337,-0.967358,-0.225132],[0.040835,-0.231138,0.972064]] 2025-10-28T20:11:20.369Z,1761682280.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992476,0.103166,0.065935],[-0.115514,-0.967500,-0.224946],[0.040585,-0.230870,0.972138]] 2025-10-28T20:11:20.777Z,1761682280.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992572,0.102449,0.065609],[-0.114773,-0.967396,-0.225769],[0.040340,-0.231622,0.971969]] 2025-10-28T20:11:21.175Z,1761682281.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992686,0.101726,0.065005],[-0.114014,-0.966997,-0.227855],[0.039680,-0.233600,0.971523]] 2025-10-28T20:11:21.589Z,1761682281.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992845,0.100750,0.064097],[-0.112911,-0.966774,-0.229346],[0.038861,-0.234942,0.971232]] 2025-10-28T20:11:21.982Z,1761682281.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992959,0.100081,0.063372],[-0.112237,-0.965945,-0.233136],[0.037881,-0.238607,0.970377]] 2025-10-28T20:11:22.388Z,1761682282.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993192,0.098793,0.061729],[-0.110632,-0.965868,-0.234219],[0.036483,-0.239454,0.970222]] 2025-10-28T20:11:22.793Z,1761682282.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993484,0.096963,0.059897],[-0.108432,-0.965999,-0.234711],[0.035102,-0.239676,0.970218]] 2025-10-28T20:11:23.196Z,1761682283.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993797,0.094964,0.057874],[-0.106018,-0.966156,-0.235164],[0.033583,-0.239841,0.970231]] 2025-10-28T20:11:23.288Z,1761682283.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:11:23.602Z,1761682283.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994196,0.092120,0.055575],[-0.102696,-0.966547,-0.235031],[0.032065,-0.239375,0.970398]] 2025-10-28T20:11:24.003Z,1761682284.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994591,0.089453,0.052791],[-0.099417,-0.967039,-0.234419],[0.030081,-0.238400,0.970701]] 2025-10-28T20:11:24.292Z,1761682284.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:11:24.407Z,1761682284.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995011,0.086626,0.049480],[-0.095811,-0.967977,-0.232035],[0.027795,-0.235618,0.971448]] 2025-10-28T20:11:24.813Z,1761682284.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995416,0.083804,0.046085],[-0.092196,-0.968961,-0.229380],[0.025432,-0.232578,0.972245]] 2025-10-28T20:11:25.214Z,1761682285.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995793,0.081208,0.042442],[-0.088749,-0.970021,-0.226236],[0.022798,-0.229051,0.973148]] 2025-10-28T20:11:25.618Z,1761682285.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996077,0.079328,0.039209],[-0.086110,-0.971002,-0.223024],[0.020380,-0.225525,0.974024]] 2025-10-28T20:11:26.024Z,1761682286.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996342,0.077640,0.035702],[-0.083638,-0.971675,-0.221025],[0.017530,-0.223203,0.974614]] 2025-10-28T20:11:26.096Z,1761682286.096 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:11:26.165Z,1761682286.165 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:11:26.165Z,1761682286.165 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:11:26.417Z,1761682286.417 [DAT](INFO): DAT read: user:239> 2025-10-28T20:11:26.418Z,1761682286.418 [DAT](INFO): DAT read: Tx time:20:11:26.1716 2025-10-28T20:11:26.418Z,1761682286.418 [DAT](INFO): Ping request sent. 2025-10-28T20:11:26.418Z,1761682286.418 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:11:26.418Z,1761682286.418 [DAT](INFO): publishing transmit ping time 2025-10-28T20:11:26.419Z,1761682286.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T20:11:26.460Z,1761682286.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996537,0.076411,0.032784],[-0.081769,-0.972116,-0.219784],[0.015076,-0.221704,0.974997]] 2025-10-28T20:11:26.669Z,1761682286.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250943 2025-10-28T20:11:26.830Z,1761682286.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996629,0.076210,0.030389],[-0.081029,-0.972404,-0.218782],[0.012877,-0.220507,0.975300]] 2025-10-28T20:11:26.921Z,1761682286.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995 2025-10-28T20:11:27.173Z,1761682287.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754945 2025-10-28T20:11:27.237Z,1761682287.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996692,0.076075,0.028581],[-0.080495,-0.972504,-0.218532],[0.011171,-0.220110,0.975411]] 2025-10-28T20:11:27.426Z,1761682287.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007825 2025-10-28T20:11:27.639Z,1761682287.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996687,0.076777,0.026822],[-0.080797,-0.972379,-0.218978],[0.009269,-0.220419,0.975361]] 2025-10-28T20:11:27.677Z,1761682287.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259162 2025-10-28T20:11:27.930Z,1761682287.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511592 2025-10-28T20:11:28.042Z,1761682288.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996651,0.077672,0.025566],[-0.081404,-0.972040,-0.220255],[0.007743,-0.221599,0.975107]] 2025-10-28T20:11:28.181Z,1761682288.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762993 2025-10-28T20:11:28.433Z,1761682288.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015218 2025-10-28T20:11:28.455Z,1761682288.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996566,0.079070,0.024598],[-0.082563,-0.971570,-0.221887],[0.006354,-0.223156,0.974762]] 2025-10-28T20:11:28.685Z,1761682288.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266929 2025-10-28T20:11:28.851Z,1761682288.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996474,0.080423,0.023920],[-0.083739,-0.971137,-0.223342],[0.005268,-0.224557,0.974447]] 2025-10-28T20:11:28.938Z,1761682288.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520063 2025-10-28T20:11:29.189Z,1761682289.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770982 2025-10-28T20:11:29.254Z,1761682289.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996398,0.081558,0.023214],[-0.084699,-0.970368,-0.226302],[0.004069,-0.227454,0.973780]] 2025-10-28T20:11:29.287Z,1761682289.287 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:11:29.288Z,1761682289.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:11:29.288Z,1761682289.288 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:11:29.288Z,1761682289.288 [marl:UpdateRudder:A] Stopped 2025-10-28T20:11:29.288Z,1761682289.288 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:11:29.441Z,1761682289.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023153 2025-10-28T20:11:29.659Z,1761682289.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996399,0.081894,0.021961],[-0.084742,-0.970329,-0.226451],[0.002765,-0.227496,0.973775]] 2025-10-28T20:11:29.695Z,1761682289.695 [DAT](INFO): DAT read: Rx Time:20:11:28.9444 2025-10-28T20:11:29.697Z,1761682289.697 [DAT](INFO): Rx dataTimestamp_ set to:1761682289.696098 2025-10-28T20:11:29.699Z,1761682289.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280457 2025-10-28T20:11:29.775Z,1761682289.775 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:11:29.775Z,1761682289.775 [marl:UpdateRudder:B] Stopped 2025-10-28T20:11:29.775Z,1761682289.775 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:11:29.775Z,1761682289.775 [marl:UpdateRudder] Stopped 2025-10-28T20:11:29.775Z,1761682289.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:11:29.946Z,1761682289.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528006 2025-10-28T20:11:30.063Z,1761682290.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996415,0.081937,0.021050],[-0.084578,-0.970216,-0.226998],[0.001824,-0.227965,0.973668]] 2025-10-28T20:11:30.203Z,1761682290.203 [DAT](INFO): DAT read: 20:11:28.9444 LVL= 23072, 24241, 13122, 22211, AGC= 69, IDX= 152, 0.06,-1.071,-1.437, 0.822,-0.237, PHS=-0.732,-1.155, 1.015, RAW= 199.4, 8.8, CAL= 199.8, 9.9, ROT= 310.2, -9.9 2025-10-28T20:11:30.204Z,1761682290.204 [DAT](INFO): got valid direction response: 20:11:28.9444 LVL= 23072, 24241, 13122, 22211, AGC= 69, IDX= 152, 0.06,-1.071,-1.437, 0.822,-0.237, PHS=-0.732,-1.155, 1.015, RAW= 199.4, 8.8, CAL= 199.8, 9.9, ROT= 310.2, -9.9 2025-10-28T20:11:30.205Z,1761682290.205 [DAT](INFO): DAT read: Bearing 103, -17 (Remote) 2025-10-28T20:11:30.205Z,1761682290.205 [DAT](INFO): Remote Bearing received:Bearing 103, -17 (Remote) 2025-10-28T20:11:30.206Z,1761682290.206 [DAT](INFO): DAT read: Bearing 331.4, -50.4 (Local) 2025-10-28T20:11:30.206Z,1761682290.206 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, -50.4 (Local) 2025-10-28T20:11:30.208Z,1761682290.208 [DAT](INFO): DAT read: Range 11 to 20 : 557.7 m (Round-trip 743.6 ms) speed 0.5 m/s 2025-10-28T20:11:30.208Z,1761682290.208 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:11:30.209Z,1761682290.209 [DAT](INFO): direction in FSK: [0.635846,-0.752423,0.171929] 2025-10-28T20:11:30.210Z,1761682290.210 [DAT](INFO): publishing direction and range info 2025-10-28T20:11:30.475Z,1761682290.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996507,0.081086,0.019986],[-0.083508,-0.970106,-0.227863],[0.000912,-0.228736,0.973488]] 2025-10-28T20:11:30.514Z,1761682290.514 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682304.00. Resetting abort timer. 2025-10-28T20:11:30.871Z,1761682290.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996633,0.079849,0.018601],[-0.081987,-0.970221,-0.227926],[-0.000153,-0.228684,0.973501]] 2025-10-28T20:11:30.912Z,1761682290.912 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:11:30.912Z,1761682290.912 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:11:30.912Z,1761682290.912 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateCommandMode] Stopped 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:11:30.913Z,1761682290.913 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:11:30.914Z,1761682290.914 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:11:30.914Z,1761682290.914 [marl:UpdateSpeed] Stopped 2025-10-28T20:11:30.914Z,1761682290.914 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:11:31.275Z,1761682291.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996821,0.077808,0.017147],[-0.079669,-0.970595,-0.227152],[-0.001031,-0.227796,0.973708]] 2025-10-28T20:11:31.713Z,1761682291.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997031,0.075292,0.016127],[-0.076987,-0.970915,-0.226711],[-0.001412,-0.227280,0.973828]] 2025-10-28T20:11:32.083Z,1761682292.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997286,0.072154,0.014670],[-0.073601,-0.971244,-0.226424],[-0.002090,-0.226889,0.973918]] 2025-10-28T20:11:32.487Z,1761682292.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997584,0.068260,0.012924],[-0.069412,-0.971546,-0.226453],[-0.002901,-0.226803,0.973936]] 2025-10-28T20:11:32.891Z,1761682292.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997859,0.064465,0.011048],[-0.065285,-0.971509,-0.227833],[-0.003954,-0.228067,0.973637]] 2025-10-28T20:11:33.297Z,1761682293.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998096,0.060996,0.009146],[-0.061468,-0.971453,-0.229129],[-0.005092,-0.229255,0.973353]] 2025-10-28T20:11:33.757Z,1761682293.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998320,0.057573,0.006560],[-0.057536,-0.971475,-0.230054],[-0.006872,-0.230045,0.973156]] 2025-10-28T20:11:34.103Z,1761682294.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998454,0.055414,0.004319],[-0.054902,-0.971156,-0.232038],[-0.008664,-0.231917,0.972697]] 2025-10-28T20:11:34.508Z,1761682294.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998529,0.054171,0.002256],[-0.053200,-0.970894,-0.233526],[-0.010460,-0.233302,0.972348]] 2025-10-28T20:11:34.919Z,1761682294.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998598,0.052937,0.000051],[-0.051489,-0.971048,-0.233271],[-0.012299,-0.232947,0.972412]] 2025-10-28T20:11:35.315Z,1761682295.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998635,0.052196,-0.002003],[-0.050273,-0.970832,-0.234429],[-0.014181,-0.234009,0.972131]] 2025-10-28T20:11:35.763Z,1761682295.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998640,0.051957,-0.004218],[-0.049545,-0.971207,-0.233028],[-0.016204,-0.232502,0.972461]] 2025-10-28T20:11:36.124Z,1761682296.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998635,0.051833,-0.006479],[-0.048897,-0.971208,-0.233160],[-0.018378,-0.232525,0.972417]] 2025-10-28T20:11:36.526Z,1761682296.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998602,0.052195,-0.008390],[-0.048820,-0.971386,-0.232433],[-0.020282,-0.231699,0.972576]] 2025-10-28T20:11:36.938Z,1761682296.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998596,0.051958,-0.010310],[-0.048178,-0.971771,-0.230953],[-0.022019,-0.230133,0.972910]] 2025-10-28T20:11:37.335Z,1761682297.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998584,0.051750,-0.012358],[-0.047549,-0.972233,-0.229131],[-0.023872,-0.228219,0.973317]] 2025-10-28T20:11:37.771Z,1761682297.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998578,0.051436,-0.014007],[-0.046915,-0.972697,-0.227289],[-0.025316,-0.226309,0.973727]] 2025-10-28T20:11:38.152Z,1761682298.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998615,0.050245,-0.015635],[-0.045450,-0.973310,-0.224950],[-0.026521,-0.223928,0.974245]] 2025-10-28T20:11:38.547Z,1761682298.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998640,0.049371,-0.016766],[-0.044372,-0.973580,-0.223994],[-0.027382,-0.222945,0.974446]] 2025-10-28T20:11:38.950Z,1761682298.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998700,0.047682,-0.018018],[-0.042478,-0.973922,-0.222871],[-0.028175,-0.221816,0.974681]] 2025-10-28T20:11:39.356Z,1761682299.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998744,0.046409,-0.018861],[-0.041023,-0.973781,-0.223759],[-0.028751,-0.222704,0.974462]] 2025-10-28T20:11:39.778Z,1761682299.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998800,0.044949,-0.019457],[-0.039423,-0.973504,-0.225246],[-0.029066,-0.224208,0.974108]] 2025-10-28T20:11:40.162Z,1761682300.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998833,0.044072,-0.019777],[-0.038431,-0.973041,-0.227409],[-0.029266,-0.226384,0.973598]] 2025-10-28T20:11:40.571Z,1761682300.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998843,0.043455,-0.020581],[-0.037580,-0.972558,-0.229606],[-0.029993,-0.228567,0.973066]] 2025-10-28T20:11:40.971Z,1761682300.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998816,0.043646,-0.021497],[-0.037449,-0.971750,-0.233021],[-0.031060,-0.231940,0.972234]] 2025-10-28T20:11:41.377Z,1761682301.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998743,0.044920,-0.022237],[-0.038407,-0.970917,-0.236316],[-0.032206,-0.235165,0.971422]] 2025-10-28T20:11:41.784Z,1761682301.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998619,0.047378,-0.022711],[-0.040567,-0.969988,-0.239744],[-0.033388,-0.238491,0.970571]] 2025-10-28T20:11:42.182Z,1761682302.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998438,0.050799,-0.023246],[-0.043639,-0.968996,-0.243191],[-0.034879,-0.241797,0.969700]] 2025-10-28T20:11:42.593Z,1761682302.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998230,0.054639,-0.023498],[-0.047252,-0.968467,-0.244621],[-0.036122,-0.243077,0.969334]] 2025-10-28T20:11:42.617Z,1761682302.617 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:11:42.617Z,1761682302.617 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:11:42.617Z,1761682302.617 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:11:42.617Z,1761682302.617 [marl:UpdateRudder:A] Stopped 2025-10-28T20:11:42.618Z,1761682302.618 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:11:42.992Z,1761682302.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998016,0.058262,-0.023868],[-0.050697,-0.968426,-0.244094],[-0.037336,-0.242400,0.969458]] 2025-10-28T20:11:43.017Z,1761682303.017 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:11:43.017Z,1761682303.017 [marl:UpdateRudder:B] Stopped 2025-10-28T20:11:43.017Z,1761682303.017 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:11:43.017Z,1761682303.017 [marl:UpdateRudder] Stopped 2025-10-28T20:11:43.017Z,1761682303.017 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:11:43.400Z,1761682303.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997811,0.061535,-0.024223],[-0.053878,-0.968830,-0.241797],[-0.038347,-0.239963,0.970024]] 2025-10-28T20:11:43.801Z,1761682303.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997704,0.063030,-0.024784],[-0.055341,-0.969648,-0.238161],[-0.039043,-0.236243,0.970909]] 2025-10-28T20:11:44.203Z,1761682304.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997704,0.062728,-0.025549],[-0.055043,-0.970713,-0.233850],[-0.039470,-0.231907,0.971937]] 2025-10-28T20:11:44.243Z,1761682304.243 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:11:44.243Z,1761682304.243 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:11:44.243Z,1761682304.243 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateCommandMode] Stopped 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:11:44.244Z,1761682304.244 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:11:44.245Z,1761682304.245 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:11:44.245Z,1761682304.245 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:11:44.245Z,1761682304.245 [marl:UpdateSpeed] Stopped 2025-10-28T20:11:44.245Z,1761682304.245 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:11:44.607Z,1761682304.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997809,0.060635,-0.026456],[-0.052940,-0.971674,-0.230321],[-0.039672,-0.228415,0.972755]] 2025-10-28T20:11:45.011Z,1761682305.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998017,0.056545,-0.027638],[-0.048766,-0.972348,-0.228389],[-0.039788,-0.226589,0.973177]] 2025-10-28T20:11:45.424Z,1761682305.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998270,0.051210,-0.028874],[-0.043357,-0.973006,-0.226671],[-0.039702,-0.225027,0.973543]] 2025-10-28T20:11:45.818Z,1761682305.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998522,0.045271,-0.030066],[-0.037293,-0.973216,-0.226850],[-0.039531,-0.225393,0.973466]] 2025-10-28T20:11:46.222Z,1761682306.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998729,0.039386,-0.031444],[-0.031091,-0.972537,-0.230661],[-0.039666,-0.229390,0.972526]] 2025-10-28T20:11:46.633Z,1761682306.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998904,0.033310,-0.032867],[-0.024705,-0.971887,-0.234147],[-0.039742,-0.233079,0.971645]] 2025-10-28T20:11:47.036Z,1761682307.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999044,0.027018,-0.034370],[-0.018042,-0.970907,-0.238777],[-0.039821,-0.237929,0.970466]] 2025-10-28T20:11:47.438Z,1761682307.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999129,0.021240,-0.035929],[-0.011829,-0.969638,-0.244258],[-0.040026,-0.243620,0.969044]] 2025-10-28T20:11:47.843Z,1761682307.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999159,0.016982,-0.037331],[-0.007131,-0.968315,-0.249631],[-0.040388,-0.249154,0.967621]] 2025-10-28T20:11:48.248Z,1761682308.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999150,0.014208,-0.038687],[-0.004027,-0.967856,-0.251473],[-0.041016,-0.251103,0.967091]] 2025-10-28T20:11:48.650Z,1761682308.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999123,0.013672,-0.039574],[-0.003045,-0.966409,-0.256992],[-0.041758,-0.256646,0.965603]] 2025-10-28T20:11:49.055Z,1761682309.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999082,0.015518,-0.039940],[-0.004473,-0.964796,-0.262963],[-0.042615,-0.262543,0.963979]] 2025-10-28T20:11:49.459Z,1761682309.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999033,0.018448,-0.039897],[-0.007219,-0.964199,-0.265082],[-0.043359,-0.264538,0.963400]] 2025-10-28T20:11:49.865Z,1761682309.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998963,0.023071,-0.039242],[-0.011882,-0.964322,-0.264463],[-0.043943,-0.263723,0.963597]] 2025-10-28T20:11:50.267Z,1761682310.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998850,0.028644,-0.038445],[-0.017527,-0.964561,-0.263278],[-0.044624,-0.262302,0.963954]] 2025-10-28T20:11:50.670Z,1761682310.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998698,0.034783,-0.037311],[-0.023866,-0.965078,-0.260873],[-0.045082,-0.259643,0.964652]] 2025-10-28T20:11:51.075Z,1761682311.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998503,0.041167,-0.036021],[-0.030401,-0.965070,-0.260221],[-0.045476,-0.258736,0.964877]] 2025-10-28T20:11:51.481Z,1761682311.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998302,0.046844,-0.034633],[-0.036390,-0.965675,-0.257190],[-0.045492,-0.255493,0.965740]] 2025-10-28T20:11:51.889Z,1761682311.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998109,0.051979,-0.032812],[-0.041991,-0.966404,-0.253576],[-0.044890,-0.251719,0.966759]] 2025-10-28T20:11:52.691Z,1761682312.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997821,0.059380,-0.028770],[-0.050319,-0.966849,-0.250341],[-0.042681,-0.248348,0.967730]] 2025-10-28T20:11:53.096Z,1761682313.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997716,0.062353,-0.025984],[-0.053851,-0.966402,-0.251330],[-0.040782,-0.249356,0.967553]] 2025-10-28T20:11:53.499Z,1761682313.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997783,0.062040,-0.024084],[-0.054083,-0.966786,-0.249801],[-0.038782,-0.247944,0.967998]] 2025-10-28T20:11:53.911Z,1761682313.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997957,0.059504,-0.023252],[-0.051924,-0.967514,-0.247427],[-0.037220,-0.245714,0.968628]] 2025-10-28T20:11:54.307Z,1761682314.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998251,0.054637,-0.022567],[-0.047390,-0.967862,-0.246977],[-0.035336,-0.245476,0.968759]] 2025-10-28T20:11:54.420Z,1761682314.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:11:54.712Z,1761682314.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998553,0.048994,-0.022175],[-0.042041,-0.968302,-0.246220],[-0.033536,-0.244931,0.968960]] 2025-10-28T20:11:55.114Z,1761682315.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998822,0.043160,-0.022160],[-0.036340,-0.968160,-0.247679],[-0.032145,-0.246582,0.968589]] 2025-10-28T20:11:55.424Z,1761682315.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:11:55.519Z,1761682315.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999050,0.037427,-0.022336],[-0.030677,-0.967853,-0.249637],[-0.030961,-0.248715,0.968082]] 2025-10-28T20:11:55.924Z,1761682315.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999233,0.031920,-0.022698],[-0.025190,-0.967493,-0.251639],[-0.029993,-0.250874,0.967555]] 2025-10-28T20:11:56.003Z,1761682316.003 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:11:56.003Z,1761682316.003 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:11:56.003Z,1761682316.003 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:11:56.004Z,1761682316.004 [marl:UpdateRudder:A] Stopped 2025-10-28T20:11:56.008Z,1761682316.008 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:11:56.327Z,1761682316.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999374,0.026927,-0.022929],[-0.020249,-0.967193,-0.253235],[-0.028996,-0.252613,0.967133]] 2025-10-28T20:11:56.403Z,1761682316.403 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:11:56.403Z,1761682316.403 [marl:UpdateRudder:B] Stopped 2025-10-28T20:11:56.403Z,1761682316.403 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:11:56.403Z,1761682316.403 [marl:UpdateRudder] Stopped 2025-10-28T20:11:56.403Z,1761682316.403 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:11:56.732Z,1761682316.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,0.023344,-0.022906],[-0.016687,-0.966341,-0.256724],[-0.028128,-0.256204,0.966213]] 2025-10-28T20:11:57.135Z,1761682317.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999518,0.021850,-0.022042],[-0.015408,-0.965830,-0.258717],[-0.026942,-0.258253,0.965702]] 2025-10-28T20:11:57.539Z,1761682317.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999548,0.022214,-0.020261],[-0.016147,-0.965068,-0.261501],[-0.025362,-0.261056,0.964990]] 2025-10-28T20:11:57.564Z,1761682317.564 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode] Stopped 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:11:57.565Z,1761682317.565 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:11:57.566Z,1761682317.566 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:11:57.566Z,1761682317.566 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:11:57.566Z,1761682317.566 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:11:57.566Z,1761682317.566 [marl:UpdateSpeed] Stopped 2025-10-28T20:11:57.566Z,1761682317.566 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:11:57.946Z,1761682317.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999556,0.023908,-0.017770],[-0.018372,-0.964341,-0.264026],[-0.023449,-0.263582,0.964352]] 2025-10-28T20:11:58.347Z,1761682318.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999548,0.025796,-0.015430],[-0.020780,-0.963918,-0.265386],[-0.021719,-0.264945,0.964019]] 2025-10-28T20:11:58.752Z,1761682318.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999539,0.027332,-0.013218],[-0.022865,-0.964114,-0.264502],[-0.019973,-0.264078,0.964294]] 2025-10-28T20:11:59.156Z,1761682319.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999519,0.029000,-0.010997],[-0.025093,-0.964529,-0.262782],[-0.018228,-0.262379,0.964793]] 2025-10-28T20:11:59.560Z,1761682319.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999496,0.030526,-0.008752],[-0.027198,-0.965153,-0.260269],[-0.016392,-0.259900,0.965496]] 2025-10-28T20:11:59.963Z,1761682319.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999481,0.031398,-0.007255],[-0.028490,-0.966155,-0.256383],[-0.015059,-0.256043,0.966548]] 2025-10-28T20:12:00.371Z,1761682320.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999459,0.032389,-0.005793],[-0.029864,-0.966878,-0.253485],[-0.013811,-0.253175,0.967322]] 2025-10-28T20:12:00.778Z,1761682320.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999439,0.033187,-0.004489],[-0.031019,-0.967897,-0.249425],[-0.012623,-0.249146,0.968384]] 2025-10-28T20:12:01.226Z,1761682321.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999331,0.036541,-0.001690],[-0.035007,-0.968721,-0.245669],[-0.010614,-0.245446,0.969352]] 2025-10-28T20:12:01.982Z,1761682321.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999246,0.038830,0.000067],[-0.037680,-0.969221,-0.243290],[-0.009382,-0.243109,0.969954]] 2025-10-28T20:12:02.398Z,1761682322.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999173,0.040620,0.001881],[-0.039856,-0.969112,-0.243379],[-0.008064,-0.243252,0.969930]] 2025-10-28T20:12:02.801Z,1761682322.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998941,0.045594,0.006093],[-0.045708,-0.969015,-0.242735],[-0.005163,-0.242757,0.970074]] 2025-10-28T20:12:03.604Z,1761682323.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998729,0.049298,0.010455],[-0.050357,-0.968310,-0.244624],[-0.001936,-0.244839,0.969562]] 2025-10-28T20:12:04.008Z,1761682324.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998702,0.049473,0.012153],[-0.050942,-0.968083,-0.245398],[-0.000375,-0.245699,0.969346]] 2025-10-28T20:12:04.413Z,1761682324.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998720,0.048537,0.014214],[-0.050547,-0.967411,-0.248114],[0.001708,-0.248515,0.968627]] 2025-10-28T20:12:04.814Z,1761682324.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998761,0.047179,0.015859],[-0.049649,-0.966808,-0.250632],[0.003508,-0.251109,0.967953]] 2025-10-28T20:12:05.215Z,1761682325.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998838,0.045173,0.016783],[-0.047947,-0.966488,-0.252195],[0.004828,-0.252706,0.967531]] 2025-10-28T20:12:05.619Z,1761682325.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998933,0.042871,0.017163],[-0.045819,-0.966490,-0.252582],[0.005760,-0.253099,0.967423]] 2025-10-28T20:12:06.025Z,1761682326.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999029,0.040584,0.017133],[-0.043604,-0.966358,-0.253478],[0.006269,-0.253979,0.967190]] 2025-10-28T20:12:06.427Z,1761682326.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999091,0.039060,0.017063],[-0.042112,-0.966421,-0.253491],[0.006589,-0.253979,0.967187]] 2025-10-28T20:12:06.830Z,1761682326.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999073,0.039300,0.017567],[-0.042486,-0.965884,-0.255465],[0.006928,-0.255975,0.966659]] 2025-10-28T20:12:07.236Z,1761682327.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999041,0.039800,0.018241],[-0.043143,-0.965845,-0.255503],[0.007449,-0.256045,0.966636]] 2025-10-28T20:12:07.641Z,1761682327.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998930,0.041987,0.019386],[-0.045561,-0.965395,-0.256782],[0.007934,-0.257390,0.966275]] 2025-10-28T20:12:08.042Z,1761682328.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998788,0.044639,0.020723],[-0.048475,-0.965044,-0.257566],[0.008501,-0.258258,0.966039]] 2025-10-28T20:12:08.447Z,1761682328.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998596,0.047906,0.022604],[-0.052118,-0.964850,-0.257583],[0.009470,-0.258400,0.965992]] 2025-10-28T20:12:08.855Z,1761682328.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998406,0.050775,0.024648],[-0.055421,-0.964593,-0.257856],[0.010682,-0.258811,0.965869]] 2025-10-28T20:12:09.256Z,1761682329.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998208,0.053442,0.026927],[-0.058572,-0.964753,-0.256557],[0.012267,-0.257674,0.966154]] 2025-10-28T20:12:09.287Z,1761682329.287 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:12:09.287Z,1761682329.287 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:12:09.288Z,1761682329.288 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:12:09.288Z,1761682329.288 [marl:UpdateRudder:A] Stopped 2025-10-28T20:12:09.288Z,1761682329.288 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:12:09.659Z,1761682329.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998097,0.054543,0.028769],[-0.060061,-0.965568,-0.253122],[0.013972,-0.254368,0.967006]] 2025-10-28T20:12:09.867Z,1761682329.867 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:12:09.867Z,1761682329.867 [marl:UpdateRudder:B] Stopped 2025-10-28T20:12:09.868Z,1761682329.868 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:12:09.868Z,1761682329.868 [marl:UpdateRudder] Stopped 2025-10-28T20:12:09.868Z,1761682329.868 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:12:10.063Z,1761682330.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998073,0.054336,0.029966],[-0.060111,-0.966466,-0.249661],[0.015396,-0.250981,0.967870]] 2025-10-28T20:12:10.470Z,1761682330.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998118,0.053060,0.030727],[-0.059043,-0.966887,-0.248282],[0.016536,-0.249629,0.968200]] 2025-10-28T20:12:10.879Z,1761682330.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998240,0.050650,0.030842],[-0.056704,-0.967496,-0.246447],[0.017357,-0.247762,0.968665]] 2025-10-28T20:12:10.922Z,1761682330.922 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:12:10.922Z,1761682330.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:12:10.922Z,1761682330.922 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:12:10.922Z,1761682330.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateCommandMode] Stopped 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:12:10.923Z,1761682330.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:12:10.924Z,1761682330.924 [marl:UpdateSpeed] Stopped 2025-10-28T20:12:10.924Z,1761682330.924 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:12:11.274Z,1761682331.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998378,0.047808,0.030910],[-0.053947,-0.967933,-0.245347],[0.018189,-0.246617,0.968942]] 2025-10-28T20:12:11.699Z,1761682331.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998561,0.044230,0.030322],[-0.050302,-0.968532,-0.243753],[0.018586,-0.244927,0.969363]] 2025-10-28T20:12:12.083Z,1761682332.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998748,0.040336,0.029602],[-0.046332,-0.968932,-0.242948],[0.018883,-0.244015,0.969588]] 2025-10-28T20:12:12.496Z,1761682332.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998890,0.037198,0.028883],[-0.043095,-0.969317,-0.242007],[0.018995,-0.242984,0.969844]] 2025-10-28T20:12:12.890Z,1761682332.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998935,0.035957,0.028908],[-0.041924,-0.969015,-0.243419],[0.019259,-0.244371,0.969490]] 2025-10-28T20:12:13.295Z,1761682333.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998870,0.037064,0.029763],[-0.043242,-0.968519,-0.245154],[0.019739,-0.246164,0.969027]] 2025-10-28T20:12:13.760Z,1761682333.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998729,0.039780,0.030961],[-0.046234,-0.967618,-0.248149],[0.020087,-0.249265,0.968227]] 2025-10-28T20:12:14.102Z,1761682334.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998478,0.044240,0.032931],[-0.051095,-0.966787,-0.250424],[0.020758,-0.251726,0.967576]] 2025-10-28T20:12:14.511Z,1761682334.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998155,0.049599,0.035029],[-0.056851,-0.966012,-0.252170],[0.021331,-0.253696,0.967049]] 2025-10-28T20:12:14.912Z,1761682334.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997743,0.055757,0.037428],[-0.063395,-0.965896,-0.251051],[0.022154,-0.252857,0.967250]] 2025-10-28T20:12:15.314Z,1761682335.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997262,0.062125,0.040122],[-0.070233,-0.965521,-0.250672],[0.023166,-0.252803,0.967240]] 2025-10-28T20:12:15.763Z,1761682335.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996749,0.067984,0.043236],[-0.076676,-0.965213,-0.249970],[0.024738,-0.252472,0.967288]] 2025-10-28T20:12:16.123Z,1761682336.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996280,0.072746,0.046201],[-0.082005,-0.965079,-0.248793],[0.026489,-0.251656,0.967454]] 2025-10-28T20:12:16.535Z,1761682336.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995949,0.075751,0.048448],[-0.085417,-0.965364,-0.246528],[0.028096,-0.249668,0.967924]] 2025-10-28T20:12:16.931Z,1761682336.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995789,0.076825,0.050012],[-0.086754,-0.966040,-0.243393],[0.029615,-0.246707,0.968638]] 2025-10-28T20:12:17.339Z,1761682337.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995851,0.075675,0.050539],[-0.085719,-0.966521,-0.241845],[0.030545,-0.245173,0.968998]] 2025-10-28T20:12:17.766Z,1761682337.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995958,0.073988,0.050934],[-0.084167,-0.966756,-0.241449],[0.031376,-0.244760,0.969076]] 2025-10-28T20:12:18.161Z,1761682338.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996087,0.071845,0.051478],[-0.082217,-0.966941,-0.241384],[0.032434,-0.244672,0.969063]] 2025-10-28T20:12:18.547Z,1761682338.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996218,0.069568,0.052059],[-0.080170,-0.966963,-0.241981],[0.033505,-0.245239,0.968883]] 2025-10-28T20:12:18.951Z,1761682338.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996376,0.066999,0.052412],[-0.077773,-0.967092,-0.242247],[0.034457,-0.245445,0.968798]] 2025-10-28T20:12:19.364Z,1761682339.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996474,0.065009,0.053040],[-0.076021,-0.967060,-0.242931],[0.035500,-0.246106,0.968592]] 2025-10-28T20:12:19.778Z,1761682339.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996579,0.063176,0.053281],[-0.074314,-0.967107,-0.243273],[0.036159,-0.246401,0.968493]] 2025-10-28T20:12:20.163Z,1761682340.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996701,0.061423,0.053042],[-0.072525,-0.967440,-0.242489],[0.036420,-0.245536,0.968703]] 2025-10-28T20:12:20.567Z,1761682340.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996820,0.059874,0.052579],[-0.070878,-0.967756,-0.241713],[0.036411,-0.244671,0.968922]] 2025-10-28T20:12:20.971Z,1761682340.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996870,0.058945,0.052691],[-0.070013,-0.967753,-0.241978],[0.036728,-0.244909,0.968850]] 2025-10-28T20:12:21.376Z,1761682341.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996870,0.059003,0.052627],[-0.070054,-0.967746,-0.241990],[0.036652,-0.244919,0.968850]] 2025-10-28T20:12:21.783Z,1761682341.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996777,0.060290,0.052920],[-0.071381,-0.967610,-0.242146],[0.036607,-0.245143,0.968796]] 2025-10-28T20:12:22.183Z,1761682342.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996615,0.062280,0.053670],[-0.073521,-0.967298,-0.242752],[0.036796,-0.245876,0.968602]] 2025-10-28T20:12:22.589Z,1761682342.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996315,0.065924,0.054861],[-0.077384,-0.966779,-0.243618],[0.036979,-0.246965,0.968318]] 2025-10-28T20:12:22.613Z,1761682342.613 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:12:22.613Z,1761682342.613 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:12:22.613Z,1761682342.613 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:12:22.614Z,1761682342.614 [marl:UpdateRudder:A] Stopped 2025-10-28T20:12:22.614Z,1761682342.614 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:12:22.993Z,1761682342.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995948,0.070429,0.055921],[-0.081997,-0.966539,-0.243062],[0.036931,-0.246662,0.968398]] 2025-10-28T20:12:23.018Z,1761682343.018 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:12:23.018Z,1761682343.018 [marl:UpdateRudder:B] Stopped 2025-10-28T20:12:23.018Z,1761682343.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:12:23.018Z,1761682343.018 [marl:UpdateRudder] Stopped 2025-10-28T20:12:23.018Z,1761682343.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:12:23.395Z,1761682343.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995466,0.075342,0.058056],[-0.087346,-0.965727,-0.244422],[0.037651,-0.248385,0.967929]] 2025-10-28T20:12:23.805Z,1761682343.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994924,0.080640,0.060189],[-0.093034,-0.965089,-0.244842],[0.038343,-0.249199,0.967693]] 2025-10-28T20:12:24.209Z,1761682344.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994319,0.085943,0.062803],[-0.098896,-0.964103,-0.246423],[0.039370,-0.251234,0.967125]] 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:12:24.299Z,1761682344.299 [marl:UpdateCommandMode] Stopped 2025-10-28T20:12:24.300Z,1761682344.300 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:12:24.300Z,1761682344.300 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:12:24.300Z,1761682344.300 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:12:24.300Z,1761682344.300 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:12:24.301Z,1761682344.301 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:12:24.301Z,1761682344.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:12:24.301Z,1761682344.301 [marl:UpdateSpeed] Stopped 2025-10-28T20:12:24.301Z,1761682344.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:12:24.610Z,1761682344.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993728,0.090592,0.065565],[-0.104065,-0.963770,-0.245596],[0.040940,-0.250878,0.967153]] 2025-10-28T20:12:25.015Z,1761682345.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993165,0.094653,0.068288],[-0.108621,-0.963667,-0.244024],[0.042709,-0.249774,0.967362]] 2025-10-28T20:12:25.421Z,1761682345.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992658,0.097976,0.070922],[-0.112405,-0.963783,-0.241842],[0.044659,-0.248039,0.967720]] 2025-10-28T20:12:25.548Z,1761682345.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:12:25.831Z,1761682345.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992423,0.099249,0.072427],[-0.113988,-0.963743,-0.241261],[0.045856,-0.247689,0.967754]] 2025-10-28T20:12:26.227Z,1761682346.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992475,0.098405,0.072863],[-0.113202,-0.964223,-0.239705],[0.046668,-0.246150,0.968108]] 2025-10-28T20:12:26.261Z,1761682346.261 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:12:26.423Z,1761682346.423 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:12:26.423Z,1761682346.423 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:12:26.552Z,1761682346.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:12:26.631Z,1761682346.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992724,0.096110,0.072542],[-0.110771,-0.965127,-0.237191],[0.047216,-0.243501,0.968751]] 2025-10-28T20:12:26.673Z,1761682346.673 [DAT](INFO): DAT read: user:240> 2025-10-28T20:12:26.674Z,1761682346.674 [DAT](INFO): DAT read: Tx time:20:12:26.4214 2025-10-28T20:12:26.674Z,1761682346.674 [DAT](INFO): Ping request sent. 2025-10-28T20:12:26.674Z,1761682346.674 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:12:26.674Z,1761682346.674 [DAT](INFO): publishing transmit ping time 2025-10-28T20:12:26.675Z,1761682346.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T20:12:26.925Z,1761682346.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250677 2025-10-28T20:12:27.034Z,1761682347.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993138,0.092470,0.071592],[-0.106888,-0.966124,-0.234903],[0.047445,-0.240944,0.969379]] 2025-10-28T20:12:27.177Z,1761682347.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502792 2025-10-28T20:12:27.429Z,1761682347.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743 2025-10-28T20:12:27.446Z,1761682347.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993643,0.088094,0.070092],[-0.102172,-0.967114,-0.232918],[0.047268,-0.238598,0.969967]] 2025-10-28T20:12:27.681Z,1761682347.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006694 2025-10-28T20:12:27.851Z,1761682347.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994172,0.083552,0.068124],[-0.097240,-0.967824,-0.232081],[0.046541,-0.237353,0.970308]] 2025-10-28T20:12:27.933Z,1761682347.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259085 2025-10-28T20:12:28.185Z,1761682348.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510740 2025-10-28T20:12:28.246Z,1761682348.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994708,0.078959,0.065739],[-0.092194,-0.968358,-0.231913],[0.045347,-0.236746,0.970513]] 2025-10-28T20:12:28.437Z,1761682348.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732 2025-10-28T20:12:28.651Z,1761682348.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995160,0.075020,0.063469],[-0.087864,-0.968535,-0.232851],[0.044003,-0.237300,0.970439]] 2025-10-28T20:12:28.689Z,1761682348.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014792 2025-10-28T20:12:28.941Z,1761682348.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266697 2025-10-28T20:12:29.057Z,1761682349.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995492,0.072295,0.061390],[-0.084797,-0.968366,-0.234684],[0.042481,-0.238832,0.970131]] 2025-10-28T20:12:29.193Z,1761682349.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518699 2025-10-28T20:12:29.445Z,1761682349.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770658 2025-10-28T20:12:29.460Z,1761682349.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995635,0.071606,0.059865],[-0.083860,-0.967884,-0.236999],[0.040972,-0.240985,0.969664]] 2025-10-28T20:12:29.700Z,1761682349.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025160 2025-10-28T20:12:29.862Z,1761682349.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995530,0.073429,0.059406],[-0.085710,-0.966587,-0.241586],[0.039682,-0.245598,0.968559]] 2025-10-28T20:12:29.949Z,1761682349.949 [DAT](INFO): DAT read: Rx Time:20:12:29.1293 2025-10-28T20:12:29.949Z,1761682349.949 [DAT](INFO): Rx dataTimestamp_ set to:1761682349.949153 2025-10-28T20:12:29.950Z,1761682349.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275825 2025-10-28T20:12:30.201Z,1761682350.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526632 2025-10-28T20:12:30.289Z,1761682350.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995207,0.077543,0.059581],[-0.089876,-0.965401,-0.244794],[0.038538,-0.248975,0.967743]] 2025-10-28T20:12:30.459Z,1761682350.459 [DAT](INFO): DAT read: 20:12:29.1293 LVL= 27824, 32753, 16594, 31731, AGC= 62, IDX= 291,-0.01, 0.184, 0.283, 2.111, 0.592, PHS=-0.306,-0.264, 1.476, RAW= 211.2, -10.3, CAL= 210.2, -13.9, ROT= 299.8, 13.9 2025-10-28T20:12:30.461Z,1761682350.461 [DAT](INFO): got valid direction response: 20:12:29.1293 LVL= 27824, 32753, 16594, 31731, AGC= 62, IDX= 291,-0.01, 0.184, 0.283, 2.111, 0.592, PHS=-0.306,-0.264, 1.476, RAW= 211.2, -10.3, CAL= 210.2, -13.9, ROT= 299.8, 13.9 2025-10-28T20:12:30.461Z,1761682350.461 [DAT](INFO): DAT read: Bearing 98, -18 (Remote) 2025-10-28T20:12:30.462Z,1761682350.462 [DAT](INFO): Remote Bearing received:Bearing 98, -18 (Remote) 2025-10-28T20:12:30.463Z,1761682350.463 [DAT](INFO): DAT read: Bearing 292.2, -46.8 (Local) 2025-10-28T20:12:30.463Z,1761682350.463 [DAT](INFO): Local bearing/azimuth received: Bearing 292.2, -46.8 (Local) 2025-10-28T20:12:30.464Z,1761682350.464 [DAT](INFO): DAT read: Range 11 to 20 : 509.1 m (Round-trip 678.8 ms) speed 1.3 m/s 2025-10-28T20:12:30.465Z,1761682350.465 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:12:30.466Z,1761682350.466 [DAT](INFO): direction in FSK: [0.482421,-0.842354,-0.240228] 2025-10-28T20:12:30.466Z,1761682350.466 [DAT](INFO): publishing direction and range info 2025-10-28T20:12:30.674Z,1761682350.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994703,0.083095,0.060501],[-0.095615,-0.964042,-0.247954],[0.037722,-0.252426,0.966881]] 2025-10-28T20:12:30.740Z,1761682350.740 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682304.00. Resetting abort timer. 2025-10-28T20:12:31.074Z,1761682351.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994115,0.089310,0.061304],[-0.101863,-0.963257,-0.248516],[0.036857,-0.253298,0.966686]] 2025-10-28T20:12:31.479Z,1761682351.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993462,0.095760,0.062149],[-0.108272,-0.962934,-0.247052],[0.036188,-0.252166,0.967007]] 2025-10-28T20:12:31.882Z,1761682351.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992830,0.101666,0.062863],[-0.114088,-0.962884,-0.244619],[0.035661,-0.250037,0.967579]] 2025-10-28T20:12:32.287Z,1761682352.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992233,0.106841,0.063710],[-0.119253,-0.962717,-0.242805],[0.035393,-0.248517,0.967981]] 2025-10-28T20:12:32.698Z,1761682352.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991884,0.109678,0.064318],[-0.122053,-0.963074,-0.239983],[0.035622,-0.245885,0.968644]] 2025-10-28T20:12:33.094Z,1761682353.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991876,0.109781,0.064273],[-0.122040,-0.963763,-0.237206],[0.035903,-0.243123,0.969331]] 2025-10-28T20:12:33.499Z,1761682353.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992134,0.107943,0.063394],[-0.119948,-0.964644,-0.234680],[0.035821,-0.240438,0.970003]] 2025-10-28T20:12:33.903Z,1761682353.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992516,0.104966,0.062397],[-0.116742,-0.965503,-0.232755],[0.035813,-0.238297,0.970532]] 2025-10-28T20:12:34.313Z,1761682354.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993015,0.101077,0.060867],[-0.112527,-0.966440,-0.230936],[0.035482,-0.236172,0.971063]] 2025-10-28T20:12:34.710Z,1761682354.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993601,0.096329,0.058968],[-0.107458,-0.967015,-0.230945],[0.034776,-0.235803,0.971178]] 2025-10-28T20:12:35.115Z,1761682355.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994120,0.091994,0.057127],[-0.102847,-0.967220,-0.232181],[0.033895,-0.236691,0.970994]] 2025-10-28T20:12:35.519Z,1761682355.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994523,0.088642,0.055379],[-0.099210,-0.967328,-0.233312],[0.032889,-0.237529,0.970824]] 2025-10-28T20:12:35.923Z,1761682355.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994826,0.086198,0.053771],[-0.096494,-0.967284,-0.234627],[0.031788,-0.238602,0.970597]] 2025-10-28T20:12:35.988Z,1761682355.988 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:12:35.988Z,1761682355.988 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:12:35.989Z,1761682355.989 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:12:35.989Z,1761682355.989 [marl:UpdateRudder:A] Stopped 2025-10-28T20:12:35.989Z,1761682355.989 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:12:36.334Z,1761682356.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994953,0.085445,0.052607],[-0.095534,-0.966988,-0.236237],[0.030685,-0.240071,0.970270]] 2025-10-28T20:12:36.365Z,1761682356.365 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:12:36.365Z,1761682356.365 [marl:UpdateRudder:B] Stopped 2025-10-28T20:12:36.365Z,1761682356.365 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:12:36.365Z,1761682356.365 [marl:UpdateRudder] Stopped 2025-10-28T20:12:36.365Z,1761682356.365 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:12:36.730Z,1761682356.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994890,0.086428,0.052200],[-0.096429,-0.966610,-0.237418],[0.029938,-0.241238,0.970004]] 2025-10-28T20:12:37.135Z,1761682357.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994802,0.088018,0.051206],[-0.097732,-0.966489,-0.237376],[0.028596,-0.241147,0.970067]] 2025-10-28T20:12:37.541Z,1761682357.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994672,0.090203,0.049906],[-0.099533,-0.966369,-0.237117],[0.026839,-0.240821,0.970198]] 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:12:37.566Z,1761682357.566 [marl:UpdateCommandMode] Stopped 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed] Stopped 2025-10-28T20:12:37.567Z,1761682357.567 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:12:37.942Z,1761682357.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994437,0.093213,0.049061],[-0.102254,-0.966083,-0.237125],[0.025294,-0.240823,0.970239]] 2025-10-28T20:12:38.346Z,1761682358.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994203,0.096144,0.048140],[-0.104871,-0.965883,-0.236794],[0.023732,-0.240470,0.970367]] 2025-10-28T20:12:38.755Z,1761682358.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993988,0.098789,0.047204],[-0.107192,-0.965875,-0.235787],[0.022300,-0.239429,0.970658]] 2025-10-28T20:12:39.157Z,1761682359.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993794,0.101211,0.046155],[-0.109291,-0.965677,-0.235633],[0.020722,-0.239215,0.970746]] 2025-10-28T20:12:39.559Z,1761682359.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993689,0.102824,0.044833],[-0.110526,-0.965734,-0.234823],[0.019151,-0.238296,0.971004]] 2025-10-28T20:12:39.963Z,1761682359.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993649,0.103672,0.043757],[-0.111078,-0.965864,-0.234026],[0.018001,-0.237400,0.971245]] 2025-10-28T20:12:40.367Z,1761682360.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993674,0.104030,0.042299],[-0.111086,-0.965787,-0.234339],[0.016473,-0.237556,0.971234]] 2025-10-28T20:12:40.783Z,1761682360.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993862,0.102925,0.040549],[-0.109592,-0.966016,-0.234101],[0.015076,-0.237108,0.971366]] 2025-10-28T20:12:41.212Z,1761682361.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994069,0.101562,0.038876],[-0.107888,-0.965908,-0.235332],[0.013649,-0.238130,0.971137]] 2025-10-28T20:12:41.578Z,1761682361.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994389,0.099321,0.036411],[-0.105114,-0.966424,-0.234468],[0.011901,-0.236979,0.971442]] 2025-10-28T20:12:41.984Z,1761682361.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994739,0.096724,0.033759],[-0.101955,-0.966894,-0.233926],[0.010015,-0.236137,0.971668]] 2025-10-28T20:12:42.386Z,1761682362.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995086,0.094002,0.031097],[-0.098674,-0.967431,-0.233112],[0.008171,-0.235035,0.971953]] 2025-10-28T20:12:42.798Z,1761682362.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995422,0.091379,0.028017],[-0.095393,-0.968055,-0.231885],[0.005933,-0.233496,0.972340]] 2025-10-28T20:12:43.198Z,1761682363.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995767,0.088471,0.024905],[-0.091835,-0.968669,-0.230751],[0.003710,-0.232062,0.972694]] 2025-10-28T20:12:43.598Z,1761682363.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996055,0.085942,0.022099],[-0.088725,-0.968659,-0.232009],[0.001467,-0.233055,0.972463]] 2025-10-28T20:12:44.002Z,1761682364.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996280,0.083949,0.019441],[-0.086167,-0.968670,-0.232924],[-0.000722,-0.233732,0.972301]] 2025-10-28T20:12:44.406Z,1761682364.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996394,0.083073,0.017288],[-0.084811,-0.968647,-0.233517],[-0.002653,-0.234141,0.972199]] 2025-10-28T20:12:44.833Z,1761682364.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996442,0.082873,0.015352],[-0.084156,-0.968295,-0.235208],[-0.004627,-0.235663,0.971824]] 2025-10-28T20:12:45.215Z,1761682365.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996378,0.083920,0.013744],[-0.084783,-0.967821,-0.236926],[-0.006581,-0.237233,0.971431]] 2025-10-28T20:12:45.618Z,1761682365.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996223,0.085898,0.012688],[-0.086429,-0.966965,-0.239808],[-0.008330,-0.239999,0.970738]] 2025-10-28T20:12:46.023Z,1761682366.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996020,0.088360,0.011673],[-0.088565,-0.966518,-0.240830],[-0.009997,-0.240906,0.970497]] 2025-10-28T20:12:46.427Z,1761682366.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995776,0.091187,0.010760],[-0.091085,-0.966193,-0.241193],[-0.011597,-0.241155,0.970417]] 2025-10-28T20:12:46.846Z,1761682366.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995522,0.094030,0.009756],[-0.093594,-0.965826,-0.241704],[-0.013305,-0.241535,0.970301]] 2025-10-28T20:12:47.235Z,1761682367.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995321,0.096217,0.008815],[-0.095502,-0.965857,-0.240832],[-0.014658,-0.240547,0.970527]] 2025-10-28T20:12:47.639Z,1761682367.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995183,0.097710,0.007923],[-0.096756,-0.966042,-0.239587],[-0.015756,-0.239200,0.970842]] 2025-10-28T20:12:48.047Z,1761682368.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995106,0.098564,0.007069],[-0.097388,-0.966080,-0.239174],[-0.016745,-0.238691,0.970951]] 2025-10-28T20:12:48.456Z,1761682368.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995330,0.096454,0.003895],[-0.094654,-0.967245,-0.235538],[-0.018951,-0.234807,0.971857]] 2025-10-28T20:12:48.869Z,1761682368.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995561,0.094091,0.002061],[-0.091964,-0.967937,-0.233755],[-0.019999,-0.232907,0.972293]] 2025-10-28T20:12:49.259Z,1761682369.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995871,0.090778,0.000123],[-0.088340,-0.968810,-0.231525],[-0.020899,-0.230580,0.972829]] 2025-10-28T20:12:49.321Z,1761682369.321 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:12:49.321Z,1761682369.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:12:49.321Z,1761682369.321 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:12:49.322Z,1761682369.322 [marl:UpdateRudder:A] Stopped 2025-10-28T20:12:49.322Z,1761682369.322 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:12:49.663Z,1761682369.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996211,0.086953,-0.001908],[-0.084168,-0.969368,-0.230741],[-0.021913,-0.229706,0.973013]] 2025-10-28T20:12:49.761Z,1761682369.761 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:12:49.761Z,1761682369.761 [marl:UpdateRudder:B] Stopped 2025-10-28T20:12:49.761Z,1761682369.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:12:49.761Z,1761682369.761 [marl:UpdateRudder] Stopped 2025-10-28T20:12:49.761Z,1761682369.761 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:12:50.063Z,1761682370.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996539,0.083035,-0.003783],[-0.079880,-0.969274,-0.232652],[-0.022985,-0.231544,0.972553]] 2025-10-28T20:12:50.467Z,1761682370.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996879,0.078725,-0.005946],[-0.075170,-0.969489,-0.233325],[-0.024133,-0.232150,0.972381]] 2025-10-28T20:12:50.882Z,1761682370.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997145,0.075082,-0.008071],[-0.071078,-0.969282,-0.235458],[-0.025501,-0.234212,0.971851]] 2025-10-28T20:12:50.907Z,1761682370.907 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:12:50.907Z,1761682370.907 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:12:50.907Z,1761682370.907 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:12:50.907Z,1761682370.907 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:12:50.907Z,1761682370.907 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:12:50.908Z,1761682370.908 [marl:UpdateCommandMode] Stopped 2025-10-28T20:12:50.920Z,1761682370.920 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:12:50.920Z,1761682370.920 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:12:50.920Z,1761682370.920 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:12:50.920Z,1761682370.920 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:12:50.921Z,1761682370.921 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:12:50.921Z,1761682370.921 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:12:50.921Z,1761682370.921 [marl:UpdateSpeed] Stopped 2025-10-28T20:12:50.921Z,1761682370.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:12:51.283Z,1761682371.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997358,0.071930,-0.010169],[-0.067470,-0.969080,-0.237341],[-0.026926,-0.236028,0.971373]] 2025-10-28T20:12:51.685Z,1761682371.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997528,0.069220,-0.012133],[-0.064336,-0.968973,-0.238647],[-0.028275,-0.237276,0.971031]] 2025-10-28T20:12:52.083Z,1761682372.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997775,0.065098,-0.014414],[-0.059700,-0.968535,-0.241612],[-0.029689,-0.240214,0.970266]] 2025-10-28T20:12:52.487Z,1761682372.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998205,0.057663,-0.016195],[-0.051758,-0.966549,-0.251205],[-0.030138,-0.249916,0.967799]] 2025-10-28T20:12:52.896Z,1761682372.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998736,0.047199,-0.017277],[-0.040799,-0.962060,-0.269771],[-0.029354,-0.268725,0.962770]] 2025-10-28T20:12:53.402Z,1761682373.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999198,0.035659,-0.018219],[-0.028716,-0.955180,-0.294628],[-0.027908,-0.293869,0.955438]] 2025-10-28T20:12:53.870Z,1761682373.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999546,0.022889,-0.019596],[-0.015417,-0.947264,-0.320083],[-0.025889,-0.319635,0.947187]] 2025-10-28T20:12:54.324Z,1761682374.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999729,0.009969,-0.021033],[-0.002115,-0.938818,-0.344406],[-0.023180,-0.344268,0.938585]] 2025-10-28T20:12:54.739Z,1761682374.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999733,-0.003357,-0.022848],[0.011469,-0.930913,-0.365061],[-0.020044,-0.365226,0.930703]] 2025-10-28T20:12:55.131Z,1761682375.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999569,-0.016273,-0.024428],[0.024393,-0.923429,-0.382993],[-0.016325,-0.383424,0.923428]] 2025-10-28T20:12:55.534Z,1761682375.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999248,-0.028890,-0.025877],[0.036778,-0.917626,-0.395739],[-0.012313,-0.396393,0.917998]] 2025-10-28T20:12:55.939Z,1761682375.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998749,-0.041577,-0.027796],[0.049285,-0.912668,-0.405719],[-0.008500,-0.406581,0.913575]] 2025-10-28T20:12:56.348Z,1761682376.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998101,-0.054100,-0.029468],[0.061440,-0.909140,-0.411933],[-0.004504,-0.412961,0.910738]] 2025-10-28T20:12:56.672Z,1761682376.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:12:56.746Z,1761682376.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997244,-0.067365,-0.031103],[0.074197,-0.907460,-0.413536],[-0.000367,-0.414703,0.909957]] 2025-10-28T20:12:57.151Z,1761682377.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996115,-0.081522,-0.033299],[0.087990,-0.906294,-0.413387],[0.003521,-0.414711,0.909946]] 2025-10-28T20:12:57.554Z,1761682377.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994635,-0.097015,-0.035905],[0.103187,-0.905928,-0.410666],[0.007313,-0.412167,0.911079]] 2025-10-28T20:12:57.676Z,1761682377.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:12:57.960Z,1761682377.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992705,-0.114131,-0.038858],[0.120052,-0.906040,-0.405807],[0.011108,-0.407512,0.913132]] 2025-10-28T20:12:58.363Z,1761682378.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990268,-0.132407,-0.042859],[0.138423,-0.905196,-0.401820],[0.014408,-0.403843,0.914715]] 2025-10-28T20:12:58.778Z,1761682378.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987344,-0.151502,-0.046888],[0.157608,-0.904478,-0.396332],[0.017636,-0.398706,0.916909]] 2025-10-28T20:12:59.171Z,1761682379.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983862,-0.171168,-0.052134],[0.177784,-0.902190,-0.392997],[0.020233,-0.395923,0.918061]] 2025-10-28T20:12:59.590Z,1761682379.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979867,-0.191083,-0.057868],[0.198379,-0.899127,-0.390148],[0.022520,-0.393773,0.918932]] 2025-10-28T20:12:59.993Z,1761682379.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975372,-0.211036,-0.064141],[0.219215,-0.895339,-0.387701],[0.024391,-0.392214,0.919551]] 2025-10-28T20:13:00.437Z,1761682380.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970393,-0.231099,-0.070222],[0.240112,-0.891533,-0.384078],[0.026155,-0.389567,0.920627]] 2025-10-28T20:13:01.241Z,1761682381.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959781,-0.268022,-0.083577],[0.279300,-0.881311,-0.381159],[0.028501,-0.389172,0.920724]] 2025-10-28T20:13:01.643Z,1761682381.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954426,-0.284658,-0.089671],[0.296972,-0.875972,-0.380107],[0.029652,-0.389414,0.920586]] 2025-10-28T20:13:02.047Z,1761682382.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949283,-0.299613,-0.095365],[0.312890,-0.870230,-0.380526],[0.031022,-0.391066,0.919840]] 2025-10-28T20:13:02.452Z,1761682382.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944476,-0.313037,-0.099863],[0.326932,-0.864879,-0.380919],[0.032872,-0.392417,0.919200]] 2025-10-28T20:13:02.856Z,1761682382.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939695,-0.325759,-0.104182],[0.340229,-0.859301,-0.381898],[0.034883,-0.394314,0.918314]] 2025-10-28T20:13:02.885Z,1761682382.885 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:13:02.885Z,1761682382.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:13:02.885Z,1761682382.885 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:13:02.885Z,1761682382.885 [marl:UpdateRudder:A] Stopped 2025-10-28T20:13:02.885Z,1761682382.885 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:13:03.313Z,1761682383.313 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:13:03.314Z,1761682383.314 [marl:UpdateRudder:B] Stopped 2025-10-28T20:13:03.314Z,1761682383.314 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:13:03.314Z,1761682383.314 [marl:UpdateRudder] Stopped 2025-10-28T20:13:03.314Z,1761682383.314 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:13:03.672Z,1761682383.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925734,-0.361069,-0.112453],[0.375842,-0.845426,-0.379471],[0.041945,-0.393554,0.918344]] 2025-10-28T20:13:04.072Z,1761682384.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920939,-0.372539,-0.114393],[0.387196,-0.841430,-0.376927],[0.044166,-0.391420,0.919152]] 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode] Stopped 2025-10-28T20:13:04.566Z,1761682384.566 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed] Stopped 2025-10-28T20:13:04.567Z,1761682384.567 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:13:04.927Z,1761682384.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910146,-0.396710,-0.119395],[0.411591,-0.833025,-0.369680],[0.047197,-0.385605,0.921456]] 2025-10-28T20:13:05.379Z,1761682385.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903923,-0.409598,-0.123097],[0.425021,-0.828129,-0.365458],[0.047751,-0.382665,0.922652]] 2025-10-28T20:13:05.788Z,1761682385.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896854,-0.423375,-0.128085],[0.439764,-0.822336,-0.361070],[0.047539,-0.380154,0.923701]] 2025-10-28T20:13:06.183Z,1761682386.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889331,-0.437238,-0.133840],[0.454861,-0.815949,-0.356832],[0.046814,-0.378220,0.924531]] 2025-10-28T20:13:06.586Z,1761682386.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881286,-0.451395,-0.139922],[0.470341,-0.808960,-0.352652],[0.045994,-0.376598,0.925234]] 2025-10-28T20:13:06.999Z,1761682386.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872973,-0.465197,-0.146664],[0.485668,-0.801113,-0.349777],[0.045221,-0.376576,0.925281]] 2025-10-28T20:13:07.397Z,1761682387.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864197,-0.479450,-0.152615],[0.501158,-0.793235,-0.345859],[0.044762,-0.375374,0.925792]] 2025-10-28T20:13:07.799Z,1761682387.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854999,-0.493843,-0.158416],[0.516707,-0.784848,-0.342092],[0.044607,-0.374344,0.926217]] 2025-10-28T20:13:08.203Z,1761682388.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845128,-0.508533,-0.164779],[0.532705,-0.775501,-0.338855],[0.044533,-0.374155,0.926296]] 2025-10-28T20:13:08.607Z,1761682388.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834752,-0.523380,-0.171063],[0.548794,-0.765482,-0.335951],[0.044885,-0.374314,0.926215]] 2025-10-28T20:13:09.012Z,1761682389.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823722,-0.538841,-0.176446],[0.565155,-0.755235,-0.331994],[0.045634,-0.373190,0.926632]] 2025-10-28T20:13:09.422Z,1761682389.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812052,-0.554085,-0.183201],[0.581757,-0.743754,-0.329225],[0.046162,-0.373926,0.926309]] 2025-10-28T20:13:09.822Z,1761682389.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799856,-0.569393,-0.189794],[0.598377,-0.731945,-0.325885],[0.046638,-0.374230,0.926163]] 2025-10-28T20:13:10.322Z,1761682390.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787075,-0.584440,-0.197339],[0.615170,-0.720028,-0.321131],[0.045592,-0.374151,0.926246]] 2025-10-28T20:13:10.723Z,1761682390.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774444,-0.598573,-0.204808],[0.631115,-0.708496,-0.315794],[0.043920,-0.373823,0.926460]] 2025-10-28T20:13:11.127Z,1761682391.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762001,-0.611917,-0.211924],[0.646230,-0.697465,-0.309724],[0.041716,-0.372961,0.926909]] 2025-10-28T20:13:11.536Z,1761682391.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749813,-0.624263,-0.219261],[0.660505,-0.686739,-0.303517],[0.038899,-0.372404,0.927255]] 2025-10-28T20:13:11.943Z,1761682391.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737783,-0.636074,-0.226023],[0.674075,-0.676320,-0.297010],[0.036056,-0.371486,0.927738]] 2025-10-28T20:13:12.338Z,1761682392.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726402,-0.647057,-0.231643],[0.686460,-0.666728,-0.290254],[0.033368,-0.369854,0.928490]] 2025-10-28T20:13:12.753Z,1761682392.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715353,-0.657337,-0.237019],[0.698089,-0.657395,-0.283731],[0.030692,-0.368428,0.929150]] 2025-10-28T20:13:13.147Z,1761682393.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704543,-0.667344,-0.241395],[0.709098,-0.648447,-0.276942],[0.028284,-0.366290,0.930071]] 2025-10-28T20:13:13.552Z,1761682393.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693626,-0.677315,-0.245207],[0.719867,-0.639501,-0.269871],[0.025977,-0.363706,0.931152]] 2025-10-28T20:13:13.955Z,1761682393.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682194,-0.687166,-0.249830],[0.730781,-0.629622,-0.263696],[0.023904,-0.362462,0.931692]] 2025-10-28T20:13:14.359Z,1761682394.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670363,-0.696910,-0.254815],[0.741702,-0.619052,-0.258173],[0.022180,-0.362066,0.931889]] 2025-10-28T20:13:14.770Z,1761682394.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657889,-0.706648,-0.260444],[0.752826,-0.607478,-0.253423],[0.020867,-0.362793,0.931636]] 2025-10-28T20:13:15.168Z,1761682395.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644727,-0.716778,-0.265626],[0.764170,-0.595589,-0.247625],[0.019289,-0.362634,0.931732]] 2025-10-28T20:13:15.571Z,1761682395.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630300,-0.727563,-0.270876],[0.776153,-0.582639,-0.241079],[0.017578,-0.362193,0.931937]] 2025-10-28T20:13:15.975Z,1761682395.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614905,-0.738839,-0.275697],[0.788439,-0.568898,-0.233919],[0.015985,-0.361209,0.932348]] 2025-10-28T20:13:16.425Z,1761682396.425 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:13:16.425Z,1761682396.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:13:16.425Z,1761682396.425 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:13:16.425Z,1761682396.425 [marl:UpdateRudder:A] Stopped 2025-10-28T20:13:16.425Z,1761682396.425 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:13:16.842Z,1761682396.842 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:13:16.842Z,1761682396.842 [marl:UpdateRudder:B] Stopped 2025-10-28T20:13:16.842Z,1761682396.842 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:13:16.842Z,1761682396.842 [marl:UpdateRudder] Stopped 2025-10-28T20:13:16.842Z,1761682396.842 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:13:17.189Z,1761682397.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567397,-0.769250,-0.293793],[0.823387,-0.525831,-0.213389],[0.009663,-0.362982,0.931746]] 2025-10-28T20:13:17.995Z,1761682397.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536420,-0.787751,-0.302823],[0.843942,-0.499025,-0.196814],[0.003924,-0.361140,0.932503]] 2025-10-28T20:13:18.049Z,1761682398.049 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:13:18.049Z,1761682398.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:13:18.049Z,1761682398.049 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateCommandMode] Stopped 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:13:18.050Z,1761682398.050 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:13:18.051Z,1761682398.051 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:13:18.051Z,1761682398.051 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:13:18.051Z,1761682398.051 [marl:UpdateSpeed] Stopped 2025-10-28T20:13:18.051Z,1761682398.051 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:13:18.398Z,1761682398.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522445,-0.796121,-0.305358],[0.852673,-0.487983,-0.186604],[-0.000451,-0.357861,0.933775]] 2025-10-28T20:13:18.804Z,1761682398.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512675,-0.803631,-0.302227],[0.858564,-0.482204,-0.174207],[-0.005736,-0.348793,0.937182]] 2025-10-28T20:13:19.207Z,1761682399.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507060,-0.811203,-0.291273],[0.861823,-0.482000,-0.157915],[-0.012292,-0.331098,0.943516]] 2025-10-28T20:13:19.610Z,1761682399.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504453,-0.817911,-0.276676],[0.863223,-0.484908,-0.140395],[-0.019331,-0.309656,0.950652]] 2025-10-28T20:13:20.015Z,1761682400.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503937,-0.822785,-0.262817],[0.863329,-0.489199,-0.123882],[-0.026642,-0.289326,0.956860]] 2025-10-28T20:13:20.419Z,1761682400.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504238,-0.826870,-0.249056],[0.862905,-0.493716,-0.107889],[-0.033753,-0.269313,0.962461]] 2025-10-28T20:13:20.823Z,1761682400.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505023,-0.830125,-0.236313],[0.862161,-0.497998,-0.093140],[-0.040365,-0.250778,0.967203]] 2025-10-28T20:13:21.238Z,1761682401.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506430,-0.832276,-0.225489],[0.861032,-0.502171,-0.080304],[-0.046399,-0.234821,0.970931]] 2025-10-28T20:13:21.631Z,1761682401.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507612,-0.833585,-0.217866],[0.860004,-0.505527,-0.069535],[-0.052174,-0.222663,0.973498]] 2025-10-28T20:13:22.035Z,1761682402.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508080,-0.834913,-0.211603],[0.859392,-0.507797,-0.059895],[-0.057444,-0.212281,0.975519]] 2025-10-28T20:13:22.440Z,1761682402.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508201,-0.835748,-0.207982],[0.858979,-0.509349,-0.052149],[-0.062352,-0.205154,0.976741]] 2025-10-28T20:13:22.842Z,1761682402.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507736,-0.836487,-0.206140],[0.858895,-0.510127,-0.045490],[-0.067105,-0.200150,0.977465]] 2025-10-28T20:13:23.251Z,1761682403.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506572,-0.837265,-0.205846],[0.859198,-0.510109,-0.039589],[-0.071858,-0.196917,0.977783]] 2025-10-28T20:13:23.652Z,1761682403.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503970,-0.838636,-0.206650],[0.860328,-0.508599,-0.034117],[-0.076491,-0.194981,0.977820]] 2025-10-28T20:13:24.057Z,1761682404.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500903,-0.839898,-0.208967],[0.861681,-0.506605,-0.029297],[-0.081257,-0.194738,0.977484]] 2025-10-28T20:13:24.459Z,1761682404.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497746,-0.841410,-0.210424],[0.863018,-0.504620,-0.023626],[-0.086305,-0.193359,0.977325]] 2025-10-28T20:13:25.267Z,1761682405.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492146,-0.843571,-0.214895],[0.865187,-0.501262,-0.013717],[-0.096147,-0.192675,0.976541]] 2025-10-28T20:13:25.677Z,1761682405.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489627,-0.844532,-0.216866],[0.866078,-0.499829,-0.008919],[-0.100863,-0.192190,0.976161]] 2025-10-28T20:13:26.074Z,1761682406.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486256,-0.846016,-0.218659],[0.867386,-0.497624,-0.003534],[-0.105820,-0.191380,0.975795]] 2025-10-28T20:13:26.479Z,1761682406.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482787,-0.847409,-0.220941],[0.868734,-0.495278,0.001308],[-0.110536,-0.191308,0.975286]] 2025-10-28T20:13:26.531Z,1761682406.531 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:13:26.673Z,1761682406.673 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:13:26.673Z,1761682406.673 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:13:26.883Z,1761682406.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479608,-0.848523,-0.223571],[0.869925,-0.493153,0.005494],[-0.114916,-0.191855,0.974672]] 2025-10-28T20:13:26.925Z,1761682406.925 [DAT](INFO): DAT read: user:241> 2025-10-28T20:13:26.925Z,1761682406.925 [DAT](INFO): DAT read: Tx time:20:13:26.6712 2025-10-28T20:13:26.926Z,1761682406.926 [DAT](INFO): Ping request sent. 2025-10-28T20:13:26.926Z,1761682406.926 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:13:26.926Z,1761682406.926 [DAT](INFO): publishing transmit ping time 2025-10-28T20:13:26.927Z,1761682406.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T20:13:27.177Z,1761682407.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250949 2025-10-28T20:13:27.294Z,1761682407.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474203,-0.849915,-0.229731],[0.871731,-0.489820,0.012744],[-0.123358,-0.194221,0.973171]] 2025-10-28T20:13:27.429Z,1761682407.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503541 2025-10-28T20:13:27.681Z,1761682407.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943 2025-10-28T20:13:27.753Z,1761682407.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472425,-0.850149,-0.232510],[0.872197,-0.488910,0.015480],[-0.126837,-0.195481,0.972471]] 2025-10-28T20:13:27.796Z,1761682407.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:13:27.933Z,1761682407.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006966 2025-10-28T20:13:28.100Z,1761682408.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471069,-0.850417,-0.234275],[0.872515,-0.488257,0.017959],[-0.129659,-0.195949,0.972005]] 2025-10-28T20:13:28.186Z,1761682408.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260108 2025-10-28T20:13:28.437Z,1761682408.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510960 2025-10-28T20:13:28.505Z,1761682408.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469809,-0.850332,-0.237096],[0.872861,-0.487593,0.019143],[-0.131884,-0.197958,0.971298]] 2025-10-28T20:13:28.691Z,1761682408.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764775 2025-10-28T20:13:28.800Z,1761682408.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:13:28.906Z,1761682408.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468982,-0.849987,-0.239953],[0.873164,-0.487066,0.018758],[-0.132817,-0.200721,0.970603]] 2025-10-28T20:13:28.941Z,1761682408.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002 2025-10-28T20:13:29.193Z,1761682409.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266950 2025-10-28T20:13:29.306Z,1761682409.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468910,-0.849825,-0.240667],[0.873231,-0.486968,0.018161],[-0.132631,-0.201642,0.970438]] 2025-10-28T20:13:29.445Z,1761682409.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519018 2025-10-28T20:13:29.708Z,1761682409.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781481 2025-10-28T20:13:29.758Z,1761682409.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468923,-0.849431,-0.242031],[0.873355,-0.486807,0.016412],[-0.131763,-0.203683,0.970130]] 2025-10-28T20:13:29.816Z,1761682409.816 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:13:29.816Z,1761682409.816 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:13:29.816Z,1761682409.816 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:13:29.817Z,1761682409.817 [marl:UpdateRudder:A] Stopped 2025-10-28T20:13:29.817Z,1761682409.817 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:13:29.949Z,1761682409.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022965 2025-10-28T20:13:30.114Z,1761682410.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468287,-0.849524,-0.242931],[0.873829,-0.486000,0.015089],[-0.130883,-0.205214,0.969926]] 2025-10-28T20:13:30.162Z,1761682410.162 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:13:30.162Z,1761682410.162 [marl:UpdateRudder:B] Stopped 2025-10-28T20:13:30.162Z,1761682410.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:13:30.163Z,1761682410.163 [marl:UpdateRudder] Stopped 2025-10-28T20:13:30.163Z,1761682410.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:13:30.202Z,1761682410.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276107 2025-10-28T20:13:30.453Z,1761682410.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526984 2025-10-28T20:13:30.520Z,1761682410.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467661,-0.849267,-0.245028],[0.874300,-0.485211,0.013050],[-0.129973,-0.208125,0.969428]] 2025-10-28T20:13:30.707Z,1761682410.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781070 2025-10-28T20:13:30.922Z,1761682410.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467571,-0.849006,-0.246104],[0.874365,-0.485113,0.012336],[-0.129861,-0.209416,0.969165]] 2025-10-28T20:13:30.957Z,1761682410.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031130 2025-10-28T20:13:31.210Z,1761682411.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283670 2025-10-28T20:13:31.328Z,1761682411.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467367,-0.849220,-0.245750],[0.874514,-0.484845,0.012297],[-0.129594,-0.209164,0.969255]] 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:13:31.373Z,1761682411.373 [marl:UpdateCommandMode] Stopped 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed] Stopped 2025-10-28T20:13:31.374Z,1761682411.374 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:13:31.461Z,1761682411.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534925 2025-10-28T20:13:31.724Z,1761682411.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789459 2025-10-28T20:13:31.757Z,1761682411.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467693,-0.848949,-0.246068],[0.874353,-0.485144,0.011923],[-0.129500,-0.209574,0.969179]] 2025-10-28T20:13:31.965Z,1761682411.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038943 2025-10-28T20:13:32.136Z,1761682412.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468517,-0.848685,-0.245410],[0.873896,-0.485960,0.012192],[-0.129607,-0.208750,0.969343]] 2025-10-28T20:13:32.218Z,1761682412.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291794 2025-10-28T20:13:32.469Z,1761682412.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543036 2025-10-28T20:13:32.539Z,1761682412.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469715,-0.847921,-0.245758],[0.873204,-0.487206,0.012025],[-0.129931,-0.208949,0.969257]] 2025-10-28T20:13:32.721Z,1761682412.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795248 2025-10-28T20:13:32.942Z,1761682412.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471173,-0.847471,-0.244518],[0.872418,-0.488604,0.012340],[-0.129930,-0.207507,0.969566]] 2025-10-28T20:13:32.973Z,1761682412.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047098 2025-10-28T20:13:33.226Z,1761682413.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299503 2025-10-28T20:13:33.346Z,1761682413.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472963,-0.846660,-0.243870],[0.871503,-0.490248,0.011829],[-0.129572,-0.206939,0.969736]] 2025-10-28T20:13:33.477Z,1761682413.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550887 2025-10-28T20:13:33.731Z,1761682413.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804943 2025-10-28T20:13:33.774Z,1761682413.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474884,-0.845530,-0.244058],[0.870625,-0.491847,0.009935],[-0.128439,-0.207765,0.969710]] 2025-10-28T20:13:33.981Z,1761682413.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055145 2025-10-28T20:13:34.155Z,1761682414.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477063,-0.844572,-0.243123],[0.869778,-0.493390,0.007256],[-0.126082,-0.208001,0.969968]] 2025-10-28T20:13:34.233Z,1761682414.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307475 2025-10-28T20:13:34.485Z,1761682414.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559072 2025-10-28T20:13:34.561Z,1761682414.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479540,-0.843124,-0.243274],[0.868972,-0.494856,0.002128],[-0.122180,-0.210378,0.969955]] 2025-10-28T20:13:34.737Z,1761682414.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811015 2025-10-28T20:13:34.963Z,1761682414.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482048,-0.842235,-0.241392],[0.868316,-0.496000,-0.003402],[-0.116865,-0.211244,0.970422]] 2025-10-28T20:13:34.989Z,1761682414.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063103 2025-10-28T20:13:35.242Z,1761682415.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315600 2025-10-28T20:13:35.366Z,1761682415.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483727,-0.841533,-0.240478],[0.868155,-0.496194,-0.009924],[-0.110973,-0.213573,0.970604]] 2025-10-28T20:13:35.493Z,1761682415.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567462 2025-10-28T20:13:35.749Z,1761682415.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822540 2025-10-28T20:13:35.775Z,1761682415.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484279,-0.841414,-0.239785],[0.868588,-0.495266,-0.016327],[-0.105019,-0.216181,0.970689]] 2025-10-28T20:13:35.997Z,1761682415.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070956 2025-10-28T20:13:36.177Z,1761682416.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483411,-0.842220,-0.238703],[0.869707,-0.493101,-0.021475],[-0.099618,-0.217983,0.970855]] 2025-10-28T20:13:36.249Z,1761682416.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323149 2025-10-28T20:13:36.501Z,1761682416.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575157 2025-10-28T20:13:36.580Z,1761682416.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481522,-0.843734,-0.237172],[0.871306,-0.490074,-0.025555],[-0.094671,-0.218955,0.971131]] 2025-10-28T20:13:36.753Z,1761682416.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827409 2025-10-28T20:13:36.982Z,1761682416.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478686,-0.845840,-0.235403],[0.873319,-0.486317,-0.028458],[-0.090409,-0.219204,0.971481]] 2025-10-28T20:13:37.005Z,1761682417.005 [DAT](INFO): Reached modem response timeout 2025-10-28T20:13:37.386Z,1761682417.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476732,-0.847396,-0.233767],[0.874766,-0.483545,-0.031121],[-0.086665,-0.219328,0.971794]] 2025-10-28T20:13:37.794Z,1761682417.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474737,-0.848944,-0.232205],[0.876158,-0.480880,-0.033181],[-0.083494,-0.219201,0.972101]] 2025-10-28T20:13:38.230Z,1761682418.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472288,-0.850723,-0.230682],[0.877704,-0.477976,-0.034265],[-0.081110,-0.218654,0.972426]] 2025-10-28T20:13:38.599Z,1761682418.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470005,-0.852221,-0.229815],[0.879119,-0.475284,-0.035433],[-0.079031,-0.218688,0.972589]] 2025-10-28T20:13:39.002Z,1761682419.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468094,-0.853368,-0.229460],[0.880304,-0.472984,-0.036762],[-0.077159,-0.219202,0.972624]] 2025-10-28T20:13:39.273Z,1761682419.273 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:13:39.273Z,1761682419.273 [DAT](INFO): response not received 2025-10-28T20:13:39.273Z,1761682419.273 [DAT](ERROR): No response from remote modem. 2025-10-28T20:13:39.406Z,1761682419.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466851,-0.854699,-0.227024],[0.881130,-0.471409,-0.037194],[-0.075231,-0.217402,0.973179]] 2025-10-28T20:13:39.813Z,1761682419.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465572,-0.855874,-0.225217],[0.881966,-0.469785,-0.037928],[-0.073342,-0.216292,0.973570]] 2025-10-28T20:13:40.219Z,1761682420.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464499,-0.856688,-0.224336],[0.882704,-0.468269,-0.039469],[-0.071237,-0.216355,0.973712]] 2025-10-28T20:13:40.619Z,1761682420.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463491,-0.857343,-0.223915],[0.883412,-0.466761,-0.041442],[-0.068985,-0.217017,0.973727]] 2025-10-28T20:13:41.023Z,1761682421.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462519,-0.857926,-0.223695],[0.884090,-0.465292,-0.043464],[-0.066795,-0.217869,0.973690]] 2025-10-28T20:13:41.428Z,1761682421.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461786,-0.858549,-0.222817],[0.884634,-0.464093,-0.045174],[-0.064623,-0.217972,0.973813]] 2025-10-28T20:13:41.831Z,1761682421.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460853,-0.858851,-0.223582],[0.885271,-0.462628,-0.047642],[-0.062518,-0.219886,0.973520]] 2025-10-28T20:13:42.235Z,1761682422.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460706,-0.859223,-0.222453],[0.885515,-0.461951,-0.049644],[-0.060107,-0.219857,0.973679]] 2025-10-28T20:13:42.639Z,1761682422.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461083,-0.858804,-0.223290],[0.885459,-0.461741,-0.052509],[-0.058007,-0.221925,0.973337]] 2025-10-28T20:13:43.044Z,1761682423.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461868,-0.858545,-0.222661],[0.885176,-0.462047,-0.054554],[-0.056042,-0.222292,0.973368]] 2025-10-28T20:13:43.073Z,1761682423.073 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:13:43.073Z,1761682423.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:13:43.073Z,1761682423.073 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:13:43.074Z,1761682423.074 [marl:UpdateRudder:A] Stopped 2025-10-28T20:13:43.074Z,1761682423.074 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:13:43.446Z,1761682423.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463009,-0.858189,-0.221664],[0.884691,-0.462765,-0.056303],[-0.054260,-0.222173,0.973496]] 2025-10-28T20:13:43.481Z,1761682423.481 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:13:43.481Z,1761682423.481 [marl:UpdateRudder:B] Stopped 2025-10-28T20:13:43.481Z,1761682423.481 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:13:43.481Z,1761682423.481 [marl:UpdateRudder] Stopped 2025-10-28T20:13:43.482Z,1761682423.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:13:43.850Z,1761682423.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464421,-0.857611,-0.220945],[0.884077,-0.463651,-0.058617],[-0.052170,-0.222555,0.973523]] 2025-10-28T20:13:44.255Z,1761682424.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466044,-0.857011,-0.219854],[0.883329,-0.464830,-0.060524],[-0.050325,-0.222410,0.973653]] 2025-10-28T20:13:44.661Z,1761682424.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467945,-0.856197,-0.218985],[0.882440,-0.466201,-0.062896],[-0.048240,-0.222673,0.973699]] 2025-10-28T20:13:44.697Z,1761682424.697 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:13:44.697Z,1761682424.697 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:13:44.697Z,1761682424.697 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:13:44.698Z,1761682424.698 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:13:44.698Z,1761682424.698 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:13:44.698Z,1761682424.698 [marl:UpdateCommandMode] Stopped 2025-10-28T20:13:44.698Z,1761682424.698 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:13:44.698Z,1761682424.698 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:13:44.699Z,1761682424.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:13:44.699Z,1761682424.699 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:13:44.699Z,1761682424.699 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:13:44.700Z,1761682424.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:13:44.700Z,1761682424.700 [marl:UpdateSpeed] Stopped 2025-10-28T20:13:44.700Z,1761682424.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:13:45.063Z,1761682425.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470309,-0.855195,-0.217834],[0.881311,-0.467963,-0.065596],[-0.045841,-0.222830,0.973779]] 2025-10-28T20:13:45.466Z,1761682425.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473156,-0.854078,-0.216041],[0.879925,-0.470149,-0.068496],[-0.043070,-0.222510,0.973979]] 2025-10-28T20:13:45.871Z,1761682425.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476280,-0.852804,-0.214201],[0.878382,-0.472545,-0.071743],[-0.040037,-0.222320,0.974151]] 2025-10-28T20:13:46.280Z,1761682426.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479346,-0.851352,-0.213138],[0.876842,-0.474845,-0.075306],[-0.037096,-0.222986,0.974116]] 2025-10-28T20:13:46.688Z,1761682426.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482167,-0.849982,-0.212240],[0.875438,-0.476727,-0.079620],[-0.033505,-0.224193,0.973969]] 2025-10-28T20:13:46.698Z,1761682426.698 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:13:47.086Z,1761682427.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484873,-0.849072,-0.209704],[0.874121,-0.478287,-0.084584],[-0.028481,-0.224319,0.974100]] 2025-10-28T20:13:47.487Z,1761682427.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487248,-0.848118,-0.208052],[0.872960,-0.479337,-0.090428],[-0.023033,-0.225681,0.973929]] 2025-10-28T20:13:47.891Z,1761682427.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488902,-0.847440,-0.206930],[0.872169,-0.479528,-0.096815],[-0.017184,-0.227811,0.973554]] 2025-10-28T20:13:48.298Z,1761682428.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489529,-0.847231,-0.206304],[0.871918,-0.478569,-0.103590],[-0.010966,-0.230591,0.972989]] 2025-10-28T20:13:48.704Z,1761682428.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488655,-0.847991,-0.205250],[0.872464,-0.476215,-0.109660],[-0.004753,-0.232659,0.972547]] 2025-10-28T20:13:49.110Z,1761682429.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486610,-0.849537,-0.203710],[0.873618,-0.472774,-0.115222],[0.001577,-0.234033,0.972227]] 2025-10-28T20:13:49.507Z,1761682429.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482717,-0.851923,-0.203005],[0.875744,-0.467563,-0.120237],[0.007515,-0.235821,0.971767]] 2025-10-28T20:13:49.911Z,1761682429.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478104,-0.854915,-0.201338],[0.878201,-0.461816,-0.124459],[0.013421,-0.236320,0.971583]] 2025-10-28T20:13:50.319Z,1761682430.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472738,-0.858105,-0.200439],[0.881000,-0.455359,-0.128399],[0.018908,-0.237285,0.971256]] 2025-10-28T20:13:50.721Z,1761682430.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466747,-0.861618,-0.199402],[0.884066,-0.448454,-0.131590],[0.023958,-0.237704,0.971042]] 2025-10-28T20:13:51.124Z,1761682431.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460699,-0.865193,-0.197982],[0.887110,-0.441793,-0.133621],[0.028141,-0.237191,0.971056]] 2025-10-28T20:13:51.526Z,1761682431.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454990,-0.868564,-0.196420],[0.889951,-0.435790,-0.134441],[0.031173,-0.235973,0.971259]] 2025-10-28T20:13:51.931Z,1761682431.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449840,-0.871867,-0.193631],[0.892488,-0.430750,-0.133863],[0.033305,-0.233030,0.971899]] 2025-10-28T20:13:52.340Z,1761682432.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445522,-0.874449,-0.191963],[0.894612,-0.426613,-0.132935],[0.034351,-0.230957,0.972357]] 2025-10-28T20:13:52.738Z,1761682432.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442798,-0.876032,-0.191047],[0.895952,-0.424071,-0.132037],[0.034651,-0.229635,0.972660]] 2025-10-28T20:13:53.143Z,1761682433.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441232,-0.876958,-0.190420],[0.896719,-0.422633,-0.131443],[0.034793,-0.228750,0.972863]] 2025-10-28T20:13:53.547Z,1761682433.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441887,-0.876609,-0.190509],[0.896371,-0.423082,-0.132366],[0.035432,-0.229257,0.972721]] 2025-10-28T20:13:53.952Z,1761682433.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443697,-0.875825,-0.189906],[0.895485,-0.424962,-0.132337],[0.035202,-0.228776,0.972842]] 2025-10-28T20:13:54.358Z,1761682434.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446533,-0.874302,-0.190274],[0.894069,-0.427582,-0.133470],[0.035336,-0.229717,0.972616]] 2025-10-28T20:13:54.762Z,1761682434.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449408,-0.872791,-0.190440],[0.892614,-0.430216,-0.134738],[0.035668,-0.230542,0.972408]] 2025-10-28T20:13:55.181Z,1761682435.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452279,-0.871437,-0.189844],[0.891123,-0.432791,-0.136355],[0.036662,-0.230845,0.972300]] 2025-10-28T20:13:55.567Z,1761682435.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455133,-0.870259,-0.188425],[0.889592,-0.435270,-0.138439],[0.038461,-0.230630,0.972281]] 2025-10-28T20:13:55.970Z,1761682435.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458684,-0.868779,-0.186632],[0.887624,-0.438121,-0.142037],[0.041632,-0.230809,0.972108]] 2025-10-28T20:13:56.378Z,1761682436.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461988,-0.867424,-0.184776],[0.885716,-0.440554,-0.146356],[0.045549,-0.231273,0.971822]] 2025-10-28T20:13:56.402Z,1761682436.402 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:13:56.402Z,1761682436.402 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:13:56.402Z,1761682436.402 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:13:56.402Z,1761682436.402 [marl:UpdateRudder:A] Stopped 2025-10-28T20:13:56.402Z,1761682436.402 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:13:56.788Z,1761682436.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464751,-0.866556,-0.181901],[0.883964,-0.442217,-0.151825],[0.051125,-0.231355,0.971525]] 2025-10-28T20:13:56.813Z,1761682436.813 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:13:56.813Z,1761682436.813 [marl:UpdateRudder:B] Stopped 2025-10-28T20:13:56.813Z,1761682436.813 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:13:56.813Z,1761682436.813 [marl:UpdateRudder] Stopped 2025-10-28T20:13:56.813Z,1761682436.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:13:57.587Z,1761682437.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470478,-0.864561,-0.176589],[0.879949,-0.444734,-0.167040],[0.065881,-0.233978,0.970007]] 2025-10-28T20:13:58.050Z,1761682438.050 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode] Stopped 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:13:58.051Z,1761682438.051 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed] Stopped 2025-10-28T20:13:58.052Z,1761682438.052 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:13:58.405Z,1761682438.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470483,-0.865106,-0.173889],[0.878824,-0.441637,-0.180626],[0.079465,-0.237799,0.968058]] 2025-10-28T20:13:58.799Z,1761682438.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466496,-0.866969,-0.175346],[0.880563,-0.436451,-0.184716],[0.083613,-0.240572,0.967023]] 2025-10-28T20:13:58.928Z,1761682438.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:13:59.203Z,1761682439.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461259,-0.869397,-0.177171],[0.883032,-0.430329,-0.187274],[0.086573,-0.242829,0.966198]] 2025-10-28T20:13:59.608Z,1761682439.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455652,-0.871986,-0.178944],[0.885763,-0.424197,-0.188362],[0.088342,-0.244330,0.965660]] 2025-10-28T20:13:59.932Z,1761682439.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:14:00.011Z,1761682440.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450300,-0.874352,-0.180936],[0.888416,-0.418522,-0.188566],[0.089147,-0.245658,0.965249]] 2025-10-28T20:14:00.419Z,1761682440.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445810,-0.876341,-0.182426],[0.890657,-0.413932,-0.188124],[0.089349,-0.246347,0.965054]] 2025-10-28T20:14:00.823Z,1761682440.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442481,-0.877814,-0.183449],[0.892380,-0.410765,-0.186896],[0.088705,-0.246404,0.965099]] 2025-10-28T20:14:01.229Z,1761682441.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441227,-0.878833,-0.181578],[0.893025,-0.410051,-0.185379],[0.088461,-0.243948,0.965745]] 2025-10-28T20:14:01.631Z,1761682441.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440770,-0.879343,-0.180214],[0.893368,-0.410232,-0.183313],[0.087266,-0.241796,0.966395]] 2025-10-28T20:14:02.034Z,1761682442.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441207,-0.879370,-0.179010],[0.893302,-0.411309,-0.181207],[0.085720,-0.239859,0.967016]] 2025-10-28T20:14:02.438Z,1761682442.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442307,-0.879153,-0.177355],[0.892898,-0.413080,-0.179159],[0.084246,-0.237604,0.967702]] 2025-10-28T20:14:02.844Z,1761682442.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443866,-0.878649,-0.175952],[0.892268,-0.415244,-0.177284],[0.082708,-0.235687,0.968303]] 2025-10-28T20:14:03.254Z,1761682443.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445451,-0.878202,-0.174168],[0.891600,-0.417449,-0.175460],[0.081383,-0.233447,0.968958]] 2025-10-28T20:14:03.656Z,1761682443.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446936,-0.877611,-0.173343],[0.890932,-0.419235,-0.174591],[0.080552,-0.232468,0.969263]] 2025-10-28T20:14:04.054Z,1761682444.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448272,-0.876879,-0.173593],[0.890285,-0.420520,-0.174803],[0.080282,-0.232906,0.969180]] 2025-10-28T20:14:04.466Z,1761682444.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448875,-0.876909,-0.171879],[0.889948,-0.421337,-0.174549],[0.080645,-0.231314,0.969531]] 2025-10-28T20:14:04.864Z,1761682444.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448442,-0.876844,-0.173332],[0.890106,-0.420464,-0.175847],[0.081311,-0.233141,0.969038]] 2025-10-28T20:14:05.268Z,1761682445.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446314,-0.877538,-0.175301],[0.891144,-0.417969,-0.176532],[0.081643,-0.235007,0.968559]] 2025-10-28T20:14:05.678Z,1761682445.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443162,-0.878636,-0.177781],[0.892729,-0.414531,-0.176629],[0.081497,-0.236986,0.968089]] 2025-10-28T20:14:06.075Z,1761682446.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439362,-0.880183,-0.179554],[0.894632,-0.410662,-0.176042],[0.081214,-0.237981,0.967869]] 2025-10-28T20:14:06.488Z,1761682446.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435832,-0.881493,-0.181713],[0.896374,-0.406949,-0.175803],[0.081021,-0.239503,0.967509]] 2025-10-28T20:14:06.883Z,1761682446.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431342,-0.883171,-0.184266],[0.898644,-0.402504,-0.174440],[0.079893,-0.240833,0.967273]] 2025-10-28T20:14:07.287Z,1761682447.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427305,-0.884926,-0.185248],[0.900693,-0.398869,-0.172208],[0.078502,-0.240437,0.967485]] 2025-10-28T20:14:07.714Z,1761682447.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423817,-0.886240,-0.186969],[0.902507,-0.395761,-0.169864],[0.076546,-0.240732,0.967569]] 2025-10-28T20:14:08.499Z,1761682448.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418919,-0.888476,-0.187395],[0.905151,-0.392201,-0.163953],[0.072172,-0.238303,0.968505]] 2025-10-28T20:14:08.903Z,1761682448.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417847,-0.888970,-0.187448],[0.905819,-0.391750,-0.161320],[0.069976,-0.237201,0.968937]] 2025-10-28T20:14:09.308Z,1761682449.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417611,-0.888769,-0.188922],[0.906089,-0.391816,-0.159634],[0.067855,-0.237845,0.968930]] 2025-10-28T20:14:09.750Z,1761682449.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418204,-0.888722,-0.187824],[0.906077,-0.393510,-0.155482],[0.064270,-0.235207,0.969818]] 2025-10-28T20:14:09.831Z,1761682449.831 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:14:09.831Z,1761682449.831 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:14:09.831Z,1761682449.831 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:14:09.839Z,1761682449.839 [marl:UpdateRudder:A] Stopped 2025-10-28T20:14:09.839Z,1761682449.839 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:14:10.193Z,1761682450.193 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:14:10.194Z,1761682450.194 [marl:UpdateRudder:B] Stopped 2025-10-28T20:14:10.194Z,1761682450.194 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:14:10.194Z,1761682450.194 [marl:UpdateRudder] Stopped 2025-10-28T20:14:10.194Z,1761682450.194 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:14:10.519Z,1761682450.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418258,-0.888813,-0.187276],[0.906148,-0.394012,-0.153788],[0.062899,-0.234023,0.970194]] 2025-10-28T20:14:11.328Z,1761682451.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417263,-0.889284,-0.187260],[0.906809,-0.393836,-0.150304],[0.059913,-0.232525,0.970743]] 2025-10-28T20:14:11.357Z,1761682451.357 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:14:11.357Z,1761682451.357 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:14:11.357Z,1761682451.357 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateCommandMode] Stopped 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:14:11.358Z,1761682451.358 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:14:11.359Z,1761682451.359 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:14:11.359Z,1761682451.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:14:11.359Z,1761682451.359 [marl:UpdateSpeed] Stopped 2025-10-28T20:14:11.359Z,1761682451.359 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:14:11.758Z,1761682451.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413411,-0.890238,-0.191229],[0.908806,-0.390445,-0.147055],[0.056250,-0.234585,0.970467]] 2025-10-28T20:14:12.142Z,1761682452.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409824,-0.891257,-0.194180],[0.910577,-0.387180,-0.144709],[0.053790,-0.236122,0.970234]] 2025-10-28T20:14:12.543Z,1761682452.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405492,-0.892786,-0.196239],[0.912688,-0.383507,-0.141145],[0.050753,-0.236338,0.970344]] 2025-10-28T20:14:12.949Z,1761682452.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401177,-0.894333,-0.198055],[0.914774,-0.379978,-0.137129],[0.047383,-0.236189,0.970551]] 2025-10-28T20:14:13.355Z,1761682453.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397224,-0.896054,-0.198245],[0.916679,-0.377111,-0.132236],[0.043730,-0.234254,0.971191]] 2025-10-28T20:14:13.764Z,1761682453.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393866,-0.897119,-0.200118],[0.918299,-0.374590,-0.128100],[0.039959,-0.234223,0.971361]] 2025-10-28T20:14:14.161Z,1761682454.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390874,-0.898324,-0.200580],[0.919745,-0.372695,-0.123159],[0.035882,-0.232622,0.971905]] 2025-10-28T20:14:14.566Z,1761682454.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388500,-0.899103,-0.201698],[0.920909,-0.371362,-0.118395],[0.031546,-0.231742,0.972266]] 2025-10-28T20:14:14.962Z,1761682454.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386961,-0.899880,-0.201188],[0.921689,-0.370987,-0.113396],[0.027405,-0.229312,0.972967]] 2025-10-28T20:14:15.367Z,1761682455.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386173,-0.900297,-0.200838],[0.922130,-0.371272,-0.108777],[0.023366,-0.227205,0.973567]] 2025-10-28T20:14:15.775Z,1761682455.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385750,-0.900528,-0.200613],[0.922397,-0.371841,-0.104489],[0.019499,-0.225351,0.974082]] 2025-10-28T20:14:16.222Z,1761682456.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385799,-0.900600,-0.200197],[0.922441,-0.372741,-0.100832],[0.016187,-0.223571,0.974553]] 2025-10-28T20:14:16.579Z,1761682456.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385859,-0.900549,-0.200313],[0.922460,-0.373454,-0.097975],[0.013423,-0.222585,0.974821]] 2025-10-28T20:14:16.983Z,1761682456.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385896,-0.900559,-0.200196],[0.922474,-0.374028,-0.095630],[0.011241,-0.221579,0.975078]] 2025-10-28T20:14:17.387Z,1761682457.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385625,-0.900643,-0.200341],[0.922606,-0.374156,-0.093835],[0.009553,-0.221021,0.975222]] 2025-10-28T20:14:17.794Z,1761682457.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384592,-0.901153,-0.200033],[0.923051,-0.373542,-0.091883],[0.008080,-0.219978,0.975471]] 2025-10-28T20:14:18.195Z,1761682458.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382732,-0.901811,-0.200633],[0.923836,-0.372040,-0.090073],[0.006585,-0.219826,0.975517]] 2025-10-28T20:14:18.599Z,1761682458.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379990,-0.902572,-0.202413],[0.924978,-0.369623,-0.088286],[0.004868,-0.220775,0.975313]] 2025-10-28T20:14:19.003Z,1761682459.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376798,-0.903464,-0.204393],[0.926291,-0.366843,-0.086082],[0.002791,-0.221762,0.975097]] 2025-10-28T20:14:19.408Z,1761682459.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373408,-0.904304,-0.206883],[0.927667,-0.363909,-0.083691],[0.000396,-0.223170,0.974780]] 2025-10-28T20:14:19.812Z,1761682459.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369982,-0.905071,-0.209666],[0.929036,-0.361023,-0.080960],[-0.002419,-0.224741,0.974416]] 2025-10-28T20:14:20.220Z,1761682460.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367304,-0.905711,-0.211603],[0.930085,-0.358984,-0.077922],[-0.005387,-0.225429,0.974245]] 2025-10-28T20:14:20.624Z,1761682460.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365435,-0.906111,-0.213119],[0.930798,-0.357801,-0.074791],[-0.008485,-0.225701,0.974160]] 2025-10-28T20:14:21.023Z,1761682461.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364512,-0.906277,-0.213992],[0.931126,-0.357596,-0.071619],[-0.011616,-0.225359,0.974206]] 2025-10-28T20:14:21.428Z,1761682461.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364566,-0.905955,-0.215260],[0.931063,-0.358271,-0.069018],[-0.014594,-0.225582,0.974115]] 2025-10-28T20:14:21.830Z,1761682461.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365544,-0.905694,-0.214700],[0.930638,-0.359848,-0.066499],[-0.017032,-0.224116,0.974414]] 2025-10-28T20:14:22.238Z,1761682462.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367218,-0.905151,-0.214131],[0.929945,-0.361933,-0.064861],[-0.018793,-0.222948,0.974649]] 2025-10-28T20:14:22.650Z,1761682462.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369046,-0.904891,-0.212079],[0.929194,-0.364162,-0.063126],[-0.020109,-0.220358,0.975212]] 2025-10-28T20:14:23.044Z,1761682463.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371086,-0.904211,-0.211415],[0.928369,-0.366307,-0.062843],[-0.020620,-0.219592,0.975374]] 2025-10-28T20:14:23.446Z,1761682463.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372837,-0.903890,-0.209703],[0.927665,-0.368157,-0.062439],[-0.020766,-0.217813,0.975770]] 2025-10-28T20:14:23.482Z,1761682463.482 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:14:23.482Z,1761682463.482 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:14:23.482Z,1761682463.482 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:14:23.482Z,1761682463.482 [marl:UpdateRudder:A] Stopped 2025-10-28T20:14:23.482Z,1761682463.482 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:14:23.851Z,1761682463.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374159,-0.903480,-0.209116],[0.927132,-0.369482,-0.062525],[-0.020774,-0.217273,0.975890]] 2025-10-28T20:14:23.907Z,1761682463.907 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:14:23.907Z,1761682463.907 [marl:UpdateRudder:B] Stopped 2025-10-28T20:14:23.907Z,1761682463.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:14:23.907Z,1761682463.907 [marl:UpdateRudder] Stopped 2025-10-28T20:14:23.907Z,1761682463.907 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:14:24.254Z,1761682464.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374946,-0.903239,-0.208748],[0.926823,-0.370174,-0.063010],[-0.020360,-0.217098,0.975937]] 2025-10-28T20:14:24.668Z,1761682464.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374923,-0.903065,-0.209539],[0.926846,-0.369952,-0.063973],[-0.019747,-0.218195,0.975705]] 2025-10-28T20:14:25.062Z,1761682465.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373615,-0.903127,-0.211595],[0.927387,-0.368387,-0.065148],[-0.019112,-0.220571,0.975184]] 2025-10-28T20:14:25.092Z,1761682465.092 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:14:25.092Z,1761682465.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:14:25.092Z,1761682465.092 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateCommandMode] Stopped 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:14:25.093Z,1761682465.093 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:14:25.094Z,1761682465.094 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:14:25.094Z,1761682465.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:14:25.094Z,1761682465.094 [marl:UpdateSpeed] Stopped 2025-10-28T20:14:25.094Z,1761682465.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:14:25.466Z,1761682465.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371147,-0.903892,-0.212672],[0.928387,-0.365807,-0.065444],[-0.018643,-0.221731,0.974930]] 2025-10-28T20:14:26.281Z,1761682466.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364327,-0.905307,-0.218370],[0.931102,-0.358570,-0.066902],[-0.017734,-0.227699,0.973570]] 2025-10-28T20:14:26.678Z,1761682466.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359806,-0.906550,-0.220697],[0.932861,-0.353997,-0.066755],[-0.017609,-0.229899,0.973055]] 2025-10-28T20:14:26.718Z,1761682466.718 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:14:26.941Z,1761682466.941 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:14:26.941Z,1761682466.941 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:14:27.083Z,1761682467.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355162,-0.907945,-0.222479],[0.934632,-0.349468,-0.065838],[-0.017972,-0.231319,0.972712]] 2025-10-28T20:14:27.193Z,1761682467.193 [DAT](INFO): DAT read: user:242> 2025-10-28T20:14:27.194Z,1761682467.194 [DAT](INFO): DAT read: Tx time:20:14:26.9209 2025-10-28T20:14:27.194Z,1761682467.194 [DAT](INFO): Ping request sent. 2025-10-28T20:14:27.194Z,1761682467.194 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:14:27.194Z,1761682467.194 [DAT](INFO): publishing transmit ping time 2025-10-28T20:14:27.195Z,1761682467.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T20:14:27.445Z,1761682467.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-10-28T20:14:27.487Z,1761682467.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350394,-0.909332,-0.224363],[0.936417,-0.344888,-0.064614],[-0.018625,-0.232738,0.972361]] 2025-10-28T20:14:27.700Z,1761682467.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505129 2025-10-28T20:14:27.890Z,1761682467.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346252,-0.910618,-0.225576],[0.937938,-0.341029,-0.063019],[-0.019542,-0.233397,0.972185]] 2025-10-28T20:14:27.949Z,1761682467.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754986 2025-10-28T20:14:28.201Z,1761682468.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873 2025-10-28T20:14:28.297Z,1761682468.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342555,-0.911649,-0.227052],[0.939269,-0.337651,-0.061359],[-0.020726,-0.234281,0.971948]] 2025-10-28T20:14:28.453Z,1761682468.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890 2025-10-28T20:14:28.699Z,1761682468.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339875,-0.912487,-0.227711],[0.940219,-0.335270,-0.059845],[-0.021736,-0.234438,0.971888]] 2025-10-28T20:14:28.705Z,1761682468.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804 2025-10-28T20:14:28.957Z,1761682468.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763026 2025-10-28T20:14:29.107Z,1761682469.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336975,-0.913774,-0.226860],[0.941238,-0.332781,-0.057687],[-0.022782,-0.232968,0.972218]] 2025-10-28T20:14:29.209Z,1761682469.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015450 2025-10-28T20:14:29.461Z,1761682469.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266834 2025-10-28T20:14:29.509Z,1761682469.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335467,-0.914750,-0.225156],[0.941741,-0.331779,-0.055199],[-0.024209,-0.230556,0.972758]] 2025-10-28T20:14:29.716Z,1761682469.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521616 2025-10-28T20:14:29.910Z,1761682469.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335136,-0.914999,-0.224637],[0.941817,-0.331874,-0.053297],[-0.025784,-0.229429,0.972984]] 2025-10-28T20:14:29.965Z,1761682469.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771066 2025-10-28T20:14:30.053Z,1761682470.053 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:14:30.217Z,1761682470.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023005 2025-10-28T20:14:30.315Z,1761682470.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335380,-0.915795,-0.220998],[0.941685,-0.332698,-0.050407],[-0.027363,-0.225016,0.973971]] 2025-10-28T20:14:30.469Z,1761682470.469 [DAT](INFO): DAT read: Rx Time:20:14:29.8287 2025-10-28T20:14:30.469Z,1761682470.469 [DAT](INFO): Rx dataTimestamp_ set to:1761682470.469162 2025-10-28T20:14:30.470Z,1761682470.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275998 2025-10-28T20:14:30.719Z,1761682470.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336845,-0.915695,-0.219175],[0.941121,-0.334543,-0.048696],[-0.028733,-0.222674,0.974469]] 2025-10-28T20:14:30.721Z,1761682470.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527028 2025-10-28T20:14:30.975Z,1761682470.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780840 2025-10-28T20:14:31.057Z,1761682471.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:14:31.131Z,1761682471.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338613,-0.915450,-0.217468],[0.940460,-0.336555,-0.047606],[-0.029609,-0.220640,0.974906]] 2025-10-28T20:14:31.230Z,1761682471.230 [DAT](INFO): DAT read: 20:14:29.8287 LVL= 30256, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.07, 2.910, 1.036, 2.555, 2.473, PHS= 0.539,-1.392, 0.038, RAW= 135.5, 9.4, CAL= 135.2, 10.5, ROT= 14.8, -10.5 2025-10-28T20:14:31.231Z,1761682471.231 [DAT](INFO): got valid direction response: 20:14:29.8287 LVL= 30256, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.07, 2.910, 1.036, 2.555, 2.473, PHS= 0.539,-1.392, 0.038, RAW= 135.5, 9.4, CAL= 135.2, 10.5, ROT= 14.8, -10.5 2025-10-28T20:14:31.232Z,1761682471.232 [DAT](INFO): DAT read: Bearing 276.7, 10.6 (Local) 2025-10-28T20:14:31.233Z,1761682471.233 [DAT](INFO): Local bearing/azimuth received: Bearing 276.7, 10.6 (Local) 2025-10-28T20:14:31.234Z,1761682471.234 [DAT](INFO): DAT read: Range 11 to 20 : 377.7 m (Round-trip 503.6 ms) speed 0.3 m/s 2025-10-28T20:14:31.235Z,1761682471.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:14:31.236Z,1761682471.236 [DAT](INFO): direction in FSK: [0.950634,0.251168,0.182236] 2025-10-28T20:14:31.236Z,1761682471.236 [DAT](INFO): publishing direction and range info 2025-10-28T20:14:31.528Z,1761682471.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340034,-0.915019,-0.217065],[0.939919,-0.338160,-0.046904],[-0.030485,-0.219972,0.975030]] 2025-10-28T20:14:31.559Z,1761682471.559 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682432.00. Resetting abort timer. 2025-10-28T20:14:31.934Z,1761682471.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341719,-0.914548,-0.216400],[0.939297,-0.339910,-0.046729],[-0.030821,-0.219232,0.975186]] 2025-10-28T20:14:32.335Z,1761682472.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343074,-0.914179,-0.215816],[0.938813,-0.341179,-0.047184],[-0.030497,-0.218798,0.975293]] 2025-10-28T20:14:32.743Z,1761682472.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344470,-0.913609,-0.216007],[0.938341,-0.342237,-0.048885],[-0.029264,-0.219528,0.975167]] 2025-10-28T20:14:33.143Z,1761682473.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345568,-0.913146,-0.216211],[0.937974,-0.343010,-0.050488],[-0.028060,-0.220248,0.975040]] 2025-10-28T20:14:33.546Z,1761682473.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345978,-0.912882,-0.216669],[0.937877,-0.342945,-0.052688],[-0.026208,-0.221438,0.974822]] 2025-10-28T20:14:33.951Z,1761682473.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345162,-0.912776,-0.218409],[0.938236,-0.341529,-0.055421],[-0.024006,-0.224049,0.974282]] 2025-10-28T20:14:34.356Z,1761682474.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343613,-0.913248,-0.218877],[0.938850,-0.339557,-0.057115],[-0.022161,-0.225118,0.974079]] 2025-10-28T20:14:34.764Z,1761682474.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341931,-0.913728,-0.219511],[0.939497,-0.337533,-0.058445],[-0.020689,-0.226214,0.973858]] 2025-10-28T20:14:35.162Z,1761682475.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340202,-0.914057,-0.220820],[0.940141,-0.335594,-0.059257],[-0.019942,-0.227762,0.973513]] 2025-10-28T20:14:35.567Z,1761682475.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338864,-0.914421,-0.221372],[0.940635,-0.334136,-0.059657],[-0.019417,-0.228446,0.973363]] 2025-10-28T20:14:35.972Z,1761682475.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337761,-0.914855,-0.221266],[0.941045,-0.332918,-0.060003],[-0.018770,-0.228488,0.973366]] 2025-10-28T20:14:36.374Z,1761682476.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336364,-0.915416,-0.221070],[0.941555,-0.331452,-0.060111],[-0.018248,-0.228368,0.973404]] 2025-10-28T20:14:36.786Z,1761682476.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335091,-0.916125,-0.220068],[0.942021,-0.330129,-0.060089],[-0.017601,-0.227444,0.973632]] 2025-10-28T20:14:36.822Z,1761682476.822 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:14:36.822Z,1761682476.822 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:14:36.822Z,1761682476.822 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:14:36.822Z,1761682476.822 [marl:UpdateRudder:A] Stopped 2025-10-28T20:14:36.822Z,1761682476.822 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:14:37.183Z,1761682477.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334054,-0.916511,-0.220036],[0.942405,-0.328927,-0.060668],[-0.016773,-0.227629,0.973603]] 2025-10-28T20:14:37.210Z,1761682477.210 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:14:37.210Z,1761682477.210 [marl:UpdateRudder:B] Stopped 2025-10-28T20:14:37.210Z,1761682477.210 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:14:37.210Z,1761682477.210 [marl:UpdateRudder] Stopped 2025-10-28T20:14:37.210Z,1761682477.210 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:14:37.594Z,1761682477.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333416,-0.916786,-0.219858],[0.942648,-0.328081,-0.061468],[-0.015778,-0.227743,0.973593]] 2025-10-28T20:14:37.991Z,1761682477.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332790,-0.917109,-0.219460],[0.942886,-0.327254,-0.062225],[-0.014753,-0.227634,0.973635]] 2025-10-28T20:14:38.394Z,1761682478.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332079,-0.917424,-0.219217],[0.943151,-0.326349,-0.062952],[-0.013788,-0.227660,0.973643]] 2025-10-28T20:14:38.441Z,1761682478.441 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:14:38.441Z,1761682478.441 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateCommandMode] Stopped 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:14:38.442Z,1761682478.442 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:14:38.443Z,1761682478.443 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:14:38.443Z,1761682478.443 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:14:38.443Z,1761682478.443 [marl:UpdateSpeed] Stopped 2025-10-28T20:14:38.443Z,1761682478.443 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:14:38.800Z,1761682478.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331501,-0.917666,-0.219079],[0.943368,-0.325554,-0.063801],[-0.012774,-0.227823,0.973619]] 2025-10-28T20:14:39.204Z,1761682479.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331081,-0.917876,-0.218835],[0.943530,-0.324898,-0.064747],[-0.011669,-0.227913,0.973611]] 2025-10-28T20:14:39.615Z,1761682479.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330816,-0.917729,-0.219850],[0.943635,-0.324316,-0.066116],[-0.010624,-0.229331,0.973291]] 2025-10-28T20:14:40.010Z,1761682480.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330380,-0.917916,-0.219726],[0.943799,-0.323655,-0.067009],[-0.009607,-0.229516,0.973258]] 2025-10-28T20:14:40.415Z,1761682480.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329883,-0.918101,-0.219699],[0.943982,-0.322960,-0.067788],[-0.008718,-0.229754,0.973210]] 2025-10-28T20:14:40.821Z,1761682480.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329251,-0.918372,-0.219515],[0.944211,-0.322128,-0.068554],[-0.007754,-0.229839,0.973198]] 2025-10-28T20:14:41.222Z,1761682481.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328513,-0.918643,-0.219485],[0.944476,-0.321164,-0.069420],[-0.006718,-0.230104,0.973143]] 2025-10-28T20:14:41.627Z,1761682481.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327240,-0.919183,-0.219127],[0.944929,-0.319487,-0.070970],[-0.004774,-0.230284,0.973112]] 2025-10-28T20:14:42.030Z,1761682482.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324964,-0.919831,-0.219795],[0.945723,-0.316737,-0.072707],[-0.002739,-0.231492,0.972833]] 2025-10-28T20:14:42.436Z,1761682482.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321531,-0.920855,-0.220555],[0.946899,-0.312885,-0.074063],[-0.000807,-0.232657,0.972559]] 2025-10-28T20:14:42.840Z,1761682482.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317427,-0.922231,-0.220750],[0.948282,-0.308467,-0.074890],[0.000972,-0.233106,0.972451]] 2025-10-28T20:14:43.278Z,1761682483.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312834,-0.923510,-0.221954],[0.949805,-0.303579,-0.075569],[0.002408,-0.234454,0.972124]] 2025-10-28T20:14:43.647Z,1761682483.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308239,-0.925020,-0.222096],[0.951303,-0.298854,-0.075564],[0.003524,-0.234572,0.972092]] 2025-10-28T20:14:44.051Z,1761682484.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303602,-0.926299,-0.223148],[0.952791,-0.294204,-0.075056],[0.003873,-0.235401,0.971891]] 2025-10-28T20:14:44.455Z,1761682484.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299901,-0.927404,-0.223564],[0.953964,-0.290689,-0.073842],[0.003494,-0.235418,0.971888]] 2025-10-28T20:14:44.859Z,1761682484.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297213,-0.928270,-0.223560],[0.954805,-0.288084,-0.073181],[0.003528,-0.235207,0.971939]] 2025-10-28T20:14:45.263Z,1761682485.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295738,-0.928497,-0.224569],[0.955264,-0.286682,-0.072690],[0.003112,-0.236020,0.971743]] 2025-10-28T20:14:45.673Z,1761682485.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296124,-0.928086,-0.225760],[0.955146,-0.287134,-0.072450],[0.002417,-0.237088,0.971485]] 2025-10-28T20:14:46.075Z,1761682486.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297406,-0.927709,-0.225624],[0.954750,-0.288627,-0.071744],[0.001436,-0.236751,0.971569]] 2025-10-28T20:14:46.475Z,1761682486.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299507,-0.927096,-0.225364],[0.954094,-0.290957,-0.071051],[0.000300,-0.236298,0.971681]] 2025-10-28T20:14:46.881Z,1761682486.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302058,-0.926550,-0.224202],[0.953289,-0.293710,-0.070524],[-0.000506,-0.235031,0.971988]] 2025-10-28T20:14:47.287Z,1761682487.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305065,-0.925828,-0.223111],[0.952331,-0.296727,-0.070837],[-0.000620,-0.234085,0.972216]] 2025-10-28T20:14:47.717Z,1761682487.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308360,-0.925131,-0.221464],[0.951270,-0.299868,-0.071869],[0.000078,-0.232834,0.972517]] 2025-10-28T20:14:48.097Z,1761682488.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312044,-0.924609,-0.218464],[0.950066,-0.303263,-0.073527],[0.001731,-0.230499,0.973071]] 2025-10-28T20:14:48.497Z,1761682488.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315876,-0.923979,-0.215603],[0.948791,-0.306566,-0.076246],[0.004353,-0.228646,0.973500]] 2025-10-28T20:14:48.899Z,1761682488.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319615,-0.923233,-0.213277],[0.947515,-0.309540,-0.080003],[0.007844,-0.227653,0.973711]] 2025-10-28T20:14:49.305Z,1761682489.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323233,-0.922905,-0.209204],[0.946248,-0.312489,-0.083460],[0.011652,-0.224936,0.974304]] 2025-10-28T20:14:49.750Z,1761682489.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324681,-0.922711,-0.207816],[0.945710,-0.313305,-0.086441],[0.014651,-0.224599,0.974341]] 2025-10-28T20:14:49.753Z,1761682489.753 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.754Z,1761682489.754 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:14:49.755Z,1761682489.755 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.757Z,1761682489.757 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T20:14:49.758Z,1761682489.758 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:14:49.759Z,1761682489.759 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.760Z,1761682489.760 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.761Z,1761682489.761 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.762Z,1761682489.762 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T20:14:49.763Z,1761682489.763 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.764Z,1761682489.764 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:14:49.765Z,1761682489.765 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:14:49.766Z,1761682489.766 [BPC1](INFO): Calculating totals. Valid battery stick count: 18. Valid reserve battery stick count: 1. 2025-10-28T20:14:49.775Z,1761682489.775 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T20:14:50.112Z,1761682490.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324059,-0.922983,-0.207577],[0.945882,-0.312141,-0.088742],[0.017114,-0.225101,0.974185]] 2025-10-28T20:14:50.138Z,1761682490.138 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:14:50.138Z,1761682490.138 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:14:50.138Z,1761682490.138 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:14:50.139Z,1761682490.139 [marl:UpdateRudder:A] Stopped 2025-10-28T20:14:50.139Z,1761682490.139 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:14:50.515Z,1761682490.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321443,-0.923700,-0.208453],[0.946738,-0.309070,-0.090353],[0.019033,-0.226394,0.973850]] 2025-10-28T20:14:50.550Z,1761682490.550 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:14:50.550Z,1761682490.550 [marl:UpdateRudder:B] Stopped 2025-10-28T20:14:50.550Z,1761682490.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:14:50.550Z,1761682490.550 [marl:UpdateRudder] Stopped 2025-10-28T20:14:50.550Z,1761682490.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:14:50.918Z,1761682490.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317893,-0.924405,-0.210759],[0.947900,-0.305005,-0.091965],[0.020730,-0.229013,0.973203]] 2025-10-28T20:14:51.326Z,1761682491.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313616,-0.925253,-0.213430],[0.949293,-0.300280,-0.093138],[0.022087,-0.231818,0.972509]] 2025-10-28T20:14:51.755Z,1761682491.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308616,-0.926562,-0.215033],[0.950907,-0.295057,-0.093367],[0.023064,-0.233291,0.972133]] 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:14:51.814Z,1761682491.814 [marl:UpdateCommandMode] Stopped 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed] Stopped 2025-10-28T20:14:51.815Z,1761682491.815 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:14:52.130Z,1761682492.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303173,-0.927813,-0.217369],[0.952644,-0.289445,-0.093230],[0.023583,-0.235340,0.971627]] 2025-10-28T20:14:52.535Z,1761682492.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298225,-0.929089,-0.218758],[0.954190,-0.284390,-0.092976],[0.024170,-0.236464,0.971340]] 2025-10-28T20:14:52.939Z,1761682492.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293483,-0.930148,-0.220663],[0.955657,-0.279612,-0.092397],[0.024243,-0.237995,0.970964]] 2025-10-28T20:14:53.359Z,1761682493.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289124,-0.930927,-0.223121],[0.956986,-0.275182,-0.091934],[0.024185,-0.240104,0.970446]] 2025-10-28T20:14:53.765Z,1761682493.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285567,-0.931670,-0.224594],[0.958063,-0.271708,-0.091046],[0.023801,-0.241175,0.970190]] 2025-10-28T20:14:54.151Z,1761682494.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282770,-0.932397,-0.225116],[0.958897,-0.269009,-0.090283],[0.023622,-0.241392,0.970140]] 2025-10-28T20:14:54.558Z,1761682494.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280662,-0.932884,-0.225736],[0.959513,-0.266887,-0.090035],[0.023746,-0.241866,0.970019]] 2025-10-28T20:14:55.133Z,1761682495.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277313,-0.933708,-0.226467],[0.960485,-0.263576,-0.089427],[0.023807,-0.242317,0.969905]] 2025-10-28T20:14:55.771Z,1761682495.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276653,-0.934097,-0.225670],[0.960671,-0.262973,-0.089201],[0.023977,-0.241472,0.970111]] 2025-10-28T20:14:56.171Z,1761682496.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276582,-0.934183,-0.225396],[0.960676,-0.262787,-0.089688],[0.024554,-0.241339,0.970130]] 2025-10-28T20:14:56.590Z,1761682496.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278708,-0.933825,-0.224262],[0.960066,-0.264982,-0.089766],[0.024401,-0.240324,0.970386]] 2025-10-28T20:14:57.392Z,1761682497.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283333,-0.933422,-0.220105],[0.958737,-0.270094,-0.088729],[0.023373,-0.236162,0.971433]] 2025-10-28T20:14:57.794Z,1761682497.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286361,-0.933367,-0.216389],[0.957854,-0.273542,-0.087700],[0.022664,-0.232383,0.972360]] 2025-10-28T20:14:58.197Z,1761682498.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289464,-0.932946,-0.214061],[0.956936,-0.276919,-0.087115],[0.021996,-0.230059,0.972928]] 2025-10-28T20:14:58.599Z,1761682498.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292595,-0.932666,-0.211004],[0.956000,-0.280408,-0.086226],[0.021253,-0.226950,0.973675]] 2025-10-28T20:14:59.002Z,1761682499.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295506,-0.932152,-0.209210],[0.955112,-0.283467,-0.086070],[0.020926,-0.225253,0.974076]] 2025-10-28T20:14:59.407Z,1761682499.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297819,-0.931913,-0.206981],[0.954390,-0.285876,-0.086112],[0.021077,-0.223186,0.974548]] 2025-10-28T20:14:59.809Z,1761682499.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299236,-0.931851,-0.205212],[0.953930,-0.287248,-0.086632],[0.021781,-0.221681,0.974876]] 2025-10-28T20:15:00.210Z,1761682500.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299478,-0.931815,-0.205021],[0.953835,-0.287307,-0.087482],[0.022613,-0.221755,0.974840]] 2025-10-28T20:15:00.614Z,1761682500.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298484,-0.932020,-0.205538],[0.954138,-0.286215,-0.087756],[0.022963,-0.222305,0.974707]] 2025-10-28T20:15:01.020Z,1761682501.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296226,-0.932614,-0.206110],[0.954840,-0.283957,-0.087457],[0.023037,-0.222709,0.974613]] 2025-10-28T20:15:01.181Z,1761682501.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:15:01.437Z,1761682501.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293130,-0.933162,-0.208045],[0.955804,-0.280871,-0.086887],[0.022646,-0.224319,0.974252]] 2025-10-28T20:15:01.826Z,1761682501.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290136,-0.933876,-0.209038],[0.956729,-0.278004,-0.085922],[0.022127,-0.224922,0.974126]] 2025-10-28T20:15:02.184Z,1761682502.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:15:02.230Z,1761682502.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286148,-0.934680,-0.210931],[0.957951,-0.274194,-0.084542],[0.021184,-0.226254,0.973838]] 2025-10-28T20:15:02.636Z,1761682502.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282360,-0.935433,-0.212693],[0.959094,-0.270579,-0.083225],[0.020301,-0.227492,0.973568]] 2025-10-28T20:15:03.042Z,1761682503.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278642,-0.936261,-0.213950],[0.960199,-0.267082,-0.081764],[0.019410,-0.228218,0.973417]] 2025-10-28T20:15:03.442Z,1761682503.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275453,-0.936795,-0.215731],[0.961131,-0.263994,-0.080834],[0.018773,-0.229612,0.973101]] 2025-10-28T20:15:03.483Z,1761682503.483 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:15:03.483Z,1761682503.483 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:15:03.483Z,1761682503.483 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:15:03.484Z,1761682503.484 [marl:UpdateRudder:A] Stopped 2025-10-28T20:15:03.484Z,1761682503.484 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:15:03.846Z,1761682503.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272333,-0.937494,-0.216654],[0.962030,-0.261030,-0.079754],[0.018216,-0.230148,0.972985]] 2025-10-28T20:15:03.913Z,1761682503.913 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:15:03.913Z,1761682503.913 [marl:UpdateRudder:B] Stopped 2025-10-28T20:15:03.913Z,1761682503.913 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:15:03.913Z,1761682503.913 [marl:UpdateRudder] Stopped 2025-10-28T20:15:03.913Z,1761682503.913 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:15:04.252Z,1761682504.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269851,-0.937937,-0.217843],[0.962733,-0.258573,-0.079274],[0.018026,-0.231117,0.972759]] 2025-10-28T20:15:04.654Z,1761682504.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267510,-0.938332,-0.219021],[0.963389,-0.256242,-0.078879],[0.017892,-0.232104,0.972526]] 2025-10-28T20:15:05.066Z,1761682505.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265440,-0.939062,-0.218413],[0.963959,-0.254263,-0.078311],[0.018004,-0.231328,0.972709]] 2025-10-28T20:15:05.109Z,1761682505.109 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:15:05.109Z,1761682505.109 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:15:05.109Z,1761682505.109 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateCommandMode] Stopped 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:15:05.110Z,1761682505.110 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:15:05.111Z,1761682505.111 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:15:05.111Z,1761682505.111 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:15:05.111Z,1761682505.111 [marl:UpdateSpeed] Stopped 2025-10-28T20:15:05.111Z,1761682505.111 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:15:05.470Z,1761682505.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262715,-0.939529,-0.219698],[0.964712,-0.251599,-0.077652],[0.017680,-0.232345,0.972473]] 2025-10-28T20:15:05.868Z,1761682505.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260785,-0.940114,-0.219490],[0.965228,-0.249659,-0.077493],[0.018054,-0.232067,0.972532]] 2025-10-28T20:15:06.273Z,1761682506.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258567,-0.940839,-0.219009],[0.965821,-0.247506,-0.077012],[0.018250,-0.231436,0.972679]] 2025-10-28T20:15:06.674Z,1761682506.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256855,-0.941509,-0.218144],[0.966273,-0.245862,-0.076605],[0.018490,-0.230463,0.972905]] 2025-10-28T20:15:07.080Z,1761682507.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254733,-0.942494,-0.216369],[0.966839,-0.244002,-0.075405],[0.018274,-0.228402,0.973395]] 2025-10-28T20:15:07.483Z,1761682507.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252844,-0.943226,-0.215395],[0.967342,-0.242347,-0.074276],[0.017859,-0.227141,0.973698]] 2025-10-28T20:15:07.886Z,1761682507.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250988,-0.943597,-0.215938],[0.967839,-0.240685,-0.073197],[0.017095,-0.227364,0.973660]] 2025-10-28T20:15:08.297Z,1761682508.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249507,-0.944024,-0.215790],[0.968240,-0.239507,-0.071750],[0.016050,-0.226838,0.973800]] 2025-10-28T20:15:08.696Z,1761682508.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248224,-0.944445,-0.215424],[0.968588,-0.238565,-0.070169],[0.014878,-0.226075,0.973996]] 2025-10-28T20:15:09.098Z,1761682509.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247136,-0.944426,-0.216755],[0.968885,-0.237701,-0.068998],[0.013640,-0.227063,0.973785]] 2025-10-28T20:15:09.503Z,1761682509.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246642,-0.944528,-0.216877],[0.969026,-0.237474,-0.067788],[0.012525,-0.226878,0.973843]] 2025-10-28T20:15:09.907Z,1761682509.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246239,-0.944337,-0.218158],[0.969140,-0.237214,-0.067064],[0.011581,-0.227939,0.973606]] 2025-10-28T20:15:10.313Z,1761682510.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246273,-0.943939,-0.219836],[0.969140,-0.237300,-0.066758],[0.010848,-0.229493,0.973250]] 2025-10-28T20:15:10.715Z,1761682510.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246519,-0.943594,-0.221040],[0.969083,-0.237586,-0.066561],[0.010291,-0.230615,0.972991]] 2025-10-28T20:15:11.118Z,1761682511.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246667,-0.943295,-0.222148],[0.969049,-0.237722,-0.066580],[0.009995,-0.231695,0.972737]] 2025-10-28T20:15:11.536Z,1761682511.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246617,-0.943035,-0.223303],[0.969060,-0.237557,-0.067001],[0.010138,-0.232918,0.972444]] 2025-10-28T20:15:11.929Z,1761682511.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245978,-0.942963,-0.224313],[0.969218,-0.236777,-0.067473],[0.010512,-0.234005,0.972179]] 2025-10-28T20:15:12.332Z,1761682512.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244694,-0.943114,-0.225080],[0.969534,-0.235284,-0.068154],[0.011320,-0.234900,0.971954]] 2025-10-28T20:15:12.734Z,1761682512.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243259,-0.943527,-0.224903],[0.969881,-0.233613,-0.068971],[0.012536,-0.234907,0.971937]] 2025-10-28T20:15:13.139Z,1761682513.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241283,-0.944135,-0.224480],[0.970361,-0.231502,-0.069328],[0.013488,-0.234554,0.972010]] 2025-10-28T20:15:13.557Z,1761682513.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238091,-0.945220,-0.223321],[0.971142,-0.228379,-0.068745],[0.013977,-0.233244,0.972318]] 2025-10-28T20:15:13.946Z,1761682513.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234825,-0.946088,-0.223104],[0.971936,-0.225209,-0.067983],[0.014073,-0.232807,0.972421]] 2025-10-28T20:15:14.352Z,1761682514.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231259,-0.947042,-0.222781],[0.972789,-0.221764,-0.067090],[0.014132,-0.232234,0.972557]] 2025-10-28T20:15:14.756Z,1761682514.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228169,-0.947619,-0.223512],[0.973520,-0.218737,-0.066432],[0.014062,-0.232751,0.972435]] 2025-10-28T20:15:15.160Z,1761682515.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225009,-0.948302,-0.223817],[0.974255,-0.215649,-0.065748],[0.014083,-0.232848,0.972411]] 2025-10-28T20:15:15.562Z,1761682515.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222009,-0.949125,-0.223326],[0.974946,-0.212824,-0.064707],[0.013885,-0.232097,0.972594]] 2025-10-28T20:15:15.967Z,1761682515.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219343,-0.949919,-0.222580],[0.975552,-0.210343,-0.063669],[0.013663,-0.231104,0.972833]] 2025-10-28T20:15:16.371Z,1761682516.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217183,-0.950755,-0.221126],[0.976042,-0.208451,-0.062377],[0.013211,-0.229375,0.973248]] 2025-10-28T20:15:16.782Z,1761682516.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215706,-0.951536,-0.219205],[0.976375,-0.207246,-0.061164],[0.012771,-0.227219,0.973760]] 2025-10-28T20:15:16.807Z,1761682516.807 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:15:16.807Z,1761682516.807 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:15:16.808Z,1761682516.808 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:15:16.808Z,1761682516.808 [marl:UpdateRudder:A] Stopped 2025-10-28T20:15:16.808Z,1761682516.808 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:15:17.203Z,1761682517.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214181,-0.951672,-0.220105],[0.976721,-0.205907,-0.060148],[0.011920,-0.227864,0.973620]] 2025-10-28T20:15:17.288Z,1761682517.288 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:15:17.304Z,1761682517.304 [marl:UpdateRudder:B] Stopped 2025-10-28T20:15:17.304Z,1761682517.304 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:15:17.304Z,1761682517.304 [marl:UpdateRudder] Stopped 2025-10-28T20:15:17.304Z,1761682517.304 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:15:17.582Z,1761682517.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212365,-0.952010,-0.220403],[0.977132,-0.204424,-0.058507],[0.010644,-0.227788,0.973653]] 2025-10-28T20:15:17.987Z,1761682517.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210223,-0.952634,-0.219762],[0.977611,-0.202751,-0.056286],[0.009063,-0.226675,0.973928]] 2025-10-28T20:15:18.392Z,1761682518.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208322,-0.953194,-0.219143],[0.978028,-0.201208,-0.054551],[0.007904,-0.225692,0.974167]] 2025-10-28T20:15:18.416Z,1761682518.416 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:15:18.416Z,1761682518.416 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:15:18.416Z,1761682518.416 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateCommandMode] Stopped 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:15:18.417Z,1761682518.417 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:15:18.418Z,1761682518.418 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:15:18.418Z,1761682518.418 [marl:UpdateSpeed] Stopped 2025-10-28T20:15:18.418Z,1761682518.418 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:15:18.796Z,1761682518.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206378,-0.953575,-0.219322],[0.978450,-0.199624,-0.052774],[0.006542,-0.225487,0.974224]] 2025-10-28T20:15:19.199Z,1761682519.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204428,-0.954010,-0.219256],[0.978869,-0.198078,-0.050807],[0.005041,-0.225009,0.974344]] 2025-10-28T20:15:19.602Z,1761682519.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203716,-0.954700,-0.216903],[0.979025,-0.197932,-0.048306],[0.003186,-0.222194,0.974997]] 2025-10-28T20:15:20.011Z,1761682520.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207190,-0.956336,-0.206139],[0.978300,-0.202343,-0.044561],[0.000904,-0.210898,0.977508]] 2025-10-28T20:15:20.411Z,1761682520.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216319,-0.959092,-0.182617],[0.976321,-0.212867,-0.038538],[-0.001911,-0.186630,0.982428]] 2025-10-28T20:15:20.814Z,1761682520.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231094,-0.961437,-0.149115],[0.972921,-0.229062,-0.030902],[-0.004447,-0.152218,0.988337]] 2025-10-28T20:15:21.218Z,1761682521.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247664,-0.962155,-0.113665],[0.968821,-0.246795,-0.021879],[-0.007001,-0.115540,0.993278]] 2025-10-28T20:15:21.631Z,1761682521.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265348,-0.960778,-0.080600],[0.964111,-0.265185,-0.012921],[-0.008960,-0.081136,0.996663]] 2025-10-28T20:15:22.036Z,1761682522.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282317,-0.957960,-0.051092],[0.959260,-0.282500,-0.003762],[-0.010830,-0.050073,0.998687]] 2025-10-28T20:15:22.430Z,1761682522.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298484,-0.954040,-0.026748],[0.954334,-0.298706,0.004609],[-0.012387,-0.024151,0.999632]] 2025-10-28T20:15:23.239Z,1761682523.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327854,-0.944721,0.003696],[0.944612,-0.327749,0.017013],[-0.014861,0.009069,0.999848]] 2025-10-28T20:15:23.644Z,1761682523.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341457,-0.939814,0.012550],[0.939761,-0.341150,0.021587],[-0.016006,0.019165,0.999688]] 2025-10-28T20:15:24.047Z,1761682524.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354671,-0.934817,0.018053],[0.934833,-0.354189,0.025253],[-0.017213,0.025833,0.999518]] 2025-10-28T20:15:24.450Z,1761682524.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368567,-0.929369,0.020765],[0.929424,-0.367969,0.027756],[-0.018155,0.029530,0.999399]] 2025-10-28T20:15:24.855Z,1761682524.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382458,-0.923711,0.021986],[0.923775,-0.381775,0.029796],[-0.019129,0.031705,0.999314]] 2025-10-28T20:15:25.259Z,1761682525.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396757,-0.917641,0.022770],[0.917701,-0.395992,0.031870],[-0.020229,0.033541,0.999233]] 2025-10-28T20:15:25.662Z,1761682525.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411752,-0.911011,0.022772],[0.911049,-0.410931,0.033552],[-0.021208,0.034562,0.999177]] 2025-10-28T20:15:26.067Z,1761682526.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427420,-0.903812,0.020875],[0.903782,-0.426613,0.034338],[-0.022130,0.033544,0.999192]] 2025-10-28T20:15:26.473Z,1761682526.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443137,-0.896235,0.019798],[0.896156,-0.442313,0.035556],[-0.023110,0.033499,0.999172]] 2025-10-28T20:15:26.914Z,1761682526.914 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:15:26.941Z,1761682526.941 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:15:26.941Z,1761682526.941 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:15:27.193Z,1761682527.193 [DAT](INFO): DAT read: user:243> 2025-10-28T20:15:27.194Z,1761682527.194 [DAT](INFO): DAT read: Tx time:20:15:26.9208 2025-10-28T20:15:27.194Z,1761682527.194 [DAT](INFO): Ping request sent. 2025-10-28T20:15:27.194Z,1761682527.194 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:15:27.194Z,1761682527.194 [DAT](INFO): publishing transmit ping time 2025-10-28T20:15:27.195Z,1761682527.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T20:15:27.278Z,1761682527.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474387,-0.880151,0.017086],[0.879964,-0.473559,0.037493],[-0.024909,0.032821,0.999151]] 2025-10-28T20:15:27.445Z,1761682527.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250886 2025-10-28T20:15:27.700Z,1761682527.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505301 2025-10-28T20:15:27.744Z,1761682527.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490021,-0.871541,0.017219],[0.871345,-0.489148,0.038640],[-0.025254,0.033938,0.999105]] 2025-10-28T20:15:27.949Z,1761682527.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890 2025-10-28T20:15:28.087Z,1761682528.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505773,-0.862510,0.016442],[0.862300,-0.504911,0.038787],[-0.025153,0.033795,0.999112]] 2025-10-28T20:15:28.201Z,1761682528.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007402 2025-10-28T20:15:28.453Z,1761682528.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929 2025-10-28T20:15:28.500Z,1761682528.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520772,-0.853563,0.015080],[0.853338,-0.519961,0.038155],[-0.024726,0.032739,0.999158]] 2025-10-28T20:15:28.705Z,1761682528.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876 2025-10-28T20:15:28.896Z,1761682528.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535180,-0.844637,0.013048],[0.844394,-0.534457,0.036810],[-0.024117,0.030718,0.999237]] 2025-10-28T20:15:28.957Z,1761682528.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762992 2025-10-28T20:15:29.209Z,1761682529.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014948 2025-10-28T20:15:29.299Z,1761682529.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549143,-0.835637,0.012362],[0.835414,-0.548471,0.035531],[-0.022911,0.029839,0.999292]] 2025-10-28T20:15:29.461Z,1761682529.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266977 2025-10-28T20:15:29.716Z,1761682529.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521302 2025-10-28T20:15:29.754Z,1761682529.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561922,-0.827111,0.011415],[0.826918,-0.561330,0.033379],[-0.021201,0.028196,0.999378]] 2025-10-28T20:15:29.965Z,1761682529.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771399 2025-10-28T20:15:30.107Z,1761682530.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573667,-0.819023,0.010396],[0.818850,-0.573147,0.031425],[-0.019780,0.026540,0.999452]] 2025-10-28T20:15:30.130Z,1761682530.130 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:15:30.130Z,1761682530.130 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:15:30.131Z,1761682530.131 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:15:30.131Z,1761682530.131 [marl:UpdateRudder:A] Stopped 2025-10-28T20:15:30.131Z,1761682530.131 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:15:30.221Z,1761682530.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026186 2025-10-28T20:15:30.469Z,1761682530.469 [DAT](INFO): DAT read: Rx Time:20:15:29.7379 2025-10-28T20:15:30.469Z,1761682530.469 [DAT](INFO): Rx dataTimestamp_ set to:1761682530.469112 2025-10-28T20:15:30.470Z,1761682530.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275977 2025-10-28T20:15:30.536Z,1761682530.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584777,-0.811132,0.010046],[0.810983,-0.584299,0.030022],[-0.018481,0.025703,0.999499]] 2025-10-28T20:15:30.580Z,1761682530.580 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:15:30.580Z,1761682530.580 [marl:UpdateRudder:B] Stopped 2025-10-28T20:15:30.581Z,1761682530.581 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:15:30.581Z,1761682530.581 [marl:UpdateRudder] Stopped 2025-10-28T20:15:30.581Z,1761682530.581 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:15:30.721Z,1761682530.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968 2025-10-28T20:15:30.927Z,1761682530.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594287,-0.804201,0.009214],[0.804067,-0.593864,0.028320],[-0.017303,0.024239,0.999556]] 2025-10-28T20:15:30.994Z,1761682530.994 [DAT](INFO): DAT read: 20:15:29.7379 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 34,-0.25, 1.461,-0.247, 1.586, 1.296, PHS= 0.267,-1.498, 0.246, RAW= 149.4, 11.2, CAL= 149.2, 12.3, ROT= 0.8, -12.3 2025-10-28T20:15:30.996Z,1761682530.996 [DAT](INFO): got valid direction response: 20:15:29.7379 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 34,-0.25, 1.461,-0.247, 1.586, 1.296, PHS= 0.267,-1.498, 0.246, RAW= 149.4, 11.2, CAL= 149.2, 12.3, ROT= 0.8, -12.3 2025-10-28T20:15:30.998Z,1761682530.998 [DAT](INFO): DAT read: Bearing 288.7, -0.8 (Local) 2025-10-28T20:15:30.998Z,1761682530.998 [DAT](INFO): Local bearing/azimuth received: Bearing 288.7, -0.8 (Local) 2025-10-28T20:15:31.005Z,1761682531.005 [DAT](INFO): DAT read: Range 11 to 20 : 309.7 m (Round-trip 413.0 ms) speed 0.9 m/s 2025-10-28T20:15:31.006Z,1761682531.006 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:15:31.007Z,1761682531.007 [DAT](INFO): direction in FSK: [0.976950,0.013642,0.213030] 2025-10-28T20:15:31.007Z,1761682531.007 [DAT](INFO): publishing direction and range info 2025-10-28T20:15:31.319Z,1761682531.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602504,-0.798081,0.007390],[0.797946,-0.602160,0.026168],[-0.016434,0.021663,0.999630]] 2025-10-28T20:15:31.369Z,1761682531.369 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682560.00. Resetting abort timer. 2025-10-28T20:15:31.761Z,1761682531.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610305,-0.792138,0.006640],[0.792009,-0.609996,0.025035],[-0.015781,0.020538,0.999664]] 2025-10-28T20:15:31.815Z,1761682531.815 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:15:31.815Z,1761682531.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateCommandMode] Stopped 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:15:31.816Z,1761682531.816 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed] Stopped 2025-10-28T20:15:31.817Z,1761682531.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:15:32.126Z,1761682532.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617912,-0.786227,0.005638],[0.786093,-0.617633,0.024240],[-0.015575,0.019410,0.999690]] 2025-10-28T20:15:32.304Z,1761682532.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:15:32.531Z,1761682532.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625606,-0.780127,0.004339],[0.779974,-0.625349,0.024073],[-0.016066,0.018445,0.999701]] 2025-10-28T20:15:32.935Z,1761682532.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633007,-0.774141,0.002917],[0.773959,-0.632766,0.024410],[-0.017051,0.017709,0.999698]] 2025-10-28T20:15:33.308Z,1761682533.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:15:33.344Z,1761682533.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639524,-0.768771,-0.000424],[0.768553,-0.639356,0.023440],[-0.018291,0.014664,0.999725]] 2025-10-28T20:15:33.763Z,1761682533.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643402,-0.765463,-0.010005],[0.765267,-0.643468,0.017745],[-0.020021,0.003761,0.999792]] 2025-10-28T20:15:34.147Z,1761682534.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645020,-0.763771,-0.024542],[0.763845,-0.645347,0.008207],[-0.022106,-0.013452,0.999665]] 2025-10-28T20:15:34.551Z,1761682534.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645940,-0.762037,-0.045393],[0.763004,-0.646360,-0.006701],[-0.024233,-0.038964,0.998947]] 2025-10-28T20:15:34.958Z,1761682534.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646645,-0.759756,-0.067986],[0.762341,-0.646753,-0.023383],[-0.026205,-0.066949,0.997412]] 2025-10-28T20:15:35.358Z,1761682535.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647285,-0.756773,-0.091194],[0.761715,-0.646659,-0.040269],[-0.028497,-0.095530,0.995019]] 2025-10-28T20:15:35.771Z,1761682535.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648328,-0.753058,-0.112135],[0.760743,-0.646671,-0.055565],[-0.030671,-0.121330,0.992138]] 2025-10-28T20:15:36.167Z,1761682536.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649826,-0.748994,-0.129361],[0.759381,-0.647069,-0.068136],[-0.032672,-0.142511,0.989254]] 2025-10-28T20:15:36.574Z,1761682536.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651766,-0.745016,-0.141960],[0.757660,-0.647984,-0.077900],[-0.033951,-0.158330,0.986802]] 2025-10-28T20:15:36.976Z,1761682536.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654194,-0.740950,-0.151736],[0.755538,-0.649385,-0.086378],[-0.034533,-0.171150,0.984640]] 2025-10-28T20:15:37.379Z,1761682537.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656802,-0.737429,-0.157509],[0.753287,-0.651128,-0.092687],[-0.034208,-0.179526,0.983158]] 2025-10-28T20:15:37.788Z,1761682537.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659450,-0.734565,-0.159811],[0.751027,-0.653068,-0.097266],[-0.032919,-0.184164,0.982344]] 2025-10-28T20:15:38.189Z,1761682538.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661483,-0.732793,-0.159546],[0.749323,-0.654559,-0.100335],[-0.030908,-0.185922,0.982078]] 2025-10-28T20:15:38.591Z,1761682538.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662370,-0.732107,-0.159016],[0.748601,-0.655099,-0.102182],[-0.029363,-0.186722,0.981974]] 2025-10-28T20:15:39.002Z,1761682539.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661976,-0.732490,-0.158887],[0.748979,-0.654546,-0.102956],[-0.028585,-0.187157,0.981914]] 2025-10-28T20:15:39.398Z,1761682539.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660746,-0.733750,-0.158196],[0.750083,-0.653348,-0.102533],[-0.028123,-0.186408,0.982070]] 2025-10-28T20:15:39.805Z,1761682539.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659398,-0.735112,-0.157492],[0.751283,-0.652047,-0.102022],[-0.027694,-0.185595,0.982236]] 2025-10-28T20:15:40.206Z,1761682540.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657014,-0.737518,-0.156204],[0.753358,-0.650008,-0.099702],[-0.028002,-0.183183,0.982680]] 2025-10-28T20:15:40.610Z,1761682540.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654599,-0.739459,-0.157161],[0.755438,-0.647683,-0.099095],[-0.028514,-0.183593,0.982589]] 2025-10-28T20:15:41.015Z,1761682541.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652050,-0.741846,-0.156513],[0.757604,-0.645543,-0.096492],[-0.029453,-0.181492,0.982951]] 2025-10-28T20:15:41.420Z,1761682541.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649869,-0.743840,-0.156119],[0.759432,-0.643753,-0.094045],[-0.030548,-0.179679,0.983251]] 2025-10-28T20:15:41.822Z,1761682541.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647955,-0.745628,-0.155541],[0.760998,-0.642368,-0.090806],[-0.032207,-0.177205,0.983647]] 2025-10-28T20:15:42.228Z,1761682542.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646404,-0.747091,-0.154973],[0.762230,-0.641389,-0.087320],[-0.034162,-0.174570,0.984052]] 2025-10-28T20:15:42.635Z,1761682542.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645659,-0.747817,-0.154578],[0.762759,-0.641218,-0.083900],[-0.036376,-0.172077,0.984412]] 2025-10-28T20:15:43.040Z,1761682543.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647064,-0.746158,-0.156707],[0.761358,-0.643278,-0.080793],[-0.040522,-0.171588,0.984335]] 2025-10-28T20:15:43.444Z,1761682543.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648887,-0.744289,-0.158048],[0.759667,-0.645467,-0.079238],[-0.043039,-0.171480,0.984247]] 2025-10-28T20:15:43.489Z,1761682543.489 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:15:43.489Z,1761682543.489 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:15:43.490Z,1761682543.490 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:15:43.490Z,1761682543.490 [marl:UpdateRudder:A] Stopped 2025-10-28T20:15:43.490Z,1761682543.490 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:15:43.849Z,1761682543.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651232,-0.742190,-0.158274],[0.757504,-0.648304,-0.076742],[-0.045652,-0.169870,0.984409]] 2025-10-28T20:15:43.907Z,1761682543.907 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:15:43.907Z,1761682543.907 [marl:UpdateRudder:B] Stopped 2025-10-28T20:15:43.907Z,1761682543.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:15:43.907Z,1761682543.907 [marl:UpdateRudder] Stopped 2025-10-28T20:15:43.907Z,1761682543.907 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:15:44.251Z,1761682544.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654263,-0.739315,-0.159228],[0.754746,-0.651655,-0.075518],[-0.047930,-0.169585,0.984349]] 2025-10-28T20:15:44.653Z,1761682544.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657370,-0.736441,-0.159746],[0.751929,-0.655008,-0.074617],[-0.049684,-0.169169,0.984334]] 2025-10-28T20:15:45.055Z,1761682545.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660453,-0.733445,-0.160812],[0.749138,-0.658168,-0.074878],[-0.050923,-0.169923,0.984141]] 2025-10-28T20:15:45.079Z,1761682545.079 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:15:45.079Z,1761682545.079 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:15:45.079Z,1761682545.079 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateCommandMode] Stopped 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:15:45.080Z,1761682545.080 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:15:45.081Z,1761682545.081 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:15:45.081Z,1761682545.081 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:15:45.081Z,1761682545.081 [marl:UpdateSpeed] Stopped 2025-10-28T20:15:45.081Z,1761682545.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:15:45.463Z,1761682545.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663319,-0.730420,-0.162771],[0.746557,-0.660892,-0.076650],[-0.051587,-0.172361,0.983682]] 2025-10-28T20:15:45.862Z,1761682545.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666021,-0.727867,-0.163174],[0.744157,-0.663431,-0.078037],[-0.051454,-0.173401,0.983506]] 2025-10-28T20:15:46.266Z,1761682546.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668584,-0.725585,-0.162859],[0.741921,-0.665717,-0.079840],[-0.050487,-0.174208,0.983414]] 2025-10-28T20:15:46.672Z,1761682546.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671250,-0.723291,-0.162089],[0.739669,-0.667810,-0.083178],[-0.048083,-0.175726,0.983264]] 2025-10-28T20:15:47.074Z,1761682547.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673430,-0.721111,-0.162763],[0.737834,-0.669272,-0.087617],[-0.045751,-0.179096,0.982767]] 2025-10-28T20:15:47.486Z,1761682547.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675219,-0.719449,-0.162700],[0.736354,-0.670364,-0.091625],[-0.043149,-0.181672,0.982412]] 2025-10-28T20:15:47.883Z,1761682547.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675646,-0.718936,-0.163200],[0.736095,-0.670130,-0.095337],[-0.040825,-0.184545,0.981976]] 2025-10-28T20:15:48.288Z,1761682548.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675083,-0.719517,-0.162967],[0.736712,-0.669154,-0.097410],[-0.038962,-0.185820,0.981811]] 2025-10-28T20:15:48.692Z,1761682548.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673621,-0.720834,-0.163198],[0.738147,-0.667240,-0.099650],[-0.037061,-0.187590,0.981548]] 2025-10-28T20:15:49.094Z,1761682549.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671630,-0.722734,-0.162998],[0.740041,-0.664937,-0.100990],[-0.035394,-0.188453,0.981444]] 2025-10-28T20:15:49.499Z,1761682549.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668782,-0.725600,-0.161970],[0.742664,-0.662090,-0.100438],[-0.034361,-0.187461,0.981671]] 2025-10-28T20:15:49.902Z,1761682549.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666182,-0.728124,-0.161360],[0.745049,-0.659395,-0.100500],[-0.033223,-0.187172,0.981765]] 2025-10-28T20:15:50.311Z,1761682550.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663368,-0.730899,-0.160404],[0.747584,-0.656662,-0.099564],[-0.032560,-0.185963,0.982017]] 2025-10-28T20:15:50.711Z,1761682550.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660938,-0.733218,-0.159848],[0.749751,-0.654302,-0.098800],[-0.032147,-0.185147,0.982185]] 2025-10-28T20:15:51.114Z,1761682551.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658933,-0.735165,-0.159186],[0.751517,-0.652448,-0.097642],[-0.032078,-0.183970,0.982408]] 2025-10-28T20:15:51.520Z,1761682551.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657726,-0.736599,-0.157536],[0.752574,-0.651505,-0.095783],[-0.032082,-0.181557,0.982857]] 2025-10-28T20:15:51.924Z,1761682551.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657048,-0.737599,-0.155674],[0.753153,-0.651162,-0.093535],[-0.032378,-0.178704,0.983370]] 2025-10-28T20:15:52.330Z,1761682552.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657365,-0.737409,-0.155237],[0.752856,-0.651634,-0.092634],[-0.032848,-0.177766,0.983524]] 2025-10-28T20:15:52.730Z,1761682552.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658537,-0.736482,-0.154670],[0.751804,-0.652979,-0.091699],[-0.033462,-0.176669,0.983701]] 2025-10-28T20:15:53.134Z,1761682553.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660227,-0.735276,-0.153197],[0.750295,-0.654925,-0.090171],[-0.034032,-0.174477,0.984073]] 2025-10-28T20:15:53.540Z,1761682553.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662476,-0.733181,-0.153527],[0.748287,-0.657170,-0.090525],[-0.034522,-0.174853,0.983989]] 2025-10-28T20:15:53.947Z,1761682553.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665272,-0.730798,-0.152798],[0.745789,-0.660028,-0.090347],[-0.034826,-0.174060,0.984119]] 2025-10-28T20:15:54.349Z,1761682554.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667884,-0.728278,-0.153435],[0.743446,-0.662488,-0.091636],[-0.034913,-0.175273,0.983901]] 2025-10-28T20:15:54.754Z,1761682554.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670652,-0.725603,-0.154034],[0.740972,-0.664966,-0.093704],[-0.034436,-0.176977,0.983612]] 2025-10-28T20:15:55.155Z,1761682555.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673323,-0.723238,-0.153504],[0.738583,-0.667413,-0.095155],[-0.033631,-0.177445,0.983556]] 2025-10-28T20:15:55.559Z,1761682555.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675794,-0.720861,-0.153822],[0.736372,-0.669480,-0.097738],[-0.032525,-0.179322,0.983253]] 2025-10-28T20:15:55.971Z,1761682555.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677991,-0.718935,-0.153170],[0.734429,-0.671229,-0.100325],[-0.030685,-0.180512,0.983094]] 2025-10-28T20:15:56.377Z,1761682556.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679593,-0.717524,-0.152684],[0.732995,-0.672548,-0.101971],[-0.029521,-0.181215,0.983000]] 2025-10-28T20:15:56.775Z,1761682556.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681184,-0.715811,-0.153633],[0.731557,-0.673681,-0.104773],[-0.028502,-0.183761,0.982558]] 2025-10-28T20:15:56.810Z,1761682556.810 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:15:56.810Z,1761682556.810 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:15:56.810Z,1761682556.810 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:15:56.810Z,1761682556.810 [marl:UpdateRudder:A] Stopped 2025-10-28T20:15:56.810Z,1761682556.810 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:15:57.174Z,1761682557.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682398,-0.714606,-0.153854],[0.730460,-0.674582,-0.106618],[-0.027597,-0.185140,0.982325]] 2025-10-28T20:15:57.214Z,1761682557.214 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:15:57.214Z,1761682557.214 [marl:UpdateRudder:B] Stopped 2025-10-28T20:15:57.214Z,1761682557.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:15:57.214Z,1761682557.214 [marl:UpdateRudder] Stopped 2025-10-28T20:15:57.214Z,1761682557.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:15:57.579Z,1761682557.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683635,-0.713398,-0.153966],[0.729340,-0.675487,-0.108536],[-0.026573,-0.186493,0.982097]] 2025-10-28T20:15:57.986Z,1761682557.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684657,-0.712345,-0.154304],[0.728412,-0.676190,-0.110379],[-0.025711,-0.187968,0.981839]] 2025-10-28T20:15:58.387Z,1761682558.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685253,-0.711714,-0.154570],[0.727867,-0.676600,-0.111457],[-0.025256,-0.188883,0.981675]] 2025-10-28T20:15:58.426Z,1761682558.426 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:15:58.426Z,1761682558.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:15:58.426Z,1761682558.426 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateCommandMode] Stopped 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:15:58.427Z,1761682558.427 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:15:58.428Z,1761682558.428 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:15:58.428Z,1761682558.428 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:15:58.428Z,1761682558.428 [marl:UpdateSpeed] Stopped 2025-10-28T20:15:58.428Z,1761682558.428 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:15:58.793Z,1761682558.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686100,-0.711150,-0.153404],[0.727087,-0.677453,-0.111363],[-0.024728,-0.187944,0.981868]] 2025-10-28T20:15:59.194Z,1761682559.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686941,-0.710564,-0.152351],[0.726306,-0.678313,-0.111222],[-0.024311,-0.187056,0.982048]] 2025-10-28T20:15:59.600Z,1761682559.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687531,-0.710143,-0.151650],[0.725761,-0.678885,-0.111291],[-0.023921,-0.186577,0.982149]] 2025-10-28T20:16:00.003Z,1761682560.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688110,-0.709716,-0.151022],[0.725221,-0.679465,-0.111271],[-0.023644,-0.186091,0.982248]] 2025-10-28T20:16:00.407Z,1761682560.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688886,-0.709230,-0.149765],[0.724494,-0.680327,-0.110743],[-0.023347,-0.184793,0.982500]] 2025-10-28T20:16:00.811Z,1761682560.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689364,-0.708923,-0.149018],[0.724051,-0.680805,-0.110698],[-0.022976,-0.184208,0.982619]] 2025-10-28T20:16:01.215Z,1761682561.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689404,-0.709015,-0.148392],[0.724014,-0.680931,-0.110167],[-0.022935,-0.183388,0.982773]] 2025-10-28T20:16:01.619Z,1761682561.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689267,-0.709232,-0.147989],[0.724147,-0.680845,-0.109828],[-0.022864,-0.182866,0.982872]] 2025-10-28T20:16:02.023Z,1761682562.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689176,-0.709495,-0.147152],[0.724254,-0.680723,-0.109874],[-0.022215,-0.182297,0.982992]] 2025-10-28T20:16:02.430Z,1761682562.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688624,-0.710141,-0.146618],[0.724788,-0.680198,-0.109607],[-0.021893,-0.181745,0.983102]] 2025-10-28T20:16:02.832Z,1761682562.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688027,-0.710749,-0.146475],[0.725366,-0.679555,-0.109768],[-0.021520,-0.181772,0.983105]] 2025-10-28T20:16:03.234Z,1761682563.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687302,-0.711379,-0.146821],[0.726061,-0.678735,-0.110243],[-0.021228,-0.182372,0.983000]] 2025-10-28T20:16:03.431Z,1761682563.431 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:16:03.642Z,1761682563.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686951,-0.711690,-0.146952],[0.726412,-0.678220,-0.111102],[-0.020596,-0.183069,0.982884]] 2025-10-28T20:16:04.044Z,1761682564.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686746,-0.712125,-0.145799],[0.726627,-0.678004,-0.111009],[-0.019800,-0.182177,0.983066]] 2025-10-28T20:16:04.433Z,1761682564.433 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:16:04.464Z,1761682564.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687292,-0.711583,-0.145874],[0.726135,-0.678287,-0.112494],[-0.018895,-0.183240,0.982887]] 2025-10-28T20:16:04.850Z,1761682564.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688423,-0.710552,-0.145566],[0.725085,-0.679201,-0.113746],[-0.018046,-0.183853,0.982788]] 2025-10-28T20:16:05.255Z,1761682565.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689786,-0.709393,-0.144764],[0.723807,-0.680430,-0.114535],[-0.017251,-0.183786,0.982815]] 2025-10-28T20:16:05.662Z,1761682565.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691690,-0.707532,-0.144787],[0.722010,-0.682002,-0.116509],[-0.016312,-0.185126,0.982579]] 2025-10-28T20:16:06.065Z,1761682566.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693960,-0.705345,-0.144595],[0.719852,-0.683925,-0.118574],[-0.015257,-0.186372,0.982361]] 2025-10-28T20:16:06.467Z,1761682566.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696873,-0.702527,-0.144306],[0.717058,-0.686422,-0.121049],[-0.014015,-0.187831,0.982101]] 2025-10-28T20:16:06.870Z,1761682566.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699904,-0.699763,-0.143058],[0.714118,-0.689259,-0.122299],[-0.013023,-0.187758,0.982129]] 2025-10-28T20:16:07.275Z,1761682567.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702721,-0.697212,-0.141701],[0.711369,-0.691838,-0.123756],[-0.011750,-0.187768,0.982143]] 2025-10-28T20:16:07.711Z,1761682567.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705540,-0.694611,-0.140457],[0.708594,-0.694368,-0.125489],[-0.010362,-0.188065,0.982102]] 2025-10-28T20:16:08.083Z,1761682568.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707728,-0.692771,-0.138527],[0.706430,-0.696388,-0.126491],[-0.008839,-0.187381,0.982248]] 2025-10-28T20:16:08.487Z,1761682568.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709420,-0.691265,-0.137388],[0.704753,-0.697658,-0.128828],[-0.006795,-0.188218,0.982104]] 2025-10-28T20:16:08.891Z,1761682568.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710507,-0.690286,-0.136695],[0.703674,-0.698286,-0.131301],[-0.004817,-0.189479,0.981873]] 2025-10-28T20:16:09.296Z,1761682569.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710929,-0.690097,-0.135445],[0.703257,-0.698445,-0.132681],[-0.003039,-0.189579,0.981861]] 2025-10-28T20:16:09.737Z,1761682569.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710843,-0.690262,-0.135058],[0.703347,-0.698209,-0.133440],[-0.002191,-0.189847,0.981811]] 2025-10-28T20:16:10.102Z,1761682570.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711042,-0.690220,-0.134225],[0.703149,-0.698283,-0.134100],[-0.001169,-0.189731,0.981835]] 2025-10-28T20:16:10.151Z,1761682570.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:16:10.151Z,1761682570.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:16:10.151Z,1761682570.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:16:10.151Z,1761682570.151 [marl:UpdateRudder:A] Stopped 2025-10-28T20:16:10.151Z,1761682570.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:16:10.509Z,1761682570.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711198,-0.689966,-0.134699],[0.702991,-0.697949,-0.136639],[0.000263,-0.191869,0.981420]] 2025-10-28T20:16:10.532Z,1761682570.532 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:16:10.533Z,1761682570.533 [marl:UpdateRudder:B] Stopped 2025-10-28T20:16:10.533Z,1761682570.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:16:10.533Z,1761682570.533 [marl:UpdateRudder] Stopped 2025-10-28T20:16:10.533Z,1761682570.533 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:16:10.916Z,1761682570.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710658,-0.690627,-0.134159],[0.703536,-0.697277,-0.137266],[0.001254,-0.191935,0.981407]] 2025-10-28T20:16:11.314Z,1761682571.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710901,-0.690432,-0.133879],[0.703289,-0.697327,-0.138274],[0.002111,-0.192454,0.981304]] 2025-10-28T20:16:11.751Z,1761682571.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711377,-0.690027,-0.133435],[0.702803,-0.697544,-0.139646],[0.003283,-0.193120,0.981170]] 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:16:11.818Z,1761682571.818 [marl:UpdateCommandMode] Stopped 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed] Stopped 2025-10-28T20:16:11.819Z,1761682571.819 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:16:12.122Z,1761682572.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711730,-0.689840,-0.132519],[0.702441,-0.697792,-0.140226],[0.004263,-0.192889,0.981211]] 2025-10-28T20:16:12.533Z,1761682572.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712220,-0.689402,-0.132166],[0.701936,-0.698017,-0.141627],[0.005384,-0.193642,0.981058]] 2025-10-28T20:16:12.939Z,1761682572.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712713,-0.688983,-0.131689],[0.701425,-0.698259,-0.142960],[0.006544,-0.194260,0.980928]] 2025-10-28T20:16:13.347Z,1761682573.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713135,-0.688639,-0.131204],[0.700983,-0.698421,-0.144328],[0.007754,-0.194897,0.980793]] 2025-10-28T20:16:13.762Z,1761682573.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713449,-0.688611,-0.129637],[0.700646,-0.698626,-0.144972],[0.009262,-0.194259,0.980906]] 2025-10-28T20:16:14.144Z,1761682574.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713884,-0.688251,-0.129151],[0.700187,-0.698833,-0.146188],[0.010359,-0.194791,0.980790]] 2025-10-28T20:16:14.553Z,1761682574.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713951,-0.688418,-0.127887],[0.700106,-0.698922,-0.146148],[0.011227,-0.193877,0.980962]] 2025-10-28T20:16:14.972Z,1761682574.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714588,-0.687993,-0.126608],[0.699436,-0.699471,-0.146727],[0.012388,-0.193404,0.981041]] 2025-10-28T20:16:15.354Z,1761682575.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715044,-0.687750,-0.125347],[0.698960,-0.700016,-0.146401],[0.012943,-0.192296,0.981252]] 2025-10-28T20:16:15.767Z,1761682575.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715859,-0.687040,-0.124589],[0.698106,-0.700663,-0.147375],[0.013957,-0.192476,0.981202]] 2025-10-28T20:16:16.163Z,1761682576.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716450,-0.686624,-0.123475],[0.697491,-0.701363,-0.146954],[0.014302,-0.191408,0.981406]] 2025-10-28T20:16:16.566Z,1761682576.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717345,-0.685796,-0.122879],[0.696550,-0.702058,-0.148097],[0.015297,-0.191828,0.981309]] 2025-10-28T20:16:16.971Z,1761682576.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717792,-0.685643,-0.121112],[0.696070,-0.702622,-0.147676],[0.016157,-0.190304,0.981592]] 2025-10-28T20:16:17.376Z,1761682577.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718504,-0.685089,-0.120021],[0.695303,-0.703160,-0.148728],[0.017497,-0.190313,0.981568]] 2025-10-28T20:16:17.783Z,1761682577.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718855,-0.684934,-0.118797],[0.694902,-0.703360,-0.149652],[0.018945,-0.190130,0.981576]] 2025-10-28T20:16:18.587Z,1761682578.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718142,-0.686234,-0.115561],[0.695539,-0.702487,-0.150789],[0.022296,-0.188665,0.981788]] 2025-10-28T20:16:18.990Z,1761682578.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717100,-0.687448,-0.114814],[0.696571,-0.701326,-0.151426],[0.023575,-0.188564,0.981778]] 2025-10-28T20:16:19.799Z,1761682579.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714475,-0.690666,-0.111835],[0.699204,-0.699048,-0.149820],[0.025297,-0.185238,0.982368]] 2025-10-28T20:16:20.203Z,1761682580.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713547,-0.691720,-0.111239],[0.700129,-0.698149,-0.149691],[0.025883,-0.184693,0.982455]] 2025-10-28T20:16:21.011Z,1761682581.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712647,-0.692846,-0.109993],[0.701024,-0.697422,-0.148892],[0.026448,-0.183216,0.982717]] 2025-10-28T20:16:21.423Z,1761682581.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713247,-0.692273,-0.109711],[0.700430,-0.698163,-0.148210],[0.026006,-0.182555,0.982852]] 2025-10-28T20:16:21.818Z,1761682581.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714373,-0.691209,-0.109094],[0.699300,-0.699488,-0.147292],[0.025500,-0.181511,0.983058]] 2025-10-28T20:16:22.222Z,1761682582.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716243,-0.689301,-0.108904],[0.697401,-0.701413,-0.147146],[0.025041,-0.181342,0.983101]] 2025-10-28T20:16:22.626Z,1761682582.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718415,-0.687043,-0.108865],[0.695183,-0.703611,-0.147147],[0.024498,-0.181394,0.983105]] 2025-10-28T20:16:23.032Z,1761682583.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720717,-0.684689,-0.108476],[0.692810,-0.705969,-0.147042],[0.024097,-0.181130,0.983164]] 2025-10-28T20:16:23.435Z,1761682583.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723055,-0.682298,-0.107986],[0.690379,-0.708342,-0.147065],[0.023851,-0.180887,0.983215]] 2025-10-28T20:16:23.479Z,1761682583.479 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:16:23.479Z,1761682583.479 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:16:23.480Z,1761682583.480 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:16:23.481Z,1761682583.481 [marl:UpdateRudder:A] Stopped 2025-10-28T20:16:23.481Z,1761682583.481 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:16:23.838Z,1761682583.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725294,-0.680171,-0.106375],[0.688021,-0.710766,-0.146422],[0.023984,-0.179387,0.983486]] 2025-10-28T20:16:23.903Z,1761682583.903 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:16:23.904Z,1761682583.904 [marl:UpdateRudder:B] Stopped 2025-10-28T20:16:23.904Z,1761682583.904 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:16:23.904Z,1761682583.904 [marl:UpdateRudder] Stopped 2025-10-28T20:16:23.904Z,1761682583.904 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:16:24.243Z,1761682584.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727517,-0.677883,-0.105804],[0.685656,-0.712876,-0.147253],[0.024395,-0.179674,0.983424]] 2025-10-28T20:16:24.651Z,1761682584.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729653,-0.675726,-0.104883],[0.683355,-0.714893,-0.148167],[0.025140,-0.179782,0.983385]] 2025-10-28T20:16:25.050Z,1761682585.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731597,-0.673777,-0.103878],[0.681234,-0.716661,-0.149392],[0.026212,-0.180060,0.983306]] 2025-10-28T20:16:25.101Z,1761682585.101 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:16:25.101Z,1761682585.101 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:16:25.101Z,1761682585.101 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:16:25.101Z,1761682585.101 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:16:25.101Z,1761682585.101 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:16:25.101Z,1761682585.102 [marl:UpdateCommandMode] Stopped 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed] Stopped 2025-10-28T20:16:25.102Z,1761682585.102 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:16:25.454Z,1761682585.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733474,-0.671834,-0.103222],[0.679157,-0.718203,-0.151430],[0.027601,-0.181174,0.983064]] 2025-10-28T20:16:25.861Z,1761682585.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734969,-0.670333,-0.102345],[0.677470,-0.719366,-0.153451],[0.029240,-0.182117,0.982842]] 2025-10-28T20:16:26.262Z,1761682586.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735973,-0.669216,-0.102438],[0.676300,-0.719804,-0.156526],[0.031015,-0.184478,0.982347]] 2025-10-28T20:16:26.667Z,1761682586.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736045,-0.669253,-0.101680],[0.676149,-0.719625,-0.157992],[0.032565,-0.185040,0.982191]] 2025-10-28T20:16:27.071Z,1761682587.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734887,-0.670548,-0.101521],[0.677328,-0.718135,-0.159715],[0.034191,-0.186135,0.981929]] 2025-10-28T20:16:27.135Z,1761682587.135 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:16:27.229Z,1761682587.229 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:16:27.229Z,1761682587.229 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:16:27.476Z,1761682587.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732803,-0.672589,-0.103067],[0.679504,-0.715407,-0.162686],[0.035686,-0.189251,0.981280]] 2025-10-28T20:16:27.485Z,1761682587.485 [DAT](INFO): DAT read: user:244> 2025-10-28T20:16:27.486Z,1761682587.486 [DAT](INFO): DAT read: Tx time:20:16:27.2206 2025-10-28T20:16:27.486Z,1761682587.486 [DAT](INFO): Ping request sent. 2025-10-28T20:16:27.487Z,1761682587.487 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:16:27.487Z,1761682587.487 [DAT](INFO): publishing transmit ping time 2025-10-28T20:16:27.488Z,1761682587.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T20:16:27.740Z,1761682587.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252266 2025-10-28T20:16:27.885Z,1761682587.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730293,-0.675166,-0.104034],[0.682135,-0.712487,-0.164483],[0.036930,-0.191085,0.980878]] 2025-10-28T20:16:27.990Z,1761682587.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503653 2025-10-28T20:16:28.241Z,1761682588.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754326 2025-10-28T20:16:28.289Z,1761682588.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723908,-0.681965,-0.104311],[0.688774,-0.705801,-0.165635],[0.039335,-0.191751,0.980655]] 2025-10-28T20:16:28.493Z,1761682588.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006337 2025-10-28T20:16:28.697Z,1761682588.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720881,-0.685328,-0.103228],[0.691883,-0.702956,-0.164773],[0.040359,-0.190203,0.980915]] 2025-10-28T20:16:28.745Z,1761682588.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258381 2025-10-28T20:16:28.997Z,1761682588.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510340 2025-10-28T20:16:29.097Z,1761682589.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718091,-0.688373,-0.102407],[0.694746,-0.700398,-0.163618],[0.040904,-0.188640,0.981194]] 2025-10-28T20:16:29.249Z,1761682589.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762298 2025-10-28T20:16:29.501Z,1761682589.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014415 2025-10-28T20:16:29.501Z,1761682589.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715957,-0.690495,-0.103066],[0.696954,-0.698289,-0.163239],[0.040746,-0.188705,0.981188]] 2025-10-28T20:16:29.753Z,1761682589.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848 2025-10-28T20:16:29.907Z,1761682589.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714368,-0.691976,-0.104155],[0.698654,-0.696882,-0.161980],[0.039502,-0.188482,0.981282]] 2025-10-28T20:16:30.005Z,1761682590.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518264 2025-10-28T20:16:30.257Z,1761682590.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770286 2025-10-28T20:16:30.307Z,1761682590.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713721,-0.692632,-0.104222],[0.699422,-0.696779,-0.159084],[0.037566,-0.186437,0.981748]] 2025-10-28T20:16:30.509Z,1761682590.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022297 2025-10-28T20:16:30.711Z,1761682590.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714209,-0.692070,-0.104616],[0.699051,-0.697794,-0.156242],[0.035130,-0.184721,0.982163]] 2025-10-28T20:16:30.761Z,1761682590.761 [DAT](INFO): DAT read: Rx Time:20:16:29.9468 2025-10-28T20:16:30.762Z,1761682590.762 [DAT](INFO): Rx dataTimestamp_ set to:1761682590.761617 2025-10-28T20:16:30.763Z,1761682590.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276150 2025-10-28T20:16:31.013Z,1761682591.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526239 2025-10-28T20:16:31.129Z,1761682591.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716055,-0.690079,-0.105150],[0.697291,-0.700128,-0.153642],[0.032407,-0.183336,0.982516]] 2025-10-28T20:16:31.270Z,1761682591.270 [DAT](INFO): DAT read: 20:16:29.9468 LVL= 32752, 31265, 30098, 32755, AGC= 65, IDX= 15,-0.13, 3.088, 1.720,-2.651, 2.997, PHS= 0.193,-1.232, 0.591, RAW= 162.0, 5.5, CAL= 161.1, 4.8, ROT= 348.9, -4.8 2025-10-28T20:16:31.271Z,1761682591.271 [DAT](INFO): got valid direction response: 20:16:29.9468 LVL= 32752, 31265, 30098, 32755, AGC= 65, IDX= 15,-0.13, 3.088, 1.720,-2.651, 2.997, PHS= 0.193,-1.232, 0.591, RAW= 162.0, 5.5, CAL= 161.1, 4.8, ROT= 348.9, -4.8 2025-10-28T20:16:31.272Z,1761682591.272 [DAT](INFO): DAT read: Bearing 295.2, -8.9 (Local) 2025-10-28T20:16:31.273Z,1761682591.273 [DAT](INFO): Local bearing/azimuth received: Bearing 295.2, -8.9 (Local) 2025-10-28T20:16:31.274Z,1761682591.274 [DAT](INFO): DAT read: Range 11 to 20 : 241.5 m (Round-trip 322.1 ms) speed 1.2 m/s 2025-10-28T20:16:31.275Z,1761682591.275 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:16:31.301Z,1761682591.301 [DAT](INFO): direction in FSK: [0.977851,-0.191847,0.083678] 2025-10-28T20:16:31.301Z,1761682591.301 [DAT](INFO): publishing direction and range info 2025-10-28T20:16:31.514Z,1761682591.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718628,-0.687246,-0.106146],[0.694783,-0.703180,-0.151043],[0.029164,-0.182292,0.982812]] 2025-10-28T20:16:31.570Z,1761682591.570 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682560.00. Resetting abort timer. 2025-10-28T20:16:31.918Z,1761682591.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721137,-0.684382,-0.107622],[0.692319,-0.706157,-0.148448],[0.025597,-0.181560,0.983047]] 2025-10-28T20:16:32.322Z,1761682592.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723177,-0.682022,-0.108905],[0.690315,-0.708769,-0.145303],[0.021912,-0.180258,0.983375]] 2025-10-28T20:16:32.726Z,1761682592.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724697,-0.680113,-0.110725],[0.688820,-0.710723,-0.142826],[0.018443,-0.179775,0.983535]] 2025-10-28T20:16:33.132Z,1761682593.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725767,-0.678695,-0.112406],[0.687756,-0.712036,-0.141407],[0.015935,-0.179937,0.983549]] 2025-10-28T20:16:33.539Z,1761682593.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726515,-0.677781,-0.113092],[0.686992,-0.712901,-0.140763],[0.014783,-0.179959,0.983563]] 2025-10-28T20:16:33.939Z,1761682593.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727223,-0.676969,-0.113405],[0.686232,-0.713383,-0.142020],[0.015242,-0.181103,0.983346]] 2025-10-28T20:16:34.343Z,1761682594.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728003,-0.676097,-0.113599],[0.685354,-0.713509,-0.145585],[0.017375,-0.183842,0.982802]] 2025-10-28T20:16:34.552Z,1761682594.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:16:34.751Z,1761682594.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729124,-0.675096,-0.112355],[0.684062,-0.713884,-0.149761],[0.020894,-0.186052,0.982318]] 2025-10-28T20:16:35.152Z,1761682595.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730753,-0.673592,-0.110788],[0.682168,-0.714520,-0.155265],[0.025425,-0.189037,0.981641]] 2025-10-28T20:16:35.555Z,1761682595.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732620,-0.671848,-0.109032],[0.679959,-0.715288,-0.161301],[0.030381,-0.192310,0.980864]] 2025-10-28T20:16:35.556Z,1761682595.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:16:35.958Z,1761682595.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734814,-0.669888,-0.106298],[0.677335,-0.716513,-0.166814],[0.035583,-0.194577,0.980242]] 2025-10-28T20:16:36.368Z,1761682596.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736085,-0.668924,-0.103535],[0.675699,-0.717078,-0.170971],[0.040124,-0.195807,0.979821]] 2025-10-28T20:16:36.778Z,1761682596.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735030,-0.670286,-0.102209],[0.676708,-0.715785,-0.172389],[0.042390,-0.195877,0.979712]] 2025-10-28T20:16:36.808Z,1761682596.808 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:16:36.809Z,1761682596.809 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:16:36.809Z,1761682596.809 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:16:36.809Z,1761682596.809 [marl:UpdateRudder:A] Stopped 2025-10-28T20:16:36.810Z,1761682596.810 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:16:37.172Z,1761682597.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732982,-0.672470,-0.102577],[0.678920,-0.713767,-0.172059],[0.042489,-0.195758,0.979731]] 2025-10-28T20:16:37.202Z,1761682597.202 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:16:37.202Z,1761682597.202 [marl:UpdateRudder:B] Stopped 2025-10-28T20:16:37.202Z,1761682597.202 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:16:37.202Z,1761682597.202 [marl:UpdateRudder] Stopped 2025-10-28T20:16:37.202Z,1761682597.202 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:16:37.578Z,1761682597.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730895,-0.674600,-0.103478],[0.681210,-0.711806,-0.171127],[0.041786,-0.195566,0.979800]] 2025-10-28T20:16:37.979Z,1761682597.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729262,-0.676158,-0.104820],[0.683001,-0.710159,-0.170834],[0.041072,-0.196175,0.979708]] 2025-10-28T20:16:38.390Z,1761682598.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727611,-0.677726,-0.106159],[0.684815,-0.708557,-0.170222],[0.040144,-0.196554,0.979671]] 2025-10-28T20:16:38.436Z,1761682598.436 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:16:38.436Z,1761682598.436 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateCommandMode] Stopped 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:16:38.437Z,1761682598.437 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:16:38.438Z,1761682598.438 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:16:38.438Z,1761682598.438 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:16:38.438Z,1761682598.438 [marl:UpdateSpeed] Stopped 2025-10-28T20:16:38.438Z,1761682598.438 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:16:38.797Z,1761682598.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726877,-0.678471,-0.106427],[0.685642,-0.708053,-0.168986],[0.039296,-0.195803,0.979856]] 2025-10-28T20:16:39.193Z,1761682599.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726191,-0.679307,-0.105782],[0.686446,-0.707961,-0.166082],[0.037932,-0.193221,0.980422]] 2025-10-28T20:16:39.596Z,1761682599.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726340,-0.679064,-0.106314],[0.686363,-0.708353,-0.164751],[0.036569,-0.192635,0.980589]] 2025-10-28T20:16:39.999Z,1761682599.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726567,-0.678688,-0.107161],[0.686182,-0.708680,-0.164098],[0.035428,-0.192760,0.980606]] 2025-10-28T20:16:40.403Z,1761682600.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727176,-0.677897,-0.108031],[0.685588,-0.709323,-0.163800],[0.034411,-0.193176,0.980560]] 2025-10-28T20:16:40.818Z,1761682600.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728023,-0.676925,-0.108423],[0.684754,-0.710388,-0.162671],[0.033094,-0.192671,0.980705]] 2025-10-28T20:16:41.210Z,1761682601.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728954,-0.675760,-0.109425],[0.683846,-0.711516,-0.161554],[0.031313,-0.192595,0.980779]] 2025-10-28T20:16:41.615Z,1761682601.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730199,-0.674357,-0.109784],[0.682605,-0.713148,-0.159593],[0.029330,-0.191474,0.981059]] 2025-10-28T20:16:42.018Z,1761682602.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732001,-0.672218,-0.110892],[0.680757,-0.715147,-0.158540],[0.027269,-0.191542,0.981106]] 2025-10-28T20:16:42.423Z,1761682602.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734045,-0.669912,-0.111337],[0.678644,-0.717620,-0.156406],[0.024880,-0.190367,0.981398]] 2025-10-28T20:16:42.831Z,1761682602.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736536,-0.667043,-0.112108],[0.676021,-0.720413,-0.154919],[0.022574,-0.189891,0.981546]] 2025-10-28T20:16:43.231Z,1761682603.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739061,-0.664225,-0.112225],[0.673335,-0.723401,-0.152680],[0.020230,-0.188405,0.981883]] 2025-10-28T20:16:43.634Z,1761682603.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741642,-0.661343,-0.112214],[0.670550,-0.726398,-0.150694],[0.018148,-0.187006,0.982191]] 2025-10-28T20:16:44.039Z,1761682604.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744285,-0.658306,-0.112577],[0.667653,-0.729177,-0.150136],[0.016747,-0.186906,0.982235]] 2025-10-28T20:16:44.444Z,1761682604.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746776,-0.655639,-0.111635],[0.664882,-0.731916,-0.149103],[0.016051,-0.185571,0.982500]] 2025-10-28T20:16:44.852Z,1761682604.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749431,-0.652859,-0.110129],[0.661873,-0.734578,-0.149396],[0.016636,-0.184854,0.982625]] 2025-10-28T20:16:45.251Z,1761682605.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751953,-0.650285,-0.108149],[0.658967,-0.736971,-0.150452],[0.018133,-0.184399,0.982684]] 2025-10-28T20:16:45.655Z,1761682605.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754549,-0.647500,-0.106766],[0.655926,-0.739080,-0.153365],[0.020395,-0.185752,0.982385]] 2025-10-28T20:16:46.060Z,1761682606.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756157,-0.645571,-0.107072],[0.654010,-0.739953,-0.157291],[0.022315,-0.188963,0.981731]] 2025-10-28T20:16:46.463Z,1761682606.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756024,-0.645531,-0.108247],[0.654136,-0.739312,-0.159760],[0.023102,-0.191590,0.981203]] 2025-10-28T20:16:46.872Z,1761682606.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755369,-0.646201,-0.108819],[0.654885,-0.738503,-0.160436],[0.023311,-0.192452,0.981030]] 2025-10-28T20:16:47.270Z,1761682607.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753658,-0.647829,-0.110979],[0.656865,-0.736485,-0.161608],[0.022960,-0.194696,0.980595]] 2025-10-28T20:16:47.682Z,1761682607.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751983,-0.649403,-0.113126],[0.658788,-0.734441,-0.163081],[0.022821,-0.197160,0.980106]] 2025-10-28T20:16:48.078Z,1761682608.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750092,-0.651057,-0.116132],[0.660968,-0.732197,-0.164340],[0.021963,-0.200030,0.979544]] 2025-10-28T20:16:48.483Z,1761682608.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748206,-0.652821,-0.118375],[0.663136,-0.730203,-0.164483],[0.020940,-0.201566,0.979251]] 2025-10-28T20:16:48.887Z,1761682608.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746095,-0.655070,-0.119273],[0.665532,-0.728241,-0.163501],[0.020245,-0.201367,0.979307]] 2025-10-28T20:16:49.292Z,1761682609.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744198,-0.657256,-0.119096],[0.667683,-0.726844,-0.160922],[0.019203,-0.199277,0.979755]] 2025-10-28T20:16:49.694Z,1761682609.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743291,-0.658521,-0.117765],[0.668719,-0.726602,-0.157685],[0.018271,-0.195958,0.980442]] 2025-10-28T20:16:50.099Z,1761682610.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742736,-0.659343,-0.116663],[0.669363,-0.726653,-0.154690],[0.017221,-0.192984,0.981051]] 2025-10-28T20:16:50.187Z,1761682610.187 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:16:50.187Z,1761682610.187 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:16:50.187Z,1761682610.187 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:16:50.188Z,1761682610.188 [marl:UpdateRudder:A] Stopped 2025-10-28T20:16:50.188Z,1761682610.188 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:16:50.503Z,1761682610.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742366,-0.660011,-0.115229],[0.669798,-0.726923,-0.151503],[0.016231,-0.189650,0.981718]] 2025-10-28T20:16:50.553Z,1761682610.553 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:16:50.553Z,1761682610.553 [marl:UpdateRudder:B] Stopped 2025-10-28T20:16:50.553Z,1761682610.553 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:16:50.553Z,1761682610.553 [marl:UpdateRudder] Stopped 2025-10-28T20:16:50.553Z,1761682610.553 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:16:50.910Z,1761682610.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742496,-0.659964,-0.114658],[0.669682,-0.727525,-0.149107],[0.014989,-0.187496,0.982151]] 2025-10-28T20:16:51.311Z,1761682611.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742957,-0.659729,-0.113018],[0.669198,-0.728667,-0.145663],[0.013745,-0.183852,0.982858]] 2025-10-28T20:16:51.715Z,1761682611.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744158,-0.658540,-0.112047],[0.667881,-0.730257,-0.143738],[0.012834,-0.181797,0.983252]] 2025-10-28T20:16:51.761Z,1761682611.761 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:16:51.761Z,1761682611.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:16:51.761Z,1761682611.761 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:16:51.762Z,1761682611.762 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:16:51.762Z,1761682611.762 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:16:51.762Z,1761682611.762 [marl:UpdateCommandMode] Stopped 2025-10-28T20:16:51.762Z,1761682611.762 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:16:51.762Z,1761682611.762 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed] Stopped 2025-10-28T20:16:51.763Z,1761682611.763 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:16:52.118Z,1761682612.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745815,-0.656782,-0.111346],[0.666044,-0.732174,-0.142500],[0.012066,-0.180440,0.983512]] 2025-10-28T20:16:52.524Z,1761682612.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747821,-0.654457,-0.111579],[0.663806,-0.734247,-0.142280],[0.011189,-0.180467,0.983517]] 2025-10-28T20:16:52.926Z,1761682612.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749881,-0.652048,-0.111857],[0.661486,-0.736256,-0.142697],[0.010690,-0.180998,0.983425]] 2025-10-28T20:16:53.338Z,1761682613.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752185,-0.649306,-0.112332],[0.658865,-0.738319,-0.144156],[0.010664,-0.182444,0.983158]] 2025-10-28T20:16:53.735Z,1761682613.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754504,-0.646545,-0.112706],[0.656204,-0.740336,-0.145939],[0.010916,-0.184070,0.982852]] 2025-10-28T20:16:54.139Z,1761682614.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756838,-0.643915,-0.112119],[0.653497,-0.742413,-0.147529],[0.011757,-0.184925,0.982682]] 2025-10-28T20:16:54.544Z,1761682614.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759135,-0.641370,-0.111168],[0.650813,-0.744554,-0.148603],[0.012539,-0.185160,0.982628]] 2025-10-28T20:16:54.947Z,1761682614.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761165,-0.638915,-0.111425],[0.648415,-0.746056,-0.151523],[0.013681,-0.187584,0.982153]] 2025-10-28T20:16:55.354Z,1761682615.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763030,-0.636748,-0.111073],[0.646197,-0.747596,-0.153392],[0.014634,-0.188818,0.981903]] 2025-10-28T20:16:55.760Z,1761682615.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764424,-0.635161,-0.110579],[0.644541,-0.748917,-0.153918],[0.014948,-0.188931,0.981877]] 2025-10-28T20:16:56.159Z,1761682616.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765611,-0.633837,-0.109954],[0.643132,-0.750189,-0.153618],[0.014883,-0.188326,0.981994]] 2025-10-28T20:16:56.562Z,1761682616.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765946,-0.633456,-0.109819],[0.642746,-0.750715,-0.152656],[0.014258,-0.187512,0.982159]] 2025-10-28T20:16:56.967Z,1761682616.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765933,-0.633415,-0.110147],[0.642772,-0.750758,-0.152335],[0.013797,-0.187478,0.982172]] 2025-10-28T20:16:57.802Z,1761682617.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766241,-0.633058,-0.110056],[0.642448,-0.751684,-0.149102],[0.011663,-0.184953,0.982678]] 2025-10-28T20:16:58.178Z,1761682618.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766319,-0.632954,-0.110114],[0.642371,-0.752004,-0.147816],[0.010754,-0.184008,0.982866]] 2025-10-28T20:16:58.583Z,1761682618.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766266,-0.632874,-0.110941],[0.642443,-0.751918,-0.147943],[0.010211,-0.184637,0.982754]] 2025-10-28T20:16:58.986Z,1761682618.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766235,-0.632818,-0.111474],[0.642480,-0.751774,-0.148511],[0.010177,-0.185414,0.982608]] 2025-10-28T20:16:59.390Z,1761682619.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766055,-0.632931,-0.112063],[0.642688,-0.751357,-0.149713],[0.010559,-0.186710,0.982358]] 2025-10-28T20:16:59.839Z,1761682619.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766119,-0.632721,-0.112810],[0.642596,-0.750967,-0.152049],[0.011488,-0.188979,0.981914]] 2025-10-28T20:17:00.199Z,1761682620.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766213,-0.632616,-0.112759],[0.642466,-0.750779,-0.153518],[0.012461,-0.190071,0.981691]] 2025-10-28T20:17:00.604Z,1761682620.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765767,-0.633226,-0.112363],[0.642987,-0.750318,-0.153592],[0.012950,-0.189864,0.981725]] 2025-10-28T20:17:01.007Z,1761682621.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765481,-0.633502,-0.112757],[0.643323,-0.749878,-0.154330],[0.013214,-0.190676,0.981564]] 2025-10-28T20:17:01.413Z,1761682621.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764797,-0.634344,-0.112666],[0.644138,-0.749298,-0.153749],[0.013109,-0.190159,0.981666]] 2025-10-28T20:17:01.841Z,1761682621.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764670,-0.634360,-0.113429],[0.644298,-0.749132,-0.153888],[0.012647,-0.190756,0.981556]] 2025-10-28T20:17:02.221Z,1761682622.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764206,-0.634903,-0.113525],[0.644862,-0.748883,-0.152735],[0.011955,-0.189929,0.981725]] 2025-10-28T20:17:02.623Z,1761682622.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764083,-0.634997,-0.113822],[0.645020,-0.748915,-0.151904],[0.011216,-0.189485,0.981820]] 2025-10-28T20:17:03.026Z,1761682623.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764367,-0.634656,-0.113816],[0.644705,-0.749565,-0.150029],[0.009904,-0.188055,0.982109]] 2025-10-28T20:17:03.436Z,1761682623.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765389,-0.633408,-0.113906],[0.643499,-0.750640,-0.149824],[0.009397,-0.187972,0.982129]] 2025-10-28T20:17:03.459Z,1761682623.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:17:03.460Z,1761682623.460 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:17:03.461Z,1761682623.461 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:17:03.461Z,1761682623.461 [marl:UpdateRudder:A] Stopped 2025-10-28T20:17:03.461Z,1761682623.461 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:17:03.848Z,1761682623.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767199,-0.631151,-0.114255],[0.641345,-0.752319,-0.150645],[0.009124,-0.188851,0.981963]] 2025-10-28T20:17:03.919Z,1761682623.919 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:17:03.924Z,1761682623.924 [marl:UpdateRudder:B] Stopped 2025-10-28T20:17:03.924Z,1761682623.924 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:17:03.924Z,1761682623.924 [marl:UpdateRudder] Stopped 2025-10-28T20:17:03.924Z,1761682623.924 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:17:04.238Z,1761682624.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769105,-0.628694,-0.114982],[0.639067,-0.754127,-0.151283],[0.008399,-0.189834,0.981780]] 2025-10-28T20:17:04.643Z,1761682624.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771211,-0.625941,-0.115894],[0.636529,-0.755974,-0.152755],[0.008003,-0.191577,0.981445]] 2025-10-28T20:17:05.047Z,1761682625.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773317,-0.623387,-0.115629],[0.633970,-0.758008,-0.153314],[0.007927,-0.191866,0.981389]] 2025-10-28T20:17:05.072Z,1761682625.072 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:17:05.072Z,1761682625.072 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:17:05.072Z,1761682625.072 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateCommandMode] Stopped 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:17:05.073Z,1761682625.073 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:17:05.074Z,1761682625.074 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:17:05.074Z,1761682625.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:17:05.074Z,1761682625.074 [marl:UpdateSpeed] Stopped 2025-10-28T20:17:05.074Z,1761682625.074 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:17:05.460Z,1761682625.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775621,-0.620541,-0.115500],[0.631142,-0.760003,-0.155098],[0.008464,-0.193194,0.981124]] 2025-10-28T20:17:05.676Z,1761682625.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:17:05.855Z,1761682625.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777764,-0.617901,-0.115247],[0.628490,-0.761826,-0.156914],[0.009159,-0.194474,0.980865]] 2025-10-28T20:17:06.259Z,1761682626.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779133,-0.616301,-0.114565],[0.626791,-0.763253,-0.156771],[0.009176,-0.193954,0.980968]] 2025-10-28T20:17:06.663Z,1761682626.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780204,-0.615100,-0.113727],[0.625457,-0.764437,-0.156333],[0.009223,-0.193103,0.981135]] 2025-10-28T20:17:06.680Z,1761682626.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:17:07.069Z,1761682627.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780947,-0.614296,-0.112965],[0.624528,-0.765303,-0.155805],[0.009258,-0.192226,0.981307]] 2025-10-28T20:17:07.473Z,1761682627.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780988,-0.614347,-0.112411],[0.624481,-0.765553,-0.154764],[0.009022,-0.191067,0.981535]] 2025-10-28T20:17:07.874Z,1761682627.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780708,-0.614697,-0.112444],[0.624834,-0.765350,-0.154344],[0.008816,-0.190757,0.981598]] 2025-10-28T20:17:08.280Z,1761682628.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780504,-0.614982,-0.112299],[0.625094,-0.765308,-0.153495],[0.008453,-0.190001,0.981748]] 2025-10-28T20:17:08.683Z,1761682628.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780130,-0.615313,-0.113079],[0.625565,-0.764872,-0.153754],[0.008116,-0.190686,0.981617]] 2025-10-28T20:17:09.086Z,1761682629.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780115,-0.615402,-0.112699],[0.625585,-0.764971,-0.153176],[0.008053,-0.189998,0.981751]] 2025-10-28T20:17:09.494Z,1761682629.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779617,-0.616131,-0.112158],[0.626210,-0.764764,-0.151650],[0.007662,-0.188463,0.982050]] 2025-10-28T20:17:09.899Z,1761682629.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779871,-0.615784,-0.112299],[0.625896,-0.765041,-0.151544],[0.007405,-0.188472,0.982051]] 2025-10-28T20:17:10.308Z,1761682630.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780347,-0.615170,-0.112362],[0.625307,-0.765558,-0.151369],[0.007098,-0.188381,0.982070]] 2025-10-28T20:17:10.703Z,1761682630.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781112,-0.614035,-0.113248],[0.624357,-0.766225,-0.151911],[0.006505,-0.189366,0.981885]] 2025-10-28T20:17:11.107Z,1761682631.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782565,-0.612215,-0.113067],[0.622538,-0.767719,-0.151837],[0.006153,-0.189211,0.981917]] 2025-10-28T20:17:11.513Z,1761682631.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783595,-0.610800,-0.113586],[0.621252,-0.768876,-0.151250],[0.005050,-0.189084,0.981948]] 2025-10-28T20:17:11.924Z,1761682631.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785347,-0.608279,-0.115004],[0.619044,-0.770517,-0.151952],[0.003817,-0.190527,0.981674]] 2025-10-28T20:17:12.319Z,1761682632.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786980,-0.606090,-0.115400],[0.616973,-0.772302,-0.151305],[0.002581,-0.190273,0.981728]] 2025-10-28T20:17:12.722Z,1761682632.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788686,-0.603729,-0.116125],[0.614794,-0.774056,-0.151210],[0.001403,-0.190650,0.981657]] 2025-10-28T20:17:13.134Z,1761682633.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789784,-0.602336,-0.115898],[0.613385,-0.775594,-0.149040],[-0.000118,-0.188800,0.982016]] 2025-10-28T20:17:13.539Z,1761682633.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791307,-0.600208,-0.116554],[0.611410,-0.777857,-0.145317],[-0.003442,-0.186253,0.982496]] 2025-10-28T20:17:13.939Z,1761682633.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791569,-0.599664,-0.117564],[0.611057,-0.778412,-0.143820],[-0.005269,-0.185682,0.982596]] 2025-10-28T20:17:14.343Z,1761682634.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791341,-0.599780,-0.118504],[0.611335,-0.778485,-0.142234],[-0.006944,-0.185001,0.982714]] 2025-10-28T20:17:14.749Z,1761682634.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791413,-0.599398,-0.119949],[0.611223,-0.778677,-0.141661],[-0.008490,-0.185427,0.982621]] 2025-10-28T20:17:15.158Z,1761682635.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791385,-0.599282,-0.120710],[0.611230,-0.779031,-0.139669],[-0.010336,-0.184314,0.982813]] 2025-10-28T20:17:15.554Z,1761682635.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791418,-0.598904,-0.122358],[0.611150,-0.779286,-0.138598],[-0.012345,-0.184468,0.982761]] 2025-10-28T20:17:15.958Z,1761682635.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791625,-0.598456,-0.123208],[0.610838,-0.779887,-0.136577],[-0.014353,-0.183378,0.982938]] 2025-10-28T20:17:16.360Z,1761682636.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792209,-0.597555,-0.123825],[0.610035,-0.780843,-0.134695],[-0.016201,-0.182244,0.983120]] 2025-10-28T20:17:16.776Z,1761682636.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793229,-0.595973,-0.124916],[0.608653,-0.782128,-0.133478],[-0.018151,-0.181909,0.983148]] 2025-10-28T20:17:16.806Z,1761682636.806 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:17:16.806Z,1761682636.806 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:17:16.806Z,1761682636.806 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:17:16.806Z,1761682636.806 [marl:UpdateRudder:A] Stopped 2025-10-28T20:17:16.806Z,1761682636.806 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:17:17.168Z,1761682637.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794619,-0.594081,-0.125093],[0.606791,-0.783822,-0.132015],[-0.019622,-0.180807,0.983323]] 2025-10-28T20:17:17.211Z,1761682637.211 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:17:17.211Z,1761682637.211 [marl:UpdateRudder:B] Stopped 2025-10-28T20:17:17.211Z,1761682637.211 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:17:17.211Z,1761682637.211 [marl:UpdateRudder] Stopped 2025-10-28T20:17:17.212Z,1761682637.212 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:17:17.573Z,1761682637.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796184,-0.591826,-0.125833],[0.604682,-0.785600,-0.131124],[-0.021252,-0.180487,0.983348]] 2025-10-28T20:17:17.975Z,1761682637.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797825,-0.589619,-0.125801],[0.602451,-0.787657,-0.129032],[-0.023009,-0.178734,0.983628]] 2025-10-28T20:17:18.402Z,1761682638.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799911,-0.586516,-0.127049],[0.599626,-0.789711,-0.129634],[-0.024299,-0.179877,0.983389]] 2025-10-28T20:17:18.426Z,1761682638.426 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:17:18.426Z,1761682638.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:17:18.426Z,1761682638.426 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateCommandMode] Stopped 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:17:18.427Z,1761682638.427 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:17:18.428Z,1761682638.428 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:17:18.428Z,1761682638.428 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:17:18.428Z,1761682638.428 [marl:UpdateSpeed] Stopped 2025-10-28T20:17:18.428Z,1761682638.428 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:17:18.790Z,1761682638.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801845,-0.583935,-0.126746],[0.596997,-0.791878,-0.128547],[-0.025304,-0.178742,0.983571]] 2025-10-28T20:17:19.188Z,1761682639.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803294,-0.581932,-0.126779],[0.594999,-0.793533,-0.127597],[-0.026351,-0.177932,0.983690]] 2025-10-28T20:17:19.593Z,1761682639.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804086,-0.580899,-0.126498],[0.593877,-0.794674,-0.125713],[-0.027498,-0.176208,0.983969]] 2025-10-28T20:17:19.997Z,1761682639.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804869,-0.579875,-0.126216],[0.592789,-0.795626,-0.124823],[-0.028039,-0.175286,0.984118]] 2025-10-28T20:17:20.399Z,1761682640.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805227,-0.579438,-0.125939],[0.592259,-0.796288,-0.123105],[-0.028952,-0.173716,0.984370]] 2025-10-28T20:17:20.803Z,1761682640.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805127,-0.579663,-0.125545],[0.592345,-0.796576,-0.120807],[-0.029979,-0.171631,0.984705]] 2025-10-28T20:17:21.208Z,1761682641.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804676,-0.580106,-0.126385],[0.592904,-0.796273,-0.120055],[-0.030993,-0.171539,0.984690]] 2025-10-28T20:17:21.618Z,1761682641.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804168,-0.580677,-0.126996],[0.593537,-0.795977,-0.118887],[-0.032051,-0.170982,0.984753]] 2025-10-28T20:17:22.016Z,1761682642.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803573,-0.581391,-0.127497],[0.594293,-0.795583,-0.117749],[-0.032976,-0.170390,0.984825]] 2025-10-28T20:17:22.419Z,1761682642.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802588,-0.582762,-0.127437],[0.595613,-0.794714,-0.116940],[-0.033127,-0.169758,0.984929]] 2025-10-28T20:17:22.823Z,1761682642.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801808,-0.583688,-0.128114],[0.596657,-0.793880,-0.117286],[-0.033249,-0.170481,0.984800]] 2025-10-28T20:17:23.228Z,1761682643.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801067,-0.584870,-0.127348],[0.597647,-0.793352,-0.115807],[-0.033300,-0.168878,0.985074]] 2025-10-28T20:17:23.637Z,1761682643.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800406,-0.585831,-0.127091],[0.598540,-0.792745,-0.115350],[-0.033175,-0.168396,0.985161]] 2025-10-28T20:17:24.034Z,1761682644.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800001,-0.586272,-0.127608],[0.599058,-0.792383,-0.115152],[-0.033604,-0.168567,0.985117]] 2025-10-28T20:17:24.438Z,1761682644.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800070,-0.586047,-0.128209],[0.598941,-0.792453,-0.115276],[-0.034042,-0.169019,0.985025]] 2025-10-28T20:17:24.843Z,1761682644.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800639,-0.585184,-0.128596],[0.598150,-0.793054,-0.115244],[-0.034544,-0.169188,0.984978]] 2025-10-28T20:17:25.258Z,1761682645.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801981,-0.583335,-0.128632],[0.596307,-0.794516,-0.114731],[-0.035273,-0.168716,0.985033]] 2025-10-28T20:17:25.651Z,1761682645.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804058,-0.580398,-0.128951],[0.593447,-0.796669,-0.114626],[-0.036203,-0.168692,0.985004]] 2025-10-28T20:17:26.054Z,1761682646.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806190,-0.577312,-0.129492],[0.590479,-0.798877,-0.114584],[-0.037297,-0.168838,0.984938]] 2025-10-28T20:17:26.459Z,1761682646.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808954,-0.573446,-0.129432],[0.586625,-0.801760,-0.114244],[-0.038261,-0.168346,0.984985]] 2025-10-28T20:17:26.862Z,1761682646.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811705,-0.569405,-0.130049],[0.582730,-0.804574,-0.114394],[-0.039498,-0.168638,0.984886]] 2025-10-28T20:17:27.272Z,1761682647.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814706,-0.564948,-0.130719],[0.578460,-0.807533,-0.115212],[-0.040471,-0.169480,0.984702]] 2025-10-28T20:17:27.316Z,1761682647.316 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:17:27.501Z,1761682647.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:17:27.501Z,1761682647.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:17:27.678Z,1761682647.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817671,-0.560760,-0.130240],[0.574232,-0.810529,-0.115331],[-0.040890,-0.169090,0.984752]] 2025-10-28T20:17:27.759Z,1761682647.759 [DAT](INFO): DAT read: user:245> 2025-10-28T20:17:27.761Z,1761682647.761 [DAT](INFO): DAT read: Tx time:20:17:27.5203 2025-10-28T20:17:27.762Z,1761682647.762 [DAT](INFO): Ping request sent. 2025-10-28T20:17:27.762Z,1761682647.762 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:17:27.762Z,1761682647.762 [DAT](INFO): publishing transmit ping time 2025-10-28T20:17:27.765Z,1761682647.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001957 2025-10-28T20:17:28.009Z,1761682648.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247180 2025-10-28T20:17:28.075Z,1761682648.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820505,-0.556506,-0.130661],[0.570184,-0.813051,-0.117637],[-0.040769,-0.171023,0.984423]] 2025-10-28T20:17:28.262Z,1761682648.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500224 2025-10-28T20:17:28.479Z,1761682648.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822950,-0.552996,-0.130184],[0.566695,-0.815236,-0.119361],[-0.040124,-0.172002,0.984279]] 2025-10-28T20:17:28.513Z,1761682648.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751347 2025-10-28T20:17:28.766Z,1761682648.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003886 2025-10-28T20:17:28.885Z,1761682648.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825007,-0.549890,-0.130323],[0.563777,-0.816762,-0.122702],[-0.038971,-0.174703,0.983850]] 2025-10-28T20:17:29.017Z,1761682649.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255179 2025-10-28T20:17:29.269Z,1761682649.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507285 2025-10-28T20:17:29.286Z,1761682649.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826716,-0.547424,-0.129878],[0.561405,-0.817814,-0.126514],[-0.036959,-0.177506,0.983425]] 2025-10-28T20:17:29.525Z,1761682649.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-10-28T20:17:29.691Z,1761682649.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827917,-0.545637,-0.129742],[0.559801,-0.818097,-0.131682],[-0.034291,-0.181651,0.982765]] 2025-10-28T20:17:29.777Z,1761682649.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014516 2025-10-28T20:17:30.025Z,1761682650.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263217 2025-10-28T20:17:30.097Z,1761682650.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828618,-0.544576,-0.129724],[0.558951,-0.817680,-0.137740],[-0.031063,-0.186643,0.981937]] 2025-10-28T20:17:30.138Z,1761682650.138 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:17:30.139Z,1761682650.139 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:17:30.139Z,1761682650.139 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:17:30.139Z,1761682650.139 [marl:UpdateRudder:A] Stopped 2025-10-28T20:17:30.139Z,1761682650.139 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:17:30.277Z,1761682650.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515050 2025-10-28T20:17:30.498Z,1761682650.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828484,-0.544902,-0.129213],[0.559319,-0.816614,-0.142493],[-0.027872,-0.190324,0.981326]] 2025-10-28T20:17:30.529Z,1761682650.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767299 2025-10-28T20:17:30.533Z,1761682650.533 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:17:30.533Z,1761682650.533 [marl:UpdateRudder:B] Stopped 2025-10-28T20:17:30.533Z,1761682650.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:17:30.533Z,1761682650.533 [marl:UpdateRudder] Stopped 2025-10-28T20:17:30.534Z,1761682650.534 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:17:30.782Z,1761682650.782 [DAT](INFO): DAT read: Rx Time:20:17:30.1523 2025-10-28T20:17:30.783Z,1761682650.783 [DAT](INFO): Rx dataTimestamp_ set to:1761682650.782667 2025-10-28T20:17:30.784Z,1761682650.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022040 2025-10-28T20:17:30.902Z,1761682650.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827624,-0.546295,-0.128844],[0.560736,-0.814872,-0.146830],[-0.024779,-0.193768,0.980734]] 2025-10-28T20:17:31.033Z,1761682651.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271110 2025-10-28T20:17:31.288Z,1761682651.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526272 2025-10-28T20:17:31.329Z,1761682651.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826520,-0.548183,-0.127905],[0.562474,-0.813195,-0.149454],[-0.022083,-0.195470,0.980461]] 2025-10-28T20:17:31.542Z,1761682651.542 [DAT](INFO): DAT read: 20:17:30.1523 LVL= 32752, 32753, 29986, 32755, AGC= 56, IDX= 507, 0.04,-0.948,-2.176,-0.251,-0.839, PHS=-0.007,-1.292, 0.544, RAW= 167.0, 9.3, CAL= 166.8, 10.0, ROT= 343.2, -10.0 2025-10-28T20:17:31.543Z,1761682651.543 [DAT](INFO): got valid direction response: 20:17:30.1523 LVL= 32752, 32753, 29986, 32755, AGC= 56, IDX= 507, 0.04,-0.948,-2.176,-0.251,-0.839, PHS=-0.007,-1.292, 0.544, RAW= 167.0, 9.3, CAL= 166.8, 10.0, ROT= 343.2, -10.0 2025-10-28T20:17:31.544Z,1761682651.544 [DAT](INFO): DAT read: Bearing 308.4, -20.3 (Local) 2025-10-28T20:17:31.545Z,1761682651.545 [DAT](INFO): Local bearing/azimuth received: Bearing 308.4, -20.3 (Local) 2025-10-28T20:17:31.546Z,1761682651.546 [DAT](INFO): DAT read: Range 11 to 20 : 170.9 m (Round-trip 227.9 ms) speed 1.2 m/s 2025-10-28T20:17:31.547Z,1761682651.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:17:31.570Z,1761682651.570 [DAT](INFO): direction in FSK: [0.942776,-0.284641,0.173648] 2025-10-28T20:17:31.571Z,1761682651.571 [DAT](INFO): publishing direction and range info 2025-10-28T20:17:31.710Z,1761682651.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825241,-0.550252,-0.127280],[0.564431,-0.811447,-0.151566],[-0.019881,-0.196919,0.980218]] 2025-10-28T20:17:31.848Z,1761682651.848 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode] Stopped 2025-10-28T20:17:31.849Z,1761682651.849 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:17:31.864Z,1761682651.864 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682688.00. Resetting abort timer. 2025-10-28T20:17:32.115Z,1761682652.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823989,-0.552201,-0.126950],[0.566314,-0.809813,-0.153266],[-0.018173,-0.198183,0.979997]] 2025-10-28T20:17:32.164Z,1761682652.164 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed] Stopped 2025-10-28T20:17:32.165Z,1761682652.165 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:17:32.519Z,1761682652.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822894,-0.554044,-0.126023],[0.567937,-0.808726,-0.153005],[-0.017146,-0.197480,0.980157]] 2025-10-28T20:17:32.923Z,1761682652.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821893,-0.555503,-0.126124],[0.569393,-0.807687,-0.153082],[-0.016831,-0.197631,0.980132]] 2025-10-28T20:17:33.326Z,1761682653.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821254,-0.556541,-0.125716],[0.570309,-0.807288,-0.151769],[-0.017023,-0.196338,0.980388]] 2025-10-28T20:17:33.736Z,1761682653.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821366,-0.556513,-0.125108],[0.570136,-0.807683,-0.150310],[-0.017398,-0.194788,0.980691]] 2025-10-28T20:17:34.135Z,1761682654.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822435,-0.555106,-0.124329],[0.568586,-0.808939,-0.149424],[-0.017629,-0.193583,0.980926]] 2025-10-28T20:17:34.541Z,1761682654.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824468,-0.552472,-0.122589],[0.565644,-0.811146,-0.148626],[-0.017326,-0.191879,0.981266]] 2025-10-28T20:17:34.943Z,1761682654.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827245,-0.548646,-0.121048],[0.561586,-0.813945,-0.148713],[-0.016936,-0.191001,0.981444]] 2025-10-28T20:17:35.347Z,1761682655.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830614,-0.543951,-0.119154],[0.556614,-0.817254,-0.149257],[-0.016191,-0.190298,0.981593]] 2025-10-28T20:17:35.765Z,1761682655.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833819,-0.539415,-0.117381],[0.551845,-0.820098,-0.151351],[-0.014623,-0.190975,0.981486]] 2025-10-28T20:17:36.156Z,1761682656.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837053,-0.534927,-0.114867],[0.546975,-0.823032,-0.153090],[-0.012647,-0.190974,0.981514]] 2025-10-28T20:17:36.559Z,1761682656.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840361,-0.530119,-0.112990],[0.541921,-0.825860,-0.155810],[-0.010716,-0.192168,0.981304]] 2025-10-28T20:17:36.804Z,1761682656.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:17:36.962Z,1761682656.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843256,-0.525929,-0.110985],[0.537440,-0.828354,-0.158078],[-0.008797,-0.192948,0.981170]] 2025-10-28T20:17:37.367Z,1761682657.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845803,-0.522266,-0.108887],[0.533458,-0.830386,-0.160881],[-0.006395,-0.194160,0.980949]] 2025-10-28T20:17:37.809Z,1761682657.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:17:37.831Z,1761682657.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847845,-0.519224,-0.107545],[0.530235,-0.831438,-0.166015],[-0.003218,-0.197780,0.980241]] 2025-10-28T20:17:38.174Z,1761682658.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849412,-0.517043,-0.105667],[0.527730,-0.832325,-0.169519],[-0.000301,-0.199755,0.979846]] 2025-10-28T20:17:38.579Z,1761682658.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850162,-0.515905,-0.105194],[0.526517,-0.832260,-0.173560],[0.001992,-0.202941,0.979189]] 2025-10-28T20:17:38.982Z,1761682658.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850253,-0.515843,-0.104762],[0.526359,-0.831713,-0.176633],[0.003983,-0.205325,0.978686]] 2025-10-28T20:17:39.387Z,1761682659.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849950,-0.516523,-0.103872],[0.526834,-0.831145,-0.177886],[0.005550,-0.205917,0.978554]] 2025-10-28T20:17:39.843Z,1761682659.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849322,-0.517487,-0.104207],[0.527832,-0.830011,-0.180209],[0.006763,-0.208059,0.978093]] 2025-10-28T20:17:40.194Z,1761682660.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848734,-0.518364,-0.104642],[0.528766,-0.829040,-0.181933],[0.007555,-0.209744,0.977727]] 2025-10-28T20:17:40.598Z,1761682660.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848040,-0.519506,-0.104606],[0.529868,-0.828174,-0.182670],[0.008267,-0.210339,0.977594]] 2025-10-28T20:17:41.004Z,1761682661.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847608,-0.520238,-0.104466],[0.530551,-0.827673,-0.182954],[0.008716,-0.210498,0.977555]] 2025-10-28T20:17:41.409Z,1761682661.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847577,-0.520463,-0.103593],[0.530590,-0.827704,-0.182703],[0.009346,-0.209820,0.977695]] 2025-10-28T20:17:41.846Z,1761682661.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847818,-0.520384,-0.102004],[0.530197,-0.828296,-0.181156],[0.009781,-0.207670,0.978150]] 2025-10-28T20:17:42.220Z,1761682662.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848483,-0.519680,-0.100047],[0.529127,-0.829429,-0.179087],[0.010086,-0.204889,0.978733]] 2025-10-28T20:17:42.619Z,1761682662.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849661,-0.518134,-0.098044],[0.527228,-0.831047,-0.177174],[0.010321,-0.202230,0.979284]] 2025-10-28T20:17:43.024Z,1761682663.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851167,-0.516027,-0.096077],[0.524792,-0.832991,-0.175270],[0.010413,-0.199604,0.979821]] 2025-10-28T20:17:43.427Z,1761682663.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853107,-0.513213,-0.093917],[0.521628,-0.835343,-0.173513],[0.010596,-0.197015,0.980343]] 2025-10-28T20:17:43.468Z,1761682663.468 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:17:43.468Z,1761682663.468 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:17:43.468Z,1761682663.468 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:17:43.468Z,1761682663.468 [marl:UpdateRudder:A] Stopped 2025-10-28T20:17:43.468Z,1761682663.468 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:17:43.848Z,1761682663.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855610,-0.509349,-0.092168],[0.517513,-0.838125,-0.172418],[0.010572,-0.195220,0.980702]] 2025-10-28T20:17:43.897Z,1761682663.897 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:17:43.897Z,1761682663.897 [marl:UpdateRudder:B] Stopped 2025-10-28T20:17:43.897Z,1761682663.897 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:17:43.897Z,1761682663.897 [marl:UpdateRudder] Stopped 2025-10-28T20:17:43.897Z,1761682663.897 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:17:44.241Z,1761682664.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857930,-0.505741,-0.090455],[0.513658,-0.840722,-0.171297],[0.010584,-0.193423,0.981058]] 2025-10-28T20:17:44.642Z,1761682664.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860478,-0.501581,-0.089409],[0.509366,-0.843081,-0.172515],[0.011151,-0.193987,0.980941]] 2025-10-28T20:17:44.666Z,1761682664.666 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode] Stopped 2025-10-28T20:17:44.667Z,1761682664.667 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:17:45.046Z,1761682665.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862862,-0.497714,-0.088035],[0.505292,-0.845204,-0.174100],[0.012245,-0.194707,0.980785]] 2025-10-28T20:17:45.447Z,1761682665.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865309,-0.493721,-0.086482],[0.501058,-0.847399,-0.175658],[0.013442,-0.195331,0.980645]] 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:17:45.487Z,1761682665.487 [marl:UpdateSpeed] Stopped 2025-10-28T20:17:45.488Z,1761682665.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:17:45.857Z,1761682665.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867784,-0.489513,-0.085610],[0.496726,-0.849356,-0.178486],[0.014658,-0.197412,0.980211]] 2025-10-28T20:17:46.256Z,1761682666.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870201,-0.485382,-0.084589],[0.492445,-0.851350,-0.180835],[0.015759,-0.199018,0.979869]] 2025-10-28T20:17:46.660Z,1761682666.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872474,-0.481488,-0.083423],[0.488370,-0.853265,-0.182846],[0.016856,-0.200270,0.979596]] 2025-10-28T20:17:47.067Z,1761682667.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874582,-0.477865,-0.082165],[0.484542,-0.855039,-0.184735],[0.018024,-0.201378,0.979348]] 2025-10-28T20:17:47.467Z,1761682667.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876337,-0.474854,-0.080911],[0.481316,-0.856519,-0.186307],[0.019167,-0.202212,0.979154]] 2025-10-28T20:17:47.876Z,1761682667.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877798,-0.472288,-0.080085],[0.478591,-0.857495,-0.188821],[0.020506,-0.204075,0.978740]] 2025-10-28T20:17:48.275Z,1761682668.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879085,-0.469977,-0.079569],[0.476179,-0.858334,-0.191095],[0.021514,-0.205877,0.978341]] 2025-10-28T20:17:48.679Z,1761682668.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879865,-0.468693,-0.078519],[0.474703,-0.859085,-0.191389],[0.022248,-0.205670,0.978368]] 2025-10-28T20:17:49.082Z,1761682669.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880766,-0.467127,-0.077736],[0.472983,-0.859740,-0.192701],[0.023183,-0.206492,0.978174]] 2025-10-28T20:17:49.489Z,1761682669.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881139,-0.466635,-0.076458],[0.472256,-0.860280,-0.192075],[0.023853,-0.205352,0.978397]] 2025-10-28T20:17:49.890Z,1761682669.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880943,-0.467076,-0.076029],[0.472600,-0.860108,-0.192000],[0.024285,-0.205072,0.978446]] 2025-10-28T20:17:50.295Z,1761682670.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880699,-0.467612,-0.075552],[0.473042,-0.860005,-0.191371],[0.024513,-0.204279,0.978606]] 2025-10-28T20:17:50.706Z,1761682670.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880239,-0.468564,-0.075011],[0.473877,-0.859685,-0.190744],[0.024890,-0.203447,0.978770]] 2025-10-28T20:17:51.507Z,1761682671.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878903,-0.471272,-0.073703],[0.476274,-0.858504,-0.190089],[0.026309,-0.202173,0.978997]] 2025-10-28T20:17:51.910Z,1761682671.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878190,-0.472710,-0.072990],[0.477552,-0.857928,-0.189480],[0.026949,-0.201256,0.979168]] 2025-10-28T20:17:52.314Z,1761682672.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877503,-0.474068,-0.072441],[0.478776,-0.857301,-0.189231],[0.027605,-0.200734,0.979257]] 2025-10-28T20:17:52.726Z,1761682672.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877271,-0.474557,-0.072046],[0.479182,-0.857134,-0.188961],[0.027919,-0.200293,0.979338]] 2025-10-28T20:17:53.123Z,1761682673.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877173,-0.474631,-0.072748],[0.479377,-0.856884,-0.189599],[0.027653,-0.201185,0.979163]] 2025-10-28T20:17:53.526Z,1761682673.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877910,-0.473331,-0.072329],[0.478038,-0.857750,-0.189063],[0.027449,-0.200556,0.979298]] 2025-10-28T20:17:53.930Z,1761682673.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879189,-0.471042,-0.071736],[0.475705,-0.859221,-0.188266],[0.027044,-0.199646,0.979495]] 2025-10-28T20:17:54.337Z,1761682674.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881330,-0.467196,-0.070599],[0.471737,-0.861542,-0.187643],[0.026842,-0.198679,0.979697]] 2025-10-28T20:17:54.740Z,1761682674.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884172,-0.461942,-0.069639],[0.466395,-0.864321,-0.188213],[0.026753,-0.198892,0.979656]] 2025-10-28T20:17:55.142Z,1761682675.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887133,-0.456432,-0.068298],[0.460756,-0.867449,-0.187714],[0.026434,-0.197996,0.979846]] 2025-10-28T20:17:55.547Z,1761682675.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890301,-0.450581,-0.065896],[0.454620,-0.871146,-0.185541],[0.026196,-0.195145,0.980425]] 2025-10-28T20:17:55.952Z,1761682675.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893334,-0.444819,-0.063953],[0.448642,-0.874544,-0.184099],[0.025961,-0.193154,0.980825]] 2025-10-28T20:17:56.355Z,1761682676.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896280,-0.439066,-0.062482],[0.442720,-0.877503,-0.184359],[0.026117,-0.192899,0.980871]] 2025-10-28T20:17:56.763Z,1761682676.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899185,-0.433288,-0.061063],[0.436754,-0.880215,-0.185655],[0.026694,-0.193608,0.980716]] 2025-10-28T20:17:56.807Z,1761682676.807 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:17:56.807Z,1761682676.807 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:17:56.807Z,1761682676.807 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:17:56.807Z,1761682676.807 [marl:UpdateRudder:A] Stopped 2025-10-28T20:17:56.807Z,1761682676.807 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:17:57.163Z,1761682677.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901981,-0.427749,-0.058827],[0.430821,-0.882543,-0.188445],[0.028690,-0.195318,0.980320]] 2025-10-28T20:17:57.215Z,1761682677.215 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:17:57.215Z,1761682677.215 [marl:UpdateRudder:B] Stopped 2025-10-28T20:17:57.215Z,1761682677.215 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:17:57.215Z,1761682677.215 [marl:UpdateRudder] Stopped 2025-10-28T20:17:57.215Z,1761682677.215 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:17:57.567Z,1761682677.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904484,-0.422753,-0.056469],[0.425390,-0.884593,-0.191151],[0.030858,-0.196914,0.979935]] 2025-10-28T20:17:57.970Z,1761682677.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906226,-0.419238,-0.054711],[0.421546,-0.886025,-0.193027],[0.032449,-0.197990,0.979667]] 2025-10-28T20:17:58.029Z,1761682678.029 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:17:58.029Z,1761682678.029 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:17:58.029Z,1761682678.029 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:17:58.029Z,1761682678.029 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:17:58.030Z,1761682678.030 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:17:58.030Z,1761682678.030 [marl:UpdateCommandMode] Stopped 2025-10-28T20:17:58.030Z,1761682678.030 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:17:58.374Z,1761682678.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907341,-0.416955,-0.053671],[0.419054,-0.886857,-0.194626],[0.033551,-0.199083,0.979408]] 2025-10-28T20:17:58.790Z,1761682678.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908037,-0.415546,-0.052820],[0.417420,-0.887075,-0.197126],[0.035059,-0.201046,0.978954]] 2025-10-28T20:17:58.814Z,1761682678.814 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:17:58.814Z,1761682678.814 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:17:58.814Z,1761682678.814 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:17:58.815Z,1761682678.815 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:17:58.815Z,1761682678.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:17:58.815Z,1761682678.815 [marl:UpdateSpeed] Stopped 2025-10-28T20:17:58.815Z,1761682678.815 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:17:59.190Z,1761682679.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907754,-0.416162,-0.052830],[0.418002,-0.886665,-0.197737],[0.035448,-0.201580,0.978830]] 2025-10-28T20:17:59.591Z,1761682679.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907413,-0.416937,-0.052586],[0.418706,-0.886312,-0.197830],[0.035875,-0.201532,0.978825]] 2025-10-28T20:17:59.999Z,1761682679.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907220,-0.417380,-0.052397],[0.419102,-0.886132,-0.197794],[0.036125,-0.201402,0.978842]] 2025-10-28T20:18:00.399Z,1761682680.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907050,-0.417731,-0.052550],[0.419479,-0.885977,-0.197692],[0.036024,-0.201360,0.978855]] 2025-10-28T20:18:00.799Z,1761682680.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907129,-0.417474,-0.053222],[0.419345,-0.885930,-0.198186],[0.035587,-0.202098,0.978718]] 2025-10-28T20:18:01.209Z,1761682681.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907353,-0.417047,-0.052746],[0.418885,-0.886466,-0.196756],[0.035299,-0.200622,0.979033]] 2025-10-28T20:18:01.608Z,1761682681.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907852,-0.415991,-0.052488],[0.417808,-0.887015,-0.196572],[0.035215,-0.200388,0.979083]] 2025-10-28T20:18:02.012Z,1761682682.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908615,-0.414370,-0.052119],[0.416126,-0.887658,-0.197237],[0.035465,-0.200900,0.978969]] 2025-10-28T20:18:02.414Z,1761682682.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909873,-0.411681,-0.051477],[0.413333,-0.888731,-0.198274],[0.035876,-0.201681,0.978794]] 2025-10-28T20:18:02.819Z,1761682682.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911365,-0.408471,-0.050643],[0.409978,-0.889969,-0.199682],[0.036494,-0.202746,0.978551]] 2025-10-28T20:18:03.223Z,1761682683.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913033,-0.404864,-0.049553],[0.406216,-0.891584,-0.200165],[0.036859,-0.202887,0.978508]] 2025-10-28T20:18:03.628Z,1761682683.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914536,-0.401599,-0.048390],[0.402758,-0.892948,-0.201071],[0.037540,-0.203376,0.978381]] 2025-10-28T20:18:04.031Z,1761682684.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915861,-0.398719,-0.047146],[0.399673,-0.894213,-0.201607],[0.038226,-0.203486,0.978331]] 2025-10-28T20:18:04.435Z,1761682684.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916891,-0.396492,-0.045880],[0.397246,-0.895315,-0.201511],[0.038820,-0.202990,0.978411]] 2025-10-28T20:18:04.839Z,1761682684.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917458,-0.395282,-0.044982],[0.395906,-0.896042,-0.200915],[0.039112,-0.202140,0.978575]] 2025-10-28T20:18:05.245Z,1761682685.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917989,-0.394171,-0.043883],[0.394636,-0.896805,-0.200010],[0.039483,-0.200925,0.978811]] 2025-10-28T20:18:05.646Z,1761682685.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918368,-0.393382,-0.043033],[0.393724,-0.897367,-0.199281],[0.039777,-0.199957,0.978997]] 2025-10-28T20:18:06.050Z,1761682686.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918810,-0.392423,-0.042329],[0.392653,-0.897870,-0.199129],[0.040136,-0.199583,0.979059]] 2025-10-28T20:18:06.455Z,1761682686.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919124,-0.391782,-0.041444],[0.391895,-0.898436,-0.198070],[0.040366,-0.198293,0.979311]] 2025-10-28T20:18:06.861Z,1761682686.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919677,-0.390562,-0.040684],[0.390571,-0.899112,-0.197615],[0.040602,-0.197632,0.979435]] 2025-10-28T20:18:07.262Z,1761682687.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920814,-0.387806,-0.041332],[0.387947,-0.899939,-0.199014],[0.039982,-0.199290,0.979125]] 2025-10-28T20:18:07.671Z,1761682687.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922164,-0.384663,-0.040603],[0.384698,-0.901161,-0.199792],[0.040262,-0.199861,0.978997]] 2025-10-28T20:18:07.932Z,1761682687.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:18:08.071Z,1761682688.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923720,-0.380983,-0.039908],[0.380930,-0.902579,-0.200609],[0.040408,-0.200508,0.978858]] 2025-10-28T20:18:08.475Z,1761682688.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925449,-0.376855,-0.039046],[0.376675,-0.904099,-0.201794],[0.040746,-0.201458,0.978649]] 2025-10-28T20:18:08.879Z,1761682688.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927336,-0.372346,-0.037512],[0.371901,-0.905756,-0.203211],[0.041688,-0.202396,0.978416]] 2025-10-28T20:18:08.939Z,1761682688.939 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:18:09.283Z,1761682689.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928854,-0.368706,-0.035875],[0.368025,-0.907385,-0.203004],[0.042296,-0.201764,0.978521]] 2025-10-28T20:18:09.695Z,1761682689.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930219,-0.365364,-0.034665],[0.364450,-0.908485,-0.204527],[0.043234,-0.202888,0.978247]] 2025-10-28T20:18:10.091Z,1761682690.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931067,-0.363288,-0.033699],[0.362130,-0.908932,-0.206651],[0.044443,-0.204610,0.977834]] 2025-10-28T20:18:10.145Z,1761682690.145 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:18:10.145Z,1761682690.145 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:18:10.146Z,1761682690.146 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:18:10.146Z,1761682690.146 [marl:UpdateRudder:A] Stopped 2025-10-28T20:18:10.146Z,1761682690.146 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:18:10.496Z,1761682690.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931833,-0.361410,-0.032718],[0.360024,-0.909411,-0.208215],[0.045497,-0.205801,0.977536]] 2025-10-28T20:18:10.543Z,1761682690.543 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:18:10.543Z,1761682690.543 [marl:UpdateRudder:B] Stopped 2025-10-28T20:18:10.544Z,1761682690.544 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:18:10.544Z,1761682690.544 [marl:UpdateRudder] Stopped 2025-10-28T20:18:10.548Z,1761682690.548 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:18:10.898Z,1761682690.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932270,-0.360331,-0.032162],[0.358810,-0.909661,-0.209217],[0.046131,-0.206587,0.977340]] 2025-10-28T20:18:11.303Z,1761682691.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932604,-0.359470,-0.032110],[0.357962,-0.910011,-0.209150],[0.045963,-0.206548,0.977356]] 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:18:11.346Z,1761682691.346 [marl:UpdateCommandMode] Stopped 2025-10-28T20:18:11.347Z,1761682691.347 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:18:11.707Z,1761682691.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932975,-0.358556,-0.031554],[0.356964,-0.910441,-0.208985],[0.046204,-0.206241,0.977410]] 2025-10-28T20:18:12.112Z,1761682692.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933287,-0.357797,-0.030929],[0.356117,-0.910879,-0.208517],[0.046434,-0.205620,0.977530]] 2025-10-28T20:18:12.187Z,1761682692.187 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:18:12.187Z,1761682692.187 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:18:12.187Z,1761682692.187 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:18:12.187Z,1761682692.187 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:18:12.187Z,1761682692.187 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:18:12.188Z,1761682692.188 [marl:UpdateSpeed] Stopped 2025-10-28T20:18:12.192Z,1761682692.192 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:18:12.515Z,1761682692.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933831,-0.356416,-0.030465],[0.354678,-0.911460,-0.208433],[0.046521,-0.205446,0.977562]] 2025-10-28T20:18:12.919Z,1761682692.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934284,-0.355292,-0.029689],[0.353470,-0.912163,-0.207408],[0.046609,-0.204272,0.977804]] 2025-10-28T20:18:13.323Z,1761682693.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934898,-0.353776,-0.028426],[0.351835,-0.913272,-0.205294],[0.046668,-0.201930,0.978287]] 2025-10-28T20:18:13.729Z,1761682693.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935584,-0.352061,-0.027110],[0.349984,-0.914401,-0.203424],[0.046828,-0.199809,0.978715]] 2025-10-28T20:18:14.131Z,1761682694.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936206,-0.350540,-0.025281],[0.348245,-0.915570,-0.201139],[0.047360,-0.197112,0.979236]] 2025-10-28T20:18:14.538Z,1761682694.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936561,-0.349685,-0.023948],[0.347208,-0.916238,-0.199886],[0.047955,-0.195521,0.979526]] 2025-10-28T20:18:14.941Z,1761682694.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936698,-0.349361,-0.023337],[0.346807,-0.916545,-0.199175],[0.048195,-0.194660,0.979686]] 2025-10-28T20:18:15.344Z,1761682695.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936661,-0.349487,-0.022891],[0.346864,-0.916612,-0.198767],[0.048484,-0.194117,0.979779]] 2025-10-28T20:18:15.746Z,1761682695.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936548,-0.349838,-0.022183],[0.347107,-0.916681,-0.198022],[0.048940,-0.193157,0.979946]] 2025-10-28T20:18:16.155Z,1761682696.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936367,-0.350301,-0.022472],[0.347631,-0.916547,-0.197724],[0.048666,-0.192954,0.980000]] 2025-10-28T20:18:16.559Z,1761682696.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936113,-0.350871,-0.024134],[0.348450,-0.915969,-0.198957],[0.047702,-0.194656,0.979711]] 2025-10-28T20:18:16.960Z,1761682696.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936203,-0.350546,-0.025327],[0.348373,-0.916037,-0.198777],[0.046480,-0.194918,0.979717]] 2025-10-28T20:18:17.363Z,1761682697.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936842,-0.348775,-0.026135],[0.346775,-0.916535,-0.199274],[0.045548,-0.195751,0.979595]] 2025-10-28T20:18:17.787Z,1761682697.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937576,-0.346735,-0.026970],[0.344941,-0.917227,-0.199273],[0.044358,-0.196136,0.979573]] 2025-10-28T20:18:18.182Z,1761682698.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938516,-0.344133,-0.027565],[0.342482,-0.917992,-0.199992],[0.043519,-0.197137,0.979410]] 2025-10-28T20:18:18.582Z,1761682698.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939416,-0.341673,-0.027532],[0.340079,-0.918934,-0.199768],[0.042955,-0.197028,0.979456]] 2025-10-28T20:18:18.979Z,1761682698.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940157,-0.339618,-0.027655],[0.338055,-0.919492,-0.200631],[0.042710,-0.197973,0.979277]] 2025-10-28T20:18:19.382Z,1761682699.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940743,-0.338059,-0.026811],[0.336369,-0.920141,-0.200492],[0.043108,-0.197629,0.979328]] 2025-10-28T20:18:19.837Z,1761682699.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941074,-0.337245,-0.025393],[0.335342,-0.920747,-0.199425],[0.043875,-0.196189,0.979584]] 2025-10-28T20:18:20.202Z,1761682700.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940904,-0.337781,-0.024576],[0.335731,-0.920723,-0.198879],[0.044550,-0.195377,0.979716]] 2025-10-28T20:18:20.598Z,1761682700.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940310,-0.339465,-0.024090],[0.337338,-0.920390,-0.197699],[0.044939,-0.194025,0.979967]] 2025-10-28T20:18:20.999Z,1761682700.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939553,-0.341560,-0.024009],[0.339455,-0.919993,-0.195918],[0.044829,-0.192226,0.980326]] 2025-10-28T20:18:21.404Z,1761682701.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938478,-0.344461,-0.024616],[0.342465,-0.919124,-0.194753],[0.044460,-0.191202,0.980543]] 2025-10-28T20:18:21.838Z,1761682701.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937287,-0.347674,-0.024818],[0.345805,-0.918587,-0.191358],[0.043733,-0.187939,0.981207]] 2025-10-28T20:18:22.212Z,1761682702.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936186,-0.350565,-0.025691],[0.348901,-0.917884,-0.189093],[0.042708,-0.185990,0.981623]] 2025-10-28T20:18:22.621Z,1761682702.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935199,-0.353059,-0.027413],[0.351769,-0.917287,-0.186663],[0.040757,-0.184210,0.982042]] 2025-10-28T20:18:23.018Z,1761682703.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934403,-0.354965,-0.029857],[0.354138,-0.916632,-0.185397],[0.038442,-0.183809,0.982210]] 2025-10-28T20:18:23.450Z,1761682703.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934252,-0.355185,-0.031878],[0.354757,-0.916563,-0.184554],[0.036333,-0.183728,0.982305]] 2025-10-28T20:18:23.474Z,1761682703.474 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:18:23.474Z,1761682703.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:18:23.474Z,1761682703.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:18:23.475Z,1761682703.475 [marl:UpdateRudder:A] Stopped 2025-10-28T20:18:23.475Z,1761682703.475 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:18:23.843Z,1761682703.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934639,-0.354018,-0.033492],[0.353932,-0.917015,-0.183888],[0.034387,-0.183722,0.982377]] 2025-10-28T20:18:23.892Z,1761682703.892 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:18:23.892Z,1761682703.892 [marl:UpdateRudder:B] Stopped 2025-10-28T20:18:23.892Z,1761682703.892 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:18:23.892Z,1761682703.892 [marl:UpdateRudder] Stopped 2025-10-28T20:18:23.892Z,1761682703.892 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:18:24.235Z,1761682704.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935530,-0.351466,-0.035422],[0.351766,-0.917741,-0.184423],[0.032310,-0.184993,0.982209]] 2025-10-28T20:18:24.656Z,1761682704.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936732,-0.348132,-0.036576],[0.348673,-0.918693,-0.185551],[0.030995,-0.186565,0.981954]] 2025-10-28T20:18:24.682Z,1761682704.682 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode] Stopped 2025-10-28T20:18:24.683Z,1761682704.683 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:18:25.038Z,1761682705.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938066,-0.344366,-0.038012],[0.345173,-0.919509,-0.188039],[0.029801,-0.189514,0.981426]] 2025-10-28T20:18:25.443Z,1761682705.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939296,-0.340945,-0.038455],[0.341844,-0.920333,-0.190080],[0.029416,-0.191687,0.981015]] 2025-10-28T20:18:25.852Z,1761682705.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940430,-0.337854,-0.038028],[0.338679,-0.921128,-0.191886],[0.029801,-0.193335,0.980680]] 2025-10-28T20:18:25.894Z,1761682705.894 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:18:25.894Z,1761682705.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:18:25.894Z,1761682705.894 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:18:25.894Z,1761682705.894 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:18:25.895Z,1761682705.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:18:25.895Z,1761682705.895 [marl:UpdateSpeed] Stopped 2025-10-28T20:18:25.895Z,1761682705.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:18:26.251Z,1761682706.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941280,-0.335528,-0.037584],[0.336226,-0.921427,-0.194740],[0.030710,-0.195942,0.980135]] 2025-10-28T20:18:26.663Z,1761682706.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941982,-0.333663,-0.036584],[0.334119,-0.921626,-0.197409],[0.032151,-0.198179,0.979638]] 2025-10-28T20:18:27.059Z,1761682707.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942401,-0.332596,-0.035491],[0.332761,-0.921501,-0.200263],[0.033901,-0.200538,0.979099]] 2025-10-28T20:18:27.462Z,1761682707.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942354,-0.332874,-0.034134],[0.332727,-0.921304,-0.201225],[0.035535,-0.200982,0.978950]] 2025-10-28T20:18:27.502Z,1761682707.502 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:18:27.505Z,1761682707.505 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:18:27.505Z,1761682707.505 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:18:27.759Z,1761682707.759 [DAT](INFO): DAT read: user:246> 2025-10-28T20:18:27.760Z,1761682707.760 [DAT](INFO): DAT read: Tx time:20:18:27.5201 2025-10-28T20:18:27.760Z,1761682707.760 [DAT](INFO): Ping request sent. 2025-10-28T20:18:27.761Z,1761682707.761 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:18:27.761Z,1761682707.761 [DAT](INFO): publishing transmit ping time 2025-10-28T20:18:27.762Z,1761682707.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001253 2025-10-28T20:18:27.867Z,1761682707.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941664,-0.334888,-0.033466],[0.334551,-0.920578,-0.201524],[0.036680,-0.200964,0.978912]] 2025-10-28T20:18:28.014Z,1761682708.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097 2025-10-28T20:18:28.261Z,1761682708.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500301 2025-10-28T20:18:28.276Z,1761682708.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940715,-0.337546,-0.033428],[0.337146,-0.919652,-0.201429],[0.037250,-0.200758,0.978932]] 2025-10-28T20:18:28.514Z,1761682708.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752789 2025-10-28T20:18:28.682Z,1761682708.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939492,-0.340836,-0.034434],[0.340608,-0.918635,-0.200240],[0.036617,-0.199852,0.979142]] 2025-10-28T20:18:28.766Z,1761682708.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004636 2025-10-28T20:18:29.017Z,1761682709.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256245 2025-10-28T20:18:29.079Z,1761682709.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938197,-0.344191,-0.036315],[0.344340,-0.917698,-0.198143],[0.034873,-0.198402,0.979500]] 2025-10-28T20:18:29.269Z,1761682709.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508235 2025-10-28T20:18:29.483Z,1761682709.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936867,-0.347627,-0.037905],[0.348117,-0.916906,-0.195188],[0.033097,-0.196060,0.980033]] 2025-10-28T20:18:29.521Z,1761682709.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760321 2025-10-28T20:18:29.776Z,1761682709.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014731 2025-10-28T20:18:29.887Z,1761682709.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935688,-0.350507,-0.040414],[0.351522,-0.916232,-0.192228],[0.030349,-0.194072,0.980518]] 2025-10-28T20:18:30.025Z,1761682710.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264373 2025-10-28T20:18:30.277Z,1761682710.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516209 2025-10-28T20:18:30.295Z,1761682710.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934554,-0.353182,-0.043270],[0.354799,-0.915734,-0.188543],[0.026966,-0.191556,0.981111]] 2025-10-28T20:18:30.529Z,1761682710.529 [DAT](INFO): DAT read: Rx Time:20:18:29.6979 2025-10-28T20:18:30.529Z,1761682710.529 [DAT](INFO): Rx dataTimestamp_ set to:1761682710.529136 2025-10-28T20:18:30.530Z,1761682710.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769348 2025-10-28T20:18:30.695Z,1761682710.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933661,-0.355149,-0.046326],[0.357410,-0.915532,-0.184554],[0.023131,-0.188868,0.981730]] 2025-10-28T20:18:30.781Z,1761682710.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020775 2025-10-28T20:18:31.039Z,1761682711.039 [DAT](INFO): DAT read: 20:18:29.6979 LVL= 22512, 27633, 13986, 27763, AGC= 50, IDX= 399, 0.24, 1.188, 0.795, 2.611, 1.466, PHS=-0.176,-0.625, 1.101, RAW= 195.5, -3.9, CAL= 195.5, -6.4, ROT= 314.5, 6.4 2025-10-28T20:18:31.040Z,1761682711.040 [DAT](INFO): got valid direction response: 20:18:29.6979 LVL= 22512, 27633, 13986, 27763, AGC= 50, IDX= 399, 0.24, 1.188, 0.795, 2.611, 1.466, PHS=-0.176,-0.625, 1.101, RAW= 195.5, -3.9, CAL= 195.5, -6.4, ROT= 314.5, 6.4 2025-10-28T20:18:31.041Z,1761682711.041 [DAT](INFO): DAT read: Bearing 85, -8 (Remote) 2025-10-28T20:18:31.042Z,1761682711.042 [DAT](INFO): Remote Bearing received:Bearing 85, -8 (Remote) 2025-10-28T20:18:31.042Z,1761682711.042 [DAT](INFO): DAT read: Bearing 294.4, -40.4 (Local) 2025-10-28T20:18:31.043Z,1761682711.043 [DAT](INFO): Local bearing/azimuth received: Bearing 294.4, -40.4 (Local) 2025-10-28T20:18:31.044Z,1761682711.044 [DAT](INFO): DAT read: Range 11 to 20 : 111.5 m (Round-trip 148.7 ms) speed 0.9 m/s 2025-10-28T20:18:31.045Z,1761682711.045 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:18:31.046Z,1761682711.046 [DAT](INFO): direction in FSK: [0.696541,-0.708805,-0.111469] 2025-10-28T20:18:31.046Z,1761682711.046 [DAT](INFO): publishing direction and range info 2025-10-28T20:18:31.107Z,1761682711.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933221,-0.355912,-0.049242],[0.358779,-0.915674,-0.181159],[0.019387,-0.186728,0.982220]] 2025-10-28T20:18:31.251Z,1761682711.251 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682688.00. Resetting abort timer. 2025-10-28T20:18:31.502Z,1761682711.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933300,-0.355343,-0.051803],[0.358745,-0.916224,-0.178425],[0.015939,-0.185108,0.982589]] 2025-10-28T20:18:31.907Z,1761682711.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933719,-0.353883,-0.054177],[0.357779,-0.916990,-0.176420],[0.012753,-0.184111,0.982823]] 2025-10-28T20:18:32.311Z,1761682712.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934854,-0.350612,-0.055854],[0.354891,-0.918397,-0.174925],[0.010035,-0.183351,0.982996]] 2025-10-28T20:18:32.722Z,1761682712.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936095,-0.346972,-0.057756],[0.351668,-0.919722,-0.174471],[0.007417,-0.183632,0.982967]] 2025-10-28T20:18:33.131Z,1761682713.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937572,-0.342630,-0.059688],[0.347752,-0.921028,-0.175433],[0.005134,-0.185237,0.982680]] 2025-10-28T20:18:33.522Z,1761682713.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939254,-0.337747,-0.061068],[0.343206,-0.922438,-0.176971],[0.003440,-0.187179,0.982320]] 2025-10-28T20:18:33.926Z,1761682713.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940877,-0.333065,-0.061794],[0.338742,-0.923909,-0.177892],[0.002158,-0.188307,0.982108]] 2025-10-28T20:18:34.332Z,1761682714.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942464,-0.328378,-0.062685],[0.334306,-0.925084,-0.180166],[0.001173,-0.190756,0.981637]] 2025-10-28T20:18:34.735Z,1761682714.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943894,-0.324203,-0.062907],[0.330249,-0.926302,-0.181383],[0.000534,-0.191981,0.981399]] 2025-10-28T20:18:35.143Z,1761682715.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945095,-0.320624,-0.063221],[0.326797,-0.927347,-0.182294],[-0.000180,-0.192946,0.981209]] 2025-10-28T20:18:35.543Z,1761682715.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946091,-0.317518,-0.063987],[0.323900,-0.928009,-0.184088],[-0.000929,-0.194890,0.980825]] 2025-10-28T20:18:35.949Z,1761682715.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946710,-0.315609,-0.064275],[0.322083,-0.928674,-0.183922],[-0.001643,-0.194822,0.980837]] 2025-10-28T20:18:36.350Z,1761682716.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947026,-0.314376,-0.065651],[0.321148,-0.928653,-0.185653],[-0.002602,-0.196902,0.980420]] 2025-10-28T20:18:36.757Z,1761682716.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947033,-0.314306,-0.065884],[0.321122,-0.928851,-0.184705],[-0.003142,-0.196079,0.980583]] 2025-10-28T20:18:36.811Z,1761682716.811 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:18:36.812Z,1761682716.812 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:18:36.816Z,1761682716.816 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:18:36.816Z,1761682716.816 [marl:UpdateRudder:A] Stopped 2025-10-28T20:18:36.816Z,1761682716.816 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:18:37.159Z,1761682717.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946624,-0.315357,-0.066735],[0.322314,-0.928711,-0.183330],[-0.004163,-0.195054,0.980784]] 2025-10-28T20:18:37.182Z,1761682717.182 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:18:37.182Z,1761682717.182 [marl:UpdateRudder:B] Stopped 2025-10-28T20:18:37.182Z,1761682717.182 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:18:37.182Z,1761682717.182 [marl:UpdateRudder] Stopped 2025-10-28T20:18:37.182Z,1761682717.182 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:18:38.037Z,1761682718.037 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:18:38.037Z,1761682718.037 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:18:38.037Z,1761682718.037 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:18:38.038Z,1761682718.038 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:18:38.038Z,1761682718.038 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:18:38.038Z,1761682718.038 [marl:UpdateCommandMode] Stopped 2025-10-28T20:18:38.038Z,1761682718.038 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:18:38.370Z,1761682718.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944297,-0.321447,-0.070530],[0.328980,-0.927670,-0.176636],[-0.008649,-0.189999,0.981746]] 2025-10-28T20:18:38.780Z,1761682718.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943600,-0.323142,-0.072106],[0.330926,-0.927328,-0.174789],[-0.010384,-0.188792,0.981962]] 2025-10-28T20:18:39.056Z,1761682719.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:18:39.181Z,1761682719.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942921,-0.324748,-0.073746],[0.332794,-0.926986,-0.173049],[-0.012164,-0.187714,0.982148]] 2025-10-28T20:18:39.209Z,1761682719.209 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:18:39.209Z,1761682719.209 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:18:39.210Z,1761682719.210 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:18:39.210Z,1761682719.210 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:18:39.210Z,1761682719.210 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:18:39.210Z,1761682719.210 [marl:UpdateSpeed] Stopped 2025-10-28T20:18:39.210Z,1761682719.210 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:18:39.582Z,1761682719.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942101,-0.326780,-0.075239],[0.335047,-0.926509,-0.171245],[-0.013750,-0.186538,0.982351]] 2025-10-28T20:18:39.986Z,1761682719.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940101,-0.331596,-0.079084],[0.340552,-0.923952,-0.174176],[-0.015314,-0.190675,0.981534]] 2025-10-28T20:18:40.077Z,1761682720.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:18:40.392Z,1761682720.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936466,-0.340083,-0.085875],[0.350384,-0.918297,-0.184285],[-0.016186,-0.202666,0.979114]] 2025-10-28T20:18:41.199Z,1761682721.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926293,-0.360237,-0.110497],[0.376487,-0.896831,-0.232274],[-0.015424,-0.256755,0.966354]] 2025-10-28T20:18:41.613Z,1761682721.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920057,-0.371471,-0.124514],[0.391534,-0.883139,-0.258393],[-0.013978,-0.286488,0.957982]] 2025-10-28T20:18:42.008Z,1761682722.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913552,-0.382391,-0.138563],[0.406541,-0.868663,-0.283104],[-0.012108,-0.314962,0.949027]] 2025-10-28T20:18:42.411Z,1761682722.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906748,-0.393410,-0.151775],[0.421560,-0.854052,-0.304765],[-0.009726,-0.340327,0.940257]] 2025-10-28T20:18:42.814Z,1761682722.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899530,-0.404935,-0.163933],[0.436801,-0.839836,-0.322305],[-0.007164,-0.361529,0.932333]] 2025-10-28T20:18:43.219Z,1761682723.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892234,-0.416725,-0.173948],[0.451554,-0.826871,-0.335236],[-0.004132,-0.377656,0.925937]] 2025-10-28T20:18:43.634Z,1761682723.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884619,-0.429269,-0.182147],[0.466314,-0.814986,-0.344018],[-0.000771,-0.389262,0.921127]] 2025-10-28T20:18:44.035Z,1761682724.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877116,-0.441816,-0.188323],[0.480271,-0.804729,-0.348927],[0.002613,-0.396496,0.918033]] 2025-10-28T20:18:44.437Z,1761682724.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861313,-0.468602,-0.196345],[0.507993,-0.787336,-0.349349],[0.009116,-0.400641,0.916190]] 2025-10-28T20:18:44.839Z,1761682724.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852935,-0.482526,-0.199176],[0.521875,-0.779280,-0.346942],[0.012195,-0.399864,0.916493]] 2025-10-28T20:18:45.245Z,1761682725.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843960,-0.497195,-0.201318],[0.536201,-0.771564,-0.342313],[0.014867,-0.396845,0.917765]] 2025-10-28T20:18:45.646Z,1761682725.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834966,-0.511160,-0.203832],[0.550030,-0.763543,-0.338332],[0.017308,-0.394610,0.918686]] 2025-10-28T20:18:46.049Z,1761682726.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825581,-0.525240,-0.206248],[0.563953,-0.755512,-0.333405],[0.019295,-0.391568,0.919947]] 2025-10-28T20:18:46.451Z,1761682726.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815943,-0.538922,-0.209287],[0.577752,-0.746967,-0.329002],[0.020976,-0.389362,0.920846]] 2025-10-28T20:18:47.302Z,1761682727.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796609,-0.564983,-0.214961],[0.604018,-0.729829,-0.320174],[0.024008,-0.384894,0.922649]] 2025-10-28T20:18:48.135Z,1761682728.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777116,-0.588866,-0.222098],[0.628816,-0.711871,-0.312778],[0.026079,-0.382724,0.923495]] 2025-10-28T20:18:48.603Z,1761682728.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767007,-0.600539,-0.225949],[0.641100,-0.702843,-0.308224],[0.026294,-0.381266,0.924091]] 2025-10-28T20:18:48.999Z,1761682728.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756839,-0.611580,-0.230574],[0.653065,-0.693307,-0.304683],[0.026480,-0.381175,0.924123]] 2025-10-28T20:18:49.405Z,1761682729.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746787,-0.622119,-0.235112],[0.664532,-0.683875,-0.301184],[0.026585,-0.381160,0.924127]] 2025-10-28T20:18:49.839Z,1761682729.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736286,-0.632901,-0.239414],[0.676151,-0.674275,-0.296939],[0.026502,-0.380512,0.924396]] 2025-10-28T20:18:50.211Z,1761682730.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725608,-0.643214,-0.244475],[0.687606,-0.664201,-0.293318],[0.026285,-0.380936,0.924227]] 2025-10-28T20:18:50.255Z,1761682730.255 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:18:50.255Z,1761682730.255 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:18:50.255Z,1761682730.255 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:18:50.255Z,1761682730.255 [marl:UpdateRudder:A] Stopped 2025-10-28T20:18:50.255Z,1761682730.255 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:18:50.615Z,1761682730.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714889,-0.653469,-0.248822],[0.698728,-0.654022,-0.289886],[0.026696,-0.381095,0.924150]] 2025-10-28T20:18:50.638Z,1761682730.638 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:18:50.638Z,1761682730.638 [marl:UpdateRudder:B] Stopped 2025-10-28T20:18:50.638Z,1761682730.638 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:18:50.638Z,1761682730.638 [marl:UpdateRudder] Stopped 2025-10-28T20:18:50.638Z,1761682730.638 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:18:51.019Z,1761682731.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703691,-0.664100,-0.252568],[0.709983,-0.643599,-0.285842],[0.027275,-0.380463,0.924394]] 2025-10-28T20:18:51.423Z,1761682731.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691847,-0.674672,-0.257225],[0.721507,-0.632230,-0.282336],[0.027859,-0.380923,0.924187]] 2025-10-28T20:18:51.454Z,1761682731.454 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:18:51.454Z,1761682731.454 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:18:51.455Z,1761682731.455 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:18:51.455Z,1761682731.455 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:18:51.455Z,1761682731.455 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:18:51.455Z,1761682731.455 [marl:UpdateCommandMode] Stopped 2025-10-28T20:18:51.455Z,1761682731.455 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:18:51.843Z,1761682731.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680342,-0.684160,-0.262793],[0.732368,-0.621054,-0.279157],[0.027779,-0.382384,0.923586]] 2025-10-28T20:18:52.232Z,1761682732.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669922,-0.693707,-0.264529],[0.741938,-0.612544,-0.272614],[0.027078,-0.378894,0.925044]] 2025-10-28T20:18:52.635Z,1761682732.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662529,-0.702191,-0.260735],[0.748626,-0.609241,-0.261503],[0.024775,-0.368447,0.929319]] 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed] Stopped 2025-10-28T20:18:52.665Z,1761682732.665 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:18:53.041Z,1761682733.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656759,-0.711077,-0.251073],[0.753808,-0.609773,-0.244849],[0.021009,-0.350067,0.936489]] 2025-10-28T20:18:53.478Z,1761682733.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652383,-0.718761,-0.240372],[0.757709,-0.611632,-0.227559],[0.016541,-0.330588,0.943630]] 2025-10-28T20:18:53.851Z,1761682733.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648529,-0.725969,-0.228865],[0.761105,-0.613941,-0.209274],[0.011417,-0.309911,0.950697]] 2025-10-28T20:18:54.250Z,1761682734.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645434,-0.731751,-0.218987],[0.763798,-0.616324,-0.191725],[0.005328,-0.291007,0.956706]] 2025-10-28T20:18:54.656Z,1761682734.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642948,-0.736736,-0.209376],[0.765909,-0.618930,-0.174095],[-0.001327,-0.272297,0.962212]] 2025-10-28T20:18:55.063Z,1761682735.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641098,-0.740449,-0.201813],[0.767413,-0.621365,-0.158058],[-0.008366,-0.256205,0.966586]] 2025-10-28T20:18:55.463Z,1761682735.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639507,-0.743315,-0.196249],[0.768625,-0.623394,-0.143510],[-0.015667,-0.242618,0.969995]] 2025-10-28T20:18:55.866Z,1761682735.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638683,-0.745092,-0.192149],[0.769126,-0.625634,-0.130487],[-0.022990,-0.231126,0.972652]] 2025-10-28T20:18:56.273Z,1761682736.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638788,-0.745530,-0.190090],[0.768793,-0.628186,-0.119752],[-0.030133,-0.222636,0.974436]] 2025-10-28T20:18:56.674Z,1761682736.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639825,-0.744901,-0.189066],[0.767627,-0.631302,-0.110489],[-0.037054,-0.215826,0.975729]] 2025-10-28T20:18:57.085Z,1761682737.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641183,-0.743775,-0.188899],[0.766157,-0.634395,-0.102701],[-0.043450,-0.210576,0.976611]] 2025-10-28T20:18:57.483Z,1761682737.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642962,-0.741593,-0.191414],[0.764294,-0.637419,-0.097732],[-0.049533,-0.209135,0.976631]] 2025-10-28T20:18:57.888Z,1761682737.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644713,-0.739466,-0.193738],[0.762444,-0.640280,-0.093384],[-0.054993,-0.207920,0.976599]] 2025-10-28T20:18:58.291Z,1761682738.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646547,-0.737105,-0.196604],[0.760512,-0.643040,-0.090122],[-0.059995,-0.207788,0.976332]] 2025-10-28T20:18:59.099Z,1761682739.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649219,-0.732405,-0.205175],[0.757513,-0.646898,-0.087732],[-0.068472,-0.212380,0.974785]] 2025-10-28T20:18:59.504Z,1761682739.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650276,-0.730285,-0.209346],[0.756314,-0.648295,-0.087764],[-0.071625,-0.215402,0.973895]] 2025-10-28T20:18:59.907Z,1761682739.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650667,-0.728639,-0.213817],[0.755709,-0.648927,-0.088306],[-0.074408,-0.219041,0.972874]] 2025-10-28T20:19:00.311Z,1761682740.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650317,-0.727996,-0.217046],[0.755767,-0.648911,-0.087921],[-0.076837,-0.221213,0.972194]] 2025-10-28T20:19:00.715Z,1761682740.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649491,-0.727669,-0.220591],[0.756245,-0.648364,-0.087854],[-0.079094,-0.223881,0.971402]] 2025-10-28T20:19:01.121Z,1761682741.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647825,-0.728055,-0.224184],[0.757407,-0.647095,-0.087191],[-0.081589,-0.226283,0.970639]] 2025-10-28T20:19:01.523Z,1761682741.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645599,-0.729080,-0.227254],[0.759063,-0.645288,-0.086176],[-0.083815,-0.228136,0.970015]] 2025-10-28T20:19:01.926Z,1761682741.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642851,-0.730497,-0.230471],[0.761181,-0.642880,-0.085495],[-0.085712,-0.230390,0.969316]] 2025-10-28T20:19:02.736Z,1761682742.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635871,-0.734968,-0.235562],[0.766634,-0.636720,-0.082829],[-0.089110,-0.233258,0.968323]] 2025-10-28T20:19:03.138Z,1761682743.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631828,-0.737607,-0.238179],[0.769781,-0.633091,-0.081439],[-0.090719,-0.234801,0.967801]] 2025-10-28T20:19:03.550Z,1761682743.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627651,-0.740610,-0.239896],[0.773025,-0.629378,-0.079477],[-0.092123,-0.235329,0.967540]] 2025-10-28T20:19:03.590Z,1761682743.590 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:19:03.590Z,1761682743.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:19:03.590Z,1761682743.590 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:19:03.590Z,1761682743.590 [marl:UpdateRudder:A] Stopped 2025-10-28T20:19:03.590Z,1761682743.590 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:19:03.947Z,1761682743.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623542,-0.743602,-0.241353],[0.776164,-0.625787,-0.077204],[-0.093626,-0.235470,0.967362]] 2025-10-28T20:19:04.015Z,1761682744.015 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:19:04.016Z,1761682744.016 [marl:UpdateRudder:B] Stopped 2025-10-28T20:19:04.016Z,1761682744.016 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:19:04.016Z,1761682744.016 [marl:UpdateRudder] Stopped 2025-10-28T20:19:04.016Z,1761682744.016 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:19:04.353Z,1761682744.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619545,-0.746364,-0.243114],[0.779149,-0.622339,-0.074973],[-0.095342,-0.235871,0.967096]] 2025-10-28T20:19:04.757Z,1761682744.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615863,-0.749330,-0.243346],[0.781750,-0.619585,-0.070587],[-0.097881,-0.233708,0.967368]] 2025-10-28T20:19:04.797Z,1761682744.797 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode] Stopped 2025-10-28T20:19:04.798Z,1761682744.798 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:19:05.162Z,1761682745.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612486,-0.751821,-0.244184],[0.784048,-0.617119,-0.066573],[-0.100640,-0.232227,0.967441]] 2025-10-28T20:19:05.567Z,1761682745.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609494,-0.754027,-0.244868],[0.785934,-0.615214,-0.061804],[-0.104044,-0.230120,0.967584]] 2025-10-28T20:19:05.969Z,1761682745.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606869,-0.756124,-0.244923],[0.787346,-0.614030,-0.055254],[-0.108612,-0.226371,0.967967]] 2025-10-28T20:19:06.042Z,1761682746.042 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:19:06.042Z,1761682746.042 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:19:06.042Z,1761682746.042 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:19:06.042Z,1761682746.042 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:19:06.043Z,1761682746.043 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:19:06.043Z,1761682746.043 [marl:UpdateSpeed] Stopped 2025-10-28T20:19:06.043Z,1761682746.043 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:19:06.370Z,1761682746.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604745,-0.757422,-0.246161],[0.788251,-0.613388,-0.049146],[-0.113768,-0.223758,0.967982]] 2025-10-28T20:19:06.781Z,1761682746.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603844,-0.758167,-0.246080],[0.788167,-0.614005,-0.042307],[-0.119019,-0.219499,0.968326]] 2025-10-28T20:19:07.179Z,1761682747.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604401,-0.757821,-0.245779],[0.787065,-0.615767,-0.036868],[-0.123404,-0.215727,0.968624]] 2025-10-28T20:19:07.584Z,1761682747.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606420,-0.756490,-0.244906],[0.785046,-0.618544,-0.033261],[-0.126324,-0.212432,0.968976]] 2025-10-28T20:19:07.986Z,1761682747.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609540,-0.754569,-0.243078],[0.782485,-0.621859,-0.031760],[-0.127195,-0.209564,0.969487]] 2025-10-28T20:19:08.390Z,1761682748.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613357,-0.752325,-0.240417],[0.779631,-0.625426,-0.031894],[-0.126368,-0.206999,0.970146]] 2025-10-28T20:19:08.796Z,1761682748.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617236,-0.750019,-0.237677],[0.776994,-0.628574,-0.034277],[-0.123689,-0.205831,0.970739]] 2025-10-28T20:19:09.198Z,1761682749.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621187,-0.747860,-0.234165],[0.774535,-0.631375,-0.038225],[-0.119259,-0.205113,0.971445]] 2025-10-28T20:19:09.603Z,1761682749.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624933,-0.745629,-0.231291],[0.772361,-0.633649,-0.044129],[-0.113653,-0.206217,0.971883]] 2025-10-28T20:19:10.011Z,1761682750.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628491,-0.744010,-0.226824],[0.770417,-0.635585,-0.049901],[-0.107039,-0.206111,0.972657]] 2025-10-28T20:19:10.210Z,1761682750.210 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:19:10.415Z,1761682750.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631177,-0.742710,-0.223600],[0.769128,-0.636582,-0.056618],[-0.100289,-0.207713,0.973035]] 2025-10-28T20:19:10.815Z,1761682750.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632851,-0.742373,-0.219960],[0.768555,-0.636758,-0.062142],[-0.093929,-0.208378,0.973528]] 2025-10-28T20:19:11.212Z,1761682751.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:19:11.220Z,1761682751.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633117,-0.743203,-0.216359],[0.768987,-0.635838,-0.066103],[-0.088442,-0.208228,0.974073]] 2025-10-28T20:19:11.625Z,1761682751.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632398,-0.745183,-0.211602],[0.770100,-0.634322,-0.067694],[-0.083779,-0.205764,0.975009]] 2025-10-28T20:19:12.040Z,1761682752.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631005,-0.747456,-0.207707],[0.771628,-0.632373,-0.068513],[-0.080137,-0.203505,0.975789]] 2025-10-28T20:19:12.435Z,1761682752.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628991,-0.750073,-0.204353],[0.773572,-0.629968,-0.068746],[-0.077171,-0.201322,0.976480]] 2025-10-28T20:19:12.835Z,1761682752.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626657,-0.752733,-0.201725],[0.775708,-0.627319,-0.068902],[-0.074681,-0.199658,0.977016]] 2025-10-28T20:19:13.241Z,1761682753.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624373,-0.755203,-0.199569],[0.777783,-0.624680,-0.069484],[-0.072192,-0.198605,0.977417]] 2025-10-28T20:19:13.645Z,1761682753.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621814,-0.757563,-0.198609],[0.780061,-0.621660,-0.071027],[-0.069660,-0.199092,0.977502]] 2025-10-28T20:19:14.053Z,1761682754.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618997,-0.760254,-0.197121],[0.782537,-0.618390,-0.072313],[-0.066922,-0.199016,0.977709]] 2025-10-28T20:19:14.451Z,1761682754.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616204,-0.762928,-0.195533],[0.784971,-0.615146,-0.073593],[-0.064136,-0.198836,0.977932]] 2025-10-28T20:19:14.856Z,1761682754.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613314,-0.765286,-0.195407],[0.787479,-0.611583,-0.076435],[-0.061013,-0.200757,0.977739]] 2025-10-28T20:19:15.258Z,1761682755.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610881,-0.767077,-0.196004],[0.789615,-0.608341,-0.080186],[-0.057729,-0.203752,0.977319]] 2025-10-28T20:19:15.670Z,1761682755.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606417,-0.770173,-0.197715],[0.793472,-0.602262,-0.087646],[-0.051574,-0.210031,0.976334]] 2025-10-28T20:19:16.080Z,1761682756.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604814,-0.771044,-0.199229],[0.794859,-0.599860,-0.091470],[-0.048982,-0.213681,0.975675]] 2025-10-28T20:19:16.475Z,1761682756.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603655,-0.771822,-0.199727],[0.795877,-0.598074,-0.094272],[-0.046691,-0.215866,0.975306]] 2025-10-28T20:19:16.879Z,1761682756.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603015,-0.772334,-0.199682],[0.796496,-0.596833,-0.096873],[-0.044359,-0.217462,0.975060]] 2025-10-28T20:19:16.903Z,1761682756.903 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:19:16.903Z,1761682756.903 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:19:16.903Z,1761682756.903 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:19:16.903Z,1761682756.903 [marl:UpdateRudder:A] Stopped 2025-10-28T20:19:16.903Z,1761682756.903 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:19:17.283Z,1761682757.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602752,-0.772791,-0.198706],[0.796833,-0.596007,-0.099163],[-0.041798,-0.218106,0.975030]] 2025-10-28T20:19:17.307Z,1761682757.307 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:19:17.307Z,1761682757.307 [marl:UpdateRudder:B] Stopped 2025-10-28T20:19:17.307Z,1761682757.307 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:19:17.307Z,1761682757.307 [marl:UpdateRudder] Stopped 2025-10-28T20:19:17.307Z,1761682757.307 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:19:17.682Z,1761682757.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602730,-0.773152,-0.197365],[0.796988,-0.595411,-0.101467],[-0.039063,-0.218455,0.975065]] 2025-10-28T20:19:18.090Z,1761682758.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602644,-0.773452,-0.196447],[0.797178,-0.594729,-0.103947],[-0.036434,-0.219246,0.974989]] 2025-10-28T20:19:18.145Z,1761682758.145 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode] Stopped 2025-10-28T20:19:18.146Z,1761682758.146 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:19:18.510Z,1761682758.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602454,-0.773758,-0.195825],[0.797430,-0.593953,-0.106417],[-0.033970,-0.220268,0.974848]] 2025-10-28T20:19:18.894Z,1761682758.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602254,-0.774039,-0.195332],[0.797667,-0.593258,-0.108501],[-0.031898,-0.221155,0.974717]] 2025-10-28T20:19:19.299Z,1761682759.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602832,-0.773760,-0.194652],[0.797309,-0.593337,-0.110677],[-0.029857,-0.221917,0.974608]] 2025-10-28T20:19:19.342Z,1761682759.342 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:19:19.342Z,1761682759.342 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:19:19.342Z,1761682759.342 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:19:19.343Z,1761682759.343 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:19:19.343Z,1761682759.343 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:19:19.343Z,1761682759.343 [marl:UpdateSpeed] Stopped 2025-10-28T20:19:19.343Z,1761682759.343 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:19:19.704Z,1761682759.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603458,-0.773441,-0.193977],[0.796896,-0.593564,-0.112421],[-0.028187,-0.222421,0.974543]] 2025-10-28T20:19:20.109Z,1761682760.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605056,-0.772171,-0.194062],[0.795733,-0.594671,-0.114785],[-0.026770,-0.223873,0.974251]] 2025-10-28T20:19:20.520Z,1761682760.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607535,-0.770247,-0.193960],[0.793873,-0.596768,-0.116762],[-0.025813,-0.224916,0.974036]] 2025-10-28T20:19:20.915Z,1761682760.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610156,-0.768603,-0.192246],[0.791882,-0.599321,-0.117202],[-0.025136,-0.223748,0.974323]] 2025-10-28T20:19:21.320Z,1761682761.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613631,-0.765973,-0.191684],[0.789229,-0.602368,-0.119457],[-0.023963,-0.224585,0.974160]] 2025-10-28T20:19:21.724Z,1761682761.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617064,-0.763458,-0.190693],[0.786560,-0.605658,-0.120423],[-0.023557,-0.224301,0.974235]] 2025-10-28T20:19:22.129Z,1761682762.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620702,-0.761088,-0.188346],[0.783719,-0.609218,-0.120987],[-0.022662,-0.222707,0.974622]] 2025-10-28T20:19:22.534Z,1761682762.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624165,-0.758500,-0.187340],[0.780999,-0.612295,-0.123021],[-0.021396,-0.223097,0.974561]] 2025-10-28T20:19:22.935Z,1761682762.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627359,-0.755927,-0.187070],[0.778489,-0.614776,-0.126512],[-0.019372,-0.225001,0.974166]] 2025-10-28T20:19:23.339Z,1761682763.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630087,-0.753895,-0.186099],[0.776346,-0.616722,-0.130159],[-0.016645,-0.226489,0.973871]] 2025-10-28T20:19:23.745Z,1761682763.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632108,-0.752422,-0.185207],[0.774767,-0.617786,-0.134448],[-0.013257,-0.228478,0.973459]] 2025-10-28T20:19:24.150Z,1761682764.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632862,-0.752175,-0.183624],[0.774206,-0.617672,-0.138151],[-0.009506,-0.229593,0.973240]] 2025-10-28T20:19:24.551Z,1761682764.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632432,-0.752503,-0.183766],[0.774596,-0.616087,-0.142963],[-0.005636,-0.232759,0.972518]] 2025-10-28T20:19:25.101Z,1761682765.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630592,-0.753838,-0.184612],[0.776113,-0.612989,-0.147964],[-0.001625,-0.236584,0.971610]] 2025-10-28T20:19:25.360Z,1761682765.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627691,-0.756241,-0.184669],[0.778458,-0.608984,-0.152123],[0.002581,-0.239244,0.970956]] 2025-10-28T20:19:25.786Z,1761682765.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624985,-0.758427,-0.184885],[0.780607,-0.605096,-0.156562],[0.006868,-0.242171,0.970209]] 2025-10-28T20:19:26.166Z,1761682766.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622233,-0.760613,-0.185184],[0.782754,-0.601187,-0.160841],[0.011007,-0.245034,0.969452]] 2025-10-28T20:19:26.571Z,1761682766.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619287,-0.763250,-0.184208],[0.785018,-0.597358,-0.164042],[0.015167,-0.246195,0.969101]] 2025-10-28T20:19:26.977Z,1761682766.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616475,-0.765605,-0.183869],[0.787142,-0.593579,-0.167545],[0.019132,-0.248018,0.968566]] 2025-10-28T20:19:27.378Z,1761682767.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613965,-0.767785,-0.183176],[0.789009,-0.590309,-0.170294],[0.022619,-0.249082,0.968218]] 2025-10-28T20:19:27.829Z,1761682767.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611599,-0.769845,-0.182442],[0.790766,-0.587467,-0.171965],[0.025208,-0.249442,0.968062]] 2025-10-28T20:19:27.890Z,1761682767.890 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:19:28.017Z,1761682768.017 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:19:28.017Z,1761682768.017 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:19:28.190Z,1761682768.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609232,-0.772035,-0.181102],[0.792538,-0.585060,-0.172012],[0.026843,-0.248325,0.968305]] 2025-10-28T20:19:28.269Z,1761682768.269 [DAT](INFO): DAT read: user:247> 2025-10-28T20:19:28.270Z,1761682768.270 [DAT](INFO): DAT read: Tx time:20:19:28.0198 2025-10-28T20:19:28.270Z,1761682768.270 [DAT](INFO): Ping request sent. 2025-10-28T20:19:28.270Z,1761682768.270 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:19:28.270Z,1761682768.270 [DAT](INFO): publishing transmit ping time 2025-10-28T20:19:28.271Z,1761682768.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T20:19:28.521Z,1761682768.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250817 2025-10-28T20:19:28.591Z,1761682768.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606967,-0.774175,-0.179563],[0.794256,-0.583142,-0.170597],[0.027361,-0.246166,0.968841]] 2025-10-28T20:19:28.773Z,1761682768.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503283 2025-10-28T20:19:29.002Z,1761682769.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604592,-0.776326,-0.178290],[0.796092,-0.581451,-0.167787],[0.026591,-0.243378,0.969567]] 2025-10-28T20:19:29.025Z,1761682769.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754989 2025-10-28T20:19:29.280Z,1761682769.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009952 2025-10-28T20:19:29.398Z,1761682769.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601988,-0.778543,-0.177432],[0.798135,-0.579900,-0.163391],[0.024314,-0.239974,0.970475]] 2025-10-28T20:19:29.529Z,1761682769.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258820 2025-10-28T20:19:29.784Z,1761682769.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513371 2025-10-28T20:19:29.842Z,1761682769.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598839,-0.780724,-0.178499],[0.800595,-0.577736,-0.158962],[0.020981,-0.238098,0.971014]] 2025-10-28T20:19:30.033Z,1761682770.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762807 2025-10-28T20:19:30.214Z,1761682770.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595360,-0.783073,-0.179842],[0.803297,-0.575650,-0.152777],[0.016110,-0.235424,0.971759]] 2025-10-28T20:19:30.285Z,1761682770.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015377 2025-10-28T20:19:30.537Z,1761682770.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266905 2025-10-28T20:19:30.610Z,1761682770.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592274,-0.784892,-0.182088],[0.805665,-0.573895,-0.146792],[0.010717,-0.233643,0.972263]] 2025-10-28T20:19:30.645Z,1761682770.645 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:19:30.645Z,1761682770.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:19:30.645Z,1761682770.645 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:19:30.646Z,1761682770.646 [marl:UpdateRudder:A] Stopped 2025-10-28T20:19:30.646Z,1761682770.646 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:19:30.789Z,1761682770.789 [DAT](INFO): DAT read: Rx Time:20:19:30.1186 2025-10-28T20:19:30.789Z,1761682770.789 [DAT](INFO): Rx dataTimestamp_ set to:1761682770.789157 2025-10-28T20:19:30.790Z,1761682770.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519948 2025-10-28T20:19:31.018Z,1761682771.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592170,-0.784822,-0.182730],[0.805783,-0.574742,-0.142778],[0.007032,-0.231789,0.972741]] 2025-10-28T20:19:31.053Z,1761682771.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782902 2025-10-28T20:19:31.077Z,1761682771.077 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:19:31.077Z,1761682771.077 [marl:UpdateRudder:B] Stopped 2025-10-28T20:19:31.077Z,1761682771.077 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:19:31.077Z,1761682771.077 [marl:UpdateRudder] Stopped 2025-10-28T20:19:31.077Z,1761682771.077 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:19:31.306Z,1761682771.306 [DAT](INFO): DAT read: 20:19:30.1186 LVL= 22672, 29921, 15218, 20531, AGC= 42, IDX= 149, 0.30, 1.848, 1.460, 3.096, 1.861, PHS= 0.089,-0.356, 1.191, RAW= 193.8, -13.3, CAL= 193.8, -15.5, ROT= 316.2, 15.5 2025-10-28T20:19:31.308Z,1761682771.308 [DAT](INFO): got valid direction response: 20:19:30.1186 LVL= 22672, 29921, 15218, 20531, AGC= 42, IDX= 149, 0.30, 1.848, 1.460, 3.096, 1.861, PHS= 0.089,-0.356, 1.191, RAW= 193.8, -13.3, CAL= 193.8, -15.5, ROT= 316.2, 15.5 2025-10-28T20:19:31.309Z,1761682771.309 [DAT](INFO): DAT read: Bearing 57, -1 (Remote) 2025-10-28T20:19:31.309Z,1761682771.309 [DAT](INFO): Remote Bearing received:Bearing 57, -1 (Remote) 2025-10-28T20:19:31.310Z,1761682771.310 [DAT](INFO): DAT read: Bearing 252.7, -34.8 (Local) 2025-10-28T20:19:31.310Z,1761682771.310 [DAT](INFO): Local bearing/azimuth received: Bearing 252.7, -34.8 (Local) 2025-10-28T20:19:31.311Z,1761682771.311 [DAT](INFO): DAT read: Range 11 to 20 : 52.2 m (Round-trip 69.7 ms) speed 1.4 m/s 2025-10-28T20:19:31.312Z,1761682771.312 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:19:31.313Z,1761682771.313 [DAT](INFO): direction in FSK: [0.695510,-0.666970,-0.267238] 2025-10-28T20:19:31.313Z,1761682771.313 [DAT](INFO): publishing direction and range info 2025-10-28T20:19:31.419Z,1761682771.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595705,-0.782419,-0.181537],[0.803182,-0.578613,-0.141799],[0.005907,-0.230277,0.973107]] 2025-10-28T20:19:31.510Z,1761682771.510 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:19:31.510Z,1761682771.510 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:19:31.510Z,1761682771.510 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:19:31.511Z,1761682771.511 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:19:31.511Z,1761682771.511 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:19:31.511Z,1761682771.511 [marl:UpdateCommandMode] Stopped 2025-10-28T20:19:31.511Z,1761682771.511 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:19:31.526Z,1761682771.526 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682816.00. Resetting abort timer. 2025-10-28T20:19:31.844Z,1761682771.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599259,-0.779886,-0.180739],[0.800539,-0.582317,-0.141579],[0.005168,-0.229530,0.973288]] 2025-10-28T20:19:32.229Z,1761682772.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602210,-0.778162,-0.178344],[0.798320,-0.585511,-0.140930],[0.005244,-0.227245,0.973823]] 2025-10-28T20:19:32.632Z,1761682772.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605293,-0.776265,-0.176159],[0.795976,-0.588456,-0.141923],[0.006508,-0.226123,0.974077]] 2025-10-28T20:19:32.656Z,1761682772.656 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:19:32.656Z,1761682772.656 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:19:32.656Z,1761682772.656 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:19:32.657Z,1761682772.657 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:19:32.657Z,1761682772.657 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:19:32.657Z,1761682772.657 [marl:UpdateSpeed] Stopped 2025-10-28T20:19:32.657Z,1761682772.657 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:19:33.035Z,1761682773.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607947,-0.774794,-0.173475],[0.793929,-0.590817,-0.143566],[0.008742,-0.225008,0.974318]] 2025-10-28T20:19:33.438Z,1761682773.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610192,-0.773356,-0.172008],[0.792165,-0.592327,-0.147050],[0.011837,-0.225988,0.974058]] 2025-10-28T20:19:33.848Z,1761682773.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611297,-0.773050,-0.169439],[0.791253,-0.592868,-0.149755],[0.015313,-0.225614,0.974096]] 2025-10-28T20:19:34.251Z,1761682774.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610926,-0.773462,-0.168897],[0.791470,-0.591691,-0.153224],[0.018578,-0.227286,0.973651]] 2025-10-28T20:19:34.650Z,1761682774.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609205,-0.774978,-0.168161],[0.792713,-0.589296,-0.156004],[0.021803,-0.228342,0.973337]] 2025-10-28T20:19:35.055Z,1761682775.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606358,-0.777142,-0.168465],[0.794798,-0.585631,-0.159164],[0.025034,-0.230406,0.972773]] 2025-10-28T20:19:35.459Z,1761682775.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603119,-0.779384,-0.169727],[0.797152,-0.581410,-0.162825],[0.028222,-0.233501,0.971947]] 2025-10-28T20:19:35.864Z,1761682775.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599491,-0.781688,-0.171975],[0.799773,-0.576662,-0.166806],[0.031218,-0.237539,0.970876]] 2025-10-28T20:19:36.277Z,1761682776.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595475,-0.784520,-0.173025],[0.802653,-0.571856,-0.169494],[0.034026,-0.239808,0.970224]] 2025-10-28T20:19:36.670Z,1761682776.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591455,-0.787157,-0.174827],[0.805508,-0.566957,-0.172386],[0.036576,-0.242783,0.969391]] 2025-10-28T20:19:37.074Z,1761682777.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587577,-0.789973,-0.175205],[0.808218,-0.562472,-0.174381],[0.039208,-0.244066,0.968966]] 2025-10-28T20:19:37.489Z,1761682777.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584029,-0.792761,-0.174472],[0.810655,-0.558548,-0.175680],[0.041821,-0.244039,0.968863]] 2025-10-28T20:19:37.882Z,1761682777.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580187,-0.795821,-0.173351],[0.813272,-0.554449,-0.176564],[0.044399,-0.243422,0.968904]] 2025-10-28T20:19:38.290Z,1761682778.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576556,-0.798617,-0.172609],[0.815703,-0.550449,-0.177861],[0.047031,-0.243345,0.968799]] 2025-10-28T20:19:39.096Z,1761682779.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569802,-0.804240,-0.168892],[0.820125,-0.543469,-0.178986],[0.052161,-0.240499,0.969247]] 2025-10-28T20:19:39.503Z,1761682779.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566878,-0.806620,-0.167370],[0.821991,-0.540374,-0.179795],[0.054584,-0.239499,0.969361]] 2025-10-28T20:19:39.903Z,1761682779.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564173,-0.808737,-0.166295],[0.823703,-0.537456,-0.180705],[0.056767,-0.238927,0.969377]] 2025-10-28T20:19:40.309Z,1761682780.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561899,-0.810606,-0.164885],[0.825133,-0.535144,-0.181039],[0.058514,-0.237778,0.969555]] 2025-10-28T20:19:40.711Z,1761682780.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560712,-0.811578,-0.164142],[0.825807,-0.533667,-0.182326],[0.060375,-0.237782,0.969440]] 2025-10-28T20:19:41.115Z,1761682781.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559959,-0.812326,-0.163013],[0.826196,-0.532745,-0.183258],[0.062021,-0.237297,0.969455]] 2025-10-28T20:19:41.335Z,1761682781.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:19:41.518Z,1761682781.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560367,-0.812235,-0.162061],[0.825777,-0.532806,-0.184960],[0.063884,-0.237472,0.969291]] 2025-10-28T20:19:41.922Z,1761682781.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561666,-0.811764,-0.159908],[0.824743,-0.533957,-0.186252],[0.065809,-0.236494,0.969402]] 2025-10-28T20:19:41.939Z,1761682781.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -129.31, +10268:BD, -156.43, +10217.69, -42.44, 55.16, 0.00 2025-10-28T20:19:42.333Z,1761682782.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562851,-0.811429,-0.157421],[0.823797,-0.535149,-0.187012],[0.067503,-0.234942,0.969662]] 2025-10-28T20:19:42.336Z,1761682782.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:19:42.732Z,1761682782.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564177,-0.810966,-0.155043],[0.822771,-0.536530,-0.187571],[0.068928,-0.233388,0.969938]] 2025-10-28T20:19:43.135Z,1761682783.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565005,-0.810654,-0.153651],[0.822055,-0.537130,-0.188988],[0.070673,-0.233089,0.969884]] 2025-10-28T20:19:43.538Z,1761682783.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565566,-0.810412,-0.152863],[0.821498,-0.537281,-0.190973],[0.072637,-0.233585,0.969620]] 2025-10-28T20:19:43.942Z,1761682783.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565135,-0.810853,-0.152117],[0.821587,-0.536398,-0.193061],[0.074948,-0.234083,0.969324]] 2025-10-28T20:19:44.013Z,1761682784.013 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:19:44.013Z,1761682784.013 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:19:44.013Z,1761682784.013 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:19:44.013Z,1761682784.013 [marl:UpdateRudder:A] Stopped 2025-10-28T20:19:44.014Z,1761682784.014 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:19:44.353Z,1761682784.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563914,-0.811682,-0.152225],[0.822194,-0.534522,-0.195664],[0.077449,-0.235496,0.968784]] 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateRudder:B] Stopped 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateRudder] Stopped 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:19:44.378Z,1761682784.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:19:44.379Z,1761682784.379 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:19:44.379Z,1761682784.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:19:44.379Z,1761682784.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:19:44.379Z,1761682784.379 [marl:UpdateCommandMode] Stopped 2025-10-28T20:19:44.379Z,1761682784.379 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:19:44.751Z,1761682784.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562104,-0.812804,-0.152935],[0.823169,-0.531876,-0.198750],[0.080202,-0.237610,0.968044]] 2025-10-28T20:19:45.155Z,1761682785.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559270,-0.814627,-0.153620],[0.824835,-0.528313,-0.201327],[0.082847,-0.239307,0.967403]] 2025-10-28T20:19:45.562Z,1761682785.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555387,-0.816755,-0.156388],[0.827234,-0.523391,-0.204319],[0.085026,-0.242846,0.966331]] 2025-10-28T20:19:45.974Z,1761682785.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550983,-0.819487,-0.157666],[0.829979,-0.518441,-0.205802],[0.086911,-0.244253,0.965809]] 2025-10-28T20:19:46.043Z,1761682786.043 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:19:46.043Z,1761682786.043 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:19:46.043Z,1761682786.043 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:19:46.048Z,1761682786.048 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:19:46.048Z,1761682786.048 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:19:46.048Z,1761682786.048 [marl:UpdateSpeed] Stopped 2025-10-28T20:19:46.048Z,1761682786.048 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:19:46.368Z,1761682786.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546634,-0.822246,-0.158439],[0.832708,-0.513830,-0.206341],[0.088253,-0.244726,0.965567]] 2025-10-28T20:19:46.777Z,1761682786.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542189,-0.824774,-0.160560],[0.835611,-0.509189,-0.206109],[0.088238,-0.245916,0.965267]] 2025-10-28T20:19:47.177Z,1761682787.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538059,-0.827140,-0.162270],[0.838388,-0.505256,-0.204501],[0.087163,-0.246079,0.965323]] 2025-10-28T20:19:47.583Z,1761682787.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534539,-0.829093,-0.163929],[0.840844,-0.502177,-0.201988],[0.085146,-0.245809,0.965571]] 2025-10-28T20:19:47.986Z,1761682787.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532152,-0.830510,-0.164522],[0.842576,-0.500460,-0.199010],[0.082943,-0.244526,0.966089]] 2025-10-28T20:19:48.387Z,1761682788.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531025,-0.831084,-0.165265],[0.843535,-0.499976,-0.196144],[0.080383,-0.243564,0.966548]] 2025-10-28T20:19:48.793Z,1761682788.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531141,-0.831269,-0.163953],[0.843673,-0.501037,-0.192816],[0.078136,-0.240735,0.967441]] 2025-10-28T20:19:49.197Z,1761682789.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532100,-0.830823,-0.163103],[0.843259,-0.502721,-0.190224],[0.076047,-0.238756,0.968097]] 2025-10-28T20:19:49.599Z,1761682789.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533723,-0.829981,-0.162086],[0.842370,-0.504901,-0.188382],[0.074515,-0.237080,0.968628]] 2025-10-28T20:19:50.011Z,1761682790.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535462,-0.828832,-0.162227],[0.841365,-0.506811,-0.187744],[0.073389,-0.237022,0.968728]] 2025-10-28T20:19:50.406Z,1761682790.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536738,-0.827999,-0.162263],[0.840631,-0.508255,-0.187129],[0.072472,-0.236842,0.968841]] 2025-10-28T20:19:50.812Z,1761682790.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537744,-0.827271,-0.162649],[0.840045,-0.509296,-0.186927],[0.071803,-0.237151,0.968816]] 2025-10-28T20:19:51.216Z,1761682791.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538452,-0.826929,-0.162041],[0.839606,-0.510145,-0.186582],[0.071626,-0.236516,0.968984]] 2025-10-28T20:19:51.618Z,1761682791.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539185,-0.826501,-0.161788],[0.839148,-0.510924,-0.186514],[0.071493,-0.236330,0.969039]] 2025-10-28T20:19:52.023Z,1761682792.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538557,-0.826671,-0.163009],[0.839598,-0.510219,-0.186420],[0.070938,-0.237260,0.968853]] 2025-10-28T20:19:52.432Z,1761682792.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537194,-0.827316,-0.164229],[0.840530,-0.508873,-0.185896],[0.070223,-0.237901,0.968747]] 2025-10-28T20:19:52.832Z,1761682792.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535356,-0.828271,-0.165412],[0.841697,-0.506871,-0.186083],[0.070284,-0.238848,0.968510]] 2025-10-28T20:19:53.236Z,1761682793.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532975,-0.829966,-0.164603],[0.843197,-0.504792,-0.184945],[0.070408,-0.237364,0.968866]] 2025-10-28T20:19:53.639Z,1761682793.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530171,-0.831563,-0.165592],[0.844972,-0.501983,-0.184484],[0.070286,-0.237729,0.968785]] 2025-10-28T20:19:54.042Z,1761682794.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526791,-0.833662,-0.165826],[0.847130,-0.498926,-0.182874],[0.069720,-0.236813,0.969051]] 2025-10-28T20:19:54.463Z,1761682794.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522879,-0.835909,-0.166897],[0.849660,-0.495401,-0.180708],[0.068375,-0.236294,0.969273]] 2025-10-28T20:19:54.850Z,1761682794.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518700,-0.838211,-0.168381],[0.852394,-0.491782,-0.177693],[0.066138,-0.235697,0.969574]] 2025-10-28T20:19:55.255Z,1761682795.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514553,-0.840289,-0.170735],[0.855120,-0.488179,-0.174500],[0.063281,-0.235789,0.969742]] 2025-10-28T20:19:55.659Z,1761682795.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510586,-0.842314,-0.172651],[0.857705,-0.484852,-0.171059],[0.060375,-0.235424,0.970016]] 2025-10-28T20:19:56.064Z,1761682796.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507031,-0.844056,-0.174608],[0.860074,-0.482173,-0.166680],[0.056496,-0.234688,0.970428]] 2025-10-28T20:19:56.471Z,1761682796.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504192,-0.845207,-0.177245],[0.862025,-0.480208,-0.162213],[0.051989,-0.234576,0.970707]] 2025-10-28T20:19:56.871Z,1761682796.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502819,-0.845576,-0.179375],[0.863089,-0.479744,-0.157868],[0.047435,-0.234196,0.971031]] 2025-10-28T20:19:57.332Z,1761682797.332 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:19:57.332Z,1761682797.332 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:19:57.332Z,1761682797.332 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:19:57.332Z,1761682797.332 [marl:UpdateRudder:A] Stopped 2025-10-28T20:19:57.332Z,1761682797.332 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:19:57.680Z,1761682797.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504490,-0.844016,-0.182006],[0.862569,-0.483328,-0.149559],[0.038261,-0.232443,0.971857]] 2025-10-28T20:19:57.706Z,1761682797.706 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:19:57.706Z,1761682797.706 [marl:UpdateRudder:B] Stopped 2025-10-28T20:19:57.707Z,1761682797.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:19:57.707Z,1761682797.707 [marl:UpdateRudder] Stopped 2025-10-28T20:19:57.708Z,1761682797.708 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:19:57.709Z,1761682797.709 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:19:57.709Z,1761682797.709 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:19:57.710Z,1761682797.710 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:19:57.710Z,1761682797.710 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:19:57.711Z,1761682797.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:19:57.711Z,1761682797.711 [marl:UpdateCommandMode] Stopped 2025-10-28T20:19:57.711Z,1761682797.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:19:58.083Z,1761682798.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507129,-0.842371,-0.182298],[0.861196,-0.486899,-0.145846],[0.034096,-0.230957,0.972366]] 2025-10-28T20:19:58.515Z,1761682798.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510369,-0.840148,-0.183507],[0.859429,-0.490846,-0.143010],[0.030076,-0.230700,0.972560]] 2025-10-28T20:19:59.295Z,1761682799.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517371,-0.835878,-0.183401],[0.855425,-0.499146,-0.138205],[0.023979,-0.228389,0.973275]] 2025-10-28T20:19:59.333Z,1761682799.333 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed] Stopped 2025-10-28T20:19:59.334Z,1761682799.334 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:19:59.698Z,1761682799.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521119,-0.833795,-0.182264],[0.853191,-0.503331,-0.136829],[0.022349,-0.226810,0.973683]] 2025-10-28T20:20:00.103Z,1761682800.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524413,-0.831778,-0.182037],[0.851186,-0.506653,-0.137061],[0.021775,-0.226824,0.973692]] 2025-10-28T20:20:00.520Z,1761682800.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528354,-0.829459,-0.181215],[0.848722,-0.510303,-0.138785],[0.022641,-0.227129,0.973601]] 2025-10-28T20:20:01.321Z,1761682801.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526062,-0.830447,-0.183348],[0.850163,-0.507958,-0.138568],[0.021940,-0.228772,0.973233]] 2025-10-28T20:20:01.724Z,1761682801.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522942,-0.831887,-0.185732],[0.852100,-0.504749,-0.138398],[0.021383,-0.230636,0.972805]] 2025-10-28T20:20:02.129Z,1761682802.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519138,-0.833888,-0.187420],[0.854454,-0.501209,-0.136738],[0.020087,-0.231128,0.972716]] 2025-10-28T20:20:02.529Z,1761682802.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514613,-0.836125,-0.189915],[0.857239,-0.497141,-0.134136],[0.017740,-0.231831,0.972594]] 2025-10-28T20:20:02.937Z,1761682802.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509823,-0.838204,-0.193636],[0.860141,-0.492620,-0.132226],[0.015443,-0.233966,0.972122]] 2025-10-28T20:20:03.335Z,1761682803.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505054,-0.840464,-0.196316],[0.862993,-0.488400,-0.129259],[0.012757,-0.234702,0.971984]] 2025-10-28T20:20:03.740Z,1761682803.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500544,-0.842507,-0.199091],[0.865652,-0.484422,-0.126418],[0.010064,-0.235621,0.971793]] 2025-10-28T20:20:04.146Z,1761682804.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496246,-0.844474,-0.201504],[0.868150,-0.480679,-0.123548],[0.007474,-0.236246,0.971665]] 2025-10-28T20:20:04.546Z,1761682804.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492360,-0.846186,-0.203840],[0.870379,-0.477382,-0.120613],[0.004752,-0.236803,0.971546]] 2025-10-28T20:20:05.017Z,1761682805.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489285,-0.847437,-0.206036],[0.872123,-0.475228,-0.116446],[0.000766,-0.236664,0.971591]] 2025-10-28T20:20:05.355Z,1761682805.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487012,-0.848560,-0.206798],[0.873390,-0.474010,-0.111826],[-0.003133,-0.235076,0.971972]] 2025-10-28T20:20:05.765Z,1761682805.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486101,-0.848939,-0.207385],[0.873880,-0.473931,-0.108275],[-0.006367,-0.233862,0.972249]] 2025-10-28T20:20:06.162Z,1761682806.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486013,-0.848784,-0.208224],[0.873898,-0.474630,-0.105018],[-0.009692,-0.233006,0.972427]] 2025-10-28T20:20:06.574Z,1761682806.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486758,-0.848346,-0.208269],[0.873441,-0.476200,-0.101655],[-0.012939,-0.231392,0.972775]] 2025-10-28T20:20:06.970Z,1761682806.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488066,-0.847334,-0.209325],[0.872654,-0.478217,-0.098907],[-0.016296,-0.230941,0.972831]] 2025-10-28T20:20:07.374Z,1761682807.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489828,-0.846519,-0.208506],[0.871599,-0.480862,-0.095323],[-0.019570,-0.228426,0.973365]] 2025-10-28T20:20:07.807Z,1761682807.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492120,-0.845167,-0.208593],[0.870234,-0.483845,-0.092668],[-0.022606,-0.227129,0.973602]] 2025-10-28T20:20:08.184Z,1761682808.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495013,-0.843326,-0.209199],[0.868521,-0.487226,-0.091008],[-0.025178,-0.226743,0.973629]] 2025-10-28T20:20:08.586Z,1761682808.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497961,-0.841434,-0.209819],[0.866776,-0.490490,-0.090104],[-0.027098,-0.226735,0.973580]] 2025-10-28T20:20:08.991Z,1761682808.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500550,-0.839895,-0.209823],[0.865238,-0.493346,-0.089296],[-0.028516,-0.226244,0.973653]] 2025-10-28T20:20:09.398Z,1761682809.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502556,-0.838627,-0.210099],[0.864048,-0.495445,-0.089192],[-0.029294,-0.226360,0.973603]] 2025-10-28T20:20:09.836Z,1761682809.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504139,-0.837641,-0.210240],[0.863132,-0.496896,-0.089981],[-0.029096,-0.226828,0.973500]] 2025-10-28T20:20:10.202Z,1761682810.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504798,-0.837149,-0.210620],[0.862771,-0.497299,-0.091214],[-0.028381,-0.227762,0.973303]] 2025-10-28T20:20:10.607Z,1761682810.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504370,-0.837439,-0.210492],[0.863048,-0.496683,-0.091942],[-0.027552,-0.228038,0.973262]] 2025-10-28T20:20:10.651Z,1761682810.651 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:20:10.651Z,1761682810.651 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:20:10.651Z,1761682810.651 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:20:10.660Z,1761682810.660 [marl:UpdateRudder:A] Stopped 2025-10-28T20:20:10.660Z,1761682810.660 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:20:11.011Z,1761682811.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502591,-0.838409,-0.210885],[0.864130,-0.494553,-0.093255],[-0.026108,-0.229102,0.973052]] 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateRudder:B] Stopped 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateRudder] Stopped 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:20:11.039Z,1761682811.039 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:20:11.040Z,1761682811.040 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:20:11.060Z,1761682811.060 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:20:11.060Z,1761682811.060 [marl:UpdateCommandMode] Stopped 2025-10-28T20:20:11.060Z,1761682811.060 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:20:11.423Z,1761682811.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499458,-0.839996,-0.212010],[0.865973,-0.491167,-0.094048],[-0.025133,-0.230568,0.972732]] 2025-10-28T20:20:11.842Z,1761682811.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495873,-0.841843,-0.213097],[0.868056,-0.487380,-0.094546],[-0.024266,-0.231863,0.972446]] 2025-10-28T20:20:12.223Z,1761682812.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492019,-0.843674,-0.214782],[0.870260,-0.483365,-0.094896],[-0.023757,-0.233607,0.972041]] 2025-10-28T20:20:12.457Z,1761682812.457 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:20:12.627Z,1761682812.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488181,-0.845835,-0.215041],[0.872418,-0.479670,-0.093825],[-0.023788,-0.233409,0.972088]] 2025-10-28T20:20:12.652Z,1761682812.652 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:20:12.652Z,1761682812.652 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:20:12.652Z,1761682812.652 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:20:12.653Z,1761682812.653 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:20:12.653Z,1761682812.653 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:20:12.653Z,1761682812.653 [marl:UpdateSpeed] Stopped 2025-10-28T20:20:12.653Z,1761682812.653 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:20:13.033Z,1761682813.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484471,-0.847616,-0.216412],[0.874461,-0.476187,-0.092542],[-0.024612,-0.234078,0.971906]] 2025-10-28T20:20:13.434Z,1761682813.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479435,-0.849877,-0.218751],[0.877189,-0.471514,-0.090636],[-0.026115,-0.235340,0.971562]] 2025-10-28T20:20:13.460Z,1761682813.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:20:13.846Z,1761682813.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471389,-0.852460,-0.226063],[0.881480,-0.463560,-0.090034],[-0.028044,-0.241711,0.969943]] 2025-10-28T20:20:14.242Z,1761682814.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459659,-0.854430,-0.242204],[0.887590,-0.451187,-0.092816],[-0.029975,-0.257641,0.965776]] 2025-10-28T20:20:14.652Z,1761682814.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445288,-0.855590,-0.263977],[0.894814,-0.435773,-0.097003],[-0.032039,-0.279405,0.959639]] 2025-10-28T20:20:15.050Z,1761682815.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430593,-0.855698,-0.287003],[0.901926,-0.419752,-0.101680],[-0.033463,-0.302638,0.952518]] 2025-10-28T20:20:15.454Z,1761682815.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416762,-0.854274,-0.310687],[0.908386,-0.404116,-0.107357],[-0.033842,-0.326966,0.944430]] 2025-10-28T20:20:15.859Z,1761682815.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404182,-0.852530,-0.331404],[0.914082,-0.389556,-0.112695],[-0.033025,-0.348480,0.936734]] 2025-10-28T20:20:16.301Z,1761682816.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391975,-0.851459,-0.348388],[0.919429,-0.375625,-0.116433],[-0.031725,-0.365957,0.930091]] 2025-10-28T20:20:16.703Z,1761682816.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379864,-0.851421,-0.361643],[0.924559,-0.362084,-0.118683],[-0.029896,-0.379443,0.924732]] 2025-10-28T20:20:17.114Z,1761682817.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368251,-0.852731,-0.370459],[0.929338,-0.349125,-0.120175],[-0.026859,-0.388537,0.921042]] 2025-10-28T20:20:17.518Z,1761682817.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357183,-0.854692,-0.376726],[0.933758,-0.336553,-0.121770],[-0.022713,-0.395265,0.918286]] 2025-10-28T20:20:17.919Z,1761682817.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346464,-0.857082,-0.381278],[0.937899,-0.324106,-0.123697],[-0.017556,-0.400457,0.916147]] 2025-10-28T20:20:18.323Z,1761682818.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335601,-0.860282,-0.383780],[0.941931,-0.311525,-0.125368],[-0.011705,-0.403568,0.914875]] 2025-10-28T20:20:19.132Z,1761682819.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311439,-0.869375,-0.383657],[0.950266,-0.285015,-0.125541],[-0.000206,-0.403675,0.914902]] 2025-10-28T20:20:19.534Z,1761682819.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297142,-0.875140,-0.381885],[0.954820,-0.270225,-0.123684],[0.005046,-0.401383,0.915896]] 2025-10-28T20:20:19.939Z,1761682819.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281582,-0.881038,-0.380111],[0.959486,-0.254424,-0.121061],[0.009950,-0.398800,0.916984]] 2025-10-28T20:20:20.748Z,1761682820.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246982,-0.892017,-0.378557],[0.968843,-0.219853,-0.114050],[0.018507,-0.394931,0.918525]] 2025-10-28T20:20:21.182Z,1761682821.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228393,-0.897530,-0.377197],[0.973321,-0.201750,-0.109287],[0.021988,-0.392094,0.919663]] 2025-10-28T20:20:21.574Z,1761682821.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209246,-0.901824,-0.378061],[0.977540,-0.182978,-0.104566],[0.025124,-0.391450,0.919856]] 2025-10-28T20:20:21.980Z,1761682821.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189254,-0.906221,-0.378083],[0.981538,-0.163734,-0.098867],[0.027690,-0.389814,0.920477]] 2025-10-28T20:20:22.391Z,1761682822.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169615,-0.909480,-0.379575],[0.985068,-0.144918,-0.092952],[0.029531,-0.389673,0.920480]] 2025-10-28T20:20:22.792Z,1761682822.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149533,-0.912435,-0.380923],[0.988280,-0.125969,-0.086218],[0.030684,-0.389351,0.920578]] 2025-10-28T20:20:23.198Z,1761682823.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129312,-0.914900,-0.382409],[0.991111,-0.107092,-0.078932],[0.031262,-0.389216,0.920616]] 2025-10-28T20:20:23.595Z,1761682823.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109967,-0.917100,-0.383191],[0.993427,-0.089092,-0.071866],[0.031769,-0.388575,0.920869]] 2025-10-28T20:20:23.999Z,1761682823.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091945,-0.918713,-0.384075],[0.995241,-0.072288,-0.065340],[0.032265,-0.388255,0.920987]] 2025-10-28T20:20:24.404Z,1761682824.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075298,-0.919777,-0.385150],[0.996624,-0.056739,-0.059346],[0.032732,-0.388318,0.920944]] 2025-10-28T20:20:24.428Z,1761682824.428 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:20:24.428Z,1761682824.428 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:20:24.429Z,1761682824.429 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:20:24.429Z,1761682824.429 [marl:UpdateRudder:A] Stopped 2025-10-28T20:20:24.429Z,1761682824.429 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:20:24.808Z,1761682824.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060172,-0.920543,-0.385980],[0.997636,-0.042606,-0.053911],[0.033182,-0.388311,0.920931]] 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateRudder:B] Stopped 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateRudder] Stopped 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:20:24.833Z,1761682824.833 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:20:24.834Z,1761682824.834 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:20:24.834Z,1761682824.834 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:20:24.834Z,1761682824.834 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:20:24.834Z,1761682824.834 [marl:UpdateCommandMode] Stopped 2025-10-28T20:20:24.834Z,1761682824.834 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:20:25.211Z,1761682825.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046734,-0.921545,-0.385449],[0.998335,-0.030031,-0.049245],[0.033806,-0.387109,0.921414]] 2025-10-28T20:20:25.637Z,1761682825.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034443,-0.922501,-0.384454],[0.998807,-0.018455,-0.045200],[0.034603,-0.385552,0.922037]] 2025-10-28T20:20:26.035Z,1761682826.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023380,-0.923264,-0.383453],[0.999084,-0.007826,-0.042073],[0.035844,-0.384085,0.922602]] 2025-10-28T20:20:26.461Z,1761682826.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012911,-0.923621,-0.383090],[0.999228,0.002302,-0.039227],[0.037113,-0.383300,0.922878]] 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed] Stopped 2025-10-28T20:20:26.494Z,1761682826.494 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:20:26.871Z,1761682826.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002032,-0.924779,-0.380500],[0.999264,0.012694,-0.036187],[0.038295,-0.380293,0.924073]] 2025-10-28T20:20:27.268Z,1761682827.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008857,-0.925591,-0.378422],[0.999175,0.023191,-0.033337],[0.039632,-0.377814,0.925033]] 2025-10-28T20:20:27.672Z,1761682827.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020691,-0.926162,-0.376558],[0.998945,0.034592,-0.030191],[0.040988,-0.375536,0.925901]] 2025-10-28T20:20:28.074Z,1761682828.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034035,-0.926329,-0.375176],[0.998534,0.047329,-0.026274],[0.042095,-0.373732,0.926581]] 2025-10-28T20:20:28.123Z,1761682828.123 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:20:28.265Z,1761682828.265 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:20:28.265Z,1761682828.265 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:20:28.478Z,1761682828.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048626,-0.925899,-0.374628],[0.997890,0.061189,-0.021704],[0.043019,-0.372782,0.926921]] 2025-10-28T20:20:28.518Z,1761682828.518 [DAT](INFO): DAT read: user:248> 2025-10-28T20:20:28.518Z,1761682828.518 [DAT](INFO): DAT read: Tx time:20:20:28.2696 2025-10-28T20:20:28.519Z,1761682828.519 [DAT](INFO): Ping request sent. 2025-10-28T20:20:28.519Z,1761682828.519 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:20:28.519Z,1761682828.519 [DAT](INFO): publishing transmit ping time 2025-10-28T20:20:28.521Z,1761682828.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000929 2025-10-28T20:20:28.770Z,1761682828.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250631 2025-10-28T20:20:28.887Z,1761682828.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064712,-0.924854,-0.374778],[0.996960,0.076248,-0.016017],[0.043389,-0.372602,0.926976]] 2025-10-28T20:20:29.021Z,1761682829.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502038 2025-10-28T20:20:29.273Z,1761682829.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672 2025-10-28T20:20:29.297Z,1761682829.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081346,-0.923603,-0.374621],[0.995727,0.091790,-0.010090],[0.043706,-0.372199,0.927123]] 2025-10-28T20:20:29.525Z,1761682829.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006129 2025-10-28T20:20:29.691Z,1761682829.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099028,-0.921827,-0.374738],[0.994136,0.108087,-0.003175],[0.043431,-0.372227,0.927125]] 2025-10-28T20:20:29.780Z,1761682829.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260713 2025-10-28T20:20:30.030Z,1761682830.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510673 2025-10-28T20:20:30.121Z,1761682830.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117089,-0.919428,-0.375422],[0.992190,0.124665,0.004139],[0.042996,-0.372975,0.926845]] 2025-10-28T20:20:30.281Z,1761682830.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762240 2025-10-28T20:20:30.519Z,1761682830.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135205,-0.915979,-0.377759],[0.989912,0.141171,0.011996],[0.042341,-0.375570,0.925826]] 2025-10-28T20:20:30.533Z,1761682830.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014209 2025-10-28T20:20:30.786Z,1761682830.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266479 2025-10-28T20:20:30.989Z,1761682830.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170388,-0.909495,-0.379193],[0.984554,0.172858,0.027802],[0.040261,-0.378073,0.924900]] 2025-10-28T20:20:31.037Z,1761682831.037 [DAT](INFO): DAT read: Rx Time:20:20:30.3616 2025-10-28T20:20:31.037Z,1761682831.037 [DAT](INFO): Rx dataTimestamp_ set to:1761682831.037219 2025-10-28T20:20:31.038Z,1761682831.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519257 2025-10-28T20:20:31.290Z,1761682831.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770711 2025-10-28T20:20:31.406Z,1761682831.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187685,-0.905840,-0.379773],[0.981461,0.188238,0.036053],[0.038830,-0.379499,0.924377]] 2025-10-28T20:20:31.553Z,1761682831.553 [DAT](INFO): DAT read: 20:20:30.3616 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 368, 0.36,-3.118,-1.864,-1.694,-2.715, PHS=-0.301, 0.896, 0.977, RAW= 266.8, -24.2, CAL= 265.6, -28.6, ROT= 244.4, 28.6 2025-10-28T20:20:31.554Z,1761682831.554 [DAT](INFO): got valid direction response: 20:20:30.3616 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 368, 0.36,-3.118,-1.864,-1.694,-2.715, PHS=-0.301, 0.896, 0.977, RAW= 266.8, -24.2, CAL= 265.6, -28.6, ROT= 244.4, 28.6 2025-10-28T20:20:31.555Z,1761682831.555 [DAT](INFO): DAT read: Bearing 308, 13 (Remote) 2025-10-28T20:20:31.555Z,1761682831.555 [DAT](INFO): Remote Bearing received:Bearing 308, 13 (Remote) 2025-10-28T20:20:31.556Z,1761682831.556 [DAT](INFO): DAT read: Bearing 120.3, -34.4 (Local) 2025-10-28T20:20:31.556Z,1761682831.556 [DAT](INFO): Local bearing/azimuth received: Bearing 120.3, -34.4 (Local) 2025-10-28T20:20:31.558Z,1761682831.558 [DAT](INFO): DAT read: Range 11 to 20 : 47.1 m (Round-trip 62.8 ms) speed -0.4 m/s 2025-10-28T20:20:31.558Z,1761682831.558 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:20:31.559Z,1761682831.559 [DAT](INFO): direction in FSK: [-0.379364,-0.791794,-0.478692] 2025-10-28T20:20:31.559Z,1761682831.559 [DAT](INFO): publishing direction and range info 2025-10-28T20:20:31.879Z,1761682831.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205288,-0.901839,-0.380188],[0.977983,0.203913,0.044374],[0.037507,-0.380927,0.923844]] 2025-10-28T20:20:31.933Z,1761682831.933 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682816.00. Resetting abort timer. 2025-10-28T20:20:32.213Z,1761682832.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222698,-0.898071,-0.379307],[0.974200,0.219616,0.051994],[0.036607,-0.381100,0.923809]] 2025-10-28T20:20:32.622Z,1761682832.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239562,-0.894648,-0.377115],[0.970227,0.234856,0.059175],[0.035626,-0.380063,0.924274]] 2025-10-28T20:20:33.018Z,1761682833.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256912,-0.890881,-0.374603],[0.965815,0.250560,0.066499],[0.034618,-0.378882,0.924797]] 2025-10-28T20:20:33.424Z,1761682833.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274275,-0.887149,-0.371133],[0.961071,0.266281,0.073740],[0.033407,-0.376910,0.925647]] 2025-10-28T20:20:33.874Z,1761682833.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291960,-0.882870,-0.367832],[0.955905,0.282108,0.081616],[0.031712,-0.375441,0.926304]] 2025-10-28T20:20:34.230Z,1761682834.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309808,-0.878207,-0.364378],[0.950342,0.297898,0.090037],[0.029476,-0.374178,0.926888]] 2025-10-28T20:20:34.635Z,1761682834.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327271,-0.873942,-0.359330],[0.944557,0.313260,0.098391],[0.026576,-0.371608,0.928009]] 2025-10-28T20:20:35.041Z,1761682835.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343679,-0.869052,-0.355854],[0.938793,0.327439,0.107016],[0.023518,-0.370853,0.928394]] 2025-10-28T20:20:35.442Z,1761682835.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359619,-0.863831,-0.352803],[0.932886,0.340924,0.116164],[0.019933,-0.370900,0.928459]] 2025-10-28T20:20:35.869Z,1761682835.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374341,-0.858748,-0.349887],[0.927138,0.353471,0.124394],[0.016851,-0.370959,0.928496]] 2025-10-28T20:20:36.252Z,1761682836.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388811,-0.853520,-0.346886],[0.921214,0.365817,0.132451],[0.013848,-0.371055,0.928508]] 2025-10-28T20:20:36.654Z,1761682836.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403026,-0.848090,-0.343967],[0.915121,0.378024,0.140187],[0.011137,-0.371270,0.928458]] 2025-10-28T20:20:37.059Z,1761682837.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416933,-0.842796,-0.340384],[0.908896,0.390148,0.147284],[0.008670,-0.370781,0.928680]] 2025-10-28T20:20:37.462Z,1761682837.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431545,-0.836419,-0.337893],[0.902067,0.402886,0.154786],[0.006667,-0.371599,0.928369]] 2025-10-28T20:20:37.871Z,1761682837.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446690,-0.829529,-0.335185],[0.894675,0.416223,0.162220],[0.004945,-0.372343,0.928082]] 2025-10-28T20:20:37.928Z,1761682837.928 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:20:37.928Z,1761682837.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:20:37.928Z,1761682837.928 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:20:37.929Z,1761682837.929 [marl:UpdateRudder:A] Stopped 2025-10-28T20:20:37.929Z,1761682837.929 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:20:38.270Z,1761682838.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461618,-0.822523,-0.332212],[0.887072,0.429505,0.169202],[0.003514,-0.372803,0.927904]] 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateRudder:B] Stopped 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateRudder] Stopped 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:20:38.306Z,1761682838.306 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:20:38.307Z,1761682838.307 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:20:38.307Z,1761682838.307 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:20:38.307Z,1761682838.307 [marl:UpdateCommandMode] Stopped 2025-10-28T20:20:38.307Z,1761682838.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:20:38.675Z,1761682838.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476891,-0.814602,-0.330149],[0.878960,0.442897,0.176840],[0.002168,-0.374521,0.927216]] 2025-10-28T20:20:39.078Z,1761682839.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491801,-0.806977,-0.326987],[0.870707,0.456262,0.183558],[0.001065,-0.374984,0.927031]] 2025-10-28T20:20:39.484Z,1761682839.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506149,-0.799468,-0.323518],[0.862446,0.469081,0.190132],[-0.000249,-0.375252,0.926923]] 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed] Stopped 2025-10-28T20:20:39.965Z,1761682839.965 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:20:40.290Z,1761682840.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533148,-0.784680,-0.316278],[0.846015,0.492992,0.203019],[-0.003383,-0.375815,0.926688]] 2025-10-28T20:20:40.694Z,1761682840.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545335,-0.777857,-0.312329],[0.838204,0.503870,0.208635],[-0.004915,-0.375571,0.926780]] 2025-10-28T20:20:41.099Z,1761682841.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556469,-0.771882,-0.307473],[0.830843,0.514065,0.213159],[-0.006473,-0.374078,0.927375]] 2025-10-28T20:20:41.504Z,1761682841.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567046,-0.765792,-0.303350],[0.823648,0.523596,0.217833],[-0.007982,-0.373375,0.927646]] 2025-10-28T20:20:41.907Z,1761682841.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577272,-0.759475,-0.299925],[0.816502,0.532817,0.222333],[-0.009051,-0.373236,0.927693]] 2025-10-28T20:20:42.311Z,1761682842.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587478,-0.753017,-0.296370],[0.809182,0.542221,0.226321],[-0.009725,-0.372776,0.927870]] 2025-10-28T20:20:42.715Z,1761682842.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598029,-0.746477,-0.291777],[0.801405,0.552145,0.229969],[-0.010563,-0.371360,0.928429]] 2025-10-28T20:20:43.118Z,1761682843.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609267,-0.738704,-0.288289],[0.792885,0.562351,0.234722],[-0.011270,-0.371588,0.928329]] 2025-10-28T20:20:43.523Z,1761682843.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621431,-0.729891,-0.284750],[0.783378,0.573337,0.240008],[-0.011922,-0.372216,0.928070]] 2025-10-28T20:20:43.580Z,1761682843.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:20:44.373Z,1761682844.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647881,-0.708948,-0.278646],[0.761633,0.596695,0.252728],[-0.012904,-0.375964,0.926545]] 2025-10-28T20:20:44.584Z,1761682844.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:20:45.250Z,1761682845.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676222,-0.686507,-0.267267],[0.736539,0.622483,0.264622],[-0.015296,-0.375796,0.926576]] 2025-10-28T20:20:45.659Z,1761682845.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690583,-0.674524,-0.260983],[0.723041,0.635131,0.271700],[-0.017510,-0.376333,0.926319]] 2025-10-28T20:20:46.065Z,1761682846.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705244,-0.661896,-0.254016],[0.708674,0.647909,0.279275],[-0.020271,-0.376971,0.926003]] 2025-10-28T20:20:46.466Z,1761682846.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719827,-0.648839,-0.246692],[0.693752,0.660363,0.287451],[-0.023604,-0.378058,0.925481]] 2025-10-28T20:20:46.871Z,1761682846.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734061,-0.635747,-0.238706],[0.678535,0.672529,0.295458],[-0.027299,-0.378854,0.925054]] 2025-10-28T20:20:47.274Z,1761682847.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747764,-0.623066,-0.229430],[0.663226,0.684634,0.302337],[-0.031300,-0.378240,0.925178]] 2025-10-28T20:20:47.681Z,1761682847.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760711,-0.610572,-0.220274],[0.648123,0.695972,0.309127],[-0.035440,-0.377921,0.925159]] 2025-10-28T20:20:48.487Z,1761682848.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783102,-0.587714,-0.203332],[0.620402,0.715656,0.320840],[-0.043046,-0.377398,0.925050]] 2025-10-28T20:20:48.893Z,1761682848.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792379,-0.578137,-0.194662],[0.608251,0.724417,0.324423],[-0.046544,-0.375469,0.925665]] 2025-10-28T20:20:49.295Z,1761682849.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800508,-0.569487,-0.186740],[0.597268,0.732274,0.327177],[-0.049578,-0.373442,0.926328]] 2025-10-28T20:20:49.700Z,1761682849.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807821,-0.561139,-0.180412],[0.587106,0.738878,0.330704],[-0.052269,-0.373071,0.926329]] 2025-10-28T20:20:50.103Z,1761682850.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814339,-0.553489,-0.174648],[0.577843,0.745032,0.333204],[-0.054306,-0.372260,0.926538]] 2025-10-28T20:20:50.507Z,1761682850.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820733,-0.545721,-0.169074],[0.568550,0.751116,0.335523],[-0.056108,-0.371502,0.926735]] 2025-10-28T20:20:50.910Z,1761682850.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827097,-0.537552,-0.164160],[0.559137,0.757175,0.337716],[-0.057242,-0.371112,0.926822]] 2025-10-28T20:20:51.323Z,1761682851.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834032,-0.528220,-0.159293],[0.548622,0.763505,0.340695],[-0.058341,-0.371542,0.926581]] 2025-10-28T20:20:51.370Z,1761682851.370 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:20:51.370Z,1761682851.370 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:20:51.370Z,1761682851.370 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:20:51.371Z,1761682851.371 [marl:UpdateRudder:A] Stopped 2025-10-28T20:20:51.371Z,1761682851.371 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:20:51.721Z,1761682851.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841862,-0.517230,-0.154079],[0.536421,0.770549,0.344248],[-0.059330,-0.372460,0.926150]] 2025-10-28T20:20:51.745Z,1761682851.745 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:20:51.745Z,1761682851.745 [marl:UpdateRudder:B] Stopped 2025-10-28T20:20:51.745Z,1761682851.745 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:20:51.745Z,1761682851.745 [marl:UpdateRudder] Stopped 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:20:51.746Z,1761682851.746 [marl:UpdateCommandMode] Stopped 2025-10-28T20:20:51.747Z,1761682851.747 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:20:52.527Z,1761682852.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860350,-0.490076,-0.140080],[0.505944,0.787805,0.351261],[-0.061789,-0.373080,0.925739]] 2025-10-28T20:20:52.935Z,1761682852.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870682,-0.473897,-0.131662],[0.487726,0.797301,0.355575],[-0.063532,-0.373808,0.925328]] 2025-10-28T20:20:53.336Z,1761682853.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881284,-0.455984,-0.124164],[0.468024,0.805693,0.363061],[-0.065512,-0.378071,0.923456]] 2025-10-28T20:20:53.360Z,1761682853.360 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:20:53.360Z,1761682853.360 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:20:53.360Z,1761682853.360 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:20:53.361Z,1761682853.361 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:20:53.361Z,1761682853.361 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:20:53.361Z,1761682853.361 [marl:UpdateSpeed] Stopped 2025-10-28T20:20:53.361Z,1761682853.361 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:20:53.744Z,1761682853.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893055,-0.434288,-0.117677],[0.445007,0.813851,0.373652],[-0.066501,-0.386058,0.920074]] 2025-10-28T20:20:54.142Z,1761682854.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905681,-0.409048,-0.111454],[0.418703,0.821718,0.386609],[-0.066558,-0.396811,0.915484]] 2025-10-28T20:20:54.546Z,1761682854.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917576,-0.383723,-0.103973],[0.391984,0.829577,0.397682],[-0.066346,-0.405659,0.911613]] 2025-10-28T20:20:54.955Z,1761682854.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928366,-0.359105,-0.095811],[0.365752,0.836909,0.407196],[-0.066041,-0.413070,0.908302]] 2025-10-28T20:20:55.384Z,1761682855.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946117,-0.313629,-0.080615],[0.317463,0.849226,0.421938],[-0.063871,-0.424795,0.903033]] 2025-10-28T20:20:55.851Z,1761682855.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953395,-0.292593,-0.073671],[0.295287,0.854638,0.427083],[-0.061999,-0.428933,0.901206]] 2025-10-28T20:20:56.327Z,1761682856.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960259,-0.270846,-0.067424],[0.272714,0.859031,0.433235],[-0.059421,-0.434405,0.898755]] 2025-10-28T20:20:56.723Z,1761682856.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966735,-0.248304,-0.061385],[0.249597,0.863360,0.438532],[-0.055892,-0.439266,0.896617]] 2025-10-28T20:20:57.127Z,1761682857.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973229,-0.223184,-0.054906],[0.223989,0.867440,0.444271],[-0.051527,-0.444676,0.894208]] 2025-10-28T20:20:57.530Z,1761682857.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979516,-0.195802,-0.047008],[0.195833,0.871933,0.448758],[-0.046880,-0.448771,0.892416]] 2025-10-28T20:20:57.936Z,1761682857.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985204,-0.167129,-0.037952],[0.166096,0.876513,0.451816],[-0.042246,-0.451435,0.891303]] 2025-10-28T20:20:58.341Z,1761682858.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990067,-0.137953,-0.027132],[0.135377,0.883306,0.448824],[-0.037951,-0.448039,0.893208]] 2025-10-28T20:20:58.742Z,1761682858.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994038,-0.107922,-0.015515],[0.103594,0.890479,0.443076],[-0.034002,-0.442041,0.896350]] 2025-10-28T20:20:59.147Z,1761682859.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996973,-0.077674,-0.003385],[0.071436,0.897978,0.434204],[-0.030686,-0.433131,0.900808]] 2025-10-28T20:21:00.042Z,1761682860.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999659,-0.015421,0.021061],[0.005361,0.910924,0.412540],[-0.025547,-0.412286,0.910696]] 2025-10-28T20:21:00.409Z,1761682860.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999347,0.015121,0.032822],[-0.027019,0.915782,0.400766],[-0.023998,-0.401391,0.915592]] 2025-10-28T20:21:00.814Z,1761682860.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998069,0.043945,0.043896],[-0.057661,0.918266,0.391745],[-0.023093,-0.393519,0.919026]] 2025-10-28T20:21:01.618Z,1761682861.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993327,0.095356,0.064873],[-0.113120,0.915148,0.386920],[-0.022474,-0.391677,0.919828]] 2025-10-28T20:21:02.426Z,1761682862.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986251,0.140768,0.086567],[-0.163694,0.904011,0.394928],[-0.022664,-0.403668,0.914625]] 2025-10-28T20:21:03.235Z,1761682863.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976906,0.183732,0.109074],[-0.212565,0.887523,0.408803],[-0.021696,-0.422548,0.906081]] 2025-10-28T20:21:03.638Z,1761682863.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971273,0.205167,0.120563],[-0.237051,0.878609,0.414551],[-0.020875,-0.431222,0.902004]] 2025-10-28T20:21:04.447Z,1761682864.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957950,0.249173,0.142283],[-0.286325,0.862419,0.417434],[-0.018695,-0.440620,0.897499]] 2025-10-28T20:21:04.853Z,1761682864.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949779,0.273006,0.152930],[-0.312434,0.854596,0.414789],[-0.017453,-0.441739,0.896974]] 2025-10-28T20:21:04.881Z,1761682864.881 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:21:04.881Z,1761682864.881 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:21:04.881Z,1761682864.881 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:21:04.881Z,1761682864.881 [marl:UpdateRudder:A] Stopped 2025-10-28T20:21:04.882Z,1761682864.882 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:21:05.255Z,1761682865.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940449,0.298580,0.162498],[-0.339556,0.847692,0.407579],[-0.016054,-0.438485,0.898595]] 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateRudder:B] Stopped 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateRudder] Stopped 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:21:05.302Z,1761682865.302 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:21:05.303Z,1761682865.303 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:21:05.303Z,1761682865.303 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:21:05.303Z,1761682865.303 [marl:UpdateCommandMode] Stopped 2025-10-28T20:21:05.303Z,1761682865.303 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:21:05.658Z,1761682865.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929661,0.326125,0.171386],[-0.368135,0.840516,0.397504],[-0.014416,-0.432637,0.901453]] 2025-10-28T20:21:06.066Z,1761682866.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917797,0.354988,0.177856],[-0.396840,0.834718,0.381791],[-0.012929,-0.420987,0.906975]] 2025-10-28T20:21:06.469Z,1761682866.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904973,0.384329,0.182526],[-0.425302,0.829177,0.362745],[-0.011933,-0.405903,0.913838]] 2025-10-28T20:21:06.871Z,1761682866.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891070,0.413482,0.187154],[-0.453728,0.821704,0.344867],[-0.011189,-0.392218,0.919804]] 2025-10-28T20:21:06.908Z,1761682866.908 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed] Stopped 2025-10-28T20:21:06.909Z,1761682866.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:21:07.285Z,1761682867.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875952,0.441632,0.194084],[-0.482265,0.811132,0.330885],[-0.011298,-0.383440,0.923497]] 2025-10-28T20:21:07.679Z,1761682867.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859627,0.469057,0.202549],[-0.510788,0.798040,0.319731],[-0.011670,-0.378309,0.925606]] 2025-10-28T20:21:08.091Z,1761682868.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842349,0.495063,0.212982],[-0.538789,0.782712,0.311558],[-0.012462,-0.377193,0.926051]] 2025-10-28T20:21:08.483Z,1761682868.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823919,0.520916,0.223170],[-0.566549,0.766454,0.302606],[-0.013418,-0.375759,0.926620]] 2025-10-28T20:21:08.897Z,1761682868.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804811,0.545446,0.234024],[-0.593344,0.749267,0.294180],[-0.014887,-0.375616,0.926656]] 2025-10-28T20:21:09.703Z,1761682869.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764886,0.592424,0.252950],[-0.643892,0.714601,0.273403],[-0.018787,-0.371995,0.928045]] 2025-10-28T20:21:10.107Z,1761682870.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744655,0.612790,0.264533],[-0.667110,0.695962,0.265707],[-0.021283,-0.374333,0.927050]] 2025-10-28T20:21:10.511Z,1761682870.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724210,0.631188,0.277709],[-0.689174,0.676302,0.260104],[-0.023641,-0.379760,0.924783]] 2025-10-28T20:21:10.918Z,1761682870.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704539,0.647368,0.290758],[-0.709195,0.657174,0.255273],[-0.025823,-0.386054,0.922115]] 2025-10-28T20:21:11.320Z,1761682871.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684894,0.662851,0.302571],[-0.728126,0.638251,0.249936],[-0.027446,-0.391489,0.919773]] 2025-10-28T20:21:11.722Z,1761682871.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665264,0.677189,0.314386],[-0.746068,0.618983,0.245443],[-0.028388,-0.397838,0.917016]] 2025-10-28T20:21:12.127Z,1761682872.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646003,0.690294,0.325845],[-0.762795,0.599825,0.241564],[-0.028700,-0.404604,0.914042]] 2025-10-28T20:21:12.531Z,1761682872.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626856,0.702159,0.337676],[-0.778620,0.580314,0.238719],[-0.028339,-0.412564,0.910488]] 2025-10-28T20:21:12.946Z,1761682872.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607535,0.714100,0.347797],[-0.793817,0.561033,0.234727],[-0.027507,-0.418692,0.907712]] 2025-10-28T20:21:13.338Z,1761682873.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588345,0.724914,0.358259],[-0.808162,0.541898,0.230695],[-0.026906,-0.425260,0.904671]] 2025-10-28T20:21:13.746Z,1761682873.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569146,0.735229,0.368119],[-0.821805,0.523162,0.225696],[-0.026648,-0.430976,0.901970]] 2025-10-28T20:21:14.150Z,1761682874.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548954,0.745544,0.377908],[-0.835407,0.504138,0.218951],[-0.027279,-0.435901,0.899581]] 2025-10-28T20:21:14.551Z,1761682874.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527363,0.756678,0.386428],[-0.849163,0.484641,0.209870],[-0.028475,-0.438818,0.898125]] 2025-10-28T20:21:14.705Z,1761682874.705 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:21:14.955Z,1761682874.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503815,0.769855,0.391783],[-0.863285,0.464573,0.197259],[-0.030151,-0.437602,0.898663]] 2025-10-28T20:21:15.358Z,1761682875.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477746,0.784958,0.394461],[-0.877916,0.442937,0.181852],[-0.031975,-0.433183,0.900739]] 2025-10-28T20:21:15.708Z,1761682875.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:21:15.804Z,1761682875.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420061,0.822765,0.382891],[-0.906787,0.397213,0.141276],[-0.035852,-0.406545,0.912927]] 2025-10-28T20:21:16.571Z,1761682876.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389292,0.843621,0.369804],[-0.920350,0.372593,0.118867],[-0.037508,-0.386623,0.921475]] 2025-10-28T20:21:16.975Z,1761682876.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358654,0.862878,0.356101],[-0.932662,0.347117,0.098240],[-0.038840,-0.367356,0.929269]] 2025-10-28T20:21:17.380Z,1761682877.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328022,0.879103,0.345803],[-0.943830,0.320412,0.080747],[-0.039814,-0.352866,0.934826]] 2025-10-28T20:21:17.831Z,1761682877.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270622,0.897167,0.349077],[-0.961770,0.267775,0.057401],[-0.041976,-0.351266,0.935334]] 2025-10-28T20:21:18.227Z,1761682878.227 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:21:18.227Z,1761682878.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:21:18.227Z,1761682878.227 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:21:18.227Z,1761682878.227 [marl:UpdateRudder:A] Stopped 2025-10-28T20:21:18.227Z,1761682878.227 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:21:18.600Z,1761682878.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219945,0.899464,0.377608],[-0.974511,0.220127,0.043280],[-0.044193,-0.377503,0.924953]] 2025-10-28T20:21:18.648Z,1761682878.648 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:21:18.648Z,1761682878.648 [marl:UpdateRudder:B] Stopped 2025-10-28T20:21:18.648Z,1761682878.648 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:21:18.648Z,1761682878.648 [marl:UpdateRudder] Stopped 2025-10-28T20:21:18.649Z,1761682878.649 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:21:18.649Z,1761682878.649 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:21:18.649Z,1761682878.649 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:21:18.649Z,1761682878.649 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:21:18.652Z,1761682878.652 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:21:18.652Z,1761682878.652 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:21:18.652Z,1761682878.652 [marl:UpdateCommandMode] Stopped 2025-10-28T20:21:18.652Z,1761682878.652 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:21:19.007Z,1761682879.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196417,0.897416,0.395050],[-0.979485,0.198090,0.037003],[-0.045049,-0.394214,0.917914]] 2025-10-28T20:21:19.407Z,1761682879.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172213,0.895631,0.410106],[-0.983999,0.175727,0.029435],[-0.045704,-0.408613,0.911563]] 2025-10-28T20:21:19.838Z,1761682879.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147640,0.894982,0.420964],[-0.987920,0.153712,0.019686],[-0.047089,-0.418785,0.906864]] 2025-10-28T20:21:20.211Z,1761682880.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122758,0.897184,0.424255],[-0.991196,0.132207,0.007220],[-0.049612,-0.421406,0.905514]] 2025-10-28T20:21:20.262Z,1761682880.262 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:21:20.262Z,1761682880.262 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:21:20.262Z,1761682880.262 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:21:20.262Z,1761682880.262 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:21:20.263Z,1761682880.263 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:21:20.263Z,1761682880.263 [marl:UpdateSpeed] Stopped 2025-10-28T20:21:20.263Z,1761682880.263 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:21:20.615Z,1761682880.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097288,0.902372,0.419834],[-0.993845,0.110536,-0.007277],[-0.052974,-0.416542,0.907572]] 2025-10-28T20:21:21.015Z,1761682881.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071226,0.909707,0.409097],[-0.995830,0.088291,-0.022951],[-0.056998,-0.405757,0.912202]] 2025-10-28T20:21:21.419Z,1761682881.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044070,0.917331,0.395679],[-0.997159,0.064609,-0.038726],[-0.061089,-0.392848,0.917572]] 2025-10-28T20:21:21.840Z,1761682881.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016367,0.923749,0.382649],[-0.997762,0.039905,-0.053655],[-0.064833,-0.380914,0.922335]] 2025-10-28T20:21:22.234Z,1761682882.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010771,0.928388,0.371455],[-0.997607,0.015397,-0.067410],[-0.068302,-0.371292,0.926001]] 2025-10-28T20:21:22.630Z,1761682882.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036356,0.929868,0.366093],[-0.996798,-0.007638,-0.079590],[-0.071212,-0.367814,0.927169]] 2025-10-28T20:21:23.035Z,1761682883.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059575,0.929474,0.364044],[-0.995497,-0.028381,-0.090448],[-0.073737,-0.367793,0.926979]] 2025-10-28T20:21:23.438Z,1761682883.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079278,0.927463,0.365413],[-0.993971,-0.045693,-0.099671],[-0.075744,-0.371112,0.925494]] 2025-10-28T20:21:23.848Z,1761682883.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097221,0.923756,0.370436],[-0.992252,-0.061034,-0.108216],[-0.077356,-0.378087,0.922532]] 2025-10-28T20:21:24.251Z,1761682884.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113402,0.919476,0.376435],[-0.990428,-0.074607,-0.116133],[-0.078697,-0.386002,0.919135]] 2025-10-28T20:21:24.650Z,1761682884.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127826,0.915265,0.382034],[-0.988520,-0.086289,-0.124025],[-0.080551,-0.393502,0.915788]] 2025-10-28T20:21:25.055Z,1761682885.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140955,0.912151,0.384854],[-0.986510,-0.096723,-0.132069],[-0.083243,-0.398278,0.913480]] 2025-10-28T20:21:25.460Z,1761682885.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153496,0.909797,0.385627],[-0.984346,-0.106573,-0.140378],[-0.086618,-0.401137,0.911913]] 2025-10-28T20:21:25.862Z,1761682885.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166919,0.908019,0.384239],[-0.981852,-0.117500,-0.148861],[-0.090020,-0.402114,0.911153]] 2025-10-28T20:21:26.267Z,1761682886.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182508,0.906707,0.380227],[-0.978778,-0.130895,-0.157673],[-0.093194,-0.400934,0.911354]] 2025-10-28T20:21:26.671Z,1761682886.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200088,0.905310,0.374671],[-0.975049,-0.146463,-0.166817],[-0.096146,-0.398701,0.912027]] 2025-10-28T20:21:27.075Z,1761682887.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219883,0.903595,0.367651],[-0.970551,-0.164618,-0.175871],[-0.098394,-0.395495,0.913183]] 2025-10-28T20:21:27.478Z,1761682887.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240729,0.901264,0.360241],[-0.965385,-0.183938,-0.184929],[-0.100408,-0.392289,0.914346]] 2025-10-28T20:21:27.883Z,1761682887.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262311,0.898518,0.351935],[-0.959506,-0.204057,-0.194186],[-0.102665,-0.388621,0.915660]] 2025-10-28T20:21:28.296Z,1761682888.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284697,0.894580,0.344492],[-0.952878,-0.224821,-0.203664],[-0.104745,-0.386241,0.916431]] 2025-10-28T20:21:28.321Z,1761682888.321 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:21:28.513Z,1761682888.513 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:21:28.513Z,1761682888.513 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:21:28.691Z,1761682888.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307836,0.889541,0.337571],[-0.945402,-0.246077,-0.213683],[-0.107012,-0.384920,0.916725]] 2025-10-28T20:21:28.765Z,1761682888.765 [DAT](INFO): DAT read: user:249> 2025-10-28T20:21:28.766Z,1761682888.766 [DAT](INFO): DAT read: Tx time:20:21:28.5194 2025-10-28T20:21:28.767Z,1761682888.767 [DAT](INFO): Ping request sent. 2025-10-28T20:21:28.767Z,1761682888.767 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:21:28.767Z,1761682888.767 [DAT](INFO): publishing transmit ping time 2025-10-28T20:21:28.768Z,1761682888.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001318 2025-10-28T20:21:29.018Z,1761682889.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250574 2025-10-28T20:21:29.119Z,1761682889.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331686,0.884064,0.329265],[-0.937042,-0.268317,-0.223512],[-0.109251,-0.382671,0.917402]] 2025-10-28T20:21:29.269Z,1761682889.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501974 2025-10-28T20:21:29.499Z,1761682889.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356084,0.877786,0.320462],[-0.927772,-0.291161,-0.233375],[-0.111547,-0.380416,0.918063]] 2025-10-28T20:21:29.521Z,1761682889.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754043 2025-10-28T20:21:29.776Z,1761682889.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008646 2025-10-28T20:21:29.903Z,1761682889.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380637,0.870751,0.311299],[-0.917681,-0.314220,-0.243162],[-0.113917,-0.378230,0.918676]] 2025-10-28T20:21:30.025Z,1761682890.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258065 2025-10-28T20:21:30.277Z,1761682890.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509923 2025-10-28T20:21:30.307Z,1761682890.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404453,0.863034,0.302640],[-0.907146,-0.336525,-0.252661],[-0.116209,-0.376728,0.919006]] 2025-10-28T20:21:30.534Z,1761682890.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766565 2025-10-28T20:21:30.719Z,1761682890.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427001,0.854714,0.295184],[-0.896446,-0.357326,-0.262114],[-0.118556,-0.376539,0.918783]] 2025-10-28T20:21:30.782Z,1761682890.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014760 2025-10-28T20:21:31.033Z,1761682891.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265919 2025-10-28T20:21:31.116Z,1761682891.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447866,0.845974,0.289386],[-0.885903,-0.376143,-0.271464],[-0.120801,-0.377947,0.917912]] 2025-10-28T20:21:31.285Z,1761682891.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517918 2025-10-28T20:21:31.519Z,1761682891.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467568,0.836397,0.286041],[-0.875415,-0.393259,-0.281063],[-0.122593,-0.381821,0.916070]] 2025-10-28T20:21:31.537Z,1761682891.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770030 2025-10-28T20:21:31.558Z,1761682891.558 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:21:31.558Z,1761682891.558 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:21:31.559Z,1761682891.559 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:21:31.559Z,1761682891.559 [marl:UpdateRudder:A] Stopped 2025-10-28T20:21:31.559Z,1761682891.559 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:21:31.791Z,1761682891.791 [DAT](INFO): DAT read: Rx Time:20:21:30.9853 2025-10-28T20:21:31.793Z,1761682891.793 [DAT](INFO): Rx dataTimestamp_ set to:1761682891.791849 2025-10-28T20:21:31.794Z,1761682891.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026931 2025-10-28T20:21:31.922Z,1761682891.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485317,0.826790,0.284404],[-0.865526,-0.408234,-0.290189],[-0.123822,-0.386993,0.913731]] 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateRudder:B] Stopped 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateRudder] Stopped 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:21:31.983Z,1761682891.983 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:21:31.984Z,1761682891.984 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:21:31.984Z,1761682891.984 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:21:31.984Z,1761682891.984 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:21:31.984Z,1761682891.984 [marl:UpdateCommandMode] Stopped 2025-10-28T20:21:31.984Z,1761682891.984 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:21:32.041Z,1761682892.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274023 2025-10-28T20:21:32.298Z,1761682892.298 [DAT](INFO): DAT read: 20:21:30.9853 LVL= 21744, 32753, 32754, 32755, AGC= 50, IDX= 166,-0.17,-0.570,-2.653,-2.078,-1.308, PHS= 0.840,-1.299,-0.813, RAW= 102.5, 13.0, CAL= 103.7, 15.1, ROT= 46.3, -15.1 2025-10-28T20:21:32.299Z,1761682892.299 [DAT](INFO): got valid direction response: 20:21:30.9853 LVL= 21744, 32753, 32754, 32755, AGC= 50, IDX= 166,-0.17,-0.570,-2.653,-2.078,-1.308, PHS= 0.840,-1.299,-0.813, RAW= 102.5, 13.0, CAL= 103.7, 15.1, ROT= 46.3, -15.1 2025-10-28T20:21:32.300Z,1761682892.300 [DAT](INFO): DAT read: Bearing 72.1, 26.4 (Local) 2025-10-28T20:21:32.301Z,1761682892.301 [DAT](INFO): Local bearing/azimuth received: Bearing 72.1, 26.4 (Local) 2025-10-28T20:21:32.302Z,1761682892.302 [DAT](INFO): DAT read: Range 11 to 20 : 46.4 m (Round-trip 61.9 ms) speed 0.5 m/s 2025-10-28T20:21:32.303Z,1761682892.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:21:32.303Z,1761682892.303 [DAT](INFO): direction in FSK: [0.667028,0.698005,0.260505] 2025-10-28T20:21:32.305Z,1761682892.305 [DAT](INFO): publishing direction and range info 2025-10-28T20:21:32.346Z,1761682892.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501950,0.817292,0.282984],[-0.855860,-0.422193,-0.298759],[-0.124699,-0.392156,0.911407]] 2025-10-28T20:21:32.422Z,1761682892.422 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682944.00. Resetting abort timer. 2025-10-28T20:21:32.735Z,1761682892.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517240,0.807628,0.283195],[-0.846621,-0.434405,-0.307450],[-0.125284,-0.398784,0.908447]] 2025-10-28T20:21:33.135Z,1761682893.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530734,0.798657,0.283670],[-0.838187,-0.445024,-0.315271],[-0.125553,-0.405094,0.905613]] 2025-10-28T20:21:33.540Z,1761682893.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543589,0.790031,0.283482],[-0.829901,-0.455349,-0.322368],[-0.125598,-0.410498,0.903171]] 2025-10-28T20:21:33.570Z,1761682893.570 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:21:33.570Z,1761682893.570 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:21:33.573Z,1761682893.573 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:21:33.574Z,1761682893.574 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:21:33.577Z,1761682893.577 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:21:33.577Z,1761682893.577 [marl:UpdateSpeed] Stopped 2025-10-28T20:21:33.580Z,1761682893.580 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:21:33.942Z,1761682893.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555685,0.782380,0.281239],[-0.821874,-0.465895,-0.327819],[-0.125451,-0.413307,0.901909]] 2025-10-28T20:21:34.347Z,1761682894.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567581,0.775172,0.277417],[-0.813702,-0.476802,-0.332489],[-0.125463,-0.414450,0.901383]] 2025-10-28T20:21:34.751Z,1761682894.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579643,0.767820,0.272885],[-0.805203,-0.488264,-0.336521],[-0.125147,-0.414790,0.901270]] 2025-10-28T20:21:35.156Z,1761682895.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592084,0.759966,0.268119],[-0.796210,-0.500278,-0.340253],[-0.124447,-0.414937,0.901299]] 2025-10-28T20:21:35.561Z,1761682895.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604415,0.752273,0.262236],[-0.787006,-0.512696,-0.343167],[-0.123708,-0.413797,0.901925]] 2025-10-28T20:21:35.963Z,1761682895.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617401,0.743996,0.255513],[-0.777065,-0.526263,-0.345280],[-0.122419,-0.411726,0.903048]] 2025-10-28T20:21:36.366Z,1761682896.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631610,0.735289,0.245803],[-0.765818,-0.542309,-0.345579],[-0.120799,-0.406511,0.905625]] 2025-10-28T20:21:36.775Z,1761682896.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646720,0.725229,0.236210],[-0.753354,-0.558967,-0.346429],[-0.119207,-0.401992,0.907850]] 2025-10-28T20:21:37.578Z,1761682897.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679423,0.701616,0.214754],[-0.724516,-0.595219,-0.347549],[-0.116020,-0.391725,0.912738]] 2025-10-28T20:21:37.983Z,1761682897.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696647,0.687703,0.204322],[-0.708177,-0.613645,-0.349177],[-0.114749,-0.387949,0.914510]] 2025-10-28T20:21:38.387Z,1761682898.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713978,0.672735,0.194069],[-0.690911,-0.632014,-0.350998],[-0.113474,-0.384689,0.916045]] 2025-10-28T20:21:38.803Z,1761682898.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731612,0.656228,0.184687],[-0.672422,-0.650054,-0.353947],[-0.112213,-0.383139,0.916849]] 2025-10-28T20:21:39.207Z,1761682899.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749035,0.638587,0.176506],[-0.653206,-0.667261,-0.357890],[-0.110768,-0.383367,0.916930]] 2025-10-28T20:21:39.599Z,1761682899.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765740,0.620544,0.169022],[-0.633800,-0.683430,-0.362244],[-0.109274,-0.384511,0.916630]] 2025-10-28T20:21:40.002Z,1761682900.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780843,0.603082,0.163024],[-0.615334,-0.697370,-0.367477],[-0.107931,-0.387256,0.915633]] 2025-10-28T20:21:40.408Z,1761682900.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794188,0.586547,0.158836],[-0.598252,-0.708848,-0.373669],[-0.106584,-0.391787,0.913862]] 2025-10-28T20:21:40.819Z,1761682900.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806085,0.571113,0.155102],[-0.582368,-0.718905,-0.379505],[-0.105237,-0.396239,0.912096]] 2025-10-28T20:21:41.217Z,1761682901.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816691,0.556594,0.152378],[-0.567603,-0.727129,-0.386148],[-0.104129,-0.401854,0.909764]] 2025-10-28T20:21:41.620Z,1761682901.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826218,0.543210,0.149287],[-0.553906,-0.735006,-0.391094],[-0.102719,-0.405820,0.908162]] 2025-10-28T20:21:42.023Z,1761682902.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834858,0.530752,0.145998],[-0.541169,-0.742824,-0.394144],[-0.100742,-0.408063,0.907378]] 2025-10-28T20:21:42.426Z,1761682902.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842970,0.518671,0.142765],[-0.528887,-0.750503,-0.396263],[-0.098384,-0.409544,0.906970]] 2025-10-28T20:21:42.834Z,1761682902.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851111,0.506522,0.138002],[-0.516134,-0.759268,-0.396381],[-0.095995,-0.408592,0.907655]] 2025-10-28T20:21:43.236Z,1761682903.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859685,0.493362,0.132420],[-0.502226,-0.768961,-0.395561],[-0.093329,-0.406562,0.908844]] 2025-10-28T20:21:43.640Z,1761682903.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868344,0.479467,0.126845],[-0.487650,-0.778767,-0.394613],[-0.090421,-0.404516,0.910050]] 2025-10-28T20:21:44.047Z,1761682904.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876607,0.465419,0.122250],[-0.473263,-0.787881,-0.394038],[-0.087074,-0.403273,0.910927]] 2025-10-28T20:21:44.447Z,1761682904.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884723,0.451118,0.117296],[-0.458540,-0.797144,-0.392814],[-0.083703,-0.401317,0.912107]] 2025-10-28T20:21:44.859Z,1761682904.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892397,0.436929,0.112791],[-0.444025,-0.805677,-0.392080],[-0.080438,-0.399973,0.912990]] 2025-10-28T20:21:44.882Z,1761682904.882 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:21:44.882Z,1761682904.882 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:21:44.883Z,1761682904.883 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:21:44.883Z,1761682904.883 [marl:UpdateRudder:A] Stopped 2025-10-28T20:21:44.883Z,1761682904.883 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:21:45.255Z,1761682905.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899508,0.423178,0.108654],[-0.430034,-0.813618,-0.391275],[-0.077176,-0.398680,0.913837]] 2025-10-28T20:21:45.286Z,1761682905.286 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:21:45.286Z,1761682905.286 [marl:UpdateRudder:B] Stopped 2025-10-28T20:21:45.286Z,1761682905.286 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateRudder] Stopped 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:21:45.287Z,1761682905.287 [marl:UpdateCommandMode] Stopped 2025-10-28T20:21:45.288Z,1761682905.288 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:21:45.662Z,1761682905.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906567,0.408821,0.104888],[-0.415554,-0.821115,-0.391262],[-0.073831,-0.398292,0.914283]] 2025-10-28T20:21:45.830Z,1761682905.830 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:21:46.066Z,1761682906.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913660,0.393865,0.100479],[-0.400330,-0.829072,-0.390354],[-0.070443,-0.396875,0.915166]] 2025-10-28T20:21:46.469Z,1761682906.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920943,0.377958,0.094934],[-0.383828,-0.837619,-0.388677],[-0.067385,-0.394388,0.916470]] 2025-10-28T20:21:46.832Z,1761682906.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:21:46.873Z,1761682906.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928402,0.360862,0.088587],[-0.365947,-0.846628,-0.386398],[-0.064436,-0.391151,0.918068]] 2025-10-28T20:21:46.910Z,1761682906.910 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed] Stopped 2025-10-28T20:21:46.911Z,1761682906.911 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:21:47.274Z,1761682907.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935962,0.342432,0.081948],[-0.346649,-0.855367,-0.384944],[-0.061721,-0.388700,0.919295]] 2025-10-28T20:21:47.688Z,1761682907.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943367,0.323150,0.075048],[-0.326478,-0.864139,-0.382983],[-0.058909,-0.385795,0.920702]] 2025-10-28T20:21:48.487Z,1761682908.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957803,0.280977,0.060534],[-0.282268,-0.879815,-0.382427],[-0.054195,-0.383377,0.922001]] 2025-10-28T20:21:48.891Z,1761682908.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964463,0.258925,0.052628],[-0.258985,-0.886964,-0.382388],[-0.052331,-0.382429,0.922502]] 2025-10-28T20:21:49.295Z,1761682909.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970518,0.236828,0.044793],[-0.235601,-0.892936,-0.383611],[-0.050853,-0.382855,0.922408]] 2025-10-28T20:21:49.701Z,1761682909.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975820,0.215373,0.037276],[-0.212933,-0.898207,-0.384556],[-0.049341,-0.383195,0.922349]] 2025-10-28T20:21:50.102Z,1761682910.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980424,0.194603,0.029984],[-0.190936,-0.902448,-0.386174],[-0.048092,-0.384339,0.921938]] 2025-10-28T20:21:50.507Z,1761682910.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984335,0.174813,0.022911],[-0.169903,-0.905827,-0.388086],[-0.047089,-0.385899,0.921338]] 2025-10-28T20:21:50.911Z,1761682910.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987666,0.155747,0.016108],[-0.149623,-0.908466,-0.390259],[-0.046148,-0.387856,0.920564]] 2025-10-28T20:21:51.315Z,1761682911.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990366,0.138084,0.010365],[-0.130925,-0.909388,-0.394806],[-0.045091,-0.392360,0.918706]] 2025-10-28T20:21:51.719Z,1761682911.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992530,0.121884,0.005245],[-0.113843,-0.909886,-0.398933],[-0.043852,-0.396550,0.916965]] 2025-10-28T20:21:52.122Z,1761682912.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994268,0.106911,0.000680],[-0.098095,-0.909711,-0.403489],[-0.042519,-0.401243,0.914984]] 2025-10-28T20:21:52.527Z,1761682912.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995665,0.092948,-0.003536],[-0.083510,-0.910015,-0.406078],[-0.040962,-0.404022,0.913831]] 2025-10-28T20:21:52.937Z,1761682912.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996879,0.078506,-0.008279],[-0.068410,-0.911463,-0.405654],[-0.039392,-0.403822,0.913989]] 2025-10-28T20:21:53.335Z,1761682913.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997852,0.064267,-0.012692],[-0.053662,-0.913046,-0.404310],[-0.037572,-0.402761,0.914534]] 2025-10-28T20:21:53.739Z,1761682913.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998650,0.048854,-0.017624],[-0.037670,-0.914968,-0.401765],[-0.035753,-0.400559,0.915573]] 2025-10-28T20:21:54.143Z,1761682914.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999214,0.032003,-0.023373],[-0.020053,-0.917023,-0.398329],[-0.034181,-0.397548,0.916945]] 2025-10-28T20:21:54.547Z,1761682914.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,0.014047,-0.029550],[-0.001261,-0.919024,-0.394199],[-0.032694,-0.393950,0.918550]] 2025-10-28T20:21:54.957Z,1761682914.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999366,-0.003501,-0.035442],[0.017135,-0.919668,-0.392322],[-0.031222,-0.392680,0.919145]] 2025-10-28T20:21:55.355Z,1761682915.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998938,-0.021272,-0.040873],[0.035578,-0.919773,-0.390836],[-0.029280,-0.391875,0.919552]] 2025-10-28T20:21:55.771Z,1761682915.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998141,-0.039925,-0.046058],[0.054785,-0.918871,-0.390736],[-0.026721,-0.392533,0.919350]] 2025-10-28T20:21:56.173Z,1761682916.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996939,-0.059044,-0.051256],[0.074413,-0.917730,-0.390172],[-0.024001,-0.392792,0.919314]] 2025-10-28T20:21:56.567Z,1761682916.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995331,-0.078769,-0.055789],[0.094361,-0.915719,-0.390582],[-0.020322,-0.394023,0.918876]] 2025-10-28T20:21:56.970Z,1761682916.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993245,-0.098978,-0.060569],[0.114870,-0.912576,-0.392442],[-0.016430,-0.396748,0.917780]] 2025-10-28T20:21:57.375Z,1761682917.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990638,-0.119812,-0.065430],[0.135968,-0.908778,-0.394506],[-0.012195,-0.399710,0.916561]] 2025-10-28T20:21:57.817Z,1761682917.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987445,-0.141456,-0.070301],[0.157780,-0.904585,-0.396020],[-0.007574,-0.402141,0.915547]] 2025-10-28T20:21:58.185Z,1761682918.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983713,-0.163223,-0.075281],[0.179724,-0.899881,-0.397383],[-0.002882,-0.404441,0.914560]] 2025-10-28T20:21:58.227Z,1761682918.227 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:21:58.228Z,1761682918.228 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:21:58.228Z,1761682918.228 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:21:58.228Z,1761682918.228 [marl:UpdateRudder:A] Stopped 2025-10-28T20:21:58.228Z,1761682918.228 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:21:58.610Z,1761682918.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979397,-0.185116,-0.080706],[0.201939,-0.894884,-0.397999],[0.001453,-0.406097,0.913829]] 2025-10-28T20:21:58.657Z,1761682918.657 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:21:58.657Z,1761682918.657 [marl:UpdateRudder:B] Stopped 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateRudder] Stopped 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:21:58.658Z,1761682918.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:21:58.659Z,1761682918.659 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:21:58.659Z,1761682918.659 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:21:58.659Z,1761682918.659 [marl:UpdateCommandMode] Stopped 2025-10-28T20:21:58.659Z,1761682918.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:21:58.998Z,1761682918.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974652,-0.206357,-0.086434],[0.223664,-0.889495,-0.398463],[0.005343,-0.407695,0.913103]] 2025-10-28T20:21:59.394Z,1761682919.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969509,-0.227094,-0.092090],[0.244896,-0.884276,-0.397596],[0.008859,-0.408025,0.912928]] 2025-10-28T20:21:59.841Z,1761682919.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964115,-0.246697,-0.098099],[0.265229,-0.878760,-0.396780],[0.011679,-0.408560,0.912657]] 2025-10-28T20:22:00.203Z,1761682920.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958462,-0.265507,-0.104193],[0.284876,-0.873230,-0.395368],[0.013989,-0.408627,0.912594]] 2025-10-28T20:22:00.235Z,1761682920.235 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:22:00.236Z,1761682920.236 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:22:00.236Z,1761682920.236 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:22:00.237Z,1761682920.237 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:22:00.238Z,1761682920.238 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:22:00.238Z,1761682920.238 [marl:UpdateSpeed] Stopped 2025-10-28T20:22:00.239Z,1761682920.239 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:22:00.607Z,1761682920.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952812,-0.282946,-0.109962],[0.303139,-0.867741,-0.393868],[0.016025,-0.408616,0.912566]] 2025-10-28T20:22:01.011Z,1761682921.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947448,-0.298581,-0.114857],[0.319418,-0.863009,-0.391392],[0.017740,-0.407511,0.913028]] 2025-10-28T20:22:01.416Z,1761682921.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942862,-0.311648,-0.117845],[0.332656,-0.860596,-0.385635],[0.018766,-0.402803,0.915094]] 2025-10-28T20:22:01.847Z,1761682921.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938219,-0.326895,-0.113513],[0.345591,-0.868403,-0.355587],[0.017664,-0.372848,0.927724]] 2025-10-28T20:22:02.629Z,1761682922.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937775,-0.330422,-0.106769],[0.346869,-0.877090,-0.332258],[0.016140,-0.348618,0.937126]] 2025-10-28T20:22:03.030Z,1761682923.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937786,-0.332718,-0.099281],[0.346897,-0.885567,-0.308924],[0.014865,-0.324145,0.945891]] 2025-10-28T20:22:03.435Z,1761682923.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937361,-0.335907,-0.092307],[0.348084,-0.892626,-0.286454],[0.013826,-0.300641,0.953637]] 2025-10-28T20:22:03.852Z,1761682923.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935703,-0.343060,-0.082275],[0.352615,-0.902151,-0.248569],[0.011049,-0.261599,0.965114]] 2025-10-28T20:22:05.056Z,1761682925.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931505,-0.355644,-0.076257],[0.363683,-0.907421,-0.210526],[0.005675,-0.223839,0.974610]] 2025-10-28T20:22:05.460Z,1761682925.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929726,-0.360099,-0.077064],[0.368241,-0.907360,-0.202722],[0.003075,-0.216854,0.976199]] 2025-10-28T20:22:05.862Z,1761682925.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928395,-0.363140,-0.078816],[0.371594,-0.907107,-0.197675],[0.000289,-0.212807,0.977094]] 2025-10-28T20:22:06.265Z,1761682926.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927520,-0.364990,-0.080553],[0.373766,-0.907009,-0.193992],[-0.002257,-0.210040,0.977690]] 2025-10-28T20:22:06.669Z,1761682926.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926985,-0.365968,-0.082257],[0.375067,-0.907162,-0.190738],[-0.004817,-0.207663,0.978189]] 2025-10-28T20:22:07.070Z,1761682927.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927009,-0.365448,-0.084277],[0.374974,-0.907322,-0.190159],[-0.006973,-0.207881,0.978129]] 2025-10-28T20:22:07.476Z,1761682927.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927215,-0.364541,-0.085916],[0.374419,-0.907780,-0.189066],[-0.009070,-0.207474,0.978199]] 2025-10-28T20:22:07.878Z,1761682927.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927476,-0.363428,-0.087794],[0.373723,-0.908015,-0.189317],[-0.010915,-0.208397,0.977983]] 2025-10-28T20:22:08.282Z,1761682928.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927852,-0.362034,-0.089569],[0.372745,-0.908158,-0.190554],[-0.012356,-0.210193,0.977582]] 2025-10-28T20:22:08.687Z,1761682928.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928234,-0.360609,-0.091333],[0.371752,-0.908119,-0.192665],[-0.013464,-0.212792,0.977005]] 2025-10-28T20:22:09.095Z,1761682929.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928716,-0.359072,-0.092488],[0.370518,-0.908282,-0.194270],[-0.014248,-0.214690,0.976578]] 2025-10-28T20:22:09.495Z,1761682929.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928890,-0.358189,-0.094154],[0.370048,-0.907993,-0.196500],[-0.015107,-0.217368,0.975973]] 2025-10-28T20:22:09.898Z,1761682929.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928904,-0.357742,-0.095701],[0.369994,-0.907425,-0.199207],[-0.015576,-0.220453,0.975273]] 2025-10-28T20:22:10.304Z,1761682930.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928438,-0.358639,-0.096851],[0.371154,-0.906555,-0.201004],[-0.015713,-0.222567,0.974791]] 2025-10-28T20:22:10.707Z,1761682930.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927625,-0.360213,-0.098784],[0.373166,-0.905160,-0.203551],[-0.016094,-0.225682,0.974068]] 2025-10-28T20:22:11.111Z,1761682931.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926837,-0.362009,-0.099615],[0.375137,-0.903919,-0.205434],[-0.015675,-0.227773,0.973588]] 2025-10-28T20:22:11.515Z,1761682931.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925578,-0.364995,-0.100419],[0.378250,-0.902368,-0.206542],[-0.015228,-0.229154,0.973271]] 2025-10-28T20:22:11.921Z,1761682931.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924233,-0.368124,-0.101382],[0.381549,-0.900584,-0.208251],[-0.014641,-0.231154,0.972807]] 2025-10-28T20:22:11.980Z,1761682931.980 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:22:11.980Z,1761682931.980 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:22:11.981Z,1761682931.981 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:22:11.981Z,1761682931.981 [marl:UpdateRudder:A] Stopped 2025-10-28T20:22:11.981Z,1761682931.981 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:22:12.323Z,1761682932.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922706,-0.371759,-0.102020],[0.385248,-0.898857,-0.208901],[-0.014041,-0.232057,0.972601]] 2025-10-28T20:22:12.366Z,1761682932.366 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:22:12.366Z,1761682932.366 [marl:UpdateRudder:B] Stopped 2025-10-28T20:22:12.366Z,1761682932.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateRudder] Stopped 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:22:12.367Z,1761682932.367 [marl:UpdateCommandMode] Stopped 2025-10-28T20:22:12.368Z,1761682932.368 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:22:12.726Z,1761682932.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921230,-0.375194,-0.102784],[0.388782,-0.897158,-0.209657],[-0.013551,-0.233103,0.972358]] 2025-10-28T20:22:13.153Z,1761682933.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919925,-0.378200,-0.103458],[0.391867,-0.895804,-0.209703],[-0.013368,-0.233453,0.972276]] 2025-10-28T20:22:13.536Z,1761682933.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919017,-0.380338,-0.103688],[0.393994,-0.895042,-0.208969],[-0.013327,-0.232899,0.972410]] 2025-10-28T20:22:13.938Z,1761682933.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918294,-0.381969,-0.104096],[0.395665,-0.894504,-0.208116],[-0.013621,-0.232299,0.972549]] 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:22:13.989Z,1761682933.989 [marl:UpdateSpeed] Stopped 2025-10-28T20:22:13.990Z,1761682933.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:22:13.990Z,1761682933.990 [marl:NeedComms] Running Loop=1 2025-10-28T20:22:13.991Z,1761682933.991 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T20:22:13.991Z,1761682933.991 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T20:22:13.991Z,1761682933.991 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T20:22:13.991Z,1761682933.991 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T20:22:13.992Z,1761682933.992 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T20:22:13.992Z,1761682933.992 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T20:22:13.993Z,1761682933.993 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T20:22:13.993Z,1761682933.993 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T20:22:13.993Z,1761682933.993 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T20:22:13.993Z,1761682933.993 [marl:NeedComms:A] Running Loop=1 2025-10-28T20:22:13.995Z,1761682933.995 [marl:NeedComms:A](INFO): last time_fix was: 1761681733.000000 second since 1970/01/01T00:00:00Z 2025-10-28T20:22:13.995Z,1761682933.995 [marl:NeedComms:A] Stopped 2025-10-28T20:22:14.343Z,1761682934.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917791,-0.383160,-0.104158],[0.396829,-0.894158,-0.207384],[-0.013673,-0.231668,0.972699]] 2025-10-28T20:22:14.747Z,1761682934.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918616,-0.381778,-0.101928],[0.394912,-0.895957,-0.203238],[-0.013731,-0.226950,0.973809]] 2025-10-28T20:22:15.158Z,1761682935.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921508,-0.376561,-0.094995],[0.388088,-0.902025,-0.189049],[-0.014499,-0.211076,0.977362]] 2025-10-28T20:22:15.687Z,1761682935.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926247,-0.367682,-0.082927],[0.376587,-0.911973,-0.162749],[-0.015787,-0.181975,0.983176]] 2025-10-28T20:22:16.123Z,1761682936.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931510,-0.357145,-0.068821],[0.363295,-0.922720,-0.128856],[-0.017483,-0.145033,0.989272]] 2025-10-28T20:22:16.519Z,1761682936.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937529,-0.343312,-0.056363],[0.347302,-0.933089,-0.093412],[-0.020522,-0.107152,0.994031]] 2025-10-28T20:22:16.924Z,1761682936.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943111,-0.328736,-0.049738],[0.331298,-0.941778,-0.057405],[-0.027971,-0.070618,0.997111]] 2025-10-28T20:22:16.952Z,1761682936.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:22:17.327Z,1761682937.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948030,-0.314072,-0.050966],[0.315614,-0.948545,-0.025502],[-0.040334,-0.040262,0.998375]] 2025-10-28T20:22:17.730Z,1761682937.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952397,-0.299182,-0.058568],[0.299696,-0.954035,0.000003],[-0.055876,-0.017550,0.998283]] 2025-10-28T20:22:17.958Z,1761682937.958 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:22:18.540Z,1761682938.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958953,-0.269918,-0.086906],[0.267656,-0.962807,0.036927],[-0.093641,0.012150,0.995532]] 2025-10-28T20:22:18.942Z,1761682938.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961353,-0.254061,-0.106080],[0.250381,-0.967011,0.046900],[-0.114496,0.018527,0.993251]] 2025-10-28T20:22:19.346Z,1761682939.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963204,-0.237283,-0.126233],[0.232079,-0.971160,0.054666],[-0.135563,0.023359,0.990493]] 2025-10-28T20:22:19.755Z,1761682939.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964461,-0.218979,-0.147859],[0.212625,-0.975429,0.057692],[-0.156859,0.024203,0.987324]] 2025-10-28T20:22:20.164Z,1761682940.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965010,-0.199883,-0.169712],[0.192444,-0.979510,0.059381],[-0.178103,0.024643,0.983703]] 2025-10-28T20:22:20.559Z,1761682940.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964754,-0.180870,-0.191141],[0.172338,-0.983178,0.060501],[-0.198869,0.025428,0.979696]] 2025-10-28T20:22:20.963Z,1761682940.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963758,-0.161363,-0.212445],[0.152038,-0.986574,0.059633],[-0.219215,0.025172,0.975352]] 2025-10-28T20:22:21.367Z,1761682941.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962336,-0.141986,-0.231841],[0.131875,-0.989531,0.058622],[-0.237737,0.025840,0.970986]] 2025-10-28T20:22:21.798Z,1761682941.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960504,-0.122333,-0.249933],[0.111954,-0.992169,0.055386],[-0.254751,0.025217,0.966678]] 2025-10-28T20:22:22.175Z,1761682942.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958464,-0.103358,-0.265826],[0.092738,-0.994320,0.052233],[-0.269714,0.025412,0.962605]] 2025-10-28T20:22:22.579Z,1761682942.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956315,-0.085324,-0.279609],[0.074105,-0.995972,0.050473],[-0.282790,0.027547,0.958786]] 2025-10-28T20:22:22.985Z,1761682942.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954100,-0.067462,-0.291792],[0.056102,-0.997312,0.047134],[-0.294188,0.028600,0.955320]] 2025-10-28T20:22:23.387Z,1761682943.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951815,-0.051283,-0.302354],[0.039618,-0.998219,0.044592],[-0.304102,0.030464,0.952152]] 2025-10-28T20:22:23.834Z,1761682943.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949290,-0.036620,-0.312262],[0.025054,-0.998846,0.040973],[-0.313402,0.031072,0.949112]] 2025-10-28T20:22:24.195Z,1761682944.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946486,-0.022801,-0.321938],[0.011799,-0.999279,0.036086],[-0.322528,0.030357,0.946073]] 2025-10-28T20:22:24.604Z,1761682944.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943352,-0.008929,-0.331672],[-0.000793,-0.999574,0.029164],[-0.331792,0.027775,0.942944]] 2025-10-28T20:22:25.005Z,1761682945.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939716,0.003623,-0.341938],[-0.012464,-0.999642,0.023661],[-0.341730,0.026496,0.939425]] 2025-10-28T20:22:25.406Z,1761682945.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935561,0.015885,-0.352807],[-0.023390,-0.999582,0.017018],[-0.352389,0.024174,0.935541]] 2025-10-28T20:22:25.446Z,1761682945.446 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:22:25.446Z,1761682945.446 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:22:25.446Z,1761682945.446 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:22:25.446Z,1761682945.446 [marl:UpdateRudder:A] Stopped 2025-10-28T20:22:25.446Z,1761682945.446 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:22:25.839Z,1761682945.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931170,0.027710,-0.363531],[-0.033397,-0.999398,0.009366],[-0.363052,0.020862,0.931535]] 2025-10-28T20:22:25.886Z,1761682945.886 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:22:25.886Z,1761682945.886 [marl:UpdateRudder:B] Stopped 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateRudder] Stopped 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:22:25.887Z,1761682945.887 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:22:25.888Z,1761682945.888 [marl:UpdateCommandMode] Stopped 2025-10-28T20:22:25.904Z,1761682945.904 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:22:26.289Z,1761682946.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922867,0.049591,-0.381912],[-0.051490,-0.998660,-0.005254],[-0.381661,0.014816,0.924184]] 2025-10-28T20:22:26.691Z,1761682946.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919060,0.060733,-0.389410],[-0.060604,-0.998082,-0.012629],[-0.389430,0.011993,0.920978]] 2025-10-28T20:22:27.102Z,1761682947.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915366,0.073701,-0.395820],[-0.070858,-0.997248,-0.021821],[-0.396339,0.008073,0.918069]] 2025-10-28T20:22:27.499Z,1761682947.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911894,0.089442,-0.400560],[-0.082973,-0.995988,-0.033504],[-0.401950,0.002683,0.915658]] 2025-10-28T20:22:27.535Z,1761682947.535 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:22:27.535Z,1761682947.535 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:22:27.535Z,1761682947.535 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:22:27.536Z,1761682947.536 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:22:27.536Z,1761682947.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:22:27.536Z,1761682947.536 [marl:UpdateSpeed] Stopped 2025-10-28T20:22:27.536Z,1761682947.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:22:27.903Z,1761682947.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908623,0.106800,-0.403731],[-0.096153,-0.994274,-0.046619],[-0.406398,-0.003539,0.913689]] 2025-10-28T20:22:28.306Z,1761682948.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905497,0.124245,-0.405756],[-0.110208,-0.992222,-0.057881],[-0.409791,-0.007693,0.912147]] 2025-10-28T20:22:28.359Z,1761682948.359 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:22:28.529Z,1761682948.529 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:22:28.529Z,1761682948.529 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:22:28.718Z,1761682948.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902796,0.141105,-0.406263],[-0.124905,-0.989953,-0.066273],[-0.411532,-0.009087,0.911350]] 2025-10-28T20:22:28.782Z,1761682948.782 [DAT](INFO): DAT read: user:250> 2025-10-28T20:22:28.783Z,1761682948.783 [DAT](INFO): DAT read: Tx time:20:22:28.5191 2025-10-28T20:22:28.783Z,1761682948.783 [DAT](INFO): Ping request sent. 2025-10-28T20:22:28.783Z,1761682948.783 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:22:28.784Z,1761682948.784 [DAT](INFO): publishing transmit ping time 2025-10-28T20:22:28.785Z,1761682948.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001901 2025-10-28T20:22:29.033Z,1761682949.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249812 2025-10-28T20:22:29.126Z,1761682949.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900421,0.158111,-0.405268],[-0.139803,-0.987365,-0.074596],[-0.411942,-0.010510,0.911149]] 2025-10-28T20:22:29.285Z,1761682949.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501770 2025-10-28T20:22:29.523Z,1761682949.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898192,0.173899,-0.403745],[-0.154480,-0.984714,-0.080467],[-0.411567,-0.009904,0.911326]] 2025-10-28T20:22:29.537Z,1761682949.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753916 2025-10-28T20:22:29.792Z,1761682949.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007901 2025-10-28T20:22:29.926Z,1761682949.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896188,0.188660,-0.401565],[-0.168422,-0.982001,-0.085482],[-0.410465,-0.008976,0.911832]] 2025-10-28T20:22:30.041Z,1761682950.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258161 2025-10-28T20:22:30.293Z,1761682950.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509803 2025-10-28T20:22:30.336Z,1761682950.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893961,0.203854,-0.399095],[-0.182429,-0.978961,-0.091407],[-0.409332,-0.008907,0.912342]] 2025-10-28T20:22:30.545Z,1761682950.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761819 2025-10-28T20:22:30.742Z,1761682950.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891474,0.218549,-0.396876],[-0.196175,-0.975790,-0.096688],[-0.408399,-0.008338,0.912765]] 2025-10-28T20:22:30.797Z,1761682950.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013854 2025-10-28T20:22:31.049Z,1761682951.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265773 2025-10-28T20:22:31.138Z,1761682951.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889077,0.231163,-0.395102],[-0.208304,-0.972890,-0.100474],[-0.407617,-0.007028,0.913126]] 2025-10-28T20:22:31.301Z,1761682951.301 [DAT](INFO): DAT read: Rx Time:20:22:30.6730 2025-10-28T20:22:31.301Z,1761682951.301 [DAT](INFO): Rx dataTimestamp_ set to:1761682951.301168 2025-10-28T20:22:31.302Z,1761682951.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518892 2025-10-28T20:22:31.542Z,1761682951.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886564,0.243583,-0.393283],[-0.220331,-0.969864,-0.104009],[-0.406766,-0.005558,0.913516]] 2025-10-28T20:22:31.553Z,1761682951.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769696 2025-10-28T20:22:31.810Z,1761682951.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025669 2025-10-28T20:22:31.946Z,1761682951.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884014,0.255040,-0.391757],[-0.231572,-0.966923,-0.106931],[-0.406071,-0.003808,0.913834]] 2025-10-28T20:22:32.063Z,1761682952.063 [DAT](INFO): DAT read: 20:22:30.6730 LVL= 17648, 14289, 20306, 19043, AGC= 53, IDX= 314,-0.27, 2.085, 2.450, 0.912, 1.704, PHS= 0.483, 0.791,-0.836, RAW= 19.7, -5.9, CAL= 20.4, -7.6, ROT= 129.6, 7.6 2025-10-28T20:22:32.064Z,1761682952.064 [DAT](INFO): got valid direction response: 20:22:30.6730 LVL= 17648, 14289, 20306, 19043, AGC= 53, IDX= 314,-0.27, 2.085, 2.450, 0.912, 1.704, PHS= 0.483, 0.791,-0.836, RAW= 19.7, -5.9, CAL= 20.4, -7.6, ROT= 129.6, 7.6 2025-10-28T20:22:32.065Z,1761682952.065 [DAT](INFO): DAT read: Bearing 299, -13 (Remote) 2025-10-28T20:22:32.065Z,1761682952.065 [DAT](INFO): Remote Bearing received:Bearing 299, -13 (Remote) 2025-10-28T20:22:32.066Z,1761682952.066 [DAT](INFO): DAT read: Bearing 190.7, 73.6 (Local) 2025-10-28T20:22:32.066Z,1761682952.066 [DAT](INFO): Local bearing/azimuth received: Bearing 190.7, 73.6 (Local) 2025-10-28T20:22:32.067Z,1761682952.067 [DAT](INFO): DAT read: Range 11 to 20 : 93.6 m (Round-trip 124.8 ms) speed -0.9 m/s 2025-10-28T20:22:32.068Z,1761682952.068 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:22:32.069Z,1761682952.069 [DAT](INFO): direction in FSK: [-0.631825,0.763745,-0.132256] 2025-10-28T20:22:32.069Z,1761682952.069 [DAT](INFO): publishing direction and range info 2025-10-28T20:22:32.350Z,1761682952.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881302,0.267231,-0.389735],[-0.242837,-0.963625,-0.111608],[-0.405384,-0.003718,0.914139]] 2025-10-28T20:22:32.393Z,1761682952.393 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761682944.00. Resetting abort timer. 2025-10-28T20:22:32.757Z,1761682952.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878495,0.280074,-0.387046],[-0.254724,-0.959971,-0.116495],[-0.404180,-0.003751,0.914672]] 2025-10-28T20:22:33.159Z,1761682953.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875632,0.294002,-0.383185],[-0.266968,-0.955788,-0.123278],[-0.402488,-0.005648,0.915408]] 2025-10-28T20:22:33.564Z,1761682953.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872804,0.308672,-0.378067],[-0.279768,-0.951133,-0.130677],[-0.399928,-0.008285,0.916509]] 2025-10-28T20:22:33.966Z,1761682953.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869413,0.325016,-0.372136],[-0.294084,-0.945641,-0.138842],[-0.397033,-0.011271,0.917735]] 2025-10-28T20:22:34.370Z,1761682954.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865536,0.342037,-0.365868],[-0.309504,-0.939592,-0.146197],[-0.393771,-0.013301,0.919112]] 2025-10-28T20:22:34.791Z,1761682954.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861451,0.358052,-0.360140],[-0.325021,-0.933614,-0.150755],[-0.390210,-0.012815,0.920637]] 2025-10-28T20:22:35.180Z,1761682955.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857057,0.373391,-0.355009],[-0.340663,-0.927616,-0.153224],[-0.386524,-0.010383,0.922221]] 2025-10-28T20:22:35.590Z,1761682955.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852585,0.387475,-0.350660],[-0.355568,-0.921856,-0.154121],[-0.382976,-0.006718,0.923734]] 2025-10-28T20:22:35.987Z,1761682955.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848172,0.399750,-0.347569],[-0.369292,-0.916623,-0.153055],[-0.379773,-0.001462,0.925078]] 2025-10-28T20:22:36.391Z,1761682956.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843718,0.411390,-0.344818],[-0.382378,-0.911452,-0.151799],[-0.376733,0.003775,0.926314]] 2025-10-28T20:22:36.803Z,1761682956.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839280,0.421770,-0.343103],[-0.394724,-0.906643,-0.148967],[-0.373902,0.010406,0.927410]] 2025-10-28T20:22:37.610Z,1761682957.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830345,0.443444,-0.337469],[-0.418780,-0.896097,-0.147086],[-0.367629,0.019193,0.929774]] 2025-10-28T20:22:38.006Z,1761682958.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825408,0.454613,-0.334707],[-0.431089,-0.890377,-0.146256],[-0.364505,0.023568,0.930903]] 2025-10-28T20:22:38.410Z,1761682958.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820026,0.466094,-0.332136],[-0.443307,-0.884320,-0.146483],[-0.361989,0.027118,0.931788]] 2025-10-28T20:22:38.814Z,1761682958.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814451,0.477113,-0.330200],[-0.455205,-0.878289,-0.146279],[-0.359803,0.031172,0.932508]] 2025-10-28T20:22:38.861Z,1761682958.861 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:22:38.861Z,1761682958.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:22:38.861Z,1761682958.861 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:22:38.862Z,1761682958.862 [marl:UpdateRudder:A] Stopped 2025-10-28T20:22:38.862Z,1761682958.862 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:22:39.221Z,1761682959.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808659,0.488480,-0.327807],[-0.466675,-0.871942,-0.148091],[-0.358168,0.033224,0.933066]] 2025-10-28T20:22:39.244Z,1761682959.244 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:22:39.244Z,1761682959.244 [marl:UpdateRudder:B] Stopped 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateRudder] Stopped 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:22:39.245Z,1761682959.245 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:22:39.246Z,1761682959.246 [marl:UpdateCommandMode] Stopped 2025-10-28T20:22:39.246Z,1761682959.246 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:22:39.623Z,1761682959.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802975,0.499771,-0.324746],[-0.477712,-0.865487,-0.150746],[-0.356402,0.034089,0.933711]] 2025-10-28T20:22:40.026Z,1761682960.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797510,0.510750,-0.321110],[-0.488244,-0.859051,-0.153782],[-0.354394,0.034137,0.934473]] 2025-10-28T20:22:40.431Z,1761682960.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791716,0.523173,-0.315397],[-0.499161,-0.851663,-0.159714],[-0.352170,0.030986,0.935423]] 2025-10-28T20:22:40.841Z,1761682960.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785225,0.537284,-0.307811],[-0.511231,-0.843001,-0.167310],[-0.349378,0.025986,0.936621]] 2025-10-28T20:22:40.864Z,1761682960.864 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed] Stopped 2025-10-28T20:22:40.865Z,1761682960.865 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:22:41.238Z,1761682961.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778019,0.552683,-0.298711],[-0.524446,-0.833150,-0.175550],[-0.345895,0.020077,0.938059]] 2025-10-28T20:22:42.047Z,1761682962.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761831,0.584910,-0.278379],[-0.553582,-0.811037,-0.189121],[-0.336394,0.010027,0.941668]] 2025-10-28T20:22:42.453Z,1761682962.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752913,0.600855,-0.268505],[-0.568979,-0.799325,-0.193241],[-0.330732,0.007280,0.943697]] 2025-10-28T20:22:42.854Z,1761682962.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743074,0.617230,-0.258591],[-0.585215,-0.786764,-0.196281],[-0.324600,0.005480,0.945835]] 2025-10-28T20:22:43.258Z,1761682963.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732245,0.632944,-0.251393],[-0.602071,-0.774154,-0.195439],[-0.318319,0.008247,0.947948]] 2025-10-28T20:22:44.070Z,1761682964.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708061,0.663943,-0.240477],[-0.636774,-0.747533,-0.188977],[-0.305235,0.019322,0.952081]] 2025-10-28T20:22:44.470Z,1761682964.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696104,0.678025,-0.236051],[-0.652901,-0.734593,-0.184643],[-0.298594,0.025587,0.954037]] 2025-10-28T20:22:44.874Z,1761682964.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686155,0.688630,-0.234477],[-0.666078,-0.724316,-0.178066],[-0.292457,0.033999,0.955674]] 2025-10-28T20:22:45.278Z,1761682965.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677498,0.696689,-0.235840],[-0.676631,-0.716062,-0.171541],[-0.288387,0.043358,0.956532]] 2025-10-28T20:22:45.685Z,1761682965.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669273,0.704966,-0.234726],[-0.685787,-0.707669,-0.170002],[-0.285953,0.047194,0.957081]] 2025-10-28T20:22:46.099Z,1761682966.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662114,0.712947,-0.230893],[-0.693380,-0.699701,-0.172171],[-0.284305,0.046100,0.957625]] 2025-10-28T20:22:46.491Z,1761682966.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655981,0.720408,-0.225169],[-0.699860,-0.692268,-0.175957],[-0.282638,0.042162,0.958300]] 2025-10-28T20:22:46.896Z,1761682966.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650432,0.728189,-0.216053],[-0.706033,-0.684510,-0.181559],[-0.280100,0.034449,0.959353]] 2025-10-28T20:22:47.300Z,1761682967.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643476,0.737110,-0.206417],[-0.713642,-0.675222,-0.186521],[-0.276864,0.027286,0.960522]] 2025-10-28T20:22:47.704Z,1761682967.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631122,0.750663,-0.195425],[-0.725615,-0.660389,-0.193311],[-0.274168,0.019800,0.961478]] 2025-10-28T20:22:48.104Z,1761682968.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:22:48.109Z,1761682968.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615497,0.766101,-0.185073],[-0.739984,-0.642555,-0.198865],[-0.271270,0.014550,0.962393]] 2025-10-28T20:22:48.511Z,1761682968.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599703,0.779449,-0.181151],[-0.753577,-0.626244,-0.199848],[-0.269216,0.016662,0.962936]] 2025-10-28T20:22:48.921Z,1761682968.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585816,0.789653,-0.182394],[-0.764717,-0.613110,-0.198256],[-0.268381,0.023338,0.963030]] 2025-10-28T20:22:49.108Z,1761682969.108 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:22:49.323Z,1761682969.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574269,0.797030,-0.186971],[-0.773264,-0.603085,-0.195836],[-0.268846,0.032115,0.962647]] 2025-10-28T20:22:49.722Z,1761682969.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565291,0.802827,-0.189514],[-0.779659,-0.595034,-0.195106],[-0.269404,0.037465,0.962298]] 2025-10-28T20:22:50.532Z,1761682970.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552586,0.812786,-0.184468],[-0.789472,-0.581393,-0.196764],[-0.267175,0.036903,0.962941]] 2025-10-28T20:22:50.934Z,1761682970.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541706,0.821953,-0.175920],[-0.797123,-0.568744,-0.202791],[-0.266738,0.030377,0.963290]] 2025-10-28T20:22:51.339Z,1761682971.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526813,0.833422,-0.166964],[-0.806920,-0.552110,-0.209892],[-0.267111,0.024153,0.963363]] 2025-10-28T20:22:51.742Z,1761682971.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509695,0.845348,-0.159993],[-0.817587,-0.533812,-0.215862],[-0.267884,0.020784,0.963227]] 2025-10-28T20:22:52.146Z,1761682972.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490404,0.857300,-0.156656],[-0.828565,-0.514374,-0.221130],[-0.270155,0.021357,0.962580]] 2025-10-28T20:22:52.198Z,1761682972.198 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:22:52.198Z,1761682972.198 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:22:52.198Z,1761682972.198 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:22:52.198Z,1761682972.198 [marl:UpdateRudder:A] Stopped 2025-10-28T20:22:52.198Z,1761682972.198 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:22:52.551Z,1761682972.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470516,0.868249,-0.157348],[-0.838563,-0.495480,-0.226523],[-0.274641,0.025364,0.961212]] 2025-10-28T20:22:52.604Z,1761682972.604 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:22:52.604Z,1761682972.604 [marl:UpdateRudder:B] Stopped 2025-10-28T20:22:52.604Z,1761682972.604 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:22:52.604Z,1761682972.604 [marl:UpdateRudder] Stopped 2025-10-28T20:22:52.604Z,1761682972.604 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode] Stopped 2025-10-28T20:22:52.605Z,1761682972.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:22:52.955Z,1761682972.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454307,0.875761,-0.163242],[-0.845590,-0.481588,-0.230326],[-0.280326,0.033397,0.959324]] 2025-10-28T20:22:53.363Z,1761682973.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441294,0.881035,-0.170402],[-0.850521,-0.471198,-0.233638],[-0.286136,0.041828,0.957276]] 2025-10-28T20:22:53.791Z,1761682973.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428104,0.887445,-0.170785],[-0.855713,-0.458834,-0.239221],[-0.290658,0.043732,0.955827]] 2025-10-28T20:22:54.166Z,1761682974.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412605,0.895501,-0.166841],[-0.862604,-0.442968,-0.244323],[-0.292696,0.043109,0.955233]] 2025-10-28T20:22:54.221Z,1761682974.221 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:22:54.221Z,1761682974.221 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:22:54.221Z,1761682974.221 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:22:54.221Z,1761682974.221 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:22:54.222Z,1761682974.222 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:22:54.222Z,1761682974.222 [marl:UpdateSpeed] Stopped 2025-10-28T20:22:54.222Z,1761682974.222 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:22:54.579Z,1761682974.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393090,0.905498,-0.159854],[-0.871602,-0.422318,-0.248913],[-0.292899,0.041484,0.955243]] 2025-10-28T20:22:54.982Z,1761682974.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370292,0.915901,-0.154947],[-0.881547,-0.399073,-0.252221],[-0.292844,0.043198,0.955184]] 2025-10-28T20:22:55.378Z,1761682975.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347179,0.924888,-0.155075],[-0.890467,-0.376988,-0.254850],[-0.294169,0.049611,0.954465]] 2025-10-28T20:22:55.830Z,1761682975.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325872,0.931705,-0.160416],[-0.897110,-0.358281,-0.258512],[-0.298331,0.059669,0.952595]] 2025-10-28T20:22:56.187Z,1761682976.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307348,0.936545,-0.168582],[-0.901305,-0.343330,-0.264146],[-0.305264,0.070759,0.949635]] 2025-10-28T20:22:56.595Z,1761682976.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291262,0.940886,-0.172918],[-0.903789,-0.329887,-0.272655],[-0.313580,0.076867,0.946445]] 2025-10-28T20:22:56.995Z,1761682976.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277943,0.944732,-0.173863],[-0.904986,-0.318217,-0.282381],[-0.322101,0.078858,0.943415]] 2025-10-28T20:22:57.398Z,1761682977.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266540,0.948624,-0.170494],[-0.905801,-0.306993,-0.292025],[-0.329363,0.076598,0.941091]] 2025-10-28T20:22:57.836Z,1761682977.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256978,0.952515,-0.163335],[-0.906547,-0.296152,-0.300776],[-0.334866,0.070778,0.939604]] 2025-10-28T20:22:58.208Z,1761682978.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248837,0.956127,-0.154603],[-0.907622,-0.285914,-0.307368],[-0.338086,0.063837,0.938948]] 2025-10-28T20:22:58.610Z,1761682978.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240269,0.959466,-0.147293],[-0.909273,-0.275581,-0.311893],[-0.339842,0.058992,0.938630]] 2025-10-28T20:22:59.014Z,1761682979.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230966,0.962203,-0.144292],[-0.910928,-0.265955,-0.315401],[-0.341855,0.058592,0.937924]] 2025-10-28T20:22:59.843Z,1761682979.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207790,0.967929,-0.141201],[-0.913186,-0.243691,-0.326658],[-0.350591,0.061066,0.934536]] 2025-10-28T20:23:00.226Z,1761682980.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193724,0.972245,-0.131194],[-0.916251,-0.227099,-0.330015],[-0.350649,0.056275,0.934815]] 2025-10-28T20:23:00.631Z,1761682980.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175594,0.977224,-0.119164],[-0.921140,-0.205803,-0.330373],[-0.347373,0.051755,0.936298]] 2025-10-28T20:23:01.034Z,1761682981.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152758,0.981879,-0.112154],[-0.925680,-0.181903,-0.331704],[-0.346094,0.053149,0.936693]] 2025-10-28T20:23:01.848Z,1761682981.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098328,0.988710,-0.113068],[-0.928495,-0.132032,-0.347081],[-0.358090,0.070855,0.930995]] 2025-10-28T20:23:02.250Z,1761682982.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072094,0.991096,-0.111941],[-0.926928,-0.108015,-0.359357],[-0.368249,0.077854,0.926462]] 2025-10-28T20:23:02.654Z,1761682982.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058866,0.992116,-0.110635],[-0.925311,-0.095817,-0.366904],[-0.374612,0.080774,0.923657]] 2025-10-28T20:23:03.069Z,1761682983.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053121,0.993782,-0.097852],[-0.923076,-0.086248,-0.374823],[-0.380932,0.070414,0.921918]] 2025-10-28T20:23:03.462Z,1761682983.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053678,0.995640,-0.076292],[-0.922029,-0.078752,-0.379025],[-0.383381,0.049998,0.922236]] 2025-10-28T20:23:03.868Z,1761682983.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050413,0.997458,-0.050366],[-0.923075,-0.065788,-0.378952],[-0.381302,0.027388,0.924045]] 2025-10-28T20:23:04.271Z,1761682984.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036649,0.998970,-0.026756],[-0.923679,-0.044082,-0.380623],[-0.381410,0.010765,0.924343]] 2025-10-28T20:23:04.675Z,1761682984.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023229,0.999647,-0.012858],[-0.927184,-0.026351,-0.373679],[-0.373886,0.003241,0.927469]] 2025-10-28T20:23:05.082Z,1761682985.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001740,0.999998,-0.000817],[-0.931878,-0.001918,-0.362768],[-0.362769,0.000131,0.931879]] 2025-10-28T20:23:05.484Z,1761682985.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024724,0.999693,0.001341],[-0.929025,0.023472,-0.369271],[-0.369189,0.007884,0.929321]] 2025-10-28T20:23:05.516Z,1761682985.516 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:23:05.516Z,1761682985.516 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:23:05.516Z,1761682985.516 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:23:05.517Z,1761682985.517 [marl:UpdateRudder:A] Stopped 2025-10-28T20:23:05.517Z,1761682985.517 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:23:05.888Z,1761682985.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039405,0.999223,0.000755],[-0.919443,0.036554,-0.391520],[-0.391243,0.014734,0.920169]] 2025-10-28T20:23:05.961Z,1761682985.961 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:23:05.961Z,1761682985.961 [marl:UpdateRudder:B] Stopped 2025-10-28T20:23:05.961Z,1761682985.961 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:23:05.961Z,1761682985.961 [marl:UpdateRudder] Stopped 2025-10-28T20:23:05.961Z,1761682985.961 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode] Stopped 2025-10-28T20:23:05.962Z,1761682985.962 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:23:06.290Z,1761682986.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044117,0.999017,0.004261],[-0.913721,0.042074,-0.404159],[-0.403941,0.013937,0.914679]] 2025-10-28T20:23:06.695Z,1761682986.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056139,0.998409,0.005230],[-0.910568,0.053347,-0.409903],[-0.409530,0.018250,0.912114]] 2025-10-28T20:23:07.100Z,1761682987.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065656,0.997842,0.000481],[-0.908879,0.060001,-0.412722],[-0.411860,0.026661,0.910857]] 2025-10-28T20:23:07.503Z,1761682987.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069652,0.997571,0.000261],[-0.909396,0.063603,-0.411039],[-0.410058,0.028392,0.911618]] 2025-10-28T20:23:07.570Z,1761682987.570 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:23:07.570Z,1761682987.570 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:23:07.570Z,1761682987.570 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:23:07.571Z,1761682987.571 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:23:07.571Z,1761682987.571 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:23:07.571Z,1761682987.571 [marl:UpdateSpeed] Stopped 2025-10-28T20:23:07.571Z,1761682987.571 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:23:07.907Z,1761682987.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079761,0.996631,0.019110],[-0.903036,0.080362,-0.421980],[-0.422094,0.016401,0.906404]] 2025-10-28T20:23:08.316Z,1761682988.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089066,0.995058,0.043902],[-0.895132,0.099297,-0.434601],[-0.436813,-0.000589,0.899552]] 2025-10-28T20:23:08.357Z,1761682988.357 [marl:NeedComms:C] Running Loop=1 2025-10-28T20:23:08.729Z,1761682988.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110237,0.993837,0.011672],[-0.916492,0.106188,-0.385703],[-0.384565,0.031822,0.922549]] 2025-10-28T20:23:09.004Z,1761682989.004 [Radio_Surface](INFO): Powering up 2025-10-28T20:23:09.125Z,1761682989.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134477,0.990880,0.008510],[-0.952085,0.131583,-0.276081],[-0.274683,0.029024,0.961097]] 2025-10-28T20:23:09.527Z,1761682989.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175939,0.984020,0.027386],[-0.971578,0.178056,-0.155989],[-0.158373,0.000837,0.987379]] 2025-10-28T20:23:09.931Z,1761682989.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182011,0.982220,0.045989],[-0.971835,0.186813,-0.143655],[-0.149692,-0.018547,0.988559]] 2025-10-28T20:23:10.335Z,1761682990.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170435,0.984799,0.033516],[-0.970878,0.173644,-0.165059],[-0.168370,-0.004408,0.985714]] 2025-10-28T20:23:10.740Z,1761682990.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187102,0.982172,0.018194],[-0.975845,0.187959,-0.111344],[-0.112778,0.003079,0.993615]] 2025-10-28T20:23:11.147Z,1761682991.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250988,0.965500,0.069388],[-0.963734,0.255956,-0.075516],[-0.090671,-0.047918,0.994727]] 2025-10-28T20:23:11.402Z,1761682991.402 [CTD_Seabird](ERROR): Salinity reading out of range: 25.962259 psu 2025-10-28T20:23:11.404Z,1761682991.404 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-28T20:23:11.555Z,1761682991.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233043,0.961571,0.145165],[-0.964264,0.247835,-0.093659],[-0.126037,-0.118151,0.984964]] 2025-10-28T20:23:11.951Z,1761682991.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230593,0.961294,0.150797],[-0.971449,0.236319,-0.020972],[-0.055796,-0.141656,0.988342]] 2025-10-28T20:23:12.356Z,1761682992.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287257,0.944830,0.157418],[-0.957845,0.284042,0.043045],[-0.004043,-0.163147,0.986594]] 2025-10-28T20:23:12.762Z,1761682992.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308480,0.938543,0.154848],[-0.951021,0.300875,0.070949],[0.019999,-0.169150,0.985387]] 2025-10-28T20:23:13.162Z,1761682993.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342446,0.926295,0.157191],[-0.939179,0.332868,0.084509],[0.025956,-0.176571,0.983946]] 2025-10-28T20:23:13.569Z,1761682993.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363732,0.920427,0.143225],[-0.930840,0.353348,0.093175],[0.035152,-0.167210,0.985294]] 2025-10-28T20:23:13.972Z,1761682993.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368432,0.925064,0.092272],[-0.927470,0.358951,0.104657],[0.063694,-0.124138,0.990219]] 2025-10-28T20:23:14.256Z,1761682994.256 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T20:23:14.257Z,1761682994.257 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T20:23:14.374Z,1761682994.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392943,0.914997,0.091519],[-0.918903,0.386943,0.076758],[0.034821,-0.114259,0.992841]] 2025-10-28T20:23:14.783Z,1761682994.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423569,0.899902,0.103759],[-0.905864,0.420779,0.048531],[0.000013,-0.114548,0.993418]] 2025-10-28T20:23:15.185Z,1761682995.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417642,0.903718,0.094174],[-0.908552,0.414174,0.054711],[0.010439,-0.108412,0.994051]] 2025-10-28T20:23:15.587Z,1761682995.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414546,0.902589,0.116121],[-0.910016,0.410481,0.058111],[0.004785,-0.129762,0.991534]] 2025-10-28T20:23:15.990Z,1761682995.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484460,0.866920,0.117257],[-0.874610,0.477081,0.086321],[0.018892,-0.144373,0.989343]] 2025-10-28T20:23:16.395Z,1761682996.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490755,0.869974,0.048012],[-0.870482,0.487167,0.070207],[0.037688,-0.076248,0.996376]] 2025-10-28T20:23:16.800Z,1761682996.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474019,0.878048,0.065861],[-0.880472,0.471929,0.045308],[0.008701,-0.079466,0.996800]] 2025-10-28T20:23:17.204Z,1761682997.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461892,0.878793,0.119911],[-0.885666,0.449764,0.115357],[0.047444,-0.159484,0.986060]] 2025-10-28T20:23:17.606Z,1761682997.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458268,0.876265,0.148829],[-0.886181,0.437581,0.152333],[0.068360,-0.201699,0.977059]] 2025-10-28T20:23:18.010Z,1761682998.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496705,0.852352,0.163645],[-0.866721,0.477221,0.145102],[0.045583,-0.213908,0.975790]] 2025-10-28T20:23:18.414Z,1761682998.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515343,0.844567,0.145353],[-0.854772,0.494389,0.157935],[0.061526,-0.205635,0.976693]] 2025-10-28T20:23:18.821Z,1761682998.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538444,0.831236,0.138296],[-0.842423,0.527088,0.111810],[0.020047,-0.176707,0.984059]] 2025-10-28T20:23:18.850Z,1761682998.850 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:23:18.850Z,1761682998.850 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:23:18.850Z,1761682998.850 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:23:18.850Z,1761682998.850 [marl:UpdateRudder:A] Stopped 2025-10-28T20:23:18.850Z,1761682998.850 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:23:19.223Z,1761682999.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532073,0.837617,0.123679],[-0.845155,0.534223,0.017870],[-0.051104,-0.114036,0.992161]] 2025-10-28T20:23:19.228Z,1761682999.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:23:19.263Z,1761682999.263 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:23:19.263Z,1761682999.263 [marl:UpdateRudder:B] Stopped 2025-10-28T20:23:19.263Z,1761682999.263 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:23:19.264Z,1761682999.264 [marl:UpdateRudder] Stopped 2025-10-28T20:23:19.264Z,1761682999.264 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:23:19.264Z,1761682999.264 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:23:19.264Z,1761682999.264 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:23:19.264Z,1761682999.264 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:23:19.265Z,1761682999.265 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:23:19.265Z,1761682999.265 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:23:19.265Z,1761682999.265 [marl:UpdateCommandMode] Stopped 2025-10-28T20:23:19.265Z,1761682999.265 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:23:19.630Z,1761682999.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543335,0.838116,0.048461],[-0.839513,0.542264,0.034172],[0.002362,-0.059251,0.998240]] 2025-10-28T20:23:20.040Z,1761683000.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566426,0.824113,0.000104],[-0.821644,0.564720,0.077414],[0.063739,-0.043935,0.996999]] 2025-10-28T20:23:20.232Z,1761683000.232 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T20:23:20.232Z,1761683000.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:23:20.436Z,1761683000.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583436,0.810317,0.054668],[-0.811647,0.584136,0.003816],[-0.028842,-0.046598,0.998497]] 2025-10-28T20:23:20.838Z,1761683000.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589016,0.801413,0.103911],[-0.805579,0.592480,-0.003103],[-0.064052,-0.081880,0.994582]] 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed] Stopped 2025-10-28T20:23:20.874Z,1761683000.874 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:23:21.245Z,1761683001.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606219,0.786448,0.118316],[-0.795225,0.601426,0.076831],[-0.010735,-0.140665,0.989999]] 2025-10-28T20:23:21.651Z,1761683001.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626462,0.769769,0.122479],[-0.778454,0.609939,0.148269],[0.039428,-0.188229,0.981333]] 2025-10-28T20:23:22.056Z,1761683002.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639794,0.759223,0.119352],[-0.765737,0.616454,0.183386],[0.065656,-0.208722,0.975769]] 2025-10-28T20:23:22.459Z,1761683002.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642241,0.755606,0.128787],[-0.764894,0.620902,0.171515],[0.049634,-0.208663,0.976727]] 2025-10-28T20:23:22.859Z,1761683002.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661127,0.742292,0.109154],[-0.749450,0.646556,0.142443],[0.035160,-0.175978,0.983766]] 2025-10-28T20:23:23.264Z,1761683003.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680181,0.733013,-0.006761],[-0.727005,0.675730,0.121874],[0.093903,-0.077981,0.992523]] 2025-10-28T20:23:23.706Z,1761683003.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663692,0.745468,-0.061561],[-0.739978,0.666367,0.091579],[0.109291,-0.015226,0.993893]] 2025-10-28T20:23:24.070Z,1761683004.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660656,0.750687,0.001493],[-0.749183,0.659204,0.064623],[0.047527,-0.043812,0.997909]] 2025-10-28T20:23:24.478Z,1761683004.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661332,0.743056,0.102507],[-0.747874,0.663694,0.013967],[-0.057655,-0.085899,0.994634]] 2025-10-28T20:23:24.879Z,1761683004.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654698,0.748154,0.107872],[-0.755733,0.650777,0.073190],[-0.015443,-0.129440,0.991467]] 2025-10-28T20:23:25.285Z,1761683005.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666965,0.740593,0.081724],[-0.742199,0.650718,0.160332],[0.065561,-0.167591,0.983674]] 2025-10-28T20:23:25.690Z,1761683005.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679210,0.716683,0.158240],[-0.733493,0.670384,0.112131],[-0.025719,-0.192228,0.981013]] 2025-10-28T20:23:26.090Z,1761683006.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673615,0.723265,0.152088],[-0.736643,0.673728,0.058719],[-0.059996,-0.151589,0.986621]] 2025-10-28T20:23:26.498Z,1761683006.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665923,0.744087,0.053668],[-0.745172,0.660014,0.095396],[0.035561,-0.103518,0.993992]] 2025-10-28T20:23:26.898Z,1761683006.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699036,0.714524,0.028361],[-0.713154,0.693684,0.101069],[0.052542,-0.090877,0.994475]] 2025-10-28T20:23:27.312Z,1761683007.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692937,0.719080,0.052552],[-0.720824,0.689323,0.072439],[0.015864,-0.088076,0.995987]] 2025-10-28T20:23:27.710Z,1761683007.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674389,0.735893,0.060514],[-0.737520,0.667393,0.103206],[0.035563,-0.114231,0.992818]] 2025-10-28T20:23:28.112Z,1761683008.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694994,0.717605,0.045019],[-0.715262,0.683621,0.145132],[0.073372,-0.133066,0.988388]] 2025-10-28T20:23:28.535Z,1761683008.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720118,0.692361,0.045459],[-0.692442,0.712936,0.110666],[0.044212,-0.111170,0.992817]] 2025-10-28T20:23:28.569Z,1761683008.569 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:23:28.797Z,1761683008.797 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:23:28.797Z,1761683008.797 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:23:28.919Z,1761683008.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714167,0.699849,0.013303],[-0.698862,0.711830,0.069925],[0.039467,-0.059235,0.997464]] 2025-10-28T20:23:29.049Z,1761683009.049 [DAT](INFO): DAT read: user:251> 2025-10-28T20:23:29.050Z,1761683009.050 [DAT](INFO): DAT read: Tx time:20:23:28.7689 2025-10-28T20:23:29.050Z,1761683009.050 [DAT](INFO): Ping request sent. 2025-10-28T20:23:29.050Z,1761683009.050 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:23:29.050Z,1761683009.050 [DAT](INFO): publishing transmit ping time 2025-10-28T20:23:29.051Z,1761683009.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951 2025-10-28T20:23:29.301Z,1761683009.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250870 2025-10-28T20:23:29.324Z,1761683009.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705019,0.708514,-0.030909],[-0.705304,0.705047,0.073855],[0.074120,-0.030269,0.996790]] 2025-10-28T20:23:29.553Z,1761683009.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502936 2025-10-28T20:23:29.737Z,1761683009.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714383,0.698218,-0.046360],[-0.692112,0.714793,0.100255],[0.103138,-0.039535,0.993881]] 2025-10-28T20:23:29.808Z,1761683009.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757219 2025-10-28T20:23:30.057Z,1761683010.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007024 2025-10-28T20:23:30.130Z,1761683010.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721838,0.689213,-0.062734],[-0.679160,0.722887,0.127184],[0.133006,-0.049200,0.989893]] 2025-10-28T20:23:30.309Z,1761683010.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258918 2025-10-28T20:23:30.538Z,1761683010.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727473,0.683609,-0.058831],[-0.673647,0.727886,0.127990],[0.130317,-0.053478,0.990029]] 2025-10-28T20:23:30.561Z,1761683010.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975 2025-10-28T20:23:30.813Z,1761683010.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762840 2025-10-28T20:23:30.938Z,1761683010.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722796,0.689033,-0.052910],[-0.676847,0.721300,0.146986],[0.139442,-0.070428,0.987722]] 2025-10-28T20:23:31.065Z,1761683011.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014934 2025-10-28T20:23:31.317Z,1761683011.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894 2025-10-28T20:23:31.348Z,1761683011.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719986,0.690740,-0.067067],[-0.663612,0.713528,0.224718],[0.203076,-0.117287,0.972113]] 2025-10-28T20:23:31.569Z,1761683011.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897 2025-10-28T20:23:31.759Z,1761683011.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710508,0.700097,-0.071015],[-0.658452,0.697038,0.283866],[0.248234,-0.154929,0.956231]] 2025-10-28T20:23:31.824Z,1761683011.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773268 2025-10-28T20:23:32.074Z,1761683012.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023684 2025-10-28T20:23:32.151Z,1761683012.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709871,0.704315,-0.004705],[-0.679964,0.687040,0.256174],[0.183660,-0.178651,0.966619]] 2025-10-28T20:23:32.208Z,1761683012.208 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:23:32.208Z,1761683012.208 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:23:32.209Z,1761683012.209 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:23:32.209Z,1761683012.209 [marl:UpdateRudder:A] Stopped 2025-10-28T20:23:32.209Z,1761683012.209 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:23:32.325Z,1761683012.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274877 2025-10-28T20:23:32.558Z,1761683012.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714859,0.698960,0.020789],[-0.689118,0.699123,0.190642],[0.118717,-0.150608,0.981440]] 2025-10-28T20:23:32.577Z,1761683012.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527060 2025-10-28T20:23:32.584Z,1761683012.584 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateRudder:B] Stopped 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateRudder] Stopped 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:23:32.585Z,1761683012.585 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:23:32.586Z,1761683012.586 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:23:32.586Z,1761683012.586 [marl:UpdateCommandMode] Stopped 2025-10-28T20:23:32.586Z,1761683012.586 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:23:32.829Z,1761683012.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778835 2025-10-28T20:23:32.958Z,1761683012.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713869,0.697391,-0.063535],[-0.681713,0.712830,0.164747],[0.160183,-0.074295,0.984287]] 2025-10-28T20:23:33.081Z,1761683013.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031448 2025-10-28T20:23:33.333Z,1761683013.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282928 2025-10-28T20:23:33.363Z,1761683013.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701590,0.698782,-0.139552],[-0.684865,0.715332,0.138781],[0.196804,-0.001793,0.980441]] 2025-10-28T20:23:33.585Z,1761683013.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534877 2025-10-28T20:23:33.829Z,1761683013.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700053,0.711650,-0.058987],[-0.706569,0.702269,0.087054],[0.103376,-0.019264,0.994456]] 2025-10-28T20:23:33.837Z,1761683013.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787057 2025-10-28T20:23:34.089Z,1761683014.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039304 2025-10-28T20:23:34.171Z,1761683014.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709778,0.704058,0.022768],[-0.703473,0.706766,0.074882],[0.036629,-0.069166,0.996932]] 2025-10-28T20:23:34.213Z,1761683014.213 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:23:34.213Z,1761683014.213 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:23:34.213Z,1761683014.213 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:23:34.214Z,1761683014.214 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:23:34.214Z,1761683014.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:23:34.214Z,1761683014.214 [marl:UpdateSpeed] Stopped 2025-10-28T20:23:34.214Z,1761683014.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:23:34.344Z,1761683014.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293564 2025-10-28T20:23:34.575Z,1761683014.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714968,0.698979,0.015785],[-0.696122,0.709581,0.109123],[0.065074,-0.089008,0.993903]] 2025-10-28T20:23:34.593Z,1761683014.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542997 2025-10-28T20:23:34.845Z,1761683014.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794943 2025-10-28T20:23:34.978Z,1761683014.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718047,0.695951,0.007791],[-0.693165,0.714076,0.098073],[0.062691,-0.075821,0.995149]] 2025-10-28T20:23:35.097Z,1761683015.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046857 2025-10-28T20:23:35.349Z,1761683015.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298890 2025-10-28T20:23:35.383Z,1761683015.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713005,0.701146,0.004270],[-0.699719,0.711138,0.068376],[0.044905,-0.051740,0.997651]] 2025-10-28T20:23:35.601Z,1761683015.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550923 2025-10-28T20:23:35.838Z,1761683015.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698858,0.714828,0.024881],[-0.715116,0.697594,0.044402],[0.014383,-0.048824,0.998704]] 2025-10-28T20:23:35.842Z,1761683015.842 [NAL9602](INFO): SBD MO Status=2, MOMSN=3340, MT Status=2, MTMSN=0 2025-10-28T20:23:35.842Z,1761683015.842 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:23:35.853Z,1761683015.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802920 2025-10-28T20:23:36.105Z,1761683016.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054817 2025-10-28T20:23:36.191Z,1761683016.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694239,0.712930,0.098810],[-0.717279,0.696664,0.013061],[-0.059526,-0.079942,0.995021]] 2025-10-28T20:23:36.357Z,1761683016.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306939 2025-10-28T20:23:36.596Z,1761683016.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696901,0.709231,0.106399],[-0.716014,0.696491,0.047159],[-0.040659,-0.109048,0.993205]] 2025-10-28T20:23:36.609Z,1761683016.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558978 2025-10-28T20:23:36.861Z,1761683016.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811091 2025-10-28T20:23:37.005Z,1761683017.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703538,0.705348,0.086713],[-0.709866,0.691745,0.132584],[0.033534,-0.154832,0.987372]] 2025-10-28T20:23:37.113Z,1761683017.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062907 2025-10-28T20:23:37.365Z,1761683017.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314885 2025-10-28T20:23:37.402Z,1761683017.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707599,0.696959,0.116407],[-0.706600,0.696895,0.122692],[0.004388,-0.169070,0.985594]] 2025-10-28T20:23:37.617Z,1761683017.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566894 2025-10-28T20:23:37.843Z,1761683017.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702640,0.702465,0.113314],[-0.711545,0.693739,0.111490],[-0.000293,-0.158965,0.987284]] 2025-10-28T20:23:37.869Z,1761683017.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819016 2025-10-28T20:23:38.121Z,1761683018.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070858 2025-10-28T20:23:38.213Z,1761683018.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696514,0.716584,0.037096],[-0.708122,0.678100,0.196835],[0.115894,-0.163366,0.979735]] 2025-10-28T20:23:38.373Z,1761683018.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322872 2025-10-28T20:23:38.615Z,1761683018.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700356,0.713307,0.026332],[-0.700437,0.679680,0.217769],[0.137439,-0.170960,0.975645]] 2025-10-28T20:23:38.625Z,1761683018.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574881 2025-10-28T20:23:38.877Z,1761683018.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826810 2025-10-28T20:23:39.023Z,1761683019.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705038,0.701461,0.104278],[-0.707955,0.687580,0.161349],[0.041481,-0.187581,0.981373]] 2025-10-28T20:23:39.129Z,1761683019.129 [DAT](INFO): Reached modem response timeout 2025-10-28T20:23:39.422Z,1761683019.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716089,0.691995,0.091432],[-0.697236,0.702968,0.140350],[0.032848,-0.164253,0.985871]] 2025-10-28T20:23:39.849Z,1761683019.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717854,0.694267,0.051759],[-0.693140,0.705772,0.146433],[0.065134,-0.140994,0.987866]] 2025-10-28T20:23:40.230Z,1761683020.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705174,0.702357,0.097080],[-0.708988,0.696925,0.107849],[0.008091,-0.144881,0.989416]] 2025-10-28T20:23:40.634Z,1761683020.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710018,0.696767,0.101937],[-0.703718,0.707339,0.066724],[-0.025613,-0.119110,0.992551]] 2025-10-28T20:23:41.038Z,1761683021.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733442,0.679578,0.015392],[-0.679516,0.732403,0.042933],[0.017903,-0.041948,0.998959]] 2025-10-28T20:23:41.397Z,1761683021.397 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:23:41.397Z,1761683021.397 [DAT](INFO): response not received 2025-10-28T20:23:41.397Z,1761683021.397 [DAT](ERROR): No response from remote modem. 2025-10-28T20:23:41.457Z,1761683021.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731830,0.680135,-0.042904],[-0.680754,0.732512,0.000252],[0.031599,0.029023,0.999079]] 2025-10-28T20:23:41.847Z,1761683021.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716577,0.695343,-0.054909],[-0.695676,0.718179,0.015933],[0.050513,0.026782,0.998364]] 2025-10-28T20:23:42.251Z,1761683022.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720428,0.693379,-0.014472],[-0.692169,0.720165,0.047579],[0.043413,-0.024260,0.998763]] 2025-10-28T20:23:42.655Z,1761683022.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734262,0.677416,0.044351],[-0.678579,0.730483,0.076974],[0.019746,-0.086615,0.996046]] 2025-10-28T20:23:43.059Z,1761683023.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745421,0.662040,0.077788],[-0.666477,0.738010,0.105597],[0.012502,-0.130558,0.991362]] 2025-10-28T20:23:43.462Z,1761683023.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730222,0.677764,0.086091],[-0.683157,0.722771,0.104400],[0.008535,-0.135049,0.990802]] 2025-10-28T20:23:43.870Z,1761683023.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729496,0.677359,0.094974],[-0.683975,0.723175,0.095896],[-0.003727,-0.134915,0.990850]] 2025-10-28T20:23:44.273Z,1761683024.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747932,0.658935,0.080017],[-0.663492,0.745683,0.061122],[-0.019392,-0.098805,0.994918]] 2025-10-28T20:23:44.676Z,1761683024.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726153,0.684718,0.062155],[-0.687510,0.723903,0.057403],[-0.005690,-0.084415,0.996414]] 2025-10-28T20:23:45.078Z,1761683025.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743659,0.668517,0.007510],[-0.667598,0.741940,0.061949],[0.035842,-0.051082,0.998051]] 2025-10-28T20:23:45.494Z,1761683025.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755881,0.653304,-0.042872],[-0.652880,0.757043,0.025176],[0.048904,0.008960,0.998763]] 2025-10-28T20:23:45.895Z,1761683025.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739831,0.672104,-0.030437],[-0.671808,0.740439,0.020602],[0.036383,0.005206,0.999324]] 2025-10-28T20:23:45.961Z,1761683025.961 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:23:45.961Z,1761683025.961 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateRudder:A] Stopped 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:23:45.962Z,1761683025.962 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:23:45.963Z,1761683025.963 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:23:45.963Z,1761683025.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:23:45.963Z,1761683025.963 [marl:UpdateCommandMode] Stopped 2025-10-28T20:23:45.963Z,1761683025.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:23:46.290Z,1761683026.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742918,0.668374,0.036725],[-0.669364,0.741364,0.048288],[0.005047,-0.060457,0.998158]] 2025-10-28T20:23:46.327Z,1761683026.327 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:23:46.327Z,1761683026.327 [marl:UpdateRudder:B] Stopped 2025-10-28T20:23:46.327Z,1761683026.327 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:23:46.328Z,1761683026.328 [marl:UpdateRudder] Stopped 2025-10-28T20:23:46.328Z,1761683026.328 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:23:46.696Z,1761683026.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761208,0.643018,0.084202],[-0.648216,0.758319,0.069052],[-0.019451,-0.107144,0.994053]] 2025-10-28T20:23:46.704Z,1761683026.704 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:23:47.099Z,1761683027.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751450,0.658624,0.039207],[-0.658923,0.746093,0.095736],[0.033802,-0.097775,0.994634]] 2025-10-28T20:23:47.511Z,1761683027.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734247,0.678864,-0.004896],[-0.675351,0.731144,0.096584],[0.069147,-0.067610,0.995313]] 2025-10-28T20:23:47.906Z,1761683027.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744402,0.666534,0.039972],[-0.667731,0.743128,0.043551],[-0.000676,-0.059110,0.998251]] 2025-10-28T20:23:48.005Z,1761683028.005 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:23:48.005Z,1761683028.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:23:48.005Z,1761683028.005 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:23:48.005Z,1761683028.005 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:23:48.005Z,1761683028.005 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:23:48.006Z,1761683028.006 [marl:UpdateSpeed] Stopped 2025-10-28T20:23:48.006Z,1761683028.006 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:23:48.719Z,1761683028.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747628,0.663344,-0.032038],[-0.658415,0.746654,0.094854],[0.086842,-0.049821,0.994976]] 2025-10-28T20:23:49.120Z,1761683029.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732966,0.679926,0.021503],[-0.677128,0.726188,0.118951],[0.065263,-0.101747,0.992667]] 2025-10-28T20:23:49.523Z,1761683029.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728347,0.677132,0.104891],[-0.685207,0.719568,0.112753],[0.000873,-0.153995,0.988071]] 2025-10-28T20:23:49.926Z,1761683029.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718418,0.693054,0.059593],[-0.694722,0.710530,0.111842],[0.035170,-0.121750,0.991937]] 2025-10-28T20:23:50.331Z,1761683030.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714600,0.699374,-0.014896],[-0.697249,0.713825,0.065560],[0.056484,-0.036463,0.997737]] 2025-10-28T20:23:50.352Z,1761683030.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:23:50.736Z,1761683030.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712889,0.700451,-0.034037],[-0.700925,0.713229,-0.002941],[0.022216,0.025954,0.999416]] 2025-10-28T20:23:51.138Z,1761683031.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701494,0.711821,-0.034869],[-0.711772,0.702229,0.015975],[0.035857,0.013612,0.999264]] 2025-10-28T20:23:51.356Z,1761683031.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:23:51.543Z,1761683031.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698373,0.715711,-0.005761],[-0.713079,0.696453,0.080447],[0.061589,-0.052074,0.996742]] 2025-10-28T20:23:51.955Z,1761683031.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696045,0.716804,0.041392],[-0.716755,0.690292,0.098795],[0.042244,-0.098433,0.994247]] 2025-10-28T20:23:51.966Z,1761683031.966 [NAL9602](INFO): SBD MO Status=0, MOMSN=3340, MT Status=0, MTMSN=0 2025-10-28T20:23:51.966Z,1761683031.966 [NAL9602](INFO): No messages in MT queue 2025-10-28T20:23:52.352Z,1761683032.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687123,0.725346,0.041662],[-0.724732,0.680239,0.109721],[0.051245,-0.105586,0.993089]] 2025-10-28T20:23:52.761Z,1761683032.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687924,0.725227,0.028402],[-0.722756,0.680959,0.117976],[0.066219,-0.101686,0.992610]] 2025-10-28T20:23:53.163Z,1761683033.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686780,0.726756,0.012583],[-0.724313,0.682817,0.095559],[0.060856,-0.074742,0.995344]] 2025-10-28T20:23:53.169Z,1761683033.169 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202352.00,A,3645.35678,N,12151.80912,W,0.641,241.63,281025,,,A*7A 2025-10-28T20:23:53.171Z,1761683033.171 [NAL9602](INFO): GPS fix at 20251028T202352: (36.755946, -121.863485) 2025-10-28T20:23:53.209Z,1761683033.209 [UniversalFixResidualReporter](INFO): Fix residual: 1.6 %DT, over the last 1144.7 m. Residual distance 18.6 m at bearing 50.1 degrees. Fix at (36.7559, -121.8635) with 673.2 m made good. 2025-10-28T20:23:53.227Z,1761683033.227 [marl:NeedComms:C] Stopped 2025-10-28T20:23:53.227Z,1761683033.227 [marl:NeedComms:D] Running Loop=1 2025-10-28T20:23:53.233Z,1761683033.233 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761683072.00. Resetting abort timer. 2025-10-28T20:23:53.569Z,1761683033.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699558,0.714436,-0.014109],[-0.712286,0.698760,0.066202],[0.057156,-0.036262,0.997706]] 2025-10-28T20:23:54.031Z,1761683034.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702616,0.710789,0.033326],[-0.711458,0.700905,0.050590],[0.012600,-0.059256,0.998163]] 2025-10-28T20:23:54.435Z,1761683034.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697862,0.715698,0.027641],[-0.714301,0.692630,0.100188],[0.052559,-0.089662,0.994585]] 2025-10-28T20:23:54.838Z,1761683034.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681388,0.731836,0.011252],[-0.724398,0.672105,0.153370],[0.104680,-0.112655,0.988105]] 2025-10-28T20:23:55.242Z,1761683035.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678183,0.734077,0.034610],[-0.728609,0.665492,0.162016],[0.095900,-0.135094,0.986181]] 2025-10-28T20:23:55.650Z,1761683035.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682109,0.725146,0.094290],[-0.731164,0.674355,0.103167],[0.011226,-0.139313,0.990185]] 2025-10-28T20:23:56.050Z,1761683036.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699911,0.710087,0.076823],[-0.714188,0.696973,0.064527],[-0.007724,-0.100029,0.994955]] 2025-10-28T20:23:56.460Z,1761683036.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686897,0.726696,-0.009259],[-0.722880,0.684494,0.094407],[0.074943,-0.058154,0.995491]] 2025-10-28T20:23:56.859Z,1761683036.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683799,0.729551,-0.013209],[-0.726604,0.682472,0.079230],[0.066817,-0.044579,0.996769]] 2025-10-28T20:23:57.442Z,1761683037.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694627,0.719284,0.011122],[-0.718505,0.692952,0.059731],[0.035256,-0.049482,0.998153]] 2025-10-28T20:23:59.607Z,1761683039.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691318,0.721813,-0.032637],[-0.709943,0.686964,0.155120],[0.134388,-0.084067,0.987356]] 2025-10-28T20:23:59.984Z,1761683039.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686906,0.716617,-0.120914],[-0.712721,0.696789,0.080711],[0.142090,0.030737,0.989376]] 2025-10-28T20:24:00.375Z,1761683040.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680278,0.730263,-0.062751],[-0.722037,0.682407,0.113944],[0.126031,-0.032205,0.991503]] 2025-10-28T20:24:00.783Z,1761683040.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697863,0.716196,-0.007108],[-0.705037,0.688670,0.169285],[0.126136,-0.113127,0.985541]] 2025-10-28T20:24:01.183Z,1761683041.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694627,0.715782,0.071764],[-0.716729,0.680083,0.154227],[0.061588,-0.158566,0.985426]] 2025-10-28T20:24:01.589Z,1761683041.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668920,0.731211,0.133701],[-0.743245,0.660722,0.105045],[-0.011529,-0.169639,0.985439]] 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateRudder:A] Stopped 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:24:01.613Z,1761683041.613 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:24:01.614Z,1761683041.614 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:24:01.614Z,1761683041.614 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:24:01.614Z,1761683041.614 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:24:01.614Z,1761683041.614 [marl:UpdateCommandMode] Stopped 2025-10-28T20:24:01.614Z,1761683041.614 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:24:01.989Z,1761683041.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697985,0.705615,0.122164],[-0.715721,0.693020,0.086416],[-0.023686,-0.147752,0.988741]] 2025-10-28T20:24:02.048Z,1761683042.048 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:24:02.048Z,1761683042.048 [marl:UpdateRudder:B] Stopped 2025-10-28T20:24:02.048Z,1761683042.048 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:24:02.048Z,1761683042.048 [marl:UpdateRudder] Stopped 2025-10-28T20:24:02.048Z,1761683042.048 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:24:02.390Z,1761683042.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719923,0.688200,0.089950],[-0.692492,0.720935,0.026606],[-0.046538,-0.081444,0.995591]] 2025-10-28T20:24:02.798Z,1761683042.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701025,0.711187,0.052703],[-0.711664,0.702411,-0.012362],[-0.045812,-0.028841,0.998534]] 2025-10-28T20:24:03.201Z,1761683043.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703687,0.710002,0.026874],[-0.710349,0.702217,0.047904],[0.015140,-0.052799,0.998490]] 2025-10-28T20:24:03.604Z,1761683043.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708070,0.705653,0.026287],[-0.700212,0.696823,0.155373],[0.091322,-0.128422,0.987506]] 2025-10-28T20:24:03.642Z,1761683043.642 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:24:03.642Z,1761683043.642 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:24:03.642Z,1761683043.642 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:24:03.643Z,1761683043.643 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:24:03.643Z,1761683043.643 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:24:03.643Z,1761683043.643 [marl:UpdateSpeed] Stopped 2025-10-28T20:24:03.643Z,1761683043.643 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:24:04.007Z,1761683044.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700823,0.711564,0.050244],[-0.704972,0.680131,0.201087],[0.108914,-0.176347,0.978284]] 2025-10-28T20:24:04.411Z,1761683044.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703897,0.705978,0.078251],[-0.707857,0.688073,0.159668],[0.058880,-0.167781,0.984064]] 2025-10-28T20:24:04.816Z,1761683044.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681805,0.727167,0.079808],[-0.729845,0.668763,0.141712],[0.049676,-0.154867,0.986686]] 2025-10-28T20:24:05.218Z,1761683045.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686177,0.726267,0.041198],[-0.722841,0.674396,0.150635],[0.081618,-0.133142,0.987731]] 2025-10-28T20:24:05.623Z,1761683045.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718346,0.694855,-0.033988],[-0.689313,0.717513,0.100116],[0.093953,-0.048489,0.994395]] 2025-10-28T20:24:06.051Z,1761683046.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723515,0.686862,-0.068890],[-0.689081,0.724572,-0.012762],[0.041150,0.056704,0.997543]] 2025-10-28T20:24:06.550Z,1761683046.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711927,0.697814,-0.078844],[-0.701714,0.711282,-0.040925],[0.027522,0.084462,0.996047]] 2025-10-28T20:24:06.935Z,1761683046.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728077,0.680682,-0.081097],[-0.680485,0.731957,0.034336],[0.082732,0.030186,0.996115]] 2025-10-28T20:24:07.338Z,1761683047.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740332,0.668063,-0.074834],[-0.656589,0.742482,0.132709],[0.144221,-0.049114,0.988326]] 2025-10-28T20:24:07.745Z,1761683047.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743971,0.666962,-0.040847],[-0.653954,0.739296,0.160581],[0.137300,-0.092756,0.986177]] 2025-10-28T20:24:08.148Z,1761683048.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730948,0.682409,0.005677],[-0.674556,0.721226,0.157503],[0.103387,-0.118956,0.987502]] 2025-10-28T20:24:08.553Z,1761683048.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720967,0.692951,0.004978],[-0.683627,0.710054,0.168752],[0.113402,-0.125068,0.985646]] 2025-10-28T20:24:08.962Z,1761683048.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737031,0.674842,-0.037066],[-0.662556,0.732264,0.157510],[0.133436,-0.091531,0.986822]] 2025-10-28T20:24:09.360Z,1761683049.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754916,0.655795,-0.005867],[-0.654328,0.753770,0.060705],[0.044233,-0.041988,0.998138]] 2025-10-28T20:24:09.783Z,1761683049.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756799,0.648216,0.084084],[-0.644799,0.761447,-0.066581],[-0.107185,-0.003829,0.994232]] 2025-10-28T20:24:10.168Z,1761683050.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762388,0.643628,0.067144],[-0.639226,0.765180,-0.076747],[-0.100774,0.015591,0.994787]] 2025-10-28T20:24:10.574Z,1761683050.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752795,0.658094,-0.014567],[-0.658186,0.752852,-0.002166],[0.009542,0.011218,0.999892]] 2025-10-28T20:24:10.977Z,1761683050.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746781,0.662973,-0.052767],[-0.664063,0.747664,-0.004342],[0.036573,0.038284,0.998597]] 2025-10-28T20:24:11.378Z,1761683051.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765353,0.640225,-0.065929],[-0.642313,0.766293,-0.015113],[0.040845,0.053914,0.997710]] 2025-10-28T20:24:11.817Z,1761683051.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784635,0.615983,-0.070084],[-0.617608,0.786483,-0.001951],[0.053918,0.044815,0.997539]] 2025-10-28T20:24:12.187Z,1761683052.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776694,0.624430,-0.082661],[-0.618680,0.780924,0.085985],[0.118244,-0.015644,0.992861]] 2025-10-28T20:24:12.601Z,1761683052.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755419,0.653047,-0.053585],[-0.629863,0.746267,0.215308],[0.180595,-0.128896,0.975075]] 2025-10-28T20:24:12.995Z,1761683052.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735593,0.676747,0.030269],[-0.656427,0.701044,0.278641],[0.167350,-0.224836,0.959918]] 2025-10-28T20:24:13.399Z,1761683053.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735631,0.675574,0.049460],[-0.660390,0.699011,0.274353],[0.150773,-0.234485,0.960356]] 2025-10-28T20:24:13.833Z,1761683053.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748602,0.660919,-0.052735],[-0.630342,0.734114,0.252480],[0.205582,-0.155766,0.966164]] 2025-10-28T20:24:14.208Z,1761683054.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731894,0.662004,-0.161499],[-0.639265,0.749121,0.173661],[0.235946,-0.023860,0.971473]] 2025-10-28T20:24:14.613Z,1761683054.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721590,0.675708,-0.150750],[-0.670509,0.736314,0.090880],[0.172408,0.035501,0.984386]] 2025-10-28T20:24:15.015Z,1761683055.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723918,0.679587,-0.118763],[-0.676154,0.733093,0.073421],[0.136960,0.027152,0.990204]] 2025-10-28T20:24:15.054Z,1761683055.054 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:24:15.054Z,1761683055.054 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:24:15.054Z,1761683055.054 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:24:15.054Z,1761683055.054 [marl:UpdateRudder:A] Stopped 2025-10-28T20:24:15.054Z,1761683055.054 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode] Stopped 2025-10-28T20:24:15.055Z,1761683055.055 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:24:15.419Z,1761683055.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721302,0.682836,-0.116011],[-0.678879,0.730203,0.076991],[0.137284,0.023224,0.990259]] 2025-10-28T20:24:15.433Z,1761683055.433 [NAL9602](INFO): SBD MO Status=2, MOMSN=3341, MT Status=2, MTMSN=0 2025-10-28T20:24:15.433Z,1761683055.433 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:24:15.488Z,1761683055.488 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:24:15.488Z,1761683055.488 [marl:UpdateRudder:B] Stopped 2025-10-28T20:24:15.489Z,1761683055.489 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:24:15.489Z,1761683055.489 [marl:UpdateRudder] Stopped 2025-10-28T20:24:15.489Z,1761683055.489 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:24:15.840Z,1761683055.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716573,0.694354,-0.066297],[-0.689766,0.719533,0.080590],[0.103661,-0.012019,0.994540]] 2025-10-28T20:24:16.227Z,1761683056.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717292,0.696295,-0.025805],[-0.691365,0.715841,0.097908],[0.086645,-0.052388,0.994861]] 2025-10-28T20:24:16.634Z,1761683056.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704254,0.709800,0.014523],[-0.707011,0.699334,0.105201],[0.064515,-0.084356,0.994345]] 2025-10-28T20:24:17.035Z,1761683057.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703493,0.709215,0.045955],[-0.710597,0.700804,0.062654],[0.012230,-0.076732,0.996977]] 2025-10-28T20:24:17.059Z,1761683057.059 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:24:17.059Z,1761683057.059 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:24:17.059Z,1761683057.059 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:24:17.060Z,1761683057.060 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:24:17.060Z,1761683057.060 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:24:17.060Z,1761683057.060 [marl:UpdateSpeed] Stopped 2025-10-28T20:24:17.060Z,1761683057.060 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:24:17.449Z,1761683057.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721227,0.692095,0.028915],[-0.692644,0.720013,0.042725],[0.008751,-0.050843,0.998668]] 2025-10-28T20:24:17.846Z,1761683057.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710373,0.703739,-0.011037],[-0.702956,0.710187,0.038554],[0.034970,-0.019629,0.999196]] 2025-10-28T20:24:18.247Z,1761683058.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673668,0.738976,-0.009262],[-0.738013,0.673344,0.044104],[0.038828,-0.022876,0.998984]] 2025-10-28T20:24:18.654Z,1761683058.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662081,0.748937,0.027245],[-0.749419,0.661854,0.017928],[-0.004605,-0.032288,0.999468]] 2025-10-28T20:24:19.056Z,1761683059.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670792,0.738411,0.069193],[-0.738623,0.673559,-0.027472],[-0.066891,-0.032679,0.997225]] 2025-10-28T20:24:19.461Z,1761683059.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690664,0.721143,0.054186],[-0.722116,0.691768,-0.002285],[-0.039132,-0.037551,0.998528]] 2025-10-28T20:24:19.863Z,1761683059.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678923,0.733953,0.019385],[-0.734209,0.678721,0.016600],[-0.000973,-0.025503,0.999674]] 2025-10-28T20:24:20.266Z,1761683060.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655532,0.754353,0.035075],[-0.755064,0.655504,0.013894],[-0.012510,-0.035592,0.999288]] 2025-10-28T20:24:20.739Z,1761683060.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662178,0.747746,0.048950],[-0.749072,0.662291,0.016211],[-0.020297,-0.047402,0.998670]] 2025-10-28T20:24:21.123Z,1761683061.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677668,0.731851,0.071832],[-0.734167,0.678906,0.009239],[-0.042005,-0.058998,0.997374]] 2025-10-28T20:24:21.494Z,1761683061.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:24:22.496Z,1761683062.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:24:23.271Z,1761683063.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601760,0.792516,0.099017],[-0.798484,0.594248,0.096395],[0.017554,-0.137070,0.990406]] 2025-10-28T20:24:23.649Z,1761683063.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587301,0.805009,0.083899],[-0.802982,0.566531,0.185100],[0.101476,-0.176078,0.979132]] 2025-10-28T20:24:24.051Z,1761683064.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595044,0.799773,0.079282],[-0.797397,0.575178,0.182559],[0.100405,-0.171850,0.979993]] 2025-10-28T20:24:24.457Z,1761683064.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585141,0.808869,0.057801],[-0.805599,0.571654,0.155631],[0.092843,-0.137631,0.986123]] 2025-10-28T20:24:24.859Z,1761683064.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570437,0.820665,0.033340],[-0.818319,0.564390,0.108709],[0.070397,-0.089295,0.993514]] 2025-10-28T20:24:25.263Z,1761683065.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576163,0.817132,-0.018211],[-0.814890,0.576019,0.064475],[0.063175,-0.022308,0.997753]] 2025-10-28T20:24:25.667Z,1761683065.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583622,0.809944,-0.058107],[-0.809961,0.585746,0.029431],[0.057874,0.029888,0.997876]] 2025-10-28T20:24:26.070Z,1761683066.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602673,0.796420,-0.050006],[-0.796074,0.604384,0.031418],[0.055244,0.020874,0.998255]] 2025-10-28T20:24:26.475Z,1761683066.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602361,0.797498,-0.034025],[-0.794204,0.603056,0.074593],[0.080006,-0.017909,0.996634]] 2025-10-28T20:24:26.879Z,1761683066.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590338,0.807155,0.001319],[-0.801930,0.586330,0.114571],[0.091703,-0.068693,0.993414]] 2025-10-28T20:24:27.284Z,1761683067.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583447,0.810980,0.043601],[-0.806076,0.571692,0.153003],[0.099156,-0.124415,0.987263]] 2025-10-28T20:24:27.687Z,1761683067.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585430,0.809838,0.037870],[-0.796625,0.565948,0.212347],[0.150534,-0.154483,0.976460]] 2025-10-28T20:24:28.091Z,1761683068.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593887,0.804489,-0.009749],[-0.780990,0.579366,0.233215],[0.193267,-0.130890,0.972376]] 2025-10-28T20:24:28.496Z,1761683068.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587319,0.808113,-0.044839],[-0.786395,0.582883,0.204525],[0.191415,-0.084860,0.977834]] 2025-10-28T20:24:28.900Z,1761683068.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582544,0.808003,-0.088170],[-0.787292,0.587895,0.185877],[0.202024,-0.038866,0.978609]] 2025-10-28T20:24:28.941Z,1761683068.941 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:24:29.053Z,1761683069.053 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:24:29.053Z,1761683069.053 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:24:29.302Z,1761683069.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596458,0.798412,-0.082320],[-0.782778,0.601305,0.160286],[0.177474,-0.031165,0.983632]] 2025-10-28T20:24:29.305Z,1761683069.305 [DAT](INFO): DAT read: user:252> 2025-10-28T20:24:29.306Z,1761683069.306 [DAT](INFO): DAT read: Tx time:20:24:29.0686 2025-10-28T20:24:29.306Z,1761683069.306 [DAT](INFO): Ping request sent. 2025-10-28T20:24:29.306Z,1761683069.306 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:24:29.306Z,1761683069.306 [DAT](INFO): publishing transmit ping time 2025-10-28T20:24:29.307Z,1761683069.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T20:24:29.557Z,1761683069.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250780 2025-10-28T20:24:29.706Z,1761683069.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617494,0.785874,-0.033216],[-0.776068,0.615581,0.137035],[0.128139,-0.058840,0.990009]] 2025-10-28T20:24:29.811Z,1761683069.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504782 2025-10-28T20:24:30.061Z,1761683070.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754726 2025-10-28T20:24:30.113Z,1761683070.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614264,0.789090,-0.004195],[-0.787093,0.613071,0.068037],[0.056259,-0.038491,0.997674]] 2025-10-28T20:24:30.173Z,1761683070.173 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:24:30.173Z,1761683070.173 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:24:30.173Z,1761683070.173 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateRudder:A] Stopped 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:24:30.174Z,1761683070.174 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:24:30.175Z,1761683070.175 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:24:30.175Z,1761683070.175 [marl:UpdateCommandMode] Stopped 2025-10-28T20:24:30.175Z,1761683070.175 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:24:30.313Z,1761683070.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006740 2025-10-28T20:24:30.514Z,1761683070.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604962,0.796043,0.018346],[-0.794922,0.602459,0.071708],[0.046030,-0.057964,0.997257]] 2025-10-28T20:24:30.545Z,1761683070.545 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:24:30.545Z,1761683070.545 [marl:UpdateRudder:B] Stopped 2025-10-28T20:24:30.545Z,1761683070.545 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:24:30.545Z,1761683070.545 [marl:UpdateRudder] Stopped 2025-10-28T20:24:30.545Z,1761683070.545 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:24:30.566Z,1761683070.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259430 2025-10-28T20:24:30.817Z,1761683070.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817 2025-10-28T20:24:30.925Z,1761683070.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606602,0.795001,0.002802],[-0.783916,0.597550,0.168554],[0.132326,-0.104442,0.985688]] 2025-10-28T20:24:31.069Z,1761683071.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762690 2025-10-28T20:24:31.321Z,1761683071.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014738 2025-10-28T20:24:31.325Z,1761683071.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616100,0.787614,-0.009188],[-0.769991,0.604690,0.203626],[0.165935,-0.118380,0.979006]] 2025-10-28T20:24:31.573Z,1761683071.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785 2025-10-28T20:24:31.728Z,1761683071.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631114,0.775389,0.021610],[-0.770383,0.623300,0.134189],[0.090579,-0.101337,0.990720]] 2025-10-28T20:24:31.828Z,1761683071.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521039 2025-10-28T20:24:32.077Z,1761683072.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770749 2025-10-28T20:24:32.130Z,1761683072.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627164,0.776905,0.055532],[-0.778260,0.622201,0.084724],[0.031270,-0.096354,0.994856]] 2025-10-28T20:24:32.182Z,1761683072.182 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:24:32.182Z,1761683072.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:24:32.182Z,1761683072.182 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:24:32.183Z,1761683072.183 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:24:32.183Z,1761683072.183 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:24:32.183Z,1761683072.183 [marl:UpdateSpeed] Stopped 2025-10-28T20:24:32.183Z,1761683072.183 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:24:32.329Z,1761683072.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022802 2025-10-28T20:24:32.534Z,1761683072.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634954,0.769733,0.065910],[-0.771758,0.628129,0.099218],[0.034971,-0.113866,0.992880]] 2025-10-28T20:24:32.581Z,1761683072.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872 2025-10-28T20:24:32.833Z,1761683072.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526777 2025-10-28T20:24:32.942Z,1761683072.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642316,0.765291,0.041952],[-0.762215,0.632078,0.139663],[0.080366,-0.121684,0.989310]] 2025-10-28T20:24:33.085Z,1761683073.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778944 2025-10-28T20:24:33.337Z,1761683073.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030864 2025-10-28T20:24:33.344Z,1761683073.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623716,0.780938,0.033369],[-0.776691,0.614392,0.138828],[0.087915,-0.112507,0.989754]] 2025-10-28T20:24:33.589Z,1761683073.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282785 2025-10-28T20:24:33.763Z,1761683073.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617878,0.782787,0.073966],[-0.785904,0.611962,0.088643],[0.024125,-0.112901,0.993313]] 2025-10-28T20:24:33.842Z,1761683073.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535420 2025-10-28T20:24:34.093Z,1761683074.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786756 2025-10-28T20:24:34.150Z,1761683074.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618087,0.779361,0.102784],[-0.785465,0.617572,0.040613],[-0.031824,-0.105835,0.993874]] 2025-10-28T20:24:34.345Z,1761683074.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038749 2025-10-28T20:24:34.555Z,1761683074.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633219,0.769408,0.083933],[-0.773757,0.631867,0.045204],[-0.018254,-0.093568,0.995446]] 2025-10-28T20:24:34.597Z,1761683074.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290940 2025-10-28T20:24:34.849Z,1761683074.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542733 2025-10-28T20:24:34.959Z,1761683074.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643288,0.765536,0.011618],[-0.763175,0.639943,0.089649],[0.061195,-0.066537,0.995906]] 2025-10-28T20:24:35.102Z,1761683075.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795391 2025-10-28T20:24:35.357Z,1761683075.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050920 2025-10-28T20:24:35.365Z,1761683075.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621547,0.783301,0.010885],[-0.781758,0.619309,0.072878],[0.050344,-0.053806,0.997281]] 2025-10-28T20:24:35.610Z,1761683075.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303699 2025-10-28T20:24:35.827Z,1761683075.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593024,0.803121,0.057608],[-0.805145,0.590762,0.052362],[0.008020,-0.077435,0.996965]] 2025-10-28T20:24:35.861Z,1761683075.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554855 2025-10-28T20:24:36.113Z,1761683076.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806828 2025-10-28T20:24:36.176Z,1761683076.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605203,0.795230,0.036580],[-0.793765,0.599317,0.103716],[0.060555,-0.091805,0.993934]] 2025-10-28T20:24:36.365Z,1761683076.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058733 2025-10-28T20:24:36.574Z,1761683076.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634977,0.772467,0.009966],[-0.767169,0.629000,0.125737],[0.090859,-0.087485,0.992014]] 2025-10-28T20:24:36.617Z,1761683076.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310830 2025-10-28T20:24:36.869Z,1761683076.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562819 2025-10-28T20:24:36.978Z,1761683076.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605734,0.795025,0.031964],[-0.794860,0.602821,0.069323],[0.035845,-0.067398,0.997082]] 2025-10-28T20:24:37.121Z,1761683077.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814751 2025-10-28T20:24:37.377Z,1761683077.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070663 2025-10-28T20:24:37.385Z,1761683077.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563107,0.822338,0.081672],[-0.826375,0.560803,0.051029],[-0.003839,-0.096226,0.995352]] 2025-10-28T20:24:37.629Z,1761683077.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322808 2025-10-28T20:24:37.847Z,1761683077.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569096,0.814195,0.114964],[-0.822217,0.561853,0.091003],[0.009502,-0.146315,0.989192]] 2025-10-28T20:24:37.881Z,1761683077.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574857 2025-10-28T20:24:38.134Z,1761683078.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827399 2025-10-28T20:24:38.190Z,1761683078.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575422,0.810813,0.107110],[-0.817851,0.569963,0.079135],[0.003115,-0.133136,0.991093]] 2025-10-28T20:24:38.385Z,1761683078.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078807 2025-10-28T20:24:38.594Z,1761683078.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571711,0.818646,0.054447],[-0.820390,0.569571,0.050487],[0.010320,-0.073531,0.997240]] 2025-10-28T20:24:38.637Z,1761683078.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330724 2025-10-28T20:24:38.890Z,1761683078.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583543 2025-10-28T20:24:38.999Z,1761683078.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566184,0.824190,0.012105],[-0.824270,0.566187,0.003483],[-0.003982,-0.011950,0.999921]] 2025-10-28T20:24:39.141Z,1761683079.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834782 2025-10-28T20:24:39.401Z,1761683079.401 [DAT](INFO): Reached modem response timeout 2025-10-28T20:24:39.419Z,1761683079.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548207,0.836301,0.008409],[-0.836313,0.548245,-0.002967],[-0.007091,-0.005407,0.999960]] 2025-10-28T20:24:39.850Z,1761683079.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546932,0.837085,0.012424],[-0.834978,0.544361,0.080515],[0.060635,-0.054410,0.996676]] 2025-10-28T20:24:40.210Z,1761683080.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581292,0.809242,0.085008],[-0.811371,0.568570,0.135664],[0.061452,-0.147834,0.987101]] 2025-10-28T20:24:40.614Z,1761683080.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574714,0.805675,0.143498],[-0.816999,0.554785,0.157243],[0.047076,-0.207607,0.977079]] 2025-10-28T20:24:40.629Z,1761683080.629 [NAL9602](INFO): SBD MO Status=1, MOMSN=3341, MT Status=0, MTMSN=0 2025-10-28T20:24:40.680Z,1761683080.680 [NAL9602](INFO): Sent 94 bytes from file Logs/20251028T162422/Courier0039.lzma 2025-10-28T20:24:40.680Z,1761683080.680 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:24:41.019Z,1761683081.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550465,0.819826,0.157714],[-0.832243,0.523920,0.181326],[0.066026,-0.231070,0.970694]] 2025-10-28T20:24:41.669Z,1761683081.669 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:24:41.669Z,1761683081.669 [DAT](INFO): response not received 2025-10-28T20:24:41.669Z,1761683081.669 [DAT](ERROR): No response from remote modem. 2025-10-28T20:24:41.841Z,1761683081.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573358,0.814534,0.088294],[-0.819302,0.569739,0.064348],[0.002109,-0.109234,0.994014]] 2025-10-28T20:24:42.162Z,1761683082.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569594,0.821924,0.001800],[-0.820811,0.568706,0.053310],[0.042794,-0.031842,0.998576]] 2025-10-28T20:24:44.301Z,1761683084.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591588,0.803324,0.068508],[-0.799568,0.573662,0.177770],[0.103507,-0.159944,0.981684]] 2025-10-28T20:24:44.688Z,1761683084.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593939,0.797858,0.103240],[-0.802449,0.578341,0.146962],[0.057547,-0.170132,0.983740]] 2025-10-28T20:24:45.090Z,1761683085.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582613,0.804387,0.116295],[-0.812652,0.574331,0.098693],[0.012596,-0.152007,0.988299]] 2025-10-28T20:24:45.495Z,1761683085.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600352,0.792476,0.107512],[-0.799412,0.598487,0.052478],[-0.022757,-0.117452,0.992818]] 2025-10-28T20:24:45.937Z,1761683085.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606981,0.792838,0.054613],[-0.793951,0.607978,-0.002098],[-0.034867,-0.042086,0.998505]] 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateRudder:A] Stopped 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:24:46.227Z,1761683086.227 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:24:46.236Z,1761683086.236 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:24:46.236Z,1761683086.236 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:24:46.236Z,1761683086.236 [marl:UpdateCommandMode] Stopped 2025-10-28T20:24:46.236Z,1761683086.236 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:24:46.540Z,1761683086.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591184,0.806197,-0.023412],[-0.806445,0.591306,-0.002099],[0.012151,0.020122,0.999724]] 2025-10-28T20:24:46.581Z,1761683086.581 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:24:46.581Z,1761683086.581 [marl:UpdateRudder:B] Stopped 2025-10-28T20:24:46.581Z,1761683086.581 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:24:46.581Z,1761683086.581 [marl:UpdateRudder] Stopped 2025-10-28T20:24:46.581Z,1761683086.581 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:24:47.211Z,1761683087.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595498,0.803343,-0.004746],[-0.802524,0.595139,0.041997],[0.036562,-0.021201,0.999106]] 2025-10-28T20:24:47.615Z,1761683087.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597697,0.800230,0.048892],[-0.799862,0.591048,0.104319],[0.054582,-0.101458,0.993341]] 2025-10-28T20:24:47.660Z,1761683087.660 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:24:47.660Z,1761683087.660 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:24:47.660Z,1761683087.660 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:24:47.661Z,1761683087.661 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:24:47.661Z,1761683087.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:24:47.661Z,1761683087.661 [marl:UpdateSpeed] Stopped 2025-10-28T20:24:47.661Z,1761683087.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:24:48.027Z,1761683088.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557074,0.828661,0.054680],[-0.818915,0.537194,0.201991],[0.138008,-0.157302,0.977860]] 2025-10-28T20:24:48.437Z,1761683088.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571579,0.817143,0.074671],[-0.815632,0.555851,0.160544],[0.089681,-0.152667,0.984200]] 2025-10-28T20:24:48.837Z,1761683088.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579354,0.814063,0.040634],[-0.811165,0.570978,0.126472],[0.079755,-0.106233,0.991138]] 2025-10-28T20:24:49.251Z,1761683089.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559007,0.826341,-0.068351],[-0.814812,0.562733,0.139333],[0.153600,-0.022195,0.987884]] 2025-10-28T20:24:49.645Z,1761683089.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552079,0.825143,-0.119783],[-0.814097,0.564487,0.136388],[0.180155,0.022218,0.983387]] 2025-10-28T20:24:50.041Z,1761683090.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562762,0.823139,-0.075770],[-0.814016,0.567794,0.122429],[0.143798,-0.007221,0.989581]] 2025-10-28T20:24:50.450Z,1761683090.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567298,0.822350,-0.043746],[-0.809434,0.566593,0.154239],[0.151625,-0.052091,0.987065]] 2025-10-28T20:24:50.848Z,1761683090.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560598,0.827144,-0.039529],[-0.808550,0.557055,0.189572],[0.178823,-0.074312,0.981071]] 2025-10-28T20:24:51.253Z,1761683091.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562157,0.827030,0.001090],[-0.806874,0.548167,0.220151],[0.181474,-0.124639,0.975465]] 2025-10-28T20:24:51.657Z,1761683091.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575044,0.816828,0.046003],[-0.808331,0.558590,0.185955],[0.126196,-0.144118,0.981481]] 2025-10-28T20:24:52.059Z,1761683092.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568986,0.820402,0.056524],[-0.816811,0.555857,0.154413],[0.095261,-0.134028,0.986388]] 2025-10-28T20:24:52.463Z,1761683092.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552623,0.833011,0.026479],[-0.824488,0.541774,0.163403],[0.121771,-0.112132,0.986204]] 2025-10-28T20:24:52.628Z,1761683092.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:24:52.898Z,1761683092.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559336,0.827214,0.053486],[-0.821472,0.544499,0.169423],[0.111026,-0.138701,0.984091]] 2025-10-28T20:24:53.272Z,1761683093.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561859,0.823520,0.078294],[-0.823401,0.547646,0.148639],[0.079530,-0.147982,0.985787]] 2025-10-28T20:24:53.632Z,1761683093.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:24:53.675Z,1761683093.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570154,0.817847,0.077782],[-0.820204,0.561280,0.110587],[0.046786,-0.126849,0.990818]] 2025-10-28T20:24:54.079Z,1761683094.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570031,0.818004,0.077032],[-0.821614,0.567960,0.048697],[-0.003917,-0.091050,0.995839]] 2025-10-28T20:24:54.090Z,1761683094.090 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500131375,35.0, +14.7, 0.0, 0 2025-10-28T20:24:54.498Z,1761683094.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570620,0.817421,0.078835],[-0.821117,0.569393,0.039483],[-0.012614,-0.087263,0.996105]] 2025-10-28T20:24:54.902Z,1761683094.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575132,0.816984,0.041954],[-0.816596,0.570279,0.089174],[0.048928,-0.085547,0.995132]] 2025-10-28T20:24:55.296Z,1761683095.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587099,0.808682,0.036717],[-0.806997,0.581095,0.105281],[0.063803,-0.091440,0.993765]] 2025-10-28T20:24:55.695Z,1761683095.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596686,0.800454,0.056911],[-0.801712,0.591526,0.085763],[0.034985,-0.096800,0.994689]] 2025-10-28T20:24:56.099Z,1761683096.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606101,0.794007,0.046844],[-0.793062,0.598778,0.111879],[0.060784,-0.104961,0.992617]] 2025-10-28T20:24:56.510Z,1761683096.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594449,0.803080,0.041147],[-0.800764,0.586504,0.121612],[0.073531,-0.105241,0.991725]] 2025-10-28T20:24:56.913Z,1761683096.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602835,0.797763,0.012789],[-0.792994,0.597309,0.119927],[0.088034,-0.082438,0.992700]] 2025-10-28T20:24:57.311Z,1761683097.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616197,0.787169,-0.025822],[-0.773350,0.610936,0.169371],[0.149100,-0.084396,0.985214]] 2025-10-28T20:24:57.715Z,1761683097.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619112,0.783746,-0.049416],[-0.764037,0.615698,0.192780],[0.181516,-0.081597,0.979997]] 2025-10-28T20:24:58.120Z,1761683098.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623024,0.782061,0.014930],[-0.774943,0.614534,0.147688],[0.106326,-0.103583,0.988921]] 2025-10-28T20:24:58.526Z,1761683098.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601949,0.796737,0.053538],[-0.795969,0.593295,0.120145],[0.063961,-0.114936,0.991312]] 2025-10-28T20:24:58.927Z,1761683098.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608929,0.789368,0.078124],[-0.791397,0.597891,0.127346],[0.053813,-0.139372,0.988777]] 2025-10-28T20:24:58.951Z,1761683098.951 [NAL9602](INFO): SBD MO Status=1, MOMSN=3342, MT Status=0, MTMSN=0 2025-10-28T20:24:59.004Z,1761683099.004 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0040.lzma 2025-10-28T20:24:59.004Z,1761683099.004 [NAL9602](INFO): Packets left to send: 2 2025-10-28T20:24:59.331Z,1761683099.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637830,0.765841,0.081616],[-0.769737,0.630295,0.101154],[0.026026,-0.127342,0.991517]] 2025-10-28T20:25:00.257Z,1761683100.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635651,0.771947,0.006805],[-0.771793,0.635283,0.027408],[0.016834,-0.022674,0.999601]] 2025-10-28T20:25:00.281Z,1761683100.281 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateRudder:A] Stopped 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:25:00.282Z,1761683100.282 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:25:00.283Z,1761683100.283 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:25:00.283Z,1761683100.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:25:00.283Z,1761683100.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:25:00.283Z,1761683100.283 [marl:UpdateCommandMode] Stopped 2025-10-28T20:25:00.283Z,1761683100.283 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:25:00.650Z,1761683100.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655837,0.754210,0.032349],[-0.754089,0.656517,-0.018321],[-0.035055,-0.012379,0.999309]] 2025-10-28T20:25:02.727Z,1761683102.727 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:25:02.727Z,1761683102.727 [marl:UpdateRudder:B] Stopped 2025-10-28T20:25:02.728Z,1761683102.728 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:25:02.728Z,1761683102.728 [marl:UpdateRudder] Stopped 2025-10-28T20:25:02.728Z,1761683102.728 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:25:02.822Z,1761683102.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670494,0.739689,0.057419],[-0.727124,0.639780,0.248941],[0.147404,-0.208664,0.966815]] 2025-10-28T20:25:03.194Z,1761683103.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678843,0.724924,0.116866],[-0.732540,0.657640,0.175767],[0.050562,-0.204927,0.977470]] 2025-10-28T20:25:03.230Z,1761683103.230 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:25:03.230Z,1761683103.230 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:25:03.230Z,1761683103.230 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:25:03.231Z,1761683103.231 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:25:03.231Z,1761683103.231 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:25:03.231Z,1761683103.231 [marl:UpdateSpeed] Stopped 2025-10-28T20:25:03.231Z,1761683103.231 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:25:03.600Z,1761683103.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665363,0.740884,0.091561],[-0.746382,0.657861,0.100657],[0.014340,-0.135313,0.990699]] 2025-10-28T20:25:04.005Z,1761683104.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666962,0.744601,0.027047],[-0.744359,0.664256,0.068508],[0.033044,-0.065825,0.997284]] 2025-10-28T20:25:04.018Z,1761683104.018 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500132375,35.0, +14.7, 0.0,10 2025-10-28T20:25:04.406Z,1761683104.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693467,0.720086,-0.024075],[-0.720042,0.693826,0.012041],[0.025374,0.008985,0.999638]] 2025-10-28T20:25:04.810Z,1761683104.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699313,0.713931,-0.035543],[-0.714803,0.698726,-0.028954],[0.004164,0.045654,0.998949]] 2025-10-28T20:25:05.216Z,1761683105.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678487,0.734283,-0.021970],[-0.734544,0.678529,-0.006644],[0.010029,0.020646,0.999737]] 2025-10-28T20:25:05.620Z,1761683105.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668680,0.743514,-0.007393],[-0.740174,0.666557,0.088572],[0.070783,-0.053754,0.996042]] 2025-10-28T20:25:06.022Z,1761683106.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672693,0.739920,0.001246],[-0.731926,0.665177,0.147731],[0.108480,-0.100290,0.989027]] 2025-10-28T20:25:06.426Z,1761683106.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675967,0.736530,0.024327],[-0.730806,0.665735,0.150730],[0.094822,-0.119667,0.988276]] 2025-10-28T20:25:06.831Z,1761683106.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683144,0.729272,0.038426],[-0.725600,0.671872,0.148633],[0.082576,-0.129419,0.988146]] 2025-10-28T20:25:07.236Z,1761683107.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685951,0.727633,0.004635],[-0.719153,0.676959,0.156668],[0.110859,-0.110800,0.987641]] 2025-10-28T20:25:07.644Z,1761683107.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699572,0.712800,-0.050153],[-0.702888,0.699081,0.131281],[0.128638,-0.056588,0.990076]] 2025-10-28T20:25:08.052Z,1761683108.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687951,0.720985,-0.083093],[-0.714275,0.692900,0.098489],[0.128585,-0.008404,0.991663]] 2025-10-28T20:25:08.454Z,1761683108.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699429,0.714273,-0.024768],[-0.708998,0.697799,0.101967],[0.090116,-0.053758,0.994479]] 2025-10-28T20:25:08.865Z,1761683108.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705135,0.707390,0.048828],[-0.708573,0.700379,0.085981],[0.026624,-0.095227,0.995099]] 2025-10-28T20:25:09.259Z,1761683109.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711950,0.700632,0.047351],[-0.702113,0.708981,0.066212],[0.012820,-0.080385,0.996681]] 2025-10-28T20:25:09.661Z,1761683109.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697624,0.716369,-0.011706],[-0.715820,0.697596,0.030997],[0.030372,-0.013245,0.999451]] 2025-10-28T20:25:10.070Z,1761683110.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674448,0.736741,-0.048293],[-0.737310,0.675505,0.008187],[0.038654,0.030086,0.998800]] 2025-10-28T20:25:10.466Z,1761683110.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682773,0.729918,-0.032272],[-0.730259,0.683169,0.001736],[0.023314,0.022381,0.999478]] 2025-10-28T20:25:10.874Z,1761683110.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700868,0.713129,0.015181],[-0.713131,0.701003,-0.006230],[-0.015084,-0.006460,0.999865]] 2025-10-28T20:25:11.274Z,1761683111.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705294,0.708157,0.032776],[-0.708264,0.701912,0.075371],[0.030369,-0.076373,0.996617]] 2025-10-28T20:25:11.680Z,1761683111.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704213,0.707538,0.058948],[-0.703926,0.684960,0.187931],[0.092591,-0.173839,0.980412]] 2025-10-28T20:25:12.087Z,1761683112.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726130,0.677957,0.114498],[-0.685944,0.702908,0.188152],[0.047077,-0.215162,0.975443]] 2025-10-28T20:25:12.487Z,1761683112.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742307,0.659256,0.119840],[-0.670059,0.730162,0.133730],[0.000660,-0.179569,0.983745]] 2025-10-28T20:25:12.891Z,1761683112.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735624,0.677143,0.018292],[-0.674606,0.729888,0.110314],[0.061347,-0.093490,0.993728]] 2025-10-28T20:25:13.296Z,1761683113.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732060,0.677972,-0.066646],[-0.668631,0.733800,0.120291],[0.130459,-0.043498,0.990499]] 2025-10-28T20:25:13.698Z,1761683113.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730685,0.682429,-0.019722],[-0.674874,0.726358,0.130186],[0.103168,-0.081815,0.991293]] 2025-10-28T20:25:14.106Z,1761683114.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732791,0.677350,0.064913],[-0.680220,0.726698,0.095970],[0.017833,-0.114482,0.993265]] 2025-10-28T20:25:14.116Z,1761683114.116 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500133375,35.0, +14.7, 0.0,1506.:RA, 0.00, 713.74, 630.67, 682.97, 0.00 2025-10-28T20:25:14.508Z,1761683114.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725914,0.683648,0.075331],[-0.687734,0.720145,0.091723],[0.008457,-0.118391,0.992931]] 2025-10-28T20:25:14.910Z,1761683114.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732008,0.678954,0.056442],[-0.679779,0.722341,0.126982],[0.045445,-0.131320,0.990298]] 2025-10-28T20:25:15.315Z,1761683115.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758697,0.648465,0.062223],[-0.651442,0.755393,0.070739],[-0.001131,-0.094204,0.995552]] 2025-10-28T20:25:15.363Z,1761683115.363 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:25:15.363Z,1761683115.363 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:25:15.363Z,1761683115.363 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:25:15.368Z,1761683115.368 [marl:UpdateRudder:A] Stopped 2025-10-28T20:25:15.368Z,1761683115.368 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:25:15.368Z,1761683115.368 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:25:15.368Z,1761683115.368 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:25:15.368Z,1761683115.368 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:25:15.369Z,1761683115.369 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:25:15.369Z,1761683115.369 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:25:15.369Z,1761683115.369 [marl:UpdateCommandMode] Stopped 2025-10-28T20:25:15.369Z,1761683115.369 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:25:15.718Z,1761683115.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773694,0.631146,0.055253],[-0.632040,0.774934,-0.001640],[-0.043853,-0.033653,0.998471]] 2025-10-28T20:25:15.773Z,1761683115.773 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:25:15.774Z,1761683115.774 [marl:UpdateRudder:B] Stopped 2025-10-28T20:25:15.774Z,1761683115.774 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:25:15.774Z,1761683115.774 [marl:UpdateRudder] Stopped 2025-10-28T20:25:15.775Z,1761683115.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:25:16.134Z,1761683116.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786277,0.617854,-0.004892],[-0.617439,0.785996,0.031283],[0.023174,-0.021576,0.999499]] 2025-10-28T20:25:16.526Z,1761683116.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772709,0.634693,-0.009245],[-0.632319,0.770931,0.076400],[0.055618,-0.053189,0.997034]] 2025-10-28T20:25:16.570Z,1761683116.570 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:25:16.570Z,1761683116.570 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:25:16.570Z,1761683116.570 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:25:16.571Z,1761683116.571 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:25:16.571Z,1761683116.571 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:25:16.571Z,1761683116.571 [marl:UpdateSpeed] Stopped 2025-10-28T20:25:16.571Z,1761683116.571 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:25:16.930Z,1761683116.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766166,0.639261,0.065843],[-0.642517,0.759957,0.098167],[0.012717,-0.117518,0.992989]] 2025-10-28T20:25:17.342Z,1761683117.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776454,0.621887,0.101861],[-0.630062,0.769161,0.106833],[-0.011909,-0.147130,0.989045]] 2025-10-28T20:25:17.741Z,1761683117.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783693,0.614593,0.090007],[-0.621142,0.774744,0.118128],[0.002869,-0.148483,0.988911]] 2025-10-28T20:25:18.146Z,1761683118.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790663,0.609914,0.053458],[-0.612143,0.785854,0.087835],[0.011562,-0.102172,0.994700]] 2025-10-28T20:25:18.154Z,1761683118.154 [NAL9602](INFO): SBD MO Status=2, MOMSN=3343, MT Status=2, MTMSN=0 2025-10-28T20:25:18.155Z,1761683118.155 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:25:18.547Z,1761683118.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799095,0.600521,-0.028669],[-0.600786,0.799410,-0.000797],[0.022440,0.017861,0.999589]] 2025-10-28T20:25:18.951Z,1761683118.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792016,0.604035,-0.088619],[-0.608923,0.792032,-0.043570],[0.043871,0.088471,0.995112]] 2025-10-28T20:25:19.360Z,1761683119.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793457,0.607211,-0.041498],[-0.608600,0.792222,-0.044626],[0.005779,0.060664,0.998142]] 2025-10-28T20:25:19.766Z,1761683119.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799699,0.599626,0.030511],[-0.598814,0.800247,-0.032040],[-0.043628,0.007352,0.999021]] 2025-10-28T20:25:20.166Z,1761683120.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797667,0.602294,0.031139],[-0.603098,0.796594,0.041362],[0.000107,-0.051773,0.998659]] 2025-10-28T20:25:20.904Z,1761683120.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823832,0.561241,0.079436],[-0.566087,0.821819,0.064490],[-0.029088,-0.098097,0.994752]] 2025-10-28T20:25:21.622Z,1761683121.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833008,0.548226,0.074466],[-0.552040,0.832542,0.046098],[-0.036724,-0.079508,0.996158]] 2025-10-28T20:25:22.032Z,1761683122.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840724,0.540751,0.027774],[-0.540815,0.836103,0.091931],[0.026490,-0.092310,0.995378]] 2025-10-28T20:25:22.432Z,1761683122.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845713,0.533638,0.000159],[-0.530181,0.840201,0.113886],[0.060640,-0.096399,0.993494]] 2025-10-28T20:25:22.841Z,1761683122.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838156,0.544767,0.026875],[-0.545116,0.834986,0.075144],[0.018496,-0.077632,0.996810]] 2025-10-28T20:25:23.587Z,1761683123.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837270,0.546686,0.010613],[-0.541758,0.826783,0.151419],[0.074004,-0.132528,0.988413]] 2025-10-28T20:25:23.754Z,1761683123.754 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:25:23.986Z,1761683123.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847090,0.531255,0.014383],[-0.526708,0.835619,0.155947],[0.070829,-0.139676,0.987661]] 2025-10-28T20:25:24.756Z,1761683124.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:25:26.155Z,1761683126.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837550,0.538691,-0.091226],[-0.544069,0.837606,-0.049040],[0.049994,0.090707,0.994622]] 2025-10-28T20:25:26.532Z,1761683126.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854112,0.519960,0.011548],[-0.520074,0.853712,0.026440],[0.003889,-0.028589,0.999584]] 2025-10-28T20:25:26.934Z,1761683126.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840975,0.540891,0.014050],[-0.536927,0.831039,0.145202],[0.066863,-0.129654,0.989302]] 2025-10-28T20:25:27.343Z,1761683127.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837931,0.543003,0.054938],[-0.543604,0.821388,0.172672],[0.048637,-0.174552,0.983446]] 2025-10-28T20:25:27.752Z,1761683127.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834645,0.549023,0.044074],[-0.549518,0.824615,0.134312],[0.037396,-0.136322,0.989959]] 2025-10-28T20:25:28.174Z,1761683128.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826133,0.563079,0.021121],[-0.563055,0.823491,0.069510],[0.021747,-0.069317,0.997358]] 2025-10-28T20:25:28.551Z,1761683128.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843947,0.536012,0.021092],[-0.535120,0.843983,-0.036606],[-0.037422,0.019607,0.999107]] 2025-10-28T20:25:28.955Z,1761683128.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855547,0.517245,-0.022294],[-0.517066,0.851494,-0.087176],[-0.026108,0.086110,0.995943]] 2025-10-28T20:25:29.003Z,1761683129.003 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:25:29.057Z,1761683129.057 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:25:29.057Z,1761683129.057 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:25:29.310Z,1761683129.310 [DAT](INFO): DAT read: user:253> 2025-10-28T20:25:29.311Z,1761683129.311 [DAT](INFO): DAT read: Tx time:20:25:29.0683 2025-10-28T20:25:29.311Z,1761683129.311 [DAT](INFO): Ping request sent. 2025-10-28T20:25:29.311Z,1761683129.311 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:25:29.312Z,1761683129.312 [DAT](INFO): publishing transmit ping time 2025-10-28T20:25:29.313Z,1761683129.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001696 2025-10-28T20:25:29.381Z,1761683129.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846650,0.529851,-0.049412],[-0.531867,0.845574,-0.046073],[0.017369,0.065288,0.997715]] 2025-10-28T20:25:29.561Z,1761683129.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249368 2025-10-28T20:25:29.808Z,1761683129.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838340,0.545137,-0.003368],[-0.544765,0.837967,0.032286],[0.020423,-0.025232,0.999473]] 2025-10-28T20:25:29.816Z,1761683129.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503904 2025-10-28T20:25:30.068Z,1761683130.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756174 2025-10-28T20:25:30.167Z,1761683130.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840544,0.536946,0.071942],[-0.541672,0.835145,0.095520],[-0.008793,-0.119258,0.992824]] 2025-10-28T20:25:30.318Z,1761683130.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006212 2025-10-28T20:25:30.569Z,1761683130.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257555 2025-10-28T20:25:30.572Z,1761683130.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845034,0.526188,0.095100],[-0.534625,0.834638,0.132495],[-0.009657,-0.162806,0.986611]] 2025-10-28T20:25:30.821Z,1761683130.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509735 2025-10-28T20:25:30.974Z,1761683130.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834835,0.549032,0.040167],[-0.549459,0.826551,0.122104],[0.033839,-0.124006,0.991704]] 2025-10-28T20:25:31.008Z,1761683131.008 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:25:31.008Z,1761683131.008 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:25:31.008Z,1761683131.008 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateRudder:A] Stopped 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:25:31.009Z,1761683131.009 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:25:31.010Z,1761683131.010 [marl:UpdateCommandMode] Stopped 2025-10-28T20:25:31.010Z,1761683131.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:25:31.073Z,1761683131.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761569 2025-10-28T20:25:31.325Z,1761683131.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013934 2025-10-28T20:25:31.378Z,1761683131.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833385,0.551638,-0.034126],[-0.550381,0.833957,0.039956],[0.050501,-0.014516,0.998618]] 2025-10-28T20:25:31.421Z,1761683131.421 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:25:31.421Z,1761683131.421 [marl:UpdateRudder:B] Stopped 2025-10-28T20:25:31.422Z,1761683131.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:25:31.422Z,1761683131.422 [marl:UpdateRudder] Stopped 2025-10-28T20:25:31.422Z,1761683131.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:25:31.577Z,1761683131.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265428 2025-10-28T20:25:31.827Z,1761683131.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853999,0.514141,-0.079657],[-0.517263,0.855496,-0.023806],[0.055906,0.061534,0.996538]] 2025-10-28T20:25:31.832Z,1761683131.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520095 2025-10-28T20:25:32.081Z,1761683132.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769486 2025-10-28T20:25:32.188Z,1761683132.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840819,0.529314,-0.113354],[-0.534875,0.844602,-0.023585],[0.083255,0.080461,0.993275]] 2025-10-28T20:25:32.212Z,1761683132.212 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:25:32.212Z,1761683132.212 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:25:32.213Z,1761683132.213 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:25:32.213Z,1761683132.213 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:25:32.213Z,1761683132.213 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:25:32.213Z,1761683132.213 [marl:UpdateSpeed] Stopped 2025-10-28T20:25:32.213Z,1761683132.213 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:25:32.333Z,1761683132.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021576 2025-10-28T20:25:32.585Z,1761683132.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273513 2025-10-28T20:25:32.592Z,1761683132.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825080,0.562647,-0.051679],[-0.562331,0.826623,0.021860],[0.055019,0.011024,0.998424]] 2025-10-28T20:25:32.837Z,1761683132.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525493 2025-10-28T20:25:32.994Z,1761683132.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813616,0.580139,0.038315],[-0.580912,0.808454,0.094575],[0.023890,-0.099206,0.994780]] 2025-10-28T20:25:33.089Z,1761683133.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777444 2025-10-28T20:25:33.341Z,1761683133.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029473 2025-10-28T20:25:33.401Z,1761683133.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831113,0.555786,0.018777],[-0.550914,0.818288,0.164009],[0.075789,-0.146655,0.986280]] 2025-10-28T20:25:33.593Z,1761683133.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281500 2025-10-28T20:25:33.845Z,1761683133.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533512 2025-10-28T20:25:33.863Z,1761683133.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838985,0.542796,-0.038423],[-0.534998,0.835708,0.123971],[0.099401,-0.083454,0.991542]] 2025-10-28T20:25:33.879Z,1761683133.879 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500135375,35.0, +14.8, 0.0,1506.2RA, 0.00, 707.65, 630.73, 667.65, 658.42 2025-10-28T20:25:34.097Z,1761683134.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785421 2025-10-28T20:25:34.206Z,1761683134.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819587,0.572859,-0.010411],[-0.571992,0.819129,0.043051],[0.033190,-0.029329,0.999019]] 2025-10-28T20:25:34.349Z,1761683134.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037480 2025-10-28T20:25:34.605Z,1761683134.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293395 2025-10-28T20:25:34.612Z,1761683134.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793771,0.605914,0.052885],[-0.607679,0.793721,0.027066],[-0.025576,-0.053621,0.998234]] 2025-10-28T20:25:34.857Z,1761683134.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545455 2025-10-28T20:25:35.017Z,1761683135.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789658,0.606723,0.091250],[-0.612913,0.786828,0.072382],[-0.027882,-0.113086,0.993194]] 2025-10-28T20:25:35.109Z,1761683135.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797665 2025-10-28T20:25:35.361Z,1761683135.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049421 2025-10-28T20:25:35.419Z,1761683135.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813807,0.576181,0.075726],[-0.581010,0.809404,0.085397],[-0.012089,-0.113494,0.993465]] 2025-10-28T20:25:35.613Z,1761683135.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301437 2025-10-28T20:25:35.846Z,1761683135.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818405,0.569265,0.078425],[-0.572922,0.818872,0.034764],[-0.044430,-0.073382,0.996314]] 2025-10-28T20:25:35.865Z,1761683135.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553587 2025-10-28T20:25:36.117Z,1761683136.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805578 2025-10-28T20:25:36.228Z,1761683136.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804139,0.591977,0.054076],[-0.592320,0.805625,-0.011172],[-0.050179,-0.023046,0.998474]] 2025-10-28T20:25:36.369Z,1761683136.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057435 2025-10-28T20:25:36.625Z,1761683136.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313381 2025-10-28T20:25:36.632Z,1761683136.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817720,0.574878,0.029128],[-0.575421,0.817712,0.015422],[-0.014952,-0.029372,0.999457]] 2025-10-28T20:25:36.877Z,1761683136.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565500 2025-10-28T20:25:37.035Z,1761683137.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816498,0.577175,-0.014170],[-0.575373,0.815487,0.062665],[0.047724,-0.043012,0.997934]] 2025-10-28T20:25:37.129Z,1761683137.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817436 2025-10-28T20:25:37.383Z,1761683137.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071449 2025-10-28T20:25:37.445Z,1761683137.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806693,0.590692,-0.018169],[-0.586502,0.803988,0.098074],[0.072539,-0.068460,0.995013]] 2025-10-28T20:25:37.450Z,1761683137.450 [NAL9602](INFO): SBD MO Status=1, MOMSN=3343, MT Status=0, MTMSN=0 2025-10-28T20:25:37.500Z,1761683137.500 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0040.lzma 2025-10-28T20:25:37.500Z,1761683137.500 [NAL9602](INFO): Packets left to send: 1 2025-10-28T20:25:37.638Z,1761683137.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326206 2025-10-28T20:25:37.851Z,1761683137.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801123,0.597874,0.027346],[-0.597342,0.795898,0.098635],[0.037207,-0.095353,0.994748]] 2025-10-28T20:25:37.889Z,1761683137.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577541 2025-10-28T20:25:38.141Z,1761683138.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829764 2025-10-28T20:25:38.393Z,1761683138.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081523 2025-10-28T20:25:38.604Z,1761683138.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802235,0.596934,0.009402],[-0.596269,0.800359,0.062363],[0.029701,-0.055636,0.998009]] 2025-10-28T20:25:38.646Z,1761683138.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334315 2025-10-28T20:25:38.897Z,1761683138.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585511 2025-10-28T20:25:38.982Z,1761683138.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809908,0.586394,-0.013791],[-0.585344,0.809521,0.045258],[0.037703,-0.028582,0.998880]] 2025-10-28T20:25:39.149Z,1761683139.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837368 2025-10-28T20:25:39.401Z,1761683139.401 [DAT](INFO): Reached modem response timeout 2025-10-28T20:25:41.125Z,1761683141.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782071,0.621137,0.050536],[-0.623179,0.779952,0.057637],[-0.003615,-0.076569,0.997058]] 2025-10-28T20:25:41.495Z,1761683141.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804316,0.589458,0.074936],[-0.593284,0.803669,0.046158],[-0.033016,-0.081584,0.996119]] 2025-10-28T20:25:41.669Z,1761683141.669 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:25:41.669Z,1761683141.669 [DAT](INFO): response not received 2025-10-28T20:25:41.669Z,1761683141.669 [DAT](ERROR): No response from remote modem. 2025-10-28T20:25:41.898Z,1761683141.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797174,0.602381,0.040626],[-0.603728,0.795899,0.045348],[-0.005017,-0.060677,0.998145]] 2025-10-28T20:25:42.309Z,1761683142.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789066,0.614240,0.009153],[-0.613392,0.786988,0.066325],[0.033537,-0.057949,0.997756]] 2025-10-28T20:25:42.708Z,1761683142.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808227,0.588559,0.019158],[-0.588112,0.805108,0.076980],[0.029884,-0.073485,0.996849]] 2025-10-28T20:25:43.110Z,1761683143.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814004,0.579051,0.045787],[-0.580849,0.810990,0.070077],[0.003445,-0.083638,0.996490]] 2025-10-28T20:25:43.514Z,1761683143.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797424,0.599873,0.065321],[-0.603314,0.794625,0.067705],[-0.011291,-0.093399,0.995565]] 2025-10-28T20:25:43.918Z,1761683143.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792024,0.609468,0.035304],[-0.609397,0.785826,0.105417],[0.036506,-0.105007,0.993801]] 2025-10-28T20:25:43.928Z,1761683143.928 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 707.71, 630.79, 667.71 2025-10-28T20:25:44.326Z,1761683144.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776106,0.630578,-0.005530],[-0.627271,0.772876,0.095889],[0.064739,-0.070951,0.995377]] 2025-10-28T20:25:44.727Z,1761683144.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793898,0.608024,0.005681],[-0.607878,0.793415,0.031263],[0.014501,-0.028273,0.999495]] 2025-10-28T20:25:45.130Z,1761683145.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808931,0.587073,0.031238],[-0.587202,0.809419,-0.005828],[-0.028706,-0.013628,0.999495]] 2025-10-28T20:25:45.535Z,1761683145.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800689,0.598645,0.022826],[-0.598885,0.798877,0.055967],[0.015269,-0.058483,0.998172]] 2025-10-28T20:25:45.939Z,1761683145.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803081,0.591855,0.069058],[-0.595107,0.790781,0.143224],[0.030158,-0.156117,0.987278]] 2025-10-28T20:25:46.342Z,1761683146.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817030,0.564017,0.119781],[-0.576550,0.796541,0.181966],[0.007222,-0.217732,0.975982]] 2025-10-28T20:25:46.746Z,1761683146.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816150,0.575275,0.054390],[-0.575473,0.800685,0.166534],[0.052254,-0.167217,0.984534]] 2025-10-28T20:25:46.803Z,1761683146.803 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:25:46.803Z,1761683146.803 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:25:46.804Z,1761683146.804 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:25:46.808Z,1761683146.808 [marl:UpdateRudder:A] Stopped 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:25:46.809Z,1761683146.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:25:46.810Z,1761683146.810 [marl:UpdateCommandMode] Stopped 2025-10-28T20:25:46.810Z,1761683146.810 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:25:47.159Z,1761683147.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803661,0.595013,-0.009429],[-0.589232,0.797869,0.127321],[0.083280,-0.096767,0.991817]] 2025-10-28T20:25:47.183Z,1761683147.183 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:25:47.183Z,1761683147.183 [marl:UpdateRudder:B] Stopped 2025-10-28T20:25:47.183Z,1761683147.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:25:47.183Z,1761683147.183 [marl:UpdateRudder] Stopped 2025-10-28T20:25:47.184Z,1761683147.184 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:25:47.554Z,1761683147.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805589,0.592371,0.011093],[-0.592368,0.804945,0.034101],[0.011271,-0.034042,0.999357]] 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed] Stopped 2025-10-28T20:25:47.589Z,1761683147.589 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:25:47.959Z,1761683147.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809499,0.587045,0.009478],[-0.585845,0.808698,-0.052853],[-0.038692,0.037232,0.998557]] 2025-10-28T20:25:48.363Z,1761683148.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822685,0.565109,-0.061978],[-0.568231,0.820733,-0.059247],[0.017387,0.083959,0.996318]] 2025-10-28T20:25:48.775Z,1761683148.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811164,0.576557,-0.097950],[-0.582443,0.811538,-0.046544],[0.052654,0.094805,0.994102]] 2025-10-28T20:25:48.813Z,1761683148.813 [NAL9602](INFO): SBD MO Status=1, MOMSN=3344, MT Status=0, MTMSN=0 2025-10-28T20:25:48.860Z,1761683148.860 [NAL9602](INFO): Sent 169 bytes from file Logs/20251028T162422/Express0040.lzma 2025-10-28T20:25:48.860Z,1761683148.860 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:25:49.171Z,1761683149.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789734,0.612217,-0.038874],[-0.613335,0.789224,-0.030740],[0.011861,0.048119,0.998771]] 2025-10-28T20:25:50.693Z,1761683150.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785024,0.616624,0.059265],[-0.619459,0.781865,0.070411],[-0.002920,-0.091987,0.995756]] 2025-10-28T20:25:51.069Z,1761683151.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768081,0.639990,0.021551],[-0.640339,0.767415,0.032246],[0.004099,-0.038567,0.999248]] 2025-10-28T20:25:51.479Z,1761683151.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752622,0.658057,-0.022837],[-0.658107,0.752898,0.006333],[0.021361,0.010263,0.999719]] 2025-10-28T20:25:51.876Z,1761683151.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766434,0.642253,-0.009447],[-0.642071,0.765639,-0.039269],[-0.017988,0.036162,0.999184]] 2025-10-28T20:25:52.287Z,1761683152.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779438,0.626411,0.009255],[-0.625471,0.778936,-0.045227],[-0.035540,0.029463,0.998934]] 2025-10-28T20:25:52.683Z,1761683152.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758698,0.651438,0.002267],[-0.651329,0.758497,0.021292],[0.012151,-0.017630,0.999771]] 2025-10-28T20:25:53.088Z,1761683153.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757456,0.651293,0.045585],[-0.650572,0.747054,0.136624],[0.054928,-0.133142,0.989574]] 2025-10-28T20:25:53.492Z,1761683153.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764865,0.634220,0.112904],[-0.641159,0.732495,0.228837],[0.062431,-0.247419,0.966895]] 2025-10-28T20:25:53.895Z,1761683153.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755595,0.636479,0.154821],[-0.650960,0.703281,0.285739],[0.072984,-0.316686,0.945719]] 2025-10-28T20:25:53.915Z,1761683153.915 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +113, -586, 2025-10-28T20:25:54.305Z,1761683154.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764020,0.630108,0.138699],[-0.641984,0.721036,0.260700],[0.064262,-0.288222,0.955405]] 2025-10-28T20:25:54.703Z,1761683154.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756499,0.649300,0.078226],[-0.652197,0.740137,0.163819],[0.048470,-0.174947,0.983384]] 2025-10-28T20:25:54.795Z,1761683154.795 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005041 2025-10-28T20:25:55.107Z,1761683155.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751764,0.659415,0.004867],[-0.657468,0.748934,0.082671],[0.050870,-0.065349,0.996565]] 2025-10-28T20:25:55.527Z,1761683155.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765638,0.641592,-0.046467],[-0.642321,0.766435,-0.001015],[0.034963,0.030624,0.998919]] 2025-10-28T20:25:55.941Z,1761683155.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765211,0.640052,-0.069184],[-0.642968,0.765215,-0.032214],[0.032322,0.069134,0.997084]] 2025-10-28T20:25:56.319Z,1761683156.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759797,0.646949,-0.064544],[-0.648435,0.761265,-0.002778],[0.047338,0.043963,0.997911]] 2025-10-28T20:25:56.723Z,1761683156.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756041,0.654492,-0.006412],[-0.654210,0.755946,0.023547],[0.020259,-0.013608,0.999702]] 2025-10-28T20:25:56.827Z,1761683156.827 [marl:NeedComms:D] Stopped 2025-10-28T20:25:56.827Z,1761683156.827 [marl:NeedComms:E] Running Loop=1 2025-10-28T20:25:57.131Z,1761683157.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747359,0.658635,0.087486],[-0.662745,0.748328,0.027817],[-0.047147,-0.078770,0.995777]] 2025-10-28T20:25:57.533Z,1761683157.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768966,0.628567,0.116597],[-0.636105,0.770484,0.041533],[-0.063729,-0.106105,0.992311]] 2025-10-28T20:25:57.935Z,1761683157.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783197,0.618046,0.067985],[-0.620772,0.783452,0.029085],[-0.035287,-0.064983,0.997262]] 2025-10-28T20:25:58.339Z,1761683158.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755542,0.654226,0.033832],[-0.654201,0.756203,-0.013344],[-0.034314,-0.012051,0.999338]] 2025-10-28T20:25:58.743Z,1761683158.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735696,0.676898,0.023693],[-0.676499,0.736076,-0.023263],[-0.033186,0.001086,0.999449]] 2025-10-28T20:25:59.147Z,1761683159.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731470,0.680162,0.048289],[-0.679286,0.733028,-0.035216],[-0.059350,-0.007043,0.998212]] 2025-10-28T20:25:59.551Z,1761683159.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742981,0.666292,0.063517],[-0.667136,0.744870,-0.009943],[-0.053936,-0.034987,0.997931]] 2025-10-28T20:25:59.955Z,1761683159.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748482,0.662916,0.017813],[-0.662770,0.746862,0.054157],[0.022598,-0.052342,0.998374]] 2025-10-28T20:26:00.362Z,1761683160.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730299,0.683101,-0.006023],[-0.677780,0.725655,0.118487],[0.085309,-0.082449,0.992937]] 2025-10-28T20:26:00.770Z,1761683160.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700866,0.713050,0.018602],[-0.709650,0.694417,0.119088],[0.071998,-0.096666,0.992709]] 2025-10-28T20:26:00.794Z,1761683160.794 [NAL9602](INFO): SBD MO Status=0, MOMSN=3345, MT Status=0, MTMSN=0 2025-10-28T20:26:01.167Z,1761683161.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682037,0.728382,0.065452],[-0.731217,0.677728,0.077498],[0.012090,-0.100716,0.994842]] 2025-10-28T20:26:01.573Z,1761683161.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675107,0.737364,0.022893],[-0.735371,0.670160,0.100570],[0.058815,-0.084731,0.994667]] 2025-10-28T20:26:01.651Z,1761683161.651 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:26:01.651Z,1761683161.651 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:26:01.651Z,1761683161.651 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:26:01.651Z,1761683161.651 [marl:UpdateRudder:A] Stopped 2025-10-28T20:26:01.652Z,1761683161.652 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:26:01.680Z,1761683161.680 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:26:01.680Z,1761683161.680 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:26:01.680Z,1761683161.680 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:26:01.681Z,1761683161.681 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:26:01.681Z,1761683161.681 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:26:01.681Z,1761683161.681 [marl:UpdateCommandMode] Stopped 2025-10-28T20:26:01.681Z,1761683161.681 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:26:01.977Z,1761683161.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689581,0.721899,-0.057795],[-0.715019,0.691333,0.103956],[0.115001,-0.030362,0.992901]] 2025-10-28T20:26:01.987Z,1761683161.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202601.00,A,3645.34385,N,12151.80986,W,0.797,165.59,281025,,,A*74 2025-10-28T20:26:01.989Z,1761683161.989 [NAL9602](INFO): GPS fix at 20251028T202601: (36.755731, -121.863498) 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateRudder:B] Stopped 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateRudder] Stopped 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:26:02.119Z,1761683162.119 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:26:02.124Z,1761683162.124 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:26:02.124Z,1761683162.124 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:26:02.124Z,1761683162.124 [marl:UpdateSpeed] Stopped 2025-10-28T20:26:02.124Z,1761683162.124 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:26:02.125Z,1761683162.125 [marl:NeedComms:E] Stopped 2025-10-28T20:26:02.126Z,1761683162.126 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T20:26:02.126Z,1761683162.126 [marl:NeedComms] Stopped 2025-10-28T20:26:02.126Z,1761683162.126 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T20:26:02.126Z,1761683162.126 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T20:26:02.127Z,1761683162.127 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T20:26:02.127Z,1761683162.127 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761683200.00. Resetting abort timer. 2025-10-28T20:26:02.393Z,1761683162.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695012,0.715182,-0.073983],[-0.713370,0.698761,0.053259],[0.089786,0.015762,0.995836]] 2025-10-28T20:26:02.803Z,1761683162.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677838,0.732845,-0.058939],[-0.729871,0.680394,0.065974],[0.088450,-0.001702,0.996079]] 2025-10-28T20:26:03.217Z,1761683163.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676934,0.735715,-0.021982],[-0.727794,0.673507,0.129244],[0.109892,-0.071491,0.991369]] 2025-10-28T20:26:03.642Z,1761683163.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688460,0.725253,0.005474],[-0.718458,0.680939,0.141919],[0.099200,-0.101638,0.989863]] 2025-10-28T20:26:04.084Z,1761683164.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678287,0.734707,-0.011495],[-0.726271,0.672711,0.141384],[0.111609,-0.087550,0.989888]] 2025-10-28T20:26:04.537Z,1761683164.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668637,0.742502,-0.040199],[-0.733513,0.667481,0.128172],[0.122000,-0.056214,0.990937]] 2025-10-28T20:26:04.924Z,1761683164.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672150,0.736095,-0.079867],[-0.724282,0.676063,0.135479],[0.153721,-0.033216,0.987556]] 2025-10-28T20:26:05.722Z,1761683165.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646103,0.761462,-0.052217],[-0.745251,0.644158,0.172224],[0.164779,-0.072359,0.983673]] 2025-10-28T20:26:06.129Z,1761683166.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635193,0.772289,-0.009985],[-0.756981,0.625066,0.190454],[0.153327,-0.113417,0.981645]] 2025-10-28T20:26:06.531Z,1761683166.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627214,0.777978,0.036783],[-0.767605,0.609475,0.198301],[0.131856,-0.152612,0.979451]] 2025-10-28T20:26:06.935Z,1761683166.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642012,0.766534,0.015689],[-0.754799,0.628329,0.188364],[0.134530,-0.132774,0.981974]] 2025-10-28T20:26:07.340Z,1761683167.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640362,0.765515,-0.062633],[-0.751005,0.641142,0.157891],[0.161025,-0.054070,0.985468]] 2025-10-28T20:26:07.745Z,1761683167.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618907,0.781278,-0.080994],[-0.769753,0.623815,0.135409],[0.156317,-0.021460,0.987474]] 2025-10-28T20:26:08.147Z,1761683168.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593616,0.803522,-0.044405],[-0.790213,0.592446,0.156753],[0.152262,-0.057962,0.986639]] 2025-10-28T20:26:08.553Z,1761683168.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572037,0.819959,0.020987],[-0.808743,0.559576,0.181135],[0.136779,-0.120589,0.983234]] 2025-10-28T20:26:08.955Z,1761683168.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589676,0.799294,0.115810],[-0.805463,0.571489,0.156937],[0.059255,-0.185823,0.980795]] 2025-10-28T20:26:09.359Z,1761683169.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603758,0.779352,0.167591],[-0.795348,0.603113,0.060624],[-0.053829,-0.169896,0.983991]] 2025-10-28T20:26:09.811Z,1761683169.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596195,0.790802,0.138502],[-0.800877,0.597876,0.033771],[-0.056100,-0.131057,0.989786]] 2025-10-28T20:26:10.175Z,1761683170.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590915,0.805957,0.035390],[-0.803087,0.583510,0.120694],[0.076623,-0.099741,0.992059]] 2025-10-28T20:26:10.974Z,1761683170.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565209,0.818192,0.105364],[-0.823615,0.552416,0.128431],[0.046876,-0.159370,0.986105]] 2025-10-28T20:26:11.379Z,1761683171.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550381,0.817370,0.170257],[-0.834266,0.530368,0.150697],[0.032876,-0.224981,0.973808]] 2025-10-28T20:26:11.839Z,1761683171.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576408,0.802761,0.152736],[-0.816207,0.556554,0.155092],[0.039496,-0.214060,0.976022]] 2025-10-28T20:26:12.188Z,1761683172.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595555,0.795801,0.109611],[-0.803107,0.586734,0.103742],[0.018245,-0.149813,0.988546]] 2025-10-28T20:26:12.591Z,1761683172.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581122,0.811492,0.061474],[-0.813729,0.578288,0.058555],[0.011967,-0.084051,0.996390]] 2025-10-28T20:26:12.994Z,1761683172.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575350,0.816796,0.042626],[-0.817731,0.573361,0.050736],[0.017001,-0.064047,0.997802]] 2025-10-28T20:26:13.400Z,1761683173.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588823,0.807608,0.032509],[-0.806472,0.584368,0.090090],[0.053760,-0.079264,0.995403]] 2025-10-28T20:26:13.851Z,1761683173.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597972,0.800681,0.036587],[-0.798311,0.590881,0.116446],[0.071617,-0.098840,0.992523]] 2025-10-28T20:26:14.206Z,1761683174.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591108,0.804412,0.059261],[-0.804413,0.582521,0.116571],[0.059251,-0.116576,0.991413]] 2025-10-28T20:26:14.614Z,1761683174.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595268,0.801742,0.053532],[-0.798463,0.582733,0.151262],[0.090078,-0.132784,0.987043]] 2025-10-28T20:26:15.016Z,1761683175.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605588,0.795043,0.034193],[-0.783153,0.587806,0.202869],[0.141191,-0.149633,0.978609]] 2025-10-28T20:26:15.040Z,1761683175.040 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:26:15.040Z,1761683175.040 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:26:15.040Z,1761683175.040 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateRudder:A] Stopped 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:26:15.041Z,1761683175.041 [marl:UpdateCommandMode] Stopped 2025-10-28T20:26:15.042Z,1761683175.042 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:26:15.419Z,1761683175.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604540,0.796222,0.023714],[-0.777569,0.583391,0.234608],[0.172965,-0.160269,0.971801]] 2025-10-28T20:26:15.450Z,1761683175.450 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:26:15.450Z,1761683175.450 [marl:UpdateRudder:B] Stopped 2025-10-28T20:26:15.450Z,1761683175.450 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:26:15.450Z,1761683175.450 [marl:UpdateRudder] Stopped 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed] Stopped 2025-10-28T20:26:15.451Z,1761683175.451 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:26:15.844Z,1761683175.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608650,0.792535,0.037871],[-0.771892,0.580399,0.259460],[0.183651,-0.187152,0.965011]] 2025-10-28T20:26:15.869Z,1761683175.869 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 24, +10447.34, -12000 2025-10-28T20:26:16.227Z,1761683176.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638772,0.767049,0.060053],[-0.748963,0.602041,0.276770],[0.176141,-0.221770,0.959058]] 2025-10-28T20:26:16.515Z,1761683176.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:26:16.635Z,1761683176.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655687,0.753982,0.039808],[-0.734087,0.624278,0.267196],[0.176610,-0.204420,0.962820]] 2025-10-28T20:26:17.035Z,1761683177.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655375,0.755189,-0.013155],[-0.730465,0.638156,0.243263],[0.192104,-0.149819,0.969871]] 2025-10-28T20:26:17.440Z,1761683177.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669598,0.740821,-0.053134],[-0.716347,0.663059,0.217253],[0.196176,-0.107410,0.974668]] 2025-10-28T20:26:17.846Z,1761683177.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681433,0.727120,-0.083338],[-0.703183,0.682029,0.200925],[0.202935,-0.078315,0.976055]] 2025-10-28T20:26:18.261Z,1761683178.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690154,0.716662,-0.100415],[-0.692862,0.694438,0.194158],[0.208877,-0.064425,0.975817]] 2025-10-28T20:26:18.655Z,1761683178.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692201,0.711968,-0.118150],[-0.680994,0.698549,0.219717],[0.238965,-0.071628,0.968383]] 2025-10-28T20:26:19.054Z,1761683179.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695106,0.708756,-0.120383],[-0.674191,0.700801,0.233119],[0.249590,-0.080882,0.964968]] 2025-10-28T20:26:19.471Z,1761683179.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698183,0.709185,-0.097965],[-0.674432,0.697441,0.242318],[0.240173,-0.103112,0.965238]] 2025-10-28T20:26:20.409Z,1761683180.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693948,0.707781,-0.132221],[-0.651268,0.695319,0.303942],[0.307060,-0.124808,0.943471]] 2025-10-28T20:26:20.837Z,1761683180.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686634,0.714687,-0.133252],[-0.660746,0.689933,0.295647],[0.303230,-0.114955,0.945958]] 2025-10-28T20:26:21.228Z,1761683181.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696980,0.710668,-0.095765],[-0.653984,0.684730,0.321636],[0.294150,-0.161545,0.942008]] 2025-10-28T20:26:21.627Z,1761683181.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695375,0.710815,-0.105811],[-0.648233,0.683967,0.334638],[0.310237,-0.164109,0.936387]] 2025-10-28T20:26:22.042Z,1761683182.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700257,0.706353,-0.103473],[-0.635769,0.682968,0.359655],[0.324712,-0.186066,0.927330]] 2025-10-28T20:26:22.431Z,1761683182.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701960,0.706333,-0.091358],[-0.640588,0.682212,0.352468],[0.311285,-0.188895,0.931354]] 2025-10-28T20:26:22.580Z,1761683182.580 [BuoyancyServo](FAULT): Invalid EZ Servo response:"\377\r" 2025-10-28T20:26:22.581Z,1761683182.581 [BuoyancyServo] Communications Fault, FailCount= 1 2025-10-28T20:26:22.581Z,1761683182.581 [BuoyancyServo](ERROR): Communications Fault 2025-10-28T20:26:22.581Z,1761683182.581 [BuoyancyServo](FAULT): Buoyancy engine reporting null position 2025-10-28T20:26:22.581Z,1761683182.581 [BuoyancyServo] Hardware Fault, FailCount= 1 2025-10-28T20:26:22.581Z,1761683182.581 [BuoyancyServo](ERROR): Hardware Fault 2025-10-28T20:26:22.796Z,1761683182.796 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2025-10-28T20:26:22.839Z,1761683182.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700105,0.709429,-0.081018],[-0.650432,0.680434,0.337563],[0.294604,-0.183633,0.937810]] 2025-10-28T20:26:23.644Z,1761683183.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685574,0.715091,-0.136503],[-0.642765,0.682607,0.347708],[0.341821,-0.150641,0.927613]] 2025-10-28T20:26:24.047Z,1761683184.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687535,0.715356,-0.124744],[-0.642385,0.679281,0.354850],[0.338581,-0.163838,0.926564]] 2025-10-28T20:26:24.098Z,1761683184.098 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -179+10393.49, -43.53, 65.92, 0.00 2025-10-28T20:26:24.450Z,1761683184.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693831,0.713627,-0.096616],[-0.639512,0.672263,0.372944],[0.331094,-0.196973,0.922810]] 2025-10-28T20:26:24.562Z,1761683184.562 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2025-10-28T20:26:24.563Z,1761683184.563 [BuoyancyServo](INFO): Powering down 2025-10-28T20:26:24.856Z,1761683184.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687966,0.719470,-0.095217],[-0.643406,0.665340,0.378618],[0.335756,-0.199213,0.920642]] 2025-10-28T20:26:25.259Z,1761683185.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682707,0.724134,-0.097679],[-0.648456,0.662045,0.375768],[0.336774,-0.193199,0.921552]] 2025-10-28T20:26:25.532Z,1761683185.532 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2025-10-28T20:26:25.532Z,1761683185.532 [BuoyancyServo] No Fault, FailCount= 1 2025-10-28T20:26:25.663Z,1761683185.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686575,0.722515,-0.081157],[-0.651074,0.660661,0.373671],[0.323600,-0.203714,0.924004]] 2025-10-28T20:26:25.709Z,1761683185.709 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-10-28T20:26:25.717Z,1761683185.717 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-10-28T20:26:26.068Z,1761683186.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690633,0.718417,-0.083087],[-0.649841,0.666883,0.364657],[0.317385,-0.197851,0.927428]] 2025-10-28T20:26:26.471Z,1761683186.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691489,0.713655,-0.111978],[-0.641637,0.677984,0.358664],[0.331882,-0.176163,0.926726]] 2025-10-28T20:26:26.874Z,1761683186.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689393,0.711466,-0.136212],[-0.633828,0.683486,0.362090],[0.350714,-0.163287,0.922137]] 2025-10-28T20:26:27.278Z,1761683187.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685337,0.710965,-0.157614],[-0.627433,0.686347,0.367772],[0.369651,-0.153155,0.916462]] 2025-10-28T20:26:27.685Z,1761683187.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682193,0.710909,-0.170944],[-0.622905,0.687500,0.373272],[0.382887,-0.148162,0.911837]] 2025-10-28T20:26:28.491Z,1761683188.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687336,0.716468,-0.119345],[-0.633099,0.671499,0.385064],[0.356027,-0.189111,0.915140]] 2025-10-28T20:26:28.536Z,1761683188.536 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:26:28.540Z,1761683188.540 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:26:28.540Z,1761683188.540 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateRudder:A] Stopped 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:26:28.541Z,1761683188.541 [marl:UpdateCommandMode] Stopped 2025-10-28T20:26:28.542Z,1761683188.542 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:26:28.894Z,1761683188.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690661,0.718669,-0.080632],[-0.643644,0.661704,0.384539],[0.329711,-0.213688,0.919580]] 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateRudder:B] Stopped 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateRudder] Stopped 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:26:28.949Z,1761683188.949 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:26:28.950Z,1761683188.950 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:26:28.950Z,1761683188.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:26:28.950Z,1761683188.950 [marl:UpdateSpeed] Stopped 2025-10-28T20:26:28.950Z,1761683188.950 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:26:29.318Z,1761683189.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691223,0.719901,-0.062879],[-0.649811,0.657270,0.381761],[0.316158,-0.223023,0.922120]] 2025-10-28T20:26:29.368Z,1761683189.368 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:26:29.569Z,1761683189.569 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:26:29.569Z,1761683189.569 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:26:29.734Z,1761683189.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693215,0.717545,-0.067694],[-0.646791,0.660786,0.380818],[0.317985,-0.220205,0.922169]] 2025-10-28T20:26:29.823Z,1761683189.823 [DAT](INFO): DAT read: user:254> 2025-10-28T20:26:29.826Z,1761683189.826 [DAT](INFO): DAT read: Tx time:20:26:29.5680 2025-10-28T20:26:29.827Z,1761683189.827 [DAT](INFO): Ping request sent. 2025-10-28T20:26:29.827Z,1761683189.827 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:26:29.829Z,1761683189.829 [DAT](INFO): publishing transmit ping time 2025-10-28T20:26:29.831Z,1761683189.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003595 2025-10-28T20:26:30.073Z,1761683190.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245799 2025-10-28T20:26:30.122Z,1761683190.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696312,0.713295,-0.079747],[-0.641470,0.668310,0.376668],[0.321971,-0.211123,0.922909]] 2025-10-28T20:26:30.325Z,1761683190.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497807 2025-10-28T20:26:30.530Z,1761683190.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698117,0.709836,-0.093625],[-0.638364,0.676305,0.367563],[0.324229,-0.196835,0.925274]] 2025-10-28T20:26:30.577Z,1761683190.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749896 2025-10-28T20:26:30.829Z,1761683190.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001780 2025-10-28T20:26:30.937Z,1761683190.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706421,0.698538,-0.114084],[-0.631907,0.695046,0.342935],[0.318846,-0.170166,0.932406]] 2025-10-28T20:26:31.081Z,1761683191.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253844 2025-10-28T20:26:31.341Z,1761683191.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513873 2025-10-28T20:26:31.593Z,1761683191.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766070 2025-10-28T20:26:31.845Z,1761683191.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017882 2025-10-28T20:26:32.097Z,1761683192.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269751 2025-10-28T20:26:32.349Z,1761683192.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521810 2025-10-28T20:26:32.552Z,1761683192.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715724,0.691619,-0.096964],[-0.634754,0.702117,0.322674],[0.291248,-0.169398,0.941530]] 2025-10-28T20:26:32.614Z,1761683192.614 [DAT](INFO): DAT read: Rx Time:20:26:31.8171 2025-10-28T20:26:32.614Z,1761683192.614 [DAT](INFO): Rx dataTimestamp_ set to:1761683192.614006 2025-10-28T20:26:32.615Z,1761683192.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787751 2025-10-28T20:26:32.865Z,1761683192.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037778 2025-10-28T20:26:32.982Z,1761683192.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716823,0.691348,-0.090565],[-0.634454,0.700606,0.326526],[0.289194,-0.176602,0.940839]] 2025-10-28T20:26:33.123Z,1761683193.123 [DAT](INFO): DAT read: 20:26:31.8171 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 281, 0.02,-0.816,-2.404,-0.745,-1.276, PHS= 0.562,-1.083, 0.487, RAW= 147.7, 0.4, CAL= 146.8, 0.2, ROT= 3.2, -0.2 2025-10-28T20:26:33.125Z,1761683193.125 [DAT](INFO): got valid direction response: 20:26:31.8171 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 281, 0.02,-0.816,-2.404,-0.745,-1.276, PHS= 0.562,-1.083, 0.487, RAW= 147.7, 0.4, CAL= 146.8, 0.2, ROT= 3.2, -0.2 2025-10-28T20:26:33.126Z,1761683193.126 [DAT](INFO): DAT read: Bearing 297, -14 (Remote) 2025-10-28T20:26:33.126Z,1761683193.126 [DAT](INFO): Remote Bearing received:Bearing 297, -14 (Remote) 2025-10-28T20:26:33.127Z,1761683193.127 [DAT](INFO): DAT read: Bearing 130.6, 20.5 (Local) 2025-10-28T20:26:33.127Z,1761683193.127 [DAT](INFO): Local bearing/azimuth received: Bearing 130.6, 20.5 (Local) 2025-10-28T20:26:33.147Z,1761683193.147 [DAT](INFO): DAT read: Range 11 to 20 : 165.0 m (Round-trip 220.0 ms) speed 0.0 m/s 2025-10-28T20:26:33.148Z,1761683193.148 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:26:33.149Z,1761683193.149 [DAT](INFO): direction in FSK: [0.998435,0.055821,0.003491] 2025-10-28T20:26:33.149Z,1761683193.149 [DAT](INFO): publishing direction and range info 2025-10-28T20:26:33.359Z,1761683193.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719809,0.688453,-0.088928],[-0.630945,0.702273,0.329729],[0.289455,-0.181233,0.939878]] 2025-10-28T20:26:33.421Z,1761683193.421 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683200.00. Resetting abort timer. 2025-10-28T20:26:33.795Z,1761683193.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721663,0.686247,-0.090925],[-0.627965,0.704255,0.331188],[0.291311,-0.181908,0.939174]] 2025-10-28T20:26:34.163Z,1761683194.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722106,0.686381,-0.086280],[-0.627887,0.702644,0.334739],[0.290382,-0.187543,0.938353]] 2025-10-28T20:26:34.567Z,1761683194.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722881,0.687169,-0.072398],[-0.630257,0.698681,0.338557],[0.283229,-0.199107,0.938157]] 2025-10-28T20:26:34.585Z,1761683194.585 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T20:26:34.979Z,1761683194.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725274,0.686285,-0.054675],[-0.632904,0.695896,0.339355],[0.270943,-0.211521,0.939068]] 2025-10-28T20:26:35.432Z,1761683195.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728664,0.683855,-0.037305],[-0.635120,0.695108,0.336819],[0.256266,-0.221735,0.940830]] 2025-10-28T20:26:35.855Z,1761683195.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731695,0.681273,-0.022138],[-0.637425,0.695384,0.331860],[0.241481,-0.228709,0.943069]] 2025-10-28T20:26:36.341Z,1761683196.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734171,0.678844,-0.012797],[-0.639499,0.697706,0.322873],[0.228108,-0.228860,0.946356]] 2025-10-28T20:26:36.763Z,1761683196.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735642,0.677315,-0.008661],[-0.641651,0.700890,0.311507],[0.217059,-0.223601,0.950204]] 2025-10-28T20:26:37.158Z,1761683197.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736178,0.676734,-0.008551],[-0.644047,0.704391,0.298390],[0.207953,-0.214161,0.954406]] 2025-10-28T20:26:37.558Z,1761683197.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736044,0.676853,-0.010467],[-0.646951,0.707909,0.283406],[0.199234,-0.201827,0.958943]] 2025-10-28T20:26:37.962Z,1761683197.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735478,0.677422,-0.013132],[-0.649998,0.710909,0.268537],[0.191248,-0.188967,0.963180]] 2025-10-28T20:26:38.370Z,1761683198.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734381,0.678513,-0.017459],[-0.652576,0.712913,0.256709],[0.186627,-0.177129,0.966331]] 2025-10-28T20:26:38.777Z,1761683198.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732497,0.680386,-0.022857],[-0.654658,0.713214,0.250496],[0.186736,-0.168525,0.967848]] 2025-10-28T20:26:39.180Z,1761683199.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730676,0.682165,-0.027635],[-0.655911,0.712636,0.248858],[0.189456,-0.163708,0.968146]] 2025-10-28T20:26:39.579Z,1761683199.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732088,0.680624,-0.028266],[-0.654397,0.714194,0.248379],[0.189240,-0.163338,0.968251]] 2025-10-28T20:26:39.982Z,1761683199.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737017,0.675434,-0.024366],[-0.650285,0.718479,0.246815],[0.184214,-0.166062,0.968756]] 2025-10-28T20:26:40.388Z,1761683200.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742308,0.669865,-0.016122],[-0.646459,0.722286,0.245754],[0.176267,-0.172003,0.969198]] 2025-10-28T20:26:40.797Z,1761683200.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746073,0.665842,-0.005437],[-0.644507,0.724170,0.245334],[0.167291,-0.179533,0.969423]] 2025-10-28T20:26:41.201Z,1761683201.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747326,0.664441,0.004675],[-0.645064,0.723808,0.244939],[0.159364,-0.186065,0.969527]] 2025-10-28T20:26:41.599Z,1761683201.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746560,0.665121,0.016188],[-0.647763,0.721093,0.245822],[0.151828,-0.194007,0.969180]] 2025-10-28T20:26:42.006Z,1761683202.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744118,0.667331,0.030943],[-0.652592,0.716216,0.247304],[0.142872,-0.204217,0.968444]] 2025-10-28T20:26:42.047Z,1761683202.047 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:26:42.048Z,1761683202.048 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:26:42.048Z,1761683202.048 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:26:42.048Z,1761683202.048 [marl:UpdateRudder:A] Stopped 2025-10-28T20:26:42.048Z,1761683202.048 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:26:42.048Z,1761683202.048 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode] Stopped 2025-10-28T20:26:42.049Z,1761683202.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:26:42.407Z,1761683202.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741199,0.669623,0.047210],[-0.658332,0.711350,0.246130],[0.131231,-0.213511,0.968086]] 2025-10-28T20:26:42.447Z,1761683202.447 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:26:42.447Z,1761683202.447 [marl:UpdateRudder:B] Stopped 2025-10-28T20:26:42.448Z,1761683202.448 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:26:42.448Z,1761683202.448 [marl:UpdateRudder] Stopped 2025-10-28T20:26:42.452Z,1761683202.452 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:26:42.452Z,1761683202.452 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:26:42.452Z,1761683202.452 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:26:42.452Z,1761683202.452 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:26:42.453Z,1761683202.453 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:26:42.453Z,1761683202.453 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:26:42.453Z,1761683202.453 [marl:UpdateSpeed] Stopped 2025-10-28T20:26:42.453Z,1761683202.453 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:26:42.811Z,1761683202.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738961,0.670920,0.061659],[-0.663324,0.708440,0.241066],[0.118055,-0.219039,0.968548]] 2025-10-28T20:26:43.226Z,1761683203.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737649,0.671493,0.070512],[-0.666664,0.707817,0.233571],[0.106931,-0.219301,0.969780]] 2025-10-28T20:26:43.621Z,1761683203.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736899,0.672282,0.070829],[-0.668514,0.709172,0.223975],[0.100344,-0.212398,0.972018]] 2025-10-28T20:26:44.023Z,1761683204.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735783,0.674058,0.065338],[-0.669901,0.710295,0.216132],[0.099277,-0.202797,0.974175]] 2025-10-28T20:26:44.427Z,1761683204.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734850,0.675793,0.057436],[-0.670546,0.711204,0.211085],[0.101801,-0.193630,0.975779]] 2025-10-28T20:26:44.832Z,1761683204.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735990,0.675069,0.050998],[-0.668952,0.713606,0.208012],[0.104030,-0.187210,0.976796]] 2025-10-28T20:26:45.639Z,1761683205.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748026,0.662530,0.038875],[-0.656518,0.730119,0.189498],[0.097165,-0.167271,0.981111]] 2025-10-28T20:26:46.043Z,1761683206.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759232,0.650230,0.027696],[-0.644811,0.745771,0.167464],[0.088235,-0.145002,0.985489]] 2025-10-28T20:26:46.449Z,1761683206.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772752,0.634503,0.016118],[-0.629974,0.763646,0.141342],[0.077374,-0.119376,0.989830]] 2025-10-28T20:26:46.853Z,1761683206.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787043,0.616872,0.005658],[-0.613303,0.781435,0.114970],[0.066501,-0.093956,0.993353]] 2025-10-28T20:26:47.255Z,1761683207.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800146,0.599800,-0.002609],[-0.597178,0.797040,0.090031],[0.056080,-0.070480,0.995936]] 2025-10-28T20:26:47.659Z,1761683207.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810862,0.585210,-0.005565],[-0.583479,0.809127,0.069760],[0.045327,-0.053318,0.997548]] 2025-10-28T20:26:47.753Z,1761683207.753 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:26:48.063Z,1761683208.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819428,0.573169,-0.003939],[-0.572241,0.818456,0.051675],[0.032843,-0.040090,0.998656]] 2025-10-28T20:26:48.469Z,1761683208.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827382,0.561631,0.003087],[-0.561350,0.826768,0.036628],[0.018019,-0.032038,0.999324]] 2025-10-28T20:26:48.871Z,1761683208.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835737,0.549016,0.011210],[-0.549124,0.835457,0.021761],[0.002582,-0.024342,0.999700]] 2025-10-28T20:26:49.275Z,1761683209.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844231,0.535756,0.015489],[-0.535883,0.844274,0.005477],[-0.010142,-0.012924,0.999865]] 2025-10-28T20:26:49.680Z,1761683209.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852594,0.522376,0.014370],[-0.522253,0.852712,-0.011595],[-0.018310,0.002381,0.999829]] 2025-10-28T20:26:51.295Z,1761683211.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874748,0.484572,-0.002381],[-0.484139,0.873736,-0.046845],[-0.020620,0.042130,0.998899]] 2025-10-28T20:26:51.709Z,1761683211.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878055,0.478558,0.001350],[-0.478008,0.877174,-0.045532],[-0.022973,0.039334,0.998962]] 2025-10-28T20:26:52.104Z,1761683212.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882785,0.469743,0.005630],[-0.469012,0.881968,-0.046473],[-0.026796,0.038385,0.998904]] 2025-10-28T20:26:52.509Z,1761683212.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889046,0.457664,0.011894],[-0.456704,0.888394,-0.046669],[-0.031925,0.036059,0.998840]] 2025-10-28T20:26:52.912Z,1761683212.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896072,0.443558,0.017631],[-0.442420,0.895613,-0.046287],[-0.036322,0.033676,0.998773]] 2025-10-28T20:26:53.315Z,1761683213.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904016,0.427001,0.020618],[-0.425773,0.903648,-0.046230],[-0.038371,0.033014,0.998718]] 2025-10-28T20:26:53.722Z,1761683213.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912870,0.407710,0.020983],[-0.406443,0.912459,-0.047154],[-0.038371,0.034517,0.998667]] 2025-10-28T20:26:54.123Z,1761683214.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921648,0.387546,0.019333],[-0.386292,0.921092,-0.048655],[-0.036664,0.037375,0.998628]] 2025-10-28T20:26:54.527Z,1761683214.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929428,0.368612,0.016966],[-0.367476,0.928782,-0.048227],[-0.033535,0.038589,0.998692]] 2025-10-28T20:26:54.931Z,1761683214.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935894,0.351909,0.016203],[-0.350965,0.935382,-0.043396],[-0.030427,0.034928,0.998927]] 2025-10-28T20:26:55.336Z,1761683215.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941217,0.337291,0.018610],[-0.336505,0.941000,-0.035829],[-0.029597,0.027461,0.999185]] 2025-10-28T20:26:55.365Z,1761683215.365 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateRudder:A] Stopped 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:26:55.366Z,1761683215.366 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:26:55.367Z,1761683215.367 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:26:55.367Z,1761683215.367 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:26:55.367Z,1761683215.367 [marl:UpdateCommandMode] Stopped 2025-10-28T20:26:55.367Z,1761683215.367 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:26:55.739Z,1761683215.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945782,0.323787,0.025662],[-0.323189,0.946008,-0.024870],[-0.032330,0.015228,0.999361]] 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateRudder:B] Stopped 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateRudder] Stopped 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:26:55.849Z,1761683215.849 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:26:55.850Z,1761683215.850 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:26:55.850Z,1761683215.850 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:26:55.850Z,1761683215.850 [marl:UpdateSpeed] Stopped 2025-10-28T20:26:55.850Z,1761683215.850 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:26:56.143Z,1761683216.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949888,0.310471,0.036350],[-0.310227,0.950583,-0.012325],[-0.038380,0.000431,0.999263]] 2025-10-28T20:26:56.550Z,1761683216.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953396,0.297977,0.047386],[-0.298174,0.954507,-0.003012],[-0.046128,-0.011258,0.998872]] 2025-10-28T20:26:56.951Z,1761683216.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956427,0.286305,0.057251],[-0.286816,0.957985,0.000747],[-0.054631,-0.017134,0.998360]] 2025-10-28T20:26:57.387Z,1761683217.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961759,0.263723,0.073953],[-0.264052,0.964493,-0.005463],[-0.072768,-0.014273,0.997247]] 2025-10-28T20:26:58.592Z,1761683218.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968824,0.233994,0.081404],[-0.233081,0.972238,-0.020672],[-0.083981,0.001054,0.996467]] 2025-10-28T20:26:59.014Z,1761683219.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971989,0.220321,0.081829],[-0.219681,0.975426,-0.016856],[-0.083532,-0.001593,0.996504]] 2025-10-28T20:26:59.478Z,1761683219.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974589,0.208387,0.082169],[-0.208773,0.977956,-0.003954],[-0.081182,-0.013301,0.996611]] 2025-10-28T20:26:59.889Z,1761683219.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976332,0.200068,0.082154],[-0.202189,0.979176,0.018273],[-0.076787,-0.034451,0.996452]] 2025-10-28T20:27:00.305Z,1761683220.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977463,0.194028,0.083178],[-0.198450,0.978905,0.048601],[-0.071994,-0.064013,0.995349]] 2025-10-28T20:27:00.710Z,1761683220.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978272,0.188733,0.085813],[-0.195713,0.977240,0.081843],[-0.068413,-0.096860,0.992944]] 2025-10-28T20:27:01.111Z,1761683221.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978832,0.183872,0.089879],[-0.193608,0.974274,0.115355],[-0.066356,-0.130315,0.989250]] 2025-10-28T20:27:01.518Z,1761683221.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978594,0.182884,0.094379],[-0.195245,0.970006,0.144802],[-0.065066,-0.160130,0.984949]] 2025-10-28T20:27:01.920Z,1761683221.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977915,0.184633,0.097948],[-0.198994,0.965803,0.166212],[-0.063911,-0.182032,0.981213]] 2025-10-28T20:27:02.322Z,1761683222.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977424,0.186193,0.099872],[-0.201631,0.963238,0.177532],[-0.063146,-0.193661,0.979034]] 2025-10-28T20:27:02.726Z,1761683222.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977354,0.186370,0.100222],[-0.202120,0.962421,0.181364],[-0.062655,-0.197513,0.978296]] 2025-10-28T20:27:03.133Z,1761683223.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978022,0.183850,0.098352],[-0.199133,0.963444,0.179225],[-0.061806,-0.194871,0.978880]] 2025-10-28T20:27:03.534Z,1761683223.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979349,0.178319,0.095280],[-0.192872,0.965351,0.175779],[-0.060634,-0.190526,0.979808]] 2025-10-28T20:27:03.939Z,1761683223.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980751,0.171935,0.092556],[-0.185891,0.967216,0.173027],[-0.059772,-0.186902,0.980559]] 2025-10-28T20:27:04.344Z,1761683224.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981680,0.166918,0.091881],[-0.180844,0.968093,0.173469],[-0.059994,-0.186907,0.980544]] 2025-10-28T20:27:04.746Z,1761683224.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981979,0.164407,0.093206],[-0.178955,0.967459,0.178882],[-0.060763,-0.192338,0.979446]] 2025-10-28T20:27:05.151Z,1761683225.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982076,0.162429,0.095618],[-0.177764,0.966834,0.183388],[-0.062660,-0.197098,0.978379]] 2025-10-28T20:27:05.559Z,1761683225.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982308,0.159951,0.097402],[-0.175737,0.967036,0.184276],[-0.064716,-0.198132,0.978037]] 2025-10-28T20:27:05.964Z,1761683225.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982759,0.157705,0.096510],[-0.173006,0.968496,0.179120],[-0.065222,-0.192728,0.979082]] 2025-10-28T20:27:06.367Z,1761683226.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983274,0.157069,0.092199],[-0.170987,0.970446,0.170285],[-0.062728,-0.183202,0.981072]] 2025-10-28T20:27:06.776Z,1761683226.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984030,0.156683,0.084470],[-0.168605,0.972596,0.160091],[-0.057072,-0.171776,0.983481]] 2025-10-28T20:27:07.182Z,1761683227.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985727,0.150725,0.074992],[-0.160628,0.975413,0.150892],[-0.050405,-0.160784,0.985702]] 2025-10-28T20:27:07.589Z,1761683227.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987293,0.144381,0.066386],[-0.152859,0.977049,0.148359],[-0.043442,-0.156621,0.986703]] 2025-10-28T20:27:07.983Z,1761683227.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988322,0.140114,0.059901],[-0.147893,0.976699,0.155523],[-0.036714,-0.162566,0.986014]] 2025-10-28T20:27:08.386Z,1761683228.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988720,0.138852,0.056152],[-0.146412,0.975028,0.166982],[-0.031564,-0.173320,0.984360]] 2025-10-28T20:27:08.794Z,1761683228.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988815,0.138767,0.054673],[-0.146495,0.972453,0.181311],[-0.028007,-0.187293,0.981905]] 2025-10-28T20:27:08.838Z,1761683228.838 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:27:08.838Z,1761683228.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:27:08.838Z,1761683228.838 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:27:08.838Z,1761683228.838 [marl:UpdateRudder:A] Stopped 2025-10-28T20:27:08.838Z,1761683228.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode] Stopped 2025-10-28T20:27:08.839Z,1761683228.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:27:09.200Z,1761683229.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988725,0.139689,0.053937],[-0.147568,0.970110,0.192642],[-0.025415,-0.198430,0.979786]] 2025-10-28T20:27:09.224Z,1761683229.224 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:27:09.224Z,1761683229.224 [marl:UpdateRudder:B] Stopped 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateRudder] Stopped 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:27:09.225Z,1761683229.225 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:27:09.226Z,1761683229.226 [marl:UpdateSpeed] Stopped 2025-10-28T20:27:09.226Z,1761683229.226 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:27:09.599Z,1761683229.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988776,0.139496,0.053510],[-0.147490,0.968529,0.200495],[-0.023857,-0.206137,0.978232]] 2025-10-28T20:27:10.003Z,1761683230.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988947,0.138673,0.052466],[-0.146569,0.967763,0.204824],[-0.022371,-0.210250,0.977392]] 2025-10-28T20:27:10.407Z,1761683230.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989389,0.136444,0.049920],[-0.143847,0.968219,0.204595],[-0.020418,-0.209605,0.977573]] 2025-10-28T20:27:10.812Z,1761683230.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990192,0.132443,0.044476],[-0.138721,0.969863,0.200304],[-0.016607,-0.204510,0.978724]] 2025-10-28T20:27:11.215Z,1761683231.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991368,0.125874,0.036682],[-0.130614,0.972495,0.192856],[-0.011398,-0.195982,0.980541]] 2025-10-28T20:27:11.619Z,1761683231.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992507,0.118739,0.028827],[-0.122048,0.974669,0.187417],[-0.005844,-0.189531,0.981857]] 2025-10-28T20:27:12.023Z,1761683232.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993237,0.113987,0.022067],[-0.116102,0.975713,0.185755],[-0.000357,-0.187061,0.982348]] 2025-10-28T20:27:12.830Z,1761683232.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994050,0.108068,0.013625],[-0.108597,0.973601,0.200766],[0.008432,-0.201051,0.979544]] 2025-10-28T20:27:13.234Z,1761683233.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994260,0.106505,0.010150],[-0.106250,0.971831,0.210369],[0.012542,-0.210240,0.977569]] 2025-10-28T20:27:13.638Z,1761683233.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994522,0.104297,0.006917],[-0.103329,0.970986,0.215662],[0.015777,-0.215195,0.976444]] 2025-10-28T20:27:14.045Z,1761683234.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994793,0.101880,0.002739],[-0.100141,0.972119,0.212031],[0.018939,-0.211201,0.977259]] 2025-10-28T20:27:14.446Z,1761683234.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994958,0.100237,-0.003232],[-0.097534,0.974629,0.201457],[0.023343,-0.200126,0.979492]] 2025-10-28T20:27:14.850Z,1761683234.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994975,0.099556,-0.010603],[-0.095843,0.977745,0.186625],[0.028947,-0.184671,0.982374]] 2025-10-28T20:27:15.255Z,1761683235.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994855,0.099720,-0.017888],[-0.095126,0.980189,0.173727],[0.034858,-0.171132,0.984631]] 2025-10-28T20:27:15.678Z,1761683235.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994706,0.099899,-0.024097],[-0.094566,0.981607,0.165847],[0.040222,-0.162690,0.985857]] 2025-10-28T20:27:15.885Z,1761683235.885 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.373711 2025-10-28T20:27:16.062Z,1761683236.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994609,0.099360,-0.029687],[-0.093279,0.982288,0.162508],[0.045308,-0.158863,0.986260]] 2025-10-28T20:27:16.466Z,1761683236.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994658,0.096624,-0.036326],[-0.089559,0.982752,0.161795],[0.051332,-0.157677,0.986156]] 2025-10-28T20:27:16.870Z,1761683236.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994950,0.089996,-0.044445],[-0.081754,0.983508,0.161332],[0.058232,-0.156884,0.985899]] 2025-10-28T20:27:16.888Z,1761683236.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:27:17.277Z,1761683237.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995164,0.082689,-0.053025],[-0.072947,0.983620,0.164832],[0.065786,-0.160167,0.984895]] 2025-10-28T20:27:17.683Z,1761683237.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995108,0.077997,-0.060630],[-0.066342,0.982354,0.174868],[0.073200,-0.169991,0.982723]] 2025-10-28T20:27:18.082Z,1761683238.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994923,0.075244,-0.066831],[-0.061166,0.979453,0.192171],[0.079918,-0.187108,0.979083]] 2025-10-28T20:27:18.491Z,1761683238.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994681,0.073318,-0.072353],[-0.056390,0.975387,0.213170],[0.086201,-0.207956,0.974333]] 2025-10-28T20:27:18.894Z,1761683238.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994384,0.071471,-0.078057],[-0.051642,0.971440,0.231597],[0.092380,-0.226265,0.969675]] 2025-10-28T20:27:19.295Z,1761683239.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994096,0.069219,-0.083559],[-0.047266,0.969435,0.240751],[0.097670,-0.235380,0.966983]] 2025-10-28T20:27:19.701Z,1761683239.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993763,0.067248,-0.088953],[-0.044314,0.970161,0.238376],[0.102329,-0.232947,0.967091]] 2025-10-28T20:27:20.103Z,1761683240.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993214,0.067662,-0.094590],[-0.044658,0.972870,0.227000],[0.107383,-0.221235,0.969290]] 2025-10-28T20:27:20.509Z,1761683240.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992638,0.068857,-0.099642],[-0.046246,0.975818,0.213636],[0.111942,-0.207455,0.971819]] 2025-10-28T20:27:20.911Z,1761683240.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992417,0.065133,-0.104242],[-0.043371,0.979070,0.198848],[0.115012,-0.192819,0.974471]] 2025-10-28T20:27:21.314Z,1761683241.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992419,0.057310,-0.108722],[-0.036213,0.981705,0.186932],[0.117446,-0.181578,0.976338]] 2025-10-28T20:27:21.722Z,1761683241.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992341,0.048788,-0.113484],[-0.027894,0.983474,0.178888],[0.120336,-0.174353,0.977303]] 2025-10-28T20:27:22.125Z,1761683242.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992045,0.042250,-0.118580],[-0.021061,0.984422,0.174556],[0.124108,-0.170670,0.977481]] 2025-10-28T20:27:22.528Z,1761683242.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991581,0.038137,-0.123743],[-0.016044,0.984465,0.174848],[0.128489,-0.171390,0.976789]] 2025-10-28T20:27:22.569Z,1761683242.569 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:27:22.569Z,1761683242.569 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateRudder:A] Stopped 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:27:22.570Z,1761683242.570 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateCommandMode] Stopped 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:27:22.571Z,1761683242.571 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:27:22.572Z,1761683242.572 [marl:UpdateSpeed] Stopped 2025-10-28T20:27:22.572Z,1761683242.572 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:27:22.930Z,1761683242.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990992,0.035720,-0.129071],[-0.012277,0.983946,0.178044],[0.133359,-0.174856,0.975521]] 2025-10-28T20:27:22.970Z,1761683242.970 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:27:22.971Z,1761683242.971 [marl:UpdateRudder:B] Stopped 2025-10-28T20:27:22.971Z,1761683242.971 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:27:22.971Z,1761683242.971 [marl:UpdateRudder] Stopped 2025-10-28T20:27:22.971Z,1761683242.971 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:27:23.336Z,1761683243.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990342,0.034059,-0.134397],[-0.008950,0.983040,0.183174],[0.138356,-0.180202,0.973850]] 2025-10-28T20:27:23.746Z,1761683243.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989690,0.034017,-0.139129],[-0.006950,0.981649,0.190568],[0.143059,-0.187636,0.971765]] 2025-10-28T20:27:24.147Z,1761683244.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989113,0.033918,-0.143197],[-0.005058,0.980336,0.197272],[0.147072,-0.194400,0.969834]] 2025-10-28T20:27:24.412Z,1761683244.412 [Radio_Surface](INFO): Powering down 2025-10-28T20:27:24.553Z,1761683244.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988668,0.033180,-0.146409],[-0.002940,0.979361,0.202096],[0.150093,-0.199376,0.968360]] 2025-10-28T20:27:24.952Z,1761683244.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988302,0.030552,-0.149418],[0.000623,0.978912,0.204280],[0.152508,-0.201983,0.967442]] 2025-10-28T20:27:25.356Z,1761683245.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987899,0.026164,-0.152874],[0.005341,0.979345,0.202127],[0.155005,-0.200497,0.967354]] 2025-10-28T20:27:25.791Z,1761683245.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987394,0.021556,-0.156807],[0.010275,0.979865,0.199399],[0.157948,-0.198497,0.967291]] 2025-10-28T20:27:26.170Z,1761683246.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986920,0.019137,-0.160068],[0.013135,0.980081,0.198161],[0.160672,-0.197672,0.967011]] 2025-10-28T20:27:26.569Z,1761683246.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986491,0.018004,-0.162826],[0.014660,0.980253,0.197202],[0.163161,-0.196925,0.966747]] 2025-10-28T20:27:26.970Z,1761683246.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986074,0.016577,-0.165481],[0.016293,0.980605,0.195318],[0.165509,-0.195294,0.966678]] 2025-10-28T20:27:27.374Z,1761683247.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985678,0.014640,-0.168001],[0.017791,0.981637,0.189928],[0.167697,-0.190197,0.967317]] 2025-10-28T20:27:27.831Z,1761683247.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984932,0.010052,-0.172651],[0.019925,0.985066,0.171022],[0.171792,-0.171885,0.970022]] 2025-10-28T20:27:28.599Z,1761683248.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984349,0.005410,-0.176144],[0.021837,0.988081,0.152375],[0.174869,-0.153837,0.972499]] 2025-10-28T20:27:29.401Z,1761683249.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983809,0.001604,-0.179211],[0.025968,0.988132,0.151399],[0.177327,-0.153602,0.972091]] 2025-10-28T20:27:29.464Z,1761683249.464 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:27:29.585Z,1761683249.585 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:27:29.585Z,1761683249.585 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:27:29.837Z,1761683249.837 [DAT](INFO): DAT read: user:255> 2025-10-28T20:27:29.838Z,1761683249.838 [DAT](INFO): DAT read: Tx time:20:27:29.5678 2025-10-28T20:27:29.838Z,1761683249.838 [DAT](INFO): Ping request sent. 2025-10-28T20:27:29.838Z,1761683249.838 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:27:29.838Z,1761683249.838 [DAT](INFO): publishing transmit ping time 2025-10-28T20:27:29.839Z,1761683249.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000964 2025-10-28T20:27:29.847Z,1761683249.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983605,0.000380,-0.180336],[0.028899,0.986742,0.159705],[0.178006,-0.162299,0.970553]] 2025-10-28T20:27:30.089Z,1761683250.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811 2025-10-28T20:27:30.209Z,1761683250.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983463,-0.000279,-0.181109],[0.032267,0.984269,0.173703],[0.178212,-0.176675,0.968001]] 2025-10-28T20:27:30.342Z,1761683250.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503377 2025-10-28T20:27:30.597Z,1761683250.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758168 2025-10-28T20:27:30.625Z,1761683250.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983260,-0.001352,-0.182201],[0.036713,0.980933,0.190850],[0.178469,-0.194344,0.964562]] 2025-10-28T20:27:30.845Z,1761683250.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986 2025-10-28T20:27:31.014Z,1761683251.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982978,-0.004190,-0.183678],[0.042815,0.977440,0.206830],[0.178667,-0.211173,0.960981]] 2025-10-28T20:27:31.097Z,1761683251.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258782 2025-10-28T20:27:31.349Z,1761683251.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510810 2025-10-28T20:27:31.419Z,1761683251.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982628,-0.008274,-0.185399],[0.049632,0.974334,0.219568],[0.178824,-0.224955,0.957819]] 2025-10-28T20:27:31.601Z,1761683251.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831 2025-10-28T20:27:31.840Z,1761683251.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982349,-0.013165,-0.186591],[0.056249,0.972142,0.227545],[0.178398,-0.234024,0.955723]] 2025-10-28T20:27:31.853Z,1761683251.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849 2025-10-28T20:27:32.105Z,1761683252.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266762 2025-10-28T20:27:32.226Z,1761683252.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982253,-0.016655,-0.186820],[0.060557,0.970866,0.231845],[0.177516,-0.239044,0.954645]] 2025-10-28T20:27:32.357Z,1761683252.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518825 2025-10-28T20:27:32.609Z,1761683252.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770767 2025-10-28T20:27:32.634Z,1761683252.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982346,-0.018653,-0.186141],[0.062421,0.970673,0.232156],[0.176352,-0.239677,0.954701]] 2025-10-28T20:27:32.861Z,1761683252.861 [DAT](INFO): DAT read: Rx Time:20:27:32.1641 2025-10-28T20:27:32.862Z,1761683252.862 [DAT](INFO): Rx dataTimestamp_ set to:1761683252.861269 2025-10-28T20:27:32.862Z,1761683252.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024007 2025-10-28T20:27:33.035Z,1761683253.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982465,-0.020248,-0.185342],[0.062794,0.971943,0.226678],[0.175552,-0.234342,0.956172]] 2025-10-28T20:27:33.113Z,1761683253.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274912 2025-10-28T20:27:33.370Z,1761683253.370 [DAT](INFO): DAT read: 20:27:32.1641 LVL= 28512, 31601, 20402, 29315, AGC= 53, IDX= 411, 0.45,-2.099,-2.661,-0.976,-2.056, PHS= 0.058,-0.560, 1.036, RAW= 187.4, -7.7, CAL= 187.8, -9.9, ROT= 322.2, 9.9 2025-10-28T20:27:33.371Z,1761683253.371 [DAT](INFO): got valid direction response: 20:27:32.1641 LVL= 28512, 31601, 20402, 29315, AGC= 53, IDX= 411, 0.45,-2.099,-2.661,-0.976,-2.056, PHS= 0.058,-0.560, 1.036, RAW= 187.4, -7.7, CAL= 187.8, -9.9, ROT= 322.2, 9.9 2025-10-28T20:27:33.372Z,1761683253.372 [DAT](INFO): DAT read: Bearing 153.4, -22.9 (Local) 2025-10-28T20:27:33.373Z,1761683253.373 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, -22.9 (Local) 2025-10-28T20:27:33.374Z,1761683253.374 [DAT](INFO): DAT read: Range 11 to 20 : 144.0 m (Round-trip 192.1 ms) speed 0.2 m/s 2025-10-28T20:27:33.375Z,1761683253.375 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:27:33.376Z,1761683253.376 [DAT](INFO): direction in FSK: [0.778389,-0.603780,-0.171929] 2025-10-28T20:27:33.376Z,1761683253.376 [DAT](INFO): publishing direction and range info 2025-10-28T20:27:33.439Z,1761683253.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982509,-0.022097,-0.184900],[0.062854,0.974015,0.217586],[0.175287,-0.225402,0.958367]] 2025-10-28T20:27:33.525Z,1761683253.525 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683200.00. Resetting abort timer. 2025-10-28T20:27:33.845Z,1761683253.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982502,-0.024047,-0.184694],[0.062350,0.976882,0.204485],[0.175507,-0.212422,0.961288]] 2025-10-28T20:27:34.246Z,1761683254.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982588,-0.025342,-0.184059],[0.060892,0.979864,0.190153],[0.175534,-0.198050,0.964347]] 2025-10-28T20:27:34.658Z,1761683254.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982778,-0.025217,-0.183063],[0.058270,0.982394,0.177500],[0.175364,-0.185110,0.966944]] 2025-10-28T20:27:35.054Z,1761683255.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983038,-0.024089,-0.181815],[0.055478,0.983952,0.169592],[0.174812,-0.176802,0.968598]] 2025-10-28T20:27:35.460Z,1761683255.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983392,-0.023155,-0.180010],[0.053386,0.984853,0.164966],[0.173464,-0.171836,0.969733]] 2025-10-28T20:27:35.863Z,1761683255.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983666,-0.024552,-0.178319],[0.054020,0.985256,0.162336],[0.171704,-0.169317,0.970489]] 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateRudder:A] Stopped 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:27:35.933Z,1761683255.933 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode] Stopped 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:27:35.934Z,1761683255.934 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:27:35.935Z,1761683255.935 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:27:35.935Z,1761683255.935 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:27:35.935Z,1761683255.935 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:27:35.935Z,1761683255.935 [marl:UpdateSpeed] Stopped 2025-10-28T20:27:35.935Z,1761683255.935 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:27:36.267Z,1761683256.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983886,-0.027585,-0.176658],[0.056611,0.985257,0.161445],[0.169600,-0.168844,0.970942]] 2025-10-28T20:27:36.310Z,1761683256.310 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:27:36.311Z,1761683256.311 [marl:UpdateRudder:B] Stopped 2025-10-28T20:27:36.311Z,1761683256.311 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:27:36.311Z,1761683256.311 [marl:UpdateRudder] Stopped 2025-10-28T20:27:36.311Z,1761683256.311 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:27:36.671Z,1761683256.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984092,-0.031040,-0.174929],[0.059986,0.984849,0.162707],[0.167228,-0.170612,0.971044]] 2025-10-28T20:27:37.076Z,1761683257.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984278,-0.034236,-0.173278],[0.063135,0.984416,0.164130],[0.164958,-0.172489,0.971101]] 2025-10-28T20:27:37.479Z,1761683257.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984383,-0.037392,-0.172025],[0.066217,0.984066,0.165014],[0.163114,-0.173828,0.971173]] 2025-10-28T20:27:37.883Z,1761683257.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984433,-0.040555,-0.171019],[0.069278,0.983774,0.165495],[0.161532,-0.174767,0.971269]] 2025-10-28T20:27:38.287Z,1761683258.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984358,-0.043586,-0.170705],[0.072242,0.983569,0.165448],[0.160689,-0.175192,0.971332]] 2025-10-28T20:27:38.691Z,1761683258.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984243,-0.047056,-0.170446],[0.075402,0.983598,0.163861],[0.159940,-0.174131,0.971647]] 2025-10-28T20:27:39.097Z,1761683259.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984071,-0.050646,-0.170411],[0.078944,0.983359,0.163626],[0.159288,-0.174472,0.971693]] 2025-10-28T20:27:39.499Z,1761683259.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983915,-0.053973,-0.170291],[0.082622,0.982672,0.165920],[0.158385,-0.177321,0.971325]] 2025-10-28T20:27:39.902Z,1761683259.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983855,-0.057203,-0.169578],[0.086638,0.981346,0.171622],[0.156597,-0.183543,0.970458]] 2025-10-28T20:27:40.307Z,1761683260.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983915,-0.060772,-0.167985],[0.091007,0.979701,0.178614],[0.153720,-0.191029,0.969473]] 2025-10-28T20:27:40.710Z,1761683260.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983908,-0.065772,-0.166132],[0.096658,0.977919,0.185289],[0.150277,-0.198365,0.968539]] 2025-10-28T20:27:41.114Z,1761683261.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983729,-0.071835,-0.164675],[0.103114,0.976339,0.190078],[0.147124,-0.203965,0.967860]] 2025-10-28T20:27:41.519Z,1761683261.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983334,-0.078390,-0.164041],[0.109926,0.975019,0.193013],[0.144813,-0.207828,0.967386]] 2025-10-28T20:27:41.924Z,1761683261.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982947,-0.083151,-0.164015],[0.114522,0.974647,0.192220],[0.143874,-0.207725,0.967549]] 2025-10-28T20:27:42.326Z,1761683262.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982817,-0.085379,-0.163650],[0.116593,0.974483,0.191803],[0.143098,-0.207587,0.967693]] 2025-10-28T20:27:42.730Z,1761683262.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982925,-0.086386,-0.162469],[0.116845,0.975111,0.188430],[0.142147,-0.204196,0.968555]] 2025-10-28T20:27:43.142Z,1761683263.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983163,-0.086690,-0.160856],[0.116347,0.975781,0.185241],[0.140902,-0.200837,0.969439]] 2025-10-28T20:27:43.539Z,1761683263.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983511,-0.086076,-0.159052],[0.115142,0.976219,0.183680],[0.139459,-0.198964,0.970033]] 2025-10-28T20:27:43.942Z,1761683263.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983900,-0.085187,-0.157110],[0.113645,0.976686,0.182125],[0.137933,-0.197047,0.970643]] 2025-10-28T20:27:44.346Z,1761683264.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984257,-0.084400,-0.155292],[0.112274,0.977140,0.180533],[0.136505,-0.195126,0.971232]] 2025-10-28T20:27:44.752Z,1761683264.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984650,-0.083422,-0.153315],[0.110580,0.977768,0.178161],[0.135044,-0.192379,0.971984]] 2025-10-28T20:27:45.158Z,1761683265.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985277,-0.082147,-0.149940],[0.108578,0.978091,0.177620],[0.132064,-0.191285,0.972610]] 2025-10-28T20:27:45.558Z,1761683265.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986224,-0.080913,-0.144274],[0.105961,0.978779,0.175395],[0.127021,-0.188266,0.973869]] 2025-10-28T20:27:45.962Z,1761683265.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987305,-0.079823,-0.137323],[0.103273,0.979465,0.173154],[0.120681,-0.185137,0.975274]] 2025-10-28T20:27:46.366Z,1761683266.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988358,-0.079633,-0.129642],[0.101361,0.980091,0.170728],[0.113465,-0.181881,0.976752]] 2025-10-28T20:27:46.777Z,1761683266.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989174,-0.081624,-0.121951],[0.101447,0.980831,0.166373],[0.106033,-0.176943,0.978493]] 2025-10-28T20:27:47.020Z,1761683267.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:27:47.174Z,1761683267.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989783,-0.084701,-0.114695],[0.103010,0.980983,0.164500],[0.098580,-0.174634,0.979686]] 2025-10-28T20:27:47.579Z,1761683267.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990127,-0.089612,-0.107784],[0.106460,0.980968,0.162380],[0.091182,-0.172251,0.980824]] 2025-10-28T20:27:47.982Z,1761683267.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990291,-0.095178,-0.101315],[0.110805,0.980571,0.161871],[0.083940,-0.171526,0.981597]] 2025-10-28T20:27:48.024Z,1761683268.024 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T20:27:48.024Z,1761683268.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:27:48.388Z,1761683268.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990320,-0.100891,-0.095330],[0.115311,0.980291,0.160415],[0.077266,-0.169855,0.982435]] 2025-10-28T20:27:48.794Z,1761683268.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990312,-0.105712,-0.090038],[0.119349,0.979417,0.162781],[0.070976,-0.171950,0.982545]] 2025-10-28T20:27:49.195Z,1761683269.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990403,-0.109357,-0.084521],[0.122290,0.978311,0.167188],[0.064405,-0.175920,0.982295]] 2025-10-28T20:27:49.599Z,1761683269.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990838,-0.109925,-0.078468],[0.122145,0.977262,0.173321],[0.057631,-0.181318,0.981734]] 2025-10-28T20:27:49.672Z,1761683269.672 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:27:49.672Z,1761683269.672 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateRudder:A] Stopped 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:27:49.673Z,1761683269.673 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateCommandMode] Stopped 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:27:49.674Z,1761683269.674 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:27:49.675Z,1761683269.675 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:27:49.675Z,1761683269.675 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:27:49.675Z,1761683269.675 [marl:UpdateSpeed] Stopped 2025-10-28T20:27:49.675Z,1761683269.675 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:27:50.068Z,1761683270.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991450,-0.108852,-0.071954],[0.120155,0.976644,0.178130],[0.050884,-0.185253,0.981373]] 2025-10-28T20:27:50.143Z,1761683270.143 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:27:50.144Z,1761683270.144 [marl:UpdateRudder:B] Stopped 2025-10-28T20:27:50.148Z,1761683270.148 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:27:50.148Z,1761683270.148 [marl:UpdateRudder] Stopped 2025-10-28T20:27:50.148Z,1761683270.148 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:27:50.406Z,1761683270.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992073,-0.107511,-0.065063],[0.117748,0.976148,0.182403],[0.043901,-0.188618,0.981069]] 2025-10-28T20:27:50.810Z,1761683270.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992650,-0.106472,-0.057534],[0.115307,0.976430,0.182450],[0.036752,-0.187743,0.981530]] 2025-10-28T20:27:51.215Z,1761683271.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993000,-0.106925,-0.050176],[0.114346,0.976702,0.181598],[0.029589,-0.186065,0.982092]] 2025-10-28T20:27:51.630Z,1761683271.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993074,-0.109302,-0.043084],[0.115316,0.976991,0.179418],[0.022482,-0.183144,0.982829]] 2025-10-28T20:27:52.024Z,1761683272.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992847,-0.113790,-0.036153],[0.118397,0.977405,0.175105],[0.015411,-0.178133,0.983886]] 2025-10-28T20:27:52.426Z,1761683272.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992294,-0.120100,-0.030486],[0.123579,0.977186,0.172731],[0.009045,-0.175167,0.984497]] 2025-10-28T20:27:52.830Z,1761683272.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991489,-0.127567,-0.026000],[0.130136,0.976843,0.169830],[0.003733,-0.171768,0.985130]] 2025-10-28T20:27:53.236Z,1761683273.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990538,-0.135189,-0.023609],[0.137235,0.975981,0.169196],[0.000169,-0.170835,0.985300]] 2025-10-28T20:27:53.642Z,1761683273.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989466,-0.142846,-0.023504],[0.144759,0.974557,0.171126],[-0.001539,-0.172726,0.984969]] 2025-10-28T20:27:54.044Z,1761683274.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988339,-0.150213,-0.024954],[0.152261,0.972990,0.173512],[-0.001784,-0.175288,0.984515]] 2025-10-28T20:27:54.447Z,1761683274.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987241,-0.156843,-0.027476],[0.159229,0.971276,0.176829],[-0.001047,-0.178948,0.983858]] 2025-10-28T20:27:54.853Z,1761683274.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986341,-0.161926,-0.030178],[0.164714,0.969617,0.180867],[-0.000026,-0.183367,0.983045]] 2025-10-28T20:27:55.254Z,1761683275.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985749,-0.165052,-0.032508],[0.168221,0.968104,0.185676],[0.000825,-0.188499,0.982073]] 2025-10-28T20:27:55.658Z,1761683275.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985651,-0.165375,-0.033798],[0.168790,0.966951,0.191093],[0.001079,-0.194055,0.980990]] 2025-10-28T20:27:56.066Z,1761683276.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986043,-0.163074,-0.033566],[0.166490,0.966793,0.193888],[0.000834,-0.196770,0.980449]] 2025-10-28T20:27:56.468Z,1761683276.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986515,-0.160378,-0.032672],[0.163672,0.966963,0.195434],[0.000249,-0.198146,0.980172]] 2025-10-28T20:27:56.870Z,1761683276.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986959,-0.157995,-0.030828],[0.160973,0.967880,0.193120],[-0.000675,-0.195564,0.980691]] 2025-10-28T20:27:57.275Z,1761683277.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987372,-0.155824,-0.028571],[0.158412,0.969186,0.188639],[-0.001704,-0.190783,0.981631]] 2025-10-28T20:27:57.683Z,1761683277.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987797,-0.153566,-0.025961],[0.155719,0.970811,0.182423],[-0.002810,-0.184239,0.982877]] 2025-10-28T20:27:58.084Z,1761683278.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988243,-0.151121,-0.023204],[0.152839,0.972457,0.175979],[-0.004030,-0.177456,0.984120]] 2025-10-28T20:27:58.487Z,1761683278.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988709,-0.148365,-0.021051],[0.149769,0.973725,0.171551],[-0.004954,-0.172767,0.984950]] 2025-10-28T20:27:58.914Z,1761683278.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989100,-0.145845,-0.020235],[0.147156,0.974438,0.169754],[-0.005040,-0.170882,0.985279]] 2025-10-28T20:27:59.296Z,1761683279.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989175,-0.145259,-0.020795],[0.146685,0.974984,0.167004],[-0.003984,-0.168247,0.985737]] 2025-10-28T20:27:59.699Z,1761683279.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988630,-0.148636,-0.022769],[0.150356,0.975058,0.163264],[-0.002066,-0.164831,0.986320]] 2025-10-28T20:28:00.109Z,1761683280.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987526,-0.155245,-0.026306],[0.157456,0.974474,0.160027],[0.000791,-0.162173,0.986762]] 2025-10-28T20:28:00.507Z,1761683280.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986147,-0.162999,-0.030747],[0.165823,0.973349,0.158411],[0.004107,-0.161315,0.986894]] 2025-10-28T20:28:00.913Z,1761683280.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984786,-0.170169,-0.035193],[0.173625,0.971834,0.159354],[0.007084,-0.163040,0.986594]] 2025-10-28T20:28:01.315Z,1761683281.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983597,-0.175973,-0.039628],[0.180100,0.970322,0.161369],[0.010055,-0.165859,0.986098]] 2025-10-28T20:28:01.718Z,1761683281.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982722,-0.179778,-0.044027],[0.184644,0.968727,0.165757],[0.012851,-0.171022,0.985183]] 2025-10-28T20:28:02.131Z,1761683282.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982104,-0.182151,-0.047879],[0.187715,0.967367,0.170186],[0.015317,-0.176128,0.984248]] 2025-10-28T20:28:02.531Z,1761683282.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981630,-0.183795,-0.051210],[0.190012,0.966027,0.175175],[0.017274,-0.181688,0.983205]] 2025-10-28T20:28:02.930Z,1761683282.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981258,-0.184705,-0.054923],[0.191702,0.964634,0.180917],[0.019564,-0.188055,0.981964]] 2025-10-28T20:28:02.961Z,1761683282.961 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:28:02.961Z,1761683282.961 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:28:02.961Z,1761683282.961 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateRudder:A] Stopped 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:28:02.962Z,1761683282.962 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateCommandMode] Stopped 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:28:02.963Z,1761683282.963 [marl:UpdateSpeed] Stopped 2025-10-28T20:28:02.964Z,1761683282.964 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:28:03.334Z,1761683283.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980842,-0.185701,-0.058853],[0.193437,0.964177,0.181506],[0.023039,-0.189413,0.981627]] 2025-10-28T20:28:03.382Z,1761683283.382 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:28:03.382Z,1761683283.382 [marl:UpdateRudder:B] Stopped 2025-10-28T20:28:03.382Z,1761683283.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:28:03.382Z,1761683283.382 [marl:UpdateRudder] Stopped 2025-10-28T20:28:03.382Z,1761683283.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:28:03.738Z,1761683283.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980282,-0.187527,-0.062293],[0.195682,0.965100,0.174043],[0.027481,-0.182800,0.982766]] 2025-10-28T20:28:04.144Z,1761683284.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979560,-0.190135,-0.065652],[0.198469,0.966687,0.161639],[0.032732,-0.171365,0.984664]] 2025-10-28T20:28:04.550Z,1761683284.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978957,-0.191485,-0.070542],[0.200362,0.967494,0.154304],[0.038702,-0.165191,0.985502]] 2025-10-28T20:28:05.354Z,1761683285.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978512,-0.189256,-0.081826],[0.199885,0.968075,0.151247],[0.050589,-0.164353,0.985103]] 2025-10-28T20:28:05.794Z,1761683285.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978167,-0.188268,-0.088009],[0.200081,0.967626,0.153842],[0.056196,-0.168092,0.984168]] 2025-10-28T20:28:06.162Z,1761683286.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977652,-0.187731,-0.094623],[0.201119,0.966257,0.160933],[0.061218,-0.176367,0.982419]] 2025-10-28T20:28:06.570Z,1761683286.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976228,-0.192614,-0.099394],[0.206568,0.965670,0.157513],[0.065643,-0.174300,0.982502]] 2025-10-28T20:28:06.971Z,1761683286.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972990,-0.207505,-0.101157],[0.220151,0.965917,0.136151],[0.069458,-0.154743,0.985510]] 2025-10-28T20:28:07.376Z,1761683287.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967876,-0.230006,-0.101551],[0.240338,0.964993,0.105007],[0.073844,-0.126041,0.989273]] 2025-10-28T20:28:07.821Z,1761683287.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961594,-0.255340,-0.100693],[0.262997,0.962123,0.071782],[0.078550,-0.095507,0.992325]] 2025-10-28T20:28:08.183Z,1761683288.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954510,-0.280928,-0.099945],[0.286161,0.957249,0.042275],[0.083796,-0.068953,0.994094]] 2025-10-28T20:28:08.595Z,1761683288.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947125,-0.305243,-0.098902],[0.308272,0.951154,0.016575],[0.089011,-0.046188,0.994959]] 2025-10-28T20:28:08.992Z,1761683288.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939779,-0.327214,-0.098721],[0.328456,0.944511,-0.003859],[0.094506,-0.028799,0.995108]] 2025-10-28T20:28:09.394Z,1761683289.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932965,-0.345711,-0.100302],[0.345775,0.938158,-0.017304],[0.100081,-0.018538,0.994807]] 2025-10-28T20:28:09.841Z,1761683289.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920969,-0.374909,-0.106107],[0.373594,0.927013,-0.032768],[0.110648,-0.009463,0.993815]] 2025-10-28T20:28:10.618Z,1761683290.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915351,-0.387345,-0.109981],[0.385694,0.921893,-0.036779],[0.115637,-0.008753,0.993253]] 2025-10-28T20:28:11.011Z,1761683291.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909930,-0.398822,-0.113882],[0.396841,0.916991,-0.040557],[0.120604,-0.008289,0.992666]] 2025-10-28T20:28:11.414Z,1761683291.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904605,-0.409983,-0.116631],[0.407343,0.912078,-0.046747],[0.125541,-0.005221,0.992075]] 2025-10-28T20:28:11.842Z,1761683291.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899582,-0.420024,-0.119719],[0.416844,0.907507,-0.051699],[0.130361,-0.003397,0.991461]] 2025-10-28T20:28:12.223Z,1761683292.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894562,-0.429927,-0.122152],[0.426046,0.902864,-0.057637],[0.135066,-0.000483,0.990836]] 2025-10-28T20:28:12.627Z,1761683292.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889546,-0.439613,-0.124294],[0.435075,0.898185,-0.063030],[0.139348,0.001991,0.990241]] 2025-10-28T20:28:13.031Z,1761683293.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884461,-0.449204,-0.126268],[0.444012,0.893419,-0.068240],[0.143464,0.004291,0.989646]] 2025-10-28T20:28:13.441Z,1761683293.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879095,-0.459124,-0.128054],[0.453417,0.888355,-0.072378],[0.146987,0.005565,0.989123]] 2025-10-28T20:28:13.852Z,1761683293.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864745,-0.485125,-0.129884],[0.478461,0.874413,-0.080482],[0.152616,0.007452,0.988258]] 2025-10-28T20:28:14.247Z,1761683294.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854099,-0.503616,-0.129947],[0.496239,0.863878,-0.086385],[0.155763,0.009296,0.987751]] 2025-10-28T20:28:14.654Z,1761683294.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842317,-0.522945,-0.130501],[0.514842,0.852301,-0.092304],[0.159496,0.010561,0.987142]] 2025-10-28T20:28:15.057Z,1761683295.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830052,-0.541595,-0.132995],[0.533125,0.840595,-0.095799],[0.163680,0.008615,0.986476]] 2025-10-28T20:28:15.463Z,1761683295.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817106,-0.560216,-0.135999],[0.551428,0.828326,-0.099016],[0.168122,0.005913,0.985748]] 2025-10-28T20:28:15.859Z,1761683295.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803861,-0.578207,-0.139586],[0.569112,0.815886,-0.102188],[0.172972,0.002704,0.984923]] 2025-10-28T20:28:16.262Z,1761683296.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790362,-0.595780,-0.142741],[0.586189,0.803148,-0.106473],[0.178077,0.000479,0.984016]] 2025-10-28T20:28:16.287Z,1761683296.287 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:28:16.287Z,1761683296.287 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:28:16.287Z,1761683296.287 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:28:16.287Z,1761683296.287 [marl:UpdateRudder:A] Stopped 2025-10-28T20:28:16.287Z,1761683296.287 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:28:16.288Z,1761683296.288 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:28:16.288Z,1761683296.288 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:28:16.288Z,1761683296.288 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:28:16.288Z,1761683296.288 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:28:16.288Z,1761683296.288 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateCommandMode] Stopped 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed] Stopped 2025-10-28T20:28:16.289Z,1761683296.289 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:28:16.674Z,1761683296.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777970,-0.610818,-0.147189],[0.600933,0.791764,-0.109492],[0.183419,-0.003269,0.983029]] 2025-10-28T20:28:16.698Z,1761683296.698 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:28:16.698Z,1761683296.698 [marl:UpdateRudder:B] Stopped 2025-10-28T20:28:16.698Z,1761683296.698 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:28:16.698Z,1761683296.698 [marl:UpdateRudder] Stopped 2025-10-28T20:28:16.699Z,1761683296.699 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:28:17.070Z,1761683297.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767273,-0.623421,-0.150460],[0.613108,0.781867,-0.113065],[0.188127,-0.005497,0.982129]] 2025-10-28T20:28:17.478Z,1761683297.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757772,-0.634407,-0.152674],[0.623672,0.772968,-0.116421],[0.191870,-0.006998,0.981395]] 2025-10-28T20:28:17.879Z,1761683297.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748694,-0.644745,-0.154148],[0.633522,0.764358,-0.120026],[0.195210,-0.007794,0.980730]] 2025-10-28T20:28:18.144Z,1761683298.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:28:18.284Z,1761683298.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739905,-0.654910,-0.153733],[0.643031,0.755676,-0.124357],[0.197615,-0.006843,0.980256]] 2025-10-28T20:28:18.692Z,1761683298.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730594,-0.665386,-0.153278],[0.652952,0.746472,-0.128190],[0.199714,-0.006429,0.979833]] 2025-10-28T20:28:19.098Z,1761683299.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720205,-0.676925,-0.151911],[0.663860,0.736032,-0.132463],[0.201479,-0.005447,0.979478]] 2025-10-28T20:28:19.148Z,1761683299.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:28:19.496Z,1761683299.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708560,-0.689406,-0.150539],[0.675757,0.724358,-0.136594],[0.203213,-0.004943,0.979122]] 2025-10-28T20:28:19.898Z,1761683299.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696246,-0.702254,-0.148595],[0.687941,0.711915,-0.141115],[0.204885,-0.003974,0.978778]] 2025-10-28T20:28:20.305Z,1761683300.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683049,-0.715393,-0.147163],[0.700486,0.698712,-0.145330],[0.206792,-0.003818,0.978377]] 2025-10-28T20:28:20.706Z,1761683300.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669161,-0.728343,-0.147444],[0.713032,0.685189,-0.148666],[0.209306,-0.005651,0.977834]] 2025-10-28T20:28:21.112Z,1761683301.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655631,-0.740534,-0.147503],[0.724698,0.671983,-0.152484],[0.212039,-0.006922,0.977237]] 2025-10-28T20:28:21.517Z,1761683301.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642245,-0.752037,-0.148193],[0.735707,0.659063,-0.156115],[0.215072,-0.008762,0.976559]] 2025-10-28T20:28:21.918Z,1761683301.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629690,-0.762487,-0.148671],[0.745647,0.646921,-0.159699],[0.217947,-0.010296,0.975906]] 2025-10-28T20:28:22.322Z,1761683302.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617928,-0.772250,-0.147632],[0.754575,0.635245,-0.164561],[0.220864,-0.009713,0.975256]] 2025-10-28T20:28:22.726Z,1761683302.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607369,-0.780857,-0.146169],[0.762411,0.624648,-0.168953],[0.223233,-0.008824,0.974725]] 2025-10-28T20:28:23.131Z,1761683303.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597735,-0.788527,-0.144698],[0.769495,0.614944,-0.172397],[0.224921,-0.008297,0.974342]] 2025-10-28T20:28:23.537Z,1761683303.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589242,-0.795517,-0.141234],[0.775808,0.605903,-0.176075],[0.225645,-0.005820,0.974192]] 2025-10-28T20:28:23.941Z,1761683303.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580860,-0.802068,-0.138888],[0.782170,0.597208,-0.177628],[0.225414,-0.005457,0.974248]] 2025-10-28T20:28:24.342Z,1761683304.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572031,-0.808948,-0.135589],[0.789001,0.587861,-0.178595],[0.224182,-0.004818,0.974535]] 2025-10-28T20:28:24.749Z,1761683304.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561490,-0.816920,-0.131799],[0.797031,0.576735,-0.179216],[0.222418,-0.004420,0.974941]] 2025-10-28T20:28:25.151Z,1761683305.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549126,-0.825582,-0.129908],[0.806133,0.564242,-0.178272],[0.220478,-0.006829,0.975368]] 2025-10-28T20:28:25.555Z,1761683305.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535113,-0.835316,-0.126101],[0.816052,0.549720,-0.178512],[0.218434,-0.007381,0.975824]] 2025-10-28T20:28:25.958Z,1761683305.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519354,-0.845759,-0.122322],[0.826638,0.533503,-0.179011],[0.216659,-0.008146,0.976213]] 2025-10-28T20:28:26.364Z,1761683306.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501588,-0.857033,-0.117914],[0.837798,0.515197,-0.180737],[0.215647,-0.008133,0.976438]] 2025-10-28T20:28:26.771Z,1761683306.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481894,-0.868767,-0.114114],[0.849391,0.495141,-0.182677],[0.215206,-0.008897,0.976528]] 2025-10-28T20:28:27.170Z,1761683307.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461408,-0.880539,-0.108411],[0.860682,0.473915,-0.186094],[0.215241,-0.007442,0.976533]] 2025-10-28T20:28:27.584Z,1761683307.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439551,-0.892352,-0.102481],[0.871951,0.451301,-0.189814],[0.215631,-0.005925,0.976457]] 2025-10-28T20:28:27.978Z,1761683307.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417428,-0.903696,-0.095328],[0.882493,0.428165,-0.194627],[0.216700,-0.002884,0.976234]] 2025-10-28T20:28:28.382Z,1761683308.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395314,-0.914421,-0.086958],[0.892237,0.404763,-0.200202],[0.218266,0.001556,0.975888]] 2025-10-28T20:28:28.791Z,1761683308.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374304,-0.923868,-0.079781],[0.900764,0.382679,-0.205380],[0.220275,0.005010,0.975425]] 2025-10-28T20:28:29.644Z,1761683309.644 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:28:29.833Z,1761683309.833 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:28:29.833Z,1761683309.833 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:28:30.003Z,1761683310.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325644,-0.943184,-0.066036],[0.917580,0.332104,-0.218526],[0.228041,0.010569,0.973594]] 2025-10-28T20:28:30.052Z,1761683310.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:28:30.052Z,1761683310.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:28:30.052Z,1761683310.052 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateRudder:A] Stopped 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode] Stopped 2025-10-28T20:28:30.053Z,1761683310.053 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:28:30.054Z,1761683310.054 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:28:30.054Z,1761683310.054 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:28:30.054Z,1761683310.054 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:28:30.055Z,1761683310.055 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:28:30.055Z,1761683310.055 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:28:30.055Z,1761683310.055 [marl:UpdateSpeed] Stopped 2025-10-28T20:28:30.055Z,1761683310.055 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:28:30.085Z,1761683310.085 [DAT](INFO): DAT read: user:256> 2025-10-28T20:28:30.087Z,1761683310.087 [DAT](INFO): DAT read: Tx time:20:28:29.8175 2025-10-28T20:28:30.087Z,1761683310.087 [DAT](INFO): Ping request sent. 2025-10-28T20:28:30.088Z,1761683310.088 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:28:30.088Z,1761683310.088 [DAT](INFO): publishing transmit ping time 2025-10-28T20:28:30.089Z,1761683310.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001091 2025-10-28T20:28:30.337Z,1761683310.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249302 2025-10-28T20:28:30.407Z,1761683310.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315328,-0.946811,-0.064164],[0.920725,0.321615,-0.220973],[0.229856,0.010602,0.973167]] 2025-10-28T20:28:30.504Z,1761683310.504 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:28:30.504Z,1761683310.504 [marl:UpdateRudder:B] Stopped 2025-10-28T20:28:30.504Z,1761683310.504 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:28:30.505Z,1761683310.505 [marl:UpdateRudder] Stopped 2025-10-28T20:28:30.505Z,1761683310.505 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:28:30.590Z,1761683310.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502335 2025-10-28T20:28:30.821Z,1761683310.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306678,-0.949723,-0.063050],[0.923232,0.312927,-0.222980],[0.231499,0.010174,0.972782]] 2025-10-28T20:28:30.841Z,1761683310.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753380 2025-10-28T20:28:31.093Z,1761683311.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005290 2025-10-28T20:28:31.217Z,1761683311.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299299,-0.952096,-0.062719],[0.925382,0.305666,-0.224133],[0.232567,0.009043,0.972538]] 2025-10-28T20:28:31.345Z,1761683311.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257704 2025-10-28T20:28:31.597Z,1761683311.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509275 2025-10-28T20:28:31.618Z,1761683311.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292956,-0.954053,-0.062926],[0.927402,0.299550,-0.224045],[0.232600,0.007278,0.972545]] 2025-10-28T20:28:31.850Z,1761683311.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761811 2025-10-28T20:28:32.023Z,1761683312.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287353,-0.955620,-0.064958],[0.929467,0.294583,-0.222062],[0.231342,0.003433,0.972866]] 2025-10-28T20:28:32.101Z,1761683312.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013411 2025-10-28T20:28:32.353Z,1761683312.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265213 2025-10-28T20:28:32.427Z,1761683312.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281708,-0.957239,-0.065833],[0.931938,0.289298,-0.218629],[0.228325,0.000237,0.973585]] 2025-10-28T20:28:32.605Z,1761683312.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517398 2025-10-28T20:28:32.840Z,1761683312.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275161,-0.959105,-0.066363],[0.935121,0.283030,-0.213171],[0.223236,-0.003401,0.974758]] 2025-10-28T20:28:32.857Z,1761683312.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769452 2025-10-28T20:28:33.109Z,1761683313.109 [DAT](INFO): DAT read: Rx Time:20:28:32.4206 2025-10-28T20:28:33.109Z,1761683313.109 [DAT](INFO): Rx dataTimestamp_ set to:1761683313.109113 2025-10-28T20:28:33.110Z,1761683313.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022379 2025-10-28T20:28:33.234Z,1761683313.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266911,-0.961499,-0.065407],[0.939107,0.274735,-0.206392],[0.216416,-0.006336,0.976281]] 2025-10-28T20:28:33.361Z,1761683313.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273854 2025-10-28T20:28:33.618Z,1761683313.618 [DAT](INFO): DAT read: 20:28:32.4206 LVL= 32752, 31329, 32754, 32755, AGC= 54, IDX= 513,-0.32, 0.483, 2.745, 1.604, 2.168, PHS=-1.583, 0.622,-0.608, RAW= 303.8, 16.2, CAL= 302.0, 22.2, ROT= 208.0, -22.2 2025-10-28T20:28:33.619Z,1761683313.619 [DAT](INFO): got valid direction response: 20:28:32.4206 LVL= 32752, 31329, 32754, 32755, AGC= 54, IDX= 513,-0.32, 0.483, 2.745, 1.604, 2.168, PHS=-1.583, 0.622,-0.608, RAW= 303.8, 16.2, CAL= 302.0, 22.2, ROT= 208.0, -22.2 2025-10-28T20:28:33.620Z,1761683313.620 [DAT](INFO): DAT read: Bearing 34.3, -37.9 (Local) 2025-10-28T20:28:33.621Z,1761683313.621 [DAT](INFO): Local bearing/azimuth received: Bearing 34.3, -37.9 (Local) 2025-10-28T20:28:33.622Z,1761683313.622 [DAT](INFO): DAT read: Range 11 to 20 : 149.1 m (Round-trip 198.9 ms) speed -0.9 m/s 2025-10-28T20:28:33.623Z,1761683313.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:28:33.629Z,1761683313.629 [DAT](INFO): direction in FSK: [-0.817495,-0.434670,0.377841] 2025-10-28T20:28:33.629Z,1761683313.629 [DAT](INFO): publishing direction and range info 2025-10-28T20:28:33.649Z,1761683313.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255774,-0.964730,-0.062256],[0.943811,0.263132,-0.199954],[0.209283,-0.007615,0.977825]] 2025-10-28T20:28:33.939Z,1761683313.939 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683328.00. Resetting abort timer. 2025-10-28T20:28:34.044Z,1761683314.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240865,-0.968897,-0.056777],[0.949195,0.247366,-0.194522],[0.202517,-0.007038,0.979254]] 2025-10-28T20:28:34.449Z,1761683314.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222768,-0.973586,-0.050054],[0.954924,0.228256,-0.189789],[0.196201,-0.005519,0.980548]] 2025-10-28T20:28:34.850Z,1761683314.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203673,-0.978158,-0.041521],[0.960386,0.207852,-0.185622],[0.190198,-0.002070,0.981744]] 2025-10-28T20:28:35.254Z,1761683315.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183646,-0.982439,-0.032969],[0.965434,0.186575,-0.182010],[0.184965,0.001595,0.982744]] 2025-10-28T20:28:35.658Z,1761683315.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163681,-0.986246,-0.022955],[0.969767,0.165128,-0.179681],[0.181000,0.007149,0.983457]] 2025-10-28T20:28:36.072Z,1761683316.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143273,-0.989601,-0.012747],[0.973459,0.143235,-0.178496],[0.178466,0.013165,0.983858]] 2025-10-28T20:28:36.466Z,1761683316.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123018,-0.992396,-0.004079],[0.976407,0.121769,-0.178333],[0.177474,0.017955,0.983962]] 2025-10-28T20:28:36.870Z,1761683316.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104138,-0.994559,0.002882],[0.978587,0.101948,-0.178814],[0.177548,0.021442,0.983879]] 2025-10-28T20:28:37.274Z,1761683317.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087864,-0.996103,0.007629],[0.980150,0.085085,-0.179069],[0.177722,0.023211,0.983807]] 2025-10-28T20:28:37.680Z,1761683317.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075308,-0.997108,0.010191],[0.981303,0.072292,-0.178375],[0.177123,0.023433,0.983910]] 2025-10-28T20:28:38.086Z,1761683318.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065598,-0.997785,0.011027],[0.982216,0.062619,-0.177004],[0.175922,0.022442,0.984148]] 2025-10-28T20:28:38.487Z,1761683318.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057159,-0.998322,0.009258],[0.983037,0.054661,-0.175072],[0.174272,0.019108,0.984512]] 2025-10-28T20:28:38.892Z,1761683318.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049224,-0.998755,0.008051],[0.983849,0.047097,-0.172693],[0.172099,0.016422,0.984943]] 2025-10-28T20:28:39.296Z,1761683319.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041673,-0.999106,0.007166],[0.984796,0.039863,-0.169077],[0.168640,0.014103,0.985577]] 2025-10-28T20:28:39.699Z,1761683319.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033736,-0.999416,0.005388],[0.985845,0.032391,-0.164500],[0.164229,0.010861,0.986362]] 2025-10-28T20:28:40.102Z,1761683320.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025193,-0.999678,0.003181],[0.986966,0.024367,-0.159073],[0.158944,0.007147,0.987262]] 2025-10-28T20:28:40.508Z,1761683320.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014431,-0.999895,0.001196],[0.988077,0.014077,-0.153317],[0.153284,0.003394,0.988176]] 2025-10-28T20:28:40.910Z,1761683320.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001896,-0.999998,0.000985],[0.989028,0.001730,-0.147716],[0.147714,0.001254,0.989029]] 2025-10-28T20:28:41.315Z,1761683321.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014264,-0.999895,0.002561],[0.989644,-0.014484,-0.142808],[0.142830,0.000498,0.989747]] 2025-10-28T20:28:41.718Z,1761683321.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032604,-0.999458,0.004615],[0.989874,-0.032929,-0.138078],[0.138155,0.000067,0.990411]] 2025-10-28T20:28:42.123Z,1761683322.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052383,-0.998587,0.008911],[0.989620,-0.053104,-0.133535],[0.133820,0.001824,0.991004]] 2025-10-28T20:28:42.528Z,1761683322.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073147,-0.997226,0.013767],[0.988798,-0.074316,-0.129442],[0.130106,0.004145,0.991491]] 2025-10-28T20:28:42.930Z,1761683322.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094215,-0.995373,0.018898],[0.987424,-0.095850,-0.125728],[0.126958,0.006814,0.991885]] 2025-10-28T20:28:43.335Z,1761683323.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115336,-0.992991,0.025832],[0.985459,-0.117650,-0.122593],[0.124773,0.011317,0.992121]] 2025-10-28T20:28:43.384Z,1761683323.384 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:28:43.384Z,1761683323.384 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:28:43.384Z,1761683323.384 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:28:43.384Z,1761683323.384 [marl:UpdateRudder:A] Stopped 2025-10-28T20:28:43.384Z,1761683323.384 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode] Stopped 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:28:43.385Z,1761683323.385 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed] Stopped 2025-10-28T20:28:43.386Z,1761683323.386 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:28:43.739Z,1761683323.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136313,-0.990186,0.030825],[0.982916,-0.139066,-0.120567],[0.123671,0.013863,0.992226]] 2025-10-28T20:28:43.909Z,1761683323.909 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:28:43.909Z,1761683323.909 [marl:UpdateRudder:B] Stopped 2025-10-28T20:28:43.909Z,1761683323.909 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:28:43.909Z,1761683323.909 [marl:UpdateRudder] Stopped 2025-10-28T20:28:43.910Z,1761683323.910 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:28:44.144Z,1761683324.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156012,-0.987132,0.035074],[0.980044,-0.159125,-0.119136],[0.123184,0.015788,0.992258]] 2025-10-28T20:28:44.560Z,1761683324.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173684,-0.984015,0.039355],[0.977096,-0.177176,-0.117863],[0.122952,0.017983,0.992250]] 2025-10-28T20:28:44.953Z,1761683324.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188114,-0.981187,0.043412],[0.974516,-0.191969,-0.116043],[0.122194,0.020477,0.992295]] 2025-10-28T20:28:45.355Z,1761683325.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200684,-0.978638,0.044656],[0.972110,-0.204578,-0.114675],[0.121361,0.020398,0.992399]] 2025-10-28T20:28:45.785Z,1761683325.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211846,-0.976322,0.043776],[0.969865,-0.215539,-0.113603],[0.120348,0.018390,0.992561]] 2025-10-28T20:28:46.162Z,1761683326.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222169,-0.974049,0.043231],[0.967683,-0.225708,-0.112456],[0.119295,0.016850,0.992716]] 2025-10-28T20:28:46.569Z,1761683326.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231661,-0.971860,0.042688],[0.965656,-0.235046,-0.110737],[0.117655,0.015568,0.992932]] 2025-10-28T20:28:46.980Z,1761683326.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240672,-0.969654,0.042991],[0.963763,-0.243991,-0.107839],[0.115056,0.015479,0.993239]] 2025-10-28T20:28:47.380Z,1761683327.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249534,-0.967473,0.041578],[0.961956,-0.252586,-0.104123],[0.111239,0.014014,0.993695]] 2025-10-28T20:28:47.822Z,1761683327.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258917,-0.965109,0.039081],[0.960021,-0.261588,-0.099653],[0.106399,0.011716,0.994255]] 2025-10-28T20:28:48.187Z,1761683328.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270006,-0.962117,0.037777],[0.957543,-0.272426,-0.094316],[0.101035,0.010707,0.994825]] 2025-10-28T20:28:48.590Z,1761683328.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284302,-0.957934,0.039185],[0.953904,-0.286731,-0.088611],[0.096119,0.012187,0.995295]] 2025-10-28T20:28:48.995Z,1761683328.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301194,-0.952731,0.039808],[0.949151,-0.303551,-0.083486],[0.091624,0.012638,0.995714]] 2025-10-28T20:28:49.276Z,1761683329.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:28:49.399Z,1761683329.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319330,-0.946806,0.039839],[0.943640,-0.321560,-0.078371],[0.087012,0.012568,0.996128]] 2025-10-28T20:28:49.833Z,1761683329.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338455,-0.940129,0.040070],[0.937347,-0.340582,-0.073381],[0.082635,0.012724,0.996499]] 2025-10-28T20:28:50.208Z,1761683330.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357793,-0.932890,0.041251],[0.930486,-0.359893,-0.068357],[0.078615,0.013926,0.996808]] 2025-10-28T20:28:50.282Z,1761683330.282 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:28:50.610Z,1761683330.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377177,-0.925164,0.042543],[0.923048,-0.379272,-0.064313],[0.075635,0.015012,0.997023]] 2025-10-28T20:28:51.015Z,1761683331.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396413,-0.916970,0.044965],[0.915078,-0.398598,-0.061249],[0.074087,0.016866,0.997109]] 2025-10-28T20:28:51.419Z,1761683331.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415541,-0.908289,0.048339],[0.906530,-0.417910,-0.059627],[0.074360,0.019044,0.997050]] 2025-10-28T20:28:51.840Z,1761683331.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434571,-0.899128,0.052124],[0.897437,-0.437175,-0.059028],[0.075862,0.021126,0.996895]] 2025-10-28T20:28:52.226Z,1761683332.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451938,-0.890371,0.054688],[0.888658,-0.454714,-0.059344],[0.077705,0.021779,0.996738]] 2025-10-28T20:28:52.630Z,1761683332.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466774,-0.882568,0.056534],[0.880840,-0.469668,-0.059442],[0.079014,0.022052,0.996630]] 2025-10-28T20:28:53.046Z,1761683333.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478873,-0.876073,0.056360],[0.874305,-0.481728,-0.059406],[0.079194,0.020827,0.996642]] 2025-10-28T20:28:53.439Z,1761683333.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489641,-0.870170,0.055285],[0.868379,-0.492381,-0.058985],[0.078549,0.019127,0.996727]] 2025-10-28T20:28:53.843Z,1761683333.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499723,-0.864544,0.053305],[0.862695,-0.502285,-0.058886],[0.077684,0.016559,0.996841]] 2025-10-28T20:28:54.248Z,1761683334.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509151,-0.859202,0.050379],[0.857319,-0.511460,-0.058412],[0.075954,0.013451,0.997021]] 2025-10-28T20:28:54.651Z,1761683334.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518435,-0.853776,0.047879],[0.851946,-0.520519,-0.056984],[0.073573,0.011248,0.997226]] 2025-10-28T20:28:55.058Z,1761683335.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527986,-0.847994,0.046223],[0.846327,-0.529901,-0.054176],[0.070435,0.010515,0.997461]] 2025-10-28T20:28:55.459Z,1761683335.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538242,-0.841626,0.044297],[0.840101,-0.539978,-0.051516],[0.067277,0.009486,0.997689]] 2025-10-28T20:28:55.864Z,1761683335.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549304,-0.834533,0.042656],[0.833149,-0.550889,-0.048826],[0.064246,0.008718,0.997896]] 2025-10-28T20:28:56.266Z,1761683336.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561062,-0.826743,0.041286],[0.825495,-0.562520,-0.046148],[0.061377,0.008189,0.998081]] 2025-10-28T20:28:56.713Z,1761683336.713 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateRudder:A] Stopped 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:28:56.714Z,1761683336.714 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateCommandMode] Stopped 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:28:56.715Z,1761683336.715 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:28:56.716Z,1761683336.716 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:28:56.716Z,1761683336.716 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:28:56.716Z,1761683336.716 [marl:UpdateSpeed] Stopped 2025-10-28T20:28:56.716Z,1761683336.716 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:28:57.078Z,1761683337.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586316,-0.809043,0.041011],[0.808085,-0.587673,-0.040476],[0.056848,0.009408,0.998339]] 2025-10-28T20:28:57.134Z,1761683337.134 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:28:57.135Z,1761683337.135 [marl:UpdateRudder:B] Stopped 2025-10-28T20:28:57.135Z,1761683337.135 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:28:57.135Z,1761683337.135 [marl:UpdateRudder] Stopped 2025-10-28T20:28:57.135Z,1761683337.135 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:28:57.481Z,1761683337.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599422,-0.799371,0.041220],[0.798530,-0.600752,-0.038045],[0.055175,0.010111,0.998425]] 2025-10-28T20:28:57.883Z,1761683337.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612323,-0.789498,0.041877],[0.788803,-0.613645,-0.035082],[0.053394,0.011551,0.998507]] 2025-10-28T20:28:58.292Z,1761683338.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625121,-0.779338,0.043087],[0.778831,-0.626449,-0.031364],[0.051435,0.013951,0.998579]] 2025-10-28T20:28:58.696Z,1761683338.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651300,-0.757659,0.041961],[0.757332,-0.652490,-0.026555],[0.047499,0.014484,0.998766]] 2025-10-28T20:28:59.109Z,1761683339.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664400,-0.746225,0.041498],[0.746011,-0.665518,-0.023529],[0.045176,0.015325,0.998861]] 2025-10-28T20:28:59.503Z,1761683339.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676646,-0.735291,0.038686],[0.735061,-0.677624,-0.022618],[0.042846,0.013132,0.998995]] 2025-10-28T20:28:59.906Z,1761683339.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684797,-0.728125,0.029771],[0.727627,-0.685437,-0.027117],[0.040151,0.003092,0.999189]] 2025-10-28T20:29:00.308Z,1761683340.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688842,-0.724794,0.013027],[0.723953,-0.688744,-0.039035],[0.037265,-0.017459,0.999153]] 2025-10-28T20:29:00.712Z,1761683340.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688540,-0.725052,-0.014591],[0.724383,-0.686671,-0.061258],[0.034396,-0.052749,0.998015]] 2025-10-28T20:29:01.114Z,1761683341.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683569,-0.727839,-0.054628],[0.729189,-0.677730,-0.094686],[0.031893,-0.104558,0.994007]] 2025-10-28T20:29:01.529Z,1761683341.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674678,-0.731151,-0.101133],[0.737483,-0.662089,-0.133258],[0.030473,-0.164490,0.985908]] 2025-10-28T20:29:01.922Z,1761683341.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662748,-0.733978,-0.148462],[0.748236,-0.641087,-0.170733],[0.030137,-0.224238,0.974068]] 2025-10-28T20:29:02.328Z,1761683342.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650363,-0.735443,-0.190133],[0.758971,-0.618754,-0.202745],[0.031462,-0.276164,0.960595]] 2025-10-28T20:29:02.731Z,1761683342.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636408,-0.738367,-0.223157],[0.770572,-0.595565,-0.226981],[0.034691,-0.316411,0.947987]] 2025-10-28T20:29:03.135Z,1761683343.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621223,-0.742839,-0.249545],[0.782637,-0.572077,-0.245371],[0.039512,-0.347733,0.936761]] 2025-10-28T20:29:03.541Z,1761683343.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604569,-0.749002,-0.271093],[0.795273,-0.548285,-0.258696],[0.045128,-0.371993,0.927138]] 2025-10-28T20:29:03.982Z,1761683343.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586768,-0.756932,-0.287675],[0.808142,-0.524989,-0.267007],[0.051080,-0.389153,0.919756]] 2025-10-28T20:29:04.361Z,1761683344.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567827,-0.766993,-0.298821],[0.821186,-0.502781,-0.269934],[0.056796,-0.398663,0.915337]] 2025-10-28T20:29:04.767Z,1761683344.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548931,-0.778485,-0.304361],[0.833526,-0.482580,-0.268981],[0.062519,-0.401344,0.913791]] 2025-10-28T20:29:05.167Z,1761683345.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530582,-0.789883,-0.307518],[0.844929,-0.463897,-0.266261],[0.067658,-0.401105,0.913530]] 2025-10-28T20:29:05.574Z,1761683345.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512454,-0.801211,-0.308951],[0.855694,-0.446307,-0.261912],[0.071959,-0.398585,0.914304]] 2025-10-28T20:29:06.009Z,1761683346.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494520,-0.812017,-0.309966],[0.865962,-0.429708,-0.255852],[0.074562,-0.394943,0.915675]] 2025-10-28T20:29:06.405Z,1761683346.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476272,-0.822517,-0.310854],[0.876111,-0.413828,-0.247339],[0.074801,-0.390143,0.917711]] 2025-10-28T20:29:06.808Z,1761683346.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457754,-0.832567,-0.311920],[0.886102,-0.398538,-0.236621],[0.072691,-0.384707,0.920172]] 2025-10-28T20:29:07.210Z,1761683347.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438918,-0.841395,-0.315285],[0.895909,-0.383045,-0.224996],[0.068542,-0.381222,0.921939]] 2025-10-28T20:29:07.615Z,1761683347.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420353,-0.849613,-0.318528],[0.905129,-0.368030,-0.212825],[0.063591,-0.377771,0.923713]] 2025-10-28T20:29:08.031Z,1761683348.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403628,-0.856620,-0.321381],[0.913007,-0.354398,-0.202039],[0.059174,-0.374972,0.925146]] 2025-10-28T20:29:08.423Z,1761683348.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390291,-0.862156,-0.323049],[0.918940,-0.343147,-0.194423],[0.056770,-0.372744,0.926196]] 2025-10-28T20:29:08.827Z,1761683348.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378472,-0.866697,-0.324955],[0.923933,-0.332597,-0.189018],[0.055742,-0.371775,0.926648]] 2025-10-28T20:29:09.231Z,1761683349.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366661,-0.870484,-0.328356],[0.928686,-0.321320,-0.185194],[0.055701,-0.372843,0.926221]] 2025-10-28T20:29:10.039Z,1761683350.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342439,-0.878266,-0.333744],[0.937701,-0.297261,-0.179871],[0.058766,-0.374546,0.925344]] 2025-10-28T20:29:10.088Z,1761683350.088 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:29:10.088Z,1761683350.088 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:29:10.088Z,1761683350.088 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:29:10.088Z,1761683350.088 [marl:UpdateRudder:A] Stopped 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode] Stopped 2025-10-28T20:29:10.089Z,1761683350.089 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed] Stopped 2025-10-28T20:29:10.090Z,1761683350.090 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:29:10.443Z,1761683350.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329667,-0.882141,-0.336373],[0.942071,-0.284039,-0.178393],[0.061824,-0.375698,0.924678]] 2025-10-28T20:29:10.494Z,1761683350.494 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:29:10.494Z,1761683350.494 [marl:UpdateRudder:B] Stopped 2025-10-28T20:29:10.494Z,1761683350.494 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:29:10.494Z,1761683350.494 [marl:UpdateRudder] Stopped 2025-10-28T20:29:10.495Z,1761683350.495 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:29:10.847Z,1761683350.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316162,-0.885957,-0.339296],[0.946464,-0.269987,-0.176953],[0.065167,-0.377077,0.923886]] 2025-10-28T20:29:11.252Z,1761683351.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301365,-0.890559,-0.340711],[0.951050,-0.255098,-0.174439],[0.068433,-0.376603,0.923844]] 2025-10-28T20:29:11.655Z,1761683351.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285493,-0.895267,-0.342040],[0.955739,-0.239475,-0.170923],[0.071112,-0.375698,0.924010]] 2025-10-28T20:29:12.059Z,1761683352.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267866,-0.899788,-0.344426],[0.960690,-0.222375,-0.166207],[0.072960,-0.375407,0.923984]] 2025-10-28T20:29:12.869Z,1761683352.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233223,-0.909036,-0.345342],[0.969491,-0.189801,-0.155124],[0.075467,-0.370985,0.925567]] 2025-10-28T20:29:13.270Z,1761683353.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215315,-0.914052,-0.343729],[0.973547,-0.173357,-0.148844],[0.076464,-0.366684,0.927198]] 2025-10-28T20:29:13.685Z,1761683353.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196829,-0.917847,-0.344697],[0.977420,-0.156133,-0.142381],[0.076865,-0.364938,0.927853]] 2025-10-28T20:29:14.086Z,1761683354.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178069,-0.921596,-0.344893],[0.981010,-0.138879,-0.135397],[0.076883,-0.362454,0.928825]] 2025-10-28T20:29:14.527Z,1761683354.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159052,-0.924631,-0.346064],[0.984334,-0.121504,-0.127762],[0.076084,-0.360964,0.929471]] 2025-10-28T20:29:14.934Z,1761683354.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139750,-0.926623,-0.349057],[0.987363,-0.103804,-0.119743],[0.074723,-0.361380,0.929420]] 2025-10-28T20:29:15.334Z,1761683355.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120890,-0.928040,-0.352317],[0.989977,-0.086608,-0.111555],[0.073014,-0.362272,0.929208]] 2025-10-28T20:29:15.739Z,1761683355.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102673,-0.929052,-0.355416],[0.992159,-0.070050,-0.103506],[0.071266,-0.363257,0.928959]] 2025-10-28T20:29:16.145Z,1761683356.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085142,-0.930017,-0.357519],[0.993970,-0.054395,-0.095212],[0.069101,-0.363470,0.929040]] 2025-10-28T20:29:16.546Z,1761683356.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068280,-0.930905,-0.358822],[0.995427,-0.039483,-0.086987],[0.066809,-0.363121,0.929344]] 2025-10-28T20:29:17.355Z,1761683357.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038116,-0.932594,-0.358909],[0.997265,-0.012742,-0.072801],[0.063320,-0.360702,0.930529]] 2025-10-28T20:29:17.786Z,1761683357.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023822,-0.933058,-0.358935],[0.997804,0.000004,-0.066232],[0.061800,-0.359725,0.931010]] 2025-10-28T20:29:18.162Z,1761683358.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009932,-0.933277,-0.359020],[0.998112,0.012508,-0.060129],[0.060607,-0.358940,0.931391]] 2025-10-28T20:29:18.567Z,1761683358.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003821,-0.933250,-0.359207],[0.998200,0.025057,-0.054483],[0.059847,-0.358352,0.931666]] 2025-10-28T20:29:19.006Z,1761683359.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018525,-0.933016,-0.359357],[0.998087,0.038464,-0.048414],[0.058993,-0.357772,0.931944]] 2025-10-28T20:29:19.375Z,1761683359.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033427,-0.932538,-0.359520],[0.997724,0.052213,-0.042665],[0.058558,-0.357276,0.932161]] 2025-10-28T20:29:19.823Z,1761683359.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049570,-0.931695,-0.359843],[0.997086,0.067077,-0.036321],[0.057977,-0.356994,0.932306]] 2025-10-28T20:29:20.183Z,1761683360.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066289,-0.930423,-0.360442],[0.996146,0.082506,-0.029775],[0.057441,-0.357079,0.932306]] 2025-10-28T20:29:20.429Z,1761683360.429 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:29:20.586Z,1761683360.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084185,-0.928460,-0.361767],[0.994853,0.098863,-0.022220],[0.056395,-0.358034,0.932004]] 2025-10-28T20:29:21.001Z,1761683361.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102971,-0.925928,-0.363392],[0.993159,0.115932,-0.013972],[0.055066,-0.359467,0.931532]] 2025-10-28T20:29:21.395Z,1761683361.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121948,-0.922856,-0.365330],[0.991082,0.133139,-0.005494],[0.053710,-0.361402,0.930862]] 2025-10-28T20:29:21.432Z,1761683361.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:29:21.842Z,1761683361.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141067,-0.919337,-0.367314],[0.988640,0.150258,0.003613],[0.051870,-0.363651,0.930090]] 2025-10-28T20:29:22.231Z,1761683362.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159785,-0.915327,-0.369655],[0.985897,0.166844,0.013025],[0.049753,-0.366523,0.929078]] 2025-10-28T20:29:22.634Z,1761683362.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178034,-0.912045,-0.369430],[0.982915,0.182645,0.022769],[0.046708,-0.367172,0.928980]] 2025-10-28T20:29:23.044Z,1761683363.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195140,-0.908568,-0.369357],[0.979798,0.197402,0.032071],[0.043773,-0.368154,0.928734]] 2025-10-28T20:29:23.446Z,1761683363.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211008,-0.905306,-0.368642],[0.976621,0.211106,0.040580],[0.041085,-0.368586,0.928685]] 2025-10-28T20:29:23.484Z,1761683363.484 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:29:23.485Z,1761683363.485 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:29:23.485Z,1761683363.485 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:29:23.485Z,1761683363.485 [marl:UpdateRudder:A] Stopped 2025-10-28T20:29:23.485Z,1761683363.485 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:29:23.485Z,1761683363.485 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:29:23.486Z,1761683363.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:29:23.486Z,1761683363.486 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:29:23.486Z,1761683363.486 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateCommandMode] Stopped 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:29:23.487Z,1761683363.487 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:29:23.488Z,1761683363.488 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:29:23.488Z,1761683363.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:29:23.488Z,1761683363.488 [marl:UpdateSpeed] Stopped 2025-10-28T20:29:23.488Z,1761683363.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:29:23.846Z,1761683363.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225134,-0.902379,-0.367460],[0.973569,0.223225,0.048304],[0.038438,-0.368623,0.928784]] 2025-10-28T20:29:23.899Z,1761683363.899 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:29:23.899Z,1761683363.899 [marl:UpdateRudder:B] Stopped 2025-10-28T20:29:23.899Z,1761683363.899 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:29:23.899Z,1761683363.899 [marl:UpdateRudder] Stopped 2025-10-28T20:29:23.899Z,1761683363.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:29:24.258Z,1761683364.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238584,-0.899620,-0.365735],[0.970452,0.234846,0.055401],[0.036052,-0.368146,0.929069]] 2025-10-28T20:29:24.655Z,1761683364.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251764,-0.897325,-0.362523],[0.967192,0.246446,0.061685],[0.033990,-0.366159,0.929931]] 2025-10-28T20:29:25.065Z,1761683365.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264889,-0.894315,-0.360604],[0.963745,0.257973,0.068154],[0.032075,-0.365583,0.930226]] 2025-10-28T20:29:25.475Z,1761683365.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277474,-0.892164,-0.356444],[0.960287,0.268861,0.074588],[0.029289,-0.362985,0.931335]] 2025-10-28T20:29:25.873Z,1761683365.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287536,-0.892654,-0.347119],[0.957434,0.277489,0.079497],[0.025358,-0.355202,0.934446]] 2025-10-28T20:29:26.274Z,1761683366.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293883,-0.897240,-0.329535],[0.955630,0.283047,0.081577],[0.020080,-0.338888,0.940612]] 2025-10-28T20:29:26.678Z,1761683366.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298022,-0.903775,-0.307201],[0.954464,0.286678,0.082549],[0.013462,-0.317814,0.948058]] 2025-10-28T20:29:27.085Z,1761683367.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300944,-0.909872,-0.285596],[0.953620,0.289138,0.083710],[0.006412,-0.297542,0.954687]] 2025-10-28T20:29:27.491Z,1761683367.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303223,-0.915242,-0.265307],[0.952919,0.290930,0.085469],[-0.001039,-0.278732,0.960368]] 2025-10-28T20:29:27.890Z,1761683367.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305342,-0.919938,-0.245927],[0.952203,0.292620,0.087649],[-0.008669,-0.260935,0.965317]] 2025-10-28T20:29:28.295Z,1761683368.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308518,-0.923027,-0.229864],[0.951078,0.295184,0.091195],[-0.016323,-0.246755,0.968941]] 2025-10-28T20:29:28.699Z,1761683368.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311310,-0.925657,-0.215045],[0.950004,0.297410,0.095077],[-0.024052,-0.233893,0.971965]] 2025-10-28T20:29:29.108Z,1761683369.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314236,-0.927227,-0.203727],[0.948820,0.299607,0.099887],[-0.031579,-0.224689,0.973919]] 2025-10-28T20:29:29.508Z,1761683369.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317573,-0.928042,-0.194641],[0.947447,0.302193,0.104994],[-0.038620,-0.217755,0.975239]] 2025-10-28T20:29:29.910Z,1761683369.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320028,-0.928629,-0.187696],[0.946322,0.303840,0.110258],[-0.045360,-0.212906,0.976019]] 2025-10-28T20:29:30.000Z,1761683370.000 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:29:30.089Z,1761683370.089 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:29:30.089Z,1761683370.089 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:29:30.326Z,1761683370.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322265,-0.928546,-0.184250],[0.945240,0.305014,0.116136],[-0.051639,-0.211587,0.975994]] 2025-10-28T20:29:30.341Z,1761683370.341 [DAT](INFO): DAT read: user:257> 2025-10-28T20:29:30.342Z,1761683370.342 [DAT](INFO): DAT read: Tx time:20:29:30.0673 2025-10-28T20:29:30.343Z,1761683370.343 [DAT](INFO): Ping request sent. 2025-10-28T20:29:30.343Z,1761683370.343 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:29:30.343Z,1761683370.343 [DAT](INFO): publishing transmit ping time 2025-10-28T20:29:30.344Z,1761683370.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T20:29:30.593Z,1761683370.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250214 2025-10-28T20:29:30.719Z,1761683370.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324163,-0.928653,-0.180341],[0.944237,0.305988,0.121602],[-0.057744,-0.209704,0.976058]] 2025-10-28T20:29:30.845Z,1761683370.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502180 2025-10-28T20:29:31.097Z,1761683371.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754195 2025-10-28T20:29:31.129Z,1761683371.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326269,-0.928758,-0.175945],[0.942797,0.306253,0.131693],[-0.068427,-0.208848,0.975551]] 2025-10-28T20:29:31.349Z,1761683371.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006165 2025-10-28T20:29:31.531Z,1761683371.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326422,-0.928895,-0.174937],[0.942391,0.305504,0.136258],[-0.073125,-0.209337,0.975105]] 2025-10-28T20:29:31.601Z,1761683371.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258165 2025-10-28T20:29:31.853Z,1761683371.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510313 2025-10-28T20:29:31.944Z,1761683371.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326922,-0.928888,-0.174040],[0.941879,0.305176,0.140468],[-0.077366,-0.209846,0.974669]] 2025-10-28T20:29:32.105Z,1761683372.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762184 2025-10-28T20:29:32.339Z,1761683372.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327750,-0.928614,-0.173942],[0.941251,0.305084,0.144813],[-0.081409,-0.211186,0.974050]] 2025-10-28T20:29:32.357Z,1761683372.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014259 2025-10-28T20:29:32.609Z,1761683372.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266186 2025-10-28T20:29:32.742Z,1761683372.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328783,-0.928465,-0.172782],[0.940537,0.305366,0.148804],[-0.085398,-0.211432,0.973655]] 2025-10-28T20:29:32.861Z,1761683372.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518515 2025-10-28T20:29:33.113Z,1761683373.113 [DAT](INFO): DAT read: Rx Time:20:29:32.3733 2025-10-28T20:29:33.113Z,1761683373.113 [DAT](INFO): Rx dataTimestamp_ set to:1761683373.113099 2025-10-28T20:29:33.114Z,1761683373.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771245 2025-10-28T20:29:33.165Z,1761683373.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330752,-0.928086,-0.171055],[0.939464,0.306617,0.152947],[-0.089500,-0.211287,0.973318]] 2025-10-28T20:29:33.365Z,1761683373.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022533 2025-10-28T20:29:33.568Z,1761683373.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332973,-0.927407,-0.170428],[0.938321,0.308026,0.157077],[-0.093178,-0.212219,0.972770]] 2025-10-28T20:29:33.623Z,1761683373.623 [DAT](INFO): DAT read: 20:29:32.3733 LVL= 26864, 24801, 27442, 29491, AGC= 55, IDX= 463,-0.25,-2.287,-0.774,-0.877,-1.193, PHS=-0.992, 0.464, 0.272, RAW= 277.0, 3.8, CAL= 275.1, -1.7, ROT= 234.9, 1.7 2025-10-28T20:29:33.624Z,1761683373.624 [DAT](INFO): got valid direction response: 20:29:32.3733 LVL= 26864, 24801, 27442, 29491, AGC= 55, IDX= 463,-0.25,-2.287,-0.774,-0.877,-1.193, PHS=-0.992, 0.464, 0.272, RAW= 277.0, 3.8, CAL= 275.1, -1.7, ROT= 234.9, 1.7 2025-10-28T20:29:33.625Z,1761683373.625 [DAT](INFO): DAT read: Bearing 296, -19 (Remote) 2025-10-28T20:29:33.625Z,1761683373.625 [DAT](INFO): Remote Bearing received:Bearing 296, -19 (Remote) 2025-10-28T20:29:33.626Z,1761683373.626 [DAT](INFO): DAT read: Bearing 68.8, -47.6 (Local) 2025-10-28T20:29:33.626Z,1761683373.626 [DAT](INFO): Local bearing/azimuth received: Bearing 68.8, -47.6 (Local) 2025-10-28T20:29:33.628Z,1761683373.628 [DAT](INFO): DAT read: Range 11 to 20 : 207.6 m (Round-trip 276.8 ms) speed -0.8 m/s 2025-10-28T20:29:33.628Z,1761683373.628 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:29:33.630Z,1761683373.630 [DAT](INFO): direction in FSK: [-0.574752,-0.817789,-0.029666] 2025-10-28T20:29:33.630Z,1761683373.630 [DAT](INFO): publishing direction and range info 2025-10-28T20:29:33.958Z,1761683373.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335805,-0.926600,-0.169258],[0.936912,0.310053,0.161438],[-0.097109,-0.212792,0.972260]] 2025-10-28T20:29:34.048Z,1761683374.048 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683328.00. Resetting abort timer. 2025-10-28T20:29:34.355Z,1761683374.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338934,-0.925424,-0.169450],[0.935347,0.312073,0.166545],[-0.101244,-0.214942,0.971365]] 2025-10-28T20:29:34.763Z,1761683374.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341856,-0.924600,-0.168075],[0.933820,0.314156,0.171134],[-0.105428,-0.215455,0.970806]] 2025-10-28T20:29:35.166Z,1761683375.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344264,-0.923809,-0.167508],[0.932430,0.315550,0.176075],[-0.109803,-0.216806,0.970020]] 2025-10-28T20:29:35.567Z,1761683375.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345969,-0.923700,-0.164571],[0.931260,0.316703,0.180152],[-0.114287,-0.215585,0.969774]] 2025-10-28T20:29:35.972Z,1761683375.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346247,-0.923716,-0.163896],[0.930697,0.316248,0.183821],[-0.117967,-0.216185,0.969200]] 2025-10-28T20:29:36.378Z,1761683376.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346171,-0.923891,-0.163066],[0.930325,0.315618,0.186765],[-0.121085,-0.216357,0.968777]] 2025-10-28T20:29:36.786Z,1761683376.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344879,-0.924591,-0.161830],[0.930608,0.314289,0.187595],[-0.122588,-0.215298,0.968823]] 2025-10-28T20:29:36.811Z,1761683376.811 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:29:36.811Z,1761683376.811 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:29:36.811Z,1761683376.811 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:29:36.811Z,1761683376.811 [marl:UpdateRudder:A] Stopped 2025-10-28T20:29:36.811Z,1761683376.811 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:29:36.812Z,1761683376.812 [marl:UpdateCommandMode] Stopped 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed] Stopped 2025-10-28T20:29:36.813Z,1761683376.813 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:29:37.182Z,1761683377.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342654,-0.925457,-0.161608],[0.931494,0.312326,0.186473],[-0.122098,-0.214433,0.969077]] 2025-10-28T20:29:37.215Z,1761683377.215 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:29:37.215Z,1761683377.215 [marl:UpdateRudder:B] Stopped 2025-10-28T20:29:37.215Z,1761683377.215 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:29:37.215Z,1761683377.215 [marl:UpdateRudder] Stopped 2025-10-28T20:29:37.215Z,1761683377.215 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:29:37.586Z,1761683377.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340034,-0.926558,-0.160834],[0.932692,0.310404,0.183668],[-0.120255,-0.212462,0.969741]] 2025-10-28T20:29:37.991Z,1761683377.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337052,-0.927613,-0.161029],[0.934171,0.308225,0.179783],[-0.117136,-0.211025,0.970437]] 2025-10-28T20:29:38.398Z,1761683378.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334889,-0.928160,-0.162381],[0.935465,0.306846,0.175358],[-0.112934,-0.210628,0.971021]] 2025-10-28T20:29:38.799Z,1761683378.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333347,-0.928835,-0.161696],[0.936543,0.306495,0.170138],[-0.108471,-0.208150,0.972064]] 2025-10-28T20:29:39.203Z,1761683379.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332896,-0.928587,-0.164033],[0.937190,0.306593,0.166360],[-0.104188,-0.209111,0.972326]] 2025-10-28T20:29:39.606Z,1761683379.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333888,-0.928178,-0.164332],[0.937294,0.308426,0.162335],[-0.099992,-0.208229,0.972955]] 2025-10-28T20:29:40.012Z,1761683380.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335805,-0.927121,-0.166377],[0.937013,0.310770,0.159466],[-0.096139,-0.209447,0.973082]] 2025-10-28T20:29:40.414Z,1761683380.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338730,-0.925523,-0.169321],[0.936260,0.313743,0.158060],[-0.093165,-0.212068,0.972804]] 2025-10-28T20:29:40.818Z,1761683380.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341909,-0.923889,-0.171832],[0.935364,0.316972,0.156915],[-0.090506,-0.214376,0.972549]] 2025-10-28T20:29:41.222Z,1761683381.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345081,-0.921989,-0.175660],[0.934382,0.319804,0.157019],[-0.088593,-0.218317,0.971848]] 2025-10-28T20:29:41.628Z,1761683381.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347627,-0.920529,-0.178276],[0.933565,0.322112,0.157164],[-0.087249,-0.221067,0.971348]] 2025-10-28T20:29:42.030Z,1761683382.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349685,-0.919374,-0.180198],[0.932877,0.323961,0.157445],[-0.086374,-0.223159,0.970948]] 2025-10-28T20:29:42.443Z,1761683382.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350590,-0.918578,-0.182485],[0.932612,0.324630,0.157640],[-0.085565,-0.225454,0.970489]] 2025-10-28T20:29:42.839Z,1761683382.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349980,-0.918372,-0.184682],[0.932928,0.323902,0.157267],[-0.084611,-0.227335,0.970134]] 2025-10-28T20:29:43.243Z,1761683383.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348413,-0.918664,-0.186187],[0.933640,0.322488,0.155944],[-0.083217,-0.228164,0.970060]] 2025-10-28T20:29:43.647Z,1761683383.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345890,-0.919091,-0.188764],[0.934772,0.320184,0.153895],[-0.081004,-0.229682,0.969889]] 2025-10-28T20:29:44.051Z,1761683384.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343675,-0.919656,-0.190055],[0.935770,0.318374,0.151569],[-0.078883,-0.229938,0.970003]] 2025-10-28T20:29:44.457Z,1761683384.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340799,-0.920230,-0.192441],[0.937118,0.316121,0.147914],[-0.075280,-0.230748,0.970097]] 2025-10-28T20:29:44.858Z,1761683384.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338630,-0.920248,-0.196144],[0.938232,0.314501,0.144256],[-0.071064,-0.232878,0.969906]] 2025-10-28T20:29:45.264Z,1761683385.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337564,-0.920252,-0.197955],[0.938946,0.314317,0.139947],[-0.066565,-0.233110,0.970169]] 2025-10-28T20:29:45.666Z,1761683385.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337759,-0.919997,-0.198808],[0.939157,0.315393,0.136053],[-0.062465,-0.232665,0.970549]] 2025-10-28T20:29:46.071Z,1761683386.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339486,-0.919029,-0.200336],[0.938780,0.317769,0.133095],[-0.058657,-0.233256,0.970645]] 2025-10-28T20:29:46.476Z,1761683386.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342045,-0.917735,-0.201911],[0.938029,0.320721,0.131303],[-0.055744,-0.234310,0.970563]] 2025-10-28T20:29:46.880Z,1761683386.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345018,-0.916357,-0.203106],[0.937080,0.324005,0.130008],[-0.053327,-0.235182,0.970487]] 2025-10-28T20:29:47.282Z,1761683387.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348124,-0.915078,-0.203573],[0.936026,0.327343,0.129239],[-0.051626,-0.235541,0.970492]] 2025-10-28T20:29:47.687Z,1761683387.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350312,-0.914171,-0.203894],[0.935292,0.329778,0.128352],[-0.050096,-0.235664,0.970542]] 2025-10-28T20:29:48.091Z,1761683388.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351358,-0.913863,-0.203477],[0.934938,0.331018,0.127742],[-0.049384,-0.235121,0.970711]] 2025-10-28T20:29:48.505Z,1761683388.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350764,-0.914169,-0.203126],[0.935215,0.330760,0.126373],[-0.048340,-0.234293,0.970963]] 2025-10-28T20:29:48.899Z,1761683388.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349375,-0.914662,-0.203298],[0.935806,0.329749,0.124635],[-0.046962,-0.233792,0.971152]] 2025-10-28T20:29:49.302Z,1761683389.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347180,-0.915641,-0.202653],[0.936707,0.328158,0.122035],[-0.045238,-0.232194,0.971617]] 2025-10-28T20:29:49.707Z,1761683389.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344360,-0.917015,-0.201243],[0.937843,0.326133,0.118693],[-0.043211,-0.229608,0.972324]] 2025-10-28T20:29:50.111Z,1761683390.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341679,-0.918245,-0.200205],[0.938923,0.324229,0.115324],[-0.040983,-0.227381,0.972943]] 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateRudder:A] Stopped 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:29:50.190Z,1761683390.190 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode] Stopped 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:29:50.191Z,1761683390.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:29:50.192Z,1761683390.192 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:29:50.196Z,1761683390.196 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:29:50.196Z,1761683390.196 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:29:50.196Z,1761683390.196 [marl:UpdateSpeed] Stopped 2025-10-28T20:29:50.196Z,1761683390.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:29:50.516Z,1761683390.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339106,-0.919058,-0.200849],[0.939950,0.322210,0.112586],[-0.038757,-0.226967,0.973131]] 2025-10-28T20:29:50.556Z,1761683390.556 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:29:50.556Z,1761683390.556 [marl:UpdateRudder:B] Stopped 2025-10-28T20:29:50.556Z,1761683390.556 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:29:50.556Z,1761683390.556 [marl:UpdateRudder] Stopped 2025-10-28T20:29:50.556Z,1761683390.556 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:29:50.927Z,1761683390.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337240,-0.919853,-0.200347],[0.940713,0.321030,0.109540],[-0.036443,-0.225410,0.973582]] 2025-10-28T20:29:51.324Z,1761683391.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335698,-0.920539,-0.199788],[0.941352,0.320168,0.106527],[-0.034097,-0.223832,0.974031]] 2025-10-28T20:29:51.564Z,1761683391.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:29:51.727Z,1761683391.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334802,-0.920940,-0.199442],[0.941746,0.319849,0.103977],[-0.031965,-0.222635,0.974378]] 2025-10-28T20:29:52.130Z,1761683392.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334190,-0.921414,-0.198276],[0.942048,0.319994,0.100748],[-0.029384,-0.220455,0.974955]] 2025-10-28T20:29:52.537Z,1761683392.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334392,-0.921613,-0.197007],[0.942050,0.320904,0.097788],[-0.026902,-0.218290,0.975513]] 2025-10-28T20:29:52.568Z,1761683392.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:29:52.941Z,1761683392.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334775,-0.921529,-0.196746],[0.941974,0.321804,0.095541],[-0.024731,-0.217315,0.975788]] 2025-10-28T20:29:53.342Z,1761683393.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335315,-0.921238,-0.197191],[0.941840,0.322826,0.093380],[-0.022366,-0.217034,0.975908]] 2025-10-28T20:29:53.751Z,1761683393.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336285,-0.920638,-0.198341],[0.941538,0.324083,0.092073],[-0.020487,-0.217708,0.975799]] 2025-10-28T20:29:54.152Z,1761683394.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337555,-0.919957,-0.199338],[0.941122,0.325654,0.090762],[-0.018582,-0.218238,0.975719]] 2025-10-28T20:29:54.554Z,1761683394.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339960,-0.918808,-0.200548],[0.940292,0.328307,0.089810],[-0.016677,-0.219105,0.975559]] 2025-10-28T20:29:54.959Z,1761683394.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342636,-0.917179,-0.203429],[0.939351,0.331048,0.089592],[-0.014827,-0.221789,0.974982]] 2025-10-28T20:29:55.362Z,1761683395.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345604,-0.915576,-0.205617],[0.938286,0.334066,0.089550],[-0.013300,-0.223876,0.974527]] 2025-10-28T20:29:55.802Z,1761683395.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347883,-0.914293,-0.207474],[0.937462,0.336408,0.089415],[-0.011956,-0.225605,0.974146]] 2025-10-28T20:29:56.175Z,1761683396.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349294,-0.913369,-0.209168],[0.936953,0.337931,0.089003],[-0.010608,-0.227069,0.973821]] 2025-10-28T20:29:56.574Z,1761683396.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349973,-0.912699,-0.210949],[0.936716,0.338788,0.088238],[-0.009068,-0.228481,0.973506]] 2025-10-28T20:29:57.384Z,1761683397.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351632,-0.912118,-0.210703],[0.936115,0.341032,0.085938],[-0.006529,-0.227461,0.973765]] 2025-10-28T20:29:57.828Z,1761683397.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351661,-0.912034,-0.211020],[0.936115,0.341448,0.084270],[-0.004804,-0.227174,0.973842]] 2025-10-28T20:29:58.194Z,1761683398.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351907,-0.912095,-0.210342],[0.936030,0.342169,0.082273],[-0.003068,-0.225838,0.974160]] 2025-10-28T20:29:58.595Z,1761683398.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352590,-0.912019,-0.209530],[0.935778,0.343387,0.080035],[-0.001043,-0.224293,0.974521]] 2025-10-28T20:29:59.027Z,1761683399.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353501,-0.911727,-0.209263],[0.935432,0.345039,0.076910],[0.002083,-0.222939,0.974830]] 2025-10-28T20:29:59.413Z,1761683399.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354799,-0.910930,-0.210534],[0.934926,0.347009,0.074144],[0.005517,-0.223140,0.974771]] 2025-10-28T20:29:59.836Z,1761683399.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355994,-0.910242,-0.211490],[0.934446,0.348897,0.071283],[0.008903,-0.223002,0.974777]] 2025-10-28T20:30:00.210Z,1761683400.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357085,-0.909238,-0.213954],[0.933992,0.350564,0.069027],[0.012243,-0.224479,0.974402]] 2025-10-28T20:30:00.616Z,1761683400.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357206,-0.908999,-0.214765],[0.933900,0.351356,0.066179],[0.015302,-0.224209,0.974421]] 2025-10-28T20:30:01.028Z,1761683401.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356797,-0.908958,-0.215616],[0.934000,0.351655,0.063118],[0.018451,-0.223906,0.974436]] 2025-10-28T20:30:01.423Z,1761683401.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355972,-0.909110,-0.216341],[0.934244,0.351594,0.059753],[0.021742,-0.223386,0.974488]] 2025-10-28T20:30:01.838Z,1761683401.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355127,-0.908963,-0.218335],[0.934483,0.351430,0.056904],[0.025006,-0.224239,0.974213]] 2025-10-28T20:30:02.235Z,1761683402.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354262,-0.909215,-0.218693],[0.934706,0.351448,0.052993],[0.028677,-0.223188,0.974354]] 2025-10-28T20:30:02.635Z,1761683402.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353276,-0.909486,-0.219161],[0.934953,0.351384,0.048907],[0.032529,-0.222183,0.974462]] 2025-10-28T20:30:03.041Z,1761683403.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352899,-0.909432,-0.219989],[0.934956,0.351877,0.045172],[0.036328,-0.221621,0.974456]] 2025-10-28T20:30:03.443Z,1761683403.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352757,-0.909225,-0.221070],[0.934838,0.352678,0.041194],[0.040512,-0.221197,0.974387]] 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateRudder:A] Stopped 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:30:03.467Z,1761683403.467 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode] Stopped 2025-10-28T20:30:03.468Z,1761683403.468 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed] Stopped 2025-10-28T20:30:03.469Z,1761683403.469 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:30:03.848Z,1761683403.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353177,-0.908369,-0.223900],[0.934491,0.353945,0.038086],[0.044652,-0.222683,0.973868]] 2025-10-28T20:30:03.933Z,1761683403.933 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:30:03.933Z,1761683403.933 [marl:UpdateRudder:B] Stopped 2025-10-28T20:30:03.933Z,1761683403.933 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:30:03.933Z,1761683403.933 [marl:UpdateRudder] Stopped 2025-10-28T20:30:03.933Z,1761683403.933 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:30:04.250Z,1761683404.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354251,-0.907543,-0.225549],[0.933887,0.355863,0.034887],[0.048603,-0.222996,0.973607]] 2025-10-28T20:30:04.654Z,1761683404.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355593,-0.906439,-0.227865],[0.933181,0.357946,0.032375],[0.052217,-0.224152,0.973154]] 2025-10-28T20:30:05.063Z,1761683405.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357503,-0.905014,-0.230525],[0.932247,0.360555,0.030254],[0.055736,-0.225722,0.972596]] 2025-10-28T20:30:05.462Z,1761683405.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359322,-0.903798,-0.232456],[0.931340,0.363072,0.027994],[0.059097,-0.226555,0.972204]] 2025-10-28T20:30:05.867Z,1761683405.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361463,-0.902551,-0.233980],[0.930299,0.365896,0.025768],[0.062355,-0.226986,0.971900]] 2025-10-28T20:30:06.270Z,1761683406.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363396,-0.901277,-0.235888],[0.929333,0.368474,0.023820],[0.065450,-0.227874,0.971488]] 2025-10-28T20:30:06.677Z,1761683406.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365250,-0.899826,-0.238550],[0.928425,0.370822,0.022772],[0.067969,-0.229793,0.970863]] 2025-10-28T20:30:07.082Z,1761683407.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366871,-0.898877,-0.239638],[0.927639,0.372854,0.021590],[0.069943,-0.230218,0.970622]] 2025-10-28T20:30:07.483Z,1761683407.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367525,-0.898547,-0.239872],[0.927266,0.373851,0.020307],[0.071430,-0.229889,0.970592]] 2025-10-28T20:30:07.894Z,1761683407.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367857,-0.898554,-0.239336],[0.927005,0.374595,0.018432],[0.073092,-0.228646,0.970762]] 2025-10-28T20:30:08.293Z,1761683408.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367813,-0.898989,-0.237767],[0.926883,0.375012,0.015931],[0.074843,-0.226242,0.971191]] 2025-10-28T20:30:08.695Z,1761683408.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368157,-0.899014,-0.237139],[0.926600,0.375794,0.013878],[0.076638,-0.224842,0.971377]] 2025-10-28T20:30:09.102Z,1761683409.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367636,-0.899247,-0.237065],[0.926649,0.375744,0.011738],[0.078520,-0.223991,0.971423]] 2025-10-28T20:30:09.503Z,1761683409.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367299,-0.899210,-0.237726],[0.926621,0.375864,0.009954],[0.080402,-0.223938,0.971281]] 2025-10-28T20:30:09.909Z,1761683409.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367872,-0.898627,-0.239038],[0.926255,0.376790,0.008993],[0.081986,-0.224719,0.970968]] 2025-10-28T20:30:10.310Z,1761683410.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368932,-0.897554,-0.241425],[0.925650,0.378292,0.008135],[0.084028,-0.226476,0.970385]] 2025-10-28T20:30:10.715Z,1761683410.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370344,-0.896559,-0.242956],[0.924927,0.380075,0.007335],[0.085765,-0.227433,0.970010]] 2025-10-28T20:30:11.123Z,1761683411.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371860,-0.895757,-0.243597],[0.924204,0.381840,0.006727],[0.086990,-0.227635,0.969853]] 2025-10-28T20:30:11.927Z,1761683411.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378057,-0.892752,-0.245086],[0.921614,0.388019,0.008233],[0.087748,-0.228987,0.969466]] 2025-10-28T20:30:12.331Z,1761683412.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382060,-0.890826,-0.245883],[0.920043,0.391675,0.010563],[0.086897,-0.230259,0.969242]] 2025-10-28T20:30:12.735Z,1761683412.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385635,-0.889157,-0.246346],[0.918649,0.394864,0.012857],[0.085841,-0.231264,0.969097]] 2025-10-28T20:30:13.141Z,1761683413.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388029,-0.888046,-0.246593],[0.917756,0.396863,0.014937],[0.084598,-0.232108,0.969004]] 2025-10-28T20:30:13.543Z,1761683413.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389312,-0.887489,-0.246574],[0.917342,0.397745,0.016781],[0.083181,-0.232726,0.968979]] 2025-10-28T20:30:13.946Z,1761683413.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389803,-0.887291,-0.246510],[0.917287,0.397788,0.018692],[0.081473,-0.233407,0.968960]] 2025-10-28T20:30:14.352Z,1761683414.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389589,-0.887163,-0.247308],[0.917521,0.397147,0.020714],[0.079841,-0.234981,0.968715]] 2025-10-28T20:30:14.761Z,1761683414.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388577,-0.887268,-0.248522],[0.918066,0.395794,0.022387],[0.078501,-0.236859,0.968368]] 2025-10-28T20:30:15.158Z,1761683415.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387305,-0.887648,-0.249151],[0.918707,0.394235,0.023590],[0.077284,-0.238033,0.968177]] 2025-10-28T20:30:15.563Z,1761683415.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385928,-0.888398,-0.248615],[0.919392,0.392590,0.024307],[0.076010,-0.237955,0.968297]] 2025-10-28T20:30:15.968Z,1761683415.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384491,-0.889500,-0.246894],[0.920070,0.391013,0.024111],[0.075092,-0.236430,0.968743]] 2025-10-28T20:30:16.385Z,1761683416.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381293,-0.891826,-0.243438],[0.921530,0.387602,0.023415],[0.073475,-0.233263,0.969634]] 2025-10-28T20:30:16.787Z,1761683416.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379845,-0.893135,-0.240888],[0.922182,0.386093,0.022637],[0.072787,-0.230742,0.970289]] 2025-10-28T20:30:16.818Z,1761683416.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:30:16.818Z,1761683416.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:30:16.818Z,1761683416.818 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateRudder:A] Stopped 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:30:16.819Z,1761683416.819 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateCommandMode] Stopped 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:30:16.820Z,1761683416.820 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:30:16.821Z,1761683416.821 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:30:16.821Z,1761683416.821 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:30:16.821Z,1761683416.821 [marl:UpdateSpeed] Stopped 2025-10-28T20:30:16.821Z,1761683416.821 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:30:17.183Z,1761683417.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378932,-0.893977,-0.239196],[0.922610,0.385085,0.022364],[0.072118,-0.229159,0.970714]] 2025-10-28T20:30:17.221Z,1761683417.221 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:30:17.221Z,1761683417.221 [marl:UpdateRudder:B] Stopped 2025-10-28T20:30:17.221Z,1761683417.221 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:30:17.221Z,1761683417.221 [marl:UpdateRudder] Stopped 2025-10-28T20:30:17.221Z,1761683417.221 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:30:17.587Z,1761683417.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378269,-0.894862,-0.236927],[0.922911,0.384407,0.021599],[0.071748,-0.226833,0.971287]] 2025-10-28T20:30:17.991Z,1761683417.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378145,-0.895535,-0.234570],[0.923006,0.384202,0.021163],[0.071170,-0.224513,0.971869]] 2025-10-28T20:30:18.813Z,1761683418.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379376,-0.896310,-0.229569],[0.922688,0.384925,0.021928],[0.068713,-0.220140,0.973045]] 2025-10-28T20:30:19.214Z,1761683419.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381180,-0.896055,-0.227568],[0.922076,0.386298,0.023434],[0.066911,-0.218767,0.973480]] 2025-10-28T20:30:19.619Z,1761683419.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384052,-0.895268,-0.225830],[0.921030,0.388652,0.025572],[0.064875,-0.217817,0.973831]] 2025-10-28T20:30:20.023Z,1761683420.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389605,-0.892059,-0.228996],[0.918826,0.393490,0.030404],[0.062985,-0.222253,0.972953]] 2025-10-28T20:30:20.429Z,1761683420.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399029,-0.884560,-0.241515],[0.914877,0.401724,0.040216],[0.061449,-0.237004,0.969563]] 2025-10-28T20:30:20.830Z,1761683420.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412070,-0.872972,-0.260994],[0.909160,0.412869,0.054464],[0.060211,-0.259729,0.963803]] 2025-10-28T20:30:21.234Z,1761683421.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426723,-0.859391,-0.281698],[0.902438,0.425038,0.070350],[0.059274,-0.284235,0.956921]] 2025-10-28T20:30:21.639Z,1761683421.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442365,-0.844325,-0.302372],[0.894912,0.437640,0.087203],[0.058703,-0.309172,0.949193]] 2025-10-28T20:30:22.044Z,1761683422.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458053,-0.829305,-0.320063],[0.886990,0.450144,0.103048],[0.058616,-0.331094,0.941775]] 2025-10-28T20:30:22.447Z,1761683422.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473481,-0.814164,-0.336085],[0.878841,0.462140,0.118593],[0.058764,-0.351517,0.934335]] 2025-10-28T20:30:22.692Z,1761683422.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:30:22.861Z,1761683422.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488870,-0.799493,-0.349023],[0.870326,0.474277,0.132641],[0.059488,-0.368608,0.927680]] 2025-10-28T20:30:23.255Z,1761683423.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503614,-0.786749,-0.356929],[0.861783,0.486585,0.143405],[0.060853,-0.379816,0.923058]] 2025-10-28T20:30:23.660Z,1761683423.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518018,-0.775319,-0.361300],[0.853097,0.499062,0.152192],[0.062314,-0.387063,0.919945]] 2025-10-28T20:30:23.696Z,1761683423.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:30:24.063Z,1761683424.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531792,-0.765158,-0.362947],[0.844443,0.511553,0.158837],[0.064131,-0.390957,0.918172]] 2025-10-28T20:30:24.466Z,1761683424.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545426,-0.756000,-0.361905],[0.835574,0.524330,0.163994],[0.065778,-0.391845,0.917677]] 2025-10-28T20:30:24.875Z,1761683424.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558838,-0.747520,-0.359046],[0.826520,0.537343,0.167712],[0.067563,-0.390483,0.918128]] 2025-10-28T20:30:25.281Z,1761683425.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572507,-0.738719,-0.355710],[0.817005,0.550428,0.171850],[0.068844,-0.389002,0.918661]] 2025-10-28T20:30:25.706Z,1761683425.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585862,-0.729974,-0.351999],[0.807379,0.563277,0.175668],[0.070040,-0.387114,0.919368]] 2025-10-28T20:30:26.110Z,1761683426.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599290,-0.720761,-0.348361],[0.797385,0.575999,0.180007],[0.070914,-0.385654,0.919914]] 2025-10-28T20:30:26.526Z,1761683426.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612878,-0.711782,-0.343143],[0.786975,0.588891,0.184056],[0.071066,-0.382849,0.921073]] 2025-10-28T20:30:26.923Z,1761683426.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626526,-0.702025,-0.338565],[0.776213,0.601263,0.189674],[0.070411,-0.381634,0.921628]] 2025-10-28T20:30:27.328Z,1761683427.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639984,-0.692571,-0.332815],[0.765262,0.613520,0.194853],[0.069239,-0.379393,0.922641]] 2025-10-28T20:30:27.733Z,1761683427.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653082,-0.682525,-0.328091],[0.754226,0.625147,0.200837],[0.068029,-0.378617,0.923050]] 2025-10-28T20:30:28.134Z,1761683428.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665687,-0.672725,-0.322958],[0.743268,0.636259,0.206705],[0.066429,-0.377646,0.923564]] 2025-10-28T20:30:28.538Z,1761683428.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677735,-0.663396,-0.317145],[0.732459,0.647010,0.211855],[0.064652,-0.375878,0.924411]] 2025-10-28T20:30:28.942Z,1761683428.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689036,-0.654129,-0.312002],[0.722014,0.656807,0.217488],[0.062660,-0.375127,0.924853]] 2025-10-28T20:30:29.365Z,1761683429.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699786,-0.645055,-0.306925],[0.711779,0.666061,0.223009],[0.060578,-0.374522,0.925237]] 2025-10-28T20:30:29.868Z,1761683429.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709824,-0.636656,-0.301361],[0.701956,0.674826,0.227744],[0.058371,-0.373201,0.925913]] 2025-10-28T20:30:30.218Z,1761683430.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719010,-0.628498,-0.296673],[0.692728,0.682573,0.232858],[0.056151,-0.372941,0.926155]] 2025-10-28T20:30:30.318Z,1761683430.318 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:30:30.319Z,1761683430.319 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:30:30.319Z,1761683430.319 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:30:30.319Z,1761683430.319 [marl:UpdateRudder:A] Stopped 2025-10-28T20:30:30.319Z,1761683430.319 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:30:30.319Z,1761683430.319 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:30:30.320Z,1761683430.320 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:30:30.320Z,1761683430.320 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:30:30.325Z,1761683430.325 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:30:30.325Z,1761683430.325 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:30:30.325Z,1761683430.325 [marl:UpdateCommandMode] Stopped 2025-10-28T20:30:30.326Z,1761683430.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:30:30.326Z,1761683430.326 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:30:30.326Z,1761683430.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:30:30.326Z,1761683430.326 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:30:30.327Z,1761683430.327 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:30:30.327Z,1761683430.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:30:30.327Z,1761683430.327 [marl:UpdateSpeed] Stopped 2025-10-28T20:30:30.327Z,1761683430.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:30:30.331Z,1761683430.331 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:30:30.342Z,1761683430.342 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:30:30.342Z,1761683430.342 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:30:30.597Z,1761683430.597 [DAT](INFO): DAT read: user:258> 2025-10-28T20:30:30.597Z,1761683430.597 [DAT](INFO): DAT read: Tx time:20:30:30.3171 2025-10-28T20:30:30.598Z,1761683430.598 [DAT](INFO): Ping request sent. 2025-10-28T20:30:30.598Z,1761683430.598 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:30:30.598Z,1761683430.598 [DAT](INFO): publishing transmit ping time 2025-10-28T20:30:30.599Z,1761683430.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000959 2025-10-28T20:30:30.716Z,1761683430.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727546,-0.620889,-0.291845],[0.683951,0.689729,0.237666],[0.053730,-0.372521,0.926467]] 2025-10-28T20:30:30.740Z,1761683430.740 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:30:30.741Z,1761683430.741 [marl:UpdateRudder:B] Stopped 2025-10-28T20:30:30.741Z,1761683430.741 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:30:30.741Z,1761683430.741 [marl:UpdateRudder] Stopped 2025-10-28T20:30:30.741Z,1761683430.741 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:30:30.845Z,1761683430.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247428 2025-10-28T20:30:31.097Z,1761683431.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499124 2025-10-28T20:30:31.114Z,1761683431.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735738,-0.613730,-0.286400],[0.675321,0.696829,0.241602],[0.051293,-0.371167,0.927148]] 2025-10-28T20:30:31.350Z,1761683431.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752026 2025-10-28T20:30:31.519Z,1761683431.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743883,-0.606046,-0.281686],[0.666507,0.703701,0.246116],[0.049065,-0.370827,0.927405]] 2025-10-28T20:30:31.601Z,1761683431.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003138 2025-10-28T20:30:31.857Z,1761683431.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259227 2025-10-28T20:30:32.109Z,1761683432.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511020 2025-10-28T20:30:32.355Z,1761683432.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761042,-0.588807,-0.272252],[0.647043,0.719007,0.253700],[0.046371,-0.369235,0.928178]] 2025-10-28T20:30:32.361Z,1761683432.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763285 2025-10-28T20:30:32.613Z,1761683432.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015493 2025-10-28T20:30:32.731Z,1761683432.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770762,-0.578632,-0.266668],[0.635500,0.728080,0.256982],[0.045457,-0.367539,0.928896]] 2025-10-28T20:30:32.865Z,1761683432.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267313 2025-10-28T20:30:33.117Z,1761683433.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519097 2025-10-28T20:30:33.135Z,1761683433.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781583,-0.566624,-0.260894],[0.622194,0.738117,0.260880],[0.044749,-0.366226,0.929449]] 2025-10-28T20:30:33.371Z,1761683433.371 [DAT](INFO): DAT read: Rx Time:20:30:32.6768 2025-10-28T20:30:33.372Z,1761683433.372 [DAT](INFO): Rx dataTimestamp_ set to:1761683433.370993 2025-10-28T20:30:33.372Z,1761683433.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774442 2025-10-28T20:30:33.539Z,1761683433.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793426,-0.553030,-0.254229],[0.607084,0.749123,0.265074],[0.043855,-0.364655,0.930109]] 2025-10-28T20:30:33.621Z,1761683433.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023076 2025-10-28T20:30:33.879Z,1761683433.879 [DAT](INFO): DAT read: 20:30:32.6768 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 470, 0.09,-1.240,-0.381, 0.359,-0.540, PHS=-0.598, 0.204, 0.855, RAW= 243.4, -7.4, CAL= 241.7, -11.6, ROT= 268.3, 11.6 2025-10-28T20:30:33.880Z,1761683433.880 [DAT](INFO): got valid direction response: 20:30:32.6768 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 470, 0.09,-1.240,-0.381, 0.359,-0.540, PHS=-0.598, 0.204, 0.855, RAW= 243.4, -7.4, CAL= 241.7, -11.6, ROT= 268.3, 11.6 2025-10-28T20:30:33.881Z,1761683433.881 [DAT](INFO): DAT read: Bearing 293, -12 (Remote) 2025-10-28T20:30:33.882Z,1761683433.882 [DAT](INFO): Remote Bearing received:Bearing 293, -12 (Remote) 2025-10-28T20:30:33.882Z,1761683433.882 [DAT](INFO): DAT read: Bearing 96.0, -56.3 (Local) 2025-10-28T20:30:33.883Z,1761683433.883 [DAT](INFO): Local bearing/azimuth received: Bearing 96.0, -56.3 (Local) 2025-10-28T20:30:33.884Z,1761683433.884 [DAT](INFO): DAT read: Range 11 to 20 : 247.9 m (Round-trip 330.6 ms) speed 0.1 m/s 2025-10-28T20:30:33.885Z,1761683433.885 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:30:33.886Z,1761683433.886 [DAT](INFO): direction in FSK: [-0.029060,-0.979144,-0.201078] 2025-10-28T20:30:33.886Z,1761683433.886 [DAT](INFO): publishing direction and range info 2025-10-28T20:30:33.943Z,1761683433.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806131,-0.537775,-0.246881],[0.590196,0.760800,0.269911],[0.042676,-0.363292,0.930697]] 2025-10-28T20:30:34.074Z,1761683434.074 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683456.00. Resetting abort timer. 2025-10-28T20:30:34.351Z,1761683434.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819505,-0.521252,-0.238134],[0.571593,0.773306,0.274370],[0.041135,-0.360963,0.931673]] 2025-10-28T20:30:34.753Z,1761683434.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833241,-0.503147,-0.229243],[0.551527,0.785656,0.280290],[0.039079,-0.359983,0.932140]] 2025-10-28T20:30:35.155Z,1761683435.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846273,-0.485211,-0.219983],[0.531518,0.797043,0.286726],[0.036213,-0.359573,0.932414]] 2025-10-28T20:30:35.560Z,1761683435.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858238,-0.467868,-0.211016],[0.512204,0.807020,0.293881],[0.032797,-0.360303,0.932259]] 2025-10-28T20:30:35.962Z,1761683435.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868595,-0.452608,-0.201715],[0.494675,0.815825,0.299544],[0.028989,-0.359965,0.932515]] 2025-10-28T20:30:36.369Z,1761683436.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877637,-0.438571,-0.193414],[0.478666,0.823083,0.305635],[0.025153,-0.360817,0.932297]] 2025-10-28T20:30:36.776Z,1761683436.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884901,-0.427339,-0.185288],[0.465305,0.828982,0.310289],[0.021002,-0.360791,0.932410]] 2025-10-28T20:30:37.176Z,1761683437.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891357,-0.416941,-0.177883],[0.452986,0.833915,0.315259],[0.016895,-0.361587,0.932185]] 2025-10-28T20:30:37.610Z,1761683437.610 [marl](INFO): Timed out from 2025-10-28T16:30:37.5Z 2025-10-28T20:30:37.610Z,1761683437.610 [MissionManager](INFO): marl is completed. 2025-10-28T20:30:37.610Z,1761683437.610 [MissionManager](INFO): Uninitializing Mission marl 2025-10-28T20:30:37.610Z,1761683437.610 [marl] Stopped 2025-10-28T20:30:37.610Z,1761683437.610 [marl](DEBUG): Aggregate::uninitialize marl 2025-10-28T20:30:37.610Z,1761683437.610 [marl:AbortDrift] Stopped 2025-10-28T20:30:37.610Z,1761683437.610 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift 2025-10-28T20:30:37.610Z,1761683437.610 [marl:AbortDrift:B.AbortDrift] Stopped 2025-10-28T20:30:37.610Z,1761683437.610 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift. 2025-10-28T20:30:37.611Z,1761683437.611 [marl:B.] Stopped 2025-10-28T20:30:37.611Z,1761683437.611 [marl:B.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes] Stopped 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-28T20:30:37.611Z,1761683437.611 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-28T20:30:37.611Z,1761683437.611 [marl:Science] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:B] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:C] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:E] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:OceanCurrent] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent 2025-10-28T20:30:37.612Z,1761683437.612 [marl:Science:OceanCurrent:A.] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:BackseatDriver] Stopped 2025-10-28T20:30:37.612Z,1761683437.612 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver 2025-10-28T20:30:37.612Z,1761683437.612 [marl:BackseatDriver:A.BackseatDriver] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:PowerOnly] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly 2025-10-28T20:30:37.613Z,1761683437.613 [marl:PowerOnly:E.Wait] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:A.Buoyancy] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:B.Pitch] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:C.Pitch] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:D.SetSpeed] Stopped 2025-10-28T20:30:37.613Z,1761683437.613 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize. 2025-10-28T20:30:37.614Z,1761683437.614 [marl:JoystickControl:CmdRudder] Stopped 2025-10-28T20:30:37.614Z,1761683437.614 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder 2025-10-28T20:30:37.614Z,1761683437.614 [marl:JoystickControl:CmdRudder:A.Point] Stopped 2025-10-28T20:30:38.118Z,1761683438.118 [BackseatComponent](INFO): Sent LCM shutdown request. 2025-10-28T20:30:38.118Z,1761683438.118 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2025-10-28T20:30:38.138Z,1761683438.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907109,-0.388952,-0.160840],[0.420823,0.845253,0.329326],[0.007859,-0.366419,0.930417]] 2025-10-28T20:30:38.198Z,1761683438.198 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-28T20:30:38.199Z,1761683438.199 [DefaultWithUndock] Running Loop=1 2025-10-28T20:30:38.199Z,1761683438.199 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-28T20:30:38.199Z,1761683438.199 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-28T20:30:38.199Z,1761683438.199 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-28T20:30:38.539Z,1761683438.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911525,-0.380155,-0.156861],[0.411197,0.848399,0.333372],[0.006347,-0.368378,0.929655]] 2025-10-28T20:30:38.945Z,1761683438.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916379,-0.371393,-0.149388],[0.400276,0.855131,0.329439],[0.005394,-0.361687,0.932284]] 2025-10-28T20:30:39.355Z,1761683439.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920487,-0.365147,-0.139183],[0.390757,0.863389,0.319167],[0.003627,-0.348176,0.937422]] 2025-10-28T20:30:39.759Z,1761683439.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923360,-0.362683,-0.125963],[0.383933,0.872917,0.301017],[0.000781,-0.326308,0.945263]] 2025-10-28T20:30:40.160Z,1761683440.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925135,-0.363364,-0.109965],[0.379622,0.882747,0.276849],[-0.003525,-0.297867,0.954601]] 2025-10-28T20:30:40.562Z,1761683440.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926398,-0.365032,-0.092400],[0.376441,0.892031,0.250147],[-0.008888,-0.266519,0.963789]] 2025-10-28T20:30:40.966Z,1761683440.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927282,-0.366897,-0.074401],[0.374060,0.900025,0.223682],[-0.015106,-0.235246,0.971818]] 2025-10-28T20:30:41.371Z,1761683441.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928207,-0.367610,-0.057402],[0.371421,0.906436,0.201049],[-0.021876,-0.207935,0.977898]] 2025-10-28T20:30:41.811Z,1761683441.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928933,-0.367834,-0.042207],[0.369123,0.911198,0.182940],[-0.028833,-0.185519,0.982218]] 2025-10-28T20:30:42.180Z,1761683442.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929575,-0.367572,-0.027943],[0.366879,0.915104,0.167289],[-0.035920,-0.165759,0.985512]] 2025-10-28T20:30:42.583Z,1761683442.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930061,-0.367100,-0.014969],[0.364883,0.918146,0.154496],[-0.042971,-0.149153,0.987880]] 2025-10-28T20:30:42.987Z,1761683442.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930200,-0.367045,-0.002449],[0.363622,0.920573,0.142565],[-0.050073,-0.133504,0.989782]] 2025-10-28T20:30:43.395Z,1761683443.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929846,-0.367856,0.008293],[0.363537,0.921942,0.133654],[-0.056811,-0.121263,0.990993]] 2025-10-28T20:30:43.830Z,1761683443.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929304,-0.368889,0.017727],[0.363862,0.922746,0.127059],[-0.063228,-0.111626,0.991737]] 2025-10-28T20:30:44.198Z,1761683444.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928442,-0.370585,0.025726],[0.365008,0.922952,0.122182],[-0.069022,-0.104048,0.992174]] 2025-10-28T20:30:44.602Z,1761683444.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927379,-0.372745,0.032079],[0.366685,0.922608,0.119737],[-0.074228,-0.099279,0.992287]] 2025-10-28T20:30:45.009Z,1761683445.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926422,-0.374603,0.037612],[0.368151,0.922284,0.117721],[-0.078787,-0.095212,0.992334]] 2025-10-28T20:30:45.411Z,1761683445.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925661,-0.376016,0.041996],[0.369115,0.921857,0.118045],[-0.083102,-0.093768,0.992120]] 2025-10-28T20:30:45.834Z,1761683445.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924854,-0.377551,0.045826],[0.370264,0.921363,0.118300],[-0.086887,-0.092443,0.991920]] 2025-10-28T20:30:46.223Z,1761683446.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924224,-0.378647,0.049352],[0.370967,0.920989,0.119006],[-0.090514,-0.091681,0.991666]] 2025-10-28T20:30:46.623Z,1761683446.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923698,-0.379556,0.052152],[0.371464,0.920579,0.120616],[-0.093791,-0.092040,0.991328]] 2025-10-28T20:30:47.027Z,1761683447.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923297,-0.380169,0.054727],[0.371714,0.920310,0.121892],[-0.096705,-0.092200,0.991033]] 2025-10-28T20:30:47.431Z,1761683447.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923071,-0.380412,0.056808],[0.371571,0.920109,0.123833],[-0.099377,-0.093198,0.990676]] 2025-10-28T20:30:47.841Z,1761683447.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922738,-0.380867,0.059117],[0.371733,0.919943,0.124576],[-0.101831,-0.092975,0.990447]] 2025-10-28T20:30:48.239Z,1761683448.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922607,-0.380883,0.061021],[0.371439,0.919890,0.125836],[-0.104061,-0.093432,0.990173]] 2025-10-28T20:30:48.643Z,1761683448.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922505,-0.380901,0.062439],[0.371125,0.919761,0.127695],[-0.106068,-0.094627,0.989846]] 2025-10-28T20:30:49.065Z,1761683449.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922488,-0.380735,0.063700],[0.370671,0.919728,0.129241],[-0.107793,-0.095612,0.989565]] 2025-10-28T20:30:49.458Z,1761683449.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922487,-0.380487,0.065173],[0.370195,0.919807,0.130036],[-0.109424,-0.095830,0.989365]] 2025-10-28T20:30:49.855Z,1761683449.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922429,-0.380452,0.066186],[0.369990,0.919798,0.130684],[-0.110597,-0.096059,0.989212]] 2025-10-28T20:30:50.259Z,1761683450.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922512,-0.380110,0.066994],[0.369547,0.919946,0.130896],[-0.111386,-0.095995,0.989130]] 2025-10-28T20:30:50.662Z,1761683450.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922627,-0.379730,0.067566],[0.369204,0.920199,0.130082],[-0.111570,-0.095072,0.989198]] 2025-10-28T20:30:51.067Z,1761683451.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922696,-0.379457,0.068143],[0.369043,0.920470,0.128619],[-0.111529,-0.093529,0.989350]] 2025-10-28T20:30:51.474Z,1761683451.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923019,-0.378785,0.067513],[0.368516,0.920786,0.127863],[-0.110598,-0.093140,0.989491]] 2025-10-28T20:30:51.874Z,1761683451.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923254,-0.378301,0.067016],[0.368128,0.921001,0.127435],[-0.109930,-0.092985,0.989580]] 2025-10-28T20:30:52.285Z,1761683452.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923422,-0.377944,0.066716],[0.367886,0.921205,0.126653],[-0.109327,-0.092410,0.989701]] 2025-10-28T20:30:52.683Z,1761683452.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924076,-0.376415,0.066302],[0.366572,0.921944,0.125080],[-0.108209,-0.091279,0.989929]] 2025-10-28T20:30:53.087Z,1761683453.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925020,-0.374107,0.066200],[0.364497,0.923036,0.123071],[-0.107146,-0.089713,0.990187]] 2025-10-28T20:30:53.491Z,1761683453.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926479,-0.370522,0.065960],[0.361152,0.924609,0.121108],[-0.105860,-0.088382,0.990445]] 2025-10-28T20:30:53.818Z,1761683453.818 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:30:53.894Z,1761683453.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928191,-0.366171,0.066181],[0.357028,0.926499,0.118869],[-0.104843,-0.086705,0.990702]] 2025-10-28T20:30:54.306Z,1761683454.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929836,-0.361874,0.066719],[0.352948,0.928369,0.116438],[-0.104076,-0.084719,0.990955]] 2025-10-28T20:30:54.703Z,1761683454.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931440,-0.357659,0.067071],[0.348917,0.930138,0.114459],[-0.103323,-0.083210,0.991161]] 2025-10-28T20:30:54.821Z,1761683454.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:30:55.106Z,1761683455.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932702,-0.354277,0.067494],[0.345680,0.931552,0.112764],[-0.102824,-0.081844,0.991327]] 2025-10-28T20:30:55.514Z,1761683455.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933685,-0.351645,0.067665],[0.343229,0.932680,0.110916],[-0.102113,-0.080336,0.991524]] 2025-10-28T20:30:55.915Z,1761683455.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934111,-0.350415,0.068163],[0.342305,0.933413,0.107552],[-0.101312,-0.077132,0.991860]] 2025-10-28T20:30:56.308Z,1761683456.308 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2025-10-28T20:30:56.309Z,1761683456.309 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2025-10-28T20:30:56.309Z,1761683456.309 [LcmPublisher](INFO): Deactivating messaging. 2025-10-28T20:30:56.316Z,1761683456.316 [DAT](INFO): Deactivating messaging. 2025-10-28T20:30:56.323Z,1761683456.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934060,-0.350556,0.068133],[0.342744,0.933583,0.104642],[-0.100291,-0.074390,0.992173]] 2025-10-28T20:30:56.564Z,1761683456.564 [WetLabsBB2FL](INFO): Powering down 2025-10-28T20:30:56.723Z,1761683456.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933782,-0.351462,0.067270],[0.343828,0.933311,0.103497],[-0.099159,-0.073515,0.992352]] 2025-10-28T20:30:57.128Z,1761683457.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933296,-0.353103,0.065402],[0.345598,0.932647,0.103590],[-0.097575,-0.074077,0.992467]] 2025-10-28T20:30:57.535Z,1761683457.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932727,-0.354993,0.063242],[0.347693,0.931920,0.103127],[-0.095546,-0.074201,0.992656]] 2025-10-28T20:30:57.934Z,1761683457.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932126,-0.356946,0.061071],[0.349953,0.931244,0.101572],[-0.093128,-0.073306,0.992952]] 2025-10-28T20:30:58.340Z,1761683458.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931522,-0.358995,0.058210],[0.352235,0.930410,0.101329],[-0.090536,-0.073887,0.993149]] 2025-10-28T20:30:58.744Z,1761683458.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930936,-0.361008,0.055062],[0.354496,0.929571,0.101145],[-0.087699,-0.074640,0.993347]] 2025-10-28T20:30:59.147Z,1761683459.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930436,-0.362797,0.051640],[0.356584,0.928828,0.100630],[-0.084472,-0.075216,0.993583]] 2025-10-28T20:30:59.551Z,1761683459.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930086,-0.364132,0.048451],[0.358289,0.928342,0.099044],[-0.081044,-0.074760,0.993903]] 2025-10-28T20:30:59.971Z,1761683459.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929802,-0.365257,0.045339],[0.359834,0.927996,0.096659],[-0.077380,-0.073559,0.994284]] 2025-10-28T20:31:00.360Z,1761683460.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929611,-0.366137,0.042034],[0.361135,0.927736,0.094275],[-0.073514,-0.072459,0.994658]] 2025-10-28T20:31:00.763Z,1761683460.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929456,-0.366911,0.038576],[0.362301,0.927480,0.092298],[-0.069644,-0.071811,0.994984]] 2025-10-28T20:31:01.166Z,1761683461.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929692,-0.366687,0.034830],[0.362464,0.927587,0.090571],[-0.065519,-0.071579,0.995281]] 2025-10-28T20:31:01.570Z,1761683461.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930051,-0.366097,0.031293],[0.362255,0.927862,0.088562],[-0.061458,-0.071031,0.995579]] 2025-10-28T20:31:01.975Z,1761683461.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930681,-0.364796,0.027500],[0.361324,0.928378,0.086941],[-0.057246,-0.070978,0.995834]] 2025-10-28T20:31:02.381Z,1761683462.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931590,-0.362705,0.024202],[0.359606,0.929270,0.084504],[-0.053141,-0.070020,0.996129]] 2025-10-28T20:31:02.783Z,1761683462.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932707,-0.360024,0.020978],[0.357250,0.930340,0.082710],[-0.049294,-0.069649,0.996353]] 2025-10-28T20:31:03.187Z,1761683463.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933894,-0.357110,0.017752],[0.354655,0.931494,0.080857],[-0.045410,-0.069216,0.996568]] 2025-10-28T20:31:03.590Z,1761683463.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935115,-0.354012,0.015325],[0.351844,0.932778,0.078307],[-0.042016,-0.067834,0.996812]] 2025-10-28T20:31:03.995Z,1761683463.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936054,-0.351619,0.012943],[0.349709,0.933768,0.076029],[-0.038819,-0.066641,0.997022]] 2025-10-28T20:31:04.400Z,1761683464.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936686,-0.350023,0.010151],[0.348334,0.934348,0.075221],[-0.035814,-0.066923,0.997115]] 2025-10-28T20:31:04.802Z,1761683464.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936962,-0.349349,0.007583],[0.347891,0.934648,0.073524],[-0.032772,-0.066251,0.997265]] 2025-10-28T20:31:05.206Z,1761683465.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936768,-0.349907,0.005515],[0.348666,0.934561,0.070903],[-0.029964,-0.064496,0.997468]] 2025-10-28T20:31:05.613Z,1761683465.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936199,-0.351459,0.002732],[0.350430,0.933999,0.069598],[-0.027013,-0.064200,0.997571]] 2025-10-28T20:31:06.015Z,1761683466.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935366,-0.353680,-0.000336],[0.352864,0.933143,0.068788],[-0.024015,-0.064460,0.997631]] 2025-10-28T20:31:06.419Z,1761683466.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934308,-0.356451,-0.003479],[0.355851,0.932072,0.067916],[-0.020966,-0.064693,0.997685]] 2025-10-28T20:31:06.823Z,1761683466.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933365,-0.358850,-0.007487],[0.358497,0.931020,0.068427],[-0.017585,-0.066551,0.997628]] 2025-10-28T20:31:07.233Z,1761683467.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932027,-0.362088,-0.014767],[0.362234,0.929666,0.067143],[-0.010584,-0.067928,0.997634]] 2025-10-28T20:31:07.635Z,1761683467.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931921,-0.362213,-0.018040],[0.362592,0.929618,0.065856],[-0.007084,-0.067914,0.997666]] 2025-10-28T20:31:08.039Z,1761683468.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931996,-0.361851,-0.021142],[0.362449,0.929763,0.064586],[-0.003713,-0.067856,0.997688]] 2025-10-28T20:31:08.444Z,1761683468.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932360,-0.360718,-0.024228],[0.361530,0.930231,0.062975],[-0.000179,-0.067475,0.997721]] 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:A.Wait] Stopped 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-28T20:31:08.459Z,1761683468.459 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T20:31:08.460Z,1761683468.460 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-28T20:31:08.460Z,1761683468.460 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-28T20:31:08.461Z,1761683468.461 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T20:31:08.461Z,1761683468.461 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T20:31:08.845Z,1761683468.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932716,-0.359607,-0.026913],[0.360599,0.930732,0.060885],[0.003154,-0.066493,0.997782]] 2025-10-28T20:31:08.866Z,1761683468.866 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T20:31:08.866Z,1761683468.866 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T20:31:08.867Z,1761683468.867 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 15.433029 m. 2025-10-28T20:31:08.868Z,1761683468.868 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T20:31:08.869Z,1761683468.869 [DefaultWithUndock:LeaveDock:A.](INFO): DAT did not provide matching contact label. 2025-10-28T20:31:09.247Z,1761683469.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933095,-0.358423,-0.029436],[0.359574,0.931264,0.058775],[0.006346,-0.065427,0.997837]] 2025-10-28T20:31:09.651Z,1761683469.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933395,-0.357412,-0.032094],[0.358725,0.931692,0.057148],[0.009476,-0.064855,0.997850]] 2025-10-28T20:31:09.678Z,1761683469.678 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-28T20:31:09.799Z,1761683469.799 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-28T20:31:10.064Z,1761683470.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933546,-0.356782,-0.034610],[0.358240,0.931980,0.055473],[0.012464,-0.064185,0.997860]] 2025-10-28T20:31:10.459Z,1761683470.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933485,-0.356684,-0.037171],[0.358287,0.932042,0.054116],[0.015342,-0.063834,0.997843]] 2025-10-28T20:31:10.862Z,1761683470.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933478,-0.356402,-0.039961],[0.358170,0.932133,0.053301],[0.018252,-0.064068,0.997779]] 2025-10-28T20:31:11.266Z,1761683471.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933441,-0.356187,-0.042651],[0.358112,0.932204,0.052456],[0.021075,-0.064238,0.997712]] 2025-10-28T20:31:11.673Z,1761683471.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933416,-0.355897,-0.045515],[0.357997,0.932273,0.052015],[0.023920,-0.064846,0.997609]] 2025-10-28T20:31:12.074Z,1761683472.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933386,-0.355558,-0.048681],[0.357860,0.932338,0.051785],[0.026975,-0.065756,0.997471]] 2025-10-28T20:31:12.477Z,1761683472.477 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-28T20:31:12.480Z,1761683472.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933593,-0.354556,-0.051910],[0.357058,0.932673,0.051294],[0.030228,-0.066423,0.997334]] 2025-10-28T20:31:12.883Z,1761683472.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933706,-0.353809,-0.054881],[0.356456,0.932993,0.049631],[0.033644,-0.065903,0.997259]] 2025-10-28T20:31:13.287Z,1761683473.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933706,-0.353252,-0.058372],[0.356084,0.933201,0.048365],[0.037388,-0.065944,0.997123]] 2025-10-28T20:31:13.349Z,1761683473.349 [DockingStepper](INFO): Changing to mode: 3 2025-10-28T20:31:13.690Z,1761683473.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933273,-0.353808,-0.061807],[0.356809,0.933001,0.046860],[0.041087,-0.065786,0.996988]] 2025-10-28T20:31:14.094Z,1761683474.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932819,-0.354364,-0.065383],[0.357526,0.932810,0.045167],[0.044984,-0.065509,0.996837]] 2025-10-28T20:31:14.503Z,1761683474.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932274,-0.355197,-0.068562],[0.358454,0.932568,0.042760],[0.048751,-0.064441,0.996730]] 2025-10-28T20:31:14.909Z,1761683474.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931700,-0.356112,-0.071544],[0.359452,0.932280,0.040607],[0.052239,-0.063550,0.996611]] 2025-10-28T20:31:15.311Z,1761683475.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930828,-0.357865,-0.074110],[0.361241,0.931688,0.038240],[0.055363,-0.062366,0.996517]] 2025-10-28T20:31:15.714Z,1761683475.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929936,-0.359599,-0.076857],[0.363079,0.931022,0.037023],[0.058242,-0.062334,0.996355]] 2025-10-28T20:31:16.118Z,1761683476.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928704,-0.362298,-0.079056],[0.365839,0.929994,0.035691],[0.060591,-0.062068,0.996231]] 2025-10-28T20:31:16.532Z,1761683476.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927284,-0.365524,-0.080846],[0.369110,0.928744,0.034534],[0.062462,-0.061864,0.996128]] 2025-10-28T20:31:16.927Z,1761683476.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925681,-0.369223,-0.082397],[0.372874,0.927261,0.033937],[0.063873,-0.062139,0.996022]] 2025-10-28T20:31:17.331Z,1761683477.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924016,-0.373041,-0.083872],[0.376805,0.925663,0.034141],[0.064902,-0.063150,0.995892]] 2025-10-28T20:31:17.735Z,1761683477.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922334,-0.376883,-0.085196],[0.380800,0.923992,0.035071],[0.065503,-0.064790,0.995747]] 2025-10-28T20:31:18.141Z,1761683478.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920667,-0.380682,-0.086334],[0.384747,0.922316,0.036082],[0.065892,-0.066436,0.995613]] 2025-10-28T20:31:18.542Z,1761683478.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919114,-0.384260,-0.087024],[0.388409,0.920762,0.036543],[0.066086,-0.067388,0.995536]] 2025-10-28T20:31:18.568Z,1761683478.568 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-28T20:31:18.757Z,1761683478.757 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:18.758Z,1761683478.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-28T20:31:18.947Z,1761683478.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917850,-0.387238,-0.087172],[0.391365,0.919532,0.035979],[0.066224,-0.067140,0.995543]] 2025-10-28T20:31:19.010Z,1761683479.010 [DAT](INFO): DAT read: user:259> 2025-10-28T20:31:19.010Z,1761683479.010 [DAT](INFO): DAT read: Tx time:20:31:18.7669 2025-10-28T20:31:19.011Z,1761683479.011 [DAT](INFO): Ping request sent. 2025-10-28T20:31:19.011Z,1761683479.011 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:31:19.011Z,1761683479.011 [DAT](INFO): publishing transmit ping time 2025-10-28T20:31:19.011Z,1761683479.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-28T20:31:19.261Z,1761683479.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250173 2025-10-28T20:31:19.350Z,1761683479.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917560,-0.388032,-0.086687],[0.392063,0.919272,0.035002],[0.066108,-0.066103,0.995621]] 2025-10-28T20:31:19.365Z,1761683479.365 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-28T20:31:19.515Z,1761683479.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504232 2025-10-28T20:31:19.769Z,1761683479.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757520 2025-10-28T20:31:19.774Z,1761683479.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917764,-0.387704,-0.085995],[0.391593,0.919526,0.033557],[0.066065,-0.064472,0.995730]] 2025-10-28T20:31:20.017Z,1761683480.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006396 2025-10-28T20:31:20.161Z,1761683480.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918533,-0.386137,-0.084825],[0.389866,0.920305,0.032305],[0.065591,-0.062744,0.995872]] 2025-10-28T20:31:20.269Z,1761683480.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258156 2025-10-28T20:31:20.521Z,1761683480.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510084 2025-10-28T20:31:20.563Z,1761683480.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919713,-0.383735,-0.082920],[0.387261,0.921446,0.031084],[0.064479,-0.060700,0.996071]] 2025-10-28T20:31:20.774Z,1761683480.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763002 2025-10-28T20:31:20.966Z,1761683480.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921047,-0.381060,-0.080407],[0.384335,0.922719,0.029591],[0.062917,-0.058158,0.996323]] 2025-10-28T20:31:21.025Z,1761683481.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014307 2025-10-28T20:31:21.277Z,1761683481.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266121 2025-10-28T20:31:21.373Z,1761683481.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922486,-0.378155,-0.077579],[0.381203,0.924048,0.028636],[0.060858,-0.055990,0.996575]] 2025-10-28T20:31:21.529Z,1761683481.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518135 2025-10-28T20:31:21.784Z,1761683481.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772803 2025-10-28T20:31:21.831Z,1761683481.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924007,-0.374992,-0.074785],[0.377882,0.925410,0.028672],[0.058455,-0.054753,0.996787]] 2025-10-28T20:31:22.034Z,1761683482.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022958 2025-10-28T20:31:22.179Z,1761683482.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925457,-0.372032,-0.071565],[0.374770,0.926659,0.029166],[0.055466,-0.053813,0.997009]] 2025-10-28T20:31:22.285Z,1761683482.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274158 2025-10-28T20:31:22.537Z,1761683482.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526197 2025-10-28T20:31:22.587Z,1761683482.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926746,-0.369534,-0.067726],[0.372080,0.927734,0.029438],[0.051953,-0.052480,0.997270]] 2025-10-28T20:31:22.789Z,1761683482.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778213 2025-10-28T20:31:22.989Z,1761683482.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927742,-0.367792,-0.063432],[0.370125,0.928508,0.029670],[0.047984,-0.051004,0.997545]] 2025-10-28T20:31:23.041Z,1761683483.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030575 2025-10-28T20:31:23.293Z,1761683483.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282214 2025-10-28T20:31:23.390Z,1761683483.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928240,-0.367246,-0.059175],[0.369403,0.928766,0.030570],[0.043733,-0.050236,0.997779]] 2025-10-28T20:31:23.545Z,1761683483.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534150 2025-10-28T20:31:23.800Z,1761683483.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788758 2025-10-28T20:31:23.836Z,1761683483.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928111,-0.368219,-0.054989],[0.370241,0.928371,0.032386],[0.039125,-0.050417,0.997962]] 2025-10-28T20:31:24.049Z,1761683484.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038434 2025-10-28T20:31:24.199Z,1761683484.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927361,-0.370661,-0.051117],[0.372586,0.927333,0.035131],[0.034381,-0.051625,0.998075]] 2025-10-28T20:31:24.301Z,1761683484.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290130 2025-10-28T20:31:24.553Z,1761683484.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542172 2025-10-28T20:31:24.607Z,1761683484.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926130,-0.374180,-0.047678],[0.376038,0.925794,0.038741],[0.029644,-0.053808,0.998111]] 2025-10-28T20:31:24.805Z,1761683484.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794151 2025-10-28T20:31:24.940Z,1761683484.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:31:25.007Z,1761683485.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924516,-0.378509,-0.044742],[0.380325,0.923841,0.043242],[0.024967,-0.056994,0.998062]] 2025-10-28T20:31:25.057Z,1761683485.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046082 2025-10-28T20:31:25.309Z,1761683485.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298148 2025-10-28T20:31:25.410Z,1761683485.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922590,-0.383477,-0.042122],[0.385237,0.921584,0.047701],[0.020527,-0.060235,0.997973]] 2025-10-28T20:31:25.561Z,1761683485.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550191 2025-10-28T20:31:25.815Z,1761683485.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804147 2025-10-28T20:31:25.840Z,1761683485.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920382,-0.388994,-0.039762],[0.390672,0.919089,0.051481],[0.016519,-0.062916,0.997882]] 2025-10-28T20:31:25.944Z,1761683485.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:31:26.065Z,1761683486.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054153 2025-10-28T20:31:26.219Z,1761683486.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917991,-0.394845,-0.037294],[0.396386,0.916529,0.053415],[0.013090,-0.063818,0.997876]] 2025-10-28T20:31:26.317Z,1761683486.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306189 2025-10-28T20:31:26.569Z,1761683486.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558128 2025-10-28T20:31:26.629Z,1761683486.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915512,-0.400794,-0.034660],[0.402162,0.913989,0.053753],[0.010135,-0.063150,0.997953]] 2025-10-28T20:31:26.821Z,1761683486.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810431 2025-10-28T20:31:27.028Z,1761683487.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913158,-0.406315,-0.032410],[0.407530,0.911631,0.053365],[0.007863,-0.061939,0.998049]] 2025-10-28T20:31:27.073Z,1761683487.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062522 2025-10-28T20:31:27.325Z,1761683487.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314074 2025-10-28T20:31:27.430Z,1761683487.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911235,-0.410756,-0.030486],[0.411840,0.909740,0.052545],[0.006151,-0.060437,0.998153]] 2025-10-28T20:31:27.577Z,1761683487.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566148 2025-10-28T20:31:27.837Z,1761683487.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826260 2025-10-28T20:31:27.841Z,1761683487.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909800,-0.414083,-0.028252],[0.415022,0.908371,0.051172],[0.004474,-0.058282,0.998290]] 2025-10-28T20:31:28.089Z,1761683488.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078279 2025-10-28T20:31:28.239Z,1761683488.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908885,-0.416230,-0.026081],[0.417036,0.907524,0.049818],[0.002933,-0.056156,0.998418]] 2025-10-28T20:31:28.341Z,1761683488.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330133 2025-10-28T20:31:28.593Z,1761683488.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582303 2025-10-28T20:31:28.649Z,1761683488.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908091,-0.418075,-0.024174],[0.418771,0.906772,0.048944],[0.001458,-0.054569,0.998509]] 2025-10-28T20:31:28.664Z,1761683488.664 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-28T20:31:28.845Z,1761683488.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834089 2025-10-28T20:31:29.046Z,1761683489.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907379,-0.419690,-0.022874],[0.420313,0.906046,0.049172],[0.000088,-0.054232,0.998528]] 2025-10-28T20:31:29.097Z,1761683489.097 [DAT](INFO): Reached modem response timeout 2025-10-28T20:31:29.097Z,1761683489.097 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:29.097Z,1761683489.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-28T20:31:29.349Z,1761683489.349 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:29.450Z,1761683489.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906812,-0.420960,-0.022020],[0.421534,0.905423,0.050176],[-0.001185,-0.054782,0.998498]] 2025-10-28T20:31:29.601Z,1761683489.601 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:29.853Z,1761683489.853 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:29.857Z,1761683489.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906267,-0.422173,-0.021208],[0.422700,0.904861,0.050500],[-0.002130,-0.054731,0.998499]] 2025-10-28T20:31:30.105Z,1761683490.105 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:30.259Z,1761683490.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905820,-0.423185,-0.020133],[0.423652,0.904420,0.050441],[-0.003137,-0.054220,0.998524]] 2025-10-28T20:31:30.357Z,1761683490.357 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:30.609Z,1761683490.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:30.662Z,1761683490.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905711,-0.423456,-0.019282],[0.423875,0.904292,0.050854],[-0.004097,-0.054232,0.998520]] 2025-10-28T20:31:30.861Z,1761683490.861 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:31.067Z,1761683491.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906121,-0.422615,-0.018446],[0.422986,0.904659,0.051717],[-0.005169,-0.054664,0.998491]] 2025-10-28T20:31:31.113Z,1761683491.113 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:31.365Z,1761683491.365 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:31:31.365Z,1761683491.365 [DAT](INFO): response not received 2025-10-28T20:31:31.366Z,1761683491.366 [DAT](INFO): DAT read: user:260> 2025-10-28T20:31:31.366Z,1761683491.366 [DAT](INFO): DAT read: Tx time:20:31:31.2168 2025-10-28T20:31:31.367Z,1761683491.367 [DAT](INFO): Ping request sent. 2025-10-28T20:31:31.367Z,1761683491.367 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:31:31.367Z,1761683491.367 [DAT](INFO): publishing transmit ping time 2025-10-28T20:31:31.368Z,1761683491.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-28T20:31:31.471Z,1761683491.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907173,-0.420402,-0.017273],[0.420709,0.905688,0.052275],[-0.006333,-0.054690,0.998483]] 2025-10-28T20:31:31.617Z,1761683491.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250201 2025-10-28T20:31:31.869Z,1761683491.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502245 2025-10-28T20:31:31.881Z,1761683491.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908392,-0.417835,-0.015420],[0.418046,0.906920,0.052290],[-0.007864,-0.053946,0.998513]] 2025-10-28T20:31:32.121Z,1761683492.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754113 2025-10-28T20:31:32.279Z,1761683492.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909769,-0.414897,-0.013421],[0.415004,0.908307,0.052449],[-0.009570,-0.053286,0.998533]] 2025-10-28T20:31:32.373Z,1761683492.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006261 2025-10-28T20:31:32.625Z,1761683492.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258094 2025-10-28T20:31:32.683Z,1761683492.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911051,-0.412136,-0.011392],[0.412136,0.909594,0.052746],[-0.011377,-0.052749,0.998543]] 2025-10-28T20:31:32.877Z,1761683492.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510375 2025-10-28T20:31:33.087Z,1761683493.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912220,-0.409586,-0.009753],[0.409495,0.910745,0.053457],[-0.013013,-0.052758,0.998523]] 2025-10-28T20:31:33.129Z,1761683493.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762605 2025-10-28T20:31:33.381Z,1761683493.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014049 2025-10-28T20:31:33.495Z,1761683493.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912947,-0.407992,-0.008355],[0.407820,0.911452,0.054200],[-0.014498,-0.052889,0.998495]] 2025-10-28T20:31:33.633Z,1761683493.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266115 2025-10-28T20:31:33.893Z,1761683493.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526283 2025-10-28T20:31:33.897Z,1761683493.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913148,-0.407566,-0.007102],[0.407324,0.911657,0.054493],[-0.015735,-0.052653,0.998489]] 2025-10-28T20:31:34.145Z,1761683494.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778087 2025-10-28T20:31:34.299Z,1761683494.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912712,-0.408556,-0.006204],[0.408263,0.911230,0.054593],[-0.016651,-0.052360,0.998489]] 2025-10-28T20:31:34.397Z,1761683494.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030323 2025-10-28T20:31:34.649Z,1761683494.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282154 2025-10-28T20:31:34.703Z,1761683494.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911575,-0.411090,-0.006015],[0.410779,0.910085,0.054827],[-0.017065,-0.052450,0.998478]] 2025-10-28T20:31:34.901Z,1761683494.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534083 2025-10-28T20:31:35.108Z,1761683495.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909862,-0.414861,-0.006493],[0.414553,0.908314,0.055773],[-0.017241,-0.053437,0.998422]] 2025-10-28T20:31:35.166Z,1761683495.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.799082 2025-10-28T20:31:35.417Z,1761683495.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050179 2025-10-28T20:31:35.510Z,1761683495.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907649,-0.419663,-0.007538],[0.419385,0.906027,0.056846],[-0.017026,-0.054757,0.998355]] 2025-10-28T20:31:35.669Z,1761683495.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302165 2025-10-28T20:31:35.915Z,1761683495.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905131,-0.425040,-0.008843],[0.424812,0.903449,0.057576],[-0.016483,-0.055870,0.998302]] 2025-10-28T20:31:35.921Z,1761683495.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.554283 2025-10-28T20:31:36.173Z,1761683496.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.806153 2025-10-28T20:31:36.319Z,1761683496.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902497,-0.430571,-0.010363],[0.430407,0.900753,0.058251],[-0.015746,-0.057032,0.998248]] 2025-10-28T20:31:36.425Z,1761683496.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.058099 2025-10-28T20:31:36.677Z,1761683496.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310098 2025-10-28T20:31:36.729Z,1761683496.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899823,-0.436087,-0.012112],[0.436011,0.898042,0.058443],[-0.014609,-0.057869,0.998217]] 2025-10-28T20:31:36.929Z,1761683496.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562192 2025-10-28T20:31:37.128Z,1761683497.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897247,-0.441314,-0.013783],[0.441334,0.895485,0.057718],[-0.013130,-0.057871,0.998238]] 2025-10-28T20:31:37.181Z,1761683497.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.814292 2025-10-28T20:31:37.433Z,1761683497.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066128 2025-10-28T20:31:37.531Z,1761683497.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894965,-0.445884,-0.015015],[0.445986,0.893278,0.056132],[-0.011616,-0.056932,0.998310]] 2025-10-28T20:31:37.685Z,1761683497.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318193 2025-10-28T20:31:37.934Z,1761683497.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893265,-0.449237,-0.016256],[0.449419,0.891649,0.054639],[-0.010051,-0.056113,0.998374]] 2025-10-28T20:31:37.937Z,1761683497.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570557 2025-10-28T20:31:38.189Z,1761683498.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.822111 2025-10-28T20:31:38.341Z,1761683498.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892205,-0.451290,-0.017544],[0.451548,0.890625,0.053765],[-0.008639,-0.055891,0.998399]] 2025-10-28T20:31:38.449Z,1761683498.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.082404 2025-10-28T20:31:38.701Z,1761683498.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.334051 2025-10-28T20:31:38.742Z,1761683498.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891821,-0.452006,-0.018607],[0.452327,0.890266,0.053159],[-0.007463,-0.055825,0.998413]] 2025-10-28T20:31:38.801Z,1761683498.801 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-28T20:31:38.953Z,1761683498.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.586377 2025-10-28T20:31:39.147Z,1761683499.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891935,-0.451755,-0.019235],[0.452116,0.890411,0.052531],[-0.006604,-0.055550,0.998434]] 2025-10-28T20:31:39.205Z,1761683499.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.838660 2025-10-28T20:31:39.457Z,1761683499.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.090098 2025-10-28T20:31:39.551Z,1761683499.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892268,-0.451090,-0.019396],[0.451467,0.890794,0.051611],[-0.006004,-0.054807,0.998479]] 2025-10-28T20:31:39.585Z,1761683499.585 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 247.90 m. Transitioning docking module to standby. 2025-10-28T20:31:39.709Z,1761683499.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.342493 2025-10-28T20:31:39.954Z,1761683499.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892720,-0.450200,-0.019252],[0.450579,0.891321,0.050260],[-0.005468,-0.053543,0.998551]] 2025-10-28T20:31:39.961Z,1761683499.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.594115 2025-10-28T20:31:40.010Z,1761683500.010 [DockingStepper](INFO): Changing to mode: 1 2025-10-28T20:31:40.213Z,1761683500.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.846068 2025-10-28T20:31:40.359Z,1761683500.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893151,-0.449364,-0.018792],[0.449724,0.891809,0.049234],[-0.005365,-0.052424,0.998610]] 2025-10-28T20:31:40.466Z,1761683500.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099459 2025-10-28T20:31:40.717Z,1761683500.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.350170 2025-10-28T20:31:40.774Z,1761683500.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892957,-0.449746,-0.018850],[0.450109,0.891611,0.049304],[-0.005368,-0.052511,0.998606]] 2025-10-28T20:31:40.969Z,1761683500.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.602109 2025-10-28T20:31:41.167Z,1761683501.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892400,-0.450850,-0.018860],[0.451213,0.891068,0.049032],[-0.005300,-0.052266,0.998619]] 2025-10-28T20:31:41.221Z,1761683501.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.854373 2025-10-28T20:31:41.473Z,1761683501.473 [DAT](INFO): Reached modem response timeout 2025-10-28T20:31:41.473Z,1761683501.473 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:41.473Z,1761683501.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-28T20:31:41.570Z,1761683501.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891602,-0.452417,-0.019126],[0.452789,0.890241,0.049528],[-0.005381,-0.052820,0.998590]] 2025-10-28T20:31:41.725Z,1761683501.725 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:41.975Z,1761683501.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890502,-0.454541,-0.019961],[0.454949,0.889080,0.050587],[-0.005247,-0.054129,0.998520]] 2025-10-28T20:31:41.977Z,1761683501.977 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:42.229Z,1761683502.229 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:42.378Z,1761683502.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889456,-0.456545,-0.020847],[0.456993,0.887976,0.051525],[-0.005012,-0.055357,0.998454]] 2025-10-28T20:31:42.481Z,1761683502.481 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:42.733Z,1761683502.733 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:42.790Z,1761683502.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888293,-0.458771,-0.021548],[0.459253,0.886800,0.051691],[-0.004606,-0.055813,0.998431]] 2025-10-28T20:31:42.985Z,1761683502.985 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:43.187Z,1761683503.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887414,-0.460436,-0.022231],[0.460956,0.885937,0.051337],[-0.003942,-0.055804,0.998434]] 2025-10-28T20:31:43.237Z,1761683503.237 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:43.489Z,1761683503.489 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:31:43.590Z,1761683503.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886705,-0.461782,-0.022638],[0.462325,0.885283,0.050293],[-0.003184,-0.055061,0.998478]] 2025-10-28T20:31:43.741Z,1761683503.741 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:31:43.741Z,1761683503.741 [DAT](INFO): response not received 2025-10-28T20:31:43.742Z,1761683503.742 [DAT](INFO): DAT read: user:261> 2025-10-28T20:31:43.742Z,1761683503.742 [DAT](INFO): DAT read: Tx time:20:31:43.6668 2025-10-28T20:31:43.743Z,1761683503.743 [DAT](INFO): Ping request sent. 2025-10-28T20:31:43.743Z,1761683503.743 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:31:43.743Z,1761683503.743 [DAT](INFO): publishing transmit ping time 2025-10-28T20:31:43.744Z,1761683503.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-28T20:31:43.993Z,1761683503.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249862 2025-10-28T20:31:44.003Z,1761683504.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886668,-0.461833,-0.023022],[0.462401,0.885296,0.049359],[-0.002414,-0.054410,0.998516]] 2025-10-28T20:31:44.245Z,1761683504.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501964 2025-10-28T20:31:44.399Z,1761683504.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887002,-0.461209,-0.022667],[0.461760,0.885683,0.048409],[-0.002251,-0.053406,0.998570]] 2025-10-28T20:31:44.498Z,1761683504.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228 2025-10-28T20:31:44.749Z,1761683504.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005946 2025-10-28T20:31:44.805Z,1761683504.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887552,-0.460180,-0.022046],[0.460702,0.886288,0.047404],[-0.002275,-0.052231,0.998632]] 2025-10-28T20:31:45.001Z,1761683505.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258225 2025-10-28T20:31:45.208Z,1761683505.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888151,-0.459044,-0.021588],[0.459544,0.886886,0.047473],[-0.002647,-0.052084,0.998639]] 2025-10-28T20:31:45.270Z,1761683505.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.525984 2025-10-28T20:31:45.517Z,1761683505.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773960 2025-10-28T20:31:45.610Z,1761683505.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888450,-0.458488,-0.021118],[0.458963,0.887168,0.047814],[-0.003187,-0.052173,0.998633]] 2025-10-28T20:31:45.772Z,1761683505.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028385 2025-10-28T20:31:46.014Z,1761683506.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888744,-0.457948,-0.020433],[0.458388,0.887460,0.047904],[-0.003804,-0.051941,0.998643]] 2025-10-28T20:31:46.021Z,1761683506.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277969 2025-10-28T20:31:46.064Z,1761683506.064 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-28T20:31:46.273Z,1761683506.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529931 2025-10-28T20:31:46.418Z,1761683506.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889257,-0.456984,-0.019694],[0.457387,0.887973,0.047973],[-0.004435,-0.051669,0.998654]] 2025-10-28T20:31:46.440Z,1761683506.440 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-28T20:31:46.440Z,1761683506.440 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:LeaveDock] Stopped 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T20:31:46.441Z,1761683506.441 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-28T20:31:46.442Z,1761683506.442 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-28T20:31:46.442Z,1761683506.442 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-28T20:31:46.442Z,1761683506.442 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T20:31:46.442Z,1761683506.442 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T20:31:46.442Z,1761683506.442 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T20:31:46.443Z,1761683506.443 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T20:31:46.443Z,1761683506.443 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T20:31:46.443Z,1761683506.443 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T20:31:46.443Z,1761683506.443 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T20:31:46.525Z,1761683506.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782118 2025-10-28T20:31:46.777Z,1761683506.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034320 2025-10-28T20:31:46.822Z,1761683506.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889073,-0.457388,-0.018589],[0.457730,0.887761,0.048616],[-0.005734,-0.051732,0.998645]] 2025-10-28T20:31:47.029Z,1761683507.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286116 2025-10-28T20:31:47.227Z,1761683507.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887909,-0.459657,-0.018243],[0.459970,0.886545,0.049653],[-0.006650,-0.052479,0.998600]] 2025-10-28T20:31:47.238Z,1761683507.238 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (2 active estimators). 2025-10-28T20:31:47.281Z,1761683507.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538084 2025-10-28T20:31:47.428Z,1761683507.428 [Radio_Surface](INFO): Powering up 2025-10-28T20:31:47.533Z,1761683507.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789989 2025-10-28T20:31:47.632Z,1761683507.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885966,-0.463387,-0.018322],[0.463689,0.884524,0.051082],[-0.007465,-0.053752,0.998526]] 2025-10-28T20:31:47.788Z,1761683507.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044436 2025-10-28T20:31:48.037Z,1761683508.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294037 2025-10-28T20:31:48.289Z,1761683508.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546021 2025-10-28T20:31:48.515Z,1761683508.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877653,-0.478847,-0.020764],[0.479233,0.876002,0.054363],[-0.007842,-0.057663,0.998305]] 2025-10-28T20:31:48.542Z,1761683508.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798862 2025-10-28T20:31:48.793Z,1761683508.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049997 2025-10-28T20:31:48.911Z,1761683508.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874666,-0.484248,-0.021507],[0.484665,0.872998,0.054535],[-0.007633,-0.058123,0.998280]] 2025-10-28T20:31:49.045Z,1761683509.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302111 2025-10-28T20:31:49.297Z,1761683509.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553938 2025-10-28T20:31:49.315Z,1761683509.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872104,-0.488826,-0.021984],[0.489262,0.870428,0.054562],[-0.007536,-0.058339,0.998268]] 2025-10-28T20:31:49.549Z,1761683509.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805993 2025-10-28T20:31:49.718Z,1761683509.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870435,-0.491800,-0.021811],[0.492223,0.868782,0.054167],[-0.007691,-0.057885,0.998294]] 2025-10-28T20:31:49.806Z,1761683509.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062109 2025-10-28T20:31:50.053Z,1761683510.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309989 2025-10-28T20:31:50.122Z,1761683510.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870010,-0.492563,-0.021550],[0.492969,0.868356,0.054221],[-0.007994,-0.057797,0.998296]] 2025-10-28T20:31:50.305Z,1761683510.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561975 2025-10-28T20:31:50.527Z,1761683510.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870415,-0.491893,-0.020470],[0.492234,0.868742,0.054703],[-0.009125,-0.057691,0.998293]] 2025-10-28T20:31:50.557Z,1761683510.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814151 2025-10-28T20:31:50.809Z,1761683510.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.065952 2025-10-28T20:31:50.931Z,1761683510.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871884,-0.489375,-0.018169],[0.489582,0.870201,0.055312],[-0.011257,-0.057121,0.998304]] 2025-10-28T20:31:51.061Z,1761683511.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317946 2025-10-28T20:31:51.313Z,1761683511.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570054 2025-10-28T20:31:51.341Z,1761683511.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873819,-0.486012,-0.015254],[0.486027,0.872034,0.057747],[-0.014764,-0.057874,0.998215]] 2025-10-28T20:31:51.565Z,1761683511.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821906 2025-10-28T20:31:51.749Z,1761683511.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876205,-0.481685,-0.015660],[0.481546,0.873714,0.068827],[-0.019470,-0.067848,0.997506]] 2025-10-28T20:31:51.821Z,1761683511.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076302 2025-10-28T20:31:52.069Z,1761683512.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326052 2025-10-28T20:31:52.146Z,1761683512.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879130,-0.476269,-0.017254],[0.475954,0.875538,0.083073],[-0.024458,-0.081244,0.996394]] 2025-10-28T20:31:52.322Z,1761683512.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578889 2025-10-28T20:31:52.550Z,1761683512.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882404,-0.470227,-0.015801],[0.469518,0.877918,0.093876],[-0.030271,-0.090256,0.995458]] 2025-10-28T20:31:52.573Z,1761683512.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830137 2025-10-28T20:31:52.680Z,1761683512.680 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T20:31:52.681Z,1761683512.681 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T20:31:52.826Z,1761683512.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082646 2025-10-28T20:31:52.955Z,1761683512.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885835,-0.463889,-0.010205],[0.462522,0.881043,0.099179],[-0.037017,-0.092576,0.995017]] 2025-10-28T20:31:53.077Z,1761683513.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333966 2025-10-28T20:31:53.329Z,1761683513.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585980 2025-10-28T20:31:53.365Z,1761683513.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888893,-0.458110,-0.002109],[0.455906,0.884146,0.102158],[-0.044934,-0.091769,0.994766]] 2025-10-28T20:31:53.581Z,1761683513.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838117 2025-10-28T20:31:53.783Z,1761683513.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890923,-0.454111,0.006278],[0.450968,0.886222,0.106014],[-0.053706,-0.091619,0.994345]] 2025-10-28T20:31:53.833Z,1761683513.833 [DAT](INFO): Reached modem response timeout 2025-10-28T20:31:54.167Z,1761683514.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891889,-0.452036,0.014009],[0.447829,0.887063,0.112105],[-0.063103,-0.093711,0.993598]] 2025-10-28T20:31:54.570Z,1761683514.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892343,-0.450867,0.021060],[0.445403,0.887165,0.120642],[-0.073077,-0.098274,0.992473]] 2025-10-28T20:31:54.976Z,1761683514.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892401,-0.450358,0.028262],[0.443381,0.886770,0.130584],[-0.083871,-0.104002,0.991034]] 2025-10-28T20:31:55.378Z,1761683515.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892000,-0.450582,0.036209],[0.441840,0.885997,0.140665],[-0.095462,-0.109475,0.989395]] 2025-10-28T20:31:55.821Z,1761683515.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891669,-0.450439,0.045060],[0.439723,0.885484,0.150206],[-0.107559,-0.114120,0.987627]] 2025-10-28T20:31:56.082Z,1761683516.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:31:56.187Z,1761683516.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891098,-0.450521,0.054543],[0.437579,0.884854,0.159870],[-0.120287,-0.118593,0.985630]] 2025-10-28T20:31:56.353Z,1761683516.353 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:31:56.353Z,1761683516.353 [DAT](INFO): response not received 2025-10-28T20:31:56.353Z,1761683516.353 [DAT](ERROR): No response from remote modem. 2025-10-28T20:31:56.591Z,1761683516.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890497,-0.450481,0.063893],[0.435007,0.884110,0.170641],[-0.133359,-0.124162,0.983259]] 2025-10-28T20:31:56.994Z,1761683516.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889891,-0.450165,0.073797],[0.431767,0.883390,0.182205],[-0.147214,-0.130279,0.980487]] 2025-10-28T20:31:57.084Z,1761683517.084 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T20:31:57.085Z,1761683517.085 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:31:57.398Z,1761683517.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889366,-0.449520,0.083430],[0.427719,0.882518,0.195495],[-0.161507,-0.138182,0.977150]] 2025-10-28T20:31:57.833Z,1761683517.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888933,-0.448594,0.092526],[0.422850,0.881371,0.210671],[-0.176056,-0.148148,0.973168]] 2025-10-28T20:31:58.612Z,1761683518.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889111,-0.443514,0.113032],[0.408489,0.880343,0.241105],[-0.206440,-0.168197,0.963894]] 2025-10-28T20:31:59.056Z,1761683519.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889838,-0.439125,0.123924],[0.398635,0.880340,0.257084],[-0.221987,-0.179362,0.958410]] 2025-10-28T20:31:59.459Z,1761683519.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891034,-0.432997,0.136278],[0.386620,0.881210,0.272017],[-0.237872,-0.189688,0.952594]] 2025-10-28T20:32:00.264Z,1761683520.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894390,-0.415749,0.164985],[0.356342,0.885232,0.298972],[-0.270347,-0.208606,0.939891]] 2025-10-28T20:32:00.667Z,1761683520.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896275,-0.404529,0.181788],[0.338236,0.888610,0.309788],[-0.286857,-0.216168,0.933265]] 2025-10-28T20:32:01.073Z,1761683521.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897738,-0.392569,0.199889],[0.319193,0.892380,0.319020],[-0.303614,-0.222593,0.926429]] 2025-10-28T20:32:01.474Z,1761683521.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898382,-0.380882,0.218720],[0.300131,0.895941,0.327432],[-0.320673,-0.228515,0.919212]] 2025-10-28T20:32:01.879Z,1761683521.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898416,-0.369115,0.237913],[0.280658,0.899297,0.335404],[-0.337757,-0.234560,0.911538]] 2025-10-28T20:32:02.282Z,1761683522.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897411,-0.358050,0.257784],[0.261882,0.902517,0.341879],[-0.355064,-0.239297,0.903696]] 2025-10-28T20:32:02.688Z,1761683522.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895727,-0.346970,0.278002],[0.244042,0.906358,0.344905],[-0.371641,-0.241096,0.896524]] 2025-10-28T20:32:03.090Z,1761683523.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893459,-0.337140,0.296762],[0.227682,0.909511,0.347780],[-0.387159,-0.243160,0.889371]] 2025-10-28T20:32:03.495Z,1761683523.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890724,-0.327426,0.315283],[0.211674,0.912616,0.349751],[-0.402250,-0.244794,0.882196]] 2025-10-28T20:32:03.899Z,1761683523.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887443,-0.318114,0.333540],[0.196464,0.915684,0.350607],[-0.416950,-0.245615,0.875115]] 2025-10-28T20:32:04.707Z,1761683524.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879789,-0.299189,0.369401],[0.165529,0.921273,0.351933],[-0.445614,-0.248480,0.860050]] 2025-10-28T20:32:05.110Z,1761683525.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874989,-0.290117,0.387591],[0.150565,0.923935,0.351675],[-0.460135,-0.249354,0.852114]] 2025-10-28T20:32:05.524Z,1761683525.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869769,-0.282075,0.404891],[0.136704,0.926135,0.351548],[-0.474146,-0.250415,0.844084]] 2025-10-28T20:32:06.332Z,1761683526.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858287,-0.270419,0.436138],[0.114056,0.929156,0.351652],[-0.500335,-0.252074,0.828326]] 2025-10-28T20:32:06.735Z,1761683526.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852567,-0.266686,0.449453],[0.105847,0.930293,0.351215],[-0.511787,-0.251861,0.821365]] 2025-10-28T20:32:07.140Z,1761683527.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846906,-0.263911,0.461628],[0.098932,0.931189,0.350856],[-0.522458,-0.251473,0.814739]] 2025-10-28T20:32:07.545Z,1761683527.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841362,-0.261297,0.473111],[0.092624,0.932125,0.350090],[-0.532476,-0.250731,0.808457]] 2025-10-28T20:32:07.948Z,1761683527.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835938,-0.259162,0.483779],[0.086853,0.932845,0.349652],[-0.541907,-0.250270,0.802310]] 2025-10-28T20:32:08.350Z,1761683528.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830511,-0.257231,0.494048],[0.081227,0.933427,0.349452],[-0.551048,-0.250094,0.796115]] 2025-10-28T20:32:08.755Z,1761683528.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825150,-0.255091,0.504039],[0.074809,0.933726,0.350085],[-0.559938,-0.251166,0.789547]] 2025-10-28T20:32:09.158Z,1761683529.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820334,-0.252408,0.513169],[0.067462,0.933775,0.351445],[-0.567892,-0.253682,0.783035]] 2025-10-28T20:32:09.564Z,1761683529.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815799,-0.249830,0.521592],[0.060061,0.933604,0.353235],[-0.575209,-0.256842,0.776638]] 2025-10-28T20:32:10.001Z,1761683530.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811908,-0.246405,0.529235],[0.052558,0.933729,0.354103],[-0.581415,-0.259683,0.771052]] 2025-10-28T20:32:10.370Z,1761683530.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808195,-0.242287,0.536767],[0.044667,0.934043,0.354357],[-0.587219,-0.262413,0.765711]] 2025-10-28T20:32:10.775Z,1761683530.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804109,-0.238891,0.544372],[0.036800,0.933953,0.355496],[-0.593342,-0.265824,0.759791]] 2025-10-28T20:32:11.181Z,1761683531.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800145,-0.235131,0.551798],[0.028511,0.933830,0.356580],[-0.599128,-0.269583,0.753903]] 2025-10-28T20:32:11.583Z,1761683531.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796077,-0.231241,0.559275],[0.019395,0.933397,0.358320],[-0.604885,-0.274403,0.747541]] 2025-10-28T20:32:11.987Z,1761683531.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792553,-0.226172,0.566310],[0.008880,0.932858,0.360136],[-0.609739,-0.280398,0.741347]] 2025-10-28T20:32:12.390Z,1761683532.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789603,-0.219139,0.573153],[-0.003159,0.932592,0.360918],[-0.613609,-0.286793,0.735686]] 2025-10-28T20:32:12.795Z,1761683532.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787468,-0.209925,0.579505],[-0.016825,0.932540,0.360674],[-0.616126,-0.293769,0.730814]] 2025-10-28T20:32:13.200Z,1761683533.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786522,-0.198760,0.584703],[-0.032692,0.932064,0.360816],[-0.616696,-0.302905,0.726591]] 2025-10-28T20:32:13.602Z,1761683533.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785880,-0.186202,0.589679],[-0.050261,0.931200,0.361028],[-0.616333,-0.313362,0.722452]] 2025-10-28T20:32:14.006Z,1761683534.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785524,-0.171684,0.594539],[-0.068893,0.930511,0.359727],[-0.614984,-0.323534,0.719111]] 2025-10-28T20:32:14.817Z,1761683534.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783607,-0.140409,0.605182],[-0.106328,0.929441,0.353318],[-0.612090,-0.341210,0.713387]] 2025-10-28T20:32:15.218Z,1761683535.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781872,-0.122418,0.611302],[-0.124049,0.930378,0.344977],[-0.610974,-0.345559,0.712250]] 2025-10-28T20:32:15.622Z,1761683535.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779792,-0.104982,0.617173],[-0.139206,0.932082,0.334434],[-0.610365,-0.346703,0.712216]] 2025-10-28T20:32:16.027Z,1761683536.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777893,-0.091086,0.621760],[-0.149728,0.934076,0.324166],[-0.610298,-0.345261,0.712973]] 2025-10-28T20:32:16.430Z,1761683536.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776248,-0.079321,0.625417],[-0.157235,0.936343,0.313910],[-0.610505,-0.342010,0.714362]] 2025-10-28T20:32:16.834Z,1761683536.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774756,-0.070364,0.628332],[-0.162452,0.938270,0.305382],[-0.611034,-0.338670,0.715500]] 2025-10-28T20:32:17.644Z,1761683537.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772189,-0.056399,0.632885],[-0.171233,0.940731,0.292755],[-0.611885,-0.334433,0.716764]] 2025-10-28T20:32:18.048Z,1761683538.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771284,-0.050333,0.634499],[-0.175139,0.941604,0.287590],[-0.611922,-0.332939,0.717428]] 2025-10-28T20:32:18.450Z,1761683538.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770701,-0.045353,0.635580],[-0.179035,0.941868,0.284306],[-0.611527,-0.332907,0.717780]] 2025-10-28T20:32:18.854Z,1761683538.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770471,-0.040977,0.636156],[-0.183135,0.941637,0.282456],[-0.610602,-0.334127,0.718000]] 2025-10-28T20:32:19.259Z,1761683539.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770482,-0.037247,0.636372],[-0.187749,0.940751,0.282377],[-0.609186,-0.337045,0.717839]] 2025-10-28T20:32:19.663Z,1761683539.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770441,-0.033158,0.636648],[-0.193241,0.939517,0.282783],[-0.607518,-0.340894,0.717435]] 2025-10-28T20:32:20.066Z,1761683540.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769906,-0.026990,0.637587],[-0.200765,0.938131,0.282142],[-0.605755,-0.345228,0.716853]] 2025-10-28T20:32:20.471Z,1761683540.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768465,-0.018073,0.639636],[-0.210297,0.936944,0.279125],[-0.604348,-0.349012,0.716208]] 2025-10-28T20:32:20.877Z,1761683540.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765576,-0.005888,0.643319],[-0.222049,0.936091,0.272814],[-0.603812,-0.351708,0.715341]] 2025-10-28T20:32:21.280Z,1761683541.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761662,0.008316,0.647921],[-0.234134,0.935893,0.263223],[-0.604195,-0.352188,0.714781]] 2025-10-28T20:32:21.688Z,1761683541.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757879,0.022436,0.652009],[-0.243934,0.936664,0.251312],[-0.605074,-0.349511,0.715351]] 2025-10-28T20:32:22.092Z,1761683542.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755114,0.034555,0.654683],[-0.248759,0.939032,0.237355],[-0.606566,-0.342088,0.717672]] 2025-10-28T20:32:22.495Z,1761683542.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753855,0.044057,0.655562],[-0.251007,0.941382,0.225377],[-0.607205,-0.334452,0.720724]] 2025-10-28T20:32:22.901Z,1761683542.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754896,0.052131,0.653769],[-0.252916,0.942872,0.216855],[-0.605116,-0.329052,0.724955]] 2025-10-28T20:32:23.303Z,1761683543.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757252,0.058104,0.650533],[-0.255919,0.942783,0.213694],[-0.600895,-0.328304,0.728795]] 2025-10-28T20:32:23.709Z,1761683543.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758804,0.064896,0.648078],[-0.263437,0.940581,0.214260],[-0.595665,-0.333310,0.730813]] 2025-10-28T20:32:24.522Z,1761683544.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752870,0.105922,0.649590],[-0.305285,0.930571,0.202085],[-0.583084,-0.350454,0.732935]] 2025-10-28T20:32:24.923Z,1761683544.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749927,0.124892,0.649625],[-0.317163,0.929671,0.187401],[-0.580532,-0.346574,0.736796]] 2025-10-28T20:32:25.327Z,1761683545.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747239,0.144139,0.648736],[-0.326863,0.929668,0.169935],[-0.578614,-0.339030,0.741798]] 2025-10-28T20:32:25.730Z,1761683545.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746062,0.162011,0.645867],[-0.333809,0.930265,0.152243],[-0.576163,-0.329179,0.748116]] 2025-10-28T20:32:26.134Z,1761683546.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749101,0.173961,0.639207],[-0.336241,0.931219,0.140616],[-0.570780,-0.320263,0.756070]] 2025-10-28T20:32:26.534Z,1761683546.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756196,0.179683,0.629192],[-0.337282,0.931012,0.139487],[-0.560722,-0.317695,0.764632]] 2025-10-28T20:32:26.939Z,1761683546.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763767,0.182749,0.619083],[-0.342079,0.927926,0.148107],[-0.547396,-0.324894,0.771233]] 2025-10-28T20:32:27.204Z,1761683547.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:32:27.343Z,1761683547.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768192,0.182311,0.613713],[-0.350927,0.921668,0.165465],[-0.535474,-0.342478,0.771995]] 2025-10-28T20:32:27.753Z,1761683547.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767444,0.181752,0.614814],[-0.364075,0.912895,0.184587],[-0.527711,-0.365499,0.766767]] 2025-10-28T20:32:28.152Z,1761683548.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762340,0.188160,0.619220],[-0.381804,0.903316,0.195563],[-0.522554,-0.385506,0.760475]] 2025-10-28T20:32:28.221Z,1761683548.221 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:32:28.554Z,1761683548.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756671,0.198773,0.622847],[-0.396226,0.897200,0.195030],[-0.520051,-0.394362,0.757645]] 2025-10-28T20:32:28.958Z,1761683548.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750483,0.214880,0.624981],[-0.408332,0.894335,0.182840],[-0.519654,-0.392418,0.758925]] 2025-10-28T20:32:29.364Z,1761683549.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745489,0.231292,0.625100],[-0.416576,0.893800,0.166092],[-0.520298,-0.384222,0.762669]] 2025-10-28T20:32:29.794Z,1761683549.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744034,0.240677,0.623288],[-0.418865,0.894811,0.154486],[-0.520544,-0.376016,0.766581]] 2025-10-28T20:32:30.171Z,1761683550.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747939,0.246780,0.616187],[-0.416973,0.896970,0.146897],[-0.516450,-0.366803,0.773779]] 2025-10-28T20:32:30.575Z,1761683550.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756713,0.251972,0.603237],[-0.415027,0.898103,0.145481],[-0.505112,-0.360447,0.784181]] 2025-10-28T20:32:30.978Z,1761683550.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764266,0.259491,0.590391],[-0.418499,0.896095,0.147895],[-0.490669,-0.360109,0.793452]] 2025-10-28T20:32:31.382Z,1761683551.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768731,0.260010,0.584335],[-0.422678,0.892213,0.159055],[-0.479995,-0.369256,0.795773]] 2025-10-28T20:32:31.830Z,1761683551.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776530,0.259764,0.574042],[-0.429123,0.885139,0.179951],[-0.461362,-0.386072,0.798808]] 2025-10-28T20:32:32.192Z,1761683552.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788393,0.276313,0.549625],[-0.451694,0.866552,0.212276],[-0.417624,-0.415619,0.807992]] 2025-10-28T20:32:32.595Z,1761683552.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781025,0.274686,0.560846],[-0.472092,0.847596,0.242300],[-0.408814,-0.454014,0.791671]] 2025-10-28T20:32:32.998Z,1761683552.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765369,0.257732,0.589732],[-0.473743,0.845847,0.245174],[-0.435634,-0.467030,0.769484]] 2025-10-28T20:32:33.402Z,1761683553.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776186,0.281685,0.564083],[-0.468469,0.856429,0.216947],[-0.421986,-0.432646,0.796709]] 2025-10-28T20:32:33.418Z,1761683553.418 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-28T20:32:33.418Z,1761683553.418 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T20:32:33.418Z,1761683553.418 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T20:32:33.833Z,1761683553.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773372,0.318124,0.548354],[-0.486900,0.852000,0.192418],[-0.405985,-0.415804,0.813808]] 2025-10-28T20:32:34.627Z,1761683554.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841517,0.396360,0.367081],[-0.511467,0.803297,0.305147],[-0.173927,-0.444536,0.878713]] 2025-10-28T20:32:35.030Z,1761683555.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847904,0.448072,0.283355],[-0.517997,0.813990,0.262869],[-0.112864,-0.369665,0.922285]] 2025-10-28T20:32:35.435Z,1761683555.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835322,0.506539,0.213672],[-0.544102,0.817350,0.189453],[-0.078679,-0.274514,0.958359]] 2025-10-28T20:32:35.842Z,1761683555.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838438,0.532078,0.117960],[-0.544704,0.825217,0.149380],[-0.017861,-0.189499,0.981718]] 2025-10-28T20:32:36.242Z,1761683556.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834139,0.549098,0.051998],[-0.551540,0.829719,0.085849],[0.003995,-0.100289,0.994950]] 2025-10-28T20:32:36.647Z,1761683556.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830136,0.555398,0.049069],[-0.555567,0.831394,-0.011380],[-0.047116,-0.017815,0.998731]] 2025-10-28T20:32:37.050Z,1761683557.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841995,0.537248,-0.049078],[-0.538612,0.842320,-0.019850],[0.030675,0.043147,0.998598]] 2025-10-28T20:32:37.456Z,1761683557.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838165,0.535036,-0.105908],[-0.539800,0.841540,-0.020660],[0.078072,0.074486,0.994161]] 2025-10-28T20:32:37.859Z,1761683557.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826676,0.560316,-0.051500],[-0.561225,0.827654,-0.003945],[0.040413,0.032165,0.998665]] 2025-10-28T20:32:38.280Z,1761683558.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812537,0.582904,0.002371],[-0.580903,0.809396,0.086197],[0.048326,-0.071416,0.996275]] 2025-10-28T20:32:38.666Z,1761683558.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814316,0.580272,0.013153],[-0.575002,0.803416,0.154583],[0.079133,-0.133442,0.987892]] 2025-10-28T20:32:39.071Z,1761683559.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820829,0.568585,0.054312],[-0.570019,0.809418,0.141140],[0.036289,-0.146811,0.988499]] 2025-10-28T20:32:39.476Z,1761683559.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822666,0.558101,0.108372],[-0.568287,0.812758,0.128350],[-0.016448,-0.167175,0.985790]] 2025-10-28T20:32:39.878Z,1761683559.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824989,0.558543,0.086159],[-0.564636,0.808111,0.167756],[0.024073,-0.187045,0.982056]] 2025-10-28T20:32:40.283Z,1761683560.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822203,0.564201,0.075222],[-0.568130,0.805391,0.169038],[0.034789,-0.181719,0.982735]] 2025-10-28T20:32:40.686Z,1761683560.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819518,0.569296,0.065522],[-0.572934,0.811633,0.114012],[0.011727,-0.130975,0.991316]] 2025-10-28T20:32:41.093Z,1761683561.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817228,0.575095,0.037465],[-0.576273,0.816223,0.041107],[-0.006939,-0.055184,0.998452]] 2025-10-28T20:32:41.495Z,1761683561.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827736,0.561049,0.008780],[-0.561113,0.827563,0.017099],[0.002327,-0.019080,0.999815]] 2025-10-28T20:32:41.899Z,1761683561.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821460,0.570070,0.014947],[-0.570195,0.821489,0.005774],[-0.008987,-0.013265,0.999872]] 2025-10-28T20:32:42.303Z,1761683562.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810689,0.581665,0.066702],[-0.584187,0.811195,0.026233],[-0.038849,-0.060234,0.997428]] 2025-10-28T20:32:42.708Z,1761683562.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816438,0.571122,0.085140],[-0.577004,0.812596,0.082178],[-0.022250,-0.116220,0.992974]] 2025-10-28T20:32:43.111Z,1761683563.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819916,0.563998,0.098203],[-0.571316,0.817066,0.077470],[-0.036546,-0.119624,0.992146]] 2025-10-28T20:32:43.515Z,1761683563.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824458,0.562627,0.060994],[-0.565182,0.824097,0.037863],[-0.028962,-0.065689,0.997420]] 2025-10-28T20:32:43.919Z,1761683563.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800332,0.599393,0.014001],[-0.599519,0.800325,0.007491],[-0.006716,-0.014389,0.999874]] 2025-10-28T20:32:44.342Z,1761683564.342 [NAL9602](INFO): SBD MO Status=0, MOMSN=3346, MT Status=0, MTMSN=0 2025-10-28T20:32:44.343Z,1761683564.343 [NAL9602](INFO): No messages in MT queue 2025-10-28T20:32:44.726Z,1761683564.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816581,0.576664,0.025567],[-0.576468,0.816978,-0.015226],[-0.029668,-0.002306,0.999557]] 2025-10-28T20:32:45.131Z,1761683565.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809952,0.586048,-0.022901],[-0.586413,0.809876,-0.014866],[0.009835,0.025470,0.999627]] 2025-10-28T20:32:45.536Z,1761683565.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788896,0.612748,-0.046726],[-0.610761,0.790197,0.050606],[0.067931,-0.011384,0.997625]] 2025-10-28T20:32:45.541Z,1761683565.541 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203244.00,A,3645.40488,N,12151.76342,W,0.758,296.36,281025,,,A*77 2025-10-28T20:32:45.543Z,1761683565.543 [NAL9602](INFO): GPS fix at 20251028T203244: (36.756748, -121.862724) 2025-10-28T20:32:45.555Z,1761683565.555 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T20:32:45.555Z,1761683565.555 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T20:32:45.938Z,1761683565.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780800,0.623239,0.043870],[-0.624545,0.776646,0.082245],[0.017186,-0.091615,0.995646]] 2025-10-28T20:32:46.343Z,1761683566.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778199,0.624741,0.064067],[-0.627532,0.769525,0.118472],[0.024713,-0.132399,0.990888]] 2025-10-28T20:32:46.746Z,1761683566.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782873,0.619498,0.057717],[-0.621399,0.773869,0.122437],[0.031184,-0.131718,0.990797]] 2025-10-28T20:32:47.152Z,1761683567.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784584,0.612143,0.098535],[-0.619655,0.779626,0.090611],[-0.021354,-0.132149,0.991000]] 2025-10-28T20:32:47.558Z,1761683567.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775567,0.626959,0.073605],[-0.631220,0.768823,0.102334],[0.007570,-0.125828,0.992023]] 2025-10-28T20:32:47.958Z,1761683567.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770048,0.636195,0.047776],[-0.636862,0.762087,0.116751],[0.037867,-0.120330,0.992011]] 2025-10-28T20:32:48.362Z,1761683568.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755442,0.643558,0.123048],[-0.653040,0.754829,0.061414],[-0.053357,-0.126750,0.990499]] 2025-10-28T20:32:48.767Z,1761683568.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754208,0.648663,0.102009],[-0.654608,0.754950,0.039238],[-0.051560,-0.096369,0.994009]] 2025-10-28T20:32:49.219Z,1761683569.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755205,0.655133,0.021603],[-0.655060,0.753110,0.061003],[0.023696,-0.060221,0.997904]] 2025-10-28T20:32:49.859Z,1761683569.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766320,0.642339,-0.012412],[-0.642416,0.766349,-0.003260],[0.007418,0.010472,0.999918]] 2025-10-28T20:32:52.030Z,1761683572.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692888,0.720965,0.010777],[-0.718738,0.689399,0.090248],[0.057636,-0.070277,0.995861]] 2025-10-28T20:32:52.426Z,1761683572.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702600,0.710997,0.028928],[-0.711581,0.702160,0.024976],[-0.002554,-0.038133,0.999269]] 2025-10-28T20:32:52.831Z,1761683572.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722448,0.691425,0.000627],[-0.691374,0.722383,0.012879],[0.008452,-0.009738,0.999917]] 2025-10-28T20:32:53.236Z,1761683573.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688084,0.725631,0.000465],[-0.724721,0.687189,0.050507],[0.036330,-0.035090,0.998724]] 2025-10-28T20:32:53.638Z,1761683573.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651915,0.754915,0.071482],[-0.758285,0.649420,0.057076],[-0.003334,-0.091412,0.995808]] 2025-10-28T20:32:54.043Z,1761683574.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669727,0.735797,0.100337],[-0.741824,0.669089,0.044906],[-0.034093,-0.104507,0.993940]] 2025-10-28T20:32:54.853Z,1761683574.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648300,0.758716,0.063692],[-0.757691,0.651123,-0.044071],[-0.074909,-0.019687,0.996996]] 2025-10-28T20:32:55.255Z,1761683575.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635215,0.764785,0.107731],[-0.766762,0.641193,-0.030788],[-0.092622,-0.063047,0.993703]] 2025-10-28T20:32:55.658Z,1761683575.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639376,0.762461,0.099256],[-0.768110,0.639208,0.037687],[-0.034710,-0.100336,0.994348]] 2025-10-28T20:32:56.062Z,1761683576.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649288,0.758079,0.061165],[-0.760518,0.646524,0.060153],[0.006056,-0.085574,0.996313]] 2025-10-28T20:32:56.469Z,1761683576.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662674,0.744885,0.077518],[-0.747969,0.663469,0.018720],[-0.037487,-0.070387,0.996815]] 2025-10-28T20:32:56.870Z,1761683576.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646842,0.753714,0.116236],[-0.760991,0.647886,0.033723],[-0.049890,-0.110268,0.992649]] 2025-10-28T20:32:57.274Z,1761683577.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639785,0.760771,0.109104],[-0.767840,0.626598,0.133407],[0.033128,-0.169126,0.985038]] 2025-10-28T20:32:57.679Z,1761683577.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639374,0.764967,0.077630],[-0.763214,0.619155,0.184803],[0.093304,-0.177406,0.979705]] 2025-10-28T20:32:58.084Z,1761683578.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643893,0.755320,0.122036],[-0.764813,0.630912,0.130430],[0.021522,-0.177318,0.983918]] 2025-10-28T20:32:58.352Z,1761683578.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:32:58.487Z,1761683578.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644475,0.757564,0.103676],[-0.764264,0.634056,0.117784],[0.023492,-0.155145,0.987612]] 2025-10-28T20:32:58.892Z,1761683578.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648360,0.761294,0.007779],[-0.754614,0.641249,0.139135],[0.100934,-0.096080,0.990243]] 2025-10-28T20:32:59.294Z,1761683579.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656428,0.753734,-0.031420],[-0.746741,0.655126,0.114839],[0.107142,-0.051921,0.992887]] 2025-10-28T20:32:59.356Z,1761683579.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:32:59.700Z,1761683579.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674937,0.737802,-0.010410],[-0.734657,0.673242,0.083809],[0.068843,-0.048918,0.996427]] 2025-10-28T20:33:00.103Z,1761683580.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668587,0.743633,-0.000699],[-0.738585,0.664158,0.115698],[0.086501,-0.076837,0.993284]] 2025-10-28T20:33:00.507Z,1761683580.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656376,0.754210,0.018391],[-0.749204,0.648766,0.133398],[0.088679,-0.101338,0.990892]] 2025-10-28T20:33:00.914Z,1761683580.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655802,0.753803,0.041291],[-0.750737,0.645422,0.140802],[0.079487,-0.123337,0.989176]] 2025-10-28T20:33:00.919Z,1761683580.919 [NAL9602](INFO): SBD MO Status=1, MOMSN=3347, MT Status=0, MTMSN=0 2025-10-28T20:33:00.976Z,1761683580.976 [NAL9602](INFO): Sent 73 bytes from file Logs/20251028T162422/Courier0042.lzma 2025-10-28T20:33:00.976Z,1761683580.976 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:33:01.315Z,1761683581.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648563,0.760092,0.040320],[-0.759856,0.643442,0.092744],[0.044550,-0.090788,0.994873]] 2025-10-28T20:33:02.094Z,1761683582.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664938,0.746619,-0.020462],[-0.746899,0.664710,-0.017411],[0.000602,0.026860,0.999639]] 2025-10-28T20:33:02.495Z,1761683582.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643288,0.763061,-0.062591],[-0.762609,0.645858,0.035979],[0.067879,0.024588,0.997391]] 2025-10-28T20:33:05.062Z,1761683585.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600030,0.799975,-0.002075],[-0.798009,0.598734,0.068549],[0.056080,-0.039476,0.997646]] 2025-10-28T20:33:05.467Z,1761683585.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589596,0.807001,0.033556],[-0.807682,0.589339,0.018145],[-0.005133,-0.037801,0.999272]] 2025-10-28T20:33:05.871Z,1761683585.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576104,0.812315,0.090823],[-0.815479,0.578774,-0.003814],[-0.055664,-0.071867,0.995860]] 2025-10-28T20:33:06.275Z,1761683586.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566639,0.817898,0.099815],[-0.823554,0.566014,0.037232],[-0.026045,-0.103300,0.994309]] 2025-10-28T20:33:06.680Z,1761683586.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562984,0.823188,0.073554],[-0.825461,0.555675,0.099195],[0.040784,-0.116560,0.992346]] 2025-10-28T20:33:07.082Z,1761683587.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572881,0.817356,0.061136],[-0.815125,0.560322,0.147006],[0.085900,-0.134050,0.987244]] 2025-10-28T20:33:07.487Z,1761683587.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567253,0.818622,0.089898],[-0.821807,0.555591,0.126302],[0.053447,-0.145524,0.987910]] 2025-10-28T20:33:07.890Z,1761683587.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560775,0.820771,0.108928],[-0.827933,0.554667,0.082898],[0.007622,-0.136672,0.990587]] 2025-10-28T20:33:08.297Z,1761683588.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560267,0.820431,0.113991],[-0.828241,0.553086,0.090076],[0.010854,-0.144879,0.989390]] 2025-10-28T20:33:08.698Z,1761683588.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591846,0.803665,0.061978],[-0.804697,0.584647,0.103202],[0.046705,-0.110953,0.992728]] 2025-10-28T20:33:09.102Z,1761683589.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580932,0.813410,0.029703],[-0.813853,0.579906,0.036773],[0.012687,-0.045536,0.998882]] 2025-10-28T20:33:09.507Z,1761683589.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555085,0.830290,0.050003],[-0.830462,0.556594,-0.023149],[-0.047051,-0.028676,0.998481]] 2025-10-28T20:33:09.913Z,1761683589.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574223,0.814564,0.082177],[-0.815642,0.577855,-0.028473],[-0.070680,-0.050677,0.996211]] 2025-10-28T20:33:10.314Z,1761683590.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584207,0.806950,0.086802],[-0.811175,0.584028,0.030101],[-0.026405,-0.087997,0.995771]] 2025-10-28T20:33:10.719Z,1761683590.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587313,0.806681,0.065801],[-0.804345,0.572705,0.158234],[0.089960,-0.145860,0.985207]] 2025-10-28T20:33:11.123Z,1761683591.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536793,0.840304,0.075771],[-0.834614,0.515704,0.193569],[0.123581,-0.167146,0.978156]] 2025-10-28T20:33:11.529Z,1761683591.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528132,0.840712,0.119502],[-0.847491,0.513020,0.136269],[0.053256,-0.173245,0.983438]] 2025-10-28T20:33:11.931Z,1761683591.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556434,0.827875,0.070736],[-0.829623,0.548865,0.102334],[0.045895,-0.115626,0.992232]] 2025-10-28T20:33:12.335Z,1761683592.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555783,0.830681,-0.032788],[-0.826592,0.556391,0.084704],[0.088605,-0.019974,0.995867]] 2025-10-28T20:33:12.738Z,1761683592.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542929,0.835565,-0.084018],[-0.837744,0.545856,0.015040],[0.058428,0.062220,0.996351]] 2025-10-28T20:33:13.145Z,1761683593.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516834,0.854777,-0.047322],[-0.854315,0.518530,0.035686],[0.055042,0.021984,0.998242]] 2025-10-28T20:33:13.555Z,1761683593.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519974,0.852961,0.045644],[-0.850130,0.511570,0.124804],[0.083103,-0.103699,0.991131]] 2025-10-28T20:33:13.568Z,1761683593.568 [NAL9602](INFO): SBD MO Status=1, MOMSN=3348, MT Status=0, MTMSN=0 2025-10-28T20:33:13.616Z,1761683593.616 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0043.lzma 2025-10-28T20:33:13.616Z,1761683593.616 [NAL9602](INFO): Packets left to send: 1 2025-10-28T20:33:13.950Z,1761683593.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543722,0.830828,0.118709],[-0.834395,0.519917,0.182951],[0.090282,-0.198524,0.975929]] 2025-10-28T20:33:14.705Z,1761683594.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521764,0.846820,0.103234],[-0.846373,0.498696,0.186962],[0.106841,-0.184925,0.976928]] 2025-10-28T20:33:15.102Z,1761683595.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550952,0.832362,0.060211],[-0.830647,0.539998,0.135749],[0.080478,-0.124805,0.988912]] 2025-10-28T20:33:17.302Z,1761683597.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586839,0.797130,0.142139],[-0.809671,0.579261,0.094281],[-0.007182,-0.170414,0.985346]] 2025-10-28T20:33:17.695Z,1761683597.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583287,0.804538,0.111778],[-0.812139,0.575218,0.097744],[0.014342,-0.147793,0.988914]] 2025-10-28T20:33:18.098Z,1761683598.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590711,0.798920,0.113078],[-0.806843,0.586241,0.072973],[-0.007992,-0.134342,0.990903]] 2025-10-28T20:33:18.504Z,1761683598.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597393,0.793621,0.115266],[-0.800730,0.598212,0.031204],[-0.044189,-0.110938,0.992844]] 2025-10-28T20:33:18.906Z,1761683598.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607303,0.788472,0.097441],[-0.790061,0.612276,-0.030342],[-0.083585,-0.058558,0.994779]] 2025-10-28T20:33:19.310Z,1761683599.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597999,0.801050,0.026749],[-0.801119,0.598409,-0.010746],[-0.024615,-0.015002,0.999584]] 2025-10-28T20:33:19.715Z,1761683599.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602202,0.798296,-0.008701],[-0.795378,0.600868,0.079565],[0.068745,-0.040994,0.996792]] 2025-10-28T20:33:20.119Z,1761683600.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597920,0.800878,0.032952],[-0.798432,0.591461,0.112607],[0.070695,-0.093640,0.993093]] 2025-10-28T20:33:20.522Z,1761683600.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621270,0.773119,0.127709],[-0.782429,0.620943,0.047274],[-0.042751,-0.129293,0.990684]] 2025-10-28T20:33:20.928Z,1761683600.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631410,0.761005,0.148976],[-0.771835,0.635287,0.026096],[-0.074783,-0.131462,0.988496]] 2025-10-28T20:33:21.330Z,1761683601.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647020,0.761989,0.027148],[-0.757501,0.638334,0.136830],[0.086934,-0.109097,0.990222]] 2025-10-28T20:33:21.735Z,1761683601.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638467,0.769607,-0.008000],[-0.761919,0.633491,0.134790],[0.108803,-0.079964,0.990842]] 2025-10-28T20:33:22.139Z,1761683602.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615818,0.783957,0.078604],[-0.787587,0.609755,0.088914],[0.021776,-0.116663,0.992933]] 2025-10-28T20:33:22.545Z,1761683602.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623231,0.769270,0.140737],[-0.781306,0.604693,0.154623],[0.033844,-0.206324,0.977898]] 2025-10-28T20:33:22.946Z,1761683602.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662165,0.733477,0.153460],[-0.748063,0.634976,0.192890],[0.044037,-0.242523,0.969146]] 2025-10-28T20:33:23.353Z,1761683603.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663174,0.733690,0.147985],[-0.748381,0.647041,0.145824],[0.011237,-0.207455,0.978180]] 2025-10-28T20:33:23.759Z,1761683603.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641868,0.757454,0.119450],[-0.766468,0.638433,0.070219],[-0.023073,-0.136626,0.990354]] 2025-10-28T20:33:24.188Z,1761683604.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657332,0.753294,0.021519],[-0.753478,0.656438,0.036881],[0.013656,-0.040457,0.999088]] 2025-10-28T20:33:24.966Z,1761683604.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673229,0.739078,0.022948],[-0.739365,0.672418,0.034528],[0.010088,-0.040212,0.999140]] 2025-10-28T20:33:25.371Z,1761683605.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678709,0.731836,0.061393],[-0.734366,0.677174,0.046271],[-0.007711,-0.076489,0.997041]] 2025-10-28T20:33:25.806Z,1761683605.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662358,0.746272,0.066028],[-0.745782,0.648389,0.152975],[0.071350,-0.150567,0.986022]] 2025-10-28T20:33:26.185Z,1761683606.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674235,0.731708,0.100053],[-0.737923,0.662050,0.130994],[0.029609,-0.162152,0.986322]] 2025-10-28T20:33:26.587Z,1761683606.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695991,0.715297,0.062819],[-0.717778,0.690649,0.088315],[0.019786,-0.106556,0.994110]] 2025-10-28T20:33:26.991Z,1761683606.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699109,0.714694,-0.021425],[-0.712874,0.699020,0.056406],[0.055290,-0.024160,0.998178]] 2025-10-28T20:33:27.395Z,1761683607.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678023,0.731765,-0.069318],[-0.732037,0.680760,0.026225],[0.066380,0.032962,0.997250]] 2025-10-28T20:33:27.825Z,1761683607.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665932,0.744057,-0.053977],[-0.739355,0.667904,0.085198],[0.099444,-0.016828,0.994901]] 2025-10-28T20:33:28.199Z,1761683608.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678987,0.733685,0.026127],[-0.727650,0.667824,0.156642],[0.097478,-0.125369,0.987310]] 2025-10-28T20:33:28.602Z,1761683608.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702213,0.698193,0.139371],[-0.711967,0.688567,0.137761],[0.000217,-0.195966,0.980611]] 2025-10-28T20:33:29.006Z,1761683609.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696586,0.707109,0.121513],[-0.717370,0.689297,0.101236],[-0.012174,-0.157689,0.987414]] 2025-10-28T20:33:29.414Z,1761683609.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677947,0.733415,0.049897],[-0.734322,0.672516,0.092159],[0.034034,-0.099119,0.994493]] 2025-10-28T20:33:29.476Z,1761683609.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:33:29.833Z,1761683609.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689311,0.723401,0.039260],[-0.724465,0.688362,0.036174],[-0.000856,-0.053378,0.998574]] 2025-10-28T20:33:30.219Z,1761683610.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699907,0.711842,0.058409],[-0.709668,0.702335,-0.055641],[-0.080630,-0.002508,0.996741]] 2025-10-28T20:33:30.481Z,1761683610.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:33:30.622Z,1761683610.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701239,0.709896,0.065669],[-0.707419,0.704291,-0.059433],[-0.088441,-0.004779,0.996070]] 2025-10-28T20:33:31.026Z,1761683611.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710678,0.701968,0.046667],[-0.703267,0.710631,0.020466],[-0.018797,-0.047365,0.998701]] 2025-10-28T20:33:31.431Z,1761683611.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713046,0.697127,0.074689],[-0.700916,0.711333,0.052166],[-0.016762,-0.089547,0.995842]] 2025-10-28T20:33:31.443Z,1761683611.443 [NAL9602](INFO): SBD MO Status=1, MOMSN=3349, MT Status=0, MTMSN=0 2025-10-28T20:33:31.500Z,1761683611.500 [NAL9602](INFO): Sent 138 bytes from file Logs/20251028T162422/Express0043.lzma 2025-10-28T20:33:31.500Z,1761683611.500 [NAL9602](INFO): Packets left to send: 0 2025-10-28T20:33:31.838Z,1761683611.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703758,0.699068,0.126600],[-0.706139,0.707880,0.016541],[-0.078054,-0.101039,0.991816]] 2025-10-28T20:33:32.525Z,1761683612.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702329,0.702541,0.114761],[-0.707924,0.706230,0.009061],[-0.074682,-0.087606,0.993352]] 2025-10-28T20:33:32.928Z,1761683612.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711479,0.701839,0.034919],[-0.702694,0.710292,0.041296],[0.004180,-0.053919,0.998537]] 2025-10-28T20:33:33.331Z,1761683613.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720419,0.693503,0.007060],[-0.693046,0.719487,0.045013],[0.026137,-0.037322,0.998961]] 2025-10-28T20:33:33.735Z,1761683613.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721921,0.690307,0.048016],[-0.691890,0.721183,0.034400],[-0.010882,-0.058056,0.998254]] 2025-10-28T20:33:34.139Z,1761683614.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721574,0.690415,0.051553],[-0.692130,0.717535,0.078095],[0.016927,-0.092033,0.995612]] 2025-10-28T20:33:34.545Z,1761683614.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733511,0.678173,0.045200],[-0.676462,0.721963,0.145494],[0.066038,-0.137297,0.988326]] 2025-10-28T20:33:34.949Z,1761683614.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750166,0.660467,0.032173],[-0.655822,0.736906,0.163912],[0.084550,-0.144061,0.985950]] 2025-10-28T20:33:35.351Z,1761683615.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752718,0.658292,0.008205],[-0.650438,0.741696,0.163761],[0.101717,-0.128603,0.986466]] 2025-10-28T20:33:35.760Z,1761683615.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742621,0.669308,0.023229],[-0.667328,0.736610,0.109905],[0.056450,-0.097119,0.993671]] 2025-10-28T20:33:36.169Z,1761683616.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737485,0.673466,0.050596],[-0.675302,0.734330,0.068760],[0.009153,-0.084877,0.996349]] 2025-10-28T20:33:36.565Z,1761683616.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741782,0.670500,0.013804],[-0.669720,0.739527,0.067629],[0.035137,-0.059411,0.997615]] 2025-10-28T20:33:36.967Z,1761683616.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734804,0.678265,0.004474],[-0.678139,0.734502,0.025184],[0.013795,-0.021539,0.999673]] 2025-10-28T20:33:37.371Z,1761683617.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743133,0.667511,0.046711],[-0.664349,0.744351,-0.067694],[-0.079956,0.019274,0.996612]] 2025-10-28T20:33:37.807Z,1761683617.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747548,0.661553,-0.059325],[-0.664069,0.746228,-0.046428],[0.013555,0.074103,0.997158]] 2025-10-28T20:33:38.583Z,1761683618.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736860,0.675406,-0.029395],[-0.675458,0.737336,0.009623],[0.028173,0.012765,0.999522]] 2025-10-28T20:33:38.987Z,1761683618.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735467,0.674762,0.061514],[-0.677297,0.734674,0.039011],[-0.018869,-0.070355,0.997344]] 2025-10-28T20:33:39.397Z,1761683619.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741706,0.668920,0.049184],[-0.670017,0.735558,0.100157],[0.030820,-0.107241,0.993755]] 2025-10-28T20:33:39.838Z,1761683619.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711955,0.701367,0.034706],[-0.699915,0.704739,0.116025],[0.056917,-0.106896,0.992640]] 2025-10-28T20:33:40.203Z,1761683620.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727796,0.685609,0.015918],[-0.683321,0.723007,0.101651],[0.058184,-0.084858,0.994693]] 2025-10-28T20:33:40.608Z,1761683620.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757682,0.651205,0.043007],[-0.652566,0.756847,0.036624],[-0.008700,-0.055814,0.998403]] 2025-10-28T20:33:41.027Z,1761683621.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740967,0.671328,0.016913],[-0.671484,0.740339,0.031738],[0.008785,-0.034873,0.999353]] 2025-10-28T20:33:41.423Z,1761683621.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705123,0.709084,-0.001022],[-0.705743,0.701939,0.095962],[0.068762,-0.066944,0.995384]] 2025-10-28T20:33:41.834Z,1761683621.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738581,0.673548,0.028833],[-0.669475,0.727736,0.149004],[0.079378,-0.129355,0.988416]] 2025-10-28T20:33:41.862Z,1761683621.862 [RDI_Pathfinder](ERROR): only read -1 of 4 data items for bottom velocity. Device response is::BS, 2025-10-28T20:33:42.219Z,1761683622.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742286,0.667839,0.054804],[-0.667954,0.730933,0.139909],[0.053379,-0.140459,0.988647]] 2025-10-28T20:33:42.624Z,1761683622.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711491,0.695939,0.097205],[-0.702616,0.706652,0.083517],[-0.010568,-0.127719,0.991754]] 2025-10-28T20:33:43.030Z,1761683623.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729474,0.682643,0.043199],[-0.683950,0.728782,0.032990],[-0.008962,-0.053611,0.998522]] 2025-10-28T20:33:43.431Z,1761683623.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721652,0.685685,-0.095152],[-0.689147,0.724604,-0.004980],[0.065533,0.069168,0.995450]] 2025-10-28T20:33:43.843Z,1761683623.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704144,0.700012,-0.119014],[-0.706868,0.706932,-0.024173],[0.067214,0.101149,0.992598]] 2025-10-28T20:33:44.239Z,1761683624.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700162,0.713362,-0.029784],[-0.713905,0.698858,-0.044004],[-0.010576,0.052073,0.998587]] 2025-10-28T20:33:44.661Z,1761683624.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696863,0.713574,0.072067],[-0.714917,0.699144,-0.009597],[-0.057233,-0.044835,0.997354]] 2025-10-28T20:33:45.048Z,1761683625.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697473,0.710956,0.089849],[-0.716595,0.692798,0.080770],[-0.004823,-0.120720,0.992675]] 2025-10-28T20:33:45.452Z,1761683625.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681362,0.727820,0.077621],[-0.730673,0.670086,0.130774],[0.043167,-0.145820,0.988369]] 2025-10-28T20:33:45.862Z,1761683625.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664958,0.741321,0.090965],[-0.744484,0.648139,0.160185],[0.059790,-0.174238,0.982887]] 2025-10-28T20:33:46.269Z,1761683626.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679407,0.731561,0.056783],[-0.730751,0.667587,0.142584],[0.066402,-0.138367,0.988153]] 2025-10-28T20:33:46.663Z,1761683626.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665670,0.744044,0.057298],[-0.746247,0.663678,0.051457],[0.000259,-0.077012,0.997030]] 2025-10-28T20:33:47.069Z,1761683627.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640840,0.764965,0.064441],[-0.766971,0.641587,0.011073],[-0.032874,-0.056520,0.997860]] 2025-10-28T20:33:47.075Z,1761683627.075 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:33:47.473Z,1761683627.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647711,0.761715,0.016130],[-0.761468,0.646508,0.046843],[0.025253,-0.042624,0.998772]] 2025-10-28T20:33:47.878Z,1761683627.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638307,0.769155,-0.031059],[-0.768382,0.639060,0.034513],[0.046394,0.001836,0.998922]] 2025-10-28T20:33:48.279Z,1761683628.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637971,0.770060,0.001023],[-0.769762,0.637760,-0.027011],[-0.021452,0.016445,0.999635]] 2025-10-28T20:33:48.683Z,1761683628.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649104,0.760426,0.020392],[-0.760400,0.649368,-0.010647],[-0.021338,-0.008595,0.999735]] 2025-10-28T20:33:49.089Z,1761683629.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642567,0.766211,-0.005342],[-0.763782,0.641056,0.075392],[0.061191,-0.044364,0.997140]] 2025-10-28T20:33:49.495Z,1761683629.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628052,0.777989,0.016844],[-0.772124,0.620332,0.137886],[0.096825,-0.099606,0.990305]] 2025-10-28T20:33:49.895Z,1761683629.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617547,0.779835,0.102433],[-0.784612,0.601693,0.149495],[0.054949,-0.172690,0.983442]] 2025-10-28T20:33:50.299Z,1761683630.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596672,0.787172,0.156021],[-0.802411,0.582585,0.129348],[0.010924,-0.202371,0.979248]] 2025-10-28T20:33:50.703Z,1761683630.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594885,0.795540,0.115013],[-0.803458,0.584271,0.114376],[0.023792,-0.160449,0.986757]] 2025-10-28T20:33:51.110Z,1761683631.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587590,0.808560,0.031139],[-0.808494,0.585112,0.063099],[0.032800,-0.062252,0.997521]] 2025-10-28T20:33:51.511Z,1761683631.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572018,0.820222,-0.005628],[-0.820207,0.572044,0.005214],[0.007496,0.001633,0.999971]] 2025-10-28T20:33:51.529Z,1761683631.529 [NAL9602](INFO): SBD MO Status=0, MOMSN=3350, MT Status=0, MTMSN=0 2025-10-28T20:33:51.612Z,1761683631.612 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T20:33:51.613Z,1761683631.613 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T20:33:51.613Z,1761683631.613 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T20:33:51.915Z,1761683631.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549305,0.835292,-0.023464],[-0.834802,0.549793,0.028866],[0.037012,0.003732,0.999308]] 2025-10-28T20:33:52.320Z,1761683632.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549835,0.835116,-0.016200],[-0.829909,0.548396,0.102529],[0.094508,-0.042929,0.994598]] 2025-10-28T20:33:52.725Z,1761683632.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549031,0.833987,0.055055],[-0.834148,0.542612,0.098839],[0.052557,-0.100190,0.993579]] 2025-10-28T20:33:53.129Z,1761683633.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539897,0.833978,0.113984],[-0.841723,0.535519,0.068722],[-0.003728,-0.133046,0.991103]] 2025-10-28T20:33:53.531Z,1761683633.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544837,0.832832,0.097695],[-0.837847,0.535936,0.103847],[0.034129,-0.138433,0.989784]] 2025-10-28T20:33:53.935Z,1761683633.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552503,0.833229,0.021659],[-0.824891,0.542877,0.157607],[0.119565,-0.104944,0.987264]] 2025-10-28T20:33:54.341Z,1761683634.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529177,0.848484,0.006762],[-0.842743,0.524636,0.120584],[0.098766,-0.069509,0.992680]] 2025-10-28T20:33:54.743Z,1761683634.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515181,0.855002,0.059671],[-0.856611,0.511342,0.068903],[0.028400,-0.086613,0.995837]] 2025-10-28T20:33:55.153Z,1761683635.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537964,0.839643,0.074798],[-0.842884,0.534536,0.061791],[0.011900,-0.096287,0.995283]] 2025-10-28T20:33:55.552Z,1761683635.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544503,0.835574,0.073018],[-0.838115,0.538611,0.086378],[0.032847,-0.108231,0.993583]] 2025-10-28T20:33:56.359Z,1761683636.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467295,0.867662,0.169698],[-0.883797,0.453411,0.115418],[0.023201,-0.203913,0.978714]] 2025-10-28T20:33:56.763Z,1761683636.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488485,0.854651,0.175936],[-0.871376,0.467242,0.149631],[0.045677,-0.226399,0.972963]] 2025-10-28T20:33:57.168Z,1761683637.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512017,0.846762,0.144334],[-0.858926,0.506514,0.075438],[-0.009229,-0.162597,0.986649]] 2025-10-28T20:33:57.573Z,1761683637.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491127,0.865747,0.096309],[-0.870323,0.492319,0.012624],[-0.036486,-0.090020,0.995271]] 2025-10-28T20:33:57.976Z,1761683637.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483882,0.875121,0.004638],[-0.872425,0.481961,0.081161],[0.068791,-0.043319,0.996690]] 2025-10-28T20:33:58.379Z,1761683638.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492234,0.870455,-0.003780],[-0.864483,0.489356,0.114890],[0.101857,-0.053285,0.993371]] 2025-10-28T20:33:58.799Z,1761683638.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494502,0.865698,0.077689],[-0.868615,0.488992,0.079966],[0.031237,-0.107025,0.993766]] 2025-10-28T20:33:59.188Z,1761683639.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499186,0.854730,0.142301],[-0.866267,0.488511,0.104588],[0.019879,-0.175480,0.984282]] 2025-10-28T20:33:59.591Z,1761683639.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505166,0.853174,0.130006],[-0.861276,0.488812,0.138806],[0.054877,-0.182091,0.981749]] 2025-10-28T20:34:00.001Z,1761683640.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502183,0.857788,0.109598],[-0.863690,0.491209,0.112927],[0.043032,-0.151369,0.987540]] 2025-10-28T20:34:00.407Z,1761683640.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488999,0.868822,0.077639],[-0.871399,0.482554,0.088350],[0.039296,-0.110858,0.993059]] 2025-10-28T20:34:00.601Z,1761683640.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:34:00.804Z,1761683640.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501551,0.864784,0.024377],[-0.861115,0.496316,0.110239],[0.083234,-0.076282,0.993606]] 2025-10-28T20:34:01.208Z,1761683641.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502385,0.864548,0.012867],[-0.862954,0.500418,0.069939],[0.054026,-0.046240,0.997468]] 2025-10-28T20:34:01.604Z,1761683641.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:34:01.613Z,1761683641.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476155,0.876577,0.069918],[-0.879156,0.476254,0.016324],[-0.018990,-0.069241,0.997419]] 2025-10-28T20:34:02.018Z,1761683642.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448468,0.884217,0.130522],[-0.893786,0.442885,0.070701],[0.004709,-0.148366,0.988921]] 2025-10-28T20:34:02.420Z,1761683642.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497764,0.844004,0.199721],[-0.866793,0.476122,0.148252],[0.030034,-0.246911,0.968573]] 2025-10-28T20:34:02.823Z,1761683642.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535031,0.813347,0.228491],[-0.844408,0.523407,0.114109],[-0.026783,-0.253992,0.966836]] 2025-10-28T20:34:03.227Z,1761683643.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503486,0.841543,0.195724],[-0.863861,0.494430,0.096347],[-0.015691,-0.217587,0.975915]] 2025-10-28T20:34:03.634Z,1761683643.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511460,0.847813,0.140074],[-0.859262,0.502930,0.093433],[0.008767,-0.168148,0.985723]] 2025-10-28T20:34:04.035Z,1761683644.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546189,0.832910,0.089099],[-0.837621,0.542009,0.067950],[0.008304,-0.111744,0.993702]] 2025-10-28T20:34:04.439Z,1761683644.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562975,0.826159,0.022798],[-0.825189,0.560349,0.071217],[0.046062,-0.058906,0.997200]] 2025-10-28T20:34:04.845Z,1761683644.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576591,0.817032,-0.001106],[-0.814474,0.574892,0.078305],[0.064614,-0.044249,0.996929]] 2025-10-28T20:34:05.249Z,1761683645.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584903,0.810237,-0.037477],[-0.803058,0.584974,0.113588],[0.113956,-0.036342,0.992821]] 2025-10-28T20:34:05.652Z,1761683645.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584944,0.810985,-0.012034],[-0.807436,0.583660,0.085954],[0.076731,-0.040561,0.996226]] 2025-10-28T20:34:06.056Z,1761683646.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551020,0.831658,0.068710],[-0.832856,0.553226,-0.017098],[-0.052231,-0.047804,0.997490]] 2025-10-28T20:34:06.460Z,1761683646.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553441,0.830113,0.067946],[-0.830544,0.556160,-0.029707],[-0.062449,-0.039991,0.997247]] 2025-10-28T20:34:06.866Z,1761683646.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581972,0.812768,-0.026781],[-0.812345,0.582556,0.026907],[0.037470,0.006096,0.999279]] 2025-10-28T20:34:07.267Z,1761683647.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604423,0.793235,-0.073838],[-0.794472,0.607035,0.017939],[0.059052,0.047820,0.997109]] 2025-10-28T20:34:07.672Z,1761683647.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588804,0.806879,-0.047502],[-0.806707,0.590305,0.027635],[0.050339,0.022048,0.998489]] 2025-10-28T20:34:08.076Z,1761683648.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565575,0.824461,-0.019709],[-0.815404,0.562620,0.136289],[0.123453,-0.061011,0.990473]] 2025-10-28T20:34:08.483Z,1761683648.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579296,0.814958,0.016108],[-0.796212,0.561518,0.225264],[0.174536,-0.143320,0.974164]] 2025-10-28T20:34:08.883Z,1761683648.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586762,0.805884,0.079126],[-0.799190,0.560596,0.216856],[0.130403,-0.190480,0.972992]] 2025-10-28T20:34:09.295Z,1761683649.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570292,0.814872,0.103685],[-0.814447,0.544477,0.200551],[0.106969,-0.198819,0.974181]] 2025-10-28T20:34:09.699Z,1761683649.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563451,0.817386,0.120009],[-0.823608,0.544376,0.159135],[0.064745,-0.188505,0.979936]] 2025-10-28T20:34:10.098Z,1761683650.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597368,0.796139,0.096507],[-0.801746,0.590036,0.095185],[0.018838,-0.134235,0.990770]] 2025-10-28T20:34:10.499Z,1761683650.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628011,0.775994,0.058607],[-0.776831,0.629595,-0.012003],[-0.046213,-0.037989,0.998209]] 2025-10-28T20:34:10.903Z,1761683650.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623005,0.781116,0.041510],[-0.778595,0.624347,-0.063089],[-0.075197,0.006986,0.997144]] 2025-10-28T20:34:11.308Z,1761683651.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588457,0.808221,0.022314],[-0.808339,0.588692,-0.005394],[-0.017496,-0.014863,0.999736]] 2025-10-28T20:34:11.713Z,1761683651.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598020,0.800408,0.041465],[-0.801180,0.595578,0.058286],[0.021957,-0.068077,0.997438]] 2025-10-28T20:34:12.115Z,1761683652.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638567,0.762757,0.102144],[-0.769554,0.632171,0.090259],[0.004273,-0.136241,0.990666]] 2025-10-28T20:34:12.519Z,1761683652.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662490,0.739787,0.117566],[-0.749068,0.653883,0.106464],[0.001886,-0.158597,0.987342]] 2025-10-28T20:34:12.938Z,1761683652.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648390,0.756768,0.083015],[-0.760471,0.638703,0.117225],[0.035691,-0.139138,0.989630]] 2025-10-28T20:34:13.327Z,1761683653.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612436,0.785985,0.084554],[-0.789741,0.603578,0.109551],[0.035071,-0.133868,0.990378]] 2025-10-28T20:34:13.731Z,1761683653.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612682,0.789410,0.038097],[-0.787486,0.605684,0.114068],[0.066972,-0.099888,0.992742]] 2025-10-28T20:34:14.141Z,1761683654.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626694,0.778917,-0.023305],[-0.776038,0.626538,0.072221],[0.070856,-0.027175,0.997116]] 2025-10-28T20:34:14.551Z,1761683654.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622228,0.782443,-0.024808],[-0.782123,0.622702,0.022958],[0.033411,0.005118,0.999429]] 2025-10-28T20:34:14.944Z,1761683654.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633691,0.773505,-0.011234],[-0.772897,0.633673,0.033006],[0.032649,-0.012233,0.999392]] 2025-10-28T20:34:15.348Z,1761683655.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647193,0.762325,-0.001518],[-0.759084,0.644623,0.090841],[0.070229,-0.057640,0.995864]] 2025-10-28T20:34:15.757Z,1761683655.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629254,0.775412,0.052682],[-0.776520,0.624422,0.084342],[0.032504,-0.093981,0.995043]] 2025-10-28T20:34:16.156Z,1761683656.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621000,0.778070,0.094686],[-0.783805,0.616891,0.071382],[-0.002871,-0.118544,0.992945]] 2025-10-28T20:34:16.559Z,1761683656.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650899,0.757423,0.051392],[-0.757696,0.643940,0.106010],[0.047201,-0.107941,0.993036]] 2025-10-28T20:34:16.963Z,1761683656.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648755,0.760776,-0.018342],[-0.754109,0.645932,0.118703],[0.102154,-0.063178,0.992760]] 2025-10-28T20:34:17.369Z,1761683657.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615379,0.787705,-0.028805],[-0.786232,0.616009,0.048701],[0.056107,-0.007322,0.998398]] 2025-10-28T20:34:17.799Z,1761683657.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634544,0.772886,0.000760],[-0.772819,0.634501,-0.012633],[-0.010246,0.007429,0.999920]] 2025-10-28T20:34:18.175Z,1761683658.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626639,0.779008,0.021667],[-0.778759,0.627000,-0.020143],[-0.029277,-0.004251,0.999562]] 2025-10-28T20:34:18.579Z,1761683658.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614383,0.787923,0.041365],[-0.789000,0.613764,0.027803],[-0.003482,-0.049719,0.998757]] 2025-10-28T20:34:18.985Z,1761683658.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634093,0.771146,0.057099],[-0.772727,0.629196,0.083692],[0.028612,-0.097190,0.994854]] 2025-10-28T20:34:19.387Z,1761683659.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608433,0.789644,0.079198],[-0.792903,0.600660,0.102529],[0.033390,-0.125179,0.991572]] 2025-10-28T20:34:19.826Z,1761683659.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608326,0.785186,0.115854],[-0.792746,0.608205,0.040509],[-0.038656,-0.116485,0.992440]] 2025-10-28T20:34:20.196Z,1761683660.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609943,0.783691,0.117465],[-0.790846,0.611400,0.027436],[-0.050317,-0.109632,0.992698]] 2025-10-28T20:34:20.600Z,1761683660.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626437,0.775646,0.077140],[-0.778070,0.616307,0.121545],[0.046734,-0.136160,0.989584]] 2025-10-28T20:34:21.005Z,1761683661.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606689,0.788152,0.103658],[-0.794283,0.595717,0.119313],[0.032286,-0.154720,0.987431]] 2025-10-28T20:34:21.407Z,1761683661.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584153,0.803722,0.113119],[-0.811483,0.575565,0.101097],[0.016147,-0.150850,0.988425]] 2025-10-28T20:34:21.829Z,1761683661.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602893,0.795368,0.062520],[-0.795161,0.592640,0.128438],[0.065104,-0.127148,0.989745]] 2025-10-28T20:34:22.215Z,1761683662.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591320,0.805370,0.041473],[-0.804667,0.585836,0.096472],[0.053399,-0.090418,0.994471]] 2025-10-28T20:34:22.225Z,1761683662.225 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T20:34:22.621Z,1761683662.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574266,0.817351,0.046438],[-0.818446,0.574510,0.009255],[-0.019115,-0.043322,0.998878]] 2025-10-28T20:34:23.023Z,1761683663.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561806,0.826094,0.044081],[-0.825790,0.563190,-0.029803],[-0.049446,-0.019658,0.998583]] 2025-10-28T20:34:23.457Z,1761683663.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539571,0.840131,0.055162],[-0.838551,0.530370,0.124660],[0.075475,-0.113519,0.990665]] 2025-10-28T20:34:23.854Z,1761683663.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591120,0.801422,0.091105],[-0.806532,0.586022,0.077996],[0.009118,-0.119584,0.992782]] 2025-10-28T20:34:25.049Z,1761683665.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576626,0.817003,0.003023],[-0.809830,0.571066,0.134385],[0.108067,-0.079938,0.990925]] 2025-10-28T20:34:25.453Z,1761683665.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567509,0.823359,-0.003531],[-0.814043,0.561721,0.147657],[0.123558,-0.080923,0.989032]] 2025-10-28T20:34:25.858Z,1761683665.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595011,0.803493,0.018984],[-0.799424,0.589229,0.117175],[0.082964,-0.084897,0.992930]] 2025-10-28T20:34:26.259Z,1761683666.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591121,0.806068,0.028806],[-0.804581,0.586763,0.091427],[0.056794,-0.077221,0.995395]] 2025-10-28T20:34:26.661Z,1761683666.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553890,0.830731,0.055608],[-0.832286,0.550644,0.063968],[0.022520,-0.081713,0.996401]] 2025-10-28T20:34:27.069Z,1761683667.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557658,0.829097,0.040194],[-0.829046,0.553909,0.076603],[0.041248,-0.076041,0.996251]] 2025-10-28T20:34:27.477Z,1761683667.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574971,0.818127,-0.008779],[-0.813973,0.573072,0.095060],[0.082802,-0.047510,0.995433]] 2025-10-28T20:34:27.871Z,1761683667.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571023,0.820694,-0.019850],[-0.819140,0.571207,0.052270],[0.054236,-0.013588,0.998436]] 2025-10-28T20:34:28.279Z,1761683668.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565242,0.824689,0.019734],[-0.824798,0.565413,-0.004002],[-0.014459,-0.014014,0.999797]] 2025-10-28T20:34:28.684Z,1761683668.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572722,0.819348,0.025661],[-0.819656,0.571903,0.033022],[0.012381,-0.039945,0.999125]] 2025-10-28T20:34:29.091Z,1761683669.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565039,0.824857,-0.018508],[-0.816700,0.562356,0.129450],[0.117185,-0.058029,0.991413]] 2025-10-28T20:34:29.488Z,1761683669.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572060,0.820055,-0.016030],[-0.808860,0.567275,0.154739],[0.135988,-0.075554,0.987825]] 2025-10-28T20:34:29.892Z,1761683669.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588904,0.808203,0.000350],[-0.797570,0.581086,0.161929],[0.130668,-0.095640,0.986802]] 2025-10-28T20:34:30.297Z,1761683670.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553883,0.832200,-0.025643],[-0.811534,0.546500,0.206760],[0.186080,-0.093711,0.978056]] 2025-10-28T20:34:30.699Z,1761683670.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509875,0.859686,-0.031107],[-0.828022,0.500258,0.253223],[0.233254,-0.103355,0.966908]] 2025-10-28T20:34:31.103Z,1761683671.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525761,0.849837,0.036771],[-0.831217,0.504096,0.234448],[0.180706,-0.153828,0.971433]] 2025-10-28T20:34:31.507Z,1761683671.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530784,0.843452,0.082805],[-0.839690,0.510132,0.186243],[0.114845,-0.168386,0.979008]] 2025-10-28T20:34:31.756Z,1761683671.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:34:31.914Z,1761683671.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537135,0.841005,0.064785],[-0.835401,0.519792,0.178667],[0.116585,-0.150089,0.981774]] 2025-10-28T20:34:32.315Z,1761683672.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544914,0.838462,0.007035],[-0.826720,0.535844,0.171481],[0.140011,-0.099258,0.985162]] 2025-10-28T20:34:32.719Z,1761683672.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495882,0.867736,0.033686],[-0.864193,0.489305,0.117263],[0.085271,-0.087260,0.992530]] 2025-10-28T20:34:32.760Z,1761683672.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:34:33.124Z,1761683673.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461699,0.875105,0.144998],[-0.884500,0.466540,0.000697],[-0.067037,-0.128573,0.989432]] 2025-10-28T20:34:33.529Z,1761683673.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481798,0.862358,0.155591],[-0.872659,0.488311,-0.004200],[-0.079599,-0.133754,0.987813]] 2025-10-28T20:34:33.931Z,1761683673.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519034,0.852696,0.059279],[-0.854094,0.514659,0.075166],[0.033585,-0.089644,0.995407]] 2025-10-28T20:34:34.335Z,1761683674.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487381,0.873180,-0.003946],[-0.870057,0.486011,0.082424],[0.073889,-0.036739,0.996590]] 2025-10-28T20:34:34.740Z,1761683674.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421021,0.906955,0.013231],[-0.906299,0.420033,0.046837],[0.036921,-0.031710,0.998815]] 2025-10-28T20:34:35.144Z,1761683675.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394408,0.916926,0.060734],[-0.916733,0.388030,0.095044],[0.063582,-0.093163,0.993619]] 2025-10-28T20:34:35.547Z,1761683675.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422351,0.904508,0.059031],[-0.902750,0.413878,0.117250],[0.081622,-0.102811,0.991346]] 2025-10-28T20:34:35.951Z,1761683675.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431109,0.902089,0.019526],[-0.901417,0.429629,0.053532],[0.039902,-0.040679,0.998375]] 2025-10-28T20:34:36.355Z,1761683676.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409876,0.910982,0.045969],[-0.911548,0.407272,0.056659],[0.032893,-0.065126,0.997335]] 2025-10-28T20:34:36.761Z,1761683676.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396224,0.913572,0.091609],[-0.915833,0.386161,0.110134],[0.065240,-0.127536,0.989686]] 2025-10-28T20:34:37.164Z,1761683677.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403331,0.910178,0.094335],[-0.909707,0.387709,0.148711],[0.098779,-0.145797,0.984371]] 2025-10-28T20:34:37.567Z,1761683677.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401076,0.914022,0.060843],[-0.906456,0.386417,0.170351],[0.132193,-0.123475,0.983503]] 2025-10-28T20:34:37.982Z,1761683677.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381206,0.923855,0.034246],[-0.914336,0.371285,0.161671],[0.136646,-0.092942,0.986250]] 2025-10-28T20:34:38.384Z,1761683678.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394612,0.917378,0.051953],[-0.912078,0.384228,0.143115],[0.111329,-0.103860,0.988342]] 2025-10-28T20:34:38.784Z,1761683678.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407356,0.910227,0.074483],[-0.911445,0.400034,0.096133],[0.057707,-0.107047,0.992578]] 2025-10-28T20:34:39.183Z,1761683679.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383407,0.919233,0.089493],[-0.923122,0.384462,0.005824],[-0.029053,-0.084846,0.995970]] 2025-10-28T20:34:39.587Z,1761683679.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375612,0.920087,0.111152],[-0.923889,0.381199,-0.033401],[-0.073103,-0.090147,0.993242]] 2025-10-28T20:34:39.992Z,1761683679.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385084,0.919101,0.083449],[-0.922806,0.384628,0.022130],[-0.011757,-0.085529,0.996266]] 2025-10-28T20:34:40.398Z,1761683680.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368927,0.926483,0.074306],[-0.929457,0.367876,0.027876],[-0.001508,-0.079349,0.996846]] 2025-10-28T20:34:40.801Z,1761683680.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368278,0.924310,0.100115],[-0.929475,0.368491,0.017035],[-0.021146,-0.099328,0.994830]] 2025-10-28T20:34:41.203Z,1761683681.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374680,0.919952,0.115335],[-0.926984,0.374083,0.027608],[-0.017747,-0.117258,0.992943]] 2025-10-28T20:34:41.623Z,1761683681.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366688,0.920166,0.137240],[-0.930018,0.366457,0.027872],[-0.024646,-0.137856,0.990146]] 2025-10-28T20:34:42.011Z,1761683682.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341011,0.927832,0.151126],[-0.938249,0.345899,-0.006507],[-0.058311,-0.139575,0.988493]] 2025-10-28T20:34:42.415Z,1761683682.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315398,0.942531,0.110272],[-0.948548,0.316545,0.007400],[-0.027931,-0.106932,0.993874]] 2025-10-28T20:34:42.829Z,1761683682.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325744,0.942233,0.078029],[-0.944247,0.320041,0.077280],[0.047844,-0.098852,0.993951]] 2025-10-28T20:34:43.233Z,1761683683.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320580,0.945015,0.064620],[-0.942952,0.311921,0.116395],[0.089839,-0.098247,0.991099]] 2025-10-28T20:34:43.627Z,1761683683.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325354,0.944106,0.052995],[-0.936615,0.314054,0.155313],[0.129988,-0.100168,0.986443]] 2025-10-28T20:34:44.032Z,1761683684.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338582,0.939744,0.047369],[-0.936738,0.331894,0.111211],[0.088789,-0.082027,0.992667]] 2025-10-28T20:34:44.435Z,1761683684.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341760,0.936620,0.077086],[-0.938452,0.335754,0.081101],[0.050079,-0.100059,0.993720]] 2025-10-28T20:34:44.841Z,1761683684.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354223,0.925834,0.131752],[-0.933474,0.341598,0.109259],[0.056150,-0.161689,0.985243]] 2025-10-28T20:34:45.243Z,1761683685.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351051,0.919045,0.179219],[-0.936355,0.344309,0.068482],[0.001232,-0.191853,0.981423]] 2025-10-28T20:34:45.648Z,1761683685.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321733,0.929897,0.178266],[-0.946352,0.321803,0.029332],[-0.030091,-0.178139,0.983545]] 2025-10-28T20:34:46.051Z,1761683686.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341170,0.928133,0.148902],[-0.939247,0.330248,0.093544],[0.037647,-0.171770,0.984417]] 2025-10-28T20:34:46.455Z,1761683686.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387478,0.910108,0.146849],[-0.921879,0.382511,0.061840],[0.000110,-0.159338,0.987224]] 2025-10-28T20:34:46.861Z,1761683686.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377299,0.917370,0.126797],[-0.923620,0.382745,-0.020805],[-0.067617,-0.109262,0.991710]] 2025-10-28T20:34:47.265Z,1761683687.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373349,0.925373,0.065541],[-0.927309,0.370236,0.054980],[0.026611,-0.081303,0.996334]] 2025-10-28T20:34:47.667Z,1761683687.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394633,0.918066,0.037673],[-0.912527,0.386795,0.132981],[0.107514,-0.086856,0.990402]] 2025-10-28T20:34:48.071Z,1761683688.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428994,0.900777,0.067563],[-0.901894,0.422940,0.087805],[0.050518,-0.098603,0.993844]] 2025-10-28T20:34:48.475Z,1761683688.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442881,0.893044,0.079556],[-0.896486,0.442376,0.024837],[-0.013013,-0.082320,0.996521]] 2025-10-28T20:34:48.882Z,1761683688.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421425,0.904240,0.068932],[-0.906788,0.421149,0.019201],[-0.011669,-0.070599,0.997437]] 2025-10-28T20:34:49.287Z,1761683689.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430082,0.901451,0.049146],[-0.900401,0.424350,0.095946],[0.065636,-0.085515,0.994173]] 2025-10-28T20:34:49.687Z,1761683689.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475148,0.879100,0.037651],[-0.876268,0.468863,0.111005],[0.079932,-0.085736,0.993106]] 2025-10-28T20:34:50.092Z,1761683690.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487800,0.870961,0.058965],[-0.872522,0.484319,0.064344],[0.027483,-0.082835,0.996184]] 2025-10-28T20:34:50.496Z,1761683690.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461935,0.883573,0.076912],[-0.886863,0.459238,0.050741],[0.009512,-0.091650,0.995746]] 2025-10-28T20:34:50.903Z,1761683690.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477374,0.873943,0.091309],[-0.878168,0.470885,0.084195],[0.030586,-0.120377,0.992257]] 2025-10-28T20:34:51.304Z,1761683691.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530746,0.842322,0.093818],[-0.847053,0.523467,0.092110],[0.028476,-0.128356,0.991319]] 2025-10-28T20:34:51.707Z,1761683691.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546216,0.833232,0.085858],[-0.837216,0.546339,0.024148],[-0.026787,-0.085072,0.996015]] 2025-10-28T20:34:52.115Z,1761683692.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538630,0.840967,0.051495],[-0.842539,0.537455,0.035630],[0.002287,-0.062578,0.998037]] 2025-10-28T20:34:52.525Z,1761683692.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552941,0.831932,0.046318],[-0.832699,0.549775,0.066031],[0.029469,-0.075080,0.996742]] 2025-10-28T20:34:52.921Z,1761683692.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570793,0.816836,0.083512],[-0.821081,0.567249,0.063676],[0.004641,-0.104916,0.994470]] 2025-10-28T20:34:53.323Z,1761683693.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576909,0.810959,0.097583],[-0.816451,0.568993,0.098259],[0.024160,-0.136358,0.990365]] 2025-10-28T20:34:53.731Z,1761683693.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583572,0.807419,0.086707],[-0.809446,0.569805,0.141843],[0.065121,-0.152961,0.986084]] 2025-10-28T20:34:54.131Z,1761683694.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585282,0.807152,0.077141],[-0.807452,0.571525,0.146219],[0.073933,-0.147867,0.986240]] 2025-10-28T20:34:54.535Z,1761683694.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584705,0.806966,0.083225],[-0.811048,0.579209,0.081968],[0.017941,-0.115426,0.993154]] 2025-10-28T20:34:54.944Z,1761683694.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599052,0.800161,0.029633],[-0.800369,0.597308,0.051310],[0.023357,-0.054455,0.998243]] 2025-10-28T20:34:55.345Z,1761683695.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610769,0.790653,-0.042769],[-0.790451,0.611994,0.025515],[0.046348,0.018223,0.998759]] 2025-10-28T20:34:55.764Z,1761683695.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613473,0.788218,-0.048617],[-0.789145,0.614207,0.000214],[0.030030,0.038234,0.998818]] 2025-10-28T20:34:56.151Z,1761683696.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604121,0.796165,-0.034059],[-0.796181,0.604836,0.016407],[0.033663,0.017205,0.999285]] 2025-10-28T20:34:56.556Z,1761683696.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620311,0.784286,0.010503],[-0.780665,0.616039,0.105156],[0.076002,-0.073428,0.994400]] 2025-10-28T20:34:56.969Z,1761683696.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642543,0.764303,0.054581],[-0.761116,0.628386,0.160727],[0.088546,-0.144817,0.985488]] 2025-10-28T20:34:57.367Z,1761683697.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657096,0.751103,0.063797],[-0.752468,0.648533,0.114874],[0.044908,-0.123489,0.991329]] 2025-10-28T20:34:57.794Z,1761683697.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642869,0.765281,0.032619],[-0.765592,0.640614,0.059022],[0.024272,-0.062916,0.997724]] 2025-10-28T20:34:58.173Z,1761683698.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648314,0.761257,-0.013286],[-0.758559,0.647318,0.074612],[0.065399,-0.038294,0.997124]] 2025-10-28T20:34:58.575Z,1761683698.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683430,0.729734,-0.020284],[-0.725378,0.681953,0.093630],[0.082157,-0.049276,0.995400]] 2025-10-28T20:34:58.980Z,1761683698.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673643,0.738034,-0.038882],[-0.729593,0.672488,0.124310],[0.117893,-0.055373,0.991481]] 2025-10-28T20:34:59.383Z,1761683699.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635114,0.771946,-0.027013],[-0.764976,0.633453,0.116399],[0.106966,-0.053262,0.992835]] 2025-10-28T20:34:59.826Z,1761683699.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652194,0.756255,0.052170],[-0.757662,0.648105,0.076864],[0.024317,-0.089658,0.995676]] 2025-10-28T20:35:00.192Z,1761683700.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666373,0.740582,0.086520],[-0.745495,0.659649,0.095391],[0.013572,-0.128066,0.991673]] 2025-10-28T20:35:00.595Z,1761683700.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678416,0.728845,0.092396],[-0.734267,0.668447,0.118452],[0.024571,-0.148203,0.988652]] 2025-10-28T20:35:00.999Z,1761683700.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691465,0.715897,0.096788],[-0.722212,0.688177,0.069440],[-0.016895,-0.117917,0.992880]] 2025-10-28T20:35:01.406Z,1761683701.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683665,0.727655,0.055858],[-0.729478,0.683621,0.022898],[-0.021524,-0.056402,0.998176]] 2025-10-28T20:35:01.832Z,1761683701.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674875,0.736290,0.049194],[-0.737310,0.675543,0.003993],[-0.030293,-0.038966,0.998781]] 2025-10-28T20:35:02.211Z,1761683702.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672077,0.739538,0.037360],[-0.740351,0.672049,0.015192],[-0.013872,-0.037870,0.999186]] 2025-10-28T20:35:02.615Z,1761683702.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691746,0.717412,0.082515],[-0.720230,0.693704,0.006600],[-0.052506,-0.063995,0.996568]] 2025-10-28T20:35:02.912Z,1761683702.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:35:03.021Z,1761683703.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706869,0.694159,0.135940],[-0.699219,0.714770,-0.014026],[-0.106902,-0.085137,0.990618]] 2025-10-28T20:35:03.424Z,1761683703.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720388,0.686998,0.095261],[-0.692588,0.719859,0.046093],[-0.036908,-0.099182,0.994385]] 2025-10-28T20:35:03.836Z,1761683703.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746411,0.665322,-0.014730],[-0.657990,0.741136,0.133288],[0.099597,-0.089796,0.990968]] 2025-10-28T20:35:03.916Z,1761683703.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:35:04.231Z,1761683704.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728300,0.684225,-0.037616],[-0.676324,0.726556,0.121254],[0.110295,-0.062868,0.991909]] 2025-10-28T20:35:04.637Z,1761683704.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693253,0.720667,-0.006354],[-0.719581,0.692644,0.049466],[0.040050,-0.029720,0.998756]] 2025-10-28T20:35:05.039Z,1761683705.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679877,0.733294,-0.006887],[-0.732180,0.679309,0.049513],[0.040986,-0.028620,0.998750]] 2025-10-28T20:35:05.443Z,1761683705.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699371,0.714583,-0.015852],[-0.710317,0.697323,0.095867],[0.079559,-0.055787,0.995268]] 2025-10-28T20:35:05.847Z,1761683705.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693281,0.720587,-0.010711],[-0.715522,0.690029,0.109037],[0.085962,-0.067929,0.993980]] 2025-10-28T20:35:06.260Z,1761683706.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669877,0.742391,0.010968],[-0.739668,0.665992,0.096678],[0.064468,-0.072875,0.995255]] 2025-10-28T20:35:06.655Z,1761683706.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647690,0.761360,0.028791],[-0.760675,0.644038,0.081172],[0.043258,-0.074475,0.996284]] 2025-10-28T20:35:07.059Z,1761683707.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644854,0.762591,0.051171],[-0.763447,0.639510,0.090418],[0.036227,-0.097373,0.994588]] 2025-10-28T20:35:07.464Z,1761683707.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668262,0.740920,0.066810],[-0.743798,0.663783,0.078470],[0.013792,-0.102131,0.994675]] 2025-10-28T20:35:07.869Z,1761683707.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667236,0.744644,0.017354],[-0.744388,0.665829,0.050573],[0.026104,-0.046662,0.998570]] 2025-10-28T20:35:08.271Z,1761683708.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632620,0.774008,-0.026524],[-0.772403,0.633063,0.051234],[0.056447,-0.011924,0.998334]] 2025-10-28T20:35:08.675Z,1761683708.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631224,0.775077,-0.028493],[-0.772654,0.631600,0.063929],[0.067546,-0.018338,0.997548]] 2025-10-28T20:35:09.079Z,1761683709.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652771,0.757319,-0.018900],[-0.752107,0.650862,0.103506],[0.090689,-0.053351,0.994449]] 2025-10-28T20:35:09.489Z,1761683709.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635873,0.771300,-0.027600],[-0.761683,0.632911,0.138793],[0.124519,-0.067232,0.989937]] 2025-10-28T20:35:09.891Z,1761683709.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604353,0.796697,-0.005603],[-0.787925,0.598711,0.143942],[0.118033,-0.082577,0.989570]] 2025-10-28T20:35:10.309Z,1761683710.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615330,0.788051,-0.018571],[-0.778258,0.611089,0.144514],[0.125233,-0.074471,0.989329]] 2025-10-28T20:35:10.700Z,1761683710.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593606,0.798969,-0.096334],[-0.786505,0.601321,0.140793],[0.170417,-0.007808,0.985341]] 2025-10-28T20:35:11.105Z,1761683711.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557768,0.825934,-0.082023],[-0.809454,0.563151,0.166268],[0.183518,-0.026345,0.982663]] 2025-10-28T20:35:11.510Z,1761683711.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558245,0.829671,0.002810],[-0.819048,0.550550,0.161418],[0.132377,-0.092412,0.986882]] 2025-10-28T20:35:11.917Z,1761683711.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560926,0.822657,0.092721],[-0.826698,0.550663,0.115502],[0.043960,-0.141440,0.988970]] 2025-10-28T20:35:12.315Z,1761683712.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536307,0.830856,0.148504],[-0.843966,0.525856,0.105814],[0.009825,-0.182081,0.983234]] 2025-10-28T20:35:12.721Z,1761683712.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518984,0.838938,0.163826],[-0.854456,0.503856,0.126626],[0.023686,-0.205699,0.978329]] 2025-10-28T20:35:13.121Z,1761683713.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546409,0.827521,0.129018],[-0.836718,0.532641,0.127263],[0.036593,-0.177489,0.983442]] 2025-10-28T20:35:13.523Z,1761683713.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562232,0.823621,0.074453],[-0.826875,0.558448,0.066433],[0.013137,-0.098914,0.995009]] 2025-10-28T20:35:13.928Z,1761683713.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552155,0.833240,0.028914],[-0.833721,0.551569,0.026091],[0.005792,-0.038512,0.999241]] 2025-10-28T20:35:14.335Z,1761683714.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522370,0.852711,-0.003582],[-0.850702,0.521418,0.066556],[0.058621,-0.031720,0.997776]] 2025-10-28T20:35:14.735Z,1761683714.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511314,0.859214,0.017580],[-0.856507,0.507815,0.092298],[0.070377,-0.062250,0.995576]] 2025-10-28T20:35:15.139Z,1761683715.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537269,0.839846,0.077461],[-0.842269,0.529496,0.101083],[0.043879,-0.119551,0.991858]] 2025-10-28T20:35:15.543Z,1761683715.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545938,0.832489,0.094410],[-0.837332,0.538275,0.095575],[0.028747,-0.131230,0.990935]] 2025-10-28T20:35:15.949Z,1761683715.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511529,0.851317,0.116614],[-0.858920,0.502741,0.097505],[0.024381,-0.150038,0.988380]] 2025-10-28T20:35:16.352Z,1761683716.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518088,0.846448,0.122923],[-0.854705,0.506852,0.112164],[0.032637,-0.163174,0.986057]] 2025-10-28T20:35:16.756Z,1761683716.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528063,0.845869,0.075201],[-0.847483,0.519285,0.110072],[0.054056,-0.121857,0.991075]] 2025-10-28T20:35:17.159Z,1761683717.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511348,0.859325,0.009137],[-0.856108,0.508450,0.092513],[0.074852,-0.055129,0.995670]] 2025-10-28T20:35:17.565Z,1761683717.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499245,0.866050,0.026690],[-0.865222,0.496647,0.068796],[0.046326,-0.057439,0.997274]] 2025-10-28T20:35:17.967Z,1761683717.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509991,0.855675,0.087921],[-0.860112,0.505997,0.064612],[0.010799,-0.108574,0.994030]] 2025-10-28T20:35:18.371Z,1761683718.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508693,0.853973,0.109365],[-0.860584,0.500666,0.093431],[0.025032,-0.141645,0.989601]] 2025-10-28T20:35:18.775Z,1761683718.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537332,0.832974,0.132014],[-0.843362,0.531415,0.079616],[-0.003836,-0.154115,0.988045]] 2025-10-28T20:35:19.182Z,1761683719.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518458,0.841934,0.149496],[-0.854176,0.518058,0.044713],[-0.039802,-0.150878,0.987751]] 2025-10-28T20:35:19.584Z,1761683719.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495804,0.848722,0.183979],[-0.868029,0.490799,0.075115],[-0.026545,-0.196942,0.980056]] 2025-10-28T20:35:19.989Z,1761683719.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536612,0.819262,0.202131],[-0.843693,0.525197,0.111127],[-0.015116,-0.230169,0.973033]] 2025-10-28T20:35:20.391Z,1761683720.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552999,0.817532,0.160727],[-0.832798,0.548215,0.076860],[-0.025278,-0.176356,0.984002]] 2025-10-28T20:35:20.805Z,1761683720.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535060,0.838347,0.104330],[-0.844774,0.529742,0.075699],[0.008194,-0.128638,0.991658]] 2025-10-28T20:35:21.207Z,1761683721.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526175,0.850016,0.024762],[-0.844277,0.518698,0.134716],[0.101667,-0.091791,0.990575]] 2025-10-28T20:35:21.603Z,1761683721.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541505,0.840690,-0.003614],[-0.833445,0.537393,0.128755],[0.110185,-0.066710,0.991670]] 2025-10-28T20:35:22.009Z,1761683722.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567400,0.821914,0.050144],[-0.823427,0.566711,0.028405],[-0.005071,-0.057407,0.998338]] 2025-10-28T20:35:22.411Z,1761683722.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573750,0.815037,0.080785],[-0.818150,0.574910,0.010401],[-0.037967,-0.072062,0.996677]] 2025-10-28T20:35:22.815Z,1761683722.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606669,0.794129,0.036221],[-0.792910,0.601213,0.099179],[0.056984,-0.088889,0.994410]] 2025-10-28T20:35:23.219Z,1761683723.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636930,0.770909,0.004405],[-0.762412,0.629043,0.151768],[0.114229,-0.100024,0.988406]] 2025-10-28T20:35:23.623Z,1761683723.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626304,0.779532,-0.008568],[-0.768086,0.618914,0.164285],[0.133368,-0.096311,0.986376]] 2025-10-28T20:35:24.029Z,1761683724.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613773,0.789462,-0.005775],[-0.775899,0.604547,0.180289],[0.145822,-0.106175,0.983597]] 2025-10-28T20:35:24.451Z,1761683724.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631139,0.775523,0.015095],[-0.763330,0.617524,0.189716],[0.137808,-0.131259,0.981723]] 2025-10-28T20:35:24.835Z,1761683724.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669743,0.742568,0.006059],[-0.728995,0.655903,0.195850],[0.141458,-0.135586,0.980615]] 2025-10-28T20:35:25.240Z,1761683725.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671242,0.740418,-0.034856],[-0.723324,0.664571,0.187478],[0.161976,-0.100630,0.981650]] 2025-10-28T20:35:25.647Z,1761683725.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644551,0.764143,-0.025266],[-0.751140,0.639056,0.165515],[0.142624,-0.087705,0.985884]] 2025-10-28T20:35:26.055Z,1761683726.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669020,0.743239,0.002775],[-0.732347,0.658570,0.173071],[0.126806,-0.117820,0.984905]] 2025-10-28T20:35:26.453Z,1761683726.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693208,0.719053,-0.049247],[-0.704759,0.690563,0.162595],[0.150923,-0.078005,0.985463]] 2025-10-28T20:35:26.856Z,1761683726.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672071,0.736751,-0.074290],[-0.730639,0.676095,0.095201],[0.120366,-0.009703,0.992682]] 2025-10-28T20:35:27.262Z,1761683727.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655361,0.754687,-0.030825],[-0.752559,0.655908,0.058643],[0.064475,-0.015235,0.997803]] 2025-10-28T20:35:27.664Z,1761683727.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684500,0.728915,0.011944],[-0.727611,0.682077,0.073166],[0.045185,-0.058773,0.997248]] 2025-10-28T20:35:28.067Z,1761683728.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686367,0.727216,0.007547],[-0.724189,0.682485,0.098816],[0.066710,-0.073290,0.995077]] 2025-10-28T20:35:28.472Z,1761683728.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659459,0.751740,-0.001182],[-0.745632,0.654300,0.126194],[0.095639,-0.082339,0.992005]] 2025-10-28T20:35:28.878Z,1761683728.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657060,0.752828,0.039018],[-0.753041,0.653105,0.079895],[0.034664,-0.081877,0.996039]] 2025-10-28T20:35:29.305Z,1761683729.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637686,0.764510,0.094237],[-0.768610,0.639601,0.012214],[-0.050936,-0.080220,0.995475]] 2025-10-28T20:35:29.683Z,1761683729.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647070,0.758487,0.077450],[-0.760355,0.649461,-0.007807],[-0.056223,-0.053838,0.996966]] 2025-10-28T20:35:30.088Z,1761683730.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663420,0.748185,-0.009635],[-0.748172,0.663481,0.005567],[0.010558,0.003515,0.999938]] 2025-10-28T20:35:30.496Z,1761683730.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662216,0.748272,-0.039468],[-0.748375,0.663104,0.015108],[0.037476,0.019532,0.999107]] 2025-10-28T20:35:30.895Z,1761683730.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645671,0.763583,-0.007006],[-0.760147,0.643586,0.089294],[0.072692,-0.052328,0.995981]] 2025-10-28T20:35:31.299Z,1761683731.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635319,0.767954,0.081344],[-0.766624,0.614490,0.186254],[0.093049,-0.180691,0.979128]] 2025-10-28T20:35:31.705Z,1761683731.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638892,0.745470,0.189979],[-0.768804,0.609878,0.192324],[0.027507,-0.268930,0.962767]] 2025-10-28T20:35:32.107Z,1761683732.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625421,0.756105,0.192754],[-0.780218,0.602690,0.167405],[0.010405,-0.255088,0.966862]] 2025-10-28T20:35:32.511Z,1761683732.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612784,0.779928,0.127314],[-0.789867,0.599465,0.129431],[0.024627,-0.179875,0.983381]] 2025-10-28T20:35:32.915Z,1761683732.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615856,0.785901,0.055500],[-0.787832,0.613726,0.051589],[0.006482,-0.075496,0.997125]] 2025-10-28T20:35:33.322Z,1761683733.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613369,0.789653,-0.015082],[-0.789773,0.613091,-0.019443],[-0.006107,0.023837,0.999697]] 2025-10-28T20:35:33.723Z,1761683733.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602673,0.797078,-0.038101],[-0.797987,0.601875,-0.031047],[-0.001815,0.049115,0.998791]] 2025-10-28T20:35:34.036Z,1761683734.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:35:34.127Z,1761683734.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616357,0.786780,-0.032885],[-0.786973,0.616912,0.009663],[0.027890,0.019923,0.999412]] 2025-10-28T20:35:34.533Z,1761683734.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639623,0.768593,-0.012146],[-0.765673,0.638432,0.078421],[0.068028,-0.040860,0.996846]] 2025-10-28T20:35:34.949Z,1761683734.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633051,0.771826,0.059416],[-0.773303,0.627021,0.094064],[0.035346,-0.105493,0.993792]] 2025-10-28T20:35:35.053Z,1761683735.053 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:35:35.347Z,1761683735.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589967,0.799524,0.112694],[-0.807346,0.582152,0.096392],[0.011463,-0.147851,0.988943]] 2025-10-28T20:35:35.748Z,1761683735.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588472,0.803561,0.089387],[-0.804819,0.571627,0.159715],[0.077245,-0.165928,0.983108]] 2025-10-28T20:35:36.149Z,1761683736.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601810,0.798129,0.028552],[-0.783079,0.582685,0.217406],[0.156881,-0.153195,0.975664]] 2025-10-28T20:35:36.555Z,1761683736.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605011,0.795811,0.025423],[-0.790773,0.596841,0.135864],[0.092949,-0.102303,0.990401]] 2025-10-28T20:35:36.955Z,1761683736.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605140,0.794204,0.055192],[-0.795908,0.605119,0.018991],[-0.018315,-0.055421,0.998295]] 2025-10-28T20:35:37.359Z,1761683737.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616546,0.786783,0.029029],[-0.786831,0.617043,-0.012463],[-0.027718,-0.015157,0.999501]] 2025-10-28T20:35:37.780Z,1761683737.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626974,0.778858,-0.016821],[-0.778282,0.627171,0.030556],[0.034348,-0.006067,0.999391]] 2025-10-28T20:35:38.170Z,1761683738.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608520,0.793226,0.022262],[-0.793162,0.607127,0.047863],[0.024451,-0.046783,0.998606]] 2025-10-28T20:35:38.579Z,1761683738.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594717,0.799819,0.081248],[-0.803927,0.591217,0.064521],[0.003570,-0.103689,0.994603]] 2025-10-28T20:35:38.975Z,1761683738.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592559,0.797027,0.116712],[-0.804771,0.592031,0.042923],[-0.034886,-0.119361,0.992238]] 2025-10-28T20:35:39.380Z,1761683739.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573149,0.809189,0.129277],[-0.817362,0.575787,0.019719],[-0.058480,-0.116968,0.991412]] 2025-10-28T20:35:39.829Z,1761683739.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584063,0.805259,0.102119],[-0.811442,0.582454,0.048051],[-0.020786,-0.110929,0.993611]] 2025-10-28T20:35:40.187Z,1761683740.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606081,0.793702,0.051994],[-0.795322,0.603792,0.053827],[0.011329,-0.073976,0.997196]] 2025-10-28T20:35:40.611Z,1761683740.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573215,0.818700,0.033988],[-0.819257,0.571830,0.042773],[0.015582,-0.052363,0.998507]] 2025-10-28T20:35:40.996Z,1761683740.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546141,0.834797,0.069592],[-0.837282,0.541386,0.076547],[0.026225,-0.100074,0.994634]] 2025-10-28T20:35:41.401Z,1761683741.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572190,0.811228,0.120453],[-0.820064,0.567687,0.072298],[-0.009730,-0.140147,0.990083]] 2025-10-28T20:35:41.835Z,1761683741.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596125,0.796043,0.104641],[-0.802450,0.595039,0.044762],[-0.026633,-0.110653,0.993502]] 2025-10-28T20:35:42.207Z,1761683742.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585868,0.810063,0.023601],[-0.809833,0.584109,0.054650],[0.030484,-0.051131,0.998227]] 2025-10-28T20:35:42.613Z,1761683742.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573076,0.819370,0.014694],[-0.819348,0.572529,0.029637],[0.015871,-0.029024,0.999453]] 2025-10-28T20:35:43.018Z,1761683743.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562675,0.823588,0.071414],[-0.826216,0.563147,0.015262],[-0.027647,-0.067591,0.997330]] 2025-10-28T20:35:43.419Z,1761683743.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577635,0.812054,0.083102],[-0.814705,0.567165,0.120746],[0.050920,-0.137451,0.989199]] 2025-10-28T20:35:43.835Z,1761683743.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602229,0.790715,0.109954],[-0.790142,0.570709,0.223532],[0.113998,-0.221497,0.968475]] 2025-10-28T20:35:44.227Z,1761683744.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584285,0.798082,0.147224],[-0.806658,0.551242,0.213157],[0.088961,-0.243304,0.965862]] 2025-10-28T20:35:44.635Z,1761683744.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562913,0.819077,0.110642],[-0.823904,0.545447,0.153853],[0.065668,-0.177764,0.981880]] 2025-10-28T20:35:45.035Z,1761683745.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575133,0.817427,0.032175],[-0.814923,0.569042,0.109967],[0.071581,-0.089466,0.993414]] 2025-10-28T20:35:45.439Z,1761683745.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582980,0.812013,-0.027750],[-0.811806,0.583549,0.021021],[0.033263,0.010273,0.999394]] 2025-10-28T20:35:45.844Z,1761683745.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581114,0.812159,-0.051999],[-0.813636,0.581159,-0.015800],[0.017387,0.051489,0.998522]] 2025-10-28T20:35:46.250Z,1761683746.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587555,0.806361,-0.067531],[-0.805325,0.590854,0.048411],[0.078937,0.025940,0.996542]] 2025-10-28T20:35:46.652Z,1761683746.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584946,0.809450,-0.051273],[-0.793638,0.584265,0.169629],[0.167264,-0.058532,0.984173]] 2025-10-28T20:35:47.055Z,1761683747.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590293,0.807118,-0.010700],[-0.780953,0.574409,0.245290],[0.204124,-0.136437,0.969391]] 2025-10-28T20:35:47.459Z,1761683747.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614026,0.788206,0.041284],[-0.771122,0.587917,0.244385],[0.168354,-0.181893,0.968799]] 2025-10-28T20:35:47.867Z,1761683747.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582519,0.810678,0.058923],[-0.800016,0.559022,0.217871],[0.143684,-0.174054,0.974197]] 2025-10-28T20:35:48.267Z,1761683748.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543696,0.837341,0.057051],[-0.816356,0.511841,0.267546],[0.194827,-0.192038,0.961855]] 2025-10-28T20:35:48.671Z,1761683748.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600770,0.795685,0.077204],[-0.772864,0.553411,0.310512],[0.204344,-0.246214,0.947429]] 2025-10-28T20:35:49.076Z,1761683749.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634873,0.772593,0.006120],[-0.752146,0.616221,0.233555],[0.176672,-0.152881,0.972324]] 2025-10-28T20:35:49.494Z,1761683749.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602033,0.796031,-0.062382],[-0.786520,0.604676,0.125514],[0.137634,-0.026498,0.990129]] 2025-10-28T20:35:49.890Z,1761683749.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602562,0.795592,-0.062862],[-0.788543,0.605653,0.106698],[0.122961,-0.014722,0.992302]] 2025-10-28T20:35:50.287Z,1761683750.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644317,0.763266,-0.047765],[-0.758101,0.645684,0.091517],[0.100693,-0.022756,0.994657]] 2025-10-28T20:35:50.691Z,1761683750.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652140,0.755635,-0.061068],[-0.754448,0.654786,0.045428],[0.074313,0.016447,0.997099]] 2025-10-28T20:35:51.097Z,1761683751.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648296,0.759011,-0.060113],[-0.754457,0.651018,0.083483],[0.102499,-0.008769,0.994694]] 2025-10-28T20:35:51.500Z,1761683751.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638727,0.769327,-0.012809],[-0.759232,0.632873,0.151783],[0.124877,-0.087223,0.988331]] 2025-10-28T20:35:51.903Z,1761683751.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652998,0.753543,0.075933],[-0.755106,0.640046,0.141971],[0.058381,-0.150044,0.986954]] 2025-10-28T20:35:52.308Z,1761683752.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665870,0.737827,0.110584],[-0.746038,0.659815,0.089843],[-0.006676,-0.142324,0.989798]] 2025-10-28T20:35:52.713Z,1761683752.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663109,0.743632,0.085428],[-0.748508,0.658040,0.081969],[0.004740,-0.118298,0.992967]] 2025-10-28T20:35:53.124Z,1761683753.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668895,0.741338,0.054747],[-0.743061,0.664734,0.077390],[0.020980,-0.092446,0.995497]] 2025-10-28T20:35:53.519Z,1761683753.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683758,0.728686,0.038628],[-0.729709,0.682790,0.036377],[0.000133,-0.053060,0.998591]] 2025-10-28T20:35:53.924Z,1761683753.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690637,0.721857,0.044086],[-0.722125,0.691651,-0.012410],[-0.039450,-0.023265,0.998951]] 2025-10-28T20:35:55.138Z,1761683755.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725734,0.687605,0.022562],[-0.681331,0.713791,0.162140],[0.095384,-0.133043,0.986510]] 2025-10-28T20:35:55.546Z,1761683755.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728037,0.683257,0.055879],[-0.681551,0.712617,0.166328],[0.073825,-0.159177,0.984486]] 2025-10-28T20:35:55.950Z,1761683755.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679984,0.730160,0.066992],[-0.728523,0.662463,0.174347],[0.082921,-0.167359,0.982403]] 2025-10-28T20:35:56.352Z,1761683756.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676410,0.732932,0.072662],[-0.731101,0.656202,0.186791],[0.089224,-0.179471,0.979709]] 2025-10-28T20:35:56.756Z,1761683756.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701705,0.712449,0.005117],[-0.702723,0.690907,0.169788],[0.117430,-0.122737,0.985467]] 2025-10-28T20:35:57.161Z,1761683757.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690297,0.723518,-0.003381],[-0.720693,0.688000,0.085192],[0.063964,-0.056372,0.996359]] 2025-10-28T20:35:57.562Z,1761683757.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706094,0.705894,0.056081],[-0.705512,0.708074,-0.029719],[-0.060688,-0.018582,0.997984]] 2025-10-28T20:35:57.964Z,1761683757.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713971,0.700062,0.012580],[-0.698060,0.713095,-0.064870],[-0.054384,0.037534,0.997814]] 2025-10-28T20:35:58.367Z,1761683758.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697919,0.714701,-0.045941],[-0.715912,0.697968,-0.017643],[0.019456,0.045203,0.998788]] 2025-10-28T20:35:58.772Z,1761683758.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688047,0.725523,0.014390],[-0.725581,0.687527,0.028969],[0.011124,-0.030373,0.999477]] 2025-10-28T20:35:59.178Z,1761683759.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697658,0.713683,0.062690],[-0.716427,0.695275,0.057668],[-0.002430,-0.085145,0.996366]] 2025-10-28T20:35:59.579Z,1761683759.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695792,0.716286,0.052986],[-0.717157,0.688790,0.106086],[0.039491,-0.111814,0.992944]] 2025-10-28T20:35:59.983Z,1761683759.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688630,0.722960,0.055833],[-0.724495,0.682824,0.094117],[0.029919,-0.105263,0.993994]] 2025-10-28T20:36:00.387Z,1761683760.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678120,0.731960,0.066240],[-0.734944,0.674952,0.065556],[0.003276,-0.093138,0.995648]] 2025-10-28T20:36:00.793Z,1761683760.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686237,0.725888,0.046534],[-0.727251,0.683516,0.062550],[0.013597,-0.076766,0.996956]] 2025-10-28T20:36:01.195Z,1761683761.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689599,0.723451,-0.032732],[-0.718549,0.689158,0.093531],[0.090223,-0.040979,0.995078]] 2025-10-28T20:36:01.599Z,1761683761.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687913,0.724006,-0.050904],[-0.716471,0.688610,0.111738],[0.115952,-0.040395,0.992433]] 2025-10-28T20:36:02.004Z,1761683762.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680256,0.732956,0.005189],[-0.731573,0.678501,0.066606],[0.045298,-0.049106,0.997766]] 2025-10-28T20:36:02.409Z,1761683762.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674398,0.736707,0.049508],[-0.737634,0.675200,0.000684],[-0.032924,-0.036980,0.998774]] 2025-10-28T20:36:02.811Z,1761683762.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662441,0.749070,-0.008088],[-0.749079,0.662476,0.002509],[0.007238,0.004397,0.999964]] 2025-10-28T20:36:03.220Z,1761683763.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654992,0.753816,-0.052408],[-0.753119,0.656894,0.036072],[0.061618,0.015842,0.997974]] 2025-10-28T20:36:03.627Z,1761683763.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671419,0.741071,0.003153],[-0.740874,0.671129,0.026278],[0.017358,-0.019979,0.999650]] 2025-10-28T20:36:04.023Z,1761683764.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668326,0.740334,0.072430],[-0.743848,0.665855,0.057679],[-0.005526,-0.092426,0.995704]] 2025-10-28T20:36:04.427Z,1761683764.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677863,0.731583,0.072714],[-0.733548,0.666432,0.133326],[0.049080,-0.143716,0.988401]] 2025-10-28T20:36:04.831Z,1761683764.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691722,0.722106,0.009113],[-0.712312,0.680155,0.173207],[0.118876,-0.126303,0.984843]] 2025-10-28T20:36:05.176Z,1761683765.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:36:05.242Z,1761683765.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674907,0.737662,0.018866],[-0.733021,0.667286,0.131948],[0.084744,-0.102881,0.991077]] 2025-10-28T20:36:05.639Z,1761683765.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655941,0.753416,0.045878],[-0.752492,0.647955,0.117943],[0.059133,-0.111886,0.991960]] 2025-10-28T20:36:06.043Z,1761683766.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671558,0.738992,0.053860],[-0.738529,0.661719,0.129240],[0.059867,-0.126569,0.990150]] 2025-10-28T20:36:06.180Z,1761683766.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:36:06.447Z,1761683766.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668579,0.742033,0.048882],[-0.742577,0.662664,0.097238],[0.039762,-0.101310,0.994060]] 2025-10-28T20:36:06.852Z,1761683766.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631017,0.773360,0.061085],[-0.775761,0.629394,0.045363],[-0.003365,-0.076012,0.997101]] 2025-10-28T20:36:07.257Z,1761683767.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671022,0.740412,0.038979],[-0.739818,0.672103,-0.030782],[-0.048989,-0.008182,0.998766]] 2025-10-28T20:36:07.667Z,1761683767.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705043,0.706087,-0.065998],[-0.709129,0.701015,-0.075593],[-0.007110,0.100097,0.994952]] 2025-10-28T20:36:08.063Z,1761683768.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665129,0.728126,-0.165635],[-0.739684,0.672838,-0.012522],[0.102328,0.130846,0.986108]] 2025-10-28T20:36:08.468Z,1761683768.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597603,0.794697,-0.106425],[-0.795595,0.604208,0.044279],[0.099491,0.058210,0.993334]] 2025-10-28T20:36:08.878Z,1761683768.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583481,0.810113,0.057163],[-0.812046,0.580984,0.055126],[0.011448,-0.078584,0.996842]] 2025-10-28T20:36:09.283Z,1761683769.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600622,0.786455,0.144019],[-0.798350,0.599718,0.054544],[-0.043475,-0.147738,0.988071]] 2025-10-28T20:36:09.679Z,1761683769.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585954,0.797300,0.144812],[-0.810210,0.579676,0.086804],[-0.014736,-0.168192,0.985644]] 2025-10-28T20:36:10.086Z,1761683770.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568022,0.816032,0.106974],[-0.820563,0.551505,0.150062],[0.063459,-0.173017,0.982872]] 2025-10-28T20:36:10.488Z,1761683770.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566684,0.821410,0.064463],[-0.819095,0.553159,0.151986],[0.089184,-0.138929,0.986278]] 2025-10-28T20:36:10.892Z,1761683770.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555560,0.828773,0.066996],[-0.831464,0.553297,0.050303],[0.004621,-0.083651,0.996484]] 2025-10-28T20:36:11.295Z,1761683771.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517859,0.849824,0.098092],[-0.851566,0.523034,-0.035641],[-0.081594,-0.065075,0.994539]] 2025-10-28T20:36:11.703Z,1761683771.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518219,0.852459,0.069019],[-0.855243,0.516814,0.038250],[-0.003064,-0.078850,0.996882]] 2025-10-28T20:36:12.103Z,1761683772.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557708,0.829305,0.034853],[-0.827744,0.552557,0.097568],[0.061655,-0.083264,0.994618]] 2025-10-28T20:36:12.507Z,1761683772.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559731,0.825433,0.073224],[-0.828657,0.558106,0.042960],[-0.005406,-0.084723,0.996390]] 2025-10-28T20:36:12.570Z,1761683772.570 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T20:36:12.912Z,1761683772.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530229,0.840864,0.108645],[-0.845084,0.534490,-0.012379],[-0.068479,-0.085250,0.994004]] 2025-10-28T20:36:13.317Z,1761683773.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522924,0.842629,0.128555],[-0.851491,0.523287,0.033671],[-0.038899,-0.127071,0.991131]] 2025-10-28T20:36:13.719Z,1761683773.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560455,0.818263,0.127811],[-0.826988,0.544648,0.139459],[0.044502,-0.183859,0.981945]] 2025-10-28T20:36:14.123Z,1761683774.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578160,0.802397,0.147951],[-0.814778,0.558176,0.156767],[0.043207,-0.211184,0.976491]] 2025-10-28T20:36:14.528Z,1761683774.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573041,0.806836,0.143663],[-0.818011,0.552465,0.160128],[0.049828,-0.209278,0.976586]] 2025-10-28T20:36:14.934Z,1761683774.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582384,0.801765,0.134171],[-0.811923,0.565550,0.144686],[0.040124,-0.193199,0.980339]] 2025-10-28T20:36:15.335Z,1761683775.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578122,0.812301,0.077087],[-0.814772,0.569630,0.108020],[0.043834,-0.125257,0.991156]] 2025-10-28T20:36:15.739Z,1761683775.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590589,0.806972,0.001209],[-0.802914,0.587468,0.101047],[0.080832,-0.060648,0.994881]] 2025-10-28T20:36:16.143Z,1761683776.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627109,0.777249,-0.051178],[-0.771529,0.628843,0.096436],[0.107138,-0.020991,0.994023]] 2025-10-28T20:36:16.549Z,1761683776.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614596,0.787365,-0.048243],[-0.778388,0.615240,0.124870],[0.128000,-0.039193,0.991000]] 2025-10-28T20:36:16.951Z,1761683776.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602546,0.797056,0.040487],[-0.792715,0.591847,0.146014],[0.092419,-0.120075,0.988454]] 2025-10-28T20:36:17.355Z,1761683777.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630050,0.767461,0.118493],[-0.776006,0.616497,0.133219],[0.029190,-0.175886,0.983978]] 2025-10-28T20:36:17.773Z,1761683777.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633432,0.769602,0.080478],[-0.769315,0.615169,0.172397],[0.083170,-0.171115,0.981734]] 2025-10-28T20:36:18.171Z,1761683778.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619621,0.781410,0.073952],[-0.779787,0.602107,0.171463],[0.089456,-0.163909,0.982411]] 2025-10-28T20:36:18.574Z,1761683778.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640911,0.755312,0.136884],[-0.767497,0.633671,0.097002],[-0.013473,-0.167228,0.985826]] 2025-10-28T20:36:18.971Z,1761683778.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640801,0.758965,0.115528],[-0.766736,0.640270,0.046586],[-0.038612,-0.118431,0.992211]] 2025-10-28T20:36:19.378Z,1761683779.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628893,0.776832,0.032024],[-0.776890,0.626253,0.065187],[0.030584,-0.065875,0.997359]] 2025-10-28T20:36:19.814Z,1761683779.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627697,0.777210,-0.044056],[-0.772532,0.628891,0.087701],[0.095869,-0.021015,0.995172]] 2025-10-28T20:36:20.185Z,1761683780.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638793,0.769178,-0.017561],[-0.767963,0.638835,0.046066],[0.046651,-0.015940,0.998784]] 2025-10-28T20:36:20.587Z,1761683780.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642168,0.763832,0.064664],[-0.764042,0.644610,-0.026766],[-0.062128,-0.032218,0.997548]] 2025-10-28T20:36:20.992Z,1761683780.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641162,0.763646,0.075868],[-0.764595,0.644138,-0.021935],[-0.065621,-0.043944,0.996877]] 2025-10-28T20:36:21.397Z,1761683781.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652151,0.758088,-0.001711],[-0.755662,0.650241,0.078491],[0.060616,-0.049895,0.996913]] 2025-10-28T20:36:21.834Z,1761683781.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688510,0.725106,0.013264],[-0.723868,0.685986,0.073744],[0.044373,-0.060375,0.997189]] 2025-10-28T20:36:22.211Z,1761683782.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692647,0.717989,0.068797],[-0.721090,0.691484,0.043354],[-0.016444,-0.079638,0.996688]] 2025-10-28T20:36:22.607Z,1761683782.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683107,0.724646,0.090849],[-0.730167,0.675124,0.105190],[0.014891,-0.138191,0.990294]] 2025-10-28T20:36:23.011Z,1761683783.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693911,0.710669,0.115916],[-0.718776,0.674030,0.170423],[0.042983,-0.201576,0.978529]] 2025-10-28T20:36:23.419Z,1761683783.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689052,0.704549,0.169758],[-0.724625,0.673414,0.146396],[-0.011174,-0.223886,0.974551]] 2025-10-28T20:36:23.848Z,1761683783.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707776,0.690380,0.149762],[-0.704457,0.705612,0.076500],[-0.052860,-0.159646,0.985758]] 2025-10-28T20:36:24.225Z,1761683784.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729581,0.683219,0.030389],[-0.683722,0.729675,0.009976],[-0.015359,-0.028056,0.999488]] 2025-10-28T20:36:24.628Z,1761683784.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717549,0.690923,-0.088025],[-0.693519,0.720437,0.001506],[0.064457,0.059966,0.996117]] 2025-10-28T20:36:25.031Z,1761683785.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713374,0.693164,-0.103060],[-0.693464,0.719448,0.038771],[0.101022,0.043810,0.993919]] 2025-10-28T20:36:25.437Z,1761683785.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753542,0.657349,-0.008191],[-0.655746,0.752472,0.061509],[0.046596,-0.040979,0.998073]] 2025-10-28T20:36:25.841Z,1761683785.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759880,0.645519,0.076731],[-0.650032,0.753366,0.099492],[0.006417,-0.125480,0.992075]] 2025-10-28T20:36:26.244Z,1761683786.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738615,0.662063,0.126967],[-0.673719,0.718399,0.173219],[0.023469,-0.213482,0.976665]] 2025-10-28T20:36:26.647Z,1761683786.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751473,0.651257,0.105609],[-0.657683,0.726740,0.198249],[0.052360,-0.218436,0.974446]] 2025-10-28T20:36:27.054Z,1761683787.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756943,0.650727,0.059936],[-0.651426,0.744112,0.148131],[0.051794,-0.151171,0.987150]] 2025-10-28T20:36:27.456Z,1761683787.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770653,0.637222,-0.006457],[-0.636461,0.770159,0.042105],[0.031803,-0.028339,0.999092]] 2025-10-28T20:36:27.859Z,1761683787.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767647,0.634090,-0.092995],[-0.637206,0.770677,-0.005057],[0.068462,0.063139,0.995654]] 2025-10-28T20:36:28.265Z,1761683788.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732490,0.675559,-0.084136],[-0.677703,0.735324,0.004090],[0.064631,0.054023,0.996446]] 2025-10-28T20:36:28.669Z,1761683788.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737970,0.674315,0.026451],[-0.674717,0.738003,0.010375],[-0.012525,-0.025504,0.999596]] 2025-10-28T20:36:29.071Z,1761683789.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756700,0.646503,0.097155],[-0.651856,0.757456,0.036654],[-0.049893,-0.091067,0.994594]] 2025-10-28T20:36:29.475Z,1761683789.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763782,0.638999,0.091194],[-0.645464,0.755342,0.113291],[0.003510,-0.145392,0.989368]] 2025-10-28T20:36:29.879Z,1761683789.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773160,0.628802,0.082652],[-0.633663,0.760489,0.141871],[0.026353,-0.162063,0.986428]] 2025-10-28T20:36:30.287Z,1761683790.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767114,0.634642,0.093624],[-0.641366,0.761835,0.090872],[-0.013655,-0.129757,0.991452]] 2025-10-28T20:36:30.688Z,1761683790.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750227,0.658645,0.057845],[-0.660740,0.750045,0.029247],[-0.024123,-0.060163,0.997897]] 2025-10-28T20:36:31.091Z,1761683791.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749296,0.662221,-0.004280],[-0.662189,0.749305,0.006936],[0.007800,-0.002362,0.999967]] 2025-10-28T20:36:31.495Z,1761683791.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781618,0.621480,-0.053256],[-0.623311,0.781437,-0.028976],[0.023608,0.055843,0.998160]] 2025-10-28T20:36:31.901Z,1761683791.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790265,0.604408,-0.100861],[-0.612034,0.786594,-0.081758],[0.029922,0.126341,0.991536]] 2025-10-28T20:36:32.304Z,1761683792.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786066,0.613326,-0.077014],[-0.616745,0.786550,-0.031043],[0.041537,0.071900,0.996547]] 2025-10-28T20:36:32.722Z,1761683792.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785495,0.618580,-0.018875],[-0.613971,0.782746,0.101724],[0.077699,-0.068315,0.994633]] 2025-10-28T20:36:33.119Z,1761683793.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778062,0.625925,0.053260],[-0.623805,0.759856,0.182996],[0.074072,-0.175606,0.981670]] 2025-10-28T20:36:33.517Z,1761683793.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795810,0.597019,0.101265],[-0.605467,0.781791,0.149040],[0.009812,-0.179920,0.983632]] 2025-10-28T20:36:33.919Z,1761683793.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821096,0.565483,0.077660],[-0.570128,0.819068,0.063887],[-0.027481,-0.096734,0.994931]] 2025-10-28T20:36:33.957Z,1761683793.957 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003767 2025-10-28T20:36:34.326Z,1761683794.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822482,0.568464,-0.019280],[-0.567563,0.822462,0.037793],[0.037341,-0.020141,0.999100]] 2025-10-28T20:36:34.727Z,1761683794.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818250,0.571721,-0.060018],[-0.571750,0.820222,0.018375],[0.059733,0.019280,0.998028]] 2025-10-28T20:36:34.956Z,1761683794.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:36:35.133Z,1761683795.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818282,0.570643,-0.069148],[-0.569841,0.821102,0.032768],[0.075476,0.012590,0.997068]] 2025-10-28T20:36:35.535Z,1761683795.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789770,0.611330,-0.050388],[-0.601157,0.787719,0.134568],[0.121957,-0.075987,0.989622]] 2025-10-28T20:36:35.939Z,1761683795.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792658,0.605610,0.070212],[-0.608780,0.780031,0.144701],[0.032865,-0.157442,0.986981]] 2025-10-28T20:36:36.351Z,1761683796.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815046,0.573439,0.082870],[-0.578994,0.811435,0.079617],[-0.021588,-0.112873,0.993375]] 2025-10-28T20:36:36.747Z,1761683796.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817332,0.575439,-0.028957],[-0.574624,0.817789,0.032074],[0.042137,-0.009576,0.999066]] 2025-10-28T20:36:37.151Z,1761683797.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805232,0.588061,-0.076062],[-0.589399,0.807821,0.005845],[0.064882,0.040124,0.997086]] 2025-10-28T20:36:37.555Z,1761683797.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808771,0.586989,-0.036519],[-0.587544,0.809171,-0.005849],[0.026117,0.026187,0.999316]] 2025-10-28T20:36:37.964Z,1761683797.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813625,0.579000,-0.052672],[-0.578972,0.815163,0.017341],[0.052977,0.016386,0.998461]] 2025-10-28T20:36:38.363Z,1761683798.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778989,0.624586,-0.055388],[-0.623889,0.780889,0.031226],[0.062755,0.010231,0.997976]] 2025-10-28T20:36:38.768Z,1761683798.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765605,0.643116,-0.015845],[-0.639382,0.763416,0.091582],[0.070994,-0.059984,0.995672]] 2025-10-28T20:36:39.173Z,1761683799.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765947,0.642892,-0.003953],[-0.635989,0.758594,0.141610],[0.094039,-0.105952,0.989915]] 2025-10-28T20:36:39.577Z,1761683799.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777789,0.626999,0.043776],[-0.627474,0.770575,0.111760],[0.036341,-0.114394,0.992771]] 2025-10-28T20:36:39.979Z,1761683799.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791695,0.609938,0.034563],[-0.610094,0.786428,0.096517],[0.031688,-0.097499,0.994731]] 2025-10-28T20:36:40.384Z,1761683800.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770667,0.636892,-0.021001],[-0.630192,0.766619,0.123097],[0.094499,-0.081632,0.992172]] 2025-10-28T20:36:40.793Z,1761683800.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736219,0.676701,0.007600],[-0.672455,0.730245,0.120611],[0.076068,-0.093907,0.992671]] 2025-10-28T20:36:41.198Z,1761683801.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734277,0.676258,0.059269],[-0.678661,0.729207,0.087618],[0.016033,-0.104560,0.994389]] 2025-10-28T20:36:41.604Z,1761683801.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743650,0.668038,0.026662],[-0.667339,0.739272,0.090200],[0.040547,-0.084869,0.995567]] 2025-10-28T20:36:42.003Z,1761683802.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744066,0.664862,-0.065762],[-0.657400,0.746137,0.105376],[0.119128,-0.035175,0.992256]] 2025-10-28T20:36:42.407Z,1761683802.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728720,0.679546,-0.084757],[-0.673535,0.733578,0.090629],[0.123763,-0.008956,0.992271]] 2025-10-28T20:36:42.812Z,1761683802.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726722,0.686854,-0.010288],[-0.685828,0.726323,0.045767],[0.038908,-0.026204,0.998899]] 2025-10-28T20:36:43.211Z,1761683803.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732055,0.681238,0.003230],[-0.680175,0.730631,0.059504],[0.038177,-0.045757,0.998223]] 2025-10-28T20:36:43.615Z,1761683803.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709172,0.700688,-0.078170],[-0.685605,0.711226,0.155252],[0.164379,-0.056507,0.984777]] 2025-10-28T20:36:43.668Z,1761683803.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:36:44.019Z,1761683804.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689747,0.718956,-0.085739],[-0.694060,0.690254,0.204525],[0.206226,-0.081562,0.975099]] 2025-10-28T20:36:44.424Z,1761683804.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699448,0.714624,0.009184],[-0.706890,0.689872,0.156153],[0.105255,-0.115713,0.987690]] 2025-10-28T20:36:44.829Z,1761683804.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677840,0.731774,0.070983],[-0.735039,0.672441,0.086834],[0.015811,-0.111035,0.993691]] 2025-10-28T20:36:45.231Z,1761683805.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665844,0.743961,0.056331],[-0.745087,0.659136,0.101910],[0.038687,-0.109828,0.993197]] 2025-10-28T20:36:45.636Z,1761683805.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676177,0.736704,-0.007174],[-0.730037,0.671305,0.128045],[0.099147,-0.081343,0.991742]] 2025-10-28T20:36:46.039Z,1761683806.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695405,0.718292,-0.021638],[-0.716384,0.695302,0.057875],[0.056617,-0.024746,0.998089]] 2025-10-28T20:36:46.445Z,1761683806.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693352,0.720498,-0.012078],[-0.720585,0.693139,-0.017755],[-0.004421,0.021013,0.999769]] 2025-10-28T20:36:46.847Z,1761683806.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688010,0.723825,-0.052146],[-0.722514,0.689945,0.044148],[0.067933,0.007302,0.997663]] 2025-10-28T20:36:47.251Z,1761683807.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686460,0.725002,-0.056080],[-0.716232,0.687447,0.120118],[0.125638,-0.042290,0.991174]] 2025-10-28T20:36:47.655Z,1761683807.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675485,0.737315,0.009302],[-0.732236,0.669239,0.126292],[0.086892,-0.092119,0.991950]] 2025-10-28T20:36:48.061Z,1761683808.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672103,0.736263,0.078707],[-0.740373,0.666608,0.086498],[0.011219,-0.116409,0.993138]] 2025-10-28T20:36:48.463Z,1761683808.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678953,0.729255,0.084907],[-0.733887,0.677403,0.050348],[-0.020800,-0.096497,0.995116]] 2025-10-28T20:36:48.868Z,1761683808.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692745,0.721108,-0.010394],[-0.719140,0.691795,0.065243],[0.054237,-0.037722,0.997815]] 2025-10-28T20:36:49.271Z,1761683809.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693072,0.717891,-0.065448],[-0.717085,0.695877,0.039298],[0.073755,0.019695,0.997082]] 2025-10-28T20:36:49.675Z,1761683809.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676250,0.736266,-0.024480],[-0.735827,0.676692,0.025430],[0.035288,0.000816,0.999377]] 2025-10-28T20:36:50.079Z,1761683810.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678237,0.734288,0.028557],[-0.733789,0.674672,0.079816],[0.039341,-0.075089,0.996401]] 2025-10-28T20:36:50.492Z,1761683810.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672362,0.738180,0.054949],[-0.738046,0.662847,0.126181],[0.056721,-0.125394,0.990484]] 2025-10-28T20:36:50.889Z,1761683810.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663321,0.745107,0.069423],[-0.747531,0.655454,0.107596],[0.034667,-0.123266,0.991768]] 2025-10-28T20:36:51.294Z,1761683811.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653473,0.753826,0.068694],[-0.756867,0.649367,0.073993],[0.011170,-0.100345,0.994890]] 2025-10-28T20:36:51.699Z,1761683811.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678517,0.732771,0.051582],[-0.734193,0.674189,0.080188],[0.023983,-0.092280,0.995444]] 2025-10-28T20:36:52.099Z,1761683812.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670812,0.741082,-0.028450],[-0.733722,0.668758,0.120062],[0.108002,-0.059664,0.992359]] 2025-10-28T20:36:52.252Z,1761683812.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:36:52.504Z,1761683812.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643715,0.765038,-0.018663],[-0.760465,0.642214,0.096198],[0.085580,-0.047732,0.995187]] 2025-10-28T20:36:52.909Z,1761683812.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663319,0.744362,0.077034],[-0.747809,0.663196,0.030866],[-0.028113,-0.078081,0.996551]] 2025-10-28T20:36:53.311Z,1761683813.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681872,0.728173,0.069388],[-0.729649,0.683798,-0.005707],[-0.051603,-0.046737,0.997573]] 2025-10-28T20:36:53.715Z,1761683813.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657954,0.752915,-0.014676],[-0.753058,0.657851,-0.011682],[0.000859,0.018739,0.999824]] 2025-10-28T20:36:54.119Z,1761683814.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653265,0.756591,-0.028534],[-0.756436,0.653816,0.018154],[0.032391,0.009725,0.999428]] 2025-10-28T20:36:54.526Z,1761683814.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671521,0.740063,0.036966],[-0.740568,0.668631,0.067019],[0.024882,-0.072381,0.997067]] 2025-10-28T20:36:54.930Z,1761683814.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671894,0.735434,0.087727],[-0.739283,0.658750,0.139673],[0.044930,-0.158701,0.986304]] 2025-10-28T20:36:55.331Z,1761683815.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645694,0.751562,0.135034],[-0.762838,0.627010,0.157914],[0.034014,-0.204973,0.978176]] 2025-10-28T20:36:55.735Z,1761683815.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631776,0.757229,0.165719],[-0.774778,0.623501,0.104713],[-0.024034,-0.194550,0.980598]] 2025-10-28T20:36:56.142Z,1761683816.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634627,0.761451,0.132065],[-0.770339,0.636963,0.029238],[-0.061857,-0.120290,0.990810]] 2025-10-28T20:36:56.543Z,1761683816.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667600,0.744289,0.018551],[-0.744043,0.667857,-0.019160],[-0.026650,-0.001011,0.999644]] 2025-10-28T20:36:56.948Z,1761683816.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653114,0.753543,-0.074934],[-0.757233,0.650722,-0.056205],[0.006408,0.093450,0.995603]] 2025-10-28T20:36:57.351Z,1761683817.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619492,0.780506,-0.083906],[-0.783971,0.620612,-0.015171],[0.040232,0.075178,0.996358]] 2025-10-28T20:36:57.764Z,1761683817.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630068,0.775799,-0.033914],[-0.772434,0.630624,0.075226],[0.079748,-0.021201,0.996590]] 2025-10-28T20:36:58.159Z,1761683818.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630746,0.775254,0.033768],[-0.771603,0.621968,0.133358],[0.082383,-0.110171,0.990493]] 2025-10-28T20:36:58.564Z,1761683818.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610156,0.782376,0.124890],[-0.791844,0.596960,0.128924],[0.026313,-0.177557,0.983759]] 2025-10-28T20:36:58.967Z,1761683818.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599682,0.785998,0.150296],[-0.800157,0.586260,0.126681],[0.011459,-0.196229,0.980491]] 2025-10-28T20:36:59.389Z,1761683819.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626133,0.773794,0.095919],[-0.779685,0.620246,0.085946],[0.007011,-0.128600,0.991672]] 2025-10-28T20:36:59.816Z,1761683819.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643604,0.765218,0.014651],[-0.765358,0.643484,0.012432],[0.000085,-0.019215,0.999815]] 2025-10-28T20:37:00.181Z,1761683820.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621724,0.780236,-0.068489],[-0.782186,0.623040,-0.002715],[0.040553,0.055259,0.997648]] 2025-10-28T20:37:00.585Z,1761683820.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601253,0.794641,-0.083915],[-0.793408,0.606167,0.055367],[0.094864,0.033289,0.994933]] 2025-10-28T20:37:01.004Z,1761683821.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609671,0.792184,-0.027291],[-0.785268,0.608321,0.115320],[0.107957,-0.048876,0.992953]] 2025-10-28T20:37:01.056Z,1761683821.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:01.391Z,1761683821.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614180,0.788876,0.021380],[-0.780972,0.603686,0.160142],[0.113425,-0.115053,0.986862]] 2025-10-28T20:37:01.826Z,1761683821.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611913,0.789786,0.042442],[-0.778863,0.592376,0.206066],[0.137606,-0.159151,0.977617]] 2025-10-28T20:37:02.201Z,1761683822.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615719,0.787595,0.024167],[-0.770373,0.595243,0.228495],[0.165577,-0.159307,0.973245]] 2025-10-28T20:37:02.603Z,1761683822.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625405,0.780294,0.003208],[-0.762342,0.610130,0.215813],[0.166441,-0.137416,0.976429]] 2025-10-28T20:37:03.008Z,1761683823.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625584,0.777561,-0.063578],[-0.755704,0.624205,0.198191],[0.193791,-0.075939,0.978099]] 2025-10-28T20:37:03.414Z,1761683823.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608164,0.789760,-0.080096],[-0.770402,0.611540,0.180279],[0.191359,-0.047933,0.980349]] 2025-10-28T20:37:03.841Z,1761683823.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616105,0.787653,-0.004296],[-0.779293,0.610341,0.142082],[0.114533,-0.084190,0.989846]] 2025-10-28T20:37:04.219Z,1761683824.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619160,0.783315,0.055306],[-0.783723,0.611997,0.106014],[0.049196,-0.108984,0.992825]] 2025-10-28T20:37:04.623Z,1761683824.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606382,0.792638,0.063444],[-0.793772,0.598650,0.107442],[0.047181,-0.115511,0.992185]] 2025-10-28T20:37:05.029Z,1761683825.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607521,0.794269,0.007428],[-0.787167,0.600785,0.139374],[0.106238,-0.090520,0.990212]] 2025-10-28T20:37:05.436Z,1761683825.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633373,0.773148,-0.032873],[-0.764465,0.631725,0.128517],[0.120130,-0.056269,0.991162]] 2025-10-28T20:37:05.839Z,1761683825.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645314,0.763519,-0.024655],[-0.760129,0.644990,0.078690],[0.075983,-0.032039,0.996594]] 2025-10-28T20:37:06.239Z,1761683826.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625886,0.779794,0.013710],[-0.776920,0.621847,0.098499],[0.068283,-0.072301,0.995043]] 2025-10-28T20:37:06.645Z,1761683826.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631538,0.770535,0.086230],[-0.774466,0.621614,0.117463],[0.036908,-0.140965,0.989326]] 2025-10-28T20:37:07.047Z,1761683827.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637713,0.764435,0.094664],[-0.770274,0.632922,0.078019],[-0.000275,-0.122671,0.992447]] 2025-10-28T20:37:07.451Z,1761683827.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633999,0.772739,0.030335],[-0.773318,0.633244,0.031345],[0.005012,-0.043331,0.999048]] 2025-10-28T20:37:07.855Z,1761683827.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633217,0.773643,-0.022651],[-0.773742,0.633473,0.005948],[0.018951,0.013760,0.999726]] 2025-10-28T20:37:08.261Z,1761683828.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638580,0.769522,-0.007212],[-0.769391,0.638220,-0.026701],[-0.015944,0.022600,0.999617]] 2025-10-28T20:37:08.663Z,1761683828.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671353,0.741084,0.008936],[-0.741058,0.671409,-0.006561],[-0.010862,-0.002218,0.999939]] 2025-10-28T20:37:09.067Z,1761683829.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660814,0.747676,0.065614],[-0.750112,0.660885,0.023714],[-0.025633,-0.064888,0.997563]] 2025-10-28T20:37:09.471Z,1761683829.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629929,0.765558,0.130808],[-0.776386,0.625129,0.080235],[-0.020347,-0.152100,0.988156]] 2025-10-28T20:37:09.877Z,1761683829.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636343,0.755668,0.155029],[-0.771285,0.619693,0.145261],[0.013699,-0.212007,0.977172]] 2025-10-28T20:37:10.279Z,1761683830.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654768,0.741283,0.147577],[-0.755762,0.639473,0.141061],[0.010195,-0.203895,0.978940]] 2025-10-28T20:37:10.683Z,1761683830.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630536,0.763908,0.137362],[-0.776159,0.620292,0.113203],[0.001273,-0.177993,0.984031]] 2025-10-28T20:37:10.840Z,1761683830.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:11.087Z,1761683831.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608456,0.785833,0.110668],[-0.793070,0.597081,0.120556],[0.028659,-0.161120,0.986519]] 2025-10-28T20:37:11.492Z,1761683831.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604547,0.795804,0.034905],[-0.787867,0.590908,0.173473],[0.117425,-0.132373,0.984220]] 2025-10-28T20:37:11.895Z,1761683831.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623974,0.780373,-0.040913],[-0.763590,0.620009,0.180329],[0.166090,-0.081280,0.982755]] 2025-10-28T20:37:12.299Z,1761683832.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632494,0.774150,-0.025340],[-0.772590,0.632879,0.050689],[0.055278,-0.012483,0.998393]] 2025-10-28T20:37:12.704Z,1761683832.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616586,0.786559,0.033865],[-0.785947,0.617475,-0.031796],[-0.045920,-0.007011,0.998921]] 2025-10-28T20:37:13.109Z,1761683833.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634284,0.772034,0.040573],[-0.772955,0.634307,0.013955],[-0.014962,-0.040213,0.999079]] 2025-10-28T20:37:13.512Z,1761683833.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665497,0.746396,0.002544],[-0.743204,0.662328,0.094711],[0.069007,-0.064921,0.995502]] 2025-10-28T20:37:13.917Z,1761683833.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660767,0.750590,0.001495],[-0.747080,0.657482,0.097923],[0.072517,-0.065821,0.995193]] 2025-10-28T20:37:14.320Z,1761683834.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645183,0.763116,0.037317],[-0.762770,0.640551,0.088745],[0.043819,-0.085721,0.995355]] 2025-10-28T20:37:14.725Z,1761683834.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639483,0.765344,0.072874],[-0.766918,0.628402,0.130187],[0.053844,-0.139140,0.988808]] 2025-10-28T20:37:15.130Z,1761683835.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640978,0.761017,0.100004],[-0.766479,0.627712,0.135966],[0.040698,-0.163802,0.985653]] 2025-10-28T20:37:15.531Z,1761683835.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656115,0.745851,0.114975],[-0.754474,0.651684,0.077954],[-0.016785,-0.137892,0.990305]] 2025-10-28T20:37:15.937Z,1761683835.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669083,0.737374,0.092777],[-0.742820,0.667447,0.052283],[-0.023371,-0.103898,0.994313]] 2025-10-28T20:37:16.352Z,1761683836.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669530,0.739649,0.068176],[-0.742620,0.664626,0.082384],[0.015623,-0.105788,0.994266]] 2025-10-28T20:37:16.745Z,1761683836.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654327,0.750059,0.096268],[-0.756113,0.650976,0.067250],[-0.012227,-0.116793,0.993081]] 2025-10-28T20:37:17.149Z,1761683837.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636490,0.764492,0.102140],[-0.770815,0.625876,0.118841],[0.026926,-0.154372,0.987646]] 2025-10-28T20:37:17.551Z,1761683837.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668370,0.736644,0.103135],[-0.742035,0.650694,0.161188],[0.051629,-0.184263,0.981520]] 2025-10-28T20:37:17.957Z,1761683837.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697832,0.710975,0.086867],[-0.715869,0.688289,0.117427],[0.023698,-0.144130,0.989275]] 2025-10-28T20:37:18.361Z,1761683838.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663198,0.747785,0.031412],[-0.748309,0.661697,0.046794],[0.014207,-0.054540,0.998411]] 2025-10-28T20:37:18.763Z,1761683838.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677646,0.735387,0.000806],[-0.735364,0.677615,0.008815],[0.005937,-0.006566,0.999961]] 2025-10-28T20:37:19.167Z,1761683839.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705597,0.708546,-0.009725],[-0.708453,0.705079,-0.030955],[-0.015076,0.028731,0.999473]] 2025-10-28T20:37:19.586Z,1761683839.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676998,0.735972,0.004247],[-0.735515,0.676350,0.039596],[0.026269,-0.029930,0.999207]] 2025-10-28T20:37:19.981Z,1761683839.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671952,0.737889,0.063254],[-0.734882,0.653744,0.180461],[0.091808,-0.167746,0.981546]] 2025-10-28T20:37:20.384Z,1761683840.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707422,0.687048,0.165889],[-0.705976,0.675601,0.212511],[0.033930,-0.267448,0.962975]] 2025-10-28T20:37:20.787Z,1761683840.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712725,0.671373,0.203178],[-0.699795,0.700413,0.140385],[-0.048058,-0.242239,0.969026]] 2025-10-28T20:37:21.195Z,1761683841.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716206,0.689748,0.106292],[-0.697880,0.707060,0.114143],[0.003575,-0.155929,0.987762]] 2025-10-28T20:37:21.592Z,1761683841.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720366,0.693382,-0.017189],[-0.688465,0.717827,0.103633],[0.084196,-0.062820,0.994467]] 2025-10-28T20:37:21.976Z,1761683841.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:21.999Z,1761683841.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736689,0.675860,-0.022404],[-0.675329,0.737013,0.027249],[0.034928,-0.004944,0.999378]] 2025-10-28T20:37:22.399Z,1761683842.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732406,0.680826,-0.007586],[-0.680738,0.732439,0.011370],[0.013297,-0.003163,0.999907]] 2025-10-28T20:37:22.804Z,1761683842.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728613,0.684924,-0.001309],[-0.683605,0.727327,0.060659],[0.042499,-0.043302,0.998158]] 2025-10-28T20:37:23.207Z,1761683843.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739380,0.672606,0.030311],[-0.673015,0.737049,0.061720],[0.019173,-0.066034,0.997633]] 2025-10-28T20:37:23.613Z,1761683843.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756586,0.650363,0.067862],[-0.652661,0.757453,0.017307],[-0.040146,-0.057385,0.997545]] 2025-10-28T20:37:24.029Z,1761683844.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777595,0.628219,0.026215],[-0.628591,0.777685,0.008883],[-0.014806,-0.023386,0.999617]] 2025-10-28T20:37:24.419Z,1761683844.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773314,0.632616,-0.042205],[-0.630260,0.774262,0.057365],[0.068967,-0.017761,0.997461]] 2025-10-28T20:37:24.823Z,1761683844.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746854,0.664778,-0.016694],[-0.661712,0.745430,0.080447],[0.065923,-0.049035,0.996619]] 2025-10-28T20:37:25.228Z,1761683845.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753565,0.655718,0.046619],[-0.657373,0.751729,0.052574],[-0.000571,-0.070264,0.997528]] 2025-10-28T20:37:25.631Z,1761683845.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766344,0.642345,0.010456],[-0.642430,0.766241,0.012591],[0.000076,-0.016366,0.999866]] 2025-10-28T20:37:26.043Z,1761683846.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755918,0.651330,-0.066007],[-0.651422,0.758364,0.023090],[0.065097,0.025545,0.997552]] 2025-10-28T20:37:26.444Z,1761683846.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749753,0.661517,-0.016303],[-0.660375,0.749574,0.045207],[0.042125,-0.023128,0.998845]] 2025-10-28T20:37:26.848Z,1761683846.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753847,0.655448,0.045853],[-0.656831,0.749958,0.078327],[0.016952,-0.089165,0.995873]] 2025-10-28T20:37:27.253Z,1761683847.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753065,0.649798,0.103224],[-0.657365,0.749675,0.076548],[-0.027644,-0.125501,0.991708]] 2025-10-28T20:37:27.656Z,1761683847.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767945,0.634364,0.088561],[-0.640507,0.761291,0.100930],[-0.003394,-0.134233,0.990944]] 2025-10-28T20:37:28.058Z,1761683848.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768633,0.638957,0.030622],[-0.637080,0.760300,0.126779],[0.057724,-0.116955,0.991458]] 2025-10-28T20:37:28.459Z,1761683848.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742667,0.669433,0.017478],[-0.666929,0.737031,0.109502],[0.060423,-0.092980,0.993833]] 2025-10-28T20:37:28.863Z,1761683848.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723593,0.690224,-0.001834],[-0.687036,0.720501,0.094124],[0.066288,-0.066847,0.995559]] 2025-10-28T20:37:29.267Z,1761683849.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731480,0.681713,-0.014268],[-0.680056,0.730905,0.057460],[0.049600,-0.032328,0.998246]] 2025-10-28T20:37:29.672Z,1761683849.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751299,0.659911,0.008172],[-0.659883,0.751343,-0.006109],[-0.010171,-0.000803,0.999948]] 2025-10-28T20:37:30.094Z,1761683850.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735049,0.677935,0.010308],[-0.677990,0.735065,0.002847],[-0.005647,-0.009082,0.999943]] 2025-10-28T20:37:30.483Z,1761683850.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713454,0.700663,0.007394],[-0.698157,0.709925,0.092644],[0.059663,-0.071260,0.995672]] 2025-10-28T20:37:30.520Z,1761683850.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:30.883Z,1761683850.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724947,0.688456,0.021931],[-0.681840,0.712736,0.164623],[0.097704,-0.134297,0.986113]] 2025-10-28T20:37:31.287Z,1761683851.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736391,0.675622,0.035526],[-0.672189,0.724673,0.151691],[0.076741,-0.135584,0.987789]] 2025-10-28T20:37:31.693Z,1761683851.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733388,0.679662,0.014188],[-0.676825,0.728054,0.108834],[0.063641,-0.089420,0.993959]] 2025-10-28T20:37:32.096Z,1761683852.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716981,0.696119,-0.036825],[-0.690520,0.716466,0.099286],[0.095499,-0.045758,0.994377]] 2025-10-28T20:37:32.499Z,1761683852.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722340,0.691240,-0.020317],[-0.688085,0.721355,0.078644],[0.069018,-0.042828,0.996696]] 2025-10-28T20:37:32.904Z,1761683852.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742392,0.669286,0.030172],[-0.669962,0.741481,0.036847],[0.002289,-0.047569,0.998865]] 2025-10-28T20:37:33.310Z,1761683853.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741913,0.669573,0.035165],[-0.670496,0.740894,0.038881],[-0.000020,-0.052424,0.998625]] 2025-10-28T20:37:33.715Z,1761683853.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735842,0.676313,0.033725],[-0.676195,0.731239,0.089714],[0.036014,-0.088820,0.995396]] 2025-10-28T20:37:34.117Z,1761683854.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747818,0.662119,0.048651],[-0.662391,0.739165,0.121958],[0.044790,-0.123428,0.991342]] 2025-10-28T20:37:34.520Z,1761683854.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746363,0.662546,0.063051],[-0.664537,0.736689,0.125219],[0.036514,-0.135359,0.990124]] 2025-10-28T20:37:34.927Z,1761683854.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741587,0.666264,0.078366],[-0.670713,0.733932,0.107181],[0.013896,-0.132045,0.991146]] 2025-10-28T20:37:35.327Z,1761683855.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755439,0.654749,0.024821],[-0.654428,0.752124,0.077676],[0.032190,-0.074923,0.996670]] 2025-10-28T20:37:35.731Z,1761683855.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741241,0.669206,-0.052209],[-0.667728,0.743075,0.044487],[0.068566,0.001886,0.997645]] 2025-10-28T20:37:36.137Z,1761683856.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721813,0.689369,-0.061295],[-0.687989,0.724343,0.044709],[0.075220,0.009899,0.997118]] 2025-10-28T20:37:36.539Z,1761683856.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741128,0.670448,-0.035053],[-0.668599,0.741803,0.051991],[0.060859,-0.015095,0.998032]] 2025-10-28T20:37:36.943Z,1761683856.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745816,0.666053,0.011497],[-0.665321,0.743912,0.062791],[0.033270,-0.054480,0.997960]] 2025-10-28T20:37:37.347Z,1761683857.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734161,0.671151,0.102778],[-0.678579,0.730449,0.077303],[-0.023192,-0.126495,0.991696]] 2025-10-28T20:37:37.756Z,1761683857.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738084,0.659018,0.144661],[-0.672662,0.735420,0.081750],[-0.052512,-0.157646,0.986098]] 2025-10-28T20:37:38.160Z,1761683858.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726196,0.684069,0.068476],[-0.687367,0.720592,0.090965],[0.012884,-0.113127,0.993497]] 2025-10-28T20:37:38.559Z,1761683858.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718108,0.694889,0.038088],[-0.695693,0.715350,0.065465],[0.018245,-0.073509,0.997128]] 2025-10-28T20:37:38.963Z,1761683858.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728682,0.682960,0.050885],[-0.683930,0.729544,0.002315],[-0.035542,-0.036489,0.998702]] 2025-10-28T20:37:39.368Z,1761683859.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746747,0.664572,-0.026677],[-0.665100,0.746329,-0.025190],[0.003169,0.036553,0.999327]] 2025-10-28T20:37:39.500Z,1761683859.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:39.814Z,1761683859.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735377,0.664220,-0.134284],[-0.672482,0.739734,-0.023699],[0.083593,0.107731,0.990660]] 2025-10-28T20:37:40.177Z,1761683860.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714467,0.688606,-0.123930],[-0.696103,0.717447,-0.026660],[0.070555,0.105316,0.991933]] 2025-10-28T20:37:40.579Z,1761683860.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691073,0.722717,-0.009906],[-0.722030,0.690913,0.036219],[0.033020,-0.017877,0.999295]] 2025-10-28T20:37:40.983Z,1761683860.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703019,0.710259,0.035987],[-0.705176,0.689644,0.164676],[0.092144,-0.141148,0.985691]] 2025-10-28T20:37:41.387Z,1761683861.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709880,0.704062,0.019159],[-0.692261,0.692453,0.203182],[0.129786,-0.157498,0.978954]] 2025-10-28T20:37:41.833Z,1761683861.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701937,0.708826,0.069641],[-0.710920,0.691330,0.129058],[0.043335,-0.140100,0.989189]] 2025-10-28T20:37:42.196Z,1761683862.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687895,0.719257,0.097312],[-0.725753,0.679956,0.104601],[0.009067,-0.142579,0.989742]] 2025-10-28T20:37:42.599Z,1761683862.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684008,0.725536,0.075700],[-0.726974,0.669397,0.153027],[0.060353,-0.159703,0.985318]] 2025-10-28T20:37:43.004Z,1761683863.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678494,0.724207,0.123170],[-0.734521,0.666255,0.128776],[0.011198,-0.177845,0.983995]] 2025-10-28T20:37:43.409Z,1761683863.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681138,0.720579,0.129680],[-0.732030,0.673536,0.102380],[-0.013571,-0.164665,0.986256]] 2025-10-28T20:37:43.835Z,1761683863.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687735,0.720635,0.087779],[-0.725933,0.681589,0.091964],[0.006444,-0.126969,0.991886]] 2025-10-28T20:37:44.216Z,1761683864.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683892,0.728708,0.035728],[-0.729569,0.682750,0.039768],[0.004586,-0.053263,0.998570]] 2025-10-28T20:37:44.619Z,1761683864.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688499,0.724178,-0.039183],[-0.724999,0.688652,-0.011622],[0.018567,0.036410,0.999164]] 2025-10-28T20:37:45.025Z,1761683865.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679443,0.729385,-0.079713],[-0.731571,0.681760,0.002569],[0.056219,0.056570,0.996815]] 2025-10-28T20:37:45.429Z,1761683865.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663472,0.747464,-0.033205],[-0.747172,0.664234,0.022986],[0.039237,0.009559,0.999184]] 2025-10-28T20:37:45.837Z,1761683865.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652926,0.754602,0.065291],[-0.757139,0.652609,0.029031],[-0.020703,-0.068390,0.997444]] 2025-10-28T20:37:46.236Z,1761683866.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659009,0.741888,0.123730],[-0.751956,0.653466,0.086859],[-0.016413,-0.150280,0.988507]] 2025-10-28T20:37:46.642Z,1761683866.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663029,0.742000,0.099134],[-0.747712,0.649994,0.135772],[0.036306,-0.164145,0.985768]] 2025-10-28T20:37:47.043Z,1761683867.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674714,0.733891,0.078513],[-0.737902,0.668395,0.093533],[0.016166,-0.121043,0.992516]] 2025-10-28T20:37:47.447Z,1761683867.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669892,0.739489,0.066339],[-0.741643,0.670666,0.013128],[-0.034784,-0.057994,0.997711]] 2025-10-28T20:37:47.851Z,1761683867.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656237,0.752082,0.061038],[-0.753417,0.657541,-0.001717],[-0.041426,-0.044861,0.998134]] 2025-10-28T20:37:48.275Z,1761683868.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654998,0.755372,0.019749],[-0.754596,0.652510,0.069395],[0.039533,-0.060357,0.997394]] 2025-10-28T20:37:48.332Z,1761683868.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:48.659Z,1761683868.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657326,0.753602,0.002632],[-0.746522,0.650665,0.139068],[0.103090,-0.093378,0.990279]] 2025-10-28T20:37:49.064Z,1761683869.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660641,0.746796,0.076473],[-0.750597,0.655415,0.083870],[0.012512,-0.112808,0.993538]] 2025-10-28T20:37:49.476Z,1761683869.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672388,0.732592,0.105842],[-0.735849,0.677047,-0.011550],[-0.080122,-0.070118,0.994316]] 2025-10-28T20:37:49.875Z,1761683869.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661154,0.749346,0.036821],[-0.748884,0.662115,-0.027858],[-0.045255,-0.009156,0.998933]] 2025-10-28T20:37:50.277Z,1761683870.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640600,0.765528,-0.059991],[-0.763033,0.643374,0.062050],[0.086098,0.006026,0.996268]] 2025-10-28T20:37:50.679Z,1761683870.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663341,0.745685,-0.062714],[-0.738028,0.665768,0.109849],[0.123665,-0.026583,0.991968]] 2025-10-28T20:37:51.085Z,1761683871.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666347,0.745376,0.019908],[-0.741714,0.659864,0.120168],[0.076433,-0.094840,0.992554]] 2025-10-28T20:37:51.488Z,1761683871.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651367,0.753955,0.085281],[-0.757704,0.640398,0.125599],[0.040082,-0.146429,0.988409]] 2025-10-28T20:37:51.892Z,1761683871.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652587,0.754373,0.071079],[-0.752944,0.635109,0.172373],[0.084890,-0.166007,0.982464]] 2025-10-28T20:37:52.297Z,1761683872.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651636,0.757846,0.032250],[-0.751723,0.639517,0.161030],[0.101411,-0.129176,0.986422]] 2025-10-28T20:37:52.702Z,1761683872.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675198,0.736565,0.039751],[-0.737160,0.671844,0.072258],[0.026516,-0.078092,0.996593]] 2025-10-28T20:37:53.103Z,1761683873.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682644,0.729311,0.045842],[-0.730113,0.683326,0.001088],[-0.030532,-0.034213,0.998948]] 2025-10-28T20:37:53.507Z,1761683873.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666486,0.743940,0.048468],[-0.745334,0.666355,0.021193],[-0.016531,-0.050249,0.998600]] 2025-10-28T20:37:53.911Z,1761683873.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661856,0.747733,0.053311],[-0.748483,0.655237,0.102162],[0.041458,-0.107519,0.993338]] 2025-10-28T20:37:54.318Z,1761683874.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665369,0.742638,0.075977],[-0.743674,0.650525,0.154166],[0.065064,-0.159079,0.985119]] 2025-10-28T20:37:54.719Z,1761683874.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686801,0.720888,0.092866],[-0.726425,0.676436,0.121409],[0.024704,-0.150844,0.988249]] 2025-10-28T20:37:55.124Z,1761683875.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691002,0.716215,0.097736],[-0.722422,0.688918,0.059150],[-0.024968,-0.111480,0.993453]] 2025-10-28T20:37:55.528Z,1761683875.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690011,0.722106,0.049484],[-0.723794,0.688131,0.050975],[0.002758,-0.070989,0.997473]] 2025-10-28T20:37:55.937Z,1761683875.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694657,0.718498,-0.034814],[-0.712469,0.693888,0.104438],[0.099195,-0.047745,0.993922]] 2025-10-28T20:37:56.335Z,1761683876.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707437,0.704368,-0.058299],[-0.697712,0.709152,0.101492],[0.112830,-0.031123,0.993127]] 2025-10-28T20:37:56.739Z,1761683876.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706097,0.708105,0.003874],[-0.707761,0.705559,0.035513],[0.022414,-0.027817,0.999362]] 2025-10-28T20:37:57.143Z,1761683877.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702624,0.710741,0.034163],[-0.711435,0.702593,0.014919],[-0.013399,-0.034787,0.999305]] 2025-10-28T20:37:57.550Z,1761683877.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715330,0.698666,0.012957],[-0.698227,0.713892,0.053272],[0.027970,-0.047154,0.998496]] 2025-10-28T20:37:57.945Z,1761683877.945 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:37:57.953Z,1761683877.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722424,0.691276,-0.015517],[-0.686020,0.719378,0.108961],[0.086485,-0.068071,0.993925]] 2025-10-28T20:37:58.355Z,1761683878.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728917,0.684522,-0.010428],[-0.677519,0.723478,0.132466],[0.098220,-0.089491,0.991133]] 2025-10-28T20:37:58.775Z,1761683878.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739073,0.673230,0.023094],[-0.672387,0.735203,0.085855],[0.040821,-0.078981,0.996040]] 2025-10-28T20:37:59.171Z,1761683879.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726268,0.687153,0.018862],[-0.687291,0.725352,0.038667],[0.012889,-0.041046,0.999074]] 2025-10-28T20:37:59.567Z,1761683879.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712974,0.701184,0.003216],[-0.700539,0.712106,0.046372],[0.030225,-0.035316,0.998919]] 2025-10-28T20:37:59.987Z,1761683879.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713214,0.700433,0.026811],[-0.700790,0.711725,0.048381],[0.014805,-0.053295,0.998469]] 2025-10-28T20:38:00.375Z,1761683880.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746148,0.665705,0.009996],[-0.665620,0.745557,0.033086],[0.014573,-0.031340,0.999403]] 2025-10-28T20:38:00.779Z,1761683880.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766982,0.640535,-0.038125],[-0.640261,0.767881,0.020598],[0.042469,0.008612,0.999061]] 2025-10-28T20:38:01.183Z,1761683881.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726273,0.685077,-0.056539],[-0.684922,0.728183,0.025128],[0.058385,0.020474,0.998084]] 2025-10-28T20:38:01.590Z,1761683881.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713321,0.700823,0.004514],[-0.698585,0.710498,0.084686],[0.056143,-0.063562,0.996397]] 2025-10-28T20:38:01.992Z,1761683881.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720705,0.689945,0.067522],[-0.691465,0.708473,0.141214],[0.049592,-0.148463,0.987674]] 2025-10-28T20:38:02.403Z,1761683882.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739058,0.670314,0.066873],[-0.671240,0.724409,0.157061],[0.056837,-0.160965,0.985322]] 2025-10-28T20:38:02.811Z,1761683882.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756488,0.653063,0.035144],[-0.652953,0.751127,0.097262],[0.037120,-0.096525,0.994638]] 2025-10-28T20:38:03.219Z,1761683883.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737437,0.675148,0.019038],[-0.675386,0.736846,0.030199],[0.006361,-0.035128,0.999363]] 2025-10-28T20:38:03.627Z,1761683883.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730165,0.683268,-0.002007],[-0.683165,0.730100,0.015486],[0.012046,-0.009937,0.999878]] 2025-10-28T20:38:04.048Z,1761683884.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753361,0.656111,-0.044344],[-0.654651,0.754654,0.043936],[0.062291,-0.004069,0.998050]] 2025-10-28T20:38:04.537Z,1761683884.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756706,0.648817,-0.080203],[-0.649738,0.759955,0.017598],[0.072369,0.038794,0.996623]] 2025-10-28T20:38:05.252Z,1761683885.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733117,0.679514,-0.028303],[-0.677655,0.733373,0.054303],[0.057656,-0.020631,0.998123]] 2025-10-28T20:38:05.657Z,1761683885.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761304,0.646800,0.045446],[-0.647126,0.753563,0.115633],[0.040545,-0.117441,0.992252]] 2025-10-28T20:38:06.064Z,1761683886.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777860,0.624085,0.073838],[-0.628411,0.771346,0.100624],[0.005843,-0.124672,0.992181]] 2025-10-28T20:38:06.467Z,1761683886.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769537,0.636091,0.056575],[-0.638087,0.762339,0.108090],[0.025626,-0.119280,0.992530]] 2025-10-28T20:38:06.867Z,1761683886.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768140,0.639682,0.027707],[-0.638040,0.761116,0.116649],[0.053531,-0.107281,0.992787]] 2025-10-28T20:38:07.272Z,1761683887.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775260,0.629014,0.057564],[-0.631312,0.774578,0.038392],[-0.020439,-0.066104,0.997603]] 2025-10-28T20:38:07.678Z,1761683887.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781291,0.622245,0.048941],[-0.622442,0.782558,-0.012975],[-0.046373,-0.020326,0.998717]] 2025-10-28T20:38:08.079Z,1761683888.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776243,0.630400,-0.006507],[-0.630145,0.776158,0.022281],[0.019096,-0.013195,0.999731]] 2025-10-28T20:38:08.490Z,1761683888.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767897,0.639240,0.041314],[-0.640489,0.765148,0.065747],[0.010417,-0.076948,0.996981]] 2025-10-28T20:38:08.564Z,1761683888.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:08.892Z,1761683888.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781329,0.621938,0.052140],[-0.623926,0.776273,0.090098],[0.015560,-0.102928,0.994567]] 2025-10-28T20:38:09.298Z,1761683889.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791660,0.610944,0.004634],[-0.607173,0.785885,0.117158],[0.067935,-0.095563,0.993102]] 2025-10-28T20:38:09.701Z,1761683889.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801174,0.598425,0.002644],[-0.595526,0.796842,0.101937],[0.058895,-0.083243,0.994787]] 2025-10-28T20:38:10.103Z,1761683890.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793932,0.605902,-0.050550],[-0.600104,0.794261,0.095002],[0.097711,-0.045089,0.994193]] 2025-10-28T20:38:10.504Z,1761683890.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774704,0.623219,-0.106922],[-0.610964,0.781334,0.127440],[0.162965,-0.033403,0.986066]] 2025-10-28T20:38:10.910Z,1761683890.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788970,0.609818,-0.075161],[-0.600598,0.791225,0.115082],[0.129648,-0.045655,0.990508]] 2025-10-28T20:38:11.312Z,1761683891.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806773,0.589484,-0.040326],[-0.584135,0.805998,0.095675],[0.088901,-0.053632,0.994595]] 2025-10-28T20:38:11.716Z,1761683891.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802368,0.596628,-0.015504],[-0.592092,0.798998,0.105015],[0.075042,-0.075081,0.994350]] 2025-10-28T20:38:12.119Z,1761683892.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813006,0.581670,0.026106],[-0.581925,0.810216,0.070098],[0.019622,-0.072182,0.997198]] 2025-10-28T20:38:12.523Z,1761683892.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823272,0.567643,-0.002168],[-0.567525,0.823168,0.017594],[0.011772,-0.013254,0.999843]] 2025-10-28T20:38:12.927Z,1761683892.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834984,0.549194,-0.034468],[-0.549045,0.835667,0.014479],[0.036755,0.006835,0.999301]] 2025-10-28T20:38:13.332Z,1761683893.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854805,0.515426,-0.060370],[-0.516320,0.856395,0.000915],[0.052172,0.030388,0.998176]] 2025-10-28T20:38:13.737Z,1761683893.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849093,0.522734,-0.076087],[-0.523916,0.851755,0.005095],[0.067471,0.035537,0.997088]] 2025-10-28T20:38:14.139Z,1761683894.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826053,0.560993,-0.054072],[-0.559595,0.827817,0.039653],[0.067007,-0.002497,0.997749]] 2025-10-28T20:38:14.546Z,1761683894.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819403,0.572829,0.021104],[-0.572524,0.816047,0.079265],[0.028184,-0.077032,0.996630]] 2025-10-28T20:38:14.950Z,1761683894.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841443,0.539135,0.036158],[-0.539265,0.833647,0.119269],[0.034159,-0.119857,0.992203]] 2025-10-28T20:38:15.352Z,1761683895.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846252,0.532059,0.027766],[-0.531265,0.838765,0.119293],[0.040182,-0.115703,0.992471]] 2025-10-28T20:38:15.769Z,1761683895.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829884,0.556941,0.033319],[-0.557701,0.826315,0.078570],[0.016227,-0.083786,0.996352]] 2025-10-28T20:38:16.160Z,1761683896.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815852,0.577858,0.021603],[-0.578176,0.814519,0.047658],[0.009944,-0.051372,0.998630]] 2025-10-28T20:38:16.563Z,1761683896.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828532,0.559840,0.010627],[-0.559789,0.827715,0.039036],[0.013058,-0.038291,0.999181]] 2025-10-28T20:38:16.967Z,1761683896.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839989,0.541230,0.038578],[-0.541196,0.840808,-0.012226],[-0.039054,-0.010609,0.999181]] 2025-10-28T20:38:17.371Z,1761683897.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833843,0.551018,0.032950],[-0.549318,0.834188,-0.048791],[-0.054371,0.022584,0.998265]] 2025-10-28T20:38:17.372Z,1761683897.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:17.808Z,1761683897.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841010,0.541003,-0.004233],[-0.541018,0.840967,-0.008585],[-0.001084,0.009510,0.999954]] 2025-10-28T20:38:18.182Z,1761683898.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857883,0.513720,-0.011374],[-0.512768,0.857306,0.045781],[0.033270,-0.033443,0.998887]] 2025-10-28T20:38:18.596Z,1761683898.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855234,0.517289,0.031433],[-0.518238,0.853396,0.056075],[0.002182,-0.064247,0.997932]] 2025-10-28T20:38:18.987Z,1761683898.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840329,0.538973,0.057930],[-0.541869,0.838157,0.062217],[-0.015021,-0.083673,0.996380]] 2025-10-28T20:38:19.423Z,1761683899.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854800,0.518714,0.015928],[-0.518436,0.852159,0.071064],[0.023288,-0.069003,0.997345]] 2025-10-28T20:38:19.833Z,1761683899.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854633,0.518431,-0.028831],[-0.517942,0.855107,0.022984],[0.036569,-0.004710,0.999320]] 2025-10-28T20:38:20.199Z,1761683900.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843521,0.535609,-0.039942],[-0.535839,0.844302,0.005609],[0.036727,0.016671,0.999186]] 2025-10-28T20:38:20.603Z,1761683900.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831341,0.554326,-0.039936],[-0.551665,0.831788,0.061595],[0.067362,-0.029175,0.997302]] 2025-10-28T20:38:21.010Z,1761683901.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836809,0.547490,0.002451],[-0.544853,0.832323,0.101856],[0.053725,-0.086569,0.994796]] 2025-10-28T20:38:21.411Z,1761683901.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858693,0.511077,0.038035],[-0.512465,0.855538,0.073720],[0.005136,-0.082795,0.996553]] 2025-10-28T20:38:21.838Z,1761683901.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861836,0.502748,0.066954],[-0.505789,0.861734,0.039908],[-0.037632,-0.068259,0.996958]] 2025-10-28T20:38:22.220Z,1761683902.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850566,0.524810,0.033340],[-0.525848,0.849369,0.045343],[-0.004521,-0.056099,0.998415]] 2025-10-28T20:38:22.624Z,1761683902.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847818,0.529864,-0.021207],[-0.527851,0.847076,0.061939],[0.050783,-0.041319,0.997855]] 2025-10-28T20:38:23.029Z,1761683903.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858604,0.511519,-0.033878],[-0.508309,0.858062,0.073148],[0.066486,-0.045585,0.996746]] 2025-10-28T20:38:23.431Z,1761683903.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869005,0.493764,-0.032060],[-0.492768,0.869482,0.034357],[0.044840,-0.014058,0.998895]] 2025-10-28T20:38:23.838Z,1761683903.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864938,0.501653,-0.015072],[-0.501522,0.865065,0.011770],[0.018943,-0.002622,0.999817]] 2025-10-28T20:38:24.239Z,1761683904.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846569,0.532261,-0.004328],[-0.531589,0.845858,0.044005],[0.027083,-0.034953,0.999022]] 2025-10-28T20:38:24.643Z,1761683904.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853835,0.520538,-0.002495],[-0.517410,0.849209,0.105501],[0.057035,-0.088789,0.994416]] 2025-10-28T20:38:25.047Z,1761683905.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870174,0.491544,-0.034388],[-0.484930,0.866665,0.117197],[0.087410,-0.085306,0.992513]] 2025-10-28T20:38:25.454Z,1761683905.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871580,0.489818,-0.020653],[-0.488041,0.870874,0.058263],[0.046524,-0.040701,0.998088]] 2025-10-28T20:38:25.855Z,1761683905.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861872,0.506453,0.026113],[-0.506711,0.862107,0.003962],[-0.020506,-0.016646,0.999651]] 2025-10-28T20:38:25.988Z,1761683905.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:26.259Z,1761683906.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872847,0.487639,-0.018614],[-0.487366,0.873024,0.017443],[0.024756,-0.006153,0.999675]] 2025-10-28T20:38:26.663Z,1761683906.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871359,0.476503,-0.116956],[-0.474067,0.879089,0.049640],[0.126468,0.012191,0.991896]] 2025-10-28T20:38:27.069Z,1761683907.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846481,0.520134,-0.113712],[-0.522000,0.852812,0.015069],[0.104813,0.046603,0.993399]] 2025-10-28T20:38:27.471Z,1761683907.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844596,0.535289,0.011067],[-0.534429,0.844126,-0.042856],[-0.032283,0.030282,0.999020]] 2025-10-28T20:38:27.875Z,1761683907.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862824,0.499065,0.080430],[-0.495649,0.866490,-0.059393],[-0.099333,0.011381,0.994989]] 2025-10-28T20:38:28.279Z,1761683908.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878455,0.477682,0.011736],[-0.477645,0.878533,-0.005961],[-0.013158,-0.000369,0.999913]] 2025-10-28T20:38:28.684Z,1761683908.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863367,0.501596,-0.054756],[-0.496993,0.864113,0.079413],[0.087149,-0.041349,0.995337]] 2025-10-28T20:38:29.087Z,1761683909.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845570,0.533545,-0.018482],[-0.527789,0.840653,0.121417],[0.080319,-0.092911,0.992430]] 2025-10-28T20:38:29.492Z,1761683909.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831777,0.550947,0.067854],[-0.554963,0.822514,0.124449],[0.012754,-0.141170,0.989903]] 2025-10-28T20:38:29.895Z,1761683909.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821186,0.561748,0.100458],[-0.570123,0.815234,0.101751],[-0.024738,-0.140830,0.989725]] 2025-10-28T20:38:30.301Z,1761683910.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824927,0.560818,0.070556],[-0.563197,0.826119,0.018340],[-0.048002,-0.054866,0.997339]] 2025-10-28T20:38:30.703Z,1761683910.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820171,0.571954,0.013704],[-0.569100,0.818068,-0.082998],[-0.058682,0.060273,0.996456]] 2025-10-28T20:38:31.107Z,1761683911.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831432,0.554216,-0.039565],[-0.554318,0.822487,-0.127463],[-0.038100,0.127908,0.991054]] 2025-10-28T20:38:31.512Z,1761683911.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824378,0.562477,-0.063407],[-0.565930,0.816833,-0.111831],[-0.011109,0.128075,0.991702]] 2025-10-28T20:38:31.915Z,1761683911.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815325,0.576064,-0.058266],[-0.576823,0.816857,0.004523],[0.050200,0.029921,0.998291]] 2025-10-28T20:38:32.319Z,1761683912.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797234,0.603488,-0.014811],[-0.598065,0.792930,0.116539],[0.082074,-0.084051,0.993076]] 2025-10-28T20:38:32.723Z,1761683912.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789916,0.607620,0.082653],[-0.612812,0.777306,0.142323],[0.022232,-0.163074,0.986363]] 2025-10-28T20:38:33.128Z,1761683913.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789132,0.607445,0.090999],[-0.614189,0.778809,0.127391],[0.006512,-0.156419,0.987669]] 2025-10-28T20:38:33.533Z,1761683913.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784065,0.616944,0.067986],[-0.620342,0.775322,0.118539],[0.020421,-0.135117,0.990619]] 2025-10-28T20:38:33.935Z,1761683913.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790191,0.608377,0.073995],[-0.612859,0.784153,0.097508],[0.001298,-0.122398,0.992480]] 2025-10-28T20:38:34.339Z,1761683914.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776465,0.627845,0.053972],[-0.630161,0.773592,0.066728],[0.000142,-0.085823,0.996310]] 2025-10-28T20:38:34.712Z,1761683914.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:34.743Z,1761683914.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770355,0.636422,0.038992],[-0.637548,0.767946,0.061569],[0.009240,-0.072289,0.997341]] 2025-10-28T20:38:35.162Z,1761683915.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795133,0.606066,0.021163],[-0.606220,0.793435,0.054386],[0.016170,-0.056073,0.998296]] 2025-10-28T20:38:35.554Z,1761683915.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774839,0.632125,0.006511],[-0.630597,0.772159,0.078216],[0.044415,-0.064710,0.996915]] 2025-10-28T20:38:35.955Z,1761683915.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731342,0.681708,0.020347],[-0.678473,0.724188,0.123397],[0.069386,-0.104050,0.992149]] 2025-10-28T20:38:36.359Z,1761683916.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741055,0.667994,0.067977],[-0.670264,0.729954,0.133841],[0.039785,-0.144746,0.988669]] 2025-10-28T20:38:36.772Z,1761683916.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759196,0.644080,0.093719],[-0.650299,0.756624,0.068060],[-0.027074,-0.112616,0.993270]] 2025-10-28T20:38:37.168Z,1761683917.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771296,0.635638,0.032653],[-0.636430,0.770842,0.027552],[-0.007657,-0.042032,0.999087]] 2025-10-28T20:38:37.571Z,1761683917.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753314,0.656496,-0.039130],[-0.656711,0.754090,0.008888],[0.035342,0.019001,0.999195]] 2025-10-28T20:38:37.975Z,1761683917.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724851,0.688568,-0.021556],[-0.688718,0.725029,0.000642],[0.016070,0.014380,0.999767]] 2025-10-28T20:38:38.379Z,1761683918.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722351,0.691517,0.003588],[-0.690523,0.721014,0.057594],[0.037240,-0.044081,0.998334]] 2025-10-28T20:38:38.786Z,1761683918.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731853,0.680786,0.030379],[-0.680343,0.727370,0.089811],[0.039046,-0.086396,0.995495]] 2025-10-28T20:38:39.187Z,1761683919.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719093,0.691994,0.063636],[-0.694451,0.712250,0.102163],[0.025371,-0.117657,0.992730]] 2025-10-28T20:38:39.591Z,1761683919.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728666,0.680798,0.074564],[-0.683611,0.716404,0.139434],[0.041508,-0.152573,0.987420]] 2025-10-28T20:38:39.996Z,1761683919.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735795,0.677095,0.012148],[-0.674099,0.730589,0.108768],[0.064771,-0.088220,0.993993]] 2025-10-28T20:38:40.402Z,1761683920.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692612,0.721268,0.007806],[-0.721039,0.692608,-0.019936],[-0.019786,0.008180,0.999771]] 2025-10-28T20:38:40.803Z,1761683920.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682616,0.730774,0.002113],[-0.728468,0.680687,-0.077454],[-0.058040,0.051332,0.996994]] 2025-10-28T20:38:41.208Z,1761683921.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697490,0.711245,-0.087400],[-0.715686,0.697545,-0.034991],[0.036078,0.086957,0.995559]] 2025-10-28T20:38:41.611Z,1761683921.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696991,0.702857,-0.142108],[-0.712632,0.700968,-0.028276],[0.079739,0.120978,0.989447]] 2025-10-28T20:38:42.022Z,1761683922.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664907,0.744233,-0.063368],[-0.746846,0.661200,-0.070960],[-0.010912,0.094508,0.995464]] 2025-10-28T20:38:42.419Z,1761683922.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634204,0.773120,0.008425],[-0.773100,0.634255,-0.006146],[-0.010095,-0.002615,0.999946]] 2025-10-28T20:38:42.825Z,1761683922.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616343,0.783637,0.077676],[-0.786595,0.607981,0.107830],[0.037274,-0.127560,0.991130]] 2025-10-28T20:38:43.229Z,1761683923.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635226,0.752531,0.173741],[-0.771681,0.627623,0.102944],[-0.031575,-0.199465,0.979396]] 2025-10-28T20:38:43.380Z,1761683923.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:43.633Z,1761683923.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666186,0.729993,0.152665],[-0.743075,0.667147,0.052490],[-0.063533,-0.148410,0.986883]] 2025-10-28T20:38:44.035Z,1761683924.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651117,0.758800,0.016402],[-0.758129,0.649216,0.061312],[0.035875,-0.052356,0.997984]] 2025-10-28T20:38:44.439Z,1761683924.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591022,0.802883,-0.077920],[-0.799188,0.595926,0.078553],[0.109503,0.015846,0.993860]] 2025-10-28T20:38:44.844Z,1761683924.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576874,0.815999,-0.036893],[-0.814333,0.578053,0.052129],[0.063863,-0.000029,0.997959]] 2025-10-28T20:38:45.251Z,1761683925.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576453,0.814571,0.064616],[-0.817130,0.574655,0.045498],[-0.000070,-0.079027,0.996872]] 2025-10-28T20:38:45.652Z,1761683925.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572142,0.810864,0.123097],[-0.820049,0.568000,0.069971],[-0.013182,-0.140979,0.989925]] 2025-10-28T20:38:46.056Z,1761683926.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556676,0.818840,0.140043],[-0.830084,0.554928,0.054913],[-0.032749,-0.146816,0.988622]] 2025-10-28T20:38:46.461Z,1761683926.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551028,0.827904,0.104607],[-0.833498,0.552134,0.020716],[-0.040607,-0.098605,0.994298]] 2025-10-28T20:38:46.864Z,1761683926.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531073,0.845102,0.061352],[-0.847188,0.530901,0.020431],[-0.015305,-0.062827,0.997907]] 2025-10-28T20:38:47.269Z,1761683927.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524502,0.851119,0.022219],[-0.850932,0.523157,0.047124],[0.028484,-0.043624,0.998642]] 2025-10-28T20:38:47.672Z,1761683927.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523541,0.851999,0.001558],[-0.851234,0.522991,0.043379],[0.036144,-0.024037,0.999057]] 2025-10-28T20:38:48.075Z,1761683928.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512041,0.858540,0.026869],[-0.857855,0.509545,0.066695],[0.043569,-0.057201,0.997412]] 2025-10-28T20:38:48.482Z,1761683928.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513052,0.854510,0.081174],[-0.857958,0.507631,0.078858],[0.026179,-0.110102,0.993575]] 2025-10-28T20:38:48.884Z,1761683928.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487055,0.864241,0.125955],[-0.873365,0.481407,0.074035],[0.003349,-0.146063,0.989270]] 2025-10-28T20:38:49.288Z,1761683929.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497141,0.862377,0.095692],[-0.865881,0.486012,0.118500],[0.055685,-0.141769,0.988332]] 2025-10-28T20:38:49.692Z,1761683929.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519560,0.853210,0.045709],[-0.852078,0.513417,0.101813],[0.063400,-0.091846,0.993753]] 2025-10-28T20:38:50.101Z,1761683930.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496764,0.867403,0.028927],[-0.867802,0.495977,0.030435],[0.012052,-0.040222,0.999118]] 2025-10-28T20:38:50.499Z,1761683930.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480226,0.875056,0.060496],[-0.877002,0.480247,0.015144],[-0.015801,-0.060328,0.998054]] 2025-10-28T20:38:50.903Z,1761683930.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468996,0.880194,0.072815],[-0.883021,0.465641,0.058759],[0.017814,-0.091855,0.995613]] 2025-10-28T20:38:51.309Z,1761683931.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501168,0.861959,0.076537],[-0.863845,0.493122,0.102968],[0.051012,-0.117721,0.991736]] 2025-10-28T20:38:51.713Z,1761683931.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487498,0.867426,0.099588],[-0.873116,0.484793,0.051416],[-0.003679,-0.112017,0.993699]] 2025-10-28T20:38:52.096Z,1761683932.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:38:52.115Z,1761683932.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449492,0.884699,0.123552],[-0.892585,0.450295,0.022937],[-0.035343,-0.120591,0.992073]] 2025-10-28T20:38:52.164Z,1761683932.164 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2025-10-28T20:38:52.164Z,1761683932.164 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T20:38:52.164Z,1761683932.164 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T20:38:52.165Z,1761683932.165 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2025-10-28T20:38:52.519Z,1761683932.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473226,0.876767,0.085657],[-0.880596,0.473522,0.018122],[-0.024672,-0.084005,0.996160]] 2025-10-28T20:38:52.539Z,1761683932.539 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2025-10-28T20:38:52.539Z,1761683932.539 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2025-10-28T20:38:52.923Z,1761683932.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496111,0.867163,0.043625],[-0.867812,0.496842,-0.007156],[-0.027880,-0.034308,0.999022]] 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.239006 min 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2025-10-28T20:38:52.943Z,1761683932.943 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2025-10-28T20:38:52.944Z,1761683932.944 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T20:38:52.944Z,1761683932.944 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T20:38:53.331Z,1761683933.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493205,0.869634,0.022021],[-0.869905,0.493149,0.008290],[-0.003650,-0.023245,0.999723]] 2025-10-28T20:38:53.736Z,1761683933.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483401,0.874991,0.026732],[-0.875171,0.482353,0.037564],[0.019974,-0.041553,0.998937]] 2025-10-28T20:38:54.143Z,1761683934.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478135,0.871316,0.110434],[-0.874557,0.460750,0.151194],[0.080855,-0.168872,0.982316]] 2025-10-28T20:38:54.559Z,1761683934.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502466,0.853948,0.135280],[-0.864558,0.494776,0.087953],[0.008174,-0.161151,0.986896]] 2025-10-28T20:38:54.951Z,1761683934.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493801,0.866397,0.074276],[-0.869215,0.489333,0.070845],[0.025034,-0.099545,0.994718]] 2025-10-28T20:38:54.961Z,1761683934.961 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203854.00,A,3645.36907,N,12151.76430,W,0.778,189.16,281025,,,D*7D 2025-10-28T20:38:54.963Z,1761683934.963 [NAL9602](INFO): GPS fix at 20251028T203854: (36.756151, -121.862738) 2025-10-28T20:38:54.987Z,1761683934.987 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T20:38:54.987Z,1761683934.987 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T20:38:55.351Z,1761683935.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479162,0.877051,0.034427],[-0.871536,0.470767,0.137129],[0.104063,-0.095711,0.989955]] 2025-10-28T20:38:55.900Z,1761683935.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517928,0.849754,0.098334],[-0.851235,0.500612,0.157436],[0.084554,-0.165245,0.982621]] 2025-10-28T20:38:56.287Z,1761683936.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525924,0.834621,0.163744],[-0.850326,0.511727,0.122806],[0.018704,-0.203822,0.978829]] 2025-10-28T20:38:56.691Z,1761683936.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512532,0.840166,0.177290],[-0.858169,0.508238,0.072394],[-0.029282,-0.189249,0.981492]] 2025-10-28T20:38:57.096Z,1761683937.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529232,0.842668,0.099120],[-0.848449,0.524635,0.069944],[0.006937,-0.121115,0.992614]] 2025-10-28T20:38:57.500Z,1761683937.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536010,0.844120,0.012422],[-0.842846,0.534249,0.064721],[0.047996,-0.045161,0.997826]] 2025-10-28T20:38:57.904Z,1761683937.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534162,0.845253,0.014757],[-0.845349,0.533906,0.018130],[0.007445,-0.022159,0.999727]] 2025-10-28T20:38:58.307Z,1761683938.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543096,0.838446,0.045322],[-0.839092,0.543934,-0.007758],[-0.031157,-0.033816,0.998942]] 2025-10-28T20:38:58.505Z,1761683938.505 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251028T162422/Courier0045.lzma 2025-10-28T20:38:58.710Z,1761683938.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571088,0.817585,0.073574],[-0.820593,0.570992,0.024404],[-0.022058,-0.074311,0.996991]] 2025-10-28T20:38:59.106Z,1761683939.106 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0045.lzma.bak 2025-10-28T20:38:59.106Z,1761683939.106 [DataOverHttps](INFO): SBD MOMSN=26263097 2025-10-28T20:38:59.122Z,1761683939.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589579,0.804778,0.068761],[-0.807098,0.583678,0.088960],[0.031458,-0.107946,0.993659]] 2025-10-28T20:38:59.521Z,1761683939.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556599,0.824162,0.104658],[-0.829476,0.544240,0.125588],[0.046546,-0.156714,0.986547]] 2025-10-28T20:38:59.922Z,1761683939.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541496,0.826041,0.156328],[-0.840701,0.531639,0.102868],[0.001863,-0.187128,0.982334]] 2025-10-28T20:39:00.326Z,1761683940.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565816,0.815681,0.120487],[-0.824495,0.558341,0.092000],[0.007770,-0.151396,0.988443]] 2025-10-28T20:39:00.731Z,1761683940.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578576,0.814151,0.049062],[-0.815016,0.574766,0.073434],[0.031587,-0.082474,0.996093]] 2025-10-28T20:39:01.135Z,1761683941.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550036,0.835132,0.003866],[-0.833830,0.548907,0.058556],[0.046780,-0.035432,0.998277]] 2025-10-28T20:39:01.538Z,1761683941.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555290,0.831237,-0.026427],[-0.828108,0.555574,0.074659],[0.076741,-0.019574,0.996859]] 2025-10-28T20:39:01.942Z,1761683941.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568755,0.821995,-0.029017],[-0.816648,0.568556,0.099147],[0.097996,-0.032694,0.994650]] 2025-10-28T20:39:02.347Z,1761683942.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578364,0.815734,0.008578],[-0.809432,0.572523,0.130527],[0.101564,-0.082436,0.991408]] 2025-10-28T20:39:02.751Z,1761683942.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590558,0.803729,0.072537],[-0.804884,0.580132,0.124934],[0.058332,-0.132165,0.989510]] 2025-10-28T20:39:03.159Z,1761683943.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579395,0.810089,0.089764],[-0.813677,0.568520,0.121303],[0.047234,-0.143321,0.988549]] 2025-10-28T20:39:03.559Z,1761683943.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602147,0.797689,0.033338],[-0.793094,0.592835,0.139819],[0.091768,-0.110632,0.989616]] 2025-10-28T20:39:03.963Z,1761683943.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603084,0.797189,-0.027934],[-0.788294,0.600979,0.131971],[0.121993,-0.057569,0.990860]] 2025-10-28T20:39:04.367Z,1761683944.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606400,0.795154,0.002977],[-0.790111,0.602125,0.114759],[0.089459,-0.071942,0.993389]] 2025-10-28T20:39:05.176Z,1761683945.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607231,0.788569,0.097107],[-0.794081,0.598255,0.107364],[0.026569,-0.142306,0.989466]] 2025-10-28T20:39:05.579Z,1761683945.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629453,0.761640,0.153923],[-0.776990,0.619158,0.113714],[-0.008693,-0.191175,0.981518]] 2025-10-28T20:39:05.982Z,1761683945.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629119,0.766486,0.129259],[-0.776769,0.613731,0.141295],[0.028970,-0.189295,0.981493]] 2025-10-28T20:39:06.388Z,1761683946.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582813,0.807122,0.094248],[-0.809879,0.567442,0.148680],[0.066522,-0.162982,0.984384]] 2025-10-28T20:39:06.790Z,1761683946.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616364,0.781184,0.099225],[-0.787315,0.608911,0.096757],[0.015166,-0.137759,0.990350]] 2025-10-28T20:39:07.194Z,1761683947.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644637,0.761535,0.067135],[-0.764430,0.643191,0.044193],[-0.009526,-0.079809,0.996765]] 2025-10-28T20:39:07.599Z,1761683947.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627592,0.778520,-0.005937],[-0.775884,0.626060,0.077802],[0.064288,-0.044221,0.996951]] 2025-10-28T20:39:08.004Z,1761683948.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624404,0.780936,-0.016093],[-0.772070,0.620177,0.138881],[0.118438,-0.074293,0.990178]] 2025-10-28T20:39:08.406Z,1761683948.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640062,0.765735,0.063007],[-0.763740,0.625157,0.160874],[0.083797,-0.151090,0.984962]] 2025-10-28T20:39:08.810Z,1761683948.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660192,0.743841,0.104150],[-0.750041,0.645544,0.143915],[0.039817,-0.173129,0.984094]] 2025-10-28T20:39:09.215Z,1761683949.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655533,0.751705,0.072224],[-0.753758,0.645472,0.123350],[0.046105,-0.135299,0.989731]] 2025-10-28T20:39:09.622Z,1761683949.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656969,0.753875,0.008046],[-0.750924,0.653373,0.096004],[0.067117,-0.069114,0.995348]] 2025-10-28T20:39:10.022Z,1761683950.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701969,0.711814,-0.023659],[-0.709976,0.702011,0.055806],[0.056332,-0.022376,0.998161]] 2025-10-28T20:39:10.427Z,1761683950.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739561,0.672428,-0.029842],[-0.672668,0.739940,0.002627],[0.023848,0.018131,0.999551]] 2025-10-28T20:39:10.831Z,1761683950.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731236,0.681564,-0.027645],[-0.682059,0.731126,-0.015839],[0.009416,0.030438,0.999492]] 2025-10-28T20:39:11.237Z,1761683951.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708663,0.705440,0.012307],[-0.704843,0.707068,0.057028],[0.031529,-0.049088,0.998297]] 2025-10-28T20:39:11.639Z,1761683951.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711448,0.701448,0.042570],[-0.696228,0.695337,0.178249],[0.095432,-0.156453,0.983064]] 2025-10-28T20:39:12.042Z,1761683952.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720511,0.691890,0.046398],[-0.680773,0.693028,0.237192],[0.131956,-0.202486,0.970354]] 2025-10-28T20:39:12.446Z,1761683952.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745850,0.660764,0.084256],[-0.664947,0.731079,0.152872],[0.039414,-0.170045,0.984648]] 2025-10-28T20:39:12.851Z,1761683952.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771710,0.634338,0.045597],[-0.635792,0.771223,0.031373],[-0.015264,-0.053202,0.998467]] 2025-10-28T20:39:13.255Z,1761683953.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749494,0.656225,-0.087335],[-0.659596,0.751492,-0.013912],[0.056502,0.068033,0.996082]] 2025-10-28T20:39:13.659Z,1761683953.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736931,0.661978,-0.136812],[-0.669388,0.742826,-0.011390],[0.094088,0.099974,0.990532]] 2025-10-28T20:39:14.065Z,1761683954.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737295,0.674964,-0.028631],[-0.675470,0.737257,-0.013902],[0.011725,0.029589,0.999493]] 2025-10-28T20:39:14.467Z,1761683954.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727866,0.685130,0.028439],[-0.685082,0.724775,0.073235],[0.029564,-0.072788,0.996909]] 2025-10-28T20:39:15.274Z,1761683955.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750824,0.660443,-0.008791],[-0.649013,0.740171,0.175867],[0.122657,-0.126340,0.984375]] 2025-10-28T20:39:15.336Z,1761683955.336 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20251028T162422/Express0046.lzma 2025-10-28T20:39:15.681Z,1761683955.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717321,0.696641,-0.011916],[-0.688990,0.711781,0.136604],[0.103645,-0.089779,0.990554]] 2025-10-28T20:39:16.083Z,1761683956.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697467,0.716332,0.020196],[-0.714378,0.692786,0.098552],[0.056605,-0.083165,0.994927]] 2025-10-28T20:39:16.338Z,1761683956.338 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0046.lzma.bak 2025-10-28T20:39:16.339Z,1761683956.339 [DataOverHttps](INFO): SBD MOMSN=26263100 2025-10-28T20:39:16.487Z,1761683956.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733824,0.678526,0.033245],[-0.678817,0.730461,0.075061],[0.026647,-0.077649,0.996625]] 2025-10-28T20:39:16.891Z,1761683956.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757011,0.651539,-0.049313],[-0.648326,0.758376,0.067364],[0.081288,-0.019025,0.996509]] 2025-10-28T20:39:17.296Z,1761683957.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736238,0.670752,-0.089702],[-0.670059,0.741111,0.042132],[0.094739,0.029086,0.995077]] 2025-10-28T20:39:17.699Z,1761683957.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706533,0.707655,0.006002],[-0.707484,0.706111,0.029550],[0.016674,-0.025124,0.999545]] 2025-10-28T20:39:18.103Z,1761683958.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700078,0.707335,0.097817],[-0.714031,0.694813,0.085992],[-0.007140,-0.130046,0.991482]] 2025-10-28T20:39:18.151Z,1761683958.151 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T20:39:18.151Z,1761683958.151 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T20:39:18.152Z,1761683958.152 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T20:39:18.507Z,1761683958.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712866,0.696794,0.079373],[-0.700905,0.704085,0.114004],[0.023552,-0.136903,0.990304]] 2025-10-28T20:39:18.912Z,1761683958.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714817,0.697494,0.050393],[-0.699099,0.710963,0.076107],[0.017257,-0.089632,0.995825]] 2025-10-28T20:39:19.314Z,1761683959.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728005,0.684969,0.028736],[-0.685553,0.727657,0.023076],[-0.005104,-0.036499,0.999321]] 2025-10-28T20:39:19.718Z,1761683959.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710578,0.703332,-0.020081],[-0.703298,0.710826,0.009896],[0.021234,0.007092,0.999749]] 2025-10-28T20:39:20.125Z,1761683960.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682891,0.729437,-0.039779],[-0.726850,0.683903,0.062977],[0.073143,-0.014093,0.997222]] 2025-10-28T20:39:20.527Z,1761683960.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676261,0.736551,-0.012804],[-0.728825,0.671493,0.133833],[0.107172,-0.081174,0.990921]] 2025-10-28T20:39:20.930Z,1761683960.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683421,0.729347,0.031447],[-0.723586,0.671056,0.161575],[0.096741,-0.133179,0.986359]] 2025-10-28T20:39:21.334Z,1761683961.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693098,0.718842,0.053688],[-0.718774,0.683549,0.126981],[0.054581,-0.126600,0.990451]] 2025-10-28T20:39:21.740Z,1761683961.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684269,0.728703,0.027722],[-0.725505,0.676444,0.126748],[0.073609,-0.106843,0.991547]] 2025-10-28T20:39:22.149Z,1761683962.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691221,0.722638,0.002723],[-0.715091,0.683449,0.146770],[0.104201,-0.103398,0.989167]] 2025-10-28T20:39:22.950Z,1761683962.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702940,0.710927,-0.021407],[-0.701044,0.697621,0.147858],[0.120050,-0.088928,0.988777]] 2025-10-28T20:39:23.356Z,1761683963.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684851,0.728499,-0.016358],[-0.719363,0.679501,0.144209],[0.116171,-0.086995,0.989412]] 2025-10-28T20:39:23.785Z,1761683963.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696391,0.717636,0.006225],[-0.709216,0.686841,0.158940],[0.109785,-0.115099,0.987269]] 2025-10-28T20:39:24.902Z,1761683964.902 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T203924 2025-10-28T20:39:24.980Z,1761683964.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695177,0.718829,0.003739],[-0.712169,0.688010,0.139489],[0.097696,-0.099632,0.990217]] 2025-10-28T20:39:25.379Z,1761683965.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711249,0.702903,-0.007215],[-0.698745,0.708086,0.101830],[0.076685,-0.067385,0.994776]] 2025-10-28T20:39:25.815Z,1761683965.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695814,0.718018,0.017141],[-0.717219,0.693382,0.069416],[0.037957,-0.060594,0.997441]] 2025-10-28T20:39:26.185Z,1761683966.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696345,0.711388,0.095032],[-0.716916,0.695670,0.045550],[-0.033708,-0.099849,0.994432]] 2025-10-28T20:39:26.589Z,1761683966.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721579,0.670081,0.174115],[-0.677829,0.734964,-0.019401],[-0.140968,-0.104021,0.984534]] 2025-10-28T20:39:26.991Z,1761683966.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750423,0.643841,0.149446],[-0.644830,0.762796,-0.048339],[-0.145119,-0.060093,0.987588]] 2025-10-28T20:39:27.395Z,1761683967.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757997,0.650498,0.047876],[-0.650545,0.759283,-0.016732],[-0.047236,-0.018463,0.998713]] 2025-10-28T20:39:27.825Z,1761683967.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742381,0.669690,-0.019628],[-0.668730,0.742467,0.039262],[0.040867,-0.016022,0.999036]] 2025-10-28T20:39:28.204Z,1761683968.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734959,0.677604,0.026221],[-0.677935,0.733337,0.051201],[0.015465,-0.055407,0.998344]] 2025-10-28T20:39:28.608Z,1761683968.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734486,0.671900,0.095294],[-0.677628,0.733747,0.049350],[-0.036764,-0.100821,0.994225]] 2025-10-28T20:39:29.011Z,1761683969.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740152,0.666463,0.089457],[-0.672380,0.735286,0.085209],[-0.008988,-0.123216,0.992339]] 2025-10-28T20:39:29.414Z,1761683969.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736638,0.674551,0.048418],[-0.674564,0.727770,0.123751],[0.048239,-0.123821,0.991131]] 2025-10-28T20:39:29.836Z,1761683969.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744263,0.667687,0.016328],[-0.663939,0.736989,0.126616],[0.072506,-0.105076,0.991817]] 2025-10-28T20:39:30.223Z,1761683970.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760518,0.649313,-0.002166],[-0.645171,0.756035,0.110297],[0.073255,-0.082486,0.993896]] 2025-10-28T20:39:30.628Z,1761683970.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728638,0.683726,-0.040065],[-0.673657,0.726006,0.138212],[0.123587,-0.073716,0.989592]] 2025-10-28T20:39:31.031Z,1761683971.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688275,0.725429,-0.005523],[-0.718484,0.682699,0.133055],[0.100292,-0.087611,0.991093]] 2025-10-28T20:39:31.436Z,1761683971.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694840,0.714846,0.078686],[-0.719147,0.691395,0.069277],[-0.004881,-0.104723,0.994489]] 2025-10-28T20:39:31.838Z,1761683971.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696275,0.716962,0.034154],[-0.717698,0.694710,0.047840],[0.010572,-0.057822,0.998271]] 2025-10-28T20:39:32.243Z,1761683972.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676135,0.734011,-0.063790],[-0.730414,0.679133,0.072625],[0.096630,-0.002511,0.995317]] 2025-10-28T20:39:32.508Z,1761683972.508 [DataOverHttps](INFO): Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4mepg 1 2 2025-10-28T20:39:32.596Z,1761683972.596 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4mepg 1 2.000000 2025-10-28T20:39:32.597Z,1761683972.597 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4mepg 2025-10-28T20:39:32.598Z,1761683972.598 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='4mepg'): "load Engineering/marl3.tl;set marl.NeedCommsTime 20 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min", ASAP 2025-10-28T20:39:32.655Z,1761683972.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683505,0.726572,-0.070099],[-0.725276,0.686839,0.047187],[0.082431,0.018589,0.996423]] 2025-10-28T20:39:33.052Z,1761683973.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675844,0.735733,-0.043953],[-0.733603,0.677247,0.056241],[0.071145,-0.005766,0.997449]] 2025-10-28T20:39:33.454Z,1761683973.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655797,0.754887,-0.008670],[-0.750596,0.653213,0.099595],[0.080846,-0.058806,0.994990]] 2025-10-28T20:39:33.510Z,1761683973.510 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T203932 2025-10-28T20:39:33.858Z,1761683973.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678941,0.733940,0.019255],[-0.727600,0.669105,0.151317],[0.098174,-0.116745,0.988298]] 2025-10-28T20:39:34.263Z,1761683974.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682659,0.730555,-0.016338],[-0.717490,0.674354,0.174513],[0.138509,-0.107410,0.984519]] 2025-10-28T20:39:34.667Z,1761683974.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653888,0.755026,-0.048640],[-0.739957,0.651595,0.166999],[0.157782,-0.073207,0.984757]] 2025-10-28T20:39:35.070Z,1761683975.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664491,0.747164,-0.014057],[-0.739777,0.660351,0.129097],[0.105740,-0.075385,0.991532]] 2025-10-28T20:39:35.474Z,1761683975.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671838,0.740688,0.003915],[-0.735414,0.666406,0.122755],[0.088314,-0.085351,0.992429]] 2025-10-28T20:39:35.878Z,1761683975.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661059,0.750116,-0.018072],[-0.739699,0.655541,0.152025],[0.125883,-0.087129,0.988212]] 2025-10-28T20:39:36.315Z,1761683976.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657837,0.751893,-0.043681],[-0.734931,0.653517,0.181087],[0.164704,-0.087024,0.982497]] 2025-10-28T20:39:36.689Z,1761683976.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656250,0.753520,-0.039297],[-0.740380,0.653101,0.159048],[0.145511,-0.075281,0.986488]] 2025-10-28T20:39:37.090Z,1761683977.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656919,0.753705,-0.019677],[-0.749550,0.655672,0.090935],[0.081440,-0.044988,0.995662]] 2025-10-28T20:39:37.496Z,1761683977.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649170,0.760570,-0.010573],[-0.758265,0.648176,0.070014],[0.060104,-0.037434,0.997490]] 2025-10-28T20:39:37.899Z,1761683977.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636085,0.771589,-0.006752],[-0.769435,0.634919,0.069619],[0.058004,-0.039088,0.997551]] 2025-10-28T20:39:38.304Z,1761683978.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621784,0.782146,0.040405],[-0.782920,0.619389,0.058264],[0.020545,-0.067862,0.997483]] 2025-10-28T20:39:38.707Z,1761683978.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650211,0.754523,0.088994],[-0.759292,0.649426,0.041498],[-0.026484,-0.094555,0.995167]] 2025-10-28T20:39:39.110Z,1761683979.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670398,0.740138,0.052560],[-0.741940,0.669573,0.034601],[-0.009583,-0.062193,0.998018]] 2025-10-28T20:39:39.515Z,1761683979.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645666,0.763589,0.006827],[-0.763565,0.645488,0.017696],[0.009106,-0.016639,0.999820]] 2025-10-28T20:39:39.919Z,1761683979.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617233,0.785863,0.037975],[-0.786682,0.617200,0.014004],[-0.012433,-0.038518,0.999181]] 2025-10-28T20:39:40.324Z,1761683980.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619582,0.778104,0.103307],[-0.784271,0.619074,0.040821],[-0.032192,-0.106312,0.993812]] 2025-10-28T20:39:40.727Z,1761683980.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604154,0.794272,0.064264],[-0.795204,0.595721,0.112995],[0.051466,-0.119369,0.991515]] 2025-10-28T20:39:41.130Z,1761683981.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598708,0.800826,-0.015049],[-0.785554,0.590751,0.184166],[0.156375,-0.098440,0.982780]] 2025-10-28T20:39:41.420Z,1761683981.420 [DataOverHttps](INFO): Received command: sched asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4mepg 2 2 2025-10-28T20:39:41.448Z,1761683981.448 [CommandExec](IMPORTANT): got command schedule asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4mepg 2 2.000000 2025-10-28T20:39:41.448Z,1761683981.448 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4mepg 2025-10-28T20:39:41.449Z,1761683981.449 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='4mepg'): "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 200 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAP 2025-10-28T20:39:41.534Z,1761683981.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626169,0.778164,0.048718],[-0.776253,0.616334,0.132530],[0.073103,-0.120804,0.989981]] 2025-10-28T20:39:41.580Z,1761683981.580 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl 2025-10-28T20:39:41.581Z,1761683981.581 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl 2025-10-28T20:39:41.581Z,1761683981.581 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl 2025-10-28T20:39:41.583Z,1761683981.583 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl 2025-10-28T20:39:41.940Z,1761683981.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639239,0.761652,0.106116],[-0.768891,0.630615,0.105504],[0.013439,-0.149034,0.988741]] 2025-10-28T20:39:42.343Z,1761683982.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625005,0.778991,0.050424],[-0.771360,0.606380,0.193148],[0.119884,-0.159614,0.979873]] 2025-10-28T20:39:42.747Z,1761683982.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616749,0.786341,0.035898],[-0.771594,0.594900,0.225247],[0.155765,-0.166620,0.973640]] 2025-10-28T20:39:43.151Z,1761683983.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637891,0.756171,0.145945],[-0.769788,0.620441,0.149928],[0.022821,-0.207985,0.977866]] 2025-10-28T20:39:43.424Z,1761683983.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:39:43.556Z,1761683983.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638519,0.748239,0.180089],[-0.766472,0.639360,0.061149],[-0.069388,-0.177078,0.981748]] 2025-10-28T20:39:43.959Z,1761683983.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638538,0.762658,0.103067],[-0.768834,0.638101,0.041493],[-0.034122,-0.105736,0.993809]] 2025-10-28T20:39:44.363Z,1761683984.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653632,0.756699,0.013092],[-0.756250,0.652382,0.049838],[0.029171,-0.042477,0.998671]] 2025-10-28T20:39:44.383Z,1761683984.383 [NAL9602](INFO): SBD MO Status=2, MOMSN=3351, MT Status=2, MTMSN=0 2025-10-28T20:39:44.383Z,1761683984.383 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T20:39:44.768Z,1761683984.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653455,0.756852,-0.013109],[-0.756002,0.653399,0.039119],[0.038173,-0.015652,0.999149]] 2025-10-28T20:39:45.171Z,1761683985.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644334,0.764409,0.022646],[-0.764587,0.643317,0.039386],[0.015538,-0.042692,0.998967]] 2025-10-28T20:39:45.575Z,1761683985.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656306,0.753255,0.043244],[-0.753198,0.650741,0.096068],[0.044223,-0.095622,0.994435]] 2025-10-28T20:39:45.978Z,1761683985.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656221,0.753601,0.038195],[-0.749971,0.645808,0.143092],[0.083168,-0.122545,0.988972]] 2025-10-28T20:39:46.384Z,1761683986.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662915,0.746109,0.062175],[-0.748191,0.657135,0.091561],[0.027457,-0.107216,0.993856]] 2025-10-28T20:39:46.787Z,1761683986.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674465,0.736874,0.045970],[-0.738274,0.673712,0.032603],[-0.006947,-0.055928,0.998411]] 2025-10-28T20:39:47.191Z,1761683987.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659738,0.751062,-0.025532],[-0.751132,0.660095,0.008685],[0.023377,0.013448,0.999636]] 2025-10-28T20:39:47.595Z,1761683987.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655904,0.753519,-0.044725],[-0.753025,0.657285,0.030503],[0.052382,0.013672,0.998534]] 2025-10-28T20:39:48.000Z,1761683988.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695869,0.718080,0.011289],[-0.717780,0.694890,0.043809],[0.023613,-0.038588,0.998976]] 2025-10-28T20:39:48.403Z,1761683988.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692784,0.717427,0.073129],[-0.721065,0.690641,0.055498],[-0.010691,-0.091179,0.995777]] 2025-10-28T20:39:48.807Z,1761683988.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681758,0.722403,0.115496],[-0.731506,0.675355,0.093782],[-0.010252,-0.148423,0.988871]] 2025-10-28T20:39:48.867Z,1761683988.867 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into: 4 1 8 10 NaN 36.81544 -121.82506 0 0 50 240 10 0 4 1 30 20 60 5 1 10 0 NaN 0.010 1.5 0 1 0 0 0 0 Got test_good : and temp var is modem _.others_observations none_str SendData: sent send_observations : to nearby vehicles. Elapsed time Upadating ContactLabel 0 Speed timeout reached. Stopping vehicle (speed ). Updating heading Updating rudder angle 2025-10-28T20:39:48.903Z,1761683988.903 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h 2025-10-28T20:39:48.914Z,1761683988.914 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h 2025-10-28T20:39:48.923Z,1761683988.923 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count 2025-10-28T20:39:48.930Z,1761683988.930 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count 2025-10-28T20:39:48.980Z,1761683988.980 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m 2025-10-28T20:39:48.982Z,1761683988.982 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg 2025-10-28T20:39:48.997Z,1761683988.997 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg 2025-10-28T20:39:48.999Z,1761683988.999 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m 2025-10-28T20:39:49.010Z,1761683989.010 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m 2025-10-28T20:39:49.020Z,1761683989.020 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m 2025-10-28T20:39:49.022Z,1761683989.022 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s 2025-10-28T20:39:49.042Z,1761683989.042 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s 2025-10-28T20:39:49.049Z,1761683989.049 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count 2025-10-28T20:39:49.051Z,1761683989.051 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h 2025-10-28T20:39:49.074Z,1761683989.074 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min 2025-10-28T20:39:49.084Z,1761683989.084 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s 2025-10-28T20:39:49.086Z,1761683989.086 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m 2025-10-28T20:39:49.113Z,1761683989.113 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m 2025-10-28T20:39:49.115Z,1761683989.115 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m 2025-10-28T20:39:49.125Z,1761683989.125 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool 2025-10-28T20:39:49.127Z,1761683989.127 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool 2025-10-28T20:39:49.145Z,1761683989.145 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count 2025-10-28T20:39:49.154Z,1761683989.154 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m 2025-10-28T20:39:49.172Z,1761683989.172 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool 2025-10-28T20:39:49.175Z,1761683989.175 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s 2025-10-28T20:39:49.211Z,1761683989.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717824,0.683189,0.134097],[-0.695910,0.709858,0.108680],[-0.020940,-0.171333,0.984991]] 2025-10-28T20:39:49.220Z,1761683989.220 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str 2025-10-28T20:39:49.222Z,1761683989.222 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m 2025-10-28T20:39:49.249Z,1761683989.249 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km 2025-10-28T20:39:49.251Z,1761683989.251 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count 2025-10-28T20:39:49.266Z,1761683989.266 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count 2025-10-28T20:39:49.276Z,1761683989.276 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg 2025-10-28T20:39:49.279Z,1761683989.279 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg 2025-10-28T20:39:49.297Z,1761683989.297 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s 2025-10-28T20:39:49.308Z,1761683989.308 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s 2025-10-28T20:39:49.309Z,1761683989.309 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-10-28T20:39:49.309Z,1761683989.309 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-10-28T20:39:49.310Z,1761683989.310 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-10-28T20:39:49.465Z,1761683989.465 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-10-28T20:39:49.488Z,1761683989.488 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h 2025-10-28T20:39:49.490Z,1761683989.490 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-10-28T20:39:49.497Z,1761683989.497 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-10-28T20:39:49.499Z,1761683989.499 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout 2025-10-28T20:39:49.614Z,1761683989.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723306,0.685349,0.084415],[-0.690525,0.718232,0.085542],[-0.002003,-0.120164,0.992752]] 2025-10-28T20:39:49.642Z,1761683989.642 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-10-28T20:39:49.642Z,1761683989.642 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-10-28T20:39:49.643Z,1761683989.643 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-10-28T20:39:50.019Z,1761683990.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728059,0.685301,0.017130],[-0.684095,0.724716,0.082467],[0.044100,-0.071759,0.996447]] 2025-10-28T20:39:50.232Z,1761683990.232 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1500 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-10-28T20:39:50.241Z,1761683990.241 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h 2025-10-28T20:39:50.243Z,1761683990.243 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min 2025-10-28T20:39:50.250Z,1761683990.250 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-10-28T20:39:50.272Z,1761683990.272 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s 2025-10-28T20:39:50.274Z,1761683990.274 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-10-28T20:39:50.280Z,1761683990.280 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1500.000000 s 2025-10-28T20:39:50.283Z,1761683990.283 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min 2025-10-28T20:39:50.289Z,1761683990.289 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min 2025-10-28T20:39:50.300Z,1761683990.300 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-10-28T20:39:50.362Z,1761683990.362 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-28T20:39:50.363Z,1761683990.363 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-28T20:39:50.368Z,1761683990.368 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-28T20:39:50.427Z,1761683990.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744396,0.665894,-0.049597],[-0.662124,0.745710,0.074220],[0.086408,-0.022410,0.996008]] 2025-10-28T20:39:50.588Z,1761683990.588 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-28T20:39:50.597Z,1761683990.597 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-28T20:39:50.600Z,1761683990.600 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-28T20:39:50.606Z,1761683990.606 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-28T20:39:50.612Z,1761683990.612 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-28T20:39:50.613Z,1761683990.613 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-28T20:39:50.643Z,1761683990.643 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-28T20:39:50.667Z,1761683990.667 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-28T20:39:50.737Z,1761683990.737 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-28T20:39:50.737Z,1761683990.737 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-28T20:39:50.746Z,1761683990.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-28T20:39:50.832Z,1761683990.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731770,0.675907,-0.087537],[-0.671608,0.736981,0.076171],[0.115998,0.003051,0.993245]] 2025-10-28T20:39:51.235Z,1761683991.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731979,0.680080,-0.041214],[-0.676235,0.732559,0.077865],[0.083146,-0.029125,0.996112]] 2025-10-28T20:39:51.639Z,1761683991.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740692,0.669624,0.054584],[-0.671828,0.738813,0.052943],[-0.004875,-0.075886,0.997105]] 2025-10-28T20:39:52.043Z,1761683992.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758652,0.645699,0.086713],[-0.651263,0.755191,0.074451],[-0.017412,-0.112956,0.993447]] 2025-10-28T20:39:52.448Z,1761683992.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770962,0.636335,0.026360],[-0.633964,0.762818,0.127273],[0.060880,-0.114834,0.991517]] 2025-10-28T20:39:52.851Z,1761683992.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754306,0.656506,0.004787],[-0.650808,0.746759,0.137117],[0.086443,-0.106543,0.990543]] 2025-10-28T20:39:53.255Z,1761683993.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749119,0.661346,0.037988],[-0.661746,0.744491,0.088459],[0.030221,-0.091405,0.995355]] 2025-10-28T20:39:53.659Z,1761683993.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744803,0.665455,0.049374],[-0.666958,0.744712,0.023911],[-0.020858,-0.050740,0.998494]] 2025-10-28T20:39:54.467Z,1761683994.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749545,0.660208,-0.048029],[-0.656038,0.750568,0.079132],[0.088293,-0.027804,0.995706]] 2025-10-28T20:39:54.871Z,1761683994.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765425,0.643342,-0.015341],[-0.642016,0.765045,0.050227],[0.044050,-0.028596,0.998620]] 2025-10-28T20:39:55.275Z,1761683995.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753589,0.656416,0.034945],[-0.657346,0.752466,0.041130],[0.000703,-0.053966,0.998543]] 2025-10-28T20:39:55.681Z,1761683995.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734631,0.674860,0.069868],[-0.678347,0.728660,0.094343],[0.012758,-0.116702,0.993085]] 2025-10-28T20:39:56.082Z,1761683996.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769338,0.636067,0.059471],[-0.637835,0.759568,0.127366],[0.035841,-0.135920,0.990071]] 2025-10-28T20:39:56.212Z,1761683996.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:39:56.233Z,1761683996.233 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois PeakPlanktivoreLMavgROIAvgProfiles = . PeakPlanktivoreLMavgROIDepthAvgProfiles = EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-28T20:39:56.276Z,1761683996.276 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool 2025-10-28T20:39:56.278Z,1761683996.278 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-28T20:39:56.280Z,1761683996.280 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool 2025-10-28T20:39:56.282Z,1761683996.282 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min 2025-10-28T20:39:56.285Z,1761683996.285 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool 2025-10-28T20:39:56.287Z,1761683996.287 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool 2025-10-28T20:39:56.289Z,1761683996.289 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool 2025-10-28T20:39:56.291Z,1761683996.291 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool 2025-10-28T20:39:56.293Z,1761683996.293 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count 2025-10-28T20:39:56.295Z,1761683996.295 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-28T20:39:56.314Z,1761683996.314 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-28T20:39:56.336Z,1761683996.336 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool 2025-10-28T20:39:56.338Z,1761683996.338 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool 2025-10-28T20:39:56.348Z,1761683996.348 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool 2025-10-28T20:39:56.350Z,1761683996.350 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool 2025-10-28T20:39:56.356Z,1761683996.356 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T20:39:56.358Z,1761683996.358 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool 2025-10-28T20:39:56.361Z,1761683996.361 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T20:39:56.363Z,1761683996.363 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T20:39:56.381Z,1761683996.381 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T20:39:56.383Z,1761683996.383 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T20:39:56.390Z,1761683996.390 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T20:39:56.391Z,1761683996.391 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T20:39:56.406Z,1761683996.406 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T20:39:56.408Z,1761683996.408 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-28T20:39:56.414Z,1761683996.414 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool 2025-10-28T20:39:56.421Z,1761683996.421 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool 2025-10-28T20:39:56.423Z,1761683996.423 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool 2025-10-28T20:39:56.430Z,1761683996.430 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool 2025-10-28T20:39:56.433Z,1761683996.433 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-28T20:39:56.436Z,1761683996.436 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-28T20:39:56.454Z,1761683996.454 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool 2025-10-28T20:39:56.457Z,1761683996.457 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count 2025-10-28T20:39:56.459Z,1761683996.459 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count 2025-10-28T20:39:56.487Z,1761683996.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790029,0.613059,0.003409],[-0.611074,0.786998,0.084988],[0.049420,-0.069226,0.996376]] 2025-10-28T20:39:56.490Z,1761683996.490 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m 2025-10-28T20:39:56.506Z,1761683996.506 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m 2025-10-28T20:39:56.525Z,1761683996.525 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-28T20:39:56.527Z,1761683996.527 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan % 2025-10-28T20:39:56.537Z,1761683996.537 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan % 2025-10-28T20:39:56.540Z,1761683996.540 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-28T20:39:56.550Z,1761683996.550 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count 2025-10-28T20:39:56.556Z,1761683996.556 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool 2025-10-28T20:39:56.558Z,1761683996.558 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l 2025-10-28T20:39:56.573Z,1761683996.573 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l 2025-10-28T20:39:56.576Z,1761683996.576 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count 2025-10-28T20:39:56.582Z,1761683996.582 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-28T20:39:56.588Z,1761683996.588 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-28T20:39:56.591Z,1761683996.591 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-28T20:39:56.604Z,1761683996.604 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-28T20:39:56.606Z,1761683996.606 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool 2025-10-28T20:39:56.611Z,1761683996.611 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l 2025-10-28T20:39:56.622Z,1761683996.622 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m 2025-10-28T20:39:56.629Z,1761683996.629 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC 2025-10-28T20:39:56.631Z,1761683996.631 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg 2025-10-28T20:39:56.638Z,1761683996.638 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg 2025-10-28T20:39:56.644Z,1761683996.644 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l 2025-10-28T20:39:56.647Z,1761683996.647 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m 2025-10-28T20:39:56.654Z,1761683996.654 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l 2025-10-28T20:39:56.660Z,1761683996.660 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m 2025-10-28T20:39:56.662Z,1761683996.662 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC 2025-10-28T20:39:56.669Z,1761683996.669 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg 2025-10-28T20:39:56.671Z,1761683996.671 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg 2025-10-28T20:39:56.678Z,1761683996.678 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l 2025-10-28T20:39:56.684Z,1761683996.684 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m 2025-10-28T20:39:56.687Z,1761683996.687 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg 2025-10-28T20:39:56.701Z,1761683996.701 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg 2025-10-28T20:39:56.703Z,1761683996.703 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3 2025-10-28T20:39:56.706Z,1761683996.706 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m 2025-10-28T20:39:56.712Z,1761683996.712 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg 2025-10-28T20:39:56.715Z,1761683996.715 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg 2025-10-28T20:39:56.717Z,1761683996.717 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb 2025-10-28T20:39:56.719Z,1761683996.719 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m 2025-10-28T20:39:56.750Z,1761683996.750 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC 2025-10-28T20:39:56.764Z,1761683996.764 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg 2025-10-28T20:39:56.767Z,1761683996.767 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg 2025-10-28T20:39:56.774Z,1761683996.774 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu 2025-10-28T20:39:56.797Z,1761683996.797 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m 2025-10-28T20:39:56.799Z,1761683996.799 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC 2025-10-28T20:39:56.812Z,1761683996.812 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg 2025-10-28T20:39:56.815Z,1761683996.815 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg 2025-10-28T20:39:56.832Z,1761683996.832 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-28T20:39:56.834Z,1761683996.834 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-28T20:39:56.836Z,1761683996.836 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-28T20:39:56.838Z,1761683996.838 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T20:39:56.853Z,1761683996.853 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T20:39:56.856Z,1761683996.856 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s 2025-10-28T20:39:56.858Z,1761683996.858 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m 2025-10-28T20:39:56.873Z,1761683996.873 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-28T20:39:56.875Z,1761683996.875 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-28T20:39:56.891Z,1761683996.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769784,0.637721,-0.027306],[-0.637468,0.770260,0.018254],[0.032674,0.003355,0.999460]] 2025-10-28T20:39:56.914Z,1761683996.914 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-28T20:39:56.924Z,1761683996.924 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T20:39:56.926Z,1761683996.926 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T20:39:56.941Z,1761683996.941 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-28T20:39:56.943Z,1761683996.943 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-28T20:39:56.954Z,1761683996.954 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-28T20:39:56.961Z,1761683996.961 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T20:39:56.963Z,1761683996.963 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T20:39:56.974Z,1761683996.974 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-28T20:39:56.977Z,1761683996.977 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-28T20:39:56.979Z,1761683996.979 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-28T20:39:56.994Z,1761683996.994 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T20:39:57.003Z,1761683997.003 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T20:39:57.011Z,1761683997.011 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-28T20:39:57.025Z,1761683997.025 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-28T20:39:57.028Z,1761683997.028 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-28T20:39:57.034Z,1761683997.034 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T20:39:57.057Z,1761683997.057 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T20:39:57.059Z,1761683997.059 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-28T20:39:57.074Z,1761683997.074 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-28T20:39:57.081Z,1761683997.081 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-28T20:39:57.083Z,1761683997.083 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T20:39:57.094Z,1761683997.094 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T20:39:57.101Z,1761683997.101 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-28T20:39:57.108Z,1761683997.108 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-28T20:39:57.110Z,1761683997.110 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T20:39:57.140Z,1761683997.140 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T20:39:57.146Z,1761683997.146 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T20:39:57.169Z,1761683997.169 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-28T20:39:57.171Z,1761683997.171 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-28T20:39:57.178Z,1761683997.178 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T20:39:57.201Z,1761683997.201 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T20:39:57.206Z,1761683997.206 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T20:39:57.209Z,1761683997.209 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l 2025-10-28T20:39:57.211Z,1761683997.211 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m 2025-10-28T20:39:57.236Z,1761683997.236 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg 2025-10-28T20:39:57.239Z,1761683997.239 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg 2025-10-28T20:39:57.245Z,1761683997.245 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m 2025-10-28T20:39:57.248Z,1761683997.248 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu 2025-10-28T20:39:57.255Z,1761683997.255 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m 2025-10-28T20:39:57.261Z,1761683997.261 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg 2025-10-28T20:39:57.264Z,1761683997.264 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg 2025-10-28T20:39:57.270Z,1761683997.270 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m 2025-10-28T20:39:57.273Z,1761683997.273 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu 2025-10-28T20:39:57.275Z,1761683997.275 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m 2025-10-28T20:39:57.295Z,1761683997.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755626,0.654984,0.005066],[-0.654972,0.755492,0.015614],[0.006400,-0.015116,0.999865]] 2025-10-28T20:39:57.322Z,1761683997.322 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg 2025-10-28T20:39:57.336Z,1761683997.336 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg 2025-10-28T20:39:57.339Z,1761683997.339 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m 2025-10-28T20:39:57.354Z,1761683997.354 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool 2025-10-28T20:39:57.369Z,1761683997.369 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l 2025-10-28T20:39:57.429Z,1761683997.429 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.472Z,1761683997.472 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T20:39:57.526Z,1761683997.526 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T20:39:57.577Z,1761683997.577 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T20:39:57.618Z,1761683997.618 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.641Z,1761683997.641 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.657Z,1761683997.657 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T20:39:57.699Z,1761683997.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757638,0.651671,0.036182],[-0.652669,0.756694,0.037908],[-0.002675,-0.052336,0.998626]] 2025-10-28T20:39:57.718Z,1761683997.718 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.787Z,1761683997.787 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.858Z,1761683997.858 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T20:39:57.883Z,1761683997.883 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.914Z,1761683997.914 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T20:39:57.958Z,1761683997.958 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T20:39:57.967Z,1761683997.967 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:57.979Z,1761683997.979 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T20:39:58.006Z,1761683998.006 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:58.018Z,1761683998.018 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T20:39:58.039Z,1761683998.039 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T20:39:58.051Z,1761683998.051 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T20:39:58.078Z,1761683998.078 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-28T20:39:58.084Z,1761683998.084 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-28T20:39:58.084Z,1761683998.084 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-28T20:39:58.086Z,1761683998.086 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-28T20:39:58.102Z,1761683998.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778147,0.627476,0.027584],[-0.627825,0.775822,0.062730],[0.017961,-0.066131,0.997649]] 2025-10-28T20:39:58.152Z,1761683998.152 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-28T20:39:58.155Z,1761683998.155 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool 2025-10-28T20:39:58.170Z,1761683998.170 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-28T20:39:58.178Z,1761683998.178 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-28T20:39:58.178Z,1761683998.178 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-28T20:39:58.179Z,1761683998.179 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-28T20:39:58.459Z,1761683998.459 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-28T20:39:58.466Z,1761683998.466 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool 2025-10-28T20:39:58.481Z,1761683998.481 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool 2025-10-28T20:39:58.483Z,1761683998.483 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool 2025-10-28T20:39:58.489Z,1761683998.489 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool 2025-10-28T20:39:58.491Z,1761683998.491 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-28T20:39:58.507Z,1761683998.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800890,0.597221,-0.043606],[-0.593307,0.801272,0.077131],[0.081005,-0.035902,0.996067]] 2025-10-28T20:39:58.570Z,1761683998.570 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-28T20:39:58.577Z,1761683998.577 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-10-28T20:39:58.580Z,1761683998.580 [marl:JoystickControl:B.Pitch](DEBUG): Construct. 2025-10-28T20:39:58.613Z,1761683998.613 [marl:JoystickControl:C.Pitch](DEBUG): Construct. 2025-10-28T20:39:58.641Z,1761683998.641 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct. 2025-10-28T20:39:58.653Z,1761683998.653 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct. 2025-10-28T20:39:58.671Z,1761683998.671 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct. 2025-10-28T20:39:58.815Z,1761683998.815 [MissionManager](DEBUG): mission marl { """ This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only. """ arguments { # Mission-wide settings MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 1 hour """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ # You probably need to change these. ContactLabel = 8 count """ The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch. tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12 """ SendDataLabel = 10 count """ The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch. """ ContactDepth = NaN meter """ The asset's depth to be tracked """ CenterLatitude = 36.81544 degree """ The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterLongitude = -121.82506 degree """ The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterNorthingsDelta = 0 meter """ Desired change in latitude to achieve, expressed as a distance. """ CenterEastingsDelta = 0 meter """ Desired change in longitude to achieve, expressed as a distance. """ CircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ SpeedUpdateTimeout = 240 second """ Max time allowed between speed command updates. """ StateUpdateDelay = 10 second """ Minimum time delay between state updates to avoid rapid changes. """ HorizontalCommandMode = 0 count """ Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. """ AcousticContactTimeout = 4 hour """" If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ SendObservationDataInterval = 1 minute """ How often to send back some a-comms data """ TrackingUpdatePeriod = 30 second """ How long to wait between acoustic queries """ # parameters for constant depth trajectory Depth = 20 meter """ Depth of flat and level flight during the mission. """ MaxDepth = 60 meter """ Maximum depth for the entire mission. """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ # You probably do not need to change these. NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ CircleMaxError = 10 meter """ If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """ CircleTurnToPort = false """ If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """ Speed = 0 meter_per_second """ Vehicle speed. """ MyTempVar = NaN none_str """ A custom variable from the backseat driver interface. """ # You are even less likely to need to change these. KwpHeading = 0.010 radian_per_meter """ Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ } output { HeadingMode = 0 count """ Heading angle command mode enumaration. """ RudderMode = 1 count """ Rudder angle command mode enumaration. """ Heading = 0 degree """ Commanded vehicle heading. Mission will init Heading to current vehicle heading. """ RudderAngle = 0 degree """ Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode. """ TimeLastSendData = 0 second ElapsedSinceLastSendData = 0 second """ Time elapsed since last Send Data fix. """ } # Missions should always start with a timeout. timeout duration=MissionTimeout # Add tracking directive high in the stack (above NeedComms to enable tracking from surface). insert Insert/AbortDrift.tl { redefineArg AcousticTimeout = AcousticContactTimeout } behavior Estimation:TrackAcousticContact { run in parallel set contactDepthSetting = ContactDepth set contactLabelSetting = ContactLabel set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } #assign in sequence customUri "_.others_observations" = "999" aggregate SendObservationData { run when ( elapsed (MyTempVar) >= SendObservationDataInterval ) syslog info "Got test_good : " + customUri "_.send_observations"~none_str + " and temp var is " + MyTempVar~none_str assign in sequence ElapsedSinceLastSendData = elapsed (MyTempVar) assign in sequence MyTempVar = customUri "_.send_observations" behavior Sensor:SendDirect { run in parallel set destType = "modem" set destId = SendDataLabel set destName = "_.others_observations" set value = MyTempVar set unit = "none_str" } syslog info "SendData: sent send_observations : " + MyTempVar~none_str + " to nearby vehicles. Elapsed time " + ElapsedSinceLastSendData~minute } aggregate UpdateContactLabel { run when ( elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) ) ) assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" ) syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # Add guidance update directives high in the stack. aggregate SpeedTimeout { run when ( elapsed ( Speed ) >= SpeedUpdateTimeout ) assign in sequence Speed = 0 meter_per_second syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")." } aggregate UpdateSpeed { run when ( elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) ) and (elapsed ( Speed) > StateUpdateDelay) ) assign in sequence Speed = customUri "_.speedCmd" #syslog info "Updating vehicle speed " + Speed~meter_per_second } aggregate UpdateCommandMode { run when ( elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) ) and ( customUri "_.horizontalCmdMode" == HeadingMode or ( customUri "_.horizontalCmdMode" == RudderMode ) ) and (elapsed ( HorizontalCommandMode) > StateUpdateDelay) ) assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode" #syslog info "Updating horizontal command mode " + HorizontalCommandMode~count } aggregate UpdateHeading { run when ( elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) ) and (elapsed ( Heading) > StateUpdateDelay) ) assign in sequence Heading = customUri "_.headingCmd" syslog info "Updating heading " + Heading~degree } aggregate UpdateRudder { run when ( elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) ) and (elapsed ( RudderAngle) > StateUpdateDelay) ) assign in sequence RudderAngle = customUri "_.rudderAngleCmd" syslog info "Updating rudder angle " + RudderAngle~degree } insert id="Science" Insert/Science.tl # Power the Backseat payload. insert Insert/BackseatDriver.tl assign in sequence BackseatDriver:EnableBackseat = true insert Insert/PowerOnly.tl # Check for additional instructions first. call id="StartingMission" priorityHere=false refId="NeedComms" aggregate JoystickControl { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate CmdHeading { run while ( HorizontalCommandMode == HeadingMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set heading = Heading } } aggregate CmdRudder { run while ( HorizontalCommandMode == RudderMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set rudderAngle = RudderAngle } } } } 2025-10-28T20:39:58.820Z,1761683998.820 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl 2025-10-28T20:39:58.911Z,1761683998.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759306,0.647831,-0.061396],[-0.645596,0.761784,0.053775],[0.081607,-0.001195,0.996664]] 2025-10-28T20:39:59.315Z,1761683999.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721635,0.692260,-0.004264],[-0.691136,0.720789,0.052861],[0.039667,-0.035199,0.998593]] 2025-10-28T20:39:59.720Z,1761683999.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754728,0.652490,0.068133],[-0.655937,0.752349,0.060968],[-0.011479,-0.090705,0.995812]] 2025-10-28T20:40:00.123Z,1761684000.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769420,0.637170,0.044790],[-0.638612,0.765948,0.074158],[0.012944,-0.085662,0.996240]] 2025-10-28T20:40:00.526Z,1761684000.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757612,0.652022,0.029848],[-0.651557,0.752777,0.093814],[0.038700,-0.090522,0.995142]] 2025-10-28T20:40:00.931Z,1761684000.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764259,0.642424,0.056557],[-0.644723,0.758991,0.090914],[0.015479,-0.105945,0.994251]] 2025-10-28T20:40:01.335Z,1761684001.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747822,0.661162,0.060230],[-0.663899,0.744865,0.066438],[-0.000937,-0.089671,0.995971]] 2025-10-28T20:40:01.739Z,1761684001.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740569,0.668322,0.070031],[-0.671759,0.738969,0.051622],[-0.017250,-0.085274,0.996208]] 2025-10-28T20:40:02.142Z,1761684002.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754109,0.655987,0.031643],[-0.656744,0.753426,0.032200],[-0.002717,-0.045064,0.998980]] 2025-10-28T20:40:02.550Z,1761684002.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741584,0.669771,-0.038200],[-0.670520,0.741819,-0.010419],[0.021359,0.033340,0.999216]] 2025-10-28T20:40:02.959Z,1761684002.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729177,0.682959,-0.043204],[-0.684323,0.727869,-0.043693],[0.001606,0.061425,0.998110]] 2025-10-28T20:40:03.366Z,1761684003.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746117,0.665317,-0.025745],[-0.665629,0.746264,-0.005269],[0.015707,0.021068,0.999655]] 2025-10-28T20:40:03.844Z,1761684003.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709350,0.701303,0.070695],[-0.703126,0.697015,0.140656],[0.049367,-0.149482,0.987531]] 2025-10-28T20:40:04.588Z,1761684004.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722514,0.685319,0.091168],[-0.686331,0.695128,0.213885],[0.083206,-0.217106,0.972595]] 2025-10-28T20:40:05.394Z,1761684005.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717774,0.695228,0.038188],[-0.694615,0.711197,0.108206],[0.048069,-0.104193,0.993395]] 2025-10-28T20:40:05.847Z,1761684005.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709109,0.705047,0.008554],[-0.705035,0.708830,0.022049],[0.009482,-0.021666,0.999720]] 2025-10-28T20:40:06.616Z,1761684006.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714424,0.698792,-0.035893],[-0.696777,0.715184,0.054901],[0.064035,-0.014213,0.997846]] 2025-10-28T20:40:07.016Z,1761684007.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699558,0.708943,-0.089550],[-0.702201,0.705245,0.097694],[0.132414,-0.005460,0.991179]] 2025-10-28T20:40:07.421Z,1761684007.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682744,0.728287,0.058809],[-0.729300,0.674363,0.115566],[0.044507,-0.121791,0.991557]] 2025-10-28T20:40:08.228Z,1761684008.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663369,0.729156,0.168146],[-0.748292,0.646627,0.148099],[-0.000741,-0.224066,0.974574]] 2025-10-28T20:40:08.630Z,1761684008.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682805,0.724401,0.094975],[-0.729651,0.669504,0.139191],[0.037244,-0.164339,0.985701]] 2025-10-28T20:40:09.031Z,1761684009.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675899,0.736958,0.007282],[-0.734303,0.672555,0.092029],[0.062924,-0.067550,0.995730]] 2025-10-28T20:40:09.434Z,1761684009.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643600,0.765183,-0.016535],[-0.763408,0.643350,0.057533],[0.054661,-0.024405,0.998207]] 2025-10-28T20:40:09.839Z,1761684009.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619919,0.783293,0.046401],[-0.784628,0.618220,0.046515],[0.007749,-0.065243,0.997839]] 2025-10-28T20:40:10.242Z,1761684010.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626324,0.773518,0.096897],[-0.779401,0.618798,0.098103],[0.015924,-0.136966,0.990448]] 2025-10-28T20:40:10.646Z,1761684010.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638258,0.761774,0.111022],[-0.769431,0.626666,0.123560],[0.024551,-0.164286,0.986107]] 2025-10-28T20:40:10.736Z,1761684010.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:40:11.051Z,1761684011.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633122,0.765704,0.113374],[-0.773985,0.628170,0.079688],[-0.010201,-0.138202,0.990351]] 2025-10-28T20:40:11.456Z,1761684011.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605169,0.790274,0.096117],[-0.796047,0.602062,0.061896],[-0.008953,-0.113971,0.993444]] 2025-10-28T20:40:11.859Z,1761684011.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598889,0.798321,0.063370],[-0.798900,0.590075,0.116492],[0.055605,-0.120392,0.991168]] 2025-10-28T20:40:12.263Z,1761684012.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618620,0.784799,0.037412],[-0.782107,0.610558,0.124610],[0.074952,-0.106347,0.991500]] 2025-10-28T20:40:12.666Z,1761684012.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604233,0.795940,0.037164],[-0.795120,0.599263,0.093106],[0.051836,-0.085808,0.994962]] 2025-10-28T20:40:13.072Z,1761684013.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593645,0.804091,0.031983],[-0.804392,0.591782,0.052409],[0.023214,-0.056839,0.998113]] 2025-10-28T20:40:13.475Z,1761684013.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613441,0.789454,0.021286],[-0.789721,0.613013,0.023564],[0.005554,-0.031265,0.999496]] 2025-10-28T20:40:13.879Z,1761684013.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625431,0.780183,-0.012318],[-0.779757,0.625511,0.026721],[0.028553,-0.007107,0.999567]] 2025-10-28T20:40:14.283Z,1761684014.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601445,0.798130,-0.035390],[-0.796526,0.602481,0.050625],[0.061727,-0.002259,0.998091]] 2025-10-28T20:40:15.091Z,1761684015.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582365,0.805009,0.113184],[-0.812926,0.576484,0.082566],[0.001217,-0.140094,0.990138]] 2025-10-28T20:40:15.495Z,1761684015.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599301,0.784672,0.158518],[-0.800080,0.593698,0.085988],[-0.026640,-0.178360,0.983605]] 2025-10-28T20:40:15.899Z,1761684015.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584237,0.803098,0.117046],[-0.810046,0.568162,0.144977],[0.049929,-0.179514,0.982488]] 2025-10-28T20:40:16.303Z,1761684016.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550715,0.828006,0.105442],[-0.832478,0.535658,0.141600],[0.060765,-0.165759,0.984292]] 2025-10-28T20:40:16.310Z,1761684016.310 [NAL9602](INFO): SBD MO Status=0, MOMSN=3351, MT Status=0, MTMSN=0 2025-10-28T20:40:16.311Z,1761684016.311 [NAL9602](INFO): No messages in MT queue 2025-10-28T20:40:16.707Z,1761684016.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557014,0.825583,0.090266],[-0.830297,0.551154,0.082680],[0.018509,-0.121001,0.992480]] 2025-10-28T20:40:17.111Z,1761684017.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562417,0.826788,0.010463],[-0.825989,0.561204,0.052846],[0.037820,-0.038364,0.998548]] 2025-10-28T20:40:17.515Z,1761684017.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553142,0.833084,-0.002394],[-0.831947,0.552533,0.050703],[0.043562,-0.026054,0.998711]] 2025-10-28T20:40:17.919Z,1761684017.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538876,0.841022,0.047899],[-0.842317,0.537236,0.043357],[0.010731,-0.063710,0.997911]] 2025-10-28T20:40:18.324Z,1761684018.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528876,0.839331,0.125752],[-0.848393,0.526827,0.051792],[-0.022779,-0.134078,0.990709]] 2025-10-28T20:40:18.727Z,1761684018.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540342,0.826332,0.158764],[-0.841147,0.535473,0.075762],[-0.022410,-0.174481,0.984405]] 2025-10-28T20:40:19.131Z,1761684019.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537581,0.831499,0.140059],[-0.843198,0.529159,0.094908],[0.004802,-0.169118,0.985584]] 2025-10-28T20:40:19.535Z,1761684019.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512829,0.853191,0.095244],[-0.858235,0.506801,0.081152],[0.020969,-0.123359,0.992141]] 2025-10-28T20:40:19.940Z,1761684019.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508482,0.858832,0.062071],[-0.860649,0.504650,0.067911],[0.027000,-0.087953,0.995759]] 2025-10-28T20:40:20.342Z,1761684020.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514342,0.855769,0.055791],[-0.857415,0.511852,0.053360],[0.017107,-0.075281,0.997016]] 2025-10-28T20:40:20.747Z,1761684020.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500683,0.862382,0.074926],[-0.865606,0.498135,0.050865],[0.006541,-0.090324,0.995891]] 2025-10-28T20:40:21.150Z,1761684021.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495936,0.864426,0.082553],[-0.868136,0.491407,0.069711],[0.019693,-0.106240,0.994146]] 2025-10-28T20:40:21.556Z,1761684021.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502258,0.859736,0.092686],[-0.862825,0.491183,0.119470],[0.057187,-0.139976,0.988502]] 2025-10-28T20:40:21.959Z,1761684021.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496602,0.862264,0.099431],[-0.864676,0.481473,0.143245],[0.075642,-0.157111,0.984680]] 2025-10-28T20:40:22.362Z,1761684022.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504035,0.855996,0.114975],[-0.862425,0.491637,0.120485],[0.046609,-0.159885,0.986035]] 2025-10-28T20:40:22.766Z,1761684022.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506529,0.852424,0.129621],[-0.862130,0.498505,0.090693],[0.012692,-0.157688,0.987407]] 2025-10-28T20:40:23.171Z,1761684023.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512879,0.856219,0.062007],[-0.857996,0.508885,0.069848],[0.028251,-0.089026,0.995629]] 2025-10-28T20:40:23.332Z,1761684023.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:40:23.575Z,1761684023.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512720,0.858453,-0.013304],[-0.857551,0.512808,0.040437],[0.041536,-0.009324,0.999094]] 2025-10-28T20:40:23.978Z,1761684023.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513183,0.857896,-0.025650],[-0.858275,0.513043,-0.012285],[0.002620,0.028319,0.999595]] 2025-10-28T20:40:24.383Z,1761684024.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511310,0.859363,-0.007627],[-0.859376,0.511338,0.002367],[0.005934,0.005344,0.999968]] 2025-10-28T20:40:24.786Z,1761684024.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497384,0.865208,0.063440],[-0.867415,0.494791,0.052665],[0.014176,-0.081223,0.996595]] 2025-10-28T20:40:25.192Z,1761684025.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508936,0.846222,0.157774],[-0.860715,0.502904,0.079105],[-0.012405,-0.176058,0.984302]] 2025-10-28T20:40:25.596Z,1761684025.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481489,0.846748,0.226244],[-0.876433,0.466888,0.117817],[-0.005869,-0.255015,0.966919]] 2025-10-28T20:40:25.999Z,1761684025.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477906,0.844141,0.242967],[-0.877412,0.445548,0.177863],[0.041888,-0.298184,0.953589]] 2025-10-28T20:40:26.403Z,1761684026.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502837,0.843468,0.188989],[-0.864169,0.485707,0.131532],[0.019150,-0.229457,0.973130]] 2025-10-28T20:40:26.688Z,1761684026.688 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 20 minute 2025-10-28T20:40:26.689Z,1761684026.689 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count 2025-10-28T20:40:26.690Z,1761684026.690 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree 2025-10-28T20:40:26.691Z,1761684026.691 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree 2025-10-28T20:40:26.691Z,1761684026.691 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute 2025-10-28T20:40:26.808Z,1761684026.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493987,0.862115,0.112847],[-0.869156,0.493117,0.037472],[-0.023341,-0.116592,0.992905]] 2025-10-28T20:40:27.211Z,1761684027.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503554,0.863249,0.035133],[-0.863535,0.501605,0.051963],[0.027234,-0.056505,0.998031]] 2025-10-28T20:40:27.616Z,1761684027.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518060,0.855110,0.020002],[-0.855259,0.517536,0.026242],[0.012088,-0.030702,0.999456]] 2025-10-28T20:40:28.019Z,1761684028.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505778,0.861121,0.051574],[-0.861732,0.507105,-0.016170],[-0.040078,-0.036264,0.998538]] 2025-10-28T20:40:28.423Z,1761684028.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561818,0.825741,0.050132],[-0.827216,0.561386,0.023645],[-0.008619,-0.054754,0.998463]] 2025-10-28T20:40:28.829Z,1761684028.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575661,0.817326,-0.024334],[-0.814077,0.575659,0.076781],[0.076763,-0.024390,0.996751]] 2025-10-28T20:40:29.231Z,1761684029.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527200,0.846688,-0.071972],[-0.841502,0.531978,0.094204],[0.118049,0.010901,0.992948]] 2025-10-28T20:40:29.636Z,1761684029.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502101,0.862476,-0.063478],[-0.846178,0.505113,0.169832],[0.178540,-0.031559,0.983426]] 2025-10-28T20:40:30.038Z,1761684030.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516055,0.856067,0.028933],[-0.846905,0.504894,0.166833],[0.128212,-0.110599,0.985561]] 2025-10-28T20:40:30.445Z,1761684030.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509466,0.846767,0.153072],[-0.860449,0.503062,0.080965],[-0.008446,-0.172959,0.984893]] 2025-10-28T20:40:30.846Z,1761684030.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503898,0.842780,0.189230],[-0.862543,0.502602,0.058398],[-0.045891,-0.192646,0.980195]] 2025-10-28T20:40:31.251Z,1761684031.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514034,0.848379,0.126581],[-0.856968,0.501552,0.118538],[0.037078,-0.169408,0.984848]] 2025-10-28T20:40:31.656Z,1761684031.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542078,0.838139,0.060619],[-0.838240,0.534240,0.109279],[0.059206,-0.110051,0.992161]] 2025-10-28T20:40:32.060Z,1761684032.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524655,0.847682,0.078562],[-0.850528,0.525900,0.005567],[-0.036597,-0.069740,0.996894]] 2025-10-28T20:40:32.463Z,1761684032.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503734,0.861223,0.067432],[-0.863208,0.504848,0.000611],[-0.033516,-0.058516,0.997724]] 2025-10-28T20:40:32.867Z,1761684032.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506784,0.860401,0.053659],[-0.859192,0.499026,0.112974],[0.070426,-0.103357,0.992148]] 2025-10-28T20:40:33.270Z,1761684033.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514080,0.853274,0.087439],[-0.849670,0.492636,0.188070],[0.117400,-0.170977,0.978256]] 2025-10-28T20:40:33.676Z,1761684033.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520041,0.840410,0.152543],[-0.851815,0.497115,0.165191],[0.062996,-0.215844,0.974393]] 2025-10-28T20:40:34.079Z,1761684034.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526291,0.835465,0.158163],[-0.850223,0.514491,0.111441],[0.011732,-0.193124,0.981104]] 2025-10-28T20:40:34.483Z,1761684034.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523023,0.843203,0.124319],[-0.852291,0.518600,0.068230],[-0.006940,-0.141642,0.989894]] 2025-10-28T20:40:35.291Z,1761684035.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509682,0.857257,-0.073043],[-0.844485,0.514704,0.148069],[0.164529,-0.013785,0.986276]] 2025-10-28T20:40:35.697Z,1761684035.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518588,0.850485,-0.087988],[-0.838165,0.525999,0.144237],[0.168953,-0.001051,0.985624]] 2025-10-28T20:40:35.742Z,1761684035.742 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:40:36.099Z,1761684036.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515166,0.856729,-0.024889],[-0.846617,0.513182,0.141009],[0.133579,-0.051572,0.989695]] 2025-10-28T20:40:36.503Z,1761684036.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525455,0.849112,0.053911],[-0.844587,0.512899,0.153647],[0.102812,-0.126267,0.986654]] 2025-10-28T20:40:36.907Z,1761684036.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542677,0.836589,0.074969],[-0.833639,0.525541,0.169862],[0.102705,-0.154677,0.982612]] 2025-10-28T20:40:37.312Z,1761684037.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530577,0.847270,0.024938],[-0.829882,0.513249,0.218798],[0.172581,-0.136784,0.975452]] 2025-10-28T20:40:37.715Z,1761684037.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520664,0.853754,-0.003610],[-0.828756,0.506426,0.238109],[0.205115,-0.120983,0.971232]] 2025-10-28T20:40:38.119Z,1761684038.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539704,0.841035,0.037142],[-0.832539,0.526667,0.171758],[0.124893,-0.123620,0.984439]] 2025-10-28T20:40:38.523Z,1761684038.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538058,0.839764,0.072732],[-0.842507,0.533134,0.077142],[0.026005,-0.102784,0.994364]] 2025-10-28T20:40:38.929Z,1761684038.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543194,0.837986,0.052149],[-0.837878,0.537043,0.097705],[0.053869,-0.096767,0.993848]] 2025-10-28T20:40:39.331Z,1761684039.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564692,0.825137,-0.016463],[-0.817367,0.561911,0.127151],[0.114168,-0.058345,0.991747]] 2025-10-28T20:40:39.735Z,1761684039.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572282,0.819666,-0.025302],[-0.817249,0.572603,0.065038],[0.067797,-0.016542,0.997562]] 2025-10-28T20:40:40.139Z,1761684040.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570753,0.819945,0.043948],[-0.821051,0.570590,0.017396],[-0.010812,-0.046012,0.998882]] 2025-10-28T20:40:40.543Z,1761684040.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536538,0.835183,0.120816],[-0.843347,0.535746,0.041737],[-0.029868,-0.124284,0.991797]] 2025-10-28T20:40:40.947Z,1761684040.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507624,0.847365,0.155852],[-0.861045,0.492576,0.126373],[0.030315,-0.198346,0.979663]] 2025-10-28T20:40:41.351Z,1761684041.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535504,0.835392,0.123915],[-0.839041,0.509560,0.190680],[0.096151,-0.206079,0.973800]] 2025-10-28T20:40:41.769Z,1761684041.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571342,0.813733,0.106805],[-0.817963,0.553943,0.155189],[0.067118,-0.176029,0.982094]] 2025-10-28T20:40:42.159Z,1761684042.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548927,0.831090,0.089265],[-0.833547,0.536314,0.132539],[0.062278,-0.147160,0.987150]] 2025-10-28T20:40:42.563Z,1761684042.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538146,0.840948,0.056625],[-0.838786,0.527749,0.133865],[0.082689,-0.119535,0.989381]] 2025-10-28T20:40:42.967Z,1761684042.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549088,0.835715,0.009115],[-0.830738,0.544560,0.115448],[0.091518,-0.070963,0.993272]] 2025-10-28T20:40:43.372Z,1761684043.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562743,0.826632,0.000275],[-0.823949,0.560890,0.080686],[0.066543,-0.045632,0.996740]] 2025-10-28T20:40:43.826Z,1761684043.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559921,0.828460,0.011925],[-0.826572,0.557535,0.077033],[0.057170,-0.052990,0.996957]] 2025-10-28T20:40:44.179Z,1761684044.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539734,0.841809,-0.006751],[-0.836770,0.537347,0.105237],[0.092217,-0.051152,0.994424]] 2025-10-28T20:40:44.583Z,1761684044.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541255,0.840675,0.017565],[-0.834956,0.534867,0.129485],[0.099460,-0.084750,0.991426]] 2025-10-28T20:40:44.988Z,1761684044.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565487,0.823410,0.047128],[-0.819646,0.554712,0.143087],[0.091677,-0.119543,0.988587]] 2025-10-28T20:40:45.391Z,1761684045.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575836,0.817372,0.017780],[-0.809610,0.567071,0.151534],[0.113777,-0.101654,0.988292]] 2025-10-28T20:40:45.830Z,1761684045.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545409,0.838089,0.011662],[-0.829396,0.537640,0.151805],[0.120956,-0.092469,0.988342]] 2025-10-28T20:40:46.199Z,1761684046.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533887,0.842361,0.073436],[-0.840539,0.519267,0.154454],[0.091974,-0.144187,0.985267]] 2025-10-28T20:40:46.603Z,1761684046.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548990,0.829701,0.101023],[-0.833881,0.535450,0.133926],[0.057025,-0.157765,0.985829]] 2025-10-28T20:40:47.007Z,1761684047.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561040,0.823509,0.084068],[-0.826031,0.550340,0.121649],[0.053913,-0.137693,0.989007]] 2025-10-28T20:40:47.013Z,1761684047.013 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T20:40:47.411Z,1761684047.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556026,0.828098,0.071340],[-0.830301,0.549486,0.093084],[0.037882,-0.110991,0.993099]] 2025-10-28T20:40:47.833Z,1761684047.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548012,0.834755,0.053536],[-0.836163,0.544952,0.062122],[0.022682,-0.078808,0.996632]] 2025-10-28T20:40:48.144Z,1761684048.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:40:48.224Z,1761684048.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569690,0.821281,0.030844],[-0.821346,0.567606,0.056693],[0.029054,-0.057631,0.997915]] 2025-10-28T20:40:48.630Z,1761684048.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574479,0.818474,0.008581],[-0.816090,0.571935,0.082989],[0.063017,-0.054678,0.996514]] 2025-10-28T20:40:49.039Z,1761684049.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520940,0.853568,-0.006526],[-0.850805,0.519840,0.076795],[0.068942,-0.034453,0.997026]] 2025-10-28T20:40:49.446Z,1761684049.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509353,0.860548,-0.003946],[-0.859451,0.508925,0.048369],[0.043632,-0.021246,0.998822]] 2025-10-28T20:40:49.855Z,1761684049.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523318,0.851461,-0.033956],[-0.851390,0.524113,0.021009],[0.035685,0.017916,0.999202]] 2025-10-28T20:40:50.275Z,1761684050.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530762,0.846538,-0.040808],[-0.843626,0.532320,0.070211],[0.081160,-0.002838,0.996697]] 2025-10-28T20:40:50.667Z,1761684050.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510160,0.859808,0.021599],[-0.854769,0.504063,0.123655],[0.095432,-0.081546,0.992090]] 2025-10-28T20:40:51.088Z,1761684051.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486092,0.867051,0.109257],[-0.871545,0.471787,0.133512],[0.064216,-0.160122,0.985006]] 2025-10-28T20:40:51.475Z,1761684051.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479677,0.863400,0.156370],[-0.877327,0.469014,0.101598],[0.014380,-0.185922,0.982459]] 2025-10-28T20:40:51.879Z,1761684051.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504874,0.854186,0.124373],[-0.863181,0.498836,0.077983],[0.004570,-0.146728,0.989166]] 2025-10-28T20:40:52.279Z,1761684052.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506231,0.862125,0.021688],[-0.859477,0.502289,0.094899],[0.070921,-0.066681,0.995251]] 2025-10-28T20:40:52.683Z,1761684052.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458720,0.888551,-0.007277],[-0.883973,0.457159,0.097972],[0.090380,-0.038509,0.995163]] 2025-10-28T20:40:53.114Z,1761684053.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426674,0.903150,0.047643],[-0.903924,0.424136,0.055051],[0.029512,-0.066554,0.997346]] 2025-10-28T20:40:53.515Z,1761684053.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445936,0.890116,0.093991],[-0.895060,0.443111,0.050206],[0.003041,-0.106517,0.994306]] 2025-10-28T20:40:53.920Z,1761684053.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439203,0.893988,0.088805],[-0.898373,0.436469,0.049205],[0.005228,-0.101391,0.994833]] 2025-10-28T20:40:54.323Z,1761684054.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375023,0.921634,0.099745],[-0.926682,0.369825,0.067012],[0.024872,-0.117563,0.992754]] 2025-10-28T20:40:54.727Z,1761684054.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342831,0.929190,0.138104],[-0.938397,0.331961,0.095987],[0.043345,-0.162504,0.985755]] 2025-10-28T20:40:55.131Z,1761684055.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338857,0.931123,0.134855],[-0.934596,0.316651,0.162057],[0.108193,-0.180949,0.977523]] 2025-10-28T20:40:55.535Z,1761684055.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366022,0.924077,0.110041],[-0.924526,0.347584,0.156320],[0.106203,-0.158953,0.981557]] 2025-10-28T20:40:55.940Z,1761684055.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346927,0.934133,0.083880],[-0.936416,0.339978,0.086833],[0.052596,-0.108672,0.992685]] 2025-10-28T20:40:56.343Z,1761684056.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310128,0.946998,0.083757],[-0.945402,0.297918,0.132138],[0.100182,-0.120163,0.987686]] 2025-10-28T20:40:56.747Z,1761684056.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358942,0.929535,0.084411],[-0.918924,0.336098,0.206439],[0.163522,-0.151667,0.974812]] 2025-10-28T20:40:57.152Z,1761684057.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413696,0.909014,0.050484],[-0.902311,0.402001,0.155659],[0.121201,-0.109947,0.986520]] 2025-10-28T20:40:57.555Z,1761684057.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385377,0.922737,0.006405],[-0.916521,0.381957,0.118732],[0.107112,-0.051627,0.992906]] 2025-10-28T20:40:57.959Z,1761684057.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358818,0.933196,0.019870],[-0.921846,0.350953,0.164412],[0.146455,-0.077312,0.986192]] 2025-10-28T20:40:58.294Z,1761684058.294 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour 2025-10-28T20:40:58.295Z,1761684058.295 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 200 minute 2025-10-28T20:40:58.295Z,1761684058.295 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 60 second 2025-10-28T20:40:58.296Z,1761684058.296 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter 2025-10-28T20:40:58.297Z,1761684058.297 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter 2025-10-28T20:40:58.298Z,1761684058.298 [CommandExec](IMPORTANT): got command run 2025-10-28T20:40:58.300Z,1761684058.300 [CommandExec](IMPORTANT): Running 2025-10-28T20:40:58.363Z,1761684058.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373289,0.923049,0.092931],[-0.919581,0.354919,0.168534],[0.122582,-0.148370,0.981305]] 2025-10-28T20:40:58.420Z,1761684058.420 [DefaultWithUndock] Stopped 2025-10-28T20:40:58.420Z,1761684058.420 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-28T20:40:58.420Z,1761684058.420 [DefaultWithUndock:SurfaceDefault] Stopped 2025-10-28T20:40:58.420Z,1761684058.420 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T20:40:58.421Z,1761684058.421 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T20:40:58.421Z,1761684058.421 [MissionManager](IMPORTANT): Started mission marl 2025-10-28T20:40:58.421Z,1761684058.421 [marl] Running Loop=1 2025-10-28T20:40:58.421Z,1761684058.421 [marl](DEBUG): Aggregate::initialize marl 2025-10-28T20:40:58.422Z,1761684058.422 [marl:AbortDrift] Running Loop=1 2025-10-28T20:40:58.422Z,1761684058.422 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift 2025-10-28T20:40:58.422Z,1761684058.422 [marl:AbortDrift:A] Running Loop=1 2025-10-28T20:40:58.422Z,1761684058.422 [marl:B.] Running Loop=1 2025-10-28T20:40:58.422Z,1761684058.422 [marl:B.](INFO): Initializing TrackAcousticContact. 2025-10-28T20:40:58.422Z,1761684058.422 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T20:40:58.422Z,1761684058.422 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes 2025-10-28T20:40:58.422Z,1761684058.422 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T20:40:58.422Z,1761684058.422 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-28T20:40:58.423Z,1761684058.423 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-28T20:40:58.423Z,1761684058.423 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science](DEBUG): Aggregate::initialize marl:Science 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:A] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:B] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:C] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:D] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:E] Running Loop=1 2025-10-28T20:40:58.423Z,1761684058.423 [marl:Science:F] Running Loop=1 2025-10-28T20:40:58.424Z,1761684058.424 [marl:Science:Read_Oil] Running Loop=1 2025-10-28T20:40:58.424Z,1761684058.424 [marl:Science:PeakDetectChl] Running Loop=1 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:PeakDetectChl:A] Running Loop=1 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:EdgeDetectChl] Running Loop=1 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:EdgeDetectChl:A] Running Loop=1 2025-10-28T20:40:58.428Z,1761684058.428 [marl:Science:HighestChlPeakReport] Running Loop=1 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T20:40:58.429Z,1761684058.429 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectNO3] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectNO3:A] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectOil] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:PeakDetectOil:A] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:HighestOilPeakReport] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T20:40:58.430Z,1761684058.430 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectFDOM] Running Loop=1 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectSalinity] Running Loop=1 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-28T20:40:58.431Z,1761684058.431 [marl:Science:HighestSaltPeakReport] Running Loop=1 2025-10-28T20:40:58.432Z,1761684058.432 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport 2025-10-28T20:40:58.436Z,1761684058.436 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T20:40:58.436Z,1761684058.436 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T20:40:58.437Z,1761684058.437 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T20:40:58.438Z,1761684058.438 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T20:40:58.439Z,1761684058.439 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T20:40:58.440Z,1761684058.440 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T20:40:58.444Z,1761684058.444 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T20:40:58.444Z,1761684058.444 [marl:Science:ChlThreshTrigger] Running Loop=1 2025-10-28T20:40:58.444Z,1761684058.444 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger 2025-10-28T20:40:58.444Z,1761684058.444 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-28T20:40:58.444Z,1761684058.444 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-28T20:40:58.445Z,1761684058.445 [marl:Science:OceanCurrent] Running Loop=1 2025-10-28T20:40:58.445Z,1761684058.445 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent 2025-10-28T20:40:58.445Z,1761684058.445 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T20:40:58.445Z,1761684058.445 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-28T20:40:58.445Z,1761684058.445 [marl:BackseatDriver] Running Loop=1 2025-10-28T20:40:58.445Z,1761684058.445 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver 2025-10-28T20:40:58.445Z,1761684058.445 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:A] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:B] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:C] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:D] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:E.Wait] Running Loop=1 2025-10-28T20:40:58.446Z,1761684058.446 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-28T20:40:58.446Z,1761684058.446 [marl:F] Running Loop=1 2025-10-28T20:40:58.448Z,1761684058.448 [marl:PowerOnly] Running Loop=1 2025-10-28T20:40:58.452Z,1761684058.452 [marl:PowerOnly:D] Stopped 2025-10-28T20:40:58.452Z,1761684058.452 [marl:PowerOnly:C] Stopped 2025-10-28T20:40:58.452Z,1761684058.452 [marl:PowerOnly:B] Stopped 2025-10-28T20:40:58.452Z,1761684058.452 [marl:PowerOnly:A] Stopped 2025-10-28T20:40:58.452Z,1761684058.452 [marl:BackseatDriver] Running Loop=1 2025-10-28T20:40:58.453Z,1761684058.453 [marl:Science] Running Loop=1 2025-10-28T20:40:58.454Z,1761684058.454 [marl:Science:ChlThreshTrigger] Stopped 2025-10-28T20:40:58.454Z,1761684058.454 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger 2025-10-28T20:40:58.454Z,1761684058.454 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-28T20:40:58.454Z,1761684058.454 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-28T20:40:58.454Z,1761684058.454 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-28T20:40:58.455Z,1761684058.455 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T20:40:58.456Z,1761684058.456 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T20:40:58.456Z,1761684058.456 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-28T20:40:58.460Z,1761684058.460 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:HighestSaltPeakReport] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectSalinity] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectSalinity:A] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectFDOM] Stopped 2025-10-28T20:40:58.461Z,1761684058.461 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectFDOM:A] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:HighestOilPeakReport] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectOil] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectOil:A] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectNO3] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDetectNO3:A] Stopped 2025-10-28T20:40:58.462Z,1761684058.462 [marl:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:HighestChlPeakReport] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:EdgeDetectChl] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:EdgeDetectChl:A] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:PeakDetectChl] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:PeakDetectChl:A] Stopped 2025-10-28T20:40:58.463Z,1761684058.463 [marl:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T20:40:58.469Z,1761684058.469 [marl:Science:Read_Oil] Stopped 2025-10-28T20:40:58.469Z,1761684058.469 [marl:Science:F] Stopped 2025-10-28T20:40:58.469Z,1761684058.469 [marl:Science:E] Running Loop=1 2025-10-28T20:40:58.470Z,1761684058.470 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-10-28T20:40:58.470Z,1761684058.470 [marl:Science:D] Stopped 2025-10-28T20:40:58.470Z,1761684058.470 [marl:Science:C] Running Loop=1 2025-10-28T20:40:58.470Z,1761684058.470 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-10-28T20:40:58.471Z,1761684058.471 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-10-28T20:40:58.471Z,1761684058.471 [marl:Science:B] Running Loop=1 2025-10-28T20:40:58.471Z,1761684058.471 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-10-28T20:40:58.473Z,1761684058.473 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-10-28T20:40:58.473Z,1761684058.473 [marl:Science:A] Stopped 2025-10-28T20:40:58.473Z,1761684058.473 [marl:StandardEnvelopes] Running Loop=1 2025-10-28T20:40:58.473Z,1761684058.473 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T20:40:58.473Z,1761684058.473 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T20:40:58.474Z,1761684058.474 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T20:40:58.474Z,1761684058.474 [marl:F] Stopped 2025-10-28T20:40:58.474Z,1761684058.474 [marl:H] Running Loop=1 2025-10-28T20:40:58.474Z,1761684058.474 [marl:B.] Running Loop=1 2025-10-28T20:40:58.486Z,1761684058.486 [marl:AbortDrift] Running Loop=1 2025-10-28T20:40:58.487Z,1761684058.487 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to 0.500000 h . 2025-10-28T20:40:58.487Z,1761684058.487 [marl:AbortDrift:A] Stopped 2025-10-28T20:40:58.487Z,1761684058.487 [marl:AbortDrift:B.AbortDrift] Running Loop=1 2025-10-28T20:40:58.487Z,1761684058.487 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift. 2025-10-28T20:40:58.496Z,1761684058.496 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours. 2025-10-28T20:40:58.767Z,1761684058.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387529,0.915365,0.109214],[-0.914402,0.366651,0.171567],[0.117003,-0.166353,0.979100]] 2025-10-28T20:40:58.802Z,1761684058.802 [marl:H] Stopped 2025-10-28T20:40:58.802Z,1761684058.802 [marl:I] Running Loop=1 2025-10-28T20:40:58.804Z,1761684058.804 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761683968.00. Resetting abort timer. 2025-10-28T20:40:58.808Z,1761684058.808 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761683456.00. Resetting abort timer. 2025-10-28T20:40:59.170Z,1761684059.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412274,0.906339,0.092623],[-0.896425,0.385400,0.218835],[0.162642,-0.173249,0.971356]] 2025-10-28T20:40:59.199Z,1761684059.199 [marl:I] Stopped 2025-10-28T20:40:59.199Z,1761684059.199 [marl:J] Running Loop=1 2025-10-28T20:40:59.425Z,1761684059.425 [WetLabsBB2FL](INFO): Powering up 2025-10-28T20:40:59.574Z,1761684059.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423890,0.904222,0.051967],[-0.893897,0.408432,0.184746],[0.145827,-0.124765,0.981411]] 2025-10-28T20:40:59.613Z,1761684059.613 [marl:J] Stopped 2025-10-28T20:40:59.613Z,1761684059.613 [marl:U] Running Loop=1 2025-10-28T20:41:00.013Z,1761684060.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403873,0.913349,0.051773],[-0.909897,0.395198,0.126120],[0.094731,-0.098044,0.990663]] 2025-10-28T20:41:00.047Z,1761684060.047 [marl:U] Stopped 2025-10-28T20:41:00.047Z,1761684060.047 [marl:StartingMission] Running Loop=1 2025-10-28T20:41:00.047Z,1761684060.047 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission 2025-10-28T20:41:00.047Z,1761684060.047 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2025-10-28T20:41:00.384Z,1761684060.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412357,0.910087,0.041270],[-0.905985,0.404898,0.123488],[0.095674,-0.088311,0.991488]] 2025-10-28T20:41:00.407Z,1761684060.407 [marl:NeedComms] Running Loop=1 2025-10-28T20:41:00.407Z,1761684060.407 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T20:41:00.408Z,1761684060.408 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T20:41:00.408Z,1761684060.408 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T20:41:00.408Z,1761684060.408 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T20:41:00.409Z,1761684060.409 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T20:41:00.409Z,1761684060.409 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T20:41:00.410Z,1761684060.410 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T20:41:00.410Z,1761684060.410 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T20:41:00.410Z,1761684060.410 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T20:41:00.410Z,1761684060.410 [marl:NeedComms:A] Running Loop=1 2025-10-28T20:41:00.412Z,1761684060.412 [marl:NeedComms:A](INFO): last time_fix was: 1761683934.000000 second since 1970/01/01T00:00:00Z 2025-10-28T20:41:00.412Z,1761684060.412 [marl:NeedComms:A] Stopped 2025-10-28T20:41:00.421Z,1761684060.421 [BackseatComponent](INFO): Powering up 2025-10-28T20:41:00.421Z,1761684060.421 [BackseatComponent](INFO): Subscribing to LCM channels. 2025-10-28T20:41:00.787Z,1761684060.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436203,0.899723,0.014994],[-0.892666,0.430560,0.133288],[0.113466,-0.071526,0.990964]] 2025-10-28T20:41:00.816Z,1761684060.816 [marl:NeedComms:C] Running Loop=1 2025-10-28T20:41:01.190Z,1761684061.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437669,0.899125,-0.004545],[-0.891718,0.434700,0.125993],[0.115259,-0.051090,0.992021]] 2025-10-28T20:41:01.224Z,1761684061.224 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T20:41:01.260Z,1761684061.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:41:01.594Z,1761684061.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416569,0.909055,0.009431],[-0.903426,0.412787,0.115881],[0.101449,-0.056793,0.993218]] 2025-10-28T20:41:01.993Z,1761684061.993 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-28T20:41:02.011Z,1761684062.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399524,0.914474,0.064166],[-0.912846,0.390429,0.119487],[0.084216,-0.106311,0.990760]] 2025-10-28T20:41:02.415Z,1761684062.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401292,0.909958,0.104600],[-0.913052,0.388328,0.124649],[0.072806,-0.145526,0.986672]] 2025-10-28T20:41:02.809Z,1761684062.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432106,0.897646,0.086699],[-0.899606,0.422311,0.111185],[0.063191,-0.126038,0.990011]] 2025-10-28T20:41:02.819Z,1761684062.819 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204102.00,A,3645.35456,N,12151.76106,W,0.991,193.94,281025,,,D*72 2025-10-28T20:41:02.821Z,1761684062.821 [NAL9602](INFO): GPS fix at 20251028T204102: (36.755909, -121.862684) 2025-10-28T20:41:02.856Z,1761684062.856 [marl:NeedComms:C] Stopped 2025-10-28T20:41:02.856Z,1761684062.856 [marl:NeedComms:D] Running Loop=1 2025-10-28T20:41:02.857Z,1761684062.857 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761684096.00. Resetting abort timer. 2025-10-28T20:41:03.211Z,1761684063.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419904,0.907448,0.014771],[-0.905216,0.417589,0.078768],[0.065310,-0.046446,0.996783]] 2025-10-28T20:41:03.264Z,1761684063.264 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-28T20:41:03.625Z,1761684063.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392498,0.919714,0.008450],[-0.918099,0.391225,0.063544],[0.055136,-0.032699,0.997943]] 2025-10-28T20:41:04.019Z,1761684064.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425551,0.899844,0.095846],[-0.904926,0.422686,0.049459],[0.003992,-0.107781,0.994167]] 2025-10-28T20:41:04.426Z,1761684064.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463555,0.872247,0.155889],[-0.886063,0.455742,0.084797],[0.002918,-0.177436,0.984128]] 2025-10-28T20:41:04.827Z,1761684064.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437360,0.884124,0.164442],[-0.898863,0.424175,0.110092],[0.027582,-0.195961,0.980224]] 2025-10-28T20:41:05.231Z,1761684065.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404379,0.900293,0.161089],[-0.913786,0.390319,0.112455],[0.038366,-0.192675,0.980512]] 2025-10-28T20:41:05.637Z,1761684065.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406559,0.905469,0.121803],[-0.910616,0.390792,0.134392],[0.074088,-0.165554,0.983414]] 2025-10-28T20:41:06.039Z,1761684066.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412584,0.908387,0.067877],[-0.908111,0.404321,0.108897],[0.071477,-0.106569,0.991733]] 2025-10-28T20:41:06.444Z,1761684066.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404478,0.913473,0.044313],[-0.914198,0.402510,0.047193],[0.025273,-0.059599,0.997902]] 2025-10-28T20:41:06.847Z,1761684066.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426787,0.904204,0.016352],[-0.903017,0.425105,0.062025],[0.049132,-0.041237,0.997941]] 2025-10-28T20:41:07.252Z,1761684067.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448499,0.893257,-0.030655],[-0.888525,0.449313,0.092963],[0.096814,-0.014456,0.995197]] 2025-10-28T20:41:07.655Z,1761684067.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401017,0.915921,-0.016576],[-0.913277,0.401140,0.070795],[0.071491,-0.013251,0.997353]] 2025-10-28T20:41:08.059Z,1761684068.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377259,0.924181,0.059714],[-0.926107,0.376392,0.025587],[0.001171,-0.064954,0.997887]] 2025-10-28T20:41:08.464Z,1761684068.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384703,0.916256,0.111709],[-0.922734,0.384865,0.020991],[-0.023760,-0.111153,0.993519]] 2025-10-28T20:41:08.903Z,1761684068.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396445,0.901017,0.176070],[-0.915140,0.403130,-0.002410],[-0.073150,-0.160173,0.984375]] 2025-10-28T20:41:09.270Z,1761684069.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381285,0.905088,0.188250],[-0.921163,0.389142,-0.005218],[-0.077978,-0.171419,0.982107]] 2025-10-28T20:41:09.447Z,1761684069.447 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20251028T162422/Courier0048.lzma 2025-10-28T20:41:09.685Z,1761684069.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353561,0.923209,0.150596],[-0.935404,0.349613,0.052831],[-0.003876,-0.159547,0.987183]] 2025-10-28T20:41:10.083Z,1761684070.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365328,0.925255,0.102170],[-0.928768,0.354911,0.106899],[0.062647,-0.133946,0.989006]] 2025-10-28T20:41:10.450Z,1761684070.450 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0048.lzma.bak 2025-10-28T20:41:10.450Z,1761684070.450 [DataOverHttps](INFO): SBD MOMSN=26263125 2025-10-28T20:41:10.496Z,1761684070.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334880,0.941555,0.036473],[-0.935138,0.327349,0.135495],[0.115636,-0.079482,0.990106]] 2025-10-28T20:41:10.898Z,1761684070.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321121,0.946714,0.024802],[-0.942920,0.317175,0.101500],[0.088224,-0.055980,0.994526]] 2025-10-28T20:41:11.290Z,1761684071.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331496,0.941259,0.064358],[-0.943421,0.330119,0.031276],[0.008193,-0.071084,0.997437]] 2025-10-28T20:41:11.695Z,1761684071.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297753,0.949066,0.103036],[-0.954620,0.295257,0.039038],[0.006627,-0.109984,0.993911]] 2025-10-28T20:41:12.099Z,1761684072.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294200,0.946130,0.135223],[-0.953145,0.280021,0.114465],[0.070434,-0.162563,0.984181]] 2025-10-28T20:41:12.503Z,1761684072.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312241,0.935068,0.167790],[-0.945670,0.289082,0.148792],[0.090626,-0.205133,0.974529]] 2025-10-28T20:41:12.910Z,1761684072.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323090,0.933876,0.153258],[-0.943338,0.304854,0.131065],[0.075678,-0.186920,0.979456]] 2025-10-28T20:41:13.311Z,1761684073.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316311,0.944577,0.087870],[-0.945233,0.305954,0.113693],[0.080508,-0.119020,0.989622]] 2025-10-28T20:41:13.716Z,1761684073.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334457,0.942400,-0.004561],[-0.936988,0.333047,0.105510],[0.100952,-0.031015,0.994408]] 2025-10-28T20:41:14.119Z,1761684074.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334592,0.940323,-0.061974],[-0.938307,0.338526,0.070568],[0.087337,0.034539,0.995580]] 2025-10-28T20:41:14.523Z,1761684074.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331665,0.943251,-0.016625],[-0.943352,0.331769,0.003898],[0.009193,0.014390,0.999854]] 2025-10-28T20:41:14.927Z,1761684074.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330684,0.940522,0.077885],[-0.940620,0.335173,-0.053790],[-0.076696,-0.055473,0.995510]] 2025-10-28T20:41:15.332Z,1761684075.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324945,0.933877,0.149283],[-0.941700,0.334065,-0.040028],[-0.087251,-0.127573,0.987984]] 2025-10-28T20:41:15.735Z,1761684075.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337962,0.926115,0.167610],[-0.940813,0.337268,0.033474],[-0.025529,-0.169003,0.985285]] 2025-10-28T20:41:16.139Z,1761684076.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359913,0.923162,0.135036],[-0.931412,0.347119,0.109457],[0.054173,-0.165169,0.984776]] 2025-10-28T20:41:16.543Z,1761684076.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381043,0.917645,0.112846],[-0.923324,0.371387,0.097695],[0.047740,-0.141420,0.988798]] 2025-10-28T20:41:16.948Z,1761684076.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359023,0.927465,0.104453],[-0.933074,0.359283,0.016965],[-0.021794,-0.103553,0.994385]] 2025-10-28T20:41:17.351Z,1761684077.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341203,0.934262,0.103614],[-0.939615,0.342099,0.009548],[-0.026526,-0.100615,0.994572]] 2025-10-28T20:41:17.770Z,1761684077.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359444,0.926235,0.113529],[-0.933130,0.355685,0.052500],[0.008247,-0.124808,0.992147]] 2025-10-28T20:41:18.158Z,1761684078.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365325,0.921259,0.133492],[-0.930768,0.363736,0.036991],[-0.014478,-0.137764,0.990359]] 2025-10-28T20:41:18.565Z,1761684078.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367816,0.923033,0.112787],[-0.929730,0.362727,0.063486],[0.017689,-0.128212,0.991589]] 2025-10-28T20:41:18.966Z,1761684078.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388905,0.918039,0.077178],[-0.912495,0.372303,0.169541],[0.126911,-0.136360,0.982497]] 2025-10-28T20:41:19.378Z,1761684079.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397811,0.913887,0.080980],[-0.903224,0.374613,0.209409],[0.161040,-0.156449,0.974469]] 2025-10-28T20:41:19.818Z,1761684079.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414252,0.903647,0.108710],[-0.907513,0.400983,0.125034],[0.069395,-0.150451,0.986179]] 2025-10-28T20:41:20.180Z,1761684080.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403803,0.904029,0.140265],[-0.914551,0.402792,0.036807],[-0.023223,-0.143142,0.989430]] 2025-10-28T20:41:20.583Z,1761684080.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386759,0.909800,0.150603],[-0.922167,0.380651,0.068652],[0.005133,-0.165433,0.986208]] 2025-10-28T20:41:20.986Z,1761684080.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388949,0.913511,0.119233],[-0.919259,0.376316,0.115535],[0.060673,-0.154543,0.986121]] 2025-10-28T20:41:21.394Z,1761684081.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428313,0.900091,0.079902],[-0.901499,0.419558,0.106165],[0.062035,-0.117504,0.991133]] 2025-10-28T20:41:21.826Z,1761684081.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448942,0.892824,0.036285],[-0.893517,0.448145,0.028184],[0.008903,-0.045074,0.998944]] 2025-10-28T20:41:22.198Z,1761684082.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445531,0.894997,0.021953],[-0.895166,0.445715,-0.004036],[-0.013397,-0.017854,0.999751]] 2025-10-28T20:41:22.604Z,1761684082.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440887,0.896970,0.032606],[-0.897317,0.439626,0.039388],[0.020995,-0.046623,0.998692]] 2025-10-28T20:41:23.007Z,1761684083.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440506,0.895644,0.061457],[-0.894590,0.432187,0.113679],[0.075254,-0.105055,0.991615]] 2025-10-28T20:41:23.412Z,1761684083.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474026,0.874772,0.100366],[-0.876054,0.457100,0.153585],[0.088474,-0.160729,0.983025]] 2025-10-28T20:41:23.419Z,1761684083.419 [NAL9602](INFO): SBD MO Status=0, MOMSN=3352, MT Status=0, MTMSN=0 2025-10-28T20:41:23.419Z,1761684083.419 [NAL9602](INFO): No messages in MT queue 2025-10-28T20:41:23.832Z,1761684083.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507045,0.856078,0.100180],[-0.858831,0.491973,0.142730],[0.072902,-0.158409,0.984679]] 2025-10-28T20:41:24.219Z,1761684084.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517329,0.854811,0.040844],[-0.852387,0.510438,0.113531],[0.076199,-0.093547,0.992695]] 2025-10-28T20:41:24.623Z,1761684084.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511027,0.858834,-0.035434],[-0.849979,0.511038,0.127967],[0.128011,-0.035276,0.991145]] 2025-10-28T20:41:25.029Z,1761684085.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489865,0.868515,-0.075590],[-0.844387,0.494247,0.206717],[0.216897,-0.037436,0.975477]] 2025-10-28T20:41:25.431Z,1761684085.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476811,0.878297,-0.035302],[-0.851729,0.471569,0.228431],[0.217277,-0.078851,0.972920]] 2025-10-28T20:41:25.836Z,1761684085.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486125,0.869996,0.082406],[-0.866524,0.467662,0.174438],[0.113222,-0.156205,0.981214]] 2025-10-28T20:41:26.239Z,1761684086.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495061,0.855827,0.149915],[-0.868490,0.482405,0.114067],[0.025301,-0.186670,0.982097]] 2025-10-28T20:41:26.643Z,1761684086.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509130,0.846477,0.155765],[-0.860213,0.506469,0.059359],[-0.028644,-0.164213,0.986009]] 2025-10-28T20:41:27.046Z,1761684087.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514456,0.844388,0.149476],[-0.857048,0.512066,0.057071],[-0.028352,-0.157469,0.987117]] 2025-10-28T20:41:27.451Z,1761684087.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510436,0.855953,0.082467],[-0.858028,0.500616,0.114764],[0.056948,-0.129339,0.989964]] 2025-10-28T20:41:27.477Z,1761684087.477 [DataOverHttps](INFO): Sending 709 bytes from file Logs/20251028T162422/Express0049.lzma 2025-10-28T20:41:27.862Z,1761684087.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502734,0.863824,0.032645],[-0.860225,0.496200,0.117462],[0.085268,-0.087134,0.992541]] 2025-10-28T20:41:28.258Z,1761684088.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485155,0.873398,0.042427],[-0.873670,0.482143,0.065111],[0.036412,-0.068656,0.996976]] 2025-10-28T20:41:28.479Z,1761684088.479 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0049.lzma.bak 2025-10-28T20:41:28.479Z,1761684088.479 [DataOverHttps](INFO): SBD MOMSN=26263128 2025-10-28T20:41:28.666Z,1761684088.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501111,0.864515,0.038757],[-0.864666,0.498370,0.063084],[0.035221,-0.065124,0.997255]] 2025-10-28T20:41:29.067Z,1761684089.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510940,0.858355,0.046559],[-0.858728,0.507200,0.073036],[0.039076,-0.077298,0.996242]] 2025-10-28T20:41:29.471Z,1761684089.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514726,0.856039,0.047485],[-0.856841,0.511711,0.063057],[0.029681,-0.073144,0.996880]] 2025-10-28T20:41:29.879Z,1761684089.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516094,0.855636,0.039181],[-0.856007,0.513635,0.058577],[0.029996,-0.063770,0.997514]] 2025-10-28T20:41:30.279Z,1761684090.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488096,0.869738,0.072929],[-0.872006,0.482412,0.082967],[0.036978,-0.104090,0.993880]] 2025-10-28T20:41:30.686Z,1761684090.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498621,0.857107,0.129400],[-0.866601,0.489552,0.096649],[0.019490,-0.160329,0.986871]] 2025-10-28T20:41:30.769Z,1761684090.769 [marl:NeedComms:D] Stopped 2025-10-28T20:41:30.769Z,1761684090.769 [marl:NeedComms:E] Running Loop=1 2025-10-28T20:41:31.088Z,1761684091.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521181,0.837822,0.162553],[-0.853014,0.517441,0.067985],[-0.027152,-0.174092,0.984355]] 2025-10-28T20:41:31.132Z,1761684091.132 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T20:41:31.495Z,1761684091.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506367,0.844993,0.171985],[-0.859112,0.511531,0.016197],[-0.074289,-0.155956,0.984966]] 2025-10-28T20:41:31.895Z,1761684091.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501736,0.859720,0.095619],[-0.864245,0.502894,0.013337],[-0.036620,-0.089330,0.995329]] 2025-10-28T20:41:32.300Z,1761684092.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512766,0.858528,-0.000445],[-0.857405,0.512121,0.050886],[0.043914,-0.025711,0.998704]] 2025-10-28T20:41:32.712Z,1761684092.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515814,0.856568,0.015055],[-0.856537,0.515293,0.028577],[0.016721,-0.027635,0.999478]] 2025-10-28T20:41:32.733Z,1761684092.733 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204131.00,A,3645.35114,N,12151.75966,W,0.389,185.80,281025,,,D*7D 2025-10-28T20:41:32.735Z,1761684092.735 [NAL9602](INFO): GPS fix at 20251028T204131: (36.755852, -121.862661) 2025-10-28T20:41:32.793Z,1761684092.793 [marl:NeedComms:E] Stopped 2025-10-28T20:41:32.794Z,1761684092.794 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T20:41:32.794Z,1761684092.794 [marl:NeedComms] Stopped 2025-10-28T20:41:32.794Z,1761684092.794 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T20:41:32.794Z,1761684092.794 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T20:41:32.794Z,1761684092.794 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T20:41:32.795Z,1761684092.795 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761684096.00. Resetting abort timer. 2025-10-28T20:41:33.111Z,1761684093.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505437,0.858630,0.085364],[-0.862780,0.504286,0.036150],[-0.012009,-0.091922,0.995694]] 2025-10-28T20:41:33.175Z,1761684093.175 [marl:StartingMission](INFO): Completed marl:StartingMission 2025-10-28T20:41:33.175Z,1761684093.175 [marl:StartingMission] Stopped 2025-10-28T20:41:33.175Z,1761684093.175 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission 2025-10-28T20:41:33.175Z,1761684093.175 [marl:JoystickControl] Running Loop=1 2025-10-28T20:41:33.176Z,1761684093.176 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:B.Pitch](DEBUG): Initialize. 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T20:41:33.180Z,1761684093.180 [marl:JoystickControl:C.Pitch](DEBUG): Initialize. 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize. 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize. 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder 2025-10-28T20:41:33.181Z,1761684093.181 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T20:41:33.182Z,1761684093.182 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize. 2025-10-28T20:41:33.517Z,1761684093.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500774,0.850360,0.161595],[-0.865468,0.494891,0.077772],[-0.013838,-0.178802,0.983788]] 2025-10-28T20:41:33.554Z,1761684093.554 [marl:JoystickControl:CmdRudder] Stopped 2025-10-28T20:41:33.554Z,1761684093.554 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder 2025-10-28T20:41:33.554Z,1761684093.554 [marl:JoystickControl:CmdRudder:A.Point] Stopped 2025-10-28T20:41:33.554Z,1761684093.554 [marl:JoystickControl:CmdHeading] Running Loop=1 2025-10-28T20:41:33.554Z,1761684093.554 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1 2025-10-28T20:41:33.555Z,1761684093.555 [marl:JoystickControl:D.SetSpeed] Running Loop=1 2025-10-28T20:41:33.555Z,1761684093.555 [marl:JoystickControl:C.Pitch] Running Loop=1 2025-10-28T20:41:33.555Z,1761684093.555 [marl:JoystickControl:B.Pitch] Running Loop=1 2025-10-28T20:41:33.556Z,1761684093.556 [marl:JoystickControl:A.Buoyancy] Running Loop=1 2025-10-28T20:41:33.920Z,1761684093.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498956,0.837394,0.223191],[-0.866065,0.491090,0.093606],[-0.031222,-0.240004,0.970270]] 2025-10-28T20:41:34.323Z,1761684094.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500477,0.841942,0.201635],[-0.865718,0.484695,0.124915],[0.007440,-0.237076,0.971463]] 2025-10-28T20:41:34.725Z,1761684094.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538863,0.833703,0.120694],[-0.841343,0.525484,0.126526],[0.042063,-0.169725,0.984593]] 2025-10-28T20:41:35.131Z,1761684095.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565321,0.820133,0.088280],[-0.824820,0.563223,0.049504],[-0.009121,-0.100800,0.994865]] 2025-10-28T20:41:35.531Z,1761684095.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558531,0.825079,0.085371],[-0.829163,0.558214,0.029782],[-0.023082,-0.087421,0.995904]] 2025-10-28T20:41:35.936Z,1761684095.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547392,0.835971,0.038922],[-0.831570,0.538103,0.137610],[0.094094,-0.107693,0.989721]] 2025-10-28T20:41:36.348Z,1761684096.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548369,0.832397,0.080040],[-0.828655,0.528044,0.185743],[0.112347,-0.168182,0.979333]] 2025-10-28T20:41:36.742Z,1761684096.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551642,0.809947,0.199190],[-0.833951,0.539821,0.114541],[-0.014755,-0.229300,0.973244]] 2025-10-28T20:41:37.150Z,1761684097.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547678,0.806230,0.223700],[-0.835002,0.543647,0.084969],[-0.053109,-0.233325,0.970947]] 2025-10-28T20:41:37.551Z,1761684097.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547757,0.820901,0.161506],[-0.836634,0.536891,0.108592],[0.002433,-0.194604,0.980879]] 2025-10-28T20:41:37.958Z,1761684097.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551123,0.830424,0.081605],[-0.832988,0.541803,0.112166],[0.048932,-0.129793,0.990333]] 2025-10-28T20:41:38.365Z,1761684098.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551981,0.833230,0.032323],[-0.829332,0.544541,0.125238],[0.086751,-0.095935,0.991600]] 2025-10-28T20:41:38.772Z,1761684098.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564194,0.825221,0.026381],[-0.823447,0.560079,0.090807],[0.060160,-0.072956,0.995519]] 2025-10-28T20:41:39.167Z,1761684099.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577711,0.815126,0.042669],[-0.816121,0.577735,0.013014],[-0.014043,-0.042341,0.999005]] 2025-10-28T20:41:39.572Z,1761684099.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575901,0.817514,0.003051],[-0.816904,0.575319,0.040942],[0.031715,-0.026071,0.999157]] 2025-10-28T20:41:39.976Z,1761684099.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587846,0.808828,-0.015298],[-0.801170,0.584692,0.127526],[0.112091,-0.062709,0.991717]] 2025-10-28T20:41:40.378Z,1761684100.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578414,0.815431,0.022575],[-0.806604,0.567583,0.165041],[0.121766,-0.113671,0.986028]] 2025-10-28T20:41:40.795Z,1761684100.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577244,0.813870,0.066375],[-0.811000,0.561929,0.162832],[0.095226,-0.147824,0.984419]] 2025-10-28T20:41:41.187Z,1761684101.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579769,0.811719,0.070567],[-0.812521,0.569543,0.124216],[0.060637,-0.129354,0.989743]] 2025-10-28T20:41:41.591Z,1761684101.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579366,0.812414,0.065720],[-0.813234,0.570776,0.113420],[0.054633,-0.119158,0.991371]] 2025-10-28T20:41:41.997Z,1761684101.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598646,0.800077,0.038729],[-0.799781,0.594345,0.084291],[0.044421,-0.081436,0.995688]] 2025-10-28T20:41:42.399Z,1761684102.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592202,0.805663,0.014303],[-0.805727,0.591841,0.022980],[0.010049,-0.025133,0.999634]] 2025-10-28T20:41:42.806Z,1761684102.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597961,0.801314,0.018384],[-0.801500,0.597967,0.005784],[-0.006358,-0.018193,0.999814]] 2025-10-28T20:41:43.213Z,1761684103.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595911,0.802913,0.014832],[-0.802867,0.596068,-0.010384],[-0.017178,-0.005720,0.999836]] 2025-10-28T20:41:43.616Z,1761684103.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583089,0.809015,0.074175],[-0.810295,0.585724,-0.018685],[-0.058563,-0.049209,0.997070]] 2025-10-28T20:41:44.019Z,1761684104.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568377,0.814698,0.114959],[-0.820728,0.571240,0.009520],[-0.057913,-0.099761,0.993325]] 2025-10-28T20:41:44.423Z,1761684104.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561029,0.823652,0.082722],[-0.827532,0.555519,0.081175],[0.020906,-0.113996,0.993261]] 2025-10-28T20:41:44.837Z,1761684104.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586045,0.807334,0.069023],[-0.809068,0.578388,0.104283],[0.044270,-0.116959,0.992150]] 2025-10-28T20:41:45.231Z,1761684105.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599569,0.794911,0.092918],[-0.800270,0.596815,0.058137],[-0.009241,-0.109216,0.993975]] 2025-10-28T20:41:45.635Z,1761684105.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575458,0.812612,0.092254],[-0.817662,0.569373,0.085103],[0.016629,-0.124406,0.992092]] 2025-10-28T20:41:46.038Z,1761684106.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584391,0.803262,0.115136],[-0.811455,0.577549,0.089322],[0.005252,-0.145627,0.989326]] 2025-10-28T20:41:46.444Z,1761684106.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608707,0.785228,0.113540],[-0.791704,0.610497,0.022339],[-0.051775,-0.103488,0.993282]] 2025-10-28T20:41:46.860Z,1761684106.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604079,0.795954,0.039312],[-0.796879,0.603837,0.019118],[-0.008521,-0.042876,0.999044]] 2025-10-28T20:41:47.250Z,1761684107.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590240,0.807089,0.014970],[-0.806004,0.588223,0.065961],[0.044431,-0.050998,0.997710]] 2025-10-28T20:41:47.654Z,1761684107.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610601,0.789710,0.059372],[-0.791911,0.608235,0.054110],[0.006619,-0.080057,0.996768]] 2025-10-28T20:41:48.060Z,1761684108.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634998,0.768009,0.083309],[-0.772480,0.630258,0.077775],[0.007226,-0.113742,0.993484]] 2025-10-28T20:41:48.136Z,1761684108.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:41:48.462Z,1761684108.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655973,0.750990,0.075589],[-0.753396,0.645403,0.125894],[0.045760,-0.139532,0.989160]] 2025-10-28T20:41:48.866Z,1761684108.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647631,0.750386,0.132269],[-0.761951,0.638279,0.109680],[-0.002123,-0.171815,0.985127]] 2025-10-28T20:41:49.271Z,1761684109.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651673,0.742196,0.156418],[-0.758470,0.639475,0.125679],[-0.006747,-0.200539,0.979662]] 2025-10-28T20:41:49.676Z,1761684109.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653336,0.755431,0.049774],[-0.750330,0.637366,0.175412],[0.100788,-0.151950,0.983236]] 2025-10-28T20:41:50.078Z,1761684110.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643989,0.764469,-0.029428],[-0.755252,0.641415,0.134839],[0.121956,-0.064609,0.990430]] 2025-10-28T20:41:50.483Z,1761684110.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648597,0.761079,-0.009052],[-0.759409,0.647882,0.059561],[0.051196,-0.031757,0.998184]] 2025-10-28T20:41:50.892Z,1761684110.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640999,0.767539,-0.002081],[-0.766578,0.640328,0.048362],[0.038452,-0.029405,0.998828]] 2025-10-28T20:41:51.290Z,1761684111.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632196,0.774121,0.032635],[-0.774057,0.629169,0.070581],[0.034105,-0.069882,0.996972]] 2025-10-28T20:41:51.694Z,1761684111.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660275,0.748670,0.059412],[-0.750887,0.656573,0.071280],[0.014357,-0.091675,0.995685]] 2025-10-28T20:41:52.099Z,1761684112.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673816,0.738150,0.033259],[-0.738681,0.671839,0.054610],[0.017966,-0.061365,0.997954]] 2025-10-28T20:41:52.504Z,1761684112.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647601,0.761706,0.020434],[-0.761688,0.646379,0.045014],[0.021080,-0.044716,0.998777]] 2025-10-28T20:41:52.907Z,1761684112.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639038,0.764902,0.080958],[-0.766870,0.641727,-0.009872],[-0.059504,-0.055776,0.996669]] 2025-10-28T20:41:53.318Z,1761684113.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662721,0.744031,0.084959],[-0.743238,0.667377,-0.046965],[-0.091644,-0.032020,0.995277]] 2025-10-28T20:41:53.715Z,1761684113.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681788,0.730318,0.042423],[-0.727235,0.682916,-0.068959],[-0.079333,0.016164,0.996717]] 2025-10-28T20:41:54.119Z,1761684114.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689309,0.724069,0.024005],[-0.722093,0.689353,-0.058077],[-0.058600,0.022699,0.998023]] 2025-10-28T20:41:54.522Z,1761684114.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696453,0.717477,0.013397],[-0.717485,0.696555,-0.005024],[-0.012936,-0.006113,0.999898]] 2025-10-28T20:41:54.928Z,1761684114.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700729,0.713022,0.024035],[-0.713270,0.699470,0.044580],[0.014975,-0.048382,0.998717]] 2025-10-28T20:41:55.339Z,1761684115.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689109,0.719177,0.088954],[-0.724645,0.684597,0.078841],[-0.004197,-0.118791,0.992910]] 2025-10-28T20:41:55.734Z,1761684115.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682280,0.718559,0.134784],[-0.731090,0.670769,0.124806],[-0.000728,-0.183692,0.982984]] 2025-10-28T20:41:56.138Z,1761684116.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683750,0.722972,0.098983],[-0.728315,0.667726,0.153945],[0.045204,-0.177350,0.983109]] 2025-10-28T20:41:56.543Z,1761684116.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697537,0.715490,0.038926],[-0.712711,0.687162,0.140897],[0.074062,-0.126024,0.989259]] 2025-10-28T20:41:56.952Z,1761684116.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679577,0.733488,0.013078],[-0.731879,0.676649,0.080616],[0.050282,-0.064356,0.996659]] 2025-10-28T20:41:57.350Z,1761684117.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661920,0.749161,0.024894],[-0.749553,0.661279,0.029679],[0.005772,-0.038304,0.999249]] 2025-10-28T20:41:57.432Z,1761684117.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:41:57.771Z,1761684117.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670628,0.741761,0.006922],[-0.741526,0.670108,0.033080],[0.019899,-0.027317,0.999429]] 2025-10-28T20:41:58.158Z,1761684118.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678226,0.734692,0.015405],[-0.734825,0.677866,0.023031],[0.006479,-0.026940,0.999616]] 2025-10-28T20:41:58.565Z,1761684118.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681102,0.731691,0.026985],[-0.732013,0.679667,0.047017],[0.016061,-0.051776,0.998530]] 2025-10-28T20:41:58.588Z,1761684118.588 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:41:58.613Z,1761684118.613 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:41:58.613Z,1761684118.613 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:41:58.865Z,1761684118.865 [DAT](INFO): DAT read: user:262> 2025-10-28T20:41:58.866Z,1761684118.866 [DAT](INFO): DAT read: Tx time:20:41:58.6144 2025-10-28T20:41:58.866Z,1761684118.866 [DAT](INFO): Ping request sent. 2025-10-28T20:41:58.866Z,1761684118.866 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:41:58.866Z,1761684118.866 [DAT](INFO): publishing transmit ping time 2025-10-28T20:41:58.867Z,1761684118.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-28T20:41:58.966Z,1761684118.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658175,0.751900,0.038099],[-0.751969,0.654083,0.081962],[0.036707,-0.082594,0.995907]] 2025-10-28T20:41:59.117Z,1761684119.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929 2025-10-28T20:41:59.369Z,1761684119.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502983 2025-10-28T20:41:59.372Z,1761684119.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653849,0.750829,0.093473],[-0.756548,0.647012,0.094923],[0.010793,-0.132782,0.991086]] 2025-10-28T20:41:59.621Z,1761684119.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754966 2025-10-28T20:41:59.833Z,1761684119.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696358,0.706881,0.124119],[-0.716065,0.695955,0.053824],[-0.048334,-0.126358,0.990807]] 2025-10-28T20:41:59.873Z,1761684119.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932 2025-10-28T20:42:00.125Z,1761684120.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042 2025-10-28T20:42:00.184Z,1761684120.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719599,0.685789,0.108955],[-0.688084,0.725329,-0.020913],[-0.093370,-0.059922,0.993827]] 2025-10-28T20:42:00.377Z,1761684120.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511292 2025-10-28T20:42:00.583Z,1761684120.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727025,0.684416,0.054851],[-0.685847,0.727663,0.010995],[-0.032387,-0.045613,0.998434]] 2025-10-28T20:42:00.629Z,1761684120.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051 2025-10-28T20:42:00.881Z,1761684120.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006 2025-10-28T20:42:00.990Z,1761684120.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687710,0.725870,0.012957],[-0.722984,0.683137,0.103039],[0.065942,-0.080229,0.994593]] 2025-10-28T20:42:01.133Z,1761684121.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266945 2025-10-28T20:42:01.385Z,1761684121.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519010 2025-10-28T20:42:01.392Z,1761684121.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670267,0.738318,0.075029],[-0.741117,0.660676,0.119386],[0.038575,-0.135626,0.990009]] 2025-10-28T20:42:01.637Z,1761684121.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771005 2025-10-28T20:42:01.830Z,1761684121.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690385,0.721364,0.054793],[-0.721978,0.682192,0.115592],[0.046004,-0.119362,0.991784]] 2025-10-28T20:42:01.889Z,1761684121.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022897 2025-10-28T20:42:02.141Z,1761684122.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275289 2025-10-28T20:42:02.200Z,1761684122.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711624,0.702532,0.006311],[-0.701760,0.710357,0.054083],[0.033512,-0.042916,0.998516]] 2025-10-28T20:42:02.393Z,1761684122.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527215 2025-10-28T20:42:02.603Z,1761684122.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714353,0.699765,0.005434],[-0.699261,0.714096,-0.033191],[-0.027106,0.019910,0.999434]] 2025-10-28T20:42:02.645Z,1761684122.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778966 2025-10-28T20:42:02.897Z,1761684122.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030998 2025-10-28T20:42:03.020Z,1761684123.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721500,0.692278,-0.013746],[-0.692406,0.721254,-0.019131],[-0.003329,0.023321,0.999722]] 2025-10-28T20:42:03.157Z,1761684123.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291081 2025-10-28T20:42:03.409Z,1761684123.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542900 2025-10-28T20:42:03.412Z,1761684123.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723066,0.690523,-0.018784],[-0.689503,0.723116,0.041103],[0.041965,-0.016768,0.998978]] 2025-10-28T20:42:03.661Z,1761684123.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795013 2025-10-28T20:42:03.839Z,1761684123.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716792,0.695863,0.044553],[-0.696922,0.712883,0.078094],[0.022582,-0.087027,0.995950]] 2025-10-28T20:42:03.913Z,1761684123.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046988 2025-10-28T20:42:04.165Z,1761684124.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298884 2025-10-28T20:42:04.260Z,1761684124.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717588,0.693433,0.064949],[-0.695289,0.707827,0.124716],[0.040510,-0.134653,0.990064]] 2025-10-28T20:42:04.417Z,1761684124.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550986 2025-10-28T20:42:04.634Z,1761684124.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709965,0.696565,0.103668],[-0.703544,0.695010,0.148282],[0.031237,-0.178210,0.983497]] 2025-10-28T20:42:04.669Z,1761684124.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803080 2025-10-28T20:42:04.921Z,1761684124.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054942 2025-10-28T20:42:05.095Z,1761684125.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728582,0.673313,0.125769],[-0.684948,0.717195,0.128363],[-0.003772,-0.179668,0.983720]] 2025-10-28T20:42:05.173Z,1761684125.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306998 2025-10-28T20:42:05.425Z,1761684125.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558952 2025-10-28T20:42:05.489Z,1761684125.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751541,0.657723,0.050859],[-0.659459,0.747022,0.084094],[0.017318,-0.096739,0.995159]] 2025-10-28T20:42:05.493Z,1761684125.493 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T20:42:05.678Z,1761684125.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812475 2025-10-28T20:42:05.875Z,1761684125.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726042,0.686630,-0.037447],[-0.684231,0.726784,0.060118],[0.068495,-0.018026,0.997489]] 2025-10-28T20:42:05.929Z,1761684125.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063117 2025-10-28T20:42:06.181Z,1761684126.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314943 2025-10-28T20:42:06.411Z,1761684126.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699839,0.714300,-0.000123],[-0.714040,0.699579,-0.027128],[-0.019291,0.019073,0.999632]] 2025-10-28T20:42:06.433Z,1761684126.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566911 2025-10-28T20:42:06.685Z,1761684126.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819150 2025-10-28T20:42:06.763Z,1761684126.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710817,0.703367,-0.003862],[-0.703125,0.710404,-0.030687],[-0.018840,0.024528,0.999522]] 2025-10-28T20:42:06.937Z,1761684126.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071007 2025-10-28T20:42:07.160Z,1761684127.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714563,0.699523,-0.008249],[-0.699371,0.714591,0.015508],[0.016742,-0.005312,0.999846]] 2025-10-28T20:42:07.189Z,1761684127.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322968 2025-10-28T20:42:07.441Z,1761684127.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574942 2025-10-28T20:42:07.566Z,1761684127.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711913,0.702243,-0.005970],[-0.700281,0.710512,0.069127],[0.052786,-0.045031,0.997590]] 2025-10-28T20:42:07.693Z,1761684127.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827009 2025-10-28T20:42:07.947Z,1761684127.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081294 2025-10-28T20:42:07.971Z,1761684127.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690768,0.722405,0.031155],[-0.722369,0.687546,0.073918],[0.031978,-0.073565,0.996778]] 2025-10-28T20:42:08.197Z,1761684128.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330911 2025-10-28T20:42:08.376Z,1761684128.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667095,0.740354,0.082825],[-0.744849,0.664877,0.056027],[-0.013589,-0.099068,0.994988]] 2025-10-28T20:42:08.449Z,1761684128.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583079 2025-10-28T20:42:08.701Z,1761684128.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834879 2025-10-28T20:42:08.786Z,1761684128.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682512,0.723825,0.101266],[-0.729193,0.683766,0.027213],[-0.049545,-0.092416,0.994487]] 2025-10-28T20:42:08.953Z,1761684128.953 [DAT](INFO): Reached modem response timeout 2025-10-28T20:42:09.183Z,1761684129.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717334,0.694079,0.060713],[-0.695024,0.718949,-0.007295],[-0.048713,-0.036964,0.998129]] 2025-10-28T20:42:09.472Z,1761684129.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:09.587Z,1761684129.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712532,0.701309,-0.021556],[-0.701327,0.712795,0.007951],[0.020941,0.009453,0.999736]] 2025-10-28T20:42:09.991Z,1761684129.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668524,0.742939,-0.033426],[-0.741585,0.669337,0.045159],[0.055924,-0.005402,0.998420]] 2025-10-28T20:42:10.395Z,1761684130.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646542,0.759987,0.066356],[-0.762694,0.645850,0.034296],[-0.016792,-0.072783,0.997206]] 2025-10-28T20:42:10.806Z,1761684130.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640354,0.754948,0.141424],[-0.765912,0.641453,0.043780],[-0.057665,-0.136353,0.988981]] 2025-10-28T20:42:11.203Z,1761684131.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642877,0.756249,0.121643],[-0.765548,0.639635,0.069303],[-0.025397,-0.137677,0.990152]] 2025-10-28T20:42:11.221Z,1761684131.221 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:42:11.221Z,1761684131.221 [DAT](INFO): response not received 2025-10-28T20:42:11.221Z,1761684131.221 [DAT](ERROR): No response from remote modem. 2025-10-28T20:42:11.607Z,1761684131.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636731,0.763411,0.108524],[-0.770005,0.636960,0.037075],[-0.040822,-0.107171,0.993402]] 2025-10-28T20:42:12.011Z,1761684132.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630123,0.775505,0.039207],[-0.776468,0.628876,0.040148],[0.006479,-0.055741,0.998424]] 2025-10-28T20:42:12.415Z,1761684132.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612947,0.790118,0.003159],[-0.789702,0.612484,0.035137],[0.025828,-0.024032,0.999378]] 2025-10-28T20:42:12.819Z,1761684132.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601940,0.796896,0.051242],[-0.796032,0.603895,-0.040543],[-0.063253,-0.016386,0.997863]] 2025-10-28T20:42:13.224Z,1761684133.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618264,0.782733,0.071270],[-0.778260,0.622347,-0.083642],[-0.109824,-0.003754,0.993944]] 2025-10-28T20:42:13.627Z,1761684133.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623976,0.780821,0.031171],[-0.781140,0.624349,-0.002940],[-0.021758,-0.022514,0.999510]] 2025-10-28T20:42:14.031Z,1761684134.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617549,0.786041,-0.027781],[-0.776030,0.614676,0.141250],[0.128105,-0.065670,0.989584]] 2025-10-28T20:42:14.435Z,1761684134.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600065,0.799923,-0.006692],[-0.785167,0.590555,0.186435],[0.153086,-0.106619,0.982445]] 2025-10-28T20:42:14.840Z,1761684134.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586274,0.806067,0.080864],[-0.809099,0.577624,0.108209],[0.040514,-0.128867,0.990834]] 2025-10-28T20:42:15.243Z,1761684135.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590237,0.797306,0.126193],[-0.803744,0.594975,0.000179],[-0.074939,-0.101532,0.992006]] 2025-10-28T20:42:15.646Z,1761684135.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582571,0.811519,0.045249],[-0.810800,0.584134,-0.037296],[-0.056698,-0.014960,0.998279]] 2025-10-28T20:42:16.050Z,1761684136.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603567,0.797202,-0.013299],[-0.796805,0.603694,0.025611],[0.028446,-0.004861,0.999584]] 2025-10-28T20:42:16.456Z,1761684136.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639925,0.768278,0.015621],[-0.768420,0.639643,0.019682],[0.005129,-0.024599,0.999684]] 2025-10-28T20:42:16.858Z,1761684136.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611858,0.788300,0.064909],[-0.789041,0.614033,-0.019436],[-0.055177,-0.039324,0.997702]] 2025-10-28T20:42:17.264Z,1761684137.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604824,0.790202,0.098834],[-0.793664,0.608319,-0.006752],[-0.065458,-0.074357,0.995081]] 2025-10-28T20:42:17.676Z,1761684137.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621547,0.776394,0.104364],[-0.782721,0.620942,0.042180],[-0.032056,-0.107904,0.993644]] 2025-10-28T20:42:18.072Z,1761684138.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622327,0.777260,0.092611],[-0.782753,0.617554,0.076968],[0.002632,-0.120390,0.992723]] 2025-10-28T20:42:18.475Z,1761684138.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631375,0.772499,0.067902],[-0.773895,0.622077,0.118771],[0.049510,-0.127538,0.990597]] 2025-10-28T20:42:18.584Z,1761684138.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:18.878Z,1761684138.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640801,0.766242,0.047415],[-0.766345,0.634764,0.098941],[0.045715,-0.099738,0.993963]] 2025-10-28T20:42:19.291Z,1761684139.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616351,0.785364,0.057568],[-0.786602,0.617458,-0.001843],[-0.036993,-0.044147,0.998340]] 2025-10-28T20:42:19.694Z,1761684139.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598659,0.800358,0.032163],[-0.800695,0.599060,-0.003701],[-0.022230,-0.023537,0.999476]] 2025-10-28T20:42:20.090Z,1761684140.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618539,0.785691,-0.009924],[-0.783228,0.617514,0.072321],[0.062950,-0.036961,0.997332]] 2025-10-28T20:42:20.495Z,1761684140.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649101,0.760693,0.003722],[-0.760399,0.648696,0.031414],[0.021482,-0.023221,0.999499]] 2025-10-28T20:42:20.899Z,1761684140.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666628,0.744207,0.041996],[-0.744322,0.667631,-0.015932],[-0.039895,-0.020638,0.998991]] 2025-10-28T20:42:21.306Z,1761684141.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651147,0.757855,0.040784],[-0.758750,0.648793,0.058021],[0.017511,-0.068725,0.997482]] 2025-10-28T20:42:21.707Z,1761684141.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638463,0.768921,0.033540],[-0.761250,0.624472,0.174736],[0.113414,-0.137095,0.984044]] 2025-10-28T20:42:22.111Z,1761684142.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660408,0.746025,0.085491],[-0.745669,0.638114,0.191803],[0.088537,-0.190416,0.977703]] 2025-10-28T20:42:22.516Z,1761684142.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674084,0.731380,0.103414],[-0.737406,0.658181,0.151754],[0.042924,-0.178553,0.982994]] 2025-10-28T20:42:22.920Z,1761684142.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651403,0.748594,0.123619],[-0.758587,0.645767,0.086784],[-0.014863,-0.150307,0.988528]] 2025-10-28T20:42:23.329Z,1761684143.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648739,0.751872,0.117584],[-0.760577,0.645800,0.066824],[-0.025693,-0.132783,0.990812]] 2025-10-28T20:42:23.727Z,1761684143.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665759,0.744519,0.049571],[-0.745898,0.662266,0.070992],[0.020025,-0.084239,0.996244]] 2025-10-28T20:42:24.133Z,1761684144.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669833,0.742511,0.000924],[-0.741855,0.669187,0.042891],[0.031228,-0.029416,0.999079]] 2025-10-28T20:42:24.535Z,1761684144.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670207,0.741825,0.022758],[-0.741610,0.670578,-0.018427],[-0.028931,-0.004527,0.999571]] 2025-10-28T20:42:24.940Z,1761684144.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668780,0.742781,0.031775],[-0.739873,0.669139,-0.069577],[-0.072943,0.023022,0.997070]] 2025-10-28T20:42:25.347Z,1761684145.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671328,0.740594,0.028954],[-0.739117,0.671865,-0.047987],[-0.054992,0.010814,0.998428]] 2025-10-28T20:42:25.786Z,1761684145.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677017,0.734577,0.045220],[-0.735072,0.677946,-0.007680],[-0.036299,-0.028041,0.998948]] 2025-10-28T20:42:26.150Z,1761684146.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686409,0.725412,0.051187],[-0.726775,0.686742,0.013556],[-0.025318,-0.046506,0.998597]] 2025-10-28T20:42:26.554Z,1761684146.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716433,0.696398,0.041884],[-0.697597,0.715863,0.029975],[-0.009108,-0.050693,0.998673]] 2025-10-28T20:42:26.959Z,1761684146.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685293,0.726375,0.052457],[-0.728084,0.681728,0.071696],[0.016317,-0.087325,0.996046]] 2025-10-28T20:42:27.368Z,1761684147.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646961,0.752669,0.122188],[-0.762470,0.640438,0.092077],[-0.008951,-0.152735,0.988227]] 2025-10-28T20:42:27.680Z,1761684147.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:27.825Z,1761684147.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662739,0.730696,0.163890],[-0.745493,0.664474,0.052099],[-0.070832,-0.156707,0.985102]] 2025-10-28T20:42:28.171Z,1761684148.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661588,0.743014,0.101151],[-0.743224,0.667650,-0.043150],[-0.099595,-0.046630,0.993935]] 2025-10-28T20:42:28.574Z,1761684148.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676319,0.735989,0.030194],[-0.730047,0.675191,-0.105586],[-0.098096,0.049367,0.993952]] 2025-10-28T20:42:28.980Z,1761684148.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680906,0.731287,-0.039833],[-0.731561,0.676589,-0.083936],[-0.034431,0.086293,0.995675]] 2025-10-28T20:42:29.384Z,1761684149.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648460,0.760168,-0.040546],[-0.761242,0.647763,-0.030223],[0.003290,0.050464,0.998720]] 2025-10-28T20:42:29.844Z,1761684149.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651314,0.757921,0.036684],[-0.758561,0.651575,0.005950],[-0.019393,-0.031702,0.999309]] 2025-10-28T20:42:30.191Z,1761684150.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643640,0.757915,0.106268],[-0.764637,0.642729,0.047211],[-0.032520,-0.111643,0.993216]] 2025-10-28T20:42:30.595Z,1761684150.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629020,0.761574,0.156008],[-0.777323,0.618787,0.113455],[-0.010132,-0.192634,0.981218]] 2025-10-28T20:42:30.999Z,1761684150.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644625,0.749792,0.149235],[-0.764080,0.625415,0.158232],[0.025307,-0.216028,0.976059]] 2025-10-28T20:42:31.404Z,1761684151.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631634,0.772258,0.068232],[-0.773013,0.620647,0.131334],[0.059076,-0.135699,0.988987]] 2025-10-28T20:42:31.832Z,1761684151.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621693,0.783051,0.018129],[-0.782786,0.620344,0.049180],[0.027264,-0.044766,0.998625]] 2025-10-28T20:42:32.231Z,1761684152.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632797,0.774056,-0.020119],[-0.774263,0.632849,-0.004500],[0.009249,0.018425,0.999787]] 2025-10-28T20:42:32.636Z,1761684152.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615153,0.787291,-0.041961],[-0.787435,0.616166,0.016888],[0.039150,0.022653,0.998977]] 2025-10-28T20:42:33.039Z,1761684153.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597659,0.801627,-0.014047],[-0.796676,0.595753,0.101915],[0.090066,-0.049719,0.994694]] 2025-10-28T20:42:33.443Z,1761684153.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615990,0.784203,0.074719],[-0.786500,0.606886,0.114483],[0.044432,-0.129287,0.990611]] 2025-10-28T20:42:33.846Z,1761684153.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619299,0.770729,0.149816],[-0.783446,0.619181,0.053173],[-0.051781,-0.150303,0.987283]] 2025-10-28T20:42:34.258Z,1761684154.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592560,0.793860,0.136602],[-0.805153,0.588871,0.070429],[-0.024530,-0.151719,0.988119]] 2025-10-28T20:42:34.654Z,1761684154.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607034,0.785279,0.121848],[-0.794673,0.599433,0.095784],[0.002177,-0.154973,0.987916]] 2025-10-28T20:42:35.059Z,1761684155.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635578,0.755943,0.156812],[-0.766291,0.642432,0.008901],[-0.094012,-0.125821,0.987588]] 2025-10-28T20:42:35.465Z,1761684155.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643877,0.753679,0.131872],[-0.758101,0.651722,-0.023251],[-0.103468,-0.085001,0.990994]] 2025-10-28T20:42:35.867Z,1761684155.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655065,0.753263,0.059034],[-0.755565,0.653406,0.046716],[-0.003384,-0.075206,0.997162]] 2025-10-28T20:42:36.273Z,1761684156.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642378,0.765821,0.029485],[-0.765076,0.638552,0.083132],[0.044836,-0.075960,0.996102]] 2025-10-28T20:42:36.675Z,1761684156.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631620,0.774161,0.041615],[-0.774957,0.628902,0.062641],[0.022322,-0.071815,0.997168]] 2025-10-28T20:42:36.781Z,1761684156.781 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:37.080Z,1761684157.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639485,0.768707,0.012182],[-0.768734,0.639135,0.023560],[0.010325,-0.024431,0.999648]] 2025-10-28T20:42:37.483Z,1761684157.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641753,0.766210,-0.032790],[-0.766119,0.642447,0.018000],[0.034858,0.013570,0.999300]] 2025-10-28T20:42:37.887Z,1761684157.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643870,0.765083,-0.008958],[-0.763545,0.643242,0.056915],[0.049307,-0.029806,0.998339]] 2025-10-28T20:42:38.291Z,1761684158.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649068,0.758522,0.057919],[-0.760712,0.647693,0.042548],[-0.005240,-0.071676,0.997414]] 2025-10-28T20:42:38.695Z,1761684158.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631934,0.769475,0.092562],[-0.773963,0.632795,0.023491],[-0.040497,-0.086484,0.995430]] 2025-10-28T20:42:39.099Z,1761684159.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643616,0.761509,0.076565],[-0.765222,0.638468,0.082419],[0.013878,-0.111635,0.993652]] 2025-10-28T20:42:39.503Z,1761684159.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668589,0.742935,0.032185],[-0.738967,0.658933,0.140482],[0.083162,-0.117708,0.989560]] 2025-10-28T20:42:39.914Z,1761684159.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641938,0.766184,0.029607],[-0.763443,0.635103,0.117469],[0.071200,-0.098011,0.992635]] 2025-10-28T20:42:40.311Z,1761684160.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638469,0.767956,0.051001],[-0.769349,0.634971,0.070098],[0.021448,-0.083993,0.996235]] 2025-10-28T20:42:40.715Z,1761684160.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659914,0.750427,0.037049],[-0.751272,0.659720,0.018983],[-0.010197,-0.040360,0.999133]] 2025-10-28T20:42:41.119Z,1761684161.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662818,0.748601,0.016372],[-0.748756,0.662815,0.006383],[-0.006073,-0.016489,0.999846]] 2025-10-28T20:42:41.524Z,1761684161.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668583,0.743378,0.019637],[-0.743636,0.668289,0.019904],[0.001673,-0.027910,0.999609]] 2025-10-28T20:42:41.927Z,1761684161.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658258,0.751517,0.043813],[-0.752610,0.655701,0.060285],[0.016577,-0.072657,0.997219]] 2025-10-28T20:42:42.331Z,1761684162.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650658,0.755956,0.071938],[-0.757646,0.639879,0.128561],[0.051155,-0.138153,0.989089]] 2025-10-28T20:42:42.743Z,1761684162.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642629,0.761731,0.082422],[-0.763354,0.627319,0.154145],[0.065712,-0.161975,0.984604]] 2025-10-28T20:42:43.139Z,1761684163.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645508,0.754383,0.119270],[-0.763671,0.639806,0.086337],[-0.011178,-0.146814,0.989101]] 2025-10-28T20:42:43.542Z,1761684163.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649960,0.752498,0.106293],[-0.756652,0.653815,-0.001888],[-0.070916,-0.079200,0.994333]] 2025-10-28T20:42:43.946Z,1761684163.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657154,0.752968,0.034459],[-0.753213,0.657729,-0.007900],[-0.028613,-0.020763,0.999375]] 2025-10-28T20:42:44.351Z,1761684164.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661269,0.749961,-0.016791],[-0.749168,0.661383,0.036323],[0.038346,-0.011440,0.999199]] 2025-10-28T20:42:44.780Z,1761684164.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645252,0.763879,-0.011808],[-0.760760,0.643879,0.081636],[0.069963,-0.043693,0.996592]] 2025-10-28T20:42:45.158Z,1761684165.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628758,0.774653,0.067641],[-0.777601,0.626432,0.054044],[-0.000507,-0.086579,0.996245]] 2025-10-28T20:42:45.562Z,1761684165.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628854,0.770770,0.102257],[-0.774869,0.632122,0.000575],[-0.064196,-0.079597,0.994758]] 2025-10-28T20:42:45.860Z,1761684165.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:45.968Z,1761684165.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636613,0.769377,0.052759],[-0.769757,0.638106,-0.017192],[-0.046893,-0.029668,0.998459]] 2025-10-28T20:42:46.370Z,1761684166.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613221,0.789746,0.016175],[-0.789672,0.613410,-0.012051],[-0.019439,-0.005383,0.999797]] 2025-10-28T20:42:46.781Z,1761684166.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591535,0.805407,0.037499],[-0.806175,0.591566,0.011457],[-0.012956,-0.037008,0.999231]] 2025-10-28T20:42:47.179Z,1761684167.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578095,0.813059,0.068860],[-0.815904,0.577052,0.036203],[-0.010301,-0.077111,0.996969]] 2025-10-28T20:42:47.583Z,1761684167.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604047,0.791637,0.091863],[-0.796706,0.602683,0.045083],[-0.019675,-0.100420,0.994751]] 2025-10-28T20:42:47.991Z,1761684167.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629874,0.771074,0.093292],[-0.775702,0.630591,0.025326],[-0.039301,-0.088319,0.995317]] 2025-10-28T20:42:48.396Z,1761684168.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573696,0.815211,0.079404],[-0.818510,0.574184,0.018827],[-0.030244,-0.075794,0.996665]] 2025-10-28T20:42:48.803Z,1761684168.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595364,0.796968,0.101906],[-0.802630,0.595701,0.030444],[-0.036443,-0.099918,0.994328]] 2025-10-28T20:42:49.203Z,1761684169.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600505,0.792171,0.108903],[-0.799436,0.597703,0.060443],[-0.017211,-0.123357,0.992213]] 2025-10-28T20:42:49.606Z,1761684169.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588751,0.802341,0.098084],[-0.808307,0.584930,0.067065],[-0.003563,-0.118767,0.992916]] 2025-10-28T20:42:50.008Z,1761684170.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567949,0.815958,0.107923],[-0.822524,0.567424,0.038525],[-0.029803,-0.110649,0.993413]] 2025-10-28T20:42:50.017Z,1761684170.017 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500310975,35.0, +15.0, 0.0,15 2025-10-28T20:42:50.413Z,1761684170.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540143,0.835936,0.097240],[-0.841278,0.539395,0.036104],[-0.022270,-0.101308,0.994606]] 2025-10-28T20:42:50.816Z,1761684170.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553702,0.828368,0.084972],[-0.832183,0.546816,0.091997],[0.029743,-0.121652,0.992127]] 2025-10-28T20:42:51.225Z,1761684171.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558614,0.826194,0.073170],[-0.828455,0.551512,0.097454],[0.040162,-0.115057,0.992547]] 2025-10-28T20:42:51.623Z,1761684171.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561386,0.825078,0.063970],[-0.827524,0.560347,0.034867],[-0.007078,-0.072510,0.997343]] 2025-10-28T20:42:52.027Z,1761684172.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566860,0.820783,0.070602],[-0.822580,0.568618,-0.006010],[-0.045079,-0.054669,0.997486]] 2025-10-28T20:42:52.431Z,1761684172.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542942,0.838594,0.044423],[-0.838425,0.538320,0.085172],[0.047511,-0.083489,0.995375]] 2025-10-28T20:42:52.836Z,1761684172.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546419,0.837090,0.026585],[-0.827768,0.534962,0.169162],[0.127382,-0.114439,0.985230]] 2025-10-28T20:42:53.244Z,1761684173.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584263,0.809991,0.050509],[-0.805312,0.570928,0.159733],[0.100545,-0.134002,0.985867]] 2025-10-28T20:42:53.643Z,1761684173.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573098,0.816020,0.075299],[-0.815522,0.558885,0.150236],[0.080513,-0.147508,0.985778]] 2025-10-28T20:42:53.788Z,1761684173.788 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application. 2025-10-28T20:42:54.046Z,1761684174.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575814,0.810898,0.104324],[-0.811535,0.551394,0.193327],[0.099245,-0.195983,0.975572]] 2025-10-28T20:42:54.450Z,1761684174.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579952,0.810320,0.083886],[-0.809533,0.561722,0.170659],[0.091168,-0.166882,0.981753]] 2025-10-28T20:42:54.858Z,1761684174.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539082,0.837450,0.089820],[-0.842052,0.538210,0.035753],[-0.018401,-0.094907,0.995316]] 2025-10-28T20:42:55.200Z,1761684175.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:42:55.258Z,1761684175.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550781,0.830542,0.082701],[-0.828159,0.556142,-0.069711],[-0.103891,-0.030094,0.994133]] 2025-10-28T20:42:55.662Z,1761684175.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604178,0.796799,-0.008967],[-0.793532,0.600599,-0.097915],[-0.072633,0.066274,0.995154]] 2025-10-28T20:42:56.066Z,1761684176.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600264,0.793373,-0.101205],[-0.798706,0.587999,-0.127776],[-0.041866,0.157532,0.986626]] 2025-10-28T20:42:56.479Z,1761684176.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561035,0.823878,-0.080404],[-0.826872,0.553185,-0.101334],[-0.039009,0.123336,0.991598]] 2025-10-28T20:42:56.617Z,1761684176.617 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message. 2025-10-28T20:42:56.618Z,1761684176.618 [DAT](INFO): Activating messaging. 2025-10-28T20:42:56.875Z,1761684176.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569374,0.821669,0.025935],[-0.822060,0.569287,0.011360],[-0.005431,-0.027788,0.999599]] 2025-10-28T20:42:56.908Z,1761684176.908 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2221 2025-10-28T20:42:56.909Z,1761684176.909 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2222 2025-10-28T20:42:56.911Z,1761684176.911 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2223 2025-10-28T20:42:57.279Z,1761684177.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579914,0.801159,0.147798],[-0.814657,0.571582,0.098123],[-0.005866,-0.177307,0.984138]] 2025-10-28T20:42:57.339Z,1761684177.339 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:42:57.339Z,1761684177.339 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:42:57.344Z,1761684177.344 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:42:57.344Z,1761684177.344 [marl:UpdateRudder:A] Stopped 2025-10-28T20:42:57.344Z,1761684177.344 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:42:57.344Z,1761684177.344 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode] Stopped 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:42:57.345Z,1761684177.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed] Stopped 2025-10-28T20:42:57.346Z,1761684177.346 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:42:57.683Z,1761684177.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555279,0.802138,0.219634],[-0.831157,0.544456,0.112894],[-0.029025,-0.245238,0.969028]] 2025-10-28T20:42:57.731Z,1761684177.731 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T20:42:57.731Z,1761684177.731 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder 2025-10-28T20:42:57.731Z,1761684177.731 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T20:42:57.732Z,1761684177.732 [marl:JoystickControl:CmdRudder] Running Loop=1 2025-10-28T20:42:57.732Z,1761684177.732 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1 2025-10-28T20:42:57.736Z,1761684177.736 [marl:JoystickControl:CmdHeading] Stopped 2025-10-28T20:42:57.736Z,1761684177.736 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading 2025-10-28T20:42:57.736Z,1761684177.736 [marl:JoystickControl:CmdHeading:A.Point] Stopped 2025-10-28T20:42:57.832Z,1761684177.832 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T20:42:57.832Z,1761684177.832 [marl:UpdateRudder:B] Stopped 2025-10-28T20:42:57.833Z,1761684177.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:42:57.833Z,1761684177.833 [marl:UpdateRudder] Stopped 2025-10-28T20:42:57.833Z,1761684177.833 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:42:58.088Z,1761684178.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558596,0.809835,0.179268],[-0.829411,0.543584,0.128816],[0.006873,-0.220643,0.975330]] 2025-10-28T20:42:58.491Z,1761684178.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569715,0.816253,0.095684],[-0.821798,0.564608,0.076584],[0.008488,-0.122264,0.992461]] 2025-10-28T20:42:58.589Z,1761684178.589 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:42:58.637Z,1761684178.637 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:42:58.637Z,1761684178.637 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:42:58.889Z,1761684178.889 [DAT](INFO): DAT read: user:263> 2025-10-28T20:42:58.890Z,1761684178.890 [DAT](INFO): DAT read: Tx time:20:42:58.6142 2025-10-28T20:42:58.890Z,1761684178.890 [DAT](INFO): Ping request sent. 2025-10-28T20:42:58.890Z,1761684178.890 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:42:58.890Z,1761684178.890 [DAT](INFO): publishing transmit ping time 2025-10-28T20:42:58.891Z,1761684178.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932 2025-10-28T20:42:58.900Z,1761684178.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550017,0.834861,0.022092],[-0.834976,0.550253,-0.006058],[-0.017214,-0.015114,0.999738]] 2025-10-28T20:42:59.143Z,1761684179.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252429 2025-10-28T20:42:59.300Z,1761684179.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539255,0.841515,-0.032490],[-0.841215,0.540071,0.026099],[0.039510,0.013257,0.999131]] 2025-10-28T20:42:59.393Z,1761684179.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502875 2025-10-28T20:42:59.645Z,1761684179.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754841 2025-10-28T20:42:59.709Z,1761684179.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550408,0.834388,-0.029113],[-0.828942,0.550308,0.100085],[0.099531,-0.030954,0.994553]] 2025-10-28T20:42:59.897Z,1761684179.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834 2025-10-28T20:43:00.107Z,1761684180.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559087,0.827532,0.051100],[-0.828580,0.555469,0.070062],[0.029595,-0.081511,0.996233]] 2025-10-28T20:43:00.117Z,1761684180.117 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0005050031197515.1, 0.0,1507.0, 0 2025-10-28T20:43:00.149Z,1761684180.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027 2025-10-28T20:43:00.404Z,1761684180.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514290 2025-10-28T20:43:00.519Z,1761684180.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552368,0.826491,0.108635],[-0.833582,0.548499,0.065494],[-0.005456,-0.126733,0.991922]] 2025-10-28T20:43:00.653Z,1761684180.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762903 2025-10-28T20:43:00.905Z,1761684180.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-28T20:43:00.916Z,1761684180.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573710,0.812743,0.101519],[-0.818448,0.564080,0.109342],[0.031602,-0.145818,0.988807]] 2025-10-28T20:43:01.157Z,1761684181.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266826 2025-10-28T20:43:01.319Z,1761684181.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591519,0.802908,0.073789],[-0.806278,0.588507,0.059791],[0.004582,-0.094862,0.995480]] 2025-10-28T20:43:01.409Z,1761684181.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519121 2025-10-28T20:43:01.661Z,1761684181.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770931 2025-10-28T20:43:01.729Z,1761684181.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603254,0.796391,0.042965],[-0.796714,0.604212,-0.013237],[-0.036501,-0.026245,0.998989]] 2025-10-28T20:43:01.913Z,1761684181.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022903 2025-10-28T20:43:02.126Z,1761684182.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598904,0.800738,-0.011507],[-0.800289,0.598968,0.027848],[0.029191,-0.007469,0.999546]] 2025-10-28T20:43:02.165Z,1761684182.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274820 2025-10-28T20:43:02.417Z,1761684182.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526848 2025-10-28T20:43:02.534Z,1761684182.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568129,0.822924,0.005083],[-0.819491,0.565172,0.094943],[0.075258,-0.058105,0.995470]] 2025-10-28T20:43:02.669Z,1761684182.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778800 2025-10-28T20:43:02.921Z,1761684182.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030770 2025-10-28T20:43:02.942Z,1761684182.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546769,0.833342,0.081147],[-0.837250,0.543304,0.061918],[0.007511,-0.101796,0.994777]] 2025-10-28T20:43:03.173Z,1761684183.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282849 2025-10-28T20:43:03.341Z,1761684183.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541262,0.824093,0.167051],[-0.834034,0.551422,-0.017915],[-0.106880,-0.129630,0.985785]] 2025-10-28T20:43:03.425Z,1761684183.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534786 2025-10-28T20:43:03.677Z,1761684183.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786824 2025-10-28T20:43:03.747Z,1761684183.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547734,0.817041,0.180089],[-0.825507,0.562787,-0.042543],[-0.136111,-0.125362,0.982730]] 2025-10-28T20:43:03.929Z,1761684183.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038852 2025-10-28T20:43:04.147Z,1761684184.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567983,0.816733,0.101696],[-0.822155,0.568754,0.024088],[-0.038167,-0.097291,0.994524]] 2025-10-28T20:43:04.181Z,1761684184.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290911 2025-10-28T20:43:04.433Z,1761684184.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542964 2025-10-28T20:43:04.563Z,1761684184.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571018,0.819521,0.048217],[-0.820556,0.567975,0.063969],[0.025038,-0.076092,0.996786]] 2025-10-28T20:43:04.686Z,1761684184.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795380 2025-10-28T20:43:04.937Z,1761684184.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046912 2025-10-28T20:43:04.959Z,1761684184.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524879,0.847967,0.073844],[-0.851167,0.522483,0.050261],[0.004037,-0.089235,0.996002]] 2025-10-28T20:43:04.992Z,1761684184.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:05.190Z,1761684185.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299490 2025-10-28T20:43:05.358Z,1761684185.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504573,0.855789,0.114154],[-0.861620,0.507543,0.003513],[-0.054931,-0.100130,0.993457]] 2025-10-28T20:43:05.441Z,1761684185.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550931 2025-10-28T20:43:05.693Z,1761684185.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803084 2025-10-28T20:43:05.796Z,1761684185.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531473,0.842239,0.090394],[-0.846836,0.530825,0.033065],[-0.020135,-0.094122,0.995357]] 2025-10-28T20:43:05.945Z,1761684185.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054838 2025-10-28T20:43:06.166Z,1761684186.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544779,0.838329,0.020488],[-0.832954,0.538138,0.128825],[0.096972,-0.087247,0.991456]] 2025-10-28T20:43:06.198Z,1761684186.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307832 2025-10-28T20:43:06.449Z,1761684186.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558755 2025-10-28T20:43:06.581Z,1761684186.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530672,0.847388,0.017894],[-0.841737,0.524424,0.128289],[0.099327,-0.083141,0.991575]] 2025-10-28T20:43:06.701Z,1761684186.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811307 2025-10-28T20:43:06.953Z,1761684186.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062870 2025-10-28T20:43:06.975Z,1761684186.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500166,0.863205,0.068636],[-0.865811,0.497212,0.056141],[0.014335,-0.087506,0.996061]] 2025-10-28T20:43:07.205Z,1761684187.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315138 2025-10-28T20:43:07.379Z,1761684187.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493603,0.863663,0.102188],[-0.868198,0.496217,-0.000182],[-0.050864,-0.088630,0.994765]] 2025-10-28T20:43:07.440Z,1761684187.440 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:07.441Z,1761684187.441 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:07.442Z,1761684187.442 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:07.443Z,1761684187.443 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:07.443Z,1761684187.443 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:07.443Z,1761684187.443 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:07.457Z,1761684187.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566871 2025-10-28T20:43:07.710Z,1761684187.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819654 2025-10-28T20:43:07.829Z,1761684187.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475545,0.875066,0.090094],[-0.878912,0.476936,0.006791],[-0.037027,-0.082414,0.995910]] 2025-10-28T20:43:07.961Z,1761684187.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070898 2025-10-28T20:43:08.065Z,1761684188.065 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T20:43:08.065Z,1761684188.065 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:08.065Z,1761684188.065 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:08.065Z,1761684188.065 [marl:UpdateRudder] Stopped 2025-10-28T20:43:08.065Z,1761684188.065 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:08.202Z,1761684188.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456490,0.886035,0.080981],[-0.889718,0.454152,0.046348],[0.004288,-0.093207,0.995638]] 2025-10-28T20:43:08.213Z,1761684188.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323138 2025-10-28T20:43:08.465Z,1761684188.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574910 2025-10-28T20:43:08.594Z,1761684188.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462732,0.881540,0.093627],[-0.885435,0.464763,0.000128],[-0.043402,-0.082960,0.995607]] 2025-10-28T20:43:08.717Z,1761684188.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826833 2025-10-28T20:43:08.969Z,1761684188.969 [DAT](INFO): Reached modem response timeout 2025-10-28T20:43:08.995Z,1761684188.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468948,0.878944,0.086867],[-0.879848,0.473483,-0.041007],[-0.077173,-0.057200,0.995376]] 2025-10-28T20:43:09.399Z,1761684189.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451725,0.890611,0.052500],[-0.889624,0.454093,-0.048673],[-0.067189,-0.024718,0.997434]] 2025-10-28T20:43:09.833Z,1761684189.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425669,0.903263,0.054066],[-0.903058,0.427841,-0.037909],[-0.057374,-0.032688,0.997818]] 2025-10-28T20:43:10.212Z,1761684190.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414801,0.902542,0.115573],[-0.906000,0.421438,-0.039415],[-0.084281,-0.088360,0.992517]] 2025-10-28T20:43:10.611Z,1761684190.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427530,0.895352,0.124752],[-0.900385,0.434077,-0.029736],[-0.080776,-0.099612,0.991742]] 2025-10-28T20:43:11.017Z,1761684191.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439077,0.893844,0.090851],[-0.895730,0.443366,-0.033084],[-0.069852,-0.066852,0.995315]] 2025-10-28T20:43:11.237Z,1761684191.237 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:43:11.237Z,1761684191.237 [DAT](INFO): response not received 2025-10-28T20:43:11.237Z,1761684191.237 [DAT](ERROR): No response from remote modem. 2025-10-28T20:43:11.418Z,1761684191.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409254,0.907290,0.096623],[-0.909663,0.413950,-0.034049],[-0.070889,-0.073960,0.994739]] 2025-10-28T20:43:11.831Z,1761684191.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394784,0.909615,0.129409],[-0.915730,0.401009,-0.025100],[-0.074726,-0.108595,0.991274]] 2025-10-28T20:43:12.227Z,1761684192.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396082,0.907176,0.141950],[-0.913406,0.405073,-0.040077],[-0.093857,-0.113784,0.989062]] 2025-10-28T20:43:12.637Z,1761684192.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383172,0.912775,0.141498],[-0.911631,0.398371,-0.101144],[-0.148690,-0.090239,0.984758]] 2025-10-28T20:43:13.035Z,1761684193.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365898,0.921240,0.132046],[-0.916851,0.381170,-0.118713],[-0.159695,-0.077630,0.984109]] 2025-10-28T20:43:13.439Z,1761684193.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352788,0.929439,0.108094],[-0.925574,0.363584,-0.105446],[-0.137307,-0.062849,0.988533]] 2025-10-28T20:43:13.842Z,1761684193.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368885,0.925827,0.082264],[-0.926329,0.373470,-0.049348],[-0.076411,-0.058000,0.995388]] 2025-10-28T20:43:14.248Z,1761684194.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367763,0.927710,0.064058],[-0.928698,0.369937,-0.025815],[-0.047646,-0.049997,0.997612]] 2025-10-28T20:43:14.397Z,1761684194.397 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:14.651Z,1761684194.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363606,0.927896,0.082464],[-0.925314,0.369981,-0.083115],[-0.107632,-0.046084,0.993122]] 2025-10-28T20:43:15.055Z,1761684195.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343539,0.931035,0.123103],[-0.921669,0.359405,-0.146129],[-0.180295,-0.063260,0.981576]] 2025-10-28T20:43:15.459Z,1761684195.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304255,0.939146,0.159481],[-0.933868,0.327094,-0.144565],[-0.187933,-0.104950,0.976559]] 2025-10-28T20:43:15.863Z,1761684195.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303756,0.942102,0.142040],[-0.944784,0.317089,-0.082695],[-0.122947,-0.109078,0.986400]] 2025-10-28T20:43:16.267Z,1761684196.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347891,0.933081,0.091274],[-0.933109,0.354053,-0.062884],[-0.090992,-0.063292,0.993838]] 2025-10-28T20:43:16.682Z,1761684196.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360655,0.931312,0.050844],[-0.924401,0.364171,-0.113417],[-0.124142,-0.006096,0.992246]] 2025-10-28T20:43:17.077Z,1761684197.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333982,0.940781,0.058204],[-0.926827,0.339016,-0.161430],[-0.171602,-0.000030,0.985166]] 2025-10-28T20:43:17.478Z,1761684197.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324016,0.943635,0.067580],[-0.933135,0.330539,-0.141434],[-0.155800,-0.017234,0.987638]] 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:17.518Z,1761684197.518 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:17.519Z,1761684197.519 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:17.520Z,1761684197.520 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:17.520Z,1761684197.520 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:17.520Z,1761684197.520 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:17.520Z,1761684197.520 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:17.883Z,1761684197.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353786,0.929270,0.106265],[-0.924925,0.364483,-0.108011],[-0.139104,-0.060074,0.988454]] 2025-10-28T20:43:17.940Z,1761684197.940 [marl:UpdateRudder:B](INFO): Updating rudder angle 0.000000 arcdeg 2025-10-28T20:43:17.941Z,1761684197.941 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:17.941Z,1761684197.941 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:17.941Z,1761684197.941 [marl:UpdateRudder] Stopped 2025-10-28T20:43:17.941Z,1761684197.941 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:18.287Z,1761684198.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376470,0.917302,0.129719],[-0.913101,0.391064,-0.115394],[-0.156579,-0.075004,0.984813]] 2025-10-28T20:43:18.704Z,1761684198.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362331,0.921895,0.137211],[-0.909993,0.381739,-0.161826],[-0.201565,-0.066226,0.977234]] 2025-10-28T20:43:19.095Z,1761684199.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354827,0.925834,0.130110],[-0.912588,0.373220,-0.167001],[-0.203175,-0.059481,0.977334]] 2025-10-28T20:43:19.499Z,1761684199.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373635,0.920006,0.118262],[-0.910718,0.388048,-0.141463],[-0.176038,-0.054848,0.982854]] 2025-10-28T20:43:19.904Z,1761684199.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387723,0.916779,0.095845],[-0.912695,0.396382,-0.099342],[-0.129066,-0.048960,0.990427]] 2025-10-28T20:43:19.920Z,1761684199.920 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 746.35, 597.10, 778.69 2025-10-28T20:43:20.307Z,1761684200.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386052,0.919680,0.071779],[-0.918982,0.390190,-0.056778],[-0.080226,-0.044044,0.995803]] 2025-10-28T20:43:20.711Z,1761684200.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403086,0.910461,0.092640],[-0.911088,0.408772,-0.053149],[-0.086259,-0.062980,0.994280]] 2025-10-28T20:43:21.115Z,1761684201.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408905,0.906315,0.106725],[-0.907356,0.416268,-0.058534],[-0.097476,-0.072902,0.992564]] 2025-10-28T20:43:21.520Z,1761684201.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396318,0.910971,0.114294],[-0.912666,0.404443,-0.058881],[-0.099864,-0.080976,0.991701]] 2025-10-28T20:43:21.924Z,1761684201.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409793,0.905117,0.113284],[-0.907243,0.417321,-0.052461],[-0.094759,-0.081279,0.992177]] 2025-10-28T20:43:22.328Z,1761684202.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422427,0.900385,0.104222],[-0.904734,0.425817,-0.011661],[-0.054879,-0.089367,0.994486]] 2025-10-28T20:43:22.731Z,1761684202.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421243,0.899539,0.115691],[-0.905100,0.425089,-0.009655],[-0.057864,-0.100645,0.993238]] 2025-10-28T20:43:23.135Z,1761684203.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418076,0.894963,0.155733],[-0.899754,0.431574,-0.064709],[-0.125123,-0.113068,0.985677]] 2025-10-28T20:43:23.539Z,1761684203.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409833,0.901288,0.140417],[-0.901877,0.423432,-0.085570],[-0.136580,-0.091569,0.986388]] 2025-10-28T20:43:23.943Z,1761684203.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394828,0.915138,0.081448],[-0.917863,0.396796,-0.008899],[-0.040463,-0.071245,0.996638]] 2025-10-28T20:43:24.349Z,1761684204.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413684,0.907929,0.067309],[-0.910007,0.410135,0.060635],[0.027447,-0.086335,0.995888]] 2025-10-28T20:43:24.774Z,1761684204.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432476,0.895708,0.103301],[-0.900179,0.435461,-0.007166],[-0.051402,-0.089890,0.994624]] 2025-10-28T20:43:25.163Z,1761684205.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442056,0.889179,0.118098],[-0.891730,0.449873,-0.049310],[-0.096974,-0.083514,0.991777]] 2025-10-28T20:43:25.559Z,1761684205.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471372,0.876330,0.099266],[-0.879982,0.474825,-0.013148],[-0.058656,-0.081155,0.994974]] 2025-10-28T20:43:25.630Z,1761684205.630 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:25.962Z,1761684205.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468565,0.883191,0.020502],[-0.880902,0.465345,0.086404],[0.066771,-0.058546,0.996049]] 2025-10-28T20:43:26.369Z,1761684206.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456889,0.889486,-0.008207],[-0.880772,0.453666,0.135753],[0.124474,-0.054796,0.990709]] 2025-10-28T20:43:26.785Z,1761684206.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469251,0.882964,0.013392],[-0.874598,0.462603,0.145180],[0.121993,-0.079838,0.989315]] 2025-10-28T20:43:27.181Z,1761684207.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474831,0.878989,0.043742],[-0.873766,0.464902,0.142826],[0.105207,-0.106038,0.988781]] 2025-10-28T20:43:27.578Z,1761684207.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464503,0.879927,0.099825],[-0.884310,0.454871,0.105297],[0.047246,-0.137187,0.989418]] 2025-10-28T20:43:27.655Z,1761684207.655 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:27.665Z,1761684207.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:27.665Z,1761684207.665 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:27.666Z,1761684207.666 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:27.666Z,1761684207.666 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:27.666Z,1761684207.666 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:27.666Z,1761684207.666 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:27.666Z,1761684207.666 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:27.667Z,1761684207.667 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:27.676Z,1761684207.676 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:27.677Z,1761684207.677 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:27.677Z,1761684207.677 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:27.677Z,1761684207.677 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:27.983Z,1761684207.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492855,0.860343,0.130014],[-0.870100,0.486532,0.078827],[0.004563,-0.151975,0.988374]] 2025-10-28T20:43:28.077Z,1761684208.077 [marl:UpdateRudder:B](INFO): Updating rudder angle 1.000000 arcdeg 2025-10-28T20:43:28.078Z,1761684208.078 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:28.078Z,1761684208.078 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:28.078Z,1761684208.078 [marl:UpdateRudder] Stopped 2025-10-28T20:43:28.078Z,1761684208.078 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:28.388Z,1761684208.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488484,0.864064,0.121559],[-0.872219,0.487492,0.039825],[-0.024848,-0.125480,0.991785]] 2025-10-28T20:43:28.793Z,1761684208.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461212,0.879965,0.113778],[-0.887269,0.458284,0.052250],[-0.006164,-0.125050,0.992131]] 2025-10-28T20:43:29.196Z,1761684209.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465602,0.871588,0.153458],[-0.884405,0.464572,0.044741],[-0.032297,-0.156550,0.987142]] 2025-10-28T20:43:29.607Z,1761684209.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492139,0.859455,0.138335],[-0.868781,0.494946,0.015734],[-0.054945,-0.127926,0.990261]] 2025-10-28T20:43:30.003Z,1761684210.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492056,0.867665,0.070989],[-0.869021,0.494400,-0.019259],[-0.051807,-0.052214,0.997291]] 2025-10-28T20:43:30.409Z,1761684210.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481686,0.876265,0.011728],[-0.876099,0.481825,-0.017197],[-0.020720,-0.001991,0.999783]] 2025-10-28T20:43:30.813Z,1761684210.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498015,0.867034,0.015248],[-0.865812,0.496176,0.064642],[0.048481,-0.045394,0.997792]] 2025-10-28T20:43:31.215Z,1761684211.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508638,0.859373,0.052598],[-0.860143,0.504499,0.075064],[0.037972,-0.083422,0.995791]] 2025-10-28T20:43:31.619Z,1761684211.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484353,0.868461,0.105721],[-0.874716,0.483004,0.039743],[-0.016549,-0.111725,0.993601]] 2025-10-28T20:43:32.023Z,1761684212.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488819,0.862863,0.128544],[-0.871110,0.490741,0.018456],[-0.047157,-0.120998,0.991532]] 2025-10-28T20:43:32.432Z,1761684212.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506271,0.860427,0.057921],[-0.862358,0.504705,0.040143],[0.005308,-0.070272,0.997514]] 2025-10-28T20:43:32.831Z,1761684212.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518555,0.855044,0.000220],[-0.853926,0.517864,0.051262],[0.043718,-0.026770,0.998685]] 2025-10-28T20:43:33.241Z,1761684213.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518975,0.854765,-0.006412],[-0.853876,0.518753,0.042315],[0.039496,-0.016485,0.999084]] 2025-10-28T20:43:33.659Z,1761684213.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519697,0.852956,0.048798],[-0.854281,0.518077,0.042423],[0.010904,-0.063735,0.997907]] 2025-10-28T20:43:34.047Z,1761684214.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520560,0.848785,0.092639],[-0.853648,0.515165,0.076751],[0.017420,-0.119035,0.992737]] 2025-10-28T20:43:34.452Z,1761684214.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523383,0.848286,0.080507],[-0.849216,0.511517,0.131081],[0.070013,-0.136973,0.988097]] 2025-10-28T20:43:34.859Z,1761684214.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538830,0.833860,0.119745],[-0.842176,0.536590,0.053019],[-0.020044,-0.129414,0.991388]] 2025-10-28T20:43:35.257Z,1761684215.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531805,0.833774,0.148339],[-0.836635,0.544403,-0.060553],[-0.131244,-0.091903,0.987081]] 2025-10-28T20:43:35.332Z,1761684215.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:35.664Z,1761684215.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531973,0.838926,0.114927],[-0.840993,0.539276,-0.043738],[-0.098670,-0.073385,0.992411]] 2025-10-28T20:43:36.063Z,1761684216.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542396,0.837041,0.071899],[-0.839847,0.542422,0.020862],[-0.021537,-0.071700,0.997194]] 2025-10-28T20:43:36.469Z,1761684216.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562510,0.824223,0.065111],[-0.826604,0.562311,0.023081],[-0.017589,-0.066805,0.997611]] 2025-10-28T20:43:36.871Z,1761684216.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552800,0.832653,0.033193],[-0.833074,0.551246,0.045997],[0.020002,-0.053079,0.998390]] 2025-10-28T20:43:37.275Z,1761684217.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557369,0.829886,0.025076],[-0.827394,0.552679,0.099825],[0.068985,-0.076387,0.994689]] 2025-10-28T20:43:37.678Z,1761684217.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561633,0.824429,0.069895],[-0.826813,0.556091,0.084520],[0.030813,-0.105259,0.993967]] 2025-10-28T20:43:37.798Z,1761684217.798 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:37.798Z,1761684217.798 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:37.799Z,1761684217.799 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:37.819Z,1761684217.819 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:37.819Z,1761684217.819 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:37.819Z,1761684217.819 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:37.820Z,1761684217.820 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:37.828Z,1761684217.828 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:37.828Z,1761684217.828 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:37.829Z,1761684217.829 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:37.830Z,1761684217.830 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:37.830Z,1761684217.830 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:38.083Z,1761684218.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556905,0.821660,0.121374],[-0.830517,0.549142,0.093188],[0.009917,-0.152700,0.988223]] 2025-10-28T20:43:38.203Z,1761684218.203 [marl:UpdateRudder:B](INFO): Updating rudder angle 1.000000 arcdeg 2025-10-28T20:43:38.203Z,1761684218.203 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:38.203Z,1761684218.203 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:38.203Z,1761684218.203 [marl:UpdateRudder] Stopped 2025-10-28T20:43:38.204Z,1761684218.204 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:38.488Z,1761684218.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571002,0.810494,0.130603],[-0.820883,0.561671,0.103328],[0.010391,-0.166210,0.986036]] 2025-10-28T20:43:38.891Z,1761684218.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585754,0.800092,0.129405],[-0.810471,0.579284,0.086986],[-0.005365,-0.155832,0.987769]] 2025-10-28T20:43:39.295Z,1761684219.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583576,0.807534,0.085604],[-0.812046,0.579730,0.067045],[0.004514,-0.108640,0.994071]] 2025-10-28T20:43:39.699Z,1761684219.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590434,0.806316,0.035227],[-0.806665,0.588155,0.058013],[0.026058,-0.062669,0.997694]] 2025-10-28T20:43:40.103Z,1761684220.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612183,0.789500,0.043838],[-0.790172,0.612877,-0.003115],[-0.029327,-0.032733,0.999034]] 2025-10-28T20:43:40.507Z,1761684220.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608867,0.789710,0.075088],[-0.790802,0.611710,-0.021043],[-0.062549,-0.046567,0.996955]] 2025-10-28T20:43:40.911Z,1761684220.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624050,0.776081,0.090883],[-0.781284,0.621604,0.056605],[-0.012563,-0.106330,0.994252]] 2025-10-28T20:43:41.315Z,1761684221.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630133,0.771848,0.084752],[-0.774847,0.617956,0.133203],[0.050439,-0.149605,0.987458]] 2025-10-28T20:43:41.719Z,1761684221.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632154,0.765402,0.120584],[-0.774821,0.625579,0.091118],[-0.005693,-0.151032,0.988513]] 2025-10-28T20:43:42.123Z,1761684222.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634429,0.764776,0.112333],[-0.770855,0.636738,0.018611],[-0.057293,-0.098400,0.993496]] 2025-10-28T20:43:42.528Z,1761684222.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650008,0.758707,0.043049],[-0.759925,0.649100,0.034397],[-0.001846,-0.055073,0.998481]] 2025-10-28T20:43:42.930Z,1761684222.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650763,0.759265,-0.004860],[-0.757050,0.649328,0.072448],[0.058163,-0.043467,0.997360]] 2025-10-28T20:43:43.335Z,1761684223.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653182,0.757053,0.014956],[-0.756296,0.651308,0.061768],[0.037021,-0.051656,0.997978]] 2025-10-28T20:43:43.736Z,1761684223.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:43.744Z,1761684223.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670359,0.741117,0.036938],[-0.742000,0.669989,0.023455],[-0.007365,-0.043131,0.999042]] 2025-10-28T20:43:44.150Z,1761684224.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671347,0.740434,0.032411],[-0.741129,0.670967,0.023068],[-0.004667,-0.039507,0.999208]] 2025-10-28T20:43:44.547Z,1761684224.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668327,0.743863,0.002590],[-0.742021,0.666419,0.072741],[0.052383,-0.050536,0.997348]] 2025-10-28T20:43:44.951Z,1761684224.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700258,0.712658,0.041932],[-0.713617,0.697158,0.068713],[0.019735,-0.078040,0.996755]] 2025-10-28T20:43:45.355Z,1761684225.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699481,0.709325,0.087091],[-0.714149,0.698348,0.047966],[-0.026796,-0.095747,0.995045]] 2025-10-28T20:43:45.836Z,1761684225.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684705,0.717089,0.130241],[-0.727673,0.682646,0.066976],[-0.040881,-0.140632,0.989218]] 2025-10-28T20:43:46.184Z,1761684226.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706721,0.692913,0.142886],[-0.706655,0.701159,0.094946],[-0.034397,-0.168071,0.985175]] 2025-10-28T20:43:46.587Z,1761684226.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720712,0.689347,0.073307],[-0.693138,0.714811,0.092763],[0.011545,-0.117667,0.992986]] 2025-10-28T20:43:46.991Z,1761684226.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712431,0.701673,0.009877],[-0.701546,0.711828,0.033681],[0.016602,-0.030924,0.999384]] 2025-10-28T20:43:47.399Z,1761684227.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718414,0.695098,0.026846],[-0.693698,0.718764,-0.046491],[-0.051612,0.014777,0.998558]] 2025-10-28T20:43:47.411Z,1761684227.411 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:43:47.834Z,1761684227.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753991,0.656723,0.014558],[-0.652296,0.751156,-0.101367],[-0.077505,0.066934,0.994743]] 2025-10-28T20:43:47.968Z,1761684227.968 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:47.968Z,1761684227.968 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:47.968Z,1761684227.968 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:47.969Z,1761684227.968 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:47.969Z,1761684227.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:47.970Z,1761684227.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:48.203Z,1761684228.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761131,0.645972,-0.058309],[-0.648536,0.756730,-0.082221],[-0.008988,0.100397,0.994907]] 2025-10-28T20:43:48.257Z,1761684228.257 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:43:48.257Z,1761684228.257 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:48.257Z,1761684228.257 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:48.257Z,1761684228.257 [marl:UpdateRudder] Stopped 2025-10-28T20:43:48.257Z,1761684228.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:48.607Z,1761684228.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728910,0.681157,-0.068668],[-0.683868,0.729115,-0.026742],[0.031852,0.066452,0.997281]] 2025-10-28T20:43:49.012Z,1761684229.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726483,0.687038,0.014190],[-0.686854,0.725338,0.045995],[0.021308,-0.043161,0.998841]] 2025-10-28T20:43:49.425Z,1761684229.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741921,0.661527,0.109247],[-0.670441,0.733856,0.109380],[-0.007814,-0.154395,0.987978]] 2025-10-28T20:43:49.868Z,1761684229.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752970,0.643811,0.136178],[-0.657766,0.742481,0.126751],[-0.019506,-0.185013,0.982543]] 2025-10-28T20:43:50.260Z,1761684230.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747818,0.658307,0.086023],[-0.663891,0.742284,0.090898],[-0.004015,-0.125085,0.992138]] 2025-10-28T20:43:50.663Z,1761684230.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734226,0.677331,0.046211],[-0.678896,0.732863,0.044851],[-0.003487,-0.064304,0.997924]] 2025-10-28T20:43:51.069Z,1761684231.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729000,0.684448,0.009479],[-0.684239,0.729030,-0.018219],[-0.019380,0.006795,0.999789]] 2025-10-28T20:43:51.477Z,1761684231.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744734,0.667355,0.002934],[-0.667196,0.744639,-0.019031],[-0.014885,0.012216,0.999815]] 2025-10-28T20:43:51.875Z,1761684231.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738655,0.674074,-0.003702],[-0.673579,0.738303,0.034648],[0.026088,-0.023099,0.999393]] 2025-10-28T20:43:52.279Z,1761684232.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724991,0.686499,0.055740],[-0.688736,0.723239,0.050666],[-0.005531,-0.075122,0.997159]] 2025-10-28T20:43:52.683Z,1761684232.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735767,0.670653,0.094192],[-0.675994,0.735696,0.042234],[-0.040972,-0.094748,0.994658]] 2025-10-28T20:43:53.089Z,1761684233.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754538,0.652498,0.070125],[-0.655318,0.754857,0.027375],[-0.035072,-0.066610,0.997163]] 2025-10-28T20:43:53.216Z,1761684233.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:43:53.493Z,1761684233.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742177,0.669835,0.022244],[-0.669928,0.740511,0.053285],[0.019220,-0.054448,0.998332]] 2025-10-28T20:43:53.895Z,1761684233.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716320,0.696609,-0.040268],[-0.684338,0.712628,0.154409],[0.136258,-0.083049,0.987186]] 2025-10-28T20:43:54.300Z,1761684234.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728211,0.685290,0.009322],[-0.677602,0.717868,0.159753],[0.102785,-0.122650,0.987113]] 2025-10-28T20:43:54.707Z,1761684234.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734400,0.674816,0.072666],[-0.678496,0.727206,0.103992],[0.017332,-0.125675,0.991920]] 2025-10-28T20:43:55.113Z,1761684235.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749406,0.661137,0.035893],[-0.660726,0.743236,0.105079],[0.042794,-0.102462,0.993816]] 2025-10-28T20:43:55.511Z,1761684235.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745818,0.665353,-0.032556],[-0.657047,0.742800,0.128600],[0.109747,-0.074521,0.991162]] 2025-10-28T20:43:55.915Z,1761684235.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749973,0.660847,-0.028647],[-0.655089,0.748044,0.106249],[0.091643,-0.060917,0.993927]] 2025-10-28T20:43:56.320Z,1761684236.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756772,0.653608,0.009660],[-0.651660,0.753191,0.089684],[0.051342,-0.074165,0.995923]] 2025-10-28T20:43:56.723Z,1761684236.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739778,0.672851,0.000904],[-0.665305,0.731280,0.150332],[0.100490,-0.111814,0.988635]] 2025-10-28T20:43:57.135Z,1761684237.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740693,0.671822,-0.005342],[-0.656715,0.725670,0.205254],[0.141771,-0.148522,0.978694]] 2025-10-28T20:43:57.530Z,1761684237.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744455,0.667657,0.004592],[-0.650674,0.723942,0.229198],[0.149701,-0.173615,0.973369]] 2025-10-28T20:43:57.938Z,1761684237.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734355,0.678670,-0.011398],[-0.660544,0.718405,0.218118],[0.156218,-0.152648,0.975856]] 2025-10-28T20:43:58.067Z,1761684238.067 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:43:58.067Z,1761684238.067 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:43:58.067Z,1761684238.067 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:43:58.068Z,1761684238.068 [marl:UpdateRudder:A] Stopped 2025-10-28T20:43:58.072Z,1761684238.072 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:43:58.072Z,1761684238.072 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:43:58.072Z,1761684238.072 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:43:58.072Z,1761684238.072 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateCommandMode] Stopped 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:43:58.073Z,1761684238.073 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:43:58.074Z,1761684238.074 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:43:58.074Z,1761684238.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:43:58.074Z,1761684238.074 [marl:UpdateSpeed] Stopped 2025-10-28T20:43:58.074Z,1761684238.074 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:43:58.339Z,1761684238.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747387,0.663524,-0.033890],[-0.653350,0.743273,0.143803],[0.120606,-0.085334,0.989026]] 2025-10-28T20:43:58.404Z,1761684238.404 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:43:58.404Z,1761684238.404 [marl:UpdateRudder:B] Stopped 2025-10-28T20:43:58.404Z,1761684238.404 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:43:58.404Z,1761684238.404 [marl:UpdateRudder] Stopped 2025-10-28T20:43:58.405Z,1761684238.405 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:43:58.750Z,1761684238.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747724,0.662671,-0.042144],[-0.660170,0.748717,0.059991],[0.071308,-0.017034,0.997309]] 2025-10-28T20:43:58.826Z,1761684238.826 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:43:58.885Z,1761684238.885 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:43:58.885Z,1761684238.885 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:43:59.137Z,1761684239.137 [DAT](INFO): DAT read: user:264> 2025-10-28T20:43:59.138Z,1761684239.138 [DAT](INFO): DAT read: Tx time:20:43:58.8640 2025-10-28T20:43:59.138Z,1761684239.138 [DAT](INFO): Ping request sent. 2025-10-28T20:43:59.138Z,1761684239.138 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:43:59.138Z,1761684239.138 [DAT](INFO): publishing transmit ping time 2025-10-28T20:43:59.139Z,1761684239.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T20:43:59.153Z,1761684239.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737116,0.672292,-0.068431],[-0.666463,0.739977,0.090891],[0.111743,-0.021391,0.993507]] 2025-10-28T20:43:59.389Z,1761684239.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250802 2025-10-28T20:43:59.551Z,1761684239.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734115,0.671980,-0.097560],[-0.648842,0.736566,0.190984],[0.200197,-0.076903,0.976733]] 2025-10-28T20:43:59.641Z,1761684239.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502760 2025-10-28T20:43:59.893Z,1761684239.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852 2025-10-28T20:43:59.957Z,1761684239.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717413,0.691811,-0.081959],[-0.662742,0.714012,0.225743],[0.214691,-0.107633,0.970733]] 2025-10-28T20:44:00.145Z,1761684240.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007049 2025-10-28T20:44:00.397Z,1761684240.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881 2025-10-28T20:44:00.649Z,1761684240.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510780 2025-10-28T20:44:00.767Z,1761684240.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720985,0.692950,-0.000380],[-0.676393,0.703877,0.216911],[0.150576,-0.156133,0.976191]] 2025-10-28T20:44:00.902Z,1761684240.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763350 2025-10-28T20:44:01.153Z,1761684241.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015261 2025-10-28T20:44:01.169Z,1761684241.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729324,0.682433,-0.048695],[-0.667490,0.725360,0.168256],[0.150145,-0.090210,0.984540]] 2025-10-28T20:44:01.406Z,1761684241.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267608 2025-10-28T20:44:01.573Z,1761684241.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720508,0.685685,-0.103462],[-0.676400,0.727808,0.113045],[0.152814,-0.011468,0.988188]] 2025-10-28T20:44:01.658Z,1761684241.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519154 2025-10-28T20:44:01.909Z,1761684241.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770911 2025-10-28T20:44:01.975Z,1761684241.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699881,0.708150,-0.093222],[-0.695065,0.705301,0.139407],[0.164470,-0.032773,0.985837]] 2025-10-28T20:44:02.161Z,1761684242.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022868 2025-10-28T20:44:02.410Z,1761684242.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695278,0.717665,-0.039307],[-0.700795,0.689048,0.184659],[0.159607,-0.100843,0.982016]] 2025-10-28T20:44:02.413Z,1761684242.413 [DAT](INFO): DAT read: Rx Time:20:44:01.6918 2025-10-28T20:44:02.413Z,1761684242.413 [DAT](INFO): Rx dataTimestamp_ set to:1761684242.413197 2025-10-28T20:44:02.414Z,1761684242.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275900 2025-10-28T20:44:02.665Z,1761684242.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526932 2025-10-28T20:44:02.805Z,1761684242.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683483,0.729389,0.029039],[-0.718167,0.664779,0.205685],[0.130720,-0.161437,0.978187]] 2025-10-28T20:44:02.923Z,1761684242.923 [DAT](INFO): DAT read: 20:44:01.6918 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 460,-0.18, 0.589,-1.267, 0.031, 0.019, PHS= 0.672,-1.240,-0.032, RAW= 128.6, 7.2, CAL= 129.0, 8.5, ROT= 21.0, -8.5 2025-10-28T20:44:02.924Z,1761684242.924 [DAT](INFO): got valid direction response: 20:44:01.6918 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 460,-0.18, 0.589,-1.267, 0.031, 0.019, PHS= 0.672,-1.240,-0.032, RAW= 128.6, 7.2, CAL= 129.0, 8.5, ROT= 21.0, -8.5 2025-10-28T20:44:02.925Z,1761684242.925 [DAT](INFO): DAT read: Bearing 323, -3 (Remote) 2025-10-28T20:44:02.925Z,1761684242.925 [DAT](INFO): Remote Bearing received:Bearing 323, -3 (Remote) 2025-10-28T20:44:02.926Z,1761684242.926 [DAT](INFO): DAT read: Bearing 138.8, 29.0 (Local) 2025-10-28T20:44:02.926Z,1761684242.926 [DAT](INFO): Local bearing/azimuth received: Bearing 138.8, 29.0 (Local) 2025-10-28T20:44:02.927Z,1761684242.927 [DAT](INFO): DAT read: Range 11 to 20 : 599.0 m (Round-trip 798.7 ms) speed -0.7 m/s 2025-10-28T20:44:02.929Z,1761684242.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:44:02.930Z,1761684242.930 [DAT](INFO): direction in FSK: [0.923326,0.354432,0.147809] 2025-10-28T20:44:02.930Z,1761684242.930 [DAT](INFO): publishing direction and range info 2025-10-28T20:44:03.157Z,1761684243.157 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:44:03.232Z,1761684243.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670109,0.738708,0.072550],[-0.733306,0.643716,0.218841],[0.114958,-0.199849,0.973060]] 2025-10-28T20:44:03.320Z,1761684243.320 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684224.00. Resetting abort timer. 2025-10-28T20:44:03.631Z,1761684243.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684470,0.725065,0.076043],[-0.722228,0.660147,0.206379],[0.099439,-0.196180,0.975513]] 2025-10-28T20:44:04.035Z,1761684244.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695915,0.716701,0.045194],[-0.713859,0.683561,0.152152],[0.078154,-0.138147,0.987323]] 2025-10-28T20:44:04.437Z,1761684244.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675553,0.737302,0.003795],[-0.733008,0.671045,0.111345],[0.079548,-0.078001,0.993775]] 2025-10-28T20:44:04.839Z,1761684244.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688728,0.724600,0.024662],[-0.723341,0.684423,0.091339],[0.049305,-0.080747,0.995514]] 2025-10-28T20:44:05.244Z,1761684245.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692254,0.721622,-0.006764],[-0.711169,0.683758,0.163444],[0.122570,-0.108334,0.986529]] 2025-10-28T20:44:05.691Z,1761684245.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671654,0.739378,-0.046915],[-0.711900,0.661633,0.235458],[0.205133,-0.124748,0.970751]] 2025-10-28T20:44:06.174Z,1761684246.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638214,0.764374,0.091739],[-0.768240,0.624610,0.140250],[0.049903,-0.159987,0.985857]] 2025-10-28T20:44:06.573Z,1761684246.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621650,0.777122,0.098145],[-0.782775,0.611778,0.113975],[0.028529,-0.147678,0.988624]] 2025-10-28T20:44:06.971Z,1761684246.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647345,0.743572,0.167468],[-0.760588,0.644461,0.078582],[-0.049495,-0.178244,0.982741]] 2025-10-28T20:44:07.375Z,1761684247.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645376,0.745914,0.164625],[-0.761879,0.644104,0.068349],[-0.055053,-0.169536,0.983985]] 2025-10-28T20:44:07.829Z,1761684247.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651211,0.755851,0.067921],[-0.756425,0.639267,0.138415],[0.061202,-0.141515,0.988043]] 2025-10-28T20:44:08.211Z,1761684248.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634546,0.765312,0.107934],[-0.771186,0.617690,0.154050],[0.051227,-0.180989,0.982150]] 2025-10-28T20:44:08.264Z,1761684248.264 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateRudder:A] Stopped 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:44:08.265Z,1761684248.265 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateCommandMode] Stopped 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:44:08.266Z,1761684248.266 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:44:08.267Z,1761684248.267 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:44:08.267Z,1761684248.267 [marl:UpdateSpeed] Stopped 2025-10-28T20:44:08.267Z,1761684248.267 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:44:08.610Z,1761684248.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619819,0.771812,0.141878],[-0.784740,0.609010,0.115282],[0.002570,-0.182791,0.983148]] 2025-10-28T20:44:08.693Z,1761684248.693 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:44:08.693Z,1761684248.693 [marl:UpdateRudder:B] Stopped 2025-10-28T20:44:08.693Z,1761684248.693 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:44:08.693Z,1761684248.693 [marl:UpdateRudder] Stopped 2025-10-28T20:44:08.693Z,1761684248.693 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:44:09.004Z,1761684249.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623606,0.774987,0.102527],[-0.781713,0.617134,0.089830],[0.006344,-0.136165,0.990666]] 2025-10-28T20:44:09.410Z,1761684249.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644681,0.758802,0.092773],[-0.763036,0.646113,0.017713],[-0.046501,-0.082209,0.995530]] 2025-10-28T20:44:09.862Z,1761684249.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649514,0.759315,0.039659],[-0.760131,0.649695,0.009902],[-0.018248,-0.036578,0.999164]] 2025-10-28T20:44:10.286Z,1761684250.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607313,0.793590,0.037227],[-0.794245,0.605386,0.051787],[0.018561,-0.061018,0.997964]] 2025-10-28T20:44:10.679Z,1761684250.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605445,0.788619,0.107309],[-0.794915,0.592524,0.130483],[0.039318,-0.164302,0.985626]] 2025-10-28T20:44:11.094Z,1761684251.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622086,0.771887,0.131146],[-0.777522,0.589358,0.219354],[0.092024,-0.238426,0.966791]] 2025-10-28T20:44:11.489Z,1761684251.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590399,0.795960,0.133704],[-0.798816,0.552567,0.237827],[0.115421,-0.247218,0.962061]] 2025-10-28T20:44:11.521Z,1761684251.521 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.send_observations with code: 2259 2025-10-28T20:44:11.890Z,1761684251.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589047,0.787970,0.179239],[-0.806877,0.561314,0.184058],[0.044423,-0.253043,0.966435]] 2025-10-28T20:44:12.295Z,1761684252.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585899,0.795726,0.153433],[-0.810152,0.579663,0.087432],[-0.019367,-0.175530,0.984284]] 2025-10-28T20:44:12.701Z,1761684252.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578890,0.809989,0.093832],[-0.815363,0.573840,0.076753],[0.008324,-0.120939,0.992625]] 2025-10-28T20:44:13.111Z,1761684253.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577113,0.814417,0.060543],[-0.814063,0.567778,0.122188],[0.065137,-0.119802,0.990659]] 2025-10-28T20:44:13.507Z,1761684253.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593450,0.796503,0.115756],[-0.804073,0.580295,0.129324],[0.035834,-0.169824,0.984823]] 2025-10-28T20:44:13.852Z,1761684253.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:44:13.911Z,1761684253.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603833,0.781651,0.156227],[-0.796692,0.585459,0.150067],[0.025835,-0.215080,0.976255]] 2025-10-28T20:44:14.315Z,1761684254.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577366,0.807077,0.123590],[-0.810353,0.547909,0.207662],[0.099883,-0.220048,0.970362]] 2025-10-28T20:44:14.721Z,1761684254.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593674,0.800730,0.079894],[-0.790617,0.561901,0.243294],[0.149920,-0.207602,0.966657]] 2025-10-28T20:44:15.127Z,1761684255.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618476,0.784559,0.044207],[-0.771611,0.595700,0.223065],[0.148673,-0.172071,0.973801]] 2025-10-28T20:44:15.527Z,1761684255.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603555,0.796862,0.027071],[-0.786494,0.589439,0.184359],[0.130952,-0.132562,0.982486]] 2025-10-28T20:44:15.932Z,1761684255.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592370,0.805534,0.014613],[-0.791448,0.578428,0.197562],[0.150691,-0.128595,0.980181]] 2025-10-28T20:44:16.335Z,1761684256.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594192,0.804279,0.008414],[-0.780915,0.574362,0.245520],[0.192634,-0.152457,0.969355]] 2025-10-28T20:44:16.739Z,1761684256.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593305,0.803272,0.052374],[-0.785142,0.563104,0.257811],[0.177600,-0.194081,0.964775]] 2025-10-28T20:44:17.147Z,1761684257.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587955,0.801785,0.107004],[-0.798423,0.554028,0.235741],[0.129730,-0.224039,0.965907]] 2025-10-28T20:44:17.549Z,1761684257.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570940,0.817832,0.071962],[-0.803920,0.539134,0.251091],[0.166553,-0.201210,0.965285]] 2025-10-28T20:44:18.354Z,1761684258.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581007,0.812273,-0.051407],[-0.777690,0.572681,0.259296],[0.240059,-0.110674,0.964429]] 2025-10-28T20:44:18.762Z,1761684258.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559845,0.826362,-0.060829],[-0.793238,0.555724,0.248887],[0.239475,-0.091086,0.966621]] 2025-10-28T20:44:19.167Z,1761684259.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553165,0.832450,-0.032183],[-0.795643,0.539368,0.275744],[0.246901,-0.126926,0.960692]] 2025-10-28T20:44:19.484Z,1761684259.484 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:44:19.485Z,1761684259.485 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:44:19.485Z,1761684259.485 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:44:19.485Z,1761684259.485 [marl:UpdateRudder:A] Stopped 2025-10-28T20:44:19.485Z,1761684259.485 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:44:19.485Z,1761684259.485 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode] Stopped 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:44:19.486Z,1761684259.486 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:44:19.487Z,1761684259.487 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:44:19.487Z,1761684259.487 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:44:19.487Z,1761684259.487 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:44:19.487Z,1761684259.487 [marl:UpdateSpeed] Stopped 2025-10-28T20:44:19.487Z,1761684259.487 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:44:19.635Z,1761684259.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560626,0.826726,-0.047133],[-0.771889,0.542352,0.331726],[0.299809,-0.149593,0.942198]] 2025-10-28T20:44:19.870Z,1761684259.870 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:44:19.870Z,1761684259.870 [marl:UpdateRudder:B] Stopped 2025-10-28T20:44:19.870Z,1761684259.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:44:19.870Z,1761684259.870 [marl:UpdateRudder] Stopped 2025-10-28T20:44:19.870Z,1761684259.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:44:20.544Z,1761684260.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508622,0.857308,0.079545],[-0.773894,0.414724,0.478635],[0.377348,-0.305004,0.874403]] 2025-10-28T20:44:20.947Z,1761684260.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502949,0.857982,0.104451],[-0.776463,0.395430,0.490653],[0.379668,-0.327875,0.865072]] 2025-10-28T20:44:21.352Z,1761684261.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486613,0.872797,0.037847],[-0.747587,0.393607,0.534965],[0.452019,-0.288616,0.844026]] 2025-10-28T20:44:21.771Z,1761684261.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496117,0.865680,0.066822],[-0.727985,0.372790,0.575382],[0.473187,-0.334103,0.815150]] 2025-10-28T20:44:22.161Z,1761684262.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501923,0.858729,0.103233],[-0.738964,0.363745,0.567117],[0.449450,-0.360934,0.817142]] 2025-10-28T20:44:22.573Z,1761684262.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483501,0.872282,0.073152],[-0.750655,0.370190,0.547244],[0.450271,-0.319504,0.833770]] 2025-10-28T20:44:22.967Z,1761684262.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469718,0.882796,0.005983],[-0.732387,0.385886,0.560982],[0.492924,-0.267886,0.827806]] 2025-10-28T20:44:23.371Z,1761684263.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467546,0.883965,-0.002703],[-0.716508,0.380762,0.584497],[0.517704,-0.271343,0.811391]] 2025-10-28T20:44:23.830Z,1761684263.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467696,0.883746,0.015953],[-0.717346,0.368965,0.590998],[0.516406,-0.287851,0.806515]] 2025-10-28T20:44:24.205Z,1761684264.205 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 22.43 mm (3 active estimators). 2025-10-28T20:44:24.590Z,1761684264.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439145,0.897057,0.049406],[-0.734642,0.326894,0.594509],[0.517157,-0.297372,0.802570]] 2025-10-28T20:44:24.986Z,1761684264.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423764,0.904732,0.043416],[-0.723428,0.309222,0.617280],[0.545048,-0.292989,0.785545]] 2025-10-28T20:44:25.399Z,1761684265.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407661,0.911525,0.054178],[-0.715071,0.281777,0.639746],[0.567879,-0.299540,0.766674]] 2025-10-28T20:44:25.831Z,1761684265.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385360,0.920823,0.059850],[-0.712748,0.255832,0.653101],[0.586079,-0.294337,0.754902]] 2025-10-28T20:44:26.253Z,1761684266.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356541,0.931808,0.067915],[-0.706401,0.221290,0.672330],[0.611454,-0.287688,0.737129]] 2025-10-28T20:44:26.655Z,1761684266.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327777,0.938093,0.111997],[-0.701670,0.162342,0.693761],[0.632631,-0.305984,0.711444]] 2025-10-28T20:44:27.068Z,1761684267.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299528,0.936638,0.181639],[-0.708025,0.090603,0.700351],[0.639518,-0.338380,0.690301]] 2025-10-28T20:44:27.465Z,1761684267.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268118,0.930685,0.248873],[-0.721618,0.022865,0.691914],[0.638263,-0.365106,0.677730]] 2025-10-28T20:44:27.866Z,1761684267.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239623,0.920289,0.309271],[-0.736887,-0.035007,0.675109],[0.632122,-0.389669,0.669761]] 2025-10-28T20:44:28.271Z,1761684268.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219731,0.909270,0.353477],[-0.753023,-0.072274,0.654013],[0.620222,-0.409883,0.668821]] 2025-10-28T20:44:28.686Z,1761684268.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203555,0.910268,0.360524],[-0.768798,-0.079400,0.634543],[0.606230,-0.406335,0.683650]] 2025-10-28T20:44:29.094Z,1761684269.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181394,0.925518,0.332434],[-0.779204,-0.070963,0.622741],[0.599948,-0.371996,0.708295]] 2025-10-28T20:44:29.496Z,1761684269.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151574,0.942524,0.297783],[-0.780574,-0.070687,0.621054],[0.606407,-0.326577,0.724995]] 2025-10-28T20:44:29.899Z,1761684269.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118535,0.951164,0.285021],[-0.774858,-0.090890,0.625567],[0.620922,-0.295003,0.726243]] 2025-10-28T20:44:30.303Z,1761684270.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087050,0.947142,0.308780],[-0.767880,-0.133670,0.626492],[0.634652,-0.291642,0.715655]] 2025-10-28T20:44:31.112Z,1761684271.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037508,0.922547,0.384058],[-0.766041,-0.220251,0.603879],[0.641696,-0.316854,0.698448]] 2025-10-28T20:44:31.518Z,1761684271.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008405,0.904195,0.427038],[-0.768854,-0.267211,0.580915],[0.639370,-0.333212,0.692947]] 2025-10-28T20:44:31.919Z,1761684271.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023720,0.883142,0.468506],[-0.772460,-0.313681,0.552187],[0.634621,-0.348804,0.689632]] 2025-10-28T20:44:32.325Z,1761684272.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061869,0.860809,0.505154],[-0.774345,-0.360732,0.519868],[0.629732,-0.359000,0.688881]] 2025-10-28T20:44:32.350Z,1761684272.350 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:44:32.350Z,1761684272.350 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:44:32.350Z,1761684272.350 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateRudder:A] Stopped 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:44:32.351Z,1761684272.351 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateCommandMode] Stopped 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:44:32.352Z,1761684272.352 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:44:32.353Z,1761684272.353 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:44:32.353Z,1761684272.353 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:44:32.353Z,1761684272.353 [marl:UpdateSpeed] Stopped 2025-10-28T20:44:32.353Z,1761684272.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:44:32.743Z,1761684272.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104222,0.837316,0.536694],[-0.773554,-0.407419,0.485411],[0.625101,-0.364571,0.690171]] 2025-10-28T20:44:32.852Z,1761684272.852 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:44:32.852Z,1761684272.852 [marl:UpdateRudder:B] Stopped 2025-10-28T20:44:32.852Z,1761684272.852 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:44:32.852Z,1761684272.852 [marl:UpdateRudder] Stopped 2025-10-28T20:44:32.853Z,1761684272.853 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:44:33.148Z,1761684273.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148420,0.811469,0.565234],[-0.769722,-0.453643,0.449150],[0.620885,-0.368410,0.691936]] 2025-10-28T20:44:33.561Z,1761684273.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193597,0.780422,0.594527],[-0.762256,-0.501157,0.409642],[0.617645,-0.373876,0.691904]] 2025-10-28T20:44:33.955Z,1761684273.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238709,0.742517,0.625849],[-0.751310,-0.549543,0.365425],[0.615265,-0.382976,0.689041]] 2025-10-28T20:44:34.358Z,1761684274.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281929,0.700511,0.655591],[-0.737544,-0.595267,0.318882],[0.613633,-0.393625,0.684481]] 2025-10-28T20:44:34.781Z,1761684274.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321029,0.657892,0.681263],[-0.723154,-0.634775,0.272230],[0.611546,-0.405264,0.679538]] 2025-10-28T20:44:35.177Z,1761684275.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353748,0.621513,0.698988],[-0.711249,-0.664070,0.230512],[0.607443,-0.415611,0.676964]] 2025-10-28T20:44:35.583Z,1761684275.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381984,0.593819,0.708144],[-0.702748,-0.684271,0.194728],[0.600195,-0.423264,0.678685]] 2025-10-28T20:44:35.983Z,1761684275.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409402,0.574303,0.708918],[-0.696032,-0.698965,0.164279],[0.589855,-0.426174,0.685891]] 2025-10-28T20:44:36.386Z,1761684276.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436712,0.564601,0.700362],[-0.690041,-0.709728,0.141875],[0.577170,-0.421321,0.699546]] 2025-10-28T20:44:36.795Z,1761684276.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464558,0.563315,0.683273],[-0.683384,-0.718762,0.127940],[0.563181,-0.407502,0.718866]] 2025-10-28T20:44:37.196Z,1761684277.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493955,0.560333,0.664857],[-0.674007,-0.729824,0.114334],[0.549294,-0.391642,0.738168]] 2025-10-28T20:44:37.599Z,1761684277.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525643,0.552301,0.647042],[-0.660107,-0.744579,0.099299],[0.536617,-0.374921,0.755961]] 2025-10-28T20:44:38.003Z,1761684278.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559153,0.537397,0.631311],[-0.641901,-0.762542,0.080574],[0.524701,-0.360186,0.771333]] 2025-10-28T20:44:38.407Z,1761684278.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593096,0.512738,0.620755],[-0.620120,-0.782648,0.053970],[0.513505,-0.352934,0.782145]] 2025-10-28T20:44:38.812Z,1761684278.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625956,0.479765,0.614821],[-0.596069,-0.802696,0.019506],[0.502873,-0.354266,0.788425]] 2025-10-28T20:44:39.214Z,1761684279.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657210,0.441548,0.610827],[-0.570370,-0.821142,-0.020103],[0.492700,-0.361609,0.791509]] 2025-10-28T20:44:39.619Z,1761684279.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686599,0.402135,0.605697],[-0.543820,-0.837000,-0.060754],[0.482537,-0.371104,0.793372]] 2025-10-28T20:44:40.046Z,1761684280.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713701,0.363240,0.598904],[-0.517070,-0.850005,-0.100646],[0.472513,-0.381507,0.794471]] 2025-10-28T20:44:40.442Z,1761684280.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738453,0.326966,0.589729],[-0.490788,-0.860352,-0.137551],[0.462400,-0.391008,0.795801]] 2025-10-28T20:44:40.942Z,1761684280.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783451,0.264265,0.562466],[-0.438969,-0.875991,-0.199865],[0.439898,-0.403490,0.802300]] 2025-10-28T20:44:41.345Z,1761684281.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803823,0.237050,0.545597],[-0.412746,-0.882729,-0.224569],[0.428380,-0.405706,0.807399]] 2025-10-28T20:44:41.747Z,1761684281.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823339,0.210908,0.526906],[-0.385066,-0.889606,-0.245613],[0.416937,-0.405117,0.813661]] 2025-10-28T20:44:42.148Z,1761684282.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842054,0.184303,0.506929],[-0.355806,-0.896137,-0.265219],[0.405397,-0.403697,0.820172]] 2025-10-28T20:44:42.562Z,1761684282.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860164,0.156589,0.485384],[-0.323305,-0.903464,-0.281473],[0.394451,-0.399040,0.827753]] 2025-10-28T20:44:42.955Z,1761684282.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877559,0.126814,0.462395],[-0.287481,-0.910978,-0.295759],[0.383725,-0.392476,0.835893]] 2025-10-28T20:44:43.364Z,1761684283.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893707,0.093808,0.438734],[-0.249276,-0.916888,-0.311734],[0.373027,-0.387965,0.842813]] 2025-10-28T20:44:43.817Z,1761684283.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908146,0.058162,0.414593],[-0.209579,-0.920442,-0.329946],[0.362418,-0.386529,0.848085]] 2025-10-28T20:44:44.167Z,1761684284.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920636,0.020888,0.389863],[-0.168670,-0.921852,-0.348912],[0.352108,-0.386979,0.852213]] 2025-10-28T20:44:44.573Z,1761684284.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930966,-0.017471,0.364687],[-0.127570,-0.920333,-0.369747],[0.342093,-0.390746,0.854570]] 2025-10-28T20:44:44.808Z,1761684284.808 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2025-10-28T20:44:44.975Z,1761684284.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939195,-0.055652,0.338844],[-0.086271,-0.916887,-0.389713],[0.332369,-0.395249,0.856334]] 2025-10-28T20:44:45.390Z,1761684285.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945314,-0.092819,0.312677],[-0.045039,-0.912320,-0.406993],[0.323038,-0.398819,0.858248]] 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateRudder:A] Stopped 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:44:45.415Z,1761684285.415 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:44:45.416Z,1761684285.416 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:44:45.416Z,1761684285.416 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:44:45.416Z,1761684285.416 [marl:UpdateCommandMode] Stopped 2025-10-28T20:44:45.416Z,1761684285.416 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:44:45.416Z,1761684285.416 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed] Stopped 2025-10-28T20:44:45.417Z,1761684285.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:44:45.814Z,1761684285.814 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:44:45.836Z,1761684285.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949393,-0.130366,0.285758],[-0.003407,-0.905466,-0.424405],[0.314072,-0.403901,0.859199]] 2025-10-28T20:44:45.891Z,1761684285.891 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:44:45.891Z,1761684285.891 [marl:UpdateRudder:B] Stopped 2025-10-28T20:44:45.891Z,1761684285.891 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:44:45.891Z,1761684285.891 [marl:UpdateRudder] Stopped 2025-10-28T20:44:45.891Z,1761684285.891 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:44:46.239Z,1761684286.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951506,-0.166133,0.258913],[0.037164,-0.897552,-0.439340],[0.305376,-0.408412,0.860200]] 2025-10-28T20:44:46.697Z,1761684286.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951855,-0.200522,0.231867],[0.077028,-0.888569,-0.452230],[0.296712,-0.412597,0.861235]] 2025-10-28T20:44:47.097Z,1761684287.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950524,-0.233322,0.205098],[0.115812,-0.878773,-0.462975],[0.288257,-0.416316,0.862316]] 2025-10-28T20:44:47.499Z,1761684287.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947572,-0.263967,0.180077],[0.153476,-0.870258,-0.468076],[0.280271,-0.415899,0.865145]] 2025-10-28T20:44:47.905Z,1761684287.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943223,-0.293414,0.155686],[0.189729,-0.860643,-0.472542],[0.272641,-0.416175,0.867448]] 2025-10-28T20:44:48.308Z,1761684288.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937907,-0.320446,0.132837],[0.223352,-0.850859,-0.475555],[0.265415,-0.416356,0.869599]] 2025-10-28T20:44:48.730Z,1761684288.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931585,-0.346156,0.111020],[0.256024,-0.841563,-0.475629],[0.258072,-0.414665,0.872612]] 2025-10-28T20:44:49.132Z,1761684289.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924710,-0.369948,0.089723],[0.286424,-0.831416,-0.476139],[0.250744,-0.414591,0.874781]] 2025-10-28T20:44:49.647Z,1761684289.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917308,-0.391984,0.069957],[0.315477,-0.822675,-0.472948],[0.242940,-0.411770,0.878309]] 2025-10-28T20:44:50.060Z,1761684290.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909246,-0.413228,0.050151],[0.343897,-0.813594,-0.468828],[0.234536,-0.409033,0.881864]] 2025-10-28T20:44:50.502Z,1761684290.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900356,-0.434120,0.029992],[0.372183,-0.803944,-0.463848],[0.225477,-0.406466,0.885407]] 2025-10-28T20:44:50.958Z,1761684290.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879585,-0.475625,-0.010529],[0.429302,-0.783993,-0.448391],[0.205011,-0.398918,0.893776]] 2025-10-28T20:44:51.353Z,1761684291.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867542,-0.496320,-0.032217],[0.458097,-0.772145,-0.440385],[0.193696,-0.396811,0.897231]] 2025-10-28T20:44:51.777Z,1761684291.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854172,-0.517154,-0.054232],[0.487075,-0.759223,-0.431670],[0.182066,-0.395135,0.900400]] 2025-10-28T20:44:52.159Z,1761684292.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839330,-0.538233,-0.076358],[0.516180,-0.744997,-0.422536],[0.170536,-0.394062,0.903124]] 2025-10-28T20:44:52.564Z,1761684292.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823073,-0.559213,-0.099156],[0.545004,-0.728597,-0.414869],[0.159756,-0.395508,0.904462]] 2025-10-28T20:44:52.993Z,1761684292.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805601,-0.579915,-0.121270],[0.573092,-0.710858,-0.407734],[0.150245,-0.397969,0.905012]] 2025-10-28T20:44:53.390Z,1761684293.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786562,-0.600853,-0.142462],[0.600842,-0.691444,-0.401117],[0.142508,-0.401100,0.904881]] 2025-10-28T20:44:53.834Z,1761684293.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765877,-0.621738,-0.163930],[0.628316,-0.669521,-0.396181],[0.136566,-0.406427,0.903420]] 2025-10-28T20:44:54.292Z,1761684294.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742797,-0.643732,-0.184015],[0.656469,-0.646275,-0.389071],[0.131534,-0.409801,0.902642]] 2025-10-28T20:44:54.702Z,1761684294.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716868,-0.666418,-0.204908],[0.685628,-0.620482,-0.380679],[0.126550,-0.413387,0.901719]] 2025-10-28T20:44:55.104Z,1761684295.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688102,-0.689664,-0.225564],[0.715352,-0.592665,-0.370162],[0.121603,-0.416067,0.901167]] 2025-10-28T20:44:55.507Z,1761684295.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657658,-0.711453,-0.247631],[0.744247,-0.562776,-0.359693],[0.116544,-0.420853,0.899611]] 2025-10-28T20:44:55.911Z,1761684295.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626101,-0.732518,-0.267234],[0.771847,-0.533583,-0.345748],[0.110675,-0.422737,0.899469]] 2025-10-28T20:44:56.372Z,1761684296.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593504,-0.752567,-0.285300],[0.798320,-0.505473,-0.327388],[0.102170,-0.422067,0.900789]] 2025-10-28T20:44:56.779Z,1761684296.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559887,-0.772124,-0.300584],[0.823567,-0.478793,-0.304130],[0.090908,-0.417829,0.903966]] 2025-10-28T20:44:57.175Z,1761684297.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525373,-0.790544,-0.314678],[0.847414,-0.452834,-0.277184],[0.076629,-0.412288,0.907825]] 2025-10-28T20:44:57.579Z,1761684297.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489479,-0.807927,-0.328124],[0.870035,-0.427130,-0.246169],[0.058735,-0.405974,0.911995]] 2025-10-28T20:44:57.998Z,1761684297.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452178,-0.823718,-0.342087],[0.891123,-0.400937,-0.212483],[0.037871,-0.400921,0.915329]] 2025-10-28T20:44:58.387Z,1761684298.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413179,-0.838466,-0.355326],[0.910530,-0.374061,-0.176106],[0.014745,-0.396299,0.918003]] 2025-10-28T20:44:58.831Z,1761684298.831 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:44:58.832Z,1761684298.832 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:44:58.832Z,1761684298.832 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:44:58.832Z,1761684298.832 [marl:UpdateRudder:A] Stopped 2025-10-28T20:44:58.832Z,1761684298.832 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode] Stopped 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:44:58.833Z,1761684298.833 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed] Stopped 2025-10-28T20:44:58.834Z,1761684298.834 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:44:58.836Z,1761684298.836 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:44:58.905Z,1761684298.905 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:44:58.905Z,1761684298.905 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:44:59.157Z,1761684299.157 [DAT](INFO): DAT read: user:265> 2025-10-28T20:44:59.158Z,1761684299.158 [DAT](INFO): DAT read: Tx time:20:44:58.9137 2025-10-28T20:44:59.158Z,1761684299.158 [DAT](INFO): Ping request sent. 2025-10-28T20:44:59.158Z,1761684299.158 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:44:59.158Z,1761684299.158 [DAT](INFO): publishing transmit ping time 2025-10-28T20:44:59.159Z,1761684299.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T20:44:59.217Z,1761684299.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335082,-0.859713,-0.385505],[0.941620,-0.319782,-0.105315],[-0.032737,-0.398288,0.916676]] 2025-10-28T20:44:59.254Z,1761684299.254 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:44:59.254Z,1761684299.254 [marl:UpdateRudder:B] Stopped 2025-10-28T20:44:59.254Z,1761684299.254 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:44:59.254Z,1761684299.254 [marl:UpdateRudder] Stopped 2025-10-28T20:44:59.254Z,1761684299.254 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:44:59.409Z,1761684299.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925 2025-10-28T20:44:59.630Z,1761684299.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298944,-0.866899,-0.398897],[0.952791,-0.294419,-0.074205],[-0.053115,-0.402248,0.913989]] 2025-10-28T20:44:59.661Z,1761684299.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502935 2025-10-28T20:44:59.915Z,1761684299.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756553 2025-10-28T20:45:00.059Z,1761684300.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264684,-0.872440,-0.410842],[0.961773,-0.269862,-0.046556],[-0.070253,-0.407459,0.910517]] 2025-10-28T20:45:00.165Z,1761684300.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006948 2025-10-28T20:45:00.417Z,1761684300.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923 2025-10-28T20:45:00.541Z,1761684300.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231499,-0.876426,-0.422238],[0.969198,-0.245273,-0.022273],[-0.084043,-0.414388,0.906211]] 2025-10-28T20:45:00.669Z,1761684300.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-28T20:45:00.921Z,1761684300.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762854 2025-10-28T20:45:00.925Z,1761684300.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198655,-0.879810,-0.431822],[0.975507,-0.219970,-0.000598],[-0.094462,-0.421364,0.901958]] 2025-10-28T20:45:01.173Z,1761684301.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014935 2025-10-28T20:45:01.327Z,1761684301.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165893,-0.883109,-0.438861],[0.980869,-0.193734,0.019068],[-0.101861,-0.427302,0.898353]] 2025-10-28T20:45:01.425Z,1761684301.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851 2025-10-28T20:45:01.677Z,1761684301.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518883 2025-10-28T20:45:01.745Z,1761684301.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100671,-0.886630,-0.451389],[0.988681,-0.139878,0.054252],[-0.111240,-0.440819,0.890676]] 2025-10-28T20:45:01.929Z,1761684301.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888 2025-10-28T20:45:02.181Z,1761684302.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022845 2025-10-28T20:45:02.434Z,1761684302.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275531 2025-10-28T20:45:02.635Z,1761684302.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031657,-0.893935,-0.447077],[0.992341,-0.081548,0.092791],[-0.119407,-0.440715,0.889670]] 2025-10-28T20:45:02.685Z,1761684302.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527040 2025-10-28T20:45:02.939Z,1761684302.939 [DAT](INFO): DAT read: Rx Time:20:45:02.1611 2025-10-28T20:45:02.939Z,1761684302.939 [DAT](INFO): Rx dataTimestamp_ set to:1761684302.938819 2025-10-28T20:45:02.940Z,1761684302.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781647 2025-10-28T20:45:03.048Z,1761684303.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005035,-0.899276,-0.437353],[0.992211,-0.049945,0.114120],[-0.124469,-0.434521,0.892020]] 2025-10-28T20:45:03.189Z,1761684303.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030879 2025-10-28T20:45:03.446Z,1761684303.446 [DAT](INFO): DAT read: 20:45:02.1611 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 87, 0.06,-0.195, 1.062, 1.913, 1.004, PHS=-1.097, 0.103, 0.864, RAW= 247.4, 1.5, CAL= 243.4, 1.0, ROT= 266.6, -1.0 2025-10-28T20:45:03.447Z,1761684303.447 [DAT](INFO): got valid direction response: 20:45:02.1611 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 87, 0.06,-0.195, 1.062, 1.913, 1.004, PHS=-1.097, 0.103, 0.864, RAW= 247.4, 1.5, CAL= 243.4, 1.0, ROT= 266.6, -1.0 2025-10-28T20:45:03.463Z,1761684303.463 [DAT](INFO): DAT read: Bearing 148.7, -61.1 (Local) 2025-10-28T20:45:03.465Z,1761684303.465 [DAT](INFO): Local bearing/azimuth received: Bearing 148.7, -61.1 (Local) 2025-10-28T20:45:03.466Z,1761684303.466 [DAT](INFO): DAT read: Range 11 to 20 : 632.4 m (Round-trip 843.2 ms) speed -0.4 m/s 2025-10-28T20:45:03.467Z,1761684303.467 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:45:03.468Z,1761684303.468 [DAT](INFO): direction in FSK: [-0.059297,-0.998088,0.017452] 2025-10-28T20:45:03.468Z,1761684303.468 [DAT](INFO): publishing direction and range info 2025-10-28T20:45:03.584Z,1761684303.584 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684352.00. Resetting abort timer. 2025-10-28T20:45:03.891Z,1761684303.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077706,-0.908469,-0.410665],[0.987907,0.014731,0.154343],[-0.134167,-0.417693,0.898628]] 2025-10-28T20:45:04.290Z,1761684304.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113881,-0.910559,-0.397384],[0.983772,0.047531,0.173013],[-0.138651,-0.410638,0.901195]] 2025-10-28T20:45:04.695Z,1761684304.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150184,-0.912024,-0.381651],[0.978279,0.081299,0.190685],[-0.142882,-0.401999,0.904423]] 2025-10-28T20:45:05.099Z,1761684305.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187153,-0.911729,-0.365683],[0.971313,0.116157,0.207504],[-0.146711,-0.394028,0.907314]] 2025-10-28T20:45:05.547Z,1761684305.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224561,-0.908678,-0.351961],[0.962787,0.151155,0.224040],[-0.150379,-0.389174,0.908807]] 2025-10-28T20:45:06.417Z,1761684306.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300438,-0.897034,-0.324139],[0.940680,0.222495,0.256157],[-0.157663,-0.381871,0.910668]] 2025-10-28T20:45:06.820Z,1761684306.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338915,-0.888684,-0.308832],[0.926738,0.258767,0.272391],[-0.162155,-0.378524,0.911277]] 2025-10-28T20:45:07.234Z,1761684307.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376851,-0.878064,-0.294936],[0.910987,0.293732,0.289523],[-0.167588,-0.377790,0.910598]] 2025-10-28T20:45:07.627Z,1761684307.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413676,-0.864687,-0.284936],[0.893643,0.325838,0.308597],[-0.173997,-0.382290,0.907513]] 2025-10-28T20:45:08.037Z,1761684308.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448503,-0.851275,-0.272354],[0.875276,0.356641,0.326650],[-0.180936,-0.384888,0.905054]] 2025-10-28T20:45:08.436Z,1761684308.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480528,-0.838724,-0.256191],[0.856639,0.386356,0.341903],[-0.187781,-0.383758,0.904139]] 2025-10-28T20:45:08.843Z,1761684308.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508467,-0.826192,-0.242626],[0.838904,0.411764,0.355936],[-0.194167,-0.384522,0.902465]] 2025-10-28T20:45:09.243Z,1761684309.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533201,-0.812750,-0.234806],[0.822156,0.432407,0.370247],[-0.199387,-0.390464,0.898767]] 2025-10-28T20:45:09.682Z,1761684309.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555551,-0.799614,-0.227991],[0.806288,0.451084,0.382652],[-0.203130,-0.396410,0.895320]] 2025-10-28T20:45:10.082Z,1761684310.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576249,-0.786605,-0.221787],[0.791016,0.468569,0.393365],[-0.205500,-0.402114,0.892230]] 2025-10-28T20:45:10.535Z,1761684310.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596003,-0.773111,-0.216979],[0.775974,0.485038,0.403240],[-0.206506,-0.408702,0.888998]] 2025-10-28T20:45:10.934Z,1761684310.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614570,-0.758857,-0.215498],[0.761483,0.499332,0.413293],[-0.206025,-0.418095,0.884731]] 2025-10-28T20:45:11.335Z,1761684311.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632896,-0.743987,-0.214303],[0.746895,0.513784,0.422107],[-0.203937,-0.427212,0.880852]] 2025-10-28T20:45:11.747Z,1761684311.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651084,-0.728932,-0.211536],[0.732099,0.529570,0.428470],[-0.200302,-0.433835,0.878445]] 2025-10-28T20:45:12.152Z,1761684312.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690543,-0.694887,-0.200705],[0.697434,0.566174,0.439355],[-0.191668,-0.443372,0.875605]] 2025-10-28T20:45:12.207Z,1761684312.207 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:45:12.207Z,1761684312.207 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:45:12.207Z,1761684312.207 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:45:12.207Z,1761684312.207 [marl:UpdateRudder:A] Stopped 2025-10-28T20:45:12.208Z,1761684312.208 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:45:12.208Z,1761684312.208 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode] Stopped 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:45:12.209Z,1761684312.209 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed] Stopped 2025-10-28T20:45:12.210Z,1761684312.210 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:45:12.553Z,1761684312.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711977,-0.675198,-0.192864],[0.676818,0.586666,0.444680],[-0.187100,-0.447136,0.874679]] 2025-10-28T20:45:12.578Z,1761684312.578 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:45:12.578Z,1761684312.578 [marl:UpdateRudder:B] Stopped 2025-10-28T20:45:12.578Z,1761684312.578 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:45:12.578Z,1761684312.578 [marl:UpdateRudder] Stopped 2025-10-28T20:45:12.578Z,1761684312.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:45:12.941Z,1761684312.941 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.089722 2025-10-28T20:45:12.965Z,1761684312.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734013,-0.654260,-0.182121],[0.654251,0.609292,0.448016],[-0.182154,-0.448003,0.875279]] 2025-10-28T20:45:13.807Z,1761684313.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777922,-0.608516,-0.156672],[0.604156,0.655797,0.452687],[-0.172722,-0.446810,0.877797]] 2025-10-28T20:45:13.945Z,1761684313.945 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:45:14.182Z,1761684314.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798813,-0.584449,-0.142535],[0.577634,0.678993,0.453109],[-0.168039,-0.444283,0.879986]] 2025-10-28T20:45:14.584Z,1761684314.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818412,-0.559776,-0.129817],[0.551046,0.700472,0.453527],[-0.162940,-0.442707,0.881737]] 2025-10-28T20:45:14.986Z,1761684314.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836498,-0.535392,-0.116731],[0.524734,0.721267,0.452137],[-0.157876,-0.439464,0.884277]] 2025-10-28T20:45:15.390Z,1761684315.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852124,-0.513009,-0.103470],[0.500340,0.740623,0.448483],[-0.153444,-0.433933,0.887782]] 2025-10-28T20:45:15.823Z,1761684315.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864416,-0.494517,-0.090762],[0.479877,0.757630,0.442397],[-0.150008,-0.425970,0.892215]] 2025-10-28T20:45:16.200Z,1761684316.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873654,-0.480524,-0.076318],[0.463335,0.773806,0.431909],[-0.148487,-0.412700,0.898683]] 2025-10-28T20:45:16.602Z,1761684316.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879403,-0.472325,-0.059655],[0.452104,0.789276,0.415505],[-0.149169,-0.392367,0.907632]] 2025-10-28T20:45:17.015Z,1761684317.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881273,-0.470868,-0.040507],[0.447708,0.804317,0.390682],[-0.151379,-0.362433,0.919634]] 2025-10-28T20:45:17.410Z,1761684317.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880461,-0.473568,-0.022859],[0.448158,0.815546,0.366114],[-0.154738,-0.332593,0.930289]] 2025-10-28T20:45:17.831Z,1761684317.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878247,-0.478142,-0.007873],[0.451254,0.823186,0.344580],[-0.158277,-0.306179,0.938724]] 2025-10-28T20:45:18.219Z,1761684318.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875756,-0.482727,0.005198],[0.454788,0.828586,0.326517],[-0.161925,-0.283585,0.945177]] 2025-10-28T20:45:18.623Z,1761684318.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873447,-0.486639,0.016489],[0.457945,0.832510,0.311792],[-0.165457,-0.264783,0.950007]] 2025-10-28T20:45:19.029Z,1761684319.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871465,-0.489793,0.025536],[0.460532,0.835090,0.300891],[-0.168699,-0.250455,0.953317]] 2025-10-28T20:45:19.433Z,1761684319.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870575,-0.490894,0.033492],[0.461079,0.837674,0.292759],[-0.171769,-0.239426,0.955600]] 2025-10-28T20:45:19.836Z,1761684319.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870722,-0.490152,0.039931],[0.460011,0.840500,0.286270],[-0.173878,-0.230893,0.957317]] 2025-10-28T20:45:20.240Z,1761684320.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871809,-0.487800,0.044717],[0.457239,0.843129,0.282960],[-0.175730,-0.226241,0.958089]] 2025-10-28T20:45:20.645Z,1761684320.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873642,-0.484189,0.048059],[0.453236,0.845742,0.281600],[-0.176993,-0.224236,0.958328]] 2025-10-28T20:45:21.047Z,1761684321.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875967,-0.479643,0.051231],[0.448242,0.848625,0.280919],[-0.178216,-0.223112,0.958363]] 2025-10-28T20:45:21.450Z,1761684321.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878619,-0.474455,0.054049],[0.442576,0.851587,0.280939],[-0.179320,-0.222918,0.958202]] 2025-10-28T20:45:21.858Z,1761684321.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881466,-0.468735,0.057495],[0.436353,0.854966,0.280409],[-0.180594,-0.222082,0.958157]] 2025-10-28T20:45:22.258Z,1761684322.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884160,-0.463191,0.060953],[0.430097,0.857959,0.280932],[-0.182420,-0.222173,0.957790]] 2025-10-28T20:45:22.663Z,1761684322.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886219,-0.458724,0.064716],[0.424965,0.860596,0.280678],[-0.184448,-0.221240,0.957618]] 2025-10-28T20:45:23.071Z,1761684323.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887402,-0.456051,0.067348],[0.421858,0.862257,0.280266],[-0.185886,-0.220297,0.957557]] 2025-10-28T20:45:23.473Z,1761684323.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886974,-0.456772,0.068090],[0.422576,0.862211,0.279324],[-0.186295,-0.218980,0.957780]] 2025-10-28T20:45:23.874Z,1761684323.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886242,-0.458310,0.067286],[0.424452,0.861625,0.278285],[-0.185516,-0.218068,0.958139]] 2025-10-28T20:45:24.279Z,1761684324.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885421,-0.460277,0.064613],[0.427225,0.860708,0.276878],[-0.183054,-0.217549,0.958730]] 2025-10-28T20:45:24.564Z,1761684324.564 [Radio_Surface](INFO): Powering down 2025-10-28T20:45:24.683Z,1761684324.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884675,-0.462329,0.060012],[0.430212,0.859177,0.277006],[-0.179629,-0.219242,0.958992]] 2025-10-28T20:45:25.091Z,1761684325.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883851,-0.464536,0.054902],[0.433603,0.857664,0.276408],[-0.175489,-0.220498,0.959471]] 2025-10-28T20:45:25.115Z,1761684325.115 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:45:25.115Z,1761684325.115 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:45:25.115Z,1761684325.115 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:45:25.117Z,1761684325.117 [marl:UpdateRudder:A] Stopped 2025-10-28T20:45:25.117Z,1761684325.117 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:45:25.117Z,1761684325.117 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:45:25.117Z,1761684325.117 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateCommandMode] Stopped 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:45:25.118Z,1761684325.118 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:45:25.119Z,1761684325.119 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:45:25.119Z,1761684325.119 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:45:25.119Z,1761684325.119 [marl:UpdateSpeed] Stopped 2025-10-28T20:45:25.119Z,1761684325.119 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:45:25.507Z,1761684325.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883653,-0.465583,0.048885],[0.435719,0.856140,0.277801],[-0.171192,-0.224179,0.959394]] 2025-10-28T20:45:25.532Z,1761684325.532 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:45:25.532Z,1761684325.532 [marl:UpdateRudder:B] Stopped 2025-10-28T20:45:25.532Z,1761684325.532 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:45:25.532Z,1761684325.532 [marl:UpdateRudder] Stopped 2025-10-28T20:45:25.532Z,1761684325.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:45:25.895Z,1761684325.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884035,-0.465381,0.043627],[0.436527,0.855370,0.278903],[-0.167113,-0.227516,0.959328]] 2025-10-28T20:45:26.299Z,1761684326.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885358,-0.463329,0.038312],[0.435343,0.855151,0.281415],[-0.163150,-0.232474,0.958821]] 2025-10-28T20:45:26.713Z,1761684326.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886822,-0.460847,0.034165],[0.433739,0.855602,0.282516],[-0.159428,-0.235722,0.958654]] 2025-10-28T20:45:27.118Z,1761684327.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888140,-0.458608,0.029779],[0.432568,0.856079,0.282865],[-0.155218,-0.238342,0.958697]] 2025-10-28T20:45:27.521Z,1761684327.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888848,-0.457503,0.025315],[0.432811,0.856445,0.281384],[-0.150415,-0.239151,0.959261]] 2025-10-28T20:45:27.932Z,1761684327.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888723,-0.458010,0.019940],[0.434897,0.856037,0.279401],[-0.145038,-0.239639,0.959967]] 2025-10-28T20:45:28.328Z,1761684328.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888396,-0.458914,0.012262],[0.437614,0.854628,0.279472],[-0.138734,-0.242916,0.960075]] 2025-10-28T20:45:28.734Z,1761684328.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889584,-0.456772,0.000194],[0.437560,0.852289,0.286607],[-0.131080,-0.254876,0.958048]] 2025-10-28T20:45:29.135Z,1761684329.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893079,-0.449544,-0.017900],[0.433199,0.848504,0.303939],[-0.121446,-0.279196,0.952523]] 2025-10-28T20:45:29.540Z,1761684329.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899164,-0.435767,-0.040138],[0.423698,0.843963,0.328947],[-0.109469,-0.312784,0.943495]] 2025-10-28T20:45:30.005Z,1761684330.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907282,-0.415210,-0.066628],[0.409861,0.837663,0.361018],[-0.094087,-0.354854,0.930176]] 2025-10-28T20:45:30.422Z,1761684330.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917120,-0.387691,-0.092661],[0.391332,0.831490,0.394315],[-0.075826,-0.397896,0.914292]] 2025-10-28T20:45:31.222Z,1761684331.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939618,-0.316509,-0.130157],[0.340194,0.822455,0.455891],[-0.037245,-0.472641,0.880467]] 2025-10-28T20:45:31.628Z,1761684331.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950581,-0.277248,-0.139747],[0.309935,0.820795,0.479829],[-0.018328,-0.499429,0.866161]] 2025-10-28T20:45:32.435Z,1761684332.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969507,-0.198034,-0.144359],[0.244445,0.823338,0.512211],[0.017421,-0.531880,0.846640]] 2025-10-28T20:45:32.885Z,1761684332.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976838,-0.160618,-0.141382],[0.211311,0.828111,0.519211],[0.033685,-0.537061,0.842871]] 2025-10-28T20:45:33.283Z,1761684333.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982854,-0.124722,-0.135805],[0.177809,0.836071,0.519008],[0.048811,-0.534257,0.843912]] 2025-10-28T20:45:33.691Z,1761684333.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987409,-0.091259,-0.129214],[0.145008,0.848603,0.508768],[0.063222,-0.521099,0.851151]] 2025-10-28T20:45:34.503Z,1761684334.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992695,-0.028595,-0.117215],[0.081591,0.874789,0.477585],[0.088882,-0.483660,0.870732]] 2025-10-28T20:45:34.914Z,1761684334.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993566,-0.000010,-0.113253],[0.052749,0.884952,0.462685],[0.100219,-0.465683,0.879259]] 2025-10-28T20:45:35.706Z,1761684335.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992684,0.054565,-0.107704],[-0.000617,0.894333,0.447402],[0.120736,-0.444062,0.887824]] 2025-10-28T20:45:36.188Z,1761684336.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988978,0.108929,-0.100281],[-0.051220,0.887187,0.458558],[0.138918,-0.448368,0.882988]] 2025-10-28T20:45:36.588Z,1761684336.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986017,0.136819,-0.095142],[-0.076938,0.880174,0.468375],[0.147824,-0.454505,0.878392]] 2025-10-28T20:45:37.017Z,1761684337.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982077,0.167467,-0.086488],[-0.106603,0.871942,0.477863],[0.155438,-0.460078,0.874167]] 2025-10-28T20:45:37.419Z,1761684337.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977135,0.198380,-0.076501],[-0.137743,0.864722,0.482994],[0.161968,-0.461413,0.872275]] 2025-10-28T20:45:38.309Z,1761684338.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964700,0.256681,-0.058896],[-0.198334,0.855258,0.478747],[0.173256,-0.450166,0.875975]] 2025-10-28T20:45:38.351Z,1761684338.351 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:45:38.351Z,1761684338.351 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:45:38.351Z,1761684338.351 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:45:38.351Z,1761684338.351 [marl:UpdateRudder:A] Stopped 2025-10-28T20:45:38.351Z,1761684338.351 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:45:38.352Z,1761684338.352 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:45:38.356Z,1761684338.356 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:45:38.356Z,1761684338.356 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:45:38.356Z,1761684338.356 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateCommandMode] Stopped 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:45:38.357Z,1761684338.357 [marl:UpdateSpeed] Stopped 2025-10-28T20:45:38.358Z,1761684338.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:45:38.708Z,1761684338.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957556,0.283913,-0.049798],[-0.226825,0.848788,0.477607],[0.177867,-0.446040,0.877161]] 2025-10-28T20:45:38.737Z,1761684338.737 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:45:38.738Z,1761684338.738 [marl:UpdateRudder:B] Stopped 2025-10-28T20:45:38.738Z,1761684338.738 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:45:38.738Z,1761684338.738 [marl:UpdateRudder] Stopped 2025-10-28T20:45:38.738Z,1761684338.738 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:45:39.514Z,1761684339.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941490,0.336075,-0.025481],[-0.282789,0.828818,0.482795],[0.183374,-0.447341,0.875363]] 2025-10-28T20:45:39.920Z,1761684339.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932307,0.361554,-0.009053],[-0.311695,0.815934,0.486927],[0.183437,-0.451144,0.873396]] 2025-10-28T20:45:40.333Z,1761684340.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922229,0.386539,0.009019],[-0.341410,0.803164,0.488228],[0.181476,-0.453337,0.872669]] 2025-10-28T20:45:40.725Z,1761684340.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911787,0.409926,0.024611],[-0.370255,0.794667,0.481057],[0.177640,-0.447733,0.876344]] 2025-10-28T20:45:41.174Z,1761684341.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901399,0.431462,0.036330],[-0.397094,0.790309,0.466614],[0.172615,-0.435032,0.883715]] 2025-10-28T20:45:41.580Z,1761684341.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890800,0.452113,0.045480],[-0.422364,0.786936,0.449824],[0.167581,-0.419912,0.891959]] 2025-10-28T20:45:42.387Z,1761684342.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868478,0.492250,0.058622],[-0.469458,0.778700,0.416215],[0.159232,-0.388994,0.907375]] 2025-10-28T20:45:42.794Z,1761684342.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856727,0.511825,0.063677],[-0.491363,0.772410,0.402423],[0.156785,-0.376055,0.913236]] 2025-10-28T20:45:43.195Z,1761684343.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845059,0.529965,0.070803],[-0.511760,0.763368,0.394172],[0.154848,-0.369333,0.916305]] 2025-10-28T20:45:43.600Z,1761684343.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833942,0.545909,0.080770],[-0.530439,0.752577,0.390208],[0.152232,-0.368254,0.917177]] 2025-10-28T20:45:44.003Z,1761684344.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823209,0.560091,0.092864],[-0.547993,0.741117,0.387879],[0.148425,-0.370194,0.917020]] 2025-10-28T20:45:44.089Z,1761684344.089 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:45:44.407Z,1761684344.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811694,0.574123,0.107402],[-0.566065,0.727922,0.386911],[0.143955,-0.374850,0.915841]] 2025-10-28T20:45:44.811Z,1761684344.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799326,0.588063,0.123532],[-0.584640,0.713592,0.385982],[0.138830,-0.380747,0.914198]] 2025-10-28T20:45:45.092Z,1761684345.092 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T20:45:45.092Z,1761684345.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:45:45.217Z,1761684345.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785694,0.602910,0.138507],[-0.603894,0.698972,0.383078],[0.134149,-0.384626,0.913273]] 2025-10-28T20:45:45.618Z,1761684345.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771789,0.617066,0.153528],[-0.622579,0.684170,0.379877],[0.129370,-0.388768,0.912208]] 2025-10-28T20:45:46.428Z,1761684346.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743004,0.645952,0.175187],[-0.658209,0.657805,0.366134],[0.121266,-0.387348,0.913923]] 2025-10-28T20:45:46.832Z,1761684346.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728963,0.659137,0.184798],[-0.674338,0.644964,0.359570],[0.117818,-0.386730,0.914636]] 2025-10-28T20:45:47.638Z,1761684347.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702470,0.682083,0.203220],[-0.702910,0.620124,0.348374],[0.111598,-0.387568,0.915061]] 2025-10-28T20:45:48.044Z,1761684348.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689581,0.692146,0.213102],[-0.716001,0.607406,0.344094],[0.108724,-0.389861,0.914433]] 2025-10-28T20:45:48.449Z,1761684348.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676473,0.701652,0.223760],[-0.728779,0.593978,0.340694],[0.106140,-0.393542,0.913159]] 2025-10-28T20:45:48.851Z,1761684348.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663739,0.710868,0.232633],[-0.740743,0.581615,0.336189],[0.103683,-0.395463,0.912611]] 2025-10-28T20:45:49.254Z,1761684349.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651187,0.719440,0.241580],[-0.752105,0.569217,0.332161],[0.101458,-0.397992,0.911761]] 2025-10-28T20:45:49.659Z,1761684349.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638804,0.727791,0.249498],[-0.762887,0.557182,0.327951],[0.099664,-0.399835,0.911153]] 2025-10-28T20:45:50.872Z,1761684350.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599547,0.751243,0.276003],[-0.794878,0.518709,0.314816],[0.093338,-0.408136,0.908137]] 2025-10-28T20:45:51.277Z,1761684351.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583274,0.760558,0.285204],[-0.807291,0.503948,0.307113],[0.089849,-0.409374,0.907932]] 2025-10-28T20:45:51.301Z,1761684351.301 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:45:51.301Z,1761684351.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:45:51.301Z,1761684351.301 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateRudder:A] Stopped 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:45:51.302Z,1761684351.302 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateCommandMode] Stopped 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:45:51.303Z,1761684351.303 [marl:UpdateSpeed] Stopped 2025-10-28T20:45:51.304Z,1761684351.304 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:45:51.679Z,1761684351.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565875,0.769962,0.294862],[-0.820043,0.488500,0.298157],[0.085530,-0.410519,0.907832]] 2025-10-28T20:45:51.714Z,1761684351.714 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:45:51.714Z,1761684351.714 [marl:UpdateRudder:B] Stopped 2025-10-28T20:45:51.714Z,1761684351.714 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:45:51.714Z,1761684351.714 [marl:UpdateRudder] Stopped 2025-10-28T20:45:51.715Z,1761684351.715 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:45:52.489Z,1761684352.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528216,0.792124,0.305821],[-0.845563,0.457823,0.274630],[0.077530,-0.403655,0.911620]] 2025-10-28T20:45:52.893Z,1761684352.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508145,0.804592,0.307278],[-0.858050,0.442097,0.261344],[0.074429,-0.396460,0.915030]] 2025-10-28T20:45:53.294Z,1761684353.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487636,0.817062,0.307604],[-0.870042,0.425586,0.248804],[0.072376,-0.388955,0.918409]] 2025-10-28T20:45:53.699Z,1761684353.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466471,0.828849,0.308892],[-0.881637,0.407421,0.238169],[0.071557,-0.383430,0.920794]] 2025-10-28T20:45:54.509Z,1761684354.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424623,0.849356,0.313511],[-0.902463,0.369347,0.221680],[0.072491,-0.377062,0.923347]] 2025-10-28T20:45:54.986Z,1761684354.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408255,0.858513,0.310296],[-0.909941,0.355516,0.213578],[0.073044,-0.369545,0.926337]] 2025-10-28T20:45:55.368Z,1761684355.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398121,0.866737,0.300444],[-0.914452,0.349044,0.204808],[0.072646,-0.356279,0.931551]] 2025-10-28T20:45:55.816Z,1761684355.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395517,0.877391,0.271571],[-0.915802,0.354265,0.189217],[0.069809,-0.323544,0.943634]] 2025-10-28T20:45:56.579Z,1761684356.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399885,0.879882,0.256708],[-0.914038,0.362037,0.182933],[0.068022,-0.307792,0.949019]] 2025-10-28T20:45:56.985Z,1761684356.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406361,0.880993,0.242327],[-0.911314,0.371575,0.177310],[0.066166,-0.292887,0.953855]] 2025-10-28T20:45:57.387Z,1761684357.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414175,0.880810,0.229418],[-0.907935,0.382047,0.172320],[0.064133,-0.279668,0.957952]] 2025-10-28T20:45:57.831Z,1761684357.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430900,0.878482,0.206383],[-0.900447,0.403535,0.162342],[0.059332,-0.255790,0.964910]] 2025-10-28T20:45:58.605Z,1761684358.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446033,0.873722,0.194074],[-0.893435,0.421766,0.154557],[0.053185,-0.242330,0.968735]] 2025-10-28T20:45:59.014Z,1761684359.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451326,0.871671,0.191037],[-0.890962,0.428197,0.151108],[0.049915,-0.238405,0.969882]] 2025-10-28T20:45:59.114Z,1761684359.114 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:45:59.185Z,1761684359.185 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:45:59.185Z,1761684359.185 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:45:59.413Z,1761684359.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454048,0.870156,0.191489],[-0.889733,0.431465,0.149042],[0.047070,-0.238046,0.970113]] 2025-10-28T20:45:59.438Z,1761684359.438 [DAT](INFO): DAT read: user:266> 2025-10-28T20:45:59.439Z,1761684359.439 [DAT](INFO): DAT read: Tx time:20:45:59.1634 2025-10-28T20:45:59.440Z,1761684359.440 [DAT](INFO): Ping request sent. 2025-10-28T20:45:59.440Z,1761684359.440 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:45:59.440Z,1761684359.440 [DAT](INFO): publishing transmit ping time 2025-10-28T20:45:59.442Z,1761684359.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001824 2025-10-28T20:45:59.689Z,1761684359.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249154 2025-10-28T20:45:59.827Z,1761684359.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454225,0.869457,0.194225],[-0.889758,0.431766,0.148014],[0.044832,-0.240045,0.969726]] 2025-10-28T20:45:59.880Z,1761684359.880 [RDI_Pathfinder](ERROR): only read -1 of 4 data items for bottom velocity. Device response is::BS, 2025-10-28T20:45:59.941Z,1761684359.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501685 2025-10-28T20:46:00.193Z,1761684360.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753098 2025-10-28T20:46:00.446Z,1761684360.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006035 2025-10-28T20:46:00.619Z,1761684360.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450603,0.870392,0.198431],[-0.891767,0.428568,0.145192],[0.041333,-0.242378,0.969301]] 2025-10-28T20:46:00.697Z,1761684360.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257525 2025-10-28T20:46:00.950Z,1761684360.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509806 2025-10-28T20:46:01.026Z,1761684361.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448022,0.871896,0.197668],[-0.893128,0.426610,0.142568],[0.039978,-0.240417,0.969846]] 2025-10-28T20:46:01.201Z,1761684361.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761141 2025-10-28T20:46:01.428Z,1761684361.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445070,0.873909,0.195439],[-0.894638,0.424375,0.139747],[0.039187,-0.237044,0.970708]] 2025-10-28T20:46:01.453Z,1761684361.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013443 2025-10-28T20:46:01.705Z,1761684361.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265115 2025-10-28T20:46:01.833Z,1761684361.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441531,0.876231,0.193056],[-0.896356,0.421176,0.138409],[0.039968,-0.234159,0.971376]] 2025-10-28T20:46:01.958Z,1761684361.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518252 2025-10-28T20:46:02.209Z,1761684362.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769012 2025-10-28T20:46:02.235Z,1761684362.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437452,0.879037,0.189552],[-0.898253,0.417273,0.137929],[0.042149,-0.230603,0.972135]] 2025-10-28T20:46:02.462Z,1761684362.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021849 2025-10-28T20:46:02.638Z,1761684362.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433416,0.881730,0.186284],[-0.900029,0.413000,0.139209],[0.045810,-0.227996,0.972584]] 2025-10-28T20:46:02.713Z,1761684362.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273373 2025-10-28T20:46:02.965Z,1761684362.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525155 2025-10-28T20:46:03.051Z,1761684363.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430719,0.883781,0.182788],[-0.901079,0.409831,0.141753],[0.050367,-0.225762,0.972879]] 2025-10-28T20:46:03.217Z,1761684363.217 [DAT](INFO): DAT read: Rx Time:20:46:02.4217 2025-10-28T20:46:03.217Z,1761684363.217 [DAT](INFO): Rx dataTimestamp_ set to:1761684363.217063 2025-10-28T20:46:03.218Z,1761684363.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778130 2025-10-28T20:46:03.455Z,1761684363.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430748,0.884306,0.180167],[-0.900826,0.409254,0.144992],[0.054484,-0.224754,0.972891]] 2025-10-28T20:46:03.469Z,1761684363.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029583 2025-10-28T20:46:03.726Z,1761684363.726 [DAT](INFO): DAT read: 20:46:02.4217 LVL= 27440, 32753, 32754, 32755, AGC= 78, IDX= 23, 0.26, 2.504, 0.722, 1.318, 1.664, PHS= 0.942,-0.897,-0.390, RAW= 105.5, 4.2, CAL= 106.6, 4.1, ROT= 43.4, -4.1 2025-10-28T20:46:03.727Z,1761684363.727 [DAT](INFO): got valid direction response: 20:46:02.4217 LVL= 27440, 32753, 32754, 32755, AGC= 78, IDX= 23, 0.26, 2.504, 0.722, 1.318, 1.664, PHS= 0.942,-0.897,-0.390, RAW= 105.5, 4.2, CAL= 106.6, 4.1, ROT= 43.4, -4.1 2025-10-28T20:46:03.728Z,1761684363.728 [DAT](INFO): DAT read: Bearing 122.8, 43.2 (Local) 2025-10-28T20:46:03.729Z,1761684363.729 [DAT](INFO): Local bearing/azimuth received: Bearing 122.8, 43.2 (Local) 2025-10-28T20:46:03.730Z,1761684363.730 [DAT](INFO): DAT read: Range 11 to 20 : 640.5 m (Round-trip 854.1 ms) speed 0.2 m/s 2025-10-28T20:46:03.731Z,1761684363.731 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:46:03.732Z,1761684363.732 [DAT](INFO): direction in FSK: [0.724715,0.685329,0.071497] 2025-10-28T20:46:03.732Z,1761684363.732 [DAT](INFO): publishing direction and range info 2025-10-28T20:46:03.851Z,1761684363.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432711,0.883757,0.178144],[-0.899630,0.410451,0.148986],[0.058548,-0.224732,0.972660]] 2025-10-28T20:46:03.988Z,1761684363.988 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684352.00. Resetting abort timer. 2025-10-28T20:46:04.262Z,1761684364.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435867,0.882225,0.178044],[-0.897862,0.412571,0.153713],[0.062154,-0.226858,0.971943]] 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateRudder:A] Stopped 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:46:04.317Z,1761684364.317 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode] Stopped 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:46:04.318Z,1761684364.318 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:46:04.319Z,1761684364.319 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:46:04.319Z,1761684364.319 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:46:04.319Z,1761684364.319 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:46:04.319Z,1761684364.319 [marl:UpdateSpeed] Stopped 2025-10-28T20:46:04.319Z,1761684364.319 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:46:04.659Z,1761684364.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440300,0.879670,0.179768],[-0.895488,0.415734,0.158952],[0.065090,-0.230967,0.970782]] 2025-10-28T20:46:04.712Z,1761684364.712 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:46:04.713Z,1761684364.713 [marl:UpdateRudder:B] Stopped 2025-10-28T20:46:04.713Z,1761684364.713 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:46:04.713Z,1761684364.713 [marl:UpdateRudder] Stopped 2025-10-28T20:46:04.713Z,1761684364.713 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:46:05.063Z,1761684365.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444803,0.876706,0.183131],[-0.893086,0.418774,0.164392],[0.067433,-0.236673,0.969246]] 2025-10-28T20:46:05.469Z,1761684365.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448438,0.874462,0.184986],[-0.891126,0.421370,0.168351],[0.069269,-0.240340,0.968214]] 2025-10-28T20:46:05.873Z,1761684365.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450519,0.872799,0.187763],[-0.889916,0.422243,0.172512],[0.071286,-0.244813,0.966946]] 2025-10-28T20:46:06.274Z,1761684366.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450902,0.872220,0.189527],[-0.889535,0.421612,0.175985],[0.073591,-0.247943,0.965976]] 2025-10-28T20:46:06.679Z,1761684366.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450028,0.872482,0.190396],[-0.889750,0.419859,0.179064],[0.076291,-0.249989,0.965239]] 2025-10-28T20:46:07.084Z,1761684367.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448523,0.872865,0.192184],[-0.890253,0.417246,0.182636],[0.079229,-0.253008,0.964215]] 2025-10-28T20:46:07.488Z,1761684367.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447084,0.873840,0.191103],[-0.890713,0.415298,0.184818],[0.082137,-0.252847,0.964013]] 2025-10-28T20:46:07.890Z,1761684367.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445429,0.874393,0.192433],[-0.891248,0.412572,0.188312],[0.085266,-0.255384,0.963072]] 2025-10-28T20:46:08.294Z,1761684368.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443882,0.874880,0.193789],[-0.891697,0.409879,0.192031],[0.088574,-0.258040,0.962065]] 2025-10-28T20:46:08.698Z,1761684368.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442948,0.875356,0.193773],[-0.891847,0.408111,0.195074],[0.091678,-0.259224,0.961456]] 2025-10-28T20:46:09.104Z,1761684369.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442829,0.875848,0.191816],[-0.891595,0.407571,0.197342],[0.094663,-0.258411,0.961386]] 2025-10-28T20:46:09.507Z,1761684369.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443335,0.876375,0.188203],[-0.891019,0.407993,0.199063],[0.097668,-0.255944,0.961745]] 2025-10-28T20:46:10.005Z,1761684370.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444668,0.876672,0.183622],[-0.890028,0.409444,0.200514],[0.100602,-0.252591,0.962329]] 2025-10-28T20:46:10.317Z,1761684370.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447209,0.876487,0.178256],[-0.888477,0.412365,0.201405],[0.103022,-0.248447,0.963152]] 2025-10-28T20:46:10.721Z,1761684370.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450374,0.875910,0.173046],[-0.886596,0.415862,0.202501],[0.105410,-0.244623,0.963872]] 2025-10-28T20:46:11.123Z,1761684371.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454079,0.875017,0.167799],[-0.884413,0.419884,0.203742],[0.107822,-0.240919,0.964537]] 2025-10-28T20:46:11.527Z,1761684371.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458292,0.874004,0.161508],[-0.881977,0.424727,0.204264],[0.109931,-0.236059,0.965501]] 2025-10-28T20:46:11.940Z,1761684371.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462321,0.872780,0.156569],[-0.879609,0.429105,0.205320],[0.112015,-0.232643,0.966090]] 2025-10-28T20:46:12.336Z,1761684372.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465539,0.871632,0.153401],[-0.877627,0.432290,0.207116],[0.114215,-0.231049,0.966215]] 2025-10-28T20:46:12.738Z,1761684372.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468221,0.870651,0.150787],[-0.875806,0.434646,0.209871],[0.117185,-0.230326,0.966032]] 2025-10-28T20:46:13.143Z,1761684373.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469875,0.870098,0.148817],[-0.874344,0.435562,0.214029],[0.121407,-0.230684,0.965425]] 2025-10-28T20:46:13.547Z,1761684373.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470543,0.869550,0.149909],[-0.873288,0.434604,0.220197],[0.126321,-0.234526,0.963867]] 2025-10-28T20:46:13.953Z,1761684373.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470584,0.869554,0.149753],[-0.872502,0.433286,0.225839],[0.131493,-0.236936,0.962586]] 2025-10-28T20:46:14.357Z,1761684374.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470373,0.869653,0.149841],[-0.871756,0.431540,0.231979],[0.137079,-0.239742,0.961110]] 2025-10-28T20:46:14.762Z,1761684374.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470699,0.869585,0.149212],[-0.870666,0.430437,0.238044],[0.142773,-0.241961,0.959724]] 2025-10-28T20:46:15.162Z,1761684375.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470211,0.870222,0.147022],[-0.869912,0.428903,0.243507],[0.148847,-0.242396,0.958691]] 2025-10-28T20:46:15.212Z,1761684375.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:46:15.567Z,1761684375.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469236,0.870803,0.146696],[-0.869421,0.426467,0.249464],[0.154673,-0.244598,0.957209]] 2025-10-28T20:46:15.972Z,1761684375.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468161,0.871459,0.146234],[-0.868967,0.424001,0.255186],[0.160381,-0.246541,0.955770]] 2025-10-28T20:46:16.218Z,1761684376.218 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:46:16.375Z,1761684376.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467295,0.871900,0.146376],[-0.868474,0.421708,0.260605],[0.165494,-0.248903,0.954285]] 2025-10-28T20:46:16.785Z,1761684376.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465881,0.872685,0.146204],[-0.868329,0.419123,0.265219],[0.170176,-0.250513,0.953039]] 2025-10-28T20:46:17.182Z,1761684377.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463913,0.873887,0.145277],[-0.868477,0.416296,0.269157],[0.174734,-0.251035,0.952076]] 2025-10-28T20:46:17.280Z,1761684377.280 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:46:17.280Z,1761684377.280 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateRudder:A] Stopped 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:46:17.281Z,1761684377.281 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateCommandMode] Stopped 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:46:17.282Z,1761684377.282 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:46:17.283Z,1761684377.283 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:46:17.283Z,1761684377.283 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:46:17.283Z,1761684377.283 [marl:UpdateSpeed] Stopped 2025-10-28T20:46:17.283Z,1761684377.283 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:46:17.587Z,1761684377.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462207,0.875454,0.141226],[-0.868495,0.414734,0.271500],[0.179115,-0.248143,0.952020]] 2025-10-28T20:46:17.624Z,1761684377.624 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:46:17.624Z,1761684377.624 [marl:UpdateRudder:B] Stopped 2025-10-28T20:46:17.624Z,1761684377.624 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:46:17.625Z,1761684377.625 [marl:UpdateRudder] Stopped 2025-10-28T20:46:17.625Z,1761684377.625 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:46:18.395Z,1761684378.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461201,0.877378,0.132294],[-0.867264,0.414247,0.276138],[0.187475,-0.242089,0.951970]] 2025-10-28T20:46:19.206Z,1761684379.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465207,0.875158,0.132973],[-0.863584,0.415700,0.285337],[0.194438,-0.247574,0.949158]] 2025-10-28T20:46:19.608Z,1761684379.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468321,0.873342,0.133971],[-0.861349,0.417489,0.289449],[0.196857,-0.250951,0.947772]] 2025-10-28T20:46:20.011Z,1761684380.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472251,0.871596,0.131523],[-0.858855,0.421410,0.291172],[0.198360,-0.250465,0.947587]] 2025-10-28T20:46:20.426Z,1761684380.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474448,0.870347,0.131893],[-0.857319,0.422854,0.293597],[0.199760,-0.252371,0.946787]] 2025-10-28T20:46:20.820Z,1761684380.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472645,0.870289,0.138576],[-0.857789,0.418293,0.298712],[0.202000,-0.260054,0.944229]] 2025-10-28T20:46:21.222Z,1761684381.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466785,0.870886,0.153849],[-0.860319,0.406871,0.307095],[0.204848,-0.275706,0.939161]] 2025-10-28T20:46:21.635Z,1761684381.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458000,0.871574,0.174911],[-0.864183,0.390412,0.317435],[0.208381,-0.296541,0.932009]] 2025-10-28T20:46:22.035Z,1761684382.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446996,0.872255,0.198410],[-0.868955,0.370735,0.327830],[0.212394,-0.318948,0.923667]] 2025-10-28T20:46:22.449Z,1761684382.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434150,0.873612,0.219809],[-0.874354,0.349914,0.336252],[0.216840,-0.338174,0.915761]] 2025-10-28T20:46:22.852Z,1761684382.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419982,0.875141,0.240298],[-0.880118,0.328170,0.343069],[0.221375,-0.355573,0.908053]] 2025-10-28T20:46:23.255Z,1761684383.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405140,0.877472,0.256719],[-0.885904,0.307398,0.347392],[0.225912,-0.368170,0.901895]] 2025-10-28T20:46:23.663Z,1761684383.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390158,0.880124,0.270479],[-0.891486,0.287621,0.350039],[0.230282,-0.377698,0.896836]] 2025-10-28T20:46:24.091Z,1761684384.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374357,0.883782,0.280688],[-0.896997,0.268408,0.351218],[0.235061,-0.383257,0.893230]] 2025-10-28T20:46:24.495Z,1761684384.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358521,0.887550,0.289340],[-0.902110,0.249670,0.351942],[0.240126,-0.387195,0.890179]] 2025-10-28T20:46:24.962Z,1761684384.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342748,0.891388,0.296566],[-0.906910,0.231625,0.351943],[0.245025,-0.389586,0.887798]] 2025-10-28T20:46:25.331Z,1761684385.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327914,0.894917,0.302650],[-0.911263,0.215146,0.351157],[0.249142,-0.390943,0.886054]] 2025-10-28T20:46:25.793Z,1761684385.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314338,0.898178,0.307358],[-0.915293,0.200853,0.349137],[0.251853,-0.391069,0.885232]] 2025-10-28T20:46:26.314Z,1761684386.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288202,0.904645,0.313938],[-0.923350,0.175682,0.341409],[0.253701,-0.388270,0.885936]] 2025-10-28T20:46:26.719Z,1761684386.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275418,0.907325,0.317657],[-0.927344,0.163680,0.336514],[0.253333,-0.387259,0.886483]] 2025-10-28T20:46:27.114Z,1761684387.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262204,0.910664,0.319281],[-0.931320,0.152135,0.330905],[0.252769,-0.384117,0.888010]] 2025-10-28T20:46:27.519Z,1761684387.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247680,0.914400,0.320199],[-0.935471,0.139716,0.324612],[0.252088,-0.379937,0.890000]] 2025-10-28T20:46:27.929Z,1761684387.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232666,0.918125,0.320800],[-0.939442,0.126823,0.318379],[0.251627,-0.375449,0.892033]] 2025-10-28T20:46:28.364Z,1761684388.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217349,0.921442,0.322030],[-0.943193,0.113328,0.312320],[0.251290,-0.371619,0.893730]] 2025-10-28T20:46:28.781Z,1761684388.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201449,0.923993,0.325047],[-0.946728,0.098554,0.306584],[0.251246,-0.369492,0.894623]] 2025-10-28T20:46:29.166Z,1761684389.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186270,0.925724,0.329149],[-0.950088,0.084379,0.300355],[0.250273,-0.368668,0.895236]] 2025-10-28T20:46:29.570Z,1761684389.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171324,0.926417,0.335261],[-0.953307,0.069979,0.293784],[0.248705,-0.369939,0.895149]] 2025-10-28T20:46:29.976Z,1761684389.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157111,0.926062,0.343111],[-0.956322,0.055942,0.286912],[0.246504,-0.373202,0.894403]] 2025-10-28T20:46:30.389Z,1761684390.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143304,0.924832,0.352349],[-0.959134,0.042012,0.279817],[0.243980,-0.378049,0.893058]] 2025-10-28T20:46:30.492Z,1761684390.492 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateRudder:A] Stopped 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:46:30.493Z,1761684390.493 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateCommandMode] Stopped 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:46:30.494Z,1761684390.494 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:46:30.495Z,1761684390.495 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:46:30.495Z,1761684390.495 [marl:UpdateSpeed] Stopped 2025-10-28T20:46:30.495Z,1761684390.495 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:46:30.793Z,1761684390.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130325,0.923132,0.361722],[-0.961717,0.028993,0.272508],[0.241073,-0.383388,0.891570]] 2025-10-28T20:46:30.885Z,1761684390.885 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:46:30.885Z,1761684390.885 [marl:UpdateRudder:B] Stopped 2025-10-28T20:46:30.886Z,1761684390.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:46:30.886Z,1761684390.886 [marl:UpdateRudder] Stopped 2025-10-28T20:46:30.886Z,1761684390.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:46:31.691Z,1761684391.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105864,0.920666,0.375722],[-0.966450,0.006339,0.256777],[0.234024,-0.390300,0.890449]] 2025-10-28T20:46:32.197Z,1761684392.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093800,0.919973,0.380593],[-0.968802,-0.003741,0.247809],[0.229401,-0.391964,0.890920]] 2025-10-28T20:46:32.624Z,1761684392.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081239,0.919746,0.384014],[-0.971272,-0.013411,0.237594],[0.223677,-0.392284,0.892234]] 2025-10-28T20:46:33.022Z,1761684393.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067795,0.920037,0.385921],[-0.973726,-0.023269,0.226530],[0.217396,-0.391139,0.894287]] 2025-10-28T20:46:33.427Z,1761684393.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052753,0.921067,0.385815],[-0.976067,-0.034066,0.214785],[0.210974,-0.387912,0.897226]] 2025-10-28T20:46:33.832Z,1761684393.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036552,0.922354,0.384613],[-0.978274,-0.045567,0.202247],[0.204069,-0.383649,0.900649]] 2025-10-28T20:46:34.242Z,1761684394.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000829,0.925402,0.378987],[-0.981645,-0.073032,0.176181],[0.190716,-0.371885,0.908476]] 2025-10-28T20:46:34.645Z,1761684394.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021468,0.926462,0.375776],[-0.982655,-0.088802,0.162799],[0.184197,-0.365763,0.912299]] 2025-10-28T20:46:35.071Z,1761684395.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042821,0.926675,0.373417],[-0.983075,-0.105720,0.149623],[0.178129,-0.360690,0.915518]] 2025-10-28T20:46:35.452Z,1761684395.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065539,0.925967,0.371874],[-0.982822,-0.124337,0.136388],[0.172528,-0.356547,0.918209]] 2025-10-28T20:46:35.855Z,1761684395.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089171,0.924252,0.371223],[-0.981769,-0.144376,0.123631],[0.167862,-0.353431,0.920277]] 2025-10-28T20:46:36.257Z,1761684396.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113524,0.921354,0.371778],[-0.979860,-0.165700,0.111439],[0.164278,-0.351640,0.921608]] 2025-10-28T20:46:36.659Z,1761684396.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137632,0.916978,0.374444],[-0.977246,-0.187315,0.099516],[0.161393,-0.352228,0.921894]] 2025-10-28T20:46:37.064Z,1761684397.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159912,0.911759,0.378316],[-0.974265,-0.207454,0.088156],[0.158860,-0.354483,0.921469]] 2025-10-28T20:46:37.466Z,1761684397.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179016,0.905713,0.384235],[-0.971389,-0.224665,0.077004],[0.156068,-0.359457,0.920018]] 2025-10-28T20:46:37.875Z,1761684397.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195186,0.899697,0.390446],[-0.968769,-0.238940,0.066292],[0.152936,-0.365312,0.918236]] 2025-10-28T20:46:38.276Z,1761684398.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209564,0.893161,0.397929],[-0.966272,-0.251462,0.055537],[0.149668,-0.372869,0.915734]] 2025-10-28T20:46:38.680Z,1761684398.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222399,0.886769,0.405191],[-0.963953,-0.262262,0.044879],[0.146063,-0.380604,0.913130]] 2025-10-28T20:46:39.083Z,1761684399.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233921,0.881439,0.410301],[-0.961858,-0.271356,0.034571],[0.141810,-0.386564,0.911295]] 2025-10-28T20:46:39.487Z,1761684399.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244356,0.877156,0.413384],[-0.960015,-0.278892,0.024303],[0.136607,-0.390917,0.910232]] 2025-10-28T20:46:40.321Z,1761684400.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265227,0.870436,0.414725],[-0.956098,-0.293025,0.003561],[0.124624,-0.395573,0.909940]] 2025-10-28T20:46:40.751Z,1761684400.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278441,0.867740,0.411701],[-0.953146,-0.302425,-0.007210],[0.118252,-0.394419,0.911291]] 2025-10-28T20:46:41.189Z,1761684401.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293420,0.865607,0.405745],[-0.949400,-0.313575,-0.017597],[0.112000,-0.390377,0.913817]] 2025-10-28T20:46:41.589Z,1761684401.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309203,0.863345,0.398784],[-0.945098,-0.325594,-0.027903],[0.105752,-0.385518,0.916620]] 2025-10-28T20:46:41.991Z,1761684401.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325833,0.860650,0.391299],[-0.940151,-0.338626,-0.038063],[0.099745,-0.380282,0.919476]] 2025-10-28T20:46:42.404Z,1761684402.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343601,0.857353,0.383254],[-0.934376,-0.353051,-0.047914],[0.094229,-0.374567,0.922399]] 2025-10-28T20:46:42.804Z,1761684402.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361538,0.853129,0.376112],[-0.928115,-0.367748,-0.057995],[0.088837,-0.370043,0.924757]] 2025-10-28T20:46:43.207Z,1761684403.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378989,0.848493,0.369359],[-0.921627,-0.382084,-0.067932],[0.083486,-0.366157,0.926800]] 2025-10-28T20:46:43.611Z,1761684403.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397206,0.843524,0.361517],[-0.914413,-0.397229,-0.077833],[0.077951,-0.361492,0.929111]] 2025-10-28T20:46:43.702Z,1761684403.702 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:46:43.702Z,1761684403.702 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:46:43.702Z,1761684403.702 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:46:43.702Z,1761684403.702 [marl:UpdateRudder:A] Stopped 2025-10-28T20:46:43.702Z,1761684403.702 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode] Stopped 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:46:43.703Z,1761684403.703 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed] Stopped 2025-10-28T20:46:43.704Z,1761684403.704 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:46:44.014Z,1761684404.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415668,0.837835,0.353911],[-0.906615,-0.412742,-0.087708],[0.072589,-0.357319,0.931157]] 2025-10-28T20:46:44.093Z,1761684404.093 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:46:44.093Z,1761684404.093 [marl:UpdateRudder:B] Stopped 2025-10-28T20:46:44.093Z,1761684404.093 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:46:44.093Z,1761684404.093 [marl:UpdateRudder] Stopped 2025-10-28T20:46:44.093Z,1761684404.093 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:46:44.423Z,1761684404.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434699,0.830956,0.347201],[-0.898038,-0.428888,-0.097893],[0.067566,-0.354354,0.932667]] 2025-10-28T20:46:44.823Z,1761684404.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453771,0.822774,0.342249],[-0.888917,-0.444915,-0.108984],[0.062603,-0.353685,0.933267]] 2025-10-28T20:46:45.227Z,1761684405.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471732,0.813789,0.339436],[-0.879858,-0.459599,-0.120908],[0.057611,-0.355692,0.932826]] 2025-10-28T20:46:45.631Z,1761684405.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487858,0.805063,0.337443],[-0.871330,-0.472455,-0.132553],[0.052713,-0.358691,0.931967]] 2025-10-28T20:46:46.034Z,1761684406.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502734,0.795920,0.337299],[-0.863103,-0.483867,-0.144657],[0.048073,-0.363848,0.930217]] 2025-10-28T20:46:46.340Z,1761684406.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:46:46.438Z,1761684406.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516032,0.787040,0.338051],[-0.855462,-0.493591,-0.156692],[0.043536,-0.370048,0.927992]] 2025-10-28T20:46:46.842Z,1761684406.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527943,0.778986,0.338314],[-0.848387,-0.501994,-0.168051],[0.038922,-0.375743,0.925906]] 2025-10-28T20:46:47.248Z,1761684407.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538976,0.771754,0.337492],[-0.841632,-0.509624,-0.178715],[0.034070,-0.380367,0.924208]] 2025-10-28T20:46:47.346Z,1761684407.346 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:46:47.650Z,1761684407.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549621,0.765451,0.334667],[-0.834903,-0.517295,-0.187996],[0.029220,-0.382741,0.923394]] 2025-10-28T20:46:48.055Z,1761684408.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561392,0.759119,0.329511],[-0.827197,-0.526383,-0.196636],[0.024179,-0.382960,0.923449]] 2025-10-28T20:46:48.461Z,1761684408.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574634,0.752479,0.321825],[-0.818193,-0.537267,-0.204706],[0.018869,-0.380946,0.924405]] 2025-10-28T20:46:48.878Z,1761684408.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589510,0.745058,0.312035],[-0.807639,-0.550390,-0.211639],[0.014058,-0.376774,0.926198]] 2025-10-28T20:46:49.267Z,1761684409.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606272,0.735963,0.301319],[-0.795202,-0.565509,-0.218753],[0.009404,-0.372233,0.928092]] 2025-10-28T20:46:49.671Z,1761684409.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623781,0.725785,0.290057],[-0.781584,-0.581512,-0.225766],[0.004814,-0.367532,0.929998]] 2025-10-28T20:46:50.075Z,1761684410.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641601,0.714287,0.279539],[-0.767038,-0.597710,-0.233227],[0.000493,-0.364056,0.931377]] 2025-10-28T20:46:50.480Z,1761684410.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659312,0.701627,0.270235],[-0.751862,-0.613680,-0.241040],[-0.003282,-0.362100,0.932134]] 2025-10-28T20:46:50.883Z,1761684410.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676133,0.688428,0.262511],[-0.736745,-0.628240,-0.250043],[-0.007216,-0.362466,0.931969]] 2025-10-28T20:46:51.287Z,1761684411.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690710,0.676239,0.256165],[-0.723044,-0.640306,-0.259262],[-0.011299,-0.364293,0.931216]] 2025-10-28T20:46:51.691Z,1761684411.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703617,0.664406,0.251969],[-0.710425,-0.650351,-0.268962],[-0.014832,-0.368251,0.929608]] 2025-10-28T20:46:52.498Z,1761684412.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723773,0.644923,0.245411],[-0.689681,-0.664676,-0.287308],[-0.022172,-0.377201,0.925866]] 2025-10-28T20:46:52.903Z,1761684412.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732087,0.637003,0.241406],[-0.680721,-0.670631,-0.294744],[-0.025859,-0.380108,0.924581]] 2025-10-28T20:46:53.307Z,1761684413.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739767,0.629666,0.237205],[-0.672221,-0.676213,-0.301421],[-0.029394,-0.382436,0.923515]] 2025-10-28T20:46:53.793Z,1761684413.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747154,0.622731,0.232309],[-0.663846,-0.681985,-0.306928],[-0.032702,-0.383540,0.922945]] 2025-10-28T20:46:54.266Z,1761684414.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762321,0.608552,0.220298],[-0.646047,-0.695218,-0.315112],[-0.038607,-0.382539,0.923132]] 2025-10-28T20:46:54.682Z,1761684414.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770447,0.600653,0.213605],[-0.636180,-0.702824,-0.318299],[-0.041061,-0.381124,0.923612]] 2025-10-28T20:46:55.084Z,1761684415.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779334,0.591674,0.206300],[-0.625117,-0.711431,-0.321083],[-0.043208,-0.379193,0.924308]] 2025-10-28T20:46:55.473Z,1761684415.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788339,0.582079,0.199264],[-0.613553,-0.719824,-0.324664],[-0.045545,-0.378204,0.924601]] 2025-10-28T20:46:55.878Z,1761684415.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797624,0.572028,0.191256],[-0.601249,-0.728891,-0.327439],[-0.047899,-0.376166,0.925313]] 2025-10-28T20:46:56.285Z,1761684416.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807018,0.561152,0.183932],[-0.588399,-0.737692,-0.331054],[-0.050086,-0.375392,0.925512]] 2025-10-28T20:46:56.679Z,1761684416.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816480,0.549708,0.176581],[-0.575002,-0.746477,-0.334880],[-0.052273,-0.374958,0.925567]] 2025-10-28T20:46:56.775Z,1761684416.775 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:46:56.775Z,1761684416.775 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:46:56.775Z,1761684416.775 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:46:56.776Z,1761684416.776 [marl:UpdateRudder:A] Stopped 2025-10-28T20:46:56.776Z,1761684416.776 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:46:56.776Z,1761684416.776 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:46:56.776Z,1761684416.776 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:46:56.776Z,1761684416.776 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:46:56.777Z,1761684416.777 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:46:56.777Z,1761684416.777 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:46:56.777Z,1761684416.777 [marl:UpdateCommandMode] Stopped 2025-10-28T20:46:56.777Z,1761684416.777 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:46:56.777Z,1761684416.777 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:46:56.778Z,1761684416.778 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:46:56.778Z,1761684416.778 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:46:56.778Z,1761684416.778 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:46:56.778Z,1761684416.778 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:46:56.778Z,1761684416.778 [marl:UpdateSpeed] Stopped 2025-10-28T20:46:56.779Z,1761684416.779 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:46:57.081Z,1761684417.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826237,0.537598,0.168288],[-0.560670,-0.755841,-0.338162],[-0.054596,-0.373756,0.925919]] 2025-10-28T20:46:57.129Z,1761684417.129 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:46:57.129Z,1761684417.129 [marl:UpdateRudder:B] Stopped 2025-10-28T20:46:57.129Z,1761684417.129 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:46:57.129Z,1761684417.129 [marl:UpdateRudder] Stopped 2025-10-28T20:46:57.129Z,1761684417.129 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:46:57.499Z,1761684417.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836312,0.524613,0.159261],[-0.545298,-0.765804,-0.340874],[-0.056864,-0.371922,0.926521]] 2025-10-28T20:46:57.898Z,1761684417.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846305,0.511201,0.149805],[-0.529344,-0.775525,-0.344029],[-0.059690,-0.370452,0.926932]] 2025-10-28T20:46:58.311Z,1761684418.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856012,0.497987,0.138754],[-0.513149,-0.786012,-0.344766],[-0.062627,-0.366325,0.928377]] 2025-10-28T20:46:58.696Z,1761684418.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864084,0.487298,0.126090],[-0.498903,-0.795932,-0.342911],[-0.066740,-0.359211,0.930867]] 2025-10-28T20:46:59.113Z,1761684419.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869944,0.480708,0.110081],[-0.487821,-0.806098,-0.335017],[-0.072309,-0.345146,0.935759]] 2025-10-28T20:46:59.137Z,1761684419.137 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:46:59.217Z,1761684419.217 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:46:59.217Z,1761684419.217 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:46:59.469Z,1761684419.469 [DAT](INFO): DAT read: user:267> 2025-10-28T20:46:59.470Z,1761684419.470 [DAT](INFO): DAT read: Tx time:20:46:59.2132 2025-10-28T20:46:59.470Z,1761684419.470 [DAT](INFO): Ping request sent. 2025-10-28T20:46:59.470Z,1761684419.470 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:46:59.470Z,1761684419.470 [DAT](INFO): publishing transmit ping time 2025-10-28T20:46:59.471Z,1761684419.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000967 2025-10-28T20:46:59.519Z,1761684419.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874275,0.476772,0.091273],[-0.479006,-0.816829,-0.321471],[-0.078714,-0.324775,0.942510]] 2025-10-28T20:46:59.721Z,1761684419.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790 2025-10-28T20:46:59.957Z,1761684419.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877663,0.473589,0.073630],[-0.471648,-0.826132,-0.308307],[-0.085183,-0.305317,0.948433]] 2025-10-28T20:46:59.973Z,1761684419.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016 2025-10-28T20:47:00.225Z,1761684420.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754851 2025-10-28T20:47:00.331Z,1761684420.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880284,0.471074,0.056470],[-0.465489,-0.834507,-0.294819],[-0.091757,-0.285811,0.953883]] 2025-10-28T20:47:00.477Z,1761684420.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007008 2025-10-28T20:47:00.726Z,1761684420.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881914,0.469561,0.041716],[-0.461062,-0.840732,-0.283885],[-0.098229,-0.269596,0.957951]] 2025-10-28T20:47:00.729Z,1761684420.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881 2025-10-28T20:47:00.981Z,1761684420.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912 2025-10-28T20:47:01.129Z,1761684421.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882646,0.469147,0.028925],[-0.458202,-0.845067,-0.275524],[-0.104817,-0.256444,0.960859]] 2025-10-28T20:47:01.233Z,1761684421.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762741 2025-10-28T20:47:01.485Z,1761684421.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943 2025-10-28T20:47:01.531Z,1761684421.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882792,0.469397,0.018580],[-0.456478,-0.847813,-0.269891],[-0.110933,-0.246739,0.962712]] 2025-10-28T20:47:01.740Z,1761684421.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269325 2025-10-28T20:47:01.930Z,1761684421.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882240,0.470670,0.011091],[-0.456200,-0.848820,-0.267182],[-0.116340,-0.240778,0.963582]] 2025-10-28T20:47:01.997Z,1761684421.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526862 2025-10-28T20:47:02.249Z,1761684422.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779379 2025-10-28T20:47:02.344Z,1761684422.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881033,0.473018,0.005860],[-0.457273,-0.848405,-0.266664],[-0.121165,-0.237620,0.963772]] 2025-10-28T20:47:02.501Z,1761684422.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030856 2025-10-28T20:47:02.739Z,1761684422.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879467,0.475953,0.002583],[-0.459070,-0.846813,-0.268630],[-0.125668,-0.237437,0.963240]] 2025-10-28T20:47:02.754Z,1761684422.754 [DAT](INFO): DAT read: Rx Time:20:47:02.0908 2025-10-28T20:47:02.754Z,1761684422.754 [DAT](INFO): Rx dataTimestamp_ set to:1761684422.753989 2025-10-28T20:47:02.755Z,1761684422.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285024 2025-10-28T20:47:03.005Z,1761684423.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534832 2025-10-28T20:47:03.142Z,1761684423.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877633,0.479333,0.000281],[-0.461463,-0.844756,-0.270996],[-0.129660,-0.237965,0.962580]] 2025-10-28T20:47:03.273Z,1761684423.273 [DAT](INFO): DAT read: 20:47:02.0908 LVL= 32752, 29217, 32754, 32755, AGC= 77, IDX= 125, 0.03,-2.573,-1.472, 2.966,-2.094, PHS=-0.376, 0.667,-1.266, RAW= 357.4, 11.6, CAL= 357.7, 13.6, ROT= 152.3, -13.6 2025-10-28T20:47:03.278Z,1761684423.278 [DAT](INFO): got valid direction response: 20:47:02.0908 LVL= 32752, 29217, 32754, 32755, AGC= 77, IDX= 125, 0.03,-2.573,-1.472, 2.966,-2.094, PHS=-0.376, 0.667,-1.266, RAW= 357.4, 11.6, CAL= 357.7, 13.6, ROT= 152.3, -13.6 2025-10-28T20:47:03.279Z,1761684423.279 [DAT](INFO): DAT read: Bearing 332, -17 (Remote) 2025-10-28T20:47:03.279Z,1761684423.279 [DAT](INFO): Remote Bearing received:Bearing 332, -17 (Remote) 2025-10-28T20:47:03.280Z,1761684423.280 [DAT](INFO): DAT read: Bearing 173.7, 28.9 (Local) 2025-10-28T20:47:03.281Z,1761684423.281 [DAT](INFO): Local bearing/azimuth received: Bearing 173.7, 28.9 (Local) 2025-10-28T20:47:03.282Z,1761684423.282 [DAT](INFO): DAT read: Range 11 to 20 : 636.3 m (Round-trip 848.5 ms) speed -1.8 m/s 2025-10-28T20:47:03.283Z,1761684423.283 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:47:03.284Z,1761684423.284 [DAT](INFO): direction in FSK: [-0.860568,0.451808,0.235142] 2025-10-28T20:47:03.284Z,1761684423.284 [DAT](INFO): publishing direction and range info 2025-10-28T20:47:03.545Z,1761684423.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875571,0.483085,-0.002038],[-0.464218,-0.842529,-0.273216],[-0.133704,-0.238274,0.961950]] 2025-10-28T20:47:03.603Z,1761684423.603 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684480.00. Resetting abort timer. 2025-10-28T20:47:03.951Z,1761684423.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873510,0.486792,-0.003563],[-0.467016,-0.840044,-0.276085],[-0.137389,-0.239499,0.961127]] 2025-10-28T20:47:04.354Z,1761684424.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871634,0.490131,-0.005041],[-0.469566,-0.837923,-0.278196],[-0.140577,-0.240118,0.960511]] 2025-10-28T20:47:04.759Z,1761684424.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870039,0.492931,-0.007142],[-0.471672,-0.836555,-0.278748],[-0.143378,-0.239152,0.960338]] 2025-10-28T20:47:05.161Z,1761684425.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869067,0.494628,-0.008051],[-0.473029,-0.835661,-0.279133],[-0.144795,-0.238777,0.960219]] 2025-10-28T20:47:05.572Z,1761684425.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868781,0.495103,-0.009660],[-0.473293,-0.835931,-0.277874],[-0.145652,-0.236839,0.960569]] 2025-10-28T20:47:05.971Z,1761684425.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869091,0.494537,-0.010672],[-0.472596,-0.836517,-0.277295],[-0.146060,-0.235951,0.960726]] 2025-10-28T20:47:06.372Z,1761684426.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869559,0.493700,-0.011258],[-0.471695,-0.837117,-0.277018],[-0.146188,-0.235574,0.960799]] 2025-10-28T20:47:06.782Z,1761684426.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870435,0.492123,-0.012552],[-0.470158,-0.838603,-0.275129],[-0.145923,-0.233581,0.961325]] 2025-10-28T20:47:07.181Z,1761684427.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871406,0.490382,-0.013289],[-0.468509,-0.839958,-0.273806],[-0.145432,-0.232370,0.961693]] 2025-10-28T20:47:07.595Z,1761684427.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872590,0.488282,-0.012946],[-0.466511,-0.840953,-0.274163],[-0.144756,-0.233193,0.961596]] 2025-10-28T20:47:07.988Z,1761684427.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873948,0.485871,-0.012039],[-0.464308,-0.841972,-0.274776],[-0.143642,-0.234550,0.961433]] 2025-10-28T20:47:08.397Z,1761684428.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875266,0.483521,-0.010771],[-0.462172,-0.842768,-0.275933],[-0.142498,-0.236537,0.961116]] 2025-10-28T20:47:08.836Z,1761684428.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876357,0.481582,-0.008810],[-0.460541,-0.843144,-0.277506],[-0.141070,-0.239136,0.960684]] 2025-10-28T20:47:09.220Z,1761684429.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877118,0.480236,-0.006193],[-0.459646,-0.843110,-0.279089],[-0.139250,-0.241947,0.960245]] 2025-10-28T20:47:09.607Z,1761684429.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877676,0.479237,-0.004122],[-0.459114,-0.843226,-0.279614],[-0.137477,-0.243518,0.960104]] 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateRudder:A] Stopped 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:47:09.649Z,1761684429.649 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode] Stopped 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:47:09.650Z,1761684429.650 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:47:09.651Z,1761684429.651 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:47:09.651Z,1761684429.651 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:47:09.651Z,1761684429.651 [marl:UpdateSpeed] Stopped 2025-10-28T20:47:09.651Z,1761684429.651 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:47:10.014Z,1761684430.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877970,0.478715,-0.000578],[-0.459306,-0.842713,-0.280844],[-0.134931,-0.246307,0.959753]] 2025-10-28T20:47:10.126Z,1761684430.126 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T20:47:10.126Z,1761684430.126 [marl:UpdateRudder:B] Stopped 2025-10-28T20:47:10.126Z,1761684430.126 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:47:10.126Z,1761684430.126 [marl:UpdateRudder] Stopped 2025-10-28T20:47:10.127Z,1761684430.127 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:47:10.420Z,1761684430.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878010,0.478633,0.003123],[-0.460146,-0.842264,-0.280815],[-0.131777,-0.247995,0.959757]] 2025-10-28T20:47:10.826Z,1761684430.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878127,0.478387,0.006323],[-0.460960,-0.842452,-0.278908],[-0.128099,-0.247832,0.960297]] 2025-10-28T20:47:11.220Z,1761684431.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878593,0.477476,0.009531],[-0.461196,-0.843116,-0.276504],[-0.123989,-0.247330,0.960965]] 2025-10-28T20:47:11.640Z,1761684431.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879210,0.476279,0.012172],[-0.461167,-0.844341,-0.272787],[-0.119646,-0.245450,0.961997]] 2025-10-28T20:47:12.039Z,1761684432.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879931,0.474862,0.015076],[-0.460856,-0.845405,-0.270005],[-0.115470,-0.244534,0.962741]] 2025-10-28T20:47:12.454Z,1761684432.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880191,0.474342,0.016242],[-0.461320,-0.846980,-0.264215],[-0.111572,-0.240052,0.964327]] 2025-10-28T20:47:12.836Z,1761684432.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878513,0.477532,0.013324],[-0.465188,-0.848793,-0.251299],[-0.108693,-0.226968,0.967818]] 2025-10-28T20:47:13.251Z,1761684433.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874027,0.485862,0.003997],[-0.473985,-0.850795,-0.226907],[-0.106845,-0.200217,0.973908]] 2025-10-28T20:47:13.659Z,1761684433.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866133,0.499637,-0.013275],[-0.488446,-0.851769,-0.189498],[-0.105988,-0.157646,0.981791]] 2025-10-28T20:47:14.067Z,1761684434.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854570,0.517888,-0.038765],[-0.508471,-0.849545,-0.140462],[-0.105676,-0.100324,0.989327]] 2025-10-28T20:47:14.464Z,1761684434.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840291,0.537553,-0.070345],[-0.531950,-0.842567,-0.084319],[-0.104596,-0.033433,0.993953]] 2025-10-28T20:47:14.870Z,1761684434.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824197,0.556494,-0.104947],[-0.556795,-0.830139,-0.029144],[-0.103339,0.034414,0.994051]] 2025-10-28T20:47:15.269Z,1761684435.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807076,0.574960,-0.134346],[-0.581722,-0.813265,0.014137],[-0.101131,0.089562,0.990834]] 2025-10-28T20:47:15.668Z,1761684435.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788955,0.594235,-0.156314],[-0.606640,-0.793734,0.044440],[-0.097664,0.129888,0.986707]] 2025-10-28T20:47:16.071Z,1761684436.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769847,0.615431,-0.169055],[-0.631402,-0.773046,0.061081],[-0.093096,0.153765,0.983712]] 2025-10-28T20:47:16.477Z,1761684436.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749077,0.638792,-0.175579],[-0.656613,-0.751093,0.068695],[-0.087994,0.166745,0.982066]] 2025-10-28T20:47:16.879Z,1761684436.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727118,0.663347,-0.176836],[-0.681608,-0.728298,0.070657],[-0.081919,0.171909,0.981701]] 2025-10-28T20:47:17.287Z,1761684437.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703967,0.688196,-0.175547],[-0.706208,-0.704535,0.070002],[-0.075504,0.173252,0.981979]] 2025-10-28T20:47:17.464Z,1761684437.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:47:17.693Z,1761684437.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679375,0.713263,-0.172354],[-0.730595,-0.679391,0.068256],[-0.068412,0.172293,0.982667]] 2025-10-28T20:47:18.090Z,1761684438.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653665,0.737676,-0.168984],[-0.754285,-0.653187,0.066334],[-0.061445,0.170822,0.983384]] 2025-10-28T20:47:18.469Z,1761684438.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:47:18.493Z,1761684438.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626376,0.761824,-0.165159],[-0.777589,-0.625546,0.063620],[-0.054847,0.168276,0.984213]] 2025-10-28T20:47:18.897Z,1761684438.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598840,0.784431,-0.161424],[-0.799420,-0.597607,0.061597],[-0.048149,0.165932,0.984961]] 2025-10-28T20:47:19.307Z,1761684439.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571091,0.805493,-0.158227],[-0.819832,-0.569429,0.060219],[-0.041593,0.164110,0.985565]] 2025-10-28T20:47:19.712Z,1761684439.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543987,0.824685,-0.154833],[-0.838354,-0.541919,0.059037],[-0.035220,0.161921,0.986175]] 2025-10-28T20:47:20.108Z,1761684440.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518295,0.841493,-0.152514],[-0.854709,-0.515748,0.058971],[-0.029035,0.160919,0.986540]] 2025-10-28T20:47:20.512Z,1761684440.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493053,0.857018,-0.149729],[-0.869693,-0.490088,0.058713],[-0.023063,0.159167,0.986982]] 2025-10-28T20:47:20.918Z,1761684440.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468606,0.871276,-0.145900],[-0.883237,-0.465322,0.058028],[-0.017332,0.156057,0.987596]] 2025-10-28T20:47:21.322Z,1761684441.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444504,0.884400,-0.142311],[-0.895698,-0.440931,0.057495],[-0.011901,0.153024,0.988151]] 2025-10-28T20:47:21.724Z,1761684441.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420989,0.896854,-0.135722],[-0.907039,-0.417376,0.055473],[-0.006896,0.146459,0.989193]] 2025-10-28T20:47:22.129Z,1761684442.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397954,0.908190,-0.129706],[-0.917403,-0.394246,0.054229],[-0.001886,0.140573,0.990068]] 2025-10-28T20:47:22.541Z,1761684442.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375048,0.918743,-0.123495],[-0.927001,-0.371266,0.053211],[0.003038,0.134437,0.990918]] 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateRudder:A] Stopped 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:47:22.594Z,1761684442.594 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateCommandMode] Stopped 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:47:22.595Z,1761684442.595 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:47:22.596Z,1761684442.596 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:47:22.596Z,1761684442.596 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:47:22.596Z,1761684442.596 [marl:UpdateSpeed] Stopped 2025-10-28T20:47:22.596Z,1761684442.596 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:47:22.961Z,1761684442.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351831,0.928405,-0.119497],[-0.936031,-0.347874,0.053194],[0.007816,0.130568,0.991409]] 2025-10-28T20:47:23.061Z,1761684443.061 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T20:47:23.061Z,1761684443.061 [marl:UpdateRudder:B] Stopped 2025-10-28T20:47:23.061Z,1761684443.061 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:47:23.062Z,1761684443.062 [marl:UpdateRudder] Stopped 2025-10-28T20:47:23.062Z,1761684443.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:47:23.359Z,1761684443.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327489,0.937675,-0.116263],[-0.944771,-0.323334,0.053504],[0.012578,0.127364,0.991776]] 2025-10-28T20:47:23.758Z,1761684443.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302006,0.946422,-0.114356],[-0.953149,-0.297603,0.054209],[0.017272,0.125370,0.991960]] 2025-10-28T20:47:24.151Z,1761684444.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274727,0.954750,-0.113915],[-0.961280,-0.270062,0.054847],[0.021601,0.124573,0.991975]] 2025-10-28T20:47:24.616Z,1761684444.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245731,0.962479,-0.115109],[-0.969001,-0.240774,0.055371],[0.025578,0.125147,0.991808]] 2025-10-28T20:47:25.015Z,1761684445.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215377,0.969522,-0.116793],[-0.976092,-0.210149,0.055513],[0.029277,0.125957,0.991603]] 2025-10-28T20:47:25.418Z,1761684445.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185360,0.975459,-0.118830],[-0.982130,-0.179887,0.055329],[0.032595,0.126962,0.991372]] 2025-10-28T20:47:25.829Z,1761684445.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156688,0.980528,-0.118383],[-0.987030,-0.151222,0.053879],[0.034928,0.125289,0.991505]] 2025-10-28T20:47:26.233Z,1761684446.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132318,0.985146,-0.109449],[-0.990525,-0.127321,0.051479],[0.036779,0.115223,0.992659]] 2025-10-28T20:47:26.630Z,1761684446.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113291,0.989420,-0.090628],[-0.992817,-0.109203,0.048884],[0.038470,0.095515,0.994684]] 2025-10-28T20:47:27.035Z,1761684447.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100341,0.992866,-0.064405],[-0.994146,-0.097443,0.046666],[0.040057,0.068711,0.996832]] 2025-10-28T20:47:27.439Z,1761684447.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093120,0.995164,-0.031254],[-0.994800,-0.091694,0.044324],[0.041244,0.035219,0.998528]] 2025-10-28T20:47:27.842Z,1761684447.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091997,0.995724,0.008377],[-0.994856,-0.092269,0.041800],[0.042394,-0.004489,0.999091]] 2025-10-28T20:47:28.247Z,1761684448.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096946,0.993717,0.055927],[-0.994329,-0.099168,0.038411],[0.043716,-0.051886,0.997696]] 2025-10-28T20:47:28.651Z,1761684448.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107503,0.987516,0.115128],[-0.993151,-0.111998,0.033294],[0.045772,-0.110760,0.992793]] 2025-10-28T20:47:29.462Z,1761684449.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143665,0.956299,0.254661],[-0.988285,-0.152035,0.013385],[0.051517,-0.249755,0.966938]] 2025-10-28T20:47:29.865Z,1761684449.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167802,0.932256,0.320532],[-0.984222,-0.176936,-0.000640],[0.056117,-0.315582,0.947237]] 2025-10-28T20:47:30.281Z,1761684450.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195025,0.904574,0.379093],[-0.978830,-0.203983,-0.016826],[0.062108,-0.374349,0.925206]] 2025-10-28T20:47:30.675Z,1761684450.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225148,0.875122,0.428334],[-0.971839,-0.233087,-0.034617],[0.069545,-0.424065,0.902957]] 2025-10-28T20:47:31.080Z,1761684451.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256368,0.846968,0.465748],[-0.963442,-0.262702,-0.052594],[0.077808,-0.462205,0.883353]] 2025-10-28T20:47:31.886Z,1761684451.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318705,0.801106,0.506614],[-0.943019,-0.321907,-0.084212],[0.095620,-0.504585,0.858051]] 2025-10-28T20:47:32.294Z,1761684452.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348846,0.784359,0.512920],[-0.931253,-0.351572,-0.095737],[0.105236,-0.511056,0.853081]] 2025-10-28T20:47:32.728Z,1761684452.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401777,0.763336,0.505859],[-0.907446,-0.406048,-0.108014],[0.122952,-0.502437,0.855827]] 2025-10-28T20:47:33.131Z,1761684453.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425273,0.758689,0.493492],[-0.895603,-0.431406,-0.108560],[0.130532,-0.488140,0.862949]] 2025-10-28T20:47:33.541Z,1761684453.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447793,0.755601,0.478067],[-0.883570,-0.455898,-0.107055],[0.137059,-0.470344,0.871775]] 2025-10-28T20:47:33.945Z,1761684453.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470570,0.754574,0.457364],[-0.870890,-0.480502,-0.103287],[0.141826,-0.446917,0.883261]] 2025-10-28T20:47:34.347Z,1761684454.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493730,0.751780,0.437101],[-0.857521,-0.504430,-0.101037],[0.144529,-0.424708,0.893719]] 2025-10-28T20:47:34.760Z,1761684454.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518514,0.746279,0.417387],[-0.842602,-0.528995,-0.100921],[0.145480,-0.404020,0.903108]] 2025-10-28T20:47:35.161Z,1761684455.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544616,0.736732,0.400772],[-0.826118,-0.553657,-0.104848],[0.144646,-0.388187,0.910159]] 2025-10-28T20:47:35.560Z,1761684455.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572661,0.722995,0.386442],[-0.807236,-0.579496,-0.112047],[0.142932,-0.376115,0.915483]] 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateRudder:A] Stopped 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:47:35.589Z,1761684455.589 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode] Stopped 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:47:35.590Z,1761684455.590 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed] Stopped 2025-10-28T20:47:35.591Z,1761684455.591 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:47:35.962Z,1761684455.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601156,0.703818,0.378486],[-0.786753,-0.604293,-0.125894],[0.140110,-0.373457,0.917005]] 2025-10-28T20:47:36.063Z,1761684456.063 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T20:47:36.063Z,1761684456.063 [marl:UpdateRudder:B] Stopped 2025-10-28T20:47:36.063Z,1761684456.063 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:47:36.063Z,1761684456.063 [marl:UpdateRudder] Stopped 2025-10-28T20:47:36.063Z,1761684456.063 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:47:36.367Z,1761684456.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630497,0.680952,0.372529],[-0.764019,-0.629124,-0.143099],[0.136923,-0.374843,0.916921]] 2025-10-28T20:47:36.779Z,1761684456.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659982,0.654439,0.368962],[-0.739314,-0.653058,-0.164103],[0.133558,-0.381084,0.914843]] 2025-10-28T20:47:37.176Z,1761684457.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689014,0.625478,0.366111],[-0.713100,-0.675284,-0.188361],[0.129413,-0.390857,0.911308]] 2025-10-28T20:47:37.579Z,1761684457.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716611,0.596842,0.360899],[-0.686389,-0.695353,-0.212964],[0.123847,-0.400329,0.907964]] 2025-10-28T20:47:37.983Z,1761684457.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740669,0.572843,0.351085],[-0.661661,-0.712655,-0.233084],[0.116682,-0.404938,0.906869]] 2025-10-28T20:47:38.388Z,1761684458.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759695,0.557544,0.334677],[-0.641341,-0.727444,-0.243940],[0.107452,-0.399962,0.910211]] 2025-10-28T20:47:38.795Z,1761684458.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772737,0.553244,0.311124],[-0.627412,-0.739975,-0.242468],[0.096080,-0.382567,0.918918]] 2025-10-28T20:47:39.195Z,1761684459.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780549,0.558488,0.280774],[-0.619572,-0.750793,-0.228998],[0.082910,-0.352704,0.932055]] 2025-10-28T20:47:39.598Z,1761684459.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782586,0.571656,0.246514],[-0.618747,-0.757894,-0.206756],[0.068638,-0.314334,0.946828]] 2025-10-28T20:47:40.013Z,1761684460.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779039,0.591161,0.208871],[-0.624701,-0.760225,-0.178346],[0.053358,-0.269420,0.961543]] 2025-10-28T20:47:40.406Z,1761684460.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769860,0.615871,0.167384],[-0.637090,-0.757153,-0.144346],[0.037837,-0.217765,0.975268]] 2025-10-28T20:47:40.810Z,1761684460.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754337,0.645058,0.121964],[-0.656118,-0.747016,-0.107126],[0.022007,-0.160832,0.986736]] 2025-10-28T20:47:41.215Z,1761684461.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734104,0.675513,0.069090],[-0.679006,-0.731235,-0.065171],[0.006497,-0.094755,0.995479]] 2025-10-28T20:47:41.643Z,1761684461.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709935,0.704050,0.017501],[-0.704221,-0.709381,-0.029198],[-0.008142,-0.033053,0.999420]] 2025-10-28T20:47:42.042Z,1761684462.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683133,0.729623,-0.031294],[-0.729975,-0.683474,-0.000285],[-0.021597,0.022649,0.999510]] 2025-10-28T20:47:42.446Z,1761684462.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654376,0.752741,-0.071928],[-0.755428,-0.654980,0.018130],[-0.033464,0.066200,0.997245]] 2025-10-28T20:47:42.851Z,1761684462.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624386,0.774050,-0.104823],[-0.779884,-0.625297,0.028022],[-0.043855,0.099246,0.994096]] 2025-10-28T20:47:43.260Z,1761684463.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593484,0.794495,-0.128665],[-0.803145,-0.595002,0.030526],[-0.052303,0.121453,0.991218]] 2025-10-28T20:47:43.663Z,1761684463.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562413,0.813959,-0.145476],[-0.824745,-0.564792,0.028384],[-0.059060,0.135945,0.988954]] 2025-10-28T20:47:44.062Z,1761684464.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531458,0.832318,-0.157474],[-0.844573,-0.534950,0.022906],[-0.065176,0.145172,0.987257]] 2025-10-28T20:47:44.466Z,1761684464.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501569,0.849350,-0.164415],[-0.862261,-0.506234,0.015290],[-0.070246,0.149438,0.986273]] 2025-10-28T20:47:44.877Z,1761684464.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473995,0.864207,-0.168746],[-0.877335,-0.479827,0.007007],[-0.074914,0.151368,0.985635]] 2025-10-28T20:47:45.277Z,1761684465.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447843,0.877872,-0.169641],[-0.890610,-0.454763,-0.002183],[-0.079063,0.150106,0.985503]] 2025-10-28T20:47:45.679Z,1761684465.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422920,0.890227,-0.169217],[-0.902358,-0.430838,-0.011337],[-0.082998,0.147899,0.985514]] 2025-10-28T20:47:46.082Z,1761684466.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398893,0.901494,-0.167906],[-0.912918,-0.407656,-0.019911],[-0.086398,0.145342,0.985602]] 2025-10-28T20:47:46.487Z,1761684466.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375512,0.912215,-0.163874],[-0.922516,-0.384896,-0.028635],[-0.089196,0.140424,0.986066]] 2025-10-28T20:47:46.898Z,1761684466.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353090,0.921795,-0.160066],[-0.931154,-0.362875,-0.035706],[-0.090998,0.136438,0.986460]] 2025-10-28T20:47:47.294Z,1761684467.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330874,0.930979,-0.154276],[-0.939188,-0.340794,-0.042251],[-0.091911,0.130914,0.987124]] 2025-10-28T20:47:47.698Z,1761684467.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308613,0.939136,-0.150935],[-0.946695,-0.318669,-0.047111],[-0.092342,0.128350,0.987420]] 2025-10-28T20:47:48.103Z,1761684468.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285598,0.946847,-0.148037],[-0.953856,-0.295788,-0.051657],[-0.092699,0.126453,0.987632]] 2025-10-28T20:47:48.507Z,1761684468.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261063,0.954208,-0.146058],[-0.960804,-0.271471,-0.056209],[-0.093286,0.125659,0.987678]] 2025-10-28T20:47:48.552Z,1761684468.552 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:47:48.552Z,1761684468.552 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:47:48.552Z,1761684468.552 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:47:48.552Z,1761684468.552 [marl:UpdateRudder:A] Stopped 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode] Stopped 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:47:48.553Z,1761684468.553 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed] Stopped 2025-10-28T20:47:48.554Z,1761684468.554 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:47:48.593Z,1761684468.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:47:48.910Z,1761684468.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234836,0.961339,-0.143803],[-0.967471,-0.245481,-0.061147],[-0.094084,0.124766,0.987715]] 2025-10-28T20:47:48.991Z,1761684468.991 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T20:47:48.991Z,1761684468.991 [marl:UpdateRudder:B] Stopped 2025-10-28T20:47:48.991Z,1761684468.991 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:47:48.991Z,1761684468.991 [marl:UpdateRudder] Stopped 2025-10-28T20:47:48.991Z,1761684468.991 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:47:49.316Z,1761684469.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207565,0.967664,-0.143330],[-0.973634,-0.218535,-0.065418],[-0.094626,0.125972,0.987510]] 2025-10-28T20:47:49.596Z,1761684469.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:47:49.729Z,1761684469.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179387,0.973217,-0.143765],[-0.979207,-0.190709,-0.069170],[-0.094735,0.128367,0.987191]] 2025-10-28T20:47:50.123Z,1761684470.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150273,0.978111,-0.143935],[-0.984145,-0.161870,-0.072508],[-0.094220,0.130757,0.986927]] 2025-10-28T20:47:50.527Z,1761684470.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120328,0.982101,-0.144911],[-0.988337,-0.132235,-0.075519],[-0.093329,0.134133,0.986559]] 2025-10-28T20:47:50.938Z,1761684470.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089179,0.985427,-0.144846],[-0.991735,-0.101319,-0.078713],[-0.092242,0.136629,0.986318]] 2025-10-28T20:47:51.337Z,1761684471.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057184,0.987705,-0.145499],[-0.994217,-0.069607,-0.081772],[-0.090894,0.139981,0.985973]] 2025-10-28T20:47:51.746Z,1761684471.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024944,0.988857,-0.146766],[-0.995687,-0.037697,-0.084767],[-0.089355,0.144019,0.985532]] 2025-10-28T20:47:52.143Z,1761684472.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006568,0.989301,-0.145741],[-0.996137,-0.006290,-0.087592],[-0.087571,0.145753,0.985438]] 2025-10-28T20:47:52.549Z,1761684472.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037638,0.988839,-0.144156],[-0.995587,0.024696,-0.090532],[-0.085962,0.146927,0.985405]] 2025-10-28T20:47:52.950Z,1761684472.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068475,0.987654,-0.140894],[-0.994085,0.055614,-0.093283],[-0.084295,0.146448,0.985620]] 2025-10-28T20:47:53.354Z,1761684473.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098760,0.985724,-0.136365],[-0.991639,0.086049,-0.096170],[-0.083063,0.144723,0.985980]] 2025-10-28T20:47:53.782Z,1761684473.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128158,0.983133,-0.130480],[-0.988353,0.115722,-0.098826],[-0.082060,0.141625,0.986513]] 2025-10-28T20:47:54.164Z,1761684474.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156446,0.979852,-0.124157],[-0.984342,0.144343,-0.101174],[-0.081215,0.138041,0.987091]] 2025-10-28T20:47:54.566Z,1761684474.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184249,0.975873,-0.117152],[-0.979592,0.172583,-0.103029],[-0.080325,0.133744,0.987755]] 2025-10-28T20:47:54.971Z,1761684474.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211073,0.971377,-0.108971],[-0.974278,0.200069,-0.103706],[-0.078936,0.128058,0.988620]] 2025-10-28T20:47:55.375Z,1761684475.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238443,0.965777,-0.102075],[-0.968024,0.227923,-0.104785],[-0.077934,0.123796,0.989243]] 2025-10-28T20:47:55.818Z,1761684475.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266575,0.958938,-0.096832],[-0.960751,0.256380,-0.105960],[-0.076783,0.121278,0.989644]] 2025-10-28T20:47:56.183Z,1761684476.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295205,0.950883,-0.093139],[-0.952442,0.285170,-0.107387],[-0.075552,0.120411,0.989845]] 2025-10-28T20:47:56.587Z,1761684476.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324319,0.941558,-0.091023],[-0.943027,0.314262,-0.109265],[-0.074275,0.121274,0.989836]] 2025-10-28T20:47:56.990Z,1761684476.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353621,0.930990,-0.090612],[-0.932510,0.343280,-0.112178],[-0.073331,0.124165,0.989548]] 2025-10-28T20:47:57.396Z,1761684477.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382930,0.919442,-0.089395],[-0.920912,0.372333,-0.115279],[-0.072707,0.126469,0.989302]] 2025-10-28T20:47:57.823Z,1761684477.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411449,0.907120,-0.088563],[-0.908579,0.400537,-0.118550],[-0.072067,0.129244,0.988991]] 2025-10-28T20:47:58.221Z,1761684478.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438122,0.894659,-0.087379],[-0.896083,0.426962,-0.121406],[-0.071309,0.131489,0.988750]] 2025-10-28T20:47:58.607Z,1761684478.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463277,0.882184,-0.084418],[-0.883367,0.452061,-0.123708],[-0.070971,0.131883,0.988721]] 2025-10-28T20:47:59.018Z,1761684479.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486464,0.870067,-0.079598],[-0.870856,0.475519,-0.124465],[-0.070442,0.129867,0.989026]] 2025-10-28T20:47:59.416Z,1761684479.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508623,0.857847,-0.073494],[-0.858146,0.498162,-0.124175],[-0.069911,0.126226,0.989535]] 2025-10-28T20:47:59.442Z,1761684479.442 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:47:59.469Z,1761684479.469 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:47:59.470Z,1761684479.470 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:47:59.721Z,1761684479.721 [DAT](INFO): DAT read: user:268> 2025-10-28T20:47:59.722Z,1761684479.722 [DAT](INFO): DAT read: Tx time:20:47:59.4629 2025-10-28T20:47:59.722Z,1761684479.722 [DAT](INFO): Ping request sent. 2025-10-28T20:47:59.722Z,1761684479.722 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:47:59.722Z,1761684479.722 [DAT](INFO): publishing transmit ping time 2025-10-28T20:47:59.723Z,1761684479.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956 2025-10-28T20:47:59.835Z,1761684479.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530073,0.845171,-0.068625],[-0.845142,0.520000,-0.123835],[-0.068976,0.123639,0.989927]] 2025-10-28T20:47:59.973Z,1761684479.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920 2025-10-28T20:48:00.225Z,1761684480.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503034 2025-10-28T20:48:00.233Z,1761684480.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550753,0.832259,-0.063375],[-0.831952,0.541254,-0.122070],[-0.067292,0.119955,0.990496]] 2025-10-28T20:48:00.477Z,1761684480.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754912 2025-10-28T20:48:00.626Z,1761684480.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571398,0.818472,-0.060062],[-0.818077,0.562248,-0.120940],[-0.065216,0.118240,0.990841]] 2025-10-28T20:48:00.733Z,1761684480.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010944 2025-10-28T20:48:00.981Z,1761684480.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258882 2025-10-28T20:48:01.031Z,1761684481.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592590,0.803452,-0.057461],[-0.803030,0.583677,-0.120269],[-0.063091,0.117413,0.991077]] 2025-10-28T20:48:01.233Z,1761684481.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949 2025-10-28T20:48:01.435Z,1761684481.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614357,0.786996,-0.056584],[-0.786705,0.605472,-0.120410],[-0.060502,0.118489,0.991110]] 2025-10-28T20:48:01.459Z,1761684481.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:48:01.459Z,1761684481.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:48:01.459Z,1761684481.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:48:01.460Z,1761684481.460 [marl:UpdateRudder:A] Stopped 2025-10-28T20:48:01.460Z,1761684481.460 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:48:01.460Z,1761684481.460 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:48:01.460Z,1761684481.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:48:01.460Z,1761684481.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateCommandMode] Stopped 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:48:01.461Z,1761684481.461 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:48:01.462Z,1761684481.462 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:48:01.462Z,1761684481.462 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:48:01.462Z,1761684481.462 [marl:UpdateSpeed] Stopped 2025-10-28T20:48:01.462Z,1761684481.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:48:01.485Z,1761684481.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763065 2025-10-28T20:48:01.739Z,1761684481.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017012 2025-10-28T20:48:01.838Z,1761684481.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637128,0.768691,-0.056413],[-0.768601,0.628168,-0.121072],[-0.057631,0.120498,0.991039]] 2025-10-28T20:48:01.942Z,1761684481.942 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:48:01.942Z,1761684481.942 [marl:UpdateRudder:B] Stopped 2025-10-28T20:48:01.942Z,1761684481.942 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:48:01.942Z,1761684481.942 [marl:UpdateRudder] Stopped 2025-10-28T20:48:01.942Z,1761684481.942 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:48:01.989Z,1761684481.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267424 2025-10-28T20:48:02.241Z,1761684482.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518883 2025-10-28T20:48:02.245Z,1761684482.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660930,0.748301,-0.056720],[-0.748462,0.651800,-0.122313],[-0.054557,0.123293,0.990870]] 2025-10-28T20:48:02.493Z,1761684482.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771042 2025-10-28T20:48:02.647Z,1761684482.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685009,0.726277,-0.057313],[-0.726748,0.675706,-0.123523],[-0.050985,0.126266,0.990685]] 2025-10-28T20:48:02.746Z,1761684482.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023830 2025-10-28T20:48:02.997Z,1761684482.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274967 2025-10-28T20:48:03.062Z,1761684483.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709009,0.702770,-0.058478],[-0.703631,0.699470,-0.125080],[-0.046999,0.129830,0.990422]] 2025-10-28T20:48:03.249Z,1761684483.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527020 2025-10-28T20:48:03.456Z,1761684483.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732561,0.678006,-0.060523],[-0.679348,0.722604,-0.127790],[-0.042908,0.134730,0.989953]] 2025-10-28T20:48:03.501Z,1761684483.501 [DAT](INFO): DAT read: Rx Time:20:48:02.7929 2025-10-28T20:48:03.502Z,1761684483.502 [DAT](INFO): Rx dataTimestamp_ set to:1761684483.501403 2025-10-28T20:48:03.503Z,1761684483.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780579 2025-10-28T20:48:03.756Z,1761684483.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033493 2025-10-28T20:48:03.859Z,1761684483.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755459,0.652406,-0.060402],[-0.654019,0.745369,-0.129164],[-0.039245,0.137082,0.989782]] 2025-10-28T20:48:04.018Z,1761684484.018 [DAT](INFO): DAT read: 20:48:02.7929 LVL= 32672, 32753, 32754, 32755, AGC= 77, IDX= 453, 0.03, 0.095,-1.615,-0.529,-0.756, PHS= 0.953,-0.814, 0.183, RAW= 124.2, -4.3, CAL= 125.3, -3.8, ROT= 24.7, 3.8 2025-10-28T20:48:04.019Z,1761684484.019 [DAT](INFO): got valid direction response: 20:48:02.7929 LVL= 32672, 32753, 32754, 32755, AGC= 77, IDX= 453, 0.03, 0.095,-1.615,-0.529,-0.756, PHS= 0.953,-0.814, 0.183, RAW= 124.2, -4.3, CAL= 125.3, -3.8, ROT= 24.7, 3.8 2025-10-28T20:48:04.021Z,1761684484.021 [DAT](INFO): DAT read: Bearing 117.9, 20.6 (Local) 2025-10-28T20:48:04.021Z,1761684484.021 [DAT](INFO): Local bearing/azimuth received: Bearing 117.9, 20.6 (Local) 2025-10-28T20:48:04.022Z,1761684484.022 [DAT](INFO): DAT read: Range 11 to 20 : 694.3 m (Round-trip 925.8 ms) speed 0.4 m/s 2025-10-28T20:48:04.023Z,1761684484.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:48:04.024Z,1761684484.024 [DAT](INFO): direction in FSK: [0.906511,0.416948,-0.066274] 2025-10-28T20:48:04.024Z,1761684484.024 [DAT](INFO): publishing direction and range info 2025-10-28T20:48:04.271Z,1761684484.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777053,0.626706,-0.058548],[-0.628383,0.767016,-0.129696],[-0.036375,0.137571,0.989824]] 2025-10-28T20:48:04.325Z,1761684484.325 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684480.00. Resetting abort timer. 2025-10-28T20:48:05.475Z,1761684485.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823799,0.566530,-0.019965],[-0.565894,0.819776,-0.087927],[-0.033446,0.083732,0.995927]] 2025-10-28T20:48:05.878Z,1761684485.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832484,0.554045,-0.002145],[-0.553063,0.830765,-0.062850],[-0.033040,0.053508,0.998021]] 2025-10-28T20:48:06.285Z,1761684486.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839227,0.543646,0.012098],[-0.542820,0.838859,-0.040779],[-0.032318,0.027655,0.999095]] 2025-10-28T20:48:06.698Z,1761684486.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845416,0.533620,0.022838],[-0.533170,0.845692,-0.023118],[-0.031650,0.007367,0.999472]] 2025-10-28T20:48:07.091Z,1761684487.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851459,0.523569,0.029892],[-0.523517,0.851955,-0.010181],[-0.030797,-0.006980,0.999501]] 2025-10-28T20:48:07.495Z,1761684487.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857640,0.513189,0.033017],[-0.513395,0.858149,-0.002557],[-0.029645,-0.014758,0.999452]] 2025-10-28T20:48:07.898Z,1761684487.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864138,0.502180,0.032870],[-0.502460,0.864601,0.000290],[-0.028273,-0.016767,0.999460]] 2025-10-28T20:48:08.304Z,1761684488.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871211,0.489912,0.031280],[-0.490171,0.871626,0.000728],[-0.026907,-0.015967,0.999510]] 2025-10-28T20:48:08.709Z,1761684488.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879186,0.475630,0.028435],[-0.475785,0.879561,-0.001498],[-0.025723,-0.012211,0.999595]] 2025-10-28T20:48:09.118Z,1761684489.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887365,0.460331,0.026067],[-0.460393,0.887707,-0.003935],[-0.024951,-0.008509,0.999652]] 2025-10-28T20:48:09.517Z,1761684489.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895655,0.444135,0.023368],[-0.444094,0.895951,-0.007239],[-0.024152,-0.003894,0.999701]] 2025-10-28T20:48:09.918Z,1761684489.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903822,0.427396,0.020960],[-0.427267,0.904064,-0.010498],[-0.023436,0.000533,0.999725]] 2025-10-28T20:48:10.322Z,1761684490.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911692,0.410393,0.019894],[-0.410216,0.911903,-0.012461],[-0.023256,0.003200,0.999724]] 2025-10-28T20:48:10.731Z,1761684490.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919124,0.393495,0.019315],[-0.393304,0.919316,-0.013020],[-0.022880,0.004370,0.999729]] 2025-10-28T20:48:11.132Z,1761684491.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926467,0.375926,0.018402],[-0.375707,0.926628,-0.014291],[-0.022424,0.006326,0.999729]] 2025-10-28T20:48:11.534Z,1761684491.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933782,0.357392,0.017929],[-0.357168,0.933927,-0.014539],[-0.021940,0.007173,0.999734]] 2025-10-28T20:48:11.939Z,1761684491.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940696,0.338862,0.016207],[-0.338614,0.940785,-0.016235],[-0.020749,0.009785,0.999737]] 2025-10-28T20:48:12.349Z,1761684492.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953798,0.300134,0.013773],[-0.299896,0.953821,-0.016984],[-0.018234,0.012069,0.999761]] 2025-10-28T20:48:12.758Z,1761684492.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959858,0.280212,0.012372],[-0.279980,0.959843,-0.017679],[-0.016829,0.013506,0.999767]] 2025-10-28T20:48:13.160Z,1761684493.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965209,0.261240,0.011165],[-0.261028,0.965173,-0.017474],[-0.015341,0.013952,0.999785]] 2025-10-28T20:48:13.560Z,1761684493.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970098,0.242507,0.009995],[-0.242327,0.970056,-0.016409],[-0.013675,0.013497,0.999815]] 2025-10-28T20:48:13.961Z,1761684493.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974340,0.224910,0.008784],[-0.224763,0.974296,-0.015125],[-0.011960,0.012763,0.999847]] 2025-10-28T20:48:14.364Z,1761684494.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978085,0.208074,0.007436],[-0.207963,0.978044,-0.013481],[-0.010078,0.011639,0.999881]] 2025-10-28T20:48:14.388Z,1761684494.388 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:48:14.388Z,1761684494.388 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateRudder:A] Stopped 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:48:14.389Z,1761684494.389 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateCommandMode] Stopped 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:48:14.390Z,1761684494.390 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:48:14.391Z,1761684494.391 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:48:14.391Z,1761684494.391 [marl:UpdateSpeed] Stopped 2025-10-28T20:48:14.391Z,1761684494.391 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:48:14.781Z,1761684494.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981530,0.191202,0.006340],[-0.191125,0.981503,-0.011130],[-0.008351,0.009713,0.999918]] 2025-10-28T20:48:14.865Z,1761684494.865 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:48:14.865Z,1761684494.865 [marl:UpdateRudder:B] Stopped 2025-10-28T20:48:14.865Z,1761684494.865 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:48:14.865Z,1761684494.865 [marl:UpdateRudder] Stopped 2025-10-28T20:48:14.866Z,1761684494.866 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:48:15.179Z,1761684495.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984545,0.175070,0.004615],[-0.175019,0.984517,-0.009753],[-0.006251,0.008795,0.999942]] 2025-10-28T20:48:15.575Z,1761684495.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987238,0.159223,0.002944],[-0.159193,0.987210,-0.008612],[-0.004278,0.008034,0.999959]] 2025-10-28T20:48:15.979Z,1761684495.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989709,0.143084,0.001711],[-0.143067,0.989683,-0.007749],[-0.002802,0.007424,0.999969]] 2025-10-28T20:48:16.384Z,1761684496.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991912,0.126928,0.000524],[-0.126921,0.991887,-0.007142],[-0.001426,0.007018,0.999974]] 2025-10-28T20:48:16.791Z,1761684496.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993747,0.111653,-0.000759],[-0.111655,0.993725,-0.006573],[0.000020,0.006616,0.999978]] 2025-10-28T20:48:17.193Z,1761684497.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995335,0.096465,-0.001797],[-0.096472,0.995327,-0.004058],[0.001397,0.004212,0.999990]] 2025-10-28T20:48:17.594Z,1761684497.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996329,0.085576,-0.002346],[-0.085559,0.996312,0.006501],[0.002894,-0.006277,0.999976]] 2025-10-28T20:48:18.001Z,1761684498.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996744,0.080590,-0.002434],[-0.080503,0.996436,0.025196],[0.004456,-0.024918,0.999680]] 2025-10-28T20:48:18.402Z,1761684498.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996760,0.080410,-0.001886],[-0.080203,0.995419,0.052050],[0.006063,-0.051730,0.998643]] 2025-10-28T20:48:18.810Z,1761684498.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996569,0.082770,-0.000632],[-0.082427,0.993077,0.083687],[0.007555,-0.083348,0.996492]] 2025-10-28T20:48:19.211Z,1761684499.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996294,0.086005,0.000669],[-0.085510,0.989664,0.115119],[0.009239,-0.114750,0.993351]] 2025-10-28T20:48:19.616Z,1761684499.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995960,0.089767,0.002143],[-0.089152,0.985737,0.142742],[0.010701,-0.142356,0.989758]] 2025-10-28T20:48:19.716Z,1761684499.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:48:20.099Z,1761684500.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995649,0.093131,0.003064],[-0.092365,0.982048,0.164472],[0.012309,-0.164040,0.986377]] 2025-10-28T20:48:20.423Z,1761684500.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995536,0.094337,0.003025],[-0.093351,0.979391,0.179103],[0.013933,-0.178586,0.983826]] 2025-10-28T20:48:20.720Z,1761684500.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:48:20.826Z,1761684500.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995734,0.092247,0.002217],[-0.091005,0.977787,0.188813],[0.015250,-0.188209,0.982011]] 2025-10-28T20:48:21.239Z,1761684501.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996052,0.088773,0.000780],[-0.087246,0.977226,0.193434],[0.016410,-0.192738,0.981113]] 2025-10-28T20:48:21.635Z,1761684501.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996431,0.084399,-0.001621],[-0.082469,0.977390,0.194700],[0.018016,-0.193871,0.980862]] 2025-10-28T20:48:22.039Z,1761684502.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996858,0.079087,-0.004387],[-0.076704,0.977668,0.195660],[0.019763,-0.194709,0.980662]] 2025-10-28T20:48:22.442Z,1761684502.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997277,0.073419,-0.006889],[-0.070602,0.977610,0.198225],[0.021288,-0.197199,0.980132]] 2025-10-28T20:48:22.847Z,1761684502.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997683,0.067425,-0.009102],[-0.064236,0.977574,0.200555],[0.022421,-0.199506,0.979640]] 2025-10-28T20:48:23.250Z,1761684503.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998052,0.061426,-0.010938],[-0.057915,0.977289,0.203846],[0.023211,-0.202815,0.978942]] 2025-10-28T20:48:23.666Z,1761684503.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998398,0.055199,-0.012418],[-0.051434,0.976924,0.207303],[0.023575,-0.206332,0.978198]] 2025-10-28T20:48:24.059Z,1761684504.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998641,0.050368,-0.013393],[-0.046416,0.976391,0.210966],[0.023702,-0.210058,0.977402]] 2025-10-28T20:48:24.463Z,1761684504.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,0.047485,-0.014344],[-0.043297,0.975648,0.215029],[0.024205,-0.214143,0.976502]] 2025-10-28T20:48:24.868Z,1761684504.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998814,0.046262,-0.015214],[-0.041809,0.974774,0.219242],[0.024973,-0.218346,0.975552]] 2025-10-28T20:48:25.271Z,1761684505.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998848,0.045107,-0.016397],[-0.040382,0.974486,0.220784],[0.025937,-0.219868,0.975185]] 2025-10-28T20:48:25.679Z,1761684505.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998894,0.043482,-0.017872],[-0.038457,0.974435,0.221353],[0.027040,-0.220421,0.975030]] 2025-10-28T20:48:26.079Z,1761684506.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998936,0.041823,-0.019412],[-0.036509,0.974589,0.221006],[0.028162,-0.220062,0.975079]] 2025-10-28T20:48:26.485Z,1761684506.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,0.039334,-0.020863],[-0.033841,0.975291,0.218318],[0.028935,-0.217395,0.975655]] 2025-10-28T20:48:26.887Z,1761684506.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999064,0.036797,-0.022736],[-0.031019,0.975829,0.216324],[0.030147,-0.215416,0.976057]] 2025-10-28T20:48:27.291Z,1761684507.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999112,0.034461,-0.024233],[-0.028510,0.976569,0.213309],[0.031016,-0.212429,0.976684]] 2025-10-28T20:48:27.336Z,1761684507.336 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:48:27.340Z,1761684507.340 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:48:27.340Z,1761684507.340 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:48:27.340Z,1761684507.340 [marl:UpdateRudder:A] Stopped 2025-10-28T20:48:27.340Z,1761684507.340 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:48:27.340Z,1761684507.340 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode] Stopped 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:48:27.341Z,1761684507.341 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:48:27.342Z,1761684507.342 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:48:27.342Z,1761684507.342 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:48:27.342Z,1761684507.342 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:48:27.342Z,1761684507.342 [marl:UpdateSpeed] Stopped 2025-10-28T20:48:27.342Z,1761684507.342 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:48:27.696Z,1761684507.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999141,0.032357,-0.025888],[-0.026183,0.977169,0.210844],[0.032120,-0.209985,0.977177]] 2025-10-28T20:48:27.723Z,1761684507.723 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:48:27.723Z,1761684507.723 [marl:UpdateRudder:B] Stopped 2025-10-28T20:48:27.723Z,1761684507.723 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:48:27.723Z,1761684507.723 [marl:UpdateRudder] Stopped 2025-10-28T20:48:27.724Z,1761684507.724 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:48:28.100Z,1761684508.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999157,0.030676,-0.027279],[-0.024319,0.977682,0.208677],[0.033072,-0.207838,0.977604]] 2025-10-28T20:48:28.503Z,1761684508.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999154,0.029815,-0.028321],[-0.023281,0.977837,0.208070],[0.033897,-0.207235,0.977704]] 2025-10-28T20:48:28.907Z,1761684508.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999155,0.029090,-0.029026],[-0.022453,0.978023,0.207285],[0.034418,-0.206459,0.977850]] 2025-10-28T20:48:29.313Z,1761684509.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999151,0.028585,-0.029652],[-0.021897,0.978436,0.205384],[0.034884,-0.204561,0.978232]] 2025-10-28T20:48:29.715Z,1761684509.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999153,0.028218,-0.029938],[-0.021535,0.978768,0.203838],[0.035054,-0.203021,0.978547]] 2025-10-28T20:48:30.119Z,1761684510.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999157,0.028001,-0.030023],[-0.021323,0.978880,0.203322],[0.035082,-0.202510,0.978652]] 2025-10-28T20:48:30.523Z,1761684510.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999166,0.027289,-0.030357],[-0.020614,0.979219,0.201757],[0.035232,-0.200963,0.978965]] 2025-10-28T20:48:30.928Z,1761684510.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999205,0.025391,-0.030751],[-0.018743,0.979646,0.199855],[0.035199,-0.199120,0.979343]] 2025-10-28T20:48:31.331Z,1761684511.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999259,0.022433,-0.031280],[-0.015829,0.980213,0.197313],[0.035087,-0.196672,0.979841]] 2025-10-28T20:48:31.741Z,1761684511.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999316,0.018942,-0.031773],[-0.012378,0.980658,0.195335],[0.034859,-0.194808,0.980222]] 2025-10-28T20:48:31.818Z,1761684511.818 [CTD_Seabird](ERROR): Failed to parse device response: 14.62,4.00411,4250.06 2025-10-28T20:48:32.147Z,1761684512.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999359,0.014308,-0.032826],[-0.007705,0.981153,0.193081],[0.034970,-0.192704,0.980634]] 2025-10-28T20:48:32.159Z,1761684512.159 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 60 +46, +763, +130,A 2025-10-28T20:48:32.545Z,1761684512.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999380,0.009029,-0.034023],[-0.002367,0.981595,0.190961],[0.035121,-0.190763,0.981008]] 2025-10-28T20:48:32.946Z,1761684512.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999365,0.003602,-0.035437],[0.003166,0.981953,0.189098],[0.035478,-0.189090,0.981319]] 2025-10-28T20:48:33.351Z,1761684513.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999310,-0.002634,-0.037056],[0.009551,0.982170,0.187754],[0.035901,-0.187978,0.981517]] 2025-10-28T20:48:33.819Z,1761684513.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999201,-0.009144,-0.038916],[0.016291,0.982127,0.187514],[0.036506,-0.187998,0.981491]] 2025-10-28T20:48:34.164Z,1761684514.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999033,-0.015886,-0.041006],[0.023323,0.981927,0.187816],[0.037281,-0.188591,0.981348]] 2025-10-28T20:48:34.562Z,1761684514.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998811,-0.022511,-0.043245],[0.030363,0.981210,0.190537],[0.038143,-0.191623,0.980727]] 2025-10-28T20:48:34.966Z,1761684514.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,-0.028939,-0.045504],[0.037178,0.980660,0.192158],[0.039063,-0.193570,0.980308]] 2025-10-28T20:48:35.371Z,1761684515.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998260,-0.034872,-0.047543],[0.043525,0.979789,0.195240],[0.039774,-0.196970,0.979602]] 2025-10-28T20:48:35.828Z,1761684515.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997991,-0.039718,-0.049364],[0.048818,0.978676,0.199524],[0.040387,-0.201533,0.978649]] 2025-10-28T20:48:36.178Z,1761684516.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997771,-0.043274,-0.050788],[0.052727,0.977819,0.202705],[0.040890,-0.204931,0.977922]] 2025-10-28T20:48:36.582Z,1761684516.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997661,-0.044849,-0.051589],[0.054657,0.976609,0.207962],[0.041056,-0.210295,0.976776]] 2025-10-28T20:48:36.988Z,1761684516.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997663,-0.044475,-0.051860],[0.054549,0.975587,0.212732],[0.041133,-0.215064,0.975733]] 2025-10-28T20:48:37.391Z,1761684517.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997729,-0.043343,-0.051560],[0.053485,0.975085,0.215285],[0.040944,-0.217554,0.975189]] 2025-10-28T20:48:37.831Z,1761684517.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997824,-0.041752,-0.051024],[0.051882,0.974808,0.216930],[0.040681,-0.219105,0.974853]] 2025-10-28T20:48:38.199Z,1761684518.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997928,-0.040042,-0.050355],[0.050010,0.975192,0.215638],[0.040471,-0.217710,0.975174]] 2025-10-28T20:48:38.605Z,1761684518.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998022,-0.038485,-0.049718],[0.048191,0.976130,0.211775],[0.040381,-0.213752,0.976053]] 2025-10-28T20:48:39.006Z,1761684519.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998088,-0.037282,-0.049303],[0.046718,0.977275,0.206761],[0.040474,-0.208669,0.977148]] 2025-10-28T20:48:39.411Z,1761684519.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998093,-0.037306,-0.049183],[0.046500,0.978378,0.201531],[0.040602,-0.203433,0.978247]] 2025-10-28T20:48:39.831Z,1761684519.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997991,-0.039520,-0.049525],[0.048503,0.979439,0.195822],[0.040768,-0.197830,0.979388]] 2025-10-28T20:48:40.226Z,1761684520.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997777,-0.043548,-0.050441],[0.052410,0.980310,0.190381],[0.041157,-0.192601,0.980414]] 2025-10-28T20:48:40.250Z,1761684520.250 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:48:40.250Z,1761684520.250 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateRudder:A] Stopped 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:48:40.251Z,1761684520.251 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateCommandMode] Stopped 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:48:40.252Z,1761684520.252 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:48:40.253Z,1761684520.253 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:48:40.253Z,1761684520.253 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:48:40.253Z,1761684520.253 [marl:UpdateSpeed] Stopped 2025-10-28T20:48:40.253Z,1761684520.253 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:48:40.639Z,1761684520.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997435,-0.049146,-0.052046],[0.058043,0.980791,0.186228],[0.041894,-0.188771,0.981127]] 2025-10-28T20:48:40.663Z,1761684520.663 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:48:40.663Z,1761684520.663 [marl:UpdateRudder:B] Stopped 2025-10-28T20:48:40.663Z,1761684520.663 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:48:40.663Z,1761684520.663 [marl:UpdateRudder] Stopped 2025-10-28T20:48:40.663Z,1761684520.663 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:48:41.035Z,1761684521.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997023,-0.055220,-0.053809],[0.064256,0.980811,0.184066],[0.042612,-0.186975,0.981440]] 2025-10-28T20:48:41.438Z,1761684521.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996542,-0.061421,-0.055966],[0.070741,0.980446,0.183632],[0.043592,-0.186956,0.981401]] 2025-10-28T20:48:41.843Z,1761684521.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996034,-0.067388,-0.058090],[0.077231,0.979032,0.188501],[0.044169,-0.192240,0.980353]] 2025-10-28T20:48:42.249Z,1761684522.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995502,-0.073406,-0.059898],[0.083717,0.977547,0.193373],[0.044358,-0.197518,0.979295]] 2025-10-28T20:48:42.650Z,1761684522.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994960,-0.079220,-0.061464],[0.090058,0.975554,0.200457],[0.044082,-0.204982,0.977773]] 2025-10-28T20:48:43.054Z,1761684523.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994505,-0.083813,-0.062725],[0.095167,0.973460,0.208131],[0.043616,-0.212956,0.976088]] 2025-10-28T20:48:43.459Z,1761684523.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994239,-0.086319,-0.063551],[0.098141,0.971480,0.215857],[0.043106,-0.220851,0.974355]] 2025-10-28T20:48:43.873Z,1761684523.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994153,-0.087344,-0.063488],[0.099328,0.970334,0.220422],[0.042352,-0.225439,0.973336]] 2025-10-28T20:48:44.267Z,1761684524.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994139,-0.087901,-0.062938],[0.099853,0.969714,0.222900],[0.041439,-0.227879,0.972807]] 2025-10-28T20:48:44.671Z,1761684524.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994111,-0.088970,-0.061862],[0.100582,0.970017,0.221246],[0.040323,-0.226165,0.973254]] 2025-10-28T20:48:45.075Z,1761684525.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994076,-0.090196,-0.060642],[0.101258,0.971305,0.215203],[0.039491,-0.220069,0.974685]] 2025-10-28T20:48:45.480Z,1761684525.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994010,-0.091552,-0.059677],[0.102000,0.973247,0.205880],[0.039231,-0.210734,0.976756]] 2025-10-28T20:48:45.888Z,1761684525.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993958,-0.092523,-0.059044],[0.102372,0.975505,0.194707],[0.039583,-0.199575,0.979083]] 2025-10-28T20:48:46.286Z,1761684526.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993975,-0.092362,-0.059011],[0.101765,0.977659,0.183921],[0.040706,-0.188818,0.981168]] 2025-10-28T20:48:46.690Z,1761684526.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993998,-0.091772,-0.059544],[0.100913,0.979354,0.175162],[0.042240,-0.180120,0.982737]] 2025-10-28T20:48:47.099Z,1761684527.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993881,-0.092539,-0.060310],[0.101508,0.980482,0.168376],[0.043552,-0.173468,0.983876]] 2025-10-28T20:48:47.499Z,1761684527.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993432,-0.096574,-0.061368],[0.105415,0.981042,0.162614],[0.044501,-0.168015,0.984780]] 2025-10-28T20:48:47.902Z,1761684527.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992780,-0.102054,-0.063030],[0.111070,0.980551,0.161811],[0.045291,-0.167644,0.984807]] 2025-10-28T20:48:48.309Z,1761684528.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992040,-0.107750,-0.065163],[0.117166,0.979450,0.164166],[0.046135,-0.170495,0.984278]] 2025-10-28T20:48:48.710Z,1761684528.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991233,-0.113556,-0.067549],[0.123532,0.977869,0.168858],[0.046880,-0.175722,0.983323]] 2025-10-28T20:48:49.121Z,1761684529.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990376,-0.119363,-0.070053],[0.130083,0.975636,0.176670],[0.047258,-0.184082,0.981774]] 2025-10-28T20:48:49.519Z,1761684529.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989474,-0.125431,-0.072163],[0.136784,0.973454,0.183513],[0.047230,-0.191453,0.980365]] 2025-10-28T20:48:49.933Z,1761684529.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988475,-0.132021,-0.074074],[0.144004,0.970936,0.191172],[0.046682,-0.199636,0.978757]] 2025-10-28T20:48:50.327Z,1761684530.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987472,-0.138355,-0.075878],[0.150895,0.968595,0.197620],[0.046153,-0.206593,0.977338]] 2025-10-28T20:48:50.731Z,1761684530.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986656,-0.143187,-0.077504],[0.156255,0.966508,0.203584],[0.045757,-0.212978,0.975985]] 2025-10-28T20:48:50.840Z,1761684530.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:48:51.135Z,1761684531.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986144,-0.146042,-0.078691],[0.159532,0.964950,0.208380],[0.045501,-0.218046,0.974877]] 2025-10-28T20:48:51.540Z,1761684531.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985734,-0.148331,-0.079534],[0.162062,0.964031,0.210667],[0.045425,-0.220551,0.974317]] 2025-10-28T20:48:51.844Z,1761684531.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:48:51.955Z,1761684531.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985340,-0.150552,-0.080240],[0.164528,0.962966,0.213602],[0.045110,-0.223673,0.973620]] 2025-10-28T20:48:52.347Z,1761684532.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984997,-0.152666,-0.080466],[0.166671,0.962471,0.214173],[0.044750,-0.224371,0.973476]] 2025-10-28T20:48:52.751Z,1761684532.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984562,-0.155425,-0.080509],[0.169331,0.962230,0.213169],[0.044337,-0.223511,0.973693]] 2025-10-28T20:48:53.155Z,1761684533.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984196,-0.157718,-0.080517],[0.171565,0.961877,0.212973],[0.043858,-0.223421,0.973735]] 2025-10-28T20:48:53.179Z,1761684533.179 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:48:53.179Z,1761684533.179 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:48:53.179Z,1761684533.179 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:48:53.180Z,1761684533.180 [marl:UpdateRudder:A] Stopped 2025-10-28T20:48:53.180Z,1761684533.180 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:48:53.180Z,1761684533.180 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:48:53.180Z,1761684533.180 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:48:53.180Z,1761684533.180 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateCommandMode] Stopped 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:48:53.181Z,1761684533.181 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:48:53.182Z,1761684533.182 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:48:53.182Z,1761684533.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:48:53.182Z,1761684533.182 [marl:UpdateSpeed] Stopped 2025-10-28T20:48:53.182Z,1761684533.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:48:53.560Z,1761684533.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983896,-0.159748,-0.080184],[0.173352,0.962161,0.210227],[0.043567,-0.220742,0.974359]] 2025-10-28T20:48:53.594Z,1761684533.594 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:48:53.594Z,1761684533.594 [marl:UpdateRudder:B] Stopped 2025-10-28T20:48:53.594Z,1761684533.594 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:48:53.595Z,1761684533.595 [marl:UpdateRudder] Stopped 2025-10-28T20:48:53.595Z,1761684533.595 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:48:54.366Z,1761684534.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983504,-0.162734,-0.078980],[0.175753,0.962974,0.204428],[0.042789,-0.214937,0.975690]] 2025-10-28T20:48:54.776Z,1761684534.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983555,-0.162914,-0.077970],[0.175577,0.963668,0.201291],[0.042344,-0.211670,0.976424]] 2025-10-28T20:48:55.177Z,1761684535.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983675,-0.162878,-0.076513],[0.175044,0.964682,0.196845],[0.041749,-0.207024,0.977445]] 2025-10-28T20:48:55.583Z,1761684535.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983811,-0.162796,-0.074927],[0.174411,0.965878,0.191468],[0.041200,-0.201436,0.978635]] 2025-10-28T20:48:55.982Z,1761684535.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983938,-0.162707,-0.073440],[0.173890,0.966612,0.188212],[0.040365,-0.197959,0.979379]] 2025-10-28T20:48:56.387Z,1761684536.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984006,-0.162906,-0.072071],[0.173679,0.967294,0.184873],[0.039597,-0.194433,0.980116]] 2025-10-28T20:48:56.802Z,1761684536.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983570,-0.166648,-0.069418],[0.176594,0.968000,0.178301],[0.037484,-0.187630,0.981524]] 2025-10-28T20:48:57.199Z,1761684537.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982875,-0.170936,-0.068823],[0.180616,0.967683,0.175977],[0.036518,-0.185394,0.981986]] 2025-10-28T20:48:57.607Z,1761684537.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982013,-0.175760,-0.068981],[0.185399,0.966754,0.176106],[0.035735,-0.185728,0.981951]] 2025-10-28T20:48:58.011Z,1761684538.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980859,-0.181823,-0.069678],[0.191498,0.965565,0.176103],[0.035260,-0.186075,0.981903]] 2025-10-28T20:48:58.411Z,1761684538.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979657,-0.187816,-0.070692],[0.197663,0.963929,0.178244],[0.034665,-0.188591,0.981444]] 2025-10-28T20:48:58.811Z,1761684538.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978314,-0.194171,-0.072101],[0.204288,0.961980,0.181273],[0.034162,-0.192071,0.980786]] 2025-10-28T20:48:59.214Z,1761684539.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976982,-0.200274,-0.073464],[0.210646,0.960095,0.183973],[0.033687,-0.195214,0.980182]] 2025-10-28T20:48:59.618Z,1761684539.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975639,-0.206128,-0.075092],[0.216785,0.958353,0.185912],[0.033643,-0.197662,0.979693]] 2025-10-28T20:48:59.643Z,1761684539.643 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:48:59.779Z,1761684539.779 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:48:59.781Z,1761684539.781 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:49:00.026Z,1761684540.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974237,-0.211953,-0.077061],[0.222997,0.956368,0.188764],[0.033689,-0.201085,0.978994]] 2025-10-28T20:49:00.029Z,1761684540.029 [DAT](INFO): DAT read: user:269> 2025-10-28T20:49:00.030Z,1761684540.030 [DAT](INFO): DAT read: Tx time:20:48:59.7626 2025-10-28T20:49:00.030Z,1761684540.030 [DAT](INFO): Ping request sent. 2025-10-28T20:49:00.030Z,1761684540.030 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:49:00.030Z,1761684540.030 [DAT](INFO): publishing transmit ping time 2025-10-28T20:49:00.031Z,1761684540.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931 2025-10-28T20:49:00.281Z,1761684540.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250767 2025-10-28T20:49:00.427Z,1761684540.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972874,-0.217483,-0.078854],[0.228856,0.954595,0.190718],[0.033796,-0.203591,0.978473]] 2025-10-28T20:49:00.533Z,1761684540.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503244 2025-10-28T20:49:00.785Z,1761684540.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755359 2025-10-28T20:49:00.830Z,1761684540.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971676,-0.222361,-0.080002],[0.233891,0.953287,0.191149],[0.033761,-0.204447,0.978295]] 2025-10-28T20:49:01.037Z,1761684541.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006982 2025-10-28T20:49:01.235Z,1761684541.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970513,-0.226712,-0.081894],[0.238623,0.951686,0.193267],[0.034121,-0.207110,0.977722]] 2025-10-28T20:49:01.289Z,1761684541.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953 2025-10-28T20:49:01.541Z,1761684541.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510694 2025-10-28T20:49:01.641Z,1761684541.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969506,-0.230471,-0.083308],[0.242659,0.950340,0.194862],[0.034261,-0.209135,0.977286]] 2025-10-28T20:49:01.795Z,1761684541.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764838 2025-10-28T20:49:02.042Z,1761684542.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968580,-0.233900,-0.084519],[0.246327,0.949088,0.196353],[0.034289,-0.211003,0.976884]] 2025-10-28T20:49:02.045Z,1761684542.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014779 2025-10-28T20:49:02.297Z,1761684542.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806 2025-10-28T20:49:02.447Z,1761684542.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967928,-0.236342,-0.085195],[0.248875,0.948352,0.196698],[0.034306,-0.211592,0.976756]] 2025-10-28T20:49:02.549Z,1761684542.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519203 2025-10-28T20:49:02.802Z,1761684542.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771736 2025-10-28T20:49:02.853Z,1761684542.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967320,-0.238576,-0.085873],[0.251254,0.947451,0.198010],[0.034120,-0.213115,0.976431]] 2025-10-28T20:49:03.053Z,1761684543.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022793 2025-10-28T20:49:03.254Z,1761684543.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966852,-0.240446,-0.085918],[0.253118,0.946814,0.198681],[0.033577,-0.213842,0.976291]] 2025-10-28T20:49:03.305Z,1761684543.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275143 2025-10-28T20:49:03.558Z,1761684543.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527370 2025-10-28T20:49:03.658Z,1761684543.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966485,-0.241928,-0.085888],[0.254550,0.946515,0.198277],[0.033326,-0.213494,0.976376]] 2025-10-28T20:49:03.812Z,1761684543.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781087 2025-10-28T20:49:04.062Z,1761684544.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031830 2025-10-28T20:49:04.072Z,1761684544.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966020,-0.243786,-0.085877],[0.256341,0.946184,0.197545],[0.033097,-0.212846,0.976525]] 2025-10-28T20:49:04.313Z,1761684544.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282882 2025-10-28T20:49:04.468Z,1761684544.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965508,-0.245910,-0.085569],[0.258290,0.946070,0.195548],[0.032867,-0.210904,0.976954]] 2025-10-28T20:49:04.565Z,1761684544.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534953 2025-10-28T20:49:04.817Z,1761684544.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786829 2025-10-28T20:49:04.871Z,1761684544.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964957,-0.248116,-0.085418],[0.260329,0.946069,0.192827],[0.032967,-0.208307,0.977508]] 2025-10-28T20:49:05.070Z,1761684545.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040151 2025-10-28T20:49:05.275Z,1761684545.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964431,-0.250205,-0.085264],[0.262254,0.946085,0.190121],[0.033098,-0.205719,0.978051]] 2025-10-28T20:49:05.321Z,1761684545.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290906 2025-10-28T20:49:05.574Z,1761684545.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543785 2025-10-28T20:49:05.678Z,1761684545.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963990,-0.251773,-0.085640],[0.263848,0.945771,0.189476],[0.033291,-0.205249,0.978143]] 2025-10-28T20:49:05.825Z,1761684545.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794831 2025-10-28T20:49:06.078Z,1761684546.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047284 2025-10-28T20:49:06.102Z,1761684546.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963611,-0.253027,-0.086208],[0.265215,0.945272,0.190060],[0.033400,-0.206007,0.977980]] 2025-10-28T20:49:06.151Z,1761684546.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:49:06.151Z,1761684546.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateRudder:A] Stopped 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:49:06.152Z,1761684546.152 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateCommandMode] Stopped 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:49:06.153Z,1761684546.153 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:49:06.154Z,1761684546.154 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:49:06.154Z,1761684546.154 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:49:06.154Z,1761684546.154 [marl:UpdateSpeed] Stopped 2025-10-28T20:49:06.154Z,1761684546.154 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:49:06.329Z,1761684546.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298831 2025-10-28T20:49:06.491Z,1761684546.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963493,-0.253426,-0.086345],[0.265662,0.944988,0.190842],[0.033230,-0.206813,0.977816]] 2025-10-28T20:49:06.524Z,1761684546.524 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:49:06.524Z,1761684546.524 [marl:UpdateRudder:B] Stopped 2025-10-28T20:49:06.524Z,1761684546.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:49:06.525Z,1761684546.525 [marl:UpdateRudder] Stopped 2025-10-28T20:49:06.525Z,1761684546.525 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:49:06.582Z,1761684546.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552298 2025-10-28T20:49:06.833Z,1761684546.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802811 2025-10-28T20:49:06.894Z,1761684546.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963483,-0.253727,-0.085574],[0.265796,0.944960,0.190796],[0.032454,-0.206574,0.977892]] 2025-10-28T20:49:07.085Z,1761684547.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054904 2025-10-28T20:49:07.298Z,1761684547.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963600,-0.253787,-0.084065],[0.265542,0.945029,0.190810],[0.031019,-0.206187,0.978021]] 2025-10-28T20:49:07.337Z,1761684547.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306979 2025-10-28T20:49:07.589Z,1761684547.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558785 2025-10-28T20:49:07.704Z,1761684547.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963901,-0.253249,-0.082213],[0.264646,0.945189,0.191258],[0.029271,-0.206111,0.978091]] 2025-10-28T20:49:07.841Z,1761684547.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810827 2025-10-28T20:49:08.093Z,1761684548.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062837 2025-10-28T20:49:08.111Z,1761684548.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964222,-0.252873,-0.079564],[0.263706,0.945632,0.190365],[0.027100,-0.204536,0.978484]] 2025-10-28T20:49:08.345Z,1761684548.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314807 2025-10-28T20:49:08.511Z,1761684548.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964421,-0.253101,-0.076364],[0.263206,0.946320,0.187621],[0.024778,-0.201046,0.979268]] 2025-10-28T20:49:08.597Z,1761684548.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566863 2025-10-28T20:49:08.849Z,1761684548.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818879 2025-10-28T20:49:08.916Z,1761684548.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964296,-0.254516,-0.073178],[0.263874,0.946837,0.184037],[0.022447,-0.196776,0.980192]] 2025-10-28T20:49:09.101Z,1761684549.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070837 2025-10-28T20:49:09.319Z,1761684549.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963636,-0.257774,-0.070411],[0.266462,0.946749,0.180735],[0.020072,-0.192924,0.981008]] 2025-10-28T20:49:09.353Z,1761684549.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322952 2025-10-28T20:49:09.610Z,1761684549.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580277 2025-10-28T20:49:09.724Z,1761684549.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962647,-0.262005,-0.068289],[0.270166,0.946158,0.178315],[0.017893,-0.190103,0.981601]] 2025-10-28T20:49:09.861Z,1761684549.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830763 2025-10-28T20:49:10.109Z,1761684550.109 [DAT](INFO): Reached modem response timeout 2025-10-28T20:49:10.127Z,1761684550.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961286,-0.267450,-0.066330],[0.275101,0.945263,0.175489],[0.015764,-0.186943,0.982244]] 2025-10-28T20:49:10.530Z,1761684550.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959693,-0.273460,-0.064872],[0.280718,0.943870,0.174086],[0.013625,-0.185280,0.982591]] 2025-10-28T20:49:10.936Z,1761684550.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957928,-0.279603,-0.064774],[0.286760,0.941788,0.175510],[0.011930,-0.186701,0.982344]] 2025-10-28T20:49:11.340Z,1761684551.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956027,-0.285953,-0.065144],[0.293101,0.939321,0.178234],[0.010224,-0.189490,0.981829]] 2025-10-28T20:49:11.746Z,1761684551.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954001,-0.292532,-0.065627],[0.299676,0.936840,0.180348],[0.008725,-0.191719,0.981411]] 2025-10-28T20:49:12.146Z,1761684552.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952045,-0.298548,-0.066930],[0.305861,0.934199,0.183630],[0.007703,-0.195296,0.980714]] 2025-10-28T20:49:12.377Z,1761684552.377 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:49:12.377Z,1761684552.377 [DAT](INFO): response not received 2025-10-28T20:49:12.377Z,1761684552.377 [DAT](ERROR): No response from remote modem. 2025-10-28T20:49:12.561Z,1761684552.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950356,-0.303685,-0.067817],[0.311094,0.931954,0.186229],[0.006648,-0.198081,0.980163]] 2025-10-28T20:49:12.955Z,1761684552.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949152,-0.307316,-0.068313],[0.314767,0.930243,0.188599],[0.005588,-0.200512,0.979675]] 2025-10-28T20:49:13.358Z,1761684553.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948414,-0.309509,-0.068665],[0.317001,0.928938,0.191269],[0.004586,-0.203169,0.979133]] 2025-10-28T20:49:13.808Z,1761684553.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948118,-0.310432,-0.068588],[0.317899,0.928154,0.193574],[0.003569,-0.205335,0.978685]] 2025-10-28T20:49:14.169Z,1761684554.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947977,-0.310902,-0.068405],[0.318328,0.927550,0.195753],[0.002589,-0.207345,0.978265]] 2025-10-28T20:49:14.573Z,1761684554.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948152,-0.310664,-0.067054],[0.317816,0.927621,0.196247],[0.001234,-0.207382,0.978259]] 2025-10-28T20:49:14.975Z,1761684554.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948184,-0.310803,-0.065947],[0.317722,0.927401,0.197433],[-0.000203,-0.208155,0.978096]] 2025-10-28T20:49:15.378Z,1761684555.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948139,-0.311308,-0.064191],[0.317851,0.927403,0.197215],[-0.001863,-0.207390,0.978257]] 2025-10-28T20:49:15.818Z,1761684555.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947843,-0.312588,-0.062310],[0.318719,0.927364,0.195997],[-0.003482,-0.205634,0.978623]] 2025-10-28T20:49:16.187Z,1761684556.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947393,-0.314291,-0.060556],[0.320030,0.927081,0.195196],[-0.005209,-0.204307,0.978893]] 2025-10-28T20:49:16.590Z,1761684556.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946691,-0.316699,-0.058973],[0.322072,0.926629,0.193978],[-0.006787,-0.202631,0.979232]] 2025-10-28T20:49:16.994Z,1761684556.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945664,-0.320054,-0.057318],[0.325042,0.926115,0.191463],[-0.008195,-0.199690,0.979825]] 2025-10-28T20:49:17.401Z,1761684557.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944509,-0.323572,-0.056602],[0.328340,0.924841,0.191996],[-0.009777,-0.199927,0.979762]] 2025-10-28T20:49:17.825Z,1761684557.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943451,-0.326753,-0.055972],[0.331333,0.923853,0.191610],[-0.010899,-0.199320,0.979874]] 2025-10-28T20:49:18.207Z,1761684558.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942420,-0.329722,-0.055926],[0.334224,0.922686,0.192210],[-0.011774,-0.199834,0.979759]] 2025-10-28T20:49:18.611Z,1761684558.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941627,-0.331974,-0.055958],[0.336411,0.921488,0.194131],[-0.012882,-0.201624,0.979378]] 2025-10-28T20:49:19.015Z,1761684559.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940915,-0.333946,-0.056209],[0.338368,0.920424,0.195773],[-0.013642,-0.203225,0.979037]] 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateRudder:A] Stopped 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:49:19.081Z,1761684559.081 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateCommandMode] Stopped 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:49:19.082Z,1761684559.082 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:49:19.083Z,1761684559.083 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:49:19.083Z,1761684559.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:49:19.083Z,1761684559.083 [marl:UpdateSpeed] Stopped 2025-10-28T20:49:19.083Z,1761684559.083 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:49:19.420Z,1761684559.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940673,-0.334635,-0.056160],[0.339004,0.919773,0.197724],[-0.014511,-0.205032,0.978648]] 2025-10-28T20:49:19.446Z,1761684559.446 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:49:19.446Z,1761684559.446 [marl:UpdateRudder:B] Stopped 2025-10-28T20:49:19.446Z,1761684559.446 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:49:19.446Z,1761684559.446 [marl:UpdateRudder] Stopped 2025-10-28T20:49:19.446Z,1761684559.446 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:49:19.829Z,1761684559.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940576,-0.335016,-0.055512],[0.339232,0.919517,0.198520],[-0.015463,-0.205555,0.978523]] 2025-10-28T20:49:20.226Z,1761684560.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940550,-0.335182,-0.054943],[0.339257,0.919241,0.199752],[-0.016447,-0.206517,0.978305]] 2025-10-28T20:49:20.631Z,1761684560.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940674,-0.334954,-0.054205],[0.338869,0.919224,0.200488],[-0.017328,-0.206962,0.978196]] 2025-10-28T20:49:21.051Z,1761684561.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940626,-0.335297,-0.052891],[0.338947,0.919355,0.199752],[-0.018351,-0.205820,0.978418]] 2025-10-28T20:49:21.439Z,1761684561.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940523,-0.335929,-0.050680],[0.339164,0.919832,0.197171],[-0.019618,-0.202633,0.979058]] 2025-10-28T20:49:21.842Z,1761684561.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940129,-0.337273,-0.049040],[0.340184,0.919820,0.195464],[-0.020817,-0.200444,0.979484]] 2025-10-28T20:49:21.969Z,1761684561.969 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:49:22.246Z,1761684562.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940557,-0.335947,-0.049920],[0.338977,0.919389,0.199547],[-0.021141,-0.204607,0.978616]] 2025-10-28T20:49:22.655Z,1761684562.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942412,-0.330003,-0.054386],[0.333811,0.917995,0.214138],[-0.020740,-0.219961,0.975288]] 2025-10-28T20:49:22.972Z,1761684562.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:49:23.064Z,1761684563.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945895,-0.318472,-0.062124],[0.323892,0.915264,0.239551],[-0.019431,-0.246712,0.968894]] 2025-10-28T20:49:23.462Z,1761684563.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950692,-0.302144,-0.069951],[0.309624,0.911714,0.270020],[-0.017809,-0.278364,0.960310]] 2025-10-28T20:49:23.866Z,1761684563.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955793,-0.283857,-0.076710],[0.293633,0.907710,0.299737],[-0.015452,-0.309011,0.950933]] 2025-10-28T20:49:24.271Z,1761684564.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960867,-0.264771,-0.081429],[0.276721,0.904023,0.325834],[-0.012658,-0.335616,0.941914]] 2025-10-28T20:49:24.685Z,1761684564.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965482,-0.246221,-0.084964],[0.260286,0.899838,0.350060],[-0.009738,-0.360092,0.932866]] 2025-10-28T20:49:25.079Z,1761684565.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969756,-0.227958,-0.087229],[0.243992,0.895950,0.371136],[-0.006451,-0.381195,0.924472]] 2025-10-28T20:49:25.483Z,1761684565.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973534,-0.211030,-0.087734],[0.228519,0.893582,0.386381],[-0.003140,-0.396204,0.918157]] 2025-10-28T20:49:25.889Z,1761684565.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976737,-0.195809,-0.087423],[0.214438,0.892220,0.397442],[0.000178,-0.406943,0.913454]] 2025-10-28T20:49:26.291Z,1761684566.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979543,-0.181765,-0.086352],[0.201204,0.892108,0.404550],[0.003502,-0.413649,0.910430]] 2025-10-28T20:49:26.697Z,1761684566.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981942,-0.169006,-0.085013],[0.189062,0.892735,0.408998],[0.006771,-0.417685,0.908566]] 2025-10-28T20:49:27.100Z,1761684567.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984091,-0.156825,-0.083490],[0.177376,0.894043,0.411370],[0.010130,-0.419635,0.907636]] 2025-10-28T20:49:27.514Z,1761684567.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986149,-0.144324,-0.081730],[0.165299,0.895684,0.412827],[0.013623,-0.420619,0.907135]] 2025-10-28T20:49:27.907Z,1761684567.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988149,-0.131396,-0.079351],[0.152557,0.897841,0.413048],[0.016972,-0.420258,0.907246]] 2025-10-28T20:49:28.311Z,1761684568.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990120,-0.117679,-0.076247],[0.138760,0.900589,0.411929],[0.020192,-0.418440,0.908020]] 2025-10-28T20:49:28.717Z,1761684568.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992026,-0.102903,-0.072775],[0.123849,0.902997,0.411409],[0.023380,-0.417141,0.908541]] 2025-10-28T20:49:29.124Z,1761684569.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993862,-0.087005,-0.068328],[0.107463,0.905961,0.409495],[0.026275,-0.414325,0.909750]] 2025-10-28T20:49:29.530Z,1761684569.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995421,-0.071065,-0.063921],[0.091013,0.909016,0.406701],[0.029203,-0.410657,0.911322]] 2025-10-28T20:49:29.927Z,1761684569.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996744,-0.054356,-0.059561],[0.073890,0.911435,0.404755],[0.032285,-0.407838,0.912483]] 2025-10-28T20:49:30.332Z,1761684570.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997817,-0.037157,-0.054587],[0.056079,0.913296,0.403417],[0.034864,-0.405597,0.913387]] 2025-10-28T20:49:30.738Z,1761684570.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998578,-0.019615,-0.049566],[0.037922,0.914879,0.401944],[0.037463,-0.403252,0.914322]] 2025-10-28T20:49:31.169Z,1761684571.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999007,-0.002384,-0.044492],[0.020032,0.915986,0.400711],[0.039799,-0.401204,0.915124]] 2025-10-28T20:49:31.566Z,1761684571.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999101,0.014132,-0.039958],[0.002940,0.917392,0.397974],[0.042281,-0.397733,0.916526]] 2025-10-28T20:49:32.006Z,1761684572.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998933,0.029952,-0.035154],[-0.013566,0.917893,0.396596],[0.044146,-0.395696,0.917320]] 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateRudder:A] Stopped 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:49:32.075Z,1761684572.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:49:32.076Z,1761684572.076 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:49:32.080Z,1761684572.080 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:49:32.080Z,1761684572.080 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:49:32.080Z,1761684572.080 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:49:32.080Z,1761684572.080 [marl:UpdateCommandMode] Stopped 2025-10-28T20:49:32.080Z,1761684572.080 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed] Stopped 2025-10-28T20:49:32.081Z,1761684572.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:49:32.443Z,1761684572.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997899,0.060191,-0.023992],[-0.045982,0.918696,0.392280],[0.045653,-0.390352,0.919533]] 2025-10-28T20:49:32.483Z,1761684572.483 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:49:32.483Z,1761684572.483 [marl:UpdateRudder:B] Stopped 2025-10-28T20:49:32.483Z,1761684572.483 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:49:32.483Z,1761684572.483 [marl:UpdateRudder] Stopped 2025-10-28T20:49:32.483Z,1761684572.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:49:32.845Z,1761684572.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997091,0.073995,-0.018270],[-0.060952,0.918056,0.391738],[0.045759,-0.389485,0.919896]] 2025-10-28T20:49:33.259Z,1761684573.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996063,0.087742,-0.012662],[-0.075844,0.917377,0.390727],[0.045899,-0.388228,0.920420]] 2025-10-28T20:49:33.649Z,1761684573.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994864,0.100989,-0.006883],[-0.090428,0.917267,0.387871],[0.045484,-0.385256,0.921688]] 2025-10-28T20:49:34.051Z,1761684574.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993806,0.111116,-0.001488],[-0.102146,0.918687,0.381550],[0.043763,-0.379034,0.924347]] 2025-10-28T20:49:34.860Z,1761684574.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993063,0.117511,0.004129],[-0.111718,0.931993,0.344831],[0.036674,-0.342900,0.938656]] 2025-10-28T20:49:35.266Z,1761684575.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993249,0.115868,0.005517],[-0.111453,0.940064,0.322270],[0.032155,-0.320710,0.946632]] 2025-10-28T20:49:35.667Z,1761684575.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993602,0.112705,0.007216],[-0.109671,0.947656,0.299867],[0.026959,-0.298740,0.953954]] 2025-10-28T20:49:36.071Z,1761684576.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994018,0.108796,0.009544],[-0.107121,0.954226,0.279246],[0.021274,-0.278598,0.960172]] 2025-10-28T20:49:36.478Z,1761684576.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994427,0.104648,0.012782],[-0.104337,0.959516,0.261617],[0.015114,-0.261493,0.965087]] 2025-10-28T20:49:36.879Z,1761684576.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994778,0.100686,0.016692],[-0.101681,0.963655,0.247042],[0.008788,-0.247450,0.968861]] 2025-10-28T20:49:37.287Z,1761684577.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995065,0.096969,0.021055],[-0.099198,0.966802,0.235484],[0.002479,-0.236411,0.971650]] 2025-10-28T20:49:37.686Z,1761684577.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995279,0.093611,0.025628],[-0.096986,0.969254,0.226144],[-0.003670,-0.227562,0.973757]] 2025-10-28T20:49:38.093Z,1761684578.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995404,0.090692,0.030771],[-0.095259,0.970729,0.220479],[-0.009874,-0.222397,0.974906]] 2025-10-28T20:49:38.505Z,1761684578.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995455,0.088241,0.035820],[-0.093956,0.971400,0.218071],[-0.015553,-0.220445,0.975275]] 2025-10-28T20:49:38.898Z,1761684578.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995400,0.086428,0.041330],[-0.093413,0.971346,0.218541],[-0.021258,-0.221397,0.974952]] 2025-10-28T20:49:39.306Z,1761684579.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995275,0.085212,0.046556],[-0.093389,0.971329,0.218628],[-0.026592,-0.221943,0.974697]] 2025-10-28T20:49:39.708Z,1761684579.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995076,0.084504,0.051799],[-0.093927,0.970841,0.220558],[-0.031650,-0.224337,0.973998]] 2025-10-28T20:49:40.115Z,1761684580.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994762,0.084604,0.057368],[-0.095457,0.969606,0.225281],[-0.036565,-0.229577,0.972603]] 2025-10-28T20:49:40.517Z,1761684580.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994343,0.085643,0.062829],[-0.097796,0.968998,0.226888],[-0.041450,-0.231749,0.971892]] 2025-10-28T20:49:40.918Z,1761684580.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993755,0.088000,0.068615],[-0.101550,0.968071,0.229185],[-0.046256,-0.234722,0.970961]] 2025-10-28T20:49:41.322Z,1761684581.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993026,0.091420,0.074437],[-0.106400,0.966895,0.231934],[-0.050769,-0.238236,0.969879]] 2025-10-28T20:49:41.727Z,1761684581.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992144,0.095632,0.080648],[-0.112114,0.965728,0.234095],[-0.055497,-0.241298,0.968863]] 2025-10-28T20:49:42.135Z,1761684582.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991113,0.100551,0.087083],[-0.118560,0.964596,0.235580],[-0.060312,-0.243811,0.967946]] 2025-10-28T20:49:42.534Z,1761684582.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990000,0.105781,0.093332],[-0.125198,0.963717,0.235745],[-0.065008,-0.245072,0.967323]] 2025-10-28T20:49:42.939Z,1761684582.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988818,0.111149,0.099420],[-0.131714,0.963573,0.232764],[-0.069927,-0.243256,0.967438]] 2025-10-28T20:49:43.350Z,1761684583.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987694,0.115986,0.104923],[-0.137481,0.963700,0.228869],[-0.074568,-0.240477,0.967786]] 2025-10-28T20:49:43.765Z,1761684583.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986690,0.120103,0.109627],[-0.142213,0.964254,0.223582],[-0.078855,-0.236197,0.968500]] 2025-10-28T20:49:44.152Z,1761684584.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985975,0.122450,0.113395],[-0.144999,0.964940,0.218781],[-0.082630,-0.232155,0.969163]] 2025-10-28T20:49:44.555Z,1761684584.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985640,0.122722,0.115983],[-0.145404,0.966071,0.213458],[-0.085852,-0.227258,0.970043]] 2025-10-28T20:49:44.964Z,1761684584.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985810,0.120106,0.117275],[-0.142679,0.967575,0.208423],[-0.088440,-0.222198,0.970982]] 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateRudder:A] Stopped 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:49:44.998Z,1761684584.998 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode] Stopped 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:49:44.999Z,1761684584.999 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:49:44.000Z,1761684585.000 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:49:45.016Z,1761684585.016 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:49:45.016Z,1761684585.016 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:49:45.016Z,1761684585.016 [marl:UpdateSpeed] Stopped 2025-10-28T20:49:45.016Z,1761684585.016 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:49:45.362Z,1761684585.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986206,0.116329,0.117747],[-0.138654,0.969134,0.203848],[-0.090399,-0.217362,0.971896]] 2025-10-28T20:49:45.403Z,1761684585.403 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:49:45.403Z,1761684585.403 [marl:UpdateRudder:B] Stopped 2025-10-28T20:49:45.403Z,1761684585.403 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:49:45.403Z,1761684585.403 [marl:UpdateRudder] Stopped 2025-10-28T20:49:45.403Z,1761684585.403 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:49:45.809Z,1761684585.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986710,0.111939,0.117781],[-0.134155,0.970192,0.201815],[-0.091679,-0.214934,0.972316]] 2025-10-28T20:49:46.170Z,1761684586.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987213,0.106918,0.118229],[-0.129437,0.970568,0.203085],[-0.093036,-0.215791,0.971997]] 2025-10-28T20:49:46.575Z,1761684586.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987596,0.102358,0.119066],[-0.125406,0.970513,0.205859],[-0.094484,-0.218237,0.971311]] 2025-10-28T20:49:46.988Z,1761684586.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987762,0.098989,0.120531],[-0.122916,0.969753,0.210882],[-0.096010,-0.223116,0.970052]] 2025-10-28T20:49:47.383Z,1761684587.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987777,0.097055,0.121975],[-0.122018,0.968385,0.217585],[-0.097001,-0.229808,0.968390]] 2025-10-28T20:49:47.820Z,1761684587.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987639,0.096492,0.123522],[-0.122609,0.966543,0.225304],[-0.097649,-0.237664,0.966427]] 2025-10-28T20:49:48.191Z,1761684588.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987340,0.097647,0.125002],[-0.124798,0.964629,0.232198],[-0.097907,-0.244858,0.964603]] 2025-10-28T20:49:48.596Z,1761684588.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986997,0.099459,0.126269],[-0.127489,0.962830,0.238130],[-0.097891,-0.251132,0.962990]] 2025-10-28T20:49:48.999Z,1761684588.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986690,0.101329,0.127183],[-0.129935,0.961547,0.241960],[-0.097775,-0.255265,0.961914]] 2025-10-28T20:49:49.403Z,1761684589.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986389,0.103279,0.127944],[-0.132328,0.960484,0.244868],[-0.097598,-0.258466,0.961077]] 2025-10-28T20:49:49.823Z,1761684589.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986262,0.104104,0.128256],[-0.133264,0.960227,0.245368],[-0.097611,-0.259090,0.960908]] 2025-10-28T20:49:50.215Z,1761684590.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986129,0.104944,0.128596],[-0.134248,0.959897,0.246119],[-0.097611,-0.259968,0.960671]] 2025-10-28T20:49:50.614Z,1761684590.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985996,0.106237,0.128551],[-0.135610,0.959411,0.247266],[-0.097064,-0.261237,0.960382]] 2025-10-28T20:49:51.018Z,1761684591.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985917,0.107379,0.128209],[-0.136708,0.959057,0.248034],[-0.096326,-0.262068,0.960230]] 2025-10-28T20:49:51.423Z,1761684591.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985834,0.108425,0.127964],[-0.137721,0.958754,0.248645],[-0.095726,-0.262746,0.960105]] 2025-10-28T20:49:51.831Z,1761684591.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985771,0.110019,0.127090],[-0.139044,0.958551,0.248690],[-0.094462,-0.262822,0.960209]] 2025-10-28T20:49:52.230Z,1761684592.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985709,0.111859,0.125961],[-0.140529,0.958341,0.248663],[-0.092899,-0.262810,0.960365]] 2025-10-28T20:49:52.634Z,1761684592.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985600,0.114237,0.124671],[-0.142417,0.958283,0.247812],[-0.091161,-0.261998,0.960753]] 2025-10-28T20:49:53.040Z,1761684593.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985510,0.116369,0.123407],[-0.144167,0.957986,0.247947],[-0.089369,-0.262146,0.960881]] 2025-10-28T20:49:53.092Z,1761684593.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:49:53.457Z,1761684593.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985453,0.118447,0.121869],[-0.145665,0.958084,0.246694],[-0.087541,-0.260857,0.961400]] 2025-10-28T20:49:53.846Z,1761684593.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985460,0.120177,0.120110],[-0.146700,0.958455,0.244628],[-0.085721,-0.258691,0.962149]] 2025-10-28T20:49:54.096Z,1761684594.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:49:54.251Z,1761684594.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985622,0.120909,0.118023],[-0.146705,0.958924,0.242780],[-0.083821,-0.256604,0.962875]] 2025-10-28T20:49:54.656Z,1761684594.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985894,0.120999,0.115640],[-0.145938,0.959748,0.239971],[-0.081949,-0.253462,0.963868]] 2025-10-28T20:49:55.059Z,1761684595.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986427,0.119233,0.112894],[-0.143302,0.960787,0.237388],[-0.080162,-0.250344,0.964832]] 2025-10-28T20:49:55.468Z,1761684595.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987019,0.117102,0.109908],[-0.140370,0.961533,0.236116],[-0.078030,-0.248479,0.965489]] 2025-10-28T20:49:55.866Z,1761684595.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987693,0.114463,0.106582],[-0.136921,0.962174,0.235527],[-0.075592,-0.247222,0.966006]] 2025-10-28T20:49:56.272Z,1761684596.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988380,0.111508,0.103302],[-0.133224,0.962702,0.235491],[-0.073190,-0.246517,0.966371]] 2025-10-28T20:49:56.674Z,1761684596.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989042,0.108545,0.100069],[-0.129564,0.963106,0.235881],[-0.070773,-0.246261,0.966616]] 2025-10-28T20:49:57.079Z,1761684597.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989685,0.106004,0.096364],[-0.126314,0.963043,0.237892],[-0.067585,-0.247610,0.966500]] 2025-10-28T20:49:57.486Z,1761684597.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990258,0.104310,0.092245],[-0.123755,0.962944,0.239634],[-0.063831,-0.248715,0.966471]] 2025-10-28T20:49:57.888Z,1761684597.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990838,0.102615,0.087804],[-0.121200,0.962452,0.242894],[-0.059583,-0.251310,0.966071]] 2025-10-28T20:49:57.977Z,1761684597.977 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:49:57.977Z,1761684597.977 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:49:57.977Z,1761684597.977 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateRudder:A] Stopped 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:49:57.978Z,1761684597.978 [marl:UpdateCommandMode] Stopped 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed] Stopped 2025-10-28T20:49:57.979Z,1761684597.979 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:49:58.290Z,1761684598.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991338,0.101580,0.083244],[-0.119230,0.961870,0.246150],[-0.055067,-0.253943,0.965650]] 2025-10-28T20:49:58.335Z,1761684598.335 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:49:58.335Z,1761684598.335 [marl:UpdateRudder:B] Stopped 2025-10-28T20:49:58.335Z,1761684598.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:49:58.335Z,1761684598.335 [marl:UpdateRudder] Stopped 2025-10-28T20:49:58.335Z,1761684598.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:49:58.694Z,1761684598.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991728,0.101343,0.078768],[-0.117997,0.961347,0.248775],[-0.050511,-0.256012,0.965353]] 2025-10-28T20:49:59.100Z,1761684599.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992070,0.101419,0.074237],[-0.117078,0.960530,0.252337],[-0.045715,-0.259028,0.964787]] 2025-10-28T20:49:59.503Z,1761684599.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992404,0.101273,0.069839],[-0.115868,0.960223,0.254060],[-0.041332,-0.260222,0.964664]] 2025-10-28T20:49:59.907Z,1761684599.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992621,0.101758,0.065944],[-0.115488,0.959117,0.258374],[-0.036957,-0.264083,0.963792]] 2025-10-28T20:49:59.997Z,1761684599.997 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:50:00.013Z,1761684600.013 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:50:00.013Z,1761684600.013 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:50:00.265Z,1761684600.265 [DAT](INFO): DAT read: user:270> 2025-10-28T20:50:00.266Z,1761684600.266 [DAT](INFO): DAT read: Tx time:20:50:00.0124 2025-10-28T20:50:00.266Z,1761684600.266 [DAT](INFO): Ping request sent. 2025-10-28T20:50:00.266Z,1761684600.266 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:50:00.266Z,1761684600.266 [DAT](INFO): publishing transmit ping time 2025-10-28T20:50:00.267Z,1761684600.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955 2025-10-28T20:50:00.333Z,1761684600.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992767,0.102860,0.061922],[-0.115591,0.958290,0.261379],[-0.032454,-0.266645,0.963248]] 2025-10-28T20:50:00.517Z,1761684600.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250936 2025-10-28T20:50:00.716Z,1761684600.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992809,0.104498,0.058394],[-0.116340,0.957182,0.265081],[-0.028193,-0.269968,0.962456]] 2025-10-28T20:50:00.770Z,1761684600.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503346 2025-10-28T20:50:01.021Z,1761684601.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919 2025-10-28T20:50:01.119Z,1761684601.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992473,0.109250,0.055332],[-0.120246,0.954938,0.271358],[-0.023193,-0.275969,0.960887]] 2025-10-28T20:50:01.273Z,1761684601.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007304 2025-10-28T20:50:01.523Z,1761684601.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991517,0.118488,0.053425],[-0.128830,0.950366,0.283210],[-0.017217,-0.287690,0.957569]] 2025-10-28T20:50:01.525Z,1761684601.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258898 2025-10-28T20:50:01.781Z,1761684601.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514046 2025-10-28T20:50:01.933Z,1761684601.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989890,0.131263,0.053742],[-0.141421,0.942439,0.303000],[-0.010876,-0.307537,0.951474]] 2025-10-28T20:50:02.029Z,1761684602.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886 2025-10-28T20:50:02.281Z,1761684602.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014883 2025-10-28T20:50:02.337Z,1761684602.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987685,0.146398,0.055196],[-0.156398,0.933591,0.322410],[-0.004330,-0.327072,0.944990]] 2025-10-28T20:50:02.539Z,1761684602.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272831 2025-10-28T20:50:02.735Z,1761684602.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984982,0.162865,0.057317],[-0.172635,0.923772,0.341822],[0.002723,-0.346583,0.938015]] 2025-10-28T20:50:02.786Z,1761684602.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519525 2025-10-28T20:50:03.037Z,1761684603.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840 2025-10-28T20:50:03.139Z,1761684603.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981876,0.179989,0.059364],[-0.189244,0.913974,0.358941],[0.010348,-0.363670,0.931470]] 2025-10-28T20:50:03.289Z,1761684603.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022863 2025-10-28T20:50:03.541Z,1761684603.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274976 2025-10-28T20:50:03.545Z,1761684603.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978433,0.197612,0.060147],[-0.205697,0.905482,0.371202],[0.018892,-0.375569,0.926602]] 2025-10-28T20:50:03.796Z,1761684603.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529380 2025-10-28T20:50:03.954Z,1761684603.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974987,0.214134,0.059548],[-0.220520,0.898529,0.379496],[0.027758,-0.383135,0.923275]] 2025-10-28T20:50:04.046Z,1761684604.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779306 2025-10-28T20:50:04.297Z,1761684604.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030902 2025-10-28T20:50:04.350Z,1761684604.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971971,0.227945,0.057555],[-0.232220,0.892659,0.386308],[0.036680,-0.388846,0.920572]] 2025-10-28T20:50:04.549Z,1761684604.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282843 2025-10-28T20:50:04.757Z,1761684604.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969364,0.239555,0.054290],[-0.241348,0.887818,0.391830],[0.045665,-0.392929,0.918434]] 2025-10-28T20:50:04.801Z,1761684604.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534984 2025-10-28T20:50:05.053Z,1761684605.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786902 2025-10-28T20:50:05.159Z,1761684605.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966786,0.250359,0.051427],[-0.249675,0.882085,0.399486],[0.054652,-0.399058,0.915295]] 2025-10-28T20:50:05.305Z,1761684605.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038795 2025-10-28T20:50:05.557Z,1761684605.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290974 2025-10-28T20:50:05.583Z,1761684605.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964051,0.261192,0.048831],[-0.257944,0.875787,0.407998],[0.063800,-0.405926,0.911676]] 2025-10-28T20:50:05.813Z,1761684605.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545625 2025-10-28T20:50:05.971Z,1761684605.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961232,0.271695,0.047057],[-0.266070,0.869116,0.416947],[0.072384,-0.413303,0.907712]] 2025-10-28T20:50:06.061Z,1761684606.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794952 2025-10-28T20:50:06.314Z,1761684606.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047541 2025-10-28T20:50:06.371Z,1761684606.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958347,0.281844,0.046206],[-0.274160,0.862480,0.425399],[0.080044,-0.420348,0.903826]] 2025-10-28T20:50:06.565Z,1761684606.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298902 2025-10-28T20:50:06.780Z,1761684606.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955334,0.291871,0.046359],[-0.282620,0.856434,0.432025],[0.086392,-0.425831,0.900669]] 2025-10-28T20:50:06.817Z,1761684606.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550760 2025-10-28T20:50:07.069Z,1761684607.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802820 2025-10-28T20:50:07.182Z,1761684607.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951864,0.302805,0.047590],[-0.292558,0.851157,0.435823],[0.091463,-0.428767,0.898773]] 2025-10-28T20:50:07.321Z,1761684607.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054911 2025-10-28T20:50:07.573Z,1761684607.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306901 2025-10-28T20:50:07.584Z,1761684607.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947376,0.316158,0.050215],[-0.305435,0.845753,0.437505],[0.095851,-0.429820,0.897813]] 2025-10-28T20:50:07.826Z,1761684607.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559728 2025-10-28T20:50:07.986Z,1761684607.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941929,0.331446,0.053977],[-0.320640,0.839908,0.437886],[0.099800,-0.429765,0.897408]] 2025-10-28T20:50:08.077Z,1761684608.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811047 2025-10-28T20:50:08.329Z,1761684608.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062779 2025-10-28T20:50:08.391Z,1761684608.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935831,0.347607,0.058223],[-0.337055,0.834371,0.436141],[0.103026,-0.427779,0.897993]] 2025-10-28T20:50:08.581Z,1761684608.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314818 2025-10-28T20:50:08.798Z,1761684608.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929408,0.363744,0.062381],[-0.353574,0.829169,0.432971],[0.105766,-0.424463,0.899247]] 2025-10-28T20:50:08.834Z,1761684608.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567662 2025-10-28T20:50:09.085Z,1761684609.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818834 2025-10-28T20:50:09.198Z,1761684609.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922752,0.379857,0.065099],[-0.369883,0.825445,0.426413],[0.108240,-0.417552,0.902183]] 2025-10-28T20:50:09.337Z,1761684609.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071002 2025-10-28T20:50:09.589Z,1761684609.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322856 2025-10-28T20:50:09.604Z,1761684609.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916110,0.395309,0.066890],[-0.385315,0.821989,0.419365],[0.110796,-0.409958,0.905350]] 2025-10-28T20:50:09.842Z,1761684609.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575982 2025-10-28T20:50:10.009Z,1761684610.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909390,0.410421,0.067557],[-0.400011,0.818420,0.412528],[0.114020,-0.402173,0.908436]] 2025-10-28T20:50:10.094Z,1761684610.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827830 2025-10-28T20:50:10.345Z,1761684610.345 [DAT](INFO): Reached modem response timeout 2025-10-28T20:50:10.423Z,1761684610.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902447,0.425468,0.067573],[-0.414363,0.814356,0.406359],[0.117865,-0.394717,0.911211]] 2025-10-28T20:50:10.837Z,1761684610.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894858,0.441311,0.066889],[-0.429157,0.809478,0.400711],[0.122693,-0.387285,0.913760]] 2025-10-28T20:50:10.862Z,1761684610.862 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateRudder:A] Stopped 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:50:10.863Z,1761684610.863 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateCommandMode] Stopped 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:50:10.864Z,1761684610.864 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed] Stopped 2025-10-28T20:50:10.865Z,1761684610.865 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:50:11.240Z,1761684611.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886836,0.457210,0.066937],[-0.443911,0.802748,0.398169],[0.128313,-0.382825,0.914867]] 2025-10-28T20:50:11.284Z,1761684611.284 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:50:11.284Z,1761684611.284 [marl:UpdateRudder:B] Stopped 2025-10-28T20:50:11.284Z,1761684611.284 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:50:11.284Z,1761684611.284 [marl:UpdateRudder] Stopped 2025-10-28T20:50:11.284Z,1761684611.284 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:50:11.691Z,1761684611.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872876,0.483056,0.068873],[-0.468388,0.789951,0.395715],[0.136747,-0.377670,0.915787]] 2025-10-28T20:50:12.097Z,1761684612.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867506,0.492228,0.071733],[-0.477778,0.784397,0.395538],[0.138427,-0.377404,0.915644]] 2025-10-28T20:50:12.497Z,1761684612.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862304,0.500612,0.076280],[-0.487272,0.779282,0.394064],[0.137830,-0.376972,0.915912]] 2025-10-28T20:50:12.614Z,1761684612.614 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:50:12.614Z,1761684612.614 [DAT](INFO): response not received 2025-10-28T20:50:12.614Z,1761684612.614 [DAT](ERROR): No response from remote modem. 2025-10-28T20:50:12.892Z,1761684612.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858179,0.506924,0.080975],[-0.495409,0.776480,0.389421],[0.134531,-0.374308,0.917494]] 2025-10-28T20:50:13.301Z,1761684613.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856210,0.510025,0.082340],[-0.500333,0.778889,0.378152],[0.128733,-0.364974,0.922074]] 2025-10-28T20:50:13.698Z,1761684613.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856006,0.510742,0.079977],[-0.502552,0.785844,0.360403],[0.121223,-0.348700,0.929362]] 2025-10-28T20:50:14.105Z,1761684614.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856641,0.510241,0.076295],[-0.503406,0.794318,0.340062],[0.112911,-0.329718,0.937303]] 2025-10-28T20:50:14.506Z,1761684614.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857458,0.509421,0.072505],[-0.503883,0.802748,0.318901],[0.104251,-0.309978,0.945011]] 2025-10-28T20:50:14.919Z,1761684614.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857715,0.509237,0.070727],[-0.505197,0.809278,0.299742],[0.095402,-0.292824,0.951395]] 2025-10-28T20:50:15.315Z,1761684615.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857484,0.509781,0.069606],[-0.507189,0.814766,0.280921],[0.086496,-0.276188,0.957204]] 2025-10-28T20:50:15.719Z,1761684615.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856918,0.510830,0.068882],[-0.509477,0.819094,0.263663],[0.078266,-0.261031,0.962152]] 2025-10-28T20:50:16.126Z,1761684616.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856091,0.512272,0.068448],[-0.511964,0.822450,0.247930],[0.070712,-0.247294,0.966357]] 2025-10-28T20:50:16.527Z,1761684616.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855263,0.513620,0.068699],[-0.514233,0.824874,0.234834],[0.063947,-0.236172,0.969605]] 2025-10-28T20:50:16.934Z,1761684616.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854584,0.514683,0.069185],[-0.516079,0.826846,0.223580],[0.057867,-0.226773,0.972227]] 2025-10-28T20:50:17.335Z,1761684617.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854397,0.514896,0.069907],[-0.517000,0.828868,0.213750],[0.052115,-0.218769,0.974384]] 2025-10-28T20:50:17.743Z,1761684617.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855375,0.512993,0.071916],[-0.515948,0.831351,0.206527],[0.046160,-0.213763,0.975794]] 2025-10-28T20:50:18.146Z,1761684618.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856780,0.510400,0.073619],[-0.514100,0.834228,0.199410],[0.040365,-0.208698,0.977147]] 2025-10-28T20:50:18.550Z,1761684618.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858415,0.507166,0.076852],[-0.511801,0.836772,0.194606],[0.034390,-0.206386,0.977866]] 2025-10-28T20:50:18.951Z,1761684618.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860199,0.503427,0.081361],[-0.509155,0.838888,0.192428],[0.028621,-0.206952,0.977932]] 2025-10-28T20:50:19.355Z,1761684619.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861871,0.499605,0.087021],[-0.506616,0.840527,0.191973],[0.022767,-0.209543,0.977534]] 2025-10-28T20:50:19.789Z,1761684619.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863382,0.495617,0.094524],[-0.504272,0.841406,0.194282],[0.016756,-0.215405,0.976381]] 2025-10-28T20:50:20.170Z,1761684620.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864413,0.492208,0.102578],[-0.502676,0.841840,0.196525],[0.010377,-0.221442,0.975118]] 2025-10-28T20:50:20.567Z,1761684620.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864486,0.490130,0.111518],[-0.502641,0.841182,0.199412],[0.003931,-0.228443,0.973549]] 2025-10-28T20:50:20.970Z,1761684620.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863359,0.489855,0.121053],[-0.504585,0.839301,0.202407],[-0.002450,-0.235831,0.971791]] 2025-10-28T20:50:21.374Z,1761684621.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860859,0.491855,0.130389],[-0.508777,0.836153,0.204924],[-0.008233,-0.242749,0.970054]] 2025-10-28T20:50:21.817Z,1761684621.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857884,0.494910,0.138196],[-0.513647,0.833387,0.204042],[-0.014188,-0.246028,0.969159]] 2025-10-28T20:50:22.183Z,1761684622.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854762,0.498458,0.144641],[-0.518629,0.831094,0.200766],[-0.020137,-0.246622,0.968903]] 2025-10-28T20:50:22.586Z,1761684622.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851729,0.502110,0.149808],[-0.523341,0.829316,0.195830],[-0.025910,-0.245195,0.969128]] 2025-10-28T20:50:22.991Z,1761684622.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848706,0.506085,0.153546],[-0.527942,0.827877,0.189464],[-0.031232,-0.241863,0.969808]] 2025-10-28T20:50:23.404Z,1761684623.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845748,0.510254,0.156049],[-0.532379,0.826582,0.182576],[-0.035827,-0.237491,0.970729]] 2025-10-28T20:50:23.822Z,1761684623.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842566,0.515382,0.156412],[-0.537183,0.825148,0.174831],[-0.038958,-0.231329,0.972095]] 2025-10-28T20:50:23.892Z,1761684623.892 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:50:23.893Z,1761684623.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:50:23.893Z,1761684623.893 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:50:23.893Z,1761684623.893 [marl:UpdateRudder:A] Stopped 2025-10-28T20:50:23.893Z,1761684623.893 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:50:23.893Z,1761684623.893 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:50:23.894Z,1761684623.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:50:23.894Z,1761684623.894 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:50:23.894Z,1761684623.894 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateCommandMode] Stopped 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:50:23.895Z,1761684623.895 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:50:23.900Z,1761684623.900 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:50:23.900Z,1761684623.900 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:50:23.900Z,1761684623.900 [marl:UpdateSpeed] Stopped 2025-10-28T20:50:23.901Z,1761684623.901 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:50:24.202Z,1761684624.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839718,0.520039,0.156312],[-0.541487,0.823532,0.169073],[-0.040803,-0.226614,0.973130]] 2025-10-28T20:50:24.216Z,1761684624.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:50:24.249Z,1761684624.249 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:50:24.249Z,1761684624.249 [marl:UpdateRudder:B] Stopped 2025-10-28T20:50:24.249Z,1761684624.249 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:50:24.249Z,1761684624.249 [marl:UpdateRudder] Stopped 2025-10-28T20:50:24.249Z,1761684624.249 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:50:24.606Z,1761684624.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838522,0.522183,0.155584],[-0.543197,0.823494,0.163692],[-0.042646,-0.221772,0.974165]] 2025-10-28T20:50:25.013Z,1761684625.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839184,0.521480,0.154369],[-0.542030,0.825168,0.159065],[-0.044432,-0.217157,0.975125]] 2025-10-28T20:50:25.221Z,1761684625.221 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:50:25.415Z,1761684625.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840827,0.518915,0.154065],[-0.539337,0.827363,0.156802],[-0.046101,-0.214936,0.975539]] 2025-10-28T20:50:25.827Z,1761684625.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842840,0.515411,0.154832],[-0.536057,0.829481,0.156859],[-0.047583,-0.215205,0.975409]] 2025-10-28T20:50:26.226Z,1761684626.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844790,0.511752,0.156333],[-0.532829,0.831386,0.157768],[-0.049235,-0.216580,0.975023]] 2025-10-28T20:50:26.629Z,1761684626.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846670,0.507661,0.159468],[-0.529651,0.832838,0.160783],[-0.051188,-0.220592,0.974022]] 2025-10-28T20:50:27.434Z,1761684627.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848273,0.501659,0.169623],[-0.526658,0.832663,0.171184],[-0.055363,-0.234544,0.970528]] 2025-10-28T20:50:27.839Z,1761684627.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847203,0.501322,0.175850],[-0.528178,0.830447,0.177157],[-0.057221,-0.242969,0.968345]] 2025-10-28T20:50:28.250Z,1761684628.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845165,0.502666,0.181723],[-0.531292,0.827266,0.182648],[-0.058523,-0.250916,0.966238]] 2025-10-28T20:50:28.647Z,1761684628.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842650,0.505464,0.185600],[-0.535178,0.824198,0.185153],[-0.059383,-0.255348,0.965024]] 2025-10-28T20:50:29.051Z,1761684629.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840013,0.509109,0.187580],[-0.539239,0.821612,0.184866],[-0.060001,-0.256440,0.964696]] 2025-10-28T20:50:29.455Z,1761684629.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837262,0.513164,0.188828],[-0.543440,0.819162,0.183432],[-0.060550,-0.256197,0.964726]] 2025-10-28T20:50:29.864Z,1761684629.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834482,0.518004,0.187912],[-0.547687,0.817230,0.179371],[-0.060653,-0.252599,0.965668]] 2025-10-28T20:50:30.268Z,1761684630.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832183,0.522299,0.186210],[-0.551198,0.815784,0.175151],[-0.060426,-0.248396,0.966772]] 2025-10-28T20:50:30.666Z,1761684630.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831186,0.525099,0.182761],[-0.552737,0.815932,0.169522],[-0.060104,-0.241923,0.968432]] 2025-10-28T20:50:31.070Z,1761684631.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831838,0.525615,0.178251],[-0.551851,0.817536,0.164606],[-0.059207,-0.235293,0.970119]] 2025-10-28T20:50:31.474Z,1761684631.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833281,0.524768,0.173957],[-0.549847,0.819409,0.161977],[-0.057542,-0.230622,0.971341]] 2025-10-28T20:50:31.885Z,1761684631.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835527,0.522395,0.170287],[-0.546631,0.821663,0.161446],[-0.055580,-0.227977,0.972079]] 2025-10-28T20:50:32.282Z,1761684632.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837956,0.519570,0.166965],[-0.543123,0.823869,0.162042],[-0.053365,-0.226467,0.972556]] 2025-10-28T20:50:32.687Z,1761684632.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840553,0.515792,0.165616],[-0.539336,0.825478,0.166440],[-0.050864,-0.229224,0.972044]] 2025-10-28T20:50:33.092Z,1761684633.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843057,0.511690,0.165615],[-0.535624,0.826636,0.172571],[-0.048601,-0.234195,0.970974]] 2025-10-28T20:50:33.495Z,1761684633.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845543,0.507316,0.166396],[-0.531869,0.827570,0.179564],[-0.046609,-0.240330,0.969572]] 2025-10-28T20:50:33.898Z,1761684633.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847811,0.502879,0.168315],[-0.528367,0.828115,0.187226],[-0.045233,-0.247664,0.967789]] 2025-10-28T20:50:34.303Z,1761684634.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849175,0.499743,0.170759],[-0.526298,0.827575,0.195269],[-0.043731,-0.255688,0.965770]] 2025-10-28T20:50:34.708Z,1761684634.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849271,0.498698,0.173317],[-0.526273,0.825848,0.202515],[-0.042140,-0.263202,0.963820]] 2025-10-28T20:50:35.110Z,1761684635.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848324,0.499351,0.176052],[-0.527950,0.822984,0.209684],[-0.040182,-0.270826,0.961789]] 2025-10-28T20:50:35.515Z,1761684635.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846644,0.501670,0.177543],[-0.530783,0.820053,0.213967],[-0.038254,-0.275391,0.960571]] 2025-10-28T20:50:35.918Z,1761684635.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844708,0.504750,0.178035],[-0.533968,0.817543,0.215642],[-0.036706,-0.277220,0.960105]] 2025-10-28T20:50:36.330Z,1761684636.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842787,0.508537,0.176353],[-0.537104,0.815923,0.213985],[-0.035071,-0.275064,0.960786]] 2025-10-28T20:50:36.727Z,1761684636.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840833,0.512636,0.173794],[-0.540260,0.814640,0.210907],[-0.033461,-0.271231,0.961932]] 2025-10-28T20:50:36.761Z,1761684636.761 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:50:36.761Z,1761684636.761 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:50:36.761Z,1761684636.761 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:50:36.762Z,1761684636.762 [marl:UpdateRudder:A] Stopped 2025-10-28T20:50:36.762Z,1761684636.762 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:50:36.762Z,1761684636.762 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:50:36.762Z,1761684636.762 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:50:36.762Z,1761684636.762 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateCommandMode] Stopped 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:50:36.763Z,1761684636.763 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:50:36.764Z,1761684636.764 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:50:36.764Z,1761684636.764 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:50:36.764Z,1761684636.764 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:50:36.765Z,1761684636.765 [marl:UpdateSpeed] Stopped 2025-10-28T20:50:36.765Z,1761684636.765 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:50:37.130Z,1761684637.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839042,0.516923,0.169703],[-0.543157,0.813877,0.206360],[-0.031445,-0.265320,0.963647]] 2025-10-28T20:50:37.174Z,1761684637.174 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:50:37.174Z,1761684637.174 [marl:UpdateRudder:B] Stopped 2025-10-28T20:50:37.174Z,1761684637.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:50:37.174Z,1761684637.174 [marl:UpdateRudder] Stopped 2025-10-28T20:50:37.174Z,1761684637.174 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:50:37.535Z,1761684637.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837581,0.520724,0.165241],[-0.545516,0.813515,0.201510],[-0.029495,-0.258923,0.965448]] 2025-10-28T20:50:37.940Z,1761684637.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836499,0.523846,0.160796],[-0.547271,0.813460,0.196920],[-0.027645,-0.252722,0.967144]] 2025-10-28T20:50:38.359Z,1761684638.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835874,0.526199,0.156299],[-0.548320,0.813720,0.192887],[-0.025687,-0.246931,0.968693]] 2025-10-28T20:50:38.747Z,1761684638.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835759,0.527697,0.151798],[-0.548586,0.814356,0.189412],[-0.023665,-0.241578,0.970093]] 2025-10-28T20:50:39.153Z,1761684639.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835876,0.528373,0.148774],[-0.548484,0.814728,0.188103],[-0.021822,-0.238831,0.970816]] 2025-10-28T20:50:39.554Z,1761684639.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836551,0.528263,0.145330],[-0.547521,0.815760,0.186430],[-0.020071,-0.235530,0.971660]] 2025-10-28T20:50:39.959Z,1761684639.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838639,0.526150,0.140890],[-0.544356,0.818626,0.183105],[-0.018996,-0.230253,0.972945]] 2025-10-28T20:50:40.380Z,1761684640.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843466,0.521308,0.129629],[-0.536845,0.826584,0.168986],[-0.019055,-0.212125,0.977057]] 2025-10-28T20:50:40.778Z,1761684640.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851715,0.511707,0.112863],[-0.523621,0.839364,0.145908],[-0.020071,-0.183370,0.982839]] 2025-10-28T20:50:41.175Z,1761684641.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861644,0.498480,0.095329],[-0.507073,0.853398,0.120784],[-0.021145,-0.152412,0.988091]] 2025-10-28T20:50:41.579Z,1761684641.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872325,0.482728,0.077605],[-0.488435,0.867514,0.094075],[-0.021911,-0.119969,0.992536]] 2025-10-28T20:50:41.983Z,1761684641.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882775,0.465603,0.062632],[-0.469269,0.880227,0.070620],[-0.022249,-0.091733,0.995535]] 2025-10-28T20:50:42.398Z,1761684642.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892908,0.447412,0.050384],[-0.449705,0.891700,0.051354],[-0.021951,-0.068512,0.997409]] 2025-10-28T20:50:42.793Z,1761684642.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902475,0.428842,0.040403],[-0.430227,0.902006,0.035916],[-0.021041,-0.049796,0.998538]] 2025-10-28T20:50:43.194Z,1761684643.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911481,0.410020,0.032946],[-0.410857,0.911369,0.024550],[-0.019960,-0.035913,0.999156]] 2025-10-28T20:50:43.599Z,1761684643.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919943,0.391078,0.027619],[-0.391610,0.919968,0.017355],[-0.018622,-0.026781,0.999468]] 2025-10-28T20:50:44.004Z,1761684644.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927611,0.372814,0.023403],[-0.373161,0.927681,0.012642],[-0.016998,-0.020460,0.999646]] 2025-10-28T20:50:44.408Z,1761684644.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934479,0.355415,0.020704],[-0.355698,0.934524,0.012005],[-0.015082,-0.018583,0.999714]] 2025-10-28T20:50:44.811Z,1761684644.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940734,0.338668,0.017990],[-0.338912,0.940731,0.012790],[-0.012592,-0.018129,0.999756]] 2025-10-28T20:50:45.214Z,1761684645.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946356,0.322756,0.015455],[-0.322997,0.946247,0.017003],[-0.009136,-0.021083,0.999736]] 2025-10-28T20:50:45.620Z,1761684645.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951248,0.308185,0.012193],[-0.308385,0.951024,0.021270],[-0.005041,-0.023993,0.999699]] 2025-10-28T20:50:46.022Z,1761684646.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955706,0.294198,0.008535],[-0.294322,0.955345,0.026271],[-0.000425,-0.027619,0.999618]] 2025-10-28T20:50:46.428Z,1761684646.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959793,0.280674,0.004418],[-0.280674,0.959311,0.030721],[0.004385,-0.030726,0.999518]] 2025-10-28T20:50:46.838Z,1761684646.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963609,0.267317,0.000311],[-0.267162,0.963008,0.035219],[0.009115,-0.034020,0.999380]] 2025-10-28T20:50:47.236Z,1761684647.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966999,0.254758,-0.003267],[-0.254423,0.966247,0.040450],[0.013462,-0.038284,0.999176]] 2025-10-28T20:50:47.638Z,1761684647.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970144,0.242422,-0.007272],[-0.241876,0.969291,0.044409],[0.017815,-0.041324,0.998987]] 2025-10-28T20:50:48.042Z,1761684648.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973027,0.230409,-0.011402],[-0.229662,0.972167,0.046338],[0.021762,-0.042470,0.998861]] 2025-10-28T20:50:48.454Z,1761684648.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975774,0.218269,-0.014966],[-0.217331,0.974898,0.048388],[0.025152,-0.043964,0.998716]] 2025-10-28T20:50:48.854Z,1761684648.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978343,0.206121,-0.018941],[-0.205000,0.977531,0.049066],[0.028629,-0.044121,0.998616]] 2025-10-28T20:50:49.254Z,1761684649.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980772,0.193809,-0.022878],[-0.192541,0.980087,0.048546],[0.031831,-0.043207,0.998559]] 2025-10-28T20:50:49.659Z,1761684649.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983105,0.180948,-0.027596],[-0.179568,0.982659,0.046225],[0.035482,-0.040489,0.998550]] 2025-10-28T20:50:49.702Z,1761684649.702 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateRudder:A] Stopped 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:50:49.703Z,1761684649.703 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateCommandMode] Stopped 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:50:49.704Z,1761684649.704 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed] Stopped 2025-10-28T20:50:49.705Z,1761684649.705 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:50:50.063Z,1761684650.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985432,0.166958,-0.032391],[-0.165516,0.985268,0.043037],[0.039099,-0.037049,0.998548]] 2025-10-28T20:50:50.151Z,1761684650.151 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:50:50.151Z,1761684650.151 [marl:UpdateRudder:B] Stopped 2025-10-28T20:50:50.151Z,1761684650.151 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:50:50.151Z,1761684650.151 [marl:UpdateRudder] Stopped 2025-10-28T20:50:50.151Z,1761684650.151 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:50:50.471Z,1761684650.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987758,0.151502,-0.037165],[-0.150061,0.987910,0.038936],[0.042614,-0.032882,0.998550]] 2025-10-28T20:50:50.870Z,1761684650.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990069,0.134178,-0.041956],[-0.132818,0.990568,0.033692],[0.046081,-0.027785,0.998551]] 2025-10-28T20:50:51.274Z,1761684651.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992162,0.115947,-0.046588],[-0.114652,0.992965,0.029578],[0.049690,-0.024005,0.998476]] 2025-10-28T20:50:51.679Z,1761684651.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994015,0.096461,-0.051272],[-0.095271,0.995133,0.025189],[0.053452,-0.020154,0.998367]] 2025-10-28T20:50:52.084Z,1761684652.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995546,0.076729,-0.054780],[-0.075576,0.996879,0.022826],[0.056360,-0.018584,0.998238]] 2025-10-28T20:50:52.489Z,1761684652.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996719,0.056743,-0.057720],[-0.055591,0.998225,0.021364],[0.058830,-0.018085,0.998104]] 2025-10-28T20:50:52.890Z,1761684652.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997508,0.036725,-0.060246],[-0.035559,0.999161,0.020318],[0.060941,-0.018125,0.997977]] 2025-10-28T20:50:53.296Z,1761684653.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997886,0.016630,-0.062824],[-0.015382,0.999675,0.020307],[0.063141,-0.019298,0.997818]] 2025-10-28T20:50:53.359Z,1761684653.359 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T20:50:53.699Z,1761684653.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997865,-0.003097,-0.065231],[0.004416,0.999788,0.020090],[0.065155,-0.020335,0.997668]] 2025-10-28T20:50:54.103Z,1761684654.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997463,-0.022656,-0.067492],[0.024099,0.999497,0.020634],[0.066991,-0.022208,0.997506]] 2025-10-28T20:50:54.507Z,1761684654.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996641,-0.042287,-0.070127],[0.043775,0.998845,0.019829],[0.069207,-0.022832,0.997341]] 2025-10-28T20:50:54.912Z,1761684654.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995467,-0.061450,-0.072596],[0.063008,0.997825,0.019362],[0.071248,-0.023848,0.997173]] 2025-10-28T20:50:55.332Z,1761684655.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992156,-0.097711,-0.077965],[0.099693,0.994776,0.021934],[0.075414,-0.029535,0.996715]] 2025-10-28T20:50:55.356Z,1761684655.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:50:56.129Z,1761684656.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988166,-0.128435,-0.083855],[0.131080,0.991009,0.026812],[0.079658,-0.037486,0.996117]] 2025-10-28T20:50:56.360Z,1761684656.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:50:56.539Z,1761684656.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986062,-0.141939,-0.086804],[0.144884,0.989036,0.028587],[0.081794,-0.040765,0.995815]] 2025-10-28T20:50:56.941Z,1761684656.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983979,-0.154592,-0.088812],[0.157639,0.987090,0.028346],[0.083284,-0.041892,0.995645]] 2025-10-28T20:50:57.341Z,1761684657.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981802,-0.167118,-0.090200],[0.170230,0.985009,0.027925],[0.084181,-0.042772,0.995532]] 2025-10-28T20:50:57.747Z,1761684657.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979521,-0.179578,-0.091054],[0.182591,0.982849,0.025854],[0.084850,-0.041950,0.995510]] 2025-10-28T20:50:58.147Z,1761684658.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977358,-0.191034,-0.090977],[0.193721,0.980819,0.021593],[0.085107,-0.038728,0.995619]] 2025-10-28T20:50:58.553Z,1761684658.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975110,-0.202474,-0.090362],[0.204847,0.978634,0.017711],[0.084845,-0.035781,0.995752]] 2025-10-28T20:50:58.954Z,1761684658.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972401,-0.215562,-0.089269],[0.217533,0.975968,0.012862],[0.084351,-0.031926,0.995925]] 2025-10-28T20:50:59.358Z,1761684659.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969138,-0.230350,-0.087808],[0.231888,0.972713,0.007599],[0.083661,-0.027726,0.996109]] 2025-10-28T20:50:59.815Z,1761684659.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965134,-0.247197,-0.086078],[0.248319,0.968675,0.002405],[0.082787,-0.023696,0.996286]] 2025-10-28T20:51:00.174Z,1761684660.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960885,-0.263707,-0.084610],[0.264508,0.964382,-0.001805],[0.082072,-0.020645,0.996413]] 2025-10-28T20:51:00.199Z,1761684660.199 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:51:00.325Z,1761684660.325 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:51:00.325Z,1761684660.325 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:51:00.570Z,1761684660.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956226,-0.280303,-0.084038],[0.280977,0.959706,-0.003939],[0.081756,-0.019846,0.996455]] 2025-10-28T20:51:00.577Z,1761684660.577 [DAT](INFO): DAT read: user:271> 2025-10-28T20:51:00.577Z,1761684660.577 [DAT](INFO): DAT read: Tx time:20:51:00.3121 2025-10-28T20:51:00.578Z,1761684660.578 [DAT](INFO): Ping request sent. 2025-10-28T20:51:00.578Z,1761684660.578 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:51:00.578Z,1761684660.578 [DAT](INFO): publishing transmit ping time 2025-10-28T20:51:00.579Z,1761684660.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T20:51:00.829Z,1761684660.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 2025-10-28T20:51:00.974Z,1761684660.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951221,-0.297005,-0.083462],[0.297605,0.954674,-0.005447],[0.081297,-0.019657,0.996496]] 2025-10-28T20:51:01.081Z,1761684661.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971 2025-10-28T20:51:01.333Z,1761684661.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064 2025-10-28T20:51:01.385Z,1761684661.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945896,-0.313565,-0.083414],[0.314111,0.949362,-0.006838],[0.081334,-0.019733,0.996491]] 2025-10-28T20:51:01.585Z,1761684661.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007543 2025-10-28T20:51:01.819Z,1761684661.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940507,-0.329407,-0.083292],[0.329960,0.943966,-0.007426],[0.081071,-0.020499,0.996498]] 2025-10-28T20:51:01.837Z,1761684661.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259112 2025-10-28T20:51:02.089Z,1761684662.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510945 2025-10-28T20:51:02.187Z,1761684662.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935101,-0.344471,-0.083225],[0.345026,0.938559,-0.008078],[0.080894,-0.021161,0.996498]] 2025-10-28T20:51:02.341Z,1761684662.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762974 2025-10-28T20:51:02.590Z,1761684662.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929455,-0.359567,-0.082611],[0.360055,0.932883,-0.009420],[0.080453,-0.020989,0.996537]] 2025-10-28T20:51:02.593Z,1761684662.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015069 2025-10-28T20:51:02.637Z,1761684662.637 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:51:02.637Z,1761684662.637 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:51:02.637Z,1761684662.637 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:51:02.637Z,1761684662.637 [marl:UpdateRudder:A] Stopped 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode] Stopped 2025-10-28T20:51:02.638Z,1761684662.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed] Stopped 2025-10-28T20:51:02.639Z,1761684662.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:51:02.845Z,1761684662.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266914 2025-10-28T20:51:02.995Z,1761684662.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923774,-0.374203,-0.081326],[0.374654,0.927108,-0.010220],[0.079222,-0.021028,0.996635]] 2025-10-28T20:51:03.045Z,1761684663.045 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:51:03.045Z,1761684663.045 [marl:UpdateRudder:B] Stopped 2025-10-28T20:51:03.046Z,1761684663.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:51:03.046Z,1761684663.046 [marl:UpdateRudder] Stopped 2025-10-28T20:51:03.046Z,1761684663.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:51:03.097Z,1761684663.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519457 2025-10-28T20:51:03.349Z,1761684663.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770986 2025-10-28T20:51:03.405Z,1761684663.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917855,-0.388930,-0.079219],[0.389191,0.921069,-0.012751],[0.077926,-0.019128,0.996776]] 2025-10-28T20:51:03.601Z,1761684663.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848 2025-10-28T20:51:03.823Z,1761684663.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911649,-0.403702,-0.076950],[0.403873,0.914707,-0.014027],[0.076049,-0.018291,0.996936]] 2025-10-28T20:51:03.853Z,1761684663.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275048 2025-10-28T20:51:04.105Z,1761684664.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527136 2025-10-28T20:51:04.206Z,1761684664.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905153,-0.418528,-0.074379],[0.418575,0.908046,-0.015705],[0.074113,-0.016917,0.997106]] 2025-10-28T20:51:04.357Z,1761684664.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779007 2025-10-28T20:51:04.609Z,1761684664.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031021 2025-10-28T20:51:04.613Z,1761684664.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898036,-0.434151,-0.071019],[0.433999,0.900726,-0.018357],[0.071939,-0.014337,0.997306]] 2025-10-28T20:51:04.861Z,1761684664.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282984 2025-10-28T20:51:05.017Z,1761684665.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890291,-0.450297,-0.067924],[0.450004,0.892793,-0.020420],[0.069837,-0.012386,0.997482]] 2025-10-28T20:51:05.113Z,1761684665.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534948 2025-10-28T20:51:05.365Z,1761684665.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786930 2025-10-28T20:51:05.419Z,1761684665.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882221,-0.466238,-0.065638],[0.465942,0.884573,-0.020687],[0.067706,-0.012333,0.997629]] 2025-10-28T20:51:05.617Z,1761684665.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039016 2025-10-28T20:51:05.829Z,1761684665.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875214,-0.479053,-0.067155],[0.479271,0.877557,-0.013874],[0.065578,-0.020043,0.997646]] 2025-10-28T20:51:05.869Z,1761684665.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291017 2025-10-28T20:51:06.121Z,1761684666.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543572 2025-10-28T20:51:06.226Z,1761684666.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870013,-0.487540,-0.073361],[0.488871,0.872356,0.000221],[0.063889,-0.036056,0.997305]] 2025-10-28T20:51:06.373Z,1761684666.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794944 2025-10-28T20:51:06.625Z,1761684666.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047042 2025-10-28T20:51:06.638Z,1761684666.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866495,-0.492207,-0.083179],[0.495225,0.868551,0.019273],[0.062759,-0.057892,0.996348]] 2025-10-28T20:51:06.877Z,1761684666.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298938 2025-10-28T20:51:07.034Z,1761684667.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864433,-0.493375,-0.096632],[0.498942,0.865500,0.044347],[0.061755,-0.086549,0.994332]] 2025-10-28T20:51:07.129Z,1761684667.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551418 2025-10-28T20:51:07.381Z,1761684667.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802902 2025-10-28T20:51:07.438Z,1761684667.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863646,-0.491813,-0.110614],[0.500395,0.862957,0.070070],[0.060994,-0.115866,0.991390]] 2025-10-28T20:51:07.633Z,1761684667.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055536 2025-10-28T20:51:07.843Z,1761684667.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863747,-0.488640,-0.123171],[0.500318,0.860745,0.093803],[0.060182,-0.142647,0.987942]] 2025-10-28T20:51:07.885Z,1761684667.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307085 2025-10-28T20:51:08.139Z,1761684668.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560969 2025-10-28T20:51:08.248Z,1761684668.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864295,-0.484924,-0.133578],[0.499461,0.858806,0.113981],[0.059445,-0.165230,0.984462]] 2025-10-28T20:51:08.389Z,1761684668.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810929 2025-10-28T20:51:08.645Z,1761684668.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066980 2025-10-28T20:51:08.652Z,1761684668.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865326,-0.480682,-0.141967],[0.497761,0.857347,0.131114],[0.058691,-0.184122,0.981149]] 2025-10-28T20:51:08.897Z,1761684668.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318909 2025-10-28T20:51:09.055Z,1761684669.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866816,-0.476539,-0.146767],[0.495267,0.856952,0.142632],[0.057803,-0.196325,0.978834]] 2025-10-28T20:51:09.149Z,1761684669.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570959 2025-10-28T20:51:09.401Z,1761684669.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822986 2025-10-28T20:51:09.465Z,1761684669.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868282,-0.473206,-0.148873],[0.492833,0.857088,0.150054],[0.056590,-0.203659,0.977405]] 2025-10-28T20:51:09.653Z,1761684669.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075297 2025-10-28T20:51:09.864Z,1761684669.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869479,-0.470820,-0.149447],[0.490866,0.857386,0.154727],[0.055285,-0.207891,0.976588]] 2025-10-28T20:51:09.905Z,1761684669.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327083 2025-10-28T20:51:10.158Z,1761684670.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579891 2025-10-28T20:51:10.271Z,1761684670.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870516,-0.469283,-0.148242],[0.489186,0.858057,0.156319],[0.053842,-0.208596,0.976519]] 2025-10-28T20:51:10.409Z,1761684670.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831199 2025-10-28T20:51:10.661Z,1761684670.661 [DAT](INFO): Reached modem response timeout 2025-10-28T20:51:10.672Z,1761684670.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871781,-0.467146,-0.147558],[0.487102,0.858679,0.159382],[0.052250,-0.210822,0.976127]] 2025-10-28T20:51:11.074Z,1761684671.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873067,-0.465157,-0.146228],[0.484984,0.859436,0.161741],[0.050439,-0.212129,0.975939]] 2025-10-28T20:51:11.485Z,1761684671.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874424,-0.463572,-0.143124],[0.482853,0.860285,0.163591],[0.047291,-0.212155,0.976091]] 2025-10-28T20:51:11.882Z,1761684671.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876059,-0.461627,-0.139357],[0.480228,0.861373,0.165583],[0.043601,-0.211983,0.976300]] 2025-10-28T20:51:12.292Z,1761684672.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877680,-0.459818,-0.135077],[0.477647,0.862303,0.168188],[0.039142,-0.212134,0.976456]] 2025-10-28T20:51:12.693Z,1761684672.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879288,-0.458192,-0.130050],[0.475044,0.863404,0.169905],[0.034436,-0.211175,0.976842]] 2025-10-28T20:51:12.929Z,1761684672.929 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:51:12.929Z,1761684672.929 [DAT](INFO): response not received 2025-10-28T20:51:12.929Z,1761684672.929 [DAT](ERROR): No response from remote modem. 2025-10-28T20:51:13.095Z,1761684673.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880534,-0.457185,-0.125067],[0.473058,0.864147,0.171655],[0.029598,-0.210312,0.977186]] 2025-10-28T20:51:13.502Z,1761684673.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881117,-0.457583,-0.119374],[0.472265,0.864497,0.172081],[0.024457,-0.207999,0.977823]] 2025-10-28T20:51:13.902Z,1761684673.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880717,-0.459903,-0.113258],[0.473233,0.864375,0.170017],[0.019706,-0.203335,0.978911]] 2025-10-28T20:51:14.307Z,1761684674.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879362,-0.463723,-0.108089],[0.475918,0.863125,0.168870],[0.014986,-0.199939,0.979694]] 2025-10-28T20:51:14.712Z,1761684674.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877087,-0.469007,-0.103683],[0.480218,0.860877,0.168169],[0.010386,-0.197289,0.980290]] 2025-10-28T20:51:15.115Z,1761684675.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874100,-0.475485,-0.099310],[0.485705,0.858210,0.166032],[0.006283,-0.193364,0.981107]] 2025-10-28T20:51:15.519Z,1761684675.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870742,-0.482289,-0.095946],[0.491734,0.855032,0.164679],[0.002614,-0.190573,0.981670]] 2025-10-28T20:51:15.573Z,1761684675.573 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:51:15.573Z,1761684675.573 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateRudder:A] Stopped 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:51:15.574Z,1761684675.574 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateCommandMode] Stopped 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:51:15.575Z,1761684675.575 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:51:15.576Z,1761684675.576 [marl:UpdateSpeed] Stopped 2025-10-28T20:51:15.576Z,1761684675.576 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:51:15.923Z,1761684675.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867095,-0.489246,-0.093731],[0.498143,0.851371,0.164382],[-0.000623,-0.189226,0.981933]] 2025-10-28T20:51:15.990Z,1761684675.990 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:51:15.991Z,1761684675.991 [marl:UpdateRudder:B] Stopped 2025-10-28T20:51:15.991Z,1761684675.991 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:51:15.991Z,1761684675.991 [marl:UpdateRudder] Stopped 2025-10-28T20:51:15.991Z,1761684675.991 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:51:16.328Z,1761684676.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863338,-0.496057,-0.092602],[0.504616,0.847499,0.164647],[-0.003194,-0.188875,0.981996]] 2025-10-28T20:51:16.731Z,1761684676.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859871,-0.502251,-0.091467],[0.510482,0.843969,0.164697],[-0.005524,-0.188311,0.982094]] 2025-10-28T20:51:17.134Z,1761684677.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857111,-0.507181,-0.090162],[0.515069,0.841027,0.165459],[-0.008089,-0.188256,0.982087]] 2025-10-28T20:51:17.543Z,1761684677.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855404,-0.510257,-0.089006],[0.517852,0.838964,0.167236],[-0.010660,-0.189147,0.981891]] 2025-10-28T20:51:18.346Z,1761684678.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855377,-0.510695,-0.086722],[0.517746,0.837582,0.174343],[-0.016399,-0.194029,0.980859]] 2025-10-28T20:51:18.758Z,1761684678.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856661,-0.508996,-0.083995],[0.515502,0.838381,0.177128],[-0.019738,-0.195038,0.980597]] 2025-10-28T20:51:19.158Z,1761684679.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858259,-0.506800,-0.080904],[0.512697,0.839578,0.179584],[-0.023088,-0.195609,0.980410]] 2025-10-28T20:51:19.563Z,1761684679.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860072,-0.504094,-0.078526],[0.509476,0.840613,0.183858],[-0.026671,-0.198139,0.979811]] 2025-10-28T20:51:19.982Z,1761684679.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861908,-0.501464,-0.075154],[0.506168,0.842072,0.186305],[-0.030140,-0.198618,0.979613]] 2025-10-28T20:51:20.777Z,1761684680.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864605,-0.497781,-0.068355],[0.500970,0.843597,0.193322],[-0.038568,-0.201391,0.978751]] 2025-10-28T20:51:21.183Z,1761684681.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865110,-0.497374,-0.064837],[0.499772,0.843787,0.195580],[-0.042567,-0.201602,0.978542]] 2025-10-28T20:51:21.578Z,1761684681.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865027,-0.497931,-0.061596],[0.499563,0.843395,0.197789],[-0.046536,-0.201864,0.978307]] 2025-10-28T20:51:22.388Z,1761684682.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862694,-0.502449,-0.057473],[0.502969,0.840585,0.201094],[-0.052729,-0.202390,0.977884]] 2025-10-28T20:51:22.795Z,1761684682.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860964,-0.505527,-0.056418],[0.505687,0.838656,0.202327],[-0.054967,-0.202726,0.977692]] 2025-10-28T20:51:23.261Z,1761684683.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859304,-0.508420,-0.055730],[0.508312,0.836843,0.203256],[-0.056702,-0.202987,0.977538]] 2025-10-28T20:51:23.599Z,1761684683.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857374,-0.511711,-0.055342],[0.511382,0.834738,0.204208],[-0.058300,-0.203384,0.977362]] 2025-10-28T20:51:24.406Z,1761684684.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854043,-0.517487,-0.053093],[0.516498,0.831373,0.205058],[-0.061975,-0.202551,0.977309]] 2025-10-28T20:51:24.811Z,1761684684.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852369,-0.520319,-0.052296],[0.519063,0.829654,0.205544],[-0.063561,-0.202345,0.977250]] 2025-10-28T20:51:25.222Z,1761684685.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850662,-0.523220,-0.051132],[0.521621,0.827929,0.206024],[-0.065462,-0.201928,0.977210]] 2025-10-28T20:51:25.619Z,1761684685.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848936,-0.526148,-0.049756],[0.524179,0.826252,0.206264],[-0.067414,-0.201186,0.977231]] 2025-10-28T20:51:26.023Z,1761684686.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847331,-0.528808,-0.048905],[0.526555,0.824588,0.206868],[-0.069067,-0.201037,0.977146]] 2025-10-28T20:51:26.427Z,1761684686.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845259,-0.532209,-0.047862],[0.529724,0.822794,0.205918],[-0.070211,-0.199407,0.977398]] 2025-10-28T20:51:26.484Z,1761684686.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:51:26.831Z,1761684686.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843565,-0.534864,-0.048147],[0.532365,0.821087,0.205922],[-0.070608,-0.199341,0.977383]] 2025-10-28T20:51:27.250Z,1761684687.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841905,-0.537361,-0.049387],[0.535030,0.819311,0.206089],[-0.070281,-0.199931,0.977286]] 2025-10-28T20:51:27.488Z,1761684687.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:51:27.638Z,1761684687.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840250,-0.539817,-0.050768],[0.537707,0.817599,0.205918],[-0.069650,-0.200320,0.977252]] 2025-10-28T20:51:28.447Z,1761684688.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838605,-0.542099,-0.053572],[0.540537,0.815908,0.205215],[-0.067537,-0.201053,0.977250]] 2025-10-28T20:51:28.508Z,1761684688.508 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateRudder:A] Stopped 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:51:28.509Z,1761684688.509 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateCommandMode] Stopped 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:51:28.510Z,1761684688.510 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:51:28.511Z,1761684688.511 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:51:28.511Z,1761684688.511 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:51:28.511Z,1761684688.511 [marl:UpdateSpeed] Stopped 2025-10-28T20:51:28.511Z,1761684688.511 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:51:28.853Z,1761684688.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838455,-0.542167,-0.055210],[0.540928,0.815637,0.205263],[-0.066256,-0.201968,0.977148]] 2025-10-28T20:51:28.881Z,1761684688.881 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:51:28.881Z,1761684688.881 [marl:UpdateRudder:B] Stopped 2025-10-28T20:51:28.882Z,1761684688.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:51:28.882Z,1761684688.882 [marl:UpdateRudder] Stopped 2025-10-28T20:51:28.882Z,1761684688.882 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:51:29.260Z,1761684689.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838749,-0.541577,-0.056519],[0.540616,0.815834,0.205303],[-0.065077,-0.202753,0.977065]] 2025-10-28T20:51:29.659Z,1761684689.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839482,-0.540298,-0.057858],[0.539582,0.816287,0.206220],[-0.064192,-0.204337,0.976794]] 2025-10-28T20:51:30.062Z,1761684690.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840373,-0.538924,-0.057747],[0.538268,0.817325,0.205542],[-0.063573,-0.203815,0.976943]] 2025-10-28T20:51:30.871Z,1761684690.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842041,-0.536561,-0.055399],[0.535635,0.819587,0.203401],[-0.063733,-0.200946,0.977527]] 2025-10-28T20:51:31.275Z,1761684691.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842696,-0.535692,-0.053841],[0.534565,0.820613,0.202076],[-0.064068,-0.199070,0.977889]] 2025-10-28T20:51:31.679Z,1761684691.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842728,-0.535750,-0.052735],[0.534477,0.820947,0.200947],[-0.064365,-0.197529,0.978182]] 2025-10-28T20:51:32.487Z,1761684692.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842139,-0.536899,-0.050408],[0.535261,0.820870,0.199169],[-0.065555,-0.194709,0.978668]] 2025-10-28T20:51:32.890Z,1761684692.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841018,-0.538668,-0.050251],[0.536956,0.819768,0.199145],[-0.066079,-0.194467,0.978681]] 2025-10-28T20:51:33.302Z,1761684693.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839223,-0.541444,-0.050422],[0.539740,0.818097,0.198488],[-0.066220,-0.193791,0.978805]] 2025-10-28T20:51:34.102Z,1761684694.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834425,-0.548271,-0.055973],[0.547391,0.812696,0.199723],[-0.064013,-0.197293,0.978252]] 2025-10-28T20:51:34.510Z,1761684694.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831747,-0.551840,-0.060583],[0.551679,0.809407,0.201271],[-0.062033,-0.200829,0.977660]] 2025-10-28T20:51:34.910Z,1761684694.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829060,-0.555402,-0.064708],[0.555992,0.806526,0.200971],[-0.059431,-0.202595,0.977458]] 2025-10-28T20:51:35.315Z,1761684695.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826599,-0.558582,-0.068702],[0.559955,0.804042,0.199917],[-0.056430,-0.203721,0.977401]] 2025-10-28T20:51:35.727Z,1761684695.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823956,-0.562043,-0.072139],[0.564126,0.801595,0.198009],[-0.053463,-0.203846,0.977542]] 2025-10-28T20:51:36.124Z,1761684696.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821973,-0.564508,-0.075443],[0.567262,0.799688,0.196756],[-0.050739,-0.204524,0.977546]] 2025-10-28T20:51:36.528Z,1761684696.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820203,-0.566615,-0.078831],[0.570053,0.797942,0.195776],[-0.048027,-0.205514,0.977475]] 2025-10-28T20:51:36.931Z,1761684696.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818313,-0.568931,-0.081735],[0.572961,0.796162,0.194530],[-0.045599,-0.206017,0.977485]] 2025-10-28T20:51:37.343Z,1761684697.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816680,-0.570905,-0.084270],[0.575460,0.794673,0.193234],[-0.043351,-0.206305,0.977527]] 2025-10-28T20:51:37.745Z,1761684697.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814860,-0.573223,-0.086134],[0.578186,0.793185,0.191204],[-0.041282,-0.205606,0.977764]] 2025-10-28T20:51:38.142Z,1761684698.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812835,-0.575754,-0.088352],[0.581180,0.791436,0.189363],[-0.039102,-0.205269,0.977924]] 2025-10-28T20:51:38.547Z,1761684698.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810884,-0.578051,-0.091237],[0.584048,0.789574,0.188308],[-0.036814,-0.205983,0.977863]] 2025-10-28T20:51:38.951Z,1761684698.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809175,-0.579999,-0.094002],[0.586576,0.788115,0.186555],[-0.034117,-0.206096,0.977937]] 2025-10-28T20:51:39.362Z,1761684699.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807862,-0.581489,-0.096065],[0.588534,0.787238,0.184079],[-0.031414,-0.205248,0.978206]] 2025-10-28T20:51:39.798Z,1761684699.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806618,-0.582497,-0.100320],[0.590540,0.786994,0.178611],[-0.025089,-0.203314,0.978792]] 2025-10-28T20:51:40.978Z,1761684700.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807564,-0.580257,-0.105558],[0.589555,0.789276,0.171662],[-0.016294,-0.200860,0.979484]] 2025-10-28T20:51:41.379Z,1761684701.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807987,-0.579426,-0.106876],[0.589035,0.790067,0.169798],[-0.013946,-0.200149,0.979666]] 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateRudder:A] Stopped 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:51:41.414Z,1761684701.414 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateCommandMode] Stopped 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:51:41.415Z,1761684701.415 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:51:41.416Z,1761684701.416 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:51:41.416Z,1761684701.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:51:41.416Z,1761684701.416 [marl:UpdateSpeed] Stopped 2025-10-28T20:51:41.416Z,1761684701.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:51:41.818Z,1761684701.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808154,-0.578923,-0.108333],[0.588849,0.790453,0.168646],[-0.012001,-0.200084,0.979705]] 2025-10-28T20:51:41.937Z,1761684701.937 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:51:41.937Z,1761684701.937 [marl:UpdateRudder:B] Stopped 2025-10-28T20:51:41.937Z,1761684701.937 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:51:41.937Z,1761684701.937 [marl:UpdateRudder] Stopped 2025-10-28T20:51:41.937Z,1761684701.937 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:51:42.191Z,1761684702.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807977,-0.578768,-0.110458],[0.589121,0.790199,0.168884],[-0.010461,-0.201527,0.979427]] 2025-10-28T20:51:42.591Z,1761684702.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806704,-0.580076,-0.112873],[0.590882,0.788741,0.169544],[-0.009321,-0.203467,0.979037]] 2025-10-28T20:51:42.991Z,1761684702.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805101,-0.581903,-0.114900],[0.593079,0.787048,0.169740],[-0.008341,-0.204803,0.978768]] 2025-10-28T20:51:43.394Z,1761684703.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802340,-0.585272,-0.117076],[0.596825,0.784376,0.168979],[-0.007066,-0.205452,0.978642]] 2025-10-28T20:51:43.820Z,1761684703.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799222,-0.588840,-0.120463],[0.601011,0.781138,0.169144],[-0.005501,-0.207583,0.978202]] 2025-10-28T20:51:44.214Z,1761684704.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795817,-0.592684,-0.124103],[0.605524,0.777571,0.169478],[-0.003948,-0.210021,0.977689]] 2025-10-28T20:51:44.607Z,1761684704.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792223,-0.596609,-0.128224],[0.610228,0.773793,0.169897],[-0.002143,-0.212842,0.977084]] 2025-10-28T20:51:45.010Z,1761684705.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788837,-0.600355,-0.131571],[0.614603,0.770575,0.168754],[0.000074,-0.213983,0.976837]] 2025-10-28T20:51:45.414Z,1761684705.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785730,-0.603735,-0.134655],[0.618565,0.767708,0.167341],[0.002347,-0.214778,0.976660]] 2025-10-28T20:51:45.829Z,1761684705.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783027,-0.606537,-0.137774],[0.621969,0.765262,0.165918],[0.004798,-0.215609,0.976468]] 2025-10-28T20:51:46.222Z,1761684706.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780715,-0.609280,-0.138788],[0.624843,0.763793,0.161836],[0.007402,-0.213069,0.977009]] 2025-10-28T20:51:46.632Z,1761684706.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779263,-0.610834,-0.140113],[0.626622,0.762919,0.159060],[0.009736,-0.211747,0.977276]] 2025-10-28T20:51:47.033Z,1761684707.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778020,-0.612361,-0.140352],[0.628128,0.762435,0.155400],[0.011848,-0.209064,0.977830]] 2025-10-28T20:51:47.434Z,1761684707.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777513,-0.612988,-0.140428],[0.628716,0.762597,0.152192],[0.013798,-0.206621,0.978324]] 2025-10-28T20:51:47.839Z,1761684707.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777110,-0.613595,-0.140004],[0.629174,0.762884,0.148820],[0.015492,-0.203737,0.978903]] 2025-10-28T20:51:48.244Z,1761684708.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776680,-0.614141,-0.139995],[0.629661,0.763040,0.145937],[0.017196,-0.201496,0.979338]] 2025-10-28T20:51:48.650Z,1761684708.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776221,-0.614601,-0.140521],[0.630190,0.762899,0.144381],[0.018466,-0.200627,0.979494]] 2025-10-28T20:51:49.053Z,1761684709.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775599,-0.615313,-0.140838],[0.630928,0.762547,0.143011],[0.019399,-0.199777,0.979649]] 2025-10-28T20:51:49.454Z,1761684709.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774648,-0.616195,-0.142214],[0.632065,0.761660,0.142718],[0.020376,-0.200444,0.979493]] 2025-10-28T20:51:49.859Z,1761684709.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773296,-0.617298,-0.144760],[0.633682,0.760159,0.143546],[0.021430,-0.202736,0.978999]] 2025-10-28T20:51:50.677Z,1761684710.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769987,-0.619873,-0.151254],[0.637633,0.756208,0.146879],[0.023333,-0.209539,0.977522]] 2025-10-28T20:51:51.070Z,1761684711.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767867,-0.622106,-0.152854],[0.640152,0.754170,0.146401],[0.024201,-0.210266,0.977345]] 2025-10-28T20:51:51.475Z,1761684711.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765723,-0.624242,-0.154888],[0.642688,0.751956,0.146676],[0.024907,-0.211858,0.976983]] 2025-10-28T20:51:51.878Z,1761684711.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762655,-0.627438,-0.157097],[0.646309,0.748764,0.147096],[0.025335,-0.213716,0.976567]] 2025-10-28T20:51:52.285Z,1761684712.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759190,-0.631347,-0.158215],[0.650371,0.745363,0.146463],[0.025458,-0.214092,0.976482]] 2025-10-28T20:51:52.700Z,1761684712.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755484,-0.635562,-0.159075],[0.654661,0.741848,0.145188],[0.025733,-0.213827,0.976532]] 2025-10-28T20:51:53.091Z,1761684713.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750879,-0.640727,-0.160158],[0.659926,0.737462,0.143691],[0.026044,-0.213587,0.976577]] 2025-10-28T20:51:53.495Z,1761684713.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745863,-0.646430,-0.160677],[0.665568,0.732898,0.140997],[0.026615,-0.212106,0.976884]] 2025-10-28T20:51:53.900Z,1761684713.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740506,-0.652497,-0.160931],[0.671478,0.728225,0.137130],[0.027717,-0.209607,0.977393]] 2025-10-28T20:51:54.304Z,1761684714.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735453,-0.658075,-0.161386],[0.676934,0.723968,0.132776],[0.029462,-0.206898,0.977919]] 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateRudder:A] Stopped 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:51:54.335Z,1761684714.335 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:51:54.336Z,1761684714.336 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:51:54.336Z,1761684714.336 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:51:54.336Z,1761684714.336 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:51:54.336Z,1761684714.336 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:51:54.336Z,1761684714.336 [marl:UpdateCommandMode] Stopped 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed] Stopped 2025-10-28T20:51:54.337Z,1761684714.337 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:51:54.706Z,1761684714.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731992,-0.661684,-0.162362],[0.680566,0.721279,0.128788],[0.031891,-0.204770,0.978290]] 2025-10-28T20:51:54.763Z,1761684714.763 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:51:54.763Z,1761684714.763 [marl:UpdateRudder:B] Stopped 2025-10-28T20:51:54.763Z,1761684714.763 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:51:54.763Z,1761684714.763 [marl:UpdateRudder] Stopped 2025-10-28T20:51:54.763Z,1761684714.763 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:51:55.111Z,1761684715.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729399,-0.664202,-0.163745],[0.683188,0.719539,0.124570],[0.035081,-0.202730,0.978606]] 2025-10-28T20:51:55.515Z,1761684715.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728827,-0.664630,-0.164551],[0.683639,0.719732,0.120928],[0.038060,-0.200629,0.978928]] 2025-10-28T20:51:56.323Z,1761684716.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730770,-0.662466,-0.164662],[0.681241,0.723100,0.114178],[0.043428,-0.195612,0.979719]] 2025-10-28T20:51:56.729Z,1761684716.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732894,-0.659919,-0.165451],[0.678825,0.725542,0.113071],[0.045424,-0.195181,0.979715]] 2025-10-28T20:51:57.535Z,1761684717.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742129,-0.649015,-0.167405],[0.668641,0.734211,0.117703],[0.046519,-0.199284,0.978837]] 2025-10-28T20:51:57.609Z,1761684717.609 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:51:57.939Z,1761684717.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749757,-0.637405,-0.177705],[0.660074,0.739316,0.133093],[0.046546,-0.217086,0.975042]] 2025-10-28T20:51:58.344Z,1761684718.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758723,-0.621604,-0.194805],[0.649721,0.743666,0.157556],[0.046933,-0.246110,0.968105]] 2025-10-28T20:51:58.612Z,1761684718.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:51:58.747Z,1761684718.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767970,-0.603962,-0.213193],[0.638686,0.747078,0.184268],[0.047981,-0.277676,0.959476]] 2025-10-28T20:51:59.157Z,1761684719.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776326,-0.586179,-0.231757],[0.628339,0.748875,0.210656],[0.050075,-0.309160,0.949691]] 2025-10-28T20:51:59.554Z,1761684719.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784351,-0.568520,-0.248153],[0.618074,0.750253,0.234746],[0.052720,-0.337499,0.939848]] 2025-10-28T20:51:59.674Z,1761684719.674 [CTD_Seabird](ERROR): Failed to parse device response: 14.94,2 2025-10-28T20:51:59.962Z,1761684719.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791846,-0.551367,-0.262630],[0.608131,0.751423,0.256010],[0.056191,-0.362434,0.930314]] 2025-10-28T20:52:00.402Z,1761684720.402 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:52:00.589Z,1761684720.589 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:52:00.589Z,1761684720.589 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:52:00.841Z,1761684720.841 [DAT](INFO): DAT read: user:272> 2025-10-28T20:52:00.842Z,1761684720.842 [DAT](INFO): DAT read: Tx time:20:52:00.5619 2025-10-28T20:52:00.843Z,1761684720.843 [DAT](INFO): Ping request sent. 2025-10-28T20:52:00.843Z,1761684720.843 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:52:00.843Z,1761684720.843 [DAT](INFO): publishing transmit ping time 2025-10-28T20:52:00.844Z,1761684720.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001338 2025-10-28T20:52:01.093Z,1761684721.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250019 2025-10-28T20:52:01.177Z,1761684721.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813112,-0.505736,-0.288237],[0.578003,0.760151,0.296787],[0.069008,-0.407923,0.910405]] 2025-10-28T20:52:01.345Z,1761684721.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501945 2025-10-28T20:52:01.576Z,1761684721.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821411,-0.491516,-0.289302],[0.565589,0.767308,0.302236],[0.073430,-0.411887,0.908272]] 2025-10-28T20:52:01.597Z,1761684721.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754237 2025-10-28T20:52:01.849Z,1761684721.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006044 2025-10-28T20:52:02.101Z,1761684722.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258132 2025-10-28T20:52:02.353Z,1761684722.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510096 2025-10-28T20:52:02.382Z,1761684722.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839350,-0.461710,-0.286908],[0.537429,0.784088,0.310445],[0.081626,-0.414764,0.906260]] 2025-10-28T20:52:02.605Z,1761684722.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762046 2025-10-28T20:52:02.792Z,1761684722.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848561,-0.446748,-0.283478],[0.522203,0.793363,0.312857],[0.085132,-0.413512,0.906510]] 2025-10-28T20:52:02.858Z,1761684722.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015390 2025-10-28T20:52:03.109Z,1761684723.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266084 2025-10-28T20:52:03.191Z,1761684723.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857872,-0.431687,-0.278751],[0.506223,0.803165,0.314109],[0.088287,-0.410576,0.907542]] 2025-10-28T20:52:03.361Z,1761684723.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518179 2025-10-28T20:52:03.594Z,1761684723.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867206,-0.416948,-0.272229],[0.489664,0.813369,0.314102],[0.090458,-0.405692,0.909523]] 2025-10-28T20:52:03.613Z,1761684723.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770078 2025-10-28T20:52:03.866Z,1761684723.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022851 2025-10-28T20:52:04.037Z,1761684724.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875579,-0.403234,-0.266014],[0.474183,0.822583,0.313860],[0.092260,-0.400949,0.911443]] 2025-10-28T20:52:04.117Z,1761684724.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274092 2025-10-28T20:52:04.369Z,1761684724.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526035 2025-10-28T20:52:04.426Z,1761684724.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883467,-0.389893,-0.259748],[0.459050,0.831182,0.313703],[0.093587,-0.396384,0.913302]] 2025-10-28T20:52:04.623Z,1761684724.623 [DAT](INFO): DAT read: Rx Time:20:52:03.7905 2025-10-28T20:52:04.623Z,1761684724.623 [DAT](INFO): Rx dataTimestamp_ set to:1761684724.622804 2025-10-28T20:52:04.624Z,1761684724.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781243 2025-10-28T20:52:04.831Z,1761684724.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890618,-0.377436,-0.253656],[0.444876,0.838760,0.313954],[0.094259,-0.392459,0.914927]] 2025-10-28T20:52:04.873Z,1761684724.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030128 2025-10-28T20:52:05.132Z,1761684725.132 [DAT](INFO): DAT read: 20:52:03.7905 LVL= 32752, 32753, 22818, 32755, AGC= 71, IDX= 328, 0.23, 1.616, 0.496, 2.781, 1.814, PHS=-0.096,-1.273, 0.923, RAW= 177.6, 4.7, CAL= 177.2, 3.1, ROT= 332.8, -3.1 2025-10-28T20:52:05.135Z,1761684725.135 [DAT](INFO): got valid direction response: 20:52:03.7905 LVL= 32752, 32753, 22818, 32755, AGC= 71, IDX= 328, 0.23, 1.616, 0.496, 2.781, 1.814, PHS=-0.096,-1.273, 0.923, RAW= 177.6, 4.7, CAL= 177.2, 3.1, ROT= 332.8, -3.1 2025-10-28T20:52:05.137Z,1761684725.137 [DAT](INFO): DAT read: Bearing 170.7, -20.9 (Local) 2025-10-28T20:52:05.137Z,1761684725.137 [DAT](INFO): Local bearing/azimuth received: Bearing 170.7, -20.9 (Local) 2025-10-28T20:52:05.139Z,1761684725.139 [DAT](INFO): DAT read: Range 11 to 20 : 618.4 m (Round-trip 824.6 ms) speed 0.4 m/s 2025-10-28T20:52:05.141Z,1761684725.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:52:05.142Z,1761684725.142 [DAT](INFO): direction in FSK: [0.888115,-0.456429,0.054079] 2025-10-28T20:52:05.142Z,1761684725.142 [DAT](INFO): publishing direction and range info 2025-10-28T20:52:05.235Z,1761684725.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896595,-0.366300,-0.248880],[0.432535,0.844932,0.314648],[0.095032,-0.389761,0.916000]] 2025-10-28T20:52:05.298Z,1761684725.298 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684736.00. Resetting abort timer. 2025-10-28T20:52:05.682Z,1761684725.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902248,-0.355511,-0.244051],[0.420492,0.850786,0.315197],[0.095579,-0.387008,0.917109]] 2025-10-28T20:52:06.561Z,1761684726.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913177,-0.332099,-0.236257],[0.395829,0.860769,0.319995],[0.097093,-0.385729,0.917489]] 2025-10-28T20:52:06.942Z,1761684726.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919175,-0.318701,-0.231403],[0.381694,0.865678,0.323899],[0.097093,-0.386045,0.917356]] 2025-10-28T20:52:07.347Z,1761684727.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925389,-0.304679,-0.225445],[0.366515,0.870868,0.327500],[0.096550,-0.385694,0.917561]] 2025-10-28T20:52:07.371Z,1761684727.371 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:52:07.371Z,1761684727.371 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:52:07.371Z,1761684727.371 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateRudder:A] Stopped 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:52:07.373Z,1761684727.373 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateCommandMode] Stopped 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:52:07.374Z,1761684727.374 [marl:UpdateSpeed] Stopped 2025-10-28T20:52:07.375Z,1761684727.375 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:52:07.803Z,1761684727.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931641,-0.289827,-0.219191],[0.350500,0.875898,0.331590],[0.095885,-0.385749,0.917607]] 2025-10-28T20:52:07.884Z,1761684727.884 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:52:07.884Z,1761684727.884 [marl:UpdateRudder:B] Stopped 2025-10-28T20:52:07.884Z,1761684727.884 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:52:07.884Z,1761684727.884 [marl:UpdateRudder] Stopped 2025-10-28T20:52:07.884Z,1761684727.884 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:52:08.562Z,1761684728.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944300,-0.257794,-0.204549],[0.315360,0.886517,0.338578],[0.094053,-0.384226,0.918436]] 2025-10-28T20:52:08.963Z,1761684728.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950263,-0.241408,-0.196779],[0.297262,0.891529,0.341777],[0.092927,-0.383273,0.918949]] 2025-10-28T20:52:09.373Z,1761684729.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955889,-0.225151,-0.188635],[0.279184,0.896019,0.345263],[0.091284,-0.382697,0.919353]] 2025-10-28T20:52:09.818Z,1761684729.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965631,-0.194830,-0.172038],[0.244734,0.904450,0.349392],[0.087528,-0.379488,0.921047]] 2025-10-28T20:52:10.702Z,1761684730.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973365,-0.168481,-0.155482],[0.214123,0.910432,0.353927],[0.081925,-0.377793,0.922259]] 2025-10-28T20:52:11.103Z,1761684731.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976635,-0.156672,-0.147100],[0.199934,0.913402,0.354574],[0.078810,-0.375700,0.923384]] 2025-10-28T20:52:11.508Z,1761684731.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979673,-0.144645,-0.138989],[0.185801,0.915476,0.356905],[0.075617,-0.375475,0.923743]] 2025-10-28T20:52:11.910Z,1761684731.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982398,-0.133034,-0.131136],[0.172069,0.917713,0.358044],[0.072713,-0.374306,0.924450]] 2025-10-28T20:52:12.315Z,1761684732.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984905,-0.121547,-0.123244],[0.158483,0.919528,0.359654],[0.069611,-0.373757,0.924911]] 2025-10-28T20:52:12.718Z,1761684732.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987316,-0.109244,-0.115210],[0.144104,0.921188,0.361449],[0.066644,-0.373467,0.925246]] 2025-10-28T20:52:13.143Z,1761684733.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989625,-0.095840,-0.107034],[0.128690,0.922554,0.363777],[0.063880,-0.373777,0.925316]] 2025-10-28T20:52:13.533Z,1761684733.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991793,-0.081814,-0.098252],[0.112442,0.923917,0.365696],[0.060858,-0.373742,0.925534]] 2025-10-28T20:52:13.935Z,1761684733.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993735,-0.067254,-0.089258],[0.095594,0.925246,0.367125],[0.057895,-0.373358,0.925879]] 2025-10-28T20:52:14.338Z,1761684734.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995388,-0.052795,-0.080091],[0.078734,0.926596,0.367724],[0.054798,-0.372334,0.926480]] 2025-10-28T20:52:14.747Z,1761684734.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996762,-0.037727,-0.071004],[0.061358,0.927611,0.368474],[0.051963,-0.371637,0.926923]] 2025-10-28T20:52:15.150Z,1761684735.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997810,-0.023403,-0.061872],[0.044638,0.928483,0.368681],[0.048819,-0.370636,0.927494]] 2025-10-28T20:52:15.551Z,1761684735.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998556,-0.009148,-0.052943],[0.028048,0.929227,0.368443],[0.045825,-0.369396,0.928142]] 2025-10-28T20:52:15.955Z,1761684735.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999029,0.004868,-0.043787],[0.011709,0.928802,0.370392],[0.042473,-0.370545,0.927843]] 2025-10-28T20:52:16.359Z,1761684736.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999204,0.019738,-0.034674],[-0.005389,0.927860,0.372890],[0.039533,-0.372407,0.927227]] 2025-10-28T20:52:16.772Z,1761684736.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999099,0.033752,-0.025710],[-0.021690,0.927088,0.374215],[0.036466,-0.373321,0.926985]] 2025-10-28T20:52:17.571Z,1761684737.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997982,0.063063,-0.007368],[-0.055702,0.925319,0.375077],[0.030471,-0.373910,0.926964]] 2025-10-28T20:52:18.381Z,1761684738.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995572,0.093413,0.010504],[-0.090502,0.922299,0.375731],[0.025410,-0.375018,0.926669]] 2025-10-28T20:52:18.806Z,1761684738.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993901,0.108598,0.019174],[-0.107828,0.920570,0.375399],[0.023117,-0.375177,0.926665]] 2025-10-28T20:52:19.199Z,1761684739.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991952,0.123520,0.027838],[-0.124929,0.918987,0.373973],[0.020610,-0.374441,0.927022]] 2025-10-28T20:52:19.622Z,1761684739.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989714,0.138281,0.036677],[-0.141934,0.916956,0.372888],[0.017932,-0.374258,0.927151]] 2025-10-28T20:52:20.423Z,1761684740.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984300,0.167538,0.055542],[-0.176156,0.912692,0.368731],[0.011084,-0.372726,0.927875]] 2025-10-28T20:52:20.447Z,1761684740.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:52:20.447Z,1761684740.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:52:20.447Z,1761684740.447 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:52:20.447Z,1761684740.447 [marl:UpdateRudder:A] Stopped 2025-10-28T20:52:20.448Z,1761684740.448 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:52:20.448Z,1761684740.448 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:52:20.448Z,1761684740.448 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:52:20.448Z,1761684740.448 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:52:20.448Z,1761684740.448 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateCommandMode] Stopped 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:52:20.449Z,1761684740.449 [marl:UpdateSpeed] Stopped 2025-10-28T20:52:20.450Z,1761684740.450 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:52:20.831Z,1761684740.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981143,0.181889,0.065383],[-0.193155,0.910353,0.365989],[0.007048,-0.371717,0.928320]] 2025-10-28T20:52:20.855Z,1761684740.855 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:52:20.855Z,1761684740.855 [marl:UpdateRudder:B] Stopped 2025-10-28T20:52:20.856Z,1761684740.856 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:52:20.856Z,1761684740.856 [marl:UpdateRudder] Stopped 2025-10-28T20:52:20.856Z,1761684740.856 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:52:21.231Z,1761684741.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977613,0.196427,0.075426],[-0.210388,0.907282,0.364109],[0.003088,-0.371827,0.928297]] 2025-10-28T20:52:21.636Z,1761684741.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973751,0.211105,0.085114],[-0.227617,0.904312,0.361124],[-0.000735,-0.371018,0.928625]] 2025-10-28T20:52:22.039Z,1761684742.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969594,0.225524,0.095005],[-0.244664,0.901520,0.356933],[-0.005152,-0.369324,0.929286]] 2025-10-28T20:52:22.444Z,1761684742.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965536,0.238078,0.105163],[-0.260025,0.899885,0.350134],[-0.011276,-0.365412,0.930778]] 2025-10-28T20:52:22.847Z,1761684742.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962361,0.247240,0.112844],[-0.271129,0.902003,0.335976],[-0.018719,-0.353925,0.935086]] 2025-10-28T20:52:23.251Z,1761684743.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960652,0.251966,0.116882],[-0.276343,0.909409,0.310820],[-0.027977,-0.330890,0.943255]] 2025-10-28T20:52:23.655Z,1761684743.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960997,0.250630,0.116916],[-0.273842,0.921458,0.275546],[-0.038673,-0.296816,0.954151]] 2025-10-28T20:52:24.060Z,1761684744.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963404,0.242819,0.113543],[-0.263225,0.937026,0.229554],[-0.050652,-0.251041,0.966650]] 2025-10-28T20:52:24.463Z,1761684744.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967190,0.229402,0.109168],[-0.246083,0.952732,0.178169],[-0.063136,-0.199188,0.977925]] 2025-10-28T20:52:24.867Z,1761684744.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971452,0.212117,0.106239],[-0.225111,0.965536,0.130635],[-0.074868,-0.150821,0.985722]] 2025-10-28T20:52:25.270Z,1761684745.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975510,0.192832,0.105814],[-0.202650,0.974967,0.091503],[-0.085520,-0.110706,0.990167]] 2025-10-28T20:52:25.675Z,1761684745.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979059,0.172952,0.107379],[-0.180042,0.981814,0.060211],[-0.095013,-0.078283,0.992393]] 2025-10-28T20:52:26.083Z,1761684746.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982013,0.152691,0.111067],[-0.157652,0.986790,0.037300],[-0.103904,-0.054139,0.993113]] 2025-10-28T20:52:26.484Z,1761684746.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984256,0.133685,0.115625],[-0.137053,0.990327,0.021652],[-0.111612,-0.037158,0.993057]] 2025-10-28T20:52:26.887Z,1761684746.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985782,0.116929,0.120672],[-0.119320,0.992774,0.012757],[-0.118308,-0.026974,0.992611]] 2025-10-28T20:52:27.291Z,1761684747.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986775,0.102313,0.125730],[-0.104158,0.994527,0.008177],[-0.124206,-0.021165,0.992031]] 2025-10-28T20:52:27.696Z,1761684747.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987373,0.089498,0.130707],[-0.091313,0.995790,0.007948],[-0.129446,-0.019783,0.991389]] 2025-10-28T20:52:28.119Z,1761684748.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987693,0.078355,0.135366],[-0.080257,0.996737,0.008644],[-0.134247,-0.019402,0.990758]] 2025-10-28T20:52:28.503Z,1761684748.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987862,0.068129,0.139594],[-0.070188,0.997485,0.009873],[-0.138570,-0.019551,0.990160]] 2025-10-28T20:52:28.736Z,1761684748.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:52:28.906Z,1761684748.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987899,0.058598,0.143605],[-0.060816,0.998087,0.011098],[-0.142680,-0.019697,0.989573]] 2025-10-28T20:52:29.313Z,1761684749.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987830,0.049349,0.147498],[-0.051851,0.998568,0.013164],[-0.146637,-0.020651,0.988975]] 2025-10-28T20:52:29.714Z,1761684749.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987707,0.040369,0.151014],[-0.043002,0.998974,0.014208],[-0.150285,-0.020528,0.988429]] 2025-10-28T20:52:29.737Z,1761684749.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:52:30.118Z,1761684750.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987498,0.031185,0.154517],[-0.033720,0.999336,0.013811],[-0.153984,-0.018848,0.987894]] 2025-10-28T20:52:30.523Z,1761684750.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987290,0.020309,0.157623],[-0.022758,0.999647,0.013746],[-0.157289,-0.017159,0.987404]] 2025-10-28T20:52:30.928Z,1761684750.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987114,0.007736,0.159831],[-0.009784,0.999880,0.012033],[-0.159719,-0.013441,0.987071]] 2025-10-28T20:52:31.331Z,1761684751.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986848,-0.006295,0.161530],[0.004421,0.999919,0.011960],[-0.161592,-0.011089,0.986795]] 2025-10-28T20:52:32.139Z,1761684752.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985788,-0.036320,0.164024],[0.034887,0.999324,0.011605],[-0.164334,-0.005718,0.986388]] 2025-10-28T20:52:32.544Z,1761684752.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984872,-0.052280,0.165211],[0.051073,0.998628,0.011551],[-0.165588,-0.002938,0.986191]] 2025-10-28T20:52:32.947Z,1761684752.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983709,-0.068153,0.166351],[0.067201,0.997675,0.011349],[-0.166738,0.000015,0.986001]] 2025-10-28T20:52:33.351Z,1761684753.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982304,-0.085106,0.166843],[0.083979,0.996372,0.013808],[-0.167413,0.000447,0.985887]] 2025-10-28T20:52:33.376Z,1761684753.376 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:52:33.392Z,1761684753.392 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:52:33.392Z,1761684753.392 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:52:33.392Z,1761684753.392 [marl:UpdateRudder:A] Stopped 2025-10-28T20:52:33.392Z,1761684753.392 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:52:33.392Z,1761684753.392 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode] Stopped 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:52:33.393Z,1761684753.393 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed] Stopped 2025-10-28T20:52:33.394Z,1761684753.394 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:52:33.793Z,1761684753.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980650,-0.102745,0.166640],[0.101893,0.994701,0.013675],[-0.167162,0.003569,0.985923]] 2025-10-28T20:52:33.880Z,1761684753.880 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:52:33.880Z,1761684753.880 [marl:UpdateRudder:B] Stopped 2025-10-28T20:52:33.880Z,1761684753.880 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:52:33.880Z,1761684753.880 [marl:UpdateRudder] Stopped 2025-10-28T20:52:33.880Z,1761684753.880 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:52:34.158Z,1761684754.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978647,-0.121470,0.165817],[0.120893,0.992572,0.013608],[-0.166238,0.006729,0.986063]] 2025-10-28T20:52:34.966Z,1761684754.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973458,-0.161902,0.161763],[0.161683,0.986735,0.014606],[-0.161981,0.011936,0.986722]] 2025-10-28T20:52:35.372Z,1761684755.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970143,-0.183329,0.158786],[0.183274,0.982946,0.015117],[-0.158849,0.014436,0.987197]] 2025-10-28T20:52:35.825Z,1761684755.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966643,-0.204028,0.154834],[0.203681,0.978867,0.018271],[-0.155290,0.013875,0.987771]] 2025-10-28T20:52:36.178Z,1761684756.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962749,-0.225182,0.149691],[0.224248,0.974253,0.023313],[-0.151086,0.011123,0.988458]] 2025-10-28T20:52:36.589Z,1761684756.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958709,-0.245654,0.143287],[0.244059,0.969330,0.028879],[-0.145987,0.007284,0.989260]] 2025-10-28T20:52:36.988Z,1761684756.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954664,-0.264883,0.135840],[0.262535,0.964278,0.035252],[-0.140325,0.002009,0.990103]] 2025-10-28T20:52:37.392Z,1761684757.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950922,-0.281997,0.127382],[0.278835,0.959403,0.042378],[-0.134161,-0.004780,0.990948]] 2025-10-28T20:52:37.830Z,1761684757.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947646,-0.296266,0.119134],[0.292444,0.955038,0.048778],[-0.128228,-0.011384,0.991679]] 2025-10-28T20:52:38.198Z,1761684758.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944776,-0.308257,0.111246],[0.303916,0.951139,0.054495],[-0.122609,-0.017676,0.992298]] 2025-10-28T20:52:38.602Z,1761684758.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942241,-0.318401,0.103940],[0.313591,0.947650,0.060165],[-0.117655,-0.024095,0.992762]] 2025-10-28T20:52:39.007Z,1761684759.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939825,-0.327274,0.098087],[0.322240,0.944503,0.063843],[-0.113537,-0.028394,0.993128]] 2025-10-28T20:52:39.413Z,1761684759.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937493,-0.335260,0.093313],[0.330123,0.941601,0.066375],[-0.110117,-0.031422,0.993422]] 2025-10-28T20:52:39.833Z,1761684759.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935114,-0.342960,0.089109],[0.337711,0.938720,0.068964],[-0.107300,-0.034396,0.993632]] 2025-10-28T20:52:40.218Z,1761684760.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932619,-0.350473,0.085971],[0.345256,0.935897,0.069965],[-0.104981,-0.035568,0.993838]] 2025-10-28T20:52:41.028Z,1761684761.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926663,-0.366998,0.081291],[0.361863,0.929498,0.071331],[-0.101738,-0.036683,0.994135]] 2025-10-28T20:52:41.432Z,1761684761.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922667,-0.376973,0.081097],[0.372310,0.925682,0.067063],[-0.100351,-0.031684,0.994447]] 2025-10-28T20:52:41.843Z,1761684761.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917314,-0.389934,0.080533],[0.385751,0.920458,0.062876],[-0.098645,-0.026612,0.994767]] 2025-10-28T20:52:42.245Z,1761684762.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901757,-0.425172,0.077862],[0.422041,0.904977,0.053839],[-0.093354,-0.015689,0.995509]] 2025-10-28T20:52:42.651Z,1761684762.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892735,-0.444276,0.075120],[0.441588,0.895815,0.050155],[-0.089576,-0.011604,0.995912]] 2025-10-28T20:52:43.058Z,1761684763.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883331,-0.463262,0.071511],[0.460969,0.886182,0.046793],[-0.085049,-0.008369,0.996342]] 2025-10-28T20:52:43.457Z,1761684763.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873813,-0.481482,0.068015],[0.479573,0.876441,0.043135],[-0.080380,-0.005074,0.996751]] 2025-10-28T20:52:43.873Z,1761684763.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864553,-0.498469,0.063848],[0.496840,0.866902,0.040388],[-0.075482,-0.003196,0.997142]] 2025-10-28T20:52:44.259Z,1761684764.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856041,-0.513533,0.058968],[0.512061,0.858064,0.038987],[-0.070620,-0.003179,0.997498]] 2025-10-28T20:52:44.663Z,1761684764.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848767,-0.525994,0.054085],[0.524621,0.850479,0.038196],[-0.066089,-0.004046,0.997806]] 2025-10-28T20:52:45.073Z,1761684765.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841981,-0.537222,0.049600],[0.535935,0.843426,0.037504],[-0.061982,-0.004995,0.998065]] 2025-10-28T20:52:45.473Z,1761684765.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835615,-0.547400,0.045839],[0.546188,0.836851,0.036863],[-0.058539,-0.005766,0.998268]] 2025-10-28T20:52:45.879Z,1761684765.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829121,-0.557468,0.042286],[0.556284,0.830167,0.037014],[-0.055739,-0.007166,0.998420]] 2025-10-28T20:52:46.279Z,1761684766.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822323,-0.567594,0.040270],[0.566497,0.823281,0.035916],[-0.053539,-0.006722,0.998543]] 2025-10-28T20:52:46.319Z,1761684766.319 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:52:46.319Z,1761684766.319 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:52:46.320Z,1761684766.320 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:52:46.324Z,1761684766.324 [marl:UpdateRudder:A] Stopped 2025-10-28T20:52:46.324Z,1761684766.324 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:52:46.324Z,1761684766.324 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:52:46.324Z,1761684766.324 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:52:46.324Z,1761684766.324 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateCommandMode] Stopped 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:52:46.325Z,1761684766.325 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:52:46.326Z,1761684766.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:52:46.326Z,1761684766.326 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:52:46.326Z,1761684766.326 [marl:UpdateSpeed] Stopped 2025-10-28T20:52:46.326Z,1761684766.326 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:52:46.684Z,1761684766.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814704,-0.578556,0.039120],[0.577579,0.815627,0.033991],[-0.051573,-0.005097,0.998656]] 2025-10-28T20:52:46.708Z,1761684766.708 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:52:46.708Z,1761684766.708 [marl:UpdateRudder:B] Stopped 2025-10-28T20:52:46.708Z,1761684766.708 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:52:46.708Z,1761684766.708 [marl:UpdateRudder] Stopped 2025-10-28T20:52:46.709Z,1761684766.709 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:52:47.086Z,1761684767.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805824,-0.590889,0.038694],[0.590066,0.806749,0.031277],[-0.049698,-0.002372,0.998761]] 2025-10-28T20:52:47.493Z,1761684767.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795509,-0.604672,0.039204],[0.604069,0.796472,0.027067],[-0.047591,0.002149,0.998865]] 2025-10-28T20:52:47.909Z,1761684767.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784000,-0.619545,0.038845],[0.619107,0.784943,0.023883],[-0.045287,0.005325,0.998960]] 2025-10-28T20:52:48.300Z,1761684768.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771441,-0.635153,0.038214],[0.634898,0.772336,0.020024],[-0.042232,0.008815,0.999069]] 2025-10-28T20:52:48.703Z,1761684768.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758107,-0.651021,0.038030],[0.651030,0.758926,0.013848],[-0.037877,0.014261,0.999181]] 2025-10-28T20:52:49.106Z,1761684769.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744283,-0.666879,0.036253],[0.667075,0.744946,0.008161],[-0.032449,0.018109,0.999309]] 2025-10-28T20:52:49.512Z,1761684769.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730210,-0.682405,0.033432],[0.682734,0.730664,0.002095],[-0.025858,0.021295,0.999439]] 2025-10-28T20:52:49.923Z,1761684769.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716207,-0.697236,0.030161],[0.697644,0.716430,-0.004542],[-0.018441,0.024294,0.999535]] 2025-10-28T20:52:50.722Z,1761684770.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690580,-0.723010,0.018877],[0.723253,0.690412,-0.015362],[-0.001926,0.024262,0.999704]] 2025-10-28T20:52:51.127Z,1761684771.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679866,-0.733211,0.013597],[0.733308,0.679559,-0.021433],[0.006475,0.024543,0.999678]] 2025-10-28T20:52:51.542Z,1761684771.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670836,-0.741564,0.007895],[0.741464,0.670462,-0.026683],[0.014494,0.023754,0.999613]] 2025-10-28T20:52:51.934Z,1761684771.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663122,-0.748509,0.001917],[0.748181,0.662751,-0.031388],[0.022224,0.022249,0.999505]] 2025-10-28T20:52:52.339Z,1761684772.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656531,-0.754285,-0.004530],[0.753727,0.656255,-0.035003],[0.029375,0.019566,0.999377]] 2025-10-28T20:52:52.743Z,1761684772.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650654,-0.759300,-0.010653],[0.758527,0.650527,-0.038096],[0.035856,0.016707,0.999217]] 2025-10-28T20:52:53.147Z,1761684773.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645331,-0.763731,-0.016239],[0.762766,0.645384,-0.040842],[0.041672,0.013970,0.999034]] 2025-10-28T20:52:53.560Z,1761684773.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640355,-0.767773,-0.021653],[0.766659,0.640631,-0.042728],[0.046677,0.010761,0.998852]] 2025-10-28T20:52:53.954Z,1761684773.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635557,-0.771615,-0.026041],[0.770393,0.636040,-0.044136],[0.050619,0.007990,0.998686]] 2025-10-28T20:52:54.359Z,1761684774.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630387,-0.775704,-0.029936],[0.774429,0.631077,-0.044733],[0.053591,0.005016,0.998550]] 2025-10-28T20:52:54.769Z,1761684774.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624901,-0.779996,-0.033256],[0.778693,0.625781,-0.045124],[0.056007,0.002302,0.998428]] 2025-10-28T20:52:55.168Z,1761684775.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618845,-0.784728,-0.035128],[0.783411,0.619841,-0.045438],[0.057430,0.000600,0.998349]] 2025-10-28T20:52:55.571Z,1761684775.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610970,-0.790886,-0.034859],[0.789522,0.611963,-0.046434],[0.058056,0.000848,0.998313]] 2025-10-28T20:52:55.975Z,1761684775.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600801,-0.798690,-0.033662],[0.797240,0.601739,-0.048142],[0.058706,0.002087,0.998273]] 2025-10-28T20:52:56.379Z,1761684776.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588316,-0.808011,-0.031665],[0.806404,0.589150,-0.051133],[0.059972,0.004547,0.998190]] 2025-10-28T20:52:56.789Z,1761684776.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573790,-0.818484,-0.029138],[0.816682,0.574478,-0.054823],[0.061611,0.007660,0.998071]] 2025-10-28T20:52:57.187Z,1761684777.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558075,-0.829346,-0.027164],[0.827358,0.558645,-0.058263],[0.063495,0.010041,0.997932]] 2025-10-28T20:52:57.591Z,1761684777.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541278,-0.840421,-0.026656],[0.838269,0.541828,-0.061060],[0.065759,0.010705,0.997778]] 2025-10-28T20:52:57.995Z,1761684777.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523418,-0.851657,-0.026718],[0.849295,0.523985,-0.064322],[0.068780,0.010976,0.997571]] 2025-10-28T20:52:58.400Z,1761684778.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504718,-0.862857,-0.027154],[0.860221,0.505325,-0.068312],[0.072665,0.011120,0.997294]] 2025-10-28T20:52:58.803Z,1761684778.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485013,-0.874079,-0.027369],[0.871075,0.485643,-0.073344],[0.077400,0.011732,0.996931]] 2025-10-28T20:52:59.207Z,1761684779.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465269,-0.884719,-0.028222],[0.881299,0.465978,-0.078595],[0.082685,0.011696,0.996507]] 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateRudder:A] Stopped 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:52:59.270Z,1761684779.270 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateCommandMode] Stopped 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:52:59.271Z,1761684779.271 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:52:59.288Z,1761684779.288 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:52:59.288Z,1761684779.288 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:52:59.288Z,1761684779.288 [marl:UpdateSpeed] Stopped 2025-10-28T20:52:59.288Z,1761684779.288 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:52:59.611Z,1761684779.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446142,-0.894489,-0.029094],[0.890621,0.446941,-0.083893],[0.088045,0.011516,0.996050]] 2025-10-28T20:52:59.635Z,1761684779.635 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:52:59.635Z,1761684779.635 [marl:UpdateRudder:B] Stopped 2025-10-28T20:52:59.635Z,1761684779.635 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:52:59.635Z,1761684779.635 [marl:UpdateRudder] Stopped 2025-10-28T20:52:59.635Z,1761684779.635 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:52:59.876Z,1761684779.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:53:00.034Z,1761684780.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429319,-0.902698,-0.028656],[0.898395,0.430095,-0.088910],[0.092583,0.012426,0.995627]] 2025-10-28T20:53:00.424Z,1761684780.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414491,-0.909584,-0.029218],[0.904916,0.415346,-0.092816],[0.096560,0.012032,0.995254]] 2025-10-28T20:53:00.449Z,1761684780.449 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:53:00.594Z,1761684780.594 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:53:00.595Z,1761684780.595 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:53:00.827Z,1761684780.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400976,-0.915569,-0.030846],[0.910606,0.402029,-0.095762],[0.100077,0.010310,0.994926]] 2025-10-28T20:53:00.845Z,1761684780.845 [DAT](INFO): DAT read: user:273> 2025-10-28T20:53:00.846Z,1761684780.846 [DAT](INFO): DAT read: Tx time:20:53:00.6116 2025-10-28T20:53:00.846Z,1761684780.846 [DAT](INFO): Ping request sent. 2025-10-28T20:53:00.846Z,1761684780.846 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:53:00.846Z,1761684780.846 [DAT](INFO): publishing transmit ping time 2025-10-28T20:53:00.847Z,1761684780.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T20:53:00.880Z,1761684780.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:53:01.097Z,1761684781.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251138 2025-10-28T20:53:01.231Z,1761684781.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388176,-0.920976,-0.033491],[0.915850,0.389554,-0.097296],[0.102653,0.007095,0.994692]] 2025-10-28T20:53:01.349Z,1761684781.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502819 2025-10-28T20:53:01.601Z,1761684781.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754740 2025-10-28T20:53:01.854Z,1761684781.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007410 2025-10-28T20:53:02.051Z,1761684782.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362353,-0.931306,-0.037016],[0.926058,0.364235,-0.098738],[0.105438,0.001499,0.994425]] 2025-10-28T20:53:02.105Z,1761684782.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929 2025-10-28T20:53:02.357Z,1761684782.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746 2025-10-28T20:53:02.442Z,1761684782.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351455,-0.935096,-0.045548],[0.930278,0.354282,-0.095222],[0.105179,-0.008906,0.994413]] 2025-10-28T20:53:02.609Z,1761684782.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801 2025-10-28T20:53:02.846Z,1761684782.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344673,-0.936791,-0.060191],[0.932867,0.348969,-0.089327],[0.104686,-0.025361,0.994182]] 2025-10-28T20:53:02.861Z,1761684782.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924 2025-10-28T20:53:03.113Z,1761684783.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266746 2025-10-28T20:53:03.251Z,1761684783.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341110,-0.936457,-0.081812],[0.934215,0.347376,-0.081069],[0.104337,-0.048777,0.993345]] 2025-10-28T20:53:03.365Z,1761684783.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518749 2025-10-28T20:53:03.617Z,1761684783.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770764 2025-10-28T20:53:03.661Z,1761684783.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339824,-0.933962,-0.110608],[0.934734,0.348391,-0.069972],[0.103886,-0.079611,0.991398]] 2025-10-28T20:53:03.869Z,1761684783.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813 2025-10-28T20:53:04.058Z,1761684784.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339857,-0.930041,-0.139719],[0.934734,0.350426,-0.058940],[0.103777,-0.110569,0.988436]] 2025-10-28T20:53:04.121Z,1761684784.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274654 2025-10-28T20:53:04.373Z,1761684784.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526804 2025-10-28T20:53:04.463Z,1761684784.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340526,-0.925295,-0.166948],[0.934467,0.352697,-0.048745],[0.103985,-0.139409,0.984760]] 2025-10-28T20:53:04.625Z,1761684784.625 [DAT](INFO): DAT read: Rx Time:20:53:03.8135 2025-10-28T20:53:04.625Z,1761684784.625 [DAT](INFO): Rx dataTimestamp_ set to:1761684784.625170 2025-10-28T20:53:04.626Z,1761684784.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779900 2025-10-28T20:53:04.867Z,1761684784.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341389,-0.920332,-0.190899],[0.934130,0.354727,-0.039628],[0.104188,-0.164796,0.980810]] 2025-10-28T20:53:04.877Z,1761684784.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030620 2025-10-28T20:53:05.134Z,1761684785.134 [DAT](INFO): DAT read: 20:53:03.8135 LVL= 21424, 21185, 16210, 22787, AGC= 71, IDX= 166, 0.21,-1.113,-0.398, 1.348, 0.145, PHS=-1.155,-0.498, 1.159, RAW= 226.0, 4.8, CAL= 225.0, 5.8, ROT= 285.0, -5.8 2025-10-28T20:53:05.135Z,1761684785.135 [DAT](INFO): got valid direction response: 20:53:03.8135 LVL= 21424, 21185, 16210, 22787, AGC= 71, IDX= 166, 0.21,-1.113,-0.398, 1.348, 0.145, PHS=-1.155,-0.498, 1.159, RAW= 226.0, 4.8, CAL= 225.0, 5.8, ROT= 285.0, -5.8 2025-10-28T20:53:05.136Z,1761684785.136 [DAT](INFO): DAT read: Bearing 213.7, -69.2 (Local) 2025-10-28T20:53:05.137Z,1761684785.137 [DAT](INFO): Local bearing/azimuth received: Bearing 213.7, -69.2 (Local) 2025-10-28T20:53:05.138Z,1761684785.138 [DAT](INFO): DAT read: Range 11 to 20 : 598.3 m (Round-trip 797.8 ms) speed -0.5 m/s 2025-10-28T20:53:05.138Z,1761684785.138 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:53:05.139Z,1761684785.139 [DAT](INFO): direction in FSK: [0.257494,-0.960981,0.101056] 2025-10-28T20:53:05.140Z,1761684785.140 [DAT](INFO): publishing direction and range info 2025-10-28T20:53:05.271Z,1761684785.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343045,-0.915755,-0.209076],[0.933520,0.357069,-0.032276],[0.104212,-0.184105,0.977367]] 2025-10-28T20:53:05.339Z,1761684785.339 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684736.00. Resetting abort timer. 2025-10-28T20:53:05.677Z,1761684785.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345352,-0.912049,-0.221129],[0.932682,0.359693,-0.026922],[0.104093,-0.196946,0.974873]] 2025-10-28T20:53:06.078Z,1761684786.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347892,-0.909083,-0.229213],[0.931755,0.362359,-0.022966],[0.103935,-0.205581,0.973105]] 2025-10-28T20:53:06.483Z,1761684786.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350813,-0.906454,-0.235099],[0.930718,0.365226,-0.019366],[0.103418,-0.212017,0.971779]] 2025-10-28T20:53:06.888Z,1761684786.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354067,-0.904453,-0.237911],[0.929581,0.368247,-0.016510],[0.102543,-0.215312,0.971147]] 2025-10-28T20:53:07.293Z,1761684787.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357003,-0.903019,-0.238968],[0.928586,0.370847,-0.014120],[0.101371,-0.216862,0.970925]] 2025-10-28T20:53:07.695Z,1761684787.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359581,-0.901890,-0.239366],[0.927715,0.373092,-0.012110],[0.100227,-0.217709,0.970854]] 2025-10-28T20:53:08.099Z,1761684788.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361358,-0.901559,-0.237933],[0.927151,0.374525,-0.011026],[0.099052,-0.216615,0.971219]] 2025-10-28T20:53:08.513Z,1761684788.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362614,-0.901728,-0.235366],[0.926830,0.375346,-0.010106],[0.097457,-0.214480,0.971854]] 2025-10-28T20:53:08.906Z,1761684788.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362992,-0.902258,-0.232739],[0.926932,0.375132,-0.008579],[0.095049,-0.212619,0.972501]] 2025-10-28T20:53:09.310Z,1761684789.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363819,-0.902368,-0.231015],[0.926915,0.375224,-0.005893],[0.092000,-0.211987,0.972932]] 2025-10-28T20:53:09.715Z,1761684789.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364246,-0.902800,-0.228639],[0.927079,0.374853,-0.003202],[0.088596,-0.210801,0.973506]] 2025-10-28T20:53:10.120Z,1761684790.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363716,-0.903544,-0.226536],[0.927582,0.373618,-0.000904],[0.085455,-0.209802,0.974002]] 2025-10-28T20:53:10.525Z,1761684790.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363058,-0.904099,-0.225374],[0.928180,0.372124,0.002422],[0.081678,-0.210067,0.974269]] 2025-10-28T20:53:10.928Z,1761684790.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361934,-0.904956,-0.223737],[0.928944,0.370179,0.005457],[0.077884,-0.209814,0.974634]] 2025-10-28T20:53:11.331Z,1761684791.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359946,-0.906231,-0.221774],[0.930038,0.367370,0.008300],[0.073952,-0.209245,0.975063]] 2025-10-28T20:53:11.740Z,1761684791.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357287,-0.907873,-0.219347],[0.931382,0.363876,0.011022],[0.069809,-0.208234,0.975585]] 2025-10-28T20:53:12.138Z,1761684792.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353563,-0.909834,-0.217244],[0.933109,0.359333,0.013713],[0.065586,-0.207560,0.976021]] 2025-10-28T20:53:12.263Z,1761684792.263 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:53:12.263Z,1761684792.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:53:12.263Z,1761684792.263 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:53:12.264Z,1761684792.264 [marl:UpdateRudder:A] Stopped 2025-10-28T20:53:12.268Z,1761684792.268 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:53:12.268Z,1761684792.268 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:53:12.268Z,1761684792.268 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:53:12.268Z,1761684792.268 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:53:12.270Z,1761684792.270 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:53:12.271Z,1761684792.271 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:53:12.271Z,1761684792.271 [marl:UpdateCommandMode] Stopped 2025-10-28T20:53:12.271Z,1761684792.271 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed] Stopped 2025-10-28T20:53:12.275Z,1761684792.275 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:53:12.542Z,1761684792.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349211,-0.912367,-0.213631],[0.935046,0.354171,0.015886],[0.061168,-0.205303,0.976785]] 2025-10-28T20:53:12.610Z,1761684792.610 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:53:12.610Z,1761684792.610 [marl:UpdateRudder:B] Stopped 2025-10-28T20:53:12.611Z,1761684792.611 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:53:12.611Z,1761684792.611 [marl:UpdateRudder] Stopped 2025-10-28T20:53:12.611Z,1761684792.611 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:53:12.950Z,1761684792.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343854,-0.915122,-0.210515],[0.937304,0.348048,0.018001],[0.056796,-0.203507,0.977425]] 2025-10-28T20:53:13.352Z,1761684793.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337779,-0.918134,-0.207209],[0.939762,0.341252,0.019868],[0.052469,-0.201438,0.978095]] 2025-10-28T20:53:13.783Z,1761684793.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330939,-0.921482,-0.203348],[0.942395,0.333854,0.020823],[0.048701,-0.198525,0.978885]] 2025-10-28T20:53:14.158Z,1761684794.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323952,-0.924752,-0.199720],[0.944984,0.326414,0.021418],[0.045385,-0.195671,0.979619]] 2025-10-28T20:53:14.563Z,1761684794.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316503,-0.927646,-0.198240],[0.947611,0.318693,0.021629],[0.043113,-0.194700,0.979915]] 2025-10-28T20:53:14.970Z,1761684794.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309349,-0.930724,-0.195081],[0.950023,0.311522,0.020237],[0.041937,-0.191592,0.980578]] 2025-10-28T20:53:15.370Z,1761684795.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303122,-0.933417,-0.191964],[0.952038,0.305445,0.018106],[0.041734,-0.188246,0.981235]] 2025-10-28T20:53:15.814Z,1761684795.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299392,-0.934832,-0.190928],[0.953215,0.301818,0.016944],[0.041786,-0.187069,0.981458]] 2025-10-28T20:53:16.178Z,1761684796.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298492,-0.935292,-0.190082],[0.953491,0.300978,0.016350],[0.041919,-0.186122,0.981632]] 2025-10-28T20:53:16.584Z,1761684796.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300347,-0.934793,-0.189615],[0.952907,0.302812,0.016539],[0.041957,-0.185653,0.981719]] 2025-10-28T20:53:17.003Z,1761684797.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304125,-0.933435,-0.190284],[0.951710,0.306497,0.017571],[0.041919,-0.186439,0.981572]] 2025-10-28T20:53:17.390Z,1761684797.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308898,-0.931561,-0.191771],[0.950169,0.311154,0.019016],[0.041956,-0.188089,0.981255]] 2025-10-28T20:53:17.820Z,1761684797.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314688,-0.929168,-0.193956],[0.948284,0.316703,0.021362],[0.041578,-0.190648,0.980778]] 2025-10-28T20:53:18.199Z,1761684798.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321242,-0.926387,-0.196494],[0.946141,0.322787,0.025014],[0.040252,-0.193946,0.980186]] 2025-10-28T20:53:18.603Z,1761684798.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328309,-0.923380,-0.198955],[0.943829,0.329035,0.030375],[0.037415,-0.197752,0.979538]] 2025-10-28T20:53:19.013Z,1761684799.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335478,-0.920752,-0.199174],[0.941474,0.335072,0.036783],[0.032870,-0.199857,0.979273]] 2025-10-28T20:53:19.412Z,1761684799.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342179,-0.917955,-0.200681],[0.939252,0.340241,0.045178],[0.026808,-0.203949,0.978614]] 2025-10-28T20:53:19.826Z,1761684799.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346709,-0.916328,-0.200339],[0.937756,0.343225,0.053022],[0.020175,-0.206252,0.978291]] 2025-10-28T20:53:20.218Z,1761684800.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347713,-0.915918,-0.200472],[0.937493,0.342881,0.059499],[0.014241,-0.208630,0.977891]] 2025-10-28T20:53:21.034Z,1761684801.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341028,-0.918362,-0.200779],[0.940037,0.334413,0.067069],[0.005549,-0.211612,0.977338]] 2025-10-28T20:53:21.431Z,1761684801.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335029,-0.920946,-0.199033],[0.942205,0.327953,0.068526],[0.002164,-0.210488,0.977594]] 2025-10-28T20:53:21.834Z,1761684801.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328061,-0.923812,-0.197354],[0.944657,0.320781,0.068728],[-0.000184,-0.208978,0.977920]] 2025-10-28T20:53:22.238Z,1761684802.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320896,-0.926952,-0.194384],[0.947113,0.313712,0.067542],[-0.001627,-0.205778,0.978597]] 2025-10-28T20:53:22.644Z,1761684802.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313923,-0.930007,-0.191153],[0.949446,0.307013,0.065541],[-0.002267,-0.202064,0.979370]] 2025-10-28T20:53:23.056Z,1761684803.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307630,-0.932626,-0.188609],[0.951503,0.300970,0.063718],[-0.002660,-0.199063,0.979983]] 2025-10-28T20:53:23.450Z,1761684803.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303166,-0.934409,-0.187001],[0.952933,0.296649,0.062593],[-0.003014,-0.197175,0.980364]] 2025-10-28T20:53:23.855Z,1761684803.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300775,-0.935664,-0.184571],[0.953689,0.294376,0.061810],[-0.003500,-0.194614,0.980874]] 2025-10-28T20:53:24.259Z,1761684804.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299975,-0.936290,-0.182692],[0.953937,0.293552,0.061894],[-0.004321,-0.192844,0.981220]] 2025-10-28T20:53:24.665Z,1761684804.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300314,-0.936476,-0.181177],[0.953825,0.293754,0.062665],[-0.005463,-0.191630,0.981452]] 2025-10-28T20:53:25.067Z,1761684805.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301577,-0.936121,-0.180911],[0.953419,0.294782,0.063994],[-0.006576,-0.191783,0.981415]] 2025-10-28T20:53:25.110Z,1761684805.110 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateRudder:A] Stopped 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:53:25.111Z,1761684805.111 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:53:25.112Z,1761684805.112 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:53:25.112Z,1761684805.112 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:53:25.112Z,1761684805.112 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:53:25.112Z,1761684805.112 [marl:UpdateCommandMode] Stopped 2025-10-28T20:53:25.112Z,1761684805.112 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed] Stopped 2025-10-28T20:53:25.113Z,1761684805.113 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:53:25.477Z,1761684805.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303104,-0.935566,-0.181229],[0.952925,0.295983,0.065791],[-0.007911,-0.192639,0.981238]] 2025-10-28T20:53:25.577Z,1761684805.577 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:53:25.577Z,1761684805.577 [marl:UpdateRudder:B] Stopped 2025-10-28T20:53:25.577Z,1761684805.577 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:53:25.578Z,1761684805.578 [marl:UpdateRudder] Stopped 2025-10-28T20:53:25.578Z,1761684805.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:53:25.875Z,1761684805.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304446,-0.935094,-0.181417],[0.952483,0.296977,0.067683],[-0.009413,-0.193403,0.981074]] 2025-10-28T20:53:26.278Z,1761684806.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305204,-0.934612,-0.182623],[0.952222,0.297278,0.069993],[-0.011127,-0.195260,0.980688]] 2025-10-28T20:53:26.682Z,1761684806.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305634,-0.934142,-0.184300],[0.952063,0.297222,0.072359],[-0.012815,-0.197580,0.980203]] 2025-10-28T20:53:27.094Z,1761684807.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306991,-0.933174,-0.186927],[0.951576,0.297645,0.076879],[-0.016104,-0.201477,0.979361]] 2025-10-28T20:53:27.498Z,1761684807.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307713,-0.932886,-0.187180],[0.951316,0.297999,0.078712],[-0.017650,-0.202287,0.979167]] 2025-10-28T20:53:27.903Z,1761684807.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308312,-0.932807,-0.186588],[0.951093,0.298321,0.080166],[-0.019117,-0.202179,0.979162]] 2025-10-28T20:53:28.303Z,1761684808.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308319,-0.932934,-0.185936],[0.951065,0.298118,0.081250],[-0.020370,-0.201888,0.979197]] 2025-10-28T20:53:28.709Z,1761684808.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308235,-0.932979,-0.185851],[0.951066,0.297796,0.082403],[-0.021535,-0.202156,0.979116]] 2025-10-28T20:53:29.109Z,1761684809.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307677,-0.933474,-0.184287],[0.951209,0.297046,0.083460],[-0.023166,-0.200974,0.979323]] 2025-10-28T20:53:29.511Z,1761684809.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306600,-0.934038,-0.183220],[0.951521,0.295795,0.084339],[-0.024580,-0.200196,0.979448]] 2025-10-28T20:53:29.915Z,1761684809.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304507,-0.934726,-0.183201],[0.952146,0.293390,0.085674],[-0.026332,-0.200522,0.979335]] 2025-10-28T20:53:30.726Z,1761684810.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296928,-0.937661,-0.180626],[0.954455,0.285660,0.086104],[-0.029139,-0.197966,0.979776]] 2025-10-28T20:53:31.004Z,1761684811.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:53:31.129Z,1761684811.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291924,-0.939452,-0.179471],[0.955977,0.280755,0.085347],[-0.029792,-0.196485,0.980054]] 2025-10-28T20:53:31.530Z,1761684811.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286710,-0.941233,-0.178543],[0.957538,0.275654,0.084468],[-0.030288,-0.195180,0.980300]] 2025-10-28T20:53:31.937Z,1761684811.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281601,-0.943096,-0.176835],[0.959061,0.270874,0.082634],[-0.030032,-0.192865,0.980766]] 2025-10-28T20:53:32.008Z,1761684812.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:53:32.338Z,1761684812.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276999,-0.944480,-0.176716],[0.960429,0.266577,0.080700],[-0.029111,-0.192077,0.980948]] 2025-10-28T20:53:32.754Z,1761684812.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273903,-0.945391,-0.176670],[0.961342,0.263730,0.079166],[-0.028249,-0.191524,0.981081]] 2025-10-28T20:53:33.147Z,1761684813.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271717,-0.946113,-0.176180],[0.961984,0.261788,0.077802],[-0.027488,-0.190623,0.981278]] 2025-10-28T20:53:33.551Z,1761684813.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270900,-0.946235,-0.176784],[0.962229,0.261038,0.077299],[-0.026996,-0.191047,0.981210]] 2025-10-28T20:53:33.961Z,1761684813.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271013,-0.946286,-0.176338],[0.962216,0.261318,0.076512],[-0.026322,-0.190411,0.981351]] 2025-10-28T20:53:34.360Z,1761684814.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271554,-0.945906,-0.177540],[0.962079,0.261865,0.076362],[-0.025740,-0.191544,0.981146]] 2025-10-28T20:53:34.780Z,1761684814.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272832,-0.945362,-0.178474],[0.961720,0.263059,0.076772],[-0.025628,-0.192588,0.980945]] 2025-10-28T20:53:35.166Z,1761684815.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274279,-0.944769,-0.179394],[0.961300,0.264333,0.077655],[-0.025946,-0.193751,0.980708]] 2025-10-28T20:53:35.571Z,1761684815.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275977,-0.944126,-0.180175],[0.960801,0.265832,0.078703],[-0.026409,-0.194833,0.980481]] 2025-10-28T20:53:35.977Z,1761684815.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277958,-0.943342,-0.181234],[0.960218,0.267585,0.079877],[-0.026856,-0.196227,0.980191]] 2025-10-28T20:53:36.378Z,1761684816.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279758,-0.942719,-0.181702],[0.959680,0.269196,0.080913],[-0.027364,-0.197012,0.980019]] 2025-10-28T20:53:36.788Z,1761684816.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281149,-0.942182,-0.182339],[0.959240,0.270255,0.082592],[-0.028538,-0.198127,0.979761]] 2025-10-28T20:53:37.187Z,1761684817.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282184,-0.941647,-0.183503],[0.958914,0.271013,0.083877],[-0.029251,-0.199633,0.979434]] 2025-10-28T20:53:37.592Z,1761684817.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282224,-0.941566,-0.183856],[0.958881,0.270876,0.084693],[-0.029942,-0.200199,0.979298]] 2025-10-28T20:53:37.994Z,1761684817.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281750,-0.941663,-0.184088],[0.959007,0.270301,0.085110],[-0.030386,-0.200521,0.979218]] 2025-10-28T20:53:38.046Z,1761684818.046 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:53:38.046Z,1761684818.046 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:53:38.046Z,1761684818.046 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateRudder:A] Stopped 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode] Stopped 2025-10-28T20:53:38.047Z,1761684818.047 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:53:38.048Z,1761684818.048 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed] Stopped 2025-10-28T20:53:38.049Z,1761684818.049 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:53:38.399Z,1761684818.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280649,-0.941904,-0.184532],[0.959312,0.269075,0.085552],[-0.030929,-0.201034,0.979096]] 2025-10-28T20:53:38.458Z,1761684818.458 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:53:38.458Z,1761684818.458 [marl:UpdateRudder:B] Stopped 2025-10-28T20:53:38.458Z,1761684818.458 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:53:38.458Z,1761684818.458 [marl:UpdateRudder] Stopped 2025-10-28T20:53:38.458Z,1761684818.458 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:53:38.806Z,1761684818.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278497,-0.942264,-0.185953],[0.959908,0.266651,0.086452],[-0.031876,-0.202575,0.978748]] 2025-10-28T20:53:39.208Z,1761684819.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274792,-0.943639,-0.184484],[0.960965,0.263115,0.085534],[-0.032172,-0.200787,0.979107]] 2025-10-28T20:53:39.610Z,1761684819.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269480,-0.945162,-0.184527],[0.962448,0.257810,0.085016],[-0.032781,-0.200508,0.979144]] 2025-10-28T20:53:40.015Z,1761684820.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263009,-0.947155,-0.183639],[0.964226,0.251525,0.083681],[-0.033069,-0.199078,0.979426]] 2025-10-28T20:53:40.425Z,1761684820.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254953,-0.949433,-0.183236],[0.966413,0.243860,0.081103],[-0.032318,-0.197759,0.979718]] 2025-10-28T20:53:40.829Z,1761684820.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246245,-0.951863,-0.182538],[0.968719,0.235736,0.077538],[-0.030775,-0.195922,0.980137]] 2025-10-28T20:53:41.227Z,1761684821.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237481,-0.954348,-0.181171],[0.970979,0.227777,0.072919],[-0.028323,-0.193230,0.980745]] 2025-10-28T20:53:41.631Z,1761684821.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229135,-0.956468,-0.180738],[0.973075,0.220322,0.067695],[-0.024928,-0.191383,0.981199]] 2025-10-28T20:53:42.037Z,1761684822.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221900,-0.958177,-0.180715],[0.974856,0.214127,0.061692],[-0.020416,-0.189860,0.981599]] 2025-10-28T20:53:42.447Z,1761684822.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216639,-0.959052,-0.182446],[0.976127,0.209811,0.056169],[-0.015590,-0.190259,0.981610]] 2025-10-28T20:53:42.842Z,1761684822.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213342,-0.959573,-0.183589],[0.976919,0.207471,0.050846],[-0.010701,-0.190199,0.981687]] 2025-10-28T20:53:43.247Z,1761684823.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212341,-0.959841,-0.183350],[0.977178,0.207421,0.045835],[-0.005964,-0.188898,0.981979]] 2025-10-28T20:53:43.651Z,1761684823.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213175,-0.959385,-0.184763],[0.977013,0.209077,0.041615],[-0.001295,-0.189387,0.981902]] 2025-10-28T20:53:44.056Z,1761684824.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215214,-0.958555,-0.186697],[0.976562,0.211855,0.038005],[0.003122,-0.190500,0.981682]] 2025-10-28T20:53:44.459Z,1761684824.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217991,-0.957625,-0.188242],[0.975926,0.215277,0.035002],[0.007005,-0.191340,0.981499]] 2025-10-28T20:53:44.863Z,1761684824.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221423,-0.956589,-0.189499],[0.975126,0.219189,0.032938],[0.010028,-0.192079,0.981328]] 2025-10-28T20:53:45.266Z,1761684825.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225306,-0.955319,-0.191317],[0.974214,0.223323,0.032154],[0.012008,-0.193628,0.981002]] 2025-10-28T20:53:45.672Z,1761684825.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229577,-0.953763,-0.193984],[0.973206,0.227581,0.032825],[0.012840,-0.196322,0.980455]] 2025-10-28T20:53:46.074Z,1761684826.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233984,-0.952118,-0.196781],[0.972159,0.231746,0.034653],[0.012609,-0.199411,0.979835]] 2025-10-28T20:53:46.482Z,1761684826.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238150,-0.950508,-0.199548],[0.971160,0.235495,0.037292],[0.011546,-0.202674,0.979178]] 2025-10-28T20:53:46.883Z,1761684826.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241962,-0.949098,-0.201660],[0.970237,0.238744,0.040510],[0.009697,-0.205460,0.978617]] 2025-10-28T20:53:47.288Z,1761684827.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244614,-0.948017,-0.203541],[0.969590,0.240826,0.043568],[0.007715,-0.208008,0.978097]] 2025-10-28T20:53:47.690Z,1761684827.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245057,-0.947697,-0.204492],[0.969487,0.240948,0.045156],[0.006478,-0.209318,0.977826]] 2025-10-28T20:53:47.702Z,1761684827.702 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T20:53:48.095Z,1761684828.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242698,-0.947969,-0.206041],[0.970086,0.238367,0.045979],[0.005526,-0.211036,0.977463]] 2025-10-28T20:53:48.500Z,1761684828.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237384,-0.949119,-0.206933],[0.971399,0.233166,0.044908],[0.005626,-0.211675,0.977324]] 2025-10-28T20:53:48.919Z,1761684828.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230622,-0.950848,-0.206642],[0.973024,0.226704,0.042776],[0.006174,-0.210933,0.977481]] 2025-10-28T20:53:49.306Z,1761684829.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223063,-0.952936,-0.205319],[0.974777,0.219627,0.039676],[0.007285,-0.208990,0.977891]] 2025-10-28T20:53:49.711Z,1761684829.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215218,-0.955238,-0.202982],[0.976522,0.212476,0.035470],[0.009246,-0.205850,0.978540]] 2025-10-28T20:53:50.115Z,1761684830.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207725,-0.957350,-0.200828],[0.978117,0.205745,0.030917],[0.011721,-0.202856,0.979139]] 2025-10-28T20:53:50.522Z,1761684830.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200933,-0.959330,-0.198273],[0.979490,0.199855,0.025644],[0.015025,-0.199359,0.979811]] 2025-10-28T20:53:50.927Z,1761684830.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195564,-0.960860,-0.196220],[0.980518,0.195339,0.020694],[0.018446,-0.196444,0.980342]] 2025-10-28T20:53:50.998Z,1761684830.998 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateRudder:A] Stopped 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:53:50.999Z,1761684830.999 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:53:51.001Z,1761684831.001 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateCommandMode] Stopped 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:53:51.002Z,1761684831.002 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:53:51.003Z,1761684831.003 [marl:UpdateSpeed] Stopped 2025-10-28T20:53:51.003Z,1761684831.003 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:53:51.326Z,1761684831.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192681,-0.961855,-0.194189],[0.981031,0.193113,0.016888],[0.021257,-0.193759,0.980819]] 2025-10-28T20:53:51.376Z,1761684831.376 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:53:51.376Z,1761684831.376 [marl:UpdateRudder:B] Stopped 2025-10-28T20:53:51.376Z,1761684831.376 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:53:51.376Z,1761684831.376 [marl:UpdateRudder] Stopped 2025-10-28T20:53:51.376Z,1761684831.376 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:53:51.732Z,1761684831.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191355,-0.962189,-0.193847],[0.981232,0.192324,0.013986],[0.023824,-0.192885,0.980932]] 2025-10-28T20:53:52.136Z,1761684832.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190897,-0.962100,-0.194733],[0.981268,0.192272,0.011994],[0.025903,-0.193375,0.980783]] 2025-10-28T20:53:52.542Z,1761684832.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191886,-0.961514,-0.196648],[0.981042,0.193460,0.011363],[0.027118,-0.195101,0.980408]] 2025-10-28T20:53:52.943Z,1761684832.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192485,-0.961168,-0.197752],[0.980903,0.194188,0.010932],[0.027894,-0.196080,0.980191]] 2025-10-28T20:53:53.347Z,1761684833.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192546,-0.960777,-0.199585],[0.980887,0.194256,0.011173],[0.028036,-0.197922,0.979817]] 2025-10-28T20:53:53.771Z,1761684833.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191252,-0.960600,-0.201669],[0.981142,0.192952,0.011383],[0.027977,-0.200043,0.979388]] 2025-10-28T20:53:54.155Z,1761684834.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188377,-0.960799,-0.203421],[0.981698,0.190117,0.011136],[0.027974,-0.201795,0.979028]] 2025-10-28T20:53:54.558Z,1761684834.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184598,-0.961509,-0.203531],[0.982412,0.186445,0.010234],[0.028107,-0.201841,0.979015]] 2025-10-28T20:53:54.963Z,1761684834.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180323,-0.962527,-0.202548],[0.983193,0.182359,0.008722],[0.028542,-0.200716,0.979234]] 2025-10-28T20:53:55.371Z,1761684835.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175838,-0.963607,-0.201352],[0.983975,0.178186,0.006547],[0.029569,-0.199276,0.979497]] 2025-10-28T20:53:55.815Z,1761684835.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172289,-0.964495,-0.200167],[0.984547,0.175077,0.003826],[0.031354,-0.197733,0.979754]] 2025-10-28T20:53:56.178Z,1761684836.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169770,-0.964998,-0.199893],[0.984912,0.173050,0.001076],[0.033553,-0.197060,0.979817]] 2025-10-28T20:53:56.579Z,1761684836.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168863,-0.965016,-0.200574],[0.984986,0.172629,-0.001307],[0.035886,-0.197342,0.979678]] 2025-10-28T20:53:56.989Z,1761684836.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169383,-0.964897,-0.200707],[0.984797,0.173668,-0.003808],[0.038531,-0.197010,0.979644]] 2025-10-28T20:53:57.397Z,1761684837.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171416,-0.964793,-0.199477],[0.984351,0.176119,-0.005943],[0.040866,-0.195336,0.979885]] 2025-10-28T20:53:57.821Z,1761684837.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174414,-0.964279,-0.199362],[0.983746,0.179420,-0.007185],[0.042698,-0.194868,0.979900]] 2025-10-28T20:53:58.194Z,1761684838.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178568,-0.963383,-0.200018],[0.982962,0.183672,-0.007106],[0.043583,-0.195341,0.979766]] 2025-10-28T20:53:58.600Z,1761684838.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183063,-0.962370,-0.200827],[0.982143,0.188045,-0.005852],[0.043396,-0.196169,0.979609]] 2025-10-28T20:53:59.006Z,1761684839.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187578,-0.961201,-0.202256],[0.981359,0.192161,-0.003083],[0.041829,-0.197908,0.979328]] 2025-10-28T20:53:59.409Z,1761684839.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190771,-0.960114,-0.204421],[0.980841,0.194808,0.000384],[0.039454,-0.200578,0.978883]] 2025-10-28T20:53:59.822Z,1761684839.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191918,-0.959551,-0.205982],[0.980705,0.195467,0.003181],[0.037210,-0.202618,0.978551]] 2025-10-28T20:54:00.217Z,1761684840.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190214,-0.959201,-0.209169],[0.981100,0.193432,0.005156],[0.035514,-0.206196,0.977866]] 2025-10-28T20:54:00.621Z,1761684840.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186068,-0.960092,-0.208809],[0.981933,0.189158,0.005254],[0.034453,-0.206014,0.977942]] 2025-10-28T20:54:00.645Z,1761684840.645 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:54:00.849Z,1761684840.849 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:54:00.849Z,1761684840.849 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:54:01.022Z,1761684841.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180287,-0.960858,-0.210354],[0.983031,0.183373,0.004907],[0.033858,-0.207669,0.977613]] 2025-10-28T20:54:01.101Z,1761684841.101 [DAT](INFO): DAT read: user:274> 2025-10-28T20:54:01.102Z,1761684841.102 [DAT](INFO): DAT read: Tx time:20:54:00.8614 2025-10-28T20:54:01.102Z,1761684841.102 [DAT](INFO): Ping request sent. 2025-10-28T20:54:01.102Z,1761684841.102 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:54:01.102Z,1761684841.102 [DAT](INFO): publishing transmit ping time 2025-10-28T20:54:01.103Z,1761684841.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T20:54:01.353Z,1761684841.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250718 2025-10-28T20:54:01.426Z,1761684841.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173855,-0.962158,-0.209824],[0.984186,0.177105,0.003351],[0.033936,-0.207089,0.977733]] 2025-10-28T20:54:01.605Z,1761684841.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502760 2025-10-28T20:54:01.832Z,1761684841.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166958,-0.963150,-0.210873],[0.985343,0.170581,0.001025],[0.034983,-0.207953,0.977513]] 2025-10-28T20:54:01.857Z,1761684841.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877 2025-10-28T20:54:02.109Z,1761684842.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006703 2025-10-28T20:54:02.144Z,1761684842.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:54:02.234Z,1761684842.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161205,-0.964332,-0.209945],[0.986260,0.165196,-0.001493],[0.036122,-0.206819,0.977712]] 2025-10-28T20:54:02.362Z,1761684842.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259775 2025-10-28T20:54:02.613Z,1761684842.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510880 2025-10-28T20:54:02.639Z,1761684842.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156475,-0.965630,-0.207545],[0.986973,0.160833,-0.004186],[0.037422,-0.204186,0.978217]] 2025-10-28T20:54:02.866Z,1761684842.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763520 2025-10-28T20:54:03.046Z,1761684843.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153102,-0.966362,-0.206650],[0.987458,0.157763,-0.006164],[0.038558,-0.203114,0.978396]] 2025-10-28T20:54:03.117Z,1761684843.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014743 2025-10-28T20:54:03.148Z,1761684843.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:54:03.370Z,1761684843.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267665 2025-10-28T20:54:03.449Z,1761684843.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150415,-0.967191,-0.204735],[0.987837,0.155293,-0.007880],[0.039415,-0.201059,0.978786]] 2025-10-28T20:54:03.621Z,1761684843.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518755 2025-10-28T20:54:03.851Z,1761684843.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148548,-0.967977,-0.202371],[0.988105,0.153518,-0.008995],[0.039774,-0.198628,0.979268]] 2025-10-28T20:54:03.873Z,1761684843.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771170 2025-10-28T20:54:03.923Z,1761684843.923 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:54:03.923Z,1761684843.923 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:54:03.923Z,1761684843.923 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateRudder:A] Stopped 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:54:03.924Z,1761684843.924 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:54:03.925Z,1761684843.925 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:54:03.925Z,1761684843.925 [marl:UpdateCommandMode] Stopped 2025-10-28T20:54:03.926Z,1761684843.926 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:54:03.926Z,1761684843.926 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:54:03.927Z,1761684843.927 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:54:03.927Z,1761684843.927 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:54:03.944Z,1761684843.944 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:54:03.944Z,1761684843.944 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:54:03.944Z,1761684843.944 [marl:UpdateSpeed] Stopped 2025-10-28T20:54:03.944Z,1761684843.944 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:54:04.125Z,1761684844.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022819 2025-10-28T20:54:04.259Z,1761684844.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146977,-0.968808,-0.199522],[0.988347,0.151915,-0.009584],[0.039596,-0.195788,0.979847]] 2025-10-28T20:54:04.303Z,1761684844.303 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:54:04.303Z,1761684844.303 [marl:UpdateRudder:B] Stopped 2025-10-28T20:54:04.303Z,1761684844.303 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:54:04.303Z,1761684844.303 [marl:UpdateRudder] Stopped 2025-10-28T20:54:04.304Z,1761684844.304 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:54:04.378Z,1761684844.378 [DAT](INFO): DAT read: Rx Time:20:54:03.7270 2025-10-28T20:54:04.378Z,1761684844.378 [DAT](INFO): Rx dataTimestamp_ set to:1761684844.377845 2025-10-28T20:54:04.379Z,1761684844.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277162 2025-10-28T20:54:04.629Z,1761684844.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527394 2025-10-28T20:54:04.659Z,1761684844.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145486,-0.969546,-0.197013],[0.988598,0.150277,-0.009512],[0.038829,-0.193383,0.980355]] 2025-10-28T20:54:04.886Z,1761684844.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781607 2025-10-28T20:54:05.062Z,1761684845.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144031,-0.970237,-0.194668],[0.988858,0.148591,-0.008948],[0.037608,-0.191210,0.980828]] 2025-10-28T20:54:05.139Z,1761684845.139 [DAT](INFO): DAT read: 20:54:03.7270 LVL= 32752, 24801, 16962, 31091, AGC= 73, IDX= 50,-0.05,-2.996,-1.719,-0.557,-1.739, PHS=-1.155, 0.065, 1.138, RAW= 242.1, -0.5, CAL= 238.2, -0.7, ROT= 271.8, 0.7 2025-10-28T20:54:05.140Z,1761684845.140 [DAT](INFO): got valid direction response: 20:54:03.7270 LVL= 32752, 24801, 16962, 31091, AGC= 73, IDX= 50,-0.05,-2.996,-1.719,-0.557,-1.739, PHS=-1.155, 0.065, 1.138, RAW= 242.1, -0.5, CAL= 238.2, -0.7, ROT= 271.8, 0.7 2025-10-28T20:54:05.141Z,1761684845.141 [DAT](INFO): DAT read: Bearing 333, -5 (Remote) 2025-10-28T20:54:05.141Z,1761684845.141 [DAT](INFO): Remote Bearing received:Bearing 333, -5 (Remote) 2025-10-28T20:54:05.142Z,1761684845.142 [DAT](INFO): DAT read: Bearing 155.5, -76.9 (Local) 2025-10-28T20:54:05.143Z,1761684845.143 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -76.9 (Local) 2025-10-28T20:54:05.144Z,1761684845.144 [DAT](INFO): DAT read: Range 11 to 20 : 627.3 m (Round-trip 836.5 ms) speed -0.7 m/s 2025-10-28T20:54:05.145Z,1761684845.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:54:05.146Z,1761684845.146 [DAT](INFO): direction in FSK: [0.031408,-0.999432,-0.012217] 2025-10-28T20:54:05.146Z,1761684845.146 [DAT](INFO): publishing direction and range info 2025-10-28T20:54:05.467Z,1761684845.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142253,-0.970599,-0.194168],[0.989159,0.146620,-0.008231],[0.036458,-0.190892,0.980934]] 2025-10-28T20:54:05.602Z,1761684845.602 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684864.00. Resetting abort timer. 2025-10-28T20:54:05.879Z,1761684845.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139921,-0.970985,-0.193934],[0.989513,0.144217,-0.008141],[0.035874,-0.190761,0.980981]] 2025-10-28T20:54:06.275Z,1761684846.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137782,-0.970869,-0.196036],[0.989835,0.142014,-0.007628],[0.035245,-0.192993,0.980567]] 2025-10-28T20:54:06.680Z,1761684846.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136062,-0.971079,-0.196193],[0.990101,0.140175,-0.007161],[0.034456,-0.193277,0.980539]] 2025-10-28T20:54:07.083Z,1761684847.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134763,-0.971354,-0.195730],[0.990295,0.138804,-0.007014],[0.033982,-0.192885,0.980633]] 2025-10-28T20:54:07.487Z,1761684847.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134004,-0.971532,-0.195370],[0.990415,0.137961,-0.006727],[0.033489,-0.192596,0.980707]] 2025-10-28T20:54:07.892Z,1761684847.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134081,-0.971263,-0.196648],[0.990421,0.137947,-0.006031],[0.032985,-0.193956,0.980456]] 2025-10-28T20:54:08.296Z,1761684848.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134598,-0.970987,-0.197656],[0.990379,0.138295,-0.004959],[0.032150,-0.195086,0.980259]] 2025-10-28T20:54:08.698Z,1761684848.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135538,-0.970674,-0.198547],[0.990282,0.139027,-0.003669],[0.031165,-0.196120,0.980084]] 2025-10-28T20:54:09.102Z,1761684849.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136539,-0.970442,-0.198998],[0.990182,0.139764,-0.002185],[0.029934,-0.196746,0.979997]] 2025-10-28T20:54:09.508Z,1761684849.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137305,-0.970297,-0.199176],[0.990121,0.140215,-0.000508],[0.028420,-0.197139,0.979964]] 2025-10-28T20:54:09.910Z,1761684849.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137661,-0.970351,-0.198669],[0.990125,0.140181,0.001392],[0.026499,-0.196898,0.980066]] 2025-10-28T20:54:10.351Z,1761684850.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135913,-0.970693,-0.198198],[0.990499,0.137364,0.006474],[0.020941,-0.197194,0.980141]] 2025-10-28T20:54:11.129Z,1761684851.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133669,-0.971080,-0.197830],[0.990853,0.134682,0.008387],[0.018500,-0.197142,0.980200]] 2025-10-28T20:54:11.528Z,1761684851.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131212,-0.971417,-0.197818],[0.991226,0.131771,0.010398],[0.015966,-0.197446,0.980184]] 2025-10-28T20:54:11.930Z,1761684851.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128542,-0.971785,-0.197767],[0.991609,0.128702,0.012103],[0.013691,-0.197663,0.980174]] 2025-10-28T20:54:12.340Z,1761684852.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125278,-0.972401,-0.196828],[0.992045,0.125242,0.012684],[0.012317,-0.196851,0.980356]] 2025-10-28T20:54:12.745Z,1761684852.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120714,-0.973102,-0.196218],[0.992633,0.120399,0.013577],[0.010413,-0.196412,0.980466]] 2025-10-28T20:54:13.149Z,1761684853.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119516,-0.973263,-0.196152],[0.992786,0.119058,0.014168],[0.009564,-0.196430,0.980471]] 2025-10-28T20:54:13.551Z,1761684853.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118381,-0.973508,-0.195622],[0.992930,0.117789,0.014701],[0.008730,-0.195979,0.980569]] 2025-10-28T20:54:13.956Z,1761684853.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117191,-0.973428,-0.196735],[0.993076,0.116489,0.015178],[0.008143,-0.197152,0.980339]] 2025-10-28T20:54:14.363Z,1761684854.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117000,-0.973417,-0.196901],[0.993108,0.116055,0.016374],[0.006912,-0.197460,0.980287]] 2025-10-28T20:54:14.764Z,1761684854.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116655,-0.973547,-0.196462],[0.993156,0.115486,0.017435],[0.005715,-0.197151,0.980356]] 2025-10-28T20:54:15.163Z,1761684855.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116585,-0.973401,-0.197229],[0.993171,0.115149,0.018771],[0.004439,-0.198071,0.980178]] 2025-10-28T20:54:15.566Z,1761684855.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116293,-0.973498,-0.196919],[0.993210,0.114604,0.019992],[0.003106,-0.197907,0.980216]] 2025-10-28T20:54:15.972Z,1761684855.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115901,-0.973648,-0.196411],[0.993259,0.113946,0.021264],[0.001676,-0.197551,0.980291]] 2025-10-28T20:54:16.375Z,1761684856.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115372,-0.973683,-0.196548],[0.993322,0.113085,0.022859],[-0.000031,-0.197873,0.980228]] 2025-10-28T20:54:16.783Z,1761684856.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114912,-0.973696,-0.196753],[0.993374,0.112321,0.024317],[-0.001578,-0.198243,0.980152]] 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateRudder:A] Stopped 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:54:16.818Z,1761684856.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateCommandMode] Stopped 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:54:16.819Z,1761684856.819 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:54:16.820Z,1761684856.820 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:54:16.820Z,1761684856.820 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:54:16.820Z,1761684856.820 [marl:UpdateSpeed] Stopped 2025-10-28T20:54:16.820Z,1761684856.820 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:54:17.183Z,1761684857.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113444,-0.973821,-0.196983],[0.993536,0.110389,0.026459],[-0.004022,-0.198711,0.980050]] 2025-10-28T20:54:17.231Z,1761684857.231 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:54:17.231Z,1761684857.231 [marl:UpdateRudder:B] Stopped 2025-10-28T20:54:17.231Z,1761684857.231 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:54:17.231Z,1761684857.231 [marl:UpdateRudder] Stopped 2025-10-28T20:54:17.231Z,1761684857.231 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:54:17.589Z,1761684857.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110808,-0.974232,-0.196453],[0.993822,0.107382,0.028038],[-0.006220,-0.198346,0.980112]] 2025-10-28T20:54:17.991Z,1761684857.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107428,-0.974384,-0.197574],[0.994180,0.103666,0.029314],[-0.008082,-0.199574,0.979850]] 2025-10-28T20:54:18.395Z,1761684858.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103530,-0.974854,-0.197334],[0.994579,0.099538,0.030068],[-0.009669,-0.199378,0.979875]] 2025-10-28T20:54:18.800Z,1761684858.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099465,-0.975533,-0.196065],[0.994978,0.095295,0.030612],[-0.011179,-0.198125,0.980113]] 2025-10-28T20:54:19.203Z,1761684859.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094858,-0.976480,-0.193619],[0.995418,0.090692,0.030288],[-0.012016,-0.195605,0.980609]] 2025-10-28T20:54:19.606Z,1761684859.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092187,-0.976342,-0.195596],[0.995667,0.087976,0.030125],[-0.012204,-0.197526,0.980222]] 2025-10-28T20:54:20.010Z,1761684860.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094290,-0.974250,-0.204807],[0.995478,0.089885,0.030728],[-0.011527,-0.206778,0.978320]] 2025-10-28T20:54:20.822Z,1761684860.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114197,-0.959957,-0.255815],[0.993435,0.108580,0.036021],[-0.006803,-0.258249,0.966054]] 2025-10-28T20:54:21.223Z,1761684861.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129622,-0.949459,-0.285877],[0.991558,0.123188,0.040458],[-0.003196,-0.288708,0.957412]] 2025-10-28T20:54:21.627Z,1761684861.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147428,-0.938044,-0.313589],[0.989072,0.140074,0.045990],[0.000784,-0.316942,0.948444]] 2025-10-28T20:54:22.030Z,1761684862.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166390,-0.926095,-0.338618],[0.986047,0.158050,0.052268],[0.005114,-0.342590,0.939471]] 2025-10-28T20:54:22.434Z,1761684862.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185857,-0.914632,-0.359034],[0.982530,0.176562,0.058827],[0.009587,-0.363695,0.931469]] 2025-10-28T20:54:22.847Z,1761684862.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205582,-0.904448,-0.373777],[0.978542,0.195393,0.065407],[0.013876,-0.379203,0.925210]] 2025-10-28T20:54:23.245Z,1761684863.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225814,-0.895576,-0.383344],[0.974016,0.214576,0.072461],[0.017362,-0.389745,0.920759]] 2025-10-28T20:54:23.647Z,1761684863.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246002,-0.887748,-0.389085],[0.969058,0.233638,0.079621],[0.020221,-0.396633,0.917754]] 2025-10-28T20:54:24.051Z,1761684864.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266236,-0.880520,-0.392178],[0.963653,0.252491,0.087296],[0.022156,-0.401165,0.915738]] 2025-10-28T20:54:24.455Z,1761684864.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286164,-0.873946,-0.392847],[0.957909,0.270696,0.095571],[0.022818,-0.403660,0.914624]] 2025-10-28T20:54:24.859Z,1761684864.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305158,-0.868391,-0.390865],[0.952038,0.287857,0.103743],[0.022424,-0.403776,0.914583]] 2025-10-28T20:54:25.264Z,1761684865.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322600,-0.862990,-0.388816],[0.946290,0.303401,0.111726],[0.021549,-0.403976,0.914516]] 2025-10-28T20:54:25.667Z,1761684865.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336951,-0.858644,-0.386257],[0.941283,0.316453,0.117657],[0.021206,-0.403222,0.914856]] 2025-10-28T20:54:26.071Z,1761684866.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348873,-0.855430,-0.382788],[0.936926,0.327671,0.121658],[0.021359,-0.401087,0.915791]] 2025-10-28T20:54:26.475Z,1761684866.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358796,-0.852325,-0.380536],[0.933147,0.337319,0.124310],[0.022409,-0.399698,0.916373]] 2025-10-28T20:54:26.880Z,1761684866.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367800,-0.849201,-0.378921],[0.929588,0.346407,0.125974],[0.024284,-0.398573,0.916815]] 2025-10-28T20:54:27.283Z,1761684867.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376255,-0.846021,-0.377731],[0.926120,0.355346,0.126615],[0.027107,-0.397464,0.917217]] 2025-10-28T20:54:27.687Z,1761684867.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384610,-0.842634,-0.376886],[0.922564,0.364541,0.126435],[0.030852,-0.396330,0.917590]] 2025-10-28T20:54:28.091Z,1761684868.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393662,-0.838968,-0.375716],[0.918580,0.374672,0.125821],[0.035210,-0.394656,0.918154]] 2025-10-28T20:54:28.497Z,1761684868.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403912,-0.834432,-0.374937],[0.913931,0.385921,0.125682],[0.039823,-0.393430,0.918491]] 2025-10-28T20:54:28.898Z,1761684868.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415984,-0.829277,-0.373171],[0.908301,0.398807,0.126263],[0.044116,-0.391475,0.919131]] 2025-10-28T20:54:29.313Z,1761684869.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429444,-0.823248,-0.371269],[0.901799,0.412914,0.127513],[0.048327,-0.389570,0.919728]] 2025-10-28T20:54:29.822Z,1761684869.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444387,-0.816228,-0.369176],[0.894328,0.428112,0.129995],[0.051943,-0.387933,0.920223]] 2025-10-28T20:54:29.887Z,1761684869.887 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:54:29.887Z,1761684869.887 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateRudder:A] Stopped 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:54:29.888Z,1761684869.888 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateCommandMode] Stopped 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:54:29.889Z,1761684869.889 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:54:29.890Z,1761684869.890 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:54:29.890Z,1761684869.890 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:54:29.890Z,1761684869.890 [marl:UpdateSpeed] Stopped 2025-10-28T20:54:29.890Z,1761684869.890 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:54:30.172Z,1761684870.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460041,-0.808449,-0.367115],[0.886182,0.443756,0.133271],[0.055167,-0.386641,0.920579]] 2025-10-28T20:54:30.197Z,1761684870.197 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:54:30.197Z,1761684870.197 [marl:UpdateRudder:B] Stopped 2025-10-28T20:54:30.198Z,1761684870.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:54:30.198Z,1761684870.198 [marl:UpdateRudder] Stopped 2025-10-28T20:54:30.198Z,1761684870.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:54:30.597Z,1761684870.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476221,-0.800501,-0.363883],[0.877439,0.459698,0.137038],[0.057577,-0.384546,0.921309]] 2025-10-28T20:54:30.995Z,1761684870.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492949,-0.791713,-0.360820],[0.868057,0.475640,0.142281],[0.058975,-0.383350,0.921718]] 2025-10-28T20:54:31.399Z,1761684871.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510044,-0.782247,-0.357694],[0.858142,0.491154,0.149531],[0.058713,-0.383220,0.921789]] 2025-10-28T20:54:31.825Z,1761684871.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527472,-0.772795,-0.352932],[0.847657,0.506603,0.157578],[0.057021,-0.382283,0.922284]] 2025-10-28T20:54:32.209Z,1761684872.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545160,-0.762922,-0.347491],[0.836574,0.521909,0.166597],[0.054259,-0.381524,0.922765]] 2025-10-28T20:54:32.610Z,1761684872.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562446,-0.752848,-0.341870],[0.825254,0.536692,0.175835],[0.051102,-0.381027,0.923151]] 2025-10-28T20:54:33.015Z,1761684873.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579174,-0.742485,-0.336562],[0.813788,0.550916,0.185042],[0.048027,-0.381062,0.923301]] 2025-10-28T20:54:33.272Z,1761684873.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:54:33.419Z,1761684873.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595108,-0.732410,-0.330791],[0.802382,0.564579,0.193476],[0.045054,-0.380560,0.923658]] 2025-10-28T20:54:33.832Z,1761684873.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609301,-0.723181,-0.325211],[0.791818,0.576712,0.201064],[0.042148,-0.380017,0.924019]] 2025-10-28T20:54:34.230Z,1761684874.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622031,-0.715025,-0.319089],[0.781996,0.587870,0.207101],[0.039500,-0.378349,0.924820]] 2025-10-28T20:54:34.297Z,1761684874.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:54:34.631Z,1761684874.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634238,-0.706749,-0.313446],[0.772264,0.598388,0.213399],[0.036742,-0.377409,0.925318]] 2025-10-28T20:54:35.034Z,1761684875.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645345,-0.698969,-0.308176],[0.763121,0.608015,0.219008],[0.034296,-0.376511,0.925777]] 2025-10-28T20:54:35.441Z,1761684875.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655408,-0.692026,-0.302556],[0.754593,0.616995,0.223398],[0.032079,-0.374724,0.926582]] 2025-10-28T20:54:35.842Z,1761684875.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664808,-0.685012,-0.297975],[0.746408,0.625200,0.228035],[0.030087,-0.374010,0.926937]] 2025-10-28T20:54:36.246Z,1761684876.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674184,-0.677448,-0.294177],[0.738025,0.633143,0.233342],[0.028179,-0.374426,0.926829]] 2025-10-28T20:54:36.651Z,1761684876.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683485,-0.669865,-0.290051],[0.729467,0.641455,0.237513],[0.026953,-0.373919,0.927070]] 2025-10-28T20:54:37.056Z,1761684877.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692872,-0.662047,-0.285698],[0.720579,0.650226,0.240773],[0.026365,-0.372693,0.927580]] 2025-10-28T20:54:37.458Z,1761684877.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703208,-0.652812,-0.281665],[0.710521,0.659541,0.245287],[0.025643,-0.372616,0.927631]] 2025-10-28T20:54:37.863Z,1761684877.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714389,-0.642404,-0.277426],[0.699298,0.669658,0.250082],[0.025127,-0.372659,0.927628]] 2025-10-28T20:54:38.267Z,1761684878.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726168,-0.631049,-0.272869],[0.687069,0.680431,0.254853],[0.024843,-0.372546,0.927681]] 2025-10-28T20:54:38.672Z,1761684878.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738472,-0.618648,-0.268205],[0.673837,0.691586,0.260102],[0.024575,-0.372805,0.927584]] 2025-10-28T20:54:39.075Z,1761684879.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751247,-0.605731,-0.262141],[0.659585,0.703436,0.264813],[0.023994,-0.371844,0.927985]] 2025-10-28T20:54:39.478Z,1761684879.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764261,-0.591649,-0.256623],[0.644488,0.715023,0.270882],[0.023224,-0.372416,0.927776]] 2025-10-28T20:54:39.883Z,1761684879.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777193,-0.577445,-0.250055],[0.628880,0.726598,0.276705],[0.021907,-0.372308,0.927851]] 2025-10-28T20:54:40.299Z,1761684880.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789778,-0.563209,-0.242996],[0.613067,0.737695,0.282763],[0.020003,-0.372292,0.927900]] 2025-10-28T20:54:40.691Z,1761684880.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801892,-0.548908,-0.235943],[0.597208,0.748073,0.289360],[0.017670,-0.372943,0.927686]] 2025-10-28T20:54:41.095Z,1761684881.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813250,-0.534855,-0.229246],[0.581719,0.757427,0.296492],[0.015057,-0.374479,0.927113]] 2025-10-28T20:54:41.499Z,1761684881.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823451,-0.522015,-0.222328],[0.567252,0.766008,0.302419],[0.012438,-0.375143,0.926883]] 2025-10-28T20:54:41.903Z,1761684881.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832679,-0.509795,-0.216229],[0.553659,0.773731,0.307899],[0.010338,-0.376099,0.926522]] 2025-10-28T20:54:42.319Z,1761684882.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841124,-0.498344,-0.210150],[0.540775,0.781042,0.312306],[0.008500,-0.376332,0.926446]] 2025-10-28T20:54:42.712Z,1761684882.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848956,-0.487545,-0.203897],[0.528419,0.788178,0.315514],[0.006880,-0.375601,0.926756]] 2025-10-28T20:54:42.751Z,1761684882.751 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:54:42.751Z,1761684882.751 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:54:42.751Z,1761684882.751 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:54:42.752Z,1761684882.752 [marl:UpdateRudder:A] Stopped 2025-10-28T20:54:42.752Z,1761684882.752 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:54:42.752Z,1761684882.752 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:54:42.753Z,1761684882.753 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:54:42.753Z,1761684882.753 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:54:42.753Z,1761684882.753 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:54:42.753Z,1761684882.753 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:54:42.753Z,1761684882.753 [marl:UpdateCommandMode] Stopped 2025-10-28T20:54:42.754Z,1761684882.754 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:54:42.754Z,1761684882.754 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:54:42.754Z,1761684882.754 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:54:42.754Z,1761684882.754 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:54:42.754Z,1761684882.754 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:54:42.755Z,1761684882.755 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:54:42.755Z,1761684882.755 [marl:UpdateSpeed] Stopped 2025-10-28T20:54:42.755Z,1761684882.755 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:54:43.162Z,1761684883.162 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:54:43.162Z,1761684883.162 [marl:UpdateRudder:B] Stopped 2025-10-28T20:54:43.162Z,1761684883.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:54:43.162Z,1761684883.162 [marl:UpdateRudder] Stopped 2025-10-28T20:54:43.162Z,1761684883.162 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:54:43.520Z,1761684883.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863202,-0.466526,-0.192967],[0.504842,0.800828,0.322196],[0.004220,-0.375537,0.926798]] 2025-10-28T20:54:43.926Z,1761684883.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869764,-0.456334,-0.187804],[0.493459,0.806703,0.325160],[0.003120,-0.375486,0.926823]] 2025-10-28T20:54:44.330Z,1761684884.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876158,-0.446488,-0.181644],[0.482020,0.812995,0.326643],[0.001833,-0.373747,0.927529]] 2025-10-28T20:54:44.732Z,1761684884.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882583,-0.435838,-0.176333],[0.470157,0.818769,0.329500],[0.000767,-0.373715,0.927543]] 2025-10-28T20:54:45.135Z,1761684885.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888871,-0.425089,-0.170904],[0.458158,0.824466,0.332185],[-0.000303,-0.373570,0.927602]] 2025-10-28T20:54:45.540Z,1761684885.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895231,-0.413757,-0.165432],[0.445602,0.830217,0.334931],[-0.001235,-0.373558,0.927606]] 2025-10-28T20:54:45.942Z,1761684885.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901680,-0.401713,-0.160001],[0.432399,0.835823,0.338277],[-0.002158,-0.374202,0.927345]] 2025-10-28T20:54:46.350Z,1761684886.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907846,-0.390011,-0.153973],[0.419293,0.841697,0.340206],[-0.003085,-0.373414,0.927660]] 2025-10-28T20:54:46.753Z,1761684886.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914490,-0.376659,-0.147771],[0.404590,0.847736,0.343001],[-0.003924,-0.373458,0.927639]] 2025-10-28T20:54:47.163Z,1761684887.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921049,-0.362749,-0.141708],[0.389419,0.853618,0.345960],[-0.004532,-0.373830,0.927486]] 2025-10-28T20:54:47.559Z,1761684887.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927718,-0.347873,-0.135367],[0.373250,0.859693,0.348730],[-0.004940,-0.374049,0.927396]] 2025-10-28T20:54:47.962Z,1761684887.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934560,-0.331819,-0.128430],[0.355767,0.866096,0.351152],[-0.005286,-0.373864,0.927468]] 2025-10-28T20:54:48.370Z,1761684888.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941242,-0.315242,-0.121186],[0.337686,0.872447,0.353278],[-0.005640,-0.373442,0.927636]] 2025-10-28T20:54:48.792Z,1761684888.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953812,-0.280977,-0.106276],[0.300333,0.884223,0.357700],[-0.006534,-0.373097,0.927769]] 2025-10-28T20:54:49.183Z,1761684889.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959351,-0.264597,-0.098151],[0.282118,0.890046,0.358089],[-0.007391,-0.371224,0.928514]] 2025-10-28T20:54:49.587Z,1761684889.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964352,-0.248612,-0.090654],[0.264493,0.894775,0.359752],[-0.008323,-0.370904,0.928634]] 2025-10-28T20:54:50.078Z,1761684890.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968690,-0.233978,-0.083026],[0.248089,0.899420,0.359855],[-0.009523,-0.369186,0.929307]] 2025-10-28T20:54:50.421Z,1761684890.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972464,-0.220242,-0.076209],[0.232813,0.903175,0.360656],[-0.010602,-0.368467,0.929580]] 2025-10-28T20:54:50.815Z,1761684890.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975771,-0.207225,-0.070207],[0.218498,0.906229,0.361950],[-0.011382,-0.368520,0.929550]] 2025-10-28T20:54:51.221Z,1761684891.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978768,-0.194647,-0.064225],[0.204601,0.909040,0.363021],[-0.012278,-0.368454,0.929565]] 2025-10-28T20:54:51.623Z,1761684891.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981486,-0.182330,-0.058664],[0.191092,0.911336,0.364625],[-0.013020,-0.369084,0.929305]] 2025-10-28T20:54:52.026Z,1761684892.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983958,-0.170239,-0.053336],[0.177877,0.913356,0.366252],[-0.013636,-0.369864,0.928986]] 2025-10-28T20:54:52.433Z,1761684892.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986407,-0.157302,-0.047515],[0.163681,0.915084,0.368551],[-0.014494,-0.371318,0.928393]] 2025-10-28T20:54:52.836Z,1761684892.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988715,-0.143905,-0.041631],[0.149026,0.916518,0.371196],[-0.015261,-0.373211,0.927621]] 2025-10-28T20:54:53.238Z,1761684893.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990924,-0.129663,-0.035444],[0.133475,0.917912,0.373661],[-0.015915,-0.375001,0.926888]] 2025-10-28T20:54:53.643Z,1761684893.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992907,-0.115300,-0.028998],[0.117719,0.919262,0.375633],[-0.016653,-0.376382,0.926315]] 2025-10-28T20:54:54.047Z,1761684894.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994659,-0.100806,-0.022176],[0.101693,0.920323,0.377709],[-0.017666,-0.377947,0.925659]] 2025-10-28T20:54:54.460Z,1761684894.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996158,-0.086272,-0.015055],[0.085536,0.921595,0.378610],[-0.018789,-0.378443,0.925434]] 2025-10-28T20:54:54.857Z,1761684894.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997332,-0.072499,-0.008507],[0.070302,0.922609,0.379275],[-0.019648,-0.378861,0.925245]] 2025-10-28T20:54:55.267Z,1761684895.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998253,-0.059051,-0.001928],[0.055377,0.923763,0.378939],[-0.020595,-0.378384,0.925420]] 2025-10-28T20:54:55.662Z,1761684895.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998927,-0.046115,0.004224],[0.041080,0.924561,0.378813],[-0.021374,-0.378233,0.925464]] 2025-10-28T20:54:55.703Z,1761684895.703 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:54:55.704Z,1761684895.704 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:54:55.708Z,1761684895.708 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:54:55.708Z,1761684895.708 [marl:UpdateRudder:A] Stopped 2025-10-28T20:54:55.708Z,1761684895.708 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:54:55.708Z,1761684895.708 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode] Stopped 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:54:55.709Z,1761684895.709 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:54:55.710Z,1761684895.710 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:54:55.710Z,1761684895.710 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:54:55.710Z,1761684895.710 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:54:55.710Z,1761684895.710 [marl:UpdateSpeed] Stopped 2025-10-28T20:54:55.710Z,1761684895.710 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:54:56.067Z,1761684896.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999391,-0.033441,0.009962],[0.027220,0.925786,0.377067],[-0.021832,-0.376567,0.926132]] 2025-10-28T20:54:56.130Z,1761684896.130 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:54:56.130Z,1761684896.130 [marl:UpdateRudder:B] Stopped 2025-10-28T20:54:56.130Z,1761684896.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:54:56.130Z,1761684896.130 [marl:UpdateRudder] Stopped 2025-10-28T20:54:56.131Z,1761684896.131 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:54:56.482Z,1761684896.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999662,-0.020758,0.015628],[0.013341,0.926191,0.376818],[-0.022297,-0.376482,0.926155]] 2025-10-28T20:54:56.874Z,1761684896.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999746,-0.007650,0.021188],[-0.000910,0.926080,0.377325],[-0.022509,-0.377249,0.925838]] 2025-10-28T20:54:57.282Z,1761684897.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999614,0.005450,0.027244],[-0.015303,0.926444,0.376121],[-0.023190,-0.376393,0.926170]] 2025-10-28T20:54:57.683Z,1761684897.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999262,0.017837,0.034027],[-0.029244,0.927543,0.372570],[-0.024916,-0.373290,0.927380]] 2025-10-28T20:54:58.165Z,1761684898.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998818,0.026703,0.040625],[-0.039587,0.931795,0.360819],[-0.028219,-0.362000,0.931751]] 2025-10-28T20:54:58.567Z,1761684898.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998395,0.032418,0.046428],[-0.046366,0.938691,0.341628],[-0.032507,-0.343233,0.938688]] 2025-10-28T20:54:58.979Z,1761684898.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997956,0.036540,0.052423],[-0.051458,0.945939,0.320238],[-0.037887,-0.322281,0.945886]] 2025-10-28T20:54:59.376Z,1761684899.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997464,0.039794,0.059010],[-0.055742,0.952293,0.300052],[-0.044254,-0.302580,0.952096]] 2025-10-28T20:54:59.815Z,1761684899.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996893,0.042980,0.066013],[-0.059897,0.957873,0.280876],[-0.051160,-0.283957,0.957471]] 2025-10-28T20:55:00.183Z,1761684900.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996243,0.046063,0.073339],[-0.063819,0.962921,0.262128],[-0.058546,-0.265824,0.962242]] 2025-10-28T20:55:00.588Z,1761684900.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995529,0.048671,0.080948],[-0.067303,0.966826,0.246411],[-0.066270,-0.250757,0.965779]] 2025-10-28T20:55:00.991Z,1761684900.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994816,0.050978,0.087996],[-0.070266,0.970084,0.232378],[-0.073517,-0.237357,0.968637]] 2025-10-28T20:55:01.031Z,1761684901.031 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:55:01.129Z,1761684901.129 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:55:01.129Z,1761684901.129 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:55:01.381Z,1761684901.381 [DAT](INFO): DAT read: user:275> 2025-10-28T20:55:01.382Z,1761684901.382 [DAT](INFO): DAT read: Tx time:20:55:01.1111 2025-10-28T20:55:01.382Z,1761684901.382 [DAT](INFO): Ping request sent. 2025-10-28T20:55:01.382Z,1761684901.382 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:55:01.382Z,1761684901.382 [DAT](INFO): publishing transmit ping time 2025-10-28T20:55:01.383Z,1761684901.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T20:55:01.399Z,1761684901.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994117,0.052061,0.094979],[-0.072014,0.972707,0.220578],[-0.080903,-0.226120,0.970734]] 2025-10-28T20:55:01.633Z,1761684901.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250996 2025-10-28T20:55:01.819Z,1761684901.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993375,0.052488,0.102229],[-0.073264,0.974625,0.211515],[-0.088533,-0.217603,0.972014]] 2025-10-28T20:55:01.901Z,1761684901.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519023 2025-10-28T20:55:02.153Z,1761684902.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770920 2025-10-28T20:55:02.213Z,1761684902.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992666,0.052242,0.109016],[-0.073817,0.976101,0.204396],[-0.095733,-0.210944,0.972799]] 2025-10-28T20:55:02.405Z,1761684902.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023007 2025-10-28T20:55:02.610Z,1761684902.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991990,0.050596,0.115741],[-0.073237,0.976924,0.200637],[-0.102918,-0.207507,0.972805]] 2025-10-28T20:55:02.657Z,1761684902.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274987 2025-10-28T20:55:02.909Z,1761684902.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526905 2025-10-28T20:55:03.014Z,1761684903.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991285,0.049014,0.122279],[-0.072878,0.977271,0.199075],[-0.109743,-0.206252,0.972325]] 2025-10-28T20:55:03.162Z,1761684903.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779710 2025-10-28T20:55:03.413Z,1761684903.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030986 2025-10-28T20:55:03.422Z,1761684903.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990578,0.047731,0.128364],[-0.072932,0.977191,0.199448],[-0.115916,-0.206930,0.971465]] 2025-10-28T20:55:03.665Z,1761684903.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282935 2025-10-28T20:55:03.828Z,1761684903.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989894,0.046759,0.133876],[-0.073461,0.976610,0.202078],[-0.121296,-0.209870,0.970176]] 2025-10-28T20:55:03.917Z,1761684903.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534942 2025-10-28T20:55:04.169Z,1761684904.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786824 2025-10-28T20:55:04.230Z,1761684904.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989250,0.046215,0.138737],[-0.074358,0.975910,0.205109],[-0.125916,-0.213220,0.968856]] 2025-10-28T20:55:04.421Z,1761684904.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038835 2025-10-28T20:55:04.422Z,1761684904.422 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:55:04.631Z,1761684904.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988633,0.045432,0.143322],[-0.075133,0.974982,0.209203],[-0.130232,-0.217593,0.967312]] 2025-10-28T20:55:04.673Z,1761684904.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291088 2025-10-28T20:55:04.925Z,1761684904.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542868 2025-10-28T20:55:05.035Z,1761684905.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988067,0.045037,0.147296],[-0.075996,0.974338,0.211875],[-0.133974,-0.220541,0.966133]] 2025-10-28T20:55:05.177Z,1761684905.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794842 2025-10-28T20:55:05.424Z,1761684905.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:55:05.429Z,1761684905.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047177 2025-10-28T20:55:05.454Z,1761684905.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987543,0.044829,0.150828],[-0.076903,0.973781,0.214095],[-0.137276,-0.223027,0.965098]] 2025-10-28T20:55:05.681Z,1761684905.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298868 2025-10-28T20:55:05.843Z,1761684905.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987034,0.044428,0.154243],[-0.077544,0.973339,0.215864],[-0.140541,-0.225026,0.964164]] 2025-10-28T20:55:05.933Z,1761684905.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.551311 2025-10-28T20:55:06.185Z,1761684906.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802955 2025-10-28T20:55:06.254Z,1761684906.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986497,0.044393,0.157649],[-0.078383,0.973140,0.216459],[-0.143806,-0.225893,0.963479]] 2025-10-28T20:55:06.437Z,1761684906.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054892 2025-10-28T20:55:06.651Z,1761684906.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986047,0.044137,0.160510],[-0.078835,0.973044,0.216728],[-0.146618,-0.226358,0.962946]] 2025-10-28T20:55:06.689Z,1761684906.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.307030 2025-10-28T20:55:06.941Z,1761684906.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558947 2025-10-28T20:55:07.060Z,1761684907.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985632,0.044246,0.163011],[-0.079520,0.972991,0.216714],[-0.149019,-0.226563,0.962529]] 2025-10-28T20:55:07.193Z,1761684907.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810877 2025-10-28T20:55:07.445Z,1761684907.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062863 2025-10-28T20:55:07.474Z,1761684907.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985372,0.044457,0.164519],[-0.080118,0.972886,0.216966],[-0.150412,-0.226973,0.962216]] 2025-10-28T20:55:07.697Z,1761684907.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314953 2025-10-28T20:55:07.863Z,1761684907.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985190,0.044608,0.165564],[-0.080461,0.972929,0.216646],[-0.151417,-0.226759,0.962109]] 2025-10-28T20:55:07.949Z,1761684907.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566972 2025-10-28T20:55:08.201Z,1761684908.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818894 2025-10-28T20:55:08.267Z,1761684908.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985107,0.043975,0.166225],[-0.080006,0.972943,0.216749],[-0.152196,-0.226820,0.961972]] 2025-10-28T20:55:08.453Z,1761684908.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070928 2025-10-28T20:55:08.673Z,1761684908.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985010,0.044019,0.166785],[-0.080289,0.972767,0.217435],[-0.152672,-0.227567,0.961720]] 2025-10-28T20:55:08.697Z,1761684908.697 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:55:08.697Z,1761684908.697 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:55:08.697Z,1761684908.697 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateRudder:A] Stopped 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:55:08.698Z,1761684908.698 [marl:UpdateCommandMode] Stopped 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed] Stopped 2025-10-28T20:55:08.699Z,1761684908.699 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:55:08.705Z,1761684908.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323002 2025-10-28T20:55:08.957Z,1761684908.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574908 2025-10-28T20:55:09.074Z,1761684909.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985002,0.043629,0.166938],[-0.079987,0.972726,0.217732],[-0.152885,-0.227819,0.961626]] 2025-10-28T20:55:09.110Z,1761684909.110 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:55:09.110Z,1761684909.110 [marl:UpdateRudder:B] Stopped 2025-10-28T20:55:09.111Z,1761684909.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:55:09.111Z,1761684909.111 [marl:UpdateRudder] Stopped 2025-10-28T20:55:09.111Z,1761684909.111 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:55:09.209Z,1761684909.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826998 2025-10-28T20:55:09.461Z,1761684909.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078935 2025-10-28T20:55:09.483Z,1761684909.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984923,0.043595,0.167410],[-0.080168,0.972564,0.218385],[-0.153296,-0.228513,0.961396]] 2025-10-28T20:55:09.714Z,1761684909.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.331923 2025-10-28T20:55:09.883Z,1761684909.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984970,0.043393,0.167188],[-0.080217,0.972134,0.220276],[-0.152971,-0.230376,0.961003]] 2025-10-28T20:55:09.965Z,1761684909.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583032 2025-10-28T20:55:10.218Z,1761684910.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835701 2025-10-28T20:55:10.288Z,1761684910.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985013,0.044211,0.166716],[-0.081196,0.971646,0.222062],[-0.152172,-0.232270,0.960674]] 2025-10-28T20:55:10.469Z,1761684910.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087114 2025-10-28T20:55:10.691Z,1761684910.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985200,0.045532,0.165249],[-0.082565,0.970918,0.224724],[-0.150211,-0.235042,0.960308]] 2025-10-28T20:55:10.722Z,1761684910.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339623 2025-10-28T20:55:10.973Z,1761684910.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590899 2025-10-28T20:55:11.095Z,1761684911.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985423,0.047768,0.163277],[-0.084677,0.970154,0.227226],[-0.147549,-0.237739,0.960057]] 2025-10-28T20:55:11.226Z,1761684911.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843974 2025-10-28T20:55:11.477Z,1761684911.477 [DAT](INFO): Reached modem response timeout 2025-10-28T20:55:11.504Z,1761684911.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985747,0.050167,0.160578],[-0.086572,0.969687,0.228502],[-0.144247,-0.239147,0.960209]] 2025-10-28T20:55:11.903Z,1761684911.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986072,0.053257,0.157559],[-0.089203,0.968911,0.230768],[-0.140371,-0.241609,0.960167]] 2025-10-28T20:55:12.306Z,1761684912.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986330,0.056995,0.154611],[-0.092167,0.968600,0.230910],[-0.136595,-0.242004,0.960612]] 2025-10-28T20:55:12.716Z,1761684912.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986602,0.060722,0.151422],[-0.094856,0.968652,0.229601],[-0.132733,-0.240888,0.961434]] 2025-10-28T20:55:13.122Z,1761684913.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986860,0.063927,0.148397],[-0.097217,0.968490,0.229295],[-0.129062,-0.240709,0.961978]] 2025-10-28T20:55:13.518Z,1761684913.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987145,0.066679,0.145254],[-0.098798,0.968958,0.226627],[-0.125634,-0.238064,0.963090]] 2025-10-28T20:55:13.746Z,1761684913.746 [DAT](INFO): DAT read: Response Not Received 2025-10-28T20:55:13.747Z,1761684913.747 [DAT](INFO): response not received 2025-10-28T20:55:13.747Z,1761684913.747 [DAT](ERROR): No response from remote modem. 2025-10-28T20:55:13.922Z,1761684913.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987454,0.068330,0.142358],[-0.099337,0.969596,0.223643],[-0.122748,-0.234979,0.964219]] 2025-10-28T20:55:14.326Z,1761684914.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987817,0.069018,0.139481],[-0.099088,0.970056,0.221748],[-0.120000,-0.232867,0.965077]] 2025-10-28T20:55:14.738Z,1761684914.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988243,0.068823,0.136525],[-0.097891,0.970750,0.219229],[-0.117444,-0.230016,0.966074]] 2025-10-28T20:55:15.134Z,1761684915.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988780,0.067423,0.133294],[-0.095544,0.971396,0.217395],[-0.114824,-0.227691,0.966940]] 2025-10-28T20:55:15.540Z,1761684915.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989370,0.065186,0.129992],[-0.092537,0.971777,0.216991],[-0.112178,-0.226714,0.967480]] 2025-10-28T20:55:15.942Z,1761684915.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990010,0.062496,0.126388],[-0.089159,0.971912,0.217801],[-0.109226,-0.226893,0.967775]] 2025-10-28T20:55:16.348Z,1761684916.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990789,0.059539,0.121620],[-0.085368,0.971824,0.219703],[-0.105112,-0.228062,0.967956]] 2025-10-28T20:55:16.751Z,1761684916.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991635,0.056409,0.116093],[-0.081375,0.971397,0.223085],[-0.100188,-0.230666,0.967861]] 2025-10-28T20:55:17.155Z,1761684917.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992490,0.053673,0.109924],[-0.077588,0.970926,0.226457],[-0.094573,-0.233285,0.967799]] 2025-10-28T20:55:17.560Z,1761684917.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993303,0.051398,0.103472],[-0.074283,0.970060,0.231228],[-0.088489,-0.237366,0.967382]] 2025-10-28T20:55:17.965Z,1761684917.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994002,0.050692,0.096907],[-0.072478,0.968903,0.236589],[-0.081900,-0.242194,0.966765]] 2025-10-28T20:55:18.366Z,1761684918.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994630,0.051073,0.090014],[-0.071452,0.968079,0.240245],[-0.074871,-0.245386,0.966530]] 2025-10-28T20:55:18.775Z,1761684918.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995174,0.052079,0.083166],[-0.070965,0.967318,0.243435],[-0.067770,-0.248162,0.966345]] 2025-10-28T20:55:19.175Z,1761684919.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995593,0.053907,0.076739],[-0.071353,0.966430,0.246822],[-0.060857,-0.251210,0.966018]] 2025-10-28T20:55:19.581Z,1761684919.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995917,0.056486,0.070421],[-0.072290,0.966237,0.247306],[-0.054074,-0.251387,0.966375]] 2025-10-28T20:55:19.982Z,1761684919.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996214,0.058608,0.064203],[-0.072775,0.966229,0.247193],[-0.047547,-0.250930,0.966837]] 2025-10-28T20:55:20.417Z,1761684920.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996665,0.062805,0.052109],[-0.073755,0.966517,0.245773],[-0.034929,-0.248797,0.967926]] 2025-10-28T20:55:21.209Z,1761684921.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996830,0.064786,0.046189],[-0.074173,0.966729,0.244814],[-0.028791,-0.247464,0.968469]] 2025-10-28T20:55:21.637Z,1761684921.637 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateRudder:A] Stopped 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:55:21.638Z,1761684921.638 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateCommandMode] Stopped 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:55:21.639Z,1761684921.639 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:55:21.640Z,1761684921.640 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:55:21.640Z,1761684921.640 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:55:21.640Z,1761684921.640 [marl:UpdateSpeed] Stopped 2025-10-28T20:55:21.640Z,1761684921.640 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:55:22.002Z,1761684922.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997034,0.068393,0.035284],[-0.074949,0.967023,0.243414],[-0.017473,-0.245336,0.969281]] 2025-10-28T20:55:22.059Z,1761684922.059 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:55:22.059Z,1761684922.059 [marl:UpdateRudder:B] Stopped 2025-10-28T20:55:22.059Z,1761684922.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:55:22.059Z,1761684922.059 [marl:UpdateRudder] Stopped 2025-10-28T20:55:22.059Z,1761684922.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:55:22.406Z,1761684922.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997071,0.070267,0.030216],[-0.075517,0.967092,0.242963],[-0.012150,-0.244533,0.969565]] 2025-10-28T20:55:22.819Z,1761684922.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997064,0.073802,0.020406],[-0.076551,0.966875,0.243499],[-0.001760,-0.244346,0.969686]] 2025-10-28T20:55:23.226Z,1761684923.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997029,0.075413,0.015658],[-0.076945,0.966212,0.245995],[0.003422,-0.246469,0.969145]] 2025-10-28T20:55:23.623Z,1761684923.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997008,0.076506,0.011050],[-0.076864,0.966036,0.246711],[0.008200,-0.246822,0.969026]] 2025-10-28T20:55:24.027Z,1761684924.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996985,0.077328,0.006364],[-0.076511,0.966179,0.246262],[0.012894,-0.246007,0.969182]] 2025-10-28T20:55:24.433Z,1761684924.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996987,0.077556,0.001682],[-0.075572,0.966129,0.246746],[0.017512,-0.246130,0.969079]] 2025-10-28T20:55:24.833Z,1761684924.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997016,0.077151,-0.002724],[-0.074097,0.966258,0.246689],[0.021665,-0.245751,0.969091]] 2025-10-28T20:55:25.234Z,1761684925.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997125,0.075336,-0.008148],[-0.071031,0.966726,0.245757],[0.026391,-0.244471,0.969297]] 2025-10-28T20:55:25.640Z,1761684925.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997217,0.073332,-0.013453],[-0.067795,0.966987,0.245640],[0.031022,-0.244044,0.969268]] 2025-10-28T20:55:26.043Z,1761684926.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997332,0.070443,-0.019132],[-0.063689,0.967825,0.243430],[0.035665,-0.241563,0.969730]] 2025-10-28T20:55:26.447Z,1761684926.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997468,0.066573,-0.025025],[-0.058560,0.968453,0.242217],[0.040361,-0.240138,0.969899]] 2025-10-28T20:55:26.852Z,1761684926.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997541,0.062755,-0.031208],[-0.053413,0.969000,0.241218],[0.045378,-0.238958,0.969969]] 2025-10-28T20:55:27.254Z,1761684927.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997523,0.059783,-0.037060],[-0.049119,0.969196,0.241341],[0.050346,-0.238923,0.969732]] 2025-10-28T20:55:27.659Z,1761684927.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997427,0.057530,-0.042779],[-0.045546,0.969310,0.241586],[0.055364,-0.239016,0.969436]] 2025-10-28T20:55:28.063Z,1761684928.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997289,0.055473,-0.048337],[-0.042136,0.969145,0.242863],[0.060318,-0.240168,0.968856]] 2025-10-28T20:55:28.468Z,1761684928.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997055,0.055117,-0.053330],[-0.040434,0.968643,0.245146],[0.065169,-0.242267,0.968018]] 2025-10-28T20:55:28.871Z,1761684928.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996788,0.055251,-0.057983],[-0.039269,0.968114,0.247413],[0.069803,-0.244341,0.967174]] 2025-10-28T20:55:29.275Z,1761684929.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996507,0.056233,-0.061739],[-0.039161,0.967641,0.249272],[0.073759,-0.245983,0.966464]] 2025-10-28T20:55:29.686Z,1761684929.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996210,0.057980,-0.064840],[-0.040093,0.967610,0.249248],[0.077191,-0.245703,0.966267]] 2025-10-28T20:55:30.083Z,1761684930.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995950,0.059520,-0.067389],[-0.040935,0.967499,0.249541],[0.080052,-0.245771,0.966017]] 2025-10-28T20:55:30.487Z,1761684930.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995696,0.060987,-0.069780],[-0.041768,0.967457,0.249565],[0.082729,-0.245577,0.965841]] 2025-10-28T20:55:30.890Z,1761684930.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995476,0.062107,-0.071901],[-0.042432,0.967723,0.248417],[0.085009,-0.244243,0.965981]] 2025-10-28T20:55:31.302Z,1761684931.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995280,0.063458,-0.073422],[-0.043387,0.967722,0.248256],[0.086806,-0.243899,0.965908]] 2025-10-28T20:55:31.703Z,1761684931.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995104,0.064625,-0.074772],[-0.044393,0.968242,0.246041],[0.088298,-0.241517,0.966371]] 2025-10-28T20:55:32.103Z,1761684932.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994937,0.065976,-0.075813],[-0.045468,0.968230,0.245892],[0.089627,-0.241200,0.966328]] 2025-10-28T20:55:32.506Z,1761684932.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994731,0.067984,-0.076735],[-0.047245,0.968269,0.245402],[0.090984,-0.240484,0.966380]] 2025-10-28T20:55:32.912Z,1761684932.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994551,0.069687,-0.077540],[-0.048823,0.968494,0.244203],[0.092115,-0.239087,0.966619]] 2025-10-28T20:55:33.314Z,1761684933.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994359,0.071375,-0.078458],[-0.050281,0.968516,0.243821],[0.093390,-0.238500,0.966641]] 2025-10-28T20:55:33.718Z,1761684933.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994220,0.072491,-0.079190],[-0.051333,0.968820,0.242390],[0.094292,-0.236924,0.966942]] 2025-10-28T20:55:34.122Z,1761684934.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994131,0.073303,-0.079564],[-0.052263,0.969351,0.240056],[0.094722,-0.234489,0.967493]] 2025-10-28T20:55:34.527Z,1761684934.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994099,0.073219,-0.080043],[-0.052180,0.969637,0.238917],[0.095105,-0.233331,0.967735]] 2025-10-28T20:55:34.551Z,1761684934.551 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:55:34.551Z,1761684934.551 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:55:34.552Z,1761684934.552 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateRudder:A] Stopped 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:55:34.553Z,1761684934.553 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateCommandMode] Stopped 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:55:34.554Z,1761684934.554 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:55:34.555Z,1761684934.555 [marl:UpdateSpeed] Stopped 2025-10-28T20:55:34.555Z,1761684934.555 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:55:34.931Z,1761684934.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994142,0.071876,-0.080725],[-0.050930,0.970253,0.236677],[0.095335,-0.231179,0.968229]] 2025-10-28T20:55:34.965Z,1761684934.965 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:55:34.965Z,1761684934.965 [marl:UpdateRudder:B] Stopped 2025-10-28T20:55:34.966Z,1761684934.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:55:34.966Z,1761684934.966 [marl:UpdateRudder] Stopped 2025-10-28T20:55:34.966Z,1761684934.966 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:55:35.335Z,1761684935.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994249,0.069791,-0.081223],[-0.049006,0.970911,0.234371],[0.095218,-0.229042,0.968748]] 2025-10-28T20:55:35.556Z,1761684935.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:55:35.742Z,1761684935.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994405,0.067290,-0.081429],[-0.046623,0.971290,0.233287],[0.094789,-0.228185,0.968993]] 2025-10-28T20:55:36.145Z,1761684936.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994560,0.064993,-0.081402],[-0.044490,0.971649,0.232204],[0.094185,-0.227319,0.969255]] 2025-10-28T20:55:36.547Z,1761684936.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994721,0.062997,-0.081001],[-0.042648,0.971770,0.232042],[0.093333,-0.227363,0.969327]] 2025-10-28T20:55:36.560Z,1761684936.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:55:36.950Z,1761684936.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994832,0.061963,-0.080435],[-0.041607,0.971411,0.233728],[0.092618,-0.229173,0.968969]] 2025-10-28T20:55:37.355Z,1761684937.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994936,0.061331,-0.079627],[-0.040960,0.970889,0.236003],[0.091784,-0.231546,0.968485]] 2025-10-28T20:55:37.797Z,1761684937.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995001,0.061268,-0.078863],[-0.040931,0.970508,0.237567],[0.091092,-0.233152,0.968165]] 2025-10-28T20:55:38.175Z,1761684938.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995044,0.061361,-0.078243],[-0.041080,0.970275,0.238494],[0.090552,-0.234098,0.967987]] 2025-10-28T20:55:38.567Z,1761684938.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995106,0.060991,-0.077750],[-0.040833,0.970278,0.238524],[0.089987,-0.234182,0.968019]] 2025-10-28T20:55:38.971Z,1761684938.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995181,0.060781,-0.076939],[-0.040746,0.970085,0.239320],[0.089183,-0.235032,0.967888]] 2025-10-28T20:55:39.381Z,1761684939.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995255,0.060455,-0.076246],[-0.040604,0.970122,0.239196],[0.088429,-0.234965,0.967973]] 2025-10-28T20:55:39.814Z,1761684939.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995305,0.059848,-0.076061],[-0.040085,0.970224,0.238870],[0.088092,-0.234700,0.968068]] 2025-10-28T20:55:40.186Z,1761684940.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995383,0.060201,-0.074755],[-0.040620,0.969876,0.240190],[0.086963,-0.236045,0.967843]] 2025-10-28T20:55:40.587Z,1761684940.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995460,0.060476,-0.073495],[-0.041087,0.969575,0.241320],[0.085853,-0.237205,0.967658]] 2025-10-28T20:55:40.992Z,1761684940.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995492,0.060729,-0.072850],[-0.041416,0.969360,0.242129],[0.085322,-0.238021,0.967505]] 2025-10-28T20:55:41.400Z,1761684941.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995455,0.061303,-0.072882],[-0.041942,0.969266,0.242413],[0.085503,-0.238254,0.967432]] 2025-10-28T20:55:41.821Z,1761684941.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995467,0.061432,-0.072604],[-0.042175,0.969371,0.241951],[0.085244,-0.237792,0.967568]] 2025-10-28T20:55:42.204Z,1761684942.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995454,0.062027,-0.072276],[-0.042954,0.969679,0.240576],[0.085007,-0.236378,0.967936]] 2025-10-28T20:55:42.611Z,1761684942.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995455,0.062520,-0.071838],[-0.043573,0.969751,0.240178],[0.084680,-0.235956,0.968067]] 2025-10-28T20:55:43.012Z,1761684943.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995447,0.063055,-0.071476],[-0.044347,0.970187,0.238264],[0.084369,-0.234010,0.968567]] 2025-10-28T20:55:43.415Z,1761684943.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995432,0.063814,-0.071007],[-0.045272,0.970357,0.237399],[0.084052,-0.233100,0.968814]] 2025-10-28T20:55:43.824Z,1761684943.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995416,0.064658,-0.070478],[-0.046276,0.970472,0.236731],[0.083703,-0.232385,0.969016]] 2025-10-28T20:55:44.224Z,1761684944.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995388,0.065846,-0.069766],[-0.047626,0.970475,0.236452],[0.083276,-0.232039,0.969135]] 2025-10-28T20:55:44.636Z,1761684944.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995306,0.067772,-0.069082],[-0.049663,0.970376,0.236441],[0.083060,-0.231900,0.969187]] 2025-10-28T20:55:45.030Z,1761684945.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995243,0.069750,-0.068011],[-0.051882,0.970377,0.235960],[0.082455,-0.231309,0.969380]] 2025-10-28T20:55:45.435Z,1761684945.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995167,0.072226,-0.066529],[-0.054814,0.970712,0.233911],[0.081475,-0.229134,0.969979]] 2025-10-28T20:55:45.502Z,1761684945.502 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T20:55:45.841Z,1761684945.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995147,0.074748,-0.064000],[-0.057849,0.970514,0.234002],[0.079604,-0.229164,0.970127]] 2025-10-28T20:55:46.243Z,1761684946.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995170,0.076921,-0.060992],[-0.060807,0.970774,0.232163],[0.077067,-0.227333,0.970763]] 2025-10-28T20:55:46.655Z,1761684946.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995235,0.078634,-0.057647],[-0.063308,0.970821,0.231299],[0.074153,-0.226547,0.971173]] 2025-10-28T20:55:47.052Z,1761684947.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995362,0.079175,-0.054641],[-0.064687,0.971270,0.229019],[0.071204,-0.224422,0.971887]] 2025-10-28T20:55:47.461Z,1761684947.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995575,0.078243,-0.052034],[-0.064491,0.971704,0.227226],[0.068340,-0.222865,0.972451]] 2025-10-28T20:55:47.485Z,1761684947.485 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:55:47.485Z,1761684947.485 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateRudder:A] Stopped 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:55:47.486Z,1761684947.486 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateCommandMode] Stopped 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:55:47.487Z,1761684947.487 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:55:47.488Z,1761684947.488 [marl:UpdateSpeed] Stopped 2025-10-28T20:55:47.488Z,1761684947.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:55:47.860Z,1761684947.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995835,0.076426,-0.049722],[-0.063483,0.972624,0.223544],[0.065445,-0.219456,0.973425]] 2025-10-28T20:55:47.902Z,1761684947.902 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:55:47.903Z,1761684947.903 [marl:UpdateRudder:B] Stopped 2025-10-28T20:55:47.903Z,1761684947.903 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:55:47.903Z,1761684947.903 [marl:UpdateRudder] Stopped 2025-10-28T20:55:47.903Z,1761684947.903 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:55:48.263Z,1761684948.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996177,0.073176,-0.047717],[-0.060917,0.973376,0.220970],[0.062616,-0.217218,0.974113]] 2025-10-28T20:55:48.670Z,1761684948.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996544,0.069379,-0.045670],[-0.057657,0.973587,0.220917],[0.059790,-0.217520,0.974223]] 2025-10-28T20:55:49.074Z,1761684949.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996888,0.065322,-0.044141],[-0.054045,0.973863,0.220613],[0.057398,-0.217540,0.974362]] 2025-10-28T20:55:49.483Z,1761684949.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997211,0.061267,-0.042626],[-0.050344,0.973780,0.221850],[0.055101,-0.219085,0.974149]] 2025-10-28T20:55:49.879Z,1761684949.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997521,0.057350,-0.040781],[-0.046803,0.973438,0.224116],[0.052550,-0.221652,0.973709]] 2025-10-28T20:55:50.283Z,1761684950.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997771,0.054301,-0.038791],[-0.044048,0.972563,0.228429],[0.050131,-0.226212,0.972787]] 2025-10-28T20:55:50.687Z,1761684950.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997934,0.052834,-0.036545],[-0.042905,0.971538,0.232967],[0.047813,-0.230918,0.971798]] 2025-10-28T20:55:51.094Z,1761684951.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998030,0.052859,-0.033783],[-0.043317,0.970210,0.238363],[0.045376,-0.236430,0.970588]] 2025-10-28T20:55:51.495Z,1761684951.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998090,0.053588,-0.030739],[-0.044556,0.969078,0.242699],[0.042794,-0.240866,0.969615]] 2025-10-28T20:55:51.565Z,1761684951.565 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.566Z,1761684951.566 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:55:51.567Z,1761684951.567 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.567Z,1761684951.567 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T20:55:51.568Z,1761684951.568 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:55:51.569Z,1761684951.569 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.569Z,1761684951.569 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.570Z,1761684951.570 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T20:55:51.571Z,1761684951.571 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.572Z,1761684951.572 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T20:55:51.573Z,1761684951.573 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T20:55:51.573Z,1761684951.573 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T20:55:51.578Z,1761684951.578 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 37, 39, 44, 47, 54, 58, 62. 2025-10-28T20:55:51.899Z,1761684951.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998081,0.055573,-0.027314],[-0.047166,0.968080,0.246163],[0.040122,-0.244402,0.968844]] 2025-10-28T20:55:52.305Z,1761684952.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998014,0.058246,-0.024004],[-0.050514,0.967553,0.247567],[0.037645,-0.245863,0.968573]] 2025-10-28T20:55:52.707Z,1761684952.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997913,0.061173,-0.020660],[-0.054230,0.967738,0.246053],[0.035045,-0.244419,0.969036]] 2025-10-28T20:55:53.112Z,1761684953.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997772,0.064412,-0.017368],[-0.058241,0.968001,0.244094],[0.032534,-0.242538,0.969596]] 2025-10-28T20:55:53.515Z,1761684953.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997630,0.067382,-0.013939],[-0.062018,0.968286,0.242026],[0.029805,-0.240588,0.970170]] 2025-10-28T20:55:53.919Z,1761684953.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997527,0.069469,-0.010699],[-0.064913,0.968890,0.238828],[0.026958,-0.237543,0.971003]] 2025-10-28T20:55:54.323Z,1761684954.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997436,0.071128,-0.007900],[-0.067244,0.969252,0.236702],[0.024493,-0.235564,0.971550]] 2025-10-28T20:55:54.726Z,1761684954.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997408,0.071748,-0.005374],[-0.068521,0.970016,0.233180],[0.021943,-0.232208,0.972419]] 2025-10-28T20:55:55.138Z,1761684955.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997416,0.071774,-0.003036],[-0.069139,0.970558,0.230733],[0.019507,-0.229927,0.973013]] 2025-10-28T20:55:55.536Z,1761684955.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997442,0.071474,-0.000840],[-0.069400,0.971177,0.228033],[0.017114,-0.227391,0.973653]] 2025-10-28T20:55:55.939Z,1761684955.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997495,0.070727,0.000901],[-0.069085,0.971456,0.226937],[0.015176,-0.226430,0.973909]] 2025-10-28T20:55:56.342Z,1761684956.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997526,0.070242,0.002743],[-0.069033,0.971495,0.226784],[0.013265,-0.226412,0.973941]] 2025-10-28T20:55:56.747Z,1761684956.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997537,0.069975,0.004747],[-0.069233,0.971602,0.226264],[0.011221,-0.226036,0.974054]] 2025-10-28T20:55:57.155Z,1761684957.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997555,0.069563,0.006654],[-0.069256,0.971455,0.226888],[0.009318,-0.226794,0.973898]] 2025-10-28T20:55:57.554Z,1761684957.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997481,0.070461,0.008155],[-0.070462,0.971107,0.228005],[0.008146,-0.228006,0.973626]] 2025-10-28T20:55:57.959Z,1761684957.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997384,0.071588,0.010045],[-0.071976,0.970501,0.230102],[0.006723,-0.230223,0.973115]] 2025-10-28T20:55:58.362Z,1761684958.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997185,0.073969,0.012258],[-0.074798,0.970100,0.230894],[0.005188,-0.231161,0.972902]] 2025-10-28T20:55:58.774Z,1761684958.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996962,0.076563,0.014330],[-0.077792,0.969364,0.232985],[0.003947,-0.233392,0.972375]] 2025-10-28T20:55:59.171Z,1761684959.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996664,0.079795,0.017151],[-0.081592,0.968875,0.233718],[0.002032,-0.234338,0.972153]] 2025-10-28T20:55:59.574Z,1761684959.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996336,0.083022,0.020554],[-0.085527,0.968569,0.233580],[-0.000516,-0.234482,0.972120]] 2025-10-28T20:55:59.980Z,1761684959.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995961,0.086558,0.023879],[-0.089741,0.968465,0.232426],[-0.003008,-0.233630,0.972321]] 2025-10-28T20:56:00.382Z,1761684960.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995619,0.089451,0.027226],[-0.093328,0.968485,0.230927],[-0.005712,-0.232457,0.972590]] 2025-10-28T20:56:00.465Z,1761684960.465 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:56:00.465Z,1761684960.465 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:56:00.465Z,1761684960.465 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:56:00.465Z,1761684960.465 [marl:UpdateRudder:A] Stopped 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode] Stopped 2025-10-28T20:56:00.466Z,1761684960.466 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed] Stopped 2025-10-28T20:56:00.467Z,1761684960.467 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:56:00.790Z,1761684960.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995317,0.091811,0.030236],[-0.096299,0.968880,0.228029],[-0.008359,-0.229873,0.973185]] 2025-10-28T20:56:00.822Z,1761684960.822 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:56:00.822Z,1761684960.822 [marl:UpdateRudder:B] Stopped 2025-10-28T20:56:00.822Z,1761684960.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:56:00.822Z,1761684960.822 [marl:UpdateRudder] Stopped 2025-10-28T20:56:00.822Z,1761684960.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:56:01.192Z,1761684961.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995194,0.092417,0.032370],[-0.097343,0.969600,0.224498],[-0.010638,-0.226570,0.973937]] 2025-10-28T20:56:01.217Z,1761684961.217 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:56:01.417Z,1761684961.417 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:56:01.417Z,1761684961.417 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:56:01.595Z,1761684961.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995286,0.090986,0.033581],[-0.096175,0.970588,0.220703],[-0.012512,-0.222892,0.974763]] 2025-10-28T20:56:01.669Z,1761684961.669 [DAT](INFO): DAT read: user:276> 2025-10-28T20:56:01.670Z,1761684961.670 [DAT](INFO): DAT read: Tx time:20:56:01.4108 2025-10-28T20:56:01.670Z,1761684961.670 [DAT](INFO): Ping request sent. 2025-10-28T20:56:01.670Z,1761684961.670 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:56:01.670Z,1761684961.670 [DAT](INFO): publishing transmit ping time 2025-10-28T20:56:01.671Z,1761684961.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T20:56:01.921Z,1761684961.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250874 2025-10-28T20:56:01.998Z,1761684961.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995564,0.087818,0.033782],[-0.093058,0.972055,0.215522],[-0.013911,-0.217710,0.975914]] 2025-10-28T20:56:02.173Z,1761684962.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502871 2025-10-28T20:56:02.403Z,1761684962.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995960,0.083520,0.032994],[-0.088636,0.973265,0.211892],[-0.014415,-0.213961,0.976736]] 2025-10-28T20:56:02.425Z,1761684962.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755045 2025-10-28T20:56:02.677Z,1761684962.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839 2025-10-28T20:56:02.809Z,1761684962.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996372,0.078821,0.032106],[-0.083845,0.973829,0.211252],[-0.014614,-0.213177,0.976904]] 2025-10-28T20:56:02.929Z,1761684962.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925 2025-10-28T20:56:03.181Z,1761684963.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510903 2025-10-28T20:56:03.211Z,1761684963.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996732,0.074634,0.030895],[-0.079510,0.973951,0.212363],[-0.014241,-0.214126,0.976702]] 2025-10-28T20:56:03.433Z,1761684963.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762834 2025-10-28T20:56:03.622Z,1761684963.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997047,0.070703,0.029979],[-0.075541,0.973222,0.217098],[-0.013827,-0.218722,0.975689]] 2025-10-28T20:56:03.694Z,1761684963.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023717 2025-10-28T20:56:03.945Z,1761684963.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274865 2025-10-28T20:56:04.019Z,1761684964.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997313,0.066996,0.029647],[-0.071975,0.971516,0.225778],[-0.013676,-0.227306,0.973727]] 2025-10-28T20:56:04.197Z,1761684964.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526912 2025-10-28T20:56:04.424Z,1761684964.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997537,0.063456,0.029891],[-0.068743,0.969149,0.236695],[-0.013949,-0.238167,0.971124]] 2025-10-28T20:56:04.449Z,1761684964.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778989 2025-10-28T20:56:04.701Z,1761684964.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030930 2025-10-28T20:56:04.826Z,1761684964.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997742,0.059700,0.030762],[-0.065471,0.966691,0.247432],[-0.014965,-0.248887,0.968417]] 2025-10-28T20:56:04.953Z,1761684964.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283278 2025-10-28T20:56:05.205Z,1761684965.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534864 2025-10-28T20:56:05.231Z,1761684965.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997880,0.056635,0.032048],[-0.062963,0.964722,0.255632],[-0.016440,-0.257108,0.966243]] 2025-10-28T20:56:05.457Z,1761684965.457 [DAT](INFO): DAT read: Rx Time:20:56:04.6336 2025-10-28T20:56:05.457Z,1761684965.457 [DAT](INFO): Rx dataTimestamp_ set to:1761684965.457203 2025-10-28T20:56:05.458Z,1761684965.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788034 2025-10-28T20:56:05.637Z,1761684965.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997839,0.056098,0.034215],[-0.063105,0.963261,0.261046],[-0.018314,-0.262641,0.964720]] 2025-10-28T20:56:05.710Z,1761684965.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039378 2025-10-28T20:56:05.966Z,1761684965.966 [DAT](INFO): DAT read: 20:56:04.6336 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 460, 0.02, 2.972, 1.499,-3.125, 2.723, PHS= 0.351,-1.180, 0.391, RAW= 151.3, 5.7, CAL= 150.5, 5.9, ROT= 359.5, -5.9 2025-10-28T20:56:05.967Z,1761684965.967 [DAT](INFO): got valid direction response: 20:56:04.6336 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 460, 0.02, 2.972, 1.499,-3.125, 2.723, PHS= 0.351,-1.180, 0.391, RAW= 151.3, 5.7, CAL= 150.5, 5.9, ROT= 359.5, -5.9 2025-10-28T20:56:05.968Z,1761684965.968 [DAT](INFO): DAT read: Bearing 153.7, -3.2 (Local) 2025-10-28T20:56:05.969Z,1761684965.969 [DAT](INFO): Local bearing/azimuth received: Bearing 153.7, -3.2 (Local) 2025-10-28T20:56:05.970Z,1761684965.970 [DAT](INFO): DAT read: Range 11 to 20 : 614.0 m (Round-trip 818.7 ms) speed 0.8 m/s 2025-10-28T20:56:05.971Z,1761684965.971 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:56:05.972Z,1761684965.972 [DAT](INFO): direction in FSK: [0.994665,-0.008680,0.102793] 2025-10-28T20:56:05.972Z,1761684965.972 [DAT](INFO): publishing direction and range info 2025-10-28T20:56:06.142Z,1761684966.142 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684992.00. Resetting abort timer. 2025-10-28T20:56:06.443Z,1761684966.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997372,0.060943,0.039169],[-0.069097,0.962716,0.261543],[-0.021770,-0.263562,0.964397]] 2025-10-28T20:56:06.681Z,1761684966.681 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:56:06.846Z,1761684966.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997065,0.064158,0.041774],[-0.072772,0.963719,0.256808],[-0.023782,-0.259094,0.965559]] 2025-10-28T20:56:07.251Z,1761684967.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996760,0.067228,0.044155],[-0.076146,0.965550,0.248828],[-0.025905,-0.251384,0.967541]] 2025-10-28T20:56:07.657Z,1761684967.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996450,0.070266,0.046359],[-0.079342,0.967956,0.238255],[-0.028132,-0.241088,0.970095]] 2025-10-28T20:56:07.684Z,1761684967.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:56:08.058Z,1761684968.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996135,0.073249,0.048463],[-0.082427,0.970202,0.227847],[-0.030329,-0.230962,0.972490]] 2025-10-28T20:56:08.467Z,1761684968.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995792,0.076782,0.050023],[-0.085867,0.972464,0.216660],[-0.032010,-0.220043,0.974965]] 2025-10-28T20:56:08.873Z,1761684968.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994930,0.085475,0.052990],[-0.094477,0.974986,0.201189],[-0.034468,-0.205175,0.978118]] 2025-10-28T20:56:09.277Z,1761684969.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994454,0.089951,0.054489],[-0.099038,0.975296,0.197457],[-0.035381,-0.201759,0.978796]] 2025-10-28T20:56:09.679Z,1761684969.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994001,0.093875,0.056124],[-0.103141,0.975284,0.195407],[-0.036393,-0.200023,0.979115]] 2025-10-28T20:56:10.089Z,1761684970.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993756,0.095535,0.057633],[-0.105072,0.975076,0.195413],[-0.037528,-0.200249,0.979026]] 2025-10-28T20:56:10.484Z,1761684970.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993839,0.094090,0.058577],[-0.103897,0.974932,0.196757],[-0.038596,-0.201631,0.978701]] 2025-10-28T20:56:10.888Z,1761684970.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994167,0.090455,0.058742],[-0.100481,0.974701,0.199653],[-0.039196,-0.204391,0.978104]] 2025-10-28T20:56:11.291Z,1761684971.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994637,0.085693,0.057910],[-0.095728,0.974733,0.201823],[-0.039152,-0.206284,0.977708]] 2025-10-28T20:56:11.694Z,1761684971.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995073,0.081150,0.056963],[-0.091270,0.974166,0.206570],[-0.038728,-0.210751,0.976772]] 2025-10-28T20:56:12.107Z,1761684972.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995458,0.076860,0.056175],[-0.087150,0.973199,0.212809],[-0.038313,-0.216738,0.975478]] 2025-10-28T20:56:12.506Z,1761684972.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995787,0.073150,0.055299],[-0.083534,0.972376,0.217962],[-0.037827,-0.221663,0.974389]] 2025-10-28T20:56:12.906Z,1761684972.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996039,0.070029,0.054800],[-0.080618,0.971207,0.224182],[-0.037523,-0.227712,0.973005]] 2025-10-28T20:56:13.310Z,1761684973.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996191,0.067866,0.054751],[-0.078755,0.969803,0.230824],[-0.037432,-0.234257,0.971454]] 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateRudder:A] Stopped 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:56:13.355Z,1761684973.355 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateCommandMode] Stopped 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:56:13.357Z,1761684973.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:56:13.358Z,1761684973.358 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:56:13.358Z,1761684973.358 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:56:13.358Z,1761684973.358 [marl:UpdateSpeed] Stopped 2025-10-28T20:56:13.358Z,1761684973.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:56:13.715Z,1761684973.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996206,0.067372,0.055085],[-0.078571,0.968458,0.236464],[-0.037417,-0.239895,0.970078]] 2025-10-28T20:56:13.793Z,1761684973.793 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:56:13.794Z,1761684973.794 [marl:UpdateRudder:B] Stopped 2025-10-28T20:56:13.794Z,1761684973.794 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:56:13.795Z,1761684973.795 [marl:UpdateRudder] Stopped 2025-10-28T20:56:13.795Z,1761684973.795 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:56:14.134Z,1761684974.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996144,0.068122,0.055282],[-0.079521,0.967267,0.240981],[-0.037056,-0.244447,0.968954]] 2025-10-28T20:56:14.522Z,1761684974.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996019,0.069423,0.055914],[-0.081075,0.966251,0.244513],[-0.037052,-0.248073,0.968033]] 2025-10-28T20:56:14.927Z,1761684974.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995875,0.070921,0.056600],[-0.082782,0.965550,0.246699],[-0.037154,-0.250367,0.967438]] 2025-10-28T20:56:15.331Z,1761684975.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995646,0.073445,0.057402],[-0.085442,0.965247,0.246979],[-0.037268,-0.250808,0.967319]] 2025-10-28T20:56:15.747Z,1761684975.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995452,0.075138,0.058570],[-0.087398,0.964931,0.247526],[-0.037918,-0.251519,0.967109]] 2025-10-28T20:56:16.142Z,1761684976.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995299,0.077177,0.058507],[-0.089312,0.965068,0.246309],[-0.037454,-0.250376,0.967424]] 2025-10-28T20:56:16.543Z,1761684976.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995226,0.078850,0.057521],[-0.090595,0.965569,0.243861],[-0.036313,-0.247908,0.968103]] 2025-10-28T20:56:16.946Z,1761684976.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995169,0.080353,0.056411],[-0.091735,0.965759,0.242683],[-0.034979,-0.246685,0.968464]] 2025-10-28T20:56:17.354Z,1761684977.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995068,0.082490,0.055089],[-0.093444,0.965869,0.241590],[-0.033280,-0.245546,0.968814]] 2025-10-28T20:56:17.815Z,1761684977.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994931,0.085092,0.053579],[-0.095559,0.965965,0.240376],[-0.031301,-0.244277,0.969200]] 2025-10-28T20:56:18.162Z,1761684978.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994734,0.088020,0.052513],[-0.098156,0.965578,0.240882],[-0.029503,-0.244768,0.969133]] 2025-10-28T20:56:18.565Z,1761684978.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994493,0.091409,0.051263],[-0.101115,0.965494,0.239993],[-0.027557,-0.243854,0.969420]] 2025-10-28T20:56:18.969Z,1761684978.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994238,0.094917,0.049811],[-0.104106,0.965737,0.237728],[-0.025540,-0.241544,0.970054]] 2025-10-28T20:56:19.370Z,1761684979.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993990,0.098285,0.048202],[-0.106951,0.965813,0.236152],[-0.023344,-0.239888,0.970520]] 2025-10-28T20:56:19.823Z,1761684979.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993747,0.101538,0.046440],[-0.109605,0.966453,0.232283],[-0.021297,-0.235921,0.971539]] 2025-10-28T20:56:20.183Z,1761684980.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993553,0.104188,0.044699],[-0.111709,0.966956,0.229167],[-0.019346,-0.232683,0.972360]] 2025-10-28T20:56:20.594Z,1761684980.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993472,0.105710,0.042871],[-0.112689,0.967837,0.224930],[-0.017715,-0.228293,0.973431]] 2025-10-28T20:56:20.987Z,1761684980.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993551,0.105804,0.040761],[-0.112239,0.968725,0.221300],[-0.016072,-0.224448,0.974354]] 2025-10-28T20:56:21.390Z,1761684981.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993809,0.104249,0.038418],[-0.110141,0.969824,0.217507],[-0.014583,-0.220392,0.975302]] 2025-10-28T20:56:21.821Z,1761684981.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994169,0.101621,0.036079],[-0.107025,0.970775,0.214804],[-0.013196,-0.217413,0.975990]] 2025-10-28T20:56:22.211Z,1761684982.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994602,0.098113,0.033772],[-0.103073,0.971654,0.212752],[-0.011941,-0.215085,0.976522]] 2025-10-28T20:56:22.607Z,1761684982.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995042,0.094311,0.031582],[-0.098891,0.972033,0.213009],[-0.010610,-0.215076,0.976540]] 2025-10-28T20:56:23.007Z,1761684983.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995440,0.090710,0.029494],[-0.094937,0.972130,0.214358],[-0.009228,-0.216181,0.976310]] 2025-10-28T20:56:23.411Z,1761684983.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995826,0.086990,0.027645],[-0.090935,0.971679,0.218109],[-0.007889,-0.219712,0.975533]] 2025-10-28T20:56:23.827Z,1761684983.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996139,0.083962,0.025634],[-0.087570,0.970946,0.222698],[-0.006191,-0.224083,0.974550]] 2025-10-28T20:56:24.223Z,1761684984.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996339,0.082145,0.023663],[-0.085378,0.970097,0.227204],[-0.004292,-0.228393,0.973560]] 2025-10-28T20:56:24.624Z,1761684984.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996409,0.081827,0.021770],[-0.084649,0.968714,0.233299],[-0.001999,-0.234304,0.972161]] 2025-10-28T20:56:25.027Z,1761684985.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996371,0.082699,0.020138],[-0.085115,0.967442,0.238351],[0.000229,-0.239200,0.970970]] 2025-10-28T20:56:25.457Z,1761684985.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996269,0.084272,0.018630],[-0.086272,0.966228,0.242816],[0.002462,-0.243517,0.969893]] 2025-10-28T20:56:25.835Z,1761684985.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996069,0.086834,0.017519],[-0.088464,0.964806,0.247636],[0.004601,-0.248212,0.968695]] 2025-10-28T20:56:26.242Z,1761684986.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995794,0.090132,0.016420],[-0.091369,0.963884,0.250159],[0.006720,-0.250607,0.968066]] 2025-10-28T20:56:26.266Z,1761684986.266 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateRudder:A] Stopped 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:56:26.267Z,1761684986.267 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateCommandMode] Stopped 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:56:26.284Z,1761684986.284 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:56:26.288Z,1761684986.288 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:56:26.288Z,1761684986.288 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:56:26.288Z,1761684986.288 [marl:UpdateSpeed] Stopped 2025-10-28T20:56:26.288Z,1761684986.288 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:56:26.646Z,1761684986.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995482,0.093689,0.015444],[-0.094561,0.963405,0.250816],[0.008620,-0.251143,0.967912]] 2025-10-28T20:56:26.671Z,1761684986.671 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:56:26.671Z,1761684986.671 [marl:UpdateRudder:B] Stopped 2025-10-28T20:56:26.671Z,1761684986.671 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:56:26.671Z,1761684986.671 [marl:UpdateRudder] Stopped 2025-10-28T20:56:26.671Z,1761684986.671 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:56:27.047Z,1761684987.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995135,0.097424,0.014637],[-0.097995,0.963600,0.248741],[0.010130,-0.248965,0.968459]] 2025-10-28T20:56:27.451Z,1761684987.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994794,0.100959,0.013833],[-0.101243,0.963807,0.246631],[0.011567,-0.246747,0.969011]] 2025-10-28T20:56:27.856Z,1761684987.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994445,0.104498,0.012661],[-0.104428,0.964302,0.243346],[0.013220,-0.243316,0.969857]] 2025-10-28T20:56:28.263Z,1761684988.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994162,0.107307,0.011274],[-0.106886,0.965172,0.238785],[0.014742,-0.238596,0.971007]] 2025-10-28T20:56:28.663Z,1761684988.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993991,0.109026,0.009741],[-0.108272,0.966218,0.233882],[0.016087,-0.233531,0.972216]] 2025-10-28T20:56:29.074Z,1761684989.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993999,0.109081,0.008180],[-0.108044,0.967359,0.229223],[0.017091,-0.228732,0.973339]] 2025-10-28T20:56:29.473Z,1761684989.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994127,0.108035,0.006359],[-0.106679,0.968374,0.225548],[0.018209,-0.224901,0.974211]] 2025-10-28T20:56:29.874Z,1761684989.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994369,0.105887,0.004220],[-0.104186,0.969561,0.221580],[0.019371,-0.220772,0.975133]] 2025-10-28T20:56:30.278Z,1761684990.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994675,0.103036,0.002120],[-0.100987,0.970378,0.219472],[0.020556,-0.218517,0.975617]] 2025-10-28T20:56:30.683Z,1761684990.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995059,0.099287,0.000029],[-0.096880,0.970873,0.219135],[0.021729,-0.218055,0.975694]] 2025-10-28T20:56:31.089Z,1761684991.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995487,0.094874,-0.002125],[-0.092062,0.970924,0.220979],[0.023028,-0.219786,0.975276]] 2025-10-28T20:56:31.491Z,1761684991.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995819,0.091250,-0.004294],[-0.087955,0.970442,0.224735],[0.024674,-0.223418,0.974410]] 2025-10-28T20:56:31.895Z,1761684991.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996034,0.088761,-0.006158],[-0.084992,0.969646,0.229265],[0.026321,-0.227833,0.973344]] 2025-10-28T20:56:32.302Z,1761684992.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996120,0.087678,-0.007560],[-0.083460,0.968445,0.234837],[0.027911,-0.233295,0.972005]] 2025-10-28T20:56:32.704Z,1761684992.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996032,0.088596,-0.008425],[-0.083975,0.966969,0.240664],[0.029469,-0.239002,0.970572]] 2025-10-28T20:56:33.107Z,1761684993.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995817,0.090943,-0.008793],[-0.085991,0.965396,0.246203],[0.030879,-0.244417,0.969178]] 2025-10-28T20:56:33.511Z,1761684993.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995507,0.094308,-0.008450],[-0.089199,0.964019,0.250421],[0.031762,-0.248542,0.968100]] 2025-10-28T20:56:33.914Z,1761684993.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995134,0.098203,-0.008020],[-0.093017,0.963185,0.252235],[0.032495,-0.250261,0.967633]] 2025-10-28T20:56:34.327Z,1761684994.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994799,0.101526,-0.008222],[-0.096242,0.963318,0.250511],[0.033353,-0.248417,0.968079]] 2025-10-28T20:56:34.722Z,1761684994.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994453,0.104821,-0.008703],[-0.099426,0.963812,0.247346],[0.034315,-0.245109,0.968888]] 2025-10-28T20:56:35.126Z,1761684995.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994142,0.107626,-0.009867],[-0.102052,0.964855,0.242158],[0.035583,-0.239733,0.970187]] 2025-10-28T20:56:35.531Z,1761684995.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994002,0.108766,-0.011398],[-0.103000,0.966108,0.236700],[0.036757,-0.234106,0.971516]] 2025-10-28T20:56:35.937Z,1761684995.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994018,0.108427,-0.013126],[-0.102454,0.967334,0.231881],[0.037840,-0.229148,0.972656]] 2025-10-28T20:56:36.339Z,1761684996.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994217,0.106311,-0.015205],[-0.100102,0.968662,0.227320],[0.038895,-0.224483,0.973701]] 2025-10-28T20:56:36.743Z,1761684996.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994474,0.103566,-0.017162],[-0.097130,0.969770,0.223857],[0.039828,-0.220953,0.974471]] 2025-10-28T20:56:37.154Z,1761684997.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994757,0.100527,-0.018810],[-0.093870,0.970469,0.222215],[0.040593,-0.219284,0.974816]] 2025-10-28T20:56:37.561Z,1761684997.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995001,0.097800,-0.020181],[-0.090847,0.970420,0.223677],[0.041460,-0.220726,0.974454]] 2025-10-28T20:56:37.807Z,1761684997.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:56:37.955Z,1761684997.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995189,0.095629,-0.021308],[-0.088393,0.970179,0.225697],[0.042255,-0.222728,0.973964]] 2025-10-28T20:56:38.359Z,1761684998.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995318,0.093998,-0.022507],[-0.086439,0.969842,0.227894],[0.043250,-0.224882,0.973426]] 2025-10-28T20:56:38.768Z,1761684998.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995460,0.092314,-0.023167],[-0.084541,0.969439,0.230304],[0.043720,-0.227300,0.972843]] 2025-10-28T20:56:38.808Z,1761684998.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:56:39.169Z,1761684999.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995470,0.092135,-0.023469],[-0.084136,0.968621,0.233869],[0.044280,-0.230835,0.971985]] 2025-10-28T20:56:39.193Z,1761684999.193 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:56:39.193Z,1761684999.193 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:56:39.193Z,1761684999.193 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateRudder:A] Stopped 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:56:39.194Z,1761684999.194 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateCommandMode] Stopped 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:56:39.195Z,1761684999.195 [marl:UpdateSpeed] Stopped 2025-10-28T20:56:39.196Z,1761684999.196 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:56:39.571Z,1761684999.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995461,0.092197,-0.023583],[-0.084059,0.968035,0.236310],[0.044617,-0.233255,0.971392]] 2025-10-28T20:56:39.608Z,1761684999.608 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:56:39.609Z,1761684999.609 [marl:UpdateRudder:B] Stopped 2025-10-28T20:56:39.609Z,1761684999.609 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:56:39.609Z,1761684999.609 [marl:UpdateRudder] Stopped 2025-10-28T20:56:39.609Z,1761684999.609 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:56:39.974Z,1761684999.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995361,0.093169,-0.024001],[-0.084782,0.967316,0.238980],[0.045482,-0.235837,0.970728]] 2025-10-28T20:56:40.380Z,1761685000.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995221,0.094649,-0.023992],[-0.086127,0.966703,0.240971],[0.046001,-0.237753,0.970236]] 2025-10-28T20:56:40.789Z,1761685000.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994990,0.097115,-0.023740],[-0.088488,0.965995,0.242949],[0.046526,-0.239631,0.969748]] 2025-10-28T20:56:41.186Z,1761685001.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994706,0.100101,-0.023244],[-0.091434,0.965342,0.244446],[0.046908,-0.241026,0.969384]] 2025-10-28T20:56:41.591Z,1761685001.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994401,0.103226,-0.022607],[-0.094614,0.965004,0.244571],[0.047062,-0.241062,0.969368]] 2025-10-28T20:56:41.995Z,1761685001.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994205,0.105276,-0.021766],[-0.096863,0.965083,0.243378],[0.046628,-0.239859,0.969687]] 2025-10-28T20:56:42.404Z,1761685002.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994331,0.104048,-0.021898],[-0.096046,0.967281,0.234825],[0.045615,-0.231391,0.971791]] 2025-10-28T20:56:42.802Z,1761685002.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994977,0.097258,-0.023695],[-0.090097,0.973230,0.211439],[0.043624,-0.208242,0.977104]] 2025-10-28T20:56:43.207Z,1761685003.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996019,0.085089,-0.026566],[-0.079048,0.980862,0.177937],[0.041198,-0.175129,0.983683]] 2025-10-28T20:56:43.612Z,1761685003.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997201,0.068749,-0.029388],[-0.063953,0.987933,0.141062],[0.038731,-0.138788,0.989565]] 2025-10-28T20:56:44.017Z,1761685004.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998311,0.048841,-0.031451],[-0.045340,0.993567,0.103775],[0.036317,-0.102173,0.994103]] 2025-10-28T20:56:44.419Z,1761685004.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999129,0.025970,-0.032669],[-0.023653,0.997306,0.069432],[0.034384,-0.068599,0.997052]] 2025-10-28T20:56:44.823Z,1761685004.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999463,0.001627,-0.032736],[-0.000305,0.999185,0.040359],[0.032775,-0.040328,0.998649]] 2025-10-28T20:56:45.227Z,1761685005.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999216,-0.022983,-0.032235],[0.023614,0.999534,0.019326],[0.031776,-0.020072,0.999294]] 2025-10-28T20:56:45.630Z,1761685005.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998414,-0.046619,-0.031555],[0.046761,0.998899,0.003759],[0.031345,-0.005229,0.999495]] 2025-10-28T20:56:46.043Z,1761685006.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997110,-0.069313,-0.031097],[0.069163,0.997588,-0.005849],[0.031427,0.003682,0.999499]] 2025-10-28T20:56:46.439Z,1761685006.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995409,-0.090493,-0.031176],[0.090216,0.995870,-0.010183],[0.031968,0.007324,0.999462]] 2025-10-28T20:56:46.845Z,1761685006.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993503,-0.109277,-0.031800],[0.108973,0.993982,-0.011137],[0.032826,0.007600,0.999432]] 2025-10-28T20:56:47.246Z,1761685007.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991469,-0.126075,-0.033093],[0.125829,0.992007,-0.009420],[0.034017,0.005176,0.999408]] 2025-10-28T20:56:47.651Z,1761685007.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989481,-0.140409,-0.034834],[0.140293,0.990093,-0.005790],[0.035302,0.000842,0.999376]] 2025-10-28T20:56:48.055Z,1761685008.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987450,-0.153543,-0.036963],[0.153641,0.988127,-0.000191],[0.036553,-0.005491,0.999317]] 2025-10-28T20:56:48.465Z,1761685008.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985525,-0.165093,-0.038523],[0.165399,0.986215,0.004882],[0.037186,-0.011183,0.999246]] 2025-10-28T20:56:48.863Z,1761685008.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983442,-0.176868,-0.039493],[0.177279,0.984135,0.007123],[0.037607,-0.014006,0.999194]] 2025-10-28T20:56:49.266Z,1761685009.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981260,-0.188337,-0.040722],[0.188838,0.981969,0.008780],[0.038334,-0.016305,0.999132]] 2025-10-28T20:56:49.671Z,1761685009.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978893,-0.200156,-0.041303],[0.200668,0.979622,0.008603],[0.038739,-0.016710,0.999110]] 2025-10-28T20:56:50.078Z,1761685010.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976174,-0.212851,-0.042175],[0.213392,0.976928,0.008714],[0.039347,-0.017506,0.999072]] 2025-10-28T20:56:50.481Z,1761685010.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973421,-0.225068,-0.042378],[0.225563,0.974202,0.007227],[0.039658,-0.016594,0.999076]] 2025-10-28T20:56:50.883Z,1761685010.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970447,-0.237533,-0.042541],[0.237954,0.971263,0.005044],[0.040120,-0.015018,0.999082]] 2025-10-28T20:56:51.287Z,1761685011.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967072,-0.250898,-0.042690],[0.251253,0.967916,0.003090],[0.040545,-0.013715,0.999084]] 2025-10-28T20:56:51.692Z,1761685011.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963201,-0.265428,-0.042338],[0.265634,0.964074,-0.000806],[0.041031,-0.010470,0.999103]] 2025-10-28T20:56:52.095Z,1761685012.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958986,-0.280271,-0.042350],[0.280411,0.959876,-0.002729],[0.041416,-0.009259,0.999099]] 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateRudder:A] Stopped 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:56:52.151Z,1761685012.151 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateCommandMode] Stopped 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:56:52.168Z,1761685012.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:56:52.169Z,1761685012.169 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:56:52.169Z,1761685012.169 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:56:52.169Z,1761685012.169 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:56:52.169Z,1761685012.169 [marl:UpdateSpeed] Stopped 2025-10-28T20:56:52.169Z,1761685012.169 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:56:52.503Z,1761685012.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954372,-0.295701,-0.041657],[0.295728,0.955256,-0.005657],[0.041465,-0.006920,0.999116]] 2025-10-28T20:56:52.547Z,1761685012.547 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:56:52.547Z,1761685012.547 [marl:UpdateRudder:B] Stopped 2025-10-28T20:56:52.547Z,1761685012.547 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:56:52.547Z,1761685012.547 [marl:UpdateRudder] Stopped 2025-10-28T20:56:52.547Z,1761685012.547 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:56:52.902Z,1761685012.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948967,-0.312725,-0.040806],[0.312591,0.949838,-0.009786],[0.041820,-0.003469,0.999119]] 2025-10-28T20:56:53.308Z,1761685013.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943071,-0.330143,-0.040270],[0.329885,0.943930,-0.013103],[0.042338,-0.000927,0.999103]] 2025-10-28T20:56:53.719Z,1761685013.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936778,-0.347635,-0.039972],[0.347310,0.937630,-0.015020],[0.042701,0.000188,0.999088]] 2025-10-28T20:56:54.122Z,1761685014.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923348,-0.381897,-0.039777],[0.381573,0.924205,-0.015741],[0.042774,-0.000643,0.999085]] 2025-10-28T20:56:54.528Z,1761685014.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916462,-0.398137,-0.039808],[0.397797,0.917326,-0.016458],[0.043069,-0.000752,0.999072]] 2025-10-28T20:56:54.933Z,1761685014.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909593,-0.413573,-0.039973],[0.413246,0.910470,-0.016511],[0.043222,-0.001500,0.999064]] 2025-10-28T20:56:55.331Z,1761685015.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902937,-0.427806,-0.041073],[0.427574,0.903861,-0.014715],[0.043419,-0.004275,0.999048]] 2025-10-28T20:56:55.736Z,1761685015.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896837,-0.440349,-0.042137],[0.440252,0.897793,-0.012070],[0.043145,-0.007726,0.999039]] 2025-10-28T20:56:56.135Z,1761685016.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890812,-0.452363,-0.042672],[0.452349,0.891779,-0.010545],[0.042825,-0.009909,0.999034]] 2025-10-28T20:56:56.541Z,1761685016.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884991,-0.463544,-0.043790],[0.463681,0.885970,-0.007591],[0.042315,-0.013586,0.999012]] 2025-10-28T20:56:56.942Z,1761685016.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879172,-0.474514,-0.043520],[0.474698,0.880123,-0.006657],[0.041462,-0.014806,0.999030]] 2025-10-28T20:56:57.347Z,1761685017.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873011,-0.485780,-0.043233],[0.486006,0.873936,-0.005826],[0.040614,-0.015925,0.999048]] 2025-10-28T20:56:57.771Z,1761685017.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866249,-0.497829,-0.042182],[0.498050,0.867128,-0.005840],[0.039484,-0.015950,0.999093]] 2025-10-28T20:56:58.157Z,1761685018.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859078,-0.510188,-0.041141],[0.510423,0.859907,-0.005363],[0.038114,-0.016392,0.999139]] 2025-10-28T20:56:58.559Z,1761685018.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850982,-0.523736,-0.039126],[0.523911,0.851748,-0.006450],[0.036704,-0.015009,0.999213]] 2025-10-28T20:56:58.962Z,1761685018.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842131,-0.537992,-0.037134],[0.538108,0.842841,-0.007665],[0.035421,-0.013527,0.999281]] 2025-10-28T20:56:59.366Z,1761685019.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832688,-0.552669,-0.034461],[0.552675,0.833334,-0.010214],[0.034363,-0.010541,0.999354]] 2025-10-28T20:56:59.813Z,1761685019.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822080,-0.568489,-0.031704],[0.568383,0.822659,-0.013150],[0.033558,-0.007210,0.999411]] 2025-10-28T20:57:00.176Z,1761685020.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811166,-0.584060,-0.029717],[0.583879,0.811696,-0.015336],[0.033078,-0.004912,0.999441]] 2025-10-28T20:57:00.578Z,1761685020.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800019,-0.599332,-0.027769],[0.599068,0.800497,-0.017941],[0.032981,-0.002282,0.999453]] 2025-10-28T20:57:00.987Z,1761685020.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788935,-0.613900,-0.026628],[0.613584,0.789383,-0.019702],[0.033115,-0.000795,0.999451]] 2025-10-28T20:57:01.389Z,1761685021.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778041,-0.627666,-0.026231],[0.627330,0.778483,-0.020534],[0.033309,-0.000479,0.999445]] 2025-10-28T20:57:01.413Z,1761685021.413 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:57:01.441Z,1761685021.441 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:57:01.441Z,1761685021.441 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:57:01.693Z,1761685021.693 [DAT](INFO): DAT read: user:277> 2025-10-28T20:57:01.694Z,1761685021.694 [DAT](INFO): DAT read: Tx time:20:57:01.4105 2025-10-28T20:57:01.694Z,1761685021.694 [DAT](INFO): Ping request sent. 2025-10-28T20:57:01.694Z,1761685021.694 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:57:01.694Z,1761685021.694 [DAT](INFO): publishing transmit ping time 2025-10-28T20:57:01.695Z,1761685021.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000957 2025-10-28T20:57:01.817Z,1761685021.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767957,-0.639981,-0.025816],[0.639627,0.768391,-0.021305],[0.033472,-0.000151,0.999440]] 2025-10-28T20:57:01.945Z,1761685021.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990 2025-10-28T20:57:02.195Z,1761685022.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758104,-0.651644,-0.025293],[0.651277,0.758525,-0.021865],[0.033433,0.000103,0.999441]] 2025-10-28T20:57:02.197Z,1761685022.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503063 2025-10-28T20:57:02.449Z,1761685022.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754891 2025-10-28T20:57:02.604Z,1761685022.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748753,-0.662386,-0.024765],[0.662028,0.749162,-0.021790],[0.032987,-0.000080,0.999456]] 2025-10-28T20:57:02.701Z,1761685022.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928 2025-10-28T20:57:02.953Z,1761685022.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259061 2025-10-28T20:57:03.011Z,1761685023.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739512,-0.672661,-0.025455],[0.672363,0.739947,-0.020168],[0.032401,-0.002200,0.999472]] 2025-10-28T20:57:03.205Z,1761685023.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927 2025-10-28T20:57:03.411Z,1761685023.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730733,-0.682164,-0.026087],[0.681942,0.731184,-0.018017],[0.031365,-0.004624,0.999497]] 2025-10-28T20:57:03.457Z,1761685023.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000 2025-10-28T20:57:03.709Z,1761685023.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958 2025-10-28T20:57:03.823Z,1761685023.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721894,-0.691525,-0.025740],[0.691337,0.722332,-0.017016],[0.030360,-0.005512,0.999524]] 2025-10-28T20:57:03.961Z,1761685023.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267365 2025-10-28T20:57:04.213Z,1761685024.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518909 2025-10-28T20:57:04.223Z,1761685024.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713108,-0.700564,-0.026211],[0.700440,0.713550,-0.015165],[0.029327,-0.007545,0.999541]] 2025-10-28T20:57:04.465Z,1761685024.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770947 2025-10-28T20:57:04.623Z,1761685024.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704097,-0.709613,-0.026405],[0.709544,0.704531,-0.013509],[0.028189,-0.009224,0.999560]] 2025-10-28T20:57:04.717Z,1761685024.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023208 2025-10-28T20:57:04.969Z,1761685024.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274930 2025-10-28T20:57:05.027Z,1761685025.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694643,-0.718863,-0.026590],[0.718844,0.695068,-0.011990],[0.027101,-0.010785,0.999574]] 2025-10-28T20:57:05.074Z,1761685025.074 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:57:05.074Z,1761685025.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:57:05.074Z,1761685025.074 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:57:05.074Z,1761685025.074 [marl:UpdateRudder:A] Stopped 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode] Stopped 2025-10-28T20:57:05.075Z,1761685025.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:57:05.076Z,1761685025.076 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:57:05.080Z,1761685025.080 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:57:05.080Z,1761685025.080 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:57:05.080Z,1761685025.080 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:57:05.080Z,1761685025.080 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:57:05.080Z,1761685025.080 [marl:UpdateSpeed] Stopped 2025-10-28T20:57:05.081Z,1761685025.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:57:05.221Z,1761685025.221 [DAT](INFO): DAT read: Rx Time:20:57:04.5895 2025-10-28T20:57:05.221Z,1761685025.221 [DAT](INFO): Rx dataTimestamp_ set to:1761685025.221163 2025-10-28T20:57:05.222Z,1761685025.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528045 2025-10-28T20:57:05.431Z,1761685025.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685158,-0.727907,-0.026646],[0.727924,0.685572,-0.010871],[0.026181,-0.011948,0.999586]] 2025-10-28T20:57:05.474Z,1761685025.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780025 2025-10-28T20:57:05.492Z,1761685025.492 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:57:05.493Z,1761685025.493 [marl:UpdateRudder:B] Stopped 2025-10-28T20:57:05.493Z,1761685025.493 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:57:05.493Z,1761685025.493 [marl:UpdateRudder] Stopped 2025-10-28T20:57:05.493Z,1761685025.493 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:57:05.730Z,1761685025.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035198 2025-10-28T20:57:05.835Z,1761685025.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675587,-0.736820,-0.026054],[0.736853,0.675977,-0.010165],[0.025101,-0.012330,0.999609]] 2025-10-28T20:57:05.986Z,1761685025.986 [DAT](INFO): DAT read: 20:57:04.5895 LVL= 32752, 32753, 20466, 32755, AGC= 68, IDX= 458,-0.03, 1.874, 1.717,-2.225,-3.119, PHS=-1.189,-1.402, 0.850, RAW= 205.1, 16.0, CAL= 206.6, 20.1, ROT= 303.4, -20.1 2025-10-28T20:57:05.987Z,1761685025.987 [DAT](INFO): got valid direction response: 20:57:04.5895 LVL= 32752, 32753, 20466, 32755, AGC= 68, IDX= 458,-0.03, 1.874, 1.717,-2.225,-3.119, PHS=-1.189,-1.402, 0.850, RAW= 205.1, 16.0, CAL= 206.6, 20.1, ROT= 303.4, -20.1 2025-10-28T20:57:05.989Z,1761685025.989 [DAT](INFO): DAT read: Bearing 237.1, -50.8 (Local) 2025-10-28T20:57:05.989Z,1761685025.989 [DAT](INFO): Local bearing/azimuth received: Bearing 237.1, -50.8 (Local) 2025-10-28T20:57:05.991Z,1761685025.991 [DAT](INFO): DAT read: Range 11 to 20 : 581.1 m (Round-trip 774.9 ms) speed 0.0 m/s 2025-10-28T20:57:05.993Z,1761685025.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:57:05.994Z,1761685025.994 [DAT](INFO): direction in FSK: [0.516953,-0.784001,0.343660] 2025-10-28T20:57:05.994Z,1761685025.994 [DAT](INFO): publishing direction and range info 2025-10-28T20:57:06.250Z,1761685026.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665479,-0.745985,-0.025388],[0.746019,0.665850,-0.009995],[0.024360,-0.012288,0.999628]] 2025-10-28T20:57:06.288Z,1761685026.288 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761684992.00. Resetting abort timer. 2025-10-28T20:57:06.642Z,1761685026.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655297,-0.754979,-0.024354],[0.755017,0.655636,-0.009476],[0.023122,-0.012178,0.999658]] 2025-10-28T20:57:07.048Z,1761685027.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644255,-0.764504,-0.021663],[0.764490,0.644547,-0.010728],[0.022164,-0.009650,0.999708]] 2025-10-28T20:57:07.450Z,1761685027.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632733,-0.774128,-0.019361],[0.774082,0.632982,-0.011470],[0.021135,-0.007730,0.999747]] 2025-10-28T20:57:07.854Z,1761685027.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620367,-0.784104,-0.018078],[0.784055,0.620589,-0.011285],[0.020067,-0.007173,0.999773]] 2025-10-28T20:57:08.260Z,1761685028.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609380,-0.792596,-0.021163],[0.792655,0.609625,-0.007482],[0.018831,-0.012215,0.999748]] 2025-10-28T20:57:08.681Z,1761685028.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601085,-0.798558,-0.031659],[0.798986,0.601348,0.001502],[0.017838,-0.026198,0.999498]] 2025-10-28T20:57:08.933Z,1761685028.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:57:09.083Z,1761685029.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595052,-0.802175,-0.049268],[0.803505,0.595102,0.015253],[0.017084,-0.048664,0.998669]] 2025-10-28T20:57:09.890Z,1761685029.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586754,-0.804319,-0.093760],[0.809636,0.584781,0.050200],[0.014452,-0.105367,0.994328]] 2025-10-28T20:57:09.937Z,1761685029.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:57:10.295Z,1761685030.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583675,-0.803819,-0.114884],[0.811885,0.579982,0.066816],[0.012923,-0.132271,0.991129]] 2025-10-28T20:57:10.698Z,1761685030.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581356,-0.802598,-0.133646],[0.813568,0.575723,0.081546],[0.011495,-0.156138,0.987668]] 2025-10-28T20:57:11.106Z,1761685031.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579661,-0.801260,-0.148243],[0.814796,0.572179,0.093367],[0.010010,-0.174909,0.984534]] 2025-10-28T20:57:11.507Z,1761685031.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578691,-0.799764,-0.159672],[0.815502,0.569512,0.103016],[0.008547,-0.189828,0.981780]] 2025-10-28T20:57:11.911Z,1761685031.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578696,-0.798640,-0.165183],[0.815513,0.568425,0.108774],[0.007023,-0.197656,0.980246]] 2025-10-28T20:57:12.316Z,1761685032.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579674,-0.797625,-0.166648],[0.814831,0.568757,0.112101],[0.005368,-0.200772,0.979623]] 2025-10-28T20:57:12.718Z,1761685032.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581677,-0.796259,-0.166203],[0.813412,0.570285,0.114611],[0.003523,-0.201859,0.979408]] 2025-10-28T20:57:13.126Z,1761685033.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584452,-0.794587,-0.164460],[0.811427,0.572674,0.116751],[0.001413,-0.201682,0.979450]] 2025-10-28T20:57:13.526Z,1761685033.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588065,-0.792699,-0.160647],[0.808813,0.576102,0.118020],[-0.001005,-0.199337,0.979930]] 2025-10-28T20:57:13.932Z,1761685033.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592165,-0.790683,-0.155440],[0.805806,0.580029,0.119346],[-0.004205,-0.195927,0.980610]] 2025-10-28T20:57:14.335Z,1761685034.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596433,-0.788151,-0.151936],[0.802622,0.583725,0.122728],[-0.008039,-0.195147,0.980741]] 2025-10-28T20:57:14.738Z,1761685034.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600376,-0.785736,-0.148889],[0.799621,0.586914,0.127036],[-0.012432,-0.195324,0.980660]] 2025-10-28T20:57:15.147Z,1761685035.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604019,-0.783779,-0.144403],[0.796780,0.589922,0.130898],[-0.017409,-0.194122,0.980823]] 2025-10-28T20:57:15.549Z,1761685035.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606649,-0.782541,-0.140024],[0.794642,0.591860,0.135076],[-0.022828,-0.193213,0.980891]] 2025-10-28T20:57:15.954Z,1761685035.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607285,-0.782577,-0.137034],[0.793988,0.591712,0.139502],[-0.028087,-0.193521,0.980694]] 2025-10-28T20:57:16.354Z,1761685036.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605037,-0.784715,-0.134732],[0.795533,0.588906,0.142535],[-0.032505,-0.193423,0.980577]] 2025-10-28T20:57:16.762Z,1761685036.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600492,-0.788429,-0.133378],[0.798802,0.583873,0.144942],[-0.036401,-0.193579,0.980409]] 2025-10-28T20:57:17.190Z,1761685037.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594778,-0.792842,-0.132819],[0.802924,0.577805,0.146471],[-0.039385,-0.193762,0.980258]] 2025-10-28T20:57:17.566Z,1761685037.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588521,-0.797610,-0.132144],[0.807410,0.571421,0.146859],[-0.041626,-0.193124,0.980291]] 2025-10-28T20:57:17.979Z,1761685037.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582088,-0.802376,-0.131785],[0.811988,0.565014,0.146409],[-0.043015,-0.192231,0.980407]] 2025-10-28T20:57:18.032Z,1761685038.032 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:57:18.032Z,1761685038.032 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:57:18.032Z,1761685038.032 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateRudder:A] Stopped 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:57:18.033Z,1761685038.033 [marl:UpdateCommandMode] Stopped 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed] Stopped 2025-10-28T20:57:18.034Z,1761685038.034 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:57:18.375Z,1761685038.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575907,-0.806917,-0.131213],[0.816339,0.559017,0.145227],[-0.043835,-0.190752,0.980659]] 2025-10-28T20:57:18.398Z,1761685038.398 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:57:18.398Z,1761685038.398 [marl:UpdateRudder:B] Stopped 2025-10-28T20:57:18.399Z,1761685038.399 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:57:18.399Z,1761685038.399 [marl:UpdateRudder] Stopped 2025-10-28T20:57:18.399Z,1761685038.399 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:57:18.786Z,1761685038.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570896,-0.810500,-0.131026],[0.819827,0.554153,0.144211],[-0.044274,-0.189749,0.980834]] 2025-10-28T20:57:19.183Z,1761685039.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567133,-0.812907,-0.132447],[0.822420,0.550232,0.144461],[-0.044557,-0.190856,0.980606]] 2025-10-28T20:57:19.586Z,1761685039.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564668,-0.814525,-0.133036],[0.824090,0.547666,0.144697],[-0.045000,-0.191340,0.980492]] 2025-10-28T20:57:19.991Z,1761685039.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563465,-0.815360,-0.133021],[0.824868,0.546326,0.145329],[-0.045823,-0.191613,0.980400]] 2025-10-28T20:57:20.396Z,1761685040.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563628,-0.815345,-0.132424],[0.824681,0.546275,0.146578],[-0.047172,-0.191823,0.980295]] 2025-10-28T20:57:20.799Z,1761685040.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564441,-0.814901,-0.131695],[0.824026,0.546788,0.148340],[-0.048873,-0.192249,0.980128]] 2025-10-28T20:57:21.202Z,1761685041.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565771,-0.813974,-0.131718],[0.823005,0.547638,0.150846],[-0.050651,-0.193749,0.979743]] 2025-10-28T20:57:21.608Z,1761685041.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567607,-0.812697,-0.131702],[0.821618,0.548933,0.153677],[-0.052597,-0.195437,0.979305]] 2025-10-28T20:57:22.010Z,1761685042.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569657,-0.811153,-0.132367],[0.820087,0.550353,0.156747],[-0.054297,-0.197845,0.978728]] 2025-10-28T20:57:22.415Z,1761685042.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572450,-0.809169,-0.132463],[0.818037,0.552619,0.159463],[-0.055831,-0.199644,0.978277]] 2025-10-28T20:57:22.819Z,1761685042.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574713,-0.807502,-0.132839],[0.816325,0.554259,0.162511],[-0.057600,-0.201837,0.977724]] 2025-10-28T20:57:23.230Z,1761685043.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576516,-0.806259,-0.132575],[0.814927,0.555587,0.164974],[-0.059355,-0.203149,0.977347]] 2025-10-28T20:57:23.628Z,1761685043.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577298,-0.805880,-0.131469],[0.814240,0.556108,0.166604],[-0.061152,-0.203228,0.977220]] 2025-10-28T20:57:24.036Z,1761685044.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577147,-0.806224,-0.130019],[0.814230,0.555880,0.167413],[-0.062697,-0.202487,0.977276]] 2025-10-28T20:57:24.438Z,1761685044.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576178,-0.807132,-0.128674],[0.814828,0.554958,0.167561],[-0.063835,-0.201393,0.977428]] 2025-10-28T20:57:24.839Z,1761685044.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574217,-0.808567,-0.128432],[0.816161,0.552993,0.167573],[-0.064472,-0.201044,0.977458]] 2025-10-28T20:57:25.247Z,1761685045.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571211,-0.810577,-0.129161],[0.818248,0.549934,0.167460],[-0.064710,-0.201341,0.977381]] 2025-10-28T20:57:25.647Z,1761685045.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567453,-0.813167,-0.129444],[0.820875,0.546358,0.166307],[-0.064512,-0.200629,0.977541]] 2025-10-28T20:57:26.054Z,1761685046.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563572,-0.815728,-0.130283],[0.823603,0.542688,0.164826],[-0.063750,-0.200193,0.977680]] 2025-10-28T20:57:26.462Z,1761685046.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560255,-0.817992,-0.130398],[0.825929,0.539719,0.162927],[-0.062895,-0.198980,0.977983]] 2025-10-28T20:57:26.860Z,1761685046.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557331,-0.819837,-0.131341],[0.828006,0.537073,0.161115],[-0.061548,-0.198545,0.978157]] 2025-10-28T20:57:27.262Z,1761685047.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555246,-0.821035,-0.132675],[0.829493,0.535113,0.159985],[-0.060357,-0.198884,0.978163]] 2025-10-28T20:57:27.668Z,1761685047.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553599,-0.822155,-0.132625],[0.830662,0.533782,0.158361],[-0.059405,-0.197835,0.978434]] 2025-10-28T20:57:28.071Z,1761685048.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553030,-0.822364,-0.133698],[0.831089,0.533194,0.158098],[-0.058727,-0.198548,0.978330]] 2025-10-28T20:57:28.477Z,1761685048.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552846,-0.822392,-0.134283],[0.831271,0.533112,0.157416],[-0.057870,-0.198653,0.978360]] 2025-10-28T20:57:28.879Z,1761685048.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552258,-0.822838,-0.133973],[0.831730,0.532842,0.155901],[-0.056895,-0.197527,0.978645]] 2025-10-28T20:57:29.282Z,1761685049.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551289,-0.823499,-0.133905],[0.832433,0.532143,0.154528],[-0.055997,-0.196657,0.978872]] 2025-10-28T20:57:29.687Z,1761685049.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549470,-0.824256,-0.136691],[0.833728,0.530218,0.154162],[-0.054593,-0.198671,0.978545]] 2025-10-28T20:57:30.097Z,1761685050.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547287,-0.825277,-0.139264],[0.835272,0.528062,0.153202],[-0.052894,-0.200169,0.978333]] 2025-10-28T20:57:30.513Z,1761685050.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543805,-0.827146,-0.141796],[0.837680,0.524805,0.151234],[-0.050678,-0.201022,0.978275]] 2025-10-28T20:57:30.898Z,1761685050.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539907,-0.829182,-0.144767],[0.840354,0.521183,0.148907],[-0.048021,-0.202051,0.978197]] 2025-10-28T20:57:30.947Z,1761685050.947 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:57:30.947Z,1761685050.947 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:57:30.947Z,1761685050.947 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:57:30.948Z,1761685050.948 [marl:UpdateRudder:A] Stopped 2025-10-28T20:57:30.948Z,1761685050.948 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:57:30.948Z,1761685050.948 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:57:30.948Z,1761685050.948 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:57:30.948Z,1761685050.948 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:57:30.949Z,1761685050.949 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:57:30.949Z,1761685050.949 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:57:30.949Z,1761685050.949 [marl:UpdateCommandMode] Stopped 2025-10-28T20:57:30.949Z,1761685050.949 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:57:30.950Z,1761685050.950 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:57:30.950Z,1761685050.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:57:30.950Z,1761685050.950 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:57:30.952Z,1761685050.952 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:57:30.953Z,1761685050.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:57:30.953Z,1761685050.953 [marl:UpdateSpeed] Stopped 2025-10-28T20:57:30.954Z,1761685050.954 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:57:31.303Z,1761685051.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536011,-0.831540,-0.145714],[0.843018,0.518047,0.144736],[-0.044867,-0.200420,0.978682]] 2025-10-28T20:57:31.359Z,1761685051.359 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:57:31.359Z,1761685051.359 [marl:UpdateRudder:B] Stopped 2025-10-28T20:57:31.359Z,1761685051.359 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:57:31.359Z,1761685051.359 [marl:UpdateRudder] Stopped 2025-10-28T20:57:31.359Z,1761685051.359 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:57:31.709Z,1761685051.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532406,-0.833485,-0.147805],[0.845496,0.515157,0.140537],[-0.040993,-0.199791,0.978981]] 2025-10-28T20:57:32.115Z,1761685052.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529909,-0.834630,-0.150299],[0.847235,0.513228,0.137074],[-0.037268,-0.199976,0.979092]] 2025-10-28T20:57:32.515Z,1761685052.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528380,-0.835154,-0.152749],[0.848323,0.512113,0.134497],[-0.034101,-0.200646,0.979070]] 2025-10-28T20:57:32.922Z,1761685052.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527720,-0.835126,-0.155162],[0.848840,0.511749,0.132603],[-0.031336,-0.201685,0.978949]] 2025-10-28T20:57:33.330Z,1761685053.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527905,-0.834747,-0.156569],[0.848806,0.512240,0.130916],[-0.029081,-0.202008,0.978952]] 2025-10-28T20:57:33.733Z,1761685053.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528377,-0.834242,-0.157664],[0.848572,0.512957,0.129615],[-0.027256,-0.202275,0.978949]] 2025-10-28T20:57:34.130Z,1761685054.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528930,-0.833527,-0.159578],[0.848274,0.513547,0.129230],[-0.025766,-0.203720,0.978690]] 2025-10-28T20:57:34.535Z,1761685054.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529182,-0.833168,-0.160617],[0.848147,0.513870,0.128777],[-0.024757,-0.204374,0.978580]] 2025-10-28T20:57:34.948Z,1761685054.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528670,-0.833571,-0.160212],[0.848488,0.513621,0.127524],[-0.024012,-0.203356,0.978810]] 2025-10-28T20:57:35.342Z,1761685055.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526550,-0.834876,-0.160400],[0.849838,0.511845,0.125656],[-0.022807,-0.202478,0.979021]] 2025-10-28T20:57:35.762Z,1761685055.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523336,-0.836899,-0.160376],[0.851864,0.509158,0.122821],[-0.021132,-0.200895,0.979385]] 2025-10-28T20:57:36.151Z,1761685056.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519681,-0.839061,-0.160961],[0.854138,0.505946,0.120280],[-0.019485,-0.199990,0.979604]] 2025-10-28T20:57:36.557Z,1761685056.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515052,-0.841722,-0.161941],[0.856983,0.501845,0.117185],[-0.017369,-0.199137,0.979818]] 2025-10-28T20:57:36.963Z,1761685056.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510640,-0.844105,-0.163507],[0.859663,0.497914,0.114286],[-0.015057,-0.198919,0.979900]] 2025-10-28T20:57:37.369Z,1761685057.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503249,-0.848139,-0.165531],[0.864080,0.491599,0.108153],[-0.010354,-0.197460,0.980256]] 2025-10-28T20:57:37.816Z,1761685057.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500720,-0.849518,-0.166131],[0.865570,0.489553,0.105485],[-0.008282,-0.196616,0.980446]] 2025-10-28T20:57:38.177Z,1761685058.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498613,-0.850352,-0.168184],[0.866804,0.487775,0.103572],[-0.006037,-0.197425,0.980299]] 2025-10-28T20:57:38.578Z,1761685058.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497249,-0.850885,-0.169521],[0.867599,0.486787,0.101539],[-0.003878,-0.197566,0.980282]] 2025-10-28T20:57:38.979Z,1761685058.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496495,-0.850820,-0.172042],[0.868038,0.486243,0.100389],[-0.001759,-0.199182,0.979961]] 2025-10-28T20:57:39.386Z,1761685059.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496332,-0.850581,-0.173687],[0.868133,0.486386,0.098866],[0.000386,-0.199853,0.979826]] 2025-10-28T20:57:39.815Z,1761685059.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496360,-0.850363,-0.174669],[0.868114,0.486680,0.097569],[0.002039,-0.200062,0.979781]] 2025-10-28T20:57:40.056Z,1761685060.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:57:40.190Z,1761685060.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496712,-0.849804,-0.176381],[0.867907,0.487225,0.096688],[0.003771,-0.201108,0.979562]] 2025-10-28T20:57:40.594Z,1761685060.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497080,-0.849536,-0.176636],[0.867688,0.487912,0.095178],[0.005326,-0.200576,0.979664]] 2025-10-28T20:57:40.999Z,1761685060.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497636,-0.849024,-0.177528],[0.867361,0.488625,0.094497],[0.006514,-0.201006,0.979568]] 2025-10-28T20:57:41.060Z,1761685061.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:57:41.410Z,1761685061.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497668,-0.848787,-0.178570],[0.867336,0.488754,0.094066],[0.007435,-0.201694,0.979420]] 2025-10-28T20:57:41.822Z,1761685061.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497268,-0.848750,-0.179858],[0.867560,0.488372,0.093985],[0.008068,-0.202773,0.979192]] 2025-10-28T20:57:42.211Z,1761685062.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496188,-0.849506,-0.179267],[0.868173,0.487504,0.092816],[0.008545,-0.201689,0.979412]] 2025-10-28T20:57:42.615Z,1761685062.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493873,-0.851099,-0.178103],[0.869489,0.485469,0.091155],[0.008882,-0.199877,0.979781]] 2025-10-28T20:57:43.021Z,1761685063.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491276,-0.852521,-0.178479],[0.870955,0.482988,0.090332],[0.009193,-0.199825,0.979788]] 2025-10-28T20:57:43.433Z,1761685063.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487570,-0.854779,-0.177843],[0.873029,0.479607,0.088305],[0.009813,-0.198317,0.980089]] 2025-10-28T20:57:43.827Z,1761685063.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483206,-0.857289,-0.177674],[0.875444,0.475543,0.086347],[0.010467,-0.197267,0.980294]] 2025-10-28T20:57:43.886Z,1761685063.886 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:57:43.886Z,1761685063.886 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:57:43.886Z,1761685063.886 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateRudder:A] Stopped 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:57:43.887Z,1761685063.887 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateCommandMode] Stopped 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:57:43.888Z,1761685063.888 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:57:43.889Z,1761685063.889 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:57:43.889Z,1761685063.889 [marl:UpdateSpeed] Stopped 2025-10-28T20:57:43.889Z,1761685063.889 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:57:44.231Z,1761685064.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477963,-0.860034,-0.178587],[0.878304,0.470611,0.084307],[0.011538,-0.197150,0.980305]] 2025-10-28T20:57:44.260Z,1761685064.260 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:57:44.261Z,1761685064.261 [marl:UpdateRudder:B] Stopped 2025-10-28T20:57:44.261Z,1761685064.261 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:57:44.261Z,1761685064.261 [marl:UpdateRudder] Stopped 2025-10-28T20:57:44.261Z,1761685064.261 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:57:44.635Z,1761685064.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472415,-0.862838,-0.179821],[0.881281,0.465425,0.081992],[0.012948,-0.197207,0.980276]] 2025-10-28T20:57:45.038Z,1761685065.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466793,-0.865487,-0.181762],[0.884243,0.460205,0.079538],[0.014809,-0.197850,0.980120]] 2025-10-28T20:57:45.443Z,1761685065.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461852,-0.867839,-0.183162],[0.886798,0.455725,0.076841],[0.016786,-0.197917,0.980075]] 2025-10-28T20:57:45.849Z,1761685065.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456953,-0.870207,-0.184211],[0.889286,0.451389,0.073611],[0.019095,-0.197453,0.980126]] 2025-10-28T20:57:46.251Z,1761685066.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453384,-0.871851,-0.185252],[0.891066,0.448276,0.071063],[0.021088,-0.197291,0.980118]] 2025-10-28T20:57:46.654Z,1761685066.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450610,-0.873267,-0.185353],[0.892420,0.446027,0.068157],[0.023153,-0.196125,0.980306]] 2025-10-28T20:57:47.059Z,1761685067.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448446,-0.874045,-0.186925],[0.893460,0.444212,0.066377],[0.025018,-0.196776,0.980129]] 2025-10-28T20:57:47.462Z,1761685067.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447066,-0.874575,-0.187750],[0.894099,0.443202,0.064486],[0.026814,-0.196696,0.980098]] 2025-10-28T20:57:47.866Z,1761685067.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446498,-0.874922,-0.187486],[0.894346,0.442931,0.062905],[0.028007,-0.195764,0.980251]] 2025-10-28T20:57:48.271Z,1761685068.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446592,-0.875195,-0.185983],[0.894248,0.443475,0.060418],[0.029601,-0.193297,0.980694]] 2025-10-28T20:57:48.674Z,1761685068.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446839,-0.875125,-0.185718],[0.894072,0.444068,0.058641],[0.031153,-0.192249,0.980852]] 2025-10-28T20:57:49.078Z,1761685069.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447439,-0.874946,-0.185115],[0.893723,0.444986,0.056979],[0.032520,-0.190936,0.981064]] 2025-10-28T20:57:49.483Z,1761685069.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448506,-0.874476,-0.184752],[0.893149,0.446274,0.055893],[0.033573,-0.190079,0.981195]] 2025-10-28T20:57:49.891Z,1761685069.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449680,-0.873772,-0.185229],[0.892516,0.447628,0.055185],[0.034695,-0.190136,0.981145]] 2025-10-28T20:57:50.291Z,1761685070.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450964,-0.872673,-0.187277],[0.891833,0.448935,0.055594],[0.035559,-0.192091,0.980733]] 2025-10-28T20:57:50.695Z,1761685070.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452327,-0.871570,-0.189121],[0.891123,0.450250,0.056343],[0.036045,-0.194015,0.980336]] 2025-10-28T20:57:51.101Z,1761685071.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453317,-0.870608,-0.191168],[0.890618,0.451094,0.057570],[0.036114,-0.196355,0.979868]] 2025-10-28T20:57:51.503Z,1761685071.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453259,-0.870236,-0.192993],[0.890649,0.450906,0.058551],[0.036068,-0.198428,0.979452]] 2025-10-28T20:57:51.912Z,1761685071.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452584,-0.870124,-0.195070],[0.891003,0.450046,0.059765],[0.035788,-0.200856,0.978967]] 2025-10-28T20:57:52.311Z,1761685072.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450672,-0.870917,-0.195957],[0.891982,0.448070,0.060009],[0.035540,-0.201835,0.978774]] 2025-10-28T20:57:52.716Z,1761685072.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447884,-0.871963,-0.197687],[0.893369,0.445332,0.059753],[0.035934,-0.203370,0.978442]] 2025-10-28T20:57:53.121Z,1761685073.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444160,-0.873340,-0.200000],[0.895205,0.441678,0.059395],[0.036464,-0.205422,0.977994]] 2025-10-28T20:57:53.523Z,1761685073.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440119,-0.874752,-0.202741],[0.897169,0.437739,0.058929],[0.037199,-0.207829,0.977458]] 2025-10-28T20:57:53.926Z,1761685073.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436090,-0.876416,-0.204254],[0.899091,0.433965,0.057531],[0.038218,-0.208732,0.977226]] 2025-10-28T20:57:54.332Z,1761685074.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431545,-0.878494,-0.204982],[0.901212,0.429877,0.054978],[0.039819,-0.208458,0.977220]] 2025-10-28T20:57:54.734Z,1761685074.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426998,-0.880593,-0.205495],[0.903278,0.425924,0.051739],[0.041964,-0.207712,0.977289]] 2025-10-28T20:57:55.138Z,1761685075.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423040,-0.882713,-0.204585],[0.905029,0.422652,0.047820],[0.044257,-0.205385,0.977680]] 2025-10-28T20:57:55.545Z,1761685075.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419357,-0.884464,-0.204604],[0.906633,0.419562,0.044554],[0.046438,-0.204184,0.977830]] 2025-10-28T20:57:56.352Z,1761685076.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413975,-0.887477,-0.202509],[0.908922,0.415177,0.038569],[0.049848,-0.200031,0.978521]] 2025-10-28T20:57:56.757Z,1761685076.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412522,-0.888265,-0.202019],[0.909530,0.413992,0.036958],[0.050806,-0.198988,0.978684]] 2025-10-28T20:57:56.797Z,1761685076.797 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:57:56.797Z,1761685076.797 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:57:56.797Z,1761685076.797 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateRudder:A] Stopped 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:57:56.798Z,1761685076.798 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateCommandMode] Stopped 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed] Stopped 2025-10-28T20:57:56.799Z,1761685076.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:57:57.159Z,1761685077.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411789,-0.888893,-0.200748],[0.909831,0.413450,0.035595],[0.051359,-0.197305,0.978996]] 2025-10-28T20:57:57.199Z,1761685077.199 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:57:57.200Z,1761685077.200 [marl:UpdateRudder:B] Stopped 2025-10-28T20:57:57.204Z,1761685077.204 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:57:57.204Z,1761685077.204 [marl:UpdateRudder] Stopped 2025-10-28T20:57:57.204Z,1761685077.204 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:57:57.563Z,1761685077.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410935,-0.889408,-0.200213],[0.910204,0.412689,0.034892],[0.051593,-0.196573,0.979131]] 2025-10-28T20:57:58.375Z,1761685078.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408836,-0.890553,-0.199421],[0.911148,0.410671,0.034028],[0.051593,-0.195614,0.979323]] 2025-10-28T20:57:58.780Z,1761685078.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406703,-0.891658,-0.198843],[0.912090,0.408656,0.033035],[0.051802,-0.194798,0.979474]] 2025-10-28T20:57:59.192Z,1761685079.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403662,-0.892772,-0.200038],[0.913421,0.405715,0.032510],[0.052135,-0.195842,0.979249]] 2025-10-28T20:57:59.583Z,1761685079.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400664,-0.894089,-0.200182],[0.914712,0.402889,0.031339],[0.052631,-0.195665,0.979257]] 2025-10-28T20:57:59.986Z,1761685079.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396655,-0.896113,-0.199115],[0.916444,0.399061,0.029673],[0.052868,-0.194248,0.979527]] 2025-10-28T20:58:00.397Z,1761685080.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393216,-0.897699,-0.198791],[0.917901,0.395801,0.028286],[0.053289,-0.193593,0.979634]] 2025-10-28T20:58:00.798Z,1761685080.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390640,-0.898494,-0.200272],[0.918968,0.393354,0.027763],[0.053833,-0.194889,0.979347]] 2025-10-28T20:58:01.202Z,1761685081.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389091,-0.898988,-0.201067],[0.919581,0.391975,0.026954],[0.054582,-0.195384,0.979207]] 2025-10-28T20:58:01.602Z,1761685081.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388932,-0.898867,-0.201916],[0.919596,0.391981,0.026356],[0.055456,-0.195932,0.979048]] 2025-10-28T20:58:01.653Z,1761685081.653 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:58:01.709Z,1761685081.709 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:58:01.709Z,1761685081.709 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:58:01.961Z,1761685081.961 [DAT](INFO): DAT read: user:278> 2025-10-28T20:58:01.962Z,1761685081.962 [DAT](INFO): DAT read: Tx time:20:58:01.7103 2025-10-28T20:58:01.962Z,1761685081.962 [DAT](INFO): Ping request sent. 2025-10-28T20:58:01.962Z,1761685081.962 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:58:01.962Z,1761685081.962 [DAT](INFO): publishing transmit ping time 2025-10-28T20:58:01.963Z,1761685081.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925 2025-10-28T20:58:02.025Z,1761685082.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390317,-0.897817,-0.203903],[0.918942,0.393508,0.026389],[0.056545,-0.197675,0.978635]] 2025-10-28T20:58:02.222Z,1761685082.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259602 2025-10-28T20:58:02.412Z,1761685082.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393110,-0.896116,-0.206008],[0.917696,0.396363,0.027027],[0.057435,-0.199678,0.978177]] 2025-10-28T20:58:02.473Z,1761685082.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510838 2025-10-28T20:58:02.725Z,1761685082.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762894 2025-10-28T20:58:02.815Z,1761685082.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396894,-0.894068,-0.207647],[0.916028,0.400135,0.028020],[0.058035,-0.201331,0.977803]] 2025-10-28T20:58:02.979Z,1761685082.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016709 2025-10-28T20:58:03.218Z,1761685083.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401035,-0.892042,-0.208403],[0.914244,0.404073,0.029718],[0.057700,-0.202449,0.977592]] 2025-10-28T20:58:03.229Z,1761685083.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266772 2025-10-28T20:58:03.481Z,1761685083.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519389 2025-10-28T20:58:03.622Z,1761685083.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404498,-0.890041,-0.210258],[0.912768,0.407201,0.032280],[0.056886,-0.204974,0.977113]] 2025-10-28T20:58:03.734Z,1761685083.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771826 2025-10-28T20:58:03.985Z,1761685083.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022837 2025-10-28T20:58:04.038Z,1761685084.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407071,-0.888554,-0.211577],[0.911701,0.409371,0.034872],[0.055628,-0.207091,0.976739]] 2025-10-28T20:58:04.237Z,1761685084.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274797 2025-10-28T20:58:04.430Z,1761685084.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408082,-0.887647,-0.213427],[0.911339,0.409937,0.037587],[0.054128,-0.209844,0.976236]] 2025-10-28T20:58:04.489Z,1761685084.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527442 2025-10-28T20:58:04.741Z,1761685084.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778834 2025-10-28T20:58:04.834Z,1761685084.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407536,-0.887563,-0.214818],[0.911679,0.408968,0.039837],[0.052495,-0.212080,0.975841]] 2025-10-28T20:58:04.994Z,1761685084.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031564 2025-10-28T20:58:05.239Z,1761685085.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404931,-0.888540,-0.215703],[0.912916,0.406081,0.041023],[0.051142,-0.213530,0.975597]] 2025-10-28T20:58:05.245Z,1761685085.245 [DAT](INFO): DAT read: Rx Time:20:58:04.5370 2025-10-28T20:58:05.245Z,1761685085.245 [DAT](INFO): Rx dataTimestamp_ set to:1761685085.245200 2025-10-28T20:58:05.246Z,1761685085.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284006 2025-10-28T20:58:05.497Z,1761685085.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534847 2025-10-28T20:58:05.642Z,1761685085.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400565,-0.890359,-0.216352],[0.914886,0.401615,0.041088],[0.050307,-0.214396,0.975451]] 2025-10-28T20:58:05.783Z,1761685085.783 [DAT](INFO): DAT read: 20:58:04.5370 LVL= 23440, 20929, 14242, 23603, AGC= 64, IDX= 403,-0.35,-2.954,-1.938,-0.340,-1.807, PHS=-1.046,-0.086, 1.423, RAW= 232.7, -2.7, CAL= 229.7, -3.6, ROT= 280.3, 3.6 2025-10-28T20:58:05.807Z,1761685085.807 [DAT](INFO): got valid direction response: 20:58:04.5370 LVL= 23440, 20929, 14242, 23603, AGC= 64, IDX= 403,-0.35,-2.954,-1.938,-0.340,-1.807, PHS=-1.046,-0.086, 1.423, RAW= 232.7, -2.7, CAL= 229.7, -3.6, ROT= 280.3, 3.6 2025-10-28T20:58:05.820Z,1761685085.820 [DAT](INFO): DAT read: Bearing 331, -3 (Remote) 2025-10-28T20:58:05.821Z,1761685085.821 [DAT](INFO): Remote Bearing received:Bearing 331, -3 (Remote) 2025-10-28T20:58:05.822Z,1761685085.822 [DAT](INFO): DAT read: Bearing 164.5, -68.8 (Local) 2025-10-28T20:58:05.822Z,1761685085.822 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, -68.8 (Local) 2025-10-28T20:58:05.823Z,1761685085.823 [DAT](INFO): DAT read: Range 11 to 20 : 598.1 m (Round-trip 797.5 ms) speed -0.4 m/s 2025-10-28T20:58:05.829Z,1761685085.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:58:05.830Z,1761685085.830 [DAT](INFO): direction in FSK: [0.178449,-0.981944,-0.062791] 2025-10-28T20:58:05.831Z,1761685085.831 [DAT](INFO): publishing direction and range info 2025-10-28T20:58:06.056Z,1761685086.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395617,-0.892831,-0.215268],[0.917051,0.396798,0.039616],[0.050048,-0.213085,0.975751]] 2025-10-28T20:58:06.138Z,1761685086.138 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685120.00. Resetting abort timer. 2025-10-28T20:58:06.451Z,1761685086.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390651,-0.895594,-0.212848],[0.919186,0.392039,0.037459],[0.049897,-0.210280,0.976367]] 2025-10-28T20:58:06.859Z,1761685086.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385797,-0.898061,-0.211297],[0.921202,0.387509,0.034976],[0.050469,-0.208141,0.976796]] 2025-10-28T20:58:07.266Z,1761685087.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381988,-0.900012,-0.209912],[0.922741,0.384046,0.032539],[0.051331,-0.206123,0.977179]] 2025-10-28T20:58:07.665Z,1761685087.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379138,-0.901622,-0.208165],[0.923902,0.381384,0.030852],[0.051574,-0.204021,0.977607]] 2025-10-28T20:58:08.069Z,1761685088.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376363,-0.903485,-0.205099],[0.925011,0.378875,0.028436],[0.052016,-0.200421,0.978328]] 2025-10-28T20:58:08.470Z,1761685088.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374348,-0.904554,-0.204072],[0.925832,0.376925,0.027612],[0.051944,-0.199273,0.978566]] 2025-10-28T20:58:08.881Z,1761685088.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372627,-0.905761,-0.201855],[0.926528,0.375302,0.026334],[0.051904,-0.196837,0.979061]] 2025-10-28T20:58:09.281Z,1761685089.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369820,-0.907026,-0.201339],[0.927632,0.372653,0.025086],[0.052276,-0.196046,0.979200]] 2025-10-28T20:58:09.683Z,1761685089.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367145,-0.908238,-0.200769],[0.928678,0.370113,0.023952],[0.052553,-0.195243,0.979346]] 2025-10-28T20:58:09.727Z,1761685089.727 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:58:09.727Z,1761685089.727 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:58:09.727Z,1761685089.727 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:58:09.728Z,1761685089.728 [marl:UpdateRudder:A] Stopped 2025-10-28T20:58:09.732Z,1761685089.732 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:58:09.732Z,1761685089.732 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:58:09.733Z,1761685089.733 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:58:09.733Z,1761685089.733 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:58:09.733Z,1761685089.733 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateCommandMode] Stopped 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:58:09.734Z,1761685089.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:58:09.735Z,1761685089.735 [marl:UpdateSpeed] Stopped 2025-10-28T20:58:09.735Z,1761685089.735 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:58:10.091Z,1761685090.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363880,-0.910009,-0.198684],[0.929944,0.367040,0.022037],[0.052871,-0.192784,0.979816]] 2025-10-28T20:58:10.152Z,1761685090.152 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:58:10.152Z,1761685090.152 [marl:UpdateRudder:B] Stopped 2025-10-28T20:58:10.152Z,1761685090.152 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:58:10.152Z,1761685090.152 [marl:UpdateRudder] Stopped 2025-10-28T20:58:10.153Z,1761685090.153 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:58:10.491Z,1761685090.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360698,-0.911540,-0.197461],[0.931157,0.364050,0.020361],[0.053325,-0.191212,0.980099]] 2025-10-28T20:58:10.894Z,1761685090.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357958,-0.912532,-0.197865],[0.932177,0.361492,0.019243],[0.053967,-0.191334,0.980040]] 2025-10-28T20:58:11.180Z,1761685091.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:58:11.300Z,1761685091.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355760,-0.913330,-0.198150],[0.932919,0.359680,0.017099],[0.055654,-0.190942,0.980022]] 2025-10-28T20:58:11.704Z,1761685091.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354822,-0.913477,-0.199151],[0.933194,0.359022,0.015864],[0.057008,-0.191475,0.979840]] 2025-10-28T20:58:12.106Z,1761685092.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355269,-0.913010,-0.200491],[0.932945,0.359699,0.015148],[0.058287,-0.192429,0.979578]] 2025-10-28T20:58:12.184Z,1761685092.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:58:12.511Z,1761685092.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356959,-0.912346,-0.200513],[0.932230,0.361580,0.014376],[0.059386,-0.192056,0.979586]] 2025-10-28T20:58:12.914Z,1761685092.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359607,-0.911020,-0.201804],[0.931150,0.364351,0.014452],[0.060362,-0.193107,0.979319]] 2025-10-28T20:58:13.321Z,1761685093.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362873,-0.909585,-0.202429],[0.929840,0.367668,0.014765],[0.060996,-0.193585,0.979186]] 2025-10-28T20:58:13.723Z,1761685093.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366870,-0.907551,-0.204347],[0.928255,0.371592,0.016199],[0.061233,-0.195629,0.978764]] 2025-10-28T20:58:14.126Z,1761685094.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370885,-0.905313,-0.207010],[0.926682,0.375388,0.018592],[0.060877,-0.198728,0.978162]] 2025-10-28T20:58:14.530Z,1761685094.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374571,-0.903341,-0.208975],[0.925243,0.378792,0.021013],[0.060176,-0.201224,0.977695]] 2025-10-28T20:58:14.937Z,1761685094.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377789,-0.901422,-0.211457],[0.924015,0.381591,0.024158],[0.058913,-0.204516,0.977089]] 2025-10-28T20:58:15.345Z,1761685095.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380157,-0.899916,-0.213618],[0.923140,0.383497,0.027260],[0.057390,-0.207562,0.976537]] 2025-10-28T20:58:15.756Z,1761685095.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381097,-0.899083,-0.215441],[0.922855,0.383974,0.030042],[0.055714,-0.210269,0.976055]] 2025-10-28T20:58:16.552Z,1761685096.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377681,-0.900314,-0.216314],[0.924438,0.379919,0.032808],[0.052645,-0.212360,0.975772]] 2025-10-28T20:58:16.954Z,1761685096.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373894,-0.902197,-0.215044],[0.926081,0.375852,0.033308],[0.050775,-0.211602,0.976036]] 2025-10-28T20:58:17.365Z,1761685097.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368774,-0.904568,-0.213923],[0.928226,0.370511,0.033439],[0.049013,-0.210900,0.976278]] 2025-10-28T20:58:17.806Z,1761685097.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362590,-0.907586,-0.211697],[0.930749,0.364180,0.032855],[0.047277,-0.208950,0.976783]] 2025-10-28T20:58:18.166Z,1761685098.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355923,-0.910993,-0.208355],[0.933398,0.357447,0.031608],[0.045681,-0.205728,0.977543]] 2025-10-28T20:58:18.570Z,1761685098.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348475,-0.914597,-0.205127],[0.936264,0.350019,0.029923],[0.044431,-0.202480,0.978278]] 2025-10-28T20:58:18.975Z,1761685098.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340687,-0.918120,-0.202455],[0.939163,0.342332,0.027949],[0.043646,-0.199661,0.978893]] 2025-10-28T20:58:19.381Z,1761685099.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333230,-0.921473,-0.199615],[0.941831,0.335144,0.025149],[0.043725,-0.196384,0.979552]] 2025-10-28T20:58:19.817Z,1761685099.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319879,-0.926909,-0.196257],[0.946324,0.322701,0.018315],[0.046356,-0.191581,0.980381]] 2025-10-28T20:58:20.593Z,1761685100.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315731,-0.928663,-0.194678],[0.947617,0.319064,0.014841],[0.048333,-0.189166,0.980755]] 2025-10-28T20:58:21.398Z,1761685101.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315346,-0.928962,-0.193874],[0.947571,0.319353,0.011073],[0.051627,-0.187201,0.980964]] 2025-10-28T20:58:21.829Z,1761685101.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322287,-0.926395,-0.194739],[0.945198,0.326272,0.012164],[0.052269,-0.187988,0.980780]] 2025-10-28T20:58:22.619Z,1761685102.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332161,-0.921994,-0.198986],[0.941930,0.335283,0.018812],[0.049372,-0.193680,0.979822]] 2025-10-28T20:58:22.643Z,1761685102.643 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:58:22.643Z,1761685102.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateRudder:A] Stopped 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:58:22.644Z,1761685102.644 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateCommandMode] Stopped 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:58:22.645Z,1761685102.645 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:58:22.646Z,1761685102.646 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:58:22.646Z,1761685102.646 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:58:22.646Z,1761685102.646 [marl:UpdateSpeed] Stopped 2025-10-28T20:58:22.646Z,1761685102.646 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:58:23.019Z,1761685103.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337164,-0.919611,-0.201584],[0.940269,0.339636,0.023276],[0.047060,-0.197391,0.979195]] 2025-10-28T20:58:23.049Z,1761685103.049 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:58:23.049Z,1761685103.049 [marl:UpdateRudder:B] Stopped 2025-10-28T20:58:23.049Z,1761685103.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:58:23.049Z,1761685103.049 [marl:UpdateRudder] Stopped 2025-10-28T20:58:23.049Z,1761685103.049 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:58:23.423Z,1761685103.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341544,-0.917647,-0.203157],[0.938829,0.343251,0.027902],[0.044130,-0.200259,0.978749]] 2025-10-28T20:58:23.834Z,1761685103.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345075,-0.915921,-0.204970],[0.937670,0.346007,0.032450],[0.041199,-0.203392,0.978230]] 2025-10-28T20:58:24.235Z,1761685104.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347312,-0.914300,-0.208399],[0.936967,0.347423,0.037288],[0.038310,-0.208213,0.977333]] 2025-10-28T20:58:24.630Z,1761685104.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348117,-0.913420,-0.210898],[0.936779,0.347466,0.041375],[0.035487,-0.211968,0.976632]] 2025-10-28T20:58:25.034Z,1761685105.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346983,-0.913640,-0.211813],[0.937287,0.345781,0.043921],[0.033113,-0.213769,0.976323]] 2025-10-28T20:58:25.439Z,1761685105.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344762,-0.914444,-0.211970],[0.938172,0.343175,0.045436],[0.031194,-0.214528,0.976219]] 2025-10-28T20:58:25.849Z,1761685105.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341741,-0.915889,-0.210621],[0.939342,0.339836,0.046337],[0.029137,-0.213680,0.976469]] 2025-10-28T20:58:26.247Z,1761685106.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338257,-0.917708,-0.208311],[0.940663,0.336106,0.046750],[0.027112,-0.211764,0.976945]] 2025-10-28T20:58:26.650Z,1761685106.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334110,-0.919659,-0.206392],[0.942185,0.331839,0.046585],[0.025646,-0.210024,0.977360]] 2025-10-28T20:58:27.054Z,1761685107.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329938,-0.921462,-0.205059],[0.943700,0.327452,0.046954],[0.023881,-0.209006,0.977623]] 2025-10-28T20:58:27.460Z,1761685107.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325608,-0.923836,-0.201261],[0.945243,0.323064,0.046309],[0.022239,-0.205319,0.978442]] 2025-10-28T20:58:27.862Z,1761685107.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321318,-0.925981,-0.198278],[0.946751,0.318643,0.046153],[0.020443,-0.202549,0.979059]] 2025-10-28T20:58:28.277Z,1761685108.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317679,-0.927764,-0.195790],[0.948017,0.314809,0.046460],[0.018533,-0.200372,0.979545]] 2025-10-28T20:58:28.670Z,1761685108.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313794,-0.929780,-0.192463],[0.949342,0.310823,0.046249],[0.016821,-0.197226,0.980214]] 2025-10-28T20:58:29.076Z,1761685109.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310326,-0.931294,-0.190761],[0.950512,0.307136,0.046837],[0.014970,-0.195856,0.980518]] 2025-10-28T20:58:29.478Z,1761685109.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307330,-0.932802,-0.188227],[0.951514,0.303931,0.047398],[0.012995,-0.193667,0.980981]] 2025-10-28T20:58:29.882Z,1761685109.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304295,-0.934187,-0.186279],[0.952513,0.300673,0.048104],[0.011071,-0.192071,0.981319]] 2025-10-28T20:58:30.287Z,1761685110.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301145,-0.935279,-0.185914],[0.953534,0.297235,0.049240],[0.009207,-0.192103,0.981332]] 2025-10-28T20:58:30.693Z,1761685110.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297658,-0.936425,-0.185765],[0.954645,0.293444,0.050439],[0.007279,-0.192353,0.981299]] 2025-10-28T20:58:31.094Z,1761685111.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293665,-0.937601,-0.186188],[0.955894,0.289121,0.051731],[0.005327,-0.193168,0.981151]] 2025-10-28T20:58:31.499Z,1761685111.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290029,-0.938556,-0.187070],[0.957011,0.285144,0.053122],[0.003484,-0.194435,0.980909]] 2025-10-28T20:58:31.903Z,1761685111.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287020,-0.939504,-0.186955],[0.957923,0.281877,0.054125],[0.001847,-0.194623,0.980876]] 2025-10-28T20:58:32.333Z,1761685112.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284371,-0.940263,-0.187187],[0.958714,0.279003,0.054995],[0.000516,-0.195097,0.980784]] 2025-10-28T20:58:32.710Z,1761685112.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281964,-0.941026,-0.186991],[0.959425,0.276419,0.055652],[-0.000682,-0.195095,0.980784]] 2025-10-28T20:58:33.114Z,1761685113.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280371,-0.941316,-0.187925],[0.959891,0.274744,0.055903],[-0.000991,-0.196061,0.980591]] 2025-10-28T20:58:33.518Z,1761685113.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280266,-0.941280,-0.188266],[0.959921,0.274487,0.056644],[-0.001642,-0.196596,0.980483]] 2025-10-28T20:58:33.924Z,1761685113.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280753,-0.941046,-0.188706],[0.959776,0.274725,0.057922],[-0.002665,-0.197378,0.980324]] 2025-10-28T20:58:34.342Z,1761685114.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282133,-0.940684,-0.188455],[0.959367,0.275817,0.059497],[-0.003988,-0.197584,0.980278]] 2025-10-28T20:58:34.730Z,1761685114.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284095,-0.939863,-0.189598],[0.958780,0.277332,0.061869],[-0.005567,-0.199359,0.979911]] 2025-10-28T20:58:35.134Z,1761685115.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285906,-0.939302,-0.189655],[0.958230,0.278752,0.063970],[-0.007220,-0.200022,0.979765]] 2025-10-28T20:58:35.563Z,1761685115.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287662,-0.938805,-0.189461],[0.957689,0.280086,0.066210],[-0.009092,-0.200491,0.979653]] 2025-10-28T20:58:35.603Z,1761685115.603 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:58:35.603Z,1761685115.603 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:58:35.603Z,1761685115.603 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:58:35.608Z,1761685115.608 [marl:UpdateRudder:A] Stopped 2025-10-28T20:58:35.608Z,1761685115.608 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:58:35.608Z,1761685115.608 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:58:35.608Z,1761685115.608 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:58:35.608Z,1761685115.608 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateCommandMode] Stopped 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:58:35.609Z,1761685115.609 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:58:35.610Z,1761685115.610 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:58:35.610Z,1761685115.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:58:35.610Z,1761685115.610 [marl:UpdateSpeed] Stopped 2025-10-28T20:58:35.610Z,1761685115.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:58:35.942Z,1761685115.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289640,-0.937875,-0.191049],[0.957066,0.281382,0.069632],[-0.011548,-0.203015,0.979107]] 2025-10-28T20:58:35.994Z,1761685115.994 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:58:35.994Z,1761685115.994 [marl:UpdateRudder:B] Stopped 2025-10-28T20:58:35.994Z,1761685115.994 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:58:35.994Z,1761685115.994 [marl:UpdateRudder] Stopped 2025-10-28T20:58:35.994Z,1761685115.994 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:58:36.346Z,1761685116.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290816,-0.937513,-0.191036],[0.956678,0.282029,0.072298],[-0.013903,-0.203786,0.978917]] 2025-10-28T20:58:36.751Z,1761685116.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291453,-0.937563,-0.189817],[0.956445,0.282226,0.074568],[-0.016341,-0.203283,0.978984]] 2025-10-28T20:58:37.156Z,1761685117.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290857,-0.938091,-0.188113],[0.956583,0.281271,0.076398],[-0.018757,-0.202167,0.979172]] 2025-10-28T20:58:37.558Z,1761685117.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288708,-0.938917,-0.187303],[0.957194,0.278844,0.077618],[-0.020649,-0.201695,0.979231]] 2025-10-28T20:58:37.963Z,1761685117.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286113,-0.939796,-0.186875],[0.957942,0.276052,0.078378],[-0.022072,-0.201440,0.979252]] 2025-10-28T20:58:38.376Z,1761685118.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283663,-0.940327,-0.187939],[0.958644,0.273343,0.079283],[-0.023180,-0.202656,0.978976]] 2025-10-28T20:58:38.783Z,1761685118.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280908,-0.941193,-0.187741],[0.959446,0.270602,0.078980],[-0.023532,-0.202313,0.979038]] 2025-10-28T20:58:39.175Z,1761685119.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278529,-0.942023,-0.187121],[0.960129,0.268249,0.078706],[-0.023948,-0.201582,0.979179]] 2025-10-28T20:58:39.578Z,1761685119.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276640,-0.942188,-0.189083],[0.960662,0.266134,0.079381],[-0.024471,-0.203604,0.978747]] 2025-10-28T20:58:39.982Z,1761685119.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275678,-0.942616,-0.188350],[0.960915,0.265067,0.079887],[-0.025378,-0.203012,0.978847]] 2025-10-28T20:58:40.387Z,1761685120.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274459,-0.943060,-0.187909],[0.961246,0.263773,0.080193],[-0.026061,-0.202636,0.978907]] 2025-10-28T20:58:40.800Z,1761685120.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273999,-0.943186,-0.187949],[0.961347,0.263093,0.081205],[-0.027143,-0.202934,0.978816]] 2025-10-28T20:58:41.195Z,1761685121.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273460,-0.943423,-0.187541],[0.961461,0.262319,0.082344],[-0.028490,-0.202832,0.978799]] 2025-10-28T20:58:41.601Z,1761685121.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272995,-0.943468,-0.187996],[0.961516,0.261295,0.084921],[-0.030998,-0.203945,0.978492]] 2025-10-28T20:58:42.003Z,1761685122.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270872,-0.944170,-0.187540],[0.962037,0.258768,0.086744],[-0.033372,-0.203917,0.978419]] 2025-10-28T20:58:42.308Z,1761685122.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:58:42.406Z,1761685122.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267131,-0.945489,-0.186258],[0.963003,0.254779,0.087820],[-0.035578,-0.202826,0.978568]] 2025-10-28T20:58:42.813Z,1761685122.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262237,-0.946958,-0.185749],[0.964274,0.249657,0.088581],[-0.037509,-0.202342,0.978596]] 2025-10-28T20:58:43.216Z,1761685123.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256172,-0.948739,-0.185123],[0.965835,0.243455,0.088835],[-0.039212,-0.201555,0.978692]] 2025-10-28T20:58:43.316Z,1761685123.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:58:43.618Z,1761685123.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249517,-0.950933,-0.182943],[0.967526,0.236923,0.088096],[-0.040430,-0.198983,0.979169]] 2025-10-28T20:58:44.023Z,1761685124.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242527,-0.952898,-0.182117],[0.969290,0.230130,0.086696],[-0.040702,-0.197551,0.979447]] 2025-10-28T20:58:44.430Z,1761685124.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235815,-0.954868,-0.180607],[0.970963,0.223804,0.084518],[-0.040283,-0.195293,0.979917]] 2025-10-28T20:58:44.836Z,1761685124.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230060,-0.956351,-0.180181],[0.972381,0.218415,0.082278],[-0.039332,-0.194134,0.980186]] 2025-10-28T20:58:45.235Z,1761685125.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225924,-0.957329,-0.180221],[0.973393,0.214584,0.080377],[-0.038274,-0.193584,0.980337]] 2025-10-28T20:58:45.639Z,1761685125.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222852,-0.958130,-0.179786],[0.974145,0.211847,0.078502],[-0.037128,-0.192632,0.980568]] 2025-10-28T20:58:46.044Z,1761685126.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221255,-0.958563,-0.179454],[0.974567,0.210617,0.076556],[-0.035587,-0.191828,0.980783]] 2025-10-28T20:58:46.447Z,1761685126.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221243,-0.958814,-0.178123],[0.974611,0.210940,0.075082],[-0.034416,-0.190212,0.981140]] 2025-10-28T20:58:46.851Z,1761685126.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222694,-0.958432,-0.178369],[0.974315,0.212530,0.074446],[-0.033443,-0.190366,0.981143]] 2025-10-28T20:58:47.256Z,1761685127.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225315,-0.957550,-0.179809],[0.973734,0.215110,0.074629],[-0.032782,-0.191901,0.980867]] 2025-10-28T20:58:47.661Z,1761685127.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228628,-0.956447,-0.181487],[0.972972,0.218277,0.075366],[-0.032469,-0.193813,0.980501]] 2025-10-28T20:58:48.062Z,1761685128.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232589,-0.955280,-0.182600],[0.972028,0.222029,0.076579],[-0.032612,-0.195304,0.980200]] 2025-10-28T20:58:48.466Z,1761685128.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236845,-0.953568,-0.186045],[0.970982,0.225793,0.078817],[-0.033150,-0.199314,0.979375]] 2025-10-28T20:58:48.507Z,1761685128.507 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:58:48.507Z,1761685128.507 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:58:48.507Z,1761685128.507 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:58:48.512Z,1761685128.512 [marl:UpdateRudder:A] Stopped 2025-10-28T20:58:48.512Z,1761685128.512 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:58:48.512Z,1761685128.512 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:58:48.512Z,1761685128.512 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:58:48.512Z,1761685128.512 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateCommandMode] Stopped 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:58:48.513Z,1761685128.513 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:58:48.514Z,1761685128.514 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:58:48.514Z,1761685128.514 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:58:48.514Z,1761685128.514 [marl:UpdateSpeed] Stopped 2025-10-28T20:58:48.514Z,1761685128.514 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:58:48.873Z,1761685128.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241354,-0.952056,-0.187981],[0.969824,0.229749,0.081588],[-0.034488,-0.202000,0.978778]] 2025-10-28T20:58:48.899Z,1761685128.899 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T20:58:48.899Z,1761685128.899 [marl:UpdateRudder:B] Stopped 2025-10-28T20:58:48.899Z,1761685128.899 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:58:48.899Z,1761685128.899 [marl:UpdateRudder] Stopped 2025-10-28T20:58:48.899Z,1761685128.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:58:49.284Z,1761685129.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245524,-0.950377,-0.191055],[0.968711,0.233161,0.085063],[-0.036295,-0.205962,0.977887]] 2025-10-28T20:58:49.678Z,1761685129.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249733,-0.949101,-0.191937],[0.967538,0.236645,0.088705],[-0.038769,-0.207859,0.977390]] 2025-10-28T20:58:50.082Z,1761685130.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253176,-0.948115,-0.192303],[0.966519,0.239313,0.092580],[-0.041756,-0.209304,0.976959]] 2025-10-28T20:58:50.488Z,1761685130.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255824,-0.947341,-0.192611],[0.965669,0.241116,0.096680],[-0.045148,-0.210732,0.976501]] 2025-10-28T20:58:50.890Z,1761685130.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256637,-0.947324,-0.191611],[0.965302,0.241329,0.099759],[-0.048263,-0.210564,0.976388]] 2025-10-28T20:58:51.295Z,1761685131.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255354,-0.947760,-0.191166],[0.965481,0.239450,0.102522],[-0.051391,-0.210746,0.976189]] 2025-10-28T20:58:51.698Z,1761685131.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250138,-0.950462,-0.184534],[0.966692,0.234500,0.102549],[-0.054195,-0.204038,0.977462]] 2025-10-28T20:58:52.104Z,1761685132.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238449,-0.957104,-0.164601],[0.969475,0.224629,0.098284],[-0.057094,-0.183012,0.981451]] 2025-10-28T20:58:52.507Z,1761685132.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220650,-0.965927,-0.135272],[0.973499,0.209555,0.091578],[-0.060111,-0.151893,0.986567]] 2025-10-28T20:58:52.911Z,1761685132.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198804,-0.974604,-0.103072],[0.978035,0.190574,0.084437],[-0.062650,-0.117594,0.991084]] 2025-10-28T20:58:53.315Z,1761685133.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174881,-0.982020,-0.071092],[0.982489,0.169338,0.077721],[-0.064285,-0.083439,0.994437]] 2025-10-28T20:58:53.720Z,1761685133.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150425,-0.987679,-0.043151],[0.986481,0.147085,0.072252],[-0.065015,-0.053437,0.996453]] 2025-10-28T20:58:54.122Z,1761685134.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126086,-0.991770,-0.022251],[0.989908,0.124323,0.068022],[-0.064696,-0.030603,0.997436]] 2025-10-28T20:58:54.526Z,1761685134.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102270,-0.994742,-0.005454],[0.992772,0.101718,0.063704],[-0.062814,-0.011929,0.997954]] 2025-10-28T20:58:54.931Z,1761685134.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079838,-0.996787,0.006439],[0.994994,0.080081,0.059784],[-0.060108,0.001634,0.998191]] 2025-10-28T20:58:55.336Z,1761685135.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058774,-0.998193,0.012483],[0.996634,0.059389,0.056517],[-0.057156,0.009119,0.998324]] 2025-10-28T20:58:55.766Z,1761685135.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040021,-0.999053,0.017081],[0.997732,0.040882,0.053480],[-0.054128,0.014902,0.998423]] 2025-10-28T20:58:56.143Z,1761685136.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023342,-0.999560,0.018281],[0.998420,0.024242,0.050685],[-0.051106,0.017069,0.998547]] 2025-10-28T20:58:56.952Z,1761685136.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004452,-0.999895,0.013798],[0.998876,-0.003795,0.047239],[-0.047182,0.013993,0.998788]] 2025-10-28T20:58:57.354Z,1761685137.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016813,-0.999776,0.012856],[0.998807,-0.016204,0.046068],[-0.045850,0.013616,0.998856]] 2025-10-28T20:58:57.802Z,1761685137.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028508,-0.999536,0.010705],[0.998567,-0.027992,0.045606],[-0.045285,0.011989,0.998902]] 2025-10-28T20:58:58.162Z,1761685138.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040215,-0.999171,0.006337],[0.998181,-0.039889,0.045204],[-0.044913,0.008144,0.998958]] 2025-10-28T20:58:58.567Z,1761685138.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051774,-0.998657,0.002081],[0.997660,-0.051629,0.044821],[-0.044654,0.004397,0.998993]] 2025-10-28T20:58:58.971Z,1761685138.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064746,-0.997900,-0.001569],[0.996922,-0.064752,0.044201],[-0.044210,0.001298,0.999021]] 2025-10-28T20:58:59.374Z,1761685139.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079190,-0.996850,-0.004440],[0.995916,-0.079308,0.043141],[-0.043357,-0.001005,0.999059]] 2025-10-28T20:58:59.813Z,1761685139.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093724,-0.995583,-0.005462],[0.994708,-0.093871,0.041771],[-0.042099,-0.001518,0.999112]] 2025-10-28T20:59:00.182Z,1761685140.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108829,-0.994049,-0.004655],[0.993248,-0.108928,0.039921],[-0.040191,-0.000279,0.999192]] 2025-10-28T20:59:00.586Z,1761685140.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124199,-0.992250,-0.003708],[0.991527,-0.124250,0.037894],[-0.038061,0.001030,0.999275]] 2025-10-28T20:59:00.991Z,1761685140.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139018,-0.990284,-0.003236],[0.989644,-0.139045,0.035650],[-0.035753,0.001753,0.999359]] 2025-10-28T20:59:01.397Z,1761685141.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152919,-0.988235,-0.002706],[0.987682,-0.152924,0.033155],[-0.033179,0.002397,0.999447]] 2025-10-28T20:59:01.421Z,1761685141.421 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:59:01.421Z,1761685141.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:59:01.421Z,1761685141.421 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:59:01.421Z,1761685141.421 [marl:UpdateRudder:A] Stopped 2025-10-28T20:59:01.421Z,1761685141.421 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode] Stopped 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:59:01.422Z,1761685141.422 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed] Stopped 2025-10-28T20:59:01.423Z,1761685141.423 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:59:01.819Z,1761685141.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165838,-0.986148,-0.003023],[0.985678,-0.165852,0.030539],[-0.030617,0.002085,0.999529]] 2025-10-28T20:59:01.890Z,1761685141.890 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:59:01.890Z,1761685141.890 [marl:UpdateRudder:B] Stopped 2025-10-28T20:59:01.890Z,1761685141.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:59:01.890Z,1761685141.890 [marl:UpdateRudder] Stopped 2025-10-28T20:59:01.890Z,1761685141.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:59:01.891Z,1761685141.891 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T20:59:01.961Z,1761685141.961 [DAT](DEBUG): Acoustic response timeout 2025-10-28T20:59:01.961Z,1761685141.961 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T20:59:02.203Z,1761685142.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178176,-0.983985,-0.005182],[0.983587,-0.178252,0.027992],[-0.028467,-0.000109,0.999595]] 2025-10-28T20:59:02.213Z,1761685142.213 [DAT](INFO): DAT read: user:279> 2025-10-28T20:59:02.214Z,1761685142.214 [DAT](INFO): DAT read: Tx time:20:59:01.9600 2025-10-28T20:59:02.214Z,1761685142.214 [DAT](INFO): Ping request sent. 2025-10-28T20:59:02.214Z,1761685142.214 [DAT](INFO): transmitted an acoustic signal 2025-10-28T20:59:02.214Z,1761685142.214 [DAT](INFO): publishing transmit ping time 2025-10-28T20:59:02.215Z,1761685142.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T20:59:02.465Z,1761685142.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250777 2025-10-28T20:59:02.608Z,1761685142.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189900,-0.981786,-0.005952],[0.981437,-0.189991,0.026175],[-0.026829,-0.000871,0.999640]] 2025-10-28T20:59:02.718Z,1761685142.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503602 2025-10-28T20:59:02.969Z,1761685142.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759 2025-10-28T20:59:03.022Z,1761685143.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201313,-0.979496,-0.007783],[0.979199,-0.201445,0.024270],[-0.025341,-0.002735,0.999675]] 2025-10-28T20:59:03.223Z,1761685143.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008901 2025-10-28T20:59:03.415Z,1761685143.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212919,-0.977022,-0.009665],[0.976764,-0.213089,0.022912],[-0.024445,-0.004562,0.999691]] 2025-10-28T20:59:03.473Z,1761685143.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259313 2025-10-28T20:59:03.725Z,1761685143.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313 2025-10-28T20:59:03.823Z,1761685143.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224700,-0.974376,-0.010025],[0.974129,-0.224874,0.022439],[-0.024119,-0.004723,0.999698]] 2025-10-28T20:59:03.977Z,1761685143.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782 2025-10-28T20:59:04.230Z,1761685144.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016035 2025-10-28T20:59:04.234Z,1761685144.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237070,-0.971429,-0.011075],[0.971210,-0.237261,0.021413],[-0.023429,-0.005680,0.999709]] 2025-10-28T20:59:04.481Z,1761685144.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267092 2025-10-28T20:59:04.734Z,1761685144.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519490 2025-10-28T20:59:04.985Z,1761685144.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770830 2025-10-28T20:59:05.033Z,1761685145.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257834,-0.965849,-0.025636],[0.965932,-0.258287,0.016241],[-0.022308,-0.020575,0.999539]] 2025-10-28T20:59:05.238Z,1761685145.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023748 2025-10-28T20:59:05.438Z,1761685145.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263097,-0.963714,-0.045121],[0.964512,-0.263819,0.010757],[-0.022271,-0.040689,0.998924]] 2025-10-28T20:59:05.489Z,1761685145.489 [DAT](INFO): DAT read: Rx Time:20:59:04.8270 2025-10-28T20:59:05.489Z,1761685145.489 [DAT](INFO): Rx dataTimestamp_ set to:1761685145.489214 2025-10-28T20:59:05.490Z,1761685145.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275949 2025-10-28T20:59:05.742Z,1761685145.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527416 2025-10-28T20:59:06.006Z,1761685146.006 [DAT](INFO): DAT read: 20:59:04.8270 LVL= 32752, 26161, 28194, 32755, AGC= 70, IDX= 319, 0.46, 3.085,-1.181,-1.687,-1.568, PHS=-1.528, 0.432,-0.163, RAW= 287.2, 14.3, CAL= 285.3, 21.5, ROT= 224.7, -21.5 2025-10-28T20:59:06.010Z,1761685146.010 [DAT](INFO): got valid direction response: 20:59:04.8270 LVL= 32752, 26161, 28194, 32755, AGC= 70, IDX= 319, 0.46, 3.085,-1.181,-1.687,-1.568, PHS=-1.528, 0.432,-0.163, RAW= 287.2, 14.3, CAL= 285.3, 21.5, ROT= 224.7, -21.5 2025-10-28T20:59:06.012Z,1761685146.012 [DAT](INFO): DAT read: Bearing 326, -7 (Remote) 2025-10-28T20:59:06.013Z,1761685146.013 [DAT](INFO): Remote Bearing received:Bearing 326, -7 (Remote) 2025-10-28T20:59:06.014Z,1761685146.014 [DAT](INFO): DAT read: Bearing 45.5, -41.5 (Local) 2025-10-28T20:59:06.014Z,1761685146.014 [DAT](INFO): Local bearing/azimuth received: Bearing 45.5, -41.5 (Local) 2025-10-28T20:59:06.018Z,1761685146.018 [DAT](INFO): DAT read: Range 11 to 20 : 628.3 m (Round-trip 837.8 ms) speed -1.1 m/s 2025-10-28T20:59:06.018Z,1761685146.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T20:59:06.019Z,1761685146.019 [DAT](INFO): direction in FSK: [-0.661340,-0.654451,0.366501] 2025-10-28T20:59:06.019Z,1761685146.019 [DAT](INFO): publishing direction and range info 2025-10-28T20:59:06.264Z,1761685146.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272021,-0.953393,-0.130566],[0.962028,-0.272606,-0.013718],[-0.022514,-0.129340,0.991345]] 2025-10-28T20:59:06.321Z,1761685146.321 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685120.00. Resetting abort timer. 2025-10-28T20:59:07.067Z,1761685147.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275321,-0.948842,-0.154586],[0.961085,-0.275452,-0.021002],[-0.022653,-0.154353,0.987756]] 2025-10-28T20:59:07.464Z,1761685147.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284703,-0.940674,-0.184599],[0.958367,-0.283692,-0.032438],[-0.021856,-0.186149,0.982278]] 2025-10-28T20:59:07.863Z,1761685147.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290444,-0.937236,-0.192952],[0.956664,-0.288811,-0.037177],[-0.020883,-0.195388,0.980504]] 2025-10-28T20:59:08.270Z,1761685148.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296139,-0.934599,-0.197044],[0.954943,-0.293953,-0.040940],[-0.019660,-0.200290,0.979539]] 2025-10-28T20:59:08.674Z,1761685148.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301924,-0.932283,-0.199225],[0.953162,-0.299153,-0.044611],[-0.018009,-0.203363,0.978938]] 2025-10-28T20:59:09.079Z,1761685149.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307258,-0.930575,-0.199054],[0.951489,-0.303976,-0.047623],[-0.016191,-0.204031,0.978831]] 2025-10-28T20:59:09.481Z,1761685149.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311531,-0.929204,-0.198815],[0.950120,-0.307869,-0.049892],[-0.014849,-0.204441,0.978766]] 2025-10-28T20:59:09.883Z,1761685149.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315676,-0.928079,-0.197530],[0.948774,-0.311640,-0.052037],[-0.013263,-0.203838,0.978915]] 2025-10-28T20:59:10.289Z,1761685150.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318652,-0.927337,-0.196231],[0.947800,-0.314273,-0.053922],[-0.011667,-0.203170,0.979074]] 2025-10-28T20:59:10.691Z,1761685150.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320478,-0.927153,-0.194115],[0.947201,-0.315870,-0.055107],[-0.010223,-0.201526,0.979430]] 2025-10-28T20:59:11.094Z,1761685151.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321489,-0.927314,-0.191658],[0.946873,-0.316698,-0.055985],[-0.008782,-0.199474,0.979864]] 2025-10-28T20:59:11.502Z,1761685151.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321295,-0.928030,-0.188492],[0.946948,-0.316468,-0.056014],[-0.007669,-0.196490,0.980476]] 2025-10-28T20:59:11.903Z,1761685151.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320245,-0.928798,-0.186485],[0.947313,-0.315315,-0.056347],[-0.006467,-0.194705,0.980841]] 2025-10-28T20:59:12.308Z,1761685152.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318532,-0.929472,-0.186065],[0.947897,-0.313435,-0.057001],[-0.005338,-0.194527,0.980883]] 2025-10-28T20:59:12.719Z,1761685152.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316330,-0.929910,-0.187624],[0.948640,-0.310955,-0.058215],[-0.004208,-0.196403,0.980514]] 2025-10-28T20:59:13.120Z,1761685153.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313642,-0.930521,-0.189099],[0.949535,-0.308094,-0.058838],[-0.003510,-0.198010,0.980194]] 2025-10-28T20:59:13.432Z,1761685153.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:59:13.522Z,1761685153.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310568,-0.931216,-0.190745],[0.950546,-0.304898,-0.059151],[-0.003075,-0.199682,0.979856]] 2025-10-28T20:59:13.923Z,1761685153.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307474,-0.931946,-0.192191],[0.951551,-0.301803,-0.058865],[-0.003144,-0.200979,0.979591]] 2025-10-28T20:59:14.328Z,1761685154.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304474,-0.932521,-0.194168],[0.952513,-0.298902,-0.058110],[-0.003849,-0.202640,0.979246]] 2025-10-28T20:59:14.367Z,1761685154.367 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:59:14.367Z,1761685154.367 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:59:14.368Z,1761685154.368 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:59:14.372Z,1761685154.372 [marl:UpdateRudder:A] Stopped 2025-10-28T20:59:14.372Z,1761685154.372 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:59:14.372Z,1761685154.372 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode] Stopped 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:59:14.373Z,1761685154.373 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:59:14.374Z,1761685154.374 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:59:14.374Z,1761685154.374 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:59:14.374Z,1761685154.374 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:59:14.374Z,1761685154.374 [marl:UpdateSpeed] Stopped 2025-10-28T20:59:14.374Z,1761685154.374 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:59:14.437Z,1761685154.437 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:59:14.734Z,1761685154.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301906,-0.933260,-0.194623],[0.953326,-0.296570,-0.056717],[-0.004787,-0.202662,0.979237]] 2025-10-28T20:59:14.761Z,1761685154.761 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:59:14.761Z,1761685154.761 [marl:UpdateRudder:B] Stopped 2025-10-28T20:59:14.761Z,1761685154.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:59:14.761Z,1761685154.761 [marl:UpdateRudder] Stopped 2025-10-28T20:59:14.761Z,1761685154.761 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:59:15.141Z,1761685155.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299621,-0.933720,-0.195945],[0.954039,-0.294545,-0.055260],[-0.006117,-0.203496,0.979057]] 2025-10-28T20:59:15.539Z,1761685155.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298229,-0.934065,-0.196421],[0.954463,-0.293491,-0.053503],[-0.007673,-0.203433,0.979059]] 2025-10-28T20:59:15.943Z,1761685155.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297693,-0.934429,-0.195501],[0.954618,-0.293329,-0.051599],[-0.009130,-0.201989,0.979345]] 2025-10-28T20:59:16.346Z,1761685156.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298923,-0.933981,-0.195768],[0.954222,-0.294757,-0.050783],[-0.010273,-0.201987,0.979334]] 2025-10-28T20:59:16.754Z,1761685156.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301528,-0.933342,-0.194819],[0.953388,-0.297603,-0.049830],[-0.011470,-0.200763,0.979573]] 2025-10-28T20:59:17.155Z,1761685157.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305351,-0.931972,-0.195420],[0.952158,-0.301516,-0.049829],[-0.012483,-0.201286,0.979453]] 2025-10-28T20:59:17.559Z,1761685157.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309971,-0.930729,-0.194068],[0.950655,-0.306243,-0.049702],[-0.013173,-0.199898,0.979728]] 2025-10-28T20:59:17.963Z,1761685157.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315239,-0.928921,-0.194243],[0.948915,-0.311464,-0.050505],[-0.013585,-0.200241,0.979653]] 2025-10-28T20:59:18.369Z,1761685158.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321155,-0.927177,-0.192880],[0.946931,-0.317294,-0.051448],[-0.013498,-0.199167,0.979873]] 2025-10-28T20:59:18.777Z,1761685158.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327009,-0.925330,-0.191910],[0.944930,-0.322982,-0.052818],[-0.013109,-0.198614,0.979990]] 2025-10-28T20:59:19.175Z,1761685159.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333020,-0.923410,-0.190817],[0.942839,-0.328748,-0.054583],[-0.012328,-0.198087,0.980107]] 2025-10-28T20:59:19.579Z,1761685159.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338742,-0.921872,-0.188163],[0.940814,-0.334223,-0.056240],[-0.011042,-0.196077,0.980526]] 2025-10-28T20:59:19.984Z,1761685159.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344311,-0.919876,-0.187825],[0.938812,-0.339266,-0.059420],[-0.009064,-0.196792,0.980403]] 2025-10-28T20:59:20.387Z,1761685160.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349312,-0.918063,-0.187458],[0.936978,-0.343792,-0.062281],[-0.007269,-0.197400,0.980296]] 2025-10-28T20:59:20.793Z,1761685160.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353264,-0.916774,-0.186361],[0.935505,-0.347427,-0.064220],[-0.005872,-0.197028,0.980380]] 2025-10-28T20:59:21.202Z,1761685161.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356814,-0.915394,-0.186379],[0.934165,-0.350582,-0.066543],[-0.004428,-0.197852,0.980222]] 2025-10-28T20:59:21.600Z,1761685161.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359905,-0.914204,-0.186280],[0.932983,-0.353391,-0.068248],[-0.003437,-0.198359,0.980124]] 2025-10-28T20:59:22.004Z,1761685162.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362562,-0.913018,-0.186940],[0.931956,-0.355768,-0.069907],[-0.002681,-0.199565,0.979881]] 2025-10-28T20:59:22.407Z,1761685162.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364218,-0.912324,-0.187110],[0.931310,-0.357380,-0.070300],[-0.002733,-0.199862,0.979820]] 2025-10-28T20:59:22.811Z,1761685162.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366475,-0.911556,-0.186445],[0.930425,-0.359538,-0.071008],[-0.002306,-0.199495,0.979896]] 2025-10-28T20:59:23.221Z,1761685163.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368487,-0.910793,-0.186206],[0.929631,-0.361443,-0.071730],[-0.001972,-0.199534,0.979889]] 2025-10-28T20:59:23.620Z,1761685163.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370369,-0.910022,-0.186242],[0.928883,-0.363207,-0.072501],[-0.001667,-0.199849,0.979825]] 2025-10-28T20:59:24.023Z,1761685164.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372268,-0.909082,-0.187044],[0.928124,-0.364956,-0.073435],[-0.001504,-0.200938,0.979603]] 2025-10-28T20:59:24.426Z,1761685164.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373782,-0.908357,-0.187549],[0.927516,-0.366369,-0.074087],[-0.001415,-0.201647,0.979457]] 2025-10-28T20:59:24.830Z,1761685164.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375076,-0.907991,-0.186734],[0.926994,-0.367458,-0.075211],[-0.000326,-0.201311,0.979527]] 2025-10-28T20:59:25.241Z,1761685165.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375540,-0.908058,-0.185473],[0.926805,-0.367653,-0.076568],[0.001339,-0.200652,0.979662]] 2025-10-28T20:59:25.638Z,1761685165.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375074,-0.908396,-0.184763],[0.926991,-0.366940,-0.077737],[0.002819,-0.200430,0.979704]] 2025-10-28T20:59:26.042Z,1761685166.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373451,-0.909360,-0.183302],[0.927641,-0.365189,-0.078232],[0.004201,-0.199254,0.979939]] 2025-10-28T20:59:26.449Z,1761685166.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371404,-0.910204,-0.183268],[0.928453,-0.362865,-0.079395],[0.005764,-0.199644,0.979852]] 2025-10-28T20:59:26.850Z,1761685166.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368750,-0.911294,-0.183210],[0.929498,-0.359911,-0.080609],[0.007519,-0.200018,0.979763]] 2025-10-28T20:59:27.254Z,1761685167.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365907,-0.912088,-0.184955],[0.930605,-0.356601,-0.082523],[0.009313,-0.202316,0.979276]] 2025-10-28T20:59:27.286Z,1761685167.286 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:59:27.286Z,1761685167.286 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:59:27.286Z,1761685167.286 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateRudder:A] Stopped 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:59:27.287Z,1761685167.287 [marl:UpdateCommandMode] Stopped 2025-10-28T20:59:27.288Z,1761685167.288 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:59:27.292Z,1761685167.292 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:59:27.292Z,1761685167.292 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:59:27.292Z,1761685167.292 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:59:27.292Z,1761685167.292 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:59:27.293Z,1761685167.293 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:59:27.293Z,1761685167.293 [marl:UpdateSpeed] Stopped 2025-10-28T20:59:27.293Z,1761685167.293 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:59:27.659Z,1761685167.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363081,-0.912971,-0.186163],[0.931692,-0.353372,-0.084127],[0.011020,-0.203992,0.978911]] 2025-10-28T20:59:27.709Z,1761685167.709 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T20:59:27.709Z,1761685167.709 [marl:UpdateRudder:B] Stopped 2025-10-28T20:59:27.709Z,1761685167.709 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:59:27.709Z,1761685167.709 [marl:UpdateRudder] Stopped 2025-10-28T20:59:27.709Z,1761685167.709 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:59:28.062Z,1761685168.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360451,-0.913846,-0.186977],[0.932696,-0.350451,-0.085214],[0.012346,-0.205109,0.978661]] 2025-10-28T20:59:28.466Z,1761685168.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358236,-0.914441,-0.188321],[0.933537,-0.347973,-0.086161],[0.013258,-0.206671,0.978321]] 2025-10-28T20:59:28.871Z,1761685168.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356684,-0.915083,-0.188148],[0.934127,-0.346420,-0.086024],[0.013541,-0.206437,0.978366]] 2025-10-28T20:59:29.281Z,1761685169.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355974,-0.915291,-0.188483],[0.934405,-0.345809,-0.085461],[0.013043,-0.206541,0.978351]] 2025-10-28T20:59:29.693Z,1761685169.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356711,-0.915083,-0.188097],[0.934127,-0.346616,-0.085226],[0.012791,-0.206108,0.978446]] 2025-10-28T20:59:30.083Z,1761685170.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359367,-0.914302,-0.186832],[0.933122,-0.349540,-0.084291],[0.011763,-0.204629,0.978769]] 2025-10-28T20:59:30.487Z,1761685170.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363768,-0.913026,-0.184546],[0.931428,-0.354251,-0.083357],[0.010731,-0.202213,0.979283]] 2025-10-28T20:59:30.892Z,1761685170.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369453,-0.911041,-0.183053],[0.929200,-0.360165,-0.082874],[0.009572,-0.200711,0.979604]] 2025-10-28T20:59:31.295Z,1761685171.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375319,-0.908847,-0.182027],[0.926858,-0.366217,-0.082583],[0.008394,-0.199708,0.979819]] 2025-10-28T20:59:31.702Z,1761685171.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381458,-0.906610,-0.180408],[0.924357,-0.372571,-0.082185],[0.007295,-0.198112,0.980152]] 2025-10-28T20:59:32.102Z,1761685172.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387567,-0.904298,-0.178990],[0.921818,-0.378796,-0.082249],[0.006577,-0.196874,0.980407]] 2025-10-28T20:59:32.509Z,1761685172.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393566,-0.902079,-0.177086],[0.919272,-0.384770,-0.083017],[0.006751,-0.195463,0.980688]] 2025-10-28T20:59:32.910Z,1761685172.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399808,-0.899844,-0.174456],[0.916554,-0.390604,-0.085773],[0.009039,-0.194191,0.980922]] 2025-10-28T20:59:33.314Z,1761685173.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406120,-0.897564,-0.171595],[0.913728,-0.396198,-0.090153],[0.012933,-0.193404,0.981034]] 2025-10-28T20:59:33.719Z,1761685173.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412197,-0.895470,-0.168009],[0.910917,-0.401406,-0.095412],[0.017999,-0.192371,0.981157]] 2025-10-28T20:59:34.124Z,1761685174.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417834,-0.893191,-0.166205],[0.908207,-0.405817,-0.102332],[0.023953,-0.193706,0.980767]] 2025-10-28T20:59:34.527Z,1761685174.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422651,-0.891278,-0.164286],[0.905777,-0.409297,-0.109747],[0.030573,-0.195191,0.980289]] 2025-10-28T20:59:34.931Z,1761685174.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426023,-0.889877,-0.163168],[0.903959,-0.411330,-0.116898],[0.036909,-0.197299,0.979648]] 2025-10-28T20:59:35.337Z,1761685175.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427049,-0.889566,-0.162177],[0.903231,-0.411239,-0.122699],[0.042455,-0.198882,0.979103]] 2025-10-28T20:59:35.753Z,1761685175.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426319,-0.890092,-0.161207],[0.903346,-0.409646,-0.127107],[0.047100,-0.199814,0.978701]] 2025-10-28T20:59:36.143Z,1761685176.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424284,-0.891109,-0.160958],[0.904093,-0.406860,-0.130693],[0.050974,-0.200972,0.978270]] 2025-10-28T20:59:36.547Z,1761685176.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421866,-0.892159,-0.161494],[0.905029,-0.403701,-0.133970],[0.054328,-0.202674,0.977738]] 2025-10-28T20:59:36.950Z,1761685176.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419130,-0.893209,-0.162813],[0.906124,-0.400226,-0.136958],[0.057170,-0.204932,0.977105]] 2025-10-28T20:59:37.356Z,1761685177.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416402,-0.894214,-0.164287],[0.907240,-0.396873,-0.139312],[0.059374,-0.207057,0.976526]] 2025-10-28T20:59:37.820Z,1761685177.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413645,-0.895593,-0.163743],[0.908381,-0.393898,-0.140316],[0.061168,-0.206782,0.976473]] 2025-10-28T20:59:38.173Z,1761685178.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411706,-0.896734,-0.162377],[0.909140,-0.391841,-0.141157],[0.062954,-0.205739,0.976580]] 2025-10-28T20:59:38.567Z,1761685178.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410414,-0.897288,-0.162588],[0.909581,-0.390106,-0.143109],[0.064984,-0.206621,0.976261]] 2025-10-28T20:59:38.971Z,1761685178.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410439,-0.897310,-0.162401],[0.909399,-0.389626,-0.145548],[0.067326,-0.207426,0.975931]] 2025-10-28T20:59:39.374Z,1761685179.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411600,-0.896875,-0.161865],[0.908697,-0.390291,-0.148132],[0.069682,-0.208058,0.975631]] 2025-10-28T20:59:39.817Z,1761685179.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413423,-0.896380,-0.159951],[0.907720,-0.391922,-0.149807],[0.071596,-0.207125,0.975691]] 2025-10-28T20:59:40.186Z,1761685180.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416335,-0.895263,-0.158647],[0.906273,-0.394606,-0.151511],[0.073039,-0.206857,0.975641]] 2025-10-28T20:59:40.209Z,1761685180.209 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:59:40.209Z,1761685180.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:59:40.209Z,1761685180.209 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateRudder:A] Stopped 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:59:40.210Z,1761685180.210 [marl:UpdateCommandMode] Stopped 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed] Stopped 2025-10-28T20:59:40.211Z,1761685180.211 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:59:40.617Z,1761685180.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419678,-0.894056,-0.156637],[0.904602,-0.397798,-0.153143],[0.074609,-0.205964,0.975711]] 2025-10-28T20:59:40.681Z,1761685180.681 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:59:40.681Z,1761685180.681 [marl:UpdateRudder:B] Stopped 2025-10-28T20:59:40.681Z,1761685180.681 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:59:40.681Z,1761685180.681 [marl:UpdateRudder] Stopped 2025-10-28T20:59:40.681Z,1761685180.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:59:40.991Z,1761685180.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424210,-0.892409,-0.153793],[0.902372,-0.402326,-0.154465],[0.075971,-0.204304,0.975955]] 2025-10-28T20:59:41.394Z,1761685181.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429995,-0.890292,-0.149946],[0.899515,-0.408243,-0.155597],[0.077313,-0.201785,0.976374]] 2025-10-28T20:59:41.822Z,1761685181.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436391,-0.887868,-0.145785],[0.896311,-0.414808,-0.156721],[0.078675,-0.199060,0.976824]] 2025-10-28T20:59:42.205Z,1761685182.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442896,-0.885102,-0.142960],[0.892988,-0.421237,-0.158530],[0.080095,-0.197875,0.976950]] 2025-10-28T20:59:42.606Z,1761685182.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449282,-0.882227,-0.140790],[0.889645,-0.427393,-0.160834],[0.081720,-0.197513,0.976888]] 2025-10-28T20:59:43.010Z,1761685183.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454653,-0.880009,-0.137387],[0.886720,-0.432711,-0.162751],[0.083774,-0.195819,0.977055]] 2025-10-28T20:59:43.415Z,1761685183.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456268,-0.879298,-0.136583],[0.885617,-0.433780,-0.165885],[0.086615,-0.196649,0.976641]] 2025-10-28T20:59:43.826Z,1761685183.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452333,-0.879702,-0.146694],[0.887260,-0.427213,-0.173951],[0.090356,-0.208839,0.973767]] 2025-10-28T20:59:44.223Z,1761685184.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443286,-0.880343,-0.168801],[0.891352,-0.412994,-0.186891],[0.094815,-0.233308,0.967770]] 2025-10-28T20:59:44.564Z,1761685184.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T20:59:44.670Z,1761685184.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430704,-0.880306,-0.198886],[0.896954,-0.393158,-0.202237],[0.099837,-0.265496,0.958929]] 2025-10-28T20:59:45.046Z,1761685185.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415726,-0.879692,-0.230899],[0.903406,-0.370101,-0.216523],[0.105018,-0.298610,0.948580]] 2025-10-28T20:59:45.568Z,1761685185.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T20:59:45.863Z,1761685185.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380093,-0.879647,-0.285920],[0.917798,-0.320322,-0.234607],[0.114785,-0.351589,0.929091]] 2025-10-28T20:59:46.261Z,1761685186.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361189,-0.880086,-0.308207],[0.924793,-0.295690,-0.239428],[0.119583,-0.371506,0.920697]] 2025-10-28T20:59:46.669Z,1761685186.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341651,-0.881260,-0.326582],[0.931613,-0.271717,-0.241388],[0.123987,-0.386719,0.913825]] 2025-10-28T20:59:47.066Z,1761685187.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323398,-0.882897,-0.340449],[0.937478,-0.250030,-0.242115],[0.128640,-0.397463,0.908557]] 2025-10-28T20:59:47.470Z,1761685187.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305106,-0.885817,-0.349625],[0.942980,-0.229730,-0.240858],[0.133037,-0.403177,0.905400]] 2025-10-28T20:59:47.885Z,1761685187.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286603,-0.889019,-0.357076],[0.948195,-0.209898,-0.238470],[0.137055,-0.406925,0.903121]] 2025-10-28T20:59:48.327Z,1761685188.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249775,-0.896199,-0.366660],[0.957776,-0.172977,-0.229658],[0.142396,-0.408542,0.901564]] 2025-10-28T20:59:48.726Z,1761685188.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232398,-0.899465,-0.370073],[0.961944,-0.156337,-0.224102],[0.143716,-0.408070,0.901568]] 2025-10-28T20:59:49.129Z,1761685189.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214887,-0.903264,-0.371401],[0.965920,-0.140374,-0.217471],[0.144299,-0.405475,0.902645]] 2025-10-28T20:59:49.531Z,1761685189.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198628,-0.905895,-0.374034],[0.969312,-0.125175,-0.211578],[0.144847,-0.404581,0.902958]] 2025-10-28T20:59:49.934Z,1761685189.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182397,-0.908796,-0.375262],[0.972458,-0.110417,-0.205263],[0.145107,-0.402366,0.903906]] 2025-10-28T20:59:50.361Z,1761685190.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166748,-0.911660,-0.375595],[0.975230,-0.096344,-0.199109],[0.145334,-0.399492,0.905143]] 2025-10-28T20:59:50.768Z,1761685190.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151159,-0.914050,-0.376382],[0.977748,-0.082220,-0.193000],[0.145466,-0.397181,0.906139]] 2025-10-28T20:59:51.171Z,1761685191.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134688,-0.916631,-0.376360],[0.980309,-0.067911,-0.185425],[0.144408,-0.393924,0.907728]] 2025-10-28T20:59:51.573Z,1761685191.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118227,-0.918619,-0.377043],[0.982662,-0.053621,-0.177485],[0.142824,-0.391489,0.909031]] 2025-10-28T20:59:51.975Z,1761685191.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101434,-0.920481,-0.377393],[0.984823,-0.039204,-0.169075],[0.140835,-0.388815,0.910488]] 2025-10-28T20:59:52.378Z,1761685192.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083947,-0.922073,-0.377803],[0.986809,-0.024257,-0.160064],[0.138427,-0.386256,0.911946]] 2025-10-28T20:59:52.788Z,1761685192.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066582,-0.923471,-0.377846],[0.988450,-0.009380,-0.151254],[0.136134,-0.383552,0.913430]] 2025-10-28T20:59:53.201Z,1761685193.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048783,-0.924310,-0.378511],[0.989860,0.005876,-0.141923],[0.133405,-0.381596,0.914651]] 2025-10-28T20:59:53.224Z,1761685193.224 [marl:UpdateRudder] Running Loop=1 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateRudder:A] Stopped 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T20:59:53.225Z,1761685193.225 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateCommandMode:A] Stopped 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateCommandMode] Stopped 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateSpeed] Running Loop=1 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T20:59:53.226Z,1761685193.226 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T20:59:53.227Z,1761685193.227 [marl:UpdateSpeed:A] Stopped 2025-10-28T20:59:53.227Z,1761685193.227 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T20:59:53.227Z,1761685193.227 [marl:UpdateSpeed] Stopped 2025-10-28T20:59:53.227Z,1761685193.227 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T20:59:53.601Z,1761685193.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031017,-0.924916,-0.378904],[0.990984,0.020978,-0.132329],[0.130342,-0.379592,0.915926]] 2025-10-28T20:59:53.630Z,1761685193.630 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T20:59:53.630Z,1761685193.630 [marl:UpdateRudder:B] Stopped 2025-10-28T20:59:53.631Z,1761685193.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T20:59:53.631Z,1761685193.631 [marl:UpdateRudder] Stopped 2025-10-28T20:59:53.631Z,1761685193.631 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T20:59:54.038Z,1761685194.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013696,-0.925192,-0.379251],[0.991827,0.035547,-0.122536],[0.126851,-0.377830,0.917144]] 2025-10-28T20:59:54.494Z,1761685194.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004017,-0.925538,-0.378633],[0.992469,0.050048,-0.111808],[0.122432,-0.375332,0.918769]] 2025-10-28T20:59:54.890Z,1761685194.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021571,-0.925659,-0.377743],[0.992825,0.064282,-0.100828],[0.117614,-0.372857,0.920404]] 2025-10-28T20:59:55.294Z,1761685195.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039367,-0.925464,-0.376784],[0.992887,0.078634,-0.089403],[0.112367,-0.370584,0.921977]] 2025-10-28T20:59:55.700Z,1761685195.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056397,-0.924879,-0.376057],[0.992644,0.092357,-0.078278],[0.107130,-0.368876,0.923284]] 2025-10-28T20:59:56.104Z,1761685196.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073065,-0.924190,-0.374880],[0.992110,0.105751,-0.067342],[0.101881,-0.367001,0.924624]] 2025-10-28T20:59:56.506Z,1761685196.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089597,-0.923270,-0.373557],[0.991283,0.119042,-0.056462],[0.096599,-0.365242,0.925887]] 2025-10-28T20:59:56.911Z,1761685196.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106756,-0.921829,-0.372604],[0.990103,0.132895,-0.045107],[0.091098,-0.364101,0.926894]] 2025-10-28T20:59:57.315Z,1761685197.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123729,-0.920003,-0.371867],[0.988574,0.146794,-0.034246],[0.086094,-0.363381,0.927654]] 2025-10-28T20:59:57.722Z,1761685197.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139735,-0.917817,-0.371600],[0.986851,0.159873,-0.023778],[0.081232,-0.363392,0.928088]] 2025-10-28T20:59:58.135Z,1761685198.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155181,-0.915518,-0.371141],[0.984918,0.172483,-0.013661],[0.076523,-0.363424,0.928476]] 2025-10-28T20:59:58.526Z,1761685198.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171786,-0.912304,-0.371741],[0.982506,0.186206,-0.002948],[0.071909,-0.364731,0.928332]] 2025-10-28T20:59:58.930Z,1761685198.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189023,-0.909098,-0.371229],[0.979635,0.200650,0.007444],[0.067720,-0.365076,0.928511]] 2025-10-28T20:59:59.336Z,1761685199.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206845,-0.905306,-0.370994],[0.976291,0.215718,0.017927],[0.063801,-0.365906,0.928462]] 2025-10-28T20:59:59.778Z,1761685199.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225017,-0.901022,-0.370846],[0.972505,0.231127,0.028528],[0.060009,-0.367069,0.928256]] 2025-10-28T21:00:00.147Z,1761685200.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243874,-0.896706,-0.369382],[0.968172,0.247218,0.039065],[0.056288,-0.367152,0.928456]] 2025-10-28T21:00:00.547Z,1761685200.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263399,-0.891636,-0.368246],[0.963260,0.263848,0.050143],[0.052452,-0.367924,0.928375]] 2025-10-28T21:00:00.953Z,1761685200.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282654,-0.886329,-0.366779],[0.957974,0.280330,0.060830],[0.048904,-0.368558,0.928317]] 2025-10-28T21:00:01.354Z,1761685201.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301814,-0.880714,-0.365036],[0.952290,0.296696,0.071529],[0.045308,-0.369209,0.928241]] 2025-10-28T21:00:01.815Z,1761685201.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321123,-0.874746,-0.362904],[0.946128,0.313114,0.082468],[0.041492,-0.369836,0.928170]] 2025-10-28T21:00:02.163Z,1761685202.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340183,-0.868658,-0.360151],[0.939617,0.329215,0.093478],[0.037367,-0.370204,0.928199]] 2025-10-28T21:00:02.230Z,1761685202.230 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:00:02.245Z,1761685202.245 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:00:02.245Z,1761685202.245 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:00:02.497Z,1761685202.497 [DAT](INFO): DAT read: user:280> 2025-10-28T21:00:02.498Z,1761685202.498 [DAT](INFO): DAT read: Tx time:21:00:02.2597 2025-10-28T21:00:02.498Z,1761685202.498 [DAT](INFO): Ping request sent. 2025-10-28T21:00:02.498Z,1761685202.498 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:00:02.498Z,1761685202.498 [DAT](INFO): publishing transmit ping time 2025-10-28T21:00:02.499Z,1761685202.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000953 2025-10-28T21:00:02.568Z,1761685202.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358555,-0.862872,-0.356216],[0.932923,0.344732,0.103994],[0.033066,-0.369610,0.928599]] 2025-10-28T21:00:02.749Z,1761685202.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766 2025-10-28T21:00:02.971Z,1761685202.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376204,-0.857048,-0.352051],[0.926093,0.359580,0.114254],[0.028669,-0.369015,0.928981]] 2025-10-28T21:00:03.001Z,1761685203.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502941 2025-10-28T21:00:03.253Z,1761685203.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997 2025-10-28T21:00:03.505Z,1761685203.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772 2025-10-28T21:00:03.761Z,1761685203.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261718 2025-10-28T21:00:03.826Z,1761685203.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408599,-0.845358,-0.344118],[0.912499,0.386536,0.133923],[0.019801,-0.368728,0.929326]] 2025-10-28T21:00:04.009Z,1761685204.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510776 2025-10-28T21:00:04.183Z,1761685204.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423720,-0.839496,-0.340158],[0.905667,0.398912,0.143652],[0.015097,-0.368938,0.929331]] 2025-10-28T21:00:04.261Z,1761685204.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860 2025-10-28T21:00:04.513Z,1761685204.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014797 2025-10-28T21:00:04.586Z,1761685204.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437414,-0.833947,-0.336454],[0.899197,0.410039,0.152684],[0.010629,-0.369324,0.929240]] 2025-10-28T21:00:04.770Z,1761685204.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272015 2025-10-28T21:00:04.991Z,1761685204.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450257,-0.828404,-0.333191],[0.892877,0.420380,0.161407],[0.006356,-0.370173,0.928941]] 2025-10-28T21:00:05.021Z,1761685205.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522905 2025-10-28T21:00:05.273Z,1761685205.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775239 2025-10-28T21:00:05.397Z,1761685205.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462076,-0.823165,-0.329977],[0.886837,0.429912,0.169399],[0.002418,-0.370911,0.928665]] 2025-10-28T21:00:05.525Z,1761685205.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026852 2025-10-28T21:00:05.781Z,1761685205.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282035 2025-10-28T21:00:05.849Z,1761685205.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473164,-0.818026,-0.327031],[0.880974,0.438929,0.176709],[-0.001010,-0.371718,0.928345]] 2025-10-28T21:00:06.029Z,1761685206.029 [DAT](INFO): DAT read: Rx Time:21:00:05.1923 2025-10-28T21:00:06.029Z,1761685206.029 [DAT](INFO): Rx dataTimestamp_ set to:1761685206.029043 2025-10-28T21:00:06.030Z,1761685206.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531802 2025-10-28T21:00:06.202Z,1761685206.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483501,-0.813591,-0.322950],[0.875336,0.447815,0.182342],[-0.003730,-0.370852,0.928684]] 2025-10-28T21:00:06.246Z,1761685206.246 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateRudder:A] Stopped 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:00:06.247Z,1761685206.247 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:00:06.248Z,1761685206.248 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateCommandMode] Stopped 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:00:06.252Z,1761685206.252 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:00:06.253Z,1761685206.253 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:00:06.253Z,1761685206.253 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:00:06.253Z,1761685206.253 [marl:UpdateSpeed] Stopped 2025-10-28T21:00:06.253Z,1761685206.253 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:00:06.281Z,1761685206.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783112 2025-10-28T21:00:06.543Z,1761685206.543 [DAT](INFO): DAT read: 21:00:05.1923 LVL= 32752, 30593, 23202, 32755, AGC= 71, IDX= 80, 0.38, 1.602, 2.603,-2.640, 2.569, PHS=-0.865, 0.079, 1.030, RAW= 239.9, -3.0, CAL= 236.8, -4.5, ROT= 273.2, 4.5 2025-10-28T21:00:06.544Z,1761685206.544 [DAT](INFO): got valid direction response: 21:00:05.1923 LVL= 32752, 30593, 23202, 32755, AGC= 71, IDX= 80, 0.38, 1.602, 2.603,-2.640, 2.569, PHS=-0.865, 0.079, 1.030, RAW= 239.9, -3.0, CAL= 236.8, -4.5, ROT= 273.2, 4.5 2025-10-28T21:00:06.545Z,1761685206.545 [DAT](INFO): DAT read: Bearing 326, -12 (Remote) 2025-10-28T21:00:06.545Z,1761685206.545 [DAT](INFO): Remote Bearing received:Bearing 326, -12 (Remote) 2025-10-28T21:00:06.546Z,1761685206.546 [DAT](INFO): DAT read: Bearing 129.7, -62.8 (Local) 2025-10-28T21:00:06.546Z,1761685206.546 [DAT](INFO): Local bearing/azimuth received: Bearing 129.7, -62.8 (Local) 2025-10-28T21:00:06.548Z,1761685206.548 [DAT](INFO): DAT read: Range 11 to 20 : 677.6 m (Round-trip 903.5 ms) speed -0.1 m/s 2025-10-28T21:00:06.548Z,1761685206.548 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:00:06.549Z,1761685206.549 [DAT](INFO): direction in FSK: [0.055649,-0.995363,-0.078459] 2025-10-28T21:00:06.550Z,1761685206.550 [DAT](INFO): publishing direction and range info 2025-10-28T21:00:06.646Z,1761685206.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493676,-0.808847,-0.319453],[0.869624,0.456549,0.187928],[-0.006159,-0.370580,0.928780]] 2025-10-28T21:00:06.706Z,1761685206.706 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T21:00:06.706Z,1761685206.706 [marl:UpdateRudder:B] Stopped 2025-10-28T21:00:06.706Z,1761685206.706 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:00:06.706Z,1761685206.706 [marl:UpdateRudder] Stopped 2025-10-28T21:00:06.707Z,1761685206.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:00:06.732Z,1761685206.732 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685248.00. Resetting abort timer. 2025-10-28T21:00:07.013Z,1761685207.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504212,-0.803730,-0.315895],[0.863543,0.465839,0.193101],[-0.008045,-0.370153,0.928936]] 2025-10-28T21:00:07.415Z,1761685207.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514955,-0.798338,-0.312214],[0.857169,0.475715,0.197373],[-0.009046,-0.369259,0.929283]] 2025-10-28T21:00:07.823Z,1761685207.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526931,-0.792274,-0.307645],[0.849852,0.487034,0.201366],[-0.009703,-0.367560,0.929949]] 2025-10-28T21:00:08.223Z,1761685208.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540188,-0.785097,-0.303016],[0.841482,0.499541,0.205831],[-0.010228,-0.366170,0.930492]] 2025-10-28T21:00:08.630Z,1761685208.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554701,-0.776746,-0.298284],[0.831980,0.513146,0.210928],[-0.010775,-0.365168,0.930879]] 2025-10-28T21:00:09.031Z,1761685209.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570083,-0.767505,-0.293159],[0.821504,0.527418,0.216708],[-0.011707,-0.364373,0.931180]] 2025-10-28T21:00:09.435Z,1761685209.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586075,-0.757883,-0.286582],[0.810150,0.542391,0.222415],[-0.013125,-0.362526,0.931881]] 2025-10-28T21:00:09.838Z,1761685209.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602018,-0.747661,-0.280315],[0.798339,0.556955,0.229033],[-0.015116,-0.361669,0.932184]] 2025-10-28T21:00:10.245Z,1761685210.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618100,-0.736698,-0.274278],[0.785902,0.571295,0.236601],[-0.017610,-0.361799,0.932090]] 2025-10-28T21:00:10.649Z,1761685210.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633736,-0.725033,-0.269641],[0.773274,0.584470,0.245851],[-0.020653,-0.364311,0.931048]] 2025-10-28T21:00:11.050Z,1761685211.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648176,-0.714055,-0.264564],[0.761107,0.596469,0.254835],[-0.024162,-0.366539,0.930089]] 2025-10-28T21:00:11.455Z,1761685211.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661466,-0.704211,-0.257972],[0.749447,0.607757,0.262604],[-0.028145,-0.367040,0.929779]] 2025-10-28T21:00:11.874Z,1761685211.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673506,-0.694960,-0.251835],[0.738488,0.617866,0.269957],[-0.032009,-0.367795,0.929356]] 2025-10-28T21:00:12.270Z,1761685212.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684566,-0.685551,-0.247770],[0.728085,0.626473,0.278252],[-0.035534,-0.370879,0.928001]] 2025-10-28T21:00:12.688Z,1761685212.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694740,-0.677144,-0.242510],[0.718197,0.634762,0.285080],[-0.039104,-0.372226,0.927318]] 2025-10-28T21:00:13.493Z,1761685213.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714092,-0.660933,-0.230737],[0.698538,0.651071,0.296901],[-0.046006,-0.373194,0.926612]] 2025-10-28T21:00:13.899Z,1761685213.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724274,-0.652254,-0.223588],[0.687763,0.660318,0.301598],[-0.049079,-0.372216,0.926848]] 2025-10-28T21:00:14.300Z,1761685214.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734447,-0.643287,-0.216263],[0.676686,0.669804,0.305709],[-0.051805,-0.370870,0.927239]] 2025-10-28T21:00:15.118Z,1761685215.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757696,-0.621026,-0.200560],[0.650114,0.691430,0.315081],[-0.057000,-0.369122,0.927631]] 2025-10-28T21:00:15.511Z,1761685215.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770138,-0.608407,-0.191647],[0.635072,0.703175,0.319732],[-0.059766,-0.367947,0.927924]] 2025-10-28T21:00:15.688Z,1761685215.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:00:16.319Z,1761685216.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796131,-0.579746,-0.173407],[0.601486,0.726780,0.331670],[-0.066256,-0.368355,0.927321]] 2025-10-28T21:00:16.692Z,1761685216.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:00:16.738Z,1761685216.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808666,-0.565242,-0.162973],[0.584058,0.738368,0.337177],[-0.070253,-0.367849,0.927228]] 2025-10-28T21:00:17.147Z,1761685217.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831292,-0.537130,-0.142988],[0.550169,0.758483,0.349312],[-0.079171,-0.369048,0.926032]] 2025-10-28T21:00:17.944Z,1761685217.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849252,-0.513018,-0.124833],[0.520592,0.774183,0.360035],[-0.088061,-0.370747,0.924549]] 2025-10-28T21:00:18.353Z,1761685218.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856415,-0.502861,-0.116975],[0.508012,0.780369,0.364621],[-0.092070,-0.371691,0.923779]] 2025-10-28T21:00:18.747Z,1761685218.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862478,-0.493936,-0.110271],[0.496984,0.785445,0.368894],[-0.095598,-0.372966,0.922907]] 2025-10-28T21:00:19.179Z,1761685219.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868068,-0.485311,-0.104556],[0.486522,0.789735,0.373651],[-0.098765,-0.375223,0.921658]] 2025-10-28T21:00:19.203Z,1761685219.203 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:00:19.203Z,1761685219.203 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:00:19.203Z,1761685219.203 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:00:19.203Z,1761685219.203 [marl:UpdateRudder:A] Stopped 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:00:19.204Z,1761685219.204 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateCommandMode] Stopped 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:00:19.205Z,1761685219.205 [marl:UpdateSpeed] Stopped 2025-10-28T21:00:19.206Z,1761685219.206 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:00:19.590Z,1761685219.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873306,-0.477009,-0.098994],[0.476515,0.794106,0.377265],[-0.101347,-0.376640,0.920799]] 2025-10-28T21:00:19.615Z,1761685219.615 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:00:19.615Z,1761685219.615 [marl:UpdateRudder:B] Stopped 2025-10-28T21:00:19.615Z,1761685219.615 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:00:19.615Z,1761685219.615 [marl:UpdateRudder] Stopped 2025-10-28T21:00:19.615Z,1761685219.615 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:00:19.982Z,1761685219.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878301,-0.468839,-0.093688],[0.466839,0.798681,0.379697],[-0.103190,-0.377226,0.920355]] 2025-10-28T21:00:20.397Z,1761685220.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883334,-0.460279,-0.088679],[0.456958,0.803418,0.381719],[-0.104451,-0.377708,0.920015]] 2025-10-28T21:00:20.790Z,1761685220.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888654,-0.450655,-0.084872],[0.446387,0.807697,0.385180],[-0.105033,-0.380177,0.918930]] 2025-10-28T21:00:21.197Z,1761685221.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895465,-0.437213,-0.083584],[0.432778,0.811199,0.393268],[-0.104139,-0.388331,0.915617]] 2025-10-28T21:00:21.611Z,1761685221.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904552,-0.418253,-0.082764],[0.414137,0.815750,0.403786],[-0.101370,-0.399521,0.911102]] 2025-10-28T21:00:22.019Z,1761685222.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915176,-0.395139,-0.079485],[0.390907,0.822113,0.413911],[-0.098206,-0.409873,0.906841]] 2025-10-28T21:00:22.406Z,1761685222.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926126,-0.370036,-0.073239],[0.365045,0.830272,0.421179],[-0.095043,-0.416800,0.904016]] 2025-10-28T21:00:22.819Z,1761685222.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937051,-0.343092,-0.064982],[0.336945,0.839540,0.426193],[-0.091668,-0.421260,0.902295]] 2025-10-28T21:00:23.213Z,1761685223.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947471,-0.315172,-0.054453],[0.307264,0.849653,0.428578],[-0.088809,-0.422797,0.901862]] 2025-10-28T21:00:23.615Z,1761685223.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956795,-0.287445,-0.043812],[0.277777,0.859088,0.429892],[-0.085932,-0.423488,0.901817]] 2025-10-28T21:00:24.019Z,1761685224.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965292,-0.259161,-0.032361],[0.247500,0.868141,0.430202],[-0.083398,-0.423280,0.902152]] 2025-10-28T21:00:24.425Z,1761685224.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972982,-0.229967,-0.020513],[0.216271,0.876714,0.429649],[-0.080821,-0.422478,0.902763]] 2025-10-28T21:00:24.836Z,1761685224.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979634,-0.200615,-0.008415],[0.184778,0.884314,0.428773],[-0.078576,-0.421596,0.903373]] 2025-10-28T21:00:25.231Z,1761685225.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985187,-0.171442,0.003878],[0.153322,0.890741,0.427870],[-0.076809,-0.420937,0.903832]] 2025-10-28T21:00:25.659Z,1761685225.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989632,-0.142687,0.016395],[0.122253,0.896771,0.425272],[-0.075384,-0.418858,0.904917]] 2025-10-28T21:00:26.039Z,1761685226.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992940,-0.115242,0.028090],[0.092608,0.901151,0.423499],[-0.074119,-0.417907,0.905461]] 2025-10-28T21:00:26.444Z,1761685226.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995290,-0.088682,0.039155],[0.063960,0.904247,0.422193],[-0.072847,-0.417700,0.905660]] 2025-10-28T21:00:26.847Z,1761685226.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996711,-0.064003,0.049709],[0.037237,0.906510,0.420538],[-0.071977,-0.417304,0.905912]] 2025-10-28T21:00:27.251Z,1761685227.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997391,-0.040680,0.059639],[0.011935,0.907666,0.419524],[-0.071199,-0.417718,0.905783]] 2025-10-28T21:00:27.655Z,1761685227.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997461,-0.018176,0.068852],[-0.012477,0.907313,0.420270],[-0.070110,-0.420062,0.904783]] 2025-10-28T21:00:28.071Z,1761685228.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996955,0.004146,0.077873],[-0.036708,0.905991,0.421701],[-0.068804,-0.423276,0.903385]] 2025-10-28T21:00:28.464Z,1761685228.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995874,0.025876,0.086984],[-0.060684,0.902555,0.426276],[-0.067477,-0.429796,0.900401]] 2025-10-28T21:00:28.867Z,1761685228.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994221,0.047289,0.096378],[-0.084528,0.898271,0.431235],[-0.066181,-0.436890,0.897077]] 2025-10-28T21:00:29.271Z,1761685229.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991941,0.069070,0.106217],[-0.108940,0.892997,0.436678],[-0.064690,-0.444730,0.893325]] 2025-10-28T21:00:29.677Z,1761685229.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988768,0.093362,0.116709],[-0.135705,0.888017,0.439330],[-0.062623,-0.450233,0.890712]] 2025-10-28T21:00:30.083Z,1761685230.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984444,0.120469,0.127894],[-0.165050,0.883639,0.438111],[-0.060233,-0.452405,0.889776]] 2025-10-28T21:00:30.483Z,1761685230.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978825,0.149641,0.139674],[-0.196249,0.880036,0.432463],[-0.058204,-0.450716,0.890768]] 2025-10-28T21:00:30.906Z,1761685230.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972091,0.179846,0.150649],[-0.227709,0.877839,0.421363],[-0.056465,-0.443907,0.894292]] 2025-10-28T21:00:31.311Z,1761685231.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964488,0.210110,0.160053],[-0.258417,0.875974,0.407297],[-0.054625,-0.434194,0.899162]] 2025-10-28T21:00:31.695Z,1761685231.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955980,0.240315,0.168379],[-0.288595,0.873791,0.391411],[-0.053066,-0.422775,0.904680]] 2025-10-28T21:00:32.099Z,1761685232.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946887,0.269297,0.175739],[-0.317409,0.870317,0.376563],[-0.051541,-0.412344,0.909569]] 2025-10-28T21:00:32.154Z,1761685232.154 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:00:32.154Z,1761685232.154 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:00:32.154Z,1761685232.154 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateRudder:A] Stopped 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:00:32.155Z,1761685232.155 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateCommandMode] Stopped 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:00:32.156Z,1761685232.156 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:00:32.157Z,1761685232.157 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:00:32.157Z,1761685232.157 [marl:UpdateSpeed] Stopped 2025-10-28T21:00:32.157Z,1761685232.157 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:00:32.503Z,1761685232.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937768,0.295680,0.182112],[-0.343563,0.866317,0.362574],[-0.050561,-0.402577,0.913989]] 2025-10-28T21:00:32.529Z,1761685232.529 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:00:32.529Z,1761685232.529 [marl:UpdateRudder:B] Stopped 2025-10-28T21:00:32.529Z,1761685232.529 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:00:32.529Z,1761685232.529 [marl:UpdateRudder] Stopped 2025-10-28T21:00:32.529Z,1761685232.529 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:00:32.907Z,1761685232.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928230,0.319765,0.190104],[-0.368649,0.859180,0.354834],[-0.049870,-0.399449,0.915398]] 2025-10-28T21:00:33.312Z,1761685233.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918256,0.341864,0.199838],[-0.392888,0.849559,0.351978],[-0.049446,-0.401720,0.914427]] 2025-10-28T21:00:33.716Z,1761685233.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907909,0.362935,0.209714],[-0.416295,0.839199,0.349918],[-0.048994,-0.404997,0.913005]] 2025-10-28T21:00:34.123Z,1761685234.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897162,0.383236,0.219615],[-0.439038,0.828241,0.348229],[-0.048440,-0.408837,0.911321]] 2025-10-28T21:00:34.555Z,1761685234.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885792,0.403136,0.229899],[-0.461576,0.816726,0.346275],[-0.048169,-0.412844,0.909527]] 2025-10-28T21:00:34.927Z,1761685234.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873461,0.423571,0.240109],[-0.484567,0.804387,0.343740],[-0.047543,-0.416592,0.907849]] 2025-10-28T21:00:35.342Z,1761685235.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859839,0.445091,0.250140],[-0.508410,0.791381,0.339465],[-0.046863,-0.419059,0.906749]] 2025-10-28T21:00:35.805Z,1761685235.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844800,0.467673,0.259990],[-0.533103,0.777394,0.333856],[-0.045979,-0.420643,0.906060]] 2025-10-28T21:00:36.158Z,1761685236.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828540,0.490730,0.269639],[-0.558123,0.762460,0.327344],[-0.044951,-0.421709,0.905616]] 2025-10-28T21:00:36.558Z,1761685236.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810759,0.514819,0.278622],[-0.583722,0.746807,0.318667],[-0.044021,-0.421000,0.905992]] 2025-10-28T21:00:36.951Z,1761685236.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792350,0.538794,0.286152],[-0.608528,0.731310,0.308025],[-0.043304,-0.418195,0.907324]] 2025-10-28T21:00:37.354Z,1761685237.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773622,0.563030,0.290698],[-0.632231,0.716521,0.294756],[-0.042334,-0.411818,0.910282]] 2025-10-28T21:00:37.817Z,1761685237.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755721,0.584438,0.295498],[-0.653560,0.701831,0.283360],[-0.041784,-0.407266,0.912353]] 2025-10-28T21:00:38.159Z,1761685238.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738501,0.604516,0.298626],[-0.673003,0.687838,0.271928],[-0.041021,-0.401795,0.914810]] 2025-10-28T21:00:38.566Z,1761685238.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721722,0.622294,0.303096],[-0.690988,0.673451,0.262678],[-0.040657,-0.399016,0.916042]] 2025-10-28T21:00:38.967Z,1761685238.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705045,0.638877,0.307811],[-0.708020,0.658771,0.254417],[-0.040236,-0.397312,0.916801]] 2025-10-28T21:00:39.373Z,1761685239.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688200,0.653614,0.314912],[-0.724416,0.642992,0.248561],[-0.040023,-0.399187,0.915995]] 2025-10-28T21:00:39.815Z,1761685239.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670361,0.667542,0.324044],[-0.740970,0.625583,0.244148],[-0.039738,-0.403775,0.913995]] 2025-10-28T21:00:40.179Z,1761685240.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651060,0.681452,0.334281],[-0.758005,0.606576,0.239780],[-0.039369,-0.409498,0.911461]] 2025-10-28T21:00:40.583Z,1761685240.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630427,0.695292,0.345154],[-0.775256,0.586435,0.234675],[-0.039243,-0.415528,0.908733]] 2025-10-28T21:00:40.990Z,1761685240.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608423,0.710133,0.354306],[-0.792648,0.565770,0.227186],[-0.039123,-0.419065,0.907113]] 2025-10-28T21:00:41.391Z,1761685241.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584864,0.726254,0.361234],[-0.810214,0.544248,0.217596],[-0.038570,-0.419941,0.906731]] 2025-10-28T21:00:41.822Z,1761685241.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560112,0.742861,0.366649],[-0.827560,0.521873,0.206865],[-0.037672,-0.419292,0.907070]] 2025-10-28T21:00:42.199Z,1761685242.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534543,0.760170,0.369330],[-0.844349,0.499270,0.194434],[-0.036593,-0.415777,0.908730]] 2025-10-28T21:00:42.605Z,1761685242.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508452,0.776526,0.372134],[-0.860352,0.476018,0.182212],[-0.035650,-0.412813,0.910118]] 2025-10-28T21:00:43.007Z,1761685243.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482416,0.792401,0.373331],[-0.875239,0.453130,0.169203],[-0.035091,-0.408380,0.912137]] 2025-10-28T21:00:43.411Z,1761685243.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456623,0.807453,0.373517],[-0.888979,0.430546,0.156036],[-0.034825,-0.403298,0.914406]] 2025-10-28T21:00:43.824Z,1761685243.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430731,0.821128,0.374459],[-0.901813,0.407573,0.143589],[-0.034715,-0.399540,0.916058]] 2025-10-28T21:00:44.227Z,1761685244.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405112,0.833329,0.376094],[-0.913603,0.384663,0.131776],[-0.034856,-0.396985,0.917163]] 2025-10-28T21:00:44.636Z,1761685244.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379718,0.844505,0.377658],[-0.924434,0.361901,0.120206],[-0.035160,-0.394765,0.918109]] 2025-10-28T21:00:45.051Z,1761685245.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355443,0.853355,0.381373],[-0.934019,0.339829,0.110115],[-0.035634,-0.395349,0.917839]] 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateRudder:A] Stopped 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:00:45.115Z,1761685245.115 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:00:45.116Z,1761685245.116 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:00:45.116Z,1761685245.116 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:00:45.120Z,1761685245.120 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:00:45.120Z,1761685245.120 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:00:45.120Z,1761685245.120 [marl:UpdateCommandMode] Stopped 2025-10-28T21:00:45.120Z,1761685245.120 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed] Stopped 2025-10-28T21:00:45.121Z,1761685245.121 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:00:45.443Z,1761685245.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331124,0.860970,0.386119],[-0.942899,0.317538,0.100554],[-0.036033,-0.397367,0.916952]] 2025-10-28T21:00:45.487Z,1761685245.487 [marl:UpdateRudder:B](INFO): Updating rudder angle -13.750987 arcdeg 2025-10-28T21:00:45.487Z,1761685245.487 [marl:UpdateRudder:B] Stopped 2025-10-28T21:00:45.492Z,1761685245.492 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:00:45.492Z,1761685245.492 [marl:UpdateRudder] Stopped 2025-10-28T21:00:45.492Z,1761685245.492 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:00:45.843Z,1761685245.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307072,0.868383,0.389382],[-0.950986,0.295682,0.090545],[-0.036506,-0.398100,0.916615]] 2025-10-28T21:00:46.247Z,1761685246.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282731,0.874243,0.394667],[-0.958498,0.273234,0.081398],[-0.036675,-0.401301,0.915212]] 2025-10-28T21:00:46.651Z,1761685246.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258537,0.878815,0.401052],[-0.965299,0.250865,0.072562],[-0.036842,-0.405895,0.913177]] 2025-10-28T21:00:46.816Z,1761685246.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:00:47.055Z,1761685247.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235613,0.882198,0.407694],[-0.971118,0.229968,0.063602],[-0.037647,-0.410904,0.910901]] 2025-10-28T21:00:47.460Z,1761685247.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214712,0.885024,0.413074],[-0.975891,0.211375,0.054381],[-0.039185,-0.414792,0.909072]] 2025-10-28T21:00:47.820Z,1761685247.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:00:47.870Z,1761685247.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196356,0.887674,0.416508],[-0.979648,0.195643,0.044879],[-0.041649,-0.416843,0.908024]] 2025-10-28T21:00:48.268Z,1761685248.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182615,0.893269,0.410757],[-0.982114,0.185220,0.033834],[-0.045858,-0.409589,0.911117]] 2025-10-28T21:00:48.684Z,1761685248.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174668,0.903450,0.391495],[-0.983248,0.181081,0.020803],[-0.052098,-0.388571,0.919945]] 2025-10-28T21:00:49.481Z,1761685249.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178448,0.930717,0.319252],[-0.981377,0.191799,-0.010607],[-0.071105,-0.311414,0.947610]] 2025-10-28T21:00:50.295Z,1761685250.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207638,0.953925,0.216597],[-0.973515,0.223171,-0.049630],[-0.095681,-0.200555,0.974999]] 2025-10-28T21:00:50.696Z,1761685250.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230679,0.960911,0.153089],[-0.966951,0.243942,-0.074152],[-0.108599,-0.130924,0.985426]] 2025-10-28T21:00:51.104Z,1761685251.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256600,0.962555,0.087430],[-0.958960,0.264841,-0.101271],[-0.120634,-0.057856,0.991010]] 2025-10-28T21:00:51.914Z,1761685251.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310971,0.950323,-0.013547],[-0.939895,0.305381,-0.152778],[-0.141051,0.060242,0.988168]] 2025-10-28T21:00:52.311Z,1761685252.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337578,0.940297,-0.043397],[-0.929491,0.325710,-0.173089],[-0.148620,0.098768,0.983950]] 2025-10-28T21:00:52.718Z,1761685252.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362801,0.929932,-0.060013],[-0.918973,0.346362,-0.188472],[-0.154480,0.123528,0.980243]] 2025-10-28T21:00:53.119Z,1761685253.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387210,0.919501,-0.067720],[-0.908236,0.367762,-0.199647],[-0.158671,0.138811,0.977525]] 2025-10-28T21:00:53.529Z,1761685253.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410557,0.909227,-0.068915],[-0.897477,0.389577,-0.206797],[-0.161178,0.146752,0.975954]] 2025-10-28T21:00:53.934Z,1761685253.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433669,0.898657,-0.065935],[-0.886258,0.412181,-0.211315],[-0.162723,0.150076,0.975191]] 2025-10-28T21:00:54.333Z,1761685254.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457515,0.887137,-0.060566],[-0.873981,0.436090,-0.214436],[-0.163822,0.151041,0.974858]] 2025-10-28T21:00:54.737Z,1761685254.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482955,0.873950,-0.054463],[-0.860006,0.461708,-0.217290],[-0.164755,0.151779,0.974587]] 2025-10-28T21:00:55.139Z,1761685255.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509837,0.858929,-0.048042],[-0.844301,0.488881,-0.219432],[-0.164990,0.152437,0.974444]] 2025-10-28T21:00:55.543Z,1761685255.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537873,0.841973,-0.042123],[-0.826769,0.517077,-0.221551],[-0.164759,0.153993,0.974239]] 2025-10-28T21:00:55.961Z,1761685255.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566385,0.823324,-0.036692],[-0.807688,0.545675,-0.223336],[-0.163856,0.156130,0.974051]] 2025-10-28T21:00:56.351Z,1761685256.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594826,0.803216,-0.032040],[-0.787234,0.574000,-0.225360],[-0.162621,0.159273,0.973749]] 2025-10-28T21:00:57.159Z,1761685257.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649440,0.760151,-0.019974],[-0.743271,0.629035,-0.227734],[-0.160548,0.162745,0.973518]] 2025-10-28T21:00:57.565Z,1761685257.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675607,0.737145,-0.013149],[-0.719769,0.655610,-0.228273],[-0.159649,0.163687,0.973508]] 2025-10-28T21:00:57.994Z,1761685257.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722139,0.691748,0.000606],[-0.673939,0.703746,-0.224829],[-0.155951,0.161949,0.974398]] 2025-10-28T21:00:58.050Z,1761685258.050 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:00:58.050Z,1761685258.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateRudder:A] Stopped 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:00:58.051Z,1761685258.051 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:00:58.052Z,1761685258.052 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:00:58.052Z,1761685258.052 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateCommandMode] Stopped 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:00:58.053Z,1761685258.053 [marl:UpdateSpeed] Stopped 2025-10-28T21:00:58.054Z,1761685258.054 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:00:58.411Z,1761685258.411 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:00:58.412Z,1761685258.412 [marl:UpdateRudder:B] Stopped 2025-10-28T21:00:58.412Z,1761685258.412 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:00:58.412Z,1761685258.412 [marl:UpdateRudder] Stopped 2025-10-28T21:00:58.412Z,1761685258.412 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:00:59.185Z,1761685259.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777918,0.627981,0.021991],[-0.610806,0.763930,-0.208152],[-0.147515,0.148493,0.977849]] 2025-10-28T21:00:59.588Z,1761685259.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793821,0.607524,0.027615],[-0.590653,0.781000,-0.202897],[-0.144832,0.144752,0.978811]] 2025-10-28T21:01:00.059Z,1761685260.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808812,0.587114,0.033487],[-0.570543,0.797233,-0.197231],[-0.142494,0.140416,0.979785]] 2025-10-28T21:01:00.406Z,1761685260.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823086,0.566634,0.038154],[-0.550418,0.812472,-0.192170],[-0.139889,0.137172,0.980620]] 2025-10-28T21:01:00.810Z,1761685260.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836442,0.546502,0.041229],[-0.530843,0.826582,-0.186997],[-0.136274,0.134526,0.981495]] 2025-10-28T21:01:01.216Z,1761685261.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848679,0.526794,0.047240],[-0.512037,0.840704,-0.176165],[-0.132518,0.125319,0.983226]] 2025-10-28T21:01:01.618Z,1761685261.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859231,0.508310,0.057819],[-0.494961,0.854559,-0.157296],[-0.129365,0.106536,0.985857]] 2025-10-28T21:01:02.026Z,1761685262.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868423,0.491123,0.068108],[-0.479598,0.866895,-0.135934],[-0.125803,0.085383,0.988374]] 2025-10-28T21:01:02.427Z,1761685262.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877351,0.473722,0.076432],[-0.463917,0.878096,-0.117170],[-0.122621,0.067341,0.990166]] 2025-10-28T21:01:02.451Z,1761685262.451 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:01:02.549Z,1761685262.549 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:01:02.549Z,1761685262.549 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:01:02.801Z,1761685262.801 [DAT](INFO): DAT read: user:281> 2025-10-28T21:01:02.802Z,1761685262.802 [DAT](INFO): DAT read: Tx time:21:01:02.5595 2025-10-28T21:01:02.802Z,1761685262.802 [DAT](INFO): Ping request sent. 2025-10-28T21:01:02.802Z,1761685262.802 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:01:02.802Z,1761685262.802 [DAT](INFO): publishing transmit ping time 2025-10-28T21:01:02.803Z,1761685262.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T21:01:02.863Z,1761685262.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886274,0.455652,0.083063],[-0.447499,0.888665,-0.100101],[-0.119427,0.051546,0.991504]] 2025-10-28T21:01:03.053Z,1761685263.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250831 2025-10-28T21:01:03.244Z,1761685263.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894914,0.437719,0.086781],[-0.430853,0.898188,-0.087319],[-0.116167,0.040753,0.992393]] 2025-10-28T21:01:03.305Z,1761685263.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502922 2025-10-28T21:01:03.557Z,1761685263.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795 2025-10-28T21:01:03.647Z,1761685263.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903580,0.419125,0.088753],[-0.413202,0.907303,-0.077881],[-0.113167,0.033699,0.993004]] 2025-10-28T21:01:03.811Z,1761685263.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009190 2025-10-28T21:01:04.050Z,1761685264.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911941,0.400428,0.089562],[-0.395283,0.915886,-0.070026],[-0.110069,0.028458,0.993517]] 2025-10-28T21:01:04.061Z,1761685264.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258723 2025-10-28T21:01:04.087Z,1761685264.087 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -113, +744A 2025-10-28T21:01:04.314Z,1761685264.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511460 2025-10-28T21:01:04.455Z,1761685264.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919743,0.381876,0.090796],[-0.377535,0.923942,-0.061631],[-0.107426,0.022406,0.993961]] 2025-10-28T21:01:04.565Z,1761685264.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855 2025-10-28T21:01:04.817Z,1761685264.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014823 2025-10-28T21:01:04.865Z,1761685264.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926866,0.364165,0.091120],[-0.360602,0.931184,-0.053495],[-0.104330,0.016724,0.994402]] 2025-10-28T21:01:05.069Z,1761685265.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266859 2025-10-28T21:01:05.262Z,1761685265.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933247,0.347691,0.090341],[-0.344747,0.937525,-0.046871],[-0.100994,0.012598,0.994807]] 2025-10-28T21:01:05.322Z,1761685265.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519518 2025-10-28T21:01:05.573Z,1761685265.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770798 2025-10-28T21:01:05.695Z,1761685265.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939085,0.331823,0.089515],[-0.329437,0.943301,-0.040669],[-0.097934,0.008702,0.995155]] 2025-10-28T21:01:05.825Z,1761685265.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885 2025-10-28T21:01:06.070Z,1761685266.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944303,0.317123,0.087887],[-0.315122,0.948362,-0.036152],[-0.094813,0.006443,0.995474]] 2025-10-28T21:01:06.077Z,1761685266.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274754 2025-10-28T21:01:06.329Z,1761685266.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526809 2025-10-28T21:01:06.483Z,1761685266.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949144,0.302816,0.086189],[-0.301141,0.953038,-0.032128],[-0.091870,0.004540,0.995761]] 2025-10-28T21:01:06.581Z,1761685266.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778856 2025-10-28T21:01:06.833Z,1761685266.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030881 2025-10-28T21:01:06.878Z,1761685266.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953673,0.288884,0.083988],[-0.287395,0.957355,-0.029579],[-0.088951,0.004071,0.996028]] 2025-10-28T21:01:07.085Z,1761685267.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282797 2025-10-28T21:01:07.282Z,1761685267.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958010,0.274880,0.081597],[-0.273506,0.961469,-0.027792],[-0.086092,0.004307,0.996278]] 2025-10-28T21:01:07.337Z,1761685267.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534919 2025-10-28T21:01:07.590Z,1761685267.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788110 2025-10-28T21:01:07.686Z,1761685267.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962266,0.260362,0.079094],[-0.259020,0.965496,-0.026960],[-0.083384,0.005456,0.996503]] 2025-10-28T21:01:07.841Z,1761685267.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038808 2025-10-28T21:01:08.090Z,1761685268.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966626,0.244692,0.075890],[-0.243171,0.969555,-0.028813],[-0.080630,0.009397,0.996700]] 2025-10-28T21:01:08.093Z,1761685268.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290703 2025-10-28T21:01:08.345Z,1761685268.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542872 2025-10-28T21:01:08.501Z,1761685268.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971048,0.227477,0.072945],[-0.225790,0.973692,-0.030702],[-0.078010,0.013342,0.996863]] 2025-10-28T21:01:08.598Z,1761685268.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795596 2025-10-28T21:01:08.849Z,1761685268.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046860 2025-10-28T21:01:08.899Z,1761685268.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975359,0.209150,0.070220],[-0.207347,0.977740,-0.032132],[-0.075378,0.016781,0.997014]] 2025-10-28T21:01:09.102Z,1761685269.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299657 2025-10-28T21:01:09.303Z,1761685269.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979404,0.190289,0.067507],[-0.188397,0.981524,-0.033422],[-0.072620,0.020016,0.997159]] 2025-10-28T21:01:09.353Z,1761685269.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551014 2025-10-28T21:01:09.605Z,1761685269.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802709 2025-10-28T21:01:09.709Z,1761685269.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983151,0.170940,0.064757],[-0.168941,0.984997,-0.035223],[-0.069806,0.023689,0.997279]] 2025-10-28T21:01:09.857Z,1761685269.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054876 2025-10-28T21:01:10.109Z,1761685270.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306793 2025-10-28T21:01:10.112Z,1761685270.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986540,0.151358,0.061882],[-0.149370,0.988140,-0.035602],[-0.066537,0.025880,0.997448]] 2025-10-28T21:01:10.362Z,1761685270.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560375 2025-10-28T21:01:10.514Z,1761685270.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989538,0.132124,0.057948],[-0.130264,0.990868,-0.034800],[-0.062016,0.026887,0.997713]] 2025-10-28T21:01:10.614Z,1761685270.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811245 2025-10-28T21:01:10.865Z,1761685270.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062790 2025-10-28T21:01:10.922Z,1761685270.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992118,0.113216,0.053700],[-0.111525,0.993196,-0.033515],[-0.057130,0.027262,0.997994]] 2025-10-28T21:01:10.945Z,1761685270.945 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:01:10.945Z,1761685270.945 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateRudder:A] Stopped 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:01:10.946Z,1761685270.946 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateCommandMode] Stopped 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:01:10.947Z,1761685270.947 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:01:10.948Z,1761685270.948 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:01:10.948Z,1761685270.948 [marl:UpdateSpeed] Stopped 2025-10-28T21:01:10.948Z,1761685270.948 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:01:11.117Z,1761685271.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314851 2025-10-28T21:01:11.322Z,1761685271.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994221,0.095367,0.049292],[-0.093906,0.995094,-0.031151],[-0.052021,0.026342,0.998298]] 2025-10-28T21:01:11.354Z,1761685271.354 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:01:11.354Z,1761685271.354 [marl:UpdateRudder:B] Stopped 2025-10-28T21:01:11.354Z,1761685271.354 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:01:11.354Z,1761685271.354 [marl:UpdateRudder] Stopped 2025-10-28T21:01:11.354Z,1761685271.354 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:01:11.369Z,1761685271.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566872 2025-10-28T21:01:11.621Z,1761685271.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818813 2025-10-28T21:01:11.729Z,1761685271.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995949,0.077985,0.044774],[-0.076757,0.996642,-0.028532],[-0.046849,0.024980,0.998590]] 2025-10-28T21:01:11.873Z,1761685271.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070936 2025-10-28T21:01:12.125Z,1761685272.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322988 2025-10-28T21:01:12.133Z,1761685272.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997331,0.060989,0.040140],[-0.059989,0.997869,-0.025658],[-0.041620,0.023181,0.998865]] 2025-10-28T21:01:12.377Z,1761685272.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574801 2025-10-28T21:01:12.535Z,1761685272.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998372,0.044812,0.035299],[-0.044000,0.998756,-0.023459],[-0.036306,0.021868,0.999101]] 2025-10-28T21:01:12.629Z,1761685272.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826841 2025-10-28T21:01:12.886Z,1761685272.886 [DAT](INFO): Reached modem response timeout 2025-10-28T21:01:12.938Z,1761685272.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999132,0.028900,0.030004],[-0.028276,0.999379,-0.021033],[-0.030593,0.020166,0.999328]] 2025-10-28T21:01:13.342Z,1761685273.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999625,0.012065,0.024568],[-0.011576,0.999734,-0.019924],[-0.024802,0.019632,0.999500]] 2025-10-28T21:01:13.762Z,1761685273.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999812,-0.004690,0.018823],[0.005083,0.999769,-0.020902],[-0.018721,0.020994,0.999604]] 2025-10-28T21:01:14.159Z,1761685274.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999665,-0.022266,0.013165],[0.022570,0.999470,-0.023459],[-0.012635,0.023749,0.999638]] 2025-10-28T21:01:14.560Z,1761685274.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999114,-0.041357,0.007826],[0.041553,0.998773,-0.026935],[-0.006703,0.027236,0.999607]] 2025-10-28T21:01:14.975Z,1761685274.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998108,-0.061420,0.002901],[0.061481,0.997622,-0.031161],[-0.000980,0.031280,0.999510]] 2025-10-28T21:01:15.150Z,1761685275.150 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:01:15.150Z,1761685275.150 [DAT](INFO): response not received 2025-10-28T21:01:15.150Z,1761685275.150 [DAT](ERROR): No response from remote modem. 2025-10-28T21:01:15.367Z,1761685275.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996619,-0.082133,-0.002240],[0.082012,0.996069,-0.033467],[0.004980,0.033170,0.999437]] 2025-10-28T21:01:15.811Z,1761685275.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994731,-0.102255,-0.007300],[0.101957,0.994225,-0.033495],[0.010683,0.032574,0.999412]] 2025-10-28T21:01:16.177Z,1761685276.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992488,-0.121740,-0.012100],[0.121275,0.992046,-0.033721],[0.016109,0.032000,0.999358]] 2025-10-28T21:01:16.578Z,1761685276.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989965,-0.140324,-0.016686],[0.139711,0.989625,-0.033508],[0.021215,0.030840,0.999299]] 2025-10-28T21:01:16.987Z,1761685276.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987468,-0.156384,-0.021239],[0.155664,0.987287,-0.032135],[0.025994,0.028426,0.999258]] 2025-10-28T21:01:17.386Z,1761685277.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984742,-0.172071,-0.025966],[0.171281,0.984762,-0.030117],[0.030752,0.025210,0.999209]] 2025-10-28T21:01:17.815Z,1761685277.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981974,-0.186622,-0.029998],[0.185771,0.982164,-0.029047],[0.034884,0.022951,0.999128]] 2025-10-28T21:01:17.941Z,1761685277.941 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:01:18.195Z,1761685278.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978986,-0.201103,-0.033827],[0.200159,0.979325,-0.029310],[0.039022,0.021923,0.998998]] 2025-10-28T21:01:18.599Z,1761685278.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975868,-0.215178,-0.037149],[0.214060,0.976301,-0.031870],[0.043126,0.023148,0.998801]] 2025-10-28T21:01:18.945Z,1761685278.945 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:01:19.006Z,1761685279.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972493,-0.229446,-0.040159],[0.228062,0.972972,-0.036241],[0.047389,0.026085,0.998536]] 2025-10-28T21:01:19.407Z,1761685279.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968390,-0.245695,-0.043076],[0.244014,0.968914,-0.040768],[0.051753,0.028968,0.998240]] 2025-10-28T21:01:19.819Z,1761685279.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963718,-0.262907,-0.046121],[0.260948,0.964330,-0.044414],[0.056152,0.030767,0.997948]] 2025-10-28T21:01:20.214Z,1761685280.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958820,-0.279718,-0.049222],[0.277435,0.959522,-0.048451],[0.060782,0.032800,0.997612]] 2025-10-28T21:01:20.619Z,1761685280.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953219,-0.297841,-0.051614],[0.295200,0.953961,-0.053061],[0.065042,0.035342,0.997256]] 2025-10-28T21:01:21.024Z,1761685281.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947188,-0.316019,-0.054467],[0.313096,0.948072,-0.055950],[0.069320,0.035942,0.996947]] 2025-10-28T21:01:21.426Z,1761685281.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941240,-0.332779,-0.057670],[0.329613,0.942334,-0.057983],[0.073640,0.035567,0.996650]] 2025-10-28T21:01:21.831Z,1761685281.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934941,-0.349399,-0.061689],[0.346097,0.936389,-0.058239],[0.078114,0.033099,0.996395]] 2025-10-28T21:01:22.235Z,1761685282.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928418,-0.365886,-0.064551],[0.362407,0.930111,-0.059624],[0.081855,0.031963,0.996132]] 2025-10-28T21:01:22.640Z,1761685282.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921642,-0.382109,-0.067591],[0.378553,0.923645,-0.059806],[0.085283,0.029533,0.995919]] 2025-10-28T21:01:23.046Z,1761685283.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914571,-0.398217,-0.070590],[0.394571,0.916885,-0.060289],[0.088731,0.027286,0.995682]] 2025-10-28T21:01:23.454Z,1761685283.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907446,-0.413642,-0.073771],[0.409971,0.910115,-0.060126],[0.092010,0.024317,0.995461]] 2025-10-28T21:01:23.850Z,1761685283.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900279,-0.428578,-0.076280],[0.424859,0.903235,-0.060510],[0.094832,0.022068,0.995249]] 2025-10-28T21:01:23.920Z,1761685283.920 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateRudder:A] Stopped 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:01:23.921Z,1761685283.921 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateCommandMode] Stopped 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:01:23.922Z,1761685283.922 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:01:23.923Z,1761685283.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:01:23.923Z,1761685283.923 [marl:UpdateSpeed] Stopped 2025-10-28T21:01:23.923Z,1761685283.923 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:01:24.255Z,1761685284.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892705,-0.443668,-0.078974],[0.439901,0.895975,-0.060954],[0.097802,0.019673,0.995011]] 2025-10-28T21:01:24.285Z,1761685284.285 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:01:24.285Z,1761685284.285 [marl:UpdateRudder:B] Stopped 2025-10-28T21:01:24.285Z,1761685284.285 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:01:24.285Z,1761685284.285 [marl:UpdateRudder] Stopped 2025-10-28T21:01:24.285Z,1761685284.285 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:01:25.068Z,1761685285.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877605,-0.472156,-0.082933],[0.468194,0.881356,-0.063286],[0.102974,0.016711,0.994544]] 2025-10-28T21:01:25.473Z,1761685285.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869823,-0.486169,-0.083952],[0.482022,0.873709,-0.065476],[0.105182,0.016485,0.994316]] 2025-10-28T21:01:25.870Z,1761685285.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862082,-0.499683,-0.084451],[0.495315,0.866045,-0.068038],[0.107136,0.016824,0.994102]] 2025-10-28T21:01:26.274Z,1761685286.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853724,-0.513769,-0.084835],[0.509155,0.857754,-0.070839],[0.109162,0.017283,0.993874]] 2025-10-28T21:01:26.679Z,1761685286.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844692,-0.528564,-0.084357],[0.523606,0.848683,-0.074653],[0.111051,0.018889,0.993635]] 2025-10-28T21:01:27.087Z,1761685287.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835586,-0.542588,-0.085986],[0.537674,0.839844,-0.074622],[0.112704,0.016121,0.993498]] 2025-10-28T21:01:27.487Z,1761685287.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828439,-0.552481,-0.091946],[0.548372,0.833507,-0.067481],[0.113919,0.005483,0.993475]] 2025-10-28T21:01:27.891Z,1761685287.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823662,-0.557648,-0.103001],[0.555257,0.829971,-0.053271],[0.115195,-0.013315,0.993254]] 2025-10-28T21:01:28.295Z,1761685288.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820508,-0.559024,-0.119406],[0.559559,0.828166,-0.032178],[0.116877,-0.040412,0.992324]] 2025-10-28T21:01:28.700Z,1761685288.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818591,-0.557343,-0.138840],[0.561920,0.827158,-0.007405],[0.118970,-0.071955,0.990287]] 2025-10-28T21:01:29.103Z,1761685289.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817632,-0.553406,-0.158808],[0.562904,0.826312,0.018650],[0.120904,-0.104643,0.987133]] 2025-10-28T21:01:29.506Z,1761685289.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817158,-0.548465,-0.177308],[0.563133,0.825272,0.042503],[0.123016,-0.134580,0.983237]] 2025-10-28T21:01:29.910Z,1761685289.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816865,-0.543406,-0.193496],[0.563077,0.823999,0.063010],[0.125201,-0.160424,0.979076]] 2025-10-28T21:01:30.318Z,1761685290.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817610,-0.537472,-0.206490],[0.561554,0.823582,0.079810],[0.127166,-0.181209,0.975188]] 2025-10-28T21:01:30.719Z,1761685290.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818760,-0.531708,-0.216605],[0.559443,0.823656,0.092819],[0.129056,-0.197175,0.971837]] 2025-10-28T21:01:31.550Z,1761685291.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822029,-0.521960,-0.227652],[0.554007,0.825511,0.107736],[0.131696,-0.214683,0.967764]] 2025-10-28T21:01:31.959Z,1761685291.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824040,-0.517742,-0.230004],[0.550893,0.827018,0.112065],[0.132196,-0.219054,0.966716]] 2025-10-28T21:01:32.405Z,1761685292.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825936,-0.514852,-0.229688],[0.548106,0.828682,0.113425],[0.131941,-0.219575,0.966633]] 2025-10-28T21:01:32.847Z,1761685292.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828065,-0.513295,-0.225469],[0.545498,0.830495,0.112738],[0.129383,-0.216347,0.967706]] 2025-10-28T21:01:33.257Z,1761685293.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827570,-0.515376,-0.222521],[0.546707,0.829924,0.111070],[0.127432,-0.213572,0.968580]] 2025-10-28T21:01:33.650Z,1761685293.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826167,-0.518748,-0.219884],[0.549356,0.828329,0.109905],[0.125123,-0.211595,0.969315]] 2025-10-28T21:01:34.056Z,1761685294.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823961,-0.523176,-0.217657],[0.553205,0.825872,0.109083],[0.122687,-0.210289,0.969911]] 2025-10-28T21:01:34.461Z,1761685294.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821161,-0.528821,-0.214576],[0.557868,0.823075,0.106445],[0.120322,-0.207113,0.970890]] 2025-10-28T21:01:34.864Z,1761685294.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817800,-0.535211,-0.211548],[0.563231,0.819834,0.103171],[0.118215,-0.203523,0.971907]] 2025-10-28T21:01:35.271Z,1761685295.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814055,-0.541577,-0.209784],[0.568907,0.816254,0.100376],[0.116876,-0.201059,0.972582]] 2025-10-28T21:01:35.672Z,1761685295.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810383,-0.547498,-0.208627],[0.574235,0.812891,0.097274],[0.116334,-0.198631,0.973146]] 2025-10-28T21:01:36.075Z,1761685296.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807518,-0.551641,-0.208822],[0.578253,0.810216,0.095778],[0.116356,-0.198095,0.973252]] 2025-10-28T21:01:36.885Z,1761685296.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805730,-0.555622,-0.205141],[0.580884,0.808935,0.090541],[0.115639,-0.192115,0.974536]] 2025-10-28T21:01:36.909Z,1761685296.909 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:01:36.909Z,1761685296.909 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:01:36.910Z,1761685296.910 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:01:36.910Z,1761685296.910 [marl:UpdateRudder:A] Stopped 2025-10-28T21:01:36.910Z,1761685296.910 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:01:36.911Z,1761685296.911 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:01:36.911Z,1761685296.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:01:36.911Z,1761685296.911 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:01:36.912Z,1761685296.912 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:01:36.912Z,1761685296.912 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:01:36.912Z,1761685296.912 [marl:UpdateCommandMode] Stopped 2025-10-28T21:01:36.913Z,1761685296.913 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:01:36.913Z,1761685296.913 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:01:36.913Z,1761685296.913 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:01:36.913Z,1761685296.913 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:01:36.914Z,1761685296.914 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:01:36.914Z,1761685296.914 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:01:36.914Z,1761685296.914 [marl:UpdateSpeed] Stopped 2025-10-28T21:01:36.914Z,1761685296.914 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:01:37.297Z,1761685297.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806722,-0.555115,-0.202601],[0.579634,0.810058,0.088488],[0.114997,-0.188820,0.975255]] 2025-10-28T21:01:37.321Z,1761685297.321 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:01:37.321Z,1761685297.321 [marl:UpdateRudder:B] Stopped 2025-10-28T21:01:37.321Z,1761685297.321 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:01:37.322Z,1761685297.322 [marl:UpdateRudder] Stopped 2025-10-28T21:01:37.322Z,1761685297.322 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:01:37.691Z,1761685297.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808494,-0.553100,-0.201039],[0.577323,0.811693,0.088613],[0.114170,-0.187708,0.975567]] 2025-10-28T21:01:38.096Z,1761685298.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810721,-0.550583,-0.198973],[0.574401,0.813762,0.088632],[0.113117,-0.186146,0.975989]] 2025-10-28T21:01:38.501Z,1761685298.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813161,-0.547650,-0.197102],[0.571190,0.815933,0.089413],[0.111855,-0.185290,0.976297]] 2025-10-28T21:01:38.903Z,1761685298.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815677,-0.544414,-0.195665],[0.567973,0.817879,0.092087],[0.109897,-0.186245,0.976338]] 2025-10-28T21:01:39.307Z,1761685299.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817391,-0.542411,-0.194070],[0.565872,0.819119,0.093985],[0.107988,-0.186641,0.976475]] 2025-10-28T21:01:39.710Z,1761685299.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818604,-0.540823,-0.193383],[0.564411,0.819850,0.096364],[0.106429,-0.188032,0.976379]] 2025-10-28T21:01:40.131Z,1761685300.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819337,-0.539656,-0.193538],[0.563669,0.819922,0.100024],[0.104708,-0.191045,0.975981]] 2025-10-28T21:01:40.519Z,1761685300.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819296,-0.539451,-0.194284],[0.564058,0.819131,0.104226],[0.102920,-0.194979,0.975392]] 2025-10-28T21:01:40.931Z,1761685300.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818400,-0.540711,-0.194558],[0.565678,0.817635,0.107147],[0.101142,-0.197747,0.975021]] 2025-10-28T21:01:41.327Z,1761685301.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816670,-0.543209,-0.194869],[0.568454,0.815428,0.109262],[0.099550,-0.200005,0.974724]] 2025-10-28T21:01:41.735Z,1761685301.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814193,-0.546728,-0.195391],[0.572272,0.812487,0.111219],[0.097946,-0.202370,0.974399]] 2025-10-28T21:01:42.139Z,1761685302.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811221,-0.550915,-0.195992],[0.576721,0.809131,0.112689],[0.096501,-0.204448,0.974109]] 2025-10-28T21:01:42.541Z,1761685302.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807840,-0.555891,-0.195906],[0.581646,0.805628,0.112479],[0.095302,-0.204813,0.974151]] 2025-10-28T21:01:42.943Z,1761685302.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804092,-0.560918,-0.196995],[0.586955,0.801670,0.113176],[0.094442,-0.206631,0.973850]] 2025-10-28T21:01:43.346Z,1761685303.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800195,-0.566564,-0.196705],[0.592323,0.798004,0.111097],[0.094028,-0.205412,0.974148]] 2025-10-28T21:01:43.778Z,1761685303.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796492,-0.572139,-0.195596],[0.597294,0.794802,0.107376],[0.094026,-0.202353,0.974788]] 2025-10-28T21:01:44.220Z,1761685304.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793223,-0.577111,-0.194270],[0.601573,0.792135,0.103112],[0.094381,-0.198658,0.975514]] 2025-10-28T21:01:44.624Z,1761685304.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790431,-0.581381,-0.192909],[0.605168,0.789916,0.099018],[0.094815,-0.195010,0.976208]] 2025-10-28T21:01:45.027Z,1761685305.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788467,-0.584357,-0.191955],[0.607717,0.788258,0.096591],[0.094867,-0.192813,0.976639]] 2025-10-28T21:01:45.434Z,1761685305.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787403,-0.586120,-0.190946],[0.609134,0.787349,0.095071],[0.094618,-0.191171,0.976986]] 2025-10-28T21:01:45.835Z,1761685305.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786393,-0.587889,-0.189663],[0.610497,0.786487,0.093448],[0.094231,-0.189275,0.977392]] 2025-10-28T21:01:46.258Z,1761685306.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785922,-0.589157,-0.187674],[0.611300,0.785964,0.092595],[0.092952,-0.187498,0.977857]] 2025-10-28T21:01:46.661Z,1761685306.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785710,-0.590130,-0.185491],[0.611849,0.785544,0.092526],[0.091109,-0.186191,0.978280]] 2025-10-28T21:01:47.063Z,1761685307.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786410,-0.589551,-0.184361],[0.611315,0.785621,0.095359],[0.088619,-0.187694,0.978222]] 2025-10-28T21:01:47.467Z,1761685307.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786979,-0.589283,-0.182780],[0.610962,0.785596,0.097800],[0.085959,-0.188638,0.978277]] 2025-10-28T21:01:47.874Z,1761685307.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788144,-0.588182,-0.181303],[0.609851,0.786060,0.100957],[0.083134,-0.190137,0.978231]] 2025-10-28T21:01:48.275Z,1761685308.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789703,-0.586257,-0.180755],[0.608201,0.786745,0.105465],[0.080378,-0.193222,0.977857]] 2025-10-28T21:01:48.683Z,1761685308.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791450,-0.584246,-0.179620],[0.606302,0.787655,0.109531],[0.077486,-0.195592,0.977619]] 2025-10-28T21:01:49.064Z,1761685309.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:01:49.083Z,1761685309.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793623,-0.581797,-0.177974],[0.603834,0.789011,0.113344],[0.074480,-0.197419,0.977486]] 2025-10-28T21:01:49.487Z,1761685309.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795537,-0.579943,-0.175463],[0.601693,0.790243,0.116113],[0.071319,-0.197946,0.977615]] 2025-10-28T21:01:49.903Z,1761685309.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797081,-0.578679,-0.172609],[0.600016,0.791202,0.118237],[0.068147,-0.197812,0.977868]] 2025-10-28T21:01:49.969Z,1761685309.969 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:01:49.969Z,1761685309.969 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:01:49.969Z,1761685309.969 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateRudder:A] Stopped 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:01:49.970Z,1761685309.970 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateCommandMode] Stopped 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:01:49.971Z,1761685309.971 [marl:UpdateSpeed] Stopped 2025-10-28T21:01:49.972Z,1761685309.972 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:01:50.068Z,1761685310.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:01:50.295Z,1761685310.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798080,-0.577875,-0.170671],[0.599049,0.791440,0.121498],[0.064865,-0.199206,0.977809]] 2025-10-28T21:01:50.324Z,1761685310.324 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:01:50.324Z,1761685310.324 [marl:UpdateRudder:B] Stopped 2025-10-28T21:01:50.324Z,1761685310.324 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:01:50.324Z,1761685310.324 [marl:UpdateRudder] Stopped 2025-10-28T21:01:50.324Z,1761685310.324 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:01:50.725Z,1761685310.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798255,-0.578503,-0.167701],[0.599169,0.791121,0.122978],[0.061529,-0.198649,0.978137]] 2025-10-28T21:01:51.103Z,1761685311.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797594,-0.580123,-0.165229],[0.600382,0.789934,0.124686],[0.058187,-0.198649,0.978342]] 2025-10-28T21:01:51.508Z,1761685311.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796230,-0.582580,-0.163150],[0.602529,0.787925,0.127015],[0.054553,-0.199436,0.978391]] 2025-10-28T21:01:51.922Z,1761685311.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794120,-0.585795,-0.161922],[0.605620,0.785064,0.129992],[0.050970,-0.201293,0.978204]] 2025-10-28T21:01:52.315Z,1761685312.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791041,-0.590331,-0.160509],[0.609925,0.781358,0.132180],[0.047385,-0.202458,0.978144]] 2025-10-28T21:01:52.718Z,1761685312.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787129,-0.595997,-0.158791],[0.615214,0.777038,0.133130],[0.044041,-0.202481,0.978295]] 2025-10-28T21:01:53.122Z,1761685313.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782445,-0.602347,-0.157984],[0.621371,0.771895,0.134445],[0.040965,-0.203363,0.978246]] 2025-10-28T21:01:53.529Z,1761685313.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777285,-0.609487,-0.156057],[0.627991,0.766646,0.133719],[0.038141,-0.201940,0.978655]] 2025-10-28T21:01:53.931Z,1761685313.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772002,-0.616512,-0.154676],[0.634624,0.761240,0.133293],[0.035569,-0.201064,0.978932]] 2025-10-28T21:01:54.334Z,1761685314.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767103,-0.622916,-0.153395],[0.640638,0.756387,0.132144],[0.033711,-0.199639,0.979290]] 2025-10-28T21:01:54.739Z,1761685314.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762879,-0.628425,-0.151981],[0.645736,0.752306,0.130613],[0.032255,-0.197782,0.979715]] 2025-10-28T21:01:55.144Z,1761685315.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759963,-0.632416,-0.150024],[0.649220,0.749653,0.128583],[0.031148,-0.195116,0.980285]] 2025-10-28T21:01:55.546Z,1761685315.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758782,-0.634430,-0.147474],[0.650640,0.748802,0.126343],[0.030273,-0.191819,0.980963]] 2025-10-28T21:01:55.951Z,1761685315.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759254,-0.634125,-0.146352],[0.650133,0.749188,0.126662],[0.029325,-0.191317,0.981090]] 2025-10-28T21:01:56.357Z,1761685316.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760988,-0.632355,-0.144998],[0.648156,0.750731,0.127660],[0.028128,-0.191129,0.981162]] 2025-10-28T21:01:56.766Z,1761685316.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763761,-0.629464,-0.142984],[0.644958,0.753234,0.129104],[0.026434,-0.190823,0.981268]] 2025-10-28T21:01:57.163Z,1761685317.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766962,-0.626149,-0.140381],[0.641228,0.756163,0.130555],[0.024404,-0.190147,0.981452]] 2025-10-28T21:01:57.566Z,1761685317.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770142,-0.622865,-0.137549],[0.637502,0.758936,0.132692],[0.021741,-0.189879,0.981567]] 2025-10-28T21:01:57.976Z,1761685317.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772797,-0.620225,-0.134559],[0.634374,0.761182,0.134802],[0.018816,-0.189535,0.981694]] 2025-10-28T21:01:58.399Z,1761685318.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774651,-0.618536,-0.131638],[0.632199,0.762554,0.137244],[0.015491,-0.189538,0.981751]] 2025-10-28T21:01:58.784Z,1761685318.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775445,-0.617852,-0.130169],[0.631293,0.762689,0.140623],[0.012395,-0.191220,0.981469]] 2025-10-28T21:01:59.182Z,1761685319.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775121,-0.618753,-0.127798],[0.631741,0.762068,0.141972],[0.009545,-0.190781,0.981586]] 2025-10-28T21:01:59.589Z,1761685319.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773774,-0.620791,-0.126070],[0.633426,0.760383,0.143491],[0.006784,-0.190885,0.981589]] 2025-10-28T21:01:59.990Z,1761685319.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771621,-0.623645,-0.125171],[0.636069,0.757800,0.145451],[0.004145,-0.191851,0.981415]] 2025-10-28T21:02:00.399Z,1761685320.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768958,-0.626963,-0.124983],[0.639296,0.754748,0.147157],[0.002068,-0.193059,0.981185]] 2025-10-28T21:02:00.801Z,1761685320.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765761,-0.630856,-0.125024],[0.643125,0.751255,0.148344],[0.000341,-0.194002,0.981001]] 2025-10-28T21:02:01.212Z,1761685321.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762332,-0.634883,-0.125594],[0.647186,0.747535,0.149471],[-0.001010,-0.195229,0.980757]] 2025-10-28T21:02:01.235Z,1761685321.235 [marl:NeedComms] Running Loop=1 2025-10-28T21:02:01.235Z,1761685321.235 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T21:02:01.235Z,1761685321.235 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T21:02:01.235Z,1761685321.235 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T21:02:01.236Z,1761685321.236 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T21:02:01.236Z,1761685321.236 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T21:02:01.237Z,1761685321.237 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T21:02:01.237Z,1761685321.237 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T21:02:01.237Z,1761685321.237 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T21:02:01.238Z,1761685321.238 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T21:02:01.238Z,1761685321.238 [marl:NeedComms:A] Running Loop=1 2025-10-28T21:02:01.239Z,1761685321.239 [marl:NeedComms:A](INFO): last time_fix was: 1761684091.000000 second since 1970/01/01T00:00:00Z 2025-10-28T21:02:01.240Z,1761685321.240 [marl:NeedComms:A] Stopped 2025-10-28T21:02:01.606Z,1761685321.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759053,-0.638709,-0.126054],[0.651026,0.744042,0.150225],[-0.002160,-0.196093,0.980583]] 2025-10-28T21:02:02.011Z,1761685322.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755997,-0.642282,-0.126261],[0.654567,0.740829,0.150711],[-0.003261,-0.196584,0.980482]] 2025-10-28T21:02:02.415Z,1761685322.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752824,-0.646081,-0.125844],[0.658207,0.737631,0.150541],[-0.004436,-0.196163,0.980561]] 2025-10-28T21:02:02.936Z,1761685322.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747679,-0.652208,-0.124906],[0.664025,0.732346,0.150798],[-0.006877,-0.195689,0.980642]] 2025-10-28T21:02:02.966Z,1761685322.966 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:02:02.966Z,1761685322.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:02:02.966Z,1761685322.966 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateRudder:A] Stopped 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:02:02.967Z,1761685322.967 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateCommandMode] Stopped 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:02:02.968Z,1761685322.968 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:02:02.969Z,1761685322.969 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:02:02.969Z,1761685322.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:02:02.969Z,1761685322.969 [marl:UpdateSpeed] Stopped 2025-10-28T21:02:02.969Z,1761685322.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:02:02.971Z,1761685322.971 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:02:03.034Z,1761685323.034 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:02:03.034Z,1761685323.034 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:02:03.285Z,1761685323.285 [DAT](INFO): DAT read: user:282> 2025-10-28T21:02:03.286Z,1761685323.286 [DAT](INFO): DAT read: Tx time:21:02:03.0092 2025-10-28T21:02:03.286Z,1761685323.286 [DAT](INFO): Ping request sent. 2025-10-28T21:02:03.286Z,1761685323.286 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:02:03.286Z,1761685323.286 [DAT](INFO): publishing transmit ping time 2025-10-28T21:02:03.287Z,1761685323.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T21:02:03.410Z,1761685323.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745389,-0.655149,-0.123184],[0.666572,0.730063,0.150633],[-0.008755,-0.194391,0.980885]] 2025-10-28T21:02:03.433Z,1761685323.433 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:02:03.433Z,1761685323.433 [marl:UpdateRudder:B] Stopped 2025-10-28T21:02:03.433Z,1761685323.433 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:02:03.433Z,1761685323.433 [marl:UpdateRudder] Stopped 2025-10-28T21:02:03.433Z,1761685323.433 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:02:03.538Z,1761685323.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251527 2025-10-28T21:02:03.792Z,1761685323.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505096 2025-10-28T21:02:03.829Z,1761685323.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743719,-0.657872,-0.118686],[0.668344,0.728003,0.152734],[-0.014076,-0.192914,0.981115]] 2025-10-28T21:02:04.044Z,1761685324.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757748 2025-10-28T21:02:04.238Z,1761685324.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742816,-0.660635,-0.108562],[0.669047,0.726556,0.156501],[-0.024514,-0.188884,0.981693]] 2025-10-28T21:02:04.293Z,1761685324.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875 2025-10-28T21:02:04.545Z,1761685324.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258793 2025-10-28T21:02:04.627Z,1761685324.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742966,-0.662398,-0.096074],[0.668177,0.725591,0.164487],[-0.039245,-0.186403,0.981689]] 2025-10-28T21:02:04.797Z,1761685324.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868 2025-10-28T21:02:05.031Z,1761685325.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743056,-0.664468,-0.079692],[0.666765,0.724841,0.173292],[-0.057383,-0.181901,0.981641]] 2025-10-28T21:02:05.049Z,1761685325.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762987 2025-10-28T21:02:05.301Z,1761685325.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886 2025-10-28T21:02:05.437Z,1761685325.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740254,-0.670152,-0.054037],[0.667842,0.723669,0.174042],[-0.077529,-0.164923,0.983255]] 2025-10-28T21:02:05.553Z,1761685325.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266994 2025-10-28T21:02:05.808Z,1761685325.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521782 2025-10-28T21:02:05.839Z,1761685325.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734448,-0.678317,-0.021735],[0.671332,0.721445,0.169796],[-0.099495,-0.139298,0.985240]] 2025-10-28T21:02:06.057Z,1761685326.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770882 2025-10-28T21:02:06.243Z,1761685326.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726209,-0.687343,0.013429],[0.676480,0.717938,0.164135],[-0.122458,-0.110112,0.986347]] 2025-10-28T21:02:06.309Z,1761685326.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022916 2025-10-28T21:02:06.562Z,1761685326.562 [DAT](INFO): DAT read: Rx Time:21:02:05.9240 2025-10-28T21:02:06.562Z,1761685326.562 [DAT](INFO): Rx dataTimestamp_ set to:1761685326.561867 2025-10-28T21:02:06.563Z,1761685326.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276679 2025-10-28T21:02:06.647Z,1761685326.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716770,-0.695658,0.047956],[0.681907,0.713653,0.160317],[-0.145750,-0.082209,0.985900]] 2025-10-28T21:02:06.816Z,1761685326.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529880 2025-10-28T21:02:07.068Z,1761685327.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781528 2025-10-28T21:02:07.115Z,1761685327.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706516,-0.703301,0.078755],[0.687232,0.708392,0.160911],[-0.168958,-0.059563,0.983822]] 2025-10-28T21:02:07.323Z,1761685327.323 [DAT](INFO): DAT read: 21:02:05.9240 LVL= 28816, 32753, 21282, 31395, AGC= 67, IDX= 217, 0.30,-0.136, 0.009, 2.098, 1.201, PHS=-1.236,-1.148, 0.852, RAW= 212.1, 14.8, CAL= 214.3, 17.8, ROT= 295.7, -17.8 2025-10-28T21:02:07.324Z,1761685327.324 [DAT](INFO): got valid direction response: 21:02:05.9240 LVL= 28816, 32753, 21282, 31395, AGC= 67, IDX= 217, 0.30,-0.136, 0.009, 2.098, 1.201, PHS=-1.236,-1.148, 0.852, RAW= 212.1, 14.8, CAL= 214.3, 17.8, ROT= 295.7, -17.8 2025-10-28T21:02:07.325Z,1761685327.325 [DAT](INFO): DAT read: Bearing 322, -11 (Remote) 2025-10-28T21:02:07.325Z,1761685327.325 [DAT](INFO): Remote Bearing received:Bearing 322, -11 (Remote) 2025-10-28T21:02:07.326Z,1761685327.326 [DAT](INFO): DAT read: Bearing 227.9, -68.7 (Local) 2025-10-28T21:02:07.326Z,1761685327.326 [DAT](INFO): Local bearing/azimuth received: Bearing 227.9, -68.7 (Local) 2025-10-28T21:02:07.328Z,1761685327.328 [DAT](INFO): DAT read: Range 11 to 20 : 664.2 m (Round-trip 885.6 ms) speed 0.1 m/s 2025-10-28T21:02:07.328Z,1761685327.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:02:07.329Z,1761685327.329 [DAT](INFO): direction in FSK: [0.412900,-0.857942,0.305695] 2025-10-28T21:02:07.330Z,1761685327.330 [DAT](INFO): publishing direction and range info 2025-10-28T21:02:07.455Z,1761685327.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695921,-0.710371,0.105200],[0.691931,0.702509,0.166470],[-0.192159,-0.043059,0.980419]] 2025-10-28T21:02:07.510Z,1761685327.510 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685376.00. Resetting abort timer. 2025-10-28T21:02:07.874Z,1761685327.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684506,-0.717651,0.128173],[0.696741,0.695747,0.174609],[-0.214485,-0.030218,0.976260]] 2025-10-28T21:02:08.263Z,1761685328.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671874,-0.725688,0.148196],[0.702182,0.687741,0.184263],[-0.235638,-0.019741,0.971640]] 2025-10-28T21:02:08.667Z,1761685328.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658318,-0.733971,0.167043],[0.708099,0.679121,0.193368],[-0.255369,-0.009014,0.966802]] 2025-10-28T21:02:09.071Z,1761685329.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643557,-0.743180,0.183079],[0.714885,0.669092,0.203115],[-0.273447,0.000164,0.961887]] 2025-10-28T21:02:09.477Z,1761685329.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628196,-0.753070,0.195590],[0.721968,0.657908,0.214289],[-0.290054,0.006594,0.956987]] 2025-10-28T21:02:09.894Z,1761685329.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611481,-0.764314,0.204731],[0.730249,0.644744,0.225924],[-0.304676,0.011357,0.952388]] 2025-10-28T21:02:10.291Z,1761685330.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594701,-0.775352,0.212507],[0.738630,0.631316,0.236358],[-0.317420,0.016402,0.948143]] 2025-10-28T21:02:10.687Z,1761685330.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576920,-0.787038,0.218483],[0.747755,0.616540,0.246456],[-0.328674,0.021186,0.944206]] 2025-10-28T21:02:11.099Z,1761685331.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559193,-0.798278,0.223732],[0.756975,0.601691,0.254866],[-0.338071,0.026840,0.940738]] 2025-10-28T21:02:11.497Z,1761685331.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540957,-0.809183,0.229322],[0.766739,0.586533,0.260941],[-0.345654,0.034672,0.937721]] 2025-10-28T21:02:11.899Z,1761685331.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522595,-0.820018,0.233377],[0.776421,0.570822,0.267083],[-0.352229,0.041623,0.934988]] 2025-10-28T21:02:12.303Z,1761685332.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504547,-0.830904,0.234587],[0.785707,0.554513,0.274188],[-0.357905,0.045976,0.932625]] 2025-10-28T21:02:12.709Z,1761685332.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487267,-0.841087,0.234827],[0.794200,0.538636,0.281278],[-0.363066,0.049442,0.930451]] 2025-10-28T21:02:13.111Z,1761685333.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470410,-0.851127,0.233019],[0.802116,0.522488,0.289164],[-0.367865,0.050882,0.928486]] 2025-10-28T21:02:13.536Z,1761685333.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455482,-0.859603,0.231558],[0.808287,0.508327,0.297113],[-0.373107,0.051836,0.926339]] 2025-10-28T21:02:13.919Z,1761685333.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441484,-0.867287,0.230012],[0.813696,0.495019,0.304721],[-0.378140,0.052630,0.924251]] 2025-10-28T21:02:14.325Z,1761685334.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429197,-0.874006,0.227822],[0.817987,0.483089,0.312285],[-0.382997,0.052324,0.922266]] 2025-10-28T21:02:14.732Z,1761685334.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417694,-0.879838,0.226753],[0.821790,0.472287,0.318757],[-0.387547,0.053200,0.920314]] 2025-10-28T21:02:15.148Z,1761685335.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406195,-0.885934,0.223887],[0.825480,0.460837,0.325902],[-0.391903,0.052435,0.918511]] 2025-10-28T21:02:15.941Z,1761685335.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381766,-0.898111,0.218290],[0.833205,0.436641,0.339285],[-0.400031,0.052353,0.915005]] 2025-10-28T21:02:15.947Z,1761685335.947 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500503575,3.7, 0.0,1502.6, 0 2025-10-28T21:02:15.967Z,1761685335.967 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:02:15.967Z,1761685335.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:02:15.967Z,1761685335.967 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:02:15.968Z,1761685335.968 [marl:UpdateRudder:A] Stopped 2025-10-28T21:02:15.968Z,1761685335.968 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:02:15.968Z,1761685335.968 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:02:15.968Z,1761685335.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:02:15.968Z,1761685335.968 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateCommandMode] Stopped 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:02:15.969Z,1761685335.969 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:02:15.970Z,1761685335.970 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:02:15.970Z,1761685335.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:02:15.970Z,1761685335.970 [marl:UpdateSpeed] Stopped 2025-10-28T21:02:15.970Z,1761685335.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:02:16.359Z,1761685336.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368220,-0.904239,0.216254],[0.837653,0.423577,0.344846],[-0.403424,0.054167,0.913408]] 2025-10-28T21:02:16.382Z,1761685336.382 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:02:16.382Z,1761685336.382 [marl:UpdateRudder:B] Stopped 2025-10-28T21:02:16.382Z,1761685336.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:02:16.382Z,1761685336.382 [marl:UpdateRudder] Stopped 2025-10-28T21:02:16.382Z,1761685336.382 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:02:16.747Z,1761685336.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353556,-0.910454,0.214642],[0.842950,0.409579,0.348827],[-0.405504,0.057603,0.912277]] 2025-10-28T21:02:17.153Z,1761685337.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337974,-0.916698,0.213164],[0.848818,0.394731,0.351704],[-0.406549,0.062070,0.911518]] 2025-10-28T21:02:17.556Z,1761685337.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321294,-0.923068,0.211461],[0.855293,0.378713,0.353623],[-0.406502,0.067244,0.911172]] 2025-10-28T21:02:17.961Z,1761685337.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303896,-0.929455,0.209189],[0.862354,0.361695,0.354291],[-0.404960,0.072728,0.911437]] 2025-10-28T21:02:18.367Z,1761685338.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286024,-0.935872,0.205753],[0.869559,0.343713,0.354583],[-0.402564,0.077495,0.912106]] 2025-10-28T21:02:19.174Z,1761685339.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249816,-0.949132,0.191680],[0.883896,0.304358,0.355097],[-0.395373,0.080716,0.914967]] 2025-10-28T21:02:19.577Z,1761685339.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232322,-0.955511,0.181730],[0.890707,0.284064,0.354892],[-0.390726,0.079419,0.917074]] 2025-10-28T21:02:19.979Z,1761685339.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215800,-0.961346,0.171009],[0.897104,0.264352,0.354009],[-0.385531,0.077018,0.919475]] 2025-10-28T21:02:20.197Z,1761685340.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:02:20.383Z,1761685340.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199894,-0.966993,0.158012],[0.903302,0.244347,0.352618],[-0.379588,0.072247,0.922330]] 2025-10-28T21:02:20.791Z,1761685340.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185563,-0.971751,0.145832],[0.908817,0.226157,0.350576],[-0.373654,0.067481,0.925110]] 2025-10-28T21:02:21.198Z,1761685341.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172087,-0.975729,0.135418],[0.913832,0.209455,0.347907],[-0.367828,0.063879,0.927697]] 2025-10-28T21:02:21.200Z,1761685341.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:02:21.595Z,1761685341.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158509,-0.979204,0.126630],[0.918530,0.193288,0.344881],[-0.362185,0.061646,0.930065]] 2025-10-28T21:02:21.999Z,1761685341.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145094,-0.982348,0.118067],[0.922844,0.177396,0.341892],[-0.356801,0.059351,0.932293]] 2025-10-28T21:02:22.403Z,1761685342.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131528,-0.985257,0.109400],[0.926985,0.161349,0.338623],[-0.351283,0.056874,0.934540]] 2025-10-28T21:02:22.809Z,1761685342.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117548,-0.987904,0.101139],[0.930850,0.145093,0.335359],[-0.345977,0.054725,0.936646]] 2025-10-28T21:02:23.215Z,1761685343.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103818,-0.990181,0.093613],[0.934344,0.129357,0.332066],[-0.340915,0.052993,0.938599]] 2025-10-28T21:02:24.034Z,1761685344.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074846,-0.994017,0.079554],[0.940679,0.096855,0.325181],[-0.330941,0.050496,0.942299]] 2025-10-28T21:02:24.432Z,1761685344.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060328,-0.995516,0.072863],[0.943417,0.080712,0.321637],[-0.326075,0.049337,0.944055]] 2025-10-28T21:02:24.837Z,1761685344.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045331,-0.996818,0.065565],[0.945971,0.063927,0.317887],[-0.321067,0.047613,0.945859]] 2025-10-28T21:02:25.233Z,1761685345.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030439,-0.997810,0.058731],[0.948187,0.047417,0.314155],[-0.316252,0.046126,0.947553]] 2025-10-28T21:02:25.653Z,1761685345.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015078,-0.998515,0.052343],[0.950112,0.030619,0.310403],[-0.311545,0.045051,0.949163]] 2025-10-28T21:02:26.056Z,1761685346.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001362,-0.999019,0.044256],[0.951920,0.012262,0.306100],[-0.306342,0.042545,0.950970]] 2025-10-28T21:02:26.063Z,1761685346.063 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050500504575,35.0, +13.,1502.6, 0 2025-10-28T21:02:26.458Z,1761685346.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018479,-0.999173,0.036211],[0.953516,-0.006716,0.301269],[-0.300777,0.040095,0.952851]] 2025-10-28T21:02:26.863Z,1761685346.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036638,-0.998888,0.029671],[0.954782,-0.026224,0.296147],[-0.295039,0.039180,0.954682]] 2025-10-28T21:02:27.267Z,1761685347.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055885,-0.998177,0.022803],[0.955763,-0.046877,0.290379],[-0.288781,0.038022,0.956640]] 2025-10-28T21:02:27.679Z,1761685347.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094883,-0.995426,0.011096],[0.956751,-0.088107,0.277244],[-0.274998,0.036922,0.960735]] 2025-10-28T21:02:28.079Z,1761685348.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114074,-0.993458,0.005383],[0.956718,-0.108392,0.270079],[-0.267728,0.035958,0.962823]] 2025-10-28T21:02:28.485Z,1761685348.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132339,-0.991205,-0.000019],[0.956353,-0.127691,0.262837],[-0.260527,0.034765,0.964840]] 2025-10-28T21:02:28.887Z,1761685348.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149639,-0.988730,-0.004569],[0.955552,-0.145801,0.256248],[-0.254026,0.033979,0.966600]] 2025-10-28T21:02:28.910Z,1761685348.910 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:02:28.910Z,1761685348.910 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:02:28.910Z,1761685348.910 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateRudder:A] Stopped 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:02:28.911Z,1761685348.911 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:02:28.912Z,1761685348.912 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:02:28.928Z,1761685348.928 [marl:UpdateCommandMode] Stopped 2025-10-28T21:02:28.928Z,1761685348.928 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:02:28.928Z,1761685348.928 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:02:28.928Z,1761685348.928 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:02:28.928Z,1761685348.928 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:02:28.929Z,1761685348.929 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:02:28.929Z,1761685348.929 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:02:28.929Z,1761685348.929 [marl:UpdateSpeed] Stopped 2025-10-28T21:02:28.929Z,1761685348.929 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:02:29.306Z,1761685349.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165311,-0.986196,-0.009492],[0.954318,-0.162382,0.250816],[-0.248895,0.032404,0.967988]] 2025-10-28T21:02:29.365Z,1761685349.365 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:02:29.365Z,1761685349.365 [marl:UpdateRudder:B] Stopped 2025-10-28T21:02:29.365Z,1761685349.365 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:02:29.365Z,1761685349.365 [marl:UpdateRudder] Stopped 2025-10-28T21:02:29.365Z,1761685349.365 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:02:29.692Z,1761685349.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179380,-0.983674,-0.014440],[0.952634,-0.177347,0.247057],[-0.245585,0.030561,0.968893]] 2025-10-28T21:02:30.095Z,1761685350.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192881,-0.981040,-0.018879],[0.950294,-0.191560,0.245450],[-0.244413,0.029402,0.969225]] 2025-10-28T21:02:30.500Z,1761685350.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205204,-0.978409,-0.024640],[0.947411,-0.204893,0.245827],[-0.245568,0.027101,0.969001]] 2025-10-28T21:02:30.904Z,1761685350.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215436,-0.976068,-0.029650],[0.944345,-0.215972,0.248132],[-0.248597,0.025456,0.968272]] 2025-10-28T21:02:31.308Z,1761685351.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226050,-0.973440,-0.036276],[0.940736,-0.227817,0.251227],[-0.252819,0.022663,0.967248]] 2025-10-28T21:02:31.710Z,1761685351.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235475,-0.970800,-0.045813],[0.937042,-0.239290,0.254346],[-0.257882,0.016964,0.966027]] 2025-10-28T21:02:32.922Z,1761685352.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237608,-0.964319,-0.116754],[0.932006,-0.260195,0.252316],[-0.273692,-0.048863,0.960575]] 2025-10-28T21:02:33.340Z,1761685353.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226563,-0.960606,-0.160951],[0.933583,-0.261284,0.245261],[-0.277654,-0.094694,0.956003]] 2025-10-28T21:02:33.740Z,1761685353.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209501,-0.953634,-0.216082],[0.936685,-0.259142,0.235514],[-0.280590,-0.153060,0.947545]] 2025-10-28T21:02:34.134Z,1761685354.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186499,-0.942417,-0.277612],[0.941009,-0.252559,0.225201],[-0.282347,-0.219235,0.933925]] 2025-10-28T21:02:34.538Z,1761685354.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156881,-0.926958,-0.340788],[0.946103,-0.240049,0.217405],[-0.283331,-0.288314,0.914658]] 2025-10-28T21:02:34.943Z,1761685354.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123216,-0.910019,-0.395833],[0.950858,-0.222434,0.215389],[-0.284055,-0.349841,0.892706]] 2025-10-28T21:02:35.360Z,1761685355.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087637,-0.893080,-0.441280],[0.954617,-0.201876,0.218981],[-0.284652,-0.402062,0.870241]] 2025-10-28T21:02:35.836Z,1761685355.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050692,-0.878399,-0.475233],[0.956917,-0.178940,0.228671],[-0.285903,-0.443166,0.849625]] 2025-10-28T21:02:35.852Z,1761685355.852 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +280, +1073, 2025-10-28T21:02:36.167Z,1761685356.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014088,-0.867140,-0.497865],[0.957628,-0.154946,0.242776],[-0.287663,-0.473349,0.832581]] 2025-10-28T21:02:36.572Z,1761685356.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021385,-0.859305,-0.511016],[0.956763,-0.130714,0.259842],[-0.290081,-0.494478,0.819356]] 2025-10-28T21:02:36.976Z,1761685356.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054436,-0.855303,-0.515261],[0.954791,-0.106446,0.277566],[-0.292250,-0.507076,0.810841]] 2025-10-28T21:02:37.379Z,1761685357.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085122,-0.853591,-0.513942],[0.952164,-0.082251,0.294310],[-0.293493,-0.514409,0.805758]] 2025-10-28T21:02:37.833Z,1761685357.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112727,-0.852034,-0.511204],[0.949478,-0.059285,0.308184],[-0.292890,-0.520118,0.802305]] 2025-10-28T21:02:38.197Z,1761685358.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139008,-0.852241,-0.504344],[0.946830,-0.034840,0.319841],[-0.290153,-0.521989,0.802084]] 2025-10-28T21:02:38.589Z,1761685358.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164282,-0.854312,-0.493115],[0.944264,-0.008371,0.329084],[-0.285268,-0.519693,0.805320]] 2025-10-28T21:02:38.990Z,1761685358.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188447,-0.858400,-0.477113],[0.941725,0.020106,0.335783],[-0.278644,-0.512586,0.812166]] 2025-10-28T21:02:39.394Z,1761685359.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212043,-0.864261,-0.456171],[0.938890,0.050646,0.340472],[-0.271153,-0.500488,0.822185]] 2025-10-28T21:02:39.836Z,1761685359.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235381,-0.870542,-0.432149],[0.935427,0.082248,0.343819],[-0.263765,-0.485172,0.833688]] 2025-10-28T21:02:40.214Z,1761685360.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259265,-0.876614,-0.405376],[0.930846,0.114896,0.346880],[-0.257504,-0.467276,0.845781]] 2025-10-28T21:02:40.619Z,1761685360.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283322,-0.881557,-0.377605],[0.925026,0.147293,0.350189],[-0.253093,-0.448511,0.857194]] 2025-10-28T21:02:41.024Z,1761685361.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307522,-0.883763,-0.352695],[0.917960,0.177936,0.354526],[-0.250559,-0.432785,0.865978]] 2025-10-28T21:02:41.427Z,1761685361.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331745,-0.882889,-0.332344],[0.909756,0.206210,0.360308],[-0.249579,-0.421882,0.871623]] 2025-10-28T21:02:41.843Z,1761685361.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355045,-0.880753,-0.313396],[0.900661,0.232436,0.367129],[-0.250506,-0.412610,0.875785]] 2025-10-28T21:02:41.949Z,1761685361.949 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:02:41.949Z,1761685361.949 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:02:41.949Z,1761685361.949 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateRudder:A] Stopped 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode] Stopped 2025-10-28T21:02:41.950Z,1761685361.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed] Stopped 2025-10-28T21:02:41.951Z,1761685361.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:02:42.470Z,1761685362.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377691,-0.877643,-0.295116],[0.890627,0.257171,0.375030],[-0.253247,-0.404483,0.878783]] 2025-10-28T21:02:42.516Z,1761685362.516 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:02:42.516Z,1761685362.516 [marl:UpdateRudder:B] Stopped 2025-10-28T21:02:42.516Z,1761685362.516 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:02:42.516Z,1761685362.516 [marl:UpdateRudder] Stopped 2025-10-28T21:02:42.516Z,1761685362.516 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:02:42.874Z,1761685362.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400283,-0.873277,-0.277779],[0.879741,0.281326,0.383291],[-0.256573,-0.397798,0.880867]] 2025-10-28T21:02:43.338Z,1761685363.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448488,-0.858492,-0.248698],[0.853779,0.329173,0.403370],[-0.264425,-0.393239,0.880592]] 2025-10-28T21:02:43.731Z,1761685363.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474687,-0.848066,-0.235492],[0.837962,0.353608,0.415668],[-0.269242,-0.394646,0.878501]] 2025-10-28T21:02:44.536Z,1761685364.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529558,-0.823000,-0.205523],[0.799664,0.403498,0.444665],[-0.283031,-0.399825,0.871799]] 2025-10-28T21:02:44.947Z,1761685364.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557736,-0.808313,-0.188574],[0.776836,0.428333,0.461582],[-0.292330,-0.403931,0.866823]] 2025-10-28T21:02:45.345Z,1761685365.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584359,-0.793571,-0.169618],[0.752898,0.452202,0.478182],[-0.302770,-0.407135,0.861726]] 2025-10-28T21:02:45.824Z,1761685365.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606503,-0.780510,-0.151524],[0.730675,0.472018,0.493267],[-0.313478,-0.409883,0.856579]] 2025-10-28T21:02:45.847Z,1761685365.847 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000505005105751.0,1502.8, 0 2025-10-28T21:02:46.168Z,1761685366.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622644,-0.770900,-0.134268],[0.712680,0.487820,0.504102],[-0.323114,-0.409566,0.853143]] 2025-10-28T21:02:46.624Z,1761685366.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635983,-0.762480,-0.118956],[0.696619,0.500918,0.513617],[-0.332035,-0.409519,0.849734]] 2025-10-28T21:02:47.064Z,1761685367.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647516,-0.755099,-0.102708],[0.682094,0.514188,0.519960],[-0.339810,-0.406739,0.847993]] 2025-10-28T21:02:47.467Z,1761685367.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658171,-0.747664,-0.088376],[0.668966,0.526925,0.524247],[-0.345393,-0.404164,0.846968]] 2025-10-28T21:02:48.009Z,1761685368.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668395,-0.739967,-0.075481],[0.657051,0.539824,0.526188],[-0.348615,-0.401296,0.847012]] 2025-10-28T21:02:48.460Z,1761685368.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678786,-0.731630,-0.062992],[0.645392,0.553449,0.526464],[-0.350314,-0.398011,0.847861]] 2025-10-28T21:02:48.911Z,1761685368.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709720,-0.704003,-0.026031],[0.606940,0.592274,0.529939],[-0.357661,-0.391907,0.847636]] 2025-10-28T21:02:49.329Z,1761685369.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728025,-0.685549,-0.001332],[0.579940,0.614834,0.534461],[-0.365580,-0.389873,0.845192]] 2025-10-28T21:02:49.723Z,1761685369.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745044,-0.666573,0.024305],[0.551594,0.636199,0.539440],[-0.375039,-0.388499,0.841673]] 2025-10-28T21:02:50.531Z,1761685370.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771625,-0.632532,0.067063],[0.501286,0.669620,0.548016],[-0.391544,-0.389245,0.833775]] 2025-10-28T21:02:50.969Z,1761685370.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780916,-0.619413,0.080616],[0.483637,0.681258,0.549529],[-0.395305,-0.390147,0.831576]] 2025-10-28T21:02:51.320Z,1761685371.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:02:51.370Z,1761685371.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788585,-0.608598,0.087986],[0.470825,0.689615,0.550232],[-0.395547,-0.392479,0.830363]] 2025-10-28T21:02:51.837Z,1761685371.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796656,-0.597518,0.091163],[0.459551,0.696741,0.550785],[-0.392621,-0.396893,0.829654]] 2025-10-28T21:02:52.323Z,1761685372.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806126,-0.584282,0.093674],[0.446630,0.704612,0.551401],[-0.388178,-0.402661,0.828964]] 2025-10-28T21:02:52.324Z,1761685372.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:02:52.691Z,1761685372.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817039,-0.567788,0.100321],[0.430262,0.716224,0.549453],[-0.383825,-0.405760,0.829480]] 2025-10-28T21:02:53.095Z,1761685373.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829272,-0.546785,0.115473],[0.408437,0.734030,0.542567],[-0.381428,-0.402772,0.832038]] 2025-10-28T21:02:53.499Z,1761685373.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842208,-0.521349,0.137411],[0.380549,0.755364,0.533486],[-0.381928,-0.397015,0.834572]] 2025-10-28T21:02:53.910Z,1761685373.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853345,-0.495552,0.161957],[0.351230,0.776027,0.523850],[-0.385278,-0.390141,0.836272]] 2025-10-28T21:02:54.710Z,1761685374.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868227,-0.449139,0.210847],[0.296767,0.810639,0.504771],[-0.397633,-0.375683,0.837108]] 2025-10-28T21:02:55.114Z,1761685375.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872029,-0.431909,0.230260],[0.275945,0.822383,0.497535],[-0.404251,-0.370327,0.836325]] 2025-10-28T21:02:55.520Z,1761685375.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874883,-0.420299,0.240683],[0.261500,0.828192,0.495697],[-0.407673,-0.370738,0.834479]] 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateRudder:A] Stopped 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:02:55.554Z,1761685375.554 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateCommandMode] Stopped 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:02:55.555Z,1761685375.555 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:02:55.572Z,1761685375.572 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:02:55.573Z,1761685375.573 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:02:55.573Z,1761685375.573 [marl:UpdateSpeed] Stopped 2025-10-28T21:02:55.573Z,1761685375.573 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:02:55.958Z,1761685375.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879154,-0.410776,0.241559],[0.250565,0.829647,0.498903],[-0.405346,-0.378086,0.832313]] 2025-10-28T21:02:55.991Z,1761685375.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -130.53, +11480.14, , 20.00, 0.00 2025-10-28T21:02:56.020Z,1761685376.020 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:02:56.020Z,1761685376.020 [marl:UpdateRudder:B] Stopped 2025-10-28T21:02:56.021Z,1761685376.021 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:02:56.021Z,1761685376.021 [marl:UpdateRudder] Stopped 2025-10-28T21:02:56.021Z,1761685376.021 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:02:56.331Z,1761685376.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885965,-0.400052,0.234573],[0.239978,0.828314,0.506267],[-0.396833,-0.392243,0.829861]] 2025-10-28T21:02:56.734Z,1761685376.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894384,-0.387251,0.223860],[0.228015,0.825278,0.516648],[-0.384819,-0.411038,0.826415]] 2025-10-28T21:02:57.138Z,1761685377.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902424,-0.372252,0.216930],[0.214461,0.824791,0.523188],[-0.373680,-0.425615,0.824145]] 2025-10-28T21:02:57.538Z,1761685377.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909278,-0.353875,0.219058],[0.197818,0.830562,0.520611],[-0.366172,-0.430046,0.825214]] 2025-10-28T21:02:58.346Z,1761685378.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921094,-0.299729,0.248490],[0.150368,0.862578,0.483062],[-0.359130,-0.407581,0.839585]] 2025-10-28T21:02:59.155Z,1761685379.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926996,-0.260330,0.270014],[0.114092,0.881501,0.458192],[-0.357298,-0.393935,0.846849]] 2025-10-28T21:02:59.558Z,1761685379.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929212,-0.243882,0.277646],[0.098731,0.887837,0.449441],[-0.356115,-0.390214,0.849067]] 2025-10-28T21:03:00.015Z,1761685380.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931419,-0.221571,0.288729],[0.077663,0.896055,0.437097],[-0.355565,-0.384697,0.851811]] 2025-10-28T21:03:00.502Z,1761685380.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933082,-0.194961,0.302239],[0.051662,0.904275,0.423814],[-0.355934,-0.379839,0.853834]] 2025-10-28T21:03:01.063Z,1761685381.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935886,-0.136679,0.324709],[-0.005455,0.915944,0.401269],[-0.352260,-0.377314,0.856474]] 2025-10-28T21:03:01.473Z,1761685381.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935572,-0.113886,0.334267],[-0.031579,0.915796,0.400400],[-0.351721,-0.385159,0.853197]] 2025-10-28T21:03:01.866Z,1761685381.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935626,-0.092181,0.340745],[-0.053484,0.917136,0.394969],[-0.348918,-0.387768,0.853166]] 2025-10-28T21:03:02.276Z,1761685382.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936921,-0.069920,0.342475],[-0.072446,0.919669,0.385954],[-0.341950,-0.386420,0.856592]] 2025-10-28T21:03:02.675Z,1761685382.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938385,-0.048837,0.342123],[-0.090629,0.920543,0.379983],[-0.333496,-0.387577,0.859398]] 2025-10-28T21:03:03.080Z,1761685383.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939490,-0.023126,0.341794],[-0.115497,0.917924,0.379574],[-0.322519,-0.396082,0.859709]] 2025-10-28T21:03:03.105Z,1761685383.105 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:03:03.305Z,1761685383.305 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:03:03.305Z,1761685383.305 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:03:03.498Z,1761685383.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937954,0.000876,0.346758],[-0.145262,0.909016,0.390626],[-0.314866,-0.416760,0.852743]] 2025-10-28T21:03:03.557Z,1761685383.557 [DAT](INFO): DAT read: user:283> 2025-10-28T21:03:03.558Z,1761685383.558 [DAT](INFO): DAT read: Tx time:21:03:03.3090 2025-10-28T21:03:03.558Z,1761685383.558 [DAT](INFO): Ping request sent. 2025-10-28T21:03:03.558Z,1761685383.558 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:03:03.558Z,1761685383.558 [DAT](INFO): publishing transmit ping time 2025-10-28T21:03:03.559Z,1761685383.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935 2025-10-28T21:03:03.809Z,1761685383.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068 2025-10-28T21:03:03.913Z,1761685383.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933727,0.006696,0.357923],[-0.164507,0.896030,0.412392],[-0.317949,-0.443943,0.837749]] 2025-10-28T21:03:04.061Z,1761685384.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882 2025-10-28T21:03:04.313Z,1761685384.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754947 2025-10-28T21:03:04.357Z,1761685384.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933653,0.008809,0.358070],[-0.175936,0.882064,0.437047],[-0.311990,-0.471048,0.825092]] 2025-10-28T21:03:04.566Z,1761685384.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007571 2025-10-28T21:03:04.817Z,1761685384.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258826 2025-10-28T21:03:05.070Z,1761685385.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512079 2025-10-28T21:03:05.215Z,1761685385.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926416,0.066270,0.370624],[-0.245694,0.852309,0.461741],[-0.285286,-0.518824,0.805874]] 2025-10-28T21:03:05.321Z,1761685385.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762942 2025-10-28T21:03:05.573Z,1761685385.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015277 2025-10-28T21:03:05.627Z,1761685385.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916243,0.090749,0.390209],[-0.270314,0.858914,0.434967],[-0.295683,-0.504014,0.811505]] 2025-10-28T21:03:05.830Z,1761685385.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272078 2025-10-28T21:03:06.018Z,1761685386.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916261,0.134123,0.377460],[-0.281777,0.885547,0.369335],[-0.284722,-0.444767,0.849185]] 2025-10-28T21:03:06.069Z,1761685386.069 [marl:NeedComms:C] Running Loop=1 2025-10-28T21:03:06.077Z,1761685386.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519043 2025-10-28T21:03:06.329Z,1761685386.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770863 2025-10-28T21:03:06.432Z,1761685386.432 [Radio_Surface](INFO): Powering up 2025-10-28T21:03:06.436Z,1761685386.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913730,0.184239,0.362151],[-0.308188,0.895099,0.322210],[-0.264797,-0.406023,0.874659]] 2025-10-28T21:03:06.581Z,1761685386.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023330 2025-10-28T21:03:06.833Z,1761685386.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909 2025-10-28T21:03:06.966Z,1761685386.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881517,0.209208,0.423273],[-0.375042,0.854862,0.358544],[-0.286830,-0.474808,0.832037]] 2025-10-28T21:03:07.085Z,1761685387.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526862 2025-10-28T21:03:07.338Z,1761685387.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779567 2025-10-28T21:03:07.371Z,1761685387.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872579,0.245297,0.422417],[-0.395479,0.862339,0.316175],[-0.286710,-0.442945,0.849469]] 2025-10-28T21:03:07.592Z,1761685387.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034389 2025-10-28T21:03:07.811Z,1761685387.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862173,0.311124,0.399824],[-0.433659,0.861242,0.264956],[-0.261911,-0.401825,0.877462]] 2025-10-28T21:03:07.841Z,1761685387.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282926 2025-10-28T21:03:08.093Z,1761685388.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534879 2025-10-28T21:03:08.345Z,1761685388.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787001 2025-10-28T21:03:08.351Z,1761685388.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849500,0.355306,0.390009],[-0.460909,0.859516,0.220897],[-0.256733,-0.367411,0.893923]] 2025-10-28T21:03:08.597Z,1761685388.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039171 2025-10-28T21:03:08.793Z,1761685388.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823870,0.372224,0.427421],[-0.488851,0.848291,0.203535],[-0.286816,-0.376631,0.880843]] 2025-10-28T21:03:08.850Z,1761685388.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291592 2025-10-28T21:03:09.101Z,1761685389.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543066 2025-10-28T21:03:09.188Z,1761685389.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832591,0.403020,0.379957],[-0.491849,0.853408,0.172566],[-0.254711,-0.330558,0.908765]] 2025-10-28T21:03:09.353Z,1761685389.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794882 2025-10-28T21:03:09.591Z,1761685389.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843054,0.456793,0.283902],[-0.516949,0.833886,0.193387],[-0.148404,-0.309799,0.939149]] 2025-10-28T21:03:09.605Z,1761685389.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046934 2025-10-28T21:03:09.630Z,1761685389.630 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:03:09.630Z,1761685389.630 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:03:09.630Z,1761685389.630 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateRudder:A] Stopped 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:03:09.631Z,1761685389.631 [marl:UpdateCommandMode] Stopped 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:03:09.632Z,1761685389.632 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:03:09.633Z,1761685389.633 [marl:UpdateSpeed] Stopped 2025-10-28T21:03:09.633Z,1761685389.633 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:03:09.857Z,1761685389.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298920 2025-10-28T21:03:09.994Z,1761685389.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830314,0.504340,0.237106],[-0.552225,0.801841,0.228252],[-0.075005,-0.320457,0.944289]] 2025-10-28T21:03:10.055Z,1761685390.055 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:03:10.056Z,1761685390.056 [marl:UpdateRudder:B] Stopped 2025-10-28T21:03:10.056Z,1761685390.056 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:03:10.056Z,1761685390.056 [marl:UpdateRudder] Stopped 2025-10-28T21:03:10.056Z,1761685390.056 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:03:10.109Z,1761685390.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551377 2025-10-28T21:03:10.361Z,1761685390.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802868 2025-10-28T21:03:10.399Z,1761685390.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810408,0.538663,0.230396],[-0.581097,0.789125,0.199017],[-0.074608,-0.295167,0.952528]] 2025-10-28T21:03:10.613Z,1761685390.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054942 2025-10-28T21:03:10.809Z,1761685390.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800198,0.575995,0.167075],[-0.598090,0.787040,0.151183],[-0.044415,-0.220902,0.974284]] 2025-10-28T21:03:10.865Z,1761685390.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306853 2025-10-28T21:03:11.117Z,1761685391.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558836 2025-10-28T21:03:11.206Z,1761685391.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791705,0.601078,0.109123],[-0.610692,0.783396,0.115521],[-0.016050,-0.158099,0.987293]] 2025-10-28T21:03:11.369Z,1761685391.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811196 2025-10-28T21:03:11.614Z,1761685391.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777648,0.619198,0.108889],[-0.628071,0.772872,0.090527],[-0.028103,-0.138788,0.989923]] 2025-10-28T21:03:11.621Z,1761685391.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062936 2025-10-28T21:03:11.700Z,1761685391.700 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T21:03:11.701Z,1761685391.701 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T21:03:11.873Z,1761685391.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314879 2025-10-28T21:03:12.015Z,1761685392.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761621,0.638719,0.109415],[-0.646226,0.761169,0.054893],[-0.048222,-0.112514,0.992479]] 2025-10-28T21:03:12.125Z,1761685392.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567021 2025-10-28T21:03:12.377Z,1761685392.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818848 2025-10-28T21:03:12.419Z,1761685392.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740580,0.665839,0.090557],[-0.670756,0.740592,0.040122],[-0.040352,-0.090455,0.995083]] 2025-10-28T21:03:12.629Z,1761685392.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070881 2025-10-28T21:03:12.823Z,1761685392.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723674,0.685764,0.077604],[-0.689153,0.724072,0.028086],[-0.036930,-0.073806,0.996589]] 2025-10-28T21:03:12.881Z,1761685392.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322973 2025-10-28T21:03:13.133Z,1761685393.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574856 2025-10-28T21:03:13.227Z,1761685393.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720205,0.690179,0.070404],[-0.693562,0.718712,0.049243],[-0.016614,-0.084295,0.996302]] 2025-10-28T21:03:13.387Z,1761685393.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828796 2025-10-28T21:03:13.630Z,1761685393.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706480,0.698797,0.112107],[-0.705979,0.706977,0.042164],[-0.049793,-0.108933,0.992801]] 2025-10-28T21:03:13.637Z,1761685393.637 [DAT](INFO): Reached modem response timeout 2025-10-28T21:03:14.035Z,1761685394.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695542,0.701578,0.154954],[-0.713458,0.699890,0.033641],[-0.084849,-0.133952,0.987349]] 2025-10-28T21:03:14.441Z,1761685394.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686399,0.711435,0.150719],[-0.723286,0.689400,0.039812],[-0.075582,-0.136340,0.987775]] 2025-10-28T21:03:14.844Z,1761685394.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694008,0.711306,0.111339],[-0.719711,0.689536,0.080969],[-0.019178,-0.136325,0.990479]] 2025-10-28T21:03:15.248Z,1761685395.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699161,0.708765,0.093949],[-0.714260,0.698246,0.047797],[-0.031723,-0.100522,0.994429]] 2025-10-28T21:03:15.650Z,1761685395.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692077,0.720510,0.043527],[-0.721741,0.689826,0.056834],[0.010924,-0.070749,0.997434]] 2025-10-28T21:03:15.905Z,1761685395.905 [DAT](INFO): DAT read: Not Received 2025-10-28T21:03:15.905Z,1761685395.905 [DAT](INFO): unknown deviceResponse_: Not Received 2025-10-28T21:03:16.054Z,1761685396.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714100,0.698830,0.041197],[-0.700044,0.712859,0.042080],[0.000039,-0.058889,0.998265]] 2025-10-28T21:03:16.070Z,1761685396.070 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +175, +61,A 2025-10-28T21:03:16.459Z,1761685396.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713009,0.696080,0.084211],[-0.697215,0.716584,-0.019947],[-0.074229,-0.044491,0.996248]] 2025-10-28T21:03:16.864Z,1761685396.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728377,0.683302,0.050653],[-0.685174,0.726160,0.056818],[0.002042,-0.076091,0.997099]] 2025-10-28T21:03:17.277Z,1761685397.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734932,0.677847,0.019935],[-0.674018,0.726913,0.131521],[0.074660,-0.110096,0.991113]] 2025-10-28T21:03:17.672Z,1761685397.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725942,0.684307,0.068782],[-0.687075,0.717143,0.116763],[0.030575,-0.132022,0.990775]] 2025-10-28T21:03:18.074Z,1761685398.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737579,0.670174,0.082730],[-0.674857,0.735823,0.055966],[-0.023367,-0.097110,0.994999]] 2025-10-28T21:03:18.481Z,1761685398.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746655,0.665150,0.009101],[-0.665211,0.746571,0.011210],[0.000662,-0.014424,0.999896]] 2025-10-28T21:03:18.882Z,1761685398.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745949,0.665929,-0.009918],[-0.665992,0.745940,-0.005383],[0.003814,0.010620,0.999936]] 2025-10-28T21:03:19.286Z,1761685399.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764344,0.644795,0.004195],[-0.644808,0.764320,0.006128],[0.000745,-0.007389,0.999972]] 2025-10-28T21:03:19.692Z,1761685399.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762848,0.646527,-0.008166],[-0.642432,0.759324,0.103482],[0.073105,-0.073695,0.994598]] 2025-10-28T21:03:20.094Z,1761685400.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754468,0.655330,0.036356],[-0.649578,0.737622,0.184288],[0.093953,-0.162656,0.982200]] 2025-10-28T21:03:20.499Z,1761685400.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763060,0.640577,0.086028],[-0.644125,0.742714,0.182969],[0.053312,-0.195030,0.979347]] 2025-10-28T21:03:20.905Z,1761685400.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777393,0.622669,0.089124],[-0.628648,0.764257,0.143921],[0.021502,-0.167911,0.985568]] 2025-10-28T21:03:21.306Z,1761685401.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791456,0.606832,0.073155],[-0.610254,0.791264,0.038620],[-0.034449,-0.075210,0.996572]] 2025-10-28T21:03:21.711Z,1761685401.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798860,0.601517,0.000683],[-0.601274,0.798568,-0.027558],[-0.017122,0.021604,0.999620]] 2025-10-28T21:03:22.114Z,1761685402.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776263,0.628033,-0.054691],[-0.629324,0.777093,-0.008789],[0.036980,0.041240,0.998465]] 2025-10-28T21:03:22.448Z,1761685402.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:03:22.520Z,1761685402.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791752,0.610624,0.016371],[-0.610820,0.791669,0.012579],[-0.005280,-0.019959,0.999787]] 2025-10-28T21:03:22.552Z,1761685402.552 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateRudder:A] Stopped 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:03:22.553Z,1761685402.553 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateCommandMode] Stopped 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:03:22.554Z,1761685402.554 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:03:22.555Z,1761685402.555 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:03:22.555Z,1761685402.555 [marl:UpdateSpeed] Stopped 2025-10-28T21:03:22.555Z,1761685402.555 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:03:22.922Z,1761685402.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814228,0.574927,0.080571],[-0.579806,0.812323,0.062893],[-0.029291,-0.097924,0.994763]] 2025-10-28T21:03:22.961Z,1761685402.961 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:03:22.961Z,1761685402.961 [marl:UpdateRudder:B] Stopped 2025-10-28T21:03:22.961Z,1761685402.961 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:03:22.961Z,1761685402.961 [marl:UpdateRudder] Stopped 2025-10-28T21:03:22.961Z,1761685402.961 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:03:23.326Z,1761685403.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806023,0.580736,0.114340],[-0.591762,0.794609,0.135700],[-0.012050,-0.177040,0.984130]] 2025-10-28T21:03:23.455Z,1761685403.455 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T21:03:23.455Z,1761685403.455 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:03:23.756Z,1761685403.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847707,0.529624,0.029842],[-0.530153,0.843944,0.081829],[0.018153,-0.085188,0.996199]] 2025-10-28T21:03:24.141Z,1761685404.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829702,0.555547,-0.054429],[-0.554732,0.831471,0.030480],[0.062189,0.004905,0.998052]] 2025-10-28T21:03:24.547Z,1761685404.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824534,0.561252,-0.071687],[-0.556821,0.827390,0.073328],[0.100468,-0.020544,0.994728]] 2025-10-28T21:03:24.954Z,1761685404.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832006,0.554728,-0.006642],[-0.552250,0.829310,0.085235],[0.052790,-0.067248,0.996339]] 2025-10-28T21:03:25.351Z,1761685405.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825716,0.562294,0.044924],[-0.564043,0.822047,0.078062],[0.006964,-0.089796,0.995936]] 2025-10-28T21:03:25.827Z,1761685405.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834177,0.550801,0.027704],[-0.550106,0.827457,0.112684],[0.039143,-0.109238,0.993245]] 2025-10-28T21:03:26.155Z,1761685406.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846285,0.531592,-0.034801],[-0.525209,0.843494,0.112570],[0.089196,-0.076989,0.993034]] 2025-10-28T21:03:26.567Z,1761685406.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844413,0.535690,-0.001821],[-0.533907,0.841870,0.078726],[0.043706,-0.065505,0.996895]] 2025-10-28T21:03:26.572Z,1761685406.572 [NAL9602](INFO): SBD MO Status=0, MOMSN=3353, MT Status=0, MTMSN=0 2025-10-28T21:03:26.572Z,1761685406.572 [NAL9602](INFO): No messages in MT queue 2025-10-28T21:03:26.963Z,1761685406.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846682,0.531921,-0.013793],[-0.527728,0.842759,0.106113],[0.068068,-0.082565,0.994258]] 2025-10-28T21:03:27.367Z,1761685407.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849557,0.526511,-0.032217],[-0.521555,0.847561,0.098086],[0.078949,-0.066527,0.994656]] 2025-10-28T21:03:27.810Z,1761685407.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874133,0.484515,-0.033733],[-0.482415,0.874195,0.055302],[0.056283,-0.032068,0.997900]] 2025-10-28T21:03:27.815Z,1761685407.815 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210327.00,A,3645.54230,N,12151.69952,W,0.933,297.56,281025,,,A*70 2025-10-28T21:03:27.826Z,1761685407.826 [NAL9602](INFO): GPS fix at 20251028T210327: (36.759038, -121.861659) 2025-10-28T21:03:27.858Z,1761685407.858 [UniversalFixResidualReporter](INFO): Fix residual: 2.1 %DT, over the last 928.0 m. Residual distance 19.1 m at bearing 24.6 degrees. Fix at (36.7590, -121.8617) with 365.3 m made good. 2025-10-28T21:03:27.892Z,1761685407.892 [marl:NeedComms:C] Stopped 2025-10-28T21:03:27.896Z,1761685407.896 [marl:NeedComms:D] Running Loop=1 2025-10-28T21:03:27.901Z,1761685407.901 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761685376.00. Resetting abort timer. 2025-10-28T21:03:28.175Z,1761685408.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879794,0.464774,-0.099736],[-0.463245,0.885354,0.039397],[0.106612,0.011541,0.994234]] 2025-10-28T21:03:28.579Z,1761685408.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874651,0.479524,-0.071010],[-0.477016,0.877474,0.049953],[0.086263,-0.009819,0.996224]] 2025-10-28T21:03:28.982Z,1761685408.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880367,0.473446,-0.028339],[-0.469328,0.878216,0.092017],[0.068453,-0.067708,0.995354]] 2025-10-28T21:03:29.388Z,1761685409.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868029,0.494195,-0.047927],[-0.484968,0.864580,0.131558],[0.106452,-0.090953,0.990149]] 2025-10-28T21:03:29.815Z,1761685409.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856510,0.515794,-0.018630],[-0.508421,0.849381,0.141635],[0.088878,-0.111840,0.989744]] 2025-10-28T21:03:30.198Z,1761685410.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858495,0.512677,0.012180],[-0.509879,0.850787,0.127220],[0.054860,-0.115428,0.991800]] 2025-10-28T21:03:30.599Z,1761685410.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862713,0.504751,0.030873],[-0.505541,0.859340,0.077218],[0.012446,-0.082224,0.996536]] 2025-10-28T21:03:31.003Z,1761685411.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868300,0.491489,0.067038],[-0.493998,0.869042,0.027048],[-0.044965,-0.056602,0.997384]] 2025-10-28T21:03:31.406Z,1761685411.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871805,0.486007,0.061268],[-0.487883,0.872687,0.019692],[-0.043897,-0.047059,0.997927]] 2025-10-28T21:03:31.820Z,1761685411.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858931,0.511539,-0.023767],[-0.510046,0.858722,0.049491],[0.045726,-0.030387,0.998492]] 2025-10-28T21:03:32.331Z,1761685412.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852665,0.522391,-0.008320],[-0.521293,0.851721,0.053153],[0.034853,-0.040985,0.998552]] 2025-10-28T21:03:34.477Z,1761685414.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842288,0.538689,-0.019124],[-0.533698,0.838411,0.110603],[0.075615,-0.082953,0.993681]] 2025-10-28T21:03:34.859Z,1761685414.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843804,0.536424,-0.015638],[-0.533182,0.841300,0.089052],[0.060926,-0.066805,0.995904]] 2025-10-28T21:03:35.265Z,1761685415.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845567,0.533703,-0.013379],[-0.531778,0.844204,0.067315],[0.047221,-0.049804,0.997642]] 2025-10-28T21:03:35.669Z,1761685415.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853146,0.517409,-0.066563],[-0.512602,0.855150,0.077183],[0.096856,-0.031728,0.994793]] 2025-10-28T21:03:36.107Z,1761685416.107 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -148, -135, :BE, -148, -135, -17,A 2025-10-28T21:03:36.474Z,1761685416.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807766,0.588802,-0.028752],[-0.586689,0.807713,0.058279],[0.057538,-0.030207,0.997886]] 2025-10-28T21:03:36.881Z,1761685416.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807372,0.586420,0.065279],[-0.588727,0.808010,0.022808],[-0.039371,-0.056846,0.997606]] 2025-10-28T21:03:37.283Z,1761685417.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819893,0.567534,0.075371],[-0.570320,0.821160,0.020758],[-0.050111,-0.060005,0.996939]] 2025-10-28T21:03:37.321Z,1761685417.321 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:03:37.321Z,1761685417.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateRudder:A] Stopped 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:03:37.322Z,1761685417.322 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateCommandMode] Stopped 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:03:37.323Z,1761685417.323 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:03:37.324Z,1761685417.324 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:03:37.324Z,1761685417.324 [marl:UpdateSpeed] Stopped 2025-10-28T21:03:37.324Z,1761685417.324 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:03:37.686Z,1761685417.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840666,0.541502,0.007450],[-0.541551,0.840550,0.014039],[0.001340,-0.015837,0.999874]] 2025-10-28T21:03:37.786Z,1761685417.786 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:03:37.786Z,1761685417.786 [marl:UpdateRudder:B] Stopped 2025-10-28T21:03:37.786Z,1761685417.786 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:03:37.787Z,1761685417.787 [marl:UpdateRudder] Stopped 2025-10-28T21:03:37.787Z,1761685417.787 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:03:38.094Z,1761685418.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814632,0.576269,-0.065488],[-0.577704,0.816238,-0.003721],[0.051309,0.040864,0.997846]] 2025-10-28T21:03:38.496Z,1761685418.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789888,0.612899,-0.020759],[-0.612644,0.790160,0.017715],[0.027260,-0.001275,0.999628]] 2025-10-28T21:03:38.899Z,1761685418.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767484,0.636143,0.079314],[-0.640206,0.766978,0.043372],[-0.033242,-0.084065,0.995906]] 2025-10-28T21:03:39.303Z,1761685419.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766447,0.627609,0.136629],[-0.637072,0.769906,0.037196],[-0.081847,-0.115551,0.989924]] 2025-10-28T21:03:39.711Z,1761685419.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782639,0.619882,0.056764],[-0.622476,0.779399,0.071138],[-0.000144,-0.091010,0.995850]] 2025-10-28T21:03:40.113Z,1761685420.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763011,0.646096,-0.019357],[-0.643627,0.762177,0.069500],[0.059657,-0.040571,0.997394]] 2025-10-28T21:03:40.515Z,1761685420.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735543,0.676709,-0.032269],[-0.673126,0.735379,0.078223],[0.076664,-0.035816,0.996413]] 2025-10-28T21:03:40.919Z,1761685420.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724885,0.688554,0.020854],[-0.687762,0.721671,0.078572],[0.039051,-0.071299,0.996690]] 2025-10-28T21:03:41.328Z,1761685421.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730253,0.680569,0.059631],[-0.682511,0.730609,0.019718],[-0.030147,-0.055098,0.998026]] 2025-10-28T21:03:41.741Z,1761685421.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736815,0.675797,0.020041],[-0.675546,0.737088,-0.018439],[-0.027233,0.000048,0.999629]] 2025-10-28T21:03:42.130Z,1761685422.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735291,0.677049,-0.030856],[-0.677326,0.735680,0.001935],[0.024010,0.019476,0.999522]] 2025-10-28T21:03:42.534Z,1761685422.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717850,0.695457,-0.032118],[-0.693851,0.718453,0.048958],[0.057123,-0.012860,0.998284]] 2025-10-28T21:03:42.939Z,1761685422.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702766,0.711330,0.011373],[-0.708134,0.697895,0.107180],[0.068303,-0.083376,0.994175]] 2025-10-28T21:03:43.346Z,1761685423.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697537,0.713177,0.069427],[-0.714571,0.685146,0.141291],[0.053198,-0.148167,0.987531]] 2025-10-28T21:03:43.775Z,1761685423.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701383,0.698593,0.141524],[-0.712560,0.692185,0.114621],[-0.017887,-0.181237,0.983277]] 2025-10-28T21:03:44.170Z,1761685424.170 [NAL9602](INFO): SBD MO Status=1, MOMSN=3354, MT Status=0, MTMSN=0 2025-10-28T21:03:44.221Z,1761685424.221 [NAL9602](INFO): Sent 95 bytes from file Logs/20251028T162422/Courier0052.lzma 2025-10-28T21:03:44.221Z,1761685424.221 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:03:44.561Z,1761685424.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688422,0.724236,0.039463],[-0.725281,0.686881,0.046505],[0.006574,-0.060636,0.998138]] 2025-10-28T21:03:45.379Z,1761685425.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682662,0.730360,-0.023364],[-0.727282,0.682194,0.075317],[0.070947,-0.034424,0.996886]] 2025-10-28T21:03:45.831Z,1761685425.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682674,0.730164,-0.028569],[-0.722949,0.680583,0.118960],[0.106304,-0.060557,0.992488]] 2025-10-28T21:03:47.998Z,1761685427.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671963,0.739829,0.033443],[-0.740549,0.671687,0.020583],[-0.007235,-0.038597,0.999229]] 2025-10-28T21:03:48.076Z,1761685428.076 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:03:48.399Z,1761685428.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677584,0.734375,0.039667],[-0.735398,0.675940,0.047905],[0.008368,-0.061630,0.998064]] 2025-10-28T21:03:48.799Z,1761685428.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666210,0.741265,0.081797],[-0.745626,0.664181,0.053903],[-0.014372,-0.096901,0.995190]] 2025-10-28T21:03:49.213Z,1761685429.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634662,0.770437,0.060253],[-0.771037,0.626047,0.116474],[0.052015,-0.120379,0.991364]] 2025-10-28T21:03:49.607Z,1761685429.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651221,0.756066,0.065391],[-0.756273,0.639416,0.138557],[0.062946,-0.139684,0.988193]] 2025-10-28T21:03:50.011Z,1761685430.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710688,0.691239,0.130811],[-0.702055,0.708796,0.068761],[-0.045188,-0.140704,0.989020]] 2025-10-28T21:03:50.415Z,1761685430.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723669,0.680515,0.114898],[-0.688543,0.723256,0.053007],[-0.047029,-0.117472,0.991962]] 2025-10-28T21:03:50.832Z,1761685430.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717906,0.694075,0.053592],[-0.693867,0.707222,0.135593],[0.056211,-0.134529,0.989314]] 2025-10-28T21:03:51.230Z,1761685431.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724259,0.673802,0.146423],[-0.688542,0.695381,0.205803],[0.036851,-0.249873,0.967577]] 2025-10-28T21:03:51.627Z,1761685431.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733070,0.655078,0.182980],[-0.678852,0.688059,0.256386],[0.042052,-0.312165,0.949097]] 2025-10-28T21:03:52.031Z,1761685432.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739538,0.668331,0.080110],[-0.662407,0.701456,0.263014],[0.119587,-0.247575,0.961460]] 2025-10-28T21:03:52.434Z,1761685432.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758649,0.650881,-0.028379],[-0.638319,0.751313,0.167563],[0.130385,-0.109006,0.985453]] 2025-10-28T21:03:52.459Z,1761685432.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:03:52.459Z,1761685432.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:03:52.459Z,1761685432.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateRudder:A] Stopped 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:03:52.460Z,1761685432.460 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateCommandMode] Stopped 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:03:52.461Z,1761685432.461 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:03:52.462Z,1761685432.462 [marl:UpdateSpeed] Stopped 2025-10-28T21:03:52.462Z,1761685432.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:03:52.840Z,1761685432.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767821,0.639920,-0.030868],[-0.638829,0.768377,0.038659],[0.048457,-0.009964,0.998776]] 2025-10-28T21:03:52.863Z,1761685432.863 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:03:52.863Z,1761685432.863 [marl:UpdateRudder:B] Stopped 2025-10-28T21:03:52.864Z,1761685432.864 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:03:52.864Z,1761685432.864 [marl:UpdateRudder] Stopped 2025-10-28T21:03:52.864Z,1761685432.864 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:03:53.244Z,1761685433.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775658,0.629460,-0.046203],[-0.630293,0.776344,-0.004630],[0.032955,0.032713,0.998921]] 2025-10-28T21:03:53.580Z,1761685433.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:03:53.647Z,1761685433.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776570,0.627313,-0.058451],[-0.626930,0.778609,0.026962],[0.062424,0.015707,0.997926]] 2025-10-28T21:03:54.050Z,1761685434.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788222,0.613895,0.042879],[-0.615199,0.787801,0.030001],[-0.015363,-0.050026,0.998630]] 2025-10-28T21:03:54.456Z,1761685434.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790543,0.604730,0.096660],[-0.612125,0.785053,0.094835],[-0.018534,-0.134139,0.990789]] 2025-10-28T21:03:54.584Z,1761685434.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:03:54.859Z,1761685434.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800650,0.589593,0.106487],[-0.598952,0.783306,0.166401],[0.014697,-0.197010,0.980291]] 2025-10-28T21:03:55.263Z,1761685435.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822752,0.556574,0.115344],[-0.568271,0.809778,0.146040],[-0.012121,-0.185701,0.982532]] 2025-10-28T21:03:55.267Z,1761685435.267 [NAL9602](INFO): SBD MO Status=1, MOMSN=3355, MT Status=0, MTMSN=0 2025-10-28T21:03:55.336Z,1761685435.336 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0053.lzma 2025-10-28T21:03:55.336Z,1761685435.336 [NAL9602](INFO): Packets left to send: 1 2025-10-28T21:03:55.667Z,1761685435.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823689,0.566271,0.029569],[-0.565123,0.815497,0.124904],[0.046616,-0.119592,0.991728]] 2025-10-28T21:03:56.639Z,1761685436.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813742,0.580970,0.017234],[-0.580646,0.811249,0.068733],[0.025951,-0.065938,0.997486]] 2025-10-28T21:03:57.026Z,1761685437.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830434,0.556019,0.034961],[-0.556561,0.825167,0.096639],[0.024885,-0.099711,0.994705]] 2025-10-28T21:03:59.158Z,1761685439.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836115,0.547980,0.025107],[-0.548505,0.835776,0.024894],[-0.007343,-0.034586,0.999375]] 2025-10-28T21:03:59.550Z,1761685439.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846228,0.529209,0.061932],[-0.530987,0.847234,0.015693],[-0.044166,-0.046165,0.997957]] 2025-10-28T21:03:59.981Z,1761685439.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857035,0.515098,0.012802],[-0.515253,0.856655,0.025625],[0.002233,-0.028558,0.999590]] 2025-10-28T21:04:00.481Z,1761685440.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853264,0.520737,-0.027805],[-0.519612,0.853508,0.039079],[0.044082,-0.018897,0.998849]] 2025-10-28T21:04:00.768Z,1761685440.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843864,0.536117,-0.021737],[-0.534808,0.843691,0.046532],[0.043286,-0.027641,0.998680]] 2025-10-28T21:04:01.250Z,1761685441.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834880,0.549520,0.031684],[-0.550406,0.832893,0.057814],[0.005381,-0.065706,0.997824]] 2025-10-28T21:04:01.571Z,1761685441.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836081,0.542825,0.079429],[-0.547857,0.833706,0.069196],[-0.028659,-0.101369,0.994436]] 2025-10-28T21:04:01.982Z,1761685441.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837985,0.544043,0.042396],[-0.545659,0.836265,0.054012],[-0.006070,-0.068395,0.997640]] 2025-10-28T21:04:02.378Z,1761685442.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828042,0.560666,-0.000149],[-0.560497,0.827799,0.024329],[0.013764,-0.020062,0.999704]] 2025-10-28T21:04:02.786Z,1761685442.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828797,0.556833,-0.055063],[-0.557234,0.830304,0.009201],[0.050842,0.023057,0.998441]] 2025-10-28T21:04:03.194Z,1761685443.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825000,0.553708,-0.113057],[-0.554989,0.831547,0.022722],[0.106594,0.044000,0.993329]] 2025-10-28T21:04:03.237Z,1761685443.237 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:04:03.333Z,1761685443.333 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:04:03.334Z,1761685443.334 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:04:03.585Z,1761685443.585 [DAT](INFO): DAT read: user:284> 2025-10-28T21:04:03.586Z,1761685443.586 [DAT](INFO): DAT read: Tx time:21:04:03.3087 2025-10-28T21:04:03.586Z,1761685443.586 [DAT](INFO): Ping request sent. 2025-10-28T21:04:03.586Z,1761685443.586 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:04:03.586Z,1761685443.586 [DAT](INFO): publishing transmit ping time 2025-10-28T21:04:03.587Z,1761685443.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T21:04:03.609Z,1761685443.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816429,0.564907,-0.119678],[-0.564644,0.824394,0.039389],[0.120913,0.035417,0.992031]] 2025-10-28T21:04:03.837Z,1761685443.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902 2025-10-28T21:04:03.994Z,1761685443.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812976,0.573601,-0.100258],[-0.566182,0.818899,0.094038],[0.136041,-0.019686,0.990508]] 2025-10-28T21:04:04.089Z,1761685444.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503373 2025-10-28T21:04:04.341Z,1761685444.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919 2025-10-28T21:04:04.400Z,1761685444.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799514,0.596296,-0.072178],[-0.581622,0.798584,0.154852],[0.149978,-0.081826,0.985298]] 2025-10-28T21:04:04.593Z,1761685444.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006903 2025-10-28T21:04:04.805Z,1761685444.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785296,0.618053,-0.036335],[-0.597228,0.771691,0.218660],[0.163183,-0.150012,0.975124]] 2025-10-28T21:04:04.846Z,1761685444.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259985 2025-10-28T21:04:05.097Z,1761685445.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510944 2025-10-28T21:04:05.208Z,1761685445.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788082,0.614356,-0.038639],[-0.583640,0.765684,0.270357],[0.195681,-0.190512,0.961985]] 2025-10-28T21:04:05.349Z,1761685445.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828 2025-10-28T21:04:05.601Z,1761685445.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014868 2025-10-28T21:04:05.613Z,1761685445.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797158,0.600828,-0.059539],[-0.570337,0.781705,0.252295],[0.198128,-0.167161,0.965817]] 2025-10-28T21:04:05.853Z,1761685445.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266956 2025-10-28T21:04:06.014Z,1761685446.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790648,0.601539,-0.114133],[-0.579389,0.795340,0.178166],[0.197948,-0.074740,0.977359]] 2025-10-28T21:04:06.105Z,1761685446.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945 2025-10-28T21:04:06.357Z,1761685446.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771057 2025-10-28T21:04:06.421Z,1761685446.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778176,0.610443,-0.147652],[-0.599547,0.792059,0.114828],[0.187045,-0.000832,0.982351]] 2025-10-28T21:04:06.609Z,1761685446.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022966 2025-10-28T21:04:06.822Z,1761685446.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788313,0.593158,-0.163485],[-0.591777,0.803681,0.062417],[0.168412,0.047542,0.984569]] 2025-10-28T21:04:06.861Z,1761685446.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275012 2025-10-28T21:04:07.113Z,1761685447.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526897 2025-10-28T21:04:07.226Z,1761685447.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791310,0.585002,-0.177769],[-0.592352,0.805555,0.014161],[0.151487,0.094096,0.983970]] 2025-10-28T21:04:07.365Z,1761685447.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778951 2025-10-28T21:04:07.617Z,1761685447.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030841 2025-10-28T21:04:07.633Z,1761685447.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793025,0.589893,-0.152112],[-0.594323,0.803991,0.019428],[0.133757,0.074997,0.988172]] 2025-10-28T21:04:07.657Z,1761685447.657 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:04:07.657Z,1761685447.657 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:04:07.657Z,1761685447.657 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:04:07.657Z,1761685447.657 [marl:UpdateRudder:A] Stopped 2025-10-28T21:04:07.657Z,1761685447.657 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode] Stopped 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:04:07.658Z,1761685447.658 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed] Stopped 2025-10-28T21:04:07.659Z,1761685447.659 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:04:07.869Z,1761685447.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282969 2025-10-28T21:04:08.034Z,1761685448.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779064,0.614721,-0.123197],[-0.607372,0.788744,0.094775],[0.155431,0.000991,0.987846]] 2025-10-28T21:04:08.102Z,1761685448.102 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:04:08.102Z,1761685448.102 [marl:UpdateRudder:B] Stopped 2025-10-28T21:04:08.102Z,1761685448.102 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:04:08.102Z,1761685448.102 [marl:UpdateRudder] Stopped 2025-10-28T21:04:08.102Z,1761685448.102 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:04:08.121Z,1761685448.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535029 2025-10-28T21:04:08.373Z,1761685448.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786894 2025-10-28T21:04:08.438Z,1761685448.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770728,0.633513,-0.068112],[-0.614856,0.767521,0.181283],[0.167122,-0.097841,0.981069]] 2025-10-28T21:04:08.625Z,1761685448.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038942 2025-10-28T21:04:08.843Z,1761685448.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773203,0.634000,-0.014192],[-0.613464,0.753453,0.236581],[0.160685,-0.174219,0.971508]] 2025-10-28T21:04:08.877Z,1761685448.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291078 2025-10-28T21:04:09.129Z,1761685449.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542867 2025-10-28T21:04:09.248Z,1761685449.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773579,0.633288,0.022821],[-0.623674,0.754466,0.204479],[0.112276,-0.172413,0.978605]] 2025-10-28T21:04:09.385Z,1761685449.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799282 2025-10-28T21:04:09.633Z,1761685449.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046880 2025-10-28T21:04:09.650Z,1761685449.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781624,0.623674,0.009771],[-0.618465,0.772871,0.142023],[0.081024,-0.117051,0.989815]] 2025-10-28T21:04:09.885Z,1761685449.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298943 2025-10-28T21:04:10.054Z,1761685450.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767038,0.638480,-0.063215],[-0.631042,0.768544,0.105477],[0.115928,-0.041014,0.992410]] 2025-10-28T21:04:10.137Z,1761685450.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550954 2025-10-28T21:04:10.389Z,1761685450.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802897 2025-10-28T21:04:10.459Z,1761685450.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760517,0.648439,-0.033795],[-0.644839,0.760349,0.077789],[0.076137,-0.037368,0.996397]] 2025-10-28T21:04:10.641Z,1761685450.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054866 2025-10-28T21:04:10.866Z,1761685450.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771957,0.633505,0.052482],[-0.635393,0.766522,0.093384],[0.018931,-0.105435,0.994246]] 2025-10-28T21:04:10.894Z,1761685450.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307664 2025-10-28T21:04:11.145Z,1761685451.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558954 2025-10-28T21:04:11.267Z,1761685451.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766489,0.636464,0.086073],[-0.642244,0.758694,0.109111],[0.004142,-0.138912,0.990296]] 2025-10-28T21:04:11.397Z,1761685451.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810888 2025-10-28T21:04:11.649Z,1761685451.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062897 2025-10-28T21:04:11.678Z,1761685451.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757137,0.646524,0.093540],[-0.652735,0.754453,0.068831],[-0.026070,-0.113171,0.993233]] 2025-10-28T21:04:11.901Z,1761685451.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314891 2025-10-28T21:04:12.078Z,1761685452.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770272,0.631778,0.086819],[-0.632931,0.774021,-0.017044],[-0.077968,-0.041822,0.996078]] 2025-10-28T21:04:12.154Z,1761685452.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568263 2025-10-28T21:04:12.405Z,1761685452.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818896 2025-10-28T21:04:12.482Z,1761685452.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778140,0.628082,-0.003269],[-0.626938,0.776386,-0.064605],[-0.038039,0.052321,0.997906]] 2025-10-28T21:04:12.658Z,1761685452.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071836 2025-10-28T21:04:12.883Z,1761685452.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770919,0.628047,-0.106027],[-0.634689,0.771446,-0.045172],[0.053424,0.102118,0.993337]] 2025-10-28T21:04:12.909Z,1761685452.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322986 2025-10-28T21:04:13.161Z,1761685453.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575210 2025-10-28T21:04:13.286Z,1761685453.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767106,0.635720,-0.086069],[-0.637366,0.770492,0.010333],[0.072884,0.046931,0.996236]] 2025-10-28T21:04:13.413Z,1761685453.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826929 2025-10-28T21:04:13.665Z,1761685453.665 [DAT](INFO): Reached modem response timeout 2025-10-28T21:04:13.697Z,1761685453.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750768,0.660489,-0.010037],[-0.655170,0.746488,0.116226],[0.084259,-0.080683,0.993172]] 2025-10-28T21:04:14.095Z,1761685454.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746011,0.658524,0.099062],[-0.663789,0.723406,0.189914],[0.053400,-0.207434,0.976790]] 2025-10-28T21:04:14.499Z,1761685454.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748278,0.653615,0.113432],[-0.661104,0.720556,0.209141],[0.054964,-0.231486,0.971284]] 2025-10-28T21:04:14.903Z,1761685454.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728602,0.683890,0.037863],[-0.677445,0.711377,0.187112],[0.101029,-0.161981,0.981609]] 2025-10-28T21:04:15.309Z,1761685455.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738580,0.673524,-0.029415],[-0.666111,0.735785,0.122136],[0.103905,-0.070613,0.992077]] 2025-10-28T21:04:15.711Z,1761685455.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734390,0.672331,-0.092965],[-0.669501,0.740087,0.063562],[0.111536,0.015561,0.993639]] 2025-10-28T21:04:15.933Z,1761685455.933 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:04:15.933Z,1761685455.933 [DAT](INFO): response not received 2025-10-28T21:04:15.933Z,1761685455.933 [DAT](ERROR): No response from remote modem. 2025-10-28T21:04:16.520Z,1761685456.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743792,0.659954,-0.105992],[-0.658601,0.750670,0.052326],[0.114098,0.030887,0.992989]] 2025-10-28T21:04:16.923Z,1761685456.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727776,0.682420,-0.068152],[-0.684978,0.728198,-0.023081],[0.033877,0.063480,0.997408]] 2025-10-28T21:04:17.326Z,1761685457.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697723,0.716258,-0.012544],[-0.716368,0.697611,-0.012513],[-0.000212,0.017717,0.999843]] 2025-10-28T21:04:17.734Z,1761685457.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697915,0.713510,0.061792],[-0.716174,0.694938,0.064467],[0.003056,-0.089246,0.996005]] 2025-10-28T21:04:18.144Z,1761685458.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724694,0.672167,0.151689],[-0.686991,0.721872,0.083330],[-0.053488,-0.164597,0.984910]] 2025-10-28T21:04:18.151Z,1761685458.151 [NAL9602](INFO): SBD MO Status=1, MOMSN=3356, MT Status=0, MTMSN=0 2025-10-28T21:04:18.204Z,1761685458.204 [NAL9602](INFO): Sent 294 bytes from file Logs/20251028T162422/Express0053.lzma 2025-10-28T21:04:18.204Z,1761685458.204 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:04:18.539Z,1761685458.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734133,0.661270,0.154177],[-0.675499,0.734311,0.066995],[-0.068913,-0.153330,0.985769]] 2025-10-28T21:04:19.237Z,1761685459.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720175,0.691659,-0.054371],[-0.691349,0.722003,0.027362],[0.058181,0.017884,0.998146]] 2025-10-28T21:04:19.631Z,1761685459.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711075,0.702219,-0.035520],[-0.702976,0.711034,-0.015961],[0.014048,0.036319,0.999242]] 2025-10-28T21:04:20.034Z,1761685460.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722181,0.690456,-0.041527],[-0.690894,0.722939,0.004993],[0.033469,0.025085,0.999125]] 2025-10-28T21:04:20.438Z,1761685460.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715185,0.696962,-0.052487],[-0.693184,0.716911,0.074399],[0.089482,-0.016826,0.995846]] 2025-10-28T21:04:20.863Z,1761685460.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694600,0.719314,-0.010896],[-0.712289,0.689782,0.129788],[0.100874,-0.082390,0.991482]] 2025-10-28T21:04:20.896Z,1761685460.896 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateRudder:A] Stopped 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:04:20.897Z,1761685460.897 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateCommandMode] Stopped 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:04:20.898Z,1761685460.898 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:04:20.899Z,1761685460.899 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:04:20.899Z,1761685460.899 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:04:20.899Z,1761685460.899 [marl:UpdateSpeed] Stopped 2025-10-28T21:04:20.899Z,1761685460.899 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:04:21.246Z,1761685461.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679268,0.733485,0.024402],[-0.725986,0.666713,0.168636],[0.107423,-0.132265,0.985376]] 2025-10-28T21:04:21.279Z,1761685461.279 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:04:21.279Z,1761685461.279 [marl:UpdateRudder:B] Stopped 2025-10-28T21:04:21.280Z,1761685461.280 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:04:21.280Z,1761685461.280 [marl:UpdateRudder] Stopped 2025-10-28T21:04:21.280Z,1761685461.280 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:04:21.657Z,1761685461.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684415,0.728994,0.011962],[-0.719502,0.672669,0.172724],[0.117869,-0.126822,0.984898]] 2025-10-28T21:04:22.055Z,1761685462.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681176,0.732110,-0.003813],[-0.725933,0.676086,0.126206],[0.094975,-0.083201,0.991997]] 2025-10-28T21:04:22.460Z,1761685462.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668579,0.743639,0.001704],[-0.741617,0.666588,0.075271],[0.054838,-0.051588,0.997162]] 2025-10-28T21:04:22.862Z,1761685462.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675314,0.737403,-0.013710],[-0.735555,0.674748,0.060617],[0.053950,-0.030851,0.998067]] 2025-10-28T21:04:23.266Z,1761685463.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664398,0.744606,-0.064320],[-0.740746,0.667499,0.075760],[0.099345,-0.002690,0.995049]] 2025-10-28T21:04:23.675Z,1761685463.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654335,0.751588,-0.083433],[-0.744071,0.659590,0.106297],[0.134923,-0.007474,0.990828]] 2025-10-28T21:04:24.076Z,1761685464.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657003,0.750362,-0.072831],[-0.737817,0.659831,0.142303],[0.154835,-0.039757,0.987140]] 2025-10-28T21:04:24.479Z,1761685464.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640541,0.767603,-0.022226],[-0.760989,0.638371,0.115668],[0.102976,-0.057176,0.993039]] 2025-10-28T21:04:24.724Z,1761685464.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:04:24.883Z,1761685464.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602927,0.794973,0.067050],[-0.796681,0.595511,0.103278],[0.042174,-0.115687,0.992390]] 2025-10-28T21:04:25.287Z,1761685465.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598916,0.795029,0.096061],[-0.799625,0.587184,0.125755],[0.043574,-0.152130,0.987400]] 2025-10-28T21:04:25.697Z,1761685465.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622185,0.780911,0.055353],[-0.780699,0.613645,0.118101],[0.058259,-0.116694,0.991458]] 2025-10-28T21:04:25.729Z,1761685465.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:04:26.095Z,1761685466.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638215,0.769051,0.035248],[-0.769808,0.638029,0.017735],[-0.008850,-0.038453,0.999221]] 2025-10-28T21:04:26.499Z,1761685466.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612024,0.790508,0.022891],[-0.790643,0.612261,-0.004580],[-0.017636,-0.015295,0.999727]] 2025-10-28T21:04:26.904Z,1761685466.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573237,0.818854,0.029633],[-0.817795,0.569491,0.083019],[0.051104,-0.071823,0.996107]] 2025-10-28T21:04:27.307Z,1761685467.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583729,0.804413,0.110363],[-0.811879,0.576481,0.092314],[0.010637,-0.143488,0.989595]] 2025-10-28T21:04:27.711Z,1761685467.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608298,0.778385,0.155212],[-0.791711,0.608919,0.049111],[-0.056285,-0.152757,0.986660]] 2025-10-28T21:04:28.136Z,1761685468.136 [NAL9602](INFO): SBD MO Status=0, MOMSN=3357, MT Status=0, MTMSN=0 2025-10-28T21:04:28.247Z,1761685468.247 [marl:NeedComms:D] Stopped 2025-10-28T21:04:28.248Z,1761685468.248 [marl:NeedComms:E] Running Loop=1 2025-10-28T21:04:28.520Z,1761685468.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584847,0.810623,0.029066],[-0.809075,0.580424,0.092227],[0.057891,-0.077455,0.995314]] 2025-10-28T21:04:28.923Z,1761685468.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575318,0.817044,0.038060],[-0.816395,0.570767,0.087887],[0.050085,-0.081635,0.995403]] 2025-10-28T21:04:29.326Z,1761685469.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585616,0.810386,0.018122],[-0.805161,0.578966,0.128507],[0.093648,-0.089847,0.991543]] 2025-10-28T21:04:29.747Z,1761685469.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594955,0.803635,-0.014152],[-0.792468,0.589447,0.156675],[0.134251,-0.082000,0.987549]] 2025-10-28T21:04:30.143Z,1761685470.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575873,0.817517,0.005923],[-0.807924,0.567978,0.157032],[0.125012,-0.095215,0.987576]] 2025-10-28T21:04:30.538Z,1761685470.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572394,0.819779,0.018093],[-0.808645,0.560689,0.178105],[0.135862,-0.116577,0.983845]] 2025-10-28T21:04:30.543Z,1761685470.543 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210429.00,A,3645.53675,N,12151.70157,W,0.641,196.27,281025,,,A*70 2025-10-28T21:04:30.546Z,1761685470.546 [NAL9602](INFO): GPS fix at 20251028T210429: (36.758946, -121.861693) 2025-10-28T21:04:30.597Z,1761685470.597 [marl:NeedComms:E] Stopped 2025-10-28T21:04:30.598Z,1761685470.598 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T21:04:30.598Z,1761685470.598 [marl:NeedComms] Stopped 2025-10-28T21:04:30.598Z,1761685470.598 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T21:04:30.598Z,1761685470.598 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T21:04:30.598Z,1761685470.598 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T21:04:30.599Z,1761685470.599 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761685504.00. Resetting abort timer. 2025-10-28T21:04:30.943Z,1761685470.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574580,0.817680,0.035466],[-0.808998,0.560845,0.175999],[0.124019,-0.129817,0.983751]] 2025-10-28T21:04:31.348Z,1761685471.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559445,0.825745,0.071881],[-0.828391,0.554076,0.082271],[0.028107,-0.105571,0.994014]] 2025-10-28T21:04:31.826Z,1761685471.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577698,0.814436,0.054402],[-0.816199,0.577125,0.027301],[-0.009162,-0.060175,0.998146]] 2025-10-28T21:04:32.559Z,1761685472.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575208,0.817607,0.025600],[-0.817531,0.573524,0.052094],[0.027910,-0.050894,0.998314]] 2025-10-28T21:04:32.964Z,1761685472.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546726,0.834841,0.064274],[-0.837148,0.546524,0.022237],[-0.016563,-0.065965,0.997684]] 2025-10-28T21:04:33.367Z,1761685473.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543531,0.832708,0.105693],[-0.838085,0.545384,0.013049],[-0.046777,-0.095673,0.994313]] 2025-10-28T21:04:33.815Z,1761685473.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565771,0.820668,0.080045],[-0.824442,0.561358,0.071921],[0.014090,-0.106683,0.994193]] 2025-10-28T21:04:34.236Z,1761685474.236 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:04:34.236Z,1761685474.236 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:04:34.236Z,1761685474.236 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:04:34.236Z,1761685474.236 [marl:UpdateRudder:A] Stopped 2025-10-28T21:04:34.236Z,1761685474.236 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode] Stopped 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:04:34.237Z,1761685474.237 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed] Stopped 2025-10-28T21:04:34.238Z,1761685474.238 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:04:34.581Z,1761685474.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526838,0.846464,0.077073],[-0.849289,0.520633,0.087460],[0.033905,-0.111534,0.993182]] 2025-10-28T21:04:34.614Z,1761685474.614 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:04:34.615Z,1761685474.615 [marl:UpdateRudder:B] Stopped 2025-10-28T21:04:34.615Z,1761685474.615 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:04:34.615Z,1761685474.615 [marl:UpdateRudder] Stopped 2025-10-28T21:04:34.615Z,1761685474.615 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:04:35.041Z,1761685475.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551222,0.822474,0.140321],[-0.833737,0.536473,0.130691],[0.032211,-0.189031,0.981443]] 2025-10-28T21:04:35.668Z,1761685475.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588105,0.801194,0.110549],[-0.807931,0.575693,0.125798],[0.037146,-0.163298,0.985877]] 2025-10-28T21:04:36.279Z,1761685476.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532164,0.839855,0.106976],[-0.843860,0.515933,0.147353],[0.068563,-0.168689,0.983282]] 2025-10-28T21:04:37.066Z,1761685477.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531092,0.797686,0.285723],[-0.836182,0.547900,0.024629],[-0.136901,-0.251997,0.957996]] 2025-10-28T21:04:37.472Z,1761685477.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573998,0.793808,0.200983],[-0.817891,0.567702,0.093646],[-0.039762,-0.218135,0.975108]] 2025-10-28T21:04:37.874Z,1761685477.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590306,0.806498,0.033170],[-0.804233,0.584146,0.109468],[0.068910,-0.091296,0.993437]] 2025-10-28T21:04:38.278Z,1761685478.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549420,0.835492,-0.009512],[-0.831900,0.548049,0.087086],[0.077972,-0.039933,0.996155]] 2025-10-28T21:04:38.709Z,1761685478.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530285,0.847092,0.035121],[-0.844407,0.523983,0.111441],[0.075998,-0.088752,0.993150]] 2025-10-28T21:04:39.178Z,1761685479.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570006,0.805182,0.163631],[-0.821567,0.561197,0.100426],[-0.010968,-0.191677,0.981397]] 2025-10-28T21:04:39.619Z,1761685479.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574624,0.783906,0.235158],[-0.815496,0.572684,0.083661],[-0.069089,-0.239844,0.968350]] 2025-10-28T21:04:40.592Z,1761685480.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593752,0.781187,0.192889],[-0.802177,0.555894,0.217932],[0.063020,-0.284129,0.956713]] 2025-10-28T21:04:40.997Z,1761685480.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623094,0.754000,0.207937],[-0.780408,0.581614,0.229540],[0.052134,-0.305301,0.950828]] 2025-10-28T21:04:41.404Z,1761685481.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610703,0.763133,0.211352],[-0.791838,0.586558,0.170126],[0.005859,-0.271253,0.962490]] 2025-10-28T21:04:41.831Z,1761685481.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618772,0.783108,0.062148],[-0.785363,0.614852,0.071843],[0.018050,-0.093263,0.995478]] 2025-10-28T21:04:42.629Z,1761685482.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650506,0.758576,0.037463],[-0.759074,0.647698,0.065525],[0.025441,-0.071061,0.997147]] 2025-10-28T21:04:43.429Z,1761685483.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632429,0.760245,0.148530],[-0.774453,0.616609,0.141477],[0.015972,-0.204504,0.978735]] 2025-10-28T21:04:43.830Z,1761685483.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651615,0.732685,0.196392],[-0.758452,0.633478,0.153157],[-0.012194,-0.248753,0.968490]] 2025-10-28T21:04:44.233Z,1761685484.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677923,0.724847,0.122543],[-0.734729,0.662549,0.145612],[0.024356,-0.188749,0.981723]] 2025-10-28T21:04:45.045Z,1761685485.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665163,0.745508,0.042140],[-0.743068,0.655315,0.135690],[0.073543,-0.121569,0.989855]] 2025-10-28T21:04:45.455Z,1761685485.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650042,0.758234,0.050269],[-0.755733,0.638145,0.147102],[0.079459,-0.133612,0.987843]] 2025-10-28T21:04:45.902Z,1761685485.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631160,0.766294,0.120127],[-0.775316,0.618712,0.126809],[0.022849,-0.173173,0.984626]] 2025-10-28T21:04:46.251Z,1761685486.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644359,0.747835,0.159826],[-0.764139,0.637814,0.096359],[-0.029879,-0.184220,0.982431]] 2025-10-28T21:04:47.058Z,1761685487.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665650,0.745351,0.036901],[-0.743521,0.658156,0.118353],[0.063928,-0.106218,0.992286]] 2025-10-28T21:04:47.467Z,1761685487.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669122,0.741126,0.054842],[-0.741702,0.661388,0.111553],[0.046402,-0.115319,0.992244]] 2025-10-28T21:04:47.941Z,1761685487.941 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateRudder:A] Stopped 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:04:47.942Z,1761685487.942 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateCommandMode] Stopped 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:04:47.943Z,1761685487.943 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:04:47.944Z,1761685487.944 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:04:47.945Z,1761685487.945 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:04:47.945Z,1761685487.945 [marl:UpdateSpeed] Stopped 2025-10-28T21:04:47.945Z,1761685487.945 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:04:48.269Z,1761685488.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671689,0.734617,0.095767],[-0.738645,0.654157,0.162737],[0.056903,-0.180046,0.982011]] 2025-10-28T21:04:48.302Z,1761685488.302 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:04:48.302Z,1761685488.302 [marl:UpdateRudder:B] Stopped 2025-10-28T21:04:48.302Z,1761685488.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:04:48.302Z,1761685488.302 [marl:UpdateRudder] Stopped 2025-10-28T21:04:48.303Z,1761685488.303 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:04:49.085Z,1761685489.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666962,0.741535,0.072722],[-0.740701,0.649285,0.172599],[0.080771,-0.168982,0.982304]] 2025-10-28T21:04:49.506Z,1761685489.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661448,0.748833,0.041664],[-0.735856,0.637245,0.228986],[0.144922,-0.182121,0.972538]] 2025-10-28T21:04:49.883Z,1761685489.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676367,0.727075,0.117860],[-0.733061,0.648886,0.203881],[0.071759,-0.224297,0.971875]] 2025-10-28T21:04:50.300Z,1761685490.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661236,0.726468,0.187113],[-0.749153,0.652494,0.114108],[-0.039194,-0.215629,0.975688]] 2025-10-28T21:04:50.703Z,1761685490.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654102,0.743022,0.141669],[-0.756341,0.644944,0.109528],[-0.009987,-0.178792,0.983836]] 2025-10-28T21:04:51.129Z,1761685491.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685926,0.721869,0.091706],[-0.727431,0.676994,0.111911],[0.018701,-0.143472,0.989478]] 2025-10-28T21:04:51.511Z,1761685491.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682365,0.724567,0.096854],[-0.730988,0.677400,0.082376],[-0.005922,-0.127009,0.991884]] 2025-10-28T21:04:51.923Z,1761685491.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675426,0.730087,0.103794],[-0.737298,0.671226,0.076464],[-0.013843,-0.128173,0.991655]] 2025-10-28T21:04:52.715Z,1761685492.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674139,0.738597,-0.003285],[-0.719930,0.658082,0.220519],[0.165036,-0.146295,0.975377]] 2025-10-28T21:04:53.126Z,1761685493.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680163,0.732947,0.012902],[-0.712733,0.657083,0.245467],[0.171437,-0.176154,0.969319]] 2025-10-28T21:04:53.522Z,1761685493.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680240,0.732807,0.016367],[-0.715669,0.659174,0.230885],[0.158406,-0.168771,0.972843]] 2025-10-28T21:04:53.930Z,1761685493.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680556,0.731178,0.047141],[-0.722928,0.659622,0.205607],[0.119240,-0.174007,0.977499]] 2025-10-28T21:04:54.329Z,1761685494.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670915,0.740171,0.044944],[-0.729130,0.647439,0.221793],[0.135067,-0.181574,0.974057]] 2025-10-28T21:04:54.734Z,1761685494.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646652,0.762279,0.027790],[-0.741362,0.619499,0.258075],[0.179510,-0.187487,0.965725]] 2025-10-28T21:04:55.137Z,1761685495.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649535,0.759588,0.033600],[-0.739056,0.620363,0.262577],[0.178606,-0.195386,0.964326]] 2025-10-28T21:04:55.540Z,1761685495.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638312,0.767234,0.062534],[-0.760299,0.615657,0.207152],[0.120435,-0.179773,0.976308]] 2025-10-28T21:04:55.848Z,1761685495.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:04:55.957Z,1761685495.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631414,0.770291,0.089263],[-0.772387,0.614529,0.160538],[0.068806,-0.170312,0.982985]] 2025-10-28T21:04:56.359Z,1761685496.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609712,0.790626,0.056231],[-0.788935,0.598511,0.139161],[0.076369,-0.129210,0.988672]] 2025-10-28T21:04:56.770Z,1761685496.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594540,0.798451,0.094855],[-0.803739,0.586783,0.098435],[0.022936,-0.134762,0.990613]] 2025-10-28T21:04:56.852Z,1761685496.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:04:57.167Z,1761685497.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599338,0.797052,0.074176],[-0.798805,0.589480,0.120102],[0.052002,-0.131234,0.989987]] 2025-10-28T21:04:57.571Z,1761685497.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587164,0.807021,0.062893],[-0.807319,0.578177,0.118098],[0.058945,-0.120117,0.991008]] 2025-10-28T21:04:57.984Z,1761685497.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583205,0.810311,0.057174],[-0.810661,0.576065,0.104772],[0.051962,-0.107452,0.992851]] 2025-10-28T21:04:58.380Z,1761685498.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563842,0.825805,-0.011272],[-0.812663,0.557198,0.170618],[0.147178,-0.087041,0.985273]] 2025-10-28T21:04:58.789Z,1761685498.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548122,0.836174,-0.019374],[-0.808016,0.535363,0.245962],[0.216039,-0.119163,0.969086]] 2025-10-28T21:04:59.187Z,1761685499.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553181,0.832822,0.019936],[-0.800193,0.524548,0.290760],[0.231694,-0.176796,0.956588]] 2025-10-28T21:04:59.607Z,1761685499.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523089,0.850925,0.048011],[-0.810996,0.479641,0.335009],[0.262039,-0.214176,0.940991]] 2025-10-28T21:05:00.030Z,1761685500.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514417,0.854187,0.075760],[-0.811228,0.456093,0.365907],[0.277999,-0.249688,0.927563]] 2025-10-28T21:05:00.434Z,1761685500.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505723,0.861141,0.051778],[-0.810263,0.453525,0.371200],[0.296173,-0.229678,0.927108]] 2025-10-28T21:05:00.837Z,1761685500.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480229,0.876664,-0.028975],[-0.805610,0.453891,0.380758],[0.346948,-0.159508,0.924221]] 2025-10-28T21:05:00.902Z,1761685500.902 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:05:00.902Z,1761685500.902 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateRudder:A] Stopped 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:05:00.903Z,1761685500.903 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:05:00.904Z,1761685500.904 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateCommandMode] Stopped 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:05:00.908Z,1761685500.908 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:05:00.909Z,1761685500.909 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:05:00.909Z,1761685500.909 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:05:00.909Z,1761685500.909 [marl:UpdateSpeed] Stopped 2025-10-28T21:05:00.909Z,1761685500.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:05:01.239Z,1761685501.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460955,0.887381,-0.008658],[-0.826028,0.432610,0.361283],[0.324342,-0.159383,0.932416]] 2025-10-28T21:05:01.267Z,1761685501.267 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:05:01.267Z,1761685501.267 [marl:UpdateRudder:B] Stopped 2025-10-28T21:05:01.267Z,1761685501.267 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:05:01.268Z,1761685501.268 [marl:UpdateRudder] Stopped 2025-10-28T21:05:01.268Z,1761685501.268 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:05:01.643Z,1761685501.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461183,0.887145,0.016871],[-0.831620,0.425532,0.356835],[0.309385,-0.178596,0.934015]] 2025-10-28T21:05:02.048Z,1761685502.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438730,0.898438,-0.018030],[-0.825114,0.410709,0.387950],[0.355954,-0.155329,0.921504]] 2025-10-28T21:05:02.453Z,1761685502.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428144,0.903682,0.007211],[-0.808119,0.379273,0.450662],[0.404520,-0.198776,0.892666]] 2025-10-28T21:05:02.456Z,1761685502.456 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T21:05:03.260Z,1761685503.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426294,0.893123,0.143542],[-0.833946,0.326550,0.444859],[0.350440,-0.309347,0.884023]] 2025-10-28T21:05:03.294Z,1761685503.294 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:05:03.329Z,1761685503.329 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:05:03.329Z,1761685503.329 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:05:03.582Z,1761685503.582 [DAT](INFO): DAT read: user:285> 2025-10-28T21:05:03.583Z,1761685503.583 [DAT](INFO): DAT read: Tx time:21:05:03.3084 2025-10-28T21:05:03.584Z,1761685503.584 [DAT](INFO): Ping request sent. 2025-10-28T21:05:03.584Z,1761685503.584 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:05:03.584Z,1761685503.584 [DAT](INFO): publishing transmit ping time 2025-10-28T21:05:03.585Z,1761685503.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001885 2025-10-28T21:05:03.675Z,1761685503.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427993,0.892746,0.140808],[-0.838685,0.334258,0.429975],[0.336792,-0.302120,0.891793]] 2025-10-28T21:05:03.833Z,1761685503.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249616 2025-10-28T21:05:04.067Z,1761685504.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428646,0.897337,0.105113],[-0.832559,0.347137,0.431673],[0.350867,-0.272547,0.895885]] 2025-10-28T21:05:04.087Z,1761685504.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503101 2025-10-28T21:05:04.337Z,1761685504.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753418 2025-10-28T21:05:04.471Z,1761685504.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430392,0.899987,0.069185],[-0.825267,0.361293,0.434053],[0.365645,-0.243909,0.898227]] 2025-10-28T21:05:04.590Z,1761685504.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006475 2025-10-28T21:05:04.841Z,1761685504.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257361 2025-10-28T21:05:04.881Z,1761685504.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425639,0.903174,0.055750],[-0.821515,0.359855,0.442287],[0.379400,-0.234054,0.895139]] 2025-10-28T21:05:05.094Z,1761685505.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509870 2025-10-28T21:05:05.283Z,1761685505.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409348,0.912046,0.024646],[-0.819152,0.355491,0.450129],[0.401776,-0.204448,0.892623]] 2025-10-28T21:05:05.345Z,1761685505.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761406 2025-10-28T21:05:05.599Z,1761685505.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015362 2025-10-28T21:05:05.683Z,1761685505.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410554,0.911767,0.011215],[-0.820926,0.364239,0.439785],[0.396896,-0.189762,0.898033]] 2025-10-28T21:05:05.849Z,1761685505.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265467 2025-10-28T21:05:06.097Z,1761685506.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410832,0.911587,0.015055],[-0.822061,0.363243,0.438486],[0.394249,-0.192520,0.898612]] 2025-10-28T21:05:06.101Z,1761685506.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517410 2025-10-28T21:05:06.353Z,1761685506.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769331 2025-10-28T21:05:06.496Z,1761685506.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411692,0.911259,0.010781],[-0.818533,0.364547,0.443971],[0.400642,-0.191604,0.895976]] 2025-10-28T21:05:06.605Z,1761685506.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021452 2025-10-28T21:05:06.857Z,1761685506.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273307 2025-10-28T21:05:06.901Z,1761685506.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407514,0.913160,0.008447],[-0.817512,0.360676,0.448985],[0.406948,-0.189873,0.893500]] 2025-10-28T21:05:07.110Z,1761685507.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525974 2025-10-28T21:05:07.299Z,1761685507.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399516,0.916670,0.010176],[-0.819526,0.352158,0.452063],[0.410809,-0.188946,0.891928]] 2025-10-28T21:05:07.374Z,1761685507.374 [DAT](INFO): DAT read: Rx Time:21:05:06.6943 2025-10-28T21:05:07.374Z,1761685507.374 [DAT](INFO): Rx dataTimestamp_ set to:1761685507.373944 2025-10-28T21:05:07.375Z,1761685507.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791217 2025-10-28T21:05:07.625Z,1761685507.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041320 2025-10-28T21:05:07.703Z,1761685507.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399704,0.916047,0.033083],[-0.821554,0.341999,0.456164],[0.406553,-0.209510,0.889281]] 2025-10-28T21:05:07.886Z,1761685507.886 [DAT](INFO): DAT read: 21:05:06.6943 LVL= 23008, 32753, 32754, 32755, AGC= 75, IDX= 79, 0.31,-3.081, 1.362, 2.161, 2.488, PHS= 0.816,-1.081,-0.372, RAW= 111.7, 7.7, CAL= 113.2, 8.7, ROT= 36.8, -8.7 2025-10-28T21:05:07.887Z,1761685507.887 [DAT](INFO): got valid direction response: 21:05:06.6943 LVL= 23008, 32753, 32754, 32755, AGC= 75, IDX= 79, 0.31,-3.081, 1.362, 2.161, 2.488, PHS= 0.816,-1.081,-0.372, RAW= 111.7, 7.7, CAL= 113.2, 8.7, ROT= 36.8, -8.7 2025-10-28T21:05:07.889Z,1761685507.889 [DAT](INFO): DAT read: Bearing 130.9, 54.6 (Local) 2025-10-28T21:05:07.889Z,1761685507.889 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, 54.6 (Local) 2025-10-28T21:05:07.890Z,1761685507.890 [DAT](INFO): DAT read: Range 11 to 20 : 736.2 m (Round-trip 981.7 ms) speed -0.2 m/s 2025-10-28T21:05:07.891Z,1761685507.891 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:05:07.892Z,1761685507.892 [DAT](INFO): direction in FSK: [0.791518,0.592131,0.151261] 2025-10-28T21:05:07.892Z,1761685507.892 [DAT](INFO): publishing direction and range info 2025-10-28T21:05:08.109Z,1761685508.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408924,0.910310,0.064162],[-0.820623,0.336057,0.462216],[0.399198,-0.241664,0.884443]] 2025-10-28T21:05:08.180Z,1761685508.180 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685504.00. Resetting abort timer. 2025-10-28T21:05:08.916Z,1761685508.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423055,0.903316,0.071018],[-0.819967,0.348307,0.454243],[0.385589,-0.250403,0.888042]] 2025-10-28T21:05:09.728Z,1761685509.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430174,0.901872,0.039722],[-0.821585,0.372886,0.431224],[0.374098,-0.218136,0.901370]] 2025-10-28T21:05:10.129Z,1761685510.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433971,0.900626,0.023290],[-0.818969,0.383587,0.426791],[0.375445,-0.204288,0.904050]] 2025-10-28T21:05:10.534Z,1761685510.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441798,0.897067,0.009167],[-0.816210,0.397694,0.419096],[0.372311,-0.192638,0.907896]] 2025-10-28T21:05:10.935Z,1761685510.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449372,0.893341,0.002671],[-0.816833,0.409673,0.406144],[0.361730,-0.184692,0.913805]] 2025-10-28T21:05:11.340Z,1761685511.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453356,0.891329,-0.000253],[-0.819698,0.417034,0.392656],[0.350091,-0.177806,0.919686]] 2025-10-28T21:05:11.766Z,1761685511.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454933,0.890524,0.001538],[-0.823125,0.419841,0.382360],[0.339856,-0.175214,0.924012]] 2025-10-28T21:05:12.147Z,1761685512.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455196,0.890361,0.007337],[-0.827427,0.419949,0.372836],[0.328877,-0.175785,0.927868]] 2025-10-28T21:05:12.554Z,1761685512.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452950,0.891460,0.011649],[-0.831992,0.417967,0.364820],[0.320354,-0.174937,0.931005]] 2025-10-28T21:05:13.359Z,1761685513.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441600,0.896686,0.030712],[-0.837343,0.399597,0.373067],[0.322252,-0.190463,0.927296]] 2025-10-28T21:05:13.809Z,1761685513.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437162,0.898179,0.046516],[-0.840861,0.389818,0.375492],[0.319126,-0.203264,0.925658]] 2025-10-28T21:05:14.167Z,1761685514.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434548,0.898957,0.055170],[-0.845476,0.386053,0.368962],[0.310383,-0.206977,0.927806]] 2025-10-28T21:05:14.214Z,1761685514.214 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateRudder:A] Stopped 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:05:14.215Z,1761685514.215 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateCommandMode] Stopped 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:05:14.220Z,1761685514.220 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:05:14.221Z,1761685514.221 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:05:14.221Z,1761685514.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:05:14.221Z,1761685514.221 [marl:UpdateSpeed] Stopped 2025-10-28T21:05:14.221Z,1761685514.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:05:14.587Z,1761685514.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432733,0.899756,0.056412],[-0.848673,0.385457,0.362184],[0.304133,-0.204604,0.930398]] 2025-10-28T21:05:14.629Z,1761685514.629 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:05:14.629Z,1761685514.629 [marl:UpdateRudder:B] Stopped 2025-10-28T21:05:14.629Z,1761685514.629 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:05:14.629Z,1761685514.629 [marl:UpdateRudder] Stopped 2025-10-28T21:05:14.629Z,1761685514.629 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:05:14.975Z,1761685514.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431923,0.900604,0.048518],[-0.848656,0.387621,0.359906],[0.305327,-0.196627,0.931726]] 2025-10-28T21:05:15.379Z,1761685515.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431826,0.901140,0.038373],[-0.846053,0.389949,0.363502],[0.312603,-0.189435,0.930803]] 2025-10-28T21:05:15.812Z,1761685515.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431659,0.901397,0.033970],[-0.843242,0.389864,0.370066],[0.320333,-0.188387,0.928384]] 2025-10-28T21:05:16.188Z,1761685516.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431799,0.901082,0.040003],[-0.842703,0.387218,0.374051],[0.321561,-0.195225,0.926545]] 2025-10-28T21:05:16.604Z,1761685516.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434567,0.898774,0.057937],[-0.844598,0.384345,0.372738],[0.312739,-0.210913,0.926126]] 2025-10-28T21:05:16.995Z,1761685516.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441768,0.893887,0.076202],[-0.846937,0.387532,0.364028],[0.295869,-0.225355,0.928265]] 2025-10-28T21:05:17.399Z,1761685517.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450368,0.888743,0.085466],[-0.848389,0.396151,0.351142],[0.278218,-0.230652,0.932413]] 2025-10-28T21:05:17.849Z,1761685517.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450497,0.888742,0.084791],[-0.851388,0.399086,0.340395],[0.268685,-0.225537,0.936452]] 2025-10-28T21:05:18.298Z,1761685518.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448723,0.889407,0.087190],[-0.856272,0.399966,0.326841],[0.255822,-0.221320,0.941049]] 2025-10-28T21:05:18.699Z,1761685518.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449894,0.888324,0.092065],[-0.858324,0.401602,0.319367],[0.246728,-0.222702,0.943148]] 2025-10-28T21:05:19.108Z,1761685519.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450070,0.887691,0.097165],[-0.861571,0.403045,0.308626],[0.234803,-0.222618,0.946208]] 2025-10-28T21:05:19.508Z,1761685519.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446869,0.888994,0.099992],[-0.866346,0.402176,0.296139],[0.223051,-0.218963,0.949896]] 2025-10-28T21:05:19.911Z,1761685519.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441043,0.891982,0.099244],[-0.871659,0.399387,0.284077],[0.213755,-0.211797,0.953651]] 2025-10-28T21:05:20.315Z,1761685520.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434616,0.895204,0.098588],[-0.876558,0.395331,0.274515],[0.206772,-0.205727,0.956516]] 2025-10-28T21:05:20.719Z,1761685520.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428463,0.897846,0.101453],[-0.881190,0.390384,0.266653],[0.199808,-0.203650,0.958438]] 2025-10-28T21:05:21.130Z,1761685521.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422658,0.900143,0.105370],[-0.885882,0.385806,0.257617],[0.191240,-0.202230,0.960485]] 2025-10-28T21:05:21.528Z,1761685521.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416758,0.902361,0.109807],[-0.890419,0.380930,0.249092],[0.182942,-0.201585,0.962235]] 2025-10-28T21:05:21.930Z,1761685521.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410216,0.905158,0.111406],[-0.894468,0.375493,0.242759],[0.177903,-0.199233,0.963669]] 2025-10-28T21:05:22.337Z,1761685522.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406056,0.906838,0.112975],[-0.896729,0.371576,0.240435],[0.176057,-0.198938,0.964068]] 2025-10-28T21:05:22.738Z,1761685522.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406184,0.906305,0.116733],[-0.897069,0.371156,0.239812],[0.174017,-0.202125,0.963776]] 2025-10-28T21:05:23.146Z,1761685523.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408638,0.904659,0.120859],[-0.896680,0.373233,0.238037],[0.170234,-0.205643,0.963707]] 2025-10-28T21:05:23.551Z,1761685523.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410939,0.902828,0.126608],[-0.896738,0.375269,0.234591],[0.164284,-0.209937,0.963814]] 2025-10-28T21:05:23.951Z,1761685523.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413406,0.900559,0.134497],[-0.897144,0.377602,0.229236],[0.155654,-0.215431,0.964034]] 2025-10-28T21:05:24.356Z,1761685524.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415351,0.898190,0.144007],[-0.897918,0.379465,0.223046],[0.145692,-0.221949,0.964112]] 2025-10-28T21:05:24.762Z,1761685524.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414432,0.897315,0.151894],[-0.899657,0.378750,0.217176],[0.137345,-0.226657,0.964242]] 2025-10-28T21:05:25.163Z,1761685525.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413175,0.897159,0.156179],[-0.901213,0.378206,0.211600],[0.130772,-0.228178,0.964797]] 2025-10-28T21:05:25.574Z,1761685525.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413276,0.897057,0.156495],[-0.901852,0.379441,0.206612],[0.125962,-0.226523,0.965826]] 2025-10-28T21:05:25.974Z,1761685525.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414948,0.896463,0.155474],[-0.901546,0.382089,0.203032],[0.122605,-0.224415,0.966750]] 2025-10-28T21:05:26.374Z,1761685526.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416739,0.895661,0.155308],[-0.901073,0.384468,0.200627],[0.119983,-0.223553,0.967279]] 2025-10-28T21:05:26.783Z,1761685526.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418903,0.893954,0.159267],[-0.900551,0.386544,0.198976],[0.116312,-0.226780,0.966976]] 2025-10-28T21:05:26.972Z,1761685526.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:05:27.187Z,1761685527.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420634,0.891875,0.166213],[-0.900567,0.388314,0.195425],[0.109752,-0.231888,0.966531]] 2025-10-28T21:05:27.227Z,1761685527.227 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:05:27.227Z,1761685527.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:05:27.227Z,1761685527.227 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:05:27.232Z,1761685527.232 [marl:UpdateRudder:A] Stopped 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:05:27.233Z,1761685527.233 [marl:UpdateCommandMode] Stopped 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed] Stopped 2025-10-28T21:05:27.234Z,1761685527.234 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:05:27.586Z,1761685527.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420832,0.889797,0.176527],[-0.901665,0.388950,0.188993],[0.099505,-0.238703,0.965981]] 2025-10-28T21:05:27.619Z,1761685527.619 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:05:27.619Z,1761685527.619 [marl:UpdateRudder:B] Stopped 2025-10-28T21:05:27.619Z,1761685527.619 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:05:27.619Z,1761685527.619 [marl:UpdateRudder] Stopped 2025-10-28T21:05:27.619Z,1761685527.619 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:05:27.976Z,1761685527.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:05:27.992Z,1761685527.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420119,0.888528,0.184442],[-0.903390,0.390251,0.177738],[0.085946,-0.241294,0.966639]] 2025-10-28T21:05:28.395Z,1761685528.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419012,0.888632,0.186446],[-0.905215,0.392818,0.162111],[0.070818,-0.236700,0.968998]] 2025-10-28T21:05:28.802Z,1761685528.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417401,0.890216,0.182462],[-0.906958,0.395601,0.144660],[0.056597,-0.225867,0.972513]] 2025-10-28T21:05:29.203Z,1761685529.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415234,0.892802,0.174598],[-0.908620,0.397613,0.127723],[0.044609,-0.211678,0.976321]] 2025-10-28T21:05:29.607Z,1761685529.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412291,0.895747,0.166293],[-0.910329,0.397773,0.114357],[0.036288,-0.198530,0.979423]] 2025-10-28T21:05:30.011Z,1761685530.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409126,0.898935,0.156627],[-0.911888,0.396622,0.105599],[0.032804,-0.186030,0.981996]] 2025-10-28T21:05:30.417Z,1761685530.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408102,0.902009,0.140826],[-0.912297,0.397161,0.099888],[0.034170,-0.169239,0.984982]] 2025-10-28T21:05:30.819Z,1761685530.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412873,0.903148,0.117729],[-0.910008,0.403707,0.094372],[0.037703,-0.146098,0.988551]] 2025-10-28T21:05:31.222Z,1761685531.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427861,0.899438,0.089146],[-0.903034,0.421216,0.084302],[0.038275,-0.116571,0.992445]] 2025-10-28T21:05:31.626Z,1761685531.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447814,0.891997,0.061676],[-0.893427,0.443670,0.070317],[0.035359,-0.086592,0.995616]] 2025-10-28T21:05:32.036Z,1761685532.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467081,0.883283,0.040582],[-0.883653,0.464657,0.057013],[0.031502,-0.062490,0.997548]] 2025-10-28T21:05:32.435Z,1761685532.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484975,0.874212,0.023513],[-0.874064,0.483667,0.045577],[0.028472,-0.042655,0.998684]] 2025-10-28T21:05:32.839Z,1761685532.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501389,0.865132,0.012464],[-0.864818,0.500663,0.037777],[0.026442,-0.029720,0.999209]] 2025-10-28T21:05:33.251Z,1761685533.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515854,0.856658,0.005707],[-0.856352,0.515463,0.030960],[0.023581,-0.020859,0.999504]] 2025-10-28T21:05:33.647Z,1761685533.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528530,0.848906,0.003937],[-0.848699,0.528285,0.024993],[0.019137,-0.016551,0.999680]] 2025-10-28T21:05:34.058Z,1761685534.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539553,0.841943,0.003715],[-0.841819,0.539385,0.020108],[0.014926,-0.013976,0.999791]] 2025-10-28T21:05:34.455Z,1761685534.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549865,0.835254,0.000473],[-0.835143,0.549782,0.016615],[0.013618,-0.009531,0.999862]] 2025-10-28T21:05:34.860Z,1761685534.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561764,0.827283,-0.004886],[-0.827150,0.561765,0.015599],[0.015649,-0.004722,0.999866]] 2025-10-28T21:05:35.262Z,1761685535.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576124,0.817295,-0.010501],[-0.817146,0.576220,0.015612],[0.018811,-0.000414,0.999823]] 2025-10-28T21:05:35.668Z,1761685535.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592561,0.805393,-0.014608],[-0.805268,0.592733,0.014546],[0.020374,0.003144,0.999788]] 2025-10-28T21:05:36.072Z,1761685536.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608536,0.793375,-0.015499],[-0.793279,0.608718,0.013077],[0.019810,0.004337,0.999794]] 2025-10-28T21:05:36.476Z,1761685536.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621303,0.783443,-0.014150],[-0.783360,0.621453,0.011990],[0.018187,0.003635,0.999828]] 2025-10-28T21:05:36.879Z,1761685536.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631713,0.775120,-0.011317],[-0.775025,0.631814,0.012156],[0.016573,0.001092,0.999862]] 2025-10-28T21:05:37.283Z,1761685537.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641330,0.767209,-0.009302],[-0.767107,0.641397,0.012523],[0.015574,-0.000896,0.999878]] 2025-10-28T21:05:37.687Z,1761685537.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650235,0.759698,-0.007290],[-0.759576,0.650266,0.014079],[0.015436,-0.003617,0.999874]] 2025-10-28T21:05:38.097Z,1761685538.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658213,0.752816,-0.004888],[-0.752680,0.658197,0.015799],[0.015111,-0.006720,0.999863]] 2025-10-28T21:05:38.495Z,1761685538.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666744,0.745285,-0.001412],[-0.745154,0.666660,0.017590],[0.014051,-0.010676,0.999844]] 2025-10-28T21:05:38.899Z,1761685538.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676467,0.736471,0.001543],[-0.736366,0.676333,0.018414],[0.012518,-0.013593,0.999829]] 2025-10-28T21:05:39.305Z,1761685539.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686940,0.726714,-0.000033],[-0.726609,0.686842,0.016958],[0.012346,-0.011626,0.999856]] 2025-10-28T21:05:39.708Z,1761685539.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698148,0.715937,-0.004742],[-0.715804,0.698123,0.015792],[0.014616,-0.007631,0.999864]] 2025-10-28T21:05:40.114Z,1761685540.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710532,0.703549,-0.012751],[-0.703403,0.710646,0.014359],[0.019164,-0.001233,0.999816]] 2025-10-28T21:05:40.171Z,1761685540.171 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:05:40.171Z,1761685540.171 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:05:40.171Z,1761685540.171 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:05:40.172Z,1761685540.172 [marl:UpdateRudder:A] Stopped 2025-10-28T21:05:40.172Z,1761685540.172 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:05:40.172Z,1761685540.172 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:05:40.172Z,1761685540.172 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:05:40.172Z,1761685540.172 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateCommandMode] Stopped 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:05:40.173Z,1761685540.173 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:05:40.174Z,1761685540.174 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:05:40.174Z,1761685540.174 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:05:40.174Z,1761685540.174 [marl:UpdateSpeed] Stopped 2025-10-28T21:05:40.174Z,1761685540.174 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:05:40.515Z,1761685540.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722864,0.690671,-0.020987],[-0.690578,0.723149,0.012582],[0.023866,0.005398,0.999701]] 2025-10-28T21:05:40.580Z,1761685540.580 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:05:40.580Z,1761685540.580 [marl:UpdateRudder:B] Stopped 2025-10-28T21:05:40.580Z,1761685540.580 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:05:40.580Z,1761685540.580 [marl:UpdateRudder] Stopped 2025-10-28T21:05:40.581Z,1761685540.581 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:05:40.931Z,1761685540.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735260,0.677339,-0.024572],[-0.677292,0.735625,0.011471],[0.025846,0.008208,0.999632]] 2025-10-28T21:05:41.323Z,1761685541.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748681,0.662611,-0.020591],[-0.662538,0.748945,0.011145],[0.022806,0.005298,0.999726]] 2025-10-28T21:05:41.731Z,1761685541.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763357,0.645881,-0.011148],[-0.645773,0.763436,0.011941],[0.016223,-0.001916,0.999867]] 2025-10-28T21:05:42.149Z,1761685542.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774577,0.632459,-0.005048],[-0.632345,0.774553,0.014390],[0.013011,-0.007954,0.999884]] 2025-10-28T21:05:42.545Z,1761685542.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784655,0.619927,-0.002676],[-0.619808,0.784576,0.016696],[0.012450,-0.011442,0.999857]] 2025-10-28T21:05:42.940Z,1761685542.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794316,0.607495,-0.003464],[-0.607366,0.794243,0.016862],[0.012995,-0.011290,0.999852]] 2025-10-28T21:05:43.343Z,1761685543.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803344,0.595495,-0.005038],[-0.595361,0.803299,0.016000],[0.013575,-0.009854,0.999859]] 2025-10-28T21:05:43.774Z,1761685543.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811471,0.584364,-0.005749],[-0.584234,0.811441,0.015311],[0.013612,-0.009066,0.999866]] 2025-10-28T21:05:44.151Z,1761685544.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818460,0.574548,-0.004281],[-0.574407,0.818387,0.017280],[0.013431,-0.011684,0.999842]] 2025-10-28T21:05:44.558Z,1761685544.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824919,0.565247,-0.002134],[-0.565099,0.824779,0.020072],[0.013106,-0.015352,0.999796]] 2025-10-28T21:05:44.959Z,1761685544.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831294,0.555833,-0.000552],[-0.555683,0.831092,0.022409],[0.012914,-0.018322,0.999749]] 2025-10-28T21:05:45.363Z,1761685545.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837526,0.546398,-0.000615],[-0.546243,0.837314,0.022862],[0.013007,-0.018812,0.999738]] 2025-10-28T21:05:45.808Z,1761685545.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843878,0.536528,-0.002810],[-0.536355,0.843718,0.021544],[0.013930,-0.016673,0.999764]] 2025-10-28T21:05:46.173Z,1761685546.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851464,0.524383,-0.005550],[-0.524199,0.851372,0.019544],[0.014974,-0.013731,0.999794]] 2025-10-28T21:05:46.577Z,1761685546.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860520,0.509355,-0.007964],[-0.509170,0.860484,0.017724],[0.015881,-0.011197,0.999811]] 2025-10-28T21:05:46.979Z,1761685546.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870161,0.492617,-0.012160],[-0.492467,0.870227,0.013445],[0.017205,-0.005712,0.999836]] 2025-10-28T21:05:47.382Z,1761685547.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879828,0.475028,-0.015866],[-0.474942,0.879971,0.009056],[0.018263,-0.000432,0.999833]] 2025-10-28T21:05:47.810Z,1761685547.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889217,0.457139,-0.017794],[-0.457119,0.889389,0.005400],[0.018295,0.003332,0.999827]] 2025-10-28T21:05:48.195Z,1761685548.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898365,0.438896,-0.017614],[-0.438907,0.898526,0.003433],[0.017334,0.004647,0.999839]] 2025-10-28T21:05:48.595Z,1761685548.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907472,0.419809,-0.015970],[-0.419819,0.907603,0.002889],[0.015707,0.004083,0.999868]] 2025-10-28T21:05:49.001Z,1761685549.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916171,0.400554,-0.013710],[-0.400556,0.916268,0.002744],[0.013661,0.002978,0.999902]] 2025-10-28T21:05:49.406Z,1761685549.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924123,0.381917,-0.011689],[-0.381903,0.924196,0.003521],[0.012148,0.001210,0.999925]] 2025-10-28T21:05:49.818Z,1761685549.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931218,0.364338,-0.009555],[-0.364289,0.931264,0.006473],[0.011257,-0.002547,0.999933]] 2025-10-28T21:05:50.211Z,1761685550.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937957,0.346605,-0.010108],[-0.346556,0.938008,0.006353],[0.011684,-0.002456,0.999929]] 2025-10-28T21:05:50.614Z,1761685550.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944513,0.328277,-0.011387],[-0.328219,0.944578,0.006675],[0.012947,-0.002567,0.999913]] 2025-10-28T21:05:51.026Z,1761685551.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950502,0.310457,-0.012705],[-0.310383,0.950582,0.007482],[0.014400,-0.003168,0.999891]] 2025-10-28T21:05:51.431Z,1761685551.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955502,0.294698,-0.012974],[-0.294588,0.955574,0.009775],[0.015278,-0.005518,0.999868]] 2025-10-28T21:05:51.826Z,1761685551.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959651,0.280992,-0.010702],[-0.280813,0.959635,0.015638],[0.014664,-0.012001,0.999820]] 2025-10-28T21:05:52.231Z,1761685552.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963046,0.269251,-0.006785],[-0.269035,0.962855,0.023020],[0.012731,-0.020344,0.999712]] 2025-10-28T21:05:52.635Z,1761685552.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966201,0.257782,-0.001936],[-0.257614,0.965793,0.029648],[0.009512,-0.028147,0.999559]] 2025-10-28T21:05:53.044Z,1761685553.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969456,0.245245,0.003086],[-0.245203,0.968857,0.034506],[0.005473,-0.034209,0.999400]] 2025-10-28T21:05:53.120Z,1761685553.120 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateRudder:A] Stopped 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:05:53.121Z,1761685553.121 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateCommandMode] Stopped 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:05:53.122Z,1761685553.122 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:05:53.123Z,1761685553.123 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:05:53.123Z,1761685553.123 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:05:53.123Z,1761685553.123 [marl:UpdateSpeed] Stopped 2025-10-28T21:05:53.123Z,1761685553.123 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:05:53.450Z,1761685553.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972908,0.231102,0.006484],[-0.231188,0.972324,0.033730],[0.001490,-0.034315,0.999410]] 2025-10-28T21:05:53.474Z,1761685553.474 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:05:53.474Z,1761685553.474 [marl:UpdateRudder:B] Stopped 2025-10-28T21:05:53.475Z,1761685553.475 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:05:53.475Z,1761685553.475 [marl:UpdateRudder] Stopped 2025-10-28T21:05:53.475Z,1761685553.475 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:05:53.847Z,1761685553.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976330,0.216181,0.006686],[-0.216284,0.975939,0.027637],[-0.000551,-0.028429,0.999596]] 2025-10-28T21:05:54.251Z,1761685554.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979446,0.201677,0.003460],[-0.201707,0.979261,0.019022],[0.000448,-0.019329,0.999813]] 2025-10-28T21:05:54.656Z,1761685554.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981813,0.189826,-0.003069],[-0.189790,0.981779,0.009495],[0.004816,-0.008740,0.999950]] 2025-10-28T21:05:55.058Z,1761685555.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983542,0.180377,-0.010487],[-0.180346,0.983596,0.003768],[0.010994,-0.001815,0.999938]] 2025-10-28T21:05:55.463Z,1761685555.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986407,0.163667,-0.014619],[-0.163715,0.986505,-0.002146],[0.014070,0.004510,0.999891]] 2025-10-28T21:05:55.867Z,1761685555.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989021,0.146897,-0.016058],[-0.146980,0.989131,-0.004130],[0.015277,0.006445,0.999862]] 2025-10-28T21:05:56.272Z,1761685556.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990963,0.133177,-0.015987],[-0.133199,0.991089,-0.000319],[0.015802,0.002446,0.999872]] 2025-10-28T21:05:56.675Z,1761685556.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992594,0.120440,-0.015869],[-0.120400,0.992719,0.003482],[0.016172,-0.001546,0.999868]] 2025-10-28T21:05:57.078Z,1761685557.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994150,0.106789,-0.016149],[-0.106714,0.994275,0.005453],[0.016639,-0.003698,0.999855]] 2025-10-28T21:05:57.483Z,1761685557.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995684,0.091289,-0.016730],[-0.091244,0.995823,0.003398],[0.016971,-0.001857,0.999854]] 2025-10-28T21:05:57.888Z,1761685557.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997103,0.073996,-0.017585],[-0.074005,0.997258,0.000137],[0.017547,0.001165,0.999845]] 2025-10-28T21:05:58.100Z,1761685558.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:05:58.290Z,1761685558.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998327,0.054825,-0.018373],[-0.054868,0.998492,-0.001808],[0.018246,0.002813,0.999830]] 2025-10-28T21:05:58.695Z,1761685558.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999216,0.034551,-0.019347],[-0.034613,0.999397,-0.002832],[0.019238,0.003499,0.999809]] 2025-10-28T21:05:59.104Z,1761685559.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:05:59.107Z,1761685559.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999738,-0.002761,-0.022740],[0.002847,0.999989,0.003774],[0.022729,-0.003838,0.999734]] 2025-10-28T21:05:59.524Z,1761685559.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999497,-0.019225,-0.025222],[0.019415,0.999785,0.007300],[0.025076,-0.007786,0.999655]] 2025-10-28T21:05:59.912Z,1761685559.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999010,-0.034625,-0.027929],[0.034917,0.999340,0.010005],[0.027564,-0.010970,0.999560]] 2025-10-28T21:06:00.315Z,1761685560.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998304,-0.049704,-0.030295],[0.050070,0.998680,0.011447],[0.029686,-0.012944,0.999475]] 2025-10-28T21:06:00.718Z,1761685560.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997353,-0.065193,-0.032196],[0.065629,0.997764,0.012654],[0.031299,-0.014733,0.999401]] 2025-10-28T21:06:01.122Z,1761685561.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996120,-0.081329,-0.033635],[0.081854,0.996538,0.014545],[0.032335,-0.017242,0.999328]] 2025-10-28T21:06:01.532Z,1761685561.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994612,-0.097661,-0.034769],[0.098234,0.995048,0.015161],[0.033116,-0.018495,0.999280]] 2025-10-28T21:06:01.927Z,1761685561.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992730,-0.115019,-0.035453],[0.115631,0.993168,0.015723],[0.033403,-0.019708,0.999248]] 2025-10-28T21:06:02.331Z,1761685562.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990296,-0.134292,-0.035772],[0.134894,0.990747,0.014967],[0.033431,-0.019648,0.999248]] 2025-10-28T21:06:02.736Z,1761685562.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987416,-0.153932,-0.036270],[0.154440,0.987934,0.011625],[0.034043,-0.017080,0.999274]] 2025-10-28T21:06:03.139Z,1761685563.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983963,-0.174414,-0.037375],[0.174790,0.984581,0.007017],[0.035575,-0.013437,0.999277]] 2025-10-28T21:06:03.543Z,1761685563.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980260,-0.193756,-0.039345],[0.194028,0.980991,0.003180],[0.037981,-0.010751,0.999221]] 2025-10-28T21:06:03.587Z,1761685563.587 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:06:03.605Z,1761685563.605 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:06:03.605Z,1761685563.605 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:06:03.857Z,1761685563.857 [DAT](INFO): DAT read: user:286> 2025-10-28T21:06:03.858Z,1761685563.858 [DAT](INFO): DAT read: Tx time:21:06:03.6083 2025-10-28T21:06:03.858Z,1761685563.858 [DAT](INFO): Ping request sent. 2025-10-28T21:06:03.858Z,1761685563.858 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:06:03.858Z,1761685563.858 [DAT](INFO): publishing transmit ping time 2025-10-28T21:06:03.859Z,1761685563.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T21:06:03.946Z,1761685563.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976666,-0.210620,-0.041980],[0.210842,0.977520,0.000883],[0.040851,-0.009714,0.999118]] 2025-10-28T21:06:04.109Z,1761685564.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250940 2025-10-28T21:06:04.352Z,1761685564.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973441,-0.224436,-0.045167],[0.224697,0.974428,0.000732],[0.043848,-0.010861,0.998979]] 2025-10-28T21:06:04.361Z,1761685564.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984 2025-10-28T21:06:04.613Z,1761685564.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755033 2025-10-28T21:06:04.756Z,1761685564.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970758,-0.235113,-0.048489],[0.235507,0.971869,0.002512],[0.046535,-0.013858,0.998821]] 2025-10-28T21:06:04.866Z,1761685564.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007765 2025-10-28T21:06:05.117Z,1761685565.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889 2025-10-28T21:06:05.158Z,1761685565.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968137,-0.245054,-0.051579],[0.245619,0.969355,0.004822],[0.048817,-0.017337,0.998657]] 2025-10-28T21:06:05.369Z,1761685565.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876 2025-10-28T21:06:05.563Z,1761685565.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965580,-0.254667,-0.052920],[0.255279,0.966854,0.005042],[0.049882,-0.018378,0.998586]] 2025-10-28T21:06:05.622Z,1761685565.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763504 2025-10-28T21:06:05.873Z,1761685565.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905 2025-10-28T21:06:05.971Z,1761685565.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963243,-0.263424,-0.052632],[0.264000,0.964514,0.004188],[0.049662,-0.017929,0.998605]] 2025-10-28T21:06:06.053Z,1761685566.053 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateRudder:A] Stopped 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:06:06.054Z,1761685566.054 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateCommandMode] Stopped 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:06:06.055Z,1761685566.055 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:06:06.056Z,1761685566.056 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:06:06.060Z,1761685566.060 [marl:UpdateSpeed] Stopped 2025-10-28T21:06:06.060Z,1761685566.060 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:06:06.126Z,1761685566.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268172 2025-10-28T21:06:06.288Z,1761685566.288 [Radio_Surface](INFO): Powering down 2025-10-28T21:06:06.370Z,1761685566.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960954,-0.271847,-0.051636],[0.272497,0.962139,0.005865],[0.048087,-0.019706,0.998649]] 2025-10-28T21:06:06.377Z,1761685566.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800 2025-10-28T21:06:06.411Z,1761685566.411 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:06:06.411Z,1761685566.411 [marl:UpdateRudder:B] Stopped 2025-10-28T21:06:06.411Z,1761685566.411 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:06:06.411Z,1761685566.411 [marl:UpdateRudder] Stopped 2025-10-28T21:06:06.411Z,1761685566.411 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:06:06.629Z,1761685566.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770873 2025-10-28T21:06:06.779Z,1761685566.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958199,-0.281580,-0.050669],[0.282363,0.959267,0.008884],[0.046104,-0.022820,0.998676]] 2025-10-28T21:06:06.881Z,1761685566.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023331 2025-10-28T21:06:07.133Z,1761685567.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274931 2025-10-28T21:06:07.181Z,1761685567.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954161,-0.295156,-0.049591],[0.295877,0.955195,0.007739],[0.045085,-0.022058,0.998740]] 2025-10-28T21:06:07.385Z,1761685567.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526861 2025-10-28T21:06:07.591Z,1761685567.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949385,-0.310221,-0.049312],[0.310924,0.950409,0.007084],[0.044669,-0.022058,0.998758]] 2025-10-28T21:06:07.637Z,1761685567.637 [DAT](INFO): DAT read: Rx Time:21:06:06.9793 2025-10-28T21:06:07.638Z,1761685567.638 [DAT](INFO): Rx dataTimestamp_ set to:1761685567.637657 2025-10-28T21:06:07.638Z,1761685567.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780511 2025-10-28T21:06:07.889Z,1761685567.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030894 2025-10-28T21:06:07.986Z,1761685567.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944510,-0.324640,-0.050094],[0.325441,0.945524,0.008529],[0.044596,-0.024359,0.998708]] 2025-10-28T21:06:08.144Z,1761685568.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285335 2025-10-28T21:06:08.391Z,1761685568.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939758,-0.338030,-0.050904],[0.338907,0.940773,0.009441],[0.044698,-0.026125,0.998659]] 2025-10-28T21:06:08.398Z,1761685568.398 [DAT](INFO): DAT read: 21:06:06.9793 LVL= 32608, 29969, 18002, 32755, AGC= 72, IDX= 283,-0.34,-0.597,-1.294, 1.062, 0.120, PHS=-0.615,-1.369, 0.898, RAW= 190.9, 10.9, CAL= 191.0, 12.9, ROT= 319.0, -12.9 2025-10-28T21:06:08.399Z,1761685568.399 [DAT](INFO): got valid direction response: 21:06:06.9793 LVL= 32608, 29969, 18002, 32755, AGC= 72, IDX= 283,-0.34,-0.597,-1.294, 1.062, 0.120, PHS=-0.615,-1.369, 0.898, RAW= 190.9, 10.9, CAL= 191.0, 12.9, ROT= 319.0, -12.9 2025-10-28T21:06:08.400Z,1761685568.400 [DAT](INFO): DAT read: Bearing 204.0, -37.5 (Local) 2025-10-28T21:06:08.401Z,1761685568.401 [DAT](INFO): Local bearing/azimuth received: Bearing 204.0, -37.5 (Local) 2025-10-28T21:06:08.402Z,1761685568.402 [DAT](INFO): DAT read: Range 11 to 20 : 725.1 m (Round-trip 966.9 ms) speed -0.3 m/s 2025-10-28T21:06:08.403Z,1761685568.403 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:06:08.404Z,1761685568.404 [DAT](INFO): direction in FSK: [0.735662,-0.639501,0.223250] 2025-10-28T21:06:08.404Z,1761685568.404 [DAT](INFO): publishing direction and range info 2025-10-28T21:06:08.536Z,1761685568.536 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685632.00. Resetting abort timer. 2025-10-28T21:06:08.797Z,1761685568.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934887,-0.351187,-0.051513],[0.351986,0.935979,0.007066],[0.045733,-0.024738,0.998647]] 2025-10-28T21:06:09.199Z,1761685569.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929170,-0.365985,-0.051934],[0.366576,0.930386,0.002009],[0.047583,-0.020905,0.998648]] 2025-10-28T21:06:09.602Z,1761685569.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922351,-0.382914,-0.051431],[0.383149,0.923670,-0.005613],[0.049655,-0.014528,0.998661]] 2025-10-28T21:06:10.014Z,1761685570.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914435,-0.401668,-0.049720],[0.401413,0.915767,-0.015437],[0.051732,-0.005842,0.998644]] 2025-10-28T21:06:10.411Z,1761685570.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905508,-0.421458,-0.049275],[0.420877,0.906847,-0.022142],[0.054017,-0.000689,0.998540]] 2025-10-28T21:06:10.817Z,1761685570.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895619,-0.441903,-0.050876],[0.441175,0.897063,-0.025352],[0.056842,0.000260,0.998383]] 2025-10-28T21:06:11.218Z,1761685571.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884989,-0.462507,-0.053683],[0.461670,0.886616,-0.027818],[0.060462,-0.000165,0.998170]] 2025-10-28T21:06:11.622Z,1761685571.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873737,-0.482887,-0.058348],[0.482058,0.875677,-0.028473],[0.064843,-0.003249,0.997890]] 2025-10-28T21:06:12.029Z,1761685572.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862219,-0.502555,-0.063380],[0.501686,0.864526,-0.030109],[0.069925,-0.005836,0.997535]] 2025-10-28T21:06:12.433Z,1761685572.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851245,-0.520218,-0.068950],[0.519338,0.853986,-0.031550],[0.075295,-0.008952,0.997121]] 2025-10-28T21:06:12.835Z,1761685572.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841235,-0.535617,-0.073752],[0.534654,0.844391,-0.033902],[0.080434,-0.010912,0.996700]] 2025-10-28T21:06:13.243Z,1761685573.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832886,-0.547754,-0.079161],[0.546923,0.836502,-0.033754],[0.084707,-0.015182,0.996290]] 2025-10-28T21:06:13.644Z,1761685573.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825865,-0.557602,-0.083824],[0.556982,0.829877,-0.032793],[0.087848,-0.019606,0.995941]] 2025-10-28T21:06:14.048Z,1761685574.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818894,-0.567321,-0.086947],[0.566838,0.823186,-0.032564],[0.090047,-0.022618,0.995681]] 2025-10-28T21:06:14.452Z,1761685574.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810974,-0.578440,-0.087913],[0.577920,0.815391,-0.033861],[0.091270,-0.023346,0.995553]] 2025-10-28T21:06:14.854Z,1761685574.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801879,-0.591060,-0.087395],[0.590347,0.806320,-0.036571],[0.092084,-0.022268,0.995502]] 2025-10-28T21:06:15.259Z,1761685575.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791590,-0.604878,-0.086647],[0.603962,0.796038,-0.039422],[0.092820,-0.021126,0.995459]] 2025-10-28T21:06:15.663Z,1761685575.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780625,-0.618766,-0.088048],[0.617841,0.785249,-0.040696],[0.094321,-0.022632,0.995285]] 2025-10-28T21:06:16.066Z,1761685576.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769890,-0.631718,-0.090567],[0.630800,0.774804,-0.042077],[0.096753,-0.024735,0.995001]] 2025-10-28T21:06:16.471Z,1761685576.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759903,-0.643318,-0.093219],[0.642374,0.765138,-0.043816],[0.099513,-0.026585,0.994681]] 2025-10-28T21:06:16.875Z,1761685576.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751027,-0.653287,-0.095782],[0.652310,0.756583,-0.045550],[0.102224,-0.028270,0.994360]] 2025-10-28T21:06:17.282Z,1761685577.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743105,-0.662258,-0.095969],[0.660975,0.748794,-0.049190],[0.104437,-0.026880,0.994168]] 2025-10-28T21:06:17.682Z,1761685577.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735363,-0.670992,-0.094929],[0.669402,0.741045,-0.052480],[0.105560,-0.024954,0.994100]] 2025-10-28T21:06:18.087Z,1761685578.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727019,-0.680375,-0.092378],[0.678409,0.732538,-0.056116],[0.105851,-0.021872,0.994141]] 2025-10-28T21:06:18.501Z,1761685578.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716758,-0.691558,-0.089473],[0.689229,0.722075,-0.059757],[0.105932,-0.018836,0.994195]] 2025-10-28T21:06:18.897Z,1761685578.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703919,-0.704976,-0.086639],[0.702304,0.709046,-0.063427],[0.106146,-0.016199,0.994219]] 2025-10-28T21:06:18.920Z,1761685578.920 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:06:18.920Z,1761685578.920 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateRudder:A] Stopped 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:06:18.921Z,1761685578.921 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateCommandMode] Stopped 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:06:18.922Z,1761685578.922 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:06:18.923Z,1761685578.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:06:18.923Z,1761685578.923 [marl:UpdateSpeed] Stopped 2025-10-28T21:06:18.923Z,1761685578.923 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:06:19.299Z,1761685579.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689020,-0.719847,-0.084098],[0.716848,0.693991,-0.067118],[0.106678,-0.014040,0.994195]] 2025-10-28T21:06:19.338Z,1761685579.338 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:06:19.338Z,1761685579.338 [marl:UpdateRudder:B] Stopped 2025-10-28T21:06:19.339Z,1761685579.339 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:06:19.339Z,1761685579.339 [marl:UpdateRudder] Stopped 2025-10-28T21:06:19.339Z,1761685579.339 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:06:19.702Z,1761685579.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672644,-0.735401,-0.082076],[0.732094,0.677518,-0.070766],[0.107649,-0.012487,0.994111]] 2025-10-28T21:06:20.108Z,1761685580.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655370,-0.750933,-0.081181],[0.747345,0.660270,-0.074292],[0.109390,-0.011981,0.993927]] 2025-10-28T21:06:20.514Z,1761685580.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638098,-0.765763,-0.080238],[0.761814,0.643028,-0.078446],[0.111666,-0.011070,0.993684]] 2025-10-28T21:06:20.915Z,1761685580.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621931,-0.778826,-0.081436],[0.774703,0.627112,-0.081033],[0.114180,-0.012692,0.993379]] 2025-10-28T21:06:21.318Z,1761685581.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607415,-0.789954,-0.083791],[0.785763,0.612969,-0.082740],[0.116722,-0.015582,0.993042]] 2025-10-28T21:06:21.728Z,1761685581.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595322,-0.799024,-0.084574],[0.794695,0.601065,-0.084736],[0.118541,-0.016766,0.992808]] 2025-10-28T21:06:22.127Z,1761685582.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584357,-0.807153,-0.083854],[0.802568,0.590120,-0.087421],[0.120046,-0.016213,0.992636]] 2025-10-28T21:06:22.530Z,1761685582.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573623,-0.814974,-0.082304],[0.810109,0.579304,-0.090168],[0.121164,-0.014953,0.992520]] 2025-10-28T21:06:22.937Z,1761685582.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562324,-0.822929,-0.081113],[0.817823,0.567965,-0.092630],[0.122297,-0.014248,0.992391]] 2025-10-28T21:06:23.340Z,1761685583.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549682,-0.831665,-0.078635],[0.826277,0.555136,-0.095346],[0.122949,-0.012565,0.992333]] 2025-10-28T21:06:23.771Z,1761685583.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536119,-0.840810,-0.074935],[0.835130,0.541238,-0.098082],[0.123025,-0.009997,0.992353]] 2025-10-28T21:06:24.147Z,1761685584.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521129,-0.850583,-0.070229],[0.844614,0.525796,-0.100821],[0.122683,-0.006776,0.992423]] 2025-10-28T21:06:24.551Z,1761685584.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505154,-0.860282,-0.068810],[0.854301,0.509764,-0.101543],[0.122432,-0.007490,0.992449]] 2025-10-28T21:06:25.019Z,1761685585.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488393,-0.870056,-0.066887],[0.863919,0.492899,-0.103420],[0.122949,-0.007276,0.992386]] 2025-10-28T21:06:25.359Z,1761685585.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471479,-0.879404,-0.065995],[0.873105,0.476010,-0.105369],[0.124076,-0.007942,0.992241]] 2025-10-28T21:06:25.810Z,1761685585.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455388,-0.887822,-0.066289],[0.881380,0.460087,-0.107189],[0.125664,-0.009613,0.992026]] 2025-10-28T21:06:26.174Z,1761685586.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440803,-0.895144,-0.066411],[0.888561,0.445642,-0.108913],[0.127089,-0.011001,0.991830]] 2025-10-28T21:06:26.573Z,1761685586.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427707,-0.901484,-0.066280],[0.894768,0.432644,-0.110495],[0.128285,-0.012046,0.991664]] 2025-10-28T21:06:26.981Z,1761685586.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415968,-0.906950,-0.066424],[0.900220,0.421019,-0.111118],[0.128744,-0.013575,0.991585]] 2025-10-28T21:06:27.378Z,1761685587.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405065,-0.911995,-0.064713],[0.905283,0.409979,-0.111269],[0.128007,-0.013512,0.991681]] 2025-10-28T21:06:27.810Z,1761685587.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394358,-0.916877,-0.061795],[0.910271,0.398970,-0.110583],[0.126045,-0.012641,0.991944]] 2025-10-28T21:06:28.194Z,1761685588.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382638,-0.921911,-0.060566],[0.915622,0.387149,-0.108404],[0.123387,-0.013975,0.992260]] 2025-10-28T21:06:28.591Z,1761685588.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369872,-0.927229,-0.058655],[0.921168,0.374212,-0.106843],[0.121018,-0.014513,0.992544]] 2025-10-28T21:06:29.000Z,1761685589.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355846,-0.932849,-0.056268],[0.926939,0.359975,-0.105840],[0.118988,-0.014494,0.992790]] 2025-10-28T21:06:29.228Z,1761685589.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:06:29.398Z,1761685589.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340636,-0.938635,-0.054150],[0.932818,0.344603,-0.105357],[0.117552,-0.014624,0.992959]] 2025-10-28T21:06:29.817Z,1761685589.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324432,-0.944458,-0.052371],[0.938728,0.328284,-0.104975],[0.116337,-0.015105,0.993095]] 2025-10-28T21:06:30.210Z,1761685590.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306855,-0.950382,-0.051133],[0.944737,0.310665,-0.104691],[0.115382,-0.016183,0.993189]] 2025-10-28T21:06:30.232Z,1761685590.232 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T21:06:30.232Z,1761685590.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:06:30.610Z,1761685590.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288364,-0.956237,-0.049575],[0.950656,0.292102,-0.104548],[0.114453,-0.016981,0.993284]] 2025-10-28T21:06:31.014Z,1761685591.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268757,-0.962142,-0.045308],[0.956485,0.272134,-0.105258],[0.113603,-0.015048,0.993412]] 2025-10-28T21:06:31.421Z,1761685591.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248065,-0.967883,-0.040813],[0.962081,0.251073,-0.106594],[0.113418,-0.012823,0.993465]] 2025-10-28T21:06:31.822Z,1761685591.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226766,-0.973298,-0.035619],[0.967217,0.229340,-0.109061],[0.114317,-0.009720,0.993397]] 2025-10-28T21:06:31.878Z,1761685591.878 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:06:31.878Z,1761685591.878 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:06:31.878Z,1761685591.878 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateRudder:A] Stopped 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:06:31.879Z,1761685591.879 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateCommandMode] Stopped 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:06:31.880Z,1761685591.880 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:06:31.881Z,1761685591.881 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:06:31.881Z,1761685591.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:06:31.881Z,1761685591.881 [marl:UpdateSpeed] Stopped 2025-10-28T21:06:31.881Z,1761685591.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:06:32.230Z,1761685592.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205966,-0.978061,-0.031208],[0.971571,0.208196,-0.112713],[0.116738,-0.007106,0.993137]] 2025-10-28T21:06:32.270Z,1761685592.270 [marl:UpdateRudder:B](INFO): Updating rudder angle 6.875494 arcdeg 2025-10-28T21:06:32.270Z,1761685592.270 [marl:UpdateRudder:B] Stopped 2025-10-28T21:06:32.270Z,1761685592.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:06:32.270Z,1761685592.270 [marl:UpdateRudder] Stopped 2025-10-28T21:06:32.271Z,1761685592.271 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:06:32.631Z,1761685592.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187501,-0.981868,-0.027899],[0.974961,0.189488,-0.116386],[0.119562,-0.005378,0.992812]] 2025-10-28T21:06:33.036Z,1761685593.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171970,-0.984751,-0.026307],[0.977480,0.173894,-0.119554],[0.122305,-0.005154,0.992479]] 2025-10-28T21:06:33.438Z,1761685593.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158843,-0.986966,-0.025822],[0.979401,0.160820,-0.122111],[0.124672,-0.005894,0.992180]] 2025-10-28T21:06:33.843Z,1761685593.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146334,-0.988897,-0.025856],[0.981110,0.148425,-0.124072],[0.126532,-0.007212,0.991936]] 2025-10-28T21:06:34.250Z,1761685594.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134177,-0.990644,-0.024917],[0.982835,0.136248,-0.124388],[0.126619,-0.007799,0.991921]] 2025-10-28T21:06:34.652Z,1761685594.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122676,-0.992155,-0.024055],[0.984560,0.124715,-0.122833],[0.124869,-0.008615,0.992136]] 2025-10-28T21:06:35.055Z,1761685595.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113243,-0.993248,-0.025168],[0.986126,0.115453,-0.119272],[0.121373,-0.011312,0.992543]] 2025-10-28T21:06:35.465Z,1761685595.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105979,-0.993809,-0.033354],[0.987403,0.109140,-0.114560],[0.117491,-0.020793,0.992856]] 2025-10-28T21:06:35.863Z,1761685595.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102393,-0.993373,-0.052204],[0.988051,0.107641,-0.110310],[0.115199,-0.040286,0.992525]] 2025-10-28T21:06:36.671Z,1761685596.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113113,-0.984603,-0.133279],[0.986869,0.126900,-0.099927],[0.115302,-0.120226,0.986028]] 2025-10-28T21:06:37.075Z,1761685597.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127116,-0.973237,-0.191447],[0.984946,0.146648,-0.091516],[0.117142,-0.176932,0.977227]] 2025-10-28T21:06:37.487Z,1761685597.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144728,-0.957552,-0.249295],[0.982221,0.169477,-0.080740],[0.119562,-0.233177,0.965056]] 2025-10-28T21:06:37.884Z,1761685597.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164640,-0.939707,-0.299739],[0.978808,0.193171,-0.067970],[0.121773,-0.282196,0.951597]] 2025-10-28T21:06:38.287Z,1761685598.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184056,-0.922053,-0.340501],[0.975056,0.214999,-0.055142],[0.124052,-0.321859,0.938626]] 2025-10-28T21:06:38.691Z,1761685598.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202432,-0.906157,-0.371349],[0.971167,0.234518,-0.042856],[0.125922,-0.351967,0.927504]] 2025-10-28T21:06:39.500Z,1761685599.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235005,-0.881135,-0.410334],[0.963501,0.266862,-0.021236],[0.128214,-0.390366,0.911688]] 2025-10-28T21:06:39.903Z,1761685599.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249159,-0.872288,-0.420753],[0.959797,0.280397,-0.012941],[0.129266,-0.400613,0.907083]] 2025-10-28T21:06:40.307Z,1761685600.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262132,-0.865064,-0.427728],[0.956087,0.293008,-0.006662],[0.131091,-0.407198,0.903883]] 2025-10-28T21:06:40.711Z,1761685600.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275181,-0.859388,-0.430962],[0.952000,0.306087,-0.002495],[0.134056,-0.409589,0.902367]] 2025-10-28T21:06:41.116Z,1761685601.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288844,-0.854643,-0.431456],[0.947355,0.320184,-0.000011],[0.138154,-0.408739,0.902134]] 2025-10-28T21:06:41.518Z,1761685601.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304918,-0.848634,-0.432256],[0.941586,0.336759,0.003057],[0.142972,-0.407938,0.901746]] 2025-10-28T21:06:41.924Z,1761685601.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323173,-0.842149,-0.431675],[0.934674,0.355449,0.006301],[0.148132,-0.405512,0.902007]] 2025-10-28T21:06:42.328Z,1761685602.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342484,-0.834356,-0.431919],[0.926898,0.375174,0.010232],[0.153508,-0.403849,0.901854]] 2025-10-28T21:06:42.732Z,1761685602.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362454,-0.826233,-0.431237],[0.918481,0.395188,0.014817],[0.158178,-0.401454,0.902117]] 2025-10-28T21:06:43.134Z,1761685603.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382161,-0.817994,-0.429930],[0.909900,0.414319,0.020509],[0.161352,-0.399031,0.902629]] 2025-10-28T21:06:43.538Z,1761685603.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401798,-0.809212,-0.428643],[0.901211,0.432451,0.028370],[0.162410,-0.397697,0.903028]] 2025-10-28T21:06:43.944Z,1761685603.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420651,-0.800758,-0.426426],[0.892781,0.448911,0.037708],[0.161232,-0.396567,0.903736]] 2025-10-28T21:06:44.362Z,1761685604.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450171,-0.787546,-0.420853],[0.878994,0.473814,0.053575],[0.157214,-0.394045,0.905545]] 2025-10-28T21:06:44.760Z,1761685604.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460648,-0.782780,-0.418402],[0.873712,0.482919,0.058447],[0.156303,-0.392486,0.906380]] 2025-10-28T21:06:44.792Z,1761685604.792 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:06:44.792Z,1761685604.792 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateRudder:A] Stopped 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:06:44.793Z,1761685604.793 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateCommandMode] Stopped 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:06:44.794Z,1761685604.794 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:06:44.795Z,1761685604.795 [marl:UpdateSpeed] Stopped 2025-10-28T21:06:44.795Z,1761685604.795 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:06:45.160Z,1761685605.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470327,-0.778266,-0.416045],[0.868529,0.491750,0.061965],[0.156365,-0.390491,0.907230]] 2025-10-28T21:06:45.194Z,1761685605.194 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:06:45.194Z,1761685605.194 [marl:UpdateRudder:B] Stopped 2025-10-28T21:06:45.195Z,1761685605.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:06:45.195Z,1761685605.195 [marl:UpdateRudder] Stopped 2025-10-28T21:06:45.195Z,1761685605.195 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:06:45.564Z,1761685605.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479573,-0.773975,-0.413488],[0.863253,0.500696,0.064008],[0.157491,-0.387641,0.908257]] 2025-10-28T21:06:45.999Z,1761685605.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489192,-0.768721,-0.412018],[0.857451,0.510327,0.065916],[0.159593,-0.385531,0.908788]] 2025-10-28T21:06:46.383Z,1761685606.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499685,-0.762573,-0.410850],[0.851028,0.520598,0.068765],[0.161449,-0.384006,0.909106]] 2025-10-28T21:06:46.776Z,1761685606.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510000,-0.759108,-0.404543],[0.844812,0.530527,0.069526],[0.161843,-0.377221,0.911872]] 2025-10-28T21:06:47.579Z,1761685607.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520359,-0.772345,-0.364294],[0.839489,0.540836,0.052495],[0.156479,-0.333136,0.929803]] 2025-10-28T21:06:47.986Z,1761685607.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517806,-0.790564,-0.326933],[0.842216,0.538153,0.032604],[0.150164,-0.292231,0.944485]] 2025-10-28T21:06:48.420Z,1761685608.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510466,-0.811844,-0.283432],[0.848167,0.529623,0.010547],[0.141550,-0.245781,0.958934]] 2025-10-28T21:06:48.819Z,1761685608.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499878,-0.833254,-0.236240],[0.855947,0.516922,-0.012103],[0.132203,-0.196159,0.971619]] 2025-10-28T21:06:49.215Z,1761685609.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486038,-0.853048,-0.189935],[0.865198,0.500335,-0.033122],[0.123286,-0.148232,0.981238]] 2025-10-28T21:06:49.619Z,1761685609.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470585,-0.869950,-0.147433],[0.874812,0.481804,-0.050679],[0.115122,-0.105128,0.987773]] 2025-10-28T21:06:50.024Z,1761685610.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454299,-0.883937,-0.110764],[0.884277,0.462523,-0.064240],[0.108015,-0.068761,0.991768]] 2025-10-28T21:06:50.426Z,1761685610.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438686,-0.894830,-0.082663],[0.892840,0.444441,-0.072858],[0.101934,-0.041843,0.993911]] 2025-10-28T21:06:50.830Z,1761685610.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423358,-0.903850,-0.061835],[0.900757,0.427250,-0.078071],[0.096983,-0.022646,0.995028]] 2025-10-28T21:06:51.235Z,1761685611.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409488,-0.911114,-0.046803],[0.907626,0.412041,-0.080228],[0.092382,-0.009627,0.995677]] 2025-10-28T21:06:51.640Z,1761685611.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396666,-0.917200,-0.037424],[0.913727,0.398419,-0.079786],[0.088090,-0.002547,0.996109]] 2025-10-28T21:06:52.042Z,1761685612.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384446,-0.922656,-0.030120],[0.919273,0.385615,-0.078987],[0.084493,0.002678,0.996421]] 2025-10-28T21:06:52.454Z,1761685612.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372139,-0.927838,-0.025101],[0.924601,0.372941,-0.077634],[0.081393,0.005682,0.996666]] 2025-10-28T21:06:52.851Z,1761685612.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359703,-0.932775,-0.023323],[0.929748,0.360418,-0.075286],[0.078631,0.005396,0.996889]] 2025-10-28T21:06:53.258Z,1761685613.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346517,-0.937796,-0.021575],[0.934923,0.347147,-0.073540],[0.076455,0.005312,0.997059]] 2025-10-28T21:06:53.658Z,1761685613.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332086,-0.943039,-0.019903],[0.940301,0.332641,-0.071999],[0.074518,0.005195,0.997206]] 2025-10-28T21:06:54.062Z,1761685614.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316818,-0.948320,-0.017748],[0.945718,0.317267,-0.070418],[0.072410,0.005526,0.997360]] 2025-10-28T21:06:54.476Z,1761685614.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301088,-0.953450,-0.016737],[0.950983,0.301515,-0.068710],[0.070558,0.004771,0.997496]] 2025-10-28T21:06:54.872Z,1761685614.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284720,-0.958493,-0.015053],[0.956096,0.285074,-0.067924],[0.069396,0.004947,0.997577]] 2025-10-28T21:06:55.279Z,1761685615.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267520,-0.963458,-0.013497],[0.961089,0.267811,-0.067713],[0.068854,0.005142,0.997614]] 2025-10-28T21:06:55.679Z,1761685615.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249758,-0.968225,-0.012721],[0.965881,0.250040,-0.067478],[0.068515,0.004566,0.997640]] 2025-10-28T21:06:56.491Z,1761685616.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213328,-0.976943,-0.008564],[0.974575,0.213409,-0.068267],[0.068520,0.006217,0.997630]] 2025-10-28T21:06:56.891Z,1761685616.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195130,-0.980759,-0.006035],[0.978359,0.195077,-0.068982],[0.068832,0.007556,0.997600]] 2025-10-28T21:06:57.296Z,1761685617.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176413,-0.984303,-0.005128],[0.981852,0.176338,-0.069796],[0.069605,0.007278,0.997548]] 2025-10-28T21:06:57.698Z,1761685617.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159030,-0.987262,-0.004860],[0.984748,0.158973,-0.070710],[0.070582,0.006459,0.997485]] 2025-10-28T21:06:57.726Z,1761685617.726 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:06:57.727Z,1761685617.727 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:06:57.727Z,1761685617.727 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:06:57.728Z,1761685617.728 [marl:UpdateRudder:A] Stopped 2025-10-28T21:06:57.728Z,1761685617.728 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:06:57.728Z,1761685617.728 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:06:57.728Z,1761685617.728 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:06:57.728Z,1761685617.728 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateCommandMode] Stopped 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:06:57.729Z,1761685617.729 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:06:57.730Z,1761685617.730 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:06:57.730Z,1761685617.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:06:57.730Z,1761685617.730 [marl:UpdateSpeed] Stopped 2025-10-28T21:06:57.730Z,1761685617.730 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:06:58.105Z,1761685618.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143675,-0.989618,-0.003575],[0.987004,0.143556,-0.072215],[0.071978,0.006847,0.997383]] 2025-10-28T21:06:58.147Z,1761685618.147 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:06:58.148Z,1761685618.148 [marl:UpdateRudder:B] Stopped 2025-10-28T21:06:58.148Z,1761685618.148 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:06:58.148Z,1761685618.148 [marl:UpdateRudder] Stopped 2025-10-28T21:06:58.148Z,1761685618.148 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:06:58.513Z,1761685618.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129666,-0.991550,-0.003824],[0.988790,0.129591,-0.074169],[0.074038,0.005837,0.997238]] 2025-10-28T21:06:58.911Z,1761685618.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117857,-0.993022,-0.004102],[0.990098,0.117825,-0.076309],[0.076259,0.004932,0.997076]] 2025-10-28T21:06:59.317Z,1761685619.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108433,-0.994092,-0.004926],[0.991007,0.108485,-0.078333],[0.078405,0.003612,0.996915]] 2025-10-28T21:06:59.719Z,1761685619.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100146,-0.994948,-0.006953],[0.991765,0.100382,-0.079533],[0.079829,0.001069,0.996808]] 2025-10-28T21:07:00.123Z,1761685620.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092344,-0.995698,-0.007582],[0.992476,0.092655,-0.080040],[0.080398,-0.000134,0.996763]] 2025-10-28T21:07:00.360Z,1761685620.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:07:00.527Z,1761685620.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085114,-0.996341,-0.007701],[0.993207,0.085457,-0.078969],[0.079338,-0.000927,0.996847]] 2025-10-28T21:07:00.939Z,1761685620.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077335,-0.996962,-0.009262],[0.994062,0.077817,-0.076064],[0.076554,-0.003324,0.997060]] 2025-10-28T21:07:01.337Z,1761685621.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066399,-0.997746,-0.009728],[0.995104,0.066932,-0.072716],[0.073203,-0.004852,0.997305]] 2025-10-28T21:07:01.364Z,1761685621.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:07:01.767Z,1761685621.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050613,-0.998690,-0.007533],[0.996169,0.051021,-0.071019],[0.071310,-0.003910,0.997447]] 2025-10-28T21:07:02.142Z,1761685622.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031624,-0.999487,-0.005069],[0.997004,0.031903,-0.070458],[0.070584,-0.002826,0.997502]] 2025-10-28T21:07:02.550Z,1761685622.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010734,-0.999938,-0.003120],[0.997412,0.010929,-0.071065],[0.071095,-0.002349,0.997467]] 2025-10-28T21:07:02.958Z,1761685622.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011494,-0.999934,-0.000068],[0.997233,-0.011458,-0.073455],[0.073449,-0.000912,0.997299]] 2025-10-28T21:07:03.356Z,1761685623.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034466,-0.999397,0.004325],[0.996376,-0.034698,-0.077656],[0.077759,0.001633,0.996971]] 2025-10-28T21:07:03.800Z,1761685623.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056934,-0.998344,0.008255],[0.994846,-0.057426,-0.083568],[0.083903,0.003455,0.996468]] 2025-10-28T21:07:03.861Z,1761685623.861 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:07:04.097Z,1761685624.097 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:07:04.097Z,1761685624.097 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:07:04.163Z,1761685624.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076502,-0.997004,0.011438],[0.992944,-0.077223,-0.089990],[0.090603,0.004473,0.995877]] 2025-10-28T21:07:04.350Z,1761685624.350 [DAT](INFO): DAT read: user:287> 2025-10-28T21:07:04.351Z,1761685624.351 [DAT](INFO): DAT read: Tx time:21:07:04.1081 2025-10-28T21:07:04.351Z,1761685624.351 [DAT](INFO): Ping request sent. 2025-10-28T21:07:04.351Z,1761685624.351 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:07:04.351Z,1761685624.351 [DAT](INFO): publishing transmit ping time 2025-10-28T21:07:04.352Z,1761685624.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001050 2025-10-28T21:07:04.567Z,1761685624.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091982,-0.995672,0.013293],[0.991078,-0.092834,-0.095637],[0.096458,0.004377,0.995328]] 2025-10-28T21:07:04.601Z,1761685624.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249870 2025-10-28T21:07:04.853Z,1761685624.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501709 2025-10-28T21:07:04.970Z,1761685624.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104581,-0.994389,0.015912],[0.989307,-0.105655,-0.100541],[0.101659,0.005228,0.994806]] 2025-10-28T21:07:05.105Z,1761685625.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753774 2025-10-28T21:07:05.357Z,1761685625.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005758 2025-10-28T21:07:05.375Z,1761685625.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115351,-0.993183,0.016790],[0.987690,-0.116479,-0.104410],[0.105654,0.004539,0.994393]] 2025-10-28T21:07:05.609Z,1761685625.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257668 2025-10-28T21:07:05.809Z,1761685625.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125148,-0.991997,0.016717],[0.986180,-0.126223,-0.107319],[0.108570,0.003055,0.994084]] 2025-10-28T21:07:05.861Z,1761685625.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509707 2025-10-28T21:07:06.113Z,1761685626.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761723 2025-10-28T21:07:06.365Z,1761685626.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013772 2025-10-28T21:07:06.587Z,1761685626.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143783,-0.989534,0.012212],[0.983389,-0.144250,-0.110169],[0.110778,-0.003831,0.993838]] 2025-10-28T21:07:06.617Z,1761685626.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265789 2025-10-28T21:07:06.869Z,1761685626.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517690 2025-10-28T21:07:06.991Z,1761685626.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154714,-0.987912,0.009699],[0.981664,-0.154827,-0.111199],[0.111357,-0.007683,0.993751]] 2025-10-28T21:07:07.122Z,1761685627.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770286 2025-10-28T21:07:07.373Z,1761685627.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021675 2025-10-28T21:07:07.401Z,1761685627.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167574,-0.985821,0.008680],[0.979442,-0.167480,-0.112447],[0.112306,-0.010341,0.993620]] 2025-10-28T21:07:07.625Z,1761685627.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273727 2025-10-28T21:07:07.816Z,1761685627.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182113,-0.983244,0.008094],[0.976691,-0.181838,-0.114055],[0.113616,-0.012866,0.993441]] 2025-10-28T21:07:07.877Z,1761685627.877 [DAT](INFO): DAT read: Rx Time:21:07:07.1436 2025-10-28T21:07:07.877Z,1761685627.877 [DAT](INFO): Rx dataTimestamp_ set to:1761685627.877190 2025-10-28T21:07:07.878Z,1761685627.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526840 2025-10-28T21:07:08.129Z,1761685628.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778235 2025-10-28T21:07:08.203Z,1761685628.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197868,-0.980184,0.009381],[0.973374,-0.197605,-0.116169],[0.115720,-0.013855,0.993185]] 2025-10-28T21:07:08.387Z,1761685628.387 [DAT](INFO): DAT read: 21:07:07.1436 LVL= 17168, 10737, 13250, 17779, AGC= 69, IDX= 62, 0.22, 1.324,-2.899, 3.082, 3.100, PHS=-1.675, 0.328,-0.062, RAW= 280.6, 15.1, CAL= 279.6, 22.4, ROT= 230.4, -22.4 2025-10-28T21:07:08.388Z,1761685628.388 [DAT](INFO): got valid direction response: 21:07:07.1436 LVL= 17168, 10737, 13250, 17779, AGC= 69, IDX= 62, 0.22, 1.324,-2.899, 3.082, 3.100, PHS=-1.675, 0.328,-0.062, RAW= 280.6, 15.1, CAL= 279.6, 22.4, ROT= 230.4, -22.4 2025-10-28T21:07:08.389Z,1761685628.389 [DAT](INFO): DAT read: Bearing 331, -14 (Remote) 2025-10-28T21:07:08.389Z,1761685628.389 [DAT](INFO): Remote Bearing received:Bearing 331, -14 (Remote) 2025-10-28T21:07:08.390Z,1761685628.390 [DAT](INFO): DAT read: Bearing 55.6, -51.7 (Local) 2025-10-28T21:07:08.390Z,1761685628.390 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, -51.7 (Local) 2025-10-28T21:07:08.396Z,1761685628.396 [DAT](INFO): DAT read: Range 11 to 20 : 754.8 m (Round-trip 1006.4 ms) speed -1.5 m/s 2025-10-28T21:07:08.397Z,1761685628.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:07:08.398Z,1761685628.398 [DAT](INFO): direction in FSK: [-0.589328,-0.712375,0.381070] 2025-10-28T21:07:08.398Z,1761685628.398 [DAT](INFO): publishing direction and range info 2025-10-28T21:07:08.607Z,1761685628.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214342,-0.976689,0.011646],[0.969578,-0.214194,-0.118490],[0.118223,-0.014106,0.992887]] 2025-10-28T21:07:08.658Z,1761685628.658 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685632.00. Resetting abort timer. 2025-10-28T21:07:09.011Z,1761685629.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231079,-0.972825,0.014618],[0.965468,-0.231137,-0.120199],[0.120311,-0.013662,0.992642]] 2025-10-28T21:07:09.419Z,1761685629.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248692,-0.968391,0.019251],[0.960846,-0.249164,-0.121209],[0.122174,-0.011646,0.992440]] 2025-10-28T21:07:09.821Z,1761685629.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267183,-0.963381,0.022598],[0.955676,-0.267911,-0.122092],[0.123676,-0.011024,0.992261]] 2025-10-28T21:07:10.222Z,1761685630.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286562,-0.957682,0.026959],[0.949917,-0.287674,-0.122071],[0.124661,-0.009372,0.992155]] 2025-10-28T21:07:10.626Z,1761685630.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306311,-0.951424,0.031090],[0.943630,-0.307781,-0.121792],[0.125444,-0.007968,0.992069]] 2025-10-28T21:07:10.667Z,1761685630.667 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:07:10.668Z,1761685630.668 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:07:10.668Z,1761685630.668 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:07:10.668Z,1761685630.668 [marl:UpdateRudder:A] Stopped 2025-10-28T21:07:10.668Z,1761685630.668 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:07:10.668Z,1761685630.668 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode] Stopped 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:07:10.669Z,1761685630.669 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:07:10.670Z,1761685630.670 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:07:10.670Z,1761685630.670 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:07:10.670Z,1761685630.670 [marl:UpdateSpeed] Stopped 2025-10-28T21:07:10.670Z,1761685630.670 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:07:11.030Z,1761685631.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326200,-0.944602,0.036327],[0.936782,-0.328170,-0.121423],[0.126618,-0.005577,0.991936]] 2025-10-28T21:07:11.077Z,1761685631.077 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:07:11.077Z,1761685631.077 [marl:UpdateRudder:B] Stopped 2025-10-28T21:07:11.077Z,1761685631.077 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:07:11.077Z,1761685631.077 [marl:UpdateRudder] Stopped 2025-10-28T21:07:11.077Z,1761685631.077 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:07:11.443Z,1761685631.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346448,-0.937109,0.042429],[0.929213,-0.349026,-0.121427],[0.128600,-0.002643,0.991693]] 2025-10-28T21:07:11.839Z,1761685631.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364710,-0.929934,0.047003],[0.921798,-0.367724,-0.122751],[0.131435,-0.001441,0.991324]] 2025-10-28T21:07:12.242Z,1761685632.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381519,-0.922947,0.051102],[0.914443,-0.384925,-0.125007],[0.135045,-0.000962,0.990839]] 2025-10-28T21:07:12.647Z,1761685632.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396158,-0.916482,0.055851],[0.907667,-0.400075,-0.126809],[0.138563,0.000458,0.990354]] 2025-10-28T21:07:13.052Z,1761685633.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409011,-0.910570,0.059773],[0.901323,-0.413355,-0.129436],[0.142568,0.000934,0.989785]] 2025-10-28T21:07:13.454Z,1761685633.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419801,-0.905486,0.062140],[0.895725,-0.424375,-0.132598],[0.146436,-0.000004,0.989220]] 2025-10-28T21:07:13.859Z,1761685633.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429685,-0.900657,0.064708],[0.890368,-0.434529,-0.135753],[0.150384,-0.000717,0.988627]] 2025-10-28T21:07:14.262Z,1761685634.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438837,-0.896197,0.065213],[0.885268,-0.443642,-0.139581],[0.154023,-0.003522,0.988061]] 2025-10-28T21:07:14.668Z,1761685634.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447677,-0.891774,0.065762],[0.880293,-0.452441,-0.142760],[0.157063,-0.006021,0.987570]] 2025-10-28T21:07:15.071Z,1761685635.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456293,-0.887315,0.066843],[0.875427,-0.461100,-0.144962],[0.159448,-0.007629,0.987177]] 2025-10-28T21:07:15.475Z,1761685635.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464949,-0.882836,0.066500],[0.870611,-0.469567,-0.146776],[0.160805,-0.010348,0.986932]] 2025-10-28T21:07:15.879Z,1761685635.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473848,-0.878206,0.064977],[0.865735,-0.478080,-0.148131],[0.161154,-0.013939,0.986831]] 2025-10-28T21:07:16.687Z,1761685636.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495268,-0.866196,0.066440],[0.853845,-0.499452,-0.146616],[0.160182,-0.015885,0.986960]] 2025-10-28T21:07:17.091Z,1761685637.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509250,-0.857906,0.068274],[0.845621,-0.513544,-0.145596],[0.159969,-0.016411,0.986986]] 2025-10-28T21:07:17.499Z,1761685637.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524778,-0.848338,0.070221],[0.836127,-0.529180,-0.144434],[0.159688,-0.017082,0.987020]] 2025-10-28T21:07:17.900Z,1761685637.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541523,-0.837517,0.072917],[0.825376,-0.546136,-0.143143],[0.159707,-0.017331,0.987012]] 2025-10-28T21:07:18.302Z,1761685638.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558530,-0.826023,0.075693],[0.813931,-0.563359,-0.141929],[0.159879,-0.017663,0.986979]] 2025-10-28T21:07:18.707Z,1761685638.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575511,-0.813802,0.080709],[0.801845,-0.580928,-0.139880],[0.160720,-0.015786,0.986874]] 2025-10-28T21:07:19.113Z,1761685639.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592491,-0.800955,0.086167],[0.789122,-0.598568,-0.137851],[0.161989,-0.013679,0.986698]] 2025-10-28T21:07:19.514Z,1761685639.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609264,-0.787668,0.091521],[0.775874,-0.615982,-0.136329],[0.163757,-0.012052,0.986427]] 2025-10-28T21:07:19.926Z,1761685639.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625040,-0.774553,0.096916],[0.762812,-0.632425,-0.134746],[0.165661,-0.010293,0.986129]] 2025-10-28T21:07:20.322Z,1761685640.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639618,-0.761868,0.102207],[0.750162,-0.647675,-0.133317],[0.167767,-0.008601,0.985789]] 2025-10-28T21:07:20.729Z,1761685640.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652599,-0.750354,0.105278],[0.738370,-0.660966,-0.133919],[0.170072,-0.009662,0.985384]] 2025-10-28T21:07:21.131Z,1761685641.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663988,-0.739816,0.108589],[0.727699,-0.672738,-0.133705],[0.171969,-0.009758,0.985054]] 2025-10-28T21:07:21.534Z,1761685641.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674404,-0.729876,0.111622],[0.717708,-0.683511,-0.133072],[0.173421,-0.009632,0.984801]] 2025-10-28T21:07:21.941Z,1761685641.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684542,-0.720104,0.113366],[0.707686,-0.693775,-0.133633],[0.174880,-0.011250,0.984526]] 2025-10-28T21:07:22.344Z,1761685642.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694364,-0.710202,0.116074],[0.697732,-0.703907,-0.132987],[0.176153,-0.011353,0.984297]] 2025-10-28T21:07:22.748Z,1761685642.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703698,-0.700515,0.118687],[0.688092,-0.713551,-0.131813],[0.177026,-0.011089,0.984144]] 2025-10-28T21:07:23.151Z,1761685643.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712920,-0.690845,0.120324],[0.678287,-0.722899,-0.131699],[0.177966,-0.012277,0.983960]] 2025-10-28T21:07:23.556Z,1761685643.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722188,-0.680634,0.123212],[0.668051,-0.732522,-0.130840],[0.179309,-0.012179,0.983717]] 2025-10-28T21:07:23.580Z,1761685643.580 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateRudder:A] Stopped 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:07:23.581Z,1761685643.581 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateCommandMode] Stopped 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:07:23.582Z,1761685643.582 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:07:23.583Z,1761685643.583 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:07:23.583Z,1761685643.583 [marl:UpdateSpeed] Stopped 2025-10-28T21:07:23.583Z,1761685643.583 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:07:23.960Z,1761685643.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731767,-0.669804,0.126015],[0.657185,-0.742436,-0.129988],[0.180625,-0.012306,0.983475]] 2025-10-28T21:07:24.038Z,1761685644.038 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:07:24.038Z,1761685644.038 [marl:UpdateRudder:B] Stopped 2025-10-28T21:07:24.038Z,1761685644.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:07:24.038Z,1761685644.038 [marl:UpdateRudder] Stopped 2025-10-28T21:07:24.038Z,1761685644.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:07:24.362Z,1761685644.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740776,-0.659268,0.128904],[0.646847,-0.751822,-0.127875],[0.181216,-0.011345,0.983378]] 2025-10-28T21:07:24.775Z,1761685644.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749822,-0.648590,0.130760],[0.636184,-0.761045,-0.126808],[0.181761,-0.011896,0.983271]] 2025-10-28T21:07:25.174Z,1761685645.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759357,-0.636906,0.133145],[0.624680,-0.770855,-0.124727],[0.182075,-0.011539,0.983217]] 2025-10-28T21:07:25.581Z,1761685645.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768958,-0.624901,0.134919],[0.612804,-0.780614,-0.122932],[0.182140,-0.011851,0.983201]] 2025-10-28T21:07:25.978Z,1761685645.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778754,-0.612230,0.136810],[0.600292,-0.790588,-0.120912],[0.182186,-0.012035,0.983190]] 2025-10-28T21:07:26.799Z,1761685646.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803001,-0.581186,0.131955],[0.568294,-0.813394,-0.124225],[0.179529,-0.024764,0.983441]] 2025-10-28T21:07:27.600Z,1761685647.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809646,-0.577256,0.106056],[0.559660,-0.813764,-0.156746],[0.176787,-0.067553,0.981928]] 2025-10-28T21:07:28.003Z,1761685648.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811916,-0.576980,0.088804],[0.556755,-0.811070,-0.179414],[0.175545,-0.096227,0.979757]] 2025-10-28T21:07:28.416Z,1761685648.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813777,-0.576661,0.072311],[0.554392,-0.807577,-0.201167],[0.174402,-0.123616,0.976884]] 2025-10-28T21:07:28.815Z,1761685648.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815662,-0.575752,0.056616],[0.551972,-0.803793,-0.221909],[0.173272,-0.149752,0.973422]] 2025-10-28T21:07:29.217Z,1761685649.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817474,-0.574233,0.044649],[0.549556,-0.800847,-0.237975],[0.172410,-0.170002,0.970244]] 2025-10-28T21:07:29.615Z,1761685649.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819045,-0.572639,0.035355],[0.547426,-0.798455,-0.250586],[0.171724,-0.185887,0.967449]] 2025-10-28T21:07:30.022Z,1761685650.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820675,-0.570676,0.028656],[0.545231,-0.797114,-0.259486],[0.170924,-0.197330,0.965322]] 2025-10-28T21:07:30.428Z,1761685650.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822463,-0.568332,0.023514],[0.542835,-0.796574,-0.266084],[0.169955,-0.206080,0.963663]] 2025-10-28T21:07:30.828Z,1761685650.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823740,-0.566604,0.020305],[0.541287,-0.796580,-0.269201],[0.168705,-0.210760,0.962870]] 2025-10-28T21:07:31.234Z,1761685651.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825137,-0.564634,0.018371],[0.539748,-0.797536,-0.269457],[0.166797,-0.212423,0.962837]] 2025-10-28T21:07:31.485Z,1761685651.485 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:07:31.636Z,1761685651.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826428,-0.562813,0.016090],[0.538666,-0.798642,-0.268345],[0.163878,-0.213101,0.963188]] 2025-10-28T21:07:32.039Z,1761685652.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827657,-0.561045,0.014578],[0.537848,-0.800321,-0.264966],[0.160324,-0.211460,0.964148]] 2025-10-28T21:07:32.443Z,1761685652.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828501,-0.559839,0.012924],[0.537749,-0.801827,-0.260575],[0.156243,-0.208937,0.965367]] 2025-10-28T21:07:32.488Z,1761685652.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:07:32.849Z,1761685652.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829128,-0.558937,0.011689],[0.537960,-0.803352,-0.255391],[0.152138,-0.205463,0.966767]] 2025-10-28T21:07:33.253Z,1761685653.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829701,-0.558130,0.009275],[0.538285,-0.804379,-0.251445],[0.147800,-0.203631,0.967827]] 2025-10-28T21:07:33.654Z,1761685653.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829831,-0.557971,0.006973],[0.539213,-0.805023,-0.247360],[0.143633,-0.201507,0.968898]] 2025-10-28T21:07:34.059Z,1761685654.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829234,-0.558884,0.004351],[0.541082,-0.804721,-0.244242],[0.140004,-0.200179,0.969705]] 2025-10-28T21:07:34.464Z,1761685654.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828387,-0.560155,0.000986],[0.543211,-0.803757,-0.242687],[0.136735,-0.200503,0.970104]] 2025-10-28T21:07:34.868Z,1761685654.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827628,-0.561274,-0.001881],[0.545088,-0.802953,-0.241134],[0.133832,-0.200595,0.970490]] 2025-10-28T21:07:35.274Z,1761685655.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826733,-0.562580,-0.004037],[0.547088,-0.802254,-0.238922],[0.131174,-0.199733,0.971030]] 2025-10-28T21:07:35.677Z,1761685655.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826089,-0.563503,-0.006439],[0.548740,-0.801741,-0.236843],[0.128300,-0.199187,0.971527]] 2025-10-28T21:07:36.078Z,1761685656.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825854,-0.563815,-0.008844],[0.549771,-0.801597,-0.234937],[0.125372,-0.198886,0.971970]] 2025-10-28T21:07:36.483Z,1761685656.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825965,-0.563617,-0.010880],[0.550344,-0.802034,-0.232084],[0.122080,-0.197681,0.972635]] 2025-10-28T21:07:36.535Z,1761685656.535 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:07:36.535Z,1761685656.535 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:07:36.535Z,1761685656.535 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:07:36.535Z,1761685656.535 [marl:UpdateRudder:A] Stopped 2025-10-28T21:07:36.536Z,1761685656.536 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:07:36.536Z,1761685656.536 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:07:36.540Z,1761685656.540 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:07:36.540Z,1761685656.540 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:07:36.540Z,1761685656.540 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateCommandMode] Stopped 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:07:36.541Z,1761685656.541 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:07:36.542Z,1761685656.542 [marl:UpdateSpeed] Stopped 2025-10-28T21:07:36.542Z,1761685656.542 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:07:36.902Z,1761685656.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826736,-0.562433,-0.013295],[0.550036,-0.803097,-0.229117],[0.118186,-0.196732,0.973308]] 2025-10-28T21:07:36.927Z,1761685656.927 [marl:UpdateRudder:B](INFO): Updating rudder angle -0.000000 arcdeg 2025-10-28T21:07:36.927Z,1761685656.927 [marl:UpdateRudder:B] Stopped 2025-10-28T21:07:36.928Z,1761685656.928 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:07:36.928Z,1761685656.928 [marl:UpdateRudder] Stopped 2025-10-28T21:07:36.928Z,1761685656.928 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:07:37.291Z,1761685657.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827695,-0.560953,-0.015858],[0.549610,-0.804602,-0.224822],[0.113355,-0.194800,0.974271]] 2025-10-28T21:07:37.695Z,1761685657.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829787,-0.557784,-0.018210],[0.547539,-0.807367,-0.219909],[0.107960,-0.192448,0.975350]] 2025-10-28T21:07:38.099Z,1761685658.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832523,-0.553600,-0.020804],[0.544425,-0.810623,-0.215619],[0.102502,-0.190834,0.976256]] 2025-10-28T21:07:38.503Z,1761685658.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836242,-0.547855,-0.023538],[0.539655,-0.814589,-0.212643],[0.097323,-0.190523,0.976847]] 2025-10-28T21:07:38.911Z,1761685658.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840090,-0.541838,-0.025703],[0.534532,-0.818837,-0.209242],[0.092328,-0.189521,0.977526]] 2025-10-28T21:07:39.311Z,1761685659.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844031,-0.535538,-0.028466],[0.529120,-0.822913,-0.206994],[0.087428,-0.189771,0.977928]] 2025-10-28T21:07:39.715Z,1761685659.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847634,-0.529729,-0.030072],[0.524029,-0.826941,-0.203868],[0.083127,-0.188564,0.978536]] 2025-10-28T21:07:40.120Z,1761685660.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850767,-0.524527,-0.032664],[0.519516,-0.829998,-0.202994],[0.079365,-0.189670,0.978635]] 2025-10-28T21:07:40.524Z,1761685660.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853597,-0.519753,-0.035053],[0.515247,-0.832452,-0.203823],[0.076758,-0.192044,0.978380]] 2025-10-28T21:07:40.927Z,1761685660.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855999,-0.515703,-0.036274],[0.511464,-0.834565,-0.204708],[0.075295,-0.193783,0.978151]] 2025-10-28T21:07:41.333Z,1761685661.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858151,-0.512035,-0.037387],[0.507942,-0.836189,-0.206841],[0.074648,-0.196491,0.977660]] 2025-10-28T21:07:41.749Z,1761685661.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859416,-0.509830,-0.038435],[0.505878,-0.837037,-0.208462],[0.074108,-0.198599,0.977275]] 2025-10-28T21:07:42.139Z,1761685662.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860153,-0.508421,-0.040552],[0.504716,-0.837036,-0.211262],[0.073467,-0.202185,0.976588]] 2025-10-28T21:07:42.544Z,1761685662.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859737,-0.508942,-0.042789],[0.505626,-0.836316,-0.211940],[0.072080,-0.203847,0.976346]] 2025-10-28T21:07:42.947Z,1761685662.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859063,-0.509804,-0.045946],[0.507061,-0.835282,-0.212588],[0.070001,-0.205924,0.976061]] 2025-10-28T21:07:43.357Z,1761685663.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858140,-0.511108,-0.048634],[0.508958,-0.834405,-0.211495],[0.067516,-0.206244,0.976168]] 2025-10-28T21:07:43.796Z,1761685663.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857065,-0.512645,-0.051327],[0.511136,-0.833560,-0.209564],[0.064648,-0.205845,0.976447]] 2025-10-28T21:07:44.163Z,1761685664.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855902,-0.514341,-0.053716],[0.513454,-0.832829,-0.206789],[0.061624,-0.204571,0.976910]] 2025-10-28T21:07:44.563Z,1761685664.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854833,-0.515839,-0.056313],[0.515584,-0.832090,-0.204450],[0.058606,-0.203804,0.977256]] 2025-10-28T21:07:44.967Z,1761685664.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853870,-0.517138,-0.058944],[0.517518,-0.831459,-0.202118],[0.055514,-0.203087,0.977586]] 2025-10-28T21:07:45.389Z,1761685665.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853227,-0.517945,-0.061134],[0.518913,-0.831325,-0.199068],[0.052284,-0.201573,0.978077]] 2025-10-28T21:07:45.809Z,1761685665.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852815,-0.518324,-0.063610],[0.519941,-0.831431,-0.195921],[0.048663,-0.200157,0.978554]] 2025-10-28T21:07:46.178Z,1761685666.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852943,-0.517887,-0.065430],[0.520038,-0.832163,-0.192523],[0.045257,-0.198238,0.979109]] 2025-10-28T21:07:46.583Z,1761685666.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853784,-0.516353,-0.066575],[0.518915,-0.833628,-0.189190],[0.042190,-0.196074,0.979681]] 2025-10-28T21:07:46.988Z,1761685666.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854985,-0.514192,-0.067885],[0.517190,-0.835414,-0.186005],[0.038930,-0.194141,0.980201]] 2025-10-28T21:07:47.394Z,1761685667.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856437,-0.511691,-0.068466],[0.514999,-0.837580,-0.182306],[0.035938,-0.191394,0.980855]] 2025-10-28T21:07:47.812Z,1761685667.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858346,-0.508375,-0.069264],[0.511993,-0.839953,-0.179841],[0.033249,-0.189829,0.981254]] 2025-10-28T21:07:48.199Z,1761685668.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860602,-0.504334,-0.070792],[0.508369,-0.842422,-0.178570],[0.030422,-0.189666,0.981377]] 2025-10-28T21:07:48.604Z,1761685668.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862905,-0.500270,-0.071592],[0.504599,-0.845103,-0.176582],[0.027836,-0.188499,0.981679]] 2025-10-28T21:07:49.007Z,1761685669.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865064,-0.496406,-0.072424],[0.501009,-0.847524,-0.175198],[0.025588,-0.187842,0.981866]] 2025-10-28T21:07:49.411Z,1761685669.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867236,-0.492481,-0.073239],[0.497346,-0.849932,-0.173964],[0.023426,-0.187294,0.982025]] 2025-10-28T21:07:49.466Z,1761685669.466 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:07:49.466Z,1761685669.466 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:07:49.466Z,1761685669.466 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateRudder:A] Stopped 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:07:49.467Z,1761685669.467 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:07:49.468Z,1761685669.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:07:49.480Z,1761685669.480 [marl:UpdateCommandMode] Stopped 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:07:49.481Z,1761685669.481 [marl:UpdateSpeed] Stopped 2025-10-28T21:07:49.482Z,1761685669.482 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:07:49.818Z,1761685669.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869216,-0.488918,-0.073634],[0.493956,-0.852160,-0.172715],[0.021696,-0.186498,0.982216]] 2025-10-28T21:07:49.895Z,1761685669.895 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:07:49.895Z,1761685669.895 [marl:UpdateRudder:B] Stopped 2025-10-28T21:07:49.895Z,1761685669.895 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:07:49.895Z,1761685669.895 [marl:UpdateRudder] Stopped 2025-10-28T21:07:49.895Z,1761685669.895 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:07:50.221Z,1761685670.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870877,-0.485882,-0.074108],[0.491089,-0.854027,-0.171667],[0.020120,-0.185894,0.982364]] 2025-10-28T21:07:50.626Z,1761685670.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872308,-0.483140,-0.075192],[0.488593,-0.855360,-0.172154],[0.018858,-0.186910,0.982196]] 2025-10-28T21:07:51.028Z,1761685671.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873378,-0.481031,-0.076287],[0.486730,-0.856436,-0.172077],[0.017439,-0.187420,0.982125]] 2025-10-28T21:07:51.437Z,1761685671.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874261,-0.479190,-0.077746],[0.485192,-0.857228,-0.172478],[0.016004,-0.188512,0.981940]] 2025-10-28T21:07:51.836Z,1761685671.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874751,-0.478190,-0.078391],[0.484350,-0.857916,-0.171423],[0.014720,-0.187921,0.982074]] 2025-10-28T21:07:52.239Z,1761685672.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874057,-0.479105,-0.080513],[0.485631,-0.856972,-0.172515],[0.013655,-0.189888,0.981711]] 2025-10-28T21:07:52.647Z,1761685672.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870941,-0.483922,-0.085336],[0.491208,-0.852684,-0.177891],[0.013321,-0.196851,0.980343]] 2025-10-28T21:07:53.046Z,1761685673.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865097,-0.492261,-0.096359],[0.501415,-0.843389,-0.193077],[0.013776,-0.215346,0.976441]] 2025-10-28T21:07:53.457Z,1761685673.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856047,-0.503863,-0.115352],[0.516682,-0.827663,-0.219120],[0.014934,-0.247177,0.968855]] 2025-10-28T21:07:53.867Z,1761685673.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843667,-0.518070,-0.140816],[0.536587,-0.805244,-0.252301],[0.017319,-0.288418,0.957348]] 2025-10-28T21:07:54.258Z,1761685674.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828281,-0.533665,-0.170741],[0.559901,-0.776618,-0.288748],[0.021495,-0.334763,0.942057]] 2025-10-28T21:07:55.069Z,1761685675.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791203,-0.565388,-0.233096],[0.610687,-0.710165,-0.350324],[0.032532,-0.419526,0.907160]] 2025-10-28T21:07:55.471Z,1761685675.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770395,-0.581338,-0.261797],[0.636358,-0.675845,-0.371862],[0.039243,-0.453077,0.890607]] 2025-10-28T21:07:55.879Z,1761685675.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748921,-0.597714,-0.286105],[0.660980,-0.643090,-0.386703],[0.047147,-0.478720,0.876701]] 2025-10-28T21:07:56.279Z,1761685676.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726727,-0.614316,-0.307382],[0.684673,-0.611567,-0.396496],[0.055589,-0.498600,0.865048]] 2025-10-28T21:07:56.710Z,1761685676.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704269,-0.631289,-0.324774],[0.707032,-0.582377,-0.401177],[0.064118,-0.512163,0.856492]] 2025-10-28T21:07:57.110Z,1761685677.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681746,-0.650848,-0.334096],[0.727943,-0.557946,-0.398490],[0.072949,-0.514871,0.854158]] 2025-10-28T21:07:57.517Z,1761685677.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658174,-0.672155,-0.339138],[0.748523,-0.535912,-0.390527],[0.080747,-0.510887,0.855847]] 2025-10-28T21:07:57.918Z,1761685677.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633801,-0.694109,-0.341335],[0.768518,-0.515101,-0.379541],[0.087621,-0.502875,0.859906]] 2025-10-28T21:07:58.370Z,1761685678.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608544,-0.718539,-0.336713],[0.787986,-0.497175,-0.363173],[0.093549,-0.486332,0.868752]] 2025-10-28T21:07:58.773Z,1761685678.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581210,-0.744478,-0.328555],[0.807823,-0.479198,-0.343208],[0.098067,-0.464890,0.879920]] 2025-10-28T21:07:59.171Z,1761685679.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553235,-0.767362,-0.324171],[0.826838,-0.458499,-0.325757],[0.101342,-0.448257,0.888142]] 2025-10-28T21:07:59.575Z,1761685679.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523461,-0.789818,-0.319650],[0.845755,-0.436129,-0.307391],[0.103374,-0.431253,0.896289]] 2025-10-28T21:08:00.015Z,1761685680.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492859,-0.808059,-0.322692],[0.863823,-0.409907,-0.292891],[0.104399,-0.423103,0.900047]] 2025-10-28T21:08:00.515Z,1761685680.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428266,-0.838763,-0.336250],[0.897629,-0.351971,-0.265289],[0.104165,-0.415442,0.903636]] 2025-10-28T21:08:00.914Z,1761685680.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394432,-0.851567,-0.345336],[0.913142,-0.321122,-0.251104],[0.102937,-0.414384,0.904262]] 2025-10-28T21:08:01.318Z,1761685681.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359572,-0.863635,-0.353330],[0.927660,-0.289956,-0.235315],[0.100776,-0.412383,0.905420]] 2025-10-28T21:08:02.127Z,1761685682.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288821,-0.883911,-0.367810],[0.952822,-0.227929,-0.200446],[0.093342,-0.408350,0.908041]] 2025-10-28T21:08:02.531Z,1761685682.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253414,-0.893356,-0.371074],[0.963314,-0.198010,-0.181160],[0.088364,-0.403369,0.910761]] 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateRudder:A] Stopped 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:08:02.555Z,1761685682.555 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:08:02.556Z,1761685682.556 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:08:02.581Z,1761685682.581 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:08:02.581Z,1761685682.581 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateCommandMode] Stopped 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:08:02.582Z,1761685682.582 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:08:02.583Z,1761685682.583 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:08:02.583Z,1761685682.583 [marl:UpdateSpeed] Stopped 2025-10-28T21:08:02.583Z,1761685682.583 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:08:02.608Z,1761685682.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:08:02.935Z,1761685682.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218746,-0.899819,-0.377461],[0.972252,-0.168113,-0.162678],[0.082924,-0.402572,0.911624]] 2025-10-28T21:08:02.960Z,1761685682.960 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:08:02.960Z,1761685682.960 [marl:UpdateRudder:B] Stopped 2025-10-28T21:08:02.960Z,1761685682.960 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:08:02.960Z,1761685682.960 [marl:UpdateRudder] Stopped 2025-10-28T21:08:02.960Z,1761685682.960 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:08:03.354Z,1761685683.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184525,-0.905031,-0.383237],[0.979793,-0.138774,-0.144039],[0.077177,-0.402071,0.912350]] 2025-10-28T21:08:03.614Z,1761685683.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:08:03.755Z,1761685683.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152007,-0.908987,-0.388119],[0.985750,-0.110798,-0.126576],[0.072053,-0.401829,0.912876]] 2025-10-28T21:08:03.887Z,1761685683.887 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:08:04.093Z,1761685684.093 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:08:04.093Z,1761685684.093 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:08:04.161Z,1761685684.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119557,-0.911497,-0.393547],[0.990578,-0.082845,-0.109053],[0.066798,-0.402877,0.912813]] 2025-10-28T21:08:04.346Z,1761685684.346 [DAT](INFO): DAT read: user:288> 2025-10-28T21:08:04.347Z,1761685684.347 [DAT](INFO): DAT read: Tx time:21:08:04.1079 2025-10-28T21:08:04.347Z,1761685684.347 [DAT](INFO): Ping request sent. 2025-10-28T21:08:04.348Z,1761685684.348 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:08:04.348Z,1761685684.348 [DAT](INFO): publishing transmit ping time 2025-10-28T21:08:04.350Z,1761685684.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002192 2025-10-28T21:08:04.569Z,1761685684.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087445,-0.912524,-0.399567],[0.994278,-0.055248,-0.091423],[0.061351,-0.405276,0.912134]] 2025-10-28T21:08:04.597Z,1761685684.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249702 2025-10-28T21:08:04.850Z,1761685684.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502894 2025-10-28T21:08:04.968Z,1761685684.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055180,-0.912970,-0.404277],[0.996892,-0.027577,-0.073790],[0.056220,-0.407093,0.911655]] 2025-10-28T21:08:05.101Z,1761685685.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753757 2025-10-28T21:08:05.353Z,1761685685.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005548 2025-10-28T21:08:05.374Z,1761685685.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022978,-0.912041,-0.409454],[0.998419,0.000084,-0.056218],[0.051307,-0.410098,0.910597]] 2025-10-28T21:08:05.606Z,1761685685.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258347 2025-10-28T21:08:05.808Z,1761685685.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009268,-0.910546,-0.413304],[0.998854,0.027837,-0.038929],[0.046952,-0.412469,0.909761]] 2025-10-28T21:08:05.857Z,1761685685.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509809 2025-10-28T21:08:06.109Z,1761685686.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761658 2025-10-28T21:08:06.362Z,1761685686.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014262 2025-10-28T21:08:06.582Z,1761685686.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075079,-0.906397,-0.415701],[0.996423,0.084411,-0.004088],[0.038795,-0.413907,0.909492]] 2025-10-28T21:08:06.613Z,1761685686.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265855 2025-10-28T21:08:06.865Z,1761685686.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517641 2025-10-28T21:08:06.986Z,1761685686.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108627,-0.902605,-0.416540],[0.993465,0.113341,0.013480],[0.035044,-0.415282,0.909018]] 2025-10-28T21:08:07.117Z,1761685687.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769608 2025-10-28T21:08:07.369Z,1761685687.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021657 2025-10-28T21:08:07.395Z,1761685687.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142020,-0.897706,-0.417077],[0.989356,0.142224,0.030769],[0.031697,-0.417008,0.908350]] 2025-10-28T21:08:07.621Z,1761685687.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273601 2025-10-28T21:08:07.813Z,1761685687.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175365,-0.894123,-0.412058],[0.984081,0.171460,0.046758],[0.028844,-0.413698,0.909957]] 2025-10-28T21:08:07.873Z,1761685687.873 [DAT](INFO): DAT read: Rx Time:21:08:07.2377 2025-10-28T21:08:07.874Z,1761685687.874 [DAT](INFO): Rx dataTimestamp_ set to:1761685687.873253 2025-10-28T21:08:07.874Z,1761685687.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526827 2025-10-28T21:08:08.125Z,1761685688.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777633 2025-10-28T21:08:08.198Z,1761685688.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208907,-0.887969,-0.409718],[0.977599,0.200618,0.063666],[0.025663,-0.413840,0.909988]] 2025-10-28T21:08:08.380Z,1761685688.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031881 2025-10-28T21:08:08.603Z,1761685688.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242994,-0.879582,-0.409009],[0.969768,0.230030,0.081459],[0.022434,-0.416438,0.908887]] 2025-10-28T21:08:08.636Z,1761685688.636 [DAT](INFO): DAT read: 21:08:07.2377 LVL= 28528, 27169, 22258, 32755, AGC= 70, IDX= 373,-0.08, 0.491, 1.727, 2.714, 1.448, PHS=-0.855, 0.323, 1.222, RAW= 244.4, -7.7, CAL= 242.8, -12.1, ROT= 267.2, 12.1 2025-10-28T21:08:08.637Z,1761685688.637 [DAT](INFO): got valid direction response: 21:08:07.2377 LVL= 28528, 27169, 22258, 32755, AGC= 70, IDX= 373,-0.08, 0.491, 1.727, 2.714, 1.448, PHS=-0.855, 0.323, 1.222, RAW= 244.4, -7.7, CAL= 242.8, -12.1, ROT= 267.2, 12.1 2025-10-28T21:08:08.638Z,1761685688.638 [DAT](INFO): DAT read: Bearing 330, -10 (Remote) 2025-10-28T21:08:08.639Z,1761685688.639 [DAT](INFO): Remote Bearing received:Bearing 330, -10 (Remote) 2025-10-28T21:08:08.639Z,1761685688.639 [DAT](INFO): DAT read: Bearing 155.6, -52.6 (Local) 2025-10-28T21:08:08.640Z,1761685688.640 [DAT](INFO): Local bearing/azimuth received: Bearing 155.6, -52.6 (Local) 2025-10-28T21:08:08.641Z,1761685688.641 [DAT](INFO): DAT read: Range 11 to 20 : 825.6 m (Round-trip 1100.8 ms) speed -1.0 m/s 2025-10-28T21:08:08.642Z,1761685688.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:08:08.643Z,1761685688.643 [DAT](INFO): direction in FSK: [-0.047764,-0.976616,-0.209619] 2025-10-28T21:08:08.643Z,1761685688.643 [DAT](INFO): publishing direction and range info 2025-10-28T21:08:08.665Z,1761685688.665 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685632.00. Resetting abort timer. 2025-10-28T21:08:09.411Z,1761685689.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310268,-0.864093,-0.396329],[0.950496,0.289457,0.113015],[0.017065,-0.411774,0.911126]] 2025-10-28T21:08:09.826Z,1761685689.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344618,-0.854592,-0.388473],[0.938629,0.320146,0.128387],[0.014650,-0.408876,0.912472]] 2025-10-28T21:08:10.220Z,1761685690.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379150,-0.844003,-0.379348],[0.925255,0.351179,0.143442],[0.012153,-0.405380,0.914067]] 2025-10-28T21:08:10.622Z,1761685690.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413621,-0.831462,-0.370931],[0.910400,0.381961,0.158991],[0.009486,-0.403457,0.914949]] 2025-10-28T21:08:11.063Z,1761685691.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447445,-0.819180,-0.358799],[0.894287,0.412791,0.172781],[0.006570,-0.398180,0.917284]] 2025-10-28T21:08:11.430Z,1761685691.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480545,-0.804735,-0.348536],[0.876963,0.442586,0.187228],[0.003588,-0.395625,0.918405]] 2025-10-28T21:08:11.843Z,1761685691.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512631,-0.788321,-0.340236],[0.858609,0.470765,0.202905],[0.000217,-0.396145,0.918188]] 2025-10-28T21:08:12.239Z,1761685692.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544269,-0.771875,-0.328604],[0.838904,0.499177,0.216940],[-0.003419,-0.393741,0.919215]] 2025-10-28T21:08:12.643Z,1761685692.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574483,-0.754206,-0.318029],[0.818484,0.525866,0.231406],[-0.007288,-0.393240,0.919407]] 2025-10-28T21:08:13.047Z,1761685693.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603286,-0.735556,-0.308227],[0.797445,0.550859,0.246245],[-0.011337,-0.394350,0.918890]] 2025-10-28T21:08:13.452Z,1761685693.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631129,-0.715854,-0.298713],[0.775522,0.574618,0.261494],[-0.015545,-0.396695,0.917819]] 2025-10-28T21:08:13.854Z,1761685693.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657278,-0.696451,-0.287994],[0.753396,0.597317,0.274966],[-0.019477,-0.397703,0.917308]] 2025-10-28T21:08:14.258Z,1761685694.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683090,-0.675884,-0.276711],[0.729970,0.619879,0.287913],[-0.023068,-0.398661,0.916808]] 2025-10-28T21:08:14.663Z,1761685694.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708055,-0.654765,-0.264462],[0.705661,0.642034,0.299725],[-0.026456,-0.398843,0.916638]] 2025-10-28T21:08:15.068Z,1761685695.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732362,-0.632805,-0.251404],[0.680276,0.663975,0.310422],[-0.029511,-0.398366,0.916752]] 2025-10-28T21:08:15.470Z,1761685695.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756220,-0.609681,-0.237530],[0.653506,0.685693,0.320552],[-0.032562,-0.397636,0.916965]] 2025-10-28T21:08:15.502Z,1761685695.502 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:08:15.502Z,1761685695.502 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:08:15.502Z,1761685695.502 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateRudder:A] Stopped 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:08:15.503Z,1761685695.503 [marl:UpdateCommandMode] Stopped 2025-10-28T21:08:15.504Z,1761685695.504 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:08:15.504Z,1761685695.504 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:08:15.504Z,1761685695.504 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:08:15.504Z,1761685695.504 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:08:15.505Z,1761685695.505 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:08:15.505Z,1761685695.505 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:08:15.505Z,1761685695.505 [marl:UpdateSpeed] Stopped 2025-10-28T21:08:15.505Z,1761685695.505 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:08:15.874Z,1761685695.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778796,-0.586413,-0.222703],[0.626285,0.706954,0.328607],[-0.035259,-0.395394,0.917835]] 2025-10-28T21:08:15.932Z,1761685695.932 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:08:15.932Z,1761685695.932 [marl:UpdateRudder:B] Stopped 2025-10-28T21:08:15.932Z,1761685695.932 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:08:15.932Z,1761685695.932 [marl:UpdateRudder] Stopped 2025-10-28T21:08:15.932Z,1761685695.932 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:08:16.684Z,1761685696.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820140,-0.538839,-0.192412],[0.570740,0.746763,0.341467],[-0.040310,-0.389868,0.919988]] 2025-10-28T21:08:17.086Z,1761685697.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839336,-0.513970,-0.177062],[0.541875,0.765001,0.348058],[-0.043439,-0.388083,0.920600]] 2025-10-28T21:08:17.491Z,1761685697.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856889,-0.489530,-0.161561],[0.513348,0.781708,0.354126],[-0.047062,-0.386384,0.921137]] 2025-10-28T21:08:17.896Z,1761685697.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871885,-0.467525,-0.145731],[0.487006,0.796554,0.358227],[-0.051398,-0.383304,0.922191]] 2025-10-28T21:08:18.303Z,1761685698.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884007,-0.449856,-0.127128],[0.463998,0.811264,0.355749],[-0.056901,-0.373472,0.925895]] 2025-10-28T21:08:18.702Z,1761685698.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892858,-0.438023,-0.104598],[0.445807,0.826834,0.342932],[-0.063727,-0.352820,0.933519]] 2025-10-28T21:08:19.107Z,1761685699.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897687,-0.433015,-0.081592],[0.434741,0.840179,0.324191],[-0.071828,-0.326493,0.942466]] 2025-10-28T21:08:19.513Z,1761685699.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899513,-0.432914,-0.058831],[0.429266,0.850710,0.303354],[-0.081278,-0.298125,0.951060]] 2025-10-28T21:08:19.914Z,1761685699.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898317,-0.438031,-0.033977],[0.429665,0.859745,0.276092],[-0.091725,-0.262617,0.960531]] 2025-10-28T21:08:20.325Z,1761685700.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894300,-0.447391,-0.008299],[0.435567,0.866116,0.245204],[-0.102514,-0.222900,0.969436]] 2025-10-28T21:08:20.723Z,1761685700.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888549,-0.458469,0.016917],[0.444504,0.869440,0.215614],[-0.113561,-0.184064,0.976332]] 2025-10-28T21:08:21.139Z,1761685701.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881556,-0.470180,0.042311],[0.455324,0.870510,0.186795],[-0.124659,-0.145405,0.981487]] 2025-10-28T21:08:21.531Z,1761685701.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873729,-0.481956,0.065703],[0.467130,0.869056,0.162882],[-0.135601,-0.111622,0.984456]] 2025-10-28T21:08:21.935Z,1761685701.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865332,-0.493641,0.086710],[0.479430,0.865699,0.143917],[-0.146108,-0.082965,0.985784]] 2025-10-28T21:08:22.339Z,1761685702.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856408,-0.505256,0.106220],[0.492012,0.861020,0.128717],[-0.156492,-0.057973,0.985976]] 2025-10-28T21:08:22.745Z,1761685702.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846732,-0.517432,0.123730],[0.505284,0.854928,0.117412],[-0.166533,-0.036898,0.985345]] 2025-10-28T21:08:23.151Z,1761685703.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836223,-0.530485,0.138983],[0.519325,0.847462,0.110046],[-0.176161,-0.019845,0.984161]] 2025-10-28T21:08:23.550Z,1761685703.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824729,-0.544578,0.152500],[0.534211,0.838689,0.105917],[-0.185581,-0.005885,0.982611]] 2025-10-28T21:08:23.955Z,1761685703.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811897,-0.560141,0.164515],[0.550633,0.828368,0.103003],[-0.193975,0.006960,0.980982]] 2025-10-28T21:08:24.360Z,1761685704.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798171,-0.576955,0.173339],[0.567699,0.816632,0.104069],[-0.201597,0.015340,0.979348]] 2025-10-28T21:08:24.770Z,1761685704.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783851,-0.594189,0.180327],[0.585047,0.804017,0.106187],[-0.208081,0.022265,0.977858]] 2025-10-28T21:08:25.171Z,1761685705.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769291,-0.611476,0.185172],[0.602336,0.790777,0.108921],[-0.213033,0.027744,0.976651]] 2025-10-28T21:08:25.570Z,1761685705.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754911,-0.628472,0.187436],[0.619007,0.777224,0.112936],[-0.216657,0.030768,0.975763]] 2025-10-28T21:08:25.974Z,1761685705.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741182,-0.644319,0.188423],[0.634467,0.764051,0.116953],[-0.219320,0.032865,0.975099]] 2025-10-28T21:08:26.378Z,1761685706.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728370,-0.658859,0.188102],[0.648446,0.751518,0.121403],[-0.221350,0.033548,0.974617]] 2025-10-28T21:08:26.802Z,1761685706.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717135,-0.671407,0.186897],[0.660155,0.740374,0.126657],[-0.223412,0.032551,0.974180]] 2025-10-28T21:08:27.214Z,1761685707.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707496,-0.682220,0.184460],[0.669817,0.730548,0.132832],[-0.225377,0.029576,0.973822]] 2025-10-28T21:08:27.590Z,1761685707.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699279,-0.691035,0.182976],[0.677806,0.722282,0.137432],[-0.227130,0.027919,0.973464]] 2025-10-28T21:08:27.995Z,1761685707.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691962,-0.698755,0.181468],[0.684597,0.714897,0.142297],[-0.229161,0.025768,0.973047]] 2025-10-28T21:08:28.399Z,1761685708.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685293,-0.705615,0.180224],[0.690434,0.708209,0.147448],[-0.231678,0.023387,0.972511]] 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateRudder:A] Stopped 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:08:28.424Z,1761685708.424 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode] Stopped 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:08:28.425Z,1761685708.425 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed] Stopped 2025-10-28T21:08:28.426Z,1761685708.426 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:08:28.815Z,1761685708.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679219,-0.711499,0.180085],[0.695470,0.702338,0.151796],[-0.234483,0.022141,0.971868]] 2025-10-28T21:08:28.846Z,1761685708.846 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:08:28.846Z,1761685708.846 [marl:UpdateRudder:B] Stopped 2025-10-28T21:08:28.846Z,1761685708.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:08:28.846Z,1761685708.846 [marl:UpdateRudder] Stopped 2025-10-28T21:08:28.846Z,1761685708.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:08:29.207Z,1761685709.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673320,-0.717025,0.180317],[0.700144,0.696727,0.156112],[-0.237568,0.021134,0.971141]] 2025-10-28T21:08:29.611Z,1761685709.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667138,-0.722711,0.180600],[0.704855,0.690863,0.160897],[-0.241052,0.019956,0.970307]] 2025-10-28T21:08:30.421Z,1761685710.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651576,-0.736175,0.183018],[0.716727,0.676472,0.169376],[-0.248497,0.020813,0.968409]] 2025-10-28T21:08:30.824Z,1761685710.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641831,-0.744716,0.182896],[0.724477,0.667050,0.173714],[-0.251368,0.021009,0.967663]] 2025-10-28T21:08:31.227Z,1761685711.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630538,-0.754274,0.183009],[0.733689,0.656158,0.176516],[-0.253225,0.022971,0.967135]] 2025-10-28T21:08:31.631Z,1761685711.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618075,-0.764449,0.183307],[0.743730,0.644163,0.178658],[-0.254655,0.025907,0.966685]] 2025-10-28T21:08:32.036Z,1761685712.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604293,-0.775521,0.182749],[0.754704,0.630670,0.180768],[-0.255444,0.028684,0.966398]] 2025-10-28T21:08:32.439Z,1761685712.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589916,-0.786770,0.181635],[0.765912,0.616449,0.182674],[-0.255691,0.031354,0.966250]] 2025-10-28T21:08:32.843Z,1761685712.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574470,-0.798343,0.180643],[0.777593,0.601203,0.184134],[-0.255605,0.034688,0.966159]] 2025-10-28T21:08:33.253Z,1761685713.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558238,-0.810193,0.178766],[0.789529,0.584962,0.185645],[-0.254979,0.037507,0.966219]] 2025-10-28T21:08:33.652Z,1761685713.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541650,-0.822274,0.174587],[0.801907,0.567738,0.186062],[-0.252114,0.039222,0.966902]] 2025-10-28T21:08:33.768Z,1761685713.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:08:34.054Z,1761685714.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524740,-0.834616,0.167521],[0.814533,0.549463,0.186084],[-0.247355,0.038806,0.968147]] 2025-10-28T21:08:34.460Z,1761685714.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507721,-0.846810,0.158529],[0.827176,0.530595,0.185064],[-0.240828,0.037171,0.969856]] 2025-10-28T21:08:34.768Z,1761685714.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:08:34.863Z,1761685714.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490351,-0.858547,0.149844],[0.839803,0.511432,0.182123],[-0.232996,0.036535,0.971791]] 2025-10-28T21:08:35.278Z,1761685715.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455796,-0.880688,0.128993],[0.863784,0.472627,0.174643],[-0.214771,0.031820,0.976146]] 2025-10-28T21:08:35.675Z,1761685715.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439805,-0.890118,0.119424],[0.874385,0.454744,0.169286],[-0.204992,0.029969,0.978305]] 2025-10-28T21:08:36.086Z,1761685716.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424819,-0.898486,0.110687],[0.883827,0.438100,0.164066],[-0.195903,0.028129,0.980220]] 2025-10-28T21:08:36.487Z,1761685716.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411814,-0.905595,0.101528],[0.891730,0.423423,0.159784],[-0.187689,0.024735,0.981917]] 2025-10-28T21:08:36.885Z,1761685716.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399940,-0.911694,0.094137],[0.898602,0.410260,0.155566],[-0.180449,0.022375,0.983330]] 2025-10-28T21:08:37.298Z,1761685717.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388866,-0.917225,0.086492],[0.904666,0.397917,0.152453],[-0.174250,0.018963,0.984519]] 2025-10-28T21:08:37.692Z,1761685717.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377699,-0.922597,0.078479],[0.910429,0.385483,0.150072],[-0.168708,0.014767,0.985555]] 2025-10-28T21:08:38.094Z,1761685718.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366849,-0.927659,0.069786],[0.915758,0.373308,0.148422],[-0.163737,0.009458,0.986459]] 2025-10-28T21:08:38.499Z,1761685718.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355548,-0.932495,0.063555],[0.920967,0.361125,0.146320],[-0.159394,0.006508,0.987194]] 2025-10-28T21:08:38.905Z,1761685718.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343435,-0.937451,0.056902],[0.926327,0.348102,0.144027],[-0.154826,0.003246,0.987936]] 2025-10-28T21:08:39.309Z,1761685719.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330811,-0.942355,0.050309],[0.931709,0.334615,0.141252],[-0.149944,0.000145,0.988695]] 2025-10-28T21:08:39.710Z,1761685719.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318059,-0.946921,0.046690],[0.936957,0.321467,0.137002],[-0.144739,0.000172,0.989470]] 2025-10-28T21:08:40.115Z,1761685720.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305650,-0.951135,0.043808],[0.941859,0.308773,0.132520],[-0.139571,0.000756,0.990212]] 2025-10-28T21:08:40.520Z,1761685720.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293621,-0.955065,0.040474],[0.946427,0.296397,0.128159],[-0.134397,0.000676,0.990927]] 2025-10-28T21:08:40.923Z,1761685720.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282571,-0.958522,0.037274],[0.950495,0.285018,0.123791],[-0.129280,0.000449,0.991608]] 2025-10-28T21:08:41.327Z,1761685721.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272070,-0.961613,0.035757],[0.954198,0.274405,0.119195],[-0.124431,0.001690,0.992227]] 2025-10-28T21:08:41.368Z,1761685721.368 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:08:41.376Z,1761685721.376 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:08:41.376Z,1761685721.376 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:08:41.376Z,1761685721.376 [marl:UpdateRudder:A] Stopped 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode] Stopped 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:08:41.377Z,1761685721.377 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed] Stopped 2025-10-28T21:08:41.378Z,1761685721.378 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:08:41.735Z,1761685721.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262533,-0.964383,0.032264],[0.957443,0.264508,0.115495],[-0.119916,0.000570,0.992784]] 2025-10-28T21:08:41.869Z,1761685721.869 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:08:41.869Z,1761685721.869 [marl:UpdateRudder:B] Stopped 2025-10-28T21:08:41.869Z,1761685721.869 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:08:41.869Z,1761685721.869 [marl:UpdateRudder] Stopped 2025-10-28T21:08:41.869Z,1761685721.869 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:08:42.136Z,1761685722.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253297,-0.966957,0.028907],[0.960430,0.254940,0.112158],[-0.115821,-0.000646,0.993270]] 2025-10-28T21:08:42.539Z,1761685722.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243609,-0.969531,0.025781],[0.963377,0.244963,0.109078],[-0.112070,-0.001736,0.993699]] 2025-10-28T21:08:42.943Z,1761685722.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233163,-0.972187,0.022086],[0.966366,0.234181,0.106286],[-0.108502,-0.003439,0.994090]] 2025-10-28T21:08:43.347Z,1761685723.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221340,-0.975006,0.019263],[0.969524,0.222137,0.103339],[-0.105036,-0.004197,0.994460]] 2025-10-28T21:08:43.795Z,1761685723.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207500,-0.978065,0.018221],[0.972936,0.208277,0.100084],[-0.101684,-0.003039,0.994812]] 2025-10-28T21:08:44.154Z,1761685724.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191959,-0.981254,0.017102],[0.976463,0.192710,0.096866],[-0.098346,-0.001894,0.995150]] 2025-10-28T21:08:44.559Z,1761685724.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175078,-0.984435,0.015360],[0.980000,0.175746,0.093350],[-0.094596,-0.001290,0.995515]] 2025-10-28T21:08:44.963Z,1761685724.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157578,-0.987420,0.013061],[0.983339,0.158113,0.089693],[-0.090630,-0.001291,0.995884]] 2025-10-28T21:08:45.374Z,1761685725.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140003,-0.990088,0.011175],[0.986361,0.140445,0.085831],[-0.086550,-0.000994,0.996247]] 2025-10-28T21:08:45.807Z,1761685725.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121861,-0.992496,0.010049],[0.989122,0.122274,0.081766],[-0.082381,-0.000024,0.996601]] 2025-10-28T21:08:46.175Z,1761685726.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104400,-0.994519,0.005806],[0.991438,0.104533,0.078257],[-0.078435,-0.002414,0.996916]] 2025-10-28T21:08:46.579Z,1761685726.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087532,-0.996149,0.004958],[0.993410,0.087658,0.073838],[-0.073989,-0.001538,0.997258]] 2025-10-28T21:08:46.982Z,1761685726.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070568,-0.997494,0.005117],[0.995086,0.070753,0.069273],[-0.069461,0.000203,0.997585]] 2025-10-28T21:08:47.387Z,1761685727.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053433,-0.998565,0.003493],[0.996485,0.053547,0.064425],[-0.064520,0.000039,0.997916]] 2025-10-28T21:08:47.810Z,1761685727.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035928,-0.999354,0.001018],[0.997574,0.035925,0.059635],[-0.059633,-0.001127,0.998220]] 2025-10-28T21:08:48.195Z,1761685728.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018279,-0.999831,-0.002149],[0.998326,0.018134,0.054915],[-0.054866,-0.003150,0.998489]] 2025-10-28T21:08:48.601Z,1761685728.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000364,-0.999995,-0.003019],[0.998748,-0.000515,0.050017],[-0.050018,-0.002997,0.998744]] 2025-10-28T21:08:49.003Z,1761685729.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019604,-0.999804,-0.002569],[0.998809,-0.019700,0.044640],[-0.044682,-0.001691,0.999000]] 2025-10-28T21:08:49.407Z,1761685729.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039999,-0.999198,-0.001779],[0.998449,-0.040038,0.038684],[-0.038724,-0.000228,0.999250]] 2025-10-28T21:08:49.817Z,1761685729.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060730,-0.998152,-0.002119],[0.997637,-0.060767,0.032065],[-0.032135,-0.000167,0.999484]] 2025-10-28T21:08:50.219Z,1761685730.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081195,-0.996697,-0.001434],[0.996387,-0.081205,0.024890],[-0.024925,0.000592,0.999689]] 2025-10-28T21:08:50.618Z,1761685730.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099871,-0.995000,-0.000070],[0.994849,-0.099857,0.017452],[-0.017372,0.001673,0.999848]] 2025-10-28T21:08:51.023Z,1761685731.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116903,-0.993142,0.001346],[0.993093,-0.116883,0.010232],[-0.010004,0.002533,0.999947]] 2025-10-28T21:08:51.435Z,1761685731.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132373,-0.991197,0.002379],[0.991197,-0.132366,0.002909],[-0.002569,0.002743,0.999993]] 2025-10-28T21:08:51.830Z,1761685731.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146406,-0.989219,0.003267],[0.989215,-0.146418,-0.003904],[0.004340,0.002660,0.999987]] 2025-10-28T21:08:52.241Z,1761685732.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159320,-0.987216,0.004702],[0.987169,-0.159360,-0.010068],[0.010689,0.003038,0.999938]] 2025-10-28T21:08:52.638Z,1761685732.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171091,-0.985245,0.004417],[0.985114,-0.171141,-0.016158],[0.016676,0.001587,0.999860]] 2025-10-28T21:08:53.043Z,1761685733.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182061,-0.983280,0.003692],[0.983040,-0.182098,-0.021756],[0.022064,-0.000331,0.999757]] 2025-10-28T21:08:53.449Z,1761685733.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192322,-0.981327,0.003154],[0.980966,-0.192337,-0.026688],[0.026797,-0.002039,0.999639]] 2025-10-28T21:08:53.851Z,1761685733.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202225,-0.979338,0.001426],[0.978862,-0.202171,-0.030933],[0.030583,-0.004859,0.999520]] 2025-10-28T21:08:54.263Z,1761685734.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211935,-0.977284,-0.000190],[0.976706,-0.211803,-0.034420],[0.033598,-0.007480,0.999407]] 2025-10-28T21:08:54.303Z,1761685734.303 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:08:54.303Z,1761685734.303 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:08:54.303Z,1761685734.303 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:08:54.303Z,1761685734.303 [marl:UpdateRudder:A] Stopped 2025-10-28T21:08:54.303Z,1761685734.303 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:08:54.304Z,1761685734.304 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:08:54.304Z,1761685734.304 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:08:54.304Z,1761685734.304 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:08:54.304Z,1761685734.304 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateCommandMode] Stopped 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:08:54.305Z,1761685734.305 [marl:UpdateSpeed] Stopped 2025-10-28T21:08:54.306Z,1761685734.306 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:08:54.659Z,1761685734.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222287,-0.974980,-0.001303],[0.974327,-0.222089,-0.036936],[0.035722,-0.009479,0.999317]] 2025-10-28T21:08:54.684Z,1761685734.684 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:08:54.684Z,1761685734.684 [marl:UpdateRudder:B] Stopped 2025-10-28T21:08:54.684Z,1761685734.684 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:08:54.684Z,1761685734.684 [marl:UpdateRudder] Stopped 2025-10-28T21:08:54.684Z,1761685734.684 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:08:55.065Z,1761685735.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233217,-0.972424,-0.000882],[0.971700,-0.233008,-0.038813],[0.037537,-0.009909,0.999246]] 2025-10-28T21:08:55.466Z,1761685735.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244968,-0.969529,-0.001991],[0.968727,-0.244681,-0.041211],[0.039469,-0.012024,0.999148]] 2025-10-28T21:08:55.871Z,1761685735.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257455,-0.966288,-0.001816],[0.965402,-0.257138,-0.043346],[0.041418,-0.012913,0.999058]] 2025-10-28T21:08:56.680Z,1761685736.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284525,-0.958669,-0.000194],[0.957551,-0.284184,-0.048321],[0.046269,-0.013935,0.998832]] 2025-10-28T21:08:57.083Z,1761685737.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298303,-0.954470,0.001876],[0.953226,-0.298013,-0.050483],[0.048744,-0.013271,0.998723]] 2025-10-28T21:08:57.487Z,1761685737.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312144,-0.950024,0.004608],[0.948661,-0.311950,-0.052253],[0.051080,-0.011939,0.998623]] 2025-10-28T21:08:57.891Z,1761685737.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326569,-0.945138,0.008183],[0.943659,-0.326524,-0.053750],[0.053473,-0.009831,0.998521]] 2025-10-28T21:08:58.299Z,1761685738.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341636,-0.939781,0.009816],[0.938167,-0.341633,-0.055942],[0.055927,-0.009903,0.998386]] 2025-10-28T21:08:58.698Z,1761685738.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357379,-0.933863,0.013412],[0.932138,-0.357541,-0.057305],[0.058310,-0.007978,0.998267]] 2025-10-28T21:08:59.102Z,1761685739.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373503,-0.927478,0.016755],[0.925651,-0.373825,-0.058524],[0.060543,-0.006350,0.998145]] 2025-10-28T21:08:59.507Z,1761685739.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389933,-0.920626,0.019997],[0.918717,-0.390415,-0.059462],[0.062550,-0.004814,0.998030]] 2025-10-28T21:08:59.916Z,1761685739.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407148,-0.913097,0.022028],[0.911050,-0.407714,-0.061296],[0.064951,-0.004888,0.997876]] 2025-10-28T21:09:00.315Z,1761685740.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424560,-0.905030,0.025877],[0.902886,-0.425336,-0.062339],[0.067425,-0.003103,0.997719]] 2025-10-28T21:09:00.725Z,1761685740.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441720,-0.896703,0.028408],[0.894431,-0.442624,-0.063855],[0.069833,-0.002797,0.997555]] 2025-10-28T21:09:01.122Z,1761685741.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458813,-0.887982,0.031280],[0.885573,-0.459872,-0.065414],[0.072472,-0.002312,0.997368]] 2025-10-28T21:09:01.527Z,1761685741.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475626,-0.878968,0.034566],[0.876445,-0.476879,-0.066570],[0.074996,-0.001367,0.997183]] 2025-10-28T21:09:01.935Z,1761685741.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491808,-0.869855,0.038434],[0.867242,-0.493308,-0.067374],[0.077566,0.000196,0.996987]] 2025-10-28T21:09:02.336Z,1761685742.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507719,-0.860478,0.042416],[0.857778,-0.509485,-0.068135],[0.080239,0.001790,0.996774]] 2025-10-28T21:09:02.748Z,1761685742.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522374,-0.851516,0.045235],[0.848705,-0.524324,-0.069161],[0.082609,0.002264,0.996579]] 2025-10-28T21:09:03.146Z,1761685743.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537053,-0.842231,0.047135],[0.839235,-0.539116,-0.070991],[0.085202,0.001431,0.996363]] 2025-10-28T21:09:03.546Z,1761685743.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551066,-0.833049,0.048544],[0.829832,-0.553200,-0.073137],[0.087781,-0.000019,0.996140]] 2025-10-28T21:09:03.952Z,1761685743.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564375,-0.824000,0.050044],[0.820584,-0.566588,-0.074972],[0.090131,-0.001247,0.995929]] 2025-10-28T21:09:04.027Z,1761685744.027 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:09:04.085Z,1761685744.085 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:09:04.085Z,1761685744.085 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:09:04.337Z,1761685744.337 [DAT](INFO): DAT read: user:289> 2025-10-28T21:09:04.338Z,1761685744.338 [DAT](INFO): DAT read: Tx time:21:09:04.0577 2025-10-28T21:09:04.338Z,1761685744.338 [DAT](INFO): Ping request sent. 2025-10-28T21:09:04.338Z,1761685744.338 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:09:04.338Z,1761685744.338 [DAT](INFO): publishing transmit ping time 2025-10-28T21:09:04.339Z,1761685744.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T21:09:04.376Z,1761685744.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576896,-0.815244,0.050679],[0.811622,-0.579109,-0.076830],[0.091984,-0.003191,0.995755]] 2025-10-28T21:09:04.589Z,1761685744.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250913 2025-10-28T21:09:04.762Z,1761685744.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588701,-0.806757,0.050732],[0.802937,-0.590857,-0.078610],[0.093395,-0.005543,0.995614]] 2025-10-28T21:09:04.841Z,1761685744.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-28T21:09:04.893Z,1761685744.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:09:05.093Z,1761685745.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878 2025-10-28T21:09:05.162Z,1761685745.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600076,-0.798263,0.051811],[0.794272,-0.602270,-0.080025],[0.095086,-0.006869,0.995445]] 2025-10-28T21:09:05.345Z,1761685745.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853 2025-10-28T21:09:05.566Z,1761685745.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610733,-0.790084,0.052657],[0.785949,-0.612945,-0.081132],[0.096377,-0.008164,0.995311]] 2025-10-28T21:09:05.598Z,1761685745.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259975 2025-10-28T21:09:05.849Z,1761685745.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-28T21:09:05.896Z,1761685745.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:09:05.974Z,1761685745.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620522,-0.782362,0.053500],[0.778098,-0.622755,-0.082101],[0.097550,-0.009317,0.995187]] 2025-10-28T21:09:06.103Z,1761685746.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765170 2025-10-28T21:09:06.353Z,1761685746.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943 2025-10-28T21:09:06.605Z,1761685746.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884 2025-10-28T21:09:06.783Z,1761685746.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638527,-0.767525,0.056467],[0.763107,-0.640944,-0.082820],[0.099758,-0.009792,0.994964]] 2025-10-28T21:09:06.857Z,1761685746.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519288 2025-10-28T21:09:07.109Z,1761685747.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943 2025-10-28T21:09:07.182Z,1761685747.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647550,-0.759896,0.056901],[0.755326,-0.649945,-0.083995],[0.100811,-0.011412,0.994840]] 2025-10-28T21:09:07.223Z,1761685747.223 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:09:07.224Z,1761685747.224 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:09:07.224Z,1761685747.224 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateRudder:A] Stopped 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:09:07.225Z,1761685747.225 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:09:07.226Z,1761685747.226 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:09:07.226Z,1761685747.226 [marl:UpdateCommandMode] Stopped 2025-10-28T21:09:07.226Z,1761685747.226 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:09:07.226Z,1761685747.226 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:09:07.226Z,1761685747.226 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:09:07.227Z,1761685747.227 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:09:07.227Z,1761685747.227 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:09:07.227Z,1761685747.227 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:09:07.227Z,1761685747.227 [marl:UpdateSpeed] Stopped 2025-10-28T21:09:07.228Z,1761685747.228 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:09:07.361Z,1761685747.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885 2025-10-28T21:09:07.586Z,1761685747.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656820,-0.751794,0.058253],[0.747171,-0.659294,-0.084068],[0.101608,-0.011692,0.994756]] 2025-10-28T21:09:07.613Z,1761685747.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275043 2025-10-28T21:09:07.627Z,1761685747.627 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:09:07.627Z,1761685747.627 [marl:UpdateRudder:B] Stopped 2025-10-28T21:09:07.627Z,1761685747.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:09:07.627Z,1761685747.627 [marl:UpdateRudder] Stopped 2025-10-28T21:09:07.627Z,1761685747.627 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:09:07.866Z,1761685747.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526981 2025-10-28T21:09:07.991Z,1761685747.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666377,-0.743210,0.059835],[0.738623,-0.668963,-0.083210],[0.101870,-0.011254,0.994734]] 2025-10-28T21:09:08.122Z,1761685748.122 [DAT](INFO): DAT read: 21:09:07.2376 LVL= 32752, 26145, 32754, 32755, AGC= 77, IDX= 422, 0.03, 0.438, 2.486, 1.409, 1.385, PHS=-0.845, 1.147,-0.020, RAW= 305.7, -3.3, CAL= 304.6, -7.1, ROT= 205.4, 7.1 2025-10-28T21:09:08.123Z,1761685748.123 [DAT](INFO): got valid direction response: 21:09:07.2376 LVL= 32752, 26145, 32754, 32755, AGC= 77, IDX= 422, 0.03, 0.438, 2.486, 1.409, 1.385, PHS=-0.845, 1.147,-0.020, RAW= 305.7, -3.3, CAL= 304.6, -7.1, ROT= 205.4, 7.1 2025-10-28T21:09:08.127Z,1761685748.127 [DAT](INFO): DAT read: Rx Time:21:09:07.2376 2025-10-28T21:09:08.148Z,1761685748.148 [DAT](INFO): Rx dataTimestamp_ set to:1761685748.127375 2025-10-28T21:09:08.149Z,1761685748.149 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-28T21:09:08.149Z,1761685748.149 [DAT](INFO): Received low SNR in chirp 2025-10-28T21:09:08.160Z,1761685748.160 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T21:09:08.161Z,1761685748.161 [DAT](INFO): direction in FSK: [-0.896409,-0.425646,-0.123601] 2025-10-28T21:09:08.396Z,1761685748.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676222,-0.734155,0.061151],[0.729681,-0.678899,-0.081616],[0.101434,-0.010570,0.994786]] 2025-10-28T21:09:08.422Z,1761685748.422 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685760.00. Resetting abort timer. 2025-10-28T21:09:08.799Z,1761685748.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686988,-0.724020,0.061985],[0.719702,-0.689705,-0.079597],[0.100381,-0.010072,0.994898]] 2025-10-28T21:09:09.205Z,1761685749.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699006,-0.712374,0.062560],[0.708241,-0.701733,-0.077237],[0.098922,-0.009681,0.995048]] 2025-10-28T21:09:09.607Z,1761685749.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711994,-0.699365,0.062883],[0.695498,-0.714709,-0.073983],[0.096684,-0.008940,0.995275]] 2025-10-28T21:09:10.020Z,1761685750.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725578,-0.685366,0.061729],[0.681682,-0.728132,-0.071654],[0.094056,-0.009911,0.995518]] 2025-10-28T21:09:10.415Z,1761685750.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739192,-0.670756,0.060682],[0.667264,-0.741602,-0.069172],[0.091400,-0.010640,0.995757]] 2025-10-28T21:09:10.819Z,1761685750.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752573,-0.655767,0.060037],[0.652466,-0.754884,-0.066620],[0.089008,-0.010965,0.995971]] 2025-10-28T21:09:11.230Z,1761685751.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764833,-0.641447,0.059800],[0.638291,-0.767086,-0.064528],[0.087263,-0.011183,0.996123]] 2025-10-28T21:09:11.628Z,1761685751.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776559,-0.627108,0.060762],[0.624081,-0.778861,-0.062438],[0.086481,-0.010566,0.996198]] 2025-10-28T21:09:12.030Z,1761685752.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787419,-0.613375,0.061175],[0.610345,-0.789709,-0.061955],[0.086312,-0.011447,0.996202]] 2025-10-28T21:09:12.434Z,1761685752.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797185,-0.600491,0.062513],[0.597502,-0.799554,-0.060867],[0.086532,-0.011170,0.996186]] 2025-10-28T21:09:12.838Z,1761685752.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805923,-0.588612,0.063435],[0.585601,-0.808331,-0.060592],[0.086942,-0.011684,0.996145]] 2025-10-28T21:09:13.244Z,1761685753.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813933,-0.577470,0.063580],[0.574408,-0.816309,-0.060788],[0.087004,-0.012957,0.996124]] 2025-10-28T21:09:13.646Z,1761685753.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821398,-0.566766,0.063887],[0.563772,-0.823777,-0.059594],[0.086404,-0.012933,0.996176]] 2025-10-28T21:09:14.062Z,1761685754.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828356,-0.556543,0.063926],[0.553666,-0.830724,-0.057900],[0.085328,-0.012569,0.996274]] 2025-10-28T21:09:14.416Z,1761685754.416 [DAT](INFO): Reached modem response timeout 2025-10-28T21:09:14.455Z,1761685754.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835243,-0.546222,0.063326],[0.543450,-0.837544,-0.056412],[0.083852,-0.012703,0.996397]] 2025-10-28T21:09:14.858Z,1761685754.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842429,-0.535211,0.062152],[0.532596,-0.844623,-0.054342],[0.081580,-0.012678,0.996586]] 2025-10-28T21:09:15.263Z,1761685755.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850038,-0.523258,0.060301],[0.520820,-0.852077,-0.052063],[0.078623,-0.012849,0.996822]] 2025-10-28T21:09:15.666Z,1761685755.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858133,-0.510064,0.058678],[0.507865,-0.860051,-0.048840],[0.075377,-0.012110,0.997082]] 2025-10-28T21:09:16.081Z,1761685756.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866433,-0.496025,0.057039],[0.494031,-0.868230,-0.045929],[0.072305,-0.011615,0.997315]] 2025-10-28T21:09:16.474Z,1761685756.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874696,-0.481422,0.056040],[0.479727,-0.876439,-0.041432],[0.069062,-0.009356,0.997569]] 2025-10-28T21:09:16.685Z,1761685756.685 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:09:16.685Z,1761685756.685 [DAT](INFO): response not received 2025-10-28T21:09:16.685Z,1761685756.685 [DAT](ERROR): No response from remote modem. 2025-10-28T21:09:16.878Z,1761685756.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883343,-0.465434,0.055473],[0.463992,-0.885053,-0.037312],[0.066463,-0.007221,0.997763]] 2025-10-28T21:09:17.282Z,1761685757.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892002,-0.448617,0.055450],[0.447399,-0.893710,-0.033402],[0.064541,-0.004987,0.997903]] 2025-10-28T21:09:17.691Z,1761685757.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900646,-0.431052,0.055055],[0.429955,-0.902317,-0.031039],[0.063056,-0.004284,0.998001]] 2025-10-28T21:09:18.095Z,1761685758.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908783,-0.413605,0.055172],[0.412712,-0.910454,-0.027224],[0.061492,-0.001970,0.998106]] 2025-10-28T21:09:18.495Z,1761685758.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916538,-0.396172,0.054828],[0.395416,-0.918176,-0.024485],[0.060042,-0.000762,0.998196]] 2025-10-28T21:09:18.899Z,1761685758.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923973,-0.378664,0.053731],[0.377982,-0.925534,-0.022733],[0.058338,-0.000695,0.998297]] 2025-10-28T21:09:19.304Z,1761685759.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930939,-0.361434,0.052131],[0.360741,-0.932395,-0.022470],[0.056728,-0.002113,0.998387]] 2025-10-28T21:09:19.724Z,1761685759.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937485,-0.344294,0.050831],[0.343631,-0.938858,-0.021526],[0.055134,-0.002713,0.998475]] 2025-10-28T21:09:20.119Z,1761685760.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943735,-0.326898,0.050032],[0.326314,-0.945057,-0.019649],[0.053706,-0.002218,0.998554]] 2025-10-28T21:09:20.180Z,1761685760.180 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:09:20.180Z,1761685760.180 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateRudder:A] Stopped 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:09:20.181Z,1761685760.181 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateCommandMode] Stopped 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:09:20.182Z,1761685760.182 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:09:20.183Z,1761685760.183 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:09:20.183Z,1761685760.183 [marl:UpdateSpeed] Stopped 2025-10-28T21:09:20.183Z,1761685760.183 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:09:20.521Z,1761685760.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955215,-0.292152,0.047028],[0.291450,-0.956349,-0.021296],[0.051197,-0.006636,0.998667]] 2025-10-28T21:09:20.561Z,1761685760.561 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:09:20.561Z,1761685760.561 [marl:UpdateRudder:B] Stopped 2025-10-28T21:09:20.561Z,1761685760.561 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:09:20.561Z,1761685760.561 [marl:UpdateRudder] Stopped 2025-10-28T21:09:20.561Z,1761685760.561 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:09:20.927Z,1761685760.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960463,-0.274567,0.046084],[0.273767,-0.961522,-0.022972],[0.050618,-0.009447,0.998673]] 2025-10-28T21:09:21.331Z,1761685761.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965008,-0.258253,0.045442],[0.257414,-0.966014,-0.023551],[0.049979,-0.011029,0.998689]] 2025-10-28T21:09:21.743Z,1761685761.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969088,-0.242590,0.044930],[0.241697,-0.970044,-0.024417],[0.049507,-0.012803,0.998692]] 2025-10-28T21:09:22.137Z,1761685762.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972555,-0.228269,0.045061],[0.227398,-0.973515,-0.023649],[0.049266,-0.012753,0.998704]] 2025-10-28T21:09:22.537Z,1761685762.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975535,-0.215166,0.045122],[0.214340,-0.976501,-0.022452],[0.048893,-0.012231,0.998729]] 2025-10-28T21:09:22.938Z,1761685762.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978185,-0.202810,0.044979],[0.201983,-0.979136,-0.022273],[0.048557,-0.012702,0.998740]] 2025-10-28T21:09:23.342Z,1761685763.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980504,-0.191393,0.044505],[0.190549,-0.981419,-0.022529],[0.047990,-0.013609,0.998755]] 2025-10-28T21:09:23.791Z,1761685763.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982658,-0.180113,0.044076],[0.179333,-0.983562,-0.021082],[0.047148,-0.012812,0.998806]] 2025-10-28T21:09:24.156Z,1761685764.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984672,-0.169054,0.042923],[0.168320,-0.985525,-0.020212],[0.045719,-0.012677,0.998874]] 2025-10-28T21:09:24.555Z,1761685764.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986559,-0.158112,0.041245],[0.157405,-0.987334,-0.019867],[0.043864,-0.013108,0.998951]] 2025-10-28T21:09:24.959Z,1761685764.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988457,-0.146333,0.039244],[0.145704,-0.989156,-0.018446],[0.041518,-0.012515,0.999059]] 2025-10-28T21:09:25.364Z,1761685765.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990506,-0.132382,0.037049],[0.131788,-0.991114,-0.018044],[0.039109,-0.012990,0.999151]] 2025-10-28T21:09:25.806Z,1761685765.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992581,-0.116372,0.035218],[0.115817,-0.993118,-0.017424],[0.037004,-0.013216,0.999228]] 2025-10-28T21:09:26.171Z,1761685766.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994547,-0.098719,0.033632],[0.098218,-0.995033,-0.016228],[0.035067,-0.012836,0.999303]] 2025-10-28T21:09:26.574Z,1761685766.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996305,-0.079732,0.031922],[0.079221,-0.996713,-0.016972],[0.033170,-0.014381,0.999346]] 2025-10-28T21:09:26.981Z,1761685766.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997722,-0.060097,0.030657],[0.059581,-0.998071,-0.017472],[0.031648,-0.015606,0.999377]] 2025-10-28T21:09:27.382Z,1761685767.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998747,-0.040364,0.029585],[0.039854,-0.999050,-0.017618],[0.030268,-0.016417,0.999407]] 2025-10-28T21:09:27.812Z,1761685767.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999376,-0.020380,0.028834],[0.019874,-0.999645,-0.017731],[0.029186,-0.017147,0.999427]] 2025-10-28T21:09:28.201Z,1761685768.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,-0.000469,0.027983],[-0.000017,-0.999850,-0.017345],[0.027987,-0.017339,0.999458]] 2025-10-28T21:09:28.596Z,1761685768.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999453,0.018568,0.027351],[-0.018999,-0.999698,-0.015591],[0.027054,-0.016102,0.999504]] 2025-10-28T21:09:28.999Z,1761685768.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998997,0.036217,0.026348],[-0.036555,-0.999254,-0.012434],[0.025878,-0.013384,0.999576]] 2025-10-28T21:09:29.402Z,1761685769.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998296,0.052423,0.025642],[-0.052694,-0.998561,-0.010007],[0.025080,-0.011341,0.999621]] 2025-10-28T21:09:29.817Z,1761685769.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997427,0.067349,0.024568],[-0.067561,-0.997684,-0.007933],[0.023977,-0.009572,0.999667]] 2025-10-28T21:09:30.215Z,1761685770.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996311,0.082488,0.023679],[-0.082647,-0.996562,-0.005817],[0.023118,-0.007752,0.999703]] 2025-10-28T21:09:30.614Z,1761685770.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994942,0.097803,0.022898],[-0.097968,-0.995170,-0.006201],[0.022181,-0.008412,0.999719]] 2025-10-28T21:09:31.020Z,1761685771.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993248,0.113941,0.021811],[-0.114108,-0.993447,-0.006576],[0.020919,-0.009020,0.999740]] 2025-10-28T21:09:31.423Z,1761685771.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991246,0.130411,0.020622],[-0.130585,-0.991410,-0.007311],[0.019492,-0.009940,0.999761]] 2025-10-28T21:09:31.827Z,1761685771.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988713,0.148495,0.019892],[-0.148708,-0.988834,-0.009686],[0.018232,-0.012535,0.999755]] 2025-10-28T21:09:32.230Z,1761685772.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985644,0.167736,0.019268],[-0.167980,-0.985720,-0.011785],[0.017016,-0.014852,0.999745]] 2025-10-28T21:09:32.635Z,1761685772.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982064,0.187619,0.018664],[-0.187883,-0.982098,-0.013525],[0.015792,-0.016789,0.999734]] 2025-10-28T21:09:33.040Z,1761685773.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978071,0.207469,0.018267],[-0.207740,-0.978077,-0.014487],[0.014861,-0.017964,0.999728]] 2025-10-28T21:09:33.068Z,1761685773.068 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:09:33.068Z,1761685773.068 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:09:33.069Z,1761685773.069 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:09:33.071Z,1761685773.071 [marl:UpdateRudder:A] Stopped 2025-10-28T21:09:33.071Z,1761685773.071 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:09:33.071Z,1761685773.071 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:09:33.073Z,1761685773.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:09:33.073Z,1761685773.073 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:09:33.075Z,1761685773.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:09:33.075Z,1761685773.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:09:33.075Z,1761685773.075 [marl:UpdateCommandMode] Stopped 2025-10-28T21:09:33.076Z,1761685773.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:09:33.076Z,1761685773.076 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:09:33.076Z,1761685773.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:09:33.077Z,1761685773.077 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:09:33.077Z,1761685773.077 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:09:33.079Z,1761685773.079 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:09:33.080Z,1761685773.080 [marl:UpdateSpeed] Stopped 2025-10-28T21:09:33.081Z,1761685773.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:09:33.443Z,1761685773.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973592,0.227583,0.018016],[-0.227856,-0.973581,-0.014904],[0.014148,-0.018616,0.999727]] 2025-10-28T21:09:33.480Z,1761685773.480 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:09:33.481Z,1761685773.481 [marl:UpdateRudder:B] Stopped 2025-10-28T21:09:33.481Z,1761685773.481 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:09:33.481Z,1761685773.481 [marl:UpdateRudder] Stopped 2025-10-28T21:09:33.481Z,1761685773.481 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:09:33.847Z,1761685773.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968946,0.246619,0.017941],[-0.246909,-0.968902,-0.016295],[0.013364,-0.020219,0.999706]] 2025-10-28T21:09:34.255Z,1761685774.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964036,0.265205,0.017348],[-0.265465,-0.964005,-0.014933],[0.012763,-0.019001,0.999738]] 2025-10-28T21:09:34.657Z,1761685774.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959225,0.282176,0.016281],[-0.282390,-0.959214,-0.012845],[0.011992,-0.016919,0.999785]] 2025-10-28T21:09:35.062Z,1761685775.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954748,0.297062,0.014480],[-0.297210,-0.954767,-0.009331],[0.011053,-0.013212,0.999852]] 2025-10-28T21:09:35.462Z,1761685775.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950797,0.309539,0.013057],[-0.309647,-0.950824,-0.007296],[0.010156,-0.010980,0.999888]] 2025-10-28T21:09:35.868Z,1761685775.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947014,0.321015,0.010700],[-0.321063,-0.947053,-0.003080],[0.009145,-0.006353,0.999938]] 2025-10-28T21:09:36.016Z,1761685776.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:09:36.282Z,1761685776.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943445,0.331421,0.008499],[-0.331433,-0.943479,-0.000025],[0.008010,-0.002841,0.999964]] 2025-10-28T21:09:36.682Z,1761685776.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939946,0.341258,0.006722],[-0.341256,-0.939969,0.001493],[0.006828,-0.000891,0.999976]] 2025-10-28T21:09:37.020Z,1761685777.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:09:37.084Z,1761685777.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936359,0.350989,0.006262],[-0.350993,-0.936378,0.000414],[0.006009,-0.001810,0.999980]] 2025-10-28T21:09:37.487Z,1761685777.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932692,0.360624,0.005929],[-0.360633,-0.932708,-0.000521],[0.005342,-0.002624,0.999982]] 2025-10-28T21:09:37.891Z,1761685777.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928812,0.370504,0.005906],[-0.370520,-0.928823,-0.001832],[0.004807,-0.003890,0.999981]] 2025-10-28T21:09:38.299Z,1761685778.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924497,0.381134,0.006510],[-0.381163,-0.924500,-0.003833],[0.004557,-0.006025,0.999971]] 2025-10-28T21:09:38.699Z,1761685778.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919497,0.393029,0.007302],[-0.393076,-0.919481,-0.006784],[0.004048,-0.009108,0.999950]] 2025-10-28T21:09:39.107Z,1761685779.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913490,0.406768,0.008675],[-0.406847,-0.913426,-0.011344],[0.003310,-0.013892,0.999898]] 2025-10-28T21:09:39.507Z,1761685779.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906026,0.423091,0.010527],[-0.423214,-0.905881,-0.016419],[0.002590,-0.019331,0.999810]] 2025-10-28T21:09:39.910Z,1761685779.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897483,0.440881,0.012171],[-0.441046,-0.897242,-0.020859],[0.001724,-0.024088,0.999708]] 2025-10-28T21:09:40.314Z,1761685780.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888243,0.459170,0.013700],[-0.459374,-0.887903,-0.024589],[0.000874,-0.028135,0.999604]] 2025-10-28T21:09:40.720Z,1761685780.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878051,0.478311,0.015618],[-0.478566,-0.877620,-0.027534],[0.000537,-0.031650,0.999499]] 2025-10-28T21:09:41.150Z,1761685781.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867002,0.498022,0.016787],[-0.498305,-0.866533,-0.028530],[0.000338,-0.033100,0.999452]] 2025-10-28T21:09:41.527Z,1761685781.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855257,0.517925,0.017014],[-0.518204,-0.854802,-0.027877],[0.000105,-0.032659,0.999467]] 2025-10-28T21:09:41.931Z,1761685781.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843424,0.537036,0.015101],[-0.537248,-0.843064,-0.024652],[-0.000507,-0.028905,0.999582]] 2025-10-28T21:09:42.342Z,1761685782.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831931,0.554752,0.011862],[-0.554878,-0.831688,-0.020128],[-0.001300,-0.023327,0.999727]] 2025-10-28T21:09:42.740Z,1761685782.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821067,0.570760,0.008991],[-0.570828,-0.820906,-0.016399],[-0.001979,-0.018596,0.999825]] 2025-10-28T21:09:43.143Z,1761685783.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810954,0.585078,0.006116],[-0.585103,-0.810849,-0.013357],[-0.002855,-0.014410,0.999892]] 2025-10-28T21:09:43.547Z,1761685783.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801860,0.597505,0.002747],[-0.597500,-0.801807,-0.010007],[-0.003777,-0.009666,0.999946]] 2025-10-28T21:09:43.950Z,1761685783.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793534,0.608525,0.000991],[-0.608509,-0.793498,-0.008839],[-0.004592,-0.007618,0.999960]] 2025-10-28T21:09:44.358Z,1761685784.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785160,0.619292,0.000811],[-0.619271,-0.785121,-0.009403],[-0.005187,-0.007885,0.999955]] 2025-10-28T21:09:44.762Z,1761685784.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777449,0.628946,0.000628],[-0.628920,-0.777407,-0.009896],[-0.005736,-0.008088,0.999951]] 2025-10-28T21:09:45.171Z,1761685785.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769842,0.638233,0.001474],[-0.638211,-0.769791,-0.010457],[-0.005539,-0.008991,0.999944]] 2025-10-28T21:09:45.567Z,1761685785.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761929,0.647657,0.002282],[-0.647641,-0.761874,-0.010477],[-0.005047,-0.009460,0.999942]] 2025-10-28T21:09:45.972Z,1761685785.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753411,0.657540,0.003686],[-0.657533,-0.753338,-0.011518],[-0.004797,-0.011101,0.999927]] 2025-10-28T21:09:46.040Z,1761685786.040 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:09:46.040Z,1761685786.040 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateRudder:A] Stopped 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:09:46.041Z,1761685786.041 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateCommandMode] Stopped 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:09:46.042Z,1761685786.042 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:09:46.043Z,1761685786.043 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:09:46.043Z,1761685786.043 [marl:UpdateSpeed] Stopped 2025-10-28T21:09:46.043Z,1761685786.043 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:09:46.378Z,1761685786.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744131,0.667992,0.007448],[-0.668018,-0.743993,-0.015026],[-0.004496,-0.016157,0.999859]] 2025-10-28T21:09:46.416Z,1761685786.416 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:09:46.417Z,1761685786.417 [marl:UpdateRudder:B] Stopped 2025-10-28T21:09:46.417Z,1761685786.417 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:09:46.417Z,1761685786.417 [marl:UpdateRudder] Stopped 2025-10-28T21:09:46.417Z,1761685786.417 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:09:46.783Z,1761685786.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734085,0.678974,0.010674],[-0.679045,-0.733884,-0.017644],[-0.004147,-0.020200,0.999787]] 2025-10-28T21:09:47.183Z,1761685787.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722545,0.691147,0.015634],[-0.691312,-0.722221,-0.022011],[-0.003922,-0.026711,0.999636]] 2025-10-28T21:09:47.586Z,1761685787.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709870,0.704096,0.018268],[-0.704322,-0.709479,-0.023858],[-0.003838,-0.029802,0.999548]] 2025-10-28T21:09:47.993Z,1761685787.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696196,0.717591,0.019364],[-0.717842,-0.695792,-0.023998],[-0.003747,-0.030607,0.999524]] 2025-10-28T21:09:48.394Z,1761685788.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681670,0.731366,0.020738],[-0.731650,-0.681240,-0.024495],[-0.003787,-0.031871,0.999485]] 2025-10-28T21:09:48.799Z,1761685788.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666201,0.745479,0.020916],[-0.745762,-0.665781,-0.023984],[-0.003954,-0.031577,0.999494]] 2025-10-28T21:09:49.203Z,1761685789.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650248,0.759445,0.020491],[-0.759710,-0.649848,-0.023226],[-0.004323,-0.030670,0.999520]] 2025-10-28T21:09:49.608Z,1761685789.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635008,0.772289,0.018288],[-0.772492,-0.634677,-0.021011],[-0.004620,-0.027470,0.999612]] 2025-10-28T21:09:50.414Z,1761685790.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608090,0.793762,0.012962],[-0.793848,-0.607879,-0.016960],[-0.005583,-0.020602,0.999772]] 2025-10-28T21:09:50.818Z,1761685790.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596317,0.802682,0.010354],[-0.802729,-0.596164,-0.014645],[-0.005583,-0.017045,0.999839]] 2025-10-28T21:09:51.224Z,1761685791.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585789,0.810422,0.008194],[-0.810441,-0.585669,-0.013326],[-0.006000,-0.014447,0.999878]] 2025-10-28T21:09:51.627Z,1761685791.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575047,0.818084,0.007760],[-0.818094,-0.574926,-0.013498],[-0.006581,-0.014110,0.999879]] 2025-10-28T21:09:52.031Z,1761685792.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564784,0.825217,0.006089],[-0.825210,-0.564687,-0.012502],[-0.006878,-0.012085,0.999903]] 2025-10-28T21:09:52.434Z,1761685792.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554492,0.832169,0.005831],[-0.832158,-0.554396,-0.012617],[-0.007267,-0.011848,0.999903]] 2025-10-28T21:09:52.839Z,1761685792.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543411,0.839438,0.006920],[-0.839431,-0.543293,-0.013731],[-0.007767,-0.013271,0.999882]] 2025-10-28T21:09:53.243Z,1761685793.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532580,0.846352,0.006833],[-0.846341,-0.532461,-0.013864],[-0.008096,-0.013167,0.999881]] 2025-10-28T21:09:53.654Z,1761685793.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521069,0.853491,0.006383],[-0.853472,-0.520954,-0.013844],[-0.008490,-0.012662,0.999884]] 2025-10-28T21:09:54.053Z,1761685794.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509099,0.860682,0.006610],[-0.860661,-0.508977,-0.014327],[-0.008967,-0.012983,0.999875]] 2025-10-28T21:09:54.454Z,1761685794.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496824,0.867829,0.006213],[-0.867801,-0.496704,-0.014393],[-0.009405,-0.012542,0.999877]] 2025-10-28T21:09:54.859Z,1761685794.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484449,0.874796,0.006435],[-0.874766,-0.484325,-0.014636],[-0.009687,-0.012719,0.999872]] 2025-10-28T21:09:55.264Z,1761685795.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471222,0.881984,0.007385],[-0.881957,-0.471079,-0.015399],[-0.010103,-0.013770,0.999854]] 2025-10-28T21:09:55.671Z,1761685795.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457399,0.889215,0.009096],[-0.889201,-0.457226,-0.016316],[-0.010350,-0.015551,0.999825]] 2025-10-28T21:09:56.070Z,1761685796.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443180,0.896371,0.010473],[-0.896368,-0.442978,-0.017152],[-0.010735,-0.016989,0.999798]] 2025-10-28T21:09:56.483Z,1761685796.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428777,0.903341,0.011201],[-0.903346,-0.428566,-0.017238],[-0.010771,-0.017509,0.999789]] 2025-10-28T21:09:56.878Z,1761685796.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413915,0.910245,0.011312],[-0.910249,-0.413702,-0.017276],[-0.011045,-0.017447,0.999787]] 2025-10-28T21:09:57.282Z,1761685797.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399072,0.916838,0.012211],[-0.916850,-0.398842,-0.017670],[-0.011330,-0.018247,0.999769]] 2025-10-28T21:09:57.687Z,1761685797.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384140,0.923202,0.011622],[-0.923206,-0.383927,-0.017043],[-0.011272,-0.017276,0.999787]] 2025-10-28T21:09:58.090Z,1761685798.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368611,0.929505,0.012094],[-0.929516,-0.368396,-0.016862],[-0.011218,-0.017457,0.999785]] 2025-10-28T21:09:58.496Z,1761685798.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353048,0.935524,0.012319],[-0.935540,-0.352838,-0.016423],[-0.011017,-0.017323,0.999789]] 2025-10-28T21:09:58.899Z,1761685798.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336726,0.941507,0.013417],[-0.941537,-0.336499,-0.016640],[-0.011152,-0.018236,0.999772]] 2025-10-28T21:09:58.940Z,1761685798.940 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateRudder:A] Stopped 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:09:58.947Z,1761685798.947 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:09:58.952Z,1761685798.952 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:09:58.952Z,1761685798.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:09:58.952Z,1761685798.952 [marl:UpdateCommandMode] Stopped 2025-10-28T21:09:58.952Z,1761685798.952 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:09:58.952Z,1761685798.952 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:09:58.953Z,1761685798.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:09:58.953Z,1761685798.953 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:09:58.953Z,1761685798.953 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:09:58.953Z,1761685798.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:09:58.953Z,1761685798.953 [marl:UpdateSpeed] Stopped 2025-10-28T21:09:58.954Z,1761685798.954 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:09:59.304Z,1761685799.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319513,0.947476,0.014163],[-0.947515,-0.319277,-0.016641],[-0.011245,-0.018736,0.999761]] 2025-10-28T21:09:59.334Z,1761685799.334 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:09:59.334Z,1761685799.334 [marl:UpdateRudder:B] Stopped 2025-10-28T21:09:59.334Z,1761685799.334 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:09:59.334Z,1761685799.334 [marl:UpdateRudder] Stopped 2025-10-28T21:09:59.334Z,1761685799.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:09:59.708Z,1761685799.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301534,0.953338,0.014974],[-0.953388,-0.301288,-0.016658],[-0.011369,-0.019299,0.999749]] 2025-10-28T21:10:00.514Z,1761685800.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263091,0.964689,0.012597],[-0.964695,-0.262885,-0.015951],[-0.012076,-0.016349,0.999793]] 2025-10-28T21:10:00.918Z,1761685800.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243198,0.969899,0.012291],[-0.969893,-0.242991,-0.016209],[-0.012735,-0.015863,0.999793]] 2025-10-28T21:10:01.326Z,1761685801.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223504,0.974634,0.011604],[-0.974608,-0.223301,-0.016590],[-0.013578,-0.015017,0.999795]] 2025-10-28T21:10:01.731Z,1761685801.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205365,0.978632,0.010202],[-0.978583,-0.205182,-0.016599],[-0.014151,-0.013393,0.999810]] 2025-10-28T21:10:02.140Z,1761685802.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188922,0.981962,0.007706],[-0.981886,-0.188780,-0.016197],[-0.014450,-0.010627,0.999839]] 2025-10-28T21:10:02.172Z,1761685802.172 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -33, -50,A 2025-10-28T21:10:02.534Z,1761685802.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174669,0.984609,0.005935],[-0.984517,-0.174556,-0.016036],[-0.014753,-0.008644,0.999854]] 2025-10-28T21:10:02.939Z,1761685802.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161254,0.986891,0.006512],[-0.986799,-0.161132,-0.016255],[-0.014992,-0.009047,0.999847]] 2025-10-28T21:10:03.343Z,1761685803.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149769,0.988688,0.008131],[-0.988613,-0.149626,-0.015996],[-0.014598,-0.010434,0.999839]] 2025-10-28T21:10:03.786Z,1761685803.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128631,0.991667,0.007097],[-0.991610,-0.128525,-0.013789],[-0.012762,-0.008812,0.999880]] 2025-10-28T21:10:04.202Z,1761685804.202 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:10:04.341Z,1761685804.341 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:10:04.341Z,1761685804.341 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:10:04.568Z,1761685804.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103215,0.994582,0.012364],[-0.994602,-0.103068,-0.011969],[-0.010630,-0.013533,0.999852]] 2025-10-28T21:10:04.593Z,1761685804.593 [DAT](INFO): DAT read: 2025-10-28T21:10:04.594Z,1761685804.594 [DAT](INFO): DAT read: Tx time:21:10:04.3575 2025-10-28T21:10:04.594Z,1761685804.594 [DAT](INFO): Ping request sent. 2025-10-28T21:10:04.594Z,1761685804.594 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:10:04.594Z,1761685804.594 [DAT](INFO): publishing transmit ping time 2025-10-28T21:10:04.595Z,1761685804.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950 2025-10-28T21:10:04.845Z,1761685804.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250880 2025-10-28T21:10:05.097Z,1761685805.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503148 2025-10-28T21:10:05.349Z,1761685805.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923 2025-10-28T21:10:05.373Z,1761685805.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072445,0.997293,0.012626],[-0.997323,-0.072310,-0.010838],[-0.009895,-0.013377,0.999862]] 2025-10-28T21:10:05.601Z,1761685805.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006884 2025-10-28T21:10:05.807Z,1761685805.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057354,0.998270,0.012982],[-0.998304,-0.057216,-0.010752],[-0.009990,-0.013577,0.999858]] 2025-10-28T21:10:05.853Z,1761685805.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259190 2025-10-28T21:10:06.105Z,1761685806.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125 2025-10-28T21:10:06.187Z,1761685806.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042277,0.999010,0.013857],[-0.999047,-0.042119,-0.011449],[-0.010854,-0.014328,0.999838]] 2025-10-28T21:10:06.357Z,1761685806.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860 2025-10-28T21:10:06.581Z,1761685806.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028772,0.999491,0.013774],[-0.999520,-0.028609,-0.011911],[-0.011511,-0.014110,0.999834]] 2025-10-28T21:10:06.612Z,1761685806.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018281 2025-10-28T21:10:06.861Z,1761685806.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266931 2025-10-28T21:10:06.983Z,1761685806.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015657,0.999769,0.014716],[-0.999803,-0.015475,-0.012387],[-0.012157,-0.014908,0.999815]] 2025-10-28T21:10:07.114Z,1761685807.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519562 2025-10-28T21:10:07.156Z,1761685807.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:10:07.368Z,1761685807.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774418 2025-10-28T21:10:07.394Z,1761685807.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002693,0.999859,0.016554],[-0.999916,-0.002484,-0.012689],[-0.012646,-0.016587,0.999782]] 2025-10-28T21:10:07.618Z,1761685807.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023733 2025-10-28T21:10:07.811Z,1761685807.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010815,0.999743,0.019914],[-0.999856,0.011073,-0.012885],[-0.013102,-0.019772,0.999719]] 2025-10-28T21:10:07.869Z,1761685807.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274948 2025-10-28T21:10:08.121Z,1761685808.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527413 2025-10-28T21:10:08.160Z,1761685808.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:10:08.198Z,1761685808.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025577,0.999399,0.023403],[-0.999581,0.025886,-0.012988],[-0.013586,-0.023061,0.999642]] 2025-10-28T21:10:08.373Z,1761685808.373 [DAT](INFO): DAT read: Rx Time:21:10:07.6066 2025-10-28T21:10:08.373Z,1761685808.373 [DAT](INFO): Rx dataTimestamp_ set to:1761685808.373104 2025-10-28T21:10:08.374Z,1761685808.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779950 2025-10-28T21:10:08.600Z,1761685808.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042632,0.998681,0.028608],[-0.998992,0.043012,-0.012805],[-0.014018,-0.028034,0.999509]] 2025-10-28T21:10:08.625Z,1761685808.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031255 2025-10-28T21:10:08.883Z,1761685808.883 [DAT](INFO): DAT read: 21:10:07.6066 LVL= 21216, 32753, 32754, 32755, AGC= 76, IDX= 105, 0.35, 2.990, 1.237, 1.220, 2.407, PHS= 0.685,-1.125,-1.231, RAW= 87.2, 17.6, CAL= 87.0, 22.4, ROT= 63.0, -22.4 2025-10-28T21:10:08.884Z,1761685808.884 [DAT](INFO): got valid direction response: 21:10:07.6066 LVL= 21216, 32753, 32754, 32755, AGC= 76, IDX= 105, 0.35, 2.990, 1.237, 1.220, 2.407, PHS= 0.685,-1.125,-1.231, RAW= 87.2, 17.6, CAL= 87.0, 22.4, ROT= 63.0, -22.4 2025-10-28T21:10:08.885Z,1761685808.885 [DAT](INFO): DAT read: Bearing 327, -11 (Remote) 2025-10-28T21:10:08.885Z,1761685808.885 [DAT](INFO): Remote Bearing received:Bearing 327, -11 (Remote) 2025-10-28T21:10:08.886Z,1761685808.886 [DAT](INFO): DAT read: Bearing 117.2, 53.1 (Local) 2025-10-28T21:10:08.886Z,1761685808.886 [DAT](INFO): Local bearing/azimuth received: Bearing 117.2, 53.1 (Local) 2025-10-28T21:10:08.888Z,1761685808.888 [DAT](INFO): DAT read: Range 11 to 20 : 915.0 m (Round-trip 1220.0 ms) speed 0.0 m/s 2025-10-28T21:10:08.888Z,1761685808.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:10:08.889Z,1761685808.889 [DAT](INFO): direction in FSK: [0.419735,0.823777,0.381070] 2025-10-28T21:10:08.890Z,1761685808.890 [DAT](INFO): publishing direction and range info 2025-10-28T21:10:09.003Z,1761685809.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061343,0.997671,0.029822],[-0.998010,0.061745,-0.012753],[-0.014565,-0.028980,0.999474]] 2025-10-28T21:10:09.051Z,1761685809.051 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685760.00. Resetting abort timer. 2025-10-28T21:10:09.407Z,1761685809.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081230,0.996257,0.029563],[-0.996584,0.081630,-0.012565],[-0.014931,-0.028441,0.999484]] 2025-10-28T21:10:09.816Z,1761685809.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102175,0.994347,0.028869],[-0.994646,0.102572,-0.012602],[-0.015492,-0.027426,0.999504]] 2025-10-28T21:10:10.221Z,1761685810.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123232,0.991962,0.028709],[-0.992244,0.123639,-0.012852],[-0.016298,-0.026903,0.999505]] 2025-10-28T21:10:10.631Z,1761685810.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143262,0.989318,0.026946],[-0.989534,0.143663,-0.013567],[-0.017294,-0.024720,0.999545]] 2025-10-28T21:10:11.023Z,1761685811.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161296,0.986614,0.024007],[-0.986747,0.161660,-0.014050],[-0.017743,-0.021423,0.999613]] 2025-10-28T21:10:11.427Z,1761685811.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177391,0.983924,0.020623],[-0.983980,0.177701,-0.014326],[-0.017760,-0.017751,0.999685]] 2025-10-28T21:10:11.899Z,1761685811.899 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:10:11.899Z,1761685811.899 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:10:11.899Z,1761685811.899 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:10:11.899Z,1761685811.899 [marl:UpdateRudder:A] Stopped 2025-10-28T21:10:11.899Z,1761685811.899 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:10:11.900Z,1761685811.900 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:10:11.901Z,1761685811.901 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:10:11.901Z,1761685811.901 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:10:11.901Z,1761685811.901 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateCommandMode] Stopped 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:10:11.902Z,1761685811.902 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:10:11.903Z,1761685811.903 [marl:UpdateSpeed] Stopped 2025-10-28T21:10:11.903Z,1761685811.903 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:10:12.234Z,1761685812.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206113,0.978357,0.018322],[-0.978384,0.206368,-0.013286],[-0.016780,-0.015188,0.999744]] 2025-10-28T21:10:12.291Z,1761685812.291 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:10:12.291Z,1761685812.291 [marl:UpdateRudder:B] Stopped 2025-10-28T21:10:12.291Z,1761685812.291 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:10:12.291Z,1761685812.291 [marl:UpdateRudder] Stopped 2025-10-28T21:10:12.291Z,1761685812.291 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:10:12.639Z,1761685812.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220012,0.975301,0.019585],[-0.975367,0.220266,-0.011905],[-0.015925,-0.016484,0.999737]] 2025-10-28T21:10:13.043Z,1761685813.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234712,0.971834,0.021170],[-0.971945,0.234969,-0.010581],[-0.015257,-0.018093,0.999720]] 2025-10-28T21:10:13.449Z,1761685813.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249528,0.968094,0.023026],[-0.968261,0.249783,-0.008912],[-0.014379,-0.020072,0.999695]] 2025-10-28T21:10:13.851Z,1761685813.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264862,0.964004,0.023312],[-0.964188,0.265103,-0.007875],[-0.013772,-0.020392,0.999697]] 2025-10-28T21:10:14.254Z,1761685814.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280061,0.959714,0.022684],[-0.959890,0.280283,-0.007242],[-0.013308,-0.019746,0.999716]] 2025-10-28T21:10:14.659Z,1761685814.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294886,0.955279,0.022029],[-0.955440,0.295100,-0.007127],[-0.013309,-0.018946,0.999732]] 2025-10-28T21:10:15.065Z,1761685815.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308603,0.950941,0.021817],[-0.951096,0.308815,-0.007060],[-0.013451,-0.018571,0.999737]] 2025-10-28T21:10:15.467Z,1761685815.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321571,0.946644,0.021387],[-0.946783,0.321786,-0.007419],[-0.013905,-0.017863,0.999744]] 2025-10-28T21:10:15.871Z,1761685815.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333756,0.942427,0.020956],[-0.942542,0.333983,-0.008397],[-0.014912,-0.016949,0.999745]] 2025-10-28T21:10:16.274Z,1761685816.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345546,0.938158,0.021388],[-0.938269,0.345791,-0.008969],[-0.015810,-0.016969,0.999731]] 2025-10-28T21:10:16.687Z,1761685816.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357030,0.933846,0.021492],[-0.933952,0.357282,-0.009167],[-0.016239,-0.016800,0.999727]] 2025-10-28T21:10:17.083Z,1761685817.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367716,0.929694,0.021318],[-0.929795,0.367965,-0.009120],[-0.016323,-0.016468,0.999731]] 2025-10-28T21:10:17.487Z,1761685817.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377513,0.925787,0.020056],[-0.925865,0.377743,-0.009177],[-0.016072,-0.015105,0.999757]] 2025-10-28T21:10:17.890Z,1761685817.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388783,0.921123,0.019474],[-0.921196,0.389000,-0.008806],[-0.015686,-0.014516,0.999772]] 2025-10-28T21:10:18.299Z,1761685818.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400751,0.915964,0.020191],[-0.916062,0.400963,-0.007675],[-0.015126,-0.015420,0.999767]] 2025-10-28T21:10:18.700Z,1761685818.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413622,0.910247,0.019155],[-0.910335,0.413811,-0.007081],[-0.014372,-0.014509,0.999791]] 2025-10-28T21:10:19.109Z,1761685819.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427976,0.903647,0.016104],[-0.903685,0.428130,-0.007664],[-0.013821,-0.011273,0.999841]] 2025-10-28T21:10:19.507Z,1761685819.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444099,0.895867,0.014073],[-0.895873,0.444233,-0.008324],[-0.013709,-0.008910,0.999866]] 2025-10-28T21:10:20.317Z,1761685820.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479205,0.877612,0.012601],[-0.877590,0.479325,-0.009173],[-0.014090,-0.006662,0.999879]] 2025-10-28T21:10:20.719Z,1761685820.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497639,0.867342,0.008565],[-0.867270,0.497709,-0.011288],[-0.014054,-0.001811,0.999900]] 2025-10-28T21:10:21.124Z,1761685821.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516290,0.856411,0.002256],[-0.856303,0.516264,-0.014704],[-0.013757,0.005660,0.999889]] 2025-10-28T21:10:21.527Z,1761685821.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534684,0.845050,-0.001771],[-0.844947,0.534584,-0.016857],[-0.013298,0.010510,0.999856]] 2025-10-28T21:10:21.933Z,1761685821.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552694,0.833380,-0.002767],[-0.833283,0.552572,-0.017419],[-0.012987,0.011933,0.999844]] 2025-10-28T21:10:22.334Z,1761685822.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569940,0.821684,-0.002246],[-0.821590,0.569829,-0.016874],[-0.012585,0.011462,0.999855]] 2025-10-28T21:10:22.738Z,1761685822.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585933,0.810359,0.001039],[-0.810265,0.585884,-0.014504],[-0.012362,0.007656,0.999894]] 2025-10-28T21:10:23.143Z,1761685823.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600467,0.799634,0.005109],[-0.799559,0.600483,-0.011196],[-0.012020,0.002638,0.999924]] 2025-10-28T21:10:23.548Z,1761685823.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613229,0.789855,0.008870],[-0.789818,0.613290,-0.007931],[-0.011704,-0.002143,0.999929]] 2025-10-28T21:10:23.950Z,1761685823.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624726,0.780711,0.014406],[-0.780764,0.624820,-0.002765],[-0.011160,-0.009521,0.999892]] 2025-10-28T21:10:24.355Z,1761685824.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635329,0.771988,0.019785],[-0.772161,0.635424,0.001904],[-0.011102,-0.016487,0.999802]] 2025-10-28T21:10:24.764Z,1761685824.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645343,0.763536,0.023369],[-0.763810,0.645423,0.004945],[-0.011307,-0.021041,0.999715]] 2025-10-28T21:10:25.167Z,1761685825.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655062,0.755124,0.026116],[-0.755481,0.655134,0.006900],[-0.011899,-0.024250,0.999635]] 2025-10-28T21:10:25.191Z,1761685825.191 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:10:25.191Z,1761685825.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:10:25.191Z,1761685825.191 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:10:25.191Z,1761685825.191 [marl:UpdateRudder:A] Stopped 2025-10-28T21:10:25.191Z,1761685825.191 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:10:25.192Z,1761685825.192 [marl:UpdateCommandMode] Stopped 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed] Stopped 2025-10-28T21:10:25.193Z,1761685825.193 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:10:25.567Z,1761685825.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664373,0.746920,0.026812],[-0.747297,0.664453,0.007092],[-0.012518,-0.024748,0.999615]] 2025-10-28T21:10:25.681Z,1761685825.681 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:10:25.681Z,1761685825.681 [marl:UpdateRudder:B] Stopped 2025-10-28T21:10:25.681Z,1761685825.681 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:10:25.681Z,1761685825.681 [marl:UpdateRudder] Stopped 2025-10-28T21:10:25.681Z,1761685825.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:10:25.971Z,1761685825.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673348,0.738816,0.027457],[-0.739211,0.673434,0.007373],[-0.013043,-0.025262,0.999596]] 2025-10-28T21:10:26.375Z,1761685826.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681815,0.731027,0.026990],[-0.731402,0.681912,0.006863],[-0.013388,-0.024420,0.999612]] 2025-10-28T21:10:26.786Z,1761685826.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690493,0.722861,0.026304],[-0.723215,0.690591,0.006613],[-0.013385,-0.023590,0.999632]] 2025-10-28T21:10:27.193Z,1761685827.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699214,0.714472,0.025095],[-0.714796,0.699303,0.006482],[-0.012918,-0.022470,0.999664]] 2025-10-28T21:10:27.595Z,1761685827.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708460,0.705388,0.022612],[-0.705647,0.708542,0.005541],[-0.012113,-0.019882,0.999729]] 2025-10-28T21:10:27.991Z,1761685827.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718421,0.695361,0.018562],[-0.695521,0.718498,0.003326],[-0.011024,-0.015299,0.999822]] 2025-10-28T21:10:28.396Z,1761685828.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728176,0.685202,0.016049],[-0.685323,0.728232,0.003099],[-0.009564,-0.013256,0.999866]] 2025-10-28T21:10:28.803Z,1761685828.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739100,0.673477,0.012662],[-0.673547,0.739142,0.001815],[-0.008137,-0.009870,0.999918]] 2025-10-28T21:10:29.206Z,1761685829.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750079,0.661281,0.009392],[-0.661314,0.750109,0.000549],[-0.006682,-0.006623,0.999956]] 2025-10-28T21:10:29.609Z,1761685829.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760967,0.648761,0.006263],[-0.648771,0.760984,-0.000502],[-0.005091,-0.003681,0.999980]] 2025-10-28T21:10:30.010Z,1761685830.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771764,0.635889,0.005151],[-0.635898,0.771773,0.000185],[-0.003857,-0.003418,0.999987]] 2025-10-28T21:10:30.040Z,1761685830.040 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-28T21:10:30.040Z,1761685830.040 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-28T21:10:30.040Z,1761685830.040 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-28T21:10:30.200Z,1761685830.200 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-28T21:10:30.416Z,1761685830.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782306,0.622883,0.003806],[-0.622890,0.782309,0.000802],[-0.002478,-0.002999,0.999992]] 2025-10-28T21:10:30.496Z,1761685830.496 [RDI_Pathfinder](INFO): Powering down 2025-10-28T21:10:30.820Z,1761685830.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792447,0.609935,0.002562],[-0.609939,0.792447,0.001289],[-0.001243,-0.002584,0.999996]] 2025-10-28T21:10:31.230Z,1761685831.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802459,0.596707,0.000819],[-0.596707,0.802459,0.000984],[-0.000070,-0.001278,0.999999]] 2025-10-28T21:10:31.363Z,1761685831.363 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-28T21:10:31.363Z,1761685831.363 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-28T21:10:31.627Z,1761685831.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812627,0.582784,-0.000320],[-0.582783,0.812627,0.001271],[0.001001,-0.000846,0.999999]] 2025-10-28T21:10:31.648Z,1761685831.648 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-28T21:10:32.032Z,1761685832.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822947,0.568115,-0.001989],[-0.568115,0.822949,0.000500],[0.001921,0.000719,0.999998]] 2025-10-28T21:10:32.434Z,1761685832.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833302,0.552804,-0.004051],[-0.552810,0.833307,-0.000716],[0.002980,0.002836,0.999992]] 2025-10-28T21:10:32.840Z,1761685832.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843288,0.537432,-0.005730],[-0.537446,0.843297,-0.001302],[0.004133,0.004178,0.999983]] 2025-10-28T21:10:33.245Z,1761685833.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852971,0.521903,-0.007566],[-0.521929,0.852987,-0.001827],[0.005500,0.005508,0.999970]] 2025-10-28T21:10:33.648Z,1761685833.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861939,0.506950,-0.007977],[-0.506966,0.861966,0.000029],[0.006890,0.004019,0.999968]] 2025-10-28T21:10:34.051Z,1761685834.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870314,0.492425,-0.008444],[-0.492427,0.870351,0.001962],[0.008315,0.002451,0.999962]] 2025-10-28T21:10:34.454Z,1761685834.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878052,0.478479,-0.009036],[-0.478456,0.878099,0.004690],[0.010178,0.000205,0.999948]] 2025-10-28T21:10:34.859Z,1761685834.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885618,0.464317,-0.009527],[-0.464266,0.885667,0.007161],[0.011763,-0.001919,0.999929]] 2025-10-28T21:10:35.271Z,1761685835.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892726,0.450481,-0.010365],[-0.450396,0.892778,0.009566],[0.013563,-0.003872,0.999901]] 2025-10-28T21:10:35.666Z,1761685835.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899720,0.436317,-0.011473],[-0.436201,0.899778,0.011325],[0.015264,-0.005185,0.999870]] 2025-10-28T21:10:36.078Z,1761685836.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906442,0.422149,-0.012411],[-0.422004,0.906505,0.012721],[0.016621,-0.006293,0.999842]] 2025-10-28T21:10:36.475Z,1761685836.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912929,0.407892,-0.013611],[-0.407723,0.913004,0.013639],[0.017990,-0.006902,0.999814]] 2025-10-28T21:10:36.883Z,1761685836.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919111,0.393727,-0.014644],[-0.393543,0.919200,0.013983],[0.018966,-0.007089,0.999795]] 2025-10-28T21:10:37.286Z,1761685837.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924865,0.379976,-0.015582],[-0.379779,0.924968,0.014201],[0.019809,-0.007217,0.999778]] 2025-10-28T21:10:37.687Z,1761685837.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930086,0.366973,-0.016459],[-0.366743,0.930195,0.015410],[0.020965,-0.008296,0.999746]] 2025-10-28T21:10:38.093Z,1761685838.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934663,0.355097,-0.017666],[-0.354843,0.934789,0.015989],[0.022192,-0.008676,0.999716]] 2025-10-28T21:10:38.115Z,1761685838.115 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateRudder:A] Stopped 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:10:38.116Z,1761685838.116 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateCommandMode] Stopped 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:10:38.117Z,1761685838.117 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:10:38.118Z,1761685838.118 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:10:38.118Z,1761685838.118 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:10:38.118Z,1761685838.118 [marl:UpdateSpeed] Stopped 2025-10-28T21:10:38.118Z,1761685838.118 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:10:38.300Z,1761685838.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:10:38.497Z,1761685838.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939129,0.343055,-0.018698],[-0.342766,0.939266,0.017034],[0.023406,-0.009588,0.999680]] 2025-10-28T21:10:38.520Z,1761685838.520 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:10:38.520Z,1761685838.520 [marl:UpdateRudder:B] Stopped 2025-10-28T21:10:38.520Z,1761685838.520 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:10:38.520Z,1761685838.520 [marl:UpdateRudder] Stopped 2025-10-28T21:10:38.520Z,1761685838.520 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:10:38.899Z,1761685838.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943340,0.331276,-0.019143],[-0.330923,0.943457,0.019441],[0.024501,-0.012005,0.999628]] 2025-10-28T21:10:39.304Z,1761685839.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:10:39.306Z,1761685839.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947414,0.319383,-0.020024],[-0.319002,0.947541,0.020076],[0.025386,-0.012633,0.999598]] 2025-10-28T21:10:39.708Z,1761685839.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951426,0.307151,-0.021134],[-0.306746,0.951573,0.020374],[0.026369,-0.012902,0.999569]] 2025-10-28T21:10:40.111Z,1761685840.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955397,0.294444,-0.022809],[-0.294060,0.955603,0.018748],[0.027316,-0.011204,0.999564]] 2025-10-28T21:10:40.515Z,1761685840.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959548,0.280450,-0.024791],[-0.280126,0.959834,0.015764],[0.028216,-0.008182,0.999568]] 2025-10-28T21:10:40.918Z,1761685840.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963877,0.265060,-0.026157],[-0.264798,0.964215,0.013073],[0.028686,-0.005674,0.999572]] 2025-10-28T21:10:41.336Z,1761685841.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968114,0.249009,-0.027372],[-0.248830,0.968497,0.009826],[0.028956,-0.002701,0.999577]] 2025-10-28T21:10:41.727Z,1761685841.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972317,0.231840,-0.029136],[-0.231791,0.972752,0.005110],[0.029527,0.001785,0.999562]] 2025-10-28T21:10:42.131Z,1761685842.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976292,0.214367,-0.030006],[-0.214383,0.976746,0.002733],[0.029894,0.003765,0.999546]] 2025-10-28T21:10:42.535Z,1761685842.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980030,0.196373,-0.031280],[-0.196496,0.980504,-0.000865],[0.030501,0.006994,0.999510]] 2025-10-28T21:10:42.940Z,1761685842.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983533,0.177821,-0.032294],[-0.178012,0.984024,-0.003095],[0.031227,0.008793,0.999474]] 2025-10-28T21:10:43.360Z,1761685843.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986637,0.159555,-0.032998],[-0.159777,0.987144,-0.004194],[0.031905,0.009410,0.999447]] 2025-10-28T21:10:43.747Z,1761685843.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989445,0.140981,-0.033516],[-0.141202,0.989971,-0.004325],[0.032570,0.009012,0.999429]] 2025-10-28T21:10:44.183Z,1761685844.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991852,0.122755,-0.034077],[-0.122970,0.992401,-0.004279],[0.033293,0.008435,0.999410]] 2025-10-28T21:10:44.567Z,1761685844.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993894,0.104702,-0.034823],[-0.104884,0.994479,-0.003424],[0.034273,0.007055,0.999388]] 2025-10-28T21:10:45.073Z,1761685845.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996850,0.070353,-0.036614],[-0.070394,0.997519,0.000169],[0.036535,0.002409,0.999329]] 2025-10-28T21:10:45.774Z,1761685845.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997830,0.054120,-0.037505],[-0.054070,0.998534,0.002340],[0.037576,-0.000307,0.999294]] 2025-10-28T21:10:46.211Z,1761685846.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,0.038418,-0.038449],[-0.038297,0.999259,0.003871],[0.038569,-0.002393,0.999253]] 2025-10-28T21:10:46.301Z,1761685846.301 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, + .00, +0.00, +0.00, 0.00, 2.00 2025-10-28T21:10:46.580Z,1761685846.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998942,0.023792,-0.039353],[-0.023573,0.999704,0.006007],[0.039484,-0.005073,0.999207]] 2025-10-28T21:10:46.984Z,1761685846.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999133,0.009847,-0.040447],[-0.009506,0.999918,0.008615],[0.040528,-0.008223,0.999145]] 2025-10-28T21:10:47.398Z,1761685847.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999134,-0.003371,-0.041475],[0.003791,0.999942,0.010073],[0.041438,-0.010221,0.999089]] 2025-10-28T21:10:47.796Z,1761685847.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998968,-0.016033,-0.042496],[0.016503,0.999806,0.010718],[0.042316,-0.011408,0.999039]] 2025-10-28T21:10:48.194Z,1761685848.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998682,-0.028002,-0.043001],[0.028523,0.999526,0.011563],[0.042657,-0.012775,0.999008]] 2025-10-28T21:10:48.599Z,1761685848.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998290,-0.039596,-0.042995],[0.040140,0.999124,0.011863],[0.042488,-0.013569,0.999005]] 2025-10-28T21:10:49.004Z,1761685849.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997759,-0.051606,-0.042598],[0.052107,0.998584,0.010732],[0.041984,-0.012928,0.999035]] 2025-10-28T21:10:49.420Z,1761685849.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996027,-0.079126,-0.040860],[0.079334,0.996842,0.003507],[0.040453,-0.006735,0.999159]] 2025-10-28T21:10:50.220Z,1761685850.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993142,-0.110573,-0.037991],[0.110515,0.993868,-0.003643],[0.038161,-0.000580,0.999271]] 2025-10-28T21:10:50.624Z,1761685850.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991277,-0.126506,-0.036958],[0.126382,0.991965,-0.005704],[0.037382,0.000984,0.999301]] 2025-10-28T21:10:51.032Z,1761685851.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989269,-0.141555,-0.036173],[0.141410,0.989929,-0.006569],[0.036739,0.001383,0.999324]] 2025-10-28T21:10:51.065Z,1761685851.065 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:10:51.065Z,1761685851.065 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateRudder:A] Stopped 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:10:51.066Z,1761685851.066 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateCommandMode] Stopped 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:10:51.067Z,1761685851.067 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:10:51.068Z,1761685851.068 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:10:51.068Z,1761685851.068 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:10:51.068Z,1761685851.068 [marl:UpdateSpeed] Stopped 2025-10-28T21:10:51.068Z,1761685851.068 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:10:51.430Z,1761685851.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987121,-0.156011,-0.035386],[0.155851,0.987754,-0.007262],[0.036085,0.001653,0.999347]] 2025-10-28T21:10:51.472Z,1761685851.472 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:10:51.473Z,1761685851.473 [marl:UpdateRudder:B] Stopped 2025-10-28T21:10:51.473Z,1761685851.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:10:51.473Z,1761685851.473 [marl:UpdateRudder] Stopped 2025-10-28T21:10:51.473Z,1761685851.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:10:51.831Z,1761685851.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984801,-0.170133,-0.034965],[0.169997,0.985421,-0.006835],[0.035618,0.000788,0.999365]] 2025-10-28T21:10:52.235Z,1761685852.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982481,-0.183084,-0.034803],[0.183019,0.983096,-0.005095],[0.035148,-0.001364,0.999381]] 2025-10-28T21:10:52.640Z,1761685852.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979880,-0.196606,-0.034358],[0.196610,0.980476,-0.003307],[0.034338,-0.003515,0.999404]] 2025-10-28T21:10:53.049Z,1761685853.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977049,-0.210331,-0.033706],[0.210372,0.977619,-0.002370],[0.033450,-0.004775,0.999429]] 2025-10-28T21:10:53.447Z,1761685853.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973759,-0.225256,-0.032462],[0.225223,0.974296,-0.004720],[0.032691,-0.002715,0.999462]] 2025-10-28T21:10:53.851Z,1761685853.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969770,-0.242078,-0.030718],[0.241942,0.970257,-0.008132],[0.031773,0.000454,0.999495]] 2025-10-28T21:10:54.254Z,1761685854.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965368,-0.259273,-0.029022],[0.259074,0.965800,-0.010504],[0.030753,0.002621,0.999524]] 2025-10-28T21:10:54.658Z,1761685854.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960613,-0.276545,-0.027320],[0.276272,0.960986,-0.013380],[0.029954,0.005305,0.999537]] 2025-10-28T21:10:55.063Z,1761685855.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955162,-0.294946,-0.025936],[0.294608,0.955482,-0.016104],[0.029531,0.007741,0.999534]] 2025-10-28T21:10:55.474Z,1761685855.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949281,-0.313442,-0.024895],[0.313065,0.949563,-0.017911],[0.029253,0.009209,0.999530]] 2025-10-28T21:10:55.871Z,1761685855.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943108,-0.331615,-0.024046],[0.331210,0.943359,-0.019318],[0.029091,0.010255,0.999524]] 2025-10-28T21:10:56.678Z,1761685856.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930255,-0.366127,-0.023998],[0.365715,0.930514,-0.019924],[0.029625,0.009758,0.999513]] 2025-10-28T21:10:57.084Z,1761685857.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924003,-0.381621,-0.024189],[0.381183,0.924264,-0.020849],[0.030313,0.010044,0.999490]] 2025-10-28T21:10:57.487Z,1761685857.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917686,-0.396579,-0.024038],[0.396110,0.917938,-0.022075],[0.030819,0.010736,0.999467]] 2025-10-28T21:10:57.891Z,1761685857.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911341,-0.410969,-0.023693],[0.410460,0.911573,-0.023600],[0.031296,0.011783,0.999441]] 2025-10-28T21:10:58.295Z,1761685858.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904966,-0.424835,-0.023498],[0.424315,0.905192,-0.024158],[0.031533,0.011892,0.999432]] 2025-10-28T21:10:58.700Z,1761685858.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898408,-0.438515,-0.023816],[0.438011,0.898659,-0.023637],[0.031768,0.010804,0.999437]] 2025-10-28T21:10:59.104Z,1761685859.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891642,-0.452127,-0.023567],[0.451632,0.891894,-0.023533],[0.031659,0.010340,0.999445]] 2025-10-28T21:10:59.507Z,1761685859.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884856,-0.465253,-0.023884],[0.464792,0.885134,-0.022496],[0.031607,0.008805,0.999462]] 2025-10-28T21:10:59.910Z,1761685859.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878197,-0.477707,-0.023793],[0.477282,0.878487,-0.021508],[0.031176,0.007533,0.999486]] 2025-10-28T21:11:00.316Z,1761685860.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871865,-0.489173,-0.023693],[0.488775,0.872162,-0.020766],[0.030822,0.006525,0.999504]] 2025-10-28T21:11:00.718Z,1761685860.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865603,-0.500149,-0.024132],[0.499788,0.865925,-0.019612],[0.030705,0.004916,0.999516]] 2025-10-28T21:11:01.127Z,1761685861.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859672,-0.510213,-0.025429],[0.509920,0.860045,-0.017410],[0.030753,0.002000,0.999525]] 2025-10-28T21:11:01.545Z,1761685861.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853797,-0.519953,-0.026082],[0.519702,0.854195,-0.016138],[0.030670,0.000224,0.999530]] 2025-10-28T21:11:01.931Z,1761685861.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848074,-0.529200,-0.026777],[0.528990,0.848496,-0.014991],[0.030654,-0.001451,0.999529]] 2025-10-28T21:11:02.334Z,1761685862.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842453,-0.538074,-0.027374],[0.537908,0.842892,-0.013716],[0.030454,-0.003170,0.999531]] 2025-10-28T21:11:02.738Z,1761685862.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836997,-0.546502,-0.027781],[0.546411,0.837439,-0.011436],[0.029515,-0.005608,0.999549]] 2025-10-28T21:11:03.166Z,1761685863.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831403,-0.555012,-0.027020],[0.554949,0.831818,-0.010484],[0.028294,-0.006279,0.999580]] 2025-10-28T21:11:03.551Z,1761685863.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825435,-0.563927,-0.025367],[0.563850,0.825807,-0.010794],[0.027035,-0.005394,0.999620]] 2025-10-28T21:11:03.950Z,1761685863.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818702,-0.573791,-0.022138],[0.573668,0.818997,-0.012195],[0.025128,-0.002716,0.999681]] 2025-10-28T21:11:03.974Z,1761685863.974 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:11:03.974Z,1761685863.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:11:03.974Z,1761685863.974 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateRudder:A] Stopped 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:11:03.975Z,1761685863.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:11:03.976Z,1761685863.976 [marl:UpdateCommandMode] Stopped 2025-10-28T21:11:03.976Z,1761685863.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:11:03.976Z,1761685863.976 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:11:03.976Z,1761685863.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:11:03.976Z,1761685863.976 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:11:03.977Z,1761685863.977 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:11:03.977Z,1761685863.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:11:03.977Z,1761685863.977 [marl:UpdateSpeed] Stopped 2025-10-28T21:11:03.977Z,1761685863.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:11:04.354Z,1761685864.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811005,-0.584726,-0.019125],[0.584567,0.811231,-0.013640],[0.023491,-0.000118,0.999724]] 2025-10-28T21:11:04.389Z,1761685864.389 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:11:04.390Z,1761685864.390 [marl:UpdateRudder:B] Stopped 2025-10-28T21:11:04.390Z,1761685864.390 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:11:04.390Z,1761685864.390 [marl:UpdateRudder] Stopped 2025-10-28T21:11:04.390Z,1761685864.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:11:04.391Z,1761685864.391 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:11:04.630Z,1761685864.630 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:11:04.630Z,1761685864.630 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:11:04.761Z,1761685864.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801999,-0.597125,-0.015476],[0.596923,0.802140,-0.015944],[0.021935,0.003549,0.999753]] 2025-10-28T21:11:04.881Z,1761685864.881 [DAT](INFO): DAT read: user:291> 2025-10-28T21:11:04.882Z,1761685864.882 [DAT](INFO): DAT read: Tx time:21:11:04.6073 2025-10-28T21:11:04.882Z,1761685864.882 [DAT](INFO): Ping request sent. 2025-10-28T21:11:04.882Z,1761685864.882 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:11:04.882Z,1761685864.882 [DAT](INFO): publishing transmit ping time 2025-10-28T21:11:04.883Z,1761685864.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954 2025-10-28T21:11:05.133Z,1761685865.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250964 2025-10-28T21:11:05.205Z,1761685865.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791727,-0.610750,-0.012353],[0.610533,0.791798,-0.017456],[0.020442,0.006278,0.999771]] 2025-10-28T21:11:05.385Z,1761685865.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876 2025-10-28T21:11:05.575Z,1761685865.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780115,-0.625549,-0.010398],[0.625331,0.780147,-0.018230],[0.019516,0.007719,0.999780]] 2025-10-28T21:11:05.637Z,1761685865.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887 2025-10-28T21:11:05.889Z,1761685865.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007145 2025-10-28T21:11:05.972Z,1761685865.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767239,-0.641309,-0.008109],[0.641086,0.767220,-0.019555],[0.018762,0.009805,0.999776]] 2025-10-28T21:11:06.141Z,1761685866.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258886 2025-10-28T21:11:06.374Z,1761685866.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753180,-0.657766,-0.007936],[0.657545,0.753163,-0.019498],[0.018802,0.009467,0.999778]] 2025-10-28T21:11:06.393Z,1761685866.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511001 2025-10-28T21:11:06.645Z,1761685866.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762916 2025-10-28T21:11:06.783Z,1761685866.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738102,-0.674630,-0.008955],[0.674407,0.738112,-0.019137],[0.019520,0.008085,0.999777]] 2025-10-28T21:11:06.897Z,1761685866.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015370 2025-10-28T21:11:07.151Z,1761685867.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268944 2025-10-28T21:11:07.211Z,1761685867.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722326,-0.691489,-0.009459],[0.691240,0.722342,-0.020217],[0.020812,0.008064,0.999751]] 2025-10-28T21:11:07.401Z,1761685867.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518965 2025-10-28T21:11:07.591Z,1761685867.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706959,-0.707198,-0.008899],[0.706893,0.706944,-0.023082],[0.022614,0.010027,0.999694]] 2025-10-28T21:11:07.653Z,1761685867.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771029 2025-10-28T21:11:07.905Z,1761685867.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022925 2025-10-28T21:11:07.991Z,1761685867.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692377,-0.721475,-0.009330],[0.721116,0.692358,-0.025145],[0.024601,0.010682,0.999640]] 2025-10-28T21:11:08.157Z,1761685868.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275033 2025-10-28T21:11:08.395Z,1761685868.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679162,-0.733920,-0.010019],[0.733514,0.679151,-0.026653],[0.026365,0.010753,0.999595]] 2025-10-28T21:11:08.409Z,1761685868.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526895 2025-10-28T21:11:08.662Z,1761685868.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779533 2025-10-28T21:11:08.800Z,1761685868.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667545,-0.744500,-0.010195],[0.744071,0.667536,-0.027459],[0.027248,0.010744,0.999571]] 2025-10-28T21:11:08.913Z,1761685868.913 [DAT](INFO): DAT read: Rx Time:21:11:08.2146 2025-10-28T21:11:08.913Z,1761685868.913 [DAT](INFO): Rx dataTimestamp_ set to:1761685868.913116 2025-10-28T21:11:08.914Z,1761685868.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032007 2025-10-28T21:11:09.168Z,1761685869.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285113 2025-10-28T21:11:09.219Z,1761685869.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656911,-0.753905,-0.009724],[0.753479,0.656895,-0.027521],[0.027136,0.010752,0.999574]] 2025-10-28T21:11:09.422Z,1761685869.422 [DAT](INFO): DAT read: 21:11:08.2146 LVL= 27808, 32481, 15906, 27891, AGC= 76, IDX= 14,-0.32, 2.697, 2.745,-1.542,-2.368, PHS=-1.116,-1.125, 0.782, RAW= 209.8, 15.2, CAL= 211.8, 18.4, ROT= 298.2, -18.4 2025-10-28T21:11:09.423Z,1761685869.423 [DAT](INFO): got valid direction response: 21:11:08.2146 LVL= 27808, 32481, 15906, 27891, AGC= 76, IDX= 14,-0.32, 2.697, 2.745,-1.542,-2.368, PHS=-1.116,-1.125, 0.782, RAW= 209.8, 15.2, CAL= 211.8, 18.4, ROT= 298.2, -18.4 2025-10-28T21:11:09.424Z,1761685869.424 [DAT](INFO): DAT read: Bearing 244.2, -55.6 (Local) 2025-10-28T21:11:09.425Z,1761685869.425 [DAT](INFO): Local bearing/azimuth received: Bearing 244.2, -55.6 (Local) 2025-10-28T21:11:09.426Z,1761685869.426 [DAT](INFO): DAT read: Range 11 to 20 : 902.4 m (Round-trip 1203.2 ms) speed -0.1 m/s 2025-10-28T21:11:09.427Z,1761685869.427 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:11:09.428Z,1761685869.428 [DAT](INFO): direction in FSK: [0.448392,-0.836248,0.315649] 2025-10-28T21:11:09.428Z,1761685869.428 [DAT](INFO): publishing direction and range info 2025-10-28T21:11:09.452Z,1761685869.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:11:09.607Z,1761685869.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647060,-0.762380,-0.009470],[0.761997,0.647058,-0.026009],[0.025957,0.009613,0.999617]] 2025-10-28T21:11:09.653Z,1761685869.653 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685888.00. Resetting abort timer. 2025-10-28T21:11:10.018Z,1761685870.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637212,-0.770633,-0.009233],[0.770317,0.637231,-0.023419],[0.023931,0.007810,0.999683]] 2025-10-28T21:11:10.415Z,1761685870.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627434,-0.778631,-0.007779],[0.778388,0.627445,-0.020620],[0.020936,0.006883,0.999757]] 2025-10-28T21:11:10.456Z,1761685870.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:11:10.820Z,1761685870.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616971,-0.786947,-0.007842],[0.786791,0.617010,-0.016088],[0.017499,0.003756,0.999840]] 2025-10-28T21:11:11.236Z,1761685871.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606281,-0.795210,-0.008007],[0.795125,0.606333,-0.011642],[0.014113,0.000692,0.999900]] 2025-10-28T21:11:11.627Z,1761685871.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594480,-0.804085,-0.006362],[0.804035,0.594514,-0.008959],[0.010986,0.000210,0.999940]] 2025-10-28T21:11:12.033Z,1761685872.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581962,-0.813205,-0.004270],[0.813176,0.581977,-0.006873],[0.008074,0.000528,0.999967]] 2025-10-28T21:11:12.436Z,1761685872.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569480,-0.821997,-0.003564],[0.821988,0.569491,-0.003994],[0.005313,-0.000655,0.999986]] 2025-10-28T21:11:12.839Z,1761685872.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556809,-0.830637,-0.002475],[0.830635,0.556814,-0.002071],[0.003098,-0.000903,0.999995]] 2025-10-28T21:11:13.242Z,1761685873.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544567,-0.838716,-0.001596],[0.838717,0.544568,-0.000289],[0.001111,-0.001181,0.999999]] 2025-10-28T21:11:13.646Z,1761685873.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532426,-0.846476,0.000810],[0.846477,0.532426,0.000038],[-0.000463,0.000665,1.000000]] 2025-10-28T21:11:14.052Z,1761685874.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520793,-0.853679,0.002612],[0.853680,0.520796,0.000861],[-0.002095,0.001781,0.999996]] 2025-10-28T21:11:14.455Z,1761685874.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510121,-0.860090,0.004701],[0.860094,0.510133,0.001771],[-0.003921,0.003140,0.999987]] 2025-10-28T21:11:14.858Z,1761685874.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499561,-0.866256,0.006252],[0.866259,0.499586,0.003173],[-0.005872,0.003830,0.999975]] 2025-10-28T21:11:15.263Z,1761685875.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489573,-0.871937,0.006605],[0.871926,0.489608,0.005434],[-0.007972,0.003099,0.999963]] 2025-10-28T21:11:15.673Z,1761685875.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479474,-0.877512,0.008745],[0.877496,0.479534,0.006909],[-0.010256,0.004361,0.999938]] 2025-10-28T21:11:16.070Z,1761685876.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468635,-0.883339,0.009613],[0.883302,0.468715,0.009170],[-0.012606,0.004193,0.999912]] 2025-10-28T21:11:16.479Z,1761685876.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457466,-0.889174,0.009723],[0.889095,0.457559,0.012189],[-0.015287,0.003069,0.999878]] 2025-10-28T21:11:16.878Z,1761685876.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445777,-0.895080,0.010736],[0.894955,0.445897,0.015192],[-0.018385,0.002836,0.999827]] 2025-10-28T21:11:16.926Z,1761685876.926 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:11:16.926Z,1761685876.926 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:11:16.926Z,1761685876.926 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateRudder:A] Stopped 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:11:16.927Z,1761685876.927 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:11:16.928Z,1761685876.928 [marl:UpdateCommandMode] Stopped 2025-10-28T21:11:16.932Z,1761685876.932 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:11:16.932Z,1761685876.932 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:11:16.932Z,1761685876.932 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:11:16.932Z,1761685876.932 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:11:16.933Z,1761685876.933 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:11:16.933Z,1761685876.933 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:11:16.933Z,1761685876.933 [marl:UpdateSpeed] Stopped 2025-10-28T21:11:16.933Z,1761685876.933 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:11:17.282Z,1761685877.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433055,-0.901298,0.011158],[0.901105,0.433194,0.018793],[-0.021771,0.001916,0.999761]] 2025-10-28T21:11:17.334Z,1761685877.334 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:11:17.334Z,1761685877.334 [marl:UpdateRudder:B] Stopped 2025-10-28T21:11:17.335Z,1761685877.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:11:17.335Z,1761685877.335 [marl:UpdateRudder] Stopped 2025-10-28T21:11:17.335Z,1761685877.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:11:17.686Z,1761685877.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419686,-0.907601,0.011110],[0.907318,0.419833,0.022686],[-0.025254,0.000559,0.999681]] 2025-10-28T21:11:18.091Z,1761685878.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404767,-0.914332,0.012711],[0.913972,0.404964,0.025676],[-0.028624,0.001225,0.999589]] 2025-10-28T21:11:18.515Z,1761685878.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388682,-0.921265,0.014017],[0.920820,0.388931,0.028693],[-0.031886,0.001754,0.999490]] 2025-10-28T21:11:18.898Z,1761685878.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371227,-0.928399,0.016336],[0.927882,0.371569,0.031175],[-0.035013,0.003585,0.999380]] 2025-10-28T21:11:19.302Z,1761685879.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353469,-0.935262,0.018558],[0.934685,0.353912,0.033320],[-0.037731,0.005569,0.999272]] 2025-10-28T21:11:19.710Z,1761685879.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334169,-0.942288,0.020621],[0.941677,0.334714,0.034799],[-0.039692,0.007789,0.999182]] 2025-10-28T21:11:20.113Z,1761685880.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313802,-0.949225,0.022361],[0.948595,0.314441,0.035986],[-0.041190,0.009919,0.999102]] 2025-10-28T21:11:20.517Z,1761685880.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293101,-0.955796,0.023372],[0.955158,0.293804,0.036762],[-0.042004,0.011549,0.999051]] 2025-10-28T21:11:20.919Z,1761685880.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272682,-0.961783,0.024861],[0.961187,0.273459,0.036604],[-0.042003,0.013914,0.999021]] 2025-10-28T21:11:21.323Z,1761685881.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252750,-0.967193,0.025605],[0.966649,0.253562,0.036015],[-0.041326,0.015649,0.999023]] 2025-10-28T21:11:21.734Z,1761685881.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233777,-0.971944,0.025959],[0.971450,0.234602,0.035311],[-0.040411,0.016963,0.999039]] 2025-10-28T21:11:22.130Z,1761685882.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215870,-0.976107,0.024821],[0.975630,0.216649,0.034783],[-0.039329,0.016707,0.999087]] 2025-10-28T21:11:22.534Z,1761685882.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198942,-0.979734,0.023329],[0.979276,0.199658,0.033991],[-0.037960,0.016083,0.999150]] 2025-10-28T21:11:22.938Z,1761685882.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183905,-0.982712,0.021367],[0.982245,0.184551,0.033712],[-0.037072,0.014787,0.999203]] 2025-10-28T21:11:23.344Z,1761685883.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170297,-0.985208,0.019096],[0.984738,0.170858,0.033152],[-0.035924,0.013158,0.999268]] 2025-10-28T21:11:23.747Z,1761685883.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157870,-0.987319,0.016677],[0.986837,0.158348,0.032845],[-0.035069,0.011272,0.999321]] 2025-10-28T21:11:24.150Z,1761685884.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145697,-0.989233,0.013833],[0.988721,0.146083,0.033026],[-0.034691,0.008865,0.999359]] 2025-10-28T21:11:24.555Z,1761685884.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134463,-0.990846,0.011989],[0.990299,0.134797,0.033734],[-0.035041,0.007337,0.999359]] 2025-10-28T21:11:25.061Z,1761685885.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123242,-0.992325,0.010092],[0.991727,0.123523,0.034910],[-0.035889,0.005706,0.999339]] 2025-10-28T21:11:25.362Z,1761685885.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112177,-0.993646,0.009122],[0.992992,0.112438,0.036386],[-0.037180,0.004977,0.999296]] 2025-10-28T21:11:25.771Z,1761685885.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100414,-0.994913,0.008123],[0.994187,0.100653,0.038216],[-0.038839,0.004238,0.999236]] 2025-10-28T21:11:26.171Z,1761685886.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087962,-0.996099,0.007072],[0.995286,0.088177,0.040375],[-0.040841,0.003487,0.999160]] 2025-10-28T21:11:26.576Z,1761685886.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074142,-0.997224,0.006837],[0.996322,0.074367,0.042565],[-0.042956,0.003656,0.999070]] 2025-10-28T21:11:26.991Z,1761685886.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059875,-0.998187,0.006128],[0.997187,0.060090,0.044801],[-0.045088,0.003428,0.998977]] 2025-10-28T21:11:27.383Z,1761685887.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044334,-0.999000,0.005706],[0.997939,0.044551,0.046175],[-0.046384,0.003647,0.998917]] 2025-10-28T21:11:27.794Z,1761685887.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027864,-0.999600,0.004897],[0.998497,0.028064,0.047076],[-0.047195,0.003578,0.998879]] 2025-10-28T21:11:28.192Z,1761685888.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010686,-0.999928,0.005385],[0.998810,0.010930,0.047524],[-0.047580,0.004871,0.998856]] 2025-10-28T21:11:28.595Z,1761685888.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006540,-0.999961,0.005865],[0.998843,-0.006254,0.047676],[-0.047637,0.006170,0.998846]] 2025-10-28T21:11:29.002Z,1761685889.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023146,-0.999710,0.006674],[0.998607,-0.022803,0.047578],[-0.047412,0.007766,0.998845]] 2025-10-28T21:11:29.402Z,1761685889.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039732,-0.999194,0.005650],[0.998121,-0.039424,0.046910],[-0.046650,0.007504,0.998883]] 2025-10-28T21:11:29.814Z,1761685889.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054817,-0.998489,0.003979],[0.997458,-0.054578,0.045820],[-0.045534,0.006481,0.998942]] 2025-10-28T21:11:30.216Z,1761685890.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069736,-0.997558,0.003788],[0.996587,-0.069499,0.044556],[-0.044184,0.006882,0.999000]] 2025-10-28T21:11:30.289Z,1761685890.289 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:11:30.289Z,1761685890.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateRudder:A] Stopped 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:11:30.290Z,1761685890.290 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateCommandMode] Stopped 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:11:30.291Z,1761685890.291 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:11:30.292Z,1761685890.292 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:11:30.296Z,1761685890.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:11:30.296Z,1761685890.296 [marl:UpdateSpeed] Stopped 2025-10-28T21:11:30.296Z,1761685890.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:11:30.619Z,1761685890.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085125,-0.996365,0.003176],[0.995459,-0.084911,0.043031],[-0.042605,0.006824,0.999069]] 2025-10-28T21:11:30.667Z,1761685890.667 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:11:30.667Z,1761685890.667 [marl:UpdateRudder:B] Stopped 2025-10-28T21:11:30.667Z,1761685890.667 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:11:30.667Z,1761685890.667 [marl:UpdateRudder] Stopped 2025-10-28T21:11:30.667Z,1761685890.667 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:11:31.023Z,1761685891.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099517,-0.995030,0.003492],[0.994174,-0.099284,0.041972],[-0.041416,0.007649,0.999113]] 2025-10-28T21:11:31.427Z,1761685891.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114384,-0.993432,0.002949],[0.992602,-0.114166,0.041323],[-0.040715,0.007654,0.999142]] 2025-10-28T21:11:31.833Z,1761685891.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130373,-0.991465,-0.000208],[0.990649,-0.130274,0.040541],[-0.040222,0.005079,0.999178]] 2025-10-28T21:11:32.235Z,1761685892.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146658,-0.989185,-0.002212],[0.988368,-0.146628,0.040359],[-0.040246,0.003733,0.999183]] 2025-10-28T21:11:32.640Z,1761685892.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163976,-0.986455,-0.004233],[0.985633,-0.164012,0.040335],[-0.040483,0.002442,0.999177]] 2025-10-28T21:11:33.042Z,1761685893.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182092,-0.983267,-0.005297],[0.982458,-0.182157,0.039926],[-0.040223,0.002066,0.999189]] 2025-10-28T21:11:33.449Z,1761685893.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200708,-0.979630,-0.006414],[0.978855,-0.200805,0.038987],[-0.039481,0.001547,0.999219]] 2025-10-28T21:11:33.850Z,1761685893.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219396,-0.975616,-0.006312],[0.974892,-0.219476,0.037618],[-0.038086,0.002100,0.999272]] 2025-10-28T21:11:34.254Z,1761685894.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237588,-0.971351,-0.005404],[0.970700,-0.237628,0.035707],[-0.035969,0.003238,0.999348]] 2025-10-28T21:11:34.667Z,1761685894.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271553,-0.962408,-0.005377],[0.961969,-0.271592,0.029223],[-0.029585,0.002763,0.999558]] 2025-10-28T21:11:35.069Z,1761685895.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286209,-0.958150,-0.005716],[0.957809,-0.286260,0.025624],[-0.026188,0.001859,0.999655]] 2025-10-28T21:11:35.478Z,1761685895.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299632,-0.954043,-0.004736],[0.953779,-0.299661,0.022571],[-0.022953,0.002246,0.999734]] 2025-10-28T21:11:35.875Z,1761685895.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312164,-0.950012,-0.005504],[0.949814,-0.312211,0.019416],[-0.020164,0.000833,0.999796]] 2025-10-28T21:11:36.282Z,1761685896.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323632,-0.946152,-0.007698],[0.946006,-0.323718,0.016717],[-0.018309,-0.001872,0.999831]] 2025-10-28T21:11:36.680Z,1761685896.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334811,-0.942238,-0.009464],[0.942125,-0.334922,0.015084],[-0.017383,-0.003866,0.999841]] 2025-10-28T21:11:37.083Z,1761685897.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345822,-0.938248,-0.009840],[0.938144,-0.345937,0.014602],[-0.017104,-0.004182,0.999845]] 2025-10-28T21:11:37.490Z,1761685897.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357278,-0.933938,-0.010570],[0.933835,-0.357404,0.014626],[-0.017437,-0.004645,0.999837]] 2025-10-28T21:11:37.892Z,1761685897.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369315,-0.929222,-0.012390],[0.929125,-0.369473,0.014713],[-0.018250,-0.006078,0.999815]] 2025-10-28T21:11:38.294Z,1761685898.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382000,-0.924068,-0.013206],[0.923969,-0.382173,0.014992],[-0.018901,-0.006474,0.999800]] 2025-10-28T21:11:38.699Z,1761685898.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396069,-0.918124,-0.013349],[0.918021,-0.396244,0.015104],[-0.019157,-0.006272,0.999797]] 2025-10-28T21:11:39.102Z,1761685899.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411188,-0.911453,-0.013330],[0.911347,-0.411362,0.015136],[-0.019279,-0.005925,0.999797]] 2025-10-28T21:11:39.509Z,1761685899.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427209,-0.904054,-0.013357],[0.903947,-0.427380,0.015040],[-0.019305,-0.005649,0.999798]] 2025-10-28T21:11:39.911Z,1761685899.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443826,-0.896038,-0.011584],[0.895911,-0.443963,0.015485],[-0.019018,-0.003505,0.999813]] 2025-10-28T21:11:40.315Z,1761685900.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461124,-0.887281,-0.009845],[0.887144,-0.461226,0.015669],[-0.018444,-0.001509,0.999829]] 2025-10-28T21:11:40.596Z,1761685900.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:11:40.721Z,1761685900.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478277,-0.878167,-0.008626],[0.878029,-0.478355,0.015573],[-0.017802,-0.000126,0.999842]] 2025-10-28T21:11:41.126Z,1761685901.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495092,-0.868812,-0.007036],[0.868673,-0.495140,0.015629],[-0.017063,0.001626,0.999853]] 2025-10-28T21:11:41.526Z,1761685901.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511612,-0.859205,-0.004438],[0.859065,-0.511611,0.016176],[-0.016169,0.004464,0.999859]] 2025-10-28T21:11:41.600Z,1761685901.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:11:41.931Z,1761685901.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527897,-0.849304,-0.002631],[0.849178,-0.527868,0.015869],[-0.014867,0.006143,0.999871]] 2025-10-28T21:11:42.336Z,1761685902.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543405,-0.839470,-0.001033],[0.839364,-0.543355,0.015281],[-0.013389,0.007437,0.999883]] 2025-10-28T21:11:42.739Z,1761685902.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558289,-0.829647,-0.000019],[0.829563,-0.558233,0.014155],[-0.011755,0.007887,0.999900]] 2025-10-28T21:11:43.177Z,1761685903.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571937,-0.820298,-0.000483],[0.820234,-0.571899,0.012127],[-0.010224,0.006540,0.999926]] 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateRudder:A] Stopped 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:11:43.246Z,1761685903.246 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateCommandMode] Stopped 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:11:43.247Z,1761685903.247 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:11:43.248Z,1761685903.248 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:11:43.248Z,1761685903.248 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:11:43.248Z,1761685903.248 [marl:UpdateSpeed] Stopped 2025-10-28T21:11:43.248Z,1761685903.248 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:11:43.547Z,1761685903.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584887,-0.811113,-0.001618],[0.811074,-0.584876,0.008867],[-0.008138,0.003874,0.999959]] 2025-10-28T21:11:43.655Z,1761685903.655 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:11:43.656Z,1761685903.656 [marl:UpdateRudder:B] Stopped 2025-10-28T21:11:43.656Z,1761685903.656 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:11:43.656Z,1761685903.656 [marl:UpdateRudder] Stopped 2025-10-28T21:11:43.656Z,1761685903.656 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:11:43.963Z,1761685903.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597404,-0.801937,-0.002400],[0.801920,-0.597407,0.005384],[-0.005751,0.001292,0.999983]] 2025-10-28T21:11:44.355Z,1761685904.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608897,-0.793245,-0.002542],[0.793243,-0.608902,0.002001],[-0.003135,-0.000798,0.999995]] 2025-10-28T21:11:44.761Z,1761685904.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619142,-0.785274,-0.002787],[0.785279,-0.619140,-0.001635],[-0.000442,-0.003201,0.999995]] 2025-10-28T21:11:45.204Z,1761685905.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628223,-0.778029,-0.002523],[0.778031,-0.628210,-0.004435],[0.001865,-0.004749,0.999987]] 2025-10-28T21:11:45.568Z,1761685905.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637267,-0.770639,-0.002371],[0.770634,-0.637242,-0.006707],[0.003658,-0.006101,0.999975]] 2025-10-28T21:11:45.976Z,1761685905.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646514,-0.762899,-0.002196],[0.762884,-0.646478,-0.008598],[0.005140,-0.007234,0.999961]] 2025-10-28T21:11:46.374Z,1761685906.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655508,-0.755185,-0.002208],[0.755162,-0.655459,-0.010136],[0.006207,-0.008311,0.999946]] 2025-10-28T21:11:46.783Z,1761685906.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664473,-0.747311,-0.001288],[0.747280,-0.664428,-0.010416],[0.006928,-0.007884,0.999945]] 2025-10-28T21:11:47.207Z,1761685907.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673953,-0.738773,-0.000959],[0.738738,-0.673907,-0.010783],[0.007320,-0.007976,0.999941]] 2025-10-28T21:11:47.588Z,1761685907.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684511,-0.729002,-0.000054],[0.728958,-0.684468,-0.011132],[0.008078,-0.007660,0.999938]] 2025-10-28T21:11:47.991Z,1761685907.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695838,-0.718199,0.000950],[0.718142,-0.695798,-0.011678],[0.009048,-0.007444,0.999931]] 2025-10-28T21:11:48.394Z,1761685908.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707587,-0.706624,0.002057],[0.706557,-0.707555,-0.011977],[0.009919,-0.007022,0.999926]] 2025-10-28T21:11:48.799Z,1761685908.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719870,-0.694101,0.003293],[0.694022,-0.719848,-0.012342],[0.010937,-0.006599,0.999918]] 2025-10-28T21:11:49.214Z,1761685909.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732076,-0.681204,0.005037],[0.681117,-0.732073,-0.012214],[0.012008,-0.005511,0.999913]] 2025-10-28T21:11:49.606Z,1761685909.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744269,-0.667844,0.006939],[0.667750,-0.744289,-0.012008],[0.013184,-0.004303,0.999904]] 2025-10-28T21:11:50.010Z,1761685910.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756364,-0.654080,0.009607],[0.653985,-0.756422,-0.011383],[0.014712,-0.002327,0.999889]] 2025-10-28T21:11:50.415Z,1761685910.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767926,-0.640430,0.011762],[0.640329,-0.768015,-0.011447],[0.016364,-0.001259,0.999865]] 2025-10-28T21:11:50.821Z,1761685910.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779271,-0.626555,0.012829],[0.626427,-0.779375,-0.012806],[0.018022,-0.001943,0.999836]] 2025-10-28T21:11:51.252Z,1761685911.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790077,-0.612838,0.014398],[0.612683,-0.790206,-0.013964],[0.019935,-0.002212,0.999799]] 2025-10-28T21:11:51.630Z,1761685911.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800779,-0.598740,0.016221],[0.598553,-0.800940,-0.015138],[0.022056,-0.002413,0.999754]] 2025-10-28T21:11:52.031Z,1761685912.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810974,-0.584788,0.018563],[0.584579,-0.811184,-0.015756],[0.024272,-0.001927,0.999704]] 2025-10-28T21:11:52.446Z,1761685912.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820496,-0.571281,0.020597],[0.571039,-0.820752,-0.016751],[0.026474,-0.001982,0.999647]] 2025-10-28T21:11:52.838Z,1761685912.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829763,-0.557700,0.021539],[0.557380,-0.830033,-0.019288],[0.028635,-0.003999,0.999582]] 2025-10-28T21:11:53.243Z,1761685913.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838530,-0.544403,0.022189],[0.543994,-0.838799,-0.022069],[0.030627,-0.006435,0.999510]] 2025-10-28T21:11:53.646Z,1761685913.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846675,-0.531599,0.023336],[0.531121,-0.846960,-0.023847],[0.032441,-0.007796,0.999443]] 2025-10-28T21:11:54.054Z,1761685914.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854357,-0.519119,0.024275],[0.518554,-0.854647,-0.026098],[0.034294,-0.009709,0.999365]] 2025-10-28T21:11:54.469Z,1761685914.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861652,-0.506833,0.025997],[0.506224,-0.861988,-0.026724],[0.035954,-0.009867,0.999305]] 2025-10-28T21:11:54.859Z,1761685914.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868466,-0.494978,0.027627],[0.494326,-0.868847,-0.027332],[0.037533,-0.010080,0.999245]] 2025-10-28T21:11:55.263Z,1761685915.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875189,-0.482927,0.028732],[0.482230,-0.875595,-0.028060],[0.038709,-0.010702,0.999193]] 2025-10-28T21:11:55.672Z,1761685915.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881636,-0.470985,0.029842],[0.470266,-0.882075,-0.028189],[0.039600,-0.010819,0.999157]] 2025-10-28T21:11:56.070Z,1761685916.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887708,-0.459335,0.031405],[0.458633,-0.888210,-0.027189],[0.040383,-0.009733,0.999137]] 2025-10-28T21:11:56.104Z,1761685916.104 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:11:56.104Z,1761685916.104 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:11:56.104Z,1761685916.104 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:11:56.104Z,1761685916.104 [marl:UpdateRudder:A] Stopped 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode] Stopped 2025-10-28T21:11:56.105Z,1761685916.105 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed] Stopped 2025-10-28T21:11:56.106Z,1761685916.106 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:11:56.478Z,1761685916.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894046,-0.446785,0.032637],[0.446060,-0.894587,-0.027278],[0.041384,-0.009830,0.999095]] 2025-10-28T21:11:56.522Z,1761685916.522 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:11:56.522Z,1761685916.522 [marl:UpdateRudder:B] Stopped 2025-10-28T21:11:56.522Z,1761685916.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:11:56.522Z,1761685916.522 [marl:UpdateRudder] Stopped 2025-10-28T21:11:56.522Z,1761685916.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:11:56.879Z,1761685916.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900138,-0.434266,0.034124],[0.433569,-0.900743,-0.026099],[0.042070,-0.008698,0.999077]] 2025-10-28T21:11:57.284Z,1761685917.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906071,-0.421664,0.035154],[0.420931,-0.906706,-0.026491],[0.043045,-0.009205,0.999031]] 2025-10-28T21:11:57.687Z,1761685917.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912111,-0.408285,0.036841],[0.407543,-0.912812,-0.026126],[0.044295,-0.008815,0.998980]] 2025-10-28T21:11:58.090Z,1761685918.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918276,-0.394039,0.038752],[0.393287,-0.919055,-0.025748],[0.045761,-0.008403,0.998917]] 2025-10-28T21:11:58.901Z,1761685918.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930385,-0.363936,0.043974],[0.363182,-0.931400,-0.024355],[0.049821,-0.006689,0.998736]] 2025-10-28T21:11:59.707Z,1761685919.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937495,-0.345091,0.044885],[0.343680,-0.938385,-0.036304],[0.054648,-0.018609,0.998332]] 2025-10-28T21:12:00.111Z,1761685920.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937866,-0.344638,0.040400],[0.342291,-0.937964,-0.055311],[0.056956,-0.038046,0.997651]] 2025-10-28T21:12:00.927Z,1761685920.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931012,-0.364753,0.013077],[0.359760,-0.923131,-0.135657],[0.061554,-0.121594,0.990669]] 2025-10-28T21:12:01.322Z,1761685921.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923604,-0.383203,-0.010542],[0.377952,-0.905660,-0.192176],[0.064095,-0.181478,0.981304]] 2025-10-28T21:12:01.726Z,1761685921.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913525,-0.404779,-0.040324],[0.401155,-0.880020,-0.254243],[0.067426,-0.248433,0.966300]] 2025-10-28T21:12:02.130Z,1761685922.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900804,-0.427808,-0.074374],[0.428277,-0.847082,-0.314691],[0.071626,-0.315328,0.946276]] 2025-10-28T21:12:02.535Z,1761685922.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885933,-0.450697,-0.109520],[0.457347,-0.809588,-0.367968],[0.077176,-0.376084,0.923366]] 2025-10-28T21:12:02.944Z,1761685922.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869235,-0.472883,-0.144266],[0.487272,-0.770048,-0.411817],[0.083650,-0.428262,0.899775]] 2025-10-28T21:12:03.343Z,1761685923.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852161,-0.493260,-0.174691],[0.515271,-0.732794,-0.444420],[0.091201,-0.468730,0.878621]] 2025-10-28T21:12:03.746Z,1761685923.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834620,-0.513154,-0.200208],[0.541698,-0.698752,-0.467236],[0.099868,-0.498416,0.861166]] 2025-10-28T21:12:04.574Z,1761685924.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797565,-0.556628,-0.232499],[0.591493,-0.645951,-0.482580],[0.118435,-0.522410,0.844429]] 2025-10-28T21:12:04.611Z,1761685924.611 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:12:04.657Z,1761685924.657 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:12:04.657Z,1761685924.657 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:12:04.910Z,1761685924.910 [DAT](INFO): DAT read: user:292> 2025-10-28T21:12:04.911Z,1761685924.911 [DAT](INFO): DAT read: Tx time:21:12:04.6571 2025-10-28T21:12:04.911Z,1761685924.911 [DAT](INFO): Ping request sent. 2025-10-28T21:12:04.912Z,1761685924.912 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:12:04.912Z,1761685924.912 [DAT](INFO): publishing transmit ping time 2025-10-28T21:12:04.914Z,1761685924.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002071 2025-10-28T21:12:05.025Z,1761685925.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778491,-0.579593,-0.240881],[0.614563,-0.625903,-0.480164],[0.127531,-0.521840,0.843456]] 2025-10-28T21:12:05.177Z,1761685925.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.265264 2025-10-28T21:12:05.426Z,1761685925.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514740 2025-10-28T21:12:05.446Z,1761685925.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758352,-0.604210,-0.244607],[0.637449,-0.608979,-0.472020],[0.136239,-0.513882,0.846974]] 2025-10-28T21:12:05.677Z,1761685925.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765513 2025-10-28T21:12:05.870Z,1761685925.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736817,-0.629279,-0.247202],[0.660571,-0.592161,-0.461510],[0.144035,-0.503343,0.851997]] 2025-10-28T21:12:05.930Z,1761685925.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018028 2025-10-28T21:12:06.181Z,1761685926.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269439 2025-10-28T21:12:06.275Z,1761685926.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713615,-0.654705,-0.249226],[0.684210,-0.575020,-0.448563],[0.150367,-0.490625,0.858299]] 2025-10-28T21:12:06.433Z,1761685926.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521544 2025-10-28T21:12:06.681Z,1761685926.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688686,-0.679808,-0.252136],[0.708235,-0.556245,-0.434735],[0.155287,-0.477967,0.864542]] 2025-10-28T21:12:06.685Z,1761685926.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773538 2025-10-28T21:12:06.937Z,1761685926.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025488 2025-10-28T21:12:07.078Z,1761685927.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662176,-0.703835,-0.257175],[0.732385,-0.535268,-0.420832],[0.158539,-0.467016,0.869920]] 2025-10-28T21:12:07.192Z,1761685927.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280187 2025-10-28T21:12:07.441Z,1761685927.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529421 2025-10-28T21:12:07.483Z,1761685927.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634504,-0.726012,-0.265162],[0.756123,-0.511915,-0.407702],[0.160257,-0.459184,0.873767]] 2025-10-28T21:12:07.694Z,1761685927.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782201 2025-10-28T21:12:07.943Z,1761685927.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575861,-0.769659,-0.275698],[0.801588,-0.465238,-0.375513],[0.160751,-0.437239,0.884862]] 2025-10-28T21:12:07.945Z,1761685927.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033654 2025-10-28T21:12:08.197Z,1761685928.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285501 2025-10-28T21:12:08.336Z,1761685928.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545182,-0.789098,-0.283021],[0.823062,-0.439722,-0.359463],[0.159201,-0.428916,0.889205]] 2025-10-28T21:12:08.449Z,1761685928.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537886 2025-10-28T21:12:08.701Z,1761685928.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789819 2025-10-28T21:12:08.757Z,1761685928.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514716,-0.805400,-0.293936],[0.842984,-0.412892,-0.344816],[0.156351,-0.425265,0.891462]] 2025-10-28T21:12:08.953Z,1761685928.953 [DAT](INFO): DAT read: Rx Time:21:12:08.3379 2025-10-28T21:12:08.954Z,1761685928.954 [DAT](INFO): Rx dataTimestamp_ set to:1761685928.953247 2025-10-28T21:12:08.954Z,1761685928.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042656 2025-10-28T21:12:09.202Z,1761685929.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483446,-0.821956,-0.301110],[0.862018,-0.387162,-0.327154],[0.152328,-0.417724,0.895714]] 2025-10-28T21:12:09.206Z,1761685929.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294174 2025-10-28T21:12:09.265Z,1761685929.265 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:12:09.265Z,1761685929.265 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:12:09.265Z,1761685929.265 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:12:09.265Z,1761685929.265 [marl:UpdateRudder:A] Stopped 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode] Stopped 2025-10-28T21:12:09.266Z,1761685929.266 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed] Stopped 2025-10-28T21:12:09.267Z,1761685929.267 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:12:09.457Z,1761685929.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545505 2025-10-28T21:12:09.674Z,1761685929.674 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:12:09.674Z,1761685929.674 [marl:UpdateRudder:B] Stopped 2025-10-28T21:12:09.674Z,1761685929.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:12:09.674Z,1761685929.674 [marl:UpdateRudder] Stopped 2025-10-28T21:12:09.674Z,1761685929.674 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:12:09.714Z,1761685929.714 [DAT](INFO): DAT read: 21:12:08.3379 LVL= 32432, 21553, 25666, 32755, AGC= 73, IDX= 157, 0.43,-2.753,-0.657,-1.552,-1.378, PHS=-1.273, 0.766,-0.219, RAW= 298.9, 8.3, CAL= 296.4, 8.9, ROT= 213.6, -8.9 2025-10-28T21:12:09.715Z,1761685929.715 [DAT](INFO): got valid direction response: 21:12:08.3379 LVL= 32432, 21553, 25666, 32755, AGC= 73, IDX= 157, 0.43,-2.753,-0.657,-1.552,-1.378, PHS=-1.273, 0.766,-0.219, RAW= 298.9, 8.3, CAL= 296.4, 8.9, ROT= 213.6, -8.9 2025-10-28T21:12:09.716Z,1761685929.716 [DAT](INFO): DAT read: Bearing 111.7, -43.2 (Local) 2025-10-28T21:12:09.716Z,1761685929.716 [DAT](INFO): Local bearing/azimuth received: Bearing 111.7, -43.2 (Local) 2025-10-28T21:12:09.718Z,1761685929.718 [DAT](INFO): DAT read: Range 11 to 20 : 957.5 m (Round-trip 1276.7 ms) speed -1.7 m/s 2025-10-28T21:12:09.719Z,1761685929.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:12:09.719Z,1761685929.719 [DAT](INFO): direction in FSK: [-0.822893,-0.546729,0.154710] 2025-10-28T21:12:09.720Z,1761685929.720 [DAT](INFO): publishing direction and range info 2025-10-28T21:12:10.035Z,1761685930.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420941,-0.847687,-0.322855],[0.896047,-0.333223,-0.293365],[0.141099,-0.412783,0.899834]] 2025-10-28T21:12:10.089Z,1761685930.089 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761685888.00. Resetting abort timer. 2025-10-28T21:12:10.439Z,1761685930.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390923,-0.857189,-0.335271],[0.910425,-0.306568,-0.277744],[0.135296,-0.413816,0.900251]] 2025-10-28T21:12:10.844Z,1761685930.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360798,-0.865266,-0.348051],[0.923610,-0.279674,-0.262157],[0.129495,-0.416049,0.900074]] 2025-10-28T21:12:11.275Z,1761685931.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331468,-0.871405,-0.361638],[0.935293,-0.253153,-0.247267],[0.123920,-0.420199,0.898931]] 2025-10-28T21:12:11.651Z,1761685931.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300930,-0.877236,-0.374029],[0.946245,-0.225898,-0.231498],[0.118586,-0.423587,0.898060]] 2025-10-28T21:12:11.732Z,1761685931.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:12:12.055Z,1761685932.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269939,-0.882567,-0.384978],[0.956140,-0.198479,-0.215411],[0.113704,-0.426241,0.897435]] 2025-10-28T21:12:12.460Z,1761685932.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238582,-0.886253,-0.397031],[0.964967,-0.170392,-0.199512],[0.109168,-0.430722,0.895858]] 2025-10-28T21:12:12.736Z,1761685932.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:12:12.863Z,1761685932.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206050,-0.889669,-0.407470],[0.972908,-0.141640,-0.182724],[0.104849,-0.434081,0.894752]] 2025-10-28T21:12:13.267Z,1761685933.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172261,-0.892803,-0.416208],[0.979913,-0.112215,-0.164856],[0.100479,-0.436246,0.894200]] 2025-10-28T21:12:13.672Z,1761685933.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138472,-0.894844,-0.424359],[0.985629,-0.082657,-0.147320],[0.096752,-0.438660,0.893430]] 2025-10-28T21:12:14.075Z,1761685934.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104339,-0.895493,-0.432673],[0.990153,-0.052707,-0.129689],[0.093331,-0.441944,0.892174]] 2025-10-28T21:12:14.478Z,1761685934.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069537,-0.895581,-0.439430],[0.993509,-0.022418,-0.111527],[0.090030,-0.444333,0.891327]] 2025-10-28T21:12:14.883Z,1761685934.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034630,-0.895577,-0.443557],[0.995607,0.007716,-0.093308],[0.086987,-0.444840,0.891376]] 2025-10-28T21:12:15.287Z,1761685935.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000809,-0.895063,-0.445938],[0.996465,0.038185,-0.074835],[0.084010,-0.444301,0.891930]] 2025-10-28T21:12:15.692Z,1761685935.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036339,-0.893663,-0.447264],[0.996022,0.068826,-0.056595],[0.081360,-0.443428,0.892610]] 2025-10-28T21:12:16.094Z,1761685936.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072353,-0.891600,-0.447006],[0.994257,0.099909,-0.038348],[0.078851,-0.441665,0.893709]] 2025-10-28T21:12:16.499Z,1761685936.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108805,-0.890134,-0.442519],[0.991103,0.131466,-0.020758],[0.076653,-0.436324,0.896519]] 2025-10-28T21:12:16.913Z,1761685936.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145857,-0.887797,-0.436511],[0.986510,0.163672,-0.003249],[0.074329,-0.430149,0.899693]] 2025-10-28T21:12:17.309Z,1761685937.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182872,-0.883810,-0.430624],[0.980549,0.195723,0.014706],[0.071285,-0.424938,0.902411]] 2025-10-28T21:12:17.711Z,1761685937.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219755,-0.879712,-0.421680],[0.973172,0.227873,0.031769],[0.068142,-0.417348,0.906188]] 2025-10-28T21:12:18.539Z,1761685938.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292814,-0.865340,-0.406753],[0.954247,0.291429,0.066950],[0.060605,-0.407746,0.911082]] 2025-10-28T21:12:18.940Z,1761685938.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328290,-0.856038,-0.399281],[0.942910,0.322098,0.084701],[0.056101,-0.404292,0.912908]] 2025-10-28T21:12:19.803Z,1761685939.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398411,-0.828476,-0.393569],[0.916095,0.380559,0.126275],[0.045160,-0.410855,0.910581]] 2025-10-28T21:12:20.198Z,1761685940.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431810,-0.813145,-0.390301],[0.901100,0.407857,0.147211],[0.039483,-0.415268,0.908842]] 2025-10-28T21:12:20.604Z,1761685940.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464457,-0.796379,-0.387377],[0.884937,0.434219,0.168345],[0.034139,-0.420993,0.906421]] 2025-10-28T21:12:21.006Z,1761685941.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496088,-0.780461,-0.380496],[0.867785,0.460355,0.187145],[0.029104,-0.423029,0.905649]] 2025-10-28T21:12:21.414Z,1761685941.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527172,-0.763740,-0.372546],[0.849405,0.486257,0.205098],[0.024512,-0.424565,0.905066]] 2025-10-28T21:12:22.226Z,1761685942.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587762,-0.729091,-0.350660],[0.808884,0.537948,0.237318],[0.015610,-0.423130,0.905935]] 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateRudder:A] Stopped 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:12:22.250Z,1761685942.250 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode] Stopped 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:12:22.251Z,1761685942.251 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:12:22.252Z,1761685942.252 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:12:22.252Z,1761685942.252 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:12:22.252Z,1761685942.252 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:12:22.252Z,1761685942.252 [marl:UpdateSpeed] Stopped 2025-10-28T21:12:22.252Z,1761685942.252 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:12:22.623Z,1761685942.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615736,-0.711510,-0.338559],[0.787870,0.562158,0.251473],[0.011398,-0.421582,0.906719]] 2025-10-28T21:12:22.653Z,1761685942.653 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:12:22.653Z,1761685942.653 [marl:UpdateRudder:B] Stopped 2025-10-28T21:12:22.653Z,1761685942.653 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:12:22.653Z,1761685942.653 [marl:UpdateRudder] Stopped 2025-10-28T21:12:22.653Z,1761685942.653 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:12:23.027Z,1761685943.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642666,-0.694220,-0.324097],[0.766114,0.586235,0.263435],[0.007115,-0.417596,0.908605]] 2025-10-28T21:12:23.432Z,1761685943.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668150,-0.676302,-0.310146],[0.744022,0.608840,0.275220],[0.002697,-0.414644,0.909980]] 2025-10-28T21:12:23.838Z,1761685943.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692410,-0.657646,-0.296765],[0.721501,0.629940,0.287422],[-0.002077,-0.413130,0.910670]] 2025-10-28T21:12:24.238Z,1761685944.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715762,-0.638431,-0.283002],[0.698313,0.650519,0.298637],[-0.006561,-0.411377,0.911442]] 2025-10-28T21:12:24.643Z,1761685944.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738042,-0.618565,-0.269575],[0.674671,0.670230,0.309208],[-0.010588,-0.410083,0.911987]] 2025-10-28T21:12:25.047Z,1761685945.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758998,-0.599273,-0.254548],[0.650932,0.689724,0.317125],[-0.014477,-0.406391,0.913585]] 2025-10-28T21:12:25.453Z,1761685945.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779383,-0.577503,-0.243007],[0.626288,0.706907,0.328704],[-0.018044,-0.408378,0.912634]] 2025-10-28T21:12:25.861Z,1761685945.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799485,-0.554334,-0.231382],[0.600310,0.723699,0.340424],[-0.021257,-0.411064,0.911358]] 2025-10-28T21:12:26.285Z,1761685946.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819189,-0.529605,-0.220109],[0.573019,0.739700,0.352837],[-0.024050,-0.415166,0.909428]] 2025-10-28T21:12:26.663Z,1761685946.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838040,-0.504377,-0.208072],[0.544971,0.755352,0.363937],[-0.026394,-0.418386,0.907886]] 2025-10-28T21:12:27.068Z,1761685947.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855980,-0.479002,-0.194564],[0.516234,0.771265,0.372362],[-0.028301,-0.419175,0.907464]] 2025-10-28T21:12:27.471Z,1761685947.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873442,-0.453037,-0.178485],[0.486008,0.788586,0.376735],[-0.029924,-0.415801,0.908963]] 2025-10-28T21:12:27.885Z,1761685947.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890405,-0.425116,-0.162653],[0.454071,0.804797,0.382259],[-0.031602,-0.414221,0.909628]] 2025-10-28T21:12:28.287Z,1761685948.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906802,-0.395002,-0.147256],[0.420269,0.819786,0.389005],[-0.032939,-0.414638,0.909390]] 2025-10-28T21:12:28.690Z,1761685948.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921753,-0.364532,-0.132243],[0.386263,0.832996,0.396130],[-0.034244,-0.416215,0.908621]] 2025-10-28T21:12:29.086Z,1761685949.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935313,-0.333968,-0.116856],[0.352034,0.845215,0.402099],[-0.035519,-0.417226,0.908108]] 2025-10-28T21:12:29.900Z,1761685949.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957179,-0.276144,-0.086908],[0.286826,0.863911,0.413992],[-0.039240,-0.421192,0.906122]] 2025-10-28T21:12:30.306Z,1761685950.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965931,-0.248570,-0.072038],[0.255423,0.870846,0.419984],[-0.041661,-0.424076,0.904668]] 2025-10-28T21:12:30.702Z,1761685950.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973334,-0.222458,-0.055973],[0.225086,0.879141,0.420057],[-0.044236,-0.421455,0.905770]] 2025-10-28T21:12:31.106Z,1761685951.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979224,-0.198650,-0.040729],[0.197276,0.886731,0.418079],[-0.046935,-0.417428,0.907497]] 2025-10-28T21:12:31.512Z,1761685951.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984292,-0.174471,-0.027003],[0.169548,0.891494,0.420110],[-0.049225,-0.418089,0.907071]] 2025-10-28T21:12:31.914Z,1761685951.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988401,-0.151240,-0.013798],[0.142958,0.895899,0.420628],[-0.051254,-0.417722,0.907128]] 2025-10-28T21:12:32.319Z,1761685952.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991756,-0.128129,-0.001524],[0.116590,0.897375,0.425587],[-0.053163,-0.422256,0.904916]] 2025-10-28T21:12:32.729Z,1761685952.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996586,-0.079091,0.023687],[0.060864,0.897646,0.436495],[-0.055785,-0.433563,0.899395]] 2025-10-28T21:12:33.134Z,1761685953.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997875,-0.053473,0.037238],[0.031844,0.898767,0.437269],[-0.056851,-0.435154,0.898560]] 2025-10-28T21:12:33.674Z,1761685953.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998325,-0.026259,0.051554],[0.001037,0.899050,0.437845],[-0.057847,-0.437058,0.897571]] 2025-10-28T21:12:34.075Z,1761685954.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997783,0.002181,0.066509],[-0.031218,0.897996,0.438894],[-0.058768,-0.439998,0.896074]] 2025-10-28T21:12:34.487Z,1761685954.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996082,0.031794,0.082517],[-0.064763,0.897667,0.435890],[-0.060214,-0.439527,0.896209]] 2025-10-28T21:12:34.894Z,1761685954.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993122,0.062197,0.099203],[-0.099217,0.896920,0.430919],[-0.062175,-0.437797,0.896921]] 2025-10-28T21:12:35.290Z,1761685955.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988851,0.093769,0.115673],[-0.134330,0.896943,0.421246],[-0.064252,-0.432088,0.899540]] 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateRudder:A] Stopped 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:12:35.347Z,1761685955.347 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:12:35.348Z,1761685955.348 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:12:35.348Z,1761685955.348 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:12:35.348Z,1761685955.348 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:12:35.348Z,1761685955.348 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:12:35.349Z,1761685955.349 [marl:UpdateCommandMode] Stopped 2025-10-28T21:12:35.349Z,1761685955.349 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:12:35.349Z,1761685955.349 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:12:35.349Z,1761685955.349 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:12:35.349Z,1761685955.349 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:12:35.350Z,1761685955.350 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:12:35.350Z,1761685955.350 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:12:35.350Z,1761685955.350 [marl:UpdateSpeed] Stopped 2025-10-28T21:12:35.350Z,1761685955.350 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:12:35.695Z,1761685955.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983254,0.126262,0.131416],[-0.169835,0.896366,0.409493],[-0.066093,-0.424955,0.902799]] 2025-10-28T21:12:35.719Z,1761685955.719 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:12:35.719Z,1761685955.719 [marl:UpdateRudder:B] Stopped 2025-10-28T21:12:35.719Z,1761685955.719 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:12:35.719Z,1761685955.719 [marl:UpdateRudder] Stopped 2025-10-28T21:12:35.719Z,1761685955.719 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:12:36.100Z,1761685956.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976276,0.159057,0.146925],[-0.205462,0.894654,0.396711],[-0.068348,-0.417486,0.906109]] 2025-10-28T21:12:36.503Z,1761685956.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968035,0.191231,0.162293],[-0.240524,0.891234,0.384513],[-0.071110,-0.411257,0.908741]] 2025-10-28T21:12:36.906Z,1761685956.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958609,0.221884,0.178430],[-0.274882,0.884566,0.376806],[-0.074225,-0.410257,0.908944]] 2025-10-28T21:12:37.310Z,1761685957.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948135,0.251873,0.193909],[-0.308229,0.877595,0.367182],[-0.077690,-0.407906,0.909712]] 2025-10-28T21:12:37.717Z,1761685957.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936883,0.281024,0.208029],[-0.340045,0.870797,0.355081],[-0.081365,-0.403408,0.911395]] 2025-10-28T21:12:38.118Z,1761685958.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925134,0.307711,0.222354],[-0.369919,0.862348,0.345710],[-0.085367,-0.402081,0.911616]] 2025-10-28T21:12:38.522Z,1761685958.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912838,0.333061,0.236214],[-0.398404,0.853227,0.336568],[-0.089446,-0.401340,0.911551]] 2025-10-28T21:12:38.926Z,1761685958.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900123,0.357379,0.249118],[-0.425599,0.843456,0.327791],[-0.092974,-0.401076,0.911314]] 2025-10-28T21:12:39.332Z,1761685959.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886931,0.380044,0.262526],[-0.451784,0.832074,0.321782],[-0.096150,-0.404003,0.909690]] 2025-10-28T21:12:39.735Z,1761685959.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873276,0.401324,0.276276],[-0.477078,0.819456,0.317630],[-0.098924,-0.409184,0.907074]] 2025-10-28T21:12:40.138Z,1761685960.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859099,0.421952,0.289665],[-0.501679,0.806298,0.313371],[-0.101329,-0.414535,0.904374]] 2025-10-28T21:12:40.543Z,1761685960.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844702,0.441314,0.302855],[-0.525156,0.792660,0.309679],[-0.103395,-0.420632,0.901320]] 2025-10-28T21:12:40.953Z,1761685960.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829861,0.460774,0.314671],[-0.548025,0.779091,0.304445],[-0.104877,-0.425094,0.899053]] 2025-10-28T21:12:41.367Z,1761685961.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814443,0.480188,0.325734],[-0.570375,0.765633,0.297452],[-0.106559,-0.428048,0.897452]] 2025-10-28T21:12:41.762Z,1761685961.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798291,0.499950,0.335829],[-0.592456,0.752126,0.288622],[-0.108289,-0.429369,0.896614]] 2025-10-28T21:12:42.162Z,1761685962.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781046,0.520360,0.345243],[-0.614745,0.737896,0.278565],[-0.109799,-0.429808,0.896219]] 2025-10-28T21:12:42.567Z,1761685962.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762013,0.542441,0.353686],[-0.637961,0.722551,0.266319],[-0.111093,-0.428577,0.896650]] 2025-10-28T21:12:42.861Z,1761685962.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:12:42.972Z,1761685962.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742059,0.564624,0.361313],[-0.660829,0.706625,0.252956],[-0.112487,-0.426475,0.897477]] 2025-10-28T21:12:43.784Z,1761685963.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698715,0.607173,0.378335],[-0.706034,0.670541,0.227794],[-0.115379,-0.426281,0.897202]] 2025-10-28T21:12:43.864Z,1761685963.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:12:44.185Z,1761685964.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675561,0.627582,0.386985],[-0.727978,0.650969,0.215143],[-0.116895,-0.427059,0.896636]] 2025-10-28T21:12:44.587Z,1761685964.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652316,0.649271,0.391064],[-0.748603,0.632665,0.198315],[-0.118652,-0.422115,0.898744]] 2025-10-28T21:12:45.007Z,1761685965.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628006,0.669965,0.395923],[-0.768807,0.612966,0.182233],[-0.120597,-0.418832,0.900020]] 2025-10-28T21:12:45.450Z,1761685965.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603840,0.689901,0.399266],[-0.787618,0.593461,0.165719],[-0.122619,-0.414537,0.901734]] 2025-10-28T21:12:45.870Z,1761685965.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578468,0.709484,0.402502],[-0.806154,0.572536,0.149390],[-0.124457,-0.410896,0.903147]] 2025-10-28T21:12:46.254Z,1761685966.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552608,0.728259,0.405293],[-0.823765,0.551147,0.132846],[-0.126629,-0.407278,0.904483]] 2025-10-28T21:12:46.659Z,1761685966.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525651,0.745529,0.409729],[-0.840888,0.528294,0.117529],[-0.128836,-0.406315,0.904605]] 2025-10-28T21:12:47.065Z,1761685967.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498717,0.762463,0.412227],[-0.856785,0.505617,0.101349],[-0.131154,-0.403734,0.905426]] 2025-10-28T21:12:47.466Z,1761685967.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471331,0.778759,0.413982],[-0.871779,0.482480,0.084933],[-0.133596,-0.400933,0.906314]] 2025-10-28T21:12:48.326Z,1761685968.326 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:12:48.326Z,1761685968.326 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:12:48.327Z,1761685968.327 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:12:48.327Z,1761685968.327 [marl:UpdateRudder:A] Stopped 2025-10-28T21:12:48.327Z,1761685968.327 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:12:48.333Z,1761685968.333 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:12:48.333Z,1761685968.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:12:48.333Z,1761685968.333 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:12:48.334Z,1761685968.334 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:12:48.334Z,1761685968.334 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:12:48.334Z,1761685968.334 [marl:UpdateCommandMode] Stopped 2025-10-28T21:12:48.335Z,1761685968.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:12:48.335Z,1761685968.335 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:12:48.335Z,1761685968.335 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:12:48.335Z,1761685968.335 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:12:48.335Z,1761685968.335 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:12:48.336Z,1761685968.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:12:48.336Z,1761685968.336 [marl:UpdateSpeed] Stopped 2025-10-28T21:12:48.337Z,1761685968.337 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:12:48.680Z,1761685968.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390319,0.818578,0.421403],[-0.909819,0.413037,0.040381],[-0.141000,-0.399162,0.905974]] 2025-10-28T21:12:48.704Z,1761685968.704 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:12:48.704Z,1761685968.704 [marl:UpdateRudder:B] Stopped 2025-10-28T21:12:48.704Z,1761685968.704 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:12:48.704Z,1761685968.704 [marl:UpdateRudder] Stopped 2025-10-28T21:12:48.704Z,1761685968.704 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:12:49.083Z,1761685969.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364066,0.829344,0.423846],[-0.920378,0.390077,0.027299],[-0.142692,-0.400037,0.905323]] 2025-10-28T21:12:49.488Z,1761685969.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338587,0.837152,0.429577],[-0.929807,0.367685,0.016323],[-0.144284,-0.404950,0.902883]] 2025-10-28T21:12:49.892Z,1761685969.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313793,0.843970,0.435026],[-0.938233,0.345958,0.005594],[-0.145780,-0.409911,0.900400]] 2025-10-28T21:12:50.297Z,1761685970.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290390,0.849997,0.439522],[-0.945403,0.325857,-0.005556],[-0.147943,-0.413912,0.898215]] 2025-10-28T21:12:50.699Z,1761685970.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268616,0.855526,0.442629],[-0.951390,0.307519,-0.017018],[-0.150676,-0.416541,0.896543]] 2025-10-28T21:12:51.103Z,1761685971.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249265,0.861231,0.442886],[-0.956018,0.291830,-0.029423],[-0.154587,-0.416072,0.896095]] 2025-10-28T21:12:51.514Z,1761685971.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233112,0.868308,0.437836],[-0.959161,0.279483,-0.043591],[-0.160218,-0.409794,0.897997]] 2025-10-28T21:12:51.919Z,1761685971.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220967,0.879105,0.422312],[-0.960733,0.270718,-0.060854],[-0.167825,-0.392282,0.904406]] 2025-10-28T21:12:52.321Z,1761685972.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214320,0.895384,0.390325],[-0.960425,0.265962,-0.082749],[-0.177904,-0.357143,0.916951]] 2025-10-28T21:12:53.131Z,1761685973.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217322,0.928685,0.300526],[-0.954584,0.266496,-0.133226],[-0.203814,-0.257925,0.944423]] 2025-10-28T21:12:53.538Z,1761685973.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224270,0.940378,0.255719],[-0.949924,0.269537,-0.158093],[-0.217593,-0.207459,0.953737]] 2025-10-28T21:12:53.935Z,1761685973.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232571,0.948392,0.215554],[-0.944738,0.272945,-0.181578],[-0.231041,-0.161413,0.959461]] 2025-10-28T21:12:54.352Z,1761685974.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252701,0.955471,0.152373],[-0.933309,0.282240,-0.221980],[-0.255101,-0.086117,0.963072]] 2025-10-28T21:12:55.191Z,1761685975.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278749,0.953018,0.118554],[-0.920724,0.300300,-0.249173],[-0.273068,-0.039699,0.961175]] 2025-10-28T21:12:55.280Z,1761685975.280 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 553.26, 486.66, 448.23 2025-10-28T21:12:55.555Z,1761685975.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295354,0.948859,0.111499],[-0.913751,0.314629,-0.257036],[-0.278972,-0.025966,0.959948]] 2025-10-28T21:12:55.959Z,1761685975.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313381,0.943621,0.106634],[-0.906521,0.330712,-0.262392],[-0.282864,-0.014437,0.959051]] 2025-10-28T21:12:56.366Z,1761685976.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331675,0.937694,0.103549],[-0.899246,0.347428,-0.265803],[-0.285218,-0.004956,0.958450]] 2025-10-28T21:12:56.773Z,1761685976.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350677,0.930759,0.103506],[-0.891558,0.365631,-0.267278],[-0.286616,0.001447,0.958044]] 2025-10-28T21:12:57.203Z,1761685977.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369339,0.923402,0.104482],[-0.883717,0.383776,-0.267880],[-0.287458,0.006606,0.957770]] 2025-10-28T21:12:57.571Z,1761685977.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387265,0.915822,0.106281],[-0.875723,0.401439,-0.268245],[-0.288330,0.010810,0.957470]] 2025-10-28T21:12:57.974Z,1761685977.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403492,0.908538,0.108413],[-0.868165,0.417565,-0.268196],[-0.288936,0.014094,0.957245]] 2025-10-28T21:12:58.381Z,1761685978.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417185,0.901597,0.114362],[-0.861800,0.432408,-0.265187],[-0.288543,0.012075,0.957391]] 2025-10-28T21:12:58.788Z,1761685978.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428521,0.895655,0.119045],[-0.856747,0.444637,-0.261308],[-0.286974,0.009984,0.957886]] 2025-10-28T21:12:59.209Z,1761685979.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438445,0.890064,0.124711],[-0.852596,0.455800,-0.255591],[-0.284336,0.005735,0.958708]] 2025-10-28T21:12:59.591Z,1761685979.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447350,0.884888,0.129814],[-0.849088,0.465803,-0.249151],[-0.280939,0.001234,0.959725]] 2025-10-28T21:13:00.014Z,1761685980.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456447,0.879905,0.131999],[-0.845500,0.475150,-0.243642],[-0.277101,-0.000395,0.960841]] 2025-10-28T21:13:00.399Z,1761685980.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465516,0.874624,0.135377],[-0.841845,0.484788,-0.237229],[-0.273116,-0.003532,0.961975]] 2025-10-28T21:13:00.803Z,1761685980.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474835,0.869107,0.138507],[-0.837996,0.494580,-0.230551],[-0.268876,-0.006595,0.963152]] 2025-10-28T21:13:01.213Z,1761685981.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484714,0.863321,0.140461],[-0.833574,0.504590,-0.224819],[-0.264966,-0.008112,0.964224]] 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateRudder:A] Stopped 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:13:01.263Z,1761685981.263 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:13:01.264Z,1761685981.264 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:13:01.264Z,1761685981.264 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:13:01.264Z,1761685981.264 [marl:UpdateCommandMode] Stopped 2025-10-28T21:13:01.264Z,1761685981.264 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:13:01.264Z,1761685981.264 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed] Stopped 2025-10-28T21:13:01.265Z,1761685981.265 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:13:01.614Z,1761685981.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494537,0.857437,0.142246],[-0.829107,0.514496,-0.218803],[-0.260795,-0.009730,0.965345]] 2025-10-28T21:13:01.661Z,1761685981.661 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:13:01.662Z,1761685981.662 [marl:UpdateRudder:B] Stopped 2025-10-28T21:13:01.662Z,1761685981.662 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:13:01.662Z,1761685981.662 [marl:UpdateRudder] Stopped 2025-10-28T21:13:01.662Z,1761685981.662 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:13:02.016Z,1761685982.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504879,0.850880,0.145260],[-0.824020,0.525213,-0.212469],[-0.257078,-0.012426,0.966311]] 2025-10-28T21:13:02.419Z,1761685982.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515889,0.843971,0.146874],[-0.818361,0.536219,-0.206774],[-0.253268,-0.013524,0.967302]] 2025-10-28T21:13:02.831Z,1761685982.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527601,0.836530,0.147831],[-0.812270,0.547734,-0.200510],[-0.248705,-0.014289,0.968474]] 2025-10-28T21:13:03.227Z,1761685983.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540972,0.827939,0.147872],[-0.804898,0.560647,-0.194459],[-0.243904,-0.013826,0.969701]] 2025-10-28T21:13:03.633Z,1761685983.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555139,0.818753,0.146509],[-0.796895,0.574016,-0.188317],[-0.238284,-0.012211,0.971119]] 2025-10-28T21:13:04.035Z,1761685984.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569960,0.808802,0.144861],[-0.788177,0.587986,-0.181794],[-0.232212,-0.010561,0.972608]] 2025-10-28T21:13:04.438Z,1761685984.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585149,0.798012,0.144142],[-0.778922,0.602549,-0.173827],[-0.225569,-0.010560,0.974170]] 2025-10-28T21:13:04.844Z,1761685984.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600538,0.786498,0.144134],[-0.769011,0.617484,-0.165333],[-0.219035,-0.011552,0.975649]] 2025-10-28T21:13:04.869Z,1761685984.869 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:13:04.917Z,1761685984.917 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:13:04.918Z,1761685984.918 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:13:05.172Z,1761685985.172 [DAT](INFO): DAT read: user:293> 2025-10-28T21:13:05.174Z,1761685985.174 [DAT](INFO): DAT read: Tx time:21:13:04.9069 2025-10-28T21:13:05.175Z,1761685985.175 [DAT](INFO): Ping request sent. 2025-10-28T21:13:05.176Z,1761685985.176 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:13:05.177Z,1761685985.177 [DAT](INFO): publishing transmit ping time 2025-10-28T21:13:05.179Z,1761685985.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003624 2025-10-28T21:13:05.248Z,1761685985.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615559,0.775091,0.142553],[-0.758930,0.631754,-0.157839],[-0.212398,-0.011028,0.977121]] 2025-10-28T21:13:05.421Z,1761685985.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245963 2025-10-28T21:13:05.650Z,1761685985.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630033,0.763733,0.140605],[-0.748814,0.645448,-0.150582],[-0.205758,-0.010415,0.978548]] 2025-10-28T21:13:05.673Z,1761685985.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497930 2025-10-28T21:13:05.925Z,1761685985.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750103 2025-10-28T21:13:06.055Z,1761685986.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643748,0.752452,0.139302],[-0.739110,0.658541,-0.141564],[-0.198256,-0.011828,0.980079]] 2025-10-28T21:13:06.177Z,1761685986.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001874 2025-10-28T21:13:06.429Z,1761685986.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253814 2025-10-28T21:13:06.465Z,1761685986.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656213,0.741818,0.138168],[-0.730175,0.670446,-0.131708],[-0.190338,-0.014459,0.981612]] 2025-10-28T21:13:06.681Z,1761685986.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505797 2025-10-28T21:13:06.862Z,1761685986.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668099,0.731294,0.137309],[-0.721450,0.681819,-0.120969],[-0.182084,-0.018242,0.983114]] 2025-10-28T21:13:06.933Z,1761685986.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758028 2025-10-28T21:13:07.187Z,1761685987.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011688 2025-10-28T21:13:07.267Z,1761685987.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679649,0.721001,0.135033],[-0.712697,0.692623,-0.111067],[-0.173606,-0.020751,0.984596]] 2025-10-28T21:13:07.437Z,1761685987.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262268 2025-10-28T21:13:07.670Z,1761685987.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690697,0.710904,0.132484],[-0.704053,0.702900,-0.101201],[-0.165067,-0.023376,0.986005]] 2025-10-28T21:13:07.689Z,1761685987.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513803 2025-10-28T21:13:07.941Z,1761685987.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765802 2025-10-28T21:13:08.076Z,1761685988.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701465,0.700831,0.129548],[-0.695230,0.712871,-0.092034],[-0.156851,-0.025507,0.987293]] 2025-10-28T21:13:08.193Z,1761685988.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017880 2025-10-28T21:13:08.445Z,1761685988.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269858 2025-10-28T21:13:08.479Z,1761685988.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711591,0.691370,0.125085],[-0.686713,0.722034,-0.084215],[-0.148539,-0.025971,0.988565]] 2025-10-28T21:13:08.697Z,1761685988.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521790 2025-10-28T21:13:08.882Z,1761685988.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721421,0.681928,0.120525],[-0.678116,0.730943,-0.076691],[-0.140395,-0.026404,0.989743]] 2025-10-28T21:13:08.950Z,1761685988.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774614 2025-10-28T21:13:09.203Z,1761685989.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027421 2025-10-28T21:13:09.300Z,1761685989.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731055,0.672250,0.116783],[-0.669304,0.739799,-0.068773],[-0.132628,-0.027887,0.990773]] 2025-10-28T21:13:09.461Z,1761685989.461 [DAT](INFO): DAT read: 21:13:08.6023 LVL= 25264, 32753, 32754, 32755, AGC= 81, IDX= 62,-0.03, 0.013,-1.991,-0.767,-0.676, PHS= 0.790,-1.270,-0.135, RAW= 123.4, 6.9, CAL= 124.3, 8.1, ROT= 25.7, -8.1 2025-10-28T21:13:09.463Z,1761685989.463 [DAT](INFO): got valid direction response: 21:13:08.6023 LVL= 25264, 32753, 32754, 32755, AGC= 81, IDX= 62,-0.03, 0.013,-1.991,-0.767,-0.676, PHS= 0.790,-1.270,-0.135, RAW= 123.4, 6.9, CAL= 124.3, 8.1, ROT= 25.7, -8.1 2025-10-28T21:13:09.464Z,1761685989.464 [DAT](INFO): DAT read: Rx Time:21:13:08.6023 2025-10-28T21:13:09.465Z,1761685989.465 [DAT](INFO): Rx dataTimestamp_ set to:1761685989.464407 2025-10-28T21:13:09.466Z,1761685989.466 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-28T21:13:09.466Z,1761685989.466 [DAT](INFO): Received low SNR in chirp 2025-10-28T21:13:09.480Z,1761685989.480 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T21:13:09.481Z,1761685989.481 [DAT](INFO): direction in FSK: [0.892088,0.429333,0.140901] 2025-10-28T21:13:09.691Z,1761685989.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740471,0.662543,0.112864],[-0.660321,0.748462,-0.061491],[-0.125215,-0.028994,0.991706]] 2025-10-28T21:13:09.760Z,1761685989.760 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686016.00. Resetting abort timer. 2025-10-28T21:13:10.094Z,1761685990.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749532,0.652949,0.108901],[-0.651354,0.756807,-0.054598],[-0.118066,-0.030010,0.992552]] 2025-10-28T21:13:10.499Z,1761685990.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758108,0.643536,0.105517],[-0.642514,0.764771,-0.047977],[-0.111571,-0.031425,0.993259]] 2025-10-28T21:13:10.903Z,1761685990.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766531,0.634057,0.101990],[-0.633485,0.772610,-0.042090],[-0.105486,-0.032346,0.993895]] 2025-10-28T21:13:11.333Z,1761685991.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774899,0.624402,0.098252],[-0.624192,0.780410,-0.036673],[-0.099576,-0.032911,0.994486]] 2025-10-28T21:13:11.711Z,1761685991.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783546,0.614192,0.093937],[-0.614224,0.788482,-0.032012],[-0.093730,-0.032616,0.995063]] 2025-10-28T21:13:12.115Z,1761685992.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792599,0.603332,0.088191],[-0.603463,0.796892,-0.028191],[-0.087288,-0.030876,0.995705]] 2025-10-28T21:13:12.519Z,1761685992.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802575,0.591172,0.079937],[-0.591128,0.806134,-0.026761],[-0.080260,-0.025775,0.996441]] 2025-10-28T21:13:12.925Z,1761685992.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813048,0.577795,0.071460],[-0.577648,0.815909,-0.024802],[-0.072635,-0.021114,0.997135]] 2025-10-28T21:13:13.329Z,1761685993.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823790,0.563466,0.062260],[-0.563189,0.825991,-0.023594],[-0.064720,-0.015627,0.997781]] 2025-10-28T21:13:13.730Z,1761685993.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834660,0.548267,0.052391],[-0.547842,0.836253,-0.023441],[-0.056664,-0.009136,0.998352]] 2025-10-28T21:13:13.984Z,1761685993.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:13:14.135Z,1761685994.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845336,0.532501,0.042995],[-0.532059,0.846419,-0.022110],[-0.048165,-0.004186,0.998831]] 2025-10-28T21:13:14.163Z,1761685994.163 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:13:14.163Z,1761685994.163 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:13:14.163Z,1761685994.163 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateRudder:A] Stopped 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:13:14.164Z,1761685994.164 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateCommandMode] Stopped 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:13:14.165Z,1761685994.165 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:13:14.166Z,1761685994.166 [marl:UpdateSpeed] Stopped 2025-10-28T21:13:14.166Z,1761685994.166 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:13:14.538Z,1761685994.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855518,0.516601,0.034829],[-0.516249,0.856225,-0.019122],[-0.039700,-0.001621,0.999210]] 2025-10-28T21:13:14.568Z,1761685994.568 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:13:14.569Z,1761685994.569 [marl:UpdateRudder:B] Stopped 2025-10-28T21:13:14.569Z,1761685994.569 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:13:14.569Z,1761685994.569 [marl:UpdateRudder] Stopped 2025-10-28T21:13:14.569Z,1761685994.569 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:13:14.944Z,1761685994.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865113,0.500871,0.026598],[-0.500610,0.865522,-0.016191],[-0.031130,0.000692,0.999515]] 2025-10-28T21:13:14.988Z,1761685994.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:13:15.249Z,1761685995.249 [DAT](INFO): Reached modem response timeout 2025-10-28T21:13:15.346Z,1761685995.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873675,0.486155,0.018555],[-0.486009,0.873871,-0.011992],[-0.022045,0.001459,0.999756]] 2025-10-28T21:13:15.754Z,1761685995.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881908,0.471304,0.010531],[-0.471234,0.881968,-0.008452],[-0.013271,0.002492,0.999909]] 2025-10-28T21:13:16.157Z,1761685996.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889542,0.456846,0.002614],[-0.456831,0.889540,-0.004959],[-0.004591,0.003217,0.999984]] 2025-10-28T21:13:16.558Z,1761685996.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897081,0.441839,-0.004869],[-0.441850,0.897088,-0.001429],[0.003736,0.003433,0.999987]] 2025-10-28T21:13:16.963Z,1761685996.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904047,0.427284,-0.011315],[-0.427266,0.904117,0.004043],[0.011957,0.001179,0.999928]] 2025-10-28T21:13:17.366Z,1761685997.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910342,0.413461,-0.018094],[-0.413365,0.910522,0.008932],[0.020168,-0.000652,0.999796]] 2025-10-28T21:13:17.517Z,1761685997.517 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:13:17.517Z,1761685997.517 [DAT](INFO): response not received 2025-10-28T21:13:17.518Z,1761685997.518 [DAT](ERROR): No response from remote modem. 2025-10-28T21:13:17.779Z,1761685997.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916412,0.399445,-0.025161],[-0.399256,0.916756,0.012351],[0.028000,-0.001273,0.999607]] 2025-10-28T21:13:18.175Z,1761685998.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922295,0.385065,-0.033130],[-0.384814,0.922889,0.013894],[0.035926,-0.000066,0.999354]] 2025-10-28T21:13:18.579Z,1761685998.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927940,0.370535,-0.040384],[-0.370140,0.928818,0.017140],[0.043860,-0.000957,0.999037]] 2025-10-28T21:13:18.983Z,1761685998.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932923,0.356962,-0.047249],[-0.356353,0.934115,0.021033],[0.051644,-0.002785,0.998662]] 2025-10-28T21:13:19.801Z,1761685999.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941554,0.331556,-0.059554],[-0.330439,0.943412,0.028001],[0.065468,-0.006686,0.997832]] 2025-10-28T21:13:20.198Z,1761686000.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945137,0.320207,-0.064673],[-0.318778,0.947302,0.031609],[0.071386,-0.009258,0.997406]] 2025-10-28T21:13:20.599Z,1761686000.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948383,0.309372,-0.069698],[-0.307670,0.950877,0.034229],[0.076864,-0.011018,0.996981]] 2025-10-28T21:13:21.007Z,1761686001.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951384,0.298807,-0.074712],[-0.296816,0.954228,0.036728],[0.082267,-0.012767,0.996529]] 2025-10-28T21:13:21.406Z,1761686001.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954387,0.287581,-0.080265],[-0.285451,0.957675,0.037109],[0.087539,-0.012504,0.996083]] 2025-10-28T21:13:21.817Z,1761686001.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957518,0.275256,-0.085991],[-0.273106,0.961308,0.036064],[0.092590,-0.011047,0.995643]] 2025-10-28T21:13:22.219Z,1761686002.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960906,0.261343,-0.091427],[-0.259319,0.965208,0.033568],[0.097018,-0.008547,0.995246]] 2025-10-28T21:13:22.619Z,1761686002.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964545,0.245675,-0.096420],[-0.243938,0.969339,0.029594],[0.100735,-0.005024,0.994901]] 2025-10-28T21:13:23.023Z,1761686003.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968046,0.229459,-0.101173],[-0.228114,0.973318,0.024821],[0.104169,-0.000949,0.994559]] 2025-10-28T21:13:23.426Z,1761686003.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971527,0.211946,-0.105899],[-0.211045,0.977276,0.019775],[0.107684,0.003138,0.994180]] 2025-10-28T21:13:23.831Z,1761686003.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974821,0.193824,-0.110256],[-0.193388,0.981012,0.014744],[0.111020,0.006949,0.993794]] 2025-10-28T21:13:24.639Z,1761686004.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980477,0.156750,-0.118718],[-0.156965,0.987575,0.007591],[0.118432,0.011192,0.992899]] 2025-10-28T21:13:25.079Z,1761686005.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982800,0.138198,-0.122499],[-0.138673,0.990327,0.004686],[0.121962,0.012382,0.992458]] 2025-10-28T21:13:25.854Z,1761686005.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986352,0.102439,-0.128904],[-0.102900,0.994687,0.003093],[0.128536,0.010214,0.991652]] 2025-10-28T21:13:26.266Z,1761686006.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987622,0.085625,-0.131422],[-0.085913,0.996297,0.003483],[0.131234,0.007851,0.991320]] 2025-10-28T21:13:26.659Z,1761686006.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988690,0.069897,-0.132692],[-0.069810,0.997546,0.005307],[0.132737,0.004016,0.991143]] 2025-10-28T21:13:27.063Z,1761686007.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989529,0.054954,-0.133463],[-0.054546,0.998489,0.006712],[0.133630,0.000638,0.991031]] 2025-10-28T21:13:27.086Z,1761686007.086 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:13:27.086Z,1761686007.086 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateRudder:A] Stopped 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:13:27.087Z,1761686007.087 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:13:27.088Z,1761686007.088 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateCommandMode] Stopped 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:13:27.108Z,1761686007.108 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:13:27.109Z,1761686007.109 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:13:27.109Z,1761686007.109 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:13:27.109Z,1761686007.109 [marl:UpdateSpeed] Stopped 2025-10-28T21:13:27.109Z,1761686007.109 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:13:27.466Z,1761686007.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990122,0.040630,-0.134190],[-0.039905,0.999171,0.008084],[0.134407,-0.002649,0.990923]] 2025-10-28T21:13:27.522Z,1761686007.522 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:13:27.522Z,1761686007.522 [marl:UpdateRudder:B] Stopped 2025-10-28T21:13:27.522Z,1761686007.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:13:27.522Z,1761686007.522 [marl:UpdateRudder] Stopped 2025-10-28T21:13:27.522Z,1761686007.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:13:27.872Z,1761686007.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990582,0.026191,-0.134390],[-0.025265,0.999644,0.008594],[0.134567,-0.005118,0.990891]] 2025-10-28T21:13:28.280Z,1761686008.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990874,0.011905,-0.134266],[-0.010902,0.999907,0.008201],[0.134351,-0.006663,0.990911]] 2025-10-28T21:13:28.680Z,1761686008.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990986,-0.001755,-0.133955],[0.002865,0.999963,0.008092],[0.133936,-0.008403,0.990954]] 2025-10-28T21:13:29.083Z,1761686009.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990904,-0.014098,-0.133829],[0.015494,0.999836,0.009396],[0.133675,-0.011384,0.990960]] 2025-10-28T21:13:29.487Z,1761686009.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990684,-0.025819,-0.133712],[0.027373,0.999577,0.009792],[0.133403,-0.013361,0.990972]] 2025-10-28T21:13:29.891Z,1761686009.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990341,-0.037146,-0.133583],[0.038957,0.999181,0.010968],[0.133066,-0.016066,0.990977]] 2025-10-28T21:13:30.304Z,1761686010.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989899,-0.048079,-0.133372],[0.050211,0.998658,0.012665],[0.132584,-0.019234,0.990985]] 2025-10-28T21:13:30.699Z,1761686010.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989325,-0.058681,-0.133388],[0.060875,0.998068,0.012425],[0.132401,-0.020413,0.990986]] 2025-10-28T21:13:31.103Z,1761686011.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988633,-0.069029,-0.133565],[0.071041,0.997420,0.010352],[0.132506,-0.019723,0.990986]] 2025-10-28T21:13:31.507Z,1761686011.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987790,-0.079596,-0.133924],[0.081373,0.996653,0.007837],[0.132852,-0.018639,0.990961]] 2025-10-28T21:13:31.912Z,1761686011.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986765,-0.091425,-0.133929],[0.092697,0.995689,0.003280],[0.133052,-0.015652,0.990986]] 2025-10-28T21:13:32.318Z,1761686012.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985477,-0.105159,-0.133331],[0.105764,0.994388,-0.002558],[0.132852,-0.011581,0.991068]] 2025-10-28T21:13:32.719Z,1761686012.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983924,-0.119804,-0.132442],[0.119852,0.992762,-0.007635],[0.132398,-0.008361,0.991161]] 2025-10-28T21:13:33.127Z,1761686013.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982037,-0.135202,-0.131622],[0.134759,0.990802,-0.012311],[0.132076,-0.005648,0.991223]] 2025-10-28T21:13:33.528Z,1761686013.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979632,-0.152337,-0.130824],[0.151349,0.988325,-0.017524],[0.131966,-0.002633,0.991251]] 2025-10-28T21:13:33.931Z,1761686013.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976751,-0.170520,-0.129926],[0.169086,0.985354,-0.022074],[0.131787,-0.000408,0.991278]] 2025-10-28T21:13:34.335Z,1761686014.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973573,-0.188126,-0.129477],[0.186442,0.982145,-0.025119],[0.131891,0.000315,0.991264]] 2025-10-28T21:13:34.739Z,1761686014.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969752,-0.207349,-0.128794],[0.205312,0.978266,-0.029043],[0.132017,0.001722,0.991246]] 2025-10-28T21:13:35.548Z,1761686015.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960631,-0.246500,-0.128163],[0.243886,0.969137,-0.035954],[0.133070,0.003282,0.991101]] 2025-10-28T21:13:35.951Z,1761686015.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955626,-0.265114,-0.128426],[0.262354,0.964213,-0.038265],[0.133975,0.002874,0.990981]] 2025-10-28T21:13:36.359Z,1761686016.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950489,-0.282737,-0.128958],[0.279997,0.959197,-0.039287],[0.134804,0.001234,0.990872]] 2025-10-28T21:13:36.764Z,1761686016.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945120,-0.300189,-0.128976],[0.297340,0.953880,-0.041264],[0.135415,0.000650,0.990789]] 2025-10-28T21:13:37.204Z,1761686017.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934503,-0.331024,-0.130869],[0.328723,0.943602,-0.039448],[0.136547,-0.006155,0.990614]] 2025-10-28T21:13:37.970Z,1761686017.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929626,-0.344008,-0.132116],[0.342160,0.938906,-0.037167],[0.136830,-0.010654,0.990537]] 2025-10-28T21:13:38.374Z,1761686018.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924957,-0.355941,-0.133269],[0.354560,0.934386,-0.034771],[0.136902,-0.015090,0.990470]] 2025-10-28T21:13:38.789Z,1761686018.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920604,-0.366613,-0.134469],[0.365778,0.930160,-0.031770],[0.136725,-0.019938,0.990408]] 2025-10-28T21:13:39.210Z,1761686019.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911746,-0.388089,-0.134558],[0.387641,0.921302,-0.030601],[0.135845,-0.024260,0.990433]] 2025-10-28T21:13:39.991Z,1761686019.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906963,-0.399353,-0.133924],[0.399025,0.916434,-0.030464],[0.134898,-0.025809,0.990523]] 2025-10-28T21:13:40.036Z,1761686020.036 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:13:40.036Z,1761686020.036 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:13:40.036Z,1761686020.036 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateRudder:A] Stopped 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:13:40.037Z,1761686020.037 [marl:UpdateCommandMode] Stopped 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed] Stopped 2025-10-28T21:13:40.038Z,1761686020.038 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:13:40.407Z,1761686020.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895574,-0.425442,-0.130177],[0.424555,0.904690,-0.035897],[0.133042,-0.023119,0.990841]] 2025-10-28T21:13:40.440Z,1761686020.440 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:13:40.440Z,1761686020.440 [marl:UpdateRudder:B] Stopped 2025-10-28T21:13:40.440Z,1761686020.440 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:13:40.440Z,1761686020.440 [marl:UpdateRudder] Stopped 2025-10-28T21:13:40.441Z,1761686020.441 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:13:40.804Z,1761686020.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888765,-0.440275,-0.127492],[0.439018,0.897617,-0.039327],[0.131754,-0.021019,0.991060]] 2025-10-28T21:13:41.214Z,1761686021.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880875,-0.456656,-0.124595],[0.454950,0.889454,-0.043502],[0.130687,-0.018364,0.991254]] 2025-10-28T21:13:41.613Z,1761686021.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872181,-0.473674,-0.122196],[0.471647,0.880541,-0.046874],[0.129802,-0.016751,0.991398]] 2025-10-28T21:13:42.013Z,1761686022.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863019,-0.490883,-0.119300],[0.488361,0.871117,-0.051564],[0.129237,-0.013761,0.991518]] 2025-10-28T21:13:42.415Z,1761686022.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853331,-0.508042,-0.117130],[0.505139,0.861252,-0.055503],[0.129076,-0.011804,0.991564]] 2025-10-28T21:13:42.819Z,1761686022.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843738,-0.523954,-0.116524],[0.520927,0.851660,-0.057541],[0.129388,-0.012151,0.991520]] 2025-10-28T21:13:43.222Z,1761686023.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834996,-0.537798,-0.116426],[0.534774,0.842967,-0.058513],[0.129612,-0.013404,0.991474]] 2025-10-28T21:13:43.627Z,1761686023.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826769,-0.550449,-0.116014],[0.547325,0.834755,-0.060153],[0.129954,-0.013765,0.991424]] 2025-10-28T21:13:44.031Z,1761686024.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819384,-0.561273,-0.116544],[0.558305,0.827475,-0.059839],[0.130023,-0.016036,0.991381]] 2025-10-28T21:13:44.443Z,1761686024.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812184,-0.571888,-0.115333],[0.568787,0.820182,-0.061500],[0.129765,-0.015650,0.991421]] 2025-10-28T21:13:44.839Z,1761686024.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804821,-0.582382,-0.114429],[0.579176,0.812766,-0.062981],[0.129683,-0.015586,0.991433]] 2025-10-28T21:13:45.112Z,1761686025.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:13:45.248Z,1761686025.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797220,-0.592993,-0.113138],[0.589662,0.805064,-0.064579],[0.129379,-0.015230,0.991478]] 2025-10-28T21:13:45.647Z,1761686025.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788621,-0.604851,-0.110600],[0.601243,0.796226,-0.067312],[0.128777,-0.013414,0.991583]] 2025-10-28T21:13:46.054Z,1761686026.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778965,-0.617813,-0.107334],[0.613833,0.786252,-0.070825],[0.128148,-0.010715,0.991697]] 2025-10-28T21:13:46.112Z,1761686026.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:13:46.455Z,1761686026.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768873,-0.630894,-0.103954],[0.626531,0.775829,-0.074486],[0.127643,-0.007860,0.991789]] 2025-10-28T21:13:46.859Z,1761686026.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758135,-0.644270,-0.100735],[0.639572,0.764779,-0.077848],[0.127195,-0.005408,0.991863]] 2025-10-28T21:13:47.271Z,1761686027.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747213,-0.657197,-0.098815],[0.652311,0.753705,-0.080119],[0.127131,-0.004592,0.991875]] 2025-10-28T21:13:47.668Z,1761686027.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736240,-0.669684,-0.097334],[0.664781,0.742629,-0.081050],[0.126561,-0.005033,0.991946]] 2025-10-28T21:13:48.070Z,1761686028.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725598,-0.681566,-0.094741],[0.676676,0.731740,-0.081640],[0.124968,-0.004871,0.992149]] 2025-10-28T21:13:48.117Z,1761686028.117 [CTD_Seabird](ERROR): Failed to parse device response: .53 2025-10-28T21:13:48.475Z,1761686028.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715366,-0.692550,-0.092875],[0.687852,0.721344,-0.080760],[0.122925,-0.006111,0.992397]] 2025-10-28T21:13:48.481Z,1761686028.481 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:13:48.879Z,1761686028.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705312,-0.703048,-0.090881],[0.698530,0.711107,-0.079892],[0.120794,-0.007135,0.992652]] 2025-10-28T21:13:49.286Z,1761686029.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695104,-0.713517,-0.087878],[0.709096,0.700603,-0.079620],[0.118378,-0.006970,0.992944]] 2025-10-28T21:13:49.687Z,1761686029.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684949,-0.723666,-0.084570],[0.719320,0.690121,-0.079445],[0.115855,-0.006417,0.993245]] 2025-10-28T21:13:50.090Z,1761686030.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674561,-0.733847,-0.080231],[0.729474,0.679300,-0.080114],[0.113293,-0.004484,0.993552]] 2025-10-28T21:13:50.498Z,1761686030.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663681,-0.744030,-0.077119],[0.739821,0.668131,-0.079156],[0.110420,-0.004520,0.993875]] 2025-10-28T21:13:50.901Z,1761686030.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652513,-0.754247,-0.073070],[0.750091,0.656584,-0.079130],[0.107660,-0.003176,0.994183]] 2025-10-28T21:13:51.303Z,1761686031.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640597,-0.764773,-0.068976],[0.760681,0.644297,-0.079030],[0.104881,-0.001842,0.994483]] 2025-10-28T21:13:51.706Z,1761686031.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628226,-0.775269,-0.065498],[0.771257,0.631631,-0.078776],[0.102443,-0.001026,0.994738]] 2025-10-28T21:13:52.111Z,1761686032.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615459,-0.785725,-0.062014],[0.781844,0.618576,-0.077998],[0.099645,-0.000481,0.995023]] 2025-10-28T21:13:52.516Z,1761686032.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602405,-0.796007,-0.058989],[0.792289,0.605287,-0.076855],[0.096883,-0.000439,0.995296]] 2025-10-28T21:13:52.918Z,1761686032.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589071,-0.806257,-0.054270],[0.802579,0.591563,-0.076946],[0.094142,0.001771,0.995557]] 2025-10-28T21:13:53.324Z,1761686033.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575375,-0.816400,-0.049345],[0.812775,0.577472,-0.076967],[0.091331,0.004178,0.995812]] 2025-10-28T21:13:53.403Z,1761686033.403 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:13:53.403Z,1761686033.403 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:13:53.403Z,1761686033.403 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:13:53.403Z,1761686033.403 [marl:UpdateRudder:A] Stopped 2025-10-28T21:13:53.404Z,1761686033.404 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:13:53.404Z,1761686033.404 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:13:53.408Z,1761686033.408 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:13:53.408Z,1761686033.408 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:13:53.408Z,1761686033.408 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateCommandMode] Stopped 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:13:53.409Z,1761686033.409 [marl:UpdateSpeed] Stopped 2025-10-28T21:13:53.410Z,1761686033.410 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:13:53.729Z,1761686033.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561286,-0.826436,-0.044289],[0.822851,0.562989,-0.077202],[0.088737,0.006889,0.996031]] 2025-10-28T21:13:53.797Z,1761686033.797 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:13:53.797Z,1761686033.797 [marl:UpdateRudder:B] Stopped 2025-10-28T21:13:53.798Z,1761686033.798 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:13:53.798Z,1761686033.798 [marl:UpdateRudder] Stopped 2025-10-28T21:13:53.798Z,1761686033.798 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:13:54.132Z,1761686034.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546530,-0.836489,-0.039895],[0.832897,0.547903,-0.078004],[0.087108,0.009403,0.996155]] 2025-10-28T21:13:54.534Z,1761686034.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531403,-0.846313,-0.036948],[0.842755,0.532583,-0.078228],[0.085884,0.010433,0.996251]] 2025-10-28T21:13:54.943Z,1761686034.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516007,-0.855902,-0.034171],[0.852316,0.517005,-0.079138],[0.085401,0.011711,0.996278]] 2025-10-28T21:13:55.343Z,1761686035.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500886,-0.864838,-0.034178],[0.861298,0.501950,-0.078810],[0.085313,0.010037,0.996304]] 2025-10-28T21:13:55.758Z,1761686035.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486639,-0.872978,-0.033034],[0.869412,0.487658,-0.079448],[0.085465,0.009943,0.996292]] 2025-10-28T21:13:56.155Z,1761686036.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473853,-0.880036,-0.031609],[0.876431,0.474794,-0.080241],[0.085622,0.010319,0.996274]] 2025-10-28T21:13:56.554Z,1761686036.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465430,-0.884373,-0.035498],[0.880958,0.466756,-0.077798],[0.085372,0.004937,0.996337]] 2025-10-28T21:13:56.959Z,1761686036.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463288,-0.884899,-0.048138],[0.882203,0.465672,-0.069772],[0.084158,-0.010143,0.996401]] 2025-10-28T21:13:57.364Z,1761686037.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468216,-0.880602,-0.072896],[0.879770,0.472277,-0.054402],[0.082333,-0.038660,0.995855]] 2025-10-28T21:13:57.773Z,1761686037.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480005,-0.870182,-0.111262],[0.873596,0.485726,-0.030014],[0.080161,-0.082791,0.993338]] 2025-10-28T21:13:58.176Z,1761686038.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498532,-0.851656,-0.161702],[0.863354,0.504582,0.004198],[0.078017,-0.141699,0.986831]] 2025-10-28T21:13:58.575Z,1761686038.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522158,-0.824166,-0.219321],[0.849413,0.525625,0.047078],[0.076481,-0.210876,0.974516]] 2025-10-28T21:13:58.980Z,1761686038.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549973,-0.788336,-0.275782],[0.831713,0.547033,0.094908],[0.076043,-0.281568,0.956523]] 2025-10-28T21:13:59.383Z,1761686039.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579506,-0.747063,-0.325685],[0.811303,0.566691,0.143700],[0.077210,-0.347504,0.934495]] 2025-10-28T21:13:59.791Z,1761686039.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608806,-0.703090,-0.367449],[0.789249,0.583650,0.190888],[0.080250,-0.406223,0.910243]] 2025-10-28T21:14:00.194Z,1761686040.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636648,-0.659854,-0.399089],[0.766452,0.598505,0.233116],[0.085034,-0.454295,0.886784]] 2025-10-28T21:14:00.622Z,1761686040.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662335,-0.620643,-0.419661],[0.743668,0.612613,0.267700],[0.090944,-0.489395,0.867307]] 2025-10-28T21:14:01.477Z,1761686041.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708517,-0.557390,-0.432805],[0.697922,0.644229,0.312849],[0.104446,-0.523723,0.845461]] 2025-10-28T21:14:02.314Z,1761686042.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749312,-0.514257,-0.417218],[0.651755,0.684247,0.327140],[0.117246,-0.517054,0.847885]] 2025-10-28T21:14:02.726Z,1761686042.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769112,-0.497110,-0.401683],[0.627199,0.707866,0.324881],[0.122836,-0.501805,0.856214]] 2025-10-28T21:14:03.126Z,1761686043.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788079,-0.480916,-0.384255],[0.602204,0.731704,0.319310],[0.127599,-0.483042,0.866250]] 2025-10-28T21:14:03.557Z,1761686043.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806700,-0.462683,-0.367639],[0.576153,0.754158,0.315108],[0.131463,-0.466014,0.874956]] 2025-10-28T21:14:03.958Z,1761686043.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825175,-0.442292,-0.351375],[0.548781,0.775125,0.313082],[0.133886,-0.451175,0.882335]] 2025-10-28T21:14:04.366Z,1761686044.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842701,-0.421678,-0.334727],[0.521143,0.794966,0.310547],[0.135145,-0.436139,0.889673]] 2025-10-28T21:14:04.785Z,1761686044.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860200,-0.398794,-0.317834],[0.491892,0.813278,0.310839],[0.134526,-0.423724,0.895746]] 2025-10-28T21:14:05.335Z,1761686045.335 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:14:05.417Z,1761686045.417 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:14:05.417Z,1761686045.417 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:14:05.669Z,1761686045.669 [DAT](INFO): DAT read: 2025-10-28T21:14:05.669Z,1761686045.669 [DAT](INFO): DAT read: Tx time:21:14:05.4067 2025-10-28T21:14:05.670Z,1761686045.670 [DAT](INFO): Ping request sent. 2025-10-28T21:14:05.670Z,1761686045.670 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:14:05.670Z,1761686045.670 [DAT](INFO): publishing transmit ping time 2025-10-28T21:14:05.671Z,1761686045.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001381 2025-10-28T21:14:05.921Z,1761686045.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892 2025-10-28T21:14:05.983Z,1761686045.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907585,-0.318835,-0.273192],[0.400886,0.851466,0.338078],[0.124823,-0.416354,0.900594]] 2025-10-28T21:14:06.174Z,1761686046.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503368 2025-10-28T21:14:06.386Z,1761686046.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921764,-0.289918,-0.257487],[0.368448,0.861796,0.348646],[0.120823,-0.416240,0.901192]] 2025-10-28T21:14:06.427Z,1761686046.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756530 2025-10-28T21:14:06.446Z,1761686046.446 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:14:06.446Z,1761686046.446 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:14:06.447Z,1761686046.447 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:14:06.447Z,1761686046.447 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:14:06.447Z,1761686046.447 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:14:06.447Z,1761686046.447 [marl:UpdateSpeed] Stopped 2025-10-28T21:14:06.447Z,1761686046.447 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:14:06.677Z,1761686046.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006911 2025-10-28T21:14:06.795Z,1761686046.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934864,-0.260480,-0.241203],[0.335358,0.870875,0.359321],[0.116462,-0.416805,0.901504]] 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateRudder:A] Stopped 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:14:06.849Z,1761686046.849 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:14:06.850Z,1761686046.850 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:14:06.850Z,1761686046.850 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:14:06.850Z,1761686046.850 [marl:UpdateCommandMode] Stopped 2025-10-28T21:14:06.850Z,1761686046.850 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:14:06.930Z,1761686046.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259894 2025-10-28T21:14:07.185Z,1761686047.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513398 2025-10-28T21:14:07.322Z,1761686047.322 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:14:07.322Z,1761686047.322 [marl:UpdateRudder:B] Stopped 2025-10-28T21:14:07.322Z,1761686047.322 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:14:07.322Z,1761686047.322 [marl:UpdateRudder] Stopped 2025-10-28T21:14:07.322Z,1761686047.322 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:14:07.433Z,1761686047.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762899 2025-10-28T21:14:07.655Z,1761686047.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968382,-0.166561,-0.185722],[0.227679,0.894369,0.385054],[0.101969,-0.415165,0.904014]] 2025-10-28T21:14:07.685Z,1761686047.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015073 2025-10-28T21:14:07.937Z,1761686047.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266815 2025-10-28T21:14:08.107Z,1761686048.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977310,-0.133264,-0.164637],[0.188685,0.900922,0.390817],[0.096244,-0.413014,0.905625]] 2025-10-28T21:14:08.189Z,1761686048.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518969 2025-10-28T21:14:08.442Z,1761686048.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772047 2025-10-28T21:14:08.511Z,1761686048.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984665,-0.099455,-0.143332],[0.149249,0.905645,0.396903],[0.090334,-0.412209,0.906600]] 2025-10-28T21:14:08.697Z,1761686048.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026427 2025-10-28T21:14:08.916Z,1761686048.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990443,-0.065437,-0.121413],[0.109214,0.909703,0.400640],[0.084233,-0.410071,0.908156]] 2025-10-28T21:14:08.945Z,1761686048.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275000 2025-10-28T21:14:09.210Z,1761686049.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529208 2025-10-28T21:14:09.319Z,1761686049.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994513,-0.031724,-0.099685],[0.069388,0.913163,0.401644],[0.078287,-0.406357,0.910354]] 2025-10-28T21:14:09.449Z,1761686049.449 [DAT](INFO): DAT read: Rx Time:21:14:08.7085 2025-10-28T21:14:09.449Z,1761686049.449 [DAT](INFO): Rx dataTimestamp_ set to:1761686049.449042 2025-10-28T21:14:09.450Z,1761686049.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779867 2025-10-28T21:14:09.702Z,1761686049.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032011 2025-10-28T21:14:09.731Z,1761686049.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996921,0.001169,-0.078404],[0.030371,0.916085,0.399832],[0.072292,-0.400982,0.913229]] 2025-10-28T21:14:09.959Z,1761686049.959 [DAT](INFO): DAT read: 21:14:08.7085 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 502,-0.38,-0.224,-1.427, 0.576,-0.147, PHS= 0.025,-1.235, 0.679, RAW= 169.6, 6.3, CAL= 169.1, 5.8, ROT= 340.9, -5.8 2025-10-28T21:14:09.960Z,1761686049.960 [DAT](INFO): got valid direction response: 21:14:08.7085 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 502,-0.38,-0.224,-1.427, 0.576,-0.147, PHS= 0.025,-1.235, 0.679, RAW= 169.6, 6.3, CAL= 169.1, 5.8, ROT= 340.9, -5.8 2025-10-28T21:14:09.961Z,1761686049.961 [DAT](INFO): DAT read: Bearing 326, -9 (Remote) 2025-10-28T21:14:09.961Z,1761686049.961 [DAT](INFO): Remote Bearing received:Bearing 326, -9 (Remote) 2025-10-28T21:14:09.962Z,1761686049.962 [DAT](INFO): DAT read: Bearing 155.4, -14.8 (Local) 2025-10-28T21:14:09.962Z,1761686049.962 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -14.8 (Local) 2025-10-28T21:14:09.964Z,1761686049.964 [DAT](INFO): DAT read: Range 11 to 20 : 954.5 m (Round-trip 1272.7 ms) speed -0.3 m/s 2025-10-28T21:14:09.981Z,1761686049.981 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:14:09.982Z,1761686049.982 [DAT](INFO): direction in FSK: [0.940111,-0.325543,0.101056] 2025-10-28T21:14:09.982Z,1761686049.982 [DAT](INFO): publishing direction and range info 2025-10-28T21:14:10.127Z,1761686050.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997788,0.033238,-0.057575],[-0.007448,0.916485,0.400000],[0.066062,-0.398686,0.914705]] 2025-10-28T21:14:10.184Z,1761686050.184 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686016.00. Resetting abort timer. 2025-10-28T21:14:10.531Z,1761686050.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997215,0.064487,-0.037455],[-0.044291,0.916207,0.398250],[0.059999,-0.395482,0.916512]] 2025-10-28T21:14:10.936Z,1761686050.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995416,0.093961,-0.017867],[-0.079123,0.913920,0.398107],[0.053736,-0.394868,0.917165]] 2025-10-28T21:14:11.338Z,1761686051.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992515,0.122116,0.000898],[-0.112394,0.910572,0.397776],[0.047758,-0.394899,0.917482]] 2025-10-28T21:14:11.743Z,1761686051.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988628,0.149171,0.019042],[-0.144361,0.905938,0.398040],[0.042125,-0.396262,0.917170]] 2025-10-28T21:14:12.149Z,1761686052.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983877,0.175115,0.036333],[-0.174989,0.900637,0.397783],[0.036935,-0.397728,0.916760]] 2025-10-28T21:14:12.553Z,1761686052.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978310,0.200028,0.053839],[-0.204644,0.892991,0.400859],[0.032105,-0.403182,0.914556]] 2025-10-28T21:14:12.955Z,1761686052.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971819,0.224619,0.071520],[-0.234117,0.884233,0.404129],[0.027534,-0.409484,0.911901]] 2025-10-28T21:14:13.359Z,1761686053.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964401,0.249044,0.088923],[-0.263382,0.874509,0.407263],[0.023663,-0.416186,0.908972]] 2025-10-28T21:14:13.767Z,1761686053.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956021,0.273200,0.106699],[-0.292625,0.863865,0.410010],[0.019841,-0.423202,0.905818]] 2025-10-28T21:14:14.174Z,1761686054.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946555,0.297511,0.124583],[-0.322140,0.852715,0.411221],[0.016108,-0.429376,0.902982]] 2025-10-28T21:14:14.570Z,1761686054.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935710,0.322547,0.142862],[-0.352544,0.840517,0.411392],[0.012615,-0.435309,0.900193]] 2025-10-28T21:14:14.974Z,1761686054.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923485,0.348598,0.160168],[-0.383525,0.828990,0.407042],[0.009116,-0.437326,0.899257]] 2025-10-28T21:14:15.379Z,1761686055.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909380,0.377207,0.175339],[-0.415921,0.818281,0.396769],[0.006188,-0.433741,0.901016]] 2025-10-28T21:14:15.790Z,1761686055.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893801,0.406818,0.188730],[-0.448453,0.807738,0.382688],[0.003240,-0.426683,0.904395]] 2025-10-28T21:14:16.187Z,1761686056.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876762,0.437262,0.200224],[-0.480924,0.796952,0.365486],[0.000244,-0.416737,0.909027]] 2025-10-28T21:14:16.232Z,1761686056.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:14:16.591Z,1761686056.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858196,0.468299,0.210229],[-0.513314,0.785285,0.346175],[-0.002976,-0.405000,0.914312]] 2025-10-28T21:14:16.996Z,1761686056.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838613,0.498771,0.218988],[-0.544689,0.772608,0.326176],[-0.006505,-0.392816,0.919594]] 2025-10-28T21:14:17.238Z,1761686057.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:14:17.399Z,1761686057.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818329,0.527068,0.229209],[-0.574666,0.757143,0.310634],[-0.009819,-0.385919,0.922480]] 2025-10-28T21:14:17.803Z,1761686057.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797600,0.553519,0.239690],[-0.603054,0.740103,0.297612],[-0.012662,-0.381921,0.924108]] 2025-10-28T21:14:18.214Z,1761686058.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776653,0.577859,0.250778],[-0.629731,0.722212,0.286094],[-0.015793,-0.380118,0.924803]] 2025-10-28T21:14:18.611Z,1761686058.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756428,0.598513,0.263818],[-0.653802,0.703580,0.278421],[-0.018979,-0.383090,0.923516]] 2025-10-28T21:14:19.017Z,1761686059.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736524,0.616879,0.277475],[-0.676061,0.684558,0.272621],[-0.021774,-0.388382,0.921241]] 2025-10-28T21:14:19.419Z,1761686059.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716549,0.633904,0.291072],[-0.697115,0.665290,0.267244],[-0.024240,-0.394405,0.918617]] 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:14:19.469Z,1761686059.469 [marl:UpdateSpeed] Stopped 2025-10-28T21:14:19.470Z,1761686059.470 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:14:19.823Z,1761686059.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696404,0.649354,0.305549],[-0.717163,0.645379,0.262989],[-0.026421,-0.402275,0.915137]] 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateRudder:A] Stopped 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:14:19.866Z,1761686059.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:14:19.867Z,1761686059.867 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:14:19.867Z,1761686059.867 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:14:19.867Z,1761686059.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:14:19.867Z,1761686059.867 [marl:UpdateCommandMode] Stopped 2025-10-28T21:14:19.867Z,1761686059.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:14:20.231Z,1761686060.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675254,0.662996,0.323217],[-0.737025,0.623592,0.260628],[-0.028761,-0.414209,0.909727]] 2025-10-28T21:14:20.257Z,1761686060.257 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:14:20.257Z,1761686060.257 [marl:UpdateRudder:B] Stopped 2025-10-28T21:14:20.257Z,1761686060.257 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:14:20.257Z,1761686060.257 [marl:UpdateRudder] Stopped 2025-10-28T21:14:20.257Z,1761686060.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:14:20.632Z,1761686060.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653040,0.676519,0.340383],[-0.756680,0.601383,0.256463],[-0.031199,-0.425042,0.904636]] 2025-10-28T21:14:21.034Z,1761686061.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629440,0.690269,0.356840],[-0.776322,0.578479,0.250370],[-0.033602,-0.434616,0.899989]] 2025-10-28T21:14:21.439Z,1761686061.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603323,0.705876,0.371135],[-0.796720,0.554033,0.241424],[-0.035206,-0.441347,0.896646]] 2025-10-28T21:14:21.842Z,1761686061.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575242,0.723904,0.380868],[-0.817151,0.529567,0.227649],[-0.036899,-0.442180,0.896167]] 2025-10-28T21:14:22.253Z,1761686062.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545498,0.742759,0.388255],[-0.837216,0.504335,0.211461],[-0.038746,-0.440405,0.896963]] 2025-10-28T21:14:22.651Z,1761686062.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515117,0.762289,0.391880],[-0.856153,0.479315,0.193026],[-0.040692,-0.434940,0.899539]] 2025-10-28T21:14:23.055Z,1761686063.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483667,0.784713,0.387676],[-0.874222,0.454607,0.170493],[-0.042452,-0.421377,0.905891]] 2025-10-28T21:14:23.460Z,1761686063.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451099,0.807983,0.379043],[-0.891401,0.428720,0.146980],[-0.043746,-0.404182,0.913632]] 2025-10-28T21:14:23.862Z,1761686063.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417744,0.828416,0.373119],[-0.907449,0.400771,0.126169],[-0.045015,-0.391293,0.919165]] 2025-10-28T21:14:24.267Z,1761686064.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384637,0.846986,0.366974],[-0.921912,0.372385,0.106810],[-0.046189,-0.379400,0.924079]] 2025-10-28T21:14:24.671Z,1761686064.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352727,0.862122,0.363771],[-0.934502,0.344439,0.089824],[-0.047857,-0.371628,0.927147]] 2025-10-28T21:14:25.078Z,1761686065.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321747,0.873983,0.364188],[-0.945514,0.316819,0.075022],[-0.049813,-0.368483,0.928299]] 2025-10-28T21:14:25.478Z,1761686065.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292337,0.882570,0.368252],[-0.954907,0.290285,0.062343],[-0.051876,-0.369872,0.927633]] 2025-10-28T21:14:25.882Z,1761686065.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264440,0.888519,0.374974],[-0.962887,0.265037,0.051030],[-0.054041,-0.374552,0.925630]] 2025-10-28T21:14:26.288Z,1761686066.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237837,0.892211,0.383917],[-0.969694,0.240861,0.040973],[-0.055914,-0.382027,0.922458]] 2025-10-28T21:14:26.703Z,1761686066.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212541,0.892250,0.398393],[-0.975459,0.217731,0.032768],[-0.057505,-0.395580,0.916629]] 2025-10-28T21:14:27.096Z,1761686067.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187752,0.890965,0.413438],[-0.980490,0.194956,0.025131],[-0.058211,-0.410090,0.910186]] 2025-10-28T21:14:27.499Z,1761686067.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163380,0.888748,0.428293],[-0.984853,0.172480,0.017776],[-0.058074,-0.424710,0.903465]] 2025-10-28T21:14:27.903Z,1761686067.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139399,0.887093,0.440038],[-0.988556,0.150540,0.009682],[-0.057655,-0.436352,0.897927]] 2025-10-28T21:14:28.312Z,1761686068.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115696,0.886634,0.447765],[-0.991629,0.129117,0.000555],[-0.057322,-0.444081,0.894151]] 2025-10-28T21:14:28.722Z,1761686068.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092362,0.886990,0.452458],[-0.994064,0.108381,-0.009546],[-0.057505,-0.448890,0.891735]] 2025-10-28T21:14:29.115Z,1761686069.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068492,0.888609,0.453522],[-0.995954,0.087411,-0.020858],[-0.058178,-0.450259,0.891001]] 2025-10-28T21:14:29.518Z,1761686069.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042701,0.891036,0.451919],[-0.997346,0.064714,-0.033357],[-0.058967,-0.449295,0.891435]] 2025-10-28T21:14:29.925Z,1761686069.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015100,0.895594,0.444616],[-0.998079,0.040222,-0.047124],[-0.060087,-0.443051,0.894481]] 2025-10-28T21:14:30.330Z,1761686070.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014628,0.903141,0.429096],[-0.997996,0.013232,-0.061872],[-0.061557,-0.429141,0.901137]] 2025-10-28T21:14:30.731Z,1761686070.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045676,0.910503,0.410972],[-0.996942,-0.015436,-0.076602],[-0.063403,-0.413214,0.908424]] 2025-10-28T21:14:31.154Z,1761686071.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077785,0.916986,0.391263],[-0.994811,-0.045576,-0.090960],[-0.065577,-0.396308,0.915773]] 2025-10-28T21:14:31.541Z,1761686071.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110078,0.921488,0.372483],[-0.991609,-0.076258,-0.104389],[-0.067789,-0.380848,0.922149]] 2025-10-28T21:14:31.944Z,1761686071.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143024,0.923208,0.356695],[-0.987242,-0.107597,-0.117369],[-0.069977,-0.368931,0.926819]] 2025-10-28T21:14:32.347Z,1761686072.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176317,0.922372,0.343719],[-0.981707,-0.139284,-0.129815],[-0.071863,-0.360319,0.930057]] 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:14:32.383Z,1761686072.383 [marl:UpdateSpeed] Stopped 2025-10-28T21:14:32.384Z,1761686072.384 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:14:32.751Z,1761686072.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209268,0.917219,0.338994],[-0.975095,-0.169695,-0.142802],[-0.073455,-0.360435,0.929888]] 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateRudder:A] Stopped 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:14:32.810Z,1761686072.810 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:14:32.811Z,1761686072.811 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:14:32.811Z,1761686072.811 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:14:32.811Z,1761686072.811 [marl:UpdateCommandMode] Stopped 2025-10-28T21:14:32.811Z,1761686072.811 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:14:33.202Z,1761686073.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241513,0.908812,0.340193],[-0.967508,-0.198479,-0.156635],[-0.074830,-0.366969,0.927219]] 2025-10-28T21:14:33.267Z,1761686073.267 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:14:33.267Z,1761686073.267 [marl:UpdateRudder:B] Stopped 2025-10-28T21:14:33.267Z,1761686073.267 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:14:33.267Z,1761686073.267 [marl:UpdateRudder] Stopped 2025-10-28T21:14:33.267Z,1761686073.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:14:33.561Z,1761686073.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272249,0.898552,0.344216],[-0.959221,-0.225184,-0.170846],[-0.076002,-0.376692,0.923215]] 2025-10-28T21:14:33.963Z,1761686073.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300751,0.887385,0.349424],[-0.950563,-0.249210,-0.185270],[-0.077326,-0.387870,0.918465]] 2025-10-28T21:14:34.366Z,1761686074.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327732,0.876237,0.353271],[-0.941503,-0.271833,-0.199196],[-0.078512,-0.397889,0.914068]] 2025-10-28T21:14:34.777Z,1761686074.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352876,0.864815,0.357175],[-0.932304,-0.292630,-0.212547],[-0.079294,-0.407998,0.909533]] 2025-10-28T21:14:35.207Z,1761686075.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376666,0.853467,0.360163],[-0.922925,-0.312351,-0.225045],[-0.079571,-0.417171,0.905338]] 2025-10-28T21:14:35.578Z,1761686075.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399108,0.841954,0.363079],[-0.913452,-0.330775,-0.237053],[-0.079490,-0.426265,0.901099]] 2025-10-28T21:14:35.983Z,1761686075.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420466,0.831478,0.363116],[-0.903856,-0.348979,-0.247502],[-0.079072,-0.432271,0.898270]] 2025-10-28T21:14:36.409Z,1761686076.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441670,0.821680,0.360237],[-0.893752,-0.367904,-0.256621],[-0.078328,-0.435304,0.896870]] 2025-10-28T21:14:36.799Z,1761686076.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462974,0.813561,0.351815],[-0.882938,-0.388394,-0.263763],[-0.077945,-0.432746,0.898140]] 2025-10-28T21:14:37.211Z,1761686077.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484552,0.805921,0.340148],[-0.871308,-0.410135,-0.269466],[-0.077662,-0.426944,0.900937]] 2025-10-28T21:14:37.604Z,1761686077.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506291,0.797748,0.327517],[-0.858873,-0.432330,-0.274641],[-0.077499,-0.420344,0.904049]] 2025-10-28T21:14:38.006Z,1761686078.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527829,0.788812,0.314918],[-0.845796,-0.454266,-0.279772],[-0.077631,-0.414028,0.906948]] 2025-10-28T21:14:38.411Z,1761686078.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550437,0.779316,0.299475],[-0.831221,-0.478025,-0.283839],[-0.078044,-0.405166,0.910906]] 2025-10-28T21:14:38.815Z,1761686078.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572566,0.767876,0.287289],[-0.816044,-0.500006,-0.289942],[-0.078993,-0.400451,0.912907]] 2025-10-28T21:14:39.221Z,1761686079.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594514,0.755632,0.274907],[-0.800089,-0.521871,-0.295818],[-0.080063,-0.395818,0.914832]] 2025-10-28T21:14:40.027Z,1761686080.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640229,0.724960,0.254049],[-0.763851,-0.565719,-0.310633],[-0.081477,-0.392932,0.915951]] 2025-10-28T21:14:40.430Z,1761686080.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662368,0.707331,0.246884],[-0.744657,-0.585442,-0.320537],[-0.082189,-0.396157,0.914497]] 2025-10-28T21:14:40.838Z,1761686080.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684356,0.688292,0.240647],[-0.724439,-0.604394,-0.331505],[-0.082727,-0.401202,0.912246]] 2025-10-28T21:14:41.241Z,1761686081.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705414,0.668428,0.235789],[-0.703894,-0.621580,-0.343762],[-0.083218,-0.408464,0.908973]] 2025-10-28T21:14:41.642Z,1761686081.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725425,0.649269,0.228490],[-0.683173,-0.638741,-0.353956],[-0.083867,-0.412867,0.906922]] 2025-10-28T21:14:42.047Z,1761686082.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745000,0.628811,0.222646],[-0.661687,-0.654322,-0.366105],[-0.084529,-0.420071,0.903546]] 2025-10-28T21:14:42.450Z,1761686082.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763572,0.608087,0.217227],[-0.640126,-0.668640,-0.378364],[-0.084832,-0.427961,0.899807]] 2025-10-28T21:14:42.856Z,1761686082.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781340,0.588006,0.209182],[-0.618264,-0.683502,-0.388039],[-0.085193,-0.432520,0.897590]] 2025-10-28T21:14:43.269Z,1761686083.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798619,0.568468,0.197616],[-0.595682,-0.699782,-0.394294],[-0.085855,-0.432607,0.897485]] 2025-10-28T21:14:43.679Z,1761686083.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829655,0.531436,0.171023],[-0.551397,-0.732092,-0.400002],[-0.087371,-0.426165,0.900416]] 2025-10-28T21:14:44.071Z,1761686084.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844520,0.512252,0.156150],[-0.528215,-0.748788,-0.400382],[-0.088173,-0.420612,0.902946]] 2025-10-28T21:14:44.475Z,1761686084.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858505,0.492746,0.142021],[-0.505045,-0.764445,-0.400690],[-0.088871,-0.415722,0.905140]] 2025-10-28T21:14:44.884Z,1761686084.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871553,0.473237,0.128229],[-0.482059,-0.779323,-0.400344],[-0.089525,-0.410735,0.907349]] 2025-10-28T21:14:45.282Z,1761686085.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883851,0.453422,0.114959],[-0.459017,-0.793400,-0.399774],[-0.090058,-0.406108,0.909376]] 2025-10-28T21:14:45.330Z,1761686085.330 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:14:45.330Z,1761686085.330 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:14:45.330Z,1761686085.330 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:14:45.330Z,1761686085.330 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:14:45.330Z,1761686085.330 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:14:45.331Z,1761686085.331 [marl:UpdateSpeed] Stopped 2025-10-28T21:14:45.331Z,1761686085.331 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:14:45.684Z,1761686085.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895359,0.433596,0.101620],[-0.435999,-0.806944,-0.398430],[-0.090755,-0.401044,0.911552]] 2025-10-28T21:14:45.708Z,1761686085.708 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:14:45.728Z,1761686085.728 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:14:45.728Z,1761686085.728 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:14:45.728Z,1761686085.728 [marl:UpdateRudder:A] Stopped 2025-10-28T21:14:45.728Z,1761686085.728 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode] Stopped 2025-10-28T21:14:45.729Z,1761686085.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:14:46.088Z,1761686086.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906167,0.413269,0.089831],[-0.412960,-0.818810,-0.398767],[-0.091244,-0.398446,0.912642]] 2025-10-28T21:14:46.112Z,1761686086.112 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:14:46.112Z,1761686086.112 [marl:UpdateRudder:B] Stopped 2025-10-28T21:14:46.112Z,1761686086.112 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:14:46.112Z,1761686086.112 [marl:UpdateRudder] Stopped 2025-10-28T21:14:46.112Z,1761686086.112 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:14:46.493Z,1761686086.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916344,0.392474,0.079229],[-0.389813,-0.829311,-0.400361],[-0.091426,-0.397753,0.912926]] 2025-10-28T21:14:46.895Z,1761686086.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926160,0.370957,0.067969],[-0.365851,-0.839991,-0.400710],[-0.091553,-0.395988,0.913680]] 2025-10-28T21:14:47.299Z,1761686087.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935427,0.348886,0.057048],[-0.341452,-0.849852,-0.401451],[-0.091578,-0.395007,0.914102]] 2025-10-28T21:14:47.356Z,1761686087.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:14:47.703Z,1761686087.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944183,0.326258,0.045537],[-0.316287,-0.859190,-0.402188],[-0.092092,-0.394142,0.914424]] 2025-10-28T21:14:48.108Z,1761686088.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952333,0.303070,0.034801],[-0.290689,-0.866939,-0.404867],[-0.092533,-0.395684,0.913713]] 2025-10-28T21:14:48.360Z,1761686088.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:14:48.511Z,1761686088.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959884,0.279360,0.024096],[-0.264566,-0.873869,-0.407869],[-0.092885,-0.397882,0.912722]] 2025-10-28T21:14:48.918Z,1761686088.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966708,0.255567,0.012677],[-0.238206,-0.880731,-0.409354],[-0.093452,-0.398746,0.912287]] 2025-10-28T21:14:49.319Z,1761686089.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972861,0.231387,0.000706],[-0.211416,-0.887642,-0.409139],[-0.094043,-0.398185,0.912472]] 2025-10-28T21:14:49.724Z,1761686089.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978360,0.206607,-0.011169],[-0.183942,-0.893212,-0.410289],[-0.094745,-0.399356,0.911887]] 2025-10-28T21:14:50.127Z,1761686090.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983078,0.181788,-0.022598],[-0.156459,-0.897390,-0.412567],[-0.095279,-0.402050,0.910647]] 2025-10-28T21:14:50.530Z,1761686090.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987062,0.156746,-0.033765],[-0.128723,-0.900206,-0.416004],[-0.095603,-0.406275,0.908736]] 2025-10-28T21:14:50.938Z,1761686090.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990288,0.131221,-0.045930],[-0.100209,-0.902706,-0.418425],[-0.096368,-0.409759,0.907089]] 2025-10-28T21:14:51.340Z,1761686091.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992770,0.104880,-0.058372],[-0.071163,-0.905925,-0.417415],[-0.096660,-0.410243,0.906839]] 2025-10-28T21:14:51.743Z,1761686091.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994423,0.077654,-0.071357],[-0.041284,-0.909262,-0.414173],[-0.097044,-0.408917,0.907397]] 2025-10-28T21:14:52.155Z,1761686092.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995198,0.049853,-0.084234],[-0.010992,-0.912053,-0.409924],[-0.097262,-0.407030,0.908222]] 2025-10-28T21:14:52.552Z,1761686092.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995036,0.022372,-0.096967],[0.019371,-0.912219,-0.409245],[-0.097610,-0.409092,0.907257]] 2025-10-28T21:14:52.958Z,1761686092.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993950,-0.004312,-0.109745],[0.049305,-0.910399,-0.410782],[-0.098141,-0.413708,0.905105]] 2025-10-28T21:14:53.359Z,1761686093.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992103,-0.029566,-0.121892],[0.077634,-0.908043,-0.411621],[-0.098513,-0.417833,0.903167]] 2025-10-28T21:14:53.768Z,1761686093.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989554,-0.054257,-0.133564],[0.104909,-0.906475,-0.409021],[-0.098880,-0.418760,0.902698]] 2025-10-28T21:14:54.169Z,1761686094.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986449,-0.077834,-0.144432],[0.130780,-0.904589,-0.405729],[-0.099072,-0.419119,0.902510]] 2025-10-28T21:14:54.570Z,1761686094.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982790,-0.100786,-0.154807],[0.155809,-0.902460,-0.401609],[-0.099231,-0.418818,0.902632]] 2025-10-28T21:14:54.978Z,1761686094.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978606,-0.123415,-0.164621],[0.180349,-0.899636,-0.397654],[-0.099023,-0.418836,0.902647]] 2025-10-28T21:14:55.379Z,1761686095.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973826,-0.146855,-0.173486],[0.204865,-0.897711,-0.390059],[-0.098458,-0.415391,0.904299]] 2025-10-28T21:14:55.790Z,1761686095.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968337,-0.170712,-0.182156],[0.229826,-0.894517,-0.383431],[-0.097485,-0.413155,0.905428]] 2025-10-28T21:14:56.187Z,1761686096.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961907,-0.195133,-0.191464],[0.255847,-0.889329,-0.378994],[-0.096320,-0.413542,0.905376]] 2025-10-28T21:14:56.591Z,1761686096.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954398,-0.220639,-0.201103],[0.282991,-0.883180,-0.374045],[-0.095081,-0.413899,0.905344]] 2025-10-28T21:14:56.995Z,1761686096.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945884,-0.246934,-0.210541],[0.310644,-0.876629,-0.367454],[-0.093830,-0.412972,0.905897]] 2025-10-28T21:14:57.401Z,1761686097.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936087,-0.274638,-0.219806],[0.339208,-0.870225,-0.357276],[-0.093159,-0.409001,0.907766]] 2025-10-28T21:14:57.803Z,1761686097.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924904,-0.302893,-0.229800],[0.368671,-0.862212,-0.347378],[-0.092918,-0.406012,0.909131]] 2025-10-28T21:14:58.206Z,1761686098.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912679,-0.330835,-0.239929],[0.397957,-0.853043,-0.337562],[-0.092993,-0.403567,0.910212]] 2025-10-28T21:14:58.247Z,1761686098.247 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:14:58.247Z,1761686098.247 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:14:58.247Z,1761686098.247 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:14:58.247Z,1761686098.247 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:14:58.248Z,1761686098.248 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:14:58.248Z,1761686098.248 [marl:UpdateSpeed] Stopped 2025-10-28T21:14:58.248Z,1761686098.248 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:14:58.610Z,1761686098.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899375,-0.358034,-0.250872],[0.427089,-0.842132,-0.329254],[-0.093384,-0.403268,0.910305]] 2025-10-28T21:14:58.669Z,1761686098.669 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateRudder:A] Stopped 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:14:58.670Z,1761686098.670 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:14:58.671Z,1761686098.671 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:14:58.671Z,1761686098.671 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:14:58.671Z,1761686098.671 [marl:UpdateCommandMode] Stopped 2025-10-28T21:14:58.671Z,1761686098.671 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:14:59.022Z,1761686099.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885167,-0.384128,-0.262536],[0.455629,-0.829938,-0.321878],[-0.094246,-0.404535,0.909653]] 2025-10-28T21:14:59.045Z,1761686099.045 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:14:59.045Z,1761686099.045 [marl:UpdateRudder:B] Stopped 2025-10-28T21:14:59.045Z,1761686099.045 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:14:59.045Z,1761686099.045 [marl:UpdateRudder] Stopped 2025-10-28T21:14:59.046Z,1761686099.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:14:59.419Z,1761686099.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870346,-0.409350,-0.273736],[0.483131,-0.817391,-0.313778],[-0.095304,-0.405346,0.909182]] 2025-10-28T21:14:59.822Z,1761686099.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854774,-0.433864,-0.284821],[0.509916,-0.804276,-0.305165],[-0.096674,-0.406082,0.908709]] 2025-10-28T21:15:00.239Z,1761686100.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838429,-0.457802,-0.295726],[0.536132,-0.790342,-0.296517],[-0.097978,-0.407157,0.908088]] 2025-10-28T21:15:00.650Z,1761686100.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821749,-0.480465,-0.306402],[0.561127,-0.775967,-0.288119],[-0.099327,-0.408692,0.907251]] 2025-10-28T21:15:01.052Z,1761686101.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804791,-0.502087,-0.316575],[0.585022,-0.761108,-0.280115],[-0.100306,-0.410637,0.906265]] 2025-10-28T21:15:01.450Z,1761686101.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787675,-0.522206,-0.326909],[0.607709,-0.745789,-0.272926],[-0.101281,-0.413643,0.904788]] 2025-10-28T21:15:01.850Z,1761686101.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770443,-0.542185,-0.335340],[0.629305,-0.730927,-0.264047],[-0.101947,-0.414465,0.904337]] 2025-10-28T21:15:02.256Z,1761686102.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753499,-0.561875,-0.341373],[0.649457,-0.716850,-0.253638],[-0.102200,-0.412823,0.905059]] 2025-10-28T21:15:02.664Z,1761686102.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736788,-0.580547,-0.346566],[0.668336,-0.702923,-0.243365],[-0.102324,-0.410931,0.905906]] 2025-10-28T21:15:03.063Z,1761686103.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719965,-0.598002,-0.352198],[0.686413,-0.688458,-0.234228],[-0.102404,-0.410389,0.906142]] 2025-10-28T21:15:03.467Z,1761686103.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703190,-0.615017,-0.356761],[0.703662,-0.673894,-0.225226],[-0.101901,-0.409416,0.906639]] 2025-10-28T21:15:03.872Z,1761686103.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686378,-0.631792,-0.360172],[0.720243,-0.659107,-0.216397],[-0.100674,-0.407941,0.907441]] 2025-10-28T21:15:04.276Z,1761686104.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669264,-0.647890,-0.363765],[0.736404,-0.643584,-0.208588],[-0.098971,-0.407479,0.907836]] 2025-10-28T21:15:04.680Z,1761686104.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651425,-0.664054,-0.366984],[0.752536,-0.627105,-0.201069],[-0.096617,-0.407150,0.908237]] 2025-10-28T21:15:05.083Z,1761686105.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632559,-0.679889,-0.370971],[0.768809,-0.609208,-0.194418],[-0.093816,-0.408187,0.908065]] 2025-10-28T21:15:05.530Z,1761686105.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612515,-0.696056,-0.374609],[0.785243,-0.590158,-0.187370],[-0.090658,-0.408927,0.908053]] 2025-10-28T21:15:05.567Z,1761686105.567 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:15:05.673Z,1761686105.673 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:15:05.673Z,1761686105.673 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:15:05.925Z,1761686105.925 [DAT](INFO): DAT read: user:295> 2025-10-28T21:15:05.926Z,1761686105.926 [DAT](INFO): DAT read: Tx time:21:15:05.6564 2025-10-28T21:15:05.926Z,1761686105.926 [DAT](INFO): Ping request sent. 2025-10-28T21:15:05.926Z,1761686105.926 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:15:05.926Z,1761686105.926 [DAT](INFO): publishing transmit ping time 2025-10-28T21:15:05.927Z,1761686105.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T21:15:05.936Z,1761686105.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591800,-0.711205,-0.379421],[0.801346,-0.570037,-0.181392],[-0.087278,-0.411395,0.907269]] 2025-10-28T21:15:06.177Z,1761686106.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789 2025-10-28T21:15:06.334Z,1761686106.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569655,-0.727287,-0.382814],[0.817591,-0.548998,-0.173626],[-0.083889,-0.411892,0.907363]] 2025-10-28T21:15:06.429Z,1761686106.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502647 2025-10-28T21:15:06.681Z,1761686106.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762 2025-10-28T21:15:06.744Z,1761686106.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545742,-0.743873,-0.385770],[0.834030,-0.526697,-0.164267],[-0.080990,-0.411391,0.907854]] 2025-10-28T21:15:06.933Z,1761686106.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006678 2025-10-28T21:15:07.178Z,1761686107.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520357,-0.760093,-0.389213],[0.850308,-0.503232,-0.154056],[-0.078768,-0.411115,0.908174]] 2025-10-28T21:15:07.189Z,1761686107.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261088 2025-10-28T21:15:07.437Z,1761686107.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511094 2025-10-28T21:15:07.546Z,1761686107.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493782,-0.775707,-0.393011],[0.866147,-0.478883,-0.143038],[-0.077251,-0.411034,0.908341]] 2025-10-28T21:15:07.692Z,1761686107.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766154 2025-10-28T21:15:07.941Z,1761686107.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014829 2025-10-28T21:15:07.952Z,1761686107.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466814,-0.791515,-0.394447],[0.881059,-0.454725,-0.130231],[-0.076285,-0.408325,0.909643]] 2025-10-28T21:15:08.193Z,1761686108.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267203 2025-10-28T21:15:08.355Z,1761686108.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439205,-0.805642,-0.397541],[0.895157,-0.429936,-0.117680],[-0.076110,-0.407548,0.910007]] 2025-10-28T21:15:08.445Z,1761686108.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518690 2025-10-28T21:15:08.697Z,1761686108.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770770 2025-10-28T21:15:08.765Z,1761686108.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411023,-0.819481,-0.399387],[0.908419,-0.404889,-0.104114],[-0.076388,-0.405604,0.910851]] 2025-10-28T21:15:08.949Z,1761686108.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022861 2025-10-28T21:15:09.202Z,1761686109.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275382 2025-10-28T21:15:09.203Z,1761686109.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382090,-0.832629,-0.400920],[0.920910,-0.379221,-0.090093],[-0.077023,-0.403635,0.911672]] 2025-10-28T21:15:09.453Z,1761686109.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526705 2025-10-28T21:15:09.566Z,1761686109.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352885,-0.844665,-0.402508],[0.932432,-0.353203,-0.076280],[-0.077736,-0.402229,0.912233]] 2025-10-28T21:15:09.705Z,1761686109.705 [DAT](INFO): DAT read: Rx Time:21:15:09.0026 2025-10-28T21:15:09.706Z,1761686109.706 [DAT](INFO): Rx dataTimestamp_ set to:1761686109.705280 2025-10-28T21:15:09.706Z,1761686109.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779987 2025-10-28T21:15:09.957Z,1761686109.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030716 2025-10-28T21:15:09.972Z,1761686109.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323087,-0.855133,-0.405418],[0.943066,-0.326683,-0.062490],[-0.079006,-0.402525,0.911993]] 2025-10-28T21:15:10.224Z,1761686110.224 [DAT](INFO): DAT read: 21:15:09.0026 LVL= 28784, 21329, 25634, 27779, AGC= 74, IDX= 360, 0.04, 0.738, 2.372, 2.012, 1.302, PHS=-0.462, 1.115, 0.666, RAW= 286.1, -18.3, CAL= 286.4, -23.4, ROT= 223.6, 23.4 2025-10-28T21:15:10.226Z,1761686110.226 [DAT](INFO): got valid direction response: 21:15:09.0026 LVL= 28784, 21329, 25634, 27779, AGC= 74, IDX= 360, 0.04, 0.738, 2.372, 2.012, 1.302, PHS=-0.462, 1.115, 0.666, RAW= 286.1, -18.3, CAL= 286.4, -23.4, ROT= 223.6, 23.4 2025-10-28T21:15:10.227Z,1761686110.227 [DAT](INFO): DAT read: Bearing 325, -6 (Remote) 2025-10-28T21:15:10.227Z,1761686110.227 [DAT](INFO): Remote Bearing received:Bearing 325, -6 (Remote) 2025-10-28T21:15:10.228Z,1761686110.228 [DAT](INFO): DAT read: Bearing 121.2, -21.8 (Local) 2025-10-28T21:15:10.228Z,1761686110.228 [DAT](INFO): Local bearing/azimuth received: Bearing 121.2, -21.8 (Local) 2025-10-28T21:15:10.230Z,1761686110.230 [DAT](INFO): DAT read: Range 11 to 20 : 987.7 m (Round-trip 1317.0 ms) speed -1.2 m/s 2025-10-28T21:15:10.230Z,1761686110.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:15:10.231Z,1761686110.231 [DAT](INFO): direction in FSK: [-0.664612,-0.632902,-0.397148] 2025-10-28T21:15:10.232Z,1761686110.232 [DAT](INFO): publishing direction and range info 2025-10-28T21:15:10.374Z,1761686110.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293244,-0.863937,-0.409415],[0.952614,-0.300255,-0.048720],[-0.080838,-0.404301,0.911047]] 2025-10-28T21:15:10.412Z,1761686110.412 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686144.00. Resetting abort timer. 2025-10-28T21:15:10.784Z,1761686110.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263637,-0.872446,-0.411502],[0.961038,-0.274300,-0.034151],[-0.083080,-0.404473,0.910769]] 2025-10-28T21:15:11.225Z,1761686111.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234547,-0.879020,-0.415104],[0.968321,-0.248900,-0.020064],[-0.085683,-0.406660,0.909553]] 2025-10-28T21:15:11.288Z,1761686111.288 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:15:11.288Z,1761686111.288 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:15:11.288Z,1761686111.288 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:15:11.289Z,1761686111.289 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:15:11.289Z,1761686111.289 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:15:11.289Z,1761686111.289 [marl:UpdateSpeed] Stopped 2025-10-28T21:15:11.289Z,1761686111.289 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:15:11.631Z,1761686111.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206691,-0.885511,-0.416112],[0.974427,-0.224626,-0.006000],[-0.088156,-0.406711,0.909294]] 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateRudder:A] Stopped 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:15:11.658Z,1761686111.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:15:11.659Z,1761686111.659 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:15:11.659Z,1761686111.659 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:15:11.659Z,1761686111.659 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:15:11.659Z,1761686111.659 [marl:UpdateCommandMode] Stopped 2025-10-28T21:15:11.659Z,1761686111.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:15:12.026Z,1761686112.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180487,-0.891469,-0.415581],[0.979413,-0.201731,0.007376],[-0.090411,-0.405695,0.909526]] 2025-10-28T21:15:12.070Z,1761686112.070 [marl:UpdateRudder:B](INFO): Updating rudder angle -6.875494 arcdeg 2025-10-28T21:15:12.070Z,1761686112.070 [marl:UpdateRudder:B] Stopped 2025-10-28T21:15:12.070Z,1761686112.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:15:12.070Z,1761686112.070 [marl:UpdateRudder] Stopped 2025-10-28T21:15:12.070Z,1761686112.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:15:12.432Z,1761686112.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155968,-0.896326,-0.415060],[0.983430,-0.180222,0.019647],[-0.092413,-0.405118,0.909582]] 2025-10-28T21:15:12.834Z,1761686112.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132514,-0.899894,-0.415490],[0.986713,-0.159525,0.030813],[-0.094009,-0.405886,0.909076]] 2025-10-28T21:15:13.240Z,1761686113.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110243,-0.902378,-0.416605],[0.989367,-0.139642,0.040659],[-0.094865,-0.407693,0.908178]] 2025-10-28T21:15:13.643Z,1761686113.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088324,-0.905104,-0.415915],[0.991538,-0.119770,0.050077],[-0.095139,-0.407972,0.908024]] 2025-10-28T21:15:14.450Z,1761686114.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050979,-0.911679,-0.407729],[0.994044,-0.085695,0.067326],[-0.096320,-0.401868,0.910618]] 2025-10-28T21:15:14.854Z,1761686114.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037614,-0.917368,-0.396258],[0.994496,-0.073170,0.074995],[-0.097793,-0.391256,0.915071]] 2025-10-28T21:15:15.259Z,1761686115.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029230,-0.927112,-0.373644],[0.994516,-0.064525,0.082303],[-0.100414,-0.369189,0.923914]] 2025-10-28T21:15:15.669Z,1761686115.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027236,-0.940158,-0.339648],[0.994196,-0.060852,0.088716],[-0.104075,-0.335261,0.936359]] 2025-10-28T21:15:16.067Z,1761686116.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031642,-0.954136,-0.297695],[0.993575,-0.062408,0.094417],[-0.108665,-0.292795,0.949981]] 2025-10-28T21:15:16.875Z,1761686116.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054508,-0.977145,-0.205469],[0.991257,-0.077716,0.106627],[-0.120158,-0.197861,0.972838]] 2025-10-28T21:15:17.281Z,1761686117.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068063,-0.984252,-0.163144],[0.989599,-0.087375,0.114280],[-0.126735,-0.153668,0.979961]] 2025-10-28T21:15:17.683Z,1761686117.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081519,-0.988636,-0.126309],[0.987689,-0.097110,0.122639],[-0.133512,-0.114757,0.984381]] 2025-10-28T21:15:18.092Z,1761686118.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094604,-0.990788,-0.096899],[0.985569,-0.106939,0.131213],[-0.140367,-0.083088,0.986607]] 2025-10-28T21:15:18.488Z,1761686118.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:15:18.495Z,1761686118.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107683,-0.991316,-0.075472],[0.983244,-0.117422,0.139442],[-0.147093,-0.059192,0.987350]] 2025-10-28T21:15:18.895Z,1761686118.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120648,-0.990965,-0.058594],[0.980760,-0.128115,0.147299],[-0.153475,-0.039695,0.987355]] 2025-10-28T21:15:19.300Z,1761686119.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133979,-0.989913,-0.046068],[0.978204,-0.139550,0.153763],[-0.158640,-0.024463,0.987033]] 2025-10-28T21:15:19.492Z,1761686119.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:15:19.718Z,1761686119.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164002,-0.985682,-0.039179],[0.972452,-0.168215,0.161374],[-0.165654,-0.011634,0.986115]] 2025-10-28T21:15:20.118Z,1761686120.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180011,-0.982877,-0.039362],[0.969196,-0.184059,0.163649],[-0.168091,-0.008691,0.985733]] 2025-10-28T21:15:20.520Z,1761686120.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196762,-0.979573,-0.041502],[0.965720,-0.200942,0.164338],[-0.169320,-0.007744,0.985531]] 2025-10-28T21:15:20.919Z,1761686120.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213078,-0.976117,-0.042340],[0.962121,-0.217171,0.164803],[-0.170062,-0.005620,0.985417]] 2025-10-28T21:15:21.322Z,1761686121.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228504,-0.972518,-0.044656],[0.958582,-0.232767,0.164137],[-0.170021,-0.005300,0.985426]] 2025-10-28T21:15:21.723Z,1761686121.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243547,-0.968771,-0.046553],[0.955187,-0.247905,0.161744],[-0.168234,-0.005075,0.985734]] 2025-10-28T21:15:22.127Z,1761686122.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257776,-0.965022,-0.047794],[0.951959,-0.262127,0.158313],[-0.165304,-0.004688,0.986232]] 2025-10-28T21:15:22.534Z,1761686122.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271862,-0.961180,-0.047167],[0.948732,-0.275909,0.154216],[-0.161243,-0.002823,0.986911]] 2025-10-28T21:15:22.934Z,1761686122.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284886,-0.957426,-0.046639],[0.945638,-0.288675,0.149782],[-0.156868,-0.001433,0.987618]] 2025-10-28T21:15:23.339Z,1761686123.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297650,-0.953523,-0.046899],[0.942452,-0.301320,0.144883],[-0.152281,-0.001075,0.988337]] 2025-10-28T21:15:23.742Z,1761686123.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309898,-0.949625,-0.046643],[0.939212,-0.313388,0.140248],[-0.147800,-0.000345,0.989017]] 2025-10-28T21:15:24.149Z,1761686124.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322110,-0.945569,-0.046304],[0.935779,-0.325421,0.135714],[-0.143395,0.000385,0.989665]] 2025-10-28T21:15:24.173Z,1761686124.173 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:15:24.173Z,1761686124.173 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:15:24.173Z,1761686124.173 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:15:24.173Z,1761686124.173 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:15:24.174Z,1761686124.174 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:15:24.174Z,1761686124.174 [marl:UpdateSpeed] Stopped 2025-10-28T21:15:24.174Z,1761686124.174 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:15:24.552Z,1761686124.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334621,-0.941249,-0.045590],[0.932101,-0.337710,0.130919],[-0.138624,0.001313,0.990344]] 2025-10-28T21:15:24.603Z,1761686124.603 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:15:24.603Z,1761686124.603 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:15:24.604Z,1761686124.604 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:15:24.620Z,1761686124.620 [marl:UpdateRudder:A] Stopped 2025-10-28T21:15:24.620Z,1761686124.620 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:15:24.620Z,1761686124.620 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:15:24.620Z,1761686124.620 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:15:24.621Z,1761686124.621 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:15:24.621Z,1761686124.621 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:15:24.621Z,1761686124.621 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:15:24.621Z,1761686124.621 [marl:UpdateCommandMode] Stopped 2025-10-28T21:15:24.621Z,1761686124.621 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:15:24.954Z,1761686124.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347545,-0.936531,-0.046072],[0.928111,-0.350585,0.125301],[-0.133501,0.000788,0.991048]] 2025-10-28T21:15:24.999Z,1761686124.999 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:15:24.999Z,1761686124.999 [marl:UpdateRudder:B] Stopped 2025-10-28T21:15:24.999Z,1761686124.999 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:15:24.999Z,1761686124.999 [marl:UpdateRudder] Stopped 2025-10-28T21:15:24.999Z,1761686124.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:15:25.358Z,1761686125.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360713,-0.931447,-0.047887],[0.923786,-0.363876,0.119221],[-0.128473,-0.001233,0.991712]] 2025-10-28T21:15:25.776Z,1761686125.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374895,-0.925764,-0.049133],[0.918848,-0.378091,0.112986],[-0.123175,-0.002787,0.992381]] 2025-10-28T21:15:26.168Z,1761686126.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389866,-0.919504,-0.050171],[0.913321,-0.393058,0.106534],[-0.117678,-0.004288,0.993043]] 2025-10-28T21:15:26.576Z,1761686126.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405136,-0.912829,-0.051075],[0.907347,-0.408301,0.100059],[-0.112190,-0.005805,0.993670]] 2025-10-28T21:15:26.975Z,1761686126.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420887,-0.905683,-0.050923],[0.900831,-0.423909,0.093836],[-0.106572,-0.006379,0.994285]] 2025-10-28T21:15:27.378Z,1761686127.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436099,-0.898402,-0.051883],[0.894222,-0.439093,0.086972],[-0.100918,-0.008466,0.994859]] 2025-10-28T21:15:27.795Z,1761686127.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448053,-0.892147,-0.057634],[0.888935,-0.451442,0.077424],[-0.095092,-0.016543,0.995331]] 2025-10-28T21:15:28.187Z,1761686128.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455103,-0.887518,-0.072061],[0.885981,-0.459427,0.062968],[-0.088992,-0.035188,0.995411]] 2025-10-28T21:15:28.598Z,1761686128.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455955,-0.884853,-0.095599],[0.886145,-0.461343,0.043707],[-0.082779,-0.064786,0.994460]] 2025-10-28T21:15:28.994Z,1761686128.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450984,-0.882496,-0.133472],[0.889300,-0.457013,0.016869],[-0.075886,-0.111089,0.990909]] 2025-10-28T21:15:29.400Z,1761686129.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439908,-0.879491,-0.181594],[0.895461,-0.444904,-0.014491],[-0.068047,-0.168985,0.983267]] 2025-10-28T21:15:29.803Z,1761686129.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422824,-0.874813,-0.236478],[0.904282,-0.424328,-0.047126],[-0.059118,-0.233769,0.970493]] 2025-10-28T21:15:30.218Z,1761686130.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400108,-0.867971,-0.294177],[0.915200,-0.395291,-0.078449],[-0.048194,-0.300618,0.952526]] 2025-10-28T21:15:30.621Z,1761686130.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373646,-0.858798,-0.350507],[0.926897,-0.360097,-0.105792],[-0.035363,-0.364413,0.930566]] 2025-10-28T21:15:31.023Z,1761686131.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344913,-0.847633,-0.403179],[0.938409,-0.320827,-0.128293],[-0.020605,-0.422597,0.906084]] 2025-10-28T21:15:31.448Z,1761686131.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315048,-0.837596,-0.446294],[0.949066,-0.280232,-0.144030],[-0.004427,-0.468939,0.883220]] 2025-10-28T21:15:31.831Z,1761686131.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285367,-0.831089,-0.477344],[0.958330,-0.240680,-0.153872],[0.012995,-0.501363,0.865139]] 2025-10-28T21:15:32.235Z,1761686132.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255505,-0.829399,-0.496805],[0.966322,-0.202802,-0.158406],[0.030629,-0.520547,0.853284]] 2025-10-28T21:15:32.642Z,1761686132.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225982,-0.832547,-0.505764],[0.972950,-0.167339,-0.159267],[0.047964,-0.528075,0.847842]] 2025-10-28T21:15:33.049Z,1761686133.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197337,-0.840015,-0.505404],[0.978198,-0.134695,-0.158070],[0.064706,-0.525578,0.848281]] 2025-10-28T21:15:33.446Z,1761686133.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168268,-0.852256,-0.495323],[0.982434,-0.103869,-0.155028],[0.080675,-0.512709,0.854764]] 2025-10-28T21:15:33.922Z,1761686133.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137952,-0.865631,-0.481302],[0.985844,-0.073255,-0.150814],[0.095292,-0.495294,0.863483]] 2025-10-28T21:15:34.323Z,1761686134.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106787,-0.877749,-0.467068],[0.988352,-0.042481,-0.146135],[0.108428,-0.477233,0.872062]] 2025-10-28T21:15:35.219Z,1761686135.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041606,-0.896024,-0.442051],[0.990726,0.020280,-0.134356],[0.129351,-0.443541,0.886871]] 2025-10-28T21:15:35.623Z,1761686135.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008791,-0.900662,-0.434431],[0.990416,0.052042,-0.127935],[0.137835,-0.431392,0.891573]] 2025-10-28T21:15:36.029Z,1761686136.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023596,-0.899864,-0.435531],[0.989124,0.084280,-0.120545],[0.145181,-0.427949,0.892066]] 2025-10-28T21:15:36.457Z,1761686136.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055301,-0.895483,-0.441646],[0.986903,0.116155,-0.111939],[0.151539,-0.429672,0.890179]] 2025-10-28T21:15:36.863Z,1761686136.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087098,-0.887422,-0.452654],[0.983737,0.148265,-0.101385],[0.157084,-0.436462,0.885904]] 2025-10-28T21:15:37.258Z,1761686137.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117934,-0.878658,-0.462657],[0.979623,0.179222,-0.090659],[0.162576,-0.442538,0.881889]] 2025-10-28T21:15:37.311Z,1761686137.311 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:15:37.311Z,1761686137.311 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:15:37.311Z,1761686137.311 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:15:37.315Z,1761686137.315 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:15:37.315Z,1761686137.315 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:15:37.315Z,1761686137.315 [marl:UpdateSpeed] Stopped 2025-10-28T21:15:37.315Z,1761686137.315 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:15:37.662Z,1761686137.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148722,-0.870842,-0.468525],[0.974631,0.209222,-0.079505],[0.167262,-0.444815,0.879865]] 2025-10-28T21:15:37.712Z,1761686137.712 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:15:37.712Z,1761686137.712 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:15:37.712Z,1761686137.712 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateRudder:A] Stopped 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:15:37.713Z,1761686137.713 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:15:37.714Z,1761686137.714 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:15:37.714Z,1761686137.714 [marl:UpdateCommandMode] Stopped 2025-10-28T21:15:37.714Z,1761686137.714 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:15:38.076Z,1761686138.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179868,-0.862195,-0.473569],[0.968793,0.238733,-0.066684],[0.170551,-0.446796,0.878229]] 2025-10-28T21:15:38.173Z,1761686138.173 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:15:38.173Z,1761686138.173 [marl:UpdateRudder:B] Stopped 2025-10-28T21:15:38.173Z,1761686138.173 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:15:38.173Z,1761686138.173 [marl:UpdateRudder] Stopped 2025-10-28T21:15:38.173Z,1761686138.173 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:15:38.472Z,1761686138.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211050,-0.853340,-0.476727],[0.962113,0.267479,-0.052852],[0.172615,-0.447511,0.877461]] 2025-10-28T21:15:39.278Z,1761686139.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272740,-0.836038,-0.476081],[0.945893,0.323430,-0.026082],[0.175784,-0.443208,0.879014]] 2025-10-28T21:15:39.748Z,1761686139.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332289,-0.815348,-0.474122],[0.926191,0.377054,0.000701],[0.178198,-0.439360,0.880459]] 2025-10-28T21:15:40.150Z,1761686140.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361860,-0.804124,-0.471637],[0.914800,0.403677,0.013618],[0.179438,-0.436381,0.881688]] 2025-10-28T21:15:40.566Z,1761686140.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391177,-0.793219,-0.466673],[0.902535,0.429836,0.025921],[0.180031,-0.431328,0.884050]] 2025-10-28T21:15:40.958Z,1761686140.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420858,-0.780954,-0.461508],[0.889153,0.455915,0.039346],[0.179681,-0.426910,0.886263]] 2025-10-28T21:15:41.362Z,1761686141.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450078,-0.767689,-0.456162],[0.874906,0.481371,0.053122],[0.178802,-0.423007,0.888310]] 2025-10-28T21:15:41.772Z,1761686141.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479326,-0.752032,-0.452432],[0.859480,0.506548,0.068587],[0.177599,-0.421732,0.889158]] 2025-10-28T21:15:42.172Z,1761686142.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508439,-0.736093,-0.446831],[0.842904,0.531550,0.083465],[0.176075,-0.419072,0.890717]] 2025-10-28T21:15:42.583Z,1761686142.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537409,-0.716699,-0.444449],[0.825107,0.555796,0.101433],[0.174326,-0.421229,0.890043]] 2025-10-28T21:15:42.998Z,1761686142.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566322,-0.696583,-0.440513],[0.805929,0.579911,0.119087],[0.172504,-0.422463,0.889813]] 2025-10-28T21:15:43.397Z,1761686143.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594276,-0.674933,-0.437379],[0.785926,0.602803,0.137651],[0.170749,-0.425550,0.888680]] 2025-10-28T21:15:43.791Z,1761686143.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622180,-0.652504,-0.432586],[0.764473,0.625481,0.156063],[0.168742,-0.427800,0.887983]] 2025-10-28T21:15:44.192Z,1761686144.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649201,-0.629931,-0.426292],[0.742119,0.647432,0.173466],[0.166723,-0.428974,0.887797]] 2025-10-28T21:15:44.600Z,1761686144.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675294,-0.606689,-0.419412],[0.718928,0.668427,0.190649],[0.164682,-0.430272,0.887551]] 2025-10-28T21:15:45.004Z,1761686145.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700270,-0.583452,-0.411346],[0.695127,0.688495,0.206816],[0.162542,-0.430765,0.887706]] 2025-10-28T21:15:45.407Z,1761686145.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724389,-0.560190,-0.401806],[0.670602,0.707733,0.222276],[0.159854,-0.430466,0.888339]] 2025-10-28T21:15:45.814Z,1761686145.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747229,-0.537250,-0.391168],[0.645823,0.725847,0.236768],[0.156724,-0.429545,0.889341]] 2025-10-28T21:15:46.215Z,1761686146.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768382,-0.514876,-0.380120],[0.621277,0.742672,0.249907],[0.153633,-0.428184,0.890537]] 2025-10-28T21:15:46.626Z,1761686146.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788263,-0.491885,-0.369717],[0.596572,0.758154,0.263258],[0.150810,-0.428079,0.891069]] 2025-10-28T21:15:47.024Z,1761686147.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807187,-0.468786,-0.358732],[0.571484,0.772800,0.276019],[0.147834,-0.427808,0.891698]] 2025-10-28T21:15:47.433Z,1761686147.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824876,-0.445401,-0.348135],[0.546368,0.786218,0.288691],[0.145127,-0.428344,0.891885]] 2025-10-28T21:15:47.837Z,1761686147.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842056,-0.421842,-0.336142],[0.520289,0.799602,0.299895],[0.142271,-0.427419,0.892789]] 2025-10-28T21:15:48.250Z,1761686148.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858543,-0.397866,-0.323431],[0.493249,0.813141,0.309042],[0.140038,-0.424858,0.894363]] 2025-10-28T21:15:48.643Z,1761686148.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874409,-0.372873,-0.310442],[0.465173,0.826153,0.317939],[0.137922,-0.422418,0.895846]] 2025-10-28T21:15:49.059Z,1761686149.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889714,-0.346102,-0.297695],[0.435854,0.837964,0.328403],[0.135797,-0.421936,0.896398]] 2025-10-28T21:15:49.457Z,1761686149.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904502,-0.317453,-0.284778],[0.405023,0.848523,0.340538],[0.133536,-0.423359,0.896066]] 2025-10-28T21:15:49.612Z,1761686149.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:15:49.854Z,1761686149.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918222,-0.288581,-0.271273],[0.373720,0.858091,0.352155],[0.131152,-0.424736,0.895767]] 2025-10-28T21:15:50.258Z,1761686150.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930849,-0.260286,-0.256457],[0.342049,0.867577,0.360988],[0.128536,-0.423747,0.896614]] 2025-10-28T21:15:50.314Z,1761686150.314 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed] Stopped 2025-10-28T21:15:50.315Z,1761686150.315 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:15:50.616Z,1761686150.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:15:50.666Z,1761686150.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942254,-0.232051,-0.241474],[0.310261,0.876298,0.368564],[0.126078,-0.422201,0.897692]] 2025-10-28T21:15:50.690Z,1761686150.690 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateRudder:A] Stopped 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:15:50.691Z,1761686150.691 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:15:50.692Z,1761686150.692 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:15:50.692Z,1761686150.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:15:50.692Z,1761686150.692 [marl:UpdateCommandMode] Stopped 2025-10-28T21:15:50.692Z,1761686150.692 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:15:51.072Z,1761686151.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952454,-0.203995,-0.226313],[0.278637,0.883681,0.376123],[0.123261,-0.421299,0.898506]] 2025-10-28T21:15:51.096Z,1761686151.096 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:15:51.096Z,1761686151.096 [marl:UpdateRudder:B] Stopped 2025-10-28T21:15:51.096Z,1761686151.096 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:15:51.096Z,1761686151.096 [marl:UpdateRudder] Stopped 2025-10-28T21:15:51.096Z,1761686151.096 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:15:51.478Z,1761686151.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961339,-0.176348,-0.211492],[0.247660,0.889463,0.384083],[0.120382,-0.421612,0.898750]] 2025-10-28T21:15:51.874Z,1761686151.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968851,-0.149834,-0.197175],[0.217871,0.894225,0.391017],[0.117731,-0.421796,0.899015]] 2025-10-28T21:15:52.279Z,1761686152.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975257,-0.123377,-0.183446],[0.188651,0.897065,0.399607],[0.115260,-0.424327,0.898144]] 2025-10-28T21:15:52.687Z,1761686152.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980624,-0.097681,-0.169808],[0.160040,0.899362,0.406860],[0.112977,-0.426152,0.897569]] 2025-10-28T21:15:53.086Z,1761686153.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985094,-0.072340,-0.156065],[0.131645,0.901025,0.413308],[0.110720,-0.427693,0.897118]] 2025-10-28T21:15:53.491Z,1761686153.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988644,-0.047460,-0.142585],[0.103763,0.901918,0.419258],[0.108702,-0.429292,0.896601]] 2025-10-28T21:15:53.894Z,1761686153.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991391,-0.022247,-0.129029],[0.075604,0.901838,0.425408],[0.106899,-0.431501,0.895756]] 2025-10-28T21:15:54.300Z,1761686154.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993307,0.004128,-0.115432],[0.046403,0.900907,0.431524],[0.105775,-0.433992,0.894686]] 2025-10-28T21:15:54.702Z,1761686154.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994357,0.031836,-0.101198],[0.015693,0.899273,0.437105],[0.104921,-0.436227,0.893699]] 2025-10-28T21:15:55.106Z,1761686155.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994439,0.060817,-0.085974],[-0.016610,0.896749,0.442228],[0.103992,-0.438341,0.892772]] 2025-10-28T21:15:55.514Z,1761686155.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993366,0.091013,-0.070289],[-0.050222,0.893222,0.446803],[0.103448,-0.440308,0.891867]] 2025-10-28T21:15:55.918Z,1761686155.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991041,0.122132,-0.054044],[-0.085027,0.889030,0.449885],[0.102992,-0.441259,0.891450]] 2025-10-28T21:15:56.723Z,1761686156.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982532,0.184825,-0.021681],[-0.156292,0.882810,0.442966],[0.101012,-0.431840,0.896276]] 2025-10-28T21:15:57.215Z,1761686157.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976330,0.216208,-0.005802],[-0.192305,0.880043,0.434215],[0.098986,-0.422821,0.900791]] 2025-10-28T21:15:57.569Z,1761686157.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968996,0.246883,0.009831],[-0.227358,0.875375,0.426647],[0.096726,-0.415654,0.904365]] 2025-10-28T21:15:57.962Z,1761686157.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960443,0.277436,0.024049],[-0.262077,0.871306,0.414899],[0.094154,-0.404789,0.909550]] 2025-10-28T21:15:58.369Z,1761686158.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951212,0.306079,0.038890],[-0.294759,0.864228,0.407710],[0.091182,-0.399282,0.912283]] 2025-10-28T21:15:58.789Z,1761686158.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941127,0.333801,0.053448],[-0.326357,0.855907,0.401142],[0.088155,-0.394969,0.914455]] 2025-10-28T21:15:59.203Z,1761686159.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930499,0.359671,0.069344],[-0.356326,0.844943,0.398878],[0.084874,-0.395865,0.914378]] 2025-10-28T21:15:59.578Z,1761686159.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919298,0.384088,0.085835],[-0.385009,0.832451,0.398489],[0.081601,-0.399378,0.913148]] 2025-10-28T21:15:59.983Z,1761686159.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907612,0.406688,0.104140],[-0.412427,0.817463,0.402068],[0.078385,-0.407872,0.909668]] 2025-10-28T21:16:00.391Z,1761686160.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895171,0.428336,0.123278],[-0.439301,0.801075,0.406563],[0.075391,-0.418100,0.905267]] 2025-10-28T21:16:00.798Z,1761686160.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881990,0.449104,0.142824],[-0.465702,0.784144,0.410172],[0.072215,-0.428281,0.900755]] 2025-10-28T21:16:01.209Z,1761686161.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867840,0.470155,0.160649],[-0.491925,0.767706,0.410655],[0.069740,-0.435410,0.897527]] 2025-10-28T21:16:01.599Z,1761686161.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852662,0.490819,0.179066],[-0.518105,0.750156,0.410894],[0.067347,-0.443128,0.893925]] 2025-10-28T21:16:02.002Z,1761686162.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836609,0.512223,0.194198],[-0.543934,0.734708,0.405390],[0.064971,-0.444783,0.893278]] 2025-10-28T21:16:02.406Z,1761686162.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819217,0.534453,0.207950],[-0.570010,0.718992,0.397666],[0.063019,-0.444308,0.893655]] 2025-10-28T21:16:02.811Z,1761686162.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800381,0.557479,0.220470],[-0.596347,0.702764,0.387934],[0.061326,-0.441972,0.894930]] 2025-10-28T21:16:03.216Z,1761686163.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780776,0.581062,0.229688],[-0.621971,0.687794,0.374287],[0.059505,-0.435093,0.898417]] 2025-10-28T21:16:03.280Z,1761686163.280 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:16:03.284Z,1761686163.284 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:16:03.284Z,1761686163.284 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:16:03.285Z,1761686163.285 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:16:03.285Z,1761686163.285 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:16:03.285Z,1761686163.285 [marl:UpdateSpeed] Stopped 2025-10-28T21:16:03.285Z,1761686163.285 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:16:03.619Z,1761686163.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759659,0.604836,0.238940],[-0.647747,0.671062,0.360694],[0.057817,-0.428777,0.901558]] 2025-10-28T21:16:03.652Z,1761686163.652 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:16:03.652Z,1761686163.652 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:16:03.652Z,1761686163.652 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateRudder:A] Stopped 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:16:03.653Z,1761686163.653 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:16:03.654Z,1761686163.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:16:03.654Z,1761686163.654 [marl:UpdateCommandMode] Stopped 2025-10-28T21:16:03.654Z,1761686163.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:16:04.035Z,1761686164.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737556,0.628191,0.247766],[-0.672957,0.653303,0.346878],[0.056039,-0.422578,0.904593]] 2025-10-28T21:16:04.076Z,1761686164.076 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:16:04.076Z,1761686164.076 [marl:UpdateRudder:B] Stopped 2025-10-28T21:16:04.076Z,1761686164.076 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:16:04.077Z,1761686164.077 [marl:UpdateRudder] Stopped 2025-10-28T21:16:04.077Z,1761686164.077 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:16:04.832Z,1761686164.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689292,0.674824,0.263606],[-0.722572,0.613935,0.317765],[0.052599,-0.409507,0.910789]] 2025-10-28T21:16:05.312Z,1761686165.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664176,0.695952,0.272988],[-0.745839,0.591990,0.305406],[0.050942,-0.406448,0.912253]] 2025-10-28T21:16:05.710Z,1761686165.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637945,0.716299,0.282741],[-0.768477,0.568460,0.293762],[0.049694,-0.404684,0.913105]] 2025-10-28T21:16:05.756Z,1761686165.756 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:16:05.917Z,1761686165.917 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:16:05.917Z,1761686165.917 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:16:06.141Z,1761686166.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612272,0.734423,0.292824],[-0.789188,0.545192,0.282750],[0.048013,-0.404213,0.913404]] 2025-10-28T21:16:06.169Z,1761686166.169 [DAT](INFO): DAT read: user:296> 2025-10-28T21:16:06.170Z,1761686166.170 [DAT](INFO): DAT read: Tx time:21:16:05.9062 2025-10-28T21:16:06.170Z,1761686166.170 [DAT](INFO): Ping request sent. 2025-10-28T21:16:06.170Z,1761686166.170 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:16:06.170Z,1761686166.170 [DAT](INFO): publishing transmit ping time 2025-10-28T21:16:06.171Z,1761686166.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T21:16:06.421Z,1761686166.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801 2025-10-28T21:16:06.580Z,1761686166.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561519,0.764595,0.316372],[-0.826339,0.498218,0.262571],[0.043138,-0.408870,0.911573]] 2025-10-28T21:16:06.673Z,1761686166.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502703 2025-10-28T21:16:06.925Z,1761686166.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754733 2025-10-28T21:16:06.988Z,1761686166.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536559,0.777114,0.328934],[-0.842900,0.474942,0.252884],[0.040295,-0.412946,0.909864]] 2025-10-28T21:16:07.181Z,1761686167.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009612 2025-10-28T21:16:07.387Z,1761686167.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511320,0.788598,0.341562],[-0.858580,0.451505,0.242864],[0.037305,-0.417440,0.907938]] 2025-10-28T21:16:07.429Z,1761686167.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258800 2025-10-28T21:16:07.681Z,1761686167.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510873 2025-10-28T21:16:07.794Z,1761686167.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486210,0.799096,0.353617],[-0.873166,0.428355,0.232582],[0.034382,-0.421850,0.906013]] 2025-10-28T21:16:07.933Z,1761686167.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762700 2025-10-28T21:16:08.185Z,1761686168.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014781 2025-10-28T21:16:08.197Z,1761686168.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460742,0.808416,0.366306],[-0.886983,0.404867,0.222135],[0.031272,-0.427254,0.903590]] 2025-10-28T21:16:08.438Z,1761686168.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267374 2025-10-28T21:16:08.606Z,1761686168.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434542,0.818454,0.375908],[-0.900206,0.381560,0.209859],[0.028329,-0.429588,0.902581]] 2025-10-28T21:16:08.689Z,1761686168.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518742 2025-10-28T21:16:08.941Z,1761686168.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770689 2025-10-28T21:16:09.010Z,1761686169.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407177,0.828002,0.385511],[-0.912987,0.357095,0.197328],[0.025724,-0.432314,0.901356]] 2025-10-28T21:16:09.196Z,1761686169.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025114 2025-10-28T21:16:09.407Z,1761686169.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379025,0.837101,0.394464],[-0.925098,0.332119,0.184093],[0.023096,-0.434694,0.900282]] 2025-10-28T21:16:09.445Z,1761686169.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274888 2025-10-28T21:16:09.697Z,1761686169.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526762 2025-10-28T21:16:09.811Z,1761686169.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350377,0.846927,0.399938],[-0.936390,0.307518,0.169136],[0.020258,-0.433759,0.900801]] 2025-10-28T21:16:09.949Z,1761686169.949 [DAT](INFO): DAT read: Rx Time:21:16:09.2857 2025-10-28T21:16:09.949Z,1761686169.949 [DAT](INFO): Rx dataTimestamp_ set to:1761686169.949126 2025-10-28T21:16:09.950Z,1761686169.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779802 2025-10-28T21:16:10.201Z,1761686170.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030725 2025-10-28T21:16:10.222Z,1761686170.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321030,0.856133,0.404939],[-0.946904,0.282176,0.154108],[0.017673,-0.432912,0.901263]] 2025-10-28T21:16:10.471Z,1761686170.471 [DAT](INFO): DAT read: 21:16:09.2857 LVL= 15536, 24913, 27186, 32755, AGC= 76, IDX= 255, 0.32,-1.203, 2.991,-2.606,-1.892, PHS= 0.791,-1.356,-0.758, RAW= 105.6, 13.7, CAL= 107.2, 15.8, ROT= 42.8, -15.8 2025-10-28T21:16:10.475Z,1761686170.475 [DAT](INFO): got valid direction response: 21:16:09.2857 LVL= 15536, 24913, 27186, 32755, AGC= 76, IDX= 255, 0.32,-1.203, 2.991,-2.606,-1.892, PHS= 0.791,-1.356,-0.758, RAW= 105.6, 13.7, CAL= 107.2, 15.8, ROT= 42.8, -15.8 2025-10-28T21:16:10.487Z,1761686170.487 [DAT](INFO): DAT read: Bearing 331, -18 (Remote) 2025-10-28T21:16:10.488Z,1761686170.488 [DAT](INFO): Remote Bearing received:Bearing 331, -18 (Remote) 2025-10-28T21:16:10.489Z,1761686170.489 [DAT](INFO): DAT read: Bearing 119.2, 28.9 (Local) 2025-10-28T21:16:10.489Z,1761686170.489 [DAT](INFO): Local bearing/azimuth received: Bearing 119.2, 28.9 (Local) 2025-10-28T21:16:10.490Z,1761686170.490 [DAT](INFO): DAT read: Range 11 to 20 : 1012.7 m (Round-trip 1350.3 ms) speed 0.1 m/s 2025-10-28T21:16:10.491Z,1761686170.491 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:16:10.492Z,1761686170.492 [DAT](INFO): direction in FSK: [0.706008,0.653771,0.272280] 2025-10-28T21:16:10.492Z,1761686170.492 [DAT](INFO): publishing direction and range info 2025-10-28T21:16:10.619Z,1761686170.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290574,0.863585,0.412053],[-0.956732,0.255381,0.139443],[0.015190,-0.434742,0.900427]] 2025-10-28T21:16:10.681Z,1761686170.681 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686144.00. Resetting abort timer. 2025-10-28T21:16:11.030Z,1761686171.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260701,0.872137,0.414020],[-0.965337,0.229889,0.123593],[0.012612,-0.431889,0.901838]] 2025-10-28T21:16:11.429Z,1761686171.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230172,0.880352,0.414731],[-0.973098,0.203823,0.107405],[0.010023,-0.428295,0.903583]] 2025-10-28T21:16:11.832Z,1761686171.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198722,0.887902,0.414897],[-0.980028,0.176810,0.091017],[0.007456,-0.424697,0.905305]] 2025-10-28T21:16:12.235Z,1761686172.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167161,0.894396,0.414865],[-0.985917,0.149504,0.074943],[0.005005,-0.421550,0.906792]] 2025-10-28T21:16:12.639Z,1761686172.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135462,0.900160,0.413959],[-0.990779,0.121964,0.059006],[0.002627,-0.418135,0.908381]] 2025-10-28T21:16:13.044Z,1761686173.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103299,0.904794,0.413131],[-0.994650,0.093674,0.043548],[0.000702,-0.415419,0.909630]] 2025-10-28T21:16:13.449Z,1761686173.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071137,0.908596,0.411574],[-0.997466,0.065292,0.028265],[-0.001192,-0.412542,0.910938]] 2025-10-28T21:16:13.851Z,1761686173.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039487,0.911370,0.409689],[-0.999216,0.037233,0.013481],[-0.002968,-0.409900,0.912126]] 2025-10-28T21:16:14.254Z,1761686174.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008349,0.914985,0.403402],[-0.999953,0.009587,-0.001050],[-0.004828,-0.403374,0.915022]] 2025-10-28T21:16:14.665Z,1761686174.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022523,0.916260,0.399950],[-0.999725,-0.018034,-0.014985],[-0.006517,-0.400177,0.916414]] 2025-10-28T21:16:15.062Z,1761686175.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052916,0.915789,0.398160],[-0.998567,-0.045342,-0.028421],[-0.007974,-0.399093,0.916876]] 2025-10-28T21:16:15.466Z,1761686175.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082751,0.913547,0.398226],[-0.996526,-0.072086,-0.041708],[-0.009396,-0.400294,0.916339]] 2025-10-28T21:16:15.871Z,1761686175.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111060,0.909281,0.401091],[-0.993752,-0.097126,-0.054980],[-0.011036,-0.404691,0.914387]] 2025-10-28T21:16:16.276Z,1761686176.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138426,0.904277,0.403884],[-0.990289,-0.121080,-0.068316],[-0.012875,-0.409418,0.912256]] 2025-10-28T21:16:16.300Z,1761686176.300 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:16:16.300Z,1761686176.300 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:16:16.301Z,1761686176.301 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:16:16.301Z,1761686176.301 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:16:16.301Z,1761686176.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:16:16.301Z,1761686176.301 [marl:UpdateSpeed] Stopped 2025-10-28T21:16:16.301Z,1761686176.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:16:16.678Z,1761686176.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165112,0.898844,0.405978],[-0.986166,-0.144352,-0.081478],[-0.014632,-0.413815,0.910243]] 2025-10-28T21:16:16.715Z,1761686176.715 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:16:16.715Z,1761686176.715 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:16:16.715Z,1761686176.715 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:16:16.716Z,1761686176.716 [marl:UpdateRudder:A] Stopped 2025-10-28T21:16:16.716Z,1761686176.716 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:16:16.716Z,1761686176.716 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:16:16.716Z,1761686176.716 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:16:16.716Z,1761686176.716 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:16:16.717Z,1761686176.717 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:16:16.717Z,1761686176.717 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:16:16.717Z,1761686176.717 [marl:UpdateCommandMode] Stopped 2025-10-28T21:16:16.717Z,1761686176.717 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:16:17.197Z,1761686177.197 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:16:17.198Z,1761686177.198 [marl:UpdateRudder:B] Stopped 2025-10-28T21:16:17.198Z,1761686177.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:16:17.199Z,1761686177.199 [marl:UpdateRudder] Stopped 2025-10-28T21:16:17.199Z,1761686177.199 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:16:17.494Z,1761686177.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214817,0.886444,0.409964],[-0.976476,-0.186913,-0.107512],[-0.018676,-0.423415,0.905743]] 2025-10-28T21:16:17.890Z,1761686177.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239560,0.880966,0.408056],[-0.970660,-0.208353,-0.120030],[-0.020723,-0.424838,0.905032]] 2025-10-28T21:16:18.295Z,1761686178.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264996,0.874908,0.405357],[-0.963992,-0.230658,-0.132351],[-0.022297,-0.425833,0.904527]] 2025-10-28T21:16:18.700Z,1761686178.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291579,0.869474,0.398745],[-0.956249,-0.254563,-0.144168],[-0.023844,-0.423336,0.905659]] 2025-10-28T21:16:19.104Z,1761686179.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318735,0.864612,0.388399],[-0.947505,-0.279691,-0.154940],[-0.025331,-0.417395,0.908372]] 2025-10-28T21:16:19.515Z,1761686179.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346734,0.859108,0.376444],[-0.937591,-0.306146,-0.164918],[-0.026436,-0.410133,0.911643]] 2025-10-28T21:16:19.911Z,1761686179.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375435,0.852496,0.363730],[-0.926449,-0.333646,-0.174277],[-0.027214,-0.402407,0.915056]] 2025-10-28T21:16:20.317Z,1761686180.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403278,0.843991,0.353620],[-0.914644,-0.359876,-0.184164],[-0.028174,-0.397705,0.917081]] 2025-10-28T21:16:20.719Z,1761686180.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430297,0.834015,0.345347],[-0.902215,-0.384969,-0.194443],[-0.029220,-0.395245,0.918111]] 2025-10-28T21:16:20.736Z,1761686180.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:16:21.126Z,1761686181.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455928,0.823180,0.338385],[-0.889497,-0.408451,-0.204848],[-0.030413,-0.394389,0.918440]] 2025-10-28T21:16:21.530Z,1761686181.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479542,0.811404,0.334161],[-0.876947,-0.429379,-0.215864],[-0.031672,-0.396557,0.917463]] 2025-10-28T21:16:21.740Z,1761686181.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:16:21.933Z,1761686181.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501705,0.798511,0.332675],[-0.864414,-0.448172,-0.227881],[-0.032870,-0.401898,0.915094]] 2025-10-28T21:16:22.334Z,1761686182.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522179,0.785645,0.331798],[-0.852146,-0.465007,-0.240032],[-0.034291,-0.408080,0.912302]] 2025-10-28T21:16:22.738Z,1761686182.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542510,0.773008,0.328849],[-0.839296,-0.482183,-0.251162],[-0.035584,-0.412260,0.910371]] 2025-10-28T21:16:23.175Z,1761686183.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562677,0.760779,0.323435],[-0.825856,-0.499882,-0.260921],[-0.036823,-0.413925,0.909566]] 2025-10-28T21:16:23.587Z,1761686183.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583542,0.747679,0.316948],[-0.811196,-0.518440,-0.270520],[-0.037943,-0.414966,0.909045]] 2025-10-28T21:16:24.441Z,1761686184.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627566,0.717852,0.301412],[-0.777557,-0.558211,-0.289491],[-0.039561,-0.416040,0.908485]] 2025-10-28T21:16:24.839Z,1761686184.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650478,0.700549,0.293445],[-0.758441,-0.578477,-0.300220],[-0.040568,-0.417847,0.907611]] 2025-10-28T21:16:25.647Z,1761686185.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696369,0.663288,0.274079],[-0.716343,-0.619047,-0.321923],[-0.043860,-0.420511,0.906227]] 2025-10-28T21:16:26.053Z,1761686186.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718540,0.644445,0.261515],[-0.693911,-0.639017,-0.331881],[-0.046767,-0.419938,0.906347]] 2025-10-28T21:16:26.485Z,1761686186.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739911,0.626213,0.245743],[-0.670810,-0.659432,-0.339356],[-0.050459,-0.415940,0.907991]] 2025-10-28T21:16:26.858Z,1761686186.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760363,0.608143,0.228057],[-0.647226,-0.680110,-0.344310],[-0.054286,-0.409405,0.910736]] 2025-10-28T21:16:27.667Z,1761686187.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798552,0.568392,0.198105],[-0.598760,-0.716384,-0.358163],[-0.061658,-0.404629,0.912400]] 2025-10-28T21:16:28.072Z,1761686188.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815934,0.547537,0.185622],[-0.574502,-0.731876,-0.366476],[-0.064807,-0.405661,0.911723]] 2025-10-28T21:16:28.489Z,1761686188.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832589,0.525845,0.174017],[-0.549824,-0.746627,-0.374489],[-0.066998,-0.407474,0.910756]] 2025-10-28T21:16:28.878Z,1761686188.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847704,0.503915,0.165732],[-0.526074,-0.758466,-0.384675],[-0.068141,-0.413279,0.908051]] 2025-10-28T21:16:29.286Z,1761686189.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861275,0.483327,0.156846],[-0.503436,-0.769735,-0.392505],[-0.068978,-0.417017,0.906278]] 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:16:29.357Z,1761686189.357 [marl:UpdateSpeed] Stopped 2025-10-28T21:16:29.358Z,1761686189.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:16:29.689Z,1761686189.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874122,0.463081,0.146513],[-0.480626,-0.781175,-0.398452],[-0.070063,-0.418714,0.905411]] 2025-10-28T21:16:29.713Z,1761686189.713 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:16:29.713Z,1761686189.713 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:16:29.713Z,1761686189.713 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateRudder:A] Stopped 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:16:29.714Z,1761686189.714 [marl:UpdateCommandMode] Stopped 2025-10-28T21:16:29.715Z,1761686189.715 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:16:30.091Z,1761686190.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885781,0.443590,0.136454],[-0.458618,-0.791553,-0.403873],[-0.071144,-0.420324,0.904581]] 2025-10-28T21:16:30.124Z,1761686190.124 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:16:30.124Z,1761686190.124 [marl:UpdateRudder:B] Stopped 2025-10-28T21:16:30.124Z,1761686190.124 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:16:30.124Z,1761686190.124 [marl:UpdateRudder] Stopped 2025-10-28T21:16:30.125Z,1761686190.125 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:16:30.501Z,1761686190.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896515,0.424644,0.126249],[-0.437070,-0.801284,-0.408551],[-0.072327,-0.421452,0.903962]] 2025-10-28T21:16:30.899Z,1761686190.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906428,0.406433,0.114893],[-0.415901,-0.811518,-0.410445],[-0.073581,-0.419823,0.904619]] 2025-10-28T21:16:31.312Z,1761686191.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915888,0.387900,0.103357],[-0.394344,-0.821205,-0.412450],[-0.075112,-0.418516,0.905098]] 2025-10-28T21:16:31.706Z,1761686191.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925085,0.368743,0.090813],[-0.371986,-0.831717,-0.412156],[-0.076449,-0.415060,0.906576]] 2025-10-28T21:16:32.111Z,1761686192.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934182,0.348341,0.077222],[-0.348219,-0.842937,-0.410123],[-0.077770,-0.410019,0.908755]] 2025-10-28T21:16:32.515Z,1761686192.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943330,0.325924,0.062463],[-0.322296,-0.854930,-0.406471],[-0.079078,-0.403568,0.911526]] 2025-10-28T21:16:32.921Z,1761686192.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952358,0.301255,0.047547],[-0.294200,-0.866360,-0.403569],[-0.080384,-0.398330,0.913713]] 2025-10-28T21:16:33.323Z,1761686193.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960916,0.274920,0.032549],[-0.264420,-0.876621,-0.402018],[-0.081990,-0.394912,0.915053]] 2025-10-28T21:16:33.727Z,1761686193.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968904,0.246746,0.018496],[-0.232989,-0.884600,-0.403978],[-0.083318,-0.395725,0.914582]] 2025-10-28T21:16:34.131Z,1761686194.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976111,0.217218,0.004746],[-0.200220,-0.890815,-0.407874],[-0.084370,-0.399080,0.913026]] 2025-10-28T21:16:34.535Z,1761686194.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982226,0.187447,-0.009745],[-0.166847,-0.895708,-0.412152],[-0.085986,-0.403201,0.911063]] 2025-10-28T21:16:34.942Z,1761686194.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987127,0.157999,-0.024834],[-0.133612,-0.899987,-0.414936],[-0.087910,-0.406276,0.909512]] 2025-10-28T21:16:35.378Z,1761686195.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990871,0.128761,-0.039944],[-0.100581,-0.903354,-0.416936],[-0.089769,-0.409112,0.908058]] 2025-10-28T21:16:35.803Z,1761686195.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995004,0.072966,-0.068134],[-0.037496,-0.905670,-0.422322],[-0.092522,-0.417658,0.903881]] 2025-10-28T21:16:36.202Z,1761686196.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995597,0.048075,-0.080467],[-0.009249,-0.904652,-0.426051],[-0.093277,-0.423431,0.901113]] 2025-10-28T21:16:36.603Z,1761686196.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995465,0.024169,-0.092011],[0.017937,-0.902156,-0.431037],[-0.093426,-0.430733,0.897631]] 2025-10-28T21:16:37.003Z,1761686197.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994716,0.000900,-0.102658],[0.043918,-0.900114,-0.433436],[-0.092794,-0.435654,0.895318]] 2025-10-28T21:16:37.407Z,1761686197.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993315,-0.022354,-0.113246],[0.069605,-0.898636,-0.433137],[-0.092085,-0.438124,0.894185]] 2025-10-28T21:16:37.815Z,1761686197.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991376,-0.044995,-0.123081],[0.094168,-0.897762,-0.430297],[-0.091136,-0.438177,0.894257]] 2025-10-28T21:16:38.216Z,1761686198.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988751,-0.068932,-0.132737],[0.119494,-0.897814,-0.423854],[-0.089956,-0.434947,0.895951]] 2025-10-28T21:16:38.619Z,1761686198.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985233,-0.094943,-0.142483],[0.146399,-0.898659,-0.413497],[-0.088785,-0.428251,0.899288]] 2025-10-28T21:16:39.023Z,1761686199.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980655,-0.123414,-0.151936],[0.175061,-0.900224,-0.398686],[-0.087573,-0.417571,0.904414]] 2025-10-28T21:16:39.426Z,1761686199.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974779,-0.153225,-0.162260],[0.205454,-0.900037,-0.384346],[-0.087149,-0.407990,0.908818]] 2025-10-28T21:16:39.841Z,1761686199.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967832,-0.182061,-0.173652],[0.235786,-0.897150,-0.373534],[-0.087786,-0.402463,0.911217]] 2025-10-28T21:16:40.234Z,1761686200.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959667,-0.211336,-0.185409],[0.266555,-0.893625,-0.361084],[-0.089376,-0.395942,0.913915]] 2025-10-28T21:16:40.639Z,1761686200.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950449,-0.238633,-0.199251],[0.296997,-0.886381,-0.355136],[-0.091865,-0.396715,0.913333]] 2025-10-28T21:16:41.043Z,1761686201.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940259,-0.265126,-0.213592],[0.327016,-0.877848,-0.349918],[-0.094729,-0.398862,0.912105]] 2025-10-28T21:16:41.451Z,1761686201.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929256,-0.289976,-0.228905],[0.356230,-0.867502,-0.347190],[-0.097899,-0.404171,0.909429]] 2025-10-28T21:16:41.854Z,1761686201.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917515,-0.314118,-0.243918],[0.384818,-0.856049,-0.345100],[-0.100404,-0.410499,0.906317]] 2025-10-28T21:16:42.254Z,1761686202.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905442,-0.337055,-0.258008],[0.412041,-0.843937,-0.343500],[-0.101964,-0.417329,0.903017]] 2025-10-28T21:16:42.278Z,1761686202.278 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:16:42.278Z,1761686202.278 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:16:42.279Z,1761686202.279 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:16:42.279Z,1761686202.279 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:16:42.279Z,1761686202.279 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:16:42.279Z,1761686202.279 [marl:UpdateSpeed] Stopped 2025-10-28T21:16:42.279Z,1761686202.279 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:16:42.661Z,1761686202.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893119,-0.359889,-0.269850],[0.437912,-0.832767,-0.338722],[-0.102820,-0.420689,0.901359]] 2025-10-28T21:16:42.685Z,1761686202.685 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:16:42.685Z,1761686202.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateRudder:A] Stopped 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:16:42.686Z,1761686202.686 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:16:42.687Z,1761686202.687 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:16:42.687Z,1761686202.687 [marl:UpdateCommandMode] Stopped 2025-10-28T21:16:42.687Z,1761686202.687 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:16:43.062Z,1761686203.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880257,-0.382994,-0.280114],[0.463131,-0.821926,-0.331584],[-0.103238,-0.421608,0.900882]] 2025-10-28T21:16:43.103Z,1761686203.103 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:16:43.103Z,1761686203.103 [marl:UpdateRudder:B] Stopped 2025-10-28T21:16:43.103Z,1761686203.103 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:16:43.103Z,1761686203.103 [marl:UpdateRudder] Stopped 2025-10-28T21:16:43.103Z,1761686203.103 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:16:43.478Z,1761686203.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866981,-0.405817,-0.289234],[0.487509,-0.811020,-0.323390],[-0.103338,-0.421377,0.900979]] 2025-10-28T21:16:43.887Z,1761686203.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853414,-0.428840,-0.296278],[0.510906,-0.800817,-0.312516],[-0.103245,-0.418076,0.902526]] 2025-10-28T21:16:44.274Z,1761686204.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839662,-0.452003,-0.301099],[0.533161,-0.791634,-0.298421],[-0.103473,-0.411107,0.905696]] 2025-10-28T21:16:44.679Z,1761686204.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825028,-0.475143,-0.305887],[0.555445,-0.781454,-0.284271],[-0.103967,-0.404435,0.908638]] 2025-10-28T21:16:45.083Z,1761686205.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809689,-0.497522,-0.311248],[0.577444,-0.770037,-0.271294],[-0.104698,-0.399393,0.910782]] 2025-10-28T21:16:45.505Z,1761686205.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794285,-0.518282,-0.317009],[0.598299,-0.757958,-0.259879],[-0.105589,-0.396084,0.912123]] 2025-10-28T21:16:45.951Z,1761686205.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777944,-0.539083,-0.322788],[0.619262,-0.744787,-0.248612],[-0.106386,-0.393297,0.913236]] 2025-10-28T21:16:46.342Z,1761686206.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761465,-0.558726,-0.328628],[0.639386,-0.730767,-0.239091],[-0.106564,-0.392180,0.913695]] 2025-10-28T21:16:46.813Z,1761686206.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744364,-0.577408,-0.335442],[0.659211,-0.715567,-0.231094],[-0.106596,-0.393145,0.913277]] 2025-10-28T21:16:47.225Z,1761686207.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726292,-0.596040,-0.342398],[0.679066,-0.699422,-0.222888],[-0.106630,-0.394392,0.912735]] 2025-10-28T21:16:47.629Z,1761686207.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707286,-0.614412,-0.349633],[0.698834,-0.682310,-0.214671],[-0.106662,-0.396169,0.911961]] 2025-10-28T21:16:48.030Z,1761686208.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687494,-0.631607,-0.358363],[0.718369,-0.663743,-0.208306],[-0.106294,-0.400646,0.910047]] 2025-10-28T21:16:48.438Z,1761686208.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666996,-0.648363,-0.367072],[0.737612,-0.644121,-0.202575],[-0.105096,-0.405874,0.907866]] 2025-10-28T21:16:48.839Z,1761686208.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645350,-0.665098,-0.375723],[0.756785,-0.623581,-0.196018],[-0.103923,-0.410841,0.905765]] 2025-10-28T21:16:49.244Z,1761686209.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622776,-0.682375,-0.382772],[0.775589,-0.602845,-0.187190],[-0.103018,-0.413451,0.904680]] 2025-10-28T21:16:49.646Z,1761686209.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599675,-0.700027,-0.387752],[0.793726,-0.582020,-0.176783],[-0.101927,-0.413781,0.904652]] 2025-10-28T21:16:50.466Z,1761686210.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551450,-0.735346,-0.393913],[0.828155,-0.539352,-0.152509],[-0.100311,-0.410323,0.906407]] 2025-10-28T21:16:50.861Z,1761686210.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526101,-0.751967,-0.397194],[0.844483,-0.517047,-0.139682],[-0.100331,-0.408910,0.907043]] 2025-10-28T21:16:51.262Z,1761686211.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500205,-0.769294,-0.397469],[0.860038,-0.494735,-0.124788],[-0.100644,-0.404258,0.909091]] 2025-10-28T21:16:51.667Z,1761686211.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473628,-0.784459,-0.400376],[0.874822,-0.471578,-0.110912],[-0.101803,-0.402789,0.909614]] 2025-10-28T21:16:51.872Z,1761686211.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:16:52.070Z,1761686212.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447167,-0.798411,-0.403213],[0.888500,-0.448411,-0.097447],[-0.103003,-0.401829,0.909903]] 2025-10-28T21:16:52.483Z,1761686212.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420102,-0.810877,-0.407422],[0.901438,-0.424592,-0.084445],[-0.104514,-0.402742,0.909327]] 2025-10-28T21:16:52.876Z,1761686212.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:16:52.880Z,1761686212.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392904,-0.821751,-0.412737],[0.913406,-0.400668,-0.071793],[-0.106375,-0.405204,0.908016]] 2025-10-28T21:16:53.282Z,1761686213.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365502,-0.831651,-0.418049],[0.924476,-0.376649,-0.058981],[-0.108406,-0.408034,0.906508]] 2025-10-28T21:16:53.745Z,1761686213.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338168,-0.842207,-0.419917],[0.934584,-0.352905,-0.044834],[-0.110431,-0.407609,0.906454]] 2025-10-28T21:16:54.148Z,1761686214.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311384,-0.850208,-0.424483],[0.943601,-0.329515,-0.032195],[-0.112501,-0.410568,0.904863]] 2025-10-28T21:16:54.561Z,1761686214.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285571,-0.857538,-0.427876],[0.951536,-0.306887,-0.020014],[-0.114147,-0.412854,0.903616]] 2025-10-28T21:16:54.976Z,1761686214.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261017,-0.864479,-0.429588],[0.958471,-0.285058,-0.008731],[-0.114910,-0.414026,0.902983]] 2025-10-28T21:16:55.363Z,1761686215.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237096,-0.870917,-0.430452],[0.964681,-0.263416,0.001606],[-0.114786,-0.414868,0.902612]] 2025-10-28T21:16:55.419Z,1761686215.419 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:16:55.420Z,1761686215.420 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:16:55.420Z,1761686215.420 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:16:55.421Z,1761686215.421 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:16:55.421Z,1761686215.421 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:16:55.421Z,1761686215.421 [marl:UpdateSpeed] Stopped 2025-10-28T21:16:55.421Z,1761686215.421 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:16:55.772Z,1761686215.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213522,-0.876593,-0.431270],[0.970256,-0.241823,0.011150],[-0.114065,-0.416062,0.902154]] 2025-10-28T21:16:55.824Z,1761686215.824 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateRudder:A] Stopped 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:16:55.825Z,1761686215.825 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:16:55.826Z,1761686215.826 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:16:55.826Z,1761686215.826 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:16:55.826Z,1761686215.826 [marl:UpdateCommandMode] Stopped 2025-10-28T21:16:55.826Z,1761686215.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:16:56.172Z,1761686216.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189720,-0.881588,-0.432214],[0.975396,-0.219577,0.019723],[-0.112292,-0.417838,0.901555]] 2025-10-28T21:16:56.197Z,1761686216.197 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:16:56.197Z,1761686216.197 [marl:UpdateRudder:B] Stopped 2025-10-28T21:16:56.197Z,1761686216.197 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:16:56.197Z,1761686216.197 [marl:UpdateRudder] Stopped 2025-10-28T21:16:56.197Z,1761686216.197 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:16:56.576Z,1761686216.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165458,-0.886560,-0.432013],[0.980114,-0.196475,0.027822],[-0.109545,-0.418818,0.901438]] 2025-10-28T21:16:57.383Z,1761686217.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114621,-0.894077,-0.432998],[0.988064,-0.147761,0.043549],[-0.102916,-0.422838,0.900342]] 2025-10-28T21:16:57.815Z,1761686217.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062349,-0.899401,-0.432655],[0.993447,-0.097532,0.059585],[-0.095789,-0.426105,0.899588]] 2025-10-28T21:16:58.217Z,1761686218.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034641,-0.901933,-0.430484],[0.995074,-0.071159,0.069016],[-0.092881,-0.425973,0.899956]] 2025-10-28T21:16:58.637Z,1761686218.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006681,-0.903495,-0.428547],[0.995939,-0.044490,0.078270],[-0.089782,-0.426284,0.900123]] 2025-10-28T21:16:59.046Z,1761686219.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021404,-0.904266,-0.426433],[0.996000,-0.017722,0.087573],[-0.086746,-0.426602,0.900270]] 2025-10-28T21:16:59.447Z,1761686219.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049094,-0.904102,-0.424487],[0.995288,0.008702,0.096576],[-0.083621,-0.427228,0.900269]] 2025-10-28T21:16:59.842Z,1761686219.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077145,-0.902739,-0.423214],[0.993782,0.035444,0.105547],[-0.080281,-0.428725,0.899861]] 2025-10-28T21:17:00.247Z,1761686220.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106353,-0.900358,-0.421954],[0.991292,0.062868,0.115708],[-0.077651,-0.430585,0.899203]] 2025-10-28T21:17:00.652Z,1761686220.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135558,-0.897754,-0.419120],[0.987931,0.090482,0.125719],[-0.074941,-0.431104,0.899185]] 2025-10-28T21:17:01.055Z,1761686221.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164068,-0.895480,-0.413761],[0.983804,0.117840,0.135070],[-0.072195,-0.429220,0.900310]] 2025-10-28T21:17:01.459Z,1761686221.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192253,-0.892273,-0.408519],[0.978882,0.144886,0.144216],[-0.069492,-0.427617,0.901285]] 2025-10-28T21:17:01.863Z,1761686221.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219985,-0.888764,-0.402125],[0.973187,0.171560,0.153212],[-0.067181,-0.425048,0.902674]] 2025-10-28T21:17:02.268Z,1761686222.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248158,-0.884579,-0.394889],[0.966531,0.198706,0.162276],[-0.065079,-0.421942,0.904284]] 2025-10-28T21:17:02.671Z,1761686222.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275587,-0.879138,-0.388803],[0.959224,0.225089,0.170949],[-0.062773,-0.420061,0.905322]] 2025-10-28T21:17:03.074Z,1761686223.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302499,-0.872898,-0.382810],[0.951247,0.251111,0.179089],[-0.060198,-0.418321,0.906302]] 2025-10-28T21:17:03.482Z,1761686223.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329892,-0.864245,-0.379805],[0.942246,0.276805,0.188550],[-0.057821,-0.420071,0.905647]] 2025-10-28T21:17:03.886Z,1761686223.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356941,-0.855356,-0.375445],[0.932480,0.302407,0.197566],[-0.055452,-0.420614,0.905543]] 2025-10-28T21:17:04.286Z,1761686224.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383829,-0.845743,-0.370666],[0.921886,0.327958,0.206326],[-0.052936,-0.420906,0.905558]] 2025-10-28T21:17:04.691Z,1761686224.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410719,-0.834862,-0.366491],[0.910346,0.353099,0.215850],[-0.050797,-0.422287,0.905038]] 2025-10-28T21:17:05.097Z,1761686225.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437857,-0.822329,-0.363396],[0.897725,0.378018,0.226257],[-0.048687,-0.425297,0.903743]] 2025-10-28T21:17:05.509Z,1761686225.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465156,-0.808753,-0.359928],[0.883980,0.402787,0.237362],[-0.046993,-0.428580,0.902281]] 2025-10-28T21:17:05.921Z,1761686225.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492369,-0.794927,-0.354491],[0.869179,0.427615,0.248341],[-0.045827,-0.430392,0.901478]] 2025-10-28T21:17:05.984Z,1761686225.984 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:17:06.153Z,1761686226.153 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:17:06.153Z,1761686226.153 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:17:06.315Z,1761686226.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518544,-0.781265,-0.347472],[0.853879,0.451879,0.258254],[-0.044750,-0.430615,0.901426]] 2025-10-28T21:17:06.406Z,1761686226.406 [DAT](INFO): DAT read: user:297> 2025-10-28T21:17:06.407Z,1761686226.407 [DAT](INFO): DAT read: Tx time:21:17:06.1560 2025-10-28T21:17:06.408Z,1761686226.408 [DAT](INFO): Ping request sent. 2025-10-28T21:17:06.408Z,1761686226.408 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:17:06.409Z,1761686226.409 [DAT](INFO): publishing transmit ping time 2025-10-28T21:17:06.410Z,1761686226.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002039 2025-10-28T21:17:06.657Z,1761686226.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248655 2025-10-28T21:17:06.719Z,1761686226.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544031,-0.766479,-0.341379],[0.837921,0.475050,0.268731],[-0.043804,-0.432246,0.900691]] 2025-10-28T21:17:06.910Z,1761686226.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501850 2025-10-28T21:17:07.131Z,1761686227.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568434,-0.752404,-0.332823],[0.821595,0.497892,0.277644],[-0.043191,-0.431268,0.901190]] 2025-10-28T21:17:07.164Z,1761686227.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 2025-10-28T21:17:07.413Z,1761686227.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004815 2025-10-28T21:17:07.527Z,1761686227.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591668,-0.738145,-0.324145],[0.805060,0.519778,0.285849],[-0.042515,-0.430084,0.901787]] 2025-10-28T21:17:07.665Z,1761686227.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256706 2025-10-28T21:17:07.918Z,1761686227.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509153 2025-10-28T21:17:07.940Z,1761686227.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613599,-0.724160,-0.314784],[0.788519,0.540924,0.292643],[-0.041646,-0.427778,0.902924]] 2025-10-28T21:17:08.169Z,1761686228.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760988 2025-10-28T21:17:08.335Z,1761686228.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634025,-0.709659,-0.307242],[0.772246,0.560164,0.299755],[-0.040618,-0.427318,0.903189]] 2025-10-28T21:17:08.359Z,1761686228.359 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:17:08.359Z,1761686228.359 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:17:08.359Z,1761686228.359 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:17:08.376Z,1761686228.376 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:17:08.376Z,1761686228.376 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:17:08.376Z,1761686228.376 [marl:UpdateSpeed] Stopped 2025-10-28T21:17:08.376Z,1761686228.376 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:17:08.422Z,1761686228.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013626 2025-10-28T21:17:08.673Z,1761686228.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264577 2025-10-28T21:17:08.739Z,1761686228.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653985,-0.694313,-0.300388],[0.755484,0.578757,0.307057],[-0.039342,-0.427750,0.903041]] 2025-10-28T21:17:08.795Z,1761686228.795 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:17:08.795Z,1761686228.795 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:17:08.795Z,1761686228.795 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:17:08.795Z,1761686228.795 [marl:UpdateRudder:A] Stopped 2025-10-28T21:17:08.795Z,1761686228.795 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:17:08.796Z,1761686228.796 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:17:08.800Z,1761686228.800 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:17:08.800Z,1761686228.800 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:17:08.800Z,1761686228.800 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:17:08.800Z,1761686228.800 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:17:08.801Z,1761686228.801 [marl:UpdateCommandMode] Stopped 2025-10-28T21:17:08.801Z,1761686228.801 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:17:08.929Z,1761686228.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520492 2025-10-28T21:17:09.180Z,1761686229.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771220 2025-10-28T21:17:09.185Z,1761686229.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672690,-0.679807,-0.292150],[0.738945,0.596907,0.312510],[-0.038060,-0.426105,0.903873]] 2025-10-28T21:17:09.262Z,1761686229.262 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:17:09.262Z,1761686229.262 [marl:UpdateRudder:B] Stopped 2025-10-28T21:17:09.262Z,1761686229.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:17:09.263Z,1761686229.263 [marl:UpdateRudder] Stopped 2025-10-28T21:17:09.263Z,1761686229.263 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:17:09.430Z,1761686229.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021686 2025-10-28T21:17:09.547Z,1761686229.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690339,-0.665710,-0.283306],[0.722557,0.614546,0.316614],[-0.036669,-0.423276,0.905259]] 2025-10-28T21:17:09.681Z,1761686229.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272599 2025-10-28T21:17:09.933Z,1761686229.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524766 2025-10-28T21:17:09.952Z,1761686229.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707319,-0.650775,-0.276028],[0.706026,0.631013,0.321481],[-0.035035,-0.422272,0.905792]] 2025-10-28T21:17:10.185Z,1761686230.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776673 2025-10-28T21:17:10.355Z,1761686230.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723856,-0.635284,-0.269158],[0.689173,0.647234,0.325774],[-0.032751,-0.421310,0.906325]] 2025-10-28T21:17:10.438Z,1761686230.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029408 2025-10-28T21:17:10.689Z,1761686230.689 [DAT](INFO): DAT read: Rx Time:21:17:09.9678 2025-10-28T21:17:10.689Z,1761686230.689 [DAT](INFO): Rx dataTimestamp_ set to:1761686230.689168 2025-10-28T21:17:10.690Z,1761686230.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281785 2025-10-28T21:17:10.764Z,1761686230.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740138,-0.618694,-0.263465],[0.671762,0.662486,0.331432],[-0.030513,-0.422291,0.905946]] 2025-10-28T21:17:10.941Z,1761686230.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532907 2025-10-28T21:17:11.204Z,1761686231.204 [DAT](INFO): DAT read: 21:17:09.9678 LVL= 23120, 28065, 14018, 26963, AGC= 70, IDX= 267,-0.01, 1.757, 1.771,-2.522, 2.156, PHS=-0.296,-0.339, 1.562, RAW= 208.9, -9.9, CAL= 208.0, -13.2, ROT= 302.0, 13.2 2025-10-28T21:17:11.205Z,1761686231.205 [DAT](INFO): got valid direction response: 21:17:09.9678 LVL= 23120, 28065, 14018, 26963, AGC= 70, IDX= 267,-0.01, 1.757, 1.771,-2.522, 2.156, PHS=-0.296,-0.339, 1.562, RAW= 208.9, -9.9, CAL= 208.0, -13.2, ROT= 302.0, 13.2 2025-10-28T21:17:11.206Z,1761686231.206 [DAT](INFO): DAT read: Bearing 142.6, -41.2 (Local) 2025-10-28T21:17:11.206Z,1761686231.206 [DAT](INFO): Local bearing/azimuth received: Bearing 142.6, -41.2 (Local) 2025-10-28T21:17:11.212Z,1761686231.212 [DAT](INFO): DAT read: Range 11 to 20 : 1055.7 m (Round-trip 1407.7 ms) speed -0.2 m/s 2025-10-28T21:17:11.213Z,1761686231.213 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:17:11.214Z,1761686231.214 [DAT](INFO): direction in FSK: [0.515918,-0.825642,-0.228351] 2025-10-28T21:17:11.214Z,1761686231.214 [DAT](INFO): publishing direction and range info 2025-10-28T21:17:11.241Z,1761686231.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756686,-0.600474,-0.258567],[0.653174,0.677352,0.338463],[-0.028097,-0.425000,0.904757]] 2025-10-28T21:17:11.394Z,1761686231.394 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686272.00. Resetting abort timer. 2025-10-28T21:17:11.639Z,1761686231.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773389,-0.581698,-0.251986],[0.633413,0.693017,0.344261],[-0.025625,-0.425859,0.904427]] 2025-10-28T21:17:12.035Z,1761686232.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790649,-0.560975,-0.245317],[0.611820,0.708538,0.351640],[-0.023445,-0.428114,0.903420]] 2025-10-28T21:17:12.439Z,1761686232.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808311,-0.538703,-0.237557],[0.588366,0.724407,0.359249],[-0.021440,-0.430155,0.902500]] 2025-10-28T21:17:12.842Z,1761686232.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825961,-0.515219,-0.228776],[0.563391,0.740405,0.366593],[-0.019489,-0.431682,0.901815]] 2025-10-28T21:17:13.248Z,1761686233.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843024,-0.490889,-0.219859],[0.537588,0.755608,0.374240],[-0.017583,-0.433687,0.900892]] 2025-10-28T21:17:13.658Z,1761686233.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859748,-0.465900,-0.209213],[0.510480,0.771427,0.379882],[-0.015594,-0.433402,0.901066]] 2025-10-28T21:17:14.054Z,1761686234.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875832,-0.440280,-0.197666],[0.482416,0.786859,0.384874],[-0.013917,-0.432442,0.901554]] 2025-10-28T21:17:14.458Z,1761686234.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891122,-0.414864,-0.183819],[0.453597,0.803456,0.385628],[-0.012293,-0.427021,0.904158]] 2025-10-28T21:17:14.863Z,1761686234.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905448,-0.389096,-0.169615],[0.424326,0.819800,0.384545],[-0.010574,-0.420157,0.907390]] 2025-10-28T21:17:15.268Z,1761686235.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918628,-0.362698,-0.156759],[0.395016,0.833735,0.385808],[-0.009237,-0.416336,0.909164]] 2025-10-28T21:17:15.671Z,1761686235.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930823,-0.336577,-0.142423],[0.365372,0.847957,0.384022],[-0.008484,-0.409494,0.912274]] 2025-10-28T21:17:16.074Z,1761686236.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941878,-0.310167,-0.129084],[0.335859,0.860123,0.383910],[-0.008048,-0.404950,0.914303]] 2025-10-28T21:17:16.478Z,1761686236.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951557,-0.284344,-0.116992],[0.307364,0.869613,0.386395],[-0.008131,-0.403636,0.914883]] 2025-10-28T21:17:16.886Z,1761686236.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959965,-0.259494,-0.105498],[0.279990,0.877418,0.389542],[-0.008518,-0.403485,0.914946]] 2025-10-28T21:17:17.287Z,1761686237.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967245,-0.235351,-0.095120],[0.253684,0.882806,0.395346],[-0.009073,-0.406526,0.913594]] 2025-10-28T21:17:17.691Z,1761686237.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973460,-0.212128,-0.085888],[0.228673,0.886575,0.402111],[-0.009153,-0.411080,0.911553]] 2025-10-28T21:17:18.095Z,1761686238.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979066,-0.188537,-0.076707],[0.203335,0.888864,0.410581],[-0.009228,-0.417583,0.908592]] 2025-10-28T21:17:18.500Z,1761686238.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983846,-0.165752,-0.067620],[0.178794,0.891108,0.417084],[-0.008875,-0.422436,0.906349]] 2025-10-28T21:17:18.913Z,1761686238.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987996,-0.143010,-0.058417],[0.154260,0.893093,0.422597],[-0.008264,-0.426535,0.904433]] 2025-10-28T21:17:19.306Z,1761686239.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991522,-0.120291,-0.049133],[0.129736,0.895378,0.425990],[-0.007250,-0.428752,0.903393]] 2025-10-28T21:17:19.713Z,1761686239.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994473,-0.097177,-0.039743],[0.104817,0.897233,0.428935],[-0.006024,-0.430731,0.902461]] 2025-10-28T21:17:20.116Z,1761686240.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996843,-0.073528,-0.029957],[0.079261,0.899501,0.429669],[-0.004647,-0.430687,0.902490]] 2025-10-28T21:17:20.518Z,1761686240.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998592,-0.049330,-0.019501],[0.052922,0.901596,0.429330],[-0.003596,-0.429757,0.902937]] 2025-10-28T21:17:20.924Z,1761686240.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999670,-0.024008,-0.009111],[0.025599,0.903928,0.426918],[-0.002014,-0.427010,0.904245]] 2025-10-28T21:17:21.326Z,1761686241.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,0.002169,0.001810],[-0.002733,0.905408,0.424533],[-0.000718,-0.424537,0.905411]] 2025-10-28T21:17:21.403Z,1761686241.403 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:17:21.403Z,1761686241.403 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:17:21.404Z,1761686241.404 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:17:21.405Z,1761686241.405 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:17:21.405Z,1761686241.405 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:17:21.405Z,1761686241.405 [marl:UpdateSpeed] Stopped 2025-10-28T21:17:21.405Z,1761686241.405 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:17:21.736Z,1761686241.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999478,0.029491,0.013217],[-0.032316,0.907461,0.418891],[0.000360,-0.419099,0.907940]] 2025-10-28T21:17:21.765Z,1761686241.765 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:17:21.766Z,1761686241.766 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:17:21.766Z,1761686241.766 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:17:21.766Z,1761686241.766 [marl:UpdateRudder:A] Stopped 2025-10-28T21:17:21.766Z,1761686241.766 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:17:21.766Z,1761686241.766 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:17:21.767Z,1761686241.767 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:17:21.767Z,1761686241.767 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:17:21.767Z,1761686241.767 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:17:21.767Z,1761686241.767 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:17:21.767Z,1761686241.767 [marl:UpdateCommandMode] Stopped 2025-10-28T21:17:21.768Z,1761686241.768 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:17:22.134Z,1761686242.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998016,0.057670,0.025277],[-0.062958,0.907713,0.414841],[0.000979,-0.415609,0.909543]] 2025-10-28T21:17:22.166Z,1761686242.166 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:17:22.166Z,1761686242.166 [marl:UpdateRudder:B] Stopped 2025-10-28T21:17:22.166Z,1761686242.166 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:17:22.166Z,1761686242.166 [marl:UpdateRudder] Stopped 2025-10-28T21:17:22.166Z,1761686242.166 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:17:22.539Z,1761686242.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995535,0.086556,0.037650],[-0.094380,0.906844,0.410764],[0.001411,-0.412483,0.910964]] 2025-10-28T21:17:22.943Z,1761686242.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992015,0.115678,0.050241],[-0.126107,0.904748,0.406851],[0.001608,-0.409938,0.912112]] 2025-10-28T21:17:22.996Z,1761686242.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:17:23.348Z,1761686243.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987602,0.143902,0.062723],[-0.156970,0.901403,0.403525],[0.001529,-0.408368,0.912816]] 2025-10-28T21:17:23.750Z,1761686243.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982399,0.170817,0.075585],[-0.186789,0.896059,0.402727],[0.001064,-0.409757,0.912194]] 2025-10-28T21:17:24.000Z,1761686244.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:17:24.154Z,1761686244.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976625,0.196261,0.087667],[-0.214950,0.890254,0.401551],[0.000763,-0.411009,0.911631]] 2025-10-28T21:17:24.560Z,1761686244.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970274,0.220569,0.099583],[-0.242005,0.882792,0.402631],[0.000897,-0.414762,0.909929]] 2025-10-28T21:17:24.964Z,1761686244.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963585,0.243365,0.110808],[-0.267400,0.874707,0.404209],[0.001446,-0.419120,0.907930]] 2025-10-28T21:17:25.366Z,1761686245.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956455,0.265079,0.122176],[-0.291875,0.866094,0.405821],[0.001759,-0.423810,0.905749]] 2025-10-28T21:17:25.776Z,1761686245.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948872,0.286144,0.133277],[-0.315654,0.857496,0.406280],[0.001970,-0.427577,0.903977]] 2025-10-28T21:17:26.176Z,1761686246.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940630,0.307205,0.144365],[-0.339427,0.848375,0.406263],[0.002330,-0.431144,0.902280]] 2025-10-28T21:17:26.583Z,1761686246.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930907,0.330363,0.155798],[-0.365243,0.838220,0.404950],[0.003188,-0.433874,0.900968]] 2025-10-28T21:17:26.983Z,1761686246.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919948,0.354325,0.167779],[-0.392023,0.827228,0.402507],[0.003827,-0.436059,0.899910]] 2025-10-28T21:17:27.395Z,1761686247.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907573,0.379490,0.179719],[-0.419870,0.815565,0.398200],[0.004540,-0.436854,0.899521]] 2025-10-28T21:17:27.795Z,1761686247.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893755,0.405176,0.192445],[-0.448525,0.802176,0.394130],[0.005317,-0.438572,0.898680]] 2025-10-28T21:17:28.195Z,1761686248.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878767,0.431814,0.203235],[-0.477205,0.789162,0.386650],[0.006576,-0.436760,0.899554]] 2025-10-28T21:17:28.599Z,1761686248.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862798,0.457886,0.214288],[-0.505491,0.774970,0.379343],[0.007629,-0.435617,0.900100]] 2025-10-28T21:17:29.002Z,1761686249.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846261,0.483967,0.222750],[-0.532694,0.761639,0.368976],[0.008917,-0.430908,0.902352]] 2025-10-28T21:17:29.410Z,1761686249.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829201,0.508781,0.231448],[-0.558860,0.747184,0.359711],[0.010080,-0.427619,0.903903]] 2025-10-28T21:17:29.810Z,1761686249.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811962,0.532739,0.238553],[-0.583607,0.733239,0.348945],[0.010980,-0.422551,0.906273]] 2025-10-28T21:17:30.214Z,1761686250.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794409,0.555390,0.245881],[-0.607268,0.718350,0.339410],[0.011876,-0.418946,0.907934]] 2025-10-28T21:17:31.023Z,1761686251.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759336,0.596895,0.259086],[-0.650583,0.688902,0.319619],[0.012294,-0.411255,0.911437]] 2025-10-28T21:17:31.426Z,1761686251.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741112,0.616739,0.265303],[-0.671266,0.673358,0.309826],[0.012438,-0.407705,0.913029]] 2025-10-28T21:17:31.830Z,1761686251.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722348,0.634783,0.274344],[-0.691422,0.655979,0.302699],[0.012184,-0.408341,0.912748]] 2025-10-28T21:17:32.234Z,1761686252.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702925,0.652385,0.283356],[-0.711163,0.637927,0.295458],[0.011992,-0.409197,0.912367]] 2025-10-28T21:17:32.640Z,1761686252.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682329,0.669631,0.293293],[-0.730944,0.618253,0.288937],[0.012152,-0.411531,0.911315]] 2025-10-28T21:17:33.051Z,1761686253.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661478,0.685991,0.303089],[-0.749860,0.598215,0.282575],[0.012532,-0.414192,0.910103]] 2025-10-28T21:17:33.453Z,1761686253.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617216,0.716162,0.325817],[-0.786681,0.554741,0.270914],[0.013275,-0.423527,0.905786]] 2025-10-28T21:17:33.855Z,1761686253.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594239,0.731863,0.333552],[-0.804175,0.533660,0.261745],[0.013558,-0.423773,0.905667]] 2025-10-28T21:17:34.260Z,1761686254.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570817,0.747531,0.339655],[-0.820956,0.512502,0.251738],[0.014108,-0.422538,0.906235]] 2025-10-28T21:17:34.284Z,1761686254.284 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed] Stopped 2025-10-28T21:17:34.285Z,1761686254.285 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:17:34.665Z,1761686254.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547605,0.761860,0.345974],[-0.836609,0.491295,0.242311],[0.014631,-0.422136,0.906414]] 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateRudder:A] Stopped 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:17:34.689Z,1761686254.689 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode] Stopped 2025-10-28T21:17:34.690Z,1761686254.690 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:17:35.065Z,1761686255.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525057,0.774822,0.352088],[-0.850937,0.470713,0.233100],[0.014878,-0.421996,0.906476]] 2025-10-28T21:17:35.111Z,1761686255.111 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:17:35.111Z,1761686255.111 [marl:UpdateRudder:B] Stopped 2025-10-28T21:17:35.111Z,1761686255.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:17:35.111Z,1761686255.111 [marl:UpdateRudder] Stopped 2025-10-28T21:17:35.111Z,1761686255.111 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:17:35.467Z,1761686255.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502353,0.787298,0.357495],[-0.864524,0.449948,0.223930],[0.015445,-0.421555,0.906672]] 2025-10-28T21:17:35.882Z,1761686255.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479681,0.798804,0.363067],[-0.877298,0.429099,0.214994],[0.015946,-0.421646,0.906620]] 2025-10-28T21:17:36.277Z,1761686256.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456666,0.809754,0.368449],[-0.889482,0.407831,0.206143],[0.016660,-0.421867,0.906505]] 2025-10-28T21:17:36.678Z,1761686256.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433145,0.819724,0.374751],[-0.901152,0.385734,0.197822],[0.017605,-0.423393,0.905775]] 2025-10-28T21:17:37.087Z,1761686257.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409834,0.828759,0.381045],[-0.911974,0.363861,0.189494],[0.018398,-0.425164,0.904929]] 2025-10-28T21:17:37.489Z,1761686257.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386520,0.836789,0.387797],[-0.922083,0.341915,0.181262],[0.019084,-0.427643,0.903746]] 2025-10-28T21:17:37.895Z,1761686257.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363294,0.844729,0.393003],[-0.931463,0.320317,0.172552],[0.019874,-0.428755,0.903202]] 2025-10-28T21:17:38.295Z,1761686258.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339904,0.851966,0.398271],[-0.940231,0.298492,0.163915],[0.020769,-0.430182,0.902503]] 2025-10-28T21:17:38.699Z,1761686258.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316604,0.858605,0.403187],[-0.948315,0.276893,0.155013],[0.021455,-0.431426,0.901893]] 2025-10-28T21:17:39.105Z,1761686259.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293336,0.864869,0.407376],[-0.955763,0.255617,0.145527],[0.021730,-0.432043,0.901591]] 2025-10-28T21:17:39.510Z,1761686259.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270280,0.871849,0.408446],[-0.962534,0.235069,0.135167],[0.021832,-0.429676,0.902719]] 2025-10-28T21:17:39.910Z,1761686259.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246161,0.877773,0.410998],[-0.968980,0.213268,0.124877],[0.021961,-0.428989,0.903043]] 2025-10-28T21:17:40.314Z,1761686260.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220761,0.883320,0.413534],[-0.975090,0.190520,0.113587],[0.021548,-0.428309,0.903376]] 2025-10-28T21:17:40.719Z,1761686260.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193304,0.889973,0.413015],[-0.980915,0.166300,0.100751],[0.020981,-0.424608,0.905134]] 2025-10-28T21:17:41.126Z,1761686261.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163957,0.896940,0.410630],[-0.986264,0.140581,0.086725],[0.020060,-0.419208,0.907669]] 2025-10-28T21:17:41.549Z,1761686261.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132860,0.904787,0.404609],[-0.990956,0.113502,0.071584],[0.018844,-0.410460,0.911684]] 2025-10-28T21:17:41.936Z,1761686261.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100509,0.911640,0.398510],[-0.994783,0.085052,0.056331],[0.017459,-0.402093,0.915432]] 2025-10-28T21:17:42.334Z,1761686262.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067482,0.916938,0.393282],[-0.997590,0.055630,0.041472],[0.016149,-0.395133,0.918482]] 2025-10-28T21:17:42.739Z,1761686262.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033704,0.921361,0.387243],[-0.999317,0.025200,0.027017],[0.015134,-0.387889,0.921582]] 2025-10-28T21:17:43.186Z,1761686263.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000480,0.923121,0.384510],[-0.999892,-0.006079,0.013346],[0.014657,-0.384463,0.923024]] 2025-10-28T21:17:43.548Z,1761686263.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034582,0.922113,0.385371],[-0.999292,-0.037613,0.000329],[0.014798,-0.385087,0.922762]] 2025-10-28T21:17:43.952Z,1761686263.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067734,0.919696,0.386745],[-0.997588,-0.068316,-0.012258],[0.015147,-0.386642,0.922105]] 2025-10-28T21:17:44.363Z,1761686264.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099531,0.915036,0.390900],[-0.994912,-0.097673,-0.024687],[0.015591,-0.391369,0.920102]] 2025-10-28T21:17:44.761Z,1761686264.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129772,0.909103,0.395842],[-0.991414,-0.125437,-0.036940],[0.016071,-0.397237,0.917575]] 2025-10-28T21:17:45.205Z,1761686265.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157954,0.901548,0.402817],[-0.987309,-0.150995,-0.049204],[0.016464,-0.405477,0.913957]] 2025-10-28T21:17:45.568Z,1761686265.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185158,0.892627,0.411015],[-0.982558,-0.175491,-0.061507],[0.017227,-0.415235,0.909551]] 2025-10-28T21:17:45.971Z,1761686265.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211481,0.882945,0.419147],[-0.977208,-0.199099,-0.073643],[0.018429,-0.425168,0.904927]] 2025-10-28T21:17:46.378Z,1761686266.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236208,0.872080,0.428582],[-0.971502,-0.220902,-0.085941],[0.019727,-0.436669,0.899406]] 2025-10-28T21:17:46.784Z,1761686266.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259308,0.861545,0.436462],[-0.965563,-0.241155,-0.097632],[0.021141,-0.446748,0.894410]] 2025-10-28T21:17:47.206Z,1761686267.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280788,0.851872,0.442123],[-0.959503,-0.260020,-0.108370],[0.022644,-0.454647,0.890384]] 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed] Stopped 2025-10-28T21:17:47.261Z,1761686267.261 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:17:47.587Z,1761686267.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302023,0.843342,0.444473],[-0.953001,-0.278794,-0.118590],[0.023904,-0.459400,0.887908]] 2025-10-28T21:17:47.631Z,1761686267.631 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:17:47.631Z,1761686267.631 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:17:47.631Z,1761686267.631 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:17:47.631Z,1761686267.631 [marl:UpdateRudder:A] Stopped 2025-10-28T21:17:47.632Z,1761686267.632 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:17:47.632Z,1761686267.632 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:17:47.636Z,1761686267.636 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:17:47.636Z,1761686267.636 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:17:47.636Z,1761686267.636 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:17:47.636Z,1761686267.636 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:17:47.637Z,1761686267.637 [marl:UpdateCommandMode] Stopped 2025-10-28T21:17:47.637Z,1761686267.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:17:47.990Z,1761686267.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322268,0.836235,0.443683],[-0.946322,-0.296883,-0.127807],[0.024845,-0.461056,0.887023]] 2025-10-28T21:17:48.031Z,1761686268.031 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:17:48.031Z,1761686268.031 [marl:UpdateRudder:B] Stopped 2025-10-28T21:17:48.032Z,1761686268.032 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:17:48.032Z,1761686268.032 [marl:UpdateRudder] Stopped 2025-10-28T21:17:48.032Z,1761686268.032 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:17:48.395Z,1761686268.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342591,0.830454,0.439292],[-0.939138,-0.315431,-0.136104],[0.025538,-0.459184,0.887974]] 2025-10-28T21:17:48.802Z,1761686268.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362740,0.826978,0.429567],[-0.931534,-0.334537,-0.142585],[0.025791,-0.451877,0.891707]] 2025-10-28T21:17:49.211Z,1761686269.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383448,0.824286,0.416557],[-0.923205,-0.354651,-0.148040],[0.025705,-0.441334,0.896975]] 2025-10-28T21:17:49.606Z,1761686269.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405271,0.822767,0.398511],[-0.913838,-0.376803,-0.151392],[0.025599,-0.425529,0.904583]] 2025-10-28T21:17:50.013Z,1761686270.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428593,0.820599,0.378055],[-0.903145,-0.400806,-0.153895],[0.025240,-0.407397,0.912902]] 2025-10-28T21:17:50.818Z,1761686270.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478842,0.807787,0.343789],[-0.877579,-0.451047,-0.162518],[0.023786,-0.379523,0.924877]] 2025-10-28T21:17:51.222Z,1761686271.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505848,0.795299,0.334090],[-0.862322,-0.476421,-0.171532],[0.022749,-0.374862,0.926801]] 2025-10-28T21:17:51.627Z,1761686271.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533694,0.779099,0.328900],[-0.845400,-0.501478,-0.183899],[0.021661,-0.376198,0.926286]] 2025-10-28T21:17:52.033Z,1761686272.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562149,0.761045,0.323728],[-0.826778,-0.526914,-0.196978],[0.020668,-0.378381,0.925419]] 2025-10-28T21:17:52.435Z,1761686272.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590835,0.740709,0.319789],[-0.806549,-0.552005,-0.211586],[0.019801,-0.382938,0.923562]] 2025-10-28T21:17:52.847Z,1761686272.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619190,0.718507,0.316783],[-0.785006,-0.576270,-0.227328],[0.019216,-0.389436,0.920853]] 2025-10-28T21:17:53.244Z,1761686273.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646844,0.694938,0.314092],[-0.762391,-0.599416,-0.243847],[0.018813,-0.397192,0.917543]] 2025-10-28T21:17:53.646Z,1761686273.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673405,0.670325,0.311754],[-0.739041,-0.620998,-0.261114],[0.018568,-0.406234,0.913580]] 2025-10-28T21:17:54.051Z,1761686274.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697949,0.646208,0.308679],[-0.715915,-0.640563,-0.277750],[0.018244,-0.414843,0.909710]] 2025-10-28T21:17:54.148Z,1761686274.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:17:54.456Z,1761686274.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721441,0.621419,0.305550],[-0.692237,-0.658763,-0.294686],[0.018162,-0.424111,0.905428]] 2025-10-28T21:17:54.864Z,1761686274.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743143,0.596931,0.302344],[-0.668880,-0.675099,-0.311192],[0.018352,-0.433492,0.900970]] 2025-10-28T21:17:55.153Z,1761686275.153 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:17:55.263Z,1761686275.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763099,0.573941,0.297105],[-0.646011,-0.690689,-0.324990],[0.018682,-0.439933,0.897836]] 2025-10-28T21:17:55.667Z,1761686275.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781951,0.551382,0.290742],[-0.623047,-0.705676,-0.337393],[0.019137,-0.444971,0.895341]] 2025-10-28T21:17:56.073Z,1761686276.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799821,0.528974,0.283676],[-0.599915,-0.720001,-0.348857],[0.019710,-0.449205,0.893211]] 2025-10-28T21:17:56.474Z,1761686276.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816692,0.506595,0.276361],[-0.576709,-0.733523,-0.359653],[0.020518,-0.453106,0.891221]] 2025-10-28T21:17:56.878Z,1761686276.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833458,0.484218,0.266234],[-0.552159,-0.748659,-0.366921],[0.021649,-0.452816,0.891341]] 2025-10-28T21:17:57.282Z,1761686277.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849094,0.461358,0.257271],[-0.527738,-0.762134,-0.375024],[0.023055,-0.454203,0.890600]] 2025-10-28T21:17:57.688Z,1761686277.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863686,0.439543,0.246676],[-0.503440,-0.775988,-0.379988],[0.024396,-0.452377,0.891493]] 2025-10-28T21:17:58.092Z,1761686278.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877923,0.416868,0.235526],[-0.478089,-0.790064,-0.383707],[0.026126,-0.449467,0.892915]] 2025-10-28T21:17:58.495Z,1761686278.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891353,0.394549,0.223204],[-0.452459,-0.804494,-0.384798],[0.027745,-0.443982,0.895606]] 2025-10-28T21:17:58.899Z,1761686278.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904185,0.371738,0.210382],[-0.426111,-0.819203,-0.383843],[0.029657,-0.436711,0.899113]] 2025-10-28T21:17:59.303Z,1761686279.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916441,0.347825,0.197872],[-0.398950,-0.832713,-0.383963],[0.031219,-0.430820,0.901898]] 2025-10-28T21:17:59.708Z,1761686279.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928035,0.322826,0.185833],[-0.371029,-0.845314,-0.384423],[0.032985,-0.425708,0.904259]] 2025-10-28T21:18:00.111Z,1761686280.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938577,0.297777,0.174363],[-0.343371,-0.856029,-0.386407],[0.034197,-0.422544,0.905697]] 2025-10-28T21:18:00.155Z,1761686280.155 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:18:00.155Z,1761686280.155 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:18:00.155Z,1761686280.155 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:18:00.155Z,1761686280.155 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:18:00.156Z,1761686280.156 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:18:00.156Z,1761686280.156 [marl:UpdateSpeed] Stopped 2025-10-28T21:18:00.160Z,1761686280.160 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:18:00.565Z,1761686280.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948601,0.271913,0.161925],[-0.314599,-0.865824,-0.389072],[0.034404,-0.420015,0.906865]] 2025-10-28T21:18:00.589Z,1761686280.589 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:18:00.589Z,1761686280.589 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:18:00.589Z,1761686280.589 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateRudder:A] Stopped 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:18:00.590Z,1761686280.590 [marl:UpdateCommandMode] Stopped 2025-10-28T21:18:00.591Z,1761686280.591 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:18:00.968Z,1761686280.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957941,0.245524,0.148546],[-0.285021,-0.874192,-0.393129],[0.033335,-0.418933,0.907405]] 2025-10-28T21:18:00.993Z,1761686280.993 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:18:00.993Z,1761686280.993 [marl:UpdateRudder:B] Stopped 2025-10-28T21:18:00.993Z,1761686280.993 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:18:00.993Z,1761686280.993 [marl:UpdateRudder] Stopped 2025-10-28T21:18:00.993Z,1761686280.993 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:18:01.370Z,1761686281.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966546,0.218480,0.134367],[-0.254553,-0.881375,-0.397970],[0.031479,-0.418860,0.907505]] 2025-10-28T21:18:01.780Z,1761686281.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973913,0.192412,0.120296],[-0.225120,-0.885921,-0.405543],[0.028541,-0.422045,0.906126]] 2025-10-28T21:18:02.183Z,1761686282.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980529,0.165792,0.105242],[-0.194650,-0.891426,-0.409233],[0.025968,-0.421750,0.906340]] 2025-10-28T21:18:02.590Z,1761686282.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986104,0.139022,0.090951],[-0.164451,-0.894490,-0.415744],[0.023557,-0.424924,0.904923]] 2025-10-28T21:18:02.992Z,1761686282.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990499,0.113526,0.077605],[-0.135783,-0.896721,-0.421254],[0.021767,-0.427790,0.903616]] 2025-10-28T21:18:03.394Z,1761686283.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994206,0.086986,0.063147],[-0.105544,-0.901271,-0.420202],[0.020361,-0.424433,0.905231]] 2025-10-28T21:18:03.801Z,1761686283.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997020,0.059444,0.049169],[-0.074598,-0.905297,-0.418177],[0.019655,-0.420598,0.907034]] 2025-10-28T21:18:04.209Z,1761686284.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998778,0.033328,0.036492],[-0.045541,-0.907454,-0.417676],[0.019195,-0.418828,0.907863]] 2025-10-28T21:18:04.607Z,1761686284.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999702,0.006252,0.023590],[-0.015478,-0.909791,-0.414779],[0.018869,-0.415020,0.909616]] 2025-10-28T21:18:05.011Z,1761686285.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999710,-0.021742,0.010395],[0.015597,-0.912547,-0.408674],[0.018371,-0.408393,0.912621]] 2025-10-28T21:18:05.415Z,1761686285.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998816,-0.048601,-0.002300],[0.045324,-0.912203,-0.407225],[0.017694,-0.406846,0.913325]] 2025-10-28T21:18:05.831Z,1761686285.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997014,-0.075627,-0.015616],[0.075458,-0.911126,-0.405160],[0.016413,-0.405129,0.914112]] 2025-10-28T21:18:06.222Z,1761686286.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994324,-0.102436,-0.028740],[0.105329,-0.909726,-0.401627],[0.014996,-0.402375,0.915352]] 2025-10-28T21:18:06.262Z,1761686286.262 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:18:06.398Z,1761686286.398 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:18:06.398Z,1761686286.398 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:18:06.626Z,1761686286.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990777,-0.128919,-0.041724],[0.134815,-0.906877,-0.399249],[0.013632,-0.401192,0.915893]] 2025-10-28T21:18:06.645Z,1761686286.645 [DAT](INFO): DAT read: user:298> 2025-10-28T21:18:06.646Z,1761686286.646 [DAT](INFO): DAT read: Tx time:21:18:06.4058 2025-10-28T21:18:06.646Z,1761686286.646 [DAT](INFO): Ping request sent. 2025-10-28T21:18:06.646Z,1761686286.646 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:18:06.646Z,1761686286.646 [DAT](INFO): publishing transmit ping time 2025-10-28T21:18:06.647Z,1761686286.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000973 2025-10-28T21:18:06.898Z,1761686286.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251535 2025-10-28T21:18:07.031Z,1761686287.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986301,-0.155766,-0.054289],[0.164456,-0.902965,-0.396999],[0.012818,-0.400489,0.916212]] 2025-10-28T21:18:07.152Z,1761686287.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505112 2025-10-28T21:18:07.401Z,1761686287.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743 2025-10-28T21:18:07.440Z,1761686287.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981015,-0.181783,-0.067566],[0.193565,-0.896330,-0.398904],[0.011952,-0.404410,0.914500]] 2025-10-28T21:18:07.654Z,1761686287.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365 2025-10-28T21:18:07.841Z,1761686287.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975028,-0.206963,-0.080536],[0.221784,-0.888699,-0.401281],[0.011478,-0.409122,0.912408]] 2025-10-28T21:18:07.910Z,1761686287.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264083 2025-10-28T21:18:08.161Z,1761686288.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514759 2025-10-28T21:18:08.243Z,1761686288.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968379,-0.231725,-0.092442],[0.249220,-0.881490,-0.401078],[0.011453,-0.411434,0.911367]] 2025-10-28T21:18:08.413Z,1761686288.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766743 2025-10-28T21:18:08.654Z,1761686288.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961018,-0.255863,-0.104781],[0.276237,-0.872421,-0.403205],[0.011752,-0.416431,0.909091]] 2025-10-28T21:18:08.665Z,1761686288.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018847 2025-10-28T21:18:08.917Z,1761686288.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270862 2025-10-28T21:18:09.052Z,1761686289.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953199,-0.278982,-0.116537],[0.302104,-0.863512,-0.403832],[0.012030,-0.420139,0.907380]] 2025-10-28T21:18:09.172Z,1761686289.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525022 2025-10-28T21:18:09.421Z,1761686289.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774641 2025-10-28T21:18:09.454Z,1761686289.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944410,-0.303705,-0.125907],[0.328533,-0.857264,-0.396441],[0.012465,-0.415767,0.909386]] 2025-10-28T21:18:09.674Z,1761686289.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027410 2025-10-28T21:18:09.858Z,1761686289.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934592,-0.328921,-0.135456],[0.355481,-0.849606,-0.389619],[0.013070,-0.412287,0.910960]] 2025-10-28T21:18:09.926Z,1761686289.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279486 2025-10-28T21:18:10.177Z,1761686290.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530710 2025-10-28T21:18:10.270Z,1761686290.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924070,-0.353525,-0.145305],[0.381977,-0.840531,-0.384190],[0.013688,-0.410522,0.911748]] 2025-10-28T21:18:10.429Z,1761686290.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782900 2025-10-28T21:18:10.672Z,1761686290.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912786,-0.377103,-0.156894],[0.408187,-0.828749,-0.382830],[0.014340,-0.413484,0.910398]] 2025-10-28T21:18:10.681Z,1761686290.681 [DAT](INFO): DAT read: Rx Time:21:18:09.8717 2025-10-28T21:18:10.681Z,1761686290.681 [DAT](INFO): Rx dataTimestamp_ set to:1761686290.681049 2025-10-28T21:18:10.682Z,1761686290.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035728 2025-10-28T21:18:10.933Z,1761686290.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286808 2025-10-28T21:18:11.074Z,1761686291.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900616,-0.400622,-0.168502],[0.434364,-0.816496,-0.380345],[0.014794,-0.415736,0.909365]] 2025-10-28T21:18:11.205Z,1761686291.205 [DAT](INFO): DAT read: 21:18:09.8717 LVL= 32752, 31953, 32754, 32755, AGC= 80, IDX= 470,-0.18, 1.041, 3.047, 1.683, 1.971, PHS=-0.829, 1.121,-0.333, RAW= 315.8, 0.5, CAL= 314.0, -2.6, ROT= 196.0, 2.6 2025-10-28T21:18:11.207Z,1761686291.207 [DAT](INFO): got valid direction response: 21:18:09.8717 LVL= 32752, 31953, 32754, 32755, AGC= 80, IDX= 470,-0.18, 1.041, 3.047, 1.683, 1.971, PHS=-0.829, 1.121,-0.333, RAW= 315.8, 0.5, CAL= 314.0, -2.6, ROT= 196.0, 2.6 2025-10-28T21:18:11.207Z,1761686291.207 [DAT](INFO): DAT read: $Error in header 2025-10-28T21:18:11.208Z,1761686291.208 [DAT](INFO): Received a bad header 2025-10-28T21:18:11.233Z,1761686291.233 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T21:18:11.234Z,1761686291.234 [DAT](INFO): direction in FSK: [-0.960272,-0.275354,-0.045363] 2025-10-28T21:18:11.479Z,1761686291.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887601,-0.423855,-0.180309],[0.460360,-0.803349,-0.377756],[0.015263,-0.418304,0.908179]] 2025-10-28T21:18:11.582Z,1761686291.582 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686272.00. Resetting abort timer. 2025-10-28T21:18:11.884Z,1761686291.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873367,-0.447179,-0.193031],[0.486805,-0.788545,-0.375789],[0.015831,-0.422170,0.906378]] 2025-10-28T21:18:12.291Z,1761686292.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858660,-0.469739,-0.205057],[0.512269,-0.773373,-0.373463],[0.016844,-0.425722,0.904697]] 2025-10-28T21:18:12.698Z,1761686292.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825854,-0.516844,-0.225473],[0.563578,-0.743369,-0.360253],[0.018585,-0.424588,0.905196]] 2025-10-28T21:18:13.099Z,1761686293.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808298,-0.539447,-0.235906],[0.588453,-0.726953,-0.353925],[0.019431,-0.424896,0.905033]] 2025-10-28T21:18:13.197Z,1761686293.197 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed] Stopped 2025-10-28T21:18:13.198Z,1761686293.198 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:18:13.505Z,1761686293.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790017,-0.561535,-0.246073],[0.612752,-0.709953,-0.347135],[0.020228,-0.425024,0.904956]] 2025-10-28T21:18:13.564Z,1761686293.564 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:18:13.568Z,1761686293.568 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:18:13.568Z,1761686293.568 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:18:13.568Z,1761686293.568 [marl:UpdateRudder:A] Stopped 2025-10-28T21:18:13.568Z,1761686293.568 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:18:13.568Z,1761686293.568 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode] Stopped 2025-10-28T21:18:13.569Z,1761686293.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:18:13.946Z,1761686293.946 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:18:13.946Z,1761686293.946 [marl:UpdateRudder:B] Stopped 2025-10-28T21:18:13.946Z,1761686293.946 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:18:13.946Z,1761686293.946 [marl:UpdateRudder] Stopped 2025-10-28T21:18:13.946Z,1761686293.946 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:18:14.728Z,1761686294.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734920,-0.619905,-0.274973],[0.677778,-0.657932,-0.328242],[0.022565,-0.427602,0.903685]] 2025-10-28T21:18:15.219Z,1761686295.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715793,-0.639295,-0.280967],[0.697923,-0.641489,-0.318427],[0.023331,-0.424021,0.905352]] 2025-10-28T21:18:15.665Z,1761686295.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696170,-0.657627,-0.287879],[0.717487,-0.624178,-0.309216],[0.023661,-0.421816,0.906372]] 2025-10-28T21:18:16.066Z,1761686296.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675628,-0.676400,-0.293274],[0.736867,-0.606846,-0.297935],[0.023551,-0.417397,0.908419]] 2025-10-28T21:18:16.471Z,1761686296.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654297,-0.694869,-0.298417],[0.755883,-0.588831,-0.286216],[0.023166,-0.412838,0.910510]] 2025-10-28T21:18:16.729Z,1761686296.729 [DAT](INFO): Reached modem response timeout 2025-10-28T21:18:16.876Z,1761686296.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632401,-0.712897,-0.303063],[0.774315,-0.570390,-0.274028],[0.022490,-0.407962,0.912722]] 2025-10-28T21:18:17.278Z,1761686297.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609062,-0.730433,-0.309049],[0.792828,-0.550091,-0.262344],[0.021620,-0.404806,0.914147]] 2025-10-28T21:18:17.683Z,1761686297.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585153,-0.745664,-0.318718],[0.810661,-0.527891,-0.253299],[0.020627,-0.406590,0.913378]] 2025-10-28T21:18:18.089Z,1761686298.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560201,-0.760113,-0.329248],[0.828122,-0.504441,-0.244443],[0.019718,-0.409595,0.912054]] 2025-10-28T21:18:18.897Z,1761686298.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508299,-0.786832,-0.350039],[0.860992,-0.455819,-0.225656],[0.017999,-0.416082,0.909149]] 2025-10-28T21:18:18.997Z,1761686298.997 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:18:18.997Z,1761686298.997 [DAT](INFO): response not received 2025-10-28T21:18:18.997Z,1761686298.997 [DAT](ERROR): No response from remote modem. 2025-10-28T21:18:19.320Z,1761686299.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481296,-0.799551,-0.359267],[0.876387,-0.430838,-0.215229],[0.017300,-0.418446,0.908077]] 2025-10-28T21:18:19.709Z,1761686299.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453365,-0.812788,-0.365836],[0.891170,-0.405704,-0.203027],[0.016597,-0.418068,0.908264]] 2025-10-28T21:18:20.107Z,1761686300.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424327,-0.825749,-0.371598],[0.905372,-0.379758,-0.189961],[0.015743,-0.417040,0.908752]] 2025-10-28T21:18:20.510Z,1761686300.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395115,-0.837319,-0.377864],[0.918513,-0.353472,-0.177178],[0.014790,-0.417078,0.908750]] 2025-10-28T21:18:21.384Z,1761686301.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334684,-0.858358,-0.388855],[0.942259,-0.299753,-0.149319],[0.011609,-0.416377,0.909118]] 2025-10-28T21:18:21.779Z,1761686301.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304325,-0.867329,-0.393860],[0.952522,-0.272986,-0.134836],[0.009429,-0.416195,0.909227]] 2025-10-28T21:18:22.173Z,1761686302.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274452,-0.875991,-0.396630],[0.961578,-0.247162,-0.119495],[0.006644,-0.414187,0.910168]] 2025-10-28T21:18:22.576Z,1761686302.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245327,-0.883139,-0.399851],[0.969434,-0.222009,-0.104448],[0.003472,-0.413253,0.910610]] 2025-10-28T21:18:22.987Z,1761686302.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217163,-0.888487,-0.404267],[0.976135,-0.197412,-0.090491],[0.000593,-0.414271,0.910154]] 2025-10-28T21:18:23.382Z,1761686303.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188574,-0.892872,-0.408925],[0.982056,-0.172419,-0.076400],[-0.002291,-0.415994,0.909364]] 2025-10-28T21:18:23.799Z,1761686303.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160501,-0.896453,-0.413052],[0.987025,-0.147742,-0.062884],[-0.004652,-0.417785,0.908534]] 2025-10-28T21:18:24.192Z,1761686304.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132545,-0.899488,-0.416357],[0.991155,-0.123049,-0.049697],[-0.006530,-0.419261,0.907842]] 2025-10-28T21:18:24.594Z,1761686304.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105367,-0.901941,-0.418808],[0.994404,-0.098819,-0.037362],[-0.007688,-0.420401,0.907306]] 2025-10-28T21:18:25.010Z,1761686305.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077210,-0.905096,-0.418138],[0.996979,-0.073667,-0.024636],[-0.008505,-0.418777,0.908049]] 2025-10-28T21:18:25.285Z,1761686305.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:18:25.429Z,1761686305.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048590,-0.907144,-0.418006],[0.998775,-0.048032,-0.011863],[-0.009316,-0.418070,0.908367]] 2025-10-28T21:18:25.830Z,1761686305.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019081,-0.907651,-0.419293],[0.999769,-0.021468,0.000973],[-0.009884,-0.419177,0.907851]] 2025-10-28T21:18:26.288Z,1761686306.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:18:26.326Z,1761686306.326 [marl:UpdateSpeed] Stopped 2025-10-28T21:18:26.327Z,1761686306.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:18:26.641Z,1761686306.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042410,-0.907218,-0.418517],[0.999035,0.033720,0.028141],[-0.011417,-0.419307,0.907773]] 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateRudder:A] Stopped 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:18:26.665Z,1761686306.665 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode] Stopped 2025-10-28T21:18:26.666Z,1761686306.666 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:18:27.042Z,1761686307.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072870,-0.906025,-0.416904],[0.997264,0.060975,0.041799],[-0.012450,-0.418810,0.907989]] 2025-10-28T21:18:27.073Z,1761686307.073 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:18:27.074Z,1761686307.074 [marl:UpdateRudder:B] Stopped 2025-10-28T21:18:27.074Z,1761686307.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:18:27.074Z,1761686307.074 [marl:UpdateRudder] Stopped 2025-10-28T21:18:27.074Z,1761686307.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:18:27.446Z,1761686307.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103478,-0.904543,-0.413635],[0.994531,0.088173,0.055979],[-0.014164,-0.417165,0.908720]] 2025-10-28T21:18:27.850Z,1761686307.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132906,-0.902774,-0.409065],[0.990994,0.114248,0.069839],[-0.016314,-0.414663,0.909829]] 2025-10-28T21:18:28.267Z,1761686308.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161173,-0.900695,-0.403450],[0.986744,0.139205,0.083420],[-0.018973,-0.411547,0.911191]] 2025-10-28T21:18:28.659Z,1761686308.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188615,-0.897495,-0.398658],[0.981811,0.163362,0.096744],[-0.021702,-0.409654,0.911983]] 2025-10-28T21:18:29.063Z,1761686309.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214366,-0.894541,-0.392229],[0.976452,0.186290,0.108799],[-0.024257,-0.406315,0.913411]] 2025-10-28T21:18:29.872Z,1761686309.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262760,-0.886024,-0.381993],[0.964452,0.229659,0.130727],[-0.028099,-0.402763,0.914873]] 2025-10-28T21:18:30.298Z,1761686310.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286078,-0.879906,-0.379373],[0.957766,0.250581,0.141044],[-0.029042,-0.403701,0.914430]] 2025-10-28T21:18:30.679Z,1761686310.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309451,-0.872527,-0.378071],[0.950468,0.271613,0.151119],[-0.029167,-0.406108,0.913359]] 2025-10-28T21:18:31.083Z,1761686311.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333408,-0.864957,-0.375085],[0.942355,0.293760,0.160228],[-0.028406,-0.406884,0.913038]] 2025-10-28T21:18:31.489Z,1761686311.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358122,-0.856384,-0.371960],[0.933282,0.316781,0.169218],[-0.027086,-0.407744,0.912694]] 2025-10-28T21:18:31.894Z,1761686311.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384715,-0.846820,-0.367274],[0.922681,0.341786,0.178445],[-0.025582,-0.407527,0.912835]] 2025-10-28T21:18:32.303Z,1761686312.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412091,-0.836418,-0.361366],[0.910830,0.367779,0.187420],[-0.023859,-0.406377,0.913394]] 2025-10-28T21:18:32.699Z,1761686312.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440989,-0.824996,-0.353427],[0.897226,0.395280,0.196824],[-0.022676,-0.403901,0.914522]] 2025-10-28T21:18:33.104Z,1761686313.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470901,-0.811212,-0.346680],[0.881904,0.422950,0.208226],[-0.022287,-0.403792,0.914579]] 2025-10-28T21:18:33.507Z,1761686313.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500959,-0.796203,-0.339267],[0.865178,0.450507,0.220252],[-0.022523,-0.403863,0.914542]] 2025-10-28T21:18:33.915Z,1761686313.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530738,-0.780122,-0.331250],[0.847206,0.477426,0.233038],[-0.023650,-0.404319,0.914312]] 2025-10-28T21:18:34.325Z,1761686314.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587419,-0.747459,-0.310232],[0.808754,0.528328,0.258432],[-0.029263,-0.402709,0.914860]] 2025-10-28T21:18:34.727Z,1761686314.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613266,-0.730041,-0.301569],[0.789173,0.550203,0.272915],[-0.033315,-0.405360,0.913550]] 2025-10-28T21:18:35.149Z,1761686315.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636992,-0.712934,-0.293199],[0.769949,0.569827,0.287185],[-0.037671,-0.408683,0.911898]] 2025-10-28T21:18:35.533Z,1761686315.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658254,-0.697072,-0.284240],[0.751634,0.587618,0.299586],[-0.041809,-0.410848,0.910745]] 2025-10-28T21:18:35.932Z,1761686315.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677388,-0.681293,-0.277461],[0.734242,0.603048,0.311806],[-0.045109,-0.414937,0.908731]] 2025-10-28T21:18:36.343Z,1761686316.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695586,-0.665124,-0.271607],[0.716848,0.617360,0.324030],[-0.047841,-0.420092,0.906220]] 2025-10-28T21:18:36.738Z,1761686316.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712873,-0.648661,-0.266554],[0.699572,0.631141,0.335054],[-0.049103,-0.425324,0.903708]] 2025-10-28T21:18:37.195Z,1761686317.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729855,-0.632132,-0.260233],[0.681820,0.645680,0.343830],[-0.049319,-0.428378,0.902253]] 2025-10-28T21:18:37.547Z,1761686317.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746883,-0.614585,-0.253872],[0.663199,0.660753,0.351528],[-0.048297,-0.430918,0.901097]] 2025-10-28T21:18:37.952Z,1761686317.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764141,-0.596096,-0.246493],[0.643369,0.676746,0.357898],[-0.046528,-0.432070,0.900639]] 2025-10-28T21:18:38.354Z,1761686318.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782128,-0.576014,-0.237663],[0.621522,0.693872,0.363664],[-0.044568,-0.432144,0.900702]] 2025-10-28T21:18:38.769Z,1761686318.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800220,-0.555267,-0.226553],[0.598168,0.711981,0.367801],[-0.042926,-0.429839,0.901885]] 2025-10-28T21:18:39.201Z,1761686319.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818436,-0.533094,-0.214411],[0.573099,0.730410,0.371562],[-0.041469,-0.426979,0.903310]] 2025-10-28T21:18:39.569Z,1761686319.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836470,-0.510428,-0.199454],[0.546486,0.749779,0.373074],[-0.040881,-0.421064,0.906109]] 2025-10-28T21:18:39.592Z,1761686319.592 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed] Stopped 2025-10-28T21:18:39.593Z,1761686319.593 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:18:39.971Z,1761686319.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853613,-0.487334,-0.183983],[0.519286,0.768275,0.374292],[-0.041056,-0.415041,0.908876]] 2025-10-28T21:18:40.001Z,1761686320.001 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:18:40.001Z,1761686320.001 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateRudder:A] Stopped 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:18:40.002Z,1761686320.002 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:18:40.003Z,1761686320.003 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:18:40.003Z,1761686320.003 [marl:UpdateCommandMode] Stopped 2025-10-28T21:18:40.003Z,1761686320.003 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:18:40.374Z,1761686320.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869715,-0.463783,-0.168822],[0.491799,0.785525,0.375611],[-0.041588,-0.409701,0.911271]] 2025-10-28T21:18:40.413Z,1761686320.413 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:18:40.413Z,1761686320.413 [marl:UpdateRudder:B] Stopped 2025-10-28T21:18:40.413Z,1761686320.413 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:18:40.413Z,1761686320.413 [marl:UpdateRudder] Stopped 2025-10-28T21:18:40.414Z,1761686320.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:18:40.785Z,1761686320.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884958,-0.439257,-0.154605],[0.463747,0.801169,0.378242],[-0.042280,-0.406426,0.912705]] 2025-10-28T21:18:41.205Z,1761686321.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898777,-0.415210,-0.140717],[0.436237,0.815120,0.381150],[-0.043556,-0.403955,0.913741]] 2025-10-28T21:18:41.601Z,1761686321.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911082,-0.391590,-0.128789],[0.409757,0.826162,0.386724],[-0.045037,-0.405109,0.913158]] 2025-10-28T21:18:41.991Z,1761686321.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922616,-0.367447,-0.117314],[0.382898,0.835757,0.393573],[-0.046571,-0.408037,0.911777]] 2025-10-28T21:18:42.395Z,1761686322.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933389,-0.342788,-0.106214],[0.355687,0.844363,0.400672],[-0.047662,-0.411761,0.910044]] 2025-10-28T21:18:42.801Z,1761686322.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942879,-0.319297,-0.095020],[0.329572,0.852437,0.405874],[-0.048596,-0.414006,0.908976]] 2025-10-28T21:18:43.213Z,1761686323.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951796,-0.294942,-0.084227],[0.302750,0.859219,0.412413],[-0.049269,-0.418033,0.907095]] 2025-10-28T21:18:43.606Z,1761686323.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959896,-0.270367,-0.074177],[0.275971,0.864585,0.419920],[-0.049400,-0.423550,0.904525]] 2025-10-28T21:18:44.010Z,1761686324.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967516,-0.244849,-0.062937],[0.247963,0.870588,0.424960],[-0.049259,-0.426762,0.903021]] 2025-10-28T21:18:44.418Z,1761686324.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974466,-0.218713,-0.050796],[0.219113,0.876877,0.427875],[-0.049040,-0.428079,0.902410]] 2025-10-28T21:18:44.820Z,1761686324.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980628,-0.192163,-0.037964],[0.189671,0.883152,0.429030],[-0.048916,-0.427920,0.902492]] 2025-10-28T21:18:45.222Z,1761686325.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986105,-0.164356,-0.024167],[0.158779,0.889710,0.428024],[-0.048847,-0.425914,0.903444]] 2025-10-28T21:18:45.626Z,1761686325.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990611,-0.136317,-0.010366],[0.127726,0.895812,0.425684],[-0.048742,-0.423011,0.904813]] 2025-10-28T21:18:46.031Z,1761686326.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994091,-0.108497,0.003518],[0.096888,0.901413,0.421979],[-0.048954,-0.419145,0.906599]] 2025-10-28T21:18:46.441Z,1761686326.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996548,-0.081249,0.017026],[0.066768,0.906363,0.417190],[-0.049328,-0.414614,0.908660]] 2025-10-28T21:18:46.844Z,1761686326.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998063,-0.054434,0.030113],[0.037193,0.910177,0.412546],[-0.049865,-0.410627,0.910439]] 2025-10-28T21:18:47.267Z,1761686327.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998705,-0.027772,0.042634],[0.007856,0.912021,0.410069],[-0.050272,-0.409203,0.911058]] 2025-10-28T21:18:47.650Z,1761686327.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998508,-0.002088,0.054558],[-0.020404,0.912594,0.408357],[-0.050642,-0.408861,0.911191]] 2025-10-28T21:18:48.073Z,1761686328.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997498,0.022944,0.066871],[-0.048197,0.912700,0.405779],[-0.051723,-0.407986,0.911522]] 2025-10-28T21:18:48.485Z,1761686328.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995757,0.046907,0.079165],[-0.074958,0.912495,0.402163],[-0.053373,-0.406391,0.912139]] 2025-10-28T21:18:48.887Z,1761686328.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993423,0.069481,0.091017],[-0.100292,0.911537,0.398801],[-0.055256,-0.405306,0.912510]] 2025-10-28T21:18:49.292Z,1761686329.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990458,0.091759,0.102824],[-0.125379,0.909679,0.395935],[-0.057207,-0.405049,0.912504]] 2025-10-28T21:18:49.694Z,1761686329.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986937,0.113415,0.114424],[-0.149839,0.907135,0.393261],[-0.059196,-0.405269,0.912279]] 2025-10-28T21:18:50.098Z,1761686330.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982864,0.134075,0.126496],[-0.173806,0.902642,0.393737],[-0.061391,-0.408976,0.910478]] 2025-10-28T21:18:50.506Z,1761686330.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978174,0.154821,0.138587],[-0.197774,0.898261,0.392445],[-0.063728,-0.411288,0.909275]] 2025-10-28T21:18:50.908Z,1761686330.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972743,0.176112,0.150847],[-0.222345,0.893056,0.391169],[-0.065826,-0.414047,0.907872]] 2025-10-28T21:18:51.310Z,1761686331.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966371,0.198337,0.163674],[-0.247999,0.887118,0.389254],[-0.067994,-0.416755,0.906473]] 2025-10-28T21:18:51.714Z,1761686331.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958740,0.222473,0.176982],[-0.275484,0.880758,0.385194],[-0.070183,-0.418057,0.905706]] 2025-10-28T21:18:52.530Z,1761686332.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939453,0.274813,0.204709],[-0.334632,0.864404,0.375270],[-0.073822,-0.421051,0.904028]] 2025-10-28T21:18:52.554Z,1761686332.554 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed] Stopped 2025-10-28T21:18:52.555Z,1761686332.555 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:18:52.927Z,1761686332.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927779,0.302741,0.218116],[-0.365348,0.855824,0.366177],[-0.075813,-0.419419,0.904621]] 2025-10-28T21:18:52.958Z,1761686332.958 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateRudder:A] Stopped 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:18:52.959Z,1761686332.959 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:18:52.960Z,1761686332.960 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:18:52.960Z,1761686332.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:18:52.960Z,1761686332.960 [marl:UpdateCommandMode] Stopped 2025-10-28T21:18:52.960Z,1761686332.960 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:18:53.330Z,1761686333.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914868,0.331655,0.230263],[-0.396164,0.847429,0.353438],[-0.077912,-0.414571,0.906676]] 2025-10-28T21:18:53.379Z,1761686333.379 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:18:53.379Z,1761686333.379 [marl:UpdateRudder:B] Stopped 2025-10-28T21:18:53.379Z,1761686333.379 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:18:53.379Z,1761686333.379 [marl:UpdateRudder] Stopped 2025-10-28T21:18:53.379Z,1761686333.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:18:53.743Z,1761686333.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900987,0.360788,0.240944],[-0.426401,0.838849,0.338400],[-0.080025,-0.407633,0.909633]] 2025-10-28T21:18:54.141Z,1761686334.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886236,0.390087,0.249836],[-0.455979,0.829684,0.322037],[-0.081662,-0.399320,0.913167]] 2025-10-28T21:18:54.542Z,1761686334.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870820,0.418212,0.258402],[-0.484531,0.818993,0.307377],[-0.083081,-0.392874,0.915832]] 2025-10-28T21:18:54.946Z,1761686334.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855133,0.445220,0.265567],[-0.511537,0.807805,0.292883],[-0.084129,-0.386302,0.918528]] 2025-10-28T21:18:55.350Z,1761686335.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840007,0.468965,0.272875],[-0.535812,0.796156,0.281142],[-0.085406,-0.382371,0.920054]] 2025-10-28T21:18:55.761Z,1761686335.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825533,0.489498,0.280868],[-0.557594,0.784259,0.272078],[-0.087092,-0.381220,0.920373]] 2025-10-28T21:18:56.160Z,1761686336.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811768,0.507147,0.289543],[-0.577224,0.772011,0.266105],[-0.088576,-0.383146,0.919431]] 2025-10-28T21:18:56.428Z,1761686336.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:18:56.562Z,1761686336.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798187,0.522667,0.299528],[-0.595679,0.758909,0.263102],[-0.089800,-0.388427,0.917093]] 2025-10-28T21:18:57.371Z,1761686337.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768660,0.550387,0.325939],[-0.633012,0.727775,0.263892],[-0.091967,-0.409166,0.907813]] 2025-10-28T21:18:57.432Z,1761686337.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:18:57.786Z,1761686337.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751631,0.564834,0.340608],[-0.652955,0.710220,0.263129],[-0.093282,-0.420177,0.902635]] 2025-10-28T21:18:58.197Z,1761686338.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733612,0.579644,0.354720],[-0.672928,0.692421,0.260235],[-0.094771,-0.429612,0.898027]] 2025-10-28T21:18:58.617Z,1761686338.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714090,0.596109,0.367054],[-0.693497,0.673958,0.254640],[-0.095585,-0.436387,0.894668]] 2025-10-28T21:18:59.422Z,1761686339.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669635,0.634105,0.386651],[-0.736483,0.634118,0.235556],[-0.095815,-0.442499,0.891636]] 2025-10-28T21:18:59.822Z,1761686339.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646761,0.654278,0.391945],[-0.756649,0.614996,0.221950],[-0.095828,-0.440114,0.892814]] 2025-10-28T21:19:00.238Z,1761686340.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622815,0.675154,0.395307],[-0.776516,0.595131,0.206981],[-0.095515,-0.435874,0.894925]] 2025-10-28T21:19:00.630Z,1761686340.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598743,0.694895,0.398282],[-0.795252,0.574943,0.192392],[-0.095297,-0.431928,0.896859]] 2025-10-28T21:19:01.034Z,1761686341.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574480,0.712127,0.403546],[-0.812966,0.553749,0.180136],[-0.095183,-0.431553,0.897052]] 2025-10-28T21:19:01.439Z,1761686341.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549926,0.729512,0.406686],[-0.829817,0.532489,0.166912],[-0.094792,-0.429264,0.898191]] 2025-10-28T21:19:01.844Z,1761686341.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525683,0.745722,0.409335],[-0.845421,0.511400,0.154057],[-0.094450,-0.427046,0.899284]] 2025-10-28T21:19:02.248Z,1761686342.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500930,0.760344,0.413456],[-0.860351,0.489433,0.142308],[-0.094156,-0.427004,0.899335]] 2025-10-28T21:19:02.650Z,1761686342.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474176,0.775987,0.415935],[-0.875504,0.465494,0.129649],[-0.093009,-0.425629,0.900105]] 2025-10-28T21:19:03.054Z,1761686343.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447104,0.789630,0.420216],[-0.889689,0.441145,0.117658],[-0.092470,-0.426467,0.899764]] 2025-10-28T21:19:03.464Z,1761686343.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418147,0.803603,0.423527],[-0.903726,0.415154,0.104531],[-0.091828,-0.426461,0.899832]] 2025-10-28T21:19:03.862Z,1761686343.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388394,0.818994,0.422374],[-0.916942,0.388987,0.088918],[-0.091475,-0.421827,0.902050]] 2025-10-28T21:19:04.266Z,1761686344.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358084,0.833789,0.420204],[-0.929222,0.362211,0.073137],[-0.091222,-0.416652,0.904477]] 2025-10-28T21:19:04.671Z,1761686344.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327868,0.848584,0.415220],[-0.940352,0.335371,0.057129],[-0.090774,-0.409184,0.907925]] 2025-10-28T21:19:05.077Z,1761686345.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298234,0.862936,0.407918],[-0.950169,0.309038,0.040921],[-0.090750,-0.399795,0.912101]] 2025-10-28T21:19:05.479Z,1761686345.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270279,0.872591,0.406858],[-0.958443,0.283930,0.027756],[-0.091299,-0.397453,0.913069]] 2025-10-28T21:19:05.529Z,1761686345.529 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:19:05.529Z,1761686345.529 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:19:05.529Z,1761686345.529 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:19:05.529Z,1761686345.529 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:19:05.530Z,1761686345.530 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:19:05.530Z,1761686345.530 [marl:UpdateSpeed] Stopped 2025-10-28T21:19:05.530Z,1761686345.530 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:19:05.882Z,1761686345.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243790,0.879461,0.408797],[-0.965514,0.259806,0.016864],[-0.091376,-0.398810,0.912470]] 2025-10-28T21:19:05.928Z,1761686345.928 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:19:05.928Z,1761686345.928 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:19:05.928Z,1761686345.928 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateRudder:A] Stopped 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode] Stopped 2025-10-28T21:19:05.929Z,1761686345.929 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:19:06.287Z,1761686346.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219154,0.885080,0.410616],[-0.971411,0.237301,0.006962],[-0.091278,-0.400402,0.911782]] 2025-10-28T21:19:06.311Z,1761686346.311 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:19:06.311Z,1761686346.311 [marl:UpdateRudder:B] Stopped 2025-10-28T21:19:06.311Z,1761686346.311 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:19:06.311Z,1761686346.311 [marl:UpdateRudder] Stopped 2025-10-28T21:19:06.311Z,1761686346.311 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:19:06.314Z,1761686346.314 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:19:06.401Z,1761686346.401 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:19:06.401Z,1761686346.401 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:19:06.653Z,1761686346.653 [DAT](INFO): DAT read: 2025-10-28T21:19:06.653Z,1761686346.653 [DAT](INFO): DAT read: Tx time:21:19:06.4056 2025-10-28T21:19:06.654Z,1761686346.654 [DAT](INFO): Ping request sent. 2025-10-28T21:19:06.654Z,1761686346.654 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:19:06.654Z,1761686346.654 [DAT](INFO): publishing transmit ping time 2025-10-28T21:19:06.655Z,1761686346.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000966 2025-10-28T21:19:06.733Z,1761686346.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195333,0.888292,0.415672],[-0.976539,0.215336,-0.001277],[-0.090644,-0.405670,0.909514]] 2025-10-28T21:19:06.905Z,1761686346.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251001 2025-10-28T21:19:07.095Z,1761686347.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172544,0.891179,0.419558],[-0.980831,0.194605,-0.009991],[-0.090552,-0.409792,0.907673]] 2025-10-28T21:19:07.168Z,1761686347.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.513206 2025-10-28T21:19:07.417Z,1761686347.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763032 2025-10-28T21:19:07.499Z,1761686347.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149848,0.893558,0.423202],[-0.984518,0.174224,-0.019262],[-0.090943,-0.413764,0.905830]] 2025-10-28T21:19:07.669Z,1761686347.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014965 2025-10-28T21:19:07.903Z,1761686347.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126323,0.895233,0.427317],[-0.987753,0.153284,-0.029134],[-0.091583,-0.418403,0.903632]] 2025-10-28T21:19:07.921Z,1761686347.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267162 2025-10-28T21:19:08.173Z,1761686348.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519073 2025-10-28T21:19:08.308Z,1761686348.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101053,0.898048,0.428133],[-0.990582,0.130784,-0.040522],[-0.092383,-0.420006,0.902807]] 2025-10-28T21:19:08.425Z,1761686348.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771007 2025-10-28T21:19:08.677Z,1761686348.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023048 2025-10-28T21:19:08.729Z,1761686348.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074670,0.901187,0.426949],[-0.992831,0.107256,-0.052754],[-0.093334,-0.419949,0.902735]] 2025-10-28T21:19:08.929Z,1761686348.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275645 2025-10-28T21:19:09.122Z,1761686349.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046138,0.905045,0.422805],[-0.994503,0.081441,-0.065808],[-0.093993,-0.417445,0.903828]] 2025-10-28T21:19:09.184Z,1761686349.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529606 2025-10-28T21:19:09.433Z,1761686349.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779474 2025-10-28T21:19:09.521Z,1761686349.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017092,0.908110,0.418383],[-0.995326,0.055231,-0.079220],[-0.095048,-0.415073,0.904809]] 2025-10-28T21:19:09.685Z,1761686349.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031070 2025-10-28T21:19:09.938Z,1761686349.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283837 2025-10-28T21:19:09.970Z,1761686349.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040033,0.912794,0.406453],[-0.994396,0.003440,-0.105666],[-0.097849,-0.408405,0.907541]] 2025-10-28T21:19:10.189Z,1761686350.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535218 2025-10-28T21:19:10.371Z,1761686350.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067761,0.913978,0.400065],[-0.992743,-0.021837,-0.118259],[-0.099350,-0.405175,0.908825]] 2025-10-28T21:19:10.445Z,1761686350.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791472 2025-10-28T21:19:10.698Z,1761686350.698 [DAT](INFO): DAT read: Rx Time:21:19:09.9000 2025-10-28T21:19:10.699Z,1761686350.699 [DAT](INFO): Rx dataTimestamp_ set to:1761686350.698866 2025-10-28T21:19:10.700Z,1761686350.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045866 2025-10-28T21:19:10.811Z,1761686350.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094211,0.912411,0.398284],[-0.990456,-0.045473,-0.130114],[-0.100606,-0.406740,0.907987]] 2025-10-28T21:19:10.949Z,1761686350.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.295074 2025-10-28T21:19:11.212Z,1761686351.212 [DAT](INFO): DAT read: 21:19:09.9000 LVL= 18880, 27329, 29010, 32755, AGC= 79, IDX= 218, 0.16,-1.178,-2.875,-2.952,-1.375, PHS= 0.299,-1.455,-1.621, RAW= 85.5, 28.0, CAL= 83.5, 35.9, ROT= 66.5, -35.9 2025-10-28T21:19:11.214Z,1761686351.214 [DAT](INFO): got valid direction response: 21:19:09.9000 LVL= 18880, 27329, 29010, 32755, AGC= 79, IDX= 218, 0.16,-1.178,-2.875,-2.952,-1.375, PHS= 0.299,-1.455,-1.621, RAW= 85.5, 28.0, CAL= 83.5, 35.9, ROT= 66.5, -35.9 2025-10-28T21:19:11.215Z,1761686351.215 [DAT](INFO): DAT read: Bearing 327, -19 (Remote) 2025-10-28T21:19:11.215Z,1761686351.215 [DAT](INFO): Remote Bearing received:Bearing 327, -19 (Remote) 2025-10-28T21:19:11.218Z,1761686351.218 [DAT](INFO): DAT read: Bearing 114.7, 23.5 (Local) 2025-10-28T21:19:11.219Z,1761686351.219 [DAT](INFO): Local bearing/azimuth received: Bearing 114.7, 23.5 (Local) 2025-10-28T21:19:11.229Z,1761686351.229 [DAT](INFO): DAT read: Range 11 to 20 : 1099.0 m (Round-trip 1465.4 ms) speed -0.4 m/s 2025-10-28T21:19:11.229Z,1761686351.229 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:19:11.230Z,1761686351.230 [DAT](INFO): direction in FSK: [0.323003,0.742857,0.586372] 2025-10-28T21:19:11.231Z,1761686351.231 [DAT](INFO): publishing direction and range info 2025-10-28T21:19:11.279Z,1761686351.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119839,0.909481,0.398099],[-0.987566,-0.068110,-0.141685],[-0.101746,-0.410129,0.906335]] 2025-10-28T21:19:11.407Z,1761686351.407 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686400.00. Resetting abort timer. 2025-10-28T21:19:11.651Z,1761686351.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145273,0.905566,0.398554],[-0.984051,-0.090451,-0.153172],[-0.102658,-0.414449,0.904264]] 2025-10-28T21:19:12.047Z,1761686352.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170580,0.900050,0.401015],[-0.979934,-0.112370,-0.164630],[-0.103113,-0.421051,0.901157]] 2025-10-28T21:19:12.451Z,1761686352.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195822,0.894632,0.401607],[-0.975199,-0.134575,-0.175718],[-0.103157,-0.426056,0.898796]] 2025-10-28T21:19:12.855Z,1761686352.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221880,0.888907,0.400767],[-0.969623,-0.157742,-0.186946],[-0.102960,-0.430073,0.896904]] 2025-10-28T21:19:13.259Z,1761686353.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249201,0.883290,0.397111],[-0.963015,-0.182623,-0.198118],[-0.102474,-0.431795,0.896132]] 2025-10-28T21:19:13.666Z,1761686353.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277744,0.878765,0.388112],[-0.955255,-0.209862,-0.208437],[-0.101717,-0.428637,0.897732]] 2025-10-28T21:19:14.478Z,1761686354.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337828,0.867742,0.364550],[-0.935886,-0.268569,-0.228008],[-0.099945,-0.418205,0.902838]] 2025-10-28T21:19:14.873Z,1761686354.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368840,0.861357,0.349315],[-0.924202,-0.299814,-0.236563],[-0.099036,-0.410092,0.906651]] 2025-10-28T21:19:15.795Z,1761686355.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430960,0.838226,0.334141],[-0.897129,-0.358143,-0.258637],[-0.097126,-0.411230,0.906342]] 2025-10-28T21:19:16.223Z,1761686356.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460943,0.823310,0.331198],[-0.882223,-0.384759,-0.271373],[-0.095993,-0.417278,0.903695]] 2025-10-28T21:19:16.629Z,1761686356.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488046,0.807533,0.331212],[-0.867640,-0.407589,-0.284733],[-0.094933,-0.426336,0.899570]] 2025-10-28T21:19:17.015Z,1761686357.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512971,0.792856,0.328998],[-0.853251,-0.429012,-0.296500],[-0.093937,-0.432814,0.896576]] 2025-10-28T21:19:17.823Z,1761686357.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559337,0.766163,0.316444],[-0.823791,-0.471282,-0.315057],[-0.092251,-0.436907,0.894764]] 2025-10-28T21:19:18.230Z,1761686358.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581038,0.753269,0.308190],[-0.808750,-0.491947,-0.322354],[-0.091206,-0.436548,0.895046]] 2025-10-28T21:19:18.631Z,1761686358.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602370,0.739415,0.300692],[-0.793108,-0.511871,-0.330103],[-0.090167,-0.437326,0.894772]] 2025-10-28T21:19:18.660Z,1761686358.660 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed] Stopped 2025-10-28T21:19:18.661Z,1761686358.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:19:19.034Z,1761686359.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623171,0.725772,0.291397],[-0.776944,-0.531844,-0.336898],[-0.089533,-0.436344,0.895314]] 2025-10-28T21:19:19.074Z,1761686359.074 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateRudder:A] Stopped 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:19:19.075Z,1761686359.075 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:19:19.076Z,1761686359.076 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:19:19.076Z,1761686359.076 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:19:19.076Z,1761686359.076 [marl:UpdateCommandMode] Stopped 2025-10-28T21:19:19.076Z,1761686359.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:19:19.439Z,1761686359.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643634,0.712046,0.280581],[-0.760138,-0.552113,-0.342580],[-0.089020,-0.433777,0.896612]] 2025-10-28T21:19:19.500Z,1761686359.500 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:19:19.500Z,1761686359.500 [marl:UpdateRudder:B] Stopped 2025-10-28T21:19:19.500Z,1761686359.500 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:19:19.500Z,1761686359.500 [marl:UpdateRudder] Stopped 2025-10-28T21:19:19.500Z,1761686359.500 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:19:19.843Z,1761686359.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664970,0.697236,0.267728],[-0.741635,-0.574058,-0.347037],[-0.088275,-0.429325,0.898826]] 2025-10-28T21:19:20.252Z,1761686360.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686589,0.681460,0.253393],[-0.721739,-0.596811,-0.350584],[-0.087681,-0.423591,0.901600]] 2025-10-28T21:19:20.650Z,1761686360.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708404,0.664859,0.236910],[-0.700411,-0.620774,-0.352229],[-0.087115,-0.415454,0.905433]] 2025-10-28T21:19:21.055Z,1761686361.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730269,0.646273,0.221446],[-0.677653,-0.644195,-0.354683],[-0.086568,-0.409077,0.908384]] 2025-10-28T21:19:21.458Z,1761686361.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751841,0.625992,0.207050],[-0.653693,-0.666664,-0.358113],[-0.086143,-0.404591,0.910432]] 2025-10-28T21:19:22.266Z,1761686362.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792714,0.581621,0.182540],[-0.603457,-0.706345,-0.370021],[-0.086276,-0.403476,0.910914]] 2025-10-28T21:19:22.673Z,1761686362.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811453,0.558272,0.172847],[-0.577980,-0.722834,-0.378748],[-0.086505,-0.407238,0.909216]] 2025-10-28T21:19:23.075Z,1761686363.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828394,0.535668,0.163781],[-0.553348,-0.737161,-0.387814],[-0.087007,-0.411891,0.907070]] 2025-10-28T21:19:23.882Z,1761686363.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859117,0.490687,0.145411],[-0.504309,-0.763319,-0.403753],[-0.087122,-0.420203,0.903238]] 2025-10-28T21:19:24.301Z,1761686364.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872792,0.469038,0.135044],[-0.480260,-0.775900,-0.409059],[-0.087084,-0.421880,0.902460]] 2025-10-28T21:19:24.716Z,1761686364.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886284,0.446003,0.124830],[-0.455045,-0.788381,-0.413991],[-0.086227,-0.423717,0.901681]] 2025-10-28T21:19:25.928Z,1761686365.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925303,0.367920,0.091920],[-0.370485,-0.825267,-0.426233],[-0.080961,-0.428450,0.899931]] 2025-10-28T21:19:26.734Z,1761686366.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947569,0.312090,0.068653],[-0.310130,-0.846376,-0.432975],[-0.077021,-0.431565,0.898788]] 2025-10-28T21:19:27.171Z,1761686367.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956929,0.284500,0.057851],[-0.280433,-0.854237,-0.437762],[-0.075125,-0.435130,0.897228]] 2025-10-28T21:19:27.552Z,1761686367.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:19:27.946Z,1761686367.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971743,0.232930,0.038187],[-0.225235,-0.866659,-0.445165],[-0.070597,-0.441187,0.894634]] 2025-10-28T21:19:28.556Z,1761686368.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:19:28.759Z,1761686368.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982318,0.186180,0.019725],[-0.175385,-0.878223,-0.444931],[-0.065514,-0.440523,0.895347]] 2025-10-28T21:19:29.615Z,1761686369.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993503,0.113350,-0.010189],[-0.098996,-0.904899,-0.413954],[-0.056142,-0.410256,0.910241]] 2025-10-28T21:19:30.074Z,1761686370.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996107,0.085955,-0.019562],[-0.070874,-0.912845,-0.402108],[-0.052420,-0.399157,0.915383]] 2025-10-28T21:19:30.491Z,1761686370.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997973,0.057017,-0.028281],[-0.041169,-0.917180,-0.396342],[-0.048537,-0.394374,0.917667]] 2025-10-28T21:19:30.880Z,1761686370.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998950,0.027159,-0.036898],[-0.010387,-0.918636,-0.394968],[-0.044623,-0.394170,0.917953]] 2025-10-28T21:19:31.282Z,1761686371.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998958,-0.002122,-0.045580],[0.020094,-0.917297,-0.397697],[-0.040967,-0.398198,0.916384]] 2025-10-28T21:19:31.701Z,1761686371.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998026,-0.031357,-0.054418],[0.050704,-0.913577,-0.403492],[-0.037062,-0.405455,0.913363]] 2025-10-28T21:19:31.745Z,1761686371.745 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:19:31.745Z,1761686371.745 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:19:31.745Z,1761686371.745 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:19:31.746Z,1761686371.746 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:19:31.746Z,1761686371.746 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:19:31.746Z,1761686371.746 [marl:UpdateSpeed] Stopped 2025-10-28T21:19:31.746Z,1761686371.746 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:19:32.104Z,1761686372.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996212,-0.059540,-0.063385],[0.080408,-0.908275,-0.410575],[-0.033125,-0.414116,0.909621]] 2025-10-28T21:19:32.139Z,1761686372.139 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:19:32.139Z,1761686372.139 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:19:32.139Z,1761686372.139 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:19:32.139Z,1761686372.139 [marl:UpdateRudder:A] Stopped 2025-10-28T21:19:32.139Z,1761686372.139 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:19:32.140Z,1761686372.140 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:19:32.140Z,1761686372.140 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:19:32.140Z,1761686372.140 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:19:32.140Z,1761686372.140 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:19:32.140Z,1761686372.140 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:19:32.141Z,1761686372.141 [marl:UpdateCommandMode] Stopped 2025-10-28T21:19:32.141Z,1761686372.141 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:19:32.495Z,1761686372.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993602,-0.086682,-0.072395],[0.109185,-0.901136,-0.419563],[-0.028869,-0.424783,0.904835]] 2025-10-28T21:19:32.535Z,1761686372.535 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:19:32.535Z,1761686372.535 [marl:UpdateRudder:B] Stopped 2025-10-28T21:19:32.535Z,1761686372.535 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:19:32.535Z,1761686372.535 [marl:UpdateRudder] Stopped 2025-10-28T21:19:32.535Z,1761686372.535 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:19:32.900Z,1761686372.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990425,-0.111553,-0.081334],[0.135814,-0.893014,-0.429045],[-0.024771,-0.435983,0.899614]] 2025-10-28T21:19:33.707Z,1761686373.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982479,-0.158275,-0.098409],[0.185637,-0.877987,-0.441223],[-0.016567,-0.451761,0.891985]] 2025-10-28T21:19:34.110Z,1761686374.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977604,-0.181713,-0.106160],[0.210083,-0.872469,-0.441207],[-0.012448,-0.453628,0.891104]] 2025-10-28T21:19:34.515Z,1761686374.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971960,-0.206104,-0.113205],[0.234989,-0.868972,-0.435509],[-0.008612,-0.449899,0.893038]] 2025-10-28T21:19:34.920Z,1761686374.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965506,-0.231390,-0.119403],[0.260339,-0.866160,-0.426604],[-0.004710,-0.442974,0.896522]] 2025-10-28T21:19:35.727Z,1761686375.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949371,-0.287310,-0.127073],[0.314137,-0.863588,-0.394377],[0.003569,-0.414328,0.910120]] 2025-10-28T21:19:36.131Z,1761686376.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939558,-0.316342,-0.130989],[0.342299,-0.859063,-0.380581],[0.007866,-0.402415,0.915423]] 2025-10-28T21:19:36.569Z,1761686376.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927665,-0.346843,-0.138338],[0.373232,-0.849709,-0.372414],[0.011622,-0.397108,0.917698]] 2025-10-28T21:19:36.966Z,1761686376.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914165,-0.377283,-0.148191],[0.405071,-0.836934,-0.368048],[0.014832,-0.396484,0.917922]] 2025-10-28T21:19:37.783Z,1761686377.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883642,-0.433675,-0.176361],[0.467761,-0.802210,-0.371024],[0.019425,-0.410347,0.911723]] 2025-10-28T21:19:38.586Z,1761686378.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850139,-0.483128,-0.209407],[0.526157,-0.763903,-0.373646],[0.020553,-0.427832,0.903625]] 2025-10-28T21:19:38.987Z,1761686378.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832537,-0.506353,-0.224699],[0.553632,-0.746336,-0.369425],[0.019359,-0.431960,0.901685]] 2025-10-28T21:19:39.396Z,1761686379.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814382,-0.528427,-0.239889],[0.580089,-0.729356,-0.362680],[0.016686,-0.434517,0.900509]] 2025-10-28T21:19:39.797Z,1761686379.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795845,-0.550190,-0.252829],[0.605353,-0.713739,-0.352314],[0.013386,-0.433438,0.901084]] 2025-10-28T21:19:40.200Z,1761686380.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777514,-0.570739,-0.264062],[0.628787,-0.698902,-0.340828],[0.009970,-0.431037,0.902279]] 2025-10-28T21:19:40.610Z,1761686380.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759992,-0.589315,-0.274080],[0.649888,-0.684175,-0.330983],[0.007534,-0.429666,0.902956]] 2025-10-28T21:19:41.009Z,1761686381.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742938,-0.606369,-0.283477],[0.669328,-0.668863,-0.323454],[0.006525,-0.430046,0.902784]] 2025-10-28T21:19:41.411Z,1761686381.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725346,-0.623131,-0.292543],[0.688354,-0.652554,-0.316768],[0.006488,-0.431140,0.902262]] 2025-10-28T21:19:41.814Z,1761686381.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707283,-0.640836,-0.298465],[0.706891,-0.636657,-0.308175],[0.007470,-0.428949,0.903298]] 2025-10-28T21:19:42.220Z,1761686382.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688785,-0.657924,-0.304484],[0.724901,-0.619435,-0.301360],[0.009664,-0.428293,0.903588]] 2025-10-28T21:19:42.629Z,1761686382.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670153,-0.674821,-0.309049],[0.742106,-0.601805,-0.295144],[0.013181,-0.427139,0.904090]] 2025-10-28T21:19:43.026Z,1761686383.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650903,-0.691208,-0.313938],[0.758949,-0.582686,-0.290644],[0.017968,-0.427444,0.903863]] 2025-10-28T21:19:43.431Z,1761686383.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631584,-0.707626,-0.316809],[0.774950,-0.563772,-0.285681],[0.023548,-0.425942,0.904444]] 2025-10-28T21:19:43.835Z,1761686383.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611332,-0.724066,-0.319375],[0.790823,-0.543894,-0.280674],[0.029520,-0.424154,0.905109]] 2025-10-28T21:19:44.241Z,1761686384.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588872,-0.741178,-0.322313],[0.807474,-0.522314,-0.274177],[0.034865,-0.421715,0.906058]] 2025-10-28T21:19:44.659Z,1761686384.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563510,-0.758693,-0.326867],[0.825185,-0.498232,-0.266146],[0.039067,-0.419702,0.906821]] 2025-10-28T21:19:44.689Z,1761686384.689 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:19:44.689Z,1761686384.689 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:19:44.689Z,1761686384.689 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:19:44.690Z,1761686384.690 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:19:44.690Z,1761686384.690 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:19:44.690Z,1761686384.690 [marl:UpdateSpeed] Stopped 2025-10-28T21:19:44.690Z,1761686384.690 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:19:45.047Z,1761686385.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536225,-0.774618,-0.335306],[0.843001,-0.471434,-0.259036],[0.042579,-0.421564,0.905798]] 2025-10-28T21:19:45.087Z,1761686385.087 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:19:45.087Z,1761686385.087 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:19:45.087Z,1761686385.087 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:19:45.087Z,1761686385.088 [marl:UpdateRudder:A] Stopped 2025-10-28T21:19:45.088Z,1761686385.088 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:19:45.092Z,1761686385.092 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:19:45.092Z,1761686385.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:19:45.092Z,1761686385.092 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:19:45.092Z,1761686385.092 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:19:45.093Z,1761686385.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:19:45.093Z,1761686385.093 [marl:UpdateCommandMode] Stopped 2025-10-28T21:19:45.093Z,1761686385.093 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:19:45.453Z,1761686385.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507703,-0.789806,-0.344158],[0.860335,-0.443738,-0.250838],[0.045397,-0.423442,0.904785]] 2025-10-28T21:19:45.523Z,1761686385.523 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:19:45.523Z,1761686385.523 [marl:UpdateRudder:B] Stopped 2025-10-28T21:19:45.523Z,1761686385.523 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:19:45.523Z,1761686385.523 [marl:UpdateRudder] Stopped 2025-10-28T21:19:45.524Z,1761686385.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:19:45.855Z,1761686385.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478148,-0.804311,-0.352785],[0.876992,-0.415495,-0.241349],[0.047539,-0.424791,0.904043]] 2025-10-28T21:19:46.261Z,1761686386.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448008,-0.817648,-0.361580],[0.892695,-0.387029,-0.230878],[0.048835,-0.426215,0.903303]] 2025-10-28T21:19:46.673Z,1761686386.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417484,-0.829892,-0.370118],[0.907351,-0.358669,-0.219250],[0.049204,-0.427360,0.902742]] 2025-10-28T21:19:47.067Z,1761686387.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386349,-0.842007,-0.376507],[0.921056,-0.330560,-0.205880],[0.048894,-0.426325,0.903247]] 2025-10-28T21:19:47.875Z,1761686387.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325340,-0.861505,-0.389825],[0.944384,-0.275153,-0.180083],[0.047881,-0.426732,0.903110]] 2025-10-28T21:19:48.280Z,1761686388.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296236,-0.868503,-0.397425],[0.953918,-0.248213,-0.168614],[0.047795,-0.429061,0.902010]] 2025-10-28T21:19:48.683Z,1761686388.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267699,-0.874162,-0.405188],[0.962309,-0.221645,-0.157593],[0.047954,-0.432104,0.900548]] 2025-10-28T21:19:49.088Z,1761686389.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240079,-0.879497,-0.410910],[0.969546,-0.196131,-0.146677],[0.048410,-0.433610,0.899800]] 2025-10-28T21:19:49.491Z,1761686389.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212994,-0.883827,-0.416514],[0.975831,-0.171115,-0.135915],[0.048854,-0.435396,0.898912]] 2025-10-28T21:19:49.895Z,1761686389.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185982,-0.886946,-0.422774],[0.981320,-0.146122,-0.125140],[0.049216,-0.438150,0.897554]] 2025-10-28T21:19:50.298Z,1761686390.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159016,-0.889543,-0.428284],[0.986024,-0.121251,-0.114259],[0.049708,-0.440467,0.896391]] 2025-10-28T21:19:50.712Z,1761686390.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131890,-0.891508,-0.433381],[0.989986,-0.096265,-0.103254],[0.050333,-0.442659,0.895276]] 2025-10-28T21:19:51.110Z,1761686391.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105088,-0.892529,-0.438577],[0.993156,-0.071592,-0.092278],[0.050963,-0.445272,0.893944]] 2025-10-28T21:19:51.610Z,1761686391.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052035,-0.893339,-0.446361],[0.997290,-0.023208,-0.069812],[0.052007,-0.448784,0.892126]] 2025-10-28T21:19:52.076Z,1761686392.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025805,-0.893861,-0.447602],[0.998266,0.000659,-0.058868],[0.052914,-0.448344,0.892293]] 2025-10-28T21:19:52.485Z,1761686392.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000251,-0.893440,-0.449182],[0.998526,0.024605,-0.048381],[0.054278,-0.448508,0.892129]] 2025-10-28T21:19:52.878Z,1761686392.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026481,-0.893058,-0.449162],[0.998048,0.049040,-0.038663],[0.056555,-0.447262,0.892613]] 2025-10-28T21:19:53.691Z,1761686393.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080227,-0.892828,-0.443195],[0.994797,0.099724,-0.020819],[0.062785,-0.439219,0.896183]] 2025-10-28T21:19:54.090Z,1761686394.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109391,-0.893372,-0.435798],[0.991820,0.127111,-0.011614],[0.065771,-0.430963,0.899970]] 2025-10-28T21:19:54.498Z,1761686394.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139778,-0.893212,-0.427358],[0.987826,0.155550,-0.002018],[0.068278,-0.421873,0.904080]] 2025-10-28T21:19:54.899Z,1761686394.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171235,-0.891487,-0.419439],[0.982727,0.184876,0.008254],[0.070186,-0.413607,0.907746]] 2025-10-28T21:19:55.302Z,1761686395.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203296,-0.887573,-0.413383],[0.976518,0.214542,0.019595],[0.071296,-0.407659,0.910347]] 2025-10-28T21:19:55.779Z,1761686395.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236286,-0.882127,-0.407456],[0.969050,0.244780,0.032018],[0.071493,-0.402411,0.912663]] 2025-10-28T21:19:56.167Z,1761686396.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269559,-0.874359,-0.403527],[0.960380,0.274882,0.045930],[0.070763,-0.399921,0.913814]] 2025-10-28T21:19:56.594Z,1761686396.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303249,-0.864423,-0.401014],[0.950431,0.304714,0.061881],[0.068703,-0.399901,0.913980]] 2025-10-28T21:19:57.003Z,1761686397.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337442,-0.852429,-0.399372],[0.939084,0.334228,0.080078],[0.065221,-0.402066,0.913285]] 2025-10-28T21:19:57.407Z,1761686397.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371287,-0.838943,-0.397896],[0.926541,0.362706,0.099831],[0.060567,-0.405732,0.911983]] 2025-10-28T21:19:57.812Z,1761686397.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403470,-0.825200,-0.395293],[0.913313,0.389377,0.119354],[0.055427,-0.409182,0.910768]] 2025-10-28T21:19:57.835Z,1761686397.835 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:19:57.835Z,1761686397.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:19:57.836Z,1761686397.836 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:19:57.836Z,1761686397.836 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:19:57.836Z,1761686397.836 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:19:57.836Z,1761686397.836 [marl:UpdateSpeed] Stopped 2025-10-28T21:19:57.837Z,1761686397.837 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:19:58.214Z,1761686398.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432875,-0.811781,-0.391959],[0.900029,0.413636,0.137306],[0.050666,-0.412210,0.909679]] 2025-10-28T21:19:58.249Z,1761686398.249 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:19:58.249Z,1761686398.249 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:19:58.249Z,1761686398.249 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateRudder:A] Stopped 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:19:58.250Z,1761686398.250 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:19:58.251Z,1761686398.251 [marl:UpdateCommandMode] Stopped 2025-10-28T21:19:58.251Z,1761686398.251 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:19:58.671Z,1761686398.671 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:19:58.671Z,1761686398.671 [marl:UpdateRudder:B] Stopped 2025-10-28T21:19:58.671Z,1761686398.671 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:19:58.671Z,1761686398.671 [marl:UpdateRudder] Stopped 2025-10-28T21:19:58.671Z,1761686398.671 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:19:58.676Z,1761686398.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:19:59.022Z,1761686399.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483876,-0.787295,-0.382140],[0.874089,0.456146,0.167031],[0.042809,-0.414847,0.908884]] 2025-10-28T21:19:59.428Z,1761686399.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507142,-0.774360,-0.378383],[0.860949,0.475376,0.181064],[0.039666,-0.417594,0.907768]] 2025-10-28T21:19:59.684Z,1761686399.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:20:00.235Z,1761686400.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552681,-0.745772,-0.371977],[0.832643,0.513058,0.208512],[0.035344,-0.424965,0.904520]] 2025-10-28T21:20:00.645Z,1761686400.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575021,-0.730463,-0.368476],[0.817429,0.531703,0.221589],[0.034057,-0.428622,0.902842]] 2025-10-28T21:20:01.046Z,1761686401.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597373,-0.714712,-0.363776],[0.801278,0.550674,0.233905],[0.033147,-0.431214,0.901641]] 2025-10-28T21:20:01.447Z,1761686401.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619873,-0.697472,-0.359570],[0.784025,0.569525,0.246873],[0.032597,-0.434942,0.899868]] 2025-10-28T21:20:01.852Z,1761686401.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642602,-0.679652,-0.353745],[0.765524,0.588907,0.259156],[0.032186,-0.437334,0.898723]] 2025-10-28T21:20:02.255Z,1761686402.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664838,-0.661298,-0.347384],[0.746296,0.608034,0.270810],[0.032135,-0.439296,0.897768]] 2025-10-28T21:20:02.659Z,1761686402.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687265,-0.641430,-0.340933],[0.725699,0.626986,0.283281],[0.032055,-0.442104,0.896391]] 2025-10-28T21:20:03.067Z,1761686403.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708682,-0.622008,-0.332980],[0.704791,0.645697,0.293845],[0.032231,-0.442924,0.895980]] 2025-10-28T21:20:03.468Z,1761686403.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729688,-0.601810,-0.324624],[0.682999,0.664171,0.303956],[0.032682,-0.443511,0.895673]] 2025-10-28T21:20:03.871Z,1761686403.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750228,-0.581430,-0.314795],[0.660343,0.682832,0.312550],[0.033226,-0.442357,0.896223]] 2025-10-28T21:20:04.274Z,1761686404.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770238,-0.560368,-0.304501],[0.636859,0.701144,0.320637],[0.033824,-0.440891,0.896923]] 2025-10-28T21:20:04.682Z,1761686404.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789470,-0.538255,-0.294991],[0.612827,0.718141,0.329723],[0.034370,-0.441085,0.896807]] 2025-10-28T21:20:05.094Z,1761686405.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809083,-0.513935,-0.285054],[0.586685,0.734733,0.340541],[0.034423,-0.442763,0.895978]] 2025-10-28T21:20:05.891Z,1761686405.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846698,-0.464611,-0.259305],[0.530969,0.769190,0.355554],[0.034261,-0.438730,0.897966]] 2025-10-28T21:20:06.294Z,1761686406.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864647,-0.438946,-0.244360],[0.501237,0.786541,0.360713],[0.033865,-0.434372,0.900097]] 2025-10-28T21:20:06.319Z,1761686406.319 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:20:06.414Z,1761686406.414 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:20:06.415Z,1761686406.415 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:20:06.665Z,1761686406.665 [DAT](INFO): DAT read: user:300> 2025-10-28T21:20:06.666Z,1761686406.666 [DAT](INFO): DAT read: Tx time:21:20:06.4053 2025-10-28T21:20:06.666Z,1761686406.666 [DAT](INFO): Ping request sent. 2025-10-28T21:20:06.666Z,1761686406.666 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:20:06.666Z,1761686406.666 [DAT](INFO): publishing transmit ping time 2025-10-28T21:20:06.667Z,1761686406.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000957 2025-10-28T21:20:06.722Z,1761686406.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881958,-0.412781,-0.227513],[0.470152,0.804557,0.362829],[0.033278,-0.426965,0.903655]] 2025-10-28T21:20:06.921Z,1761686406.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254412 2025-10-28T21:20:07.135Z,1761686407.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898109,-0.384882,-0.212761],[0.438578,0.819524,0.368823],[0.032409,-0.424555,0.904822]] 2025-10-28T21:20:07.172Z,1761686407.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505110 2025-10-28T21:20:07.421Z,1761686407.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819 2025-10-28T21:20:07.506Z,1761686407.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912799,-0.356598,-0.199086],[0.407184,0.832339,0.376050],[0.031608,-0.424323,0.904959]] 2025-10-28T21:20:07.677Z,1761686407.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011293 2025-10-28T21:20:07.911Z,1761686407.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926503,-0.328441,-0.183625],[0.375022,0.845958,0.379096],[0.030828,-0.420098,0.906955]] 2025-10-28T21:20:07.925Z,1761686407.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997 2025-10-28T21:20:08.177Z,1761686408.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510810 2025-10-28T21:20:08.317Z,1761686408.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938624,-0.300781,-0.168864],[0.343650,0.857707,0.382418],[0.029812,-0.416977,0.908428]] 2025-10-28T21:20:08.429Z,1761686408.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762959 2025-10-28T21:20:08.681Z,1761686408.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869 2025-10-28T21:20:08.719Z,1761686408.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949547,-0.273285,-0.153870],[0.312299,0.868991,0.383828],[0.028817,-0.412517,0.910494]] 2025-10-28T21:20:08.933Z,1761686408.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267216 2025-10-28T21:20:09.166Z,1761686409.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959325,-0.245489,-0.139390],[0.280896,0.879300,0.384616],[0.028147,-0.408126,0.912492]] 2025-10-28T21:20:09.188Z,1761686409.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521232 2025-10-28T21:20:09.438Z,1761686409.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771568 2025-10-28T21:20:09.551Z,1761686409.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967934,-0.217260,-0.126104],[0.249709,0.886864,0.388738],[0.027379,-0.407762,0.912678]] 2025-10-28T21:20:09.689Z,1761686409.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022766 2025-10-28T21:20:09.941Z,1761686409.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275239 2025-10-28T21:20:10.001Z,1761686410.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975486,-0.189009,-0.112706],[0.218451,0.893556,0.392219],[0.026576,-0.407225,0.912941]] 2025-10-28T21:20:10.193Z,1761686410.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526893 2025-10-28T21:20:10.394Z,1761686410.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981592,-0.162818,-0.099833],[0.189241,0.899688,0.393382],[0.025769,-0.405034,0.913939]] 2025-10-28T21:20:10.445Z,1761686410.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778888 2025-10-28T21:20:10.697Z,1761686410.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031423 2025-10-28T21:20:10.803Z,1761686410.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986738,-0.136377,-0.088034],[0.160392,0.902563,0.399569],[0.024965,-0.408389,0.912466]] 2025-10-28T21:20:10.949Z,1761686410.949 [DAT](INFO): DAT read: Rx Time:21:20:10.3375 2025-10-28T21:20:10.949Z,1761686410.949 [DAT](INFO): Rx dataTimestamp_ set to:1761686410.949203 2025-10-28T21:20:10.950Z,1761686410.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283996 2025-10-28T21:20:11.201Z,1761686411.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535096 2025-10-28T21:20:11.231Z,1761686411.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994394,-0.084623,-0.063397],[0.103448,0.902676,0.417701],[0.021880,-0.421918,0.906370]] 2025-10-28T21:20:11.285Z,1761686411.285 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:20:11.285Z,1761686411.285 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:20:11.285Z,1761686411.285 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:20:11.285Z,1761686411.285 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:20:11.286Z,1761686411.286 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:20:11.286Z,1761686411.286 [marl:UpdateSpeed] Stopped 2025-10-28T21:20:11.286Z,1761686411.286 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:20:11.454Z,1761686411.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787187 2025-10-28T21:20:11.635Z,1761686411.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996945,-0.059735,-0.050321],[0.075509,0.901857,0.425386],[0.019972,-0.427886,0.903612]] 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateRudder:A] Stopped 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:20:11.698Z,1761686411.698 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:20:11.699Z,1761686411.699 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:20:11.699Z,1761686411.699 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:20:11.699Z,1761686411.699 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:20:11.699Z,1761686411.699 [marl:UpdateCommandMode] Stopped 2025-10-28T21:20:11.699Z,1761686411.699 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:20:11.718Z,1761686411.718 [DAT](INFO): DAT read: 21:20:10.3375 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 316, 0.08, 1.033,-0.188, 1.869, 1.151, PHS=-0.016,-1.293, 0.675, RAW= 170.2, 7.4, CAL= 169.8, 7.3, ROT= 340.2, -7.3 2025-10-28T21:20:11.720Z,1761686411.720 [DAT](INFO): got valid direction response: 21:20:10.3375 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 316, 0.08, 1.033,-0.188, 1.869, 1.151, PHS=-0.016,-1.293, 0.675, RAW= 170.2, 7.4, CAL= 169.8, 7.3, ROT= 340.2, -7.3 2025-10-28T21:20:11.721Z,1761686411.721 [DAT](INFO): DAT read: Bearing 144.9, -19.7 (Local) 2025-10-28T21:20:11.721Z,1761686411.721 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, -19.7 (Local) 2025-10-28T21:20:11.722Z,1761686411.722 [DAT](INFO): DAT read: Range 11 to 20 : 1146.0 m (Round-trip 1528.1 ms) speed -0.2 m/s 2025-10-28T21:20:11.723Z,1761686411.723 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:20:11.724Z,1761686411.724 [DAT](INFO): direction in FSK: [0.933254,-0.335992,0.127065] 2025-10-28T21:20:11.724Z,1761686411.724 [DAT](INFO): publishing direction and range info 2025-10-28T21:20:12.036Z,1761686412.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998701,-0.034795,-0.037225],[0.047477,0.900687,0.431866],[0.018501,-0.433072,0.901169]] 2025-10-28T21:20:12.060Z,1761686412.060 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:20:12.060Z,1761686412.060 [marl:UpdateRudder:B] Stopped 2025-10-28T21:20:12.061Z,1761686412.061 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:20:12.061Z,1761686412.061 [marl:UpdateRudder] Stopped 2025-10-28T21:20:12.061Z,1761686412.061 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:20:12.075Z,1761686412.075 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686400.00. Resetting abort timer. 2025-10-28T21:20:12.435Z,1761686412.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999663,-0.009548,-0.024140],[0.019178,0.898343,0.438875],[0.017496,-0.439190,0.898224]] 2025-10-28T21:20:12.838Z,1761686412.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999817,0.015663,-0.010959],[-0.009118,0.894610,0.446755],[0.016802,-0.446574,0.894589]] 2025-10-28T21:20:13.242Z,1761686413.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999172,0.040611,0.002370],[-0.037273,0.890597,0.453263],[0.016296,-0.452976,0.891374]] 2025-10-28T21:20:13.654Z,1761686413.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997697,0.066009,0.015615],[-0.065901,0.888766,0.453599],[0.016064,-0.453584,0.891069]] 2025-10-28T21:20:14.050Z,1761686414.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995286,0.092599,0.028836],[-0.095661,0.888350,0.449091],[0.015969,-0.449732,0.893021]] 2025-10-28T21:20:14.454Z,1761686414.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991886,0.120013,0.041944],[-0.126155,0.888343,0.441511],[0.015727,-0.443220,0.896275]] 2025-10-28T21:20:14.859Z,1761686414.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987421,0.148060,0.055483],[-0.157431,0.888034,0.431985],[0.014689,-0.435286,0.900172]] 2025-10-28T21:20:15.263Z,1761686415.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981733,0.177815,0.067686],[-0.189781,0.889889,0.414827],[0.013529,-0.420095,0.907379]] 2025-10-28T21:20:15.670Z,1761686415.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974948,0.207262,0.080746],[-0.222131,0.888221,0.402146],[0.011629,-0.410007,0.912008]] 2025-10-28T21:20:16.071Z,1761686416.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967226,0.235853,0.094062],[-0.253751,0.884411,0.391699],[0.009194,-0.402730,0.915273]] 2025-10-28T21:20:16.476Z,1761686416.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958480,0.264198,0.107312],[-0.285083,0.879015,0.382178],[0.006642,-0.396903,0.917837]] 2025-10-28T21:20:16.879Z,1761686416.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948646,0.291959,0.121783],[-0.316317,0.870803,0.376357],[0.003832,-0.395552,0.918436]] 2025-10-28T21:20:17.282Z,1761686417.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937945,0.319210,0.135515],[-0.346783,0.862407,0.368776],[0.000848,-0.392886,0.919587]] 2025-10-28T21:20:17.690Z,1761686417.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926213,0.346028,0.149649],[-0.376996,0.852297,0.362581],[-0.002082,-0.392244,0.919859]] 2025-10-28T21:20:18.102Z,1761686418.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913349,0.372329,0.164816],[-0.407144,0.840271,0.358019],[-0.005189,-0.394101,0.919053]] 2025-10-28T21:20:18.495Z,1761686418.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899649,0.397782,0.180004],[-0.436540,0.827083,0.354071],[-0.008035,-0.397118,0.917732]] 2025-10-28T21:20:18.899Z,1761686418.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885031,0.422522,0.195438],[-0.465405,0.812852,0.350242],[-0.010877,-0.400932,0.916043]] 2025-10-28T21:20:19.302Z,1761686419.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869650,0.446016,0.211611],[-0.493482,0.797225,0.347718],[-0.013614,-0.406819,0.913408]] 2025-10-28T21:20:19.713Z,1761686419.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853840,0.468694,0.226458],[-0.520266,0.782397,0.342314],[-0.016739,-0.410100,0.911887]] 2025-10-28T21:20:20.115Z,1761686420.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837670,0.490865,0.239503],[-0.545822,0.768168,0.334658],[-0.019706,-0.411059,0.911396]] 2025-10-28T21:20:20.515Z,1761686420.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820843,0.512350,0.252417],[-0.570711,0.753157,0.327174],[-0.022483,-0.412616,0.910628]] 2025-10-28T21:20:20.918Z,1761686420.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803789,0.533997,0.262242],[-0.594386,0.739422,0.316165],[-0.025077,-0.410003,0.911739]] 2025-10-28T21:20:21.324Z,1761686421.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786226,0.555100,0.271500],[-0.617312,0.725346,0.304631],[-0.027831,-0.407109,0.912955]] 2025-10-28T21:20:21.732Z,1761686421.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768485,0.575522,0.279653],[-0.639148,0.711153,0.292834],[-0.030343,-0.403778,0.914354]] 2025-10-28T21:20:22.131Z,1761686422.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750193,0.594757,0.288920],[-0.660411,0.695556,0.282947],[-0.032675,-0.403071,0.914585]] 2025-10-28T21:20:22.534Z,1761686422.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731401,0.613847,0.297060],[-0.681081,0.679480,0.272827],[-0.034372,-0.401868,0.915052]] 2025-10-28T21:20:22.939Z,1761686422.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711672,0.632408,0.305913],[-0.701594,0.662066,0.263503],[-0.035893,-0.402155,0.914868]] 2025-10-28T21:20:23.343Z,1761686423.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691440,0.649875,0.315553],[-0.721470,0.643713,0.255175],[-0.037294,-0.404100,0.913954]] 2025-10-28T21:20:23.746Z,1761686423.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670860,0.665869,0.326445],[-0.740560,0.624656,0.247739],[-0.038954,-0.407950,0.912173]] 2025-10-28T21:20:24.150Z,1761686424.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648929,0.681406,0.338494],[-0.759803,0.603691,0.241364],[-0.039879,-0.413817,0.909486]] 2025-10-28T21:20:24.194Z,1761686424.194 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:20:24.194Z,1761686424.194 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:20:24.194Z,1761686424.194 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:20:24.195Z,1761686424.195 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:20:24.195Z,1761686424.195 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:20:24.195Z,1761686424.195 [marl:UpdateSpeed] Stopped 2025-10-28T21:20:24.195Z,1761686424.195 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:20:24.555Z,1761686424.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625814,0.695939,0.352171],[-0.778930,0.580976,0.236083],[-0.040303,-0.422061,0.905671]] 2025-10-28T21:20:24.961Z,1761686424.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602043,0.710422,0.364480],[-0.797446,0.558015,0.229562],[-0.040299,-0.428859,0.902472]] 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateRudder:A] Stopped 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:20:24.985Z,1761686424.985 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:20:24.986Z,1761686424.986 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:20:24.986Z,1761686424.986 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:20:24.986Z,1761686424.986 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:20:24.986Z,1761686424.986 [marl:UpdateCommandMode] Stopped 2025-10-28T21:20:24.986Z,1761686424.986 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:20:25.363Z,1761686425.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577847,0.725583,0.373662],[-0.815161,0.535584,0.220595],[-0.040067,-0.432064,0.900952]] 2025-10-28T21:20:25.413Z,1761686425.413 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:20:25.413Z,1761686425.413 [marl:UpdateRudder:B] Stopped 2025-10-28T21:20:25.413Z,1761686425.413 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:20:25.413Z,1761686425.413 [marl:UpdateRudder] Stopped 2025-10-28T21:20:25.413Z,1761686425.413 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:20:25.775Z,1761686425.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553772,0.741270,0.379284],[-0.831739,0.513954,0.209908],[-0.039336,-0.431706,0.901156]] 2025-10-28T21:20:26.171Z,1761686426.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529618,0.755667,0.385321],[-0.847353,0.492048,0.199701],[-0.038689,-0.432268,0.900915]] 2025-10-28T21:20:26.587Z,1761686426.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505964,0.770454,0.387816],[-0.861719,0.471288,0.187957],[-0.037961,-0.429287,0.902370]] 2025-10-28T21:20:26.979Z,1761686426.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482443,0.784759,0.389103],[-0.875134,0.450744,0.175986],[-0.037279,-0.425421,0.904228]] 2025-10-28T21:20:27.383Z,1761686427.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459085,0.798951,0.388482],[-0.887628,0.430644,0.163284],[-0.036842,-0.419789,0.906874]] 2025-10-28T21:20:27.803Z,1761686427.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435727,0.812284,0.387732],[-0.899319,0.410591,0.150468],[-0.036977,-0.414258,0.909408]] 2025-10-28T21:20:28.192Z,1761686428.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411323,0.824026,0.389609],[-0.910711,0.389193,0.138322],[-0.037652,-0.411716,0.910534]] 2025-10-28T21:20:28.598Z,1761686428.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385887,0.836688,0.388644],[-0.921738,0.367291,0.124482],[-0.038593,-0.406264,0.912940]] 2025-10-28T21:20:28.999Z,1761686428.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360327,0.848762,0.386997],[-0.931967,0.345349,0.110323],[-0.040011,-0.400421,0.915457]] 2025-10-28T21:20:29.402Z,1761686429.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333375,0.859449,0.387567],[-0.941883,0.321684,0.096831],[-0.041453,-0.397324,0.916742]] 2025-10-28T21:20:29.819Z,1761686429.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304736,0.868629,0.390666],[-0.951472,0.296100,0.083822],[-0.042866,-0.397251,0.916708]] 2025-10-28T21:20:29.824Z,1761686429.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:20:30.211Z,1761686430.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274916,0.877244,0.393527],[-0.960440,0.269490,0.070217],[-0.044455,-0.397263,0.916627]] 2025-10-28T21:20:30.614Z,1761686430.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244754,0.886297,0.393157],[-0.968486,0.242778,0.055619],[-0.046155,-0.394380,0.917788]] 2025-10-28T21:20:30.828Z,1761686430.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:20:31.020Z,1761686431.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214256,0.894357,0.392709],[-0.975616,0.215548,0.041390],[-0.047630,-0.392001,0.918731]] 2025-10-28T21:20:31.422Z,1761686431.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183969,0.900789,0.393363],[-0.981711,0.188330,0.027859],[-0.048987,-0.391294,0.918961]] 2025-10-28T21:20:31.826Z,1761686431.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153635,0.905603,0.395322],[-0.986860,0.160883,0.014976],[-0.050039,-0.392429,0.918420]] 2025-10-28T21:20:32.230Z,1761686432.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124952,0.908355,0.399096],[-0.990828,0.135102,0.002719],[-0.051449,-0.395775,0.916905]] 2025-10-28T21:20:32.637Z,1761686432.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096975,0.910681,0.401566],[-0.993904,0.109866,-0.009135],[-0.052438,-0.398233,0.915784]] 2025-10-28T21:20:33.040Z,1761686433.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069428,0.911841,0.404631],[-0.996160,0.085059,-0.020757],[-0.053345,-0.401635,0.914245]] 2025-10-28T21:20:33.442Z,1761686433.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042216,0.911652,0.408788],[-0.997642,0.060621,-0.032167],[-0.054106,-0.406466,0.912062]] 2025-10-28T21:20:33.848Z,1761686433.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015451,0.909742,0.414886],[-0.998367,0.036860,-0.043644],[-0.054998,-0.413534,0.908826]] 2025-10-28T21:20:34.251Z,1761686434.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011397,0.907153,0.420648],[-0.998377,0.013148,-0.055405],[-0.055792,-0.420596,0.905531]] 2025-10-28T21:20:34.657Z,1761686434.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039406,0.905347,0.422841],[-0.997653,-0.011933,-0.067425],[-0.055997,-0.424505,0.903692]] 2025-10-28T21:20:35.067Z,1761686435.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067015,0.902699,0.425022],[-0.996158,-0.036466,-0.079619],[-0.056373,-0.428725,0.901674]] 2025-10-28T21:20:35.877Z,1761686435.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121694,0.898948,0.420813],[-0.990970,-0.085992,-0.102880],[-0.056297,-0.429533,0.901295]] 2025-10-28T21:20:36.273Z,1761686436.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148861,0.897125,0.415941],[-0.987281,-0.111091,-0.113729],[-0.055822,-0.427580,0.902252]] 2025-10-28T21:20:36.703Z,1761686436.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175263,0.896047,0.407900],[-0.982953,-0.135878,-0.123860],[-0.055559,-0.422655,0.904586]] 2025-10-28T21:20:37.083Z,1761686437.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201180,0.894293,0.399708],[-0.977985,-0.160288,-0.133613],[-0.055420,-0.417789,0.906852]] 2025-10-28T21:20:37.128Z,1761686437.128 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:20:37.128Z,1761686437.128 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:20:37.129Z,1761686437.129 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:20:37.130Z,1761686437.129 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:20:37.130Z,1761686437.130 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:20:37.130Z,1761686437.130 [marl:UpdateSpeed] Stopped 2025-10-28T21:20:37.131Z,1761686437.131 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:20:37.486Z,1761686437.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226239,0.891093,0.393407],[-0.972490,-0.183620,-0.143344],[-0.055495,-0.415014,0.908121]] 2025-10-28T21:20:37.887Z,1761686437.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250732,0.887020,0.387722],[-0.966444,-0.206254,-0.153116],[-0.055848,-0.413103,0.908970]] 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateRudder:A] Stopped 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:20:37.934Z,1761686437.934 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode] Stopped 2025-10-28T21:20:37.935Z,1761686437.935 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:20:38.348Z,1761686438.348 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:20:38.348Z,1761686438.348 [marl:UpdateRudder:B] Stopped 2025-10-28T21:20:38.349Z,1761686438.349 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:20:38.349Z,1761686438.349 [marl:UpdateRudder] Stopped 2025-10-28T21:20:38.349Z,1761686438.349 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:20:38.698Z,1761686438.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298740,0.876795,0.376809],[-0.952600,-0.250174,-0.173107],[-0.057512,-0.410662,0.909972]] 2025-10-28T21:20:39.099Z,1761686439.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322690,0.870483,0.371659],[-0.944682,-0.271846,-0.183508],[-0.058706,-0.410316,0.910052]] 2025-10-28T21:20:39.503Z,1761686439.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346812,0.863325,0.366594],[-0.936033,-0.293704,-0.193855],[-0.059690,-0.410375,0.909961]] 2025-10-28T21:20:39.906Z,1761686439.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371952,0.856055,0.358918],[-0.926267,-0.317017,-0.203787],[-0.060670,-0.408253,0.910851]] 2025-10-28T21:20:40.312Z,1761686440.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397601,0.847205,0.352359],[-0.915491,-0.340523,-0.214292],[-0.061563,-0.407784,0.911001]] 2025-10-28T21:20:40.714Z,1761686440.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423621,0.837753,0.344550],[-0.903688,-0.364653,-0.224445],[-0.062388,-0.406446,0.911542]] 2025-10-28T21:20:41.122Z,1761686441.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450345,0.827142,0.336192],[-0.890624,-0.389556,-0.234597],[-0.063080,-0.405070,0.912107]] 2025-10-28T21:20:41.522Z,1761686441.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478136,0.815182,0.326901],[-0.875976,-0.415641,-0.244760],[-0.063651,-0.403386,0.912813]] 2025-10-28T21:20:41.934Z,1761686441.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506377,0.801117,0.319053],[-0.859931,-0.441661,-0.255840],[-0.064045,-0.403915,0.912552]] 2025-10-28T21:20:42.330Z,1761686442.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534400,0.785548,0.311979],[-0.842771,-0.467076,-0.267538],[-0.064446,-0.405899,0.911643]] 2025-10-28T21:20:42.735Z,1761686442.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561967,0.769069,0.304509],[-0.824648,-0.492246,-0.278659],[-0.064415,-0.407710,0.910837]] 2025-10-28T21:20:43.163Z,1761686443.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589542,0.751869,0.295185],[-0.805179,-0.517956,-0.288806],[-0.064251,-0.407940,0.910745]] 2025-10-28T21:20:43.556Z,1761686443.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616809,0.733016,0.286765],[-0.784534,-0.543067,-0.299308],[-0.063665,-0.409593,0.910044]] 2025-10-28T21:20:43.947Z,1761686443.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642858,0.713161,0.279528],[-0.763409,-0.566607,-0.310101],[-0.062770,-0.412745,0.908681]] 2025-10-28T21:20:44.350Z,1761686444.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667483,0.692627,0.273376],[-0.742062,-0.588298,-0.321323],[-0.061731,-0.417340,0.906651]] 2025-10-28T21:20:44.756Z,1761686444.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690719,0.672636,0.265458],[-0.720598,-0.609599,-0.330346],[-0.060379,-0.419464,0.905762]] 2025-10-28T21:20:45.197Z,1761686445.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712035,0.652780,0.258620],[-0.699641,-0.628545,-0.339755],[-0.059231,-0.422859,0.904258]] 2025-10-28T21:20:45.567Z,1761686445.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731362,0.632528,0.254985],[-0.679496,-0.643896,-0.351688],[-0.058269,-0.430473,0.900721]] 2025-10-28T21:20:45.967Z,1761686445.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749081,0.613391,0.250258],[-0.659992,-0.658279,-0.362049],[-0.057338,-0.436372,0.897937]] 2025-10-28T21:20:46.782Z,1761686446.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780622,0.576957,0.240312],[-0.622428,-0.682774,-0.382627],[-0.056681,-0.448264,0.892102]] 2025-10-28T21:20:47.202Z,1761686447.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795384,0.560038,0.231778],[-0.603488,-0.696254,-0.388630],[-0.056271,-0.448986,0.891765]] 2025-10-28T21:20:47.582Z,1761686447.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810401,0.542745,0.220634],[-0.583214,-0.711470,-0.392009],[-0.055787,-0.446362,0.893112]] 2025-10-28T21:20:47.992Z,1761686447.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825796,0.524871,0.206325],[-0.561203,-0.728600,-0.392674],[-0.055775,-0.440060,0.896235]] 2025-10-28T21:20:48.393Z,1761686448.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842156,0.506229,0.185755],[-0.536333,-0.750680,-0.385780],[-0.055850,-0.424513,0.903698]] 2025-10-28T21:20:48.797Z,1761686448.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858716,0.485392,0.164321],[-0.509344,-0.773172,-0.377854],[-0.056359,-0.408165,0.911167]] 2025-10-28T21:20:49.207Z,1761686449.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874603,0.462314,0.146067],[-0.481425,-0.792402,-0.374605],[-0.057442,-0.397951,0.915607]] 2025-10-28T21:20:49.603Z,1761686449.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890083,0.437979,0.126202],[-0.451926,-0.811996,-0.369359],[-0.059296,-0.385794,0.920678]] 2025-10-28T21:20:50.117Z,1761686450.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904300,0.412200,0.111055],[-0.422416,-0.826401,-0.372326],[-0.061697,-0.383606,0.921434]] 2025-10-28T21:20:50.140Z,1761686450.140 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed] Stopped 2025-10-28T21:20:50.141Z,1761686450.141 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:20:50.411Z,1761686450.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916952,0.386313,0.099810],[-0.393814,-0.836070,-0.381965],[-0.064110,-0.389551,0.918771]] 2025-10-28T21:20:50.815Z,1761686450.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928382,0.360729,0.089342],[-0.365661,-0.843778,-0.392850],[-0.066328,-0.397384,0.915252]] 2025-10-28T21:20:51.219Z,1761686451.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938486,0.336059,0.079423],[-0.338552,-0.850127,-0.403319],[-0.068019,-0.405399,0.911606]] 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateRudder:A] Stopped 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:20:51.279Z,1761686451.279 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:20:51.280Z,1761686451.280 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:20:51.280Z,1761686451.280 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:20:51.281Z,1761686451.281 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:20:51.281Z,1761686451.281 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:20:51.281Z,1761686451.281 [marl:UpdateCommandMode] Stopped 2025-10-28T21:20:51.282Z,1761686451.282 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:20:51.623Z,1761686451.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947495,0.312076,0.069730],[-0.312220,-0.855748,-0.412569],[-0.069081,-0.412678,0.908253]] 2025-10-28T21:20:51.647Z,1761686451.647 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:20:51.647Z,1761686451.647 [marl:UpdateRudder:B] Stopped 2025-10-28T21:20:51.647Z,1761686451.647 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:20:51.647Z,1761686451.647 [marl:UpdateRudder] Stopped 2025-10-28T21:20:51.647Z,1761686451.647 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:20:52.038Z,1761686452.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955480,0.288866,0.060117],[-0.286719,-0.860920,-0.420248],[-0.069639,-0.418775,0.905416]] 2025-10-28T21:20:52.431Z,1761686452.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962710,0.265792,0.050443],[-0.261341,-0.865482,-0.427366],[-0.069933,-0.424613,0.902670]] 2025-10-28T21:20:52.835Z,1761686452.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969248,0.242678,0.040824],[-0.236071,-0.870063,-0.432736],[-0.069496,-0.429066,0.900596]] 2025-10-28T21:20:53.238Z,1761686453.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975369,0.218644,0.029164],[-0.209659,-0.877852,-0.430603],[-0.068547,-0.426111,0.902070]] 2025-10-28T21:20:53.644Z,1761686453.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980831,0.194090,0.017307],[-0.182651,-0.884798,-0.428685],[-0.067890,-0.423629,0.903288]] 2025-10-28T21:20:54.056Z,1761686454.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985820,0.167765,0.003672],[-0.153688,-0.893882,-0.421136],[-0.067370,-0.415728,0.906990]] 2025-10-28T21:20:54.451Z,1761686454.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990173,0.139439,-0.010651],[-0.122637,-0.902413,-0.413050],[-0.067207,-0.407685,0.910646]] 2025-10-28T21:20:54.855Z,1761686454.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993659,0.109573,-0.025210],[-0.090088,-0.910046,-0.404600],[-0.067276,-0.399763,0.914146]] 2025-10-28T21:20:55.260Z,1761686455.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996106,0.078860,-0.039421],[-0.056539,-0.914461,-0.400705],[-0.067648,-0.396916,0.915359]] 2025-10-28T21:20:55.668Z,1761686455.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997376,0.048128,-0.054087],[-0.022595,-0.916667,-0.399013],[-0.068784,-0.396744,0.915349]] 2025-10-28T21:20:56.074Z,1761686456.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996423,-0.011353,-0.083736],[0.043939,-0.916046,-0.398659],[-0.072180,-0.400913,0.913268]] 2025-10-28T21:20:56.476Z,1761686456.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994385,-0.039189,-0.098305],[0.075375,-0.914300,-0.397963],[-0.074284,-0.403138,0.912119]] 2025-10-28T21:20:56.881Z,1761686456.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991639,-0.064138,-0.111971],[0.103912,-0.911384,-0.398223],[-0.076508,-0.406528,0.910429]] 2025-10-28T21:20:57.282Z,1761686457.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988385,-0.086909,-0.124670],[0.130320,-0.906723,-0.401087],[-0.078184,-0.412675,0.907517]] 2025-10-28T21:20:57.684Z,1761686457.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984739,-0.108125,-0.136378],[0.154992,-0.901269,-0.404589],[-0.079167,-0.419552,0.904272]] 2025-10-28T21:20:58.088Z,1761686458.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980644,-0.129463,-0.146888],[0.179006,-0.896765,-0.404685],[-0.079332,-0.423146,0.902582]] 2025-10-28T21:20:58.493Z,1761686458.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976141,-0.150651,-0.156377],[0.202425,-0.891943,-0.404305],[-0.078571,-0.426313,0.901157]] 2025-10-28T21:20:58.894Z,1761686458.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971088,-0.172712,-0.164798],[0.225909,-0.887980,-0.400570],[-0.077154,-0.426218,0.901324]] 2025-10-28T21:20:59.300Z,1761686459.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965389,-0.195890,-0.172194],[0.249770,-0.884458,-0.394144],[-0.075089,-0.423511,0.902773]] 2025-10-28T21:20:59.703Z,1761686459.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958706,-0.220297,-0.179866],[0.275026,-0.879170,-0.389127],[-0.072410,-0.422527,0.903453]] 2025-10-28T21:21:00.107Z,1761686460.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950863,-0.246512,-0.187327],[0.301709,-0.873576,-0.381885],[-0.069505,-0.419639,0.905026]] 2025-10-28T21:21:00.517Z,1761686460.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942152,-0.272166,-0.195641],[0.328466,-0.865970,-0.377102],[-0.066785,-0.419548,0.905273]] 2025-10-28T21:21:00.920Z,1761686460.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932205,-0.298480,-0.204702],[0.356142,-0.857228,-0.371917],[-0.064466,-0.419606,0.905414]] 2025-10-28T21:21:00.948Z,1761686460.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:21:01.320Z,1761686461.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921090,-0.325386,-0.213817],[0.384309,-0.847889,-0.365226],[-0.062454,-0.418578,0.906031]] 2025-10-28T21:21:01.724Z,1761686461.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909066,-0.352216,-0.222580],[0.412157,-0.838440,-0.356573],[-0.061029,-0.415886,0.907367]] 2025-10-28T21:21:01.954Z,1761686461.954 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:21:02.128Z,1761686462.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896080,-0.378693,-0.231586],[0.439809,-0.828033,-0.347749],[-0.060071,-0.413465,0.908536]] 2025-10-28T21:21:02.540Z,1761686462.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882481,-0.403545,-0.241617],[0.466470,-0.816735,-0.339632],[-0.060280,-0.412426,0.908994]] 2025-10-28T21:21:02.945Z,1761686462.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868206,-0.428091,-0.250912],[0.492441,-0.805505,-0.329640],[-0.060995,-0.409755,0.910154]] 2025-10-28T21:21:03.014Z,1761686463.014 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:21:03.014Z,1761686463.014 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:21:03.015Z,1761686463.015 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:21:03.015Z,1761686463.015 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:21:03.016Z,1761686463.016 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:21:03.016Z,1761686463.016 [marl:UpdateSpeed] Stopped 2025-10-28T21:21:03.016Z,1761686463.016 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:21:03.339Z,1761686463.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854144,-0.451029,-0.258866],[0.516359,-0.794660,-0.319200],[-0.061742,-0.406311,0.911646]] 2025-10-28T21:21:03.742Z,1761686463.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839360,-0.473913,-0.266235],[0.539927,-0.783534,-0.307495],[-0.062878,-0.401846,0.913546]] 2025-10-28T21:21:04.155Z,1761686464.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824272,-0.495194,-0.274516],[0.562521,-0.771369,-0.297591],[-0.064387,-0.399716,0.914375]] 2025-10-28T21:21:04.180Z,1761686464.180 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:21:04.196Z,1761686464.196 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:21:04.196Z,1761686464.196 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:21:04.196Z,1761686464.196 [marl:UpdateRudder:A] Stopped 2025-10-28T21:21:04.196Z,1761686464.196 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode] Stopped 2025-10-28T21:21:04.197Z,1761686464.197 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:21:04.555Z,1761686464.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808988,-0.515493,-0.282500],[0.584146,-0.758692,-0.288377],[-0.065674,-0.398315,0.914895]] 2025-10-28T21:21:04.578Z,1761686464.578 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:21:04.579Z,1761686464.579 [marl:UpdateRudder:B] Stopped 2025-10-28T21:21:04.579Z,1761686464.579 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:21:04.579Z,1761686464.579 [marl:UpdateRudder] Stopped 2025-10-28T21:21:04.579Z,1761686464.579 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:21:04.954Z,1761686464.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793400,-0.535315,-0.289750],[0.605015,-0.745827,-0.278745],[-0.066887,-0.396459,0.915612]] 2025-10-28T21:21:05.358Z,1761686465.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777478,-0.554427,-0.296882],[0.625235,-0.732356,-0.269696],[-0.067897,-0.395304,0.916038]] 2025-10-28T21:21:05.767Z,1761686465.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761151,-0.572453,-0.304871],[0.644944,-0.717723,-0.262527],[-0.068529,-0.396447,0.915496]] 2025-10-28T21:21:06.214Z,1761686466.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744016,-0.589752,-0.314058],[0.664596,-0.701696,-0.256780],[-0.068937,-0.399770,0.914019]] 2025-10-28T21:21:06.683Z,1761686466.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725690,-0.607865,-0.322295],[0.684562,-0.684841,-0.249736],[-0.068916,-0.401862,0.913103]] 2025-10-28T21:21:06.766Z,1761686466.766 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:21:06.909Z,1761686466.909 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:21:06.909Z,1761686466.909 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:21:07.163Z,1761686467.163 [DAT](INFO): DAT read: user:301> 2025-10-28T21:21:07.166Z,1761686467.166 [DAT](INFO): DAT read: Tx time:21:21:06.9051 2025-10-28T21:21:07.167Z,1761686467.167 [DAT](INFO): Ping request sent. 2025-10-28T21:21:07.167Z,1761686467.167 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:21:07.168Z,1761686467.168 [DAT](INFO): publishing transmit ping time 2025-10-28T21:21:07.171Z,1761686467.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003921 2025-10-28T21:21:07.183Z,1761686467.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706404,-0.625486,-0.331301],[0.704502,-0.666521,-0.243776],[-0.068340,-0.405607,0.911489]] 2025-10-28T21:21:07.413Z,1761686467.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246282 2025-10-28T21:21:07.539Z,1761686467.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685726,-0.643517,-0.340095],[0.724732,-0.646931,-0.237158],[-0.067403,-0.409103,0.909995]] 2025-10-28T21:21:07.665Z,1761686467.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498410 2025-10-28T21:21:07.917Z,1761686467.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749940 2025-10-28T21:21:07.948Z,1761686467.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663680,-0.662543,-0.347226],[0.745073,-0.626669,-0.228366],[-0.066293,-0.410270,0.909551]] 2025-10-28T21:21:08.169Z,1761686468.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001997 2025-10-28T21:21:08.349Z,1761686468.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640511,-0.681481,-0.354020],[0.765184,-0.605433,-0.218963],[-0.065117,-0.411138,0.909244]] 2025-10-28T21:21:08.421Z,1761686468.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254088 2025-10-28T21:21:08.673Z,1761686468.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505940 2025-10-28T21:21:08.765Z,1761686468.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616003,-0.699655,-0.361971],[0.785090,-0.582958,-0.209267],[-0.064599,-0.413089,0.908396]] 2025-10-28T21:21:08.925Z,1761686468.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758051 2025-10-28T21:21:09.180Z,1761686469.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012328 2025-10-28T21:21:09.204Z,1761686469.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590830,-0.717474,-0.368988],[0.804241,-0.560126,-0.198635],[-0.064164,-0.414114,0.907961]] 2025-10-28T21:21:09.429Z,1761686469.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261993 2025-10-28T21:21:09.558Z,1761686469.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565286,-0.734151,-0.376129],[0.822392,-0.537066,-0.187700],[-0.064206,-0.415430,0.907356]] 2025-10-28T21:21:09.683Z,1761686469.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515850 2025-10-28T21:21:09.933Z,1761686469.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766085 2025-10-28T21:21:09.974Z,1761686469.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539726,-0.750309,-0.381748],[0.839373,-0.514328,-0.175839],[-0.064410,-0.415334,0.907386]] 2025-10-28T21:21:10.186Z,1761686470.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019101 2025-10-28T21:21:10.366Z,1761686470.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514337,-0.764627,-0.388333],[0.855103,-0.491704,-0.164397],[-0.065242,-0.416620,0.906736]] 2025-10-28T21:21:10.437Z,1761686470.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269965 2025-10-28T21:21:10.689Z,1761686470.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522023 2025-10-28T21:21:10.776Z,1761686470.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489724,-0.777916,-0.393722],[0.869371,-0.469906,-0.152913],[-0.066059,-0.417176,0.906422]] 2025-10-28T21:21:10.945Z,1761686470.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777535 2025-10-28T21:21:11.196Z,1761686471.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028417 2025-10-28T21:21:11.217Z,1761686471.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465662,-0.791697,-0.395442],[0.882488,-0.448813,-0.140647],[-0.066130,-0.414467,0.907658]] 2025-10-28T21:21:11.446Z,1761686471.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278879 2025-10-28T21:21:11.578Z,1761686471.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441281,-0.804312,-0.397936],[0.894931,-0.427109,-0.129134],[-0.066098,-0.413110,0.908279]] 2025-10-28T21:21:11.697Z,1761686471.697 [DAT](INFO): DAT read: Rx Time:21:21:10.8764 2025-10-28T21:21:11.698Z,1761686471.698 [DAT](INFO): Rx dataTimestamp_ set to:1761686471.697588 2025-10-28T21:21:11.698Z,1761686471.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531523 2025-10-28T21:21:11.949Z,1761686471.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781968 2025-10-28T21:21:11.983Z,1761686471.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416807,-0.816381,-0.399743],[0.906615,-0.405164,-0.117862],[-0.065741,-0.411538,0.909018]] 2025-10-28T21:21:12.207Z,1761686472.207 [DAT](INFO): DAT read: 21:21:10.8764 LVL= 29040, 21729, 30642, 32755, AGC= 72, IDX= 316,-0.27,-0.750, 1.077, 0.574, 0.449, PHS=-1.097, 0.673, 0.081, RAW= 289.2, 4.4, CAL= 287.4, -0.5, ROT= 222.6, 0.5 2025-10-28T21:21:12.208Z,1761686472.208 [DAT](INFO): got valid direction response: 21:21:10.8764 LVL= 29040, 21729, 30642, 32755, AGC= 72, IDX= 316,-0.27,-0.750, 1.077, 0.574, 0.449, PHS=-1.097, 0.673, 0.081, RAW= 289.2, 4.4, CAL= 287.4, -0.5, ROT= 222.6, 0.5 2025-10-28T21:21:12.209Z,1761686472.209 [DAT](INFO): DAT read: $Error in header 2025-10-28T21:21:12.209Z,1761686472.209 [DAT](INFO): Received a bad header 2025-10-28T21:21:12.220Z,1761686472.220 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T21:21:12.221Z,1761686472.221 [DAT](INFO): direction in FSK: [-0.736069,-0.676850,-0.008727] 2025-10-28T21:21:12.447Z,1761686472.447 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686528.00. Resetting abort timer. 2025-10-28T21:21:12.795Z,1761686472.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367031,-0.838910,-0.401892],[0.927989,-0.360044,-0.095937],[-0.064217,-0.408163,0.910647]] 2025-10-28T21:21:13.212Z,1761686473.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341832,-0.849121,-0.402671],[0.937620,-0.337068,-0.085173],[-0.063405,-0.406667,0.911373]] 2025-10-28T21:21:13.599Z,1761686473.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315818,-0.858890,-0.403196],[0.946726,-0.313467,-0.073808],[-0.062996,-0.405026,0.912132]] 2025-10-28T21:21:14.019Z,1761686474.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289344,-0.867131,-0.405418],[0.955165,-0.289318,-0.062885],[-0.062765,-0.405436,0.911966]] 2025-10-28T21:21:14.409Z,1761686474.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262697,-0.873549,-0.409760],[0.962833,-0.264966,-0.052403],[-0.062796,-0.408296,0.910687]] 2025-10-28T21:21:14.811Z,1761686474.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235558,-0.879620,-0.413257],[0.969812,-0.240347,-0.041217],[-0.063070,-0.410491,0.909681]] 2025-10-28T21:21:15.214Z,1761686475.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208459,-0.884612,-0.417141],[0.975966,-0.215850,-0.029980],[-0.063520,-0.413365,0.908347]] 2025-10-28T21:21:15.668Z,1761686475.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180811,-0.890114,-0.418335],[0.981412,-0.191110,-0.017546],[-0.064330,-0.413731,0.908123]] 2025-10-28T21:21:16.059Z,1761686476.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153458,-0.895769,-0.417192],[0.986016,-0.166573,-0.005037],[-0.064981,-0.412131,0.908804]] 2025-10-28T21:21:16.158Z,1761686476.158 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:21:16.158Z,1761686476.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:21:16.158Z,1761686476.158 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:21:16.159Z,1761686476.159 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:21:16.159Z,1761686476.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:21:16.159Z,1761686476.159 [marl:UpdateSpeed] Stopped 2025-10-28T21:21:16.159Z,1761686476.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:21:16.533Z,1761686476.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097176,-0.901847,-0.420985],[0.993080,-0.115888,0.019026],[-0.065945,-0.416223,0.906868]] 2025-10-28T21:21:16.964Z,1761686476.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068775,-0.904529,-0.420829],[0.995472,-0.089963,0.030680],[-0.065610,-0.416813,0.906621]] 2025-10-28T21:21:17.245Z,1761686477.245 [DAT](INFO): Reached modem response timeout 2025-10-28T21:21:17.362Z,1761686477.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040399,-0.905846,-0.421677],[0.997077,-0.063939,0.041829],[-0.064853,-0.418755,0.905781]] 2025-10-28T21:21:17.425Z,1761686477.425 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:21:17.425Z,1761686477.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:21:17.425Z,1761686477.425 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateRudder:A] Stopped 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:21:17.426Z,1761686477.426 [marl:UpdateCommandMode] Stopped 2025-10-28T21:21:17.427Z,1761686477.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:21:17.772Z,1761686477.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011749,-0.906025,-0.423061],[0.997898,-0.037591,0.052790],[-0.063732,-0.421551,0.904562]] 2025-10-28T21:21:17.821Z,1761686477.821 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:21:17.821Z,1761686477.821 [marl:UpdateRudder:B] Stopped 2025-10-28T21:21:17.821Z,1761686477.821 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:21:17.821Z,1761686477.821 [marl:UpdateRudder] Stopped 2025-10-28T21:21:17.821Z,1761686477.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:21:18.177Z,1761686478.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016465,-0.905317,-0.424418],[0.997905,-0.011679,0.063626],[-0.062558,-0.424577,0.903228]] 2025-10-28T21:21:18.574Z,1761686478.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044302,-0.903934,-0.425371],[0.997149,0.013978,0.074149],[-0.061080,-0.427444,0.901976]] 2025-10-28T21:21:18.984Z,1761686478.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072749,-0.903013,-0.423409],[0.995553,0.040278,0.085153],[-0.059840,-0.427721,0.901928]] 2025-10-28T21:21:19.386Z,1761686479.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101425,-0.902456,-0.418672],[0.993116,0.067058,0.096041],[-0.058597,-0.425531,0.903045]] 2025-10-28T21:21:19.513Z,1761686479.513 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:21:19.514Z,1761686479.514 [DAT](INFO): response not received 2025-10-28T21:21:19.514Z,1761686479.514 [DAT](ERROR): No response from remote modem. 2025-10-28T21:21:19.793Z,1761686479.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129427,-0.899464,-0.417388],[0.989929,0.092863,0.106848],[-0.057346,-0.427013,0.902425]] 2025-10-28T21:21:20.201Z,1761686480.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157410,-0.895822,-0.415603],[0.985921,0.118524,0.117945],[-0.056399,-0.428317,0.901867]] 2025-10-28T21:21:20.594Z,1761686480.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185834,-0.893235,-0.409387],[0.980985,0.144921,0.129099],[-0.055987,-0.425593,0.903181]] 2025-10-28T21:21:21.011Z,1761686481.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214644,-0.887599,-0.407548],[0.975082,0.170793,0.141577],[-0.056058,-0.427782,0.902142]] 2025-10-28T21:21:21.402Z,1761686481.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243436,-0.881674,-0.404215],[0.968308,0.196926,0.153621],[-0.055843,-0.428801,0.901671]] 2025-10-28T21:21:21.808Z,1761686481.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272234,-0.874956,-0.400425],[0.960625,0.223098,0.165609],[-0.055567,-0.429743,0.901240]] 2025-10-28T21:21:22.214Z,1761686482.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300792,-0.867553,-0.396075],[0.952073,0.248988,0.177657],[-0.055510,-0.430530,0.900868]] 2025-10-28T21:21:22.615Z,1761686482.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328984,-0.859887,-0.390339],[0.942690,0.274654,0.189472],[-0.055716,-0.430302,0.900964]] 2025-10-28T21:21:23.022Z,1761686483.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356508,-0.851345,-0.384856],[0.932616,0.299613,0.201143],[-0.055934,-0.430632,0.900793]] 2025-10-28T21:21:23.426Z,1761686483.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382442,-0.843398,-0.377384],[0.922300,0.323836,0.210934],[-0.055690,-0.428731,0.901714]] 2025-10-28T21:21:23.886Z,1761686483.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407767,-0.835507,-0.368313],[0.911400,0.347928,0.219765],[-0.055469,-0.425293,0.903354]] 2025-10-28T21:21:24.295Z,1761686484.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431619,-0.826759,-0.360798],[0.900382,0.370496,0.228134],[-0.054937,-0.423323,0.904312]] 2025-10-28T21:21:24.700Z,1761686484.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455497,-0.817728,-0.351913],[0.888591,0.393593,0.235564],[-0.054117,-0.420006,0.905906]] 2025-10-28T21:21:25.508Z,1761686485.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501731,-0.795338,-0.340153],[0.863552,0.437593,0.250581],[-0.050448,-0.419464,0.906369]] 2025-10-28T21:21:25.910Z,1761686485.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524757,-0.782981,-0.334023],[0.849895,0.459754,0.257495],[-0.048045,-0.419007,0.906711]] 2025-10-28T21:21:26.315Z,1761686486.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547768,-0.769465,-0.328441],[0.835374,0.481530,0.265102],[-0.045833,-0.419585,0.906558]] 2025-10-28T21:21:26.747Z,1761686486.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570391,-0.755590,-0.322084],[0.820229,0.503287,0.271894],[-0.043340,-0.419269,0.906827]] 2025-10-28T21:21:27.127Z,1761686487.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593197,-0.740183,-0.316616],[0.804020,0.524731,0.279661],[-0.040862,-0.420460,0.906390]] 2025-10-28T21:21:27.527Z,1761686487.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616349,-0.723719,-0.310395],[0.786534,0.546534,0.287516],[-0.038439,-0.421346,0.906085]] 2025-10-28T21:21:27.933Z,1761686487.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639793,-0.706068,-0.303533],[0.767700,0.568595,0.295528],[-0.036076,-0.422099,0.905832]] 2025-10-28T21:21:28.335Z,1761686488.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663561,-0.686354,-0.297666],[0.747344,0.590002,0.305572],[-0.034107,-0.425225,0.904445]] 2025-10-28T21:21:28.739Z,1761686488.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687649,-0.665880,-0.289381],[0.725313,0.612166,0.314920],[-0.032550,-0.426446,0.903927]] 2025-10-28T21:21:29.192Z,1761686489.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711746,-0.643946,-0.280626],[0.701734,0.633963,0.325054],[-0.031411,-0.428281,0.903100]] 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed] Stopped 2025-10-28T21:21:29.261Z,1761686489.261 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:21:29.548Z,1761686489.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735403,-0.621283,-0.270537],[0.676950,0.655687,0.334385],[-0.030361,-0.429048,0.902771]] 2025-10-28T21:21:29.965Z,1761686489.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758346,-0.598347,-0.258634],[0.651180,0.677367,0.342255],[-0.029597,-0.427965,0.903310]] 2025-10-28T21:21:30.355Z,1761686490.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780229,-0.575377,-0.245325],[0.624808,0.698558,0.348757],[-0.029293,-0.425391,0.904535]] 2025-10-28T21:21:30.445Z,1761686490.445 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateRudder:A] Stopped 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:21:30.446Z,1761686490.446 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:21:30.447Z,1761686490.447 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:21:30.447Z,1761686490.447 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:21:30.447Z,1761686490.447 [marl:UpdateCommandMode] Stopped 2025-10-28T21:21:30.447Z,1761686490.447 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:21:30.762Z,1761686490.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800291,-0.553126,-0.231484],[0.598879,0.718280,0.354143],[-0.029616,-0.422049,0.906089]] 2025-10-28T21:21:30.837Z,1761686490.837 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:21:30.837Z,1761686490.837 [marl:UpdateRudder:B] Stopped 2025-10-28T21:21:30.837Z,1761686490.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:21:30.837Z,1761686490.837 [marl:UpdateRudder] Stopped 2025-10-28T21:21:30.837Z,1761686490.837 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:21:31.198Z,1761686491.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817982,-0.532151,-0.218452],[0.574451,0.735722,0.358776],[-0.030203,-0.418962,0.907501]] 2025-10-28T21:21:31.567Z,1761686491.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833319,-0.512243,-0.207814],[0.551927,0.749947,0.364633],[-0.030931,-0.418553,0.907665]] 2025-10-28T21:21:31.978Z,1761686491.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847088,-0.492787,-0.199008],[0.530494,0.761544,0.372327],[-0.031925,-0.420966,0.906514]] 2025-10-28T21:21:32.088Z,1761686492.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:21:32.375Z,1761686492.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859580,-0.473348,-0.192520],[0.509965,0.770648,0.382149],[-0.032525,-0.426666,0.903824]] 2025-10-28T21:21:32.790Z,1761686492.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871391,-0.453625,-0.186819],[0.489499,0.778575,0.392699],[-0.032686,-0.433642,0.900492]] 2025-10-28T21:21:33.092Z,1761686493.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:21:33.214Z,1761686493.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882492,-0.433957,-0.181357],[0.469239,0.786138,0.402246],[-0.031986,-0.440078,0.897390]] 2025-10-28T21:21:33.616Z,1761686493.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892964,-0.414399,-0.175751],[0.449109,0.793984,0.409744],[-0.030255,-0.444818,0.895110]] 2025-10-28T21:21:34.018Z,1761686494.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903087,-0.394177,-0.170467],[0.428589,0.801977,0.416106],[-0.027309,-0.448840,0.893195]] 2025-10-28T21:21:34.441Z,1761686494.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912710,-0.374154,-0.164226],[0.407944,0.811467,0.418453],[-0.023302,-0.448921,0.893268]] 2025-10-28T21:21:34.842Z,1761686494.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922280,-0.353541,-0.156235],[0.386066,0.822912,0.416857],[-0.018808,-0.444776,0.895445]] 2025-10-28T21:21:35.246Z,1761686495.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931844,-0.331789,-0.146908],[0.362578,0.835478,0.412933],[-0.014268,-0.438054,0.898835]] 2025-10-28T21:21:35.653Z,1761686495.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941708,-0.307764,-0.135894],[0.336280,0.848968,0.407638],[-0.010087,-0.429574,0.902975]] 2025-10-28T21:21:36.055Z,1761686496.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951218,-0.282452,-0.124120],[0.308453,0.862249,0.401726],[-0.006446,-0.420414,0.907309]] 2025-10-28T21:21:36.864Z,1761686496.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968722,-0.227572,-0.098938],[0.248145,0.886288,0.391046],[-0.001303,-0.403365,0.915038]] 2025-10-28T21:21:37.268Z,1761686497.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976360,-0.198144,-0.086373],[0.216150,0.896201,0.387432],[0.000640,-0.396943,0.917843]] 2025-10-28T21:21:37.672Z,1761686497.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982999,-0.168059,-0.073949],[0.183596,0.904579,0.384745],[0.002233,-0.391781,0.920056]] 2025-10-28T21:21:38.078Z,1761686498.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988552,-0.137336,-0.062484],[0.150830,0.910409,0.385235],[0.003979,-0.390249,0.920701]] 2025-10-28T21:21:38.483Z,1761686498.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992789,-0.108088,-0.051834],[0.119742,0.914433,0.386619],[0.005610,-0.390038,0.920782]] 2025-10-28T21:21:38.883Z,1761686498.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995662,-0.082638,-0.042750],[0.092783,0.916087,0.390098],[0.006926,-0.392372,0.919781]] 2025-10-28T21:21:39.286Z,1761686499.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997635,-0.059268,-0.034801],[0.068221,0.915414,0.396691],[0.008346,-0.398127,0.917292]] 2025-10-28T21:21:39.692Z,1761686499.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998938,-0.036878,-0.027627],[0.044939,0.912202,0.407270],[0.010182,-0.408079,0.912890]] 2025-10-28T21:21:40.098Z,1761686500.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999698,-0.014148,-0.020101],[0.021277,0.907543,0.419421],[0.012308,-0.419722,0.907569]] 2025-10-28T21:21:40.499Z,1761686500.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999895,0.008476,-0.011759],[-0.002559,0.901703,0.432349],[0.014268,-0.432273,0.901630]] 2025-10-28T21:21:40.903Z,1761686500.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999528,0.030591,-0.002761],[-0.026198,0.895978,0.443325],[0.016035,-0.443043,0.896357]] 2025-10-28T21:21:41.306Z,1761686501.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998575,0.052922,0.006892],[-0.050350,0.891385,0.450442],[0.017695,-0.450147,0.892779]] 2025-10-28T21:21:41.717Z,1761686501.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996900,0.076734,0.017362],[-0.076239,0.887765,0.453939],[0.019419,-0.453855,0.890864]] 2025-10-28T21:21:42.125Z,1761686502.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990177,0.133419,0.041815],[-0.137871,0.881957,0.450714],[0.023254,-0.452052,0.891689]] 2025-10-28T21:21:42.150Z,1761686502.150 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:21:42.150Z,1761686502.150 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:21:42.150Z,1761686502.150 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:21:42.151Z,1761686502.151 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:21:42.151Z,1761686502.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:21:42.151Z,1761686502.151 [marl:UpdateSpeed] Stopped 2025-10-28T21:21:42.151Z,1761686502.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:21:42.523Z,1761686502.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985220,0.162863,0.053084],[-0.169470,0.881610,0.440504],[0.024942,-0.442989,0.896180]] 2025-10-28T21:21:42.928Z,1761686502.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979130,0.192948,0.063840],[-0.201457,0.879980,0.430174],[0.026823,-0.434057,0.900486]] 2025-10-28T21:21:43.332Z,1761686503.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972034,0.222923,0.073865],[-0.233066,0.877122,0.419925],[0.028823,-0.425397,0.904548]] 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateRudder:A] Stopped 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:21:43.407Z,1761686503.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:21:43.408Z,1761686503.408 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:21:43.412Z,1761686503.412 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:21:43.412Z,1761686503.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:21:43.412Z,1761686503.412 [marl:UpdateCommandMode] Stopped 2025-10-28T21:21:43.413Z,1761686503.413 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:21:43.735Z,1761686503.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964025,0.252112,0.084235],[-0.264054,0.871907,0.412375],[0.030520,-0.419783,0.907111]] 2025-10-28T21:21:43.765Z,1761686503.765 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:21:43.765Z,1761686503.765 [marl:UpdateRudder:B] Stopped 2025-10-28T21:21:43.765Z,1761686503.765 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:21:43.765Z,1761686503.765 [marl:UpdateRudder] Stopped 2025-10-28T21:21:43.766Z,1761686503.766 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:21:44.134Z,1761686504.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955001,0.281522,0.093374],[-0.294810,0.866393,0.403052],[0.032569,-0.412443,0.910401]] 2025-10-28T21:21:44.538Z,1761686504.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945455,0.309185,0.102564],[-0.323942,0.859235,0.395951],[0.034295,-0.407579,0.912526]] 2025-10-28T21:21:44.965Z,1761686504.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935336,0.335348,0.112642],[-0.351939,0.849822,0.392354],[0.035850,-0.406626,0.912891]] 2025-10-28T21:21:45.348Z,1761686505.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925138,0.359351,0.122423],[-0.377789,0.839725,0.390049],[0.037363,-0.407099,0.912620]] 2025-10-28T21:21:45.829Z,1761686505.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914315,0.382223,0.133918],[-0.403145,0.827286,0.391243],[0.038754,-0.411707,0.910492]] 2025-10-28T21:21:46.226Z,1761686506.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902979,0.404577,0.144729],[-0.427831,0.815296,0.390195],[0.039866,-0.414258,0.909286]] 2025-10-28T21:21:46.630Z,1761686506.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890959,0.426325,0.156328],[-0.452233,0.802038,0.390153],[0.040951,-0.418307,0.907382]] 2025-10-28T21:21:47.034Z,1761686507.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878111,0.447881,0.168297],[-0.476607,0.787912,0.389925],[0.042037,-0.422609,0.905337]] 2025-10-28T21:21:47.459Z,1761686507.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864793,0.469097,0.179112],[-0.500271,0.774262,0.387618],[0.043151,-0.424814,0.904252]] 2025-10-28T21:21:47.842Z,1761686507.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850766,0.490179,0.189529],[-0.523658,0.760132,0.384685],[0.044497,-0.426525,0.903380]] 2025-10-28T21:21:48.246Z,1761686508.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835861,0.510904,0.200780],[-0.547015,0.744603,0.382546],[0.045943,-0.429584,0.901857]] 2025-10-28T21:21:48.651Z,1761686508.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819711,0.531975,0.212311],[-0.570812,0.728032,0.379662],[0.047402,-0.432403,0.900434]] 2025-10-28T21:21:49.056Z,1761686509.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802678,0.553028,0.223314],[-0.594408,0.711110,0.375502],[0.048862,-0.434146,0.899516]] 2025-10-28T21:21:49.463Z,1761686509.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785190,0.574555,0.231003],[-0.617190,0.695648,0.367628],[0.050526,-0.431230,0.900826]] 2025-10-28T21:21:49.862Z,1761686509.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766610,0.596131,0.238616],[-0.640004,0.679280,0.359129],[0.052001,-0.428027,0.902269]] 2025-10-28T21:21:50.266Z,1761686510.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747037,0.617733,0.245647],[-0.662650,0.662363,0.349529],[0.053208,-0.423889,0.904150]] 2025-10-28T21:21:50.672Z,1761686510.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726562,0.637923,0.255269],[-0.685012,0.643561,0.341448],[0.053536,-0.422946,0.904572]] 2025-10-28T21:21:51.075Z,1761686511.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704604,0.658823,0.263602],[-0.707550,0.624071,0.331525],[0.053910,-0.420106,0.905873]] 2025-10-28T21:21:51.478Z,1761686511.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681871,0.679663,0.270389],[-0.729463,0.604450,0.320194],[0.054187,-0.415569,0.907946]] 2025-10-28T21:21:51.883Z,1761686511.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659524,0.698309,0.278196],[-0.749740,0.584511,0.310220],[0.054021,-0.413172,0.909049]] 2025-10-28T21:21:52.289Z,1761686512.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636582,0.716498,0.285295],[-0.769303,0.563972,0.300180],[0.054180,-0.410568,0.910219]] 2025-10-28T21:21:52.690Z,1761686512.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613889,0.733461,0.291848],[-0.787487,0.543345,0.290931],[0.054813,-0.408426,0.911144]] 2025-10-28T21:21:53.094Z,1761686513.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591960,0.747633,0.301043],[-0.804048,0.522047,0.284560],[0.055588,-0.410501,0.910164]] 2025-10-28T21:21:53.508Z,1761686513.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570098,0.761762,0.307744],[-0.819601,0.501364,0.277286],[0.056934,-0.410307,0.910168]] 2025-10-28T21:21:53.902Z,1761686513.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548862,0.774030,0.315640],[-0.833852,0.480477,0.271720],[0.058661,-0.412334,0.909142]] 2025-10-28T21:21:54.346Z,1761686514.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527789,0.784210,0.326271],[-0.847197,0.458552,0.268306],[0.060796,-0.418025,0.906399]] 2025-10-28T21:21:54.748Z,1761686514.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506635,0.792774,0.338867],[-0.859849,0.435849,0.265887],[0.063093,-0.426082,0.902482]] 2025-10-28T21:21:55.203Z,1761686515.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485121,0.799934,0.353218],[-0.872016,0.412449,0.263579],[0.065161,-0.435879,0.897643]] 2025-10-28T21:21:55.254Z,1761686515.254 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:21:55.254Z,1761686515.254 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:21:55.254Z,1761686515.254 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:21:55.254Z,1761686515.254 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:21:55.255Z,1761686515.255 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:21:55.255Z,1761686515.255 [marl:UpdateSpeed] Stopped 2025-10-28T21:21:55.255Z,1761686515.255 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:21:55.553Z,1761686515.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463837,0.806470,0.366690],[-0.883456,0.390211,0.259309],[0.066038,-0.444232,0.893475]] 2025-10-28T21:21:55.958Z,1761686515.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442244,0.813064,0.378613],[-0.894504,0.369037,0.252338],[0.065445,-0.450265,0.890493]] 2025-10-28T21:21:56.358Z,1761686516.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420131,0.820177,0.388329],[-0.905216,0.348680,0.242912],[0.063828,-0.453577,0.888929]] 2025-10-28T21:21:56.388Z,1761686516.388 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:21:56.388Z,1761686516.388 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateRudder:A] Stopped 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:21:56.389Z,1761686516.389 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:21:56.390Z,1761686516.390 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:21:56.390Z,1761686516.390 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:21:56.390Z,1761686516.390 [marl:UpdateCommandMode] Stopped 2025-10-28T21:21:56.390Z,1761686516.390 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:21:56.795Z,1761686516.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396027,0.829215,0.394418],[-0.916169,0.328003,0.230320],[0.061614,-0.452567,0.889599]] 2025-10-28T21:21:56.819Z,1761686516.819 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:21:56.819Z,1761686516.819 [marl:UpdateRudder:B] Stopped 2025-10-28T21:21:56.819Z,1761686516.819 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:21:56.819Z,1761686516.819 [marl:UpdateRudder] Stopped 2025-10-28T21:21:56.819Z,1761686516.819 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:21:57.207Z,1761686517.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369258,0.841454,0.394466],[-0.927436,0.306598,0.214150],[0.059255,-0.444919,0.893608]] 2025-10-28T21:21:57.571Z,1761686517.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340752,0.855494,0.389895],[-0.938481,0.284788,0.195319],[0.056057,-0.432464,0.899907]] 2025-10-28T21:21:57.974Z,1761686517.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310921,0.870990,0.380402],[-0.948991,0.262438,0.174764],[0.052386,-0.415336,0.908159]] 2025-10-28T21:21:58.379Z,1761686518.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279879,0.885543,0.370785],[-0.958796,0.238215,0.154800],[0.048755,-0.398833,0.915727]] 2025-10-28T21:21:58.789Z,1761686518.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247334,0.898499,0.362664],[-0.967845,0.211390,0.136346],[0.045843,-0.384726,0.921892]] 2025-10-28T21:21:59.210Z,1761686519.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214020,0.910674,0.353368],[-0.975824,0.182909,0.119634],[0.044314,-0.370429,0.927803]] 2025-10-28T21:21:59.591Z,1761686519.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179293,0.919899,0.348769],[-0.982795,0.151489,0.105669],[0.044370,-0.361714,0.931232]] 2025-10-28T21:21:59.994Z,1761686519.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143913,0.925284,0.350911],[-0.988529,0.117997,0.094272],[0.045822,-0.360452,0.931652]] 2025-10-28T21:22:00.401Z,1761686520.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110855,0.926033,0.360797],[-0.992723,0.085998,0.084291],[0.047028,-0.367516,0.928828]] 2025-10-28T21:22:00.803Z,1761686520.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081602,0.923476,0.374877],[-0.995547,0.057716,0.074529],[0.047190,-0.379289,0.924074]] 2025-10-28T21:22:01.214Z,1761686521.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054721,0.918852,0.390789],[-0.997399,0.031913,0.064628],[0.046912,-0.393310,0.918209]] 2025-10-28T21:22:01.610Z,1761686521.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029013,0.913492,0.405821],[-0.998500,0.007626,0.054221],[0.046436,-0.406785,0.912343]] 2025-10-28T21:22:02.019Z,1761686522.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004371,0.908704,0.417419],[-0.998942,-0.015140,0.043419],[0.045775,-0.417167,0.907676]] 2025-10-28T21:22:02.430Z,1761686522.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019753,0.904056,0.426958],[-0.998794,-0.037038,0.032216],[0.044939,-0.425807,0.903697]] 2025-10-28T21:22:02.822Z,1761686522.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043306,0.899005,0.435793],[-0.998098,-0.058089,0.020649],[0.043878,-0.434070,0.899810]] 2025-10-28T21:22:03.220Z,1761686523.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:22:03.228Z,1761686523.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066826,0.895322,0.440379],[-0.996848,-0.078824,0.008985],[0.042757,-0.438390,0.897767]] 2025-10-28T21:22:03.632Z,1761686523.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091276,0.893525,0.439637],[-0.994942,-0.100417,-0.002477],[0.041934,-0.437640,0.898172]] 2025-10-28T21:22:04.037Z,1761686524.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116961,0.892534,0.435550],[-0.992281,-0.123224,-0.013952],[0.041218,-0.433819,0.900057]] 2025-10-28T21:22:04.225Z,1761686524.225 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:22:04.441Z,1761686524.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143450,0.893037,0.426505],[-0.988830,-0.146958,-0.024873],[0.040465,-0.425309,0.904143]] 2025-10-28T21:22:04.843Z,1761686524.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171152,0.892358,0.417618],[-0.984445,-0.171964,-0.036006],[0.039685,-0.417285,0.907909]] 2025-10-28T21:22:05.269Z,1761686525.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200320,0.890753,0.407959],[-0.978945,-0.198653,-0.046945],[0.039226,-0.408773,0.911793]] 2025-10-28T21:22:05.674Z,1761686525.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229892,0.887306,0.399797],[-0.972444,-0.225798,-0.058042],[0.038773,-0.402124,0.914764]] 2025-10-28T21:22:06.088Z,1761686526.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260131,0.882655,0.391474],[-0.964804,-0.253779,-0.068910],[0.038524,-0.395621,0.917606]] 2025-10-28T21:22:06.483Z,1761686526.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289172,0.875876,0.386292],[-0.956531,-0.280303,-0.080485],[0.037784,-0.392774,0.918858]] 2025-10-28T21:22:06.886Z,1761686526.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317095,0.868249,0.381570],[-0.947679,-0.305702,-0.091933],[0.036826,-0.390757,0.919757]] 2025-10-28T21:22:07.033Z,1761686527.033 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:22:07.175Z,1761686527.175 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:22:07.176Z,1761686527.176 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:22:07.299Z,1761686527.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344146,0.859049,0.378944],[-0.938238,-0.329984,-0.104020],[0.035687,-0.391337,0.919555]] 2025-10-28T21:22:07.426Z,1761686527.426 [DAT](INFO): DAT read: 2025-10-28T21:22:07.427Z,1761686527.427 [DAT](INFO): DAT read: Tx time:21:22:07.1549 2025-10-28T21:22:07.427Z,1761686527.427 [DAT](INFO): Ping request sent. 2025-10-28T21:22:07.427Z,1761686527.427 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:22:07.427Z,1761686527.427 [DAT](INFO): publishing transmit ping time 2025-10-28T21:22:07.428Z,1761686527.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001053 2025-10-28T21:22:07.677Z,1761686527.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249841 2025-10-28T21:22:07.709Z,1761686527.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369806,0.847827,0.380044],[-0.928475,-0.352330,-0.117462],[0.034314,-0.396299,0.917480]] 2025-10-28T21:22:07.929Z,1761686527.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501937 2025-10-28T21:22:08.107Z,1761686528.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395112,0.835011,0.382941],[-0.918045,-0.373828,-0.132083],[0.032863,-0.403745,0.914281]] 2025-10-28T21:22:08.181Z,1761686528.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754025 2025-10-28T21:22:08.192Z,1761686528.192 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:22:08.192Z,1761686528.192 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:22:08.192Z,1761686528.192 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:22:08.193Z,1761686528.193 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:22:08.193Z,1761686528.193 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:22:08.193Z,1761686528.193 [marl:UpdateSpeed] Stopped 2025-10-28T21:22:08.193Z,1761686528.193 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:22:08.433Z,1761686528.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005897 2025-10-28T21:22:08.685Z,1761686528.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257809 2025-10-28T21:22:08.922Z,1761686528.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443577,0.806496,0.390902],[-0.895725,-0.413660,-0.162976],[0.030261,-0.422433,0.905889]] 2025-10-28T21:22:08.937Z,1761686528.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510038 2025-10-28T21:22:09.192Z,1761686529.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764236 2025-10-28T21:22:09.320Z,1761686529.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467467,0.792597,0.391489],[-0.883538,-0.433381,-0.177600],[0.028899,-0.428918,0.902881]] 2025-10-28T21:22:09.398Z,1761686529.398 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:22:09.398Z,1761686529.398 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateRudder:A] Stopped 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:22:09.399Z,1761686529.399 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:22:09.404Z,1761686529.404 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:22:09.404Z,1761686529.404 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:22:09.404Z,1761686529.404 [marl:UpdateCommandMode] Stopped 2025-10-28T21:22:09.405Z,1761686529.405 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:22:09.441Z,1761686529.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014348 2025-10-28T21:22:09.693Z,1761686529.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265914 2025-10-28T21:22:09.723Z,1761686529.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491578,0.778242,0.390757],[-0.870398,-0.453287,-0.192194],[0.027552,-0.434592,0.900206]] 2025-10-28T21:22:09.793Z,1761686529.793 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:22:09.793Z,1761686529.793 [marl:UpdateRudder:B] Stopped 2025-10-28T21:22:09.793Z,1761686529.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:22:09.793Z,1761686529.793 [marl:UpdateRudder] Stopped 2025-10-28T21:22:09.793Z,1761686529.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:22:09.945Z,1761686529.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518265 2025-10-28T21:22:10.127Z,1761686530.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516161,0.764429,0.386297],[-0.856084,-0.474380,-0.205145],[0.026433,-0.436591,0.899272]] 2025-10-28T21:22:10.206Z,1761686530.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779436 2025-10-28T21:22:10.457Z,1761686530.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029914 2025-10-28T21:22:10.531Z,1761686530.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540638,0.752363,0.376377],[-0.840877,-0.496713,-0.214947],[0.025233,-0.432696,0.901187]] 2025-10-28T21:22:10.709Z,1761686530.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281851 2025-10-28T21:22:10.937Z,1761686530.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565357,0.741073,0.362190],[-0.824496,-0.520521,-0.221957],[0.024041,-0.424109,0.905292]] 2025-10-28T21:22:10.961Z,1761686530.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534016 2025-10-28T21:22:11.213Z,1761686531.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785875 2025-10-28T21:22:11.339Z,1761686531.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590712,0.728632,0.346634],[-0.806553,-0.545481,-0.227866],[0.023052,-0.414181,0.909902]] 2025-10-28T21:22:11.465Z,1761686531.465 [DAT](INFO): DAT read: Rx Time:21:22:10.7741 2025-10-28T21:22:11.466Z,1761686531.466 [DAT](INFO): Rx dataTimestamp_ set to:1761686531.465692 2025-10-28T21:22:11.467Z,1761686531.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039648 2025-10-28T21:22:11.718Z,1761686531.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291347 2025-10-28T21:22:11.975Z,1761686531.975 [DAT](INFO): DAT read: 21:22:10.7741 LVL= 15712, 19441, 26098, 32755, AGC= 74, IDX= 423,-0.14,-1.263,-1.063,-2.673,-1.083, PHS=-0.078, 0.065,-1.634, RAW= 25.6, 19.6, CAL= 23.6, 23.2, ROT= 126.4, -23.2 2025-10-28T21:22:11.977Z,1761686531.977 [DAT](INFO): got valid direction response: 21:22:10.7741 LVL= 15712, 19441, 26098, 32755, AGC= 74, IDX= 423,-0.14,-1.263,-1.063,-2.673,-1.083, PHS=-0.078, 0.065,-1.634, RAW= 25.6, 19.6, CAL= 23.6, 23.2, ROT= 126.4, -23.2 2025-10-28T21:22:11.978Z,1761686531.978 [DAT](INFO): DAT read: Bearing 332, -16 (Remote) 2025-10-28T21:22:11.979Z,1761686531.979 [DAT](INFO): Remote Bearing received:Bearing 332, -16 (Remote) 2025-10-28T21:22:11.984Z,1761686531.984 [DAT](INFO): DAT read: Bearing 137.1, 30.0 (Local) 2025-10-28T21:22:11.986Z,1761686531.986 [DAT](INFO): Local bearing/azimuth received: Bearing 137.1, 30.0 (Local) 2025-10-28T21:22:12.017Z,1761686532.017 [DAT](INFO): DAT read: Range 11 to 20 : 1192.5 m (Round-trip 1590.1 ms) speed -0.8 m/s 2025-10-28T21:22:12.018Z,1761686532.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:22:12.019Z,1761686532.019 [DAT](INFO): direction in FSK: [-0.545432,0.739806,0.393942] 2025-10-28T21:22:12.019Z,1761686532.019 [DAT](INFO): publishing direction and range info 2025-10-28T21:22:12.191Z,1761686532.191 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686528.00. Resetting abort timer. 2025-10-28T21:22:12.557Z,1761686532.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695519,0.656008,0.293098],[-0.718208,-0.646539,-0.257227],[0.020756,-0.389411,0.920830]] 2025-10-28T21:22:12.959Z,1761686532.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720110,0.632008,0.286368],[-0.693561,-0.667747,-0.270347],[0.020360,-0.393294,0.919187]] 2025-10-28T21:22:13.365Z,1761686533.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743236,0.606962,0.281422],[-0.668740,-0.686364,-0.285817],[0.019678,-0.400627,0.916030]] 2025-10-28T21:22:13.771Z,1761686533.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764949,0.581540,0.276882],[-0.643814,-0.702959,-0.302246],[0.018869,-0.409463,0.912131]] 2025-10-28T21:22:14.167Z,1761686534.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784992,0.555788,0.273655],[-0.619238,-0.716914,-0.320277],[0.018181,-0.420873,0.906937]] 2025-10-28T21:22:14.570Z,1761686534.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802822,0.532215,0.268748],[-0.595959,-0.729656,-0.335315],[0.017634,-0.429360,0.902961]] 2025-10-28T21:22:14.976Z,1761686534.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818542,0.510558,0.263287],[-0.574191,-0.740884,-0.348419],[0.017177,-0.436372,0.899602]] 2025-10-28T21:22:15.378Z,1761686535.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832459,0.491052,0.256672],[-0.553826,-0.751620,-0.358252],[0.017000,-0.440382,0.897650]] 2025-10-28T21:22:15.787Z,1761686535.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845191,0.472580,0.249641],[-0.534179,-0.762209,-0.365637],[0.017486,-0.442386,0.896654]] 2025-10-28T21:22:16.189Z,1761686536.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857194,0.454761,0.241683],[-0.514664,-0.773243,-0.370427],[0.018424,-0.441913,0.896869]] 2025-10-28T21:22:16.592Z,1761686536.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868846,0.436838,0.232980],[-0.494707,-0.784370,-0.374203],[0.019277,-0.440382,0.897604]] 2025-10-28T21:22:16.994Z,1761686536.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880130,0.419741,0.221785],[-0.474317,-0.797025,-0.373864],[0.019842,-0.434245,0.900576]] 2025-10-28T21:22:17.420Z,1761686537.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891083,0.403523,0.207702],[-0.453406,-0.811551,-0.368521],[0.019854,-0.422556,0.906119]] 2025-10-28T21:22:17.819Z,1761686537.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902104,0.386779,0.191339],[-0.431086,-0.827616,-0.359467],[0.019321,-0.406760,0.913331]] 2025-10-28T21:22:18.234Z,1761686538.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913683,0.367160,0.174291],[-0.406030,-0.843572,-0.351462],[0.017984,-0.391892,0.919835]] 2025-10-28T21:22:18.633Z,1761686538.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925626,0.343899,0.157953],[-0.378097,-0.858110,-0.347405],[0.016069,-0.381289,0.924316]] 2025-10-28T21:22:19.035Z,1761686539.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937801,0.317659,0.140075],[-0.346911,-0.873082,-0.342609],[0.013465,-0.369892,0.928977]] 2025-10-28T21:22:19.438Z,1761686539.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949129,0.289205,0.124555],[-0.314731,-0.883725,-0.346372],[0.009900,-0.367954,0.929792]] 2025-10-28T21:22:19.842Z,1761686539.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959474,0.259136,0.110713],[-0.281722,-0.891091,-0.355793],[0.006456,-0.372565,0.927984]] 2025-10-28T21:22:20.251Z,1761686540.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968678,0.228634,0.096897],[-0.248306,-0.895805,-0.368617],[0.002523,-0.381131,0.924518]] 2025-10-28T21:22:20.653Z,1761686540.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976412,0.199232,0.083223],[-0.215910,-0.898084,-0.383181],[-0.001601,-0.392111,0.919917]] 2025-10-28T21:22:21.056Z,1761686541.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982825,0.171126,0.069077],[-0.184463,-0.900019,-0.394892],[-0.005406,-0.400851,0.916127]] 2025-10-28T21:22:21.097Z,1761686541.097 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:22:21.097Z,1761686541.097 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:22:21.097Z,1761686541.097 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:22:21.098Z,1761686541.098 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:22:21.098Z,1761686541.098 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:22:21.098Z,1761686541.098 [marl:UpdateSpeed] Stopped 2025-10-28T21:22:21.098Z,1761686541.098 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:22:21.459Z,1761686541.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988031,0.143850,0.055696],[-0.154023,-0.900155,-0.407428],[-0.008474,-0.411130,0.911537]] 2025-10-28T21:22:22.267Z,1761686542.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995057,0.094347,0.030980],[-0.098488,-0.897742,-0.429370],[-0.012698,-0.430299,0.902597]] 2025-10-28T21:22:22.302Z,1761686542.302 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:22:22.302Z,1761686542.302 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:22:22.302Z,1761686542.302 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateRudder:A] Stopped 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:22:22.303Z,1761686542.303 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:22:22.304Z,1761686542.304 [marl:UpdateCommandMode] Stopped 2025-10-28T21:22:22.304Z,1761686542.304 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:22:22.670Z,1761686542.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997282,0.071088,0.019389],[-0.072413,-0.896836,-0.436396],[-0.013634,-0.436614,0.899546]] 2025-10-28T21:22:22.722Z,1761686542.722 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:22:22.722Z,1761686542.722 [marl:UpdateRudder:B] Stopped 2025-10-28T21:22:22.722Z,1761686542.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:22:22.722Z,1761686542.722 [marl:UpdateRudder] Stopped 2025-10-28T21:22:22.723Z,1761686542.723 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:22:23.075Z,1761686543.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998804,0.048224,0.008073],[-0.046907,-0.898458,-0.436547],[-0.013799,-0.436404,0.899645]] 2025-10-28T21:22:23.481Z,1761686543.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999716,0.023534,-0.003714],[-0.019618,-0.901569,-0.432191],[-0.013520,-0.431995,0.901775]] 2025-10-28T21:22:23.891Z,1761686543.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999887,-0.001097,-0.014961],[0.007372,-0.904526,-0.426354],[-0.013065,-0.426417,0.904432]] 2025-10-28T21:22:24.286Z,1761686544.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999259,-0.027206,-0.027235],[0.036158,-0.906116,-0.421482],[-0.013211,-0.422154,0.906428]] 2025-10-28T21:22:24.691Z,1761686544.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997826,-0.052488,-0.039843],[0.064353,-0.906287,-0.417734],[-0.014183,-0.419390,0.907695]] 2025-10-28T21:22:25.098Z,1761686545.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995505,-0.078724,-0.052650],[0.093435,-0.907198,-0.410197],[-0.015471,-0.413272,0.910476]] 2025-10-28T21:22:25.498Z,1761686545.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992056,-0.107391,-0.065517],[0.124615,-0.910203,-0.394971],[-0.017218,-0.399998,0.916354]] 2025-10-28T21:22:25.905Z,1761686545.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987562,-0.135955,-0.078980],[0.156067,-0.908630,-0.387342],[-0.019102,-0.394850,0.918547]] 2025-10-28T21:22:26.307Z,1761686546.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982287,-0.162755,-0.092855],[0.186120,-0.904830,-0.382938],[-0.021693,-0.393438,0.919095]] 2025-10-28T21:22:26.716Z,1761686546.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975981,-0.189960,-0.106661],[0.216492,-0.900384,-0.377413],[-0.024343,-0.391439,0.919882]] 2025-10-28T21:22:27.122Z,1761686547.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968622,-0.217091,-0.121006],[0.247075,-0.893827,-0.374201],[-0.026923,-0.392357,0.919419]] 2025-10-28T21:22:27.519Z,1761686547.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960728,-0.242132,-0.135551],[0.275909,-0.885633,-0.373535],[-0.029604,-0.396265,0.917659]] 2025-10-28T21:22:27.923Z,1761686547.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952022,-0.266974,-0.149598],[0.304313,-0.877576,-0.370479],[-0.032375,-0.398228,0.916715]] 2025-10-28T21:22:28.332Z,1761686548.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942701,-0.290405,-0.164255],[0.331785,-0.867803,-0.369913],[-0.035116,-0.403215,0.914431]] 2025-10-28T21:22:29.166Z,1761686549.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922755,-0.334354,-0.191651],[0.383363,-0.847250,-0.367695],[-0.039436,-0.412764,0.909984]] 2025-10-28T21:22:29.539Z,1761686549.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912035,-0.356228,-0.203210],[0.408067,-0.837676,-0.363016],[-0.040908,-0.414006,0.909354]] 2025-10-28T21:22:29.949Z,1761686549.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900638,-0.378239,-0.213979],[0.432531,-0.827863,-0.357155],[-0.042055,-0.414220,0.909205]] 2025-10-28T21:22:30.348Z,1761686550.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888603,-0.400856,-0.222935],[0.456687,-0.818444,-0.348693],[-0.042684,-0.411661,0.910337]] 2025-10-28T21:22:30.756Z,1761686550.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875930,-0.423305,-0.231430],[0.480552,-0.807948,-0.341013],[-0.042631,-0.409917,0.911126]] 2025-10-28T21:22:31.199Z,1761686551.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862127,-0.446409,-0.239701],[0.504922,-0.796409,-0.332845],[-0.042315,-0.407985,0.912007]] 2025-10-28T21:22:31.562Z,1761686551.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847246,-0.468806,-0.249791],[0.529532,-0.782628,-0.327245],[-0.042079,-0.409529,0.911326]] 2025-10-28T21:22:32.375Z,1761686552.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814083,-0.514843,-0.268712],[0.579272,-0.752845,-0.312520],[-0.041400,-0.410075,0.911112]] 2025-10-28T21:22:32.781Z,1761686552.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795798,-0.538217,-0.277538],[0.604122,-0.737202,-0.302606],[-0.041734,-0.408480,0.911813]] 2025-10-28T21:22:33.200Z,1761686553.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776837,-0.561520,-0.284990],[0.628237,-0.721966,-0.289972],[-0.042928,-0.404302,0.913617]] 2025-10-28T21:22:33.580Z,1761686553.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757358,-0.583555,-0.293040],[0.651472,-0.705914,-0.277974],[-0.044648,-0.401433,0.914799]] 2025-10-28T21:22:33.982Z,1761686553.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737005,-0.604605,-0.302118],[0.674289,-0.688436,-0.267188],[-0.046446,-0.400634,0.915060]] 2025-10-28T21:22:34.033Z,1761686554.033 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:22:34.033Z,1761686554.033 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:22:34.033Z,1761686554.033 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:22:34.034Z,1761686554.034 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:22:34.034Z,1761686554.034 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:22:34.034Z,1761686554.034 [marl:UpdateSpeed] Stopped 2025-10-28T21:22:34.034Z,1761686554.034 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:22:34.344Z,1761686554.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:22:34.389Z,1761686554.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716617,-0.623462,-0.312659],[0.695809,-0.669953,-0.258870],[-0.048071,-0.403061,0.913910]] 2025-10-28T21:22:34.798Z,1761686554.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695965,-0.640925,-0.323802],[0.716332,-0.651092,-0.250894],[-0.050021,-0.406563,0.912253]] 2025-10-28T21:22:35.206Z,1761686555.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674680,-0.658751,-0.332947],[0.736279,-0.632405,-0.240744],[-0.051967,-0.407568,0.911695]] 2025-10-28T21:22:35.273Z,1761686555.273 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:22:35.273Z,1761686555.273 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:22:35.273Z,1761686555.273 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:22:35.273Z,1761686555.273 [marl:UpdateRudder:A] Stopped 2025-10-28T21:22:35.273Z,1761686555.273 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode] Stopped 2025-10-28T21:22:35.274Z,1761686555.274 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:22:35.349Z,1761686555.349 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:22:35.599Z,1761686555.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653508,-0.675656,-0.341200],[0.755053,-0.613549,-0.231199],[-0.053132,-0.408714,0.911115]] 2025-10-28T21:22:35.635Z,1761686555.635 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:22:35.635Z,1761686555.635 [marl:UpdateRudder:B] Stopped 2025-10-28T21:22:35.635Z,1761686555.635 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:22:35.635Z,1761686555.635 [marl:UpdateRudder] Stopped 2025-10-28T21:22:35.635Z,1761686555.635 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:22:36.002Z,1761686556.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632564,-0.691436,-0.348968],[0.772650,-0.594550,-0.222534],[-0.053611,-0.410397,0.910330]] 2025-10-28T21:22:36.406Z,1761686556.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611304,-0.707479,-0.354655],[0.789584,-0.575540,-0.212864],[-0.053521,-0.410155,0.910444]] 2025-10-28T21:22:36.816Z,1761686556.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589485,-0.722254,-0.361741],[0.806030,-0.555391,-0.204590],[-0.053141,-0.412177,0.909553]] 2025-10-28T21:22:37.214Z,1761686557.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566935,-0.737114,-0.367761],[0.822076,-0.534815,-0.195356],[-0.052684,-0.413082,0.909169]] 2025-10-28T21:22:37.619Z,1761686557.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543818,-0.752589,-0.371312],[0.837587,-0.514196,-0.184526],[-0.052055,-0.411355,0.909988]] 2025-10-28T21:22:38.025Z,1761686558.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520896,-0.767153,-0.374359],[0.852045,-0.493899,-0.173445],[-0.051837,-0.409317,0.910918]] 2025-10-28T21:22:38.426Z,1761686558.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496790,-0.781521,-0.377392],[0.866317,-0.472572,-0.161776],[-0.051913,-0.407310,0.911813]] 2025-10-28T21:22:38.834Z,1761686558.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471826,-0.795724,-0.379742],[0.880161,-0.450451,-0.149702],[-0.051934,-0.404868,0.912899]] 2025-10-28T21:22:39.235Z,1761686559.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446276,-0.808285,-0.384075],[0.893399,-0.427218,-0.139004],[-0.051729,-0.405167,0.912778]] 2025-10-28T21:22:39.640Z,1761686559.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419449,-0.819910,-0.389627],[0.906306,-0.402676,-0.128304],[-0.051696,-0.406938,0.911992]] 2025-10-28T21:22:40.043Z,1761686560.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391197,-0.831551,-0.394320],[0.918851,-0.376999,-0.116549],[-0.051741,-0.407915,0.911553]] 2025-10-28T21:22:40.446Z,1761686560.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361687,-0.842642,-0.398919],[0.930843,-0.350301,-0.104020],[-0.052090,-0.408953,0.911067]] 2025-10-28T21:22:40.860Z,1761686560.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331758,-0.852464,-0.404032],[0.941899,-0.323186,-0.091522],[-0.052558,-0.410921,0.910155]] 2025-10-28T21:22:41.257Z,1761686561.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301636,-0.861242,-0.408996],[0.951946,-0.295923,-0.078924],[-0.053059,-0.413148,0.909117]] 2025-10-28T21:22:41.659Z,1761686561.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271155,-0.869808,-0.412201],[0.961022,-0.268653,-0.065284],[-0.053954,-0.413836,0.908751]] 2025-10-28T21:22:42.467Z,1761686562.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211233,-0.884626,-0.415714],[0.975770,-0.215672,-0.036866],[-0.057046,-0.413429,0.908748]] 2025-10-28T21:22:42.878Z,1761686562.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182525,-0.891704,-0.414185],[0.981436,-0.190475,-0.022428],[-0.058893,-0.410590,0.909916]] 2025-10-28T21:22:43.275Z,1761686563.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154113,-0.896813,-0.414700],[0.986164,-0.165559,-0.008454],[-0.061076,-0.410265,0.909919]] 2025-10-28T21:22:43.678Z,1761686563.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125855,-0.901353,-0.414395],[0.990043,-0.140666,0.005280],[-0.063050,-0.409604,0.910082]] 2025-10-28T21:22:44.490Z,1761686564.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070496,-0.907532,-0.414025],[0.995335,-0.091407,0.030886],[-0.065875,-0.409916,0.909742]] 2025-10-28T21:22:44.891Z,1761686564.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042256,-0.906597,-0.419878],[0.996876,-0.066325,0.042882],[-0.066725,-0.416754,0.906567]] 2025-10-28T21:22:45.294Z,1761686565.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013826,-0.905180,-0.424804],[0.997652,-0.040988,0.054868],[-0.067077,-0.423048,0.903621]] 2025-10-28T21:22:45.698Z,1761686565.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013787,-0.903898,-0.427526],[0.997668,-0.016149,0.066316],[-0.066847,-0.427444,0.901567]] 2025-10-28T21:22:46.104Z,1761686566.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041446,-0.902534,-0.428620],[0.996940,0.008899,0.077662],[-0.066278,-0.430527,0.900141]] 2025-10-28T21:22:46.508Z,1761686566.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069505,-0.901197,-0.427799],[0.995431,0.034511,0.089029],[-0.065469,-0.432032,0.899479]] 2025-10-28T21:22:46.911Z,1761686566.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097270,-0.901120,-0.422517],[0.993177,0.060445,0.099730],[-0.064330,-0.429335,0.900851]] 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed] Stopped 2025-10-28T21:22:47.017Z,1761686567.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:22:47.314Z,1761686567.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125058,-0.901189,-0.414993],[0.990132,0.086698,0.110103],[-0.063245,-0.424667,0.903138]] 2025-10-28T21:22:48.123Z,1761686568.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179905,-0.899634,-0.397861],[0.981787,0.139112,0.129391],[-0.061057,-0.413893,0.908276]] 2025-10-28T21:22:48.157Z,1761686568.157 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:22:48.157Z,1761686568.157 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateRudder:A] Stopped 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:22:48.158Z,1761686568.158 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:22:48.159Z,1761686568.159 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:22:48.159Z,1761686568.159 [marl:UpdateCommandMode] Stopped 2025-10-28T21:22:48.159Z,1761686568.159 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:22:48.528Z,1761686568.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207575,-0.897296,-0.389581],[0.976359,0.165495,0.139045],[-0.060291,-0.409234,0.910436]] 2025-10-28T21:22:48.575Z,1761686568.575 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:22:48.575Z,1761686568.575 [marl:UpdateRudder:B] Stopped 2025-10-28T21:22:48.575Z,1761686568.575 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:22:48.575Z,1761686568.575 [marl:UpdateRudder] Stopped 2025-10-28T21:22:48.575Z,1761686568.575 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:22:48.933Z,1761686568.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235117,-0.892737,-0.384370],[0.970126,0.191214,0.149306],[-0.059794,-0.407992,0.911025]] 2025-10-28T21:22:49.345Z,1761686569.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262820,-0.887214,-0.379180],[0.963031,0.217132,0.159451],[-0.059135,-0.407069,0.911481]] 2025-10-28T21:22:49.738Z,1761686569.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291016,-0.881673,-0.371432],[0.954932,0.243975,0.169059],[-0.058434,-0.403891,0.912939]] 2025-10-28T21:22:50.143Z,1761686570.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319371,-0.874209,-0.365734],[0.945855,0.270467,0.179458],[-0.057965,-0.403245,0.913254]] 2025-10-28T21:22:50.549Z,1761686570.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347209,-0.865895,-0.360100],[0.936017,0.296398,0.189793],[-0.057608,-0.402958,0.913404]] 2025-10-28T21:22:50.951Z,1761686570.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374852,-0.856675,-0.354393],[0.925313,0.322098,0.200122],[-0.057290,-0.402941,0.913431]] 2025-10-28T21:22:51.359Z,1761686571.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402330,-0.845982,-0.349922],[0.913702,0.347144,0.211282],[-0.057267,-0.404729,0.912642]] 2025-10-28T21:22:51.762Z,1761686571.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428886,-0.834398,-0.346175],[0.901527,0.370953,0.222806],[-0.057494,-0.407645,0.911329]] 2025-10-28T21:22:52.568Z,1761686572.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482734,-0.809461,-0.334277],[0.873830,0.419827,0.245287],[-0.058212,-0.410509,0.909996]] 2025-10-28T21:22:53.374Z,1761686573.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534020,-0.785064,-0.313843],[0.843380,0.468538,0.263025],[-0.059444,-0.405149,0.912316]] 2025-10-28T21:22:53.788Z,1761686573.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559211,-0.770529,-0.305890],[0.826821,0.491479,0.273524],[-0.060420,-0.405873,0.911930]] 2025-10-28T21:22:54.183Z,1761686574.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583367,-0.755805,-0.297392],[0.809867,0.513508,0.283592],[-0.061627,-0.406287,0.911665]] 2025-10-28T21:22:54.587Z,1761686574.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606046,-0.741263,-0.288508],[0.792955,0.534435,0.292577],[-0.062688,-0.406089,0.911681]] 2025-10-28T21:22:54.994Z,1761686574.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627732,-0.725340,-0.282550],[0.775821,0.553268,0.303309],[-0.063677,-0.409605,0.910038]] 2025-10-28T21:22:55.426Z,1761686575.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668346,-0.693166,-0.269879],[0.740984,0.588582,0.323287],[-0.065246,-0.416043,0.907001]] 2025-10-28T21:22:55.893Z,1761686575.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687044,-0.677941,-0.261470],[0.723680,0.606112,0.330024],[-0.065257,-0.415962,0.907038]] 2025-10-28T21:22:56.295Z,1761686576.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704924,-0.662302,-0.253848],[0.706311,0.622745,0.336622],[-0.064863,-0.416588,0.906778]] 2025-10-28T21:22:56.699Z,1761686576.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722711,-0.645245,-0.247684],[0.688180,0.638621,0.344343],[-0.064009,-0.419312,0.905583]] 2025-10-28T21:22:57.105Z,1761686577.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740639,-0.626663,-0.242377],[0.668979,0.654148,0.352926],[-0.062615,-0.423536,0.903712]] 2025-10-28T21:22:57.551Z,1761686577.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758509,-0.607516,-0.235770],[0.648804,0.670173,0.360446],[-0.060970,-0.426370,0.902492]] 2025-10-28T21:22:57.955Z,1761686577.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776500,-0.587576,-0.227600],[0.627270,0.686513,0.367738],[-0.059824,-0.428315,0.901647]] 2025-10-28T21:22:58.381Z,1761686578.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794431,-0.567358,-0.216760],[0.604478,0.703907,0.372989],[-0.059039,-0.427341,0.902161]] 2025-10-28T21:22:58.782Z,1761686578.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812423,-0.546810,-0.202408],[0.580099,0.723021,0.375135],[-0.058783,-0.422185,0.904602]] 2025-10-28T21:22:59.199Z,1761686579.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829877,-0.525978,-0.186149],[0.554806,0.742578,0.375190],[-0.059112,-0.414638,0.908064]] 2025-10-28T21:22:59.571Z,1761686579.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846904,-0.503726,-0.170334],[0.528382,0.761232,0.375950],[-0.059712,-0.408395,0.910850]] 2025-10-28T21:22:59.978Z,1761686579.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862730,-0.481268,-0.155170],[0.501995,0.778249,0.377266],[-0.060805,-0.403373,0.913013]] 2025-10-28T21:23:00.012Z,1761686580.012 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:23:00.012Z,1761686580.012 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:23:00.012Z,1761686580.012 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:23:00.013Z,1761686580.013 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:23:00.013Z,1761686580.013 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:23:00.013Z,1761686580.013 [marl:UpdateSpeed] Stopped 2025-10-28T21:23:00.013Z,1761686580.013 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:23:00.380Z,1761686580.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877828,-0.457903,-0.140510],[0.474919,0.793997,0.379500],[-0.062210,-0.399866,0.914460]] 2025-10-28T21:23:00.788Z,1761686580.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891751,-0.434085,-0.127869],[0.448091,0.807563,0.383479],[-0.063200,-0.399265,0.914655]] 2025-10-28T21:23:01.209Z,1761686581.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904646,-0.409735,-0.117190],[0.421319,0.818532,0.390507],[-0.064081,-0.402645,0.913110]] 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateRudder:A] Stopped 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:23:01.274Z,1761686581.274 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:23:01.275Z,1761686581.275 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:23:01.275Z,1761686581.275 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:23:01.275Z,1761686581.275 [marl:UpdateCommandMode] Stopped 2025-10-28T21:23:01.275Z,1761686581.275 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:23:01.590Z,1761686581.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916561,-0.385416,-0.106633],[0.394627,0.828603,0.397097],[-0.064691,-0.406044,0.911561]] 2025-10-28T21:23:01.637Z,1761686581.637 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:23:01.637Z,1761686581.637 [marl:UpdateRudder:B] Stopped 2025-10-28T21:23:01.637Z,1761686581.637 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:23:01.637Z,1761686581.637 [marl:UpdateRudder] Stopped 2025-10-28T21:23:01.638Z,1761686581.638 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:23:02.400Z,1761686582.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938011,-0.335630,-0.086537],[0.340626,0.846451,0.409260],[-0.064110,-0.413367,0.908305]] 2025-10-28T21:23:02.815Z,1761686582.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947648,-0.309876,-0.077074],[0.313012,0.853742,0.416110],[-0.063141,-0.418451,0.906042]] 2025-10-28T21:23:03.223Z,1761686583.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956567,-0.283821,-0.066528],[0.284782,0.861062,0.421274],[-0.062282,-0.421923,0.904490]] 2025-10-28T21:23:03.633Z,1761686583.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964619,-0.257720,-0.055595],[0.256369,0.867688,0.425902],[-0.061524,-0.425086,0.903060]] 2025-10-28T21:23:04.014Z,1761686584.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971634,-0.232310,-0.044256],[0.228536,0.874251,0.428317],[-0.060811,-0.426282,0.902544]] 2025-10-28T21:23:04.420Z,1761686584.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977637,-0.207737,-0.032736],[0.201540,0.881026,0.427989],[-0.060068,-0.425015,0.903191]] 2025-10-28T21:23:04.834Z,1761686584.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982676,-0.184158,-0.020806],[0.175452,0.888258,0.424517],[-0.059697,-0.420813,0.905181]] 2025-10-28T21:23:05.226Z,1761686585.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986832,-0.161474,-0.009373],[0.150474,0.895269,0.419346],[-0.059322,-0.415234,0.907778]] 2025-10-28T21:23:05.481Z,1761686585.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:23:05.630Z,1761686585.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990266,-0.139183,0.001464],[0.125938,0.900407,0.416421],[-0.059277,-0.412183,0.909171]] 2025-10-28T21:23:06.035Z,1761686586.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993088,-0.116735,0.012203],[0.101208,0.904339,0.414642],[-0.059439,-0.410541,0.909903]] 2025-10-28T21:23:06.451Z,1761686586.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995302,-0.094102,0.022775],[0.076145,0.906092,0.416172],[-0.059799,-0.412482,0.909001]] 2025-10-28T21:23:06.484Z,1761686586.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:23:06.845Z,1761686586.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996920,-0.070737,0.033878],[0.050085,0.906568,0.419079],[-0.060358,-0.416091,0.907318]] 2025-10-28T21:23:07.247Z,1761686587.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997927,-0.045589,0.045427],[0.022168,0.906145,0.422385],[-0.060419,-0.420502,0.905277]] 2025-10-28T21:23:07.309Z,1761686587.309 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:23:07.429Z,1761686587.429 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:23:07.429Z,1761686587.429 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:23:07.651Z,1761686587.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998180,-0.017952,0.057566],[-0.008268,0.904892,0.425560],[-0.059730,-0.425262,0.903097]] 2025-10-28T21:23:07.682Z,1761686587.682 [DAT](INFO): DAT read: user:303> 2025-10-28T21:23:07.682Z,1761686587.682 [DAT](INFO): DAT read: Tx time:21:23:07.4046 2025-10-28T21:23:07.683Z,1761686587.683 [DAT](INFO): Ping request sent. 2025-10-28T21:23:07.683Z,1761686587.683 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:23:07.683Z,1761686587.683 [DAT](INFO): publishing transmit ping time 2025-10-28T21:23:07.696Z,1761686587.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925 2025-10-28T21:23:07.933Z,1761686587.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250505 2025-10-28T21:23:08.056Z,1761686588.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997459,0.011229,0.070347],[-0.040210,0.903896,0.425858],[-0.058804,-0.427604,0.902051]] 2025-10-28T21:23:08.185Z,1761686588.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502087 2025-10-28T21:23:08.437Z,1761686588.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754084 2025-10-28T21:23:08.459Z,1761686588.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995658,0.041487,0.083330],[-0.073101,0.902696,0.424024],[-0.057631,-0.428274,0.901809]] 2025-10-28T21:23:08.689Z,1761686588.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006180 2025-10-28T21:23:08.881Z,1761686588.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992724,0.071981,0.096529],[-0.106213,0.901123,0.420354],[-0.056727,-0.427548,0.902211]] 2025-10-28T21:23:08.942Z,1761686588.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258819 2025-10-28T21:23:09.195Z,1761686589.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512375 2025-10-28T21:23:09.282Z,1761686589.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988806,0.102117,0.108787],[-0.138513,0.899286,0.414847],[-0.055468,-0.425272,0.903364]] 2025-10-28T21:23:09.445Z,1761686589.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762103 2025-10-28T21:23:09.697Z,1761686589.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014119 2025-10-28T21:23:09.733Z,1761686589.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983984,0.131283,0.120587],[-0.169774,0.896403,0.409436],[-0.054343,-0.423351,0.904334]] 2025-10-28T21:23:09.949Z,1761686589.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266161 2025-10-28T21:23:10.127Z,1761686590.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978140,0.160351,0.132401],[-0.200950,0.892657,0.403464],[-0.053493,-0.421250,0.905366]] 2025-10-28T21:23:10.201Z,1761686590.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518243 2025-10-28T21:23:10.453Z,1761686590.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770099 2025-10-28T21:23:10.530Z,1761686590.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971548,0.188308,0.143649],[-0.230871,0.888323,0.396964],[-0.052855,-0.418834,0.906523]] 2025-10-28T21:23:10.705Z,1761686590.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022063 2025-10-28T21:23:10.935Z,1761686590.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964196,0.215778,0.154161],[-0.260009,0.883561,0.389507],[-0.052163,-0.415645,0.908030]] 2025-10-28T21:23:10.957Z,1761686590.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274446 2025-10-28T21:23:11.209Z,1761686591.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526104 2025-10-28T21:23:11.340Z,1761686591.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956238,0.241474,0.165227],[-0.287889,0.877329,0.383945],[-0.052246,-0.414709,0.908453]] 2025-10-28T21:23:11.461Z,1761686591.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778250 2025-10-28T21:23:11.713Z,1761686591.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030165 2025-10-28T21:23:11.742Z,1761686591.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947091,0.267714,0.177055],[-0.316658,0.869430,0.379236],[-0.052410,-0.415236,0.908203]] 2025-10-28T21:23:11.965Z,1761686591.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282052 2025-10-28T21:23:12.217Z,1761686592.217 [DAT](INFO): DAT read: Rx Time:21:23:11.4472 2025-10-28T21:23:12.218Z,1761686592.218 [DAT](INFO): Rx dataTimestamp_ set to:1761686592.217275 2025-10-28T21:23:12.218Z,1761686592.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535340 2025-10-28T21:23:12.469Z,1761686592.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786164 2025-10-28T21:23:12.550Z,1761686592.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926717,0.318413,0.199522],[-0.372023,0.852175,0.367962],[-0.052863,-0.415224,0.908182]] 2025-10-28T21:23:12.726Z,1761686592.726 [DAT](INFO): DAT read: 21:23:11.4472 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 150, 0.11,-3.129, 1.411, 3.017, 2.889, PHS= 0.367,-1.433, 0.084, RAW= 141.6, 11.7, CAL= 141.0, 12.7, ROT= 9.0, -12.7 2025-10-28T21:23:12.727Z,1761686592.727 [DAT](INFO): got valid direction response: 21:23:11.4472 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 150, 0.11,-3.129, 1.411, 3.017, 2.889, PHS= 0.367,-1.433, 0.084, RAW= 141.6, 11.7, CAL= 141.0, 12.7, ROT= 9.0, -12.7 2025-10-28T21:23:12.728Z,1761686592.728 [DAT](INFO): DAT read: Bearing 129.0, -0.4 (Local) 2025-10-28T21:23:12.729Z,1761686592.729 [DAT](INFO): Local bearing/azimuth received: Bearing 129.0, -0.4 (Local) 2025-10-28T21:23:12.730Z,1761686592.730 [DAT](INFO): DAT read: Range 11 to 20 : 1228.8 m (Round-trip 1638.4 ms) speed 0.0 m/s 2025-10-28T21:23:12.731Z,1761686592.731 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:23:12.732Z,1761686592.732 [DAT](INFO): direction in FSK: [0.963524,0.152607,0.219846] 2025-10-28T21:23:12.732Z,1761686592.732 [DAT](INFO): publishing direction and range info 2025-10-28T21:23:12.954Z,1761686592.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916147,0.341969,0.209120],[-0.397231,0.844421,0.359390],[-0.053685,-0.412323,0.909455]] 2025-10-28T21:23:13.009Z,1761686593.009 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:23:13.009Z,1761686593.009 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:23:13.010Z,1761686593.010 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:23:13.012Z,1761686593.012 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:23:13.013Z,1761686593.013 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:23:13.013Z,1761686593.013 [marl:UpdateSpeed] Stopped 2025-10-28T21:23:13.014Z,1761686593.014 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:23:13.022Z,1761686593.022 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686656.00. Resetting abort timer. 2025-10-28T21:23:13.360Z,1761686593.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905449,0.364761,0.217054],[-0.420980,0.837045,0.349472],[-0.054210,-0.407805,0.911459]] 2025-10-28T21:23:13.771Z,1761686593.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894763,0.385889,0.224696],[-0.443190,0.828959,0.341188],[-0.054603,-0.404866,0.912744]] 2025-10-28T21:23:14.167Z,1761686594.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883534,0.406636,0.232409],[-0.465170,0.819719,0.334182],[-0.054620,-0.403371,0.913405]] 2025-10-28T21:23:14.226Z,1761686594.226 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:23:14.226Z,1761686594.226 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateRudder:A] Stopped 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:23:14.227Z,1761686594.227 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:23:14.228Z,1761686594.228 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:23:14.228Z,1761686594.228 [marl:UpdateCommandMode] Stopped 2025-10-28T21:23:14.228Z,1761686594.228 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:23:14.572Z,1761686594.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871859,0.426522,0.240709],[-0.486651,0.809741,0.327857],[-0.055073,-0.402986,0.913547]] 2025-10-28T21:23:14.630Z,1761686594.630 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:23:14.631Z,1761686594.631 [marl:UpdateRudder:B] Stopped 2025-10-28T21:23:14.631Z,1761686594.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:23:14.631Z,1761686594.631 [marl:UpdateRudder] Stopped 2025-10-28T21:23:14.631Z,1761686594.631 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:23:14.975Z,1761686594.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858779,0.447032,0.250323],[-0.509346,0.797712,0.322835],[-0.055368,-0.404744,0.912752]] 2025-10-28T21:23:15.380Z,1761686595.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844568,0.468485,0.259282],[-0.532522,0.785468,0.315373],[-0.055911,-0.404427,0.912860]] 2025-10-28T21:23:15.791Z,1761686595.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828931,0.491331,0.267334],[-0.556519,0.772475,0.305891],[-0.056215,-0.402339,0.913763]] 2025-10-28T21:23:16.186Z,1761686596.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811737,0.514222,0.276872],[-0.581291,0.757178,0.297964],[-0.056421,-0.402812,0.913542]] 2025-10-28T21:23:16.590Z,1761686596.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792537,0.537425,0.288202],[-0.607195,0.739274,0.291183],[-0.056571,-0.405768,0.912224]] 2025-10-28T21:23:16.997Z,1761686596.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772546,0.560529,0.298294],[-0.632440,0.721082,0.282948],[-0.056494,-0.407244,0.911571]] 2025-10-28T21:23:17.398Z,1761686597.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752554,0.582163,0.307812],[-0.656137,0.702683,0.275176],[-0.056097,-0.409051,0.910785]] 2025-10-28T21:23:17.811Z,1761686597.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731902,0.602479,0.318336],[-0.679130,0.683139,0.268522],[-0.055689,-0.412723,0.909153]] 2025-10-28T21:23:18.213Z,1761686598.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710630,0.622409,0.328043],[-0.701405,0.663243,0.261036],[-0.055101,-0.415591,0.907881]] 2025-10-28T21:23:18.631Z,1761686598.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667338,0.659681,0.345661],[-0.742804,0.623138,0.244832],[-0.053884,-0.420144,0.905856]] 2025-10-28T21:23:19.027Z,1761686599.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645461,0.677746,0.352195],[-0.761927,0.603559,0.234912],[-0.053360,-0.419973,0.905967]] 2025-10-28T21:23:19.450Z,1761686599.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623039,0.694803,0.359265],[-0.780423,0.583041,0.225838],[-0.052553,-0.421085,0.905498]] 2025-10-28T21:23:19.879Z,1761686599.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600281,0.711302,0.365668],[-0.798119,0.562287,0.216425],[-0.051666,-0.421762,0.905233]] 2025-10-28T21:23:20.295Z,1761686600.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577663,0.728656,0.367921],[-0.814708,0.542589,0.204569],[-0.050570,-0.417920,0.907075]] 2025-10-28T21:23:20.687Z,1761686600.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554066,0.745339,0.370784],[-0.831030,0.521427,0.193658],[-0.048996,-0.415432,0.908304]] 2025-10-28T21:23:21.090Z,1761686601.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530868,0.759772,0.375401],[-0.846112,0.500115,0.184337],[-0.047689,-0.415490,0.908347]] 2025-10-28T21:23:21.501Z,1761686601.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507508,0.773190,0.380279],[-0.860369,0.478764,0.174788],[-0.046920,-0.415887,0.908205]] 2025-10-28T21:23:22.307Z,1761686602.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461352,0.798521,0.386677],[-0.885988,0.437590,0.153428],[-0.046690,-0.413375,0.909363]] 2025-10-28T21:23:22.710Z,1761686602.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437455,0.810904,0.388675],[-0.898035,0.416324,0.142152],[-0.046544,-0.411228,0.910343]] 2025-10-28T21:23:23.114Z,1761686603.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412975,0.821618,0.392932],[-0.909554,0.394111,0.131866],[-0.046515,-0.411850,0.910064]] 2025-10-28T21:23:23.519Z,1761686603.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387541,0.831966,0.397046],[-0.920709,0.370770,0.121760],[-0.045913,-0.412751,0.909686]] 2025-10-28T21:23:23.923Z,1761686603.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362150,0.840037,0.403962],[-0.931013,0.347097,0.112864],[-0.045404,-0.416967,0.907787]] 2025-10-28T21:23:24.330Z,1761686604.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335902,0.849001,0.407881],[-0.940827,0.323061,0.102350],[-0.044875,-0.418126,0.907280]] 2025-10-28T21:23:24.735Z,1761686604.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309195,0.855162,0.416048],[-0.949966,0.298118,0.093224],[-0.044310,-0.424055,0.904552]] 2025-10-28T21:23:25.169Z,1761686605.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281692,0.860302,0.424889],[-0.958526,0.272312,0.084112],[-0.043341,-0.430961,0.901329]] 2025-10-28T21:23:25.538Z,1761686605.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253685,0.868620,0.425609],[-0.966374,0.246699,0.072524],[-0.042001,-0.429696,0.901996]] 2025-10-28T21:23:26.036Z,1761686606.036 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed] Stopped 2025-10-28T21:23:26.037Z,1761686606.037 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:23:26.348Z,1761686606.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199434,0.881605,0.427784],[-0.979080,0.197247,0.049950],[-0.040343,-0.428797,0.902500]] 2025-10-28T21:23:26.751Z,1761686606.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172136,0.887214,0.428044],[-0.984258,0.172577,0.038112],[-0.040057,-0.427866,0.902954]] 2025-10-28T21:23:27.195Z,1761686607.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143474,0.892216,0.428213],[-0.988837,0.146816,0.025411],[-0.040196,-0.427079,0.903320]] 2025-10-28T21:23:27.271Z,1761686607.271 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:23:27.273Z,1761686607.273 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:23:27.273Z,1761686607.273 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:23:27.274Z,1761686607.274 [marl:UpdateRudder:A] Stopped 2025-10-28T21:23:27.274Z,1761686607.274 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:23:27.274Z,1761686607.274 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:23:27.274Z,1761686607.274 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:23:27.274Z,1761686607.274 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:23:27.275Z,1761686607.275 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:23:27.275Z,1761686607.275 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:23:27.275Z,1761686607.275 [marl:UpdateCommandMode] Stopped 2025-10-28T21:23:27.275Z,1761686607.275 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:23:27.560Z,1761686607.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114057,0.897319,0.426390],[-0.992625,0.120677,0.011562],[-0.041081,-0.424564,0.904465]] 2025-10-28T21:23:27.643Z,1761686607.643 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:23:27.643Z,1761686607.643 [marl:UpdateRudder:B] Stopped 2025-10-28T21:23:27.643Z,1761686607.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:23:27.643Z,1761686607.643 [marl:UpdateRudder] Stopped 2025-10-28T21:23:27.643Z,1761686607.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:23:27.964Z,1761686607.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083584,0.902134,0.423283],[-0.995601,0.093652,-0.003000],[-0.042348,-0.421170,0.905993]] 2025-10-28T21:23:28.368Z,1761686608.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052463,0.906767,0.418354],[-0.997652,0.066056,-0.018064],[-0.044015,-0.416424,0.908104]] 2025-10-28T21:23:28.782Z,1761686608.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020915,0.913309,0.406729],[-0.998745,0.037605,-0.033083],[-0.045510,-0.405527,0.912950]] 2025-10-28T21:23:29.214Z,1761686609.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010974,0.917237,0.398191],[-0.998867,0.008382,-0.046837],[-0.046298,-0.398254,0.916106]] 2025-10-28T21:23:29.614Z,1761686609.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042435,0.918248,0.393726],[-0.998044,-0.020851,-0.058939],[-0.045911,-0.395457,0.917336]] 2025-10-28T21:23:30.018Z,1761686610.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072188,0.916068,0.394473],[-0.996407,-0.048668,-0.069322],[-0.044305,-0.398060,0.916289]] 2025-10-28T21:23:30.422Z,1761686610.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098773,0.911874,0.398409],[-0.994232,-0.073611,-0.078008],[-0.041806,-0.403816,0.913885]] 2025-10-28T21:23:30.828Z,1761686610.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123600,0.907549,0.401345],[-0.991592,-0.097342,-0.085259],[-0.038309,-0.408509,0.911950]] 2025-10-28T21:23:31.230Z,1761686611.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146109,0.901879,0.406531],[-0.988683,-0.118990,-0.091359],[-0.034022,-0.415279,0.909058]] 2025-10-28T21:23:31.635Z,1761686611.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167386,0.893009,0.417752],[-0.985464,-0.139069,-0.097576],[-0.029040,-0.428012,0.903306]] 2025-10-28T21:23:32.444Z,1761686612.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209291,0.873200,0.440136],[-0.977674,-0.178238,-0.111286],[-0.018726,-0.453601,0.891008]] 2025-10-28T21:23:32.855Z,1761686612.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229498,0.867705,0.440930],[-0.973201,-0.197835,-0.117219],[-0.014480,-0.456015,0.889854]] 2025-10-28T21:23:33.254Z,1761686613.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249463,0.860964,0.443293],[-0.968323,-0.216604,-0.124234],[-0.010942,-0.460242,0.887726]] 2025-10-28T21:23:33.654Z,1761686613.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270685,0.858783,0.434996],[-0.962634,-0.237692,-0.129759],[-0.008040,-0.453866,0.891034]] 2025-10-28T21:23:34.059Z,1761686614.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294223,0.858287,0.420447],[-0.955721,-0.261725,-0.134525],[-0.005420,-0.441410,0.897289]] 2025-10-28T21:23:34.464Z,1761686614.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319873,0.858651,0.400499],[-0.947457,-0.288763,-0.137626],[-0.002523,-0.423478,0.905903]] 2025-10-28T21:23:34.867Z,1761686614.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346929,0.857628,0.379625],[-0.937891,-0.317467,-0.139910],[0.000528,-0.404585,0.914500]] 2025-10-28T21:23:35.282Z,1761686615.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375553,0.853890,0.360322],[-0.926796,-0.347309,-0.142921],[0.003104,-0.387619,0.921814]] 2025-10-28T21:23:35.675Z,1761686615.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404530,0.847189,0.344422],[-0.914509,-0.376942,-0.146927],[0.005352,-0.374414,0.927246]] 2025-10-28T21:23:36.081Z,1761686616.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434042,0.836833,0.333644],[-0.900862,-0.406224,-0.153068],[0.007442,-0.367006,0.930189]] 2025-10-28T21:23:36.483Z,1761686616.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463949,0.821999,0.330256],[-0.885810,-0.434503,-0.162934],[0.009566,-0.368137,0.929722]] 2025-10-28T21:23:36.608Z,1761686616.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:23:36.886Z,1761686616.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492792,0.803604,0.333732],[-0.870071,-0.460145,-0.176759],[0.011520,-0.377476,0.925948]] 2025-10-28T21:23:37.291Z,1761686617.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520243,0.782920,0.341149],[-0.853918,-0.482997,-0.193747],[0.013085,-0.392109,0.919826]] 2025-10-28T21:23:37.612Z,1761686617.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:23:37.696Z,1761686617.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546200,0.761685,0.348572],[-0.837531,-0.503744,-0.211622],[0.014402,-0.407528,0.913079]] 2025-10-28T21:23:38.100Z,1761686618.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570908,0.739974,0.355672],[-0.820854,-0.522995,-0.229508],[0.016185,-0.422983,0.905993]] 2025-10-28T21:23:38.503Z,1761686618.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594513,0.718409,0.361169],[-0.803871,-0.541413,-0.246299],[0.018598,-0.436761,0.899385]] 2025-10-28T21:23:38.906Z,1761686618.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616269,0.697688,0.365300],[-0.787240,-0.558457,-0.261493],[0.021564,-0.448729,0.893408]] 2025-10-28T21:23:38.956Z,1761686618.956 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:23:38.956Z,1761686618.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:23:38.956Z,1761686618.956 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:23:38.956Z,1761686618.956 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:23:38.957Z,1761686618.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:23:38.957Z,1761686618.957 [marl:UpdateSpeed] Stopped 2025-10-28T21:23:38.957Z,1761686618.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:23:39.314Z,1761686619.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637161,0.677471,0.367503],[-0.770319,-0.575354,-0.274913],[0.025199,-0.458258,0.888462]] 2025-10-28T21:23:39.716Z,1761686619.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656984,0.658968,0.366241],[-0.753334,-0.592721,-0.284904],[0.029336,-0.463079,0.885831]] 2025-10-28T21:23:40.119Z,1761686620.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675624,0.643313,0.360113],[-0.736506,-0.610840,-0.290576],[0.033040,-0.461545,0.886501]] 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateRudder:A] Stopped 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:23:40.151Z,1761686620.151 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:23:40.152Z,1761686620.152 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:23:40.152Z,1761686620.152 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:23:40.152Z,1761686620.152 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:23:40.152Z,1761686620.152 [marl:UpdateCommandMode] Stopped 2025-10-28T21:23:40.152Z,1761686620.152 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:23:40.523Z,1761686620.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694123,0.628524,0.350928],[-0.718936,-0.629922,-0.293818],[0.036385,-0.456241,0.889112]] 2025-10-28T21:23:40.621Z,1761686620.621 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:23:40.622Z,1761686620.622 [marl:UpdateRudder:B] Stopped 2025-10-28T21:23:40.622Z,1761686620.622 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:23:40.622Z,1761686620.622 [marl:UpdateRudder] Stopped 2025-10-28T21:23:40.622Z,1761686620.622 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:23:40.927Z,1761686620.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712396,0.615132,0.337795],[-0.700691,-0.650254,-0.293602],[0.039048,-0.445850,0.894255]] 2025-10-28T21:23:41.341Z,1761686621.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731846,0.601309,0.320670],[-0.680222,-0.673046,-0.290358],[0.041231,-0.430624,0.901589]] 2025-10-28T21:23:41.737Z,1761686621.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751285,0.584480,0.306518],[-0.658559,-0.694344,-0.290148],[0.043243,-0.419844,0.906565]] 2025-10-28T21:23:42.138Z,1761686622.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770056,0.566822,0.292791],[-0.636394,-0.714777,-0.289993],[0.044905,-0.409641,0.911141]] 2025-10-28T21:23:42.543Z,1761686622.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788996,0.546281,0.281180],[-0.612602,-0.734446,-0.292077],[0.046955,-0.402699,0.914127]] 2025-10-28T21:23:42.948Z,1761686622.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807069,0.524245,0.271675],[-0.588428,-0.752219,-0.296511],[0.048914,-0.399166,0.915573]] 2025-10-28T21:23:43.354Z,1761686623.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824802,0.500227,0.263580],[-0.563123,-0.768723,-0.303243],[0.050929,-0.398544,0.915734]] 2025-10-28T21:23:43.766Z,1761686623.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841302,0.474589,0.258797],[-0.538059,-0.781249,-0.316454],[0.051999,-0.405481,0.912623]] 2025-10-28T21:23:44.173Z,1761686624.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856413,0.449505,0.253972],[-0.513607,-0.791846,-0.330435],[0.052575,-0.413430,0.909017]] 2025-10-28T21:23:44.576Z,1761686624.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870896,0.424782,0.247184],[-0.488595,-0.802623,-0.342156],[0.053054,-0.418756,0.906548]] 2025-10-28T21:23:44.979Z,1761686624.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884123,0.400806,0.240168],[-0.464227,-0.811895,-0.354006],[0.053103,-0.424477,0.903880]] 2025-10-28T21:23:45.383Z,1761686625.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896590,0.378066,0.230636],[-0.439661,-0.822377,-0.361100],[0.053150,-0.425161,0.903556]] 2025-10-28T21:23:46.192Z,1761686626.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918979,0.333470,0.210417],[-0.390782,-0.841430,-0.373208],[0.052598,-0.425197,0.903571]] 2025-10-28T21:23:46.595Z,1761686626.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929688,0.310528,0.198121],[-0.364523,-0.852921,-0.373696],[0.052938,-0.419641,0.906145]] 2025-10-28T21:23:46.999Z,1761686626.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939900,0.285775,0.186868],[-0.337215,-0.862810,-0.376623],[0.053603,-0.417003,0.907323]] 2025-10-28T21:23:47.403Z,1761686627.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949483,0.260039,0.175678],[-0.309014,-0.872310,-0.378925],[0.054710,-0.414070,0.908599]] 2025-10-28T21:23:47.809Z,1761686627.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958241,0.234137,0.164177],[-0.280510,-0.881190,-0.380551],[0.055570,-0.410712,0.910070]] 2025-10-28T21:23:48.212Z,1761686628.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966436,0.206911,0.152279],[-0.250629,-0.889570,-0.381903],[0.056443,-0.407250,0.911571]] 2025-10-28T21:23:48.635Z,1761686628.635 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:23:49.018Z,1761686629.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980443,0.149634,0.127836],[-0.188214,-0.902723,-0.386868],[0.057512,-0.403362,0.913231]] 2025-10-28T21:23:49.425Z,1761686629.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985948,0.120064,0.116148],[-0.156735,-0.905413,-0.394539],[0.057792,-0.407199,0.911509]] 2025-10-28T21:23:49.829Z,1761686629.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990439,0.090730,0.103917],[-0.125175,-0.907682,-0.400555],[0.057981,-0.409733,0.910361]] 2025-10-28T21:23:50.243Z,1761686630.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993861,0.061874,0.091720],[-0.094274,-0.907495,-0.409347],[0.057908,-0.415481,0.907757]] 2025-10-28T21:23:50.638Z,1761686630.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996223,0.034383,0.079738],[-0.064662,-0.906636,-0.416929],[0.057959,-0.420510,0.905435]] 2025-10-28T21:23:51.039Z,1761686631.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997678,0.007680,0.067680],[-0.035627,-0.905707,-0.422405],[0.058054,-0.423836,0.903877]] 2025-10-28T21:23:51.450Z,1761686631.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998264,-0.017195,0.056327],[-0.008577,-0.903785,-0.427901],[0.058265,-0.427641,0.902069]] 2025-10-28T21:23:51.934Z,1761686631.934 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:23:51.934Z,1761686631.934 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:23:51.934Z,1761686631.934 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:23:51.935Z,1761686631.935 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:23:51.935Z,1761686631.935 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:23:51.935Z,1761686631.935 [marl:UpdateSpeed] Stopped 2025-10-28T21:23:51.935Z,1761686631.935 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:23:52.260Z,1761686632.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995869,-0.087433,0.024498],[0.068461,-0.900249,-0.429959],[0.059647,-0.426506,0.902516]] 2025-10-28T21:23:53.065Z,1761686633.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991400,-0.130757,0.005341],[0.115965,-0.896692,-0.427195],[0.060648,-0.422902,0.904144]] 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateRudder:A] Stopped 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:23:53.091Z,1761686633.091 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:23:53.092Z,1761686633.092 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:23:53.092Z,1761686633.092 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:23:53.092Z,1761686633.092 [marl:UpdateCommandMode] Stopped 2025-10-28T21:23:53.092Z,1761686633.092 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:23:53.474Z,1761686633.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988299,-0.152493,-0.003225],[0.139643,-0.896107,-0.421298],[0.061355,-0.416819,0.906917]] 2025-10-28T21:23:53.538Z,1761686633.538 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:23:53.538Z,1761686633.538 [marl:UpdateRudder:B] Stopped 2025-10-28T21:23:53.538Z,1761686633.538 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:23:53.538Z,1761686633.538 [marl:UpdateRudder] Stopped 2025-10-28T21:23:53.538Z,1761686633.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:23:53.871Z,1761686633.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984289,-0.176121,-0.012547],[0.165338,-0.894425,-0.415532],[0.061962,-0.411078,0.909492]] 2025-10-28T21:23:54.273Z,1761686634.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979391,-0.200762,-0.022083],[0.192068,-0.891957,-0.409296],[0.062474,-0.405103,0.912134]] 2025-10-28T21:23:54.756Z,1761686634.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973271,-0.227299,-0.032851],[0.220801,-0.886756,-0.406092],[0.063173,-0.402491,0.913241]] 2025-10-28T21:23:55.750Z,1761686635.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957721,-0.281943,-0.057252],[0.280451,-0.870545,-0.404350],[0.064163,-0.403311,0.912811]] 2025-10-28T21:23:56.125Z,1761686636.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948414,-0.308999,-0.070920],[0.310492,-0.860103,-0.404743],[0.064067,-0.405885,0.911676]] 2025-10-28T21:23:56.522Z,1761686636.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938216,-0.335642,-0.084238],[0.340213,-0.850117,-0.401940],[0.063295,-0.405765,0.911783]] 2025-10-28T21:23:56.930Z,1761686636.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927197,-0.361248,-0.099024],[0.369405,-0.838104,-0.401400],[0.062013,-0.408757,0.910534]] 2025-10-28T21:23:57.329Z,1761686637.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915454,-0.386128,-0.113351],[0.397828,-0.825921,-0.399484],[0.060633,-0.410804,0.909705]] 2025-10-28T21:23:57.743Z,1761686637.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903650,-0.408924,-0.127270],[0.424143,-0.813346,-0.398211],[0.059323,-0.413824,0.908422]] 2025-10-28T21:23:58.149Z,1761686638.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891502,-0.430852,-0.139965],[0.449235,-0.800974,-0.395764],[0.058408,-0.415702,0.907623]] 2025-10-28T21:23:58.549Z,1761686638.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878660,-0.452543,-0.152188],[0.473962,-0.788302,-0.392351],[0.057585,-0.416875,0.907138]] 2025-10-28T21:23:58.963Z,1761686638.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865442,-0.473943,-0.162448],[0.497741,-0.776364,-0.386669],[0.057140,-0.415497,0.907798]] 2025-10-28T21:23:59.348Z,1761686639.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851670,-0.495003,-0.172134],[0.520991,-0.764079,-0.380463],[0.056806,-0.413709,0.908635]] 2025-10-28T21:23:59.770Z,1761686639.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837453,-0.515384,-0.181803],[0.543586,-0.751167,-0.374517],[0.056456,-0.412466,0.909222]] 2025-10-28T21:24:00.172Z,1761686640.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821887,-0.536277,-0.192115],[0.566859,-0.736602,-0.368900],[0.056320,-0.412097,0.909398]] 2025-10-28T21:24:00.578Z,1761686640.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805329,-0.557066,-0.202790],[0.590168,-0.720976,-0.363174],[0.056105,-0.412155,0.909385]] 2025-10-28T21:24:00.975Z,1761686640.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787877,-0.578092,-0.212270],[0.613266,-0.705076,-0.356051],[0.056164,-0.410703,0.910038]] 2025-10-28T21:24:01.378Z,1761686641.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769132,-0.599562,-0.221271],[0.636609,-0.688287,-0.347836],[0.056251,-0.408395,0.911070]] 2025-10-28T21:24:01.789Z,1761686641.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749377,-0.620059,-0.232294],[0.659766,-0.669527,-0.341236],[0.056060,-0.408975,0.910822]] 2025-10-28T21:24:02.182Z,1761686642.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728586,-0.639996,-0.244064],[0.682676,-0.649460,-0.334896],[0.055822,-0.410618,0.910097]] 2025-10-28T21:24:02.581Z,1761686642.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706793,-0.659409,-0.256169],[0.705239,-0.628384,-0.328284],[0.055501,-0.412689,0.909179]] 2025-10-28T21:24:02.986Z,1761686642.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684778,-0.678369,-0.266260],[0.726647,-0.607843,-0.320174],[0.055352,-0.412725,0.909172]] 2025-10-28T21:24:03.417Z,1761686643.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661483,-0.697166,-0.276404],[0.747944,-0.586253,-0.311269],[0.054964,-0.412634,0.909237]] 2025-10-28T21:24:03.818Z,1761686643.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637103,-0.715061,-0.287726],[0.768859,-0.563250,-0.302664],[0.054362,-0.414049,0.908630]] 2025-10-28T21:24:04.246Z,1761686644.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613138,-0.731380,-0.298572],[0.788147,-0.540639,-0.294168],[0.053729,-0.415684,0.907921]] 2025-10-28T21:24:04.663Z,1761686644.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588475,-0.748158,-0.306526],[0.806816,-0.518831,-0.282600],[0.052394,-0.413612,0.908944]] 2025-10-28T21:24:05.071Z,1761686645.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563969,-0.763597,-0.314418],[0.824243,-0.497165,-0.271018],[0.050631,-0.412002,0.909775]] 2025-10-28T21:24:05.116Z,1761686645.116 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:24:05.116Z,1761686645.116 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:24:05.117Z,1761686645.117 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:24:05.117Z,1761686645.117 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:24:05.117Z,1761686645.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:24:05.117Z,1761686645.117 [marl:UpdateSpeed] Stopped 2025-10-28T21:24:05.117Z,1761686645.117 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:24:05.478Z,1761686645.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515180,-0.791772,-0.328155],[0.855831,-0.454550,-0.246857],[0.046292,-0.408021,0.911798]] 2025-10-28T21:24:05.881Z,1761686645.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490983,-0.803341,-0.337015],[0.870057,-0.432635,-0.236280],[0.044009,-0.409232,0.911368]] 2025-10-28T21:24:06.283Z,1761686646.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466892,-0.814636,-0.344065],[0.883308,-0.411059,-0.225382],[0.042173,-0.409144,0.911495]] 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateRudder:A] Stopped 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:24:06.318Z,1761686646.318 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:24:06.319Z,1761686646.319 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:24:06.319Z,1761686646.319 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:24:06.319Z,1761686646.319 [marl:UpdateCommandMode] Stopped 2025-10-28T21:24:06.319Z,1761686646.319 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:24:06.687Z,1761686646.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442143,-0.825058,-0.351837],[0.896021,-0.388491,-0.214991],[0.040694,-0.410310,0.911038]] 2025-10-28T21:24:06.757Z,1761686646.757 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:24:06.757Z,1761686646.757 [marl:UpdateRudder:B] Stopped 2025-10-28T21:24:06.758Z,1761686646.758 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:24:06.758Z,1761686646.758 [marl:UpdateRudder] Stopped 2025-10-28T21:24:06.758Z,1761686646.758 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:24:07.096Z,1761686647.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417120,-0.834570,-0.359865],[0.907975,-0.365274,-0.205321],[0.039906,-0.412392,0.910132]] 2025-10-28T21:24:07.493Z,1761686647.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390728,-0.844429,-0.366429],[0.919664,-0.341087,-0.194622],[0.039360,-0.413036,0.909864]] 2025-10-28T21:24:07.536Z,1761686647.536 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:24:07.718Z,1761686647.718 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:24:07.718Z,1761686647.718 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:24:07.748Z,1761686647.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:24:07.894Z,1761686647.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363155,-0.853390,-0.373958],[0.930923,-0.315646,-0.183712],[0.038739,-0.414842,0.909069]] 2025-10-28T21:24:07.969Z,1761686647.969 [DAT](INFO): DAT read: user:304> 2025-10-28T21:24:07.970Z,1761686647.970 [DAT](INFO): DAT read: Tx time:21:24:07.7044 2025-10-28T21:24:07.970Z,1761686647.970 [DAT](INFO): Ping request sent. 2025-10-28T21:24:07.970Z,1761686647.970 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:24:07.970Z,1761686647.970 [DAT](INFO): publishing transmit ping time 2025-10-28T21:24:07.971Z,1761686647.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936 2025-10-28T21:24:08.223Z,1761686648.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252957 2025-10-28T21:24:08.299Z,1761686648.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334424,-0.861355,-0.382399],[0.941651,-0.288986,-0.172570],[0.038136,-0.417798,0.907739]] 2025-10-28T21:24:08.478Z,1761686648.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508117 2025-10-28T21:24:08.725Z,1761686648.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304909,-0.868275,-0.391317],[0.951635,-0.261505,-0.161261],[0.037688,-0.421561,0.906016]] 2025-10-28T21:24:08.729Z,1761686648.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758810 2025-10-28T21:24:08.761Z,1761686648.761 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:24:08.981Z,1761686648.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010784 2025-10-28T21:24:09.107Z,1761686649.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274396,-0.875830,-0.397024],[0.960904,-0.233841,-0.148261],[0.037011,-0.422184,0.905754]] 2025-10-28T21:24:09.233Z,1761686649.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262829 2025-10-28T21:24:09.485Z,1761686649.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514855 2025-10-28T21:24:09.515Z,1761686649.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243420,-0.882323,-0.402805],[0.969243,-0.205761,-0.135018],[0.036248,-0.423283,0.905272]] 2025-10-28T21:24:09.737Z,1761686649.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766833 2025-10-28T21:24:09.914Z,1761686649.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212848,-0.887460,-0.408792],[0.976438,-0.177964,-0.122060],[0.035573,-0.425140,0.904428]] 2025-10-28T21:24:09.989Z,1761686649.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018887 2025-10-28T21:24:10.241Z,1761686650.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270753 2025-10-28T21:24:10.321Z,1761686650.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182615,-0.892048,-0.413404],[0.982561,-0.150609,-0.109046],[0.035012,-0.426108,0.903995]] 2025-10-28T21:24:10.494Z,1761686650.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523891 2025-10-28T21:24:10.734Z,1761686650.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152407,-0.895611,-0.417915],[0.987704,-0.123130,-0.096327],[0.034813,-0.427458,0.903365]] 2025-10-28T21:24:10.745Z,1761686650.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774929 2025-10-28T21:24:10.997Z,1761686650.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026740 2025-10-28T21:24:11.137Z,1761686651.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121143,-0.899653,-0.419462],[0.992021,-0.094861,-0.083043],[0.034919,-0.426175,0.903966]] 2025-10-28T21:24:11.250Z,1761686651.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280356 2025-10-28T21:24:11.501Z,1761686651.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530887 2025-10-28T21:24:11.532Z,1761686651.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089025,-0.903223,-0.419836],[0.995411,-0.065829,-0.069452],[0.035093,-0.424092,0.904939]] 2025-10-28T21:24:11.753Z,1761686651.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783258 2025-10-28T21:24:11.931Z,1761686651.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055845,-0.907599,-0.416107],[0.997819,-0.036046,-0.055293],[0.035185,-0.418287,0.907633]] 2025-10-28T21:24:12.005Z,1761686652.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034835 2025-10-28T21:24:12.257Z,1761686652.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286807 2025-10-28T21:24:12.334Z,1761686652.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021674,-0.910987,-0.411866],[0.999164,-0.005458,-0.040508],[0.034654,-0.412400,0.910344]] 2025-10-28T21:24:12.510Z,1761686652.510 [DAT](INFO): DAT read: Rx Time:21:24:11.8033 2025-10-28T21:24:12.510Z,1761686652.510 [DAT](INFO): Rx dataTimestamp_ set to:1761686652.509892 2025-10-28T21:24:12.511Z,1761686652.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540629 2025-10-28T21:24:12.738Z,1761686652.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012829,-0.912872,-0.408044],[0.999361,0.025319,-0.025223],[0.033357,-0.407459,0.912614]] 2025-10-28T21:24:12.763Z,1761686652.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792356 2025-10-28T21:24:13.019Z,1761686653.019 [DAT](INFO): DAT read: 21:24:11.8033 LVL= 32752, 26433, 17074, 32755, AGC= 69, IDX= 503, 0.22,-1.448,-0.241, 0.657,-0.598, PHS=-0.748, 0.402, 1.211, RAW= 245.7, -10.2, CAL= 244.8, -15.6, ROT= 265.2, 15.6 2025-10-28T21:24:13.020Z,1761686653.020 [DAT](INFO): got valid direction response: 21:24:11.8033 LVL= 32752, 26433, 17074, 32755, AGC= 69, IDX= 503, 0.22,-1.448,-0.241, 0.657,-0.598, PHS=-0.748, 0.402, 1.211, RAW= 245.7, -10.2, CAL= 244.8, -15.6, ROT= 265.2, 15.6 2025-10-28T21:24:13.021Z,1761686653.021 [DAT](INFO): DAT read: Bearing 132.5, -49.6 (Local) 2025-10-28T21:24:13.021Z,1761686653.021 [DAT](INFO): Local bearing/azimuth received: Bearing 132.5, -49.6 (Local) 2025-10-28T21:24:13.022Z,1761686653.022 [DAT](INFO): DAT read: Range 11 to 20 : 1271.1 m (Round-trip 1694.8 ms) speed -0.8 m/s 2025-10-28T21:24:13.023Z,1761686653.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:24:13.025Z,1761686653.025 [DAT](INFO): direction in FSK: [-0.080595,-0.959785,-0.268920] 2025-10-28T21:24:13.025Z,1761686653.025 [DAT](INFO): publishing direction and range info 2025-10-28T21:24:13.305Z,1761686653.305 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686656.00. Resetting abort timer. 2025-10-28T21:24:13.553Z,1761686653.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083304,-0.910129,-0.405865],[0.996124,0.087588,0.008043],[0.028228,-0.404962,0.913898]] 2025-10-28T21:24:13.951Z,1761686653.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118346,-0.904018,-0.410786],[0.992672,0.117887,0.026552],[0.024423,-0.410918,0.911345]] 2025-10-28T21:24:14.354Z,1761686654.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152932,-0.896774,-0.415221],[0.988028,0.147387,0.045587],[0.020317,-0.417222,0.908578]] 2025-10-28T21:24:14.762Z,1761686654.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186935,-0.889566,-0.416806],[0.982247,0.176033,0.064833],[0.015699,-0.421526,0.906681]] 2025-10-28T21:24:15.210Z,1761686655.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219029,-0.881113,-0.419126],[0.975655,0.202664,0.083810],[0.011095,-0.427280,0.904051]] 2025-10-28T21:24:15.576Z,1761686655.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250339,-0.871015,-0.422685],[0.968137,0.228107,0.103335],[0.006411,-0.435086,0.900366]] 2025-10-28T21:24:15.978Z,1761686655.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280185,-0.862369,-0.421683],[0.959943,0.252749,0.120942],[0.002283,-0.438677,0.898642]] 2025-10-28T21:24:16.383Z,1761686656.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307804,-0.854065,-0.419321],[0.951449,0.275705,0.136864],[-0.001282,-0.441090,0.897462]] 2025-10-28T21:24:16.791Z,1761686656.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335036,-0.846125,-0.414515],[0.942195,0.298858,0.151499],[-0.004306,-0.441312,0.897343]] 2025-10-28T21:24:17.210Z,1761686657.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361702,-0.836508,-0.411614],[0.932270,0.321401,0.166052],[-0.006611,-0.443797,0.896103]] 2025-10-28T21:24:17.595Z,1761686657.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387908,-0.826732,-0.407482],[0.921665,0.344184,0.179083],[-0.007805,-0.445030,0.895482]] 2025-10-28T21:24:17.999Z,1761686657.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414322,-0.817309,-0.400429],[0.910095,0.368161,0.190223],[-0.008048,-0.443242,0.896366]] 2025-10-28T21:24:18.022Z,1761686658.022 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:24:18.022Z,1761686658.022 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:24:18.022Z,1761686658.022 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:24:18.023Z,1761686658.023 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:24:18.023Z,1761686658.023 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:24:18.023Z,1761686658.023 [marl:UpdateSpeed] Stopped 2025-10-28T21:24:18.023Z,1761686658.023 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:24:18.403Z,1761686658.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440981,-0.807538,-0.391685],[0.897481,0.392883,0.200426],[-0.007965,-0.439914,0.898004]] 2025-10-28T21:24:18.810Z,1761686658.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468137,-0.798613,-0.378239],[0.883619,0.419138,0.208665],[-0.008109,-0.431903,0.901883]] 2025-10-28T21:24:19.216Z,1761686659.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495989,-0.788865,-0.362888],[0.868290,0.446608,0.215904],[-0.008250,-0.422178,0.906475]] 2025-10-28T21:24:19.263Z,1761686659.263 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:24:19.263Z,1761686659.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:24:19.263Z,1761686659.263 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:24:19.263Z,1761686659.263 [marl:UpdateRudder:A] Stopped 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:24:19.264Z,1761686659.264 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:24:19.265Z,1761686659.265 [marl:UpdateCommandMode] Stopped 2025-10-28T21:24:19.265Z,1761686659.265 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:24:19.614Z,1761686659.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524668,-0.779591,-0.341996],[0.851261,0.476304,0.220202],[-0.008773,-0.406661,0.913537]] 2025-10-28T21:24:19.654Z,1761686659.654 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:24:19.655Z,1761686659.655 [marl:UpdateRudder:B] Stopped 2025-10-28T21:24:19.655Z,1761686659.655 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:24:19.655Z,1761686659.655 [marl:UpdateRudder] Stopped 2025-10-28T21:24:19.655Z,1761686659.655 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:24:20.019Z,1761686660.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553592,-0.766601,-0.325360],[0.832724,0.504702,0.227699],[-0.010344,-0.396987,0.917766]] 2025-10-28T21:24:20.424Z,1761686660.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582374,-0.752940,-0.306466],[0.812821,0.533435,0.234027],[-0.012729,-0.385393,0.922665]] 2025-10-28T21:24:20.828Z,1761686660.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610456,-0.736981,-0.290175],[0.791889,0.560504,0.242378],[-0.015983,-0.377748,0.925771]] 2025-10-28T21:24:21.231Z,1761686661.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637656,-0.716673,-0.282445],[0.770076,0.583801,0.257215],[-0.019447,-0.381519,0.924157]] 2025-10-28T21:24:21.634Z,1761686661.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664371,-0.694433,-0.276356],[0.747048,0.605606,0.274155],[-0.023020,-0.388592,0.921122]] 2025-10-28T21:24:22.443Z,1761686662.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713737,-0.647663,-0.266669],[0.699777,0.643147,0.310926],[-0.029868,-0.408528,0.912257]] 2025-10-28T21:24:22.847Z,1761686662.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736117,-0.625280,-0.259145],[0.676063,0.660729,0.326153],[-0.032712,-0.415285,0.909103]] 2025-10-28T21:24:23.254Z,1761686663.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757360,-0.602725,-0.251253],[0.652061,0.677452,0.340404],[-0.034958,-0.421641,0.906089]] 2025-10-28T21:24:23.657Z,1761686663.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777787,-0.579654,-0.242999],[0.627439,0.693324,0.354432],[-0.036971,-0.428139,0.902956]] 2025-10-28T21:24:24.058Z,1761686664.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796930,-0.557308,-0.233047],[0.602857,0.709297,0.365324],[-0.038298,-0.431632,0.901237]] 2025-10-28T21:24:24.462Z,1761686664.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814237,-0.535807,-0.223446],[0.579232,0.724083,0.374425],[-0.038826,-0.434298,0.899932]] 2025-10-28T21:24:24.870Z,1761686664.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831085,-0.513895,-0.212627],[0.554773,0.739210,0.381831],[-0.039045,-0.435293,0.899442]] 2025-10-28T21:24:25.272Z,1761686665.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847042,-0.492392,-0.200177],[0.530110,0.755114,0.385728],[-0.038773,-0.432843,0.900635]] 2025-10-28T21:24:25.683Z,1761686665.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862727,-0.469438,-0.187962],[0.504214,0.770425,0.390146],[-0.038339,-0.431362,0.901364]] 2025-10-28T21:24:26.078Z,1761686666.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877422,-0.446388,-0.175693],[0.478245,0.785264,0.393245],[-0.037575,-0.429066,0.902491]] 2025-10-28T21:24:26.484Z,1761686666.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891742,-0.422269,-0.162742],[0.451018,0.799774,0.396161],[-0.037130,-0.426673,0.903643]] 2025-10-28T21:24:26.897Z,1761686666.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905563,-0.396544,-0.150691],[0.422614,0.812520,0.401507],[-0.036776,-0.427274,0.903374]] 2025-10-28T21:24:27.290Z,1761686667.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918704,-0.370348,-0.137208],[0.393216,0.825216,0.405463],[-0.036936,-0.426453,0.903755]] 2025-10-28T21:24:27.697Z,1761686667.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930412,-0.345185,-0.123212],[0.364628,0.837664,0.406653],[-0.037161,-0.423281,0.905236]] 2025-10-28T21:24:28.101Z,1761686668.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941502,-0.318648,-0.109715],[0.334893,0.848206,0.410359],[-0.037699,-0.423096,0.905300]] 2025-10-28T21:24:28.503Z,1761686668.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951451,-0.292677,-0.095294],[0.305331,0.858315,0.412394],[-0.038906,-0.421469,0.906008]] 2025-10-28T21:24:28.908Z,1761686668.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960285,-0.267295,-0.080040],[0.276086,0.868746,0.411167],[-0.040368,-0.416935,0.908040]] 2025-10-28T21:24:29.716Z,1761686669.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974762,-0.217327,-0.051062],[0.219013,0.886606,0.407387],[-0.043264,-0.408289,0.911827]] 2025-10-28T21:24:30.118Z,1761686670.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980775,-0.191497,-0.037547],[0.189977,0.892996,0.408003],[-0.044602,-0.407292,0.912208]] 2025-10-28T21:24:30.522Z,1761686670.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985997,-0.165074,-0.023656],[0.160325,0.899332,0.406813],[-0.045879,-0.404910,0.913205]] 2025-10-28T21:24:30.927Z,1761686670.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990334,-0.138301,-0.010572],[0.130511,0.903313,0.408647],[-0.046966,-0.406077,0.912631]] 2025-10-28T21:24:30.952Z,1761686670.952 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:24:30.952Z,1761686670.952 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:24:30.952Z,1761686670.952 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:24:30.953Z,1761686670.953 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:24:30.953Z,1761686670.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:24:30.953Z,1761686670.953 [marl:UpdateSpeed] Stopped 2025-10-28T21:24:30.953Z,1761686670.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:24:30.954Z,1761686670.954 [marl:NeedComms] Running Loop=1 2025-10-28T21:24:30.954Z,1761686670.954 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T21:24:30.954Z,1761686670.954 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T21:24:30.954Z,1761686670.954 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T21:24:30.955Z,1761686670.955 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T21:24:30.955Z,1761686670.955 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T21:24:30.955Z,1761686670.955 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T21:24:30.972Z,1761686670.972 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T21:24:30.972Z,1761686670.972 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T21:24:30.973Z,1761686670.973 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T21:24:30.973Z,1761686670.973 [marl:NeedComms:A] Running Loop=1 2025-10-28T21:24:30.974Z,1761686670.974 [marl:NeedComms:A](INFO): last time_fix was: 1761685469.000000 second since 1970/01/01T00:00:00Z 2025-10-28T21:24:30.974Z,1761686670.974 [marl:NeedComms:A] Stopped 2025-10-28T21:24:31.332Z,1761686671.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993921,-0.110052,0.003127],[0.099223,0.907704,0.407710],[-0.047707,-0.404921,0.913106]] 2025-10-28T21:24:31.735Z,1761686671.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996602,-0.080663,0.016680],[0.066721,0.909287,0.410786],[-0.048302,-0.408278,0.911579]] 2025-10-28T21:24:32.139Z,1761686672.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998239,-0.050712,0.030766],[0.033496,0.910026,0.413197],[-0.048952,-0.411439,0.910122]] 2025-10-28T21:24:32.200Z,1761686672.200 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:24:32.200Z,1761686672.200 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateRudder:A] Stopped 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:24:32.201Z,1761686672.201 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:24:32.202Z,1761686672.202 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:24:32.202Z,1761686672.202 [marl:UpdateCommandMode] Stopped 2025-10-28T21:24:32.202Z,1761686672.202 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:24:32.708Z,1761686672.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998191,0.010810,0.059150],[-0.034017,0.912686,0.407244],[-0.049583,-0.408519,0.911402]] 2025-10-28T21:24:32.761Z,1761686672.761 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:24:32.761Z,1761686672.761 [marl:UpdateRudder:B] Stopped 2025-10-28T21:24:32.761Z,1761686672.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:24:32.762Z,1761686672.762 [marl:UpdateRudder] Stopped 2025-10-28T21:24:32.762Z,1761686672.762 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:24:33.217Z,1761686673.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996390,0.041113,0.074272],[-0.067879,0.911257,0.406207],[-0.050981,-0.409782,0.910758]] 2025-10-28T21:24:33.621Z,1761686673.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993206,0.071808,0.091572],[-0.102567,0.911904,0.397380],[-0.054970,-0.404072,0.913074]] 2025-10-28T21:24:34.061Z,1761686674.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988632,0.100543,0.111798],[-0.136466,0.912166,0.386434],[-0.063125,-0.397297,0.915516]] 2025-10-28T21:24:34.494Z,1761686674.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982897,0.126849,0.133505],[-0.168608,0.911415,0.375359],[-0.074064,-0.391449,0.917214]] 2025-10-28T21:24:34.890Z,1761686674.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976155,0.151701,0.155268],[-0.198995,0.911146,0.360851],[-0.086731,-0.383145,0.919608]] 2025-10-28T21:24:35.294Z,1761686675.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968709,0.173790,0.177200],[-0.226986,0.909122,0.349249],[-0.100400,-0.378543,0.920122]] 2025-10-28T21:24:35.699Z,1761686675.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960430,0.194486,0.199372],[-0.253827,0.905863,0.339092],[-0.114655,-0.376280,0.919384]] 2025-10-28T21:24:36.104Z,1761686676.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951296,0.213773,0.222117],[-0.279878,0.900965,0.331558],[-0.129242,-0.377576,0.916915]] 2025-10-28T21:24:36.507Z,1761686676.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941175,0.232216,0.245489],[-0.305728,0.894614,0.325879],[-0.143943,-0.381762,0.912983]] 2025-10-28T21:24:36.910Z,1761686676.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929820,0.251703,0.268478],[-0.332107,0.888209,0.317472],[-0.158556,-0.384356,0.909467]] 2025-10-28T21:24:37.342Z,1761686677.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917066,0.272120,0.291446],[-0.359217,0.881085,0.307655],[-0.173070,-0.386833,0.905763]] 2025-10-28T21:24:37.808Z,1761686677.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902668,0.293732,0.314502],[-0.387348,0.872983,0.296417],[-0.187488,-0.389388,0.901790]] 2025-10-28T21:24:38.206Z,1761686678.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886351,0.317342,0.337160],[-0.416914,0.863760,0.283022],[-0.201410,-0.391423,0.897898]] 2025-10-28T21:24:38.748Z,1761686678.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849917,0.366711,0.378370],[-0.475077,0.843908,0.249241],[-0.227910,-0.391589,0.891468]] 2025-10-28T21:24:38.888Z,1761686678.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:24:39.251Z,1761686679.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830566,0.391669,0.395923],[-0.502618,0.833354,0.229991],[-0.239864,-0.390021,0.889016]] 2025-10-28T21:24:39.667Z,1761686679.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811271,0.415098,0.411745],[-0.527821,0.822886,0.210391],[-0.251486,-0.388012,0.886680]] 2025-10-28T21:24:39.894Z,1761686679.894 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:24:40.060Z,1761686680.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791952,0.436972,0.426459],[-0.551102,0.812249,0.191148],[-0.262865,-0.386402,0.884079]] 2025-10-28T21:24:40.463Z,1761686680.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772861,0.457568,0.439678],[-0.572353,0.801851,0.171599],[-0.274038,-0.384273,0.881611]] 2025-10-28T21:24:40.915Z,1761686680.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753526,0.476738,0.452681],[-0.592250,0.791164,0.152642],[-0.285374,-0.383120,0.878511]] 2025-10-28T21:24:41.324Z,1761686681.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734185,0.494441,0.465296],[-0.610629,0.780472,0.134145],[-0.296823,-0.382610,0.874931]] 2025-10-28T21:24:41.857Z,1761686681.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714613,0.511092,0.477612],[-0.628407,0.768982,0.117351],[-0.307298,-0.383995,0.870698]] 2025-10-28T21:24:42.333Z,1761686682.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671918,0.542839,0.503838],[-0.664928,0.741756,0.087574],[-0.326186,-0.393858,0.859348]] 2025-10-28T21:24:42.731Z,1761686682.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648238,0.560790,0.515075],[-0.683995,0.726092,0.070294],[-0.334572,-0.397876,0.854258]] 2025-10-28T21:24:43.174Z,1761686683.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622367,0.579413,0.526251],[-0.703881,0.708374,0.052506],[-0.342360,-0.403097,0.848706]] 2025-10-28T21:24:43.647Z,1761686683.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594838,0.599840,0.535125],[-0.723713,0.689371,0.031730],[-0.349867,-0.406151,0.844177]] 2025-10-28T21:24:44.202Z,1761686684.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566643,0.621832,0.540592],[-0.742477,0.669826,0.007769],[-0.357272,-0.405780,0.841249]] 2025-10-28T21:24:44.674Z,1761686684.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537756,0.643753,0.544427],[-0.759987,0.649701,-0.017559],[-0.365018,-0.404315,0.838625]] 2025-10-28T21:24:45.295Z,1761686685.295 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:24:45.295Z,1761686685.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:24:45.295Z,1761686685.295 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:24:45.296Z,1761686685.296 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:24:45.296Z,1761686685.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:24:45.296Z,1761686685.296 [marl:UpdateSpeed] Stopped 2025-10-28T21:24:45.296Z,1761686685.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:24:45.691Z,1761686685.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454532,0.703565,0.546258],[-0.803461,0.588586,-0.089536],[-0.384514,-0.398200,0.832818]] 2025-10-28T21:24:46.091Z,1761686686.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430908,0.721240,0.542339],[-0.814015,0.570070,-0.111354],[-0.389484,-0.393489,0.832748]] 2025-10-28T21:24:46.496Z,1761686686.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408927,0.734702,0.541288],[-0.823153,0.553027,-0.128767],[-0.393952,-0.392906,0.830919]] 2025-10-28T21:24:46.534Z,1761686686.534 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateRudder:A] Stopped 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:24:46.535Z,1761686686.535 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:24:46.536Z,1761686686.536 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:24:46.541Z,1761686686.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:24:46.541Z,1761686686.541 [marl:UpdateCommandMode] Stopped 2025-10-28T21:24:46.541Z,1761686686.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:24:46.924Z,1761686686.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387437,0.747836,0.539105],[-0.832004,0.535509,-0.144914],[-0.397067,-0.392392,0.829678]] 2025-10-28T21:24:46.963Z,1761686686.963 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:24:46.963Z,1761686686.963 [marl:UpdateRudder:B] Stopped 2025-10-28T21:24:46.963Z,1761686686.963 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:24:46.963Z,1761686686.963 [marl:UpdateRudder] Stopped 2025-10-28T21:24:46.964Z,1761686686.964 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:24:47.306Z,1761686687.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366567,0.757826,0.539749],[-0.840208,0.518800,-0.157791],[-0.399599,-0.395660,0.826906]] 2025-10-28T21:24:47.706Z,1761686687.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345482,0.766767,0.541027],[-0.848104,0.501902,-0.169747],[-0.401699,-0.400202,0.823696]] 2025-10-28T21:24:48.111Z,1761686688.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323505,0.777270,0.539626],[-0.855964,0.483475,-0.183242],[-0.403324,-0.402621,0.821722]] 2025-10-28T21:24:48.515Z,1761686688.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300191,0.786911,0.539125],[-0.863911,0.463905,-0.196085],[-0.404405,-0.406893,0.819082]] 2025-10-28T21:24:48.929Z,1761686688.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275643,0.797330,0.536922],[-0.871575,0.442891,-0.210248],[-0.405435,-0.410015,0.817013]] 2025-10-28T21:24:49.324Z,1761686689.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249479,0.809136,0.532033],[-0.879301,0.419448,-0.225594],[-0.405696,-0.411536,0.816118]] 2025-10-28T21:24:49.726Z,1761686689.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222641,0.820466,0.526561],[-0.886572,0.395046,-0.240684],[-0.405489,-0.413248,0.815356]] 2025-10-28T21:24:50.141Z,1761686690.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194645,0.830894,0.521275],[-0.893559,0.369396,-0.255147],[-0.404557,-0.416127,0.814354]] 2025-10-28T21:24:50.536Z,1761686690.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166559,0.840831,0.515036],[-0.899936,0.343089,-0.269083],[-0.402956,-0.418681,0.813838]] 2025-10-28T21:24:50.939Z,1761686690.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138741,0.850881,0.506707],[-0.905649,0.316029,-0.282712],[-0.400688,-0.419675,0.814446]] 2025-10-28T21:24:51.343Z,1761686691.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112542,0.859706,0.498237],[-0.910223,0.290308,-0.295324],[-0.398534,-0.420270,0.815196]] 2025-10-28T21:24:51.747Z,1761686691.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086363,0.867437,0.489994],[-0.914260,0.264411,-0.306945],[-0.395815,-0.421473,0.815899]] 2025-10-28T21:24:52.156Z,1761686692.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060237,0.873035,0.483923],[-0.917740,0.239113,-0.317141],[-0.392587,-0.425011,0.815623]] 2025-10-28T21:24:52.555Z,1761686692.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034090,0.878620,0.476303],[-0.920335,0.213403,-0.327786],[-0.389644,-0.427183,0.815900]] 2025-10-28T21:24:52.961Z,1761686692.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007222,0.885749,0.464108],[-0.922150,0.185409,-0.339503],[-0.386764,-0.425526,0.818133]] 2025-10-28T21:24:53.364Z,1761686693.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021388,0.891481,0.452554],[-0.923217,0.156106,-0.351144],[-0.383684,-0.425315,0.819691]] 2025-10-28T21:24:53.775Z,1761686693.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050372,0.896450,0.440273],[-0.923362,0.126198,-0.362597],[-0.380612,-0.424796,0.821391]] 2025-10-28T21:24:54.170Z,1761686694.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079397,0.899511,0.429622],[-0.922617,0.096883,-0.373352],[-0.377458,-0.426020,0.822212]] 2025-10-28T21:24:54.574Z,1761686694.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108359,0.900314,0.421537],[-0.921004,0.068686,-0.383449],[-0.374178,-0.429788,0.821750]] 2025-10-28T21:24:54.989Z,1761686694.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137191,0.901289,0.410922],[-0.918658,0.039384,-0.393086],[-0.370468,-0.431425,0.822573]] 2025-10-28T21:24:55.383Z,1761686695.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165651,0.900540,0.401980],[-0.915633,0.010956,-0.401866],[-0.366301,-0.434635,0.822749]] 2025-10-28T21:24:55.791Z,1761686695.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192770,0.900656,0.389434],[-0.911925,-0.017917,-0.409965],[-0.362260,-0.434163,0.824785]] 2025-10-28T21:24:56.191Z,1761686696.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219512,0.900909,0.374404],[-0.907641,-0.047848,-0.417012],[-0.357775,-0.431363,0.828205]] 2025-10-28T21:24:56.595Z,1761686696.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246266,0.899673,0.360474],[-0.902753,-0.077583,-0.423105],[-0.352689,-0.429615,0.831289]] 2025-10-28T21:24:56.999Z,1761686696.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273998,0.897325,0.346026],[-0.896864,-0.108508,-0.428790],[-0.347218,-0.427826,0.834509]] 2025-10-28T21:24:57.403Z,1761686697.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302077,0.892664,0.334516],[-0.889843,-0.138171,-0.434842],[-0.341948,-0.429022,0.836069]] 2025-10-28T21:24:58.210Z,1761686698.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360379,0.880557,0.307809],[-0.872015,-0.200847,-0.446375],[-0.331236,-0.429277,0.840240]] 2025-10-28T21:24:58.240Z,1761686698.240 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:24:58.240Z,1761686698.240 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:24:58.240Z,1761686698.240 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:24:58.240Z,1761686698.240 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:24:58.240Z,1761686698.240 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:24:58.241Z,1761686698.241 [marl:UpdateSpeed] Stopped 2025-10-28T21:24:58.241Z,1761686698.241 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:24:58.623Z,1761686698.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390496,0.872662,0.293212],[-0.860827,-0.233227,-0.452308],[-0.326327,-0.429029,0.842285]] 2025-10-28T21:24:59.424Z,1761686699.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453029,0.855401,0.251105],[-0.832869,-0.305644,-0.461423],[-0.317953,-0.418176,0.850902]] 2025-10-28T21:24:59.489Z,1761686699.489 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:24:59.489Z,1761686699.489 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:24:59.489Z,1761686699.489 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateRudder:A] Stopped 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:24:59.490Z,1761686699.490 [marl:UpdateCommandMode] Stopped 2025-10-28T21:24:59.491Z,1761686699.491 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:24:59.827Z,1761686699.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484096,0.845457,0.225510],[-0.816606,-0.343938,-0.463533],[-0.314335,-0.408547,0.856903]] 2025-10-28T21:24:59.857Z,1761686699.857 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:24:59.857Z,1761686699.857 [marl:UpdateRudder:B] Stopped 2025-10-28T21:24:59.858Z,1761686699.858 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:24:59.858Z,1761686699.858 [marl:UpdateRudder] Stopped 2025-10-28T21:24:59.858Z,1761686699.858 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:25:00.641Z,1761686700.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542641,0.820151,0.181365],[-0.782154,-0.414656,-0.465075],[-0.306228,-0.394224,0.866494]] 2025-10-28T21:25:01.045Z,1761686701.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567855,0.806079,0.166668],[-0.765570,-0.442820,-0.466705],[-0.302397,-0.392616,0.868567]] 2025-10-28T21:25:01.846Z,1761686701.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611142,0.776485,0.153546],[-0.735077,-0.484838,-0.473913],[-0.293541,-0.402496,0.867082]] 2025-10-28T21:25:02.251Z,1761686702.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631425,0.760984,0.149014],[-0.719427,-0.503191,-0.478773],[-0.289357,-0.409514,0.865200]] 2025-10-28T21:25:02.655Z,1761686702.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651898,0.744478,0.144159],[-0.702318,-0.521063,-0.485018],[-0.285969,-0.417428,0.862540]] 2025-10-28T21:25:03.059Z,1761686703.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672749,0.727238,0.136140],[-0.683294,-0.540127,-0.491296],[-0.283756,-0.423543,0.860287]] 2025-10-28T21:25:03.867Z,1761686703.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717293,0.687430,0.113713],[-0.637815,-0.582095,-0.504338],[-0.280505,-0.434286,0.855986]] 2025-10-28T21:25:04.272Z,1761686704.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740302,0.665605,0.094460],[-0.611746,-0.608699,-0.505225],[-0.278782,-0.431805,0.857802]] 2025-10-28T21:25:04.674Z,1761686704.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762179,0.642931,0.075654],[-0.585055,-0.634070,-0.505634],[-0.277118,-0.429645,0.859425]] 2025-10-28T21:25:05.079Z,1761686705.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782654,0.619953,0.055771],[-0.558186,-0.659369,-0.503647],[-0.275464,-0.425312,0.862107]] 2025-10-28T21:25:05.887Z,1761686705.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819458,0.572774,0.020465],[-0.503915,-0.703011,-0.501842],[-0.273056,-0.421551,0.864717]] 2025-10-28T21:25:06.291Z,1761686706.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836336,0.548212,0.002520],[-0.475955,-0.723807,-0.499570],[-0.272046,-0.419008,0.866270]] 2025-10-28T21:25:06.695Z,1761686706.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852311,0.522832,-0.014605],[-0.447134,-0.742829,-0.498273],[-0.271362,-0.418153,0.866897]] 2025-10-28T21:25:07.503Z,1761686707.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882478,0.466996,-0.056100],[-0.384416,-0.784819,-0.486090],[-0.271030,-0.407398,0.872106]] 2025-10-28T21:25:07.555Z,1761686707.555 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:25:07.713Z,1761686707.713 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:25:07.713Z,1761686707.713 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:25:07.907Z,1761686707.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895880,0.438096,-0.073970],[-0.351410,-0.800567,-0.485390],[-0.271866,-0.408857,0.871163]] 2025-10-28T21:25:07.965Z,1761686707.965 [DAT](INFO): DAT read: user:305> 2025-10-28T21:25:07.966Z,1761686707.966 [DAT](INFO): DAT read: Tx time:21:25:07.7041 2025-10-28T21:25:07.966Z,1761686707.966 [DAT](INFO): Ping request sent. 2025-10-28T21:25:07.966Z,1761686707.966 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:25:07.966Z,1761686707.966 [DAT](INFO): publishing transmit ping time 2025-10-28T21:25:07.967Z,1761686707.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T21:25:08.217Z,1761686708.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250828 2025-10-28T21:25:08.311Z,1761686708.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908165,0.408536,-0.091298],[-0.317231,-0.813955,-0.486664],[-0.273132,-0.413009,0.868805]] 2025-10-28T21:25:08.469Z,1761686708.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906 2025-10-28T21:25:08.716Z,1761686708.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918671,0.379401,-0.109990],[-0.283520,-0.827167,-0.485192],[-0.275063,-0.414547,0.867462]] 2025-10-28T21:25:08.721Z,1761686708.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884 2025-10-28T21:25:08.973Z,1761686708.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007392 2025-10-28T21:25:09.142Z,1761686709.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927583,0.350764,-0.128664],[-0.250447,-0.839301,-0.482545],[-0.277248,-0.415377,0.866369]] 2025-10-28T21:25:09.225Z,1761686709.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258973 2025-10-28T21:25:09.477Z,1761686709.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809 2025-10-28T21:25:09.524Z,1761686709.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934646,0.324224,-0.145999],[-0.219241,-0.848721,-0.481254],[-0.279946,-0.417794,0.864337]] 2025-10-28T21:25:09.729Z,1761686709.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825 2025-10-28T21:25:09.927Z,1761686709.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940153,0.300177,-0.161266],[-0.190408,-0.855269,-0.481933],[-0.282591,-0.422385,0.861239]] 2025-10-28T21:25:09.981Z,1761686709.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943 2025-10-28T21:25:10.024Z,1761686710.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:25:10.233Z,1761686710.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266826 2025-10-28T21:25:10.331Z,1761686710.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944684,0.275279,-0.178310],[-0.161954,-0.864268,-0.476248],[-0.285208,-0.421026,0.861042]] 2025-10-28T21:25:10.485Z,1761686710.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518972 2025-10-28T21:25:10.741Z,1761686710.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774212 2025-10-28T21:25:10.989Z,1761686710.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860 2025-10-28T21:25:11.028Z,1761686711.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:25:11.181Z,1761686711.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953994,0.196910,-0.226103],[-0.076161,-0.888527,-0.452459],[-0.289993,-0.414423,0.862646]] 2025-10-28T21:25:11.241Z,1761686711.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274958 2025-10-28T21:25:11.245Z,1761686711.245 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed] Stopped 2025-10-28T21:25:11.246Z,1761686711.246 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:25:11.493Z,1761686711.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526933 2025-10-28T21:25:11.552Z,1761686711.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955789,0.167927,-0.241389],[-0.046607,-0.897034,-0.439498],[-0.290338,-0.408817,0.865201]] 2025-10-28T21:25:11.745Z,1761686711.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778793 2025-10-28T21:25:11.955Z,1761686711.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956894,0.138501,-0.255288],[-0.016416,-0.903361,-0.428567],[-0.289974,-0.405903,0.866694]] 2025-10-28T21:25:12.018Z,1761686712.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.051947 2025-10-28T21:25:12.269Z,1761686712.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302836 2025-10-28T21:25:12.355Z,1761686712.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957040,0.108958,-0.268705],[0.013954,-0.908329,-0.418023],[-0.289620,-0.403815,0.867787]] 2025-10-28T21:25:12.399Z,1761686712.399 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:25:12.399Z,1761686712.399 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:25:12.399Z,1761686712.399 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:25:12.400Z,1761686712.400 [marl:UpdateRudder:A] Stopped 2025-10-28T21:25:12.400Z,1761686712.400 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:25:12.400Z,1761686712.400 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:25:12.400Z,1761686712.400 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:25:12.400Z,1761686712.400 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:25:12.401Z,1761686712.401 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:25:12.401Z,1761686712.401 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:25:12.401Z,1761686712.401 [marl:UpdateCommandMode] Stopped 2025-10-28T21:25:12.401Z,1761686712.401 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:25:12.521Z,1761686712.521 [DAT](INFO): DAT read: Rx Time:21:25:11.8306 2025-10-28T21:25:12.522Z,1761686712.522 [DAT](INFO): Rx dataTimestamp_ set to:1761686712.521568 2025-10-28T21:25:12.522Z,1761686712.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.556325 2025-10-28T21:25:12.761Z,1761686712.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955995,0.078095,-0.282798],[0.044895,-0.913626,-0.404069],[-0.289927,-0.398984,0.869916]] 2025-10-28T21:25:12.773Z,1761686712.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.807289 2025-10-28T21:25:12.849Z,1761686712.849 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:25:12.849Z,1761686712.849 [marl:UpdateRudder:B] Stopped 2025-10-28T21:25:12.849Z,1761686712.849 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:25:12.849Z,1761686712.849 [marl:UpdateRudder] Stopped 2025-10-28T21:25:12.850Z,1761686712.850 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:25:13.030Z,1761686713.030 [DAT](INFO): DAT read: 21:25:11.8306 LVL= 32752, 28753, 32754, 32755, AGC= 83, IDX= 193,-0.19,-0.127, 1.179,-0.530, 0.088, PHS=-0.112, 1.137,-0.662, RAW= 347.4, -4.6, CAL= 347.0, -7.6, ROT= 163.0, 7.6 2025-10-28T21:25:13.031Z,1761686713.031 [DAT](INFO): got valid direction response: 21:25:11.8306 LVL= 32752, 28753, 32754, 32755, AGC= 83, IDX= 193,-0.19,-0.127, 1.179,-0.530, 0.088, PHS=-0.112, 1.137,-0.662, RAW= 347.4, -4.6, CAL= 347.0, -7.6, ROT= 163.0, 7.6 2025-10-28T21:25:13.033Z,1761686713.033 [DAT](INFO): DAT read: Bearing 132.6, 35.9 (Local) 2025-10-28T21:25:13.033Z,1761686713.033 [DAT](INFO): Local bearing/azimuth received: Bearing 132.6, 35.9 (Local) 2025-10-28T21:25:13.034Z,1761686713.034 [DAT](INFO): DAT read: Range 11 to 20 : 1291.7 m (Round-trip 1722.3 ms) speed -0.8 m/s 2025-10-28T21:25:13.035Z,1761686713.035 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:25:13.048Z,1761686713.048 [DAT](INFO): direction in FSK: [-0.947904,0.289803,-0.132256] 2025-10-28T21:25:13.049Z,1761686713.049 [DAT](INFO): publishing direction and range info 2025-10-28T21:25:13.205Z,1761686713.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953297,0.047379,-0.298296],[0.076086,-0.918099,-0.388979],[-0.292295,-0.393508,0.871616]] 2025-10-28T21:25:13.337Z,1761686713.337 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686656.00. Resetting abort timer. 2025-10-28T21:25:13.563Z,1761686713.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948845,0.015532,-0.315361],[0.108098,-0.922451,-0.370673],[-0.296662,-0.385801,0.873584]] 2025-10-28T21:25:13.966Z,1761686713.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942682,-0.014110,-0.333393],[0.139428,-0.924365,-0.355117],[-0.303166,-0.381247,0.873350]] 2025-10-28T21:25:14.371Z,1761686714.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934877,-0.041662,-0.352517],[0.170401,-0.923854,-0.342720],[-0.311396,-0.380471,0.870789]] 2025-10-28T21:25:14.780Z,1761686714.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925595,-0.067328,-0.372481],[0.201419,-0.920772,-0.334081],[-0.320476,-0.384248,0.865822]] 2025-10-28T21:25:15.208Z,1761686715.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915008,-0.091335,-0.392960],[0.232284,-0.915657,-0.328049],[-0.329854,-0.391446,0.859049]] 2025-10-28T21:25:15.601Z,1761686715.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903268,-0.116409,-0.412984],[0.263255,-0.910401,-0.319166],[-0.338827,-0.397012,0.852982]] 2025-10-28T21:25:15.994Z,1761686715.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890705,-0.141211,-0.432093],[0.293011,-0.905066,-0.308222],[-0.347548,-0.401143,0.847523]] 2025-10-28T21:25:16.399Z,1761686716.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877752,-0.165929,-0.449466],[0.320648,-0.900498,-0.293750],[-0.356001,-0.401960,0.843618]] 2025-10-28T21:25:17.713Z,1761686717.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839810,-0.229664,-0.491909],[0.386569,-0.889169,-0.244831],[-0.381161,-0.395768,0.835514]] 2025-10-28T21:25:18.120Z,1761686718.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827276,-0.250307,-0.502951],[0.406063,-0.885095,-0.227418],[-0.388235,-0.392368,0.833859]] 2025-10-28T21:25:18.521Z,1761686718.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815047,-0.271791,-0.511692],[0.425676,-0.880027,-0.210600],[-0.393063,-0.389464,0.832958]] 2025-10-28T21:25:18.923Z,1761686718.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803282,-0.293914,-0.518027],[0.445370,-0.873901,-0.194788],[-0.395454,-0.387183,0.832890]] 2025-10-28T21:25:19.731Z,1761686719.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781492,-0.337724,-0.524607],[0.482682,-0.860040,-0.165374],[-0.395332,-0.382457,0.835128]] 2025-10-28T21:25:20.137Z,1761686720.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768874,-0.360846,-0.527847],[0.502337,-0.851647,-0.149514],[-0.395588,-0.380115,0.836076]] 2025-10-28T21:25:20.539Z,1761686720.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754502,-0.381898,-0.533742],[0.522259,-0.841891,-0.135888],[-0.397457,-0.381279,0.834658]] 2025-10-28T21:25:20.943Z,1761686720.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738074,-0.402016,-0.541876],[0.542896,-0.830721,-0.123152],[-0.400639,-0.385078,0.831386]] 2025-10-28T21:25:21.348Z,1761686721.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720702,-0.422347,-0.549738],[0.563423,-0.818877,-0.109523],[-0.403911,-0.388669,0.828126]] 2025-10-28T21:25:21.753Z,1761686721.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702687,-0.442502,-0.557155],[0.583637,-0.806360,-0.095661],[-0.406938,-0.392396,0.824880]] 2025-10-28T21:25:22.155Z,1761686722.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684803,-0.461668,-0.563832],[0.603054,-0.793390,-0.082809],[-0.409109,-0.396729,0.821727]] 2025-10-28T21:25:22.559Z,1761686722.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667006,-0.479680,-0.570096],[0.621592,-0.780130,-0.070854],[-0.410762,-0.401627,0.818517]] 2025-10-28T21:25:22.963Z,1761686722.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649506,-0.497927,-0.574639],[0.639165,-0.766885,-0.057931],[-0.411837,-0.404916,0.816354]] 2025-10-28T21:25:23.370Z,1761686723.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631973,-0.515956,-0.578272],[0.656076,-0.753362,-0.044825],[-0.412521,-0.407719,0.814612]] 2025-10-28T21:25:23.776Z,1761686723.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613053,-0.536329,-0.580101],[0.673615,-0.738509,-0.029095],[-0.412805,-0.408602,0.814025]] 2025-10-28T21:25:24.175Z,1761686724.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593403,-0.556207,-0.581814],[0.691773,-0.721951,-0.015377],[-0.411488,-0.411608,0.813177]] 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed] Stopped 2025-10-28T21:25:24.211Z,1761686724.211 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:25:24.585Z,1761686724.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573222,-0.576625,-0.582169],[0.710680,-0.703510,-0.002947],[-0.407862,-0.415425,0.813063]] 2025-10-28T21:25:24.984Z,1761686724.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552731,-0.595568,-0.582913],[0.729874,-0.683552,0.006310],[-0.402210,-0.421966,0.812510]] 2025-10-28T21:25:25.387Z,1761686725.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530818,-0.615303,-0.582782],[0.749369,-0.661951,0.016339],[-0.395826,-0.428046,0.812464]] 2025-10-28T21:25:25.443Z,1761686725.443 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:25:25.444Z,1761686725.444 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:25:25.460Z,1761686725.460 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:25:25.460Z,1761686725.460 [marl:UpdateRudder:A] Stopped 2025-10-28T21:25:25.460Z,1761686725.460 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:25:25.460Z,1761686725.460 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode] Stopped 2025-10-28T21:25:25.461Z,1761686725.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:25:25.795Z,1761686725.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507590,-0.636500,-0.580707],[0.768512,-0.639185,0.028848],[-0.389541,-0.431637,0.813601]] 2025-10-28T21:25:25.882Z,1761686725.882 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:25:25.882Z,1761686725.882 [marl:UpdateRudder:B] Stopped 2025-10-28T21:25:25.882Z,1761686725.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:25:25.882Z,1761686725.882 [marl:UpdateRudder] Stopped 2025-10-28T21:25:25.882Z,1761686725.882 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:25:26.194Z,1761686726.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483009,-0.657570,-0.578190],[0.786312,-0.616261,0.043998],[-0.385248,-0.433386,0.814715]] 2025-10-28T21:25:26.607Z,1761686726.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456220,-0.680384,-0.573534],[0.802329,-0.593268,0.065579],[-0.384878,-0.430244,0.816553]] 2025-10-28T21:25:27.003Z,1761686727.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429285,-0.701559,-0.568796],[0.815225,-0.572059,0.090313],[-0.388745,-0.424927,0.817505]] 2025-10-28T21:25:27.408Z,1761686727.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402917,-0.721610,-0.562972],[0.825467,-0.552190,0.117006],[-0.395300,-0.417570,0.818152]] 2025-10-28T21:25:27.811Z,1761686727.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376012,-0.734295,-0.565178],[0.834140,-0.533845,0.138636],[-0.403517,-0.419308,0.813237]] 2025-10-28T21:25:28.216Z,1761686728.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347501,-0.744336,-0.570270],[0.842787,-0.514529,0.158018],[-0.411039,-0.425705,0.806116]] 2025-10-28T21:25:28.619Z,1761686728.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318157,-0.754757,-0.573689],[0.852311,-0.492701,0.175532],[-0.415141,-0.433115,0.800044]] 2025-10-28T21:25:29.428Z,1761686729.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271201,-0.779053,-0.565267],[0.873572,-0.445798,0.195283],[-0.404131,-0.440841,0.801460]] 2025-10-28T21:25:29.831Z,1761686729.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253292,-0.792029,-0.555458],[0.884006,-0.422708,0.199630],[-0.392909,-0.440463,0.807227]] 2025-10-28T21:25:30.235Z,1761686730.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235395,-0.805859,-0.543306],[0.893377,-0.399537,0.205545],[-0.382711,-0.436992,0.813984]] 2025-10-28T21:25:30.638Z,1761686730.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216108,-0.822784,-0.525665],[0.901339,-0.375092,0.216552],[-0.375348,-0.427003,0.822668]] 2025-10-28T21:25:31.043Z,1761686731.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192113,-0.838652,-0.509662],[0.908349,-0.348540,0.231130],[-0.371476,-0.418548,0.828748]] 2025-10-28T21:25:31.449Z,1761686731.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165596,-0.851071,-0.498252],[0.914929,-0.321147,0.244476],[-0.368079,-0.415381,0.831851]] 2025-10-28T21:25:31.851Z,1761686731.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139917,-0.861054,-0.488886],[0.921865,-0.293477,0.253053],[-0.361369,-0.415281,0.834838]] 2025-10-28T21:25:32.659Z,1761686732.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094550,-0.879279,-0.466829],[0.936560,-0.237546,0.257734],[-0.337514,-0.412844,0.845957]] 2025-10-28T21:25:33.067Z,1761686733.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069778,-0.887379,-0.455731],[0.941842,-0.209150,0.263040],[-0.328732,-0.410872,0.850364]] 2025-10-28T21:25:33.466Z,1761686733.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044306,-0.892910,-0.448050],[0.944452,-0.183631,0.272561],[-0.325648,-0.411086,0.851447]] 2025-10-28T21:25:34.334Z,1761686734.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002283,-0.898829,-0.438295],[0.948943,-0.140203,0.282578],[-0.315440,-0.415271,0.853257]] 2025-10-28T21:25:34.749Z,1761686734.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016346,-0.901603,-0.432256],[0.954287,-0.114971,0.275894],[-0.298444,-0.417006,0.858509]] 2025-10-28T21:25:35.195Z,1761686735.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079347,-0.911475,-0.403630],[0.957270,-0.043289,0.285937],[-0.278097,-0.409071,0.869093]] 2025-10-28T21:25:35.955Z,1761686735.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119487,-0.914805,-0.385818],[0.948833,-0.009191,0.315645],[-0.292300,-0.403792,0.866898]] 2025-10-28T21:25:36.373Z,1761686736.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173508,-0.912247,-0.371079],[0.932081,0.030447,0.360969],[-0.317995,-0.408507,0.855571]] 2025-10-28T21:25:37.267Z,1761686737.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:25:37.268Z,1761686737.268 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:25:37.268Z,1761686737.268 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:25:37.268Z,1761686737.268 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:25:37.268Z,1761686737.268 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:25:37.268Z,1761686737.268 [marl:UpdateSpeed] Stopped 2025-10-28T21:25:37.269Z,1761686737.269 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:25:37.587Z,1761686737.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223460,-0.897265,-0.380764],[0.947036,0.107434,0.302623],[-0.230626,-0.428221,0.873750]] 2025-10-28T21:25:37.981Z,1761686737.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255975,-0.895158,-0.364922],[0.940965,0.144232,0.306238],[-0.221498,-0.421768,0.879233]] 2025-10-28T21:25:38.383Z,1761686738.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293570,-0.895235,-0.335217],[0.925815,0.178928,0.332945],[-0.238084,-0.408091,0.881350]] 2025-10-28T21:25:38.791Z,1761686738.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329963,-0.898617,-0.289157],[0.905373,0.214531,0.366438],[-0.267255,-0.382706,0.884371]] 2025-10-28T21:25:38.840Z,1761686738.840 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:25:38.840Z,1761686738.840 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:25:38.840Z,1761686738.840 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateRudder:A] Stopped 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:25:38.841Z,1761686738.841 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:25:38.842Z,1761686738.842 [marl:UpdateCommandMode] Stopped 2025-10-28T21:25:38.842Z,1761686738.842 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:25:39.374Z,1761686739.374 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:25:39.374Z,1761686739.374 [marl:UpdateRudder:B] Stopped 2025-10-28T21:25:39.374Z,1761686739.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:25:39.374Z,1761686739.374 [marl:UpdateRudder] Stopped 2025-10-28T21:25:39.374Z,1761686739.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:25:39.994Z,1761686739.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375019,-0.880867,-0.288850],[0.881335,0.242181,0.405707],[-0.287419,-0.406721,0.867161]] 2025-10-28T21:25:40.399Z,1761686740.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384757,-0.876973,-0.287890],[0.885010,0.261928,0.384904],[-0.262144,-0.402881,0.876908]] 2025-10-28T21:25:40.803Z,1761686740.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415764,-0.872876,-0.255398],[0.876616,0.309819,0.368180],[-0.242248,-0.376962,0.893989]] 2025-10-28T21:25:41.153Z,1761686741.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:25:41.209Z,1761686741.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466407,-0.858661,-0.212522],[0.846219,0.363141,0.389926],[-0.257639,-0.361705,0.895986]] 2025-10-28T21:25:41.288Z,1761686741.288 [marl:NeedComms:C] Running Loop=1 2025-10-28T21:25:41.610Z,1761686741.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495848,-0.847739,-0.188343],[0.810804,0.374261,0.450029],[-0.311018,-0.375855,0.872927]] 2025-10-28T21:25:41.648Z,1761686741.648 [Radio_Surface](INFO): Powering up 2025-10-28T21:25:42.083Z,1761686742.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511241,-0.833154,-0.210922],[0.791487,0.360777,0.493345],[-0.334936,-0.419160,0.843874]] 2025-10-28T21:25:42.158Z,1761686742.158 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:25:42.479Z,1761686742.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523998,-0.826224,-0.206833],[0.787987,0.378105,0.485915],[-0.323270,-0.417600,0.849180]] 2025-10-28T21:25:42.890Z,1761686742.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546090,-0.824568,-0.147896],[0.786475,0.443825,0.429506],[-0.288517,-0.350866,0.890871]] 2025-10-28T21:25:43.386Z,1761686743.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571535,-0.811828,-0.119510],[0.777790,0.489542,0.394197],[-0.261515,-0.318251,0.911222]] 2025-10-28T21:25:43.791Z,1761686743.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600644,-0.782727,-0.162987],[0.764616,0.502790,0.403192],[-0.233641,-0.366798,0.900484]] 2025-10-28T21:25:44.192Z,1761686744.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657004,-0.738263,-0.152688],[0.718109,0.551201,0.424849],[-0.229488,-0.388774,0.892295]] 2025-10-28T21:25:44.594Z,1761686744.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696181,-0.707834,-0.119597],[0.682398,0.600815,0.416359],[-0.222858,-0.371474,0.901300]] 2025-10-28T21:25:44.998Z,1761686744.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696489,-0.710691,-0.099100],[0.684354,0.616355,0.389571],[-0.215784,-0.339152,0.915649]] 2025-10-28T21:25:45.809Z,1761686745.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698299,-0.706984,-0.112035],[0.714013,0.676894,0.178883],[-0.050632,-0.204909,0.977471]] 2025-10-28T21:25:46.210Z,1761686746.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742970,-0.666332,-0.063226],[0.669008,0.742205,0.039506],[0.020603,-0.071650,0.997217]] 2025-10-28T21:25:46.614Z,1761686746.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797528,-0.603151,0.012586],[0.602270,0.797224,0.041290],[-0.034938,-0.025349,0.999068]] 2025-10-28T21:25:46.900Z,1761686746.900 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T21:25:46.901Z,1761686746.901 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T21:25:47.019Z,1761686747.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793018,-0.607003,0.051669],[0.605277,0.794682,0.046044],[-0.069010,-0.005240,0.997602]] 2025-10-28T21:25:47.433Z,1761686747.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804725,-0.591285,0.052919],[0.592462,0.805552,-0.008641],[-0.037520,0.038306,0.998561]] 2025-10-28T21:25:47.826Z,1761686747.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827101,-0.560832,0.037025],[0.561648,0.827211,-0.016563],[-0.021338,0.034494,0.999177]] 2025-10-28T21:25:48.230Z,1761686748.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850279,-0.526108,0.015376],[0.526333,0.849920,-0.024693],[-0.000078,0.029089,0.999577]] 2025-10-28T21:25:48.635Z,1761686748.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867304,-0.497723,0.007497],[0.497729,0.866903,-0.027286],[0.007081,0.027397,0.999600]] 2025-10-28T21:25:49.043Z,1761686749.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887628,-0.459921,-0.024289],[0.458852,0.887642,-0.039332],[0.039650,0.023767,0.998931]] 2025-10-28T21:25:49.847Z,1761686749.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928319,-0.371294,0.019091],[0.369653,0.927270,0.059382],[-0.039750,-0.048069,0.998053]] 2025-10-28T21:25:50.250Z,1761686750.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917043,-0.397382,-0.033449],[0.398659,0.915646,0.051604],[0.010121,-0.060658,0.998107]] 2025-10-28T21:25:50.294Z,1761686750.294 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:25:50.294Z,1761686750.294 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:25:50.295Z,1761686750.295 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:25:50.295Z,1761686750.295 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:25:50.295Z,1761686750.295 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:25:50.295Z,1761686750.295 [marl:UpdateSpeed] Stopped 2025-10-28T21:25:50.295Z,1761686750.295 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:25:50.655Z,1761686750.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927562,-0.361408,-0.094940],[0.364997,0.930724,0.023024],[0.080042,-0.056009,0.995217]] 2025-10-28T21:25:51.068Z,1761686751.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949456,-0.310374,-0.046913],[0.310885,0.950440,0.003840],[0.043396,-0.018231,0.998892]] 2025-10-28T21:25:51.463Z,1761686751.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958453,-0.285091,0.009549],[0.284757,0.954291,-0.090783],[0.016769,0.089731,0.995825]] 2025-10-28T21:25:51.868Z,1761686751.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974874,-0.222108,0.016990],[0.221660,0.959688,-0.172815],[0.022078,0.172239,0.984808]] 2025-10-28T21:25:51.918Z,1761686751.918 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:25:51.918Z,1761686751.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:25:51.918Z,1761686751.918 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:25:51.918Z,1761686751.918 [marl:UpdateRudder:A] Stopped 2025-10-28T21:25:51.918Z,1761686751.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode] Stopped 2025-10-28T21:25:51.919Z,1761686751.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:25:52.273Z,1761686752.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980741,-0.185568,0.060920],[0.192606,0.970640,-0.144083],[-0.032394,0.153041,0.987689]] 2025-10-28T21:25:52.412Z,1761686752.412 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:25:52.412Z,1761686752.412 [marl:UpdateRudder:B] Stopped 2025-10-28T21:25:52.413Z,1761686752.413 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:25:52.413Z,1761686752.413 [marl:UpdateRudder] Stopped 2025-10-28T21:25:52.413Z,1761686752.413 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:25:52.674Z,1761686752.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973245,-0.228399,0.025074],[0.229470,0.971751,-0.055166],[-0.011766,0.059444,0.998162]] 2025-10-28T21:25:53.079Z,1761686753.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979046,-0.203307,-0.011592],[0.203084,0.978996,-0.017996],[0.015007,0.015265,0.999771]] 2025-10-28T21:25:53.491Z,1761686753.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986371,-0.163994,0.013332],[0.164218,0.986261,-0.017920],[-0.010210,0.019865,0.999750]] 2025-10-28T21:25:53.889Z,1761686753.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990476,-0.129575,-0.046550],[0.127074,0.990466,-0.053186],[0.052998,0.046764,0.997499]] 2025-10-28T21:25:54.290Z,1761686754.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997955,-0.036335,-0.052586],[0.032051,0.996269,-0.080129],[0.055301,0.078280,0.995396]] 2025-10-28T21:25:54.694Z,1761686754.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999640,0.006861,0.025954],[-0.005534,0.998690,-0.050873],[-0.026269,0.050711,0.998368]] 2025-10-28T21:25:55.098Z,1761686755.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999937,0.009152,0.006461],[-0.009384,0.999278,0.036809],[-0.006119,-0.036868,0.999301]] 2025-10-28T21:25:55.908Z,1761686755.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996250,0.077845,0.037759],[-0.080180,0.994668,0.064864],[-0.032508,-0.067648,0.997180]] 2025-10-28T21:25:56.310Z,1761686756.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995056,0.084645,0.051959],[-0.080861,0.994190,-0.071049],[-0.057671,0.066497,0.996119]] 2025-10-28T21:25:56.715Z,1761686756.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996646,0.079372,0.019929],[-0.074749,0.982063,-0.173104],[-0.033312,0.171034,0.984702]] 2025-10-28T21:25:57.124Z,1761686757.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987663,0.156291,0.009774],[-0.153077,0.976742,-0.150142],[-0.033012,0.146794,0.988616]] 2025-10-28T21:25:57.522Z,1761686757.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984654,0.169371,0.042082],[-0.165632,0.982902,-0.080433],[-0.054985,0.072228,0.995871]] 2025-10-28T21:25:57.927Z,1761686757.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984702,0.158490,0.072412],[-0.157761,0.987352,-0.015728],[-0.073989,0.004064,0.997251]] 2025-10-28T21:25:58.332Z,1761686758.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981903,0.178442,0.063440],[-0.180717,0.983012,0.032090],[-0.056636,-0.042974,0.997470]] 2025-10-28T21:25:58.734Z,1761686758.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980168,0.195641,0.031544],[-0.197538,0.977276,0.076880],[-0.015787,-0.081586,0.996541]] 2025-10-28T21:25:59.555Z,1761686759.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959316,0.282210,-0.008423],[-0.280979,0.957202,0.069387],[0.027644,-0.064197,0.997554]] 2025-10-28T21:25:59.958Z,1761686759.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953799,0.299239,0.026884],[-0.299759,0.953847,0.017911],[-0.020284,-0.025142,0.999478]] 2025-10-28T21:26:00.755Z,1761686760.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951022,0.295756,-0.089915],[-0.300379,0.952856,-0.042866],[0.072999,0.067775,0.995026]] 2025-10-28T21:26:01.206Z,1761686761.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897290,0.431413,-0.093555],[-0.432084,0.901724,0.014009],[0.090404,0.027853,0.995516]] 2025-10-28T21:26:01.968Z,1761686761.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870069,0.491506,0.037447],[-0.492919,0.867029,0.072738],[0.003284,-0.081746,0.996648]] 2025-10-28T21:26:02.371Z,1761686762.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854130,0.505595,0.121799],[-0.516321,0.852436,0.082252],[-0.062240,-0.133142,0.989141]] 2025-10-28T21:26:02.779Z,1761686762.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845434,0.527455,0.083859],[-0.533199,0.842584,0.075830],[-0.030661,-0.108823,0.993588]] 2025-10-28T21:26:03.220Z,1761686763.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833099,0.552660,0.022648],[-0.551238,0.832941,-0.048442],[-0.045636,0.027873,0.998569]] 2025-10-28T21:26:03.662Z,1761686763.662 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed] Stopped 2025-10-28T21:26:03.663Z,1761686763.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:26:03.987Z,1761686763.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806317,0.591475,-0.003145],[-0.589021,0.802464,-0.095421],[-0.053915,0.078793,0.995432]] 2025-10-28T21:26:04.392Z,1761686764.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781953,0.622961,-0.021675],[-0.623288,0.781856,-0.014568],[0.007872,0.024901,0.999659]] 2025-10-28T21:26:04.805Z,1761686764.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802919,0.594867,0.038120],[-0.595839,0.802788,0.022517],[-0.017207,-0.040793,0.999019]] 2025-10-28T21:26:04.873Z,1761686764.873 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:26:04.873Z,1761686764.873 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:26:04.873Z,1761686764.873 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateRudder:A] Stopped 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:26:04.874Z,1761686764.874 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:26:04.875Z,1761686764.875 [marl:UpdateCommandMode] Stopped 2025-10-28T21:26:04.875Z,1761686764.875 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:26:05.219Z,1761686765.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774812,0.629298,-0.060422],[-0.624963,0.776858,0.076898],[0.095331,-0.021820,0.995206]] 2025-10-28T21:26:05.550Z,1761686765.550 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:26:05.550Z,1761686765.550 [marl:UpdateRudder:B] Stopped 2025-10-28T21:26:05.550Z,1761686765.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:26:05.550Z,1761686765.550 [marl:UpdateRudder] Stopped 2025-10-28T21:26:05.550Z,1761686765.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:26:06.051Z,1761686766.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688695,0.724839,-0.017542],[-0.714371,0.682489,0.154543],[0.123991,-0.093901,0.987830]] 2025-10-28T21:26:06.451Z,1761686766.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689623,0.723214,0.037173],[-0.721011,0.680922,0.128407],[0.067554,-0.115355,0.991025]] 2025-10-28T21:26:06.855Z,1761686766.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689657,0.722558,0.047782],[-0.724136,0.688140,0.045714],[0.000150,-0.066127,0.997811]] 2025-10-28T21:26:07.265Z,1761686767.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690744,0.723099,0.001295],[-0.723085,0.690717,0.007554],[0.004568,-0.006154,0.999971]] 2025-10-28T21:26:07.663Z,1761686767.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681173,0.730525,-0.048328],[-0.730856,0.682392,0.013766],[0.043035,0.025944,0.998737]] 2025-10-28T21:26:07.737Z,1761686767.737 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:26:07.749Z,1761686767.749 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:26:07.749Z,1761686767.749 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:26:08.004Z,1761686768.004 [DAT](INFO): DAT read: user:306> 2025-10-28T21:26:08.005Z,1761686768.005 [DAT](INFO): DAT read: Tx time:21:26:07.7540 2025-10-28T21:26:08.005Z,1761686768.005 [DAT](INFO): Ping request sent. 2025-10-28T21:26:08.005Z,1761686768.005 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:26:08.005Z,1761686768.005 [DAT](INFO): publishing transmit ping time 2025-10-28T21:26:08.006Z,1761686768.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001224 2025-10-28T21:26:08.066Z,1761686768.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643929,0.764391,-0.032580],[-0.763180,0.644746,0.043118],[0.053965,-0.002901,0.998539]] 2025-10-28T21:26:08.253Z,1761686768.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248059 2025-10-28T21:26:08.472Z,1761686768.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621879,0.780902,0.058812],[-0.783112,0.619957,0.048880],[0.001710,-0.076454,0.997072]] 2025-10-28T21:26:08.505Z,1761686768.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499968 2025-10-28T21:26:08.758Z,1761686768.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752558 2025-10-28T21:26:08.875Z,1761686768.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611157,0.783700,0.110909],[-0.790731,0.610746,0.041644],[-0.035101,-0.113150,0.992958]] 2025-10-28T21:26:09.010Z,1761686769.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005187 2025-10-28T21:26:09.261Z,1761686769.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255892 2025-10-28T21:26:09.280Z,1761686769.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593259,0.798326,0.103535],[-0.804949,0.589895,0.063883],[-0.010076,-0.121239,0.992572]] 2025-10-28T21:26:09.514Z,1761686769.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508785 2025-10-28T21:26:09.683Z,1761686769.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575201,0.813093,0.089570],[-0.818008,0.572071,0.059975],[-0.002475,-0.107767,0.994173]] 2025-10-28T21:26:09.766Z,1761686769.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760687 2025-10-28T21:26:10.018Z,1761686770.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012235 2025-10-28T21:26:10.092Z,1761686770.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587041,0.806047,0.075303],[-0.809554,0.584208,0.057653],[0.002478,-0.094807,0.995493]] 2025-10-28T21:26:10.269Z,1761686770.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263907 2025-10-28T21:26:10.491Z,1761686770.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569316,0.820521,0.051236],[-0.821084,0.564367,0.085509],[0.041246,-0.090751,0.995019]] 2025-10-28T21:26:10.522Z,1761686770.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516960 2025-10-28T21:26:10.773Z,1761686770.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768276 2025-10-28T21:26:10.895Z,1761686770.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550397,0.833054,0.055539],[-0.830982,0.540158,0.133036],[0.080826,-0.119374,0.989554]] 2025-10-28T21:26:11.025Z,1761686771.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020224 2025-10-28T21:26:11.277Z,1761686771.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271966 2025-10-28T21:26:11.299Z,1761686771.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531695,0.839474,0.112175],[-0.844994,0.516840,0.137339],[0.057316,-0.167809,0.984152]] 2025-10-28T21:26:11.530Z,1761686771.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524949 2025-10-28T21:26:11.705Z,1761686771.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510961,0.846283,0.150743],[-0.859488,0.505850,0.073454],[-0.014091,-0.167094,0.985840]] 2025-10-28T21:26:11.782Z,1761686771.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776607 2025-10-28T21:26:12.034Z,1761686772.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028804 2025-10-28T21:26:12.285Z,1761686772.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279754 2025-10-28T21:26:12.324Z,1761686772.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:26:12.519Z,1761686772.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478233,0.878059,-0.017489],[-0.874808,0.478030,0.078731],[0.077491,-0.022353,0.996742]] 2025-10-28T21:26:12.537Z,1761686772.537 [DAT](INFO): DAT read: Rx Time:21:26:11.9414 2025-10-28T21:26:12.537Z,1761686772.537 [DAT](INFO): Rx dataTimestamp_ set to:1761686772.537150 2025-10-28T21:26:12.538Z,1761686772.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532866 2025-10-28T21:26:12.789Z,1761686772.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784080 2025-10-28T21:26:12.915Z,1761686772.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434829,0.899812,-0.035524],[-0.897214,0.436272,0.068365],[0.077013,0.002145,0.997028]] 2025-10-28T21:26:13.041Z,1761686773.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035751 2025-10-28T21:26:13.298Z,1761686773.298 [DAT](INFO): DAT read: 21:26:11.9414 LVL= 32752, 23201, 23266, 32755, AGC= 81, IDX= 34,-0.33,-2.615, 1.926, 2.633, 3.091, PHS= 0.679,-1.120,-0.502, RAW= 109.8, 11.9, CAL= 111.4, 13.6, ROT= 38.6, -13.6 2025-10-28T21:26:13.299Z,1761686773.299 [DAT](INFO): got valid direction response: 21:26:11.9414 LVL= 32752, 23201, 23266, 32755, AGC= 81, IDX= 34,-0.33,-2.615, 1.926, 2.633, 3.091, PHS= 0.679,-1.120,-0.502, RAW= 109.8, 11.9, CAL= 111.4, 13.6, ROT= 38.6, -13.6 2025-10-28T21:26:13.300Z,1761686773.300 [DAT](INFO): DAT read: Bearing 94.2, 39.1 (Local) 2025-10-28T21:26:13.301Z,1761686773.301 [DAT](INFO): Local bearing/azimuth received: Bearing 94.2, 39.1 (Local) 2025-10-28T21:26:13.302Z,1761686773.302 [DAT](INFO): DAT read: Range 11 to 20 : 1337.4 m (Round-trip 1783.3 ms) speed -0.8 m/s 2025-10-28T21:26:13.303Z,1761686773.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:26:13.304Z,1761686773.304 [DAT](INFO): direction in FSK: [0.759607,0.606387,0.235142] 2025-10-28T21:26:13.312Z,1761686773.312 [DAT](INFO): publishing direction and range info 2025-10-28T21:26:13.328Z,1761686773.328 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T21:26:13.328Z,1761686773.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:26:13.350Z,1761686773.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421243,0.906918,0.007410],[-0.904867,0.419709,0.071129],[0.061398,-0.036668,0.997440]] 2025-10-28T21:26:13.467Z,1761686773.467 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761686784.00. Resetting abort timer. 2025-10-28T21:26:13.722Z,1761686773.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421305,0.905229,0.055342],[-0.904824,0.415403,0.093455],[0.061609,-0.089448,0.994084]] 2025-10-28T21:26:14.130Z,1761686774.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391860,0.917711,0.065211],[-0.916034,0.382584,0.120459],[0.085598,-0.106939,0.990574]] 2025-10-28T21:26:14.536Z,1761686774.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382971,0.921163,0.069225],[-0.915234,0.368210,0.163609],[0.125221,-0.126014,0.984094]] 2025-10-28T21:26:14.935Z,1761686774.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380546,0.923156,0.054474],[-0.914856,0.367217,0.167898],[0.134992,-0.113728,0.984298]] 2025-10-28T21:26:15.339Z,1761686775.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375302,0.926132,0.037795],[-0.920035,0.367256,0.136597],[0.112627,-0.086038,0.989905]] 2025-10-28T21:26:15.743Z,1761686775.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318946,0.947523,0.021763],[-0.937461,0.312015,0.154313],[0.139425,-0.069620,0.987782]] 2025-10-28T21:26:16.150Z,1761686776.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318859,0.941853,0.106029],[-0.934801,0.294046,0.199209],[0.156448,-0.162636,0.974204]] 2025-10-28T21:26:16.552Z,1761686776.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336621,0.926709,0.167022],[-0.936503,0.310975,0.162036],[0.098221,-0.210962,0.972547]] 2025-10-28T21:26:16.583Z,1761686776.583 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:26:16.583Z,1761686776.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:26:16.583Z,1761686776.583 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:26:16.584Z,1761686776.584 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:26:16.584Z,1761686776.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:26:16.584Z,1761686776.584 [marl:UpdateSpeed] Stopped 2025-10-28T21:26:16.584Z,1761686776.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:26:16.981Z,1761686776.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305391,0.940088,0.151559],[-0.951682,0.295942,0.081971],[0.032208,-0.169269,0.985043]] 2025-10-28T21:26:17.359Z,1761686777.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268756,0.957812,0.101811],[-0.961464,0.260408,0.088173],[0.057940,-0.121584,0.990889]] 2025-10-28T21:26:17.769Z,1761686777.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280170,0.958450,0.053651],[-0.955937,0.273458,0.106794],[0.087686,-0.081208,0.992833]] 2025-10-28T21:26:18.169Z,1761686778.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295975,0.954199,0.043620],[-0.952304,0.291220,0.091152],[0.074274,-0.068518,0.994881]] 2025-10-28T21:26:18.320Z,1761686778.320 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:26:18.320Z,1761686778.320 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:26:18.320Z,1761686778.320 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateRudder:A] Stopped 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:26:18.321Z,1761686778.321 [marl:UpdateCommandMode] Stopped 2025-10-28T21:26:18.322Z,1761686778.322 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:26:18.571Z,1761686778.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293962,0.954452,0.051076],[-0.954405,0.290204,0.069951],[0.051942,-0.069310,0.996242]] 2025-10-28T21:26:18.644Z,1761686778.644 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:26:18.644Z,1761686778.644 [marl:UpdateRudder:B] Stopped 2025-10-28T21:26:18.644Z,1761686778.644 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:26:18.644Z,1761686778.644 [marl:UpdateRudder] Stopped 2025-10-28T21:26:18.644Z,1761686778.644 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:26:18.977Z,1761686778.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297508,0.949488,0.099812],[-0.954156,0.292110,0.065262],[0.032809,-0.114652,0.992864]] 2025-10-28T21:26:19.379Z,1761686779.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276475,0.947222,0.162273],[-0.960351,0.278620,0.009848],[-0.035884,-0.158562,0.986697]] 2025-10-28T21:26:19.788Z,1761686779.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275152,0.948287,0.158253],[-0.960100,0.279592,-0.006063],[-0.049996,-0.150271,0.987380]] 2025-10-28T21:26:20.192Z,1761686780.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253016,0.963448,0.088037],[-0.966799,0.248426,0.059864],[0.035805,-0.100260,0.994317]] 2025-10-28T21:26:20.590Z,1761686780.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226605,0.973041,0.042919],[-0.960973,0.216181,0.172616],[0.158684,-0.080360,0.984054]] 2025-10-28T21:26:21.001Z,1761686781.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275622,0.959373,0.060290],[-0.957506,0.268461,0.105411],[0.084943,-0.086782,0.992599]] 2025-10-28T21:26:21.398Z,1761686781.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270791,0.956306,0.110233],[-0.962633,0.268640,0.034205],[0.003097,-0.115376,0.993317]] 2025-10-28T21:26:21.805Z,1761686781.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255303,0.953657,0.159242],[-0.965997,0.244631,0.083697],[0.040863,-0.175195,0.983685]] 2025-10-28T21:26:22.207Z,1761686782.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282080,0.942959,0.176800],[-0.955813,0.260314,0.136595],[0.082780,-0.207519,0.974722]] 2025-10-28T21:26:22.611Z,1761686782.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280921,0.947954,0.149892],[-0.956370,0.263443,0.126307],[0.080245,-0.178835,0.980601]] 2025-10-28T21:26:23.020Z,1761686783.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301154,0.949791,0.084873],[-0.949088,0.289922,0.123193],[0.092401,-0.117652,0.988747]] 2025-10-28T21:26:23.421Z,1761686783.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323318,0.946278,-0.004807],[-0.942336,0.322427,0.089689],[0.086421,-0.024469,0.995958]] 2025-10-28T21:26:23.823Z,1761686783.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308374,0.950834,-0.028645],[-0.950105,0.309345,0.040080],[0.046971,0.014857,0.998786]] 2025-10-28T21:26:24.226Z,1761686784.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297239,0.954680,0.015328],[-0.951211,0.294691,0.091404],[0.082744,-0.041749,0.995696]] 2025-10-28T21:26:24.630Z,1761686784.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366353,0.926789,0.082753],[-0.918397,0.345881,0.192129],[0.149440,-0.146387,0.977874]] 2025-10-28T21:26:25.036Z,1761686785.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389886,0.911990,0.127528],[-0.914857,0.367819,0.166570],[0.105003,-0.181613,0.977748]] 2025-10-28T21:26:25.438Z,1761686785.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364718,0.922619,0.125516],[-0.929768,0.353610,0.102423],[0.050114,-0.154057,0.986790]] 2025-10-28T21:26:25.842Z,1761686785.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369624,0.918858,0.138123],[-0.928424,0.359216,0.094831],[0.037521,-0.163288,0.985865]] 2025-10-28T21:26:26.252Z,1761686786.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407693,0.898645,0.161935],[-0.913095,0.399944,0.079379],[0.006569,-0.180224,0.983604]] 2025-10-28T21:26:26.653Z,1761686786.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410097,0.895410,0.173381],[-0.911420,0.409360,0.041676],[-0.033658,-0.175115,0.983973]] 2025-10-28T21:26:27.054Z,1761686787.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403729,0.897655,0.176689],[-0.912771,0.408318,0.011229],[-0.062066,-0.165810,0.984203]] 2025-10-28T21:26:27.458Z,1761686787.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447992,0.885754,0.121422],[-0.893923,0.445955,0.045000],[-0.014290,-0.128701,0.991580]] 2025-10-28T21:26:27.864Z,1761686787.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471949,0.881624,0.001758],[-0.876933,0.469230,0.103974],[0.090841,-0.050612,0.994578]] 2025-10-28T21:26:28.267Z,1761686788.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430977,0.901094,-0.047837],[-0.895276,0.433622,0.102235],[0.112866,-0.001234,0.993609]] 2025-10-28T21:26:28.672Z,1761686788.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424209,0.905526,0.008364],[-0.900388,0.420780,0.110655],[0.096681,-0.054472,0.993824]] 2025-10-28T21:26:29.085Z,1761686789.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447107,0.887939,0.107978],[-0.893016,0.436204,0.110676],[0.051173,-0.145910,0.987973]] 2025-10-28T21:26:29.487Z,1761686789.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474628,0.861057,0.182506],[-0.879808,0.470197,0.069669],[-0.025824,-0.193637,0.980733]] 2025-10-28T21:26:29.883Z,1761686789.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472642,0.866875,0.158550],[-0.880806,0.458953,0.116376],[0.028117,-0.194656,0.980469]] 2025-10-28T21:26:29.929Z,1761686789.929 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:26:29.929Z,1761686789.929 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:26:29.929Z,1761686789.929 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:26:29.929Z,1761686789.929 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:26:29.930Z,1761686789.930 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:26:29.930Z,1761686789.930 [marl:UpdateSpeed] Stopped 2025-10-28T21:26:29.930Z,1761686789.930 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:26:30.287Z,1761686790.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499660,0.859451,0.108088],[-0.857076,0.472437,0.205483],[0.125538,-0.195312,0.972673]] 2025-10-28T21:26:30.695Z,1761686790.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489080,0.857464,0.159865],[-0.871724,0.474212,0.123371],[0.029976,-0.199696,0.979399]] 2025-10-28T21:26:31.094Z,1761686791.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465224,0.863670,0.194011],[-0.883512,0.466552,0.041668],[-0.054529,-0.190796,0.980114]] 2025-10-28T21:26:31.504Z,1761686791.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490746,0.860535,0.136557],[-0.869743,0.493187,0.017714],[-0.052104,-0.127463,0.990474]] 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateRudder:A] Stopped 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:26:31.582Z,1761686791.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:26:31.583Z,1761686791.583 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:26:31.583Z,1761686791.583 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:26:31.583Z,1761686791.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:26:31.583Z,1761686791.583 [marl:UpdateCommandMode] Stopped 2025-10-28T21:26:31.583Z,1761686791.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:26:31.903Z,1761686791.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494682,0.867746,0.048025],[-0.868224,0.495886,-0.016827],[-0.038416,-0.033373,0.998704]] 2025-10-28T21:26:32.017Z,1761686792.017 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:26:32.017Z,1761686792.017 [marl:UpdateRudder:B] Stopped 2025-10-28T21:26:32.017Z,1761686792.017 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:26:32.017Z,1761686792.017 [marl:UpdateRudder] Stopped 2025-10-28T21:26:32.017Z,1761686792.017 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:26:32.315Z,1761686792.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481552,0.876400,0.005493],[-0.876284,0.481579,-0.014402],[-0.015267,0.002122,0.999881]] 2025-10-28T21:26:32.711Z,1761686792.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490250,0.871572,-0.004241],[-0.869723,0.489516,0.062899],[0.056897,-0.027148,0.998011]] 2025-10-28T21:26:33.119Z,1761686793.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503835,0.863507,0.022482],[-0.859606,0.498658,0.111432],[0.085011,-0.075469,0.993518]] 2025-10-28T21:26:33.519Z,1761686793.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513648,0.852221,0.099426],[-0.857990,0.510785,0.054337],[-0.004479,-0.113217,0.993560]] 2025-10-28T21:26:33.923Z,1761686793.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503844,0.857436,0.104614],[-0.863631,0.502401,0.041661],[-0.016837,-0.111339,0.993640]] 2025-10-28T21:26:34.331Z,1761686794.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493458,0.867537,0.062286],[-0.862603,0.478961,0.162825],[0.111424,-0.134076,0.984687]] 2025-10-28T21:26:34.335Z,1761686794.335 [NAL9602](INFO): SBD MO Status=2, MOMSN=3358, MT Status=2, MTMSN=0 2025-10-28T21:26:34.336Z,1761686794.336 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T21:26:34.734Z,1761686794.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509768,0.858894,0.049373],[-0.837484,0.482290,0.256939],[0.196871,-0.172328,0.965166]] 2025-10-28T21:26:35.160Z,1761686795.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523275,0.844832,0.111547],[-0.844074,0.495852,0.204134],[0.117148,-0.200972,0.972567]] 2025-10-28T21:26:35.540Z,1761686795.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521222,0.830927,0.194649],[-0.853271,0.511670,0.100606],[-0.016000,-0.218527,0.975700]] 2025-10-28T21:26:35.943Z,1761686795.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499637,0.845756,0.187241],[-0.864677,0.499907,0.049271],[-0.051932,-0.186521,0.981077]] 2025-10-28T21:26:36.350Z,1761686796.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510666,0.853250,0.105759],[-0.859779,0.506671,0.063757],[0.000816,-0.123488,0.992346]] 2025-10-28T21:26:36.755Z,1761686796.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533074,0.845599,0.028194],[-0.845458,0.531127,0.055716],[0.032139,-0.053538,0.998048]] 2025-10-28T21:26:37.188Z,1761686797.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561551,0.827353,0.012100],[-0.827439,0.561527,0.005663],[-0.002109,-0.013192,0.999911]] 2025-10-28T21:26:37.558Z,1761686797.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577407,0.815918,0.029661],[-0.815984,0.577928,-0.013030],[-0.027773,-0.016679,0.999475]] 2025-10-28T21:26:37.969Z,1761686797.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567092,0.822222,0.048546],[-0.823583,0.566832,0.020295],[-0.010830,-0.051491,0.998615]] 2025-10-28T21:26:38.367Z,1761686798.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564364,0.822478,0.070874],[-0.825015,0.558911,0.083484],[0.029052,-0.105587,0.993986]] 2025-10-28T21:26:38.777Z,1761686798.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556812,0.823918,0.105446],[-0.830638,0.552481,0.069326],[-0.001138,-0.126189,0.992006]] 2025-10-28T21:26:39.197Z,1761686799.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561451,0.816876,0.132236],[-0.825286,0.564455,0.017146],[-0.060635,-0.118759,0.991070]] 2025-10-28T21:26:39.579Z,1761686799.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592806,0.799270,0.098736],[-0.802334,0.596726,-0.013339],[-0.069580,-0.071312,0.995024]] 2025-10-28T21:26:40.387Z,1761686800.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595902,0.800543,-0.063495],[-0.799565,0.598819,0.045950],[0.074807,0.023386,0.996924]] 2025-10-28T21:26:40.793Z,1761686800.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590736,0.805980,-0.037769],[-0.800420,0.591280,0.098573],[0.101780,-0.028000,0.994413]] 2025-10-28T21:26:41.203Z,1761686801.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600266,0.798242,0.049897],[-0.797557,0.592747,0.112044],[0.059862,-0.107052,0.992450]] 2025-10-28T21:26:41.601Z,1761686801.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607635,0.787066,0.106339],[-0.793116,0.594280,0.133411],[0.041808,-0.165404,0.985339]] 2025-10-28T21:26:42.005Z,1761686802.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593654,0.799849,0.088413],[-0.802173,0.579456,0.144045],[0.063983,-0.156435,0.985614]] 2025-10-28T21:26:42.407Z,1761686802.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583402,0.811025,0.043374],[-0.800691,0.565373,0.198108],[0.136148,-0.150305,0.979220]] 2025-10-28T21:26:42.813Z,1761686802.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603202,0.797576,-0.004337],[-0.775282,0.587601,0.231653],[0.187310,-0.136371,0.972789]] 2025-10-28T21:26:42.842Z,1761686802.842 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:26:42.842Z,1761686802.842 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:26:42.842Z,1761686802.842 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:26:42.842Z,1761686802.842 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:26:42.843Z,1761686802.843 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:26:42.843Z,1761686802.843 [marl:UpdateSpeed] Stopped 2025-10-28T21:26:42.843Z,1761686802.843 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:26:43.214Z,1761686803.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595347,0.803456,0.004391],[-0.789327,0.583839,0.189986],[0.150082,-0.116574,0.981777]] 2025-10-28T21:26:43.476Z,1761686803.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:26:43.619Z,1761686803.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574483,0.811239,0.108907],[-0.818069,0.564662,0.109181],[0.027076,-0.151815,0.988038]] 2025-10-28T21:26:44.023Z,1761686804.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569313,0.805207,0.165904],[-0.821761,0.563328,0.085855],[-0.024327,-0.185212,0.982397]] 2025-10-28T21:26:44.434Z,1761686804.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576853,0.807872,0.120766],[-0.816594,0.574022,0.060599],[-0.020366,-0.133573,0.990830]] 2025-10-28T21:26:44.481Z,1761686804.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:26:44.830Z,1761686804.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582870,0.809892,0.065854],[-0.812143,0.583263,0.015091],[-0.026188,-0.062279,0.997715]] 2025-10-28T21:26:44.904Z,1761686804.904 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateRudder:A] Stopped 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:26:44.905Z,1761686804.905 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:26:44.906Z,1761686804.906 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:26:44.906Z,1761686804.906 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:26:44.906Z,1761686804.906 [marl:UpdateCommandMode] Stopped 2025-10-28T21:26:44.906Z,1761686804.906 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:26:45.236Z,1761686805.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587588,0.809059,0.012838],[-0.808471,0.587668,-0.031943],[-0.033388,0.008390,0.999407]] 2025-10-28T21:26:45.318Z,1761686805.318 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:26:45.318Z,1761686805.318 [marl:UpdateRudder:B] Stopped 2025-10-28T21:26:45.318Z,1761686805.318 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:26:45.318Z,1761686805.318 [marl:UpdateRudder] Stopped 2025-10-28T21:26:45.319Z,1761686805.319 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:26:45.647Z,1761686805.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613160,0.787921,0.056706],[-0.787650,0.615275,-0.032315],[-0.060351,-0.024851,0.997868]] 2025-10-28T21:26:46.048Z,1761686806.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631140,0.771343,0.081810],[-0.772273,0.634731,-0.026676],[-0.072504,-0.046344,0.996291]] 2025-10-28T21:26:46.454Z,1761686806.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607352,0.785227,0.120588],[-0.786113,0.615938,-0.051443],[-0.114669,-0.063552,0.991369]] 2025-10-28T21:26:46.855Z,1761686806.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606975,0.781860,0.142394],[-0.788686,0.614658,-0.013085],[-0.097754,-0.104361,0.989724]] 2025-10-28T21:26:47.261Z,1761686807.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651535,0.748125,0.125745],[-0.756822,0.652401,0.039911],[-0.052178,-0.121170,0.991259]] 2025-10-28T21:26:47.661Z,1761686807.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670055,0.741020,0.043769],[-0.740920,0.664027,0.100530],[0.045431,-0.099790,0.993971]] 2025-10-28T21:26:48.063Z,1761686808.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652344,0.757715,-0.017752],[-0.746671,0.646504,0.156574],[0.130115,-0.088885,0.987507]] 2025-10-28T21:26:48.479Z,1761686808.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607094,0.793609,0.040258],[-0.790528,0.598044,0.131941],[0.080634,-0.111926,0.990440]] 2025-10-28T21:26:48.873Z,1761686808.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594126,0.801049,0.073041],[-0.801677,0.582262,0.135226],[0.065794,-0.138897,0.988119]] 2025-10-28T21:26:49.275Z,1761686809.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615016,0.787530,0.039389],[-0.783346,0.604513,0.144681],[0.090130,-0.119836,0.988694]] 2025-10-28T21:26:49.678Z,1761686809.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629517,0.772328,-0.084957],[-0.761036,0.634938,0.132957],[0.156629,-0.019043,0.987474]] 2025-10-28T21:26:50.083Z,1761686810.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595742,0.781248,-0.186395],[-0.774898,0.620113,0.122446],[0.211247,0.071491,0.974815]] 2025-10-28T21:26:50.494Z,1761686810.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581077,0.803235,-0.131007],[-0.799338,0.593535,0.093671],[0.152997,0.050289,0.986946]] 2025-10-28T21:26:50.890Z,1761686810.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559278,0.828980,-0.000135],[-0.824735,0.556431,0.100983],[0.083788,-0.056366,0.994888]] 2025-10-28T21:26:51.295Z,1761686811.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553244,0.830248,0.067890],[-0.823853,0.533280,0.192040],[0.123236,-0.162176,0.979036]] 2025-10-28T21:26:51.699Z,1761686811.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557326,0.829645,0.032809],[-0.812138,0.536495,0.229358],[0.172683,-0.154473,0.972789]] 2025-10-28T21:26:52.104Z,1761686812.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552662,0.833045,0.024493],[-0.816208,0.535084,0.217922],[0.168433,-0.140429,0.975659]] 2025-10-28T21:26:52.507Z,1761686812.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568719,0.822407,0.014335],[-0.808504,0.555729,0.193616],[0.151265,-0.121703,0.980973]] 2025-10-28T21:26:52.911Z,1761686812.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548843,0.834814,-0.043095],[-0.815942,0.546215,0.189441],[0.181687,-0.068811,0.980946]] 2025-10-28T21:26:53.315Z,1761686813.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493878,0.868477,-0.042818],[-0.850636,0.492769,0.183292],[0.180285,-0.054101,0.982126]] 2025-10-28T21:26:53.720Z,1761686813.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485110,0.873644,0.037597],[-0.867797,0.475678,0.143733],[0.107688,-0.102353,0.988902]] 2025-10-28T21:26:53.725Z,1761686813.725 [NAL9602](INFO): SBD MO Status=0, MOMSN=3358, MT Status=0, MTMSN=0 2025-10-28T21:26:53.725Z,1761686813.725 [NAL9602](INFO): No messages in MT queue 2025-10-28T21:26:54.123Z,1761686814.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484363,0.864558,0.133909],[-0.874809,0.480382,0.062788],[-0.010044,-0.147557,0.989002]] 2025-10-28T21:26:54.527Z,1761686814.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474907,0.860296,0.185347],[-0.879345,0.472232,0.061225],[-0.034855,-0.192060,0.980764]] 2025-10-28T21:26:54.931Z,1761686814.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485972,0.859002,0.161081],[-0.873973,0.477993,0.087716],[-0.001648,-0.183408,0.983035]] 2025-10-28T21:26:54.940Z,1761686814.940 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212654.00,A,3645.47709,N,12151.70871,W,1.536,251.74,281025,,,A*74 2025-10-28T21:26:54.943Z,1761686814.943 [NAL9602](INFO): GPS fix at 20251028T212654: (36.757951, -121.861812) 2025-10-28T21:26:54.963Z,1761686814.963 [UniversalFixResidualReporter](INFO): Fix residual: 3.0 %DT, over the last 1020.8 m. Residual distance 30.3 m at bearing 48.4 degrees. Fix at (36.7579, -121.8618) with 111.1 m made good. 2025-10-28T21:26:55.007Z,1761686815.007 [marl:NeedComms:C] Stopped 2025-10-28T21:26:55.007Z,1761686815.007 [marl:NeedComms:D] Running Loop=1 2025-10-28T21:26:55.017Z,1761686815.017 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761686784.00. Resetting abort timer. 2025-10-28T21:26:55.337Z,1761686815.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448610,0.881713,0.146052],[-0.892529,0.450445,0.022145],[-0.046264,-0.140290,0.989029]] 2025-10-28T21:26:55.739Z,1761686815.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424824,0.894234,0.140963],[-0.899573,0.434450,-0.044969],[-0.101454,-0.107703,0.988993]] 2025-10-28T21:26:56.142Z,1761686816.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440376,0.895526,0.064049],[-0.897125,0.441710,-0.007655],[-0.035146,-0.054089,0.997917]] 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed] Stopped 2025-10-28T21:26:56.190Z,1761686816.190 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:26:56.551Z,1761686816.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439583,0.897871,-0.024370],[-0.896226,0.440253,0.054364],[0.059541,-0.002056,0.998224]] 2025-10-28T21:26:56.958Z,1761686816.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402796,0.914330,-0.041912],[-0.912657,0.404686,0.057318],[0.069369,0.015164,0.997476]] 2025-10-28T21:26:57.355Z,1761686817.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403956,0.914702,-0.011851],[-0.911961,0.403694,0.073205],[0.071745,-0.018764,0.997247]] 2025-10-28T21:26:57.761Z,1761686817.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421347,0.906885,-0.005098],[-0.900105,0.418871,0.119828],[0.110806,-0.045901,0.992782]] 2025-10-28T21:26:58.166Z,1761686818.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423951,0.904288,0.050287],[-0.897738,0.412244,0.155311],[0.119715,-0.110989,0.986585]] 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateRudder:A] Stopped 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:26:58.233Z,1761686818.233 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode] Stopped 2025-10-28T21:26:58.234Z,1761686818.234 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:26:58.566Z,1761686818.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393407,0.909636,0.133392],[-0.914479,0.372239,0.158637],[0.094648,-0.184393,0.978285]] 2025-10-28T21:26:58.972Z,1761686818.972 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:26:58.972Z,1761686818.972 [marl:UpdateRudder:B] Stopped 2025-10-28T21:26:58.972Z,1761686818.972 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:26:58.972Z,1761686818.972 [marl:UpdateRudder] Stopped 2025-10-28T21:26:58.972Z,1761686818.972 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:26:59.049Z,1761686819.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366359,0.915163,0.168100],[-0.922448,0.333547,0.194514],[0.121943,-0.226326,0.966388]] 2025-10-28T21:27:01.237Z,1761686821.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400253,0.915139,-0.048153],[-0.890029,0.400712,0.217437],[0.218280,-0.044172,0.974886]] 2025-10-28T21:27:01.615Z,1761686821.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396376,0.917386,0.035899],[-0.901849,0.381745,0.202335],[0.171915,-0.112577,0.978658]] 2025-10-28T21:27:02.025Z,1761686822.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404994,0.909471,0.094033],[-0.895577,0.373872,0.241169],[0.184180,-0.181886,0.965917]] 2025-10-28T21:27:02.427Z,1761686822.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420748,0.900083,0.113232],[-0.887910,0.383003,0.254803],[0.185976,-0.207747,0.960341]] 2025-10-28T21:27:02.827Z,1761686822.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425775,0.896585,0.121869],[-0.896478,0.399743,0.191137],[0.122654,-0.190635,0.973968]] 2025-10-28T21:27:03.230Z,1761686823.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411493,0.907779,0.081308],[-0.902945,0.393912,0.171822],[0.123948,-0.144120,0.981767]] 2025-10-28T21:27:03.636Z,1761686823.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427459,0.903699,0.024641],[-0.893659,0.418279,0.162535],[0.136576,-0.091497,0.986395]] 2025-10-28T21:27:04.041Z,1761686824.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427397,0.903619,0.028342],[-0.899618,0.421981,0.112338],[0.089551,-0.073510,0.993266]] 2025-10-28T21:27:04.453Z,1761686824.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402966,0.912934,0.064575],[-0.913680,0.397202,0.086143],[0.052994,-0.093714,0.994188]] 2025-10-28T21:27:04.846Z,1761686824.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419749,0.904726,0.072678],[-0.902231,0.407178,0.142076],[0.098947,-0.125208,0.987184]] 2025-10-28T21:27:05.252Z,1761686825.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429395,0.902229,0.040024],[-0.893663,0.418087,0.163001],[0.130331,-0.105760,0.985814]] 2025-10-28T21:27:05.655Z,1761686825.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435964,0.899095,0.039548],[-0.896367,0.429877,0.108318],[0.080388,-0.082672,0.993329]] 2025-10-28T21:27:06.069Z,1761686826.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414570,0.900630,0.130374],[-0.908510,0.417857,0.002344],[-0.052366,-0.119418,0.991462]] 2025-10-28T21:27:06.874Z,1761686826.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387296,0.902613,0.187859],[-0.919780,0.364289,0.145937],[0.063289,-0.229310,0.971294]] 2025-10-28T21:27:07.275Z,1761686827.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380765,0.909425,0.167225],[-0.917230,0.348573,0.192837],[0.117081,-0.226809,0.966876]] 2025-10-28T21:27:07.679Z,1761686827.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419915,0.893418,0.159612],[-0.905199,0.399605,0.144678],[0.065477,-0.205233,0.976521]] 2025-10-28T21:27:08.085Z,1761686828.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455827,0.873875,0.169007],[-0.886617,0.462504,-0.000155],[-0.078302,-0.149773,0.985615]] 2025-10-28T21:27:08.133Z,1761686828.133 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:27:08.257Z,1761686828.257 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:27:08.257Z,1761686828.257 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:27:08.492Z,1761686828.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423467,0.896802,0.128145],[-0.902544,0.429837,-0.025602],[-0.078042,-0.104815,0.991425]] 2025-10-28T21:27:08.509Z,1761686828.509 [DAT](INFO): DAT read: user:307> 2025-10-28T21:27:08.510Z,1761686828.510 [DAT](INFO): DAT read: Tx time:21:27:08.2537 2025-10-28T21:27:08.510Z,1761686828.510 [DAT](INFO): Ping request sent. 2025-10-28T21:27:08.510Z,1761686828.510 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:27:08.510Z,1761686828.510 [DAT](INFO): publishing transmit ping time 2025-10-28T21:27:08.511Z,1761686828.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930 2025-10-28T21:27:08.761Z,1761686828.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251349 2025-10-28T21:27:08.887Z,1761686828.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416229,0.904874,0.089201],[-0.902800,0.399605,0.158957],[0.108191,-0.146693,0.983248]] 2025-10-28T21:27:09.013Z,1761686829.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502794 2025-10-28T21:27:09.269Z,1761686829.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758550 2025-10-28T21:27:09.290Z,1761686829.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450381,0.882987,0.132256],[-0.874066,0.405833,0.267035],[0.182115,-0.235868,0.954568]] 2025-10-28T21:27:09.517Z,1761686829.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006963 2025-10-28T21:27:09.696Z,1761686829.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501209,0.843983,0.191005],[-0.857301,0.454319,0.242135],[0.117581,-0.285108,0.951256]] 2025-10-28T21:27:09.769Z,1761686829.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259103 2025-10-28T21:27:10.021Z,1761686830.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791 2025-10-28T21:27:10.101Z,1761686830.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510675,0.831308,0.219403],[-0.859761,0.492382,0.135538],[0.004644,-0.257850,0.966174]] 2025-10-28T21:27:10.273Z,1761686830.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822 2025-10-28T21:27:10.503Z,1761686830.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526052,0.830273,0.184162],[-0.847348,0.530181,0.030156],[-0.072602,-0.171912,0.982433]] 2025-10-28T21:27:10.514Z,1761686830.514 [NAL9602](INFO): SBD MO Status=1, MOMSN=3359, MT Status=0, MTMSN=0 2025-10-28T21:27:10.533Z,1761686830.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022652 2025-10-28T21:27:10.572Z,1761686830.572 [NAL9602](INFO): Sent 83 bytes from file Logs/20251028T162422/Courier0057.lzma 2025-10-28T21:27:10.573Z,1761686830.573 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:27:10.781Z,1761686830.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271136 2025-10-28T21:27:10.907Z,1761686830.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567629,0.818195,0.091400],[-0.821257,0.570518,-0.006851],[-0.057751,-0.071174,0.995791]] 2025-10-28T21:27:11.033Z,1761686831.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522814 2025-10-28T21:27:11.285Z,1761686831.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883 2025-10-28T21:27:11.538Z,1761686831.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027540 2025-10-28T21:27:11.745Z,1761686831.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544330,0.838033,-0.037487],[-0.836583,0.545601,0.049475],[0.061915,0.004431,0.998072]] 2025-10-28T21:27:11.789Z,1761686831.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279265 2025-10-28T21:27:11.803Z,1761686831.803 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:27:11.803Z,1761686831.803 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:27:11.803Z,1761686831.803 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:27:11.804Z,1761686831.804 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:27:11.804Z,1761686831.804 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:27:11.804Z,1761686831.804 [marl:UpdateSpeed] Stopped 2025-10-28T21:27:11.804Z,1761686831.804 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:27:12.041Z,1761686832.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530766 2025-10-28T21:27:12.135Z,1761686832.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547688,0.834917,0.054328],[-0.836565,0.545369,0.052256],[0.014000,-0.074069,0.997155]] 2025-10-28T21:27:12.293Z,1761686832.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782778 2025-10-28T21:27:12.545Z,1761686832.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034790 2025-10-28T21:27:12.797Z,1761686832.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286789 2025-10-28T21:27:13.049Z,1761686833.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538779 2025-10-28T21:27:13.301Z,1761686833.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790911 2025-10-28T21:27:13.553Z,1761686833.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042863 2025-10-28T21:27:13.806Z,1761686833.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295595 2025-10-28T21:27:14.057Z,1761686834.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546763 2025-10-28T21:27:14.297Z,1761686834.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574387,0.814646,0.080197],[-0.811240,0.579589,-0.077241],[-0.109405,-0.020693,0.993782]] 2025-10-28T21:27:14.309Z,1761686834.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798878 2025-10-28T21:27:14.561Z,1761686834.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050788 2025-10-28T21:27:14.600Z,1761686834.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:27:14.683Z,1761686834.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577554,0.815740,-0.031606],[-0.815609,0.578248,0.020305],[0.034840,0.014051,0.999294]] 2025-10-28T21:27:14.813Z,1761686834.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302808 2025-10-28T21:27:15.065Z,1761686835.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554740 2025-10-28T21:27:15.086Z,1761686835.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569934,0.817885,-0.078995],[-0.806824,0.575235,0.134686],[0.155598,-0.013027,0.987735]] 2025-10-28T21:27:15.317Z,1761686835.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806781 2025-10-28T21:27:15.495Z,1761686835.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588479,0.808494,0.005460],[-0.800526,0.581707,0.144136],[0.113357,-0.089192,0.989543]] 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateRudder:A] Stopped 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:27:15.550Z,1761686835.550 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:27:15.551Z,1761686835.551 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:27:15.551Z,1761686835.551 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:27:15.551Z,1761686835.551 [marl:UpdateCommandMode] Stopped 2025-10-28T21:27:15.551Z,1761686835.551 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:27:15.577Z,1761686835.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066866 2025-10-28T21:27:15.604Z,1761686835.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:27:15.830Z,1761686835.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319922 2025-10-28T21:27:15.903Z,1761686835.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604546,0.784523,0.138014],[-0.796524,0.593502,0.115348],[0.008582,-0.179664,0.983691]] 2025-10-28T21:27:15.955Z,1761686835.955 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:27:15.956Z,1761686835.956 [marl:UpdateRudder:B] Stopped 2025-10-28T21:27:15.956Z,1761686835.956 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:27:15.956Z,1761686835.956 [marl:UpdateRudder] Stopped 2025-10-28T21:27:15.956Z,1761686835.956 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:27:16.081Z,1761686836.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570829 2025-10-28T21:27:16.300Z,1761686836.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561639,0.802702,0.200575],[-0.827362,0.546555,0.129418],[-0.005741,-0.238634,0.971093]] 2025-10-28T21:27:16.333Z,1761686836.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823046 2025-10-28T21:27:16.585Z,1761686836.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074713 2025-10-28T21:27:16.703Z,1761686836.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560562,0.812323,0.160936],[-0.825674,0.533352,0.183844],[0.063505,-0.235937,0.969691]] 2025-10-28T21:27:16.837Z,1761686836.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326930 2025-10-28T21:27:17.089Z,1761686837.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578819 2025-10-28T21:27:17.107Z,1761686837.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582820,0.797232,0.157296],[-0.812257,0.577191,0.084203],[-0.023661,-0.176840,0.983955]] 2025-10-28T21:27:17.341Z,1761686837.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830777 2025-10-28T21:27:17.510Z,1761686837.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611089,0.782846,0.117140],[-0.785108,0.618292,-0.036333],[-0.100870,-0.069764,0.992451]] 2025-10-28T21:27:17.593Z,1761686837.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082886 2025-10-28T21:27:17.845Z,1761686837.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334825 2025-10-28T21:27:17.922Z,1761686837.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626366,0.779464,0.010131],[-0.777967,0.625880,-0.055155],[-0.049332,0.026666,0.998426]] 2025-10-28T21:27:18.097Z,1761686838.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586752 2025-10-28T21:27:18.319Z,1761686838.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593616,0.803947,-0.035911],[-0.804430,0.591534,-0.054597],[-0.022651,0.061298,0.997863]] 2025-10-28T21:27:18.349Z,1761686838.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838869 2025-10-28T21:27:18.601Z,1761686838.601 [DAT](INFO): Reached modem response timeout 2025-10-28T21:27:18.723Z,1761686838.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599717,0.800207,0.002717],[-0.800058,0.599665,-0.017580],[-0.015697,0.008369,0.999842]] 2025-10-28T21:27:19.141Z,1761686839.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635081,0.772326,0.013587],[-0.769944,0.631511,0.091544],[0.062121,-0.068599,0.995708]] 2025-10-28T21:27:19.535Z,1761686839.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626068,0.779667,0.012624],[-0.773462,0.618868,0.136967],[0.098976,-0.095514,0.990495]] 2025-10-28T21:27:19.936Z,1761686839.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601949,0.796466,0.057443],[-0.797899,0.597040,0.083075],[0.031871,-0.095841,0.994886]] 2025-10-28T21:27:20.425Z,1761686840.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603480,0.797211,0.016317],[-0.796485,0.601709,0.059645],[0.037731,-0.048991,0.998086]] 2025-10-28T21:27:20.841Z,1761686840.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581192,0.812848,-0.038650],[-0.811563,0.582457,0.045919],[0.059837,0.004679,0.998197]] 2025-10-28T21:27:20.869Z,1761686840.869 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:27:20.869Z,1761686840.869 [DAT](INFO): response not received 2025-10-28T21:27:20.869Z,1761686840.869 [DAT](ERROR): No response from remote modem. 2025-10-28T21:27:21.219Z,1761686841.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538712,0.842482,-0.003516],[-0.842465,0.538724,0.005497],[0.006525,0.000001,0.999979]] 2025-10-28T21:27:21.739Z,1761686841.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591940,0.805964,0.005356],[-0.804461,0.590402,0.065330],[0.049491,-0.042980,0.997849]] 2025-10-28T21:27:22.355Z,1761686842.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536999,0.837461,-0.101441],[-0.824252,0.546482,0.148210],[0.179556,0.004024,0.983739]] 2025-10-28T21:27:22.763Z,1761686842.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471423,0.875883,-0.102909],[-0.860071,0.482415,0.165991],[0.195034,0.010257,0.980743]] 2025-10-28T21:27:23.196Z,1761686843.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466448,0.884481,-0.010916],[-0.876478,0.463819,0.129068],[0.119221,-0.050636,0.991576]] 2025-10-28T21:27:23.567Z,1761686843.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468331,0.881409,0.061524],[-0.883394,0.465789,0.051523],[0.016756,-0.078480,0.996775]] 2025-10-28T21:27:23.971Z,1761686843.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465624,0.878123,0.109972],[-0.884977,0.462477,0.054146],[-0.003312,-0.122534,0.992459]] 2025-10-28T21:27:23.983Z,1761686843.983 [NAL9602](INFO): SBD MO Status=1, MOMSN=3360, MT Status=0, MTMSN=0 2025-10-28T21:27:24.032Z,1761686844.032 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0058.lzma 2025-10-28T21:27:24.032Z,1761686844.032 [NAL9602](INFO): Packets left to send: 1 2025-10-28T21:27:24.376Z,1761686844.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466331,0.880343,0.086781],[-0.881424,0.454093,0.129964],[0.075007,-0.137097,0.987714]] 2025-10-28T21:27:25.215Z,1761686845.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354755,0.923255,0.147476],[-0.934959,0.350326,0.055880],[-0.000073,-0.157707,0.987486]] 2025-10-28T21:27:25.610Z,1761686845.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370958,0.916509,0.149669],[-0.927563,0.373474,0.011988],[-0.044910,-0.143275,0.988663]] 2025-10-28T21:27:27.772Z,1761686847.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268700,0.944352,0.189735],[-0.958071,0.241679,0.153921],[0.099501,-0.223139,0.969695]] 2025-10-28T21:27:28.140Z,1761686848.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256805,0.959698,0.114152],[-0.966351,0.256782,0.015160],[-0.014763,-0.114204,0.993348]] 2025-10-28T21:27:28.555Z,1761686848.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173421,0.973711,0.147687],[-0.984837,0.170768,0.030556],[0.004532,-0.150746,0.988562]] 2025-10-28T21:27:28.948Z,1761686848.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232890,0.952735,0.195085],[-0.972255,0.223564,0.068849],[0.021981,-0.205707,0.978367]] 2025-10-28T21:27:28.986Z,1761686848.986 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed] Stopped 2025-10-28T21:27:28.987Z,1761686848.987 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:27:29.350Z,1761686849.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279743,0.941414,0.188371],[-0.959981,0.271536,0.068588],[0.013420,-0.200019,0.979700]] 2025-10-28T21:27:29.762Z,1761686849.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267888,0.953536,0.137859],[-0.961401,0.255239,0.102771],[0.062809,-0.160069,0.985106]] 2025-10-28T21:27:30.163Z,1761686850.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264486,0.959455,0.097435],[-0.960142,0.252502,0.119873],[0.090410,-0.125256,0.987996]] 2025-10-28T21:27:30.562Z,1761686850.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269304,0.952990,0.138869],[-0.963041,0.265711,0.044154],[0.005179,-0.145628,0.989326]] 2025-10-28T21:27:30.968Z,1761686850.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270322,0.949568,0.158892],[-0.962754,0.267563,0.038920],[-0.005556,-0.163495,0.986529]] 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateRudder:A] Stopped 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:27:31.009Z,1761686851.009 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode] Stopped 2025-10-28T21:27:31.010Z,1761686851.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:27:31.371Z,1761686851.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268660,0.954454,0.129768],[-0.960779,0.255918,0.106819],[0.068744,-0.153376,0.985774]] 2025-10-28T21:27:31.452Z,1761686851.452 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:27:31.453Z,1761686851.453 [marl:UpdateRudder:B] Stopped 2025-10-28T21:27:31.453Z,1761686851.453 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:27:31.453Z,1761686851.453 [marl:UpdateRudder] Stopped 2025-10-28T21:27:31.453Z,1761686851.453 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:27:31.783Z,1761686851.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293525,0.949222,0.113229],[-0.948387,0.274281,0.159159],[0.120020,-0.154102,0.980738]] 2025-10-28T21:27:32.178Z,1761686852.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302087,0.946808,0.110894],[-0.947392,0.285274,0.145143],[0.105788,-0.148906,0.983177]] 2025-10-28T21:27:32.584Z,1761686852.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293677,0.948477,0.118931],[-0.954057,0.283099,0.098137],[0.059411,-0.142288,0.988041]] 2025-10-28T21:27:32.990Z,1761686852.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306879,0.943593,0.124325],[-0.950001,0.295778,0.100068],[0.057651,-0.148817,0.987183]] 2025-10-28T21:27:33.397Z,1761686853.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309245,0.948229,0.072313],[-0.944547,0.297432,0.139158],[0.110446,-0.111337,0.987626]] 2025-10-28T21:27:33.801Z,1761686853.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292951,0.951920,0.089599],[-0.952070,0.281800,0.118957],[0.087989,-0.120153,0.988848]] 2025-10-28T21:27:34.221Z,1761686854.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311945,0.930613,0.191443],[-0.949915,0.309469,0.043491],[-0.018772,-0.195421,0.980540]] 2025-10-28T21:27:34.603Z,1761686854.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280832,0.924787,0.256715],[-0.959067,0.280547,0.038528],[-0.036390,-0.257026,0.965719]] 2025-10-28T21:27:35.007Z,1761686855.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250063,0.928273,0.275278],[-0.968157,0.236259,0.082783],[0.011809,-0.287213,0.957794]] 2025-10-28T21:27:35.412Z,1761686855.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272164,0.929063,0.250536],[-0.961677,0.271611,0.037481],[-0.033226,-0.251135,0.967382]] 2025-10-28T21:27:35.417Z,1761686855.417 [NAL9602](INFO): SBD MO Status=1, MOMSN=3361, MT Status=0, MTMSN=0 2025-10-28T21:27:35.472Z,1761686855.472 [NAL9602](INFO): Sent 147 bytes from file Logs/20251028T162422/Express0058.lzma 2025-10-28T21:27:35.472Z,1761686855.472 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:27:35.823Z,1761686855.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304583,0.940700,0.149372],[-0.951869,0.306263,0.012194],[-0.034276,-0.145896,0.988706]] 2025-10-28T21:27:36.479Z,1761686856.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339789,0.940502,-0.000101],[-0.939156,0.339309,0.053432],[0.050287,-0.018061,0.998571]] 2025-10-28T21:27:36.889Z,1761686856.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341237,0.935736,-0.089197],[-0.934882,0.347723,0.071311],[0.097744,0.059054,0.993458]] 2025-10-28T21:27:37.286Z,1761686857.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297825,0.953214,-0.051798],[-0.951442,0.300820,0.065306],[0.077832,0.029833,0.996520]] 2025-10-28T21:27:37.692Z,1761686857.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256353,0.962956,0.083656],[-0.966365,0.253495,0.043346],[0.020534,-0.091954,0.995552]] 2025-10-28T21:27:38.102Z,1761686858.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272757,0.940763,0.201416],[-0.961854,0.271214,0.035771],[-0.020975,-0.203489,0.978852]] 2025-10-28T21:27:38.505Z,1761686858.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304524,0.943242,0.132515],[-0.952401,0.299479,0.056964],[0.014045,-0.143554,0.989543]] 2025-10-28T21:27:38.909Z,1761686858.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306271,0.951136,0.039225],[-0.947513,0.300615,0.108859],[0.091748,-0.070506,0.993283]] 2025-10-28T21:27:39.312Z,1761686859.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292727,0.955618,-0.033248],[-0.936378,0.293529,0.192448],[0.193666,-0.025202,0.980744]] 2025-10-28T21:27:39.717Z,1761686859.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272580,0.961698,0.028918],[-0.952579,0.265526,0.148624],[0.135253,-0.068059,0.988471]] 2025-10-28T21:27:40.117Z,1761686860.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269720,0.954800,0.124934],[-0.962435,0.263106,0.067031],[0.031130,-0.138321,0.989898]] 2025-10-28T21:27:40.519Z,1761686860.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245628,0.958165,0.146922],[-0.969286,0.240849,0.049760],[0.012292,-0.154632,0.987896]] 2025-10-28T21:27:40.923Z,1761686860.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226052,0.963362,0.144338],[-0.969413,0.207936,0.130386],[0.095596,-0.169397,0.980901]] 2025-10-28T21:27:41.329Z,1761686861.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253192,0.959592,0.122792],[-0.960008,0.233543,0.154413],[0.119496,-0.156978,0.980346]] 2025-10-28T21:27:41.731Z,1761686861.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264959,0.961334,0.075062],[-0.961514,0.257532,0.095753],[0.072720,-0.097544,0.992571]] 2025-10-28T21:27:42.135Z,1761686862.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246078,0.968435,0.039733],[-0.968450,0.244003,0.050673],[0.039378,-0.050948,0.997925]] 2025-10-28T21:27:42.541Z,1761686862.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222424,0.974010,0.042792],[-0.970286,0.216859,0.107317],[0.095248,-0.065390,0.993304]] 2025-10-28T21:27:42.547Z,1761686862.547 [NAL9602](INFO): SBD MO Status=0, MOMSN=3362, MT Status=0, MTMSN=0 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed] Stopped 2025-10-28T21:27:42.651Z,1761686862.651 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:27:42.653Z,1761686862.653 [marl:NeedComms:D] Stopped 2025-10-28T21:27:42.653Z,1761686862.653 [marl:NeedComms:E] Running Loop=1 2025-10-28T21:27:42.942Z,1761686862.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223356,0.972960,0.058835],[-0.959771,0.208990,0.187517],[0.170151,-0.098351,0.980498]] 2025-10-28T21:27:43.346Z,1761686863.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223190,0.971376,0.081330],[-0.948124,0.196954,0.249538],[0.226377,-0.132805,0.964944]] 2025-10-28T21:27:43.750Z,1761686863.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251611,0.964193,0.083808],[-0.930407,0.217127,0.295296],[0.266525,-0.152275,0.951723]] 2025-10-28T21:27:44.155Z,1761686864.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263591,0.963429,0.048210],[-0.942814,0.246737,0.224102],[0.204011,-0.104525,0.973372]] 2025-10-28T21:27:44.560Z,1761686864.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249975,0.967033,0.048571],[-0.960445,0.241290,0.139011],[0.122709,-0.081399,0.989099]] 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateRudder:A] Stopped 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:27:44.607Z,1761686864.607 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:27:44.628Z,1761686864.628 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:27:44.628Z,1761686864.628 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:27:44.628Z,1761686864.628 [marl:UpdateCommandMode] Stopped 2025-10-28T21:27:44.628Z,1761686864.628 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:27:44.963Z,1761686864.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296544,0.954368,0.035265],[-0.945244,0.288039,0.153452],[0.136291,-0.078840,0.987527]] 2025-10-28T21:27:44.982Z,1761686864.982 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212744.00,A,3645.47012,N,12151.71150,W,0.680,179.44,281025,,,A*77 2025-10-28T21:27:44.984Z,1761686864.984 [NAL9602](INFO): GPS fix at 20251028T212744: (36.757835, -121.861858) 2025-10-28T21:27:45.005Z,1761686865.005 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:27:45.005Z,1761686865.005 [marl:UpdateRudder:B] Stopped 2025-10-28T21:27:45.005Z,1761686865.005 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:27:45.006Z,1761686865.006 [marl:UpdateRudder] Stopped 2025-10-28T21:27:45.006Z,1761686865.006 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:27:45.007Z,1761686865.007 [marl:NeedComms:E] Stopped 2025-10-28T21:27:45.007Z,1761686865.007 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T21:27:45.008Z,1761686865.008 [marl:NeedComms] Stopped 2025-10-28T21:27:45.008Z,1761686865.008 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T21:27:45.008Z,1761686865.008 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T21:27:45.008Z,1761686865.008 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T21:27:45.009Z,1761686865.009 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761686912.00. Resetting abort timer. 2025-10-28T21:27:45.373Z,1761686865.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284919,0.958484,0.011371],[-0.952240,0.281663,0.117920],[0.109822,-0.044426,0.992958]] 2025-10-28T21:27:45.724Z,1761686865.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:27:45.782Z,1761686865.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246195,0.967200,0.062550],[-0.966977,0.240724,0.083714],[0.065911,-0.081094,0.994525]] 2025-10-28T21:27:45.795Z,1761686865.795 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm. 2025-10-28T21:27:46.175Z,1761686866.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266480,0.958187,0.104242],[-0.960354,0.254768,0.113193],[0.081903,-0.130273,0.988090]] 2025-10-28T21:27:46.579Z,1761686866.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323660,0.941172,0.097157],[-0.937765,0.305428,0.165259],[0.125862,-0.144598,0.981453]] 2025-10-28T21:27:46.728Z,1761686866.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:27:46.982Z,1761686866.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336533,0.937679,0.086630],[-0.940218,0.329477,0.086229],[0.052313,-0.110470,0.992502]] 2025-10-28T21:27:47.390Z,1761686867.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291160,0.949909,0.113573],[-0.956096,0.293054,0.000018],[-0.033266,-0.108592,0.993530]] 2025-10-28T21:27:47.796Z,1761686867.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268530,0.953169,0.139140],[-0.963051,0.262563,0.059949],[0.020608,-0.150097,0.988456]] 2025-10-28T21:27:48.194Z,1761686868.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269719,0.955146,0.122260],[-0.956821,0.251547,0.145665],[0.108377,-0.156270,0.981751]] 2025-10-28T21:27:48.600Z,1761686868.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290673,0.951945,0.096486],[-0.954295,0.281103,0.101499],[0.069499,-0.121579,0.990146]] 2025-10-28T21:27:49.003Z,1761686869.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316735,0.944150,0.090883],[-0.948509,0.315602,0.026959],[-0.003229,-0.094742,0.995497]] 2025-10-28T21:27:49.409Z,1761686869.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347146,0.936303,0.053162],[-0.936853,0.343673,0.064771],[0.042374,-0.072290,0.996483]] 2025-10-28T21:27:49.810Z,1761686869.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357577,0.933739,-0.016455],[-0.925776,0.356734,0.125216],[0.122789,-0.029541,0.991993]] 2025-10-28T21:27:50.215Z,1761686870.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325510,0.945341,-0.019326],[-0.930787,0.323961,0.169368],[0.166371,-0.037142,0.985363]] 2025-10-28T21:27:50.625Z,1761686870.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283107,0.956379,0.072040],[-0.946210,0.266248,0.183846],[0.156646,-0.120213,0.980312]] 2025-10-28T21:27:51.024Z,1761686871.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281641,0.937904,0.202522],[-0.950744,0.244298,0.190797],[0.129474,-0.246283,0.960511]] 2025-10-28T21:27:51.427Z,1761686871.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336827,0.907413,0.251294],[-0.936711,0.295865,0.187181],[0.095502,-0.298437,0.949639]] 2025-10-28T21:27:51.830Z,1761686871.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342290,0.923659,0.172314],[-0.933831,0.314138,0.171107],[0.103914,-0.219481,0.970067]] 2025-10-28T21:27:52.237Z,1761686872.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304185,0.950000,0.070505],[-0.938678,0.286299,0.192137],[0.162345,-0.124627,0.978832]] 2025-10-28T21:27:52.645Z,1761686872.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293468,0.955372,0.033772],[-0.936023,0.279987,0.213235],[0.194263,-0.094189,0.976417]] 2025-10-28T21:27:53.042Z,1761686873.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297605,0.952109,0.070138],[-0.943144,0.281820,0.176230],[0.148024,-0.118597,0.981847]] 2025-10-28T21:27:53.451Z,1761686873.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311664,0.943550,0.112153],[-0.947331,0.299401,0.113676],[0.073680,-0.141675,0.987167]] 2025-10-28T21:27:53.863Z,1761686873.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276502,0.951155,0.137295],[-0.957448,0.260355,0.124533],[0.082705,-0.165887,0.982671]] 2025-10-28T21:27:54.255Z,1761686874.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267267,0.944281,0.192096],[-0.963018,0.254680,0.087944],[0.034121,-0.208496,0.977428]] 2025-10-28T21:27:54.660Z,1761686874.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296824,0.929720,0.217982],[-0.954835,0.292221,0.053832],[-0.013651,-0.224116,0.974467]] 2025-10-28T21:27:55.063Z,1761686875.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283132,0.949167,0.137546],[-0.957734,0.272215,0.092974],[0.050806,-0.158056,0.986122]] 2025-10-28T21:27:55.573Z,1761686875.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272732,0.957810,0.090650],[-0.953942,0.256982,0.154777],[0.124951,-0.128687,0.983782]] 2025-10-28T21:27:56.382Z,1761686876.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270396,0.932305,0.240195],[-0.961071,0.246662,0.124504],[0.056829,-0.264510,0.962707]] 2025-10-28T21:27:56.473Z,1761686876.473 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:27:56.473Z,1761686876.473 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:27:56.473Z,1761686876.473 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:27:56.474Z,1761686876.474 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:27:56.474Z,1761686876.474 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:27:56.474Z,1761686876.474 [marl:UpdateSpeed] Stopped 2025-10-28T21:27:56.474Z,1761686876.474 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:27:56.738Z,1761686876.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276866,0.917414,0.285826],[-0.960668,0.270925,0.060968],[-0.021505,-0.291463,0.956340]] 2025-10-28T21:27:57.230Z,1761686877.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269039,0.932487,0.241009],[-0.962082,0.271863,0.022111],[-0.044903,-0.237819,0.970271]] 2025-10-28T21:27:57.642Z,1761686877.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244832,0.956454,0.158914],[-0.969077,0.236197,0.071419],[0.030774,-0.171486,0.984706]] 2025-10-28T21:27:58.043Z,1761686878.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253818,0.960566,0.113532],[-0.961652,0.237992,0.136328],[0.103932,-0.143781,0.984137]] 2025-10-28T21:27:58.447Z,1761686878.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305894,0.935765,0.175422],[-0.947719,0.281696,0.149923],[0.090877,-0.212111,0.973011]] 2025-10-28T21:27:58.473Z,1761686878.473 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:27:58.473Z,1761686878.473 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:27:58.473Z,1761686878.473 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:27:58.473Z,1761686878.473 [marl:UpdateRudder:A] Stopped 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode] Stopped 2025-10-28T21:27:58.474Z,1761686878.474 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:27:58.864Z,1761686878.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238110,0.927785,0.287260],[-0.970674,0.217247,0.102933],[0.033094,-0.303345,0.952306]] 2025-10-28T21:27:58.889Z,1761686878.889 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:27:58.889Z,1761686878.889 [marl:UpdateRudder:B] Stopped 2025-10-28T21:27:58.889Z,1761686878.889 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:27:58.889Z,1761686878.889 [marl:UpdateRudder] Stopped 2025-10-28T21:27:58.889Z,1761686878.889 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:27:59.255Z,1761686879.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241426,0.903658,0.353716],[-0.970344,0.220273,0.099557],[0.012052,-0.367262,0.930040]] 2025-10-28T21:27:59.663Z,1761686879.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283300,0.914437,0.289042],[-0.958875,0.264645,0.102574],[0.017304,-0.306214,0.951805]] 2025-10-28T21:28:00.070Z,1761686880.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269359,0.948525,0.166569],[-0.962668,0.260393,0.073930],[0.026751,-0.180264,0.983254]] 2025-10-28T21:28:00.474Z,1761686880.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239658,0.968548,0.066929],[-0.965208,0.230270,0.123894],[0.104585,-0.094292,0.990036]] 2025-10-28T21:28:00.875Z,1761686880.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211373,0.972890,0.093839],[-0.967094,0.194268,0.164282],[0.141598,-0.125476,0.981940]] 2025-10-28T21:28:01.279Z,1761686881.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251400,0.957697,0.140053],[-0.957255,0.224636,0.182215],[0.143045,-0.179875,0.973233]] 2025-10-28T21:28:01.683Z,1761686881.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269914,0.960973,0.060648],[-0.959223,0.262866,0.103890],[0.083894,-0.086216,0.992738]] 2025-10-28T21:28:02.095Z,1761686882.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188442,0.978600,0.082658],[-0.978822,0.180294,0.096965],[0.079987,-0.099180,0.991849]] 2025-10-28T21:28:02.492Z,1761686882.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157788,0.958374,0.237953],[-0.984636,0.134446,0.111426],[0.074796,-0.251879,0.964864]] 2025-10-28T21:28:03.299Z,1761686883.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153913,0.928546,0.337805],[-0.987911,0.151024,0.034989],[-0.018527,-0.339107,0.940565]] 2025-10-28T21:28:03.710Z,1761686883.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116218,0.955572,0.270878],[-0.993223,0.111657,0.032245],[0.000567,-0.272790,0.962073]] 2025-10-28T21:28:04.106Z,1761686884.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121704,0.977402,0.172837],[-0.990492,0.108342,0.084780],[0.064139,-0.181512,0.981295]] 2025-10-28T21:28:04.512Z,1761686884.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145105,0.986005,0.082093],[-0.982948,0.134188,0.125722],[0.112946,-0.098936,0.988663]] 2025-10-28T21:28:04.915Z,1761686884.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115177,0.993135,0.020425],[-0.987205,0.112159,0.113340],[0.110271,-0.033218,0.993346]] 2025-10-28T21:28:05.722Z,1761686885.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023256,0.981812,0.188424],[-0.998466,0.013336,0.053744],[0.050254,-0.189385,0.980616]] 2025-10-28T21:28:06.131Z,1761686886.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037472,0.964100,0.262881],[-0.995673,0.013635,0.091919],[0.085035,-0.265188,0.960440]] 2025-10-28T21:28:06.538Z,1761686886.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010438,0.953094,0.302496],[-0.999928,-0.008160,-0.008793],[-0.005913,-0.302566,0.953110]] 2025-10-28T21:28:06.941Z,1761686886.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013889,0.975621,0.219024],[-0.997990,-0.000020,0.063374],[0.061834,-0.219464,0.973659]] 2025-10-28T21:28:07.352Z,1761686887.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005725,0.995927,0.089982],[-0.999652,0.003381,0.026175],[0.025764,-0.090101,0.995599]] 2025-10-28T21:28:07.746Z,1761686887.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059675,0.996461,0.059203],[-0.998149,-0.060262,0.008186],[0.011725,-0.058605,0.998212]] 2025-10-28T21:28:08.158Z,1761686888.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084489,0.988599,0.124635],[-0.993863,-0.092574,0.060557],[0.071405,-0.118754,0.990353]] 2025-10-28T21:28:08.198Z,1761686888.198 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:28:08.281Z,1761686888.281 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:28:08.281Z,1761686888.281 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:28:08.534Z,1761686888.534 [DAT](INFO): DAT read: user:308> 2025-10-28T21:28:08.535Z,1761686888.535 [DAT](INFO): DAT read: Tx time:21:28:08.2536 2025-10-28T21:28:08.535Z,1761686888.535 [DAT](INFO): Ping request sent. 2025-10-28T21:28:08.535Z,1761686888.535 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:28:08.535Z,1761686888.535 [DAT](INFO): publishing transmit ping time 2025-10-28T21:28:08.541Z,1761686888.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006163 2025-10-28T21:28:08.786Z,1761686888.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250482 2025-10-28T21:28:08.954Z,1761686888.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077057,0.955858,0.283546],[-0.994397,-0.094320,0.047721],[0.072359,-0.278280,0.957770]] 2025-10-28T21:28:09.038Z,1761686889.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502416 2025-10-28T21:28:09.289Z,1761686889.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753784 2025-10-28T21:28:09.359Z,1761686889.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089611,0.938721,0.332825],[-0.989854,-0.120936,0.074585],[0.110265,-0.322765,0.940034]] 2025-10-28T21:28:09.412Z,1761686889.412 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:28:09.412Z,1761686889.412 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:28:09.412Z,1761686889.412 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:28:09.412Z,1761686889.412 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:28:09.413Z,1761686889.413 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:28:09.413Z,1761686889.413 [marl:UpdateSpeed] Stopped 2025-10-28T21:28:09.413Z,1761686889.413 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:28:09.541Z,1761686889.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005841 2025-10-28T21:28:09.768Z,1761686889.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099994,0.929091,0.356078],[-0.992540,-0.118231,0.029766],[0.069755,-0.350445,0.933982]] 2025-10-28T21:28:09.793Z,1761686889.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257902 2025-10-28T21:28:10.045Z,1761686890.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509747 2025-10-28T21:28:10.171Z,1761686890.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107574,0.945699,0.306725],[-0.994034,-0.107894,-0.015967],[0.017994,-0.306613,0.951664]] 2025-10-28T21:28:10.297Z,1761686890.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761831 2025-10-28T21:28:10.549Z,1761686890.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013763 2025-10-28T21:28:10.571Z,1761686890.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133221,0.960999,0.242349],[-0.990104,-0.139931,0.010608],[0.044106,-0.238538,0.970131]] 2025-10-28T21:28:10.801Z,1761686890.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265777 2025-10-28T21:28:10.975Z,1761686890.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110757,0.977617,0.178877],[-0.990737,-0.122836,0.057892],[0.078569,-0.170808,0.982167]] 2025-10-28T21:28:11.053Z,1761686891.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517852 2025-10-28T21:28:11.305Z,1761686891.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769711 2025-10-28T21:28:11.379Z,1761686891.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121903,0.985219,0.120347],[-0.992013,-0.124897,0.017628],[0.032398,-0.117237,0.992575]] 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateRudder:A] Stopped 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:28:11.449Z,1761686891.449 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode] Stopped 2025-10-28T21:28:11.450Z,1761686891.450 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:28:11.557Z,1761686891.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021768 2025-10-28T21:28:11.791Z,1761686891.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155414,0.976777,0.147488],[-0.986279,-0.161842,0.032557],[0.055671,-0.140404,0.988528]] 2025-10-28T21:28:11.811Z,1761686891.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275284 2025-10-28T21:28:11.844Z,1761686891.844 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:28:11.844Z,1761686891.844 [marl:UpdateRudder:B] Stopped 2025-10-28T21:28:11.844Z,1761686891.844 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:28:11.844Z,1761686891.844 [marl:UpdateRudder] Stopped 2025-10-28T21:28:11.845Z,1761686891.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:28:12.061Z,1761686892.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525792 2025-10-28T21:28:12.314Z,1761686892.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778984 2025-10-28T21:28:12.565Z,1761686892.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029993 2025-10-28T21:28:12.591Z,1761686892.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234194,0.944311,0.231147],[-0.968137,-0.248217,0.033147],[0.088675,-0.216019,0.972354]] 2025-10-28T21:28:12.818Z,1761686892.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283035 2025-10-28T21:28:13.069Z,1761686893.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534074 2025-10-28T21:28:13.322Z,1761686893.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786734 2025-10-28T21:28:13.400Z,1761686893.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210914,0.885142,0.414777],[-0.958964,-0.269613,0.087727],[0.189480,-0.379253,0.905684]] 2025-10-28T21:28:13.573Z,1761686893.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037943 2025-10-28T21:28:13.803Z,1761686893.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176715,0.936741,0.302139],[-0.976845,-0.204530,0.062783],[0.120608,-0.284048,0.951194]] 2025-10-28T21:28:13.826Z,1761686893.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290789 2025-10-28T21:28:14.077Z,1761686894.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541756 2025-10-28T21:28:14.206Z,1761686894.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229350,0.961617,0.150635],[-0.970339,-0.238038,0.042185],[0.076423,-0.136492,0.987689]] 2025-10-28T21:28:14.329Z,1761686894.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794107 2025-10-28T21:28:14.581Z,1761686894.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045779 2025-10-28T21:28:14.611Z,1761686894.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297350,0.939494,0.170103],[-0.952726,-0.303615,0.011472],[0.062424,-0.158650,0.985360]] 2025-10-28T21:28:14.834Z,1761686894.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298788 2025-10-28T21:28:15.016Z,1761686895.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354953,0.878694,0.319225],[-0.932894,-0.355176,-0.059653],[0.060964,-0.318977,0.945800]] 2025-10-28T21:28:15.085Z,1761686895.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549810 2025-10-28T21:28:15.341Z,1761686895.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805174 2025-10-28T21:28:15.418Z,1761686895.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363285,0.838580,0.405966],[-0.927662,-0.365986,-0.074138],[0.086407,-0.403532,0.910876]] 2025-10-28T21:28:15.589Z,1761686895.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053818 2025-10-28T21:28:15.831Z,1761686895.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346115,0.875581,0.336989],[-0.937544,-0.336137,-0.089567],[0.034851,-0.346943,0.937239]] 2025-10-28T21:28:15.841Z,1761686895.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305865 2025-10-28T21:28:16.093Z,1761686896.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558115 2025-10-28T21:28:16.227Z,1761686896.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400520,0.892267,0.208431],[-0.916044,-0.395164,-0.068621],[0.021136,-0.218416,0.975627]] 2025-10-28T21:28:16.345Z,1761686896.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810201 2025-10-28T21:28:16.597Z,1761686896.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061766 2025-10-28T21:28:16.636Z,1761686896.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431722,0.880899,0.193991],[-0.898821,-0.438190,-0.010510],[0.075747,-0.178900,0.980947]] 2025-10-28T21:28:16.849Z,1761686896.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313772 2025-10-28T21:28:16.856Z,1761686896.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:28:17.035Z,1761686897.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443212,0.872656,0.205023],[-0.891244,-0.453509,0.003648],[0.096164,-0.181109,0.978750]] 2025-10-28T21:28:17.101Z,1761686897.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565950 2025-10-28T21:28:17.353Z,1761686897.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817757 2025-10-28T21:28:17.440Z,1761686897.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439620,0.866492,0.236489],[-0.893447,-0.448877,-0.016189],[0.092127,-0.218407,0.971499]] 2025-10-28T21:28:17.443Z,1761686897.443 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T21:28:17.605Z,1761686897.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069659 2025-10-28T21:28:17.844Z,1761686897.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455603,0.860711,0.227163],[-0.887712,-0.458296,-0.043952],[0.066278,-0.221680,0.972864]] 2025-10-28T21:28:17.857Z,1761686897.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321899 2025-10-28T21:28:17.860Z,1761686897.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:28:18.109Z,1761686898.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573754 2025-10-28T21:28:18.247Z,1761686898.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506166,0.842529,0.184232],[-0.861713,-0.502813,-0.068038],[0.035310,-0.193194,0.980525]] 2025-10-28T21:28:18.361Z,1761686898.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825778 2025-10-28T21:28:18.613Z,1761686898.613 [DAT](INFO): Reached modem response timeout 2025-10-28T21:28:18.651Z,1761686898.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543787,0.816249,0.195023],[-0.836695,-0.545332,-0.050543],[0.065097,-0.190659,0.979496]] 2025-10-28T21:28:19.056Z,1761686899.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549694,0.798227,0.246314],[-0.828536,-0.558588,-0.038816],[0.106604,-0.225417,0.968412]] 2025-10-28T21:28:19.458Z,1761686899.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575361,0.784245,0.232206],[-0.815435,-0.572046,-0.088480],[0.063442,-0.240257,0.968634]] 2025-10-28T21:28:19.862Z,1761686899.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616496,0.753669,0.227850],[-0.785652,-0.607880,-0.115033],[0.051808,-0.249929,0.966877]] 2025-10-28T21:28:20.268Z,1761686900.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630743,0.749669,0.200398],[-0.775298,-0.619723,-0.121889],[0.032815,-0.232248,0.972103]] 2025-10-28T21:28:20.671Z,1761686900.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683953,0.715276,0.143484],[-0.729423,-0.667205,-0.150926],[-0.012220,-0.207887,0.978077]] 2025-10-28T21:28:20.882Z,1761686900.882 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:28:20.882Z,1761686900.882 [DAT](INFO): response not received 2025-10-28T21:28:20.883Z,1761686900.883 [DAT](ERROR): No response from remote modem. 2025-10-28T21:28:21.075Z,1761686901.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737541,0.630401,0.242131],[-0.673253,-0.714323,-0.190979],[0.052566,-0.303870,0.951262]] 2025-10-28T21:28:21.483Z,1761686901.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743543,0.591700,0.311505],[-0.655965,-0.735860,-0.167989],[0.129825,-0.329244,0.935278]] 2025-10-28T21:28:21.883Z,1761686901.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747000,0.610821,0.262466],[-0.650044,-0.753847,-0.095696],[0.139406,-0.242099,0.960184]] 2025-10-28T21:28:22.356Z,1761686902.356 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:28:22.356Z,1761686902.356 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:28:22.356Z,1761686902.356 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:28:22.357Z,1761686902.357 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:28:22.357Z,1761686902.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:28:22.357Z,1761686902.357 [marl:UpdateSpeed] Stopped 2025-10-28T21:28:22.357Z,1761686902.357 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:28:23.097Z,1761686903.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819004,0.560551,0.122538],[-0.569834,-0.819624,-0.059210],[0.067245,-0.118319,0.990696]] 2025-10-28T21:28:23.521Z,1761686903.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858780,0.478882,0.182123],[-0.503411,-0.854786,-0.126168],[0.095257,-0.200033,0.975148]] 2025-10-28T21:28:23.908Z,1761686903.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880005,0.411785,0.236693],[-0.457742,-0.868262,-0.191295],[0.126739,-0.276684,0.952567]] 2025-10-28T21:28:24.319Z,1761686904.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889952,0.365494,0.272761],[-0.415765,-0.896010,-0.155902],[0.187415,-0.252150,0.949366]] 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateRudder:A] Stopped 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:28:24.379Z,1761686904.379 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:28:24.380Z,1761686904.380 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:28:24.384Z,1761686904.384 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:28:24.384Z,1761686904.384 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:28:24.384Z,1761686904.384 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:28:24.384Z,1761686904.384 [marl:UpdateCommandMode] Stopped 2025-10-28T21:28:24.385Z,1761686904.385 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:28:24.716Z,1761686904.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889575,0.385441,0.245135],[-0.411517,-0.909164,-0.063828],[0.198266,-0.157657,0.967386]] 2025-10-28T21:28:24.745Z,1761686904.745 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:28:24.745Z,1761686904.745 [marl:UpdateRudder:B] Stopped 2025-10-28T21:28:24.745Z,1761686904.745 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:28:24.745Z,1761686904.745 [marl:UpdateRudder] Stopped 2025-10-28T21:28:24.745Z,1761686904.745 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:28:25.127Z,1761686905.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915790,0.364835,0.168003],[-0.373883,-0.927148,-0.024658],[0.146767,-0.085395,0.985478]] 2025-10-28T21:28:25.523Z,1761686905.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938539,0.298431,0.173447],[-0.316385,-0.944669,-0.086603],[0.138005,-0.136156,0.981028]] 2025-10-28T21:28:25.928Z,1761686905.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951433,0.224266,0.210902],[-0.259456,-0.952871,-0.157225],[0.165703,-0.204309,0.964780]] 2025-10-28T21:28:26.336Z,1761686906.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952848,0.147649,0.265104],[-0.208908,-0.952824,-0.220193],[0.220086,-0.265193,0.938741]] 2025-10-28T21:28:26.736Z,1761686906.736 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002985 2025-10-28T21:28:26.743Z,1761686906.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953078,0.111491,0.281446],[-0.200918,-0.928388,-0.312616],[0.226437,-0.354495,0.907227]] 2025-10-28T21:28:27.178Z,1761686907.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959734,0.091466,0.265602],[-0.183246,-0.920482,-0.345159],[0.212911,-0.379931,0.900178]] 2025-10-28T21:28:27.543Z,1761686907.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960178,0.092388,0.263673],[-0.176535,-0.932102,-0.316262],[0.216552,-0.350215,0.911293]] 2025-10-28T21:28:27.736Z,1761686907.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:28:27.948Z,1761686907.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963635,0.080264,0.254883],[-0.154488,-0.945604,-0.286299],[0.218038,-0.315264,0.923617]] 2025-10-28T21:28:28.352Z,1761686908.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962749,0.047496,0.266194],[-0.120937,-0.956134,-0.266798],[0.241845,-0.289053,0.926261]] 2025-10-28T21:28:28.760Z,1761686908.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961241,0.001216,0.275708],[-0.094410,-0.940989,-0.325004],[0.259043,-0.338436,0.904631]] 2025-10-28T21:28:29.193Z,1761686909.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960672,-0.031870,0.275852],[-0.074610,-0.927239,-0.366961],[0.267476,-0.373110,0.888395]] 2025-10-28T21:28:29.563Z,1761686909.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960392,-0.061210,0.271846],[-0.063396,-0.901996,-0.427065],[0.271344,-0.427383,0.862390]] 2025-10-28T21:28:30.370Z,1761686910.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946778,-0.123663,0.297184],[-0.023084,-0.894795,-0.445879],[0.321058,-0.429009,0.844318]] 2025-10-28T21:28:31.198Z,1761686911.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934622,-0.191312,0.299802],[0.052988,-0.908486,-0.414542],[0.351673,-0.371554,0.859228]] 2025-10-28T21:28:31.584Z,1761686911.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929859,-0.221247,0.293959],[0.082993,-0.904527,-0.418261],[0.358433,-0.364528,0.859445]] 2025-10-28T21:28:31.987Z,1761686911.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923074,-0.249367,0.292833],[0.106980,-0.897767,-0.427283],[0.369446,-0.363086,0.855382]] 2025-10-28T21:28:32.390Z,1761686912.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915888,-0.278124,0.289477],[0.127687,-0.885491,-0.446768],[0.380586,-0.372227,0.846523]] 2025-10-28T21:28:32.401Z,1761686912.401 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm (3 active estimators). 2025-10-28T21:28:32.806Z,1761686912.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909816,-0.315160,0.270016],[0.155027,-0.861615,-0.483307],[0.384969,-0.397860,0.832770]] 2025-10-28T21:28:33.205Z,1761686913.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901714,-0.352131,0.250829],[0.184060,-0.837649,-0.514264],[0.391195,-0.417551,0.820133]] 2025-10-28T21:28:33.603Z,1761686913.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888185,-0.390309,0.242459],[0.217028,-0.821459,-0.527356],[0.405002,-0.415769,0.814315]] 2025-10-28T21:28:34.007Z,1761686914.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871036,-0.424368,0.247404],[0.245115,-0.811957,-0.529759],[0.425694,-0.400797,0.811262]] 2025-10-28T21:28:34.413Z,1761686914.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853515,-0.457663,0.249111],[0.271030,-0.798246,-0.537909],[0.445033,-0.391597,0.805356]] 2025-10-28T21:28:34.825Z,1761686914.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838154,-0.488040,0.243545],[0.296084,-0.782110,-0.548306],[0.458074,-0.387455,0.800029]] 2025-10-28T21:28:35.256Z,1761686915.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825182,-0.517468,0.226499],[0.324877,-0.762792,-0.559110],[0.462093,-0.387783,0.797556]] 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed] Stopped 2025-10-28T21:28:35.335Z,1761686915.335 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:28:35.651Z,1761686915.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813731,-0.545633,0.200317],[0.356092,-0.740371,-0.570131],[0.459391,-0.392602,0.796758]] 2025-10-28T21:28:36.055Z,1761686916.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801305,-0.573116,0.171607],[0.386409,-0.714793,-0.582889],[0.456726,-0.400761,0.794224]] 2025-10-28T21:28:36.459Z,1761686916.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785062,-0.601050,0.149720],[0.412975,-0.688043,-0.596698],[0.461659,-0.406615,0.788375]] 2025-10-28T21:28:36.879Z,1761686916.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764428,-0.631814,0.128304],[0.440902,-0.657516,-0.610965],[0.470378,-0.410469,0.781191]] 2025-10-28T21:28:37.275Z,1761686917.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743287,-0.660420,0.106629],[0.468338,-0.627528,-0.621988],[0.477686,-0.412377,0.775733]] 2025-10-28T21:28:37.349Z,1761686917.349 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:28:37.349Z,1761686917.349 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:28:37.349Z,1761686917.349 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateRudder:A] Stopped 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:28:37.350Z,1761686917.350 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:28:37.351Z,1761686917.351 [marl:UpdateCommandMode] Stopped 2025-10-28T21:28:37.351Z,1761686917.351 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:28:37.671Z,1761686917.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724202,-0.684039,0.087306],[0.495150,-0.603938,-0.624568],[0.479957,-0.409084,0.776075]] 2025-10-28T21:28:37.710Z,1761686917.710 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:28:37.710Z,1761686917.710 [marl:UpdateRudder:B] Stopped 2025-10-28T21:28:37.710Z,1761686917.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:28:37.710Z,1761686917.710 [marl:UpdateRudder] Stopped 2025-10-28T21:28:37.710Z,1761686917.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:28:38.074Z,1761686918.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708773,-0.701950,0.070058],[0.519413,-0.586489,-0.621483],[0.477338,-0.404101,0.780289]] 2025-10-28T21:28:38.481Z,1761686918.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692357,-0.719647,0.052439],[0.546552,-0.570497,-0.613037],[0.471087,-0.395780,0.788312]] 2025-10-28T21:28:38.901Z,1761686918.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673227,-0.738709,0.032774],[0.573821,-0.549883,-0.606924],[0.466363,-0.389791,0.794083]] 2025-10-28T21:28:39.297Z,1761686919.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651331,-0.758673,0.013549],[0.599947,-0.525830,-0.602965],[0.464577,-0.384601,0.797653]] 2025-10-28T21:28:39.690Z,1761686919.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626796,-0.779132,-0.008941],[0.626593,-0.497195,-0.600148],[0.463149,-0.381773,0.799839]] 2025-10-28T21:28:40.096Z,1761686920.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600389,-0.798600,-0.042079],[0.654451,-0.460415,-0.599760],[0.459595,-0.387628,0.799073]] 2025-10-28T21:28:40.499Z,1761686920.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572680,-0.815400,-0.084618],[0.682595,-0.417137,-0.600050],[0.453984,-0.401397,0.795474]] 2025-10-28T21:28:40.902Z,1761686920.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542243,-0.831377,-0.121590],[0.710298,-0.376269,-0.594894],[0.448831,-0.408942,0.794555]] 2025-10-28T21:28:41.309Z,1761686921.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509481,-0.846160,-0.156340],[0.735865,-0.334270,-0.588869],[0.446018,-0.415063,0.792963]] 2025-10-28T21:28:41.711Z,1761686921.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476997,-0.858425,-0.188629],[0.757516,-0.292705,-0.583517],[0.445693,-0.421226,0.789890]] 2025-10-28T21:28:42.118Z,1761686922.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445787,-0.868779,-0.215633],[0.776435,-0.255409,-0.576121],[0.445447,-0.424252,0.788408]] 2025-10-28T21:28:42.519Z,1761686922.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414910,-0.877641,-0.239993],[0.795457,-0.221846,-0.563944],[0.441698,-0.424890,0.790172]] 2025-10-28T21:28:42.923Z,1761686922.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383510,-0.886550,-0.258747],[0.815697,-0.193780,-0.545058],[0.433081,-0.420094,0.797472]] 2025-10-28T21:28:43.327Z,1761686923.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351512,-0.893784,-0.278550],[0.836267,-0.166027,-0.522583],[0.420829,-0.416636,0.805802]] 2025-10-28T21:28:43.733Z,1761686923.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320583,-0.900578,-0.293574],[0.854521,-0.141247,-0.499844],[0.408682,-0.411107,0.814844]] 2025-10-28T21:28:44.135Z,1761686924.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290650,-0.905742,-0.308472],[0.869723,-0.115689,-0.479789],[0.398878,-0.407736,0.821370]] 2025-10-28T21:28:44.539Z,1761686924.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261111,-0.908802,-0.325422],[0.882615,-0.088248,-0.461739],[0.390912,-0.407788,0.825165]] 2025-10-28T21:28:44.956Z,1761686924.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231777,-0.910075,-0.343575],[0.894065,-0.060123,-0.443885],[0.383312,-0.410060,0.827601]] 2025-10-28T21:28:45.350Z,1761686925.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202997,-0.910743,-0.359639],[0.904819,-0.034076,-0.424430],[0.374292,-0.411566,0.830975]] 2025-10-28T21:28:45.750Z,1761686925.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175486,-0.911361,-0.372326],[0.914967,-0.011389,-0.403368],[0.363373,-0.411451,0.835863]] 2025-10-28T21:28:46.154Z,1761686926.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148714,-0.911939,-0.382429],[0.924357,0.009211,-0.381417],[0.351352,-0.410223,0.841587]] 2025-10-28T21:28:46.559Z,1761686926.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122273,-0.911185,-0.393435],[0.932404,0.030382,-0.360139],[0.340107,-0.410876,0.845877]] 2025-10-28T21:28:46.962Z,1761686926.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095275,-0.910666,-0.402008],[0.938462,0.052512,-0.341368],[0.331983,-0.409793,0.849622]] 2025-10-28T21:28:47.374Z,1761686927.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066568,-0.911614,-0.405622],[0.942388,0.076125,-0.325745],[0.327832,-0.403938,0.854026]] 2025-10-28T21:28:47.786Z,1761686927.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002040,-0.909728,-0.415199],[0.945435,0.133520,-0.297197],[0.325806,-0.393150,0.859816]] 2025-10-28T21:28:48.181Z,1761686928.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033350,-0.906680,-0.420499],[0.945449,0.165038,-0.280871],[0.324059,-0.388193,0.862724]] 2025-10-28T21:28:48.204Z,1761686928.204 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed] Stopped 2025-10-28T21:28:48.205Z,1761686928.205 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:28:48.583Z,1761686928.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069801,-0.902500,-0.424995],[0.944648,0.196710,-0.262576],[0.320576,-0.383142,0.866275]] 2025-10-28T21:28:48.987Z,1761686928.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106840,-0.896116,-0.430767],[0.942962,0.228707,-0.241901],[0.315291,-0.380353,0.869439]] 2025-10-28T21:28:49.391Z,1761686929.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144594,-0.887195,-0.438153],[0.940121,0.261300,-0.218847],[0.308650,-0.380273,0.871853]] 2025-10-28T21:28:49.798Z,1761686929.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182901,-0.875863,-0.446555],[0.935891,0.294222,-0.193756],[0.301089,-0.382489,0.873526]] 2025-10-28T21:28:50.195Z,1761686930.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221445,-0.862974,-0.454135],[0.930302,0.326588,-0.166969],[0.292405,-0.385508,0.875147]] 2025-10-28T21:28:50.598Z,1761686930.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259591,-0.848701,-0.460782],[0.923498,0.357701,-0.138567],[0.282424,-0.389560,0.876629]] 2025-10-28T21:28:50.634Z,1761686930.634 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateRudder:A] Stopped 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:28:50.635Z,1761686930.635 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:28:50.640Z,1761686930.640 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:28:50.640Z,1761686930.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:28:50.640Z,1761686930.640 [marl:UpdateCommandMode] Stopped 2025-10-28T21:28:50.640Z,1761686930.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:28:51.003Z,1761686931.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296207,-0.834134,-0.465276],[0.915894,0.386238,-0.109355],[0.270924,-0.393752,0.878385]] 2025-10-28T21:28:51.027Z,1761686931.027 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:28:51.027Z,1761686931.027 [marl:UpdateRudder:B] Stopped 2025-10-28T21:28:51.027Z,1761686931.027 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:28:51.027Z,1761686931.027 [marl:UpdateRudder] Stopped 2025-10-28T21:28:51.027Z,1761686931.027 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:28:51.410Z,1761686931.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329668,-0.819605,-0.468580],[0.907874,0.411378,-0.080820],[0.259005,-0.398768,0.879716]] 2025-10-28T21:28:51.810Z,1761686931.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360314,-0.805597,-0.470306],[0.899787,0.433148,-0.052599],[0.246086,-0.404223,0.880934]] 2025-10-28T21:28:52.215Z,1761686932.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389426,-0.790848,-0.472131],[0.891252,0.452900,-0.023507],[0.232418,-0.411633,0.881215]] 2025-10-28T21:28:52.618Z,1761686932.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417296,-0.776592,-0.471984],[0.882002,0.471225,0.004463],[0.218945,-0.418154,0.881596]] 2025-10-28T21:28:53.026Z,1761686933.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444395,-0.763663,-0.468328],[0.871740,0.489066,0.029712],[0.206353,-0.421465,0.883055]] 2025-10-28T21:28:53.427Z,1761686933.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470325,-0.751505,-0.462639],[0.860509,0.506822,0.051532],[0.195749,-0.422342,0.885048]] 2025-10-28T21:28:53.830Z,1761686933.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495367,-0.738583,-0.457281],[0.848251,0.524771,0.071311],[0.187299,-0.423214,0.886459]] 2025-10-28T21:28:54.234Z,1761686934.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519745,-0.725113,-0.451748],[0.834838,0.543364,0.088329],[0.181415,-0.423045,0.887762]] 2025-10-28T21:28:54.642Z,1761686934.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543666,-0.711938,-0.444490],[0.820246,0.562905,0.101659],[0.177830,-0.419860,0.889997]] 2025-10-28T21:28:55.043Z,1761686935.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567372,-0.698674,-0.435824],[0.804462,0.583320,0.112153],[0.175867,-0.414237,0.893017]] 2025-10-28T21:28:55.447Z,1761686935.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593201,-0.681817,-0.428064],[0.785952,0.605617,0.124531],[0.174335,-0.410310,0.895128]] 2025-10-28T21:28:55.851Z,1761686935.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622160,-0.661733,-0.418361],[0.763765,0.630426,0.138660],[0.171990,-0.405798,0.897634]] 2025-10-28T21:28:56.265Z,1761686936.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652644,-0.639454,-0.406392],[0.738719,0.656244,0.153750],[0.168376,-0.400553,0.900670]] 2025-10-28T21:28:56.658Z,1761686936.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683172,-0.614926,-0.393881],[0.711767,0.681318,0.170862],[0.163291,-0.397080,0.903141]] 2025-10-28T21:28:57.067Z,1761686937.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713292,-0.588082,-0.381280],[0.683201,0.704794,0.191055],[0.156368,-0.396768,0.904502]] 2025-10-28T21:28:57.466Z,1761686937.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742251,-0.560990,-0.366544],[0.653712,0.726463,0.211925],[0.147393,-0.396916,0.905943]] 2025-10-28T21:28:57.874Z,1761686937.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769138,-0.534147,-0.350876],[0.624227,0.745597,0.233295],[0.136998,-0.398462,0.906895]] 2025-10-28T21:28:58.280Z,1761686938.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792898,-0.508276,-0.336108],[0.596152,0.761240,0.255179],[0.126157,-0.402702,0.906595]] 2025-10-28T21:28:58.678Z,1761686938.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813016,-0.484428,-0.323008],[0.570624,0.773203,0.276666],[0.115726,-0.409251,0.905053]] 2025-10-28T21:28:58.878Z,1761686938.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:28:59.086Z,1761686939.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829931,-0.462791,-0.311511],[0.547560,0.782608,0.296146],[0.106738,-0.416351,0.902917]] 2025-10-28T21:28:59.487Z,1761686939.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844994,-0.441928,-0.301139],[0.525537,0.790442,0.314662],[0.098975,-0.424148,0.900168]] 2025-10-28T21:28:59.891Z,1761686939.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859395,-0.420779,-0.290490],[0.502809,0.798648,0.330674],[0.092859,-0.430240,0.897926]] 2025-10-28T21:29:00.294Z,1761686940.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873260,-0.399152,-0.279454],[0.479213,0.807324,0.344358],[0.088159,-0.434632,0.896283]] 2025-10-28T21:29:00.701Z,1761686940.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887190,-0.376029,-0.267386],[0.453553,0.817175,0.355690],[0.084752,-0.436838,0.895539]] 2025-10-28T21:29:01.107Z,1761686941.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901157,-0.351518,-0.253675],[0.425627,0.828461,0.363998],[0.082208,-0.435990,0.896189]] 2025-10-28T21:29:01.507Z,1761686941.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915026,-0.325877,-0.237763],[0.395394,0.841337,0.368531],[0.079943,-0.431226,0.898696]] 2025-10-28T21:29:01.558Z,1761686941.558 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:29:01.558Z,1761686941.558 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:29:01.559Z,1761686941.559 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:29:01.559Z,1761686941.559 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:29:01.559Z,1761686941.559 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:29:01.559Z,1761686941.559 [marl:UpdateSpeed] Stopped 2025-10-28T21:29:01.559Z,1761686941.559 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:29:01.912Z,1761686941.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928378,-0.299577,-0.219926],[0.363463,0.855336,0.369181],[0.077513,-0.422674,0.902961]] 2025-10-28T21:29:02.316Z,1761686942.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941204,-0.272049,-0.200310],[0.329477,0.870252,0.366205],[0.074694,-0.410671,0.908719]] 2025-10-28T21:29:02.718Z,1761686942.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953112,-0.243167,-0.180133],[0.294082,0.884645,0.361828],[0.071369,-0.397837,0.914676]] 2025-10-28T21:29:03.136Z,1761686943.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963869,-0.213160,-0.159750],[0.257664,0.898209,0.356132],[0.067576,-0.384426,0.920679]] 2025-10-28T21:29:03.526Z,1761686943.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973029,-0.182295,-0.141361],[0.221910,0.907071,0.357739],[0.063011,-0.379460,0.923060]] 2025-10-28T21:29:03.573Z,1761686943.573 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateRudder:A] Stopped 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:29:03.574Z,1761686943.574 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:29:03.575Z,1761686943.575 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:29:03.575Z,1761686943.575 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:29:03.575Z,1761686943.575 [marl:UpdateCommandMode] Stopped 2025-10-28T21:29:03.575Z,1761686943.575 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:29:03.937Z,1761686943.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980474,-0.152420,-0.124254],[0.187909,0.912454,0.363480],[0.057974,-0.379731,0.923279]] 2025-10-28T21:29:03.961Z,1761686943.961 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:29:03.961Z,1761686943.961 [marl:UpdateRudder:B] Stopped 2025-10-28T21:29:03.962Z,1761686943.962 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:29:03.962Z,1761686943.962 [marl:UpdateRudder] Stopped 2025-10-28T21:29:03.962Z,1761686943.962 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:29:04.335Z,1761686944.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986380,-0.124079,-0.107976],[0.155906,0.914494,0.373356],[0.052417,-0.385105,0.921383]] 2025-10-28T21:29:04.745Z,1761686944.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991033,-0.096691,-0.092215],[0.125230,0.912794,0.388747],[0.046585,-0.396809,0.916718]] 2025-10-28T21:29:05.194Z,1761686945.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994655,-0.069726,-0.076157],[0.094927,0.907697,0.408748],[0.040627,-0.413793,0.909464]] 2025-10-28T21:29:05.547Z,1761686945.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997298,-0.043686,-0.059065],[0.064895,0.900709,0.429548],[0.034435,-0.432220,0.901111]] 2025-10-28T21:29:05.959Z,1761686945.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998983,-0.019177,-0.040815],[0.035395,0.894247,0.446172],[0.027943,-0.447163,0.894016]] 2025-10-28T21:29:06.355Z,1761686946.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999762,0.004573,-0.021312],[0.005652,0.889920,0.456082],[0.021052,-0.456094,0.889682]] 2025-10-28T21:29:06.769Z,1761686946.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,0.031676,-0.000000],[-0.028103,0.886763,0.461369],[0.014615,-0.461138,0.887208]] 2025-10-28T21:29:07.206Z,1761686947.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997784,0.062545,0.022684],[-0.065952,0.884925,0.461041],[0.008762,-0.461515,0.887089]] 2025-10-28T21:29:07.568Z,1761686947.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994519,0.094417,0.044911],[-0.104511,0.885397,0.452934],[0.003001,-0.455145,0.890412]] 2025-10-28T21:29:07.971Z,1761686947.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989696,0.127206,0.065736],[-0.143173,0.885592,0.441847],[-0.002010,-0.446706,0.894679]] 2025-10-28T21:29:08.374Z,1761686948.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983366,0.161263,0.083580],[-0.181539,0.887626,0.423276],[-0.005929,-0.431409,0.902137]] 2025-10-28T21:29:08.421Z,1761686948.421 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:29:08.529Z,1761686948.529 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:29:08.529Z,1761686948.529 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:29:08.781Z,1761686948.781 [DAT](INFO): DAT read: user:309> 2025-10-28T21:29:08.782Z,1761686948.782 [DAT](INFO): DAT read: Tx time:21:29:08.5034 2025-10-28T21:29:08.783Z,1761686948.783 [DAT](INFO): Ping request sent. 2025-10-28T21:29:08.783Z,1761686948.783 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:29:08.783Z,1761686948.783 [DAT](INFO): publishing transmit ping time 2025-10-28T21:29:08.784Z,1761686948.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001565 2025-10-28T21:29:08.790Z,1761686948.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976130,0.193659,0.098316],[-0.216975,0.889486,0.402164],[-0.009568,-0.413896,0.910274]] 2025-10-28T21:29:09.033Z,1761686949.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249996 2025-10-28T21:29:09.207Z,1761686949.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968062,0.224004,0.112594],[-0.250334,0.888231,0.385200],[-0.013723,-0.401084,0.915939]] 2025-10-28T21:29:09.285Z,1761686949.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502101 2025-10-28T21:29:09.537Z,1761686949.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754056 2025-10-28T21:29:09.587Z,1761686949.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959157,0.252915,0.126694],[-0.282270,0.884988,0.370298],[-0.018469,-0.390936,0.920233]] 2025-10-28T21:29:09.789Z,1761686949.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006296 2025-10-28T21:29:10.027Z,1761686950.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948151,0.283013,0.144612],[-0.316907,0.876345,0.362753],[-0.024066,-0.389773,0.920596]] 2025-10-28T21:29:10.041Z,1761686950.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258084 2025-10-28T21:29:10.293Z,1761686950.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510060 2025-10-28T21:29:10.395Z,1761686950.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935254,0.313915,0.163579],[-0.352687,0.865806,0.354953],[-0.030203,-0.389663,0.920462]] 2025-10-28T21:29:10.545Z,1761686950.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761975 2025-10-28T21:29:10.797Z,1761686950.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013983 2025-10-28T21:29:10.809Z,1761686950.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920753,0.344064,0.183938],[-0.388374,0.853187,0.348192],[-0.037133,-0.392036,0.919200]] 2025-10-28T21:29:11.049Z,1761686951.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266068 2025-10-28T21:29:11.206Z,1761686951.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905053,0.373390,0.203617],[-0.422944,0.840504,0.338631],[-0.044700,-0.392598,0.918623]] 2025-10-28T21:29:11.301Z,1761686951.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518097 2025-10-28T21:29:11.553Z,1761686951.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770042 2025-10-28T21:29:11.607Z,1761686951.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888482,0.402271,0.220855],[-0.455921,0.828597,0.324904],[-0.052300,-0.389364,0.919598]] 2025-10-28T21:29:11.805Z,1761686951.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022123 2025-10-28T21:29:12.016Z,1761686952.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871321,0.430759,0.235044],[-0.487116,0.817147,0.308204],[-0.059304,-0.383038,0.921827]] 2025-10-28T21:29:12.057Z,1761686952.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274123 2025-10-28T21:29:12.309Z,1761686952.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526017 2025-10-28T21:29:12.414Z,1761686952.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853757,0.458852,0.246075],[-0.516615,0.805405,0.290571],[-0.064861,-0.375204,0.924670]] 2025-10-28T21:29:12.561Z,1761686952.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777974 2025-10-28T21:29:12.813Z,1761686952.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030112 2025-10-28T21:29:12.821Z,1761686952.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835951,0.485291,0.256277],[-0.544456,0.792015,0.276187],[-0.068945,-0.370410,0.926306]] 2025-10-28T21:29:13.065Z,1761686953.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282575 2025-10-28T21:29:13.225Z,1761686953.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818248,0.510334,0.264631],[-0.570406,0.777988,0.263384],[-0.071466,-0.366461,0.927685]] 2025-10-28T21:29:13.317Z,1761686953.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533961 2025-10-28T21:29:13.569Z,1761686953.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785994 2025-10-28T21:29:13.632Z,1761686953.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800868,0.531090,0.276684],[-0.594429,0.761011,0.259841],[-0.072561,-0.372567,0.925164]] 2025-10-28T21:29:13.821Z,1761686953.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038038 2025-10-28T21:29:14.030Z,1761686954.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783733,0.548351,0.291674],[-0.616914,0.741694,0.263264],[-0.071972,-0.386267,0.919575]] 2025-10-28T21:29:14.096Z,1761686954.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.313533 2025-10-28T21:29:14.325Z,1761686954.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542008 2025-10-28T21:29:14.473Z,1761686954.473 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:29:14.473Z,1761686954.473 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:29:14.473Z,1761686954.473 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:29:14.474Z,1761686954.474 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:29:14.474Z,1761686954.474 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:29:14.474Z,1761686954.474 [marl:UpdateSpeed] Stopped 2025-10-28T21:29:14.474Z,1761686954.474 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:29:14.577Z,1761686954.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794058 2025-10-28T21:29:14.829Z,1761686954.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045999 2025-10-28T21:29:14.841Z,1761686954.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745457,0.579985,0.328497],[-0.663341,0.693842,0.280289],[-0.065362,-0.426849,0.901958]] 2025-10-28T21:29:15.081Z,1761686955.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298046 2025-10-28T21:29:15.250Z,1761686955.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723787,0.594612,0.350100],[-0.687358,0.665853,0.290137],[-0.060596,-0.450641,0.890646]] 2025-10-28T21:29:15.333Z,1761686955.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549913 2025-10-28T21:29:15.585Z,1761686955.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802018 2025-10-28T21:29:15.647Z,1761686955.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700607,0.608092,0.373328],[-0.711322,0.636491,0.298162],[-0.056310,-0.474451,0.878479]] 2025-10-28T21:29:15.837Z,1761686955.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054552 2025-10-28T21:29:16.053Z,1761686956.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676642,0.620961,0.395680],[-0.734327,0.608531,0.300756],[-0.054026,-0.494062,0.867746]] 2025-10-28T21:29:16.090Z,1761686956.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307388 2025-10-28T21:29:16.341Z,1761686956.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558004 2025-10-28T21:29:16.455Z,1761686956.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652626,0.634156,0.414638],[-0.755695,0.584390,0.295659],[-0.054816,-0.506295,0.860616]] 2025-10-28T21:29:16.593Z,1761686956.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810016 2025-10-28T21:29:16.845Z,1761686956.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061951 2025-10-28T21:29:16.860Z,1761686956.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628919,0.650741,0.425438],[-0.775268,0.566071,0.280218],[-0.058479,-0.506063,0.860512]] 2025-10-28T21:29:16.900Z,1761686956.900 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:29:16.900Z,1761686956.900 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:29:16.900Z,1761686956.900 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateRudder:A] Stopped 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:29:16.901Z,1761686956.901 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:29:16.902Z,1761686956.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:29:16.902Z,1761686956.902 [marl:UpdateCommandMode] Stopped 2025-10-28T21:29:16.902Z,1761686956.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:29:17.098Z,1761686957.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314914 2025-10-28T21:29:17.263Z,1761686957.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604483,0.673874,0.424845],[-0.794037,0.552584,0.253292],[-0.064076,-0.490453,0.869109]] 2025-10-28T21:29:17.318Z,1761686957.318 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:29:17.318Z,1761686957.318 [marl:UpdateRudder:B] Stopped 2025-10-28T21:29:17.318Z,1761686957.318 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:29:17.318Z,1761686957.318 [marl:UpdateRudder] Stopped 2025-10-28T21:29:17.318Z,1761686957.318 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:29:17.350Z,1761686957.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566709 2025-10-28T21:29:17.601Z,1761686957.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817997 2025-10-28T21:29:17.669Z,1761686957.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577768,0.703855,0.413246],[-0.813161,0.540040,0.217083],[-0.070375,-0.461460,0.884366]] 2025-10-28T21:29:17.854Z,1761686957.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070667 2025-10-28T21:29:18.071Z,1761686958.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548636,0.735233,0.398035],[-0.832522,0.524192,0.179250],[-0.076857,-0.429715,0.899688]] 2025-10-28T21:29:18.105Z,1761686958.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322191 2025-10-28T21:29:18.357Z,1761686958.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574000 2025-10-28T21:29:18.475Z,1761686958.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516891,0.767189,0.379796],[-0.851991,0.504196,0.141058],[-0.083274,-0.396494,0.914253]] 2025-10-28T21:29:18.610Z,1761686958.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827273 2025-10-28T21:29:18.861Z,1761686958.861 [DAT](INFO): Reached modem response timeout 2025-10-28T21:29:18.879Z,1761686958.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483334,0.797316,0.361491],[-0.870850,0.480109,0.105432],[-0.089492,-0.365764,0.926395]] 2025-10-28T21:29:19.290Z,1761686959.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449511,0.822854,0.347637],[-0.888089,0.453545,0.074803],[-0.096117,-0.342357,0.934641]] 2025-10-28T21:29:19.686Z,1761686959.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415734,0.843497,0.340114],[-0.903664,0.425347,0.049702],[-0.102743,-0.328012,0.939070]] 2025-10-28T21:29:20.091Z,1761686960.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380894,0.859529,0.340780],[-0.918173,0.395054,0.029831],[-0.108985,-0.324257,0.939670]] 2025-10-28T21:29:20.495Z,1761686960.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345672,0.870414,0.350558],[-0.931340,0.363843,0.014959],[-0.114527,-0.331660,0.936421]] 2025-10-28T21:29:20.900Z,1761686960.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310347,0.877418,0.365819],[-0.943146,0.332366,0.002947],[-0.119000,-0.345935,0.930681]] 2025-10-28T21:29:21.132Z,1761686961.132 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:29:21.133Z,1761686961.133 [DAT](INFO): response not received 2025-10-28T21:29:21.134Z,1761686961.134 [DAT](ERROR): No response from remote modem. 2025-10-28T21:29:21.303Z,1761686961.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275474,0.880250,0.386360],[-0.953437,0.301507,-0.007128],[-0.122765,-0.366407,0.922320]] 2025-10-28T21:29:21.707Z,1761686961.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241880,0.879431,0.409995],[-0.962134,0.272104,-0.016040],[-0.125667,-0.390590,0.911947]] 2025-10-28T21:29:22.134Z,1761686962.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209574,0.877446,0.431470],[-0.969468,0.243923,-0.025155],[-0.127318,-0.413025,0.901776]] 2025-10-28T21:29:22.515Z,1761686962.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178779,0.874148,0.451557],[-0.975599,0.216952,-0.033730],[-0.127451,-0.434509,0.891604]] 2025-10-28T21:29:22.920Z,1761686962.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148469,0.870834,0.468620],[-0.980870,0.190006,-0.042327],[-0.125900,-0.453371,0.882385]] 2025-10-28T21:29:23.322Z,1761686963.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118935,0.868493,0.481221],[-0.985273,0.163200,-0.051025],[-0.122850,-0.468065,0.875113]] 2025-10-28T21:29:23.734Z,1761686963.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089807,0.866350,0.491297],[-0.988852,0.136390,-0.059752],[-0.118775,-0.480454,0.868940]] 2025-10-28T21:29:24.131Z,1761686964.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061540,0.866130,0.496016],[-0.991457,0.110308,-0.069609],[-0.115005,-0.487494,0.865519]] 2025-10-28T21:29:24.534Z,1761686964.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033964,0.867579,0.496139],[-0.993128,0.084929,-0.080526],[-0.111999,-0.489994,0.864501]] 2025-10-28T21:29:24.939Z,1761686964.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006021,0.872584,0.488427],[-0.993899,0.059014,-0.093178],[-0.110130,-0.484886,0.867616]] 2025-10-28T21:29:25.343Z,1761686965.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021162,0.882693,0.469473],[-0.993732,0.032984,-0.106811],[-0.109767,-0.468790,0.876463]] 2025-10-28T21:29:25.749Z,1761686965.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049594,0.894668,0.443971],[-0.992617,0.005114,-0.121186],[-0.110691,-0.446703,0.887809]] 2025-10-28T21:29:26.151Z,1761686966.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080213,0.905770,0.416109],[-0.990455,-0.025484,-0.135458],[-0.112089,-0.423003,0.899169]] 2025-10-28T21:29:26.958Z,1761686966.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145382,0.919684,0.364753],[-0.982519,-0.090876,-0.162477],[-0.116280,-0.381998,0.916819]] 2025-10-28T21:29:27.018Z,1761686967.018 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.284962 2025-10-28T21:29:27.437Z,1761686967.437 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:29:27.437Z,1761686967.437 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:29:27.437Z,1761686967.437 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:29:27.438Z,1761686967.438 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:29:27.438Z,1761686967.438 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:29:27.438Z,1761686967.438 [marl:UpdateSpeed] Stopped 2025-10-28T21:29:27.438Z,1761686967.438 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:29:27.772Z,1761686967.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213778,0.919769,0.329125],[-0.969261,-0.157708,-0.188840],[-0.121784,-0.359378,0.925211]] 2025-10-28T21:29:28.020Z,1761686968.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:29:28.170Z,1761686968.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248035,0.913816,0.321589],[-0.960700,-0.189315,-0.203017],[-0.124639,-0.359306,0.924859]] 2025-10-28T21:29:28.577Z,1761686968.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282869,0.904389,0.319477],[-0.950740,-0.220344,-0.218040],[-0.126798,-0.365416,0.922168]] 2025-10-28T21:29:28.978Z,1761686968.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318125,0.891194,0.323373],[-0.939349,-0.250200,-0.234572],[-0.128141,-0.378383,0.916737]] 2025-10-28T21:29:29.382Z,1761686969.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353696,0.875753,0.328566],[-0.926444,-0.279612,-0.252030],[-0.128845,-0.393540,0.910234]] 2025-10-28T21:29:29.791Z,1761686969.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388309,0.858159,0.335826],[-0.912476,-0.307098,-0.270328],[-0.128853,-0.411404,0.902299]] 2025-10-28T21:29:29.831Z,1761686969.831 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:29:29.831Z,1761686969.831 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:29:29.832Z,1761686969.832 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:29:29.836Z,1761686969.836 [marl:UpdateRudder:A] Stopped 2025-10-28T21:29:29.836Z,1761686969.836 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:29:29.836Z,1761686969.836 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:29:29.836Z,1761686969.836 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:29:29.836Z,1761686969.836 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:29:29.837Z,1761686969.837 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:29:29.837Z,1761686969.837 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:29:29.837Z,1761686969.837 [marl:UpdateCommandMode] Stopped 2025-10-28T21:29:29.837Z,1761686969.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:29:30.191Z,1761686970.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421974,0.840576,0.339660],[-0.897560,-0.334536,-0.287180],[-0.127769,-0.426048,0.895633]] 2025-10-28T21:29:30.256Z,1761686970.256 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:29:30.256Z,1761686970.256 [marl:UpdateRudder:B] Stopped 2025-10-28T21:29:30.256Z,1761686970.256 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:29:30.256Z,1761686970.256 [marl:UpdateRudder] Stopped 2025-10-28T21:29:30.257Z,1761686970.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:29:30.596Z,1761686970.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452976,0.823186,0.342312],[-0.882609,-0.359913,-0.302430],[-0.125753,-0.439122,0.889583]] 2025-10-28T21:29:30.999Z,1761686970.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481796,0.806161,0.343477],[-0.867626,-0.383901,-0.315982],[-0.122871,-0.450249,0.884409]] 2025-10-28T21:29:31.403Z,1761686971.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509005,0.790478,0.340674],[-0.852528,-0.408351,-0.326259],[-0.118785,-0.456502,0.881757]] 2025-10-28T21:29:31.807Z,1761686971.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534799,0.776423,0.333403],[-0.837226,-0.433570,-0.333271],[-0.114206,-0.457367,0.881914]] 2025-10-28T21:29:32.231Z,1761686972.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584734,0.748293,0.313280],[-0.804582,-0.485632,-0.341774],[-0.103608,-0.451906,0.886028]] 2025-10-28T21:29:32.773Z,1761686972.773 [Radio_Surface](INFO): Powering down 2025-10-28T21:29:33.019Z,1761686973.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607372,0.733324,0.305510],[-0.788335,-0.508871,-0.345800],[-0.098118,-0.450873,0.887179]] 2025-10-28T21:29:33.432Z,1761686973.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649005,0.703344,0.289999],[-0.755840,-0.552721,-0.351005],[-0.086589,-0.446998,0.890334]] 2025-10-28T21:29:33.834Z,1761686973.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669342,0.688152,0.280051],[-0.738527,-0.575181,-0.351775],[-0.080995,-0.442283,0.893211]] 2025-10-28T21:29:34.240Z,1761686974.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690200,0.672505,0.267134],[-0.719606,-0.599067,-0.351120],[-0.076099,-0.434575,0.897415]] 2025-10-28T21:29:34.639Z,1761686974.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712270,0.656027,0.249599],[-0.698291,-0.626243,-0.346712],[-0.071143,-0.421245,0.904152]] 2025-10-28T21:29:35.041Z,1761686975.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735773,0.636111,0.232379],[-0.674056,-0.654692,-0.342092],[-0.065472,-0.408339,0.910479]] 2025-10-28T21:29:35.444Z,1761686975.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760587,0.611239,0.218847],[-0.646527,-0.682323,-0.341231],[-0.059250,-0.401026,0.914149]] 2025-10-28T21:29:35.847Z,1761686975.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785412,0.582463,0.209440],[-0.616696,-0.707368,-0.345421],[-0.053044,-0.400459,0.914778]] 2025-10-28T21:29:36.252Z,1761686976.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809131,0.552071,0.201306],[-0.585675,-0.729736,-0.352804],[-0.047873,-0.403365,0.913786]] 2025-10-28T21:29:36.654Z,1761686976.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830138,0.521754,0.196580],[-0.555857,-0.746942,-0.364829],[-0.043517,-0.412129,0.910086]] 2025-10-28T21:29:37.061Z,1761686977.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848938,0.491928,0.193163],[-0.527011,-0.760634,-0.379072],[-0.039550,-0.423607,0.904982]] 2025-10-28T21:29:37.463Z,1761686977.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866811,0.461983,0.187645],[-0.497394,-0.774542,-0.390748],[-0.035180,-0.432038,0.901169]] 2025-10-28T21:29:37.866Z,1761686977.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883326,0.432017,0.181925],[-0.467757,-0.786975,-0.402335],[-0.030645,-0.440489,0.897235]] 2025-10-28T21:29:38.273Z,1761686978.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898560,0.402971,0.173797],[-0.438066,-0.799934,-0.410125],[-0.026242,-0.444657,0.895317]] 2025-10-28T21:29:38.677Z,1761686978.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912017,0.375245,0.165581],[-0.409555,-0.811374,-0.417057],[-0.022150,-0.448178,0.893670]] 2025-10-28T21:29:39.079Z,1761686979.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923267,0.350408,0.157456],[-0.383715,-0.821474,-0.421833],[-0.018468,-0.449882,0.892897]] 2025-10-28T21:29:39.483Z,1761686979.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933234,0.327355,0.148029],[-0.358966,-0.832715,-0.421579],[-0.014740,-0.446570,0.894628]] 2025-10-28T21:29:39.888Z,1761686979.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942469,0.304983,0.136886],[-0.334105,-0.845560,-0.416416],[-0.011255,-0.438194,0.898810]] 2025-10-28T21:29:40.293Z,1761686980.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951027,0.282458,0.125557],[-0.309014,-0.858826,-0.408567],[-0.007571,-0.427358,0.904051]] 2025-10-28T21:29:40.317Z,1761686980.317 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:29:40.317Z,1761686980.317 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:29:40.318Z,1761686980.318 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:29:40.318Z,1761686980.318 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:29:40.318Z,1761686980.318 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:29:40.318Z,1761686980.318 [marl:UpdateSpeed] Stopped 2025-10-28T21:29:40.318Z,1761686980.318 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:29:40.701Z,1761686980.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959017,0.258939,0.115054],[-0.283332,-0.871758,-0.399702],[-0.003199,-0.415919,0.909396]] 2025-10-28T21:29:41.102Z,1761686981.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966329,0.234509,0.105892],[-0.257299,-0.884146,-0.389979],[0.002170,-0.404094,0.914715]] 2025-10-28T21:29:41.505Z,1761686981.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973052,0.208549,0.098376],[-0.230448,-0.894356,-0.383432],[0.008019,-0.395770,0.918315]] 2025-10-28T21:29:41.906Z,1761686981.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979389,0.180396,0.090854],[-0.201530,-0.902863,-0.379769],[0.013520,-0.390252,0.920609]] 2025-10-28T21:29:42.311Z,1761686982.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985454,0.148487,0.082656],[-0.168936,-0.908790,-0.381524],[0.018466,-0.389938,0.920656]] 2025-10-28T21:29:42.720Z,1761686982.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990797,0.113950,0.073050],[-0.133503,-0.911670,-0.388632],[0.022313,-0.394808,0.918493]] 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateRudder:A] Stopped 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:29:42.745Z,1761686982.745 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:29:42.746Z,1761686982.746 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:29:42.746Z,1761686982.746 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:29:42.746Z,1761686982.746 [marl:UpdateCommandMode] Stopped 2025-10-28T21:29:42.746Z,1761686982.746 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:29:43.153Z,1761686983.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994973,0.078351,0.062376],[-0.096823,-0.911737,-0.399200],[0.025593,-0.403232,0.914740]] 2025-10-28T21:29:43.233Z,1761686983.233 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:29:43.233Z,1761686983.233 [marl:UpdateRudder:B] Stopped 2025-10-28T21:29:43.233Z,1761686983.233 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:29:43.234Z,1761686983.234 [marl:UpdateRudder] Stopped 2025-10-28T21:29:43.234Z,1761686983.234 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:29:43.526Z,1761686983.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997712,0.043951,0.051373],[-0.061235,-0.909520,-0.411124],[0.028655,-0.413330,0.910131]] 2025-10-28T21:29:43.931Z,1761686983.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999149,0.011364,0.039659],[-0.027146,-0.904978,-0.424592],[0.031065,-0.425307,0.904516]] 2025-10-28T21:29:44.335Z,1761686984.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,-0.018845,0.026760],[0.005260,-0.899462,-0.436967],[0.032304,-0.436592,0.899080]] 2025-10-28T21:29:44.741Z,1761686984.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998750,-0.048472,0.012179],[0.038054,-0.895511,-0.443410],[0.032399,-0.442392,0.896236]] 2025-10-28T21:29:45.197Z,1761686985.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996919,-0.078340,-0.003893],[0.071821,-0.891759,-0.446774],[0.031529,-0.445677,0.894638]] 2025-10-28T21:29:45.547Z,1761686985.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993774,-0.109805,-0.018865],[0.106779,-0.890348,-0.442582],[0.031801,-0.441841,0.896529]] 2025-10-28T21:29:45.951Z,1761686985.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989342,-0.141849,-0.032893],[0.141851,-0.887851,-0.437720],[0.032886,-0.437721,0.898509]] 2025-10-28T21:29:46.356Z,1761686986.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983684,-0.173914,-0.046034],[0.176643,-0.885217,-0.430335],[0.034091,-0.431445,0.901495]] 2025-10-28T21:29:46.761Z,1761686986.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976989,-0.204934,-0.059113],[0.210411,-0.880679,-0.424420],[0.034918,-0.427092,0.903534]] 2025-10-28T21:29:47.214Z,1761686987.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969734,-0.233293,-0.072041],[0.241559,-0.873696,-0.422261],[0.035568,-0.426883,0.903607]] 2025-10-28T21:29:47.567Z,1761686987.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961822,-0.260386,-0.084245],[0.271250,-0.866112,-0.419849],[0.036357,-0.426671,0.903676]] 2025-10-28T21:29:47.977Z,1761686987.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953424,-0.285465,-0.097426],[0.299300,-0.855249,-0.423048],[0.037442,-0.432503,0.900855]] 2025-10-28T21:29:48.374Z,1761686988.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944313,-0.310192,-0.109790],[0.326664,-0.843647,-0.426086],[0.039545,-0.438223,0.897996]] 2025-10-28T21:29:48.784Z,1761686988.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934324,-0.335176,-0.121229],[0.353813,-0.831077,-0.429100],[0.043073,-0.443810,0.895085]] 2025-10-28T21:29:49.218Z,1761686989.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923540,-0.360616,-0.130498],[0.380509,-0.819228,-0.429042],[0.047811,-0.445894,0.893808]] 2025-10-28T21:29:49.587Z,1761686989.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911650,-0.386829,-0.138770],[0.407510,-0.807177,-0.427084],[0.053196,-0.445902,0.893500]] 2025-10-28T21:29:49.993Z,1761686989.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898815,-0.413558,-0.145263],[0.434350,-0.795776,-0.421996],[0.058923,-0.442391,0.894885]] 2025-10-28T21:29:50.395Z,1761686990.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885029,-0.440525,-0.150540],[0.461046,-0.784593,-0.414549],[0.064507,-0.436293,0.897489]] 2025-10-28T21:29:50.801Z,1761686990.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870243,-0.468358,-0.152705],[0.487597,-0.774768,-0.402472],[0.070190,-0.424707,0.902606]] 2025-10-28T21:29:51.211Z,1761686991.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854185,-0.497038,-0.152710],[0.514389,-0.764843,-0.387839],[0.075972,-0.409839,0.908989]] 2025-10-28T21:29:51.607Z,1761686991.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836114,-0.526544,-0.153834],[0.542435,-0.751832,-0.374851],[0.081718,-0.396863,0.914233]] 2025-10-28T21:29:52.014Z,1761686992.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815412,-0.556281,-0.160168],[0.572398,-0.733514,-0.366495],[0.086389,-0.390524,0.916530]] 2025-10-28T21:29:52.416Z,1761686992.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792634,-0.585306,-0.170729],[0.603047,-0.711374,-0.360946],[0.089812,-0.389056,0.916826]] 2025-10-28T21:29:52.818Z,1761686992.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770103,-0.610509,-0.184988],[0.631138,-0.687006,-0.360120],[0.092768,-0.394083,0.914381]] 2025-10-28T21:29:53.222Z,1761686993.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748071,-0.632004,-0.202388],[0.656846,-0.661703,-0.361528],[0.094566,-0.403387,0.910130]] 2025-10-28T21:29:53.280Z,1761686993.280 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:29:53.280Z,1761686993.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:29:53.280Z,1761686993.280 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:29:53.281Z,1761686993.281 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:29:53.281Z,1761686993.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:29:53.281Z,1761686993.281 [marl:UpdateSpeed] Stopped 2025-10-28T21:29:53.281Z,1761686993.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:29:53.627Z,1761686993.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726350,-0.650734,-0.221269],[0.680768,-0.636763,-0.362060],[0.094709,-0.413616,0.905512]] 2025-10-28T21:29:54.041Z,1761686994.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704459,-0.667056,-0.242434],[0.703660,-0.611781,-0.361367],[0.092735,-0.425159,0.900356]] 2025-10-28T21:29:54.434Z,1761686994.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682315,-0.682555,-0.261851],[0.725614,-0.588666,-0.356310],[0.089058,-0.433118,0.896927]] 2025-10-28T21:29:54.839Z,1761686994.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660273,-0.697842,-0.277588],[0.746131,-0.567394,-0.348357],[0.085596,-0.437128,0.895317]] 2025-10-28T21:29:55.243Z,1761686995.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638976,-0.712741,-0.289327],[0.764623,-0.547423,-0.340118],[0.084032,-0.438553,0.894768]] 2025-10-28T21:29:55.648Z,1761686995.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617418,-0.726967,-0.300523],[0.782092,-0.526286,-0.333700],[0.084428,-0.441069,0.893493]] 2025-10-28T21:29:56.053Z,1761686996.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594976,-0.740506,-0.312496],[0.799069,-0.503106,-0.329201],[0.086557,-0.445572,0.891052]] 2025-10-28T21:29:56.095Z,1761686996.095 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:29:56.095Z,1761686996.095 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:29:56.096Z,1761686996.096 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:29:56.096Z,1761686996.096 [marl:UpdateRudder:A] Stopped 2025-10-28T21:29:56.096Z,1761686996.096 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:29:56.096Z,1761686996.096 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:29:56.096Z,1761686996.096 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:29:56.097Z,1761686996.097 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:29:56.097Z,1761686996.097 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:29:56.097Z,1761686996.097 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:29:56.097Z,1761686996.097 [marl:UpdateCommandMode] Stopped 2025-10-28T21:29:56.097Z,1761686996.097 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:29:56.455Z,1761686996.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571665,-0.754141,-0.323220],[0.815468,-0.478715,-0.325338],[0.090621,-0.449559,0.888642]] 2025-10-28T21:29:56.507Z,1761686996.507 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:29:56.507Z,1761686996.507 [marl:UpdateRudder:B] Stopped 2025-10-28T21:29:56.507Z,1761686996.507 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:29:56.507Z,1761686996.507 [marl:UpdateRudder] Stopped 2025-10-28T21:29:56.507Z,1761686996.507 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:29:56.859Z,1761686996.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547644,-0.768328,-0.331298],[0.831136,-0.453903,-0.321222],[0.096427,-0.451270,0.887163]] 2025-10-28T21:29:57.262Z,1761686997.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523241,-0.782119,-0.338391],[0.845846,-0.428307,-0.317957],[0.103745,-0.452595,0.885661]] 2025-10-28T21:29:57.669Z,1761686997.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497491,-0.796994,-0.342494],[0.860302,-0.402652,-0.312653],[0.111277,-0.450191,0.885972]] 2025-10-28T21:29:58.074Z,1761686998.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469719,-0.812236,-0.345886],[0.874867,-0.375813,-0.305570],[0.118207,-0.446136,0.887124]] 2025-10-28T21:29:58.140Z,1761686998.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:29:58.475Z,1761686998.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440308,-0.827220,-0.349049],[0.889229,-0.348042,-0.296882],[0.124103,-0.441104,0.888834]] 2025-10-28T21:29:58.879Z,1761686998.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409644,-0.841920,-0.351230],[0.903058,-0.319750,-0.286787],[0.129146,-0.434661,0.891286]] 2025-10-28T21:29:59.146Z,1761686999.146 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T21:29:59.146Z,1761686999.146 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:29:59.282Z,1761686999.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377848,-0.857183,-0.349954],[0.916272,-0.291918,-0.274279],[0.132949,-0.424289,0.895714]] 2025-10-28T21:29:59.694Z,1761686999.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345627,-0.871237,-0.348552],[0.928631,-0.264186,-0.260481],[0.134858,-0.413705,0.900367]] 2025-10-28T21:30:00.100Z,1761687000.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312183,-0.883392,-0.349516],[0.940453,-0.235278,-0.245340],[0.134498,-0.405294,0.904238]] 2025-10-28T21:30:00.497Z,1761687000.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278196,-0.893228,-0.353201],[0.951337,-0.205494,-0.229630],[0.132531,-0.399896,0.906928]] 2025-10-28T21:30:00.899Z,1761687000.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245013,-0.901560,-0.356594],[0.960752,-0.176423,-0.214083],[0.130097,-0.395051,0.909401]] 2025-10-28T21:30:01.303Z,1761687001.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213897,-0.906748,-0.363394],[0.968414,-0.148029,-0.200654],[0.128150,-0.394835,0.909771]] 2025-10-28T21:30:01.707Z,1761687001.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183811,-0.910162,-0.371239],[0.974747,-0.120053,-0.188295],[0.126811,-0.396475,0.909245]] 2025-10-28T21:30:02.119Z,1761687002.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154913,-0.910547,-0.383283],[0.979786,-0.091895,-0.177692],[0.126575,-0.403062,0.906377]] 2025-10-28T21:30:02.515Z,1761687002.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126437,-0.909957,-0.394958],[0.983807,-0.064041,-0.167397],[0.127030,-0.409728,0.903320]] 2025-10-28T21:30:02.919Z,1761687002.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097589,-0.908199,-0.407002],[0.986957,-0.035704,-0.156976],[0.128034,-0.417013,0.899837]] 2025-10-28T21:30:03.323Z,1761687003.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069056,-0.903380,-0.423244],[0.989211,-0.007061,-0.146328],[0.129201,-0.428782,0.894121]] 2025-10-28T21:30:03.728Z,1761687003.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040672,-0.898320,-0.437454],[0.990610,0.020942,-0.135105],[0.130529,-0.438842,0.889033]] 2025-10-28T21:30:04.133Z,1761687004.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012043,-0.894337,-0.447231],[0.991191,0.048318,-0.123313],[0.131893,-0.444777,0.885877]] 2025-10-28T21:30:04.535Z,1761687004.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016238,-0.889766,-0.456129],[0.990872,0.075378,-0.111766],[0.133827,-0.450151,0.882867]] 2025-10-28T21:30:04.941Z,1761687004.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045253,-0.885636,-0.462170],[0.989706,0.102624,-0.099747],[0.135769,-0.452898,0.881164]] 2025-10-28T21:30:05.342Z,1761687005.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074158,-0.881527,-0.466273],[0.987596,0.129807,-0.088339],[0.138399,-0.453939,0.880219]] 2025-10-28T21:30:05.746Z,1761687005.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104381,-0.877706,-0.467693],[0.984454,0.157980,-0.076763],[0.141261,-0.452410,0.880551]] 2025-10-28T21:30:06.158Z,1761687006.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135739,-0.874063,-0.466464],[0.980151,0.187141,-0.065446],[0.144499,-0.448322,0.882115]] 2025-10-28T21:30:06.555Z,1761687006.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168391,-0.868889,-0.465484],[0.974652,0.217334,-0.053098],[0.147302,-0.444744,0.883462]] 2025-10-28T21:30:06.584Z,1761687006.584 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:30:06.584Z,1761687006.584 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:30:06.584Z,1761687006.584 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:30:06.585Z,1761687006.585 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:30:06.585Z,1761687006.585 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:30:06.585Z,1761687006.585 [marl:UpdateSpeed] Stopped 2025-10-28T21:30:06.585Z,1761687006.585 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:30:06.959Z,1761687006.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201673,-0.863560,-0.462160],[0.967985,0.247724,-0.040481],[0.149446,-0.439200,0.885872]] 2025-10-28T21:30:07.363Z,1761687007.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235009,-0.857271,-0.458101],[0.960262,0.277774,-0.027194],[0.150561,-0.433506,0.888484]] 2025-10-28T21:30:07.774Z,1761687007.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267569,-0.850580,-0.452681],[0.951595,0.307016,-0.014413],[0.151239,-0.426913,0.891556]] 2025-10-28T21:30:08.182Z,1761687008.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299498,-0.843979,-0.444972],[0.941997,0.335613,-0.002526],[0.151470,-0.418406,0.895541]] 2025-10-28T21:30:08.576Z,1761687008.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330390,-0.835396,-0.439268],[0.931635,0.363261,0.009871],[0.151323,-0.412499,0.898302]] 2025-10-28T21:30:08.601Z,1761687008.601 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:30:08.777Z,1761687008.777 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:30:08.777Z,1761687008.777 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:30:08.980Z,1761687008.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360898,-0.824595,-0.435655],[0.920300,0.390524,0.023208],[0.150997,-0.409309,0.899814]] 2025-10-28T21:30:09.029Z,1761687009.029 [DAT](INFO): DAT read: user:310> 2025-10-28T21:30:09.030Z,1761687009.030 [DAT](INFO): DAT read: Tx time:21:30:08.7532 2025-10-28T21:30:09.030Z,1761687009.030 [DAT](INFO): Ping request sent. 2025-10-28T21:30:09.030Z,1761687009.030 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:30:09.030Z,1761687009.030 [DAT](INFO): publishing transmit ping time 2025-10-28T21:30:09.031Z,1761687009.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T21:30:09.281Z,1761687009.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795 2025-10-28T21:30:09.382Z,1761687009.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390123,-0.812716,-0.432778],[0.908246,0.416900,0.035829],[0.151307,-0.407047,0.900788]] 2025-10-28T21:30:09.464Z,1761687009.464 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:30:09.464Z,1761687009.464 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:30:09.464Z,1761687009.464 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateRudder:A] Stopped 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:30:09.465Z,1761687009.465 [marl:UpdateCommandMode] Stopped 2025-10-28T21:30:09.466Z,1761687009.466 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:30:09.533Z,1761687009.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973 2025-10-28T21:30:09.785Z,1761687009.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968 2025-10-28T21:30:09.793Z,1761687009.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418677,-0.798499,-0.432560],[0.895397,0.442465,0.049876],[0.151567,-0.408195,0.900225]] 2025-10-28T21:30:09.816Z,1761687009.816 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:30:09.816Z,1761687009.816 [marl:UpdateRudder:B] Stopped 2025-10-28T21:30:09.816Z,1761687009.816 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:30:09.817Z,1761687009.817 [marl:UpdateRudder] Stopped 2025-10-28T21:30:09.817Z,1761687009.817 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:30:10.037Z,1761687010.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006869 2025-10-28T21:30:10.204Z,1761687010.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447108,-0.781956,-0.434327],[0.881497,0.467618,0.065547],[0.151844,-0.412164,0.898367]] 2025-10-28T21:30:10.289Z,1761687010.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258984 2025-10-28T21:30:10.541Z,1761687010.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510802 2025-10-28T21:30:10.594Z,1761687010.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475619,-0.764075,-0.435863],[0.866359,0.492697,0.081675],[0.152343,-0.416460,0.896300]] 2025-10-28T21:30:10.794Z,1761687010.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763487 2025-10-28T21:30:11.045Z,1761687011.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014970 2025-10-28T21:30:11.297Z,1761687011.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266730 2025-10-28T21:30:11.405Z,1761687011.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534455,-0.722736,-0.438190],[0.831214,0.543373,0.117600],[0.153107,-0.427081,0.891156]] 2025-10-28T21:30:11.549Z,1761687011.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518798 2025-10-28T21:30:11.801Z,1761687011.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770946 2025-10-28T21:30:11.808Z,1761687011.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564893,-0.699469,-0.437765],[0.810853,0.568915,0.137304],[0.153011,-0.432525,0.888543]] 2025-10-28T21:30:12.053Z,1761687012.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022728 2025-10-28T21:30:12.211Z,1761687012.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595145,-0.675192,-0.435797],[0.788976,0.593972,0.157207],[0.152706,-0.437394,0.886209]] 2025-10-28T21:30:12.305Z,1761687012.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830 2025-10-28T21:30:12.557Z,1761687012.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526876 2025-10-28T21:30:12.616Z,1761687012.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624223,-0.652029,-0.430353],[0.766258,0.618366,0.174562],[0.152296,-0.438728,0.885621]] 2025-10-28T21:30:12.809Z,1761687012.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778807 2025-10-28T21:30:13.020Z,1761687013.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652768,-0.628468,-0.422991],[0.742263,0.642234,0.191261],[0.151458,-0.438820,0.885719]] 2025-10-28T21:30:13.061Z,1761687013.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030811 2025-10-28T21:30:13.313Z,1761687013.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282861 2025-10-28T21:30:13.422Z,1761687013.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680080,-0.603328,-0.416517],[0.717612,0.664115,0.209726],[0.150082,-0.441528,0.884606]] 2025-10-28T21:30:13.565Z,1761687013.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534784 2025-10-28T21:30:13.818Z,1761687013.818 [DAT](INFO): DAT read: Rx Time:21:30:13.1712 2025-10-28T21:30:13.819Z,1761687013.819 [DAT](INFO): Rx dataTimestamp_ set to:1761687013.818658 2025-10-28T21:30:13.819Z,1761687013.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789412 2025-10-28T21:30:13.831Z,1761687013.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705431,-0.578123,-0.410049],[0.693081,0.683732,0.228361],[0.148343,-0.445290,0.883012]] 2025-10-28T21:30:14.069Z,1761687014.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038840 2025-10-28T21:30:14.236Z,1761687014.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729603,-0.554218,-0.400651],[0.667961,0.703161,0.243707],[0.146656,-0.445429,0.883224]] 2025-10-28T21:30:14.323Z,1761687014.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292464 2025-10-28T21:30:14.578Z,1761687014.578 [DAT](INFO): DAT read: 21:30:13.1712 LVL= 26144, 30801, 18034, 31923, AGC= 83, IDX= 123, 0.15, 0.058,-0.192, 1.243,-0.090, PHS= 0.250,-0.057, 1.290, RAW= 197.4, -23.2, CAL= 197.1, -25.6, ROT= 312.9, 25.6 2025-10-28T21:30:14.579Z,1761687014.579 [DAT](INFO): got valid direction response: 21:30:13.1712 LVL= 26144, 30801, 18034, 31923, AGC= 83, IDX= 123, 0.15, 0.058,-0.192, 1.243,-0.090, PHS= 0.250,-0.057, 1.290, RAW= 197.4, -23.2, CAL= 197.1, -25.6, ROT= 312.9, 25.6 2025-10-28T21:30:14.580Z,1761687014.580 [DAT](INFO): DAT read: Bearing 161.8, -17.1 (Local) 2025-10-28T21:30:14.581Z,1761687014.581 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, -17.1 (Local) 2025-10-28T21:30:14.582Z,1761687014.582 [DAT](INFO): DAT read: Range 11 to 20 : 1510.4 m (Round-trip 2013.9 ms) speed 0.2 m/s 2025-10-28T21:30:14.583Z,1761687014.583 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:30:14.584Z,1761687014.584 [DAT](INFO): direction in FSK: [0.613896,-0.660631,-0.432086] 2025-10-28T21:30:14.584Z,1761687014.584 [DAT](INFO): publishing direction and range info 2025-10-28T21:30:14.635Z,1761687014.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751742,-0.533806,-0.387216],[0.643283,0.722831,0.252394],[0.145162,-0.438824,0.886770]] 2025-10-28T21:30:14.736Z,1761687014.736 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687040.00. Resetting abort timer. 2025-10-28T21:30:15.039Z,1761687015.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771824,-0.512890,-0.375807],[0.619238,0.740496,0.261171],[0.144331,-0.434292,0.889134]] 2025-10-28T21:30:15.443Z,1761687015.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790415,-0.492271,-0.364573],[0.595360,0.757430,0.268040],[0.144190,-0.428915,0.891763]] 2025-10-28T21:30:15.849Z,1761687015.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807807,-0.470853,-0.354606],[0.571362,0.773359,0.274702],[0.144894,-0.424515,0.893752]] 2025-10-28T21:30:16.255Z,1761687016.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824403,-0.447696,-0.346307],[0.546866,0.787794,0.283404],[0.145940,-0.423022,0.894290]] 2025-10-28T21:30:16.664Z,1761687016.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840649,-0.423734,-0.337281],[0.521230,0.802126,0.291400],[0.147066,-0.420766,0.895169]] 2025-10-28T21:30:17.464Z,1761687017.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872615,-0.372903,-0.315416],[0.465145,0.831450,0.303860],[0.148942,-0.411867,0.898989]] 2025-10-28T21:30:17.487Z,1761687017.487 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -64 -216,A 2025-10-28T21:30:17.876Z,1761687017.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888214,-0.344310,-0.304180],[0.434395,0.844951,0.312022],[0.149585,-0.409277,0.900065]] 2025-10-28T21:30:18.277Z,1761687018.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918442,-0.280227,-0.279173],[0.366137,0.869359,0.331900],[0.149694,-0.407047,0.901057]] 2025-10-28T21:30:18.681Z,1761687018.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932332,-0.246891,-0.264199],[0.329305,0.881543,0.338291],[0.149382,-0.402401,0.903193]] 2025-10-28T21:30:19.085Z,1761687019.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944788,-0.212192,-0.249700],[0.291852,0.891378,0.346796],[0.148990,-0.400524,0.904092]] 2025-10-28T21:30:19.487Z,1761687019.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955659,-0.176988,-0.235353],[0.254000,0.899816,0.354704],[0.148996,-0.398756,0.904872]] 2025-10-28T21:30:19.565Z,1761687019.565 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:30:19.565Z,1761687019.565 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:30:19.565Z,1761687019.565 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:30:19.565Z,1761687019.565 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:30:19.566Z,1761687019.566 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:30:19.566Z,1761687019.566 [marl:UpdateSpeed] Stopped 2025-10-28T21:30:19.566Z,1761687019.566 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:30:19.890Z,1761687019.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964966,-0.141740,-0.220795],[0.216061,0.906708,0.362214],[0.148856,-0.397229,0.905567]] 2025-10-28T21:30:20.299Z,1761687020.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972637,-0.106051,-0.206716],[0.178557,0.910468,0.373048],[0.148647,-0.399751,0.904491]] 2025-10-28T21:30:20.695Z,1761687020.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978724,-0.071669,-0.192255],[0.141534,0.914213,0.379713],[0.148549,-0.398845,0.904907]] 2025-10-28T21:30:21.099Z,1761687021.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983191,-0.038735,-0.178426],[0.106256,0.916092,0.386633],[0.148478,-0.399093,0.904809]] 2025-10-28T21:30:21.502Z,1761687021.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986190,-0.008165,-0.165414],[0.073276,0.917214,0.391598],[0.148523,-0.398311,0.905146]] 2025-10-28T21:30:21.908Z,1761687021.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988017,0.021898,-0.152787],[0.041154,0.916676,0.397506],[0.148760,-0.399030,0.904790]] 2025-10-28T21:30:22.310Z,1761687022.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988833,0.052151,-0.139604],[0.009862,0.911818,0.410477],[0.148700,-0.407270,0.901121]] 2025-10-28T21:30:22.714Z,1761687022.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988652,0.081481,-0.126204],[-0.021017,0.906880,0.420864],[0.148745,-0.413435,0.898302]] 2025-10-28T21:30:22.759Z,1761687022.759 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:30:22.759Z,1761687022.759 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:30:22.759Z,1761687022.759 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:30:22.759Z,1761687022.759 [marl:UpdateRudder:A] Stopped 2025-10-28T21:30:22.759Z,1761687022.759 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:30:22.760Z,1761687022.760 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:30:22.760Z,1761687022.760 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:30:22.760Z,1761687022.760 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:30:22.761Z,1761687022.761 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:30:22.761Z,1761687022.761 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:30:22.761Z,1761687022.761 [marl:UpdateCommandMode] Stopped 2025-10-28T21:30:22.761Z,1761687022.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:30:23.122Z,1761687023.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987635,0.109828,-0.111871],[-0.051095,0.900133,0.432609],[0.148211,-0.421544,0.894614]] 2025-10-28T21:30:23.219Z,1761687023.219 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:30:23.219Z,1761687023.219 [marl:UpdateRudder:B] Stopped 2025-10-28T21:30:23.219Z,1761687023.219 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:30:23.219Z,1761687023.219 [marl:UpdateRudder] Stopped 2025-10-28T21:30:23.219Z,1761687023.219 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:30:23.524Z,1761687023.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985775,0.137209,-0.097060],[-0.081108,0.894182,0.440295],[0.147202,-0.426159,0.892592]] 2025-10-28T21:30:23.926Z,1761687023.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983019,0.164363,-0.081600],[-0.111644,0.888595,0.444899],[0.145634,-0.428234,0.891856]] 2025-10-28T21:30:24.331Z,1761687024.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979038,0.192604,-0.066238],[-0.143772,0.883879,0.445070],[0.144269,-0.426217,0.893043]] 2025-10-28T21:30:24.735Z,1761687024.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973672,0.222069,-0.051454],[-0.177357,0.879811,0.440996],[0.143201,-0.420260,0.896033]] 2025-10-28T21:30:25.187Z,1761687025.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966827,0.252760,-0.036845],[-0.212046,0.874642,0.435934],[0.142413,-0.413660,0.899224]] 2025-10-28T21:30:25.543Z,1761687025.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958497,0.284089,-0.024007],[-0.247169,0.869985,0.426653],[0.142094,-0.403012,0.904096]] 2025-10-28T21:30:25.947Z,1761687025.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948993,0.315081,-0.011680],[-0.281457,0.863253,0.419019],[0.142108,-0.394359,0.907902]] 2025-10-28T21:30:26.361Z,1761687026.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938198,0.346094,0.001797],[-0.315583,0.853334,0.415003],[0.142097,-0.389922,0.909818]] 2025-10-28T21:30:26.759Z,1761687026.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926430,0.376136,0.015794],[-0.348484,0.840939,0.413980],[0.142432,-0.389027,0.910149]] 2025-10-28T21:30:27.217Z,1761687027.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913553,0.405445,0.032185],[-0.380962,0.825298,0.416834],[0.142441,-0.393061,0.908413]] 2025-10-28T21:30:27.563Z,1761687027.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900380,0.432529,0.047271],[-0.411034,0.809902,0.418461],[0.142712,-0.396204,0.907004]] 2025-10-28T21:30:27.969Z,1761687027.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886201,0.458581,0.065968],[-0.440661,0.790338,0.425658],[0.143062,-0.406287,0.902477]] 2025-10-28T21:30:28.370Z,1761687028.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871183,0.483529,0.085088],[-0.469543,0.769944,0.432106],[0.143423,-0.416396,0.897800]] 2025-10-28T21:30:28.779Z,1761687028.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855319,0.507412,0.104701],[-0.497792,0.748809,0.437594],[0.143639,-0.426402,0.893056]] 2025-10-28T21:30:29.197Z,1761687029.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838410,0.531317,0.121540],[-0.525621,0.729185,0.438191],[0.144193,-0.431268,0.890627]] 2025-10-28T21:30:29.272Z,1761687029.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:30:29.584Z,1761687029.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820268,0.555081,0.138008],[-0.553330,0.708966,0.437257],[0.144869,-0.435032,0.888685]] 2025-10-28T21:30:29.987Z,1761687029.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801648,0.578790,0.149543],[-0.579813,0.691912,0.430203],[0.145527,-0.431579,0.890259]] 2025-10-28T21:30:30.276Z,1761687030.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:30:30.391Z,1761687030.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782406,0.602725,0.156730],[-0.605269,0.676703,0.419192],[0.146598,-0.422842,0.894267]] 2025-10-28T21:30:30.797Z,1761687030.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762637,0.625930,0.163084],[-0.629674,0.660751,0.408557],[0.147971,-0.414270,0.898045]] 2025-10-28T21:30:31.205Z,1761687031.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742814,0.648268,0.167260],[-0.652630,0.645413,0.396883],[0.149334,-0.403969,0.902501]] 2025-10-28T21:30:31.603Z,1761687031.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723384,0.669074,0.170458],[-0.673845,0.630327,0.385514],[0.150493,-0.393737,0.906820]] 2025-10-28T21:30:32.006Z,1761687032.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703749,0.688155,0.176576],[-0.694158,0.613117,0.377136],[0.151266,-0.387981,0.909170]] 2025-10-28T21:30:32.414Z,1761687032.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683608,0.704705,0.189926],[-0.714026,0.591852,0.374003],[0.151153,-0.391283,0.907772]] 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed] Stopped 2025-10-28T21:30:32.438Z,1761687032.438 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:30:32.815Z,1761687032.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662330,0.720402,0.205768],[-0.733980,0.568813,0.371113],[0.150307,-0.396829,0.905502]] 2025-10-28T21:30:33.219Z,1761687033.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639461,0.735775,0.222989],[-0.754214,0.544071,0.367625],[0.149167,-0.403264,0.902844]] 2025-10-28T21:30:33.628Z,1761687033.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614970,0.750939,0.240630],[-0.774513,0.517891,0.363205],[0.148125,-0.409732,0.900099]] 2025-10-28T21:30:34.028Z,1761687034.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588654,0.766341,0.257308],[-0.794762,0.490444,0.357517],[0.147785,-0.414953,0.897760]] 2025-10-28T21:30:34.431Z,1761687034.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561500,0.782472,0.269174],[-0.814159,0.464289,0.348685],[0.147862,-0.414937,0.897755]] 2025-10-28T21:30:34.835Z,1761687034.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533367,0.798493,0.279158],[-0.832705,0.437612,0.339261],[0.148735,-0.413407,0.898317]] 2025-10-28T21:30:35.239Z,1761687035.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505495,0.813843,0.286592],[-0.849775,0.412020,0.328820],[0.149526,-0.409755,0.899857]] 2025-10-28T21:30:35.649Z,1761687035.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477179,0.828298,0.293638],[-0.865804,0.385837,0.318610],[0.150608,-0.406267,0.901257]] 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateRudder:A] Stopped 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:30:35.674Z,1761687035.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:30:35.675Z,1761687035.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:30:35.675Z,1761687035.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:30:35.675Z,1761687035.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:30:35.675Z,1761687035.675 [marl:UpdateCommandMode] Stopped 2025-10-28T21:30:35.675Z,1761687035.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:30:36.046Z,1761687036.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448376,0.842021,0.299932],[-0.880869,0.359280,0.308201],[0.151752,-0.402391,0.902803]] 2025-10-28T21:30:36.083Z,1761687036.083 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:30:36.083Z,1761687036.083 [marl:UpdateRudder:B] Stopped 2025-10-28T21:30:36.083Z,1761687036.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:30:36.083Z,1761687036.083 [marl:UpdateRudder] Stopped 2025-10-28T21:30:36.084Z,1761687036.084 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:30:36.451Z,1761687036.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419992,0.853671,0.307982],[-0.894642,0.332473,0.298460],[0.152391,-0.400885,0.903365]] 2025-10-28T21:30:36.855Z,1761687036.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391164,0.863449,0.318508],[-0.907555,0.304457,0.289223],[0.152757,-0.402197,0.902720]] 2025-10-28T21:30:37.262Z,1761687037.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361557,0.872130,0.329645],[-0.919655,0.275454,0.279927],[0.153331,-0.404370,0.901651]] 2025-10-28T21:30:37.281Z,1761687037.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -33 +780.94, -15.40, 54.0 2025-10-28T21:30:37.663Z,1761687037.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331392,0.878876,0.343157],[-0.930821,0.245140,0.271069],[0.154114,-0.409248,0.899314]] 2025-10-28T21:30:38.067Z,1761687038.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301295,0.883041,0.359805],[-0.940876,0.214047,0.262556],[0.154833,-0.417639,0.895324]] 2025-10-28T21:30:38.474Z,1761687038.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270785,0.887372,0.373156],[-0.949946,0.183579,0.252786],[0.155812,-0.422929,0.892667]] 2025-10-28T21:30:38.876Z,1761687038.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240617,0.891026,0.384936],[-0.957904,0.154005,0.242287],[0.156602,-0.427030,0.890573]] 2025-10-28T21:30:39.279Z,1761687039.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210622,0.893118,0.397465],[-0.964835,0.124513,0.231493],[0.157261,-0.432246,0.887937]] 2025-10-28T21:30:39.682Z,1761687039.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180608,0.895032,0.407798],[-0.970790,0.095636,0.220049],[0.157950,-0.435628,0.886160]] 2025-10-28T21:30:40.086Z,1761687040.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151112,0.896470,0.416541],[-0.975707,0.067649,0.208373],[0.158621,-0.437909,0.884915]] 2025-10-28T21:30:40.493Z,1761687040.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121563,0.899255,0.420194],[-0.979638,0.040548,0.196634],[0.159786,-0.435542,0.885873]] 2025-10-28T21:30:40.894Z,1761687040.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093153,0.902285,0.420956],[-0.982574,0.015009,0.185263],[0.160842,-0.430879,0.887960]] 2025-10-28T21:30:41.299Z,1761687041.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066096,0.905539,0.419083],[-0.984624,-0.008874,0.174464],[0.161703,-0.424170,0.891029]] 2025-10-28T21:30:41.703Z,1761687041.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039628,0.910158,0.412362],[-0.985929,-0.031456,0.164177],[0.162398,-0.413065,0.896105]] 2025-10-28T21:30:42.113Z,1761687042.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013797,0.913458,0.406698],[-0.986545,-0.053830,0.154372],[0.162905,-0.403356,0.900425]] 2025-10-28T21:30:42.511Z,1761687042.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012154,0.914460,0.404493],[-0.986635,-0.076704,0.143765],[0.162493,-0.397340,0.903171]] 2025-10-28T21:30:42.915Z,1761687042.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039585,0.913491,0.404928],[-0.986083,-0.101200,0.131903],[0.161471,-0.394072,0.904784]] 2025-10-28T21:30:43.320Z,1761687043.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068979,0.910073,0.408668],[-0.984684,-0.127861,0.118532],[0.160125,-0.394232,0.904953]] 2025-10-28T21:30:43.723Z,1761687043.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100040,0.904826,0.413862],[-0.982241,-0.156166,0.103994],[0.158728,-0.396108,0.904380]] 2025-10-28T21:30:44.132Z,1761687044.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132544,0.897765,0.420060],[-0.978496,-0.186090,0.088968],[0.158042,-0.399235,0.903125]] 2025-10-28T21:30:44.531Z,1761687044.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166246,0.891010,0.422450],[-0.973373,-0.216847,0.074313],[0.157820,-0.398847,0.903335]] 2025-10-28T21:30:44.935Z,1761687044.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200957,0.882133,0.425978],[-0.966692,-0.248939,0.059471],[0.158503,-0.399839,0.902777]] 2025-10-28T21:30:45.743Z,1761687045.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266962,0.857207,0.440372],[-0.950045,-0.310765,0.028984],[0.161698,-0.410636,0.897347]] 2025-10-28T21:30:45.789Z,1761687045.789 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:30:45.789Z,1761687045.789 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:30:45.789Z,1761687045.789 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:30:45.789Z,1761687045.789 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:30:45.790Z,1761687045.790 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:30:45.790Z,1761687045.790 [marl:UpdateSpeed] Stopped 2025-10-28T21:30:45.790Z,1761687045.790 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:30:46.551Z,1761687046.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323338,0.830228,0.454064],[-0.931868,-0.362798,-0.000228],[0.164544,-0.423202,0.890969]] 2025-10-28T21:30:46.956Z,1761687046.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348071,0.816024,0.461466],[-0.922676,-0.385299,-0.014613],[0.165878,-0.430870,0.887038]] 2025-10-28T21:30:47.359Z,1761687047.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371138,0.802351,0.467428],[-0.913446,-0.405966,-0.028427],[0.166952,-0.437521,0.883574]] 2025-10-28T21:30:47.403Z,1761687047.403 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +788.86, -14.76, 54.77, 0.00 2025-10-28T21:30:47.768Z,1761687047.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392505,0.789495,0.471845],[-0.904277,-0.424954,-0.041188],[0.167995,-0.442846,0.880719]] 2025-10-28T21:30:48.167Z,1761687048.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413094,0.779311,0.471199],[-0.894876,-0.443363,-0.051252],[0.168971,-0.442836,0.880537]] 2025-10-28T21:30:48.573Z,1761687048.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433767,0.771410,0.465588],[-0.884952,-0.461911,-0.059151],[0.169430,-0.437681,0.883022]] 2025-10-28T21:30:48.602Z,1761687048.602 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:30:48.602Z,1761687048.602 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:30:48.603Z,1761687048.603 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:30:48.603Z,1761687048.603 [marl:UpdateRudder:A] Stopped 2025-10-28T21:30:48.603Z,1761687048.603 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:30:48.603Z,1761687048.603 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:30:48.604Z,1761687048.604 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:30:48.604Z,1761687048.604 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:30:48.605Z,1761687048.605 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:30:48.605Z,1761687048.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:30:48.605Z,1761687048.605 [marl:UpdateCommandMode] Stopped 2025-10-28T21:30:48.605Z,1761687048.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:30:48.975Z,1761687048.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455136,0.764014,0.457312],[-0.874125,-0.481187,-0.066064],[0.169579,-0.429816,0.886849]] 2025-10-28T21:30:49.012Z,1761687049.012 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:30:49.012Z,1761687049.012 [marl:UpdateRudder:B] Stopped 2025-10-28T21:30:49.013Z,1761687049.013 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:30:49.013Z,1761687049.013 [marl:UpdateRudder] Stopped 2025-10-28T21:30:49.013Z,1761687049.013 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:30:49.379Z,1761687049.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477406,0.754675,0.450055],[-0.862120,-0.501279,-0.073944],[0.169799,-0.423303,0.889934]] 2025-10-28T21:30:49.787Z,1761687049.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500093,0.745321,0.440913],[-0.849174,-0.521866,-0.080987],[0.169736,-0.414913,0.893889]] 2025-10-28T21:30:50.189Z,1761687050.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523139,0.734466,0.432302],[-0.835236,-0.542684,-0.088738],[0.169429,-0.407497,0.897352]] 2025-10-28T21:30:50.595Z,1761687050.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547035,0.721611,0.424299],[-0.819842,-0.564250,-0.097370],[0.169148,-0.401123,0.900272]] 2025-10-28T21:30:50.994Z,1761687050.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569886,0.706362,0.419861],[-0.804251,-0.584270,-0.108668],[0.168553,-0.399602,0.901060]] 2025-10-28T21:30:51.406Z,1761687051.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593027,0.688953,0.416729],[-0.787439,-0.604294,-0.121523],[0.168103,-0.400215,0.900871]] 2025-10-28T21:30:51.804Z,1761687051.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615470,0.670876,0.413668],[-0.770259,-0.623210,-0.135312],[0.167025,-0.401913,0.900316]] 2025-10-28T21:30:52.223Z,1761687052.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638150,0.651173,0.410778],[-0.751781,-0.642128,-0.149991],[0.166102,-0.404532,0.899313]] 2025-10-28T21:30:52.617Z,1761687052.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660749,0.630497,0.407290],[-0.732263,-0.660681,-0.165201],[0.164930,-0.407399,0.898234]] 2025-10-28T21:30:53.014Z,1761687053.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682735,0.610249,0.401832],[-0.712061,-0.679012,-0.178640],[0.163834,-0.408092,0.898120]] 2025-10-28T21:30:53.822Z,1761687053.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724698,0.569378,0.388100],[-0.669767,-0.714415,-0.202543],[0.161941,-0.406719,0.899085]] 2025-10-28T21:30:54.227Z,1761687054.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744006,0.548631,0.381392],[-0.648474,-0.730465,-0.214249],[0.161049,-0.406725,0.899243]] 2025-10-28T21:30:54.631Z,1761687054.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762138,0.528318,0.374199],[-0.627357,-0.745424,-0.225313],[0.159900,-0.406476,0.899561]] 2025-10-28T21:30:55.056Z,1761687055.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779254,0.508524,0.366288],[-0.606248,-0.759783,-0.234931],[0.158831,-0.405132,0.900356]] 2025-10-28T21:30:55.843Z,1761687055.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810291,0.467743,0.353052],[-0.564704,-0.784242,-0.257047],[0.156647,-0.407653,0.899601]] 2025-10-28T21:30:56.246Z,1761687056.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824333,0.448156,0.345877],[-0.544287,-0.795416,-0.266579],[0.155648,-0.408007,0.899613]] 2025-10-28T21:30:56.651Z,1761687056.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837591,0.429096,0.338111],[-0.524123,-0.805735,-0.275836],[0.154067,-0.408250,0.899775]] 2025-10-28T21:30:57.056Z,1761687057.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851017,0.409481,0.328779],[-0.502483,-0.816870,-0.283257],[0.152581,-0.406262,0.900927]] 2025-10-28T21:30:57.459Z,1761687057.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864264,0.388670,0.319347],[-0.479864,-0.827474,-0.291578],[0.150924,-0.405244,0.901665]] 2025-10-28T21:30:57.863Z,1761687057.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877486,0.367027,0.308721],[-0.455842,-0.838345,-0.298974],[0.149083,-0.403074,0.902943]] 2025-10-28T21:30:58.269Z,1761687058.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890616,0.343812,0.297650],[-0.430218,-0.849104,-0.306489],[0.147361,-0.401019,0.904140]] 2025-10-28T21:30:58.671Z,1761687058.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903515,0.318926,0.286263],[-0.403075,-0.859300,-0.314857],[0.145569,-0.399863,0.904941]] 2025-10-28T21:30:58.703Z,1761687058.703 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:30:58.703Z,1761687058.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:30:58.705Z,1761687058.705 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:30:58.705Z,1761687058.705 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:30:58.705Z,1761687058.705 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:30:58.706Z,1761687058.706 [marl:UpdateSpeed] Stopped 2025-10-28T21:30:58.706Z,1761687058.706 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:30:59.079Z,1761687059.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916005,0.292133,0.274942],[-0.374450,-0.868545,-0.324680],[0.143950,-0.400361,0.904980]] 2025-10-28T21:30:59.490Z,1761687059.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927474,0.265414,0.263338],[-0.345746,-0.876916,-0.333884],[0.142307,-0.400717,0.905082]] 2025-10-28T21:31:00.291Z,1761687060.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946987,0.213517,0.240055],[-0.289816,-0.890198,-0.351502],[0.138645,-0.402440,0.904886]] 2025-10-28T21:31:00.413Z,1761687060.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:31:01.118Z,1761687061.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963159,0.161753,0.214851],[-0.233454,-0.899480,-0.369371],[0.133507,-0.405921,0.904104]] 2025-10-28T21:31:01.416Z,1761687061.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:31:01.503Z,1761687061.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969838,0.136551,0.201913],[-0.205859,-0.902419,-0.378500],[0.130526,-0.408649,0.903310]] 2025-10-28T21:31:01.906Z,1761687061.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975682,0.112092,0.188363],[-0.178397,-0.905394,-0.385274],[0.127356,-0.409508,0.903373]] 2025-10-28T21:31:01.967Z,1761687061.967 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:31:01.968Z,1761687061.968 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:31:01.968Z,1761687061.968 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:31:01.968Z,1761687061.968 [marl:UpdateRudder:A] Stopped 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode] Stopped 2025-10-28T21:31:01.969Z,1761687061.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:31:02.310Z,1761687062.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980847,0.087352,0.174093],[-0.150258,-0.908074,-0.390928],[0.123941,-0.409600,0.903807]] 2025-10-28T21:31:02.365Z,1761687062.365 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:31:02.365Z,1761687062.365 [marl:UpdateRudder:B] Stopped 2025-10-28T21:31:02.365Z,1761687062.365 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:31:02.365Z,1761687062.365 [marl:UpdateRudder] Stopped 2025-10-28T21:31:02.365Z,1761687062.365 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:31:02.720Z,1761687062.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985157,0.062769,0.159767],[-0.122281,-0.909829,-0.396558],[0.120469,-0.410208,0.904000]] 2025-10-28T21:31:03.194Z,1761687063.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991249,0.016149,0.131015],[-0.068219,-0.912351,-0.403686],[0.113012,-0.409091,0.905468]] 2025-10-28T21:31:03.527Z,1761687063.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993088,-0.007778,0.117115],[-0.040994,-0.911981,-0.408180],[0.109982,-0.410159,0.905358]] 2025-10-28T21:31:03.932Z,1761687063.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994152,-0.031305,0.103350],[-0.013966,-0.911750,-0.410508],[0.107081,-0.409551,0.905981]] 2025-10-28T21:31:04.337Z,1761687064.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994525,-0.055003,0.088855],[0.013570,-0.911051,-0.412070],[0.103617,-0.408608,0.906809]] 2025-10-28T21:31:04.737Z,1761687064.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994182,-0.078837,0.073397],[0.041523,-0.909240,-0.414195],[0.099389,-0.408738,0.907224]] 2025-10-28T21:31:05.196Z,1761687065.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993040,-0.102508,0.057996],[0.069635,-0.908150,-0.412813],[0.094985,-0.405901,0.908967]] 2025-10-28T21:31:05.543Z,1761687065.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991080,-0.126432,0.042133],[0.098109,-0.906158,-0.411404],[0.090194,-0.403600,0.910479]] 2025-10-28T21:31:05.948Z,1761687065.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988288,-0.150378,0.025951],[0.126776,-0.903737,-0.408884],[0.084940,-0.400806,0.912217]] 2025-10-28T21:31:06.350Z,1761687066.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984533,-0.174950,0.009287],[0.156173,-0.900420,-0.406022],[0.079396,-0.398292,0.913816]] 2025-10-28T21:31:06.756Z,1761687066.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979807,-0.199809,-0.007422],[0.185761,-0.895932,-0.403482],[0.073970,-0.396713,0.914957]] 2025-10-28T21:31:07.214Z,1761687067.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973944,-0.225404,-0.025006],[0.216190,-0.889460,-0.402646],[0.068516,-0.397561,0.915014]] 2025-10-28T21:31:07.571Z,1761687067.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967043,-0.251092,-0.042207],[0.246525,-0.881912,-0.401817],[0.063670,-0.398979,0.914747]] 2025-10-28T21:31:07.967Z,1761687067.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958982,-0.277150,-0.059508],[0.277226,-0.873159,-0.400922],[0.059155,-0.400974,0.914177]] 2025-10-28T21:31:08.371Z,1761687068.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949539,-0.303948,-0.077404],[0.308828,-0.862920,-0.399993],[0.054784,-0.403714,0.913244]] 2025-10-28T21:31:08.779Z,1761687068.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938635,-0.331352,-0.095759],[0.341169,-0.851169,-0.398892],[0.050667,-0.407084,0.911984]] 2025-10-28T21:31:08.828Z,1761687068.828 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:31:09.037Z,1761687069.037 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:31:09.037Z,1761687069.037 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:31:09.206Z,1761687069.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926443,-0.358749,-0.114026],[0.373502,-0.838305,-0.397166],[0.046894,-0.410541,0.910636]] 2025-10-28T21:31:09.289Z,1761687069.289 [DAT](INFO): DAT read: user:311> 2025-10-28T21:31:09.290Z,1761687069.290 [DAT](INFO): DAT read: Tx time:21:31:09.0029 2025-10-28T21:31:09.290Z,1761687069.290 [DAT](INFO): Ping request sent. 2025-10-28T21:31:09.290Z,1761687069.290 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:31:09.290Z,1761687069.290 [DAT](INFO): publishing transmit ping time 2025-10-28T21:31:09.291Z,1761687069.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T21:31:09.541Z,1761687069.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848 2025-10-28T21:31:09.588Z,1761687069.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913083,-0.385673,-0.132423],[0.405460,-0.824146,-0.395456],[0.043380,-0.414776,0.908889]] 2025-10-28T21:31:09.793Z,1761687069.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974 2025-10-28T21:31:10.003Z,1761687070.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898515,-0.412389,-0.150356],[0.437156,-0.809838,-0.391224],[0.039573,-0.417250,0.907930]] 2025-10-28T21:31:10.045Z,1761687070.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755031 2025-10-28T21:31:10.297Z,1761687070.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006900 2025-10-28T21:31:10.391Z,1761687070.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882683,-0.439083,-0.167561],[0.468635,-0.795493,-0.384151],[0.035380,-0.417609,0.907938]] 2025-10-28T21:31:10.550Z,1761687070.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259876 2025-10-28T21:31:10.799Z,1761687070.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865649,-0.465468,-0.184369],[0.499713,-0.780756,-0.375109],[0.030654,-0.416844,0.908461]] 2025-10-28T21:31:10.801Z,1761687070.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035 2025-10-28T21:31:11.054Z,1761687071.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763845 2025-10-28T21:31:11.212Z,1761687071.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847514,-0.491010,-0.201566],[0.530173,-0.765084,-0.365464],[0.025232,-0.416601,0.908739]] 2025-10-28T21:31:11.305Z,1761687071.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021 2025-10-28T21:31:11.557Z,1761687071.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267193 2025-10-28T21:31:11.603Z,1761687071.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828871,-0.515157,-0.218142],[0.559108,-0.749377,-0.354728],[0.019270,-0.415989,0.909165]] 2025-10-28T21:31:11.645Z,1761687071.645 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:31:11.645Z,1761687071.645 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:31:11.645Z,1761687071.645 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:31:11.645Z,1761687071.645 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:31:11.645Z,1761687071.645 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:31:11.646Z,1761687071.646 [marl:UpdateSpeed] Stopped 2025-10-28T21:31:11.646Z,1761687071.646 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:31:11.809Z,1761687071.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518907 2025-10-28T21:31:12.006Z,1761687072.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809795,-0.538569,-0.232757],[0.586557,-0.733996,-0.342346],[0.013534,-0.413755,0.910288]] 2025-10-28T21:31:12.062Z,1761687072.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771689 2025-10-28T21:31:12.313Z,1761687072.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022950 2025-10-28T21:31:12.412Z,1761687072.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790551,-0.560443,-0.246845],[0.612344,-0.718215,-0.330457],[0.007915,-0.412398,0.910970]] 2025-10-28T21:31:12.566Z,1761687072.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275362 2025-10-28T21:31:12.815Z,1761687072.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771608,-0.580448,-0.260196],[0.636092,-0.702204,-0.319838],[0.002939,-0.412298,0.911044]] 2025-10-28T21:31:12.817Z,1761687072.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526974 2025-10-28T21:31:13.069Z,1761687073.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779500 2025-10-28T21:31:13.221Z,1761687073.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752816,-0.599663,-0.271428],[0.658229,-0.686862,-0.308148],[-0.001648,-0.410641,0.911796]] 2025-10-28T21:31:13.321Z,1761687073.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031342 2025-10-28T21:31:13.574Z,1761687073.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283504 2025-10-28T21:31:13.622Z,1761687073.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733814,-0.618217,-0.281647],[0.679326,-0.671283,-0.296472],[-0.005781,-0.408885,0.912567]] 2025-10-28T21:31:13.825Z,1761687073.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534986 2025-10-28T21:31:14.027Z,1761687074.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715079,-0.635012,-0.292272],[0.698983,-0.655059,-0.286916],[-0.009260,-0.409461,0.912281]] 2025-10-28T21:31:14.079Z,1761687074.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788479 2025-10-28T21:31:14.334Z,1761687074.334 [DAT](INFO): DAT read: Rx Time:21:31:13.4673 2025-10-28T21:31:14.334Z,1761687074.334 [DAT](INFO): Rx dataTimestamp_ set to:1761687074.333929 2025-10-28T21:31:14.335Z,1761687074.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044793 2025-10-28T21:31:14.431Z,1761687074.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696326,-0.650915,-0.302391],[0.717624,-0.638515,-0.278054],[-0.012092,-0.410619,0.911727]] 2025-10-28T21:31:14.581Z,1761687074.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291012 2025-10-28T21:31:14.838Z,1761687074.838 [DAT](INFO): DAT read: 21:31:13.4673 LVL= 32752, 26529, 32754, 32755, AGC= 81, IDX= 406, 0.13,-1.657, 0.263,-0.681,-0.847, PHS=-0.708, 1.155, 0.121, RAW= 303.6, -7.1, CAL= 303.4, -11.2, ROT= 206.6, 11.2 2025-10-28T21:31:14.839Z,1761687074.839 [DAT](INFO): got valid direction response: 21:31:13.4673 LVL= 32752, 26529, 32754, 32755, AGC= 81, IDX= 406, 0.13,-1.657, 0.263,-0.681,-0.847, PHS=-0.708, 1.155, 0.121, RAW= 303.6, -7.1, CAL= 303.4, -11.2, ROT= 206.6, 11.2 2025-10-28T21:31:14.840Z,1761687074.840 [DAT](INFO): DAT read: Bearing 142.5, -18.6 (Local) 2025-10-28T21:31:14.841Z,1761687074.841 [DAT](INFO): Local bearing/azimuth received: Bearing 142.5, -18.6 (Local) 2025-10-28T21:31:14.842Z,1761687074.842 [DAT](INFO): DAT read: Range 11 to 20 : 1545.2 m (Round-trip 2060.3 ms) speed -1.3 m/s 2025-10-28T21:31:14.843Z,1761687074.843 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:31:14.843Z,1761687074.843 [DAT](INFO): direction in FSK: [-0.877125,-0.439232,-0.194234] 2025-10-28T21:31:14.844Z,1761687074.844 [DAT](INFO): publishing direction and range info 2025-10-28T21:31:14.864Z,1761687074.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677270,-0.666237,-0.312143],[0.735602,-0.621239,-0.270095],[-0.013968,-0.412540,0.910832]] 2025-10-28T21:31:14.935Z,1761687074.935 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687040.00. Resetting abort timer. 2025-10-28T21:31:15.241Z,1761687075.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657525,-0.681449,-0.321384],[0.753280,-0.603173,-0.262206],[-0.015170,-0.414499,0.909923]] 2025-10-28T21:31:15.312Z,1761687075.312 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:31:15.312Z,1761687075.312 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:31:15.312Z,1761687075.312 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateRudder:A] Stopped 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:31:15.313Z,1761687075.313 [marl:UpdateCommandMode] Stopped 2025-10-28T21:31:15.314Z,1761687075.314 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:31:15.644Z,1761687075.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637203,-0.695930,-0.331141],[0.770534,-0.584075,-0.255212],[-0.015802,-0.417777,0.908412]] 2025-10-28T21:31:15.735Z,1761687075.735 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:31:15.735Z,1761687075.735 [marl:UpdateRudder:B] Stopped 2025-10-28T21:31:15.736Z,1761687075.736 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:31:15.736Z,1761687075.736 [marl:UpdateRudder] Stopped 2025-10-28T21:31:15.736Z,1761687075.736 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:31:16.054Z,1761687076.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616170,-0.710418,-0.340061],[0.787450,-0.564472,-0.247578],[-0.016071,-0.420331,0.907228]] 2025-10-28T21:31:16.451Z,1761687076.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594244,-0.725291,-0.347603],[0.804121,-0.544481,-0.238599],[-0.016209,-0.421301,0.906776]] 2025-10-28T21:31:16.857Z,1761687076.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571626,-0.741162,-0.352025],[0.820357,-0.524638,-0.227528],[-0.016051,-0.418847,0.907915]] 2025-10-28T21:31:17.268Z,1761687077.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547685,-0.756748,-0.356895],[0.836534,-0.503361,-0.216422],[-0.015870,-0.417086,0.908729]] 2025-10-28T21:31:17.663Z,1761687077.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522489,-0.772449,-0.361009],[0.852500,-0.481101,-0.204415],[-0.015781,-0.414565,0.909883]] 2025-10-28T21:31:18.071Z,1761687078.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495574,-0.788766,-0.363669],[0.868414,-0.457783,-0.190502],[-0.016220,-0.410223,0.911841]] 2025-10-28T21:31:18.470Z,1761687078.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467301,-0.804857,-0.365834],[0.883935,-0.433278,-0.175865],[-0.016962,-0.405555,0.913913]] 2025-10-28T21:31:18.877Z,1761687078.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437798,-0.821199,-0.366012],[0.898894,-0.407928,-0.159950],[-0.017956,-0.399032,0.916761]] 2025-10-28T21:31:19.278Z,1761687079.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407151,-0.835866,-0.368179],[0.913158,-0.381018,-0.144803],[-0.019247,-0.395162,0.918410]] 2025-10-28T21:31:19.682Z,1761687079.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375742,-0.848301,-0.373100],[0.926486,-0.352996,-0.130454],[-0.021038,-0.394689,0.918574]] 2025-10-28T21:31:20.087Z,1761687080.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343845,-0.859856,-0.377383],[0.938737,-0.324739,-0.115402],[-0.023322,-0.393944,0.918839]] 2025-10-28T21:31:20.494Z,1761687080.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312089,-0.870068,-0.381552],[0.949691,-0.296794,-0.100004],[-0.026232,-0.393567,0.918922]] 2025-10-28T21:31:20.895Z,1761687080.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280409,-0.878719,-0.386294],[0.959423,-0.269002,-0.084529],[-0.029636,-0.394322,0.918494]] 2025-10-28T21:31:21.703Z,1761687081.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216960,-0.894251,-0.391465],[0.975475,-0.213847,-0.052127],[-0.037099,-0.393173,0.918716]] 2025-10-28T21:31:22.108Z,1761687082.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186185,-0.900929,-0.391998],[0.981657,-0.187246,-0.035904],[-0.041053,-0.391492,0.919265]] 2025-10-28T21:31:22.914Z,1761687082.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125808,-0.910464,-0.393990],[0.990798,-0.135296,-0.003728],[-0.049911,-0.390834,0.919107]] 2025-10-28T21:31:23.318Z,1761687083.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096197,-0.914195,-0.393693],[0.993900,-0.109656,0.011780],[-0.053940,-0.390158,0.919167]] 2025-10-28T21:31:23.724Z,1761687083.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066965,-0.915407,-0.396921],[0.996107,-0.084193,0.026116],[-0.057325,-0.393627,0.917481]] 2025-10-28T21:31:24.127Z,1761687084.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037445,-0.915541,-0.400479],[0.997476,-0.058437,0.040329],[-0.060326,-0.397958,0.915418]] 2025-10-28T21:31:24.557Z,1761687084.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008901,-0.914039,-0.405529],[0.998001,-0.033497,0.053595],[-0.062572,-0.404241,0.912510]] 2025-10-28T21:31:24.936Z,1761687084.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019744,-0.912139,-0.409406],[0.997754,-0.008238,0.066472],[-0.064005,-0.409799,0.909928]] 2025-10-28T21:31:24.976Z,1761687084.976 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:31:24.976Z,1761687084.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:31:24.977Z,1761687084.977 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:31:24.977Z,1761687084.977 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:31:24.977Z,1761687084.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:31:24.977Z,1761687084.977 [marl:UpdateSpeed] Stopped 2025-10-28T21:31:24.977Z,1761687084.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:31:25.744Z,1761687085.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076582,-0.908279,-0.411296],[0.994937,0.042691,0.090977],[-0.065074,-0.416181,0.906950]] 2025-10-28T21:31:26.147Z,1761687086.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105149,-0.906980,-0.407838],[0.992334,0.068915,0.102585],[-0.064936,-0.415498,0.907273]] 2025-10-28T21:31:26.559Z,1761687086.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133589,-0.905502,-0.402765],[0.988929,0.095306,0.113740],[-0.064606,-0.413500,0.908209]] 2025-10-28T21:31:26.956Z,1761687086.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161985,-0.903143,-0.397609],[0.984676,0.121557,0.125046],[-0.064602,-0.411772,0.908994]] 2025-10-28T21:31:27.766Z,1761687087.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218836,-0.898986,-0.379388],[0.973560,0.175060,0.146744],[-0.065505,-0.401470,0.913527]] 2025-10-28T21:31:28.166Z,1761687088.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246677,-0.894731,-0.372299],[0.966802,0.200782,0.158049],[-0.066660,-0.398927,0.914557]] 2025-10-28T21:31:28.217Z,1761687088.217 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateRudder:A] Stopped 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:31:28.218Z,1761687088.218 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:31:28.219Z,1761687088.219 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:31:28.219Z,1761687088.219 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:31:28.219Z,1761687088.219 [marl:UpdateCommandMode] Stopped 2025-10-28T21:31:28.219Z,1761687088.219 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:31:28.571Z,1761687088.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274222,-0.889410,-0.365720],[0.959261,0.226102,0.169400],[-0.067976,-0.397274,0.915179]] 2025-10-28T21:31:28.602Z,1761687088.602 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:31:28.602Z,1761687088.602 [marl:UpdateRudder:B] Stopped 2025-10-28T21:31:28.602Z,1761687088.602 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:31:28.602Z,1761687088.602 [marl:UpdateRudder] Stopped 2025-10-28T21:31:28.602Z,1761687088.602 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:31:28.977Z,1761687088.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301293,-0.883159,-0.359518],[0.951008,0.250908,0.180632],[-0.069321,-0.396328,0.915488]] 2025-10-28T21:31:29.378Z,1761687089.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328655,-0.875868,-0.353328],[0.941773,0.275776,0.192383],[-0.071063,-0.395982,0.915504]] 2025-10-28T21:31:29.787Z,1761687089.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355416,-0.867441,-0.348175],[0.931901,0.299998,0.203868],[-0.072392,-0.396923,0.914993]] 2025-10-28T21:31:30.187Z,1761687090.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382342,-0.857369,-0.344577],[0.921102,0.324023,0.215826],[-0.073392,-0.399910,0.913611]] 2025-10-28T21:31:30.596Z,1761687090.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408688,-0.846657,-0.340802],[0.909690,0.347715,0.227065],[-0.073744,-0.402823,0.912302]] 2025-10-28T21:31:30.996Z,1761687090.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435582,-0.834518,-0.337415],[0.897089,0.371566,0.239102],[-0.074163,-0.406840,0.910484]] 2025-10-28T21:31:31.399Z,1761687091.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461777,-0.822604,-0.331789],[0.883887,0.395460,0.249711],[-0.074204,-0.408575,0.909703]] 2025-10-28T21:31:31.537Z,1761687091.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:31:31.803Z,1761687091.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488214,-0.810193,-0.324398],[0.869577,0.420063,0.259582],[-0.074044,-0.408820,0.909606]] 2025-10-28T21:31:32.209Z,1761687092.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514565,-0.797175,-0.315809],[0.854264,0.444885,0.268905],[-0.073866,-0.408153,0.909920]] 2025-10-28T21:31:32.540Z,1761687092.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:31:32.611Z,1761687092.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540289,-0.784114,-0.305374],[0.838232,0.469662,0.277101],[-0.073856,-0.405689,0.911022]] 2025-10-28T21:31:33.021Z,1761687093.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565636,-0.770024,-0.295160],[0.821330,0.493926,0.285401],[-0.073978,-0.403856,0.911826]] 2025-10-28T21:31:33.421Z,1761687093.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590503,-0.754891,-0.285387],[0.803628,0.517559,0.293793],[-0.074076,-0.402831,0.912272]] 2025-10-28T21:31:33.824Z,1761687093.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614536,-0.739486,-0.274784],[0.785392,0.540738,0.301268],[-0.074197,-0.400953,0.913089]] 2025-10-28T21:31:34.226Z,1761687094.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637730,-0.723886,-0.263229],[0.766610,0.563267,0.308283],[-0.074893,-0.398396,0.914151]] 2025-10-28T21:31:34.630Z,1761687094.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659210,-0.708162,-0.252881],[0.748162,0.583930,0.315086],[-0.075467,-0.396904,0.914753]] 2025-10-28T21:31:35.039Z,1761687095.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679192,-0.692543,-0.243069],[0.729984,0.602969,0.321793],[-0.076292,-0.395996,0.915078]] 2025-10-28T21:31:35.843Z,1761687095.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716851,-0.660772,-0.222498],[0.692735,0.638828,0.334690],[-0.079016,-0.394055,0.915684]] 2025-10-28T21:31:36.247Z,1761687096.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734112,-0.645054,-0.212097],[0.674270,0.655578,0.339967],[-0.080251,-0.392584,0.916208]] 2025-10-28T21:31:36.651Z,1761687096.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750364,-0.629667,-0.201180],[0.656027,0.672009,0.343558],[-0.081132,-0.389773,0.917330]] 2025-10-28T21:31:37.057Z,1761687097.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766293,-0.613006,-0.192404],[0.637263,0.687049,0.349083],[-0.081799,-0.390112,0.917127]] 2025-10-28T21:31:37.459Z,1761687097.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782647,-0.594046,-0.185937],[0.616999,0.700856,0.357929],[-0.082311,-0.394855,0.915049]] 2025-10-28T21:31:37.862Z,1761687097.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798844,-0.574085,-0.179652],[0.595848,0.714188,0.367288],[-0.082549,-0.400451,0.912592]] 2025-10-28T21:31:38.267Z,1761687098.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814941,-0.553456,-0.171921],[0.573671,0.728249,0.374908],[-0.082293,-0.404154,0.910982]] 2025-10-28T21:31:38.298Z,1761687098.298 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:31:38.298Z,1761687098.298 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:31:38.299Z,1761687098.299 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:31:38.299Z,1761687098.299 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:31:38.299Z,1761687098.299 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:31:38.299Z,1761687098.299 [marl:UpdateSpeed] Stopped 2025-10-28T21:31:38.299Z,1761687098.299 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:31:38.672Z,1761687098.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830885,-0.532140,-0.162653],[0.550393,0.742968,0.380874],[-0.081832,-0.405986,0.910208]] 2025-10-28T21:31:39.074Z,1761687099.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846424,-0.509902,-0.153510],[0.526297,0.757131,0.386994],[-0.081102,-0.408353,0.909214]] 2025-10-28T21:31:39.478Z,1761687099.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861779,-0.486481,-0.143782],[0.500847,0.770942,0.393447],[-0.080556,-0.411077,0.908034]] 2025-10-28T21:31:39.883Z,1761687099.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876503,-0.462756,-0.132666],[0.474785,0.785470,0.397009],[-0.079513,-0.410967,0.908176]] 2025-10-28T21:31:40.288Z,1761687100.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890572,-0.438438,-0.121054],[0.448017,0.799634,0.399832],[-0.078503,-0.410313,0.908560]] 2025-10-28T21:31:40.691Z,1761687100.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903921,-0.414110,-0.106956],[0.420539,0.814985,0.398681],[-0.077930,-0.405355,0.910831]] 2025-10-28T21:31:41.095Z,1761687101.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916061,-0.389980,-0.093530],[0.393425,0.828663,0.398164],[-0.077771,-0.401539,0.912534]] 2025-10-28T21:31:41.194Z,1761687101.194 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:31:41.194Z,1761687101.194 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:31:41.194Z,1761687101.194 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateRudder:A] Stopped 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:31:41.195Z,1761687101.195 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:31:41.196Z,1761687101.196 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:31:41.200Z,1761687101.200 [marl:UpdateCommandMode] Stopped 2025-10-28T21:31:41.200Z,1761687101.200 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:31:41.510Z,1761687101.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927137,-0.366053,-0.080136],[0.366529,0.841414,0.397087],[-0.077927,-0.397526,0.914276]] 2025-10-28T21:31:41.571Z,1761687101.571 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:31:41.571Z,1761687101.571 [marl:UpdateRudder:B] Stopped 2025-10-28T21:31:41.571Z,1761687101.571 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:31:41.572Z,1761687101.572 [marl:UpdateRudder] Stopped 2025-10-28T21:31:41.572Z,1761687101.572 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:31:41.904Z,1761687101.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937270,-0.341953,-0.067772],[0.339704,0.852267,0.397797],[-0.078268,-0.395865,0.914967]] 2025-10-28T21:31:42.306Z,1761687102.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946288,-0.318540,-0.055427],[0.313473,0.861872,0.398638],[-0.079211,-0.394601,0.915432]] 2025-10-28T21:31:42.711Z,1761687102.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954423,-0.295273,-0.043486],[0.287346,0.869692,0.401332],[-0.080683,-0.395536,0.914900]] 2025-10-28T21:31:43.121Z,1761687103.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961658,-0.272383,-0.031945],[0.261668,0.876418,0.404254],[-0.082114,-0.397113,0.914089]] 2025-10-28T21:31:43.523Z,1761687103.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967858,-0.250598,-0.021231],[0.237142,0.881249,0.408856],[-0.083749,-0.400750,0.912352]] 2025-10-28T21:31:43.923Z,1761687103.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973368,-0.229001,-0.010647],[0.212756,0.885073,0.413982],[-0.085379,-0.405222,0.910223]] 2025-10-28T21:31:44.327Z,1761687104.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978259,-0.207385,-0.000021],[0.188335,0.888355,0.418754],[-0.086824,-0.409654,0.908100]] 2025-10-28T21:31:44.732Z,1761687104.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982538,-0.185759,0.010657],[0.163985,0.891584,0.422122],[-0.087915,-0.413003,0.906476]] 2025-10-28T21:31:45.177Z,1761687105.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989500,-0.141071,0.031449],[0.114241,0.896664,0.427718],[-0.088538,-0.419634,0.903365]] 2025-10-28T21:31:45.943Z,1761687105.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992250,-0.116769,0.042489],[0.087380,0.898812,0.429536],[-0.088346,-0.422495,0.902049]] 2025-10-28T21:31:46.349Z,1761687106.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994400,-0.090577,0.054445],[0.058467,0.900672,0.430549],[-0.088035,-0.424955,0.900924]] 2025-10-28T21:31:46.751Z,1761687106.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995759,-0.062833,0.067202],[0.028071,0.903122,0.428465],[-0.087614,-0.424761,0.901056]] 2025-10-28T21:31:47.193Z,1761687107.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995623,-0.003815,0.093386],[-0.035844,0.907187,0.419197],[-0.086318,-0.420709,0.903080]] 2025-10-28T21:31:47.963Z,1761687107.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993940,0.027101,0.106529],[-0.068837,0.909028,0.411011],[-0.085699,-0.415853,0.905385]] 2025-10-28T21:31:48.371Z,1761687108.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991187,0.058473,0.118868],[-0.101853,0.910134,0.401599],[-0.084703,-0.410166,0.908069]] 2025-10-28T21:31:48.781Z,1761687108.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982294,0.121174,0.142882],[-0.168018,0.907174,0.385754],[-0.082875,-0.402930,0.911471]] 2025-10-28T21:31:49.198Z,1761687109.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976149,0.152371,0.154647],[-0.200917,0.903903,0.377612],[-0.082249,-0.399677,0.912959]] 2025-10-28T21:31:49.583Z,1761687109.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969160,0.181729,0.166445],[-0.232464,0.898354,0.372721],[-0.081792,-0.399919,0.912894]] 2025-10-28T21:31:49.994Z,1761687109.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961728,0.208928,0.177278],[-0.261516,0.892993,0.366297],[-0.081779,-0.398639,0.913454]] 2025-10-28T21:31:50.388Z,1761687110.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954047,0.234079,0.187086],[-0.288230,0.887607,0.359273],[-0.081961,-0.396687,0.914287]] 2025-10-28T21:31:50.795Z,1761687110.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946261,0.256420,0.197076],[-0.312697,0.880935,0.355210],[-0.082528,-0.397747,0.913776]] 2025-10-28T21:31:51.204Z,1761687111.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938117,0.277767,0.206839],[-0.336260,0.873464,0.352120],[-0.082859,-0.399882,0.912814]] 2025-10-28T21:31:51.598Z,1761687111.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929784,0.297898,0.216239],[-0.358679,0.865273,0.350218],[-0.082777,-0.403187,0.911366]] 2025-10-28T21:31:51.638Z,1761687111.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:31:51.638Z,1761687111.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:31:51.638Z,1761687111.638 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:31:51.639Z,1761687111.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:31:51.639Z,1761687111.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:31:51.639Z,1761687111.639 [marl:UpdateSpeed] Stopped 2025-10-28T21:31:51.639Z,1761687111.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:31:52.007Z,1761687112.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920976,0.317074,0.226424],[-0.380744,0.855755,0.350310],[-0.082690,-0.408836,0.908854]] 2025-10-28T21:31:52.408Z,1761687112.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911734,0.335811,0.236587],[-0.402409,0.845837,0.350182],[-0.082519,-0.414477,0.906311]] 2025-10-28T21:31:52.810Z,1761687112.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902171,0.354181,0.246258],[-0.423448,0.836063,0.348842],[-0.082334,-0.418992,0.904249]] 2025-10-28T21:31:53.618Z,1761687113.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881470,0.390289,0.265867],[-0.465059,0.815236,0.345123],[-0.082046,-0.427859,0.900114]] 2025-10-28T21:31:54.023Z,1761687114.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869799,0.408957,0.276052],[-0.486508,0.804076,0.341718],[-0.082219,-0.431527,0.898345]] 2025-10-28T21:31:54.047Z,1761687114.047 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:31:54.047Z,1761687114.047 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:31:54.047Z,1761687114.047 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:31:54.048Z,1761687114.048 [marl:UpdateRudder:A] Stopped 2025-10-28T21:31:54.048Z,1761687114.048 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:31:54.048Z,1761687114.048 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:31:54.048Z,1761687114.048 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:31:54.048Z,1761687114.048 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:31:54.049Z,1761687114.049 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:31:54.049Z,1761687114.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:31:54.049Z,1761687114.049 [marl:UpdateCommandMode] Stopped 2025-10-28T21:31:54.049Z,1761687114.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:31:54.428Z,1761687114.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856791,0.429161,0.285884],[-0.509067,0.792336,0.336235],[-0.082217,-0.433617,0.897339]] 2025-10-28T21:31:54.454Z,1761687114.454 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:31:54.454Z,1761687114.454 [marl:UpdateRudder:B] Stopped 2025-10-28T21:31:54.454Z,1761687114.454 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:31:54.454Z,1761687114.454 [marl:UpdateRudder] Stopped 2025-10-28T21:31:54.454Z,1761687114.454 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:31:54.830Z,1761687114.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842006,0.451158,0.295774],[-0.533235,0.779136,0.329556],[-0.081767,-0.435205,0.896611]] 2025-10-28T21:31:55.235Z,1761687115.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825418,0.474883,0.305240],[-0.558590,0.765238,0.319982],[-0.081627,-0.434623,0.896906]] 2025-10-28T21:31:55.641Z,1761687115.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807279,0.499742,0.313940],[-0.584508,0.750535,0.308297],[-0.081554,-0.432382,0.897995]] 2025-10-28T21:31:56.042Z,1761687116.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788018,0.524658,0.322120],[-0.610196,0.735104,0.295438],[-0.081788,-0.429367,0.899419]] 2025-10-28T21:31:56.447Z,1761687116.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767282,0.550119,0.329618],[-0.635993,0.718770,0.280861],[-0.082413,-0.425134,0.901371]] 2025-10-28T21:31:56.853Z,1761687116.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745254,0.575708,0.336387],[-0.661582,0.701320,0.265441],[-0.083098,-0.420369,0.903540]] 2025-10-28T21:31:57.287Z,1761687117.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722599,0.601897,0.339956],[-0.686175,0.684124,0.247260],[-0.083747,-0.411939,0.907355]] 2025-10-28T21:31:57.659Z,1761687117.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699325,0.627606,0.342133],[-0.709833,0.666095,0.229029],[-0.084153,-0.403023,0.911313]] 2025-10-28T21:31:58.063Z,1761687118.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675118,0.651762,0.345574],[-0.732909,0.645935,0.213571],[-0.084021,-0.397460,0.913765]] 2025-10-28T21:31:58.475Z,1761687118.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650724,0.674042,0.349607],[-0.754710,0.624772,0.200182],[-0.083494,-0.394115,0.915261]] 2025-10-28T21:31:58.872Z,1761687118.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626323,0.693573,0.355915],[-0.775111,0.602781,0.189363],[-0.083201,-0.394476,0.915132]] 2025-10-28T21:31:59.277Z,1761687119.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602290,0.710235,0.364434],[-0.793918,0.580581,0.180610],[-0.083308,-0.398110,0.913547]] 2025-10-28T21:31:59.683Z,1761687119.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578802,0.724472,0.374338],[-0.811150,0.558670,0.172983],[-0.083810,-0.403767,0.911015]] 2025-10-28T21:32:00.083Z,1761687120.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554153,0.737500,0.386017],[-0.828159,0.535287,0.166192],[-0.084064,-0.411779,0.907398]] 2025-10-28T21:32:00.495Z,1761687120.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528440,0.750310,0.397224],[-0.844776,0.511175,0.158284],[-0.084289,-0.419209,0.903969]] 2025-10-28T21:32:00.890Z,1761687120.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501672,0.763222,0.407206],[-0.860927,0.486450,0.148903],[-0.084439,-0.425275,0.901117]] 2025-10-28T21:32:01.295Z,1761687121.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474755,0.777120,0.413150],[-0.876016,0.462508,0.136678],[-0.084870,-0.426815,0.900348]] 2025-10-28T21:32:01.704Z,1761687121.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447761,0.792278,0.414494],[-0.890081,0.439128,0.122155],[-0.085235,-0.423630,0.901816]] 2025-10-28T21:32:02.104Z,1761687122.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421105,0.807188,0.413664],[-0.902996,0.415972,0.107546],[-0.085263,-0.418825,0.904055]] 2025-10-28T21:32:02.508Z,1761687122.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394584,0.821172,0.412287],[-0.914932,0.392569,0.093748],[-0.084868,-0.414206,0.906218]] 2025-10-28T21:32:02.668Z,1761687122.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:32:02.910Z,1761687122.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369367,0.833715,0.410473],[-0.925420,0.370239,0.080751],[-0.084650,-0.409686,0.908290]] 2025-10-28T21:32:03.315Z,1761687123.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344492,0.844208,0.410656],[-0.935026,0.347673,0.069645],[-0.083979,-0.407966,0.909127]] 2025-10-28T21:32:03.672Z,1761687123.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:32:03.724Z,1761687123.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319659,0.852727,0.413128],[-0.943929,0.324572,0.060427],[-0.082562,-0.409279,0.908666]] 2025-10-28T21:32:04.122Z,1761687124.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294111,0.858336,0.420427],[-0.952397,0.300125,0.053521],[-0.080242,-0.416155,0.905747]] 2025-10-28T21:32:04.528Z,1761687124.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268729,0.861009,0.431797],[-0.960061,0.275680,0.047786],[-0.077893,-0.427393,0.900704]] 2025-10-28T21:32:04.551Z,1761687124.551 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:32:04.551Z,1761687124.551 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:32:04.552Z,1761687124.552 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:32:04.568Z,1761687124.568 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:32:04.568Z,1761687124.568 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:32:04.568Z,1761687124.568 [marl:UpdateSpeed] Stopped 2025-10-28T21:32:04.568Z,1761687124.568 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:32:04.931Z,1761687124.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243446,0.861538,0.445518],[-0.966937,0.251546,0.041930],[-0.075944,-0.440995,0.894291]] 2025-10-28T21:32:05.334Z,1761687125.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218501,0.862498,0.456459],[-0.972945,0.228535,0.033910],[-0.075069,-0.451519,0.889098]] 2025-10-28T21:32:05.739Z,1761687125.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194022,0.862989,0.466483],[-0.978063,0.206924,0.023995],[-0.075819,-0.460905,0.884205]] 2025-10-28T21:32:06.143Z,1761687126.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169855,0.862522,0.476660],[-0.982373,0.186509,0.012572],[-0.078058,-0.470394,0.878998]] 2025-10-28T21:32:06.548Z,1761687126.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144363,0.866298,0.478212],[-0.986219,0.165432,-0.001966],[-0.080815,-0.471338,0.878242]] 2025-10-28T21:32:06.960Z,1761687126.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116716,0.872784,0.473947],[-0.989673,0.142194,-0.018132],[-0.083218,-0.466936,0.880367]] 2025-10-28T21:32:06.990Z,1761687126.990 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:32:06.990Z,1761687126.990 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:32:06.990Z,1761687126.990 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateRudder:A] Stopped 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:32:06.991Z,1761687126.991 [marl:UpdateCommandMode] Stopped 2025-10-28T21:32:06.992Z,1761687126.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:32:07.355Z,1761687127.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087008,0.884065,0.459193],[-0.992582,0.116224,-0.035686],[-0.084918,-0.452682,0.887619]] 2025-10-28T21:32:07.408Z,1761687127.408 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:32:07.408Z,1761687127.408 [marl:UpdateRudder:B] Stopped 2025-10-28T21:32:07.408Z,1761687127.408 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:32:07.408Z,1761687127.408 [marl:UpdateRudder] Stopped 2025-10-28T21:32:07.408Z,1761687127.408 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:32:07.762Z,1761687127.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055843,0.898506,0.435395],[-0.994718,0.087681,-0.053363],[-0.086122,-0.430115,0.898657]] 2025-10-28T21:32:08.162Z,1761687128.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023955,0.910924,0.411879],[-0.995929,0.057558,-0.069375],[-0.086903,-0.408540,0.908594]] 2025-10-28T21:32:08.569Z,1761687128.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008655,0.921297,0.388764],[-0.996144,0.025999,-0.083791],[-0.087304,-0.387991,0.917519]] 2025-10-28T21:32:08.980Z,1761687128.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041680,0.927127,0.372423],[-0.995320,-0.006004,-0.096446],[-0.087181,-0.374700,0.923038]] 2025-10-28T21:32:09.005Z,1761687129.005 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:32:09.053Z,1761687129.053 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:32:09.053Z,1761687129.053 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:32:09.305Z,1761687129.305 [DAT](INFO): DAT read: user:312> 2025-10-28T21:32:09.306Z,1761687129.306 [DAT](INFO): DAT read: Tx time:21:32:09.0528 2025-10-28T21:32:09.306Z,1761687129.306 [DAT](INFO): Ping request sent. 2025-10-28T21:32:09.306Z,1761687129.306 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:32:09.306Z,1761687129.306 [DAT](INFO): publishing transmit ping time 2025-10-28T21:32:09.307Z,1761687129.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T21:32:09.385Z,1761687129.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074621,0.930052,0.359770],[-0.993423,-0.037911,-0.108045],[-0.086848,-0.365466,0.926764]] 2025-10-28T21:32:09.557Z,1761687129.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908 2025-10-28T21:32:09.785Z,1761687129.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106975,0.928762,0.354905],[-0.990451,-0.068321,-0.119750],[-0.086971,-0.364326,0.927202]] 2025-10-28T21:32:09.809Z,1761687129.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503025 2025-10-28T21:32:10.061Z,1761687130.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754839 2025-10-28T21:32:10.184Z,1761687130.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139258,0.923509,0.357406],[-0.986407,-0.097577,-0.132209],[-0.087222,-0.370959,0.924544]] 2025-10-28T21:32:10.313Z,1761687130.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 2025-10-28T21:32:10.565Z,1761687130.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258896 2025-10-28T21:32:10.587Z,1761687130.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171041,0.915779,0.363447],[-0.981346,-0.125480,-0.145656],[-0.087784,-0.381580,0.920158]] 2025-10-28T21:32:10.817Z,1761687130.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510839 2025-10-28T21:32:10.991Z,1761687130.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202618,0.906767,0.369755],[-0.975264,-0.152787,-0.159738],[-0.088352,-0.392975,0.915295]] 2025-10-28T21:32:11.069Z,1761687131.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762723 2025-10-28T21:32:11.321Z,1761687131.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014839 2025-10-28T21:32:11.395Z,1761687131.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233913,0.896841,0.375448],[-0.968199,-0.179622,-0.174144],[-0.088741,-0.404243,0.910336]] 2025-10-28T21:32:11.573Z,1761687131.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266955 2025-10-28T21:32:11.801Z,1761687131.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265010,0.886984,0.378193],[-0.960159,-0.206669,-0.188104],[-0.088684,-0.412974,0.906415]] 2025-10-28T21:32:11.826Z,1761687131.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519613 2025-10-28T21:32:12.077Z,1761687132.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770835 2025-10-28T21:32:12.203Z,1761687132.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295750,0.876345,0.380199],[-0.951205,-0.233506,-0.201701],[-0.087981,-0.421300,0.902644]] 2025-10-28T21:32:12.329Z,1761687132.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022713 2025-10-28T21:32:12.581Z,1761687132.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274852 2025-10-28T21:32:12.834Z,1761687132.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528159 2025-10-28T21:32:13.010Z,1761687133.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351395,0.854899,0.381666],[-0.932332,-0.282384,-0.225868],[-0.085318,-0.435208,0.896278]] 2025-10-28T21:32:13.085Z,1761687133.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778835 2025-10-28T21:32:13.337Z,1761687133.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031288 2025-10-28T21:32:13.427Z,1761687133.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376130,0.844622,0.380971],[-0.922799,-0.304429,-0.236147],[-0.083477,-0.440382,0.893921]] 2025-10-28T21:32:13.590Z,1761687133.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283502 2025-10-28T21:32:13.832Z,1761687133.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398647,0.835683,0.377775],[-0.913455,-0.325097,-0.244771],[-0.081737,-0.442657,0.892958]] 2025-10-28T21:32:13.841Z,1761687133.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534831 2025-10-28T21:32:14.094Z,1761687134.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787517 2025-10-28T21:32:14.239Z,1761687134.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419912,0.827067,0.373676],[-0.904025,-0.344846,-0.252625],[-0.080077,-0.443893,0.892495]] 2025-10-28T21:32:14.345Z,1761687134.345 [DAT](INFO): DAT read: Rx Time:21:32:13.5415 2025-10-28T21:32:14.345Z,1761687134.345 [DAT](INFO): Rx dataTimestamp_ set to:1761687134.345189 2025-10-28T21:32:14.346Z,1761687134.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039992 2025-10-28T21:32:14.597Z,1761687134.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290841 2025-10-28T21:32:14.642Z,1761687134.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439891,0.818419,0.369711],[-0.894622,-0.363412,-0.259967],[-0.078405,-0.445109,0.892038]] 2025-10-28T21:32:14.854Z,1761687134.854 [DAT](INFO): DAT read: 21:32:13.5415 LVL= 19728, 21217, 29362, 32755, AGC= 85, IDX= 159,-0.45,-2.558,-2.914, 2.036,-2.653, PHS= 0.197,-0.216,-1.638, RAW= 42.4, 19.4, CAL= 38.4, 22.5, ROT= 111.6, -22.5 2025-10-28T21:32:14.855Z,1761687134.855 [DAT](INFO): got valid direction response: 21:32:13.5415 LVL= 19728, 21217, 29362, 32755, AGC= 85, IDX= 159,-0.45,-2.558,-2.914, 2.036,-2.653, PHS= 0.197,-0.216,-1.638, RAW= 42.4, 19.4, CAL= 38.4, 22.5, ROT= 111.6, -22.5 2025-10-28T21:32:14.856Z,1761687134.856 [DAT](INFO): DAT read: Bearing 160.7, 37.7 (Local) 2025-10-28T21:32:14.857Z,1761687134.857 [DAT](INFO): Local bearing/azimuth received: Bearing 160.7, 37.7 (Local) 2025-10-28T21:32:14.858Z,1761687134.858 [DAT](INFO): DAT read: Range 11 to 20 : 1563.3 m (Round-trip 2084.5 ms) speed -0.7 m/s 2025-10-28T21:32:14.859Z,1761687134.859 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:32:14.860Z,1761687134.860 [DAT](INFO): direction in FSK: [-0.340103,0.859001,0.382683] 2025-10-28T21:32:14.860Z,1761687134.860 [DAT](INFO): publishing direction and range info 2025-10-28T21:32:15.047Z,1761687135.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459820,0.811006,0.361711],[-0.884684,-0.383138,-0.265594],[-0.076813,-0.442126,0.893658]] 2025-10-28T21:32:15.117Z,1761687135.117 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687168.00. Resetting abort timer. 2025-10-28T21:32:15.457Z,1761687135.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480189,0.803307,0.352301],[-0.873876,-0.403359,-0.271371],[-0.075891,-0.438177,0.895679]] 2025-10-28T21:32:15.854Z,1761687135.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501329,0.796492,0.338038],[-0.861964,-0.425684,-0.275338],[-0.075407,-0.429412,0.899955]] 2025-10-28T21:32:16.258Z,1761687136.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525046,0.789126,0.318759],[-0.847783,-0.452040,-0.277352],[-0.074773,-0.415861,0.906349]] 2025-10-28T21:32:16.663Z,1761687136.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551027,0.779278,0.298488],[-0.831211,-0.480889,-0.278986],[-0.073868,-0.401835,0.912728]] 2025-10-28T21:32:17.067Z,1761687137.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577498,0.766042,0.282267],[-0.813100,-0.508682,-0.283038],[-0.073235,-0.392966,0.916632]] 2025-10-28T21:32:17.473Z,1761687137.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603562,0.750878,0.268131],[-0.793966,-0.535229,-0.288352],[-0.073005,-0.386926,0.919216]] 2025-10-28T21:32:17.536Z,1761687137.536 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:32:17.537Z,1761687137.537 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:32:17.537Z,1761687137.537 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:32:17.537Z,1761687137.537 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:32:17.537Z,1761687137.537 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:32:17.537Z,1761687137.537 [marl:UpdateSpeed] Stopped 2025-10-28T21:32:17.538Z,1761687137.538 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:32:17.875Z,1761687137.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629087,0.733054,0.258614],[-0.773927,-0.559531,-0.296585],[-0.072710,-0.386726,0.919324]] 2025-10-28T21:32:18.279Z,1761687138.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653185,0.713930,0.252297],[-0.753745,-0.581261,-0.306601],[-0.072241,-0.390435,0.917792]] 2025-10-28T21:32:18.683Z,1761687138.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675487,0.693314,0.251064],[-0.733886,-0.599055,-0.320227],[-0.071617,-0.400561,0.913467]] 2025-10-28T21:32:19.088Z,1761687139.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696384,0.672445,0.250734],[-0.714197,-0.615017,-0.334180],[-0.070512,-0.411791,0.908546]] 2025-10-28T21:32:19.491Z,1761687139.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715841,0.651870,0.250274],[-0.694819,-0.629430,-0.347913],[-0.069264,-0.422946,0.903504]] 2025-10-28T21:32:19.895Z,1761687139.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734257,0.632007,0.247858],[-0.675528,-0.644013,-0.359040],[-0.067292,-0.431063,0.899809]] 2025-10-28T21:32:20.307Z,1761687140.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751962,0.612854,0.242824],[-0.655983,-0.659284,-0.367465],[-0.065112,-0.435608,0.897778]] 2025-10-28T21:32:20.330Z,1761687140.330 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateRudder:A] Stopped 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:32:20.331Z,1761687140.331 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:32:20.332Z,1761687140.332 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:32:20.332Z,1761687140.332 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:32:20.332Z,1761687140.332 [marl:UpdateCommandMode] Stopped 2025-10-28T21:32:20.332Z,1761687140.332 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:32:20.705Z,1761687140.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769179,0.594534,0.234294],[-0.635949,-0.676181,-0.371951],[-0.062712,-0.435096,0.898198]] 2025-10-28T21:32:20.730Z,1761687140.730 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:32:20.730Z,1761687140.730 [marl:UpdateRudder:B] Stopped 2025-10-28T21:32:20.730Z,1761687140.730 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:32:20.731Z,1761687140.731 [marl:UpdateRudder] Stopped 2025-10-28T21:32:20.731Z,1761687140.731 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:32:21.110Z,1761687141.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785851,0.576561,0.223642],[-0.615479,-0.693980,-0.373602],[-0.060201,-0.431242,0.900225]] 2025-10-28T21:32:21.511Z,1761687141.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802448,0.557691,0.212270],[-0.593899,-0.711849,-0.374906],[-0.057977,-0.426910,0.902434]] 2025-10-28T21:32:21.918Z,1761687141.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818895,0.538558,0.198410],[-0.571200,-0.730972,-0.373378],[-0.056054,-0.419089,0.906213]] 2025-10-28T21:32:22.319Z,1761687142.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835533,0.519025,0.180273],[-0.546740,-0.752909,-0.366337],[-0.054409,-0.404649,0.912852]] 2025-10-28T21:32:22.723Z,1761687142.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852253,0.497028,0.163180],[-0.520348,-0.773299,-0.362280],[-0.053876,-0.393665,0.917674]] 2025-10-28T21:32:23.139Z,1761687143.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868577,0.473434,0.146406],[-0.492640,-0.792932,-0.358559],[-0.053664,-0.383561,0.921955]] 2025-10-28T21:32:23.533Z,1761687143.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884430,0.447754,0.131532],[-0.463541,-0.810279,-0.358577],[-0.053977,-0.378107,0.924187]] 2025-10-28T21:32:23.949Z,1761687143.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899702,0.419919,0.119183],[-0.433102,-0.824740,-0.363630],[-0.054400,-0.378777,0.923888]] 2025-10-28T21:32:24.339Z,1761687144.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913868,0.390668,0.110565],[-0.402254,-0.834221,-0.377182],[-0.055117,-0.389170,0.919516]] 2025-10-28T21:32:24.742Z,1761687144.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927016,0.361008,0.101560],[-0.370873,-0.842329,-0.391070],[-0.055632,-0.400194,0.914740]] 2025-10-28T21:32:25.189Z,1761687145.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938971,0.331222,0.092877],[-0.339410,-0.848099,-0.406852],[-0.055990,-0.413545,0.908760]] 2025-10-28T21:32:25.551Z,1761687145.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949232,0.303084,0.084257],[-0.309496,-0.851825,-0.422618],[-0.056317,-0.427240,0.902383]] 2025-10-28T21:32:25.956Z,1761687145.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957651,0.277562,0.076579],[-0.282478,-0.854150,-0.436616],[-0.055778,-0.439757,0.896383]] 2025-10-28T21:32:26.359Z,1761687146.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964680,0.254154,0.069266],[-0.257878,-0.857463,-0.445260],[-0.053772,-0.447395,0.892718]] 2025-10-28T21:32:26.770Z,1761687146.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970987,0.230997,0.061849],[-0.233702,-0.861833,-0.450142],[-0.050678,-0.451536,0.890812]] 2025-10-28T21:32:27.194Z,1761687147.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976713,0.207847,0.053209],[-0.209408,-0.869562,-0.447225],[-0.046686,-0.447953,0.892837]] 2025-10-28T21:32:27.570Z,1761687147.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982016,0.183977,0.042384],[-0.184034,-0.882712,-0.432378],[-0.042135,-0.432402,0.900696]] 2025-10-28T21:32:27.976Z,1761687147.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986770,0.159002,0.031677],[-0.157678,-0.895736,-0.415686],[-0.037721,-0.415181,0.908956]] 2025-10-28T21:32:28.384Z,1761687148.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991054,0.131810,0.020914],[-0.129198,-0.908285,-0.397902],[-0.033451,-0.397045,0.917190]] 2025-10-28T21:32:28.794Z,1761687148.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994673,0.102586,0.010058],[-0.098623,-0.918758,-0.382306],[-0.029979,-0.381262,0.923981]] 2025-10-28T21:32:29.201Z,1761687149.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997355,0.072684,-0.000076],[-0.067406,-0.925323,-0.373140],[-0.027192,-0.372148,0.927775]] 2025-10-28T21:32:29.590Z,1761687149.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999062,0.042167,-0.009814],[-0.035503,-0.927675,-0.371697],[-0.024777,-0.371000,0.928302]] 2025-10-28T21:32:29.998Z,1761687149.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999719,0.012200,-0.020311],[-0.003597,-0.925448,-0.378858],[-0.023419,-0.378679,0.925232]] 2025-10-28T21:32:30.407Z,1761687150.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999374,-0.016781,-0.031149],[0.027670,-0.919350,-0.392468],[-0.022050,-0.393084,0.919238]] 2025-10-28T21:32:30.461Z,1761687150.461 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed] Stopped 2025-10-28T21:32:30.462Z,1761687150.462 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:32:30.807Z,1761687150.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998114,-0.044659,-0.042110],[0.057949,-0.911776,-0.406578],[-0.020237,-0.408252,0.912645]] 2025-10-28T21:32:31.207Z,1761687151.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996048,-0.071233,-0.053055],[0.086944,-0.904073,-0.418440],[-0.018159,-0.421399,0.906693]] 2025-10-28T21:32:31.611Z,1761687151.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993219,-0.097009,-0.064071],[0.115158,-0.896556,-0.427698],[-0.015953,-0.432176,0.901648]] 2025-10-28T21:32:32.024Z,1761687152.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985773,-0.145901,-0.083456],[0.167772,-0.884288,-0.435761],[-0.010221,-0.443563,0.896185]] 2025-10-28T21:32:32.430Z,1761687152.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981190,-0.169911,-0.091629],[0.192915,-0.880341,-0.433341],[-0.007035,-0.442866,0.896560]] 2025-10-28T21:32:32.828Z,1761687152.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975936,-0.194298,-0.098982],[0.218021,-0.877815,-0.426506],[-0.004019,-0.437822,0.899053]] 2025-10-28T21:32:33.233Z,1761687153.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969838,-0.219879,-0.105200],[0.243748,-0.876279,-0.415599],[-0.000803,-0.428706,0.903444]] 2025-10-28T21:32:33.296Z,1761687153.296 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:32:33.296Z,1761687153.296 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:32:33.296Z,1761687153.296 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateRudder:A] Stopped 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode] Stopped 2025-10-28T21:32:33.297Z,1761687153.297 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:32:33.633Z,1761687153.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962810,-0.246134,-0.111421],[0.270171,-0.874120,-0.403635],[0.001953,-0.418726,0.908110]] 2025-10-28T21:32:33.683Z,1761687153.683 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:32:33.683Z,1761687153.683 [marl:UpdateRudder:B] Stopped 2025-10-28T21:32:33.683Z,1761687153.683 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:32:33.684Z,1761687153.684 [marl:UpdateRudder] Stopped 2025-10-28T21:32:33.684Z,1761687153.684 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:32:33.795Z,1761687153.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:32:34.035Z,1761687154.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954614,-0.273956,-0.116873],[0.297806,-0.871659,-0.389259],[0.004766,-0.406398,0.913684]] 2025-10-28T21:32:34.443Z,1761687154.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945055,-0.303067,-0.122563],[0.326831,-0.867564,-0.374852],[0.007274,-0.394313,0.918947]] 2025-10-28T21:32:34.796Z,1761687154.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:32:34.851Z,1761687154.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934191,-0.332493,-0.129369],[0.356653,-0.860876,-0.362893],[0.009289,-0.385151,0.922807]] 2025-10-28T21:32:35.247Z,1761687155.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921787,-0.362228,-0.138202],[0.387542,-0.850826,-0.354834],[0.010945,-0.380640,0.924658]] 2025-10-28T21:32:35.651Z,1761687155.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908021,-0.390788,-0.150937],[0.418747,-0.836205,-0.354136],[0.012178,-0.384767,0.922933]] 2025-10-28T21:32:36.055Z,1761687156.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893026,-0.418316,-0.165882],[0.449810,-0.818903,-0.356467],[0.013275,-0.392949,0.919464]] 2025-10-28T21:32:36.465Z,1761687156.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876814,-0.444566,-0.183186],[0.480616,-0.798982,-0.361437],[0.014320,-0.404955,0.914224]] 2025-10-28T21:32:36.862Z,1761687156.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859240,-0.470347,-0.201199],[0.511347,-0.777945,-0.365138],[0.015220,-0.416624,0.908952]] 2025-10-28T21:32:37.267Z,1761687157.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840444,-0.496073,-0.218096],[0.541665,-0.757223,-0.364983],[0.015911,-0.424883,0.905109]] 2025-10-28T21:32:37.671Z,1761687157.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820669,-0.520852,-0.234978],[0.571175,-0.736142,-0.363118],[0.016153,-0.432213,0.901627]] 2025-10-28T21:32:38.075Z,1761687158.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800538,-0.544781,-0.249706],[0.599076,-0.716540,-0.357322],[0.015737,-0.435642,0.899982]] 2025-10-28T21:32:38.478Z,1761687158.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780376,-0.568066,-0.261369],[0.625129,-0.698667,-0.347963],[0.015057,-0.434932,0.900338]] 2025-10-28T21:32:38.882Z,1761687158.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761206,-0.588622,-0.272194],[0.648342,-0.681202,-0.340024],[0.014727,-0.435303,0.900164]] 2025-10-28T21:32:39.286Z,1761687159.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743087,-0.607471,-0.280713],[0.669023,-0.664877,-0.332185],[0.015153,-0.434646,0.900474]] 2025-10-28T21:32:39.691Z,1761687159.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725203,-0.626211,-0.286251],[0.688355,-0.649873,-0.322231],[0.015758,-0.430725,0.902346]] 2025-10-28T21:32:40.096Z,1761687160.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707140,-0.645192,-0.289276],[0.706884,-0.635602,-0.310362],[0.016379,-0.423954,0.905536]] 2025-10-28T21:32:40.499Z,1761687160.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688823,-0.664223,-0.290397],[0.724722,-0.621378,-0.297769],[0.017339,-0.415567,0.909397]] 2025-10-28T21:32:40.916Z,1761687160.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670253,-0.683329,-0.289521],[0.741888,-0.606912,-0.285061],[0.019077,-0.405855,0.913738]] 2025-10-28T21:32:41.307Z,1761687161.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651646,-0.701660,-0.288150],[0.758215,-0.591721,-0.273818],[0.021622,-0.396912,0.917602]] 2025-10-28T21:32:41.712Z,1761687161.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632212,-0.719100,-0.288451],[0.774403,-0.574609,-0.264812],[0.024679,-0.390794,0.920147]] 2025-10-28T21:32:42.114Z,1761687162.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610980,-0.735079,-0.293875],[0.791172,-0.554138,-0.258801],[0.027392,-0.390628,0.920141]] 2025-10-28T21:32:42.519Z,1761687162.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587955,-0.750041,-0.302899],[0.808358,-0.531189,-0.253764],[0.029437,-0.394052,0.918617]] 2025-10-28T21:32:42.925Z,1761687162.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563052,-0.763524,-0.316235],[0.825856,-0.505688,-0.249481],[0.030568,-0.401635,0.915290]] 2025-10-28T21:32:43.328Z,1761687163.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536635,-0.776108,-0.331178],[0.843222,-0.478521,-0.244938],[0.031623,-0.410699,0.911222]] 2025-10-28T21:32:43.410Z,1761687163.410 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:32:43.410Z,1761687163.410 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:32:43.410Z,1761687163.410 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:32:43.410Z,1761687163.410 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:32:43.411Z,1761687163.411 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:32:43.411Z,1761687163.411 [marl:UpdateSpeed] Stopped 2025-10-28T21:32:43.411Z,1761687163.411 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:32:43.731Z,1761687163.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509311,-0.787933,-0.346069],[0.859967,-0.450769,-0.239301],[0.032556,-0.419486,0.907178]] 2025-10-28T21:32:44.134Z,1761687164.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481577,-0.800600,-0.356543],[0.875762,-0.424035,-0.230727],[0.033533,-0.423360,0.905341]] 2025-10-28T21:32:44.539Z,1761687164.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453313,-0.811992,-0.367664],[0.890702,-0.396907,-0.221618],[0.034024,-0.427941,0.903166]] 2025-10-28T21:32:44.944Z,1761687164.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425211,-0.823419,-0.375734],[0.904428,-0.370635,-0.211279],[0.034711,-0.429663,0.902322]] 2025-10-28T21:32:45.347Z,1761687165.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397144,-0.834939,-0.380990],[0.917063,-0.344896,-0.200105],[0.035674,-0.428863,0.902665]] 2025-10-28T21:32:45.751Z,1761687165.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369518,-0.845017,-0.386526],[0.928499,-0.319353,-0.189480],[0.036676,-0.428906,0.902604]] 2025-10-28T21:32:46.160Z,1761687166.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341732,-0.854915,-0.390308],[0.939041,-0.293959,-0.178296],[0.037693,-0.427445,0.903255]] 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateRudder:A] Stopped 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:32:46.209Z,1761687166.209 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode] Stopped 2025-10-28T21:32:46.210Z,1761687166.210 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:32:46.565Z,1761687166.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313671,-0.864413,-0.392938],[0.948737,-0.268390,-0.166927],[0.038833,-0.425155,0.904287]] 2025-10-28T21:32:46.589Z,1761687166.589 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:32:46.589Z,1761687166.589 [marl:UpdateRudder:B] Stopped 2025-10-28T21:32:46.589Z,1761687166.589 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:32:46.589Z,1761687166.589 [marl:UpdateRudder] Stopped 2025-10-28T21:32:46.589Z,1761687166.589 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:32:46.964Z,1761687166.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285525,-0.874135,-0.392891],[0.957531,-0.243032,-0.155147],[0.040135,-0.420503,0.906403]] 2025-10-28T21:32:47.367Z,1761687167.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256786,-0.882695,-0.393586],[0.965575,-0.216804,-0.143741],[0.041548,-0.416947,0.907981]] 2025-10-28T21:32:47.776Z,1761687167.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227883,-0.891291,-0.392006],[0.972746,-0.190684,-0.131930],[0.042839,-0.411387,0.910454]] 2025-10-28T21:32:48.174Z,1761687168.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198729,-0.896851,-0.395178],[0.979092,-0.163814,-0.120595],[0.043420,-0.410882,0.910654]] 2025-10-28T21:32:48.585Z,1761687168.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168906,-0.902643,-0.395862],[0.984668,-0.136772,-0.108269],[0.043586,-0.408080,0.911905]] 2025-10-28T21:32:48.982Z,1761687168.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138875,-0.906917,-0.397762],[0.989343,-0.109315,-0.096178],[0.043744,-0.406880,0.912434]] 2025-10-28T21:32:49.396Z,1761687169.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108501,-0.910788,-0.398362],[0.993122,-0.081571,-0.083998],[0.044009,-0.404735,0.913374]] 2025-10-28T21:32:49.795Z,1761687169.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078487,-0.913111,-0.400085],[0.995920,-0.053892,-0.072377],[0.044527,-0.404133,0.913616]] 2025-10-28T21:32:50.194Z,1761687170.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047223,-0.915234,-0.400146],[0.997870,-0.025172,-0.060190],[0.045015,-0.402136,0.914473]] 2025-10-28T21:32:50.598Z,1761687170.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015333,-0.916577,-0.399564],[0.998841,0.004193,-0.047948],[0.045623,-0.399836,0.915450]] 2025-10-28T21:32:51.003Z,1761687171.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017513,-0.916434,-0.399803],[0.998766,0.034617,-0.035599],[0.046464,-0.398686,0.915910]] 2025-10-28T21:32:51.411Z,1761687171.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051170,-0.913807,-0.402912],[0.997567,0.065892,-0.022752],[0.047340,-0.400767,0.914956]] 2025-10-28T21:32:51.810Z,1761687171.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085998,-0.909041,-0.407735],[0.995137,0.098101,-0.008824],[0.048021,-0.404994,0.913058]] 2025-10-28T21:32:52.215Z,1761687172.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121354,-0.902478,-0.413287],[0.991427,0.130517,0.006109],[0.048427,-0.410486,0.910580]] 2025-10-28T21:32:52.620Z,1761687172.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157247,-0.895047,-0.417331],[0.986372,0.163058,0.021948],[0.048405,-0.415094,0.908490]] 2025-10-28T21:32:53.024Z,1761687173.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192988,-0.886713,-0.420114],[0.980049,0.194944,0.038747],[0.047541,-0.419210,0.906644]] 2025-10-28T21:32:53.428Z,1761687173.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227139,-0.877101,-0.423204],[0.972786,0.224773,0.056260],[0.045779,-0.424466,0.904286]] 2025-10-28T21:32:53.831Z,1761687173.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259433,-0.868545,-0.422285],[0.964766,0.252921,0.072506],[0.043830,-0.426216,0.903559]] 2025-10-28T21:32:54.235Z,1761687174.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289954,-0.859323,-0.421296],[0.956138,0.279218,0.088532],[0.041556,-0.428487,0.902592]] 2025-10-28T21:32:54.641Z,1761687174.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319238,-0.853357,-0.412150],[0.946869,0.305145,0.101611],[0.039055,-0.422691,0.905432]] 2025-10-28T21:32:55.043Z,1761687175.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346511,-0.846898,-0.403353],[0.937319,0.329528,0.113336],[0.036932,-0.417343,0.907998]] 2025-10-28T21:32:55.448Z,1761687175.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372836,-0.838078,-0.398270],[0.927223,0.352857,0.125493],[0.035360,-0.416073,0.908643]] 2025-10-28T21:32:55.852Z,1761687175.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398253,-0.828519,-0.393638],[0.916618,0.375705,0.136592],[0.034722,-0.415214,0.909061]] 2025-10-28T21:32:56.256Z,1761687176.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423059,-0.818294,-0.389123],[0.905437,0.398232,0.146953],[0.034710,-0.414496,0.909389]] 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:32:56.281Z,1761687176.281 [marl:UpdateSpeed] Stopped 2025-10-28T21:32:56.282Z,1761687176.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:32:56.659Z,1761687176.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447756,-0.806727,-0.385624],[0.893448,0.420809,0.157067],[0.035564,-0.414863,0.909189]] 2025-10-28T21:32:57.063Z,1761687177.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472450,-0.792117,-0.386447],[0.880579,0.442665,0.169199],[0.037041,-0.420235,0.906659]] 2025-10-28T21:32:57.469Z,1761687177.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497563,-0.775766,-0.388096],[0.866549,0.464667,0.182146],[0.039032,-0.426934,0.903440]] 2025-10-28T21:32:57.878Z,1761687177.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522750,-0.760201,-0.385782],[0.851474,0.487657,0.192831],[0.041539,-0.429285,0.902213]] 2025-10-28T21:32:58.275Z,1761687178.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548449,-0.743165,-0.383287],[0.835023,0.510907,0.204231],[0.044047,-0.432064,0.900767]] 2025-10-28T21:32:58.680Z,1761687178.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574525,-0.726152,-0.377657],[0.817177,0.534995,0.214482],[0.046298,-0.431837,0.900762]] 2025-10-28T21:32:59.083Z,1761687179.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600573,-0.709291,-0.369078],[0.798112,0.559649,0.223182],[0.048253,-0.428603,0.902204]] 2025-10-28T21:32:59.122Z,1761687179.122 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:32:59.123Z,1761687179.123 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:32:59.123Z,1761687179.123 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:32:59.125Z,1761687179.125 [marl:UpdateRudder:A] Stopped 2025-10-28T21:32:59.125Z,1761687179.125 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:32:59.125Z,1761687179.125 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:32:59.126Z,1761687179.126 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:32:59.126Z,1761687179.126 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:32:59.127Z,1761687179.127 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:32:59.127Z,1761687179.127 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:32:59.127Z,1761687179.127 [marl:UpdateCommandMode] Stopped 2025-10-28T21:32:59.128Z,1761687179.128 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:32:59.487Z,1761687179.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627039,-0.692220,-0.357287],[0.777397,0.585357,0.230243],[0.049761,-0.422125,0.905171]] 2025-10-28T21:32:59.537Z,1761687179.537 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:32:59.537Z,1761687179.537 [marl:UpdateRudder:B] Stopped 2025-10-28T21:32:59.537Z,1761687179.537 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:32:59.537Z,1761687179.537 [marl:UpdateRudder] Stopped 2025-10-28T21:32:59.537Z,1761687179.537 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:32:59.894Z,1761687179.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653386,-0.675207,-0.342319],[0.755331,0.611700,0.235155],[0.050618,-0.412211,0.909681]] 2025-10-28T21:33:00.296Z,1761687180.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679292,-0.657269,-0.326434],[0.732100,0.637782,0.239299],[0.050910,-0.401536,0.914427]] 2025-10-28T21:33:00.699Z,1761687180.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704951,-0.637257,-0.311365],[0.707446,0.663116,0.244533],[0.050641,-0.392657,0.918290]] 2025-10-28T21:33:01.103Z,1761687181.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730452,-0.614061,-0.298946],[0.681164,0.686787,0.253653],[0.049553,-0.388913,0.919941]] 2025-10-28T21:33:01.507Z,1761687181.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755191,-0.588847,-0.288005],[0.653782,0.708449,0.265837],[0.047500,-0.389050,0.919991]] 2025-10-28T21:33:01.913Z,1761687181.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779552,-0.559527,-0.281475],[0.624723,0.726849,0.285327],[0.044942,-0.398271,0.916166]] 2025-10-28T21:33:02.329Z,1761687182.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802788,-0.528875,-0.275357],[0.594787,0.742779,0.307420],[0.041943,-0.410572,0.910863]] 2025-10-28T21:33:02.718Z,1761687182.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824388,-0.499255,-0.266700],[0.564685,0.757821,0.326859],[0.038925,-0.420061,0.906661]] 2025-10-28T21:33:03.136Z,1761687183.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843910,-0.471603,-0.255749],[0.535267,0.772273,0.342176],[0.036136,-0.425659,0.904162]] 2025-10-28T21:33:03.528Z,1761687183.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861740,-0.445823,-0.242168],[0.506226,0.787306,0.351971],[0.033744,-0.425899,0.904141]] 2025-10-28T21:33:03.935Z,1761687183.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878272,-0.420169,-0.228245],[0.477082,0.802055,0.359304],[0.032096,-0.424459,0.904878]] 2025-10-28T21:33:04.334Z,1761687184.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893862,-0.393510,-0.214850],[0.447270,0.815780,0.366677],[0.030979,-0.423855,0.905200]] 2025-10-28T21:33:04.739Z,1761687184.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907898,-0.367924,-0.200880],[0.418072,0.829720,0.369838],[0.030602,-0.419757,0.907120]] 2025-10-28T21:33:04.926Z,1761687184.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:33:05.546Z,1761687185.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932772,-0.315829,-0.173749],[0.359134,0.855659,0.372652],[0.030976,-0.409999,0.911560]] 2025-10-28T21:33:05.928Z,1761687185.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:33:05.954Z,1761687185.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944127,-0.287207,-0.161667],[0.328073,0.865853,0.377712],[0.031498,-0.409647,0.911700]] 2025-10-28T21:33:06.366Z,1761687186.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954781,-0.256883,-0.149679],[0.295592,0.874223,0.385176],[0.031908,-0.412002,0.910624]] 2025-10-28T21:33:06.769Z,1761687186.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964289,-0.226932,-0.136559],[0.262857,0.883171,0.388478],[0.032447,-0.410501,0.911283]] 2025-10-28T21:33:07.197Z,1761687187.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972572,-0.197326,-0.123148],[0.230274,0.891528,0.390066],[0.032820,-0.407725,0.912515]] 2025-10-28T21:33:07.571Z,1761687187.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979935,-0.166372,-0.109764],[0.196577,0.897729,0.394260],[0.032944,-0.407926,0.912420]] 2025-10-28T21:33:07.975Z,1761687187.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986102,-0.135725,-0.095826],[0.162903,0.903214,0.397073],[0.032658,-0.407164,0.912771]] 2025-10-28T21:33:08.381Z,1761687188.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991324,-0.103596,-0.080898],[0.127527,0.907130,0.401064],[0.031837,-0.407901,0.912471]] 2025-10-28T21:33:08.789Z,1761687188.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995252,-0.071996,-0.065496],[0.092449,0.909702,0.404839],[0.030435,-0.408972,0.912039]] 2025-10-28T21:33:09.210Z,1761687189.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997962,-0.040537,-0.049271],[0.057120,0.911711,0.406843],[0.028429,-0.408828,0.912168]] 2025-10-28T21:33:09.272Z,1761687189.272 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed] Stopped 2025-10-28T21:33:09.273Z,1761687189.273 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:33:09.275Z,1761687189.275 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:33:09.297Z,1761687189.297 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:33:09.298Z,1761687189.298 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:33:09.549Z,1761687189.549 [DAT](INFO): DAT read: user:313> 2025-10-28T21:33:09.550Z,1761687189.550 [DAT](INFO): DAT read: Tx time:21:33:09.3026 2025-10-28T21:33:09.550Z,1761687189.550 [DAT](INFO): Ping request sent. 2025-10-28T21:33:09.550Z,1761687189.550 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:33:09.550Z,1761687189.550 [DAT](INFO): publishing transmit ping time 2025-10-28T21:33:09.551Z,1761687189.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939 2025-10-28T21:33:09.611Z,1761687189.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999415,-0.009706,-0.032795],[0.022198,0.913559,0.406101],[0.026019,-0.406592,0.913239]] 2025-10-28T21:33:09.801Z,1761687189.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908 2025-10-28T21:33:10.002Z,1761687190.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999663,0.019090,-0.017586],[-0.010375,0.914954,0.403425],[0.023792,-0.403106,0.914844]] 2025-10-28T21:33:10.054Z,1761687190.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502828 2025-10-28T21:33:10.305Z,1761687190.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754864 2025-10-28T21:33:10.557Z,1761687190.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947 2025-10-28T21:33:10.803Z,1761687190.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997044,0.076023,0.011094],[-0.074266,0.916719,0.392570],[0.019674,-0.392233,0.919655]] 2025-10-28T21:33:10.809Z,1761687190.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258903 2025-10-28T21:33:11.061Z,1761687191.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511213 2025-10-28T21:33:11.206Z,1761687191.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994330,0.103499,0.024429],[-0.104834,0.915438,0.388567],[0.017853,-0.388924,0.921097]] 2025-10-28T21:33:11.314Z,1761687191.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501 2025-10-28T21:33:11.565Z,1761687191.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838 2025-10-28T21:33:11.610Z,1761687191.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990625,0.131253,0.037868],[-0.135632,0.911970,0.387189],[0.016285,-0.388696,0.921222]] 2025-10-28T21:33:11.817Z,1761687191.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267121 2025-10-28T21:33:12.018Z,1761687192.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985900,0.159193,0.051570],[-0.166695,0.907320,0.385984],[0.014655,-0.389138,0.921063]] 2025-10-28T21:33:12.069Z,1761687192.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateRudder:A] Stopped 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:33:12.082Z,1761687192.082 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode] Stopped 2025-10-28T21:33:12.083Z,1761687192.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:33:12.321Z,1761687192.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770923 2025-10-28T21:33:12.463Z,1761687192.463 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:33:12.463Z,1761687192.463 [marl:UpdateRudder:B] Stopped 2025-10-28T21:33:12.463Z,1761687192.463 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:33:12.463Z,1761687192.463 [marl:UpdateRudder] Stopped 2025-10-28T21:33:12.463Z,1761687192.463 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:33:12.573Z,1761687192.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023050 2025-10-28T21:33:12.823Z,1761687192.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973099,0.215604,0.081203],[-0.230167,0.894279,0.383781],[0.010127,-0.392147,0.919847]] 2025-10-28T21:33:12.825Z,1761687192.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274977 2025-10-28T21:33:13.077Z,1761687193.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526899 2025-10-28T21:33:13.230Z,1761687193.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964738,0.244690,0.096992],[-0.263100,0.885674,0.382571],[0.007708,-0.394599,0.918821]] 2025-10-28T21:33:13.332Z,1761687193.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782243 2025-10-28T21:33:13.581Z,1761687193.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030897 2025-10-28T21:33:13.636Z,1761687193.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955062,0.273899,0.113295],[-0.296364,0.876008,0.380497],[0.004971,-0.396975,0.917816]] 2025-10-28T21:33:13.834Z,1761687193.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283620 2025-10-28T21:33:14.035Z,1761687194.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944068,0.303403,0.129160],[-0.329742,0.865647,0.376730],[0.002494,-0.398248,0.917274]] 2025-10-28T21:33:14.085Z,1761687194.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534920 2025-10-28T21:33:14.338Z,1761687194.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787694 2025-10-28T21:33:14.439Z,1761687194.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932020,0.332009,0.145290],[-0.362408,0.854170,0.372900],[-0.000296,-0.400205,0.916426]] 2025-10-28T21:33:14.589Z,1761687194.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038857 2025-10-28T21:33:14.841Z,1761687194.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291366 2025-10-28T21:33:14.853Z,1761687194.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918537,0.361025,0.161093],[-0.395324,0.841871,0.367386],[-0.002984,-0.401142,0.916011]] 2025-10-28T21:33:15.093Z,1761687195.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542900 2025-10-28T21:33:15.251Z,1761687195.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904055,0.389481,0.176037],[-0.427377,0.829299,0.360016],[-0.005768,-0.400708,0.916188]] 2025-10-28T21:33:15.346Z,1761687195.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795696 2025-10-28T21:33:15.597Z,1761687195.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046810 2025-10-28T21:33:15.652Z,1761687195.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888645,0.417360,0.190056],[-0.458524,0.815976,0.352049],[-0.008150,-0.399992,0.916483]] 2025-10-28T21:33:15.849Z,1761687195.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299449 2025-10-28T21:33:16.054Z,1761687196.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872366,0.444712,0.203000],[-0.488747,0.802089,0.343190],[-0.010203,-0.398602,0.917067]] 2025-10-28T21:33:16.101Z,1761687196.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550975 2025-10-28T21:33:16.353Z,1761687196.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803194 2025-10-28T21:33:16.458Z,1761687196.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855207,0.471342,0.215540],[-0.518149,0.787088,0.334686],[-0.011897,-0.397907,0.917348]] 2025-10-28T21:33:16.605Z,1761687196.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054979 2025-10-28T21:33:16.857Z,1761687196.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306917 2025-10-28T21:33:16.873Z,1761687196.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819053,0.521778,0.238537],[-0.573525,0.755433,0.316845],[-0.014876,-0.396319,0.917992]] 2025-10-28T21:33:17.111Z,1761687197.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560873 2025-10-28T21:33:17.285Z,1761687197.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800171,0.545681,0.248913],[-0.599563,0.738695,0.307984],[-0.015809,-0.395679,0.918253]] 2025-10-28T21:33:17.361Z,1761687197.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811025 2025-10-28T21:33:17.613Z,1761687197.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062841 2025-10-28T21:33:17.676Z,1761687197.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780141,0.569914,0.258027],[-0.625390,0.721225,0.297862],[-0.016340,-0.393742,0.919076]] 2025-10-28T21:33:17.865Z,1761687197.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314867 2025-10-28T21:33:18.080Z,1761687198.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759416,0.592441,0.268889],[-0.650381,0.702132,0.289853],[-0.017075,-0.395000,0.918523]] 2025-10-28T21:33:18.117Z,1761687198.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567039 2025-10-28T21:33:18.369Z,1761687198.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818836 2025-10-28T21:33:18.482Z,1761687198.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737751,0.614610,0.279246],[-0.674839,0.682328,0.281106],[-0.017767,-0.395832,0.918151]] 2025-10-28T21:33:18.621Z,1761687198.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071456 2025-10-28T21:33:18.873Z,1761687198.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322988 2025-10-28T21:33:18.891Z,1761687198.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715057,0.636778,0.288458],[-0.698827,0.661918,0.271119],[-0.018293,-0.395448,0.918306]] 2025-10-28T21:33:19.128Z,1761687199.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576988 2025-10-28T21:33:19.290Z,1761687199.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691560,0.657983,0.297997],[-0.722074,0.640487,0.261505],[-0.018797,-0.396023,0.918048]] 2025-10-28T21:33:19.377Z,1761687199.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827003 2025-10-28T21:33:19.629Z,1761687199.629 [DAT](INFO): Reached modem response timeout 2025-10-28T21:33:19.691Z,1761687199.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666966,0.679081,0.306604],[-0.744831,0.618482,0.250412],[-0.019579,-0.395385,0.918307]] 2025-10-28T21:33:20.095Z,1761687200.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641125,0.700415,0.313653],[-0.767156,0.595978,0.237238],[-0.020766,-0.392720,0.919424]] 2025-10-28T21:33:20.500Z,1761687200.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614729,0.719433,0.323301],[-0.788426,0.572020,0.226224],[-0.022181,-0.393966,0.918857]] 2025-10-28T21:33:20.904Z,1761687200.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587253,0.738808,0.330600],[-0.809062,0.547678,0.213234],[-0.023524,-0.392698,0.919366]] 2025-10-28T21:33:21.311Z,1761687201.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559350,0.758124,0.335225],[-0.828561,0.523433,0.198759],[-0.024784,-0.388930,0.920934]] 2025-10-28T21:33:21.711Z,1761687201.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531843,0.776619,0.337648],[-0.846440,0.499805,0.183668],[-0.026118,-0.383482,0.923179]] 2025-10-28T21:33:21.897Z,1761687201.897 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:33:21.897Z,1761687201.897 [DAT](INFO): response not received 2025-10-28T21:33:21.897Z,1761687201.897 [DAT](ERROR): No response from remote modem. 2025-10-28T21:33:22.116Z,1761687202.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505748,0.794108,0.337063],[-0.862236,0.477865,0.167913],[-0.027730,-0.375549,0.926388]] 2025-10-28T21:33:22.141Z,1761687202.141 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:33:22.141Z,1761687202.141 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:33:22.142Z,1761687202.142 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:33:22.143Z,1761687202.143 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:33:22.144Z,1761687202.144 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:33:22.146Z,1761687202.146 [marl:UpdateSpeed] Stopped 2025-10-28T21:33:22.146Z,1761687202.146 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:33:22.519Z,1761687202.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480231,0.809032,0.338890],[-0.876670,0.455377,0.155180],[-0.028777,-0.371617,0.927940]] 2025-10-28T21:33:22.923Z,1761687202.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455627,0.819660,0.347220],[-0.889691,0.432119,0.147390],[-0.029231,-0.376073,0.926129]] 2025-10-28T21:33:23.336Z,1761687203.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430893,0.828403,0.357881],[-0.901940,0.408053,0.141408],[-0.028891,-0.383719,0.922998]] 2025-10-28T21:33:23.733Z,1761687203.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406692,0.833720,0.373514],[-0.913128,0.383615,0.137972],[-0.028255,-0.397178,0.917306]] 2025-10-28T21:33:24.134Z,1761687204.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383089,0.836573,0.391648],[-0.923292,0.359570,0.135060],[-0.027837,-0.413346,0.910149]] 2025-10-28T21:33:24.539Z,1761687204.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360128,0.837820,0.410323],[-0.932477,0.336564,0.131192],[-0.028184,-0.429863,0.902454]] 2025-10-28T21:33:24.949Z,1761687204.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338152,0.839373,0.425565],[-0.940623,0.315711,0.124717],[-0.029672,-0.442470,0.896292]] 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateRudder:A] Stopped 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:33:24.978Z,1761687204.978 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:33:24.979Z,1761687204.979 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:33:24.979Z,1761687204.979 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:33:24.979Z,1761687204.979 [marl:UpdateCommandMode] Stopped 2025-10-28T21:33:24.979Z,1761687204.979 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:33:25.362Z,1761687205.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315394,0.842366,0.436974],[-0.948425,0.295285,0.115313],[-0.031896,-0.450806,0.892052]] 2025-10-28T21:33:25.484Z,1761687205.484 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:33:25.484Z,1761687205.484 [marl:UpdateRudder:B] Stopped 2025-10-28T21:33:25.484Z,1761687205.484 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:33:25.484Z,1761687205.484 [marl:UpdateRudder] Stopped 2025-10-28T21:33:25.484Z,1761687205.484 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:33:25.751Z,1761687205.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289854,0.849288,0.441242],[-0.956484,0.273201,0.102471],[-0.033521,-0.451743,0.891518]] 2025-10-28T21:33:26.155Z,1761687206.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261228,0.858987,0.440341],[-0.964673,0.248460,0.087605],[-0.034156,-0.447670,0.893546]] 2025-10-28T21:33:26.560Z,1761687206.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230178,0.872301,0.431403],[-0.972553,0.221701,0.070630],[-0.034032,-0.435820,0.899390]] 2025-10-28T21:33:26.963Z,1761687206.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198681,0.887020,0.416800],[-0.979484,0.194340,0.053315],[-0.033709,-0.418842,0.907433]] 2025-10-28T21:33:27.367Z,1761687207.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166531,0.901611,0.399205],[-0.985478,0.165806,0.036623],[-0.033171,-0.399507,0.916130]] 2025-10-28T21:33:27.776Z,1761687207.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134059,0.913894,0.383178],[-0.990436,0.136293,0.021451],[-0.032620,-0.382389,0.923426]] 2025-10-28T21:33:28.175Z,1761687208.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101603,0.922907,0.371375],[-0.994299,0.106348,0.007738],[-0.032354,-0.370044,0.928451]] 2025-10-28T21:33:28.579Z,1761687208.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069837,0.928047,0.365856],[-0.997020,0.076980,-0.004953],[-0.032760,-0.364420,0.930658]] 2025-10-28T21:33:28.983Z,1761687208.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038760,0.930968,0.363037],[-0.998677,0.048380,-0.017441],[-0.033801,-0.361881,0.931611]] 2025-10-28T21:33:29.386Z,1761687209.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008275,0.931499,0.363651],[-0.999342,0.020550,-0.029897],[-0.035322,-0.363164,0.931055]] 2025-10-28T21:33:29.795Z,1761687209.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022209,0.929656,0.367759],[-0.999074,-0.007084,-0.042428],[-0.036838,-0.368361,0.928953]] 2025-10-28T21:33:30.196Z,1761687210.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052878,0.924657,0.377113],[-0.997868,-0.034460,-0.055425],[-0.038254,-0.379240,0.924507]] 2025-10-28T21:33:30.599Z,1761687210.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083547,0.917587,0.388657],[-0.995723,-0.061434,-0.069003],[-0.039439,-0.392759,0.918795]] 2025-10-28T21:33:31.003Z,1761687211.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114282,0.910423,0.397580],[-0.992637,-0.088470,-0.082739],[-0.040153,-0.404108,0.913829]] 2025-10-28T21:33:31.410Z,1761687211.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143474,0.904023,0.402688],[-0.988820,-0.114250,-0.095819],[-0.040616,-0.411934,0.910308]] 2025-10-28T21:33:31.822Z,1761687211.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172455,0.897757,0.405330],[-0.984180,-0.140076,-0.108484],[-0.040615,-0.417626,0.907711]] 2025-10-28T21:33:32.215Z,1761687212.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200925,0.891472,0.406086],[-0.978779,-0.165662,-0.120610],[-0.040247,-0.421702,0.905841]] 2025-10-28T21:33:32.619Z,1761687212.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228169,0.885714,0.404288],[-0.972812,-0.190467,-0.131752],[-0.039691,-0.423358,0.905092]] 2025-10-28T21:33:33.022Z,1761687213.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254484,0.880516,0.399912],[-0.966296,-0.214902,-0.141736],[-0.038859,-0.422503,0.905528]] 2025-10-28T21:33:33.434Z,1761687213.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279431,0.874453,0.396548],[-0.959414,-0.237946,-0.151349],[-0.037991,-0.422745,0.905452]] 2025-10-28T21:33:33.833Z,1761687213.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303409,0.866571,0.396228],[-0.952133,-0.259476,-0.161603],[-0.037229,-0.426294,0.903818]] 2025-10-28T21:33:34.235Z,1761687214.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326574,0.859451,0.393310],[-0.944469,-0.280688,-0.170860],[-0.036448,-0.427268,0.903390]] 2025-10-28T21:33:34.639Z,1761687214.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349107,0.853310,0.387280],[-0.936400,-0.301893,-0.178929],[-0.035765,-0.425114,0.904433]] 2025-10-28T21:33:35.045Z,1761687215.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372517,0.846156,0.381119],[-0.927367,-0.323944,-0.187221],[-0.034957,-0.423180,0.905371]] 2025-10-28T21:33:35.073Z,1761687215.073 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:33:35.073Z,1761687215.073 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:33:35.074Z,1761687215.074 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:33:35.074Z,1761687215.074 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:33:35.074Z,1761687215.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:33:35.074Z,1761687215.074 [marl:UpdateSpeed] Stopped 2025-10-28T21:33:35.074Z,1761687215.074 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:33:35.446Z,1761687215.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396222,0.838365,0.374370],[-0.917525,-0.346439,-0.195265],[-0.034008,-0.420862,0.906487]] 2025-10-28T21:33:35.851Z,1761687215.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420565,0.830057,0.366239],[-0.906653,-0.369725,-0.203184],[-0.033247,-0.417504,0.908067]] 2025-10-28T21:33:36.080Z,1761687216.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:33:36.255Z,1761687216.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446228,0.820824,0.356550],[-0.894340,-0.394685,-0.210665],[-0.032194,-0.412882,0.910216]] 2025-10-28T21:33:36.660Z,1761687216.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471665,0.810874,0.346433],[-0.881235,-0.419680,-0.217472],[-0.030952,-0.407862,0.912519]] 2025-10-28T21:33:37.063Z,1761687217.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497624,0.799587,0.336202],[-0.866888,-0.445223,-0.224238],[-0.029613,-0.403035,0.914705]] 2025-10-28T21:33:37.080Z,1761687217.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:33:37.467Z,1761687217.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522637,0.787303,0.327115],[-0.852070,-0.469420,-0.231562],[-0.028755,-0.399748,0.916174]] 2025-10-28T21:33:37.871Z,1761687217.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547327,0.772833,0.321190],[-0.836443,-0.492186,-0.241072],[-0.028223,-0.400602,0.915817]] 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateRudder:A] Stopped 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:33:37.918Z,1761687217.918 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:33:37.919Z,1761687217.919 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:33:37.919Z,1761687217.919 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:33:37.919Z,1761687217.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:33:37.919Z,1761687217.919 [marl:UpdateCommandMode] Stopped 2025-10-28T21:33:37.919Z,1761687217.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:33:38.277Z,1761687218.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571291,0.757653,0.315576],[-0.820284,-0.514157,-0.250552],[-0.027575,-0.402000,0.915224]] 2025-10-28T21:33:38.317Z,1761687218.317 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:33:38.317Z,1761687218.317 [marl:UpdateRudder:B] Stopped 2025-10-28T21:33:38.317Z,1761687218.317 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:33:38.317Z,1761687218.317 [marl:UpdateRudder] Stopped 2025-10-28T21:33:38.317Z,1761687218.317 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:33:38.678Z,1761687218.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594555,0.741081,0.311935],[-0.803593,-0.534522,-0.261773],[-0.027259,-0.406306,0.913330]] 2025-10-28T21:33:39.086Z,1761687219.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616852,0.723032,0.310995],[-0.786607,-0.552639,-0.275389],[-0.027247,-0.414505,0.909639]] 2025-10-28T21:33:39.491Z,1761687219.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637994,0.705843,0.307814],[-0.769553,-0.570203,-0.287499],[-0.027412,-0.420302,0.906970]] 2025-10-28T21:33:39.892Z,1761687219.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658821,0.688394,0.303429],[-0.751788,-0.587573,-0.299286],[-0.027740,-0.425290,0.904632]] 2025-10-28T21:33:40.306Z,1761687220.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679604,0.671190,0.296044],[-0.733040,-0.605880,-0.309131],[-0.028119,-0.427098,0.903768]] 2025-10-28T21:33:40.699Z,1761687220.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700325,0.654364,0.285224],[-0.713254,-0.625507,-0.316243],[-0.028529,-0.424910,0.904786]] 2025-10-28T21:33:41.104Z,1761687221.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721230,0.637637,0.270641],[-0.692097,-0.647085,-0.319817],[-0.028799,-0.417971,0.908004]] 2025-10-28T21:33:41.511Z,1761687221.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741704,0.620821,0.253883],[-0.670096,-0.669450,-0.320637],[-0.029096,-0.407944,0.912543]] 2025-10-28T21:33:41.911Z,1761687221.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761839,0.602947,0.236760],[-0.647089,-0.691679,-0.320711],[-0.029610,-0.397535,0.917109]] 2025-10-28T21:33:42.318Z,1761687222.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780956,0.583832,0.221918],[-0.623851,-0.711913,-0.322475],[-0.030285,-0.390283,0.920197]] 2025-10-28T21:33:42.718Z,1761687222.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799382,0.563200,0.209272],[-0.600013,-0.730227,-0.326730],[-0.031198,-0.386748,0.921658]] 2025-10-28T21:33:43.155Z,1761687223.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817105,0.541245,0.198477],[-0.575620,-0.747100,-0.332419],[-0.031638,-0.385868,0.922011]] 2025-10-28T21:33:43.527Z,1761687223.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834253,0.517684,0.189802],[-0.550450,-0.761941,-0.341249],[-0.032041,-0.389165,0.920611]] 2025-10-28T21:33:43.931Z,1761687223.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849689,0.494261,0.183671],[-0.526295,-0.773652,-0.352811],[-0.032283,-0.396445,0.917491]] 2025-10-28T21:33:44.337Z,1761687224.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864476,0.470802,0.176141],[-0.501635,-0.785487,-0.362453],[-0.032288,-0.401690,0.915206]] 2025-10-28T21:33:44.740Z,1761687224.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878704,0.446962,0.167640],[-0.476302,-0.797473,-0.370369],[-0.031852,-0.405292,0.913632]] 2025-10-28T21:33:45.191Z,1761687225.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892238,0.422261,0.160021],[-0.450487,-0.807875,-0.379999],[-0.031181,-0.411137,0.911040]] 2025-10-28T21:33:45.546Z,1761687225.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904727,0.398561,0.150397],[-0.424883,-0.818792,-0.386076],[-0.030731,-0.413194,0.910124]] 2025-10-28T21:33:45.950Z,1761687225.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916724,0.374694,0.138643],[-0.398349,-0.830667,-0.388985],[-0.030584,-0.411820,0.910752]] 2025-10-28T21:33:46.356Z,1761687226.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928418,0.349521,0.125994],[-0.370259,-0.842302,-0.391708],[-0.030785,-0.410319,0.911422]] 2025-10-28T21:33:46.763Z,1761687226.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938677,0.324911,0.115407],[-0.343375,-0.850496,-0.398434],[-0.031303,-0.413629,0.909907]] 2025-10-28T21:33:47.192Z,1761687227.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948022,0.301074,0.102993],[-0.316582,-0.859783,-0.400687],[-0.032085,-0.412466,0.910408]] 2025-10-28T21:33:47.567Z,1761687227.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956826,0.276875,0.088460],[-0.288736,-0.870417,-0.398755],[-0.033408,-0.407080,0.912781]] 2025-10-28T21:33:47.971Z,1761687227.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964934,0.251856,0.073964],[-0.260192,-0.880503,-0.396250],[-0.034673,-0.401600,0.915158]] 2025-10-28T21:33:47.995Z,1761687227.995 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:33:47.995Z,1761687227.995 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:33:47.995Z,1761687227.995 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:33:47.995Z,1761687227.995 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:33:47.996Z,1761687227.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:33:47.996Z,1761687227.996 [marl:UpdateSpeed] Stopped 2025-10-28T21:33:47.996Z,1761687227.996 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:33:48.377Z,1761687228.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972070,0.226595,0.061108],[-0.231946,-0.887858,-0.397377],[-0.035789,-0.400452,0.915618]] 2025-10-28T21:33:48.786Z,1761687228.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978464,0.200654,0.048435],[-0.203120,-0.894188,-0.398960],[-0.036743,-0.400206,0.915688]] 2025-10-28T21:33:48.800Z,1761687228.800 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:33:49.199Z,1761687229.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983964,0.174559,0.036662],[-0.174380,-0.898204,-0.403511],[-0.037506,-0.403434,0.914240]] 2025-10-28T21:33:49.594Z,1761687229.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988483,0.149179,0.025441],[-0.146441,-0.900520,-0.409412],[-0.038166,-0.408423,0.911995]] 2025-10-28T21:33:49.992Z,1761687229.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992224,0.123700,0.013790],[-0.118309,-0.902919,-0.413207],[-0.038663,-0.411626,0.910533]] 2025-10-28T21:33:50.395Z,1761687230.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995127,0.098573,0.002371],[-0.090646,-0.905105,-0.415413],[-0.038802,-0.413603,0.909630]] 2025-10-28T21:33:50.802Z,1761687230.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997225,0.073926,-0.008758],[-0.063550,-0.906660,-0.417048],[-0.038771,-0.415334,0.908842]] 2025-10-28T21:33:50.845Z,1761687230.845 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:33:50.845Z,1761687230.845 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateRudder:A] Stopped 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:33:50.846Z,1761687230.846 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:33:50.847Z,1761687230.847 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:33:50.847Z,1761687230.847 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:33:50.847Z,1761687230.847 [marl:UpdateCommandMode] Stopped 2025-10-28T21:33:50.847Z,1761687230.847 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:33:51.203Z,1761687231.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998578,0.049920,-0.018696],[-0.037552,-0.907693,-0.417951],[-0.037834,-0.416654,0.908277]] 2025-10-28T21:33:51.278Z,1761687231.278 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:33:51.278Z,1761687231.278 [marl:UpdateRudder:B] Stopped 2025-10-28T21:33:51.278Z,1761687231.278 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:33:51.279Z,1761687231.279 [marl:UpdateRudder] Stopped 2025-10-28T21:33:51.279Z,1761687231.279 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:33:51.608Z,1761687231.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999266,0.025844,-0.028282],[-0.011693,-0.908718,-0.417246],[-0.036484,-0.416609,0.908354]] 2025-10-28T21:33:52.011Z,1761687232.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999297,0.001988,-0.037437],[0.013853,-0.908337,-0.418010],[-0.034836,-0.418235,0.907671]] 2025-10-28T21:33:52.414Z,1761687232.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998693,-0.021703,-0.046268],[0.039058,-0.907994,-0.417158],[-0.032957,-0.418420,0.907656]] 2025-10-28T21:33:52.819Z,1761687232.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997423,-0.045989,-0.055067],[0.064692,-0.908357,-0.413161],[-0.031020,-0.415659,0.908991]] 2025-10-28T21:33:53.225Z,1761687233.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995326,-0.072095,-0.064254],[0.092100,-0.908766,-0.407015],[-0.029048,-0.411030,0.911159]] 2025-10-28T21:33:53.627Z,1761687233.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992248,-0.099516,-0.074435],[0.121198,-0.907334,-0.402563],[-0.027476,-0.408464,0.912361]] 2025-10-28T21:33:54.031Z,1761687234.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988029,-0.128755,-0.084973],[0.152023,-0.906253,-0.394455],[-0.026219,-0.402651,0.914978]] 2025-10-28T21:33:54.437Z,1761687234.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982640,-0.158421,-0.096545],[0.183741,-0.902962,-0.388458],[-0.025636,-0.399454,0.916395]] 2025-10-28T21:33:54.840Z,1761687234.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976109,-0.187864,-0.109171],[0.215756,-0.897455,-0.384737],[-0.025698,-0.399100,0.916547]] 2025-10-28T21:33:55.243Z,1761687235.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968353,-0.217151,-0.123038],[0.248177,-0.890053,-0.382378],[-0.026476,-0.400812,0.915778]] 2025-10-28T21:33:55.647Z,1761687235.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959411,-0.246009,-0.137874],[0.280637,-0.881045,-0.380792],[-0.027794,-0.404028,0.914324]] 2025-10-28T21:33:56.052Z,1761687236.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949506,-0.274055,-0.152750],[0.312380,-0.871197,-0.378728],[-0.029283,-0.407320,0.912816]] 2025-10-28T21:33:56.460Z,1761687236.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938780,-0.301203,-0.167238],[0.343144,-0.860778,-0.375917],[-0.030727,-0.410290,0.911437]] 2025-10-28T21:33:56.859Z,1761687236.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927844,-0.326117,-0.180980],[0.371603,-0.849811,-0.373809],[-0.031893,-0.414089,0.909678]] 2025-10-28T21:33:57.270Z,1761687237.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916245,-0.350845,-0.193396],[0.399273,-0.839236,-0.369139],[-0.032794,-0.415440,0.909029]] 2025-10-28T21:33:57.668Z,1761687237.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904230,-0.374805,-0.204670],[0.425786,-0.828057,-0.364729],[-0.032777,-0.416945,0.908341]] 2025-10-28T21:33:58.072Z,1761687238.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891899,-0.398140,-0.214478],[0.451063,-0.817295,-0.358567],[-0.032532,-0.416549,0.908531]] 2025-10-28T21:33:58.475Z,1761687238.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878675,-0.421661,-0.223900],[0.476341,-0.805812,-0.351805],[-0.032079,-0.415775,0.908902]] 2025-10-28T21:33:58.878Z,1761687238.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864835,-0.444585,-0.233249],[0.501042,-0.793801,-0.344726],[-0.031894,-0.414999,0.909263]] 2025-10-28T21:33:59.285Z,1761687239.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849935,-0.467735,-0.242557],[0.525925,-0.780944,-0.336941],[-0.031824,-0.413945,0.909745]] 2025-10-28T21:33:59.688Z,1761687239.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834443,-0.490753,-0.250733],[0.550172,-0.768141,-0.327520],[-0.031867,-0.411243,0.910969]] 2025-10-28T21:34:00.090Z,1761687240.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817827,-0.513879,-0.259012],[0.574549,-0.754518,-0.317170],[-0.032442,-0.408205,0.912314]] 2025-10-28T21:34:00.495Z,1761687240.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800660,-0.535964,-0.267742],[0.598192,-0.739993,-0.307532],[-0.033301,-0.406390,0.913093]] 2025-10-28T21:34:00.898Z,1761687240.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783100,-0.557227,-0.276137],[0.620957,-0.724991,-0.297995],[-0.034146,-0.404829,0.913755]] 2025-10-28T21:34:00.931Z,1761687240.931 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:34:00.931Z,1761687240.931 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:34:00.931Z,1761687240.931 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:34:00.948Z,1761687240.948 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:34:00.948Z,1761687240.948 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:34:00.948Z,1761687240.948 [marl:UpdateSpeed] Stopped 2025-10-28T21:34:00.948Z,1761687240.948 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:34:01.303Z,1761687241.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765035,-0.578155,-0.283653],[0.643040,-0.709708,-0.287773],[-0.034933,-0.402557,0.914728]] 2025-10-28T21:34:01.707Z,1761687241.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746454,-0.597532,-0.292852],[0.664498,-0.692711,-0.280346],[-0.035346,-0.403865,0.914136]] 2025-10-28T21:34:02.116Z,1761687242.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727244,-0.616005,-0.302744],[0.685453,-0.674711,-0.273714],[-0.035656,-0.406573,0.912922]] 2025-10-28T21:34:02.522Z,1761687242.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687853,-0.651119,-0.320784],[0.725006,-0.637621,-0.260395],[-0.034990,-0.411684,0.910655]] 2025-10-28T21:34:02.925Z,1761687242.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667849,-0.666984,-0.330318],[0.743515,-0.618183,-0.255020],[-0.034102,-0.415911,0.908766]] 2025-10-28T21:34:03.327Z,1761687243.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646637,-0.683711,-0.338229],[0.762067,-0.598445,-0.247221],[-0.033384,-0.417615,0.908010]] 2025-10-28T21:34:03.731Z,1761687243.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625516,-0.699672,-0.345236],[0.779523,-0.579037,-0.238873],[-0.032772,-0.418538,0.907608]] 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateRudder:A] Stopped 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:34:03.791Z,1761687243.791 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:34:03.792Z,1761687243.792 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:34:03.792Z,1761687243.792 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:34:03.796Z,1761687243.796 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:34:03.796Z,1761687243.796 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:34:03.796Z,1761687243.796 [marl:UpdateCommandMode] Stopped 2025-10-28T21:34:03.796Z,1761687243.796 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:34:04.134Z,1761687244.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604061,-0.716175,-0.349578],[0.796285,-0.560152,-0.228384],[-0.032254,-0.416321,0.908645]] 2025-10-28T21:34:04.248Z,1761687244.248 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:34:04.249Z,1761687244.249 [marl:UpdateRudder:B] Stopped 2025-10-28T21:34:04.249Z,1761687244.249 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:34:04.249Z,1761687244.249 [marl:UpdateRudder] Stopped 2025-10-28T21:34:04.249Z,1761687244.249 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:34:04.535Z,1761687244.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581831,-0.733333,-0.351705],[0.812681,-0.541218,-0.215947],[-0.031988,-0.411469,0.910862]] 2025-10-28T21:34:04.940Z,1761687244.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558863,-0.749555,-0.354739],[0.828646,-0.521226,-0.204130],[-0.031893,-0.408034,0.912410]] 2025-10-28T21:34:05.343Z,1761687245.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535458,-0.764382,-0.359173],[0.843973,-0.500160,-0.193775],[-0.031527,-0.406891,0.912932]] 2025-10-28T21:34:05.754Z,1761687245.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511604,-0.778273,-0.364077],[0.858668,-0.478306,-0.184153],[-0.030819,-0.406835,0.912982]] 2025-10-28T21:34:06.150Z,1761687246.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485866,-0.792674,-0.368243],[0.873516,-0.454871,-0.173383],[-0.030067,-0.405907,0.913420]] 2025-10-28T21:34:06.555Z,1761687246.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458717,-0.806415,-0.373195],[0.888102,-0.429890,-0.162696],[-0.029232,-0.406066,0.913376]] 2025-10-28T21:34:06.960Z,1761687246.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430787,-0.818861,-0.379327],[0.902004,-0.403954,-0.152347],[-0.028480,-0.407784,0.912634]] 2025-10-28T21:34:07.208Z,1761687247.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:34:07.384Z,1761687247.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402111,-0.831267,-0.383798],[0.915164,-0.377703,-0.140766],[-0.027947,-0.407842,0.912625]] 2025-10-28T21:34:07.773Z,1761687247.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372754,-0.842973,-0.387879],[0.927516,-0.350957,-0.128619],[-0.027707,-0.407708,0.912692]] 2025-10-28T21:34:08.171Z,1761687248.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342818,-0.854443,-0.390388],[0.938983,-0.324079,-0.115254],[-0.028038,-0.406078,0.913408]] 2025-10-28T21:34:08.212Z,1761687248.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:34:08.576Z,1761687248.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312493,-0.864901,-0.392803],[0.949477,-0.297014,-0.101368],[-0.028995,-0.404635,0.914019]] 2025-10-28T21:34:08.978Z,1761687248.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281989,-0.873756,-0.396272],[0.958921,-0.269966,-0.087113],[-0.030864,-0.404559,0.913991]] 2025-10-28T21:34:09.382Z,1761687249.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252220,-0.881018,-0.400240],[0.967103,-0.243657,-0.073096],[-0.033123,-0.405510,0.913490]] 2025-10-28T21:34:09.451Z,1761687249.451 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:34:09.549Z,1761687249.549 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:34:09.549Z,1761687249.549 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:34:09.790Z,1761687249.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224185,-0.886558,-0.404669],[0.973918,-0.218726,-0.060356],[-0.035002,-0.407645,0.912469]] 2025-10-28T21:34:09.801Z,1761687249.801 [DAT](INFO): DAT read: user:314> 2025-10-28T21:34:09.802Z,1761687249.802 [DAT](INFO): DAT read: Tx time:21:34:09.5523 2025-10-28T21:34:09.802Z,1761687249.802 [DAT](INFO): Ping request sent. 2025-10-28T21:34:09.802Z,1761687249.802 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:34:09.802Z,1761687249.802 [DAT](INFO): publishing transmit ping time 2025-10-28T21:34:09.803Z,1761687249.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938 2025-10-28T21:34:10.053Z,1761687250.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250887 2025-10-28T21:34:10.196Z,1761687250.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197072,-0.891691,-0.407492],[0.979702,-0.194676,-0.047809],[-0.036698,-0.408642,0.911957]] 2025-10-28T21:34:10.306Z,1761687250.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503751 2025-10-28T21:34:10.557Z,1761687250.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878 2025-10-28T21:34:10.595Z,1761687250.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170352,-0.895727,-0.410675],[0.984650,-0.170817,-0.035873],[-0.038018,-0.410482,0.911076]] 2025-10-28T21:34:10.810Z,1761687250.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007715 2025-10-28T21:34:10.999Z,1761687250.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144373,-0.899901,-0.411503],[0.988782,-0.147293,-0.024797],[-0.038297,-0.410467,0.911071]] 2025-10-28T21:34:11.062Z,1761687251.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259594 2025-10-28T21:34:11.313Z,1761687251.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510815 2025-10-28T21:34:11.402Z,1761687251.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117932,-0.903407,-0.412248],[0.992291,-0.123136,-0.014021],[-0.038096,-0.410724,0.910964]] 2025-10-28T21:34:11.565Z,1761687251.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762902 2025-10-28T21:34:11.808Z,1761687251.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091409,-0.906653,-0.411855],[0.995133,-0.098456,-0.004123],[-0.036812,-0.410227,0.911240]] 2025-10-28T21:34:11.817Z,1761687251.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014876 2025-10-28T21:34:12.069Z,1761687252.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266872 2025-10-28T21:34:12.231Z,1761687252.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063980,-0.908612,-0.412711],[0.997350,-0.072574,0.005164],[-0.034644,-0.411287,0.910847]] 2025-10-28T21:34:12.321Z,1761687252.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519417 2025-10-28T21:34:12.573Z,1761687252.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770940 2025-10-28T21:34:12.614Z,1761687252.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035075,-0.909210,-0.414857],[0.998869,-0.045224,0.014664],[-0.032095,-0.413874,0.909768]] 2025-10-28T21:34:12.825Z,1761687252.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022811 2025-10-28T21:34:13.018Z,1761687253.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005564,-0.909640,-0.415359],[0.999556,-0.017219,0.024321],[-0.029275,-0.415040,0.909332]] 2025-10-28T21:34:13.078Z,1761687253.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275589 2025-10-28T21:34:13.329Z,1761687253.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527165 2025-10-28T21:34:13.424Z,1761687253.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025269,-0.910182,-0.413438],[0.999324,0.011951,0.034767],[-0.026704,-0.414037,0.909868]] 2025-10-28T21:34:13.581Z,1761687253.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778894 2025-10-28T21:34:13.827Z,1761687253.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057466,-0.910088,-0.410412],[0.998037,0.042124,0.046336],[-0.024881,-0.412270,0.910722]] 2025-10-28T21:34:13.833Z,1761687253.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031048 2025-10-28T21:34:14.085Z,1761687254.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282944 2025-10-28T21:34:14.255Z,1761687254.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090069,-0.909052,-0.406832],[0.995657,0.072527,0.058369],[-0.023554,-0.410323,0.911636]] 2025-10-28T21:34:14.281Z,1761687254.281 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:34:14.281Z,1761687254.281 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:34:14.281Z,1761687254.281 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:34:14.282Z,1761687254.282 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:34:14.282Z,1761687254.282 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:34:14.282Z,1761687254.282 [marl:UpdateSpeed] Stopped 2025-10-28T21:34:14.282Z,1761687254.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:34:14.337Z,1761687254.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535013 2025-10-28T21:34:14.589Z,1761687254.589 [DAT](INFO): DAT read: Rx Time:21:34:13.7851 2025-10-28T21:34:14.589Z,1761687254.589 [DAT](INFO): Rx dataTimestamp_ set to:1761687254.589118 2025-10-28T21:34:14.590Z,1761687254.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787965 2025-10-28T21:34:14.642Z,1761687254.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122960,-0.906836,-0.403150],[0.992140,0.102824,0.071311],[-0.023213,-0.408750,0.912351]] 2025-10-28T21:34:14.841Z,1761687254.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038926 2025-10-28T21:34:15.047Z,1761687255.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155398,-0.902658,-0.401322],[0.987571,0.132267,0.084907],[-0.023560,-0.409528,0.911993]] 2025-10-28T21:34:15.093Z,1761687255.093 [DAT](INFO): DAT read: Bearing 336, -16 (Remote) 2025-10-28T21:34:15.093Z,1761687255.093 [DAT](INFO): Remote Bearing received:Bearing 336, -16 (Remote) 2025-10-28T21:34:15.095Z,1761687255.095 [DAT](INFO): DAT read: Range 11 to 20 : 1652.7 m (Round-trip 2203.7 ms) speed 0.1 m/s 2025-10-28T21:34:15.095Z,1761687255.095 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-28T21:34:15.112Z,1761687255.112 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687296.00. Resetting abort timer. 2025-10-28T21:34:15.452Z,1761687255.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187129,-0.898143,-0.397896],[0.982020,0.160780,0.098923],[-0.024873,-0.409254,0.912082]] 2025-10-28T21:34:16.263Z,1761687256.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246060,-0.890284,-0.383208],[0.968821,0.214085,0.124714],[-0.028992,-0.401947,0.915204]] 2025-10-28T21:34:16.663Z,1761687256.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272812,-0.885016,-0.377253],[0.961546,0.237920,0.137197],[-0.031665,-0.400175,0.915892]] 2025-10-28T21:34:16.687Z,1761687256.687 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:34:16.688Z,1761687256.688 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:34:16.688Z,1761687256.688 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:34:16.688Z,1761687256.688 [marl:UpdateRudder:A] Stopped 2025-10-28T21:34:16.688Z,1761687256.688 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:34:16.688Z,1761687256.688 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode] Stopped 2025-10-28T21:34:16.689Z,1761687256.689 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:34:17.068Z,1761687257.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297558,-0.878926,-0.372758],[0.954085,0.259707,0.149245],[-0.034367,-0.400051,0.915848]] 2025-10-28T21:34:17.203Z,1761687257.203 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:34:17.203Z,1761687257.203 [marl:UpdateRudder:B] Stopped 2025-10-28T21:34:17.203Z,1761687257.203 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:34:17.203Z,1761687257.203 [marl:UpdateRudder] Stopped 2025-10-28T21:34:17.203Z,1761687257.203 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:34:17.486Z,1761687257.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321063,-0.871665,-0.370295],[0.946340,0.280058,0.161270],[-0.036870,-0.402203,0.914808]] 2025-10-28T21:34:17.883Z,1761687257.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342882,-0.863994,-0.368710],[0.938571,0.298826,0.172589],[-0.038935,-0.405238,0.913382]] 2025-10-28T21:34:18.287Z,1761687258.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363963,-0.856495,-0.365987],[0.930550,0.317465,0.182462],[-0.040090,-0.406978,0.912558]] 2025-10-28T21:34:18.691Z,1761687258.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383354,-0.849049,-0.363532],[0.922719,0.334875,0.190913],[-0.040357,-0.408626,0.911809]] 2025-10-28T21:34:19.096Z,1761687259.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403547,-0.841710,-0.358711],[0.914097,0.353881,0.197976],[-0.039698,-0.407789,0.912213]] 2025-10-28T21:34:19.499Z,1761687259.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424190,-0.834507,-0.351653],[0.904772,0.374224,0.203333],[-0.038085,-0.404418,0.913781]] 2025-10-28T21:34:20.316Z,1761687260.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471319,-0.814768,-0.337656],[0.881296,0.420203,0.216209],[-0.034276,-0.399478,0.916102]] 2025-10-28T21:34:20.717Z,1761687260.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498141,-0.801274,-0.331385],[0.866463,0.445388,0.225547],[-0.033131,-0.399487,0.916140]] 2025-10-28T21:34:21.118Z,1761687261.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525540,-0.786474,-0.324448],[0.850158,0.471024,0.235305],[-0.032239,-0.399494,0.916169]] 2025-10-28T21:34:21.519Z,1761687261.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553099,-0.770946,-0.315791],[0.832506,0.496948,0.244903],[-0.031875,-0.398353,0.916678]] 2025-10-28T21:34:21.923Z,1761687261.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580565,-0.754335,-0.306470],[0.813572,0.522493,0.255151],[-0.032341,-0.397466,0.917047]] 2025-10-28T21:34:22.334Z,1761687262.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607477,-0.736055,-0.298654],[0.793638,0.546641,0.267062],[-0.033316,-0.399257,0.916233]] 2025-10-28T21:34:22.738Z,1761687262.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633622,-0.717093,-0.290344],[0.772868,0.569930,0.279025],[-0.034611,-0.401194,0.915339]] 2025-10-28T21:34:23.183Z,1761687263.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658332,-0.698614,-0.280243],[0.751871,0.592552,0.289090],[-0.035903,-0.401024,0.915364]] 2025-10-28T21:34:23.539Z,1761687263.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681599,-0.679436,-0.271643],[0.730811,0.613544,0.299129],[-0.036574,-0.402405,0.914731]] 2025-10-28T21:34:23.944Z,1761687263.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703781,-0.659869,-0.263183],[0.709430,0.633275,0.309310],[-0.037437,-0.404396,0.913817]] 2025-10-28T21:34:24.347Z,1761687264.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725399,-0.639111,-0.255605],[0.687255,0.651742,0.320800],[-0.038439,-0.408373,0.912005]] 2025-10-28T21:34:24.751Z,1761687264.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746375,-0.617924,-0.247173],[0.664372,0.669930,0.331367],[-0.039171,-0.411539,0.910550]] 2025-10-28T21:34:25.194Z,1761687265.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766382,-0.596987,-0.237201],[0.641158,0.688047,0.339865],[-0.039690,-0.412550,0.910070]] 2025-10-28T21:34:25.561Z,1761687265.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785867,-0.575406,-0.226540],[0.617074,0.705739,0.348070],[-0.040404,-0.413329,0.909685]] 2025-10-28T21:34:25.963Z,1761687265.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804199,-0.553216,-0.217294],[0.592949,0.721568,0.357423],[-0.040940,-0.416283,0.908313]] 2025-10-28T21:34:26.366Z,1761687266.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822087,-0.530208,-0.207489],[0.567829,0.736774,0.367062],[-0.041746,-0.419575,0.906760]] 2025-10-28T21:34:26.775Z,1761687266.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839413,-0.506834,-0.196229],[0.541822,0.752078,0.375244],[-0.042607,-0.421306,0.905917]] 2025-10-28T21:34:27.199Z,1761687267.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855524,-0.484363,-0.182953],[0.515920,0.767684,0.380115],[-0.043663,-0.419587,0.906664]] 2025-10-28T21:34:27.578Z,1761687267.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870532,-0.461703,-0.170307],[0.490083,0.781973,0.385145],[-0.044647,-0.418746,0.907005]] 2025-10-28T21:34:27.615Z,1761687267.615 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:34:27.615Z,1761687267.615 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:34:27.615Z,1761687267.615 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:34:27.616Z,1761687267.616 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:34:27.616Z,1761687267.616 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:34:27.616Z,1761687267.616 [marl:UpdateSpeed] Stopped 2025-10-28T21:34:27.616Z,1761687267.616 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:34:27.982Z,1761687267.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885237,-0.437204,-0.158772],[0.462910,0.794694,0.392651],[-0.045494,-0.421086,0.905879]] 2025-10-28T21:34:28.390Z,1761687268.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899395,-0.411908,-0.146357],[0.434706,0.807518,0.398679],[-0.046032,-0.422192,0.905337]] 2025-10-28T21:34:28.795Z,1761687268.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912906,-0.385512,-0.134101],[0.405497,0.819046,0.405876],[-0.046635,-0.424904,0.904036]] 2025-10-28T21:34:29.210Z,1761687269.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925144,-0.359832,-0.120955],[0.376692,0.830692,0.409944],[-0.047035,-0.424820,0.904055]] 2025-10-28T21:34:29.599Z,1761687269.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936133,-0.334686,-0.107893],[0.348365,0.840838,0.414287],[-0.047936,-0.425414,0.903729]] 2025-10-28T21:34:29.622Z,1761687269.622 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateRudder:A] Stopped 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:34:29.623Z,1761687269.623 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:34:29.640Z,1761687269.640 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:34:29.640Z,1761687269.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:34:29.640Z,1761687269.640 [marl:UpdateCommandMode] Stopped 2025-10-28T21:34:29.640Z,1761687269.640 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:34:30.003Z,1761687270.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945727,-0.311243,-0.093427],[0.321253,0.852146,0.413089],[-0.048958,-0.420683,0.905886]] 2025-10-28T21:34:30.084Z,1761687270.084 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:34:30.084Z,1761687270.084 [marl:UpdateRudder:B] Stopped 2025-10-28T21:34:30.085Z,1761687270.085 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:34:30.085Z,1761687270.085 [marl:UpdateRudder] Stopped 2025-10-28T21:34:30.085Z,1761687270.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:34:30.415Z,1761687270.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954333,-0.288063,-0.079174],[0.294522,0.862788,0.410919],[-0.050060,-0.415472,0.908228]] 2025-10-28T21:34:30.810Z,1761687270.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962014,-0.264928,-0.065896],[0.268142,0.871618,0.410343],[-0.051275,-0.412425,0.909547]] 2025-10-28T21:34:31.220Z,1761687271.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968755,-0.242402,-0.052489],[0.242407,0.880619,0.407122],[-0.052465,-0.407125,0.911864]] 2025-10-28T21:34:31.619Z,1761687271.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974574,-0.220286,-0.040988],[0.217663,0.887325,0.406543],[-0.053186,-0.405127,0.912712]] 2025-10-28T21:34:32.022Z,1761687272.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979666,-0.198278,-0.030678],[0.193310,0.891844,0.408956],[-0.053727,-0.406571,0.912038]] 2025-10-28T21:34:32.426Z,1761687272.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984120,-0.176189,-0.021578],[0.169185,0.894251,0.414356],[-0.053709,-0.411427,0.909859]] 2025-10-28T21:34:32.831Z,1761687272.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988056,-0.153548,-0.013008],[0.144610,0.894750,0.422506],[-0.053236,-0.419340,0.906267]] 2025-10-28T21:34:33.234Z,1761687273.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991564,-0.129561,-0.003868],[0.118603,0.894851,0.430320],[-0.052292,-0.427148,0.902668]] 2025-10-28T21:34:33.638Z,1761687273.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994591,-0.103687,0.006122],[0.090667,0.895440,0.435853],[-0.050674,-0.432940,0.899997]] 2025-10-28T21:34:34.043Z,1761687274.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996969,-0.075861,0.017282],[0.060668,0.897036,0.437773],[-0.048713,-0.435397,0.898920]] 2025-10-28T21:34:34.451Z,1761687274.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998504,-0.045829,0.029826],[0.028028,0.897325,0.440479],[-0.046950,-0.438984,0.897267]] 2025-10-28T21:34:34.853Z,1761687274.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998950,-0.014111,0.043594],[-0.006397,0.899133,0.437630],[-0.045372,-0.437449,0.898098]] 2025-10-28T21:34:35.254Z,1761687275.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998194,0.018200,0.057242],[-0.041003,0.902868,0.427958],[-0.043893,-0.429532,0.901984]] 2025-10-28T21:34:35.658Z,1761687275.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996174,0.051654,0.070498],[-0.076274,0.907638,0.412766],[-0.042665,-0.416564,0.908105]] 2025-10-28T21:34:36.063Z,1761687276.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992895,0.084937,0.083343],[-0.111343,0.910251,0.398806],[-0.041989,-0.405252,0.913240]] 2025-10-28T21:34:36.474Z,1761687276.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988309,0.119043,0.095256],[-0.146713,0.912532,0.381786],[-0.041475,-0.391298,0.919329]] 2025-10-28T21:34:36.873Z,1761687276.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982440,0.153081,0.106667],[-0.181973,0.912398,0.366628],[-0.041199,-0.379601,0.924233]] 2025-10-28T21:34:37.275Z,1761687277.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975319,0.186677,0.117918],[-0.216945,0.909555,0.354464],[-0.041082,-0.371297,0.927605]] 2025-10-28T21:34:37.683Z,1761687277.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967073,0.218740,0.130089],[-0.251105,0.903319,0.347794],[-0.041435,-0.369008,0.928502]] 2025-10-28T21:34:38.084Z,1761687278.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958570,0.246924,0.142031],[-0.281643,0.896242,0.342677],[-0.042679,-0.368481,0.928655]] 2025-10-28T21:34:38.340Z,1761687278.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:34:38.495Z,1761687278.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950218,0.271040,0.153694],[-0.308436,0.888171,0.340617],[-0.044186,-0.371066,0.927555]] 2025-10-28T21:34:38.891Z,1761687278.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941605,0.291831,0.167970],[-0.333580,0.876425,0.347279],[-0.045867,-0.383031,0.922596]] 2025-10-28T21:34:39.294Z,1761687279.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932329,0.310924,0.184632],[-0.358435,0.862134,0.358120],[-0.047830,-0.400064,0.915238]] 2025-10-28T21:34:39.344Z,1761687279.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:34:39.705Z,1761687279.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922502,0.329258,0.201443],[-0.382778,0.847560,0.367590],[-0.049703,-0.416210,0.907909]] 2025-10-28T21:34:40.104Z,1761687280.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912195,0.347418,0.217259],[-0.406472,0.834225,0.372625],[-0.051786,-0.428216,0.902191]] 2025-10-28T21:34:40.507Z,1761687280.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901376,0.365930,0.231553],[-0.429678,0.822261,0.373182],[-0.053838,-0.435870,0.898398]] 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:34:40.550Z,1761687280.550 [marl:UpdateSpeed] Stopped 2025-10-28T21:34:40.551Z,1761687280.551 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:34:40.910Z,1761687280.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889928,0.385283,0.244100],[-0.452703,0.811354,0.369817],[-0.055567,-0.439616,0.896466]] 2025-10-28T21:34:41.316Z,1761687281.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877405,0.406162,0.255328],[-0.476353,0.800779,0.363098],[-0.056984,-0.440211,0.896084]] 2025-10-28T21:34:41.721Z,1761687281.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863928,0.427768,0.265786],[-0.500227,0.789988,0.354530],[-0.058312,-0.439242,0.896474]] 2025-10-28T21:34:42.122Z,1761687282.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849560,0.450116,0.275033],[-0.524125,0.779128,0.343879],[-0.059501,-0.436297,0.897833]] 2025-10-28T21:34:42.527Z,1761687282.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833634,0.473527,0.284301],[-0.549071,0.766243,0.333755],[-0.059801,-0.434331,0.898766]] 2025-10-28T21:34:42.571Z,1761687282.571 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:34:42.571Z,1761687282.571 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:34:42.571Z,1761687282.571 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:34:42.571Z,1761687282.571 [marl:UpdateRudder:A] Stopped 2025-10-28T21:34:42.572Z,1761687282.572 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:34:42.572Z,1761687282.572 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:34:42.576Z,1761687282.576 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:34:42.576Z,1761687282.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:34:42.576Z,1761687282.576 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:34:42.577Z,1761687282.577 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:34:42.577Z,1761687282.577 [marl:UpdateCommandMode] Stopped 2025-10-28T21:34:42.577Z,1761687282.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:34:42.930Z,1761687282.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816207,0.498398,0.292242],[-0.574668,0.752582,0.321522],[-0.059690,-0.430371,0.900676]] 2025-10-28T21:34:43.034Z,1761687283.034 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:34:43.034Z,1761687283.034 [marl:UpdateRudder:B] Stopped 2025-10-28T21:34:43.034Z,1761687283.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:34:43.034Z,1761687283.034 [marl:UpdateRudder] Stopped 2025-10-28T21:34:43.034Z,1761687283.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:34:43.341Z,1761687283.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797643,0.523116,0.300194],[-0.600165,0.737719,0.309148],[-0.059738,-0.426755,0.902392]] 2025-10-28T21:34:43.739Z,1761687283.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777771,0.548403,0.307125],[-0.625695,0.722016,0.295293],[-0.059810,-0.421837,0.904697]] 2025-10-28T21:34:44.142Z,1761687284.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756750,0.572511,0.315531],[-0.650979,0.704027,0.283853],[-0.059634,-0.420210,0.905465]] 2025-10-28T21:34:44.547Z,1761687284.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734278,0.596549,0.323983],[-0.676242,0.684565,0.272153],[-0.059435,-0.418927,0.906073]] 2025-10-28T21:34:45.365Z,1761687285.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662089,0.664339,0.346832],[-0.747127,0.621337,0.236097],[-0.058652,-0.415445,0.907726]] 2025-10-28T21:34:45.767Z,1761687285.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637709,0.682806,0.356515],[-0.768072,0.598673,0.227279],[-0.058248,-0.418767,0.906224]] 2025-10-28T21:34:46.175Z,1761687286.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614590,0.699322,0.365005],[-0.786695,0.577510,0.218160],[-0.058230,-0.421227,0.905084]] 2025-10-28T21:34:46.571Z,1761687286.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592334,0.716038,0.369366],[-0.803588,0.558161,0.206645],[-0.058200,-0.419221,0.906017]] 2025-10-28T21:34:46.975Z,1761687286.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570313,0.730986,0.374703],[-0.819375,0.538479,0.196633],[-0.058034,-0.419165,0.906053]] 2025-10-28T21:34:47.410Z,1761687287.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548114,0.745747,0.378724],[-0.834390,0.518927,0.185762],[-0.057998,-0.417822,0.906676]] 2025-10-28T21:34:47.789Z,1761687287.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525428,0.760784,0.380965],[-0.848860,0.499238,0.173776],[-0.057986,-0.414693,0.908112]] 2025-10-28T21:34:48.193Z,1761687288.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502897,0.775355,0.381994],[-0.862374,0.479925,0.161190],[-0.058350,-0.410484,0.909999]] 2025-10-28T21:34:48.595Z,1761687288.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479788,0.788254,0.385304],[-0.875412,0.459508,0.150021],[-0.058796,-0.409279,0.910513]] 2025-10-28T21:34:48.996Z,1761687288.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455220,0.800210,0.390435],[-0.888418,0.437307,0.139557],[-0.059065,-0.410399,0.909991]] 2025-10-28T21:34:49.399Z,1761687289.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430293,0.811735,0.394885],[-0.900719,0.414981,0.128440],[-0.059611,-0.410947,0.909708]] 2025-10-28T21:34:49.803Z,1761687289.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405511,0.823747,0.396235],[-0.912137,0.392974,0.116523],[-0.059725,-0.408672,0.910725]] 2025-10-28T21:34:50.207Z,1761687290.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381247,0.834452,0.397920],[-0.922536,0.371250,0.105359],[-0.059811,-0.407263,0.911350]] 2025-10-28T21:34:50.612Z,1761687290.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356932,0.843884,0.400574],[-0.932215,0.349234,0.094925],[-0.059788,-0.407303,0.911334]] 2025-10-28T21:34:51.015Z,1761687291.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332777,0.851553,0.405113],[-0.941114,0.327098,0.085506],[-0.059699,-0.409712,0.910259]] 2025-10-28T21:34:51.419Z,1761687291.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309340,0.857299,0.411518],[-0.949075,0.305500,0.076988],[-0.059717,-0.414377,0.908144]] 2025-10-28T21:34:51.822Z,1761687291.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286092,0.863571,0.415208],[-0.956353,0.284251,0.067757],[-0.059510,-0.416470,0.907200]] 2025-10-28T21:34:52.228Z,1761687292.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262723,0.868605,0.420121],[-0.963040,0.262873,0.058745],[-0.059412,-0.420027,0.905565]] 2025-10-28T21:34:52.630Z,1761687292.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238542,0.871993,0.427465],[-0.969314,0.240715,0.049877],[-0.059405,-0.426245,0.902655]] 2025-10-28T21:34:53.035Z,1761687293.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212684,0.875761,0.433368],[-0.975290,0.217405,0.039307],[-0.059793,-0.431020,0.900359]] 2025-10-28T21:34:53.442Z,1761687293.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184816,0.880491,0.436553],[-0.980908,0.192619,0.026772],[-0.060516,-0.433166,0.899280]] 2025-10-28T21:34:53.842Z,1761687293.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155182,0.886572,0.435784],[-0.985964,0.166496,0.012377],[-0.061583,-0.431589,0.899966]] 2025-10-28T21:34:53.879Z,1761687293.879 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:34:53.879Z,1761687293.879 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:34:53.879Z,1761687293.879 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:34:53.880Z,1761687293.880 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:34:53.880Z,1761687293.880 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:34:53.880Z,1761687293.880 [marl:UpdateSpeed] Stopped 2025-10-28T21:34:53.880Z,1761687293.880 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:34:54.246Z,1761687294.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124106,0.892438,0.433765],[-0.990273,0.139106,-0.002869],[-0.062899,-0.429189,0.901022]] 2025-10-28T21:34:54.657Z,1761687294.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092067,0.900903,0.424143],[-0.993668,0.110670,-0.019377],[-0.064397,-0.419673,0.905388]] 2025-10-28T21:34:55.057Z,1761687295.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059559,0.909917,0.410492],[-0.996047,0.081317,-0.035734],[-0.065895,-0.406741,0.911164]] 2025-10-28T21:34:55.458Z,1761687295.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026533,0.918867,0.393674],[-0.997413,0.050656,-0.051009],[-0.066812,-0.391302,0.917834]] 2025-10-28T21:34:55.515Z,1761687295.515 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:34:55.515Z,1761687295.515 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:34:55.515Z,1761687295.515 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateRudder:A] Stopped 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:34:55.516Z,1761687295.516 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:34:55.517Z,1761687295.517 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:34:55.517Z,1761687295.517 [marl:UpdateCommandMode] Stopped 2025-10-28T21:34:55.517Z,1761687295.517 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:34:55.863Z,1761687295.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007246,0.924547,0.381000],[-0.997752,0.018698,-0.064348],[-0.066617,-0.380610,0.922333]] 2025-10-28T21:34:55.958Z,1761687295.958 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:34:55.958Z,1761687295.958 [marl:UpdateRudder:B] Stopped 2025-10-28T21:34:55.958Z,1761687295.958 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:34:55.958Z,1761687295.958 [marl:UpdateRudder] Stopped 2025-10-28T21:34:55.958Z,1761687295.958 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:34:56.267Z,1761687296.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040813,0.925046,0.377657],[-0.997033,-0.013018,-0.075862],[-0.065259,-0.379633,0.922833]] 2025-10-28T21:34:56.678Z,1761687296.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073663,0.920693,0.383272],[-0.995286,-0.043563,-0.086644],[-0.063076,-0.387848,0.919562]] 2025-10-28T21:34:57.074Z,1761687297.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102860,0.914974,0.390183],[-0.992809,-0.070286,-0.096904],[-0.061240,-0.397344,0.915624]] 2025-10-28T21:34:57.478Z,1761687297.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129432,0.909111,0.395936],[-0.989767,-0.094258,-0.107131],[-0.060074,-0.405750,0.912008]] 2025-10-28T21:34:57.884Z,1761687297.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154753,0.902647,0.401597],[-0.986197,-0.116911,-0.117252],[-0.058886,-0.414198,0.908280]] 2025-10-28T21:34:58.286Z,1761687298.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179065,0.894514,0.409610],[-0.982137,-0.138063,-0.127847],[-0.057809,-0.425186,0.903258]] 2025-10-28T21:34:58.690Z,1761687298.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203577,0.886721,0.415069],[-0.977423,-0.159569,-0.138500],[-0.056578,-0.433893,0.899186]] 2025-10-28T21:34:59.094Z,1761687299.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227807,0.880084,0.416601],[-0.972148,-0.181377,-0.148428],[-0.055067,-0.438810,0.896891]] 2025-10-28T21:34:59.501Z,1761687299.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252752,0.872620,0.417913],[-0.966057,-0.203779,-0.158768],[-0.053382,-0.443857,0.894506]] 2025-10-28T21:34:59.903Z,1761687299.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277592,0.866519,0.414835],[-0.959323,-0.226915,-0.167957],[-0.051406,-0.444584,0.894261]] 2025-10-28T21:35:00.307Z,1761687300.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302556,0.861494,0.407784],[-0.951856,-0.250975,-0.176015],[-0.049293,-0.441406,0.895953]] 2025-10-28T21:35:00.711Z,1761687300.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327215,0.856108,0.400012],[-0.943765,-0.274886,-0.183700],[-0.047309,-0.437626,0.897912]] 2025-10-28T21:35:01.122Z,1761687301.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352009,0.850607,0.390586],[-0.934895,-0.299281,-0.190793],[-0.045395,-0.432318,0.900578]] 2025-10-28T21:35:01.519Z,1761687301.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376619,0.844280,0.381247],[-0.925326,-0.323344,-0.198041],[-0.043928,-0.427364,0.903012]] 2025-10-28T21:35:01.923Z,1761687301.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401762,0.837997,0.369253],[-0.914748,-0.348454,-0.204487],[-0.042692,-0.419929,0.906552]] 2025-10-28T21:35:02.326Z,1761687302.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427726,0.829643,0.358808],[-0.902939,-0.373786,-0.212095],[-0.041846,-0.414700,0.908996]] 2025-10-28T21:35:02.730Z,1761687302.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454953,0.820873,0.345231],[-0.889556,-0.400929,-0.218968],[-0.041332,-0.406722,0.912616]] 2025-10-28T21:35:03.189Z,1761687303.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483130,0.809849,0.332761],[-0.874595,-0.428658,-0.226572],[-0.040849,-0.400495,0.915388]] 2025-10-28T21:35:03.539Z,1761687303.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512213,0.796211,0.322003],[-0.857912,-0.456729,-0.235344],[-0.040315,-0.396797,0.917021]] 2025-10-28T21:35:03.944Z,1761687303.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541138,0.780562,0.312879],[-0.839988,-0.484078,-0.245130],[-0.039881,-0.395464,0.917615]] 2025-10-28T21:35:04.347Z,1761687304.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570242,0.764412,0.300828],[-0.820529,-0.512432,-0.253272],[-0.039450,-0.391265,0.919432]] 2025-10-28T21:35:04.752Z,1761687304.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599328,0.746328,0.289482],[-0.799539,-0.540347,-0.262226],[-0.039286,-0.388611,0.920564]] 2025-10-28T21:35:05.197Z,1761687305.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627763,0.725859,0.281143],[-0.777408,-0.566367,-0.273615],[-0.039376,-0.390328,0.919833]] 2025-10-28T21:35:05.561Z,1761687305.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655890,0.702806,0.275448],[-0.753830,-0.590815,-0.287537],[-0.039344,-0.396234,0.917306]] 2025-10-28T21:35:05.962Z,1761687305.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683384,0.678516,0.269447],[-0.728991,-0.614259,-0.302089],[-0.039462,-0.402867,0.914407]] 2025-10-28T21:35:06.366Z,1761687306.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709605,0.652084,0.266923],[-0.703494,-0.634469,-0.320226],[-0.039460,-0.415013,0.908959]] 2025-10-28T21:35:06.778Z,1761687306.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734747,0.625403,0.262711],[-0.677215,-0.653984,-0.337170],[-0.039059,-0.425647,0.904046]] 2025-10-28T21:35:06.821Z,1761687306.821 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:35:06.821Z,1761687306.821 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:35:06.821Z,1761687306.821 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:35:06.822Z,1761687306.822 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:35:06.822Z,1761687306.822 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:35:06.822Z,1761687306.822 [marl:UpdateSpeed] Stopped 2025-10-28T21:35:06.822Z,1761687306.822 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:35:07.199Z,1761687307.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758116,0.598995,0.257808],[-0.650998,-0.671985,-0.353041],[-0.038227,-0.435478,0.899387]] 2025-10-28T21:35:07.578Z,1761687307.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779721,0.573476,0.251318],[-0.625049,-0.689379,-0.366156],[-0.036729,-0.442585,0.895974]] 2025-10-28T21:35:07.983Z,1761687307.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799294,0.549600,0.243040],[-0.599936,-0.706419,-0.375564],[-0.034722,-0.445995,0.894362]] 2025-10-28T21:35:08.387Z,1761687308.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816735,0.528061,0.232584],[-0.576093,-0.723497,-0.380354],[-0.032576,-0.444638,0.895118]] 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateRudder:A] Stopped 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:35:08.411Z,1761687308.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:35:08.412Z,1761687308.412 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:35:08.412Z,1761687308.412 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:35:08.412Z,1761687308.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:35:08.412Z,1761687308.412 [marl:UpdateCommandMode] Stopped 2025-10-28T21:35:08.413Z,1761687308.413 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:35:08.797Z,1761687308.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832112,0.508883,0.220518],[-0.553783,-0.740703,-0.380373],[-0.030227,-0.438632,0.898158]] 2025-10-28T21:35:08.877Z,1761687308.877 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:35:08.878Z,1761687308.878 [marl:UpdateRudder:B] Stopped 2025-10-28T21:35:08.878Z,1761687308.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:35:08.878Z,1761687308.878 [marl:UpdateRudder] Stopped 2025-10-28T21:35:08.878Z,1761687308.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:35:09.211Z,1761687309.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845976,0.491171,0.207544],[-0.532487,-0.757792,-0.377105],[-0.027948,-0.429537,0.902617]] 2025-10-28T21:35:09.468Z,1761687309.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:35:09.599Z,1761687309.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858724,0.474189,0.194262],[-0.511773,-0.774288,-0.372245],[-0.026099,-0.419074,0.907577]] 2025-10-28T21:35:09.659Z,1761687309.659 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:35:09.793Z,1761687309.793 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:35:09.793Z,1761687309.793 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:35:10.003Z,1761687310.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870698,0.457000,0.181759],[-0.491190,-0.789350,-0.368318],[-0.024850,-0.409972,0.911759]] 2025-10-28T21:35:10.045Z,1761687310.045 [DAT](INFO): DAT read: user:315> 2025-10-28T21:35:10.046Z,1761687310.046 [DAT](INFO): DAT read: Tx time:21:35:09.8020 2025-10-28T21:35:10.046Z,1761687310.046 [DAT](INFO): Ping request sent. 2025-10-28T21:35:10.046Z,1761687310.046 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:35:10.046Z,1761687310.046 [DAT](INFO): publishing transmit ping time 2025-10-28T21:35:10.047Z,1761687310.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T21:35:10.297Z,1761687310.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250707 2025-10-28T21:35:10.407Z,1761687310.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882360,0.440211,0.166299],[-0.469967,-0.806397,-0.358963],[-0.023917,-0.394889,0.918417]] 2025-10-28T21:35:10.472Z,1761687310.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:35:10.549Z,1761687310.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502721 2025-10-28T21:35:10.801Z,1761687310.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754891 2025-10-28T21:35:10.812Z,1761687310.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893655,0.422904,0.150108],[-0.448137,-0.823473,-0.347946],[-0.023538,-0.378212,0.925420]] 2025-10-28T21:35:11.053Z,1761687311.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006712 2025-10-28T21:35:11.217Z,1761687311.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904775,0.403857,0.135210],[-0.425231,-0.838985,-0.339535],[-0.023685,-0.364698,0.930825]] 2025-10-28T21:35:11.305Z,1761687311.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258842 2025-10-28T21:35:11.557Z,1761687311.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510744 2025-10-28T21:35:11.625Z,1761687311.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915817,0.382440,0.122549],[-0.400882,-0.852411,-0.335693],[-0.023920,-0.356561,0.933966]] 2025-10-28T21:35:11.809Z,1761687311.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762725 2025-10-28T21:35:12.023Z,1761687312.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926772,0.358549,0.111965],[-0.374834,-0.863452,-0.337566],[-0.024358,-0.354815,0.934619]] 2025-10-28T21:35:12.061Z,1761687312.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014835 2025-10-28T21:35:12.313Z,1761687312.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788 2025-10-28T21:35:12.433Z,1761687312.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937910,0.331168,0.103211],[-0.346000,-0.871998,-0.346271],[-0.024674,-0.360482,0.932440]] 2025-10-28T21:35:12.565Z,1761687312.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518778 2025-10-28T21:35:12.817Z,1761687312.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723 2025-10-28T21:35:12.833Z,1761687312.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949337,0.299857,0.094050],[-0.313269,-0.879212,-0.358956],[-0.024946,-0.370233,0.928604]] 2025-10-28T21:35:13.069Z,1761687313.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022784 2025-10-28T21:35:13.244Z,1761687313.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960485,0.265496,0.083548],[-0.277178,-0.885103,-0.373850],[-0.025307,-0.382235,0.923718]] 2025-10-28T21:35:13.322Z,1761687313.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276249 2025-10-28T21:35:13.573Z,1761687313.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526733 2025-10-28T21:35:13.648Z,1761687313.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970438,0.230251,0.072345],[-0.239938,-0.888032,-0.392209],[-0.026062,-0.397973,0.917027]] 2025-10-28T21:35:13.825Z,1761687313.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778959 2025-10-28T21:35:14.043Z,1761687314.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978851,0.195468,0.060355],[-0.202838,-0.888990,-0.410552],[-0.026595,-0.414112,0.909837]] 2025-10-28T21:35:14.077Z,1761687314.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030822 2025-10-28T21:35:14.329Z,1761687314.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282773 2025-10-28T21:35:14.446Z,1761687314.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985701,0.161816,0.047004],[-0.166313,-0.889414,-0.425774],[-0.027092,-0.427503,0.903608]] 2025-10-28T21:35:14.581Z,1761687314.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534746 2025-10-28T21:35:14.833Z,1761687314.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786738 2025-10-28T21:35:14.856Z,1761687314.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991040,0.129491,0.032732],[-0.130726,-0.890166,-0.436481],[-0.027384,-0.436850,0.899118]] 2025-10-28T21:35:15.085Z,1761687315.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038742 2025-10-28T21:35:15.257Z,1761687315.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995000,0.098195,0.018264],[-0.096002,-0.889809,-0.446121],[-0.027556,-0.445643,0.894786]] 2025-10-28T21:35:15.337Z,1761687315.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290866 2025-10-28T21:35:15.589Z,1761687315.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542711 2025-10-28T21:35:15.659Z,1761687315.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997657,0.068315,0.003705],[-0.062660,-0.890657,-0.450338],[-0.027465,-0.449515,0.892851]] 2025-10-28T21:35:15.843Z,1761687315.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796462 2025-10-28T21:35:16.062Z,1761687316.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999168,0.039567,-0.009845],[-0.030881,-0.892022,-0.450936],[-0.026624,-0.450257,0.892502]] 2025-10-28T21:35:16.093Z,1761687316.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046888 2025-10-28T21:35:16.345Z,1761687316.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298728 2025-10-28T21:35:16.473Z,1761687316.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999681,0.012951,-0.021671],[-0.001817,-0.893061,-0.449932],[-0.025180,-0.449749,0.892800]] 2025-10-28T21:35:16.597Z,1761687316.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550894 2025-10-28T21:35:16.849Z,1761687316.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802843 2025-10-28T21:35:16.871Z,1761687316.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999422,-0.012502,-0.031597],[0.025117,-0.898076,-0.439123],[-0.022886,-0.439663,0.897871]] 2025-10-28T21:35:17.101Z,1761687317.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054715 2025-10-28T21:35:17.277Z,1761687317.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998534,-0.037138,-0.039374],[0.050350,-0.904298,-0.423923],[-0.019862,-0.425284,0.904842]] 2025-10-28T21:35:17.354Z,1761687317.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307119 2025-10-28T21:35:17.606Z,1761687317.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559699 2025-10-28T21:35:17.679Z,1761687317.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997038,-0.062104,-0.045365],[0.075240,-0.909845,-0.408069],[-0.015932,-0.410274,0.911823]] 2025-10-28T21:35:17.857Z,1761687317.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810709 2025-10-28T21:35:18.084Z,1761687318.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994835,-0.087619,-0.051252],[0.100810,-0.911942,-0.397744],[-0.011889,-0.400856,0.916064]] 2025-10-28T21:35:18.110Z,1761687318.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063828 2025-10-28T21:35:18.361Z,1761687318.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314821 2025-10-28T21:35:18.491Z,1761687318.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991883,-0.113745,-0.056828],[0.126930,-0.912107,-0.389807],[-0.007495,-0.393857,0.919141]] 2025-10-28T21:35:18.613Z,1761687318.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567182 2025-10-28T21:35:18.865Z,1761687318.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818741 2025-10-28T21:35:18.891Z,1761687318.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988134,-0.139771,-0.063682],[0.153553,-0.908707,-0.388166],[-0.003614,-0.393338,0.919387]] 2025-10-28T21:35:19.118Z,1761687319.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071410 2025-10-28T21:35:19.298Z,1761687319.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983721,-0.165106,-0.070946],[0.179704,-0.903404,-0.389317],[0.000186,-0.395728,0.918368]] 2025-10-28T21:35:19.369Z,1761687319.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322816 2025-10-28T21:35:19.621Z,1761687319.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575312 2025-10-28T21:35:19.700Z,1761687319.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978538,-0.190549,-0.078450],[0.206028,-0.897317,-0.390352],[0.003987,-0.398137,0.917317]] 2025-10-28T21:35:19.724Z,1761687319.724 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed] Stopped 2025-10-28T21:35:19.725Z,1761687319.725 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:35:19.873Z,1761687319.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826808 2025-10-28T21:35:20.106Z,1761687320.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972248,-0.217535,-0.086094],[0.233814,-0.890835,-0.389544],[0.008044,-0.398863,0.916975]] 2025-10-28T21:35:20.125Z,1761687320.125 [DAT](INFO): Reached modem response timeout 2025-10-28T21:35:20.510Z,1761687320.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964653,-0.246020,-0.094434],[0.263276,-0.884275,-0.385673],[0.011378,-0.396903,0.917790]] 2025-10-28T21:35:20.912Z,1761687320.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955416,-0.276210,-0.104346],[0.294927,-0.875883,-0.381899],[0.014089,-0.395647,0.918295]] 2025-10-28T21:35:21.317Z,1761687321.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944719,-0.306855,-0.115524],[0.327485,-0.865766,-0.378423],[0.016104,-0.395336,0.918396]] 2025-10-28T21:35:21.372Z,1761687321.372 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:35:21.372Z,1761687321.372 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:35:21.372Z,1761687321.372 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:35:21.372Z,1761687321.372 [marl:UpdateRudder:A] Stopped 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode] Stopped 2025-10-28T21:35:21.373Z,1761687321.373 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:35:21.719Z,1761687321.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932490,-0.338091,-0.127108],[0.360776,-0.854890,-0.372832],[0.017388,-0.393520,0.919152]] 2025-10-28T21:35:21.822Z,1761687321.822 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:35:21.822Z,1761687321.822 [marl:UpdateRudder:B] Stopped 2025-10-28T21:35:21.822Z,1761687321.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:35:21.822Z,1761687321.822 [marl:UpdateRudder] Stopped 2025-10-28T21:35:21.822Z,1761687321.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:35:22.130Z,1761687322.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918785,-0.369172,-0.139806],[0.394330,-0.841823,-0.368561],[0.018370,-0.393758,0.919031]] 2025-10-28T21:35:22.393Z,1761687322.393 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:35:22.393Z,1761687322.393 [DAT](INFO): response not received 2025-10-28T21:35:22.393Z,1761687322.393 [DAT](ERROR): No response from remote modem. 2025-10-28T21:35:22.533Z,1761687322.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903795,-0.399416,-0.153690],[0.427549,-0.826851,-0.365402],[0.018869,-0.395959,0.918074]] 2025-10-28T21:35:22.931Z,1761687322.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887753,-0.428690,-0.167688],[0.459941,-0.811288,-0.360924],[0.018681,-0.397538,0.917396]] 2025-10-28T21:35:23.335Z,1761687323.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870963,-0.456409,-0.181974],[0.491024,-0.795032,-0.356118],[0.017861,-0.399519,0.916551]] 2025-10-28T21:35:23.739Z,1761687323.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853413,-0.482404,-0.197413],[0.520975,-0.777496,-0.352257],[0.016443,-0.403468,0.914846]] 2025-10-28T21:35:24.144Z,1761687324.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835272,-0.507661,-0.211189],[0.549644,-0.760750,-0.345183],[0.014574,-0.404401,0.914466]] 2025-10-28T21:35:24.546Z,1761687324.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817329,-0.531045,-0.223528],[0.576024,-0.744353,-0.337838],[0.013024,-0.404882,0.914276]] 2025-10-28T21:35:24.953Z,1761687324.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799143,-0.554220,-0.232832],[0.601032,-0.729232,-0.327080],[0.011485,-0.401323,0.915864]] 2025-10-28T21:35:25.355Z,1761687325.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781002,-0.575607,-0.242309],[0.624443,-0.713275,-0.318293],[0.010379,-0.399895,0.916502]] 2025-10-28T21:35:25.764Z,1761687325.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763026,-0.596049,-0.250035],[0.646289,-0.697494,-0.309536],[0.010100,-0.397779,0.917426]] 2025-10-28T21:35:26.163Z,1761687326.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744564,-0.614597,-0.260567],[0.667469,-0.679291,-0.305040],[0.010476,-0.401042,0.916000]] 2025-10-28T21:35:26.566Z,1761687326.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725496,-0.632921,-0.270309],[0.688131,-0.660564,-0.300219],[0.011458,-0.403816,0.914769]] 2025-10-28T21:35:26.970Z,1761687326.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705724,-0.651564,-0.278243],[0.708360,-0.641466,-0.294529],[0.013421,-0.404952,0.914239]] 2025-10-28T21:35:27.375Z,1761687327.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685045,-0.670060,-0.285891],[0.728324,-0.621294,-0.289029],[0.016044,-0.406219,0.913635]] 2025-10-28T21:35:27.783Z,1761687327.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663571,-0.688535,-0.292562],[0.747868,-0.600508,-0.282992],[0.019165,-0.406583,0.913413]] 2025-10-28T21:35:28.182Z,1761687328.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641302,-0.706496,-0.299324],[0.766956,-0.578759,-0.277158],[0.022574,-0.407310,0.913011]] 2025-10-28T21:35:28.590Z,1761687328.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617089,-0.724949,-0.306023],[0.786483,-0.555645,-0.269635],[0.025432,-0.407071,0.913042]] 2025-10-28T21:35:28.992Z,1761687328.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590553,-0.745131,-0.309881],[0.806520,-0.531730,-0.258436],[0.027796,-0.402545,0.914978]] 2025-10-28T21:35:29.395Z,1761687329.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561876,-0.764293,-0.316467],[0.826708,-0.505332,-0.247372],[0.029144,-0.400618,0.915781]] 2025-10-28T21:35:29.800Z,1761687329.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532176,-0.782320,-0.323672],[0.846100,-0.477863,-0.236140],[0.030066,-0.399527,0.916228]] 2025-10-28T21:35:30.203Z,1761687330.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501546,-0.799087,-0.331528],[0.864594,-0.449465,-0.224632],[0.030490,-0.399300,0.916313]] 2025-10-28T21:35:30.619Z,1761687330.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437851,-0.824919,-0.357483],[0.898585,-0.388792,-0.203435],[0.028831,-0.410303,0.911493]] 2025-10-28T21:35:31.015Z,1761687331.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405280,-0.837516,-0.366491],[0.913788,-0.359192,-0.189666],[0.027208,-0.411763,0.910885]] 2025-10-28T21:35:31.419Z,1761687331.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373118,-0.848326,-0.375668],[0.927435,-0.329931,-0.176097],[0.025443,-0.414112,0.909870]] 2025-10-28T21:35:31.824Z,1761687331.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342475,-0.857623,-0.383657],[0.939222,-0.302117,-0.163056],[0.023931,-0.416182,0.908967]] 2025-10-28T21:35:32.230Z,1761687332.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313164,-0.866636,-0.388420],[0.949414,-0.275671,-0.150394],[0.023261,-0.415869,0.909127]] 2025-10-28T21:35:32.627Z,1761687332.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284985,-0.874097,-0.393366],[0.958256,-0.249955,-0.138811],[0.023010,-0.416505,0.908842]] 2025-10-28T21:35:33.031Z,1761687333.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256853,-0.881263,-0.396739],[0.966168,-0.224220,-0.127455],[0.023365,-0.416054,0.909040]] 2025-10-28T21:35:33.071Z,1761687333.071 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:35:33.071Z,1761687333.071 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:35:33.072Z,1761687333.072 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:35:33.076Z,1761687333.076 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:35:33.077Z,1761687333.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:35:33.077Z,1761687333.077 [marl:UpdateSpeed] Stopped 2025-10-28T21:35:33.077Z,1761687333.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:35:33.436Z,1761687333.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228232,-0.888569,-0.397939],[0.973296,-0.197911,-0.116298],[0.024582,-0.413855,0.910011]] 2025-10-28T21:35:33.840Z,1761687333.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198550,-0.896318,-0.396475],[0.979742,-0.170722,-0.104689],[0.026147,-0.409229,0.912057]] 2025-10-28T21:35:34.244Z,1761687334.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168716,-0.902617,-0.396002],[0.985260,-0.142927,-0.093993],[0.028240,-0.406023,0.913426]] 2025-10-28T21:35:34.276Z,1761687334.276 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:35:34.276Z,1761687334.276 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:35:34.276Z,1761687334.276 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateRudder:A] Stopped 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:35:34.277Z,1761687334.277 [marl:UpdateCommandMode] Stopped 2025-10-28T21:35:34.278Z,1761687334.278 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:35:34.647Z,1761687334.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137568,-0.909075,-0.393265],[0.990020,-0.113942,-0.082929],[0.030579,-0.400749,0.915678]] 2025-10-28T21:35:34.737Z,1761687334.737 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:35:34.737Z,1761687334.737 [marl:UpdateRudder:B] Stopped 2025-10-28T21:35:34.737Z,1761687334.737 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:35:34.738Z,1761687334.738 [marl:UpdateRudder] Stopped 2025-10-28T21:35:34.738Z,1761687334.738 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:35:35.051Z,1761687335.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104886,-0.913972,-0.391987],[0.993957,-0.083507,-0.071250],[0.032387,-0.397091,0.917208]] 2025-10-28T21:35:35.461Z,1761687335.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071160,-0.917302,-0.391783],[0.996910,-0.052304,-0.058609],[0.033270,-0.394743,0.918189]] 2025-10-28T21:35:35.859Z,1761687335.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036840,-0.919706,-0.390876],[0.998760,-0.020784,-0.045230],[0.033475,-0.392057,0.919331]] 2025-10-28T21:35:36.266Z,1761687336.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002815,-0.920777,-0.390078],[0.999435,0.010471,-0.031931],[0.033485,-0.389947,0.920228]] 2025-10-28T21:35:36.667Z,1761687336.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030967,-0.919969,-0.390767],[0.998984,0.041296,-0.018055],[0.032747,-0.389811,0.920313]] 2025-10-28T21:35:37.074Z,1761687337.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064285,-0.918568,-0.389999],[0.997416,0.071698,-0.004464],[0.032063,-0.388705,0.920804]] 2025-10-28T21:35:37.878Z,1761687337.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130634,-0.908975,-0.395852],[0.990944,0.132216,0.023420],[0.031050,-0.395327,0.918016]] 2025-10-28T21:35:38.283Z,1761687338.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164238,-0.903589,-0.395669],[0.985932,0.162999,0.037009],[0.031052,-0.396181,0.917647]] 2025-10-28T21:35:38.687Z,1761687338.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197390,-0.898096,-0.393014],[0.979810,0.193732,0.049399],[0.031774,-0.394830,0.918205]] 2025-10-28T21:35:39.100Z,1761687339.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231261,-0.890967,-0.390763],[0.972361,0.224932,0.062603],[0.032118,-0.394441,0.918360]] 2025-10-28T21:35:39.495Z,1761687339.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264371,-0.881929,-0.390269],[0.963886,0.255098,0.076473],[0.032113,-0.396392,0.917520]] 2025-10-28T21:35:39.898Z,1761687339.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297442,-0.871070,-0.390851],[0.954216,0.284791,0.091470],[0.031634,-0.400164,0.915898]] 2025-10-28T21:35:40.304Z,1761687340.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330674,-0.858004,-0.393044],[0.943247,0.313994,0.108129],[0.030638,-0.406493,0.913140]] 2025-10-28T21:35:40.597Z,1761687340.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:35:40.709Z,1761687340.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362564,-0.845774,-0.391426],[0.931494,0.342140,0.123530],[0.029444,-0.409398,0.911880]] 2025-10-28T21:35:41.115Z,1761687341.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393529,-0.833333,-0.388190],[0.918876,0.369566,0.138162],[0.028327,-0.411069,0.911164]] 2025-10-28T21:35:41.514Z,1761687341.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424113,-0.819457,-0.385511],[0.905201,0.396376,0.153287],[0.027195,-0.413976,0.909882]] 2025-10-28T21:35:41.600Z,1761687341.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:35:41.918Z,1761687341.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453944,-0.806448,-0.378915],[0.890650,0.423103,0.166512],[0.026036,-0.413067,0.910328]] 2025-10-28T21:35:42.323Z,1761687342.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483274,-0.793766,-0.369299],[0.875103,0.450190,0.177549],[0.025323,-0.408979,0.912192]] 2025-10-28T21:35:42.726Z,1761687342.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511460,-0.780601,-0.359263],[0.858932,0.476759,0.186914],[0.025377,-0.404182,0.914327]] 2025-10-28T21:35:43.163Z,1761687343.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539542,-0.765017,-0.351629],[0.841566,0.502757,0.197488],[0.025702,-0.402472,0.915071]] 2025-10-28T21:35:43.534Z,1761687343.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567344,-0.748852,-0.342553],[0.823066,0.528872,0.207019],[0.026140,-0.399395,0.916406]] 2025-10-28T21:35:43.938Z,1761687343.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595789,-0.729271,-0.336452],[0.802720,0.554267,0.220064],[0.025998,-0.401188,0.915627]] 2025-10-28T21:35:44.343Z,1761687344.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623553,-0.707883,-0.331789],[0.781346,0.578452,0.234289],[0.026075,-0.405333,0.913797]] 2025-10-28T21:35:44.748Z,1761687344.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650896,-0.685080,-0.327108],[0.758725,0.601740,0.249492],[0.025912,-0.410578,0.911457]] 2025-10-28T21:35:45.189Z,1761687345.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677556,-0.660529,-0.323449],[0.735016,0.623604,0.266213],[0.025863,-0.418115,0.908026]] 2025-10-28T21:35:45.554Z,1761687345.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703528,-0.637481,-0.314112],[0.710198,0.646713,0.278173],[0.025810,-0.418785,0.907719]] 2025-10-28T21:35:45.959Z,1761687345.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728266,-0.614969,-0.302394],[0.684827,0.669376,0.288005],[0.025301,-0.416832,0.908631]] 2025-10-28T21:35:45.982Z,1761687345.982 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:35:45.982Z,1761687345.982 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:35:45.982Z,1761687345.982 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:35:45.983Z,1761687345.983 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:35:45.983Z,1761687345.983 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:35:45.983Z,1761687345.983 [marl:UpdateSpeed] Stopped 2025-10-28T21:35:45.983Z,1761687345.983 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:35:46.364Z,1761687346.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752748,-0.591710,-0.288530],[0.657837,0.692686,0.295697],[0.024894,-0.412391,0.910667]] 2025-10-28T21:35:46.775Z,1761687346.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775912,-0.568687,-0.273050],[0.630374,0.715606,0.300893],[0.024282,-0.405590,0.913732]] 2025-10-28T21:35:47.194Z,1761687347.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798331,-0.542988,-0.260444],[0.601751,0.736300,0.309449],[0.023738,-0.403765,0.914555]] 2025-10-28T21:35:47.235Z,1761687347.236 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:35:47.252Z,1761687347.252 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:35:47.252Z,1761687347.252 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:35:47.252Z,1761687347.252 [marl:UpdateRudder:A] Stopped 2025-10-28T21:35:47.252Z,1761687347.252 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:35:47.252Z,1761687347.252 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode] Stopped 2025-10-28T21:35:47.253Z,1761687347.253 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:35:47.678Z,1761687347.678 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:35:47.678Z,1761687347.678 [marl:UpdateRudder:B] Stopped 2025-10-28T21:35:47.678Z,1761687347.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:35:47.678Z,1761687347.678 [marl:UpdateRudder] Stopped 2025-10-28T21:35:47.678Z,1761687347.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:35:47.982Z,1761687347.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841536,-0.487022,-0.233724],[0.539772,0.775325,0.327897],[0.021519,-0.402095,0.915345]] 2025-10-28T21:35:48.383Z,1761687348.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862073,-0.456578,-0.219924],[0.506373,0.793509,0.337534],[0.020402,-0.402343,0.915262]] 2025-10-28T21:35:48.791Z,1761687348.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881300,-0.426586,-0.203309],[0.472170,0.812334,0.342299],[0.019135,-0.397665,0.917331]] 2025-10-28T21:35:49.198Z,1761687349.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899007,-0.395310,-0.188458],[0.437557,0.828663,0.349086],[0.018170,-0.396292,0.917945]] 2025-10-28T21:35:49.597Z,1761687349.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914980,-0.363864,-0.174396],[0.403112,0.843213,0.355657],[0.017643,-0.395720,0.918202]] 2025-10-28T21:35:50.111Z,1761687350.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929029,-0.332816,-0.161675],[0.369604,0.855127,0.363525],[0.017265,-0.397481,0.917448]] 2025-10-28T21:35:50.403Z,1761687350.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941189,-0.303396,-0.148708],[0.337469,0.865816,0.369427],[0.016671,-0.397885,0.917284]] 2025-10-28T21:35:50.807Z,1761687350.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951895,-0.274780,-0.135614],[0.306021,0.875125,0.374842],[0.015680,-0.398311,0.917116]] 2025-10-28T21:35:51.212Z,1761687351.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961217,-0.247026,-0.122635],[0.275412,0.883107,0.379830],[0.014472,-0.398874,0.916892]] 2025-10-28T21:35:51.618Z,1761687351.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969357,-0.219970,-0.109364],[0.245307,0.890521,0.383141],[0.013112,-0.398228,0.917193]] 2025-10-28T21:35:52.019Z,1761687352.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976408,-0.192946,-0.096949],[0.215609,0.895757,0.388756],[0.011833,-0.400488,0.916226]] 2025-10-28T21:35:52.424Z,1761687352.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982623,-0.165118,-0.084779],[0.185282,0.899761,0.395095],[0.011044,-0.403938,0.914720]] 2025-10-28T21:35:52.826Z,1761687352.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988096,-0.136012,-0.071883],[0.153516,0.902014,0.403490],[0.009960,-0.409722,0.912156]] 2025-10-28T21:35:53.230Z,1761687353.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992815,-0.104900,-0.057564],[0.119331,0.903476,0.411692],[0.008821,-0.415604,0.909503]] 2025-10-28T21:35:53.643Z,1761687353.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996533,-0.072200,-0.041347],[0.082855,0.906426,0.414158],[0.007576,-0.416148,0.909265]] 2025-10-28T21:35:54.042Z,1761687354.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998946,-0.038776,-0.024557],[0.045436,0.911146,0.409571],[0.006494,-0.410255,0.911947]] 2025-10-28T21:35:54.443Z,1761687354.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999958,-0.004461,-0.007956],[0.007290,0.915136,0.403080],[0.005483,-0.403121,0.915130]] 2025-10-28T21:35:54.846Z,1761687354.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999518,0.030048,0.007770],[-0.030654,0.916623,0.398576],[0.004854,-0.398623,0.917102]] 2025-10-28T21:35:55.251Z,1761687355.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997615,0.065232,0.022547],[-0.068863,0.918883,0.388475],[0.004623,-0.389101,0.921183]] 2025-10-28T21:35:55.662Z,1761687355.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994229,0.100925,0.036381],[-0.107177,0.919386,0.378475],[0.004750,-0.380190,0.924896]] 2025-10-28T21:35:56.065Z,1761687356.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989499,0.135375,0.050650],[-0.144460,0.914618,0.377631],[0.004797,-0.380983,0.924570]] 2025-10-28T21:35:56.463Z,1761687356.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983583,0.168340,0.065004],[-0.180390,0.907604,0.379098],[0.004820,-0.384600,0.923071]] 2025-10-28T21:35:56.868Z,1761687356.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976704,0.199741,0.078438],[-0.214529,0.900073,0.379270],[0.005156,-0.387262,0.921955]] 2025-10-28T21:35:57.270Z,1761687357.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968984,0.229563,0.091491],[-0.247054,0.891138,0.380574],[0.005834,-0.391374,0.920213]] 2025-10-28T21:35:57.676Z,1761687357.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960793,0.257235,0.103477],[-0.277189,0.882211,0.380618],[0.006619,-0.394378,0.918925]] 2025-10-28T21:35:58.080Z,1761687358.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951503,0.284648,0.116692],[-0.307543,0.870641,0.383929],[0.007688,-0.401197,0.915959]] 2025-10-28T21:35:58.485Z,1761687358.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941436,0.311674,0.128675],[-0.337073,0.859783,0.383608],[0.008928,-0.404515,0.914488]] 2025-10-28T21:35:58.886Z,1761687358.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930517,0.338503,0.139839],[-0.366099,0.848696,0.381690],[0.010523,-0.406364,0.913651]] 2025-10-28T21:35:58.919Z,1761687358.919 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:35:58.919Z,1761687358.919 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:35:58.919Z,1761687358.919 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:35:58.920Z,1761687358.920 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:35:58.921Z,1761687358.921 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:35:58.921Z,1761687358.921 [marl:UpdateSpeed] Stopped 2025-10-28T21:35:58.921Z,1761687358.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:35:59.291Z,1761687359.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918928,0.364276,0.151244],[-0.394251,0.836891,0.379709],[0.011744,-0.408554,0.912659]] 2025-10-28T21:35:59.694Z,1761687359.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906326,0.389642,0.163562],[-0.422391,0.823723,0.378241],[0.012648,-0.411896,0.911143]] 2025-10-28T21:36:00.100Z,1761687360.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892559,0.414938,0.176534],[-0.450733,0.809379,0.376491],[0.013338,-0.415610,0.909445]] 2025-10-28T21:36:00.128Z,1761687360.128 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:36:00.128Z,1761687360.128 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:36:00.128Z,1761687360.128 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateRudder:A] Stopped 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:36:00.129Z,1761687360.129 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:36:00.130Z,1761687360.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:36:00.130Z,1761687360.130 [marl:UpdateCommandMode] Stopped 2025-10-28T21:36:00.130Z,1761687360.130 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:36:00.502Z,1761687360.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877406,0.440602,0.189815],[-0.479560,0.794365,0.372837],[0.013490,-0.418157,0.908275]] 2025-10-28T21:36:00.594Z,1761687360.594 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:36:00.594Z,1761687360.594 [marl:UpdateRudder:B] Stopped 2025-10-28T21:36:00.595Z,1761687360.595 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:36:00.595Z,1761687360.595 [marl:UpdateRudder] Stopped 2025-10-28T21:36:00.595Z,1761687360.595 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:36:00.907Z,1761687360.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861795,0.466062,0.200238],[-0.507088,0.781375,0.363752],[0.013070,-0.415018,0.909719]] 2025-10-28T21:36:01.311Z,1761687361.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845222,0.490143,0.212979],[-0.534275,0.765848,0.357809],[0.012268,-0.416217,0.909182]] 2025-10-28T21:36:01.715Z,1761687361.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827004,0.514843,0.225834],[-0.562086,0.749258,0.350245],[0.011114,-0.416592,0.909025]] 2025-10-28T21:36:02.119Z,1761687362.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807888,0.540012,0.236018],[-0.589255,0.733505,0.338746],[0.009807,-0.412743,0.910795]] 2025-10-28T21:36:02.523Z,1761687362.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787572,0.565268,0.245363],[-0.616168,0.717057,0.325831],[0.008243,-0.407800,0.913034]] 2025-10-28T21:36:02.928Z,1761687362.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765790,0.591574,0.252204],[-0.643057,0.700366,0.309783],[0.006625,-0.399411,0.916748]] 2025-10-28T21:36:03.332Z,1761687363.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743686,0.617000,0.257375],[-0.668513,0.683671,0.292721],[0.004649,-0.389751,0.920909]] 2025-10-28T21:36:03.734Z,1761687363.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721114,0.639595,0.266296],[-0.692811,0.664176,0.280862],[0.002770,-0.387026,0.922065]] 2025-10-28T21:36:04.139Z,1761687364.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697496,0.661008,0.276707],[-0.716587,0.642711,0.270971],[0.001271,-0.387286,0.921959]] 2025-10-28T21:36:04.550Z,1761687364.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673541,0.681807,0.285448],[-0.739150,0.621096,0.260572],[0.000369,-0.386495,0.922291]] 2025-10-28T21:36:04.952Z,1761687364.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648539,0.702089,0.294053],[-0.761181,0.598422,0.249989],[-0.000453,-0.385955,0.922517]] 2025-10-28T21:36:05.350Z,1761687365.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623087,0.722137,0.300469],[-0.782151,0.576024,0.237562],[-0.001525,-0.383033,0.923733]] 2025-10-28T21:36:05.755Z,1761687365.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597025,0.740495,0.308591],[-0.802218,0.552439,0.226402],[-0.002828,-0.382725,0.923858]] 2025-10-28T21:36:06.158Z,1761687366.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570291,0.757349,0.318105],[-0.821431,0.527826,0.215986],[-0.004327,-0.384476,0.923125]] 2025-10-28T21:36:06.564Z,1761687366.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542796,0.775203,0.323160],[-0.839845,0.503629,0.202529],[-0.005751,-0.381336,0.924419]] 2025-10-28T21:36:06.966Z,1761687366.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514969,0.792329,0.327143],[-0.857181,0.479047,0.189089],[-0.006896,-0.377796,0.925863]] 2025-10-28T21:36:07.372Z,1761687367.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487570,0.807974,0.330837],[-0.873046,0.454734,0.176092],[-0.008165,-0.374692,0.927113]] 2025-10-28T21:36:08.182Z,1761687368.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434825,0.833567,0.340724],[-0.900466,0.406423,0.154859],[-0.009393,-0.374146,0.927322]] 2025-10-28T21:36:08.583Z,1761687368.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409306,0.841715,0.352113],[-0.912353,0.381361,0.148914],[-0.008939,-0.382203,0.924035]] 2025-10-28T21:36:08.986Z,1761687368.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384926,0.848055,0.364191],[-0.922914,0.357022,0.144097],[-0.007822,-0.391584,0.920109]] 2025-10-28T21:36:09.390Z,1761687369.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360887,0.852977,0.377081],[-0.932592,0.332552,0.140292],[-0.005733,-0.402292,0.915493]] 2025-10-28T21:36:09.798Z,1761687369.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338029,0.855680,0.391852],[-0.941130,0.308824,0.137487],[-0.003368,-0.415258,0.909698]] 2025-10-28T21:36:09.857Z,1761687369.857 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:36:10.049Z,1761687370.049 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:36:10.050Z,1761687370.050 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:36:10.203Z,1761687370.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315682,0.859169,0.402707],[-0.948865,0.286314,0.132968],[-0.001058,-0.424090,0.905619]] 2025-10-28T21:36:10.301Z,1761687370.301 [DAT](INFO): DAT read: user:316> 2025-10-28T21:36:10.302Z,1761687370.302 [DAT](INFO): DAT read: Tx time:21:36:10.0517 2025-10-28T21:36:10.302Z,1761687370.302 [DAT](INFO): Ping request sent. 2025-10-28T21:36:10.302Z,1761687370.302 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:36:10.302Z,1761687370.302 [DAT](INFO): publishing transmit ping time 2025-10-28T21:36:10.303Z,1761687370.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000999 2025-10-28T21:36:10.553Z,1761687370.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251301 2025-10-28T21:36:10.602Z,1761687370.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294361,0.861909,0.412873],[-0.955694,0.265219,0.127702],[0.000566,-0.432171,0.901791]] 2025-10-28T21:36:10.805Z,1761687370.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502960 2025-10-28T21:36:11.007Z,1761687371.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272817,0.865506,0.420084],[-0.962066,0.245085,0.119847],[0.000772,-0.436844,0.899537]] 2025-10-28T21:36:11.057Z,1761687371.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755041 2025-10-28T21:36:11.309Z,1761687371.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844 2025-10-28T21:36:11.411Z,1761687371.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250732,0.871124,0.422227],[-0.968056,0.225667,0.109276],[-0.000090,-0.436139,0.899879]] 2025-10-28T21:36:11.562Z,1761687371.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259536 2025-10-28T21:36:11.728Z,1761687371.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:36:11.813Z,1761687371.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510936 2025-10-28T21:36:11.817Z,1761687371.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226645,0.877676,0.422275],[-0.973977,0.204734,0.097228],[-0.001120,-0.433322,0.901238]] 2025-10-28T21:36:11.846Z,1761687371.846 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:36:11.846Z,1761687371.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:36:11.847Z,1761687371.847 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:36:11.847Z,1761687371.847 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:36:11.847Z,1761687371.847 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:36:11.847Z,1761687371.847 [marl:UpdateSpeed] Stopped 2025-10-28T21:36:11.847Z,1761687371.847 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:36:12.065Z,1761687372.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762919 2025-10-28T21:36:12.222Z,1761687372.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200494,0.887034,0.415900],[-0.979691,0.182678,0.082666],[-0.002648,-0.424028,0.905645]] 2025-10-28T21:36:12.317Z,1761687372.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015308 2025-10-28T21:36:12.569Z,1761687372.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266874 2025-10-28T21:36:12.623Z,1761687372.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172549,0.897665,0.405492],[-0.984992,0.159010,0.067134],[-0.004213,-0.410990,0.911630]] 2025-10-28T21:36:12.732Z,1761687372.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:36:12.822Z,1761687372.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519669 2025-10-28T21:36:13.034Z,1761687373.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143327,0.907953,0.393800],[-0.989658,0.133862,0.051560],[-0.005900,-0.397117,0.917749]] 2025-10-28T21:36:13.073Z,1761687373.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771024 2025-10-28T21:36:13.325Z,1761687373.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942 2025-10-28T21:36:13.433Z,1761687373.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113320,0.918095,0.379815],[-0.993529,0.107656,0.036198],[-0.007656,-0.381459,0.924354]] 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateRudder:A] Stopped 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:36:13.561Z,1761687373.561 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:36:13.562Z,1761687373.562 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:36:13.562Z,1761687373.562 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:36:13.562Z,1761687373.562 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:36:13.562Z,1761687373.562 [marl:UpdateCommandMode] Stopped 2025-10-28T21:36:13.562Z,1761687373.562 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:36:13.577Z,1761687373.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274940 2025-10-28T21:36:13.829Z,1761687373.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527022 2025-10-28T21:36:13.837Z,1761687373.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082206,0.925962,0.368560],[-0.996572,0.079803,0.021786],[-0.009239,-0.369088,0.929349]] 2025-10-28T21:36:13.907Z,1761687373.907 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:36:13.907Z,1761687373.907 [marl:UpdateRudder:B] Stopped 2025-10-28T21:36:13.907Z,1761687373.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:36:13.907Z,1761687373.907 [marl:UpdateRudder] Stopped 2025-10-28T21:36:13.907Z,1761687373.907 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:36:14.081Z,1761687374.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778844 2025-10-28T21:36:14.241Z,1761687374.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050528,0.930624,0.362471],[-0.998665,0.050974,0.008339],[-0.010716,-0.362409,0.931958]] 2025-10-28T21:36:14.333Z,1761687374.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030772 2025-10-28T21:36:14.585Z,1761687374.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282927 2025-10-28T21:36:14.644Z,1761687374.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018654,0.933077,0.359192],[-0.999754,0.021723,-0.004510],[-0.012011,-0.359020,0.933253]] 2025-10-28T21:36:14.837Z,1761687374.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534979 2025-10-28T21:36:15.049Z,1761687375.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013085,0.932845,0.360041],[-0.999826,-0.007430,-0.017085],[-0.013262,-0.360202,0.932780]] 2025-10-28T21:36:15.091Z,1761687375.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788811 2025-10-28T21:36:15.341Z,1761687375.341 [DAT](INFO): DAT read: Rx Time:21:36:14.7306 2025-10-28T21:36:15.341Z,1761687375.341 [DAT](INFO): Rx dataTimestamp_ set to:1761687375.341197 2025-10-28T21:36:15.342Z,1761687375.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040036 2025-10-28T21:36:15.451Z,1761687375.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044025,0.929124,0.367137],[-0.998927,-0.035640,-0.029591],[-0.014409,-0.368046,0.929696]] 2025-10-28T21:36:15.593Z,1761687375.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291107 2025-10-28T21:36:15.845Z,1761687375.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542970 2025-10-28T21:36:15.870Z,1761687375.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102725,0.915046,0.390049],[-0.994571,-0.087946,-0.055616],[-0.016588,-0.393645,0.919113]] 2025-10-28T21:36:16.103Z,1761687376.103 [DAT](INFO): DAT read: 21:36:14.7306 LVL= 24032, 28897, 32754, 32755, AGC= 87, IDX= 362,-0.09,-0.739,-1.920,-2.802,-1.352, PHS= 0.716,-0.523,-1.493, RAW= 64.0, 13.5, CAL= 60.7, 18.9, ROT= 89.3, -18.9 2025-10-28T21:36:16.104Z,1761687376.104 [DAT](INFO): got valid direction response: 21:36:14.7306 LVL= 24032, 28897, 32754, 32755, AGC= 87, IDX= 362,-0.09,-0.739,-1.920,-2.802,-1.352, PHS= 0.716,-0.523,-1.493, RAW= 64.0, 13.5, CAL= 60.7, 18.9, ROT= 89.3, -18.9 2025-10-28T21:36:16.105Z,1761687376.105 [DAT](INFO): DAT read: Bearing 156.3, 49.2 (Local) 2025-10-28T21:36:16.106Z,1761687376.106 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, 49.2 (Local) 2025-10-28T21:36:16.107Z,1761687376.107 [DAT](INFO): DAT read: Range 11 to 20 : 1706.1 m (Round-trip 2274.8 ms) speed 0.0 m/s 2025-10-28T21:36:16.108Z,1761687376.108 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:36:16.109Z,1761687376.109 [DAT](INFO): direction in FSK: [0.011558,0.946015,0.323917] 2025-10-28T21:36:16.109Z,1761687376.109 [DAT](INFO): publishing direction and range info 2025-10-28T21:36:16.267Z,1761687376.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131597,0.905814,0.402719],[-0.991157,-0.113262,-0.069127],[-0.017004,-0.408255,0.912709]] 2025-10-28T21:36:16.378Z,1761687376.378 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687424.00. Resetting abort timer. 2025-10-28T21:36:16.669Z,1761687376.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159281,0.896914,0.412524],[-0.987086,-0.137456,-0.082268],[-0.017084,-0.420300,0.907224]] 2025-10-28T21:36:17.073Z,1761687377.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185265,0.888523,0.419766],[-0.982538,-0.160018,-0.094933],[-0.017181,-0.430024,0.902654]] 2025-10-28T21:36:17.878Z,1761687377.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236326,0.876514,0.419373],[-0.971529,-0.205693,-0.117569],[-0.016789,-0.435218,0.900169]] 2025-10-28T21:36:18.287Z,1761687378.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261891,0.870587,0.416523],[-0.964952,-0.228726,-0.128652],[-0.016733,-0.435617,0.899976]] 2025-10-28T21:36:18.683Z,1761687378.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287270,0.866399,0.408447],[-0.957705,-0.252390,-0.138206],[-0.016654,-0.430874,0.902259]] 2025-10-28T21:36:19.086Z,1761687379.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313130,0.862099,0.398415],[-0.949562,-0.276802,-0.147349],[-0.016747,-0.424459,0.905292]] 2025-10-28T21:36:19.492Z,1761687379.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338752,0.859186,0.383466],[-0.940722,-0.301924,-0.154544],[-0.017005,-0.413087,0.910533]] 2025-10-28T21:36:19.896Z,1761687379.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364415,0.855788,0.367190],[-0.931079,-0.327563,-0.160610],[-0.017170,-0.400412,0.916175]] 2025-10-28T21:36:20.298Z,1761687380.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389686,0.849989,0.354492],[-0.920779,-0.352229,-0.167630],[-0.017621,-0.391732,0.919911]] 2025-10-28T21:36:20.703Z,1761687380.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414510,0.842790,0.343346],[-0.909861,-0.376218,-0.174964],[-0.018285,-0.384922,0.922768]] 2025-10-28T21:36:21.111Z,1761687381.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439087,0.833201,0.336122],[-0.898234,-0.399009,-0.184303],[-0.019445,-0.382841,0.923609]] 2025-10-28T21:36:21.520Z,1761687381.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463888,0.819906,0.335504],[-0.885660,-0.420519,-0.196901],[-0.020355,-0.388482,0.921231]] 2025-10-28T21:36:21.915Z,1761687381.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488146,0.805279,0.336512],[-0.872505,-0.440917,-0.210539],[-0.021169,-0.396382,0.917842]] 2025-10-28T21:36:22.318Z,1761687382.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511499,0.790308,0.337316],[-0.858995,-0.460094,-0.224593],[-0.022301,-0.404631,0.914208]] 2025-10-28T21:36:22.722Z,1761687382.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534769,0.775404,0.335814],[-0.844675,-0.479537,-0.237842],[-0.023389,-0.410844,0.911406]] 2025-10-28T21:36:23.153Z,1761687383.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558283,0.759615,0.333625],[-0.829306,-0.499357,-0.250786],[-0.023903,-0.416686,0.908736]] 2025-10-28T21:36:23.531Z,1761687383.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581734,0.743195,0.330526],[-0.813015,-0.519144,-0.263621],[-0.024331,-0.422080,0.906232]] 2025-10-28T21:36:23.935Z,1761687383.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604472,0.726502,0.326815],[-0.796245,-0.538299,-0.276096],[-0.024661,-0.427117,0.903860]] 2025-10-28T21:36:24.338Z,1761687384.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627112,0.710830,0.318515],[-0.778539,-0.559053,-0.285196],[-0.024659,-0.426826,0.903997]] 2025-10-28T21:36:24.747Z,1761687384.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649271,0.695874,0.306931],[-0.760161,-0.580715,-0.291420],[-0.024552,-0.422528,0.906017]] 2025-10-28T21:36:24.780Z,1761687384.780 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:36:24.796Z,1761687384.796 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:36:24.796Z,1761687384.796 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:36:24.797Z,1761687384.797 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:36:24.797Z,1761687384.797 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:36:24.797Z,1761687384.797 [marl:UpdateSpeed] Stopped 2025-10-28T21:36:24.797Z,1761687384.797 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:36:25.189Z,1761687385.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671043,0.680410,0.294523],[-0.741021,-0.602485,-0.296479],[-0.024282,-0.417198,0.908491]] 2025-10-28T21:36:25.551Z,1761687385.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692142,0.665192,0.280106],[-0.721354,-0.624507,-0.299399],[-0.024230,-0.409282,0.912086]] 2025-10-28T21:36:25.955Z,1761687385.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712457,0.649047,0.266727],[-0.701276,-0.645113,-0.303382],[-0.024840,-0.403196,0.914777]] 2025-10-28T21:36:26.366Z,1761687386.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732402,0.631990,0.253331],[-0.680381,-0.665189,-0.307580],[-0.025874,-0.397634,0.917179]] 2025-10-28T21:36:26.771Z,1761687386.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751469,0.614037,0.241355],[-0.659193,-0.683503,-0.313510],[-0.027540,-0.394693,0.918400]] 2025-10-28T21:36:26.810Z,1761687386.810 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateRudder:A] Stopped 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:36:26.811Z,1761687386.811 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:36:26.812Z,1761687386.812 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:36:26.812Z,1761687386.812 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:36:26.812Z,1761687386.812 [marl:UpdateCommandMode] Stopped 2025-10-28T21:36:26.812Z,1761687386.812 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:36:27.193Z,1761687387.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769862,0.595384,0.229848],[-0.637527,-0.700777,-0.320111],[-0.029517,-0.392976,0.919075]] 2025-10-28T21:36:27.235Z,1761687387.235 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:36:27.235Z,1761687387.235 [marl:UpdateRudder:B] Stopped 2025-10-28T21:36:27.235Z,1761687387.235 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:36:27.235Z,1761687387.235 [marl:UpdateRudder] Stopped 2025-10-28T21:36:27.235Z,1761687387.235 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:36:27.571Z,1761687387.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788353,0.575093,0.218559],[-0.614431,-0.717958,-0.327124],[-0.031211,-0.392179,0.919359]] 2025-10-28T21:36:27.982Z,1761687387.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806116,0.553612,0.209023],[-0.590849,-0.733424,-0.336136],[-0.032787,-0.394466,0.918326]] 2025-10-28T21:36:28.379Z,1761687388.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823539,0.531080,0.199342],[-0.566233,-0.748488,-0.345174],[-0.034110,-0.397139,0.917125]] 2025-10-28T21:36:28.788Z,1761687388.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839899,0.508548,0.189602],[-0.541580,-0.762441,-0.354082],[-0.035507,-0.400078,0.915793]] 2025-10-28T21:36:29.197Z,1761687389.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855588,0.485462,0.179708],[-0.516367,-0.775890,-0.362437],[-0.036516,-0.402892,0.914519]] 2025-10-28T21:36:29.592Z,1761687389.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870780,0.461711,0.169012],[-0.490231,-0.789019,-0.370301],[-0.037619,-0.405306,0.913407]] 2025-10-28T21:36:30.009Z,1761687390.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884519,0.438499,0.159200],[-0.464873,-0.800004,-0.379324],[-0.038973,-0.409527,0.911465]] 2025-10-28T21:36:30.399Z,1761687390.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897801,0.415156,0.146963],[-0.438511,-0.811822,-0.385556],[-0.040758,-0.410598,0.910905]] 2025-10-28T21:36:30.807Z,1761687390.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910514,0.391012,0.134437],[-0.411293,-0.823122,-0.391546],[-0.042441,-0.411801,0.910285]] 2025-10-28T21:36:31.208Z,1761687391.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922373,0.367108,0.120252],[-0.383700,-0.834578,-0.395290],[-0.044755,-0.410746,0.910651]] 2025-10-28T21:36:31.611Z,1761687391.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933346,0.343656,0.103759],[-0.355826,-0.847441,-0.393994],[-0.047469,-0.404653,0.913237]] 2025-10-28T21:36:32.015Z,1761687392.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943654,0.319248,0.087168],[-0.327068,-0.859554,-0.392675],[-0.050435,-0.399059,0.915537]] 2025-10-28T21:36:32.418Z,1761687392.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952791,0.294899,0.072276],[-0.298859,-0.868856,-0.394681],[-0.053594,-0.397649,0.915971]] 2025-10-28T21:36:32.830Z,1761687392.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961056,0.270147,0.058242],[-0.270573,-0.876943,-0.397191],[-0.056225,-0.397481,0.915886]] 2025-10-28T21:36:33.227Z,1761687393.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968381,0.245252,0.045725],[-0.242477,-0.882150,-0.403753],[-0.058685,-0.402074,0.913724]] 2025-10-28T21:36:33.631Z,1761687393.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974750,0.220628,0.034437],[-0.215020,-0.885775,-0.411301],[-0.060241,-0.408321,0.910849]] 2025-10-28T21:36:34.035Z,1761687394.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980313,0.196012,0.023808],[-0.187834,-0.888584,-0.418494],[-0.060875,-0.414727,0.907907]] 2025-10-28T21:36:34.438Z,1761687394.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985100,0.171512,0.012705],[-0.160734,-0.891881,-0.422745],[-0.061175,-0.418488,0.906159]] 2025-10-28T21:36:34.843Z,1761687394.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989220,0.146437,0.000492],[-0.133046,-0.897346,-0.420796],[-0.061179,-0.416325,0.907155]] 2025-10-28T21:36:35.246Z,1761687395.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992626,0.120644,-0.011753],[-0.104617,-0.901639,-0.419645],[-0.061224,-0.415321,0.907612]] 2025-10-28T21:36:35.652Z,1761687395.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995189,0.095047,-0.023753],[-0.076376,-0.904535,-0.419505],[-0.061358,-0.415672,0.907442]] 2025-10-28T21:36:36.055Z,1761687396.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996940,0.069493,-0.035791],[-0.048295,-0.907617,-0.417012],[-0.061464,-0.414008,0.908196]] 2025-10-28T21:36:36.461Z,1761687396.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997907,0.042838,-0.048447],[-0.019174,-0.911440,-0.410986],[-0.061762,-0.409197,0.910353]] 2025-10-28T21:36:36.863Z,1761687396.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997997,0.016111,-0.061180],[0.010067,-0.914273,-0.404973],[-0.062460,-0.404778,0.912279]] 2025-10-28T21:36:37.269Z,1761687397.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997194,-0.011223,-0.074013],[0.040033,-0.915390,-0.400574],[-0.063255,-0.402413,0.913270]] 2025-10-28T21:36:37.709Z,1761687397.709 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed] Stopped 2025-10-28T21:36:37.710Z,1761687397.710 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:36:38.074Z,1761687398.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992784,-0.067153,-0.099353],[0.100767,-0.916314,-0.387576],[-0.065011,-0.394791,0.916468]] 2025-10-28T21:36:38.490Z,1761687398.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989159,-0.094704,-0.112233],[0.131142,-0.913593,-0.384902],[-0.066084,-0.395448,0.916108]] 2025-10-28T21:36:38.885Z,1761687398.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984616,-0.121851,-0.125231],[0.161431,-0.908633,-0.385131],[-0.066861,-0.399422,0.914326]] 2025-10-28T21:36:39.286Z,1761687399.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979149,-0.148960,-0.138126],[0.191576,-0.903271,-0.383926],[-0.067576,-0.402383,0.912974]] 2025-10-28T21:36:39.691Z,1761687399.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972723,-0.176485,-0.150542],[0.221805,-0.897633,-0.380864],[-0.067915,-0.403866,0.912293]] 2025-10-28T21:36:40.096Z,1761687400.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965382,-0.203758,-0.162851],[0.251790,-0.890984,-0.377821],[-0.068113,-0.405746,0.911444]] 2025-10-28T21:36:40.121Z,1761687400.121 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:36:40.121Z,1761687400.121 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateRudder:A] Stopped 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:36:40.122Z,1761687400.122 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:36:40.123Z,1761687400.123 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:36:40.123Z,1761687400.123 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:36:40.123Z,1761687400.123 [marl:UpdateCommandMode] Stopped 2025-10-28T21:36:40.123Z,1761687400.123 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:36:40.499Z,1761687400.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957056,-0.230781,-0.175451],[0.281745,-0.882996,-0.375416],[-0.068284,-0.408727,0.910099]] 2025-10-28T21:36:40.529Z,1761687400.529 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:36:40.529Z,1761687400.529 [marl:UpdateRudder:B] Stopped 2025-10-28T21:36:40.529Z,1761687400.529 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:36:40.530Z,1761687400.530 [marl:UpdateRudder] Stopped 2025-10-28T21:36:40.530Z,1761687400.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:36:40.903Z,1761687400.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947679,-0.258182,-0.187739],[0.311817,-0.874638,-0.371186],[-0.068370,-0.410305,0.909382]] 2025-10-28T21:36:41.307Z,1761687401.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937042,-0.286819,-0.199216],[0.342451,-0.866448,-0.363312],[-0.068406,-0.408661,0.910119]] 2025-10-28T21:36:41.711Z,1761687401.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925478,-0.315367,-0.209843],[0.372490,-0.858358,-0.352807],[-0.068857,-0.404680,0.911862]] 2025-10-28T21:36:42.114Z,1761687402.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912656,-0.345044,-0.219096],[0.402738,-0.850596,-0.338067],[-0.069715,-0.396777,0.915264]] 2025-10-28T21:36:42.519Z,1761687402.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898958,-0.372899,-0.229827],[0.432156,-0.840678,-0.326345],[-0.071517,-0.392691,0.916885]] 2025-10-28T21:36:42.860Z,1761687402.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:36:42.923Z,1761687402.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884678,-0.399696,-0.239974],[0.460314,-0.830445,-0.313802],[-0.073860,-0.388077,0.918663]] 2025-10-28T21:36:43.327Z,1761687403.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869969,-0.424432,-0.251020],[0.487130,-0.818749,-0.303899],[-0.076538,-0.386662,0.919040]] 2025-10-28T21:36:43.733Z,1761687403.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854960,-0.447820,-0.261725],[0.512560,-0.806776,-0.293928],[-0.079527,-0.385446,0.919297]] 2025-10-28T21:36:43.865Z,1761687403.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:36:44.135Z,1761687404.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839776,-0.469709,-0.272303],[0.536633,-0.794268,-0.284891],[-0.082466,-0.385372,0.919069]] 2025-10-28T21:36:44.538Z,1761687404.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824874,-0.489069,-0.283538],[0.558914,-0.780808,-0.279202],[-0.084840,-0.388780,0.917416]] 2025-10-28T21:36:45.009Z,1761687405.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809654,-0.506848,-0.295914],[0.580486,-0.765937,-0.276363],[-0.086578,-0.395533,0.914362]] 2025-10-28T21:36:45.349Z,1761687405.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794168,-0.524655,-0.306651],[0.601338,-0.751282,-0.271969],[-0.087692,-0.400390,0.912139]] 2025-10-28T21:36:45.750Z,1761687405.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778089,-0.542976,-0.315839],[0.621970,-0.736341,-0.266374],[-0.087931,-0.403705,0.910654]] 2025-10-28T21:36:46.155Z,1761687406.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761467,-0.561984,-0.323021],[0.642344,-0.721070,-0.259716],[-0.086964,-0.405256,0.910058]] 2025-10-28T21:36:46.558Z,1761687406.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744721,-0.580494,-0.329269],[0.662005,-0.705026,-0.254339],[-0.084501,-0.407389,0.909337]] 2025-10-28T21:36:46.971Z,1761687406.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727236,-0.599553,-0.334162],[0.681581,-0.688301,-0.248375],[-0.081090,-0.408386,0.909200]] 2025-10-28T21:36:47.368Z,1761687407.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708514,-0.619975,-0.337103],[0.701469,-0.670930,-0.240404],[-0.077129,-0.406797,0.910257]] 2025-10-28T21:36:48.175Z,1761687408.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666301,-0.660834,-0.345458],[0.742365,-0.631514,-0.223796],[-0.070270,-0.405572,0.911358]] 2025-10-28T21:36:48.581Z,1761687408.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641985,-0.681468,-0.351364],[0.763675,-0.609124,-0.213934],[-0.068235,-0.405670,0.911469]] 2025-10-28T21:36:48.982Z,1761687408.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616251,-0.701964,-0.357045],[0.784679,-0.585953,-0.202330],[-0.067183,-0.404852,0.911911]] 2025-10-28T21:36:49.388Z,1761687409.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589458,-0.721754,-0.362782],[0.805000,-0.562201,-0.189487],[-0.067193,-0.403734,0.912406]] 2025-10-28T21:36:50.196Z,1761687410.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532261,-0.758787,-0.375420],[0.843692,-0.512040,-0.161245],[-0.069879,-0.402563,0.912721]] 2025-10-28T21:36:50.599Z,1761687410.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502376,-0.777457,-0.378391],[0.861652,-0.486558,-0.144283],[-0.071935,-0.398526,0.914332]] 2025-10-28T21:36:50.630Z,1761687410.630 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:36:50.630Z,1761687410.630 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:36:50.630Z,1761687410.630 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:36:50.631Z,1761687410.631 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:36:50.631Z,1761687410.631 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:36:50.631Z,1761687410.631 [marl:UpdateSpeed] Stopped 2025-10-28T21:36:50.631Z,1761687410.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:36:51.003Z,1761687411.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472968,-0.795343,-0.379119],[0.877954,-0.461642,-0.126823],[-0.074150,-0.392832,0.916616]] 2025-10-28T21:36:51.408Z,1761687411.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443501,-0.810927,-0.381712],[0.893018,-0.436079,-0.111149],[-0.076323,-0.390171,0.917574]] 2025-10-28T21:36:51.812Z,1761687411.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413293,-0.825238,-0.384931],[0.907199,-0.409642,-0.095828],[-0.078603,-0.388814,0.917957]] 2025-10-28T21:36:52.215Z,1761687412.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383741,-0.836392,-0.391398],[0.919919,-0.383222,-0.083002],[-0.080570,-0.391905,0.916471]] 2025-10-28T21:36:52.619Z,1761687412.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354254,-0.847202,-0.395919],[0.931542,-0.356849,-0.069911],[-0.082055,-0.393582,0.915620]] 2025-10-28T21:36:53.023Z,1761687413.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324530,-0.856630,-0.401080],[0.942194,-0.330142,-0.057247],[-0.083374,-0.396474,0.914252]] 2025-10-28T21:36:53.052Z,1761687413.052 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:36:53.052Z,1761687413.052 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:36:53.052Z,1761687413.052 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateRudder:A] Stopped 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:36:53.053Z,1761687413.053 [marl:UpdateCommandMode] Stopped 2025-10-28T21:36:53.054Z,1761687413.054 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:36:53.433Z,1761687413.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294250,-0.863643,-0.409314],[0.951934,-0.302970,-0.045072],[-0.085084,-0.402902,0.911280]] 2025-10-28T21:36:53.437Z,1761687413.437 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.438Z,1761687413.438 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T21:36:53.440Z,1761687413.440 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.461Z,1761687413.461 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T21:36:53.462Z,1761687413.462 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T21:36:53.462Z,1761687413.462 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.463Z,1761687413.463 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.468Z,1761687413.468 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T21:36:53.469Z,1761687413.469 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.470Z,1761687413.470 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T21:36:53.470Z,1761687413.470 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T21:36:53.471Z,1761687413.471 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T21:36:53.492Z,1761687413.492 [BPC1](FAULT): Failed to receive data from 29 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62. 2025-10-28T21:36:53.595Z,1761687413.595 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:36:53.596Z,1761687413.596 [marl:UpdateRudder:B] Stopped 2025-10-28T21:36:53.600Z,1761687413.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:36:53.600Z,1761687413.600 [marl:UpdateRudder] Stopped 2025-10-28T21:36:53.600Z,1761687413.600 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:36:54.236Z,1761687414.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235432,-0.877271,-0.418290],[0.967928,-0.250469,-0.019489],[-0.087672,-0.409463,0.908104]] 2025-10-28T21:36:54.639Z,1761687414.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207902,-0.881710,-0.423513],[0.974152,-0.225743,-0.008235],[-0.088344,-0.414278,0.905852]] 2025-10-28T21:36:55.042Z,1761687415.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180263,-0.886464,-0.426248],[0.979580,-0.201021,0.003792],[-0.089046,-0.416860,0.904599]] 2025-10-28T21:36:55.455Z,1761687415.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153466,-0.890785,-0.427727],[0.984088,-0.177002,0.015540],[-0.089551,-0.418536,0.903774]] 2025-10-28T21:36:55.852Z,1761687415.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127847,-0.894465,-0.428472],[0.987729,-0.153901,0.026562],[-0.089701,-0.419818,0.903165]] 2025-10-28T21:36:56.254Z,1761687416.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102856,-0.898214,-0.427355],[0.990661,-0.131162,0.037243],[-0.089505,-0.419534,0.903316]] 2025-10-28T21:36:56.659Z,1761687416.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078699,-0.900979,-0.426666],[0.992951,-0.108896,0.046804],[-0.088631,-0.419975,0.903197]] 2025-10-28T21:36:57.062Z,1761687417.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055036,-0.903763,-0.424481],[0.994676,-0.086718,0.055666],[-0.087119,-0.419158,0.903724]] 2025-10-28T21:36:57.467Z,1761687417.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031540,-0.906030,-0.422038],[0.995899,-0.064311,0.063636],[-0.084798,-0.418300,0.904342]] 2025-10-28T21:36:57.870Z,1761687417.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007994,-0.908862,-0.417021],[0.996626,-0.041309,0.070924],[-0.081687,-0.415047,0.906125]] 2025-10-28T21:36:58.275Z,1761687418.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015454,-0.910846,-0.412457],[0.996822,-0.018205,0.077550],[-0.078144,-0.412345,0.907670]] 2025-10-28T21:36:58.680Z,1761687418.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039257,-0.911605,-0.409189],[0.996460,0.005250,0.083901],[-0.074336,-0.411034,0.908584]] 2025-10-28T21:36:59.082Z,1761687419.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064212,-0.911336,-0.406624],[0.995449,0.029742,0.090538],[-0.070417,-0.410587,0.909098]] 2025-10-28T21:36:59.488Z,1761687419.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091142,-0.910618,-0.403072],[0.993602,0.056047,0.098051],[-0.066696,-0.409430,0.909900]] 2025-10-28T21:36:59.894Z,1761687419.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118859,-0.908767,-0.400018],[0.990920,0.083066,0.105727],[-0.062854,-0.408952,0.910389]] 2025-10-28T21:37:00.295Z,1761687420.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147382,-0.906324,-0.396049],[0.987312,0.110884,0.113661],[-0.059099,-0.407775,0.911168]] 2025-10-28T21:37:00.701Z,1761687420.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176923,-0.902880,-0.391798],[0.982641,0.139466,0.122336],[-0.055813,-0.406640,0.911882]] 2025-10-28T21:37:01.102Z,1761687421.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206939,-0.898248,-0.387719],[0.976905,0.168153,0.131838],[-0.053227,-0.406047,0.912301]] 2025-10-28T21:37:01.514Z,1761687421.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268445,-0.889088,-0.370755],[0.961992,0.227421,0.151165],[-0.050081,-0.397243,0.916346]] 2025-10-28T21:37:01.926Z,1761687421.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299256,-0.884020,-0.359102],[0.952868,0.257200,0.160906],[-0.049884,-0.390329,0.919323]] 2025-10-28T21:37:02.321Z,1761687422.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330110,-0.878294,-0.345871],[0.942598,0.287167,0.170421],[-0.050357,-0.382275,0.922675]] 2025-10-28T21:37:02.723Z,1761687422.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360611,-0.869397,-0.337798],[0.931303,0.315690,0.181700],[-0.051330,-0.380116,0.923514]] 2025-10-28T21:37:03.179Z,1761687423.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391000,-0.856429,-0.337117],[0.918910,0.342475,0.195743],[-0.052186,-0.386316,0.920889]] 2025-10-28T21:37:03.529Z,1761687423.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419603,-0.842453,-0.337946],[0.906194,0.367291,0.209548],[-0.052410,-0.394171,0.917542]] 2025-10-28T21:37:03.552Z,1761687423.552 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:37:03.552Z,1761687423.552 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:37:03.552Z,1761687423.552 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:37:03.553Z,1761687423.553 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:37:03.553Z,1761687423.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:37:03.553Z,1761687423.553 [marl:UpdateSpeed] Stopped 2025-10-28T21:37:03.553Z,1761687423.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:37:03.943Z,1761687423.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447489,-0.827643,-0.338763],[0.892759,0.391282,0.223336],[-0.052290,-0.402374,0.913981]] 2025-10-28T21:37:04.335Z,1761687424.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474293,-0.812394,-0.339208],[0.878859,0.414379,0.236426],[-0.051510,-0.410251,0.910517]] 2025-10-28T21:37:04.739Z,1761687424.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500004,-0.797031,-0.338728],[0.864571,0.436756,0.248519],[-0.050136,-0.417115,0.907470]] 2025-10-28T21:37:05.194Z,1761687425.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525377,-0.782063,-0.335196],[0.849500,0.459769,0.258770],[-0.048262,-0.420700,0.905915]] 2025-10-28T21:37:05.550Z,1761687425.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549847,-0.767271,-0.330095],[0.833984,0.482430,0.267828],[-0.046249,-0.422559,0.905155]] 2025-10-28T21:37:05.950Z,1761687425.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572980,-0.752632,-0.324406],[0.818378,0.504088,0.275957],[-0.044165,-0.423605,0.904770]] 2025-10-28T21:37:06.355Z,1761687426.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595175,-0.738029,-0.317930],[0.802484,0.525056,0.283434],[-0.042252,-0.423827,0.904757]] 2025-10-28T21:37:06.378Z,1761687426.378 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:37:06.378Z,1761687426.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:37:06.378Z,1761687426.378 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateRudder:A] Stopped 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:37:06.379Z,1761687426.379 [marl:UpdateCommandMode] Stopped 2025-10-28T21:37:06.380Z,1761687426.380 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:37:06.761Z,1761687426.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615964,-0.723061,-0.312685],[0.786746,0.544350,0.291056],[-0.040241,-0.425283,0.904165]] 2025-10-28T21:37:06.802Z,1761687426.802 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:37:06.803Z,1761687426.803 [marl:UpdateRudder:B] Stopped 2025-10-28T21:37:06.803Z,1761687426.803 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:37:06.803Z,1761687426.803 [marl:UpdateRudder] Stopped 2025-10-28T21:37:06.803Z,1761687426.803 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:37:07.201Z,1761687427.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635405,-0.708632,-0.306759],[0.771236,0.562782,0.297440],[-0.038137,-0.425578,0.904118]] 2025-10-28T21:37:07.566Z,1761687427.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653814,-0.694733,-0.299788],[0.755789,0.580668,0.302667],[-0.036196,-0.424465,0.904721]] 2025-10-28T21:37:07.976Z,1761687427.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671772,-0.680816,-0.291911],[0.739984,0.598757,0.306454],[-0.033855,-0.421877,0.906021]] 2025-10-28T21:37:08.374Z,1761687428.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688950,-0.666644,-0.284489],[0.724139,0.616202,0.309707],[-0.031161,-0.419382,0.907275]] 2025-10-28T21:37:08.783Z,1761687428.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706196,-0.651280,-0.277707],[0.707438,0.633222,0.313947],[-0.028617,-0.418169,0.907919]] 2025-10-28T21:37:09.199Z,1761687429.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723484,-0.636150,-0.268112],[0.689837,0.651357,0.316006],[-0.026391,-0.413579,0.910086]] 2025-10-28T21:37:09.587Z,1761687429.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741105,-0.619794,-0.258107],[0.670926,0.669399,0.319002],[-0.024939,-0.409585,0.911931]] 2025-10-28T21:37:09.992Z,1761687429.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758949,-0.601617,-0.249105],[0.650703,0.686550,0.324399],[-0.024141,-0.408296,0.912530]] 2025-10-28T21:37:10.023Z,1761687430.023 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:37:10.069Z,1761687430.069 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:37:10.069Z,1761687430.069 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:37:10.321Z,1761687430.321 [DAT](INFO): DAT read: user:317> 2025-10-28T21:37:10.322Z,1761687430.322 [DAT](INFO): DAT read: Tx time:21:37:10.0514 2025-10-28T21:37:10.322Z,1761687430.322 [DAT](INFO): Ping request sent. 2025-10-28T21:37:10.322Z,1761687430.322 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:37:10.322Z,1761687430.322 [DAT](INFO): publishing transmit ping time 2025-10-28T21:37:10.323Z,1761687430.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946 2025-10-28T21:37:10.396Z,1761687430.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776932,-0.581855,-0.240461],[0.629128,0.702967,0.331716],[-0.023974,-0.409001,0.912219]] 2025-10-28T21:37:10.573Z,1761687430.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250871 2025-10-28T21:37:10.800Z,1761687430.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795085,-0.560622,-0.231393],[0.606010,0.719063,0.340148],[-0.024308,-0.410673,0.911459]] 2025-10-28T21:37:10.825Z,1761687430.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961 2025-10-28T21:37:11.077Z,1761687431.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829 2025-10-28T21:37:11.206Z,1761687431.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812364,-0.539609,-0.221102],[0.582612,0.734722,0.347486],[-0.025058,-0.411102,0.911245]] 2025-10-28T21:37:11.329Z,1761687431.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006907 2025-10-28T21:37:11.581Z,1761687431.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258813 2025-10-28T21:37:11.613Z,1761687431.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828511,-0.518741,-0.210896],[0.559364,0.749123,0.354860],[-0.026093,-0.411973,0.910822]] 2025-10-28T21:37:11.833Z,1761687431.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510856 2025-10-28T21:37:12.010Z,1761687432.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843751,-0.497611,-0.201163],[0.536049,0.762317,0.362664],[-0.027115,-0.413831,0.909950]] 2025-10-28T21:37:12.085Z,1761687432.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762942 2025-10-28T21:37:12.337Z,1761687432.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840 2025-10-28T21:37:12.421Z,1761687432.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858035,-0.476490,-0.191660],[0.512850,0.774844,0.369597],[-0.027602,-0.415420,0.909211]] 2025-10-28T21:37:12.589Z,1761687432.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827 2025-10-28T21:37:12.819Z,1761687432.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871693,-0.454710,-0.182729],[0.489281,0.786654,0.376536],[-0.027470,-0.417630,0.908202]] 2025-10-28T21:37:12.841Z,1761687432.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519017 2025-10-28T21:37:13.093Z,1761687433.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770802 2025-10-28T21:37:13.234Z,1761687433.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884546,-0.432905,-0.173701],[0.465670,0.797976,0.382604],[-0.027022,-0.419318,0.907437]] 2025-10-28T21:37:13.345Z,1761687433.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831 2025-10-28T21:37:13.597Z,1761687433.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274891 2025-10-28T21:37:13.626Z,1761687433.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896973,-0.410286,-0.164636],[0.441327,0.809227,0.387791],[-0.025877,-0.420496,0.906925]] 2025-10-28T21:37:13.849Z,1761687433.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526820 2025-10-28T21:37:13.984Z,1761687433.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:37:14.031Z,1761687434.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909412,-0.385898,-0.155090],[0.415197,0.820784,0.392332],[-0.024105,-0.421184,0.906655]] 2025-10-28T21:37:14.101Z,1761687434.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779003 2025-10-28T21:37:14.353Z,1761687434.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030886 2025-10-28T21:37:14.435Z,1761687434.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921571,-0.360455,-0.144150],[0.387563,0.832834,0.395200],[-0.022399,-0.420072,0.907214]] 2025-10-28T21:37:14.605Z,1761687434.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282812 2025-10-28T21:37:14.840Z,1761687434.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933297,-0.334119,-0.131613],[0.358505,0.845711,0.395281],[-0.020764,-0.416098,0.909083]] 2025-10-28T21:37:14.857Z,1761687434.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534968 2025-10-28T21:37:14.988Z,1761687434.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:37:15.110Z,1761687435.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787612 2025-10-28T21:37:15.246Z,1761687435.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944280,-0.306957,-0.118798],[0.328576,0.857920,0.394983],[-0.019324,-0.412009,0.910975]] 2025-10-28T21:37:15.361Z,1761687435.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039138 2025-10-28T21:37:15.613Z,1761687435.613 [DAT](INFO): DAT read: Rx Time:21:37:14.7953 2025-10-28T21:37:15.613Z,1761687435.613 [DAT](INFO): Rx dataTimestamp_ set to:1761687435.613106 2025-10-28T21:37:15.614Z,1761687435.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291897 2025-10-28T21:37:15.647Z,1761687435.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954616,-0.278587,-0.105347],[0.297295,0.869882,0.393599],[-0.018012,-0.407055,0.913226]] 2025-10-28T21:37:15.865Z,1761687435.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542869 2025-10-28T21:37:16.051Z,1761687436.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964119,-0.249296,-0.091247],[0.264918,0.881328,0.391255],[-0.017120,-0.401389,0.915748]] 2025-10-28T21:37:16.126Z,1761687436.126 [DAT](INFO): DAT read: 21:37:14.7953 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 84,-0.20, 3.112, 2.018,-2.475,-3.046, PHS=-0.023,-1.175, 0.527, RAW= 168.5, 9.0, CAL= 168.2, 9.6, ROT= 341.8, -9.6 2025-10-28T21:37:16.127Z,1761687436.127 [DAT](INFO): got valid direction response: 21:37:14.7953 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 84,-0.20, 3.112, 2.018,-2.475,-3.046, PHS=-0.023,-1.175, 0.527, RAW= 168.5, 9.0, CAL= 168.2, 9.6, ROT= 341.8, -9.6 2025-10-28T21:37:16.129Z,1761687436.129 [DAT](INFO): DAT read: Bearing 179.2, -21.5 (Local) 2025-10-28T21:37:16.129Z,1761687436.129 [DAT](INFO): Local bearing/azimuth received: Bearing 179.2, -21.5 (Local) 2025-10-28T21:37:16.131Z,1761687436.131 [DAT](INFO): DAT read: Range 11 to 20 : 1754.7 m (Round-trip 2339.7 ms) speed 0.0 m/s 2025-10-28T21:37:16.132Z,1761687436.132 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:37:16.152Z,1761687436.152 [DAT](INFO): direction in FSK: [0.936669,-0.307961,0.166769] 2025-10-28T21:37:16.153Z,1761687436.153 [DAT](INFO): publishing direction and range info 2025-10-28T21:37:16.454Z,1761687436.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972681,-0.218777,-0.077645],[0.231564,0.890671,0.391259],[-0.016443,-0.398549,0.916999]] 2025-10-28T21:37:16.488Z,1761687436.488 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:37:16.488Z,1761687436.488 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:37:16.488Z,1761687436.488 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:37:16.489Z,1761687436.489 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:37:16.489Z,1761687436.489 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:37:16.489Z,1761687436.489 [marl:UpdateSpeed] Stopped 2025-10-28T21:37:16.489Z,1761687436.489 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:37:16.495Z,1761687436.495 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687424.00. Resetting abort timer. 2025-10-28T21:37:16.859Z,1761687436.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980074,-0.188116,-0.063780],[0.197966,0.898743,0.391242],[-0.016278,-0.396073,0.918075]] 2025-10-28T21:37:17.262Z,1761687437.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986382,-0.156923,-0.049256],[0.163601,0.905355,0.391876],[-0.016900,-0.394598,0.918698]] 2025-10-28T21:37:18.071Z,1761687438.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995037,-0.097244,-0.021110],[0.097627,0.912919,0.396293],[-0.019265,-0.396387,0.917881]] 2025-10-28T21:37:18.475Z,1761687438.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997432,-0.071136,-0.008364],[0.068537,0.913973,0.399945],[-0.020806,-0.399491,0.916501]] 2025-10-28T21:37:18.879Z,1761687438.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998874,-0.047329,0.003183],[0.041965,0.912964,0.405877],[-0.022116,-0.405286,0.913922]] 2025-10-28T21:37:19.291Z,1761687439.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999602,-0.024465,0.014020],[0.016472,0.910181,0.413884],[-0.022886,-0.413488,0.910222]] 2025-10-28T21:37:19.686Z,1761687439.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999694,-0.001410,0.024692],[-0.009165,0.906185,0.422783],[-0.022972,-0.422880,0.905895]] 2025-10-28T21:37:19.716Z,1761687439.716 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:37:19.716Z,1761687439.716 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateRudder:A] Stopped 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:37:19.717Z,1761687439.717 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:37:19.718Z,1761687439.718 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:37:19.718Z,1761687439.718 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:37:19.718Z,1761687439.718 [marl:UpdateCommandMode] Stopped 2025-10-28T21:37:19.718Z,1761687439.718 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:37:20.091Z,1761687440.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999123,0.021875,0.035711],[-0.035178,0.901061,0.432264],[-0.022722,-0.433141,0.901040]] 2025-10-28T21:37:20.158Z,1761687440.158 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:37:20.158Z,1761687440.158 [marl:UpdateRudder:B] Stopped 2025-10-28T21:37:20.158Z,1761687440.158 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:37:20.158Z,1761687440.158 [marl:UpdateRudder] Stopped 2025-10-28T21:37:20.158Z,1761687440.158 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:37:20.495Z,1761687440.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997854,0.045346,0.047234],[-0.061594,0.894806,0.442187],[-0.022214,-0.444147,0.895678]] 2025-10-28T21:37:20.910Z,1761687440.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995859,0.068797,0.059427],[-0.088323,0.887028,0.453190],[-0.021535,-0.456562,0.889431]] 2025-10-28T21:37:21.303Z,1761687441.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993196,0.091765,0.071705],[-0.114562,0.880519,0.459958],[-0.020929,-0.465042,0.885041]] 2025-10-28T21:37:21.706Z,1761687441.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989879,0.114413,0.083958],[-0.140354,0.876749,0.460013],[-0.020979,-0.467141,0.883934]] 2025-10-28T21:37:22.111Z,1761687442.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985632,0.138546,0.096618],[-0.167564,0.874051,0.456023],[-0.021269,-0.465660,0.884708]] 2025-10-28T21:37:22.542Z,1761687442.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979769,0.167742,0.109155],[-0.199058,0.873177,0.444902],[-0.020683,-0.457629,0.888902]] 2025-10-28T21:37:22.919Z,1761687442.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972067,0.200903,0.121339],[-0.233862,0.872814,0.428373],[-0.019845,-0.444784,0.895418]] 2025-10-28T21:37:23.322Z,1761687443.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963008,0.235603,0.130797],[-0.268788,0.874434,0.403880],[-0.019218,-0.424096,0.905413]] 2025-10-28T21:37:23.726Z,1761687443.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952757,0.269893,0.139324],[-0.303133,0.873759,0.380335],[-0.019085,-0.404601,0.914294]] 2025-10-28T21:37:24.131Z,1761687444.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941265,0.304058,0.146864],[-0.337142,0.870534,0.358476],[-0.018853,-0.386935,0.921914]] 2025-10-28T21:37:24.534Z,1761687444.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928760,0.336228,0.156062],[-0.370192,0.862960,0.343886],[-0.019051,-0.377161,0.925952]] 2025-10-28T21:37:24.939Z,1761687444.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915714,0.366012,0.165839],[-0.401373,0.852814,0.334078],[-0.019153,-0.372483,0.927841]] 2025-10-28T21:37:25.342Z,1761687445.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902678,0.392662,0.176040],[-0.429870,0.841489,0.327275],[-0.019627,-0.371098,0.928386]] 2025-10-28T21:37:25.747Z,1761687445.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890075,0.415476,0.187476],[-0.455355,0.828952,0.324793],[-0.020465,-0.374458,0.927018]] 2025-10-28T21:37:26.151Z,1761687446.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877375,0.435506,0.201364],[-0.479320,0.814440,0.327018],[-0.021581,-0.383436,0.923316]] 2025-10-28T21:37:26.554Z,1761687446.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864039,0.454072,0.217382],[-0.502910,0.798051,0.331957],[-0.022749,-0.396147,0.917905]] 2025-10-28T21:37:26.959Z,1761687446.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849711,0.472323,0.234311],[-0.526713,0.780453,0.336849],[-0.023767,-0.409639,0.911938]] 2025-10-28T21:37:27.373Z,1761687447.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833626,0.491265,0.252440],[-0.551779,0.761124,0.340925],[-0.024653,-0.423495,0.905563]] 2025-10-28T21:37:28.170Z,1761687448.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796951,0.534344,0.281684],[-0.603478,0.724520,0.332993],[-0.026152,-0.435369,0.899872]] 2025-10-28T21:37:28.574Z,1761687448.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776677,0.557718,0.292787],[-0.629347,0.706531,0.323630],[-0.026369,-0.435620,0.899744]] 2025-10-28T21:37:28.981Z,1761687448.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755283,0.582279,0.300830],[-0.654878,0.688785,0.310983],[-0.026129,-0.431887,0.901549]] 2025-10-28T21:37:29.401Z,1761687449.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733797,0.606986,0.305140],[-0.678877,0.672237,0.295337],[-0.025861,-0.423869,0.905354]] 2025-10-28T21:37:29.791Z,1761687449.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712960,0.630542,0.306766],[-0.700746,0.656521,0.279170],[-0.025370,-0.414002,0.909922]] 2025-10-28T21:37:29.826Z,1761687449.826 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:37:29.826Z,1761687449.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:37:29.827Z,1761687449.827 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:37:29.827Z,1761687449.827 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:37:29.827Z,1761687449.827 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:37:29.827Z,1761687449.827 [marl:UpdateSpeed] Stopped 2025-10-28T21:37:29.827Z,1761687449.827 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:37:30.191Z,1761687450.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692400,0.651964,0.309070],[-0.721089,0.639987,0.265421],[-0.024756,-0.406645,0.913251]] 2025-10-28T21:37:30.595Z,1761687450.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672401,0.670751,0.313001],[-0.739789,0.622856,0.254486],[-0.024257,-0.402671,0.915023]] 2025-10-28T21:37:31.000Z,1761687451.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652320,0.687285,0.319558],[-0.757573,0.604400,0.246543],[-0.023696,-0.402914,0.914931]] 2025-10-28T21:37:31.404Z,1761687451.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632525,0.702288,0.326655],[-0.774182,0.586068,0.239094],[-0.023529,-0.404123,0.914402]] 2025-10-28T21:37:31.807Z,1761687451.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612341,0.715936,0.335373],[-0.790241,0.566946,0.232575],[-0.023630,-0.407441,0.912926]] 2025-10-28T21:37:32.213Z,1761687452.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591829,0.728970,0.344009],[-0.805718,0.547500,0.225971],[-0.023619,-0.410910,0.911370]] 2025-10-28T21:37:32.614Z,1761687452.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570611,0.741730,0.352477],[-0.820895,0.527257,0.219389],[-0.023119,-0.414532,0.909741]] 2025-10-28T21:37:32.644Z,1761687452.644 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:37:32.644Z,1761687452.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:37:32.644Z,1761687452.644 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:37:32.644Z,1761687452.644 [marl:UpdateRudder:A] Stopped 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode] Stopped 2025-10-28T21:37:32.645Z,1761687452.645 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:37:33.019Z,1761687453.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548516,0.754801,0.359729],[-0.835846,0.506401,0.211945],[-0.022191,-0.416933,0.908666]] 2025-10-28T21:37:33.075Z,1761687453.075 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:37:33.075Z,1761687453.075 [marl:UpdateRudder:B] Stopped 2025-10-28T21:37:33.075Z,1761687453.075 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:37:33.075Z,1761687453.075 [marl:UpdateRudder] Stopped 2025-10-28T21:37:33.075Z,1761687453.075 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:37:33.431Z,1761687453.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525661,0.767676,0.366543],[-0.850440,0.484748,0.204379],[-0.020784,-0.419157,0.907676]] 2025-10-28T21:37:33.826Z,1761687453.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502382,0.781553,0.369848],[-0.864435,0.463429,0.194897],[-0.019076,-0.417622,0.908420]] 2025-10-28T21:37:34.231Z,1761687454.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478920,0.795420,0.371406],[-0.877699,0.441946,0.185281],[-0.016765,-0.414717,0.909796]] 2025-10-28T21:37:34.634Z,1761687454.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456114,0.807910,0.373150],[-0.889807,0.420745,0.176683],[-0.014257,-0.412620,0.910792]] 2025-10-28T21:37:35.049Z,1761687455.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433834,0.818588,0.376432],[-0.900918,0.399516,0.169511],[-0.011631,-0.412674,0.910804]] 2025-10-28T21:37:35.443Z,1761687455.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411348,0.827051,0.383118],[-0.911434,0.377350,0.163994],[-0.008938,-0.416646,0.909025]] 2025-10-28T21:37:35.846Z,1761687455.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387318,0.834753,0.391371],[-0.921926,0.353506,0.158386],[-0.006139,-0.422161,0.906500]] 2025-10-28T21:37:36.250Z,1761687456.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362770,0.842811,0.397577],[-0.931871,0.329832,0.151088],[-0.003795,-0.425300,0.905044]] 2025-10-28T21:37:36.656Z,1761687456.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337358,0.849976,0.404636],[-0.941374,0.305548,0.143023],[-0.002070,-0.429164,0.903224]] 2025-10-28T21:37:37.059Z,1761687457.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310476,0.857365,0.410525],[-0.950581,0.280188,0.133754],[-0.000348,-0.431765,0.901986]] 2025-10-28T21:37:37.462Z,1761687457.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282251,0.864971,0.414921],[-0.959340,0.253968,0.123157],[0.001150,-0.432812,0.901484]] 2025-10-28T21:37:37.874Z,1761687457.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253271,0.873720,0.415291],[-0.967392,0.227642,0.111048],[0.002487,-0.429875,0.902885]] 2025-10-28T21:37:38.273Z,1761687458.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222907,0.882245,0.414677],[-0.974831,0.199982,0.098542],[0.004010,-0.426206,0.904617]] 2025-10-28T21:37:38.675Z,1761687458.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191225,0.890344,0.413184],[-0.981530,0.171036,0.085704],[0.005636,-0.421941,0.906606]] 2025-10-28T21:37:39.078Z,1761687459.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159100,0.898070,0.410070],[-0.987234,0.141564,0.072999],[0.007507,-0.416449,0.909128]] 2025-10-28T21:37:39.486Z,1761687459.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127068,0.903912,0.408408],[-0.991849,0.111863,0.061012],[0.009464,-0.412832,0.910758]] 2025-10-28T21:37:39.890Z,1761687459.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095890,0.908733,0.406213],[-0.995327,0.082887,0.049529],[0.011338,-0.409064,0.912435]] 2025-10-28T21:37:40.290Z,1761687460.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065354,0.913478,0.401605],[-0.997772,0.054409,0.038612],[0.013420,-0.403234,0.914999]] 2025-10-28T21:37:40.695Z,1761687460.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035920,0.915480,0.400758],[-0.999236,0.026722,0.028518],[0.015399,-0.401476,0.915740]] 2025-10-28T21:37:41.099Z,1761687461.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007805,0.916513,0.399929],[-0.999821,0.000251,0.018938],[0.017256,-0.400005,0.916350]] 2025-10-28T21:37:41.504Z,1761687461.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018653,0.914678,0.403754],[-0.999651,-0.024626,0.009605],[0.018728,-0.403434,0.914817]] 2025-10-28T21:37:41.907Z,1761687461.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044182,0.911720,0.408429],[-0.998820,-0.048560,0.000352],[0.020154,-0.407932,0.912790]] 2025-10-28T21:37:42.311Z,1761687462.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069029,0.907646,0.414022],[-0.997384,-0.071715,-0.009072],[0.021457,-0.413565,0.910222]] 2025-10-28T21:37:42.714Z,1761687462.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093950,0.903382,0.418419],[-0.995306,-0.095033,-0.018302],[0.023230,-0.418174,0.908070]] 2025-10-28T21:37:42.763Z,1761687462.763 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:37:42.763Z,1761687462.763 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:37:42.763Z,1761687462.763 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:37:42.768Z,1761687462.768 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:37:42.768Z,1761687462.768 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:37:42.768Z,1761687462.768 [marl:UpdateSpeed] Stopped 2025-10-28T21:37:42.768Z,1761687462.768 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:37:43.160Z,1761687463.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118195,0.899164,0.421349],[-0.992683,-0.117553,-0.027602],[0.024712,-0.421528,0.906478]] 2025-10-28T21:37:43.522Z,1761687463.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142024,0.895675,0.421422],[-0.989522,-0.139642,-0.036690],[0.025986,-0.422217,0.906122]] 2025-10-28T21:37:43.926Z,1761687463.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165922,0.891803,0.420900],[-0.985767,-0.161715,-0.045954],[0.027084,-0.422534,0.905942]] 2025-10-28T21:37:44.331Z,1761687464.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189679,0.886389,0.422298],[-0.981448,-0.183424,-0.055823],[0.027979,-0.425052,0.904736]] 2025-10-28T21:37:44.736Z,1761687464.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213180,0.881236,0.421874],[-0.976598,-0.204790,-0.065713],[0.028487,-0.426010,0.904270]] 2025-10-28T21:37:45.112Z,1761687465.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:37:45.190Z,1761687465.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262596,0.867852,0.421753],[-0.964462,-0.249328,-0.087456],[0.029256,-0.429730,0.902483]] 2025-10-28T21:37:45.584Z,1761687465.584 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:37:45.584Z,1761687465.584 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:37:45.584Z,1761687465.584 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:37:45.584Z,1761687465.584 [marl:UpdateRudder:A] Stopped 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode] Stopped 2025-10-28T21:37:45.585Z,1761687465.585 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:37:45.947Z,1761687465.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289249,0.861787,0.416723],[-0.956796,-0.273740,-0.098019],[0.029602,-0.427071,0.903734]] 2025-10-28T21:37:45.998Z,1761687465.998 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:37:45.998Z,1761687465.998 [marl:UpdateRudder:B] Stopped 2025-10-28T21:37:45.998Z,1761687465.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:37:45.998Z,1761687465.998 [marl:UpdateRudder] Stopped 2025-10-28T21:37:45.998Z,1761687465.998 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:37:46.116Z,1761687466.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:37:46.369Z,1761687466.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346606,0.850559,0.395491],[-0.937548,-0.327377,-0.117592],[0.029456,-0.411550,0.910911]] 2025-10-28T21:37:47.190Z,1761687467.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410148,0.831572,0.374522],[-0.911538,-0.387116,-0.138709],[0.029637,-0.398282,0.916784]] 2025-10-28T21:37:47.571Z,1761687467.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441834,0.818626,0.366925],[-0.896588,-0.416729,-0.149887],[0.030207,-0.395206,0.918096]] 2025-10-28T21:37:47.973Z,1761687467.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472276,0.803365,0.362712],[-0.880903,-0.444673,-0.162098],[0.031064,-0.396069,0.917695]] 2025-10-28T21:37:48.374Z,1761687468.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499518,0.787720,0.360526],[-0.865719,-0.469180,-0.174356],[0.031807,-0.399208,0.916308]] 2025-10-28T21:37:48.780Z,1761687468.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523681,0.771753,0.360771],[-0.851293,-0.490229,-0.187018],[0.032528,-0.405060,0.913712]] 2025-10-28T21:37:49.195Z,1761687469.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545415,0.756747,0.360355],[-0.837516,-0.508983,-0.198754],[0.033008,-0.410206,0.911395]] 2025-10-28T21:37:49.584Z,1761687469.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565700,0.742180,0.359376],[-0.823927,-0.526471,-0.209695],[0.033570,-0.414725,0.909328]] 2025-10-28T21:37:49.986Z,1761687469.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584485,0.728866,0.356555],[-0.810708,-0.542785,-0.219404],[0.033617,-0.417300,0.908147]] 2025-10-28T21:37:50.391Z,1761687470.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601998,0.716112,0.353245],[-0.797804,-0.557857,-0.228702],[0.033284,-0.419498,0.907146]] 2025-10-28T21:37:50.797Z,1761687470.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619744,0.703124,0.348616],[-0.784079,-0.573824,-0.236531],[0.033734,-0.419932,0.906929]] 2025-10-28T21:37:51.201Z,1761687471.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637911,0.689871,0.342266],[-0.769352,-0.590596,-0.243503],[0.034156,-0.418657,0.907502]] 2025-10-28T21:37:51.602Z,1761687471.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656355,0.675695,0.335610],[-0.753652,-0.607705,-0.250407],[0.034753,-0.417289,0.908109]] 2025-10-28T21:37:52.006Z,1761687472.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675073,0.659262,0.331135],[-0.736887,-0.624264,-0.259408],[0.035698,-0.419128,0.907225]] 2025-10-28T21:37:52.412Z,1761687472.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693407,0.643299,0.324581],[-0.719606,-0.641263,-0.266362],[0.036792,-0.418268,0.907578]] 2025-10-28T21:37:52.816Z,1761687472.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711465,0.626599,0.318105],[-0.701701,-0.657860,-0.273562],[0.037855,-0.417845,0.907729]] 2025-10-28T21:37:53.219Z,1761687473.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729537,0.610112,0.309094],[-0.682822,-0.675559,-0.278162],[0.039101,-0.413985,0.909443]] 2025-10-28T21:37:53.622Z,1761687473.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747831,0.592439,0.299607],[-0.662664,-0.693514,-0.282690],[0.040305,-0.409943,0.911220]] 2025-10-28T21:37:54.027Z,1761687474.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766172,0.573331,0.290296],[-0.641340,-0.710835,-0.288785],[0.040783,-0.407438,0.912322]] 2025-10-28T21:37:54.434Z,1761687474.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784430,0.552761,0.281292],[-0.618858,-0.727592,-0.296015],[0.041040,-0.406283,0.912825]] 2025-10-28T21:37:54.846Z,1761687474.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802930,0.530765,0.271277],[-0.594650,-0.744677,-0.303062],[0.041158,-0.404652,0.913544]] 2025-10-28T21:37:55.239Z,1761687475.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821548,0.506772,0.261231],[-0.568651,-0.761417,-0.311256],[0.041170,-0.404261,0.913717]] 2025-10-28T21:37:55.643Z,1761687475.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839694,0.481576,0.250993],[-0.541491,-0.777579,-0.319624],[0.041244,-0.404297,0.913697]] 2025-10-28T21:37:56.048Z,1761687476.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857193,0.455535,0.240224],[-0.513334,-0.793215,-0.327565],[0.041332,-0.404102,0.913780]] 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed] Stopped 2025-10-28T21:37:56.075Z,1761687476.075 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:37:56.451Z,1761687476.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873794,0.428565,0.229817],[-0.484521,-0.807589,-0.336212],[0.041509,-0.405131,0.913316]] 2025-10-28T21:37:56.856Z,1761687476.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889170,0.401542,0.219408],[-0.455688,-0.820579,-0.344961],[0.041525,-0.406711,0.912613]] 2025-10-28T21:37:57.258Z,1761687477.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903035,0.374911,0.209689],[-0.427589,-0.831291,-0.355138],[0.041167,-0.410363,0.910993]] 2025-10-28T21:37:57.663Z,1761687477.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915415,0.349377,0.199877],[-0.400478,-0.840408,-0.365146],[0.040405,-0.414306,0.909240]] 2025-10-28T21:37:58.066Z,1761687478.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926063,0.326110,0.189895],[-0.375310,-0.848413,-0.373281],[0.039378,-0.416951,0.908075]] 2025-10-28T21:37:58.471Z,1761687478.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935438,0.304234,0.179992],[-0.351429,-0.855313,-0.380706],[0.038126,-0.419381,0.907009]] 2025-10-28T21:37:58.516Z,1761687478.516 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:37:58.516Z,1761687478.516 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:37:58.516Z,1761687478.516 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateRudder:A] Stopped 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:37:58.517Z,1761687478.517 [marl:UpdateCommandMode] Stopped 2025-10-28T21:37:58.518Z,1761687478.518 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:37:58.874Z,1761687478.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943409,0.284310,0.170725],[-0.329566,-0.861115,-0.387128],[0.036950,-0.421485,0.906082]] 2025-10-28T21:37:58.918Z,1761687478.918 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:37:58.918Z,1761687478.918 [marl:UpdateRudder:B] Stopped 2025-10-28T21:37:58.918Z,1761687478.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:37:58.918Z,1761687478.918 [marl:UpdateRudder] Stopped 2025-10-28T21:37:58.918Z,1761687478.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:37:59.279Z,1761687479.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950398,0.266156,0.160951],[-0.308981,-0.867288,-0.390310],[0.035708,-0.420680,0.906506]] 2025-10-28T21:37:59.684Z,1761687479.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956985,0.248049,0.150501],[-0.288081,-0.874012,-0.391295],[0.034479,-0.417820,0.907875]] 2025-10-28T21:38:00.089Z,1761687480.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963302,0.229120,0.139833],[-0.266287,-0.881269,-0.390455],[0.033769,-0.413362,0.909940]] 2025-10-28T21:38:00.492Z,1761687480.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969232,0.209195,0.129714],[-0.243851,-0.887856,-0.390189],[0.033542,-0.409815,0.911552]] 2025-10-28T21:38:00.895Z,1761687480.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974682,0.189028,0.119434],[-0.221081,-0.894626,-0.388288],[0.033451,-0.404862,0.913766]] 2025-10-28T21:38:01.299Z,1761687481.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979815,0.167215,0.109557],[-0.197072,-0.899934,-0.388949],[0.033556,-0.402689,0.914722]] 2025-10-28T21:38:01.702Z,1761687481.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984495,0.144064,0.100077],[-0.172063,-0.904087,-0.391179],[0.034124,-0.402333,0.914857]] 2025-10-28T21:38:02.111Z,1761687482.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988792,0.119204,0.089888],[-0.145176,-0.908176,-0.392607],[0.034834,-0.401257,0.915303]] 2025-10-28T21:38:02.514Z,1761687482.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992577,0.092423,0.079046],[-0.116304,-0.911365,-0.394825],[0.035549,-0.401088,0.915349]] 2025-10-28T21:38:02.915Z,1761687482.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995674,0.064057,0.067300],[-0.085676,-0.913243,-0.398305],[0.035948,-0.402348,0.914781]] 2025-10-28T21:38:03.326Z,1761687483.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997937,0.034093,0.054396],[-0.053096,-0.914606,-0.400845],[0.036085,-0.402906,0.914530]] 2025-10-28T21:38:03.723Z,1761687483.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999173,0.003168,0.040527],[-0.019281,-0.914620,-0.403854],[0.035788,-0.404302,0.913925]] 2025-10-28T21:38:04.135Z,1761687484.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999270,-0.028408,0.025523],[0.015496,-0.912456,-0.408880],[0.034905,-0.408187,0.912231]] 2025-10-28T21:38:04.532Z,1761687484.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998199,-0.059181,0.009831],[0.049909,-0.910132,-0.411301],[0.033288,-0.410070,0.911447]] 2025-10-28T21:38:04.934Z,1761687484.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995923,-0.090004,-0.005997],[0.084409,-0.906440,-0.413813],[0.031809,-0.412632,0.910342]] 2025-10-28T21:38:05.341Z,1761687485.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992435,-0.120762,-0.022110],[0.118976,-0.901621,-0.415841],[0.030283,-0.415326,0.909169]] 2025-10-28T21:38:05.743Z,1761687485.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987693,-0.151516,-0.038795],[0.153781,-0.895548,-0.417546],[0.028523,-0.418374,0.907827]] 2025-10-28T21:38:06.149Z,1761687486.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981942,-0.181034,-0.054920],[0.187294,-0.889369,-0.417066],[0.026659,-0.419821,0.907215]] 2025-10-28T21:38:06.551Z,1761687486.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975236,-0.209816,-0.069942],[0.219708,-0.882821,-0.415157],[0.025360,-0.420243,0.907057]] 2025-10-28T21:38:06.955Z,1761687486.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967793,-0.237308,-0.084034],[0.250565,-0.875676,-0.412806],[0.024376,-0.420567,0.906934]] 2025-10-28T21:38:07.359Z,1761687487.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959861,-0.262971,-0.097537],[0.279485,-0.867565,-0.411362],[0.023557,-0.422111,0.906238]] 2025-10-28T21:38:07.766Z,1761687487.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951144,-0.288341,-0.110386],[0.307906,-0.859456,-0.408080],[0.022795,-0.422131,0.906248]] 2025-10-28T21:38:08.166Z,1761687488.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941871,-0.312942,-0.122252],[0.335227,-0.851108,-0.404026],[0.022387,-0.421523,0.906541]] 2025-10-28T21:38:08.572Z,1761687488.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931710,-0.337647,-0.133831],[0.362554,-0.842602,-0.398216],[0.021690,-0.419543,0.907476]] 2025-10-28T21:38:08.975Z,1761687488.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920673,-0.362303,-0.145248],[0.389770,-0.833326,-0.391979],[0.020977,-0.417498,0.908436]] 2025-10-28T21:38:09.078Z,1761687489.078 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:38:09.078Z,1761687489.078 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:38:09.079Z,1761687489.079 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:38:09.079Z,1761687489.079 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:38:09.079Z,1761687489.079 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:38:09.079Z,1761687489.079 [marl:UpdateSpeed] Stopped 2025-10-28T21:38:09.079Z,1761687489.079 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:38:09.379Z,1761687489.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908759,-0.387187,-0.155705],[0.416834,-0.824104,-0.383538],[0.020184,-0.413447,0.910305]] 2025-10-28T21:38:09.789Z,1761687489.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895428,-0.413627,-0.164688],[0.444781,-0.814937,-0.371548],[0.019472,-0.405944,0.913690]] 2025-10-28T21:38:10.199Z,1761687490.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881759,-0.438264,-0.174431],[0.471329,-0.803933,-0.362685],[0.018721,-0.402015,0.915442]] 2025-10-28T21:38:10.224Z,1761687490.224 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:38:10.313Z,1761687490.313 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:38:10.313Z,1761687490.313 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:38:10.565Z,1761687490.565 [DAT](INFO): DAT read: user:318> 2025-10-28T21:38:10.566Z,1761687490.566 [DAT](INFO): DAT read: Tx time:21:38:10.3011 2025-10-28T21:38:10.566Z,1761687490.566 [DAT](INFO): Ping request sent. 2025-10-28T21:38:10.566Z,1761687490.566 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:38:10.566Z,1761687490.566 [DAT](INFO): publishing transmit ping time 2025-10-28T21:38:10.567Z,1761687490.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T21:38:10.591Z,1761687490.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866601,-0.464044,-0.183482],[0.498705,-0.792732,-0.350526],[0.017208,-0.395269,0.918404]] 2025-10-28T21:38:10.817Z,1761687490.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250977 2025-10-28T21:38:10.995Z,1761687490.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850312,-0.489482,-0.193332],[0.526060,-0.779947,-0.339033],[0.015162,-0.389988,0.920695]] 2025-10-28T21:38:11.069Z,1761687491.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502816 2025-10-28T21:38:11.321Z,1761687491.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889 2025-10-28T21:38:11.398Z,1761687491.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832985,-0.515105,-0.201997],[0.553142,-0.766685,-0.325926],[0.013018,-0.383225,0.923563]] 2025-10-28T21:38:11.573Z,1761687491.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006924 2025-10-28T21:38:11.811Z,1761687491.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815040,-0.538754,-0.213199],[0.579314,-0.751268,-0.316214],[0.010192,-0.381236,0.924422]] 2025-10-28T21:38:11.825Z,1761687491.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258974 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateRudder:A] Stopped 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:38:11.838Z,1761687491.838 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode] Stopped 2025-10-28T21:38:11.839Z,1761687491.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:38:12.077Z,1761687492.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-28T21:38:12.207Z,1761687492.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795754,-0.562524,-0.224370],[0.605575,-0.734571,-0.306079],[0.007361,-0.379437,0.925188]] 2025-10-28T21:38:12.264Z,1761687492.264 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:38:12.264Z,1761687492.264 [marl:UpdateRudder:B] Stopped 2025-10-28T21:38:12.264Z,1761687492.264 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:38:12.264Z,1761687492.264 [marl:UpdateRudder] Stopped 2025-10-28T21:38:12.264Z,1761687492.264 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:38:12.329Z,1761687492.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762932 2025-10-28T21:38:12.581Z,1761687492.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809 2025-10-28T21:38:12.611Z,1761687492.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775411,-0.584848,-0.238099],[0.631441,-0.715520,-0.298852],[0.004418,-0.382079,0.924119]] 2025-10-28T21:38:12.833Z,1761687492.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266871 2025-10-28T21:38:13.014Z,1761687493.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754880,-0.604067,-0.255458],[0.655861,-0.694411,-0.296040],[0.001435,-0.391020,0.920381]] 2025-10-28T21:38:13.085Z,1761687493.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519043 2025-10-28T21:38:13.337Z,1761687493.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770889 2025-10-28T21:38:13.421Z,1761687493.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733812,-0.622461,-0.272144],[0.679352,-0.673136,-0.292180],[-0.001319,-0.399286,0.916825]] 2025-10-28T21:38:13.589Z,1761687493.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022974 2025-10-28T21:38:13.823Z,1761687493.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711878,-0.639830,-0.289564],[0.702290,-0.650997,-0.288082],[-0.004181,-0.408438,0.912777]] 2025-10-28T21:38:13.841Z,1761687493.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274973 2025-10-28T21:38:14.093Z,1761687494.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526853 2025-10-28T21:38:14.226Z,1761687494.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689688,-0.656932,-0.304584],[0.724081,-0.629221,-0.282465],[-0.006090,-0.415356,0.909639]] 2025-10-28T21:38:14.345Z,1761687494.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778909 2025-10-28T21:38:14.597Z,1761687494.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030918 2025-10-28T21:38:14.635Z,1761687494.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666901,-0.673369,-0.319087],[0.745111,-0.606762,-0.276855],[-0.007184,-0.422390,0.906386]] 2025-10-28T21:38:14.849Z,1761687494.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282858 2025-10-28T21:38:15.101Z,1761687495.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535024 2025-10-28T21:38:15.353Z,1761687495.353 [DAT](INFO): DAT read: Rx Time:21:38:14.7151 2025-10-28T21:38:15.353Z,1761687495.353 [DAT](INFO): Rx dataTimestamp_ set to:1761687495.353169 2025-10-28T21:38:15.354Z,1761687495.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788012 2025-10-28T21:38:15.438Z,1761687495.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619516,-0.708397,-0.338192],[0.784947,-0.563205,-0.258181],[-0.007577,-0.425410,0.904969]] 2025-10-28T21:38:15.605Z,1761687495.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038915 2025-10-28T21:38:15.843Z,1761687495.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594963,-0.726216,-0.344427],[0.803719,-0.541474,-0.246659],[-0.007371,-0.423576,0.905831]] 2025-10-28T21:38:15.860Z,1761687495.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294090 2025-10-28T21:38:16.115Z,1761687496.115 [DAT](INFO): DAT read: 21:38:14.7151 LVL= 18752, 18161, 20706, 29011, AGC= 86, IDX= 127, 0.15,-2.621,-0.850,-1.488,-1.709, PHS=-0.810, 0.904, 0.177, RAW= 295.0, -3.7, CAL= 294.4, -8.3, ROT= 215.6, 8.3 2025-10-28T21:38:16.116Z,1761687496.116 [DAT](INFO): got valid direction response: 21:38:14.7151 LVL= 18752, 18161, 20706, 29011, AGC= 86, IDX= 127, 0.15,-2.621,-0.850,-1.488,-1.709, PHS=-0.810, 0.904, 0.177, RAW= 295.0, -3.7, CAL= 294.4, -8.3, ROT= 215.6, 8.3 2025-10-28T21:38:16.117Z,1761687496.117 [DAT](INFO): DAT read: Bearing 340, -12 (Remote) 2025-10-28T21:38:16.117Z,1761687496.117 [DAT](INFO): Remote Bearing received:Bearing 340, -12 (Remote) 2025-10-28T21:38:16.118Z,1761687496.118 [DAT](INFO): DAT read: Bearing 131.6, -27.0 (Local) 2025-10-28T21:38:16.118Z,1761687496.118 [DAT](INFO): Local bearing/azimuth received: Bearing 131.6, -27.0 (Local) 2025-10-28T21:38:16.120Z,1761687496.120 [DAT](INFO): DAT read: Range 11 to 20 : 1788.6 m (Round-trip 2384.8 ms) speed 0.0 m/s 2025-10-28T21:38:16.121Z,1761687496.121 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:38:16.121Z,1761687496.121 [DAT](INFO): direction in FSK: [-0.804584,-0.576026,-0.144356] 2025-10-28T21:38:16.122Z,1761687496.122 [DAT](INFO): publishing direction and range info 2025-10-28T21:38:16.251Z,1761687496.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570220,-0.744056,-0.348181],[0.821464,-0.519940,-0.234220],[-0.006760,-0.419575,0.907696]] 2025-10-28T21:38:16.252Z,1761687496.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:38:16.331Z,1761687496.331 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687552.00. Resetting abort timer. 2025-10-28T21:38:16.655Z,1761687496.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543962,-0.762486,-0.350313],[0.839084,-0.497546,-0.219969],[-0.006574,-0.413597,0.910436]] 2025-10-28T21:38:17.059Z,1761687497.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517016,-0.780351,-0.351778],[0.855950,-0.474539,-0.205335],[-0.006699,-0.407266,0.913285]] 2025-10-28T21:38:17.256Z,1761687497.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:38:17.463Z,1761687497.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489553,-0.798800,-0.349652],[0.871943,-0.451798,-0.188661],[-0.007269,-0.397236,0.917688]] 2025-10-28T21:38:17.867Z,1761687497.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461628,-0.817059,-0.345418],[0.887035,-0.428790,-0.171194],[-0.008237,-0.385426,0.922702]] 2025-10-28T21:38:18.291Z,1761687498.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433550,-0.832962,-0.343814],[0.901074,-0.404950,-0.155181],[-0.009968,-0.377081,0.926127]] 2025-10-28T21:38:18.674Z,1761687498.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404798,-0.846679,-0.345360],[0.914317,-0.380044,-0.139964],[-0.012747,-0.372426,0.927974]] 2025-10-28T21:38:19.484Z,1761687499.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347470,-0.867528,-0.355893],[0.937504,-0.328993,-0.113359],[-0.018744,-0.373040,0.927626]] 2025-10-28T21:38:19.890Z,1761687499.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319230,-0.875704,-0.362263],[0.947437,-0.303526,-0.101171],[-0.021360,-0.375518,0.926569]] 2025-10-28T21:38:20.297Z,1761687500.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290612,-0.882957,-0.368689],[0.956547,-0.277644,-0.089063],[-0.023725,-0.378551,0.925276]] 2025-10-28T21:38:20.695Z,1761687500.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261794,-0.888058,-0.377912],[0.964785,-0.251180,-0.078094],[-0.025572,-0.385048,0.922542]] 2025-10-28T21:38:21.098Z,1761687501.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233273,-0.892372,-0.386336],[0.972051,-0.224815,-0.067646],[-0.026488,-0.391319,0.919874]] 2025-10-28T21:38:21.504Z,1761687501.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204100,-0.897074,-0.391920],[0.978585,-0.197886,-0.056673],[-0.026715,-0.395094,0.918252]] 2025-10-28T21:38:21.908Z,1761687501.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174109,-0.900733,-0.397952],[0.984370,-0.170077,-0.045717],[-0.026503,-0.399691,0.916267]] 2025-10-28T21:38:21.938Z,1761687501.938 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed] Stopped 2025-10-28T21:38:21.939Z,1761687501.939 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:38:22.314Z,1761687502.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143265,-0.903213,-0.404575],[0.989333,-0.141595,-0.034225],[-0.026373,-0.405162,0.913864]] 2025-10-28T21:38:22.715Z,1761687502.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111880,-0.906386,-0.407367],[0.993378,-0.112795,-0.021855],[-0.026140,-0.407114,0.913003]] 2025-10-28T21:38:23.138Z,1761687503.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080049,-0.911081,-0.404381],[0.996452,-0.083723,-0.008621],[-0.026002,-0.403636,0.914550]] 2025-10-28T21:38:23.523Z,1761687503.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047630,-0.914423,-0.401948],[0.998515,-0.054242,0.005078],[-0.026446,-0.401110,0.915648]] 2025-10-28T21:38:23.926Z,1761687503.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014779,-0.916740,-0.399212],[0.999510,-0.024559,0.019394],[-0.027584,-0.398730,0.916654]] 2025-10-28T21:38:24.331Z,1761687504.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018496,-0.917838,-0.396524],[0.999399,0.005345,0.034246],[-0.029312,-0.396919,0.917386]] 2025-10-28T21:38:24.734Z,1761687504.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051038,-0.918796,-0.391420],[0.998207,0.034663,0.048792],[-0.031262,-0.393209,0.918918]] 2025-10-28T21:38:25.181Z,1761687505.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082733,-0.917546,-0.388928],[0.996010,0.063030,0.063174],[-0.033451,-0.392603,0.919100]] 2025-10-28T21:38:25.261Z,1761687505.261 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:38:25.262Z,1761687505.262 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:38:25.262Z,1761687505.262 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:38:25.262Z,1761687505.262 [marl:UpdateRudder:A] Stopped 2025-10-28T21:38:25.263Z,1761687505.263 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:38:25.263Z,1761687505.263 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:38:25.263Z,1761687505.263 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:38:25.263Z,1761687505.263 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:38:25.264Z,1761687505.264 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:38:25.268Z,1761687505.268 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:38:25.268Z,1761687505.268 [marl:UpdateCommandMode] Stopped 2025-10-28T21:38:25.268Z,1761687505.268 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:38:25.542Z,1761687505.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113856,-0.915283,-0.386386],[0.992857,0.090862,0.077328],[-0.035669,-0.392430,0.919090]] 2025-10-28T21:38:25.583Z,1761687505.583 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:38:25.583Z,1761687505.583 [marl:UpdateRudder:B] Stopped 2025-10-28T21:38:25.583Z,1761687505.583 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:38:25.583Z,1761687505.583 [marl:UpdateRudder] Stopped 2025-10-28T21:38:25.583Z,1761687505.583 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:38:25.948Z,1761687505.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144605,-0.910820,-0.386647],[0.988754,0.117948,0.091943],[-0.038139,-0.395594,0.917633]] 2025-10-28T21:38:26.351Z,1761687506.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173970,-0.906863,-0.383840],[0.983935,0.144213,0.105236],[-0.040080,-0.395982,0.917383]] 2025-10-28T21:38:26.762Z,1761687506.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201678,-0.902549,-0.380436],[0.978576,0.169255,0.117225],[-0.041411,-0.395927,0.917348]] 2025-10-28T21:38:27.189Z,1761687507.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229327,-0.896581,-0.378883],[0.972414,0.193978,0.129548],[-0.042655,-0.398140,0.916332]] 2025-10-28T21:38:27.589Z,1761687507.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256348,-0.890461,-0.375985],[0.965596,0.218327,0.141273],[-0.043710,-0.399265,0.915793]] 2025-10-28T21:38:27.968Z,1761687507.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283227,-0.882877,-0.374581],[0.958023,0.242355,0.153155],[-0.044435,-0.402235,0.914457]] 2025-10-28T21:38:28.374Z,1761687508.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309970,-0.875044,-0.371775],[0.949683,0.266480,0.164591],[-0.044954,-0.404087,0.913615]] 2025-10-28T21:38:28.784Z,1761687508.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336285,-0.866172,-0.369673],[0.940670,0.290056,0.176088],[-0.045297,-0.406957,0.912324]] 2025-10-28T21:38:29.194Z,1761687509.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362739,-0.856693,-0.366739],[0.930761,0.313695,0.187826],[-0.045865,-0.409478,0.911166]] 2025-10-28T21:38:29.583Z,1761687509.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388281,-0.847346,-0.362275],[0.920377,0.336812,0.198658],[-0.046314,-0.410564,0.910655]] 2025-10-28T21:38:29.987Z,1761687509.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412999,-0.837407,-0.358025],[0.909552,0.359252,0.208936],[-0.046343,-0.411932,0.910035]] 2025-10-28T21:38:30.398Z,1761687510.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436973,-0.827953,-0.351494],[0.898289,0.381638,0.217784],[-0.046171,-0.410909,0.910507]] 2025-10-28T21:38:30.797Z,1761687510.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460595,-0.817863,-0.344894],[0.886430,0.403802,0.226243],[-0.045767,-0.409931,0.910968]] 2025-10-28T21:38:31.199Z,1761687511.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483739,-0.806880,-0.339031],[0.874065,0.425557,0.234332],[-0.044801,-0.409691,0.911124]] 2025-10-28T21:38:31.608Z,1761687511.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507421,-0.795290,-0.331720],[0.860621,0.448490,0.241222],[-0.043068,-0.407886,0.912016]] 2025-10-28T21:38:32.015Z,1761687512.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556115,-0.766489,-0.321296],[0.830213,0.494419,0.257480],[-0.038501,-0.409932,0.911303]] 2025-10-28T21:38:32.417Z,1761687512.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581072,-0.750994,-0.313629],[0.813039,0.518427,0.264956],[-0.036387,-0.408951,0.911831]] 2025-10-28T21:38:32.820Z,1761687512.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606397,-0.734072,-0.305648],[0.794417,0.542652,0.272819],[-0.034409,-0.408249,0.912222]] 2025-10-28T21:38:33.223Z,1761687513.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632181,-0.715671,-0.296922],[0.774127,0.567191,0.281108],[-0.032769,-0.407566,0.912587]] 2025-10-28T21:38:33.624Z,1761687513.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657905,-0.697214,-0.284700],[0.752418,0.592434,0.287906],[-0.032066,-0.403628,0.914361]] 2025-10-28T21:38:34.030Z,1761687514.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683063,-0.677518,-0.272752],[0.729651,0.616582,0.295698],[-0.032167,-0.400994,0.915516]] 2025-10-28T21:38:34.430Z,1761687514.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707231,-0.657226,-0.260534],[0.706206,0.639470,0.303894],[-0.033123,-0.398914,0.916390]] 2025-10-28T21:38:34.834Z,1761687514.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730238,-0.636630,-0.247901],[0.682298,0.661014,0.312298],[-0.034952,-0.397194,0.917069]] 2025-10-28T21:38:35.245Z,1761687515.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751290,-0.616304,-0.236077],[0.658908,0.680148,0.321308],[-0.037457,-0.396949,0.917076]] 2025-10-28T21:38:35.309Z,1761687515.309 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:38:35.309Z,1761687515.309 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:38:35.310Z,1761687515.310 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:38:35.310Z,1761687515.310 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:38:35.310Z,1761687515.310 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:38:35.310Z,1761687515.310 [marl:UpdateSpeed] Stopped 2025-10-28T21:38:35.310Z,1761687515.310 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:38:35.644Z,1761687515.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770471,-0.596285,-0.225427],[0.636203,0.696925,0.330971],[-0.040247,-0.398421,0.916319]] 2025-10-28T21:38:36.048Z,1761687516.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788047,-0.576972,-0.214673],[0.614118,0.712485,0.339447],[-0.042901,-0.399335,0.915801]] 2025-10-28T21:38:36.451Z,1761687516.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804230,-0.557493,-0.205950],[0.592624,0.726112,0.348651],[-0.044828,-0.402447,0.914345]] 2025-10-28T21:38:36.854Z,1761687516.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820003,-0.536992,-0.198079],[0.570502,0.738978,0.358383],[-0.046073,-0.406879,0.912319]] 2025-10-28T21:38:37.264Z,1761687517.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835446,-0.515828,-0.189609],[0.547579,0.751945,0.367064],[-0.046766,-0.410488,0.910666]] 2025-10-28T21:38:37.663Z,1761687517.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850623,-0.493893,-0.180303],[0.523674,0.765221,0.374436],[-0.046959,-0.412924,0.909554]] 2025-10-28T21:38:38.067Z,1761687518.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865726,-0.470395,-0.171017],[0.498334,0.778187,0.382214],[-0.046708,-0.416116,0.908111]] 2025-10-28T21:38:38.471Z,1761687518.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880550,-0.446156,-0.159924],[0.471691,0.792026,0.387560],[-0.046248,-0.416700,0.907867]] 2025-10-28T21:38:38.495Z,1761687518.495 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:38:38.495Z,1761687518.495 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:38:38.495Z,1761687518.495 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:38:38.495Z,1761687518.495 [marl:UpdateRudder:A] Stopped 2025-10-28T21:38:38.496Z,1761687518.496 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:38:38.496Z,1761687518.496 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:38:38.496Z,1761687518.496 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:38:38.496Z,1761687518.496 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:38:38.496Z,1761687518.496 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:38:38.497Z,1761687518.497 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:38:38.497Z,1761687518.497 [marl:UpdateCommandMode] Stopped 2025-10-28T21:38:38.497Z,1761687518.497 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:38:38.877Z,1761687518.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894666,-0.421385,-0.148348],[0.444423,0.805789,0.391399],[-0.045392,-0.416101,0.908185]] 2025-10-28T21:38:38.900Z,1761687518.900 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:38:38.900Z,1761687518.900 [marl:UpdateRudder:B] Stopped 2025-10-28T21:38:38.900Z,1761687518.900 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:38:38.900Z,1761687518.900 [marl:UpdateRudder] Stopped 2025-10-28T21:38:38.900Z,1761687518.900 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:38:39.279Z,1761687519.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908049,-0.395875,-0.136860],[0.416531,0.818981,0.394679],[-0.044158,-0.415395,0.908569]] 2025-10-28T21:38:39.683Z,1761687519.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920031,-0.371183,-0.125565],[0.389530,0.831574,0.395917],[-0.042541,-0.413167,0.909661]] 2025-10-28T21:38:40.088Z,1761687520.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930796,-0.346792,-0.115560],[0.363208,0.841779,0.399360],[-0.041219,-0.413695,0.909482]] 2025-10-28T21:38:40.498Z,1761687520.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940270,-0.323413,-0.106284],[0.338077,0.850452,0.403034],[-0.039957,-0.414892,0.908993]] 2025-10-28T21:38:40.896Z,1761687520.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948741,-0.300595,-0.097636],[0.313659,0.857537,0.407735],[-0.038836,-0.417460,0.907865]] 2025-10-28T21:38:41.298Z,1761687521.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956242,-0.278585,-0.089393],[0.290138,0.863566,0.412399],[-0.037692,-0.420290,0.906607]] 2025-10-28T21:38:41.702Z,1761687521.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962993,-0.256956,-0.081355],[0.267102,0.869415,0.415660],[-0.036075,-0.422007,0.905874]] 2025-10-28T21:38:42.109Z,1761687522.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969202,-0.235106,-0.073296],[0.243900,0.875232,0.417710],[-0.034055,-0.422723,0.905619]] 2025-10-28T21:38:42.510Z,1761687522.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974920,-0.212680,-0.065559],[0.220247,0.879682,0.421486],[-0.031971,-0.425354,0.904462]] 2025-10-28T21:38:42.915Z,1761687522.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980264,-0.189207,-0.057293],[0.195450,0.884042,0.424581],[-0.029685,-0.427400,0.903575]] 2025-10-28T21:38:43.318Z,1761687523.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985289,-0.163883,-0.048463],[0.168740,0.887987,0.427792],[-0.027073,-0.429676,0.902577]] 2025-10-28T21:38:43.733Z,1761687523.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989848,-0.136776,-0.038633],[0.140034,0.892063,0.429668],[-0.024306,-0.430716,0.902160]] 2025-10-28T21:38:44.128Z,1761687524.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993772,-0.107962,-0.027582],[0.109294,0.896165,0.430049],[-0.021711,-0.430386,0.902384]] 2025-10-28T21:38:44.530Z,1761687524.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996820,-0.078211,-0.015261],[0.077202,0.900436,0.428083],[-0.019740,-0.427900,0.903610]] 2025-10-28T21:38:44.935Z,1761687524.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998855,-0.047774,-0.002367],[0.044288,0.905022,0.423052],[-0.018069,-0.422673,0.906102]] 2025-10-28T21:38:45.348Z,1761687525.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999811,-0.015990,0.011022],[0.009976,0.909793,0.414943],[-0.016663,-0.414754,0.909781]] 2025-10-28T21:38:45.747Z,1761687525.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999578,0.015815,0.024387],[-0.024360,0.913535,0.406029],[-0.015857,-0.406452,0.913535]] 2025-10-28T21:38:46.146Z,1761687526.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998105,0.048418,0.037979],[-0.059413,0.918965,0.389838],[-0.016026,-0.391356,0.920100]] 2025-10-28T21:38:46.551Z,1761687526.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995406,0.080737,0.051459],[-0.094213,0.921668,0.376366],[-0.017041,-0.379485,0.925041]] 2025-10-28T21:38:46.956Z,1761687526.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991559,0.112074,0.065201],[-0.128263,0.921447,0.366720],[-0.018980,-0.371987,0.928044]] 2025-10-28T21:38:47.358Z,1761687527.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986780,0.141585,0.078863],[-0.160657,0.918612,0.361028],[-0.021328,-0.368925,0.929214]] 2025-10-28T21:38:47.380Z,1761687527.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:38:47.766Z,1761687527.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981296,0.168813,0.092527],[-0.190922,0.914984,0.355463],[-0.024654,-0.366480,0.930099]] 2025-10-28T21:38:48.166Z,1761687528.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975348,0.193394,0.106274],[-0.218848,0.909501,0.353430],[-0.028305,-0.367975,0.929405]] 2025-10-28T21:38:48.384Z,1761687528.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:38:48.573Z,1761687528.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968846,0.215941,0.121274],[-0.245609,0.900696,0.358362],[-0.031845,-0.376984,0.925672]] 2025-10-28T21:38:48.596Z,1761687528.596 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:38:48.596Z,1761687528.596 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:38:48.597Z,1761687528.597 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:38:48.597Z,1761687528.597 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:38:48.597Z,1761687528.597 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:38:48.597Z,1761687528.597 [marl:UpdateSpeed] Stopped 2025-10-28T21:38:48.597Z,1761687528.597 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:38:48.974Z,1761687528.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961617,0.237016,0.138263],[-0.272082,0.888919,0.368502],[-0.035564,-0.391977,0.919287]] 2025-10-28T21:38:49.378Z,1761687529.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953797,0.257579,0.154673],[-0.297894,0.877755,0.375241],[-0.039111,-0.403980,0.913931]] 2025-10-28T21:38:49.789Z,1761687529.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945459,0.277524,0.170552],[-0.323014,0.866373,0.380867],[-0.042062,-0.415185,0.908764]] 2025-10-28T21:38:50.188Z,1761687530.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936411,0.298026,0.185241],[-0.348087,0.855682,0.382940],[-0.044381,-0.423070,0.905010]] 2025-10-28T21:38:50.591Z,1761687530.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926594,0.319632,0.198141],[-0.373219,0.846274,0.380169],[-0.046167,-0.426212,0.903445]] 2025-10-28T21:38:50.995Z,1761687530.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915813,0.341354,0.211572],[-0.398766,0.835437,0.378193],[-0.047658,-0.430722,0.901225]] 2025-10-28T21:38:51.407Z,1761687531.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903660,0.364640,0.224582],[-0.425457,0.824217,0.373701],[-0.048838,-0.433249,0.899950]] 2025-10-28T21:38:51.466Z,1761687531.466 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:38:51.466Z,1761687531.466 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:38:51.466Z,1761687531.466 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateRudder:A] Stopped 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode] Stopped 2025-10-28T21:38:51.467Z,1761687531.467 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:38:51.805Z,1761687531.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890412,0.389115,0.236127],[-0.452425,0.813395,0.365650],[-0.049785,-0.432409,0.900302]] 2025-10-28T21:38:51.834Z,1761687531.834 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:38:51.834Z,1761687531.834 [marl:UpdateRudder:B] Stopped 2025-10-28T21:38:51.834Z,1761687531.834 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:38:51.834Z,1761687531.834 [marl:UpdateRudder] Stopped 2025-10-28T21:38:51.834Z,1761687531.834 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:38:52.214Z,1761687532.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875990,0.414999,0.245800],[-0.479662,0.803057,0.353586],[-0.050653,-0.427638,0.902530]] 2025-10-28T21:38:52.610Z,1761687532.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860638,0.441338,0.254013],[-0.506598,0.792604,0.339320],[-0.051577,-0.420714,0.905726]] 2025-10-28T21:38:53.015Z,1761687533.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844239,0.467040,0.262933],[-0.533373,0.780310,0.326541],[-0.052662,-0.415920,0.907875]] 2025-10-28T21:38:53.425Z,1761687533.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826674,0.493437,0.270424],[-0.560140,0.767291,0.312262],[-0.053412,-0.409615,0.910694]] 2025-10-28T21:38:53.823Z,1761687533.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808450,0.518866,0.277826],[-0.586094,0.752927,0.299322],[-0.053874,-0.404819,0.912808]] 2025-10-28T21:38:54.230Z,1761687534.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789980,0.542721,0.285281],[-0.610733,0.737645,0.287897],[-0.054189,-0.401663,0.914183]] 2025-10-28T21:38:54.631Z,1761687534.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771797,0.564364,0.292956],[-0.633517,0.722065,0.277990],[-0.054646,-0.400144,0.914822]] 2025-10-28T21:38:55.034Z,1761687535.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754319,0.583805,0.300289],[-0.654167,0.706980,0.268783],[-0.055381,-0.399188,0.915195]] 2025-10-28T21:38:55.439Z,1761687535.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737055,0.601616,0.307910],[-0.673532,0.691441,0.261272],[-0.055716,-0.399959,0.914838]] 2025-10-28T21:38:55.843Z,1761687535.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719855,0.617153,0.317696],[-0.691836,0.675050,0.256261],[-0.056308,-0.404265,0.912907]] 2025-10-28T21:38:56.248Z,1761687536.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702443,0.631798,0.327728],[-0.709500,0.658085,0.252059],[-0.056423,-0.409580,0.910528]] 2025-10-28T21:38:56.650Z,1761687536.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684971,0.645067,0.338680],[-0.726346,0.640910,0.248305],[-0.056890,-0.416080,0.907546]] 2025-10-28T21:38:57.055Z,1761687537.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666839,0.658335,0.349172],[-0.742950,0.623723,0.242888],[-0.057885,-0.421384,0.905033]] 2025-10-28T21:38:57.459Z,1761687537.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647149,0.672674,0.358759],[-0.760078,0.605709,0.235366],[-0.058980,-0.425002,0.903269]] 2025-10-28T21:38:57.864Z,1761687537.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625159,0.688302,0.367990],[-0.778174,0.586022,0.225883],[-0.060175,-0.427573,0.901976]] 2025-10-28T21:38:58.267Z,1761687538.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600794,0.706245,0.374518],[-0.797027,0.565303,0.212556],[-0.061600,-0.426204,0.902528]] 2025-10-28T21:38:58.670Z,1761687538.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574605,0.724523,0.380651],[-0.815957,0.543271,0.197663],[-0.063585,-0.424173,0.903346]] 2025-10-28T21:38:59.079Z,1761687539.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546594,0.744403,0.383535],[-0.834783,0.520542,0.179369],[-0.066123,-0.418211,0.905940]] 2025-10-28T21:38:59.479Z,1761687539.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517459,0.764950,0.383520],[-0.852931,0.497154,0.159207],[-0.068883,-0.409499,0.909706]] 2025-10-28T21:38:59.882Z,1761687539.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487628,0.785920,0.380194],[-0.870131,0.473084,0.138073],[-0.071350,-0.398147,0.914543]] 2025-10-28T21:39:00.287Z,1761687540.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456612,0.807122,0.374244],[-0.886678,0.447301,0.117147],[-0.072848,-0.385325,0.919901]] 2025-10-28T21:39:00.702Z,1761687540.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425633,0.824745,0.372334],[-0.901934,0.419928,0.100875],[-0.073157,-0.378756,0.922601]] 2025-10-28T21:39:01.098Z,1761687541.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395408,0.840213,0.371073],[-0.915577,0.392787,0.086241],[-0.073292,-0.373846,0.924590]] 2025-10-28T21:39:01.499Z,1761687541.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367275,0.851600,0.374014],[-0.927175,0.367144,0.074510],[-0.073865,-0.374142,0.924425]] 2025-10-28T21:39:01.902Z,1761687541.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340405,0.858261,0.384075],[-0.937325,0.342091,0.066305],[-0.074481,-0.382573,0.920918]] 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed] Stopped 2025-10-28T21:39:01.926Z,1761687541.926 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:39:02.309Z,1761687542.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314245,0.860779,0.400387],[-0.946395,0.317250,0.060735],[-0.074744,-0.398010,0.914331]] 2025-10-28T21:39:02.715Z,1761687542.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288634,0.863058,0.414514],[-0.954514,0.293203,0.054171],[-0.074784,-0.411295,0.908429]] 2025-10-28T21:39:03.135Z,1761687543.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263065,0.863801,0.429704],[-0.961890,0.269265,0.047588],[-0.074598,-0.425847,0.901715]] 2025-10-28T21:39:03.518Z,1761687543.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237083,0.866215,0.439844],[-0.968659,0.245311,0.039016],[-0.074102,-0.435309,0.897226]] 2025-10-28T21:39:03.924Z,1761687543.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209955,0.869436,0.447214],[-0.974977,0.220367,0.029308],[-0.073070,-0.442177,0.893947]] 2025-10-28T21:39:04.326Z,1761687544.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182479,0.873423,0.451480],[-0.980582,0.195220,0.018663],[-0.071837,-0.446119,0.892086]] 2025-10-28T21:39:04.360Z,1761687544.360 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:39:04.360Z,1761687544.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:39:04.360Z,1761687544.360 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:39:04.360Z,1761687544.360 [marl:UpdateRudder:A] Stopped 2025-10-28T21:39:04.360Z,1761687544.360 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode] Stopped 2025-10-28T21:39:04.361Z,1761687544.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:39:04.730Z,1761687544.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154155,0.878695,0.451808],[-0.985558,0.169181,0.007238],[-0.070078,-0.446399,0.892086]] 2025-10-28T21:39:04.795Z,1761687544.795 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:39:04.795Z,1761687544.795 [marl:UpdateRudder:B] Stopped 2025-10-28T21:39:04.795Z,1761687544.795 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:39:04.795Z,1761687544.795 [marl:UpdateRudder] Stopped 2025-10-28T21:39:04.795Z,1761687544.795 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:39:05.191Z,1761687545.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125222,0.882698,0.452950],[-0.989782,0.142532,-0.004128],[-0.068204,-0.447805,0.891526]] 2025-10-28T21:39:05.540Z,1761687545.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096346,0.888719,0.448214],[-0.993114,0.115984,-0.016497],[-0.066647,-0.443539,0.893774]] 2025-10-28T21:39:05.943Z,1761687545.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068103,0.895207,0.440416],[-0.995517,0.090016,-0.029029],[-0.065631,-0.436464,0.897325]] 2025-10-28T21:39:06.346Z,1761687546.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039641,0.902389,0.429095],[-0.997113,0.063555,-0.041541],[-0.064758,-0.426210,0.902303]] 2025-10-28T21:39:06.751Z,1761687546.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010720,0.908633,0.417458],[-0.997858,0.036661,-0.054172],[-0.064527,-0.415984,0.907080]] 2025-10-28T21:39:07.193Z,1761687547.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017974,0.912599,0.408460],[-0.997707,0.010291,-0.066895],[-0.065252,-0.408726,0.910322]] 2025-10-28T21:39:07.558Z,1761687547.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047021,0.916038,0.398326],[-0.996670,-0.016428,-0.079873],[-0.066623,-0.400755,0.913760]] 2025-10-28T21:39:07.963Z,1761687547.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076629,0.919074,0.386563],[-0.994703,-0.043831,-0.092972],[-0.068504,-0.391640,0.917565]] 2025-10-28T21:39:08.367Z,1761687548.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106468,0.921627,0.373187],[-0.991797,-0.071734,-0.105798],[-0.070736,-0.381390,0.921704]] 2025-10-28T21:39:08.776Z,1761687548.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137722,0.921112,0.364122],[-0.987787,-0.100687,-0.118904],[-0.072862,-0.376051,0.923730]] 2025-10-28T21:39:09.209Z,1761687549.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169937,0.917800,0.358838],[-0.982617,-0.130198,-0.132337],[-0.074739,-0.375090,0.923971]] 2025-10-28T21:39:09.580Z,1761687549.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202751,0.913869,0.351762],[-0.976290,-0.160832,-0.144883],[-0.075829,-0.372796,0.924810]] 2025-10-28T21:39:09.982Z,1761687549.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235981,0.908228,0.345593],[-0.968763,-0.191972,-0.156990],[-0.076238,-0.371844,0.925159]] 2025-10-28T21:39:10.387Z,1761687550.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268762,0.898691,0.346586],[-0.960158,-0.221361,-0.170574],[-0.076573,-0.378621,0.922379]] 2025-10-28T21:39:10.427Z,1761687550.427 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:39:10.589Z,1761687550.589 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:39:10.590Z,1761687550.590 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:39:10.794Z,1761687550.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300077,0.885951,0.353616],[-0.950818,-0.247942,-0.185662],[-0.076811,-0.391937,0.916780]] 2025-10-28T21:39:10.841Z,1761687550.841 [DAT](INFO): DAT read: user:319> 2025-10-28T21:39:10.842Z,1761687550.842 [DAT](INFO): DAT read: Tx time:21:39:10.6008 2025-10-28T21:39:10.842Z,1761687550.842 [DAT](INFO): Ping request sent. 2025-10-28T21:39:10.842Z,1761687550.842 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:39:10.842Z,1761687550.842 [DAT](INFO): publishing transmit ping time 2025-10-28T21:39:10.843Z,1761687550.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948 2025-10-28T21:39:11.093Z,1761687551.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250944 2025-10-28T21:39:11.205Z,1761687551.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328790,0.873351,0.359382],[-0.941185,-0.271630,-0.200967],[-0.077896,-0.404321,0.911294]] 2025-10-28T21:39:11.345Z,1761687551.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502965 2025-10-28T21:39:11.597Z,1761687551.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754808 2025-10-28T21:39:11.601Z,1761687551.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355206,0.860506,0.365182],[-0.931406,-0.292596,-0.216496],[-0.079445,-0.417033,0.905412]] 2025-10-28T21:39:11.849Z,1761687551.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926 2025-10-28T21:39:12.003Z,1761687552.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380124,0.846857,0.371941],[-0.921350,-0.311311,-0.232809],[-0.081367,-0.431184,0.898588]] 2025-10-28T21:39:12.101Z,1761687552.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997 2025-10-28T21:39:12.353Z,1761687552.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910 2025-10-28T21:39:12.413Z,1761687552.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404272,0.833718,0.376136],[-0.910916,-0.329940,-0.247733],[-0.082437,-0.442780,0.892833]] 2025-10-28T21:39:12.605Z,1761687552.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763311 2025-10-28T21:39:12.811Z,1761687552.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428997,0.822604,0.373207],[-0.899468,-0.350967,-0.260343],[-0.083176,-0.447374,0.890471]] 2025-10-28T21:39:12.859Z,1761687552.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017487 2025-10-28T21:39:13.109Z,1761687553.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266959 2025-10-28T21:39:13.215Z,1761687553.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454150,0.811137,0.368515],[-0.887049,-0.373137,-0.271869],[-0.083016,-0.450361,0.888979]] 2025-10-28T21:39:13.361Z,1761687553.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518924 2025-10-28T21:39:13.613Z,1761687553.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771216 2025-10-28T21:39:13.620Z,1761687553.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479965,0.801527,0.356634],[-0.873451,-0.398620,-0.279616],[-0.081959,-0.445708,0.891419]] 2025-10-28T21:39:13.865Z,1761687553.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850 2025-10-28T21:39:14.025Z,1761687554.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506845,0.790740,0.343276],[-0.858309,-0.425920,-0.286179],[-0.080085,-0.439685,0.894574]] 2025-10-28T21:39:14.117Z,1761687554.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072 2025-10-28T21:39:14.369Z,1761687554.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526961 2025-10-28T21:39:14.427Z,1761687554.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532221,0.779792,0.329645],[-0.843023,-0.452363,-0.290997],[-0.077798,-0.432773,0.898140]] 2025-10-28T21:39:14.621Z,1761687554.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779336 2025-10-28T21:39:14.831Z,1761687554.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556434,0.769158,0.314288],[-0.827441,-0.478512,-0.293884],[-0.075653,-0.423582,0.902693]] 2025-10-28T21:39:14.873Z,1761687554.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031063 2025-10-28T21:39:15.128Z,1761687555.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285781 2025-10-28T21:39:15.238Z,1761687555.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579154,0.758231,0.299443],[-0.811898,-0.503360,-0.295719],[-0.073496,-0.414384,0.907130]] 2025-10-28T21:39:15.312Z,1761687555.312 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:39:15.312Z,1761687555.312 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:39:15.312Z,1761687555.312 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:39:15.312Z,1761687555.312 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:39:15.313Z,1761687555.313 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:39:15.313Z,1761687555.313 [marl:UpdateSpeed] Stopped 2025-10-28T21:39:15.313Z,1761687555.313 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:39:15.377Z,1761687555.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534858 2025-10-28T21:39:15.629Z,1761687555.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786991 2025-10-28T21:39:15.646Z,1761687555.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600725,0.746254,0.286764],[-0.796262,-0.526480,-0.297969],[-0.071385,-0.407337,0.910484]] 2025-10-28T21:39:15.881Z,1761687555.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039281 2025-10-28T21:39:16.075Z,1761687556.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640375,0.720748,0.265408],[-0.765098,-0.568280,-0.302792],[-0.067411,-0.396963,0.915356]] 2025-10-28T21:39:16.138Z,1761687556.138 [DAT](INFO): DAT read: 21:39:15.4027 LVL= 25328, 32753, 30898, 32755, AGC= 89, IDX= 309,-0.34,-0.648, 0.017,-1.809,-0.240, PHS=-0.307, 0.302,-1.613, RAW= 11.9, 18.6, CAL= 11.3, 22.7, ROT= 138.7, -22.7 2025-10-28T21:39:16.139Z,1761687556.139 [DAT](INFO): got valid direction response: 21:39:15.4027 LVL= 25328, 32753, 30898, 32755, AGC= 89, IDX= 309,-0.34,-0.648, 0.017,-1.809,-0.240, PHS=-0.307, 0.302,-1.613, RAW= 11.9, 18.6, CAL= 11.3, 22.7, ROT= 138.7, -22.7 2025-10-28T21:39:16.140Z,1761687556.140 [DAT](INFO): DAT read: Rx Time:21:39:15.4027 2025-10-28T21:39:16.141Z,1761687556.141 [DAT](INFO): Rx dataTimestamp_ set to:1761687556.140571 2025-10-28T21:39:16.142Z,1761687556.142 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-28T21:39:16.142Z,1761687556.142 [DAT](INFO): Received low SNR in chirp 2025-10-28T21:39:16.160Z,1761687556.160 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T21:39:16.161Z,1761687556.161 [DAT](INFO): direction in FSK: [-0.693070,0.608877,0.385906] 2025-10-28T21:39:16.505Z,1761687556.505 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687552.00. Resetting abort timer. 2025-10-28T21:39:16.851Z,1761687556.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659882,0.705881,0.257465],[-0.748503,-0.587667,-0.307230],[-0.065564,-0.395449,0.916145]] 2025-10-28T21:39:17.269Z,1761687557.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699875,0.673168,0.238788],[-0.711507,-0.627702,-0.315830],[-0.062719,-0.390941,0.918276]] 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateRudder:A] Stopped 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:39:17.335Z,1761687557.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:39:17.336Z,1761687557.336 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:39:17.340Z,1761687557.340 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:39:17.340Z,1761687557.340 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:39:17.340Z,1761687557.340 [marl:UpdateCommandMode] Stopped 2025-10-28T21:39:17.340Z,1761687557.340 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:39:17.675Z,1761687557.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721049,0.654272,0.228071],[-0.690153,-0.648987,-0.320165],[-0.061460,-0.388258,0.919499]] 2025-10-28T21:39:17.701Z,1761687557.701 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:39:17.701Z,1761687557.701 [marl:UpdateRudder:B] Stopped 2025-10-28T21:39:17.702Z,1761687557.702 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:39:17.702Z,1761687557.702 [marl:UpdateRudder] Stopped 2025-10-28T21:39:17.702Z,1761687557.702 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:39:18.067Z,1761687558.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742740,0.632990,0.218312],[-0.666846,-0.669856,-0.326511],[-0.060441,-0.388093,0.919636]] 2025-10-28T21:39:18.472Z,1761687558.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764389,0.610105,0.208521],[-0.641963,-0.690112,-0.334111],[-0.059940,-0.389253,0.919179]] 2025-10-28T21:39:18.508Z,1761687558.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:39:18.877Z,1761687558.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785635,0.585874,0.198821],[-0.615806,-0.709501,-0.342624],[-0.059671,-0.391613,0.918193]] 2025-10-28T21:39:19.274Z,1761687559.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806314,0.560346,0.189395],[-0.588494,-0.727815,-0.352081],[-0.059443,-0.395346,0.916607]] 2025-10-28T21:39:19.512Z,1761687559.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:39:19.683Z,1761687559.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826320,0.533298,0.181077],[-0.560087,-0.744354,-0.363649],[-0.059148,-0.401909,0.913767]] 2025-10-28T21:39:20.083Z,1761687560.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845729,0.504970,0.172476],[-0.530403,-0.760121,-0.375352],[-0.058439,-0.408928,0.910694]] 2025-10-28T21:39:20.495Z,1761687560.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863543,0.476557,0.164887],[-0.500983,-0.773443,-0.388333],[-0.057532,-0.417948,0.906648]] 2025-10-28T21:39:20.890Z,1761687560.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879466,0.448776,0.158553],[-0.472579,-0.783700,-0.403093],[-0.056640,-0.429435,0.901320]] 2025-10-28T21:39:20.921Z,1761687560.921 [DAT](INFO): Reached modem response timeout 2025-10-28T21:39:21.295Z,1761687561.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893431,0.422929,0.151365],[-0.445796,-0.793401,-0.414465],[-0.055196,-0.437774,0.897389]] 2025-10-28T21:39:21.699Z,1761687561.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905626,0.398529,0.144968],[-0.420688,-0.801144,-0.425663],[-0.053499,-0.446478,0.893194]] 2025-10-28T21:39:22.112Z,1761687562.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916601,0.375857,0.136290],[-0.396446,-0.810374,-0.431422],[-0.051707,-0.449473,0.891796]] 2025-10-28T21:39:22.507Z,1761687562.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926462,0.354726,0.125846],[-0.373078,-0.821222,-0.431748],[-0.049805,-0.446949,0.893172]] 2025-10-28T21:39:22.910Z,1761687562.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935674,0.334269,0.113039],[-0.349598,-0.834673,-0.425561],[-0.047901,-0.437705,0.897842]] 2025-10-28T21:39:23.189Z,1761687563.189 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:39:23.189Z,1761687563.189 [DAT](INFO): response not received 2025-10-28T21:39:23.189Z,1761687563.189 [DAT](ERROR): No response from remote modem. 2025-10-28T21:39:23.315Z,1761687563.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944241,0.313918,0.099322],[-0.326083,-0.849795,-0.414147],[-0.045605,-0.423442,0.904774]] 2025-10-28T21:39:23.721Z,1761687563.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952200,0.292806,0.087062],[-0.302397,-0.863158,-0.404370],[-0.043253,-0.411368,0.910442]] 2025-10-28T21:39:24.122Z,1761687564.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959575,0.271059,0.075783],[-0.278443,-0.874971,-0.396101],[-0.041059,-0.401190,0.915074]] 2025-10-28T21:39:24.530Z,1761687564.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966241,0.249480,0.064321],[-0.254595,-0.886333,-0.386774],[-0.039483,-0.390093,0.919929]] 2025-10-28T21:39:24.931Z,1761687564.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972303,0.227529,0.053450],[-0.230482,-0.895459,-0.380830],[-0.038787,-0.382602,0.923099]] 2025-10-28T21:39:25.338Z,1761687565.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978265,0.203103,0.041788],[-0.203699,-0.903601,-0.376845],[-0.038779,-0.377166,0.925333]] 2025-10-28T21:39:25.739Z,1761687565.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984130,0.175085,0.028882],[-0.172982,-0.910255,-0.376183],[-0.039575,-0.375209,0.926095]] 2025-10-28T21:39:26.150Z,1761687566.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989321,0.144949,0.015293],[-0.139852,-0.914471,-0.379715],[-0.041054,-0.377799,0.924977]] 2025-10-28T21:39:26.547Z,1761687566.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993520,0.113654,0.000917],[-0.105254,-0.916987,-0.384781],[-0.042891,-0.382384,0.923008]] 2025-10-28T21:39:26.952Z,1761687566.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996504,0.082268,-0.014535],[-0.070239,-0.919245,-0.387370],[-0.045230,-0.384995,0.921810]] 2025-10-28T21:39:27.355Z,1761687567.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998260,0.050421,-0.030575],[-0.034497,-0.919883,-0.390672],[-0.047824,-0.388937,0.920022]] 2025-10-28T21:39:27.761Z,1761687567.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998730,0.018293,-0.046943],[0.001646,-0.919410,-0.393298],[-0.050355,-0.392876,0.918212]] 2025-10-28T21:39:28.168Z,1761687568.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997894,-0.012939,-0.063562],[0.037389,-0.915475,-0.400633],[-0.053006,-0.402166,0.914031]] 2025-10-28T21:39:28.191Z,1761687568.191 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:39:28.191Z,1761687568.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:39:28.191Z,1761687568.191 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:39:28.208Z,1761687568.208 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:39:28.208Z,1761687568.208 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:39:28.208Z,1761687568.208 [marl:UpdateSpeed] Stopped 2025-10-28T21:39:28.208Z,1761687568.208 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:39:28.573Z,1761687568.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995762,-0.043716,-0.080909],[0.073211,-0.909260,-0.409739],[-0.055656,-0.413926,0.908607]] 2025-10-28T21:39:28.971Z,1761687568.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992466,-0.073949,-0.097685],[0.107997,-0.904535,-0.412495],[-0.057856,-0.419937,0.905707]] 2025-10-28T21:39:29.375Z,1761687569.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988300,-0.102761,-0.112713],[0.140688,-0.899606,-0.413420],[-0.058913,-0.424441,0.903537]] 2025-10-28T21:39:29.784Z,1761687569.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983875,-0.128883,-0.124014],[0.169141,-0.895879,-0.410843],[-0.058151,-0.425193,0.903233]] 2025-10-28T21:39:30.184Z,1761687570.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979000,-0.153879,-0.133720],[0.195949,-0.891261,-0.408972],[-0.056247,-0.426586,0.902696]] 2025-10-28T21:39:30.586Z,1761687570.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973811,-0.177953,-0.141508],[0.220983,-0.887187,-0.405050],[-0.053464,-0.425713,0.903277]] 2025-10-28T21:39:30.627Z,1761687570.627 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:39:30.627Z,1761687570.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:39:30.627Z,1761687570.627 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:39:30.628Z,1761687570.628 [marl:UpdateRudder:A] Stopped 2025-10-28T21:39:30.629Z,1761687570.629 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:39:30.629Z,1761687570.629 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:39:30.629Z,1761687570.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:39:30.629Z,1761687570.629 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:39:30.630Z,1761687570.630 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:39:30.630Z,1761687570.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:39:30.630Z,1761687570.630 [marl:UpdateCommandMode] Stopped 2025-10-28T21:39:30.630Z,1761687570.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:39:30.991Z,1761687570.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968175,-0.202742,-0.146741],[0.245276,-0.885225,-0.395241],[-0.049767,-0.418654,0.906781]] 2025-10-28T21:39:31.030Z,1761687571.030 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:39:31.030Z,1761687571.030 [marl:UpdateRudder:B] Stopped 2025-10-28T21:39:31.030Z,1761687571.030 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:39:31.030Z,1761687571.030 [marl:UpdateRudder] Stopped 2025-10-28T21:39:31.031Z,1761687571.031 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:39:31.395Z,1761687571.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961865,-0.228628,-0.150151],[0.269709,-0.884142,-0.381509],[-0.045532,-0.407457,0.912088]] 2025-10-28T21:39:31.801Z,1761687571.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954915,-0.253839,-0.153958],[0.294016,-0.880449,-0.371974],[-0.041131,-0.400470,0.915386]] 2025-10-28T21:39:32.203Z,1761687572.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947327,-0.278882,-0.157471],[0.318126,-0.876172,-0.362103],[-0.036987,-0.393125,0.918741]] 2025-10-28T21:39:32.643Z,1761687572.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938689,-0.304946,-0.160844],[0.343189,-0.871036,-0.351451],[-0.032928,-0.385103,0.922286]] 2025-10-28T21:39:33.011Z,1761687573.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929112,-0.330868,-0.165156],[0.368662,-0.863720,-0.343623],[-0.028954,-0.380151,0.924471]] 2025-10-28T21:39:33.419Z,1761687573.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918487,-0.356920,-0.170264],[0.394628,-0.855023,-0.336457],[-0.025491,-0.376223,0.926179]] 2025-10-28T21:39:33.819Z,1761687573.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906681,-0.382807,-0.177167],[0.421211,-0.844153,-0.331643],[-0.022600,-0.375319,0.926620]] 2025-10-28T21:39:34.222Z,1761687574.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893826,-0.408177,-0.185655],[0.447966,-0.831322,-0.328982],[-0.020056,-0.377220,0.925906]] 2025-10-28T21:39:34.633Z,1761687574.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879781,-0.432780,-0.196692],[0.475042,-0.815959,-0.329462],[-0.017908,-0.383291,0.923454]] 2025-10-28T21:39:35.032Z,1761687575.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865047,-0.456345,-0.208428],[0.501436,-0.799684,-0.330253],[-0.015967,-0.390198,0.920593]] 2025-10-28T21:39:35.435Z,1761687575.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848917,-0.481109,-0.218802],[0.528339,-0.783516,-0.327049],[-0.014089,-0.393239,0.919328]] 2025-10-28T21:39:35.839Z,1761687575.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831935,-0.504984,-0.229946],[0.554736,-0.766175,-0.324413],[-0.012356,-0.397449,0.917541]] 2025-10-28T21:39:36.242Z,1761687576.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813933,-0.528880,-0.240413],[0.580858,-0.748551,-0.319805],[-0.010823,-0.399946,0.916475]] 2025-10-28T21:39:36.653Z,1761687576.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794911,-0.552414,-0.250910],[0.606652,-0.730160,-0.314388],[-0.009532,-0.402126,0.915535]] 2025-10-28T21:39:37.051Z,1761687577.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775177,-0.575318,-0.260977],[0.631691,-0.711201,-0.308478],[-0.008134,-0.403982,0.914731]] 2025-10-28T21:39:37.455Z,1761687577.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754862,-0.597383,-0.270771],[0.655850,-0.691735,-0.302264],[-0.006734,-0.405753,0.913958]] 2025-10-28T21:39:37.858Z,1761687577.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733896,-0.618729,-0.280306],[0.679241,-0.671743,-0.295623],[-0.005383,-0.407352,0.913256]] 2025-10-28T21:39:38.265Z,1761687578.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712857,-0.638655,-0.289750],[0.701301,-0.651299,-0.289805],[-0.003628,-0.409791,0.912172]] 2025-10-28T21:39:38.666Z,1761687578.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691836,-0.657765,-0.297838],[0.722053,-0.631064,-0.283546],[-0.001448,-0.411222,0.911534]] 2025-10-28T21:39:39.071Z,1761687579.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670537,-0.676713,-0.304039],[0.741875,-0.611093,-0.276019],[0.000990,-0.410640,0.911797]] 2025-10-28T21:39:39.475Z,1761687579.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648531,-0.695041,-0.310364],[0.761181,-0.590392,-0.268403],[0.003314,-0.410311,0.911940]] 2025-10-28T21:39:39.880Z,1761687579.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625920,-0.713245,-0.315445],[0.779864,-0.569331,-0.260141],[0.005952,-0.408832,0.912590]] 2025-10-28T21:39:40.283Z,1761687580.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602821,-0.731061,-0.319620],[0.797827,-0.547832,-0.251699],[0.008909,-0.406731,0.913505]] 2025-10-28T21:39:40.687Z,1761687580.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577864,-0.749825,-0.322235],[0.816051,-0.525249,-0.241194],[0.011600,-0.402338,0.915418]] 2025-10-28T21:39:41.091Z,1761687581.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552141,-0.768373,-0.323641],[0.833630,-0.502176,-0.229955],[0.014166,-0.396765,0.917811]] 2025-10-28T21:39:41.181Z,1761687581.181 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:39:41.181Z,1761687581.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:39:41.181Z,1761687581.181 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:39:41.183Z,1761687581.183 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:39:41.183Z,1761687581.183 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:39:41.183Z,1761687581.183 [marl:UpdateSpeed] Stopped 2025-10-28T21:39:41.188Z,1761687581.188 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:39:41.495Z,1761687581.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524865,-0.786413,-0.325686],[0.851038,-0.477724,-0.217976],[0.015832,-0.391579,0.920008]] 2025-10-28T21:39:41.899Z,1761687581.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497015,-0.802914,-0.329098],[0.867577,-0.452406,-0.206492],[0.016909,-0.388148,0.921442]] 2025-10-28T21:39:42.302Z,1761687582.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468344,-0.818812,-0.331966],[0.883379,-0.426626,-0.193991],[0.017217,-0.384106,0.923128]] 2025-10-28T21:39:42.709Z,1761687582.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438893,-0.833021,-0.336822],[0.898390,-0.399983,-0.181411],[0.016396,-0.382217,0.923927]] 2025-10-28T21:39:43.139Z,1761687583.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409182,-0.846770,-0.339927],[0.912326,-0.373473,-0.167865],[0.015190,-0.378812,0.925349]] 2025-10-28T21:39:43.515Z,1761687583.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379673,-0.857721,-0.346645],[0.925024,-0.346540,-0.155696],[0.013417,-0.379769,0.924984]] 2025-10-28T21:39:43.918Z,1761687583.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350878,-0.866820,-0.354271],[0.936349,-0.320075,-0.144230],[0.011628,-0.382328,0.923953]] 2025-10-28T21:39:43.962Z,1761687583.962 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:39:43.962Z,1761687583.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:39:43.962Z,1761687583.962 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:39:43.962Z,1761687583.962 [marl:UpdateRudder:A] Stopped 2025-10-28T21:39:43.962Z,1761687583.962 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode] Stopped 2025-10-28T21:39:43.963Z,1761687583.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:39:44.323Z,1761687584.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322949,-0.873799,-0.363565],[0.946365,-0.294138,-0.133704],[0.009893,-0.387245,0.921924]] 2025-10-28T21:39:44.347Z,1761687584.347 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:39:44.347Z,1761687584.347 [marl:UpdateRudder:B] Stopped 2025-10-28T21:39:44.347Z,1761687584.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:39:44.347Z,1761687584.347 [marl:UpdateRudder] Stopped 2025-10-28T21:39:44.347Z,1761687584.347 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:39:44.726Z,1761687584.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295881,-0.879283,-0.373251],[0.955187,-0.268853,-0.123842],[0.008543,-0.393167,0.919427]] 2025-10-28T21:39:45.194Z,1761687585.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269462,-0.882978,-0.384369],[0.962983,-0.243995,-0.114590],[0.007397,-0.401018,0.916040]] 2025-10-28T21:39:45.534Z,1761687585.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243360,-0.885604,-0.395578],[0.969915,-0.219474,-0.105343],[0.006473,-0.409313,0.912371]] 2025-10-28T21:39:45.941Z,1761687585.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217126,-0.888030,-0.405288],[0.976123,-0.194834,-0.096039],[0.006322,-0.416463,0.909131]] 2025-10-28T21:39:46.342Z,1761687586.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190968,-0.890023,-0.413994],[0.981568,-0.169916,-0.087486],[0.007520,-0.423070,0.906066]] 2025-10-28T21:39:46.746Z,1761687586.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164192,-0.893188,-0.418635],[0.986380,-0.144476,-0.078616],[0.009736,-0.425842,0.904745]] 2025-10-28T21:39:47.188Z,1761687587.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137742,-0.896101,-0.421937],[0.990385,-0.119070,-0.070433],[0.012875,-0.427582,0.903885]] 2025-10-28T21:39:47.556Z,1761687587.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109837,-0.898155,-0.425739],[0.993819,-0.092294,-0.061690],[0.016114,-0.429883,0.902741]] 2025-10-28T21:39:47.959Z,1761687587.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080531,-0.900328,-0.427696],[0.996558,-0.064266,-0.052357],[0.019653,-0.430440,0.902405]] 2025-10-28T21:39:48.362Z,1761687588.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050546,-0.902340,-0.428050],[0.998442,-0.035509,-0.043045],[0.023642,-0.429559,0.902729]] 2025-10-28T21:39:48.771Z,1761687588.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019104,-0.903123,-0.428958],[0.999446,-0.005551,-0.032826],[0.027265,-0.429347,0.902728]] 2025-10-28T21:39:49.194Z,1761687589.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013031,-0.903263,-0.428890],[0.999440,0.024985,-0.022252],[0.030815,-0.428360,0.903083]] 2025-10-28T21:39:49.575Z,1761687589.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045926,-0.903370,-0.426396],[0.998374,0.055934,-0.010971],[0.033761,-0.425199,0.904470]] 2025-10-28T21:39:49.649Z,1761687589.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:39:49.978Z,1761687589.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079422,-0.902716,-0.422842],[0.996183,0.087289,0.000760],[0.036223,-0.421288,0.906203]] 2025-10-28T21:39:50.383Z,1761687590.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112765,-0.900943,-0.419029],[0.992871,0.118556,0.012288],[0.038607,-0.417428,0.907890]] 2025-10-28T21:39:50.652Z,1761687590.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:39:50.826Z,1761687590.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145106,-0.898310,-0.414708],[0.988562,0.149046,0.023045],[0.041109,-0.413308,0.909663]] 2025-10-28T21:39:51.200Z,1761687591.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176212,-0.893612,-0.412804],[0.983405,0.178204,0.034016],[0.043166,-0.411948,0.910185]] 2025-10-28T21:39:51.600Z,1761687591.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206195,-0.888968,-0.408925],[0.977479,0.206315,0.044369],[0.044924,-0.408864,0.911489]] 2025-10-28T21:39:51.999Z,1761687591.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234061,-0.883112,-0.406606],[0.971107,0.232390,0.054283],[0.046553,-0.407564,0.911989]] 2025-10-28T21:39:52.404Z,1761687592.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260813,-0.875597,-0.406579],[0.964168,0.257434,0.064093],[0.048548,-0.408726,0.911365]] 2025-10-28T21:39:52.807Z,1761687592.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286580,-0.868341,-0.404790],[0.956717,0.281710,0.073013],[0.050633,-0.408194,0.911490]] 2025-10-28T21:39:53.212Z,1761687593.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311940,-0.860311,-0.403186],[0.948613,0.305767,0.081491],[0.053174,-0.407887,0.911483]] 2025-10-28T21:39:53.620Z,1761687593.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338379,-0.848970,-0.405895],[0.939386,0.330085,0.092723],[0.055261,-0.412668,0.909204]] 2025-10-28T21:39:54.021Z,1761687594.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366214,-0.836320,-0.407990],[0.928782,0.355388,0.105186],[0.057026,-0.417454,0.906907]] 2025-10-28T21:39:54.044Z,1761687594.044 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:39:54.044Z,1761687594.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:39:54.044Z,1761687594.044 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:39:54.044Z,1761687594.044 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:39:54.044Z,1761687594.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:39:54.045Z,1761687594.045 [marl:UpdateSpeed] Stopped 2025-10-28T21:39:54.045Z,1761687594.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:39:54.422Z,1761687594.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393644,-0.821493,-0.412545],[0.917353,0.379961,0.118715],[0.059227,-0.425181,0.903168]] 2025-10-28T21:39:54.826Z,1761687594.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422786,-0.805951,-0.414360],[0.904150,0.406095,0.132661],[0.061351,-0.430731,0.900392]] 2025-10-28T21:39:55.232Z,1761687595.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452233,-0.789785,-0.414397],[0.889646,0.432455,0.146673],[0.063368,-0.434997,0.898199]] 2025-10-28T21:39:55.637Z,1761687595.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481111,-0.773807,-0.412013],[0.874212,0.458574,0.159570],[0.065462,-0.436958,0.897097]] 2025-10-28T21:39:56.038Z,1761687596.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510924,-0.759116,-0.403361],[0.857008,0.486402,0.170147],[0.067035,-0.432616,0.899083]] 2025-10-28T21:39:56.443Z,1761687596.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540731,-0.744108,-0.392318],[0.838430,0.514540,0.179680],[0.068161,-0.426089,0.902110]] 2025-10-28T21:39:56.847Z,1761687596.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570039,-0.728481,-0.379961],[0.818734,0.542359,0.188472],[0.068777,-0.418523,0.905598]] 2025-10-28T21:39:57.253Z,1761687597.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598267,-0.712456,-0.366719],[0.798305,0.569463,0.196014],[0.069181,-0.410022,0.909448]] 2025-10-28T21:39:57.325Z,1761687597.325 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:39:57.325Z,1761687597.325 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:39:57.325Z,1761687597.325 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateRudder:A] Stopped 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:39:57.326Z,1761687597.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:39:57.327Z,1761687597.327 [marl:UpdateCommandMode] Stopped 2025-10-28T21:39:57.327Z,1761687597.327 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:39:57.684Z,1761687597.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625601,-0.694600,-0.355182],[0.777076,0.595149,0.204821],[0.069117,-0.404140,0.912082]] 2025-10-28T21:39:57.733Z,1761687597.733 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:39:57.733Z,1761687597.733 [marl:UpdateRudder:B] Stopped 2025-10-28T21:39:57.733Z,1761687597.733 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:39:57.733Z,1761687597.733 [marl:UpdateRudder] Stopped 2025-10-28T21:39:57.733Z,1761687597.733 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:39:58.058Z,1761687598.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651803,-0.675419,-0.344909],[0.755246,0.619450,0.214209],[0.068973,-0.400113,0.913867]] 2025-10-28T21:39:58.463Z,1761687598.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676361,-0.654726,-0.337447],[0.733333,0.641473,0.225246],[0.068989,-0.399809,0.913999]] 2025-10-28T21:39:58.867Z,1761687598.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700108,-0.633365,-0.329693],[0.710725,0.662551,0.236426],[0.068695,-0.399845,0.914005]] 2025-10-28T21:39:59.270Z,1761687599.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722391,-0.612723,-0.320504],[0.688101,0.682773,0.245637],[0.068324,-0.397985,0.914844]] 2025-10-28T21:39:59.679Z,1761687599.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743639,-0.590487,-0.313572],[0.665159,0.700810,0.257736],[0.067564,-0.400238,0.913917]] 2025-10-28T21:40:00.084Z,1761687600.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763817,-0.566835,-0.308678],[0.641984,0.716597,0.272665],[0.066642,-0.406432,0.911247]] 2025-10-28T21:40:00.483Z,1761687600.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783379,-0.543009,-0.302422],[0.618037,0.732151,0.286331],[0.065938,-0.411213,0.909151]] 2025-10-28T21:40:00.887Z,1761687600.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802076,-0.518402,-0.296536],[0.593611,0.746530,0.300530],[0.065577,-0.417075,0.906503]] 2025-10-28T21:40:01.291Z,1761687601.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819884,-0.493939,-0.289508],[0.568789,0.760423,0.313424],[0.065336,-0.421641,0.904406]] 2025-10-28T21:40:01.695Z,1761687601.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837159,-0.468874,-0.281643],[0.543049,0.773978,0.325661],[0.065292,-0.425576,0.902564]] 2025-10-28T21:40:02.110Z,1761687602.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869446,-0.418960,-0.261796],[0.489646,0.801220,0.343938],[0.065660,-0.427223,0.901759]] 2025-10-28T21:40:02.510Z,1761687602.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884692,-0.393798,-0.249487],[0.461474,0.815618,0.349012],[0.066046,-0.423900,0.903298]] 2025-10-28T21:40:02.911Z,1761687602.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899162,-0.368352,-0.236273],[0.432537,0.830080,0.351964],[0.066479,-0.418670,0.905702]] 2025-10-28T21:40:03.315Z,1761687603.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913035,-0.342997,-0.220726],[0.402396,0.845917,0.350004],[0.066666,-0.408385,0.910372]] 2025-10-28T21:40:03.720Z,1761687603.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925935,-0.316685,-0.205803],[0.371760,0.860339,0.348729],[0.066623,-0.399410,0.914349]] 2025-10-28T21:40:04.123Z,1761687604.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938381,-0.288338,-0.190531],[0.339253,0.873706,0.348634],[0.065943,-0.391790,0.917688]] 2025-10-28T21:40:04.522Z,1761687604.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949896,-0.258973,-0.175019],[0.305809,0.885817,0.349013],[0.064650,-0.385048,0.920629]] 2025-10-28T21:40:04.927Z,1761687604.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960256,-0.229240,-0.159242],[0.272007,0.896532,0.349631],[0.062616,-0.379050,0.923255]] 2025-10-28T21:40:05.332Z,1761687605.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969352,-0.198905,-0.144201],[0.238189,0.904690,0.353274],[0.060190,-0.376794,0.924340]] 2025-10-28T21:40:05.740Z,1761687605.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977115,-0.168703,-0.129561],[0.204824,0.910549,0.359093],[0.057392,-0.377412,0.924265]] 2025-10-28T21:40:06.138Z,1761687606.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983662,-0.138185,-0.115387],[0.171400,0.914892,0.365506],[0.055059,-0.379312,0.923629]] 2025-10-28T21:40:06.542Z,1761687606.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988805,-0.109092,-0.101803],[0.139480,0.918157,0.370856],[0.053014,-0.380904,0.923094]] 2025-10-28T21:40:06.946Z,1761687606.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992900,-0.079411,-0.088563],[0.107492,0.917831,0.382140],[0.050939,-0.388947,0.919851]] 2025-10-28T21:40:07.353Z,1761687607.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995924,-0.049496,-0.075407],[0.075206,0.917221,0.391217],[0.049802,-0.395293,0.917204]] 2025-10-28T21:40:07.394Z,1761687607.394 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:40:07.394Z,1761687607.394 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:40:07.395Z,1761687607.395 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:40:07.395Z,1761687607.395 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:40:07.395Z,1761687607.395 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:40:07.395Z,1761687607.395 [marl:UpdateSpeed] Stopped 2025-10-28T21:40:07.395Z,1761687607.395 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:40:07.755Z,1761687607.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997832,-0.020442,-0.062551],[0.043798,0.915723,0.399416],[0.049114,-0.401289,0.914634]] 2025-10-28T21:40:08.158Z,1761687608.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998748,0.009787,-0.049057],[0.011008,0.913636,0.406384],[0.048798,-0.406416,0.912384]] 2025-10-28T21:40:08.571Z,1761687608.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,0.041211,-0.034776],[-0.023277,0.911163,0.411387],[0.048640,-0.409979,0.910797]] 2025-10-28T21:40:08.969Z,1761687608.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997193,0.072150,-0.019990],[-0.057422,0.908389,0.414164],[0.048040,-0.411854,0.909983]] 2025-10-28T21:40:09.370Z,1761687609.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994693,0.102763,-0.005081],[-0.091348,0.904773,0.415984],[0.047345,-0.413312,0.909358]] 2025-10-28T21:40:09.780Z,1761687609.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990957,0.133796,0.010106],[-0.125844,0.900636,0.415955],[0.046551,-0.413466,0.909329]] 2025-10-28T21:40:10.179Z,1761687610.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986134,0.164196,0.024061],[-0.159566,0.898350,0.409275],[0.045586,-0.407440,0.912094]] 2025-10-28T21:40:10.590Z,1761687610.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980385,0.193553,0.037183],[-0.192070,0.895931,0.400521],[0.044208,-0.399807,0.915533]] 2025-10-28T21:40:10.614Z,1761687610.614 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateRudder:A] Stopped 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:40:10.615Z,1761687610.615 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:40:10.616Z,1761687610.616 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:40:10.616Z,1761687610.616 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:40:10.616Z,1761687610.616 [marl:UpdateCommandMode] Stopped 2025-10-28T21:40:10.616Z,1761687610.616 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:40:10.617Z,1761687610.617 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:40:10.845Z,1761687610.845 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:40:10.845Z,1761687610.845 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:40:10.986Z,1761687610.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974043,0.220942,0.049249],[-0.222321,0.892797,0.391773],[0.042590,-0.392553,0.918743]] 2025-10-28T21:40:11.019Z,1761687611.019 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:40:11.020Z,1761687611.020 [marl:UpdateRudder:B] Stopped 2025-10-28T21:40:11.020Z,1761687611.020 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:40:11.020Z,1761687611.020 [marl:UpdateRudder] Stopped 2025-10-28T21:40:11.020Z,1761687611.020 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:40:11.097Z,1761687611.097 [DAT](INFO): DAT read: 2025-10-28T21:40:11.097Z,1761687611.097 [DAT](INFO): DAT read: Tx time:21:40:10.8506 2025-10-28T21:40:11.098Z,1761687611.098 [DAT](INFO): Ping request sent. 2025-10-28T21:40:11.098Z,1761687611.098 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:40:11.098Z,1761687611.098 [DAT](INFO): publishing transmit ping time 2025-10-28T21:40:11.099Z,1761687611.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T21:40:11.349Z,1761687611.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251023 2025-10-28T21:40:11.396Z,1761687611.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967105,0.246977,0.060910],[-0.251126,0.888821,0.383319],[0.040533,-0.386006,0.921605]] 2025-10-28T21:40:11.601Z,1761687611.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995 2025-10-28T21:40:11.799Z,1761687611.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959589,0.272091,0.071799],[-0.278746,0.884066,0.375137],[0.038596,-0.379991,0.924185]] 2025-10-28T21:40:11.853Z,1761687611.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755022 2025-10-28T21:40:12.106Z,1761687612.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007869 2025-10-28T21:40:12.199Z,1761687612.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951664,0.295381,0.084179],[-0.305008,0.876616,0.372176],[0.036141,-0.379862,0.924337]] 2025-10-28T21:40:12.357Z,1761687612.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967 2025-10-28T21:40:12.603Z,1761687612.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943167,0.317795,0.097168],[-0.330574,0.867294,0.372186],[0.034005,-0.383155,0.923058]] 2025-10-28T21:40:12.609Z,1761687612.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511146 2025-10-28T21:40:12.861Z,1761687612.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028 2025-10-28T21:40:13.007Z,1761687613.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933994,0.339918,0.110046],[-0.355836,0.857243,0.372177],[0.032173,-0.386770,0.921615]] 2025-10-28T21:40:13.113Z,1761687613.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015359 2025-10-28T21:40:13.365Z,1761687613.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266997 2025-10-28T21:40:13.411Z,1761687613.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923940,0.361719,0.124474],[-0.381319,0.844936,0.375073],[0.030498,-0.394009,0.918600]] 2025-10-28T21:40:13.617Z,1761687613.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519033 2025-10-28T21:40:13.814Z,1761687613.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913123,0.382897,0.139984],[-0.406647,0.830963,0.379657],[0.029048,-0.403598,0.914475]] 2025-10-28T21:40:13.869Z,1761687613.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771037 2025-10-28T21:40:14.122Z,1761687614.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023674 2025-10-28T21:40:14.218Z,1761687614.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901244,0.404462,0.155466],[-0.432393,0.816100,0.383428],[0.028207,-0.412785,0.910392]] 2025-10-28T21:40:14.373Z,1761687614.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275033 2025-10-28T21:40:14.625Z,1761687614.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527080 2025-10-28T21:40:14.626Z,1761687614.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888138,0.426825,0.170384],[-0.458723,0.800725,0.385244],[0.028001,-0.420309,0.906949]] 2025-10-28T21:40:14.877Z,1761687614.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778986 2025-10-28T21:40:15.026Z,1761687615.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874076,0.449420,0.184423],[-0.484984,0.785466,0.384490],[0.027940,-0.425516,0.904519]] 2025-10-28T21:40:15.132Z,1761687615.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033371 2025-10-28T21:40:15.381Z,1761687615.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282952 2025-10-28T21:40:15.431Z,1761687615.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858714,0.473451,0.196100],[-0.511684,0.771168,0.378787],[0.028111,-0.425611,0.904470]] 2025-10-28T21:40:15.633Z,1761687615.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534933 2025-10-28T21:40:15.834Z,1761687615.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842811,0.497747,0.204737],[-0.537468,0.758417,0.368690],[0.028238,-0.420776,0.906725]] 2025-10-28T21:40:15.885Z,1761687615.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787036 2025-10-28T21:40:16.137Z,1761687616.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038957 2025-10-28T21:40:16.239Z,1761687616.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826049,0.522859,0.210384],[-0.562898,0.746777,0.354218],[0.028096,-0.411026,0.911191]] 2025-10-28T21:40:16.389Z,1761687616.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291005 2025-10-28T21:40:16.641Z,1761687616.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543112 2025-10-28T21:40:16.649Z,1761687616.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808278,0.548454,0.214206],[-0.588136,0.734769,0.337949],[0.027958,-0.399139,0.916464]] 2025-10-28T21:40:16.893Z,1761687616.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794960 2025-10-28T21:40:17.054Z,1761687617.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789981,0.573229,0.217575],[-0.612514,0.721901,0.322002],[0.027514,-0.387643,0.921399]] 2025-10-28T21:40:17.148Z,1761687617.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049126 2025-10-28T21:40:17.397Z,1761687617.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299151 2025-10-28T21:40:17.458Z,1761687617.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770509,0.597444,0.222210],[-0.636854,0.706719,0.308163],[0.027070,-0.378957,0.925018]] 2025-10-28T21:40:17.650Z,1761687617.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551696 2025-10-28T21:40:17.854Z,1761687617.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751108,0.619597,0.227893],[-0.659659,0.690684,0.296320],[0.026197,-0.372900,0.927502]] 2025-10-28T21:40:17.901Z,1761687617.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803319 2025-10-28T21:40:18.153Z,1761687618.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055023 2025-10-28T21:40:18.258Z,1761687618.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730876,0.640927,0.234593],[-0.682050,0.673251,0.285554],[0.025079,-0.368708,0.929207]] 2025-10-28T21:40:18.405Z,1761687618.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306982 2025-10-28T21:40:18.657Z,1761687618.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559520 2025-10-28T21:40:18.667Z,1761687618.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709890,0.661668,0.241353],[-0.703902,0.654809,0.275222],[0.024065,-0.365266,0.930592]] 2025-10-28T21:40:18.909Z,1761687618.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811035 2025-10-28T21:40:19.071Z,1761687619.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688413,0.680138,0.251993],[-0.724958,0.634252,0.268626],[0.022875,-0.367610,0.929699]] 2025-10-28T21:40:19.164Z,1761687619.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065206 2025-10-28T21:40:19.413Z,1761687619.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314993 2025-10-28T21:40:19.471Z,1761687619.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666473,0.696788,0.265142],[-0.745222,0.612446,0.263731],[0.021379,-0.373359,0.927440]] 2025-10-28T21:40:19.665Z,1761687619.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567031 2025-10-28T21:40:19.874Z,1761687619.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644009,0.712086,0.279619],[-0.764754,0.589641,0.259757],[0.020094,-0.381126,0.924305]] 2025-10-28T21:40:19.917Z,1761687619.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819055 2025-10-28T21:40:20.169Z,1761687620.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070982 2025-10-28T21:40:20.281Z,1761687620.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620864,0.726818,0.293706],[-0.783686,0.566354,0.255106],[0.019074,-0.388559,0.921226]] 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed] Stopped 2025-10-28T21:40:20.330Z,1761687620.330 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:40:20.421Z,1761687620.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323060 2025-10-28T21:40:20.675Z,1761687620.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577494 2025-10-28T21:40:20.686Z,1761687620.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597213,0.740316,0.308657],[-0.801875,0.542313,0.250785],[0.018272,-0.397276,0.917517]] 2025-10-28T21:40:20.773Z,1761687620.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:40:20.929Z,1761687620.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831025 2025-10-28T21:40:21.086Z,1761687621.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573152,0.753362,0.322401],[-0.819252,0.518184,0.245581],[0.017948,-0.404883,0.914192]] 2025-10-28T21:40:21.183Z,1761687621.183 [DAT](INFO): Reached modem response timeout 2025-10-28T21:40:21.491Z,1761687621.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548256,0.766144,0.335319],[-0.836108,0.493299,0.239958],[0.018430,-0.411921,0.911033]] 2025-10-28T21:40:21.776Z,1761687621.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:40:21.895Z,1761687621.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523266,0.778462,0.346683],[-0.851955,0.468766,0.233305],[0.019106,-0.417439,0.908504]] 2025-10-28T21:40:22.303Z,1761687622.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498719,0.790860,0.354711],[-0.866540,0.445646,0.224739],[0.019661,-0.419453,0.907564]] 2025-10-28T21:40:22.709Z,1761687622.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473902,0.803498,0.360289],[-0.880343,0.422867,0.214895],[0.020313,-0.419017,0.907751]] 2025-10-28T21:40:23.111Z,1761687623.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448298,0.815901,0.365150],[-0.893644,0.399606,0.204246],[0.020728,-0.417877,0.908267]] 2025-10-28T21:40:23.449Z,1761687623.449 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:40:23.449Z,1761687623.449 [DAT](INFO): response not received 2025-10-28T21:40:23.449Z,1761687623.449 [DAT](ERROR): No response from remote modem. 2025-10-28T21:40:23.519Z,1761687623.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421841,0.827906,0.369624],[-0.906436,0.375836,0.192668],[0.020593,-0.416316,0.908987]] 2025-10-28T21:40:23.915Z,1761687623.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394628,0.839354,0.373836],[-0.918634,0.351767,0.179921],[0.019514,-0.414420,0.909877]] 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateRudder:A] Stopped 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:40:23.956Z,1761687623.956 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode] Stopped 2025-10-28T21:40:23.957Z,1761687623.957 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:40:24.321Z,1761687624.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365863,0.850552,0.377764],[-0.930492,0.326389,0.166300],[0.018149,-0.412349,0.910845]] 2025-10-28T21:40:24.374Z,1761687624.374 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:40:24.375Z,1761687624.375 [marl:UpdateRudder:B] Stopped 2025-10-28T21:40:24.375Z,1761687624.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:40:24.375Z,1761687624.375 [marl:UpdateRudder] Stopped 2025-10-28T21:40:24.375Z,1761687624.375 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:40:24.724Z,1761687624.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335759,0.863299,0.376803],[-0.941801,0.300602,0.150501],[0.016659,-0.405405,0.913985]] 2025-10-28T21:40:25.158Z,1761687625.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304526,0.877075,0.371489],[-0.952384,0.274191,0.133353],[0.015101,-0.394410,0.918811]] 2025-10-28T21:40:25.543Z,1761687625.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273888,0.888268,0.368735],[-0.961672,0.247699,0.117611],[0.013134,-0.386814,0.922064]] 2025-10-28T21:40:25.935Z,1761687625.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243642,0.896301,0.370518],[-0.969801,0.220757,0.103693],[0.011146,-0.384593,0.923019]] 2025-10-28T21:40:26.341Z,1761687626.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213350,0.904084,0.370290],[-0.976926,0.193598,0.090195],[0.009856,-0.380989,0.924527]] 2025-10-28T21:40:26.745Z,1761687626.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185232,0.910004,0.370919],[-0.982660,0.168351,0.077699],[0.008262,-0.378880,0.925409]] 2025-10-28T21:40:27.184Z,1761687627.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158386,0.912712,0.376658],[-0.987353,0.143721,0.066923],[0.006948,-0.382494,0.923932]] 2025-10-28T21:40:27.553Z,1761687627.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132600,0.913100,0.385571],[-0.991151,0.119781,0.057199],[0.006045,-0.389744,0.920904]] 2025-10-28T21:40:27.954Z,1761687627.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107628,0.911188,0.397683],[-0.994176,0.096408,0.048166],[0.005548,-0.400551,0.916258]] 2025-10-28T21:40:28.369Z,1761687628.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082685,0.907694,0.411405],[-0.996561,0.073054,0.039109],[0.005444,-0.413224,0.910613]] 2025-10-28T21:40:28.767Z,1761687628.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058491,0.903646,0.424268],[-0.998275,0.050746,0.029541],[0.005165,-0.425264,0.905055]] 2025-10-28T21:40:29.192Z,1761687629.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034326,0.900666,0.433154],[-0.999401,0.029026,0.018845],[0.004400,-0.433542,0.901123]] 2025-10-28T21:40:29.571Z,1761687629.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009966,0.899365,0.437086],[-0.999946,0.007646,0.007067],[0.003014,-0.437133,0.899392]] 2025-10-28T21:40:29.976Z,1761687629.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015959,0.898844,0.437978],[-0.999871,-0.015004,-0.005640],[0.001502,-0.438012,0.898968]] 2025-10-28T21:40:30.379Z,1761687630.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044393,0.899619,0.434413],[-0.999014,-0.040149,-0.018945],[0.000398,-0.434826,0.900514]] 2025-10-28T21:40:30.790Z,1761687630.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074443,0.902374,0.424475],[-0.997225,-0.066991,-0.032475],[-0.000869,-0.425715,0.904857]] 2025-10-28T21:40:31.195Z,1761687631.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106798,0.907353,0.406577],[-0.994278,-0.096599,-0.045595],[-0.002096,-0.409120,0.912478]] 2025-10-28T21:40:31.593Z,1761687631.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139842,0.910448,0.389268],[-0.990167,-0.127112,-0.058413],[-0.003702,-0.393609,0.919271]] 2025-10-28T21:40:31.994Z,1761687631.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173718,0.913310,0.368357],[-0.984778,-0.158885,-0.070481],[-0.005845,-0.374994,0.927009]] 2025-10-28T21:40:32.399Z,1761687632.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207601,0.912726,0.351899],[-0.978176,-0.190561,-0.082809],[-0.008524,-0.361410,0.932368]] 2025-10-28T21:40:32.807Z,1761687632.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242070,0.908743,0.339983],[-0.970192,-0.222598,-0.095800],[-0.011378,-0.353039,0.935540]] 2025-10-28T21:40:33.208Z,1761687633.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277112,0.901191,0.333262],[-0.960732,-0.254726,-0.110043],[-0.014280,-0.350670,0.936390]] 2025-10-28T21:40:33.610Z,1761687633.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312213,0.890227,0.331690],[-0.949856,-0.286191,-0.125966],[-0.017211,-0.354386,0.934941]] 2025-10-28T21:40:33.646Z,1761687633.646 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:40:33.646Z,1761687633.646 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:40:33.646Z,1761687633.646 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:40:33.646Z,1761687633.646 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:40:33.646Z,1761687633.646 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:40:33.647Z,1761687633.647 [marl:UpdateSpeed] Stopped 2025-10-28T21:40:33.647Z,1761687633.647 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:40:34.022Z,1761687634.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346493,0.876937,0.333052],[-0.937841,-0.316311,-0.142832],[-0.019906,-0.361841,0.932027]] 2025-10-28T21:40:34.420Z,1761687634.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379622,0.861688,0.336722],[-0.924865,-0.344571,-0.160924],[-0.022641,-0.372512,0.927751]] 2025-10-28T21:40:34.827Z,1761687634.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410978,0.844662,0.342991],[-0.911291,-0.370146,-0.180390],[-0.025412,-0.386701,0.921855]] 2025-10-28T21:40:35.227Z,1761687635.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440671,0.826967,0.349191],[-0.897225,-0.393533,-0.200298],[-0.028222,-0.401568,0.915394]] 2025-10-28T21:40:35.631Z,1761687635.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469029,0.808677,0.355040],[-0.882647,-0.415195,-0.220337],[-0.030770,-0.416719,0.908514]] 2025-10-28T21:40:36.036Z,1761687636.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496327,0.791909,0.355725],[-0.867517,-0.436958,-0.237658],[-0.032767,-0.426554,0.903869]] 2025-10-28T21:40:36.445Z,1761687636.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523088,0.775473,0.353581],[-0.851586,-0.458837,-0.253516],[-0.034359,-0.433716,0.900394]] 2025-10-28T21:40:36.843Z,1761687636.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548903,0.758832,0.350541],[-0.835115,-0.479837,-0.268960],[-0.035893,-0.440376,0.897096]] 2025-10-28T21:40:37.247Z,1761687637.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573696,0.743757,0.343072],[-0.818218,-0.501331,-0.281401],[-0.037301,-0.442147,0.896167]] 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateRudder:A] Stopped 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:40:37.313Z,1761687637.313 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:40:37.314Z,1761687637.314 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:40:37.314Z,1761687637.314 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:40:37.314Z,1761687637.314 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:40:37.314Z,1761687637.314 [marl:UpdateCommandMode] Stopped 2025-10-28T21:40:37.314Z,1761687637.314 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:40:37.653Z,1761687637.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597931,0.730473,0.329981],[-0.800634,-0.524647,-0.289361],[-0.038246,-0.437212,0.898545]] 2025-10-28T21:40:37.720Z,1761687637.720 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:40:37.720Z,1761687637.720 [marl:UpdateRudder:B] Stopped 2025-10-28T21:40:37.721Z,1761687637.721 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:40:37.721Z,1761687637.721 [marl:UpdateRudder] Stopped 2025-10-28T21:40:37.721Z,1761687637.721 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:40:38.054Z,1761687638.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620925,0.719012,0.312207],[-0.782896,-0.548989,-0.292719],[-0.039070,-0.426183,0.903793]] 2025-10-28T21:40:38.458Z,1761687638.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642840,0.708312,0.291636],[-0.764928,-0.573456,-0.293314],[-0.040518,-0.411635,0.910448]] 2025-10-28T21:40:38.868Z,1761687638.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663897,0.695721,0.274250],[-0.746629,-0.595925,-0.295666],[-0.042269,-0.401055,0.915078]] 2025-10-28T21:40:39.267Z,1761687639.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684154,0.681756,0.259117],[-0.728006,-0.616895,-0.299077],[-0.044049,-0.393254,0.918374]] 2025-10-28T21:40:39.670Z,1761687639.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703999,0.666674,0.244807],[-0.708716,-0.637192,-0.302833],[-0.045902,-0.386693,0.921066]] 2025-10-28T21:40:40.075Z,1761687640.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723486,0.650851,0.230133],[-0.688672,-0.657297,-0.306093],[-0.047955,-0.379940,0.923767]] 2025-10-28T21:40:40.487Z,1761687640.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742965,0.633673,0.215550],[-0.667445,-0.677251,-0.309594],[-0.050200,-0.373885,0.926115]] 2025-10-28T21:40:40.882Z,1761687640.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762329,0.614454,0.203226],[-0.645067,-0.695988,-0.315420],[-0.052368,-0.371548,0.926936]] 2025-10-28T21:40:41.287Z,1761687641.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782148,0.594065,0.187965],[-0.620697,-0.716419,-0.318558],[-0.054583,-0.365829,0.929080]] 2025-10-28T21:40:41.691Z,1761687641.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801785,0.571130,0.175932],[-0.594895,-0.734720,-0.326016],[-0.056936,-0.366056,0.928850]] 2025-10-28T21:40:42.098Z,1761687642.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821379,0.546260,0.164125],[-0.567284,-0.752410,-0.334766],[-0.059380,-0.368075,0.927898]] 2025-10-28T21:40:42.516Z,1761687642.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840443,0.520190,0.151849],[-0.538387,-0.769689,-0.343101],[-0.061601,-0.370110,0.926943]] 2025-10-28T21:40:42.902Z,1761687642.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859138,0.492254,0.139886],[-0.507753,-0.785894,-0.352927],[-0.063794,-0.374240,0.925135]] 2025-10-28T21:40:43.306Z,1761687643.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876501,0.463651,0.129516],[-0.476818,-0.799114,-0.366144],[-0.066265,-0.382681,0.921501]] 2025-10-28T21:40:43.711Z,1761687643.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892866,0.434317,0.118995],[-0.445104,-0.811038,-0.379604],[-0.068359,-0.391900,0.917465]] 2025-10-28T21:40:44.116Z,1761687644.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907925,0.404811,0.108631],[-0.413144,-0.820710,-0.394648],[-0.070603,-0.403191,0.912388]] 2025-10-28T21:40:44.520Z,1761687644.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921598,0.375641,0.097725],[-0.381345,-0.829362,-0.408331],[-0.072336,-0.413585,0.907588]] 2025-10-28T21:40:44.923Z,1761687644.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933747,0.347567,0.085518],[-0.350245,-0.837972,-0.418488],[-0.073791,-0.420714,0.904187]] 2025-10-28T21:40:45.327Z,1761687645.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944311,0.321003,0.072342],[-0.320338,-0.846541,-0.425149],[-0.075234,-0.424646,0.902228]] 2025-10-28T21:40:45.732Z,1761687645.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953419,0.295809,0.059072],[-0.291841,-0.855020,-0.428683],[-0.076300,-0.425954,0.901522]] 2025-10-28T21:40:46.137Z,1761687646.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961686,0.270657,0.043640],[-0.263185,-0.866866,-0.423412],[-0.076769,-0.418675,0.904886]] 2025-10-28T21:40:46.539Z,1761687646.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968886,0.245886,0.028291],[-0.235117,-0.878633,-0.415601],[-0.077334,-0.409321,0.909107]] 2025-10-28T21:40:46.943Z,1761687646.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975176,0.221032,0.013289],[-0.207263,-0.890010,-0.406109],[-0.077936,-0.398782,0.913728]] 2025-10-28T21:40:47.014Z,1761687647.014 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:40:47.014Z,1761687647.014 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:40:47.014Z,1761687647.014 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:40:47.015Z,1761687647.015 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:40:47.015Z,1761687647.015 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:40:47.015Z,1761687647.015 [marl:UpdateSpeed] Stopped 2025-10-28T21:40:47.015Z,1761687647.015 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:40:47.348Z,1761687647.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980790,0.195061,-0.001734],[-0.178392,-0.900503,-0.396574],[-0.078917,-0.388646,0.918001]] 2025-10-28T21:40:47.760Z,1761687647.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989566,0.141166,-0.028845],[-0.119244,-0.914768,-0.385981],[-0.080874,-0.378514,0.922056]] 2025-10-28T21:40:48.167Z,1761687648.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992792,0.112145,-0.042289],[-0.087861,-0.920963,-0.379616],[-0.081519,-0.373164,0.924177]] 2025-10-28T21:40:48.564Z,1761687648.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995041,0.082361,-0.055765],[-0.055612,-0.925511,-0.374614],[-0.082465,-0.369655,0.925502]] 2025-10-28T21:40:48.972Z,1761687648.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996245,0.051362,-0.069697],[-0.022041,-0.928959,-0.369526],[-0.083725,-0.366602,0.926603]] 2025-10-28T21:40:49.371Z,1761687649.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996322,0.019309,-0.083481],[0.012658,-0.930419,-0.366280],[-0.084745,-0.365989,0.926752]] 2025-10-28T21:40:49.783Z,1761687649.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995171,-0.011719,-0.097452],[0.047148,-0.927877,-0.369894],[-0.086089,-0.372702,0.923949]] 2025-10-28T21:40:50.176Z,1761687650.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992885,-0.041815,-0.111489],[0.080811,-0.924301,-0.373012],[-0.087452,-0.379368,0.921104]] 2025-10-28T21:40:50.578Z,1761687650.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989524,-0.070431,-0.126025],[0.113485,-0.919060,-0.377425],[-0.089242,-0.387773,0.917425]] 2025-10-28T21:40:50.602Z,1761687650.602 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:40:50.602Z,1761687650.602 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:40:50.602Z,1761687650.602 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:40:50.602Z,1761687650.602 [marl:UpdateRudder:A] Stopped 2025-10-28T21:40:50.602Z,1761687650.602 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode] Stopped 2025-10-28T21:40:50.603Z,1761687650.603 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:40:50.993Z,1761687650.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985215,-0.098482,-0.140191],[0.145194,-0.914315,-0.378083],[-0.090944,-0.392848,0.915096]] 2025-10-28T21:40:51.017Z,1761687651.017 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:40:51.017Z,1761687651.017 [marl:UpdateRudder:B] Stopped 2025-10-28T21:40:51.017Z,1761687651.017 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:40:51.017Z,1761687651.017 [marl:UpdateRudder] Stopped 2025-10-28T21:40:51.017Z,1761687651.017 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:40:51.386Z,1761687651.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980159,-0.125177,-0.153686],[0.175449,-0.908681,-0.378835],[-0.092230,-0.398283,0.912614]] 2025-10-28T21:40:51.794Z,1761687651.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974285,-0.152513,-0.165857],[0.205200,-0.904628,-0.373553],[-0.093068,-0.397981,0.912661]] 2025-10-28T21:40:51.896Z,1761687651.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:40:52.197Z,1761687652.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967749,-0.179154,-0.177103],[0.233827,-0.900403,-0.366877],[-0.093737,-0.396457,0.913255]] 2025-10-28T21:40:52.606Z,1761687652.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960708,-0.204499,-0.187669],[0.261158,-0.894983,-0.361665],[-0.094000,-0.396466,0.913224]] 2025-10-28T21:40:52.904Z,1761687652.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:40:53.002Z,1761687653.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952935,-0.230543,-0.196887],[0.288453,-0.889362,-0.354725],[-0.093325,-0.394823,0.914005]] 2025-10-28T21:40:53.407Z,1761687653.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944437,-0.255854,-0.206341],[0.315414,-0.882078,-0.349932],[-0.092478,-0.395571,0.913768]] 2025-10-28T21:40:53.811Z,1761687653.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935005,-0.282431,-0.214474],[0.342700,-0.875156,-0.341554],[-0.091233,-0.392855,0.915064]] 2025-10-28T21:40:54.215Z,1761687654.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924336,-0.310126,-0.222317],[0.370772,-0.867650,-0.331227],[-0.090171,-0.388594,0.916986]] 2025-10-28T21:40:54.619Z,1761687654.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911961,-0.339674,-0.230106],[0.400487,-0.858798,-0.319493],[-0.089091,-0.383519,0.919226]] 2025-10-28T21:40:55.023Z,1761687655.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898430,-0.366891,-0.241276],[0.430083,-0.846092,-0.314892],[-0.088611,-0.386677,0.917948]] 2025-10-28T21:40:55.429Z,1761687655.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883848,-0.393581,-0.252798],[0.459264,-0.832751,-0.309197],[-0.088824,-0.389384,0.916783]] 2025-10-28T21:40:55.831Z,1761687655.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867915,-0.419970,-0.265233],[0.488585,-0.818013,-0.303545],[-0.089484,-0.393040,0.915157]] 2025-10-28T21:40:56.234Z,1761687656.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851231,-0.445295,-0.277700],[0.516994,-0.802431,-0.298030],[-0.090124,-0.397262,0.913269]] 2025-10-28T21:40:56.638Z,1761687656.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833847,-0.469730,-0.289920],[0.544460,-0.786382,-0.291834],[-0.090905,-0.401195,0.911471]] 2025-10-28T21:40:57.044Z,1761687657.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815912,-0.493141,-0.301826],[0.570860,-0.769887,-0.285293],[-0.091682,-0.405074,0.909675]] 2025-10-28T21:40:57.449Z,1761687657.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797902,-0.514402,-0.314234],[0.595640,-0.752868,-0.280003],[-0.092543,-0.410585,0.907114]] 2025-10-28T21:40:57.850Z,1761687657.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779474,-0.536903,-0.322732],[0.619478,-0.737214,-0.269745],[-0.093096,-0.410184,0.907239]] 2025-10-28T21:40:58.257Z,1761687658.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760420,-0.558944,-0.330672],[0.642638,-0.721079,-0.258964],[-0.093694,-0.409424,0.907521]] 2025-10-28T21:40:58.659Z,1761687658.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741282,-0.580848,-0.336328],[0.664596,-0.705284,-0.246754],[-0.093880,-0.406436,0.908843]] 2025-10-28T21:40:59.063Z,1761687659.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721205,-0.603180,-0.340641],[0.686313,-0.688905,-0.233204],[-0.094005,-0.401974,0.910813]] 2025-10-28T21:40:59.474Z,1761687659.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700457,-0.624264,-0.345912],[0.707474,-0.671198,-0.221300],[-0.094026,-0.399735,0.911795]] 2025-10-28T21:40:59.872Z,1761687659.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678554,-0.645382,-0.350779],[0.728429,-0.652740,-0.208140],[-0.094638,-0.396752,0.913034]] 2025-10-28T21:40:59.895Z,1761687659.895 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:40:59.895Z,1761687659.895 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:40:59.895Z,1761687659.895 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:40:59.896Z,1761687659.896 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:40:59.896Z,1761687659.896 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:40:59.896Z,1761687659.896 [marl:UpdateSpeed] Stopped 2025-10-28T21:40:59.896Z,1761687659.896 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:41:00.275Z,1761687660.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655852,-0.666641,-0.354187],[0.748907,-0.633545,-0.194318],[-0.094853,-0.392697,0.914763]] 2025-10-28T21:41:00.679Z,1761687660.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631985,-0.685600,-0.361315],[0.769076,-0.612281,-0.183397],[-0.095489,-0.393783,0.914230]] 2025-10-28T21:41:01.083Z,1761687661.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608052,-0.703254,-0.368383],[0.788106,-0.590644,-0.173289],[-0.095717,-0.395693,0.913381]] 2025-10-28T21:41:01.489Z,1761687661.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582926,-0.721531,-0.373618],[0.806851,-0.568276,-0.161411],[-0.095855,-0.395545,0.913431]] 2025-10-28T21:41:01.891Z,1761687661.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557356,-0.737256,-0.381848],[0.824719,-0.544713,-0.152074],[-0.095880,-0.399676,0.911628]] 2025-10-28T21:41:02.294Z,1761687662.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531130,-0.752779,-0.388877],[0.841844,-0.520808,-0.141625],[-0.095918,-0.402595,0.910339]] 2025-10-28T21:41:02.722Z,1761687662.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504272,-0.768026,-0.394773],[0.858197,-0.496516,-0.130269],[-0.095961,-0.404484,0.909497]] 2025-10-28T21:41:03.108Z,1761687663.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478236,-0.780923,-0.401808],[0.873014,-0.472519,-0.120720],[-0.095589,-0.408517,0.907732]] 2025-10-28T21:41:03.507Z,1761687663.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452619,-0.793820,-0.406184],[0.886602,-0.449290,-0.109894],[-0.095258,-0.409864,0.907159]] 2025-10-28T21:41:03.556Z,1761687663.556 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:41:03.556Z,1761687663.556 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:41:03.556Z,1761687663.556 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:41:03.556Z,1761687663.556 [marl:UpdateRudder:A] Stopped 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode] Stopped 2025-10-28T21:41:03.557Z,1761687663.557 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:41:03.910Z,1761687663.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426658,-0.806649,-0.409000],[0.899416,-0.425908,-0.098252],[-0.094942,-0.409781,0.907230]] 2025-10-28T21:41:03.967Z,1761687663.967 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:41:03.967Z,1761687663.967 [marl:UpdateRudder:B] Stopped 2025-10-28T21:41:03.967Z,1761687663.967 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:41:03.967Z,1761687663.967 [marl:UpdateRudder] Stopped 2025-10-28T21:41:03.967Z,1761687663.967 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:41:04.315Z,1761687664.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400881,-0.818243,-0.412035],[0.911231,-0.402583,-0.087092],[-0.094616,-0.410373,0.906996]] 2025-10-28T21:41:04.720Z,1761687664.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375417,-0.830536,-0.411428],[0.922041,-0.379843,-0.074562],[-0.094352,-0.407345,0.908387]] 2025-10-28T21:41:05.145Z,1761687665.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349878,-0.844078,-0.406346],[0.932074,-0.357153,-0.060656],[-0.093929,-0.399967,0.911704]] 2025-10-28T21:41:05.527Z,1761687665.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324524,-0.855032,-0.404480],[0.941250,-0.334168,-0.048789],[-0.093448,-0.396550,0.913244]] 2025-10-28T21:41:05.940Z,1761687665.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299056,-0.865649,-0.401519],[0.949713,-0.310924,-0.037026],[-0.092791,-0.392401,0.915102]] 2025-10-28T21:41:06.336Z,1761687666.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273431,-0.875843,-0.397661],[0.957511,-0.287247,-0.025725],[-0.091696,-0.387799,0.917172]] 2025-10-28T21:41:06.739Z,1761687666.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247155,-0.883747,-0.397373],[0.964764,-0.262630,-0.015974],[-0.090245,-0.387319,0.917518]] 2025-10-28T21:41:07.187Z,1761687667.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219903,-0.890183,-0.399019],[0.971498,-0.236952,-0.006777],[-0.088516,-0.389137,0.916918]] 2025-10-28T21:41:07.547Z,1761687667.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191798,-0.896052,-0.400380],[0.977633,-0.210307,0.002343],[-0.086302,-0.390975,0.916346]] 2025-10-28T21:41:07.968Z,1761687667.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162833,-0.899161,-0.406196],[0.983103,-0.182756,0.010452],[-0.083633,-0.397630,0.913726]] 2025-10-28T21:41:08.354Z,1761687668.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132852,-0.902554,-0.409569],[0.987827,-0.154315,0.019638],[-0.080927,-0.401974,0.912068]] 2025-10-28T21:41:08.762Z,1761687668.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101443,-0.904595,-0.414025],[0.991741,-0.124784,0.029643],[-0.078479,-0.407599,0.909782]] 2025-10-28T21:41:09.193Z,1761687669.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070001,-0.905259,-0.419054],[0.994668,-0.095234,0.039574],[-0.075733,-0.414050,0.907098]] 2025-10-28T21:41:09.566Z,1761687669.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037860,-0.906493,-0.420519],[0.996603,-0.065055,0.050510],[-0.073143,-0.417178,0.905877]] 2025-10-28T21:41:09.971Z,1761687669.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005859,-0.910483,-0.413504],[0.997488,-0.034515,0.061865],[-0.070599,-0.412103,0.908398]] 2025-10-28T21:41:10.375Z,1761687670.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025823,-0.915373,-0.401779],[0.997325,-0.003905,0.072996],[-0.068388,-0.402589,0.912823]] 2025-10-28T21:41:10.786Z,1761687670.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057985,-0.919425,-0.388966],[0.996071,0.027162,0.084285],[-0.066929,-0.392325,0.917388]] 2025-10-28T21:41:10.811Z,1761687670.811 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:41:10.837Z,1761687670.837 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:41:10.837Z,1761687670.837 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:41:11.089Z,1761687671.089 [DAT](INFO): DAT read: user:321> 2025-10-28T21:41:11.090Z,1761687671.090 [DAT](INFO): DAT read: Tx time:21:41:10.8504 2025-10-28T21:41:11.090Z,1761687671.090 [DAT](INFO): Ping request sent. 2025-10-28T21:41:11.090Z,1761687671.090 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:41:11.090Z,1761687671.090 [DAT](INFO): publishing transmit ping time 2025-10-28T21:41:11.091Z,1761687671.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000941 2025-10-28T21:41:11.213Z,1761687671.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090928,-0.921209,-0.378295],[0.993650,0.058646,0.096025],[-0.066273,-0.384624,0.920691]] 2025-10-28T21:41:11.341Z,1761687671.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250865 2025-10-28T21:41:11.587Z,1761687671.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124133,-0.921406,-0.368241],[0.990039,0.090162,0.108139],[-0.066439,-0.377997,0.923420]] 2025-10-28T21:41:11.593Z,1761687671.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923 2025-10-28T21:41:11.845Z,1761687671.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852 2025-10-28T21:41:11.999Z,1761687671.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157433,-0.918910,-0.361690],[0.985219,0.121110,0.121144],[-0.067516,-0.375416,0.924394]] 2025-10-28T21:41:12.101Z,1761687672.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010682 2025-10-28T21:41:12.349Z,1761687672.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258777 2025-10-28T21:41:12.395Z,1761687672.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190908,-0.913983,-0.358036],[0.979165,0.151596,0.135111],[-0.069212,-0.376370,0.923881]] 2025-10-28T21:41:12.601Z,1761687672.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510905 2025-10-28T21:41:12.800Z,1761687672.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223849,-0.907873,-0.354484],[0.972016,0.181372,0.149294],[-0.071246,-0.377983,0.923067]] 2025-10-28T21:41:12.837Z,1761687672.837 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:41:12.837Z,1761687672.837 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:41:12.837Z,1761687672.837 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:41:12.838Z,1761687672.838 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:41:12.838Z,1761687672.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:41:12.838Z,1761687672.838 [marl:UpdateSpeed] Stopped 2025-10-28T21:41:12.838Z,1761687672.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:41:12.853Z,1761687672.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763116 2025-10-28T21:41:13.106Z,1761687673.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016390 2025-10-28T21:41:13.202Z,1761687673.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255681,-0.900243,-0.352405],[0.963993,0.209843,0.163348],[-0.073104,-0.381481,0.921482]] 2025-10-28T21:41:13.357Z,1761687673.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266875 2025-10-28T21:41:13.607Z,1761687673.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286604,-0.891051,-0.351974],[0.955142,0.237152,0.177378],[-0.074582,-0.387022,0.919049]] 2025-10-28T21:41:13.609Z,1761687673.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519063 2025-10-28T21:41:13.861Z,1761687673.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 2025-10-28T21:41:14.010Z,1761687674.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315825,-0.880048,-0.354641],[0.945809,0.262266,0.191471],[-0.075493,-0.395894,0.915188]] 2025-10-28T21:41:14.113Z,1761687674.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023213 2025-10-28T21:41:14.365Z,1761687674.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794 2025-10-28T21:41:14.418Z,1761687674.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344141,-0.868627,-0.356447],[0.935842,0.286629,0.205046],[-0.075940,-0.404142,0.911538]] 2025-10-28T21:41:14.617Z,1761687674.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526977 2025-10-28T21:41:14.818Z,1761687674.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371524,-0.856705,-0.357808],[0.925340,0.310302,0.217851],[-0.075605,-0.412031,0.908028]] 2025-10-28T21:41:14.869Z,1761687674.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778981 2025-10-28T21:41:15.124Z,1761687675.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033018 2025-10-28T21:41:15.223Z,1761687675.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397819,-0.844743,-0.357980],[0.914465,0.333564,0.229106],[-0.074126,-0.418503,0.905185]] 2025-10-28T21:41:15.373Z,1761687675.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282798 2025-10-28T21:41:15.625Z,1761687675.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534865 2025-10-28T21:41:15.635Z,1761687675.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423340,-0.833007,-0.356204],[0.903143,0.356990,0.238520],[-0.071527,-0.422678,0.903453]] 2025-10-28T21:41:15.877Z,1761687675.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786776 2025-10-28T21:41:16.030Z,1761687676.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447968,-0.821123,-0.353668],[0.891469,0.380209,0.246421],[-0.067874,-0.425673,0.902328]] 2025-10-28T21:41:16.129Z,1761687676.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039144 2025-10-28T21:41:16.381Z,1761687676.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290846 2025-10-28T21:41:16.442Z,1761687676.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472862,-0.808847,-0.349526],[0.878807,0.404093,0.253786],[-0.064033,-0.427171,0.901900]] 2025-10-28T21:41:16.633Z,1761687676.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542819 2025-10-28T21:41:16.840Z,1761687676.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497445,-0.797238,-0.341995],[0.865433,0.428899,0.258984],[-0.059790,-0.424803,0.903309]] 2025-10-28T21:41:16.863Z,1761687676.863 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:41:16.863Z,1761687676.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:41:16.863Z,1761687676.863 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateRudder:A] Stopped 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:41:16.864Z,1761687676.864 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:41:16.865Z,1761687676.865 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:41:16.865Z,1761687676.865 [marl:UpdateCommandMode] Stopped 2025-10-28T21:41:16.865Z,1761687676.865 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:41:16.885Z,1761687676.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795026 2025-10-28T21:41:17.139Z,1761687677.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048823 2025-10-28T21:41:17.242Z,1761687677.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522292,-0.784440,-0.334461],[0.850954,0.453861,0.264363],[-0.055578,-0.422686,0.904571]] 2025-10-28T21:41:17.317Z,1761687677.317 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:41:17.317Z,1761687677.317 [marl:UpdateRudder:B] Stopped 2025-10-28T21:41:17.317Z,1761687677.317 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:41:17.317Z,1761687677.317 [marl:UpdateRudder] Stopped 2025-10-28T21:41:17.317Z,1761687677.317 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:41:17.389Z,1761687677.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298869 2025-10-28T21:41:17.641Z,1761687677.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550908 2025-10-28T21:41:17.648Z,1761687677.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547041,-0.772560,-0.322330],[0.835512,0.480148,0.267168],[-0.051637,-0.415462,0.908144]] 2025-10-28T21:41:17.893Z,1761687677.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802850 2025-10-28T21:41:18.051Z,1761687678.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571903,-0.761018,-0.306233],[0.818890,0.507587,0.267907],[-0.048442,-0.403988,0.913481]] 2025-10-28T21:41:18.145Z,1761687678.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054807 2025-10-28T21:41:18.397Z,1761687678.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306827 2025-10-28T21:41:18.456Z,1761687678.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596280,-0.748683,-0.289697],[0.801454,0.534478,0.268337],[-0.046062,-0.392182,0.918733]] 2025-10-28T21:41:18.649Z,1761687678.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558942 2025-10-28T21:41:18.858Z,1761687678.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620322,-0.735096,-0.273557],[0.783075,0.560576,0.269346],[-0.044645,-0.381297,0.923374]] 2025-10-28T21:41:18.901Z,1761687678.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810880 2025-10-28T21:41:19.156Z,1761687679.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064961 2025-10-28T21:41:19.262Z,1761687679.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644303,-0.719834,-0.258289],[0.763514,0.586096,0.271179],[-0.043822,-0.371929,0.927226]] 2025-10-28T21:41:19.407Z,1761687679.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316579 2025-10-28T21:41:19.657Z,1761687679.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566871 2025-10-28T21:41:19.668Z,1761687679.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666962,-0.702862,-0.247278],[0.743798,0.608521,0.276527],[-0.043886,-0.368358,0.928648]] 2025-10-28T21:41:19.911Z,1761687679.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820216 2025-10-28T21:41:20.073Z,1761687680.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689103,-0.683878,-0.239683],[0.723270,0.628569,0.285976],[-0.044916,-0.370422,0.927777]] 2025-10-28T21:41:20.161Z,1761687680.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071412 2025-10-28T21:41:20.414Z,1761687680.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323570 2025-10-28T21:41:20.475Z,1761687680.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710203,-0.664119,-0.233576],[0.702481,0.646765,0.297011],[-0.046182,-0.375021,0.925865]] 2025-10-28T21:41:20.665Z,1761687680.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574782 2025-10-28T21:41:20.878Z,1761687680.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730301,-0.643046,-0.230549],[0.681481,0.662389,0.311166],[-0.047381,-0.384360,0.921967]] 2025-10-28T21:41:20.918Z,1761687680.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827495 2025-10-28T21:41:21.170Z,1761687681.170 [DAT](INFO): Reached modem response timeout 2025-10-28T21:41:21.287Z,1761687681.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749747,-0.621117,-0.228239],[0.659938,0.676509,0.326830],[-0.048594,-0.395663,0.917109]] 2025-10-28T21:41:21.687Z,1761687681.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768644,-0.598877,-0.224795],[0.637761,0.690285,0.341711],[-0.049470,-0.406020,0.912524]] 2025-10-28T21:41:22.090Z,1761687682.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786490,-0.576961,-0.220340],[0.615607,0.703699,0.354734],[-0.049615,-0.414638,0.908633]] 2025-10-28T21:41:22.495Z,1761687682.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803795,-0.554782,-0.214780],[0.592903,0.717458,0.365677],[-0.048775,-0.421274,0.905621]] 2025-10-28T21:41:22.903Z,1761687682.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820999,-0.532148,-0.206830],[0.568893,0.731930,0.375019],[-0.048180,-0.425554,0.903649]] 2025-10-28T21:41:23.020Z,1761687683.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:41:23.306Z,1761687683.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837331,-0.509749,-0.197567],[0.544724,0.747256,0.380637],[-0.046396,-0.426339,0.903373]] 2025-10-28T21:41:23.437Z,1761687683.437 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:41:23.437Z,1761687683.437 [DAT](INFO): response not received 2025-10-28T21:41:23.437Z,1761687683.437 [DAT](ERROR): No response from remote modem. 2025-10-28T21:41:23.707Z,1761687683.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853125,-0.487103,-0.186837],[0.519837,0.763397,0.383399],[-0.044124,-0.424212,0.904487]] 2025-10-28T21:41:24.024Z,1761687684.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:41:24.110Z,1761687684.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868591,-0.463276,-0.175856],[0.493802,0.779615,0.385174],[-0.041341,-0.421397,0.905934]] 2025-10-28T21:41:24.516Z,1761687684.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883744,-0.438099,-0.164515],[0.466390,0.795679,0.386491],[-0.038420,-0.418287,0.907502]] 2025-10-28T21:41:24.929Z,1761687684.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898338,-0.411603,-0.153534],[0.437883,0.810860,0.388284],[-0.035324,-0.416040,0.908660]] 2025-10-28T21:41:25.326Z,1761687685.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912325,-0.383920,-0.142364],[0.408176,0.825141,0.390557],[-0.032472,-0.414425,0.909504]] 2025-10-28T21:41:25.727Z,1761687685.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925384,-0.356120,-0.129784],[0.377839,0.839565,0.390344],[-0.030047,-0.410255,0.911475]] 2025-10-28T21:41:25.751Z,1761687685.751 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:41:25.751Z,1761687685.751 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:41:25.751Z,1761687685.751 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:41:25.752Z,1761687685.752 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:41:25.752Z,1761687685.752 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:41:25.752Z,1761687685.752 [marl:UpdateSpeed] Stopped 2025-10-28T21:41:25.753Z,1761687685.753 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:41:26.131Z,1761687686.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937207,-0.327935,-0.118752],[0.347658,0.851165,0.393259],[-0.027886,-0.409850,0.911727]] 2025-10-28T21:41:26.534Z,1761687686.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947938,-0.299589,-0.107984],[0.317391,0.861087,0.397231],[-0.026023,-0.410824,0.911343]] 2025-10-28T21:41:26.941Z,1761687686.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956796,-0.273707,-0.098111],[0.289739,0.869258,0.400552],[-0.024351,-0.411673,0.911006]] 2025-10-28T21:41:27.355Z,1761687687.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964445,-0.248777,-0.089197],[0.263303,0.875442,0.405306],[-0.022744,-0.414381,0.909819]] 2025-10-28T21:41:27.746Z,1761687687.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971183,-0.224117,-0.081093],[0.237407,0.879649,0.412136],[-0.021033,-0.419511,0.907507]] 2025-10-28T21:41:28.150Z,1761687688.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977194,-0.199269,-0.073376],[0.211479,0.881999,0.421135],[-0.019202,-0.427048,0.904025]] 2025-10-28T21:41:28.555Z,1761687688.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982401,-0.174690,-0.066125],[0.186014,0.882834,0.431281],[-0.016963,-0.435991,0.899791]] 2025-10-28T21:41:28.960Z,1761687688.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986934,-0.150036,-0.058735],[0.160472,0.882571,0.441947],[-0.014470,-0.445598,0.895116]] 2025-10-28T21:41:29.363Z,1761687689.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990772,-0.125586,-0.050987],[0.135045,0.882470,0.450566],[-0.011590,-0.453294,0.891286]] 2025-10-28T21:41:29.771Z,1761687689.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993862,-0.101823,-0.043241],[0.110291,0.881718,0.458704],[-0.008580,-0.460658,0.887536]] 2025-10-28T21:41:30.171Z,1761687690.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996344,-0.077986,-0.034873],[0.085258,0.881985,0.463501],[-0.005389,-0.464780,0.885410]] 2025-10-28T21:41:30.194Z,1761687690.194 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:41:30.195Z,1761687690.195 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:41:30.196Z,1761687690.196 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:41:30.198Z,1761687690.198 [marl:UpdateRudder:A] Stopped 2025-10-28T21:41:30.198Z,1761687690.198 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:41:30.198Z,1761687690.198 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:41:30.199Z,1761687690.199 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:41:30.199Z,1761687690.199 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:41:30.200Z,1761687690.200 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:41:30.201Z,1761687690.201 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:41:30.201Z,1761687690.201 [marl:UpdateCommandMode] Stopped 2025-10-28T21:41:30.201Z,1761687690.201 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:41:30.576Z,1761687690.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998302,-0.052496,-0.025227],[0.058205,0.883797,0.464235],[-0.002075,-0.464915,0.885353]] 2025-10-28T21:41:30.605Z,1761687690.605 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:41:30.605Z,1761687690.605 [marl:UpdateRudder:B] Stopped 2025-10-28T21:41:30.605Z,1761687690.605 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:41:30.605Z,1761687690.605 [marl:UpdateRudder] Stopped 2025-10-28T21:41:30.605Z,1761687690.605 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:41:30.979Z,1761687690.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999604,-0.024545,-0.013746],[0.028116,0.887975,0.459031],[0.000940,-0.459236,0.888314]] 2025-10-28T21:41:31.384Z,1761687691.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999985,0.005316,-0.001182],[-0.004221,0.893849,0.448348],[0.003440,-0.448337,0.893858]] 2025-10-28T21:41:32.192Z,1761687692.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997560,0.066090,0.022511],[-0.069504,0.909491,0.409873],[0.006615,-0.410438,0.911865]] 2025-10-28T21:41:32.594Z,1761687692.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994658,0.097386,0.034234],[-0.102989,0.913662,0.393211],[0.007015,-0.394636,0.918811]] 2025-10-28T21:41:33.003Z,1761687693.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990526,0.129600,0.045417],[-0.137150,0.916766,0.375141],[0.006982,-0.377816,0.925854]] 2025-10-28T21:41:33.419Z,1761687693.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978416,0.195180,0.067874],[-0.206528,0.912600,0.352857],[0.006929,-0.359259,0.933212]] 2025-10-28T21:41:33.813Z,1761687693.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970698,0.226710,0.079676],[-0.240177,0.904571,0.352231],[0.007782,-0.361046,0.932516]] 2025-10-28T21:41:34.217Z,1761687694.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962516,0.254688,0.093259],[-0.271093,0.892640,0.360143],[0.008478,-0.371925,0.928224]] 2025-10-28T21:41:34.619Z,1761687694.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954097,0.279506,0.107587],[-0.299350,0.878722,0.371802],[0.009382,-0.386941,0.922057]] 2025-10-28T21:41:35.020Z,1761687695.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945331,0.302455,0.121946],[-0.325932,0.863807,0.384194],[0.010863,-0.402937,0.915163]] 2025-10-28T21:41:35.426Z,1761687695.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935951,0.324540,0.136640],[-0.351894,0.847786,0.396773],[0.012927,-0.419443,0.907690]] 2025-10-28T21:41:35.826Z,1761687695.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926047,0.346293,0.150059],[-0.377083,0.832469,0.405961],[0.015662,-0.432524,0.901487]] 2025-10-28T21:41:36.230Z,1761687696.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915583,0.367963,0.162209],[-0.401687,0.817957,0.411818],[0.018854,-0.442211,0.896713]] 2025-10-28T21:41:36.634Z,1761687696.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904580,0.389004,0.174389],[-0.425725,0.802978,0.417114],[0.022229,-0.451555,0.891967]] 2025-10-28T21:41:37.040Z,1761687697.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893417,0.408245,0.187466],[-0.448542,0.787584,0.422518],[0.024846,-0.461570,0.886756]] 2025-10-28T21:41:37.442Z,1761687697.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881823,0.427598,0.198868],[-0.470823,0.774403,0.422640],[0.026715,-0.466326,0.884210]] 2025-10-28T21:41:37.846Z,1761687697.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868967,0.448737,0.208641],[-0.494114,0.763465,0.415900],[0.027339,-0.464496,0.885153]] 2025-10-28T21:41:38.251Z,1761687698.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854229,0.473235,0.215270],[-0.519157,0.754375,0.401739],[0.027723,-0.454937,0.890092]] 2025-10-28T21:41:38.656Z,1761687698.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837035,0.500127,0.221911],[-0.546430,0.743313,0.385876],[0.028037,-0.444251,0.895464]] 2025-10-28T21:41:39.063Z,1761687699.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818463,0.528434,0.225556],[-0.573905,0.733182,0.364796],[0.027397,-0.428020,0.903354]] 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed] Stopped 2025-10-28T21:41:39.099Z,1761687699.099 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:41:39.462Z,1761687699.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798961,0.558557,0.222879],[-0.600811,0.725204,0.336311],[0.026216,-0.402608,0.914997]] 2025-10-28T21:41:39.868Z,1761687699.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778443,0.587712,0.220503],[-0.627225,0.714383,0.310234],[0.024805,-0.379805,0.924734]] 2025-10-28T21:41:40.273Z,1761687700.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757155,0.615125,0.219859],[-0.652810,0.700363,0.288671],[0.023587,-0.362095,0.931843]] 2025-10-28T21:41:40.674Z,1761687700.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734251,0.642157,0.220249],[-0.678468,0.682842,0.270939],[0.023590,-0.348369,0.937061]] 2025-10-28T21:41:41.084Z,1761687701.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710712,0.666128,0.226191],[-0.703056,0.661359,0.261374],[0.024515,-0.344787,0.938361]] 2025-10-28T21:41:41.490Z,1761687701.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688121,0.686166,0.235937],[-0.725161,0.639079,0.256357],[0.025121,-0.347497,0.937345]] 2025-10-28T21:41:41.897Z,1761687701.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667431,0.701255,0.250556],[-0.744260,0.616979,0.255762],[0.024766,-0.357182,0.933706]] 2025-10-28T21:41:42.291Z,1761687702.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647423,0.712806,0.269724],[-0.761752,0.594051,0.258529],[0.024051,-0.372841,0.927584]] 2025-10-28T21:41:42.695Z,1761687702.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627694,0.721970,0.291133],[-0.778114,0.570747,0.262270],[0.023188,-0.391160,0.920030]] 2025-10-28T21:41:43.109Z,1761687703.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608213,0.729406,0.313120],[-0.793474,0.547842,0.265080],[0.021811,-0.409678,0.911969]] 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateRudder:A] Stopped 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:41:43.201Z,1761687703.201 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:41:43.202Z,1761687703.202 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:41:43.202Z,1761687703.202 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:41:43.202Z,1761687703.202 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:41:43.202Z,1761687703.202 [marl:UpdateCommandMode] Stopped 2025-10-28T21:41:43.202Z,1761687703.202 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:41:43.510Z,1761687703.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588198,0.736964,0.333027],[-0.808466,0.525580,0.264856],[0.020157,-0.425029,0.904955]] 2025-10-28T21:41:43.551Z,1761687703.551 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:41:43.551Z,1761687703.551 [marl:UpdateRudder:B] Stopped 2025-10-28T21:41:43.568Z,1761687703.568 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:41:43.568Z,1761687703.568 [marl:UpdateRudder] Stopped 2025-10-28T21:41:43.568Z,1761687703.568 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:41:43.907Z,1761687703.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566668,0.747586,0.346415],[-0.823730,0.504378,0.258982],[0.018887,-0.432109,0.901624]] 2025-10-28T21:41:44.311Z,1761687704.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543446,0.759714,0.357073],[-0.839244,0.482429,0.250861],[0.018321,-0.436001,0.899760]] 2025-10-28T21:41:44.715Z,1761687704.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518586,0.773077,0.365268],[-0.854827,0.459577,0.240956],[0.018409,-0.437198,0.899177]] 2025-10-28T21:41:45.157Z,1761687705.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492708,0.789209,0.366590],[-0.869990,0.437613,0.227184],[0.018872,-0.430865,0.902219]] 2025-10-28T21:41:45.523Z,1761687705.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465903,0.805324,0.366588],[-0.884614,0.414663,0.213336],[0.019794,-0.423683,0.905594]] 2025-10-28T21:41:45.926Z,1761687705.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439019,0.821881,0.363007],[-0.898236,0.392112,0.198545],[0.020841,-0.413231,0.910388]] 2025-10-28T21:41:46.331Z,1761687706.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411911,0.838251,0.357302],[-0.910951,0.369218,0.183971],[0.022292,-0.401264,0.915691]] 2025-10-28T21:41:46.736Z,1761687706.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386050,0.851191,0.355583],[-0.922189,0.346459,0.171854],[0.023086,-0.394259,0.918709]] 2025-10-28T21:41:47.191Z,1761687707.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360927,0.863303,0.352760],[-0.932288,0.324312,0.160188],[0.023886,-0.386690,0.921900]] 2025-10-28T21:41:47.542Z,1761687707.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336471,0.872356,0.354657],[-0.941366,0.301659,0.151101],[0.024829,-0.384703,0.922706]] 2025-10-28T21:41:47.947Z,1761687707.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312174,0.878370,0.361958],[-0.949664,0.278026,0.144356],[0.026165,-0.388803,0.920949]] 2025-10-28T21:41:48.353Z,1761687708.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288236,0.881393,0.374255],[-0.957173,0.254093,0.138772],[0.027217,-0.398226,0.916883]] 2025-10-28T21:41:48.758Z,1761687708.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265125,0.882608,0.388217],[-0.963808,0.230908,0.133248],[0.027963,-0.409494,0.911884]] 2025-10-28T21:41:49.188Z,1761687709.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241472,0.882551,0.403478],[-0.969988,0.207277,0.127124],[0.028561,-0.422065,0.906115]] 2025-10-28T21:41:49.563Z,1761687709.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216396,0.883139,0.416218],[-0.975871,0.182939,0.119203],[0.029130,-0.431970,0.901417]] 2025-10-28T21:41:49.966Z,1761687709.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189964,0.885455,0.424127],[-0.981352,0.158332,0.108990],[0.029353,-0.436922,0.899020]] 2025-10-28T21:41:50.379Z,1761687710.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162249,0.888953,0.428297],[-0.986311,0.133161,0.097256],[0.029423,-0.438214,0.898389]] 2025-10-28T21:41:50.779Z,1761687710.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132426,0.893461,0.429174],[-0.990743,0.106273,0.084462],[0.029854,-0.436386,0.899264]] 2025-10-28T21:41:51.193Z,1761687711.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101714,0.899517,0.424881],[-0.994356,0.078975,0.070846],[0.030172,-0.429689,0.902473]] 2025-10-28T21:41:51.582Z,1761687711.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070459,0.905041,0.419447],[-0.997041,0.050944,0.057563],[0.030729,-0.422262,0.905953]] 2025-10-28T21:41:51.988Z,1761687711.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039053,0.910957,0.410649],[-0.998746,0.022703,0.044618],[0.031322,-0.411877,0.910701]] 2025-10-28T21:41:52.011Z,1761687712.011 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:41:52.011Z,1761687712.011 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:41:52.011Z,1761687712.011 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:41:52.011Z,1761687712.011 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:41:52.012Z,1761687712.012 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:41:52.012Z,1761687712.012 [marl:UpdateSpeed] Stopped 2025-10-28T21:41:52.012Z,1761687712.012 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:41:52.391Z,1761687712.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007305,0.915761,0.401658],[-0.999447,-0.006341,0.032635],[0.032433,-0.401674,0.915208]] 2025-10-28T21:41:52.797Z,1761687712.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024581,0.918180,0.395401],[-0.999114,-0.036080,0.021669],[0.034162,-0.394518,0.918253]] 2025-10-28T21:41:53.200Z,1761687713.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055793,0.919204,0.389808],[-0.997799,-0.065341,0.011267],[0.035828,-0.388322,0.920827]] 2025-10-28T21:41:53.610Z,1761687713.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085562,0.917994,0.387255],[-0.995632,-0.093355,0.001320],[0.037364,-0.385450,0.921972]] 2025-10-28T21:41:54.009Z,1761687714.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114550,0.913091,0.391334],[-0.992653,-0.120659,-0.009036],[0.038967,-0.389494,0.920204]] 2025-10-28T21:41:54.156Z,1761687714.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:41:54.410Z,1761687714.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142306,0.905847,0.398987],[-0.988990,-0.146652,-0.019788],[0.040587,-0.397410,0.916743]] 2025-10-28T21:41:54.814Z,1761687714.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168612,0.896531,0.409636],[-0.984793,-0.170876,-0.031375],[0.041868,-0.408697,0.911709]] 2025-10-28T21:41:55.161Z,1761687715.161 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:41:55.221Z,1761687715.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193371,0.886502,0.420382],[-0.980185,-0.193316,-0.043210],[0.042961,-0.420408,0.906318]] 2025-10-28T21:41:55.623Z,1761687715.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217195,0.877099,0.428397],[-0.975136,-0.214741,-0.054729],[0.043992,-0.429632,0.901932]] 2025-10-28T21:41:56.027Z,1761687716.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240925,0.867941,0.434320],[-0.969498,-0.235994,-0.066189],[0.045049,-0.437019,0.898323]] 2025-10-28T21:41:56.050Z,1761687716.050 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:41:56.050Z,1761687716.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateRudder:A] Stopped 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:41:56.051Z,1761687716.051 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:41:56.052Z,1761687716.052 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:41:56.072Z,1761687716.072 [marl:UpdateCommandMode] Stopped 2025-10-28T21:41:56.072Z,1761687716.072 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:41:56.431Z,1761687716.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264341,0.858496,0.439441],[-0.963316,-0.256920,-0.077552],[0.046323,-0.443821,0.894918]] 2025-10-28T21:41:56.463Z,1761687716.463 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:41:56.463Z,1761687716.463 [marl:UpdateRudder:B] Stopped 2025-10-28T21:41:56.463Z,1761687716.463 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:41:56.464Z,1761687716.464 [marl:UpdateRudder] Stopped 2025-10-28T21:41:56.464Z,1761687716.464 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:41:56.839Z,1761687716.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288088,0.851874,0.437397],[-0.956422,-0.278651,-0.087238],[0.047566,-0.443468,0.895027]] 2025-10-28T21:41:57.238Z,1761687717.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311545,0.846485,0.431744],[-0.948976,-0.300509,-0.095595],[0.048823,-0.439497,0.896916]] 2025-10-28T21:41:57.643Z,1761687717.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335603,0.841395,0.423585],[-0.940677,-0.323196,-0.103303],[0.049982,-0.433126,0.899947]] 2025-10-28T21:41:58.047Z,1761687718.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359519,0.836269,0.414005],[-0.931772,-0.345721,-0.110806],[0.050467,-0.425595,0.903505]] 2025-10-28T21:41:58.452Z,1761687718.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383435,0.831992,0.400957],[-0.922189,-0.368612,-0.117012],[0.050444,-0.414625,0.908593]] 2025-10-28T21:41:58.862Z,1761687718.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407167,0.826493,0.388748],[-0.911992,-0.391125,-0.123657],[0.049848,-0.404884,0.913008]] 2025-10-28T21:41:59.259Z,1761687719.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431472,0.819551,0.377052],[-0.900820,-0.413897,-0.131198],[0.048537,-0.396264,0.916853]] 2025-10-28T21:41:59.662Z,1761687719.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457392,0.809637,0.367804],[-0.888020,-0.437730,-0.140756],[0.047038,-0.390998,0.919189]] 2025-10-28T21:42:00.069Z,1761687720.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483969,0.797873,0.359406],[-0.873924,-0.461832,-0.151553],[0.045065,-0.387441,0.920792]] 2025-10-28T21:42:00.470Z,1761687720.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511289,0.783335,0.353511],[-0.858345,-0.485914,-0.164715],[0.042749,-0.387651,0.920814]] 2025-10-28T21:42:00.874Z,1761687720.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538275,0.767964,0.347120],[-0.841804,-0.509644,-0.177846],[0.040328,-0.387937,0.920803]] 2025-10-28T21:42:01.279Z,1761687721.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565734,0.750613,0.341358],[-0.823694,-0.533689,-0.191583],[0.038374,-0.389560,0.920201]] 2025-10-28T21:42:01.684Z,1761687721.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592556,0.732628,0.334862],[-0.804685,-0.557392,-0.204443],[0.036868,-0.390603,0.919821]] 2025-10-28T21:42:02.087Z,1761687722.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618542,0.713019,0.330167],[-0.784942,-0.579778,-0.218456],[0.035661,-0.394286,0.918296]] 2025-10-28T21:42:02.492Z,1761687722.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643328,0.692595,0.326253],[-0.764790,-0.600865,-0.232503],[0.035004,-0.399091,0.916243]] 2025-10-28T21:42:02.894Z,1761687722.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666415,0.671711,0.323566],[-0.744787,-0.619766,-0.247351],[0.034387,-0.405826,0.913303]] 2025-10-28T21:42:03.299Z,1761687723.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688004,0.650394,0.321927],[-0.724906,-0.636754,-0.262784],[0.034075,-0.414164,0.909564]] 2025-10-28T21:42:03.702Z,1761687723.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708826,0.629015,0.319227],[-0.704564,-0.653158,-0.277443],[0.033989,-0.421575,0.906156]] 2025-10-28T21:42:04.106Z,1761687724.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728696,0.607843,0.315482],[-0.684002,-0.668727,-0.291455],[0.033813,-0.428172,0.903064]] 2025-10-28T21:42:04.510Z,1761687724.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748084,0.587469,0.308627],[-0.662762,-0.684834,-0.302901],[0.033413,-0.431142,0.901665]] 2025-10-28T21:42:04.916Z,1761687724.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767334,0.565991,0.301416],[-0.640380,-0.700800,-0.314313],[0.033334,-0.434204,0.900198]] 2025-10-28T21:42:05.322Z,1761687725.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785478,0.545612,0.292117],[-0.618004,-0.716724,-0.323075],[0.033094,-0.434298,0.900161]] 2025-10-28T21:42:05.402Z,1761687725.402 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:42:05.402Z,1761687725.402 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:42:05.403Z,1761687725.403 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:42:05.403Z,1761687725.403 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:42:05.403Z,1761687725.403 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:42:05.403Z,1761687725.403 [marl:UpdateSpeed] Stopped 2025-10-28T21:42:05.403Z,1761687725.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:42:06.532Z,1761687726.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838025,0.485991,0.248045],[-0.544745,-0.771121,-0.329583],[0.031099,-0.411320,0.910960]] 2025-10-28T21:42:06.934Z,1761687726.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854171,0.465166,0.232406],[-0.519097,-0.789012,-0.328632],[0.030503,-0.401349,0.915417]] 2025-10-28T21:42:07.345Z,1761687727.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868916,0.443970,0.218804],[-0.494097,-0.804119,-0.330545],[0.029192,-0.395326,0.918077]] 2025-10-28T21:42:07.776Z,1761687727.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882849,0.422559,0.204991],[-0.468863,-0.818332,-0.332415],[0.027285,-0.389585,0.920586]] 2025-10-28T21:42:08.148Z,1761687728.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895683,0.400118,0.194056],[-0.443965,-0.829544,-0.338750],[0.025438,-0.389566,0.920647]] 2025-10-28T21:42:08.551Z,1761687728.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907534,0.377728,0.183585],[-0.419320,-0.839412,-0.345771],[0.023496,-0.390780,0.920184]] 2025-10-28T21:42:08.954Z,1761687728.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918497,0.355503,0.173150],[-0.394858,-0.848075,-0.353349],[0.021227,-0.392920,0.919328]] 2025-10-28T21:42:09.005Z,1761687729.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateRudder:A] Stopped 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:42:09.006Z,1761687729.006 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:42:09.007Z,1761687729.007 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:42:09.007Z,1761687729.007 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:42:09.007Z,1761687729.007 [marl:UpdateCommandMode] Stopped 2025-10-28T21:42:09.007Z,1761687729.007 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:42:09.359Z,1761687729.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929126,0.332592,0.161579],[-0.369268,-0.857235,-0.358873],[0.019153,-0.393104,0.919294]] 2025-10-28T21:42:09.438Z,1761687729.438 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:42:09.438Z,1761687729.438 [marl:UpdateRudder:B] Stopped 2025-10-28T21:42:09.439Z,1761687729.439 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:42:09.439Z,1761687729.439 [marl:UpdateRudder] Stopped 2025-10-28T21:42:09.444Z,1761687729.444 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:42:09.768Z,1761687729.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939223,0.308744,0.150126],[-0.342876,-0.865534,-0.365084],[0.017222,-0.394370,0.918790]] 2025-10-28T21:42:10.166Z,1761687730.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948845,0.284292,0.137369],[-0.315367,-0.874490,-0.368526],[0.015358,-0.392995,0.919412]] 2025-10-28T21:42:10.570Z,1761687730.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958200,0.258252,0.123119],[-0.285781,-0.884239,-0.369393],[0.013470,-0.389137,0.921081]] 2025-10-28T21:42:10.974Z,1761687730.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966992,0.230333,0.108960],[-0.254555,-0.892209,-0.373049],[0.011289,-0.388472,0.921391]] 2025-10-28T21:42:10.999Z,1761687730.999 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:42:11.085Z,1761687731.085 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:42:11.085Z,1761687731.085 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:42:11.337Z,1761687731.337 [DAT](INFO): DAT read: user:322> 2025-10-28T21:42:11.338Z,1761687731.338 [DAT](INFO): DAT read: Tx time:21:42:11.1002 2025-10-28T21:42:11.338Z,1761687731.338 [DAT](INFO): Ping request sent. 2025-10-28T21:42:11.338Z,1761687731.338 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:42:11.338Z,1761687731.338 [DAT](INFO): publishing transmit ping time 2025-10-28T21:42:11.339Z,1761687731.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000926 2025-10-28T21:42:11.390Z,1761687731.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974827,0.201624,0.095190],[-0.222784,-0.898007,-0.379408],[0.008984,-0.391064,0.920320]] 2025-10-28T21:42:11.589Z,1761687731.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917 2025-10-28T21:42:11.787Z,1761687731.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981870,0.171721,0.080268],[-0.189434,-0.904049,-0.383159],[0.006770,-0.391417,0.920188]] 2025-10-28T21:42:11.845Z,1761687731.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506406 2025-10-28T21:42:12.093Z,1761687732.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829 2025-10-28T21:42:12.194Z,1761687732.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987831,0.140835,0.065998],[-0.155456,-0.907282,-0.390734],[0.004850,-0.396238,0.918135]] 2025-10-28T21:42:12.345Z,1761687732.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007322 2025-10-28T21:42:12.591Z,1761687732.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992645,0.109528,0.051563],[-0.121021,-0.908399,-0.400206],[0.003006,-0.403503,0.914973]] 2025-10-28T21:42:12.597Z,1761687732.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768 2025-10-28T21:42:12.849Z,1761687732.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829 2025-10-28T21:42:12.996Z,1761687732.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996247,0.078546,0.036359],[-0.086543,-0.910430,-0.404509],[0.001330,-0.406138,0.913811]] 2025-10-28T21:42:13.104Z,1761687733.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765115 2025-10-28T21:42:13.353Z,1761687733.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014805 2025-10-28T21:42:13.399Z,1761687733.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998643,0.047650,0.021020],[-0.052080,-0.911985,-0.406905],[-0.000219,-0.407448,0.913229]] 2025-10-28T21:42:13.605Z,1761687733.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783 2025-10-28T21:42:13.807Z,1761687733.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999830,0.017449,0.005937],[-0.018348,-0.911677,-0.410497],[-0.001750,-0.410536,0.911843]] 2025-10-28T21:42:13.857Z,1761687733.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519011 2025-10-28T21:42:14.109Z,1761687734.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770799 2025-10-28T21:42:14.215Z,1761687734.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999889,-0.011797,-0.009097],[0.014508,-0.909841,-0.414704],[-0.003385,-0.414790,0.909911]] 2025-10-28T21:42:14.361Z,1761687734.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022841 2025-10-28T21:42:14.613Z,1761687734.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274991 2025-10-28T21:42:14.615Z,1761687734.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998911,-0.040323,-0.023450],[0.046420,-0.908726,-0.414803],[-0.004584,-0.415440,0.909609]] 2025-10-28T21:42:14.865Z,1761687734.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526754 2025-10-28T21:42:15.015Z,1761687735.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997022,-0.067407,-0.037467],[0.076892,-0.906182,-0.415839],[-0.005921,-0.417481,0.908666]] 2025-10-28T21:42:15.120Z,1761687735.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781322 2025-10-28T21:42:15.369Z,1761687735.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030815 2025-10-28T21:42:15.418Z,1761687735.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994338,-0.093130,-0.051177],[0.106017,-0.902254,-0.417970],[-0.007249,-0.421029,0.907018]] 2025-10-28T21:42:15.621Z,1761687735.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282816 2025-10-28T21:42:15.828Z,1761687735.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990821,-0.119124,-0.063897],[0.134936,-0.899902,-0.414690],[-0.008102,-0.419506,0.907716]] 2025-10-28T21:42:15.873Z,1761687735.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534952 2025-10-28T21:42:16.125Z,1761687736.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786861 2025-10-28T21:42:16.235Z,1761687736.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986641,-0.143759,-0.076631],[0.162664,-0.895094,-0.415148],[-0.008910,-0.422067,0.906521]] 2025-10-28T21:42:16.377Z,1761687736.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039191 2025-10-28T21:42:16.629Z,1761687736.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291433 2025-10-28T21:42:16.634Z,1761687736.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981783,-0.168225,-0.088331],[0.189763,-0.891601,-0.411141],[-0.009592,-0.420413,0.907282]] 2025-10-28T21:42:16.881Z,1761687736.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542905 2025-10-28T21:42:17.034Z,1761687737.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976162,-0.193222,-0.098855],[0.216819,-0.888787,-0.403790],[-0.009840,-0.415598,0.909495]] 2025-10-28T21:42:17.135Z,1761687737.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797070 2025-10-28T21:42:17.385Z,1761687737.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046827 2025-10-28T21:42:17.439Z,1761687737.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969848,-0.218746,-0.107449],[0.243523,-0.887152,-0.391991],[-0.009577,-0.406338,0.913673]] 2025-10-28T21:42:17.637Z,1761687737.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298874 2025-10-28T21:42:17.843Z,1761687737.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962874,-0.243912,-0.115675],[0.269784,-0.884564,-0.380478],[-0.009519,-0.397559,0.917527]] 2025-10-28T21:42:17.889Z,1761687737.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550902 2025-10-28T21:42:18.141Z,1761687738.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802807 2025-10-28T21:42:18.257Z,1761687738.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945469,-0.297678,-0.132194],[0.325579,-0.875287,-0.357590],[-0.009261,-0.381130,0.924475]] 2025-10-28T21:42:18.393Z,1761687738.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055237 2025-10-28T21:42:18.645Z,1761687738.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306890 2025-10-28T21:42:18.657Z,1761687738.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934363,-0.326374,-0.142986],[0.356184,-0.866642,-0.349378],[-0.009890,-0.377375,0.926008]] 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:42:18.681Z,1761687738.681 [marl:UpdateSpeed] Stopped 2025-10-28T21:42:18.682Z,1761687738.682 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:42:18.897Z,1761687738.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558805 2025-10-28T21:42:19.061Z,1761687739.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921760,-0.356376,-0.152821],[0.387622,-0.857389,-0.338577],[-0.010367,-0.371324,0.928446]] 2025-10-28T21:42:19.152Z,1761687739.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813430 2025-10-28T21:42:19.401Z,1761687739.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062813 2025-10-28T21:42:19.463Z,1761687739.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907502,-0.386239,-0.165104],[0.419895,-0.844760,-0.331767],[-0.011331,-0.370406,0.928801]] 2025-10-28T21:42:19.653Z,1761687739.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314840 2025-10-28T21:42:19.867Z,1761687739.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891989,-0.414596,-0.180185],[0.451870,-0.829224,-0.328938],[-0.013038,-0.374829,0.927002]] 2025-10-28T21:42:19.905Z,1761687739.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567155 2025-10-28T21:42:20.157Z,1761687740.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818854 2025-10-28T21:42:20.286Z,1761687740.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875210,-0.441336,-0.198064],[0.483493,-0.811228,-0.328851],[-0.015542,-0.383576,0.923379]] 2025-10-28T21:42:20.409Z,1761687740.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071210 2025-10-28T21:42:20.662Z,1761687740.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323761 2025-10-28T21:42:20.679Z,1761687740.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857261,-0.466599,-0.217690],[0.514548,-0.791589,-0.329586],[-0.018537,-0.394553,0.918686]] 2025-10-28T21:42:20.913Z,1761687740.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574821 2025-10-28T21:42:21.074Z,1761687741.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838328,-0.490730,-0.237465],[0.544734,-0.771370,-0.329020],[-0.021713,-0.405182,0.913978]] 2025-10-28T21:42:21.170Z,1761687741.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831559 2025-10-28T21:42:21.417Z,1761687741.417 [DAT](INFO): Reached modem response timeout 2025-10-28T21:42:21.478Z,1761687741.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818642,-0.513788,-0.256607],[0.573771,-0.750952,-0.326891],[-0.024747,-0.414841,0.909557]] 2025-10-28T21:42:21.883Z,1761687741.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798725,-0.535306,-0.274749],[0.601082,-0.730503,-0.324138],[-0.027192,-0.424044,0.905234]] 2025-10-28T21:42:21.907Z,1761687741.907 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:42:21.907Z,1761687741.907 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:42:21.907Z,1761687741.907 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:42:21.907Z,1761687741.907 [marl:UpdateRudder:A] Stopped 2025-10-28T21:42:21.907Z,1761687741.907 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:42:21.908Z,1761687741.908 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:42:21.908Z,1761687741.908 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:42:21.909Z,1761687741.909 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:42:21.909Z,1761687741.909 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:42:21.909Z,1761687741.909 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:42:21.909Z,1761687741.909 [marl:UpdateCommandMode] Stopped 2025-10-28T21:42:21.909Z,1761687741.909 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:42:22.301Z,1761687742.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778752,-0.556384,-0.289796],[0.626660,-0.711313,-0.318325],[-0.029024,-0.429500,0.902600]] 2025-10-28T21:42:22.348Z,1761687742.348 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:42:22.348Z,1761687742.348 [marl:UpdateRudder:B] Stopped 2025-10-28T21:42:22.348Z,1761687742.348 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:42:22.348Z,1761687742.348 [marl:UpdateRudder] Stopped 2025-10-28T21:42:22.348Z,1761687742.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:42:22.690Z,1761687742.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759118,-0.578265,-0.298915],[0.650259,-0.694834,-0.307195],[-0.030056,-0.427569,0.903483]] 2025-10-28T21:42:23.095Z,1761687743.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739084,-0.600506,-0.305200],[0.672913,-0.678834,-0.293892],[-0.030696,-0.422584,0.905804]] 2025-10-28T21:42:23.499Z,1761687743.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719336,-0.620965,-0.311380],[0.693956,-0.662579,-0.281805],[-0.031323,-0.418797,0.907540]] 2025-10-28T21:42:23.701Z,1761687743.701 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:42:23.701Z,1761687743.701 [DAT](INFO): response not received 2025-10-28T21:42:23.701Z,1761687743.701 [DAT](ERROR): No response from remote modem. 2025-10-28T21:42:23.902Z,1761687743.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699263,-0.642902,-0.312583],[0.714164,-0.647601,-0.265673],[-0.031628,-0.409011,0.911981]] 2025-10-28T21:42:24.315Z,1761687744.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678775,-0.664139,-0.313343],[0.733650,-0.631876,-0.249981],[-0.031972,-0.399565,0.916147]] 2025-10-28T21:42:24.712Z,1761687744.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657616,-0.684314,-0.315049],[0.752655,-0.614806,-0.235637],[-0.032444,-0.392082,0.919358]] 2025-10-28T21:42:25.126Z,1761687745.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635658,-0.704235,-0.316216],[0.771271,-0.596793,-0.221312],[-0.032860,-0.384567,0.922512]] 2025-10-28T21:42:25.285Z,1761687745.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:42:25.519Z,1761687745.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613037,-0.722768,-0.319047],[0.789342,-0.577457,-0.208524],[-0.033521,-0.379671,0.924514]] 2025-10-28T21:42:25.924Z,1761687745.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589851,-0.739721,-0.323866],[0.806800,-0.556691,-0.197909],[-0.033896,-0.378032,0.925172]] 2025-10-28T21:42:26.289Z,1761687746.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:42:26.326Z,1761687746.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565694,-0.754774,-0.332124],[0.823913,-0.533955,-0.189894],[-0.034012,-0.381063,0.923923]] 2025-10-28T21:42:26.731Z,1761687746.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541023,-0.767813,-0.343157],[0.840328,-0.509936,-0.183886],[-0.033798,-0.387851,0.921102]] 2025-10-28T21:42:27.170Z,1761687747.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514796,-0.780522,-0.354643],[0.856685,-0.484170,-0.177961],[-0.032805,-0.395431,0.917910]] 2025-10-28T21:42:27.541Z,1761687747.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487319,-0.793699,-0.364091],[0.872680,-0.457377,-0.170984],[-0.030818,-0.401059,0.915534]] 2025-10-28T21:42:27.943Z,1761687747.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457894,-0.806168,-0.374734],[0.888546,-0.428587,-0.163708],[-0.028630,-0.407929,0.912565]] 2025-10-28T21:42:28.346Z,1761687748.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426506,-0.820013,-0.381669],[0.904092,-0.398943,-0.153176],[-0.026658,-0.410394,0.911519]] 2025-10-28T21:42:28.752Z,1761687748.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393286,-0.835512,-0.383727],[0.919076,-0.368616,-0.139361],[-0.025011,-0.407483,0.912870]] 2025-10-28T21:42:29.186Z,1761687749.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359308,-0.850979,-0.383057],[0.932915,-0.338009,-0.124174],[-0.023808,-0.401976,0.915340]] 2025-10-28T21:42:29.568Z,1761687749.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324744,-0.865598,-0.381158],[0.945509,-0.307152,-0.108032],[-0.023561,-0.395471,0.918176]] 2025-10-28T21:42:29.962Z,1761687749.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289516,-0.878443,-0.380156],[0.956837,-0.276132,-0.090630],[-0.025360,-0.389986,0.920471]] 2025-10-28T21:42:30.367Z,1761687750.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254387,-0.890170,-0.378001],[0.966668,-0.245761,-0.071796],[-0.028987,-0.383666,0.923017]] 2025-10-28T21:42:30.785Z,1761687750.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218725,-0.899891,-0.377302],[0.975174,-0.215285,-0.051847],[-0.034570,-0.379275,0.924638]] 2025-10-28T21:42:31.192Z,1761687751.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183490,-0.907384,-0.378134],[0.982145,-0.185464,-0.031540],[-0.041511,-0.377170,0.925213]] 2025-10-28T21:42:31.579Z,1761687751.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149298,-0.913816,-0.377691],[0.987574,-0.156766,-0.011087],[-0.049077,-0.374653,0.925865]] 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed] Stopped 2025-10-28T21:42:31.627Z,1761687751.627 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:42:31.984Z,1761687751.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117100,-0.918683,-0.377239],[0.991546,-0.129532,0.007656],[-0.055898,-0.373153,0.926084]] 2025-10-28T21:42:32.386Z,1761687752.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087103,-0.920797,-0.380191],[0.994304,-0.103887,0.023808],[-0.061419,-0.375952,0.924601]] 2025-10-28T21:42:32.799Z,1761687752.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058069,-0.922990,-0.380417],[0.996130,-0.078753,0.039020],[-0.065974,-0.376679,0.923992]] 2025-10-28T21:42:33.197Z,1761687753.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030072,-0.922091,-0.385803],[0.997121,-0.054554,0.052664],[-0.069608,-0.383109,0.921077]] 2025-10-28T21:42:33.600Z,1761687753.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002414,-0.919293,-0.393567],[0.997404,-0.030540,0.065218],[-0.071974,-0.392387,0.916980]] 2025-10-28T21:42:34.003Z,1761687754.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024484,-0.917302,-0.397440],[0.997011,-0.006736,0.076965],[-0.073277,-0.398136,0.914395]] 2025-10-28T21:42:34.407Z,1761687754.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051571,-0.913510,-0.403535],[0.995927,0.017122,0.088518],[-0.073953,-0.406456,0.910672]] 2025-10-28T21:42:34.811Z,1761687754.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079130,-0.908944,-0.409341],[0.994106,0.041422,0.100192],[-0.074113,-0.414856,0.906864]] 2025-10-28T21:42:35.214Z,1761687755.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107274,-0.905184,-0.411260],[0.991479,0.066646,0.111931],[-0.073909,-0.419763,0.904620]] 2025-10-28T21:42:35.295Z,1761687755.295 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:42:35.295Z,1761687755.295 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:42:35.295Z,1761687755.295 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:42:35.300Z,1761687755.300 [marl:UpdateRudder:A] Stopped 2025-10-28T21:42:35.300Z,1761687755.300 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:42:35.300Z,1761687755.300 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:42:35.300Z,1761687755.300 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:42:35.300Z,1761687755.300 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:42:35.301Z,1761687755.301 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:42:35.301Z,1761687755.301 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:42:35.301Z,1761687755.301 [marl:UpdateCommandMode] Stopped 2025-10-28T21:42:35.301Z,1761687755.301 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:42:35.618Z,1761687755.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135359,-0.901701,-0.410625],[0.988092,0.092252,0.123137],[-0.073152,-0.422403,0.903452]] 2025-10-28T21:42:35.658Z,1761687755.658 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:42:35.658Z,1761687755.658 [marl:UpdateRudder:B] Stopped 2025-10-28T21:42:35.658Z,1761687755.658 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:42:35.658Z,1761687755.658 [marl:UpdateRudder] Stopped 2025-10-28T21:42:35.659Z,1761687755.659 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:42:36.022Z,1761687756.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164147,-0.898578,-0.406957],[0.983787,0.118913,0.134248],[-0.072240,-0.422395,0.903529]] 2025-10-28T21:42:36.426Z,1761687756.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193516,-0.896434,-0.398695],[0.978512,0.146870,0.144719],[-0.071174,-0.418134,0.905593]] 2025-10-28T21:42:36.831Z,1761687756.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223129,-0.893561,-0.389566],[0.972248,0.175168,0.155077],[-0.070331,-0.413358,0.907849]] 2025-10-28T21:42:37.234Z,1761687757.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253073,-0.890759,-0.377496],[0.964942,0.204349,0.164704],[-0.069571,-0.405944,0.911246]] 2025-10-28T21:42:37.641Z,1761687757.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282981,-0.886924,-0.365086],[0.956659,0.233726,0.173712],[-0.068739,-0.398420,0.914624]] 2025-10-28T21:42:38.042Z,1761687758.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313540,-0.881430,-0.353233],[0.947121,0.263561,0.183023],[-0.068223,-0.391940,0.917458]] 2025-10-28T21:42:38.446Z,1761687758.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344323,-0.874498,-0.341607],[0.936414,0.293687,0.192035],[-0.067609,-0.386007,0.920015]] 2025-10-28T21:42:38.852Z,1761687758.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375461,-0.865167,-0.332438],[0.924407,0.323596,0.201883],[-0.067087,-0.383107,0.921265]] 2025-10-28T21:42:39.265Z,1761687759.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406794,-0.853844,-0.324760],[0.911078,0.353227,0.212526],[-0.066750,-0.382336,0.921609]] 2025-10-28T21:42:39.659Z,1761687759.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437760,-0.840283,-0.319828],[0.896585,0.381440,0.225030],[-0.067094,-0.385262,0.920365]] 2025-10-28T21:42:40.063Z,1761687760.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468761,-0.825791,-0.313579],[0.880687,0.409501,0.238117],[-0.068224,-0.387785,0.919222]] 2025-10-28T21:42:40.466Z,1761687760.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499422,-0.810539,-0.305947],[0.863530,0.437207,0.251328],[-0.069949,-0.389713,0.918276]] 2025-10-28T21:42:40.872Z,1761687760.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529184,-0.794429,-0.298073],[0.845421,0.463720,0.265005],[-0.072305,-0.392233,0.917020]] 2025-10-28T21:42:41.281Z,1761687761.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557281,-0.779301,-0.286578],[0.826885,0.489491,0.276874],[-0.075491,-0.391264,0.917177]] 2025-10-28T21:42:41.678Z,1761687761.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583270,-0.764606,-0.274177],[0.808387,0.513411,0.287958],[-0.079409,-0.389599,0.917555]] 2025-10-28T21:42:42.082Z,1761687762.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607546,-0.750600,-0.259783],[0.789858,0.536451,0.297228],[-0.083738,-0.385772,0.918786]] 2025-10-28T21:42:42.493Z,1761687762.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630017,-0.736312,-0.246827],[0.771560,0.557399,0.306596],[-0.088170,-0.383602,0.919280]] 2025-10-28T21:42:42.892Z,1761687762.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651010,-0.721192,-0.236787],[0.753399,0.575845,0.317478],[-0.092610,-0.385076,0.918226]] 2025-10-28T21:42:43.294Z,1761687763.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670706,-0.705736,-0.228231],[0.735381,0.592555,0.328777],[-0.096790,-0.388350,0.916415]] 2025-10-28T21:42:43.699Z,1761687763.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689428,-0.689955,-0.220569],[0.717399,0.608288,0.339593],[-0.100134,-0.392361,0.914344]] 2025-10-28T21:42:44.103Z,1761687764.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706939,-0.674868,-0.211637],[0.699810,0.624073,0.347561],[-0.102481,-0.393810,0.913461]] 2025-10-28T21:42:44.510Z,1761687764.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723207,-0.660129,-0.202982],[0.682789,0.639248,0.353781],[-0.103785,-0.394451,0.913037]] 2025-10-28T21:42:44.911Z,1761687764.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738213,-0.645067,-0.197308],[0.666522,0.652468,0.360602],[-0.103875,-0.397711,0.911612]] 2025-10-28T21:42:44.949Z,1761687764.949 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:42:44.949Z,1761687764.949 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:42:44.949Z,1761687764.949 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:42:44.950Z,1761687764.950 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:42:44.950Z,1761687764.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:42:44.950Z,1761687764.950 [marl:UpdateSpeed] Stopped 2025-10-28T21:42:44.950Z,1761687764.950 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:42:45.314Z,1761687765.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753198,-0.629331,-0.191402],[0.649754,0.666446,0.365608],[-0.102529,-0.399740,0.910877]] 2025-10-28T21:42:45.719Z,1761687765.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769295,-0.611343,-0.185591],[0.630933,0.681237,0.371269],[-0.100541,-0.402711,0.909789]] 2025-10-28T21:42:46.125Z,1761687766.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787174,-0.589927,-0.179842],[0.608798,0.696660,0.379512],[-0.098596,-0.408229,0.907539]] 2025-10-28T21:42:46.526Z,1761687766.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805949,-0.566861,-0.170630],[0.584133,0.714716,0.384668],[-0.096101,-0.409693,0.907147]] 2025-10-28T21:42:46.930Z,1761687766.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824301,-0.543224,-0.159486],[0.558422,0.733727,0.387053],[-0.093237,-0.408109,0.908160]] 2025-10-28T21:42:47.335Z,1761687767.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842371,-0.518939,-0.145305],[0.531259,0.754431,0.385485],[-0.090420,-0.401916,0.911201]] 2025-10-28T21:42:47.750Z,1761687767.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859877,-0.493345,-0.131230],[0.502896,0.774399,0.383928],[-0.087784,-0.396127,0.913990]] 2025-10-28T21:42:48.142Z,1761687768.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876618,-0.467045,-0.115799],[0.473479,0.794326,0.380610],[-0.085780,-0.388478,0.917456]] 2025-10-28T21:42:48.177Z,1761687768.177 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:42:48.177Z,1761687768.177 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:42:48.177Z,1761687768.177 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:42:48.177Z,1761687768.177 [marl:UpdateRudder:A] Stopped 2025-10-28T21:42:48.177Z,1761687768.177 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode] Stopped 2025-10-28T21:42:48.178Z,1761687768.178 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:42:48.546Z,1761687768.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892641,-0.439893,-0.098416],[0.442807,0.814873,0.374038],[-0.084341,-0.377461,0.922177]] 2025-10-28T21:42:48.595Z,1761687768.595 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:42:48.595Z,1761687768.595 [marl:UpdateRudder:B] Stopped 2025-10-28T21:42:48.595Z,1761687768.595 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:42:48.595Z,1761687768.595 [marl:UpdateRudder] Stopped 2025-10-28T21:42:48.595Z,1761687768.595 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:42:48.952Z,1761687768.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908092,-0.410638,-0.082137],[0.410278,0.833092,0.370985],[-0.083913,-0.370587,0.924999]] 2025-10-28T21:42:49.363Z,1761687769.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922095,-0.380994,-0.067703],[0.377647,0.847858,0.372183],[-0.084397,-0.368756,0.925687]] 2025-10-28T21:42:49.765Z,1761687769.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934151,-0.352691,-0.054508],[0.346496,0.859764,0.375162],[-0.085452,-0.369345,0.925355]] 2025-10-28T21:42:50.163Z,1761687770.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943894,-0.327444,-0.042957],[0.318608,0.868654,0.379379],[-0.086910,-0.371780,0.924244]] 2025-10-28T21:42:50.574Z,1761687770.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952160,-0.303706,-0.033978],[0.292458,0.873306,0.389621],[-0.088657,-0.380919,0.920348]] 2025-10-28T21:42:50.971Z,1761687770.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959481,-0.280663,-0.024986],[0.266928,0.876948,0.399639],[-0.090252,-0.390116,0.916332]] 2025-10-28T21:42:51.378Z,1761687771.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966052,-0.257872,-0.015681],[0.241455,0.879628,0.409821],[-0.091888,-0.399695,0.912031]] 2025-10-28T21:42:51.783Z,1761687771.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971929,-0.235189,-0.006371],[0.216009,0.881278,0.420345],[-0.093246,-0.409921,0.907342]] 2025-10-28T21:42:52.185Z,1761687772.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977249,-0.212075,0.002996],[0.190157,0.882328,0.430509],[-0.093943,-0.420145,0.902581]] 2025-10-28T21:42:52.587Z,1761687772.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982105,-0.187836,0.013695],[0.163080,0.884533,0.437042],[-0.094206,-0.426988,0.899337]] 2025-10-28T21:42:52.990Z,1761687772.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986394,-0.162538,0.024668],[0.135066,0.886767,0.442043],[-0.093724,-0.432697,0.896655]] 2025-10-28T21:42:53.395Z,1761687773.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990037,-0.135773,0.037321],[0.105476,0.890674,0.442239],[-0.093285,-0.433897,0.896120]] 2025-10-28T21:42:53.802Z,1761687773.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992798,-0.108861,0.050015],[0.076409,0.896932,0.435517],[-0.092270,-0.428559,0.898790]] 2025-10-28T21:42:54.202Z,1761687774.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994740,-0.081361,0.062236],[0.047060,0.902630,0.427837],[-0.090985,-0.422658,0.901711]] 2025-10-28T21:42:54.606Z,1761687774.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995793,-0.054636,0.073558],[0.019043,0.908655,0.417112],[-0.089628,-0.413957,0.905873]] 2025-10-28T21:42:55.010Z,1761687775.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996053,-0.028574,0.084040],[-0.008372,0.912308,0.409419],[-0.088369,-0.408506,0.908468]] 2025-10-28T21:42:55.419Z,1761687775.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995542,-0.002852,0.094278],[-0.035578,0.914352,0.403354],[-0.087354,-0.404910,0.910174]] 2025-10-28T21:42:55.819Z,1761687775.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994354,0.021883,0.103838],[-0.061857,0.914598,0.399604],[-0.086226,-0.403771,0.910788]] 2025-10-28T21:42:56.235Z,1761687776.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992437,0.045899,0.113848],[-0.088053,0.912391,0.399737],[-0.085526,-0.406738,0.909532]] 2025-10-28T21:42:56.424Z,1761687776.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:42:56.626Z,1761687776.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989778,0.069710,0.124418],[-0.114458,0.908723,0.401400],[-0.085080,-0.411537,0.907413]] 2025-10-28T21:42:57.032Z,1761687777.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986385,0.093834,0.135056],[-0.141251,0.903978,0.403573],[-0.084219,-0.417155,0.904925]] 2025-10-28T21:42:57.428Z,1761687777.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:42:57.445Z,1761687777.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982136,0.119041,0.145735],[-0.168862,0.899299,0.403418],[-0.083036,-0.420821,0.903335]] 2025-10-28T21:42:57.838Z,1761687777.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976881,0.144765,0.157311],[-0.197538,0.892599,0.405272],[-0.081747,-0.426978,0.900559]] 2025-10-28T21:42:57.877Z,1761687777.877 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:42:57.877Z,1761687777.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:42:57.877Z,1761687777.877 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:42:57.877Z,1761687777.877 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:42:57.877Z,1761687777.877 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:42:57.878Z,1761687777.878 [marl:UpdateSpeed] Stopped 2025-10-28T21:42:57.878Z,1761687777.878 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:42:58.246Z,1761687778.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970597,0.171219,0.169191],[-0.226876,0.885566,0.405340],[-0.080428,-0.431807,0.898373]] 2025-10-28T21:42:58.650Z,1761687778.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963041,0.199821,0.180621],[-0.257607,0.879151,0.400913],[-0.078682,-0.432625,0.898134]] 2025-10-28T21:42:59.052Z,1761687779.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954314,0.229007,0.191937],[-0.288715,0.872216,0.394820],[-0.076994,-0.432197,0.898486]] 2025-10-28T21:42:59.455Z,1761687779.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944498,0.258667,0.202520],[-0.319784,0.865101,0.386443],[-0.075240,-0.429757,0.899804]] 2025-10-28T21:42:59.858Z,1761687779.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933709,0.288537,0.211975],[-0.350379,0.858152,0.375246],[-0.073635,-0.424642,0.902362]] 2025-10-28T21:43:00.264Z,1761687780.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921892,0.319204,0.219598],[-0.380776,0.851156,0.361307],[-0.071582,-0.416704,0.906219]] 2025-10-28T21:43:00.671Z,1761687780.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909154,0.348992,0.227251],[-0.410592,0.842408,0.348945],[-0.069660,-0.410552,0.909172]] 2025-10-28T21:43:01.071Z,1761687781.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895959,0.376726,0.235234],[-0.438890,0.832163,0.338939],[-0.068066,-0.406917,0.910926]] 2025-10-28T21:43:01.474Z,1761687781.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882463,0.402526,0.243377],[-0.465683,0.820572,0.331362],[-0.066327,-0.405751,0.911574]] 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateRudder:A] Stopped 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:43:01.535Z,1761687781.535 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:43:01.536Z,1761687781.536 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:43:01.536Z,1761687781.536 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:43:01.536Z,1761687781.536 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:43:01.536Z,1761687781.536 [marl:UpdateCommandMode] Stopped 2025-10-28T21:43:01.536Z,1761687781.536 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:43:01.878Z,1761687781.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869297,0.426016,0.250664],[-0.490034,0.809179,0.324184],[-0.064724,-0.404646,0.912180]] 2025-10-28T21:43:01.931Z,1761687781.931 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:43:01.931Z,1761687781.931 [marl:UpdateRudder:B] Stopped 2025-10-28T21:43:01.931Z,1761687781.931 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:43:01.931Z,1761687781.931 [marl:UpdateRudder] Stopped 2025-10-28T21:43:01.931Z,1761687781.931 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:43:02.284Z,1761687782.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856504,0.446713,0.258551],[-0.512228,0.797236,0.319432],[-0.063432,-0.406032,0.911655]] 2025-10-28T21:43:02.686Z,1761687782.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843878,0.466178,0.265609],[-0.532970,0.785317,0.314991],[-0.061745,-0.407376,0.911171]] 2025-10-28T21:43:03.091Z,1761687783.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831036,0.483482,0.275000],[-0.553026,0.771115,0.315505],[-0.059516,-0.414278,0.908202]] 2025-10-28T21:43:03.504Z,1761687783.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802815,0.517812,0.295564],[-0.593849,0.738688,0.318879],[-0.053210,-0.431522,0.900532]] 2025-10-28T21:43:04.310Z,1761687784.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772278,0.552226,0.314061],[-0.633526,0.706213,0.316082],[-0.047245,-0.443069,0.895242]] 2025-10-28T21:43:04.729Z,1761687784.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755841,0.569796,0.322547],[-0.653164,0.690488,0.310810],[-0.045616,-0.445599,0.894070]] 2025-10-28T21:43:05.127Z,1761687785.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738143,0.588150,0.330491],[-0.673179,0.674384,0.303376],[-0.044446,-0.446414,0.893722]] 2025-10-28T21:43:05.518Z,1761687785.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717875,0.607437,0.340110],[-0.694808,0.655715,0.295433],[-0.043558,-0.448395,0.892774]] 2025-10-28T21:43:05.918Z,1761687785.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695644,0.628855,0.347304],[-0.717093,0.636852,0.283192],[-0.043095,-0.446050,0.893970]] 2025-10-28T21:43:06.324Z,1761687786.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672365,0.651320,0.351721],[-0.738983,0.618084,0.268098],[-0.042776,-0.440176,0.896892]] 2025-10-28T21:43:06.731Z,1761687786.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648066,0.675109,0.352473],[-0.760385,0.599531,0.249752],[-0.042709,-0.429871,0.901879]] 2025-10-28T21:43:07.185Z,1761687787.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623416,0.698372,0.351608],[-0.780712,0.580661,0.230914],[-0.042901,-0.418460,0.907221]] 2025-10-28T21:43:07.535Z,1761687787.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597907,0.720970,0.350299],[-0.800414,0.560434,0.212724],[-0.042951,-0.407573,0.912162]] 2025-10-28T21:43:07.939Z,1761687787.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572106,0.741758,0.349985],[-0.819042,0.539155,0.196169],[-0.043187,-0.398882,0.915985]] 2025-10-28T21:43:08.344Z,1761687788.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545541,0.760990,0.351111],[-0.836964,0.516350,0.181312],[-0.043320,-0.392781,0.918611]] 2025-10-28T21:43:08.746Z,1761687788.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518601,0.778744,0.353002],[-0.853913,0.492700,0.167572],[-0.043428,-0.388336,0.920494]] 2025-10-28T21:43:09.190Z,1761687789.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491321,0.794187,0.357591],[-0.869886,0.467997,0.155810],[-0.043609,-0.387616,0.920789]] 2025-10-28T21:43:09.555Z,1761687789.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463060,0.808186,0.363884],[-0.885254,0.441919,0.145027],[-0.043599,-0.389286,0.920085]] 2025-10-28T21:43:09.960Z,1761687789.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434216,0.819930,0.373057],[-0.899745,0.414886,0.135384],[-0.043771,-0.394442,0.917878]] 2025-10-28T21:43:10.363Z,1761687790.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404876,0.830815,0.381866],[-0.913310,0.387566,0.125127],[-0.044040,-0.399423,0.915708]] 2025-10-28T21:43:10.771Z,1761687790.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376456,0.839372,0.392092],[-0.925376,0.360914,0.115847],[-0.044272,-0.406444,0.912603]] 2025-10-28T21:43:11.193Z,1761687791.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347724,0.847782,0.400443],[-0.936561,0.334136,0.105859],[-0.044057,-0.411849,0.910187]] 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed] Stopped 2025-10-28T21:43:11.267Z,1761687791.267 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:43:11.273Z,1761687791.273 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:43:11.354Z,1761687791.354 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:43:11.354Z,1761687791.354 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:43:11.575Z,1761687791.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320056,0.854035,0.410107],[-0.946377,0.308306,0.096534],[-0.043995,-0.419012,0.906914]] 2025-10-28T21:43:11.605Z,1761687791.605 [DAT](INFO): DAT read: user:323> 2025-10-28T21:43:11.606Z,1761687791.606 [DAT](INFO): DAT read: Tx time:21:43:11.3500 2025-10-28T21:43:11.606Z,1761687791.606 [DAT](INFO): Ping request sent. 2025-10-28T21:43:11.606Z,1761687791.606 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:43:11.606Z,1761687791.606 [DAT](INFO): publishing transmit ping time 2025-10-28T21:43:11.608Z,1761687791.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001873 2025-10-28T21:43:11.857Z,1761687791.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250782 2025-10-28T21:43:11.985Z,1761687791.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292532,0.859448,0.419255],[-0.955261,0.282638,0.087135],[-0.043609,-0.425987,0.903678]] 2025-10-28T21:43:12.109Z,1761687792.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502846 2025-10-28T21:43:12.361Z,1761687792.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754778 2025-10-28T21:43:12.383Z,1761687792.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265673,0.865724,0.424193],[-0.963099,0.258011,0.076624],[-0.043111,-0.428897,0.902324]] 2025-10-28T21:43:12.614Z,1761687792.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007448 2025-10-28T21:43:12.819Z,1761687792.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238924,0.871745,0.427758],[-0.970111,0.233540,0.065916],[-0.042436,-0.430721,0.901487]] 2025-10-28T21:43:12.865Z,1761687792.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259183 2025-10-28T21:43:13.120Z,1761687793.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512980 2025-10-28T21:43:13.205Z,1761687793.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212171,0.876681,0.431756],[-0.976348,0.208957,0.055504],[-0.041559,-0.433321,0.900281]] 2025-10-28T21:43:13.369Z,1761687793.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762970 2025-10-28T21:43:13.595Z,1761687793.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184861,0.882128,0.433216],[-0.981940,0.183850,0.044650],[-0.040260,-0.433646,0.900184]] 2025-10-28T21:43:13.621Z,1761687793.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014975 2025-10-28T21:43:13.873Z,1761687793.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757 2025-10-28T21:43:13.999Z,1761687793.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155926,0.888571,0.431427],[-0.987028,0.157077,0.033215],[-0.038254,-0.431010,0.901536]] 2025-10-28T21:43:14.125Z,1761687794.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518823 2025-10-28T21:43:14.377Z,1761687794.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770832 2025-10-28T21:43:14.403Z,1761687794.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126620,0.895235,0.427225],[-0.991296,0.129849,0.021705],[-0.036044,-0.426254,0.903885]] 2025-10-28T21:43:14.629Z,1761687794.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022808 2025-10-28T21:43:14.807Z,1761687794.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096516,0.902816,0.419057],[-0.994767,0.101675,0.010064],[-0.033522,-0.417835,0.907904]] 2025-10-28T21:43:14.832Z,1761687794.832 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateRudder:A] Stopped 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:43:14.833Z,1761687794.833 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:43:14.834Z,1761687794.834 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:43:14.834Z,1761687794.834 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:43:14.834Z,1761687794.834 [marl:UpdateCommandMode] Stopped 2025-10-28T21:43:14.834Z,1761687794.834 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:43:14.881Z,1761687794.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274948 2025-10-28T21:43:15.135Z,1761687795.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528860 2025-10-28T21:43:15.214Z,1761687795.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066526,0.910204,0.408782],[-0.997301,0.073419,-0.001174],[-0.031081,-0.407600,0.912631]] 2025-10-28T21:43:15.266Z,1761687795.266 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:43:15.266Z,1761687795.266 [marl:UpdateRudder:B] Stopped 2025-10-28T21:43:15.266Z,1761687795.266 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:43:15.266Z,1761687795.266 [marl:UpdateRudder] Stopped 2025-10-28T21:43:15.266Z,1761687795.266 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:43:15.385Z,1761687795.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778825 2025-10-28T21:43:15.614Z,1761687795.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037041,0.915195,0.401305],[-0.998899,0.045482,-0.011524],[-0.028799,-0.400437,0.915872]] 2025-10-28T21:43:15.638Z,1761687795.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031567 2025-10-28T21:43:15.889Z,1761687795.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282833 2025-10-28T21:43:16.018Z,1761687796.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008425,0.916798,0.399263],[-0.999606,0.018416,-0.021195],[-0.026785,-0.398927,0.916591]] 2025-10-28T21:43:16.141Z,1761687796.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535128 2025-10-28T21:43:16.393Z,1761687796.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786738 2025-10-28T21:43:16.428Z,1761687796.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019458,0.917295,0.397732],[-0.999507,-0.008048,-0.030339],[-0.024629,-0.398126,0.917000]] 2025-10-28T21:43:16.645Z,1761687796.645 [DAT](INFO): DAT read: Rx Time:21:43:15.9393 2025-10-28T21:43:16.645Z,1761687796.645 [DAT](INFO): Rx dataTimestamp_ set to:1761687796.645206 2025-10-28T21:43:16.646Z,1761687796.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039965 2025-10-28T21:43:16.827Z,1761687796.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046187,0.913823,0.403477],[-0.998663,-0.032856,-0.039904],[-0.023209,-0.404780,0.914119]] 2025-10-28T21:43:16.897Z,1761687796.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290844 2025-10-28T21:43:17.172Z,1761687797.172 [DAT](INFO): DAT read: 21:43:15.9393 LVL= 30448, 29857, 29042, 32755, AGC= 91, IDX= 197,-0.26,-1.680,-2.859, 2.613,-1.899, PHS= 0.322,-0.915,-1.815, RAW= 65.2, 24.6, CAL= 61.0, 31.1, ROT= 89.0, -31.1 2025-10-28T21:43:17.176Z,1761687797.176 [DAT](INFO): got valid direction response: 21:43:15.9393 LVL= 30448, 29857, 29042, 32755, AGC= 91, IDX= 197,-0.26,-1.680,-2.859, 2.613,-1.899, PHS= 0.322,-0.915,-1.815, RAW= 65.2, 24.6, CAL= 61.0, 31.1, ROT= 89.0, -31.1 2025-10-28T21:43:17.179Z,1761687797.179 [DAT](INFO): DAT read: Bearing 340, -17 (Remote) 2025-10-28T21:43:17.181Z,1761687797.181 [DAT](INFO): Remote Bearing received:Bearing 340, -17 (Remote) 2025-10-28T21:43:17.182Z,1761687797.182 [DAT](INFO): DAT read: Bearing 159.8, 35.3 (Local) 2025-10-28T21:43:17.183Z,1761687797.183 [DAT](INFO): Local bearing/azimuth received: Bearing 159.8, 35.3 (Local) 2025-10-28T21:43:17.185Z,1761687797.185 [DAT](INFO): DAT read: Range 11 to 20 : 1920.1 m (Round-trip 2560.2 ms) speed -0.4 m/s 2025-10-28T21:43:17.186Z,1761687797.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:43:17.187Z,1761687797.187 [DAT](INFO): direction in FSK: [0.014944,0.856137,0.516533] 2025-10-28T21:43:17.188Z,1761687797.188 [DAT](INFO): publishing direction and range info 2025-10-28T21:43:17.231Z,1761687797.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072841,0.911532,0.404727],[-0.997105,-0.057682,-0.049541],[-0.021813,-0.407164,0.913094]] 2025-10-28T21:43:17.370Z,1761687797.370 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687808.00. Resetting abort timer. 2025-10-28T21:43:17.635Z,1761687797.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100028,0.907315,0.408379],[-0.994775,-0.082762,-0.059784],[-0.020445,-0.412225,0.910853]] 2025-10-28T21:43:18.038Z,1761687798.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127412,0.901119,0.414428],[-0.991664,-0.107646,-0.070817],[-0.019203,-0.419996,0.907323]] 2025-10-28T21:43:18.442Z,1761687798.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155185,0.895681,0.416741],[-0.987724,-0.133047,-0.081854],[-0.017869,-0.424328,0.905332]] 2025-10-28T21:43:18.847Z,1761687798.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183740,0.891096,0.414955],[-0.982842,-0.159607,-0.092449],[-0.016151,-0.424822,0.905133]] 2025-10-28T21:43:19.252Z,1761687799.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212744,0.885361,0.413372],[-0.977008,-0.186695,-0.102958],[-0.013980,-0.425772,0.904723]] 2025-10-28T21:43:19.656Z,1761687799.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241792,0.880230,0.408327],[-0.970259,-0.214305,-0.112566],[-0.011577,-0.423401,0.905868]] 2025-10-28T21:43:20.066Z,1761687800.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270965,0.875163,0.400833],[-0.962546,-0.242425,-0.121385],[-0.009059,-0.418712,0.908074]] 2025-10-28T21:43:20.463Z,1761687800.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299432,0.870268,0.391119],[-0.954095,-0.270257,-0.129091],[-0.006641,-0.411819,0.911242]] 2025-10-28T21:43:20.867Z,1761687800.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327961,0.864416,0.381087],[-0.944682,-0.298271,-0.136423],[-0.004259,-0.404747,0.914419]] 2025-10-28T21:43:21.273Z,1761687801.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355988,0.857350,0.371785],[-0.934488,-0.325686,-0.143738],[-0.002149,-0.398597,0.917123]] 2025-10-28T21:43:21.686Z,1761687801.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383162,0.848099,0.365943],[-0.923681,-0.351578,-0.152337],[-0.000539,-0.396385,0.918084]] 2025-10-28T21:43:22.078Z,1761687802.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410545,0.838403,0.358515],[-0.911840,-0.377764,-0.160754],[0.000658,-0.392905,0.919579]] 2025-10-28T21:43:22.483Z,1761687802.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438436,0.826413,0.353293],[-0.898761,-0.403794,-0.170818],[0.001491,-0.392419,0.919785]] 2025-10-28T21:43:22.888Z,1761687802.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465351,0.813727,0.348277],[-0.885124,-0.428654,-0.181136],[0.001895,-0.392560,0.919724]] 2025-10-28T21:43:23.290Z,1761687803.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493041,0.799618,0.342813],[-0.870002,-0.454296,-0.191601],[0.002531,-0.392715,0.919657]] 2025-10-28T21:43:23.698Z,1761687803.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518997,0.785182,0.337834],[-0.854772,-0.477987,-0.202223],[0.002698,-0.393724,0.919225]] 2025-10-28T21:43:24.099Z,1761687804.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544941,0.769514,0.332998],[-0.838469,-0.501557,-0.213097],[0.003036,-0.395334,0.918533]] 2025-10-28T21:43:24.145Z,1761687804.145 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:43:24.145Z,1761687804.145 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:43:24.145Z,1761687804.145 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:43:24.146Z,1761687804.146 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:43:24.146Z,1761687804.146 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:43:24.146Z,1761687804.146 [marl:UpdateSpeed] Stopped 2025-10-28T21:43:24.146Z,1761687804.146 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:43:24.507Z,1761687804.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569510,0.753354,0.328811],[-0.821978,-0.523472,-0.224341],[0.003115,-0.398040,0.917363]] 2025-10-28T21:43:24.907Z,1761687804.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592773,0.738164,0.322078],[-0.805363,-0.544990,-0.233188],[0.003398,-0.397617,0.917545]] 2025-10-28T21:43:25.311Z,1761687805.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615904,0.722037,0.315159],[-0.787812,-0.566441,-0.241861],[0.003887,-0.397249,0.917703]] 2025-10-28T21:43:25.714Z,1761687805.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637427,0.705570,0.309610],[-0.770499,-0.585972,-0.250936],[0.004370,-0.398507,0.917155]] 2025-10-28T21:43:26.119Z,1761687806.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657922,0.687767,0.306780],[-0.753068,-0.603613,-0.261801],[0.005119,-0.403271,0.915066]] 2025-10-28T21:43:26.529Z,1761687806.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677770,0.670113,0.302615],[-0.735252,-0.620805,-0.272040],[0.005568,-0.406879,0.913465]] 2025-10-28T21:43:26.926Z,1761687806.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697576,0.651356,0.298536],[-0.716484,-0.637767,-0.282673],[0.006275,-0.411082,0.911577]] 2025-10-28T21:43:27.331Z,1761687807.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716628,0.632183,0.294598],[-0.697418,-0.653879,-0.293343],[0.007184,-0.415676,0.909484]] 2025-10-28T21:43:27.565Z,1761687807.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:43:27.735Z,1761687807.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736287,0.612558,0.287498],[-0.676616,-0.671814,-0.301425],[0.008505,-0.416461,0.909114]] 2025-10-28T21:43:28.138Z,1761687808.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755522,0.591919,0.280746],[-0.655051,-0.688926,-0.310306],[0.009738,-0.418346,0.908236]] 2025-10-28T21:43:28.183Z,1761687808.183 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateRudder:A] Stopped 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:43:28.184Z,1761687808.184 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:43:28.185Z,1761687808.185 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:43:28.185Z,1761687808.185 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:43:28.185Z,1761687808.185 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:43:28.185Z,1761687808.185 [marl:UpdateCommandMode] Stopped 2025-10-28T21:43:28.185Z,1761687808.185 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:43:28.543Z,1761687808.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773998,0.570962,0.273733],[-0.633091,-0.705413,-0.318730],[0.011112,-0.419994,0.907459]] 2025-10-28T21:43:28.568Z,1761687808.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:43:28.594Z,1761687808.594 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:43:28.594Z,1761687808.594 [marl:UpdateRudder:B] Stopped 2025-10-28T21:43:28.594Z,1761687808.594 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:43:28.594Z,1761687808.594 [marl:UpdateRudder] Stopped 2025-10-28T21:43:28.594Z,1761687808.594 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:43:28.946Z,1761687808.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791669,0.549651,0.266728],[-0.610820,-0.721077,-0.327026],[0.012582,-0.421819,0.906593]] 2025-10-28T21:43:29.354Z,1761687809.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808348,0.528249,0.259859],[-0.588529,-0.735902,-0.334786],[0.014380,-0.423558,0.905755]] 2025-10-28T21:43:29.755Z,1761687809.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823664,0.508277,0.251460],[-0.566858,-0.750320,-0.340135],[0.015792,-0.422699,0.906133]] 2025-10-28T21:43:30.166Z,1761687810.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838432,0.487830,0.243011],[-0.544731,-0.764266,-0.345203],[0.017325,-0.421805,0.906521]] 2025-10-28T21:43:30.563Z,1761687810.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851978,0.467792,0.235169],[-0.523239,-0.776860,-0.350298],[0.018826,-0.421496,0.906635]] 2025-10-28T21:43:30.967Z,1761687810.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865117,0.447905,0.225730],[-0.501151,-0.790313,-0.352496],[0.020512,-0.418075,0.908181]] 2025-10-28T21:43:31.379Z,1761687811.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878130,0.427065,0.215646],[-0.477908,-0.803908,-0.354027],[0.022167,-0.413941,0.910034]] 2025-10-28T21:43:31.779Z,1761687811.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890911,0.404663,0.206218],[-0.453569,-0.816232,-0.357829],[0.023522,-0.412328,0.910732]] 2025-10-28T21:43:32.182Z,1761687812.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903568,0.381125,0.195725],[-0.427730,-0.828801,-0.360744],[0.024729,-0.409674,0.911897]] 2025-10-28T21:43:32.591Z,1761687812.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916358,0.355543,0.184056],[-0.399508,-0.842010,-0.362509],[0.026090,-0.405720,0.913625]] 2025-10-28T21:43:32.987Z,1761687812.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928740,0.327635,0.173485],[-0.369742,-0.852743,-0.368944],[0.027059,-0.406798,0.913117]] 2025-10-28T21:43:33.394Z,1761687813.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940103,0.299612,0.162599],[-0.339758,-0.862356,-0.375374],[0.027751,-0.408134,0.912500]] 2025-10-28T21:43:33.798Z,1761687813.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950598,0.271304,0.150859],[-0.309146,-0.871453,-0.380787],[0.028158,-0.408612,0.912274]] 2025-10-28T21:43:34.199Z,1761687814.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960312,0.241857,0.138947],[-0.277465,-0.879275,-0.387155],[0.028536,-0.410343,0.911485]] 2025-10-28T21:43:34.604Z,1761687814.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969009,0.212324,0.126255],[-0.245357,-0.886558,-0.392192],[0.028661,-0.411015,0.911178]] 2025-10-28T21:43:35.006Z,1761687815.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976480,0.183337,0.113469],[-0.213702,-0.892827,-0.396474],[0.028620,-0.411397,0.911007]] 2025-10-28T21:43:35.413Z,1761687815.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982575,0.155545,0.101742],[-0.183682,-0.896282,-0.403658],[0.028403,-0.415312,0.909235]] 2025-10-28T21:43:35.815Z,1761687815.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987463,0.129384,0.090427],[-0.155275,-0.899266,-0.408913],[0.028411,-0.417828,0.908082]] 2025-10-28T21:43:36.220Z,1761687816.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991325,0.104626,0.079550],[-0.128331,-0.901230,-0.413903],[0.028388,-0.420521,0.906839]] 2025-10-28T21:43:36.622Z,1761687816.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994296,0.080711,0.069719],[-0.102590,-0.902503,-0.418287],[0.029162,-0.423054,0.905635]] 2025-10-28T21:43:37.027Z,1761687817.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996478,0.057988,0.060572],[-0.078192,-0.903507,-0.421381],[0.030292,-0.424633,0.904859]] 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed] Stopped 2025-10-28T21:43:37.499Z,1761687817.499 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:43:38.239Z,1761687818.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999332,-0.009068,0.035394],[-0.006659,-0.907279,-0.420477],[0.035925,-0.420432,0.906613]] 2025-10-28T21:43:38.650Z,1761687818.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999134,-0.032042,0.026530],[0.017888,-0.906686,-0.421427],[0.037557,-0.420588,0.906474]] 2025-10-28T21:43:39.046Z,1761687819.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998313,-0.055431,0.017264],[0.043055,-0.906337,-0.420356],[0.038948,-0.418904,0.907195]] 2025-10-28T21:43:39.456Z,1761687819.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996801,-0.079536,0.007790],[0.069134,-0.907091,-0.415218],[0.040091,-0.413352,0.909688]] 2025-10-28T21:43:39.856Z,1761687819.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994510,-0.104606,-0.002763],[0.096529,-0.906892,-0.410157],[0.040399,-0.408172,0.912011]] 2025-10-28T21:43:40.258Z,1761687820.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991396,-0.130126,-0.014192],[0.124501,-0.903918,-0.409185],[0.040417,-0.407431,0.912341]] 2025-10-28T21:43:40.667Z,1761687820.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987310,-0.156649,-0.026083],[0.153616,-0.900429,-0.406976],[0.040266,-0.405818,0.913066]] 2025-10-28T21:43:41.066Z,1761687821.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982189,-0.183896,-0.038564],[0.183554,-0.895198,-0.406114],[0.040161,-0.405960,0.913008]] 2025-10-28T21:43:41.094Z,1761687821.094 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:43:41.094Z,1761687821.094 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:43:41.094Z,1761687821.094 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateRudder:A] Stopped 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:43:41.095Z,1761687821.095 [marl:UpdateCommandMode] Stopped 2025-10-28T21:43:41.096Z,1761687821.096 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:43:41.481Z,1761687821.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976127,-0.211084,-0.051190],[0.213511,-0.889251,-0.404531],[0.039869,-0.405803,0.913091]] 2025-10-28T21:43:41.543Z,1761687821.543 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:43:41.543Z,1761687821.543 [marl:UpdateRudder:B] Stopped 2025-10-28T21:43:41.543Z,1761687821.543 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:43:41.543Z,1761687821.543 [marl:UpdateRudder] Stopped 2025-10-28T21:43:41.543Z,1761687821.543 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:43:41.875Z,1761687821.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968796,-0.239519,-0.063761],[0.244664,-0.882936,-0.400704],[0.039680,-0.403800,0.913986]] 2025-10-28T21:43:42.279Z,1761687822.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960411,-0.267840,-0.076630],[0.275769,-0.874997,-0.397909],[0.039525,-0.403289,0.914219]] 2025-10-28T21:43:42.683Z,1761687822.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950931,-0.296118,-0.089687],[0.306904,-0.865995,-0.394794],[0.039237,-0.402947,0.914382]] 2025-10-28T21:43:43.088Z,1761687823.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940513,-0.323700,-0.103211],[0.337524,-0.855411,-0.392873],[0.038885,-0.404338,0.913782]] 2025-10-28T21:43:43.495Z,1761687823.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929193,-0.350569,-0.117060],[0.367605,-0.843775,-0.391037],[0.038314,-0.406381,0.912900]] 2025-10-28T21:43:43.896Z,1761687823.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917286,-0.376224,-0.130544],[0.396448,-0.831751,-0.388612],[0.037625,-0.408222,0.912107]] 2025-10-28T21:43:44.300Z,1761687824.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905127,-0.400176,-0.143542],[0.423545,-0.819540,-0.385958],[0.036813,-0.410137,0.911281]] 2025-10-28T21:43:44.703Z,1761687824.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892240,-0.423911,-0.155588],[0.450133,-0.807568,-0.381070],[0.035892,-0.410041,0.911361]] 2025-10-28T21:43:45.110Z,1761687825.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879191,-0.446122,-0.167325],[0.475177,-0.795116,-0.376825],[0.035067,-0.410810,0.911046]] 2025-10-28T21:43:45.918Z,1761687825.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850552,-0.490804,-0.188870],[0.524728,-0.768186,-0.366811],[0.034945,-0.411097,0.910921]] 2025-10-28T21:43:46.319Z,1761687826.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834735,-0.513041,-0.200015],[0.549514,-0.752776,-0.362440],[0.035380,-0.412452,0.910292]] 2025-10-28T21:43:46.723Z,1761687826.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817779,-0.535272,-0.211475],[0.574413,-0.736177,-0.357901],[0.035892,-0.414158,0.909497]] 2025-10-28T21:43:47.178Z,1761687827.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780588,-0.579572,-0.234046],[0.623991,-0.700839,-0.345629],[0.036288,-0.415837,0.908715]] 2025-10-28T21:43:47.935Z,1761687827.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760840,-0.600832,-0.245200],[0.647935,-0.682327,-0.338542],[0.036100,-0.416450,0.908442]] 2025-10-28T21:43:48.339Z,1761687828.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740377,-0.621139,-0.256958],[0.671248,-0.662944,-0.331558],[0.035595,-0.417961,0.907767]] 2025-10-28T21:43:48.742Z,1761687828.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719710,-0.640914,-0.266919],[0.693404,-0.644322,-0.322552],[0.034747,-0.417226,0.908138]] 2025-10-28T21:43:49.186Z,1761687829.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677665,-0.677914,-0.284960],[0.734655,-0.607011,-0.303018],[0.032446,-0.414692,0.909383]] 2025-10-28T21:43:49.216Z,1761687829.216 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:43:49.555Z,1761687829.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656670,-0.695706,-0.291167],[0.753549,-0.589478,-0.290999],[0.030813,-0.410498,0.911341]] 2025-10-28T21:43:49.959Z,1761687829.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635139,-0.712270,-0.298781],[0.771826,-0.570380,-0.280984],[0.029718,-0.409071,0.912019]] 2025-10-28T21:43:50.363Z,1761687830.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613153,-0.727665,-0.307486],[0.789429,-0.550085,-0.272413],[0.029082,-0.409769,0.911726]] 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:43:50.387Z,1761687830.387 [marl:UpdateSpeed] Stopped 2025-10-28T21:43:50.388Z,1761687830.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:43:50.773Z,1761687830.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589996,-0.743045,-0.315893],[0.806884,-0.528540,-0.263788],[0.029044,-0.410523,0.911388]] 2025-10-28T21:43:51.189Z,1761687831.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565380,-0.757975,-0.325299],[0.824302,-0.505097,-0.255741],[0.029538,-0.412735,0.910372]] 2025-10-28T21:43:51.571Z,1761687831.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539883,-0.771575,-0.336451],[0.841191,-0.480116,-0.248770],[0.030409,-0.417326,0.908248]] 2025-10-28T21:43:51.975Z,1761687831.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512609,-0.785421,-0.346911],[0.858052,-0.453869,-0.240312],[0.031294,-0.420853,0.906589]] 2025-10-28T21:43:52.380Z,1761687832.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483642,-0.800081,-0.354910],[0.874678,-0.426936,-0.229487],[0.032084,-0.421422,0.906297]] 2025-10-28T21:43:52.792Z,1761687832.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452868,-0.814970,-0.361573],[0.890988,-0.398941,-0.216762],[0.032408,-0.420322,0.906796]] 2025-10-28T21:43:53.193Z,1761687833.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421219,-0.829214,-0.367393],[0.906386,-0.370474,-0.203012],[0.032231,-0.418513,0.907639]] 2025-10-28T21:43:53.591Z,1761687833.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389065,-0.844725,-0.367516],[0.920669,-0.342881,-0.186549],[0.031569,-0.410940,0.911115]] 2025-10-28T21:43:53.996Z,1761687833.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356447,-0.859594,-0.366119],[0.933851,-0.315420,-0.168622],[0.029465,-0.402005,0.915163]] 2025-10-28T21:43:54.398Z,1761687834.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323513,-0.874039,-0.362485],[0.945866,-0.288189,-0.149280],[0.026012,-0.391157,0.919956]] 2025-10-28T21:43:54.428Z,1761687834.428 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:43:54.428Z,1761687834.428 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:43:54.428Z,1761687834.428 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateRudder:A] Stopped 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:43:54.429Z,1761687834.429 [marl:UpdateCommandMode] Stopped 2025-10-28T21:43:54.430Z,1761687834.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:43:54.803Z,1761687834.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290814,-0.886208,-0.360642],[0.956533,-0.260742,-0.130604],[0.021708,-0.382948,0.923515]] 2025-10-28T21:43:54.847Z,1761687834.847 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:43:54.847Z,1761687834.847 [marl:UpdateRudder:B] Stopped 2025-10-28T21:43:54.847Z,1761687834.847 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:43:54.847Z,1761687834.847 [marl:UpdateRudder] Stopped 2025-10-28T21:43:54.847Z,1761687834.847 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:43:55.632Z,1761687835.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228362,-0.904864,-0.359265],[0.973504,-0.207730,-0.095595],[0.011870,-0.371576,0.928327]] 2025-10-28T21:43:56.016Z,1761687836.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198664,-0.908271,-0.368207],[0.980046,-0.181614,-0.080783],[0.006502,-0.376908,0.926228]] 2025-10-28T21:43:56.419Z,1761687836.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170122,-0.909507,-0.379284],[0.985421,-0.156346,-0.067084],[0.001714,-0.385167,0.922845]] 2025-10-28T21:43:56.822Z,1761687836.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141797,-0.911366,-0.386402],[0.989894,-0.131331,-0.053503],[-0.001986,-0.390083,0.920777]] 2025-10-28T21:43:57.639Z,1761687837.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085288,-0.910727,-0.404107],[0.996339,-0.080358,-0.029181],[-0.005897,-0.405116,0.914246]] 2025-10-28T21:43:58.034Z,1761687838.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056068,-0.909993,-0.410815],[0.998408,-0.053614,-0.017502],[-0.006099,-0.411143,0.911551]] 2025-10-28T21:43:58.440Z,1761687838.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025156,-0.910577,-0.412574],[0.999668,-0.025186,-0.005365],[-0.005505,-0.412572,0.910908]] 2025-10-28T21:43:58.688Z,1761687838.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:43:58.843Z,1761687838.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007435,-0.910018,-0.414503],[0.999960,0.004707,0.007601],[-0.004966,-0.414543,0.910016]] 2025-10-28T21:43:59.246Z,1761687839.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041768,-0.910085,-0.412311],[0.999115,0.036027,0.021691],[-0.004886,-0.412852,0.910785]] 2025-10-28T21:43:59.654Z,1761687839.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076524,-0.910255,-0.406915],[0.997055,0.067757,0.035934],[-0.005138,-0.408466,0.912759]] 2025-10-28T21:43:59.692Z,1761687839.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:44:00.057Z,1761687840.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111543,-0.910787,-0.397525],[0.993740,0.099732,0.050338],[-0.006201,-0.400651,0.916210]] 2025-10-28T21:44:00.459Z,1761687840.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146290,-0.909697,-0.388653],[0.989206,0.131160,0.065341],[-0.008465,-0.394017,0.919064]] 2025-10-28T21:44:00.862Z,1761687840.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180460,-0.907340,-0.379695],[0.983512,0.161846,0.080684],[-0.011756,-0.387995,0.921586]] 2025-10-28T21:44:01.266Z,1761687841.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213035,-0.903844,-0.371056],[0.976914,0.190848,0.095996],[-0.015950,-0.382940,0.923635]] 2025-10-28T21:44:01.680Z,1761687841.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243568,-0.899610,-0.362460],[0.969668,0.217986,0.110570],[-0.020458,-0.378397,0.925417]] 2025-10-28T21:44:02.076Z,1761687842.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272701,-0.895288,-0.352270],[0.961771,0.244128,0.124086],[-0.025094,-0.372641,0.927636]] 2025-10-28T21:44:02.479Z,1761687842.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300205,-0.888648,-0.346673],[0.953424,0.268372,0.137694],[-0.029324,-0.371863,0.927824]] 2025-10-28T21:44:02.882Z,1761687842.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326826,-0.880826,-0.342535],[0.944511,0.291798,0.150838],[-0.032911,-0.372826,0.927318]] 2025-10-28T21:44:03.287Z,1761687843.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353330,-0.871284,-0.340619],[0.934824,0.315019,0.163909],[-0.035510,-0.376333,0.925804]] 2025-10-28T21:44:03.361Z,1761687843.361 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:44:03.361Z,1761687843.361 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:44:03.361Z,1761687843.361 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:44:03.362Z,1761687843.362 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:44:03.362Z,1761687843.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:44:03.362Z,1761687843.362 [marl:UpdateSpeed] Stopped 2025-10-28T21:44:03.362Z,1761687843.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:44:03.700Z,1761687843.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379674,-0.859991,-0.340974],[0.924349,0.337601,0.177778],[-0.037775,-0.382676,0.923110]] 2025-10-28T21:44:04.106Z,1761687844.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406200,-0.846343,-0.344536],[0.912939,0.359661,0.192839],[-0.039292,-0.392871,0.918754]] 2025-10-28T21:44:04.499Z,1761687844.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433417,-0.832419,-0.345295],[0.900298,0.382870,0.207058],[-0.040156,-0.400611,0.915368]] 2025-10-28T21:44:04.902Z,1761687844.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460040,-0.818525,-0.344064],[0.886979,0.406025,0.220028],[-0.040400,-0.406399,0.912802]] 2025-10-28T21:44:05.309Z,1761687845.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486470,-0.804228,-0.341413],[0.872756,0.429179,0.232597],[-0.040534,-0.411122,0.910679]] 2025-10-28T21:44:05.710Z,1761687845.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511693,-0.789858,-0.338076],[0.858221,0.451419,0.244292],[-0.040342,-0.415146,0.908860]] 2025-10-28T21:44:06.117Z,1761687846.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536205,-0.774733,-0.335073],[0.843158,0.472976,0.255692],[-0.039611,-0.419622,0.906834]] 2025-10-28T21:44:06.519Z,1761687846.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559717,-0.762472,-0.324581],[0.827776,0.496108,0.262037],[-0.038769,-0.415347,0.908836]] 2025-10-28T21:44:06.922Z,1761687846.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582204,-0.748228,-0.318109],[0.812144,0.516815,0.270784],[-0.038204,-0.416002,0.908561]] 2025-10-28T21:44:07.328Z,1761687847.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602995,-0.736006,-0.307722],[0.796880,0.537766,0.275300],[-0.037140,-0.411222,0.910778]] 2025-10-28T21:44:07.731Z,1761687847.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622689,-0.722888,-0.299486],[0.781642,0.557064,0.280563],[-0.035982,-0.408794,0.911917]] 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateRudder:A] Stopped 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:44:07.794Z,1761687847.794 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode] Stopped 2025-10-28T21:44:07.795Z,1761687847.795 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:44:08.135Z,1761687848.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642073,-0.708402,-0.293103],[0.765861,0.575421,0.286963],[-0.034628,-0.408727,0.911999]] 2025-10-28T21:44:08.159Z,1761687848.159 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:44:08.160Z,1761687848.160 [marl:UpdateRudder:B] Stopped 2025-10-28T21:44:08.160Z,1761687848.160 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:44:08.160Z,1761687848.160 [marl:UpdateRudder] Stopped 2025-10-28T21:44:08.160Z,1761687848.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:44:08.538Z,1761687848.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661976,-0.692045,-0.287858],[0.748773,0.593399,0.295323],[-0.033562,-0.411037,0.911001]] 2025-10-28T21:44:08.942Z,1761687848.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681820,-0.674997,-0.281958],[0.730804,0.611481,0.303342],[-0.032343,-0.412881,0.910211]] 2025-10-28T21:44:09.347Z,1761687849.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702020,-0.657824,-0.272829],[0.711484,0.631190,0.308852],[-0.030963,-0.410934,0.911139]] 2025-10-28T21:44:09.761Z,1761687849.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722554,-0.639493,-0.262611],[0.690672,0.651401,0.314085],[-0.029790,-0.408321,0.912352]] 2025-10-28T21:44:10.154Z,1761687850.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743476,-0.619867,-0.251016],[0.668136,0.672221,0.318925],[-0.028953,-0.404826,0.913935]] 2025-10-28T21:44:10.558Z,1761687850.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764462,-0.598962,-0.238417],[0.644051,0.693401,0.323099],[-0.028205,-0.400550,0.915841]] 2025-10-28T21:44:10.963Z,1761687850.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785349,-0.576653,-0.225164],[0.618409,0.714205,0.327842],[-0.028238,-0.396714,0.917508]] 2025-10-28T21:44:11.369Z,1761687851.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805914,-0.553415,-0.210318],[0.591327,0.735118,0.331563],[-0.028884,-0.391578,0.919691]] 2025-10-28T21:44:11.426Z,1761687851.426 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:44:11.609Z,1761687851.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:44:11.609Z,1761687851.609 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:44:11.785Z,1761687851.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825728,-0.528674,-0.196666],[0.563244,0.753939,0.338131],[-0.030486,-0.389975,0.920321]] 2025-10-28T21:44:11.861Z,1761687851.861 [DAT](INFO): DAT read: user:324> 2025-10-28T21:44:11.862Z,1761687851.862 [DAT](INFO): DAT read: Tx time:21:44:11.5998 2025-10-28T21:44:11.862Z,1761687851.862 [DAT](INFO): Ping request sent. 2025-10-28T21:44:11.862Z,1761687851.862 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:44:11.862Z,1761687851.862 [DAT](INFO): publishing transmit ping time 2025-10-28T21:44:11.863Z,1761687851.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947 2025-10-28T21:44:12.113Z,1761687852.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250719 2025-10-28T21:44:12.174Z,1761687852.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844518,-0.502838,-0.184236],[0.534539,0.770617,0.347012],[-0.032515,-0.391539,0.919587]] 2025-10-28T21:44:12.365Z,1761687852.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502747 2025-10-28T21:44:12.586Z,1761687852.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861974,-0.477062,-0.171504],[0.505754,0.785976,0.355604],[-0.034847,-0.393260,0.918767]] 2025-10-28T21:44:12.617Z,1761687852.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754760 2025-10-28T21:44:12.869Z,1761687852.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667 2025-10-28T21:44:12.983Z,1761687852.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877792,-0.451707,-0.159506],[0.477575,0.799122,0.365138],[-0.037470,-0.396691,0.917187]] 2025-10-28T21:44:13.126Z,1761687853.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263378 2025-10-28T21:44:13.373Z,1761687853.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510734 2025-10-28T21:44:13.389Z,1761687853.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892327,-0.426473,-0.147894],[0.449586,0.810449,0.375559],[-0.040305,-0.401613,0.914922]] 2025-10-28T21:44:13.625Z,1761687853.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762724 2025-10-28T21:44:13.794Z,1761687853.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905021,-0.402606,-0.137277],[0.423195,0.819655,0.386098],[-0.042925,-0.407522,0.912186]] 2025-10-28T21:44:13.877Z,1761687853.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014774 2025-10-28T21:44:14.130Z,1761687854.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267610 2025-10-28T21:44:14.200Z,1761687854.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916629,-0.378878,-0.127451],[0.397171,0.827113,0.397667],[-0.045250,-0.415133,0.908635]] 2025-10-28T21:44:14.381Z,1761687854.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518789 2025-10-28T21:44:14.602Z,1761687854.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927044,-0.355944,-0.117867],[0.371964,0.833432,0.408697],[-0.047239,-0.422722,0.905027]] 2025-10-28T21:44:14.633Z,1761687854.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770844 2025-10-28T21:44:14.885Z,1761687854.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022778 2025-10-28T21:44:15.002Z,1761687855.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936494,-0.333570,-0.108213],[0.347299,0.839421,0.418037],[-0.048608,-0.429072,0.901962]] 2025-10-28T21:44:15.140Z,1761687855.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276986 2025-10-28T21:44:15.389Z,1761687855.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526760 2025-10-28T21:44:15.407Z,1761687855.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945170,-0.311408,-0.098385],[0.322823,0.845327,0.425685],[-0.049394,-0.434105,0.899507]] 2025-10-28T21:44:15.641Z,1761687855.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778735 2025-10-28T21:44:15.893Z,1761687855.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030805 2025-10-28T21:44:16.146Z,1761687856.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283484 2025-10-28T21:44:16.235Z,1761687856.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959817,-0.269314,-0.078873],[0.276248,0.857301,0.434422],[-0.049378,-0.438754,0.897249]] 2025-10-28T21:44:16.397Z,1761687856.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534788 2025-10-28T21:44:16.618Z,1761687856.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966502,-0.247560,-0.067734],[0.252016,0.865405,0.433084],[-0.048597,-0.435646,0.898805]] 2025-10-28T21:44:16.649Z,1761687856.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786862 2025-10-28T21:44:16.653Z,1761687856.653 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:44:16.653Z,1761687856.653 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:44:16.653Z,1761687856.653 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:44:16.654Z,1761687856.654 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:44:16.654Z,1761687856.654 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:44:16.654Z,1761687856.654 [marl:UpdateSpeed] Stopped 2025-10-28T21:44:16.654Z,1761687856.654 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:44:16.901Z,1761687856.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038747 2025-10-28T21:44:17.023Z,1761687857.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973002,-0.224089,-0.055242],[0.225889,0.875518,0.427132],[-0.047351,-0.428079,0.902500]] 2025-10-28T21:44:17.157Z,1761687857.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294241 2025-10-28T21:44:17.405Z,1761687857.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542670 2025-10-28T21:44:17.427Z,1761687857.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979017,-0.199317,-0.042418],[0.198522,0.885878,0.419296],[-0.045996,-0.418919,0.906858]] 2025-10-28T21:44:17.657Z,1761687857.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794759 2025-10-28T21:44:17.850Z,1761687857.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984442,-0.173205,-0.029556],[0.169905,0.895486,0.411385],[-0.044787,-0.410007,0.910982]] 2025-10-28T21:44:17.909Z,1761687857.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047032 2025-10-28T21:44:18.161Z,1761687858.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298697 2025-10-28T21:44:18.235Z,1761687858.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989163,-0.145868,-0.016704],[0.140193,0.904575,0.402604],[-0.043617,-0.400583,0.915222]] 2025-10-28T21:44:18.413Z,1761687858.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550765 2025-10-28T21:44:18.638Z,1761687858.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993033,-0.117778,-0.003802],[0.109793,0.913030,0.392837],[-0.042796,-0.390517,0.919600]] 2025-10-28T21:44:18.665Z,1761687858.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802729 2025-10-28T21:44:18.917Z,1761687858.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054681 2025-10-28T21:44:19.042Z,1761687859.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995959,-0.089395,0.008597],[0.079244,0.919822,0.384249],[-0.042257,-0.382015,0.923189]] 2025-10-28T21:44:19.174Z,1761687859.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311317 2025-10-28T21:44:19.421Z,1761687859.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558786 2025-10-28T21:44:19.453Z,1761687859.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997961,-0.060295,0.020936],[0.047861,0.923942,0.379527],[-0.042228,-0.377752,0.924944]] 2025-10-28T21:44:19.673Z,1761687859.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810727 2025-10-28T21:44:19.851Z,1761687859.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998983,-0.030298,0.033379],[0.015515,0.926304,0.376459],[-0.042325,-0.375558,0.925832]] 2025-10-28T21:44:19.925Z,1761687859.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062769 2025-10-28T21:44:20.177Z,1761687860.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314733 2025-10-28T21:44:20.254Z,1761687860.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998934,-0.000542,0.046165],[-0.016836,0.926802,0.375172],[-0.042989,-0.375550,0.925805]] 2025-10-28T21:44:20.429Z,1761687860.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566743 2025-10-28T21:44:20.659Z,1761687860.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997794,0.029497,0.059467],[-0.049776,0.925165,0.376287],[-0.043918,-0.378418,0.924592]] 2025-10-28T21:44:20.681Z,1761687860.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818673 2025-10-28T21:44:20.933Z,1761687860.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070770 2025-10-28T21:44:21.072Z,1761687861.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995523,0.059715,0.073265],[-0.083200,0.921449,0.379487],[-0.044849,-0.383884,0.922292]] 2025-10-28T21:44:21.095Z,1761687861.095 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:44:21.095Z,1761687861.095 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateRudder:A] Stopped 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:44:21.096Z,1761687861.096 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:44:21.097Z,1761687861.097 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:44:21.097Z,1761687861.097 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:44:21.097Z,1761687861.097 [marl:UpdateCommandMode] Stopped 2025-10-28T21:44:21.097Z,1761687861.097 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:44:21.186Z,1761687861.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323473 2025-10-28T21:44:21.437Z,1761687861.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574746 2025-10-28T21:44:21.466Z,1761687861.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992104,0.089899,0.087450],[-0.116843,0.915913,0.383994],[-0.045576,-0.391180,0.919185]] 2025-10-28T21:44:21.524Z,1761687861.524 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:44:21.524Z,1761687861.524 [marl:UpdateRudder:B] Stopped 2025-10-28T21:44:21.524Z,1761687861.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:44:21.524Z,1761687861.524 [marl:UpdateRudder] Stopped 2025-10-28T21:44:21.524Z,1761687861.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:44:21.689Z,1761687861.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826805 2025-10-28T21:44:21.871Z,1761687861.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987526,0.119995,0.101949],[-0.150454,0.910054,0.386219],[-0.046435,-0.396740,0.916756]] 2025-10-28T21:44:21.941Z,1761687861.941 [DAT](INFO): Reached modem response timeout 2025-10-28T21:44:22.275Z,1761687862.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981853,0.149556,0.116608],[-0.183659,0.903118,0.388132],[-0.047263,-0.402505,0.914197]] 2025-10-28T21:44:22.678Z,1761687862.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975054,0.179241,0.130930],[-0.216868,0.894992,0.389816],[-0.047311,-0.408486,0.911537]] 2025-10-28T21:44:23.083Z,1761687863.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967228,0.209027,0.144149],[-0.249487,0.887896,0.386520],[-0.047196,-0.409816,0.910946]] 2025-10-28T21:44:23.489Z,1761687863.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958724,0.237870,0.155777],[-0.280422,0.881617,0.379624],[-0.047035,-0.407638,0.911931]] 2025-10-28T21:44:23.891Z,1761687863.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949710,0.265083,0.166681],[-0.309532,0.875213,0.371742],[-0.047339,-0.404640,0.913250]] 2025-10-28T21:44:24.209Z,1761687864.209 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:44:24.209Z,1761687864.209 [DAT](INFO): response not received 2025-10-28T21:44:24.209Z,1761687864.209 [DAT](ERROR): No response from remote modem. 2025-10-28T21:44:24.294Z,1761687864.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940315,0.291446,0.175691],[-0.336951,0.869688,0.360702],[-0.047671,-0.398373,0.915984]] 2025-10-28T21:44:24.698Z,1761687864.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930443,0.317137,0.183575],[-0.363276,0.863972,0.348687],[-0.048022,-0.391122,0.919085]] 2025-10-28T21:44:25.106Z,1761687865.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920362,0.341248,0.191007],[-0.388062,0.857382,0.338089],[-0.048394,-0.385287,0.921527]] 2025-10-28T21:44:25.507Z,1761687865.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909996,0.364051,0.198429],[-0.411729,0.849830,0.329040],[-0.048843,-0.381124,0.923233]] 2025-10-28T21:44:25.912Z,1761687865.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899366,0.385106,0.206963],[-0.434437,0.840311,0.324257],[-0.049040,-0.381538,0.923051]] 2025-10-28T21:44:26.314Z,1761687866.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888230,0.404395,0.217973],[-0.456776,0.828044,0.325114],[-0.049017,-0.388341,0.920211]] 2025-10-28T21:44:27.162Z,1761687867.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863979,0.440161,0.244538],[-0.501263,0.797871,0.334871],[-0.047713,-0.411899,0.909979]] 2025-10-28T21:44:27.530Z,1761687867.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850714,0.457458,0.258880],[-0.523531,0.781390,0.339625],[-0.046922,-0.424455,0.904232]] 2025-10-28T21:44:27.931Z,1761687867.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836951,0.474308,0.273028],[-0.545272,0.765365,0.341899],[-0.046801,-0.435027,0.899200]] 2025-10-28T21:44:28.335Z,1761687868.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822434,0.491832,0.285839],[-0.566888,0.750414,0.339878],[-0.047335,-0.441566,0.895979]] 2025-10-28T21:44:28.741Z,1761687868.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807027,0.509976,0.297711],[-0.588512,0.736077,0.334431],[-0.048587,-0.445101,0.894161]] 2025-10-28T21:44:29.182Z,1761687869.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789712,0.531897,0.305680],[-0.611439,0.723009,0.321560],[-0.049973,-0.440845,0.896191]] 2025-10-28T21:44:29.553Z,1761687869.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769873,0.557743,0.310192],[-0.636151,0.709557,0.303054],[-0.051073,-0.430641,0.901077]] 2025-10-28T21:44:29.585Z,1761687869.585 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:44:29.585Z,1761687869.585 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:44:29.585Z,1761687869.585 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:44:29.586Z,1761687869.586 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:44:29.586Z,1761687869.586 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:44:29.586Z,1761687869.586 [marl:UpdateSpeed] Stopped 2025-10-28T21:44:29.586Z,1761687869.586 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:44:29.812Z,1761687869.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:44:30.008Z,1761687870.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726235,0.613684,0.309796],[-0.685253,0.682214,0.254975],[-0.054874,-0.397461,0.915977]] 2025-10-28T21:44:30.765Z,1761687870.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702450,0.641564,0.308157],[-0.709378,0.666293,0.229861],[-0.057852,-0.380066,0.923148]] 2025-10-28T21:44:30.816Z,1761687870.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:44:31.187Z,1761687871.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677779,0.668563,0.306005],[-0.732669,0.649061,0.204733],[-0.061739,-0.362964,0.929756]] 2025-10-28T21:44:31.567Z,1761687871.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652385,0.693026,0.306772],[-0.754965,0.629765,0.182819],[-0.066496,-0.350871,0.934060]] 2025-10-28T21:44:31.974Z,1761687871.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625986,0.715437,0.310309],[-0.776545,0.608379,0.163868],[-0.071548,-0.343548,0.936406]] 2025-10-28T21:44:32.376Z,1761687872.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598828,0.736200,0.315299],[-0.797205,0.585605,0.146738],[-0.076612,-0.339229,0.937579]] 2025-10-28T21:44:32.800Z,1761687872.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570854,0.754164,0.324596],[-0.817027,0.560874,0.133741],[-0.081195,-0.341550,0.936350]] 2025-10-28T21:44:33.195Z,1761687873.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542143,0.771073,0.333958],[-0.835989,0.535086,0.121677],[-0.084874,-0.345151,0.934702]] 2025-10-28T21:44:33.586Z,1761687873.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513225,0.785887,0.344939],[-0.853810,0.508364,0.112135],[-0.087229,-0.352063,0.931903]] 2025-10-28T21:44:33.993Z,1761687873.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484610,0.799095,0.355809],[-0.870303,0.481338,0.104336],[-0.087890,-0.360224,0.928716]] 2025-10-28T21:44:34.399Z,1761687874.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457775,0.810233,0.366012],[-0.884774,0.455582,0.098083],[-0.087279,-0.368738,0.925427]] 2025-10-28T21:44:34.436Z,1761687874.436 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateRudder:A] Stopped 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:44:34.437Z,1761687874.437 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:44:34.438Z,1761687874.438 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:44:34.438Z,1761687874.438 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:44:34.438Z,1761687874.438 [marl:UpdateCommandMode] Stopped 2025-10-28T21:44:34.438Z,1761687874.438 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:44:34.810Z,1761687874.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409709,0.821068,0.397475],[-0.908388,0.407098,0.095402],[-0.083480,-0.400149,0.912640]] 2025-10-28T21:44:34.845Z,1761687874.845 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:44:34.845Z,1761687874.845 [marl:UpdateRudder:B] Stopped 2025-10-28T21:44:34.845Z,1761687874.845 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:44:34.845Z,1761687874.845 [marl:UpdateRudder] Stopped 2025-10-28T21:44:34.845Z,1761687874.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:44:35.208Z,1761687875.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385890,0.823668,0.415523],[-0.919025,0.382524,0.095230],[-0.080510,-0.418625,0.904584]] 2025-10-28T21:44:35.613Z,1761687875.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361897,0.826113,0.431934],[-0.928985,0.358151,0.093356],[-0.077576,-0.435045,0.897060]] 2025-10-28T21:44:36.022Z,1761687876.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337724,0.828326,0.447012],[-0.938224,0.334272,0.089427],[-0.075349,-0.449599,0.890047]] 2025-10-28T21:44:36.415Z,1761687876.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313968,0.830703,0.459735],[-0.946468,0.312092,0.082447],[-0.074991,-0.461010,0.884221]] 2025-10-28T21:44:36.825Z,1761687876.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290425,0.834670,0.467953],[-0.953810,0.291764,0.071553],[-0.076808,-0.467119,0.880852]] 2025-10-28T21:44:37.225Z,1761687877.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265488,0.842772,0.468242],[-0.960791,0.271566,0.055976],[-0.079983,-0.464744,0.881825]] 2025-10-28T21:44:37.627Z,1761687877.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236834,0.859201,0.453524],[-0.968038,0.248348,0.035022],[-0.082541,-0.447322,0.890556]] 2025-10-28T21:44:38.037Z,1761687878.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204324,0.879296,0.430221],[-0.975265,0.220706,0.012097],[-0.084316,-0.422051,0.902643]] 2025-10-28T21:44:38.435Z,1761687878.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169731,0.898072,0.405781],[-0.981733,0.190008,-0.009884],[-0.085978,-0.396691,0.913917]] 2025-10-28T21:44:38.846Z,1761687878.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134543,0.912960,0.385229],[-0.986999,0.157965,-0.029651],[-0.087923,-0.376232,0.922345]] 2025-10-28T21:44:39.243Z,1761687879.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099207,0.924166,0.368883],[-0.990982,0.125314,-0.047436],[-0.090065,-0.360851,0.928264]] 2025-10-28T21:44:39.647Z,1761687879.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064104,0.929607,0.362934],[-0.993675,0.093059,-0.062848],[-0.092198,-0.356609,0.929693]] 2025-10-28T21:44:40.051Z,1761687880.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029099,0.929838,0.366816],[-0.995143,0.061475,-0.076889],[-0.094044,-0.362797,0.927110]] 2025-10-28T21:44:40.456Z,1761687880.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004492,0.928296,0.371814],[-0.995373,0.031538,-0.090764],[-0.095982,-0.370501,0.923860]] 2025-10-28T21:44:40.860Z,1761687880.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036685,0.924308,0.379879],[-0.994545,0.003376,-0.104257],[-0.097648,-0.381632,0.919142]] 2025-10-28T21:44:41.263Z,1761687881.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067842,0.920785,0.384126],[-0.992743,-0.023986,-0.117835],[-0.099287,-0.389333,0.915730]] 2025-10-28T21:44:41.667Z,1761687881.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097927,0.915801,0.389510],[-0.990054,-0.049923,-0.131534],[-0.101013,-0.398516,0.911582]] 2025-10-28T21:44:42.071Z,1761687882.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126924,0.911426,0.391398],[-0.986617,-0.075284,-0.144634],[-0.102357,-0.404518,0.908784]] 2025-10-28T21:44:42.475Z,1761687882.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154953,0.905306,0.395488],[-0.982495,-0.099310,-0.157613],[-0.103413,-0.412987,0.904847]] 2025-10-28T21:44:42.892Z,1761687882.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183455,0.900369,0.394564],[-0.977529,-0.124696,-0.169962],[-0.103828,-0.416878,0.903013]] 2025-10-28T21:44:42.926Z,1761687882.926 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed] Stopped 2025-10-28T21:44:42.927Z,1761687882.927 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:44:43.282Z,1761687883.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211879,0.895415,0.391586],[-0.971774,-0.150496,-0.181676],[-0.103743,-0.419026,0.902028]] 2025-10-28T21:44:43.688Z,1761687883.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240689,0.889809,0.387697],[-0.965097,-0.176918,-0.193102],[-0.103233,-0.420643,0.901334]] 2025-10-28T21:44:44.501Z,1761687884.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300424,0.875981,0.377362],[-0.948367,-0.232150,-0.216115],[-0.101708,-0.422804,0.900496]] 2025-10-28T21:44:44.899Z,1761687884.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330397,0.867991,0.370714],[-0.938392,-0.259944,-0.227704],[-0.101280,-0.423108,0.900401]] 2025-10-28T21:44:45.304Z,1761687885.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360194,0.861006,0.359067],[-0.927388,-0.288796,-0.237797],[-0.101048,-0.418648,0.902509]] 2025-10-28T21:44:45.706Z,1761687885.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390656,0.854678,0.341927],[-0.914991,-0.319810,-0.245993],[-0.100893,-0.408959,0.906958]] 2025-10-28T21:44:46.111Z,1761687886.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420891,0.847511,0.323380],[-0.901468,-0.351087,-0.253168],[-0.101028,-0.398073,0.911774]] 2025-10-28T21:44:46.524Z,1761687886.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451030,0.838583,0.305534],[-0.886723,-0.382115,-0.260212],[-0.101461,-0.388287,0.915936]] 2025-10-28T21:44:46.921Z,1761687886.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480395,0.828406,0.288036],[-0.871086,-0.412420,-0.266682],[-0.102129,-0.379016,0.919737]] 2025-10-28T21:44:47.323Z,1761687887.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509544,0.815254,0.275184],[-0.854228,-0.440919,-0.275473],[-0.103247,-0.375435,0.921080]] 2025-10-28T21:44:47.726Z,1761687887.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538183,0.799951,0.265400],[-0.836311,-0.467770,-0.285963],[-0.104610,-0.375857,0.920754]] 2025-10-28T21:44:47.776Z,1761687887.776 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:44:47.776Z,1761687887.776 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:44:47.776Z,1761687887.776 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:44:47.777Z,1761687887.777 [marl:UpdateRudder:A] Stopped 2025-10-28T21:44:47.777Z,1761687887.777 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:44:47.777Z,1761687887.777 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:44:47.777Z,1761687887.777 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:44:47.777Z,1761687887.777 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:44:47.778Z,1761687887.778 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:44:47.778Z,1761687887.778 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:44:47.778Z,1761687887.778 [marl:UpdateCommandMode] Stopped 2025-10-28T21:44:47.778Z,1761687887.778 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:44:48.131Z,1761687888.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566207,0.782995,0.257544],[-0.817436,-0.493273,-0.297455],[-0.105866,-0.378947,0.919343]] 2025-10-28T21:44:48.155Z,1761687888.155 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:44:48.155Z,1761687888.155 [marl:UpdateRudder:B] Stopped 2025-10-28T21:44:48.155Z,1761687888.155 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:44:48.155Z,1761687888.155 [marl:UpdateRudder] Stopped 2025-10-28T21:44:48.155Z,1761687888.155 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:44:48.535Z,1761687888.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593513,0.764552,0.251400],[-0.797708,-0.517382,-0.309802],[-0.106790,-0.384415,0.916963]] 2025-10-28T21:44:48.939Z,1761687888.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619532,0.744063,0.250099],[-0.777577,-0.538086,-0.325327],[-0.107490,-0.396022,0.911928]] 2025-10-28T21:44:49.343Z,1761687889.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644431,0.724233,0.245345],[-0.756995,-0.558918,-0.338480],[-0.108010,-0.403852,0.908426]] 2025-10-28T21:44:49.748Z,1761687889.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667928,0.704328,0.240406],[-0.736298,-0.578363,-0.351228],[-0.108338,-0.411606,0.904900]] 2025-10-28T21:44:50.151Z,1761687890.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690737,0.684930,0.231847],[-0.714944,-0.598849,-0.360880],[-0.108336,-0.415031,0.903334]] 2025-10-28T21:44:50.558Z,1761687890.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712340,0.665555,0.222729],[-0.693530,-0.618847,-0.368842],[-0.107650,-0.417210,0.902412]] 2025-10-28T21:44:50.958Z,1761687890.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733341,0.645717,0.212745],[-0.671437,-0.638774,-0.375685],[-0.106690,-0.418350,0.901998]] 2025-10-28T21:44:51.365Z,1761687891.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753249,0.625729,0.202681],[-0.649239,-0.657968,-0.381532],[-0.105378,-0.418977,0.901861]] 2025-10-28T21:44:51.775Z,1761687891.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772252,0.606185,0.190173],[-0.626794,-0.678094,-0.383820],[-0.103711,-0.415605,0.903613]] 2025-10-28T21:44:52.171Z,1761687892.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790121,0.586356,0.178593],[-0.604460,-0.697042,-0.385695],[-0.101668,-0.412698,0.905176]] 2025-10-28T21:44:52.577Z,1761687892.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807146,0.565961,0.167938],[-0.581884,-0.714691,-0.388107],[-0.099630,-0.410980,0.906184]] 2025-10-28T21:44:52.983Z,1761687892.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823672,0.545329,0.155499],[-0.558658,-0.733311,-0.387500],[-0.097286,-0.406043,0.908661]] 2025-10-28T21:44:53.382Z,1761687893.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839971,0.523712,0.142037],[-0.534200,-0.752121,-0.385933],[-0.095288,-0.400048,0.911527]] 2025-10-28T21:44:53.790Z,1761687893.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855666,0.501038,0.129605],[-0.509001,-0.769471,-0.385787],[-0.093567,-0.396074,0.913439]] 2025-10-28T21:44:54.190Z,1761687894.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871291,0.477392,0.113797],[-0.482080,-0.789106,-0.380672],[-0.091932,-0.386535,0.917682]] 2025-10-28T21:44:54.606Z,1761687894.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886766,0.451582,0.098591],[-0.453195,-0.807503,-0.377561],[-0.090887,-0.379490,0.920721]] 2025-10-28T21:44:55.008Z,1761687895.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901830,0.423867,0.083904],[-0.422579,-0.824669,-0.375962],[-0.090165,-0.374510,0.922829]] 2025-10-28T21:44:55.402Z,1761687895.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915994,0.394771,0.071487],[-0.390986,-0.838471,-0.379600],[-0.089915,-0.375662,0.922385]] 2025-10-28T21:44:55.807Z,1761687895.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929167,0.364904,0.059113],[-0.358523,-0.850617,-0.384593],[-0.090057,-0.378545,0.921191]] 2025-10-28T21:44:56.212Z,1761687896.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941201,0.334725,0.045819],[-0.325552,-0.862315,-0.387852],[-0.090313,-0.379963,0.920582]] 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed] Stopped 2025-10-28T21:44:56.237Z,1761687896.237 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:44:56.617Z,1761687896.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952030,0.304188,0.033302],[-0.292390,-0.872163,-0.392223],[-0.090265,-0.383145,0.919267]] 2025-10-28T21:44:57.019Z,1761687897.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961627,0.273476,0.021987],[-0.259107,-0.878905,-0.400486],[-0.090199,-0.390815,0.916039]] 2025-10-28T21:44:57.423Z,1761687897.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969826,0.243554,0.010885],[-0.226720,-0.884577,-0.407580],[-0.089639,-0.397749,0.913105]] 2025-10-28T21:44:57.827Z,1761687897.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976862,0.213871,-0.000040],[-0.194676,-0.889265,-0.413895],[-0.088555,-0.404310,0.910325]] 2025-10-28T21:44:58.230Z,1761687898.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982685,0.184944,-0.011189],[-0.163327,-0.893177,-0.418998],[-0.087485,-0.409916,0.907918]] 2025-10-28T21:44:58.635Z,1761687898.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987459,0.156130,-0.023416],[-0.132144,-0.898529,-0.418550],[-0.086388,-0.410207,0.907892]] 2025-10-28T21:44:59.038Z,1761687899.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991346,0.126023,-0.036767],[-0.099827,-0.905564,-0.412296],[-0.085254,-0.405057,0.910308]] 2025-10-28T21:44:59.443Z,1761687899.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994199,0.095168,-0.050108],[-0.066768,-0.911361,-0.406157],[-0.084320,-0.400456,0.912428]] 2025-10-28T21:44:59.848Z,1761687899.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995903,0.064568,-0.063309],[-0.033941,-0.915833,-0.400122],[-0.083815,-0.396334,0.914272]] 2025-10-28T21:45:00.251Z,1761687900.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996519,0.034723,-0.075790],[-0.001744,-0.917612,-0.397473],[-0.083347,-0.395957,0.914479]] 2025-10-28T21:45:00.655Z,1761687900.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996116,0.004958,-0.087906],[0.030251,-0.918361,-0.394585],[-0.082686,-0.395712,0.914645]] 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateRudder:A] Stopped 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:45:00.695Z,1761687900.695 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:45:00.700Z,1761687900.700 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:45:00.700Z,1761687900.700 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:45:00.700Z,1761687900.700 [marl:UpdateCommandMode] Stopped 2025-10-28T21:45:00.700Z,1761687900.700 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:45:00.940Z,1761687900.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:45:01.058Z,1761687901.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994844,-0.023499,-0.098661],[0.060584,-0.917846,-0.392286],[-0.081338,-0.396241,0.914537]] 2025-10-28T21:45:01.082Z,1761687901.082 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:45:01.082Z,1761687901.082 [marl:UpdateRudder:B] Stopped 2025-10-28T21:45:01.083Z,1761687901.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:45:01.083Z,1761687901.083 [marl:UpdateRudder] Stopped 2025-10-28T21:45:01.083Z,1761687901.083 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:45:01.469Z,1761687901.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992702,-0.051983,-0.108818],[0.090488,-0.917562,-0.387159],[-0.079721,-0.394180,0.915569]] 2025-10-28T21:45:01.867Z,1761687901.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989884,-0.078878,-0.117930],[0.118756,-0.915449,-0.384513],[-0.077630,-0.394628,0.915556]] 2025-10-28T21:45:01.940Z,1761687901.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:45:02.271Z,1761687902.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986308,-0.106372,-0.126022],[0.147097,-0.912936,-0.380671],[-0.074557,-0.393996,0.916083]] 2025-10-28T21:45:02.674Z,1761687902.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982011,-0.134094,-0.132941],[0.175111,-0.910136,-0.375484],[-0.070644,-0.392009,0.917245]] 2025-10-28T21:45:03.081Z,1761687903.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976876,-0.161305,-0.140338],[0.203240,-0.904371,-0.375242],[-0.066389,-0.395087,0.916242]] 2025-10-28T21:45:03.491Z,1761687903.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970909,-0.188658,-0.147459],[0.231289,-0.898290,-0.373605],[-0.061978,-0.396842,0.915792]] 2025-10-28T21:45:03.887Z,1761687903.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963782,-0.217406,-0.154460],[0.260367,-0.892417,-0.368513],[-0.057726,-0.395383,0.916701]] 2025-10-28T21:45:04.291Z,1761687904.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955477,-0.246658,-0.161934],[0.290123,-0.885375,-0.363235],[-0.053778,-0.394043,0.917517]] 2025-10-28T21:45:04.701Z,1761687904.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945791,-0.277094,-0.169403],[0.320819,-0.878269,-0.354567],[-0.050533,-0.389694,0.919557]] 2025-10-28T21:45:05.099Z,1761687905.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934835,-0.307004,-0.178414],[0.351820,-0.868784,-0.348479],[-0.048019,-0.388540,0.920180]] 2025-10-28T21:45:05.503Z,1761687905.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922667,-0.336612,-0.188089],[0.382832,-0.857995,-0.342468],[-0.046101,-0.387990,0.920510]] 2025-10-28T21:45:05.907Z,1761687905.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909276,-0.364632,-0.200648],[0.413778,-0.843867,-0.341580],[-0.044769,-0.393615,0.918185]] 2025-10-28T21:45:06.310Z,1761687906.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894763,-0.391499,-0.214775],[0.444415,-0.827624,-0.342833],[-0.043534,-0.402203,0.914515]] 2025-10-28T21:45:06.715Z,1761687906.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879492,-0.416573,-0.230133],[0.473990,-0.810147,-0.344957],[-0.042741,-0.412468,0.909969]] 2025-10-28T21:45:07.131Z,1761687907.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863377,-0.440896,-0.245339],[0.502837,-0.792011,-0.346228],[-0.041660,-0.422291,0.905503]] 2025-10-28T21:45:07.525Z,1761687907.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846819,-0.464274,-0.259515],[0.530341,-0.774146,-0.345595],[-0.040451,-0.430288,0.901785]] 2025-10-28T21:45:07.931Z,1761687907.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829214,-0.489513,-0.269779],[0.557572,-0.758093,-0.338243],[-0.038943,-0.430898,0.901560]] 2025-10-28T21:45:08.331Z,1761687908.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811165,-0.514927,-0.277238],[0.583640,-0.742856,-0.327918],[-0.037094,-0.427803,0.903111]] 2025-10-28T21:45:08.736Z,1761687908.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792606,-0.540479,-0.282238],[0.608709,-0.728235,-0.314877],[-0.035351,-0.421374,0.906198]] 2025-10-28T21:45:09.179Z,1761687909.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773442,-0.566745,-0.283879],[0.632957,-0.714528,-0.298018],[-0.033940,-0.410183,0.911371]] 2025-10-28T21:45:09.542Z,1761687909.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753661,-0.591355,-0.286870],[0.656448,-0.698974,-0.283745],[-0.032720,-0.402162,0.914984]] 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:45:09.573Z,1761687909.573 [marl:UpdateSpeed] Stopped 2025-10-28T21:45:09.574Z,1761687909.574 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:45:09.953Z,1761687909.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734156,-0.613451,-0.291020],[0.678255,-0.682409,-0.272560],[-0.031393,-0.397487,0.917071]] 2025-10-28T21:45:10.351Z,1761687910.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714187,-0.635323,-0.293772],[0.699309,-0.665668,-0.260486],[-0.030063,-0.391473,0.919698]] 2025-10-28T21:45:10.763Z,1761687910.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694144,-0.655930,-0.296513],[0.719280,-0.648222,-0.249891],[-0.028295,-0.386736,0.921756]] 2025-10-28T21:45:11.186Z,1761687911.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673251,-0.675210,-0.301372],[0.738943,-0.628944,-0.241645],[-0.026385,-0.385384,0.922379]] 2025-10-28T21:45:11.563Z,1761687911.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651439,-0.693999,-0.306581],[0.758322,-0.608355,-0.234206],[-0.023972,-0.385058,0.922581]] 2025-10-28T21:45:11.605Z,1761687911.605 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:45:11.621Z,1761687911.621 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:45:11.622Z,1761687911.622 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:45:11.873Z,1761687911.873 [DAT](INFO): DAT read: user:325> 2025-10-28T21:45:11.874Z,1761687911.874 [DAT](INFO): DAT read: Tx time:21:45:11.5995 2025-10-28T21:45:11.874Z,1761687911.874 [DAT](INFO): Ping request sent. 2025-10-28T21:45:11.874Z,1761687911.874 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:45:11.874Z,1761687911.874 [DAT](INFO): publishing transmit ping time 2025-10-28T21:45:11.875Z,1761687911.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955 2025-10-28T21:45:11.974Z,1761687911.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628346,-0.712572,-0.312126],[0.777639,-0.586389,-0.226771],[-0.021437,-0.385212,0.922579]] 2025-10-28T21:45:12.125Z,1761687912.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925 2025-10-28T21:45:12.371Z,1761687912.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604414,-0.729525,-0.320120],[0.796460,-0.562569,-0.221738],[-0.018326,-0.388984,0.921062]] 2025-10-28T21:45:12.377Z,1761687912.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503078 2025-10-28T21:45:12.629Z,1761687912.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863 2025-10-28T21:45:12.788Z,1761687912.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579444,-0.745620,-0.329082],[0.814871,-0.537535,-0.216891],[-0.015175,-0.393835,0.919056]] 2025-10-28T21:45:12.881Z,1761687912.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007299 2025-10-28T21:45:13.136Z,1761687913.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261413 2025-10-28T21:45:13.191Z,1761687913.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553029,-0.762174,-0.336526],[0.833072,-0.511799,-0.209889],[-0.012262,-0.396425,0.917985]] 2025-10-28T21:45:13.385Z,1761687913.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 2025-10-28T21:45:13.582Z,1761687913.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524458,-0.779173,-0.343269],[0.851376,-0.484698,-0.200564],[-0.010107,-0.397438,0.917573]] 2025-10-28T21:45:13.642Z,1761687913.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767759 2025-10-28T21:45:13.889Z,1761687913.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014956 2025-10-28T21:45:13.991Z,1761687913.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494292,-0.795819,-0.349783],[0.869252,-0.456549,-0.189643],[-0.008771,-0.397788,0.917435]] 2025-10-28T21:45:14.015Z,1761687914.015 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:45:14.015Z,1761687914.015 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:45:14.015Z,1761687914.015 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:45:14.016Z,1761687914.016 [marl:UpdateRudder:A] Stopped 2025-10-28T21:45:14.016Z,1761687914.016 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:45:14.016Z,1761687914.016 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:45:14.016Z,1761687914.016 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:45:14.016Z,1761687914.016 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:45:14.017Z,1761687914.017 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:45:14.017Z,1761687914.017 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:45:14.017Z,1761687914.017 [marl:UpdateCommandMode] Stopped 2025-10-28T21:45:14.017Z,1761687914.017 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:45:14.141Z,1761687914.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266913 2025-10-28T21:45:14.390Z,1761687914.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463480,-0.810889,-0.357275],[0.886068,-0.427887,-0.178312],[-0.008282,-0.399214,0.916820]] 2025-10-28T21:45:14.393Z,1761687914.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518795 2025-10-28T21:45:14.450Z,1761687914.450 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:45:14.450Z,1761687914.450 [marl:UpdateRudder:B] Stopped 2025-10-28T21:45:14.450Z,1761687914.450 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:45:14.450Z,1761687914.450 [marl:UpdateRudder] Stopped 2025-10-28T21:45:14.451Z,1761687914.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:45:14.645Z,1761687914.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770976 2025-10-28T21:45:14.797Z,1761687914.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432054,-0.825757,-0.362566],[0.901806,-0.399444,-0.164894],[-0.008662,-0.398207,0.917255]] 2025-10-28T21:45:14.897Z,1761687914.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022904 2025-10-28T21:45:15.152Z,1761687915.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277359 2025-10-28T21:45:15.199Z,1761687915.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400319,-0.839416,-0.367593],[0.916323,-0.370970,-0.150773],[-0.009805,-0.397192,0.917683]] 2025-10-28T21:45:15.401Z,1761687915.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526966 2025-10-28T21:45:15.603Z,1761687915.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368242,-0.851821,-0.372557],[0.929662,-0.342220,-0.136437],[-0.011277,-0.396594,0.917925]] 2025-10-28T21:45:15.653Z,1761687915.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778818 2025-10-28T21:45:15.905Z,1761687915.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030974 2025-10-28T21:45:16.012Z,1761687916.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336404,-0.861334,-0.380705],[0.941633,-0.313085,-0.123714],[-0.012635,-0.400103,0.916383]] 2025-10-28T21:45:16.157Z,1761687916.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283011 2025-10-28T21:45:16.409Z,1761687916.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534991 2025-10-28T21:45:16.413Z,1761687916.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303769,-0.869608,-0.389237],[0.952647,-0.283116,-0.110949],[-0.013717,-0.404508,0.914432]] 2025-10-28T21:45:16.661Z,1761687916.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786937 2025-10-28T21:45:16.815Z,1761687916.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271521,-0.874571,-0.401749],[0.962329,-0.252820,-0.100023],[-0.014093,-0.413773,0.910271]] 2025-10-28T21:45:16.913Z,1761687916.913 [DAT](INFO): DAT read: Rx Time:21:45:16.2892 2025-10-28T21:45:16.914Z,1761687916.914 [DAT](INFO): Rx dataTimestamp_ set to:1761687916.913435 2025-10-28T21:45:16.914Z,1761687916.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040326 2025-10-28T21:45:17.167Z,1761687917.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293055 2025-10-28T21:45:17.219Z,1761687917.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239393,-0.879412,-0.411491],[0.970830,-0.222677,-0.088910],[-0.013441,-0.420772,0.907067]] 2025-10-28T21:45:17.419Z,1761687917.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544768 2025-10-28T21:45:17.625Z,1761687917.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207106,-0.885009,-0.416972],[0.978241,-0.192706,-0.076870],[-0.012322,-0.423819,0.905663]] 2025-10-28T21:45:17.691Z,1761687917.691 [DAT](INFO): DAT read: 21:45:16.2892 LVL= 32400, 26993, 22274, 31923, AGC= 83, IDX= 393,-0.36,-1.622,-0.438, 0.183,-0.951, PHS=-0.569, 0.558, 1.090, RAW= 251.7, -14.6, CAL= 251.6, -20.7, ROT= 258.4, 20.7 2025-10-28T21:45:17.692Z,1761687917.692 [DAT](INFO): got valid direction response: 21:45:16.2892 LVL= 32400, 26993, 22274, 31923, AGC= 83, IDX= 393,-0.36,-1.622,-0.438, 0.183,-0.951, PHS=-0.569, 0.558, 1.090, RAW= 251.7, -14.6, CAL= 251.6, -20.7, ROT= 258.4, 20.7 2025-10-28T21:45:17.693Z,1761687917.693 [DAT](INFO): DAT read: Bearing 215, 45 (Remote) 2025-10-28T21:45:17.693Z,1761687917.693 [DAT](INFO): Remote Bearing received:Bearing 215, 45 (Remote) 2025-10-28T21:45:17.694Z,1761687917.694 [DAT](INFO): DAT read: Bearing 164.9, -42.6 (Local) 2025-10-28T21:45:17.694Z,1761687917.694 [DAT](INFO): Local bearing/azimuth received: Bearing 164.9, -42.6 (Local) 2025-10-28T21:45:17.696Z,1761687917.696 [DAT](INFO): DAT read: Range 11 to 20 : 1995.4 m (Round-trip 2660.6 ms) speed -0.3 m/s 2025-10-28T21:45:17.697Z,1761687917.697 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-28T21:45:17.697Z,1761687917.697 [DAT](INFO): direction in FSK: [-0.188097,-0.916338,-0.353475] 2025-10-28T21:45:17.698Z,1761687917.698 [DAT](INFO): publishing direction and range info 2025-10-28T21:45:18.026Z,1761687918.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174701,-0.891127,-0.418774],[0.984566,-0.162638,-0.064649],[-0.010498,-0.423605,0.905786]] 2025-10-28T21:45:18.083Z,1761687918.083 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761687936.00. Resetting abort timer. 2025-10-28T21:45:18.431Z,1761687918.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141958,-0.897613,-0.417300],[0.989837,-0.132311,-0.052125],[-0.008426,-0.420459,0.907273]] 2025-10-28T21:45:18.834Z,1761687918.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109604,-0.901369,-0.418952],[0.993954,-0.102125,-0.040314],[-0.006448,-0.420838,0.907113]] 2025-10-28T21:45:19.240Z,1761687919.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076670,-0.905319,-0.417755],[0.997046,-0.071567,-0.027893],[-0.004645,-0.418659,0.908132]] 2025-10-28T21:45:19.647Z,1761687919.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044056,-0.907775,-0.417137],[0.999025,-0.041181,-0.015896],[-0.002748,-0.417431,0.908705]] 2025-10-28T21:45:20.052Z,1761687920.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023139,-0.911489,-0.410673],[0.999732,0.021101,0.009495],[0.000011,-0.410783,0.911733]] 2025-10-28T21:45:20.464Z,1761687920.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056905,-0.910895,-0.408696],[0.998379,0.052337,0.022362],[0.001021,-0.409306,0.912396]] 2025-10-28T21:45:20.861Z,1761687920.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091443,-0.909615,-0.405264],[0.995809,0.084194,0.035720],[0.001629,-0.406832,0.913502]] 2025-10-28T21:45:21.262Z,1761687921.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125364,-0.907490,-0.400931],[0.992109,0.115506,0.048771],[0.002051,-0.403882,0.914809]] 2025-10-28T21:45:21.664Z,1761687921.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159938,-0.904032,-0.396418],[0.987125,0.147274,0.062406],[0.001965,-0.401295,0.915947]] 2025-10-28T21:45:22.067Z,1761687922.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194083,-0.897888,-0.395132],[0.980983,0.178389,0.076478],[0.001819,-0.402461,0.915435]] 2025-10-28T21:45:22.475Z,1761687922.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227745,-0.890317,-0.394294],[0.973719,0.209008,0.090483],[0.001852,-0.404538,0.914519]] 2025-10-28T21:45:22.874Z,1761687922.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261257,-0.882020,-0.392154],[0.965267,0.239476,0.104451],[0.001784,-0.405823,0.913950]] 2025-10-28T21:45:22.952Z,1761687922.952 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:45:22.952Z,1761687922.952 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:45:22.953Z,1761687922.953 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:45:22.953Z,1761687922.953 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:45:22.953Z,1761687922.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:45:22.953Z,1761687922.953 [marl:UpdateSpeed] Stopped 2025-10-28T21:45:22.953Z,1761687922.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:45:23.278Z,1761687923.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293717,-0.874320,-0.386388],[0.955890,0.269520,0.116760],[0.002053,-0.403639,0.914916]] 2025-10-28T21:45:23.684Z,1761687923.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325956,-0.864701,-0.382158],[0.945384,0.298851,0.130146],[0.001671,-0.403708,0.914886]] 2025-10-28T21:45:24.089Z,1761687924.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357685,-0.854184,-0.377401],[0.933841,0.327805,0.143123],[0.001461,-0.403626,0.914923]] 2025-10-28T21:45:24.492Z,1761687924.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388731,-0.842585,-0.372744],[0.921350,0.356167,0.155754],[0.001523,-0.403974,0.914769]] 2025-10-28T21:45:24.894Z,1761687924.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420049,-0.828482,-0.370374],[0.907500,0.384215,0.169774],[0.001648,-0.407428,0.913236]] 2025-10-28T21:45:25.299Z,1761687925.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451465,-0.814003,-0.365485],[0.892288,0.412518,0.183442],[0.001447,-0.408936,0.912562]] 2025-10-28T21:45:25.704Z,1761687925.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482197,-0.800175,-0.356661],[0.876062,0.441072,0.194861],[0.001390,-0.406419,0.913686]] 2025-10-28T21:45:26.106Z,1761687926.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512330,-0.784348,-0.349738],[0.858788,0.468589,0.207141],[0.001413,-0.406475,0.913661]] 2025-10-28T21:45:26.512Z,1761687926.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542106,-0.767003,-0.343262],[0.840309,0.495430,0.220067],[0.001270,-0.407746,0.913095]] 2025-10-28T21:45:26.915Z,1761687926.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571059,-0.749771,-0.334267],[0.820908,0.522130,0.231279],[0.001125,-0.406476,0.913661]] 2025-10-28T21:45:27.321Z,1761687927.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598960,-0.731125,-0.326655],[0.800778,0.547286,0.243377],[0.000834,-0.407351,0.913271]] 2025-10-28T21:45:27.391Z,1761687927.391 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:45:27.391Z,1761687927.391 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:45:27.392Z,1761687927.392 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:45:27.396Z,1761687927.396 [marl:UpdateRudder:A] Stopped 2025-10-28T21:45:27.396Z,1761687927.396 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:45:27.396Z,1761687927.396 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:45:27.396Z,1761687927.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:45:27.396Z,1761687927.396 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:45:27.397Z,1761687927.397 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:45:27.397Z,1761687927.397 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:45:27.397Z,1761687927.397 [marl:UpdateCommandMode] Stopped 2025-10-28T21:45:27.397Z,1761687927.397 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:45:27.722Z,1761687927.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625225,-0.712199,-0.319165],[0.780444,0.571037,0.254604],[0.000927,-0.408275,0.912858]] 2025-10-28T21:45:27.755Z,1761687927.755 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:45:27.755Z,1761687927.755 [marl:UpdateRudder:B] Stopped 2025-10-28T21:45:27.755Z,1761687927.755 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:45:27.755Z,1761687927.755 [marl:UpdateRudder] Stopped 2025-10-28T21:45:27.755Z,1761687927.755 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:45:28.126Z,1761687928.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649773,-0.693059,-0.312193],[0.760128,0.593026,0.265567],[0.001085,-0.409865,0.912146]] 2025-10-28T21:45:28.532Z,1761687928.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673501,-0.674530,-0.302334],[0.739185,0.615415,0.273626],[0.001492,-0.407768,0.913084]] 2025-10-28T21:45:28.946Z,1761687928.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696358,-0.654733,-0.293957],[0.717693,0.636210,0.283115],[0.001654,-0.408120,0.912927]] 2025-10-28T21:45:29.338Z,1761687929.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718351,-0.633822,-0.286777],[0.695677,0.655820,0.293145],[0.002272,-0.410085,0.912044]] 2025-10-28T21:45:29.742Z,1761687929.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739366,-0.612657,-0.279268],[0.673297,0.674710,0.302387],[0.003165,-0.411605,0.911357]] 2025-10-28T21:45:30.147Z,1761687930.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760274,-0.590092,-0.271616],[0.649590,0.693273,0.312099],[0.004136,-0.413720,0.910395]] 2025-10-28T21:45:30.554Z,1761687930.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780686,-0.567455,-0.261771],[0.624903,0.712204,0.319782],[0.004972,-0.413231,0.910613]] 2025-10-28T21:45:30.956Z,1761687930.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800797,-0.542158,-0.254536],[0.598909,0.728898,0.331686],[0.005704,-0.418057,0.908403]] 2025-10-28T21:45:31.359Z,1761687931.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821220,-0.514638,-0.246466],[0.570575,0.745494,0.344503],[0.006445,-0.423540,0.905855]] 2025-10-28T21:45:31.766Z,1761687931.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841024,-0.486793,-0.236034],[0.540944,0.762839,0.354198],[0.007634,-0.425570,0.904893]] 2025-10-28T21:45:32.061Z,1761687932.061 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:45:32.169Z,1761687932.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860023,-0.458731,-0.223443],[0.510179,0.780653,0.360969],[0.008844,-0.424437,0.905414]] 2025-10-28T21:45:32.572Z,1761687932.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878132,-0.430317,-0.209074],[0.478310,0.798973,0.364500],[0.010194,-0.420082,0.907429]] 2025-10-28T21:45:32.974Z,1761687932.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895242,-0.400535,-0.195229],[0.445433,0.815762,0.368946],[0.011485,-0.417257,0.908716]] 2025-10-28T21:45:33.066Z,1761687933.066 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:45:33.380Z,1761687933.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911147,-0.370603,-0.180179],[0.411885,0.832530,0.370465],[0.012709,-0.411761,0.911203]] 2025-10-28T21:45:33.790Z,1761687933.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925820,-0.340130,-0.164831],[0.377725,0.848143,0.371452],[0.013458,-0.406158,0.913704]] 2025-10-28T21:45:34.186Z,1761687934.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939117,-0.309710,-0.148789],[0.343308,0.863519,0.369425],[0.014067,-0.398014,0.917271]] 2025-10-28T21:45:34.591Z,1761687934.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951099,-0.278584,-0.133424],[0.308562,0.876697,0.369042],[0.014163,-0.392165,0.919786]] 2025-10-28T21:45:35.000Z,1761687935.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961467,-0.247733,-0.119202],[0.274571,0.887094,0.371045],[0.013823,-0.389477,0.920932]] 2025-10-28T21:45:35.400Z,1761687935.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970329,-0.217732,-0.105137],[0.241446,0.895623,0.373582],[0.012822,-0.387882,0.921620]] 2025-10-28T21:45:35.803Z,1761687935.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977639,-0.188791,-0.092631],[0.209984,0.900219,0.381460],[0.011372,-0.392381,0.919732]] 2025-10-28T21:45:36.206Z,1761687936.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983751,-0.160886,-0.079686],[0.179265,0.904693,0.386516],[0.009906,-0.394520,0.918834]] 2025-10-28T21:45:36.256Z,1761687936.256 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed] Stopped 2025-10-28T21:45:36.257Z,1761687936.257 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:45:36.610Z,1761687936.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988787,-0.133368,-0.067176],[0.149081,0.907610,0.392453],[0.008629,-0.398068,0.917316]] 2025-10-28T21:45:37.017Z,1761687937.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992753,-0.106870,-0.054962],[0.119939,0.909780,0.397385],[0.007534,-0.401097,0.916004]] 2025-10-28T21:45:37.432Z,1761687937.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995795,-0.080575,-0.043582],[0.091346,0.909261,0.406080],[0.006908,-0.408353,0.912798]] 2025-10-28T21:45:37.822Z,1761687937.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997998,-0.054365,-0.032331],[0.062874,0.908492,0.413145],[0.006912,-0.414351,0.910091]] 2025-10-28T21:45:38.226Z,1761687938.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999374,-0.028252,-0.021286],[0.034578,0.907132,0.419424],[0.007459,-0.419897,0.907541]] 2025-10-28T21:45:38.632Z,1761687938.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999940,-0.003053,-0.010525],[0.007247,0.904668,0.426056],[0.008221,-0.426107,0.904636]] 2025-10-28T21:45:39.034Z,1761687939.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999773,0.021314,0.000310],[-0.019358,0.901768,0.431786],[0.008923,-0.431694,0.901976]] 2025-10-28T21:45:39.440Z,1761687939.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998860,0.046301,0.011584],[-0.046777,0.901472,0.430303],[0.009481,-0.430354,0.902610]] 2025-10-28T21:45:39.842Z,1761687939.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997037,0.073164,0.023744],[-0.076295,0.901315,0.426392],[0.009796,-0.426940,0.904227]] 2025-10-28T21:45:40.248Z,1761687940.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993920,0.103862,0.036545],[-0.109582,0.900895,0.419976],[0.010697,-0.421427,0.906799]] 2025-10-28T21:45:40.651Z,1761687940.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989320,0.136744,0.050472],[-0.145325,0.898556,0.414099],[0.011274,-0.417011,0.908831]] 2025-10-28T21:45:40.680Z,1761687940.680 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateRudder:A] Stopped 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:45:40.681Z,1761687940.681 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:45:40.682Z,1761687940.682 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:45:40.682Z,1761687940.682 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:45:40.682Z,1761687940.682 [marl:UpdateCommandMode] Stopped 2025-10-28T21:45:40.682Z,1761687940.682 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:45:41.054Z,1761687941.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983212,0.170597,0.064735],[-0.182104,0.895073,0.407042],[0.011497,-0.411997,0.911113]] 2025-10-28T21:45:41.106Z,1761687941.106 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:45:41.106Z,1761687941.106 [marl:UpdateRudder:B] Stopped 2025-10-28T21:45:41.107Z,1761687941.107 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:45:41.107Z,1761687941.107 [marl:UpdateRudder] Stopped 2025-10-28T21:45:41.107Z,1761687941.107 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:45:41.458Z,1761687941.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975563,0.204864,0.079426],[-0.219436,0.889963,0.399767],[0.011212,-0.407426,0.913169]] 2025-10-28T21:45:41.864Z,1761687941.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966423,0.239355,0.093465],[-0.256736,0.884358,0.389868],[0.010660,-0.400773,0.916115]] 2025-10-28T21:45:42.267Z,1761687942.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955893,0.273535,0.106994],[-0.293550,0.877465,0.379320],[0.009873,-0.393997,0.919059]] 2025-10-28T21:45:42.671Z,1761687942.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944074,0.307180,0.119852],[-0.329612,0.869289,0.368364],[0.008968,-0.387268,0.921924]] 2025-10-28T21:45:43.075Z,1761687943.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930986,0.340496,0.131637],[-0.364962,0.859969,0.356730],[0.008261,-0.380154,0.924886]] 2025-10-28T21:45:43.485Z,1761687943.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916873,0.372796,0.142713],[-0.399100,0.848984,0.346331],[0.007950,-0.374498,0.927194]] 2025-10-28T21:45:43.883Z,1761687943.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902062,0.403679,0.152732],[-0.431530,0.836893,0.336736],[0.008113,-0.369665,0.929130]] 2025-10-28T21:45:44.287Z,1761687944.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886935,0.432351,0.162541],[-0.461820,0.823706,0.328984],[0.008350,-0.366852,0.930242]] 2025-10-28T21:45:44.691Z,1761687944.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872288,0.457513,0.172613],[-0.488917,0.809827,0.324253],[0.008564,-0.367236,0.930088]] 2025-10-28T21:45:45.108Z,1761687945.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857942,0.479869,0.183471],[-0.513665,0.794878,0.322983],[0.009153,-0.371343,0.928451]] 2025-10-28T21:45:45.502Z,1761687945.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843693,0.499573,0.196491],[-0.536728,0.778011,0.326530],[0.010253,-0.380953,0.924537]] 2025-10-28T21:45:45.910Z,1761687945.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828625,0.518082,0.212065],[-0.559677,0.758622,0.333548],[0.011928,-0.395075,0.918572]] 2025-10-28T21:45:46.306Z,1761687946.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812670,0.536101,0.228394],[-0.582555,0.737974,0.340623],[0.014060,-0.409866,0.912037]] 2025-10-28T21:45:46.713Z,1761687946.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796468,0.551648,0.247635],[-0.604471,0.715577,0.350093],[0.015926,-0.428526,0.903389]] 2025-10-28T21:45:47.156Z,1761687947.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780052,0.566493,0.265716],[-0.625489,0.694551,0.355476],[0.016822,-0.443492,0.896121]] 2025-10-28T21:45:47.523Z,1761687947.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763137,0.581745,0.281415],[-0.646016,0.675373,0.355718],[0.016877,-0.453260,0.891219]] 2025-10-28T21:45:47.954Z,1761687947.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745264,0.598337,0.294236],[-0.666580,0.658047,0.350208],[0.015921,-0.457129,0.889258]] 2025-10-28T21:45:48.326Z,1761687948.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725091,0.618434,0.302956],[-0.688495,0.641599,0.338121],[0.014729,-0.453752,0.891006]] 2025-10-28T21:45:48.731Z,1761687948.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702759,0.643330,0.303737],[-0.711296,0.627150,0.317396],[0.013701,-0.439100,0.898334]] 2025-10-28T21:45:49.187Z,1761687949.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678957,0.671033,0.297880],[-0.734065,0.613331,0.291502],[0.012908,-0.416581,0.909007]] 2025-10-28T21:45:49.542Z,1761687949.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654441,0.698403,0.289724],[-0.756019,0.598376,0.265295],[0.011919,-0.392657,0.919608]] 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed] Stopped 2025-10-28T21:45:49.579Z,1761687949.579 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:45:49.943Z,1761687949.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629494,0.723514,0.283310],[-0.776928,0.580966,0.242613],[0.010940,-0.372835,0.927833]] 2025-10-28T21:45:50.347Z,1761687950.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603941,0.746770,0.278551],[-0.796964,0.561332,0.223058],[0.010214,-0.356709,0.934160]] 2025-10-28T21:45:50.753Z,1761687950.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578197,0.766260,0.280240],[-0.815839,0.538877,0.209805],[0.009750,-0.349939,0.936722]] 2025-10-28T21:45:51.191Z,1761687951.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553032,0.782123,0.287123],[-0.833107,0.515231,0.201170],[0.009405,-0.350458,0.936531]] 2025-10-28T21:45:51.562Z,1761687951.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528537,0.794728,0.298422],[-0.848863,0.491076,0.195643],[0.008935,-0.356724,0.934167]] 2025-10-28T21:45:51.962Z,1761687951.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505264,0.803493,0.314813],[-0.862927,0.467004,0.193041],[0.008088,-0.369197,0.929316]] 2025-10-28T21:45:52.368Z,1761687952.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482281,0.809636,0.334508],[-0.875989,0.442667,0.191546],[0.007007,-0.385404,0.922721]] 2025-10-28T21:45:52.779Z,1761687952.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459562,0.814332,0.354494],[-0.888124,0.418569,0.189832],[0.006206,-0.402074,0.915586]] 2025-10-28T21:45:53.193Z,1761687953.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436863,0.819188,0.371593],[-0.899507,0.395033,0.186644],[0.006105,-0.415789,0.909441]] 2025-10-28T21:45:53.582Z,1761687953.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413732,0.825036,0.384892],[-0.910372,0.371717,0.181794],[0.006916,-0.425609,0.904881]] 2025-10-28T21:45:53.985Z,1761687953.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391016,0.831199,0.395241],[-0.920344,0.349109,0.176323],[0.008577,-0.432703,0.901496]] 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateRudder:A] Stopped 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:45:54.009Z,1761687954.009 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode] Stopped 2025-10-28T21:45:54.010Z,1761687954.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:45:54.399Z,1761687954.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368285,0.838217,0.402192],[-0.929647,0.326852,0.170072],[0.011100,-0.436531,0.899621]] 2025-10-28T21:45:54.423Z,1761687954.423 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:45:54.423Z,1761687954.423 [marl:UpdateRudder:B] Stopped 2025-10-28T21:45:54.424Z,1761687954.424 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:45:54.424Z,1761687954.424 [marl:UpdateRudder] Stopped 2025-10-28T21:45:54.424Z,1761687954.424 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:45:55.195Z,1761687955.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322720,0.853807,0.408492],[-0.946358,0.283758,0.154555],[0.016047,-0.436457,0.899582]] 2025-10-28T21:45:55.603Z,1761687955.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299448,0.863026,0.406838],[-0.953944,0.262782,0.144697],[0.017967,-0.431430,0.901968]] 2025-10-28T21:45:56.008Z,1761687956.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276439,0.873070,0.401658],[-0.960839,0.242721,0.133699],[0.019238,-0.422888,0.905977]] 2025-10-28T21:45:56.409Z,1761687956.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251606,0.883164,0.395875],[-0.967624,0.221117,0.121698],[0.019944,-0.413678,0.910205]] 2025-10-28T21:45:56.811Z,1761687956.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225306,0.894610,0.385888],[-0.974087,0.198796,0.107864],[0.019783,-0.400191,0.916218]] 2025-10-28T21:45:57.216Z,1761687957.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197490,0.905841,0.374767],[-0.980124,0.175122,0.093212],[0.018805,-0.385727,0.922421]] 2025-10-28T21:45:57.630Z,1761687957.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168297,0.915033,0.366593],[-0.985585,0.149677,0.078866],[0.017295,-0.374582,0.927033]] 2025-10-28T21:45:58.024Z,1761687958.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137219,0.923523,0.358157],[-0.990416,0.122172,0.064429],[0.015745,-0.363566,0.931435]] 2025-10-28T21:45:58.426Z,1761687958.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104825,0.928969,0.355005],[-0.994389,0.092795,0.050799],[0.014248,-0.358338,0.933483]] 2025-10-28T21:45:58.834Z,1761687958.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071347,0.931837,0.355795],[-0.997367,0.062001,0.037618],[0.012994,-0.357542,0.933807]] 2025-10-28T21:45:59.638Z,1761687959.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002349,0.929149,0.369698],[-0.999924,-0.002282,0.012088],[0.012075,-0.369698,0.929073]] 2025-10-28T21:46:00.045Z,1761687960.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031903,0.923605,0.382016],[-0.999416,-0.034150,-0.000897],[0.012217,-0.381821,0.924155]] 2025-10-28T21:46:00.446Z,1761687960.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064561,0.915309,0.397545],[-0.997835,-0.064205,-0.014220],[0.012508,-0.397602,0.917472]] 2025-10-28T21:46:00.850Z,1761687960.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095857,0.906548,0.411073],[-0.995309,-0.092723,-0.027610],[0.013086,-0.411792,0.911184]] 2025-10-28T21:46:01.254Z,1761687961.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125419,0.898689,0.420272],[-0.992006,-0.119543,-0.040411],[0.013924,-0.421980,0.906498]] 2025-10-28T21:46:01.666Z,1761687961.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153414,0.890555,0.428224],[-0.988049,-0.144804,-0.052834],[0.014957,-0.431212,0.902127]] 2025-10-28T21:46:02.068Z,1761687962.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179419,0.884711,0.430227],[-0.983645,-0.168378,-0.063963],[0.015852,-0.434667,0.900452]] 2025-10-28T21:46:02.466Z,1761687962.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204123,0.881075,0.426662],[-0.978805,-0.191072,-0.073706],[0.016582,-0.432664,0.901403]] 2025-10-28T21:46:02.878Z,1761687962.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228288,0.876575,0.423676],[-0.973438,-0.213295,-0.083211],[0.017427,-0.431419,0.901983]] 2025-10-28T21:46:02.918Z,1761687962.918 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:46:02.919Z,1761687962.919 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:46:02.919Z,1761687962.919 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:46:02.919Z,1761687962.919 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:46:02.919Z,1761687962.919 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:46:02.919Z,1761687962.919 [marl:UpdateSpeed] Stopped 2025-10-28T21:46:02.920Z,1761687962.920 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:46:03.184Z,1761687963.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:46:03.275Z,1761687963.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252187,0.869925,0.423831],[-0.967491,-0.235300,-0.092714],[0.019073,-0.433434,0.900984]] 2025-10-28T21:46:03.687Z,1761687963.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274693,0.863664,0.422644],[-0.961308,-0.256156,-0.101342],[0.020737,-0.434130,0.900612]] 2025-10-28T21:46:04.084Z,1761687964.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297776,0.859577,0.415280],[-0.954371,-0.278292,-0.108301],[0.022477,-0.428581,0.903224]] 2025-10-28T21:46:04.188Z,1761687964.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:46:04.487Z,1761687964.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320894,0.854547,0.408383],[-0.946805,-0.300465,-0.115243],[0.024224,-0.423640,0.905507]] 2025-10-28T21:46:04.901Z,1761687964.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367753,0.842631,0.393359],[-0.929499,-0.345860,-0.128112],[0.028096,-0.412740,0.910415]] 2025-10-28T21:46:05.301Z,1761687965.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390986,0.836645,0.383607],[-0.919925,-0.368573,-0.133763],[0.029475,-0.405189,0.913758]] 2025-10-28T21:46:05.703Z,1761687965.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414878,0.830806,0.370995],[-0.909381,-0.392084,-0.138913],[0.030051,-0.395008,0.918186]] 2025-10-28T21:46:06.108Z,1761687966.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439592,0.823729,0.358090],[-0.897692,-0.416295,-0.144389],[0.030134,-0.384927,0.922455]] 2025-10-28T21:46:06.512Z,1761687966.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464892,0.813503,0.349411],[-0.884883,-0.439973,-0.152987],[0.029276,-0.380310,0.924395]] 2025-10-28T21:46:06.914Z,1761687966.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491520,0.801795,0.339902],[-0.870424,-0.464750,-0.162388],[0.027768,-0.375676,0.926335]] 2025-10-28T21:46:07.315Z,1761687967.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519570,0.785821,0.335457],[-0.854022,-0.489715,-0.175571],[0.026311,-0.377709,0.925550]] 2025-10-28T21:46:07.399Z,1761687967.399 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:46:07.399Z,1761687967.399 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:46:07.399Z,1761687967.399 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:46:07.404Z,1761687967.404 [marl:UpdateRudder:A] Stopped 2025-10-28T21:46:07.404Z,1761687967.404 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:46:07.404Z,1761687967.404 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:46:07.404Z,1761687967.404 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:46:07.404Z,1761687967.404 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:46:07.405Z,1761687967.405 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:46:07.405Z,1761687967.405 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:46:07.405Z,1761687967.405 [marl:UpdateCommandMode] Stopped 2025-10-28T21:46:07.405Z,1761687967.405 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:46:07.719Z,1761687967.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547984,0.765846,0.336442],[-0.836124,-0.513357,-0.193289],[0.024685,-0.387227,0.921654]] 2025-10-28T21:46:07.750Z,1761687967.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:46:07.750Z,1761687967.750 [marl:UpdateRudder:B] Stopped 2025-10-28T21:46:07.750Z,1761687967.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:46:07.750Z,1761687967.750 [marl:UpdateRudder] Stopped 2025-10-28T21:46:07.750Z,1761687967.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:46:08.126Z,1761687968.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576541,0.745018,0.335483],[-0.816731,-0.537269,-0.210457],[0.023450,-0.395336,0.918237]] 2025-10-28T21:46:08.529Z,1761687968.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604657,0.723897,0.332210],[-0.796152,-0.561396,-0.225780],[0.023060,-0.401009,0.915784]] 2025-10-28T21:46:08.931Z,1761687968.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632264,0.701536,0.328770],[-0.774393,-0.585177,-0.240589],[0.023606,-0.406713,0.913251]] 2025-10-28T21:46:09.334Z,1761687969.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657582,0.678122,0.328232],[-0.752983,-0.605776,-0.257008],[0.024552,-0.416157,0.908961]] 2025-10-28T21:46:09.741Z,1761687969.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680812,0.655686,0.326451],[-0.732019,-0.624511,-0.272275],[0.025345,-0.424337,0.905150]] 2025-10-28T21:46:10.144Z,1761687970.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701576,0.634088,0.325152],[-0.712120,-0.640516,-0.287444],[0.026000,-0.433211,0.900917]] 2025-10-28T21:46:10.546Z,1761687970.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720260,0.614180,0.322504],[-0.693213,-0.654739,-0.301286],[0.026113,-0.440568,0.897339]] 2025-10-28T21:46:10.950Z,1761687970.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737235,0.597303,0.315774],[-0.675136,-0.669263,-0.310287],[0.026000,-0.441945,0.896665]] 2025-10-28T21:46:11.366Z,1761687971.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753896,0.582082,0.304668],[-0.656489,-0.685601,-0.314600],[0.025757,-0.437187,0.899002]] 2025-10-28T21:46:11.761Z,1761687971.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770044,0.568974,0.288620],[-0.637498,-0.703990,-0.313040],[0.025074,-0.425050,0.904823]] 2025-10-28T21:46:11.806Z,1761687971.806 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:46:11.897Z,1761687971.897 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:46:11.897Z,1761687971.897 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:46:12.149Z,1761687972.149 [DAT](INFO): DAT read: user:326> 2025-10-28T21:46:12.150Z,1761687972.150 [DAT](INFO): DAT read: Tx time:21:46:11.8993 2025-10-28T21:46:12.150Z,1761687972.150 [DAT](INFO): Ping request sent. 2025-10-28T21:46:12.150Z,1761687972.150 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:46:12.150Z,1761687972.150 [DAT](INFO): publishing transmit ping time 2025-10-28T21:46:12.151Z,1761687972.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T21:46:12.168Z,1761687972.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786568,0.554576,0.271580],[-0.617029,-0.723103,-0.310478],[0.024197,-0.411785,0.910960]] 2025-10-28T21:46:12.401Z,1761687972.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875 2025-10-28T21:46:12.570Z,1761687972.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803294,0.538845,0.253703],[-0.595125,-0.742901,-0.306469],[0.023337,-0.397170,0.917448]] 2025-10-28T21:46:12.654Z,1761687972.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503690 2025-10-28T21:46:12.906Z,1761687972.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755654 2025-10-28T21:46:12.978Z,1761687972.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820501,0.521626,0.233848],[-0.571223,-0.763882,-0.300313],[0.021981,-0.379986,0.924731]] 2025-10-28T21:46:13.159Z,1761687973.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008893 2025-10-28T21:46:13.380Z,1761687973.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837800,0.501339,0.216218],[-0.545592,-0.783629,-0.297076],[0.020499,-0.366857,0.930051]] 2025-10-28T21:46:13.409Z,1761687973.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258971 2025-10-28T21:46:13.661Z,1761687973.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510886 2025-10-28T21:46:13.787Z,1761687973.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854703,0.478728,0.200752],[-0.518767,-0.801863,-0.296474],[0.019045,-0.357541,0.933703]] 2025-10-28T21:46:13.913Z,1761687973.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763262 2025-10-28T21:46:14.165Z,1761687974.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881 2025-10-28T21:46:14.187Z,1761687974.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871218,0.453296,0.188420],[-0.490588,-0.817602,-0.301415],[0.017422,-0.355035,0.934691]] 2025-10-28T21:46:14.417Z,1761687974.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266990 2025-10-28T21:46:14.592Z,1761687974.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886695,0.425525,0.180834],[-0.462084,-0.828970,-0.315099],[0.015823,-0.362957,0.931671]] 2025-10-28T21:46:14.670Z,1761687974.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519902 2025-10-28T21:46:14.921Z,1761687974.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888 2025-10-28T21:46:14.995Z,1761687974.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900747,0.397589,0.174864],[-0.434114,-0.837187,-0.332660],[0.014132,-0.375554,0.926693]] 2025-10-28T21:46:15.176Z,1761687975.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025243 2025-10-28T21:46:15.398Z,1761687975.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913417,0.370009,0.169597],[-0.406828,-0.842943,-0.352050],[0.012699,-0.390565,0.920488]] 2025-10-28T21:46:15.425Z,1761687975.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275035 2025-10-28T21:46:15.677Z,1761687975.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526909 2025-10-28T21:46:15.806Z,1761687975.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924608,0.344167,0.163242],[-0.380755,-0.847604,-0.369585],[0.011166,-0.403877,0.914745]] 2025-10-28T21:46:15.929Z,1761687975.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779108 2025-10-28T21:46:16.181Z,1761687976.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030857 2025-10-28T21:46:16.213Z,1761687976.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934779,0.319363,0.155546],[-0.355083,-0.852565,-0.383470],[0.010147,-0.413692,0.910360]] 2025-10-28T21:46:16.240Z,1761687976.240 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed] Stopped 2025-10-28T21:46:16.241Z,1761687976.241 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:46:16.433Z,1761687976.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282952 2025-10-28T21:46:16.610Z,1761687976.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943912,0.294849,0.148643],[-0.330040,-0.856369,-0.397123],[0.010202,-0.423907,0.905648]] 2025-10-28T21:46:16.685Z,1761687976.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534826 2025-10-28T21:46:16.937Z,1761687976.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786888 2025-10-28T21:46:17.015Z,1761687977.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951914,0.272159,0.140674],[-0.306194,-0.860524,-0.407116],[0.010253,-0.430613,0.902478]] 2025-10-28T21:46:17.189Z,1761687977.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038896 2025-10-28T21:46:17.418Z,1761687977.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959436,0.249626,0.131031],[-0.281717,-0.866801,-0.411451],[0.010869,-0.431674,0.901964]] 2025-10-28T21:46:17.441Z,1761687977.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291005 2025-10-28T21:46:17.693Z,1761687977.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542848 2025-10-28T21:46:17.831Z,1761687977.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966199,0.227657,0.120959],[-0.257544,-0.873127,-0.413908],[0.011384,-0.431070,0.902247]] 2025-10-28T21:46:17.946Z,1761687977.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796362 2025-10-28T21:46:18.197Z,1761687978.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046932 2025-10-28T21:46:18.227Z,1761687978.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972392,0.206060,0.109509],[-0.233036,-0.881908,-0.409796],[0.012134,-0.424002,0.905580]] 2025-10-28T21:46:18.449Z,1761687978.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298930 2025-10-28T21:46:18.630Z,1761687978.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978237,0.183745,0.096387],[-0.207092,-0.893425,-0.398629],[0.012869,-0.409914,0.912033]] 2025-10-28T21:46:18.701Z,1761687978.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550988 2025-10-28T21:46:18.953Z,1761687978.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802936 2025-10-28T21:46:19.035Z,1761687979.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983652,0.159022,0.084504],[-0.179564,-0.901651,-0.393423],[0.013631,-0.402166,0.915466]] 2025-10-28T21:46:19.205Z,1761687979.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054865 2025-10-28T21:46:19.442Z,1761687979.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988313,0.133806,0.073024],[-0.151768,-0.908508,-0.389331],[0.014248,-0.395864,0.918199]] 2025-10-28T21:46:19.457Z,1761687979.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306952 2025-10-28T21:46:19.712Z,1761687979.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562016 2025-10-28T21:46:19.855Z,1761687979.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992429,0.106885,0.060502],[-0.121946,-0.916191,-0.381737],[0.014630,-0.386225,0.922288]] 2025-10-28T21:46:19.961Z,1761687979.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810828 2025-10-28T21:46:20.214Z,1761687980.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063866 2025-10-28T21:46:20.250Z,1761687980.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995854,0.077518,0.047605],[-0.089808,-0.921098,-0.378832],[0.014482,-0.381537,0.924240]] 2025-10-28T21:46:20.465Z,1761687980.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314887 2025-10-28T21:46:20.651Z,1761687980.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998231,0.048037,0.035031],[-0.057782,-0.922620,-0.381358],[0.014001,-0.382708,0.923764]] 2025-10-28T21:46:20.674Z,1761687980.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:46:20.674Z,1761687980.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:46:20.674Z,1761687980.674 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:46:20.675Z,1761687980.675 [marl:UpdateRudder:A] Stopped 2025-10-28T21:46:20.675Z,1761687980.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:46:20.718Z,1761687980.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567550 2025-10-28T21:46:20.969Z,1761687980.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818882 2025-10-28T21:46:21.056Z,1761687981.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999593,0.018147,0.022032],[-0.025266,-0.921634,-0.387236],[0.013278,-0.387635,0.921717]] 2025-10-28T21:46:21.079Z,1761687981.079 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:46:21.079Z,1761687981.079 [marl:UpdateRudder:B] Stopped 2025-10-28T21:46:21.079Z,1761687981.079 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:46:21.079Z,1761687981.079 [marl:UpdateRudder] Stopped 2025-10-28T21:46:21.079Z,1761687981.079 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:46:21.080Z,1761687981.080 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:46:21.080Z,1761687981.080 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:46:21.080Z,1761687981.080 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:46:21.080Z,1761687981.080 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:46:21.080Z,1761687981.080 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:46:21.081Z,1761687981.081 [marl:UpdateCommandMode] Stopped 2025-10-28T21:46:21.081Z,1761687981.081 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:46:21.221Z,1761687981.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071028 2025-10-28T21:46:21.458Z,1761687981.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999897,-0.011153,0.009041],[0.006673,-0.918605,-0.395121],[0.012711,-0.395020,0.918585]] 2025-10-28T21:46:21.473Z,1761687981.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323024 2025-10-28T21:46:21.725Z,1761687981.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574861 2025-10-28T21:46:21.864Z,1761687981.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999163,-0.040607,-0.005024],[0.039159,-0.913397,-0.405182],[0.011864,-0.405039,0.914222]] 2025-10-28T21:46:21.977Z,1761687981.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826967 2025-10-28T21:46:22.228Z,1761687982.228 [DAT](INFO): Reached modem response timeout 2025-10-28T21:46:22.272Z,1761687982.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997368,-0.069742,-0.019854],[0.071679,-0.906814,-0.415391],[0.010966,-0.415721,0.909426]] 2025-10-28T21:46:22.673Z,1761687982.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994471,-0.098963,-0.035126],[0.104533,-0.901019,-0.420995],[0.010014,-0.422339,0.906383]] 2025-10-28T21:46:23.075Z,1761687983.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990581,-0.127216,-0.050654],[0.136665,-0.895556,-0.423440],[0.008505,-0.426374,0.904507]] 2025-10-28T21:46:23.479Z,1761687983.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985731,-0.155051,-0.065530],[0.168192,-0.891487,-0.420669],[0.006806,-0.425688,0.904844]] 2025-10-28T21:46:23.888Z,1761687983.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980136,-0.181617,-0.079684],[0.198278,-0.888278,-0.414304],[0.004463,-0.421874,0.906644]] 2025-10-28T21:46:24.293Z,1761687984.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973756,-0.208109,-0.092144],[0.227586,-0.886574,-0.402729],[0.002119,-0.413131,0.910669]] 2025-10-28T21:46:24.497Z,1761687984.497 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:46:24.497Z,1761687984.497 [DAT](INFO): response not received 2025-10-28T21:46:24.497Z,1761687984.497 [DAT](ERROR): No response from remote modem. 2025-10-28T21:46:24.691Z,1761687984.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966889,-0.233345,-0.103326],[0.255198,-0.884476,-0.390610],[-0.000242,-0.404045,0.914739]] 2025-10-28T21:46:25.095Z,1761687985.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959364,-0.258083,-0.114077],[0.282159,-0.881061,-0.379629],[-0.002533,-0.396391,0.918078]] 2025-10-28T21:46:25.501Z,1761687985.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951295,-0.281887,-0.124810],[0.308248,-0.875735,-0.371580],[-0.004557,-0.391954,0.919973]] 2025-10-28T21:46:25.903Z,1761687985.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942530,-0.305220,-0.135933],[0.334066,-0.868213,-0.366887],[-0.006037,-0.391213,0.920280]] 2025-10-28T21:46:26.307Z,1761687986.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933018,-0.328333,-0.147226],[0.359764,-0.859063,-0.364116],[-0.006925,-0.392693,0.919644]] 2025-10-28T21:46:26.711Z,1761687986.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922582,-0.351458,-0.159119],[0.385725,-0.848452,-0.362415],[-0.007631,-0.395734,0.918333]] 2025-10-28T21:46:27.134Z,1761687987.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910899,-0.374928,-0.172316],[0.412549,-0.835789,-0.362297],[-0.008185,-0.401105,0.915995]] 2025-10-28T21:46:27.518Z,1761687987.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898471,-0.397667,-0.186038],[0.438945,-0.822109,-0.362580],[-0.008757,-0.407429,0.913195]] 2025-10-28T21:46:27.923Z,1761687987.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884490,-0.422259,-0.198431],[0.466468,-0.808769,-0.358191],[-0.009235,-0.409378,0.912318]] 2025-10-28T21:46:28.340Z,1761687988.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869373,-0.446959,-0.210759],[0.494055,-0.794856,-0.352299],[-0.010060,-0.410405,0.911848]] 2025-10-28T21:46:28.732Z,1761687988.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853232,-0.471544,-0.222804],[0.521417,-0.780222,-0.345512],[-0.010912,-0.410975,0.911581]] 2025-10-28T21:46:29.179Z,1761687989.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836171,-0.496260,-0.233546],[0.548339,-0.765638,-0.336336],[-0.011901,-0.409297,0.912324]] 2025-10-28T21:46:29.540Z,1761687989.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818333,-0.520293,-0.244187],[0.574599,-0.750195,-0.327175],[-0.012961,-0.408047,0.912869]] 2025-10-28T21:46:29.589Z,1761687989.589 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:46:29.589Z,1761687989.589 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:46:29.589Z,1761687989.589 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:46:29.589Z,1761687989.589 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:46:29.589Z,1761687989.589 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:46:29.590Z,1761687989.590 [marl:UpdateSpeed] Stopped 2025-10-28T21:46:29.590Z,1761687989.590 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:46:29.946Z,1761687989.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799870,-0.543492,-0.254605],[0.600008,-0.734098,-0.317949],[-0.014102,-0.407083,0.913282]] 2025-10-28T21:46:30.349Z,1761687990.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780716,-0.565893,-0.265044],[0.624704,-0.717064,-0.309135],[-0.015117,-0.406920,0.913339]] 2025-10-28T21:46:30.750Z,1761687990.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760985,-0.587173,-0.275916],[0.648577,-0.698888,-0.301501],[-0.015801,-0.408390,0.912671]] 2025-10-28T21:46:31.183Z,1761687991.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740567,-0.608141,-0.285877],[0.671791,-0.680181,-0.293344],[-0.016054,-0.409291,0.912263]] 2025-10-28T21:46:31.560Z,1761687991.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719238,-0.628462,-0.296198],[0.694575,-0.660356,-0.285472],[-0.016188,-0.411054,0.911467]] 2025-10-28T21:46:31.964Z,1761687991.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696779,-0.648909,-0.305639],[0.717094,-0.640030,-0.275931],[-0.016564,-0.411436,0.911288]] 2025-10-28T21:46:32.366Z,1761687992.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673372,-0.669140,-0.314360],[0.739118,-0.618854,-0.265942],[-0.016591,-0.411427,0.911292]] 2025-10-28T21:46:32.777Z,1761687992.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649239,-0.688703,-0.322765],[0.760404,-0.596975,-0.255746],[-0.016550,-0.411472,0.911272]] 2025-10-28T21:46:33.189Z,1761687993.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624152,-0.707868,-0.330692],[0.781114,-0.574661,-0.244183],[-0.017186,-0.410716,0.911601]] 2025-10-28T21:46:33.580Z,1761687993.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598141,-0.727192,-0.336779],[0.801184,-0.552185,-0.230644],[-0.018242,-0.407779,0.912898]] 2025-10-28T21:46:33.604Z,1761687993.604 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:46:33.604Z,1761687993.604 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:46:33.605Z,1761687993.605 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:46:33.605Z,1761687993.605 [marl:UpdateRudder:A] Stopped 2025-10-28T21:46:33.605Z,1761687993.605 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:46:33.985Z,1761687993.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571937,-0.744446,-0.344510],[0.820046,-0.529285,-0.217674],[-0.020298,-0.407010,0.913198]] 2025-10-28T21:46:34.008Z,1761687994.008 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateRudder:B] Stopped 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateRudder] Stopped 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:46:34.009Z,1761687994.009 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:46:34.010Z,1761687994.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:46:34.010Z,1761687994.010 [marl:UpdateCommandMode] Stopped 2025-10-28T21:46:34.010Z,1761687994.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:46:34.321Z,1761687994.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:46:34.387Z,1761687994.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545341,-0.760673,-0.352107],[0.837895,-0.506288,-0.203970],[-0.023113,-0.406262,0.913464]] 2025-10-28T21:46:34.798Z,1761687994.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518889,-0.775680,-0.359270],[0.854430,-0.483651,-0.189818],[-0.026524,-0.405465,0.913726]] 2025-10-28T21:46:35.195Z,1761687995.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492950,-0.789192,-0.366300],[0.869542,-0.461363,-0.176186],[-0.029952,-0.405364,0.913664]] 2025-10-28T21:46:35.326Z,1761687995.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:46:35.601Z,1761687995.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466922,-0.801847,-0.372859],[0.883662,-0.439071,-0.162350],[-0.033532,-0.405287,0.913574]] 2025-10-28T21:46:36.003Z,1761687996.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441267,-0.812691,-0.380549],[0.896634,-0.416534,-0.150154],[-0.036483,-0.407471,0.912489]] 2025-10-28T21:46:36.407Z,1761687996.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415448,-0.823424,-0.386492],[0.908792,-0.393832,-0.137818],[-0.038730,-0.408497,0.911937]] 2025-10-28T21:46:36.817Z,1761687996.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388986,-0.833932,-0.391468],[0.920356,-0.370434,-0.125396],[-0.040442,-0.409067,0.911608]] 2025-10-28T21:46:37.214Z,1761687997.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362377,-0.844688,-0.393936],[0.931120,-0.346784,-0.112944],[-0.041208,-0.407730,0.912172]] 2025-10-28T21:46:37.618Z,1761687997.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334831,-0.857069,-0.391561],[0.941379,-0.322409,-0.099283],[-0.041150,-0.401851,0.914780]] 2025-10-28T21:46:38.022Z,1761687998.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306114,-0.868352,-0.390204],[0.951125,-0.296483,-0.086368],[-0.040691,-0.397571,0.916669]] 2025-10-28T21:46:38.427Z,1761687998.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275936,-0.879598,-0.387513],[0.960334,-0.269169,-0.072849],[-0.040228,-0.392244,0.918981]] 2025-10-28T21:46:38.832Z,1761687998.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243434,-0.891223,-0.382702],[0.969064,-0.240038,-0.057422],[-0.040687,-0.384842,0.922085]] 2025-10-28T21:46:39.234Z,1761687999.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209583,-0.901242,-0.379259],[0.976878,-0.209755,-0.041388],[-0.042251,-0.379164,0.924364]] 2025-10-28T21:46:39.639Z,1761687999.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174790,-0.908248,-0.380177],[0.983586,-0.178634,-0.025456],[-0.044792,-0.378386,0.924564]] 2025-10-28T21:46:40.043Z,1761688000.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139770,-0.914947,-0.378599],[0.989013,-0.147588,-0.008451],[-0.048144,-0.375620,0.925522]] 2025-10-28T21:46:40.448Z,1761688000.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105237,-0.919911,-0.377743],[0.993075,-0.117165,0.008665],[-0.052229,-0.374215,0.925870]] 2025-10-28T21:46:40.850Z,1761688000.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071171,-0.922504,-0.379368],[0.995829,-0.087480,0.025902],[-0.057082,-0.375943,0.924883]] 2025-10-28T21:46:41.255Z,1761688001.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037901,-0.923207,-0.382430],[0.997346,-0.058755,0.042995],[-0.062163,-0.379786,0.922983]] 2025-10-28T21:46:41.659Z,1761688001.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005595,-0.921137,-0.389199],[0.997729,-0.031269,0.059661],[-0.067126,-0.387981,0.919220]] 2025-10-28T21:46:42.064Z,1761688002.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025828,-0.920250,-0.390478],[0.997104,-0.004237,0.075937],[-0.071535,-0.391309,0.917475]] 2025-10-28T21:46:42.467Z,1761688002.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055626,-0.918451,-0.391604],[0.995653,0.021679,0.090585],[-0.074709,-0.394940,0.915664]] 2025-10-28T21:46:42.870Z,1761688002.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085122,-0.914618,-0.395256],[0.993388,0.047231,0.104642],[-0.077039,-0.401550,0.912591]] 2025-10-28T21:46:42.922Z,1761688002.922 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:46:42.923Z,1761688002.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:46:42.923Z,1761688002.923 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:46:42.923Z,1761688002.923 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:46:42.923Z,1761688002.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:46:42.923Z,1761688002.923 [marl:UpdateSpeed] Stopped 2025-10-28T21:46:42.924Z,1761688002.924 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:46:43.277Z,1761688003.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114865,-0.912670,-0.392224],[0.990264,0.073947,0.117936],[-0.078633,-0.401952,0.912278]] 2025-10-28T21:46:43.681Z,1761688003.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143681,-0.910639,-0.387418],[0.986446,0.100441,0.129753],[-0.079246,-0.400810,0.912728]] 2025-10-28T21:46:44.082Z,1761688004.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172663,-0.907730,-0.382380],[0.981764,0.127248,0.141238],[-0.079549,-0.399793,0.913147]] 2025-10-28T21:46:44.491Z,1761688004.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201799,-0.904979,-0.374553],[0.976154,0.154600,0.152388],[-0.080002,-0.396374,0.914597]] 2025-10-28T21:46:44.891Z,1761688004.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231185,-0.902305,-0.363867],[0.969561,0.182665,0.163050],[-0.080655,-0.390486,0.917069]] 2025-10-28T21:46:45.303Z,1761688005.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260334,-0.897168,-0.356814],[0.962106,0.210005,0.173927],[-0.081109,-0.388572,0.917842]] 2025-10-28T21:46:45.698Z,1761688005.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289366,-0.890396,-0.351371],[0.953732,0.236886,0.185148],[-0.081620,-0.388689,0.917747]] 2025-10-28T21:46:46.103Z,1761688006.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318212,-0.882996,-0.345048],[0.944420,0.263572,0.196473],[-0.082540,-0.388390,0.917791]] 2025-10-28T21:46:46.511Z,1761688006.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347111,-0.874173,-0.339612],[0.934063,0.289853,0.208596],[-0.083912,-0.389625,0.917143]] 2025-10-28T21:46:46.562Z,1761688006.562 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:46:46.562Z,1761688006.562 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:46:46.562Z,1761688006.562 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:46:46.563Z,1761688006.563 [marl:UpdateRudder:A] Stopped 2025-10-28T21:46:46.563Z,1761688006.563 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:46:46.913Z,1761688006.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375365,-0.863746,-0.336219],[0.922897,0.314715,0.221849],[-0.085808,-0.393570,0.915281]] 2025-10-28T21:46:46.942Z,1761688006.942 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateRudder:B] Stopped 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateRudder] Stopped 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:46:46.943Z,1761688006.943 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:46:46.944Z,1761688006.944 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:46:46.944Z,1761688006.944 [marl:UpdateCommandMode] Stopped 2025-10-28T21:46:46.944Z,1761688006.944 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:46:47.315Z,1761688007.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402758,-0.852931,-0.332107],[0.911100,0.338841,0.234700],[-0.087651,-0.397110,0.913576]] 2025-10-28T21:46:47.719Z,1761688007.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429846,-0.841927,-0.326178],[0.898428,0.362909,0.247234],[-0.089780,-0.399320,0.912405]] 2025-10-28T21:46:48.123Z,1761688008.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456200,-0.830452,-0.319737],[0.885094,0.386241,0.259667],[-0.092145,-0.401458,0.911231]] 2025-10-28T21:46:48.544Z,1761688008.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481703,-0.819071,-0.311586],[0.871220,0.409239,0.271108],[-0.094543,-0.402053,0.910722]] 2025-10-28T21:46:48.931Z,1761688008.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505615,-0.807750,-0.303139],[0.857378,0.431242,0.280951],[-0.096211,-0.401958,0.910589]] 2025-10-28T21:46:49.335Z,1761688009.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529585,-0.795241,-0.295181],[0.842669,0.453338,0.290507],[-0.097206,-0.402588,0.910205]] 2025-10-28T21:46:49.740Z,1761688009.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552786,-0.781947,-0.288074],[0.827596,0.474679,0.299608],[-0.097535,-0.404028,0.909532]] 2025-10-28T21:46:50.150Z,1761688010.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598014,-0.753387,-0.273471],[0.795588,0.516675,0.316364],[-0.097049,-0.406761,0.908365]] 2025-10-28T21:46:50.562Z,1761688010.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619118,-0.738962,-0.265759],[0.779413,0.536868,0.322937],[-0.095961,-0.407072,0.908341]] 2025-10-28T21:46:50.955Z,1761688010.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639550,-0.723473,-0.259929],[0.762911,0.555717,0.330372],[-0.094568,-0.409592,0.907354]] 2025-10-28T21:46:51.360Z,1761688011.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659710,-0.706920,-0.255042],[0.745768,0.573903,0.338327],[-0.092801,-0.413401,0.905808]] 2025-10-28T21:46:51.769Z,1761688011.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679047,-0.691320,-0.246925],[0.728479,0.593060,0.342925],[-0.090629,-0.412742,0.906328]] 2025-10-28T21:46:52.163Z,1761688012.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698957,-0.674395,-0.238014],[0.709660,0.612831,0.347593],[-0.088553,-0.411861,0.906934]] 2025-10-28T21:46:52.567Z,1761688012.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719533,-0.655833,-0.228378],[0.689063,0.633319,0.352277],[-0.086399,-0.410842,0.907604]] 2025-10-28T21:46:52.970Z,1761688012.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740554,-0.635179,-0.219380],[0.666707,0.653589,0.358223],[-0.084152,-0.411545,0.907496]] 2025-10-28T21:46:53.376Z,1761688013.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762308,-0.611679,-0.211506],[0.641945,0.672972,0.367444],[-0.082420,-0.415881,0.905676]] 2025-10-28T21:46:53.790Z,1761688013.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783897,-0.587565,-0.200679],[0.615581,0.693303,0.374688],[-0.081023,-0.417251,0.905172]] 2025-10-28T21:46:54.182Z,1761688014.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805047,-0.562629,-0.188009],[0.587768,0.713705,0.380992],[-0.080174,-0.417222,0.905261]] 2025-10-28T21:46:54.590Z,1761688014.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825239,-0.537485,-0.173464],[0.559078,0.733875,0.385824],[-0.080074,-0.415377,0.906118]] 2025-10-28T21:46:54.990Z,1761688014.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844525,-0.512086,-0.156672],[0.529356,0.754037,0.388858],[-0.080992,-0.411336,0.907878]] 2025-10-28T21:46:55.398Z,1761688015.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862647,-0.486322,-0.139034],[0.498986,0.773247,0.391283],[-0.082782,-0.406915,0.909707]] 2025-10-28T21:46:55.799Z,1761688015.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878965,-0.461205,-0.121283],[0.469249,0.791123,0.392339],[-0.085000,-0.401765,0.911790]] 2025-10-28T21:46:56.202Z,1761688016.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893026,-0.437900,-0.103674],[0.441446,0.807756,0.390712],[-0.087349,-0.394682,0.914656]] 2025-10-28T21:46:56.237Z,1761688016.237 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:46:56.237Z,1761688016.237 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:46:56.237Z,1761688016.237 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:46:56.238Z,1761688016.238 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:46:56.238Z,1761688016.238 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:46:56.238Z,1761688016.238 [marl:UpdateSpeed] Stopped 2025-10-28T21:46:56.238Z,1761688016.238 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:46:56.610Z,1761688016.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905042,-0.415812,-0.089441],[0.415746,0.820510,0.392325],[-0.089746,-0.392255,0.915468]] 2025-10-28T21:46:57.011Z,1761688017.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915624,-0.394373,-0.078123],[0.391430,0.830136,0.397060],[-0.091737,-0.394137,0.914462]] 2025-10-28T21:46:57.420Z,1761688017.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925249,-0.373065,-0.068830],[0.367714,0.837341,0.404532],[-0.093282,-0.399603,0.911930]] 2025-10-28T21:46:57.818Z,1761688017.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933930,-0.352312,-0.060422],[0.344705,0.842914,0.413128],[-0.094620,-0.406660,0.908666]] 2025-10-28T21:46:58.223Z,1761688018.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941871,-0.331862,-0.052417],[0.322201,0.847979,0.420854],[-0.095217,-0.413279,0.905613]] 2025-10-28T21:46:58.627Z,1761688018.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949305,-0.311133,-0.044891],[0.299577,0.852135,0.429093],[-0.095252,-0.420788,0.902144]] 2025-10-28T21:46:59.032Z,1761688019.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956316,-0.290006,-0.036820],[0.276539,0.856597,0.435624],[-0.094794,-0.426777,0.899375]] 2025-10-28T21:46:59.435Z,1761688019.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962913,-0.268366,-0.027887],[0.252840,0.861436,0.440454],[-0.094179,-0.431170,0.897342]] 2025-10-28T21:46:59.839Z,1761688019.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969306,-0.245242,-0.017393],[0.227474,0.867737,0.441914],[-0.093284,-0.432306,0.896889]] 2025-10-28T21:46:59.877Z,1761688019.877 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:46:59.877Z,1761688019.877 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:46:59.878Z,1761688019.878 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:46:59.878Z,1761688019.878 [marl:UpdateRudder:A] Stopped 2025-10-28T21:46:59.878Z,1761688019.878 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:47:00.245Z,1761688020.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975326,-0.220696,-0.005666],[0.200603,0.875228,0.440152],[-0.092181,-0.430429,0.897905]] 2025-10-28T21:47:00.298Z,1761688020.298 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateRudder:B] Stopped 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateRudder] Stopped 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:47:00.299Z,1761688020.299 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:47:00.305Z,1761688020.305 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:47:00.305Z,1761688020.305 [marl:UpdateCommandMode] Stopped 2025-10-28T21:47:00.305Z,1761688020.305 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:47:00.651Z,1761688020.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980675,-0.195551,0.006078],[0.173189,0.882146,0.437977],[-0.091008,-0.428460,0.898966]] 2025-10-28T21:47:01.051Z,1761688021.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985431,-0.169089,0.018269],[0.144397,0.888573,0.435417],[-0.089858,-0.426436,0.900043]] 2025-10-28T21:47:01.454Z,1761688021.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989388,-0.141976,0.030878],[0.114864,0.894446,0.432171],[-0.088976,-0.424038,0.901263]] 2025-10-28T21:47:01.858Z,1761688021.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992562,-0.113806,0.043230],[0.084320,0.898803,0.430167],[-0.087810,-0.423322,0.901714]] 2025-10-28T21:47:02.271Z,1761688022.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994849,-0.084779,0.055577],[0.052958,0.902137,0.428188],[-0.086440,-0.423039,0.901979]] 2025-10-28T21:47:02.667Z,1761688022.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996111,-0.055232,0.068651],[0.020831,0.904674,0.425594],[-0.085614,-0.422509,0.902306]] 2025-10-28T21:47:03.071Z,1761688023.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996342,-0.026230,0.081336],[-0.010408,0.907407,0.420124],[-0.084825,-0.419434,0.903814]] 2025-10-28T21:47:03.475Z,1761688023.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995652,0.002374,0.093125],[-0.040718,0.910215,0.412130],[-0.083785,-0.414130,0.906353]] 2025-10-28T21:47:03.880Z,1761688023.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994096,0.029799,0.104335],[-0.069965,0.910994,0.406441],[-0.082937,-0.411341,0.907700]] 2025-10-28T21:47:04.283Z,1761688024.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991678,0.056600,0.115636],[-0.098703,0.910921,0.400600],[-0.082661,-0.408679,0.908927]] 2025-10-28T21:47:04.687Z,1761688024.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988472,0.082531,0.126932],[-0.126818,0.909291,0.396368],[-0.082706,-0.407896,0.909275]] 2025-10-28T21:47:05.090Z,1761688025.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984505,0.107848,0.138273],[-0.154581,0.906050,0.393926],[-0.082798,-0.409197,0.908682]] 2025-10-28T21:47:05.449Z,1761688025.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:47:05.502Z,1761688025.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979534,0.133690,0.150464],[-0.183301,0.901312,0.392476],[-0.083145,-0.412024,0.907371]] 2025-10-28T21:47:05.898Z,1761688025.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973549,0.159695,0.163399],[-0.212564,0.895299,0.391478],[-0.083773,-0.415856,0.905564]] 2025-10-28T21:47:06.302Z,1761688026.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966429,0.186273,0.176968],[-0.242671,0.888043,0.390501],[-0.084416,-0.420337,0.903433]] 2025-10-28T21:47:06.452Z,1761688026.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:47:06.707Z,1761688026.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958309,0.212970,0.190492],[-0.272868,0.879907,0.388981],[-0.084774,-0.424743,0.901336]] 2025-10-28T21:47:07.130Z,1761688027.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949507,0.239721,0.202412],[-0.302028,0.873056,0.382822],[-0.084947,-0.424626,0.901375]] 2025-10-28T21:47:07.515Z,1761688027.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940178,0.265848,0.213049],[-0.329839,0.866829,0.373917],[-0.085272,-0.421820,0.902661]] 2025-10-28T21:47:07.918Z,1761688027.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930626,0.290811,0.222181],[-0.355903,0.860586,0.364313],[-0.085260,-0.418114,0.904384]] 2025-10-28T21:47:08.322Z,1761688028.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920660,0.314886,0.230722],[-0.381005,0.853497,0.355497],[-0.084980,-0.415198,0.905753]] 2025-10-28T21:47:08.728Z,1761688028.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910253,0.338019,0.239127],[-0.405347,0.845279,0.348135],[-0.084453,-0.413820,0.906433]] 2025-10-28T21:47:09.179Z,1761688029.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899709,0.360005,0.246820],[-0.428341,0.836956,0.340629],[-0.083949,-0.412190,0.907222]] 2025-10-28T21:47:09.535Z,1761688029.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888488,0.381179,0.255522],[-0.451297,0.826716,0.335964],[-0.083182,-0.413816,0.906552]] 2025-10-28T21:47:09.559Z,1761688029.559 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:47:09.559Z,1761688029.559 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:47:09.559Z,1761688029.559 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:47:09.560Z,1761688029.560 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:47:09.560Z,1761688029.560 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:47:09.560Z,1761688029.560 [marl:UpdateSpeed] Stopped 2025-10-28T21:47:09.560Z,1761688029.560 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:47:09.939Z,1761688029.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876620,0.402439,0.263780],[-0.474137,0.815897,0.330917],[-0.082044,-0.415156,0.906043]] 2025-10-28T21:47:10.343Z,1761688030.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863423,0.423968,0.273407],[-0.497951,0.803146,0.327112],[-0.080901,-0.418579,0.904570]] 2025-10-28T21:47:10.762Z,1761688030.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849384,0.445349,0.283214],[-0.521679,0.789775,0.322654],[-0.079981,-0.421804,0.903152]] 2025-10-28T21:47:11.183Z,1761688031.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833900,0.467695,0.293040],[-0.546178,0.775665,0.316281],[-0.079379,-0.423799,0.902272]] 2025-10-28T21:47:11.555Z,1761688031.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817308,0.489491,0.303985],[-0.570729,0.760257,0.310286],[-0.079224,-0.427092,0.900731]] 2025-10-28T21:47:11.959Z,1761688031.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799415,0.512187,0.314008],[-0.595507,0.744645,0.301455],[-0.079423,-0.427982,0.900291]] 2025-10-28T21:47:12.009Z,1761688032.009 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:47:12.153Z,1761688032.153 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:47:12.153Z,1761688032.153 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:47:12.363Z,1761688032.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781366,0.533975,0.323013],[-0.618909,0.729471,0.291244],[-0.080112,-0.427484,0.900466]] 2025-10-28T21:47:12.405Z,1761688032.405 [DAT](INFO): DAT read: user:327> 2025-10-28T21:47:12.406Z,1761688032.406 [DAT](INFO): DAT read: Tx time:21:47:12.1491 2025-10-28T21:47:12.407Z,1761688032.407 [DAT](INFO): Ping request sent. 2025-10-28T21:47:12.407Z,1761688032.407 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:47:12.407Z,1761688032.407 [DAT](INFO): publishing transmit ping time 2025-10-28T21:47:12.408Z,1761688032.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001341 2025-10-28T21:47:12.657Z,1761688032.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250034 2025-10-28T21:47:12.784Z,1761688032.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762810,0.554606,0.332465],[-0.641471,0.713818,0.281032],[-0.081457,-0.427641,0.900271]] 2025-10-28T21:47:12.909Z,1761688032.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502104 2025-10-28T21:47:13.163Z,1761688033.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756071 2025-10-28T21:47:13.195Z,1761688033.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744397,0.574938,0.339586],[-0.662591,0.699025,0.268957],[-0.082746,-0.425217,0.901301]] 2025-10-28T21:47:13.272Z,1761688033.272 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:47:13.272Z,1761688033.272 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:47:13.272Z,1761688033.272 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateRudder:A] Stopped 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:47:13.273Z,1761688033.273 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:47:13.274Z,1761688033.274 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:47:13.274Z,1761688033.274 [marl:UpdateCommandMode] Stopped 2025-10-28T21:47:13.274Z,1761688033.274 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:47:13.413Z,1761688033.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006111 2025-10-28T21:47:13.574Z,1761688033.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725644,0.594347,0.346690],[-0.682938,0.683555,0.257581],[-0.083889,-0.423679,0.901919]] 2025-10-28T21:47:13.598Z,1761688033.598 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:47:13.598Z,1761688033.598 [marl:UpdateRudder:B] Stopped 2025-10-28T21:47:13.599Z,1761688033.599 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:47:13.599Z,1761688033.599 [marl:UpdateRudder] Stopped 2025-10-28T21:47:13.599Z,1761688033.599 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:47:13.665Z,1761688033.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258046 2025-10-28T21:47:13.917Z,1761688033.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004 2025-10-28T21:47:13.984Z,1761688033.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706686,0.613704,0.352082],[-0.702470,0.667985,0.245626],[-0.084444,-0.420908,0.903164]] 2025-10-28T21:47:14.171Z,1761688034.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764147 2025-10-28T21:47:14.385Z,1761688034.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687118,0.632332,0.357806],[-0.721604,0.651290,0.234753],[-0.084594,-0.419497,0.903806]] 2025-10-28T21:47:14.421Z,1761688034.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014096 2025-10-28T21:47:14.674Z,1761688034.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266842 2025-10-28T21:47:14.791Z,1761688034.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666721,0.651652,0.361709],[-0.740523,0.634100,0.222580],[-0.084315,-0.416252,0.905331]] 2025-10-28T21:47:14.925Z,1761688034.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518187 2025-10-28T21:47:15.179Z,1761688035.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771837 2025-10-28T21:47:15.194Z,1761688035.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646034,0.671029,0.363813],[-0.758683,0.616881,0.209420],[-0.083902,-0.411311,0.907625]] 2025-10-28T21:47:15.429Z,1761688035.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022666 2025-10-28T21:47:15.595Z,1761688035.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624914,0.691945,0.361518],[-0.776273,0.599947,0.193555],[-0.082962,-0.401592,0.912053]] 2025-10-28T21:47:15.682Z,1761688035.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274931 2025-10-28T21:47:15.933Z,1761688035.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526020 2025-10-28T21:47:15.000Z,1761688036.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602375,0.710530,0.363718],[-0.794022,0.580025,0.181937],[-0.081694,-0.398394,0.913569]] 2025-10-28T21:47:16.185Z,1761688036.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778059 2025-10-28T21:47:16.403Z,1761688036.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578937,0.728038,0.367143],[-0.811372,0.558941,0.171058],[-0.080675,-0.396921,0.914301]] 2025-10-28T21:47:16.437Z,1761688036.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030202 2025-10-28T21:47:16.689Z,1761688036.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282027 2025-10-28T21:47:16.806Z,1761688036.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554424,0.745913,0.369089],[-0.828393,0.537185,0.158737],[-0.079865,-0.393758,0.915738]] 2025-10-28T21:47:16.941Z,1761688036.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534536 2025-10-28T21:47:17.193Z,1761688037.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786120 2025-10-28T21:47:17.211Z,1761688037.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529346,0.761758,0.373520],[-0.844668,0.514474,0.147828],[-0.079557,-0.393753,0.915767]] 2025-10-28T21:47:17.445Z,1761688037.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037988 2025-10-28T21:47:17.616Z,1761688037.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503582,0.776811,0.378114],[-0.860276,0.491170,0.136662],[-0.079558,-0.394103,0.915616]] 2025-10-28T21:47:17.697Z,1761688037.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290623 2025-10-28T21:47:17.949Z,1761688037.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542085 2025-10-28T21:47:18.038Z,1761688038.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476844,0.788374,0.388698],[-0.875409,0.465810,0.129152],[-0.079240,-0.401855,0.912269]] 2025-10-28T21:47:18.201Z,1761688038.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794031 2025-10-28T21:47:18.422Z,1761688038.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449568,0.798459,0.400440],[-0.889745,0.439940,0.121684],[-0.079010,-0.410995,0.908207]] 2025-10-28T21:47:18.453Z,1761688038.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046153 2025-10-28T21:47:18.705Z,1761688038.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298138 2025-10-28T21:47:18.826Z,1761688038.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422436,0.806539,0.413574],[-0.902985,0.414014,0.114938],[-0.078523,-0.422005,0.903186]] 2025-10-28T21:47:18.957Z,1761688038.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549996 2025-10-28T21:47:19.210Z,1761688039.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803032 2025-10-28T21:47:19.245Z,1761688039.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394184,0.814532,0.425624],[-0.915779,0.387053,0.107415],[-0.077246,-0.432119,0.898502]] 2025-10-28T21:47:19.461Z,1761688039.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054087 2025-10-28T21:47:19.634Z,1761688039.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365070,0.822405,0.436319],[-0.927913,0.359443,0.098884],[-0.075509,-0.440966,0.894342]] 2025-10-28T21:47:19.714Z,1761688039.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306663 2025-10-28T21:47:19.965Z,1761688039.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558053 2025-10-28T21:47:20.038Z,1761688040.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335485,0.831110,0.443516],[-0.939178,0.331787,0.088675],[-0.073454,-0.446289,0.891869]] 2025-10-28T21:47:20.218Z,1761688040.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810963 2025-10-28T21:47:20.444Z,1761688040.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305782,0.840053,0.448116],[-0.949402,0.304450,0.077114],[-0.071649,-0.449022,0.890643]] 2025-10-28T21:47:20.469Z,1761688040.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062164 2025-10-28T21:47:20.722Z,1761688040.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314746 2025-10-28T21:47:20.846Z,1761688040.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275531,0.850333,0.448348],[-0.958768,0.276867,0.064105],[-0.069623,-0.447525,0.891557]] 2025-10-28T21:47:20.977Z,1761688040.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569738 2025-10-28T21:47:21.226Z,1761688041.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818655 2025-10-28T21:47:21.251Z,1761688041.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244817,0.861180,0.445459],[-0.967212,0.248939,0.050304],[-0.067572,-0.443169,0.893888]] 2025-10-28T21:47:21.479Z,1761688041.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071949 2025-10-28T21:47:21.655Z,1761688041.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214324,0.872293,0.439511],[-0.974534,0.221341,0.035930],[-0.065940,-0.436019,0.897518]] 2025-10-28T21:47:21.730Z,1761688041.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322999 2025-10-28T21:47:21.981Z,1761688041.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574030 2025-10-28T21:47:22.060Z,1761688042.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184266,0.883335,0.431005],[-0.980766,0.193970,0.021766],[-0.064375,-0.426726,0.902087]] 2025-10-28T21:47:22.233Z,1761688042.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826311 2025-10-28T21:47:22.463Z,1761688042.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154235,0.893101,0.422590],[-0.986046,0.166253,0.008525],[-0.062643,-0.418008,0.906281]] 2025-10-28T21:47:22.485Z,1761688042.485 [DAT](INFO): Reached modem response timeout 2025-10-28T21:47:22.866Z,1761688042.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125143,0.902006,0.413189],[-0.990255,0.139206,-0.003972],[-0.061101,-0.408666,0.910637]] 2025-10-28T21:47:22.910Z,1761688042.910 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:47:22.910Z,1761688042.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:47:22.910Z,1761688042.910 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:47:22.911Z,1761688042.911 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:47:22.911Z,1761688042.911 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:47:22.911Z,1761688042.911 [marl:UpdateSpeed] Stopped 2025-10-28T21:47:22.911Z,1761688042.911 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:47:23.270Z,1761688043.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096746,0.908303,0.406971],[-0.993511,0.112694,-0.015338],[-0.059795,-0.402846,0.913312]] 2025-10-28T21:47:23.675Z,1761688043.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068895,0.912242,0.403816],[-0.995892,0.086729,-0.026018],[-0.058758,-0.400365,0.914470]] 2025-10-28T21:47:24.078Z,1761688044.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040887,0.914716,0.402024],[-0.997507,0.060530,-0.036272],[-0.057513,-0.399539,0.914910]] 2025-10-28T21:47:24.483Z,1761688044.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012713,0.913583,0.406453],[-0.998333,0.034485,-0.046286],[-0.056302,-0.405187,0.912499]] 2025-10-28T21:47:24.754Z,1761688044.754 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:47:24.754Z,1761688044.754 [DAT](INFO): response not received 2025-10-28T21:47:24.754Z,1761688044.754 [DAT](ERROR): No response from remote modem. 2025-10-28T21:47:24.890Z,1761688044.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015952,0.912009,0.409861],[-0.998358,0.008024,-0.056712],[-0.055011,-0.410093,0.910383]] 2025-10-28T21:47:25.292Z,1761688045.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045326,0.910607,0.410780],[-0.997533,-0.019190,-0.067531],[-0.053611,-0.412827,0.909230]] 2025-10-28T21:47:25.695Z,1761688045.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074966,0.907857,0.412524],[-0.995827,-0.046570,-0.078479],[-0.052036,-0.416686,0.907560]] 2025-10-28T21:47:26.098Z,1761688046.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104615,0.905494,0.411262],[-0.993240,-0.074213,-0.089260],[-0.050303,-0.417820,0.907136]] 2025-10-28T21:47:26.138Z,1761688046.138 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:47:26.138Z,1761688046.138 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:47:26.138Z,1761688046.138 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateRudder:A] Stopped 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:47:26.139Z,1761688046.139 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:47:26.140Z,1761688046.140 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:47:26.140Z,1761688046.140 [marl:UpdateCommandMode] Stopped 2025-10-28T21:47:26.140Z,1761688046.140 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:47:26.504Z,1761688046.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132501,0.903060,0.408567],[-0.989990,-0.100359,-0.099235],[-0.048612,-0.417626,0.907318]] 2025-10-28T21:47:26.534Z,1761688046.534 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:47:26.534Z,1761688046.534 [marl:UpdateRudder:B] Stopped 2025-10-28T21:47:26.534Z,1761688046.534 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:47:26.534Z,1761688046.534 [marl:UpdateRudder] Stopped 2025-10-28T21:47:26.534Z,1761688046.534 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:47:26.906Z,1761688046.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160430,0.900927,0.403227],[-0.985931,-0.126842,-0.108866],[-0.046934,-0.415019,0.908601]] 2025-10-28T21:47:27.311Z,1761688047.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189078,0.898752,0.395593],[-0.980934,-0.154441,-0.117971],[-0.044931,-0.410356,0.910818]] 2025-10-28T21:47:27.722Z,1761688047.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218079,0.894689,0.389837],[-0.974985,-0.182141,-0.127396],[-0.042974,-0.407867,0.912029]] 2025-10-28T21:47:28.523Z,1761688048.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275644,0.882400,0.381301],[-0.960451,-0.236546,-0.146903],[-0.039432,-0.406714,0.912704]] 2025-10-28T21:47:28.927Z,1761688048.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304412,0.876094,0.373889],[-0.951788,-0.264165,-0.155936],[-0.037846,-0.403332,0.914271]] 2025-10-28T21:47:29.330Z,1761688049.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333304,0.868060,0.367940],[-0.942134,-0.291776,-0.165075],[-0.035939,-0.401669,0.915080]] 2025-10-28T21:47:29.742Z,1761688049.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361488,0.858504,0.363726],[-0.931752,-0.318344,-0.174630],[-0.034130,-0.402029,0.914991]] 2025-10-28T21:47:30.138Z,1761688050.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388468,0.848401,0.359594],[-0.920881,-0.343578,-0.184208],[-0.032734,-0.402703,0.914745]] 2025-10-28T21:47:30.546Z,1761688050.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415131,0.836545,0.357573],[-0.909213,-0.367836,-0.195010],[-0.031607,-0.406064,0.913298]] 2025-10-28T21:47:30.947Z,1761688050.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441690,0.824090,0.354664],[-0.896646,-0.391998,-0.205823],[-0.030590,-0.408918,0.912058]] 2025-10-28T21:47:31.352Z,1761688051.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468345,0.811112,0.350358],[-0.883044,-0.416349,-0.216533],[-0.029761,-0.410793,0.911243]] 2025-10-28T21:47:31.760Z,1761688051.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494930,0.797249,0.345599],[-0.868457,-0.440688,-0.227104],[-0.028757,-0.412539,0.910486]] 2025-10-28T21:47:32.158Z,1761688052.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521543,0.784060,0.336515],[-0.852775,-0.466197,-0.235449],[-0.027724,-0.409768,0.911768]] 2025-10-28T21:47:32.567Z,1761688052.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547701,0.769821,0.327719],[-0.836252,-0.491243,-0.243643],[-0.026572,-0.407500,0.912819]] 2025-10-28T21:47:32.967Z,1761688052.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573233,0.755066,0.318243],[-0.819009,-0.516109,-0.250711],[-0.025056,-0.404360,0.914257]] 2025-10-28T21:47:33.373Z,1761688053.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598085,0.738997,0.310126],[-0.801088,-0.539911,-0.258368],[-0.023493,-0.402964,0.914914]] 2025-10-28T21:47:33.780Z,1761688053.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622247,0.723463,0.299016],[-0.782510,-0.564074,-0.263624],[-0.022055,-0.398023,0.917110]] 2025-10-28T21:47:34.178Z,1761688054.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644704,0.706593,0.291689],[-0.764152,-0.585377,-0.270935],[-0.020693,-0.397568,0.917339]] 2025-10-28T21:47:34.589Z,1761688054.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665321,0.689204,0.286960],[-0.746308,-0.604065,-0.279516],[-0.019301,-0.400128,0.916256]] 2025-10-28T21:47:34.993Z,1761688054.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684913,0.671369,0.283123],[-0.728408,-0.621415,-0.288558],[-0.017792,-0.403866,0.914645]] 2025-10-28T21:47:35.399Z,1761688055.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720092,0.635756,0.277997],[-0.693724,-0.651148,-0.307822],[-0.014683,-0.414513,0.909925]] 2025-10-28T21:47:35.801Z,1761688055.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736398,0.618719,0.273685],[-0.676416,-0.665340,-0.315886],[-0.013351,-0.417743,0.908467]] 2025-10-28T21:47:35.836Z,1761688055.836 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:47:35.836Z,1761688055.836 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:47:35.836Z,1761688055.836 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:47:35.837Z,1761688055.837 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:47:35.837Z,1761688055.837 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:47:35.837Z,1761688055.837 [marl:UpdateSpeed] Stopped 2025-10-28T21:47:35.837Z,1761688055.837 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:47:36.211Z,1761688056.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753350,0.601843,0.265046],[-0.657508,-0.681884,-0.320497],[-0.012158,-0.415716,0.909413]] 2025-10-28T21:47:36.572Z,1761688056.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:47:36.615Z,1761688056.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770785,0.583775,0.255143],[-0.636997,-0.699095,-0.324810],[-0.011247,-0.412884,0.910714]] 2025-10-28T21:47:37.009Z,1761688057.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789036,0.565609,0.239811],[-0.614252,-0.719454,-0.324161],[-0.010815,-0.403079,0.915101]] 2025-10-28T21:47:37.410Z,1761688057.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807982,0.544796,0.224414],[-0.589114,-0.740215,-0.324077],[-0.010441,-0.394054,0.919028]] 2025-10-28T21:47:37.576Z,1761688057.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:47:37.815Z,1761688057.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827477,0.521930,0.207052],[-0.561405,-0.762263,-0.322149],[-0.010311,-0.382811,0.923769]] 2025-10-28T21:47:38.219Z,1761688058.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846732,0.495289,0.194253],[-0.531917,-0.780954,-0.327376],[-0.010443,-0.380526,0.924711]] 2025-10-28T21:47:38.622Z,1761688058.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865472,0.466610,0.182301],[-0.500841,-0.798103,-0.334948],[-0.010795,-0.381192,0.924433]] 2025-10-28T21:47:39.027Z,1761688059.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883304,0.436715,0.170452],[-0.468664,-0.813851,-0.343511],[-0.011294,-0.383309,0.923551]] 2025-10-28T21:47:39.431Z,1761688059.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899939,0.405710,0.159717],[-0.435858,-0.827208,-0.354620],[-0.011754,-0.388750,0.921268]] 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateRudder:A] Stopped 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:47:39.505Z,1761688059.505 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:47:39.506Z,1761688059.506 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:47:39.506Z,1761688059.506 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:47:39.506Z,1761688059.506 [marl:UpdateCommandMode] Stopped 2025-10-28T21:47:39.506Z,1761688059.506 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:47:39.836Z,1761688059.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914573,0.374892,0.151697],[-0.404237,-0.836086,-0.370881],[-0.012208,-0.400519,0.916207]] 2025-10-28T21:47:39.859Z,1761688059.859 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:47:39.860Z,1761688059.860 [marl:UpdateRudder:B] Stopped 2025-10-28T21:47:39.860Z,1761688059.860 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:47:39.860Z,1761688059.860 [marl:UpdateRudder] Stopped 2025-10-28T21:47:39.860Z,1761688059.860 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:47:40.238Z,1761688060.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926933,0.346139,0.144854],[-0.375031,-0.842189,-0.387388],[-0.012096,-0.413407,0.910466]] 2025-10-28T21:47:40.643Z,1761688060.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937458,0.319528,0.138112],[-0.347897,-0.846489,-0.403019],[-0.011866,-0.425862,0.904710]] 2025-10-28T21:47:41.452Z,1761688061.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954063,0.273022,0.123383],[-0.299473,-0.856715,-0.419946],[-0.008950,-0.437605,0.899123]] 2025-10-28T21:47:41.854Z,1761688061.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960994,0.251055,0.116029],[-0.276502,-0.862830,-0.423167],[-0.006125,-0.438743,0.898592]] 2025-10-28T21:47:42.259Z,1761688062.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967409,0.228875,0.108335],[-0.253207,-0.869976,-0.423118],[-0.002592,-0.436759,0.899575]] 2025-10-28T21:47:42.671Z,1761688062.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973415,0.206259,0.099606],[-0.229047,-0.878698,-0.418841],[0.001134,-0.430520,0.902580]] 2025-10-28T21:47:43.068Z,1761688063.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979247,0.181746,0.089685],[-0.202606,-0.888982,-0.410685],[0.005088,-0.420333,0.907356]] 2025-10-28T21:47:43.471Z,1761688063.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984847,0.154551,0.078674],[-0.173190,-0.900038,-0.399921],[0.009001,-0.407487,0.913167]] 2025-10-28T21:47:43.874Z,1761688063.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989744,0.125567,0.068116],[-0.142314,-0.908074,-0.393888],[0.012395,-0.399543,0.916631]] 2025-10-28T21:47:44.280Z,1761688064.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993785,0.095625,0.056986],[-0.110315,-0.914533,-0.389179],[0.014901,-0.393047,0.919398]] 2025-10-28T21:47:44.695Z,1761688064.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996821,0.065120,0.045895],[-0.077851,-0.918553,-0.387557],[0.016919,-0.389898,0.920703]] 2025-10-28T21:47:45.086Z,1761688065.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998786,0.034590,0.035066],[-0.045538,-0.919800,-0.389735],[0.018773,-0.390859,0.920259]] 2025-10-28T21:47:45.492Z,1761688065.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999691,0.004762,0.024397],[-0.014022,-0.918453,-0.395282],[0.020525,-0.395502,0.918236]] 2025-10-28T21:47:45.894Z,1761688065.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999613,-0.024165,0.013753],[0.016615,-0.915753,-0.401397],[0.022294,-0.401014,0.915801]] 2025-10-28T21:47:46.298Z,1761688066.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998605,-0.052714,0.003050],[0.046877,-0.911644,-0.408298],[0.024303,-0.407586,0.912844]] 2025-10-28T21:47:46.706Z,1761688066.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996708,-0.080700,-0.007855],[0.076671,-0.906555,-0.415066],[0.026375,-0.414302,0.909757]] 2025-10-28T21:47:47.115Z,1761688067.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993914,-0.108519,-0.018905],[0.106342,-0.900521,-0.421607],[0.028728,-0.421052,0.906582]] 2025-10-28T21:47:47.514Z,1761688067.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990242,-0.136073,-0.030075],[0.135858,-0.894567,-0.425784],[0.031034,-0.425715,0.904325]] 2025-10-28T21:47:47.915Z,1761688067.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985723,-0.163295,-0.041037],[0.165034,-0.888748,-0.427657],[0.033363,-0.428324,0.903009]] 2025-10-28T21:47:48.319Z,1761688068.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980402,-0.190110,-0.051666],[0.193800,-0.883576,-0.426304],[0.035394,-0.427962,0.903103]] 2025-10-28T21:47:48.726Z,1761688068.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974320,-0.216571,-0.061619],[0.222051,-0.878794,-0.422391],[0.037327,-0.425226,0.904317]] 2025-10-28T21:47:49.168Z,1761688069.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967370,-0.243028,-0.071638],[0.250221,-0.871964,-0.420795],[0.039799,-0.424990,0.904323]] 2025-10-28T21:47:49.228Z,1761688069.228 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:47:49.228Z,1761688069.228 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:47:49.228Z,1761688069.228 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:47:49.228Z,1761688069.228 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:47:49.229Z,1761688069.229 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:47:49.229Z,1761688069.229 [marl:UpdateSpeed] Stopped 2025-10-28T21:47:49.229Z,1761688069.229 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:47:49.533Z,1761688069.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959478,-0.270034,-0.080522],[0.278590,-0.866146,-0.414944],[0.042306,-0.420562,0.906277]] 2025-10-28T21:47:49.934Z,1761688069.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950361,-0.297656,-0.090630],[0.307928,-0.857952,-0.411217],[0.044645,-0.418712,0.907021]] 2025-10-28T21:47:50.340Z,1761688070.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940212,-0.325059,-0.101676],[0.337360,-0.847818,-0.409135],[0.046790,-0.418976,0.906791]] 2025-10-28T21:47:50.743Z,1761688070.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928906,-0.352674,-0.112940],[0.367116,-0.836997,-0.405786],[0.048579,-0.418399,0.906963]] 2025-10-28T21:47:51.188Z,1761688071.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916579,-0.380097,-0.124132],[0.396718,-0.825657,-0.401131],[0.049979,-0.416914,0.907571]] 2025-10-28T21:47:51.554Z,1761688071.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903151,-0.407319,-0.135678],[0.426250,-0.812990,-0.396685],[0.051272,-0.416099,0.907873]] 2025-10-28T21:47:51.956Z,1761688071.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888782,-0.433583,-0.148564],[0.455342,-0.798365,-0.394052],[0.052247,-0.417874,0.907001]] 2025-10-28T21:47:52.358Z,1761688072.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873900,-0.458635,-0.161099],[0.483185,-0.783279,-0.391161],[0.053215,-0.419676,0.906113]] 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateRudder:A] Stopped 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:47:52.395Z,1761688072.395 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:47:52.396Z,1761688072.396 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:47:52.396Z,1761688072.396 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:47:52.396Z,1761688072.396 [marl:UpdateCommandMode] Stopped 2025-10-28T21:47:52.396Z,1761688072.396 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:47:52.769Z,1761688072.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858272,-0.483093,-0.173176],[0.510293,-0.767533,-0.387935],[0.054490,-0.421325,0.905271]] 2025-10-28T21:47:52.811Z,1761688072.811 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:47:52.811Z,1761688072.811 [marl:UpdateRudder:B] Stopped 2025-10-28T21:47:52.811Z,1761688072.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:47:52.811Z,1761688072.811 [marl:UpdateRudder] Stopped 2025-10-28T21:47:52.811Z,1761688072.811 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:47:53.187Z,1761688073.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841813,-0.506462,-0.186677],[0.536889,-0.749963,-0.386402],[0.055697,-0.425503,0.903242]] 2025-10-28T21:47:53.579Z,1761688073.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824931,-0.528968,-0.199205],[0.562305,-0.732172,-0.384365],[0.057465,-0.429088,0.901433]] 2025-10-28T21:47:53.975Z,1761688073.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807165,-0.551990,-0.209264],[0.587328,-0.715233,-0.378799],[0.059421,-0.428659,0.901510]] 2025-10-28T21:47:54.379Z,1761688074.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788694,-0.574475,-0.218951],[0.611680,-0.697511,-0.373264],[0.061710,-0.428319,0.901518]] 2025-10-28T21:47:54.790Z,1761688074.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769150,-0.597032,-0.227947],[0.635848,-0.679178,-0.366627],[0.064072,-0.426931,0.902011]] 2025-10-28T21:47:55.194Z,1761688075.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748303,-0.621013,-0.233207],[0.660007,-0.661708,-0.355715],[0.066588,-0.420100,0.905031]] 2025-10-28T21:47:55.594Z,1761688075.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726241,-0.644685,-0.238652],[0.684012,-0.643054,-0.344397],[0.068561,-0.413356,0.907985]] 2025-10-28T21:47:55.995Z,1761688075.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704136,-0.667094,-0.243266],[0.706597,-0.624471,-0.332801],[0.070097,-0.406228,0.911079]] 2025-10-28T21:47:56.399Z,1761688076.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680576,-0.689324,-0.248289],[0.729249,-0.604564,-0.320467],[0.070799,-0.399167,0.914141]] 2025-10-28T21:47:56.806Z,1761688076.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656143,-0.711177,-0.252397],[0.751273,-0.584052,-0.307364],[0.071177,-0.391293,0.917509]] 2025-10-28T21:47:57.206Z,1761688077.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630912,-0.731461,-0.258680],[0.772604,-0.561831,-0.295685],[0.070948,-0.386408,0.919595]] 2025-10-28T21:47:57.613Z,1761688077.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605373,-0.749025,-0.269231],[0.792851,-0.537697,-0.286825],[0.070074,-0.387096,0.919373]] 2025-10-28T21:47:58.015Z,1761688078.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578836,-0.764725,-0.283098],[0.812560,-0.511742,-0.279044],[0.068519,-0.391555,0.917600]] 2025-10-28T21:47:58.419Z,1761688078.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552327,-0.778184,-0.298940],[0.830973,-0.485351,-0.271879],[0.066481,-0.398577,0.914722]] 2025-10-28T21:47:58.826Z,1761688078.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525829,-0.790888,-0.313049],[0.848160,-0.459724,-0.263208],[0.064252,-0.403918,0.912536]] 2025-10-28T21:47:59.226Z,1761688079.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498813,-0.802756,-0.326755],[0.864504,-0.433952,-0.253610],[0.061790,-0.408985,0.910447]] 2025-10-28T21:47:59.630Z,1761688079.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472003,-0.813805,-0.339019],[0.879576,-0.408686,-0.243560],[0.059658,-0.413155,0.908705]] 2025-10-28T21:48:00.034Z,1761688080.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444943,-0.824218,-0.350271],[0.893683,-0.383338,-0.233201],[0.057936,-0.416792,0.907153]] 2025-10-28T21:48:00.440Z,1761688080.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417497,-0.834670,-0.359197],[0.906893,-0.357970,-0.222268],[0.056938,-0.418550,0.906407]] 2025-10-28T21:48:00.844Z,1761688080.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389145,-0.844765,-0.367340],[0.919466,-0.331911,-0.210755],[0.056114,-0.419771,0.905894]] 2025-10-28T21:48:01.246Z,1761688081.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359980,-0.854063,-0.375489],[0.931288,-0.304861,-0.199406],[0.055834,-0.421470,0.905122]] 2025-10-28T21:48:01.658Z,1761688081.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329955,-0.862497,-0.383703],[0.942322,-0.276738,-0.188267],[0.056194,-0.423691,0.904062]] 2025-10-28T21:48:02.056Z,1761688082.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299332,-0.870924,-0.389733],[0.952434,-0.248255,-0.176745],[0.057178,-0.424100,0.903808]] 2025-10-28T21:48:02.459Z,1761688082.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268233,-0.877671,-0.397171],[0.961595,-0.219027,-0.165416],[0.058189,-0.426287,0.902714]] 2025-10-28T21:48:02.490Z,1761688082.490 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:48:02.490Z,1761688082.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:48:02.490Z,1761688082.490 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:48:02.490Z,1761688082.490 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:48:02.490Z,1761688082.490 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:48:02.491Z,1761688082.491 [marl:UpdateSpeed] Stopped 2025-10-28T21:48:02.491Z,1761688082.491 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:48:02.863Z,1761688082.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236153,-0.884745,-0.401819],[0.969929,-0.189557,-0.152663],[0.058900,-0.425788,0.902904]] 2025-10-28T21:48:03.266Z,1761688083.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204055,-0.891745,-0.403921],[0.977143,-0.160411,-0.139496],[0.059602,-0.423153,0.904096]] 2025-10-28T21:48:03.677Z,1761688083.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171031,-0.900226,-0.400426],[0.983424,-0.131139,-0.125220],[0.060214,-0.415205,0.907733]] 2025-10-28T21:48:04.077Z,1761688084.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136525,-0.908116,-0.395835],[0.988799,-0.100596,-0.110257],[0.060307,-0.406454,0.911679]] 2025-10-28T21:48:04.478Z,1761688084.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101153,-0.913591,-0.393853],[0.993062,-0.068855,-0.095330],[0.059974,-0.400763,0.914217]] 2025-10-28T21:48:04.883Z,1761688084.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063986,-0.917921,-0.391570],[0.996217,-0.035632,-0.079262],[0.058804,-0.395160,0.916728]] 2025-10-28T21:48:05.286Z,1761688085.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026029,-0.919060,-0.393257],[0.998026,-0.001400,-0.062786],[0.057154,-0.394115,0.917282]] 2025-10-28T21:48:05.360Z,1761688085.360 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:48:05.360Z,1761688085.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateRudder:A] Stopped 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:48:05.361Z,1761688085.361 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:48:05.362Z,1761688085.362 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:48:05.362Z,1761688085.362 [marl:UpdateCommandMode] Stopped 2025-10-28T21:48:05.362Z,1761688085.362 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:48:05.703Z,1761688085.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012764,-0.918158,-0.396010],[0.998407,0.033472,-0.045425],[0.054962,-0.394799,0.917122]] 2025-10-28T21:48:05.733Z,1761688085.733 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:48:05.734Z,1761688085.734 [marl:UpdateRudder:B] Stopped 2025-10-28T21:48:05.734Z,1761688085.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:48:05.734Z,1761688085.734 [marl:UpdateRudder] Stopped 2025-10-28T21:48:05.734Z,1761688085.734 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:48:06.095Z,1761688086.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051514,-0.913312,-0.403990],[0.997314,0.068136,-0.026866],[0.052063,-0.401521,0.914369]] 2025-10-28T21:48:06.499Z,1761688086.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089419,-0.908265,-0.408729],[0.994802,0.101515,-0.007947],[0.048710,-0.405894,0.912621]] 2025-10-28T21:48:06.903Z,1761688086.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126184,-0.903204,-0.410245],[0.990991,0.133477,0.010944],[0.044874,-0.407930,0.911910]] 2025-10-28T21:48:07.309Z,1761688087.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161607,-0.897683,-0.409936],[0.986007,0.164094,0.029373],[0.040901,-0.408947,0.911641]] 2025-10-28T21:48:07.708Z,1761688087.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:48:07.716Z,1761688087.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195352,-0.891182,-0.409430],[0.980031,0.193181,0.047120],[0.037102,-0.410459,0.911124]] 2025-10-28T21:48:08.115Z,1761688088.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227478,-0.884234,-0.407902],[0.973202,0.220910,0.063853],[0.033649,-0.411496,0.910790]] 2025-10-28T21:48:08.519Z,1761688088.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258270,-0.877062,-0.405041],[0.965582,0.247717,0.079294],[0.030790,-0.411579,0.910854]] 2025-10-28T21:48:08.716Z,1761688088.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:48:08.924Z,1761688088.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288345,-0.869522,-0.400984],[0.957096,0.274283,0.093469],[0.028710,-0.410731,0.911304]] 2025-10-28T21:48:09.326Z,1761688089.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318366,-0.860331,-0.398088],[0.947575,0.300905,0.107507],[0.027295,-0.411444,0.911026]] 2025-10-28T21:48:09.731Z,1761688089.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348064,-0.850325,-0.394714],[0.937085,0.327655,0.120474],[0.026888,-0.411813,0.910872]] 2025-10-28T21:48:10.142Z,1761688090.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377553,-0.839851,-0.390005],[0.925586,0.354694,0.132223],[0.027285,-0.410904,0.911270]] 2025-10-28T21:48:10.541Z,1761688090.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407814,-0.827944,-0.384962],[0.912634,0.382578,0.143992],[0.028061,-0.410052,0.911631]] 2025-10-28T21:48:10.713Z,1761688090.713 [CTD_Seabird](ERROR): Failed to parse device response: 63,4257.62 2025-10-28T21:48:10.943Z,1761688090.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438588,-0.814964,-0.378780],[0.898211,0.411245,0.155222],[0.029271,-0.408303,0.912377]] 2025-10-28T21:48:11.346Z,1761688091.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470009,-0.800618,-0.371621],[0.882122,0.440780,0.166052],[0.030859,-0.405861,0.913413]] 2025-10-28T21:48:11.750Z,1761688091.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502368,-0.783731,-0.365230],[0.864043,0.470904,0.177985],[0.032495,-0.404988,0.913744]] 2025-10-28T21:48:12.159Z,1761688092.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534911,-0.765538,-0.357523],[0.844221,0.501337,0.189610],[0.034086,-0.403252,0.914454]] 2025-10-28T21:48:12.186Z,1761688092.186 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:48:12.429Z,1761688092.429 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:48:12.429Z,1761688092.429 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:48:12.558Z,1761688092.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567663,-0.745245,-0.349813],[0.822514,0.531501,0.202429],[0.035067,-0.402638,0.914688]] 2025-10-28T21:48:12.681Z,1761688092.681 [DAT](INFO): DAT read: user:328> 2025-10-28T21:48:12.682Z,1761688092.682 [DAT](INFO): DAT read: Tx time:21:48:12.4489 2025-10-28T21:48:12.682Z,1761688092.682 [DAT](INFO): Ping request sent. 2025-10-28T21:48:12.682Z,1761688092.682 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:48:12.682Z,1761688092.682 [DAT](INFO): publishing transmit ping time 2025-10-28T21:48:12.683Z,1761688092.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934 2025-10-28T21:48:12.933Z,1761688092.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250845 2025-10-28T21:48:12.962Z,1761688092.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599627,-0.723716,-0.341588],[0.799495,0.560633,0.215636],[0.035447,-0.402399,0.914778]] 2025-10-28T21:48:13.185Z,1761688093.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502929 2025-10-28T21:48:13.367Z,1761688093.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630723,-0.701169,-0.332490],[0.775225,0.588559,0.229400],[0.034841,-0.402443,0.914782]] 2025-10-28T21:48:13.437Z,1761688093.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755226 2025-10-28T21:48:13.689Z,1761688093.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007424 2025-10-28T21:48:13.785Z,1761688093.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660315,-0.679845,-0.319054],[0.750229,0.616266,0.239528],[0.033780,-0.397527,0.916968]] 2025-10-28T21:48:13.941Z,1761688093.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258806 2025-10-28T21:48:14.174Z,1761688094.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687669,-0.657446,-0.308018],[0.725331,0.640659,0.251896],[0.031727,-0.396636,0.917427]] 2025-10-28T21:48:14.193Z,1761688094.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912 2025-10-28T21:48:14.445Z,1761688094.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732 2025-10-28T21:48:14.579Z,1761688094.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713831,-0.633770,-0.297960],[0.699703,0.663249,0.265548],[0.029325,-0.398040,0.916899]] 2025-10-28T21:48:14.697Z,1761688094.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870 2025-10-28T21:48:14.949Z,1761688094.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807 2025-10-28T21:48:14.982Z,1761688094.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738077,-0.609967,-0.288413],[0.674190,0.683609,0.279547],[0.026647,-0.400773,0.915790]] 2025-10-28T21:48:15.201Z,1761688095.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518769 2025-10-28T21:48:15.388Z,1761688095.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760944,-0.586842,-0.276732],[0.648375,0.703537,0.290939],[0.023956,-0.400815,0.915846]] 2025-10-28T21:48:15.453Z,1761688095.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770977 2025-10-28T21:48:15.705Z,1761688095.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022956 2025-10-28T21:48:15.794Z,1761688095.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782270,-0.563722,-0.265088],[0.622557,0.722389,0.300959],[0.021839,-0.400464,0.916052]] 2025-10-28T21:48:15.837Z,1761688095.837 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:48:15.837Z,1761688095.837 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:48:15.838Z,1761688095.838 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:48:15.838Z,1761688095.838 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:48:15.838Z,1761688095.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:48:15.838Z,1761688095.838 [marl:UpdateSpeed] Stopped 2025-10-28T21:48:15.838Z,1761688095.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:48:15.957Z,1761688095.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274821 2025-10-28T21:48:16.195Z,1761688096.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802566,-0.539437,-0.254746],[0.596248,0.739218,0.313121],[0.019404,-0.403192,0.914909]] 2025-10-28T21:48:16.209Z,1761688096.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527110 2025-10-28T21:48:16.461Z,1761688096.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778811 2025-10-28T21:48:16.599Z,1761688096.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822148,-0.514099,-0.244488],[0.569004,0.755331,0.325130],[0.017520,-0.406420,0.913518]] 2025-10-28T21:48:16.714Z,1761688096.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031726 2025-10-28T21:48:16.965Z,1761688096.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282847 2025-10-28T21:48:17.009Z,1761688097.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840284,-0.489585,-0.232870],[0.541914,0.771061,0.334358],[0.015861,-0.407151,0.913223]] 2025-10-28T21:48:17.217Z,1761688097.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534811 2025-10-28T21:48:17.406Z,1761688097.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857975,-0.464111,-0.220181],[0.513486,0.786970,0.342068],[0.014519,-0.406546,0.913515]] 2025-10-28T21:48:17.489Z,1761688097.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.807339 2025-10-28T21:48:17.741Z,1761688097.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.058872 2025-10-28T21:48:17.813Z,1761688097.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875025,-0.438014,-0.206095],[0.483898,0.803092,0.347687],[0.013221,-0.403964,0.914679]] 2025-10-28T21:48:17.993Z,1761688097.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310848 2025-10-28T21:48:18.215Z,1761688098.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890976,-0.411994,-0.190850],[0.453898,0.819090,0.350810],[0.011792,-0.399190,0.916793]] 2025-10-28T21:48:18.245Z,1761688098.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562958 2025-10-28T21:48:18.497Z,1761688098.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.815024 2025-10-28T21:48:18.630Z,1761688098.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906280,-0.384209,-0.176182],[0.422547,0.833932,0.354981],[0.010537,-0.396157,0.918122]] 2025-10-28T21:48:18.661Z,1761688098.661 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:48:18.661Z,1761688098.661 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:48:18.661Z,1761688098.661 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:48:18.661Z,1761688098.661 [marl:UpdateRudder:A] Stopped 2025-10-28T21:48:18.661Z,1761688098.661 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode] Stopped 2025-10-28T21:48:18.662Z,1761688098.662 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:48:18.749Z,1761688098.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066796 2025-10-28T21:48:19.001Z,1761688099.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318812 2025-10-28T21:48:19.022Z,1761688099.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920761,-0.355137,-0.161480],[0.390028,0.847247,0.360626],[0.008742,-0.395033,0.918626]] 2025-10-28T21:48:19.070Z,1761688099.070 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:48:19.070Z,1761688099.070 [marl:UpdateRudder:B] Stopped 2025-10-28T21:48:19.070Z,1761688099.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:48:19.070Z,1761688099.070 [marl:UpdateRudder] Stopped 2025-10-28T21:48:19.070Z,1761688099.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:48:19.253Z,1761688099.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570936 2025-10-28T21:48:19.427Z,1761688099.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934051,-0.325434,-0.147111],[0.357069,0.859149,0.366558],[0.007100,-0.394913,0.918691]] 2025-10-28T21:48:19.505Z,1761688099.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.822850 2025-10-28T21:48:19.757Z,1761688099.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.075033 2025-10-28T21:48:19.835Z,1761688099.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946322,-0.294909,-0.132299],[0.323180,0.870083,0.372170],[0.005354,-0.394949,0.918687]] 2025-10-28T21:48:20.009Z,1761688100.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326844 2025-10-28T21:48:20.235Z,1761688100.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957337,-0.263807,-0.117950],[0.288952,0.879068,0.379138],[0.003667,-0.397045,0.917792]] 2025-10-28T21:48:20.261Z,1761688100.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578908 2025-10-28T21:48:20.513Z,1761688100.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.830739 2025-10-28T21:48:20.646Z,1761688100.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974991,-0.203010,-0.090442],[0.222235,0.894504,0.387910],[0.002151,-0.398308,0.917249]] 2025-10-28T21:48:20.765Z,1761688100.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083349 2025-10-28T21:48:21.017Z,1761688101.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334783 2025-10-28T21:48:21.054Z,1761688101.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981682,-0.173876,-0.077894],[0.190515,0.900346,0.391256],[0.002101,-0.398929,0.916979]] 2025-10-28T21:48:21.269Z,1761688101.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586822 2025-10-28T21:48:21.452Z,1761688101.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987252,-0.145066,-0.065498],[0.159155,0.904710,0.395183],[0.001929,-0.400570,0.916264]] 2025-10-28T21:48:21.521Z,1761688101.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838927 2025-10-28T21:48:21.773Z,1761688101.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.091091 2025-10-28T21:48:21.855Z,1761688101.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991750,-0.116707,-0.053027],[0.128175,0.908750,0.397170],[0.001836,-0.400690,0.916212]] 2025-10-28T21:48:22.025Z,1761688102.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342819 2025-10-28T21:48:22.257Z,1761688102.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995249,-0.088591,-0.040381],[0.097345,0.912752,0.396745],[0.001710,-0.398791,0.917040]] 2025-10-28T21:48:22.277Z,1761688102.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595023 2025-10-28T21:48:22.529Z,1761688102.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846781 2025-10-28T21:48:22.660Z,1761688102.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997790,-0.060378,-0.027753],[0.066433,0.916239,0.395087],[0.001573,-0.396057,0.918225]] 2025-10-28T21:48:22.781Z,1761688102.781 [DAT](INFO): Reached modem response timeout 2025-10-28T21:48:23.089Z,1761688103.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999362,-0.032221,-0.015383],[0.035676,0.918282,0.394317],[0.001420,-0.394615,0.918846]] 2025-10-28T21:48:23.467Z,1761688103.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,-0.002828,-0.002523],[0.003593,0.919025,0.394184],[0.001204,-0.394190,0.919028]] 2025-10-28T21:48:23.872Z,1761688103.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999540,0.028244,0.011080],[-0.030324,0.918454,0.394364],[0.000962,-0.394519,0.918887]] 2025-10-28T21:48:24.274Z,1761688104.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997857,0.060434,0.025072],[-0.065423,0.916622,0.394366],[0.000851,-0.395161,0.918611]] 2025-10-28T21:48:24.678Z,1761688104.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994869,0.093201,0.039357],[-0.101168,0.913871,0.393199],[0.000680,-0.395163,0.918611]] 2025-10-28T21:48:25.049Z,1761688105.049 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:48:25.049Z,1761688105.049 [DAT](INFO): response not received 2025-10-28T21:48:25.049Z,1761688105.049 [DAT](ERROR): No response from remote modem. 2025-10-28T21:48:25.094Z,1761688105.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990574,0.126187,0.053288],[-0.136977,0.911299,0.388292],[0.000436,-0.391931,0.919994]] 2025-10-28T21:48:25.490Z,1761688105.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985068,0.158777,0.066558],[-0.172163,0.907909,0.382180],[0.000253,-0.387932,0.921688]] 2025-10-28T21:48:25.894Z,1761688105.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978229,0.191487,0.080008],[-0.207530,0.902795,0.376687],[-0.000100,-0.385090,0.922879]] 2025-10-28T21:48:25.924Z,1761688105.924 [marl:NeedComms] Running Loop=1 2025-10-28T21:48:25.924Z,1761688105.924 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T21:48:25.924Z,1761688105.924 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T21:48:25.924Z,1761688105.924 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T21:48:25.925Z,1761688105.925 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T21:48:25.925Z,1761688105.925 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T21:48:25.925Z,1761688105.925 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T21:48:25.926Z,1761688105.926 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T21:48:25.926Z,1761688105.926 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T21:48:25.926Z,1761688105.926 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T21:48:25.926Z,1761688105.926 [marl:NeedComms:A] Running Loop=1 2025-10-28T21:48:25.928Z,1761688105.928 [marl:NeedComms:A](INFO): last time_fix was: 1761686864.000000 second since 1970/01/01T00:00:00Z 2025-10-28T21:48:25.928Z,1761688105.928 [marl:NeedComms:A] Stopped 2025-10-28T21:48:26.295Z,1761688106.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970013,0.224096,0.094106],[-0.243051,0.896095,0.371402],[-0.001098,-0.383137,0.923691]] 2025-10-28T21:48:26.699Z,1761688106.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960670,0.255846,0.107965],[-0.277684,0.888336,0.365721],[-0.002341,-0.381317,0.924441]] 2025-10-28T21:48:27.132Z,1761688107.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950200,0.286696,0.122170],[-0.311613,0.879326,0.360114],[-0.004184,-0.380251,0.924874]] 2025-10-28T21:48:27.506Z,1761688107.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938579,0.317035,0.136231],[-0.345013,0.869087,0.354478],[-0.006015,-0.379707,0.925087]] 2025-10-28T21:48:27.925Z,1761688107.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926020,0.346274,0.150272],[-0.377378,0.858310,0.347693],[-0.008582,-0.378680,0.925488]] 2025-10-28T21:48:28.326Z,1761688108.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912329,0.374946,0.164531],[-0.409298,0.846301,0.340954],[-0.011404,-0.378405,0.925570]] 2025-10-28T21:48:28.731Z,1761688108.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897160,0.403811,0.179001],[-0.441414,0.834386,0.330082],[-0.016065,-0.375150,0.926825]] 2025-10-28T21:48:29.175Z,1761688109.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880138,0.432237,0.196289],[-0.474093,0.821537,0.316722],[-0.024360,-0.371819,0.927986]] 2025-10-28T21:48:29.226Z,1761688109.226 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:48:29.226Z,1761688109.226 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:48:29.226Z,1761688109.226 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:48:29.227Z,1761688109.227 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:48:29.227Z,1761688109.227 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:48:29.227Z,1761688109.227 [marl:UpdateSpeed] Stopped 2025-10-28T21:48:29.227Z,1761688109.227 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:48:29.538Z,1761688109.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861326,0.459948,0.215791],[-0.506765,0.808020,0.300488],[-0.036155,-0.368173,0.929054]] 2025-10-28T21:48:29.946Z,1761688109.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841740,0.486242,0.234611],[-0.537556,0.795139,0.280692],[-0.050064,-0.362386,0.930683]] 2025-10-28T21:48:30.347Z,1761688110.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821515,0.511228,0.252507],[-0.566388,0.782697,0.258050],[-0.065714,-0.355009,0.932551]] 2025-10-28T21:48:30.750Z,1761688110.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800822,0.533890,0.271379],[-0.593246,0.769278,0.237213],[-0.082120,-0.350959,0.932783]] 2025-10-28T21:48:31.189Z,1761688111.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779869,0.554208,0.290961],[-0.618086,0.755244,0.218118],[-0.098864,-0.349943,0.931540]] 2025-10-28T21:48:31.558Z,1761688111.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758132,0.572776,0.311711],[-0.641717,0.740269,0.200502],[-0.115907,-0.352037,0.928782]] 2025-10-28T21:48:31.964Z,1761688111.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736228,0.589379,0.332567],[-0.663571,0.725175,0.183833],[-0.132823,-0.356025,0.924989]] 2025-10-28T21:48:31.987Z,1761688111.987 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateRudder:A] Stopped 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:48:31.988Z,1761688111.988 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:48:31.989Z,1761688111.989 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:48:31.989Z,1761688111.989 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:48:31.989Z,1761688111.989 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:48:31.989Z,1761688111.989 [marl:UpdateCommandMode] Stopped 2025-10-28T21:48:31.989Z,1761688111.989 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:48:32.366Z,1761688112.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713980,0.604011,0.354124],[-0.684081,0.709566,0.168965],[-0.149218,-0.362887,0.919808]] 2025-10-28T21:48:32.409Z,1761688112.409 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:48:32.409Z,1761688112.409 [marl:UpdateRudder:B] Stopped 2025-10-28T21:48:32.409Z,1761688112.409 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:48:32.410Z,1761688112.410 [marl:UpdateRudder] Stopped 2025-10-28T21:48:32.410Z,1761688112.410 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:48:32.777Z,1761688112.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691058,0.617844,0.375110],[-0.703741,0.693524,0.154184],[-0.164887,-0.370530,0.914068]] 2025-10-28T21:48:33.188Z,1761688113.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667504,0.630585,0.395979],[-0.722663,0.676783,0.140440],[-0.179432,-0.379904,0.907456]] 2025-10-28T21:48:33.587Z,1761688113.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643447,0.641799,0.417217],[-0.740712,0.659563,0.127758],[-0.193185,-0.391244,0.899782]] 2025-10-28T21:48:33.983Z,1761688113.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619562,0.651395,0.437981],[-0.757326,0.642772,0.115330],[-0.206396,-0.403148,0.891556]] 2025-10-28T21:48:34.387Z,1761688114.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594487,0.662527,0.455678],[-0.773659,0.625731,0.099558],[-0.219172,-0.411726,0.884560]] 2025-10-28T21:48:34.794Z,1761688114.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567898,0.672907,0.474012],[-0.789749,0.607729,0.083441],[-0.231923,-0.421736,0.876556]] 2025-10-28T21:48:35.196Z,1761688115.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538626,0.686376,0.488641],[-0.806483,0.587866,0.063228],[-0.243857,-0.428137,0.870191]] 2025-10-28T21:48:35.607Z,1761688115.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506500,0.704130,0.497653],[-0.823533,0.566042,0.037279],[-0.255443,-0.428715,0.866575]] 2025-10-28T21:48:36.002Z,1761688116.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472863,0.724479,0.501529],[-0.839939,0.542620,0.008094],[-0.266276,-0.425081,0.865103]] 2025-10-28T21:48:36.407Z,1761688116.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437214,0.748636,0.498385],[-0.855690,0.516850,-0.025711],[-0.276839,-0.415222,0.866574]] 2025-10-28T21:48:36.811Z,1761688116.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400623,0.772082,0.493347],[-0.869847,0.489664,-0.059959],[-0.287867,-0.405115,0.867764]] 2025-10-28T21:48:37.216Z,1761688117.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363004,0.795898,0.484535],[-0.882289,0.460823,-0.095956],[-0.299656,-0.392668,0.869493]] 2025-10-28T21:48:37.618Z,1761688117.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324608,0.818211,0.474511],[-0.892976,0.430489,-0.131429],[-0.311808,-0.381064,0.870383]] 2025-10-28T21:48:38.022Z,1761688118.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285962,0.836852,0.466803],[-0.901763,0.399788,-0.164294],[-0.324112,-0.373963,0.868966]] 2025-10-28T21:48:38.431Z,1761688118.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246252,0.856125,0.454323],[-0.909161,0.366472,-0.197797],[-0.335836,-0.364345,0.868601]] 2025-10-28T21:48:38.833Z,1761688118.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206076,0.872622,0.442791],[-0.915306,0.331918,-0.228136],[-0.346047,-0.358276,0.867116]] 2025-10-28T21:48:38.844Z,1761688118.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:48:39.234Z,1761688119.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166635,0.885543,0.433643],[-0.919958,0.297896,-0.254825],[-0.354839,-0.356471,0.864302]] 2025-10-28T21:48:39.638Z,1761688119.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129633,0.893094,0.430788],[-0.922791,0.267640,-0.277174],[-0.362838,-0.361596,0.858834]] 2025-10-28T21:48:39.849Z,1761688119.849 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:48:40.043Z,1761688120.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095461,0.897309,0.430957],[-0.923947,0.240973,-0.297076],[-0.370419,-0.369822,0.852069]] 2025-10-28T21:48:40.453Z,1761688120.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063649,0.900087,0.431037],[-0.923878,0.216460,-0.315585],[-0.377356,-0.378139,0.845348]] 2025-10-28T21:48:40.859Z,1761688120.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033697,0.900764,0.432999],[-0.922991,0.194223,-0.332212],[-0.383344,-0.388460,0.837942]] 2025-10-28T21:48:41.255Z,1761688121.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004788,0.900399,0.435039],[-0.921390,0.173037,-0.347993],[-0.388611,-0.399175,0.830447]] 2025-10-28T21:48:41.658Z,1761688121.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023627,0.900140,0.434960],[-0.919309,0.151397,-0.363249],[-0.392827,-0.408445,0.823930]] 2025-10-28T21:48:42.070Z,1761688122.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052119,0.901733,0.429139],[-0.916763,0.127206,-0.378634],[-0.396016,-0.413153,0.820046]] 2025-10-28T21:48:42.118Z,1761688122.118 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:48:42.118Z,1761688122.118 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:48:42.118Z,1761688122.118 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:48:42.118Z,1761688122.118 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:48:42.119Z,1761688122.119 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:48:42.119Z,1761688122.119 [marl:UpdateSpeed] Stopped 2025-10-28T21:48:42.119Z,1761688122.119 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:48:42.479Z,1761688122.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080554,0.903051,0.421913],[-0.913745,0.102208,-0.393222],[-0.398222,-0.417196,0.816925]] 2025-10-28T21:48:42.875Z,1761688122.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109928,0.904675,0.411678],[-0.910151,0.074826,-0.407464],[-0.399427,-0.419481,0.815165]] 2025-10-28T21:48:43.274Z,1761688123.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140160,0.906693,0.397823],[-0.905864,0.044773,-0.421196],[-0.399707,-0.419409,0.815065]] 2025-10-28T21:48:43.678Z,1761688123.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170704,0.908547,0.381317],[-0.900889,0.012825,-0.433859],[-0.399072,-0.417586,0.816311]] 2025-10-28T21:48:44.090Z,1761688124.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202289,0.910230,0.361332],[-0.894951,-0.021996,-0.445622],[-0.397671,-0.413519,0.819061]] 2025-10-28T21:48:44.492Z,1761688124.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232611,0.909728,0.343928],[-0.888331,-0.054775,-0.455925],[-0.395930,-0.411575,0.820881]] 2025-10-28T21:48:44.890Z,1761688124.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262928,0.908367,0.325174],[-0.880848,-0.088483,-0.465056],[-0.393669,-0.408705,0.823398]] 2025-10-28T21:48:44.950Z,1761688124.950 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateRudder:A] Stopped 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:48:44.951Z,1761688124.951 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:48:44.952Z,1761688124.952 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:48:44.952Z,1761688124.952 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:48:44.952Z,1761688124.952 [marl:UpdateCommandMode] Stopped 2025-10-28T21:48:44.952Z,1761688124.952 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:48:45.294Z,1761688125.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293525,0.906957,0.302113],[-0.872450,-0.124981,-0.472453],[-0.390736,-0.402255,0.827959]] 2025-10-28T21:48:45.372Z,1761688125.372 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:48:45.372Z,1761688125.372 [marl:UpdateRudder:B] Stopped 2025-10-28T21:48:45.372Z,1761688125.372 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:48:45.372Z,1761688125.372 [marl:UpdateRudder] Stopped 2025-10-28T21:48:45.372Z,1761688125.372 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:48:45.701Z,1761688125.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323632,0.905043,0.275970],[-0.862910,-0.162671,-0.478460],[-0.388134,-0.392982,0.833617]] 2025-10-28T21:48:46.103Z,1761688126.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353201,0.900684,0.253018],[-0.852336,-0.198292,-0.483946],[-0.385711,-0.386587,0.837722]] 2025-10-28T21:48:46.511Z,1761688126.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382592,0.894925,0.229634],[-0.840672,-0.234093,-0.488335],[-0.383267,-0.379880,0.841901]] 2025-10-28T21:48:46.915Z,1761688126.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411828,0.887283,0.207672],[-0.827848,-0.269033,-0.492229],[-0.380875,-0.374634,0.845330]] 2025-10-28T21:48:47.320Z,1761688127.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440356,0.877429,0.190278],[-0.814040,-0.300797,-0.496850],[-0.378716,-0.373685,0.846720]] 2025-10-28T21:48:47.722Z,1761688127.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467524,0.866008,0.177343],[-0.799656,-0.328816,-0.502424],[-0.376790,-0.376709,0.846239]] 2025-10-28T21:48:48.126Z,1761688128.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493443,0.853643,0.166755],[-0.784885,-0.354408,-0.508282],[-0.374792,-0.381692,0.844892]] 2025-10-28T21:48:48.536Z,1761688128.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519194,0.840690,0.153878],[-0.769407,-0.381382,-0.512408],[-0.372090,-0.384434,0.844843]] 2025-10-28T21:48:48.939Z,1761688128.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543864,0.826973,0.142577],[-0.753581,-0.406537,-0.516569],[-0.369225,-0.388386,0.844292]] 2025-10-28T21:48:49.338Z,1761688129.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568022,0.812992,0.128044],[-0.736983,-0.433200,-0.518839],[-0.366344,-0.389078,0.845228]] 2025-10-28T21:48:49.743Z,1761688129.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592010,0.798272,0.110838],[-0.719447,-0.461481,-0.519067],[-0.363207,-0.387035,0.847516]] 2025-10-28T21:48:50.147Z,1761688130.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615867,0.782041,0.095499],[-0.700729,-0.488319,-0.520118],[-0.360120,-0.387242,0.848738]] 2025-10-28T21:48:50.568Z,1761688130.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640029,0.764186,0.079889],[-0.680619,-0.515629,-0.520466],[-0.356540,-0.387487,0.850137]] 2025-10-28T21:48:50.955Z,1761688130.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663722,0.745385,0.062239],[-0.659533,-0.543959,-0.518772],[-0.352830,-0.385369,0.852644]] 2025-10-28T21:48:51.359Z,1761688131.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687103,0.724968,0.048072],[-0.637277,-0.569571,-0.519103],[-0.348952,-0.387312,0.853359]] 2025-10-28T21:48:51.766Z,1761688131.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709839,0.703427,0.036314],[-0.614275,-0.592999,-0.520595],[-0.344666,-0.391846,0.853031]] 2025-10-28T21:48:52.167Z,1761688132.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731599,0.681170,0.027746],[-0.590969,-0.613379,-0.523947],[-0.339879,-0.399716,0.851299]] 2025-10-28T21:48:52.583Z,1761688132.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752820,0.657868,0.021723],[-0.567110,-0.631502,-0.528764],[-0.334139,-0.410384,0.848491]] 2025-10-28T21:48:52.974Z,1761688132.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772696,0.634589,0.015409],[-0.543570,-0.648941,-0.532360],[-0.327831,-0.419728,0.846378]] 2025-10-28T21:48:53.790Z,1761688133.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810127,0.586195,-0.008340],[-0.495223,-0.691878,-0.525413],[-0.313765,-0.421521,0.850806]] 2025-10-28T21:48:54.206Z,1761688134.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827046,0.561717,-0.021681],[-0.471119,-0.713662,-0.518395],[-0.306664,-0.418522,0.854866]] 2025-10-28T21:48:54.613Z,1761688134.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842995,0.536677,-0.036563],[-0.446664,-0.736239,-0.508373],[-0.299752,-0.412225,0.860360]] 2025-10-28T21:48:55.011Z,1761688135.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858359,0.510298,-0.053069],[-0.421207,-0.759978,-0.494993],[-0.292925,-0.402529,0.867275]] 2025-10-28T21:48:55.055Z,1761688135.055 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:48:55.056Z,1761688135.056 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:48:55.056Z,1761688135.056 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:48:55.057Z,1761688135.057 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:48:55.057Z,1761688135.057 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:48:55.057Z,1761688135.057 [marl:UpdateSpeed] Stopped 2025-10-28T21:48:55.058Z,1761688135.058 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:48:55.415Z,1761688135.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873308,0.482320,-0.068558],[-0.394108,-0.782181,-0.482568],[-0.286377,-0.394411,0.873171]] 2025-10-28T21:48:55.819Z,1761688135.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887411,0.453429,-0.083090],[-0.365788,-0.802323,-0.471674],[-0.280535,-0.388176,0.877849]] 2025-10-28T21:48:56.225Z,1761688136.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900564,0.423659,-0.097454],[-0.336253,-0.820931,-0.461527],[-0.275533,-0.382865,0.881757]] 2025-10-28T21:48:56.626Z,1761688136.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912867,0.393036,-0.110440],[-0.305499,-0.837079,-0.453838],[-0.270821,-0.380555,0.884214]] 2025-10-28T21:48:57.031Z,1761688137.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924162,0.361839,-0.122462],[-0.273715,-0.850863,-0.448456],[-0.266467,-0.380927,0.885376]] 2025-10-28T21:48:57.435Z,1761688137.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933905,0.330947,-0.135264],[-0.241777,-0.863322,-0.442965],[-0.263374,-0.380984,0.886276]] 2025-10-28T21:48:57.840Z,1761688137.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942338,0.299625,-0.149077],[-0.208751,-0.874430,-0.437945],[-0.261577,-0.381572,0.886555]] 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateRudder:A] Stopped 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:48:57.866Z,1761688137.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:48:57.867Z,1761688137.867 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:48:57.867Z,1761688137.867 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:48:57.867Z,1761688137.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:48:57.867Z,1761688137.867 [marl:UpdateCommandMode] Stopped 2025-10-28T21:48:57.867Z,1761688137.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:48:58.242Z,1761688138.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949460,0.267799,-0.163738],[-0.174755,-0.884306,-0.432970],[-0.260743,-0.382473,0.886412]] 2025-10-28T21:48:58.287Z,1761688138.287 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:48:58.288Z,1761688138.288 [marl:UpdateRudder:B] Stopped 2025-10-28T21:48:58.288Z,1761688138.288 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:48:58.288Z,1761688138.288 [marl:UpdateRudder] Stopped 2025-10-28T21:48:58.288Z,1761688138.288 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:48:58.647Z,1761688138.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955001,0.237105,-0.178196],[-0.140442,-0.890661,-0.432434],[-0.261244,-0.387949,0.883882]] 2025-10-28T21:48:59.059Z,1761688139.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959023,0.206180,-0.194333],[-0.105501,-0.896432,-0.430440],[-0.262954,-0.392299,0.881451]] 2025-10-28T21:48:59.456Z,1761688139.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961553,0.173955,-0.212498],[-0.069635,-0.902947,-0.424072],[-0.265644,-0.392971,0.880345]] 2025-10-28T21:48:59.858Z,1761688139.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962597,0.142814,-0.230241],[-0.034065,-0.906848,-0.420080],[-0.268787,-0.396524,0.877794]] 2025-10-28T21:49:00.262Z,1761688140.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962377,0.113297,-0.246970],[-0.000401,-0.909513,-0.415675],[-0.271717,-0.399937,0.875340]] 2025-10-28T21:49:00.674Z,1761688140.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961495,0.084784,-0.261416],[0.030978,-0.911723,-0.409635],[-0.273070,-0.401960,0.873991]] 2025-10-28T21:49:01.074Z,1761688141.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959829,0.055797,-0.274981],[0.061386,-0.914528,-0.399838],[-0.273788,-0.400656,0.874365]] 2025-10-28T21:49:01.474Z,1761688141.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957377,0.025899,-0.287679],[0.090847,-0.918428,-0.385015],[-0.274184,-0.394739,0.876929]] 2025-10-28T21:49:01.882Z,1761688141.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954393,-0.004161,-0.298524],[0.118697,-0.922770,-0.366616],[-0.273944,-0.385330,0.881179]] 2025-10-28T21:49:02.289Z,1761688142.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946688,-0.060663,-0.316388],[0.171915,-0.925710,-0.336906],[-0.272446,-0.373337,0.886788]] 2025-10-28T21:49:02.693Z,1761688142.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941582,-0.088314,-0.324998],[0.198426,-0.925201,-0.323467],[-0.272121,-0.369059,0.888676]] 2025-10-28T21:49:03.501Z,1761688143.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927744,-0.141940,-0.345174],[0.254567,-0.916985,-0.307140],[-0.272924,-0.372817,0.886860]] 2025-10-28T21:49:03.904Z,1761688143.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919127,-0.166850,-0.356884],[0.283043,-0.909782,-0.303615],[-0.274028,-0.380075,0.883432]] 2025-10-28T21:49:04.305Z,1761688144.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909073,-0.194005,-0.368713],[0.312664,-0.902573,-0.295979],[-0.275369,-0.384350,0.881162]] 2025-10-28T21:49:04.707Z,1761688144.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897497,-0.221955,-0.381098],[0.342823,-0.894721,-0.286263],[-0.277438,-0.387569,0.879101]] 2025-10-28T21:49:05.124Z,1761688145.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884677,-0.251066,-0.392827],[0.373104,-0.886510,-0.273666],[-0.279536,-0.388671,0.877949]] 2025-10-28T21:49:05.515Z,1761688145.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870826,-0.279214,-0.404601],[0.402783,-0.877108,-0.261623],[-0.281830,-0.390795,0.876271]] 2025-10-28T21:49:05.922Z,1761688145.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855899,-0.307789,-0.415576],[0.431994,-0.867288,-0.247373],[-0.284285,-0.391252,0.875273]] 2025-10-28T21:49:06.323Z,1761688146.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839792,-0.336797,-0.425813],[0.460846,-0.856845,-0.231164],[-0.287001,-0.390364,0.874784]] 2025-10-28T21:49:06.727Z,1761688146.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822732,-0.366396,-0.434588],[0.488564,-0.846589,-0.211167],[-0.290547,-0.386058,0.875524]] 2025-10-28T21:49:07.181Z,1761688147.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804487,-0.395895,-0.442795],[0.515096,-0.836215,-0.188201],[-0.295764,-0.379487,0.876649]] 2025-10-28T21:49:07.547Z,1761688147.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784839,-0.423703,-0.452220],[0.540390,-0.825124,-0.164770],[-0.303324,-0.373693,0.876555]] 2025-10-28T21:49:07.940Z,1761688147.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763484,-0.450041,-0.463201],[0.564615,-0.813320,-0.140431],[-0.313531,-0.368747,0.875057]] 2025-10-28T21:49:07.976Z,1761688147.976 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:49:07.976Z,1761688147.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:49:07.976Z,1761688147.976 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:49:07.977Z,1761688147.977 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:49:07.977Z,1761688147.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:49:07.977Z,1761688147.977 [marl:UpdateSpeed] Stopped 2025-10-28T21:49:07.977Z,1761688147.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:49:08.342Z,1761688148.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741259,-0.474368,-0.474878],[0.587177,-0.801051,-0.116361],[-0.325204,-0.365092,0.872325]] 2025-10-28T21:49:08.747Z,1761688148.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720121,-0.493948,-0.487279],[0.607075,-0.788608,-0.097759],[-0.335985,-0.366213,0.867757]] 2025-10-28T21:49:09.185Z,1761688149.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700727,-0.509828,-0.499057],[0.624681,-0.776348,-0.084012],[-0.344610,-0.370621,0.862487]] 2025-10-28T21:49:09.559Z,1761688149.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682422,-0.524203,-0.509423],[0.641240,-0.763862,-0.072979],[-0.350873,-0.376465,0.857416]] 2025-10-28T21:49:09.960Z,1761688149.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664977,-0.538930,-0.517069],[0.657148,-0.751193,-0.062173],[-0.354912,-0.381134,0.853683]] 2025-10-28T21:49:09.968Z,1761688149.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:49:10.419Z,1761688150.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648356,-0.553999,-0.522226],[0.672217,-0.738593,-0.051044],[-0.357434,-0.384143,0.851278]] 2025-10-28T21:49:10.824Z,1761688150.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632016,-0.570027,-0.525001],[0.686573,-0.726057,-0.038196],[-0.359408,-0.384592,0.850244]] 2025-10-28T21:49:10.972Z,1761688150.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:49:11.227Z,1761688151.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614545,-0.587533,-0.526440],[0.701006,-0.712791,-0.022816],[-0.361836,-0.383059,0.849906]] 2025-10-28T21:49:11.282Z,1761688151.282 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:49:11.282Z,1761688151.282 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateRudder:A] Stopped 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:49:11.283Z,1761688151.283 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:49:11.284Z,1761688151.284 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:49:11.300Z,1761688151.300 [marl:UpdateCommandMode] Stopped 2025-10-28T21:49:11.301Z,1761688151.301 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:49:11.631Z,1761688151.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595231,-0.605525,-0.528243],[0.715614,-0.698473,-0.005703],[-0.365510,-0.381412,0.849074]] 2025-10-28T21:49:11.671Z,1761688151.671 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:49:11.671Z,1761688151.671 [marl:UpdateRudder:B] Stopped 2025-10-28T21:49:11.671Z,1761688151.671 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:49:11.671Z,1761688151.671 [marl:UpdateRudder] Stopped 2025-10-28T21:49:11.671Z,1761688151.671 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:49:12.049Z,1761688152.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574784,-0.623418,-0.530068],[0.730048,-0.683291,0.011991],[-0.369666,-0.380083,0.847870]] 2025-10-28T21:49:12.440Z,1761688152.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553119,-0.640973,-0.532177],[0.744417,-0.667054,0.029713],[-0.374036,-0.379727,0.846111]] 2025-10-28T21:49:12.473Z,1761688152.473 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:49:12.721Z,1761688152.721 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:49:12.721Z,1761688152.721 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:49:12.843Z,1761688152.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531283,-0.657805,-0.533883],[0.758440,-0.650100,0.046250],[-0.377501,-0.380346,0.844292]] 2025-10-28T21:49:12.973Z,1761688152.973 [DAT](INFO): DAT read: user:329> 2025-10-28T21:49:12.974Z,1761688152.974 [DAT](INFO): DAT read: Tx time:21:49:12.6987 2025-10-28T21:49:12.974Z,1761688152.974 [DAT](INFO): Ping request sent. 2025-10-28T21:49:12.974Z,1761688152.974 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:49:12.974Z,1761688152.974 [DAT](INFO): publishing transmit ping time 2025-10-28T21:49:12.975Z,1761688152.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T21:49:13.225Z,1761688153.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879 2025-10-28T21:49:13.479Z,1761688153.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504733 2025-10-28T21:49:13.651Z,1761688153.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487882,-0.689018,-0.535934],[0.784927,-0.614909,0.076001],[-0.381917,-0.383590,0.840832]] 2025-10-28T21:49:13.729Z,1761688153.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755321 2025-10-28T21:49:13.981Z,1761688153.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774 2025-10-28T21:49:14.077Z,1761688154.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465364,-0.704040,-0.536437],[0.797284,-0.596644,0.091405],[-0.384415,-0.385156,0.838976]] 2025-10-28T21:49:14.233Z,1761688154.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827 2025-10-28T21:49:14.480Z,1761688154.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442724,-0.719198,-0.535491],[0.808755,-0.578169,0.107868],[-0.387183,-0.385326,0.837624]] 2025-10-28T21:49:14.485Z,1761688154.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511029 2025-10-28T21:49:14.737Z,1761688154.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762888 2025-10-28T21:49:14.882Z,1761688154.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419930,-0.733942,-0.533842],[0.819503,-0.559401,0.124444],[-0.389966,-0.385228,0.836377]] 2025-10-28T21:49:14.989Z,1761688154.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015027 2025-10-28T21:49:15.241Z,1761688155.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266928 2025-10-28T21:49:15.286Z,1761688155.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396870,-0.747923,-0.532076],[0.829760,-0.540173,0.140395],[-0.392418,-0.385777,0.834976]] 2025-10-28T21:49:15.493Z,1761688155.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009 2025-10-28T21:49:15.691Z,1761688155.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373219,-0.761083,-0.530529],[0.839605,-0.520360,0.155846],[-0.394678,-0.387270,0.833218]] 2025-10-28T21:49:15.747Z,1761688155.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773143 2025-10-28T21:49:15.997Z,1761688155.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906 2025-10-28T21:49:16.096Z,1761688156.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351036,-0.773572,-0.527598],[0.848572,-0.501022,0.170010],[-0.395853,-0.388025,0.832309]] 2025-10-28T21:49:16.249Z,1761688156.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274982 2025-10-28T21:49:16.499Z,1761688156.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327889,-0.786137,-0.523905],[0.857281,-0.480605,0.184629],[-0.396935,-0.388596,0.831526]] 2025-10-28T21:49:16.501Z,1761688156.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526990 2025-10-28T21:49:16.754Z,1761688156.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779347 2025-10-28T21:49:16.903Z,1761688156.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304108,-0.798305,-0.519833],[0.865752,-0.459279,0.198836],[-0.397480,-0.389579,0.830805]] 2025-10-28T21:49:17.005Z,1761688157.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030981 2025-10-28T21:49:17.257Z,1761688157.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282902 2025-10-28T21:49:17.310Z,1761688157.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278227,-0.809897,-0.516388],[0.874210,-0.436245,0.213183],[-0.397928,-0.392118,0.829396]] 2025-10-28T21:49:17.510Z,1761688157.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535897 2025-10-28T21:49:17.712Z,1761688157.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251006,-0.821643,-0.511761],[0.882658,-0.411315,0.227453],[-0.397380,-0.394618,0.828472]] 2025-10-28T21:49:17.761Z,1761688157.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787216 2025-10-28T21:49:18.014Z,1761688158.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039705 2025-10-28T21:49:18.127Z,1761688158.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222176,-0.831792,-0.508685],[0.890917,-0.385153,0.240673],[-0.396111,-0.399724,0.826629]] 2025-10-28T21:49:18.265Z,1761688158.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290942 2025-10-28T21:49:18.518Z,1761688158.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543611 2025-10-28T21:49:18.530Z,1761688158.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192941,-0.840674,-0.506004],[0.898517,-0.358586,0.253147],[-0.394260,-0.405811,0.824546]] 2025-10-28T21:49:18.770Z,1761688158.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796333 2025-10-28T21:49:18.923Z,1761688158.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163176,-0.849589,-0.501569],[0.904922,-0.331418,0.266978],[-0.393051,-0.410317,0.822892]] 2025-10-28T21:49:19.022Z,1761688159.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047878 2025-10-28T21:49:19.273Z,1761688159.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298894 2025-10-28T21:49:19.333Z,1761688159.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132529,-0.858242,-0.495840],[0.909628,-0.304024,0.283102],[-0.393717,-0.413511,0.820973]] 2025-10-28T21:49:19.526Z,1761688159.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551758 2025-10-28T21:49:19.730Z,1761688159.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101433,-0.867653,-0.486713],[0.912367,-0.276172,0.302185],[-0.396608,-0.413410,0.819631]] 2025-10-28T21:49:19.778Z,1761688159.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803381 2025-10-28T21:49:20.030Z,1761688160.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055589 2025-10-28T21:49:20.135Z,1761688160.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070137,-0.875204,-0.478642],[0.912861,-0.249774,0.322952],[-0.402202,-0.414282,0.816458]] 2025-10-28T21:49:20.281Z,1761688160.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306931 2025-10-28T21:49:20.534Z,1761688160.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559802 2025-10-28T21:49:20.546Z,1761688160.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038706,-0.880930,-0.471661],[0.911587,-0.224461,0.344421],[-0.409280,-0.416629,0.811733]] 2025-10-28T21:49:20.785Z,1761688160.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811300 2025-10-28T21:49:20.944Z,1761688160.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007751,-0.884243,-0.466962],[0.909439,-0.200392,0.364368],[-0.415765,-0.421849,0.805719]] 2025-10-28T21:49:20.967Z,1761688160.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:49:20.967Z,1761688160.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:49:20.968Z,1761688160.968 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:49:20.968Z,1761688160.968 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:49:20.968Z,1761688160.968 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:49:20.969Z,1761688160.969 [marl:UpdateSpeed] Stopped 2025-10-28T21:49:20.969Z,1761688160.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:49:21.037Z,1761688161.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063309 2025-10-28T21:49:21.289Z,1761688161.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314942 2025-10-28T21:49:21.347Z,1761688161.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020714,-0.883656,-0.467679],[0.907948,-0.179214,0.378830],[-0.418570,-0.432475,0.798602]] 2025-10-28T21:49:21.541Z,1761688161.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567308 2025-10-28T21:49:21.751Z,1761688161.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044412,-0.882045,-0.469068],[0.908626,-0.159498,0.385953],[-0.415243,-0.443348,0.794365]] 2025-10-28T21:49:21.794Z,1761688161.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819645 2025-10-28T21:49:22.045Z,1761688162.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070980 2025-10-28T21:49:22.155Z,1761688162.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063648,-0.881172,-0.468493],[0.911934,-0.139332,0.385958],[-0.405371,-0.451800,0.794702]] 2025-10-28T21:49:22.301Z,1761688162.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326711 2025-10-28T21:49:22.553Z,1761688162.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579002 2025-10-28T21:49:22.567Z,1761688162.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080820,-0.881915,-0.464429],[0.916872,-0.116965,0.381661],[-0.390915,-0.456668,0.799150]] 2025-10-28T21:49:22.805Z,1761688162.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830931 2025-10-28T21:49:22.963Z,1761688162.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097464,-0.885474,-0.454352],[0.922122,-0.091406,0.375946],[-0.374421,-0.455610,0.807607]] 2025-10-28T21:49:23.057Z,1761688163.057 [DAT](INFO): Reached modem response timeout 2025-10-28T21:49:23.366Z,1761688163.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114251,-0.893347,-0.434600],[0.926821,-0.061665,0.370406],[-0.357701,-0.445116,0.820928]] 2025-10-28T21:49:23.776Z,1761688163.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132031,-0.900957,-0.413334],[0.930464,-0.031123,0.365058],[-0.341766,-0.432792,0.834199]] 2025-10-28T21:49:24.177Z,1761688164.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152206,-0.906292,-0.394294],[0.932760,-0.000189,0.360499],[-0.326792,-0.422651,0.845324]] 2025-10-28T21:49:24.200Z,1761688164.200 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:49:24.200Z,1761688164.200 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:49:24.200Z,1761688164.200 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateRudder:A] Stopped 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:49:24.201Z,1761688164.201 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:49:24.202Z,1761688164.202 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:49:24.202Z,1761688164.202 [marl:UpdateCommandMode] Stopped 2025-10-28T21:49:24.202Z,1761688164.202 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:49:24.579Z,1761688164.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176528,-0.909928,-0.375325],[0.933083,0.033305,0.358116],[-0.313359,-0.413427,0.854918]] 2025-10-28T21:49:24.613Z,1761688164.613 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:49:24.613Z,1761688164.613 [marl:UpdateRudder:B] Stopped 2025-10-28T21:49:24.613Z,1761688164.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:49:24.614Z,1761688164.614 [marl:UpdateRudder] Stopped 2025-10-28T21:49:24.614Z,1761688164.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:49:24.986Z,1761688164.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204789,-0.912846,-0.353232],[0.930810,0.070003,0.358738],[-0.302746,-0.402257,0.864022]] 2025-10-28T21:49:25.325Z,1761688165.325 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:49:25.325Z,1761688165.325 [DAT](INFO): response not received 2025-10-28T21:49:25.325Z,1761688165.325 [DAT](ERROR): No response from remote modem. 2025-10-28T21:49:25.397Z,1761688165.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237100,-0.914929,-0.326631],[0.924914,0.109742,0.363993],[-0.297183,-0.388408,0.872251]] 2025-10-28T21:49:25.797Z,1761688165.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271843,-0.914124,-0.300797],[0.915079,0.148790,0.374823],[-0.297879,-0.377146,0.876943]] 2025-10-28T21:49:26.195Z,1761688166.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305746,-0.909812,-0.280645],[0.902305,0.182790,0.390428],[-0.303917,-0.372599,0.876815]] 2025-10-28T21:49:26.599Z,1761688166.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335628,-0.903284,-0.267266],[0.888432,0.209227,0.408549],[-0.313117,-0.374568,0.872729]] 2025-10-28T21:49:27.008Z,1761688167.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361298,-0.895468,-0.260003],[0.874984,0.229210,0.426457],[-0.322283,-0.381576,0.866333]] 2025-10-28T21:49:27.409Z,1761688167.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381291,-0.887435,-0.258991],[0.864610,0.243168,0.439680],[-0.327209,-0.391572,0.860003]] 2025-10-28T21:49:27.810Z,1761688167.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396783,-0.879753,-0.261911],[0.858567,0.254770,0.444922],[-0.324694,-0.401405,0.856415]] 2025-10-28T21:49:28.214Z,1761688168.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411026,-0.872468,-0.264306],[0.855782,0.269363,0.441679],[-0.314157,-0.407730,0.857358]] 2025-10-28T21:49:28.619Z,1761688168.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425900,-0.865176,-0.264726],[0.854059,0.287856,0.433269],[-0.298651,-0.410621,0.861509]] 2025-10-28T21:49:29.032Z,1761688169.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450439,-0.854671,-0.258153],[0.845469,0.315432,0.430912],[-0.286858,-0.412360,0.864680]] 2025-10-28T21:49:29.426Z,1761688169.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478405,-0.843262,-0.245025],[0.832128,0.346199,0.433253],[-0.280519,-0.411163,0.867326]] 2025-10-28T21:49:29.830Z,1761688169.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507673,-0.831644,-0.225024],[0.814201,0.377726,0.440908],[-0.281682,-0.407052,0.868887]] 2025-10-28T21:49:30.236Z,1761688170.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537329,-0.819206,-0.200449],[0.791534,0.407807,0.455156],[-0.291122,-0.403231,0.867556]] 2025-10-28T21:49:31.043Z,1761688171.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581927,-0.797426,-0.159602],[0.749610,0.449863,0.485497],[-0.315349,-0.402163,0.859546]] 2025-10-28T21:49:31.447Z,1761688171.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596174,-0.789189,-0.147505],[0.736926,0.464990,0.490636],[-0.318616,-0.401205,0.858789]] 2025-10-28T21:49:31.853Z,1761688171.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609750,-0.779161,-0.145305],[0.727556,0.477501,0.492599],[-0.314431,-0.406080,0.858040]] 2025-10-28T21:49:32.255Z,1761688172.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623540,-0.767281,-0.149926],[0.718967,0.487469,0.495439],[-0.307057,-0.416718,0.855606]] 2025-10-28T21:49:32.660Z,1761688172.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636610,-0.756217,-0.151207],[0.710525,0.498926,0.496213],[-0.299803,-0.423330,0.854932]] 2025-10-28T21:49:33.067Z,1761688173.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649870,-0.745561,-0.147674],[0.702465,0.515006,0.491235],[-0.290193,-0.422974,0.858418]] 2025-10-28T21:49:33.486Z,1761688173.486 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error. Device response is::TS,00050501375315,35.0, +13.9, 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed] Stopped 2025-10-28T21:49:33.902Z,1761688173.902 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:49:34.275Z,1761688174.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722229,-0.686509,-0.084207],[0.634182,0.608701,0.476756],[-0.276040,-0.397730,0.874993]] 2025-10-28T21:49:34.680Z,1761688174.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747908,-0.661527,-0.054912],[0.598451,0.636174,0.486968],[-0.287209,-0.397069,0.871692]] 2025-10-28T21:49:35.090Z,1761688175.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768953,-0.638371,-0.034555],[0.565479,0.653947,0.502580],[-0.298235,-0.406001,0.863840]] 2025-10-28T21:49:35.890Z,1761688175.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795590,-0.605611,-0.016485],[0.527567,0.679174,0.510290],[-0.297841,-0.414679,0.859844]] 2025-10-28T21:49:36.294Z,1761688176.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813829,-0.581027,0.009503],[0.499833,0.708256,0.498538],[-0.296395,-0.400974,0.866816]] 2025-10-28T21:49:36.701Z,1761688176.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830160,-0.555931,0.042122],[0.469891,0.738335,0.483802],[-0.300061,-0.381840,0.874163]] 2025-10-28T21:49:37.118Z,1761688177.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842582,-0.533619,0.072842],[0.439755,0.759751,0.478951],[-0.310919,-0.371523,0.874814]] 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateRudder:A] Stopped 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:49:37.233Z,1761688177.233 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:49:37.234Z,1761688177.234 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:49:37.234Z,1761688177.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:49:37.234Z,1761688177.234 [marl:UpdateCommandMode] Stopped 2025-10-28T21:49:37.234Z,1761688177.234 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:49:37.515Z,1761688177.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851703,-0.513747,0.103274],[0.408299,0.774131,0.483749],[-0.328472,-0.369844,0.869092]] 2025-10-28T21:49:37.561Z,1761688177.561 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:49:37.561Z,1761688177.561 [marl:UpdateRudder:B] Stopped 2025-10-28T21:49:37.561Z,1761688177.561 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:49:37.561Z,1761688177.561 [marl:UpdateRudder] Stopped 2025-10-28T21:49:37.561Z,1761688177.561 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:49:37.914Z,1761688177.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856106,-0.499387,0.133024],[0.383401,0.786319,0.484464],[-0.346534,-0.363751,0.864638]] 2025-10-28T21:49:38.316Z,1761688178.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858887,-0.490345,0.147903],[0.369398,0.793108,0.484278],[-0.354766,-0.361305,0.862322]] 2025-10-28T21:49:39.182Z,1761688179.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895227,-0.427102,0.127096],[0.296570,0.783933,0.545432],[-0.332590,-0.450592,0.828463]] 2025-10-28T21:49:39.603Z,1761688179.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900599,-0.400297,0.169361],[0.261868,0.810701,0.523630],[-0.346909,-0.427231,0.834942]] 2025-10-28T21:49:40.014Z,1761688180.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904113,-0.371609,0.210918],[0.233177,0.842720,0.485233],[-0.358062,-0.389524,0.848565]] 2025-10-28T21:49:40.406Z,1761688180.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905034,-0.349376,0.242590],[0.209766,0.862785,0.460000],[-0.370016,-0.365429,0.854137]] 2025-10-28T21:49:40.814Z,1761688180.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906260,-0.332261,0.261333],[0.183873,0.866514,0.464052],[-0.380635,-0.372499,0.846381]] 2025-10-28T21:49:41.101Z,1761688181.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:49:41.214Z,1761688181.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907432,-0.319019,0.273486],[0.164226,0.868335,0.468000],[-0.386778,-0.379765,0.840346]] 2025-10-28T21:49:41.269Z,1761688181.269 [marl:NeedComms:C] Running Loop=1 2025-10-28T21:49:41.618Z,1761688181.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912667,-0.299535,0.278061],[0.137299,0.865512,0.481703],[-0.384952,-0.401457,0.831051]] 2025-10-28T21:49:41.716Z,1761688181.716 [Radio_Surface](INFO): Powering up 2025-10-28T21:49:42.104Z,1761688182.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:49:42.130Z,1761688182.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919434,-0.276825,0.279301],[0.097774,0.848869,0.519482],[-0.380895,-0.450321,0.807546]] 2025-10-28T21:49:42.523Z,1761688182.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899187,-0.301582,0.317033],[0.095914,0.842770,0.529660],[-0.426922,-0.445855,0.786734]] 2025-10-28T21:49:42.926Z,1761688182.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912059,-0.280174,0.299417],[0.104905,0.865307,0.490141],[-0.396413,-0.415627,0.818603]] 2025-10-28T21:49:43.776Z,1761688183.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994979,-0.049024,0.087259],[0.004717,0.893826,0.448389],[-0.099976,-0.445726,0.889569]] 2025-10-28T21:49:44.170Z,1761688184.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998109,-0.034068,0.051160],[0.012883,0.929809,0.367818],[-0.060100,-0.366463,0.928490]] 2025-10-28T21:49:44.575Z,1761688184.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999572,0.027099,-0.011023],[-0.024520,0.981555,0.189601],[0.015958,-0.189250,0.981799]] 2025-10-28T21:49:45.001Z,1761688185.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995556,0.091931,-0.020403],[-0.089181,0.990012,0.109193],[0.030237,-0.106888,0.993811]] 2025-10-28T21:49:45.382Z,1761688185.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993185,0.108630,0.042236],[-0.112124,0.989446,0.091783],[-0.031820,-0.095893,0.994883]] 2025-10-28T21:49:45.791Z,1761688185.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995163,0.090425,0.038387],[-0.092590,0.993957,0.058966],[-0.032823,-0.062235,0.997522]] 2025-10-28T21:49:46.190Z,1761688186.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990562,0.130921,-0.040583],[-0.132120,0.990827,-0.028399],[0.036493,0.033493,0.998772]] 2025-10-28T21:49:46.595Z,1761688186.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974841,0.219763,-0.037273],[-0.220793,0.974970,-0.026173],[0.030588,0.033744,0.998962]] 2025-10-28T21:49:46.973Z,1761688186.973 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T21:49:46.974Z,1761688186.974 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T21:49:47.023Z,1761688187.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956728,0.288670,0.036621],[-0.290829,0.952712,0.088079],[-0.009464,-0.094918,0.995440]] 2025-10-28T21:49:47.046Z,1761688187.046 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:49:47.046Z,1761688187.046 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:49:47.046Z,1761688187.046 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:49:47.047Z,1761688187.047 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:49:47.047Z,1761688187.047 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:49:47.047Z,1761688187.047 [marl:UpdateSpeed] Stopped 2025-10-28T21:49:47.047Z,1761688187.047 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:49:47.403Z,1761688187.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948095,0.305225,0.089180],[-0.317149,0.927988,0.195588],[-0.023060,-0.213719,0.976623]] 2025-10-28T21:49:47.808Z,1761688187.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940636,0.317318,0.120467],[-0.337955,0.908505,0.245775],[-0.031456,-0.271898,0.961812]] 2025-10-28T21:49:48.210Z,1761688188.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924971,0.346174,0.156818],[-0.376517,0.890777,0.254463],[-0.051601,-0.294416,0.954283]] 2025-10-28T21:49:48.615Z,1761688188.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906283,0.389895,0.163199],[-0.418737,0.880782,0.221094],[-0.057540,-0.268711,0.961501]] 2025-10-28T21:49:49.025Z,1761688189.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893039,0.419648,0.162408],[-0.445525,0.875254,0.188248],[-0.063151,-0.240470,0.968600]] 2025-10-28T21:49:49.425Z,1761688189.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884715,0.423741,0.194226],[-0.454538,0.876607,0.157973],[-0.103320,-0.228044,0.968153]] 2025-10-28T21:49:49.827Z,1761688189.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876803,0.440958,0.191759],[-0.462149,0.882927,0.082813],[-0.132792,-0.161232,0.977942]] 2025-10-28T21:49:50.230Z,1761688190.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875257,0.470503,0.112032],[-0.473347,0.880875,-0.001378],[-0.099335,-0.051824,0.993704]] 2025-10-28T21:49:50.278Z,1761688190.278 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateRudder:A] Stopped 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:49:50.279Z,1761688190.279 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:49:50.284Z,1761688190.284 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:49:50.284Z,1761688190.284 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:49:50.284Z,1761688190.284 [marl:UpdateCommandMode] Stopped 2025-10-28T21:49:50.284Z,1761688190.284 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:49:50.635Z,1761688190.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868633,0.485432,0.099163],[-0.483507,0.874222,-0.044221],[-0.108157,-0.009535,0.994088]] 2025-10-28T21:49:50.659Z,1761688190.659 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:49:50.659Z,1761688190.659 [marl:UpdateRudder:B] Stopped 2025-10-28T21:49:50.659Z,1761688190.659 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:49:50.659Z,1761688190.659 [marl:UpdateRudder] Stopped 2025-10-28T21:49:50.659Z,1761688190.659 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:49:51.045Z,1761688191.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848089,0.515724,0.121543],[-0.519122,0.854689,-0.004296],[-0.106097,-0.059452,0.992577]] 2025-10-28T21:49:51.848Z,1761688191.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823310,0.552605,0.129571],[-0.561549,0.826259,0.044262],[-0.082600,-0.109201,0.990582]] 2025-10-28T21:49:52.251Z,1761688192.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807686,0.572285,0.141894],[-0.585795,0.806216,0.082831],[-0.066994,-0.150022,0.986410]] 2025-10-28T21:49:52.655Z,1761688192.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802525,0.583733,0.123328],[-0.592327,0.804292,0.047561],[-0.071429,-0.111220,0.991226]] 2025-10-28T21:49:53.066Z,1761688193.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806336,0.586423,0.077013],[-0.588832,0.808178,0.011193],[-0.055676,-0.054373,0.996967]] 2025-10-28T21:49:53.495Z,1761688193.495 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 734.47, 626.91, 648.43 2025-10-28T21:49:53.868Z,1761688193.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775784,0.628987,0.050340],[-0.629380,0.777038,-0.009615],[-0.045164,-0.024223,0.998686]] 2025-10-28T21:49:54.271Z,1761688194.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778494,0.626187,0.042862],[-0.627297,0.778534,0.019583],[-0.021107,-0.042132,0.998889]] 2025-10-28T21:49:54.675Z,1761688194.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756466,0.649550,0.076438],[-0.652352,0.757725,0.017028],[-0.046859,-0.062745,0.996929]] 2025-10-28T21:49:55.086Z,1761688195.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737409,0.668622,0.095777],[-0.674264,0.737068,0.045823],[-0.039956,-0.098370,0.994348]] 2025-10-28T21:49:55.495Z,1761688195.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739739,0.668388,0.077742],[-0.672870,0.733782,0.093867],[0.005694,-0.121747,0.992545]] 2025-10-28T21:49:55.891Z,1761688195.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744262,0.665853,0.052092],[-0.667524,0.739018,0.090904],[0.022031,-0.102429,0.994496]] 2025-10-28T21:49:56.294Z,1761688196.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704650,0.708711,0.034598],[-0.709290,0.702214,0.061669],[0.019410,-0.067995,0.997497]] 2025-10-28T21:49:56.699Z,1761688196.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688867,0.724864,0.005854],[-0.724364,0.688039,0.043591],[0.027570,-0.034269,0.999032]] 2025-10-28T21:49:57.130Z,1761688197.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690120,0.723563,-0.013785],[-0.723108,0.690203,0.027115],[0.029134,-0.008744,0.999537]] 2025-10-28T21:49:57.506Z,1761688197.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658343,0.752416,0.021333],[-0.752445,0.658603,-0.008264],[-0.020268,-0.010611,0.999738]] 2025-10-28T21:49:57.911Z,1761688197.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638730,0.767112,0.059704],[-0.769240,0.638377,0.027302],[-0.017170,-0.063365,0.997843]] 2025-10-28T21:49:58.316Z,1761688198.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655667,0.752960,0.056133],[-0.754219,0.649646,0.095471],[0.035419,-0.104934,0.993848]] 2025-10-28T21:49:58.720Z,1761688198.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617919,0.783871,0.061006],[-0.786006,0.613974,0.072322],[0.019235,-0.092640,0.995514]] 2025-10-28T21:49:59.228Z,1761688199.228 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -25.68678.43, -33.34, 20.00, 0.00 2025-10-28T21:49:59.931Z,1761688199.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611616,0.788488,0.064901],[-0.790785,0.611777,0.019698],[-0.024173,-0.063371,0.997697]] 2025-10-28T21:50:00.377Z,1761688200.377 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:50:00.377Z,1761688200.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:50:00.378Z,1761688200.378 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:50:00.378Z,1761688200.378 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:50:00.378Z,1761688200.378 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:50:00.378Z,1761688200.378 [marl:UpdateSpeed] Stopped 2025-10-28T21:50:00.378Z,1761688200.378 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:50:00.739Z,1761688200.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562910,0.821103,0.094457],[-0.825713,0.553631,0.108127],[0.036489,-0.138860,0.989639]] 2025-10-28T21:50:01.189Z,1761688201.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561485,0.823308,0.083061],[-0.826911,0.554516,0.093434],[0.030867,-0.121146,0.992155]] 2025-10-28T21:50:01.553Z,1761688201.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535250,0.844124,0.031011],[-0.844489,0.533952,0.041643],[0.018593,-0.048478,0.998651]] 2025-10-28T21:50:01.962Z,1761688201.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514752,0.857333,-0.003302],[-0.857283,0.514759,0.009469],[0.009817,-0.002044,0.999950]] 2025-10-28T21:50:02.359Z,1761688202.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499132,0.866346,-0.017660],[-0.865267,0.499401,0.043719],[0.046695,-0.006541,0.998888]] 2025-10-28T21:50:02.767Z,1761688202.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477359,0.877959,0.036294],[-0.877654,0.474357,0.068623],[0.043032,-0.064612,0.996982]] 2025-10-28T21:50:03.251Z,1761688203.251 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -25.98, +1 29, 20.00, 0.00 2025-10-28T21:50:03.567Z,1761688203.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481556,0.868957,0.114099],[-0.876288,0.475163,0.079627],[0.014976,-0.138329,0.990273]] 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateRudder:A] Stopped 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:50:03.601Z,1761688203.601 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode] Stopped 2025-10-28T21:50:03.602Z,1761688203.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:50:03.976Z,1761688203.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472619,0.878955,0.063792],[-0.879326,0.465540,0.100290],[0.058452,-0.103493,0.992911]] 2025-10-28T21:50:04.008Z,1761688204.008 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:50:04.008Z,1761688204.008 [marl:UpdateRudder:B] Stopped 2025-10-28T21:50:04.009Z,1761688204.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:50:04.009Z,1761688204.009 [marl:UpdateRudder] Stopped 2025-10-28T21:50:04.009Z,1761688204.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:50:04.375Z,1761688204.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417319,0.903782,0.094985],[-0.907022,0.407777,0.105018],[0.056181,-0.129980,0.989924]] 2025-10-28T21:50:04.784Z,1761688204.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441835,0.888501,0.123886],[-0.895257,0.427864,0.124288],[0.057424,-0.165824,0.984482]] 2025-10-28T21:50:05.586Z,1761688205.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378849,0.923033,0.066957],[-0.924879,0.380179,-0.007900],[-0.032747,-0.058934,0.997725]] 2025-10-28T21:50:05.990Z,1761688205.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387891,0.920926,0.037896],[-0.921177,0.385949,0.049766],[0.031205,-0.054212,0.998042]] 2025-10-28T21:50:06.395Z,1761688206.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390971,0.919183,0.047383],[-0.918278,0.386056,0.087895],[0.062499,-0.077875,0.995002]] 2025-10-28T21:50:06.800Z,1761688206.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368760,0.924686,0.094722],[-0.929524,0.366987,0.036146],[-0.001338,-0.101375,0.994847]] 2025-10-28T21:50:07.208Z,1761688207.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347213,0.928260,0.133327],[-0.936404,0.350896,-0.004432],[-0.050898,-0.123309,0.991062]] 2025-10-28T21:50:07.607Z,1761688207.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305747,0.938926,0.157913],[-0.949049,0.313837,-0.028503],[-0.076322,-0.141152,0.987042]] 2025-10-28T21:50:08.013Z,1761688208.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321837,0.936095,0.141939],[-0.946687,0.315898,0.063184],[0.014308,-0.154707,0.987857]] 2025-10-28T21:50:08.414Z,1761688208.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343538,0.930398,0.127834],[-0.937711,0.332319,0.101304],[0.051771,-0.154673,0.986608]] 2025-10-28T21:50:08.819Z,1761688208.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347744,0.927266,0.138750],[-0.937583,0.344461,0.047797],[-0.003474,-0.146711,0.989173]] 2025-10-28T21:50:09.228Z,1761688209.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333198,0.932211,0.141287],[-0.942244,0.334625,0.014245],[-0.033999,-0.137873,0.989866]] 2025-10-28T21:50:09.628Z,1761688209.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278116,0.949575,0.144775],[-0.960477,0.276744,0.029944],[-0.011631,-0.147381,0.989011]] 2025-10-28T21:50:10.041Z,1761688210.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268553,0.948381,0.168679],[-0.960689,0.250900,0.118851],[0.070394,-0.193966,0.978479]] 2025-10-28T21:50:10.438Z,1761688210.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328144,0.929668,0.167449],[-0.939933,0.303693,0.155872],[0.094056,-0.208539,0.973481]] 2025-10-28T21:50:10.838Z,1761688210.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277444,0.943559,0.180892],[-0.960425,0.267556,0.077445],[0.024675,-0.195220,0.980449]] 2025-10-28T21:50:11.248Z,1761688211.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283793,0.947262,0.148847],[-0.957153,0.270521,0.103325],[0.057610,-0.171792,0.983447]] 2025-10-28T21:50:11.646Z,1761688211.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325877,0.943317,0.062906],[-0.942196,0.318566,0.103836],[0.077911,-0.093107,0.992603]] 2025-10-28T21:50:12.050Z,1761688212.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314098,0.949112,0.023024],[-0.947088,0.311556,0.077182],[0.066081,-0.046049,0.996751]] 2025-10-28T21:50:12.228Z,1761688212.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:50:12.461Z,1761688212.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332548,0.942942,0.016507],[-0.936061,0.327888,0.127589],[0.114897,-0.057881,0.991690]] 2025-10-28T21:50:12.503Z,1761688212.503 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:50:12.749Z,1761688212.749 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:50:12.749Z,1761688212.749 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:50:12.861Z,1761688212.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321232,0.945251,0.057534],[-0.945576,0.316825,0.074217],[0.051925,-0.078244,0.995581]] 2025-10-28T21:50:13.001Z,1761688213.001 [DAT](INFO): DAT read: user:330> 2025-10-28T21:50:13.002Z,1761688213.002 [DAT](INFO): DAT read: Tx time:21:50:12.7484 2025-10-28T21:50:13.002Z,1761688213.002 [DAT](INFO): Ping request sent. 2025-10-28T21:50:13.002Z,1761688213.002 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:50:13.002Z,1761688213.002 [DAT](INFO): publishing transmit ping time 2025-10-28T21:50:13.003Z,1761688213.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000917 2025-10-28T21:50:13.228Z,1761688213.228 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T21:50:13.228Z,1761688213.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:50:13.253Z,1761688213.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889 2025-10-28T21:50:13.265Z,1761688213.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290955,0.952552,0.089382],[-0.956303,0.292365,-0.002826],[-0.028824,-0.084654,0.995993]] 2025-10-28T21:50:13.505Z,1761688213.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978 2025-10-28T21:50:13.667Z,1761688213.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318326,0.945828,0.063858],[-0.947848,0.318686,0.004734],[-0.015873,-0.062034,0.997948]] 2025-10-28T21:50:13.729Z,1761688213.729 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed] Stopped 2025-10-28T21:50:13.730Z,1761688213.730 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:50:13.758Z,1761688213.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755574 2025-10-28T21:50:14.009Z,1761688214.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875 2025-10-28T21:50:14.073Z,1761688214.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341712,0.938396,0.051444],[-0.937084,0.344374,-0.057267],[-0.071455,-0.028639,0.997033]] 2025-10-28T21:50:14.265Z,1761688214.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262785 2025-10-28T21:50:14.475Z,1761688214.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347929,0.936497,0.043811],[-0.934062,0.350277,-0.069528],[-0.080459,-0.016731,0.996617]] 2025-10-28T21:50:14.513Z,1761688214.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939 2025-10-28T21:50:14.765Z,1761688214.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910 2025-10-28T21:50:14.878Z,1761688214.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343811,0.937843,0.047373],[-0.939018,0.343028,0.024027],[0.006283,-0.052745,0.998588]] 2025-10-28T21:50:15.017Z,1761688215.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014771 2025-10-28T21:50:15.269Z,1761688215.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849 2025-10-28T21:50:15.284Z,1761688215.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355015,0.927422,0.117700],[-0.934768,0.353930,0.030707],[-0.013179,-0.120924,0.992574]] 2025-10-28T21:50:15.521Z,1761688215.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518829 2025-10-28T21:50:15.686Z,1761688215.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337963,0.919104,0.202556],[-0.940028,0.340195,0.024785],[-0.046129,-0.198785,0.978957]] 2025-10-28T21:50:15.775Z,1761688215.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773169 2025-10-28T21:50:16.029Z,1761688216.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026933 2025-10-28T21:50:16.092Z,1761688216.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336904,0.908819,0.246056],[-0.938445,0.302959,0.165942],[0.076267,-0.286816,0.954945]] 2025-10-28T21:50:16.281Z,1761688216.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278975 2025-10-28T21:50:16.495Z,1761688216.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372288,0.880439,0.293648],[-0.921938,0.314362,0.226290],[0.106923,-0.354970,0.928743]] 2025-10-28T21:50:16.533Z,1761688216.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530975 2025-10-28T21:50:16.785Z,1761688216.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783264 2025-10-28T21:50:16.899Z,1761688216.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385026,0.870372,0.306932],[-0.922878,0.360516,0.135367],[0.007166,-0.335381,0.942055]] 2025-10-28T21:50:16.959Z,1761688216.959 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:50:16.959Z,1761688216.959 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:50:16.960Z,1761688216.960 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:50:16.964Z,1761688216.964 [marl:UpdateRudder:A] Stopped 2025-10-28T21:50:16.964Z,1761688216.964 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:50:16.964Z,1761688216.964 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:50:16.964Z,1761688216.964 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:50:16.965Z,1761688216.965 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:50:16.965Z,1761688216.965 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:50:16.965Z,1761688216.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:50:16.965Z,1761688216.965 [marl:UpdateCommandMode] Stopped 2025-10-28T21:50:16.965Z,1761688216.965 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:50:17.037Z,1761688217.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034809 2025-10-28T21:50:17.297Z,1761688217.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294714 2025-10-28T21:50:17.304Z,1761688217.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376978,0.906549,0.189884],[-0.926115,0.365813,0.092147],[0.014073,-0.210592,0.977473]] 2025-10-28T21:50:17.375Z,1761688217.375 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:50:17.375Z,1761688217.375 [marl:UpdateRudder:B] Stopped 2025-10-28T21:50:17.375Z,1761688217.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:50:17.375Z,1761688217.375 [marl:UpdateRudder] Stopped 2025-10-28T21:50:17.375Z,1761688217.375 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:50:17.549Z,1761688217.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546882 2025-10-28T21:50:17.706Z,1761688217.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381182,0.923444,0.044172],[-0.919700,0.373908,0.119771],[0.094086,-0.086280,0.991818]] 2025-10-28T21:50:17.801Z,1761688217.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798885 2025-10-28T21:50:18.053Z,1761688218.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050692 2025-10-28T21:50:18.110Z,1761688218.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429454,0.902749,-0.024782],[-0.898948,0.429948,0.083889],[0.086386,-0.013749,0.996167]] 2025-10-28T21:50:18.305Z,1761688218.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302888 2025-10-28T21:50:18.514Z,1761688218.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439015,0.897367,-0.044711],[-0.894259,0.441229,0.074951],[0.086987,0.007079,0.996184]] 2025-10-28T21:50:18.557Z,1761688218.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554807 2025-10-28T21:50:18.809Z,1761688218.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806838 2025-10-28T21:50:18.924Z,1761688218.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442793,0.896521,-0.013620],[-0.889018,0.440960,0.123290],[0.116538,-0.042483,0.992277]] 2025-10-28T21:50:19.061Z,1761688219.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058825 2025-10-28T21:50:19.313Z,1761688219.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310876 2025-10-28T21:50:19.330Z,1761688219.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455061,0.889766,0.035142],[-0.877529,0.441403,0.187367],[0.151201,-0.116102,0.981661]] 2025-10-28T21:50:19.335Z,1761688219.335 [NAL9602](INFO): SBD MO Status=0, MOMSN=3363, MT Status=0, MTMSN=0 2025-10-28T21:50:19.335Z,1761688219.335 [NAL9602](INFO): No messages in MT queue 2025-10-28T21:50:19.569Z,1761688219.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566540 2025-10-28T21:50:19.727Z,1761688219.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449760,0.888666,0.089374],[-0.878754,0.422397,0.222199],[0.159709,-0.178474,0.970896]] 2025-10-28T21:50:19.818Z,1761688219.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815515 2025-10-28T21:50:20.069Z,1761688220.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066869 2025-10-28T21:50:20.131Z,1761688220.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455663,0.878858,0.141352],[-0.882464,0.425170,0.201218],[0.116743,-0.216426,0.969294]] 2025-10-28T21:50:20.321Z,1761688220.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318823 2025-10-28T21:50:20.534Z,1761688220.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466891,0.878412,0.102007],[-0.872724,0.439080,0.213452],[0.142710,-0.188683,0.971613]] 2025-10-28T21:50:20.548Z,1761688220.548 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215019.00,A,3645.39286,N,12151.82650,W,0.603,200.23,281025,,,A*75 2025-10-28T21:50:20.550Z,1761688220.550 [NAL9602](INFO): GPS fix at 20251028T215019: (36.756548, -121.863775) 2025-10-28T21:50:20.564Z,1761688220.564 [UniversalFixResidualReporter](INFO): Fix residual: 4.8 %DT, over the last 1019.4 m. Residual distance 48.5 m at bearing 77.9 degrees. Fix at (36.7565, -121.8638) with 222.8 m made good. 2025-10-28T21:50:20.577Z,1761688220.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574963 2025-10-28T21:50:20.591Z,1761688220.591 [marl:NeedComms:C] Stopped 2025-10-28T21:50:20.591Z,1761688220.591 [marl:NeedComms:D] Running Loop=1 2025-10-28T21:50:20.597Z,1761688220.597 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761688192.00. Resetting abort timer. 2025-10-28T21:50:20.829Z,1761688220.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826759 2025-10-28T21:50:20.949Z,1761688220.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479400,0.877348,0.020872],[-0.859599,0.464644,0.212590],[0.176818,-0.119857,0.976918]] 2025-10-28T21:50:21.082Z,1761688221.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079563 2025-10-28T21:50:21.333Z,1761688221.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330895 2025-10-28T21:50:21.390Z,1761688221.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479264,0.876573,0.043894],[-0.871595,0.469476,0.141117],[0.103092,-0.105890,0.989019]] 2025-10-28T21:50:21.585Z,1761688221.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582995 2025-10-28T21:50:21.800Z,1761688221.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511162,0.856245,0.074548],[-0.858649,0.504918,0.088202],[0.037882,-0.109095,0.993309]] 2025-10-28T21:50:21.837Z,1761688221.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834968 2025-10-28T21:50:22.089Z,1761688222.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086920 2025-10-28T21:50:22.229Z,1761688222.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537449,0.843246,0.009193],[-0.841327,0.535419,0.074129],[0.057587,-0.047575,0.997206]] 2025-10-28T21:50:22.341Z,1761688222.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338761 2025-10-28T21:50:22.593Z,1761688222.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590918 2025-10-28T21:50:22.600Z,1761688222.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501842,0.863195,-0.055221],[-0.861076,0.504612,0.062565],[0.081870,0.016152,0.996512]] 2025-10-28T21:50:22.845Z,1761688222.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842878 2025-10-28T21:50:23.002Z,1761688223.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491899,0.870084,-0.031454],[-0.865948,0.492673,0.086069],[0.090383,-0.015100,0.995793]] 2025-10-28T21:50:23.098Z,1761688223.098 [DAT](INFO): Reached modem response timeout 2025-10-28T21:50:23.811Z,1761688223.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522517,0.852425,0.018620],[-0.843852,0.513890,0.154372],[0.122022,-0.096374,0.987837]] 2025-10-28T21:50:24.214Z,1761688224.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479261,0.867713,0.131842],[-0.877655,0.472855,0.078299],[0.005599,-0.153238,0.988173]] 2025-10-28T21:50:25.117Z,1761688225.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473543,0.867768,0.150785],[-0.876079,0.481713,-0.020921],[-0.090790,-0.122192,0.988345]] 2025-10-28T21:50:25.365Z,1761688225.365 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:50:25.365Z,1761688225.365 [DAT](INFO): response not received 2025-10-28T21:50:25.365Z,1761688225.365 [DAT](ERROR): No response from remote modem. 2025-10-28T21:50:27.419Z,1761688227.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495870,0.864494,0.082240],[-0.867536,0.497368,0.002594],[-0.038661,-0.072632,0.996609]] 2025-10-28T21:50:27.808Z,1761688227.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502922,0.857123,0.111395],[-0.864257,0.496996,0.077807],[0.011327,-0.135405,0.990726]] 2025-10-28T21:50:28.211Z,1761688228.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515290,0.851047,0.100971],[-0.856719,0.508424,0.086814],[0.022547,-0.131238,0.991094]] 2025-10-28T21:50:28.617Z,1761688228.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526799,0.849210,0.036389],[-0.841936,0.515450,0.159547],[0.116732,-0.114687,0.986519]] 2025-10-28T21:50:29.029Z,1761688229.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521043,0.853521,-0.004153],[-0.837773,0.512348,0.188775],[0.163251,-0.094881,0.982011]] 2025-10-28T21:50:29.052Z,1761688229.052 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:50:29.052Z,1761688229.052 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:50:29.052Z,1761688229.052 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:50:29.053Z,1761688229.053 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:50:29.053Z,1761688229.053 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:50:29.053Z,1761688229.053 [marl:UpdateSpeed] Stopped 2025-10-28T21:50:29.053Z,1761688229.053 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:50:29.838Z,1761688229.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482345,0.863980,0.144502],[-0.875359,0.481615,0.042349],[-0.033006,-0.146918,0.988598]] 2025-10-28T21:50:30.239Z,1761688230.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506667,0.849456,0.147354],[-0.859121,0.511758,0.003890],[-0.072105,-0.128566,0.989076]] 2025-10-28T21:50:30.644Z,1761688230.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552821,0.831484,0.054977],[-0.833127,0.552847,0.016123],[-0.016988,-0.054716,0.998357]] 2025-10-28T21:50:31.046Z,1761688231.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537569,0.843132,-0.012168],[-0.843196,0.537606,-0.000182],[0.006388,0.010358,0.999926]] 2025-10-28T21:50:31.450Z,1761688231.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483393,0.875245,-0.016675],[-0.874385,0.483661,0.039020],[0.042217,-0.004281,0.999099]] 2025-10-28T21:50:31.857Z,1761688231.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477442,0.878293,0.025504],[-0.870966,0.469226,0.145757],[0.116050,-0.091804,0.988992]] 2025-10-28T21:50:32.261Z,1761688232.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495285,0.861682,0.110441],[-0.864194,0.475725,0.163875],[0.088669,-0.176607,0.980279]] 2025-10-28T21:50:32.285Z,1761688232.285 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:50:32.285Z,1761688232.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateRudder:A] Stopped 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:50:32.286Z,1761688232.286 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:50:32.287Z,1761688232.287 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:50:32.287Z,1761688232.287 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:50:32.287Z,1761688232.287 [marl:UpdateCommandMode] Stopped 2025-10-28T21:50:32.287Z,1761688232.287 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:50:32.662Z,1761688232.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480652,0.855695,0.191729],[-0.876873,0.466942,0.114278],[0.008260,-0.223050,0.974772]] 2025-10-28T21:50:32.697Z,1761688232.697 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:50:32.697Z,1761688232.697 [marl:UpdateRudder:B] Stopped 2025-10-28T21:50:32.697Z,1761688232.697 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:50:32.697Z,1761688232.697 [marl:UpdateRudder] Stopped 2025-10-28T21:50:32.697Z,1761688232.697 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:50:33.066Z,1761688233.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490018,0.853010,0.179603],[-0.871320,0.473108,0.130270],[0.026150,-0.220326,0.975076]] 2025-10-28T21:50:33.471Z,1761688233.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502931,0.860834,0.077622],[-0.856999,0.484984,0.174190],[0.112303,-0.154128,0.981648]] 2025-10-28T21:50:33.878Z,1761688233.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510162,0.859761,-0.023360],[-0.845154,0.506163,0.171797],[0.159528,-0.067902,0.984855]] 2025-10-28T21:50:34.278Z,1761688234.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541691,0.836937,-0.078148],[-0.822531,0.546927,0.155928],[0.173243,-0.020186,0.984672]] 2025-10-28T21:50:34.682Z,1761688234.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526385,0.846818,-0.076281],[-0.832454,0.531549,0.156450],[0.173032,-0.018853,0.984736]] 2025-10-28T21:50:35.087Z,1761688235.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492266,0.870257,-0.018085],[-0.850346,0.485234,0.203617],[0.185975,-0.084855,0.978884]] 2025-10-28T21:50:35.493Z,1761688235.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512539,0.856690,0.058197],[-0.840172,0.486358,0.239932],[0.177243,-0.171870,0.969044]] 2025-10-28T21:50:35.914Z,1761688235.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564624,0.820287,0.091269],[-0.817101,0.539959,0.201967],[0.116389,-0.188611,0.975130]] 2025-10-28T21:50:36.299Z,1761688236.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583836,0.811871,0.000762],[-0.802099,0.576664,0.155230],[0.125587,-0.091240,0.987878]] 2025-10-28T21:50:36.703Z,1761688236.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562733,0.821948,-0.087938],[-0.814483,0.569488,0.110910],[0.141242,0.009211,0.989932]] 2025-10-28T21:50:37.122Z,1761688237.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539862,0.837639,-0.083126],[-0.830633,0.546125,0.108614],[0.136377,0.010410,0.990602]] 2025-10-28T21:50:37.511Z,1761688237.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546379,0.837292,-0.020289],[-0.826604,0.542989,0.147948],[0.134893,-0.064065,0.988787]] 2025-10-28T21:50:37.922Z,1761688237.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560189,0.827820,0.030025],[-0.817843,0.546951,0.178822],[0.131611,-0.124730,0.983423]] 2025-10-28T21:50:38.318Z,1761688238.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578234,0.815257,0.031644],[-0.800573,0.559490,0.214599],[0.157249,-0.149422,0.976189]] 2025-10-28T21:50:38.726Z,1761688238.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567605,0.822629,0.033247],[-0.809436,0.550212,0.205133],[0.150456,-0.143346,0.978169]] 2025-10-28T21:50:38.731Z,1761688238.731 [NAL9602](INFO): SBD MO Status=1, MOMSN=3364, MT Status=0, MTMSN=0 2025-10-28T21:50:38.786Z,1761688238.786 [NAL9602](INFO): Sent 95 bytes from file Logs/20251028T162422/Courier0060.lzma 2025-10-28T21:50:38.787Z,1761688238.787 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:50:39.160Z,1761688239.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547778,0.832657,0.081376],[-0.834189,0.536177,0.129009],[0.063788,-0.138551,0.988299]] 2025-10-28T21:50:40.042Z,1761688240.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547066,0.836571,-0.029459],[-0.807694,0.536773,0.243936],[0.219883,-0.109655,0.969344]] 2025-10-28T21:50:42.545Z,1761688242.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555630,0.823539,0.114271],[-0.831273,0.547584,0.095591],[0.016150,-0.148104,0.988840]] 2025-10-28T21:50:42.932Z,1761688242.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549960,0.830953,0.084035],[-0.831966,0.553890,-0.032231],[-0.073329,-0.052188,0.995941]] 2025-10-28T21:50:43.348Z,1761688243.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:50:43.739Z,1761688243.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557591,0.829993,0.014282],[-0.824191,0.551477,0.128773],[0.099005,-0.083574,0.991571]] 2025-10-28T21:50:44.147Z,1761688244.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527695,0.847857,0.051741],[-0.842906,0.515129,0.155410],[0.105112,-0.125622,0.986494]] 2025-10-28T21:50:44.352Z,1761688244.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:50:44.546Z,1761688244.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516041,0.837801,0.178302],[-0.855640,0.513855,0.061905],[-0.039757,-0.184507,0.982027]] 2025-10-28T21:50:44.583Z,1761688244.583 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:50:44.583Z,1761688244.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:50:44.583Z,1761688244.583 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:50:44.584Z,1761688244.584 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:50:44.584Z,1761688244.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:50:44.584Z,1761688244.584 [marl:UpdateSpeed] Stopped 2025-10-28T21:50:44.584Z,1761688244.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:50:44.953Z,1761688244.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524525,0.836301,0.159606],[-0.851134,0.519706,0.073996],[-0.021065,-0.174659,0.984404]] 2025-10-28T21:50:45.355Z,1761688245.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549202,0.835639,-0.009262],[-0.825904,0.544428,0.146563],[0.127516,-0.072843,0.989158]] 2025-10-28T21:50:45.763Z,1761688245.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531038,0.838806,-0.120012],[-0.829513,0.543526,0.128405],[0.172936,0.031363,0.984434]] 2025-10-28T21:50:46.163Z,1761688246.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484102,0.868721,-0.104736],[-0.861293,0.494199,0.118079],[0.154338,0.033047,0.987465]] 2025-10-28T21:50:46.566Z,1761688246.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441727,0.897128,0.006162],[-0.889327,0.436960,0.134770],[0.118213,-0.065012,0.990858]] 2025-10-28T21:50:46.970Z,1761688246.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449139,0.885611,0.118188],[-0.888084,0.428020,0.167648],[0.097884,-0.180258,0.978737]] 2025-10-28T21:50:47.386Z,1761688247.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482641,0.866322,0.128626],[-0.868580,0.454619,0.197208],[0.112370,-0.206903,0.971887]] 2025-10-28T21:50:47.785Z,1761688247.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478142,0.875210,0.073396],[-0.868097,0.458254,0.190815],[0.133370,-0.154952,0.978878]] 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateRudder:A] Stopped 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:50:47.811Z,1761688247.811 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:50:47.812Z,1761688247.812 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:50:47.812Z,1761688247.812 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:50:47.812Z,1761688247.812 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:50:47.812Z,1761688247.812 [marl:UpdateCommandMode] Stopped 2025-10-28T21:50:47.812Z,1761688247.812 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:50:48.188Z,1761688248.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470645,0.882322,-0.001079],[-0.871252,0.464932,0.157348],[0.139333,-0.073115,0.987543]] 2025-10-28T21:50:48.252Z,1761688248.252 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:50:48.252Z,1761688248.252 [marl:UpdateRudder:B] Stopped 2025-10-28T21:50:48.252Z,1761688248.252 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:50:48.252Z,1761688248.252 [marl:UpdateRudder] Stopped 2025-10-28T21:50:48.252Z,1761688248.252 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:50:48.586Z,1761688248.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445220,0.894461,-0.041461],[-0.887576,0.446961,0.111511],[0.118274,-0.012847,0.992898]] 2025-10-28T21:50:48.999Z,1761688248.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427088,0.904194,0.005406],[-0.901934,0.425581,0.073455],[0.064117,-0.036248,0.997284]] 2025-10-28T21:50:49.407Z,1761688249.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424051,0.902923,0.070076],[-0.904019,0.417399,0.092343],[0.054129,-0.102508,0.993258]] 2025-10-28T21:50:49.799Z,1761688249.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406178,0.908596,0.097327],[-0.910656,0.393662,0.125442],[0.075662,-0.139583,0.987315]] 2025-10-28T21:50:50.202Z,1761688250.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385696,0.915639,0.113326],[-0.917327,0.367432,0.153316],[0.098743,-0.163091,0.981657]] 2025-10-28T21:50:50.607Z,1761688250.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371315,0.923826,0.093120],[-0.919533,0.351963,0.174874],[0.128778,-0.150560,0.980177]] 2025-10-28T21:50:51.014Z,1761688251.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371616,0.925783,0.069481],[-0.919238,0.356442,0.167186],[0.130012,-0.125998,0.983474]] 2025-10-28T21:50:51.415Z,1761688251.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371994,0.925538,0.070715],[-0.922692,0.360385,0.136975],[0.101291,-0.116202,0.988047]] 2025-10-28T21:50:51.819Z,1761688251.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378527,0.922660,0.073596],[-0.925283,0.375157,0.055751],[0.023830,-0.089200,0.995729]] 2025-10-28T21:50:52.225Z,1761688252.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341675,0.937862,0.060604],[-0.939612,0.342240,0.001113],[-0.019697,-0.057324,0.998161]] 2025-10-28T21:50:52.627Z,1761688252.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331534,0.939872,0.082015],[-0.943382,0.329264,0.040204],[0.010782,-0.090700,0.995820]] 2025-10-28T21:50:53.034Z,1761688253.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369582,0.922910,0.107921],[-0.928668,0.362947,0.076456],[0.031392,-0.128479,0.991215]] 2025-10-28T21:50:53.438Z,1761688253.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388947,0.911324,0.134942],[-0.919810,0.375931,0.112365],[0.051672,-0.167825,0.984462]] 2025-10-28T21:50:53.838Z,1761688253.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423763,0.896449,0.129632],[-0.903468,0.408130,0.131054],[0.064576,-0.172654,0.982863]] 2025-10-28T21:50:54.242Z,1761688254.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403775,0.899893,0.164797],[-0.914248,0.390323,0.108623],[0.033425,-0.194524,0.980328]] 2025-10-28T21:50:54.646Z,1761688254.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389503,0.899929,0.195998],[-0.920912,0.377202,0.098182],[0.014426,-0.218739,0.975677]] 2025-10-28T21:50:55.055Z,1761688255.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387333,0.909442,0.151287],[-0.916768,0.362582,0.167541],[0.097515,-0.203589,0.974188]] 2025-10-28T21:50:55.455Z,1761688255.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409653,0.910702,0.052981],[-0.890870,0.386883,0.238058],[0.196302,-0.144720,0.969805]] 2025-10-28T21:50:55.863Z,1761688255.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395975,0.918207,0.009967],[-0.900733,0.386283,0.198659],[0.178560,-0.087642,0.980018]] 2025-10-28T21:50:56.263Z,1761688256.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383555,0.923014,0.030492],[-0.916603,0.376443,0.134647],[0.112802,-0.079594,0.990424]] 2025-10-28T21:50:56.667Z,1761688256.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413378,0.909615,0.041453],[-0.902752,0.403460,0.149195],[0.118986,-0.099096,0.987938]] 2025-10-28T21:50:57.080Z,1761688257.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452735,0.891471,-0.017635],[-0.876423,0.448557,0.175153],[0.164054,-0.063842,0.984383]] 2025-10-28T21:50:57.475Z,1761688257.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436760,0.898890,-0.035184],[-0.887399,0.436931,0.147019],[0.147527,-0.032989,0.988508]] 2025-10-28T21:50:57.886Z,1761688257.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423018,0.906083,-0.008351],[-0.898468,0.420623,0.125821],[0.117517,-0.045721,0.992018]] 2025-10-28T21:50:57.929Z,1761688257.929 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:50:57.929Z,1761688257.929 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:50:57.930Z,1761688257.930 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:50:57.930Z,1761688257.930 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:50:57.930Z,1761688257.930 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:50:57.930Z,1761688257.930 [marl:UpdateSpeed] Stopped 2025-10-28T21:50:57.930Z,1761688257.930 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:50:58.285Z,1761688258.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412018,0.910910,0.021993],[-0.900151,0.403172,0.164863],[0.141309,-0.087723,0.986071]] 2025-10-28T21:50:58.686Z,1761688258.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422249,0.903996,0.067061],[-0.891015,0.400301,0.214129],[0.166727,-0.150168,0.974501]] 2025-10-28T21:50:59.094Z,1761688259.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448154,0.890626,0.077099],[-0.880660,0.425023,0.209269],[0.153611,-0.161683,0.974814]] 2025-10-28T21:50:59.497Z,1761688259.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417342,0.906984,0.056610],[-0.900306,0.404189,0.161492],[0.123589,-0.118364,0.985249]] 2025-10-28T21:50:59.900Z,1761688259.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427201,0.902456,0.055428],[-0.895005,0.413381,0.167580],[0.128321,-0.121199,0.984299]] 2025-10-28T21:51:00.302Z,1761688260.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438889,0.898474,0.010974],[-0.881506,0.428169,0.199042],[0.174135,-0.097031,0.979930]] 2025-10-28T21:51:00.707Z,1761688260.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412435,0.910815,0.017686],[-0.898240,0.403351,0.174564],[0.151862,-0.087883,0.984487]] 2025-10-28T21:51:01.151Z,1761688261.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401924,0.908866,0.111441],[-0.915291,0.395253,0.077578],[0.026460,-0.133182,0.990738]] 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateRudder:A] Stopped 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:51:01.235Z,1761688261.235 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:51:01.240Z,1761688261.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:51:01.240Z,1761688261.240 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:51:01.240Z,1761688261.240 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:51:01.240Z,1761688261.240 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:51:01.240Z,1761688261.240 [marl:UpdateCommandMode] Stopped 2025-10-28T21:51:01.241Z,1761688261.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:51:01.514Z,1761688261.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434582,0.887035,0.155908],[-0.899508,0.436132,0.025948],[-0.044979,-0.151517,0.987431]] 2025-10-28T21:51:01.558Z,1761688261.558 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:51:01.558Z,1761688261.558 [marl:UpdateRudder:B] Stopped 2025-10-28T21:51:01.559Z,1761688261.559 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:51:01.559Z,1761688261.559 [marl:UpdateRudder] Stopped 2025-10-28T21:51:01.559Z,1761688261.559 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:51:01.920Z,1761688261.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459320,0.884543,0.081301],[-0.888175,0.455996,0.056681],[0.013064,-0.098244,0.995077]] 2025-10-28T21:51:02.324Z,1761688262.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419929,0.907524,0.007674],[-0.905886,0.418628,0.064191],[0.055042,-0.033908,0.997908]] 2025-10-28T21:51:02.726Z,1761688262.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374239,0.927201,0.015633],[-0.924735,0.371877,0.081075],[0.069359,-0.044797,0.996585]] 2025-10-28T21:51:02.743Z,1761688262.743 [NAL9602](INFO): SBD MO Status=1, MOMSN=3365, MT Status=0, MTMSN=0 2025-10-28T21:51:02.800Z,1761688262.800 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0061.lzma 2025-10-28T21:51:02.800Z,1761688262.800 [NAL9602](INFO): Packets left to send: 1 2025-10-28T21:51:03.207Z,1761688263.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392562,0.917613,0.062306],[-0.915357,0.383204,0.123597],[0.089538,-0.105551,0.990375]] 2025-10-28T21:51:04.064Z,1761688264.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396382,0.916054,0.061039],[-0.913478,0.386867,0.126066],[0.091869,-0.105728,0.990142]] 2025-10-28T21:51:04.458Z,1761688264.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381367,0.923695,-0.036691],[-0.900022,0.380067,0.213331],[0.210998,-0.048335,0.976291]] 2025-10-28T21:51:06.658Z,1761688266.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362326,0.924068,0.121729],[-0.930280,0.350492,0.108322],[0.057432,-0.152490,0.986635]] 2025-10-28T21:51:07.047Z,1761688267.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348951,0.935598,0.053760],[-0.935333,0.344143,0.081959],[0.058179,-0.078883,0.995185]] 2025-10-28T21:51:07.457Z,1761688267.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358296,0.932741,0.040226],[-0.933281,0.356698,0.041866],[0.024701,-0.052543,0.998313]] 2025-10-28T21:51:07.862Z,1761688267.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376300,0.924424,0.061950],[-0.926497,0.375546,0.023853],[-0.001215,-0.066372,0.997794]] 2025-10-28T21:51:08.258Z,1761688268.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352984,0.931120,0.091755],[-0.935337,0.353624,0.009729],[-0.023388,-0.089257,0.995734]] 2025-10-28T21:51:08.667Z,1761688268.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313875,0.937248,0.151817],[-0.948661,0.316151,0.009543],[-0.039053,-0.147019,0.988362]] 2025-10-28T21:51:09.066Z,1761688269.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335442,0.925880,0.173850],[-0.941578,0.335421,0.030399],[-0.030167,-0.173891,0.984303]] 2025-10-28T21:51:09.475Z,1761688269.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320496,0.935582,0.148214],[-0.947249,0.316798,0.048571],[-0.001512,-0.155963,0.987762]] 2025-10-28T21:51:09.877Z,1761688269.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327963,0.936241,0.126072],[-0.944690,0.325192,0.042554],[-0.001156,-0.133055,0.991108]] 2025-10-28T21:51:10.281Z,1761688270.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325169,0.943263,0.067233],[-0.942037,0.316891,0.110211],[0.082652,-0.099173,0.991632]] 2025-10-28T21:51:10.686Z,1761688270.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314697,0.947283,0.060179],[-0.938718,0.301205,0.167584],[0.140623,-0.109229,0.984020]] 2025-10-28T21:51:11.087Z,1761688271.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324349,0.931139,0.166670],[-0.945748,0.315683,0.076843],[0.018936,-0.182552,0.983014]] 2025-10-28T21:51:11.493Z,1761688271.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307000,0.918226,0.250223],[-0.950433,0.309417,0.030642],[-0.049287,-0.247228,0.967703]] 2025-10-28T21:51:11.895Z,1761688271.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283949,0.925384,0.251071],[-0.958141,0.263848,0.111135],[0.036598,-0.272118,0.961568]] 2025-10-28T21:51:12.300Z,1761688272.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315709,0.936553,0.152304],[-0.932200,0.276202,0.233915],[0.177007,-0.215827,0.960254]] 2025-10-28T21:51:12.707Z,1761688272.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385303,0.920504,0.064917],[-0.910229,0.367549,0.190764],[0.151739,-0.132592,0.979487]] 2025-10-28T21:51:12.752Z,1761688272.752 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:51:13.001Z,1761688273.001 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:51:13.001Z,1761688273.001 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:51:13.112Z,1761688273.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390115,0.919954,0.038656],[-0.919068,0.386504,0.076998],[0.055893,-0.065566,0.996282]] 2025-10-28T21:51:13.253Z,1761688273.253 [DAT](INFO): DAT read: user:331> 2025-10-28T21:51:13.254Z,1761688273.254 [DAT](INFO): DAT read: Tx time:21:51:12.9982 2025-10-28T21:51:13.254Z,1761688273.254 [DAT](INFO): Ping request sent. 2025-10-28T21:51:13.254Z,1761688273.254 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:51:13.254Z,1761688273.254 [DAT](INFO): publishing transmit ping time 2025-10-28T21:51:13.255Z,1761688273.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928 2025-10-28T21:51:13.505Z,1761688273.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250961 2025-10-28T21:51:13.517Z,1761688273.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382010,0.922062,0.062206],[-0.924152,0.380905,0.029223],[0.003250,-0.068651,0.997635]] 2025-10-28T21:51:13.579Z,1761688273.579 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:51:13.579Z,1761688273.579 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:51:13.579Z,1761688273.579 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:51:13.579Z,1761688273.579 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:51:13.579Z,1761688273.579 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:51:13.580Z,1761688273.580 [marl:UpdateSpeed] Stopped 2025-10-28T21:51:13.580Z,1761688273.580 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:51:13.757Z,1761688273.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503032 2025-10-28T21:51:13.916Z,1761688273.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383355,0.921323,0.064822],[-0.923349,0.380666,0.050205],[0.021580,-0.079099,0.996633]] 2025-10-28T21:51:13.927Z,1761688273.927 [NAL9602](INFO): SBD MO Status=1, MOMSN=3366, MT Status=0, MTMSN=0 2025-10-28T21:51:13.988Z,1761688273.988 [NAL9602](INFO): Sent 223 bytes from file Logs/20251028T162422/Express0061.lzma 2025-10-28T21:51:13.988Z,1761688273.988 [NAL9602](INFO): Packets left to send: 0 2025-10-28T21:51:14.009Z,1761688274.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913 2025-10-28T21:51:14.261Z,1761688274.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832 2025-10-28T21:51:14.319Z,1761688274.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415377,0.906983,0.069596],[-0.907281,0.407564,0.103595],[0.065594,-0.106174,0.992182]] 2025-10-28T21:51:14.472Z,1761688274.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:51:14.513Z,1761688274.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259053 2025-10-28T21:51:14.766Z,1761688274.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511458 2025-10-28T21:51:15.017Z,1761688275.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861 2025-10-28T21:51:15.183Z,1761688275.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458999,0.882537,0.102216],[-0.887670,0.450779,0.094023],[0.036902,-0.133891,0.990309]] 2025-10-28T21:51:15.269Z,1761688275.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014890 2025-10-28T21:51:15.476Z,1761688275.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:51:15.522Z,1761688275.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439 2025-10-28T21:51:15.551Z,1761688275.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454285,0.880332,0.136531],[-0.890746,0.446448,0.085180],[0.014032,-0.160311,0.986967]] 2025-10-28T21:51:15.773Z,1761688275.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184 2025-10-28T21:51:15.955Z,1761688275.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505200,0.846795,0.166465],[-0.857643,0.514098,-0.012343],[-0.096031,-0.136532,0.985970]] 2025-10-28T21:51:16.029Z,1761688276.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774010 2025-10-28T21:51:16.277Z,1761688276.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022746 2025-10-28T21:51:16.365Z,1761688276.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530983,0.841142,0.102654],[-0.837750,0.539295,-0.085654],[-0.127408,-0.040518,0.991022]] 2025-10-28T21:51:16.529Z,1761688276.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854 2025-10-28T21:51:16.767Z,1761688276.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540290,0.841466,0.004588],[-0.841394,0.540305,-0.011259],[-0.011952,0.002223,0.999926]] 2025-10-28T21:51:16.781Z,1761688276.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527011 2025-10-28T21:51:17.033Z,1761688277.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778763 2025-10-28T21:51:17.185Z,1761688277.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565768,0.823021,-0.050427],[-0.812814,0.566949,0.133801],[0.138711,-0.034713,0.989724]] 2025-10-28T21:51:17.255Z,1761688277.255 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:51:17.255Z,1761688277.255 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:51:17.255Z,1761688277.255 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:51:17.255Z,1761688277.255 [marl:UpdateRudder:A] Stopped 2025-10-28T21:51:17.255Z,1761688277.255 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:51:17.256Z,1761688277.256 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:51:17.260Z,1761688277.260 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:51:17.260Z,1761688277.260 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:51:17.260Z,1761688277.260 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:51:17.260Z,1761688277.260 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:51:17.261Z,1761688277.261 [marl:UpdateCommandMode] Stopped 2025-10-28T21:51:17.261Z,1761688277.261 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:51:17.285Z,1761688277.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031011 2025-10-28T21:51:17.541Z,1761688277.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286747 2025-10-28T21:51:17.570Z,1761688277.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585996,0.809873,-0.026726],[-0.792454,0.579654,0.189785],[0.169193,-0.090034,0.981462]] 2025-10-28T21:51:17.633Z,1761688277.633 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:51:17.633Z,1761688277.633 [marl:UpdateRudder:B] Stopped 2025-10-28T21:51:17.634Z,1761688277.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:51:17.634Z,1761688277.634 [marl:UpdateRudder] Stopped 2025-10-28T21:51:17.634Z,1761688277.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:51:17.789Z,1761688277.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535304 2025-10-28T21:51:17.974Z,1761688277.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578149,0.813408,0.064123],[-0.808050,0.559897,0.183222],[0.113132,-0.157744,0.980978]] 2025-10-28T21:51:18.041Z,1761688278.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786932 2025-10-28T21:51:18.293Z,1761688278.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038739 2025-10-28T21:51:18.380Z,1761688278.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571181,0.800720,0.180556],[-0.820823,0.556843,0.127182],[0.001296,-0.220848,0.975307]] 2025-10-28T21:51:18.545Z,1761688278.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290816 2025-10-28T21:51:18.787Z,1761688278.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579576,0.794851,0.179731],[-0.814731,0.569898,0.106909],[-0.017452,-0.208395,0.977889]] 2025-10-28T21:51:18.797Z,1761688278.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542963 2025-10-28T21:51:19.049Z,1761688279.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794821 2025-10-28T21:51:19.190Z,1761688279.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581838,0.803897,0.123344],[-0.813301,0.575577,0.085162],[-0.002532,-0.149867,0.988703]] 2025-10-28T21:51:19.301Z,1761688279.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046888 2025-10-28T21:51:19.553Z,1761688279.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298854 2025-10-28T21:51:19.591Z,1761688279.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578483,0.814327,0.047212],[-0.815651,0.576887,0.043756],[0.008395,-0.063821,0.997926]] 2025-10-28T21:51:19.805Z,1761688279.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550795 2025-10-28T21:51:19.997Z,1761688279.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587078,0.808749,-0.035567],[-0.807611,0.588144,0.043020],[0.055711,0.003468,0.998441]] 2025-10-28T21:51:20.057Z,1761688280.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802789 2025-10-28T21:51:20.309Z,1761688280.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054900 2025-10-28T21:51:20.398Z,1761688280.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590418,0.804508,-0.064600],[-0.803339,0.593498,0.049054],[0.077805,0.022933,0.996705]] 2025-10-28T21:51:20.561Z,1761688280.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306740 2025-10-28T21:51:20.803Z,1761688280.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589518,0.806735,-0.040591],[-0.803951,0.590872,0.067326],[0.078299,-0.007057,0.996905]] 2025-10-28T21:51:20.813Z,1761688280.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558967 2025-10-28T21:51:21.065Z,1761688281.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810800 2025-10-28T21:51:21.207Z,1761688281.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630036,0.776553,-0.004523],[-0.773558,0.628097,0.084276],[0.068286,-0.049598,0.996432]] 2025-10-28T21:51:21.318Z,1761688281.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063573 2025-10-28T21:51:21.569Z,1761688281.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314811 2025-10-28T21:51:21.617Z,1761688281.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627334,0.778749,0.001629],[-0.775215,0.624285,0.096486],[0.074121,-0.061792,0.995333]] 2025-10-28T21:51:21.822Z,1761688281.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567248 2025-10-28T21:51:22.014Z,1761688282.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627921,0.778231,0.008481],[-0.774963,0.624206,0.098995],[0.071747,-0.068733,0.995052]] 2025-10-28T21:51:22.073Z,1761688282.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818881 2025-10-28T21:51:22.325Z,1761688282.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071066 2025-10-28T21:51:22.419Z,1761688282.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620916,0.783877,0.000380],[-0.777386,0.615712,0.128727],[0.100672,-0.080224,0.991680]] 2025-10-28T21:51:22.577Z,1761688282.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322853 2025-10-28T21:51:22.830Z,1761688282.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575607 2025-10-28T21:51:22.842Z,1761688282.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603195,0.797367,-0.019033],[-0.783345,0.596740,0.173990],[0.150092,-0.090041,0.984563]] 2025-10-28T21:51:23.082Z,1761688283.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827432 2025-10-28T21:51:23.231Z,1761688283.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608257,0.793584,-0.015734],[-0.783342,0.603369,0.149402],[0.128056,-0.078549,0.988651]] 2025-10-28T21:51:23.333Z,1761688283.333 [DAT](INFO): Reached modem response timeout 2025-10-28T21:51:23.631Z,1761688283.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644023,0.764245,-0.034132],[-0.760664,0.644476,0.077719],[0.081394,-0.024090,0.996391]] 2025-10-28T21:51:24.041Z,1761688284.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630659,0.769060,-0.103998],[-0.764609,0.638685,0.086342],[0.132824,0.025066,0.990823]] 2025-10-28T21:51:24.443Z,1761688284.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622525,0.780509,-0.057160],[-0.762974,0.621547,0.177621],[0.174162,-0.066961,0.982438]] 2025-10-28T21:51:24.860Z,1761688284.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631920,0.774446,-0.030171],[-0.749745,0.620701,0.229375],[0.196366,-0.122326,0.972870]] 2025-10-28T21:51:25.252Z,1761688285.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640743,0.767745,0.004051],[-0.751620,0.626192,0.207247],[0.156576,-0.135837,0.978280]] 2025-10-28T21:51:25.264Z,1761688285.264 [NAL9602](INFO): SBD MO Status=0, MOMSN=3367, MT Status=0, MTMSN=0 2025-10-28T21:51:25.386Z,1761688285.386 [marl:NeedComms:D] Stopped 2025-10-28T21:51:25.386Z,1761688285.386 [marl:NeedComms:E] Running Loop=1 2025-10-28T21:51:25.601Z,1761688285.601 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:51:25.601Z,1761688285.601 [DAT](INFO): response not received 2025-10-28T21:51:25.601Z,1761688285.601 [DAT](ERROR): No response from remote modem. 2025-10-28T21:51:25.654Z,1761688285.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631052,0.774953,0.034935],[-0.768364,0.618222,0.165582],[0.106721,-0.131334,0.985577]] 2025-10-28T21:51:26.054Z,1761688286.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624947,0.778455,0.058737],[-0.778117,0.615062,0.127408],[0.063054,-0.125328,0.990110]] 2025-10-28T21:51:26.460Z,1761688286.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652122,0.757249,0.036199],[-0.756271,0.646468,0.100665],[0.052827,-0.093022,0.994262]] 2025-10-28T21:51:26.866Z,1761688286.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667757,0.743683,-0.032184],[-0.740945,0.668203,0.067123],[0.071423,-0.020975,0.997226]] 2025-10-28T21:51:27.266Z,1761688287.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664499,0.738887,-0.111749],[-0.733692,0.673469,0.090199],[0.141906,0.022052,0.989634]] 2025-10-28T21:51:27.361Z,1761688287.361 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:51:27.361Z,1761688287.361 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:51:27.361Z,1761688287.361 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:51:27.361Z,1761688287.361 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:51:27.362Z,1761688287.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:51:27.362Z,1761688287.362 [marl:UpdateSpeed] Stopped 2025-10-28T21:51:27.362Z,1761688287.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:51:27.670Z,1761688287.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630729,0.768035,-0.110921],[-0.758853,0.640341,0.118762],[0.162241,0.009266,0.986708]] 2025-10-28T21:51:27.676Z,1761688287.676 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215126.00,A,3645.38305,N,12151.82966,W,1.108,218.77,281025,,,A*7C 2025-10-28T21:51:27.678Z,1761688287.678 [NAL9602](INFO): GPS fix at 20251028T215126: (36.756384, -121.863828) 2025-10-28T21:51:27.699Z,1761688287.699 [marl:NeedComms:E] Stopped 2025-10-28T21:51:27.720Z,1761688287.720 [marl:NeedComms](INFO): Completed marl:NeedComms 2025-10-28T21:51:27.721Z,1761688287.721 [marl:NeedComms] Stopped 2025-10-28T21:51:27.721Z,1761688287.721 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T21:51:27.721Z,1761688287.721 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T21:51:27.721Z,1761688287.721 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T21:51:27.722Z,1761688287.722 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761688320.00. Resetting abort timer. 2025-10-28T21:51:28.077Z,1761688288.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599390,0.799820,0.031924],[-0.797525,0.593309,0.109263],[0.068450,-0.090951,0.993500]] 2025-10-28T21:51:28.479Z,1761688288.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644657,0.754672,0.122013],[-0.764452,0.637527,0.095777],[-0.005506,-0.155016,0.987897]] 2025-10-28T21:51:28.882Z,1761688288.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672619,0.736511,0.071661],[-0.739662,0.672042,0.035506],[-0.022008,-0.076887,0.996797]] 2025-10-28T21:51:29.288Z,1761688289.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616701,0.787052,0.015113],[-0.785952,0.616692,-0.044396],[-0.044262,0.015501,0.998900]] 2025-10-28T21:51:29.694Z,1761688289.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620345,0.783784,0.029219],[-0.783860,0.620832,-0.011449],[-0.027113,-0.015802,0.999507]] 2025-10-28T21:51:30.095Z,1761688290.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655813,0.753198,0.051003],[-0.754590,0.652021,0.073909],[0.022414,-0.086957,0.995960]] 2025-10-28T21:51:30.566Z,1761688290.566 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:51:30.566Z,1761688290.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:51:30.566Z,1761688290.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateRudder:A] Stopped 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:51:30.567Z,1761688290.567 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:51:30.568Z,1761688290.568 [marl:UpdateCommandMode] Stopped 2025-10-28T21:51:30.572Z,1761688290.572 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:51:30.906Z,1761688290.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624241,0.781117,0.013382],[-0.764211,0.606995,0.218033],[0.162186,-0.146332,0.975850]] 2025-10-28T21:51:30.930Z,1761688290.930 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:51:30.930Z,1761688290.930 [marl:UpdateRudder:B] Stopped 2025-10-28T21:51:30.930Z,1761688290.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:51:30.930Z,1761688290.930 [marl:UpdateRudder] Stopped 2025-10-28T21:51:30.930Z,1761688290.930 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:51:31.711Z,1761688291.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597666,0.799669,0.057655],[-0.798804,0.587778,0.128174],[0.068609,-0.122660,0.990074]] 2025-10-28T21:51:32.115Z,1761688292.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609915,0.791688,0.035129],[-0.790987,0.605470,0.088012],[0.048408,-0.081466,0.995500]] 2025-10-28T21:51:32.520Z,1761688292.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622542,0.779658,-0.067630],[-0.768183,0.625302,0.137448],[0.149451,-0.033615,0.988198]] 2025-10-28T21:51:32.924Z,1761688292.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620176,0.771820,-0.140268],[-0.754467,0.635822,0.162815],[0.214849,0.004854,0.976635]] 2025-10-28T21:51:33.334Z,1761688293.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601800,0.794577,-0.080524],[-0.782106,0.606746,0.142017],[0.161701,-0.022488,0.986584]] 2025-10-28T21:51:33.732Z,1761688293.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580962,0.813751,0.017122],[-0.803966,0.570440,0.168040],[0.126976,-0.111390,0.985631]] 2025-10-28T21:51:34.539Z,1761688294.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586360,0.810044,0.003319],[-0.793356,0.573443,0.204327],[0.163610,-0.122442,0.978897]] 2025-10-28T21:51:34.945Z,1761688294.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557284,0.830217,0.013182],[-0.815382,0.544190,0.197507],[0.156800,-0.120816,0.980213]] 2025-10-28T21:51:35.348Z,1761688295.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565966,0.823659,0.035626],[-0.817209,0.554779,0.156174],[0.108870,-0.117503,0.987087]] 2025-10-28T21:51:35.753Z,1761688295.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577095,0.815700,0.039930],[-0.814530,0.571346,0.100520],[0.059181,-0.090534,0.994133]] 2025-10-28T21:51:36.155Z,1761688296.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557491,0.830133,-0.009062],[-0.824026,0.554651,0.115513],[0.100917,-0.056930,0.993265]] 2025-10-28T21:51:36.558Z,1761688296.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539047,0.840245,-0.058459],[-0.817206,0.538549,0.205279],[0.203968,-0.062882,0.976956]] 2025-10-28T21:51:36.967Z,1761688296.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503751,0.863116,-0.035581],[-0.831255,0.495541,0.251900],[0.235051,-0.097318,0.967099]] 2025-10-28T21:51:37.368Z,1761688297.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479150,0.875538,0.062033],[-0.859835,0.454006,0.233585],[0.176349,-0.165260,0.970356]] 2025-10-28T21:51:37.781Z,1761688297.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493876,0.864025,0.097716],[-0.858166,0.466221,0.214916],[0.140135,-0.189998,0.971732]] 2025-10-28T21:51:38.175Z,1761688298.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498060,0.866760,0.025752],[-0.856514,0.487102,0.170635],[0.135355,-0.107043,0.984998]] 2025-10-28T21:51:38.584Z,1761688298.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471852,0.881372,0.023210],[-0.872762,0.463185,0.154100],[0.125069,-0.092969,0.987783]] 2025-10-28T21:51:39.387Z,1761688299.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396401,0.907199,0.140913],[-0.915662,0.379545,0.132321],[0.066559,-0.181481,0.981140]] 2025-10-28T21:51:39.800Z,1761688299.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406180,0.901241,0.150939],[-0.911600,0.388201,0.135227],[0.063277,-0.192523,0.979250]] 2025-10-28T21:51:40.194Z,1761688300.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448975,0.875524,0.178544],[-0.892453,0.449256,0.041195],[-0.044145,-0.177838,0.983069]] 2025-10-28T21:51:40.609Z,1761688300.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428852,0.887319,0.169558],[-0.901967,0.431047,0.025561],[-0.050407,-0.163898,0.985189]] 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:51:40.633Z,1761688300.633 [marl:UpdateSpeed] Stopped 2025-10-28T21:51:40.634Z,1761688300.634 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:51:41.004Z,1761688301.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371578,0.907607,0.195396],[-0.928393,0.364173,0.073922],[-0.004065,-0.208872,0.977935]] 2025-10-28T21:51:41.406Z,1761688301.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394981,0.882155,0.256499],[-0.917049,0.395271,0.052734],[-0.054867,-0.256051,0.965105]] 2025-10-28T21:51:41.820Z,1761688301.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418218,0.889932,0.181971],[-0.908339,0.410532,0.079896],[-0.003603,-0.198705,0.980053]] 2025-10-28T21:51:42.217Z,1761688302.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351404,0.931259,0.096289],[-0.934955,0.343714,0.087858],[0.048723,-0.120900,0.991468]] 2025-10-28T21:51:42.618Z,1761688302.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312250,0.939211,0.142765],[-0.948548,0.299926,0.101499],[0.052510,-0.167112,0.984539]] 2025-10-28T21:51:43.023Z,1761688303.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367703,0.917444,0.151956],[-0.928629,0.353563,0.112436],[0.049428,-0.182454,0.981971]] 2025-10-28T21:51:43.428Z,1761688303.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378504,0.917494,0.122230],[-0.925549,0.376547,0.039634],[-0.009661,-0.128131,0.991710]] 2025-10-28T21:51:43.831Z,1761688303.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307741,0.942691,0.128953],[-0.950589,0.298787,0.084308],[0.040946,-0.148526,0.988060]] 2025-10-28T21:51:43.861Z,1761688303.861 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:51:43.861Z,1761688303.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateRudder:A] Stopped 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:51:43.862Z,1761688303.862 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:51:43.863Z,1761688303.863 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:51:43.863Z,1761688303.863 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:51:43.863Z,1761688303.863 [marl:UpdateCommandMode] Stopped 2025-10-28T21:51:43.863Z,1761688303.863 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:51:44.235Z,1761688304.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320278,0.921884,0.218063],[-0.943956,0.291178,0.155444],[0.079806,-0.255628,0.963476]] 2025-10-28T21:51:44.279Z,1761688304.279 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:51:44.279Z,1761688304.279 [marl:UpdateRudder:B] Stopped 2025-10-28T21:51:44.279Z,1761688304.279 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:51:44.279Z,1761688304.279 [marl:UpdateRudder] Stopped 2025-10-28T21:51:44.279Z,1761688304.279 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:51:45.044Z,1761688305.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310656,0.911155,0.270720],[-0.950336,0.292092,0.107441],[0.018820,-0.290652,0.956644]] 2025-10-28T21:51:45.447Z,1761688305.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294546,0.923914,0.244183],[-0.955336,0.278263,0.099513],[0.023995,-0.262588,0.964610]] 2025-10-28T21:51:45.596Z,1761688305.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:51:45.851Z,1761688305.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349253,0.921285,0.171047],[-0.936968,0.341279,0.074970],[0.010693,-0.186449,0.982406]] 2025-10-28T21:51:46.255Z,1761688306.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315688,0.947037,0.058841],[-0.948839,0.314633,0.026650],[0.006725,-0.064244,0.997912]] 2025-10-28T21:51:46.600Z,1761688306.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:51:46.664Z,1761688306.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273716,0.960131,0.056813],[-0.960319,0.269527,0.071706],[0.053535,-0.074186,0.995806]] 2025-10-28T21:51:47.063Z,1761688307.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262768,0.955224,0.136014],[-0.961838,0.248183,0.115209],[0.076294,-0.161096,0.983985]] 2025-10-28T21:51:47.466Z,1761688307.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264998,0.943219,0.200285],[-0.962647,0.246821,0.111309],[0.055554,-0.222300,0.973394]] 2025-10-28T21:51:47.871Z,1761688307.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287585,0.940158,0.182750],[-0.957644,0.279363,0.069815],[0.014584,-0.195087,0.980677]] 2025-10-28T21:51:48.284Z,1761688308.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209001,0.960414,0.184184],[-0.976817,0.213955,-0.007220],[-0.046341,-0.178405,0.982865]] 2025-10-28T21:51:48.679Z,1761688308.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189973,0.954785,0.228682],[-0.979695,0.199560,-0.019334],[-0.064095,-0.220366,0.973309]] 2025-10-28T21:51:49.083Z,1761688309.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155958,0.958142,0.240084],[-0.987741,0.152928,0.031320],[-0.006707,-0.242025,0.970247]] 2025-10-28T21:51:49.487Z,1761688309.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143258,0.950909,0.274317],[-0.989224,0.129119,0.069023],[0.030215,-0.281249,0.959159]] 2025-10-28T21:51:49.893Z,1761688309.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149824,0.946052,0.287295],[-0.988641,0.139851,0.055051],[0.011903,-0.292280,0.956259]] 2025-10-28T21:51:50.305Z,1761688310.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102381,0.968457,0.227176],[-0.994428,0.105413,-0.001220],[-0.025129,-0.225785,0.973853]] 2025-10-28T21:51:50.759Z,1761688310.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037007,0.984875,0.169266],[-0.999276,0.037976,-0.002486],[-0.008876,-0.169051,0.985567]] 2025-10-28T21:51:51.246Z,1761688311.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003346,0.984627,0.174636],[-0.992282,-0.024917,0.121472],[0.123956,-0.172882,0.977111]] 2025-10-28T21:51:51.913Z,1761688311.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001281,0.968615,0.248562],[-0.999394,-0.009883,0.033365],[0.034775,-0.248369,0.968041]] 2025-10-28T21:51:52.313Z,1761688312.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017182,0.983896,0.177912],[-0.998937,-0.009279,-0.045156],[-0.042778,-0.178499,0.983010]] 2025-10-28T21:51:52.714Z,1761688312.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060010,0.995134,0.078154],[-0.992992,-0.051528,-0.106356],[-0.101811,-0.083988,0.991252]] 2025-10-28T21:51:53.146Z,1761688313.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083108,0.995333,0.049050],[-0.994070,-0.079338,-0.074370],[-0.070131,-0.054940,0.996024]] 2025-10-28T21:51:53.944Z,1761688313.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015476,0.997718,0.065719],[-0.998490,-0.011956,-0.053622],[-0.052714,-0.066449,0.996396]] 2025-10-28T21:51:53.967Z,1761688313.967 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:51:53.967Z,1761688313.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:51:53.970Z,1761688313.970 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:51:53.970Z,1761688313.970 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:51:53.970Z,1761688313.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:51:53.970Z,1761688313.970 [marl:UpdateSpeed] Stopped 2025-10-28T21:51:53.970Z,1761688313.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:51:54.347Z,1761688314.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037503,0.991847,0.121789],[-0.994512,-0.025134,-0.101557],[-0.097668,-0.124929,0.987347]] 2025-10-28T21:51:54.751Z,1761688314.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085197,0.969847,0.228336],[-0.994367,-0.068259,-0.081092],[-0.063060,-0.233959,0.970199]] 2025-10-28T21:51:55.181Z,1761688315.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127257,0.947299,0.293991],[-0.991852,-0.119774,-0.043396],[-0.005896,-0.297118,0.954822]] 2025-10-28T21:51:55.567Z,1761688315.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114532,0.942923,0.312695],[-0.993317,-0.113223,-0.022405],[0.014278,-0.313171,0.949589]] 2025-10-28T21:51:55.963Z,1761688315.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105548,0.955973,0.273816],[-0.994036,-0.109027,-0.002523],[0.027442,-0.272449,0.961779]] 2025-10-28T21:51:56.368Z,1761688316.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109965,0.958994,0.261226],[-0.993131,-0.116587,0.009941],[0.039989,-0.258338,0.965226]] 2025-10-28T21:51:57.187Z,1761688317.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152583,0.951279,0.267932],[-0.988203,-0.150467,-0.028542],[0.013164,-0.269126,0.963015]] 2025-10-28T21:51:57.253Z,1761688317.253 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateRudder:A] Stopped 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:51:57.254Z,1761688317.254 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:51:57.255Z,1761688317.255 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:51:57.255Z,1761688317.255 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:51:57.255Z,1761688317.255 [marl:UpdateCommandMode] Stopped 2025-10-28T21:51:57.255Z,1761688317.255 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:51:57.581Z,1761688317.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186572,0.944466,0.270509],[-0.979733,-0.199298,0.020109],[0.072904,-0.261275,0.962507]] 2025-10-28T21:51:57.633Z,1761688317.633 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:51:57.633Z,1761688317.633 [marl:UpdateRudder:B] Stopped 2025-10-28T21:51:57.634Z,1761688317.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:51:57.634Z,1761688317.634 [marl:UpdateRudder] Stopped 2025-10-28T21:51:57.634Z,1761688317.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:51:57.983Z,1761688317.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186354,0.945472,0.267124],[-0.972042,-0.216960,0.089791],[0.142850,-0.242923,0.959470]] 2025-10-28T21:51:58.389Z,1761688318.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161398,0.956689,0.242274],[-0.977709,-0.188410,0.092662],[0.134296,-0.221918,0.965773]] 2025-10-28T21:51:58.798Z,1761688318.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190951,0.961458,0.197829],[-0.981202,-0.192690,-0.010608],[0.027921,-0.196136,0.980179]] 2025-10-28T21:51:59.195Z,1761688319.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248910,0.937853,0.241815],[-0.965630,-0.259603,0.012880],[0.074855,-0.230298,0.970237]] 2025-10-28T21:51:59.603Z,1761688319.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230999,0.917963,0.322465],[-0.961536,-0.266012,0.068460],[0.148624,-0.294248,0.944102]] 2025-10-28T21:52:00.006Z,1761688320.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219548,0.907401,0.358359],[-0.964830,-0.256380,0.058080],[0.144578,-0.333004,0.931775]] 2025-10-28T21:52:00.408Z,1761688320.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229142,0.913654,0.335754],[-0.959590,-0.269911,0.079592],[0.163343,-0.303948,0.938581]] 2025-10-28T21:52:00.411Z,1761688320.411 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T21:52:00.810Z,1761688320.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238739,0.930297,0.278480],[-0.960938,-0.267667,0.070372],[0.140007,-0.250801,0.957861]] 2025-10-28T21:52:01.622Z,1761688321.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288580,0.945035,0.153725],[-0.956316,-0.292330,0.001876],[0.046712,-0.146468,0.988112]] 2025-10-28T21:52:02.022Z,1761688322.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359235,0.913742,0.189805],[-0.933235,-0.352746,-0.068135],[0.004696,-0.201609,0.979455]] 2025-10-28T21:52:02.429Z,1761688322.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416613,0.851309,0.318913],[-0.906195,-0.416840,-0.071097],[0.072410,-0.318617,0.945114]] 2025-10-28T21:52:02.831Z,1761688322.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380994,0.823130,0.421072],[-0.908784,-0.417213,-0.006698],[0.170163,-0.385216,0.907002]] 2025-10-28T21:52:03.279Z,1761688323.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355965,0.857842,0.370671],[-0.920855,-0.389526,0.017158],[0.159105,-0.335226,0.928606]] 2025-10-28T21:52:03.639Z,1761688323.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424557,0.863799,0.271298],[-0.899904,-0.435559,-0.021472],[0.099619,-0.253258,0.962256]] 2025-10-28T21:52:04.044Z,1761688324.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490984,0.838013,0.238051],[-0.864623,-0.502184,-0.015456],[0.106593,-0.213413,0.971130]] 2025-10-28T21:52:04.446Z,1761688324.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502635,0.819639,0.274864],[-0.846140,-0.531609,0.037937],[0.177215,-0.213505,0.960734]] 2025-10-28T21:52:04.851Z,1761688324.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509605,0.802676,0.309860],[-0.828835,-0.554629,0.073611],[0.230943,-0.219310,0.947928]] 2025-10-28T21:52:05.262Z,1761688325.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526817,0.786795,0.321587],[-0.814817,-0.575177,0.072413],[0.241944,-0.223887,0.944107]] 2025-10-28T21:52:05.665Z,1761688325.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567815,0.770518,0.289635],[-0.785642,-0.612294,0.088675],[0.245668,-0.177198,0.953021]] 2025-10-28T21:52:06.063Z,1761688326.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565580,0.765628,0.306485],[-0.784913,-0.613775,0.084808],[0.253044,-0.192598,0.948090]] 2025-10-28T21:52:06.467Z,1761688326.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558002,0.765189,0.321121],[-0.789814,-0.608443,0.077405],[0.254613,-0.210433,0.943870]] 2025-10-28T21:52:06.871Z,1761688326.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578829,0.751997,0.315369],[-0.771376,-0.630361,0.087311],[0.264454,-0.192730,0.944944]] 2025-10-28T21:52:06.916Z,1761688326.916 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:52:06.916Z,1761688326.916 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:52:06.916Z,1761688326.916 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:52:06.917Z,1761688326.917 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:52:06.917Z,1761688326.917 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:52:06.917Z,1761688326.917 [marl:UpdateSpeed] Stopped 2025-10-28T21:52:06.917Z,1761688326.917 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:52:07.289Z,1761688327.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662727,0.687964,0.295801],[-0.711241,-0.701871,0.038890],[0.234369,-0.184612,0.954458]] 2025-10-28T21:52:08.089Z,1761688328.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706084,0.543510,0.453918],[-0.632650,-0.772144,-0.059562],[0.318117,-0.329227,0.889051]] 2025-10-28T21:52:08.492Z,1761688328.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721423,0.486420,0.492893],[-0.604126,-0.789992,-0.104612],[0.338497,-0.373239,0.863778]] 2025-10-28T21:52:08.897Z,1761688328.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752338,0.414026,0.512416],[-0.557422,-0.814624,-0.160211],[0.351095,-0.406165,0.843660]] 2025-10-28T21:52:09.299Z,1761688329.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764138,0.337748,0.549563],[-0.525401,-0.820155,-0.226495],[0.374228,-0.461814,0.804165]] 2025-10-28T21:52:09.702Z,1761688329.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757158,0.285917,0.587336],[-0.538918,-0.781530,-0.314289],[0.369160,-0.554493,0.745828]] 2025-10-28T21:52:10.102Z,1761688330.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764455,0.272669,0.584175],[-0.539519,-0.766600,-0.348200],[0.352885,-0.581356,0.733142]] 2025-10-28T21:52:10.134Z,1761688330.134 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:52:10.134Z,1761688330.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:52:10.134Z,1761688330.134 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateRudder:A] Stopped 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:52:10.135Z,1761688330.135 [marl:UpdateCommandMode] Stopped 2025-10-28T21:52:10.136Z,1761688330.136 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:52:10.508Z,1761688330.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780573,0.306648,0.544677],[-0.501497,-0.827374,-0.252889],[0.373104,-0.470552,0.799609]] 2025-10-28T21:52:10.538Z,1761688330.538 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:52:10.538Z,1761688330.538 [marl:UpdateRudder:B] Stopped 2025-10-28T21:52:10.538Z,1761688330.538 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:52:10.538Z,1761688330.538 [marl:UpdateRudder] Stopped 2025-10-28T21:52:10.538Z,1761688330.538 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:52:10.910Z,1761688330.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790079,0.330657,0.516179],[-0.469491,-0.867815,-0.162708],[0.394147,-0.370894,0.840884]] 2025-10-28T21:52:11.314Z,1761688331.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799198,0.318252,0.509901],[-0.448988,-0.880093,-0.154420],[0.399616,-0.352352,0.846260]] 2025-10-28T21:52:11.725Z,1761688331.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802374,0.307858,0.511292],[-0.442934,-0.881348,-0.164424],[0.400007,-0.358398,0.843531]] 2025-10-28T21:52:12.123Z,1761688332.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812584,0.292556,0.504102],[-0.416553,-0.896449,-0.151205],[0.407666,-0.332851,0.850305]] 2025-10-28T21:52:12.527Z,1761688332.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819471,0.273411,0.503699],[-0.381416,-0.916152,-0.123235],[0.427772,-0.293107,0.855044]] 2025-10-28T21:52:12.931Z,1761688332.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822592,0.236684,0.517033],[-0.352643,-0.925627,-0.137323],[0.446077,-0.295289,0.844878]] 2025-10-28T21:52:12.955Z,1761688332.955 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:52:13.010Z,1761688333.010 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:52:13.010Z,1761688333.010 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:52:13.258Z,1761688333.258 [DAT](INFO): DAT read: user:332> 2025-10-28T21:52:13.259Z,1761688333.259 [DAT](INFO): DAT read: Tx time:21:52:12.9980 2025-10-28T21:52:13.260Z,1761688333.260 [DAT](INFO): Ping request sent. 2025-10-28T21:52:13.260Z,1761688333.260 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:52:13.261Z,1761688333.261 [DAT](INFO): publishing transmit ping time 2025-10-28T21:52:13.262Z,1761688333.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001006 2025-10-28T21:52:13.336Z,1761688333.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827610,0.193804,0.526784],[-0.337659,-0.921598,-0.191426],[0.448384,-0.336299,0.828164]] 2025-10-28T21:52:13.509Z,1761688333.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248579 2025-10-28T21:52:13.750Z,1761688333.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838625,0.161758,0.520137],[-0.325808,-0.914204,-0.240996],[0.436528,-0.371570,0.819377]] 2025-10-28T21:52:13.761Z,1761688333.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500931 2025-10-28T21:52:14.014Z,1761688334.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753422 2025-10-28T21:52:14.142Z,1761688334.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854092,0.133818,0.502612],[-0.303548,-0.912942,-0.272755],[0.422357,-0.385525,0.820357]] 2025-10-28T21:52:14.266Z,1761688334.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006156 2025-10-28T21:52:14.517Z,1761688334.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256583 2025-10-28T21:52:14.554Z,1761688334.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870937,0.100810,0.480944],[-0.260788,-0.924350,-0.278508],[0.416484,-0.367987,0.831340]] 2025-10-28T21:52:14.770Z,1761688334.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509387 2025-10-28T21:52:14.958Z,1761688334.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882167,0.061581,0.466893],[-0.207337,-0.940945,-0.267645],[0.422839,-0.332911,0.842839]] 2025-10-28T21:52:15.021Z,1761688335.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760575 2025-10-28T21:52:15.273Z,1761688335.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013077 2025-10-28T21:52:15.354Z,1761688335.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886861,0.007728,0.461971],[-0.157971,-0.944676,-0.287459],[0.434192,-0.327914,0.839017]] 2025-10-28T21:52:15.525Z,1761688335.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264732 2025-10-28T21:52:15.778Z,1761688335.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516995 2025-10-28T21:52:15.789Z,1761688335.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888712,-0.052876,0.455406],[-0.119235,-0.932488,-0.340952],[0.442689,-0.357309,0.822409]] 2025-10-28T21:52:16.029Z,1761688336.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768543 2025-10-28T21:52:16.164Z,1761688336.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892224,-0.107390,0.438638],[-0.088162,-0.911203,-0.402414],[0.442904,-0.397715,0.803529]] 2025-10-28T21:52:16.281Z,1761688336.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020640 2025-10-28T21:52:16.533Z,1761688336.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272574 2025-10-28T21:52:16.566Z,1761688336.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898890,-0.154228,0.410135],[-0.055128,-0.888765,-0.455036],[0.434693,-0.431637,0.790400]] 2025-10-28T21:52:16.733Z,1761688336.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:52:16.785Z,1761688336.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525174 2025-10-28T21:52:16.971Z,1761688336.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904487,-0.185044,0.384267],[-0.025746,-0.875645,-0.482269],[0.425722,-0.446100,0.787245]] 2025-10-28T21:52:17.037Z,1761688337.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776620 2025-10-28T21:52:17.291Z,1761688337.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029626 2025-10-28T21:52:17.441Z,1761688337.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906021,-0.212389,0.366083],[0.009165,-0.874612,-0.484737],[0.423134,-0.435826,0.794364]] 2025-10-28T21:52:17.542Z,1761688337.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281276 2025-10-28T21:52:17.737Z,1761688337.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:52:17.793Z,1761688337.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532722 2025-10-28T21:52:17.849Z,1761688337.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905382,-0.237417,0.352018],[0.045738,-0.878772,-0.475045],[0.422128,-0.413996,0.806483]] 2025-10-28T21:52:18.045Z,1761688338.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784591 2025-10-28T21:52:18.291Z,1761688338.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904477,-0.261637,0.336850],[0.084067,-0.883620,-0.460595],[0.418156,-0.388279,0.821209]] 2025-10-28T21:52:18.297Z,1761688338.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036686 2025-10-28T21:52:18.549Z,1761688338.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288984 2025-10-28T21:52:18.650Z,1761688338.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902883,-0.287381,0.319710],[0.123483,-0.885742,-0.447451],[0.411770,-0.364517,0.835208]] 2025-10-28T21:52:18.801Z,1761688338.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540566 2025-10-28T21:52:19.053Z,1761688339.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793196 2025-10-28T21:52:19.058Z,1761688339.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900137,-0.318159,0.297537],[0.163289,-0.879680,-0.446653],[0.403844,-0.353465,0.843785]] 2025-10-28T21:52:19.305Z,1761688339.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044633 2025-10-28T21:52:19.458Z,1761688339.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895077,-0.352833,0.272667],[0.202248,-0.866195,-0.456949],[0.397409,-0.353858,0.846671]] 2025-10-28T21:52:19.557Z,1761688339.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296642 2025-10-28T21:52:19.809Z,1761688339.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548472 2025-10-28T21:52:19.864Z,1761688339.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887802,-0.389323,0.245429],[0.241290,-0.847862,-0.472132],[0.391902,-0.359940,0.846673]] 2025-10-28T21:52:19.887Z,1761688339.887 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:52:19.888Z,1761688339.888 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:52:19.888Z,1761688339.888 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:52:19.888Z,1761688339.888 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:52:19.888Z,1761688339.888 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:52:19.888Z,1761688339.888 [marl:UpdateSpeed] Stopped 2025-10-28T21:52:19.889Z,1761688339.889 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:52:20.061Z,1761688340.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800609 2025-10-28T21:52:20.281Z,1761688340.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878522,-0.425724,0.216698],[0.277704,-0.824245,-0.493458],[0.388689,-0.373336,0.842343]] 2025-10-28T21:52:20.313Z,1761688340.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052637 2025-10-28T21:52:20.565Z,1761688340.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304570 2025-10-28T21:52:20.671Z,1761688340.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867713,-0.460357,0.187471],[0.312407,-0.798440,-0.514680],[0.386621,-0.388027,0.836636]] 2025-10-28T21:52:20.817Z,1761688340.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556620 2025-10-28T21:52:21.069Z,1761688341.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808466 2025-10-28T21:52:21.077Z,1761688341.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856625,-0.491345,0.157393],[0.344139,-0.771430,-0.535223],[0.384397,-0.404320,0.829918]] 2025-10-28T21:52:21.321Z,1761688341.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060621 2025-10-28T21:52:21.481Z,1761688341.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843962,-0.520724,0.128747],[0.376195,-0.745686,-0.549935],[0.382369,-0.415690,0.825224]] 2025-10-28T21:52:21.573Z,1761688341.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313037 2025-10-28T21:52:21.825Z,1761688341.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564561 2025-10-28T21:52:21.883Z,1761688341.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829683,-0.548906,0.101627],[0.408461,-0.721026,-0.559715],[0.380506,-0.422876,0.822430]] 2025-10-28T21:52:22.077Z,1761688342.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816568 2025-10-28T21:52:22.287Z,1761688342.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813084,-0.577197,0.075744],[0.442281,-0.697085,-0.564322],[0.378525,-0.425341,0.822072]] 2025-10-28T21:52:22.329Z,1761688342.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068755 2025-10-28T21:52:22.581Z,1761688342.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320554 2025-10-28T21:52:22.691Z,1761688342.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795196,-0.604288,0.050000],[0.474810,-0.671851,-0.568482],[0.377119,-0.428314,0.821175]] 2025-10-28T21:52:22.833Z,1761688342.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572535 2025-10-28T21:52:23.085Z,1761688343.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824692 2025-10-28T21:52:23.107Z,1761688343.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776092,-0.630104,0.025516],[0.505844,-0.646185,-0.571460],[0.376567,-0.430598,0.820233]] 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateRudder:A] Stopped 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:52:23.201Z,1761688343.201 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:52:23.202Z,1761688343.202 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:52:23.202Z,1761688343.202 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:52:23.202Z,1761688343.202 [marl:UpdateCommandMode] Stopped 2025-10-28T21:52:23.202Z,1761688343.202 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:52:23.337Z,1761688343.337 [DAT](INFO): Reached modem response timeout 2025-10-28T21:52:23.499Z,1761688343.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756069,-0.654489,0.002031],[0.534791,-0.619577,-0.574563],[0.377303,-0.433323,0.818458]] 2025-10-28T21:52:23.569Z,1761688343.569 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:52:23.569Z,1761688343.569 [marl:UpdateRudder:B] Stopped 2025-10-28T21:52:23.570Z,1761688343.570 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:52:23.570Z,1761688343.570 [marl:UpdateRudder] Stopped 2025-10-28T21:52:23.570Z,1761688343.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:52:23.904Z,1761688343.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734805,-0.677934,-0.021602],[0.563311,-0.592207,-0.576170],[0.377813,-0.435541,0.817044]] 2025-10-28T21:52:24.307Z,1761688344.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712414,-0.700390,-0.043829],[0.591839,-0.566091,-0.573818],[0.377085,-0.434736,0.817809]] 2025-10-28T21:52:24.711Z,1761688344.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689629,-0.721017,-0.067434],[0.620555,-0.540396,-0.568228],[0.373261,-0.433713,0.820103]] 2025-10-28T21:52:25.158Z,1761688345.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666481,-0.739563,-0.094074],[0.649525,-0.514079,-0.560214],[0.365952,-0.434475,0.822989]] 2025-10-28T21:52:25.520Z,1761688345.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642893,-0.756384,-0.120711],[0.677751,-0.488329,-0.549716],[0.356850,-0.435221,0.826584]] 2025-10-28T21:52:25.605Z,1761688345.605 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:52:25.605Z,1761688345.605 [DAT](INFO): response not received 2025-10-28T21:52:25.605Z,1761688345.605 [DAT](ERROR): No response from remote modem. 2025-10-28T21:52:25.922Z,1761688345.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617495,-0.772697,-0.147101],[0.705641,-0.461559,-0.537620],[0.347521,-0.435778,0.830257]] 2025-10-28T21:52:26.326Z,1761688346.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590143,-0.788927,-0.171247],[0.732251,-0.433787,-0.525011],[0.339911,-0.435227,0.833689]] 2025-10-28T21:52:26.740Z,1761688346.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560411,-0.805660,-0.191966],[0.757688,-0.405133,-0.511641],[0.334437,-0.432180,0.837480]] 2025-10-28T21:52:27.175Z,1761688347.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528132,-0.822812,-0.209895],[0.782666,-0.375784,-0.496206],[0.329409,-0.426340,0.842451]] 2025-10-28T21:52:27.539Z,1761688347.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495230,-0.838658,-0.226714],[0.806443,-0.346720,-0.478994],[0.323106,-0.420044,0.848036]] 2025-10-28T21:52:27.943Z,1761688347.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463328,-0.851884,-0.244173],[0.828453,-0.318552,-0.460642],[0.314631,-0.415714,0.853340]] 2025-10-28T21:52:28.346Z,1761688348.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433407,-0.862358,-0.261721],[0.848421,-0.292514,-0.441155],[0.303876,-0.413249,0.858420]] 2025-10-28T21:52:28.758Z,1761688348.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405552,-0.870920,-0.277535],[0.866324,-0.269373,-0.420620],[0.291566,-0.411019,0.863744]] 2025-10-28T21:52:29.182Z,1761688349.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377365,-0.878753,-0.292214],[0.883237,-0.246675,-0.398804],[0.278368,-0.408589,0.869233]] 2025-10-28T21:52:29.559Z,1761688349.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348329,-0.885473,-0.307577],[0.898762,-0.222287,-0.377908],[0.266257,-0.408076,0.873259]] 2025-10-28T21:52:29.963Z,1761688349.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318965,-0.890781,-0.323683],[0.912174,-0.195815,-0.359992],[0.257292,-0.410080,0.875006]] 2025-10-28T21:52:30.373Z,1761688350.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290088,-0.895387,-0.337833],[0.923084,-0.168645,-0.345652],[0.252518,-0.412118,0.875439]] 2025-10-28T21:52:30.775Z,1761688350.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259566,-0.899917,-0.350392],[0.932648,-0.139447,-0.332749],[0.250586,-0.413163,0.875502]] 2025-10-28T21:52:31.187Z,1761688351.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224338,-0.904384,-0.362990],[0.942252,-0.106258,-0.317600],[0.248662,-0.413278,0.875996]] 2025-10-28T21:52:31.578Z,1761688351.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187546,-0.907940,-0.374795],[0.950771,-0.071967,-0.301423],[0.246701,-0.412875,0.876740]] 2025-10-28T21:52:31.984Z,1761688351.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150274,-0.909473,-0.387655],[0.958152,-0.037345,-0.283814],[0.243644,-0.414082,0.877025]] 2025-10-28T21:52:32.386Z,1761688352.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112547,-0.910177,-0.398636],[0.964720,-0.003995,-0.263248],[0.238009,-0.414200,0.878516]] 2025-10-28T21:52:32.794Z,1761688352.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073811,-0.909303,-0.409535],[0.970646,0.028756,-0.238787],[0.228906,-0.415139,0.880489]] 2025-10-28T21:52:33.195Z,1761688353.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035882,-0.907566,-0.418374],[0.975419,0.059274,-0.212238],[0.217419,-0.415706,0.883130]] 2025-10-28T21:52:33.295Z,1761688353.295 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:52:33.300Z,1761688353.300 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:52:33.300Z,1761688353.300 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:52:33.301Z,1761688353.301 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:52:33.301Z,1761688353.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:52:33.301Z,1761688353.301 [marl:UpdateSpeed] Stopped 2025-10-28T21:52:33.301Z,1761688353.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:52:33.600Z,1761688353.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002568,-0.906950,-0.421231],[0.978353,0.084885,-0.188731],[0.206925,-0.412597,0.887099]] 2025-10-28T21:52:34.003Z,1761688354.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028460,-0.906414,-0.421431],[0.979956,0.108462,-0.167101],[0.197172,-0.408228,0.891332]] 2025-10-28T21:52:34.407Z,1761688354.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059009,-0.903991,-0.423459],[0.980354,0.132457,-0.146155],[0.188213,-0.406515,0.894048]] 2025-10-28T21:52:34.811Z,1761688354.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088704,-0.900804,-0.425070],[0.979443,0.156504,-0.127271],[0.181171,-0.405042,0.896169]] 2025-10-28T21:52:35.223Z,1761688355.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118162,-0.895717,-0.428636],[0.977209,0.181554,-0.110004],[0.176353,-0.405869,0.896755]] 2025-10-28T21:52:35.618Z,1761688355.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149070,-0.888237,-0.434527],[0.973655,0.208535,-0.092251],[0.172555,-0.409327,0.895922]] 2025-10-28T21:52:36.022Z,1761688356.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182682,-0.880168,-0.438099],[0.968725,0.237249,-0.072702],[0.167928,-0.411116,0.895982]] 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateRudder:A] Stopped 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:52:36.061Z,1761688356.061 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode] Stopped 2025-10-28T21:52:36.062Z,1761688356.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:52:36.426Z,1761688356.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217781,-0.870566,-0.441232],[0.962339,0.266904,-0.051625],[0.162710,-0.413372,0.895907]] 2025-10-28T21:52:36.451Z,1761688356.451 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:52:36.451Z,1761688356.451 [marl:UpdateRudder:B] Stopped 2025-10-28T21:52:36.452Z,1761688356.452 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:52:36.468Z,1761688356.468 [marl:UpdateRudder] Stopped 2025-10-28T21:52:36.468Z,1761688356.468 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:52:36.831Z,1761688356.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253890,-0.859984,-0.442682],[0.954425,0.296984,-0.029554],[0.156886,-0.415004,0.896191]] 2025-10-28T21:52:37.242Z,1761688357.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290329,-0.849628,-0.440274],[0.945017,0.326929,-0.007727],[0.150503,-0.413823,0.897830]] 2025-10-28T21:52:37.639Z,1761688357.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327188,-0.838337,-0.436050],[0.933940,0.357151,0.014128],[0.143892,-0.411867,0.899811]] 2025-10-28T21:52:38.042Z,1761688358.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363939,-0.825575,-0.431247],[0.921238,0.387335,0.035942],[0.137364,-0.410362,0.901518]] 2025-10-28T21:52:38.853Z,1761688358.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436293,-0.797991,-0.415762],[0.891206,0.446954,0.077356],[0.124097,-0.404280,0.906178]] 2025-10-28T21:52:39.255Z,1761688359.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470508,-0.782164,-0.408462],[0.874609,0.474744,0.098376],[0.116968,-0.403531,0.907459]] 2025-10-28T21:52:39.658Z,1761688359.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501874,-0.767118,-0.399566],[0.857964,0.500079,0.117551],[0.109639,-0.401810,0.909136]] 2025-10-28T21:52:40.063Z,1761688360.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530518,-0.752764,-0.389739],[0.841544,0.522903,0.135557],[0.101753,-0.399898,0.910894]] 2025-10-28T21:52:40.473Z,1761688360.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557633,-0.737140,-0.381668],[0.824858,0.543602,0.155259],[0.093028,-0.401399,0.911166]] 2025-10-28T21:52:40.870Z,1761688360.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583171,-0.720411,-0.375393],[0.807950,0.562394,0.175867],[0.084422,-0.405859,0.910028]] 2025-10-28T21:52:41.275Z,1761688361.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607616,-0.703632,-0.368381],[0.790548,0.580424,0.195299],[0.076399,-0.409889,0.908930]] 2025-10-28T21:52:41.679Z,1761688361.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630619,-0.686043,-0.362857],[0.772993,0.596971,0.214728],[0.069303,-0.415897,0.906767]] 2025-10-28T21:52:42.084Z,1761688362.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652890,-0.668992,-0.355225],[0.754845,0.613540,0.231901],[0.062805,-0.419545,0.905559]] 2025-10-28T21:52:42.487Z,1761688362.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675268,-0.651220,-0.346303],[0.735413,0.630365,0.248611],[0.056397,-0.422555,0.904581]] 2025-10-28T21:52:42.894Z,1761688362.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698422,-0.633069,-0.333813],[0.713932,0.648924,0.263059],[0.050084,-0.422046,0.905190]] 2025-10-28T21:52:43.295Z,1761688363.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721504,-0.614420,-0.319249],[0.691027,0.668085,0.275940],[0.043742,-0.419702,0.906607]] 2025-10-28T21:52:43.705Z,1761688363.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743452,-0.595602,-0.304200],[0.667721,0.686736,0.287303],[0.037787,-0.416716,0.908251]] 2025-10-28T21:52:44.102Z,1761688364.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764605,-0.576182,-0.288781],[0.643698,0.705046,0.297594],[0.032136,-0.413430,0.909969]] 2025-10-28T21:52:44.507Z,1761688364.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785055,-0.556211,-0.272613],[0.618865,0.723027,0.306984],[0.026359,-0.409710,0.911835]] 2025-10-28T21:52:44.911Z,1761688364.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804802,-0.535022,-0.256992],[0.593180,0.740153,0.316719],[0.020762,-0.407338,0.913041]] 2025-10-28T21:52:45.316Z,1761688365.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824147,-0.512424,-0.241256],[0.566166,0.756972,0.326266],[0.015437,-0.405482,0.913973]] 2025-10-28T21:52:45.731Z,1761688365.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861642,-0.462475,-0.209020],[0.507491,0.789260,0.345719],[0.005085,-0.403962,0.914762]] 2025-10-28T21:52:46.534Z,1761688366.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895772,-0.408517,-0.175233],[0.444483,0.818492,0.364012],[-0.005278,-0.403960,0.914761]] 2025-10-28T21:52:46.942Z,1761688366.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910999,-0.380821,-0.158290],[0.412292,0.831852,0.371535],[-0.009815,-0.403730,0.914825]] 2025-10-28T21:52:47.006Z,1761688367.006 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:52:47.006Z,1761688367.006 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:52:47.006Z,1761688367.006 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:52:47.007Z,1761688367.007 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:52:47.007Z,1761688367.007 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:52:47.007Z,1761688367.007 [marl:UpdateSpeed] Stopped 2025-10-28T21:52:47.007Z,1761688367.007 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:52:47.339Z,1761688367.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925131,-0.352382,-0.141278],[0.379398,0.844620,0.377723],[-0.013776,-0.403044,0.915077]] 2025-10-28T21:52:47.742Z,1761688367.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937738,-0.323829,-0.125631],[0.346919,0.855275,0.384906],[-0.017195,-0.404525,0.914366]] 2025-10-28T21:52:47.856Z,1761688367.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:52:48.142Z,1761688368.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948903,-0.295678,-0.110258],[0.314909,0.864686,0.391345],[-0.020374,-0.406070,0.913615]] 2025-10-28T21:52:48.555Z,1761688368.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958815,-0.267857,-0.094485],[0.283062,0.873639,0.395765],[-0.023463,-0.406210,0.913478]] 2025-10-28T21:52:48.860Z,1761688368.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:52:48.950Z,1761688368.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967634,-0.239693,-0.078938],[0.250930,0.880668,0.401817],[-0.026795,-0.408620,0.912311]] 2025-10-28T21:52:49.355Z,1761688369.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975556,-0.210621,-0.062690],[0.217676,0.887059,0.407115],[-0.030137,-0.410810,0.911223]] 2025-10-28T21:52:49.761Z,1761688369.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982317,-0.181617,-0.045471],[0.184202,0.894069,0.408302],[-0.033500,-0.409458,0.911714]] 2025-10-28T21:52:49.816Z,1761688369.816 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:52:49.816Z,1761688369.816 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateRudder:A] Stopped 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:52:49.817Z,1761688369.817 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:52:49.818Z,1761688369.818 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:52:49.818Z,1761688369.818 [marl:UpdateCommandMode] Stopped 2025-10-28T21:52:49.818Z,1761688369.818 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:52:50.163Z,1761688370.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987929,-0.152282,-0.028396],[0.150424,0.899303,0.410642],[-0.036997,-0.409956,0.911355]] 2025-10-28T21:52:50.188Z,1761688370.188 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:52:50.188Z,1761688370.188 [marl:UpdateRudder:B] Stopped 2025-10-28T21:52:50.188Z,1761688370.188 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:52:50.189Z,1761688370.189 [marl:UpdateRudder] Stopped 2025-10-28T21:52:50.189Z,1761688370.189 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:52:50.574Z,1761688370.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992231,-0.123922,-0.010959],[0.117454,0.904109,0.410843],[-0.041005,-0.408938,0.911640]] 2025-10-28T21:52:50.970Z,1761688370.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995330,-0.096322,0.006269],[0.085211,0.907312,0.411733],[-0.045347,-0.409276,0.911283]] 2025-10-28T21:52:51.375Z,1761688371.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997275,-0.070065,0.023085],[0.054329,0.909264,0.412659],[-0.049903,-0.410281,0.910593]] 2025-10-28T21:52:51.783Z,1761688371.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998221,-0.045054,0.039049],[0.024752,0.909010,0.416040],[-0.054240,-0.414333,0.908508]] 2025-10-28T21:52:52.185Z,1761688372.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998312,-0.020725,0.054263],[-0.004049,0.907083,0.420933],[-0.057945,-0.420442,0.905467]] 2025-10-28T21:52:52.588Z,1761688372.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997625,0.003068,0.068818],[-0.032260,0.903494,0.427386],[-0.060865,-0.428591,0.901446]] 2025-10-28T21:52:52.990Z,1761688372.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996178,0.026609,0.083198],[-0.060101,0.899970,0.431789],[-0.063386,-0.435138,0.898130]] 2025-10-28T21:52:53.395Z,1761688373.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993974,0.049968,0.097568],[-0.087716,0.896366,0.434551],[-0.065743,-0.440491,0.895347]] 2025-10-28T21:52:53.802Z,1761688373.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990987,0.072997,0.112325],[-0.115237,0.892081,0.436935],[-0.068308,-0.445940,0.892452]] 2025-10-28T21:52:54.214Z,1761688374.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987158,0.096982,0.126942],[-0.143217,0.889311,0.434298],[-0.070772,-0.446901,0.891780]] 2025-10-28T21:52:54.607Z,1761688374.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982250,0.123028,0.141596],[-0.172700,0.887769,0.426663],[-0.073213,-0.443543,0.893258]] 2025-10-28T21:52:55.010Z,1761688375.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975567,0.153928,0.156765],[-0.206450,0.886339,0.414466],[-0.075149,-0.436704,0.896461]] 2025-10-28T21:52:55.416Z,1761688375.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967249,0.186789,0.171870],[-0.241787,0.884100,0.399883],[-0.077256,-0.428342,0.900308]] 2025-10-28T21:52:55.818Z,1761688375.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957977,0.219113,0.185121],[-0.275641,0.881804,0.382679],[-0.079391,-0.417625,0.905144]] 2025-10-28T21:52:56.225Z,1761688376.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947862,0.250331,0.197209],[-0.308114,0.877912,0.366519],[-0.081380,-0.408173,0.909270]] 2025-10-28T21:52:56.629Z,1761688376.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937229,0.280002,0.207848],[-0.338594,0.873265,0.350373],[-0.083401,-0.398756,0.913257]] 2025-10-28T21:52:57.034Z,1761688377.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925952,0.307950,0.218584],[-0.367790,0.866718,0.336944],[-0.085689,-0.392387,0.915800]] 2025-10-28T21:52:57.435Z,1761688377.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913523,0.333795,0.232502],[-0.397088,0.855797,0.331561],[-0.088301,-0.395213,0.914336]] 2025-10-28T21:52:57.838Z,1761688377.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899516,0.360546,0.246735],[-0.427389,0.843324,0.325797],[-0.090612,-0.398511,0.912676]] 2025-10-28T21:52:58.243Z,1761688378.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883611,0.387255,0.263182],[-0.458840,0.828125,0.321984],[-0.093258,-0.405267,0.909429]] 2025-10-28T21:52:58.648Z,1761688378.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866043,0.414035,0.280259],[-0.490568,0.811897,0.316490],[-0.096504,-0.411580,0.906250]] 2025-10-28T21:52:59.051Z,1761688379.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847110,0.442074,0.294916],[-0.521890,0.796672,0.304867],[-0.100178,-0.412170,0.905583]] 2025-10-28T21:52:59.455Z,1761688379.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827244,0.469609,0.308439],[-0.552132,0.781115,0.291563],[-0.104006,-0.411493,0.905459]] 2025-10-28T21:52:59.858Z,1761688379.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806943,0.496017,0.320639],[-0.580786,0.765084,0.278090],[-0.107379,-0.410626,0.905459]] 2025-10-28T21:52:59.913Z,1761688379.913 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:52:59.913Z,1761688379.913 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:52:59.913Z,1761688379.913 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:52:59.914Z,1761688379.914 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:52:59.914Z,1761688379.914 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:52:59.914Z,1761688379.914 [marl:UpdateSpeed] Stopped 2025-10-28T21:52:59.914Z,1761688379.914 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:53:00.262Z,1761688380.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786295,0.523885,0.327545],[-0.608099,0.750006,0.260204],[-0.109344,-0.403777,0.908300]] 2025-10-28T21:53:00.667Z,1761688380.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766079,0.550231,0.332218],[-0.633185,0.734876,0.242970],[-0.110449,-0.396489,0.911371]] 2025-10-28T21:53:01.072Z,1761688381.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746581,0.573934,0.336475],[-0.656018,0.719240,0.228768],[-0.110709,-0.391528,0.913482]] 2025-10-28T21:53:01.474Z,1761688381.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728375,0.593891,0.341707],[-0.676204,0.703517,0.218660],[-0.110536,-0.390330,0.914016]] 2025-10-28T21:53:01.878Z,1761688381.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710428,0.609723,0.351468],[-0.695142,0.685907,0.215195],[-0.109865,-0.397201,0.911132]] 2025-10-28T21:53:02.282Z,1761688382.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692045,0.623078,0.364482],[-0.713606,0.666635,0.215325],[-0.108812,-0.409111,0.905973]] 2025-10-28T21:53:02.697Z,1761688382.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672560,0.635943,0.378470],[-0.732125,0.646379,0.214914],[-0.107962,-0.421630,0.900318]] 2025-10-28T21:53:03.091Z,1761688383.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652070,0.647832,0.393851],[-0.750433,0.625475,0.213615],[-0.107957,-0.434851,0.894008]] 2025-10-28T21:53:03.206Z,1761688383.206 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateRudder:A] Stopped 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:53:03.207Z,1761688383.207 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:53:03.212Z,1761688383.212 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:53:03.212Z,1761688383.212 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:53:03.212Z,1761688383.212 [marl:UpdateCommandMode] Stopped 2025-10-28T21:53:03.212Z,1761688383.212 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:53:03.495Z,1761688383.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630710,0.659622,0.408784],[-0.768316,0.604824,0.209472],[-0.109070,-0.446192,0.888266]] 2025-10-28T21:53:03.545Z,1761688383.545 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:53:03.545Z,1761688383.545 [marl:UpdateRudder:B] Stopped 2025-10-28T21:53:03.545Z,1761688383.545 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:53:03.546Z,1761688383.546 [marl:UpdateRudder] Stopped 2025-10-28T21:53:03.546Z,1761688383.546 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:53:03.899Z,1761688383.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607648,0.673960,0.420167],[-0.786475,0.584265,0.200227],[-0.110545,-0.452119,0.885081]] 2025-10-28T21:53:04.305Z,1761688384.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582503,0.690266,0.429211],[-0.805210,0.562161,0.188710],[-0.111026,-0.455530,0.883270]] 2025-10-28T21:53:04.710Z,1761688384.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556774,0.709656,0.431730],[-0.823183,0.540975,0.172379],[-0.111226,-0.451370,0.885378]] 2025-10-28T21:53:05.122Z,1761688385.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530634,0.731917,0.427465],[-0.840268,0.520441,0.151955],[-0.111252,-0.439817,0.891170]] 2025-10-28T21:53:05.517Z,1761688385.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503891,0.755863,0.418050],[-0.856521,0.499802,0.128720],[-0.111648,-0.422929,0.899258]] 2025-10-28T21:53:05.919Z,1761688385.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476065,0.777994,0.409985],[-0.872170,0.477397,0.106827],[-0.112615,-0.408433,0.905815]] 2025-10-28T21:53:06.322Z,1761688386.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445489,0.799010,0.403885],[-0.887983,0.451848,0.085557],[-0.114134,-0.396758,0.910800]] 2025-10-28T21:53:06.727Z,1761688386.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413291,0.816776,0.402577],[-0.903091,0.424307,0.066261],[-0.116696,-0.390949,0.912985]] 2025-10-28T21:53:07.190Z,1761688387.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379891,0.833144,0.401938],[-0.917195,0.395693,0.046687],[-0.120147,-0.386392,0.914476]] 2025-10-28T21:53:07.534Z,1761688387.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346185,0.848668,0.399897],[-0.929991,0.366582,0.027114],[-0.123584,-0.381287,0.916159]] 2025-10-28T21:53:07.939Z,1761688387.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311621,0.863128,0.397370],[-0.941869,0.335855,0.009111],[-0.125595,-0.377110,0.917613]] 2025-10-28T21:53:08.342Z,1761688388.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277142,0.875017,0.396909],[-0.952661,0.303994,-0.004982],[-0.125018,-0.376739,0.917844]] 2025-10-28T21:53:08.748Z,1761688388.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245114,0.884571,0.396804],[-0.961812,0.273295,-0.015110],[-0.121810,-0.377947,0.917779]] 2025-10-28T21:53:09.190Z,1761688389.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218560,0.889986,0.400196],[-0.968670,0.247442,-0.021259],[-0.117945,-0.383011,0.916183]] 2025-10-28T21:53:09.555Z,1761688389.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194664,0.890457,0.411329],[-0.974249,0.224169,-0.024218],[-0.113772,-0.396023,0.911165]] 2025-10-28T21:53:09.962Z,1761688389.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170812,0.887492,0.427997],[-0.979073,0.201654,-0.027405],[-0.110629,-0.414359,0.903365]] 2025-10-28T21:53:10.364Z,1761688390.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146442,0.883081,0.445783],[-0.983133,0.179837,-0.033286],[-0.109563,-0.433389,0.894522]] 2025-10-28T21:53:10.772Z,1761688390.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121529,0.880410,0.458376],[-0.986482,0.158275,-0.042455],[-0.109928,-0.447020,0.887744]] 2025-10-28T21:53:11.191Z,1761688391.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095621,0.879825,0.465579],[-0.989297,0.135788,-0.053423],[-0.110223,-0.455488,0.883392]] 2025-10-28T21:53:11.575Z,1761688391.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065664,0.882887,0.464971],[-0.992005,0.108085,-0.065139],[-0.107767,-0.456976,0.882926]] 2025-10-28T21:53:11.816Z,1761688391.816 [Radio_Surface](INFO): Powering down 2025-10-28T21:53:11.981Z,1761688391.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033425,0.887887,0.458846],[-0.994108,0.076900,-0.076387],[-0.103108,-0.453590,0.885226]] 2025-10-28T21:53:12.382Z,1761688392.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001642,0.894312,0.447441],[-0.995216,0.045170,-0.086631],[-0.097687,-0.445158,0.890108]] 2025-10-28T21:53:12.791Z,1761688392.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030679,0.901231,0.432251],[-0.995304,0.012176,-0.096029],[-0.091807,-0.433167,0.896626]] 2025-10-28T21:53:13.201Z,1761688393.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061892,0.906234,0.418221],[-0.994342,-0.019742,-0.104374],[-0.086331,-0.422314,0.902329]] 2025-10-28T21:53:13.271Z,1761688393.271 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:53:13.271Z,1761688393.271 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:53:13.271Z,1761688393.271 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:53:13.272Z,1761688393.272 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:53:13.276Z,1761688393.276 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:53:13.276Z,1761688393.276 [marl:UpdateSpeed] Stopped 2025-10-28T21:53:13.276Z,1761688393.276 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:53:13.277Z,1761688393.277 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:53:13.501Z,1761688393.501 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:53:13.501Z,1761688393.501 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:53:13.596Z,1761688393.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094293,0.909570,0.404711],[-0.992184,-0.052484,-0.113212],[-0.081733,-0.412223,0.907409]] 2025-10-28T21:53:13.755Z,1761688393.755 [DAT](INFO): DAT read: user:333> 2025-10-28T21:53:13.756Z,1761688393.756 [DAT](INFO): DAT read: Tx time:21:53:13.4978 2025-10-28T21:53:13.757Z,1761688393.757 [DAT](INFO): Ping request sent. 2025-10-28T21:53:13.757Z,1761688393.757 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:53:13.757Z,1761688393.757 [DAT](INFO): publishing transmit ping time 2025-10-28T21:53:13.758Z,1761688393.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001234 2025-10-28T21:53:13.999Z,1761688393.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127935,0.910447,0.393344],[-0.988682,-0.085742,-0.123107],[-0.078356,-0.404642,0.911112]] 2025-10-28T21:53:14.005Z,1761688394.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247678 2025-10-28T21:53:14.257Z,1761688394.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499901 2025-10-28T21:53:14.403Z,1761688394.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163406,0.908350,0.384967],[-0.983655,-0.120089,-0.134172],[-0.075645,-0.400599,0.913126]] 2025-10-28T21:53:14.511Z,1761688394.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753476 2025-10-28T21:53:14.761Z,1761688394.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004330 2025-10-28T21:53:14.809Z,1761688394.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200047,0.903321,0.379464],[-0.977080,-0.155159,-0.145739],[-0.072772,-0.399921,0.913656]] 2025-10-28T21:53:15.013Z,1761688395.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255677 2025-10-28T21:53:15.217Z,1761688395.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235513,0.895614,0.377371],[-0.969386,-0.188725,-0.157082],[-0.069465,-0.402813,0.912643]] 2025-10-28T21:53:15.265Z,1761688395.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507784 2025-10-28T21:53:15.517Z,1761688395.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759782 2025-10-28T21:53:15.614Z,1761688395.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268610,0.886771,0.376146],[-0.961029,-0.220218,-0.167113],[-0.065357,-0.406375,0.911366]] 2025-10-28T21:53:15.769Z,1761688395.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012070 2025-10-28T21:53:16.018Z,1761688396.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299338,0.875380,0.379614],[-0.952209,-0.248722,-0.177303],[-0.060789,-0.414545,0.907996]] 2025-10-28T21:53:16.021Z,1761688396.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263827 2025-10-28T21:53:16.273Z,1761688396.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515809 2025-10-28T21:53:16.423Z,1761688396.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327842,0.862496,0.385514],[-0.943063,-0.274525,-0.187798],[-0.056142,-0.425132,0.903389]] 2025-10-28T21:53:16.447Z,1761688396.447 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:53:16.447Z,1761688396.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:53:16.447Z,1761688396.447 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:53:16.448Z,1761688396.448 [marl:UpdateRudder:A] Stopped 2025-10-28T21:53:16.448Z,1761688396.448 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:53:16.448Z,1761688396.448 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:53:16.448Z,1761688396.448 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:53:16.448Z,1761688396.448 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:53:16.449Z,1761688396.449 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:53:16.449Z,1761688396.449 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:53:16.449Z,1761688396.449 [marl:UpdateCommandMode] Stopped 2025-10-28T21:53:16.449Z,1761688396.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:53:16.525Z,1761688396.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767710 2025-10-28T21:53:16.777Z,1761688396.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020101 2025-10-28T21:53:16.833Z,1761688396.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354351,0.848248,0.393587],[-0.933704,-0.297861,-0.198683],[-0.051299,-0.437898,0.897560]] 2025-10-28T21:53:16.857Z,1761688396.857 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:53:16.857Z,1761688396.857 [marl:UpdateRudder:B] Stopped 2025-10-28T21:53:16.857Z,1761688396.857 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:53:16.857Z,1761688396.857 [marl:UpdateRudder] Stopped 2025-10-28T21:53:16.857Z,1761688396.857 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:53:17.031Z,1761688397.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273301 2025-10-28T21:53:17.242Z,1761688397.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378836,0.833444,0.402312],[-0.924351,-0.319446,-0.208637],[-0.045371,-0.450917,0.891412]] 2025-10-28T21:53:17.281Z,1761688397.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523844 2025-10-28T21:53:17.534Z,1761688397.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776635 2025-10-28T21:53:17.635Z,1761688397.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402009,0.819428,0.408566],[-0.914840,-0.340856,-0.216529],[-0.038167,-0.460819,0.886673]] 2025-10-28T21:53:17.786Z,1761688397.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028411 2025-10-28T21:53:18.037Z,1761688398.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279822 2025-10-28T21:53:18.044Z,1761688398.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423328,0.805973,0.413763],[-0.905482,-0.361307,-0.222621],[-0.029932,-0.468897,0.882746]] 2025-10-28T21:53:18.290Z,1761688398.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532691 2025-10-28T21:53:18.443Z,1761688398.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443666,0.795117,0.413461],[-0.895939,-0.382561,-0.225699],[-0.021283,-0.470570,0.882106]] 2025-10-28T21:53:18.541Z,1761688398.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784247 2025-10-28T21:53:18.793Z,1761688398.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035696 2025-10-28T21:53:18.847Z,1761688398.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463750,0.786798,0.407291],[-0.885872,-0.405102,-0.226103],[-0.012903,-0.465663,0.884868]] 2025-10-28T21:53:18.980Z,1761688398.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:53:19.045Z,1761688399.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287777 2025-10-28T21:53:19.254Z,1761688399.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484073,0.782415,0.391790],[-0.875007,-0.429784,-0.222819],[-0.005952,-0.450680,0.892666]] 2025-10-28T21:53:19.297Z,1761688399.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539898 2025-10-28T21:53:19.549Z,1761688399.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791729 2025-10-28T21:53:19.659Z,1761688399.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505015,0.779697,0.370178],[-0.863110,-0.455923,-0.217197],[-0.000576,-0.429193,0.903213]] 2025-10-28T21:53:19.801Z,1761688399.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043757 2025-10-28T21:53:19.984Z,1761688399.984 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T21:53:19.984Z,1761688399.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:53:20.057Z,1761688400.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299689 2025-10-28T21:53:20.065Z,1761688400.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526636,0.775446,0.348336],[-0.850084,-0.482034,-0.212131],[0.003414,-0.407831,0.913051]] 2025-10-28T21:53:20.309Z,1761688400.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551738 2025-10-28T21:53:20.462Z,1761688400.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548435,0.766592,0.334000],[-0.836169,-0.505813,-0.212071],[0.006370,-0.395588,0.918406]] 2025-10-28T21:53:20.563Z,1761688400.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805779 2025-10-28T21:53:20.813Z,1761688400.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055800 2025-10-28T21:53:20.866Z,1761688400.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571032,0.755914,0.320181],[-0.820884,-0.529797,-0.213223],[0.008453,-0.384589,0.923049]] 2025-10-28T21:53:21.065Z,1761688401.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307736 2025-10-28T21:53:21.275Z,1761688401.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595235,0.741490,0.309659],[-0.803484,-0.554217,-0.217385],[0.010429,-0.378201,0.925665]] 2025-10-28T21:53:21.317Z,1761688401.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559870 2025-10-28T21:53:21.569Z,1761688401.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811811 2025-10-28T21:53:21.683Z,1761688401.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621101,0.723610,0.301035],[-0.783627,-0.579629,-0.223516],[0.012750,-0.374725,0.927049]] 2025-10-28T21:53:21.821Z,1761688401.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063732 2025-10-28T21:53:22.077Z,1761688402.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319652 2025-10-28T21:53:22.080Z,1761688402.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648338,0.701881,0.294993],[-0.761204,-0.605215,-0.232986],[0.015006,-0.375604,0.926659]] 2025-10-28T21:53:22.329Z,1761688402.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571817 2025-10-28T21:53:22.483Z,1761688402.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675350,0.677147,0.292187],[-0.737291,-0.629285,-0.245770],[0.017446,-0.381408,0.924242]] 2025-10-28T21:53:22.581Z,1761688402.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823845 2025-10-28T21:53:22.833Z,1761688402.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075751 2025-10-28T21:53:22.889Z,1761688402.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701721,0.649508,0.292792],[-0.712173,-0.650972,-0.262763],[0.019932,-0.392905,0.919363]] 2025-10-28T21:53:23.085Z,1761688403.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327976 2025-10-28T21:53:23.319Z,1761688403.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727439,0.620377,0.293197],[-0.685804,-0.671327,-0.281056],[0.022471,-0.405527,0.913807]] 2025-10-28T21:53:23.337Z,1761688403.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579702 2025-10-28T21:53:23.589Z,1761688403.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831784 2025-10-28T21:53:23.695Z,1761688403.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752150,0.590101,0.293346],[-0.658529,-0.689744,-0.300988],[0.024720,-0.419565,0.907389]] 2025-10-28T21:53:23.841Z,1761688403.841 [DAT](INFO): Reached modem response timeout 2025-10-28T21:53:24.100Z,1761688404.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776303,0.559228,0.290889],[-0.629775,-0.707938,-0.319699],[0.027147,-0.431378,0.901763]] 2025-10-28T21:53:24.503Z,1761688404.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799570,0.527370,0.287347],[-0.599812,-0.725299,-0.337886],[0.030221,-0.442518,0.896250]] 2025-10-28T21:53:24.908Z,1761688404.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821467,0.495220,0.282752],[-0.569222,-0.741921,-0.354315],[0.034315,-0.452007,0.891354]] 2025-10-28T21:53:25.322Z,1761688405.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841085,0.464493,0.277169],[-0.539472,-0.757612,-0.367416],[0.039324,-0.458553,0.887797]] 2025-10-28T21:53:25.715Z,1761688405.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857607,0.436226,0.272429],[-0.512370,-0.770592,-0.379031],[0.044588,-0.464644,0.884374]] 2025-10-28T21:53:26.109Z,1761688406.109 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:53:26.109Z,1761688406.109 [DAT](INFO): response not received 2025-10-28T21:53:26.109Z,1761688406.109 [DAT](ERROR): No response from remote modem. 2025-10-28T21:53:26.122Z,1761688406.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871428,0.412114,0.266034],[-0.488020,-0.783118,-0.385439],[0.049491,-0.465713,0.883551]] 2025-10-28T21:53:26.172Z,1761688406.172 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:53:26.172Z,1761688406.172 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:53:26.172Z,1761688406.172 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:53:26.173Z,1761688406.173 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:53:26.173Z,1761688406.173 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:53:26.173Z,1761688406.173 [marl:UpdateSpeed] Stopped 2025-10-28T21:53:26.173Z,1761688406.173 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:53:26.523Z,1761688406.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883513,0.392144,0.256181],[-0.465328,-0.797413,-0.384191],[0.053624,-0.458646,0.887000]] 2025-10-28T21:53:26.928Z,1761688406.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894575,0.375439,0.242448],[-0.443267,-0.814565,-0.374165],[0.057013,-0.442187,0.895109]] 2025-10-28T21:53:27.335Z,1761688407.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904801,0.359766,0.227823],[-0.421685,-0.831477,-0.361701],[0.059302,-0.423337,0.904029]] 2025-10-28T21:53:27.735Z,1761688407.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914253,0.344454,0.213290],[-0.400445,-0.848228,-0.346631],[0.061520,-0.402319,0.913430]] 2025-10-28T21:53:28.140Z,1761688408.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923970,0.325855,0.200245],[-0.376932,-0.864558,-0.332360],[0.064823,-0.382569,0.921650]] 2025-10-28T21:53:28.543Z,1761688408.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935807,0.298464,0.187575],[-0.345928,-0.879890,-0.325772],[0.067814,-0.369747,0.926654]] 2025-10-28T21:53:28.946Z,1761688408.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947685,0.265424,0.177323],[-0.311482,-0.890417,-0.331869],[0.069805,-0.369740,0.926509]] 2025-10-28T21:53:29.351Z,1761688409.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958380,0.230091,0.169015],[-0.276506,-0.895457,-0.348857],[0.071076,-0.381071,0.921809]] 2025-10-28T21:53:29.451Z,1761688409.451 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:53:29.451Z,1761688409.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateRudder:A] Stopped 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:53:29.452Z,1761688409.452 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:53:29.453Z,1761688409.453 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:53:29.453Z,1761688409.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:53:29.453Z,1761688409.453 [marl:UpdateCommandMode] Stopped 2025-10-28T21:53:29.453Z,1761688409.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:53:29.757Z,1761688409.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967573,0.194916,0.160659],[-0.242279,-0.896045,-0.372027],[0.071443,-0.398887,0.914213]] 2025-10-28T21:53:29.815Z,1761688409.815 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:53:29.815Z,1761688409.815 [marl:UpdateRudder:B] Stopped 2025-10-28T21:53:29.815Z,1761688409.815 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:53:29.815Z,1761688409.815 [marl:UpdateRudder] Stopped 2025-10-28T21:53:29.815Z,1761688409.815 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:53:30.175Z,1761688410.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974479,0.164258,0.153000],[-0.212869,-0.892528,-0.397593],[0.071249,-0.420015,0.904716]] 2025-10-28T21:53:30.562Z,1761688410.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980129,0.135684,0.144696],[-0.184864,-0.889291,-0.418315],[0.071918,-0.436752,0.896703]] 2025-10-28T21:53:30.967Z,1761688410.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984877,0.108652,0.134955],[-0.157121,-0.888358,-0.431431],[0.073012,-0.446111,0.891995]] 2025-10-28T21:53:31.389Z,1761688411.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992289,0.051779,0.112615],[-0.096201,-0.894638,-0.436312],[0.078158,-0.443781,0.892720]] 2025-10-28T21:53:31.784Z,1761688411.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994835,0.020247,0.099465],[-0.061438,-0.900130,-0.431267],[0.080799,-0.435150,0.896725]] 2025-10-28T21:53:32.186Z,1761688412.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996176,-0.011828,0.086559],[-0.026170,-0.904896,-0.424827],[0.083352,-0.425468,0.901127]] 2025-10-28T21:53:32.587Z,1761688412.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996282,-0.044859,0.073556],[0.009613,-0.906305,-0.422515],[0.085618,-0.420237,0.903366]] 2025-10-28T21:53:32.990Z,1761688412.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995106,-0.078111,0.060517],[0.045226,-0.904581,-0.423895],[0.087853,-0.419084,0.903687]] 2025-10-28T21:53:33.396Z,1761688413.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992718,-0.110895,0.047037],[0.080473,-0.901104,-0.426071],[0.089634,-0.419183,0.903466]] 2025-10-28T21:53:33.800Z,1761688413.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989197,-0.142814,0.033073],[0.115014,-0.895973,-0.428957],[0.090893,-0.420519,0.902719]] 2025-10-28T21:53:34.199Z,1761688414.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984782,-0.172830,0.018259],[0.147758,-0.887940,-0.435581],[0.091494,-0.426254,0.899965]] 2025-10-28T21:53:34.603Z,1761688414.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979653,-0.200659,0.004080],[0.178245,-0.879210,-0.441835],[0.092245,-0.432117,0.897087]] 2025-10-28T21:53:35.014Z,1761688415.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973867,-0.226926,-0.009336],[0.206962,-0.869759,-0.447980],[0.093539,-0.438205,0.893995]] 2025-10-28T21:53:35.421Z,1761688415.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967364,-0.252475,-0.021510],[0.234714,-0.860845,-0.451503],[0.095476,-0.441817,0.892010]] 2025-10-28T21:53:35.815Z,1761688415.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959986,-0.278211,-0.032029],[0.262275,-0.853065,-0.451101],[0.098178,-0.441451,0.891898]] 2025-10-28T21:53:36.219Z,1761688416.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951802,-0.304123,-0.039785],[0.289503,-0.847958,-0.444021],[0.101301,-0.434138,0.895133]] 2025-10-28T21:53:36.624Z,1761688416.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942810,-0.330134,-0.046063],[0.316620,-0.843742,-0.433417],[0.104221,-0.423214,0.900015]] 2025-10-28T21:53:37.026Z,1761688417.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932767,-0.356862,-0.050948],[0.344330,-0.840200,-0.418928],[0.106693,-0.408305,0.906589]] 2025-10-28T21:53:37.431Z,1761688417.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921109,-0.384865,-0.058623],[0.373864,-0.832503,-0.408857],[0.108551,-0.398519,0.910714]] 2025-10-28T21:53:37.834Z,1761688417.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907536,-0.414241,-0.069150],[0.405465,-0.821321,-0.401285],[0.109435,-0.392218,0.913339]] 2025-10-28T21:53:38.240Z,1761688418.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892187,-0.444187,-0.081860],[0.438083,-0.806907,-0.396212],[0.109938,-0.389356,0.914503]] 2025-10-28T21:53:38.654Z,1761688418.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875267,-0.473395,-0.099021],[0.470945,-0.787633,-0.397298],[0.110087,-0.394375,0.912332]] 2025-10-28T21:53:39.046Z,1761688419.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857062,-0.501187,-0.119402],[0.503348,-0.765078,-0.401616],[0.109933,-0.404310,0.907991]] 2025-10-28T21:53:39.451Z,1761688419.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837966,-0.527425,-0.140128],[0.534675,-0.742070,-0.404297],[0.109251,-0.413710,0.903830]] 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:53:39.522Z,1761688419.522 [marl:UpdateSpeed] Stopped 2025-10-28T21:53:39.523Z,1761688419.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:53:39.856Z,1761688419.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818670,-0.551416,-0.160375],[0.563904,-0.719106,-0.406077],[0.108591,-0.422879,0.899656]] 2025-10-28T21:53:40.258Z,1761688420.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799150,-0.574080,-0.178300],[0.591379,-0.697597,-0.404511],[0.107839,-0.428708,0.896984]] 2025-10-28T21:53:40.666Z,1761688420.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779620,-0.595503,-0.193826],[0.616955,-0.677201,-0.400955],[0.107511,-0.432174,0.895359]] 2025-10-28T21:53:41.067Z,1761688421.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760833,-0.614584,-0.208373],[0.640020,-0.657554,-0.397489],[0.107274,-0.435786,0.893635]] 2025-10-28T21:53:41.478Z,1761688421.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742016,-0.633345,-0.219742],[0.661669,-0.639233,-0.391887],[0.107734,-0.436183,0.893386]] 2025-10-28T21:53:41.875Z,1761688421.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722734,-0.652922,-0.226603],[0.682493,-0.622588,-0.382867],[0.108902,-0.431366,0.895580]] 2025-10-28T21:53:42.279Z,1761688422.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702664,-0.671948,-0.233985],[0.702937,-0.604646,-0.374545],[0.110197,-0.427656,0.897200]] 2025-10-28T21:53:42.682Z,1761688422.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681572,-0.691149,-0.240358],[0.723160,-0.586013,-0.365551],[0.111797,-0.422967,0.899222]] 2025-10-28T21:53:42.707Z,1761688422.707 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:53:42.707Z,1761688422.707 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:53:42.707Z,1761688422.707 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:53:42.708Z,1761688422.708 [marl:UpdateRudder:A] Stopped 2025-10-28T21:53:42.708Z,1761688422.708 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:53:42.708Z,1761688422.708 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:53:42.708Z,1761688422.708 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:53:42.708Z,1761688422.708 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:53:42.709Z,1761688422.709 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:53:42.709Z,1761688422.709 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:53:42.709Z,1761688422.709 [marl:UpdateCommandMode] Stopped 2025-10-28T21:53:42.709Z,1761688422.709 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:53:43.090Z,1761688423.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659596,-0.709823,-0.247152],[0.743009,-0.566146,-0.356955],[0.113450,-0.419082,0.900833]] 2025-10-28T21:53:43.261Z,1761688423.261 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:53:43.261Z,1761688423.261 [marl:UpdateRudder:B] Stopped 2025-10-28T21:53:43.261Z,1761688423.261 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:53:43.261Z,1761688423.261 [marl:UpdateRudder] Stopped 2025-10-28T21:53:43.261Z,1761688423.261 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:53:43.491Z,1761688423.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636900,-0.726344,-0.258425],[0.762315,-0.543316,-0.351687],[0.115039,-0.420991,0.899740]] 2025-10-28T21:53:43.894Z,1761688423.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613275,-0.742786,-0.268632],[0.781264,-0.520371,-0.344732],[0.116274,-0.421288,0.899442]] 2025-10-28T21:53:44.299Z,1761688424.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589031,-0.758403,-0.279049],[0.799510,-0.496671,-0.337788],[0.117584,-0.422070,0.898905]] 2025-10-28T21:53:44.703Z,1761688424.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564930,-0.772897,-0.288937],[0.816544,-0.473240,-0.330607],[0.118788,-0.422700,0.898451]] 2025-10-28T21:53:45.124Z,1761688425.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540912,-0.786366,-0.298401],[0.832537,-0.450152,-0.322869],[0.119567,-0.423074,0.898172]] 2025-10-28T21:53:45.511Z,1761688425.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517259,-0.798761,-0.307285],[0.847297,-0.427383,-0.315327],[0.120543,-0.423467,0.897856]] 2025-10-28T21:53:45.915Z,1761688425.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493455,-0.811326,-0.313454],[0.861157,-0.405141,-0.307035],[0.122113,-0.421441,0.898597]] 2025-10-28T21:53:46.321Z,1761688426.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468874,-0.823340,-0.319793],[0.874451,-0.381682,-0.299424],[0.124469,-0.420036,0.898931]] 2025-10-28T21:53:46.723Z,1761688426.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443164,-0.835141,-0.325799],[0.887340,-0.357014,-0.291838],[0.127411,-0.418427,0.899269]] 2025-10-28T21:53:47.178Z,1761688427.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415589,-0.846698,-0.332248],[0.900076,-0.330246,-0.284255],[0.130954,-0.417182,0.899339]] 2025-10-28T21:53:47.531Z,1761688427.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386084,-0.857536,-0.339958],[0.912597,-0.301312,-0.276366],[0.134560,-0.416945,0.898916]] 2025-10-28T21:53:47.937Z,1761688427.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355436,-0.866047,-0.351609],[0.924431,-0.270101,-0.269208],[0.138177,-0.420724,0.896604]] 2025-10-28T21:53:48.351Z,1761688428.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323718,-0.873575,-0.363419],[0.935516,-0.238089,-0.261006],[0.141483,-0.424477,0.894317]] 2025-10-28T21:53:48.743Z,1761688428.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290491,-0.881549,-0.372138],[0.945885,-0.205767,-0.250922],[0.144626,-0.424890,0.893617]] 2025-10-28T21:53:49.188Z,1761688429.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256540,-0.887307,-0.383241],[0.955252,-0.172356,-0.240389],[0.147245,-0.427761,0.891818]] 2025-10-28T21:53:49.218Z,1761688429.218 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T21:53:49.559Z,1761688429.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222211,-0.891675,-0.394384],[0.963499,-0.138882,-0.228871],[0.149306,-0.430846,0.889989]] 2025-10-28T21:53:49.954Z,1761688429.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187031,-0.895043,-0.404868],[0.970725,-0.105161,-0.215950],[0.150708,-0.433405,0.888508]] 2025-10-28T21:53:50.104Z,1761688430.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:53:50.359Z,1761688430.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152256,-0.897372,-0.414176],[0.976613,-0.072236,-0.202506],[0.151805,-0.435322,0.887384]] 2025-10-28T21:53:50.766Z,1761688430.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117659,-0.900120,-0.419452],[0.981267,-0.040495,-0.188350],[0.152552,-0.433756,0.888022]] 2025-10-28T21:53:51.110Z,1761688431.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:53:51.189Z,1761688431.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084698,-0.902474,-0.422335],[0.984549,-0.010606,-0.174786],[0.153260,-0.430613,0.889429]] 2025-10-28T21:53:51.571Z,1761688431.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052471,-0.902587,-0.427298],[0.986767,0.018876,-0.161044],[0.153421,-0.430094,0.889652]] 2025-10-28T21:53:51.974Z,1761688431.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021653,-0.901815,-0.431580],[0.987927,0.046935,-0.147639],[0.153399,-0.429566,0.889911]] 2025-10-28T21:53:52.379Z,1761688432.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008767,-0.899431,-0.436975],[0.988151,0.074757,-0.134049],[0.153235,-0.430622,0.889429]] 2025-10-28T21:53:52.791Z,1761688432.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038402,-0.895156,-0.444095],[0.987386,0.102307,-0.120836],[0.153601,-0.433853,0.887794]] 2025-10-28T21:53:52.815Z,1761688432.815 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:53:52.815Z,1761688432.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:53:52.815Z,1761688432.815 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:53:52.815Z,1761688432.815 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:53:52.815Z,1761688432.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:53:52.816Z,1761688432.816 [marl:UpdateSpeed] Stopped 2025-10-28T21:53:52.816Z,1761688432.816 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:53:53.198Z,1761688433.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068328,-0.891122,-0.448589],[0.985638,0.129898,-0.107912],[0.154434,-0.434773,0.887199]] 2025-10-28T21:53:53.592Z,1761688433.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098529,-0.883725,-0.457518],[0.982863,0.158398,-0.094292],[0.155798,-0.440387,0.884187]] 2025-10-28T21:53:53.995Z,1761688433.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129151,-0.877918,-0.461065],[0.978931,0.187036,-0.081924],[0.158158,-0.440770,0.883577]] 2025-10-28T21:53:54.400Z,1761688434.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160437,-0.871751,-0.462936],[0.973746,0.216523,-0.070266],[0.161491,-0.439508,0.883602]] 2025-10-28T21:53:54.803Z,1761688434.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192137,-0.864503,-0.464454],[0.967351,0.246543,-0.058720],[0.165272,-0.438008,0.883648]] 2025-10-28T21:53:55.207Z,1761688435.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225390,-0.857536,-0.462418],[0.959466,0.277794,-0.047498],[0.169189,-0.432969,0.885389]] 2025-10-28T21:53:55.617Z,1761688435.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260269,-0.849160,-0.459552],[0.949940,0.310402,-0.035558],[0.172840,-0.427292,0.887439]] 2025-10-28T21:53:56.016Z,1761688436.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296195,-0.838915,-0.456608],[0.938806,0.343710,-0.022501],[0.175818,-0.422002,0.889383]] 2025-10-28T21:53:56.041Z,1761688436.041 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:53:56.041Z,1761688436.041 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:53:56.041Z,1761688436.041 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:53:56.041Z,1761688436.041 [marl:UpdateRudder:A] Stopped 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode] Stopped 2025-10-28T21:53:56.042Z,1761688436.042 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:53:56.419Z,1761688436.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333015,-0.826310,-0.454217],[0.925977,0.377498,-0.007850],[0.177953,-0.417980,0.890857]] 2025-10-28T21:53:56.455Z,1761688436.455 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:53:56.455Z,1761688436.455 [marl:UpdateRudder:B] Stopped 2025-10-28T21:53:56.455Z,1761688436.455 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:53:56.455Z,1761688436.455 [marl:UpdateRudder] Stopped 2025-10-28T21:53:56.455Z,1761688436.455 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:53:56.822Z,1761688436.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370293,-0.813312,-0.448784],[0.911483,0.411283,0.006718],[0.179113,-0.411546,0.893615]] 2025-10-28T21:53:57.226Z,1761688437.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407056,-0.799002,-0.442608],[0.895545,0.444462,0.021263],[0.179733,-0.405031,0.896463]] 2025-10-28T21:53:57.643Z,1761688437.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442851,-0.783978,-0.435042],[0.878439,0.476538,0.035450],[0.179522,-0.397857,0.899712]] 2025-10-28T21:53:58.034Z,1761688438.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477645,-0.766243,-0.429798],[0.860177,0.507405,0.051335],[0.178747,-0.394223,0.901464]] 2025-10-28T21:53:58.439Z,1761688438.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511106,-0.746148,-0.426654],[0.840983,0.536652,0.068931],[0.177532,-0.394040,0.901784]] 2025-10-28T21:53:58.844Z,1761688438.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542852,-0.722582,-0.428003],[0.821272,0.563285,0.090676],[0.175566,-0.400730,0.899217]] 2025-10-28T21:53:59.252Z,1761688439.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572022,-0.697340,-0.431866],[0.801766,0.586471,0.114987],[0.173092,-0.412030,0.894578]] 2025-10-28T21:53:59.652Z,1761688439.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598289,-0.673408,-0.434249],[0.782851,0.606811,0.137571],[0.170866,-0.422259,0.890226]] 2025-10-28T21:54:00.055Z,1761688440.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623289,-0.651706,-0.432192],[0.763550,0.626513,0.156436],[0.168824,-0.427505,0.888109]] 2025-10-28T21:54:00.460Z,1761688440.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647285,-0.630066,-0.428998],[0.743715,0.645382,0.174272],[0.167065,-0.431856,0.886335]] 2025-10-28T21:54:00.862Z,1761688440.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671082,-0.608730,-0.423198],[0.722567,0.664810,0.189539],[0.165968,-0.432985,0.885990]] 2025-10-28T21:54:01.267Z,1761688441.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694337,-0.585943,-0.417813],[0.700311,0.683831,0.204794],[0.165716,-0.434795,0.885151]] 2025-10-28T21:54:01.680Z,1761688441.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717657,-0.561645,-0.411731],[0.676315,0.703060,0.219784],[0.166031,-0.436190,0.884405]] 2025-10-28T21:54:02.077Z,1761688442.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741021,-0.537842,-0.402013],[0.650370,0.723824,0.230428],[0.167053,-0.432209,0.886165]] 2025-10-28T21:54:02.478Z,1761688442.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764232,-0.512210,-0.391906],[0.622649,0.744352,0.241344],[0.168097,-0.428463,0.887785]] 2025-10-28T21:54:02.883Z,1761688442.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787537,-0.484546,-0.380789],[0.592661,0.764868,0.252446],[0.168932,-0.424489,0.889534]] 2025-10-28T21:54:03.286Z,1761688443.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810005,-0.455218,-0.369687],[0.561416,0.784094,0.264591],[0.169423,-0.421868,0.890687]] 2025-10-28T21:54:03.690Z,1761688443.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831441,-0.424419,-0.358574],[0.529135,0.801702,0.278010],[0.169477,-0.420883,0.891143]] 2025-10-28T21:54:04.096Z,1761688444.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851775,-0.393716,-0.345640],[0.495803,0.818948,0.288971],[0.169288,-0.417507,0.892765]] 2025-10-28T21:54:04.499Z,1761688444.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870100,-0.365443,-0.330722],[0.463012,0.836065,0.294305],[0.168953,-0.409203,0.896665]] 2025-10-28T21:54:04.902Z,1761688444.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886322,-0.336440,-0.318184],[0.431255,0.850000,0.302521],[0.168677,-0.405350,0.898465]] 2025-10-28T21:54:05.307Z,1761688445.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901042,-0.307281,-0.306109],[0.399947,0.861709,0.312249],[0.167829,-0.403776,0.899332]] 2025-10-28T21:54:05.711Z,1761688445.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914384,-0.278122,-0.294193],[0.368865,0.871824,0.322275],[0.166853,-0.403200,0.899772]] 2025-10-28T21:54:06.125Z,1761688446.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926889,-0.246556,-0.282997],[0.336627,0.879559,0.336242],[0.166010,-0.406924,0.898250]] 2025-10-28T21:54:06.151Z,1761688446.151 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:54:06.152Z,1761688446.152 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:54:06.152Z,1761688446.152 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:54:06.152Z,1761688446.152 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:54:06.152Z,1761688446.152 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:54:06.152Z,1761688446.152 [marl:UpdateSpeed] Stopped 2025-10-28T21:54:06.153Z,1761688446.153 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:54:06.518Z,1761688446.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938148,-0.215741,-0.270803],[0.304148,0.887248,0.346822],[0.165445,-0.407735,0.897987]] 2025-10-28T21:54:06.923Z,1761688446.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948492,-0.183740,-0.258075],[0.270651,0.893368,0.358666],[0.164655,-0.410040,0.897082]] 2025-10-28T21:54:07.326Z,1761688447.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957815,-0.150841,-0.244615],[0.236193,0.898077,0.371040],[0.163715,-0.413164,0.895819]] 2025-10-28T21:54:07.732Z,1761688447.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966059,-0.117613,-0.229993],[0.200551,0.902646,0.380801],[0.162815,-0.414002,0.895597]] 2025-10-28T21:54:08.134Z,1761688448.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973020,-0.084282,-0.214775],[0.164065,0.907257,0.387256],[0.162217,-0.412045,0.896607]] 2025-10-28T21:54:08.539Z,1761688448.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978549,-0.050943,-0.199615],[0.127518,0.910793,0.392676],[0.161804,-0.409707,0.897752]] 2025-10-28T21:54:08.942Z,1761688448.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982603,-0.018140,-0.184829],[0.091483,0.913375,0.396707],[0.161622,-0.406714,0.899145]] 2025-10-28T21:54:09.348Z,1761688449.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985253,0.014162,-0.170514],[0.056212,0.914461,0.400750],[0.161604,-0.404426,0.900180]] 2025-10-28T21:54:09.390Z,1761688449.390 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:54:09.390Z,1761688449.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:54:09.390Z,1761688449.390 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateRudder:A] Stopped 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:54:09.391Z,1761688449.391 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:54:09.392Z,1761688449.392 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:54:09.392Z,1761688449.392 [marl:UpdateCommandMode] Stopped 2025-10-28T21:54:09.392Z,1761688449.392 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:54:09.751Z,1761688449.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986546,0.045584,-0.156999],[0.022027,0.914521,0.403939],[0.161992,-0.401963,0.901213]] 2025-10-28T21:54:09.795Z,1761688449.795 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:54:09.795Z,1761688449.795 [marl:UpdateRudder:B] Stopped 2025-10-28T21:54:09.795Z,1761688449.795 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:54:09.795Z,1761688449.795 [marl:UpdateRudder] Stopped 2025-10-28T21:54:09.795Z,1761688449.795 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:54:10.155Z,1761688450.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986732,0.075558,-0.143701],[-0.010599,0.913198,0.407379],[0.162008,-0.400451,0.901883]] 2025-10-28T21:54:10.559Z,1761688450.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985871,0.103785,-0.131484],[-0.041605,0.912053,0.407957],[0.162260,-0.396723,0.903484]] 2025-10-28T21:54:10.965Z,1761688450.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984140,0.131021,-0.119594],[-0.071556,0.910081,0.408206],[0.162324,-0.393174,0.905022]] 2025-10-28T21:54:11.366Z,1761688451.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981643,0.157856,-0.107045],[-0.100585,0.905319,0.412651],[0.162050,-0.394308,0.904578]] 2025-10-28T21:54:11.777Z,1761688451.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978409,0.184195,-0.093748],[-0.129120,0.898928,0.418638],[0.161384,-0.397494,0.903302]] 2025-10-28T21:54:12.175Z,1761688452.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974307,0.210665,-0.079659],[-0.158018,0.891423,0.424729],[0.160486,-0.401229,0.901809]] 2025-10-28T21:54:12.582Z,1761688452.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969247,0.237553,-0.064248],[-0.187641,0.882330,0.431608],[0.159218,-0.406280,0.899770]] 2025-10-28T21:54:12.983Z,1761688452.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962932,0.265340,-0.048554],[-0.218473,0.872738,0.436575],[0.158216,-0.409784,0.898357]] 2025-10-28T21:54:13.386Z,1761688453.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955265,0.293807,-0.033848],[-0.250268,0.864031,0.436826],[0.157588,-0.408814,0.898909]] 2025-10-28T21:54:13.445Z,1761688453.445 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:54:13.537Z,1761688453.537 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:54:13.537Z,1761688453.537 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:54:13.789Z,1761688453.789 [DAT](INFO): DAT read: user:334> 2025-10-28T21:54:13.790Z,1761688453.790 [DAT](INFO): DAT read: Tx time:21:54:13.4975 2025-10-28T21:54:13.791Z,1761688453.791 [DAT](INFO): Ping request sent. 2025-10-28T21:54:13.791Z,1761688453.791 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:54:13.791Z,1761688453.791 [DAT](INFO): publishing transmit ping time 2025-10-28T21:54:13.792Z,1761688453.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T21:54:13.800Z,1761688453.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946690,0.321469,-0.020903],[-0.281384,0.856748,0.432210],[0.156850,-0.403287,0.901531]] 2025-10-28T21:54:14.041Z,1761688454.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250222 2025-10-28T21:54:14.196Z,1761688454.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936983,0.349263,-0.008863],[-0.312326,0.848720,0.426763],[0.156574,-0.397101,0.904320]] 2025-10-28T21:54:14.294Z,1761688454.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503140 2025-10-28T21:54:14.545Z,1761688454.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754277 2025-10-28T21:54:14.611Z,1761688454.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926540,0.376188,0.002498],[-0.342258,0.840179,0.420665],[0.156150,-0.390618,0.907213]] 2025-10-28T21:54:14.797Z,1761688454.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006218 2025-10-28T21:54:15.002Z,1761688455.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915661,0.401721,0.013636],[-0.370846,0.831229,0.414164],[0.155044,-0.384291,0.910100]] 2025-10-28T21:54:15.049Z,1761688455.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258223 2025-10-28T21:54:15.301Z,1761688455.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510293 2025-10-28T21:54:15.406Z,1761688455.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904058,0.426559,0.026937],[-0.398911,0.819474,0.411499],[0.153455,-0.382765,0.911012]] 2025-10-28T21:54:15.553Z,1761688455.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762154 2025-10-28T21:54:15.805Z,1761688455.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014227 2025-10-28T21:54:15.815Z,1761688455.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891183,0.451705,0.041892],[-0.427481,0.805291,0.410812],[0.151831,-0.384017,0.910757]] 2025-10-28T21:54:16.057Z,1761688456.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266260 2025-10-28T21:54:16.215Z,1761688456.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877438,0.476187,0.057863],[-0.455699,0.789797,0.410559],[0.149803,-0.386609,0.909996]] 2025-10-28T21:54:16.309Z,1761688456.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518636 2025-10-28T21:54:16.561Z,1761688456.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770208 2025-10-28T21:54:16.625Z,1761688456.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845928,0.525935,0.088308],[-0.512682,0.756405,0.406212],[0.146845,-0.388900,0.909502]] 2025-10-28T21:54:16.813Z,1761688456.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022292 2025-10-28T21:54:17.027Z,1761688457.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828474,0.550480,0.102966],[-0.540596,0.738083,0.403720],[0.146242,-0.390135,0.909070]] 2025-10-28T21:54:17.065Z,1761688457.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274218 2025-10-28T21:54:17.317Z,1761688457.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526230 2025-10-28T21:54:17.433Z,1761688457.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810020,0.574655,0.116789],[-0.567913,0.719146,0.400381],[0.146092,-0.390642,0.908876]] 2025-10-28T21:54:17.569Z,1761688457.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778274 2025-10-28T21:54:17.824Z,1761688457.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033360 2025-10-28T21:54:17.837Z,1761688457.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791563,0.597627,0.127559],[-0.593361,0.701754,0.394290],[0.146123,-0.387793,0.910090]] 2025-10-28T21:54:18.074Z,1761688458.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283173 2025-10-28T21:54:18.238Z,1761688458.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773230,0.619030,0.137541],[-0.617070,0.684557,0.388080],[0.146078,-0.384947,0.911305]] 2025-10-28T21:54:18.325Z,1761688458.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534333 2025-10-28T21:54:18.578Z,1761688458.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786881 2025-10-28T21:54:18.641Z,1761688458.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754441,0.638941,0.150247],[-0.639881,0.664978,0.385171],[0.146190,-0.386729,0.910532]] 2025-10-28T21:54:18.829Z,1761688458.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038213 2025-10-28T21:54:19.042Z,1761688459.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734596,0.658030,0.165423],[-0.662538,0.643084,0.384040],[0.146329,-0.391713,0.908377]] 2025-10-28T21:54:19.082Z,1761688459.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290907 2025-10-28T21:54:19.333Z,1761688459.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542186 2025-10-28T21:54:19.446Z,1761688459.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713989,0.676088,0.182002],[-0.684668,0.619819,0.383476],[0.146456,-0.398408,0.905440]] 2025-10-28T21:54:19.499Z,1761688459.499 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:54:19.500Z,1761688459.500 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:54:19.500Z,1761688459.500 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:54:19.500Z,1761688459.500 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:54:19.500Z,1761688459.500 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:54:19.500Z,1761688459.500 [marl:UpdateSpeed] Stopped 2025-10-28T21:54:19.501Z,1761688459.501 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:54:19.585Z,1761688459.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794559 2025-10-28T21:54:19.837Z,1761688459.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046245 2025-10-28T21:54:19.853Z,1761688459.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692567,0.693467,0.198629],[-0.706258,0.595824,0.382352],[0.146801,-0.405088,0.902415]] 2025-10-28T21:54:20.090Z,1761688460.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298965 2025-10-28T21:54:20.257Z,1761688460.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670512,0.710519,0.213487],[-0.727098,0.572148,0.379442],[0.147455,-0.409646,0.900248]] 2025-10-28T21:54:20.341Z,1761688460.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550737 2025-10-28T21:54:20.593Z,1761688460.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802595 2025-10-28T21:54:20.658Z,1761688460.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648029,0.726978,0.227073],[-0.746969,0.548471,0.375787],[0.148646,-0.413138,0.898455]] 2025-10-28T21:54:20.845Z,1761688460.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054198 2025-10-28T21:54:21.062Z,1761688461.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625797,0.742942,0.237519],[-0.765406,0.526330,0.370311],[0.150107,-0.413538,0.898028]] 2025-10-28T21:54:21.099Z,1761688461.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307866 2025-10-28T21:54:21.231Z,1761688461.231 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:54:21.349Z,1761688461.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558154 2025-10-28T21:54:21.466Z,1761688461.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603295,0.758243,0.247189],[-0.782872,0.503924,0.364927],[0.152139,-0.413676,0.897622]] 2025-10-28T21:54:21.601Z,1761688461.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810274 2025-10-28T21:54:21.853Z,1761688461.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062227 2025-10-28T21:54:21.877Z,1761688461.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581292,0.772476,0.255697],[-0.798946,0.482283,0.359288],[0.154223,-0.413139,0.897514]] 2025-10-28T21:54:22.105Z,1761688462.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314285 2025-10-28T21:54:22.232Z,1761688462.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:54:22.274Z,1761688462.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559241,0.785828,0.264054],[-0.814121,0.460509,0.353749],[0.156386,-0.412802,0.897295]] 2025-10-28T21:54:22.317Z,1761688462.317 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:54:22.317Z,1761688462.317 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateRudder:A] Stopped 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:54:22.318Z,1761688462.318 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:54:22.319Z,1761688462.319 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:54:22.319Z,1761688462.319 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:54:22.319Z,1761688462.319 [marl:UpdateCommandMode] Stopped 2025-10-28T21:54:22.319Z,1761688462.319 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:54:22.357Z,1761688462.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566276 2025-10-28T21:54:22.609Z,1761688462.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818247 2025-10-28T21:54:22.678Z,1761688462.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537191,0.797675,0.274118],[-0.828453,0.437957,0.349083],[0.158402,-0.414618,0.896103]] 2025-10-28T21:54:22.721Z,1761688462.721 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:54:22.722Z,1761688462.722 [marl:UpdateRudder:B] Stopped 2025-10-28T21:54:22.722Z,1761688462.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:54:22.722Z,1761688462.722 [marl:UpdateRudder] Stopped 2025-10-28T21:54:22.722Z,1761688462.722 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:54:22.862Z,1761688462.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070844 2025-10-28T21:54:23.091Z,1761688463.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515013,0.808503,0.284754],[-0.842118,0.415222,0.344134],[0.159997,-0.417030,0.894700]] 2025-10-28T21:54:23.115Z,1761688463.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324369 2025-10-28T21:54:23.366Z,1761688463.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574929 2025-10-28T21:54:23.488Z,1761688463.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493014,0.818667,0.294485],[-0.854880,0.392967,0.338757],[0.161607,-0.418761,0.893601]] 2025-10-28T21:54:23.617Z,1761688463.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826261 2025-10-28T21:54:23.869Z,1761688463.869 [DAT](INFO): Reached modem response timeout 2025-10-28T21:54:23.891Z,1761688463.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470638,0.828306,0.303990],[-0.867096,0.370456,0.333027],[0.163233,-0.420324,0.892571]] 2025-10-28T21:54:24.298Z,1761688464.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448521,0.836693,0.314284],[-0.878543,0.348085,0.327109],[0.164292,-0.422827,0.891193]] 2025-10-28T21:54:24.700Z,1761688464.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426222,0.844700,0.323755],[-0.889439,0.326024,0.320323],[0.165025,-0.424489,0.890267]] 2025-10-28T21:54:25.107Z,1761688465.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404332,0.852696,0.330795],[-0.899538,0.305352,0.312396],[0.165369,-0.423874,0.890496]] 2025-10-28T21:54:25.507Z,1761688465.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381574,0.860955,0.336390],[-0.909453,0.284637,0.303113],[0.165217,-0.421591,0.891608]] 2025-10-28T21:54:25.911Z,1761688465.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357761,0.869259,0.341169],[-0.919263,0.263597,0.292356],[0.164202,-0.418218,0.893382]] 2025-10-28T21:54:26.137Z,1761688466.137 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:54:26.137Z,1761688466.137 [DAT](INFO): response not received 2025-10-28T21:54:26.137Z,1761688466.137 [DAT](ERROR): No response from remote modem. 2025-10-28T21:54:26.318Z,1761688466.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331791,0.878318,0.344197],[-0.929193,0.241300,0.279956],[0.162836,-0.412712,0.896188]] 2025-10-28T21:54:26.719Z,1761688466.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303860,0.887474,0.346495],[-0.939050,0.217609,0.266142],[0.160793,-0.406246,0.899505]] 2025-10-28T21:54:27.168Z,1761688467.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274261,0.896902,0.346911],[-0.948562,0.192986,0.250970],[0.158147,-0.397898,0.903696]] 2025-10-28T21:54:27.527Z,1761688467.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243222,0.908042,0.341032],[-0.957464,0.168480,0.234258],[0.155259,-0.383502,0.910396]] 2025-10-28T21:54:27.933Z,1761688467.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210872,0.919015,0.333084],[-0.965564,0.142713,0.217529],[0.152377,-0.367485,0.917462]] 2025-10-28T21:54:28.375Z,1761688468.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177417,0.927205,0.329871],[-0.972678,0.114210,0.202121],[0.149733,-0.356718,0.922135]] 2025-10-28T21:54:28.738Z,1761688468.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142549,0.932434,0.332033],[-0.978650,0.082595,0.188207],[0.148066,-0.351773,0.924301]] 2025-10-28T21:54:29.180Z,1761688469.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107668,0.935197,0.337364],[-0.983226,0.049914,0.175426],[0.147219,-0.350593,0.924884]] 2025-10-28T21:54:29.546Z,1761688469.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073817,0.932847,0.352630],[-0.986396,0.016217,0.163583],[0.146879,-0.359908,0.921354]] 2025-10-28T21:54:29.961Z,1761688469.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043137,0.926253,0.374426],[-0.988229,-0.015500,0.152196],[0.146776,-0.376584,0.914681]] 2025-10-28T21:54:30.363Z,1761688470.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014575,0.917327,0.397868],[-0.989019,-0.045300,0.140675],[0.147069,-0.395550,0.906593]] 2025-10-28T21:54:30.765Z,1761688470.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011964,0.908026,0.418743],[-0.989003,-0.072482,0.128917],[0.147411,-0.412595,0.898908]] 2025-10-28T21:54:31.183Z,1761688471.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036483,0.899406,0.435589],[-0.988400,-0.096779,0.117045],[0.147427,-0.426266,0.892504]] 2025-10-28T21:54:31.575Z,1761688471.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058839,0.892365,0.447463],[-0.987395,-0.117998,0.105485],[0.146931,-0.435616,0.888060]] 2025-10-28T21:54:31.972Z,1761688471.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079388,0.887723,0.453482],[-0.986148,-0.136401,0.094377],[0.145636,-0.439708,0.886255]] 2025-10-28T21:54:32.378Z,1761688472.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099892,0.885237,0.454288],[-0.984496,-0.154095,0.083795],[0.144182,-0.438875,0.886905]] 2025-10-28T21:54:32.785Z,1761688472.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122389,0.882836,0.453455],[-0.982162,-0.173452,0.072607],[0.142753,-0.436480,0.888317]] 2025-10-28T21:54:32.830Z,1761688472.830 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:54:32.830Z,1761688472.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:54:32.830Z,1761688472.830 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:54:32.830Z,1761688472.830 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:54:32.831Z,1761688472.831 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:54:32.831Z,1761688472.831 [marl:UpdateSpeed] Stopped 2025-10-28T21:54:32.831Z,1761688472.831 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:54:33.189Z,1761688473.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146815,0.882298,0.447209],[-0.979089,-0.193984,0.061284],[0.140822,-0.428859,0.892328]] 2025-10-28T21:54:33.590Z,1761688473.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173998,0.882453,0.437036],[-0.974946,-0.216827,0.049654],[0.138578,-0.417447,0.898072]] 2025-10-28T21:54:33.991Z,1761688473.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201868,0.882575,0.424631],[-0.969962,-0.240239,0.038208],[0.135734,-0.404163,0.904560]] 2025-10-28T21:54:34.398Z,1761688474.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231818,0.883289,0.407506],[-0.963607,-0.265846,0.028067],[0.133126,-0.386169,0.912771]] 2025-10-28T21:54:34.800Z,1761688474.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263146,0.881602,0.391831],[-0.955893,-0.293182,0.017688],[0.130471,-0.369894,0.919867]] 2025-10-28T21:54:35.205Z,1761688475.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295760,0.875851,0.381328],[-0.946602,-0.322344,0.006184],[0.128335,-0.359137,0.924419]] 2025-10-28T21:54:35.264Z,1761688475.264 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:54:35.264Z,1761688475.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:54:35.264Z,1761688475.264 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateRudder:A] Stopped 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode] Stopped 2025-10-28T21:54:35.265Z,1761688475.265 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:54:35.607Z,1761688475.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329538,0.865645,0.376913],[-0.935561,-0.353094,-0.007026],[0.127004,-0.354940,0.926222]] 2025-10-28T21:54:35.644Z,1761688475.644 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:54:35.644Z,1761688475.644 [marl:UpdateRudder:B] Stopped 2025-10-28T21:54:35.644Z,1761688475.644 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:54:35.644Z,1761688475.644 [marl:UpdateRudder] Stopped 2025-10-28T21:54:35.644Z,1761688475.644 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:54:36.010Z,1761688476.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362908,0.851869,0.377647],[-0.923263,-0.383534,-0.022081],[0.126030,-0.356680,0.925687]] 2025-10-28T21:54:36.429Z,1761688476.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393985,0.835398,0.383256],[-0.910597,-0.411425,-0.039290],[0.124858,-0.364471,0.922806]] 2025-10-28T21:54:36.820Z,1761688476.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422047,0.817019,0.392882],[-0.898113,-0.435877,-0.058355],[0.123571,-0.377481,0.917735]] 2025-10-28T21:54:37.222Z,1761688477.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447899,0.798219,0.402781],[-0.885633,-0.457889,-0.077409],[0.122639,-0.391388,0.912017]] 2025-10-28T21:54:37.627Z,1761688477.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470820,0.781083,0.410168],[-0.873760,-0.477105,-0.094414],[0.121948,-0.402841,0.907110]] 2025-10-28T21:54:38.031Z,1761688478.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492356,0.764008,0.416986],[-0.861912,-0.494685,-0.111334],[0.121217,-0.414221,0.902068]] 2025-10-28T21:54:38.438Z,1761688478.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512143,0.749176,0.420054],[-0.850469,-0.510690,-0.126092],[0.120052,-0.421820,0.898697]] 2025-10-28T21:54:38.839Z,1761688478.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530974,0.736340,0.419369],[-0.839184,-0.525622,-0.139610],[0.117629,-0.426057,0.897016]] 2025-10-28T21:54:39.244Z,1761688479.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549127,0.724767,0.416139],[-0.827917,-0.539721,-0.152496],[0.114074,-0.428268,0.896423]] 2025-10-28T21:54:39.647Z,1761688479.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567304,0.715500,0.407708],[-0.816154,-0.554517,-0.162494],[0.109816,-0.424936,0.898538]] 2025-10-28T21:54:40.062Z,1761688480.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586843,0.706236,0.396039],[-0.802793,-0.571241,-0.170898],[0.105539,-0.418228,0.902190]] 2025-10-28T21:54:40.455Z,1761688480.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608807,0.695548,0.381533],[-0.786799,-0.590919,-0.178220],[0.101494,-0.408691,0.907012]] 2025-10-28T21:54:40.858Z,1761688480.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632863,0.682830,0.365004],[-0.768080,-0.613133,-0.184722],[0.097663,-0.397256,0.912496]] 2025-10-28T21:54:41.265Z,1761688481.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657962,0.667567,0.348483],[-0.747163,-0.636466,-0.191464],[0.093982,-0.386350,0.917552]] 2025-10-28T21:54:41.666Z,1761688481.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683094,0.649354,0.334249],[-0.724738,-0.659232,-0.200420],[0.090204,-0.379148,0.920929]] 2025-10-28T21:54:42.072Z,1761688482.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708308,0.627937,0.322481],[-0.700602,-0.681228,-0.212333],[0.086351,-0.376327,0.922454]] 2025-10-28T21:54:42.478Z,1761688482.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733022,0.604038,0.312755],[-0.675164,-0.701990,-0.226635],[0.082655,-0.377289,0.922400]] 2025-10-28T21:54:42.880Z,1761688482.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757083,0.578955,0.302714],[-0.648540,-0.721939,-0.241245],[0.078871,-0.378965,0.922044]] 2025-10-28T21:54:43.285Z,1761688483.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780090,0.552642,0.293337],[-0.621146,-0.740323,-0.257098],[0.075081,-0.382765,0.920790]] 2025-10-28T21:54:43.687Z,1761688483.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801976,0.525468,0.284110],[-0.593080,-0.757223,-0.273623],[0.071354,-0.387939,0.918919]] 2025-10-28T21:54:44.090Z,1761688484.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822279,0.498063,0.275300],[-0.565033,-0.772157,-0.290708],[0.067784,-0.394597,0.916351]] 2025-10-28T21:54:44.499Z,1761688484.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841348,0.470559,0.265908],[-0.536631,-0.785960,-0.307073],[0.064497,-0.401050,0.913783]] 2025-10-28T21:54:44.901Z,1761688484.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858978,0.443429,0.255983],[-0.508313,-0.798535,-0.322429],[0.061437,-0.407079,0.911325]] 2025-10-28T21:54:45.304Z,1761688485.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875163,0.417010,0.245343],[-0.480254,-0.810248,-0.335938],[0.058699,-0.411827,0.909369]] 2025-10-28T21:54:45.706Z,1761688485.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890040,0.391263,0.233969],[-0.452417,-0.821232,-0.347701],[0.056100,-0.415319,0.907944]] 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed] Stopped 2025-10-28T21:54:45.750Z,1761688485.750 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:54:46.111Z,1761688486.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903724,0.365612,0.222736],[-0.424749,-0.830839,-0.359576],[0.053593,-0.419564,0.906142]] 2025-10-28T21:54:46.515Z,1761688486.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915956,0.341248,0.211126],[-0.398031,-0.839426,-0.370049],[0.050946,-0.422983,0.904704]] 2025-10-28T21:54:46.918Z,1761688486.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926767,0.318213,0.199607],[-0.372518,-0.846902,-0.379457],[0.048300,-0.426026,0.903421]] 2025-10-28T21:54:47.323Z,1761688487.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936787,0.296259,0.186174],[-0.346908,-0.855824,-0.383693],[0.045659,-0.424024,0.904499]] 2025-10-28T21:54:47.728Z,1761688487.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945905,0.274289,0.173288],[-0.321542,-0.863792,-0.387909],[0.043286,-0.422645,0.905261]] 2025-10-28T21:54:48.130Z,1761688488.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954363,0.252556,0.159394],[-0.295796,-0.872949,-0.387899],[0.041176,-0.417345,0.907815]] 2025-10-28T21:54:48.543Z,1761688488.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962344,0.229984,0.144920],[-0.268977,-0.882736,-0.385265],[0.039321,-0.409737,0.911356]] 2025-10-28T21:54:48.597Z,1761688488.597 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:54:48.597Z,1761688488.597 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:54:48.597Z,1761688488.597 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateRudder:A] Stopped 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:54:48.598Z,1761688488.598 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:54:48.599Z,1761688488.599 [marl:UpdateCommandMode] Stopped 2025-10-28T21:54:48.599Z,1761688488.599 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:54:48.939Z,1761688488.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969705,0.206590,0.130354],[-0.241342,-0.892727,-0.380516],[0.037760,-0.400448,0.915541]] 2025-10-28T21:54:48.963Z,1761688488.963 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:54:48.963Z,1761688488.963 [marl:UpdateRudder:B] Stopped 2025-10-28T21:54:48.963Z,1761688488.963 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:54:48.963Z,1761688488.963 [marl:UpdateRudder] Stopped 2025-10-28T21:54:48.963Z,1761688488.963 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:54:49.343Z,1761688489.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976444,0.182088,0.115760],[-0.212722,-0.902233,-0.375134],[0.036135,-0.390922,0.919714]] 2025-10-28T21:54:49.746Z,1761688489.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982514,0.156306,0.101163],[-0.182915,-0.911746,-0.367778],[0.034749,-0.379852,0.924394]] 2025-10-28T21:54:50.150Z,1761688490.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987738,0.129285,0.087519],[-0.152558,-0.918373,-0.365126],[0.033170,-0.374000,0.926835]] 2025-10-28T21:54:50.561Z,1761688490.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992074,0.100987,0.074767],[-0.121662,-0.920776,-0.370636],[0.031414,-0.376794,0.925764]] 2025-10-28T21:54:50.960Z,1761688490.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995451,0.072665,0.061619],[-0.090620,-0.921816,-0.376888],[0.029415,-0.380757,0.924207]] 2025-10-28T21:54:51.363Z,1761688491.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997915,0.043379,0.047786],[-0.058429,-0.921700,-0.383478],[0.027410,-0.385471,0.922313]] 2025-10-28T21:54:51.771Z,1761688491.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999371,0.013417,0.032826],[-0.025101,-0.921510,-0.387542],[0.025050,-0.388122,0.921267]] 2025-10-28T21:54:52.171Z,1761688492.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999727,-0.015612,0.017399],[0.007508,-0.919313,-0.393454],[0.022138,-0.393216,0.919179]] 2025-10-28T21:54:52.361Z,1761688492.361 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:54:52.586Z,1761688492.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998990,-0.044918,0.001315],[0.040712,-0.917066,-0.396651],[0.019022,-0.396197,0.917969]] 2025-10-28T21:54:52.978Z,1761688492.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997077,-0.074883,-0.015176],[0.074788,-0.915869,-0.394450],[0.015639,-0.394432,0.918792]] 2025-10-28T21:54:53.366Z,1761688493.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:54:53.407Z,1761688493.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993940,-0.105194,-0.031895],[0.109244,-0.913088,-0.392855],[0.012204,-0.393959,0.919047]] 2025-10-28T21:54:53.791Z,1761688493.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989540,-0.135828,-0.048595],[0.144007,-0.910205,-0.388315],[0.008513,-0.391251,0.920244]] 2025-10-28T21:54:54.192Z,1761688494.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983915,-0.166228,-0.065419],[0.178585,-0.906361,-0.382905],[0.004357,-0.388429,0.921468]] 2025-10-28T21:54:54.606Z,1761688494.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977151,-0.195828,-0.082631],[0.212548,-0.900526,-0.379310],[-0.000132,-0.388207,0.921572]] 2025-10-28T21:54:54.998Z,1761688494.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969091,-0.225768,-0.099453],[0.246658,-0.894380,-0.373154],[-0.004702,-0.386151,0.922423]] 2025-10-28T21:54:55.403Z,1761688495.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960008,-0.254638,-0.116378],[0.279818,-0.886452,-0.368652],[-0.009290,-0.386474,0.922254]] 2025-10-28T21:54:55.807Z,1761688495.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950199,-0.281977,-0.132705],[0.311338,-0.877756,-0.364160],[-0.013798,-0.387341,0.921833]] 2025-10-28T21:54:56.212Z,1761688496.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939494,-0.309380,-0.147086],[0.342094,-0.869825,-0.355495],[-0.017956,-0.384303,0.923032]] 2025-10-28T21:54:56.614Z,1761688496.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927807,-0.336882,-0.160265],[0.372406,-0.861799,-0.344406],[-0.022092,-0.379226,0.925040]] 2025-10-28T21:54:57.026Z,1761688497.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915411,-0.363341,-0.173222],[0.401697,-0.852132,-0.335427],[-0.025734,-0.376636,0.926004]] 2025-10-28T21:54:57.423Z,1761688497.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902413,-0.388855,-0.185587],[0.429899,-0.841510,-0.327181],[-0.028947,-0.375036,0.926558]] 2025-10-28T21:54:57.828Z,1761688497.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888473,-0.413271,-0.199555],[0.457813,-0.828427,-0.322669],[-0.031967,-0.378041,0.925237]] 2025-10-28T21:54:58.231Z,1761688498.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873843,-0.436848,-0.213453],[0.484973,-0.814413,-0.318643],[-0.034640,-0.381963,0.923528]] 2025-10-28T21:54:58.635Z,1761688498.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858483,-0.459301,-0.228144],[0.511498,-0.799032,-0.316097],[-0.037110,-0.388059,0.920887]] 2025-10-28T21:54:59.039Z,1761688499.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842474,-0.482492,-0.239664],[0.537315,-0.784830,-0.308762],[-0.039120,-0.388899,0.920449]] 2025-10-28T21:54:59.068Z,1761688499.068 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed] Stopped 2025-10-28T21:54:59.069Z,1761688499.069 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:54:59.442Z,1761688499.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825378,-0.506818,-0.248772],[0.563143,-0.770471,-0.298737],[-0.040266,-0.386665,0.921341]] 2025-10-28T21:54:59.846Z,1761688499.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807127,-0.530418,-0.259235],[0.588900,-0.754384,-0.290003],[-0.041740,-0.386733,0.921247]] 2025-10-28T21:55:00.252Z,1761688500.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788457,-0.552196,-0.270954],[0.613581,-0.736940,-0.283616],[-0.043065,-0.389871,0.919862]] 2025-10-28T21:55:00.655Z,1761688500.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768482,-0.575480,-0.279747],[0.638304,-0.720042,-0.272227],[-0.044769,-0.387765,0.920670]] 2025-10-28T21:55:01.059Z,1761688501.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747631,-0.599574,-0.285587],[0.662502,-0.703284,-0.257843],[-0.046253,-0.381973,0.923015]] 2025-10-28T21:55:01.474Z,1761688501.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703020,-0.644648,-0.300319],[0.709372,-0.665659,-0.231712],[-0.050537,-0.375936,0.925267]] 2025-10-28T21:55:01.873Z,1761688501.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679471,-0.665792,-0.308286],[0.731768,-0.645446,-0.218896],[-0.053243,-0.374327,0.925767]] 2025-10-28T21:55:01.897Z,1761688501.897 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:55:01.897Z,1761688501.897 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateRudder:A] Stopped 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:55:01.898Z,1761688501.898 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:55:01.899Z,1761688501.899 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:55:01.899Z,1761688501.899 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:55:01.899Z,1761688501.899 [marl:UpdateCommandMode] Stopped 2025-10-28T21:55:01.899Z,1761688501.899 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:55:02.277Z,1761688502.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655336,-0.685675,-0.316836],[0.753225,-0.624580,-0.206281],[-0.056447,-0.373832,0.925777]] 2025-10-28T21:55:02.301Z,1761688502.301 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:55:02.301Z,1761688502.301 [marl:UpdateRudder:B] Stopped 2025-10-28T21:55:02.302Z,1761688502.302 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:55:02.302Z,1761688502.302 [marl:UpdateRudder] Stopped 2025-10-28T21:55:02.302Z,1761688502.302 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:55:02.679Z,1761688502.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630861,-0.704451,-0.325212],[0.773626,-0.603133,-0.194251],[-0.059306,-0.374138,0.925475]] 2025-10-28T21:55:03.083Z,1761688503.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605929,-0.721395,-0.335320],[0.793075,-0.580796,-0.183596],[-0.062307,-0.377180,0.924042]] 2025-10-28T21:55:03.501Z,1761688503.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580983,-0.736964,-0.345460],[0.811330,-0.558188,-0.173693],[-0.064826,-0.381195,0.922219]] 2025-10-28T21:55:03.887Z,1761688503.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555254,-0.751087,-0.357156],[0.828942,-0.534621,-0.164429],[-0.067442,-0.387361,0.919458]] 2025-10-28T21:55:04.291Z,1761688504.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529610,-0.764743,-0.366988],[0.845432,-0.511077,-0.155065],[-0.068974,-0.392388,0.917210]] 2025-10-28T21:55:04.695Z,1761688504.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504192,-0.776903,-0.377110],[0.860777,-0.487326,-0.146886],[-0.069660,-0.398667,0.914446]] 2025-10-28T21:55:05.103Z,1761688505.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478747,-0.788855,-0.385368],[0.875194,-0.463579,-0.138311],[-0.069541,-0.403488,0.912338]] 2025-10-28T21:55:05.517Z,1761688505.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452616,-0.799965,-0.393947],[0.889024,-0.439063,-0.129845],[-0.069096,-0.408999,0.909915]] 2025-10-28T21:55:05.906Z,1761688505.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425215,-0.812229,-0.399345],[0.902501,-0.413859,-0.119216],[-0.068442,-0.411102,0.909017]] 2025-10-28T21:55:06.310Z,1761688506.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397818,-0.824827,-0.401749],[0.914999,-0.388768,-0.107869],[-0.067214,-0.410512,0.909374]] 2025-10-28T21:55:06.720Z,1761688506.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369801,-0.837514,-0.402266],[0.926745,-0.363372,-0.095415],[-0.066261,-0.408083,0.910537]] 2025-10-28T21:55:07.153Z,1761688507.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340914,-0.851963,-0.397412],[0.937824,-0.337568,-0.080830],[-0.065289,-0.400258,0.914074]] 2025-10-28T21:55:07.522Z,1761688507.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311242,-0.865878,-0.391642],[0.948115,-0.311046,-0.065789],[-0.064854,-0.391798,0.917763]] 2025-10-28T21:55:07.928Z,1761688507.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281071,-0.879243,-0.384617],[0.957495,-0.283996,-0.050499],[-0.064829,-0.382463,0.921694]] 2025-10-28T21:55:08.331Z,1761688508.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250275,-0.890614,-0.379695],[0.965971,-0.256149,-0.035894],[-0.065291,-0.375758,0.924415]] 2025-10-28T21:55:08.743Z,1761688508.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218940,-0.900012,-0.376888],[0.973497,-0.227649,-0.021893],[-0.066094,-0.371692,0.926000]] 2025-10-28T21:55:09.178Z,1761688509.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186936,-0.907176,-0.376944],[0.980047,-0.198603,-0.008060],[-0.067550,-0.370929,0.926201]] 2025-10-28T21:55:09.543Z,1761688509.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154653,-0.912531,-0.378642],[0.985529,-0.169407,0.005743],[-0.069385,-0.372275,0.925525]] 2025-10-28T21:55:09.949Z,1761688509.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122333,-0.916449,-0.380994],[0.989924,-0.140248,0.019500],[-0.071304,-0.374770,0.924372]] 2025-10-28T21:55:10.365Z,1761688510.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090095,-0.918955,-0.383933],[0.993230,-0.111289,0.033298],[-0.073327,-0.378334,0.922760]] 2025-10-28T21:55:10.757Z,1761688510.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058215,-0.918977,-0.389990],[0.995427,-0.083074,0.047165],[-0.075742,-0.385461,0.919610]] 2025-10-28T21:55:11.179Z,1761688511.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026803,-0.918572,-0.394344],[0.996572,-0.055439,0.061403],[-0.078265,-0.391346,0.916909]] 2025-10-28T21:55:11.571Z,1761688511.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003999,-0.919018,-0.394195],[0.996737,-0.028114,0.075657],[-0.080613,-0.393211,0.915908]] 2025-10-28T21:55:11.971Z,1761688511.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032885,-0.918251,-0.394632],[0.996039,-0.002529,0.088884],[-0.082616,-0.395991,0.914530]] 2025-10-28T21:55:12.371Z,1761688512.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061379,-0.916434,-0.395451],[0.994566,0.022776,0.101589],[-0.084092,-0.399537,0.912852]] 2025-10-28T21:55:12.406Z,1761688512.406 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:55:12.406Z,1761688512.406 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:55:12.406Z,1761688512.406 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:55:12.407Z,1761688512.407 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:55:12.407Z,1761688512.407 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:55:12.407Z,1761688512.407 [marl:UpdateSpeed] Stopped 2025-10-28T21:55:12.407Z,1761688512.407 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:55:12.781Z,1761688512.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089839,-0.912185,-0.399810],[0.992294,0.047584,0.114407],[-0.085335,-0.407007,0.909430]] 2025-10-28T21:55:13.189Z,1761688513.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117172,-0.908657,-0.400765],[0.989439,0.072138,0.125724],[-0.085330,-0.411264,0.907513]] 2025-10-28T21:55:13.583Z,1761688513.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144228,-0.905148,-0.399881],[0.985911,0.096846,0.136382],[-0.084719,-0.413918,0.906364]] 2025-10-28T21:55:13.618Z,1761688513.618 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:55:13.777Z,1761688513.777 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:55:13.777Z,1761688513.777 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:55:13.994Z,1761688513.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171484,-0.901205,-0.398024],[0.981605,0.121876,0.146962],[-0.083933,-0.415904,0.905527]] 2025-10-28T21:55:14.029Z,1761688514.029 [DAT](INFO): DAT read: user:335> 2025-10-28T21:55:14.030Z,1761688514.030 [DAT](INFO): DAT read: Tx time:21:55:13.7473 2025-10-28T21:55:14.030Z,1761688514.030 [DAT](INFO): Ping request sent. 2025-10-28T21:55:14.030Z,1761688514.030 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:55:14.030Z,1761688514.030 [DAT](INFO): publishing transmit ping time 2025-10-28T21:55:14.031Z,1761688514.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000920 2025-10-28T21:55:14.284Z,1761688514.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254355 2025-10-28T21:55:14.391Z,1761688514.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198165,-0.898128,-0.392552],[0.976693,0.147235,0.156183],[-0.082475,-0.414352,0.906372]] 2025-10-28T21:55:14.533Z,1761688514.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503234 2025-10-28T21:55:14.785Z,1761688514.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755297 2025-10-28T21:55:14.811Z,1761688514.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224614,-0.894684,-0.386122],[0.971095,0.172675,0.164799],[-0.080769,-0.411977,0.907608]] 2025-10-28T21:55:15.037Z,1761688515.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006823 2025-10-28T21:55:15.200Z,1761688515.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251260,-0.891347,-0.377319],[0.964691,0.198799,0.172769],[-0.078987,-0.407407,0.909825]] 2025-10-28T21:55:15.267Z,1761688515.267 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:55:15.267Z,1761688515.267 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:55:15.267Z,1761688515.267 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:55:15.272Z,1761688515.272 [marl:UpdateRudder:A] Stopped 2025-10-28T21:55:15.272Z,1761688515.272 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:55:15.272Z,1761688515.272 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:55:15.272Z,1761688515.272 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:55:15.272Z,1761688515.272 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:55:15.273Z,1761688515.273 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:55:15.273Z,1761688515.273 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:55:15.273Z,1761688515.273 [marl:UpdateCommandMode] Stopped 2025-10-28T21:55:15.273Z,1761688515.273 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:55:15.289Z,1761688515.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852 2025-10-28T21:55:15.541Z,1761688515.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896 2025-10-28T21:55:15.602Z,1761688515.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278312,-0.887916,-0.366262],[0.957385,0.225808,0.180069],[-0.077181,-0.400769,0.912922]] 2025-10-28T21:55:15.645Z,1761688515.645 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:55:15.645Z,1761688515.645 [marl:UpdateRudder:B] Stopped 2025-10-28T21:55:15.645Z,1761688515.645 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:55:15.645Z,1761688515.645 [marl:UpdateRudder] Stopped 2025-10-28T21:55:15.645Z,1761688515.645 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:55:15.793Z,1761688515.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914 2025-10-28T21:55:16.006Z,1761688516.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305980,-0.883866,-0.353774],[0.949017,0.253591,0.187238],[-0.075779,-0.393029,0.916398]] 2025-10-28T21:55:16.045Z,1761688516.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014756 2025-10-28T21:55:16.297Z,1761688516.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806 2025-10-28T21:55:16.410Z,1761688516.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334671,-0.877713,-0.342950],[0.939335,0.281710,0.195678],[-0.075137,-0.387633,0.918747]] 2025-10-28T21:55:16.549Z,1761688516.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518779 2025-10-28T21:55:16.801Z,1761688516.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723 2025-10-28T21:55:16.820Z,1761688516.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363669,-0.870167,-0.332497],[0.928531,0.310010,0.204266],[-0.074667,-0.383019,0.920718]] 2025-10-28T21:55:17.053Z,1761688517.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022806 2025-10-28T21:55:17.252Z,1761688517.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392847,-0.859725,-0.326412],[0.916569,0.337239,0.214877],[-0.074656,-0.383593,0.920480]] 2025-10-28T21:55:17.305Z,1761688517.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274787 2025-10-28T21:55:17.557Z,1761688517.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526782 2025-10-28T21:55:17.623Z,1761688517.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421833,-0.847659,-0.321764],[0.903541,0.363540,0.226829],[-0.075300,-0.386411,0.919248]] 2025-10-28T21:55:17.810Z,1761688517.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779483 2025-10-28T21:55:18.027Z,1761688518.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450078,-0.836029,-0.313825],[0.889716,0.389764,0.237674],[-0.076384,-0.386187,0.919253]] 2025-10-28T21:55:18.064Z,1761688518.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033468 2025-10-28T21:55:18.313Z,1761688518.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282787 2025-10-28T21:55:18.435Z,1761688518.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476564,-0.823456,-0.307907],[0.875686,0.413608,0.249204],[-0.077856,-0.388391,0.918200]] 2025-10-28T21:55:18.565Z,1761688518.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534848 2025-10-28T21:55:18.817Z,1761688518.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786834 2025-10-28T21:55:18.835Z,1761688518.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502403,-0.809858,-0.302855],[0.860982,0.436428,0.261230],[-0.079384,-0.391996,0.916536]] 2025-10-28T21:55:19.069Z,1761688519.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038767 2025-10-28T21:55:19.238Z,1761688519.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527007,-0.796007,-0.297719],[0.846004,0.458036,0.272909],[-0.080872,-0.395697,0.914814]] 2025-10-28T21:55:19.321Z,1761688519.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290967 2025-10-28T21:55:19.573Z,1761688519.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542803 2025-10-28T21:55:19.642Z,1761688519.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550954,-0.781590,-0.292517],[0.830467,0.478914,0.284545],[-0.082307,-0.399697,0.912945]] 2025-10-28T21:55:19.825Z,1761688519.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795227 2025-10-28T21:55:20.048Z,1761688520.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573808,-0.766695,-0.287963],[0.814749,0.498655,0.295850],[-0.083232,-0.404379,0.910796]] 2025-10-28T21:55:20.077Z,1761688520.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046917 2025-10-28T21:55:20.329Z,1761688520.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298860 2025-10-28T21:55:20.454Z,1761688520.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595874,-0.751825,-0.282299],[0.798698,0.518139,0.305965],[-0.083762,-0.407788,0.909227]] 2025-10-28T21:55:20.581Z,1761688520.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551036 2025-10-28T21:55:20.833Z,1761688520.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802844 2025-10-28T21:55:20.855Z,1761688520.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617670,-0.736337,-0.276208],[0.781906,0.537342,0.316048],[-0.084300,-0.411182,0.907647]] 2025-10-28T21:55:21.085Z,1761688521.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054816 2025-10-28T21:55:21.259Z,1761688521.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638970,-0.720189,-0.270268],[0.764612,0.556192,0.325605],[-0.084177,-0.414702,0.906056]] 2025-10-28T21:55:21.337Z,1761688521.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306846 2025-10-28T21:55:21.589Z,1761688521.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558783 2025-10-28T21:55:21.662Z,1761688521.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660231,-0.703697,-0.262497],[0.746404,0.575893,0.333508],[-0.083519,-0.416122,0.905465]] 2025-10-28T21:55:21.841Z,1761688521.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810826 2025-10-28T21:55:22.066Z,1761688522.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681219,-0.686670,-0.253822],[0.727428,0.595880,0.340258],[-0.082398,-0.416428,0.905427]] 2025-10-28T21:55:22.093Z,1761688522.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063043 2025-10-28T21:55:22.345Z,1761688522.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314665 2025-10-28T21:55:22.477Z,1761688522.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702850,-0.667943,-0.244650],[0.706701,0.616464,0.347197],[-0.081090,-0.416922,0.905318]] 2025-10-28T21:55:22.597Z,1761688522.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567330 2025-10-28T21:55:22.849Z,1761688522.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818759 2025-10-28T21:55:22.880Z,1761688522.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724595,-0.648940,-0.232034],[0.684581,0.638934,0.350872],[-0.079440,-0.413087,0.907220]] 2025-10-28T21:55:23.101Z,1761688523.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070854 2025-10-28T21:55:23.280Z,1761688523.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745690,-0.629707,-0.217752],[0.661748,0.661830,0.352235],[-0.077690,-0.406755,0.910228]] 2025-10-28T21:55:23.353Z,1761688523.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322924 2025-10-28T21:55:23.487Z,1761688523.487 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:55:23.605Z,1761688523.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574771 2025-10-28T21:55:23.682Z,1761688523.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766590,-0.609269,-0.202809],[0.637610,0.684785,0.352878],[-0.076117,-0.399826,0.913425]] 2025-10-28T21:55:23.857Z,1761688523.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826818 2025-10-28T21:55:24.087Z,1761688524.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787027,-0.586705,-0.190701],[0.612356,0.705417,0.356941],[-0.074895,-0.397699,0.914454]] 2025-10-28T21:55:24.109Z,1761688524.109 [DAT](INFO): Reached modem response timeout 2025-10-28T21:55:24.488Z,1761688524.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:55:24.493Z,1761688524.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807223,-0.562873,-0.177663],[0.585601,0.726043,0.360463],[-0.073904,-0.395014,0.915698]] 2025-10-28T21:55:24.896Z,1761688524.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826789,-0.537347,-0.166368],[0.557672,0.744287,0.367475],[-0.073636,-0.396603,0.915032]] 2025-10-28T21:55:25.298Z,1761688525.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845484,-0.511794,-0.152392],[0.528909,0.763283,0.371018],[-0.073567,-0.394292,0.916036]] 2025-10-28T21:55:25.702Z,1761688525.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862598,-0.486837,-0.137530],[0.500390,0.781109,0.373469],[-0.074393,-0.390972,0.917391]] 2025-10-28T21:55:25.740Z,1761688525.740 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed] Stopped 2025-10-28T21:55:25.741Z,1761688525.741 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:55:26.106Z,1761688526.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878011,-0.462304,-0.123982],[0.472612,0.796384,0.377374],[-0.075724,-0.389934,0.917724]] 2025-10-28T21:55:26.381Z,1761688526.381 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:55:26.381Z,1761688526.381 [DAT](INFO): response not received 2025-10-28T21:55:26.381Z,1761688526.381 [DAT](ERROR): No response from remote modem. 2025-10-28T21:55:26.512Z,1761688526.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891878,-0.438694,-0.110004],[0.445644,0.810912,0.379239],[-0.077167,-0.387258,0.918737]] 2025-10-28T21:55:26.917Z,1761688526.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904282,-0.415715,-0.097240],[0.419596,0.823321,0.382207],[-0.078829,-0.386424,0.918946]] 2025-10-28T21:55:27.319Z,1761688527.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915745,-0.392720,-0.084751],[0.393561,0.834466,0.385715],[-0.080755,-0.386571,0.918717]] 2025-10-28T21:55:27.723Z,1761688527.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925911,-0.370555,-0.073334],[0.368690,0.844286,0.388907],[-0.082197,-0.387131,0.918353]] 2025-10-28T21:55:28.126Z,1761688528.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935667,-0.347126,-0.063483],[0.342944,0.852081,0.395409],[-0.083165,-0.391742,0.916309]] 2025-10-28T21:55:28.533Z,1761688528.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944728,-0.323469,-0.053440],[0.317013,0.859702,0.400520],[-0.083614,-0.395324,0.914728]] 2025-10-28T21:55:28.557Z,1761688528.557 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:55:28.557Z,1761688528.557 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:55:28.557Z,1761688528.557 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:55:28.557Z,1761688528.557 [marl:UpdateRudder:A] Stopped 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode] Stopped 2025-10-28T21:55:28.558Z,1761688528.558 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:55:28.939Z,1761688528.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953646,-0.297876,-0.042765],[0.288983,0.866849,0.406277],[-0.083950,-0.399803,0.912749]] 2025-10-28T21:55:28.978Z,1761688528.978 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:55:28.978Z,1761688528.978 [marl:UpdateRudder:B] Stopped 2025-10-28T21:55:28.979Z,1761688528.979 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:55:28.979Z,1761688528.979 [marl:UpdateRudder] Stopped 2025-10-28T21:55:28.979Z,1761688528.979 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:55:29.338Z,1761688529.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962046,-0.271238,-0.029967],[0.259570,0.875676,0.407205],[-0.084208,-0.399528,0.912845]] 2025-10-28T21:55:29.743Z,1761688529.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969531,-0.244353,-0.017348],[0.230078,0.884003,0.406944],[-0.084102,-0.398536,0.913288]] 2025-10-28T21:55:30.148Z,1761688530.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976264,-0.216541,-0.004320],[0.199576,0.891672,0.406314],[-0.084132,-0.397532,0.913723]] 2025-10-28T21:55:30.551Z,1761688530.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982015,-0.188567,0.009402],[0.168996,0.900117,0.401534],[-0.084179,-0.392724,0.915796]] 2025-10-28T21:55:30.961Z,1761688530.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986828,-0.160100,0.023202],[0.137914,0.907560,0.396630],[-0.084558,-0.388206,0.917685]] 2025-10-28T21:55:31.359Z,1761688531.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990643,-0.131416,0.036819],[0.106729,0.914128,0.391126],[-0.085057,-0.383537,0.919600]] 2025-10-28T21:55:31.768Z,1761688531.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993511,-0.102201,0.049907],[0.074980,0.918494,0.388262],[-0.085520,-0.382000,0.920197]] 2025-10-28T21:55:32.167Z,1761688532.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995345,-0.072994,0.062930],[0.043035,0.920876,0.387473],[-0.086233,-0.382961,0.919731]] 2025-10-28T21:55:32.570Z,1761688532.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996149,-0.043559,0.076094],[0.011023,0.923199,0.384164],[-0.086984,-0.381846,0.920124]] 2025-10-28T21:55:32.975Z,1761688532.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995905,-0.013532,0.089386],[-0.021957,0.922924,0.384357],[-0.087698,-0.384745,0.918847]] 2025-10-28T21:55:33.380Z,1761688533.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994554,0.016974,0.102827],[-0.055300,0.922247,0.382626],[-0.088337,-0.386229,0.918163]] 2025-10-28T21:55:33.790Z,1761688533.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992149,0.047433,0.115714],[-0.088303,0.920916,0.379626],[-0.088556,-0.386863,0.917875]] 2025-10-28T21:55:34.187Z,1761688534.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988712,0.077342,0.128326],[-0.120616,0.918961,0.375451],[-0.088889,-0.386691,0.917916]] 2025-10-28T21:55:34.591Z,1761688534.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984280,0.106935,0.140561],[-0.152537,0.915864,0.371383],[-0.089021,-0.386985,0.917779]] 2025-10-28T21:55:34.995Z,1761688534.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979065,0.135306,0.152064],[-0.183033,0.912076,0.366902],[-0.089050,-0.387054,0.917747]] 2025-10-28T21:55:35.400Z,1761688535.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972868,0.163316,0.163876],[-0.213450,0.906842,0.363424],[-0.089257,-0.388543,0.917097]] 2025-10-28T21:55:36.206Z,1761688536.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957833,0.217361,0.187909],[-0.272979,0.892489,0.359090],[-0.089655,-0.395244,0.914191]] 2025-10-28T21:55:36.611Z,1761688536.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949129,0.243235,0.199976],[-0.301705,0.884293,0.356371],[-0.090155,-0.398576,0.912693]] 2025-10-28T21:55:37.018Z,1761688537.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939578,0.269348,0.211295],[-0.330170,0.876063,0.351427],[-0.090452,-0.399956,0.912060]] 2025-10-28T21:55:37.433Z,1761688537.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929309,0.295541,0.221451],[-0.358059,0.867896,0.344313],[-0.090438,-0.399266,0.912364]] 2025-10-28T21:55:37.823Z,1761688537.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918081,0.321818,0.231430],[-0.385972,0.858752,0.337002],[-0.090287,-0.398721,0.912617]] 2025-10-28T21:55:38.230Z,1761688538.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906108,0.347725,0.240948],[-0.413263,0.849338,0.328388],[-0.090458,-0.397130,0.913294]] 2025-10-28T21:55:38.631Z,1761688538.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893675,0.373401,0.248830],[-0.439474,0.840325,0.317358],[-0.090597,-0.392969,0.915078]] 2025-10-28T21:55:39.035Z,1761688539.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880780,0.397367,0.257538],[-0.464664,0.830014,0.308486],[-0.091178,-0.391377,0.915702]] 2025-10-28T21:55:39.066Z,1761688539.066 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:55:39.066Z,1761688539.066 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:55:39.066Z,1761688539.066 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:55:39.067Z,1761688539.067 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:55:39.067Z,1761688539.067 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:55:39.067Z,1761688539.067 [marl:UpdateSpeed] Stopped 2025-10-28T21:55:39.067Z,1761688539.067 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:55:39.449Z,1761688539.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867528,0.419179,0.267740],[-0.488828,0.817973,0.303260],[-0.091884,-0.393966,0.914521]] 2025-10-28T21:55:39.843Z,1761688539.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853764,0.439333,0.279417],[-0.512422,0.804097,0.301417],[-0.092256,-0.400518,0.911632]] 2025-10-28T21:55:40.246Z,1761688540.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839758,0.458799,0.290361],[-0.535053,0.790192,0.298855],[-0.092326,-0.406325,0.909052]] 2025-10-28T21:55:40.656Z,1761688540.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825538,0.476820,0.301876],[-0.556772,0.775485,0.297703],[-0.092150,-0.413842,0.905673]] 2025-10-28T21:55:41.056Z,1761688541.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810806,0.494585,0.313016],[-0.578136,0.760219,0.296355],[-0.091388,-0.421252,0.902327]] 2025-10-28T21:55:41.461Z,1761688541.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795511,0.512865,0.322696],[-0.599156,0.745242,0.292619],[-0.090413,-0.426127,0.900134]] 2025-10-28T21:55:41.863Z,1761688541.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779184,0.530849,0.333274],[-0.620373,0.729071,0.289125],[-0.089499,-0.432036,0.897405]] 2025-10-28T21:55:41.910Z,1761688541.910 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:55:41.911Z,1761688541.911 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:55:41.912Z,1761688541.912 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:55:41.916Z,1761688541.916 [marl:UpdateRudder:A] Stopped 2025-10-28T21:55:41.916Z,1761688541.916 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:55:41.916Z,1761688541.916 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:55:41.917Z,1761688541.917 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:55:41.917Z,1761688541.917 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:55:41.917Z,1761688541.917 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:55:41.917Z,1761688541.917 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:55:41.917Z,1761688541.917 [marl:UpdateCommandMode] Stopped 2025-10-28T21:55:41.918Z,1761688541.918 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:55:42.329Z,1761688542.329 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:55:42.329Z,1761688542.329 [marl:UpdateRudder:B] Stopped 2025-10-28T21:55:42.330Z,1761688542.330 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:55:42.330Z,1761688542.330 [marl:UpdateRudder] Stopped 2025-10-28T21:55:42.330Z,1761688542.330 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:55:42.679Z,1761688542.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740633,0.572195,0.352215],[-0.666153,0.693785,0.273682],[-0.087763,-0.437327,0.895010]] 2025-10-28T21:55:43.075Z,1761688543.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718883,0.595027,0.359375],[-0.689605,0.675527,0.260976],[-0.087480,-0.435438,0.895958]] 2025-10-28T21:55:43.482Z,1761688543.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695286,0.620664,0.362426],[-0.713383,0.657357,0.242829],[-0.087527,-0.427385,0.899823]] 2025-10-28T21:55:43.883Z,1761688543.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670583,0.648198,0.360774],[-0.736576,0.639589,0.219956],[-0.088172,-0.413237,0.906345]] 2025-10-28T21:55:44.690Z,1761688544.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618541,0.703351,0.350293],[-0.780566,0.601159,0.171244],[-0.090137,-0.379348,0.920853]] 2025-10-28T21:55:45.098Z,1761688545.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591003,0.726299,0.351007],[-0.801571,0.577602,0.154467],[-0.090554,-0.372647,0.923544]] 2025-10-28T21:55:45.502Z,1761688545.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562836,0.747384,0.353033],[-0.821640,0.552453,0.140368],[-0.090125,-0.369070,0.925021]] 2025-10-28T21:55:45.912Z,1761688545.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533973,0.767164,0.355432],[-0.840862,0.525819,0.128317],[-0.088452,-0.367387,0.925853]] 2025-10-28T21:55:46.307Z,1761688546.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505386,0.783517,0.361505],[-0.858580,0.498438,0.119997],[-0.086168,-0.371026,0.924616]] 2025-10-28T21:55:46.711Z,1761688546.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478713,0.796117,0.370177],[-0.873956,0.472376,0.114289],[-0.083875,-0.378230,0.921904]] 2025-10-28T21:55:47.156Z,1761688547.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431037,0.813746,0.389903],[-0.898813,0.425339,0.105933],[-0.079638,-0.396111,0.914742]] 2025-10-28T21:55:47.528Z,1761688547.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408418,0.818476,0.404093],[-0.909518,0.402382,0.104242],[-0.077281,-0.410104,0.908759]] 2025-10-28T21:55:47.931Z,1761688547.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385577,0.821855,0.419387],[-0.919618,0.379279,0.102225],[-0.075051,-0.425091,0.902034]] 2025-10-28T21:55:48.333Z,1761688548.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362248,0.824937,0.433883],[-0.929213,0.356112,0.098725],[-0.073069,-0.438933,0.895544]] 2025-10-28T21:55:48.735Z,1761688548.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337909,0.830142,0.443488],[-0.938512,0.332647,0.092422],[-0.070802,-0.447449,0.891502]] 2025-10-28T21:55:49.175Z,1761688549.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312462,0.836231,0.450649],[-0.947448,0.308616,0.084252],[-0.068623,-0.453292,0.888717]] 2025-10-28T21:55:49.541Z,1761688549.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285645,0.844917,0.452242],[-0.956036,0.283905,0.073436],[-0.066346,-0.453336,0.888867]] 2025-10-28T21:55:49.943Z,1761688549.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257570,0.857277,0.445795],[-0.964145,0.258524,0.059910],[-0.063889,-0.445242,0.893128]] 2025-10-28T21:55:50.347Z,1761688550.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228793,0.869387,0.437973],[-0.971527,0.232371,0.046254],[-0.061559,-0.436085,0.897797]] 2025-10-28T21:55:50.758Z,1761688550.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200151,0.882708,0.425166],[-0.977935,0.206497,0.031652],[-0.059856,-0.422120,0.904562]] 2025-10-28T21:55:51.181Z,1761688551.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171292,0.895543,0.410684],[-0.983491,0.180117,0.017437],[-0.058356,-0.406891,0.911611]] 2025-10-28T21:55:51.562Z,1761688551.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142455,0.904460,0.402069],[-0.988159,0.153345,0.005157],[-0.056991,-0.398043,0.915595]] 2025-10-28T21:55:51.962Z,1761688551.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113776,0.911296,0.395721],[-0.991924,0.126667,-0.006506],[-0.056053,-0.391785,0.918348]] 2025-10-28T21:55:52.366Z,1761688552.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084938,0.915452,0.393361],[-0.994848,0.099850,-0.017560],[-0.055353,-0.389843,0.919216]] 2025-10-28T21:55:52.431Z,1761688552.431 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:55:52.431Z,1761688552.431 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:55:52.431Z,1761688552.431 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:55:52.431Z,1761688552.431 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:55:52.432Z,1761688552.432 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:55:52.436Z,1761688552.436 [marl:UpdateSpeed] Stopped 2025-10-28T21:55:52.436Z,1761688552.436 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:55:52.780Z,1761688552.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055442,0.917736,0.393303],[-0.996950,0.072549,-0.028751],[-0.054920,-0.390510,0.918959]] 2025-10-28T21:55:53.187Z,1761688553.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024774,0.917717,0.396461],[-0.998189,0.044454,-0.040526],[-0.054816,-0.394739,0.917157]] 2025-10-28T21:55:53.578Z,1761688553.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006643,0.917107,0.398586],[-0.998454,0.015912,-0.053251],[-0.055179,-0.398324,0.915584]] 2025-10-28T21:55:53.984Z,1761688553.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039560,0.916728,0.397549],[-0.997651,-0.013970,-0.067061],[-0.055923,-0.399268,0.915127]] 2025-10-28T21:55:54.397Z,1761688554.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073513,0.917529,0.390816],[-0.995660,-0.045099,-0.081405],[-0.057066,-0.395104,0.916862]] 2025-10-28T21:55:54.624Z,1761688554.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:55:54.794Z,1761688554.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108052,0.918091,0.381359],[-0.992443,-0.077176,-0.095398],[-0.058152,-0.388785,0.919492]] 2025-10-28T21:55:55.195Z,1761688555.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142827,0.916461,0.373764],[-0.987985,-0.109485,-0.109083],[-0.059049,-0.384853,0.921087]] 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateRudder:A] Stopped 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:55:55.252Z,1761688555.252 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode] Stopped 2025-10-28T21:55:55.253Z,1761688555.253 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:55:55.602Z,1761688555.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178670,0.914150,0.363879],[-0.982138,-0.143523,-0.121679],[-0.059008,-0.379119,0.923464]] 2025-10-28T21:55:55.627Z,1761688555.627 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:55:55.627Z,1761688555.627 [marl:UpdateRudder:B] Stopped 2025-10-28T21:55:55.627Z,1761688555.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:55:55.627Z,1761688555.627 [marl:UpdateRudder] Stopped 2025-10-28T21:55:55.627Z,1761688555.627 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:55:55.628Z,1761688555.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:55:56.004Z,1761688556.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214267,0.910780,0.352945],[-0.975037,-0.177890,-0.132883],[-0.058242,-0.372607,0.926160]] 2025-10-28T21:55:56.417Z,1761688556.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248942,0.904124,0.347258],[-0.966827,-0.210805,-0.144243],[-0.057210,-0.371647,0.926610]] 2025-10-28T21:55:56.810Z,1761688556.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281451,0.894918,0.346277],[-0.957907,-0.240756,-0.156368],[-0.056568,-0.375711,0.925009]] 2025-10-28T21:55:57.215Z,1761688557.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311865,0.882472,0.352114],[-0.948492,-0.267431,-0.169834],[-0.055708,-0.386943,0.920419]] 2025-10-28T21:55:57.627Z,1761688557.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341157,0.869795,0.356467],[-0.938426,-0.293167,-0.182783],[-0.054479,-0.396875,0.916254]] 2025-10-28T21:55:58.022Z,1761688558.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369933,0.856433,0.360100],[-0.927553,-0.318409,-0.195603],[-0.052862,-0.406372,0.912177]] 2025-10-28T21:55:58.464Z,1761688558.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397790,0.842961,0.362187],[-0.916060,-0.342993,-0.207819],[-0.050956,-0.414454,0.908643]] 2025-10-28T21:55:58.831Z,1761688558.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425352,0.830306,0.360093],[-0.903720,-0.368290,-0.218293],[-0.048631,-0.418275,0.907018]] 2025-10-28T21:55:59.236Z,1761688559.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452040,0.818389,0.354823],[-0.890810,-0.393667,-0.226899],[-0.046009,-0.418648,0.906982]] 2025-10-28T21:55:59.641Z,1761688559.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477605,0.805001,0.351947],[-0.877516,-0.417419,-0.236068],[-0.043126,-0.421586,0.905762]] 2025-10-28T21:56:00.043Z,1761688560.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501679,0.792500,0.346789],[-0.864122,-0.440502,-0.243415],[-0.040145,-0.421784,0.905807]] 2025-10-28T21:56:00.446Z,1761688560.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525015,0.780418,0.339567],[-0.850267,-0.463384,-0.249641],[-0.037474,-0.419788,0.906848]] 2025-10-28T21:56:00.853Z,1761688560.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547310,0.767772,0.333134],[-0.836194,-0.484956,-0.256119],[-0.035086,-0.418741,0.907428]] 2025-10-28T21:56:01.255Z,1761688561.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569804,0.754576,0.325482],[-0.821120,-0.506913,-0.262299],[-0.032934,-0.416719,0.908439]] 2025-10-28T21:56:01.662Z,1761688561.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592550,0.740817,0.316345],[-0.804934,-0.529390,-0.268006],[-0.031073,-0.413444,0.909999]] 2025-10-28T21:56:02.063Z,1761688562.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616292,0.726149,0.304781],[-0.786982,-0.553603,-0.272367],[-0.029051,-0.407715,0.912647]] 2025-10-28T21:56:02.467Z,1761688562.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640370,0.709402,0.294405],[-0.767583,-0.577486,-0.278076],[-0.027253,-0.404052,0.914330]] 2025-10-28T21:56:02.875Z,1761688562.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664952,0.692077,0.280835],[-0.746461,-0.603124,-0.281136],[-0.025190,-0.396574,0.917657]] 2025-10-28T21:56:03.274Z,1761688563.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689882,0.673099,0.266460],[-0.723555,-0.629403,-0.283408],[-0.023051,-0.388317,0.921238]] 2025-10-28T21:56:03.683Z,1761688563.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714556,0.652768,0.251603],[-0.699267,-0.655710,-0.284729],[-0.020883,-0.379393,0.925000]] 2025-10-28T21:56:04.083Z,1761688564.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738369,0.629905,0.240896],[-0.674134,-0.679411,-0.289731],[-0.018835,-0.376325,0.926296]] 2025-10-28T21:56:04.487Z,1761688564.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760704,0.606026,0.232514],[-0.648875,-0.700568,-0.296925],[-0.017052,-0.376744,0.926160]] 2025-10-28T21:56:04.896Z,1761688564.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781222,0.581177,0.227872],[-0.624051,-0.717780,-0.308791],[-0.015901,-0.383438,0.923430]] 2025-10-28T21:56:05.296Z,1761688565.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800587,0.555955,0.223549],[-0.599034,-0.733373,-0.321438],[-0.014760,-0.391253,0.920165]] 2025-10-28T21:56:05.698Z,1761688565.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819220,0.531289,0.215894],[-0.573315,-0.749740,-0.330453],[-0.013701,-0.394489,0.918798]] 2025-10-28T21:56:05.733Z,1761688565.733 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:56:05.733Z,1761688565.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:56:05.733Z,1761688565.733 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:56:05.733Z,1761688565.733 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:56:05.734Z,1761688565.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:56:05.734Z,1761688565.734 [marl:UpdateSpeed] Stopped 2025-10-28T21:56:05.734Z,1761688565.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:56:06.102Z,1761688566.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836985,0.506057,0.208235],[-0.547076,-0.764917,-0.340015],[-0.012784,-0.398508,0.917076]] 2025-10-28T21:56:06.507Z,1761688566.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854553,0.480384,0.197408],[-0.519229,-0.781543,-0.345820],[-0.011844,-0.398021,0.917300]] 2025-10-28T21:56:06.911Z,1761688566.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871256,0.453716,0.187227],[-0.490708,-0.796760,-0.352674],[-0.010839,-0.399143,0.916824]] 2025-10-28T21:56:07.720Z,1761688567.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902268,0.398990,0.163465],[-0.431078,-0.826597,-0.361813],[-0.009240,-0.396918,0.917807]] 2025-10-28T21:56:08.122Z,1761688568.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916268,0.371236,0.150457],[-0.400484,-0.841400,-0.362848],[-0.008107,-0.392721,0.919622]] 2025-10-28T21:56:08.527Z,1761688568.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928777,0.343819,0.138428],[-0.370568,-0.854093,-0.364972],[-0.007254,-0.390275,0.920670]] 2025-10-28T21:56:08.551Z,1761688568.551 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:56:08.551Z,1761688568.551 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:56:08.551Z,1761688568.551 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:56:08.552Z,1761688568.552 [marl:UpdateRudder:A] Stopped 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode] Stopped 2025-10-28T21:56:08.553Z,1761688568.553 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:56:08.930Z,1761688568.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940047,0.316104,0.128023],[-0.340983,-0.864009,-0.370430],[-0.006481,-0.391876,0.919995]] 2025-10-28T21:56:08.966Z,1761688568.966 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:56:08.966Z,1761688568.966 [marl:UpdateRudder:B] Stopped 2025-10-28T21:56:08.966Z,1761688568.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:56:08.966Z,1761688568.966 [marl:UpdateRudder] Stopped 2025-10-28T21:56:08.966Z,1761688568.966 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:56:09.334Z,1761688569.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950036,0.289073,0.117763],[-0.312090,-0.872950,-0.374911],[-0.005576,-0.392932,0.919551]] 2025-10-28T21:56:09.740Z,1761688569.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959111,0.262046,0.106950],[-0.282998,-0.882154,-0.376453],[-0.004301,-0.391326,0.920242]] 2025-10-28T21:56:10.143Z,1761688570.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967063,0.235043,0.097697],[-0.254520,-0.888242,-0.382421],[-0.003106,-0.394691,0.918809]] 2025-10-28T21:56:10.548Z,1761688570.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973921,0.209107,0.088042],[-0.226876,-0.893948,-0.386503],[-0.002116,-0.396398,0.918076]] 2025-10-28T21:56:10.951Z,1761688570.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980064,0.183114,0.077095],[-0.198679,-0.901460,-0.384573],[-0.000923,-0.392224,0.919869]] 2025-10-28T21:56:11.358Z,1761688571.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985431,0.156597,0.066363],[-0.170078,-0.908106,-0.382645],[0.000344,-0.388357,0.921509]] 2025-10-28T21:56:11.765Z,1761688571.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989974,0.129496,0.056419],[-0.141239,-0.912915,-0.382933],[0.001917,-0.387062,0.922051]] 2025-10-28T21:56:12.164Z,1761688572.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993750,0.101601,0.046242],[-0.111584,-0.915963,-0.385437],[0.003195,-0.388188,0.921575]] 2025-10-28T21:56:12.567Z,1761688572.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996695,0.073032,0.035576],[-0.081124,-0.917866,-0.388511],[0.004280,-0.390113,0.920757]] 2025-10-28T21:56:12.970Z,1761688572.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998768,0.043288,0.024247],[-0.049297,-0.921087,-0.386223],[0.005615,-0.386942,0.922087]] 2025-10-28T21:56:13.381Z,1761688573.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999848,0.012066,0.012620],[-0.016027,-0.921000,-0.389233],[0.006926,-0.389376,0.921053]] 2025-10-28T21:56:13.802Z,1761688573.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999831,-0.018352,0.000685],[0.016609,-0.919548,-0.392626],[0.007835,-0.392548,0.919698]] 2025-10-28T21:56:13.842Z,1761688573.842 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:56:14.017Z,1761688574.017 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:56:14.018Z,1761688574.018 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:56:14.183Z,1761688574.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998715,-0.049354,-0.011494],[0.049884,-0.917607,-0.394347],[0.008916,-0.394414,0.918890]] 2025-10-28T21:56:14.270Z,1761688574.270 [DAT](INFO): DAT read: user:336> 2025-10-28T21:56:14.271Z,1761688574.271 [DAT](INFO): DAT read: Tx time:21:56:13.9971 2025-10-28T21:56:14.271Z,1761688574.271 [DAT](INFO): Ping request sent. 2025-10-28T21:56:14.271Z,1761688574.271 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:56:14.272Z,1761688574.272 [DAT](INFO): publishing transmit ping time 2025-10-28T21:56:14.273Z,1761688574.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001277 2025-10-28T21:56:14.521Z,1761688574.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249536 2025-10-28T21:56:14.587Z,1761688574.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996482,-0.080210,-0.024273],[0.083262,-0.914812,-0.395204],[0.009494,-0.395835,0.918272]] 2025-10-28T21:56:14.773Z,1761688574.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501763 2025-10-28T21:56:14.991Z,1761688574.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993171,-0.110649,-0.036981],[0.116226,-0.910885,-0.395955],[0.010127,-0.397550,0.917525]] 2025-10-28T21:56:15.025Z,1761688575.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753728 2025-10-28T21:56:15.277Z,1761688575.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005502 2025-10-28T21:56:15.396Z,1761688575.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988898,-0.139990,-0.049830],[0.148234,-0.906086,-0.396277],[0.010325,-0.399264,0.916778]] 2025-10-28T21:56:15.531Z,1761688575.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259668 2025-10-28T21:56:15.781Z,1761688575.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509974 2025-10-28T21:56:15.817Z,1761688575.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983611,-0.169262,-0.062131],[0.180013,-0.902264,-0.391810],[0.010260,-0.396573,0.917946]] 2025-10-28T21:56:16.033Z,1761688576.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761535 2025-10-28T21:56:16.203Z,1761688576.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977483,-0.197535,-0.074211],[0.210769,-0.896998,-0.388550],[0.010185,-0.395442,0.918434]] 2025-10-28T21:56:16.285Z,1761688576.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013453 2025-10-28T21:56:16.537Z,1761688576.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265955 2025-10-28T21:56:16.608Z,1761688576.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970207,-0.226477,-0.086060],[0.242060,-0.891083,-0.383898],[0.010257,-0.393292,0.919356]] 2025-10-28T21:56:16.789Z,1761688576.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517709 2025-10-28T21:56:17.014Z,1761688577.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962090,-0.254412,-0.098274],[0.272539,-0.883264,-0.381532],[0.010264,-0.393851,0.919117]] 2025-10-28T21:56:17.041Z,1761688577.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769650 2025-10-28T21:56:17.293Z,1761688577.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021568 2025-10-28T21:56:17.415Z,1761688577.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952577,-0.283806,-0.109781],[0.304116,-0.875365,-0.375832],[0.010565,-0.391395,0.920162]] 2025-10-28T21:56:17.545Z,1761688577.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274114 2025-10-28T21:56:17.797Z,1761688577.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525573 2025-10-28T21:56:17.823Z,1761688577.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942017,-0.313073,-0.120785],[0.335378,-0.866367,-0.370042],[0.011206,-0.389094,0.921130]] 2025-10-28T21:56:18.049Z,1761688578.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777563 2025-10-28T21:56:18.222Z,1761688578.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929984,-0.342800,-0.132734],[0.367419,-0.855450,-0.364978],[0.011567,-0.388193,0.921506]] 2025-10-28T21:56:18.302Z,1761688578.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030242 2025-10-28T21:56:18.553Z,1761688578.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281541 2025-10-28T21:56:18.628Z,1761688578.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916478,-0.372828,-0.145144],[0.399908,-0.842905,-0.359979],[0.011868,-0.387957,0.921601]] 2025-10-28T21:56:18.805Z,1761688578.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533613 2025-10-28T21:56:19.030Z,1761688579.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901804,-0.401325,-0.160273],[0.431982,-0.826992,-0.359828],[0.011864,-0.393729,0.919150]] 2025-10-28T21:56:19.057Z,1761688579.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785640 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed] Stopped 2025-10-28T21:56:19.065Z,1761688579.065 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:56:19.309Z,1761688579.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037583 2025-10-28T21:56:19.434Z,1761688579.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886168,-0.428715,-0.175812],[0.463209,-0.809795,-0.360096],[0.012007,-0.400543,0.916199]] 2025-10-28T21:56:19.561Z,1761688579.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289995 2025-10-28T21:56:19.813Z,1761688579.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541478 2025-10-28T21:56:19.851Z,1761688579.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869813,-0.454497,-0.191983],[0.493242,-0.791780,-0.360274],[0.011735,-0.408065,0.912878]] 2025-10-28T21:56:20.065Z,1761688580.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794169 2025-10-28T21:56:20.245Z,1761688580.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853143,-0.478527,-0.207747],[0.521552,-0.773664,-0.359761],[0.011429,-0.415279,0.909622]] 2025-10-28T21:56:20.317Z,1761688580.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045593 2025-10-28T21:56:20.569Z,1761688580.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297510 2025-10-28T21:56:20.647Z,1761688580.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836143,-0.501523,-0.222126],[0.548400,-0.756165,-0.357033],[0.011097,-0.420344,0.907297]] 2025-10-28T21:56:20.821Z,1761688580.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549505 2025-10-28T21:56:21.051Z,1761688581.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819284,-0.523555,-0.233805],[0.573281,-0.740039,-0.351698],[0.011108,-0.422176,0.906446]] 2025-10-28T21:56:21.073Z,1761688581.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801673 2025-10-28T21:56:21.325Z,1761688581.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053543 2025-10-28T21:56:21.455Z,1761688581.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801839,-0.546384,-0.241907],[0.597435,-0.725444,-0.341766],[0.011246,-0.418564,0.908118]] 2025-10-28T21:56:21.581Z,1761688581.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309462 2025-10-28T21:56:21.832Z,1761688581.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560204 2025-10-28T21:56:21.874Z,1761688581.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784107,-0.568728,-0.248443],[0.620514,-0.710838,-0.331167],[0.011742,-0.413833,0.910277]] 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateRudder:A] Stopped 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:56:21.927Z,1761688581.927 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:56:21.928Z,1761688581.928 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:56:21.932Z,1761688581.932 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:56:21.932Z,1761688581.932 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:56:21.932Z,1761688581.932 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:56:21.932Z,1761688581.932 [marl:UpdateCommandMode] Stopped 2025-10-28T21:56:21.933Z,1761688581.933 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:56:22.085Z,1761688582.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813528 2025-10-28T21:56:22.262Z,1761688582.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765919,-0.591063,-0.253007],[0.642814,-0.696288,-0.319332],[0.012580,-0.407219,0.913244]] 2025-10-28T21:56:22.299Z,1761688582.299 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:56:22.299Z,1761688582.299 [marl:UpdateRudder:B] Stopped 2025-10-28T21:56:22.299Z,1761688582.299 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:56:22.300Z,1761688582.300 [marl:UpdateRudder] Stopped 2025-10-28T21:56:22.300Z,1761688582.300 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:56:22.337Z,1761688582.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066075 2025-10-28T21:56:22.589Z,1761688582.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317589 2025-10-28T21:56:22.666Z,1761688582.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747008,-0.613213,-0.256806],[0.664679,-0.681056,-0.307188],[0.013472,-0.400165,0.916344]] 2025-10-28T21:56:22.842Z,1761688582.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570495 2025-10-28T21:56:23.071Z,1761688583.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727116,-0.635022,-0.260861],[0.686366,-0.664536,-0.295456],[0.014269,-0.393877,0.919052]] 2025-10-28T21:56:23.096Z,1761688583.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824246 2025-10-28T21:56:23.345Z,1761688583.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073894 2025-10-28T21:56:23.478Z,1761688583.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706438,-0.655446,-0.267088],[0.707613,-0.646009,-0.286280],[0.015100,-0.391234,0.920168]] 2025-10-28T21:56:23.598Z,1761688583.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326270 2025-10-28T21:56:23.850Z,1761688583.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578353 2025-10-28T21:56:23.879Z,1761688583.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684573,-0.676327,-0.271922],[0.728766,-0.626762,-0.275807],[0.016105,-0.386978,0.921948]] 2025-10-28T21:56:24.101Z,1761688584.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829591 2025-10-28T21:56:24.283Z,1761688584.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661183,-0.696386,-0.279075],[0.750038,-0.605284,-0.266598],[0.016735,-0.385587,0.922520]] 2025-10-28T21:56:24.359Z,1761688584.359 [DAT](INFO): Reached modem response timeout 2025-10-28T21:56:25.095Z,1761688585.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611277,-0.733969,-0.296025],[0.791223,-0.558475,-0.249144],[0.017541,-0.386517,0.922115]] 2025-10-28T21:56:25.495Z,1761688585.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584603,-0.751146,-0.306626],[0.811129,-0.532910,-0.240991],[0.017616,-0.389597,0.920817]] 2025-10-28T21:56:25.748Z,1761688585.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:56:25.898Z,1761688585.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557182,-0.766578,-0.319227],[0.830208,-0.506200,-0.233488],[0.017394,-0.395120,0.918465]] 2025-10-28T21:56:26.302Z,1761688586.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529096,-0.781834,-0.329838],[0.848383,-0.479408,-0.224532],[0.017420,-0.398628,0.916947]] 2025-10-28T21:56:26.625Z,1761688586.625 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:56:26.625Z,1761688586.625 [DAT](INFO): response not received 2025-10-28T21:56:26.625Z,1761688586.625 [DAT](ERROR): No response from remote modem. 2025-10-28T21:56:26.709Z,1761688586.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501071,-0.795572,-0.340578],[0.865228,-0.452557,-0.215808],[0.017560,-0.402813,0.915114]] 2025-10-28T21:56:26.765Z,1761688586.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:56:27.142Z,1761688587.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472841,-0.808739,-0.349803],[0.880978,-0.426104,-0.205701],[0.017305,-0.405433,0.913961]] 2025-10-28T21:56:27.924Z,1761688587.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414872,-0.836534,-0.357898],[0.909710,-0.373770,-0.180895],[0.017553,-0.400632,0.916071]] 2025-10-28T21:56:28.330Z,1761688588.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385438,-0.848789,-0.361931],[0.922556,-0.346791,-0.169193],[0.018095,-0.399116,0.916722]] 2025-10-28T21:56:28.727Z,1761688588.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355377,-0.860093,-0.365987],[0.934533,-0.319036,-0.157686],[0.018862,-0.398065,0.917163]] 2025-10-28T21:56:29.176Z,1761688589.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291953,-0.881982,-0.369961],[0.956197,-0.260571,-0.133382],[0.021239,-0.392696,0.919423]] 2025-10-28T21:56:29.940Z,1761688589.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258592,-0.892309,-0.370021],[0.965715,-0.229723,-0.120918],[0.022894,-0.388603,0.921121]] 2025-10-28T21:56:30.348Z,1761688590.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223828,-0.900569,-0.372662],[0.974326,-0.197231,-0.108575],[0.024279,-0.387396,0.921593]] 2025-10-28T21:56:30.746Z,1761688590.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188050,-0.907032,-0.376736],[0.981835,-0.163743,-0.095860],[0.025260,-0.387919,0.921347]] 2025-10-28T21:56:31.180Z,1761688591.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115440,-0.914689,-0.387322],[0.992992,-0.096324,-0.068481],[0.025331,-0.392513,0.919398]] 2025-10-28T21:56:31.958Z,1761688591.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078771,-0.917838,-0.389060],[0.996584,-0.062787,-0.053651],[0.024815,-0.391957,0.919649]] 2025-10-28T21:56:32.366Z,1761688592.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042221,-0.919282,-0.391329],[0.998813,-0.029317,-0.038892],[0.024280,-0.392507,0.919429]] 2025-10-28T21:56:32.411Z,1761688592.411 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:56:32.411Z,1761688592.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:56:32.412Z,1761688592.412 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:56:32.417Z,1761688592.417 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:56:32.417Z,1761688592.417 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:56:32.417Z,1761688592.417 [marl:UpdateSpeed] Stopped 2025-10-28T21:56:32.417Z,1761688592.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:56:32.778Z,1761688592.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030102,-0.915537,-0.401107],[0.999303,0.036430,-0.008157],[0.022080,-0.400581,0.915995]] 2025-10-28T21:56:33.187Z,1761688593.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065683,-0.911718,-0.405531],[0.997626,0.068425,0.007748],[0.020684,-0.405077,0.914048]] 2025-10-28T21:56:33.579Z,1761688593.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100816,-0.908316,-0.405954],[0.994718,0.099946,0.023405],[0.019314,-0.406169,0.913594]] 2025-10-28T21:56:33.983Z,1761688593.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134797,-0.904149,-0.405395],[0.990703,0.130572,0.038204],[0.018391,-0.406775,0.913343]] 2025-10-28T21:56:34.386Z,1761688594.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168353,-0.897869,-0.406803],[0.985563,0.160850,0.052851],[0.017981,-0.409827,0.911986]] 2025-10-28T21:56:34.790Z,1761688594.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201609,-0.891224,-0.406292],[0.979300,0.191054,0.066859],[0.018038,-0.411361,0.911294]] 2025-10-28T21:56:35.191Z,1761688595.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234570,-0.883656,-0.405128],[0.971929,0.220990,0.080731],[0.018191,-0.412693,0.910689]] 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateRudder:A] Stopped 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:56:35.242Z,1761688595.242 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode] Stopped 2025-10-28T21:56:35.243Z,1761688595.243 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:56:35.595Z,1761688595.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266522,-0.875072,-0.403999],[0.963649,0.250037,0.094143],[0.018633,-0.414404,0.909902]] 2025-10-28T21:56:35.626Z,1761688595.626 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:56:35.626Z,1761688595.626 [marl:UpdateRudder:B] Stopped 2025-10-28T21:56:35.626Z,1761688595.626 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:56:35.626Z,1761688595.626 [marl:UpdateRudder] Stopped 2025-10-28T21:56:35.626Z,1761688595.626 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:56:36.000Z,1761688596.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297807,-0.867134,-0.399236],[0.954427,0.278994,0.105975],[0.019490,-0.412601,0.910703]] 2025-10-28T21:56:36.403Z,1761688596.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329019,-0.859124,-0.391985],[0.944101,0.308266,0.116811],[0.020481,-0.408507,0.912525]] 2025-10-28T21:56:36.814Z,1761688596.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359811,-0.849290,-0.386318],[0.932781,0.336913,0.128101],[0.021361,-0.406442,0.913427]] 2025-10-28T21:56:37.210Z,1761688597.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390774,-0.838826,-0.379034],[0.920215,0.366004,0.138727],[0.022361,-0.403004,0.914925]] 2025-10-28T21:56:37.617Z,1761688597.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421454,-0.827436,-0.371115],[0.906548,0.394975,0.148879],[0.023393,-0.399180,0.916574]] 2025-10-28T21:56:38.019Z,1761688598.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452343,-0.813927,-0.364567],[0.891506,0.423925,0.159703],[0.024562,-0.397254,0.917380]] 2025-10-28T21:56:38.423Z,1761688598.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483983,-0.798239,-0.358573],[0.874704,0.453265,0.171592],[0.025558,-0.396693,0.917595]] 2025-10-28T21:56:38.834Z,1761688598.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515294,-0.780536,-0.353886],[0.856607,0.481807,0.184625],[0.026398,-0.398278,0.916885]] 2025-10-28T21:56:39.231Z,1761688599.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546842,-0.760880,-0.349322],[0.836810,0.510027,0.199052],[0.026709,-0.401166,0.915616]] 2025-10-28T21:56:39.635Z,1761688599.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577794,-0.740337,-0.343592],[0.815743,0.537636,0.213334],[0.026788,-0.403546,0.914567]] 2025-10-28T21:56:40.042Z,1761688600.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607776,-0.720426,-0.334058],[0.793666,0.565107,0.225272],[0.026486,-0.402045,0.915237]] 2025-10-28T21:56:40.443Z,1761688600.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636919,-0.699655,-0.323755],[0.770505,0.591671,0.237165],[0.025623,-0.400510,0.915934]] 2025-10-28T21:56:40.847Z,1761688600.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664539,-0.678917,-0.312187],[0.746856,0.617069,0.247853],[0.024370,-0.397866,0.917120]] 2025-10-28T21:56:41.251Z,1761688601.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691148,-0.656619,-0.301936],[0.722362,0.640652,0.260304],[0.022516,-0.398016,0.917102]] 2025-10-28T21:56:41.656Z,1761688601.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716069,-0.634119,-0.291783],[0.697727,0.662522,0.272473],[0.020533,-0.398694,0.916854]] 2025-10-28T21:56:42.058Z,1761688602.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740010,-0.609776,-0.283829],[0.672336,0.682368,0.286947],[0.018702,-0.403172,0.914933]] 2025-10-28T21:56:42.462Z,1761688602.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762731,-0.585796,-0.274015],[0.646486,0.701937,0.298899],[0.017247,-0.405127,0.914098]] 2025-10-28T21:56:42.866Z,1761688602.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784198,-0.561729,-0.263615],[0.620299,0.720741,0.309452],[0.016170,-0.406192,0.913645]] 2025-10-28T21:56:43.270Z,1761688603.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805138,-0.536696,-0.252411],[0.592896,0.739168,0.319538],[0.015080,-0.406925,0.913337]] 2025-10-28T21:56:43.676Z,1761688603.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825046,-0.510556,-0.242141],[0.564888,0.755987,0.330735],[0.014197,-0.409654,0.912130]] 2025-10-28T21:56:44.078Z,1761688604.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843684,-0.484685,-0.230822],[0.536661,0.772577,0.339292],[0.013878,-0.410128,0.911922]] 2025-10-28T21:56:44.483Z,1761688604.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861623,-0.457557,-0.219654],[0.507363,0.788173,0.348376],[0.013724,-0.411613,0.911256]] 2025-10-28T21:56:44.887Z,1761688604.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878929,-0.430304,-0.205722],[0.476748,0.805230,0.352583],[0.013936,-0.407974,0.912887]] 2025-10-28T21:56:45.299Z,1761688605.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894411,-0.404389,-0.191046],[0.447028,0.821656,0.353621],[0.013974,-0.401686,0.915671]] 2025-10-28T21:56:45.694Z,1761688605.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908989,-0.377224,-0.177318],[0.416580,0.836621,0.355706],[0.014167,-0.397200,0.917623]] 2025-10-28T21:56:45.738Z,1761688605.738 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:56:45.738Z,1761688605.738 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:56:45.738Z,1761688605.738 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:56:45.739Z,1761688605.739 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:56:45.739Z,1761688605.739 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:56:45.739Z,1761688605.739 [marl:UpdateSpeed] Stopped 2025-10-28T21:56:45.739Z,1761688605.739 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:56:46.099Z,1761688606.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922257,-0.350012,-0.164115],[0.386316,0.850066,0.357978],[0.014212,-0.393548,0.919194]] 2025-10-28T21:56:46.507Z,1761688606.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934187,-0.323236,-0.151040],[0.356506,0.862372,0.359468],[0.014060,-0.389657,0.920853]] 2025-10-28T21:56:46.906Z,1761688606.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945079,-0.296259,-0.138044],[0.326551,0.873712,0.360545],[0.013796,-0.385822,0.922470]] 2025-10-28T21:56:47.317Z,1761688607.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954897,-0.268655,-0.126477],[0.296631,0.882417,0.365172],[0.013500,-0.386219,0.922308]] 2025-10-28T21:56:47.714Z,1761688607.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963733,-0.240708,-0.115232],[0.266531,0.889866,0.370271],[0.013413,-0.387555,0.921749]] 2025-10-28T21:56:48.118Z,1761688608.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971607,-0.212724,-0.103579],[0.236227,0.896802,0.374091],[0.013312,-0.387937,0.921590]] 2025-10-28T21:56:48.526Z,1761688608.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978489,-0.184666,-0.091966],[0.205889,0.902244,0.378901],[0.013006,-0.389685,0.920856]] 2025-10-28T21:56:48.566Z,1761688608.566 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:56:48.566Z,1761688608.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:56:48.566Z,1761688608.566 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateRudder:A] Stopped 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:56:48.567Z,1761688608.567 [marl:UpdateCommandMode] Stopped 2025-10-28T21:56:48.568Z,1761688608.568 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:56:48.927Z,1761688608.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984467,-0.156308,-0.079950],[0.175104,0.907251,0.382405],[0.012762,-0.390465,0.920529]] 2025-10-28T21:56:48.955Z,1761688608.955 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:56:48.955Z,1761688608.955 [marl:UpdateRudder:B] Stopped 2025-10-28T21:56:48.955Z,1761688608.955 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:56:48.955Z,1761688608.955 [marl:UpdateRudder] Stopped 2025-10-28T21:56:48.955Z,1761688608.955 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:56:49.333Z,1761688609.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989710,-0.126254,-0.067338],[0.142541,0.911071,0.386822],[0.012511,-0.392440,0.919692]] 2025-10-28T21:56:49.735Z,1761688609.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993899,-0.096120,-0.054096],[0.109610,0.915391,0.387357],[0.012286,-0.390923,0.920341]] 2025-10-28T21:56:50.138Z,1761688610.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997069,-0.064901,-0.040512],[0.075556,0.918546,0.388027],[0.012028,-0.389951,0.920757]] 2025-10-28T21:56:50.545Z,1761688610.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999099,-0.033085,-0.026582],[0.040845,0.919716,0.390455],[0.011530,-0.391189,0.920238]] 2025-10-28T21:56:50.955Z,1761688610.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999917,-0.000772,-0.012834],[0.005708,0.921098,0.389290],[0.011520,-0.389331,0.921026]] 2025-10-28T21:56:51.352Z,1761688611.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999523,0.030877,0.000282],[-0.028587,0.921854,0.386481],[0.011673,-0.386305,0.922297]] 2025-10-28T21:56:51.755Z,1761688611.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997998,0.061822,0.013351],[-0.062180,0.920437,0.385915],[0.011569,-0.385972,0.922438]] 2025-10-28T21:56:52.159Z,1761688612.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995488,0.091233,0.026078],[-0.094219,0.917859,0.385563],[0.011240,-0.386280,0.922313]] 2025-10-28T21:56:52.571Z,1761688612.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992127,0.119422,0.037708],[-0.124724,0.915068,0.383528],[0.011296,-0.385212,0.922759]] 2025-10-28T21:56:52.967Z,1761688612.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987981,0.146568,0.049101],[-0.154159,0.911046,0.382401],[0.011315,-0.385375,0.922691]] 2025-10-28T21:56:53.372Z,1761688613.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983056,0.173201,0.060012],[-0.182947,0.906674,0.380095],[0.011422,-0.384634,0.922998]] 2025-10-28T21:56:53.783Z,1761688613.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977414,0.198811,0.071658],[-0.211043,0.900565,0.380056],[0.011026,-0.386595,0.922183]] 2025-10-28T21:56:54.180Z,1761688614.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970866,0.224527,0.083706],[-0.239386,0.893248,0.380528],[0.010668,-0.389480,0.920973]] 2025-10-28T21:56:54.586Z,1761688614.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963201,0.250923,0.096339],[-0.268586,0.884865,0.380626],[0.010260,-0.392495,0.919697]] 2025-10-28T21:56:54.986Z,1761688614.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954417,0.278088,0.108420],[-0.298313,0.876760,0.377229],[0.009844,-0.392377,0.919752]] 2025-10-28T21:56:55.393Z,1761688615.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944304,0.305754,0.121670],[-0.328942,0.866562,0.375322],[0.009321,-0.394441,0.918874]] 2025-10-28T21:56:55.800Z,1761688615.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932418,0.335261,0.134897],[-0.361266,0.855273,0.371476],[0.009168,-0.395105,0.918590]] 2025-10-28T21:56:56.198Z,1761688616.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918966,0.365487,0.148054],[-0.394235,0.843053,0.365842],[0.008893,-0.394565,0.918825]] 2025-10-28T21:56:56.603Z,1761688616.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904205,0.395558,0.161079],[-0.427019,0.829998,0.358828],[0.008242,-0.393238,0.919400]] 2025-10-28T21:56:56.900Z,1761688616.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:56:57.007Z,1761688617.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888226,0.425744,0.172618],[-0.459346,0.816908,0.348802],[0.007487,-0.389107,0.921162]] 2025-10-28T21:56:57.411Z,1761688617.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871381,0.455355,0.182613],[-0.490559,0.803491,0.337274],[0.006852,-0.383477,0.923525]] 2025-10-28T21:56:57.814Z,1761688617.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854057,0.484135,0.190263],[-0.520144,0.790534,0.323275],[0.006099,-0.375060,0.926981]] 2025-10-28T21:56:57.905Z,1761688617.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:56:58.220Z,1761688618.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837273,0.510141,0.196799],[-0.546765,0.778110,0.309181],[0.004595,-0.366472,0.930418]] 2025-10-28T21:56:58.622Z,1761688618.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820092,0.534396,0.204623],[-0.572223,0.763818,0.298570],[0.003260,-0.361944,0.932194]] 2025-10-28T21:56:59.027Z,1761688619.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801924,0.556799,0.216547],[-0.597423,0.746216,0.293680],[0.001930,-0.364879,0.931053]] 2025-10-28T21:56:59.067Z,1761688619.067 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:56:59.067Z,1761688619.067 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:56:59.067Z,1761688619.067 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:56:59.067Z,1761688619.067 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:56:59.068Z,1761688619.068 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:56:59.068Z,1761688619.068 [marl:UpdateSpeed] Stopped 2025-10-28T21:56:59.068Z,1761688619.068 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:56:59.431Z,1761688619.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783360,0.576853,0.231489],[-0.621568,0.726538,0.292910],[0.000781,-0.373340,0.927694]] 2025-10-28T21:56:59.834Z,1761688619.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763249,0.596305,0.248739],[-0.646104,0.704727,0.293102],[-0.000515,-0.384421,0.923158]] 2025-10-28T21:57:00.239Z,1761688620.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741737,0.615918,0.265464],[-0.670689,0.682022,0.291586],[-0.001459,-0.394324,0.918970]] 2025-10-28T21:57:00.648Z,1761688620.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718429,0.636753,0.280010],[-0.695597,0.658899,0.286351],[-0.002164,-0.400496,0.916296]] 2025-10-28T21:57:01.046Z,1761688621.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693531,0.657605,0.294229],[-0.720422,0.634583,0.279814],[-0.002705,-0.406029,0.913856]] 2025-10-28T21:57:01.450Z,1761688621.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668525,0.679290,0.302721],[-0.743683,0.612422,0.268094],[-0.003279,-0.404356,0.914596]] 2025-10-28T21:57:01.855Z,1761688621.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642202,0.701925,0.308022],[-0.766528,0.589885,0.253911],[-0.003470,-0.399169,0.916871]] 2025-10-28T21:57:01.889Z,1761688621.889 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:57:01.889Z,1761688621.889 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:57:01.889Z,1761688621.889 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:57:01.889Z,1761688621.889 [marl:UpdateRudder:A] Stopped 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode] Stopped 2025-10-28T21:57:01.890Z,1761688621.890 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:57:02.266Z,1761688622.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615475,0.723717,0.312130],[-0.788149,0.566903,0.239672],[-0.003493,-0.393517,0.919311]] 2025-10-28T21:57:02.305Z,1761688622.305 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:57:02.305Z,1761688622.305 [marl:UpdateRudder:B] Stopped 2025-10-28T21:57:02.305Z,1761688622.305 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:57:02.305Z,1761688622.305 [marl:UpdateRudder] Stopped 2025-10-28T21:57:02.305Z,1761688622.305 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:57:02.663Z,1761688622.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589087,0.744065,0.315189],[-0.808062,0.544116,0.225772],[-0.003510,-0.387691,0.921783]] 2025-10-28T21:57:03.068Z,1761688623.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563976,0.762827,0.316269],[-0.825784,0.522610,0.212036],[-0.003539,-0.380753,0.924670]] 2025-10-28T21:57:03.499Z,1761688623.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539400,0.779606,0.318216],[-0.842042,0.501000,0.199910],[-0.003575,-0.375783,0.926701]] 2025-10-28T21:57:03.874Z,1761688623.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515882,0.795138,0.318781],[-0.856651,0.480498,0.187805],[-0.003843,-0.369969,0.929036]] 2025-10-28T21:57:04.282Z,1761688624.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492493,0.806653,0.326743],[-0.870306,0.458303,0.180349],[-0.004268,-0.373187,0.927746]] 2025-10-28T21:57:04.687Z,1761688624.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469221,0.815932,0.337768],[-0.883066,0.435739,0.174144],[-0.005089,-0.379983,0.924979]] 2025-10-28T21:57:05.088Z,1761688625.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445647,0.825279,0.346862],[-0.895186,0.413595,0.166078],[-0.006400,-0.384518,0.923095]] 2025-10-28T21:57:05.491Z,1761688625.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420962,0.833638,0.357546],[-0.907042,0.390411,0.157653],[-0.008165,-0.390675,0.920492]] 2025-10-28T21:57:05.895Z,1761688625.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394228,0.842758,0.366530],[-0.918959,0.365821,0.147277],[-0.009965,-0.394886,0.918676]] 2025-10-28T21:57:06.299Z,1761688626.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364559,0.853589,0.372133],[-0.931112,0.338997,0.134579],[-0.011277,-0.395559,0.918371]] 2025-10-28T21:57:06.709Z,1761688626.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333136,0.865141,0.374903],[-0.942798,0.310835,0.120469],[-0.012310,-0.393590,0.919204]] 2025-10-28T21:57:07.124Z,1761688627.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300562,0.876191,0.376765],[-0.953672,0.281539,0.106049],[-0.013155,-0.391184,0.920218]] 2025-10-28T21:57:07.511Z,1761688627.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267119,0.887672,0.375082],[-0.963564,0.251612,0.090748],[-0.013821,-0.385656,0.922539]] 2025-10-28T21:57:07.915Z,1761688627.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232661,0.898853,0.371391],[-0.972457,0.220494,0.075557],[-0.013974,-0.378741,0.925397]] 2025-10-28T21:57:08.320Z,1761688628.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198181,0.907198,0.371100],[-0.980064,0.188846,0.061734],[-0.014076,-0.375937,0.926538]] 2025-10-28T21:57:08.723Z,1761688628.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164231,0.913021,0.373392],[-0.986320,0.157435,0.048856],[-0.014178,-0.376307,0.926386]] 2025-10-28T21:57:09.172Z,1761688629.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131040,0.917290,0.376043],[-0.991271,0.126780,0.036173],[-0.014493,-0.377500,0.925896]] 2025-10-28T21:57:09.531Z,1761688629.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097956,0.919973,0.379545],[-0.995086,0.096078,0.023939],[-0.014443,-0.380025,0.924863]] 2025-10-28T21:57:09.935Z,1761688629.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065444,0.922000,0.381618],[-0.997749,0.066070,0.011478],[-0.014631,-0.381510,0.924249]] 2025-10-28T21:57:10.338Z,1761688630.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033013,0.923442,0.382314],[-0.999344,0.036203,-0.001152],[-0.014904,-0.382025,0.924032]] 2025-10-28T21:57:10.750Z,1761688630.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000757,0.922427,0.386171],[-0.999878,0.006722,-0.014096],[-0.015599,-0.386114,0.922319]] 2025-10-28T21:57:11.176Z,1761688631.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032186,0.920779,0.388755],[-0.999349,-0.023306,-0.027537],[-0.016295,-0.389388,0.920929]] 2025-10-28T21:57:11.551Z,1761688631.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066372,0.919149,0.388278],[-0.997656,-0.054640,-0.041191],[-0.016645,-0.390102,0.920621]] 2025-10-28T21:57:11.954Z,1761688631.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100949,0.918351,0.382677],[-0.994747,-0.086621,-0.054538],[-0.016937,-0.386172,0.922271]] 2025-10-28T21:57:12.358Z,1761688632.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135309,0.915757,0.378259],[-0.990649,-0.118301,-0.067967],[-0.017493,-0.383919,0.923201]] 2025-10-28T21:57:12.772Z,1761688632.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169341,0.912357,0.372732],[-0.985391,-0.149789,-0.081038],[-0.018105,-0.381009,0.924394]] 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:57:12.823Z,1761688632.823 [marl:UpdateSpeed] Stopped 2025-10-28T21:57:12.824Z,1761688632.824 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:57:13.183Z,1761688633.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201765,0.907973,0.367255],[-0.979251,-0.179759,-0.093565],[-0.018937,-0.378513,0.925402]] 2025-10-28T21:57:13.977Z,1761688633.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266739,0.891502,0.366162],[-0.963560,-0.238785,-0.120554],[-0.020040,-0.384975,0.922709]] 2025-10-28T21:57:14.006Z,1761688634.006 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:57:14.029Z,1761688634.029 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:57:14.029Z,1761688634.029 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:57:14.281Z,1761688634.281 [DAT](INFO): DAT read: user:337> 2025-10-28T21:57:14.282Z,1761688634.282 [DAT](INFO): DAT read: Tx time:21:57:13.9969 2025-10-28T21:57:14.282Z,1761688634.282 [DAT](INFO): Ping request sent. 2025-10-28T21:57:14.282Z,1761688634.282 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:57:14.282Z,1761688634.282 [DAT](INFO): publishing transmit ping time 2025-10-28T21:57:14.283Z,1761688634.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932 2025-10-28T21:57:14.378Z,1761688634.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298325,0.881906,0.365025],[-0.954240,-0.267288,-0.134102],[-0.020699,-0.388328,0.921289]] 2025-10-28T21:57:14.534Z,1761688634.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251553 2025-10-28T21:57:14.786Z,1761688634.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503559 2025-10-28T21:57:14.790Z,1761688634.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328530,0.871365,0.364405],[-0.944243,-0.294121,-0.147982],[-0.021767,-0.392703,0.919408]] 2025-10-28T21:57:15.037Z,1761688635.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754849 2025-10-28T21:57:15.289Z,1761688635.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007104 2025-10-28T21:57:15.541Z,1761688635.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259143 2025-10-28T21:57:15.591Z,1761688635.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387189,0.852587,0.350971],[-0.921700,-0.348198,-0.170963],[-0.023553,-0.389684,0.920647]] 2025-10-28T21:57:15.670Z,1761688635.670 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:57:15.670Z,1761688635.670 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateRudder:A] Stopped 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:57:15.671Z,1761688635.671 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:57:15.672Z,1761688635.672 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:57:15.672Z,1761688635.672 [marl:UpdateCommandMode] Stopped 2025-10-28T21:57:15.672Z,1761688635.672 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:57:15.793Z,1761688635.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961 2025-10-28T21:57:15.995Z,1761688635.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415306,0.842168,0.343910],[-0.909360,-0.374290,-0.181581],[-0.024200,-0.388149,0.921279]] 2025-10-28T21:57:16.045Z,1761688636.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763040 2025-10-28T21:57:16.053Z,1761688636.053 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:57:16.053Z,1761688636.053 [marl:UpdateRudder:B] Stopped 2025-10-28T21:57:16.053Z,1761688636.053 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:57:16.053Z,1761688636.053 [marl:UpdateRudder] Stopped 2025-10-28T21:57:16.053Z,1761688636.053 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:57:16.297Z,1761688636.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014960 2025-10-28T21:57:16.399Z,1761688636.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442763,0.830875,0.337057],[-0.896296,-0.399739,-0.191997],[-0.024791,-0.387112,0.921699]] 2025-10-28T21:57:16.549Z,1761688636.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924 2025-10-28T21:57:16.801Z,1761688636.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519052 2025-10-28T21:57:16.822Z,1761688636.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497177,0.806226,0.320648],[-0.867260,-0.450704,-0.211484],[-0.025987,-0.383230,0.923287]] 2025-10-28T21:57:17.053Z,1761688637.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770959 2025-10-28T21:57:17.305Z,1761688637.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022990 2025-10-28T21:57:17.557Z,1761688637.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274925 2025-10-28T21:57:17.611Z,1761688637.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524722,0.792189,0.311615],[-0.850849,-0.476496,-0.221376],[-0.026888,-0.381298,0.924061]] 2025-10-28T21:57:17.809Z,1761688637.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526974 2025-10-28T21:57:18.020Z,1761688638.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578805,0.760710,0.293777],[-0.814949,-0.526778,-0.241583],[-0.029019,-0.379242,0.924842]] 2025-10-28T21:57:18.061Z,1761688638.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779040 2025-10-28T21:57:18.313Z,1761688638.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030827 2025-10-28T21:57:18.425Z,1761688638.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605478,0.743873,0.282931],[-0.795286,-0.551989,-0.250657],[-0.030283,-0.376778,0.925808]] 2025-10-28T21:57:18.565Z,1761688638.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282991 2025-10-28T21:57:18.819Z,1761688638.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536621 2025-10-28T21:57:18.830Z,1761688638.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631223,0.726159,0.272488],[-0.774952,-0.576116,-0.259886],[-0.031734,-0.375212,0.926396]] 2025-10-28T21:57:19.069Z,1761688639.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786957 2025-10-28T21:57:19.238Z,1761688639.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656168,0.707705,0.261911],[-0.753878,-0.599443,-0.268952],[-0.033338,-0.373927,0.926859]] 2025-10-28T21:57:19.322Z,1761688639.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040017 2025-10-28T21:57:19.573Z,1761688639.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290913 2025-10-28T21:57:19.637Z,1761688639.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680014,0.689049,0.250584],[-0.732366,-0.622046,-0.276945],[-0.034954,-0.371846,0.927636]] 2025-10-28T21:57:19.825Z,1761688639.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543314 2025-10-28T21:57:20.035Z,1761688640.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702742,0.669028,0.241982],[-0.710508,-0.642518,-0.286965],[-0.036510,-0.373592,0.926874]] 2025-10-28T21:57:20.077Z,1761688640.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795086 2025-10-28T21:57:20.329Z,1761688640.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046914 2025-10-28T21:57:20.438Z,1761688640.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724763,0.648803,0.231890],[-0.687970,-0.663086,-0.294982],[-0.037622,-0.373325,0.926937]] 2025-10-28T21:57:20.581Z,1761688640.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298943 2025-10-28T21:57:20.834Z,1761688640.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551960 2025-10-28T21:57:20.844Z,1761688640.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746364,0.627139,0.222794],[-0.664425,-0.682778,-0.303896],[-0.038466,-0.374847,0.926288]] 2025-10-28T21:57:21.085Z,1761688641.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802918 2025-10-28T21:57:21.249Z,1761688641.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766955,0.604970,0.213988],[-0.640498,-0.701295,-0.312966],[-0.039267,-0.377089,0.925344]] 2025-10-28T21:57:21.339Z,1761688641.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057381 2025-10-28T21:57:21.589Z,1761688641.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306961 2025-10-28T21:57:21.651Z,1761688641.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787161,0.582119,0.203755],[-0.615431,-0.719795,-0.321155],[-0.040288,-0.378198,0.924848]] 2025-10-28T21:57:21.841Z,1761688641.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558923 2025-10-28T21:57:22.054Z,1761688642.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806990,0.558636,0.191555],[-0.589094,-0.738581,-0.327819],[-0.041652,-0.377391,0.925117]] 2025-10-28T21:57:22.093Z,1761688642.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811006 2025-10-28T21:57:22.345Z,1761688642.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062967 2025-10-28T21:57:22.459Z,1761688642.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826491,0.533472,0.179777],[-0.561302,-0.756508,-0.335613],[-0.043037,-0.378290,0.924686]] 2025-10-28T21:57:22.597Z,1761688642.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314923 2025-10-28T21:57:22.849Z,1761688642.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566886 2025-10-28T21:57:22.869Z,1761688642.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844524,0.507912,0.169718],[-0.533665,-0.771889,-0.345526],[-0.044493,-0.382378,0.922934]] 2025-10-28T21:57:23.101Z,1761688643.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819018 2025-10-28T21:57:23.267Z,1761688643.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861592,0.482301,0.158253],[-0.505534,-0.787215,-0.353167],[-0.045753,-0.384289,0.922079]] 2025-10-28T21:57:23.353Z,1761688643.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071009 2025-10-28T21:57:23.605Z,1761688643.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322915 2025-10-28T21:57:23.671Z,1761688643.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877949,0.455805,0.146451],[-0.476441,-0.801787,-0.360751],[-0.047010,-0.386496,0.921092]] 2025-10-28T21:57:23.857Z,1761688643.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574991 2025-10-28T21:57:24.078Z,1761688644.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893020,0.429198,0.135294],[-0.447477,-0.815000,-0.368157],[-0.047748,-0.389312,0.919867]] 2025-10-28T21:57:24.109Z,1761688644.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827044 2025-10-28T21:57:24.361Z,1761688644.361 [DAT](INFO): Reached modem response timeout 2025-10-28T21:57:24.480Z,1761688644.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907784,0.401327,0.121924],[-0.416651,-0.829349,-0.372266],[-0.048283,-0.388737,0.920083]] 2025-10-28T21:57:24.883Z,1761688644.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921396,0.373145,0.108593],[-0.385546,-0.842573,-0.376065],[-0.048829,-0.388373,0.920208]] 2025-10-28T21:57:25.287Z,1761688645.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934054,0.344019,0.095892],[-0.353731,-0.854212,-0.381046],[-0.049175,-0.389837,0.919570]] 2025-10-28T21:57:25.691Z,1761688645.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945778,0.314050,0.082924],[-0.321039,-0.865003,-0.385622],[-0.049375,-0.391335,0.918923]] 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:57:25.745Z,1761688645.745 [marl:UpdateSpeed] Stopped 2025-10-28T21:57:25.746Z,1761688645.746 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:57:26.104Z,1761688646.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956351,0.284013,0.068769],[-0.287982,-0.876078,-0.386721],[-0.049586,-0.389645,0.919629]] 2025-10-28T21:57:26.499Z,1761688646.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965572,0.254315,0.054730],[-0.255261,-0.885719,-0.387741],[-0.050133,-0.388362,0.920142]] 2025-10-28T21:57:26.630Z,1761688646.630 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:57:26.630Z,1761688646.630 [DAT](INFO): response not received 2025-10-28T21:57:26.630Z,1761688646.630 [DAT](ERROR): No response from remote modem. 2025-10-28T21:57:26.902Z,1761688646.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973605,0.224624,0.040466],[-0.222492,-0.894508,-0.387753],[-0.050901,-0.386521,0.920875]] 2025-10-28T21:57:27.307Z,1761688647.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980465,0.194804,0.027204],[-0.189846,-0.901057,-0.389941],[-0.051449,-0.387488,0.920438]] 2025-10-28T21:57:27.717Z,1761688647.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985982,0.166187,0.014911],[-0.158601,-0.905699,-0.393136],[-0.051829,-0.389989,0.919360]] 2025-10-28T21:57:28.032Z,1761688648.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:57:28.120Z,1761688648.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990537,0.137231,0.002160],[-0.127022,-0.910660,-0.393146],[-0.051985,-0.389699,0.919474]] 2025-10-28T21:57:28.529Z,1761688648.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994032,0.108581,-0.010484],[-0.095856,-0.915311,-0.391174],[-0.052070,-0.387834,0.920257]] 2025-10-28T21:57:28.922Z,1761688648.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996541,0.079893,-0.022853],[-0.064911,-0.920134,-0.386187],[-0.051881,-0.383368,0.922137]] 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateRudder:A] Stopped 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:57:28.962Z,1761688648.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:57:28.963Z,1761688648.963 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:57:28.963Z,1761688648.963 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:57:28.963Z,1761688648.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:57:28.963Z,1761688648.963 [marl:UpdateCommandMode] Stopped 2025-10-28T21:57:28.963Z,1761688648.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:57:29.037Z,1761688649.037 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:57:29.326Z,1761688649.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998088,0.051083,-0.034790],[-0.033923,-0.923323,-0.382522],[-0.051663,-0.380611,0.923291]] 2025-10-28T21:57:29.387Z,1761688649.387 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:57:29.387Z,1761688649.387 [marl:UpdateRudder:B] Stopped 2025-10-28T21:57:29.387Z,1761688649.387 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:57:29.387Z,1761688649.387 [marl:UpdateRudder] Stopped 2025-10-28T21:57:29.387Z,1761688649.387 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:57:29.732Z,1761688649.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998652,0.023961,-0.046043],[-0.004640,-0.924737,-0.380579],[-0.051697,-0.379852,0.923602]] 2025-10-28T21:57:30.138Z,1761688650.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998325,-0.004110,-0.057704],[0.025606,-0.925837,-0.377056],[-0.051875,-0.377902,0.924391]] 2025-10-28T21:57:30.538Z,1761688650.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997132,-0.031723,-0.068705],[0.055212,-0.925861,-0.373809],[-0.051753,-0.376530,0.924958]] 2025-10-28T21:57:30.943Z,1761688650.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995068,-0.058951,-0.079778],[0.084780,-0.922953,-0.375460],[-0.051498,-0.380371,0.923399]] 2025-10-28T21:57:31.347Z,1761688651.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992117,-0.086104,-0.091049],[0.114281,-0.919769,-0.375453],[-0.051416,-0.382899,0.922358]] 2025-10-28T21:57:31.753Z,1761688651.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988120,-0.114256,-0.102779],[0.144809,-0.916164,-0.373730],[-0.051462,-0.384173,0.921826]] 2025-10-28T21:57:32.155Z,1761688652.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982998,-0.143306,-0.114798],[0.176355,-0.910943,-0.372937],[-0.051130,-0.386842,0.920728]] 2025-10-28T21:57:32.559Z,1761688652.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976666,-0.173062,-0.127170],[0.208655,-0.904857,-0.371077],[-0.050851,-0.388953,0.919853]] 2025-10-28T21:57:32.962Z,1761688652.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968995,-0.203943,-0.139484],[0.241802,-0.898796,-0.365647],[-0.050796,-0.388038,0.920243]] 2025-10-28T21:57:33.369Z,1761688653.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959912,-0.235225,-0.152439],[0.275564,-0.891494,-0.359588],[-0.051315,-0.387179,0.920575]] 2025-10-28T21:57:33.775Z,1761688653.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949386,-0.267300,-0.164974],[0.309787,-0.883625,-0.351054],[-0.051939,-0.384393,0.921708]] 2025-10-28T21:57:34.174Z,1761688654.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937543,-0.299064,-0.177688],[0.343819,-0.874334,-0.342533],[-0.052919,-0.382232,0.922550]] 2025-10-28T21:57:34.579Z,1761688654.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924396,-0.329882,-0.191493],[0.377508,-0.863073,-0.335547],[-0.054582,-0.382468,0.922355]] 2025-10-28T21:57:34.984Z,1761688654.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910186,-0.359806,-0.205185],[0.410340,-0.850757,-0.328381],[-0.056409,-0.383083,0.921990]] 2025-10-28T21:57:35.387Z,1761688655.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894719,-0.389095,-0.219277],[0.442760,-0.837195,-0.321042],[-0.058661,-0.384329,0.921331]] 2025-10-28T21:57:35.794Z,1761688655.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878437,-0.417857,-0.231828],[0.473967,-0.823669,-0.311327],[-0.060859,-0.383360,0.921592]] 2025-10-28T21:57:36.201Z,1761688656.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861984,-0.444348,-0.244005],[0.503020,-0.809438,-0.302955],[-0.062889,-0.383882,0.921238]] 2025-10-28T21:57:36.599Z,1761688656.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844940,-0.470747,-0.253918],[0.530893,-0.795862,-0.291129],[-0.065036,-0.380790,0.922372]] 2025-10-28T21:57:37.003Z,1761688657.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827919,-0.494219,-0.265135],[0.556892,-0.780461,-0.284169],[-0.066486,-0.382921,0.921385]] 2025-10-28T21:57:37.406Z,1761688657.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810997,-0.515295,-0.277047],[0.581169,-0.764016,-0.280216],[-0.067274,-0.388265,0.919089]] 2025-10-28T21:57:37.810Z,1761688657.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793471,-0.537226,-0.285991],[0.604871,-0.748101,-0.272902],[-0.067340,-0.389528,0.918550]] 2025-10-28T21:57:38.217Z,1761688658.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775334,-0.559933,-0.292118],[0.627999,-0.732538,-0.262689],[-0.066899,-0.387121,0.919599]] 2025-10-28T21:57:38.619Z,1761688658.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756109,-0.583869,-0.295628],[0.651143,-0.716490,-0.250311],[-0.065665,-0.381759,0.921926]] 2025-10-28T21:57:39.022Z,1761688659.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736079,-0.607071,-0.299419],[0.673847,-0.699109,-0.239117],[-0.064165,-0.377772,0.923673]] 2025-10-28T21:57:39.074Z,1761688659.074 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:57:39.074Z,1761688659.074 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:57:39.074Z,1761688659.074 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:57:39.075Z,1761688659.075 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:57:39.075Z,1761688659.075 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:57:39.075Z,1761688659.075 [marl:UpdateSpeed] Stopped 2025-10-28T21:57:39.075Z,1761688659.075 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:57:39.427Z,1761688659.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714507,-0.630502,-0.303228],[0.696843,-0.679986,-0.228100],[-0.062373,-0.374281,0.925215]] 2025-10-28T21:57:39.830Z,1761688659.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691446,-0.652534,-0.310002],[0.719851,-0.658533,-0.219428],[-0.060962,-0.374878,0.925068]] 2025-10-28T21:57:40.234Z,1761688660.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666674,-0.674904,-0.316308],[0.742950,-0.635747,-0.209408],[-0.059762,-0.374608,0.925255]] 2025-10-28T21:57:40.641Z,1761688660.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640196,-0.696306,-0.324511],[0.765918,-0.611157,-0.199638],[-0.059318,-0.376356,0.924574]] 2025-10-28T21:57:41.042Z,1761688661.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612381,-0.718148,-0.330533],[0.788322,-0.586169,-0.186963],[-0.059481,-0.375059,0.925091]] 2025-10-28T21:57:41.446Z,1761688661.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583255,-0.738250,-0.338821],[0.810011,-0.559823,-0.174587],[-0.060791,-0.376277,0.924511]] 2025-10-28T21:57:41.851Z,1761688661.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553432,-0.757762,-0.345701],[0.830498,-0.533522,-0.160086],[-0.063132,-0.375701,0.924588]] 2025-10-28T21:57:42.256Z,1761688662.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523380,-0.778176,-0.347154],[0.849554,-0.508014,-0.142055],[-0.065815,-0.369275,0.926987]] 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateRudder:A] Stopped 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:57:42.281Z,1761688662.281 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode] Stopped 2025-10-28T21:57:42.282Z,1761688662.282 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:57:42.659Z,1761688662.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494751,-0.794252,-0.352684],[0.866317,-0.482835,-0.127928],[-0.068681,-0.368829,0.926956]] 2025-10-28T21:57:42.705Z,1761688662.705 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:57:42.705Z,1761688662.705 [marl:UpdateRudder:B] Stopped 2025-10-28T21:57:42.705Z,1761688662.705 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:57:42.705Z,1761688662.705 [marl:UpdateRudder] Stopped 2025-10-28T21:57:42.705Z,1761688662.705 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:57:43.063Z,1761688663.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466127,-0.808867,-0.358412],[0.881812,-0.457572,-0.114176],[-0.071646,-0.369273,0.926555]] 2025-10-28T21:57:43.466Z,1761688663.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437845,-0.821249,-0.365843],[0.895945,-0.432365,-0.101699],[-0.074657,-0.372303,0.925103]] 2025-10-28T21:57:43.872Z,1761688663.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410293,-0.831482,-0.374563],[0.908664,-0.407597,-0.090529],[-0.077398,-0.377495,0.922771]] 2025-10-28T21:57:44.276Z,1761688664.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383430,-0.841403,-0.380818],[0.920142,-0.383512,-0.079097],[-0.079496,-0.380734,0.921261]] 2025-10-28T21:57:44.686Z,1761688664.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356526,-0.850113,-0.387553],[0.930761,-0.359180,-0.068370],[-0.081079,-0.385094,0.919309]] 2025-10-28T21:57:45.083Z,1761688665.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329423,-0.857653,-0.394857],[0.940616,-0.334418,-0.058365],[-0.081990,-0.390636,0.916887]] 2025-10-28T21:57:45.491Z,1761688665.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301591,-0.865612,-0.399699],[0.949853,-0.309097,-0.047307],[-0.082597,-0.393923,0.915425]] 2025-10-28T21:57:45.892Z,1761688665.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272948,-0.873201,-0.403757],[0.958443,-0.283023,-0.035837],[-0.082979,-0.396760,0.914164]] 2025-10-28T21:57:46.296Z,1761688666.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243286,-0.881806,-0.404017],[0.966383,-0.256074,-0.023018],[-0.083161,-0.396035,0.914462]] 2025-10-28T21:57:46.699Z,1761688666.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213536,-0.890378,-0.402030],[0.973404,-0.228870,-0.010140],[-0.082984,-0.393503,0.915570]] 2025-10-28T21:57:47.112Z,1761688667.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183548,-0.898482,-0.398798],[0.979502,-0.201412,0.002955],[-0.082978,-0.390081,0.917034]] 2025-10-28T21:57:47.512Z,1761688667.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153115,-0.905968,-0.394687],[0.984662,-0.173675,0.016665],[-0.083645,-0.386081,0.918665]] 2025-10-28T21:57:47.910Z,1761688667.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122257,-0.911976,-0.391604],[0.988894,-0.145528,0.030182],[-0.084515,-0.383565,0.919639]] 2025-10-28T21:57:48.316Z,1761688668.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090862,-0.915450,-0.392040],[0.992161,-0.117128,0.043555],[-0.085791,-0.385009,0.918917]] 2025-10-28T21:57:48.718Z,1761688668.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059719,-0.918380,-0.391167],[0.994451,-0.088735,0.056511],[-0.086609,-0.385622,0.918583]] 2025-10-28T21:57:49.167Z,1761688669.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029471,-0.919742,-0.391414],[0.995751,-0.061191,0.068812],[-0.087241,-0.387724,0.917638]] 2025-10-28T21:57:49.530Z,1761688669.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000447,-0.919025,-0.394198],[0.996115,-0.034302,0.081102],[-0.088056,-0.392703,0.915440]] 2025-10-28T21:57:49.930Z,1761688669.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029497,-0.918394,-0.394567],[0.995637,-0.007966,0.092972],[-0.088528,-0.395588,0.914151]] 2025-10-28T21:57:50.336Z,1761688670.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057418,-0.916783,-0.395237],[0.994410,0.017380,0.104150],[-0.088614,-0.399008,0.912656]] 2025-10-28T21:57:50.740Z,1761688670.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084718,-0.914160,-0.396402],[0.992473,0.042113,0.114992],[-0.088428,-0.403160,0.910847]] 2025-10-28T21:57:51.177Z,1761688671.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111728,-0.910867,-0.397289],[0.989820,0.066537,0.125812],[-0.088164,-0.407302,0.909028]] 2025-10-28T21:57:51.551Z,1761688671.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138191,-0.907649,-0.396329],[0.986509,0.090684,0.136293],[-0.087766,-0.409817,0.907936]] 2025-10-28T21:57:51.950Z,1761688671.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163708,-0.903308,-0.396529],[0.982670,0.113891,0.146249],[-0.086947,-0.413599,0.906298]] 2025-10-28T21:57:52.357Z,1761688672.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188593,-0.899201,-0.394803],[0.978270,0.136750,0.155847],[-0.086149,-0.415615,0.905451]] 2025-10-28T21:57:52.381Z,1761688672.381 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:57:52.381Z,1761688672.381 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:57:52.382Z,1761688672.382 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:57:52.382Z,1761688672.382 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:57:52.382Z,1761688672.382 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:57:52.382Z,1761688672.382 [marl:UpdateSpeed] Stopped 2025-10-28T21:57:52.382Z,1761688672.382 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:57:52.761Z,1761688672.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213166,-0.894217,-0.393619],[0.973323,0.159366,0.165061],[-0.084871,-0.418303,0.904334]] 2025-10-28T21:57:53.181Z,1761688673.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237463,-0.889142,-0.391200],[0.967862,0.182241,0.173296],[-0.082792,-0.419779,0.903842]] 2025-10-28T21:57:53.573Z,1761688673.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261623,-0.882702,-0.390373],[0.961815,0.204743,0.181636],[-0.080405,-0.422987,0.902561]] 2025-10-28T21:57:53.973Z,1761688673.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285357,-0.878116,-0.384036],[0.955286,0.228209,0.188014],[-0.077458,-0.420516,0.903973]] 2025-10-28T21:57:54.374Z,1761688674.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309268,-0.872599,-0.378054],[0.948086,0.251953,0.194042],[-0.074069,-0.418439,0.905220]] 2025-10-28T21:57:54.784Z,1761688674.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333508,-0.867254,-0.369652],[0.940121,0.276701,0.199020],[-0.070318,-0.413892,0.907606]] 2025-10-28T21:57:55.187Z,1761688675.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358892,-0.860002,-0.362757],[0.930999,0.302095,0.204891],[-0.066620,-0.411260,0.909080]] 2025-10-28T21:57:55.590Z,1761688675.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385280,-0.851506,-0.355663],[0.920643,0.328349,0.211194],[-0.063051,-0.408808,0.910440]] 2025-10-28T21:57:55.627Z,1761688675.627 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:57:55.627Z,1761688675.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateRudder:A] Stopped 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:57:55.628Z,1761688675.628 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:57:55.629Z,1761688675.629 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:57:55.629Z,1761688675.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:57:55.629Z,1761688675.629 [marl:UpdateCommandMode] Stopped 2025-10-28T21:57:55.629Z,1761688675.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:57:55.990Z,1761688675.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413060,-0.841884,-0.347292],[0.908755,0.356099,0.217617],[-0.059538,-0.405493,0.912157]] 2025-10-28T21:57:56.034Z,1761688676.034 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:57:56.034Z,1761688676.034 [marl:UpdateRudder:B] Stopped 2025-10-28T21:57:56.034Z,1761688676.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:57:56.034Z,1761688676.034 [marl:UpdateRudder] Stopped 2025-10-28T21:57:56.034Z,1761688676.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:57:56.395Z,1761688676.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440759,-0.830506,-0.340576],[0.895872,0.383301,0.224707],[-0.056077,-0.404154,0.912970]] 2025-10-28T21:57:56.802Z,1761688676.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469509,-0.816930,-0.334943],[0.881345,0.410930,0.233169],[-0.052844,-0.404675,0.912932]] 2025-10-28T21:57:57.202Z,1761688677.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499277,-0.801949,-0.328024],[0.865007,0.439563,0.241967],[-0.049858,-0.404551,0.913155]] 2025-10-28T21:57:57.610Z,1761688677.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529050,-0.784959,-0.322407],[0.847276,0.467485,0.252152],[-0.047209,-0.406569,0.912400]] 2025-10-28T21:57:58.012Z,1761688678.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558411,-0.766695,-0.316790],[0.828364,0.494807,0.262637],[-0.044612,-0.409077,0.911409]] 2025-10-28T21:57:58.414Z,1761688678.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587319,-0.747546,-0.310211],[0.808241,0.521611,0.273256],[-0.042462,-0.411213,0.910550]] 2025-10-28T21:57:58.819Z,1761688678.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615995,-0.727456,-0.302253],[0.786687,0.548160,0.283979],[-0.040899,-0.412709,0.909944]] 2025-10-28T21:57:59.161Z,1761688679.161 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:57:59.222Z,1761688679.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643925,-0.706810,-0.292882],[0.764043,0.574062,0.294432],[-0.039975,-0.413367,0.909687]] 2025-10-28T21:57:59.655Z,1761688679.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670949,-0.685571,-0.282526],[0.740450,0.599149,0.304556],[-0.039520,-0.413538,0.909629]] 2025-10-28T21:58:00.031Z,1761688680.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695669,-0.665921,-0.269432],[0.717290,0.623432,0.311172],[-0.039243,-0.409734,0.911361]] 2025-10-28T21:58:00.164Z,1761688680.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:58:00.434Z,1761688680.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718800,-0.644504,-0.260655],[0.694105,0.644103,0.321481],[-0.039307,-0.412002,0.910335]] 2025-10-28T21:58:00.839Z,1761688680.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739849,-0.624399,-0.250499],[0.671595,0.663422,0.329896],[-0.039800,-0.412307,0.910175]] 2025-10-28T21:58:01.247Z,1761688681.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759059,-0.605025,-0.240362],[0.649756,0.681040,0.337643],[-0.040586,-0.412468,0.910068]] 2025-10-28T21:58:01.655Z,1761688681.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776784,-0.585225,-0.232634],[0.628411,0.696054,0.347288],[-0.041315,-0.415957,0.908445]] 2025-10-28T21:58:02.050Z,1761688682.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793470,-0.565938,-0.223873],[0.607152,0.710634,0.355480],[-0.042088,-0.417988,0.907477]] 2025-10-28T21:58:02.455Z,1761688682.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809043,-0.547233,-0.214439],[0.586206,0.724875,0.361827],[-0.042562,-0.418439,0.907247]] 2025-10-28T21:58:02.864Z,1761688682.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823410,-0.528288,-0.207141],[0.565835,0.736918,0.369843],[-0.042738,-0.421740,0.905709]] 2025-10-28T21:58:03.273Z,1761688683.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849952,-0.490472,-0.192405],[0.525247,0.760259,0.382259],[-0.041209,-0.425962,0.903802]] 2025-10-28T21:58:03.675Z,1761688683.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862671,-0.470465,-0.185636],[0.504260,0.771781,0.387396],[-0.038986,-0.427804,0.903030]] 2025-10-28T21:58:04.076Z,1761688684.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875416,-0.449601,-0.177500],[0.482009,0.784415,0.390334],[-0.036261,-0.427261,0.903401]] 2025-10-28T21:58:04.482Z,1761688684.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888625,-0.426378,-0.168956],[0.457409,0.797020,0.394382],[-0.033494,-0.427740,0.903281]] 2025-10-28T21:58:04.882Z,1761688684.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902114,-0.401871,-0.157131],[0.430408,0.812181,0.393841],[-0.030654,-0.422920,0.905649]] 2025-10-28T21:58:05.283Z,1761688685.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914928,-0.376807,-0.144651],[0.402654,0.827362,0.391588],[-0.027875,-0.416519,0.908700]] 2025-10-28T21:58:05.690Z,1761688685.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927185,-0.350155,-0.133115],[0.373761,0.840901,0.391392],[-0.025111,-0.412646,0.910545]] 2025-10-28T21:58:05.715Z,1761688685.715 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:58:05.716Z,1761688685.716 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:58:05.716Z,1761688685.716 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:58:05.716Z,1761688685.716 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:58:05.716Z,1761688685.716 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:58:05.716Z,1761688685.716 [marl:UpdateSpeed] Stopped 2025-10-28T21:58:05.717Z,1761688685.717 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:58:06.092Z,1761688686.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938720,-0.322843,-0.120733],[0.343922,0.854099,0.390171],[-0.022846,-0.407784,0.912793]] 2025-10-28T21:58:06.495Z,1761688686.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949345,-0.295193,-0.107726],[0.313521,0.866692,0.388007],[-0.021172,-0.402127,0.915339]] 2025-10-28T21:58:06.898Z,1761688686.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959104,-0.266818,-0.094484],[0.282355,0.878430,0.385535],[-0.019870,-0.396446,0.917843]] 2025-10-28T21:58:07.303Z,1761688687.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967626,-0.238796,-0.081712],[0.251640,0.887854,0.385217],[-0.019440,-0.393308,0.919201]] 2025-10-28T21:58:07.714Z,1761688687.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975040,-0.210819,-0.069660],[0.221164,0.894516,0.388494],[-0.019590,-0.394204,0.918814]] 2025-10-28T21:58:08.111Z,1761688688.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981273,-0.183771,-0.057726],[0.191575,0.899829,0.391928],[-0.020082,-0.395647,0.918183]] 2025-10-28T21:58:08.515Z,1761688688.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986398,-0.157593,-0.046716],[0.163095,0.903028,0.397416],[-0.020444,-0.399630,0.916448]] 2025-10-28T21:58:08.918Z,1761688688.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990655,-0.131514,-0.036141],[0.134827,0.904312,0.405021],[-0.020584,-0.406109,0.913593]] 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateRudder:A] Stopped 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:58:08.966Z,1761688688.966 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode] Stopped 2025-10-28T21:58:08.967Z,1761688688.967 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:58:09.326Z,1761688689.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994147,-0.105122,-0.024915],[0.106022,0.905034,0.411914],[-0.020752,-0.412145,0.910882]] 2025-10-28T21:58:09.391Z,1761688689.391 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:58:09.391Z,1761688689.391 [marl:UpdateRudder:B] Stopped 2025-10-28T21:58:09.391Z,1761688689.391 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:58:09.391Z,1761688689.391 [marl:UpdateRudder] Stopped 2025-10-28T21:58:09.392Z,1761688689.392 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:58:09.727Z,1761688689.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996737,-0.079452,-0.014212],[0.078091,0.904760,0.418702],[-0.020409,-0.418446,0.908012]] 2025-10-28T21:58:10.137Z,1761688690.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998585,-0.053072,-0.003359],[0.049452,0.903548,0.425624],[-0.019554,-0.425188,0.904894]] 2025-10-28T21:58:10.534Z,1761688690.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999614,-0.026472,0.008388],[0.020305,0.902835,0.429507],[-0.018943,-0.429172,0.903024]] 2025-10-28T21:58:10.941Z,1761688690.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999794,0.000912,0.020271],[-0.009559,0.902371,0.430854],[-0.017899,-0.430959,0.902194]] 2025-10-28T21:58:11.342Z,1761688691.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999050,0.029423,0.032147],[-0.040364,0.902841,0.428075],[-0.016429,-0.428966,0.903171]] 2025-10-28T21:58:11.746Z,1761688691.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997352,0.058090,0.043767],[-0.071155,0.903944,0.421691],[-0.015067,-0.423688,0.905683]] 2025-10-28T21:58:12.158Z,1761688692.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994662,0.086997,0.055497],[-0.102254,0.903263,0.416726],[-0.013874,-0.420176,0.907337]] 2025-10-28T21:58:12.556Z,1761688692.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991025,0.115789,0.066801],[-0.133051,0.902684,0.409217],[-0.012917,-0.414432,0.909989]] 2025-10-28T21:58:12.958Z,1761688692.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986513,0.143962,0.077885],[-0.163233,0.900439,0.403192],[-0.012087,-0.410468,0.911795]] 2025-10-28T21:58:13.362Z,1761688693.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981302,0.171081,0.088191],[-0.192132,0.898010,0.395807],[-0.011481,-0.405351,0.914089]] 2025-10-28T21:58:13.774Z,1761688693.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975422,0.197296,0.098117],[-0.220090,0.893862,0.390603],[-0.010638,-0.402597,0.915315]] 2025-10-28T21:58:14.172Z,1761688694.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969104,0.221876,0.107741],[-0.246436,0.889284,0.385283],[-0.010327,-0.399930,0.916487]] 2025-10-28T21:58:14.197Z,1761688694.197 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:58:14.273Z,1761688694.273 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:58:14.273Z,1761688694.273 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:58:14.525Z,1761688694.525 [DAT](INFO): DAT read: user:338> 2025-10-28T21:58:14.526Z,1761688694.526 [DAT](INFO): DAT read: Tx time:21:58:14.2467 2025-10-28T21:58:14.526Z,1761688694.526 [DAT](INFO): Ping request sent. 2025-10-28T21:58:14.526Z,1761688694.526 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:58:14.526Z,1761688694.526 [DAT](INFO): publishing transmit ping time 2025-10-28T21:58:14.527Z,1761688694.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940 2025-10-28T21:58:14.575Z,1761688694.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962631,0.244319,0.116835],[-0.270625,0.884102,0.380953],[-0.010220,-0.398336,0.917183]] 2025-10-28T21:58:14.777Z,1761688694.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251188 2025-10-28T21:58:14.982Z,1761688694.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955565,0.266479,0.126037],[-0.294618,0.877582,0.378219],[-0.009821,-0.398545,0.917096]] 2025-10-28T21:58:15.030Z,1761688695.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503601 2025-10-28T21:58:15.281Z,1761688695.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755154 2025-10-28T21:58:15.383Z,1761688695.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947919,0.288316,0.135364],[-0.318381,0.869861,0.376796],[-0.009111,-0.400269,0.916352]] 2025-10-28T21:58:15.533Z,1761688695.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941 2025-10-28T21:58:15.786Z,1761688695.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259520 2025-10-28T21:58:15.799Z,1761688695.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939707,0.309414,0.145648],[-0.341874,0.860571,0.377545],[-0.008522,-0.404575,0.914465]] 2025-10-28T21:58:16.037Z,1761688696.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510931 2025-10-28T21:58:16.191Z,1761688696.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930731,0.330851,0.155811],[-0.365624,0.850731,0.377592],[-0.007626,-0.408405,0.912769]] 2025-10-28T21:58:16.289Z,1761688696.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155 2025-10-28T21:58:16.541Z,1761688696.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886 2025-10-28T21:58:16.596Z,1761688696.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920896,0.352418,0.166589],[-0.389746,0.840040,0.377400],[-0.006939,-0.412473,0.910943]] 2025-10-28T21:58:16.793Z,1761688696.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267146 2025-10-28T21:58:17.001Z,1761688697.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909817,0.374612,0.178603],[-0.414963,0.827624,0.377947],[-0.006232,-0.417977,0.908436]] 2025-10-28T21:58:17.057Z,1761688697.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531214 2025-10-28T21:58:17.309Z,1761688697.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782988 2025-10-28T21:58:17.403Z,1761688697.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897100,0.398077,0.191696],[-0.441794,0.813572,0.378044],[-0.005468,-0.423834,0.905724]] 2025-10-28T21:58:17.561Z,1761688697.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034935 2025-10-28T21:58:17.807Z,1761688697.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883044,0.422878,0.203485],[-0.469264,0.800150,0.373566],[-0.004846,-0.425364,0.905009]] 2025-10-28T21:58:17.813Z,1761688697.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286821 2025-10-28T21:58:18.065Z,1761688698.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538882 2025-10-28T21:58:18.211Z,1761688698.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868038,0.447792,0.214459],[-0.496479,0.786698,0.366899],[-0.004420,-0.424957,0.905203]] 2025-10-28T21:58:18.317Z,1761688698.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790956 2025-10-28T21:58:18.569Z,1761688698.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042884 2025-10-28T21:58:18.630Z,1761688698.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851746,0.473307,0.224744],[-0.523942,0.772464,0.358865],[-0.003753,-0.423415,0.905928]] 2025-10-28T21:58:18.821Z,1761688698.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.295248 2025-10-28T21:58:19.018Z,1761688699.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834363,0.498842,0.234512],[-0.551207,0.757469,0.349873],[-0.003105,-0.421186,0.906969]] 2025-10-28T21:58:19.057Z,1761688699.057 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:58:19.057Z,1761688699.057 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:58:19.057Z,1761688699.057 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:58:19.058Z,1761688699.058 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:58:19.058Z,1761688699.058 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:58:19.058Z,1761688699.058 [marl:UpdateSpeed] Stopped 2025-10-28T21:58:19.058Z,1761688699.058 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:58:19.074Z,1761688699.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547396 2025-10-28T21:58:19.325Z,1761688699.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798876 2025-10-28T21:58:19.422Z,1761688699.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816310,0.524593,0.241744],[-0.577609,0.743152,0.337776],[-0.002457,-0.415364,0.909652]] 2025-10-28T21:58:19.577Z,1761688699.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051336 2025-10-28T21:58:19.829Z,1761688699.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303032 2025-10-28T21:58:19.835Z,1761688699.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797921,0.550604,0.245270],[-0.602759,0.730119,0.321882],[-0.001847,-0.404675,0.914459]] 2025-10-28T21:58:20.084Z,1761688700.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558132 2025-10-28T21:58:20.230Z,1761688700.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778782,0.574895,0.250986],[-0.627293,0.714691,0.309388],[-0.001511,-0.398388,0.917216]] 2025-10-28T21:58:20.333Z,1761688700.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807402 2025-10-28T21:58:20.585Z,1761688700.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058919 2025-10-28T21:58:20.635Z,1761688700.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758683,0.598228,0.257921],[-0.651457,0.697848,0.297678],[-0.001910,-0.393868,0.919165]] 2025-10-28T21:58:20.837Z,1761688700.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310907 2025-10-28T21:58:21.039Z,1761688701.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737652,0.620384,0.266445],[-0.675176,0.679305,0.287544],[-0.002610,-0.392005,0.919960]] 2025-10-28T21:58:21.090Z,1761688701.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563333 2025-10-28T21:58:21.341Z,1761688701.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814829 2025-10-28T21:58:21.443Z,1761688701.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716544,0.640828,0.275505],[-0.697533,0.660173,0.278602],[-0.003345,-0.391805,0.920042]] 2025-10-28T21:58:21.594Z,1761688701.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067991 2025-10-28T21:58:21.845Z,1761688701.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318967 2025-10-28T21:58:21.848Z,1761688701.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694687,0.659855,0.286358],[-0.719299,0.639677,0.270966],[-0.004378,-0.394213,0.919009]] 2025-10-28T21:58:22.097Z,1761688702.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571188 2025-10-28T21:58:22.251Z,1761688702.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673279,0.677223,0.296757],[-0.739370,0.619509,0.263705],[-0.005256,-0.396961,0.917821]] 2025-10-28T21:58:22.275Z,1761688702.275 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:58:22.275Z,1761688702.275 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:58:22.275Z,1761688702.275 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:58:22.276Z,1761688702.276 [marl:UpdateRudder:A] Stopped 2025-10-28T21:58:22.276Z,1761688702.276 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:58:22.276Z,1761688702.276 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:58:22.276Z,1761688702.276 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:58:22.276Z,1761688702.276 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:58:22.277Z,1761688702.277 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:58:22.277Z,1761688702.277 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:58:22.277Z,1761688702.277 [marl:UpdateCommandMode] Stopped 2025-10-28T21:58:22.277Z,1761688702.277 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:58:22.349Z,1761688702.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822984 2025-10-28T21:58:22.602Z,1761688702.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075561 2025-10-28T21:58:22.660Z,1761688702.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651933,0.693449,0.306777],[-0.758254,0.599328,0.256626],[-0.005903,-0.399918,0.916532]] 2025-10-28T21:58:22.690Z,1761688702.690 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:58:22.690Z,1761688702.690 [marl:UpdateRudder:B] Stopped 2025-10-28T21:58:22.690Z,1761688702.690 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:58:22.690Z,1761688702.690 [marl:UpdateRudder] Stopped 2025-10-28T21:58:22.690Z,1761688702.690 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:58:22.853Z,1761688702.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326926 2025-10-28T21:58:23.059Z,1761688703.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631025,0.707831,0.317463],[-0.775734,0.579230,0.250458],[-0.006603,-0.404312,0.914597]] 2025-10-28T21:58:23.108Z,1761688703.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.581572 2025-10-28T21:58:23.357Z,1761688703.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830899 2025-10-28T21:58:23.462Z,1761688703.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610301,0.721966,0.326034],[-0.792141,0.559735,0.243330],[-0.006817,-0.406769,0.913505]] 2025-10-28T21:58:23.611Z,1761688703.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084827 2025-10-28T21:58:23.861Z,1761688703.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334961 2025-10-28T21:58:23.881Z,1761688703.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589099,0.735607,0.334431],[-0.808031,0.539767,0.236087],[-0.006847,-0.409309,0.912370]] 2025-10-28T21:58:24.114Z,1761688704.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587556 2025-10-28T21:58:24.271Z,1761688704.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567636,0.746776,0.346577],[-0.823250,0.518469,0.231193],[-0.007040,-0.416553,0.909084]] 2025-10-28T21:58:24.366Z,1761688704.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839530 2025-10-28T21:58:24.617Z,1761688704.617 [DAT](INFO): Reached modem response timeout 2025-10-28T21:58:24.674Z,1761688704.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545462,0.757532,0.358631],[-0.838102,0.496845,0.225236],[-0.007560,-0.423427,0.905899]] 2025-10-28T21:58:25.079Z,1761688705.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521741,0.769701,0.367894],[-0.853066,0.474792,0.216453],[-0.008069,-0.426771,0.904324]] 2025-10-28T21:58:25.484Z,1761688705.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496520,0.782469,0.375780],[-0.867980,0.451971,0.205749],[-0.008849,-0.428328,0.903580]] 2025-10-28T21:58:25.889Z,1761688705.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469316,0.794272,0.385843],[-0.882980,0.426784,0.195453],[-0.009429,-0.432421,0.901623]] 2025-10-28T21:58:26.290Z,1761688706.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440130,0.808914,0.389800],[-0.897883,0.401098,0.181456],[-0.009565,-0.429859,0.902845]] 2025-10-28T21:58:26.695Z,1761688706.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409471,0.826388,0.386544],[-0.912276,0.375204,0.164242],[-0.009306,-0.419887,0.907529]] 2025-10-28T21:58:26.885Z,1761688706.885 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:58:26.885Z,1761688706.885 [DAT](INFO): response not received 2025-10-28T21:58:26.886Z,1761688706.886 [DAT](ERROR): No response from remote modem. 2025-10-28T21:58:27.115Z,1761688707.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378487,0.843793,0.380474],[-0.925560,0.349147,0.146409],[-0.009302,-0.407565,0.913129]] 2025-10-28T21:58:27.504Z,1761688707.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347094,0.859295,0.375683],[-0.937782,0.322064,0.129766],[-0.009486,-0.397350,0.917618]] 2025-10-28T21:58:27.908Z,1761688707.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316558,0.873006,0.371014],[-0.948522,0.295406,0.114203],[-0.009900,-0.388067,0.921578]] 2025-10-28T21:58:28.311Z,1761688708.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285759,0.885704,0.365884],[-0.958246,0.268216,0.099122],[-0.010343,-0.378932,0.925367]] 2025-10-28T21:58:28.715Z,1761688708.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255333,0.895412,0.364750],[-0.966789,0.240793,0.085659],[-0.011129,-0.374508,0.927157]] 2025-10-28T21:58:29.173Z,1761688709.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224431,0.901218,0.370725],[-0.974417,0.212198,0.074053],[-0.011929,-0.377860,0.925786]] 2025-10-28T21:58:29.523Z,1761688709.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194112,0.906143,0.375800],[-0.980889,0.184496,0.061795],[-0.013339,-0.380613,0.924638]] 2025-10-28T21:58:29.927Z,1761688709.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163789,0.910712,0.379178],[-0.986389,0.156840,0.049378],[-0.014501,-0.382105,0.924005]] 2025-10-28T21:58:30.284Z,1761688710.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:58:30.331Z,1761688710.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133773,0.913234,0.384848],[-0.990895,0.129234,0.037766],[-0.015246,-0.386396,0.922207]] 2025-10-28T21:58:30.736Z,1761688710.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104957,0.914168,0.391511],[-0.994352,0.102705,0.026755],[-0.015752,-0.392108,0.919784]] 2025-10-28T21:58:31.175Z,1761688711.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077201,0.914767,0.396537],[-0.996890,0.077123,0.016167],[-0.015794,-0.396552,0.917877]] 2025-10-28T21:58:31.288Z,1761688711.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:58:31.543Z,1761688711.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050996,0.914965,0.400299],[-0.998572,0.053105,0.005830],[-0.015923,-0.400025,0.916366]] 2025-10-28T21:58:31.946Z,1761688711.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025583,0.912629,0.407988],[-0.999543,0.029926,-0.004263],[-0.016100,-0.407692,0.912977]] 2025-10-28T21:58:32.351Z,1761688712.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000277,0.909627,0.415427],[-0.999869,0.006976,-0.014608],[-0.016185,-0.415368,0.909509]] 2025-10-28T21:58:32.380Z,1761688712.380 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:58:32.380Z,1761688712.380 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:58:32.381Z,1761688712.381 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:58:32.381Z,1761688712.381 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:58:32.381Z,1761688712.381 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:58:32.381Z,1761688712.381 [marl:UpdateSpeed] Stopped 2025-10-28T21:58:32.381Z,1761688712.381 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:58:32.755Z,1761688712.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025038,0.907242,0.419863],[-0.999554,-0.015882,-0.025288],[-0.016274,-0.420308,0.907235]] 2025-10-28T21:58:33.180Z,1761688713.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051939,0.904852,0.422547],[-0.998525,-0.040342,-0.036349],[-0.015844,-0.423811,0.905612]] 2025-10-28T21:58:33.597Z,1761688713.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079756,0.903789,0.420480],[-0.996697,-0.065835,-0.047545],[-0.015288,-0.422883,0.906055]] 2025-10-28T21:58:33.967Z,1761688713.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108158,0.905169,0.411060],[-0.994021,-0.092243,-0.058423],[-0.014965,-0.414921,0.909734]] 2025-10-28T21:58:34.376Z,1761688714.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137773,0.906858,0.398280],[-0.990359,-0.120283,-0.068707],[-0.014401,-0.403906,0.914687]] 2025-10-28T21:58:34.779Z,1761688714.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168298,0.907870,0.383989],[-0.985640,-0.149552,-0.078407],[-0.013757,-0.391670,0.920003]] 2025-10-28T21:58:35.189Z,1761688715.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198682,0.907553,0.369964],[-0.979975,-0.178866,-0.087502],[-0.013239,-0.379940,0.924916]] 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateRudder:A] Stopped 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:58:35.341Z,1761688715.341 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode] Stopped 2025-10-28T21:58:35.342Z,1761688715.342 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:58:35.590Z,1761688715.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228926,0.904774,0.359133],[-0.973352,-0.207697,-0.097196],[-0.013350,-0.371814,0.928211]] 2025-10-28T21:58:35.615Z,1761688715.615 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:58:35.615Z,1761688715.615 [marl:UpdateRudder:B] Stopped 2025-10-28T21:58:35.615Z,1761688715.615 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:58:35.615Z,1761688715.615 [marl:UpdateRudder] Stopped 2025-10-28T21:58:35.615Z,1761688715.615 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:58:35.988Z,1761688715.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259472,0.898844,0.353205],[-0.965649,-0.236175,-0.108366],[-0.013986,-0.369190,0.929249]] 2025-10-28T21:58:36.395Z,1761688716.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289495,0.890959,0.349836],[-0.957064,-0.263760,-0.120245],[-0.014861,-0.369626,0.929062]] 2025-10-28T21:58:36.797Z,1761688716.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318711,0.880615,0.350628],[-0.947721,-0.289912,-0.133325],[-0.015757,-0.374790,0.926976]] 2025-10-28T21:58:37.199Z,1761688717.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347157,0.868656,0.353437],[-0.937662,-0.314881,-0.147107],[-0.016495,-0.382474,0.923819]] 2025-10-28T21:58:37.222Z,1761688717.222 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD, -45.15, +1973.96, 2025-10-28T21:58:37.604Z,1761688717.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374180,0.855916,0.356928],[-0.927195,-0.338117,-0.161203],[-0.017292,-0.391261,0.920117]] 2025-10-28T21:58:38.007Z,1761688718.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399589,0.842872,0.360409],[-0.916519,-0.359642,-0.175076],[-0.017948,-0.400280,0.916217]] 2025-10-28T21:58:38.410Z,1761688718.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425028,0.829368,0.362630],[-0.905002,-0.381405,-0.188419],[-0.017960,-0.408264,0.912687]] 2025-10-28T21:58:38.817Z,1761688718.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450535,0.815089,0.364209],[-0.892587,-0.403259,-0.201669],[-0.017507,-0.415947,0.909220]] 2025-10-28T21:58:39.219Z,1761688719.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476178,0.801209,0.362380],[-0.879187,-0.425880,-0.213673],[-0.016866,-0.420346,0.907207]] 2025-10-28T21:58:39.623Z,1761688719.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502240,0.788732,0.354480],[-0.864574,-0.450272,-0.223087],[-0.016344,-0.418517,0.908062]] 2025-10-28T21:58:40.047Z,1761688720.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529195,0.776855,0.341245],[-0.848353,-0.476953,-0.229810],[-0.015771,-0.411111,0.911449]] 2025-10-28T21:58:40.436Z,1761688720.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556429,0.764997,0.324293],[-0.830754,-0.505012,-0.234118],[-0.015328,-0.399678,0.916528]] 2025-10-28T21:58:40.835Z,1761688720.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583196,0.751684,0.307984],[-0.812196,-0.532639,-0.237978],[-0.014840,-0.388931,0.921148]] 2025-10-28T21:58:41.239Z,1761688721.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609505,0.735808,0.295112],[-0.792650,-0.558800,-0.243822],[-0.014498,-0.382531,0.923829]] 2025-10-28T21:58:41.642Z,1761688721.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634425,0.717442,0.287718],[-0.772853,-0.581876,-0.253217],[-0.014252,-0.383011,0.923634]] 2025-10-28T21:58:42.048Z,1761688722.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657921,0.696926,0.285365],[-0.752955,-0.601667,-0.266562],[-0.014079,-0.390244,0.920604]] 2025-10-28T21:58:42.458Z,1761688722.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679118,0.677255,0.283062],[-0.733905,-0.619375,-0.278853],[-0.013533,-0.397114,0.917669]] 2025-10-28T21:58:42.855Z,1761688722.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699487,0.658304,0.278126],[-0.714531,-0.637280,-0.288653],[-0.012778,-0.400638,0.916147]] 2025-10-28T21:58:43.258Z,1761688723.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718317,0.639494,0.273986],[-0.695613,-0.653416,-0.298614],[-0.011935,-0.405088,0.914200]] 2025-10-28T21:58:43.663Z,1761688723.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736267,0.621581,0.267484],[-0.676603,-0.669854,-0.305784],[-0.010894,-0.406119,0.913755]] 2025-10-28T21:58:44.075Z,1761688724.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753735,0.603382,0.260410],[-0.657113,-0.686357,-0.311635],[-0.009301,-0.406009,0.913822]] 2025-10-28T21:58:44.470Z,1761688724.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770743,0.584905,0.252667],[-0.637099,-0.702722,-0.316680],[-0.007673,-0.405053,0.914261]] 2025-10-28T21:58:44.875Z,1761688724.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787435,0.566497,0.242957],[-0.616369,-0.719858,-0.319207],[-0.005935,-0.401106,0.916013]] 2025-10-28T21:58:45.278Z,1761688725.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803942,0.547006,0.233370],[-0.594691,-0.736561,-0.322211],[-0.004361,-0.397822,0.917452]] 2025-10-28T21:58:45.343Z,1761688725.343 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:58:45.343Z,1761688725.343 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:58:45.343Z,1761688725.343 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:58:45.344Z,1761688725.344 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:58:45.345Z,1761688725.345 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:58:45.345Z,1761688725.345 [marl:UpdateSpeed] Stopped 2025-10-28T21:58:45.345Z,1761688725.345 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:58:45.684Z,1761688725.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820374,0.526702,0.222645],[-0.571820,-0.753675,-0.324032],[-0.002867,-0.393140,0.919474]] 2025-10-28T21:58:46.088Z,1761688726.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837191,0.504385,0.211441],[-0.546909,-0.771135,-0.325948],[-0.001354,-0.388519,0.921440]] 2025-10-28T21:58:46.491Z,1761688726.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853874,0.480011,0.201218],[-0.520480,-0.787492,-0.330088],[0.000012,-0.386583,0.922255]] 2025-10-28T21:58:46.896Z,1761688726.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870234,0.454159,0.190874],[-0.492637,-0.803236,-0.334845],[0.001244,-0.385425,0.922738]] 2025-10-28T21:58:47.299Z,1761688727.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886353,0.426431,0.180378],[-0.463006,-0.818190,-0.340867],[0.002227,-0.385644,0.922645]] 2025-10-28T21:58:47.702Z,1761688727.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901741,0.397585,0.169674],[-0.432267,-0.831991,-0.347759],[0.002904,-0.386933,0.922103]] 2025-10-28T21:58:48.106Z,1761688728.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916525,0.367627,0.157580],[-0.399963,-0.845553,-0.353652],[0.003230,-0.387157,0.922008]] 2025-10-28T21:58:48.522Z,1761688728.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942931,0.305226,0.133110],[-0.332973,-0.868075,-0.368204],[0.003164,-0.391513,0.920167]] 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateRudder:A] Stopped 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:58:48.555Z,1761688728.555 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:58:48.556Z,1761688728.556 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:58:48.576Z,1761688728.576 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:58:48.579Z,1761688728.579 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:58:48.594Z,1761688728.594 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:58:48.594Z,1761688728.594 [marl:UpdateCommandMode] Stopped 2025-10-28T21:58:48.594Z,1761688728.594 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:58:48.919Z,1761688728.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954222,0.274033,0.119860],[-0.299086,-0.878104,-0.373473],[0.002906,-0.392224,0.919865]] 2025-10-28T21:58:48.949Z,1761688728.949 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:58:48.949Z,1761688728.949 [marl:UpdateRudder:B] Stopped 2025-10-28T21:58:48.949Z,1761688728.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:58:48.949Z,1761688728.949 [marl:UpdateRudder] Stopped 2025-10-28T21:58:48.949Z,1761688728.949 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:58:49.325Z,1761688729.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964196,0.243272,0.105571],[-0.265182,-0.887826,-0.376089],[0.002237,-0.390619,0.920550]] 2025-10-28T21:58:49.727Z,1761688729.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972838,0.212669,0.091426],[-0.231485,-0.895946,-0.379071],[0.001296,-0.389938,0.920840]] 2025-10-28T21:58:50.131Z,1761688730.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980093,0.182602,0.077941],[-0.198540,-0.902071,-0.383210],[0.000333,-0.391055,0.920367]] 2025-10-28T21:58:50.539Z,1761688730.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986066,0.153216,0.064801],[-0.166356,-0.907396,-0.385951],[-0.000334,-0.391353,0.920241]] 2025-10-28T21:58:50.935Z,1761688730.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990751,0.125182,0.052366],[-0.135690,-0.911182,-0.389018],[-0.000983,-0.392526,0.919740]] 2025-10-28T21:58:51.344Z,1761688731.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994450,0.097180,0.040318],[-0.105204,-0.913786,-0.392336],[-0.001285,-0.394400,0.918938]] 2025-10-28T21:58:51.744Z,1761688731.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997118,0.070206,0.028750],[-0.075857,-0.917314,-0.390872],[-0.001069,-0.391926,0.919996]] 2025-10-28T21:58:52.147Z,1761688732.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998917,0.043001,0.017792],[-0.046535,-0.919750,-0.389736],[-0.000395,-0.390142,0.920755]] 2025-10-28T21:58:52.561Z,1761688732.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999855,0.015579,0.006884],[-0.017030,-0.920360,-0.390702],[0.000250,-0.390762,0.920492]] 2025-10-28T21:58:52.957Z,1761688732.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999929,-0.011316,-0.003685],[0.011857,-0.920570,-0.390398],[0.001026,-0.390414,0.920639]] 2025-10-28T21:58:53.363Z,1761688733.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999119,-0.039145,-0.015131],[0.041945,-0.919707,-0.390359],[0.001365,-0.390649,0.920538]] 2025-10-28T21:58:53.766Z,1761688733.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997396,-0.066952,-0.026802],[0.072102,-0.918061,-0.389828],[0.001494,-0.390746,0.920497]] 2025-10-28T21:58:54.166Z,1761688734.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994698,-0.095241,-0.038801],[0.102835,-0.916901,-0.385638],[0.001152,-0.387583,0.921834]] 2025-10-28T21:58:54.582Z,1761688734.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990924,-0.124164,-0.051506],[0.134423,-0.914162,-0.382412],[0.000397,-0.385865,0.922555]] 2025-10-28T21:58:55.015Z,1761688735.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986147,-0.152844,-0.064446],[0.165875,-0.909536,-0.381091],[-0.000368,-0.386501,0.922289]] 2025-10-28T21:58:55.380Z,1761688735.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980329,-0.181763,-0.076930],[0.197371,-0.904489,-0.378080],[-0.000862,-0.385826,0.922571]] 2025-10-28T21:58:55.788Z,1761688735.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973440,-0.210720,-0.089511],[0.228941,-0.898017,-0.375701],[-0.001215,-0.386215,0.922408]] 2025-10-28T21:58:56.188Z,1761688736.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965696,-0.238810,-0.101985],[0.259672,-0.890133,-0.374479],[-0.001351,-0.388115,0.921610]] 2025-10-28T21:58:56.594Z,1761688736.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956956,-0.266877,-0.114070],[0.290231,-0.881726,-0.371921],[-0.001321,-0.389019,0.921229]] 2025-10-28T21:58:56.995Z,1761688736.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947116,-0.295336,-0.125492],[0.320891,-0.872169,-0.369257],[-0.000395,-0.389999,0.920815]] 2025-10-28T21:58:57.403Z,1761688737.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936275,-0.323769,-0.136246],[0.351267,-0.862000,-0.365470],[0.000884,-0.390039,0.920798]] 2025-10-28T21:58:57.805Z,1761688737.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924397,-0.352283,-0.146241],[0.381421,-0.850847,-0.361355],[0.002870,-0.389815,0.920889]] 2025-10-28T21:58:58.207Z,1761688738.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911222,-0.381312,-0.155808],[0.411882,-0.838595,-0.356526],[0.005288,-0.389049,0.921202]] 2025-10-28T21:58:58.623Z,1761688738.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896645,-0.410662,-0.165485],[0.442683,-0.825009,-0.351272],[0.007727,-0.388224,0.921533]] 2025-10-28T21:58:58.675Z,1761688738.675 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:58:58.675Z,1761688738.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:58:58.676Z,1761688738.676 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:58:58.676Z,1761688738.676 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:58:58.676Z,1761688738.676 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:58:58.676Z,1761688738.676 [marl:UpdateSpeed] Stopped 2025-10-28T21:58:58.676Z,1761688738.676 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:58:59.015Z,1761688739.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880543,-0.440372,-0.175260],[0.473859,-0.810102,-0.345243],[0.010057,-0.387050,0.922004]] 2025-10-28T21:58:59.419Z,1761688739.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863228,-0.469421,-0.185690],[0.504680,-0.794026,-0.338853],[0.011622,-0.386221,0.922333]] 2025-10-28T21:58:59.823Z,1761688739.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844804,-0.497786,-0.196250],[0.534926,-0.777044,-0.331749],[0.012645,-0.385242,0.922729]] 2025-10-28T21:59:00.226Z,1761688740.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825301,-0.525738,-0.206102],[0.564550,-0.759939,-0.322144],[0.012739,-0.382221,0.923983]] 2025-10-28T21:59:00.635Z,1761688740.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804656,-0.552901,-0.216401],[0.593618,-0.741728,-0.312182],[0.012095,-0.379659,0.925048]] 2025-10-28T21:59:01.044Z,1761688741.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783171,-0.578348,-0.228381],[0.621714,-0.721957,-0.303727],[0.010779,-0.379858,0.924982]] 2025-10-28T21:59:01.408Z,1761688741.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:59:01.438Z,1761688741.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760986,-0.602707,-0.240094],[0.648704,-0.701654,-0.294728],[0.009171,-0.380033,0.924927]] 2025-10-28T21:59:01.500Z,1761688741.500 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:59:01.500Z,1761688741.500 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:59:01.500Z,1761688741.500 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:59:01.501Z,1761688741.501 [marl:UpdateRudder:A] Stopped 2025-10-28T21:59:01.501Z,1761688741.501 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:59:01.843Z,1761688741.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738148,-0.625371,-0.253079],[0.674599,-0.680142,-0.286919],[0.007301,-0.382515,0.923920]] 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateRudder:B] Stopped 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateRudder] Stopped 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:59:01.870Z,1761688741.870 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode] Stopped 2025-10-28T21:59:01.871Z,1761688741.871 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:59:02.247Z,1761688742.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715630,-0.646408,-0.264635],[0.698457,-0.659185,-0.278627],[0.005663,-0.384230,0.923220]] 2025-10-28T21:59:02.412Z,1761688742.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:59:02.655Z,1761688742.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692933,-0.667062,-0.273626],[0.720988,-0.638729,-0.268704],[0.004470,-0.383475,0.923540]] 2025-10-28T21:59:03.055Z,1761688743.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669436,-0.687559,-0.281277],[0.742862,-0.617898,-0.257602],[0.003316,-0.381398,0.924405]] 2025-10-28T21:59:03.460Z,1761688743.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645548,-0.707235,-0.288248],[0.763715,-0.596476,-0.246891],[0.002677,-0.379519,0.925180]] 2025-10-28T21:59:03.862Z,1761688743.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621178,-0.725858,-0.295411],[0.783666,-0.574219,-0.236938],[0.002353,-0.378684,0.925523]] 2025-10-28T21:59:04.267Z,1761688744.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596208,-0.743408,-0.303117],[0.802827,-0.551055,-0.227614],[0.002176,-0.379055,0.925371]] 2025-10-28T21:59:04.674Z,1761688744.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570930,-0.758180,-0.314962],[0.820995,-0.526214,-0.221506],[0.002204,-0.385046,0.922895]] 2025-10-28T21:59:05.075Z,1761688745.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544611,-0.772175,-0.327329],[0.838687,-0.500553,-0.214596],[0.001860,-0.391398,0.920220]] 2025-10-28T21:59:05.479Z,1761688745.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517045,-0.785919,-0.339112],[0.855958,-0.474287,-0.205882],[0.000970,-0.396716,0.917941]] 2025-10-28T21:59:05.882Z,1761688745.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488616,-0.799084,-0.350314],[0.872499,-0.447604,-0.195950],[-0.000221,-0.401393,0.915906]] 2025-10-28T21:59:06.288Z,1761688746.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459787,-0.813341,-0.356471],[0.888028,-0.421712,-0.183207],[-0.001319,-0.400793,0.916168]] 2025-10-28T21:59:06.698Z,1761688746.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430785,-0.826785,-0.361733],[0.902450,-0.395856,-0.169946],[-0.002685,-0.399656,0.916661]] 2025-10-28T21:59:07.098Z,1761688747.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402032,-0.839900,-0.364608],[0.915618,-0.370464,-0.156207],[-0.003876,-0.396642,0.917965]] 2025-10-28T21:59:07.498Z,1761688747.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373615,-0.852787,-0.364919],[0.927571,-0.345522,-0.142216],[-0.004807,-0.391622,0.920114]] 2025-10-28T21:59:07.905Z,1761688747.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344094,-0.864200,-0.367092],[0.938915,-0.319256,-0.128507],[-0.006140,-0.388887,0.921265]] 2025-10-28T21:59:08.306Z,1761688748.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314596,-0.872585,-0.373665],[0.949201,-0.292022,-0.117219],[-0.006835,-0.391560,0.920127]] 2025-10-28T21:59:08.714Z,1761688748.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284890,-0.880376,-0.379178],[0.958536,-0.264475,-0.106122],[-0.006856,-0.393689,0.919218]] 2025-10-28T21:59:09.141Z,1761688749.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254059,-0.888176,-0.382880],[0.967167,-0.235924,-0.094483],[-0.006413,-0.394313,0.918954]] 2025-10-28T21:59:09.532Z,1761688749.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222791,-0.894209,-0.388272],[0.974851,-0.206588,-0.083590],[-0.005466,-0.397130,0.917746]] 2025-10-28T21:59:09.922Z,1761688749.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191497,-0.899984,-0.391610],[0.981486,-0.177135,-0.072862],[-0.003793,-0.398312,0.917242]] 2025-10-28T21:59:10.327Z,1761688750.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159335,-0.906609,-0.390733],[0.987222,-0.147191,-0.061051],[-0.002163,-0.395468,0.918477]] 2025-10-28T21:59:10.735Z,1761688750.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126873,-0.912436,-0.389055],[0.991919,-0.116925,-0.049249],[-0.000554,-0.392159,0.919897]] 2025-10-28T21:59:11.173Z,1761688751.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094427,-0.917701,-0.385886],[0.995531,-0.086734,-0.037339],[0.000797,-0.387687,0.921791]] 2025-10-28T21:59:11.543Z,1761688751.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061342,-0.920858,-0.385041],[0.998114,-0.055743,-0.025699],[0.002201,-0.385892,0.922541]] 2025-10-28T21:59:11.942Z,1761688751.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026990,-0.922300,-0.385532],[0.999629,-0.023493,-0.013781],[0.003653,-0.385761,0.922591]] 2025-10-28T21:59:11.985Z,1761688751.985 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:59:11.985Z,1761688751.985 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:59:11.985Z,1761688751.985 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:59:11.986Z,1761688751.986 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:59:11.986Z,1761688751.986 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:59:11.986Z,1761688751.986 [marl:UpdateSpeed] Stopped 2025-10-28T21:59:11.986Z,1761688751.986 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:59:12.346Z,1761688752.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008101,-0.922392,-0.386169],[0.999955,0.009374,-0.001413],[0.004924,-0.386140,0.922427]] 2025-10-28T21:59:12.769Z,1761688752.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043578,-0.920838,-0.387502],[0.999029,0.042657,0.010983],[0.006416,-0.387605,0.921803]] 2025-10-28T21:59:13.193Z,1761688753.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080009,-0.919557,-0.384726],[0.996766,0.076716,0.023927],[0.007512,-0.385396,0.922721]] 2025-10-28T21:59:13.559Z,1761688753.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116435,-0.914809,-0.386739],[0.993160,0.110648,0.037276],[0.008692,-0.388434,0.921436]] 2025-10-28T21:59:13.962Z,1761688753.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152574,-0.908925,-0.388041],[0.988242,0.144277,0.050621],[0.009974,-0.391202,0.920251]] 2025-10-28T21:59:14.369Z,1761688754.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188773,-0.902126,-0.387987],[0.981957,0.177900,0.064124],[0.011175,-0.393092,0.919431]] 2025-10-28T21:59:14.394Z,1761688754.394 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T21:59:14.529Z,1761688754.529 [DAT](DEBUG): Acoustic response timeout 2025-10-28T21:59:14.529Z,1761688754.529 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T21:59:14.781Z,1761688754.781 [DAT](INFO): DAT read: user:339> 2025-10-28T21:59:14.782Z,1761688754.782 [DAT](INFO): DAT read: Tx time:21:59:14.4965 2025-10-28T21:59:14.783Z,1761688754.783 [DAT](INFO): Ping request sent. 2025-10-28T21:59:14.783Z,1761688754.783 [DAT](INFO): transmitted an acoustic signal 2025-10-28T21:59:14.783Z,1761688754.783 [DAT](INFO): publishing transmit ping time 2025-10-28T21:59:14.785Z,1761688754.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001666 2025-10-28T21:59:14.795Z,1761688754.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224531,-0.895265,-0.384820],[0.974393,0.211117,0.077376],[0.011970,-0.392339,0.919743]] 2025-10-28T21:59:14.862Z,1761688754.862 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:59:14.863Z,1761688754.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:59:14.863Z,1761688754.863 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:59:14.863Z,1761688754.863 [marl:UpdateRudder:A] Stopped 2025-10-28T21:59:14.863Z,1761688754.863 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:59:15.033Z,1761688755.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250057 2025-10-28T21:59:15.183Z,1761688755.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259615,-0.888181,-0.379124],[0.965636,0.243695,0.090335],[0.012157,-0.389548,0.920926]] 2025-10-28T21:59:15.219Z,1761688755.219 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS, -53, +487, 0 2025-10-28T21:59:15.239Z,1761688755.239 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:59:15.239Z,1761688755.239 [marl:UpdateRudder:B] Stopped 2025-10-28T21:59:15.239Z,1761688755.239 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:59:15.239Z,1761688755.239 [marl:UpdateRudder] Stopped 2025-10-28T21:59:15.239Z,1761688755.239 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:59:15.240Z,1761688755.240 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:59:15.240Z,1761688755.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:59:15.240Z,1761688755.240 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:59:15.240Z,1761688755.240 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:59:15.240Z,1761688755.240 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:59:15.241Z,1761688755.241 [marl:UpdateCommandMode] Stopped 2025-10-28T21:59:15.241Z,1761688755.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:59:15.286Z,1761688755.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502678 2025-10-28T21:59:15.537Z,1761688755.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754025 2025-10-28T21:59:15.583Z,1761688755.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292845,-0.879933,-0.374111],[0.956080,0.274553,0.102628],[0.012407,-0.387734,0.921688]] 2025-10-28T21:59:15.790Z,1761688755.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006671 2025-10-28T21:59:15.988Z,1761688755.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325552,-0.871073,-0.367760],[0.945445,0.304944,0.114646],[0.012281,-0.385020,0.922826]] 2025-10-28T21:59:16.042Z,1761688756.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258708 2025-10-28T21:59:16.293Z,1761688756.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509968 2025-10-28T21:59:16.387Z,1761688756.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357476,-0.861632,-0.360281],[0.933846,0.334712,0.126093],[0.011944,-0.381522,0.924283]] 2025-10-28T21:59:16.546Z,1761688756.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762887 2025-10-28T21:59:16.797Z,1761688756.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013993 2025-10-28T21:59:16.800Z,1761688756.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388693,-0.850282,-0.354877],[0.921297,0.363427,0.138318],[0.011363,-0.380710,0.924625]] 2025-10-28T21:59:17.049Z,1761688757.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266020 2025-10-28T21:59:17.197Z,1761688757.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418808,-0.838357,-0.348938],[0.908013,0.391115,0.150139],[0.010605,-0.379719,0.925041]] 2025-10-28T21:59:17.301Z,1761688757.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518404 2025-10-28T21:59:17.553Z,1761688757.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770007 2025-10-28T21:59:17.611Z,1761688757.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448260,-0.824518,-0.345302],[0.893850,0.417639,0.163122],[0.009715,-0.381769,0.924207]] 2025-10-28T21:59:17.805Z,1761688757.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021991 2025-10-28T21:59:18.010Z,1761688758.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477451,-0.808896,-0.343114],[0.878617,0.443297,0.177537],[0.008493,-0.386231,0.922363]] 2025-10-28T21:59:18.058Z,1761688758.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274656 2025-10-28T21:59:18.309Z,1761688758.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526004 2025-10-28T21:59:18.407Z,1761688758.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505825,-0.794062,-0.337055],[0.862604,0.468970,0.189688],[0.007445,-0.386694,0.922178]] 2025-10-28T21:59:18.561Z,1761688758.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778027 2025-10-28T21:59:18.810Z,1761688758.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532964,-0.777922,-0.332848],[0.846116,0.492838,0.202974],[0.006142,-0.389806,0.920877]] 2025-10-28T21:59:18.813Z,1761688758.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029974 2025-10-28T21:59:19.065Z,1761688759.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281991 2025-10-28T21:59:19.216Z,1761688759.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559201,-0.761116,-0.328628],[0.829018,0.515649,0.216414],[0.004740,-0.393458,0.919330]] 2025-10-28T21:59:19.317Z,1761688759.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534126 2025-10-28T21:59:19.569Z,1761688759.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786011 2025-10-28T21:59:19.619Z,1761688759.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583970,-0.744613,-0.323311],[0.811767,0.537487,0.228347],[0.003746,-0.395801,0.918329]] 2025-10-28T21:59:19.821Z,1761688759.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037971 2025-10-28T21:59:20.023Z,1761688760.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607255,-0.728671,-0.316672],[0.794502,0.558447,0.238547],[0.003022,-0.396455,0.918049]] 2025-10-28T21:59:20.073Z,1761688760.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290113 2025-10-28T21:59:20.325Z,1761688760.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542042 2025-10-28T21:59:20.428Z,1761688760.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629419,-0.712099,-0.311040],[0.777061,0.578227,0.248655],[0.002785,-0.398206,0.917292]] 2025-10-28T21:59:20.489Z,1761688760.489 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T21:59:20.577Z,1761688760.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794387 2025-10-28T21:59:20.832Z,1761688760.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049537 2025-10-28T21:59:20.847Z,1761688760.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650988,-0.694975,-0.305325],[0.759082,0.597533,0.258357],[0.002890,-0.399954,0.916531]] 2025-10-28T21:59:21.085Z,1761688761.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302098 2025-10-28T21:59:21.234Z,1761688761.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672762,-0.676809,-0.298866],[0.739848,0.617564,0.266906],[0.003924,-0.400680,0.916210]] 2025-10-28T21:59:21.337Z,1761688761.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554110 2025-10-28T21:59:21.589Z,1761688761.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806038 2025-10-28T21:59:21.638Z,1761688761.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694745,-0.657823,-0.290858],[0.719239,0.638229,0.274516],[0.005051,-0.399915,0.916538]] 2025-10-28T21:59:21.841Z,1761688761.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058170 2025-10-28T21:59:22.043Z,1761688762.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716795,-0.638089,-0.281154],[0.697253,0.659691,0.280439],[0.006529,-0.397053,0.917773]] 2025-10-28T21:59:22.093Z,1761688762.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309911 2025-10-28T21:59:22.345Z,1761688762.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562117 2025-10-28T21:59:22.449Z,1761688762.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738720,-0.617226,-0.270786],[0.673970,0.680968,0.286438],[0.007600,-0.394099,0.919037]] 2025-10-28T21:59:22.597Z,1761688762.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814163 2025-10-28T21:59:22.849Z,1761688762.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065896 2025-10-28T21:59:22.856Z,1761688762.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760631,-0.594573,-0.260622],[0.649129,0.701869,0.293278],[0.008547,-0.392253,0.919818]] 2025-10-28T21:59:23.101Z,1761688763.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318029 2025-10-28T21:59:23.254Z,1761688763.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782086,-0.570477,-0.250794],[0.623102,0.721866,0.301088],[0.009276,-0.391747,0.920026]] 2025-10-28T21:59:23.355Z,1761688763.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572371 2025-10-28T21:59:23.610Z,1761688763.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826666 2025-10-28T21:59:23.663Z,1761688763.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802934,-0.546191,-0.238689],[0.595992,0.742022,0.306915],[0.009478,-0.388689,0.921320]] 2025-10-28T21:59:23.861Z,1761688763.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078088 2025-10-28T21:59:24.064Z,1761688764.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822856,-0.521423,-0.225888],[0.568172,0.761517,0.311884],[0.009394,-0.384979,0.922877]] 2025-10-28T21:59:24.114Z,1761688764.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330660 2025-10-28T21:59:24.365Z,1761688764.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582021 2025-10-28T21:59:24.470Z,1761688764.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841700,-0.495828,-0.213763],[0.539870,0.779421,0.317873],[0.009001,-0.382958,0.923722]] 2025-10-28T21:59:24.617Z,1761688764.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834053 2025-10-28T21:59:24.869Z,1761688764.869 [DAT](INFO): Reached modem response timeout 2025-10-28T21:59:24.876Z,1761688764.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859128,-0.470233,-0.201941],[0.511683,0.796169,0.322948],[0.008919,-0.380783,0.924621]] 2025-10-28T21:59:25.275Z,1761688765.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875371,-0.444495,-0.190132],[0.483373,0.811796,0.327625],[0.008721,-0.378698,0.925479]] 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:59:25.345Z,1761688765.345 [marl:UpdateSpeed] Stopped 2025-10-28T21:59:25.346Z,1761688765.346 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:59:25.680Z,1761688765.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890631,-0.417555,-0.180065],[0.454644,0.825194,0.335191],[0.008628,-0.380397,0.924783]] 2025-10-28T21:59:26.082Z,1761688766.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904877,-0.390590,-0.169224],[0.425581,0.838346,0.340670],[0.008806,-0.380283,0.924828]] 2025-10-28T21:59:26.493Z,1761688766.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918255,-0.363090,-0.158028],[0.395881,0.851047,0.344959],[0.009238,-0.379321,0.925219]] 2025-10-28T21:59:26.895Z,1761688766.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930632,-0.335185,-0.146885],[0.365826,0.862808,0.348904],[0.009786,-0.378435,0.925576]] 2025-10-28T21:59:27.140Z,1761688767.140 [DAT](INFO): DAT read: Response Not Received 2025-10-28T21:59:27.141Z,1761688767.141 [DAT](INFO): response not received 2025-10-28T21:59:27.142Z,1761688767.142 [DAT](ERROR): No response from remote modem. 2025-10-28T21:59:27.295Z,1761688767.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942129,-0.306355,-0.136156],[0.335097,0.872762,0.354960],[0.010088,-0.380044,0.924914]] 2025-10-28T21:59:27.698Z,1761688767.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952671,-0.277251,-0.124697],[0.303821,0.882465,0.359093],[0.010482,-0.379983,0.924934]] 2025-10-28T21:59:28.102Z,1761688768.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962040,-0.248649,-0.112486],[0.272698,0.892069,0.360346],[0.010745,-0.377341,0.926012]] 2025-10-28T21:59:28.151Z,1761688768.151 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:59:28.151Z,1761688768.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:59:28.151Z,1761688768.151 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:59:28.151Z,1761688768.151 [marl:UpdateRudder:A] Stopped 2025-10-28T21:59:28.151Z,1761688768.151 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:59:28.507Z,1761688768.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970149,-0.220481,-0.100996],[0.242284,0.899237,0.364242],[0.010511,-0.377838,0.925812]] 2025-10-28T21:59:28.532Z,1761688768.532 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateRudder:B] Stopped 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateRudder] Stopped 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:59:28.533Z,1761688768.533 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:59:28.534Z,1761688768.534 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:59:28.534Z,1761688768.534 [marl:UpdateCommandMode] Stopped 2025-10-28T21:59:28.534Z,1761688768.534 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:59:28.915Z,1761688768.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977115,-0.192840,-0.089775],[0.212475,0.904802,0.369037],[0.010064,-0.379667,0.925069]] 2025-10-28T21:59:29.314Z,1761688769.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983146,-0.165145,-0.078433],[0.182568,0.909529,0.373397],[0.009673,-0.381423,0.924350]] 2025-10-28T21:59:29.718Z,1761688769.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988160,-0.137980,-0.067091],[0.153155,0.913117,0.377837],[0.009128,-0.383639,0.923438]] 2025-10-28T21:59:30.122Z,1761688770.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992315,-0.110660,-0.055368],[0.123458,0.915546,0.382798],[0.008331,-0.386692,0.922171]] 2025-10-28T21:59:30.527Z,1761688770.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995523,-0.083800,-0.043720],[0.094198,0.917713,0.385914],[0.007782,-0.388304,0.921498]] 2025-10-28T21:59:30.935Z,1761688770.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997844,-0.057267,-0.032060],[0.065263,0.917434,0.392498],[0.006935,-0.393744,0.919194]] 2025-10-28T21:59:31.336Z,1761688771.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999317,-0.030810,-0.020396],[0.036375,0.917240,0.396671],[0.006486,-0.397142,0.917734]] 2025-10-28T21:59:31.738Z,1761688771.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,-0.003972,-0.008480],[0.007025,0.916974,0.398885],[0.006191,-0.398927,0.916962]] 2025-10-28T21:59:32.142Z,1761688772.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999714,0.023620,0.003697],[-0.023130,0.916466,0.399443],[0.006047,-0.399415,0.916750]] 2025-10-28T21:59:32.544Z,1761688772.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T21:59:32.548Z,1761688772.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998557,0.051370,0.015682],[-0.053371,0.916211,0.397125],[0.006033,-0.397389,0.917630]] 2025-10-28T21:59:32.979Z,1761688772.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993175,0.109452,0.040291],[-0.116456,0.911619,0.394193],[0.006416,-0.396195,0.918144]] 2025-10-28T21:59:33.549Z,1761688773.549 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T21:59:33.773Z,1761688773.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983262,0.169994,0.065555],[-0.182080,0.903997,0.386829],[0.006497,-0.392291,0.919818]] 2025-10-28T21:59:34.171Z,1761688774.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976315,0.201665,0.078353],[-0.216260,0.899116,0.380555],[0.006296,-0.388487,0.921433]] 2025-10-28T21:59:34.577Z,1761688774.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968083,0.233589,0.090841],[-0.250558,0.893251,0.373262],[0.006046,-0.384109,0.923268]] 2025-10-28T21:59:34.991Z,1761688774.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958631,0.265364,0.102997],[-0.284587,0.885786,0.366596],[0.006048,-0.380742,0.924662]] 2025-10-28T21:59:35.379Z,1761688775.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947783,0.297525,0.114833],[-0.318856,0.877009,0.359424],[0.006228,-0.377271,0.926082]] 2025-10-28T21:59:35.787Z,1761688775.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935814,0.329131,0.126193],[-0.352430,0.866778,0.352831],[0.006746,-0.374658,0.927138]] 2025-10-28T21:59:36.188Z,1761688776.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923077,0.359489,0.136737],[-0.384547,0.855895,0.345786],[0.007274,-0.371769,0.928297]] 2025-10-28T21:59:36.591Z,1761688776.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909855,0.387902,0.147292],[-0.414853,0.843832,0.340360],[0.007737,-0.370783,0.928687]] 2025-10-28T21:59:36.995Z,1761688776.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896019,0.414146,0.160105],[-0.443943,0.829038,0.340016],[0.008083,-0.375738,0.926691]] 2025-10-28T21:59:37.399Z,1761688777.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881316,0.439712,0.173018],[-0.472452,0.813466,0.339208],[0.008409,-0.380692,0.924664]] 2025-10-28T21:59:37.805Z,1761688777.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865745,0.465234,0.184508],[-0.500407,0.798090,0.335627],[0.008891,-0.382896,0.923749]] 2025-10-28T21:59:38.207Z,1761688778.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849236,0.490389,0.195746],[-0.527931,0.782069,0.331144],[0.009303,-0.384560,0.923053]] 2025-10-28T21:59:38.637Z,1761688778.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831876,0.514691,0.207548],[-0.554878,0.764858,0.327266],[0.009696,-0.387408,0.921857]] 2025-10-28T21:59:38.673Z,1761688778.673 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:59:38.673Z,1761688778.673 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:59:38.673Z,1761688778.673 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:59:38.674Z,1761688778.674 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:59:38.674Z,1761688778.674 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:59:38.674Z,1761688778.674 [marl:UpdateSpeed] Stopped 2025-10-28T21:59:38.674Z,1761688778.674 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:59:39.015Z,1761688779.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813899,0.538624,0.217834],[-0.580921,0.748005,0.320967],[0.009940,-0.387779,0.921699]] 2025-10-28T21:59:39.420Z,1761688779.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794505,0.562582,0.228612],[-0.607169,0.729527,0.314858],[0.010355,-0.388962,0.921195]] 2025-10-28T21:59:39.823Z,1761688779.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774905,0.585720,0.237600],[-0.631989,0.711685,0.306749],[0.010573,-0.387862,0.921657]] 2025-10-28T21:59:40.227Z,1761688780.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754524,0.608337,0.246211],[-0.656183,0.693139,0.298297],[0.010807,-0.386631,0.922171]] 2025-10-28T21:59:40.631Z,1761688780.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734377,0.629460,0.253909],[-0.678652,0.674882,0.289768],[0.011039,-0.385115,0.922803]] 2025-10-28T21:59:41.034Z,1761688781.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713273,0.649336,0.263825],[-0.700797,0.654717,0.283248],[0.011193,-0.386921,0.922045]] 2025-10-28T21:59:41.446Z,1761688781.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691571,0.668831,0.272752],[-0.722220,0.634381,0.275607],[0.011306,-0.387589,0.921763]] 2025-10-28T21:59:41.532Z,1761688781.532 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:59:41.533Z,1761688781.533 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:59:41.533Z,1761688781.533 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:59:41.533Z,1761688781.533 [marl:UpdateRudder:A] Stopped 2025-10-28T21:59:41.533Z,1761688781.533 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:59:41.843Z,1761688781.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669125,0.688260,0.280304],[-0.743064,0.613875,0.266483],[0.011338,-0.386594,0.922180]] 2025-10-28T21:59:41.867Z,1761688781.867 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:59:41.867Z,1761688781.867 [marl:UpdateRudder:B] Stopped 2025-10-28T21:59:41.867Z,1761688781.867 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:59:41.867Z,1761688781.867 [marl:UpdateRudder] Stopped 2025-10-28T21:59:41.868Z,1761688781.868 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:59:41.868Z,1761688781.868 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:59:41.868Z,1761688781.868 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:59:41.868Z,1761688781.868 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:59:41.868Z,1761688781.868 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:59:41.869Z,1761688781.869 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:59:41.869Z,1761688781.869 [marl:UpdateCommandMode] Stopped 2025-10-28T21:59:41.869Z,1761688781.869 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:59:42.248Z,1761688782.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646107,0.706776,0.288119],[-0.763162,0.592630,0.257629],[0.011338,-0.386338,0.922288]] 2025-10-28T21:59:42.651Z,1761688782.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622196,0.724281,0.297135],[-0.782781,0.570122,0.249430],[0.011254,-0.387786,0.921681]] 2025-10-28T21:59:43.055Z,1761688783.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597111,0.741794,0.305288],[-0.802079,0.546761,0.240253],[0.011299,-0.388323,0.921454]] 2025-10-28T21:59:43.462Z,1761688783.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571454,0.758309,0.313700],[-0.820559,0.522836,0.230924],[0.011098,-0.389372,0.921014]] 2025-10-28T21:59:43.863Z,1761688783.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544745,0.773977,0.322821],[-0.838530,0.497681,0.221768],[0.010981,-0.391502,0.920112]] 2025-10-28T21:59:44.269Z,1761688784.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517084,0.789252,0.331219],[-0.855866,0.471871,0.211732],[0.010818,-0.392962,0.919491]] 2025-10-28T21:59:44.674Z,1761688784.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488919,0.804379,0.337540],[-0.872270,0.446296,0.199911],[0.010161,-0.392167,0.919838]] 2025-10-28T21:59:45.074Z,1761688785.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459410,0.819373,0.342884],[-0.888172,0.419564,0.187395],[0.009685,-0.390631,0.920496]] 2025-10-28T21:59:45.481Z,1761688785.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428759,0.833805,0.347758],[-0.903369,0.391654,0.174734],[0.009493,-0.389072,0.921158]] 2025-10-28T21:59:45.882Z,1761688785.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397078,0.846518,0.354592],[-0.917736,0.362254,0.162885],[0.009433,-0.390100,0.920724]] 2025-10-28T21:59:46.286Z,1761688786.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365076,0.858869,0.359254],[-0.930930,0.332872,0.150218],[0.009432,-0.389281,0.921071]] 2025-10-28T21:59:46.695Z,1761688786.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332877,0.870202,0.363238],[-0.942921,0.303224,0.137679],[0.009665,-0.388335,0.921468]] 2025-10-28T21:59:47.114Z,1761688787.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301056,0.880809,0.365433],[-0.953556,0.274120,0.124855],[0.009801,-0.386049,0.922426]] 2025-10-28T21:59:47.499Z,1761688787.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270775,0.889175,0.368847],[-0.962595,0.246292,0.112920],[0.009561,-0.385626,0.922605]] 2025-10-28T21:59:47.903Z,1761688787.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241222,0.895679,0.373592],[-0.970429,0.219074,0.101365],[0.008946,-0.386996,0.922038]] 2025-10-28T21:59:48.307Z,1761688788.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212369,0.901125,0.377985],[-0.977157,0.192671,0.089678],[0.007984,-0.388396,0.921458]] 2025-10-28T21:59:48.716Z,1761688788.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183295,0.905913,0.381738],[-0.983034,0.166182,0.077642],[0.006899,-0.389493,0.921004]] 2025-10-28T21:59:49.242Z,1761688789.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153947,0.910599,0.383549],[-0.988062,0.139607,0.065137],[0.005768,-0.388998,0.921221]] 2025-10-28T21:59:49.519Z,1761688789.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124091,0.914669,0.384685],[-0.992262,0.112702,0.052109],[0.004307,-0.388175,0.921576]] 2025-10-28T21:59:49.930Z,1761688789.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092976,0.918515,0.384298],[-0.995663,0.084561,0.038777],[0.003121,-0.386237,0.922394]] 2025-10-28T21:59:50.329Z,1761688790.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059165,0.921351,0.384203],[-0.998245,0.053594,0.025203],[0.002630,-0.385020,0.922905]] 2025-10-28T21:59:50.735Z,1761688790.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024394,0.922044,0.386315],[-0.999700,0.021656,0.011440],[0.002182,-0.386478,0.922296]] 2025-10-28T21:59:51.180Z,1761688791.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011522,0.922504,0.385816],[-0.999932,-0.011204,-0.003071],[0.001490,-0.385825,0.922571]] 2025-10-28T21:59:51.539Z,1761688791.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047512,0.921867,0.384583],[-0.998871,-0.043954,-0.018042],[0.000272,-0.385006,0.922914]] 2025-10-28T21:59:51.945Z,1761688791.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084188,0.919847,0.383136],[-0.996450,-0.077377,-0.033183],[-0.000878,-0.384569,0.923096]] 2025-10-28T21:59:51.987Z,1761688791.987 [marl:UpdateSpeed] Running Loop=1 2025-10-28T21:59:51.987Z,1761688791.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T21:59:51.988Z,1761688791.988 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T21:59:51.988Z,1761688791.988 [marl:UpdateSpeed:A] Stopped 2025-10-28T21:59:51.988Z,1761688791.988 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T21:59:51.988Z,1761688791.988 [marl:UpdateSpeed] Stopped 2025-10-28T21:59:51.988Z,1761688791.988 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T21:59:52.349Z,1761688792.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120973,0.916892,0.380361],[-0.992652,-0.110736,-0.048772],[-0.002599,-0.383466,0.923551]] 2025-10-28T21:59:52.760Z,1761688792.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157499,0.912133,0.378429],[-0.987509,-0.143727,-0.064567],[-0.004503,-0.383871,0.923376]] 2025-10-28T21:59:53.181Z,1761688793.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193356,0.905944,0.376669],[-0.981106,-0.175918,-0.080525],[-0.006688,-0.385122,0.922841]] 2025-10-28T21:59:53.559Z,1761688793.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228605,0.898854,0.373900],[-0.973483,-0.207764,-0.095732],[-0.008366,-0.385870,0.922515]] 2025-10-28T21:59:53.965Z,1761688793.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263402,0.889677,0.372953],[-0.964636,-0.238986,-0.111186],[-0.009789,-0.389050,0.921164]] 2025-10-28T21:59:54.368Z,1761688794.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298232,0.879954,0.369782],[-0.954437,-0.270713,-0.125556],[-0.010379,-0.390379,0.920596]] 2025-10-28T21:59:54.775Z,1761688794.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331535,0.870194,0.364482],[-0.943384,-0.301460,-0.138377],[-0.010538,-0.389723,0.920872]] 2025-10-28T21:59:54.875Z,1761688794.875 [marl:UpdateRudder] Running Loop=1 2025-10-28T21:59:54.876Z,1761688794.876 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T21:59:54.876Z,1761688794.876 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T21:59:54.876Z,1761688794.876 [marl:UpdateRudder:A] Stopped 2025-10-28T21:59:54.876Z,1761688794.876 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T21:59:55.187Z,1761688795.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363833,0.859915,0.358010],[-0.931404,-0.331499,-0.150314],[-0.010578,-0.388141,0.921539]] 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateRudder:B] Stopped 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateRudder] Stopped 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T21:59:55.273Z,1761688795.273 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T21:59:55.274Z,1761688795.274 [marl:UpdateCommandMode:A] Stopped 2025-10-28T21:59:55.274Z,1761688795.274 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T21:59:55.274Z,1761688795.274 [marl:UpdateCommandMode] Stopped 2025-10-28T21:59:55.274Z,1761688795.274 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T21:59:55.580Z,1761688795.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394179,0.848379,0.353377],[-0.918977,-0.359567,-0.161843],[-0.010242,-0.388541,0.921375]] 2025-10-28T21:59:55.983Z,1761688795.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423047,0.836305,0.348748],[-0.906058,-0.386383,-0.172532],[-0.009539,-0.388975,0.921199]] 2025-10-28T21:59:56.388Z,1761688796.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449864,0.822296,0.348499],[-0.893054,-0.410337,-0.184605],[-0.008798,-0.394276,0.918950]] 2025-10-28T21:59:56.794Z,1761688796.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475880,0.809325,0.344285],[-0.879474,-0.434337,-0.194621],[-0.007976,-0.395406,0.918472]] 2025-10-28T21:59:57.199Z,1761688797.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500826,0.794643,0.343096],[-0.865513,-0.456211,-0.206782],[-0.007793,-0.400516,0.916257]] 2025-10-28T21:59:57.599Z,1761688797.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525287,0.779531,0.341181],[-0.850885,-0.477311,-0.219474],[-0.008237,-0.405592,0.914017]] 2025-10-28T21:59:58.002Z,1761688798.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550154,0.764789,0.335304],[-0.835019,-0.499675,-0.230365],[-0.008638,-0.406721,0.913511]] 2025-10-28T21:59:58.414Z,1761688798.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575603,0.750894,0.323790],[-0.817677,-0.524035,-0.238310],[-0.009268,-0.401928,0.915624]] 2025-10-28T21:59:58.813Z,1761688798.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602686,0.735627,0.309230],[-0.797919,-0.550829,-0.244771],[-0.009727,-0.394261,0.918947]] 2025-10-28T21:59:59.214Z,1761688799.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629808,0.719146,0.293549],[-0.776679,-0.577887,-0.250633],[-0.010603,-0.385844,0.922503]] 2025-10-28T21:59:59.619Z,1761688799.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657615,0.700562,0.277050],[-0.753268,-0.605892,-0.255894],[-0.011407,-0.376972,0.926154]] 2025-10-28T22:00:00.023Z,1761688800.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684519,0.679870,0.263080],[-0.728891,-0.632204,-0.262747],[-0.012314,-0.371612,0.928307]] 2025-10-28T22:00:00.430Z,1761688800.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710738,0.657921,0.248983],[-0.703331,-0.657897,-0.269252],[-0.013341,-0.366485,0.930328]] 2025-10-28T22:00:00.830Z,1761688800.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735212,0.633936,0.239974],[-0.677674,-0.679661,-0.280749],[-0.014876,-0.369034,0.929297]] 2025-10-28T22:00:01.235Z,1761688801.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758093,0.610175,0.230177],[-0.651939,-0.700175,-0.291085],[-0.016449,-0.370731,0.928595]] 2025-10-28T22:00:01.639Z,1761688801.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779760,0.586241,0.219763],[-0.625821,-0.719779,-0.300444],[-0.017952,-0.371806,0.928137]] 2025-10-28T22:00:02.446Z,1761688802.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819122,0.536827,0.202127],[-0.573251,-0.753463,-0.321990],[-0.020558,-0.379618,0.924915]] 2025-10-28T22:00:02.850Z,1761688802.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836723,0.512066,0.194121],[-0.547202,-0.767825,-0.333189],[-0.021564,-0.385010,0.922661]] 2025-10-28T22:00:03.254Z,1761688803.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853433,0.486627,0.186674],[-0.520729,-0.780816,-0.345207],[-0.022230,-0.391818,0.919774]] 2025-10-28T22:00:03.666Z,1761688803.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869566,0.460756,0.177650],[-0.493311,-0.794226,-0.354754],[-0.022361,-0.396118,0.917927]] 2025-10-28T22:00:03.668Z,1761688803.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:00:04.063Z,1761688804.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884806,0.434745,0.167675],[-0.465414,-0.807169,-0.363137],[-0.022530,-0.399345,0.916524]] 2025-10-28T22:00:04.466Z,1761688804.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899403,0.407991,0.156901],[-0.436555,-0.820116,-0.369906],[-0.022241,-0.401191,0.915725]] 2025-10-28T22:00:04.672Z,1761688804.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:00:04.870Z,1761688804.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912957,0.381476,0.144863],[-0.407470,-0.833261,-0.373690],[-0.021845,-0.400190,0.916172]] 2025-10-28T22:00:05.275Z,1761688805.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925881,0.354467,0.130756],[-0.377184,-0.847238,-0.374060],[-0.021811,-0.395654,0.918141]] 2025-10-28T22:00:05.333Z,1761688805.333 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:00:05.333Z,1761688805.333 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:00:05.333Z,1761688805.333 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:00:05.334Z,1761688805.334 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:00:05.334Z,1761688805.334 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:00:05.334Z,1761688805.334 [marl:UpdateSpeed] Stopped 2025-10-28T22:00:05.334Z,1761688805.334 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:00:06.083Z,1761688806.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948509,0.298897,0.104836],[-0.316018,-0.870495,-0.377321],[-0.021521,-0.391022,0.920130]] 2025-10-28T22:00:06.489Z,1761688806.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958248,0.270727,0.092022],[-0.285127,-0.880452,-0.378823],[-0.021536,-0.389245,0.920883]] 2025-10-28T22:00:06.904Z,1761688806.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967138,0.241742,0.078764],[-0.253326,-0.889835,-0.379498],[-0.021654,-0.386980,0.921834]] 2025-10-28T22:00:07.295Z,1761688807.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975189,0.211565,0.065166],[-0.220263,-0.897839,-0.381273],[-0.022155,-0.386167,0.922163]] 2025-10-28T22:00:07.699Z,1761688807.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981869,0.182119,0.052582],[-0.188137,-0.902360,-0.387752],[-0.023169,-0.390615,0.920263]] 2025-10-28T22:00:08.103Z,1761688808.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987428,0.153085,0.039384],[-0.156186,-0.906554,-0.392131],[-0.024326,-0.393352,0.919066]] 2025-10-28T22:00:08.127Z,1761688808.127 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:00:08.127Z,1761688808.127 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:00:08.127Z,1761688808.127 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:00:08.127Z,1761688808.127 [marl:UpdateRudder:A] Stopped 2025-10-28T22:00:08.127Z,1761688808.127 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:00:08.508Z,1761688808.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991847,0.124757,0.025996],[-0.124853,-0.910430,-0.394371],[-0.025533,-0.394402,0.918583]] 2025-10-28T22:00:08.533Z,1761688808.533 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:00:08.533Z,1761688808.533 [marl:UpdateRudder:B] Stopped 2025-10-28T22:00:08.533Z,1761688808.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:00:08.533Z,1761688808.533 [marl:UpdateRudder] Stopped 2025-10-28T22:00:08.533Z,1761688808.533 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode] Stopped 2025-10-28T22:00:08.534Z,1761688808.534 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:00:08.912Z,1761688808.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995270,0.096388,0.012111],[-0.093397,-0.915099,-0.392263],[-0.026726,-0.391539,0.919773]] 2025-10-28T22:00:09.316Z,1761688809.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997668,0.068237,-0.001553],[-0.062215,-0.918507,-0.390480],[-0.028071,-0.389473,0.920610]] 2025-10-28T22:00:09.719Z,1761688809.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999096,0.039932,-0.014563],[-0.031213,-0.921835,-0.386323],[-0.028851,-0.385519,0.922249]] 2025-10-28T22:00:10.123Z,1761688810.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999556,0.011579,-0.027466],[-0.000211,-0.924185,-0.381945],[-0.029806,-0.381769,0.923777]] 2025-10-28T22:00:10.526Z,1761688810.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999036,-0.017480,-0.040271],[0.031342,-0.926312,-0.375451],[-0.030741,-0.376351,0.925967]] 2025-10-28T22:00:10.933Z,1761688810.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997440,-0.047817,-0.053162],[0.064115,-0.927250,-0.368913],[-0.031654,-0.371377,0.927942]] 2025-10-28T22:00:11.334Z,1761688811.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994658,-0.079501,-0.065836],[0.098063,-0.926912,-0.362241],[-0.032226,-0.366762,0.929756]] 2025-10-28T22:00:11.738Z,1761688811.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990640,-0.111226,-0.079134],[0.132449,-0.923457,-0.360117],[-0.033023,-0.367227,0.929545]] 2025-10-28T22:00:12.144Z,1761688812.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985265,-0.143619,-0.092884],[0.167597,-0.919059,-0.356710],[-0.034135,-0.367020,0.929586]] 2025-10-28T22:00:12.546Z,1761688812.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978444,-0.176104,-0.107864],[0.203434,-0.911776,-0.356763],[-0.035520,-0.371016,0.927947]] 2025-10-28T22:00:12.950Z,1761688812.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970300,-0.207281,-0.124709],[0.239024,-0.900840,-0.362430],[-0.037218,-0.381474,0.923630]] 2025-10-28T22:00:13.355Z,1761688813.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960917,-0.237874,-0.141613],[0.274044,-0.889826,-0.364842],[-0.039224,-0.389391,0.920237]] 2025-10-28T22:00:13.764Z,1761688813.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950387,-0.268003,-0.157919],[0.308332,-0.878801,-0.364198],[-0.041173,-0.394821,0.917835]] 2025-10-28T22:00:14.164Z,1761688814.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939190,-0.296279,-0.173612],[0.340672,-0.867463,-0.362561],[-0.043183,-0.399658,0.915646]] 2025-10-28T22:00:14.567Z,1761688814.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927560,-0.323422,-0.187166],[0.370964,-0.857219,-0.357159],[-0.044929,-0.400718,0.915099]] 2025-10-28T22:00:14.610Z,1761688814.610 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:00:14.769Z,1761688814.769 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:00:14.770Z,1761688814.770 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:00:14.971Z,1761688814.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915246,-0.350675,-0.198373],[0.400228,-0.847907,-0.347665],[-0.046284,-0.397593,0.916394]] 2025-10-28T22:00:15.021Z,1761688815.021 [DAT](INFO): DAT read: user:340> 2025-10-28T22:00:15.022Z,1761688815.022 [DAT](INFO): DAT read: Tx time:22:00:14.7463 2025-10-28T22:00:15.022Z,1761688815.022 [DAT](INFO): Ping request sent. 2025-10-28T22:00:15.022Z,1761688815.022 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:00:15.022Z,1761688815.022 [DAT](INFO): publishing transmit ping time 2025-10-28T22:00:15.023Z,1761688815.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943 2025-10-28T22:00:15.273Z,1761688815.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250713 2025-10-28T22:00:15.383Z,1761688815.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902729,-0.375884,-0.209263],[0.427605,-0.837405,-0.340452],[-0.047267,-0.396817,0.916680]] 2025-10-28T22:00:15.525Z,1761688815.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503366 2025-10-28T22:00:15.777Z,1761688815.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755118 2025-10-28T22:00:15.790Z,1761688815.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889564,-0.400999,-0.218804],[0.454280,-0.826898,-0.331466],[-0.048011,-0.394258,0.917745]] 2025-10-28T22:00:16.029Z,1761688816.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785 2025-10-28T22:00:16.182Z,1761688816.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876149,-0.425468,-0.226584],[0.479636,-0.816355,-0.321737],[-0.048084,-0.390567,0.919318]] 2025-10-28T22:00:16.281Z,1761688816.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258826 2025-10-28T22:00:16.533Z,1761688816.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510743 2025-10-28T22:00:16.593Z,1761688816.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861920,-0.449853,-0.233938],[0.504799,-0.804688,-0.312499],[-0.047669,-0.387441,0.920661]] 2025-10-28T22:00:16.785Z,1761688816.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763333 2025-10-28T22:00:16.994Z,1761688816.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846699,-0.474403,-0.240922],[0.530004,-0.791886,-0.303335],[-0.046880,-0.384523,0.921924]] 2025-10-28T22:00:17.037Z,1761688817.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014821 2025-10-28T22:00:17.289Z,1761688817.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266732 2025-10-28T22:00:17.395Z,1761688817.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830295,-0.499513,-0.247177],[0.555449,-0.778017,-0.293541],[-0.045680,-0.381020,0.923438]] 2025-10-28T22:00:17.541Z,1761688817.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518795 2025-10-28T22:00:17.793Z,1761688817.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770915 2025-10-28T22:00:17.815Z,1761688817.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812621,-0.524080,-0.254926],[0.581084,-0.762076,-0.285625],[-0.044582,-0.380238,0.923814]] 2025-10-28T22:00:18.045Z,1761688818.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022694 2025-10-28T22:00:18.204Z,1761688818.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792901,-0.549965,-0.262385],[0.607750,-0.744938,-0.275150],[-0.044138,-0.377631,0.924904]] 2025-10-28T22:00:18.297Z,1761688818.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275307 2025-10-28T22:00:18.549Z,1761688818.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526775 2025-10-28T22:00:18.610Z,1761688818.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771624,-0.574933,-0.272116],[0.634532,-0.725564,-0.266318],[-0.044323,-0.378164,0.924677]] 2025-10-28T22:00:18.666Z,1761688818.666 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:00:18.666Z,1761688818.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:00:18.666Z,1761688818.666 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:00:18.666Z,1761688818.666 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:00:18.667Z,1761688818.667 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:00:18.667Z,1761688818.667 [marl:UpdateSpeed] Stopped 2025-10-28T22:00:18.667Z,1761688818.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:00:18.801Z,1761688818.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778752 2025-10-28T22:00:19.016Z,1761688819.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724757,-0.623942,-0.292273],[0.687445,-0.683361,-0.245842],[-0.046336,-0.379097,0.924196]] 2025-10-28T22:00:19.053Z,1761688819.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030911 2025-10-28T22:00:19.305Z,1761688819.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282812 2025-10-28T22:00:19.419Z,1761688819.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699468,-0.647435,-0.302609],[0.713040,-0.660757,-0.234464],[-0.048151,-0.379772,0.923826]] 2025-10-28T22:00:19.557Z,1761688819.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535245 2025-10-28T22:00:19.817Z,1761688819.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794685 2025-10-28T22:00:19.846Z,1761688819.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673400,-0.670698,-0.310961],[0.737563,-0.638152,-0.220822],[-0.050335,-0.378055,0.924414]] 2025-10-28T22:00:20.069Z,1761688820.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046821 2025-10-28T22:00:20.227Z,1761688820.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646981,-0.692363,-0.319453],[0.760679,-0.615045,-0.207575],[-0.052761,-0.377298,0.924588]] 2025-10-28T22:00:20.322Z,1761688820.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299150 2025-10-28T22:00:20.573Z,1761688820.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550759 2025-10-28T22:00:20.629Z,1761688820.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620689,-0.711807,-0.328749],[0.782115,-0.591591,-0.195746],[-0.055152,-0.378617,0.923909]] 2025-10-28T22:00:20.825Z,1761688820.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802857 2025-10-28T22:00:21.032Z,1761688821.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594301,-0.728931,-0.339801],[0.802178,-0.567524,-0.185548],[-0.057594,-0.382852,0.922013]] 2025-10-28T22:00:21.095Z,1761688821.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.072651 2025-10-28T22:00:21.346Z,1761688821.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.323564 2025-10-28T22:00:21.434Z,1761688821.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567670,-0.745226,-0.349843],[0.821114,-0.543165,-0.175338],[-0.059356,-0.386795,0.920254]] 2025-10-28T22:00:21.487Z,1761688821.487 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:00:21.487Z,1761688821.487 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:00:21.487Z,1761688821.487 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:00:21.487Z,1761688821.487 [marl:UpdateRudder:A] Stopped 2025-10-28T22:00:21.487Z,1761688821.487 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:00:21.599Z,1761688821.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.577046 2025-10-28T22:00:21.846Z,1761688821.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540822,-0.760923,-0.358481],[0.838982,-0.518481,-0.165185],[-0.060173,-0.390095,0.918807]] 2025-10-28T22:00:21.854Z,1761688821.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.831497 2025-10-28T22:00:21.918Z,1761688821.918 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:00:21.918Z,1761688821.918 [marl:UpdateRudder:B] Stopped 2025-10-28T22:00:21.918Z,1761688821.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:00:21.918Z,1761688821.918 [marl:UpdateRudder] Stopped 2025-10-28T22:00:21.918Z,1761688821.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode] Stopped 2025-10-28T22:00:21.919Z,1761688821.919 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:00:22.105Z,1761688822.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.082791 2025-10-28T22:00:22.243Z,1761688822.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513822,-0.776393,-0.364967],[0.855787,-0.493682,-0.154620],[-0.060132,-0.391781,0.918092]] 2025-10-28T22:00:22.358Z,1761688822.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.335438 2025-10-28T22:00:22.609Z,1761688822.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.586688 2025-10-28T22:00:22.652Z,1761688822.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486085,-0.791283,-0.370934],[0.871868,-0.468108,-0.143952],[-0.059730,-0.393378,0.917435]] 2025-10-28T22:00:22.862Z,1761688822.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.839556 2025-10-28T22:00:23.051Z,1761688823.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457505,-0.807360,-0.372638],[0.887269,-0.442140,-0.131398],[-0.058673,-0.390746,0.918627]] 2025-10-28T22:00:23.131Z,1761688823.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.108511 2025-10-28T22:00:23.377Z,1761688823.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.354797 2025-10-28T22:00:23.455Z,1761688823.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428729,-0.822927,-0.372805],[0.901618,-0.415888,-0.118838],[-0.057250,-0.387077,0.920268]] 2025-10-28T22:00:23.629Z,1761688823.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.606766 2025-10-28T22:00:23.871Z,1761688823.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398719,-0.837160,-0.374413],[0.915355,-0.388274,-0.106624],[-0.056114,-0.385234,0.921111]] 2025-10-28T22:00:23.881Z,1761688823.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.858890 2025-10-28T22:00:24.133Z,1761688824.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.110700 2025-10-28T22:00:24.264Z,1761688824.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368025,-0.848623,-0.379995],[0.928174,-0.359575,-0.095915],[-0.055241,-0.388001,0.920002]] 2025-10-28T22:00:24.385Z,1761688824.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.363054 2025-10-28T22:00:24.637Z,1761688824.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.614807 2025-10-28T22:00:24.667Z,1761688824.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336749,-0.859720,-0.384033],[0.940036,-0.330415,-0.084606],[-0.054153,-0.389496,0.919435]] 2025-10-28T22:00:24.889Z,1761688824.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.866741 2025-10-28T22:00:25.070Z,1761688825.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305634,-0.867515,-0.392437],[0.950657,-0.301095,-0.074785],[-0.053284,-0.395929,0.916734]] 2025-10-28T22:00:25.154Z,1761688825.154 [DAT](INFO): Reached modem response timeout 2025-10-28T22:00:25.476Z,1761688825.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273981,-0.875836,-0.397298],[0.960277,-0.271871,-0.062882],[-0.052939,-0.398745,0.915533]] 2025-10-28T22:00:25.890Z,1761688825.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242426,-0.884167,-0.399347],[0.968725,-0.243063,-0.049919],[-0.052930,-0.398959,0.915440]] 2025-10-28T22:00:26.282Z,1761688826.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211311,-0.891575,-0.400552],[0.975981,-0.214691,-0.037005],[-0.053002,-0.398750,0.915527]] 2025-10-28T22:00:26.686Z,1761688826.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181501,-0.897367,-0.402231],[0.981960,-0.187442,-0.024915],[-0.053037,-0.399497,0.915199]] 2025-10-28T22:00:27.096Z,1761688827.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151703,-0.904819,-0.397855],[0.987020,-0.160135,-0.012168],[-0.052701,-0.394537,0.917368]] 2025-10-28T22:00:27.409Z,1761688827.409 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:00:27.409Z,1761688827.409 [DAT](INFO): response not received 2025-10-28T22:00:27.409Z,1761688827.409 [DAT](ERROR): No response from remote modem. 2025-10-28T22:00:27.497Z,1761688827.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122526,-0.910828,-0.394183],[0.991107,-0.133066,-0.000600],[-0.051906,-0.390751,0.919032]] 2025-10-28T22:00:27.902Z,1761688827.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093613,-0.915826,-0.390511],[0.994319,-0.105958,0.010136],[-0.050661,-0.387343,0.920543]] 2025-10-28T22:00:28.302Z,1761688828.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064796,-0.918388,-0.390339],[0.996684,-0.078853,0.020076],[-0.049216,-0.387744,0.920452]] 2025-10-28T22:00:28.706Z,1761688828.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036053,-0.920440,-0.389217],[0.998214,-0.051729,0.029865],[-0.047623,-0.387446,0.920662]] 2025-10-28T22:00:29.137Z,1761688829.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006871,-0.921026,-0.389441],[0.998935,-0.024092,0.039352],[-0.045627,-0.388756,0.920210]] 2025-10-28T22:00:29.514Z,1761688829.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022979,-0.922621,-0.385023],[0.998792,0.004459,0.048926],[-0.043423,-0.385683,0.921609]] 2025-10-28T22:00:29.922Z,1761688829.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053850,-0.921729,-0.384079],[0.997690,0.033712,0.058978],[-0.041414,-0.386367,0.921415]] 2025-10-28T22:00:30.326Z,1761688830.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085955,-0.919969,-0.382451],[0.995501,0.063941,0.069929],[-0.039878,-0.386741,0.921326]] 2025-10-28T22:00:30.728Z,1761688830.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119004,-0.918150,-0.377940],[0.992149,0.095225,0.081069],[-0.038444,-0.384620,0.922274]] 2025-10-28T22:00:31.171Z,1761688831.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153412,-0.914016,-0.375553],[0.987454,0.127407,0.093288],[-0.037419,-0.385153,0.922094]] 2025-10-28T22:00:31.535Z,1761688831.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188751,-0.909819,-0.369597],[0.981330,0.160593,0.105835],[-0.036936,-0.382674,0.923145]] 2025-10-28T22:00:31.942Z,1761688831.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224597,-0.904104,-0.363528],[0.973756,0.194141,0.118777],[-0.036811,-0.380665,0.923980]] 2025-10-28T22:00:31.984Z,1761688831.984 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:00:31.988Z,1761688831.988 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:00:31.988Z,1761688831.988 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:00:31.989Z,1761688831.989 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:00:31.989Z,1761688831.989 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:00:31.989Z,1761688831.989 [marl:UpdateSpeed] Stopped 2025-10-28T22:00:31.989Z,1761688831.989 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:00:32.351Z,1761688832.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259996,-0.897119,-0.357182],[0.964890,0.227100,0.131956],[-0.037264,-0.378950,0.924667]] 2025-10-28T22:00:32.746Z,1761688832.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295195,-0.886641,-0.355987],[0.954656,0.258657,0.147405],[-0.038617,-0.383359,0.922792]] 2025-10-28T22:00:33.177Z,1761688833.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329382,-0.875822,-0.352765],[0.943337,0.289309,0.162531],[-0.040290,-0.386311,0.921488]] 2025-10-28T22:00:33.555Z,1761688833.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362680,-0.864151,-0.348864],[0.930955,0.318984,0.177686],[-0.042265,-0.389220,0.920175]] 2025-10-28T22:00:33.969Z,1761688833.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393798,-0.852934,-0.342676],[0.918128,0.347013,0.191370],[-0.044313,-0.389982,0.919756]] 2025-10-28T22:00:34.363Z,1761688834.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423496,-0.841201,-0.336204],[0.904719,0.373807,0.204334],[-0.046210,-0.390704,0.919356]] 2025-10-28T22:00:34.771Z,1761688834.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451852,-0.828614,-0.330498],[0.890818,0.399304,0.216793],[-0.047669,-0.392372,0.918571]] 2025-10-28T22:00:34.800Z,1761688834.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:00:34.858Z,1761688834.858 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:00:34.858Z,1761688834.858 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:00:34.858Z,1761688834.858 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:00:34.858Z,1761688834.858 [marl:UpdateRudder:A] Stopped 2025-10-28T22:00:34.859Z,1761688834.859 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:00:35.183Z,1761688835.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478975,-0.815244,-0.325515],[0.876485,0.423634,0.228711],[-0.048557,-0.394856,0.917459]] 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateRudder:B] Stopped 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateRudder] Stopped 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:00:35.254Z,1761688835.254 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:00:35.255Z,1761688835.255 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:00:35.255Z,1761688835.255 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:00:35.255Z,1761688835.255 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:00:35.255Z,1761688835.255 [marl:UpdateCommandMode] Stopped 2025-10-28T22:00:35.255Z,1761688835.255 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:00:35.575Z,1761688835.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505249,-0.801353,-0.320244],[0.861588,0.447396,0.239800],[-0.048889,-0.397077,0.916482]] 2025-10-28T22:00:35.804Z,1761688835.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:00:35.979Z,1761688835.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530453,-0.786741,-0.315687],[0.846306,0.470027,0.250679],[-0.048838,-0.400142,0.915151]] 2025-10-28T22:00:36.383Z,1761688836.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555368,-0.772237,-0.308573],[0.830196,0.493253,0.259763],[-0.048394,-0.400440,0.915044]] 2025-10-28T22:00:36.793Z,1761688836.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580406,-0.757244,-0.299517],[0.812925,0.517215,0.267658],[-0.047768,-0.398835,0.915778]] 2025-10-28T22:00:37.191Z,1761688837.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605384,-0.741416,-0.289505],[0.794543,0.541435,0.274864],[-0.047041,-0.396422,0.916862]] 2025-10-28T22:00:37.595Z,1761688837.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630858,-0.723987,-0.279036],[0.774483,0.565866,0.282791],[-0.046840,-0.394510,0.917697]] 2025-10-28T22:00:38.006Z,1761688838.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655178,-0.707335,-0.265368],[0.754032,0.590555,0.287544],[-0.046676,-0.388488,0.920271]] 2025-10-28T22:00:38.404Z,1761688838.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678698,-0.689679,-0.252412],[0.732910,0.614034,0.292927],[-0.047036,-0.383804,0.922216]] 2025-10-28T22:00:38.811Z,1761688838.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701154,-0.670850,-0.241545],[0.711400,0.635457,0.300174],[-0.047880,-0.382303,0.922796]] 2025-10-28T22:00:39.210Z,1761688839.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722577,-0.651008,-0.232532],[0.689550,0.654904,0.309228],[-0.049024,-0.383783,0.922121]] 2025-10-28T22:00:39.615Z,1761688839.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742564,-0.631155,-0.224146],[0.667875,0.672575,0.318726],[-0.050411,-0.386376,0.920963]] 2025-10-28T22:00:40.027Z,1761688840.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760999,-0.611525,-0.216602],[0.646705,0.688564,0.328105],[-0.051500,-0.389765,0.919473]] 2025-10-28T22:00:40.423Z,1761688840.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778390,-0.592312,-0.208026],[0.625633,0.704516,0.335022],[-0.051880,-0.390926,0.918959]] 2025-10-28T22:00:40.834Z,1761688840.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794536,-0.573373,-0.199891],[0.605011,0.719492,0.341017],[-0.051710,-0.391886,0.918559]] 2025-10-28T22:00:41.230Z,1761688841.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810453,-0.553208,-0.192683],[0.583578,0.733809,0.347793],[-0.051009,-0.394316,0.917558]] 2025-10-28T22:00:41.636Z,1761688841.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826124,-0.532336,-0.184761],[0.561276,0.748366,0.353438],[-0.049879,-0.395686,0.917031]] 2025-10-28T22:00:42.038Z,1761688842.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842500,-0.508896,-0.176689],[0.536521,0.763233,0.360027],[-0.048362,-0.398120,0.916058]] 2025-10-28T22:00:42.442Z,1761688842.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858953,-0.484364,-0.166106],[0.509922,0.779547,0.363712],[-0.046681,-0.397112,0.916582]] 2025-10-28T22:00:42.847Z,1761688842.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875337,-0.457770,-0.155664],[0.481393,0.794980,0.369144],[-0.045234,-0.398061,0.916243]] 2025-10-28T22:00:43.252Z,1761688843.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891653,-0.429499,-0.143127],[0.450567,0.811112,0.372944],[-0.044087,-0.397025,0.916748]] 2025-10-28T22:00:43.655Z,1761688843.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906916,-0.401001,-0.129238],[0.419071,0.827003,0.374760],[-0.043399,-0.394036,0.918070]] 2025-10-28T22:00:44.058Z,1761688844.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921433,-0.371396,-0.114132],[0.386128,0.842656,0.375281],[-0.043203,-0.389866,0.919858]] 2025-10-28T22:00:44.462Z,1761688844.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934699,-0.341203,-0.099594],[0.352758,0.856111,0.377671],[-0.043599,-0.388141,0.920568]] 2025-10-28T22:00:44.869Z,1761688844.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946551,-0.311279,-0.084543],[0.319430,0.868213,0.379699],[-0.044790,-0.386410,0.921239]] 2025-10-28T22:00:45.270Z,1761688845.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956519,-0.283083,-0.070255],[0.287956,0.878211,0.381873],[-0.046403,-0.385499,0.921541]] 2025-10-28T22:00:45.348Z,1761688845.348 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:00:45.352Z,1761688845.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:00:45.352Z,1761688845.352 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:00:45.352Z,1761688845.352 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:00:45.352Z,1761688845.352 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:00:45.353Z,1761688845.353 [marl:UpdateSpeed] Stopped 2025-10-28T22:00:45.353Z,1761688845.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:00:45.675Z,1761688845.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964731,-0.256987,-0.057018],[0.258822,0.886529,0.383506],[-0.048008,-0.384738,0.921776]] 2025-10-28T22:00:46.082Z,1761688846.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971658,-0.232235,-0.044137],[0.231117,0.894043,0.383760],[-0.049662,-0.383084,0.922378]] 2025-10-28T22:00:46.485Z,1761688846.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977402,-0.208811,-0.032919],[0.205129,0.899269,0.386311],[-0.051063,-0.384334,0.921781]] 2025-10-28T22:00:46.887Z,1761688846.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982337,-0.185834,-0.021921],[0.179759,0.904641,0.386408],[-0.051977,-0.383523,0.922067]] 2025-10-28T22:00:47.297Z,1761688847.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986613,-0.162703,-0.011074],[0.154302,0.909375,0.386300],[-0.052782,-0.382837,0.922307]] 2025-10-28T22:00:47.694Z,1761688847.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990333,-0.138704,-0.000854],[0.128126,0.912414,0.388697],[-0.053134,-0.385049,0.921365]] 2025-10-28T22:00:48.105Z,1761688848.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993488,-0.113456,0.010431],[0.100393,0.915019,0.390720],[-0.053874,-0.387129,0.920451]] 2025-10-28T22:00:48.164Z,1761688848.164 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:00:48.164Z,1761688848.164 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:00:48.165Z,1761688848.165 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:00:48.165Z,1761688848.165 [marl:UpdateRudder:A] Stopped 2025-10-28T22:00:48.165Z,1761688848.165 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:00:48.503Z,1761688848.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996024,-0.086258,0.022252],[0.070625,0.916866,0.392898],[-0.054292,-0.389765,0.919313]] 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateRudder:B] Stopped 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateRudder] Stopped 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:00:48.551Z,1761688848.551 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:00:48.552Z,1761688848.552 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:00:48.552Z,1761688848.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:00:48.552Z,1761688848.552 [marl:UpdateCommandMode] Stopped 2025-10-28T22:00:48.552Z,1761688848.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:00:48.907Z,1761688848.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997740,-0.057684,0.034458],[0.039433,0.917910,0.394824],[-0.054405,-0.392573,0.918110]] 2025-10-28T22:00:49.319Z,1761688849.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998472,-0.028008,0.047646],[0.006893,0.918459,0.395457],[-0.054837,-0.394524,0.917248]] 2025-10-28T22:00:49.714Z,1761688849.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998126,0.002278,0.061147],[-0.026337,0.918002,0.395700],[-0.055231,-0.396569,0.916342]] 2025-10-28T22:00:50.118Z,1761688850.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996701,0.032715,0.074276],[-0.059502,0.916933,0.394581],[-0.055198,-0.397699,0.915854]] 2025-10-28T22:00:50.523Z,1761688850.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994124,0.064204,0.087147],[-0.093287,0.916530,0.388935],[-0.054902,-0.394779,0.917134]] 2025-10-28T22:00:50.927Z,1761688850.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990598,0.094187,0.099219],[-0.125283,0.915891,0.381376],[-0.054953,-0.390220,0.919080]] 2025-10-28T22:00:51.332Z,1761688851.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986128,0.123441,0.110967],[-0.156475,0.914391,0.373370],[-0.055378,-0.385554,0.921022]] 2025-10-28T22:00:51.734Z,1761688851.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980718,0.151731,0.123168],[-0.187267,0.909862,0.370246],[-0.055888,-0.386172,0.920732]] 2025-10-28T22:00:52.139Z,1761688852.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974236,0.180843,0.134757],[-0.218353,0.905874,0.362924],[-0.056441,-0.382998,0.922023]] 2025-10-28T22:00:52.545Z,1761688852.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966890,0.208582,0.147031],[-0.248657,0.899615,0.358975],[-0.057396,-0.383649,0.921694]] 2025-10-28T22:00:52.959Z,1761688852.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958483,0.236705,0.159003],[-0.279117,0.892908,0.353283],[-0.058351,-0.382996,0.921905]] 2025-10-28T22:00:53.350Z,1761688853.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949101,0.264110,0.171618],[-0.309331,0.884239,0.349909],[-0.059337,-0.385185,0.920930]] 2025-10-28T22:00:53.756Z,1761688853.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939260,0.290476,0.182794],[-0.337874,0.876117,0.343890],[-0.060257,-0.384764,0.921046]] 2025-10-28T22:00:54.167Z,1761688854.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928635,0.316731,0.193179],[-0.365918,0.867800,0.336196],[-0.061157,-0.382891,0.921767]] 2025-10-28T22:00:54.565Z,1761688854.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917591,0.341244,0.203910],[-0.392678,0.857934,0.331290],[-0.061891,-0.384060,0.921232]] 2025-10-28T22:00:54.967Z,1761688854.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905807,0.365533,0.214243],[-0.418999,0.847861,0.324916],[-0.062881,-0.384079,0.921157]] 2025-10-28T22:00:55.370Z,1761688855.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893189,0.391221,0.221720],[-0.445214,0.838680,0.313688],[-0.063231,-0.378896,0.923277]] 2025-10-28T22:00:55.785Z,1761688855.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879733,0.415331,0.231450],[-0.471185,0.826733,0.307405],[-0.063673,-0.379490,0.923002]] 2025-10-28T22:00:56.188Z,1761688856.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864649,0.440384,0.241751],[-0.498296,0.813000,0.301217],[-0.063892,-0.380911,0.922402]] 2025-10-28T22:00:56.582Z,1761688856.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848147,0.465847,0.252254],[-0.525867,0.797968,0.294469],[-0.064113,-0.382405,0.921768]] 2025-10-28T22:00:56.987Z,1761688856.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829947,0.491220,0.264369],[-0.554127,0.780568,0.289236],[-0.064280,-0.386545,0.920028]] 2025-10-28T22:00:57.391Z,1761688857.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809911,0.517460,0.276188],[-0.583014,0.761839,0.282304],[-0.064330,-0.389662,0.918708]] 2025-10-28T22:00:57.801Z,1761688857.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788855,0.543885,0.286176],[-0.611203,0.743024,0.272667],[-0.064336,-0.390007,0.918562]] 2025-10-28T22:00:58.200Z,1761688858.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766441,0.569644,0.296773],[-0.639045,0.722825,0.262955],[-0.064724,-0.391191,0.918031]] 2025-10-28T22:00:58.603Z,1761688858.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743027,0.595740,0.304968],[-0.666074,0.702674,0.250191],[-0.065244,-0.389030,0.918912]] 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed] Stopped 2025-10-28T22:00:58.646Z,1761688858.646 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:00:59.008Z,1761688859.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718534,0.622220,0.310727],[-0.692410,0.681997,0.235476],[-0.065397,-0.384348,0.920869]] 2025-10-28T22:00:59.413Z,1761688859.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693505,0.647593,0.315713],[-0.717458,0.660686,0.220787],[-0.065607,-0.379628,0.922810]] 2025-10-28T22:00:59.815Z,1761688859.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668820,0.670171,0.321792],[-0.740488,0.638973,0.208307],[-0.066015,-0.377603,0.923611]] 2025-10-28T22:01:00.221Z,1761688860.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644615,0.691263,0.326537],[-0.761615,0.617772,0.195707],[-0.066440,-0.374851,0.924701]] 2025-10-28T22:01:01.031Z,1761688861.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596143,0.726878,0.340973],[-0.800092,0.573188,0.176940],[-0.066827,-0.378292,0.923271]] 2025-10-28T22:01:01.430Z,1761688861.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571962,0.742045,0.349612],[-0.817500,0.550717,0.168538],[-0.067474,-0.382205,0.921611]] 2025-10-28T22:01:01.527Z,1761688861.527 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:01:01.527Z,1761688861.527 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:01:01.527Z,1761688861.527 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:01:01.527Z,1761688861.527 [marl:UpdateRudder:A] Stopped 2025-10-28T22:01:01.527Z,1761688861.527 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:01:01.835Z,1761688861.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547924,0.755491,0.359184],[-0.833744,0.528201,0.160858],[-0.068195,-0.387605,0.919299]] 2025-10-28T22:01:01.896Z,1761688861.896 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:01:01.896Z,1761688861.896 [marl:UpdateRudder:B] Stopped 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateRudder] Stopped 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:01:01.897Z,1761688861.897 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:01:01.898Z,1761688861.898 [marl:UpdateCommandMode] Stopped 2025-10-28T22:01:01.898Z,1761688861.898 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:01:02.247Z,1761688862.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523915,0.767694,0.368997],[-0.849037,0.505365,0.154086],[-0.068187,-0.394020,0.916569]] 2025-10-28T22:01:02.642Z,1761688862.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499423,0.781520,0.373902],[-0.863704,0.482896,0.144318],[-0.067769,-0.395016,0.916171]] 2025-10-28T22:01:03.047Z,1761688863.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474556,0.794226,0.379475],[-0.877656,0.459859,0.135094],[-0.067210,-0.397158,0.915286]] 2025-10-28T22:01:03.450Z,1761688863.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449252,0.805680,0.386074],[-0.890902,0.436328,0.126138],[-0.066828,-0.400622,0.913803]] 2025-10-28T22:01:03.859Z,1761688863.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423228,0.817788,0.390001],[-0.903618,0.412343,0.115966],[-0.065979,-0.401492,0.913483]] 2025-10-28T22:01:04.278Z,1761688864.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367983,0.840200,0.398312],[-0.927673,0.360917,0.095716],[-0.063337,-0.404725,0.912242]] 2025-10-28T22:01:04.667Z,1761688864.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338216,0.849904,0.404071],[-0.938993,0.333280,0.084950],[-0.062470,-0.408151,0.910775]] 2025-10-28T22:01:05.071Z,1761688865.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305732,0.863243,0.401672],[-0.950153,0.303709,0.070499],[-0.061134,-0.403203,0.913066]] 2025-10-28T22:01:05.476Z,1761688865.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272375,0.874974,0.400290],[-0.960308,0.273218,0.056223],[-0.060173,-0.399716,0.914662]] 2025-10-28T22:01:05.879Z,1761688865.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238161,0.885847,0.398188],[-0.969412,0.241866,0.041737],[-0.059336,-0.395948,0.916354]] 2025-10-28T22:01:05.932Z,1761688865.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:01:06.283Z,1761688866.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203487,0.894764,0.397480],[-0.977313,0.209993,0.027616],[-0.058758,-0.394081,0.917195]] 2025-10-28T22:01:06.683Z,1761688866.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168396,0.902470,0.396473],[-0.983998,0.177666,0.013527],[-0.058232,-0.392407,0.917947]] 2025-10-28T22:01:06.936Z,1761688866.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:01:07.087Z,1761688867.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132796,0.909712,0.393432],[-0.989474,0.144711,-0.000629],[-0.057506,-0.389207,0.919354]] 2025-10-28T22:01:07.491Z,1761688867.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097206,0.914578,0.392553],[-0.993630,0.111773,-0.014365],[-0.057015,-0.388656,0.919617]] 2025-10-28T22:01:07.895Z,1761688867.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061906,0.918172,0.391315],[-0.996457,0.079219,-0.028237],[-0.056926,-0.388180,0.919824]] 2025-10-28T22:01:08.299Z,1761688868.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026255,0.921552,0.387366],[-0.998050,0.046115,-0.042064],[-0.056628,-0.385506,0.920966]] 2025-10-28T22:01:08.718Z,1761688868.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009441,0.923966,0.382357],[-0.998354,0.012924,-0.055882],[-0.056575,-0.382255,0.922323]] 2025-10-28T22:01:09.126Z,1761688869.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044727,0.925152,0.376952],[-0.997396,-0.019988,-0.069291],[-0.056570,-0.379070,0.923637]] 2025-10-28T22:01:09.511Z,1761688869.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079419,0.924206,0.373546],[-0.995232,-0.052232,-0.082366],[-0.056613,-0.378306,0.923948]] 2025-10-28T22:01:09.915Z,1761688869.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112120,0.921749,0.371225],[-0.992079,-0.082541,-0.094685],[-0.056635,-0.378900,0.923703]] 2025-10-28T22:01:10.327Z,1761688870.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143765,0.918438,0.368515],[-0.987999,-0.111958,-0.106411],[-0.056474,-0.379390,0.923512]] 2025-10-28T22:01:10.723Z,1761688870.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173883,0.912942,0.369190],[-0.983170,-0.139601,-0.117848],[-0.056049,-0.383468,0.921852]] 2025-10-28T22:01:11.168Z,1761688871.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202770,0.906562,0.370174],[-0.977677,-0.166168,-0.128595],[-0.055068,-0.387986,0.920019]] 2025-10-28T22:01:11.531Z,1761688871.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230655,0.898348,0.373857],[-0.971577,-0.191601,-0.139023],[-0.053260,-0.395297,0.917008]] 2025-10-28T22:01:11.935Z,1761688871.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257128,0.888593,0.379853],[-0.965024,-0.215303,-0.149578],[-0.051130,-0.405028,0.912874]] 2025-10-28T22:01:11.960Z,1761688871.960 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:01:11.960Z,1761688871.960 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:01:11.961Z,1761688871.961 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:01:11.961Z,1761688871.961 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:01:11.961Z,1761688871.961 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:01:11.961Z,1761688871.961 [marl:UpdateSpeed] Stopped 2025-10-28T22:01:11.961Z,1761688871.961 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:01:12.340Z,1761688872.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282265,0.878592,0.385229],[-0.958087,-0.237685,-0.159922],[-0.048943,-0.414224,0.908858]] 2025-10-28T22:01:12.751Z,1761688872.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306374,0.870285,0.385666],[-0.950775,-0.259976,-0.168643],[-0.046503,-0.418349,0.907095]] 2025-10-28T22:01:13.179Z,1761688873.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330698,0.862959,0.382021],[-0.942722,-0.283304,-0.176106],[-0.043744,-0.418378,0.907219]] 2025-10-28T22:01:13.551Z,1761688873.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356142,0.856257,0.374149],[-0.933539,-0.308535,-0.182515],[-0.040842,-0.414284,0.909231]] 2025-10-28T22:01:13.956Z,1761688873.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382709,0.849516,0.363119],[-0.923090,-0.335479,-0.188039],[-0.037924,-0.407156,0.912571]] 2025-10-28T22:01:14.358Z,1761688874.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410868,0.841337,0.351197],[-0.911013,-0.363986,-0.193827],[-0.035243,-0.399583,0.916019]] 2025-10-28T22:01:14.769Z,1761688874.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440501,0.831347,0.338852],[-0.897139,-0.393695,-0.200363],[-0.033167,-0.392258,0.919257]] 2025-10-28T22:01:14.839Z,1761688874.839 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:01:14.840Z,1761688874.840 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:01:14.848Z,1761688874.848 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:01:14.848Z,1761688874.848 [marl:UpdateRudder:A] Stopped 2025-10-28T22:01:14.848Z,1761688874.848 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:01:14.848Z,1761688874.848 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode] Stopped 2025-10-28T22:01:14.849Z,1761688874.849 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:01:14.850Z,1761688874.850 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:01:15.093Z,1761688875.093 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:01:15.094Z,1761688875.094 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:01:15.182Z,1761688875.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471094,0.819522,0.326273],[-0.881509,-0.424060,-0.207640],[-0.031807,-0.385431,0.922188]] 2025-10-28T22:01:15.280Z,1761688875.280 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:01:15.280Z,1761688875.280 [marl:UpdateRudder:B] Stopped 2025-10-28T22:01:15.280Z,1761688875.280 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:01:15.280Z,1761688875.280 [marl:UpdateRudder] Stopped 2025-10-28T22:01:15.280Z,1761688875.280 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:01:15.346Z,1761688875.346 [DAT](INFO): DAT read: user:341> 2025-10-28T22:01:15.347Z,1761688875.347 [DAT](INFO): DAT read: Tx time:22:01:15.0976 2025-10-28T22:01:15.347Z,1761688875.347 [DAT](INFO): Ping request sent. 2025-10-28T22:01:15.347Z,1761688875.347 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:01:15.347Z,1761688875.347 [DAT](INFO): publishing transmit ping time 2025-10-28T22:01:15.349Z,1761688875.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001313 2025-10-28T22:01:15.570Z,1761688875.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502242,0.805673,0.314076],[-0.864177,-0.454683,-0.215551],[-0.030859,-0.379676,0.924605]] 2025-10-28T22:01:15.597Z,1761688875.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249656 2025-10-28T22:01:15.849Z,1761688875.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501663 2025-10-28T22:01:15.975Z,1761688875.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534240,0.789815,0.301297],[-0.844794,-0.486118,-0.223634],[-0.030164,-0.374009,0.926935]] 2025-10-28T22:01:16.101Z,1761688876.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753666 2025-10-28T22:01:16.353Z,1761688876.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005585 2025-10-28T22:01:16.379Z,1761688876.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566922,0.770786,0.290669],[-0.823249,-0.517552,-0.233242],[-0.029343,-0.371523,0.927960]] 2025-10-28T22:01:16.605Z,1761688876.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257544 2025-10-28T22:01:16.790Z,1761688876.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598293,0.749446,0.283506],[-0.800777,-0.546743,-0.244597],[-0.028307,-0.373366,0.927252]] 2025-10-28T22:01:16.857Z,1761688876.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509708 2025-10-28T22:01:17.111Z,1761688877.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441 2025-10-28T22:01:17.186Z,1761688877.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627923,0.726999,0.277821],[-0.777803,-0.573763,-0.256551],[-0.027109,-0.377184,0.925742]] 2025-10-28T22:01:17.361Z,1761688877.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013868 2025-10-28T22:01:17.590Z,1761688877.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653845,0.705026,0.274638],[-0.756174,-0.596296,-0.269504],[-0.026242,-0.383887,0.923007]] 2025-10-28T22:01:17.613Z,1761688877.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265939 2025-10-28T22:01:17.865Z,1761688877.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517575 2025-10-28T22:01:17.995Z,1761688877.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677467,0.683376,0.272095],[-0.735107,-0.616153,-0.282795],[-0.025603,-0.391603,0.919778]] 2025-10-28T22:01:18.117Z,1761688878.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769709 2025-10-28T22:01:18.369Z,1761688878.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021641 2025-10-28T22:01:18.405Z,1761688878.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698600,0.662558,0.270138],[-0.715086,-0.633476,-0.295569],[-0.024706,-0.399656,0.916332]] 2025-10-28T22:01:18.621Z,1761688878.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273597 2025-10-28T22:01:18.803Z,1761688878.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718044,0.642625,0.267295],[-0.695590,-0.649436,-0.307227],[-0.023841,-0.406530,0.913326]] 2025-10-28T22:01:18.873Z,1761688878.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525689 2025-10-28T22:01:19.128Z,1761688879.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779817 2025-10-28T22:01:19.207Z,1761688879.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736567,0.624451,0.259865],[-0.675984,-0.666775,-0.313778],[-0.022667,-0.406783,0.913243]] 2025-10-28T22:01:19.377Z,1761688879.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029595 2025-10-28T22:01:19.610Z,1761688879.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755012,0.606385,0.249507],[-0.655359,-0.685381,-0.317424],[-0.021474,-0.403176,0.914871]] 2025-10-28T22:01:19.629Z,1761688879.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281734 2025-10-28T22:01:19.881Z,1761688879.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533725 2025-10-28T22:01:20.018Z,1761688880.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773679,0.586156,0.240501],[-0.633263,-0.703454,-0.322693],[-0.019967,-0.401961,0.915439]] 2025-10-28T22:01:20.133Z,1761688880.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785597 2025-10-28T22:01:20.385Z,1761688880.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037639 2025-10-28T22:01:20.419Z,1761688880.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792379,0.565657,0.228401],[-0.609764,-0.723389,-0.323878],[-0.017981,-0.395905,0.918116]] 2025-10-28T22:01:20.637Z,1761688880.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289717 2025-10-28T22:01:20.822Z,1761688880.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811660,0.543436,0.214209],[-0.583910,-0.744769,-0.323060],[-0.016026,-0.387294,0.921817]] 2025-10-28T22:01:20.889Z,1761688880.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541646 2025-10-28T22:01:21.144Z,1761688881.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796143 2025-10-28T22:01:21.234Z,1761688881.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830418,0.519151,0.202207],[-0.556956,-0.764195,-0.325279],[-0.014344,-0.382738,0.923746]] 2025-10-28T22:01:21.393Z,1761688881.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045750 2025-10-28T22:01:21.632Z,1761688881.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848784,0.493429,0.189982],[-0.528583,-0.783124,-0.327592],[-0.012864,-0.378476,0.925522]] 2025-10-28T22:01:21.645Z,1761688881.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297635 2025-10-28T22:01:21.897Z,1761688881.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549610 2025-10-28T22:01:22.034Z,1761688882.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866221,0.466817,0.178164],[-0.499526,-0.800789,-0.330471],[-0.011598,-0.375259,0.926848]] 2025-10-28T22:01:22.149Z,1761688882.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802019 2025-10-28T22:01:22.401Z,1761688882.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053569 2025-10-28T22:01:22.438Z,1761688882.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882310,0.440069,0.166938],[-0.470551,-0.816808,-0.333778],[-0.010528,-0.373048,0.927752]] 2025-10-28T22:01:22.653Z,1761688882.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305604 2025-10-28T22:01:22.843Z,1761688882.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897289,0.412100,0.158260],[-0.441346,-0.829892,-0.341311],[-0.009316,-0.376102,0.926531]] 2025-10-28T22:01:22.905Z,1761688882.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558132 2025-10-28T22:01:23.159Z,1761688883.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811707 2025-10-28T22:01:23.251Z,1761688883.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910744,0.384023,0.151891],[-0.412890,-0.839491,-0.353237],[-0.008140,-0.384423,0.923121]] 2025-10-28T22:01:23.409Z,1761688883.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061639 2025-10-28T22:01:23.651Z,1761688883.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922616,0.356214,0.147959],[-0.385662,-0.845242,-0.369906],[-0.006704,-0.398344,0.917212]] 2025-10-28T22:01:23.661Z,1761688883.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313784 2025-10-28T22:01:23.913Z,1761688883.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565573 2025-10-28T22:01:24.055Z,1761688884.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932949,0.330221,0.143385],[-0.359970,-0.849931,-0.384758],[-0.005187,-0.410574,0.911812]] 2025-10-28T22:01:24.165Z,1761688884.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817636 2025-10-28T22:01:24.417Z,1761688884.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069645 2025-10-28T22:01:24.465Z,1761688884.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942185,0.306440,0.135582],[-0.335076,-0.857316,-0.390812],[-0.003524,-0.413647,0.910430]] 2025-10-28T22:01:24.669Z,1761688884.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321596 2025-10-28T22:01:24.871Z,1761688884.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950662,0.283357,0.126292],[-0.310223,-0.866140,-0.391872],[-0.001654,-0.411716,0.911311]] 2025-10-28T22:01:24.921Z,1761688884.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573695 2025-10-28T22:01:25.173Z,1761688885.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825704 2025-10-28T22:01:25.267Z,1761688885.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958489,0.260566,0.115774],[-0.285128,-0.876323,-0.388278],[0.000284,-0.405171,0.914241]] 2025-10-28T22:01:25.322Z,1761688885.322 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:01:25.322Z,1761688885.322 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:01:25.322Z,1761688885.322 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:01:25.322Z,1761688885.322 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:01:25.322Z,1761688885.322 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:01:25.323Z,1761688885.323 [marl:UpdateSpeed] Stopped 2025-10-28T22:01:25.323Z,1761688885.323 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:01:25.425Z,1761688885.425 [DAT](INFO): Reached modem response timeout 2025-10-28T22:01:25.670Z,1761688885.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965907,0.236670,0.104931],[-0.258879,-0.886464,-0.383620],[0.002226,-0.397706,0.917510]] 2025-10-28T22:01:26.080Z,1761688886.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972857,0.211193,0.094586],[-0.231370,-0.894989,-0.381395],[0.004105,-0.392927,0.919560]] 2025-10-28T22:01:26.481Z,1761688886.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979350,0.184105,0.083543],[-0.202098,-0.902841,-0.379518],[0.005555,-0.388565,0.921405]] 2025-10-28T22:01:26.885Z,1761688886.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985316,0.154947,0.071725],[-0.170612,-0.909939,-0.378025],[0.006692,-0.384711,0.923013]] 2025-10-28T22:01:27.287Z,1761688887.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990379,0.125039,0.059288],[-0.138194,-0.916012,-0.376595],[0.007220,-0.381165,0.924479]] 2025-10-28T22:01:27.691Z,1761688887.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994521,0.093918,0.045918],[-0.104309,-0.920773,-0.375896],[0.006977,-0.378626,0.925524]] 2025-10-28T22:01:27.693Z,1761688887.693 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:01:27.693Z,1761688887.693 [DAT](INFO): response not received 2025-10-28T22:01:27.693Z,1761688887.693 [DAT](ERROR): No response from remote modem. 2025-10-28T22:01:28.106Z,1761688888.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997568,0.062036,0.031763],[-0.069432,-0.924151,-0.375666],[0.006048,-0.376957,0.926211]] 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateRudder:A] Stopped 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:01:28.137Z,1761688888.137 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode] Stopped 2025-10-28T22:01:28.138Z,1761688888.138 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:01:28.499Z,1761688888.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999404,0.030000,0.017082],[-0.034241,-0.924452,-0.379759],[0.004399,-0.380117,0.924928]] 2025-10-28T22:01:28.534Z,1761688888.534 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:01:28.535Z,1761688888.535 [marl:UpdateRudder:B] Stopped 2025-10-28T22:01:28.535Z,1761688888.535 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:01:28.535Z,1761688888.535 [marl:UpdateRudder] Stopped 2025-10-28T22:01:28.535Z,1761688888.535 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:01:28.906Z,1761688888.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999996,-0.002317,0.001654],[0.001520,-0.925768,-0.378089],[0.002407,-0.378085,0.925768]] 2025-10-28T22:01:29.307Z,1761688889.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999311,-0.034614,-0.013395],[0.037112,-0.926690,-0.373990],[0.000532,-0.374230,0.927336]] 2025-10-28T22:01:29.723Z,1761688889.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997332,-0.067122,-0.028682],[0.072979,-0.924750,-0.373512],[-0.001452,-0.374609,0.927182]] 2025-10-28T22:01:30.115Z,1761688890.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994082,-0.099378,-0.043865],[0.108585,-0.920550,-0.375230],[-0.003091,-0.377772,0.925893]] 2025-10-28T22:01:30.518Z,1761688890.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989679,-0.130526,-0.059156],[0.143241,-0.913459,-0.380887],[-0.004321,-0.385430,0.922727]] 2025-10-28T22:01:30.927Z,1761688890.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984436,-0.159254,-0.074328],[0.175677,-0.903527,-0.390867],[-0.004910,-0.397841,0.917441]] 2025-10-28T22:01:31.736Z,1761688891.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972184,-0.210922,-0.101830],[0.234183,-0.882772,-0.407274],[-0.003989,-0.419792,0.907611]] 2025-10-28T22:01:32.135Z,1761688892.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965259,-0.235906,-0.112359],[0.261289,-0.874646,-0.408316],[-0.001950,-0.423489,0.905899]] 2025-10-28T22:01:32.539Z,1761688892.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958029,-0.259934,-0.120892],[0.286669,-0.866879,-0.407850],[0.001216,-0.425388,0.905010]] 2025-10-28T22:01:32.951Z,1761688892.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950264,-0.284407,-0.126929],[0.311401,-0.860767,-0.402628],[0.005254,-0.422129,0.906521]] 2025-10-28T22:01:33.347Z,1761688893.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942237,-0.308448,-0.130572],[0.334789,-0.855340,-0.395360],[0.010264,-0.416237,0.909198]] 2025-10-28T22:01:33.752Z,1761688893.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933572,-0.332950,-0.132621],[0.358042,-0.850128,-0.386119],[0.015814,-0.407953,0.912866]] 2025-10-28T22:01:34.161Z,1761688894.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924139,-0.357203,-0.135545],[0.381463,-0.842943,-0.379385],[0.021261,-0.402310,0.915256]] 2025-10-28T22:01:34.559Z,1761688894.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913548,-0.382769,-0.137540],[0.405838,-0.835458,-0.370549],[0.026926,-0.394333,0.918573]] 2025-10-28T22:01:34.962Z,1761688894.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901266,-0.409999,-0.140076],[0.432046,-0.826209,-0.361545],[0.032501,-0.386367,0.921772]] 2025-10-28T22:01:35.779Z,1761688895.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870945,-0.467231,-0.152149],[0.489581,-0.798638,-0.349982],[0.042011,-0.379304,0.924318]] 2025-10-28T22:01:36.177Z,1761688896.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852651,-0.496795,-0.161804],[0.520482,-0.780576,-0.346121],[0.045651,-0.379337,0.924132]] 2025-10-28T22:01:36.579Z,1761688896.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832126,-0.526590,-0.173983],[0.552459,-0.759632,-0.343146],[0.048534,-0.381659,0.923028]] 2025-10-28T22:01:36.983Z,1761688896.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809669,-0.555112,-0.190490],[0.584740,-0.735299,-0.342659],[0.050147,-0.388827,0.919945]] 2025-10-28T22:01:37.065Z,1761688897.065 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:01:37.387Z,1761688897.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785944,-0.582446,-0.207482],[0.616205,-0.710280,-0.340284],[0.050827,-0.395296,0.917147]] 2025-10-28T22:01:37.796Z,1761688897.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760791,-0.609910,-0.221827],[0.646993,-0.685925,-0.333027],[0.050959,-0.396884,0.916453]] 2025-10-28T22:01:38.068Z,1761688898.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:01:38.202Z,1761688898.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734726,-0.636452,-0.234750],[0.676508,-0.661865,-0.322910],[0.050144,-0.396061,0.916854]] 2025-10-28T22:01:38.599Z,1761688898.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708021,-0.661434,-0.247410],[0.704537,-0.637622,-0.311555],[0.048318,-0.394897,0.917454]] 2025-10-28T22:01:38.638Z,1761688898.638 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:01:38.638Z,1761688898.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:01:38.638Z,1761688898.638 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:01:38.639Z,1761688898.639 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:01:38.639Z,1761688898.639 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:01:38.639Z,1761688898.639 [marl:UpdateSpeed] Stopped 2025-10-28T22:01:38.639Z,1761688898.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:01:39.005Z,1761688899.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681400,-0.683723,-0.261184],[0.730483,-0.613007,-0.301027],[0.045711,-0.395910,0.917151]] 2025-10-28T22:01:39.409Z,1761688899.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655029,-0.704078,-0.274247],[0.754340,-0.588363,-0.291203],[0.043673,-0.397622,0.916509]] 2025-10-28T22:01:39.811Z,1761688899.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629719,-0.721714,-0.287372],[0.775644,-0.563782,-0.283773],[0.042788,-0.401595,0.914817]] 2025-10-28T22:01:40.217Z,1761688900.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604279,-0.739801,-0.295874],[0.795619,-0.540287,-0.274006],[0.042853,-0.400979,0.915084]] 2025-10-28T22:01:40.618Z,1761688900.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579055,-0.757760,-0.300825],[0.814121,-0.517680,-0.263089],[0.043627,-0.397250,0.916673]] 2025-10-28T22:01:41.028Z,1761688901.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554074,-0.773785,-0.307016],[0.831257,-0.494389,-0.254147],[0.044870,-0.396026,0.917142]] 2025-10-28T22:01:41.426Z,1761688901.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529112,-0.789676,-0.310569],[0.847287,-0.471687,-0.244164],[0.046319,-0.392331,0.918657]] 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateRudder:A] Stopped 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:01:41.513Z,1761688901.513 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:01:41.514Z,1761688901.514 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:01:41.514Z,1761688901.514 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:01:41.514Z,1761688901.514 [marl:UpdateCommandMode] Stopped 2025-10-28T22:01:41.514Z,1761688901.514 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:01:41.830Z,1761688901.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503928,-0.804272,-0.314965],[0.862441,-0.448488,-0.234635],[0.047452,-0.389878,0.919643]] 2025-10-28T22:01:41.878Z,1761688901.878 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:01:41.878Z,1761688901.878 [marl:UpdateRudder:B] Stopped 2025-10-28T22:01:41.878Z,1761688901.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:01:41.878Z,1761688901.878 [marl:UpdateRudder] Stopped 2025-10-28T22:01:41.878Z,1761688901.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:01:42.234Z,1761688902.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478306,-0.818369,-0.318584],[0.876851,-0.424992,-0.224754],[0.048537,-0.386852,0.920864]] 2025-10-28T22:01:42.639Z,1761688902.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452344,-0.830792,-0.324300],[0.890468,-0.400539,-0.215951],[0.049515,-0.386463,0.920975]] 2025-10-28T22:01:43.050Z,1761688903.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425723,-0.843044,-0.328691],[0.903457,-0.375853,-0.206156],[0.050259,-0.384723,0.921663]] 2025-10-28T22:01:43.446Z,1761688903.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399006,-0.854784,-0.331872],[0.915522,-0.351194,-0.196171],[0.051132,-0.382109,0.922701]] 2025-10-28T22:01:43.850Z,1761688903.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371345,-0.865508,-0.336152],[0.927033,-0.325299,-0.186524],[0.052088,-0.380889,0.923153]] 2025-10-28T22:01:44.255Z,1761688904.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343010,-0.874493,-0.342938],[0.937791,-0.297911,-0.178315],[0.053770,-0.382768,0.922279]] 2025-10-28T22:01:44.660Z,1761688904.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312685,-0.882755,-0.350675],[0.948207,-0.268337,-0.169999],[0.055969,-0.385668,0.920938]] 2025-10-28T22:01:45.062Z,1761688905.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280397,-0.890182,-0.359100],[0.958099,-0.236748,-0.161232],[0.058510,-0.389263,0.919267]] 2025-10-28T22:01:45.466Z,1761688905.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246669,-0.897538,-0.365487],[0.967141,-0.204028,-0.151692],[0.061580,-0.390895,0.918373]] 2025-10-28T22:01:45.871Z,1761688905.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212573,-0.903521,-0.372106],[0.974982,-0.170795,-0.142267],[0.064987,-0.393039,0.917223]] 2025-10-28T22:01:46.276Z,1761688906.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177438,-0.907551,-0.380613],[0.981773,-0.136475,-0.132276],[0.068103,-0.397147,0.915225]] 2025-10-28T22:01:46.695Z,1761688906.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141757,-0.911492,-0.386119],[0.987367,-0.102298,-0.121003],[0.070794,-0.398394,0.914478]] 2025-10-28T22:01:47.082Z,1761688907.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105508,-0.916409,-0.386085],[0.991797,-0.068805,-0.107720],[0.072151,-0.394284,0.916152]] 2025-10-28T22:01:47.489Z,1761688907.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069011,-0.920558,-0.384461],[0.995000,-0.035625,-0.093303],[0.072195,-0.388977,0.918414]] 2025-10-28T22:01:47.891Z,1761688907.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032617,-0.922264,-0.385181],[0.996930,-0.002573,-0.078260],[0.071185,-0.386551,0.919517]] 2025-10-28T22:01:48.295Z,1761688908.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003352,-0.922998,-0.384790],[0.997600,0.029698,-0.062547],[0.069159,-0.383657,0.920882]] 2025-10-28T22:01:48.702Z,1761688908.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038369,-0.922147,-0.384932],[0.997055,0.060927,-0.046574],[0.066401,-0.382011,0.921769]] 2025-10-28T22:01:49.153Z,1761688909.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103169,-0.916842,-0.385689],[0.992867,0.118223,-0.015448],[0.059761,-0.381344,0.922499]] 2025-10-28T22:01:49.917Z,1761688909.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160190,-0.906591,-0.390426],[0.985576,0.168775,0.012472],[0.054587,-0.386792,0.920550]] 2025-10-28T22:01:50.321Z,1761688910.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187656,-0.900962,-0.391221],[0.980826,0.193203,0.025533],[0.052581,-0.388511,0.919943]] 2025-10-28T22:01:50.723Z,1761688910.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213497,-0.894388,-0.393051],[0.975583,0.216412,0.037470],[0.051548,-0.391454,0.918753]] 2025-10-28T22:01:51.172Z,1761688911.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240143,-0.888075,-0.391986],[0.969383,0.240708,0.048531],[0.051255,-0.391639,0.918690]] 2025-10-28T22:01:51.527Z,1761688911.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267027,-0.880289,-0.392158],[0.962311,0.265323,0.059675],[0.051517,-0.393313,0.917960]] 2025-10-28T22:01:51.932Z,1761688911.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295251,-0.871730,-0.391041],[0.954021,0.291137,0.071302],[0.051691,-0.394113,0.917607]] 2025-10-28T22:01:51.956Z,1761688911.956 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:01:51.956Z,1761688911.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:01:51.957Z,1761688911.957 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:01:51.957Z,1761688911.957 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:01:51.957Z,1761688911.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:01:51.957Z,1761688911.957 [marl:UpdateSpeed] Stopped 2025-10-28T22:01:51.957Z,1761688911.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:01:52.334Z,1761688912.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324915,-0.862851,-0.387193],[0.944340,0.318291,0.083142],[0.051501,-0.392655,0.918242]] 2025-10-28T22:01:52.739Z,1761688912.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355567,-0.853304,-0.381371],[0.933281,0.346231,0.095455],[0.050591,-0.389867,0.919481]] 2025-10-28T22:01:53.183Z,1761688913.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386835,-0.842005,-0.376014],[0.920843,0.374407,0.108936],[0.049058,-0.388390,0.920188]] 2025-10-28T22:01:53.549Z,1761688913.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418307,-0.830037,-0.368861],[0.907079,0.402841,0.122172],[0.047186,-0.385692,0.921420]] 2025-10-28T22:01:53.951Z,1761688913.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449062,-0.816740,-0.362325],[0.892343,0.430581,0.135362],[0.045454,-0.384104,0.922170]] 2025-10-28T22:01:54.354Z,1761688914.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479562,-0.801168,-0.357981],[0.876407,0.457726,0.149661],[0.043953,-0.385509,0.921657]] 2025-10-28T22:01:54.763Z,1761688914.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508883,-0.786361,-0.350249],[0.859764,0.484578,0.161215],[0.042950,-0.383171,0.922678]] 2025-10-28T22:01:54.801Z,1761688914.801 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateRudder:A] Stopped 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:01:54.802Z,1761688914.802 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:01:54.803Z,1761688914.803 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:01:54.803Z,1761688914.803 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:01:54.803Z,1761688914.803 [marl:UpdateCommandMode] Stopped 2025-10-28T22:01:54.803Z,1761688914.803 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:01:55.186Z,1761688915.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537641,-0.769098,-0.345588],[0.842127,0.510222,0.174633],[0.042017,-0.384919,0.921994]] 2025-10-28T22:01:55.258Z,1761688915.258 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:01:55.258Z,1761688915.258 [marl:UpdateRudder:B] Stopped 2025-10-28T22:01:55.258Z,1761688915.258 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:01:55.258Z,1761688915.258 [marl:UpdateRudder] Stopped 2025-10-28T22:01:55.258Z,1761688915.258 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:01:55.566Z,1761688915.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565476,-0.751760,-0.339255],[0.823728,0.535392,0.186622],[0.041339,-0.384984,0.921997]] 2025-10-28T22:01:55.970Z,1761688915.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592562,-0.732878,-0.334306],[0.804466,0.559682,0.198974],[0.041281,-0.386842,0.921221]] 2025-10-28T22:01:56.377Z,1761688916.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618785,-0.712827,-0.330126],[0.784492,0.582645,0.212363],[0.040968,-0.390388,0.919738]] 2025-10-28T22:01:56.788Z,1761688916.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644602,-0.690071,-0.329075],[0.763446,0.603810,0.229269],[0.040486,-0.399018,0.916049]] 2025-10-28T22:01:57.587Z,1761688917.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694467,-0.646887,-0.315043],[0.718466,0.647181,0.254880],[0.039011,-0.403353,0.914212]] 2025-10-28T22:01:57.993Z,1761688917.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717185,-0.627405,-0.303331],[0.695834,0.668585,0.262315],[0.038225,-0.399196,0.916069]] 2025-10-28T22:01:58.395Z,1761688918.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739349,-0.607597,-0.290154],[0.672261,0.690313,0.267457],[0.037791,-0.392803,0.918846]] 2025-10-28T22:01:58.800Z,1761688918.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760915,-0.586415,-0.277714],[0.647779,0.711156,0.273202],[0.037288,-0.387781,0.920997]] 2025-10-28T22:01:59.202Z,1761688919.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781917,-0.563124,-0.267389],[0.622314,0.730224,0.281953],[0.036480,-0.386864,0.921415]] 2025-10-28T22:01:59.608Z,1761688919.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802274,-0.538091,-0.258486],[0.595868,0.747979,0.292352],[0.036030,-0.388570,0.920714]] 2025-10-28T22:02:00.010Z,1761688920.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821887,-0.512027,-0.249659],[0.568528,0.764791,0.303101],[0.035741,-0.391053,0.919674]] 2025-10-28T22:02:00.414Z,1761688920.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840909,-0.484705,-0.240693],[0.539977,0.781085,0.313576],[0.036010,-0.393658,0.918551]] 2025-10-28T22:02:00.818Z,1761688920.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860192,-0.454136,-0.232014],[0.508686,0.796352,0.327205],[0.036169,-0.399481,0.916028]] 2025-10-28T22:02:01.238Z,1761688921.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878849,-0.422871,-0.220917],[0.475704,0.812069,0.338007],[0.036467,-0.402148,0.914848]] 2025-10-28T22:02:01.629Z,1761688921.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896166,-0.391726,-0.208415],[0.442204,0.827233,0.346615],[0.036630,-0.402787,0.914561]] 2025-10-28T22:02:02.030Z,1761688922.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912245,-0.360013,-0.195450],[0.407994,0.841285,0.354656],[0.036748,-0.403276,0.914340]] 2025-10-28T22:02:02.434Z,1761688922.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926972,-0.327974,-0.182090],[0.373336,0.854003,0.362351],[0.036664,-0.403870,0.914081]] 2025-10-28T22:02:02.840Z,1761688922.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940309,-0.295979,-0.167975],[0.338362,0.865966,0.368256],[0.036464,-0.403111,0.914424]] 2025-10-28T22:02:03.253Z,1761688923.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951981,-0.264735,-0.153779],[0.304037,0.876495,0.373252],[0.035974,-0.402084,0.914896]] 2025-10-28T22:02:03.654Z,1761688923.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962069,-0.234052,-0.140151],[0.270498,0.885100,0.378721],[0.035407,-0.402266,0.914838]] 2025-10-28T22:02:04.050Z,1761688924.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970885,-0.203298,-0.126700],[0.237033,0.891751,0.385481],[0.034618,-0.404290,0.913976]] 2025-10-28T22:02:04.455Z,1761688924.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978502,-0.172547,-0.112966],[0.203443,0.897424,0.391460],[0.033833,-0.406027,0.913235]] 2025-10-28T22:02:04.861Z,1761688924.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984699,-0.143237,-0.099253],[0.171077,0.903002,0.394106],[0.033175,-0.405055,0.913690]] 2025-10-28T22:02:05.265Z,1761688925.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989732,-0.114494,-0.085567],[0.139232,0.907645,0.395974],[0.032328,-0.403822,0.914266]] 2025-10-28T22:02:05.347Z,1761688925.347 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:02:05.347Z,1761688925.347 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:02:05.347Z,1761688925.347 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:02:05.348Z,1761688925.348 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:02:05.348Z,1761688925.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:02:05.348Z,1761688925.348 [marl:UpdateSpeed] Stopped 2025-10-28T22:02:05.348Z,1761688925.348 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:02:05.668Z,1761688925.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993792,-0.084890,-0.071917],[0.106600,0.911591,0.397036],[0.031855,-0.402238,0.914981]] 2025-10-28T22:02:06.071Z,1761688926.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996790,-0.054760,-0.058410],[0.073697,0.912648,0.402048],[0.031291,-0.405061,0.913754]] 2025-10-28T22:02:06.476Z,1761688926.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998748,-0.024271,-0.043749],[0.039845,0.914708,0.402146],[0.030257,-0.403385,0.914530]] 2025-10-28T22:02:06.878Z,1761688926.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999545,0.005830,-0.029604],[0.006521,0.916222,0.400619],[0.029460,-0.400629,0.915767]] 2025-10-28T22:02:07.284Z,1761688927.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999191,0.037166,-0.015353],[-0.027884,0.915472,0.401415],[0.028975,-0.400662,0.915768]] 2025-10-28T22:02:07.686Z,1761688927.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997640,0.068653,-0.000557],[-0.062708,0.914497,0.399704],[0.027950,-0.398726,0.916644]] 2025-10-28T22:02:08.092Z,1761688928.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994893,0.099903,0.014381],[-0.097430,0.913358,0.395328],[0.026359,-0.394711,0.918427]] 2025-10-28T22:02:08.128Z,1761688928.128 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:02:08.129Z,1761688928.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:02:08.129Z,1761688928.129 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:02:08.129Z,1761688928.129 [marl:UpdateRudder:A] Stopped 2025-10-28T22:02:08.129Z,1761688928.129 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:02:08.129Z,1761688928.129 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:02:08.130Z,1761688928.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:02:08.130Z,1761688928.130 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:02:08.130Z,1761688928.130 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:02:08.130Z,1761688928.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:02:08.130Z,1761688928.130 [marl:UpdateCommandMode] Stopped 2025-10-28T22:02:08.131Z,1761688928.131 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:02:08.205Z,1761688928.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:02:08.496Z,1761688928.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990966,0.130893,0.029199],[-0.131867,0.911352,0.389935],[0.024430,-0.390263,0.920379]] 2025-10-28T22:02:08.541Z,1761688928.541 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:02:08.541Z,1761688928.541 [marl:UpdateRudder:B] Stopped 2025-10-28T22:02:08.542Z,1761688928.542 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:02:08.542Z,1761688928.542 [marl:UpdateRudder] Stopped 2025-10-28T22:02:08.542Z,1761688928.542 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:02:09.208Z,1761688929.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:02:09.305Z,1761688929.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979688,0.191376,0.059885],[-0.199623,0.902446,0.381761],[0.019016,-0.385961,0.922319]] 2025-10-28T22:02:09.707Z,1761688929.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972312,0.220987,0.075990],[-0.233152,0.895363,0.379428],[0.015810,-0.386640,0.922095]] 2025-10-28T22:02:10.110Z,1761688930.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963696,0.250608,0.092116],[-0.266717,0.887645,0.375430],[0.012319,-0.386370,0.922262]] 2025-10-28T22:02:10.514Z,1761688930.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953910,0.279730,0.108664],[-0.299972,0.878444,0.371959],[0.008593,-0.387411,0.921867]] 2025-10-28T22:02:10.919Z,1761688930.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942651,0.309713,0.124443],[-0.333735,0.868539,0.366415],[0.005400,-0.386933,0.922092]] 2025-10-28T22:02:11.322Z,1761688931.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929789,0.340076,0.140857],[-0.368087,0.856805,0.361106],[0.002117,-0.387600,0.921825]] 2025-10-28T22:02:11.727Z,1761688931.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915429,0.371172,0.155634],[-0.402479,0.845134,0.351795],[-0.000956,-0.384682,0.923048]] 2025-10-28T22:02:12.142Z,1761688932.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899598,0.401766,0.171197],[-0.436702,0.831107,0.344314],[-0.003950,-0.384506,0.923114]] 2025-10-28T22:02:12.534Z,1761688932.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882269,0.433072,0.184527],[-0.470696,0.817277,0.332420],[-0.006848,-0.380140,0.924904]] 2025-10-28T22:02:12.938Z,1761688932.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863950,0.462979,0.198093],[-0.503490,0.801519,0.322592],[-0.009422,-0.378441,0.925578]] 2025-10-28T22:02:13.342Z,1761688933.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844412,0.491949,0.212024],[-0.535567,0.783913,0.314084],[-0.011695,-0.378770,0.925417]] 2025-10-28T22:02:13.778Z,1761688933.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824654,0.519789,0.223083],[-0.565474,0.767102,0.302975],[-0.013644,-0.375997,0.926521]] 2025-10-28T22:02:14.151Z,1761688934.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804905,0.545582,0.233386],[-0.593208,0.749913,0.292807],[-0.015269,-0.374128,0.927252]] 2025-10-28T22:02:14.555Z,1761688934.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785737,0.568062,0.244792],[-0.618333,0.732058,0.285929],[-0.016776,-0.376028,0.926456]] 2025-10-28T22:02:14.958Z,1761688934.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765960,0.589620,0.256229],[-0.642649,0.713110,0.280135],[-0.017546,-0.379238,0.925133]] 2025-10-28T22:02:15.010Z,1761688935.010 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:02:15.081Z,1761688935.081 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:02:15.081Z,1761688935.081 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:02:15.333Z,1761688935.333 [DAT](INFO): DAT read: user:342> 2025-10-28T22:02:15.334Z,1761688935.334 [DAT](INFO): DAT read: Tx time:22:02:15.0458 2025-10-28T22:02:15.334Z,1761688935.334 [DAT](INFO): Ping request sent. 2025-10-28T22:02:15.334Z,1761688935.334 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:02:15.334Z,1761688935.334 [DAT](INFO): publishing transmit ping time 2025-10-28T22:02:15.335Z,1761688935.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950 2025-10-28T22:02:15.363Z,1761688935.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746449,0.608932,0.268357],[-0.665200,0.693705,0.276193],[-0.017978,-0.384675,0.922877]] 2025-10-28T22:02:15.585Z,1761688935.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250878 2025-10-28T22:02:15.771Z,1761688935.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726749,0.626199,0.282330],[-0.686664,0.673129,0.274572],[-0.018108,-0.393411,0.919184]] 2025-10-28T22:02:15.837Z,1761688935.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503000 2025-10-28T22:02:16.089Z,1761688936.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754793 2025-10-28T22:02:16.170Z,1761688936.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707176,0.642846,0.294365],[-0.706809,0.653360,0.271186],[-0.017995,-0.399836,0.916410]] 2025-10-28T22:02:16.341Z,1761688936.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933 2025-10-28T22:02:16.575Z,1761688936.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687363,0.658707,0.306000],[-0.726086,0.633728,0.266811],[-0.018171,-0.405578,0.913880]] 2025-10-28T22:02:16.593Z,1761688936.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259059 2025-10-28T22:02:16.845Z,1761688936.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510866 2025-10-28T22:02:16.979Z,1761688936.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666860,0.673524,0.318846],[-0.744941,0.613431,0.262231],[-0.018971,-0.412393,0.910809]] 2025-10-28T22:02:17.097Z,1761688937.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762899 2025-10-28T22:02:17.349Z,1761688937.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982 2025-10-28T22:02:17.382Z,1761688937.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645306,0.689030,0.329876],[-0.763645,0.593510,0.254151],[-0.020668,-0.415913,0.909169]] 2025-10-28T22:02:17.602Z,1761688937.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267739 2025-10-28T22:02:17.791Z,1761688937.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622045,0.705808,0.338961],[-0.782654,0.573021,0.243104],[-0.022647,-0.416511,0.908849]] 2025-10-28T22:02:17.854Z,1761688937.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519269 2025-10-28T22:02:18.105Z,1761688938.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771239 2025-10-28T22:02:18.193Z,1761688938.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595739,0.726202,0.343113],[-0.802811,0.551312,0.227044],[-0.024282,-0.410714,0.911441]] 2025-10-28T22:02:18.358Z,1761688938.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023705 2025-10-28T22:02:18.595Z,1761688938.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567733,0.746520,0.346968],[-0.822796,0.527991,0.210316],[-0.026191,-0.404887,0.913992]] 2025-10-28T22:02:18.611Z,1761688938.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276609 2025-10-28T22:02:18.677Z,1761688938.677 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:02:18.677Z,1761688938.677 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:02:18.677Z,1761688938.677 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:02:18.677Z,1761688938.677 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:02:18.677Z,1761688938.677 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:02:18.678Z,1761688938.678 [marl:UpdateSpeed] Stopped 2025-10-28T22:02:18.678Z,1761688938.678 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:02:18.861Z,1761688938.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526931 2025-10-28T22:02:19.116Z,1761688939.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781359 2025-10-28T22:02:19.365Z,1761688939.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030872 2025-10-28T22:02:19.403Z,1761688939.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506436,0.790419,0.344616],[-0.861713,0.478393,0.169091],[-0.031209,-0.382594,0.923389]] 2025-10-28T22:02:19.618Z,1761688939.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284087 2025-10-28T22:02:19.811Z,1761688939.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474036,0.811980,0.340555],[-0.879849,0.451752,0.147602],[-0.033996,-0.369605,0.928567]] 2025-10-28T22:02:19.869Z,1761688939.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534772 2025-10-28T22:02:20.121Z,1761688940.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787137 2025-10-28T22:02:20.210Z,1761688940.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440289,0.832422,0.336480],[-0.897110,0.423134,0.127084],[-0.036588,-0.357813,0.933076]] 2025-10-28T22:02:20.373Z,1761688940.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038905 2025-10-28T22:02:20.623Z,1761688940.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405494,0.850310,0.335481],[-0.913275,0.392428,0.109222],[-0.038779,-0.350675,0.935694]] 2025-10-28T22:02:20.625Z,1761688940.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290978 2025-10-28T22:02:20.877Z,1761688940.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542874 2025-10-28T22:02:21.018Z,1761688941.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370344,0.865066,0.338388],[-0.928027,0.360313,0.094551],[-0.040132,-0.349050,0.936245]] 2025-10-28T22:02:21.133Z,1761688941.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798207 2025-10-28T22:02:21.381Z,1761688941.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046865 2025-10-28T22:02:21.425Z,1761688941.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334987,0.876891,0.344741],[-0.941346,0.327253,0.082301],[-0.040648,-0.352090,0.935083]] 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateRudder:A] Stopped 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:02:21.547Z,1761688941.547 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:02:21.548Z,1761688941.548 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:02:21.548Z,1761688941.548 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:02:21.548Z,1761688941.548 [marl:UpdateCommandMode] Stopped 2025-10-28T22:02:21.548Z,1761688941.548 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:02:21.633Z,1761688941.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298902 2025-10-28T22:02:21.838Z,1761688941.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300677,0.884837,0.355890],[-0.952848,0.294707,0.072303],[-0.040907,-0.360849,0.931727]] 2025-10-28T22:02:21.869Z,1761688941.869 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:02:21.869Z,1761688941.869 [marl:UpdateRudder:B] Stopped 2025-10-28T22:02:21.869Z,1761688941.869 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:02:21.869Z,1761688941.869 [marl:UpdateRudder] Stopped 2025-10-28T22:02:21.869Z,1761688941.869 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:02:21.886Z,1761688941.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551539 2025-10-28T22:02:22.137Z,1761688942.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802884 2025-10-28T22:02:22.230Z,1761688942.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268204,0.889747,0.369346],[-0.962480,0.263889,0.063211],[-0.041224,-0.372441,0.927140]] 2025-10-28T22:02:22.389Z,1761688942.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054887 2025-10-28T22:02:22.635Z,1761688942.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237026,0.893866,0.380555],[-0.970632,0.234470,0.053818],[-0.041122,-0.382135,0.923191]] 2025-10-28T22:02:22.641Z,1761688942.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306955 2025-10-28T22:02:22.893Z,1761688942.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558866 2025-10-28T22:02:23.041Z,1761688943.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206815,0.896433,0.391964],[-0.977540,0.205929,0.044820],[-0.040538,-0.392430,0.918888]] 2025-10-28T22:02:23.149Z,1761688943.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814128 2025-10-28T22:02:23.397Z,1761688943.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062928 2025-10-28T22:02:23.443Z,1761688943.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176942,0.897335,0.404328],[-0.983440,0.177558,0.036313],[-0.039207,-0.404057,0.913893]] 2025-10-28T22:02:23.649Z,1761688943.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314878 2025-10-28T22:02:23.849Z,1761688943.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147779,0.895873,0.419014],[-0.988301,0.149925,0.028008],[-0.037729,-0.418250,0.907548]] 2025-10-28T22:02:23.901Z,1761688943.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567016 2025-10-28T22:02:24.153Z,1761688944.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818927 2025-10-28T22:02:24.253Z,1761688944.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119547,0.897166,0.425208],[-0.992163,0.123636,0.018080],[-0.036350,-0.424037,0.904915]] 2025-10-28T22:02:24.405Z,1761688944.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070804 2025-10-28T22:02:24.655Z,1761688944.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092057,0.899589,0.426926],[-0.995121,0.098391,0.007251],[-0.035483,-0.425511,0.904257]] 2025-10-28T22:02:24.658Z,1761688944.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323583 2025-10-28T22:02:24.909Z,1761688944.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574913 2025-10-28T22:02:25.059Z,1761688945.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064550,0.904534,0.421487],[-0.997287,0.073453,-0.004901],[-0.035392,-0.420027,0.906821]] 2025-10-28T22:02:25.165Z,1761688945.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829762 2025-10-28T22:02:25.413Z,1761688945.413 [DAT](INFO): Reached modem response timeout 2025-10-28T22:02:25.469Z,1761688945.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036329,0.909926,0.413177],[-0.998678,0.048097,-0.018113],[-0.036354,-0.411972,0.910471]] 2025-10-28T22:02:25.875Z,1761688945.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006922,0.915759,0.401668],[-0.999250,0.021639,-0.032114],[-0.038100,-0.401144,0.915222]] 2025-10-28T22:02:26.270Z,1761688946.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024636,0.921471,0.387665],[-0.998882,-0.007041,-0.046742],[-0.040341,-0.388383,0.920615]] 2025-10-28T22:02:26.675Z,1761688946.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058470,0.925648,0.373842],[-0.997369,-0.038091,-0.061678],[-0.042852,-0.376464,0.925440]] 2025-10-28T22:02:27.081Z,1761688947.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093882,0.927758,0.361180],[-0.994545,-0.070831,-0.076569],[-0.045455,-0.366398,0.929347]] 2025-10-28T22:02:27.693Z,1761688947.693 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:02:27.693Z,1761688947.693 [DAT](INFO): response not received 2025-10-28T22:02:27.693Z,1761688947.693 [DAT](ERROR): No response from remote modem. 2025-10-28T22:02:27.889Z,1761688947.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167603,0.924480,0.342412],[-0.984612,-0.139538,-0.105205],[-0.049480,-0.354775,0.933641]] 2025-10-28T22:02:28.291Z,1761688948.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205362,0.919059,0.336389],[-0.977383,-0.174863,-0.118934],[-0.050485,-0.353205,0.934183]] 2025-10-28T22:02:28.695Z,1761688948.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242557,0.909990,0.336279],[-0.968814,-0.209113,-0.132931],[-0.050646,-0.358036,0.932333]] 2025-10-28T22:02:29.502Z,1761688949.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309274,0.886220,0.344911],[-0.949597,-0.268293,-0.162124],[-0.051140,-0.377667,0.924528]] 2025-10-28T22:02:29.906Z,1761688949.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338281,0.871058,0.356124],[-0.939626,-0.291874,-0.178642],[-0.051664,-0.395054,0.917204]] 2025-10-28T22:02:30.311Z,1761688950.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365558,0.856200,0.365088],[-0.929351,-0.313953,-0.194268],[-0.051712,-0.410311,0.910478]] 2025-10-28T22:02:30.720Z,1761688950.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391634,0.842899,0.368977],[-0.918665,-0.335649,-0.208311],[-0.051738,-0.420548,0.905794]] 2025-10-28T22:02:31.160Z,1761688951.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417487,0.830830,0.368003],[-0.907234,-0.358255,-0.220406],[-0.051282,-0.425882,0.903324]] 2025-10-28T22:02:31.523Z,1761688951.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443784,0.821176,0.358783],[-0.894704,-0.383407,-0.229139],[-0.050603,-0.422693,0.904859]] 2025-10-28T22:02:31.930Z,1761688951.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471208,0.811696,0.345128],[-0.880603,-0.410748,-0.236272],[-0.050020,-0.415254,0.908329]] 2025-10-28T22:02:31.975Z,1761688951.975 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:02:31.975Z,1761688951.975 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:02:31.975Z,1761688951.975 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:02:31.980Z,1761688951.980 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:02:31.980Z,1761688951.980 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:02:31.980Z,1761688951.980 [marl:UpdateSpeed] Stopped 2025-10-28T22:02:31.980Z,1761688951.980 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:02:32.332Z,1761688952.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499611,0.800799,0.330317],[-0.864837,-0.439336,-0.242984],[-0.049461,-0.407068,0.912058]] 2025-10-28T22:02:32.739Z,1761688952.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528450,0.789847,0.311259],[-0.847536,-0.469566,-0.247368],[-0.049226,-0.394524,0.917566]] 2025-10-28T22:02:33.175Z,1761688953.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586551,0.761177,0.276709],[-0.808358,-0.529043,-0.258205],[-0.050149,-0.375130,0.925615]] 2025-10-28T22:02:33.951Z,1761688953.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614672,0.744056,0.261838],[-0.787118,-0.557035,-0.264871],[-0.051226,-0.368906,0.928054]] 2025-10-28T22:02:34.366Z,1761688954.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667089,0.704575,0.242006],[-0.743044,-0.605876,-0.284253],[-0.053652,-0.369443,0.927703]] 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateRudder:A] Stopped 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:02:34.847Z,1761688954.847 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:02:34.848Z,1761688954.848 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:02:34.848Z,1761688954.848 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:02:34.848Z,1761688954.848 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:02:34.848Z,1761688954.848 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:02:34.848Z,1761688954.848 [marl:UpdateCommandMode] Stopped 2025-10-28T22:02:34.849Z,1761688954.849 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:02:35.178Z,1761688955.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713418,0.663092,0.226591],[-0.698552,-0.647457,-0.304671],[-0.055317,-0.375644,0.925112]] 2025-10-28T22:02:35.262Z,1761688955.262 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:02:35.262Z,1761688955.262 [marl:UpdateRudder:B] Stopped 2025-10-28T22:02:35.262Z,1761688955.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:02:35.263Z,1761688955.263 [marl:UpdateRudder] Stopped 2025-10-28T22:02:35.263Z,1761688955.263 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:02:35.575Z,1761688955.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734607,0.641436,0.221162],[-0.676222,-0.665515,-0.315934],[-0.055465,-0.381642,0.922645]] 2025-10-28T22:02:35.977Z,1761688955.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755026,0.619233,0.215607],[-0.653336,-0.682608,-0.327413],[-0.055569,-0.388069,0.919954]] 2025-10-28T22:02:36.378Z,1761688956.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774622,0.596188,0.210998],[-0.629957,-0.697949,-0.340619],[-0.055808,-0.396770,0.916220]] 2025-10-28T22:02:36.782Z,1761688956.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793797,0.573403,0.202719],[-0.605587,-0.714448,-0.350469],[-0.056128,-0.400965,0.914372]] 2025-10-28T22:02:37.184Z,1761688957.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812358,0.550603,0.192124],[-0.580440,-0.731651,-0.357457],[-0.056249,-0.401900,0.913954]] 2025-10-28T22:02:37.590Z,1761688957.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830858,0.527195,0.178161],[-0.553636,-0.750743,-0.360376],[-0.056235,-0.398058,0.915635]] 2025-10-28T22:02:37.986Z,1761688957.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848822,0.502633,0.163893],[-0.525657,-0.769298,-0.363132],[-0.056440,-0.394386,0.917210]] 2025-10-28T22:02:38.390Z,1761688958.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865796,0.477802,0.148666],[-0.497198,-0.787879,-0.363374],[-0.056490,-0.388525,0.919705]] 2025-10-28T22:02:38.801Z,1761688958.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881717,0.452209,0.134472],[-0.468386,-0.804946,-0.364248],[-0.056474,-0.384148,0.921543]] 2025-10-28T22:02:39.201Z,1761688959.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896983,0.425676,0.119252],[-0.438410,-0.821971,-0.363538],[-0.056727,-0.378369,0.923915]] 2025-10-28T22:02:39.328Z,1761688959.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:02:39.602Z,1761688959.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911348,0.398595,0.102792],[-0.407618,-0.839057,-0.360320],[-0.057374,-0.370277,0.927148]] 2025-10-28T22:02:40.006Z,1761688960.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924435,0.371117,0.087704],[-0.376856,-0.853912,-0.358906],[-0.058305,-0.364836,0.929244]] 2025-10-28T22:02:40.332Z,1761688960.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:02:40.410Z,1761688960.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936303,0.343387,0.073630],[-0.346085,-0.866557,-0.359588],[-0.059674,-0.362165,0.930202]] 2025-10-28T22:02:40.817Z,1761688960.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947068,0.315391,0.059918],[-0.315060,-0.877282,-0.362095],[-0.061636,-0.361807,0.930213]] 2025-10-28T22:02:41.219Z,1761688961.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956550,0.287874,0.046272],[-0.284389,-0.886168,-0.365828],[-0.064308,-0.363092,0.929532]] 2025-10-28T22:02:41.622Z,1761688961.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964902,0.260531,0.032966],[-0.253890,-0.893411,-0.370618],[-0.067105,-0.365980,0.928200]] 2025-10-28T22:02:42.027Z,1761688962.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972315,0.232910,0.018855],[-0.222930,-0.900408,-0.373587],[-0.070035,-0.367448,0.927403]] 2025-10-28T22:02:42.435Z,1761688962.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978694,0.205233,0.006142],[-0.191966,-0.903997,-0.382019],[-0.072851,-0.375059,0.924134]] 2025-10-28T22:02:42.834Z,1761688962.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984078,0.177606,-0.006811],[-0.160909,-0.906530,-0.390271],[-0.075489,-0.382961,0.920675]] 2025-10-28T22:02:43.239Z,1761688963.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988372,0.150732,-0.020016],[-0.130505,-0.908467,-0.397059],[-0.078033,-0.389830,0.917575]] 2025-10-28T22:02:43.643Z,1761688963.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991827,0.123029,-0.033795],[-0.099617,-0.912239,-0.397363],[-0.079716,-0.390749,0.917039]] 2025-10-28T22:02:44.062Z,1761688964.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994370,0.094550,-0.047834],[-0.068216,-0.916653,-0.393819],[-0.081083,-0.388339,0.917942]] 2025-10-28T22:02:44.451Z,1761688964.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995937,0.066139,-0.061112],[-0.037438,-0.921322,-0.386995],[-0.081899,-0.383135,0.920055]] 2025-10-28T22:02:44.855Z,1761688964.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996563,0.037619,-0.073808],[-0.006678,-0.924530,-0.381051],[-0.082572,-0.379248,0.921603]] 2025-10-28T22:02:45.259Z,1761688965.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996304,0.009462,-0.085371],[0.023438,-0.926243,-0.376198],[-0.082634,-0.376809,0.922598]] 2025-10-28T22:02:45.325Z,1761688965.325 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:02:45.325Z,1761688965.325 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:02:45.325Z,1761688965.325 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:02:45.326Z,1761688965.326 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:02:45.326Z,1761688965.326 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:02:45.326Z,1761688965.326 [marl:UpdateSpeed] Stopped 2025-10-28T22:02:45.326Z,1761688965.326 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:02:45.665Z,1761688965.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995097,-0.019391,-0.096983],[0.054291,-0.926737,-0.371768],[-0.082669,-0.375210,0.923246]] 2025-10-28T22:02:46.072Z,1761688966.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992914,-0.047587,-0.108888],[0.084993,-0.924790,-0.370864],[-0.083051,-0.377491,0.922282]] 2025-10-28T22:02:46.470Z,1761688966.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989585,-0.077154,-0.121530],[0.117121,-0.922378,-0.368107],[-0.083695,-0.378506,0.921807]] 2025-10-28T22:02:46.874Z,1761688966.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985308,-0.106222,-0.133732],[0.148626,-0.919044,-0.365060],[-0.084128,-0.379573,0.921329]] 2025-10-28T22:02:47.281Z,1761688967.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979716,-0.136919,-0.146317],[0.181594,-0.915362,-0.359355],[-0.084730,-0.378636,0.921659]] 2025-10-28T22:02:47.682Z,1761688967.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972813,-0.168313,-0.159075],[0.215178,-0.910881,-0.352128],[-0.085630,-0.376785,0.922334]] 2025-10-28T22:02:47.725Z,1761688967.725 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateRudder:A] Stopped 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:02:47.726Z,1761688967.726 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:02:47.727Z,1761688967.727 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:02:47.727Z,1761688967.727 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:02:47.727Z,1761688967.727 [marl:UpdateCommandMode] Stopped 2025-10-28T22:02:47.727Z,1761688967.727 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:02:48.087Z,1761688968.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964630,-0.199535,-0.172265],[0.248817,-0.905014,-0.345020],[-0.087059,-0.375680,0.922651]] 2025-10-28T22:02:48.194Z,1761688968.194 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:02:48.195Z,1761688968.195 [marl:UpdateRudder:B] Stopped 2025-10-28T22:02:48.195Z,1761688968.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:02:48.195Z,1761688968.195 [marl:UpdateRudder] Stopped 2025-10-28T22:02:48.195Z,1761688968.195 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:02:48.493Z,1761688968.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955085,-0.230829,-0.185827],[0.282703,-0.897742,-0.337843],[-0.088841,-0.375202,0.922676]] 2025-10-28T22:02:49.298Z,1761688969.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932872,-0.290870,-0.212472],[0.347956,-0.880212,-0.322728],[-0.093148,-0.374995,0.922335]] 2025-10-28T22:02:49.703Z,1761688969.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920123,-0.319406,-0.226612],[0.379782,-0.868984,-0.317227],[-0.095597,-0.377951,0.920877]] 2025-10-28T22:02:50.107Z,1761688970.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906580,-0.346796,-0.240509],[0.410436,-0.857171,-0.311127],[-0.098260,-0.380775,0.919432]] 2025-10-28T22:02:50.512Z,1761688970.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892449,-0.372362,-0.254716],[0.439759,-0.844061,-0.306876],[-0.100727,-0.385885,0.917032]] 2025-10-28T22:02:50.915Z,1761688970.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878380,-0.395598,-0.268236],[0.466777,-0.830699,-0.303410],[-0.102795,-0.391716,0.914326]] 2025-10-28T22:02:51.318Z,1761688971.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863642,-0.419306,-0.279831],[0.493189,-0.817703,-0.296862],[-0.104343,-0.394392,0.912999]] 2025-10-28T22:02:51.723Z,1761688971.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848744,-0.442306,-0.289826],[0.518203,-0.804871,-0.289219],[-0.105349,-0.395662,0.912334]] 2025-10-28T22:02:52.127Z,1761688972.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833770,-0.464436,-0.298543],[0.541919,-0.791843,-0.281618],[-0.105605,-0.396590,0.911901]] 2025-10-28T22:02:52.536Z,1761688972.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818625,-0.486585,-0.305103],[0.564598,-0.779181,-0.272224],[-0.105271,-0.395110,0.912582]] 2025-10-28T22:02:52.934Z,1761688972.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803075,-0.508522,-0.310604],[0.586586,-0.766349,-0.261966],[-0.104815,-0.392574,0.913728]] 2025-10-28T22:02:53.340Z,1761688973.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787035,-0.530235,-0.315321],[0.608079,-0.752942,-0.251629],[-0.103996,-0.389781,0.915017]] 2025-10-28T22:02:53.742Z,1761688973.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770199,-0.551028,-0.321187],[0.629475,-0.737838,-0.243632],[-0.102736,-0.389824,0.915141]] 2025-10-28T22:02:54.146Z,1761688974.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752826,-0.570906,-0.327597],[0.650403,-0.721682,-0.236964],[-0.101137,-0.391462,0.914619]] 2025-10-28T22:02:54.556Z,1761688974.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734433,-0.591688,-0.332435],[0.671388,-0.705031,-0.228408],[-0.099230,-0.390943,0.915050]] 2025-10-28T22:02:54.956Z,1761688974.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715259,-0.611419,-0.338484],[0.692114,-0.686860,-0.221816],[-0.096869,-0.392925,0.914454]] 2025-10-28T22:02:55.358Z,1761688975.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695293,-0.631273,-0.343602],[0.712524,-0.668091,-0.214390],[-0.094218,-0.393889,0.914316]] 2025-10-28T22:02:55.766Z,1761688975.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674106,-0.652123,-0.346867],[0.732967,-0.648650,-0.204970],[-0.091330,-0.392413,0.915243]] 2025-10-28T22:02:56.168Z,1761688976.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651209,-0.673773,-0.349223],[0.753744,-0.627779,-0.194328],[-0.088302,-0.389773,0.916668]] 2025-10-28T22:02:56.572Z,1761688976.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627420,-0.694855,-0.351455],[0.773999,-0.605933,-0.183768],[-0.085266,-0.387325,0.917992]] 2025-10-28T22:02:56.975Z,1761688976.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602403,-0.715911,-0.352962],[0.793918,-0.583113,-0.172261],[-0.082493,-0.383994,0.919643]] 2025-10-28T22:02:57.378Z,1761688977.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576233,-0.737341,-0.352539],[0.813351,-0.559638,-0.158951],[-0.080093,-0.378331,0.922199]] 2025-10-28T22:02:57.788Z,1761688977.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548520,-0.757672,-0.353635],[0.832459,-0.534486,-0.146070],[-0.078340,-0.374510,0.923908]] 2025-10-28T22:02:58.190Z,1761688978.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519395,-0.776536,-0.356680],[0.851031,-0.507810,-0.133700],[-0.077303,-0.372989,0.924610]] 2025-10-28T22:02:58.590Z,1761688978.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489211,-0.794255,-0.360321],[0.868711,-0.480479,-0.120337],[-0.077549,-0.371886,0.925034]] 2025-10-28T22:02:58.627Z,1761688978.627 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:02:58.628Z,1761688978.628 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:02:58.631Z,1761688978.631 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:02:58.632Z,1761688978.632 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:02:58.632Z,1761688978.632 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:02:58.632Z,1761688978.632 [marl:UpdateSpeed] Stopped 2025-10-28T22:02:58.632Z,1761688978.632 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:02:59.399Z,1761688979.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427315,-0.827953,-0.363176],[0.900417,-0.425964,-0.088343],[-0.081555,-0.364760,0.927523]] 2025-10-28T22:02:59.805Z,1761688979.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395491,-0.842119,-0.366636],[0.914512,-0.398071,-0.072163],[-0.085177,-0.363833,0.927562]] 2025-10-28T22:03:00.207Z,1761688980.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363420,-0.851863,-0.377167],[0.927307,-0.369699,-0.058514],[-0.089592,-0.371015,0.924295]] 2025-10-28T22:03:00.611Z,1761688980.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331140,-0.859044,-0.390371],[0.938858,-0.341306,-0.045332],[-0.094294,-0.381514,0.919541]] 2025-10-28T22:03:01.023Z,1761688981.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299885,-0.863147,-0.406259],[0.948827,-0.314051,-0.033149],[-0.098974,-0.395411,0.913156]] 2025-10-28T22:03:01.073Z,1761688981.073 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:03:01.073Z,1761688981.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateRudder:A] Stopped 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:03:01.074Z,1761688981.074 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:03:01.075Z,1761688981.075 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:03:01.075Z,1761688981.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:03:01.075Z,1761688981.075 [marl:UpdateCommandMode] Stopped 2025-10-28T22:03:01.075Z,1761688981.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:03:01.419Z,1761688981.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269498,-0.866818,-0.419520],[0.957449,-0.287895,-0.020210],[-0.103260,-0.407116,0.907521]] 2025-10-28T22:03:01.612Z,1761688981.612 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:03:01.612Z,1761688981.612 [marl:UpdateRudder:B] Stopped 2025-10-28T22:03:01.612Z,1761688981.612 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:03:01.612Z,1761688981.612 [marl:UpdateRudder] Stopped 2025-10-28T22:03:01.612Z,1761688981.612 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:03:01.856Z,1761688981.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240953,-0.870666,-0.428816],[0.964654,-0.263422,-0.007191],[-0.106699,-0.415392,0.903363]] 2025-10-28T22:03:02.254Z,1761688982.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213788,-0.874896,-0.434570],[0.970837,-0.239689,0.004945],[-0.108488,-0.420839,0.900624]] 2025-10-28T22:03:02.658Z,1761688982.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186681,-0.881564,-0.433585],[0.976334,-0.215530,0.017851],[-0.109187,-0.419991,0.900936]] 2025-10-28T22:03:03.062Z,1761688983.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160339,-0.886375,-0.434316],[0.981024,-0.191699,0.029057],[-0.109014,-0.421415,0.900292]] 2025-10-28T22:03:03.473Z,1761688983.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134087,-0.893855,-0.427837],[0.985131,-0.167031,0.040223],[-0.107416,-0.416082,0.902961]] 2025-10-28T22:03:03.870Z,1761688983.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108144,-0.902387,-0.417136],[0.988618,-0.141764,0.050375],[-0.104592,-0.406941,0.907447]] 2025-10-28T22:03:04.274Z,1761688984.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082390,-0.909450,-0.407569],[0.991466,-0.116256,0.058991],[-0.101032,-0.399230,0.911267]] 2025-10-28T22:03:04.683Z,1761688984.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056385,-0.914621,-0.400362],[0.993691,-0.090346,0.066447],[-0.096945,-0.394089,0.913945]] 2025-10-28T22:03:05.083Z,1761688985.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029408,-0.919539,-0.391896],[0.995287,-0.063185,0.073569],[-0.092411,-0.387886,0.917063]] 2025-10-28T22:03:05.501Z,1761688985.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001144,-0.923269,-0.384152],[0.996109,-0.034902,0.080918],[-0.088117,-0.382565,0.919717]] 2025-10-28T22:03:05.891Z,1761688985.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028440,-0.924140,-0.380995],[0.996023,-0.005996,0.088894],[-0.084435,-0.382008,0.920294]] 2025-10-28T22:03:06.294Z,1761688986.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059284,-0.923609,-0.378724],[0.994935,0.023819,0.097655],[-0.081174,-0.382595,0.920343]] 2025-10-28T22:03:06.704Z,1761688986.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091357,-0.923126,-0.373488],[0.992737,0.054943,0.107028],[-0.078279,-0.380552,0.921440]] 2025-10-28T22:03:07.119Z,1761688987.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124400,-0.920299,-0.370910],[0.989320,0.086424,0.117375],[-0.075964,-0.381550,0.921222]] 2025-10-28T22:03:07.514Z,1761688987.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158135,-0.915052,-0.371043],[0.984632,0.117926,0.128814],[-0.074116,-0.385711,0.919638]] 2025-10-28T22:03:07.911Z,1761688987.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191910,-0.907541,-0.373549],[0.978709,0.148745,0.141431],[-0.072791,-0.392738,0.916765]] 2025-10-28T22:03:08.317Z,1761688988.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226029,-0.899058,-0.374976],[0.971475,0.179693,0.154749],[-0.071748,-0.399257,0.914027]] 2025-10-28T22:03:08.722Z,1761688988.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259659,-0.889546,-0.375880],[0.963079,0.209872,0.168621],[-0.071109,-0.405786,0.911198]] 2025-10-28T22:03:09.535Z,1761688989.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323715,-0.872032,-0.367108],[0.943550,0.268761,0.193601],[-0.070162,-0.409056,0.909808]] 2025-10-28T22:03:09.938Z,1761688989.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353794,-0.864402,-0.357266],[0.932707,0.297499,0.203846],[-0.069919,-0.405344,0.911487]] 2025-10-28T22:03:10.335Z,1761688990.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382493,-0.855424,-0.349211],[0.921308,0.324498,0.214227],[-0.069937,-0.403672,0.912227]] 2025-10-28T22:03:10.456Z,1761688990.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:03:10.742Z,1761688990.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410001,-0.845888,-0.341134],[0.909401,0.350452,0.223993],[-0.069921,-0.402065,0.912937]] 2025-10-28T22:03:11.173Z,1761688991.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436110,-0.836274,-0.332345],[0.897204,0.375534,0.232378],[-0.069525,-0.399523,0.914083]] 2025-10-28T22:03:11.460Z,1761688991.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:03:11.547Z,1761688991.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461441,-0.824582,-0.327317],[0.884509,0.399043,0.241677],[-0.068669,-0.401035,0.913486]] 2025-10-28T22:03:11.950Z,1761688991.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486528,-0.810222,-0.326849],[0.871072,0.421060,0.252866],[-0.067255,-0.407736,0.910620]] 2025-10-28T22:03:12.005Z,1761688992.005 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:03:12.005Z,1761688992.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:03:12.005Z,1761688992.005 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:03:12.006Z,1761688992.006 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:03:12.006Z,1761688992.006 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:03:12.006Z,1761688992.006 [marl:UpdateSpeed] Stopped 2025-10-28T22:03:12.006Z,1761688992.006 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:03:12.354Z,1761688992.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511924,-0.794536,-0.326569],[0.856545,0.443221,0.264357],[-0.065299,-0.415052,0.907451]] 2025-10-28T22:03:12.763Z,1761688992.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536567,-0.778955,-0.324537],[0.841533,0.465411,0.274253],[-0.062588,-0.420264,0.905241]] 2025-10-28T22:03:13.179Z,1761688993.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561531,-0.763148,-0.319824],[0.825288,0.488576,0.283185],[-0.059854,-0.422964,0.904167]] 2025-10-28T22:03:13.566Z,1761688993.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585683,-0.748422,-0.311190],[0.808503,0.512233,0.289726],[-0.057435,-0.421286,0.905107]] 2025-10-28T22:03:13.971Z,1761688993.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609867,-0.732936,-0.301442],[0.790594,0.536279,0.295577],[-0.054982,-0.418581,0.906514]] 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateRudder:A] Stopped 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:03:14.027Z,1761688994.027 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:03:14.028Z,1761688994.028 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:03:14.032Z,1761688994.032 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:03:14.032Z,1761688994.032 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:03:14.032Z,1761688994.032 [marl:UpdateCommandMode] Stopped 2025-10-28T22:03:14.032Z,1761688994.032 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:03:14.376Z,1761688994.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633185,-0.716983,-0.291568],[0.772191,0.559427,0.301268],[-0.052893,-0.415905,0.907869]] 2025-10-28T22:03:14.405Z,1761688994.405 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:03:14.405Z,1761688994.405 [marl:UpdateRudder:B] Stopped 2025-10-28T22:03:14.405Z,1761688994.405 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:03:14.405Z,1761688994.405 [marl:UpdateRudder] Stopped 2025-10-28T22:03:14.405Z,1761688994.405 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:03:14.803Z,1761688994.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656991,-0.699777,-0.280490],[0.752150,0.583083,0.307059],[-0.051324,-0.412706,0.909417]] 2025-10-28T22:03:15.184Z,1761688995.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680094,-0.680923,-0.271691],[0.731427,0.604995,0.314636],[-0.049871,-0.412705,0.909499]] 2025-10-28T22:03:15.267Z,1761688995.267 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:03:15.333Z,1761688995.333 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:03:15.333Z,1761688995.333 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:03:15.585Z,1761688995.585 [DAT](INFO): DAT read: user:343> 2025-10-28T22:03:15.586Z,1761688995.586 [DAT](INFO): DAT read: Tx time:22:03:15.2957 2025-10-28T22:03:15.586Z,1761688995.586 [DAT](INFO): Ping request sent. 2025-10-28T22:03:15.586Z,1761688995.586 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:03:15.586Z,1761688995.586 [DAT](INFO): publishing transmit ping time 2025-10-28T22:03:15.587Z,1761688995.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944 2025-10-28T22:03:15.593Z,1761688995.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702921,-0.660291,-0.264419],[0.709604,0.625605,0.324161],[-0.048618,-0.415492,0.908297]] 2025-10-28T22:03:15.837Z,1761688995.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965 2025-10-28T22:03:16.005Z,1761688996.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724548,-0.640385,-0.254826],[0.687581,0.646093,0.331354],[-0.047553,-0.415296,0.908443]] 2025-10-28T22:03:16.089Z,1761688996.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503007 2025-10-28T22:03:16.341Z,1761688996.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754815 2025-10-28T22:03:16.395Z,1761688996.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744602,-0.621200,-0.244293],[0.665901,0.665886,0.336411],[-0.046307,-0.413168,0.909477]] 2025-10-28T22:03:16.593Z,1761688996.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816 2025-10-28T22:03:16.810Z,1761688996.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781028,-0.582207,-0.225899],[0.622920,0.700619,0.347998],[-0.044338,-0.412514,0.909872]] 2025-10-28T22:03:16.845Z,1761688996.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814 2025-10-28T22:03:17.097Z,1761688997.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510872 2025-10-28T22:03:17.207Z,1761688997.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797710,-0.562162,-0.218250],[0.601497,0.715850,0.354627],[-0.043124,-0.414166,0.909179]] 2025-10-28T22:03:17.349Z,1761688997.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801 2025-10-28T22:03:17.605Z,1761688997.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018433 2025-10-28T22:03:17.620Z,1761688997.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813452,-0.541999,-0.211029],[0.580144,0.730137,0.361017],[-0.041591,-0.416097,0.908369]] 2025-10-28T22:03:17.853Z,1761688997.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266812 2025-10-28T22:03:18.016Z,1761688998.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828871,-0.520974,-0.203862],[0.558034,0.744122,0.367261],[-0.039636,-0.418174,0.907502]] 2025-10-28T22:03:18.107Z,1761688998.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520255 2025-10-28T22:03:18.357Z,1761688998.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770874 2025-10-28T22:03:18.419Z,1761688998.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843806,-0.499709,-0.195658],[0.535350,0.758475,0.371641],[-0.037310,-0.418339,0.907525]] 2025-10-28T22:03:18.609Z,1761688998.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022817 2025-10-28T22:03:18.840Z,1761688998.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859087,-0.476328,-0.187302],[0.510618,0.772435,0.377643],[-0.035203,-0.420067,0.906810]] 2025-10-28T22:03:18.861Z,1761688998.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274937 2025-10-28T22:03:19.116Z,1761688999.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529076 2025-10-28T22:03:19.222Z,1761688999.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874144,-0.451536,-0.178854],[0.484534,0.785670,0.384641],[-0.033159,-0.422893,0.905573]] 2025-10-28T22:03:19.365Z,1761688999.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778827 2025-10-28T22:03:19.621Z,1761688999.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034806 2025-10-28T22:03:19.628Z,1761688999.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888974,-0.425444,-0.169479],[0.456885,0.798607,0.391769],[-0.031328,-0.425704,0.904320]] 2025-10-28T22:03:19.873Z,1761688999.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286867 2025-10-28T22:03:20.031Z,1761689000.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903575,-0.397476,-0.159887],[0.427379,0.810135,0.401284],[-0.029970,-0.430923,0.901891]] 2025-10-28T22:03:20.125Z,1761689000.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538823 2025-10-28T22:03:20.381Z,1761689000.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794795 2025-10-28T22:03:20.436Z,1761689000.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917540,-0.368821,-0.148631],[0.396625,0.822124,0.408413],[-0.028438,-0.433686,0.900615]] 2025-10-28T22:03:20.629Z,1761689000.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042881 2025-10-28T22:03:20.843Z,1761689000.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930289,-0.340816,-0.135672],[0.365849,0.835026,0.410958],[-0.026771,-0.431945,0.901502]] 2025-10-28T22:03:20.881Z,1761689000.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294933 2025-10-28T22:03:21.136Z,1761689001.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548998 2025-10-28T22:03:21.243Z,1761689001.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942012,-0.312552,-0.122167],[0.334605,0.847093,0.412883],[-0.025561,-0.429819,0.902553]] 2025-10-28T22:03:21.386Z,1761689001.386 [DAT](INFO): DAT read: Rx Time:22:03:20.6056 2025-10-28T22:03:21.386Z,1761689001.386 [DAT](INFO): Rx dataTimestamp_ set to:1761689001.385711 2025-10-28T22:03:21.387Z,1761689001.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800507 2025-10-28T22:03:21.637Z,1761689001.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050872 2025-10-28T22:03:21.648Z,1761689001.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952292,-0.284867,-0.109500],[0.304237,0.857832,0.414203],[-0.024060,-0.427756,0.903574]] 2025-10-28T22:03:21.894Z,1761689001.894 [DAT](INFO): DAT read: 22:03:20.6056 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 88, 0.36, 0.417,-0.922, 0.981, 0.480, PHS= 0.039,-1.357, 0.457, RAW= 162.7, 10.5, CAL= 162.7, 11.5, ROT= 347.3, -11.5 2025-10-28T22:03:21.895Z,1761689001.895 [DAT](INFO): got valid direction response: 22:03:20.6056 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 88, 0.36, 0.417,-0.922, 0.981, 0.480, PHS= 0.039,-1.357, 0.457, RAW= 162.7, 10.5, CAL= 162.7, 11.5, ROT= 347.3, -11.5 2025-10-28T22:03:21.896Z,1761689001.896 [DAT](INFO): DAT read: $Error in header 2025-10-28T22:03:21.896Z,1761689001.896 [DAT](INFO): Received a bad header 2025-10-28T22:03:21.908Z,1761689001.908 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T22:03:21.909Z,1761689001.909 [DAT](INFO): direction in FSK: [0.955950,-0.215433,0.199368] 2025-10-28T22:03:22.050Z,1761689002.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961441,-0.258005,-0.095208],[0.274111,0.871050,0.407596],[-0.022231,-0.417977,0.908185]] 2025-10-28T22:03:22.087Z,1761689002.087 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761688960.00. Resetting abort timer. 2025-10-28T22:03:22.455Z,1761689002.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969295,-0.231990,-0.081535],[0.244993,0.882609,0.401224],[-0.021116,-0.408880,0.912344]] 2025-10-28T22:03:22.862Z,1761689002.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976147,-0.205907,-0.068849],[0.216168,0.892204,0.396539],[-0.020223,-0.401963,0.915432]] 2025-10-28T22:03:23.264Z,1761689003.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982148,-0.179398,-0.056590],[0.187094,0.900333,0.392933],[-0.019542,-0.396506,0.917824]] 2025-10-28T22:03:23.668Z,1761689003.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987159,-0.153474,-0.044299],[0.158577,0.908147,0.387457],[-0.019234,-0.389506,0.920823]] 2025-10-28T22:03:24.071Z,1761689004.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991305,-0.127424,-0.032839],[0.130196,0.913593,0.385222],[-0.019085,-0.386148,0.922239]] 2025-10-28T22:03:24.483Z,1761689004.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994639,-0.101164,-0.021439],[0.101595,0.917267,0.385096],[-0.019293,-0.385210,0.922627]] 2025-10-28T22:03:24.888Z,1761689004.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997186,-0.074321,-0.009838],[0.072331,0.919274,0.386916],[-0.019712,-0.386539,0.922062]] 2025-10-28T22:03:25.283Z,1761689005.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998869,-0.047522,0.001484],[0.043194,0.920057,0.389395],[-0.019870,-0.388891,0.921070]] 2025-10-28T22:03:25.332Z,1761689005.332 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed] Stopped 2025-10-28T22:03:25.333Z,1761689005.333 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:03:25.672Z,1761689005.672 [DAT](INFO): Reached modem response timeout 2025-10-28T22:03:25.688Z,1761689005.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999696,-0.020987,0.012960],[0.014218,0.919650,0.392482],[-0.020155,-0.392178,0.919668]] 2025-10-28T22:03:26.092Z,1761689006.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999694,0.005657,0.024075],[-0.014718,0.918415,0.395345],[-0.019875,-0.395579,0.918217]] 2025-10-28T22:03:26.500Z,1761689006.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998797,0.033264,0.036018],[-0.044964,0.914340,0.402444],[-0.019546,-0.403579,0.914736]] 2025-10-28T22:03:26.898Z,1761689006.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997051,0.059939,0.047915],[-0.074307,0.910027,0.407834],[-0.019159,-0.410192,0.911798]] 2025-10-28T22:03:27.303Z,1761689007.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994335,0.087478,0.060381],[-0.104718,0.903623,0.415331],[-0.018229,-0.419301,0.907664]] 2025-10-28T22:03:27.363Z,1761689007.363 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:03:27.363Z,1761689007.363 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:03:27.363Z,1761689007.363 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:03:27.364Z,1761689007.364 [marl:UpdateRudder:A] Stopped 2025-10-28T22:03:27.364Z,1761689007.364 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:03:27.364Z,1761689007.364 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:03:27.364Z,1761689007.364 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:03:27.364Z,1761689007.364 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:03:27.365Z,1761689007.365 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:03:27.365Z,1761689007.365 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:03:27.365Z,1761689007.365 [marl:UpdateCommandMode] Stopped 2025-10-28T22:03:27.365Z,1761689007.365 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:03:27.707Z,1761689007.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990726,0.114476,0.073193],[-0.134713,0.897846,0.419196],[-0.017728,-0.425168,0.904941]] 2025-10-28T22:03:27.732Z,1761689007.732 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:03:27.732Z,1761689007.732 [marl:UpdateRudder:B] Stopped 2025-10-28T22:03:27.732Z,1761689007.732 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:03:27.732Z,1761689007.732 [marl:UpdateRudder] Stopped 2025-10-28T22:03:27.732Z,1761689007.732 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:03:27.941Z,1761689007.941 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:03:27.941Z,1761689007.941 [DAT](INFO): response not received 2025-10-28T22:03:27.941Z,1761689007.941 [DAT](ERROR): No response from remote modem. 2025-10-28T22:03:28.110Z,1761689008.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986278,0.141153,0.085621],[-0.164197,0.892603,0.419881],[-0.017158,-0.428178,0.903531]] 2025-10-28T22:03:28.515Z,1761689008.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981071,0.167306,0.097509],[-0.192928,0.887836,0.417762],[-0.016678,-0.428667,0.903309]] 2025-10-28T22:03:29.324Z,1761689009.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968582,0.218083,0.119538],[-0.248144,0.879468,0.406154],[-0.016554,-0.423056,0.905952]] 2025-10-28T22:03:29.727Z,1761689009.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961177,0.243207,0.130340],[-0.275442,0.873793,0.400770],[-0.016420,-0.421112,0.906860]] 2025-10-28T22:03:30.130Z,1761689010.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952933,0.268512,0.140783],[-0.302778,0.866761,0.396297],[-0.015615,-0.420271,0.907264]] 2025-10-28T22:03:30.535Z,1761689010.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943546,0.295148,0.150361],[-0.330939,0.859349,0.389870],[-0.014144,-0.417620,0.908511]] 2025-10-28T22:03:30.944Z,1761689010.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933373,0.321742,0.159049],[-0.358682,0.851905,0.381582],[-0.012723,-0.413207,0.910548]] 2025-10-28T22:03:31.342Z,1761689011.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921843,0.350037,0.166374],[-0.387417,0.844095,0.370691],[-0.010680,-0.406175,0.913733]] 2025-10-28T22:03:31.746Z,1761689011.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909250,0.378316,0.173612],[-0.416157,0.835028,0.359918],[-0.008808,-0.399505,0.916689]] 2025-10-28T22:03:32.151Z,1761689012.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895493,0.406961,0.180207],[-0.445021,0.825035,0.348244],[-0.006955,-0.392046,0.919919]] 2025-10-28T22:03:32.557Z,1761689012.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880898,0.434610,0.187438],[-0.473278,0.813190,0.338719],[-0.005212,-0.387087,0.922028]] 2025-10-28T22:03:32.973Z,1761689012.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865615,0.461258,0.194812],[-0.500697,0.800192,0.330144],[-0.003606,-0.383319,0.923609]] 2025-10-28T22:03:33.363Z,1761689013.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849660,0.485733,0.205286],[-0.527326,0.784396,0.326573],[-0.002398,-0.385729,0.922609]] 2025-10-28T22:03:33.772Z,1761689013.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833487,0.509159,0.214607],[-0.552536,0.769142,0.321128],[-0.001558,-0.386234,0.922399]] 2025-10-28T22:03:34.171Z,1761689014.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817691,0.530788,0.222812],[-0.575657,0.754362,0.315526],[-0.000604,-0.386267,0.922387]] 2025-10-28T22:03:34.575Z,1761689014.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802164,0.550258,0.231837],[-0.597103,0.738979,0.312054],[0.000387,-0.388749,0.921343]] 2025-10-28T22:03:34.982Z,1761689014.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786319,0.567931,0.243220],[-0.617818,0.721799,0.311939],[0.001604,-0.395550,0.918443]] 2025-10-28T22:03:35.382Z,1761689015.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770656,0.585434,0.251707],[-0.637244,0.706036,0.308923],[0.003140,-0.398472,0.917175]] 2025-10-28T22:03:35.793Z,1761689015.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754404,0.603156,0.258995],[-0.656391,0.690147,0.304709],[0.005042,-0.399875,0.916556]] 2025-10-28T22:03:36.190Z,1761689016.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737926,0.618767,0.269431],[-0.674848,0.672551,0.303734],[0.006734,-0.405959,0.913867]] 2025-10-28T22:03:36.594Z,1761689016.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720642,0.634456,0.279537],[-0.693256,0.654512,0.301678],[0.008442,-0.411192,0.911509]] 2025-10-28T22:03:37.003Z,1761689017.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702372,0.650130,0.289836],[-0.711735,0.635514,0.299257],[0.010360,-0.416476,0.909088]] 2025-10-28T22:03:37.404Z,1761689017.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682700,0.665178,0.302421],[-0.730593,0.614351,0.298004],[0.012433,-0.424394,0.905392]] 2025-10-28T22:03:37.806Z,1761689017.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661774,0.680381,0.314862],[-0.749565,0.592399,0.295323],[0.014409,-0.431447,0.902023]] 2025-10-28T22:03:38.211Z,1761689018.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639820,0.698053,0.321484],[-0.768339,0.571819,0.287537],[0.016886,-0.430981,0.902203]] 2025-10-28T22:03:38.619Z,1761689018.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616260,0.716634,0.326587],[-0.787305,0.550404,0.277860],[0.019369,-0.428358,0.903401]] 2025-10-28T22:03:38.643Z,1761689018.643 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:03:38.643Z,1761689018.643 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:03:38.643Z,1761689018.643 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:03:38.664Z,1761689018.664 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:03:38.664Z,1761689018.664 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:03:38.664Z,1761689018.664 [marl:UpdateSpeed] Stopped 2025-10-28T22:03:38.664Z,1761689018.664 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:03:39.029Z,1761689019.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591624,0.736515,0.327914],[-0.805914,0.529180,0.265464],[0.021993,-0.421325,0.906643]] 2025-10-28T22:03:39.423Z,1761689019.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566345,0.756066,0.328051],[-0.823817,0.507711,0.252101],[0.024050,-0.413030,0.910400]] 2025-10-28T22:03:39.827Z,1761689019.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540433,0.774076,0.329756],[-0.840999,0.485067,0.239646],[0.025550,-0.406838,0.913143]] 2025-10-28T22:03:40.231Z,1761689020.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514102,0.791206,0.331199],[-0.857327,0.462179,0.226674],[0.026272,-0.400479,0.915929]] 2025-10-28T22:03:40.641Z,1761689020.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487778,0.808517,0.329201],[-0.872567,0.440132,0.211922],[0.026451,-0.390621,0.920172]] 2025-10-28T22:03:40.669Z,1761689020.669 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateRudder:A] Stopped 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:03:40.670Z,1761689020.670 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:03:40.671Z,1761689020.671 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:03:40.671Z,1761689020.671 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:03:40.671Z,1761689020.671 [marl:UpdateCommandMode] Stopped 2025-10-28T22:03:40.671Z,1761689020.671 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:03:41.042Z,1761689021.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461757,0.823269,0.330165],[-0.886625,0.417471,0.199035],[0.026025,-0.384638,0.922701]] 2025-10-28T22:03:41.097Z,1761689021.097 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:03:41.097Z,1761689021.097 [marl:UpdateRudder:B] Stopped 2025-10-28T22:03:41.098Z,1761689021.098 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:03:41.098Z,1761689021.098 [marl:UpdateRudder] Stopped 2025-10-28T22:03:41.098Z,1761689021.098 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:03:41.451Z,1761689021.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435640,0.836637,0.332048],[-0.899761,0.394319,0.186930],[0.025459,-0.380198,0.924555]] 2025-10-28T22:03:41.592Z,1761689021.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:03:41.849Z,1761689021.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409407,0.848923,0.334238],[-0.912002,0.370658,0.175683],[0.025253,-0.376752,0.925970]] 2025-10-28T22:03:42.250Z,1761689022.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383220,0.856967,0.344600],[-0.923315,0.345267,0.168167],[0.025134,-0.382620,0.923564]] 2025-10-28T22:03:42.596Z,1761689022.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:03:42.654Z,1761689022.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357413,0.862415,0.358463],[-0.933609,0.319596,0.161968],[0.025120,-0.392554,0.919386]] 2025-10-28T22:03:43.062Z,1761689023.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331469,0.866611,0.372979],[-0.943120,0.293654,0.155858],[0.025541,-0.403426,0.914656]] 2025-10-28T22:03:43.468Z,1761689023.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305058,0.870215,0.386867],[-0.951961,0.267283,0.149430],[0.026633,-0.413867,0.909948]] 2025-10-28T22:03:43.867Z,1761689023.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278128,0.873515,0.399521],[-0.960138,0.240732,0.142066],[0.027919,-0.423108,0.905649]] 2025-10-28T22:03:44.273Z,1761689024.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251523,0.875328,0.412962],[-0.967415,0.214567,0.134421],[0.029054,-0.433316,0.900774]] 2025-10-28T22:03:44.675Z,1761689024.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223890,0.881097,0.416583],[-0.974143,0.189017,0.123767],[0.030309,-0.433521,0.900633]] 2025-10-28T22:03:45.083Z,1761689025.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195235,0.886985,0.418498],[-0.980264,0.162965,0.111911],[0.031063,-0.432088,0.901297]] 2025-10-28T22:03:45.483Z,1761689025.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165050,0.893431,0.417780],[-0.985769,0.135735,0.099170],[0.031894,-0.428203,0.903120]] 2025-10-28T22:03:45.888Z,1761689025.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133399,0.901809,0.411029],[-0.990523,0.107638,0.085313],[0.032694,-0.418514,0.907622]] 2025-10-28T22:03:46.290Z,1761689026.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100469,0.912943,0.395526],[-0.994369,0.078669,0.071002],[0.033705,-0.400432,0.915706]] 2025-10-28T22:03:46.695Z,1761689026.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067753,0.922024,0.381159],[-0.997107,0.049379,0.057795],[0.034468,-0.383972,0.922701]] 2025-10-28T22:03:47.149Z,1761689027.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035479,0.927798,0.371392],[-0.998754,0.019862,0.045792],[0.035109,-0.372553,0.927346]] 2025-10-28T22:03:47.507Z,1761689027.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003993,0.929553,0.368666],[-0.999355,-0.009449,0.034649],[0.035691,-0.368566,0.928916]] 2025-10-28T22:03:47.911Z,1761689027.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026801,0.927586,0.372647],[-0.998983,-0.038379,0.023685],[0.036272,-0.371633,0.927671]] 2025-10-28T22:03:48.314Z,1761689028.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055838,0.921835,0.383538],[-0.997773,-0.065559,0.012309],[0.036491,-0.381997,0.923443]] 2025-10-28T22:03:48.719Z,1761689028.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083715,0.913482,0.398173],[-0.995819,-0.091345,0.000194],[0.036548,-0.396492,0.917310]] 2025-10-28T22:03:49.526Z,1761689029.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138976,0.896953,0.419715],[-0.989604,-0.141628,-0.025012],[0.037009,-0.418828,0.907311]] 2025-10-28T22:03:49.532Z,1761689029.532 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:03:49.961Z,1761689029.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167405,0.890347,0.423388],[-0.985182,-0.167325,-0.037664],[0.037309,-0.423419,0.905165]] 2025-10-28T22:03:50.335Z,1761689030.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197165,0.884937,0.421915],[-0.979641,-0.194433,-0.049986],[0.037800,-0.423181,0.905256]] 2025-10-28T22:03:50.740Z,1761689030.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228711,0.882123,0.411764],[-0.972747,-0.223659,-0.061159],[0.038145,-0.414530,0.909236]] 2025-10-28T22:03:51.182Z,1761689031.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260519,0.878400,0.400678],[-0.964716,-0.253219,-0.072127],[0.038103,-0.405331,0.913376]] 2025-10-28T22:03:51.547Z,1761689031.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293190,0.874436,0.386525],[-0.955294,-0.284064,-0.081980],[0.038112,-0.393281,0.918628]] 2025-10-28T22:03:51.952Z,1761689031.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326050,0.869511,0.371002],[-0.944584,-0.315466,-0.090782],[0.038103,-0.380043,0.924184]] 2025-10-28T22:03:51.981Z,1761689031.981 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:03:51.981Z,1761689031.981 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:03:51.982Z,1761689031.982 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:03:51.982Z,1761689031.982 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:03:51.982Z,1761689031.982 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:03:51.982Z,1761689031.982 [marl:UpdateSpeed] Stopped 2025-10-28T22:03:51.982Z,1761689031.982 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:03:52.355Z,1761689032.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359091,0.860147,0.362216],[-0.932529,-0.346473,-0.101719],[0.038005,-0.374303,0.926527]] 2025-10-28T22:03:52.761Z,1761689032.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391044,0.849806,0.353432],[-0.919601,-0.376473,-0.112259],[0.037659,-0.368915,0.928700]] 2025-10-28T22:03:53.187Z,1761689033.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422017,0.836937,0.348479],[-0.905815,-0.405127,-0.123978],[0.037416,-0.367979,0.929081]] 2025-10-28T22:03:53.567Z,1761689033.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451614,0.820818,0.349719],[-0.891432,-0.431510,-0.138374],[0.037327,-0.374242,0.926579]] 2025-10-28T22:03:53.971Z,1761689033.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479153,0.802997,0.354413],[-0.876936,-0.455149,-0.154348],[0.037370,-0.384754,0.922262]] 2025-10-28T22:03:54.011Z,1761689034.011 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:03:54.011Z,1761689034.011 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:03:54.011Z,1761689034.011 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:03:54.012Z,1761689034.012 [marl:UpdateRudder:A] Stopped 2025-10-28T22:03:54.016Z,1761689034.016 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:03:54.016Z,1761689034.016 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:03:54.016Z,1761689034.016 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:03:54.016Z,1761689034.016 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:03:54.016Z,1761689034.016 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:03:54.017Z,1761689034.017 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:03:54.017Z,1761689034.017 [marl:UpdateCommandMode] Stopped 2025-10-28T22:03:54.017Z,1761689034.017 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:03:54.374Z,1761689034.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505730,0.784726,0.358390],[-0.861867,-0.477752,-0.170114],[0.037729,-0.394916,0.917942]] 2025-10-28T22:03:54.481Z,1761689034.481 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:03:54.482Z,1761689034.482 [marl:UpdateRudder:B] Stopped 2025-10-28T22:03:54.482Z,1761689034.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:03:54.482Z,1761689034.482 [marl:UpdateRudder] Stopped 2025-10-28T22:03:54.482Z,1761689034.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:03:54.785Z,1761689034.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530431,0.766236,0.362665],[-0.846880,-0.498097,-0.186263],[0.037921,-0.405933,0.913116]] 2025-10-28T22:03:55.185Z,1761689035.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553911,0.748362,0.364881],[-0.831699,-0.517466,-0.201258],[0.038200,-0.414950,0.909042]] 2025-10-28T22:03:55.587Z,1761689035.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576574,0.733273,0.360379],[-0.816145,-0.537579,-0.211933],[0.038328,-0.416317,0.908411]] 2025-10-28T22:03:55.991Z,1761689035.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599048,0.718579,0.353249],[-0.799793,-0.558119,-0.220983],[0.038361,-0.414906,0.909055]] 2025-10-28T22:03:56.400Z,1761689036.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621554,0.704321,0.342933],[-0.782438,-0.579535,-0.227883],[0.038240,-0.409965,0.911299]] 2025-10-28T22:03:56.801Z,1761689036.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644054,0.690165,0.329949],[-0.764036,-0.601769,-0.232642],[0.037992,-0.401927,0.914883]] 2025-10-28T22:03:57.202Z,1761689037.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666960,0.675055,0.315383],[-0.744138,-0.624927,-0.236063],[0.037735,-0.392133,0.919134]] 2025-10-28T22:03:57.606Z,1761689037.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690030,0.657504,0.302567],[-0.722820,-0.647541,-0.241292],[0.037274,-0.385200,0.922080]] 2025-10-28T22:03:58.012Z,1761689038.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713568,0.637881,0.289705],[-0.699610,-0.670620,-0.246607],[0.036976,-0.378651,0.924801]] 2025-10-28T22:03:58.423Z,1761689038.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736667,0.616017,0.279008],[-0.675289,-0.692139,-0.254810],[0.036145,-0.376121,0.925865]] 2025-10-28T22:03:58.859Z,1761689038.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781154,0.566707,0.261994],[-0.623386,-0.731129,-0.277201],[0.034460,-0.379860,0.924402]] 2025-10-28T22:03:59.627Z,1761689039.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802177,0.539820,0.255158],[-0.596113,-0.748447,-0.290648],[0.034074,-0.385254,0.922181]] 2025-10-28T22:04:00.033Z,1761689040.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822668,0.512606,0.245869],[-0.567534,-0.765948,-0.302042],[0.033495,-0.388019,0.921042]] 2025-10-28T22:04:00.434Z,1761689040.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842633,0.484042,0.235949],[-0.537458,-0.783068,-0.312959],[0.033279,-0.390522,0.919992]] 2025-10-28T22:04:00.838Z,1761689040.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862073,0.454459,0.224271],[-0.505681,-0.800573,-0.321511],[0.033432,-0.390575,0.919964]] 2025-10-28T22:04:01.257Z,1761689041.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897112,0.393218,0.201421],[-0.440528,-0.830774,-0.340219],[0.033555,-0.393946,0.918521]] 2025-10-28T22:04:02.057Z,1761689042.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926785,0.332225,0.175203],[-0.374165,-0.857290,-0.353631],[0.032714,-0.393295,0.918830]] 2025-10-28T22:04:02.459Z,1761689042.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939308,0.301436,0.163821],[-0.341570,-0.866361,-0.364347],[0.032101,-0.398190,0.916741]] 2025-10-28T22:04:02.864Z,1761689042.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950281,0.271607,0.152302],[-0.309793,-0.874136,-0.374052],[0.031537,-0.402636,0.914817]] 2025-10-28T22:04:03.275Z,1761689043.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959890,0.242996,0.139874],[-0.278674,-0.881764,-0.380569],[0.030859,-0.404283,0.914113]] 2025-10-28T22:04:03.669Z,1761689043.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968361,0.214797,0.127042],[-0.247700,-0.889246,-0.384561],[0.030369,-0.403862,0.914316]] 2025-10-28T22:04:04.071Z,1761689044.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975687,0.187259,0.113884],[-0.217144,-0.896412,-0.386385],[0.029733,-0.401720,0.915280]] 2025-10-28T22:04:04.476Z,1761689044.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982010,0.159705,0.100748],[-0.186558,-0.903045,-0.386919],[0.029187,-0.398753,0.916594]] 2025-10-28T22:04:04.885Z,1761689044.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987400,0.131788,0.087595],[-0.155647,-0.908701,-0.387345],[0.028551,-0.396099,0.917764]] 2025-10-28T22:04:05.284Z,1761689045.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991922,0.103010,0.074017],[-0.123659,-0.915267,-0.383398],[0.028252,-0.389454,0.920612]] 2025-10-28T22:04:05.338Z,1761689045.338 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:04:05.338Z,1761689045.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:04:05.339Z,1761689045.339 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:04:05.339Z,1761689045.339 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:04:05.339Z,1761689045.339 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:04:05.339Z,1761689045.339 [marl:UpdateSpeed] Stopped 2025-10-28T22:04:05.339Z,1761689045.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:04:05.688Z,1761689045.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995448,0.073482,0.060686],[-0.091095,-0.920765,-0.379333],[0.028003,-0.383135,0.923268]] 2025-10-28T22:04:06.092Z,1761689046.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997951,0.043219,0.047185],[-0.057933,-0.923362,-0.379534],[0.027166,-0.381490,0.923974]] 2025-10-28T22:04:06.495Z,1761689046.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999361,0.012961,0.033322],[-0.024736,-0.923572,-0.382626],[0.025816,-0.383206,0.923302]] 2025-10-28T22:04:06.905Z,1761689046.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999663,-0.017936,0.018760],[0.009329,-0.922798,-0.385171],[0.024220,-0.384866,0.922655]] 2025-10-28T22:04:07.310Z,1761689047.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998781,-0.049215,0.003802],[0.043909,-0.921011,-0.387055],[0.022551,-0.386416,0.922049]] 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateRudder:A] Stopped 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:04:07.429Z,1761689047.429 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:04:07.430Z,1761689047.430 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:04:07.430Z,1761689047.430 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:04:07.430Z,1761689047.430 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:04:07.430Z,1761689047.430 [marl:UpdateCommandMode] Stopped 2025-10-28T22:04:07.430Z,1761689047.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:04:07.707Z,1761689047.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996625,-0.081278,-0.011490],[0.079393,-0.918882,-0.386462],[0.020853,-0.386070,0.922234]] 2025-10-28T22:04:07.750Z,1761689047.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:04:07.750Z,1761689047.750 [marl:UpdateRudder:B] Stopped 2025-10-28T22:04:07.750Z,1761689047.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:04:07.750Z,1761689047.750 [marl:UpdateRudder] Stopped 2025-10-28T22:04:07.750Z,1761689047.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:04:08.110Z,1761689048.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993180,-0.113284,-0.027579],[0.115072,-0.914341,-0.388252],[0.018766,-0.388777,0.921141]] 2025-10-28T22:04:08.515Z,1761689048.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988376,-0.145645,-0.043599],[0.151130,-0.910082,-0.385890],[0.016525,-0.387993,0.921514]] 2025-10-28T22:04:08.920Z,1761689048.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982331,-0.177437,-0.059507],[0.186628,-0.905015,-0.382254],[0.013971,-0.386606,0.922139]] 2025-10-28T22:04:09.323Z,1761689049.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975340,-0.207691,-0.074675],[0.220394,-0.898477,-0.379692],[0.011765,-0.386786,0.922094]] 2025-10-28T22:04:09.727Z,1761689049.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967206,-0.237618,-0.089723],[0.253816,-0.890998,-0.376431],[0.009503,-0.386859,0.922090]] 2025-10-28T22:04:10.131Z,1761689050.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958284,-0.266203,-0.104060],[0.285714,-0.882329,-0.373983],[0.007740,-0.388113,0.921579]] 2025-10-28T22:04:10.535Z,1761689050.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948395,-0.294804,-0.116778],[0.317017,-0.873618,-0.369177],[0.006815,-0.387146,0.921993]] 2025-10-28T22:04:10.939Z,1761689050.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938058,-0.321470,-0.129244],[0.346415,-0.863069,-0.367571],[0.006617,-0.389575,0.920971]] 2025-10-28T22:04:11.342Z,1761689051.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926795,-0.348102,-0.140980],[0.375494,-0.851479,-0.366043],[0.007379,-0.392184,0.919857]] 2025-10-28T22:04:11.746Z,1761689051.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914551,-0.375431,-0.150492],[0.404368,-0.840299,-0.361088],[0.009106,-0.391088,0.920308]] 2025-10-28T22:04:12.157Z,1761689052.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901107,-0.403168,-0.159565],[0.433453,-0.828170,-0.355320],[0.011106,-0.389346,0.921025]] 2025-10-28T22:04:12.554Z,1761689052.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886678,-0.430442,-0.168881],[0.462187,-0.814332,-0.351066],[0.013589,-0.389337,0.920995]] 2025-10-28T22:04:12.720Z,1761689052.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:04:12.958Z,1761689052.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870969,-0.457559,-0.179032],[0.491074,-0.798733,-0.347666],[0.016079,-0.390724,0.920367]] 2025-10-28T22:04:13.369Z,1761689053.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853233,-0.485835,-0.189626],[0.521208,-0.781558,-0.342796],[0.018339,-0.391319,0.920072]] 2025-10-28T22:04:13.724Z,1761689053.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:04:13.779Z,1761689053.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834526,-0.511199,-0.205529],[0.550612,-0.760374,-0.344468],[0.019813,-0.400634,0.916024]] 2025-10-28T22:04:14.171Z,1761689054.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814634,-0.537190,-0.218627],[0.579609,-0.740682,-0.339768],[0.020587,-0.403505,0.914746]] 2025-10-28T22:04:14.575Z,1761689054.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793256,-0.564538,-0.228127],[0.608569,-0.722955,-0.327079],[0.019723,-0.398288,0.917048]] 2025-10-28T22:04:14.979Z,1761689054.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771023,-0.590723,-0.237847],[0.636570,-0.704750,-0.313218],[0.017403,-0.392904,0.919415]] 2025-10-28T22:04:15.395Z,1761689055.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747898,-0.616278,-0.246678],[0.663674,-0.686579,-0.296894],[0.013605,-0.385760,0.922499]] 2025-10-28T22:04:15.462Z,1761689055.462 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:04:15.609Z,1761689055.609 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:04:15.609Z,1761689055.609 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:04:15.793Z,1761689055.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724536,-0.639662,-0.256671],[0.689178,-0.667496,-0.281926],[0.009010,-0.381157,0.924466]] 2025-10-28T22:04:15.861Z,1761689055.861 [DAT](INFO): DAT read: 2025-10-28T22:04:15.862Z,1761689055.862 [DAT](INFO): DAT read: Tx time:22:04:15.5955 2025-10-28T22:04:15.862Z,1761689055.862 [DAT](INFO): Ping request sent. 2025-10-28T22:04:15.862Z,1761689055.862 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:04:15.863Z,1761689055.863 [DAT](INFO): publishing transmit ping time 2025-10-28T22:04:15.864Z,1761689055.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002036 2025-10-28T22:04:16.113Z,1761689056.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250558 2025-10-28T22:04:16.191Z,1761689056.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701103,-0.661579,-0.266021],[0.713048,-0.648299,-0.266965],[0.004157,-0.376856,0.926262]] 2025-10-28T22:04:16.366Z,1761689056.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503429 2025-10-28T22:04:16.595Z,1761689056.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677594,-0.681531,-0.276371],[0.735435,-0.628540,-0.253126],[-0.001197,-0.374769,0.927117]] 2025-10-28T22:04:16.617Z,1761689056.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754841 2025-10-28T22:04:16.870Z,1761689056.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007485 2025-10-28T22:04:17.000Z,1761689057.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654051,-0.699919,-0.286933],[0.756423,-0.608410,-0.240131],[-0.006501,-0.374100,0.927366]] 2025-10-28T22:04:17.124Z,1761689057.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261360 2025-10-28T22:04:17.374Z,1761689057.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511318 2025-10-28T22:04:17.403Z,1761689057.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630729,-0.715921,-0.299397],[0.775920,-0.587494,-0.229780],[-0.011390,-0.377237,0.926047]] 2025-10-28T22:04:17.625Z,1761689057.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762671 2025-10-28T22:04:17.810Z,1761689057.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606501,-0.731541,-0.311456],[0.794940,-0.565370,-0.220064],[-0.015102,-0.381058,0.924428]] 2025-10-28T22:04:17.878Z,1761689057.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015964 2025-10-28T22:04:18.129Z,1761689058.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266680 2025-10-28T22:04:18.212Z,1761689058.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582436,-0.745803,-0.323336],[0.812689,-0.542803,-0.211902],[-0.017471,-0.386191,0.922254]] 2025-10-28T22:04:18.381Z,1761689058.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518731 2025-10-28T22:04:18.614Z,1761689058.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557072,-0.759361,-0.336217],[0.830261,-0.518220,-0.205221],[-0.018398,-0.393470,0.919153]] 2025-10-28T22:04:18.633Z,1761689058.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770606 2025-10-28T22:04:18.662Z,1761689058.662 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:04:18.662Z,1761689058.662 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:04:18.663Z,1761689058.663 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:04:18.663Z,1761689058.663 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:04:18.663Z,1761689058.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:04:18.663Z,1761689058.663 [marl:UpdateSpeed] Stopped 2025-10-28T22:04:18.663Z,1761689058.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:04:18.888Z,1761689058.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025406 2025-10-28T22:04:19.018Z,1761689059.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530390,-0.772968,-0.348148],[0.847564,-0.492185,-0.198469],[-0.017943,-0.400344,0.916189]] 2025-10-28T22:04:19.145Z,1761689059.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281885 2025-10-28T22:04:19.393Z,1761689059.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530646 2025-10-28T22:04:19.434Z,1761689059.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502599,-0.787204,-0.357356],[0.864366,-0.465375,-0.190521],[-0.016326,-0.404642,0.914329]] 2025-10-28T22:04:19.645Z,1761689059.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782699 2025-10-28T22:04:19.826Z,1761689059.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473200,-0.802433,-0.363569],[0.880837,-0.437726,-0.180341],[-0.014432,-0.405582,0.913945]] 2025-10-28T22:04:19.897Z,1761689059.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034719 2025-10-28T22:04:20.149Z,1761689060.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287261 2025-10-28T22:04:20.230Z,1761689060.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441620,-0.818461,-0.367549],[0.897104,-0.408875,-0.167409],[-0.013264,-0.403661,0.914812]] 2025-10-28T22:04:20.401Z,1761689060.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539182 2025-10-28T22:04:20.635Z,1761689060.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408991,-0.833640,-0.371176],[0.912449,-0.379276,-0.153577],[-0.012750,-0.401491,0.915774]] 2025-10-28T22:04:20.653Z,1761689060.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790762 2025-10-28T22:04:20.687Z,1761689060.687 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:04:20.687Z,1761689060.687 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:04:20.687Z,1761689060.687 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:04:20.687Z,1761689060.687 [marl:UpdateRudder:A] Stopped 2025-10-28T22:04:20.688Z,1761689060.688 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:04:20.688Z,1761689060.688 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:04:20.692Z,1761689060.692 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:04:20.692Z,1761689060.692 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:04:20.692Z,1761689060.692 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:04:20.693Z,1761689060.693 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:04:20.693Z,1761689060.693 [marl:UpdateCommandMode] Stopped 2025-10-28T22:04:20.693Z,1761689060.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:04:20.905Z,1761689060.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042632 2025-10-28T22:04:21.039Z,1761689061.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375583,-0.848548,-0.372698],[0.926700,-0.349392,-0.138390],[-0.012787,-0.397356,0.917575]] 2025-10-28T22:04:21.103Z,1761689061.103 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:04:21.108Z,1761689061.108 [marl:UpdateRudder:B] Stopped 2025-10-28T22:04:21.109Z,1761689061.109 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:04:21.109Z,1761689061.109 [marl:UpdateRudder] Stopped 2025-10-28T22:04:21.109Z,1761689061.109 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:04:21.161Z,1761689061.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298662 2025-10-28T22:04:21.409Z,1761689061.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546580 2025-10-28T22:04:21.442Z,1761689061.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341679,-0.862589,-0.373090],[0.939719,-0.319296,-0.122387],[-0.013557,-0.392417,0.919688]] 2025-10-28T22:04:21.661Z,1761689061.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798662 2025-10-28T22:04:21.852Z,1761689061.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307855,-0.875324,-0.372872],[0.951319,-0.289269,-0.106375],[-0.014748,-0.387468,0.921765]] 2025-10-28T22:04:21.917Z,1761689061.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055063 2025-10-28T22:04:22.169Z,1761689062.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306613 2025-10-28T22:04:22.251Z,1761689062.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274315,-0.887357,-0.370607],[0.961504,-0.259576,-0.090173],[-0.016185,-0.381076,0.924402]] 2025-10-28T22:04:22.421Z,1761689062.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558658 2025-10-28T22:04:22.655Z,1761689062.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240544,-0.897467,-0.369717],[0.970467,-0.229517,-0.074263],[-0.018208,-0.376662,0.926172]] 2025-10-28T22:04:22.673Z,1761689062.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810819 2025-10-28T22:04:22.925Z,1761689062.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062607 2025-10-28T22:04:23.061Z,1761689063.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207630,-0.904568,-0.372353],[0.978000,-0.199795,-0.059983],[-0.020136,-0.376616,0.926151]] 2025-10-28T22:04:23.177Z,1761689063.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314904 2025-10-28T22:04:23.429Z,1761689063.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566675 2025-10-28T22:04:23.462Z,1761689063.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175003,-0.909954,-0.375976],[0.984319,-0.170278,-0.046051],[-0.022116,-0.378140,0.925484]] 2025-10-28T22:04:23.681Z,1761689063.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818782 2025-10-28T22:04:23.887Z,1761689063.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143404,-0.914499,-0.378321],[0.989383,-0.141585,-0.032782],[-0.023586,-0.379005,0.925094]] 2025-10-28T22:04:23.934Z,1761689063.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071866 2025-10-28T22:04:24.185Z,1761689064.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322702 2025-10-28T22:04:24.272Z,1761689064.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111571,-0.917288,-0.382276],[0.993439,-0.112669,-0.019590],[-0.025101,-0.381954,0.923840]] 2025-10-28T22:04:24.437Z,1761689064.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574630 2025-10-28T22:04:24.676Z,1761689064.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079723,-0.918993,-0.386130],[0.996471,-0.083677,-0.006586],[-0.026257,-0.385292,0.922421]] 2025-10-28T22:04:24.690Z,1761689064.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827382 2025-10-28T22:04:24.941Z,1761689064.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078700 2025-10-28T22:04:25.078Z,1761689065.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048908,-0.919604,-0.389791],[0.998449,-0.055414,0.005455],[-0.026617,-0.388919,0.920887]] 2025-10-28T22:04:25.193Z,1761689065.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330690 2025-10-28T22:04:25.445Z,1761689065.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582639 2025-10-28T22:04:25.484Z,1761689065.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017592,-0.920711,-0.389849],[0.999490,-0.026580,0.017673],[-0.026633,-0.389339,0.920709]] 2025-10-28T22:04:25.697Z,1761689065.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834690 2025-10-28T22:04:25.887Z,1761689065.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015086,-0.920634,-0.390136],[0.999531,0.003482,0.030433],[-0.026659,-0.390412,0.920254]] 2025-10-28T22:04:25.949Z,1761689065.949 [DAT](INFO): Reached modem response timeout 2025-10-28T22:04:26.292Z,1761689066.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048509,-0.920367,-0.388035],[0.998466,0.034301,0.043464],[-0.026693,-0.389548,0.920619]] 2025-10-28T22:04:26.695Z,1761689066.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082763,-0.918403,-0.386892],[0.996212,0.065847,0.056800],[-0.026689,-0.390127,0.920374]] 2025-10-28T22:04:27.107Z,1761689067.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116940,-0.915896,-0.384004],[0.992781,0.097429,0.069949],[-0.026653,-0.389412,0.920678]] 2025-10-28T22:04:27.502Z,1761689067.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152226,-0.913060,-0.378350],[0.987981,0.130183,0.083339],[-0.026838,-0.386489,0.921903]] 2025-10-28T22:04:27.907Z,1761689067.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187639,-0.908413,-0.373601],[0.981858,0.162884,0.097079],[-0.027334,-0.385039,0.922495]] 2025-10-28T22:04:28.225Z,1761689068.225 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:04:28.225Z,1761689068.225 [DAT](INFO): response not received 2025-10-28T22:04:28.225Z,1761689068.225 [DAT](ERROR): No response from remote modem. 2025-10-28T22:04:28.310Z,1761689068.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223317,-0.902806,-0.367520],[0.974347,0.195970,0.110649],[-0.027872,-0.382802,0.923410]] 2025-10-28T22:04:29.550Z,1761689069.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326944,-0.873903,-0.359724],[0.944488,0.289105,0.156079],[-0.032400,-0.390784,0.919912]] 2025-10-28T22:04:29.959Z,1761689069.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358606,-0.863203,-0.355362],[0.932846,0.317245,0.170749],[-0.034654,-0.392729,0.919001]] 2025-10-28T22:04:30.359Z,1761689070.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387684,-0.852291,-0.351144],[0.921058,0.342960,0.184476],[-0.036799,-0.394942,0.917969]] 2025-10-28T22:04:30.762Z,1761689070.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415705,-0.841378,-0.345357],[0.908659,0.367892,0.197472],[-0.039094,-0.395902,0.917460]] 2025-10-28T22:04:31.176Z,1761689071.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442430,-0.830079,-0.339448],[0.895873,0.391857,0.209426],[-0.040826,-0.396759,0.917015]] 2025-10-28T22:04:31.568Z,1761689071.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468202,-0.818263,-0.333515],[0.882621,0.415123,0.220575],[-0.042039,-0.397641,0.916578]] 2025-10-28T22:04:31.974Z,1761689071.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493310,-0.805450,-0.328474],[0.868825,0.437888,0.231079],[-0.042288,-0.399381,0.915809]] 2025-10-28T22:04:32.023Z,1761689072.023 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:04:32.023Z,1761689072.023 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:04:32.024Z,1761689072.024 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:04:32.024Z,1761689072.024 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:04:32.024Z,1761689072.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:04:32.024Z,1761689072.024 [marl:UpdateSpeed] Stopped 2025-10-28T22:04:32.025Z,1761689072.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:04:32.374Z,1761689072.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518492,-0.791806,-0.322815],[0.854062,0.461112,0.240737],[-0.041763,-0.400524,0.915334]] 2025-10-28T22:04:32.785Z,1761689072.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544020,-0.777407,-0.315722],[0.838097,0.485312,0.249130],[-0.040452,-0.400137,0.915562]] 2025-10-28T22:04:33.183Z,1761689073.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570537,-0.762384,-0.305383],[0.820338,0.511297,0.256166],[-0.039156,-0.396669,0.917126]] 2025-10-28T22:04:33.586Z,1761689073.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597976,-0.744580,-0.296690],[0.800605,0.537246,0.265328],[-0.038162,-0.396191,0.917375]] 2025-10-28T22:04:33.994Z,1761689073.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626085,-0.726185,-0.284031],[0.778853,0.564884,0.272569],[-0.037490,-0.391870,0.919257]] 2025-10-28T22:04:34.053Z,1761689074.053 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:04:34.053Z,1761689074.053 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:04:34.053Z,1761689074.053 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateRudder:A] Stopped 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:04:34.054Z,1761689074.054 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:04:34.055Z,1761689074.055 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:04:34.055Z,1761689074.055 [marl:UpdateCommandMode] Stopped 2025-10-28T22:04:34.055Z,1761689074.055 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:04:34.396Z,1761689074.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654951,-0.705267,-0.271361],[0.754730,0.592591,0.281457],[-0.037697,-0.389145,0.920405]] 2025-10-28T22:04:34.439Z,1761689074.439 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:04:34.439Z,1761689074.439 [marl:UpdateRudder:B] Stopped 2025-10-28T22:04:34.439Z,1761689074.439 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:04:34.439Z,1761689074.439 [marl:UpdateRudder] Stopped 2025-10-28T22:04:34.439Z,1761689074.439 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:04:34.801Z,1761689074.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683304,-0.682666,-0.258965],[0.729148,0.619592,0.290600],[-0.037931,-0.387392,0.921135]] 2025-10-28T22:04:35.202Z,1761689075.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710865,-0.658081,-0.248195],[0.702266,0.644734,0.301896],[-0.038652,-0.388906,0.920466]] 2025-10-28T22:04:35.607Z,1761689075.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737207,-0.633008,-0.236279],[0.674476,0.668684,0.312962],[-0.040111,-0.390082,0.919906]] 2025-10-28T22:04:36.021Z,1761689076.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761902,-0.609269,-0.219764],[0.646311,0.693023,0.319377],[-0.042285,-0.385370,0.921793]] 2025-10-28T22:04:36.415Z,1761689076.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783734,-0.586629,-0.204028],[0.619512,0.714895,0.324239],[-0.044349,-0.380515,0.923711]] 2025-10-28T22:04:36.828Z,1761689076.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803618,-0.564270,-0.189200],[0.593310,0.734629,0.329095],[-0.046707,-0.376721,0.925149]] 2025-10-28T22:04:37.222Z,1761689077.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822210,-0.540994,-0.176907],[0.567054,0.751694,0.336759],[-0.049205,-0.377202,0.924823]] 2025-10-28T22:04:37.628Z,1761689077.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840363,-0.515699,-0.166867],[0.539568,0.766656,0.348001],[-0.051534,-0.382484,0.922524]] 2025-10-28T22:04:38.042Z,1761689078.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857521,-0.490495,-0.155152],[0.511724,0.782264,0.355249],[-0.052878,-0.384028,0.921806]] 2025-10-28T22:04:38.434Z,1761689078.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873693,-0.464874,-0.143358],[0.483480,0.797091,0.361791],[-0.053918,-0.385405,0.921171]] 2025-10-28T22:04:38.843Z,1761689078.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889425,-0.438368,-0.129449],[0.453765,0.812768,0.365383],[-0.054961,-0.383720,0.921813]] 2025-10-28T22:04:39.243Z,1761689079.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904112,-0.411315,-0.115761],[0.423576,0.827060,0.369533],[-0.056253,-0.383133,0.921979]] 2025-10-28T22:04:39.649Z,1761689079.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918079,-0.383211,-0.101391],[0.392175,0.840852,0.373050],[-0.057702,-0.382253,0.922255]] 2025-10-28T22:04:40.051Z,1761689080.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930736,-0.355091,-0.087412],[0.360826,0.852866,0.377390],[-0.059457,-0.382791,0.921920]] 2025-10-28T22:04:40.455Z,1761689080.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941721,-0.328317,-0.073279],[0.330748,0.863928,0.379782],[-0.061381,-0.381886,0.922169]] 2025-10-28T22:04:40.859Z,1761689080.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951646,-0.301272,-0.060044],[0.300501,0.872360,0.385599],[-0.063790,-0.384997,0.920711]] 2025-10-28T22:04:41.265Z,1761689081.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960272,-0.275120,-0.046752],[0.271041,0.879595,0.390960],[-0.066438,-0.388099,0.919220]] 2025-10-28T22:04:41.666Z,1761689081.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967848,-0.249330,-0.033232],[0.241953,0.886702,0.393977],[-0.068764,-0.389351,0.918519]] 2025-10-28T22:04:42.070Z,1761689082.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974210,-0.224764,-0.019918],[0.214244,0.893673,0.394268],[-0.070818,-0.388367,0.918780]] 2025-10-28T22:04:42.475Z,1761689082.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979806,-0.199832,-0.006821],[0.186292,0.899964,0.394158],[-0.072627,-0.387470,0.919017]] 2025-10-28T22:04:42.880Z,1761689082.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984669,-0.174333,0.005914],[0.157680,0.904087,0.397195],[-0.074591,-0.390173,0.917715]] 2025-10-28T22:04:43.283Z,1761689083.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988783,-0.148214,0.018462],[0.128550,0.907430,0.400056],[-0.076047,-0.393195,0.916305]] 2025-10-28T22:04:43.845Z,1761689083.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:04:44.091Z,1761689084.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994713,-0.092753,0.044081],[0.067250,0.912731,0.402989],[-0.077612,-0.397894,0.914142]] 2025-10-28T22:04:44.503Z,1761689084.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996908,-0.035202,0.070251],[0.004300,0.917140,0.398541],[-0.078459,-0.397007,0.914456]] 2025-10-28T22:04:44.848Z,1761689084.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:04:44.907Z,1761689084.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996565,-0.005670,0.082619],[-0.027260,0.919593,0.391926],[-0.078198,-0.392832,0.916280]] 2025-10-28T22:04:45.314Z,1761689085.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995183,0.024888,0.094826],[-0.059631,0.921414,0.383979],[-0.077818,-0.387784,0.918460]] 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed] Stopped 2025-10-28T22:04:45.366Z,1761689085.366 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:04:45.711Z,1761689085.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992804,0.054929,0.106410],[-0.091387,0.921768,0.376817],[-0.077388,-0.383830,0.920155]] 2025-10-28T22:04:46.121Z,1761689086.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989344,0.085544,0.117817],[-0.123469,0.921783,0.367520],[-0.077163,-0.378150,0.922523]] 2025-10-28T22:04:46.515Z,1761689086.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984789,0.116006,0.129358],[-0.155795,0.919160,0.361762],[-0.076934,-0.376413,0.923252]] 2025-10-28T22:04:46.919Z,1761689086.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978795,0.147804,0.141827],[-0.189807,0.914777,0.356591],[-0.077034,-0.375949,0.923433]] 2025-10-28T22:04:47.326Z,1761689087.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971463,0.179549,0.154988],[-0.224183,0.908467,0.352746],[-0.077466,-0.377425,0.922794]] 2025-10-28T22:04:47.395Z,1761689087.395 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:04:47.395Z,1761689087.395 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:04:47.396Z,1761689087.396 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:04:47.397Z,1761689087.397 [marl:UpdateRudder:A] Stopped 2025-10-28T22:04:47.397Z,1761689087.397 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:04:47.397Z,1761689087.397 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode] Stopped 2025-10-28T22:04:47.398Z,1761689087.398 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:04:47.728Z,1761689087.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962670,0.210925,0.169639],[-0.259059,0.899606,0.351564],[-0.078455,-0.382387,0.920666]] 2025-10-28T22:04:47.760Z,1761689087.760 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:04:47.761Z,1761689087.761 [marl:UpdateRudder:B] Stopped 2025-10-28T22:04:47.761Z,1761689087.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:04:47.761Z,1761689087.761 [marl:UpdateRudder] Stopped 2025-10-28T22:04:47.761Z,1761689087.761 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:04:48.131Z,1761689088.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952514,0.242962,0.183541],[-0.294098,0.890247,0.347802],[-0.078894,-0.385265,0.919427]] 2025-10-28T22:04:48.535Z,1761689088.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940891,0.275004,0.197727],[-0.329193,0.879868,0.342732],[-0.079721,-0.387563,0.918389]] 2025-10-28T22:04:48.942Z,1761689088.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927972,0.306178,0.212421],[-0.363746,0.868091,0.337798],[-0.080974,-0.390734,0.916935]] 2025-10-28T22:04:49.344Z,1761689089.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913916,0.336664,0.226749],[-0.397485,0.855480,0.331903],[-0.082239,-0.393461,0.915656]] 2025-10-28T22:04:49.747Z,1761689089.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898927,0.368123,0.237518],[-0.430116,0.844605,0.318815],[-0.083245,-0.388752,0.917574]] 2025-10-28T22:04:50.151Z,1761689090.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883307,0.398480,0.246947],[-0.461199,0.833099,0.305356],[-0.084053,-0.383614,0.919660]] 2025-10-28T22:04:50.554Z,1761689090.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867241,0.427084,0.255913],[-0.490611,0.820597,0.293124],[-0.084812,-0.379763,0.921188]] 2025-10-28T22:04:50.967Z,1761689090.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851051,0.453623,0.264457],[-0.518025,0.807646,0.281704],[-0.085800,-0.376740,0.922337]] 2025-10-28T22:04:51.362Z,1761689091.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834693,0.478867,0.271982],[-0.543885,0.794335,0.270592],[-0.086468,-0.373788,0.923475]] 2025-10-28T22:04:51.771Z,1761689091.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818525,0.501211,0.280720],[-0.567793,0.780131,0.262691],[-0.087335,-0.374410,0.923141]] 2025-10-28T22:04:52.173Z,1761689092.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802026,0.521740,0.290759],[-0.590715,0.764895,0.256887],[-0.088372,-0.377786,0.921666]] 2025-10-28T22:04:52.576Z,1761689092.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784677,0.540781,0.303047],[-0.613409,0.747936,0.253617],[-0.089509,-0.384899,0.918608]] 2025-10-28T22:04:52.978Z,1761689092.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767268,0.559065,0.314238],[-0.634893,0.731370,0.249014],[-0.090609,-0.390568,0.916104]] 2025-10-28T22:04:53.382Z,1761689093.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749210,0.577765,0.323839],[-0.656015,0.714684,0.242633],[-0.091258,-0.394226,0.914471]] 2025-10-28T22:04:53.796Z,1761689093.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730721,0.596637,0.331771],[-0.676516,0.698002,0.234773],[-0.091503,-0.396002,0.913679]] 2025-10-28T22:04:54.199Z,1761689094.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711794,0.613770,0.341520],[-0.696380,0.680130,0.229081],[-0.091675,-0.400886,0.911530]] 2025-10-28T22:04:54.595Z,1761689094.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692814,0.629708,0.351393],[-0.715265,0.662034,0.223845],[-0.091677,-0.406423,0.909074]] 2025-10-28T22:04:54.998Z,1761689094.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673164,0.646140,0.359657],[-0.733857,0.643636,0.217227],[-0.091129,-0.410166,0.907447]] 2025-10-28T22:04:55.402Z,1761689095.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652271,0.663059,0.367280],[-0.752622,0.624091,0.209932],[-0.090019,-0.413355,0.906109]] 2025-10-28T22:04:55.811Z,1761689095.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630894,0.680426,0.372819],[-0.770770,0.604647,0.200787],[-0.088803,-0.414033,0.905920]] 2025-10-28T22:04:56.210Z,1761689096.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607789,0.699023,0.376774],[-0.789255,0.584082,0.189541],[-0.087573,-0.412571,0.906706]] 2025-10-28T22:04:56.614Z,1761689096.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582193,0.719817,0.378039],[-0.808446,0.561929,0.175076],[-0.086409,-0.407552,0.909084]] 2025-10-28T22:04:57.019Z,1761689097.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554632,0.742414,0.375773],[-0.827643,0.538861,0.156955],[-0.085964,-0.398058,0.913324]] 2025-10-28T22:04:57.422Z,1761689097.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525846,0.764522,0.372816],[-0.846179,0.514727,0.137977],[-0.086412,-0.388024,0.917590]] 2025-10-28T22:04:57.826Z,1761689097.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495237,0.786164,0.369712],[-0.864371,0.488604,0.118863],[-0.087197,-0.378433,0.921512]] 2025-10-28T22:04:58.239Z,1761689098.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463041,0.805421,0.369987],[-0.881936,0.460225,0.101890],[-0.088213,-0.373484,0.923433]] 2025-10-28T22:04:58.634Z,1761689098.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430323,0.822269,0.372419],[-0.898237,0.430924,0.086455],[-0.089395,-0.371724,0.924029]] 2025-10-28T22:04:58.669Z,1761689098.669 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed] Stopped 2025-10-28T22:04:58.670Z,1761689098.670 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:04:59.038Z,1761689099.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396717,0.837828,0.375047],[-0.913458,0.400657,0.071199],[-0.090612,-0.370835,0.924268]] 2025-10-28T22:04:59.443Z,1761689099.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362963,0.853225,0.374521],[-0.927279,0.370300,0.055052],[-0.091713,-0.367267,0.925583]] 2025-10-28T22:04:59.848Z,1761689099.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329071,0.866791,0.374680],[-0.939760,0.339487,0.039992],[-0.092534,-0.365269,0.926291]] 2025-10-28T22:05:00.251Z,1761689100.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295135,0.877436,0.378154],[-0.950905,0.308325,0.026735],[-0.093136,-0.367479,0.925357]] 2025-10-28T22:05:00.655Z,1761689100.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261713,0.887028,0.380377],[-0.960590,0.277643,0.013465],[-0.093665,-0.368910,0.924734]] 2025-10-28T22:05:00.695Z,1761689100.695 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:05:00.695Z,1761689100.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:05:00.695Z,1761689100.695 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:05:00.700Z,1761689100.700 [marl:UpdateRudder:A] Stopped 2025-10-28T22:05:00.700Z,1761689100.700 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:05:00.700Z,1761689100.700 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:05:00.700Z,1761689100.700 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:05:00.700Z,1761689100.700 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:05:00.701Z,1761689100.701 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:05:00.701Z,1761689100.701 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:05:00.701Z,1761689100.701 [marl:UpdateCommandMode] Stopped 2025-10-28T22:05:00.701Z,1761689100.701 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:05:01.058Z,1761689101.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228598,0.895266,0.382416],[-0.968973,0.247164,0.000596],[-0.093986,-0.370687,0.923990]] 2025-10-28T22:05:01.083Z,1761689101.083 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:05:01.083Z,1761689101.083 [marl:UpdateRudder:B] Stopped 2025-10-28T22:05:01.083Z,1761689101.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:05:01.083Z,1761689101.083 [marl:UpdateRudder] Stopped 2025-10-28T22:05:01.083Z,1761689101.083 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:05:01.464Z,1761689101.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196498,0.903125,0.381778],[-0.975924,0.217735,-0.012767],[-0.094657,-0.370077,0.924166]] 2025-10-28T22:05:01.867Z,1761689101.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165570,0.908073,0.384693],[-0.981556,0.189540,-0.024953],[-0.095574,-0.373467,0.922707]] 2025-10-28T22:05:02.281Z,1761689102.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135704,0.911594,0.388047],[-0.986041,0.162410,-0.036702],[-0.096480,-0.377650,0.920908]] 2025-10-28T22:05:02.675Z,1761689102.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107165,0.912349,0.395138],[-0.989451,0.136829,-0.047581],[-0.097477,-0.385871,0.917389]] 2025-10-28T22:05:03.080Z,1761689103.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079493,0.913530,0.398929],[-0.992004,0.111850,-0.058460],[-0.098025,-0.391092,0.915116]] 2025-10-28T22:05:03.483Z,1761689103.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052275,0.916056,0.397629],[-0.993840,0.086685,-0.069048],[-0.097721,-0.391570,0.914945]] 2025-10-28T22:05:03.910Z,1761689103.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026063,0.914892,0.402856],[-0.994933,0.062887,-0.078448],[-0.097106,-0.398770,0.911895]] 2025-10-28T22:05:04.296Z,1761689104.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000401,0.911706,0.410843],[-0.995354,0.039920,-0.087616],[-0.096281,-0.408899,0.907487]] 2025-10-28T22:05:04.695Z,1761689104.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025594,0.908843,0.416353],[-0.995103,0.016613,-0.097435],[-0.095470,-0.416808,0.903967]] 2025-10-28T22:05:05.111Z,1761689105.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050455,0.907852,0.416243],[-0.994187,-0.005966,-0.107499],[-0.095110,-0.419248,0.902876]] 2025-10-28T22:05:05.503Z,1761689105.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076434,0.907071,0.413980],[-0.992551,-0.029716,-0.118146],[-0.094865,-0.419927,0.902586]] 2025-10-28T22:05:05.906Z,1761689105.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103812,0.910128,0.401111],[-0.990104,-0.056276,-0.128558],[-0.094431,-0.410487,0.906964]] 2025-10-28T22:05:06.313Z,1761689106.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131443,0.911690,0.389287],[-0.986812,-0.082913,-0.139022],[-0.094468,-0.402427,0.910565]] 2025-10-28T22:05:06.717Z,1761689106.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159262,0.914212,0.372629],[-0.982649,-0.110453,-0.148999],[-0.095058,-0.389893,0.915941]] 2025-10-28T22:05:07.160Z,1761689107.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188158,0.914524,0.358110],[-0.977518,-0.139053,-0.158500],[-0.095156,-0.379882,0.920128]] 2025-10-28T22:05:07.523Z,1761689107.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218072,0.913386,0.343759],[-0.971290,-0.168807,-0.167632],[-0.095084,-0.370446,0.923975]] 2025-10-28T22:05:07.927Z,1761689107.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248203,0.908521,0.336131],[-0.964005,-0.197502,-0.178010],[-0.095339,-0.368215,0.924840]] 2025-10-28T22:05:08.335Z,1761689108.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278589,0.900693,0.333377],[-0.955646,-0.225438,-0.189523],[-0.095546,-0.371389,0.923548]] 2025-10-28T22:05:08.734Z,1761689108.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309483,0.891002,0.332169],[-0.946063,-0.253304,-0.201993],[-0.095837,-0.376767,0.921337]] 2025-10-28T22:05:09.171Z,1761689109.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340822,0.880537,0.329385],[-0.935223,-0.281811,-0.214337],[-0.095907,-0.381099,0.919546]] 2025-10-28T22:05:09.542Z,1761689109.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372833,0.869874,0.322978],[-0.922934,-0.311692,-0.225921],[-0.095853,-0.382318,0.919046]] 2025-10-28T22:05:09.950Z,1761689109.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404757,0.858119,0.315918],[-0.909409,-0.341616,-0.237221],[-0.095641,-0.383316,0.918652]] 2025-10-28T22:05:10.350Z,1761689110.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436790,0.844516,0.309851],[-0.894501,-0.371263,-0.249060],[-0.095299,-0.385949,0.917585]] 2025-10-28T22:05:10.763Z,1761689110.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467967,0.830239,0.302837],[-0.878652,-0.400360,-0.260159],[-0.094750,-0.387834,0.916846]] 2025-10-28T22:05:11.176Z,1761689111.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498954,0.814619,0.295702],[-0.861534,-0.429314,-0.271013],[-0.093824,-0.389981,0.916031]] 2025-10-28T22:05:11.564Z,1761689111.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529226,0.796610,0.292116],[-0.843411,-0.456323,-0.283599],[-0.092619,-0.396462,0.913367]] 2025-10-28T22:05:11.967Z,1761689111.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557986,0.778524,0.287318],[-0.824830,-0.482282,-0.295059],[-0.091143,-0.401627,0.911257]] 2025-10-28T22:05:12.055Z,1761689112.055 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:05:12.055Z,1761689112.055 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:05:12.056Z,1761689112.056 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:05:12.056Z,1761689112.056 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:05:12.056Z,1761689112.056 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:05:12.056Z,1761689112.056 [marl:UpdateSpeed] Stopped 2025-10-28T22:05:12.057Z,1761689112.057 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:05:12.370Z,1761689112.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584992,0.760820,0.280958],[-0.806099,-0.507253,-0.304792],[-0.089375,-0.404781,0.910035]] 2025-10-28T22:05:12.781Z,1761689112.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610372,0.743283,0.273817],[-0.787286,-0.531141,-0.313161],[-0.087332,-0.406717,0.909370]] 2025-10-28T22:05:13.183Z,1761689113.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634399,0.726160,0.265011],[-0.768301,-0.554557,-0.319656],[-0.085157,-0.406397,0.909720]] 2025-10-28T22:05:13.582Z,1761689113.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656974,0.708374,0.258054],[-0.749363,-0.576015,-0.326592],[-0.082706,-0.407938,0.909256]] 2025-10-28T22:05:13.987Z,1761689113.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678300,0.690339,0.251675],[-0.730403,-0.596123,-0.333390],[-0.080123,-0.409963,0.908576]] 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateRudder:A] Stopped 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:05:14.011Z,1761689114.011 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:05:14.012Z,1761689114.012 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:05:14.024Z,1761689114.024 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:05:14.024Z,1761689114.024 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:05:14.024Z,1761689114.024 [marl:UpdateCommandMode] Stopped 2025-10-28T22:05:14.024Z,1761689114.024 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:05:14.392Z,1761689114.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698172,0.673236,0.243535],[-0.711719,-0.615839,-0.337931],[-0.077529,-0.409262,0.909117]] 2025-10-28T22:05:14.421Z,1761689114.421 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:05:14.421Z,1761689114.421 [marl:UpdateRudder:B] Stopped 2025-10-28T22:05:14.422Z,1761689114.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:05:14.422Z,1761689114.422 [marl:UpdateRudder] Stopped 2025-10-28T22:05:14.422Z,1761689114.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:05:14.799Z,1761689114.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717194,0.655921,0.235373],[-0.692810,-0.634691,-0.342317],[-0.075144,-0.408577,0.909625]] 2025-10-28T22:05:14.972Z,1761689114.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:05:15.198Z,1761689115.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735400,0.639043,0.225414],[-0.673690,-0.653647,-0.344801],[-0.073002,-0.405426,0.911208]] 2025-10-28T22:05:15.602Z,1761689115.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753378,0.622185,0.212853],[-0.653718,-0.673562,-0.344916],[-0.071232,-0.398998,0.914181]] 2025-10-28T22:05:15.648Z,1761689115.648 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:05:15.873Z,1761689115.873 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:05:15.873Z,1761689115.873 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:05:15.976Z,1761689115.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:05:16.006Z,1761689116.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771569,0.604016,0.199615],[-0.632302,-0.693731,-0.344864],[-0.069824,-0.392303,0.917182]] 2025-10-28T22:05:16.125Z,1761689116.125 [DAT](INFO): DAT read: user:345> 2025-10-28T22:05:16.126Z,1761689116.126 [DAT](INFO): DAT read: Tx time:22:05:15.8453 2025-10-28T22:05:16.126Z,1761689116.126 [DAT](INFO): Ping request sent. 2025-10-28T22:05:16.126Z,1761689116.126 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:05:16.127Z,1761689116.127 [DAT](INFO): publishing transmit ping time 2025-10-28T22:05:16.131Z,1761689116.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004253 2025-10-28T22:05:16.377Z,1761689116.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 2025-10-28T22:05:16.414Z,1761689116.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790690,0.583486,0.185349],[-0.608351,-0.714853,-0.344809],[-0.068694,-0.385395,0.920191]] 2025-10-28T22:05:16.629Z,1761689116.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949 2025-10-28T22:05:16.814Z,1761689116.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810274,0.560439,0.171360],[-0.582125,-0.735880,-0.345849],[-0.067727,-0.379985,0.922510]] 2025-10-28T22:05:16.881Z,1761689116.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754971 2025-10-28T22:05:17.136Z,1761689117.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009362 2025-10-28T22:05:17.218Z,1761689117.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829668,0.535774,0.156837],[-0.554225,-0.756796,-0.346547],[-0.066977,-0.374441,0.924828]] 2025-10-28T22:05:17.385Z,1761689117.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258937 2025-10-28T22:05:17.637Z,1761689117.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510834 2025-10-28T22:05:17.889Z,1761689117.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501 2025-10-28T22:05:18.028Z,1761689118.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866593,0.480934,0.133117],[-0.494619,-0.792496,-0.356795],[-0.066100,-0.375038,0.924650]] 2025-10-28T22:05:18.141Z,1761689118.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015067 2025-10-28T22:05:18.393Z,1761689118.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907 2025-10-28T22:05:18.430Z,1761689118.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883278,0.452321,0.123394],[-0.464247,-0.806986,-0.365031],[-0.065534,-0.379709,0.922782]] 2025-10-28T22:05:18.645Z,1761689118.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518853 2025-10-28T22:05:18.835Z,1761689118.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898614,0.424116,0.112334],[-0.433883,-0.821050,-0.370976],[-0.065105,-0.382104,0.921823]] 2025-10-28T22:05:18.898Z,1761689118.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772278 2025-10-28T22:05:19.152Z,1761689119.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025356 2025-10-28T22:05:19.247Z,1761689119.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912556,0.396237,0.101183],[-0.403778,-0.833767,-0.376558],[-0.064843,-0.384486,0.920851]] 2025-10-28T22:05:19.401Z,1761689119.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274995 2025-10-28T22:05:19.644Z,1761689119.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925333,0.368639,0.088681],[-0.373651,-0.846893,-0.378362],[-0.064375,-0.383247,0.921400]] 2025-10-28T22:05:19.653Z,1761689119.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527068 2025-10-28T22:05:19.905Z,1761689119.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779076 2025-10-28T22:05:20.047Z,1761689120.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937005,0.340788,0.076720],[-0.343415,-0.858480,-0.380890],[-0.063940,-0.383243,0.921432]] 2025-10-28T22:05:20.157Z,1761689120.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031380 2025-10-28T22:05:20.409Z,1761689120.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282903 2025-10-28T22:05:20.450Z,1761689120.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947743,0.312414,0.064651],[-0.312638,-0.869099,-0.383308],[-0.063562,-0.383490,0.921355]] 2025-10-28T22:05:20.661Z,1761689120.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534959 2025-10-28T22:05:20.855Z,1761689120.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957477,0.283581,0.053095],[-0.281689,-0.879104,-0.384483],[-0.062355,-0.383090,0.921604]] 2025-10-28T22:05:20.916Z,1761689120.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789623 2025-10-28T22:05:21.168Z,1761689121.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041326 2025-10-28T22:05:21.262Z,1761689121.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966291,0.253876,0.042774],[-0.250172,-0.886674,-0.388874],[-0.060799,-0.386466,0.920298]] 2025-10-28T22:05:21.417Z,1761689121.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290872 2025-10-28T22:05:21.662Z,1761689121.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973941,0.224383,0.033026],[-0.219015,-0.892660,-0.393942],[-0.058913,-0.390910,0.918542]] 2025-10-28T22:05:21.669Z,1761689121.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542802 2025-10-28T22:05:21.921Z,1761689121.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794924 2025-10-28T22:05:22.066Z,1761689122.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980218,0.196481,0.023833],[-0.189590,-0.897555,-0.398059],[-0.056819,-0.394703,0.917050]] 2025-10-28T22:05:22.173Z,1761689122.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046877 2025-10-28T22:05:22.425Z,1761689122.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298844 2025-10-28T22:05:22.471Z,1761689122.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985661,0.168117,0.014468],[-0.159826,-0.902661,-0.399573],[-0.054116,-0.396156,0.916587]] 2025-10-28T22:05:22.677Z,1761689122.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551007 2025-10-28T22:05:22.879Z,1761689122.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990016,0.140841,0.005679],[-0.131302,-0.906811,-0.400567],[-0.051267,-0.397314,0.916250]] 2025-10-28T22:05:22.929Z,1761689122.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802795 2025-10-28T22:05:23.181Z,1761689123.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054918 2025-10-28T22:05:23.278Z,1761689123.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993523,0.113590,-0.003215],[-0.102940,-0.911632,-0.397907],[-0.048129,-0.394998,0.917420]] 2025-10-28T22:05:23.433Z,1761689123.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307013 2025-10-28T22:05:23.683Z,1761689123.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996211,0.086196,-0.011579],[-0.074666,-0.915925,-0.394343],[-0.044597,-0.391984,0.918890]] 2025-10-28T22:05:23.685Z,1761689123.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558961 2025-10-28T22:05:23.937Z,1761689123.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810892 2025-10-28T22:05:24.091Z,1761689124.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998129,0.057906,-0.019633],[-0.045678,-0.919618,-0.390149],[-0.040647,-0.388522,0.920542]] 2025-10-28T22:05:24.190Z,1761689124.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063697 2025-10-28T22:05:24.441Z,1761689124.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314879 2025-10-28T22:05:24.497Z,1761689124.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999207,0.028345,-0.027953],[-0.015384,-0.922546,-0.385580],[-0.036717,-0.384844,0.922251]] 2025-10-28T22:05:24.693Z,1761689124.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566804 2025-10-28T22:05:24.905Z,1761689124.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999318,-0.001887,-0.036875],[0.015881,-0.923555,-0.383138],[-0.033333,-0.383462,0.922955]] 2025-10-28T22:05:24.958Z,1761689124.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831808 2025-10-28T22:05:25.211Z,1761689125.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084633 2025-10-28T22:05:25.298Z,1761689125.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998400,-0.032797,-0.046069],[0.047893,-0.923561,-0.380449],[-0.030070,-0.382046,0.923654]] 2025-10-28T22:05:25.359Z,1761689125.359 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:05:25.359Z,1761689125.359 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:05:25.359Z,1761689125.359 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:05:25.359Z,1761689125.359 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:05:25.359Z,1761689125.359 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:05:25.360Z,1761689125.360 [marl:UpdateSpeed] Stopped 2025-10-28T22:05:25.360Z,1761689125.360 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:05:25.461Z,1761689125.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334921 2025-10-28T22:05:25.702Z,1761689125.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996280,-0.065314,-0.056215],[0.081773,-0.922357,-0.377585],[-0.027188,-0.380777,0.924267]] 2025-10-28T22:05:25.714Z,1761689125.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587773 2025-10-28T22:05:25.965Z,1761689125.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838862 2025-10-28T22:05:26.117Z,1761689126.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992933,-0.097872,-0.067121],[0.116026,-0.919443,-0.375716],[-0.024941,-0.380849,0.924301]] 2025-10-28T22:05:26.217Z,1761689126.217 [DAT](INFO): Reached modem response timeout 2025-10-28T22:05:26.511Z,1761689126.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988277,-0.130463,-0.079302],[0.150831,-0.914778,-0.374741],[-0.023654,-0.382309,0.923732]] 2025-10-28T22:05:26.917Z,1761689126.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982318,-0.162635,-0.092743],[0.185820,-0.907422,-0.376903],[-0.022860,-0.387472,0.921598]] 2025-10-28T22:05:27.318Z,1761689127.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975052,-0.194987,-0.106087],[0.220869,-0.899927,-0.375963],[-0.022162,-0.390014,0.920542]] 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateRudder:A] Stopped 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:05:27.385Z,1761689127.385 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:05:27.386Z,1761689127.386 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:05:27.386Z,1761689127.386 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:05:27.386Z,1761689127.386 [marl:UpdateCommandMode] Stopped 2025-10-28T22:05:27.386Z,1761689127.386 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:05:27.735Z,1761689127.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966763,-0.225915,-0.119716],[0.254738,-0.891150,-0.375446],[-0.021866,-0.393464,0.919080]] 2025-10-28T22:05:27.785Z,1761689127.785 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:05:27.785Z,1761689127.785 [marl:UpdateRudder:B] Stopped 2025-10-28T22:05:27.785Z,1761689127.785 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:05:27.786Z,1761689127.786 [marl:UpdateRudder] Stopped 2025-10-28T22:05:27.786Z,1761689127.786 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:05:28.126Z,1761689128.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957704,-0.255643,-0.132102],[0.286966,-0.882494,-0.372632],[-0.021318,-0.394780,0.918528]] 2025-10-28T22:05:28.485Z,1761689128.485 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:05:28.486Z,1761689128.486 [DAT](INFO): response not received 2025-10-28T22:05:28.486Z,1761689128.486 [DAT](ERROR): No response from remote modem. 2025-10-28T22:05:28.531Z,1761689128.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948080,-0.283717,-0.143694],[0.317349,-0.873538,-0.369081],[-0.020808,-0.395520,0.918222]] 2025-10-28T22:05:28.937Z,1761689128.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938289,-0.309457,-0.154435],[0.345272,-0.863994,-0.366472],[-0.020024,-0.397179,0.917523]] 2025-10-28T22:05:29.339Z,1761689129.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928216,-0.334660,-0.162537],[0.371568,-0.855931,-0.359610],[-0.018773,-0.394189,0.918838]] 2025-10-28T22:05:29.751Z,1761689129.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906716,-0.383284,-0.175953],[0.421473,-0.838389,-0.345637],[-0.015040,-0.387554,0.921724]] 2025-10-28T22:05:30.151Z,1761689130.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895053,-0.406718,-0.182925],[0.445773,-0.827835,-0.340553],[-0.012923,-0.386356,0.922259]] 2025-10-28T22:05:30.555Z,1761689130.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882517,-0.429927,-0.190596],[0.470162,-0.815687,-0.337048],[-0.010561,-0.387062,0.921993]] 2025-10-28T22:05:30.971Z,1761689130.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869180,-0.452369,-0.199720],[0.494419,-0.802134,-0.334859],[-0.008722,-0.389799,0.920859]] 2025-10-28T22:05:31.363Z,1761689131.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854405,-0.476294,-0.207691],[0.519557,-0.788634,-0.328810],[-0.007182,-0.388844,0.921275]] 2025-10-28T22:05:31.769Z,1761689131.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838401,-0.499977,-0.217042],[0.545024,-0.773219,-0.324161],[-0.005748,-0.390070,0.920767]] 2025-10-28T22:05:32.173Z,1761689132.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820774,-0.524629,-0.226042],[0.571239,-0.756601,-0.318184],[-0.004095,-0.390281,0.920687]] 2025-10-28T22:05:32.572Z,1761689132.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802007,-0.547528,-0.238741],[0.597309,-0.736841,-0.316680],[-0.002523,-0.396582,0.917996]] 2025-10-28T22:05:32.977Z,1761689132.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782321,-0.569261,-0.252817],[0.622875,-0.715681,-0.315955],[-0.001075,-0.404652,0.914470]] 2025-10-28T22:05:33.379Z,1761689133.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761630,-0.590859,-0.266092],[0.648012,-0.694336,-0.313013],[0.000189,-0.410831,0.911711]] 2025-10-28T22:05:33.789Z,1761689133.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739908,-0.613163,-0.276708],[0.672707,-0.673431,-0.306524],[0.001605,-0.412943,0.910755]] 2025-10-28T22:05:34.188Z,1761689134.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717669,-0.634454,-0.287089],[0.696378,-0.652028,-0.299863],[0.003059,-0.415125,0.909759]] 2025-10-28T22:05:34.591Z,1761689134.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694854,-0.655670,-0.295423],[0.719135,-0.630789,-0.291462],[0.004753,-0.414973,0.909821]] 2025-10-28T22:05:34.998Z,1761689134.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670669,-0.676911,-0.303307],[0.741731,-0.608598,-0.281858],[0.006201,-0.414005,0.910253]] 2025-10-28T22:05:35.398Z,1761689135.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645833,-0.697301,-0.310920],[0.763436,-0.585511,-0.272657],[0.008078,-0.413458,0.910487]] 2025-10-28T22:05:35.804Z,1761689135.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621306,-0.716026,-0.318254],[0.783505,-0.562555,-0.263914],[0.009934,-0.413325,0.910529]] 2025-10-28T22:05:36.213Z,1761689136.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595648,-0.735812,-0.322155],[0.803157,-0.539620,-0.252485],[0.011940,-0.409134,0.912396]] 2025-10-28T22:05:36.610Z,1761689136.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568854,-0.754145,-0.328132],[0.822329,-0.515029,-0.241910],[0.013438,-0.407444,0.913131]] 2025-10-28T22:05:37.024Z,1761689137.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541375,-0.772222,-0.332544],[0.840654,-0.490281,-0.230055],[0.014614,-0.404101,0.914598]] 2025-10-28T22:05:37.418Z,1761689137.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513304,-0.791025,-0.332863],[0.858069,-0.466104,-0.215555],[0.015361,-0.396265,0.918007]] 2025-10-28T22:05:37.823Z,1761689137.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485200,-0.807952,-0.334356],[0.874258,-0.441287,-0.202333],[0.015929,-0.390486,0.920471]] 2025-10-28T22:05:38.230Z,1761689138.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456339,-0.824259,-0.335190],[0.889655,-0.415725,-0.188907],[0.016361,-0.384409,0.923018]] 2025-10-28T22:05:38.630Z,1761689138.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426848,-0.838043,-0.339830],[0.904168,-0.388523,-0.177567],[0.016777,-0.383057,0.923572]] 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed] Stopped 2025-10-28T22:05:38.666Z,1761689138.666 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:05:39.037Z,1761689139.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396824,-0.851079,-0.343796],[0.917735,-0.360895,-0.165881],[0.017103,-0.381339,0.924277]] 2025-10-28T22:05:39.441Z,1761689139.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366721,-0.862386,-0.349007],[0.930163,-0.332750,-0.155158],[0.017674,-0.381534,0.924186]] 2025-10-28T22:05:39.842Z,1761689139.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336213,-0.871886,-0.356056],[0.941612,-0.303940,-0.144869],[0.018089,-0.383974,0.923167]] 2025-10-28T22:05:40.246Z,1761689140.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305316,-0.880349,-0.362999],[0.952082,-0.275021,-0.133806],[0.017963,-0.386458,0.922132]] 2025-10-28T22:05:40.653Z,1761689140.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273926,-0.888050,-0.369231],[0.961598,-0.246040,-0.121632],[0.017169,-0.388370,0.921344]] 2025-10-28T22:05:40.684Z,1761689140.684 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:05:40.685Z,1761689140.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:05:40.685Z,1761689140.685 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:05:40.685Z,1761689140.685 [marl:UpdateRudder:A] Stopped 2025-10-28T22:05:40.686Z,1761689140.686 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:05:40.686Z,1761689140.686 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:05:40.686Z,1761689140.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:05:40.686Z,1761689140.686 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:05:40.687Z,1761689140.687 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:05:40.687Z,1761689140.687 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:05:40.687Z,1761689140.687 [marl:UpdateCommandMode] Stopped 2025-10-28T22:05:40.687Z,1761689140.687 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:05:41.062Z,1761689141.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243160,-0.893500,-0.377532],[0.969853,-0.217496,-0.109917],[0.016099,-0.392878,0.919450]] 2025-10-28T22:05:41.091Z,1761689141.091 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:05:41.091Z,1761689141.091 [marl:UpdateRudder:B] Stopped 2025-10-28T22:05:41.092Z,1761689141.092 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:05:41.092Z,1761689141.092 [marl:UpdateRudder] Stopped 2025-10-28T22:05:41.092Z,1761689141.092 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:05:41.458Z,1761689141.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212650,-0.897924,-0.385372],[0.977015,-0.189375,-0.097876],[0.014905,-0.397327,0.917556]] 2025-10-28T22:05:41.863Z,1761689141.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182836,-0.901960,-0.391203],[0.983046,-0.162132,-0.085634],[0.013812,-0.400228,0.916312]] 2025-10-28T22:05:42.268Z,1761689142.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153739,-0.904190,-0.398502],[0.988027,-0.135399,-0.073956],[0.012914,-0.405101,0.914181]] 2025-10-28T22:05:42.671Z,1761689142.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125594,-0.905217,-0.405966],[0.992003,-0.109427,-0.062897],[0.012512,-0.410619,0.911721]] 2025-10-28T22:05:43.075Z,1761689143.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097681,-0.905569,-0.412800],[0.995134,-0.083498,-0.052307],[0.012900,-0.415901,0.909319]] 2025-10-28T22:05:43.481Z,1761689143.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069580,-0.906356,-0.416747],[0.997476,-0.057288,-0.041945],[0.014142,-0.418614,0.908054]] 2025-10-28T22:05:43.882Z,1761689143.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041424,-0.908285,-0.416295],[0.999007,-0.030808,-0.032190],[0.016413,-0.417215,0.908659]] 2025-10-28T22:05:44.287Z,1761689144.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013091,-0.911356,-0.411410],[0.999721,-0.003834,-0.023317],[0.019672,-0.411601,0.911152]] 2025-10-28T22:05:44.699Z,1761689144.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015582,-0.914334,-0.404661],[0.999597,0.023855,-0.015410],[0.023743,-0.404258,0.914337]] 2025-10-28T22:05:45.122Z,1761689145.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045255,-0.915238,-0.400364],[0.998582,0.052693,-0.007583],[0.028037,-0.399453,0.916325]] 2025-10-28T22:05:45.501Z,1761689145.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077130,-0.914572,-0.397000],[0.996508,0.083485,0.001278],[0.031975,-0.395712,0.917818]] 2025-10-28T22:05:45.903Z,1761689145.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111646,-0.912649,-0.393202],[0.993121,0.116523,0.011530],[0.035294,-0.391784,0.919380]] 2025-10-28T22:05:46.108Z,1761689146.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:05:46.306Z,1761689146.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148048,-0.909293,-0.388931],[0.988246,0.151165,0.022765],[0.038093,-0.387730,0.920986]] 2025-10-28T22:05:46.713Z,1761689146.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185480,-0.903945,-0.385332],[0.981829,0.186488,0.035126],[0.040108,-0.384845,0.922109]] 2025-10-28T22:05:47.113Z,1761689147.113 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:05:47.177Z,1761689147.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223266,-0.896425,-0.382850],[0.973886,0.221746,0.048731],[0.041211,-0.383732,0.922525]] 2025-10-28T22:05:47.518Z,1761689147.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260735,-0.885841,-0.383801],[0.964528,0.256022,0.064335],[0.041271,-0.386961,0.921172]] 2025-10-28T22:05:47.923Z,1761689147.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298762,-0.873797,-0.383693],[0.953484,0.290208,0.081529],[0.040111,-0.390203,0.919855]] 2025-10-28T22:05:48.326Z,1761689148.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336962,-0.860158,-0.382865],[0.940764,0.323872,0.100352],[0.037680,-0.394000,0.918338]] 2025-10-28T22:05:48.732Z,1761689148.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374990,-0.845263,-0.380675],[0.926390,0.356918,0.120043],[0.034401,-0.397668,0.916884]] 2025-10-28T22:05:49.181Z,1761689149.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411967,-0.829989,-0.376033],[0.910681,0.388952,0.139201],[0.030723,-0.399792,0.916091]] 2025-10-28T22:05:49.541Z,1761689149.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446499,-0.815081,-0.369163],[0.894374,0.419028,0.156558],[0.027082,-0.400073,0.916083]] 2025-10-28T22:05:49.942Z,1761689149.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478815,-0.799079,-0.363606],[0.877585,0.447021,0.173254],[0.024096,-0.402051,0.915300]] 2025-10-28T22:05:50.347Z,1761689150.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508790,-0.780979,-0.362222],[0.860611,0.472137,0.190880],[0.021945,-0.408850,0.912337]] 2025-10-28T22:05:50.751Z,1761689150.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537765,-0.761577,-0.361677],[0.842849,0.495985,0.208816],[0.020357,-0.417133,0.908618]] 2025-10-28T22:05:51.194Z,1761689151.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565401,-0.742800,-0.358567],[0.824592,0.519186,0.224709],[0.019249,-0.422722,0.906055]] 2025-10-28T22:05:51.561Z,1761689151.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591857,-0.723982,-0.354338],[0.805829,0.541597,0.239401],[0.018587,-0.427227,0.903953]] 2025-10-28T22:05:51.962Z,1761689151.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617251,-0.705976,-0.347274],[0.786544,0.564196,0.251061],[0.018688,-0.428114,0.903532]] 2025-10-28T22:05:52.003Z,1761689152.003 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:05:52.003Z,1761689152.003 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:05:52.003Z,1761689152.003 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:05:52.004Z,1761689152.004 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:05:52.004Z,1761689152.004 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:05:52.004Z,1761689152.004 [marl:UpdateSpeed] Stopped 2025-10-28T22:05:52.004Z,1761689152.004 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:05:52.366Z,1761689152.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641562,-0.688718,-0.337736],[0.766827,0.586943,0.259757],[0.019333,-0.425635,0.904688]] 2025-10-28T22:05:52.777Z,1761689152.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665040,-0.670187,-0.329502],[0.746522,0.608791,0.268476],[0.020668,-0.424527,0.905179]] 2025-10-28T22:05:53.194Z,1761689153.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687977,-0.651993,-0.318735],[0.725390,0.631268,0.274427],[0.022282,-0.420006,0.907248]] 2025-10-28T22:05:53.578Z,1761689153.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710574,-0.633466,-0.306277],[0.703209,0.654267,0.278264],[0.024116,-0.413104,0.910364]] 2025-10-28T22:05:53.983Z,1761689153.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732931,-0.613557,-0.293870],[0.679793,0.677252,0.281446],[0.026341,-0.406051,0.913471]] 2025-10-28T22:05:54.007Z,1761689154.007 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:05:54.007Z,1761689154.007 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:05:54.007Z,1761689154.007 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:05:54.007Z,1761689154.007 [marl:UpdateRudder:A] Stopped 2025-10-28T22:05:54.008Z,1761689154.008 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:05:54.008Z,1761689154.008 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:05:54.024Z,1761689154.024 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:05:54.024Z,1761689154.024 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:05:54.024Z,1761689154.024 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:05:54.024Z,1761689154.024 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:05:54.025Z,1761689154.025 [marl:UpdateCommandMode] Stopped 2025-10-28T22:05:54.025Z,1761689154.025 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:05:54.387Z,1761689154.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755180,-0.591411,-0.282731],[0.654897,0.699446,0.286157],[0.028519,-0.401259,0.915520]] 2025-10-28T22:05:54.411Z,1761689154.411 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:05:54.411Z,1761689154.411 [marl:UpdateRudder:B] Stopped 2025-10-28T22:05:54.411Z,1761689154.411 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:05:54.411Z,1761689154.411 [marl:UpdateRudder] Stopped 2025-10-28T22:05:54.412Z,1761689154.412 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:05:54.795Z,1761689154.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777581,-0.566652,-0.272531],[0.628061,0.720708,0.293460],[0.030126,-0.399355,0.916301]] 2025-10-28T22:05:55.201Z,1761689155.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800046,-0.539916,-0.261566],[0.599128,0.741678,0.301594],[0.031162,-0.398001,0.916856]] 2025-10-28T22:05:55.599Z,1761689155.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822109,-0.510332,-0.252385],[0.568453,0.760383,0.314134],[0.031597,-0.401721,0.915217]] 2025-10-28T22:05:56.003Z,1761689156.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843219,-0.479778,-0.242479],[0.536631,0.777910,0.326930],[0.031773,-0.405795,0.913412]] 2025-10-28T22:05:56.407Z,1761689156.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863103,-0.449434,-0.230350],[0.504030,0.795232,0.336987],[0.031728,-0.406958,0.912896]] 2025-10-28T22:05:56.810Z,1761689156.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881268,-0.420503,-0.215740],[0.471573,0.812685,0.342290],[0.031394,-0.403386,0.914491]] 2025-10-28T22:05:57.215Z,1761689157.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897834,-0.391712,-0.201135],[0.439242,0.828857,0.346500],[0.030984,-0.399446,0.916233]] 2025-10-28T22:05:57.620Z,1761689157.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912793,-0.363533,-0.186152],[0.407324,0.843688,0.349682],[0.029934,-0.395011,0.918188]] 2025-10-28T22:05:58.024Z,1761689158.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925928,-0.336199,-0.172127],[0.376576,0.856873,0.352077],[0.029123,-0.390817,0.920008]] 2025-10-28T22:05:58.426Z,1761689158.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938081,-0.308043,-0.158472],[0.345261,0.868718,0.355139],[0.028269,-0.387864,0.921283]] 2025-10-28T22:05:58.831Z,1761689158.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948904,-0.279380,-0.146726],[0.314357,0.877533,0.362099],[0.027594,-0.389722,0.920519]] 2025-10-28T22:05:59.242Z,1761689159.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958699,-0.250882,-0.133990],[0.283153,0.886322,0.366413],[0.026832,-0.389219,0.920754]] 2025-10-28T22:05:59.640Z,1761689159.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967117,-0.223591,-0.121206],[0.252970,0.894911,0.367615],[0.026273,-0.386189,0.922046]] 2025-10-28T22:06:00.043Z,1761689160.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974594,-0.195848,-0.108671],[0.222490,0.902354,0.369129],[0.025766,-0.383929,0.923003]] 2025-10-28T22:06:00.446Z,1761689160.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980928,-0.168819,-0.096334],[0.192731,0.909038,0.369465],[0.025198,-0.380985,0.924238]] 2025-10-28T22:06:00.851Z,1761689160.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986297,-0.141607,-0.084652],[0.163117,0.913909,0.371704],[0.024729,-0.380418,0.924484]] 2025-10-28T22:06:01.266Z,1761689161.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990707,-0.114493,-0.073429],[0.133888,0.916012,0.378147],[0.023966,-0.384464,0.922829]] 2025-10-28T22:06:01.671Z,1761689161.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994246,-0.087604,-0.061648],[0.104571,0.918562,0.381194],[0.023234,-0.385447,0.922437]] 2025-10-28T22:06:02.062Z,1761689162.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996881,-0.060997,-0.050074],[0.075602,0.920121,0.384267],[0.022635,-0.386855,0.921863]] 2025-10-28T22:06:02.466Z,1761689162.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998662,-0.034558,-0.038462],[0.046835,0.919771,0.389651],[0.021911,-0.390931,0.920159]] 2025-10-28T22:06:02.872Z,1761689162.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999599,-0.008422,-0.027033],[0.018367,0.919488,0.392688],[0.021550,-0.393027,0.919274]] 2025-10-28T22:06:03.275Z,1761689163.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999716,0.017896,-0.015741],[-0.010286,0.919734,0.392408],[0.021500,-0.392134,0.919657]] 2025-10-28T22:06:03.680Z,1761689163.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998979,0.045037,-0.003533],[-0.040004,0.918261,0.393951],[0.020987,-0.393407,0.919125]] 2025-10-28T22:06:04.082Z,1761689164.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997246,0.073519,0.009763],[-0.071291,0.913972,0.399465],[0.020445,-0.399061,0.916697]] 2025-10-28T22:06:04.489Z,1761689164.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994425,0.102752,0.023673],[-0.103545,0.909177,0.403331],[0.019920,-0.403534,0.914748]] 2025-10-28T22:06:04.890Z,1761689164.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990368,0.133136,0.038037],[-0.137060,0.903610,0.405837],[0.019661,-0.407141,0.913154]] 2025-10-28T22:06:05.296Z,1761689165.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985066,0.164085,0.052160],[-0.171102,0.899127,0.402858],[0.019205,-0.405767,0.913775]] 2025-10-28T22:06:05.345Z,1761689165.345 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:06:05.345Z,1761689165.345 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:06:05.345Z,1761689165.345 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:06:05.346Z,1761689165.346 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:06:05.346Z,1761689165.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:06:05.346Z,1761689165.346 [marl:UpdateSpeed] Stopped 2025-10-28T22:06:05.346Z,1761689165.346 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:06:05.699Z,1761689165.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978594,0.195422,0.064535],[-0.204900,0.895839,0.394320],[0.019246,-0.399102,0.916704]] 2025-10-28T22:06:06.105Z,1761689166.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971004,0.226862,0.075402],[-0.238273,0.892744,0.382405],[0.019439,-0.389283,0.920913]] 2025-10-28T22:06:06.507Z,1761689166.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962503,0.257487,0.085374],[-0.270537,0.887971,0.371910],[0.019952,-0.381061,0.924335]] 2025-10-28T22:06:06.911Z,1761689166.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953230,0.286880,0.095146],[-0.301571,0.881724,0.362792],[0.020185,-0.374518,0.927000]] 2025-10-28T22:06:07.321Z,1761689167.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943536,0.314241,0.104847],[-0.330641,0.873829,0.356511],[0.020412,-0.371047,0.928390]] 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateRudder:A] Stopped 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:06:07.378Z,1761689167.378 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:06:07.379Z,1761689167.379 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:06:07.379Z,1761689167.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:06:07.379Z,1761689167.379 [marl:UpdateCommandMode] Stopped 2025-10-28T22:06:07.379Z,1761689167.379 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:06:07.720Z,1761689167.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932933,0.340916,0.115812],[-0.359470,0.863683,0.353317],[0.020426,-0.371252,0.928308]] 2025-10-28T22:06:07.750Z,1761689167.750 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:06:07.750Z,1761689167.750 [marl:UpdateRudder:B] Stopped 2025-10-28T22:06:07.750Z,1761689167.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:06:07.750Z,1761689167.750 [marl:UpdateRudder] Stopped 2025-10-28T22:06:07.751Z,1761689167.751 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:06:08.122Z,1761689168.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921636,0.366768,0.126757],[-0.387514,0.852635,0.350494],[0.020472,-0.372148,0.927948]] 2025-10-28T22:06:08.527Z,1761689168.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909349,0.392048,0.139222],[-0.415551,0.839806,0.349348],[0.020042,-0.375533,0.926592]] 2025-10-28T22:06:08.954Z,1761689168.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896717,0.415784,0.151735],[-0.442170,0.826348,0.348761],[0.019623,-0.379832,0.924847]] 2025-10-28T22:06:09.336Z,1761689169.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882343,0.440408,0.165863],[-0.470201,0.810395,0.349529],[0.019521,-0.386393,0.922127]] 2025-10-28T22:06:09.739Z,1761689169.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867303,0.464177,0.179793],[-0.497395,0.793906,0.349729],[0.019598,-0.392750,0.919437]] 2025-10-28T22:06:10.151Z,1761689170.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851482,0.487496,0.193200],[-0.524014,0.777184,0.348418],[0.019701,-0.397911,0.917212]] 2025-10-28T22:06:10.546Z,1761689170.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835214,0.510697,0.203976],[-0.549551,0.761431,0.343826],[0.020277,-0.399263,0.916612]] 2025-10-28T22:06:10.953Z,1761689170.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818131,0.533709,0.214047],[-0.574641,0.745106,0.338533],[0.021190,-0.399964,0.916286]] 2025-10-28T22:06:11.354Z,1761689171.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801823,0.555109,0.221210],[-0.597154,0.730697,0.330891],[0.022043,-0.397413,0.917375]] 2025-10-28T22:06:11.761Z,1761689171.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784605,0.576330,0.228558],[-0.619577,0.715298,0.323222],[0.022796,-0.395211,0.918307]] 2025-10-28T22:06:12.163Z,1761689172.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767320,0.595780,0.237204],[-0.640841,0.698995,0.317378],[0.023283,-0.395541,0.918153]] 2025-10-28T22:06:12.568Z,1761689172.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748755,0.613686,0.250512],[-0.662433,0.679440,0.315506],[0.023414,-0.402184,0.915260]] 2025-10-28T22:06:12.970Z,1761689172.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729206,0.629721,0.267787],[-0.683914,0.657649,0.315846],[0.022784,-0.413460,0.910237]] 2025-10-28T22:06:13.374Z,1761689173.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708066,0.647470,0.281823],[-0.705795,0.636327,0.311355],[0.022261,-0.419369,0.907543]] 2025-10-28T22:06:13.784Z,1761689173.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685198,0.666844,0.292955],[-0.728037,0.615149,0.302579],[0.021562,-0.420609,0.906986]] 2025-10-28T22:06:14.183Z,1761689174.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660731,0.688451,0.299114],[-0.750339,0.594812,0.288429],[0.020653,-0.415011,0.909582]] 2025-10-28T22:06:14.586Z,1761689174.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635716,0.711234,0.300018],[-0.771680,0.575810,0.270096],[0.019348,-0.403223,0.914897]] 2025-10-28T22:06:14.996Z,1761689174.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609323,0.734531,0.298646],[-0.792726,0.555942,0.250027],[0.017623,-0.389092,0.921030]] 2025-10-28T22:06:15.400Z,1761689175.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553093,0.779180,0.294901],[-0.833007,0.511404,0.211103],[0.013674,-0.362415,0.931917]] 2025-10-28T22:06:15.806Z,1761689175.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523178,0.799356,0.295491],[-0.852134,0.485636,0.195003],[0.012375,-0.353819,0.935232]] 2025-10-28T22:06:15.833Z,1761689175.833 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:06:15.869Z,1761689175.869 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:06:15.869Z,1761689175.869 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:06:16.122Z,1761689176.122 [DAT](INFO): DAT read: user:346> 2025-10-28T22:06:16.123Z,1761689176.123 [DAT](INFO): DAT read: Tx time:22:06:15.8451 2025-10-28T22:06:16.123Z,1761689176.123 [DAT](INFO): Ping request sent. 2025-10-28T22:06:16.123Z,1761689176.123 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:06:16.123Z,1761689176.123 [DAT](INFO): publishing transmit ping time 2025-10-28T22:06:16.125Z,1761689176.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001329 2025-10-28T22:06:16.208Z,1761689176.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492618,0.817438,0.298535],[-0.870165,0.458005,0.181783],[0.011865,-0.349324,0.936927]] 2025-10-28T22:06:16.373Z,1761689176.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249661 2025-10-28T22:06:16.614Z,1761689176.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461967,0.833106,0.304174],[-0.886821,0.429403,0.170771],[0.011657,-0.348638,0.937185]] 2025-10-28T22:06:16.629Z,1761689176.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506002 2025-10-28T22:06:16.885Z,1761689176.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761648 2025-10-28T22:06:17.012Z,1761689177.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432592,0.846066,0.311507],[-0.901518,0.401560,0.161291],[0.011374,-0.350602,0.936456]] 2025-10-28T22:06:17.137Z,1761689177.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012932 2025-10-28T22:06:17.240Z,1761689177.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:06:17.385Z,1761689177.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261680 2025-10-28T22:06:17.420Z,1761689177.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404315,0.855046,0.324694],[-0.914557,0.373795,0.154477],[0.010716,-0.359408,0.933119]] 2025-10-28T22:06:17.637Z,1761689177.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513918 2025-10-28T22:06:17.818Z,1761689177.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376864,0.860995,0.341558],[-0.926213,0.346244,0.149144],[0.010149,-0.372562,0.927952]] 2025-10-28T22:06:17.889Z,1761689177.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765543 2025-10-28T22:06:18.141Z,1761689178.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017687 2025-10-28T22:06:18.222Z,1761689178.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350203,0.864486,0.360586],[-0.936624,0.319213,0.144358],[0.009692,-0.388288,0.921487]] 2025-10-28T22:06:18.244Z,1761689178.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:06:18.394Z,1761689178.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270506 2025-10-28T22:06:18.634Z,1761689178.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323633,0.866556,0.379923],[-0.946138,0.292476,0.138855],[0.009207,-0.404398,0.914537]] 2025-10-28T22:06:18.646Z,1761689178.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522405 2025-10-28T22:06:18.678Z,1761689178.678 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:06:18.678Z,1761689178.678 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:06:18.678Z,1761689178.678 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:06:18.679Z,1761689178.679 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:06:18.679Z,1761689178.679 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:06:18.679Z,1761689178.679 [marl:UpdateSpeed] Stopped 2025-10-28T22:06:18.679Z,1761689178.679 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:06:18.897Z,1761689178.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773679 2025-10-28T22:06:19.031Z,1761689179.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297815,0.867944,0.397467],[-0.954588,0.267184,0.131810],[0.008207,-0.418672,0.908100]] 2025-10-28T22:06:19.151Z,1761689179.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027535 2025-10-28T22:06:19.401Z,1761689179.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277773 2025-10-28T22:06:19.441Z,1761689179.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271680,0.870219,0.410986],[-0.962360,0.242396,0.122915],[0.007341,-0.428910,0.903318]] 2025-10-28T22:06:19.653Z,1761689179.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529574 2025-10-28T22:06:19.838Z,1761689179.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244399,0.874336,0.419292],[-0.969649,0.217239,0.112193],[0.007008,-0.433986,0.900892]] 2025-10-28T22:06:19.913Z,1761689179.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790195 2025-10-28T22:06:20.166Z,1761689180.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042523 2025-10-28T22:06:20.243Z,1761689180.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215865,0.879756,0.423593],[-0.976397,0.191312,0.100242],[0.007150,-0.435234,0.900289]] 2025-10-28T22:06:20.417Z,1761689180.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.293690 2025-10-28T22:06:20.649Z,1761689180.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186322,0.888237,0.419903],[-0.982455,0.164917,0.087087],[0.008105,-0.428762,0.903381]] 2025-10-28T22:06:20.669Z,1761689180.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545771 2025-10-28T22:06:20.674Z,1761689180.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:06:20.674Z,1761689180.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateRudder:A] Stopped 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:06:20.675Z,1761689180.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:06:20.676Z,1761689180.676 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:06:20.676Z,1761689180.676 [marl:UpdateCommandMode] Stopped 2025-10-28T22:06:20.676Z,1761689180.676 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:06:20.921Z,1761689180.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.797643 2025-10-28T22:06:21.050Z,1761689181.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156639,0.899720,0.407392],[-0.987611,0.138747,0.073307],[0.009431,-0.413827,0.910307]] 2025-10-28T22:06:21.084Z,1761689181.084 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:06:21.084Z,1761689181.084 [marl:UpdateRudder:B] Stopped 2025-10-28T22:06:21.085Z,1761689181.085 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:06:21.085Z,1761689181.085 [marl:UpdateRudder] Stopped 2025-10-28T22:06:21.085Z,1761689181.085 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:06:21.173Z,1761689181.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049736 2025-10-28T22:06:21.430Z,1761689181.430 [DAT](INFO): DAT read: 22:06:20.6368 LVL= 28528, 31729, 27970, 32755, AGC= 91, IDX= 189, 0.06, 1.158,-0.357,-0.831, 0.698, PHS= 0.562,-1.010,-1.573, RAW= 75.2, 20.4, CAL= 73.1, 27.3, ROT= 76.9, -27.3 2025-10-28T22:06:21.431Z,1761689181.431 [DAT](INFO): got valid direction response: 22:06:20.6368 LVL= 28528, 31729, 27970, 32755, AGC= 91, IDX= 189, 0.06, 1.158,-0.357,-0.831, 0.698, PHS= 0.562,-1.010,-1.573, RAW= 75.2, 20.4, CAL= 73.1, 27.3, ROT= 76.9, -27.3 2025-10-28T22:06:21.432Z,1761689181.432 [DAT](INFO): DAT read: Rx Time:22:06:20.6368 2025-10-28T22:06:21.433Z,1761689181.433 [DAT](INFO): Rx dataTimestamp_ set to:1761689181.432256 2025-10-28T22:06:21.433Z,1761689181.433 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-28T22:06:21.433Z,1761689181.433 [DAT](INFO): Received low SNR in chirp 2025-10-28T22:06:21.444Z,1761689181.444 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-28T22:06:21.445Z,1761689181.445 [DAT](INFO): direction in FSK: [0.201406,0.865492,0.458650] 2025-10-28T22:06:21.465Z,1761689181.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126728,0.909634,0.395608],[-0.991879,0.111858,0.060538],[0.010815,-0.400066,0.916422]] 2025-10-28T22:06:21.586Z,1761689181.586 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761689216.00. Resetting abort timer. 2025-10-28T22:06:21.861Z,1761689181.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096543,0.918731,0.382900],[-0.995254,0.084378,0.048483],[0.012235,-0.385763,0.922517]] 2025-10-28T22:06:22.263Z,1761689182.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065827,0.924714,0.374929],[-0.997743,0.056013,0.037027],[0.013238,-0.376520,0.926314]] 2025-10-28T22:06:22.666Z,1761689182.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034953,0.926862,0.373770],[-0.999302,0.027483,0.025299],[0.013177,-0.374394,0.927176]] 2025-10-28T22:06:23.070Z,1761689183.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003840,0.928277,0.371871],[-0.999923,-0.000809,0.012344],[0.011759,-0.371889,0.928203]] 2025-10-28T22:06:23.476Z,1761689183.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028429,0.928873,0.369305],[-0.999551,-0.029912,-0.001709],[0.009459,-0.369188,0.929307]] 2025-10-28T22:06:23.879Z,1761689183.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061830,0.928905,0.365119],[-0.998065,-0.059974,-0.016433],[0.006633,-0.365428,0.930816]] 2025-10-28T22:06:24.284Z,1761689184.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096331,0.926649,0.363376],[-0.995343,-0.090974,-0.031871],[0.003525,-0.364754,0.931097]] 2025-10-28T22:06:24.687Z,1761689184.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131734,0.922846,0.361943],[-0.991285,-0.122896,-0.047442],[0.000700,-0.365038,0.930992]] 2025-10-28T22:06:25.105Z,1761689185.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168181,0.916403,0.363210],[-0.985755,-0.155735,-0.063515],[-0.001640,-0.368718,0.929540]] 2025-10-28T22:06:25.497Z,1761689185.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204851,0.908214,0.364943],[-0.978787,-0.188720,-0.079757],[-0.003565,-0.373539,0.927607]] 2025-10-28T22:06:25.899Z,1761689185.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239954,0.899281,0.365671],[-0.970770,-0.220254,-0.095359],[-0.005214,-0.377864,0.925846]] 2025-10-28T22:06:26.217Z,1761689186.217 [DAT](INFO): Reached modem response timeout 2025-10-28T22:06:26.302Z,1761689186.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273682,0.889333,0.366313],[-0.961796,-0.250325,-0.110845],[-0.006881,-0.382655,0.923866]] 2025-10-28T22:06:26.707Z,1761689186.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305665,0.877103,0.370485],[-0.952099,-0.277997,-0.127377],[-0.008729,-0.391673,0.920063]] 2025-10-28T22:06:27.148Z,1761689187.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336138,0.864311,0.374137],[-0.941755,-0.304038,-0.143733],[-0.010478,-0.400659,0.916167]] 2025-10-28T22:06:27.515Z,1761689187.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364802,0.850668,0.378528],[-0.931010,-0.328083,-0.159947],[-0.011873,-0.410762,0.911665]] 2025-10-28T22:06:27.919Z,1761689187.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391762,0.838028,0.379779],[-0.919977,-0.351048,-0.174375],[-0.012810,-0.417702,0.908494]] 2025-10-28T22:06:28.326Z,1761689188.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417188,0.827521,0.375717],[-0.908722,-0.373741,-0.185856],[-0.013379,-0.418959,0.907907]] 2025-10-28T22:06:28.485Z,1761689188.485 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:06:28.486Z,1761689188.486 [DAT](INFO): response not received 2025-10-28T22:06:28.486Z,1761689188.486 [DAT](ERROR): No response from remote modem. 2025-10-28T22:06:28.726Z,1761689188.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441338,0.819859,0.364763],[-0.897238,-0.397013,-0.193250],[-0.013622,-0.412568,0.910825]] 2025-10-28T22:06:29.168Z,1761689189.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464962,0.812642,0.351315],[-0.885222,-0.420513,-0.198876],[-0.013883,-0.403462,0.914891]] 2025-10-28T22:06:29.534Z,1761689189.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488304,0.804077,0.339145],[-0.872561,-0.443624,-0.204534],[-0.014009,-0.395800,0.918230]] 2025-10-28T22:06:29.942Z,1761689189.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511630,0.793342,0.329915],[-0.859090,-0.466052,-0.211564],[-0.014085,-0.391669,0.919998]] 2025-10-28T22:06:30.344Z,1761689190.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535344,0.780407,0.323065],[-0.844513,-0.488095,-0.220365],[-0.014288,-0.390803,0.920363]] 2025-10-28T22:06:30.747Z,1761689190.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560668,0.766563,0.313102],[-0.827906,-0.512154,-0.228625],[-0.014898,-0.387402,0.921790]] 2025-10-28T22:06:31.177Z,1761689191.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585943,0.750899,0.304666],[-0.810188,-0.535277,-0.238899],[-0.016309,-0.386818,0.922012]] 2025-10-28T22:06:31.555Z,1761689191.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612188,0.734599,0.292558],[-0.790514,-0.560314,-0.247256],[-0.017709,-0.382639,0.923728]] 2025-10-28T22:06:31.982Z,1761689191.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639010,0.717083,0.278311],[-0.768945,-0.586230,-0.255066],[-0.019749,-0.376996,0.926004]] 2025-10-28T22:06:32.024Z,1761689192.024 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:06:32.024Z,1761689192.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:06:32.025Z,1761689192.025 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:06:32.025Z,1761689192.025 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:06:32.025Z,1761689192.025 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:06:32.025Z,1761689192.025 [marl:UpdateSpeed] Stopped 2025-10-28T22:06:32.025Z,1761689192.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:06:32.362Z,1761689192.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665676,0.698537,0.262531],[-0.745908,-0.612332,-0.262051],[-0.022296,-0.370264,0.928659]] 2025-10-28T22:06:32.771Z,1761689192.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692698,0.678235,0.245287],[-0.720796,-0.639251,-0.267977],[-0.024951,-0.362429,0.931677]] 2025-10-28T22:06:33.180Z,1761689193.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719514,0.655312,0.229926],[-0.693913,-0.665037,-0.276062],[-0.027998,-0.358179,0.933233]] 2025-10-28T22:06:33.582Z,1761689193.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745875,0.628903,0.219435],[-0.665373,-0.688243,-0.289137],[-0.030815,-0.361667,0.931798]] 2025-10-28T22:06:33.991Z,1761689193.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771756,0.600874,0.208188],[-0.635071,-0.711355,-0.301098],[-0.032827,-0.364588,0.930590]] 2025-10-28T22:06:34.028Z,1761689194.028 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:06:34.028Z,1761689194.028 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:06:34.028Z,1761689194.028 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateRudder:A] Stopped 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:06:34.029Z,1761689194.029 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:06:34.030Z,1761689194.030 [marl:UpdateCommandMode] Stopped 2025-10-28T22:06:34.030Z,1761689194.030 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:06:34.387Z,1761689194.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796436,0.569789,0.202557],[-0.603758,-0.730318,-0.319551],[-0.034145,-0.376797,0.925666]] 2025-10-28T22:06:34.442Z,1761689194.442 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:06:34.442Z,1761689194.442 [marl:UpdateRudder:B] Stopped 2025-10-28T22:06:34.442Z,1761689194.442 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:06:34.442Z,1761689194.442 [marl:UpdateRudder] Stopped 2025-10-28T22:06:34.442Z,1761689194.442 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:06:34.794Z,1761689194.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819058,0.538205,0.198695],[-0.572641,-0.745800,-0.340388],[-0.035011,-0.392578,0.919052]] 2025-10-28T22:06:35.193Z,1761689195.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839259,0.508550,0.192408],[-0.542575,-0.760216,-0.357328],[-0.035447,-0.404287,0.913945]] 2025-10-28T22:06:35.600Z,1761689195.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856653,0.480195,0.188572],[-0.514678,-0.770420,-0.376244],[-0.035391,-0.419364,0.907128]] 2025-10-28T22:06:36.001Z,1761689196.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871400,0.454395,0.184897],[-0.489342,-0.778433,-0.393175],[-0.034727,-0.433091,0.900681]] 2025-10-28T22:06:36.408Z,1761689196.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884608,0.430848,0.178433],[-0.465148,-0.787932,-0.403486],[-0.033248,-0.439925,0.897419]] 2025-10-28T22:06:36.812Z,1761689196.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896794,0.409649,0.167176],[-0.441316,-0.801180,-0.404167],[-0.031629,-0.436232,0.899278]] 2025-10-28T22:06:37.211Z,1761689197.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908028,0.389733,0.153599],[-0.417831,-0.816337,-0.398762],[-0.030022,-0.426266,0.904100]] 2025-10-28T22:06:37.616Z,1761689197.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918214,0.370461,0.140151],[-0.395025,-0.830639,-0.392420],[-0.028961,-0.415688,0.909046]] 2025-10-28T22:06:38.025Z,1761689198.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927936,0.350707,0.126253],[-0.371680,-0.845073,-0.384326],[-0.028093,-0.403555,0.914524]] 2025-10-28T22:06:38.428Z,1761689198.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937407,0.329897,0.111519],[-0.347144,-0.859905,-0.374237],[-0.027564,-0.389526,0.920603]] 2025-10-28T22:06:38.828Z,1761689198.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947013,0.306322,0.096605],[-0.320033,-0.874342,-0.364837],[-0.027292,-0.376422,0.926046]] 2025-10-28T22:06:39.230Z,1761689199.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956737,0.279163,0.081988],[-0.289664,-0.887394,-0.358645],[-0.027365,-0.366878,0.929866]] 2025-10-28T22:06:39.634Z,1761689199.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966064,0.249250,0.067785],[-0.256815,-0.898710,-0.355481],[-0.027685,-0.360826,0.932222]] 2025-10-28T22:06:40.045Z,1761689200.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974465,0.218124,0.053296],[-0.222614,-0.907466,-0.356298],[-0.029353,-0.359064,0.932851]] 2025-10-28T22:06:40.443Z,1761689200.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981745,0.186207,0.038782],[-0.187569,-0.914000,-0.359753],[-0.031542,-0.360460,0.932241]] 2025-10-28T22:06:40.848Z,1761689200.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987827,0.153584,0.024711],[-0.151710,-0.916037,-0.371294],[-0.034388,-0.370523,0.928186]] 2025-10-28T22:06:41.251Z,1761689201.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992577,0.121208,0.009946],[-0.115721,-0.916154,-0.383758],[-0.037402,-0.382060,0.923380]] 2025-10-28T22:06:41.656Z,1761689201.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995953,0.089692,-0.005740],[-0.080209,-0.915831,-0.393471],[-0.040548,-0.391418,0.919319]] 2025-10-28T22:06:42.076Z,1761689202.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998056,0.058225,-0.022249],[-0.044476,-0.915330,-0.400240],[-0.043669,-0.398472,0.916140]] 2025-10-28T22:06:42.462Z,1761689202.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998876,0.027734,-0.038445],[-0.009800,-0.914282,-0.404959],[-0.046381,-0.404127,0.913526]] 2025-10-28T22:06:42.870Z,1761689202.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998506,-0.002842,-0.054565],[0.024572,-0.915318,-0.401981],[-0.048802,-0.402721,0.914021]] 2025-10-28T22:06:43.271Z,1761689203.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996982,-0.034137,-0.069731],[0.058896,-0.917738,-0.392795],[-0.050586,-0.395717,0.916978]] 2025-10-28T22:06:43.675Z,1761689203.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994384,-0.064583,-0.083847],[0.091982,-0.919234,-0.382817],[-0.052352,-0.388379,0.920011]] 2025-10-28T22:06:44.085Z,1761689204.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990767,-0.094412,-0.097298],[0.124437,-0.918139,-0.376212],[-0.053814,-0.384846,0.921411]] 2025-10-28T22:06:44.484Z,1761689204.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986149,-0.124014,-0.110138],[0.156494,-0.915699,-0.370143],[-0.054951,-0.382252,0.922423]] 2025-10-28T22:06:44.888Z,1761689204.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980452,-0.153506,-0.123082],[0.188575,-0.911637,-0.365181],[-0.056149,-0.381253,0.922764]] 2025-10-28T22:06:45.290Z,1761689205.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973865,-0.182030,-0.135841],[0.219771,-0.906210,-0.361226],[-0.057346,-0.381639,0.922531]] 2025-10-28T22:06:45.338Z,1761689205.338 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed] Stopped 2025-10-28T22:06:45.339Z,1761689205.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:06:45.694Z,1761689205.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966299,-0.210397,-0.148324],[0.250615,-0.900530,-0.355300],[-0.058816,-0.380499,0.922909]] 2025-10-28T22:06:46.099Z,1761689206.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957882,-0.238018,-0.160655],[0.280712,-0.894027,-0.349166],[-0.060522,-0.379558,0.923186]] 2025-10-28T22:06:46.503Z,1761689206.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948551,-0.265769,-0.172097],[0.310450,-0.887488,-0.340567],[-0.062222,-0.376472,0.924336]] 2025-10-28T22:06:46.909Z,1761689206.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938259,-0.293081,-0.183775],[0.339978,-0.879374,-0.333342],[-0.063910,-0.375241,0.924721]] 2025-10-28T22:06:47.310Z,1761689207.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926987,-0.319926,-0.195811],[0.369254,-0.870095,-0.326477],[-0.065926,-0.374944,0.924700]] 2025-10-28T22:06:47.361Z,1761689207.361 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:06:47.361Z,1761689207.361 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:06:47.361Z,1761689207.361 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateRudder:A] Stopped 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:06:47.362Z,1761689207.362 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:06:47.363Z,1761689207.363 [marl:UpdateCommandMode] Stopped 2025-10-28T22:06:47.363Z,1761689207.363 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:06:47.714Z,1761689207.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914976,-0.345745,-0.208035],[0.397778,-0.859436,-0.321157],[-0.067755,-0.376603,0.923894]] 2025-10-28T22:06:47.746Z,1761689207.746 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:06:47.746Z,1761689207.746 [marl:UpdateRudder:B] Stopped 2025-10-28T22:06:47.746Z,1761689207.746 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:06:47.746Z,1761689207.746 [marl:UpdateRudder] Stopped 2025-10-28T22:06:47.746Z,1761689207.746 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:06:48.125Z,1761689208.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902140,-0.371738,-0.218984],[0.425837,-0.848752,-0.313500],[-0.069323,-0.376072,0.923993]] 2025-10-28T22:06:48.364Z,1761689208.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:06:48.523Z,1761689208.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888552,-0.396935,-0.230041],[0.453284,-0.836934,-0.306718],[-0.070782,-0.376809,0.923583]] 2025-10-28T22:06:48.930Z,1761689208.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873669,-0.422835,-0.240650],[0.481095,-0.824506,-0.297890],[-0.072459,-0.376033,0.923769]] 2025-10-28T22:06:49.332Z,1761689209.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857450,-0.449308,-0.250801],[0.509195,-0.811132,-0.287723],[-0.074157,-0.374414,0.924291]] 2025-10-28T22:06:49.368Z,1761689209.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:06:49.735Z,1761689209.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840002,-0.475748,-0.260886],[0.537293,-0.796332,-0.277798],[-0.075590,-0.373523,0.924536]] 2025-10-28T22:06:50.138Z,1761689210.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821808,-0.499386,-0.274310],[0.564575,-0.778570,-0.274015],[-0.076730,-0.380056,0.921775]] 2025-10-28T22:06:50.550Z,1761689210.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802462,-0.522637,-0.287933],[0.591595,-0.759843,-0.269545],[-0.077910,-0.386640,0.918934]] 2025-10-28T22:06:50.949Z,1761689210.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781769,-0.547795,-0.297922],[0.618565,-0.741658,-0.259462],[-0.078825,-0.387124,0.918652]] 2025-10-28T22:06:51.350Z,1761689211.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759815,-0.571606,-0.309753],[0.645195,-0.721598,-0.251036],[-0.080023,-0.390592,0.917079]] 2025-10-28T22:06:51.755Z,1761689211.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737342,-0.594157,-0.321408],[0.670619,-0.701036,-0.242527],[-0.081219,-0.394368,0.915356]] 2025-10-28T22:06:52.165Z,1761689212.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714386,-0.616090,-0.331792],[0.694875,-0.680473,-0.232604],[-0.082470,-0.396723,0.914226]] 2025-10-28T22:06:52.569Z,1761689212.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691379,-0.637373,-0.340221],[0.717593,-0.660535,-0.220803],[-0.083994,-0.396799,0.914054]] 2025-10-28T22:06:52.966Z,1761689212.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667734,-0.659464,-0.345311],[0.739452,-0.641011,-0.205710],[-0.085689,-0.392700,0.915666]] 2025-10-28T22:06:53.371Z,1761689213.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644252,-0.680118,-0.349827],[0.759872,-0.621115,-0.191860],[-0.086795,-0.389430,0.916957]] 2025-10-28T22:06:54.184Z,1761689214.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596635,-0.720018,-0.354401],[0.797675,-0.580494,-0.163528],[-0.087984,-0.380264,0.920684]] 2025-10-28T22:06:54.582Z,1761689214.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572097,-0.738575,-0.356668],[0.815380,-0.559161,-0.149984],[-0.088661,-0.376625,0.922113]] 2025-10-28T22:06:54.986Z,1761689214.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547691,-0.755338,-0.359860],[0.831959,-0.537282,-0.138464],[-0.088759,-0.375224,0.922675]] 2025-10-28T22:06:55.390Z,1761689215.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522178,-0.771344,-0.363811],[0.848231,-0.514004,-0.127685],[-0.088511,-0.375270,0.922680]] 2025-10-28T22:06:55.799Z,1761689215.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496133,-0.786623,-0.367527],[0.863812,-0.489923,-0.117490],[-0.087640,-0.375765,0.922562]] 2025-10-28T22:06:56.198Z,1761689216.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469944,-0.799084,-0.374989],[0.878425,-0.465110,-0.109733],[-0.086725,-0.380968,0.920512]] 2025-10-28T22:06:56.602Z,1761689216.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442757,-0.811438,-0.381490],[0.892513,-0.439624,-0.100758],[-0.085953,-0.385096,0.918865]] 2025-10-28T22:06:57.007Z,1761689217.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415126,-0.823063,-0.387605],[0.905775,-0.413771,-0.091460],[-0.085103,-0.389050,0.917277]] 2025-10-28T22:06:57.413Z,1761689217.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386492,-0.832607,-0.396724],[0.918423,-0.386810,-0.082934],[-0.084405,-0.396414,0.914184]] 2025-10-28T22:06:57.814Z,1761689217.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357926,-0.839970,-0.407848],[0.929999,-0.359796,-0.075156],[-0.083613,-0.406198,0.909952]] 2025-10-28T22:06:58.219Z,1761689218.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328924,-0.848453,-0.414651],[0.940701,-0.332973,-0.064892],[-0.083009,-0.411407,0.907664]] 2025-10-28T22:06:58.623Z,1761689218.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299885,-0.857719,-0.417597],[0.950424,-0.306360,-0.053273],[-0.082242,-0.412870,0.907069]] 2025-10-28T22:06:58.652Z,1761689218.652 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:06:58.652Z,1761689218.652 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:06:58.652Z,1761689218.652 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:06:58.653Z,1761689218.653 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:06:58.653Z,1761689218.653 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:06:58.653Z,1761689218.653 [marl:UpdateSpeed] Stopped 2025-10-28T22:06:58.653Z,1761689218.653 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:06:59.048Z,1761689219.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240699,-0.876225,-0.417486],[0.967207,-0.252471,-0.027748],[-0.081089,-0.410474,0.908260]] 2025-10-28T22:06:59.835Z,1761689219.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210814,-0.885949,-0.413100],[0.974173,-0.225381,-0.013780],[-0.080896,-0.405336,0.910582]] 2025-10-28T22:07:00.247Z,1761689220.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152222,-0.898688,-0.411325],[0.985059,-0.171868,0.010961],[-0.080544,-0.403511,0.911423]] 2025-10-28T22:07:00.650Z,1761689220.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122068,-0.903466,-0.410911],[0.989228,-0.144445,0.023722],[-0.080786,-0.403589,0.911367]] 2025-10-28T22:07:00.674Z,1761689220.674 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:07:00.674Z,1761689220.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:07:00.674Z,1761689220.674 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateRudder:A] Stopped 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:07:00.675Z,1761689220.675 [marl:UpdateCommandMode] Stopped 2025-10-28T22:07:00.676Z,1761689220.676 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:07:01.053Z,1761689221.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091801,-0.907718,-0.409415],[0.992496,-0.116756,0.036318],[-0.080768,-0.403009,0.911625]] 2025-10-28T22:07:01.091Z,1761689221.091 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:07:01.091Z,1761689221.091 [marl:UpdateRudder:B] Stopped 2025-10-28T22:07:01.091Z,1761689221.091 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:07:01.091Z,1761689221.091 [marl:UpdateRudder] Stopped 2025-10-28T22:07:01.091Z,1761689221.091 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:07:01.455Z,1761689221.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061496,-0.910277,-0.409406],[0.994867,-0.088929,0.048289],[-0.080364,-0.404335,0.911074]] 2025-10-28T22:07:01.861Z,1761689221.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031033,-0.912154,-0.408671],[0.996310,-0.060962,0.060412],[-0.080019,-0.405288,0.910680]] 2025-10-28T22:07:02.260Z,1761689222.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000136,-0.913232,-0.407439],[0.996786,-0.032515,0.073211],[-0.080107,-0.406140,0.910293]] 2025-10-28T22:07:02.662Z,1761689222.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030310,-0.913267,-0.406233],[0.996314,-0.005025,0.085634],[-0.080248,-0.407331,0.909748]] 2025-10-28T22:07:03.068Z,1761689223.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059363,-0.912253,-0.405302],[0.994993,0.021371,0.097631],[-0.080403,-0.409068,0.908955]] 2025-10-28T22:07:03.471Z,1761689223.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087699,-0.910845,-0.403324],[0.992889,0.047209,0.109281],[-0.080497,-0.410039,0.908509]] 2025-10-28T22:07:03.874Z,1761689223.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116216,-0.909500,-0.399128],[0.989924,0.073335,0.121132],[-0.080899,-0.409183,0.908859]] 2025-10-28T22:07:04.278Z,1761689224.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144738,-0.907525,-0.394272],[0.986065,0.099264,0.133502],[-0.082019,-0.408100,0.909245]] 2025-10-28T22:07:04.683Z,1761689224.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171658,-0.905288,-0.388571],[0.981632,0.123842,0.145128],[-0.083261,-0.406346,0.909918]] 2025-10-28T22:07:05.091Z,1761689225.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198000,-0.902160,-0.383281],[0.976571,0.147936,0.156280],[-0.084288,-0.405244,0.910315]] 2025-10-28T22:07:05.491Z,1761689225.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223408,-0.898663,-0.377483],[0.970972,0.171230,0.167013],[-0.085452,-0.403837,0.910831]] 2025-10-28T22:07:05.894Z,1761689225.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247736,-0.895179,-0.370514],[0.964986,0.193975,0.176565],[-0.086187,-0.401283,0.911890]] 2025-10-28T22:07:06.298Z,1761689226.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271244,-0.889688,-0.367263],[0.958670,0.215669,0.185577],[-0.085899,-0.402421,0.911416]] 2025-10-28T22:07:06.705Z,1761689226.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294740,-0.881330,-0.369305],[0.951897,0.236904,0.194343],[-0.083791,-0.408821,0.908760]] 2025-10-28T22:07:07.130Z,1761689227.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319870,-0.871738,-0.371156],[0.944035,0.259954,0.203034],[-0.080509,-0.415328,0.906102]] 2025-10-28T22:07:07.523Z,1761689227.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345175,-0.862814,-0.369332],[0.935476,0.284528,0.209591],[-0.075752,-0.417847,0.905354]] 2025-10-28T22:07:07.915Z,1761689227.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371353,-0.853766,-0.364939],[0.925856,0.310904,0.214777],[-0.069908,-0.417640,0.905919]] 2025-10-28T22:07:08.321Z,1761689228.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398153,-0.842658,-0.362494],[0.915085,0.337296,0.221021],[-0.063977,-0.419713,0.905399]] 2025-10-28T22:07:08.722Z,1761689228.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425945,-0.830968,-0.357860],[0.902867,0.364895,0.227340],[-0.058331,-0.419934,0.905678]] 2025-10-28T22:07:09.164Z,1761689229.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454138,-0.819026,-0.350649],[0.889331,0.393155,0.233495],[-0.053379,-0.417882,0.906932]] 2025-10-28T22:07:09.539Z,1761689229.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483174,-0.807341,-0.338738],[0.874121,0.422935,0.238826],[-0.049550,-0.411493,0.910065]] 2025-10-28T22:07:09.939Z,1761689229.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512940,-0.795301,-0.323092],[0.857111,0.453681,0.243998],[-0.047471,-0.402082,0.914372]] 2025-10-28T22:07:10.339Z,1761689230.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543174,-0.783054,-0.302966],[0.838277,0.485368,0.248414],[-0.047471,-0.388902,0.920055]] 2025-10-28T22:07:10.742Z,1761689230.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573274,-0.767922,-0.285750],[0.817855,0.515141,0.256405],[-0.049698,-0.380692,0.923365]] 2025-10-28T22:07:11.173Z,1761689231.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602483,-0.750585,-0.271360],[0.796330,0.542481,0.267529],[-0.053595,-0.377274,0.924550]] 2025-10-28T22:07:11.555Z,1761689231.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630199,-0.731248,-0.261011],[0.774201,0.566342,0.282612],[-0.058838,-0.380176,0.923041]] 2025-10-28T22:07:11.955Z,1761689231.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655534,-0.712030,-0.251572],[0.752392,0.587293,0.298317],[-0.064664,-0.384838,0.920716]] 2025-10-28T22:07:12.007Z,1761689232.007 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:07:12.007Z,1761689232.007 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:07:12.012Z,1761689232.012 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:07:12.012Z,1761689232.012 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:07:12.012Z,1761689232.012 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:07:12.012Z,1761689232.012 [marl:UpdateSpeed] Stopped 2025-10-28T22:07:12.013Z,1761689232.013 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:07:12.359Z,1761689232.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678355,-0.693513,-0.242641],[0.731375,0.605821,0.313165],[-0.070188,-0.389898,0.918179]] 2025-10-28T22:07:12.767Z,1761689232.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698814,-0.674906,-0.236982],[0.711365,0.620997,0.329124],[-0.074963,-0.398577,0.914066]] 2025-10-28T22:07:13.179Z,1761689233.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717150,-0.657518,-0.231009],[0.692472,0.634905,0.342606],[-0.078601,-0.405667,0.910635]] 2025-10-28T22:07:13.571Z,1761689233.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734038,-0.639669,-0.228062],[0.674277,0.646503,0.356910],[-0.080861,-0.415763,0.905871]] 2025-10-28T22:07:13.975Z,1761689233.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749941,-0.622384,-0.224112],[0.656407,0.658173,0.368698],[-0.081967,-0.423611,0.902128]] 2025-10-28T22:07:14.047Z,1761689234.047 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:07:14.047Z,1761689234.047 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:07:14.047Z,1761689234.047 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:07:14.048Z,1761689234.048 [marl:UpdateRudder:A] Stopped 2025-10-28T22:07:14.048Z,1761689234.048 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:07:14.052Z,1761689234.052 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:07:14.052Z,1761689234.052 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:07:14.052Z,1761689234.052 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:07:14.053Z,1761689234.053 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:07:14.053Z,1761689234.053 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:07:14.053Z,1761689234.053 [marl:UpdateCommandMode] Stopped 2025-10-28T22:07:14.053Z,1761689234.053 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:07:14.380Z,1761689234.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765283,-0.605107,-0.219517],[0.638458,0.670147,0.378516],[-0.081934,-0.429824,0.899187]] 2025-10-28T22:07:14.405Z,1761689234.405 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:07:14.405Z,1761689234.405 [marl:UpdateRudder:B] Stopped 2025-10-28T22:07:14.405Z,1761689234.405 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:07:14.405Z,1761689234.405 [marl:UpdateRudder] Stopped 2025-10-28T22:07:14.405Z,1761689234.405 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:07:14.789Z,1761689234.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780176,-0.587907,-0.213752],[0.620330,0.682998,0.385622],[-0.080717,-0.433450,0.897555]] 2025-10-28T22:07:15.186Z,1761689235.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794752,-0.570286,-0.207707],[0.601849,0.696304,0.391073],[-0.078396,-0.435814,0.896616]] 2025-10-28T22:07:15.590Z,1761689235.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809172,-0.552077,-0.201127],[0.582713,0.710069,0.395281],[-0.075412,-0.437050,0.896270]] 2025-10-28T22:07:16.005Z,1761689236.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823802,-0.533321,-0.192143],[0.562241,0.725431,0.397033],[-0.072359,-0.435107,0.897466]] 2025-10-28T22:07:16.033Z,1761689236.033 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:07:16.141Z,1761689236.141 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:07:16.141Z,1761689236.141 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:07:16.393Z,1761689236.393 [DAT](INFO): DAT read: 2025-10-28T22:07:16.393Z,1761689236.393 [DAT](INFO): DAT read: Tx time:22:07:16.1448 2025-10-28T22:07:16.394Z,1761689236.394 [DAT](INFO): Ping request sent. 2025-10-28T22:07:16.394Z,1761689236.394 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:07:16.394Z,1761689236.394 [DAT](INFO): publishing transmit ping time 2025-10-28T22:07:16.395Z,1761689236.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000953 2025-10-28T22:07:16.403Z,1761689236.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838790,-0.512665,-0.183320],[0.540056,0.740714,0.399602],[-0.069074,-0.434185,0.898171]] 2025-10-28T22:07:16.645Z,1761689236.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250993 2025-10-28T22:07:16.803Z,1761689236.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854215,-0.490569,-0.172215],[0.515741,0.757602,0.400064],[-0.065788,-0.430559,0.900162]] 2025-10-28T22:07:16.897Z,1761689236.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976 2025-10-28T22:07:17.152Z,1761689237.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757400 2025-10-28T22:07:17.209Z,1761689237.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869343,-0.468799,-0.156430],[0.490157,0.777433,0.394137],[-0.063157,-0.419315,0.905641]] 2025-10-28T22:07:17.401Z,1761689237.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007023 2025-10-28T22:07:17.615Z,1761689237.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883447,-0.446383,-0.142351],[0.464462,0.794420,0.391371],[-0.061615,-0.411872,0.909156]] 2025-10-28T22:07:17.654Z,1761689237.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259517 2025-10-28T22:07:17.905Z,1761689237.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511052 2025-10-28T22:07:18.018Z,1761689238.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897482,-0.422243,-0.127424],[0.436886,0.811486,0.388100],[-0.060470,-0.403982,0.912766]] 2025-10-28T22:07:18.157Z,1761689238.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763006 2025-10-28T22:07:18.413Z,1761689238.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019142 2025-10-28T22:07:18.420Z,1761689238.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910633,-0.397312,-0.113537],[0.408849,0.826490,0.386984],[-0.059916,-0.398820,0.915070]] 2025-10-28T22:07:18.665Z,1761689238.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271078 2025-10-28T22:07:18.822Z,1761689238.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923435,-0.370815,-0.098816],[0.379039,0.841081,0.385890],[-0.059982,-0.393800,0.917237]] 2025-10-28T22:07:18.917Z,1761689238.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522990 2025-10-28T22:07:19.169Z,1761689239.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775478 2025-10-28T22:07:19.233Z,1761689239.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935440,-0.342743,-0.086484],[0.348315,0.852049,0.390755],[-0.060240,-0.395652,0.916423]] 2025-10-28T22:07:19.421Z,1761689239.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027061 2025-10-28T22:07:19.488Z,1761689239.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:07:19.630Z,1761689239.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946669,-0.313399,-0.074824],[0.316461,0.860702,0.398804],[-0.060584,-0.401215,0.913978]] 2025-10-28T22:07:19.673Z,1761689239.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279096 2025-10-28T22:07:19.925Z,1761689239.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531001 2025-10-28T22:07:20.035Z,1761689240.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957052,-0.283298,-0.061594],[0.283346,0.869031,0.405587],[-0.061375,-0.405620,0.911979]] 2025-10-28T22:07:20.177Z,1761689240.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783044 2025-10-28T22:07:20.433Z,1761689240.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038919 2025-10-28T22:07:20.441Z,1761689240.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966269,-0.253047,-0.047877],[0.249840,0.875942,0.412680],[-0.062490,-0.410721,0.909617]] 2025-10-28T22:07:20.493Z,1761689240.493 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:07:20.685Z,1761689240.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291051 2025-10-28T22:07:20.851Z,1761689240.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974497,-0.221896,-0.033417],[0.215292,0.882533,0.418073],[-0.063278,-0.414605,0.907799]] 2025-10-28T22:07:20.937Z,1761689240.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543063 2025-10-28T22:07:21.189Z,1761689241.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794989 2025-10-28T22:07:21.246Z,1761689241.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981447,-0.190908,-0.017789],[0.180694,0.889906,0.418828],[-0.064127,-0.414271,0.907892]] 2025-10-28T22:07:21.441Z,1761689241.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047018 2025-10-28T22:07:21.650Z,1761689241.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986989,-0.160752,-0.003427],[0.147174,0.894622,0.421890],[-0.064754,-0.416905,0.906641]] 2025-10-28T22:07:21.693Z,1761689241.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299144 2025-10-28T22:07:21.945Z,1761689241.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550977 2025-10-28T22:07:22.055Z,1761689242.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991329,-0.130957,0.010816],[0.113923,0.897563,0.425913],[-0.065484,-0.420987,0.904700]] 2025-10-28T22:07:22.198Z,1761689242.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804549 2025-10-28T22:07:22.450Z,1761689242.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.056006 2025-10-28T22:07:22.466Z,1761689242.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994366,-0.103015,0.024989],[0.082796,0.901991,0.423742],[-0.066191,-0.419286,0.905438]] 2025-10-28T22:07:22.701Z,1761689242.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306995 2025-10-28T22:07:22.866Z,1761689242.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996283,-0.077113,0.038375],[0.053944,0.905935,0.419966],[-0.067151,-0.416335,0.906728]] 2025-10-28T22:07:22.953Z,1761689242.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559127 2025-10-28T22:07:23.205Z,1761689243.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811056 2025-10-28T22:07:23.266Z,1761689243.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997277,-0.053772,0.050471],[0.028153,0.910125,0.413377],[-0.068163,-0.410830,0.909160]] 2025-10-28T22:07:23.457Z,1761689243.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063406 2025-10-28T22:07:23.671Z,1761689243.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997625,-0.031199,0.061411],[0.003630,0.914119,0.405429],[-0.068786,-0.404243,0.912062]] 2025-10-28T22:07:23.710Z,1761689243.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315903 2025-10-28T22:07:23.961Z,1761689243.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567046 2025-10-28T22:07:24.074Z,1761689244.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997412,-0.009818,0.071222],[-0.019771,0.914982,0.403010],[-0.069123,-0.403376,0.912420]] 2025-10-28T22:07:24.213Z,1761689244.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818982 2025-10-28T22:07:24.465Z,1761689244.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070950 2025-10-28T22:07:24.491Z,1761689244.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996753,0.010910,0.079778],[-0.042323,0.913863,0.403810],[-0.068500,-0.405875,0.911358]] 2025-10-28T22:07:24.718Z,1761689244.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323460 2025-10-28T22:07:24.886Z,1761689244.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995637,0.031716,0.087761],[-0.064828,0.911552,0.406042],[-0.067120,-0.409960,0.909630]] 2025-10-28T22:07:24.970Z,1761689244.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575701 2025-10-28T22:07:25.221Z,1761689245.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826958 2025-10-28T22:07:25.288Z,1761689245.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994037,0.052311,0.095673],[-0.087341,0.907258,0.411405],[-0.065279,-0.417308,0.906418]] 2025-10-28T22:07:25.352Z,1761689245.352 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:07:25.352Z,1761689245.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:07:25.352Z,1761689245.352 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:07:25.352Z,1761689245.352 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:07:25.353Z,1761689245.353 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:07:25.353Z,1761689245.353 [marl:UpdateSpeed] Stopped 2025-10-28T22:07:25.353Z,1761689245.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:07:25.474Z,1761689245.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079853 2025-10-28T22:07:25.691Z,1761689245.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991887,0.073384,0.103802],[-0.110403,0.902066,0.417238],[-0.063018,-0.425313,0.902850]] 2025-10-28T22:07:25.725Z,1761689245.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331131 2025-10-28T22:07:25.977Z,1761689245.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583350 2025-10-28T22:07:26.095Z,1761689246.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989141,0.094968,0.112163],[-0.133963,0.896485,0.422336],[-0.060444,-0.432776,0.899473]] 2025-10-28T22:07:26.229Z,1761689246.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835057 2025-10-28T22:07:26.482Z,1761689246.482 [DAT](INFO): Reached modem response timeout 2025-10-28T22:07:26.508Z,1761689246.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985583,0.117985,0.121269],[-0.159010,0.890830,0.425602],[-0.057815,-0.438749,0.896748]] 2025-10-28T22:07:26.915Z,1761689246.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980733,0.144330,0.131649],[-0.187373,0.885632,0.424909],[-0.055266,-0.441390,0.895612]] 2025-10-28T22:07:27.306Z,1761689247.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974210,0.173877,0.143808],[-0.219345,0.879279,0.422795],[-0.052933,-0.443435,0.894742]] 2025-10-28T22:07:27.359Z,1761689247.359 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateRudder:A] Stopped 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:07:27.360Z,1761689247.360 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:07:27.361Z,1761689247.361 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:07:27.361Z,1761689247.361 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:07:27.361Z,1761689247.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:07:27.361Z,1761689247.361 [marl:UpdateCommandMode] Stopped 2025-10-28T22:07:27.361Z,1761689247.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:07:27.710Z,1761689247.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966106,0.205224,0.156596],[-0.252966,0.873541,0.415853],[-0.051450,-0.441372,0.895848]] 2025-10-28T22:07:27.761Z,1761689247.761 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:07:27.761Z,1761689247.761 [marl:UpdateRudder:B] Stopped 2025-10-28T22:07:27.762Z,1761689247.762 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:07:27.762Z,1761689247.762 [marl:UpdateRudder] Stopped 2025-10-28T22:07:27.762Z,1761689247.762 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:07:28.115Z,1761689248.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956829,0.238285,0.166430],[-0.286230,0.872005,0.397089],[-0.050508,-0.427584,0.902564]] 2025-10-28T22:07:28.520Z,1761689248.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946548,0.271418,0.174296],[-0.318686,0.870426,0.375231],[-0.049867,-0.410720,0.910397]] 2025-10-28T22:07:28.753Z,1761689248.753 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:07:28.754Z,1761689248.754 [DAT](INFO): response not received 2025-10-28T22:07:28.754Z,1761689248.754 [DAT](ERROR): No response from remote modem. 2025-10-28T22:07:28.926Z,1761689248.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935084,0.305435,0.179795],[-0.351023,0.868218,0.350685],[-0.048990,-0.391033,0.919072]] 2025-10-28T22:07:29.326Z,1761689249.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922514,0.338443,0.185538],[-0.382984,0.862302,0.331297],[-0.047864,-0.376684,0.925104]] 2025-10-28T22:07:29.732Z,1761689249.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908866,0.370334,0.191875],[-0.414511,0.853061,0.316965],[-0.046299,-0.367613,0.928826]] 2025-10-28T22:07:30.134Z,1761689250.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895075,0.398828,0.199442],[-0.443609,0.841847,0.307414],[-0.045294,-0.363633,0.930440]] 2025-10-28T22:07:30.539Z,1761689250.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882247,0.421987,0.208729],[-0.468640,0.829484,0.303862],[-0.044912,-0.365900,0.929570]] 2025-10-28T22:07:30.946Z,1761689250.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869786,0.441022,0.221294],[-0.491407,0.814779,0.307659],[-0.044621,-0.376343,0.925405]] 2025-10-28T22:07:31.348Z,1761689251.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856895,0.457555,0.237435],[-0.513608,0.797149,0.317427],[-0.044031,-0.393950,0.918077]] 2025-10-28T22:07:31.750Z,1761689251.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843309,0.472628,0.255839],[-0.535673,0.777663,0.329083],[-0.043423,-0.414564,0.908984]] 2025-10-28T22:07:32.154Z,1761689252.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829145,0.487813,0.273051],[-0.557411,0.758604,0.337361],[-0.042568,-0.431923,0.900905]] 2025-10-28T22:07:32.559Z,1761689252.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814406,0.504144,0.287370],[-0.578832,0.740900,0.340619],[-0.041192,-0.443741,0.895208]] 2025-10-28T22:07:32.975Z,1761689252.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799321,0.520215,0.300771],[-0.599576,0.723720,0.341669],[-0.039933,-0.453438,0.890393]] 2025-10-28T22:07:33.367Z,1761689253.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783426,0.537551,0.311901],[-0.620269,0.707673,0.338327],[-0.038856,-0.458517,0.887836]] 2025-10-28T22:07:33.775Z,1761689253.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766121,0.557993,0.318907],[-0.641604,0.692934,0.328918],[-0.037448,-0.456603,0.888882]] 2025-10-28T22:07:34.174Z,1761689254.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746475,0.581349,0.323742],[-0.664441,0.677516,0.315420],[-0.035971,-0.450561,0.892021]] 2025-10-28T22:07:34.581Z,1761689254.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724866,0.607730,0.324397],[-0.688043,0.662017,0.297204],[-0.034136,-0.438633,0.898018]] 2025-10-28T22:07:35.037Z,1761689255.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702006,0.634680,0.323061],[-0.711415,0.645847,0.277074],[-0.032795,-0.424338,0.904910]] 2025-10-28T22:07:35.387Z,1761689255.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677616,0.661672,0.320977],[-0.734712,0.628174,0.256116],[-0.032164,-0.409374,0.911799]] 2025-10-28T22:07:35.794Z,1761689255.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652017,0.686566,0.321715],[-0.757519,0.607914,0.237920],[-0.032227,-0.398833,0.916457]] 2025-10-28T22:07:36.194Z,1761689256.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625405,0.709723,0.324287],[-0.779611,0.585797,0.221469],[-0.032785,-0.391326,0.919668]] 2025-10-28T22:07:36.599Z,1761689256.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597571,0.732649,0.325783],[-0.801122,0.562451,0.204578],[-0.033353,-0.383241,0.923046]] 2025-10-28T22:07:37.017Z,1761689257.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568507,0.754998,0.326768],[-0.821995,0.537490,0.188228],[-0.033523,-0.375611,0.926171]] 2025-10-28T22:07:37.410Z,1761689257.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538955,0.774066,0.332188],[-0.841658,0.510683,0.175545],[-0.033759,-0.374200,0.926733]] 2025-10-28T22:07:37.814Z,1761689257.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509675,0.791047,0.338343],[-0.859704,0.483682,0.164196],[-0.033763,-0.374561,0.926587]] 2025-10-28T22:07:38.218Z,1761689258.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480855,0.805585,0.346137],[-0.876176,0.456381,0.155024],[-0.033085,-0.377821,0.925288]] 2025-10-28T22:07:38.623Z,1761689258.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452516,0.817581,0.356077],[-0.891180,0.428967,0.147603],[-0.032068,-0.384121,0.922726]] 2025-10-28T22:07:38.647Z,1761689258.647 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:07:38.647Z,1761689258.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:07:38.647Z,1761689258.647 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:07:38.652Z,1761689258.652 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:07:38.652Z,1761689258.652 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:07:38.652Z,1761689258.652 [marl:UpdateSpeed] Stopped 2025-10-28T22:07:38.652Z,1761689258.652 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:07:39.036Z,1761689259.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424859,0.828364,0.365113],[-0.904737,0.402245,0.140178],[-0.030746,-0.389887,0.920349]] 2025-10-28T22:07:39.431Z,1761689259.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397950,0.838450,0.372341],[-0.916950,0.376329,0.132586],[-0.028956,-0.394181,0.918577]] 2025-10-28T22:07:39.834Z,1761689259.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371048,0.845854,0.383215],[-0.928234,0.349643,0.127009],[-0.026557,-0.402840,0.914885]] 2025-10-28T22:07:40.239Z,1761689260.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345680,0.851872,0.393470],[-0.938063,0.324139,0.122358],[-0.023306,-0.411397,0.911158]] 2025-10-28T22:07:40.645Z,1761689260.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320375,0.854721,0.408426],[-0.947097,0.297732,0.119847],[-0.019166,-0.425215,0.904889]] 2025-10-28T22:07:40.673Z,1761689260.673 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:07:40.673Z,1761689260.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:07:40.673Z,1761689260.673 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:07:40.673Z,1761689260.673 [marl:UpdateRudder:A] Stopped 2025-10-28T22:07:40.673Z,1761689260.673 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode] Stopped 2025-10-28T22:07:40.674Z,1761689260.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:07:41.047Z,1761689261.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295756,0.856314,0.423385],[-0.955150,0.271910,0.117273],[-0.014700,-0.439080,0.898328]] 2025-10-28T22:07:41.094Z,1761689261.094 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:07:41.094Z,1761689261.094 [marl:UpdateRudder:B] Stopped 2025-10-28T22:07:41.094Z,1761689261.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:07:41.094Z,1761689261.094 [marl:UpdateRudder] Stopped 2025-10-28T22:07:41.094Z,1761689261.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:07:41.458Z,1761689261.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271695,0.859073,0.433791],[-0.962328,0.247355,0.112875],[-0.010332,-0.448117,0.893915]] 2025-10-28T22:07:41.855Z,1761689261.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248434,0.862697,0.440493],[-0.968626,0.224377,0.106857],[-0.006651,-0.453220,0.891374]] 2025-10-28T22:07:42.260Z,1761689262.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225933,0.866757,0.444620],[-0.974133,0.203091,0.099092],[-0.004410,-0.455507,0.890221]] 2025-10-28T22:07:42.662Z,1761689262.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203132,0.874798,0.439847],[-0.979145,0.183143,0.087943],[-0.003622,-0.448538,0.893756]] 2025-10-28T22:07:43.070Z,1761689263.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178943,0.885449,0.428904],[-0.983852,0.162787,0.074407],[-0.003937,-0.435293,0.900280]] 2025-10-28T22:07:43.474Z,1761689263.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151286,0.897032,0.415267],[-0.988481,0.139044,0.059760],[-0.004134,-0.419524,0.907735]] 2025-10-28T22:07:43.874Z,1761689263.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120814,0.907391,0.402549],[-0.992665,0.112281,0.044827],[-0.004523,-0.405012,0.914300]] 2025-10-28T22:07:44.281Z,1761689264.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088304,0.917938,0.386772],[-0.996080,0.083407,0.029463],[-0.005214,-0.387857,0.921705]] 2025-10-28T22:07:44.699Z,1761689264.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018803,0.931566,0.363086],[-0.999803,0.019828,0.000904],[-0.006358,-0.363031,0.931755]] 2025-10-28T22:07:45.497Z,1761689265.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056179,0.929537,0.364424],[-0.998413,-0.050839,-0.024239],[-0.004004,-0.365207,0.930918]] 2025-10-28T22:07:45.904Z,1761689265.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094667,0.922451,0.374329],[-0.995509,-0.087392,-0.036404],[-0.000868,-0.376094,0.926581]] 2025-10-28T22:07:46.303Z,1761689266.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131993,0.912380,0.387480],[-0.991246,-0.122669,-0.048821],[0.002988,-0.390532,0.920585]] 2025-10-28T22:07:46.707Z,1761689266.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165942,0.899804,0.403505],[-0.986115,-0.154073,-0.061962],[0.006416,-0.408184,0.912877]] 2025-10-28T22:07:47.204Z,1761689267.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195747,0.886372,0.419556],[-0.980610,-0.181010,-0.075100],[0.009377,-0.426121,0.904617]] 2025-10-28T22:07:47.512Z,1761689267.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222750,0.873281,0.433316],[-0.974798,-0.205144,-0.087668],[0.012333,-0.441923,0.896968]] 2025-10-28T22:07:47.915Z,1761689267.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247348,0.860819,0.444758],[-0.968813,-0.226767,-0.099892],[0.014868,-0.455595,0.890063]] 2025-10-28T22:07:48.319Z,1761689268.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269719,0.851895,0.448917],[-0.962787,-0.246870,-0.109986],[0.017128,-0.461877,0.886779]] 2025-10-28T22:07:48.722Z,1761689268.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291899,0.848405,0.441593],[-0.956266,-0.267915,-0.117376],[0.018727,-0.456542,0.889505]] 2025-10-28T22:07:49.174Z,1761689269.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313991,0.848416,0.426146],[-0.949221,-0.289857,-0.122323],[0.019741,-0.442914,0.896347]] 2025-10-28T22:07:49.530Z,1761689269.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338281,0.848836,0.406255],[-0.940818,-0.314544,-0.126188],[0.020672,-0.424899,0.905005]] 2025-10-28T22:07:49.946Z,1761689269.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364326,0.848054,0.384799],[-0.931026,-0.341176,-0.129576],[0.021396,-0.405466,0.913860]] 2025-10-28T22:07:50.339Z,1761689270.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391976,0.842777,0.368892],[-0.919718,-0.368476,-0.135444],[0.021779,-0.392367,0.919551]] 2025-10-28T22:07:50.632Z,1761689270.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:07:50.748Z,1761689270.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420641,0.835182,0.354306],[-0.906955,-0.396683,-0.141685],[0.022214,-0.380938,0.924334]] 2025-10-28T22:07:51.181Z,1761689271.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449898,0.824399,0.343451],[-0.892792,-0.424930,-0.149523],[0.022676,-0.373901,0.927192]] 2025-10-28T22:07:51.554Z,1761689271.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479569,0.811063,0.334947],[-0.877205,-0.453064,-0.158883],[0.022888,-0.370013,0.928745]] 2025-10-28T22:07:51.636Z,1761689271.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:07:51.962Z,1761689271.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509216,0.794553,0.330734],[-0.860331,-0.480217,-0.170942],[0.023001,-0.371587,0.928113]] 2025-10-28T22:07:52.005Z,1761689272.005 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:07:52.006Z,1761689272.006 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:07:52.006Z,1761689272.006 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:07:52.006Z,1761689272.006 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:07:52.006Z,1761689272.006 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:07:52.006Z,1761689272.006 [marl:UpdateSpeed] Stopped 2025-10-28T22:07:52.007Z,1761689272.007 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:07:52.363Z,1761689272.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538094,0.776562,0.327728],[-0.842571,-0.506184,-0.183991],[0.023011,-0.375139,0.926683]] 2025-10-28T22:07:52.774Z,1761689272.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565795,0.756588,0.327796],[-0.824223,-0.530087,-0.199160],[0.023078,-0.382861,0.923518]] 2025-10-28T22:07:53.180Z,1761689273.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593034,0.735078,0.328589],[-0.804836,-0.553059,-0.215324],[0.023449,-0.392155,0.919600]] 2025-10-28T22:07:53.575Z,1761689273.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618721,0.712714,0.330491],[-0.785259,-0.573656,-0.232996],[0.023529,-0.403680,0.914598]] 2025-10-28T22:07:53.981Z,1761689273.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643668,0.691910,0.327034],[-0.764934,-0.594950,-0.246799],[0.023806,-0.409016,0.912216]] 2025-10-28T22:07:54.005Z,1761689274.005 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:07:54.005Z,1761689274.005 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateRudder:A] Stopped 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:07:54.006Z,1761689274.006 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:07:54.007Z,1761689274.007 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:07:54.007Z,1761689274.007 [marl:UpdateCommandMode] Stopped 2025-10-28T22:07:54.007Z,1761689274.007 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:07:54.382Z,1761689274.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666833,0.670548,0.325114],[-0.744820,-0.613782,-0.261756],[0.024029,-0.416698,0.908727]] 2025-10-28T22:07:54.423Z,1761689274.423 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:07:54.424Z,1761689274.424 [marl:UpdateRudder:B] Stopped 2025-10-28T22:07:54.424Z,1761689274.424 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:07:54.424Z,1761689274.424 [marl:UpdateRudder] Stopped 2025-10-28T22:07:54.424Z,1761689274.424 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:07:54.790Z,1761689274.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688371,0.651285,0.319333],[-0.724947,-0.632551,-0.272636],[0.024432,-0.419174,0.907577]] 2025-10-28T22:07:55.190Z,1761689275.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709553,0.633444,0.308680],[-0.704206,-0.653031,-0.278648],[0.025070,-0.415090,0.909435]] 2025-10-28T22:07:55.596Z,1761689275.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729433,0.615146,0.299205],[-0.683574,-0.671850,-0.285209],[0.025576,-0.412569,0.910567]] 2025-10-28T22:07:55.999Z,1761689275.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748549,0.596961,0.288638],[-0.662575,-0.690371,-0.290486],[0.025859,-0.408687,0.912308]] 2025-10-28T22:07:56.403Z,1761689276.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767271,0.577887,0.278104],[-0.640784,-0.708574,-0.295498],[0.026293,-0.404932,0.913969]] 2025-10-28T22:07:56.807Z,1761689276.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785726,0.557122,0.268793],[-0.618001,-0.725715,-0.302343],[0.026625,-0.403673,0.914516]] 2025-10-28T22:07:57.219Z,1761689277.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803918,0.534748,0.260309],[-0.594123,-0.742011,-0.310543],[0.027090,-0.404307,0.914222]] 2025-10-28T22:07:57.614Z,1761689277.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821428,0.511937,0.251351],[-0.569654,-0.757668,-0.318485],[0.027396,-0.404796,0.913997]] 2025-10-28T22:07:58.019Z,1761689278.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838416,0.489159,0.240377],[-0.544329,-0.773871,-0.323774],[0.027644,-0.402301,0.915090]] 2025-10-28T22:07:58.430Z,1761689278.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854702,0.465671,0.229424],[-0.518373,-0.789286,-0.329114],[0.027823,-0.400222,0.915996]] 2025-10-28T22:07:58.828Z,1761689278.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870478,0.441292,0.218011],[-0.491413,-0.804312,-0.334058],[0.027932,-0.397924,0.916993]] 2025-10-28T22:07:59.232Z,1761689279.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885089,0.416877,0.206955],[-0.464559,-0.818361,-0.338335],[0.028320,-0.395600,0.917986]] 2025-10-28T22:07:59.635Z,1761689279.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899009,0.391616,0.196007],[-0.437006,-0.831299,-0.343465],[0.028434,-0.394435,0.918484]] 2025-10-28T22:08:00.039Z,1761689280.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911972,0.367085,0.183181],[-0.409273,-0.844902,-0.344436],[0.028333,-0.389087,0.920765]] 2025-10-28T22:08:00.445Z,1761689280.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924170,0.341034,0.172061],[-0.380919,-0.856376,-0.348599],[0.028465,-0.387707,0.921343]] 2025-10-28T22:08:00.847Z,1761689280.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935268,0.314883,0.161622],[-0.352774,-0.866350,-0.353538],[0.028698,-0.387669,0.921352]] 2025-10-28T22:08:01.251Z,1761689281.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945577,0.287506,0.152394],[-0.324076,-0.874241,-0.361493],[0.029298,-0.391207,0.919836]] 2025-10-28T22:08:01.655Z,1761689281.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955090,0.259965,0.142205],[-0.294786,-0.882312,-0.366914],[0.030084,-0.392356,0.919321]] 2025-10-28T22:08:02.058Z,1761689282.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964080,0.231001,0.131105],[-0.263815,-0.890108,-0.371632],[0.030850,-0.392870,0.919076]] 2025-10-28T22:08:02.465Z,1761689282.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972104,0.201275,0.120422],[-0.232395,-0.895957,-0.378488],[0.031713,-0.395915,0.917739]] 2025-10-28T22:08:02.867Z,1761689282.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979146,0.170849,0.109930],[-0.200527,-0.899585,-0.387990],[0.032603,-0.401943,0.915084]] 2025-10-28T22:08:03.271Z,1761689283.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985001,0.141187,0.099193],[-0.169295,-0.901875,-0.397442],[0.033346,-0.408274,0.912250]] 2025-10-28T22:08:03.674Z,1761689283.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990004,0.111141,0.086830],[-0.136824,-0.906213,-0.400072],[0.034222,-0.407953,0.912361]] 2025-10-28T22:08:04.082Z,1761689284.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993938,0.081389,0.073915],[-0.104277,-0.910927,-0.399171],[0.034843,-0.404459,0.913892]] 2025-10-28T22:08:04.483Z,1761689284.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996756,0.052602,0.060908],[-0.072553,-0.914837,-0.397253],[0.034825,-0.400383,0.915686]] 2025-10-28T22:08:04.887Z,1761689284.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998595,0.022865,0.047803],[-0.039838,-0.918780,-0.392755],[0.034940,-0.394107,0.918400]] 2025-10-28T22:08:05.290Z,1761689285.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999363,-0.005972,0.035172],[-0.008356,-0.919278,-0.393519],[0.034683,-0.393563,0.918643]] 2025-10-28T22:08:05.347Z,1761689285.347 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:08:05.347Z,1761689285.347 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:08:05.347Z,1761689285.347 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:08:05.347Z,1761689285.347 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:08:05.348Z,1761689285.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:08:05.349Z,1761689285.349 [marl:UpdateSpeed] Stopped 2025-10-28T22:08:05.349Z,1761689285.349 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:08:05.695Z,1761689285.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999124,-0.035455,0.022246],[0.023936,-0.919984,-0.391225],[0.034337,-0.390349,0.920026]] 2025-10-28T22:08:06.099Z,1761689286.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997891,-0.064239,0.009342],[0.055468,-0.918562,-0.391365],[0.033722,-0.390021,0.920188]] 2025-10-28T22:08:06.503Z,1761689286.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995573,-0.093920,-0.003613],[0.087988,-0.917801,-0.387169],[0.033047,-0.385773,0.922002]] 2025-10-28T22:08:06.914Z,1761689286.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992066,-0.124514,-0.017351],[0.121575,-0.915063,-0.384550],[0.032004,-0.383609,0.922941]] 2025-10-28T22:08:07.311Z,1761689287.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987295,-0.155734,-0.031540],[0.155778,-0.909535,-0.385331],[0.031322,-0.385349,0.922239]] 2025-10-28T22:08:07.371Z,1761689287.371 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:08:07.371Z,1761689287.371 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:08:07.372Z,1761689287.372 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:08:07.376Z,1761689287.376 [marl:UpdateRudder:A] Stopped 2025-10-28T22:08:07.376Z,1761689287.376 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:08:07.376Z,1761689287.376 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:08:07.376Z,1761689287.376 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:08:07.376Z,1761689287.376 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:08:07.377Z,1761689287.377 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:08:07.377Z,1761689287.377 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:08:07.377Z,1761689287.377 [marl:UpdateCommandMode] Stopped 2025-10-28T22:08:07.377Z,1761689287.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:08:07.715Z,1761689287.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981344,-0.186614,-0.046256],[0.189807,-0.902042,-0.387677],[0.030621,-0.389224,0.920634]] 2025-10-28T22:08:07.748Z,1761689287.748 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:08:07.748Z,1761689287.748 [marl:UpdateRudder:B] Stopped 2025-10-28T22:08:07.748Z,1761689287.748 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:08:07.748Z,1761689287.748 [marl:UpdateRudder] Stopped 2025-10-28T22:08:07.749Z,1761689287.749 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:08:08.118Z,1761689288.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973900,-0.218578,-0.061177],[0.224960,-0.893657,-0.388291],[0.030201,-0.391919,0.919504]] 2025-10-28T22:08:08.522Z,1761689288.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965300,-0.249642,-0.076651],[0.259452,-0.883437,-0.390159],[0.029684,-0.396507,0.917552]] 2025-10-28T22:08:08.930Z,1761689288.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955843,-0.278551,-0.093664],[0.292484,-0.870713,-0.395363],[0.028575,-0.405301,0.913737]] 2025-10-28T22:08:09.333Z,1761689289.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945782,-0.305687,-0.109782],[0.323658,-0.858641,-0.397468],[0.027237,-0.411450,0.911025]] 2025-10-28T22:08:09.735Z,1761689289.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935160,-0.331315,-0.125323],[0.353288,-0.846645,-0.397969],[0.025749,-0.416439,0.908799]] 2025-10-28T22:08:10.139Z,1761689290.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923884,-0.356297,-0.139609],[0.381881,-0.834980,-0.396201],[0.024594,-0.419357,0.907488]] 2025-10-28T22:08:10.543Z,1761689290.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912586,-0.379252,-0.152821],[0.408192,-0.823286,-0.394435],[0.023775,-0.422337,0.906127]] 2025-10-28T22:08:10.946Z,1761689290.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900786,-0.403345,-0.160927],[0.433618,-0.815216,-0.383924],[0.023664,-0.415614,0.909233]] 2025-10-28T22:08:11.351Z,1761689291.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888246,-0.427804,-0.167342],[0.458710,-0.806530,-0.372952],[0.024584,-0.408035,0.912635]] 2025-10-28T22:08:11.757Z,1761689291.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874789,-0.453143,-0.171480],[0.483790,-0.797760,-0.359898],[0.026285,-0.397795,0.917098]] 2025-10-28T22:08:12.161Z,1761689292.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860653,-0.477905,-0.175735],[0.508386,-0.787084,-0.349347],[0.028636,-0.390007,0.920366]] 2025-10-28T22:08:12.563Z,1761689292.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845709,-0.502364,-0.180019],[0.532719,-0.774899,-0.340207],[0.031412,-0.383616,0.922958]] 2025-10-28T22:08:12.966Z,1761689292.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828771,-0.528275,-0.184562],[0.558542,-0.760790,-0.330499],[0.034181,-0.376994,0.925585]] 2025-10-28T22:08:13.782Z,1761689293.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788681,-0.580884,-0.201384],[0.613632,-0.723545,-0.316130],[0.037925,-0.372901,0.927096]] 2025-10-28T22:08:14.179Z,1761689294.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765665,-0.607327,-0.211922],[0.642077,-0.701813,-0.308538],[0.038653,-0.372307,0.927304]] 2025-10-28T22:08:14.583Z,1761689294.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741232,-0.632177,-0.225669],[0.670136,-0.677583,-0.302983],[0.038629,-0.375810,0.925891]] 2025-10-28T22:08:14.988Z,1761689294.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715552,-0.655249,-0.242144],[0.697511,-0.651206,-0.299012],[0.038242,-0.382857,0.923016]] 2025-10-28T22:08:15.403Z,1761689295.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689092,-0.676573,-0.259618],[0.723713,-0.624049,-0.294624],[0.037320,-0.390911,0.919671]] 2025-10-28T22:08:15.802Z,1761689295.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662467,-0.697564,-0.273023],[0.748229,-0.598709,-0.285835],[0.035927,-0.393640,0.918563]] 2025-10-28T22:08:16.198Z,1761689296.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635574,-0.717050,-0.286157],[0.771290,-0.573394,-0.276280],[0.034026,-0.396306,0.917488]] 2025-10-28T22:08:16.224Z,1761689296.224 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:08:16.417Z,1761689296.417 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:08:16.417Z,1761689296.417 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:08:16.603Z,1761689296.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608202,-0.736190,-0.296841],[0.793150,-0.548697,-0.264281],[0.031686,-0.396176,0.917628]] 2025-10-28T22:08:16.669Z,1761689296.669 [DAT](INFO): DAT read: user:348> 2025-10-28T22:08:16.670Z,1761689296.670 [DAT](INFO): DAT read: Tx time:22:08:16.3946 2025-10-28T22:08:16.670Z,1761689296.670 [DAT](INFO): Ping request sent. 2025-10-28T22:08:16.670Z,1761689296.670 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:08:16.670Z,1761689296.670 [DAT](INFO): publishing transmit ping time 2025-10-28T22:08:16.671Z,1761689296.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962 2025-10-28T22:08:16.921Z,1761689296.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250594 2025-10-28T22:08:17.007Z,1761689297.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580949,-0.754208,-0.306053],[0.813415,-0.524471,-0.251568],[0.029219,-0.395096,0.918175]] 2025-10-28T22:08:17.173Z,1761689297.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502816 2025-10-28T22:08:17.413Z,1761689297.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554413,-0.770415,-0.314780],[0.831818,-0.500906,-0.239106],[0.026535,-0.394403,0.918554]] 2025-10-28T22:08:17.425Z,1761689297.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753 2025-10-28T22:08:17.677Z,1761689297.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006612 2025-10-28T22:08:17.818Z,1761689297.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528317,-0.786544,-0.319734],[0.848708,-0.478591,-0.225044],[0.023985,-0.390256,0.920394]] 2025-10-28T22:08:17.929Z,1761689297.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259026 2025-10-28T22:08:18.181Z,1761689298.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510622 2025-10-28T22:08:18.224Z,1761689298.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501676,-0.801897,-0.324472],[0.864797,-0.455735,-0.210789],[0.021157,-0.386350,0.922109]] 2025-10-28T22:08:18.433Z,1761689298.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762614 2025-10-28T22:08:18.622Z,1761689298.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475643,-0.815375,-0.330041],[0.879427,-0.432565,-0.198735],[0.019279,-0.384774,0.922810]] 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed] Stopped 2025-10-28T22:08:18.658Z,1761689298.658 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:08:18.685Z,1761689298.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014520 2025-10-28T22:08:18.938Z,1761689298.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267470 2025-10-28T22:08:19.027Z,1761689299.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449094,-0.827468,-0.337062],[0.893304,-0.408244,-0.188002],[0.017963,-0.385530,0.922521]] 2025-10-28T22:08:19.189Z,1761689299.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518643 2025-10-28T22:08:19.431Z,1761689299.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422196,-0.836843,-0.348488],[0.906343,-0.382426,-0.179701],[0.017111,-0.391719,0.919926]] 2025-10-28T22:08:19.441Z,1761689299.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697 2025-10-28T22:08:19.693Z,1761689299.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022688 2025-10-28T22:08:19.845Z,1761689299.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393936,-0.846840,-0.357318],[0.918990,-0.355914,-0.169655],[0.016495,-0.395205,0.918445]] 2025-10-28T22:08:19.950Z,1761689299.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279111 2025-10-28T22:08:20.197Z,1761689300.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526636 2025-10-28T22:08:20.238Z,1761689300.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364832,-0.858190,-0.361121],[0.930932,-0.329468,-0.157530],[0.016213,-0.393651,0.919117]] 2025-10-28T22:08:20.449Z,1761689300.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778548 2025-10-28T22:08:20.643Z,1761689300.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333791,-0.870721,-0.361150],[0.942517,-0.301926,-0.143184],[0.015633,-0.388183,0.921450]] 2025-10-28T22:08:20.686Z,1761689300.686 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:08:20.686Z,1761689300.686 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:08:20.686Z,1761689300.686 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateRudder:A] Stopped 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:08:20.687Z,1761689300.687 [marl:UpdateCommandMode] Stopped 2025-10-28T22:08:20.688Z,1761689300.688 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:08:20.701Z,1761689300.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031074 2025-10-28T22:08:20.953Z,1761689300.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282610 2025-10-28T22:08:21.046Z,1761689301.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302028,-0.880857,-0.364513],[0.953181,-0.273017,-0.130031],[0.015020,-0.386720,0.922075]] 2025-10-28T22:08:21.094Z,1761689301.094 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:08:21.094Z,1761689301.094 [marl:UpdateRudder:B] Stopped 2025-10-28T22:08:21.095Z,1761689301.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:08:21.095Z,1761689301.095 [marl:UpdateRudder] Stopped 2025-10-28T22:08:21.095Z,1761689301.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:08:21.205Z,1761689301.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534719 2025-10-28T22:08:21.452Z,1761689301.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269379,-0.890617,-0.366383],[0.962928,-0.243436,-0.116228],[0.014323,-0.384109,0.923177]] 2025-10-28T22:08:21.457Z,1761689301.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786713 2025-10-28T22:08:21.709Z,1761689301.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038612 2025-10-28T22:08:21.765Z,1761689301.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:08:21.855Z,1761689301.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236165,-0.899040,-0.368719],[0.971619,-0.213218,-0.102437],[0.013478,-0.382447,0.923879]] 2025-10-28T22:08:21.961Z,1761689301.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291001 2025-10-28T22:08:22.213Z,1761689302.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542595 2025-10-28T22:08:22.258Z,1761689302.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202081,-0.906199,-0.371439],[0.979289,-0.182119,-0.088468],[0.012523,-0.381624,0.924233]] 2025-10-28T22:08:22.465Z,1761689302.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794680 2025-10-28T22:08:22.663Z,1761689302.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167141,-0.910555,-0.378093],[0.985870,-0.150025,-0.074514],[0.011126,-0.385205,0.922764]] 2025-10-28T22:08:22.717Z,1761689302.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046776 2025-10-28T22:08:22.769Z,1761689302.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:08:22.969Z,1761689302.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298550 2025-10-28T22:08:23.068Z,1761689303.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133052,-0.912618,-0.386557],[0.991059,-0.118591,-0.061138],[0.009953,-0.391235,0.920237]] 2025-10-28T22:08:23.222Z,1761689303.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552153 2025-10-28T22:08:23.470Z,1761689303.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099012,-0.913687,-0.394173],[0.995045,-0.087308,-0.047565],[0.009045,-0.396929,0.917805]] 2025-10-28T22:08:23.473Z,1761689303.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802907 2025-10-28T22:08:23.725Z,1761689303.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054611 2025-10-28T22:08:23.883Z,1761689303.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064760,-0.915058,-0.398090],[0.997867,-0.056074,-0.033436],[0.008274,-0.399406,0.916737]] 2025-10-28T22:08:23.977Z,1761689303.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306827 2025-10-28T22:08:24.229Z,1761689304.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558660 2025-10-28T22:08:24.284Z,1761689304.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030539,-0.915334,-0.401535],[0.999505,-0.024952,-0.019137],[0.007498,-0.401921,0.915644]] 2025-10-28T22:08:24.481Z,1761689304.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811020 2025-10-28T22:08:24.684Z,1761689304.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003525,-0.914899,-0.403667],[0.999972,0.005910,-0.004661],[0.006650,-0.403639,0.914894]] 2025-10-28T22:08:24.734Z,1761689304.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064176 2025-10-28T22:08:24.985Z,1761689304.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314647 2025-10-28T22:08:25.090Z,1761689305.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037110,-0.916030,-0.399390],[0.999293,0.036443,0.009266],[0.006067,-0.399451,0.916734]] 2025-10-28T22:08:25.237Z,1761689305.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566614 2025-10-28T22:08:25.489Z,1761689305.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818616 2025-10-28T22:08:25.493Z,1761689305.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070336,-0.916363,-0.394122],[0.997510,0.066689,0.022962],[0.005242,-0.394756,0.918771]] 2025-10-28T22:08:25.741Z,1761689305.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070617 2025-10-28T22:08:25.913Z,1761689305.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102166,-0.915776,-0.388480],[0.994758,0.095768,0.035854],[0.004369,-0.390106,0.920759]] 2025-10-28T22:08:25.993Z,1761689305.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322914 2025-10-28T22:08:26.245Z,1761689306.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574617 2025-10-28T22:08:26.298Z,1761689306.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133452,-0.911991,-0.387895],[0.991050,0.124061,0.049278],[0.003181,-0.390999,0.920385]] 2025-10-28T22:08:26.497Z,1761689306.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826823 2025-10-28T22:08:26.702Z,1761689306.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163641,-0.909188,-0.382882],[0.986517,0.151730,0.061331],[0.002333,-0.387756,0.921759]] 2025-10-28T22:08:26.749Z,1761689306.749 [DAT](INFO): Reached modem response timeout 2025-10-28T22:08:27.129Z,1761689307.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192910,-0.903516,-0.382681],[0.981214,0.178486,0.073223],[0.002145,-0.389618,0.920974]] 2025-10-28T22:08:27.515Z,1761689307.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221998,-0.896310,-0.383856],[0.975044,0.205082,0.085035],[0.002504,-0.393154,0.919469]] 2025-10-28T22:08:27.918Z,1761689307.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250431,-0.887924,-0.385842],[0.968127,0.231230,0.096241],[0.003763,-0.397646,0.917531]] 2025-10-28T22:08:28.318Z,1761689308.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278701,-0.878416,-0.388216],[0.960361,0.257308,0.107234],[0.005696,-0.402714,0.915308]] 2025-10-28T22:08:28.723Z,1761689308.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305965,-0.869840,-0.386993],[0.952007,0.283078,0.116407],[0.008294,-0.404037,0.914705]] 2025-10-28T22:08:29.021Z,1761689309.021 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:08:29.021Z,1761689309.021 [DAT](INFO): response not received 2025-10-28T22:08:29.021Z,1761689309.021 [DAT](ERROR): No response from remote modem. 2025-10-28T22:08:29.168Z,1761689309.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361122,-0.852465,-0.378014],[0.932402,0.336481,0.131934],[0.014725,-0.400106,0.916351]] 2025-10-28T22:08:29.945Z,1761689309.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418973,-0.831408,-0.364996],[0.907738,0.393148,0.146444],[0.021743,-0.392677,0.919420]] 2025-10-28T22:08:30.348Z,1761689310.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449966,-0.818336,-0.357570],[0.892708,0.423180,0.154894],[0.024561,-0.388903,0.920951]] 2025-10-28T22:08:30.749Z,1761689310.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481220,-0.803577,-0.350273],[0.876185,0.453223,0.163979],[0.026982,-0.385814,0.922182]] 2025-10-28T22:08:31.181Z,1761689311.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512434,-0.786254,-0.345278],[0.858234,0.482542,0.174894],[0.029100,-0.385950,0.922060]] 2025-10-28T22:08:31.556Z,1761689311.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543885,-0.768673,-0.336646],[0.838606,0.512446,0.184767],[0.030488,-0.382806,0.923326]] 2025-10-28T22:08:31.961Z,1761689311.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574553,-0.749504,-0.328835],[0.817879,0.540992,0.195963],[0.031022,-0.381538,0.923832]] 2025-10-28T22:08:32.368Z,1761689312.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604756,-0.729444,-0.319660],[0.795829,0.568840,0.207549],[0.030440,-0.379912,0.924522]] 2025-10-28T22:08:32.393Z,1761689312.393 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:08:32.393Z,1761689312.393 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:08:32.393Z,1761689312.393 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:08:32.394Z,1761689312.394 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:08:32.394Z,1761689312.394 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:08:32.394Z,1761689312.394 [marl:UpdateSpeed] Stopped 2025-10-28T22:08:32.394Z,1761689312.394 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:08:32.766Z,1761689312.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634352,-0.708338,-0.309605],[0.772511,0.595723,0.219865],[0.028700,-0.378645,0.925097]] 2025-10-28T22:08:33.177Z,1761689313.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662612,-0.687848,-0.296328],[0.748519,0.621804,0.230388],[0.025786,-0.374465,0.926882]] 2025-10-28T22:08:33.571Z,1761689313.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688926,-0.667329,-0.282936],[0.724495,0.645883,0.240712],[0.022110,-0.370818,0.928442]] 2025-10-28T22:08:33.978Z,1761689313.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713400,-0.645592,-0.272526],[0.700527,0.666974,0.253785],[0.017926,-0.371962,0.928075]] 2025-10-28T22:08:34.379Z,1761689314.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735666,-0.624506,-0.262273],[0.677210,0.685866,0.266411],[0.013509,-0.373603,0.927490]] 2025-10-28T22:08:34.424Z,1761689314.424 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:08:34.424Z,1761689314.424 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:08:34.424Z,1761689314.424 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateRudder:A] Stopped 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:08:34.425Z,1761689314.425 [marl:UpdateCommandMode] Stopped 2025-10-28T22:08:34.426Z,1761689314.426 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:08:34.787Z,1761689314.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755944,-0.603067,-0.254674],[0.654567,0.701949,0.280731],[0.009468,-0.378918,0.925382]] 2025-10-28T22:08:34.811Z,1761689314.811 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:08:34.811Z,1761689314.811 [marl:UpdateRudder:B] Stopped 2025-10-28T22:08:34.812Z,1761689314.812 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:08:34.812Z,1761689314.812 [marl:UpdateRudder] Stopped 2025-10-28T22:08:34.812Z,1761689314.812 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:08:35.186Z,1761689315.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774880,-0.581308,-0.248279],[0.632082,0.716150,0.295974],[0.005753,-0.386277,0.922365]] 2025-10-28T22:08:35.592Z,1761689315.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792467,-0.561116,-0.239049],[0.609909,0.730678,0.306791],[0.002522,-0.388920,0.921268]] 2025-10-28T22:08:35.999Z,1761689315.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808787,-0.542240,-0.227682],[0.588102,0.745643,0.313295],[-0.000111,-0.387289,0.921958]] 2025-10-28T22:08:36.399Z,1761689316.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824274,-0.522580,-0.217907],[0.566189,0.759550,0.320177],[-0.001807,-0.387290,0.921956]] 2025-10-28T22:08:36.805Z,1761689316.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839615,-0.501727,-0.208128],[0.543176,0.773680,0.326157],[-0.002617,-0.386897,0.922119]] 2025-10-28T22:08:37.206Z,1761689317.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855219,-0.479114,-0.197612],[0.518258,0.788371,0.331482],[-0.003026,-0.385904,0.922534]] 2025-10-28T22:08:37.612Z,1761689317.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870853,-0.454715,-0.186680],[0.491532,0.803059,0.336887],[-0.003273,-0.385138,0.922853]] 2025-10-28T22:08:38.019Z,1761689318.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886303,-0.428721,-0.175115],[0.463094,0.817696,0.341931],[-0.003403,-0.384149,0.923265]] 2025-10-28T22:08:38.418Z,1761689318.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901499,-0.400795,-0.163288],[0.432767,0.831730,0.347761],[-0.003570,-0.384171,0.923255]] 2025-10-28T22:08:38.822Z,1761689318.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915733,-0.372434,-0.150753],[0.401771,0.845383,0.352006],[-0.003655,-0.382912,0.923778]] 2025-10-28T22:08:39.226Z,1761689319.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929126,-0.342882,-0.138404],[0.369741,0.857557,0.357613],[-0.003930,-0.383442,0.923557]] 2025-10-28T22:08:39.632Z,1761689319.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941497,-0.312868,-0.125292],[0.336994,0.869069,0.362152],[-0.004418,-0.383188,0.923660]] 2025-10-28T22:08:40.046Z,1761689320.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952404,-0.283316,-0.112506],[0.304799,0.879203,0.366195],[-0.004833,-0.383058,0.923712]] 2025-10-28T22:08:40.851Z,1761689320.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970592,-0.223693,-0.088954],[0.240671,0.893425,0.379300],[-0.005373,-0.389554,0.920988]] 2025-10-28T22:08:41.248Z,1761689321.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977822,-0.194805,-0.076910],[0.209370,0.899849,0.382670],[-0.005339,-0.390285,0.920678]] 2025-10-28T22:08:41.650Z,1761689321.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984042,-0.165728,-0.064775],[0.177855,0.905084,0.386252],[-0.005386,-0.391608,0.920116]] 2025-10-28T22:08:42.054Z,1761689322.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989140,-0.137060,-0.053070],[0.146886,0.909239,0.389499],[-0.005132,-0.393065,0.919497]] 2025-10-28T22:08:42.459Z,1761689322.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993310,-0.108093,-0.040640],[0.115356,0.912406,0.392694],[-0.005367,-0.394755,0.918771]] 2025-10-28T22:08:42.865Z,1761689322.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996471,-0.079219,-0.027733],[0.083726,0.914994,0.394684],[-0.005891,-0.395613,0.918398]] 2025-10-28T22:08:43.671Z,1761689323.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999790,-0.020485,-0.000452],[0.019023,0.919769,0.391998],[-0.007614,-0.391925,0.919966]] 2025-10-28T22:08:44.094Z,1761689324.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999875,0.008837,0.013126],[-0.013237,0.921646,0.387806],[-0.008670,-0.387931,0.921647]] 2025-10-28T22:08:44.479Z,1761689324.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998877,0.039097,0.026770],[-0.046404,0.921432,0.385758],[-0.009584,-0.386567,0.922212]] 2025-10-28T22:08:44.884Z,1761689324.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996719,0.070051,0.040543],[-0.080287,0.919088,0.385787],[-0.010237,-0.387777,0.921696]] 2025-10-28T22:08:45.286Z,1761689325.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993374,0.101196,0.054476],[-0.114420,0.915293,0.386195],[-0.010780,-0.389870,0.920807]] 2025-10-28T22:08:45.690Z,1761689325.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988792,0.132860,0.068111],[-0.148876,0.911795,0.382708],[-0.011257,-0.388559,0.921355]] 2025-10-28T22:08:46.098Z,1761689326.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983072,0.164130,0.081424],[-0.182855,0.906850,0.379720],[-0.011516,-0.388181,0.921511]] 2025-10-28T22:08:46.121Z,1761689326.121 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed] Stopped 2025-10-28T22:08:46.122Z,1761689326.122 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:08:46.500Z,1761689326.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976202,0.195540,0.093774],[-0.216553,0.902068,0.373334],[-0.011589,-0.384756,0.922945]] 2025-10-28T22:08:46.902Z,1761689326.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968136,0.226716,0.106358],[-0.250154,0.895250,0.368714],[-0.011624,-0.383571,0.923438]] 2025-10-28T22:08:47.307Z,1761689327.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958947,0.257973,0.117776],[-0.283344,0.888734,0.360371],[-0.011706,-0.378947,0.925344]] 2025-10-28T22:08:47.710Z,1761689327.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948841,0.288096,0.129231],[-0.315532,0.880453,0.353896],[-0.011826,-0.376567,0.926314]] 2025-10-28T22:08:48.118Z,1761689328.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938047,0.316643,0.140732],[-0.346283,0.871296,0.347751],[-0.012506,-0.374940,0.926965]] 2025-10-28T22:08:48.153Z,1761689328.153 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:08:48.153Z,1761689328.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:08:48.153Z,1761689328.153 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateRudder:A] Stopped 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode] Stopped 2025-10-28T22:08:48.154Z,1761689328.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:08:48.518Z,1761689328.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926441,0.344251,0.152313],[-0.376199,0.861163,0.341865],[-0.013479,-0.374017,0.927324]] 2025-10-28T22:08:48.549Z,1761689328.549 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:08:48.549Z,1761689328.549 [marl:UpdateRudder:B] Stopped 2025-10-28T22:08:48.550Z,1761689328.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:08:48.550Z,1761689328.550 [marl:UpdateRudder] Stopped 2025-10-28T22:08:48.550Z,1761689328.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:08:48.923Z,1761689328.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914091,0.370551,0.164713],[-0.405246,0.849378,0.338129],[-0.014609,-0.375830,0.926573]] 2025-10-28T22:08:49.732Z,1761689329.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887458,0.420938,0.187696],[-0.460544,0.825671,0.325832],[-0.017820,-0.375604,0.926609]] 2025-10-28T22:08:50.135Z,1761689330.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873250,0.444659,0.199280],[-0.486866,0.812906,0.319602],[-0.019882,-0.376115,0.926360]] 2025-10-28T22:08:50.539Z,1761689330.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858167,0.467271,0.212619],[-0.512882,0.798425,0.315388],[-0.022389,-0.379704,0.924837]] 2025-10-28T22:08:50.942Z,1761689330.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841997,0.489800,0.226133],[-0.538916,0.782847,0.310998],[-0.024701,-0.383726,0.923117]] 2025-10-28T22:08:51.347Z,1761689331.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825156,0.512318,0.238009],[-0.564259,0.767632,0.303896],[-0.027011,-0.385060,0.922496]] 2025-10-28T22:08:51.752Z,1761689331.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807309,0.535358,0.248282],[-0.589414,0.752198,0.294601],[-0.029040,-0.384175,0.922803]] 2025-10-28T22:08:52.154Z,1761689332.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788777,0.558442,0.256852],[-0.613900,0.736739,0.283448],[-0.030944,-0.381259,0.923950]] 2025-10-28T22:08:52.559Z,1761689332.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769680,0.581870,0.262717],[-0.637598,0.721579,0.269802],[-0.032582,-0.375169,0.926384]] 2025-10-28T22:08:52.896Z,1761689332.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:08:52.964Z,1761689332.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750510,0.603054,0.270299],[-0.659975,0.705094,0.259373],[-0.034170,-0.373053,0.927181]] 2025-10-28T22:08:53.366Z,1761689333.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730380,0.623134,0.279729],[-0.682128,0.686595,0.251572],[-0.035297,-0.374554,0.926533]] 2025-10-28T22:08:53.775Z,1761689333.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709271,0.641702,0.291811],[-0.704002,0.666095,0.246373],[-0.036276,-0.380180,0.924201]] 2025-10-28T22:08:53.901Z,1761689333.901 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:08:54.174Z,1761689334.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686614,0.660173,0.304520],[-0.726069,0.644105,0.240735],[-0.037216,-0.386395,0.921582]] 2025-10-28T22:08:54.580Z,1761689334.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661931,0.679290,0.316881],[-0.748616,0.620377,0.233894],[-0.037704,-0.392044,0.919173]] 2025-10-28T22:08:54.000Z,1761689335.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635730,0.699109,0.327251],[-0.770971,0.595993,0.224492],[-0.038095,-0.395017,0.917884]] 2025-10-28T22:08:55.386Z,1761689335.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608238,0.718920,0.336452],[-0.792833,0.570680,0.213870],[-0.038251,-0.396834,0.917093]] 2025-10-28T22:08:55.799Z,1761689335.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579461,0.739625,0.342317],[-0.814088,0.545152,0.200176],[-0.038560,-0.394670,0.918013]] 2025-10-28T22:08:56.202Z,1761689336.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550450,0.760119,0.345289],[-0.833947,0.520034,0.184654],[-0.039203,-0.389596,0.920151]] 2025-10-28T22:08:56.600Z,1761689336.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520732,0.781473,0.343713],[-0.852802,0.494817,0.166986],[-0.039580,-0.380074,0.924109]] 2025-10-28T22:08:57.002Z,1761689337.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491416,0.800363,0.343407],[-0.870007,0.469224,0.151383],[-0.039973,-0.373159,0.926906]] 2025-10-28T22:08:57.406Z,1761689337.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462746,0.816081,0.346235],[-0.885565,0.443391,0.138487],[-0.040501,-0.370698,0.927870]] 2025-10-28T22:08:57.817Z,1761689337.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435221,0.829868,0.349145],[-0.899372,0.418562,0.126234],[-0.041382,-0.368951,0.928527]] 2025-10-28T22:08:58.222Z,1761689338.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408584,0.841099,0.354417],[-0.911730,0.394201,0.115560],[-0.042514,-0.370349,0.927919]] 2025-10-28T22:08:58.618Z,1761689338.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383098,0.850042,0.361477],[-0.922668,0.370715,0.106089],[-0.043825,-0.374165,0.926326]] 2025-10-28T22:08:59.023Z,1761689339.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357324,0.857943,0.369126],[-0.932912,0.346756,0.097135],[-0.044660,-0.379070,0.924290]] 2025-10-28T22:08:59.429Z,1761689339.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331742,0.864591,0.377400],[-0.942258,0.323103,0.088061],[-0.045803,-0.384821,0.921854]] 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed] Stopped 2025-10-28T22:08:59.470Z,1761689339.470 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:08:59.830Z,1761689339.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304137,0.871966,0.383636],[-0.951505,0.297611,0.077890],[-0.046257,-0.388721,0.920194]] 2025-10-28T22:09:00.234Z,1761689340.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274866,0.879031,0.389554],[-0.960368,0.270506,0.067229],[-0.046280,-0.392594,0.918547]] 2025-10-28T22:09:00.639Z,1761689340.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243653,0.886847,0.392602],[-0.968759,0.241846,0.054919],[-0.046244,-0.393718,0.918067]] 2025-10-28T22:09:01.049Z,1761689341.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211087,0.894858,0.393283],[-0.976368,0.212104,0.041436],[-0.046338,-0.392735,0.918483]] 2025-10-28T22:09:01.076Z,1761689341.076 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateRudder:A] Stopped 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:09:01.077Z,1761689341.077 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:09:01.078Z,1761689341.078 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:09:01.078Z,1761689341.078 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:09:01.078Z,1761689341.078 [marl:UpdateCommandMode] Stopped 2025-10-28T22:09:01.078Z,1761689341.078 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:09:01.447Z,1761689341.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176910,0.902999,0.391530],[-0.983138,0.180837,0.027154],[-0.046283,-0.389732,0.919765]] 2025-10-28T22:09:01.502Z,1761689341.502 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:09:01.502Z,1761689341.502 [marl:UpdateRudder:B] Stopped 2025-10-28T22:09:01.503Z,1761689341.503 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:09:01.503Z,1761689341.503 [marl:UpdateRudder] Stopped 2025-10-28T22:09:01.503Z,1761689341.503 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:09:01.851Z,1761689341.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142168,0.911135,0.386809],[-0.988770,0.148911,0.012650],[-0.046074,-0.384264,0.922073]] 2025-10-28T22:09:02.262Z,1761689342.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106882,0.917526,0.383042],[-0.993228,0.116173,-0.001132],[-0.045538,-0.380328,0.923730]] 2025-10-28T22:09:02.659Z,1761689342.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072681,0.922640,0.378751],[-0.996334,0.084346,-0.014275],[-0.045117,-0.376325,0.925388]] 2025-10-28T22:09:03.063Z,1761689343.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039582,0.925931,0.375614],[-0.998213,0.053480,-0.026642],[-0.044757,-0.373889,0.926393]] 2025-10-28T22:09:03.467Z,1761689343.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008298,0.926550,0.376080],[-0.998972,0.024445,-0.038183],[-0.044572,-0.375377,0.925800]] 2025-10-28T22:09:03.871Z,1761689343.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021937,0.924498,0.380556],[-0.998783,-0.003449,-0.049196],[-0.044169,-0.381172,0.923449]] 2025-10-28T22:09:04.290Z,1761689344.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051282,0.922480,0.382624],[-0.997722,-0.030509,-0.060165],[-0.043827,-0.384838,0.921943]] 2025-10-28T22:09:04.679Z,1761689344.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079483,0.919631,0.384657],[-0.995870,-0.056273,-0.071242],[-0.043871,-0.388731,0.920306]] 2025-10-28T22:09:05.083Z,1761689345.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107231,0.916441,0.385534],[-0.993248,-0.081478,-0.082578],[-0.044265,-0.391786,0.918991]] 2025-10-28T22:09:05.489Z,1761689345.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134018,0.915048,0.380429],[-0.989940,-0.106048,-0.093660],[-0.045359,-0.389154,0.920055]] 2025-10-28T22:09:05.891Z,1761689345.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160843,0.912703,0.375637],[-0.985866,-0.130489,-0.105079],[-0.046889,-0.387229,0.920791]] 2025-10-28T22:09:06.300Z,1761689346.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189294,0.910533,0.367557],[-0.980715,-0.156771,-0.116712],[-0.048648,-0.382562,0.922648]] 2025-10-28T22:09:06.699Z,1761689346.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220031,0.906588,0.360117],[-0.974198,-0.185202,-0.128990],[-0.050247,-0.379208,0.923946]] 2025-10-28T22:09:07.125Z,1761689347.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252201,0.901771,0.351004],[-0.966273,-0.215166,-0.141495],[-0.052072,-0.374851,0.925622]] 2025-10-28T22:09:07.506Z,1761689347.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285830,0.896510,0.338485],[-0.956777,-0.247209,-0.153182],[-0.053653,-0.367639,0.928420]] 2025-10-28T22:09:07.910Z,1761689347.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320276,0.887850,0.330373],[-0.945707,-0.279286,-0.166244],[-0.055331,-0.365681,0.929094]] 2025-10-28T22:09:08.318Z,1761689348.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355193,0.878191,0.320342],[-0.933069,-0.312270,-0.178520],[-0.056742,-0.362310,0.930329]] 2025-10-28T22:09:08.720Z,1761689348.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390119,0.866528,0.311347],[-0.918944,-0.345163,-0.190800],[-0.057868,-0.360545,0.930945]] 2025-10-28T22:09:09.172Z,1761689349.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424716,0.851437,0.307687],[-0.903436,-0.376647,-0.204796],[-0.058481,-0.364956,0.929186]] 2025-10-28T22:09:09.526Z,1761689349.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457838,0.834931,0.305410],[-0.887072,-0.406206,-0.219316],[-0.059055,-0.371332,0.926620]] 2025-10-28T22:09:09.931Z,1761689349.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488531,0.818757,0.301618],[-0.870500,-0.433681,-0.232702],[-0.059720,-0.376241,0.924595]] 2025-10-28T22:09:10.343Z,1761689350.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517001,0.802318,0.298322],[-0.853824,-0.458618,-0.246280],[-0.060779,-0.382041,0.922144]] 2025-10-28T22:09:10.739Z,1761689350.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543970,0.786218,0.293185],[-0.836822,-0.482545,-0.258608],[-0.061847,-0.386019,0.920415]] 2025-10-28T22:09:11.546Z,1761689351.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592179,0.753227,0.286311],[-0.803443,-0.524723,-0.281327],[-0.061669,-0.396630,0.915905]] 2025-10-28T22:09:11.953Z,1761689351.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613768,0.736727,0.283765],[-0.787092,-0.543040,-0.292565],[-0.061445,-0.402916,0.913172]] 2025-10-28T22:09:12.354Z,1761689352.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634105,0.721991,0.276841],[-0.770807,-0.561783,-0.300426],[-0.061380,-0.403893,0.912745]] 2025-10-28T22:09:12.765Z,1761689352.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654001,0.707759,0.267132],[-0.753996,-0.581180,-0.306136],[-0.061419,-0.401630,0.913740]] 2025-10-28T22:09:12.825Z,1761689352.825 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed] Stopped 2025-10-28T22:09:12.826Z,1761689352.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:09:13.178Z,1761689353.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673852,0.692532,0.257531],[-0.736321,-0.600514,-0.311794],[-0.061276,-0.399728,0.914583]] 2025-10-28T22:09:13.568Z,1761689353.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694354,0.676296,0.245959],[-0.717047,-0.621243,-0.316069],[-0.060956,-0.395828,0.916299]] 2025-10-28T22:09:13.971Z,1761689353.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716529,0.658343,0.230590],[-0.694962,-0.645238,-0.317326],[-0.060124,-0.387624,0.919855]] 2025-10-28T22:09:14.375Z,1761689354.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739497,0.638594,0.212936],[-0.670515,-0.670758,-0.317007],[-0.059610,-0.377203,0.924210]] 2025-10-28T22:09:14.418Z,1761689354.418 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateRudder:A] Stopped 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:09:14.419Z,1761689354.419 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:09:14.420Z,1761689354.420 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:09:14.420Z,1761689354.420 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:09:14.420Z,1761689354.420 [marl:UpdateCommandMode] Stopped 2025-10-28T22:09:14.420Z,1761689354.420 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:09:14.791Z,1761689354.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786679,0.589841,0.182273],[-0.614517,-0.719836,-0.322809],[-0.059199,-0.365957,0.928747]] 2025-10-28T22:09:14.839Z,1761689354.839 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:09:14.839Z,1761689354.839 [marl:UpdateRudder:B] Stopped 2025-10-28T22:09:14.839Z,1761689354.839 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:09:14.839Z,1761689354.839 [marl:UpdateRudder] Stopped 2025-10-28T22:09:14.839Z,1761689354.839 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:09:15.191Z,1761689355.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809523,0.562299,0.168799],[-0.584053,-0.742132,-0.328819],[-0.059623,-0.364774,0.929185]] 2025-10-28T22:09:15.591Z,1761689355.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831111,0.533391,0.157318],[-0.552842,-0.761875,-0.337509],[-0.060167,-0.367479,0.928083]] 2025-10-28T22:09:15.995Z,1761689355.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851366,0.503502,0.147181],[-0.521011,-0.778984,-0.348899],[-0.061020,-0.373724,0.925531]] 2025-10-28T22:09:16.404Z,1761689356.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869266,0.474725,0.137884],[-0.490432,-0.793144,-0.361108],[-0.062065,-0.381522,0.922274]] 2025-10-28T22:09:16.441Z,1761689356.441 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:09:16.681Z,1761689356.681 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:09:16.681Z,1761689356.681 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:09:16.805Z,1761689356.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885361,0.447043,0.127625],[-0.460620,-0.806323,-0.371043],[-0.062965,-0.387294,0.919804]] 2025-10-28T22:09:16.933Z,1761689356.933 [DAT](INFO): DAT read: user:349> 2025-10-28T22:09:16.934Z,1761689356.934 [DAT](INFO): DAT read: Tx time:22:09:16.6943 2025-10-28T22:09:16.934Z,1761689356.934 [DAT](INFO): Ping request sent. 2025-10-28T22:09:16.934Z,1761689356.934 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:09:16.934Z,1761689356.934 [DAT](INFO): publishing transmit ping time 2025-10-28T22:09:16.935Z,1761689356.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942 2025-10-28T22:09:17.196Z,1761689357.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253468 2025-10-28T22:09:17.205Z,1761689357.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899349,0.420770,0.118848],[-0.432560,-0.816609,-0.382154],[-0.063747,-0.395098,0.916424]] 2025-10-28T22:09:17.437Z,1761689357.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832 2025-10-28T22:09:17.607Z,1761689357.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911580,0.396479,0.108743],[-0.406070,-0.826971,-0.388878],[-0.064254,-0.398651,0.914849]] 2025-10-28T22:09:17.689Z,1761689357.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755393 2025-10-28T22:09:17.941Z,1761689357.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929 2025-10-28T22:09:18.011Z,1761689358.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922634,0.372924,0.098357],[-0.380291,-0.837201,-0.393031],[-0.064226,-0.400028,0.914250]] 2025-10-28T22:09:18.193Z,1761689358.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258780 2025-10-28T22:09:18.417Z,1761689358.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932724,0.350063,0.086503],[-0.354873,-0.848573,-0.392415],[-0.063966,-0.396712,0.915712]] 2025-10-28T22:09:18.445Z,1761689358.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510996 2025-10-28T22:09:18.697Z,1761689358.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906 2025-10-28T22:09:18.819Z,1761689358.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942139,0.326879,0.074319],[-0.329199,-0.860357,-0.389118],[-0.063254,-0.391069,0.918185]] 2025-10-28T22:09:18.949Z,1761689358.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856 2025-10-28T22:09:19.201Z,1761689359.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267316 2025-10-28T22:09:19.223Z,1761689359.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950972,0.303004,0.061975],[-0.302904,-0.872015,-0.384499],[-0.062461,-0.384421,0.921043]] 2025-10-28T22:09:19.453Z,1761689359.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937 2025-10-28T22:09:19.626Z,1761689359.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959264,0.277912,0.050769],[-0.275668,-0.881476,-0.383416],[-0.061804,-0.381792,0.922179]] 2025-10-28T22:09:19.705Z,1761689359.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770883 2025-10-28T22:09:19.957Z,1761689359.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022879 2025-10-28T22:09:20.031Z,1761689360.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967062,0.251502,0.039225],[-0.247125,-0.890734,-0.381475],[-0.061003,-0.378603,0.923547]] 2025-10-28T22:09:20.209Z,1761689360.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274937 2025-10-28T22:09:20.435Z,1761689360.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974226,0.223851,0.027834],[-0.217452,-0.899157,-0.379777],[-0.059986,-0.376041,0.924659]] 2025-10-28T22:09:20.469Z,1761689360.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534949 2025-10-28T22:09:20.721Z,1761689360.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786812 2025-10-28T22:09:20.839Z,1761689360.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980609,0.195287,0.016383],[-0.186786,-0.906070,-0.379670],[-0.059300,-0.375368,0.924977]] 2025-10-28T22:09:20.973Z,1761689360.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038915 2025-10-28T22:09:21.225Z,1761689361.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290834 2025-10-28T22:09:21.249Z,1761689361.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986325,0.164785,0.002838],[-0.153795,-0.914083,-0.375233],[-0.059238,-0.370538,0.926926]] 2025-10-28T22:09:21.477Z,1761689361.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542863 2025-10-28T22:09:21.647Z,1761689361.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991019,0.133310,-0.010454],[-0.119616,-0.918728,-0.376338],[-0.059774,-0.371708,0.926423]] 2025-10-28T22:09:21.729Z,1761689361.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794995 2025-10-28T22:09:21.981Z,1761689361.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046807 2025-10-28T22:09:22.050Z,1761689362.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994614,0.100742,-0.024380],[-0.084308,-0.923140,-0.375106],[-0.060295,-0.371030,0.926661]] 2025-10-28T22:09:22.234Z,1761689362.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299952 2025-10-28T22:09:22.457Z,1761689362.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996972,0.067305,-0.038940],[-0.047683,-0.924758,-0.377556],[-0.061422,-0.374556,0.925168]] 2025-10-28T22:09:22.485Z,1761689362.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551170 2025-10-28T22:09:22.738Z,1761689362.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803817 2025-10-28T22:09:22.858Z,1761689362.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997952,0.034317,-0.053984],[-0.011044,-0.923675,-0.383017],[-0.063008,-0.381636,0.922163]] 2025-10-28T22:09:22.989Z,1761689362.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055003 2025-10-28T22:09:23.241Z,1761689363.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307286 2025-10-28T22:09:23.267Z,1761689363.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997593,0.001803,-0.069314],[0.025372,-0.920840,-0.389113],[-0.064528,-0.389936,0.918578]] 2025-10-28T22:09:23.493Z,1761689363.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558926 2025-10-28T22:09:23.666Z,1761689363.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995947,-0.030421,-0.084640],[0.061355,-0.917893,-0.392056],[-0.065763,-0.395660,0.916039]] 2025-10-28T22:09:23.746Z,1761689363.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811359 2025-10-28T22:09:23.998Z,1761689363.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064040 2025-10-28T22:09:24.032Z,1761689364.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:09:24.076Z,1761689364.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993091,-0.060924,-0.100290],[0.096166,-0.912310,-0.398048],[-0.067245,-0.404943,0.911866]] 2025-10-28T22:09:24.249Z,1761689364.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315362 2025-10-28T22:09:24.474Z,1761689364.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989132,-0.090843,-0.115605],[0.129882,-0.908371,-0.397483],[-0.068904,-0.408178,0.910298]] 2025-10-28T22:09:24.501Z,1761689364.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567002 2025-10-28T22:09:24.754Z,1761689364.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819982 2025-10-28T22:09:24.879Z,1761689364.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984162,-0.119619,-0.130833],[0.162441,-0.904046,-0.395366],[-0.070986,-0.410357,0.909158]] 2025-10-28T22:09:25.005Z,1761689365.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070889 2025-10-28T22:09:25.036Z,1761689365.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:09:25.258Z,1761689365.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324066 2025-10-28T22:09:25.283Z,1761689365.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978362,-0.148253,-0.144320],[0.193713,-0.901396,-0.387247],[-0.072679,-0.406825,0.910610]] 2025-10-28T22:09:25.509Z,1761689365.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574915 2025-10-28T22:09:25.688Z,1761689365.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972006,-0.175426,-0.156303],[0.223071,-0.897920,-0.379445],[-0.073783,-0.403690,0.911916]] 2025-10-28T22:09:25.762Z,1761689365.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827272 2025-10-28T22:09:26.013Z,1761689366.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078874 2025-10-28T22:09:26.091Z,1761689366.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965296,-0.201555,-0.166067],[0.250490,-0.894448,-0.370429],[-0.073877,-0.399172,0.913895]] 2025-10-28T22:09:26.130Z,1761689366.130 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:09:26.130Z,1761689366.130 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:09:26.130Z,1761689366.130 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:09:26.130Z,1761689366.130 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:09:26.131Z,1761689366.131 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:09:26.131Z,1761689366.131 [marl:UpdateSpeed] Stopped 2025-10-28T22:09:26.131Z,1761689366.131 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:09:26.265Z,1761689366.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330954 2025-10-28T22:09:26.495Z,1761689366.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957905,-0.227437,-0.175187],[0.277514,-0.889835,-0.362188],[-0.073512,-0.395559,0.915494]] 2025-10-28T22:09:26.517Z,1761689366.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582969 2025-10-28T22:09:26.770Z,1761689366.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836058 2025-10-28T22:09:26.898Z,1761689366.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949969,-0.253653,-0.182260],[0.303946,-0.885125,-0.352379],[-0.071941,-0.390147,0.917938]] 2025-10-28T22:09:27.021Z,1761689367.021 [DAT](INFO): Reached modem response timeout 2025-10-28T22:09:27.304Z,1761689367.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941103,-0.280640,-0.188589],[0.330943,-0.878845,-0.343668],[-0.069293,-0.385839,0.919960]] 2025-10-28T22:09:27.707Z,1761689367.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931384,-0.307455,-0.194925],[0.357987,-0.870768,-0.337058],[-0.066104,-0.383711,0.921084]] 2025-10-28T22:09:27.762Z,1761689367.762 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:09:27.762Z,1761689367.762 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:09:27.762Z,1761689367.762 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:09:27.763Z,1761689367.763 [marl:UpdateRudder:A] Stopped 2025-10-28T22:09:27.763Z,1761689367.763 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:09:27.763Z,1761689367.763 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:09:27.763Z,1761689367.763 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:09:27.763Z,1761689367.763 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:09:27.764Z,1761689367.764 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:09:27.785Z,1761689367.785 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:09:27.785Z,1761689367.785 [marl:UpdateCommandMode] Stopped 2025-10-28T22:09:27.785Z,1761689367.785 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:09:28.114Z,1761689368.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920448,-0.334753,-0.201784],[0.385858,-0.860580,-0.332440],[-0.062366,-0.383853,0.921286]] 2025-10-28T22:09:28.175Z,1761689368.175 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:09:28.175Z,1761689368.175 [marl:UpdateRudder:B] Stopped 2025-10-28T22:09:28.175Z,1761689368.175 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:09:28.175Z,1761689368.175 [marl:UpdateRudder] Stopped 2025-10-28T22:09:28.175Z,1761689368.175 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:09:28.514Z,1761689368.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908417,-0.361813,-0.209450],[0.413991,-0.848296,-0.330160],[-0.058219,-0.386634,0.920394]] 2025-10-28T22:09:28.918Z,1761689368.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894566,-0.390647,-0.217136],[0.443668,-0.834832,-0.325905],[-0.053958,-0.387880,0.920129]] 2025-10-28T22:09:29.289Z,1761689369.289 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:09:29.289Z,1761689369.289 [DAT](INFO): response not received 2025-10-28T22:09:29.289Z,1761689369.289 [DAT](ERROR): No response from remote modem. 2025-10-28T22:09:29.323Z,1761689369.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878800,-0.420148,-0.226243],[0.474524,-0.819475,-0.321383],[-0.050372,-0.389789,0.919526]] 2025-10-28T22:09:29.343Z,1761689369.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050501574915,35.0, +13.6, 0 2025-10-28T22:09:29.734Z,1761689369.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861491,-0.449818,-0.235576],[0.505536,-0.803295,-0.314881],[-0.047598,-0.390360,0.919431]] 2025-10-28T22:09:30.139Z,1761689370.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842549,-0.478525,-0.247234],[0.536681,-0.784756,-0.310052],[-0.045651,-0.393920,0.918010]] 2025-10-28T22:09:30.535Z,1761689370.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822145,-0.506992,-0.258915],[0.567503,-0.765804,-0.302466],[-0.044930,-0.395605,0.917321]] 2025-10-28T22:09:30.939Z,1761689370.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800486,-0.534871,-0.270433],[0.597665,-0.746183,-0.293273],[-0.044930,-0.396389,0.916983]] 2025-10-28T22:09:31.343Z,1761689371.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777867,-0.561878,-0.281455],[0.626765,-0.726221,-0.282434],[-0.045705,-0.396102,0.917068]] 2025-10-28T22:09:31.752Z,1761689371.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755020,-0.586509,-0.293174],[0.653995,-0.705823,-0.272221],[-0.047269,-0.397266,0.916485]] 2025-10-28T22:09:32.151Z,1761689372.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731845,-0.610404,-0.302999],[0.679715,-0.685733,-0.260302],[-0.048887,-0.396454,0.916752]] 2025-10-28T22:09:32.554Z,1761689372.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708994,-0.632282,-0.312324],[0.703408,-0.665723,-0.249058],[-0.050446,-0.396272,0.916746]] 2025-10-28T22:09:32.960Z,1761689372.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686410,-0.653488,-0.319053],[0.725387,-0.646352,-0.236733],[-0.051518,-0.393933,0.917694]] 2025-10-28T22:09:33.362Z,1761689373.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664025,-0.673158,-0.325469],[0.745893,-0.626697,-0.225599],[-0.052107,-0.392568,0.918246]] 2025-10-28T22:09:33.771Z,1761689373.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641875,-0.692721,-0.328838],[0.765077,-0.607357,-0.213949],[-0.051515,-0.388915,0.919832]] 2025-10-28T22:09:34.173Z,1761689374.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619242,-0.711721,-0.331651],[0.783595,-0.587135,-0.203101],[-0.050172,-0.385649,0.921280]] 2025-10-28T22:09:34.575Z,1761689374.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595840,-0.731444,-0.331611],[0.801685,-0.566243,-0.191494],[-0.047705,-0.379947,0.923777]] 2025-10-28T22:09:34.978Z,1761689374.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571662,-0.749278,-0.334344],[0.819279,-0.543404,-0.183014],[-0.044556,-0.378543,0.924511]] 2025-10-28T22:09:35.382Z,1761689375.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546031,-0.766492,-0.338142],[0.836746,-0.518866,-0.175024],[-0.041296,-0.378507,0.924677]] 2025-10-28T22:09:35.792Z,1761689375.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518228,-0.783336,-0.343257],[0.854370,-0.492302,-0.166407],[-0.038633,-0.379505,0.924383]] 2025-10-28T22:09:36.194Z,1761689376.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488483,-0.799578,-0.349369],[0.871803,-0.464047,-0.156909],[-0.036662,-0.381228,0.923754]] 2025-10-28T22:09:36.594Z,1761689376.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456894,-0.815594,-0.355042],[0.888819,-0.434448,-0.145795],[-0.035338,-0.382180,0.923412]] 2025-10-28T22:09:36.998Z,1761689376.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424284,-0.828964,-0.364420],[0.904854,-0.403661,-0.135269],[-0.034969,-0.387139,0.921358]] 2025-10-28T22:09:37.809Z,1761689377.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356207,-0.857040,-0.372289],[0.933666,-0.342320,-0.105285],[-0.037208,-0.385097,0.922126]] 2025-10-28T22:09:38.218Z,1761689378.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322008,-0.869965,-0.373459],[0.945902,-0.312200,-0.088324],[-0.039755,-0.381696,0.923432]] 2025-10-28T22:09:38.614Z,1761689378.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288581,-0.881882,-0.372834],[0.956508,-0.282855,-0.071306],[-0.042574,-0.377196,0.925154]] 2025-10-28T22:09:39.022Z,1761689379.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256522,-0.889827,-0.377365],[0.965460,-0.254341,-0.056556],[-0.045654,-0.378838,0.924336]] 2025-10-28T22:09:39.422Z,1761689379.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225055,-0.896100,-0.382564],[0.973128,-0.226348,-0.042285],[-0.048701,-0.381801,0.922961]] 2025-10-28T22:09:39.471Z,1761689379.471 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:09:39.471Z,1761689379.471 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:09:39.471Z,1761689379.471 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:09:39.472Z,1761689379.472 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:09:39.472Z,1761689379.472 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:09:39.472Z,1761689379.472 [marl:UpdateSpeed] Stopped 2025-10-28T22:09:39.472Z,1761689379.472 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:09:39.827Z,1761689379.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194024,-0.901526,-0.386790],[0.979649,-0.198721,-0.028239],[-0.051405,-0.384397,0.921735]] 2025-10-28T22:09:40.235Z,1761689380.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163418,-0.907867,-0.386099],[0.985107,-0.171370,-0.013994],[-0.053461,-0.382636,0.922351]] 2025-10-28T22:09:40.638Z,1761689380.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132856,-0.912819,-0.386148],[0.989604,-0.143817,-0.000507],[-0.055072,-0.382201,0.922437]] 2025-10-28T22:09:41.041Z,1761689381.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102305,-0.915117,-0.389992],[0.993170,-0.116074,0.011836],[-0.056099,-0.386118,0.920742]] 2025-10-28T22:09:41.080Z,1761689381.080 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:09:41.080Z,1761689381.080 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:09:41.080Z,1761689381.080 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:09:41.080Z,1761689381.080 [marl:UpdateRudder:A] Stopped 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode] Stopped 2025-10-28T22:09:41.081Z,1761689381.081 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:09:41.442Z,1761689381.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070514,-0.916089,-0.394725],[0.995893,-0.087182,0.024428],[-0.056791,-0.391381,0.918474]] 2025-10-28T22:09:41.557Z,1761689381.557 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:09:41.557Z,1761689381.557 [marl:UpdateRudder:B] Stopped 2025-10-28T22:09:41.557Z,1761689381.557 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:09:41.557Z,1761689381.557 [marl:UpdateRudder] Stopped 2025-10-28T22:09:41.557Z,1761689381.557 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:09:41.847Z,1761689381.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039056,-0.916393,-0.398370],[0.997649,-0.058227,0.036133],[-0.056308,-0.396023,0.916513]] 2025-10-28T22:09:42.250Z,1761689382.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008253,-0.915745,-0.401675],[0.998443,-0.029709,0.047216],[-0.055172,-0.400660,0.914564]] 2025-10-28T22:09:42.656Z,1761689382.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024008,-0.914460,-0.403963],[0.998255,0.000124,0.059047],[-0.053946,-0.404676,0.912868]] 2025-10-28T22:09:43.063Z,1761689383.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056066,-0.912793,-0.404556],[0.997061,0.030001,0.070490],[-0.052206,-0.407320,0.911792]] 2025-10-28T22:09:43.462Z,1761689383.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089102,-0.912097,-0.400175],[0.994744,0.061137,0.082142],[-0.050456,-0.405390,0.912750]] 2025-10-28T22:09:43.866Z,1761689383.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121978,-0.912099,-0.391403],[0.991339,0.092624,0.093100],[-0.048663,-0.399369,0.915498]] 2025-10-28T22:09:44.271Z,1761689384.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154734,-0.911786,-0.380398],[0.986820,0.124182,0.103751],[-0.047360,-0.391439,0.918985]] 2025-10-28T22:09:44.677Z,1761689384.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187125,-0.911453,-0.366384],[0.981238,0.155802,0.113565],[-0.046426,-0.380761,0.923507]] 2025-10-28T22:09:45.081Z,1761689385.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219241,-0.908760,-0.355089],[0.974587,0.186832,0.123587],[-0.045969,-0.373160,0.926627]] 2025-10-28T22:09:45.888Z,1761689385.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280954,-0.896694,-0.342060],[0.958593,0.244913,0.145319],[-0.046532,-0.368724,0.928373]] 2025-10-28T22:09:46.290Z,1761689386.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310887,-0.886611,-0.342448],[0.949293,0.271903,0.157836],[-0.046826,-0.374152,0.926184]] 2025-10-28T22:09:46.706Z,1761689386.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340229,-0.875864,-0.342207],[0.939157,0.298234,0.170411],[-0.047199,-0.379365,0.924042]] 2025-10-28T22:09:47.122Z,1761689387.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368751,-0.865131,-0.339957],[0.928329,0.324191,0.181949],[-0.047198,-0.382686,0.922672]] 2025-10-28T22:09:47.503Z,1761689387.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396083,-0.852549,-0.340995],[0.917011,0.348270,0.194419],[-0.046994,-0.389702,0.919741]] 2025-10-28T22:09:47.907Z,1761689387.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423281,-0.838172,-0.343949],[0.904812,0.371660,0.207808],[-0.046347,-0.399170,0.915705]] 2025-10-28T22:09:48.311Z,1761689388.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450024,-0.823040,-0.346529],[0.891884,0.394699,0.220806],[-0.044958,-0.408432,0.911681]] 2025-10-28T22:09:48.722Z,1761689388.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476459,-0.807872,-0.346887],[0.878136,0.417900,0.232888],[-0.043180,-0.415575,0.908533]] 2025-10-28T22:09:49.202Z,1761689389.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502913,-0.792298,-0.345459],[0.863351,0.441384,0.244552],[-0.041278,-0.421241,0.906009]] 2025-10-28T22:09:49.522Z,1761689389.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528726,-0.777798,-0.339822],[0.847881,0.465433,0.253908],[-0.039325,-0.422376,0.905567]] 2025-10-28T22:09:49.928Z,1761689389.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555093,-0.762138,-0.333192],[0.830963,0.490263,0.262951],[-0.037053,-0.422832,0.905450]] 2025-10-28T22:09:50.330Z,1761689390.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581183,-0.745464,-0.326358],[0.813021,0.514663,0.272249],[-0.034988,-0.423563,0.905191]] 2025-10-28T22:09:50.735Z,1761689390.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607099,-0.729277,-0.315574],[0.793929,0.540047,0.279331],[-0.033285,-0.420124,0.906856]] 2025-10-28T22:09:51.179Z,1761689391.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631967,-0.714056,-0.301234],[0.774323,0.565578,0.283807],[-0.032283,-0.412609,0.910336]] 2025-10-28T22:09:51.544Z,1761689391.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656151,-0.697251,-0.288630],[0.753967,0.589693,0.289476],[-0.031634,-0.407557,0.912632]] 2025-10-28T22:09:51.946Z,1761689391.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680010,-0.679453,-0.275556],[0.732535,0.613545,0.294881],[-0.031292,-0.402376,0.914939]] 2025-10-28T22:09:52.350Z,1761689392.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703420,-0.660086,-0.263605],[0.710110,0.636607,0.300792],[-0.030736,-0.398771,0.916535]] 2025-10-28T22:09:52.757Z,1761689392.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725652,-0.639799,-0.253151],[0.687367,0.657550,0.308472],[-0.030900,-0.397851,0.916929]] 2025-10-28T22:09:52.807Z,1761689392.807 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:09:52.808Z,1761689392.808 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:09:52.812Z,1761689392.812 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:09:52.812Z,1761689392.812 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:09:52.812Z,1761689392.812 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:09:52.813Z,1761689392.813 [marl:UpdateSpeed] Stopped 2025-10-28T22:09:52.813Z,1761689392.813 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:09:53.195Z,1761689393.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747130,-0.619014,-0.242114],[0.663955,0.678060,0.315274],[-0.030991,-0.396303,0.917596]] 2025-10-28T22:09:53.562Z,1761689393.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767517,-0.597951,-0.231023],[0.640289,0.697804,0.321093],[-0.030789,-0.394365,0.918438]] 2025-10-28T22:09:53.967Z,1761689393.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786701,-0.576543,-0.220680],[0.616584,0.716202,0.326922],[-0.030433,-0.393258,0.918924]] 2025-10-28T22:09:54.371Z,1761689394.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805143,-0.553909,-0.211965],[0.592320,0.732909,0.334666],[-0.030024,-0.395005,0.918188]] 2025-10-28T22:09:54.417Z,1761689394.417 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:09:54.417Z,1761689394.417 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateRudder:A] Stopped 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:09:54.418Z,1761689394.418 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:09:54.419Z,1761689394.419 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:09:54.419Z,1761689394.419 [marl:UpdateCommandMode] Stopped 2025-10-28T22:09:54.419Z,1761689394.419 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:09:54.782Z,1761689394.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822756,-0.530982,-0.202809],[0.567643,0.749229,0.341230],[-0.029236,-0.395872,0.917840]] 2025-10-28T22:09:54.808Z,1761689394.808 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:09:54.808Z,1761689394.808 [marl:UpdateRudder:B] Stopped 2025-10-28T22:09:54.809Z,1761689394.809 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:09:54.809Z,1761689394.809 [marl:UpdateRudder] Stopped 2025-10-28T22:09:54.809Z,1761689394.809 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:09:55.157Z,1761689395.157 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:09:55.189Z,1761689395.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839794,-0.507279,-0.193430],[0.542154,0.764859,0.347936],[-0.028554,-0.397063,0.917347]] 2025-10-28T22:09:55.582Z,1761689395.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856497,-0.481964,-0.184729],[0.515400,0.779279,0.356492],[-0.027861,-0.400543,0.915854]] 2025-10-28T22:09:55.986Z,1761689395.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872240,-0.456594,-0.175270],[0.488311,0.792976,0.364337],[-0.027369,-0.403375,0.914625]] 2025-10-28T22:09:56.160Z,1761689396.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:09:56.394Z,1761689396.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887662,-0.429612,-0.165800],[0.459683,0.805282,0.374449],[-0.027352,-0.408600,0.912304]] 2025-10-28T22:09:56.797Z,1761689396.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902042,-0.403009,-0.154610],[0.430771,0.817651,0.381947],[-0.027511,-0.411134,0.911160]] 2025-10-28T22:09:57.204Z,1761689397.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915100,-0.376638,-0.144001],[0.402285,0.828346,0.389885],[-0.027563,-0.414713,0.909535]] 2025-10-28T22:09:57.604Z,1761689397.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927274,-0.350724,-0.130977],[0.373365,0.840538,0.392549],[-0.027585,-0.412902,0.910357]] 2025-10-28T22:09:58.815Z,1761689398.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957326,-0.273882,-0.092282],[0.287674,0.872336,0.395315],[-0.027769,-0.404992,0.913898]] 2025-10-28T22:09:59.228Z,1761689399.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965460,-0.248120,-0.079524],[0.259046,0.881311,0.395204],[-0.027973,-0.402154,0.915145]] 2025-10-28T22:09:59.623Z,1761689399.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972757,-0.221882,-0.067170],[0.230077,0.888472,0.397091],[-0.028429,-0.401727,0.915318]] 2025-10-28T22:10:00.026Z,1761689400.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978981,-0.196235,-0.055573],[0.201920,0.894172,0.399607],[-0.028726,-0.402429,0.915001]] 2025-10-28T22:10:00.434Z,1761689400.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984350,-0.170586,-0.044225],[0.173853,0.898984,0.401999],[-0.028818,-0.403396,0.914572]] 2025-10-28T22:10:00.841Z,1761689400.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992461,-0.120709,-0.021232],[0.118999,0.907575,0.402674],[-0.029337,-0.402164,0.915097]] 2025-10-28T22:10:01.246Z,1761689401.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995366,-0.095582,-0.010512],[0.091642,0.909823,0.404750],[-0.029123,-0.403838,0.914367]] 2025-10-28T22:10:01.647Z,1761689401.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997533,-0.070203,-0.000236],[0.064174,0.910498,0.408504],[-0.028464,-0.407512,0.912756]] 2025-10-28T22:10:02.052Z,1761689402.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998994,-0.043639,0.010354],[0.035498,0.910417,0.412166],[-0.027413,-0.411383,0.911050]] 2025-10-28T22:10:02.455Z,1761689402.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,-0.017082,0.021048],[0.006907,0.911355,0.411564],[-0.026212,-0.411267,0.911138]] 2025-10-28T22:10:02.854Z,1761689402.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999447,0.010512,0.031541],[-0.022652,0.909723,0.414598],[-0.024335,-0.415084,0.909458]] 2025-10-28T22:10:03.266Z,1761689403.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998296,0.039783,0.042691],[-0.053974,0.907592,0.416370],[-0.022182,-0.417965,0.908193]] 2025-10-28T22:10:03.670Z,1761689403.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996082,0.069841,0.054253],[-0.086127,0.905384,0.415768],[-0.020082,-0.418811,0.907851]] 2025-10-28T22:10:04.067Z,1761689404.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992754,0.100574,0.065760],[-0.118786,0.904014,0.410668],[-0.018145,-0.415504,0.909410]] 2025-10-28T22:10:04.470Z,1761689404.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988273,0.131654,0.077348],[-0.151777,0.902428,0.403221],[-0.016715,-0.410232,0.911828]] 2025-10-28T22:10:04.875Z,1761689404.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982674,0.162637,0.088883],[-0.184690,0.899414,0.396162],[-0.015512,-0.405714,0.913869]] 2025-10-28T22:10:05.287Z,1761689405.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976018,0.193002,0.100692],[-0.217204,0.894288,0.391244],[-0.014537,-0.403732,0.914762]] 2025-10-28T22:10:05.691Z,1761689405.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968342,0.223405,0.111373],[-0.249246,0.889956,0.381909],[-0.013796,-0.397577,0.917465]] 2025-10-28T22:10:06.090Z,1761689406.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959938,0.252300,0.121921],[-0.279906,0.883764,0.374986],[-0.013140,-0.394089,0.918978]] 2025-10-28T22:10:06.122Z,1761689406.122 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:10:06.122Z,1761689406.122 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:10:06.122Z,1761689406.122 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:10:06.123Z,1761689406.123 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:10:06.123Z,1761689406.123 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:10:06.123Z,1761689406.123 [marl:UpdateSpeed] Stopped 2025-10-28T22:10:06.123Z,1761689406.123 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:10:06.495Z,1761689406.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951245,0.278602,0.132339],[-0.308168,0.876364,0.370159],[-0.012850,-0.392895,0.919493]] 2025-10-28T22:10:06.899Z,1761689406.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942321,0.302943,0.142325],[-0.334482,0.868013,0.366981],[-0.012366,-0.393419,0.919276]] 2025-10-28T22:10:07.314Z,1761689407.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933100,0.326063,0.151680],[-0.359431,0.859130,0.364287],[-0.011533,-0.394435,0.918852]] 2025-10-28T22:10:07.707Z,1761689407.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923763,0.346993,0.162045],[-0.382819,0.848369,0.365677],[-0.010586,-0.399833,0.916527]] 2025-10-28T22:10:07.736Z,1761689407.736 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateRudder:A] Stopped 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:10:07.737Z,1761689407.737 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:10:07.738Z,1761689407.738 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:10:07.738Z,1761689407.738 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:10:07.738Z,1761689407.738 [marl:UpdateCommandMode] Stopped 2025-10-28T22:10:07.738Z,1761689407.738 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:10:08.110Z,1761689408.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914111,0.366637,0.173144],[-0.405354,0.836333,0.369101],[-0.009479,-0.407584,0.913118]] 2025-10-28T22:10:08.159Z,1761689408.159 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:10:08.159Z,1761689408.159 [marl:UpdateRudder:B] Stopped 2025-10-28T22:10:08.159Z,1761689408.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:10:08.160Z,1761689408.160 [marl:UpdateRudder] Stopped 2025-10-28T22:10:08.160Z,1761689408.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:10:08.515Z,1761689408.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903918,0.385562,0.185133],[-0.427627,0.823010,0.373885],[-0.008210,-0.417130,0.908810]] 2025-10-28T22:10:08.921Z,1761689408.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893003,0.404376,0.197548],[-0.450001,0.808755,0.378701],[-0.006631,-0.427079,0.904190]] 2025-10-28T22:10:09.322Z,1761689409.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881524,0.422871,0.209991],[-0.472112,0.794369,0.382216],[-0.005183,-0.436072,0.899897]] 2025-10-28T22:10:09.727Z,1761689409.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869462,0.441193,0.222226],[-0.493982,0.780260,0.383635],[-0.004137,-0.443332,0.896348]] 2025-10-28T22:10:10.132Z,1761689410.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856471,0.460085,0.234048],[-0.516182,0.766473,0.382198],[-0.003548,-0.448153,0.893950]] 2025-10-28T22:10:10.535Z,1761689410.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841991,0.481160,0.244001],[-0.539482,0.753676,0.375408],[-0.003267,-0.447724,0.894166]] 2025-10-28T22:10:10.941Z,1761689410.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825666,0.505405,0.250684],[-0.564152,0.742014,0.362143],[-0.002982,-0.440433,0.897781]] 2025-10-28T22:10:11.342Z,1761689411.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807825,0.530792,0.256279],[-0.589414,0.729799,0.346388],[-0.003172,-0.430876,0.902406]] 2025-10-28T22:10:11.746Z,1761689411.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788658,0.559150,0.255676],[-0.614821,0.719753,0.322414],[-0.003746,-0.411469,0.911416]] 2025-10-28T22:10:12.169Z,1761689412.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768616,0.587565,0.252976],[-0.639694,0.708763,0.297400],[-0.004558,-0.390413,0.920628]] 2025-10-28T22:10:12.556Z,1761689412.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747193,0.615134,0.251622],[-0.664584,0.694730,0.275097],[-0.005588,-0.372775,0.927905]] 2025-10-28T22:10:12.958Z,1761689412.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724429,0.641390,0.252629],[-0.689318,0.677479,0.256638],[-0.006545,-0.360058,0.932907]] 2025-10-28T22:10:13.363Z,1761689413.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700370,0.665648,0.257671],[-0.713743,0.656764,0.243376],[-0.007226,-0.354364,0.935080]] 2025-10-28T22:10:13.772Z,1761689413.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676241,0.686363,0.267588],[-0.736640,0.633816,0.235879],[-0.007703,-0.356628,0.934215]] 2025-10-28T22:10:14.180Z,1761689414.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652602,0.704313,0.279380],[-0.757653,0.610719,0.230183],[-0.008502,-0.361891,0.932182]] 2025-10-28T22:10:14.575Z,1761689414.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629880,0.718736,0.294398],[-0.776639,0.587284,0.227879],[-0.009110,-0.372177,0.928117]] 2025-10-28T22:10:14.979Z,1761689414.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607513,0.730626,0.311630],[-0.794256,0.563324,0.227648],[-0.009223,-0.385813,0.922531]] 2025-10-28T22:10:15.387Z,1761689415.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585608,0.740695,0.329293],[-0.810545,0.539529,0.227870],[-0.008881,-0.400350,0.916319]] 2025-10-28T22:10:15.793Z,1761689415.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563435,0.750446,0.345503],[-0.826122,0.515803,0.226869],[-0.007959,-0.413254,0.910581]] 2025-10-28T22:10:16.192Z,1761689416.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541181,0.759381,0.361199],[-0.840881,0.492041,0.225422],[-0.006543,-0.425719,0.904832]] 2025-10-28T22:10:16.594Z,1761689416.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518983,0.766960,0.377397],[-0.854770,0.468225,0.223905],[-0.004980,-0.438791,0.898576]] 2025-10-28T22:10:16.661Z,1761689416.661 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:10:16.685Z,1761689416.685 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:10:16.685Z,1761689416.685 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:10:16.937Z,1761689416.937 [DAT](INFO): DAT read: user:350> 2025-10-28T22:10:16.938Z,1761689416.938 [DAT](INFO): DAT read: Tx time:22:10:16.6941 2025-10-28T22:10:16.938Z,1761689416.938 [DAT](INFO): Ping request sent. 2025-10-28T22:10:16.938Z,1761689416.938 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:10:16.938Z,1761689416.938 [DAT](INFO): publishing transmit ping time 2025-10-28T22:10:16.939Z,1761689416.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952 2025-10-28T22:10:17.026Z,1761689417.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497016,0.773616,0.393056],[-0.867735,0.444842,0.221702],[-0.003336,-0.451258,0.892387]] 2025-10-28T22:10:17.189Z,1761689417.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251370 2025-10-28T22:10:17.410Z,1761689417.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475136,0.780076,0.407096],[-0.879909,0.422439,0.217497],[-0.002308,-0.461548,0.887112]] 2025-10-28T22:10:17.441Z,1761689417.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988 2025-10-28T22:10:17.693Z,1761689417.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754892 2025-10-28T22:10:17.806Z,1761689417.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452651,0.788095,0.417150],[-0.891686,0.400974,0.210037],[-0.001737,-0.467040,0.884234]] 2025-10-28T22:10:17.945Z,1761689417.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941 2025-10-28T22:10:18.201Z,1761689418.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262835 2025-10-28T22:10:18.213Z,1761689418.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428864,0.798771,0.421949],[-0.903368,0.379867,0.199065],[-0.001277,-0.466547,0.884495]] 2025-10-28T22:10:18.456Z,1761689418.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517622 2025-10-28T22:10:18.614Z,1761689418.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403063,0.812072,0.421994],[-0.915172,0.358152,0.184900],[-0.000986,-0.460723,0.887543]] 2025-10-28T22:10:18.705Z,1761689418.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766962 2025-10-28T22:10:18.957Z,1761689418.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018860 2025-10-28T22:10:19.020Z,1761689419.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375365,0.829309,0.413942],[-0.926877,0.336058,0.167223],[-0.000429,-0.446443,0.894812]] 2025-10-28T22:10:19.209Z,1761689419.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270879 2025-10-28T22:10:19.423Z,1761689419.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346104,0.848752,0.399789],[-0.938196,0.313166,0.147361],[-0.000127,-0.426083,0.904684]] 2025-10-28T22:10:19.461Z,1761689419.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523070 2025-10-28T22:10:19.476Z,1761689419.476 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:10:19.476Z,1761689419.476 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:10:19.476Z,1761689419.476 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:10:19.477Z,1761689419.477 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:10:19.477Z,1761689419.477 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:10:19.477Z,1761689419.477 [marl:UpdateSpeed] Stopped 2025-10-28T22:10:19.477Z,1761689419.477 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:10:19.713Z,1761689419.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774927 2025-10-28T22:10:19.826Z,1761689419.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315453,0.867562,0.384481],[-0.948941,0.288454,0.127691],[-0.000126,-0.405131,0.914259]] 2025-10-28T22:10:19.966Z,1761689419.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027527 2025-10-28T22:10:20.222Z,1761689420.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284091 2025-10-28T22:10:20.233Z,1761689420.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283524,0.883997,0.371703],[-0.958965,0.261399,0.109803],[-0.000097,-0.387582,0.921835]] 2025-10-28T22:10:20.469Z,1761689420.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530839 2025-10-28T22:10:20.646Z,1761689420.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250471,0.896975,0.364279],[-0.968124,0.232170,0.093985],[-0.000272,-0.376208,0.926535]] 2025-10-28T22:10:20.721Z,1761689420.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783113 2025-10-28T22:10:20.973Z,1761689420.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034921 2025-10-28T22:10:21.038Z,1761689421.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216549,0.907276,0.360495],[-0.976272,0.201411,0.079544],[-0.000440,-0.369166,0.929363]] 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateRudder:A] Stopped 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:10:21.075Z,1761689421.075 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:10:21.076Z,1761689421.076 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:10:21.076Z,1761689421.076 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:10:21.076Z,1761689421.076 [marl:UpdateCommandMode] Stopped 2025-10-28T22:10:21.076Z,1761689421.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:10:21.225Z,1761689421.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286975 2025-10-28T22:10:21.443Z,1761689421.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182893,0.915642,0.357980],[-0.983132,0.170673,0.065736],[-0.000906,-0.363964,0.931412]] 2025-10-28T22:10:21.481Z,1761689421.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543404 2025-10-28T22:10:21.525Z,1761689421.525 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:10:21.525Z,1761689421.525 [marl:UpdateRudder:B] Stopped 2025-10-28T22:10:21.525Z,1761689421.525 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:10:21.526Z,1761689421.526 [marl:UpdateRudder] Stopped 2025-10-28T22:10:21.526Z,1761689421.526 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:10:21.733Z,1761689421.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794905 2025-10-28T22:10:21.849Z,1761689421.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150305,0.920743,0.360056],[-0.988638,0.140679,0.052958],[-0.001892,-0.363925,0.931426]] 2025-10-28T22:10:21.985Z,1761689421.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046935 2025-10-28T22:10:22.237Z,1761689422.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298827 2025-10-28T22:10:22.252Z,1761689422.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118212,0.922619,0.367150],[-0.992984,0.110953,0.040896],[-0.003005,-0.369409,0.929262]] 2025-10-28T22:10:22.489Z,1761689422.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551056 2025-10-28T22:10:22.658Z,1761689422.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087266,0.921669,0.378035],[-0.996174,0.082541,0.028718],[-0.004735,-0.379094,0.925346]] 2025-10-28T22:10:22.745Z,1761689422.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806681 2025-10-28T22:10:22.993Z,1761689422.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054909 2025-10-28T22:10:23.059Z,1761689423.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056065,0.920019,0.387841],[-0.998408,0.054044,0.016125],[-0.006126,-0.388128,0.921585]] 2025-10-28T22:10:23.245Z,1761689423.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306997 2025-10-28T22:10:23.462Z,1761689423.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024430,0.917126,0.397847],[-0.999675,0.025314,0.003032],[-0.007290,-0.397792,0.917447]] 2025-10-28T22:10:23.497Z,1761689423.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559005 2025-10-28T22:10:23.749Z,1761689423.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810921 2025-10-28T22:10:23.866Z,1761689423.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007375,0.912090,0.409924],[-0.999942,-0.003515,-0.010170],[-0.007835,-0.409975,0.912063]] 2025-10-28T22:10:24.001Z,1761689424.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062892 2025-10-28T22:10:24.253Z,1761689424.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314971 2025-10-28T22:10:24.271Z,1761689424.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039141,0.907048,0.419204],[-0.999203,-0.032233,-0.023551],[-0.007849,-0.419792,0.907586]] 2025-10-28T22:10:24.505Z,1761689424.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567327 2025-10-28T22:10:24.676Z,1761689424.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070940,0.901927,0.426023],[-0.997454,-0.061051,-0.036844],[-0.007222,-0.427552,0.903962]] 2025-10-28T22:10:24.758Z,1761689424.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819658 2025-10-28T22:10:25.009Z,1761689425.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070928 2025-10-28T22:10:25.079Z,1761689425.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102108,0.899010,0.425858],[-0.994753,-0.089519,-0.049532],[-0.006407,-0.428681,0.903433]] 2025-10-28T22:10:25.263Z,1761689425.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325222 2025-10-28T22:10:25.483Z,1761689425.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132031,0.896149,0.423656],[-0.991233,-0.117221,-0.060960],[-0.004968,-0.427991,0.903769]] 2025-10-28T22:10:25.513Z,1761689425.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574991 2025-10-28T22:10:25.765Z,1761689425.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827301 2025-10-28T22:10:25.886Z,1761689425.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160855,0.892399,0.421604],[-0.986974,-0.144285,-0.071157],[-0.002669,-0.427558,0.903984]] 2025-10-28T22:10:26.018Z,1761689426.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079694 2025-10-28T22:10:26.269Z,1761689426.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330902 2025-10-28T22:10:26.280Z,1761689426.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:10:26.301Z,1761689426.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188024,0.888942,0.417648],[-0.982164,-0.170333,-0.079621],[0.000361,-0.425170,0.905113]] 2025-10-28T22:10:26.521Z,1761689426.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582858 2025-10-28T22:10:26.694Z,1761689426.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214489,0.886146,0.410780],[-0.976719,-0.196267,-0.086602],[0.003880,-0.419791,0.907612]] 2025-10-28T22:10:26.774Z,1761689426.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835734 2025-10-28T22:10:27.025Z,1761689427.025 [DAT](INFO): Reached modem response timeout 2025-10-28T22:10:27.111Z,1761689427.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238408,0.881061,0.408526],[-0.971137,-0.219493,-0.093360],[0.007412,-0.418992,0.907960]] 2025-10-28T22:10:27.284Z,1761689427.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:10:27.502Z,1761689427.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261654,0.875603,0.406026],[-0.965100,-0.242113,-0.099814],[0.010907,-0.417973,0.908394]] 2025-10-28T22:10:27.907Z,1761689427.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283823,0.869950,0.403276],[-0.958779,-0.263477,-0.106408],[0.013684,-0.416854,0.908871]] 2025-10-28T22:10:28.311Z,1761689428.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306047,0.863132,0.401669],[-0.951894,-0.284210,-0.114556],[0.015281,-0.417406,0.908592]] 2025-10-28T22:10:28.714Z,1761689428.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328681,0.855806,0.399456],[-0.944308,-0.304897,-0.123777],[0.015864,-0.417892,0.908358]] 2025-10-28T22:10:29.193Z,1761689429.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352095,0.850355,0.391057],[-0.935838,-0.326712,-0.132162],[0.015378,-0.412500,0.910828]] 2025-10-28T22:10:29.294Z,1761689429.294 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:10:29.294Z,1761689429.294 [DAT](INFO): response not received 2025-10-28T22:10:29.294Z,1761689429.294 [DAT](ERROR): No response from remote modem. 2025-10-28T22:10:29.524Z,1761689429.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377428,0.845236,0.378317],[-0.925921,-0.350981,-0.139583],[0.014801,-0.402974,0.915092]] 2025-10-28T22:10:29.926Z,1761689429.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404976,0.840431,0.360098],[-0.914215,-0.378369,-0.145077],[0.014322,-0.387960,0.921565]] 2025-10-28T22:10:30.333Z,1761689430.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435148,0.833389,0.340748],[-0.900249,-0.408637,-0.150221],[0.014049,-0.372126,0.928076]] 2025-10-28T22:10:30.735Z,1761689430.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466566,0.823146,0.323647],[-0.884382,-0.439769,-0.156431],[0.013565,-0.359213,0.933157]] 2025-10-28T22:10:31.170Z,1761689431.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498882,0.808288,0.312710],[-0.866568,-0.470757,-0.165675],[0.013298,-0.353637,0.935288]] 2025-10-28T22:10:31.543Z,1761689431.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530479,0.789759,0.308012],[-0.847591,-0.499920,-0.177959],[0.013436,-0.355472,0.934590]] 2025-10-28T22:10:31.948Z,1761689431.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561470,0.767858,0.308456],[-0.827378,-0.527239,-0.193556],[0.014006,-0.363886,0.931338]] 2025-10-28T22:10:32.350Z,1761689432.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590105,0.744799,0.311530],[-0.807194,-0.551313,-0.210932],[0.014649,-0.375937,0.926529]] 2025-10-28T22:10:32.756Z,1761689432.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616283,0.720822,0.317193],[-0.787375,-0.571821,-0.230349],[0.015337,-0.391710,0.919961]] 2025-10-28T22:10:32.808Z,1761689432.808 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:10:32.809Z,1761689432.809 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:10:32.809Z,1761689432.809 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:10:32.809Z,1761689432.809 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:10:32.809Z,1761689432.809 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:10:32.809Z,1761689432.809 [marl:UpdateSpeed] Stopped 2025-10-28T22:10:32.810Z,1761689432.810 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:10:33.173Z,1761689433.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640408,0.697032,0.322528],[-0.767862,-0.589996,-0.249586],[0.016321,-0.407494,0.913062]] 2025-10-28T22:10:33.563Z,1761689433.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662845,0.673869,0.326401],[-0.748547,-0.606696,-0.267577],[0.017714,-0.421689,0.906568]] 2025-10-28T22:10:33.969Z,1761689433.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684071,0.651295,0.328423],[-0.729162,-0.622464,-0.284362],[0.019228,-0.433997,0.900709]] 2025-10-28T22:10:34.370Z,1761689434.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704436,0.630158,0.326605],[-0.709452,-0.638854,-0.297561],[0.021143,-0.441323,0.897099]] 2025-10-28T22:10:34.414Z,1761689434.414 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:10:34.414Z,1761689434.414 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateRudder:A] Stopped 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:10:34.415Z,1761689434.415 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:10:34.416Z,1761689434.416 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:10:34.416Z,1761689434.416 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:10:34.416Z,1761689434.416 [marl:UpdateCommandMode] Stopped 2025-10-28T22:10:34.416Z,1761689434.416 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:10:34.780Z,1761689434.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724322,0.610346,0.320679],[-0.689071,-0.656495,-0.306912],[0.023201,-0.443274,0.896086]] 2025-10-28T22:10:34.822Z,1761689434.822 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:10:34.822Z,1761689434.822 [marl:UpdateRudder:B] Stopped 2025-10-28T22:10:34.822Z,1761689434.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:10:34.822Z,1761689434.822 [marl:UpdateRudder] Stopped 2025-10-28T22:10:34.822Z,1761689434.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:10:35.250Z,1761689435.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744369,0.592076,0.308805],[-0.667294,-0.676950,-0.310576],[0.025161,-0.437247,0.898990]] 2025-10-28T22:10:35.582Z,1761689435.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763827,0.574390,0.294356],[-0.644849,-0.698367,-0.310570],[0.027180,-0.427036,0.903826]] 2025-10-28T22:10:35.986Z,1761689435.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783617,0.556072,0.277000],[-0.620575,-0.721343,-0.307491],[0.028825,-0.412854,0.910341]] 2025-10-28T22:10:36.395Z,1761689436.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803003,0.535678,0.261218],[-0.595212,-0.743000,-0.306060],[0.030135,-0.401247,0.915474]] 2025-10-28T22:10:36.799Z,1761689436.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821640,0.514340,0.245688],[-0.569171,-0.763642,-0.304787],[0.030854,-0.390263,0.920186]] 2025-10-28T22:10:37.200Z,1761689437.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839688,0.491271,0.231466],[-0.542164,-0.782929,-0.305091],[0.031339,-0.381673,0.923766]] 2025-10-28T22:10:37.620Z,1761689437.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857569,0.465395,0.219049],[-0.513413,-0.800415,-0.309424],[0.031326,-0.377815,0.925351]] 2025-10-28T22:10:38.007Z,1761689438.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873981,0.437909,0.210697],[-0.484968,-0.813643,-0.320609],[0.031035,-0.382388,0.923481]] 2025-10-28T22:10:38.415Z,1761689438.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889579,0.409744,0.201889],[-0.455757,-0.825777,-0.332233],[0.030585,-0.387560,0.921337]] 2025-10-28T22:10:38.817Z,1761689438.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903785,0.381229,0.194519],[-0.426926,-0.835035,-0.347061],[0.030120,-0.396714,0.917448]] 2025-10-28T22:10:39.218Z,1761689439.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917084,0.352525,0.186236],[-0.397581,-0.843513,-0.361131],[0.029785,-0.405231,0.913729]] 2025-10-28T22:10:39.311Z,1761689439.311 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD, -57.10,94.21, -48.54, 2025-10-28T22:10:39.626Z,1761689439.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929148,0.324211,0.177682],[-0.368513,-0.850772,-0.374680],[0.029691,-0.413611,0.909969]] 2025-10-28T22:10:40.027Z,1761689440.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939759,0.297525,0.168321],[-0.340563,-0.857379,-0.385900],[0.029500,-0.419977,0.907055]] 2025-10-28T22:10:40.438Z,1761689440.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949519,0.271288,0.157536],[-0.312271,-0.865412,-0.391853],[0.030028,-0.421266,0.906440]] 2025-10-28T22:10:40.834Z,1761689440.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958295,0.245402,0.146452],[-0.284124,-0.873226,-0.395918],[0.030726,-0.421016,0.906532]] 2025-10-28T22:10:41.239Z,1761689441.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965998,0.220705,0.134677],[-0.256588,-0.882401,-0.394374],[0.031799,-0.415521,0.909028]] 2025-10-28T22:10:41.643Z,1761689441.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972954,0.195836,0.122508],[-0.228654,-0.891837,-0.390314],[0.032819,-0.407769,0.912495]] 2025-10-28T22:10:42.047Z,1761689442.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978981,0.171417,0.110511],[-0.201164,-0.900854,-0.384701],[0.033609,-0.398846,0.916402]] 2025-10-28T22:10:42.451Z,1761689442.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984274,0.146158,0.099212],[-0.173207,-0.908849,-0.379464],[0.034707,-0.390681,0.919872]] 2025-10-28T22:10:42.855Z,1761689442.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988843,0.120286,0.087871],[-0.144696,-0.915779,-0.374715],[0.035398,-0.383249,0.922966]] 2025-10-28T22:10:43.258Z,1761689443.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992677,0.093204,0.076847],[-0.115287,-0.920941,-0.372260],[0.036075,-0.378393,0.924942]] 2025-10-28T22:10:43.672Z,1761689443.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995770,0.064541,0.065402],[-0.084280,-0.925082,-0.370297],[0.036603,-0.374243,0.926608]] 2025-10-28T22:10:44.067Z,1761689444.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997978,0.034251,0.053550],[-0.051691,-0.927574,-0.370046],[0.036997,-0.372065,0.927469]] 2025-10-28T22:10:44.471Z,1761689444.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999172,0.001945,0.040630],[-0.016903,-0.928389,-0.371226],[0.036999,-0.371606,0.927653]] 2025-10-28T22:10:44.877Z,1761689444.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999154,-0.031406,0.026538],[0.019111,-0.926197,-0.376554],[0.036406,-0.375728,0.926014]] 2025-10-28T22:10:45.285Z,1761689445.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997805,-0.065239,0.011315],[0.055982,-0.922478,-0.381969],[0.035357,-0.380497,0.924106]] 2025-10-28T22:10:45.689Z,1761689445.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991068,-0.131567,-0.021777],[0.129467,-0.910082,-0.393686],[0.031978,-0.392989,0.918987]] 2025-10-28T22:10:46.098Z,1761689446.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985611,-0.164335,-0.039550],[0.166384,-0.902052,-0.398269],[0.029773,-0.399119,0.916416]] 2025-10-28T22:10:46.144Z,1761689446.144 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:10:46.144Z,1761689446.144 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:10:46.144Z,1761689446.144 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:10:46.144Z,1761689446.144 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:10:46.145Z,1761689446.145 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:10:46.145Z,1761689446.145 [marl:UpdateSpeed] Stopped 2025-10-28T22:10:46.145Z,1761689446.145 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:10:46.501Z,1761689446.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978758,-0.196640,-0.058021],[0.203191,-0.892636,-0.402386],[0.027334,-0.405627,0.913630]] 2025-10-28T22:10:46.901Z,1761689446.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970588,-0.228333,-0.076304],[0.239468,-0.883055,-0.403571],[0.024768,-0.409974,0.911761]] 2025-10-28T22:10:47.301Z,1761689447.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961318,-0.258787,-0.094323],[0.274558,-0.872914,-0.403285],[0.022029,-0.413582,0.910200]] 2025-10-28T22:10:47.704Z,1761689447.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951499,-0.287008,-0.110797],[0.307032,-0.863021,-0.401157],[0.019515,-0.415719,0.909284]] 2025-10-28T22:10:47.744Z,1761689447.744 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:10:47.744Z,1761689447.744 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:10:47.744Z,1761689447.744 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:10:47.744Z,1761689447.744 [marl:UpdateRudder:A] Stopped 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode] Stopped 2025-10-28T22:10:47.745Z,1761689447.745 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:10:48.109Z,1761689448.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941120,-0.314170,-0.124859],[0.337620,-0.854309,-0.395181],[0.017486,-0.414068,0.910078]] 2025-10-28T22:10:48.135Z,1761689448.135 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:10:48.135Z,1761689448.135 [marl:UpdateRudder:B] Stopped 2025-10-28T22:10:48.135Z,1761689448.135 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:10:48.135Z,1761689448.135 [marl:UpdateRudder] Stopped 2025-10-28T22:10:48.135Z,1761689448.135 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:10:48.514Z,1761689448.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930481,-0.339200,-0.138376],[0.366004,-0.844613,-0.390730],[0.015662,-0.414213,0.910045]] 2025-10-28T22:10:48.914Z,1761689448.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919642,-0.362987,-0.149994],[0.392495,-0.835437,-0.384698],[0.014330,-0.412656,0.910774]] 2025-10-28T22:10:49.318Z,1761689449.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908359,-0.386165,-0.160500],[0.417977,-0.826079,-0.378006],[0.013387,-0.410451,0.911785]] 2025-10-28T22:10:49.724Z,1761689449.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896469,-0.409811,-0.168520],[0.442914,-0.817515,-0.368099],[0.013083,-0.404629,0.914387]] 2025-10-28T22:10:50.126Z,1761689450.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883842,-0.433405,-0.176020],[0.467597,-0.807863,-0.358763],[0.013290,-0.399396,0.916682]] 2025-10-28T22:10:50.531Z,1761689450.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870506,-0.457054,-0.182541],[0.491961,-0.797596,-0.349019],[0.013927,-0.393626,0.919165]] 2025-10-28T22:10:50.935Z,1761689450.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856147,-0.481455,-0.187654],[0.516512,-0.786732,-0.338036],[0.015115,-0.386334,0.922235]] 2025-10-28T22:10:51.341Z,1761689451.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840551,-0.505410,-0.195026],[0.541477,-0.772761,-0.331122],[0.016645,-0.383927,0.923213]] 2025-10-28T22:10:51.743Z,1761689451.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823990,-0.529296,-0.202202],[0.566300,-0.757629,-0.324505],[0.018565,-0.381896,0.924019]] 2025-10-28T22:10:52.149Z,1761689452.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805814,-0.553175,-0.211333],[0.591815,-0.739966,-0.319697],[0.020469,-0.382686,0.923652]] 2025-10-28T22:10:52.551Z,1761689452.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785936,-0.577492,-0.220923],[0.617915,-0.720865,-0.313901],[0.022019,-0.383218,0.923396]] 2025-10-28T22:10:52.955Z,1761689452.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763609,-0.603018,-0.230804],[0.645276,-0.700082,-0.305784],[0.022812,-0.382431,0.923702]] 2025-10-28T22:10:53.359Z,1761689453.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739421,-0.628210,-0.242094],[0.672860,-0.677424,-0.297247],[0.022733,-0.382686,0.923599]] 2025-10-28T22:10:53.768Z,1761689453.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713787,-0.652234,-0.255145],[0.700028,-0.653152,-0.288709],[0.021657,-0.384685,0.922794]] 2025-10-28T22:10:54.202Z,1761689454.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686853,-0.675616,-0.267910],[0.726519,-0.628061,-0.278764],[0.020074,-0.386112,0.922234]] 2025-10-28T22:10:54.579Z,1761689454.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658786,-0.697750,-0.281329],[0.752116,-0.601904,-0.268390],[0.017936,-0.388404,0.921315]] 2025-10-28T22:10:54.976Z,1761689454.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630807,-0.717553,-0.295298],[0.775789,-0.575733,-0.258230],[0.015281,-0.391982,0.919846]] 2025-10-28T22:10:55.378Z,1761689455.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602466,-0.735547,-0.309847],[0.798049,-0.549122,-0.248160],[0.012389,-0.396781,0.917830]] 2025-10-28T22:10:55.788Z,1761689455.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573645,-0.753537,-0.321113],[0.819050,-0.523191,-0.235432],[0.009404,-0.398062,0.917310]] 2025-10-28T22:10:56.191Z,1761689456.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544182,-0.771556,-0.329495],[0.838943,-0.497445,-0.220735],[0.006404,-0.396547,0.917992]] 2025-10-28T22:10:56.591Z,1761689456.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515068,-0.788132,-0.336974],[0.857142,-0.472005,-0.206200],[0.003460,-0.395042,0.918657]] 2025-10-28T22:10:56.995Z,1761689456.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485488,-0.806126,-0.338324],[0.874243,-0.447368,-0.188576],[0.000660,-0.387329,0.921941]] 2025-10-28T22:10:57.400Z,1761689457.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455731,-0.823443,-0.338010],[0.890116,-0.422342,-0.171234],[-0.001754,-0.378904,0.925434]] 2025-10-28T22:10:57.404Z,1761689457.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:10:57.803Z,1761689457.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425189,-0.838404,-0.341018],[0.905093,-0.395804,-0.155391],[-0.004696,-0.374724,0.927125]] 2025-10-28T22:10:58.210Z,1761689458.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394615,-0.851499,-0.345294],[0.918813,-0.368908,-0.140321],[-0.007898,-0.372633,0.927945]] 2025-10-28T22:10:58.408Z,1761689458.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:10:58.611Z,1761689458.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363874,-0.863477,-0.349289],[0.931384,-0.341715,-0.125521],[-0.010973,-0.370996,0.928570]] 2025-10-28T22:10:59.015Z,1761689459.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332936,-0.874436,-0.352867],[0.942841,-0.314384,-0.110513],[-0.014299,-0.369492,0.929124]] 2025-10-28T22:10:59.421Z,1761689459.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301556,-0.884193,-0.356744],[0.953281,-0.286620,-0.095420],[-0.017880,-0.368852,0.929316]] 2025-10-28T22:10:59.467Z,1761689459.467 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:10:59.467Z,1761689459.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:10:59.467Z,1761689459.467 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:10:59.467Z,1761689459.467 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:10:59.467Z,1761689459.467 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:10:59.468Z,1761689459.468 [marl:UpdateSpeed] Stopped 2025-10-28T22:10:59.492Z,1761689459.492 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:10:59.822Z,1761689459.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270307,-0.890758,-0.365356],[0.962529,-0.258588,-0.081670],[-0.021728,-0.373742,0.927278]] 2025-10-28T22:11:00.229Z,1761689460.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239360,-0.896435,-0.372975],[0.970598,-0.230978,-0.067741],[-0.025423,-0.378224,0.925365]] 2025-10-28T22:11:00.631Z,1761689460.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208986,-0.899640,-0.383371],[0.977501,-0.203637,-0.054997],[-0.028591,-0.386239,0.921956]] 2025-10-28T22:11:01.038Z,1761689461.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179471,-0.899964,-0.397309],[0.983268,-0.176915,-0.043420],[-0.031214,-0.398454,0.916657]] 2025-10-28T22:11:01.075Z,1761689461.075 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:11:01.075Z,1761689461.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateRudder:A] Stopped 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:11:01.076Z,1761689461.076 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:11:01.077Z,1761689461.077 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:11:01.077Z,1761689461.077 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:11:01.077Z,1761689461.077 [marl:UpdateCommandMode] Stopped 2025-10-28T22:11:01.077Z,1761689461.077 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:11:01.438Z,1761689461.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150049,-0.899876,-0.409522],[0.988141,-0.150148,-0.032123],[-0.032583,-0.409485,0.911735]] 2025-10-28T22:11:01.499Z,1761689461.499 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:11:01.499Z,1761689461.499 [marl:UpdateRudder:B] Stopped 2025-10-28T22:11:01.500Z,1761689461.500 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:11:01.500Z,1761689461.500 [marl:UpdateRudder] Stopped 2025-10-28T22:11:01.500Z,1761689461.500 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:11:01.844Z,1761689461.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121205,-0.899671,-0.419406],[0.992087,-0.123735,-0.021279],[-0.032751,-0.418667,0.907549]] 2025-10-28T22:11:02.249Z,1761689462.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092974,-0.900904,-0.423942],[0.995161,-0.097676,-0.010680],[-0.031787,-0.422884,0.905626]] 2025-10-28T22:11:02.650Z,1761689462.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065749,-0.902934,-0.424721],[0.997390,-0.072193,-0.000923],[-0.029828,-0.423673,0.905324]] 2025-10-28T22:11:03.062Z,1761689463.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037153,-0.906984,-0.419522],[0.998927,-0.045322,0.009518],[-0.027646,-0.418719,0.907695]] 2025-10-28T22:11:03.460Z,1761689463.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007163,-0.912693,-0.408583],[0.999656,-0.016847,0.020108],[-0.025236,-0.408298,0.912500]] 2025-10-28T22:11:03.862Z,1761689463.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023466,-0.916896,-0.398437],[0.999476,0.012624,0.029812],[-0.022305,-0.398927,0.916711]] 2025-10-28T22:11:04.270Z,1761689464.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055388,-0.918062,-0.392549],[0.998272,0.043188,0.039849],[-0.019631,-0.394078,0.918867]] 2025-10-28T22:11:04.671Z,1761689464.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088555,-0.919234,-0.383623],[0.995918,0.074954,0.050293],[-0.017477,-0.386510,0.922119]] 2025-10-28T22:11:05.076Z,1761689465.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122372,-0.918515,-0.375972],[0.992351,0.107037,0.061497],[-0.016243,-0.380622,0.924588]] 2025-10-28T22:11:05.479Z,1761689465.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156386,-0.914651,-0.372769],[0.987563,0.138603,0.074221],[-0.016220,-0.379740,0.924951]] 2025-10-28T22:11:05.883Z,1761689465.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189424,-0.908810,-0.371730],[0.981745,0.168671,0.087903],[-0.017187,-0.381595,0.924170]] 2025-10-28T22:11:06.290Z,1761689466.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221332,-0.902487,-0.369499],[0.975012,0.197375,0.101955],[-0.019083,-0.382831,0.923621]] 2025-10-28T22:11:06.692Z,1761689466.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251369,-0.895926,-0.366239],[0.967653,0.224227,0.115627],[-0.021472,-0.383457,0.923309]] 2025-10-28T22:11:07.119Z,1761689467.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279621,-0.889111,-0.362346],[0.959808,0.249384,0.128751],[-0.024111,-0.383784,0.923108]] 2025-10-28T22:11:07.499Z,1761689467.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305862,-0.881540,-0.359634],[0.951707,0.272572,0.141275],[-0.026513,-0.385477,0.922337]] 2025-10-28T22:11:07.904Z,1761689467.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331292,-0.872580,-0.358958],[0.943090,0.294639,0.154174],[-0.028766,-0.389606,0.920532]] 2025-10-28T22:11:08.306Z,1761689468.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354766,-0.863468,-0.358559],[0.934473,0.315160,0.165633],[-0.030015,-0.393825,0.918695]] 2025-10-28T22:11:08.710Z,1761689468.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378006,-0.854838,-0.355477],[0.925309,0.336308,0.175212],[-0.030228,-0.395158,0.918116]] 2025-10-28T22:11:09.166Z,1761689469.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401605,-0.846721,-0.348965],[0.915336,0.358812,0.182796],[-0.029565,-0.392832,0.919135]] 2025-10-28T22:11:09.523Z,1761689469.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425451,-0.836320,-0.345775],[0.904532,0.380944,0.191580],[-0.028501,-0.394273,0.918552]] 2025-10-28T22:11:09.922Z,1761689469.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450698,-0.825048,-0.340832],[0.892268,0.404810,0.199968],[-0.027011,-0.394239,0.918611]] 2025-10-28T22:11:10.327Z,1761689470.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476830,-0.810404,-0.340411],[0.878627,0.428226,0.211272],[-0.025443,-0.399835,0.916234]] 2025-10-28T22:11:10.731Z,1761689470.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504634,-0.795132,-0.336318],[0.863002,0.453796,0.222029],[-0.023922,-0.402286,0.915201]] 2025-10-28T22:11:11.169Z,1761689471.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532925,-0.779520,-0.329150],[0.845857,0.480319,0.231990],[-0.022744,-0.402047,0.915336]] 2025-10-28T22:11:11.556Z,1761689471.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561184,-0.762837,-0.321172],[0.827402,0.506787,0.242016],[-0.021853,-0.401555,0.915574]] 2025-10-28T22:11:11.942Z,1761689471.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589306,-0.746598,-0.308722],[0.807629,0.534320,0.249475],[-0.021301,-0.396350,0.917852]] 2025-10-28T22:11:12.346Z,1761689472.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616744,-0.729645,-0.295373],[0.786866,0.561151,0.256809],[-0.021630,-0.390805,0.920219]] 2025-10-28T22:11:12.750Z,1761689472.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643242,-0.712688,-0.279850],[0.765335,0.587771,0.262275],[-0.022433,-0.382885,0.923524]] 2025-10-28T22:11:12.796Z,1761689472.796 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:11:12.796Z,1761689472.796 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:11:12.797Z,1761689472.797 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:11:12.799Z,1761689472.799 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:11:12.799Z,1761689472.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:11:12.799Z,1761689472.799 [marl:UpdateSpeed] Stopped 2025-10-28T22:11:12.799Z,1761689472.799 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:11:13.174Z,1761689473.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668329,-0.695365,-0.264203],[0.743489,0.613139,0.266991],[-0.023663,-0.374870,0.926775]] 2025-10-28T22:11:13.563Z,1761689473.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692337,-0.676112,-0.252077],[0.721113,0.635813,0.275204],[-0.025795,-0.372310,0.927750]] 2025-10-28T22:11:13.963Z,1761689473.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715038,-0.656443,-0.240426],[0.698523,0.657075,0.283405],[-0.028062,-0.370588,0.928373]] 2025-10-28T22:11:14.371Z,1761689474.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736671,-0.635709,-0.230629],[0.675561,0.676394,0.293443],[-0.030549,-0.371975,0.927740]] 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateRudder:A] Stopped 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:11:14.404Z,1761689474.404 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode] Stopped 2025-10-28T22:11:14.405Z,1761689474.405 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:11:14.775Z,1761689474.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756967,-0.614462,-0.222345],[0.652615,0.693659,0.304846],[-0.033084,-0.375864,0.926084]] 2025-10-28T22:11:14.811Z,1761689474.811 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:11:14.811Z,1761689474.811 [marl:UpdateRudder:B] Stopped 2025-10-28T22:11:14.811Z,1761689474.811 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:11:14.811Z,1761689474.811 [marl:UpdateRudder] Stopped 2025-10-28T22:11:14.811Z,1761689474.811 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:11:15.178Z,1761689475.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776245,-0.592861,-0.214384],[0.629438,0.709746,0.316335],[-0.035384,-0.380495,0.924106]] 2025-10-28T22:11:15.588Z,1761689475.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794471,-0.571001,-0.206821],[0.606151,0.724601,0.327924],[-0.037382,-0.385891,0.921787]] 2025-10-28T22:11:15.982Z,1761689475.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812139,-0.548316,-0.199452],[0.582160,0.738654,0.339824],[-0.039005,-0.392097,0.919097]] 2025-10-28T22:11:16.387Z,1761689476.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829220,-0.524980,-0.191810],[0.557497,0.752382,0.350881],[-0.039891,-0.397891,0.916565]] 2025-10-28T22:11:16.794Z,1761689476.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845588,-0.501172,-0.183869],[0.532337,0.765815,0.360756],[-0.039991,-0.402931,0.914356]] 2025-10-28T22:11:16.846Z,1761689476.846 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:11:16.949Z,1761689476.949 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:11:16.949Z,1761689476.949 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:11:17.195Z,1761689477.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861387,-0.476706,-0.175399],[0.506385,0.778826,0.370141],[-0.039843,-0.407654,0.912267]] 2025-10-28T22:11:17.201Z,1761689477.201 [DAT](INFO): DAT read: user:351> 2025-10-28T22:11:17.202Z,1761689477.202 [DAT](INFO): DAT read: Tx time:22:11:16.9439 2025-10-28T22:11:17.202Z,1761689477.202 [DAT](INFO): Ping request sent. 2025-10-28T22:11:17.202Z,1761689477.202 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:11:17.202Z,1761689477.202 [DAT](INFO): publishing transmit ping time 2025-10-28T22:11:17.203Z,1761689477.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956 2025-10-28T22:11:17.453Z,1761689477.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694 2025-10-28T22:11:17.598Z,1761689477.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876589,-0.451702,-0.166005],[0.479598,0.791507,0.378817],[-0.039718,-0.411682,0.910462]] 2025-10-28T22:11:17.705Z,1761689477.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502641 2025-10-28T22:11:17.957Z,1761689477.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754671 2025-10-28T22:11:18.005Z,1761689478.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890605,-0.427310,-0.155656],[0.453059,0.803932,0.385268],[-0.039492,-0.413643,0.909582]] 2025-10-28T22:11:18.209Z,1761689478.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811 2025-10-28T22:11:18.406Z,1761689478.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903856,-0.402365,-0.145420],[0.426007,0.815005,0.392792],[-0.039528,-0.416977,0.908057]] 2025-10-28T22:11:18.461Z,1761689478.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814 2025-10-28T22:11:18.713Z,1761689478.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510760 2025-10-28T22:11:18.811Z,1761689478.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915622,-0.379780,-0.131923],[0.400067,0.828204,0.392460],[-0.039790,-0.412123,0.910259]] 2025-10-28T22:11:18.965Z,1761689478.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762681 2025-10-28T22:11:19.217Z,1761689479.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014814 2025-10-28T22:11:19.231Z,1761689479.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926208,-0.357562,-0.119532],[0.374907,0.840052,0.392118],[-0.039794,-0.407997,0.912116]] 2025-10-28T22:11:19.469Z,1761689479.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698 2025-10-28T22:11:19.619Z,1761689479.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935819,-0.335968,-0.106620],[0.350243,0.852292,0.388496],[-0.039651,-0.400905,0.915261]] 2025-10-28T22:11:19.722Z,1761689479.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519571 2025-10-28T22:11:19.973Z,1761689479.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770703 2025-10-28T22:11:20.030Z,1761689480.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944507,-0.314806,-0.093823],[0.326083,0.864013,0.383603],[-0.039696,-0.392910,0.918720]] 2025-10-28T22:11:20.225Z,1761689480.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022751 2025-10-28T22:11:20.433Z,1761689480.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952610,-0.292791,-0.082507],[0.301613,0.873864,0.381302],[-0.039542,-0.388117,0.920761]] 2025-10-28T22:11:20.477Z,1761689480.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274726 2025-10-28T22:11:20.729Z,1761689480.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526868 2025-10-28T22:11:20.981Z,1761689480.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778764 2025-10-28T22:11:21.233Z,1761689481.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030757 2025-10-28T22:11:21.237Z,1761689481.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967632,-0.244595,-0.062137],[0.249407,0.889271,0.383396],[-0.038520,-0.386484,0.921491]] 2025-10-28T22:11:21.485Z,1761689481.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282840 2025-10-28T22:11:21.638Z,1761689481.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974785,-0.216997,-0.052029],[0.219878,0.894264,0.389802],[-0.038058,-0.391413,0.919428]] 2025-10-28T22:11:21.737Z,1761689481.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534974 2025-10-28T22:11:21.989Z,1761689481.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786670 2025-10-28T22:11:22.043Z,1761689482.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981487,-0.187166,-0.040643],[0.187875,0.899592,0.394256],[-0.037230,-0.394593,0.918102]] 2025-10-28T22:11:22.241Z,1761689482.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038700 2025-10-28T22:11:22.451Z,1761689482.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987308,-0.156246,-0.028472],[0.154599,0.904449,0.397583],[-0.036369,-0.396938,0.917125]] 2025-10-28T22:11:22.501Z,1761689482.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299293 2025-10-28T22:11:22.753Z,1761689482.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550720 2025-10-28T22:11:22.851Z,1761689482.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992044,-0.124946,-0.015389],[0.120682,0.909066,0.398791],[-0.035838,-0.397476,0.916912]] 2025-10-28T22:11:23.009Z,1761689483.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806730 2025-10-28T22:11:23.255Z,1761689483.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995697,-0.092660,-0.001575],[0.085630,0.913386,0.397987],[-0.035439,-0.396409,0.917390]] 2025-10-28T22:11:23.257Z,1761689483.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054766 2025-10-28T22:11:23.510Z,1761689483.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307147 2025-10-28T22:11:23.659Z,1761689483.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998123,-0.059921,0.012639],[0.050160,0.918344,0.392591],[-0.035132,-0.391220,0.919626]] 2025-10-28T22:11:23.762Z,1761689483.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559924 2025-10-28T22:11:24.013Z,1761689484.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811297 2025-10-28T22:11:24.067Z,1761689484.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999291,-0.026415,0.026824],[0.014034,0.922546,0.385633],[-0.034933,-0.384983,0.922262]] 2025-10-28T22:11:24.265Z,1761689484.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062672 2025-10-28T22:11:24.466Z,1761689484.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999144,0.007461,0.040680],[-0.022284,0.925731,0.377527],[-0.034842,-0.378110,0.925105]] 2025-10-28T22:11:24.518Z,1761689484.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315330 2025-10-28T22:11:24.769Z,1761689484.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567132 2025-10-28T22:11:24.871Z,1761689484.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997690,0.040824,0.054290],[-0.058132,0.926603,0.371520],[-0.035138,-0.373818,0.926836]] 2025-10-28T22:11:25.021Z,1761689485.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818648 2025-10-28T22:11:25.273Z,1761689485.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070674 2025-10-28T22:11:25.276Z,1761689485.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995086,0.072336,0.067607],[-0.092338,0.924438,0.369985],[-0.035736,-0.374409,0.926575]] 2025-10-28T22:11:25.525Z,1761689485.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322738 2025-10-28T22:11:25.680Z,1761689485.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991763,0.100310,0.079649],[-0.122783,0.921610,0.368183],[-0.036473,-0.374930,0.926335]] 2025-10-28T22:11:25.778Z,1761689485.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575747 2025-10-28T22:11:26.029Z,1761689486.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826688 2025-10-28T22:11:26.082Z,1761689486.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987833,0.126034,0.091110],[-0.150974,0.917745,0.367357],[-0.037316,-0.376643,0.925607]] 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed] Stopped 2025-10-28T22:11:26.115Z,1761689486.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:11:26.281Z,1761689486.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078743 2025-10-28T22:11:26.492Z,1761689486.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983334,0.150242,0.102377],[-0.177797,0.912299,0.368916],[-0.037972,-0.380970,0.923807]] 2025-10-28T22:11:26.533Z,1761689486.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330758 2025-10-28T22:11:26.785Z,1761689486.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582924 2025-10-28T22:11:26.890Z,1761689486.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978226,0.173678,0.113622],[-0.203996,0.905396,0.372349],[-0.038204,-0.387420,0.921111]] 2025-10-28T22:11:27.038Z,1761689487.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835345 2025-10-28T22:11:27.289Z,1761689487.289 [DAT](INFO): Reached modem response timeout 2025-10-28T22:11:27.297Z,1761689487.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972492,0.196424,0.125209],[-0.229762,0.897327,0.376848],[-0.038332,-0.395250,0.917774]] 2025-10-28T22:11:27.698Z,1761689487.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966022,0.218888,0.137438],[-0.255594,0.888017,0.382227],[-0.038383,-0.404368,0.913791]] 2025-10-28T22:11:27.738Z,1761689487.738 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateRudder:A] Stopped 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:11:27.739Z,1761689487.739 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:11:27.740Z,1761689487.740 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:11:27.740Z,1761689487.740 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:11:27.740Z,1761689487.740 [marl:UpdateCommandMode] Stopped 2025-10-28T22:11:27.740Z,1761689487.740 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:11:27.741Z,1761689487.741 [marl:NeedComms] Running Loop=1 2025-10-28T22:11:27.741Z,1761689487.741 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms 2025-10-28T22:11:27.741Z,1761689487.741 [marl:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T22:11:27.741Z,1761689487.741 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T22:11:27.742Z,1761689487.742 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T22:11:27.742Z,1761689487.742 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T22:11:27.742Z,1761689487.742 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T22:11:27.743Z,1761689487.743 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T22:11:27.743Z,1761689487.743 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T22:11:27.743Z,1761689487.743 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T22:11:27.744Z,1761689487.744 [marl:NeedComms:A] Running Loop=1 2025-10-28T22:11:27.745Z,1761689487.745 [marl:NeedComms:A](INFO): last time_fix was: 1761688286.000000 second since 1970/01/01T00:00:00Z 2025-10-28T22:11:27.745Z,1761689487.745 [marl:NeedComms:A] Stopped 2025-10-28T22:11:28.102Z,1761689488.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958920,0.241200,0.149312],[-0.281059,0.879143,0.384856],[-0.038440,-0.411012,0.910819]] 2025-10-28T22:11:28.145Z,1761689488.145 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:11:28.146Z,1761689488.146 [marl:UpdateRudder:B] Stopped 2025-10-28T22:11:28.146Z,1761689488.146 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:11:28.146Z,1761689488.146 [marl:UpdateRudder] Stopped 2025-10-28T22:11:28.146Z,1761689488.146 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:11:28.514Z,1761689488.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951165,0.263276,0.161158],[-0.306282,0.869943,0.386510],[-0.038439,-0.416994,0.908096]] 2025-10-28T22:11:28.530Z,1761689488.530 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:11:28.912Z,1761689488.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942705,0.284891,0.173621],[-0.331346,0.860235,0.387563],[-0.038942,-0.422887,0.905345]] 2025-10-28T22:11:29.315Z,1761689489.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932813,0.308798,0.185750],[-0.358230,0.850582,0.384944],[-0.039125,-0.425622,0.904055]] 2025-10-28T22:11:29.532Z,1761689489.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:11:29.557Z,1761689489.557 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:11:29.557Z,1761689489.557 [DAT](INFO): response not received 2025-10-28T22:11:29.557Z,1761689489.557 [DAT](ERROR): No response from remote modem. 2025-10-28T22:11:29.718Z,1761689489.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920966,0.336687,0.196122],[-0.387681,0.842238,0.374618],[-0.039052,-0.421043,0.906200]] 2025-10-28T22:11:30.123Z,1761689490.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907336,0.366707,0.205591],[-0.418544,0.833915,0.359732],[-0.039529,-0.412446,0.910124]] 2025-10-28T22:11:30.529Z,1761689490.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891838,0.397965,0.215056],[-0.450295,0.826351,0.338199],[-0.043120,-0.398457,0.916173]] 2025-10-28T22:11:30.937Z,1761689490.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854740,0.461026,0.238486],[-0.515327,0.808707,0.283603],[-0.062117,-0.365305,0.928813]] 2025-10-28T22:11:31.341Z,1761689491.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833756,0.491010,0.252507],[-0.546978,0.796880,0.256511],[-0.075268,-0.351983,0.932975]] 2025-10-28T22:11:31.745Z,1761689491.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811178,0.520453,0.266681],[-0.577942,0.783089,0.229686],[-0.089294,-0.340442,0.936016]] 2025-10-28T22:11:32.147Z,1761689492.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787443,0.548365,0.281478],[-0.607632,0.767288,0.205065],[-0.103524,-0.332513,0.937400]] 2025-10-28T22:11:32.951Z,1761689492.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737939,0.596144,0.316319],[-0.661835,0.730939,0.166443],[-0.131986,-0.332176,0.933937]] 2025-10-28T22:11:33.356Z,1761689493.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714137,0.613565,0.336968],[-0.684527,0.712781,0.152859],[-0.146396,-0.339826,0.929025]] 2025-10-28T22:11:33.762Z,1761689493.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691166,0.626880,0.359598],[-0.704605,0.695158,0.142433],[-0.160689,-0.351819,0.922173]] 2025-10-28T22:11:34.178Z,1761689494.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668347,0.638099,0.382286],[-0.723039,0.678005,0.132380],[-0.174720,-0.364884,0.914512]] 2025-10-28T22:11:34.567Z,1761689494.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645124,0.649397,0.402614],[-0.740594,0.661079,0.120394],[-0.187976,-0.375843,0.907418]] 2025-10-28T22:11:34.980Z,1761689494.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621765,0.660274,0.421244],[-0.757087,0.644430,0.107374],[-0.200566,-0.385680,0.900569]] 2025-10-28T22:11:35.375Z,1761689495.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598229,0.670386,0.438980],[-0.772546,0.627998,0.093760],[-0.212823,-0.395222,0.893591]] 2025-10-28T22:11:35.786Z,1761689495.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574225,0.680872,0.454620],[-0.787230,0.611675,0.078251],[-0.224800,-0.402824,0.887242]] 2025-10-28T22:11:36.183Z,1761689496.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549506,0.692164,0.467923],[-0.801328,0.595138,0.060696],[-0.236467,-0.408312,0.881683]] 2025-10-28T22:11:36.588Z,1761689496.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524190,0.704358,0.478649],[-0.814668,0.578483,0.040910],[-0.248075,-0.411384,0.877053]] 2025-10-28T22:11:36.000Z,1761689497.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497265,0.717401,0.487918],[-0.828052,0.560290,0.020104],[-0.258953,-0.414019,0.872658]] 2025-10-28T22:11:37.394Z,1761689497.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468250,0.733275,0.493000],[-0.841620,0.540056,-0.003897],[-0.269106,-0.413094,0.870020]] 2025-10-28T22:11:37.801Z,1761689497.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438045,0.753741,0.489890],[-0.854646,0.518158,-0.033035],[-0.278741,-0.404211,0.871158]] 2025-10-28T22:11:38.204Z,1761689498.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406429,0.772987,0.487141],[-0.867040,0.494463,-0.061221],[-0.288197,-0.397489,0.871175]] 2025-10-28T22:11:38.607Z,1761689498.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373317,0.793007,0.481429],[-0.878714,0.468671,-0.090607],[-0.297484,-0.389213,0.871789]] 2025-10-28T22:11:39.010Z,1761689499.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339139,0.811564,0.475761],[-0.889213,0.441620,-0.119464],[-0.307058,-0.382538,0.871424]] 2025-10-28T22:11:39.414Z,1761689499.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305127,0.830428,0.466140],[-0.898063,0.413766,-0.149266],[-0.316827,-0.373079,0.872028]] 2025-10-28T22:11:39.493Z,1761689499.493 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:11:39.493Z,1761689499.493 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:11:39.494Z,1761689499.494 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:11:39.494Z,1761689499.494 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:11:39.494Z,1761689499.494 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:11:39.494Z,1761689499.494 [marl:UpdateSpeed] Stopped 2025-10-28T22:11:39.494Z,1761689499.494 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:11:39.820Z,1761689499.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270316,0.847062,0.457619],[-0.905580,0.385081,-0.177866],[-0.326884,-0.366331,0.871176]] 2025-10-28T22:11:40.222Z,1761689500.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234690,0.862643,0.448071],[-0.911902,0.355031,-0.205885],[-0.336684,-0.360278,0.869968]] 2025-10-28T22:11:40.626Z,1761689500.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197561,0.876987,0.438023],[-0.917156,0.323123,-0.233275],[-0.346114,-0.355649,0.868170]] 2025-10-28T22:11:41.049Z,1761689501.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159444,0.887090,0.433186],[-0.921108,0.291544,-0.257998],[-0.355160,-0.357874,0.863590]] 2025-10-28T22:11:41.139Z,1761689501.139 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:11:41.139Z,1761689501.139 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:11:41.144Z,1761689501.144 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:11:41.145Z,1761689501.145 [marl:UpdateRudder:A] Stopped 2025-10-28T22:11:41.145Z,1761689501.145 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:11:41.146Z,1761689501.146 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:11:41.146Z,1761689501.146 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:11:41.146Z,1761689501.146 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:11:41.147Z,1761689501.147 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:11:41.152Z,1761689501.152 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:11:41.152Z,1761689501.152 [marl:UpdateCommandMode] Stopped 2025-10-28T22:11:41.153Z,1761689501.153 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:11:41.450Z,1761689501.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121353,0.895038,0.429162],[-0.923562,0.260249,-0.281609],[-0.363740,-0.362184,0.858205]] 2025-10-28T22:11:41.514Z,1761689501.514 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:11:41.514Z,1761689501.514 [marl:UpdateRudder:B] Stopped 2025-10-28T22:11:41.514Z,1761689501.514 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:11:41.514Z,1761689501.514 [marl:UpdateRudder] Stopped 2025-10-28T22:11:41.514Z,1761689501.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:11:41.906Z,1761689501.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084180,0.901578,0.424347],[-0.924546,0.229506,-0.304207],[-0.371657,-0.366720,0.852870]] 2025-10-28T22:11:42.302Z,1761689502.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049718,0.906309,0.419682],[-0.923936,0.201316,-0.325290],[-0.379302,-0.371586,0.847381]] 2025-10-28T22:11:42.706Z,1761689502.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018303,0.909152,0.416062],[-0.922172,0.176148,-0.344340],[-0.386346,-0.377378,0.841619]] 2025-10-28T22:11:43.167Z,1761689503.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011317,0.910294,0.413808],[-0.919781,0.152868,-0.361434],[-0.392269,-0.384703,0.835541]] 2025-10-28T22:11:43.524Z,1761689503.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039566,0.910476,0.411665],[-0.917030,0.130539,-0.376850],[-0.396851,-0.392420,0.829769]] 2025-10-28T22:11:43.673Z,1761689503.673 [CTD_Seabird](ERROR): Failed to parse device response: .39 2025-10-28T22:11:44.331Z,1761689504.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094101,0.908407,0.407359],[-0.910677,0.086786,-0.403901],[-0.402260,-0.408979,0.819099]] 2025-10-28T22:11:45.176Z,1761689505.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146862,0.906666,0.395459],[-0.902355,0.040971,-0.429043],[-0.405201,-0.419855,0.812117]] 2025-10-28T22:11:45.543Z,1761689505.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173468,0.906615,0.384654],[-0.897336,0.015445,-0.441077],[-0.405828,-0.421677,0.810859]] 2025-10-28T22:11:45.951Z,1761689505.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200056,0.906524,0.371742],[-0.891840,-0.011377,-0.452208],[-0.405708,-0.422001,0.810750]] 2025-10-28T22:11:46.350Z,1761689506.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227987,0.908144,0.351136],[-0.885729,-0.043671,-0.462144],[-0.404359,-0.416374,0.814326]] 2025-10-28T22:11:46.758Z,1761689506.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257580,0.910780,0.322696],[-0.878605,-0.081781,-0.470495],[-0.402127,-0.404712,0.821281]] 2025-10-28T22:11:47.175Z,1761689507.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286772,0.911664,0.294329],[-0.870468,-0.119667,-0.477456],[-0.400058,-0.393125,0.827892]] 2025-10-28T22:11:47.562Z,1761689507.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316528,0.909679,0.268877],[-0.861161,-0.156714,-0.483573],[-0.397759,-0.384611,0.832984]] 2025-10-28T22:11:47.979Z,1761689507.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346238,0.905296,0.246086],[-0.850729,-0.192411,-0.489119],[-0.395448,-0.378705,0.836782]] 2025-10-28T22:11:48.376Z,1761689508.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376172,0.899072,0.223974],[-0.839231,-0.228174,-0.493587],[-0.392665,-0.373639,0.840362]] 2025-10-28T22:11:48.784Z,1761689508.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406028,0.889964,0.207619],[-0.826738,-0.260904,-0.498431],[-0.389417,-0.374023,0.841701]] 2025-10-28T22:11:49.183Z,1761689509.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434938,0.879149,0.194747],[-0.813595,-0.291001,-0.503371],[-0.385866,-0.377380,0.841838]] 2025-10-28T22:11:49.587Z,1761689509.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463339,0.867188,0.182491],[-0.799787,-0.320517,-0.507553],[-0.381652,-0.381123,0.842073]] 2025-10-28T22:11:49.992Z,1761689509.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490600,0.854605,0.170180],[-0.785458,-0.349142,-0.511034],[-0.377315,-0.384382,0.842546]] 2025-10-28T22:11:50.396Z,1761689510.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516352,0.841613,0.158330],[-0.770910,-0.376294,-0.513907],[-0.372932,-0.387416,0.843108]] 2025-10-28T22:11:50.800Z,1761689510.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541064,0.828720,0.143082],[-0.755908,-0.404673,-0.514628],[-0.368581,-0.386604,0.845390]] 2025-10-28T22:11:51.607Z,1761689511.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589173,0.801189,0.104744],[-0.723333,-0.465211,-0.510262],[-0.360088,-0.376398,0.853616]] 2025-10-28T22:11:52.012Z,1761689512.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612940,0.785323,0.087021],[-0.705646,-0.494522,-0.507456],[-0.355483,-0.372446,0.857272]] 2025-10-28T22:11:52.414Z,1761689512.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636646,0.767653,0.073430],[-0.686481,-0.520784,-0.507472],[-0.351320,-0.373488,0.858534]] 2025-10-28T22:11:52.818Z,1761689512.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659631,0.749258,0.059157],[-0.666439,-0.546694,-0.506936],[-0.347485,-0.373815,0.859951]] 2025-10-28T22:11:52.870Z,1761689512.870 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:11:52.870Z,1761689512.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:11:52.871Z,1761689512.871 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:11:52.871Z,1761689512.871 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:11:52.871Z,1761689512.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:11:52.871Z,1761689512.871 [marl:UpdateSpeed] Stopped 2025-10-28T22:11:52.871Z,1761689512.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:11:53.222Z,1761689513.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682362,0.729525,0.046634],[-0.645189,-0.571031,-0.507596],[-0.343675,-0.376452,0.860332]] 2025-10-28T22:11:53.629Z,1761689513.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704744,0.708623,0.034498],[-0.622784,-0.594620,-0.508494],[-0.339818,-0.379843,0.860374]] 2025-10-28T22:11:54.031Z,1761689514.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726686,0.686521,0.024830],[-0.599540,-0.616141,-0.510805],[-0.335380,-0.386081,0.859338]] 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateRudder:A] Stopped 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:11:54.061Z,1761689514.061 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:11:54.062Z,1761689514.062 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:11:54.062Z,1761689514.062 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:11:54.062Z,1761689514.062 [marl:UpdateCommandMode] Stopped 2025-10-28T22:11:54.062Z,1761689514.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:11:54.440Z,1761689514.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746911,0.664712,0.016768],[-0.576622,-0.634958,-0.514136],[-0.331106,-0.393683,0.857545]] 2025-10-28T22:11:54.481Z,1761689514.481 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:11:54.481Z,1761689514.481 [marl:UpdateRudder:B] Stopped 2025-10-28T22:11:54.481Z,1761689514.481 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:11:54.481Z,1761689514.481 [marl:UpdateRudder] Stopped 2025-10-28T22:11:54.481Z,1761689514.481 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:11:54.839Z,1761689514.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766150,0.642630,0.006347],[-0.553692,-0.655039,-0.514149],[-0.326250,-0.397429,0.857678]] 2025-10-28T22:11:55.244Z,1761689515.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784306,0.620334,-0.007099],[-0.530690,-0.676805,-0.510200],[-0.321299,-0.396385,0.860026]] 2025-10-28T22:11:55.647Z,1761689515.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801416,0.597766,-0.020217],[-0.507799,-0.697880,-0.505078],[-0.316028,-0.394511,0.862837]] 2025-10-28T22:11:56.050Z,1761689516.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817700,0.574732,-0.032398],[-0.484891,-0.718026,-0.499320],[-0.310237,-0.392584,0.865812]] 2025-10-28T22:11:56.462Z,1761689516.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833366,0.550942,-0.044312],[-0.461455,-0.737648,-0.492884],[-0.304237,-0.390305,0.868966]] 2025-10-28T22:11:56.859Z,1761689516.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848229,0.526996,-0.052744],[-0.437833,-0.753762,-0.490046],[-0.298009,-0.392579,0.870099]] 2025-10-28T22:11:57.264Z,1761689517.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862516,0.502134,-0.062662],[-0.413378,-0.770593,-0.485082],[-0.291863,-0.392488,0.872221]] 2025-10-28T22:11:57.667Z,1761689517.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876223,0.476079,-0.074718],[-0.387776,-0.788599,-0.477222],[-0.286118,-0.389179,0.875601]] 2025-10-28T22:11:58.071Z,1761689518.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889537,0.448143,-0.088837],[-0.360029,-0.807322,-0.467558],[-0.281252,-0.383926,0.879487]] 2025-10-28T22:11:58.475Z,1761689518.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902300,0.418496,-0.103511],[-0.329893,-0.824834,-0.459151],[-0.277533,-0.380145,0.882307]] 2025-10-28T22:11:58.878Z,1761689518.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914285,0.387344,-0.118523],[-0.297806,-0.841097,-0.451516],[-0.274581,-0.377518,0.884356]] 2025-10-28T22:11:59.282Z,1761689519.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924970,0.356332,-0.132131],[-0.265392,-0.854492,-0.446555],[-0.272026,-0.377983,0.884947]] 2025-10-28T22:11:59.652Z,1761689519.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:11:59.687Z,1761689519.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934640,0.323776,-0.147029],[-0.231647,-0.868077,-0.439068],[-0.269792,-0.376312,0.886342]] 2025-10-28T22:12:00.093Z,1761689520.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943118,0.290441,-0.161777],[-0.197034,-0.880250,-0.431668],[-0.267778,-0.375239,0.887407]] 2025-10-28T22:12:00.495Z,1761689520.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950140,0.257796,-0.175426],[-0.162239,-0.889139,-0.427914],[-0.266293,-0.378118,0.886631]] 2025-10-28T22:12:00.656Z,1761689520.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:12:00.899Z,1761689520.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955743,0.224959,-0.189601],[-0.127616,-0.897670,-0.421785],[-0.265084,-0.378922,0.886650]] 2025-10-28T22:12:01.303Z,1761689521.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959905,0.191021,-0.205166],[-0.092392,-0.906577,-0.411804],[-0.264662,-0.376338,0.887876]] 2025-10-28T22:12:01.709Z,1761689521.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962384,0.159998,-0.219585],[-0.058765,-0.911662,-0.406718],[-0.265261,-0.378515,0.886771]] 2025-10-28T22:12:02.111Z,1761689522.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963429,0.129502,-0.234593],[-0.026346,-0.917002,-0.398011],[-0.266666,-0.377274,0.886878]] 2025-10-28T22:12:02.514Z,1761689522.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963323,0.101150,-0.248550],[0.004697,-0.919740,-0.392500],[-0.268302,-0.379272,0.885532]] 2025-10-28T22:12:02.919Z,1761689522.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962312,0.073882,-0.261721],[0.034212,-0.921853,-0.386026],[-0.269789,-0.380432,0.884582]] 2025-10-28T22:12:03.325Z,1761689523.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960416,0.045978,-0.274750],[0.063322,-0.924433,-0.376049],[-0.271278,-0.378562,0.884929]] 2025-10-28T22:12:03.727Z,1761689523.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957519,0.016192,-0.287914],[0.093016,-0.927714,-0.361518],[-0.272955,-0.372941,0.886798]] 2025-10-28T22:12:04.130Z,1761689524.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953261,-0.014126,-0.301817],[0.123747,-0.929540,-0.347335],[-0.275645,-0.368450,0.887843]] 2025-10-28T22:12:04.535Z,1761689524.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947708,-0.043727,-0.316128],[0.154548,-0.929551,-0.334739],[-0.279221,-0.366092,0.887701]] 2025-10-28T22:12:04.951Z,1761689524.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940867,-0.072303,-0.330970],[0.185374,-0.927602,-0.324332],[-0.283558,-0.366506,0.886153]] 2025-10-28T22:12:05.345Z,1761689525.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932893,-0.100813,-0.345756],[0.216110,-0.924676,-0.313482],[-0.288109,-0.367167,0.884410]] 2025-10-28T22:12:05.746Z,1761689525.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923590,-0.129021,-0.361019],[0.247068,-0.920356,-0.303154],[-0.293153,-0.369187,0.881908]] 2025-10-28T22:12:06.151Z,1761689526.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913221,-0.156700,-0.376129],[0.277579,-0.915016,-0.292740],[-0.298292,-0.371741,0.879108]] 2025-10-28T22:12:06.257Z,1761689526.257 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:12:06.257Z,1761689526.257 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:12:06.258Z,1761689526.258 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:12:06.258Z,1761689526.258 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:12:06.258Z,1761689526.258 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:12:06.258Z,1761689526.258 [marl:UpdateSpeed] Stopped 2025-10-28T22:12:06.258Z,1761689526.258 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:12:06.556Z,1761689526.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902043,-0.183090,-0.390891],[0.306930,-0.908803,-0.282614],[-0.303499,-0.374907,0.875976]] 2025-10-28T22:12:06.960Z,1761689526.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890510,-0.209045,-0.404094],[0.334533,-0.902827,-0.270170],[-0.308349,-0.375772,0.873909]] 2025-10-28T22:12:07.000Z,1761689527.000 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateRudder:A] Stopped 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:12:07.001Z,1761689527.001 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:12:07.002Z,1761689527.002 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:12:07.002Z,1761689527.002 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:12:07.002Z,1761689527.002 [marl:UpdateCommandMode] Stopped 2025-10-28T22:12:07.002Z,1761689527.002 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:12:07.363Z,1761689527.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878835,-0.232092,-0.416872],[0.360231,-0.895678,-0.260759],[-0.312863,-0.379335,0.870759]] 2025-10-28T22:12:07.454Z,1761689527.454 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:12:07.454Z,1761689527.454 [marl:UpdateRudder:B] Stopped 2025-10-28T22:12:07.454Z,1761689527.454 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:12:07.454Z,1761689527.454 [marl:UpdateRudder] Stopped 2025-10-28T22:12:07.454Z,1761689527.454 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:12:07.785Z,1761689527.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854550,-0.276843,-0.439433],[0.408531,-0.880737,-0.239591],[-0.320696,-0.384265,0.865734]] 2025-10-28T22:12:08.177Z,1761689528.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842321,-0.298146,-0.449004],[0.431134,-0.872655,-0.229339],[-0.323450,-0.386758,0.863596]] 2025-10-28T22:12:08.581Z,1761689528.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829889,-0.321792,-0.455779],[0.453348,-0.865094,-0.214683],[-0.325208,-0.384790,0.863815]] 2025-10-28T22:12:08.983Z,1761689528.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817275,-0.345619,-0.461096],[0.475217,-0.856821,-0.200067],[-0.325930,-0.382630,0.864502]] 2025-10-28T22:12:09.388Z,1761689529.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804260,-0.368854,-0.465954],[0.496896,-0.847466,-0.186805],[-0.325976,-0.381771,0.864864]] 2025-10-28T22:12:09.799Z,1761689529.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790758,-0.394666,-0.467912],[0.518512,-0.838136,-0.169335],[-0.325342,-0.376521,0.867401]] 2025-10-28T22:12:10.192Z,1761689530.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776459,-0.418791,-0.470878],[0.539939,-0.827412,-0.154451],[-0.324927,-0.374170,0.868573]] 2025-10-28T22:12:10.594Z,1761689530.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760428,-0.442034,-0.475767],[0.561520,-0.815579,-0.139736],[-0.326258,-0.373412,0.868400]] 2025-10-28T22:12:10.999Z,1761689530.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743119,-0.463808,-0.482343],[0.582384,-0.803270,-0.124845],[-0.329548,-0.373684,0.867040]] 2025-10-28T22:12:11.405Z,1761689531.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724674,-0.484143,-0.490361],[0.602103,-0.790960,-0.108881],[-0.335142,-0.374150,0.864692]] 2025-10-28T22:12:11.827Z,1761689531.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704605,-0.504520,-0.498990],[0.620979,-0.778697,-0.089535],[-0.343390,-0.372949,0.861970]] 2025-10-28T22:12:12.211Z,1761689532.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682523,-0.524919,-0.508549],[0.639119,-0.766193,-0.066904],[-0.354527,-0.370687,0.858430]] 2025-10-28T22:12:12.614Z,1761689532.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658711,-0.545105,-0.518614],[0.656599,-0.753044,-0.042462],[-0.367393,-0.368492,0.853954]] 2025-10-28T22:12:13.074Z,1761689533.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635078,-0.563561,-0.528276],[0.672527,-0.739822,-0.019256],[-0.379979,-0.367508,0.848854]] 2025-10-28T22:12:13.474Z,1761689533.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612929,-0.579965,-0.536619],[0.686930,-0.726723,0.000809],[-0.390442,-0.368124,0.843825]] 2025-10-28T22:12:14.282Z,1761689534.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572026,-0.609830,-0.548537],[0.714464,-0.698941,0.031983],[-0.402899,-0.373615,0.835514]] 2025-10-28T22:12:14.688Z,1761689534.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553043,-0.624597,-0.551381],[0.728462,-0.683684,0.043809],[-0.404333,-0.377432,0.833103]] 2025-10-28T22:12:15.097Z,1761689535.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534546,-0.639658,-0.552357],[0.743068,-0.667082,0.053408],[-0.402631,-0.381889,0.831895]] 2025-10-28T22:12:15.495Z,1761689535.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516280,-0.654501,-0.552343],[0.758032,-0.649365,0.060929],[-0.398550,-0.387237,0.831387]] 2025-10-28T22:12:15.899Z,1761689535.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496355,-0.670287,-0.551677],[0.773433,-0.630042,0.069628],[-0.394250,-0.392125,0.831146]] 2025-10-28T22:12:16.305Z,1761689536.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473639,-0.688633,-0.549045],[0.788735,-0.609040,0.083471],[-0.391871,-0.393516,0.831614]] 2025-10-28T22:12:16.706Z,1761689536.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450139,-0.706334,-0.546321],[0.802202,-0.588612,0.100040],[-0.392233,-0.393228,0.831580]] 2025-10-28T22:12:17.152Z,1761689537.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425633,-0.723551,-0.543425],[0.813353,-0.569112,0.120700],[-0.396602,-0.390623,0.830735]] 2025-10-28T22:12:17.212Z,1761689537.212 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:12:17.441Z,1761689537.441 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:12:17.441Z,1761689537.441 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:12:17.515Z,1761689537.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400606,-0.738662,-0.542119],[0.822141,-0.550979,0.143202],[-0.404474,-0.388331,0.828010]] 2025-10-28T22:12:17.693Z,1761689537.693 [DAT](INFO): DAT read: user:352> 2025-10-28T22:12:17.694Z,1761689537.694 [DAT](INFO): DAT read: Tx time:22:12:17.4438 2025-10-28T22:12:17.694Z,1761689537.694 [DAT](INFO): Ping request sent. 2025-10-28T22:12:17.694Z,1761689537.694 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:12:17.694Z,1761689537.694 [DAT](INFO): publishing transmit ping time 2025-10-28T22:12:17.695Z,1761689537.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949 2025-10-28T22:12:17.929Z,1761689537.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374843,-0.751458,-0.542958],[0.829290,-0.533598,0.165984],[-0.414452,-0.388052,0.823192]] 2025-10-28T22:12:17.945Z,1761689537.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889 2025-10-28T22:12:18.197Z,1761689538.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813 2025-10-28T22:12:18.323Z,1761689538.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348553,-0.762813,-0.544635],[0.835823,-0.515920,0.187688],[-0.424158,-0.389799,0.817402]] 2025-10-28T22:12:18.453Z,1761689538.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758610 2025-10-28T22:12:18.701Z,1761689538.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739 2025-10-28T22:12:18.727Z,1761689538.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322593,-0.773588,-0.545431],[0.842929,-0.496925,0.206243],[-0.430585,-0.393227,0.812385]] 2025-10-28T22:12:18.953Z,1761689538.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258818 2025-10-28T22:12:19.166Z,1761689539.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299105,-0.782507,-0.546094],[0.851033,-0.477609,0.218248],[-0.431600,-0.399465,0.808795]] 2025-10-28T22:12:19.205Z,1761689539.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975 2025-10-28T22:12:19.457Z,1761689539.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839 2025-10-28T22:12:19.534Z,1761689539.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280502,-0.790044,-0.545113],[0.860383,-0.458713,0.222089],[-0.425510,-0.406710,0.808411]] 2025-10-28T22:12:19.585Z,1761689539.585 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed] Stopped 2025-10-28T22:12:19.586Z,1761689539.586 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:12:19.709Z,1761689539.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015333 2025-10-28T22:12:19.950Z,1761689539.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263777,-0.797236,-0.542989],[0.870231,-0.439508,0.222555],[-0.416076,-0.413821,0.809711]] 2025-10-28T22:12:19.961Z,1761689539.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266980 2025-10-28T22:12:20.213Z,1761689540.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518788 2025-10-28T22:12:20.344Z,1761689540.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245957,-0.806765,-0.537249],[0.879809,-0.418415,0.225533],[-0.406745,-0.417204,0.812711]] 2025-10-28T22:12:20.459Z,1761689540.459 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:12:20.459Z,1761689540.459 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:12:20.459Z,1761689540.459 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:12:20.460Z,1761689540.460 [marl:UpdateRudder:A] Stopped 2025-10-28T22:12:20.460Z,1761689540.460 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:12:20.460Z,1761689540.460 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:12:20.460Z,1761689540.460 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:12:20.460Z,1761689540.460 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:12:20.461Z,1761689540.461 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:12:20.461Z,1761689540.461 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:12:20.461Z,1761689540.461 [marl:UpdateCommandMode] Stopped 2025-10-28T22:12:20.461Z,1761689540.461 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:12:20.465Z,1761689540.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-10-28T22:12:20.717Z,1761689540.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848 2025-10-28T22:12:20.747Z,1761689540.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227613,-0.817359,-0.529261],[0.888371,-0.396870,0.230851],[-0.398735,-0.417635,0.816450]] 2025-10-28T22:12:20.831Z,1761689540.831 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:12:20.831Z,1761689540.831 [marl:UpdateRudder:B] Stopped 2025-10-28T22:12:20.831Z,1761689540.831 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:12:20.831Z,1761689540.831 [marl:UpdateRudder] Stopped 2025-10-28T22:12:20.831Z,1761689540.831 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:12:20.970Z,1761689540.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275980 2025-10-28T22:12:21.172Z,1761689541.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208794,-0.828237,-0.520027],[0.895852,-0.375257,0.237975],[-0.392243,-0.416179,0.820329]] 2025-10-28T22:12:21.237Z,1761689541.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542863 2025-10-28T22:12:21.489Z,1761689541.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794875 2025-10-28T22:12:21.555Z,1761689541.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187343,-0.839157,-0.510606],[0.902666,-0.352087,0.247446],[-0.387424,-0.414549,0.823439]] 2025-10-28T22:12:21.741Z,1761689541.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046792 2025-10-28T22:12:21.961Z,1761689541.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163979,-0.850396,-0.499938],[0.909095,-0.327019,0.258078],[-0.382958,-0.412172,0.826715]] 2025-10-28T22:12:21.993Z,1761689541.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298931 2025-10-28T22:12:22.245Z,1761689542.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550864 2025-10-28T22:12:22.363Z,1761689542.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138807,-0.860459,-0.490248],[0.915087,-0.300705,0.268688],[-0.378615,-0.411324,0.829134]] 2025-10-28T22:12:22.497Z,1761689542.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802779 2025-10-28T22:12:22.749Z,1761689542.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054766 2025-10-28T22:12:22.772Z,1761689542.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110939,-0.869580,-0.481168],[0.920138,-0.272827,0.280911],[-0.375550,-0.411577,0.830401]] 2025-10-28T22:12:23.001Z,1761689543.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306861 2025-10-28T22:12:23.176Z,1761689543.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081087,-0.876992,-0.473613],[0.923465,-0.244893,0.295364],[-0.375017,-0.413415,0.829729]] 2025-10-28T22:12:23.253Z,1761689543.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559101 2025-10-28T22:12:23.505Z,1761689543.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810873 2025-10-28T22:12:23.575Z,1761689543.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050780,-0.883033,-0.466555],[0.925080,-0.217636,0.311227],[-0.376363,-0.415796,0.827928]] 2025-10-28T22:12:23.758Z,1761689543.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063271 2025-10-28T22:12:23.982Z,1761689543.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021684,-0.889103,-0.457194],[0.925738,-0.190548,0.326652],[-0.377544,-0.416159,0.827208]] 2025-10-28T22:12:24.009Z,1761689544.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314917 2025-10-28T22:12:24.262Z,1761689544.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567478 2025-10-28T22:12:24.382Z,1761689544.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006086,-0.892215,-0.451569],[0.926567,-0.164802,0.338105],[-0.376082,-0.420467,0.825694]] 2025-10-28T22:12:24.513Z,1761689544.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818826 2025-10-28T22:12:24.765Z,1761689544.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071235 2025-10-28T22:12:24.791Z,1761689544.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031570,-0.893897,-0.447159],[0.928698,-0.139152,0.343739],[-0.369490,-0.426127,0.825768]] 2025-10-28T22:12:25.017Z,1761689545.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322776 2025-10-28T22:12:25.190Z,1761689545.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056830,-0.895179,-0.442070],[0.931414,-0.111901,0.346333],[-0.359498,-0.431432,0.827422]] 2025-10-28T22:12:25.269Z,1761689545.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574923 2025-10-28T22:12:25.521Z,1761689545.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826789 2025-10-28T22:12:25.598Z,1761689545.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083437,-0.896135,-0.435867],[0.933744,-0.082475,0.348311],[-0.348082,-0.436050,0.829879]] 2025-10-28T22:12:25.774Z,1761689545.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079458 2025-10-28T22:12:26.025Z,1761689546.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.331023 2025-10-28T22:12:26.277Z,1761689546.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582796 2025-10-28T22:12:26.413Z,1761689546.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135687,-0.897600,-0.419408],[0.935324,-0.023554,0.353006],[-0.326737,-0.440181,0.836352]] 2025-10-28T22:12:26.530Z,1761689546.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835737 2025-10-28T22:12:26.782Z,1761689546.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087297 2025-10-28T22:12:26.809Z,1761689546.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161007,-0.898961,-0.407366],[0.934426,0.005988,0.356106],[-0.317686,-0.437989,0.840977]] 2025-10-28T22:12:27.033Z,1761689547.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338791 2025-10-28T22:12:27.210Z,1761689547.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187594,-0.900314,-0.392737],[0.932363,0.037414,0.359581],[-0.309042,-0.433629,0.846439]] 2025-10-28T22:12:27.285Z,1761689547.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590885 2025-10-28T22:12:27.537Z,1761689547.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842962 2025-10-28T22:12:27.710Z,1761689547.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216896,-0.903408,-0.369879],[0.928511,0.073946,0.363867],[-0.301369,-0.422358,0.854863]] 2025-10-28T22:12:27.792Z,1761689547.792 [DAT](INFO): Reached modem response timeout 2025-10-28T22:12:28.114Z,1761689548.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247687,-0.907821,-0.338397],[0.922290,0.113972,0.369311],[-0.296701,-0.403574,0.865504]] 2025-10-28T22:12:28.514Z,1761689548.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277648,-0.909669,-0.308892],[0.913814,0.150874,0.377068],[-0.296404,-0.386962,0.873158]] 2025-10-28T22:12:28.925Z,1761689548.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304849,-0.907840,-0.287911],[0.904079,0.180774,0.387249],[-0.299513,-0.378347,0.875868]] 2025-10-28T22:12:29.324Z,1761689549.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328866,-0.901982,-0.279779],[0.894449,0.202443,0.398721],[-0.303000,-0.381373,0.873353]] 2025-10-28T22:12:29.728Z,1761689549.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353083,-0.892149,-0.281786],[0.884079,0.219590,0.412535],[-0.306165,-0.394780,0.866263]] 2025-10-28T22:12:30.057Z,1761689550.057 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:12:30.057Z,1761689550.057 [DAT](INFO): response not received 2025-10-28T22:12:30.057Z,1761689550.057 [DAT](ERROR): No response from remote modem. 2025-10-28T22:12:30.130Z,1761689550.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378344,-0.882270,-0.280099],[0.872266,0.238516,0.426922],[-0.309852,-0.405844,0.859815]] 2025-10-28T22:12:30.534Z,1761689550.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407066,-0.871628,-0.273061],[0.857761,0.262045,0.442243],[-0.313917,-0.414244,0.854318]] 2025-10-28T22:12:30.804Z,1761689550.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:12:30.938Z,1761689550.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434980,-0.861904,-0.260602],[0.842940,0.288012,0.454424],[-0.316614,-0.417337,0.851813]] 2025-10-28T22:12:31.344Z,1761689551.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459483,-0.852714,-0.248502],[0.829862,0.312449,0.462281],[-0.316550,-0.418633,0.851201]] 2025-10-28T22:12:31.746Z,1761689551.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478093,-0.844176,-0.242474],[0.820555,0.330841,0.466084],[-0.313237,-0.421795,0.850865]] 2025-10-28T22:12:31.808Z,1761689551.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:12:32.151Z,1761689552.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493396,-0.836447,-0.238572],[0.813438,0.346594,0.467110],[-0.308026,-0.424533,0.851406]] 2025-10-28T22:12:32.555Z,1761689552.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506460,-0.829286,-0.236185],[0.808038,0.360855,0.465680],[-0.300954,-0.426695,0.852853]] 2025-10-28T22:12:32.960Z,1761689552.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518667,-0.821267,-0.237709],[0.803911,0.373812,0.462592],[-0.291053,-0.431028,0.854110]] 2025-10-28T22:12:32.987Z,1761689552.987 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:12:32.987Z,1761689552.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:12:32.989Z,1761689552.989 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:12:32.990Z,1761689552.990 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:12:32.990Z,1761689552.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:12:32.990Z,1761689552.990 [marl:UpdateSpeed] Stopped 2025-10-28T22:12:32.990Z,1761689552.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:12:33.363Z,1761689553.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532330,-0.812056,-0.239142],[0.798724,0.388212,0.459707],[-0.280470,-0.435725,0.855266]] 2025-10-28T22:12:33.773Z,1761689553.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549487,-0.803193,-0.230099],[0.789481,0.409000,0.457645],[-0.273467,-0.433128,0.858846]] 2025-10-28T22:12:33.815Z,1761689553.815 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:12:33.815Z,1761689553.815 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:12:33.815Z,1761689553.815 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateRudder:A] Stopped 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:12:33.817Z,1761689553.817 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:12:33.818Z,1761689553.818 [marl:UpdateCommandMode] Stopped 2025-10-28T22:12:33.818Z,1761689553.818 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:12:34.170Z,1761689554.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570855,-0.795698,-0.202458],[0.774611,0.440182,0.454112],[-0.272217,-0.416058,0.867637]] 2025-10-28T22:12:34.221Z,1761689554.221 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:12:34.221Z,1761689554.221 [marl:UpdateRudder:B] Stopped 2025-10-28T22:12:34.222Z,1761689554.222 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:12:34.222Z,1761689554.222 [marl:UpdateRudder] Stopped 2025-10-28T22:12:34.222Z,1761689554.222 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:12:34.575Z,1761689554.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595700,-0.786432,-0.163294],[0.753837,0.477233,0.451639],[-0.277254,-0.392139,0.877130]] 2025-10-28T22:12:34.978Z,1761689554.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617146,-0.775836,-0.131186],[0.733489,0.506891,0.452830],[-0.284825,-0.375686,0.881893]] 2025-10-28T22:12:35.391Z,1761689555.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627177,-0.769057,-0.123288],[0.725263,0.518932,0.452440],[-0.283974,-0.373177,0.883231]] 2025-10-28T22:12:35.794Z,1761689555.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639960,-0.756083,-0.137076],[0.719175,0.526522,0.453390],[-0.270627,-0.388733,0.880709]] 2025-10-28T22:12:36.190Z,1761689556.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659180,-0.736637,-0.151155],[0.708758,0.541439,0.452224],[-0.251283,-0.405230,0.879003]] 2025-10-28T22:12:37.008Z,1761689557.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710163,-0.696051,-0.105744],[0.666545,0.616357,0.419310],[-0.226685,-0.368262,0.901663]] 2025-10-28T22:12:37.416Z,1761689557.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745601,-0.666393,-0.000154],[0.601358,0.672736,0.431040],[-0.287139,-0.321477,0.902333]] 2025-10-28T22:12:37.812Z,1761689557.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750931,-0.659926,0.024514],[0.583485,0.680418,0.443369],[-0.309271,-0.318636,0.896004]] 2025-10-28T22:12:38.215Z,1761689558.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762614,-0.646427,0.023502],[0.564331,0.682641,0.464253],[-0.316149,-0.340783,0.885391]] 2025-10-28T22:12:38.619Z,1761689558.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774708,-0.632077,0.017497],[0.547036,0.683842,0.482816],[-0.317142,-0.364470,0.875547]] 2025-10-28T22:12:39.026Z,1761689559.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789900,-0.613159,0.009682],[0.530109,0.690678,0.491882],[-0.308289,-0.383405,0.870608]] 2025-10-28T22:12:39.423Z,1761689559.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806636,-0.590952,0.010695],[0.501478,0.693859,0.516798],[-0.312824,-0.411505,0.856040]] 2025-10-28T22:12:39.827Z,1761689559.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810564,-0.584437,0.037672],[0.481064,0.701120,0.526315],[-0.334011,-0.408489,0.849455]] 2025-10-28T22:12:40.232Z,1761689560.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827660,-0.555537,0.079732],[0.456736,0.749287,0.479542],[-0.326145,-0.360482,0.873889]] 2025-10-28T22:12:40.315Z,1761689560.315 [marl:NeedComms:C] Running Loop=1 2025-10-28T22:12:40.634Z,1761689560.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856865,-0.500192,0.124862],[0.399909,0.797736,0.451320],[-0.325353,-0.336787,0.883583]] 2025-10-28T22:12:41.042Z,1761689561.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862036,-0.482737,0.154464],[0.349041,0.786379,0.509685],[-0.367511,-0.385452,0.846382]] 2025-10-28T22:12:41.097Z,1761689561.097 [Radio_Surface](INFO): Powering up 2025-10-28T22:12:41.445Z,1761689561.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838529,-0.524926,0.146024],[0.375559,0.751004,0.543091],[-0.394747,-0.400557,0.826879]] 2025-10-28T22:12:41.846Z,1761689561.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844291,-0.523064,0.116519],[0.398853,0.758577,0.515245],[-0.357894,-0.388543,0.849086]] 2025-10-28T22:12:42.250Z,1761689562.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867240,-0.487471,0.101322],[0.380635,0.780313,0.496215],[-0.320953,-0.391771,0.862267]] 2025-10-28T22:12:42.655Z,1761689562.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909596,-0.414337,0.030977],[0.360163,0.823446,0.438429],[-0.207165,-0.387637,0.898232]] 2025-10-28T22:12:43.067Z,1761689563.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945734,-0.321136,-0.049595],[0.314840,0.867831,0.384377],[-0.080397,-0.379133,0.921843]] 2025-10-28T22:12:43.462Z,1761689563.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945477,-0.325660,0.004223],[0.308141,0.898662,0.312178],[-0.105459,-0.293856,0.950014]] 2025-10-28T22:12:43.870Z,1761689563.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947314,-0.319394,0.024177],[0.313135,0.939342,0.139938],[-0.067405,-0.124995,0.989865]] 2025-10-28T22:12:44.289Z,1761689564.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957895,-0.281774,0.055138],[0.283303,0.958777,-0.022044],[-0.046654,0.036737,0.998235]] 2025-10-28T22:12:44.674Z,1761689564.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965402,-0.249092,0.077144],[0.251038,0.967837,-0.016489],[-0.070556,0.035285,0.996884]] 2025-10-28T22:12:45.086Z,1761689565.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969726,-0.234694,0.067453],[0.228256,0.969325,0.091152],[-0.086777,-0.072996,0.993550]] 2025-10-28T22:12:45.483Z,1761689565.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976256,-0.212691,0.041073],[0.201562,0.961373,0.187443],[-0.079354,-0.174714,0.981416]] 2025-10-28T22:12:45.897Z,1761689565.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985113,-0.166063,0.044444],[0.154149,0.967754,0.199223],[-0.076095,-0.189406,0.978946]] 2025-10-28T22:12:46.290Z,1761689566.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983782,-0.155152,0.090001],[0.138966,0.976547,0.164455],[-0.113406,-0.149281,0.982270]] 2025-10-28T22:12:46.324Z,1761689566.324 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed] Stopped 2025-10-28T22:12:46.325Z,1761689566.325 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:12:46.356Z,1761689566.356 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T22:12:46.357Z,1761689566.357 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T22:12:46.694Z,1761689566.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985172,-0.136692,0.103692],[0.126454,0.986957,0.099624],[-0.115957,-0.085034,0.989608]] 2025-10-28T22:12:47.133Z,1761689567.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997895,-0.064578,0.005889],[0.064484,0.997807,0.014966],[-0.006843,-0.014555,0.999871]] 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateRudder:A] Stopped 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:12:47.223Z,1761689567.223 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:12:47.224Z,1761689567.224 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:12:47.224Z,1761689567.224 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:12:47.224Z,1761689567.224 [marl:UpdateCommandMode] Stopped 2025-10-28T22:12:47.224Z,1761689567.224 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:12:47.503Z,1761689567.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998982,0.024049,-0.038176],[-0.023869,0.999702,0.005183],[0.038290,-0.004266,0.999258]] 2025-10-28T22:12:47.536Z,1761689567.536 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:12:47.536Z,1761689567.536 [marl:UpdateRudder:B] Stopped 2025-10-28T22:12:47.536Z,1761689567.536 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:12:47.536Z,1761689567.536 [marl:UpdateRudder] Stopped 2025-10-28T22:12:47.537Z,1761689567.537 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:12:47.907Z,1761689567.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996669,0.061575,0.053472],[-0.063243,0.997545,0.030075],[-0.051489,-0.033356,0.998116]] 2025-10-28T22:12:48.310Z,1761689568.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997984,0.049700,0.039482],[-0.050696,0.998410,0.024647],[-0.038194,-0.026599,0.998916]] 2025-10-28T22:12:48.716Z,1761689568.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995883,0.076897,-0.047997],[-0.077276,0.996991,-0.006098],[0.047384,0.009782,0.998829]] 2025-10-28T22:12:49.173Z,1761689569.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985467,0.126837,-0.112987],[-0.130585,0.991086,-0.026378],[0.108635,0.040749,0.993246]] 2025-10-28T22:12:49.522Z,1761689569.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966955,0.221066,-0.126996],[-0.222083,0.975008,0.006280],[0.125211,0.022132,0.991883]] 2025-10-28T22:12:49.928Z,1761689569.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957955,0.279794,-0.063550],[-0.276343,0.959309,0.057975],[0.077185,-0.037976,0.996293]] 2025-10-28T22:12:50.331Z,1761689570.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954371,0.298200,-0.015867],[-0.295729,0.951168,0.088455],[0.041470,-0.079727,0.995954]] 2025-10-28T22:12:50.735Z,1761689570.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949827,0.312090,-0.020693],[-0.310974,0.949377,0.044475],[0.033525,-0.035809,0.998796]] 2025-10-28T22:12:51.181Z,1761689571.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945343,0.320621,-0.059400],[-0.320212,0.947201,0.016533],[0.061564,0.003391,0.998097]] 2025-10-28T22:12:51.543Z,1761689571.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915597,0.400558,-0.035147],[-0.400460,0.916259,0.010110],[0.036254,0.004819,0.999331]] 2025-10-28T22:12:51.948Z,1761689571.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890082,0.451814,0.060142],[-0.454830,0.889026,0.052567],[-0.029717,-0.074144,0.996805]] 2025-10-28T22:12:52.350Z,1761689572.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893601,0.446002,0.050594],[-0.448785,0.889845,0.082268],[-0.008329,-0.096220,0.995325]] 2025-10-28T22:12:52.757Z,1761689572.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881364,0.471298,0.032783],[-0.472263,0.877033,0.088209],[0.012821,-0.093227,0.995562]] 2025-10-28T22:12:53.563Z,1761689573.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836266,0.543782,0.070432],[-0.548319,0.829916,0.102885],[-0.002506,-0.124658,0.992197]] 2025-10-28T22:12:53.970Z,1761689573.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825928,0.546454,0.138677],[-0.558124,0.827269,0.064217],[-0.079632,-0.130438,0.988253]] 2025-10-28T22:12:54.379Z,1761689574.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816835,0.560815,0.135158],[-0.569256,0.821560,0.031405],[-0.093428,-0.102592,0.990326]] 2025-10-28T22:12:54.783Z,1761689574.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799513,0.599567,0.036028],[-0.599901,0.800072,-0.001897],[-0.029962,-0.020096,0.999349]] 2025-10-28T22:12:55.189Z,1761689575.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803969,0.594148,-0.024949],[-0.594659,0.803521,-0.027113],[0.003938,0.036634,0.999321]] 2025-10-28T22:12:55.582Z,1761689575.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804675,0.593666,-0.007699],[-0.593546,0.804068,-0.034325],[-0.014187,0.032190,0.999381]] 2025-10-28T22:12:55.987Z,1761689575.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769999,0.638013,0.006402],[-0.637918,0.769607,0.027686],[0.012737,-0.025403,0.999596]] 2025-10-28T22:12:56.393Z,1761689576.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760294,0.649171,0.023017],[-0.647976,0.755455,0.097033],[0.045603,-0.088688,0.995015]] 2025-10-28T22:12:56.798Z,1761689576.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760514,0.648378,0.034994],[-0.648383,0.755412,0.094616],[0.034912,-0.094646,0.994899]] 2025-10-28T22:12:57.199Z,1761689577.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751036,0.660063,0.016187],[-0.658744,0.747423,0.086108],[0.044738,-0.075333,0.996154]] 2025-10-28T22:12:57.602Z,1761689577.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745265,0.665585,-0.039707],[-0.660173,0.744939,0.096109],[0.093547,-0.045413,0.994579]] 2025-10-28T22:12:58.009Z,1761689578.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726674,0.682819,-0.075518],[-0.673828,0.729849,0.115224],[0.133794,-0.032844,0.990465]] 2025-10-28T22:12:58.410Z,1761689578.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715397,0.693185,-0.087764],[-0.681115,0.719867,0.133693],[0.155852,-0.035866,0.987129]] 2025-10-28T22:12:58.816Z,1761689578.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709932,0.701942,-0.057215],[-0.693925,0.711065,0.113377],[0.120268,-0.040788,0.991903]] 2025-10-28T22:12:59.222Z,1761689579.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701177,0.712575,0.024245],[-0.712329,0.698662,0.066778],[0.030646,-0.064094,0.997473]] 2025-10-28T22:12:59.624Z,1761689579.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710343,0.702399,0.045258],[-0.703838,0.708407,0.052651],[0.004921,-0.069254,0.997587]] 2025-10-28T22:12:59.648Z,1761689579.648 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed] Stopped 2025-10-28T22:12:59.649Z,1761689579.649 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:13:00.026Z,1761689580.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718501,0.695037,-0.026058],[-0.690610,0.717368,0.091873],[0.082548,-0.048015,0.995430]] 2025-10-28T22:13:00.430Z,1761689580.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707489,0.702230,-0.079578],[-0.695787,0.711843,0.095705],[0.123854,-0.012340,0.992224]] 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateRudder:A] Stopped 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:13:00.474Z,1761689580.474 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:13:00.475Z,1761689580.475 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:13:00.475Z,1761689580.475 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:13:00.475Z,1761689580.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:13:00.475Z,1761689580.475 [marl:UpdateCommandMode] Stopped 2025-10-28T22:13:00.475Z,1761689580.475 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:13:00.836Z,1761689580.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685285,0.723668,-0.081793],[-0.718583,0.690149,0.085638],[0.118423,0.000088,0.992963]] 2025-10-28T22:13:00.897Z,1761689580.897 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:13:00.897Z,1761689580.897 [marl:UpdateRudder:B] Stopped 2025-10-28T22:13:00.897Z,1761689580.897 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:13:00.897Z,1761689580.897 [marl:UpdateRudder] Stopped 2025-10-28T22:13:00.897Z,1761689580.897 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:13:01.246Z,1761689581.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658051,0.750951,-0.055147],[-0.741555,0.659038,0.125558],[0.130632,-0.041729,0.990552]] 2025-10-28T22:13:01.644Z,1761689581.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648195,0.761131,-0.022870],[-0.749006,0.642706,0.160995],[0.137237,-0.087226,0.986690]] 2025-10-28T22:13:01.928Z,1761689581.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:13:02.047Z,1761689582.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664844,0.746788,-0.017002],[-0.736272,0.658983,0.153769],[0.126037,-0.089714,0.987961]] 2025-10-28T22:13:02.451Z,1761689582.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665434,0.741270,-0.087840],[-0.725919,0.670044,0.155186],[0.173891,-0.039501,0.983972]] 2025-10-28T22:13:02.865Z,1761689582.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636892,0.750538,-0.176240],[-0.729761,0.660623,0.176144],[0.248631,0.016428,0.968459]] 2025-10-28T22:13:02.933Z,1761689582.933 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T22:13:02.933Z,1761689582.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:13:03.265Z,1761689583.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591504,0.779360,-0.206688],[-0.751830,0.625735,0.207861],[0.291331,0.032444,0.956072]] 2025-10-28T22:13:03.662Z,1761689583.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564042,0.812201,-0.148948],[-0.767435,0.582194,0.268503],[0.304795,-0.037139,0.951693]] 2025-10-28T22:13:04.066Z,1761689584.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588911,0.807927,-0.020946],[-0.775831,0.572397,0.265420],[0.226430,-0.140058,0.963905]] 2025-10-28T22:13:04.471Z,1761689584.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580607,0.811789,0.062406],[-0.800407,0.555061,0.226399],[0.149149,-0.181399,0.972034]] 2025-10-28T22:13:04.879Z,1761689584.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547619,0.836093,0.032579],[-0.815540,0.524641,0.244226],[0.187103,-0.160312,0.969171]] 2025-10-28T22:13:05.278Z,1761689585.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580004,0.814516,0.012593],[-0.783077,0.553223,0.284136],[0.224467,-0.174662,0.958701]] 2025-10-28T22:13:05.683Z,1761689585.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578447,0.815534,0.017414],[-0.793912,0.557951,0.241651],[0.187358,-0.153608,0.970207]] 2025-10-28T22:13:06.086Z,1761689586.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546895,0.834797,0.063404],[-0.832042,0.533568,0.151693],[0.092802,-0.135715,0.986392]] 2025-10-28T22:13:06.492Z,1761689586.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515812,0.847047,0.128254],[-0.856676,0.511146,0.069541],[-0.006652,-0.145742,0.989300]] 2025-10-28T22:13:06.896Z,1761689586.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508566,0.850663,0.133163],[-0.860037,0.509270,0.031301],[-0.041190,-0.130443,0.990600]] 2025-10-28T22:13:07.298Z,1761689587.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555861,0.829129,0.059695],[-0.831242,0.555049,0.030951],[-0.007471,-0.066826,0.997737]] 2025-10-28T22:13:07.702Z,1761689587.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535347,0.843323,-0.047012],[-0.842277,0.537181,0.044795],[0.063031,0.015617,0.997889]] 2025-10-28T22:13:08.108Z,1761689588.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475379,0.875496,-0.086722],[-0.857885,0.483145,0.174939],[0.195057,-0.008765,0.980753]] 2025-10-28T22:13:08.511Z,1761689588.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494855,0.864362,0.089430],[-0.858964,0.470979,0.200897],[0.131528,-0.176232,0.975522]] 2025-10-28T22:13:08.915Z,1761689588.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466960,0.848057,0.250496],[-0.883848,0.456456,0.102278],[-0.027602,-0.269160,0.962700]] 2025-10-28T22:13:09.319Z,1761689589.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428661,0.865290,0.259851],[-0.898939,0.437245,0.026923],[-0.090322,-0.245131,0.965273]] 2025-10-28T22:13:09.723Z,1761689589.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444321,0.882257,0.155569],[-0.887886,0.456800,-0.054692],[-0.119317,-0.113827,0.986310]] 2025-10-28T22:13:10.127Z,1761689590.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446356,0.894339,0.030394],[-0.889135,0.447081,-0.097761],[-0.101020,0.016612,0.994746]] 2025-10-28T22:13:10.530Z,1761689590.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439831,0.896047,-0.060407],[-0.896469,0.434019,-0.089281],[-0.053782,0.093422,0.994173]] 2025-10-28T22:13:10.935Z,1761689590.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436192,0.898447,-0.050302],[-0.898213,0.431341,-0.084606],[-0.054317,0.082086,0.995144]] 2025-10-28T22:13:11.358Z,1761689591.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443819,0.895333,0.037464],[-0.892915,0.445377,-0.065888],[-0.075678,-0.004210,0.997123]] 2025-10-28T22:13:11.745Z,1761689591.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425340,0.896950,0.120692],[-0.904722,0.424896,0.030691],[-0.023753,-0.122247,0.992215]] 2025-10-28T22:13:12.146Z,1761689592.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398248,0.898733,0.183514],[-0.916448,0.381336,0.121270],[0.039008,-0.216476,0.975508]] 2025-10-28T22:13:12.551Z,1761689592.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385090,0.896763,0.217997],[-0.922322,0.365761,0.124661],[0.032056,-0.249069,0.967955]] 2025-10-28T22:13:12.958Z,1761689592.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366826,0.912979,0.178626],[-0.930289,0.359795,0.071483],[0.000994,-0.192395,0.981317]] 2025-10-28T22:13:13.002Z,1761689593.002 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:13:13.002Z,1761689593.002 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:13:13.002Z,1761689593.002 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:13:13.002Z,1761689593.002 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:13:13.003Z,1761689593.003 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:13:13.003Z,1761689593.003 [marl:UpdateSpeed] Stopped 2025-10-28T22:13:13.003Z,1761689593.003 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:13:13.362Z,1761689593.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377042,0.921777,0.090368],[-0.924607,0.380312,-0.021543],[-0.054226,-0.075432,0.995675]] 2025-10-28T22:13:13.766Z,1761689593.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356792,0.933644,0.031737],[-0.929073,0.358184,-0.092346],[-0.097586,0.003462,0.995221]] 2025-10-28T22:13:13.829Z,1761689593.829 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:13:13.829Z,1761689593.829 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:13:13.829Z,1761689593.829 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateRudder:A] Stopped 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:13:13.830Z,1761689593.830 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:13:13.831Z,1761689593.831 [marl:UpdateCommandMode] Stopped 2025-10-28T22:13:13.831Z,1761689593.831 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:13:14.167Z,1761689594.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327621,0.944548,0.022205],[-0.944492,0.328029,-0.018202],[-0.024477,-0.015009,0.999588]] 2025-10-28T22:13:14.206Z,1761689594.206 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:13:14.206Z,1761689594.206 [marl:UpdateRudder:B] Stopped 2025-10-28T22:13:14.206Z,1761689594.206 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:13:14.206Z,1761689594.206 [marl:UpdateRudder] Stopped 2025-10-28T22:13:14.206Z,1761689594.206 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:13:14.570Z,1761689594.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339534,0.939312,0.049090],[-0.938099,0.334373,0.090358],[0.068460,-0.076731,0.994699]] 2025-10-28T22:13:14.977Z,1761689594.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337675,0.935722,0.101980],[-0.940281,0.330392,0.081927],[0.042968,-0.123555,0.991407]] 2025-10-28T22:13:15.387Z,1761689595.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348802,0.928219,0.129411],[-0.937102,0.343471,0.062185],[0.013273,-0.142962,0.989639]] 2025-10-28T22:13:15.789Z,1761689595.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361561,0.927459,0.095360],[-0.932133,0.357384,0.058348],[0.020035,-0.109984,0.993731]] 2025-10-28T22:13:16.187Z,1761689596.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330437,0.940964,0.073468],[-0.943791,0.328737,0.034494],[0.008306,-0.080737,0.996701]] 2025-10-28T22:13:16.591Z,1761689596.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306196,0.948063,0.086138],[-0.951674,0.302592,0.052495],[0.023704,-0.098049,0.994899]] 2025-10-28T22:13:17.399Z,1761689597.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303603,0.938650,0.163591],[-0.952446,0.294315,0.078899],[0.025912,-0.179765,0.983368]] 2025-10-28T22:13:17.454Z,1761689597.454 [marl:B.](INFO): *** querying acoustic contact *** 2025-10-28T22:13:17.493Z,1761689597.493 [DAT](DEBUG): Acoustic response timeout 2025-10-28T22:13:17.494Z,1761689597.494 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode. 2025-10-28T22:13:17.745Z,1761689597.745 [DAT](INFO): DAT read: user:353> 2025-10-28T22:13:17.746Z,1761689597.746 [DAT](INFO): DAT read: Tx time:22:13:17.4935 2025-10-28T22:13:17.746Z,1761689597.746 [DAT](INFO): Ping request sent. 2025-10-28T22:13:17.746Z,1761689597.746 [DAT](INFO): transmitted an acoustic signal 2025-10-28T22:13:17.746Z,1761689597.746 [DAT](INFO): publishing transmit ping time 2025-10-28T22:13:17.747Z,1761689597.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000968 2025-10-28T22:13:17.829Z,1761689597.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295596,0.926926,0.231152],[-0.953274,0.302001,0.008008],[-0.062385,-0.222719,0.972885]] 2025-10-28T22:13:17.997Z,1761689597.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251030 2025-10-28T22:13:18.207Z,1761689598.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307929,0.923940,0.226971],[-0.949075,0.315005,0.005293],[-0.066606,-0.217042,0.973887]] 2025-10-28T22:13:18.249Z,1761689598.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502987 2025-10-28T22:13:18.501Z,1761689598.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754905 2025-10-28T22:13:18.611Z,1761689598.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322323,0.939397,0.116793],[-0.946426,0.317234,0.060330],[0.019623,-0.129981,0.991322]] 2025-10-28T22:13:18.753Z,1761689598.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007178 2025-10-28T22:13:19.006Z,1761689599.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260101 2025-10-28T22:13:19.016Z,1761689599.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315361,0.948567,-0.027707],[-0.947529,0.316356,0.045897],[0.052302,0.011779,0.998562]] 2025-10-28T22:13:19.257Z,1761689599.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870 2025-10-28T22:13:19.419Z,1761689599.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307978,0.943763,-0.120253],[-0.943748,0.319045,0.086891],[0.120371,0.086728,0.988933]] 2025-10-28T22:13:19.525Z,1761689599.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778805 2025-10-28T22:13:19.778Z,1761689599.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031561 2025-10-28T22:13:19.839Z,1761689599.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315001,0.938254,-0.143019],[-0.921791,0.338329,0.189301],[0.226000,0.072204,0.971448]] 2025-10-28T22:13:20.029Z,1761689600.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282916 2025-10-28T22:13:20.226Z,1761689600.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280158,0.957147,-0.073359],[-0.938802,0.289138,0.187218],[0.200406,0.016419,0.979575]] 2025-10-28T22:13:20.281Z,1761689600.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535004 2025-10-28T22:13:20.533Z,1761689600.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786958 2025-10-28T22:13:20.630Z,1761689600.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259531,0.962359,0.080680],[-0.960200,0.248209,0.128095],[0.103248,-0.110713,0.988475]] 2025-10-28T22:13:20.785Z,1761689600.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039229 2025-10-28T22:13:21.034Z,1761689601.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259882,0.942295,0.211048],[-0.964625,0.243310,0.101488],[0.044281,-0.229957,0.972193]] 2025-10-28T22:13:21.037Z,1761689601.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291011 2025-10-28T22:13:21.289Z,1761689601.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543153 2025-10-28T22:13:21.438Z,1761689601.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294358,0.925483,0.238399],[-0.955059,0.275760,0.108716],[0.034874,-0.259686,0.965063]] 2025-10-28T22:13:21.541Z,1761689601.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795210 2025-10-28T22:13:21.793Z,1761689601.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047009 2025-10-28T22:13:21.856Z,1761689601.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253960,0.966431,0.038925],[-0.965016,0.250466,0.077529],[0.065177,-0.057253,0.996230]] 2025-10-28T22:13:22.045Z,1761689602.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298975 2025-10-28T22:13:22.305Z,1761689602.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.558969 2025-10-28T22:13:22.557Z,1761689602.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.810876 2025-10-28T22:13:22.657Z,1761689602.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216487,0.967900,0.127686],[-0.976275,0.214032,0.032812],[0.004429,-0.131760,0.991272]] 2025-10-28T22:13:22.810Z,1761689602.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.063980 2025-10-28T22:13:23.059Z,1761689603.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257392,0.950855,0.172118],[-0.964737,0.242713,0.101853],[0.055072,-0.192265,0.979797]] 2025-10-28T22:13:23.061Z,1761689603.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.314998 2025-10-28T22:13:23.314Z,1761689603.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.567761 2025-10-28T22:13:23.464Z,1761689603.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246030,0.945603,0.212846],[-0.968269,0.229839,0.098130],[0.043872,-0.230235,0.972146]] 2025-10-28T22:13:23.565Z,1761689603.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.819116 2025-10-28T22:13:23.817Z,1761689603.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.071357 2025-10-28T22:13:23.866Z,1761689603.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209404,0.949748,0.232656],[-0.977826,0.204024,0.047237],[-0.002604,-0.237389,0.971411]] 2025-10-28T22:13:24.069Z,1761689604.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.322915 2025-10-28T22:13:24.267Z,1761689604.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218866,0.959275,0.178578],[-0.974643,0.206191,0.086924],[0.046563,-0.193074,0.980079]] 2025-10-28T22:13:24.322Z,1761689604.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.576056 2025-10-28T22:13:24.573Z,1761689604.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.826917 2025-10-28T22:13:24.671Z,1761689604.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231977,0.967242,0.103100],[-0.966126,0.216785,0.140015],[0.113078,-0.132088,0.984767]] 2025-10-28T22:13:24.825Z,1761689604.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.079235 2025-10-28T22:13:25.077Z,1761689605.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.331103 2025-10-28T22:13:25.079Z,1761689605.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205497,0.977522,0.047129],[-0.964875,0.194314,0.176801],[0.163669,-0.081805,0.983118]] 2025-10-28T22:13:25.329Z,1761689605.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.583499 2025-10-28T22:13:25.479Z,1761689605.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188739,0.980491,0.054910],[-0.972640,0.178930,0.148175],[0.135459,-0.081374,0.987436]] 2025-10-28T22:13:25.581Z,1761689605.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.835062 2025-10-28T22:13:25.834Z,1761689605.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.087743 2025-10-28T22:13:25.883Z,1761689605.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189069,0.977363,0.094948],[-0.979027,0.180148,0.095146],[0.075887,-0.110946,0.990925]] 2025-10-28T22:13:26.085Z,1761689606.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338903 2025-10-28T22:13:26.288Z,1761689606.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200807,0.970790,0.131317],[-0.978330,0.191826,0.077929],[0.050463,-0.144120,0.988273]] 2025-10-28T22:13:26.337Z,1761689606.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.591311 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed] Stopped 2025-10-28T22:13:26.367Z,1761689606.367 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:13:26.589Z,1761689606.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842920 2025-10-28T22:13:26.691Z,1761689606.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199593,0.971713,0.126240],[-0.978052,0.189696,0.086199],[0.059814,-0.140674,0.988248]] 2025-10-28T22:13:26.845Z,1761689606.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.098696 2025-10-28T22:13:27.093Z,1761689607.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.347031 2025-10-28T22:13:27.165Z,1761689607.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160549,0.982368,0.095793],[-0.979006,0.146145,0.142086],[0.125581,-0.116594,0.985208]] 2025-10-28T22:13:27.215Z,1761689607.215 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:13:27.215Z,1761689607.215 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateRudder:A] Stopped 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:13:27.216Z,1761689607.216 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:13:27.217Z,1761689607.217 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:13:27.217Z,1761689607.217 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:13:27.217Z,1761689607.217 [marl:UpdateCommandMode] Stopped 2025-10-28T22:13:27.217Z,1761689607.217 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:13:27.345Z,1761689607.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598978 2025-10-28T22:13:27.499Z,1761689607.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127433,0.985296,0.113812],[-0.964004,0.096040,0.247938],[0.233362,-0.141310,0.962067]] 2025-10-28T22:13:27.524Z,1761689607.524 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:13:27.524Z,1761689607.524 [marl:UpdateRudder:B] Stopped 2025-10-28T22:13:27.524Z,1761689607.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:13:27.524Z,1761689607.524 [marl:UpdateRudder] Stopped 2025-10-28T22:13:27.524Z,1761689607.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:13:27.597Z,1761689607.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.851015 2025-10-28T22:13:27.848Z,1761689607.848 [DAT](INFO): Reached modem response timeout 2025-10-28T22:13:27.904Z,1761689607.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142578,0.978716,0.147604],[-0.963414,0.103034,0.247421],[0.226947,-0.177481,0.957599]] 2025-10-28T22:13:28.310Z,1761689608.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184245,0.968561,0.167161],[-0.975016,0.158636,0.155495],[0.124089,-0.191633,0.973591]] 2025-10-28T22:13:28.710Z,1761689608.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205344,0.968413,0.141455],[-0.977834,0.196967,0.071025],[0.040920,-0.152904,0.987394]] 2025-10-28T22:13:29.167Z,1761689609.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210570,0.972891,0.095616],[-0.977568,0.210008,0.016025],[-0.004489,-0.096846,0.995289]] 2025-10-28T22:13:29.520Z,1761689609.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196527,0.979432,0.045714],[-0.980249,0.197314,-0.013355],[-0.022100,-0.042187,0.998865]] 2025-10-28T22:13:29.923Z,1761689609.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146206,0.987659,0.056149],[-0.989248,0.146174,0.004712],[-0.003554,-0.056234,0.998411]] 2025-10-28T22:13:30.129Z,1761689610.129 [DAT](INFO): DAT read: Response Not Received 2025-10-28T22:13:30.129Z,1761689610.129 [DAT](INFO): response not received 2025-10-28T22:13:30.129Z,1761689610.129 [DAT](ERROR): No response from remote modem. 2025-10-28T22:13:30.332Z,1761689610.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158119,0.980889,0.113383],[-0.986008,0.150709,0.071245],[0.052795,-0.123062,0.990994]] 2025-10-28T22:13:30.731Z,1761689610.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208740,0.965227,0.157366],[-0.976594,0.197192,0.085906],[0.051888,-0.171614,0.983797]] 2025-10-28T22:13:31.174Z,1761689611.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228550,0.958784,0.168816],[-0.973462,0.222995,0.051422],[0.011658,-0.176089,0.984305]] 2025-10-28T22:13:31.539Z,1761689611.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217098,0.962374,0.163416],[-0.975986,0.210930,0.054408],[0.017891,-0.171303,0.985056]] 2025-10-28T22:13:31.943Z,1761689611.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240446,0.961986,0.129493],[-0.969206,0.230634,0.086298],[0.053152,-0.146256,0.987818]] 2025-10-28T22:13:32.347Z,1761689612.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229720,0.969070,0.090176],[-0.972260,0.224306,0.066306],[0.044028,-0.102907,0.993716]] 2025-10-28T22:13:32.752Z,1761689612.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222528,0.970236,0.095516],[-0.974773,0.219684,0.039457],[0.017300,-0.101886,0.994646]] 2025-10-28T22:13:33.052Z,1761689613.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:13:33.175Z,1761689613.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234739,0.969601,0.069073],[-0.971644,0.231971,0.045798],[0.028382,-0.077865,0.996560]] 2025-10-28T22:13:33.558Z,1761689613.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221417,0.973903,0.049880],[-0.968360,0.213543,0.129145],[0.115123,-0.076897,0.990370]] 2025-10-28T22:13:33.962Z,1761689613.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261572,0.961547,0.083711],[-0.958750,0.248852,0.137374],[0.111260,-0.116191,0.986976]] 2025-10-28T22:13:34.058Z,1761689614.058 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:13:34.369Z,1761689614.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277572,0.950446,0.140024],[-0.960702,0.274942,0.038182],[-0.002209,-0.145119,0.989412]] 2025-10-28T22:13:34.774Z,1761689614.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235442,0.949695,0.206510],[-0.970835,0.239706,0.004491],[-0.045237,-0.201545,0.978434]] 2025-10-28T22:13:35.178Z,1761689615.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235508,0.943993,0.231113],[-0.971830,0.226505,0.065136],[0.009139,-0.239943,0.970744]] 2025-10-28T22:13:35.578Z,1761689615.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251669,0.952797,0.169824],[-0.966541,0.238444,0.094570],[0.049612,-0.187942,0.980926]] 2025-10-28T22:13:35.984Z,1761689615.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243148,0.964704,0.101120],[-0.967710,0.234112,0.093432],[0.066461,-0.120573,0.990477]] 2025-10-28T22:13:36.386Z,1761689616.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250864,0.967211,0.039625],[-0.964268,0.246080,0.098142],[0.085173,-0.062829,0.994383]] 2025-10-28T22:13:36.795Z,1761689616.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263930,0.964539,0.002331],[-0.961622,0.262943,0.078386],[0.074993,-0.022930,0.996920]] 2025-10-28T22:13:37.196Z,1761689617.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286840,0.957874,0.014128],[-0.955896,0.285213,0.070119],[0.063136,-0.033617,0.997439]] 2025-10-28T22:13:37.600Z,1761689617.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322082,0.944305,0.067467],[-0.944815,0.316111,0.086008],[0.059891,-0.091445,0.994008]] 2025-10-28T22:13:38.002Z,1761689618.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304050,0.946213,0.110609],[-0.951020,0.294674,0.093426],[0.055807,-0.133598,0.989463]] 2025-10-28T22:13:38.407Z,1761689618.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309502,0.940409,0.140853],[-0.949251,0.296842,0.103958],[0.055952,-0.165880,0.984557]] 2025-10-28T22:13:38.818Z,1761689618.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295268,0.944830,0.141823],[-0.953365,0.281652,0.108480],[0.062550,-0.167240,0.983930]] 2025-10-28T22:13:39.217Z,1761689619.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269012,0.951611,0.148556],[-0.960670,0.254081,0.112050],[0.068883,-0.172856,0.982536]] 2025-10-28T22:13:39.618Z,1761689619.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313972,0.943150,0.109038],[-0.940205,0.292890,0.173871],[0.132050,-0.157108,0.978713]] 2025-10-28T22:13:39.661Z,1761689619.661 [marl:UpdateSpeed] Running Loop=1 2025-10-28T22:13:39.661Z,1761689619.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed 2025-10-28T22:13:39.661Z,1761689619.661 [marl:UpdateSpeed:A] Running Loop=1 2025-10-28T22:13:39.662Z,1761689619.662 [marl:UpdateSpeed:A] Stopped 2025-10-28T22:13:39.662Z,1761689619.662 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed 2025-10-28T22:13:39.662Z,1761689619.662 [marl:UpdateSpeed] Stopped 2025-10-28T22:13:39.662Z,1761689619.662 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed 2025-10-28T22:13:40.026Z,1761689620.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345243,0.937285,0.048008],[-0.925737,0.331685,0.181647],[0.154332,-0.107155,0.982191]] 2025-10-28T22:13:40.429Z,1761689620.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343317,0.936576,0.070425],[-0.936713,0.335962,0.098483],[0.068577,-0.099779,0.992644]] 2025-10-28T22:13:40.452Z,1761689620.452 [marl:UpdateRudder] Running Loop=1 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateRudder:A] Running Loop=1 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateRudder:A] Stopped 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateRudder:B] Running Loop=1 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateCommandMode] Running Loop=1 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode 2025-10-28T22:13:40.453Z,1761689620.453 [marl:UpdateCommandMode:A] Running Loop=1 2025-10-28T22:13:40.454Z,1761689620.454 [marl:UpdateCommandMode:A] Stopped 2025-10-28T22:13:40.454Z,1761689620.454 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode 2025-10-28T22:13:40.454Z,1761689620.454 [marl:UpdateCommandMode] Stopped 2025-10-28T22:13:40.454Z,1761689620.454 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode 2025-10-28T22:13:40.831Z,1761689620.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317228,0.937814,0.140967],[-0.948002,0.317610,0.020388],[-0.025652,-0.140104,0.989804]] 2025-10-28T22:13:40.874Z,1761689620.874 [marl:UpdateRudder:B](INFO): Updating rudder angle 13.750987 arcdeg 2025-10-28T22:13:40.875Z,1761689620.875 [marl:UpdateRudder:B] Stopped 2025-10-28T22:13:40.875Z,1761689620.875 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder 2025-10-28T22:13:40.875Z,1761689620.875 [marl:UpdateRudder] Stopped 2025-10-28T22:13:40.875Z,1761689620.875 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder 2025-10-28T22:13:41.234Z,1761689621.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297149,0.933576,0.200347],[-0.950101,0.309953,-0.035157],[-0.094920,-0.179903,0.979094]] 2025-10-28T22:13:41.641Z,1761689621.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279373,0.930615,0.236444],[-0.955336,0.294113,-0.028808],[-0.096350,-0.217836,0.971218]] 2025-10-28T22:13:42.046Z,1761689622.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275213,0.944207,0.180919],[-0.961358,0.268929,0.058891],[0.006951,-0.190135,0.981733]] 2025-10-28T22:13:42.447Z,1761689622.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335369,0.935956,0.107303],[-0.938193,0.321465,0.128273],[0.085563,-0.143690,0.985917]] 2025-10-28T22:13:42.852Z,1761689622.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416739,0.907464,0.053272],[-0.905347,0.409072,0.114048],[0.081702,-0.095758,0.992046]] 2025-10-28T22:13:43.255Z,1761689623.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378254,0.923917,0.057463],[-0.924842,0.374499,0.066458],[0.039882,-0.078282,0.996133]] 2025-10-28T22:13:43.659Z,1761689623.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338457,0.931253,0.134962],[-0.940829,0.332317,0.066378],[0.016964,-0.149443,0.988625]] 2025-10-28T22:13:44.066Z,1761689624.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357979,0.917373,0.174006],[-0.932941,0.343752,0.107033],[0.038374,-0.200652,0.978911]] 2025-10-28T22:13:44.469Z,1761689624.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373849,0.920822,0.111011],[-0.922692,0.357084,0.145362],[0.094213,-0.156772,0.983131]] 2025-10-28T22:13:44.871Z,1761689624.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420554,0.904136,0.075319],[-0.902918,0.408974,0.132212],[0.088735,-0.123609,0.988356]] 2025-10-28T22:13:45.275Z,1761689625.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437965,0.895712,0.076721],[-0.898861,0.434844,0.054406],[0.015370,-0.092790,0.995567]] 2025-10-28T22:13:45.680Z,1761689625.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476736,0.875814,0.075320],[-0.879045,0.475137,0.039053],[-0.001584,-0.084828,0.996394]] 2025-10-28T22:13:46.092Z,1761689626.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501618,0.863813,0.046970],[-0.863591,0.496817,0.085922],[0.050885,-0.083663,0.995194]] 2025-10-28T22:13:46.487Z,1761689626.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456928,0.888501,0.042233],[-0.880969,0.445472,0.159526],[0.122925,-0.110098,0.986290]] 2025-10-28T22:13:46.891Z,1761689626.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470537,0.874137,0.120334],[-0.879247,0.453002,0.147358],[0.074299,-0.175141,0.981736]] 2025-10-28T22:13:47.303Z,1761689627.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523033,0.836522,0.163305],[-0.852162,0.516858,0.081724],[-0.016042,-0.181906,0.983185]] 2025-10-28T22:13:47.700Z,1761689627.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523861,0.850736,0.042635],[-0.851586,0.521940,0.048771],[0.019239,-0.061856,0.997900]] 2025-10-28T22:13:48.103Z,1761689628.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503243,0.862341,-0.055805],[-0.861439,0.505726,0.046516],[0.068335,0.024664,0.997357]] 2025-10-28T22:13:48.507Z,1761689628.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551740,0.831555,-0.064026],[-0.829366,0.555140,0.063025],[0.087952,0.018327,0.995956]] 2025-10-28T22:13:48.910Z,1761689628.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561140,0.825178,-0.064833],[-0.822268,0.564707,0.070583],[0.094855,0.013703,0.995397]] 2025-10-28T22:13:49.344Z,1761689629.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544825,0.838550,0.000182],[-0.836813,0.543682,0.064453],[0.053948,-0.035267,0.997921]] 2025-10-28T22:13:49.349Z,1761689629.349 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=3368, MT Status=1, MTMSN=46 2025-10-28T22:13:49.349Z,1761689629.349 [NAL9602](INFO): Data available in MT queue 2025-10-28T22:13:49.718Z,1761689629.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549145,0.830368,0.094491],[-0.835726,0.545777,0.060744],[-0.001131,-0.112326,0.993671]] 2025-10-28T22:13:49.808Z,1761689629.808 [NAL9602](INFO): Received command: stop 2025-10-28T22:13:49.811Z,1761689629.811 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:13:49.901Z,1761689629.901 [CommandExec](IMPORTANT): got command stop 2025-10-28T22:13:49.901Z,1761689629.901 [CommandExec](IMPORTANT): Scheduling is paused 2025-10-28T22:13:49.902Z,1761689629.902 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2025-10-28T22:13:50.124Z,1761689630.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534760,0.826085,0.177810],[-0.843304,0.535075,0.050321],[-0.053572,-0.176858,0.982777]] 2025-10-28T22:13:50.172Z,1761689630.172 [MissionManager](INFO): MissionManager is completed. 2025-10-28T22:13:50.172Z,1761689630.172 [MissionManager](INFO): Uninitializing Mission marl 2025-10-28T22:13:50.172Z,1761689630.172 [marl] Stopped 2025-10-28T22:13:50.172Z,1761689630.172 [marl](DEBUG): Aggregate::uninitialize marl 2025-10-28T22:13:50.172Z,1761689630.172 [marl:AbortDrift] Stopped 2025-10-28T22:13:50.172Z,1761689630.172 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift 2025-10-28T22:13:50.172Z,1761689630.172 [marl:AbortDrift:B.AbortDrift] Stopped 2025-10-28T22:13:50.172Z,1761689630.172 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift. 2025-10-28T22:13:50.173Z,1761689630.173 [marl:B.] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:B.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T22:13:50.173Z,1761689630.173 [marl:NeedComms] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms 2025-10-28T22:13:50.173Z,1761689630.173 [marl:NeedComms:B.GoToSurface] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T22:13:50.173Z,1761689630.173 [marl:NeedComms:C] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:StandardEnvelopes] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes 2025-10-28T22:13:50.173Z,1761689630.173 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-28T22:13:50.173Z,1761689630.173 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-28T22:13:50.173Z,1761689630.173 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-28T22:13:50.174Z,1761689630.174 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:B] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:C] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:E] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:OceanCurrent] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent 2025-10-28T22:13:50.174Z,1761689630.174 [marl:Science:OceanCurrent:A.] Stopped 2025-10-28T22:13:50.174Z,1761689630.174 [marl:BackseatDriver] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver 2025-10-28T22:13:50.175Z,1761689630.175 [marl:BackseatDriver:A.BackseatDriver] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:PowerOnly] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly 2025-10-28T22:13:50.175Z,1761689630.175 [marl:PowerOnly:E.Wait] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl:A.Buoyancy] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl:B.Pitch] Stopped 2025-10-28T22:13:50.175Z,1761689630.175 [marl:JoystickControl:C.Pitch] Stopped 2025-10-28T22:13:50.176Z,1761689630.176 [marl:JoystickControl:D.SetSpeed] Stopped 2025-10-28T22:13:50.176Z,1761689630.176 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize. 2025-10-28T22:13:50.176Z,1761689630.176 [marl:JoystickControl:CmdRudder] Stopped 2025-10-28T22:13:50.176Z,1761689630.176 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder 2025-10-28T22:13:50.176Z,1761689630.176 [marl:JoystickControl:CmdRudder:A.Point] Stopped 2025-10-28T22:13:50.407Z,1761689630.407 [BackseatComponent](INFO): Sent LCM shutdown request. 2025-10-28T22:13:50.407Z,1761689630.407 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2025-10-28T22:13:50.527Z,1761689630.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559692,0.811931,0.165868],[-0.828412,0.553461,0.086111],[-0.021886,-0.185603,0.982381]] 2025-10-28T22:13:50.561Z,1761689630.561 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-28T22:13:50.561Z,1761689630.561 [DefaultWithUndock] Running Loop=1 2025-10-28T22:13:50.561Z,1761689630.561 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-28T22:13:50.562Z,1761689630.562 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-28T22:13:50.562Z,1761689630.562 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:13:50.932Z,1761689630.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574116,0.815667,0.071260],[-0.818109,0.567965,0.090072],[0.032996,-0.110011,0.993383]] 2025-10-28T22:13:50.937Z,1761689630.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221350.00,A,3645.32896,N,12151.93206,W,1.069,226.20,281025,,,A*77 2025-10-28T22:13:50.939Z,1761689630.939 [NAL9602](INFO): GPS fix at 20251028T221350: (36.755483, -121.865534) 2025-10-28T22:13:50.953Z,1761689630.953 [UniversalFixResidualReporter](INFO): Fix residual: 2.9 %DT, over the last 985.2 m. Residual distance 28.8 m at bearing 75.1 degrees. Fix at (36.7555, -121.8655) with 182.1 m made good. 2025-10-28T22:13:51.739Z,1761689631.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583054,0.811852,0.030744],[-0.812131,0.581387,0.049328],[0.022173,-0.053729,0.998309]] 2025-10-28T22:13:52.143Z,1761689632.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585649,0.807369,0.071909],[-0.810445,0.581728,0.069076],[0.013939,-0.098733,0.995016]] 2025-10-28T22:13:52.546Z,1761689632.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564577,0.816147,0.123112],[-0.825364,0.557324,0.090354],[0.005129,-0.152624,0.988271]] 2025-10-28T22:13:52.950Z,1761689632.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566736,0.810769,0.146507],[-0.823618,0.552867,0.126458],[0.021529,-0.192335,0.981093]] 2025-10-28T22:13:53.357Z,1761689633.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597962,0.793080,0.116039],[-0.801312,0.588178,0.109293],[0.018427,-0.158337,0.987213]] 2025-10-28T22:13:53.758Z,1761689633.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592531,0.799455,0.098888],[-0.803222,0.595673,-0.002825],[-0.061163,-0.077755,0.995095]] 2025-10-28T22:13:54.162Z,1761689634.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578820,0.812866,0.064934],[-0.813138,0.581342,-0.029142],[-0.061437,-0.035932,0.997464]] 2025-10-28T22:13:54.567Z,1761689634.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604170,0.796357,0.028176],[-0.795499,0.600701,0.079627],[0.046486,-0.070522,0.996426]] 2025-10-28T22:13:54.972Z,1761689634.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641863,0.766710,0.012943],[-0.757967,0.631804,0.162202],[0.116184,-0.113922,0.986673]] 2025-10-28T22:13:55.376Z,1761689635.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632482,0.772488,0.056822],[-0.770801,0.620472,0.144498],[0.076366,-0.135191,0.987872]] 2025-10-28T22:13:55.785Z,1761689635.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623436,0.769771,0.137042],[-0.781493,0.618960,0.078463],[-0.024425,-0.156014,0.987453]] 2025-10-28T22:13:56.182Z,1761689636.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643362,0.749748,0.154802],[-0.761950,0.646718,0.034463],[-0.074275,-0.140123,0.987344]] 2025-10-28T22:13:56.588Z,1761689636.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655472,0.748115,0.103348],[-0.754344,0.655142,0.041889],[-0.036370,-0.105417,0.993763]] 2025-10-28T22:13:56.990Z,1761689636.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675487,0.737110,0.019666],[-0.734177,0.669840,0.110899],[0.068572,-0.089349,0.993637]] 2025-10-28T22:13:57.395Z,1761689637.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670067,0.742134,0.015709],[-0.738746,0.664641,0.111835],[0.072556,-0.086542,0.993603]] 2025-10-28T22:13:57.803Z,1761689637.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651260,0.753390,0.090912],[-0.758716,0.648740,0.059041],[-0.014497,-0.107428,0.994107]] 2025-10-28T22:13:58.207Z,1761689638.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663861,0.742593,0.088566],[-0.747622,0.661946,0.053746],[-0.018714,-0.101894,0.994619]] 2025-10-28T22:13:58.607Z,1761689638.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687262,0.723408,0.065970],[-0.726406,0.684695,0.059386],[-0.002209,-0.088735,0.996053]] 2025-10-28T22:13:59.011Z,1761689639.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693665,0.716622,0.072683],[-0.720186,0.691796,0.052446],[-0.012698,-0.088726,0.995975]] 2025-10-28T22:13:59.416Z,1761689639.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686089,0.727119,0.024087],[-0.726260,0.682582,0.081415],[0.042757,-0.073351,0.996389]] 2025-10-28T22:13:59.818Z,1761689639.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676482,0.735816,-0.030775],[-0.723899,0.672049,0.155949],[0.135432,-0.083219,0.987286]] 2025-10-28T22:14:00.223Z,1761689640.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682982,0.730214,0.017987],[-0.720978,0.669984,0.176950],[0.117161,-0.133822,0.984056]] 2025-10-28T22:14:00.627Z,1761689640.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692706,0.712902,0.109220],[-0.720936,0.680203,0.132569],[0.020217,-0.170572,0.985138]] 2025-10-28T22:14:01.033Z,1761689641.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702307,0.704759,0.100393],[-0.711863,0.694511,0.104426],[0.003871,-0.144805,0.989453]] 2025-10-28T22:14:01.037Z,1761689641.037 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2025-10-28T22:14:01.435Z,1761689641.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687251,0.725159,0.042780],[-0.722647,0.676501,0.141870],[0.073938,-0.128415,0.988960]] 2025-10-28T22:14:01.838Z,1761689641.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682811,0.729886,0.032173],[-0.726877,0.674239,0.130583],[0.073618,-0.112550,0.990915]] 2025-10-28T22:14:02.243Z,1761689642.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710607,0.703026,0.028143],[-0.701872,0.705512,0.098126],[0.049130,-0.089481,0.994776]] 2025-10-28T22:14:02.649Z,1761689642.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710585,0.703450,0.015105],[-0.702957,0.708834,0.058364],[0.030349,-0.052091,0.998181]] 2025-10-28T22:14:03.050Z,1761689643.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687577,0.725557,0.028373],[-0.726094,0.686764,0.033801],[0.005039,-0.043842,0.999026]] 2025-10-28T22:14:03.454Z,1761689643.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699086,0.712416,0.061171],[-0.714257,0.699760,0.013193],[-0.033406,-0.052915,0.998040]] 2025-10-28T22:14:03.859Z,1761689643.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743237,0.664041,0.081535],[-0.663430,0.747257,-0.038306],[-0.086365,-0.025623,0.995934]] 2025-10-28T22:14:04.176Z,1761689644.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:14:04.274Z,1761689644.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776901,0.629462,0.014231],[-0.626930,0.775469,-0.074877],[-0.058168,0.049250,0.997091]] 2025-10-28T22:14:04.667Z,1761689644.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780941,0.616054,-0.102998],[-0.622437,0.781304,-0.046217],[0.052001,0.100202,0.993607]] 2025-10-28T22:14:05.071Z,1761689645.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744141,0.658751,-0.110909],[-0.658259,0.751370,0.046236],[0.113791,0.038601,0.992755]] 2025-10-28T22:14:05.181Z,1761689645.181 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:14:05.476Z,1761689645.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711743,0.702324,0.012747],[-0.700013,0.707660,0.095915],[0.058342,-0.077190,0.995308]] 2025-10-28T22:14:05.880Z,1761689645.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709391,0.693240,0.127212],[-0.704709,0.694499,0.145108],[0.012246,-0.192586,0.981204]] 2025-10-28T22:14:06.288Z,1761689646.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723906,0.674956,0.142807],[-0.689649,0.702408,0.176090],[0.018544,-0.225959,0.973960]] 2025-10-28T22:14:06.687Z,1761689646.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713212,0.698365,0.060123],[-0.696301,0.696011,0.175311],[0.080585,-0.166898,0.982675]] 2025-10-28T22:14:07.099Z,1761689647.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726351,0.686454,0.034578],[-0.683184,0.715550,0.145766],[0.075320,-0.129500,0.988715]] 2025-10-28T22:14:07.505Z,1761689647.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742398,0.658313,0.124377],[-0.668094,0.741304,0.064172],[-0.049956,-0.130737,0.990158]] 2025-10-28T22:14:07.903Z,1761689647.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726237,0.685224,0.055199],[-0.687404,0.722989,0.069010],[0.007379,-0.088061,0.996088]] 2025-10-28T22:14:08.309Z,1761689648.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684588,0.726209,0.062922],[-0.728920,0.682470,0.053944],[-0.003768,-0.082795,0.996559]] 2025-10-28T22:14:08.592Z,1761689648.592 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2025-10-28T22:14:08.593Z,1761689648.593 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2025-10-28T22:14:08.593Z,1761689648.593 [LcmPublisher](INFO): Deactivating messaging. 2025-10-28T22:14:08.712Z,1761689648.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684073,0.721014,0.110377],[-0.727283,0.685778,0.027719],[-0.055708,-0.099237,0.993503]] 2025-10-28T22:14:08.748Z,1761689648.748 [DAT](INFO): Deactivating messaging. 2025-10-28T22:14:08.864Z,1761689648.864 [WetLabsBB2FL](INFO): Powering down 2025-10-28T22:14:09.148Z,1761689649.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725038,0.687898,0.033403],[-0.688709,0.724199,0.034878],[-0.000198,-0.048293,0.998833]] 2025-10-28T22:14:09.517Z,1761689649.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711642,0.697486,-0.084138],[-0.693742,0.716566,0.072495],[0.110855,0.006779,0.993813]] 2025-10-28T22:14:09.918Z,1761689649.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661921,0.746318,-0.069787],[-0.742484,0.665587,0.075570],[0.102849,0.001794,0.994695]] 2025-10-28T22:14:10.322Z,1761689650.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634066,0.773194,0.011455],[-0.772097,0.632209,0.064637],[0.042735,-0.049828,0.997843]] 2025-10-28T22:14:10.728Z,1761689650.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623237,0.780795,0.043990],[-0.779910,0.616420,0.108475],[0.057580,-0.101914,0.993125]] 2025-10-28T22:14:11.164Z,1761689651.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648782,0.758793,0.057565],[-0.760802,0.645167,0.070286],[0.016194,-0.089396,0.995865]] 2025-10-28T22:14:11.536Z,1761689651.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646369,0.762965,0.009600],[-0.762909,0.646000,0.025587],[0.013320,-0.023863,0.999627]] 2025-10-28T22:14:11.939Z,1761689651.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596524,0.797729,-0.088244],[-0.795396,0.602282,0.067828],[0.107256,0.029728,0.993787]] 2025-10-28T22:14:12.346Z,1761689652.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572594,0.816262,-0.076493],[-0.802327,0.577101,0.152400],[0.168542,-0.025891,0.985354]] 2025-10-28T22:14:12.747Z,1761689652.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548880,0.835565,0.023702],[-0.824050,0.536123,0.183070],[0.140260,-0.120015,0.982814]] 2025-10-28T22:14:13.173Z,1761689653.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548552,0.825875,0.130467],[-0.830729,0.520657,0.196993],[0.094763,-0.216443,0.971685]] 2025-10-28T22:14:13.556Z,1761689653.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574421,0.809330,0.122583],[-0.813471,0.547737,0.195575],[0.091142,-0.212060,0.972997]] 2025-10-28T22:14:13.961Z,1761689653.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559025,0.827826,0.046844],[-0.822952,0.547064,0.153202],[0.101198,-0.124194,0.987084]] 2025-10-28T22:14:14.373Z,1761689654.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523788,0.851765,0.011908],[-0.845435,0.518082,0.129731],[0.104331,-0.078019,0.991478]] 2025-10-28T22:14:14.767Z,1761689654.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496368,0.867700,0.026756],[-0.863908,0.490700,0.113472],[0.085331,-0.079438,0.993181]] 2025-10-28T22:14:15.174Z,1761689655.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490100,0.869671,0.058939],[-0.870443,0.484712,0.085919],[0.046153,-0.093412,0.994557]] 2025-10-28T22:14:15.577Z,1761689655.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504084,0.859526,0.084346],[-0.863508,0.499787,0.067587],[0.015938,-0.106904,0.994142]] 2025-10-28T22:14:15.979Z,1761689655.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512371,0.850164,0.121234],[-0.855814,0.517189,-0.009915],[-0.071130,-0.098673,0.992574]] 2025-10-28T22:14:16.382Z,1761689656.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513611,0.842358,0.163210],[-0.850725,0.524701,-0.030907],[-0.111672,-0.122973,0.986107]] 2025-10-28T22:14:16.786Z,1761689656.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493423,0.858760,0.138078],[-0.868570,0.494886,0.025962],[-0.046038,-0.132741,0.990081]] 2025-10-28T22:14:17.191Z,1761689657.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447991,0.885828,0.120886],[-0.894015,0.444840,0.053430],[-0.006445,-0.132010,0.991227]] 2025-10-28T22:14:17.598Z,1761689657.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466840,0.878099,0.104890],[-0.884092,0.460593,0.078970],[0.021032,-0.129599,0.991343]] 2025-10-28T22:14:17.998Z,1761689657.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477326,0.875489,0.075364],[-0.878712,0.475059,0.046747],[0.005124,-0.088537,0.996060]] 2025-10-28T22:14:18.403Z,1761689658.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448560,0.889465,0.087434],[-0.892173,0.451434,-0.015340],[-0.053115,-0.071126,0.996052]] 2025-10-28T22:14:18.807Z,1761689658.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465234,0.881216,0.083763],[-0.882634,0.468993,-0.031666],[-0.067188,-0.059200,0.995983]] 2025-10-28T22:14:19.213Z,1761689659.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481853,0.875969,0.022290],[-0.876086,0.481110,0.031732],[0.017072,-0.034818,0.999248]] 2025-10-28T22:14:19.616Z,1761689659.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469056,0.882884,0.022414],[-0.879824,0.464922,0.098782],[0.076793,-0.066054,0.994857]] 2025-10-28T22:14:20.018Z,1761689660.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419366,0.903930,0.083921],[-0.901980,0.404420,0.151247],[0.102778,-0.139123,0.984927]] 2025-10-28T22:14:20.422Z,1761689660.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378522,0.907493,0.182147],[-0.923099,0.355686,0.146204],[0.067892,-0.223481,0.972341]] 2025-10-28T22:14:20.829Z,1761689660.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393275,0.891200,0.226049],[-0.918150,0.393601,0.045599],[-0.048335,-0.225480,0.973048]] 2025-10-28T22:14:20.865Z,1761689660.865 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:A.Wait] Stopped 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T22:14:20.866Z,1761689660.866 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T22:14:21.230Z,1761689661.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431398,0.891273,0.139743],[-0.899258,0.437237,-0.012592],[-0.072324,-0.120233,0.990108]] 2025-10-28T22:14:21.275Z,1761689661.275 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T22:14:21.275Z,1761689661.275 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T22:14:21.276Z,1761689661.276 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.163047 m. 2025-10-28T22:14:21.277Z,1761689661.277 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-28T22:14:21.277Z,1761689661.277 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T22:14:21.634Z,1761689661.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415086,0.909668,-0.014390],[-0.909310,0.415328,0.025660],[0.029319,0.002434,0.999567]] 2025-10-28T22:14:21.672Z,1761689661.672 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-28T22:14:22.039Z,1761689662.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387484,0.914579,-0.115767],[-0.906489,0.400849,0.132661],[0.167734,0.053538,0.984378]] 2025-10-28T22:14:22.059Z,1761689662.059 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-28T22:14:22.173Z,1761689662.173 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-28T22:14:22.443Z,1761689662.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392118,0.917661,-0.064353],[-0.904752,0.397359,0.153391],[0.166332,-0.001924,0.986068]] 2025-10-28T22:14:22.847Z,1761689662.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392015,0.918368,0.054076],[-0.916755,0.385074,0.106200],[0.076707,-0.091206,0.992873]] 2025-10-28T22:14:23.251Z,1761689663.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354856,0.922769,0.150248],[-0.933854,0.342169,0.104100],[0.044650,-0.177250,0.983152]] 2025-10-28T22:14:23.656Z,1761689663.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323998,0.920889,0.216770],[-0.942449,0.294183,0.158888],[0.082548,-0.255774,0.963206]] 2025-10-28T22:14:23.715Z,1761689663.715 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:14:24.060Z,1761689664.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375098,0.906799,0.192397],[-0.917228,0.333033,0.218591],[0.134144,-0.258465,0.956662]] 2025-10-28T22:14:24.463Z,1761689664.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404150,0.909833,0.094163],[-0.903813,0.381391,0.194071],[0.140660,-0.163540,0.976458]] 2025-10-28T22:14:24.866Z,1761689664.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369384,0.927823,0.051964],[-0.925858,0.362657,0.106147],[0.079641,-0.087320,0.992992]] 2025-10-28T22:14:25.272Z,1761689665.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355869,0.934264,0.022550],[-0.932926,0.353737,0.067226],[0.054830,-0.044961,0.997483]] 2025-10-28T22:14:25.677Z,1761689665.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357352,0.933890,0.012173],[-0.930596,0.354924,0.089553],[0.079312,-0.043330,0.995908]] 2025-10-28T22:14:25.737Z,1761689665.737 [DockingStepper](INFO): Changing to mode: 1 2025-10-28T22:14:26.078Z,1761689666.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369553,0.928744,0.029406],[-0.926815,0.366146,0.083367],[0.066660,-0.058062,0.996085]] 2025-10-28T22:14:26.483Z,1761689666.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364392,0.924762,0.109694],[-0.930776,0.365413,0.011375],[-0.029565,-0.106245,0.993900]] 2025-10-28T22:14:26.887Z,1761689666.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346593,0.922998,0.167178],[-0.926842,0.364408,-0.090388],[-0.144349,-0.123620,0.981775]] 2025-10-28T22:14:27.291Z,1761689667.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363029,0.920366,0.145386],[-0.924518,0.375229,-0.066860],[-0.116089,-0.110140,0.987113]] 2025-10-28T22:14:27.694Z,1761689667.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351709,0.935237,0.040413],[-0.936095,0.351133,0.020785],[0.005249,-0.045141,0.998967]] 2025-10-28T22:14:28.099Z,1761689668.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322706,0.946268,-0.020938],[-0.945004,0.323360,0.049055],[0.053189,0.003957,0.998577]] 2025-10-28T22:14:28.505Z,1761689668.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297436,0.954279,0.029715],[-0.954716,0.297057,0.016552],[0.006968,-0.033293,0.999421]] 2025-10-28T22:14:28.906Z,1761689668.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312920,0.942199,0.119760],[-0.948849,0.315698,-0.004474],[-0.042023,-0.112234,0.992793]] 2025-10-28T22:14:29.311Z,1761689669.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300820,0.942841,0.143382],[-0.952077,0.305617,-0.012169],[-0.055294,-0.132850,0.989593]] 2025-10-28T22:14:29.715Z,1761689669.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232287,0.964282,0.127294],[-0.971922,0.225063,0.068667],[0.037565,-0.139670,0.989485]] 2025-10-28T22:14:30.120Z,1761689670.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272517,0.953061,0.131947],[-0.952598,0.247985,0.176241],[0.135247,-0.173721,0.975463]] 2025-10-28T22:14:30.523Z,1761689670.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308134,0.943057,0.125289],[-0.945120,0.288415,0.153508],[0.108632,-0.165714,0.980172]] 2025-10-28T22:14:30.927Z,1761689670.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259719,0.957553,0.125053],[-0.965678,0.257975,0.030234],[-0.003310,-0.128613,0.991689]] 2025-10-28T22:14:31.331Z,1761689671.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268398,0.957106,0.109135],[-0.956358,0.278330,-0.088951],[-0.115511,-0.080498,0.990039]] 2025-10-28T22:14:31.737Z,1761689671.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280009,0.958034,0.061369],[-0.957889,0.283057,-0.048251],[-0.063597,-0.045274,0.996948]] 2025-10-28T22:14:32.139Z,1761689672.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286115,0.957456,0.037636],[-0.956640,0.283193,0.068129],[0.054572,-0.055497,0.996966]] 2025-10-28T22:14:32.543Z,1761689672.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289264,0.955409,0.059331],[-0.951956,0.280602,0.122649],[0.100531,-0.091958,0.990675]] 2025-10-28T22:14:32.947Z,1761689672.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275201,0.955536,0.105901],[-0.960338,0.268085,0.076688],[0.044888,-0.122805,0.991415]] 2025-10-28T22:14:33.350Z,1761689673.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266148,0.953431,0.141897],[-0.960974,0.273965,-0.038375],[-0.075462,-0.126146,0.989137]] 2025-10-28T22:14:33.754Z,1761689673.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280895,0.950740,0.131116],[-0.947507,0.296457,-0.119769],[-0.152740,-0.090591,0.984106]] 2025-10-28T22:14:34.159Z,1761689674.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266149,0.959510,0.092219],[-0.959500,0.272874,-0.069999],[-0.092329,-0.069854,0.993275]] 2025-10-28T22:14:34.562Z,1761689674.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254060,0.964396,0.073446],[-0.967027,0.251894,0.037538],[0.017701,-0.080562,0.996592]] 2025-10-28T22:14:34.968Z,1761689674.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256892,0.963757,0.071965],[-0.962433,0.248342,0.109772],[0.087921,-0.097461,0.991348]] 2025-10-28T22:14:35.336Z,1761689675.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:14:35.378Z,1761689675.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266315,0.960068,0.085708],[-0.957490,0.253273,0.138077],[0.110856,-0.118837,0.986706]] 2025-10-28T22:14:35.775Z,1761689675.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273269,0.957940,0.087610],[-0.957816,0.262546,0.116866],[0.088949,-0.115851,0.989276]] 2025-10-28T22:14:36.178Z,1761689676.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287726,0.955193,0.069422],[-0.956484,0.282931,0.071329],[0.048491,-0.086924,0.995034]] 2025-10-28T22:14:36.340Z,1761689676.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:14:36.583Z,1761689676.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296099,0.952957,0.064797],[-0.954757,0.297257,-0.008796],[-0.027644,-0.059261,0.997860]] 2025-10-28T22:14:36.988Z,1761689676.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264115,0.960778,0.084554],[-0.962816,0.267806,-0.035572],[-0.056821,-0.072015,0.995784]] 2025-10-28T22:14:37.390Z,1761689677.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260321,0.960369,0.099619],[-0.965355,0.256966,0.045373],[0.017977,-0.107979,0.993991]] 2025-10-28T22:14:37.795Z,1761689677.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271452,0.956533,0.106572],[-0.956242,0.255484,0.142577],[0.109152,-0.140612,0.984030]] 2025-10-28T22:14:38.199Z,1761689678.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260129,0.955353,0.140121],[-0.961070,0.242175,0.133027],[0.093154,-0.169270,0.981157]] 2025-10-28T22:14:38.605Z,1761689678.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285864,0.944300,0.163031],[-0.957885,0.276759,0.076554],[0.027170,-0.178049,0.983646]] 2025-10-28T22:14:39.007Z,1761689679.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279188,0.940479,0.193789],[-0.957722,0.287324,-0.014640],[-0.069449,-0.181508,0.980934]] 2025-10-28T22:14:39.411Z,1761689679.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252041,0.947186,0.198277],[-0.960759,0.269446,-0.065890],[-0.115835,-0.173889,0.977929]] 2025-10-28T22:14:39.814Z,1761689679.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243124,0.960592,0.134734],[-0.968705,0.247610,-0.017347],[-0.050025,-0.126300,0.990730]] 2025-10-28T22:14:40.221Z,1761689680.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268595,0.961134,0.063865],[-0.963031,0.266518,0.039232],[0.020686,-0.072042,0.997187]] 2025-10-28T22:14:40.622Z,1761689680.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282404,0.957972,0.050371],[-0.958761,0.283611,-0.018528],[-0.032035,-0.043061,0.998559]] 2025-10-28T22:14:41.026Z,1761689681.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284634,0.956456,0.064610],[-0.956504,0.287848,-0.047369],[-0.063904,-0.048317,0.996786]] 2025-10-28T22:14:41.431Z,1761689681.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286849,0.954255,0.084347],[-0.956043,0.290749,-0.038043],[-0.060827,-0.069726,0.995710]] 2025-10-28T22:14:41.836Z,1761689681.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291377,0.947724,0.130074],[-0.951996,0.300616,-0.057740],[-0.093824,-0.107006,0.989822]] 2025-10-28T22:14:41.853Z,1761689681.853 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1995.40 m. Transitioning docking module to standby. 2025-10-28T22:14:42.239Z,1761689682.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278014,0.946327,0.164841],[-0.949998,0.296271,-0.098623],[-0.142168,-0.129180,0.981377]] 2025-10-28T22:14:42.260Z,1761689682.260 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-28T22:14:42.643Z,1761689682.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277607,0.946932,0.162029],[-0.955754,0.289306,-0.053254],[-0.097304,-0.140076,0.985348]] 2025-10-28T22:14:42.659Z,1761689682.659 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-28T22:14:42.659Z,1761689682.659 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-28T22:14:42.659Z,1761689682.659 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-28T22:14:42.659Z,1761689682.659 [DefaultWithUndock:LeaveDock] Stopped 2025-10-28T22:14:42.659Z,1761689682.659 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-28T22:14:42.660Z,1761689682.660 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-28T22:14:42.676Z,1761689682.676 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-28T22:14:42.676Z,1761689682.676 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-28T22:14:42.676Z,1761689682.676 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T22:14:42.676Z,1761689682.676 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T22:14:42.677Z,1761689682.677 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T22:14:42.677Z,1761689682.677 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T22:14:42.677Z,1761689682.677 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T22:14:42.678Z,1761689682.678 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T22:14:42.678Z,1761689682.678 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T22:14:43.048Z,1761689683.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265114,0.952438,0.150256],[-0.963936,0.258033,0.065166],[0.023296,-0.162114,0.986497]] 2025-10-28T22:14:43.069Z,1761689683.069 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-28T22:14:43.070Z,1761689683.070 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:14:43.070Z,1761689683.070 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T22:14:43.452Z,1761689683.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239440,0.959608,0.147719],[-0.967937,0.224028,0.113623],[0.075940,-0.170188,0.982481]] 2025-10-28T22:14:43.855Z,1761689683.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261188,0.962108,0.078282],[-0.959865,0.250282,0.126559],[0.102171,-0.108196,0.988865]] 2025-10-28T22:14:44.258Z,1761689684.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280032,0.959918,0.011788],[-0.958800,0.279052,0.053222],[0.047799,-0.026206,0.998513]] 2025-10-28T22:14:44.662Z,1761689684.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272301,0.962144,0.011474],[-0.961878,0.272501,-0.023085],[-0.025338,-0.004751,0.999668]] 2025-10-28T22:14:45.070Z,1761689685.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237294,0.970231,0.048411],[-0.971382,0.236449,0.022566],[0.010448,-0.052381,0.998573]] 2025-10-28T22:14:45.075Z,1761689685.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221444.00,A,3645.32249,N,12151.93293,W,1.108,213.05,281025,,,A*76 2025-10-28T22:14:45.078Z,1761689685.078 [NAL9602](INFO): GPS fix at 20251028T221444: (36.755375, -121.865549) 2025-10-28T22:14:45.093Z,1761689685.093 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T22:14:45.094Z,1761689685.094 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T22:14:45.470Z,1761689685.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204750,0.974351,0.093363],[-0.972450,0.191632,0.132732],[0.111436,-0.117968,0.986745]] 2025-10-28T22:14:45.875Z,1761689685.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233093,0.961538,0.145301],[-0.967256,0.213816,0.136744],[0.100417,-0.172417,0.979892]] 2025-10-28T22:14:46.279Z,1761689686.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283932,0.947453,0.147362],[-0.958689,0.283281,0.025831],[-0.017271,-0.148609,0.988745]] 2025-10-28T22:14:46.684Z,1761689686.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309608,0.945880,0.097233],[-0.949287,0.313361,-0.025665],[-0.054745,-0.084356,0.994931]] 2025-10-28T22:14:47.091Z,1761689687.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289806,0.956985,0.013875],[-0.956719,0.289263,0.031871],[0.026486,-0.022511,0.999396]] 2025-10-28T22:14:47.491Z,1761689687.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256773,0.966421,0.009863],[-0.963538,0.255186,0.080464],[0.075245,-0.030165,0.996709]] 2025-10-28T22:14:47.895Z,1761689687.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248887,0.962029,0.112047],[-0.968529,0.246883,0.031640],[0.002776,-0.116396,0.993199]] 2025-10-28T22:14:48.300Z,1761689688.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219163,0.952195,0.212820],[-0.974514,0.224327,-0.000119],[-0.047855,-0.207370,0.977091]] 2025-10-28T22:14:48.703Z,1761689688.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235699,0.932582,0.273382],[-0.971660,0.231342,0.048555],[-0.017963,-0.277079,0.960679]] 2025-10-28T22:14:49.144Z,1761689689.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238299,0.946821,0.216203],[-0.969921,0.220629,0.102841],[0.049671,-0.234206,0.970917]] 2025-10-28T22:14:49.510Z,1761689689.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233437,0.962573,0.137698],[-0.970995,0.223225,0.085665],[0.051722,-0.153701,0.986763]] 2025-10-28T22:14:49.917Z,1761689689.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244781,0.966555,0.076515],[-0.969471,0.242814,0.034171],[0.014449,-0.082543,0.996483]] 2025-10-28T22:14:50.319Z,1761689690.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214984,0.976461,0.017481],[-0.975740,0.213998,0.046231],[0.041402,-0.026995,0.998778]] 2025-10-28T22:14:50.722Z,1761689690.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195779,0.978084,0.070871],[-0.980089,0.192716,0.047820],[0.033114,-0.078822,0.996339]] 2025-10-28T22:14:51.165Z,1761689691.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256983,0.965550,0.040891],[-0.966408,0.256581,0.014880],[0.003876,-0.043342,0.999053]] 2025-10-28T22:14:51.936Z,1761689691.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198808,0.978799,0.049273],[-0.978351,0.195266,0.068557],[0.057482,-0.061836,0.996430]] 2025-10-28T22:14:52.339Z,1761689692.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209571,0.970960,0.115402],[-0.975691,0.199924,0.089758],[0.064080,-0.131408,0.989255]] 2025-10-28T22:14:52.748Z,1761689692.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226430,0.962569,0.148962],[-0.972690,0.215448,0.086350],[0.051024,-0.164446,0.985065]] 2025-10-28T22:14:53.169Z,1761689693.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259085,0.952365,0.160862],[-0.965798,0.257245,0.032536],[-0.010395,-0.163790,0.986441]] 2025-10-28T22:14:53.557Z,1761689693.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237984,0.956941,0.166217],[-0.970395,0.241521,-0.001105],[-0.041202,-0.161033,0.986089]] 2025-10-28T22:14:53.959Z,1761689693.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196031,0.965686,0.170358],[-0.980249,0.188351,0.060293],[0.026137,-0.178813,0.983536]] 2025-10-28T22:14:54.391Z,1761689694.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211205,0.963751,0.163024],[-0.973640,0.192739,0.121973],[0.086131,-0.184488,0.979053]] 2025-10-28T22:14:54.765Z,1761689694.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251353,0.955726,0.153001],[-0.967834,0.246400,0.050834],[0.010884,-0.160857,0.986918]] 2025-10-28T22:14:55.176Z,1761689695.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268953,0.957434,0.104803],[-0.963143,0.267867,0.024575],[-0.004544,-0.107549,0.994189]] 2025-10-28T22:14:55.570Z,1761689695.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271817,0.961951,0.027676],[-0.960399,0.269324,0.071403],[0.061233,-0.045989,0.997063]] 2025-10-28T22:14:56.019Z,1761689696.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292522,0.956233,-0.007051],[-0.952981,0.292122,0.080578],[0.079111,-0.016851,0.996723]] 2025-10-28T22:14:56.407Z,1761689696.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312455,0.949932,0.001465],[-0.946190,0.311086,0.089167],[0.084247,-0.029247,0.996016]] 2025-10-28T22:14:58.545Z,1761689698.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284719,0.958493,0.015040],[-0.957695,0.283726,0.048164],[0.041897,-0.028117,0.998726]] 2025-10-28T22:14:58.927Z,1761689698.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246307,0.968531,0.035794],[-0.967326,0.243374,0.071060],[0.060112,-0.052127,0.996830]] 2025-10-28T22:14:59.333Z,1761689699.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273775,0.955686,0.108223],[-0.961512,0.269233,0.054851],[0.023283,-0.119074,0.992612]] 2025-10-28T22:14:59.735Z,1761689699.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277347,0.946365,0.165745],[-0.955322,0.289985,-0.057167],[-0.102165,-0.142485,0.984510]] 2025-10-28T22:15:00.152Z,1761689700.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290634,0.941374,0.171310],[-0.946903,0.308699,-0.089890],[-0.137503,-0.136089,0.981108]] 2025-10-28T22:15:00.551Z,1761689700.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293049,0.949411,0.112875],[-0.956021,0.292469,0.022042],[-0.012086,-0.114371,0.993365]] 2025-10-28T22:15:00.950Z,1761689700.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257099,0.963373,0.076243],[-0.959212,0.244801,0.141366],[0.117524,-0.109478,0.987017]] 2025-10-28T22:15:01.351Z,1761689701.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220312,0.971762,0.084507],[-0.966691,0.205947,0.151965],[0.130270,-0.115172,0.984767]] 2025-10-28T22:15:01.755Z,1761689701.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217164,0.971164,0.098389],[-0.972436,0.206473,0.108338],[0.084899,-0.119204,0.989233]] 2025-10-28T22:15:02.159Z,1761689702.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250946,0.965447,0.070271],[-0.966398,0.245693,0.075562],[0.055686,-0.086872,0.994662]] 2025-10-28T22:15:02.565Z,1761689702.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248684,0.968575,-0.004412],[-0.968255,0.248715,0.024954],[0.025267,-0.001933,0.999679]] 2025-10-28T22:15:02.968Z,1761689702.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213259,0.975631,-0.051614],[-0.976881,0.213745,0.004004],[0.014939,0.049567,0.998659]] 2025-10-28T22:15:03.372Z,1761689703.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200178,0.979281,-0.030624],[-0.971609,0.202439,0.122455],[0.126118,0.005242,0.992001]] 2025-10-28T22:15:03.780Z,1761689703.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179740,0.983290,0.028882],[-0.954326,0.167172,0.247620],[0.238654,-0.072070,0.968427]] 2025-10-28T22:15:04.179Z,1761689704.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179323,0.979339,0.093478],[-0.965955,0.157265,0.205422],[0.186477,-0.127133,0.974199]] 2025-10-28T22:15:04.583Z,1761689704.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179273,0.974958,0.131598],[-0.981710,0.168572,0.088478],[0.064079,-0.145053,0.987347]] 2025-10-28T22:15:04.994Z,1761689704.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151868,0.975889,0.156772],[-0.988371,0.148704,0.031788],[0.007709,-0.159777,0.987123]] 2025-10-28T22:15:05.399Z,1761689705.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172202,0.971709,0.161643],[-0.985016,0.171444,0.018731],[-0.009512,-0.162447,0.986672]] 2025-10-28T22:15:05.796Z,1761689705.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167373,0.978576,0.119900],[-0.984758,0.171774,-0.027295],[-0.047306,-0.113504,0.992411]] 2025-10-28T22:15:06.200Z,1761689706.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119302,0.987041,0.107316],[-0.988057,0.128646,-0.084819],[-0.097526,-0.095915,0.990600]] 2025-10-28T22:15:06.464Z,1761689706.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:15:06.604Z,1761689706.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058610,0.988895,0.136572],[-0.993740,0.070829,-0.086391],[-0.095105,-0.130654,0.986856]] 2025-10-28T22:15:07.010Z,1761689707.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079896,0.983625,0.161550],[-0.996570,0.075317,0.034282],[0.021553,-0.163735,0.986269]] 2025-10-28T22:15:07.411Z,1761689707.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172854,0.977925,0.117408],[-0.982014,0.161917,0.097118],[0.075963,-0.132084,0.988324]] 2025-10-28T22:15:07.469Z,1761689707.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:15:07.815Z,1761689707.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179651,0.981118,0.071644],[-0.983727,0.178971,0.015851],[0.002729,-0.073326,0.997304]] 2025-10-28T22:15:08.219Z,1761689708.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140431,0.988061,0.063361],[-0.989711,0.141860,-0.018630],[-0.027396,-0.060093,0.997817]] 2025-10-28T22:15:08.625Z,1761689708.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128842,0.983455,0.127339],[-0.991223,0.131551,-0.013059],[-0.029594,-0.124539,0.991773]] 2025-10-28T22:15:09.028Z,1761689709.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124946,0.977501,0.169943],[-0.990952,0.114489,0.070043],[0.049010,-0.177157,0.982962]] 2025-10-28T22:15:09.432Z,1761689709.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166250,0.975490,0.144156],[-0.973118,0.138673,0.183878],[0.159380,-0.170851,0.972321]] 2025-10-28T22:15:09.835Z,1761689709.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229487,0.957786,0.173151],[-0.966960,0.204062,0.152798],[0.111014,-0.202495,0.972970]] 2025-10-28T22:15:10.241Z,1761689710.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248168,0.947546,0.201419],[-0.967999,0.250569,0.013906],[-0.037293,-0.198425,0.979406]] 2025-10-28T22:15:10.643Z,1761689710.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247614,0.950785,0.186269],[-0.968027,0.250753,0.006900],[-0.040147,-0.182022,0.982475]] 2025-10-28T22:15:11.048Z,1761689711.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266912,0.953250,0.141676],[-0.962460,0.256148,0.089773],[0.049286,-0.160319,0.985834]] 2025-10-28T22:15:11.451Z,1761689711.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268214,0.959293,0.088420],[-0.957257,0.255075,0.136365],[0.108260,-0.121216,0.986705]] 2025-10-28T22:15:11.856Z,1761689711.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260909,0.962806,0.070225],[-0.955245,0.246985,0.162801],[0.139401,-0.109558,0.984157]] 2025-10-28T22:15:12.261Z,1761689712.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296276,0.951798,0.079380],[-0.948584,0.283543,0.140684],[0.111395,-0.116980,0.986867]] 2025-10-28T22:15:12.664Z,1761689712.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326739,0.942843,0.065489],[-0.943345,0.321105,0.083616],[0.057808,-0.089099,0.994344]] 2025-10-28T22:15:13.067Z,1761689713.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305656,0.950849,0.049606],[-0.948600,0.299615,0.101926],[0.082053,-0.078211,0.993554]] 2025-10-28T22:15:13.472Z,1761689713.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305477,0.950191,0.061818],[-0.938970,0.289812,0.185322],[0.158175,-0.114657,0.980732]] 2025-10-28T22:15:13.477Z,1761689713.477 [NAL9602](INFO): SBD MO Status=1, MOMSN=3369, MT Status=0, MTMSN=0 2025-10-28T22:15:13.528Z,1761689713.528 [NAL9602](INFO): Sent 84 bytes from file Logs/20251028T162422/Courier0063.lzma 2025-10-28T22:15:13.528Z,1761689713.528 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:15:13.876Z,1761689713.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349698,0.933181,0.082980],[-0.915891,0.321890,0.239857],[0.197119,-0.159878,0.967255]] 2025-10-28T22:15:14.629Z,1761689714.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395184,0.918577,-0.006702],[-0.889734,0.384570,0.245925],[0.228478,-0.091222,0.969266]] 2025-10-28T22:15:15.010Z,1761689715.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409909,0.911624,-0.030285],[-0.885658,0.405735,0.225807],[0.218139,-0.065738,0.973701]] 2025-10-28T22:15:17.171Z,1761689717.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433345,0.900274,-0.041450],[-0.874112,0.431060,0.223864],[0.219407,-0.060778,0.973738]] 2025-10-28T22:15:17.502Z,1761689717.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436225,0.899628,0.019420],[-0.876584,0.419978,0.234987],[0.203245,-0.119530,0.971804]] 2025-10-28T22:15:17.929Z,1761689717.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433515,0.897596,0.079916],[-0.885475,0.407830,0.222732],[0.167331,-0.167321,0.971599]] 2025-10-28T22:15:18.299Z,1761689718.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441296,0.887072,0.135502],[-0.891531,0.416215,0.178709],[0.102130,-0.199668,0.974527]] 2025-10-28T22:15:18.717Z,1761689718.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471206,0.873354,0.123364],[-0.881560,0.461797,0.097954],[0.028579,-0.154909,0.987515]] 2025-10-28T22:15:19.249Z,1761689719.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445428,0.895268,-0.009387],[-0.895315,0.445375,-0.007266],[-0.002324,0.011641,0.999930]] 2025-10-28T22:15:19.948Z,1761689719.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440601,0.897680,0.006384],[-0.897207,0.440583,-0.030112],[-0.029844,0.007540,0.999526]] 2025-10-28T22:15:20.329Z,1761689720.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421506,0.906630,0.018846],[-0.905964,0.420109,0.052323],[0.039520,-0.039128,0.998452]] 2025-10-28T22:15:20.733Z,1761689720.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442064,0.893733,0.076299],[-0.895368,0.434566,0.097305],[0.053808,-0.111331,0.992326]] 2025-10-28T22:15:21.175Z,1761689721.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470302,0.871764,0.137271],[-0.882481,0.463409,0.080496],[0.006561,-0.158997,0.987257]] 2025-10-28T22:15:21.536Z,1761689721.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445893,0.882386,0.150248],[-0.894494,0.433166,0.110670],[0.032572,-0.183743,0.982435]] 2025-10-28T22:15:21.939Z,1761689721.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425944,0.888243,0.172035],[-0.901010,0.399174,0.169823],[0.082173,-0.227340,0.970342]] 2025-10-28T22:15:22.343Z,1761689722.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472484,0.861959,0.183808],[-0.876482,0.437682,0.200534],[0.092402,-0.255854,0.962289]] 2025-10-28T22:15:22.746Z,1761689722.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484244,0.863317,0.142096],[-0.867816,0.453255,0.203604],[0.111369,-0.221907,0.968687]] 2025-10-28T22:15:23.173Z,1761689723.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468313,0.881909,0.054031],[-0.866389,0.446353,0.223917],[0.173358,-0.151675,0.973109]] 2025-10-28T22:15:23.553Z,1761689723.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486048,0.873925,-0.003569],[-0.852597,0.475075,0.217674],[0.191926,-0.102758,0.976015]] 2025-10-28T22:15:23.958Z,1761689723.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487127,0.873326,0.002882],[-0.859834,0.479019,0.176711],[0.152945,-0.088559,0.984259]] 2025-10-28T22:15:24.361Z,1761689724.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490943,0.868631,0.066747],[-0.867849,0.480915,0.124737],[0.076251,-0.119165,0.989942]] 2025-10-28T22:15:24.764Z,1761689724.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502311,0.856611,0.117902],[-0.864265,0.493116,0.099412],[0.027018,-0.151834,0.988037]] 2025-10-28T22:15:25.181Z,1761689725.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522255,0.848243,0.087947],[-0.851439,0.512844,0.109742],[0.047985,-0.132194,0.990062]] 2025-10-28T22:15:25.574Z,1761689725.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493107,0.868966,0.041768],[-0.868000,0.488195,0.090786],[0.058499,-0.081022,0.994994]] 2025-10-28T22:15:25.595Z,1761689725.595 [NAL9602](INFO): SBD MO Status=1, MOMSN=3370, MT Status=0, MTMSN=0 2025-10-28T22:15:25.644Z,1761689725.644 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0064.lzma 2025-10-28T22:15:25.644Z,1761689725.644 [NAL9602](INFO): Packets left to send: 1 2025-10-28T22:15:25.985Z,1761689725.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467341,0.882800,0.047497],[-0.882827,0.463151,0.078150],[0.046992,-0.078455,0.995809]] 2025-10-28T22:15:26.637Z,1761689726.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548646,0.832123,0.080992],[-0.832692,0.552549,-0.036245],[-0.074912,-0.047556,0.996055]] 2025-10-28T22:15:27.039Z,1761689727.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554041,0.831186,0.046551],[-0.831978,0.554794,-0.004018],[-0.029166,-0.036504,0.998908]] 2025-10-28T22:15:29.222Z,1761689729.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523584,0.840936,0.136699],[-0.851943,0.518165,0.075489],[-0.007351,-0.155985,0.987732]] 2025-10-28T22:15:29.604Z,1761689729.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574969,0.818151,0.006283],[-0.813563,0.570896,0.110420],[0.086753,-0.068600,0.993865]] 2025-10-28T22:15:30.085Z,1761689730.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560090,0.828296,-0.014994],[-0.823060,0.558425,0.103601],[0.094185,-0.045685,0.994506]] 2025-10-28T22:15:30.411Z,1761689730.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536418,0.843382,0.031044],[-0.841859,0.532135,0.090035],[0.059414,-0.074431,0.995455]] 2025-10-28T22:15:30.814Z,1761689730.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535367,0.837759,0.107431],[-0.844500,0.528803,0.084776],[0.014212,-0.136112,0.990592]] 2025-10-28T22:15:31.219Z,1761689731.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570755,0.813115,0.114375],[-0.821117,0.564826,0.082086],[0.002144,-0.140766,0.990041]] 2025-10-28T22:15:31.633Z,1761689731.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570723,0.819664,0.049246],[-0.820262,0.566310,0.080387],[0.038002,-0.086273,0.995546]] 2025-10-28T22:15:32.027Z,1761689732.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563546,0.826072,0.004485],[-0.824246,0.561922,0.069732],[0.055083,-0.042994,0.997556]] 2025-10-28T22:15:32.430Z,1761689732.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576780,0.816888,0.004478],[-0.816008,0.575885,0.049864],[0.038154,-0.032414,0.998746]] 2025-10-28T22:15:32.835Z,1761689732.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567627,0.821097,0.059998],[-0.822981,0.567892,0.014203],[-0.022410,-0.057439,0.998097]] 2025-10-28T22:15:33.253Z,1761689733.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517570,0.843876,0.141403],[-0.855270,0.515098,0.056462],[-0.025189,-0.150160,0.988341]] 2025-10-28T22:15:33.642Z,1761689733.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564059,0.809074,0.165039],[-0.825398,0.546749,0.140651],[0.023562,-0.215558,0.976207]] 2025-10-28T22:15:34.047Z,1761689734.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632524,0.764055,0.127014],[-0.774474,0.621753,0.116676],[0.010176,-0.172169,0.985015]] 2025-10-28T22:15:34.451Z,1761689734.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626496,0.775108,0.081919],[-0.779400,0.623844,0.057911],[-0.006218,-0.100129,0.994955]] 2025-10-28T22:15:34.867Z,1761689734.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642361,0.766341,0.009667],[-0.763651,0.638936,0.092732],[0.064888,-0.066950,0.995644]] 2025-10-28T22:15:35.259Z,1761689735.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621421,0.782095,-0.046507],[-0.772874,0.621664,0.127280],[0.128457,-0.043151,0.990776]] 2025-10-28T22:15:35.663Z,1761689735.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577480,0.816128,-0.021268],[-0.807820,0.574982,0.129703],[0.118083,-0.057720,0.991325]] 2025-10-28T22:15:36.067Z,1761689736.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604318,0.794866,0.054657],[-0.794221,0.595532,0.120646],[0.063347,-0.116318,0.991190]] 2025-10-28T22:15:36.476Z,1761689736.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630564,0.764397,0.134490],[-0.774664,0.630519,0.048393],[-0.047807,-0.134700,0.989733]] 2025-10-28T22:15:36.875Z,1761689736.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662339,0.737553,0.131619],[-0.741200,0.670683,-0.028404],[-0.109224,-0.078743,0.990893]] 2025-10-28T22:15:37.278Z,1761689737.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666273,0.745657,0.008675],[-0.745598,0.666330,-0.009438],[-0.012818,-0.000180,0.999918]] 2025-10-28T22:15:37.346Z,1761689737.346 [NAL9602](INFO): SBD MO Status=1, MOMSN=3371, MT Status=0, MTMSN=0 2025-10-28T22:15:37.396Z,1761689737.396 [NAL9602](INFO): Sent 173 bytes from file Logs/20251028T162422/Express0064.lzma 2025-10-28T22:15:37.396Z,1761689737.396 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:15:37.596Z,1761689737.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:15:37.683Z,1761689737.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656280,0.750071,-0.081792],[-0.745365,0.661332,0.084092],[0.117167,0.005777,0.993095]] 2025-10-28T22:15:38.283Z,1761689738.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649952,0.758862,-0.041126],[-0.754373,0.650774,0.086101],[0.092102,-0.024937,0.995437]] 2025-10-28T22:15:38.601Z,1761689738.601 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:15:38.688Z,1761689738.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636425,0.769607,0.051654],[-0.770947,0.632542,0.074373],[0.024564,-0.087155,0.995892]] 2025-10-28T22:15:39.496Z,1761689739.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637335,0.756850,0.144852],[-0.767439,0.640390,0.030631],[-0.069579,-0.130687,0.988979]] 2025-10-28T22:15:39.898Z,1761689739.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684245,0.728154,0.040011],[-0.729172,0.683955,0.022675],[-0.010855,-0.044690,0.998942]] 2025-10-28T22:15:40.303Z,1761689740.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662069,0.746842,-0.062381],[-0.746844,0.664410,0.028000],[0.062358,0.028051,0.997660]] 2025-10-28T22:15:40.707Z,1761689740.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599375,0.799440,-0.040558],[-0.800025,0.599960,0.002888],[0.026642,0.030716,0.999173]] 2025-10-28T22:15:41.143Z,1761689741.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591594,0.806224,0.004531],[-0.806141,0.591428,0.018676],[0.012377,-0.014701,0.999815]] 2025-10-28T22:15:41.517Z,1761689741.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602551,0.797873,0.018193],[-0.796259,0.599481,0.081203],[0.053883,-0.063416,0.996531]] 2025-10-28T22:15:41.919Z,1761689741.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601591,0.797965,0.036624],[-0.796719,0.596078,0.099647],[0.057684,-0.089125,0.994349]] 2025-10-28T22:15:42.322Z,1761689742.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600016,0.795557,0.084084],[-0.799693,0.599326,0.036036],[-0.021725,-0.088864,0.995807]] 2025-10-28T22:15:42.727Z,1761689742.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591840,0.802113,0.079626],[-0.805439,0.592357,0.019526],[-0.031505,-0.075690,0.996634]] 2025-10-28T22:15:43.162Z,1761689743.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589572,0.804480,0.072231],[-0.807672,0.588110,0.042339],[-0.008419,-0.083301,0.996489]] 2025-10-28T22:15:43.534Z,1761689743.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584482,0.808786,0.065156],[-0.811133,0.580312,0.072810],[0.021077,-0.095406,0.995215]] 2025-10-28T22:15:43.939Z,1761689743.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581639,0.808564,0.088996],[-0.812011,0.570628,0.122568],[0.048321,-0.143556,0.988462]] 2025-10-28T22:15:44.343Z,1761689744.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593639,0.797256,0.109430],[-0.804175,0.582662,0.117507],[0.029923,-0.157757,0.987024]] 2025-10-28T22:15:45.170Z,1761689745.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607248,0.785289,0.120708],[-0.794333,0.603289,0.071256],[-0.016865,-0.139153,0.990127]] 2025-10-28T22:15:45.555Z,1761689745.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564301,0.821352,0.083330],[-0.824179,0.554621,0.114560],[0.047877,-0.133325,0.989915]] 2025-10-28T22:15:45.958Z,1761689745.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552026,0.829280,0.086960],[-0.827975,0.532828,0.174792],[0.098617,-0.168490,0.980758]] 2025-10-28T22:15:46.364Z,1761689746.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582540,0.808067,0.087611],[-0.807765,0.563574,0.172916],[0.090353,-0.171499,0.981032]] 2025-10-28T22:15:46.766Z,1761689746.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577167,0.811552,0.090890],[-0.816094,0.569189,0.100078],[0.029485,-0.131936,0.990820]] 2025-10-28T22:15:47.175Z,1761689747.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579474,0.808201,0.104982],[-0.814166,0.579859,0.029960],[-0.036661,-0.102834,0.994023]] 2025-10-28T22:15:47.575Z,1761689747.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586266,0.806663,0.074744],[-0.809472,0.586985,0.014269],[-0.032364,-0.068869,0.997101]] 2025-10-28T22:15:47.981Z,1761689747.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573884,0.818769,0.016560],[-0.816380,0.570378,0.090516],[0.064667,-0.065465,0.995757]] 2025-10-28T22:15:48.386Z,1761689748.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544522,0.838018,0.034946],[-0.832644,0.535074,0.142825],[0.100991,-0.106869,0.989131]] 2025-10-28T22:15:48.787Z,1761689748.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563803,0.823337,0.065132],[-0.820968,0.550070,0.153085],[0.090214,-0.139781,0.986064]] 2025-10-28T22:15:49.190Z,1761689749.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594561,0.801974,0.057753],[-0.801680,0.585765,0.119115],[0.061697,-0.117120,0.991199]] 2025-10-28T22:15:49.595Z,1761689749.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576904,0.814308,0.063900],[-0.816759,0.574214,0.056414],[0.009247,-0.084736,0.996361]] 2025-10-28T22:15:50.001Z,1761689750.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528706,0.844687,0.083509],[-0.848800,0.525788,0.055553],[0.003017,-0.100254,0.994957]] 2025-10-28T22:15:50.408Z,1761689750.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548762,0.829116,0.106898],[-0.835521,0.539728,0.102948],[0.027660,-0.145810,0.988926]] 2025-10-28T22:15:50.812Z,1761689750.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595250,0.792346,0.133661],[-0.802140,0.595752,0.040645],[-0.047425,-0.131409,0.990193]] 2025-10-28T22:15:51.215Z,1761689751.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639408,0.768846,0.005802],[-0.761413,0.632142,0.143689],[0.106807,-0.096294,0.989606]] 2025-10-28T22:15:51.622Z,1761689751.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575660,0.812254,-0.094121],[-0.789762,0.582129,0.193397],[0.211878,-0.036998,0.976596]] 2025-10-28T22:15:52.024Z,1761689752.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511772,0.859084,0.008064],[-0.856636,0.509556,0.080791],[0.065297,-0.048254,0.996698]] 2025-10-28T22:15:52.426Z,1761689752.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504650,0.856453,0.108701],[-0.861055,0.508440,-0.008497],[-0.062545,-0.089309,0.994038]] 2025-10-28T22:15:52.827Z,1761689752.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511068,0.852036,0.113331],[-0.856366,0.516056,-0.017980],[-0.073805,-0.087864,0.993395]] 2025-10-28T22:15:53.232Z,1761689753.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525106,0.850830,0.018768],[-0.849950,0.523194,0.062078],[0.042998,-0.048549,0.997895]] 2025-10-28T22:15:53.635Z,1761689753.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507748,0.860756,-0.035926],[-0.854066,0.508394,0.110027],[0.112971,-0.025183,0.993279]] 2025-10-28T22:15:54.038Z,1761689754.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469490,0.882934,-0.002691],[-0.876577,0.466471,0.118393],[0.105788,-0.053225,0.992963]] 2025-10-28T22:15:54.849Z,1761689754.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471927,0.872372,0.127484],[-0.877695,0.451220,0.161405],[0.083282,-0.188064,0.978620]] 2025-10-28T22:15:54.854Z,1761689754.854 [NAL9602](INFO): SBD MO Status=2, MOMSN=3372, MT Status=2, MTMSN=0 2025-10-28T22:15:54.854Z,1761689754.854 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T22:15:55.251Z,1761689755.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454558,0.886429,0.087291],[-0.884008,0.436958,0.166125],[0.109116,-0.152679,0.982234]] 2025-10-28T22:15:55.655Z,1761689755.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400778,0.914169,0.060592],[-0.904871,0.384609,0.182439],[0.143476,-0.127945,0.981348]] 2025-10-28T22:15:56.059Z,1761689756.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396071,0.915589,0.069463],[-0.898461,0.370828,0.235063],[0.189462,-0.155511,0.969495]] 2025-10-28T22:15:56.465Z,1761689756.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409797,0.910343,0.057815],[-0.893153,0.387567,0.228188],[0.185322,-0.145149,0.971899]] 2025-10-28T22:15:56.866Z,1761689756.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408249,0.911978,0.040353],[-0.903300,0.397190,0.162137],[0.131837,-0.102643,0.985943]] 2025-10-28T22:15:57.271Z,1761689757.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379458,0.924594,0.033727],[-0.920175,0.373346,0.117862],[0.096382,-0.075758,0.992457]] 2025-10-28T22:15:57.674Z,1761689757.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341561,0.938112,0.057295],[-0.936400,0.334446,0.106302],[0.080561,-0.089960,0.992682]] 2025-10-28T22:15:58.080Z,1761689758.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324185,0.936818,0.131439],[-0.944863,0.313866,0.093387],[0.046233,-0.154466,0.986916]] 2025-10-28T22:15:58.485Z,1761689758.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371620,0.914566,0.159588],[-0.927975,0.360822,0.093108],[0.027570,-0.182694,0.982783]] 2025-10-28T22:15:58.886Z,1761689758.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409125,0.907058,0.099308],[-0.912322,0.404612,0.062901],[0.016874,-0.116336,0.993067]] 2025-10-28T22:15:59.290Z,1761689759.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382941,0.923753,0.006001],[-0.923228,0.382483,0.036841],[0.031737,-0.019648,0.999303]] 2025-10-28T22:15:59.698Z,1761689759.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343820,0.938904,-0.015717],[-0.934580,0.343770,0.091555],[0.091365,-0.016790,0.995676]] 2025-10-28T22:16:00.353Z,1761689760.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353197,0.934881,0.035345],[-0.925202,0.343438,0.161405],[0.138756,-0.089709,0.986255]] 2025-10-28T22:16:00.755Z,1761689760.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374140,0.921751,0.101956],[-0.924462,0.362001,0.119686],[0.073412,-0.139034,0.987563]] 2025-10-28T22:16:01.177Z,1761689761.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360732,0.915910,0.176016],[-0.930870,0.365285,0.006966],[-0.057916,-0.166361,0.984363]] 2025-10-28T22:16:01.562Z,1761689761.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345381,0.922358,0.173111],[-0.933806,0.356123,-0.034392],[-0.093370,-0.149774,0.984302]] 2025-10-28T22:16:01.970Z,1761689761.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375255,0.921654,0.098681],[-0.926868,0.371962,0.050591],[0.009922,-0.110448,0.993832]] 2025-10-28T22:16:02.372Z,1761689762.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416431,0.909082,0.012494],[-0.904678,0.412971,0.104940],[0.090239,-0.055003,0.994400]] 2025-10-28T22:16:02.778Z,1761689762.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395036,0.918607,0.010371],[-0.915242,0.392565,0.090685],[0.079232,-0.045316,0.995826]] 2025-10-28T22:16:03.196Z,1761689763.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367851,0.926848,0.075091],[-0.928657,0.362018,0.080859],[0.047760,-0.099478,0.993893]] 2025-10-28T22:16:03.583Z,1761689763.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353841,0.923034,0.151011],[-0.934927,0.344462,0.085197],[0.026622,-0.171330,0.984854]] 2025-10-28T22:16:03.987Z,1761689763.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322873,0.926432,0.193589],[-0.946328,0.319185,0.050833],[-0.014697,-0.199612,0.979765]] 2025-10-28T22:16:04.393Z,1761689764.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342108,0.923360,0.174265],[-0.937643,0.347599,-0.001053],[-0.061547,-0.163038,0.984698]] 2025-10-28T22:16:05.198Z,1761689765.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340479,0.936961,0.078600],[-0.939716,0.341916,-0.005196],[-0.031743,-0.072093,0.996893]] 2025-10-28T22:16:05.621Z,1761689765.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368869,0.926633,0.072713],[-0.928016,0.362768,0.084765],[0.052168,-0.098746,0.993744]] 2025-10-28T22:16:06.009Z,1761689766.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362230,0.926946,0.097778],[-0.931783,0.357427,0.063453],[0.023869,-0.114093,0.993183]] 2025-10-28T22:16:06.410Z,1761689766.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340074,0.934017,0.109371],[-0.939718,0.333098,0.077305],[0.035773,-0.129067,0.990990]] 2025-10-28T22:16:06.815Z,1761689766.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347697,0.931278,0.108760],[-0.935515,0.336835,0.106553],[0.062596,-0.138795,0.988341]] 2025-10-28T22:16:07.219Z,1761689767.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346017,0.931114,0.115324],[-0.937349,0.337752,0.085437],[0.040600,-0.137661,0.989647]] 2025-10-28T22:16:07.630Z,1761689767.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335004,0.937657,0.092590],[-0.942137,0.334631,0.019987],[-0.012242,-0.093928,0.995504]] 2025-10-28T22:16:08.031Z,1761689768.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372578,0.927607,0.027044],[-0.926767,0.370421,0.062382],[0.047848,-0.048306,0.997686]] 2025-10-28T22:16:08.435Z,1761689768.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398101,0.917124,-0.019981],[-0.912488,0.398138,0.094078],[0.094236,-0.019220,0.995364]] 2025-10-28T22:16:08.720Z,1761689768.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:16:08.840Z,1761689768.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377414,0.926043,-0.001863],[-0.922439,0.376122,0.087403],[0.081639,-0.031268,0.996171]] 2025-10-28T22:16:09.245Z,1761689769.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330373,0.941925,0.060262],[-0.941661,0.324589,0.088974],[0.064247,-0.086141,0.994209]] 2025-10-28T22:16:09.649Z,1761689769.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350384,0.925294,0.145127],[-0.936117,0.340967,0.086171],[0.030250,-0.166049,0.985653]] 2025-10-28T22:16:09.724Z,1761689769.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:16:10.047Z,1761689770.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378946,0.907440,0.181528],[-0.924761,0.378714,0.037320],[-0.034882,-0.182012,0.982677]] 2025-10-28T22:16:10.453Z,1761689770.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350326,0.921336,0.168555],[-0.935062,0.354432,0.006085],[-0.054135,-0.159741,0.985673]] 2025-10-28T22:16:10.859Z,1761689770.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332363,0.936098,0.115129],[-0.943014,0.327748,0.057490],[0.016083,-0.127676,0.991686]] 2025-10-28T22:16:10.865Z,1761689770.865 [NAL9602](INFO): SBD MO Status=0, MOMSN=3372, MT Status=0, MTMSN=0 2025-10-28T22:16:10.945Z,1761689770.945 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T22:16:10.945Z,1761689770.945 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T22:16:10.945Z,1761689770.945 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:16:11.259Z,1761689771.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342944,0.937384,0.060831],[-0.934240,0.333612,0.126089],[0.097900,-0.100072,0.990152]] 2025-10-28T22:16:11.664Z,1761689771.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360278,0.930520,0.065822],[-0.931960,0.355966,0.068845],[0.040631,-0.086147,0.995454]] 2025-10-28T22:16:12.070Z,1761689772.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372824,0.921870,0.105633],[-0.924728,0.378541,-0.039802],[-0.076678,-0.082843,0.993608]] 2025-10-28T22:16:12.471Z,1761689772.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382561,0.917268,0.110750],[-0.921123,0.387986,-0.031616],[-0.071970,-0.089920,0.993345]] 2025-10-28T22:16:12.876Z,1761689772.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368955,0.921218,0.123408],[-0.929415,0.366779,0.040753],[-0.007721,-0.129733,0.991519]] 2025-10-28T22:16:13.279Z,1761689773.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308455,0.934627,0.176995],[-0.950800,0.308578,0.027533],[-0.028884,-0.176780,0.983827]] 2025-10-28T22:16:13.684Z,1761689773.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297541,0.934467,0.195554],[-0.954464,0.286517,0.083105],[0.021629,-0.211376,0.977165]] 2025-10-28T22:16:14.086Z,1761689774.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358018,0.916751,0.177176],[-0.927988,0.328372,0.176099],[0.103259,-0.227464,0.968296]] 2025-10-28T22:16:14.905Z,1761689774.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422082,0.901937,0.091418],[-0.906398,0.417962,0.061245],[0.017030,-0.108712,0.993927]] 2025-10-28T22:16:15.301Z,1761689775.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410857,0.906204,0.099950],[-0.911544,0.406283,0.063425],[0.016868,-0.117167,0.992969]] 2025-10-28T22:16:15.703Z,1761689775.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414050,0.898084,0.148349],[-0.910151,0.406017,0.082310],[0.013689,-0.169100,0.985504]] 2025-10-28T22:16:16.106Z,1761689776.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376364,0.914645,0.147563],[-0.920175,0.350495,0.174447],[0.107837,-0.201439,0.973547]] 2025-10-28T22:16:16.517Z,1761689776.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403942,0.904497,0.136810],[-0.895615,0.360573,0.260501],[0.186292,-0.227756,0.955731]] 2025-10-28T22:16:16.916Z,1761689776.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478830,0.867541,0.134515],[-0.869045,0.446682,0.212690],[0.124432,-0.218742,0.967816]] 2025-10-28T22:16:17.319Z,1761689777.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507745,0.856121,0.096185],[-0.860786,0.499582,0.097285],[0.035235,-0.132191,0.990598]] 2025-10-28T22:16:17.723Z,1761689777.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505680,0.860480,0.062145],[-0.862300,0.506370,0.005258],[-0.026944,-0.056247,0.998053]] 2025-10-28T22:16:18.129Z,1761689778.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533472,0.845519,0.022491],[-0.845388,0.532164,0.046050],[0.026967,-0.043580,0.998686]] 2025-10-28T22:16:18.530Z,1761689778.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574763,0.817897,-0.026302],[-0.814572,0.574907,0.077158],[0.078229,-0.022923,0.996672]] 2025-10-28T22:16:18.934Z,1761689778.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580107,0.813731,-0.036292],[-0.809555,0.580906,0.084671],[0.089982,-0.019738,0.995748]] 2025-10-28T22:16:19.339Z,1761689779.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598913,0.800641,-0.016628],[-0.796320,0.597620,0.093404],[0.084720,-0.042700,0.995489]] 2025-10-28T22:16:19.744Z,1761689779.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598751,0.800453,0.027784],[-0.798692,0.594120,0.095462],[0.059906,-0.079349,0.995045]] 2025-10-28T22:16:20.146Z,1761689780.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597055,0.794016,0.114294],[-0.801963,0.594257,0.060952],[-0.019523,-0.128051,0.991575]] 2025-10-28T22:16:20.551Z,1761689780.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618390,0.766480,0.173501],[-0.777992,0.628269,-0.002609],[-0.111005,-0.133369,0.984830]] 2025-10-28T22:16:20.955Z,1761689780.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657740,0.742519,0.126663],[-0.748663,0.662950,0.001367],[-0.082956,-0.095727,0.991945]] 2025-10-28T22:16:21.359Z,1761689781.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681898,0.731132,-0.021481],[-0.730012,0.682105,0.042600],[0.045799,-0.013367,0.998861]] 2025-10-28T22:16:21.763Z,1761689781.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643954,0.756599,-0.113494],[-0.754505,0.652601,0.069526],[0.126670,0.040861,0.991103]] 2025-10-28T22:16:22.167Z,1761689782.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627664,0.773731,-0.085891],[-0.766006,0.633508,0.109100],[0.138827,-0.002685,0.990313]] 2025-10-28T22:16:22.573Z,1761689782.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644814,0.764315,0.006114],[-0.760893,0.641127,0.099988],[0.072503,-0.069126,0.994970]] 2025-10-28T22:16:22.975Z,1761689782.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639201,0.765497,0.073736],[-0.768946,0.634681,0.076826],[0.012011,-0.105807,0.994314]] 2025-10-28T22:16:23.378Z,1761689783.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628542,0.774979,0.065892],[-0.775863,0.618804,0.122959],[0.054516,-0.128408,0.990222]] 2025-10-28T22:16:23.783Z,1761689783.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619251,0.784292,0.037617],[-0.777983,0.606383,0.164446],[0.106163,-0.131098,0.985669]] 2025-10-28T22:16:24.187Z,1761689784.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637346,0.770527,0.008901],[-0.758914,0.625655,0.180569],[0.133564,-0.121840,0.983522]] 2025-10-28T22:16:24.590Z,1761689784.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645866,0.763141,-0.021756],[-0.751175,0.640312,0.160426],[0.136359,-0.087271,0.986808]] 2025-10-28T22:16:24.994Z,1761689784.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637020,0.770716,0.014244],[-0.767891,0.632851,0.099213],[0.067451,-0.074139,0.994964]] 2025-10-28T22:16:25.401Z,1761689785.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630689,0.770981,0.088435],[-0.773845,0.633368,-0.002937],[-0.058276,-0.066583,0.996078]] 2025-10-28T22:16:25.803Z,1761689785.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663274,0.741561,0.100774],[-0.737194,0.670604,-0.082679],[-0.128891,-0.019451,0.991468]] 2025-10-28T22:16:26.207Z,1761689786.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683373,0.729968,0.012159],[-0.727112,0.682008,-0.078570],[-0.065646,0.044852,0.996834]] 2025-10-28T22:16:26.611Z,1761689786.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682132,0.727478,-0.073964],[-0.729103,0.684368,0.007010],[0.055719,0.049146,0.997236]] 2025-10-28T22:16:27.015Z,1761689787.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667077,0.739280,-0.092048],[-0.733777,0.673359,0.090334],[0.128763,0.007283,0.991649]] 2025-10-28T22:16:27.418Z,1761689787.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655048,0.754955,-0.030908],[-0.743298,0.651202,0.153114],[0.135721,-0.077323,0.987725]] 2025-10-28T22:16:27.823Z,1761689787.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648470,0.758401,0.065688],[-0.756120,0.631713,0.170942],[0.088146,-0.160519,0.983089]] 2025-10-28T22:16:28.227Z,1761689788.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659413,0.741040,0.126622],[-0.750336,0.638307,0.171929],[0.046582,-0.208381,0.976938]] 2025-10-28T22:16:28.630Z,1761689788.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661763,0.739760,0.121759],[-0.749697,0.654039,0.100936],[-0.004967,-0.158078,0.987414]] 2025-10-28T22:16:29.035Z,1761689789.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637960,0.769621,0.026293],[-0.769415,0.635638,0.062964],[0.031746,-0.060399,0.997669]] 2025-10-28T22:16:29.461Z,1761689789.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623646,0.779177,-0.062840],[-0.770432,0.626266,0.119273],[0.132290,-0.025970,0.990871]] 2025-10-28T22:16:29.845Z,1761689789.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656072,0.747792,-0.101868],[-0.732156,0.663394,0.154456],[0.183079,-0.026751,0.982734]] 2025-10-28T22:16:30.247Z,1761689790.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668142,0.737479,-0.098546],[-0.726428,0.675227,0.127947],[0.160899,-0.013900,0.986873]] 2025-10-28T22:16:30.654Z,1761689790.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654396,0.755590,-0.029142],[-0.750627,0.653783,0.095531],[0.091234,-0.040641,0.995000]] 2025-10-28T22:16:31.057Z,1761689791.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610662,0.787065,0.087295],[-0.791776,0.604971,0.084270],[0.013515,-0.120578,0.992612]] 2025-10-28T22:16:31.459Z,1761689791.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623928,0.755601,0.199451],[-0.778990,0.621705,0.081592],[-0.062349,-0.206278,0.976505]] 2025-10-28T22:16:31.863Z,1761689791.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702892,0.688603,0.178237],[-0.704059,0.709198,0.036594],[-0.101207,-0.151212,0.983307]] 2025-10-28T22:16:32.267Z,1761689792.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729037,0.684173,0.020297],[-0.683467,0.729252,-0.032629],[-0.037125,0.009916,0.999261]] 2025-10-28T22:16:32.673Z,1761689792.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690159,0.716589,-0.100897],[-0.721433,0.692241,-0.018345],[0.056699,0.085451,0.994728]] 2025-10-28T22:16:33.074Z,1761689793.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662745,0.744824,-0.077498],[-0.746207,0.665543,0.015074],[0.062806,0.047839,0.996879]] 2025-10-28T22:16:33.479Z,1761689793.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664059,0.747097,0.029529],[-0.747361,0.662104,0.055397],[0.021835,-0.058856,0.998028]] 2025-10-28T22:16:33.883Z,1761689793.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677360,0.720048,0.150712],[-0.734598,0.673004,0.086207],[-0.039357,-0.169106,0.984812]] 2025-10-28T22:16:34.288Z,1761689794.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675017,0.713362,0.188325],[-0.735340,0.671314,0.092804],[-0.060223,-0.201127,0.977712]] 2025-10-28T22:16:35.105Z,1761689795.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675185,0.736181,-0.046503],[-0.722839,0.672882,0.157270],[0.147070,-0.072572,0.986460]] 2025-10-28T22:16:35.499Z,1761689795.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668533,0.732210,-0.130124],[-0.720612,0.681044,0.129989],[0.183800,0.006867,0.982940]] 2025-10-28T22:16:35.904Z,1761689795.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660734,0.743994,-0.099513],[-0.739995,0.667859,0.079824],[0.125849,0.020897,0.991829]] 2025-10-28T22:16:36.307Z,1761689796.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664566,0.747193,-0.007352],[-0.745076,0.663366,0.069329],[0.056680,-0.040596,0.997567]] 2025-10-28T22:16:36.710Z,1761689796.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661991,0.747677,0.052411],[-0.748844,0.656830,0.088358],[0.031638,-0.097740,0.994709]] 2025-10-28T22:16:37.159Z,1761689797.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665442,0.742714,0.074585],[-0.744385,0.652852,0.140271],[0.055488,-0.148862,0.987300]] 2025-10-28T22:16:37.522Z,1761689797.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666396,0.741541,0.077666],[-0.744586,0.656447,0.121120],[0.038831,-0.138543,0.989595]] 2025-10-28T22:16:37.923Z,1761689797.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650814,0.754218,0.087159],[-0.758994,0.643399,0.099829],[0.019215,-0.131123,0.991180]] 2025-10-28T22:16:38.326Z,1761689798.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645920,0.762367,0.039792],[-0.759354,0.636256,0.136235],[0.078543,-0.118213,0.989877]] 2025-10-28T22:16:38.731Z,1761689798.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664624,0.744275,0.065792],[-0.746440,0.657476,0.102730],[0.033203,-0.117387,0.992531]] 2025-10-28T22:16:39.165Z,1761689799.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662342,0.739373,0.120960],[-0.745144,0.666893,0.003787],[-0.077867,-0.092641,0.992650]] 2025-10-28T22:16:39.539Z,1761689799.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666901,0.737759,0.104664],[-0.740384,0.671924,-0.018689],[-0.084114,-0.065028,0.994332]] 2025-10-28T22:16:39.943Z,1761689799.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684646,0.727028,0.051867],[-0.728140,0.685418,0.003857],[-0.032747,-0.040407,0.998647]] 2025-10-28T22:16:40.346Z,1761689800.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690528,0.722926,-0.023422],[-0.722361,0.690919,0.028718],[0.036944,-0.002911,0.999313]] 2025-10-28T22:16:40.753Z,1761689800.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697120,0.714028,-0.064718],[-0.711273,0.700114,0.062702],[0.090082,0.002321,0.995932]] 2025-10-28T22:16:41.172Z,1761689801.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677376,0.735424,-0.017701],[-0.731423,0.675873,0.090644],[0.078625,-0.048453,0.995726]] 2025-10-28T22:16:41.416Z,1761689801.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:16:41.559Z,1761689801.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659551,0.746295,0.089642],[-0.751549,0.652706,0.095646],[0.012870,-0.130454,0.991371]] 2025-10-28T22:16:41.562Z,1761689801.562 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:16:41.963Z,1761689801.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683149,0.718473,0.130780],[-0.729931,0.677313,0.091914],[-0.022541,-0.158251,0.987142]] 2025-10-28T22:16:42.369Z,1761689802.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686530,0.723114,0.076040],[-0.727004,0.680961,0.088078],[0.011910,-0.115750,0.993207]] 2025-10-28T22:16:42.770Z,1761689802.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662447,0.749093,-0.004916],[-0.744492,0.659078,0.106528],[0.083039,-0.066910,0.994298]] 2025-10-28T22:16:43.175Z,1761689803.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651733,0.752370,-0.095834],[-0.741565,0.658630,0.127627],[0.159142,-0.012112,0.987181]] 2025-10-28T22:16:43.579Z,1761689803.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678495,0.729120,-0.089604],[-0.713965,0.683219,0.153185],[0.172909,-0.039961,0.984127]] 2025-10-28T22:16:43.984Z,1761689803.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697937,0.715919,0.018530],[-0.713262,0.692557,0.107806],[0.064347,-0.088458,0.993999]] 2025-10-28T22:16:44.387Z,1761689804.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654131,0.747753,0.113924],[-0.756272,0.649142,0.081660],[-0.012891,-0.139573,0.990128]] 2025-10-28T22:16:44.791Z,1761689804.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651004,0.736310,0.184501],[-0.759061,0.632881,0.152604],[-0.004403,-0.239394,0.970913]] 2025-10-28T22:16:45.195Z,1761689805.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670768,0.720981,0.173946],[-0.741663,0.651281,0.160526],[0.002449,-0.236685,0.971583]] 2025-10-28T22:16:45.601Z,1761689805.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683171,0.724341,0.092773],[-0.730247,0.676930,0.092219],[0.003998,-0.130749,0.991408]] 2025-10-28T22:16:46.003Z,1761689806.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683456,0.727716,0.057604],[-0.726755,0.685726,-0.040076],[-0.068664,-0.014474,0.997535]] 2025-10-28T22:16:46.406Z,1761689806.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682336,0.729706,0.044132],[-0.720188,0.681344,-0.130762],[-0.125486,0.057440,0.990431]] 2025-10-28T22:16:46.810Z,1761689806.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679638,0.733527,0.005534],[-0.728906,0.676165,-0.107222],[-0.082392,0.068838,0.994220]] 2025-10-28T22:16:47.217Z,1761689807.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691664,0.721602,0.029845],[-0.721261,0.692285,-0.022909],[-0.037192,-0.005681,0.999292]] 2025-10-28T22:16:47.618Z,1761689807.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709355,0.701023,0.073359],[-0.704386,0.708818,0.037654],[-0.025602,-0.078383,0.996595]] 2025-10-28T22:16:48.022Z,1761689808.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699379,0.708483,0.094451],[-0.714661,0.691059,0.108152],[0.011352,-0.143140,0.989637]] 2025-10-28T22:16:48.427Z,1761689808.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692163,0.711451,0.121437],[-0.720868,0.673197,0.164787],[0.035487,-0.201599,0.978825]] 2025-10-28T22:16:48.831Z,1761689808.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690405,0.708649,0.145457],[-0.723406,0.677692,0.131976],[-0.005051,-0.196341,0.980523]] 2025-10-28T22:16:49.234Z,1761689809.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705888,0.704024,0.077921],[-0.708035,0.698183,0.105957],[0.020193,-0.129965,0.991313]] 2025-10-28T22:16:49.639Z,1761689809.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708158,0.706053,0.001384],[-0.703747,0.705684,0.082157],[0.057031,-0.059154,0.996618]] 2025-10-28T22:16:50.043Z,1761689810.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690650,0.721538,-0.048840],[-0.719181,0.692355,0.058511],[0.076032,-0.005286,0.997091]] 2025-10-28T22:16:50.449Z,1761689810.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684606,0.727322,-0.048139],[-0.721796,0.685647,0.094330],[0.101614,-0.029832,0.994376]] 2025-10-28T22:16:50.851Z,1761689810.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704285,0.709626,0.020325],[-0.707766,0.699636,0.097863],[0.055227,-0.083309,0.994992]] 2025-10-28T22:16:51.254Z,1761689811.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717025,0.692893,0.075996],[-0.697016,0.713761,0.068657],[-0.006671,-0.102199,0.994742]] 2025-10-28T22:16:51.659Z,1761689811.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734325,0.675019,0.071530],[-0.678791,0.730702,0.072920],[-0.003045,-0.102101,0.994769]] 2025-10-28T22:16:52.065Z,1761689812.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716287,0.695346,0.058537],[-0.697582,0.715658,0.034840],[-0.017666,-0.065790,0.997677]] 2025-10-28T22:16:52.467Z,1761689812.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705377,0.705438,0.069287],[-0.707336,0.706865,0.004170],[-0.046035,-0.051951,0.997588]] 2025-10-28T22:16:52.875Z,1761689812.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714254,0.698880,0.037503],[-0.699881,0.713024,0.041981],[0.002599,-0.056233,0.998414]] 2025-10-28T22:16:53.281Z,1761689813.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699081,0.715043,-0.000284],[-0.707467,0.691732,0.144905],[0.103810,-0.101099,0.989446]] 2025-10-28T22:16:53.697Z,1761689813.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701912,0.710792,0.045758],[-0.708735,0.690605,0.144086],[0.070814,-0.133566,0.988507]] 2025-10-28T22:16:54.089Z,1761689814.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737175,0.674245,0.044350],[-0.674829,0.731300,0.099028],[0.034336,-0.102930,0.994096]] 2025-10-28T22:16:54.893Z,1761689814.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693949,0.718443,-0.047696],[-0.708140,0.692982,0.135326],[0.130277,-0.060134,0.989652]] 2025-10-28T22:16:55.296Z,1761689815.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666726,0.744056,0.043099],[-0.736795,0.649300,0.188527],[0.112290,-0.157451,0.981122]] 2025-10-28T22:16:55.701Z,1761689815.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643096,0.750315,0.153148],[-0.765285,0.622465,0.163938],[0.027676,-0.222630,0.974510]] 2025-10-28T22:16:56.102Z,1761689816.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664641,0.741278,0.093596],[-0.746538,0.653732,0.123752],[0.030548,-0.152124,0.987889]] 2025-10-28T22:16:56.506Z,1761689816.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670874,0.741502,0.010086],[-0.741502,0.670564,0.022776],[0.010125,-0.022759,0.999690]] 2025-10-28T22:16:56.911Z,1761689816.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675398,0.737076,0.023588],[-0.731387,0.673594,-0.106510],[-0.094395,0.054685,0.994032]] 2025-10-28T22:16:57.321Z,1761689817.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685991,0.727600,-0.003965],[-0.724218,0.682257,-0.100170],[-0.070179,0.071587,0.994962]] 2025-10-28T22:16:57.718Z,1761689817.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693237,0.718493,-0.056491],[-0.716978,0.695491,0.047262],[0.073246,0.007739,0.997284]] 2025-10-28T22:16:58.123Z,1761689818.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676914,0.735445,-0.030133],[-0.722804,0.671900,0.161571],[0.139073,-0.087589,0.986401]] 2025-10-28T22:16:58.527Z,1761689818.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618754,0.781111,0.083725],[-0.781306,0.600771,0.169221],[0.081881,-0.170121,0.982015]] 2025-10-28T22:16:58.936Z,1761689818.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619279,0.769536,0.155912],[-0.785035,0.603148,0.141182],[0.014607,-0.209827,0.977629]] 2025-10-28T22:16:59.335Z,1761689819.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657901,0.746996,0.095723],[-0.753026,0.650664,0.097920],[0.010862,-0.136503,0.990580]] 2025-10-28T22:16:59.739Z,1761689819.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666678,0.743246,-0.055907],[-0.741105,0.669008,0.056496],[0.079393,0.003769,0.996836]] 2025-10-28T22:17:00.143Z,1761689820.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640532,0.740324,-0.204058],[-0.739355,0.666340,0.096673],[0.207541,0.088949,0.974174]] 2025-10-28T22:17:00.561Z,1761689820.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604919,0.760232,-0.236899],[-0.744449,0.645519,0.170592],[0.282612,0.073165,0.956440]] 2025-10-28T22:17:00.951Z,1761689820.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576534,0.801368,-0.159431],[-0.781666,0.597767,0.177968],[0.237920,0.022017,0.971035]] 2025-10-28T22:17:01.354Z,1761689821.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525380,0.850334,-0.030134],[-0.832332,0.520965,0.189259],[0.176632,-0.074351,0.981465]] 2025-10-28T22:17:01.759Z,1761689821.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517193,0.854054,0.055708],[-0.837864,0.491959,0.236561],[0.174630,-0.169023,0.970018]] 2025-10-28T22:17:02.164Z,1761689822.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524688,0.850690,0.032084],[-0.827210,0.500579,0.255234],[0.201064,-0.160459,0.966347]] 2025-10-28T22:17:02.567Z,1761689822.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520062,0.853715,-0.026572],[-0.817858,0.506706,0.272686],[0.246260,-0.120082,0.961736]] 2025-10-28T22:17:02.971Z,1761689822.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485212,0.870267,-0.084884],[-0.825619,0.487951,0.283298],[0.287965,-0.067378,0.955268]] 2025-10-28T22:17:03.374Z,1761689823.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433992,0.896591,-0.088185],[-0.850327,0.439994,0.288705],[0.297651,-0.050309,0.953348]] 2025-10-28T22:17:03.781Z,1761689823.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414902,0.909434,-0.028045],[-0.873092,0.406618,0.269021],[0.256060,-0.087132,0.962726]] 2025-10-28T22:17:04.183Z,1761689824.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423053,0.906036,0.011160],[-0.881986,0.408938,0.234245],[0.207671,-0.108941,0.972113]] 2025-10-28T22:17:04.588Z,1761689824.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413568,0.910329,0.016210],[-0.892733,0.401948,0.203633],[0.178858,-0.098688,0.978913]] 2025-10-28T22:17:04.991Z,1761689824.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394282,0.918923,0.011111],[-0.902021,0.384660,0.195945],[0.175784,-0.087280,0.980552]] 2025-10-28T22:17:05.397Z,1761689825.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368328,0.929085,0.033700],[-0.913637,0.355019,0.198062],[0.172052,-0.103742,0.979610]] 2025-10-28T22:17:05.798Z,1761689825.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347690,0.935761,0.058848],[-0.917165,0.326403,0.228626],[0.194732,-0.133464,0.971734]] 2025-10-28T22:17:06.202Z,1761689826.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350929,0.934734,0.055876],[-0.911813,0.327520,0.247645],[0.213181,-0.137854,0.967238]] 2025-10-28T22:17:06.608Z,1761689826.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341685,0.936509,0.078754],[-0.930976,0.325815,0.164707],[0.128590,-0.129596,0.983193]] 2025-10-28T22:17:07.013Z,1761689827.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338852,0.936451,0.090767],[-0.940156,0.333348,0.070611],[0.035867,-0.109262,0.993366]] 2025-10-28T22:17:07.414Z,1761689827.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338070,0.937627,0.081020],[-0.940628,0.333852,0.061340],[0.030465,-0.096947,0.994823]] 2025-10-28T22:17:07.819Z,1761689827.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315899,0.945482,0.079191],[-0.944764,0.305776,0.117993],[0.087345,-0.112091,0.989852]] 2025-10-28T22:17:08.225Z,1761689828.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324201,0.939947,0.106739],[-0.942195,0.310744,0.125328],[0.084633,-0.141201,0.986357]] 2025-10-28T22:17:08.628Z,1761689828.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330558,0.935450,0.125158],[-0.942338,0.319795,0.098639],[0.052247,-0.150547,0.987221]] 2025-10-28T22:17:09.031Z,1761689829.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336874,0.931658,0.136125],[-0.941363,0.330392,0.068386],[0.018738,-0.151180,0.988329]] 2025-10-28T22:17:09.434Z,1761689829.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348075,0.920994,0.174968],[-0.937449,0.343090,0.058975],[-0.005714,-0.184551,0.982806]] 2025-10-28T22:17:09.840Z,1761689829.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322669,0.928831,0.182090],[-0.946436,0.314179,0.074504],[0.011993,-0.196377,0.980455]] 2025-10-28T22:17:10.245Z,1761689830.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337147,0.924885,0.175839],[-0.941355,0.333859,0.048874],[-0.013502,-0.182005,0.983205]] 2025-10-28T22:17:10.647Z,1761689830.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339666,0.927792,0.154366],[-0.940362,0.338243,0.036214],[-0.018614,-0.157461,0.987350]] 2025-10-28T22:17:11.050Z,1761689831.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326843,0.939439,0.103092],[-0.945078,0.324990,0.034763],[-0.000846,-0.108792,0.994064]] 2025-10-28T22:17:11.455Z,1761689831.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332149,0.941892,0.050163],[-0.943160,0.331019,0.029602],[0.011277,-0.057144,0.998302]] 2025-10-28T22:17:11.553Z,1761689831.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:17:11.860Z,1761689831.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308924,0.950189,0.041321],[-0.950677,0.307226,0.042720],[0.027898,-0.052480,0.998232]] 2025-10-28T22:17:12.262Z,1761689832.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318391,0.946075,0.059742],[-0.939787,0.306762,0.150658],[0.124207,-0.104113,0.986779]] 2025-10-28T22:17:12.556Z,1761689832.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:17:12.667Z,1761689832.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370609,0.919554,0.130652],[-0.924137,0.351024,0.150840],[0.092844,-0.176643,0.979886]] 2025-10-28T22:17:13.071Z,1761689833.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376912,0.899810,0.219725],[-0.924872,0.378540,0.036325],[-0.050489,-0.216909,0.974885]] 2025-10-28T22:17:13.477Z,1761689833.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369424,0.900375,0.229893],[-0.927566,0.372222,0.032737],[-0.056096,-0.225335,0.972665]] 2025-10-28T22:17:13.879Z,1761689833.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409918,0.896746,0.166775],[-0.911325,0.395013,0.115977],[0.038123,-0.199528,0.979150]] 2025-10-28T22:17:14.282Z,1761689834.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413470,0.899346,0.142190],[-0.908554,0.397266,0.129268],[0.059770,-0.182636,0.981362]] 2025-10-28T22:17:15.103Z,1761689835.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473083,0.871915,0.126320],[-0.880023,0.460854,0.114774],[0.041858,-0.165462,0.985327]] 2025-10-28T22:17:15.495Z,1761689835.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447046,0.892361,0.061983],[-0.888805,0.435312,0.143282],[0.100877,-0.119144,0.987739]] 2025-10-28T22:17:15.899Z,1761689835.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451236,0.886902,0.098948],[-0.889652,0.438368,0.127877],[0.070039,-0.145732,0.986842]] 2025-10-28T22:17:16.303Z,1761689836.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482823,0.856497,0.182468],[-0.875717,0.472565,0.099008],[-0.001428,-0.207594,0.978214]] 2025-10-28T22:17:16.709Z,1761689836.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499236,0.841497,0.206510],[-0.866300,0.480093,0.137967],[0.016955,-0.247778,0.968668]] 2025-10-28T22:17:17.163Z,1761689837.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467998,0.869883,0.155824],[-0.878677,0.439205,0.187150],[0.094360,-0.224505,0.969894]] 2025-10-28T22:17:17.515Z,1761689837.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473145,0.869751,0.140239],[-0.878834,0.454854,0.144082],[0.061527,-0.191418,0.979578]] 2025-10-28T22:17:17.919Z,1761689837.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497198,0.861426,0.103629],[-0.867590,0.492372,0.069691],[0.009009,-0.124557,0.992171]] 2025-10-28T22:17:18.324Z,1761689838.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486556,0.873495,0.016422],[-0.871328,0.483807,0.081969],[0.063654,-0.054191,0.996500]] 2025-10-28T22:17:18.731Z,1761689838.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521861,0.852892,-0.015378],[-0.849618,0.521300,0.079970],[0.076223,-0.028668,0.996679]] 2025-10-28T22:17:19.162Z,1761689839.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547098,0.836518,-0.030334],[-0.835311,0.547938,0.044942],[0.054216,0.000750,0.998529]] 2025-10-28T22:17:19.537Z,1761689839.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533609,0.844189,-0.051060],[-0.835888,0.535621,0.120004],[0.128655,-0.021355,0.991459]] 2025-10-28T22:17:19.953Z,1761689839.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533902,0.845534,-0.004651],[-0.827537,0.523651,0.202416],[0.173585,-0.104222,0.979289]] 2025-10-28T22:17:20.343Z,1761689840.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553076,0.830289,0.068751],[-0.820491,0.528508,0.217885],[0.144572,-0.176917,0.973550]] 2025-10-28T22:17:20.747Z,1761689840.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551566,0.823956,0.129889],[-0.829871,0.526336,0.185162],[0.084200,-0.209920,0.974086]] 2025-10-28T22:17:21.167Z,1761689841.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590859,0.798741,0.113570],[-0.804724,0.573458,0.153510],[0.057487,-0.182095,0.981599]] 2025-10-28T22:17:21.556Z,1761689841.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582567,0.812664,0.013906],[-0.807764,0.576987,0.120845],[0.090183,-0.081633,0.992574]] 2025-10-28T22:17:21.959Z,1761689841.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559789,0.828623,-0.004558],[-0.825500,0.558141,0.083838],[0.072014,-0.043169,0.996469]] 2025-10-28T22:17:22.363Z,1761689842.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583290,0.812084,0.017078],[-0.809849,0.579807,0.089265],[0.062589,-0.065898,0.995862]] 2025-10-28T22:17:22.768Z,1761689842.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613733,0.788127,0.046770],[-0.789285,0.611051,0.060386],[0.019013,-0.073975,0.997079]] 2025-10-28T22:17:23.187Z,1761689843.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634850,0.765727,0.103090],[-0.767562,0.640307,-0.029240],[-0.088399,-0.060565,0.994242]] 2025-10-28T22:17:23.575Z,1761689843.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628826,0.768176,0.120347],[-0.769204,0.637195,-0.048043],[-0.113590,-0.062361,0.991569]] 2025-10-28T22:17:23.979Z,1761689843.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625407,0.774277,0.096749],[-0.779735,0.624844,0.039786],[-0.029648,-0.100321,0.994513]] 2025-10-28T22:17:24.383Z,1761689844.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648881,0.759153,0.051388],[-0.758247,0.639527,0.126753],[0.063361,-0.121213,0.990602]] 2025-10-28T22:17:25.190Z,1761689845.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678986,0.733004,0.041035],[-0.732229,0.672107,0.110059],[0.053093,-0.104776,0.993078]] 2025-10-28T22:17:25.594Z,1761689845.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722216,0.684568,0.098845],[-0.689611,0.723689,0.026642],[-0.053295,-0.087406,0.994746]] 2025-10-28T22:17:25.999Z,1761689845.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736493,0.673416,0.063952],[-0.675669,0.736881,0.021854],[-0.032408,-0.059306,0.997714]] 2025-10-28T22:17:26.404Z,1761689846.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701374,0.712540,0.018980],[-0.711039,0.697534,0.088714],[0.049973,-0.075717,0.995876]] 2025-10-28T22:17:26.806Z,1761689846.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703960,0.708280,0.052718],[-0.704888,0.687634,0.174049],[0.087025,-0.159684,0.983325]] 2025-10-28T22:17:27.030Z,1761689847.030 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003378 2025-10-28T22:17:27.215Z,1761689847.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753570,0.655250,0.052727],[-0.649522,0.729822,0.213263],[0.101259,-0.194956,0.975571]] 2025-10-28T22:17:27.615Z,1761689847.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771933,0.635327,0.021885],[-0.628503,0.757571,0.176269],[0.095408,-0.149822,0.984099]] 2025-10-28T22:17:28.020Z,1761689848.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735674,0.675049,0.055618],[-0.676210,0.727237,0.117754],[0.039042,-0.124238,0.991484]] 2025-10-28T22:17:28.028Z,1761689848.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:17:28.423Z,1761689848.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742025,0.660336,0.115569],[-0.668735,0.741172,0.058802],[-0.046827,-0.120917,0.991557]] 2025-10-28T22:17:28.827Z,1761689848.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765358,0.643404,0.016061],[-0.643598,0.764996,0.023746],[0.002992,-0.028511,0.999589]] 2025-10-28T22:17:29.230Z,1761689849.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759889,0.644652,-0.083618],[-0.644920,0.763759,0.027393],[0.081523,0.033111,0.996121]] 2025-10-28T22:17:29.637Z,1761689849.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743332,0.667417,-0.044862],[-0.667562,0.744425,0.013866],[0.042651,0.019641,0.998897]] 2025-10-28T22:17:30.064Z,1761689850.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745336,0.666633,0.008670],[-0.666547,0.744845,0.030350],[0.013775,-0.028400,0.999502]] 2025-10-28T22:17:30.443Z,1761689850.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759010,0.650992,0.010651],[-0.651041,0.758689,0.023138],[0.006982,-0.024497,0.999676]] 2025-10-28T22:17:30.850Z,1761689850.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724755,0.686975,0.052871],[-0.687986,0.725723,0.001264],[-0.037502,-0.037291,0.998600]] 2025-10-28T22:17:31.250Z,1761689851.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723525,0.683755,0.094826],[-0.687018,0.726636,0.002463],[-0.067220,-0.066929,0.995491]] 2025-10-28T22:17:31.655Z,1761689851.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764107,0.644781,0.019923],[-0.644574,0.764367,-0.016344],[-0.025767,-0.000353,0.999668]] 2025-10-28T22:17:32.059Z,1761689852.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755900,0.644973,-0.112359],[-0.652218,0.756768,-0.043762],[0.056804,0.106362,0.992703]] 2025-10-28T22:17:32.464Z,1761689852.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723263,0.677305,-0.134715],[-0.684358,0.729096,-0.008536],[0.092439,0.098367,0.990848]] 2025-10-28T22:17:32.868Z,1761689852.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728814,0.684687,0.005815],[-0.684395,0.728709,-0.024222],[-0.020822,0.013673,0.999690]] 2025-10-28T22:17:33.271Z,1761689853.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718217,0.682238,0.136804],[-0.689976,0.723712,0.013219],[-0.089988,-0.103885,0.990510]] 2025-10-28T22:17:33.675Z,1761689853.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711647,0.685383,0.154299],[-0.702078,0.701753,0.120950],[-0.025382,-0.194404,0.980593]] 2025-10-28T22:17:34.081Z,1761689854.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722655,0.676064,0.143899],[-0.690973,0.712014,0.124868],[-0.018039,-0.189667,0.981683]] 2025-10-28T22:17:34.483Z,1761689854.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748880,0.654689,0.102770],[-0.661389,0.748122,0.053654],[-0.041758,-0.108151,0.993257]] 2025-10-28T22:17:35.290Z,1761689855.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761969,0.647088,-0.026089],[-0.647561,0.760775,-0.043426],[-0.008252,0.049983,0.998716]] 2025-10-28T22:17:35.697Z,1761689855.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749295,0.661751,-0.025366],[-0.662206,0.749076,-0.019159],[0.006323,0.031153,0.999495]] 2025-10-28T22:17:36.108Z,1761689856.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742574,0.669659,0.011906],[-0.668483,0.739937,0.074994],[0.041411,-0.063648,0.997113]] 2025-10-28T22:17:36.503Z,1761689856.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738090,0.670481,0.075358],[-0.674646,0.731967,0.095270],[0.008717,-0.121158,0.992595]] 2025-10-28T22:17:36.588Z,1761689856.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:17:36.907Z,1761689856.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764969,0.642721,0.041623],[-0.642924,0.758166,0.108780],[0.038359,-0.109974,0.993194]] 2025-10-28T22:17:37.312Z,1761689857.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755642,0.650476,-0.076719],[-0.641443,0.758620,0.114221],[0.132498,-0.037100,0.990489]] 2025-10-28T22:17:37.714Z,1761689857.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728483,0.681018,-0.074344],[-0.673373,0.731785,0.105162],[0.126021,-0.026548,0.991672]] 2025-10-28T22:17:38.123Z,1761689858.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729512,0.683882,-0.010839],[-0.679900,0.726808,0.097400],[0.074488,-0.063685,0.995186]] 2025-10-28T22:17:38.529Z,1761689858.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671375,0.741118,0.000229],[-0.735654,0.666389,0.121404],[0.089822,-0.081676,0.992603]] 2025-10-28T22:17:38.934Z,1761689858.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668417,0.743205,0.029413],[-0.739658,0.660026,0.131418],[0.078257,-0.109598,0.990891]] 2025-10-28T22:17:39.335Z,1761689859.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667435,0.744567,0.012296],[-0.741208,0.662654,0.107241],[0.071700,-0.080691,0.994157]] 2025-10-28T22:17:39.740Z,1761689859.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670359,0.740844,-0.042072],[-0.734226,0.670440,0.106874],[0.107384,-0.040754,0.993382]] 2025-10-28T22:17:40.139Z,1761689860.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660830,0.744706,-0.093362],[-0.738770,0.667358,0.094089],[0.132375,0.006796,0.991176]] 2025-10-28T22:17:40.545Z,1761689860.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656290,0.750491,-0.077756],[-0.744698,0.660873,0.093127],[0.121278,-0.003214,0.992613]] 2025-10-28T22:17:40.948Z,1761689860.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619639,0.784858,-0.006685],[-0.779583,0.616418,0.110806],[0.091088,-0.063449,0.993820]] 2025-10-28T22:17:41.351Z,1761689861.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600594,0.791671,0.111996],[-0.797976,0.584703,0.146141],[0.050212,-0.177141,0.982904]] 2025-10-28T22:17:41.755Z,1761689861.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650834,0.730880,0.205497],[-0.759166,0.629709,0.164719],[-0.009014,-0.263212,0.964696]] 2025-10-28T22:17:42.160Z,1761689862.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633999,0.753314,0.174823],[-0.773043,0.623551,0.116565],[-0.021201,-0.209048,0.977675]] 2025-10-28T22:17:42.563Z,1761689862.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599180,0.793727,0.104790],[-0.800503,0.591761,0.094942],[0.013347,-0.140772,0.989952]] 2025-10-28T22:17:42.968Z,1761689862.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649353,0.757295,0.069609],[-0.760486,0.646464,0.061198],[0.001345,-0.092676,0.995695]] 2025-10-28T22:17:43.371Z,1761689863.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655990,0.753376,0.045841],[-0.754765,0.654567,0.043270],[0.002593,-0.062984,0.998011]] 2025-10-28T22:17:43.777Z,1761689863.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635208,0.770493,0.053399],[-0.771172,0.628928,0.098707],[0.042469,-0.103880,0.993683]] 2025-10-28T22:17:44.179Z,1761689864.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647815,0.746566,0.151572],[-0.761687,0.638160,0.112184],[-0.012975,-0.188125,0.982059]] 2025-10-28T22:17:44.988Z,1761689864.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636349,0.768223,0.069957],[-0.762388,0.612499,0.208827],[0.117577,-0.186221,0.975447]] 2025-10-28T22:17:45.320Z,1761689865.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:17:45.393Z,1761689865.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643584,0.764931,0.026085],[-0.749021,0.622457,0.226970],[0.157380,-0.165612,0.973552]] 2025-10-28T22:17:45.794Z,1761689865.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641566,0.764990,0.056425],[-0.764442,0.631556,0.129484],[0.063419,-0.126206,0.989975]] 2025-10-28T22:17:46.198Z,1761689866.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652070,0.757095,0.040164],[-0.757815,0.649263,0.064612],[0.022840,-0.072568,0.997102]] 2025-10-28T22:17:46.604Z,1761689866.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657955,0.752837,-0.018214],[-0.751711,0.658032,0.043861],[0.045005,-0.015167,0.998872]] 2025-10-28T22:17:47.010Z,1761689867.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632526,0.766685,-0.110021],[-0.763264,0.641147,0.079738],[0.131673,0.033539,0.990726]] 2025-10-28T22:17:47.411Z,1761689867.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628407,0.765694,-0.137174],[-0.754886,0.642834,0.130047],[0.187757,0.021828,0.981973]] 2025-10-28T22:17:47.815Z,1761689867.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612751,0.783930,-0.099948],[-0.763158,0.619820,0.182791],[0.205245,-0.035729,0.978058]] 2025-10-28T22:17:48.219Z,1761689868.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608224,0.793004,-0.034760],[-0.767952,0.598957,0.226939],[0.200783,-0.111336,0.973288]] 2025-10-28T22:17:48.625Z,1761689868.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635987,0.771563,0.014525],[-0.754410,0.617666,0.222158],[0.162437,-0.152247,0.974902]] 2025-10-28T22:17:49.028Z,1761689869.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647901,0.761505,-0.018306],[-0.746082,0.639257,0.186311],[0.153578,-0.107053,0.982320]] 2025-10-28T22:17:49.431Z,1761689869.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632720,0.761859,-0.138693],[-0.731839,0.646838,0.214503],[0.253133,-0.034220,0.966826]] 2025-10-28T22:17:49.836Z,1761689869.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593675,0.774037,-0.220039],[-0.712335,0.632701,0.303757],[0.374338,-0.023591,0.926992]] 2025-10-28T22:17:50.239Z,1761689870.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577959,0.793438,-0.190837],[-0.732348,0.607459,0.307668],[0.360041,-0.038060,0.932160]] 2025-10-28T22:17:50.643Z,1761689870.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586661,0.804814,-0.090013],[-0.770316,0.588874,0.244625],[0.249884,-0.074174,0.965431]] 2025-10-28T22:17:51.048Z,1761689871.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564727,0.824510,-0.035582],[-0.791668,0.553403,0.258857],[0.233121,-0.118015,0.965260]] 2025-10-28T22:17:51.453Z,1761689871.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542247,0.840047,-0.017006],[-0.793811,0.518825,0.317308],[0.275376,-0.158560,0.948170]] 2025-10-28T22:17:51.855Z,1761689871.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562241,0.826949,0.006327],[-0.788606,0.533837,0.305153],[0.248968,-0.176560,0.952282]] 2025-10-28T22:17:52.259Z,1761689872.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574793,0.817828,0.027748],[-0.799375,0.553927,0.232733],[0.174966,-0.155955,0.972145]] 2025-10-28T22:17:52.663Z,1761689872.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562470,0.826791,0.006688],[-0.817430,0.554850,0.154756],[0.124240,-0.092512,0.987930]] 2025-10-28T22:17:53.069Z,1761689873.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563136,0.825378,-0.040349],[-0.816368,0.563232,0.127721],[0.128144,-0.038985,0.990989]] 2025-10-28T22:17:53.470Z,1761689873.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586062,0.804967,-0.092517],[-0.790946,0.593132,0.150326],[0.175883,-0.014924,0.984298]] 2025-10-28T22:17:53.875Z,1761689873.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576846,0.808763,-0.114680],[-0.791574,0.588114,0.165929],[0.201642,-0.004938,0.979447]] 2025-10-28T22:17:53.952Z,1761689873.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:17:54.283Z,1761689874.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579953,0.812996,-0.051878],[-0.800349,0.580496,0.149887],[0.151972,-0.045407,0.987341]] 2025-10-28T22:17:55.091Z,1761689875.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601570,0.794890,0.079144],[-0.798697,0.596776,0.077082],[0.014040,-0.109583,0.993879]] 2025-10-28T22:17:55.492Z,1761689875.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584928,0.805272,0.096934],[-0.810907,0.578100,0.090724],[0.017020,-0.131672,0.991147]] 2025-10-28T22:17:55.494Z,1761689875.494 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.495Z,1761689875.495 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:17:55.496Z,1761689875.496 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.497Z,1761689875.497 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T22:17:55.497Z,1761689875.497 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:17:55.498Z,1761689875.498 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.499Z,1761689875.499 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.500Z,1761689875.500 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T22:17:55.501Z,1761689875.501 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.501Z,1761689875.501 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:17:55.502Z,1761689875.502 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:17:55.503Z,1761689875.503 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T22:17:55.508Z,1761689875.508 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62. 2025-10-28T22:17:55.901Z,1761689875.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580559,0.808735,0.094332],[-0.813591,0.571660,0.106182],[0.031947,-0.138393,0.989862]] 2025-10-28T22:17:56.299Z,1761689876.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575910,0.817290,0.019099],[-0.808673,0.566101,0.159929],[0.119896,-0.107550,0.986944]] 2025-10-28T22:17:56.703Z,1761689876.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604315,0.796713,0.007255],[-0.788960,0.597115,0.144903],[0.111114,-0.093291,0.989419]] 2025-10-28T22:17:57.162Z,1761689877.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615166,0.787636,0.034648],[-0.786947,0.610776,0.087561],[0.047803,-0.081131,0.995556]] 2025-10-28T22:17:57.513Z,1761689877.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603858,0.797087,0.002838],[-0.791702,0.599357,0.118234],[0.092542,-0.073643,0.992982]] 2025-10-28T22:17:57.915Z,1761689877.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606954,0.794198,-0.029255],[-0.781366,0.603062,0.160570],[0.145167,-0.074600,0.986591]] 2025-10-28T22:17:58.319Z,1761689878.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612012,0.789552,-0.045269],[-0.776606,0.610819,0.154219],[0.149415,-0.059227,0.986999]] 2025-10-28T22:17:58.723Z,1761689878.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584977,0.810334,-0.034087],[-0.797657,0.582414,0.156645],[0.146787,-0.064444,0.987067]] 2025-10-28T22:17:59.164Z,1761689879.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585157,0.810839,-0.011476],[-0.790769,0.573694,0.213448],[0.179655,-0.115826,0.976887]] 2025-10-28T22:17:59.575Z,1761689879.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599575,0.799756,-0.029997],[-0.771692,0.587657,0.243210],[0.212137,-0.122675,0.969510]] 2025-10-28T22:17:59.939Z,1761689879.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597414,0.798143,-0.077872],[-0.763993,0.595975,0.247241],[0.243744,-0.088211,0.965820]] 2025-10-28T22:18:00.343Z,1761689880.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619312,0.775092,-0.125241],[-0.739818,0.629501,0.237485],[0.262911,-0.054422,0.963284]] 2025-10-28T22:18:00.746Z,1761689880.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609541,0.769662,-0.189948],[-0.741503,0.638280,0.206814],[0.280417,0.014785,0.959764]] 2025-10-28T22:18:01.167Z,1761689881.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575416,0.796668,-0.184976],[-0.765940,0.604223,0.219658],[0.286761,0.015286,0.957880]] 2025-10-28T22:18:01.554Z,1761689881.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568658,0.813034,-0.124916],[-0.767441,0.579051,0.275197],[0.296077,-0.060627,0.953238]] 2025-10-28T22:18:01.961Z,1761689881.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579180,0.813722,-0.049066],[-0.769190,0.565435,0.297709],[0.269996,-0.134686,0.953395]] 2025-10-28T22:18:02.363Z,1761689882.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587647,0.808524,0.030974],[-0.787378,0.562624,0.251974],[0.186300,-0.172460,0.967238]] 2025-10-28T22:18:02.767Z,1761689882.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589925,0.806319,0.042866],[-0.784371,0.559646,0.267504],[0.191704,-0.191430,0.962603]] 2025-10-28T22:18:02.837Z,1761689882.837 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:03.175Z,1761689883.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603089,0.795863,-0.053722],[-0.762353,0.594894,0.254792],[0.234739,-0.112707,0.965502]] 2025-10-28T22:18:03.575Z,1761689883.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578862,0.806594,-0.119684],[-0.781773,0.590693,0.199780],[0.231838,-0.022079,0.972504]] 2025-10-28T22:18:03.980Z,1761689883.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577253,0.810572,-0.098750],[-0.795582,0.585531,0.155571],[0.183923,-0.011240,0.982876]] 2025-10-28T22:18:04.382Z,1761689884.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590978,0.804156,-0.063867],[-0.789911,0.592933,0.156431],[0.163664,-0.041998,0.985622]] 2025-10-28T22:18:05.190Z,1761689885.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617987,0.786041,-0.015212],[-0.770952,0.609688,0.184157],[0.154030,-0.102079,0.982779]] 2025-10-28T22:18:05.594Z,1761689885.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615622,0.787682,0.023791],[-0.776024,0.600705,0.192201],[0.137102,-0.136786,0.981067]] 2025-10-28T22:18:05.999Z,1761689885.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637586,0.768277,0.056869],[-0.767085,0.626308,0.138995],[0.071169,-0.132245,0.988659]] 2025-10-28T22:18:06.404Z,1761689886.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634438,0.769132,0.076962],[-0.772965,0.631729,0.058679],[-0.003487,-0.096717,0.995306]] 2025-10-28T22:18:06.806Z,1761689886.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645184,0.763737,0.021064],[-0.762080,0.641327,0.089077],[0.054522,-0.073523,0.995802]] 2025-10-28T22:18:07.211Z,1761689887.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632756,0.771711,-0.063882],[-0.754136,0.632864,0.175390],[0.175779,-0.062803,0.982424]] 2025-10-28T22:18:07.615Z,1761689887.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647461,0.762076,-0.005844],[-0.744653,0.634253,0.207882],[0.162128,-0.130244,0.978136]] 2025-10-28T22:18:08.020Z,1761689888.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641324,0.758126,0.118105],[-0.766340,0.625335,0.147239],[0.037771,-0.184937,0.982024]] 2025-10-28T22:18:08.427Z,1761689888.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645752,0.750532,0.140378],[-0.763375,0.638508,0.097807],[-0.016225,-0.170320,0.985255]] 2025-10-28T22:18:08.827Z,1761689888.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691557,0.720743,0.047734],[-0.721528,0.686191,0.092407],[0.033847,-0.098346,0.994577]] 2025-10-28T22:18:09.231Z,1761689889.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664531,0.746702,-0.028891],[-0.744029,0.664754,0.067248],[0.069420,-0.023193,0.997318]] 2025-10-28T22:18:09.637Z,1761689889.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621552,0.783162,-0.018169],[-0.778205,0.619945,0.100328],[0.089837,-0.048220,0.994789]] 2025-10-28T22:18:10.039Z,1761689890.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639449,0.768748,-0.011426],[-0.752424,0.628787,0.196176],[0.157994,-0.116848,0.980502]] 2025-10-28T22:18:10.450Z,1761689890.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644115,0.763262,-0.050462],[-0.732383,0.634405,0.247278],[0.220751,-0.122318,0.967630]] 2025-10-28T22:18:10.849Z,1761689890.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641933,0.766477,-0.020885],[-0.746758,0.631135,0.209811],[0.173996,-0.119088,0.977519]] 2025-10-28T22:18:11.251Z,1761689891.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631117,0.774914,0.034625],[-0.768763,0.618908,0.161110],[0.103416,-0.128298,0.986329]] 2025-10-28T22:18:11.596Z,1761689891.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:11.655Z,1761689891.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640389,0.765960,0.056638],[-0.765734,0.630994,0.124496],[0.059620,-0.123095,0.990602]] 2025-10-28T22:18:12.059Z,1761689892.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670979,0.740752,-0.032764],[-0.732645,0.669139,0.124433],[0.114097,-0.059488,0.991687]] 2025-10-28T22:18:12.464Z,1761689892.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661416,0.727368,-0.182935],[-0.713600,0.685374,0.145042],[0.230878,0.034609,0.972367]] 2025-10-28T22:18:12.867Z,1761689892.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617894,0.749883,-0.236397],[-0.733994,0.657921,0.168500],[0.281885,0.069399,0.956935]] 2025-10-28T22:18:13.271Z,1761689893.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597606,0.791091,-0.130546],[-0.773496,0.611696,0.165929],[0.211120,0.001817,0.977458]] 2025-10-28T22:18:13.675Z,1761689893.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609441,0.792453,0.024514],[-0.786856,0.600769,0.141191],[0.097160,-0.105336,0.989679]] 2025-10-28T22:18:14.082Z,1761689894.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617270,0.781123,0.093944],[-0.784751,0.602787,0.144269],[0.056063,-0.162775,0.985069]] 2025-10-28T22:18:14.487Z,1761689894.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616464,0.783864,0.074357],[-0.786099,0.607317,0.114949],[0.044946,-0.129314,0.990585]] 2025-10-28T22:18:15.291Z,1761689895.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614621,0.788371,-0.026671],[-0.780680,0.612775,0.122658],[0.113044,-0.054567,0.992090]] 2025-10-28T22:18:15.695Z,1761689895.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619576,0.781890,-0.069091],[-0.767652,0.621951,0.154554],[0.163815,-0.042720,0.985566]] 2025-10-28T22:18:16.100Z,1761689896.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584461,0.809586,-0.054557],[-0.801434,0.586477,0.117250],[0.126920,-0.024805,0.991603]] 2025-10-28T22:18:16.503Z,1761689896.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595639,0.798954,0.082988],[-0.803220,0.591495,0.070509],[0.007246,-0.108656,0.994053]] 2025-10-28T22:18:16.907Z,1761689896.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603063,0.781225,0.161256],[-0.796746,0.599761,0.074040],[-0.038873,-0.173131,0.984131]] 2025-10-28T22:18:17.310Z,1761689897.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592468,0.795985,0.124053],[-0.804715,0.577572,0.137273],[0.037618,-0.181157,0.982734]] 2025-10-28T22:18:17.717Z,1761689897.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616387,0.783117,0.082426],[-0.784821,0.602425,0.145399],[0.064209,-0.154312,0.985933]] 2025-10-28T22:18:18.119Z,1761689898.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620857,0.775574,0.114111],[-0.783807,0.616663,0.073302],[-0.013517,-0.134951,0.990760]] 2025-10-28T22:18:18.522Z,1761689898.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627565,0.769313,0.119665],[-0.778061,0.625229,0.060901],[-0.027966,-0.131326,0.990945]] 2025-10-28T22:18:18.928Z,1761689898.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639884,0.766773,0.051059],[-0.765994,0.631081,0.122433],[0.061656,-0.117454,0.991163]] 2025-10-28T22:18:19.333Z,1761689899.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647631,0.760384,-0.048895],[-0.745100,0.645422,0.168097],[0.159376,-0.072433,0.984557]] 2025-10-28T22:18:19.734Z,1761689899.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665675,0.743361,-0.065507],[-0.732274,0.667599,0.134488],[0.143706,-0.041556,0.988748]] 2025-10-28T22:18:20.138Z,1761689900.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657375,0.753458,-0.012592],[-0.750557,0.656153,0.078277],[0.067241,-0.042006,0.996852]] 2025-10-28T22:18:20.144Z,1761689900.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:20.546Z,1761689900.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638783,0.767655,0.051587],[-0.769354,0.636701,0.052018],[0.007087,-0.072917,0.997313]] 2025-10-28T22:18:20.946Z,1761689900.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647371,0.752924,0.118391],[-0.760987,0.647184,0.045285],[-0.042525,-0.119410,0.991934]] 2025-10-28T22:18:21.351Z,1761689901.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704919,0.697438,0.129108],[-0.705485,0.708251,0.025937],[-0.073351,-0.109367,0.991291]] 2025-10-28T22:18:21.755Z,1761689901.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727155,0.683782,0.060729],[-0.686197,0.726522,0.036044],[-0.019475,-0.067881,0.997503]] 2025-10-28T22:18:22.194Z,1761689902.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701068,0.712804,-0.020321],[-0.710691,0.700760,0.062087],[0.058496,-0.029085,0.997864]] 2025-10-28T22:18:22.976Z,1761689902.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673384,0.737938,0.044742],[-0.738075,0.667569,0.097967],[0.042425,-0.098992,0.994183]] 2025-10-28T22:18:23.377Z,1761689903.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702217,0.691576,0.169156],[-0.707770,0.703840,0.060590],[-0.077157,-0.162271,0.983725]] 2025-10-28T22:18:23.779Z,1761689903.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731248,0.680062,0.052837],[-0.682085,0.729708,0.047817],[-0.006037,-0.071006,0.997458]] 2025-10-28T22:18:24.184Z,1761689904.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716466,0.685856,-0.127590],[-0.682746,0.726929,0.073707],[0.143301,0.034303,0.989084]] 2025-10-28T22:18:24.589Z,1761689904.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694834,0.703548,-0.149086],[-0.700778,0.708939,0.079473],[0.161606,0.049256,0.985625]] 2025-10-28T22:18:24.988Z,1761689904.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664346,0.745194,-0.057706],[-0.737377,0.666076,0.112329],[0.122143,-0.032074,0.991994]] 2025-10-28T22:18:25.391Z,1761689905.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660181,0.749155,0.054111],[-0.746697,0.646805,0.155202],[0.081271,-0.142866,0.986400]] 2025-10-28T22:18:25.796Z,1761689905.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674755,0.734252,0.074697],[-0.733019,0.654935,0.183692],[0.085955,-0.178701,0.980142]] 2025-10-28T22:18:26.198Z,1761689906.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665952,0.745456,0.028348],[-0.740395,0.655830,0.147315],[0.091226,-0.119093,0.988683]] 2025-10-28T22:18:26.604Z,1761689906.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667114,0.744032,0.037088],[-0.744956,0.666245,0.034037],[0.000615,-0.050336,0.998732]] 2025-10-28T22:18:27.006Z,1761689907.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668375,0.743516,0.021443],[-0.741209,0.668163,-0.064553],[-0.062324,0.027252,0.997684]] 2025-10-28T22:18:27.413Z,1761689907.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678075,0.734512,-0.026589],[-0.734412,0.675658,-0.064234],[-0.029215,0.063083,0.997581]] 2025-10-28T22:18:27.815Z,1761689907.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693731,0.720050,-0.016289],[-0.720043,0.692850,-0.038689],[-0.016573,0.038569,0.999119]] 2025-10-28T22:18:28.218Z,1761689908.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667052,0.742966,0.055170],[-0.744826,0.663404,0.071611],[0.016605,-0.088860,0.995906]] 2025-10-28T22:18:28.622Z,1761689908.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646549,0.746796,0.155787],[-0.761925,0.621967,0.180630],[0.038000,-0.235484,0.971135]] 2025-10-28T22:18:28.936Z,1761689908.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:29.029Z,1761689909.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680609,0.699649,0.217400],[-0.732501,0.655749,0.182854],[-0.014626,-0.283697,0.958802]] 2025-10-28T22:18:29.430Z,1761689909.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709248,0.686836,0.158819],[-0.704878,0.694349,0.145004],[-0.010682,-0.214791,0.976602]] 2025-10-28T22:18:29.834Z,1761689909.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705594,0.708416,0.016874],[-0.708349,0.704471,0.044297],[0.019493,-0.043208,0.998876]] 2025-10-28T22:18:30.239Z,1761689910.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687993,0.722196,-0.071399],[-0.724363,0.689385,-0.006802],[0.044309,0.056399,0.997425]] 2025-10-28T22:18:30.648Z,1761689910.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701411,0.701474,-0.126323],[-0.706395,0.707772,0.008002],[0.095021,0.083621,0.991957]] 2025-10-28T22:18:31.047Z,1761689911.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694158,0.714372,-0.088417],[-0.712992,0.699246,0.051943],[0.098931,0.026984,0.994728]] 2025-10-28T22:18:31.451Z,1761689911.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672083,0.736969,0.071976],[-0.740470,0.668491,0.069463],[0.003077,-0.099981,0.994985]] 2025-10-28T22:18:31.856Z,1761689911.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659742,0.733764,0.162270],[-0.751349,0.648269,0.123374],[-0.014667,-0.203317,0.979003]] 2025-10-28T22:18:32.262Z,1761689912.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680903,0.722109,0.122187],[-0.729253,0.653116,0.204034],[0.067532,-0.228033,0.971309]] 2025-10-28T22:18:32.663Z,1761689912.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674601,0.735868,0.058411],[-0.728556,0.650980,0.213146],[0.118822,-0.186344,0.975273]] 2025-10-28T22:18:33.067Z,1761689913.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665164,0.746541,0.015262],[-0.737819,0.653976,0.167150],[0.114803,-0.122443,0.985813]] 2025-10-28T22:18:33.471Z,1761689913.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677063,0.735780,0.014610],[-0.734965,0.675032,0.064484],[0.037584,-0.054397,0.997812]] 2025-10-28T22:18:33.878Z,1761689913.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678320,0.734017,0.033181],[-0.733905,0.679020,-0.017750],[-0.035559,-0.012311,0.999292]] 2025-10-28T22:18:34.279Z,1761689914.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699571,0.713909,-0.030578],[-0.714189,0.699949,0.002440],[0.023145,0.020132,0.999529]] 2025-10-28T22:18:35.091Z,1761689915.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643280,0.765322,-0.021775],[-0.764639,0.643634,0.032591],[0.038958,-0.004315,0.999232]] 2025-10-28T22:18:35.493Z,1761689915.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644569,0.759387,0.088669],[-0.764546,0.640202,0.074911],[0.000120,-0.116077,0.993240]] 2025-10-28T22:18:35.895Z,1761689915.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657224,0.737820,0.153879],[-0.753445,0.648435,0.108874],[-0.019451,-0.187494,0.982073]] 2025-10-28T22:18:36.299Z,1761689916.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659047,0.736296,0.153378],[-0.751437,0.653202,0.093116],[-0.031626,-0.176622,0.983771]] 2025-10-28T22:18:36.703Z,1761689916.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683209,0.717125,0.137685],[-0.727149,0.685413,0.038262],[-0.066932,-0.126259,0.989737]] 2025-10-28T22:18:37.166Z,1761689917.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663823,0.744011,0.076070],[-0.747629,0.662835,0.041245],[-0.019735,-0.084252,0.996249]] 2025-10-28T22:18:37.511Z,1761689917.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634315,0.771273,0.052749],[-0.770605,0.625364,0.122831],[0.061749,-0.118562,0.991025]] 2025-10-28T22:18:37.621Z,1761689917.621 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:37.915Z,1761689917.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650965,0.747855,0.130218],[-0.758166,0.631983,0.160567],[0.037785,-0.203251,0.978397]] 2025-10-28T22:18:38.318Z,1761689918.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668206,0.721119,0.182996],[-0.743675,0.654413,0.136716],[-0.021166,-0.227444,0.973561]] 2025-10-28T22:18:38.730Z,1761689918.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685787,0.712381,0.149027],[-0.726652,0.681700,0.085211],[-0.040889,-0.166728,0.985155]] 2025-10-28T22:18:39.159Z,1761689919.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706212,0.707204,0.033585],[-0.707348,0.702730,0.076353],[0.030396,-0.077677,0.996515]] 2025-10-28T22:18:39.531Z,1761689919.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672087,0.738617,-0.052377],[-0.731715,0.673322,0.105980],[0.113545,-0.032903,0.992988]] 2025-10-28T22:18:39.935Z,1761689919.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629635,0.776812,-0.011134],[-0.769739,0.625714,0.126424],[0.105174,-0.071030,0.991914]] 2025-10-28T22:18:40.341Z,1761689920.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630813,0.771878,0.079248],[-0.774713,0.620795,0.120143],[0.043539,-0.137182,0.989589]] 2025-10-28T22:18:40.742Z,1761689920.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626370,0.775747,0.076657],[-0.778354,0.617008,0.116043],[0.042722,-0.132353,0.990282]] 2025-10-28T22:18:41.174Z,1761689921.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606596,0.792336,0.065152],[-0.794874,0.602935,0.068150],[0.014715,-0.093127,0.995546]] 2025-10-28T22:18:41.551Z,1761689921.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634639,0.770549,0.059052],[-0.771218,0.636381,-0.015543],[-0.049557,-0.035678,0.998134]] 2025-10-28T22:18:41.956Z,1761689921.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668298,0.743840,-0.008917],[-0.743066,0.666941,-0.055150],[-0.035076,0.043482,0.998438]] 2025-10-28T22:18:42.362Z,1761689922.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652125,0.749309,-0.115191],[-0.754576,0.656204,-0.003280],[0.073131,0.089059,0.993338]] 2025-10-28T22:18:42.763Z,1761689922.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601285,0.790333,-0.117604],[-0.788086,0.610869,0.075891],[0.131820,0.047050,0.990156]] 2025-10-28T22:18:43.172Z,1761689923.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546641,0.837084,0.021758],[-0.835816,0.543864,0.074993],[0.050942,-0.059180,0.996947]] 2025-10-28T22:18:43.571Z,1761689923.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522097,0.832231,0.186565],[-0.851155,0.522348,0.051842],[-0.054308,-0.185862,0.981074]] 2025-10-28T22:18:43.976Z,1761689923.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544101,0.813432,0.205629],[-0.838290,0.537270,0.092798],[-0.034994,-0.222868,0.974220]] 2025-10-28T22:18:44.378Z,1761689924.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559621,0.817568,0.135669],[-0.828711,0.550495,0.100961],[0.007858,-0.168930,0.985597]] 2025-10-28T22:18:44.783Z,1761689924.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526116,0.842308,0.117128],[-0.850290,0.523365,0.055640],[-0.014435,-0.128866,0.991557]] 2025-10-28T22:18:45.187Z,1761689925.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503022,0.856771,0.113634],[-0.863828,0.494180,0.097909],[0.027730,-0.147411,0.988687]] 2025-10-28T22:18:45.593Z,1761689925.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510373,0.852961,0.109440],[-0.855002,0.489672,0.170859],[0.092147,-0.180774,0.979199]] 2025-10-28T22:18:45.995Z,1761689925.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499216,0.856717,0.129685],[-0.862954,0.478103,0.163484],[0.078057,-0.193526,0.977985]] 2025-10-28T22:18:46.316Z,1761689926.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:46.399Z,1761689926.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457358,0.875075,0.158325],[-0.888484,0.442104,0.123043],[0.037675,-0.196944,0.979691]] 2025-10-28T22:18:46.803Z,1761689926.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460506,0.872364,0.164061],[-0.887211,0.458203,0.053915],[-0.028139,-0.170385,0.984976]] 2025-10-28T22:18:47.210Z,1761689927.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472334,0.876992,0.088243],[-0.879217,0.475860,-0.023128],[-0.062274,-0.066661,0.995830]] 2025-10-28T22:18:47.611Z,1761689927.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449240,0.893226,-0.018189],[-0.893006,0.448330,-0.039244],[-0.026899,0.033873,0.999064]] 2025-10-28T22:18:48.014Z,1761689928.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436723,0.897762,-0.057410],[-0.896859,0.439481,0.050001],[0.070120,0.029652,0.997098]] 2025-10-28T22:18:48.419Z,1761689928.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452517,0.890471,-0.047852],[-0.883111,0.454938,0.114659],[0.123870,-0.009626,0.992252]] 2025-10-28T22:18:48.824Z,1761689928.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466314,0.884321,0.022968],[-0.884106,0.465003,0.046140],[0.030122,-0.041822,0.998671]] 2025-10-28T22:18:49.227Z,1761689929.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445146,0.889446,0.103592],[-0.893929,0.448161,-0.006621],[-0.052315,-0.089656,0.994598]] 2025-10-28T22:18:49.631Z,1761689929.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424931,0.893351,0.146145],[-0.905008,0.422792,0.046971],[-0.019827,-0.152222,0.988147]] 2025-10-28T22:18:50.035Z,1761689930.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444114,0.880027,0.168273],[-0.894217,0.423614,0.144661],[0.056023,-0.214718,0.975068]] 2025-10-28T22:18:50.441Z,1761689930.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473659,0.868618,0.145433],[-0.877211,0.450601,0.165707],[0.078404,-0.206064,0.975392]] 2025-10-28T22:18:50.843Z,1761689930.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496862,0.860692,0.111073],[-0.865631,0.482424,0.133977],[0.061728,-0.162717,0.984740]] 2025-10-28T22:18:51.247Z,1761689931.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480864,0.873169,0.079668],[-0.876373,0.475824,0.074576],[0.027209,-0.105680,0.994028]] 2025-10-28T22:18:51.651Z,1761689931.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491542,0.868019,0.070215],[-0.870794,0.488961,0.051335],[0.010227,-0.086376,0.996210]] 2025-10-28T22:18:52.055Z,1761689932.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491895,0.866821,0.081615],[-0.870237,0.492398,0.015243],[-0.026974,-0.078523,0.996547]] 2025-10-28T22:18:52.459Z,1761689932.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475022,0.875362,0.089979],[-0.879953,0.473226,0.041712],[-0.006067,-0.098991,0.995070]] 2025-10-28T22:18:52.863Z,1761689932.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498125,0.855331,0.142405],[-0.866959,0.488269,0.099873],[0.015893,-0.173208,0.984757]] 2025-10-28T22:18:53.269Z,1761689933.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511434,0.840496,0.178891],[-0.858180,0.510297,0.055899],[-0.044305,-0.182109,0.982280]] 2025-10-28T22:18:53.671Z,1761689933.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517524,0.840363,0.161119],[-0.849057,0.527702,-0.025162],[-0.106168,-0.123777,0.986614]] 2025-10-28T22:18:54.075Z,1761689934.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527689,0.843256,0.102289],[-0.842745,0.534808,-0.061328],[-0.106420,-0.053841,0.992863]] 2025-10-28T22:18:54.479Z,1761689934.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536328,0.843898,0.013721],[-0.843905,0.536446,-0.007051],[-0.013310,-0.007798,0.999881]] 2025-10-28T22:18:54.884Z,1761689934.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543516,0.837256,-0.059942],[-0.827171,0.546375,0.131388],[0.142756,-0.021829,0.989517]] 2025-10-28T22:18:54.996Z,1761689934.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:18:55.287Z,1761689935.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526227,0.848971,-0.048305],[-0.836354,0.526996,0.150956],[0.153613,-0.039037,0.987360]] 2025-10-28T22:18:55.691Z,1761689935.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527497,0.846564,0.071256],[-0.849238,0.527739,0.016915],[-0.023285,-0.069436,0.997315]] 2025-10-28T22:18:56.095Z,1761689936.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530261,0.838557,0.125083],[-0.845597,0.533785,0.006216],[-0.061555,-0.109066,0.992127]] 2025-10-28T22:18:56.501Z,1761689936.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544497,0.833827,0.090859],[-0.838586,0.538951,0.079409],[0.017244,-0.119431,0.992693]] 2025-10-28T22:18:56.903Z,1761689936.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532000,0.843436,0.074774],[-0.846388,0.527138,0.075853],[0.024561,-0.103642,0.994311]] 2025-10-28T22:18:57.307Z,1761689937.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510847,0.858177,0.050674],[-0.859114,0.507506,0.066029],[0.030947,-0.077265,0.996530]] 2025-10-28T22:18:57.711Z,1761689937.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498970,0.865456,0.044877],[-0.864067,0.492863,0.102341],[0.066453,-0.089842,0.993737]] 2025-10-28T22:18:58.117Z,1761689938.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512675,0.854300,0.085652],[-0.855983,0.500817,0.128356],[0.066758,-0.139122,0.988023]] 2025-10-28T22:18:58.519Z,1761689938.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492385,0.865066,0.096009],[-0.867902,0.479676,0.129062],[0.065594,-0.146875,0.986978]] 2025-10-28T22:18:58.923Z,1761689938.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488502,0.869051,0.078203],[-0.870752,0.479754,0.107833],[0.056194,-0.120772,0.991089]] 2025-10-28T22:18:59.327Z,1761689939.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517736,0.853864,0.053533],[-0.854933,0.513996,0.069985],[0.032242,-0.082001,0.996111]] 2025-10-28T22:18:59.732Z,1761689939.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516063,0.856342,-0.018931],[-0.851416,0.515260,0.097966],[0.093647,-0.034438,0.995010]] 2025-10-28T22:19:00.135Z,1761689940.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479013,0.873741,-0.084393],[-0.854010,0.486103,0.185393],[0.203010,-0.016733,0.979034]] 2025-10-28T22:19:00.539Z,1761689940.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461457,0.882216,-0.093559],[-0.843977,0.469048,0.260187],[0.273425,-0.041104,0.961015]] 2025-10-28T22:19:00.942Z,1761689940.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450379,0.890772,-0.060687],[-0.834579,0.444169,0.325872],[0.317232,-0.096118,0.943464]] 2025-10-28T22:19:01.349Z,1761689941.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447797,0.893978,-0.016754],[-0.837934,0.426115,0.341016],[0.312000,-0.138668,0.939908]] 2025-10-28T22:19:01.751Z,1761689941.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473339,0.880043,0.038408],[-0.853806,0.447628,0.265789],[0.216714,-0.158602,0.963266]] 2025-10-28T22:19:02.156Z,1761689942.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482887,0.875370,0.023378],[-0.853013,0.464183,0.238544],[0.197962,-0.135132,0.970850]] 2025-10-28T22:19:02.559Z,1761689942.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470717,0.879814,-0.065972],[-0.849583,0.472170,0.235083],[0.237979,-0.054609,0.969734]] 2025-10-28T22:19:02.965Z,1761689942.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471429,0.879273,-0.068069],[-0.852174,0.474049,0.221535],[0.227058,-0.046431,0.972774]] 2025-10-28T22:19:03.366Z,1761689943.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475284,0.879830,-0.002228],[-0.862163,0.466242,0.198226],[0.175444,-0.092293,0.980154]] 2025-10-28T22:19:03.612Z,1761689943.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:19:03.770Z,1761689943.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467019,0.880723,0.078872],[-0.878448,0.451908,0.155272],[0.101109,-0.141800,0.984718]] 2025-10-28T22:19:04.176Z,1761689944.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443004,0.886556,0.133285],[-0.895733,0.431472,0.107209],[0.037538,-0.166882,0.985262]] 2025-10-28T22:19:04.580Z,1761689944.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410515,0.898564,0.155116],[-0.911471,0.399432,0.098359],[0.026423,-0.181761,0.982988]] 2025-10-28T22:19:05.387Z,1761689945.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472454,0.878249,0.073934],[-0.881332,0.471384,0.032419],[-0.006380,-0.080476,0.996736]] 2025-10-28T22:19:05.791Z,1761689945.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482147,0.875947,-0.015866],[-0.876089,0.482037,-0.010373],[-0.001439,0.018901,0.999820]] 2025-10-28T22:19:06.198Z,1761689946.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452838,0.888950,-0.068599],[-0.890006,0.455280,0.024678],[0.053170,0.049879,0.997339]] 2025-10-28T22:19:06.599Z,1761689946.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448104,0.893575,-0.026946],[-0.891834,0.448913,0.055768],[0.061929,-0.000959,0.998080]] 2025-10-28T22:19:07.002Z,1761689947.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471986,0.879399,0.062343],[-0.880171,0.466005,0.090210],[0.050279,-0.097450,0.993970]] 2025-10-28T22:19:07.407Z,1761689947.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484612,0.864023,0.136441],[-0.874690,0.477173,0.084996],[0.008332,-0.160534,0.986995]] 2025-10-28T22:19:07.813Z,1761689947.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469097,0.868869,0.158159],[-0.882843,0.456657,0.109785],[0.023165,-0.191129,0.981291]] 2025-10-28T22:19:08.221Z,1761689948.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472638,0.875255,0.102671],[-0.871867,0.447456,0.199076],[0.128302,-0.183606,0.974591]] 2025-10-28T22:19:08.625Z,1761689948.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501425,0.851709,0.152199],[-0.864134,0.484264,0.136969],[0.042954,-0.200200,0.978813]] 2025-10-28T22:19:09.028Z,1761689949.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510591,0.849555,0.132487],[-0.859782,0.505975,0.069018],[-0.008401,-0.149150,0.988779]] 2025-10-28T22:19:09.433Z,1761689949.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533815,0.845320,0.021828],[-0.844250,0.531325,0.070259],[0.047793,-0.055934,0.997290]] 2025-10-28T22:19:09.835Z,1761689949.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521949,0.852956,-0.005978],[-0.852309,0.521804,0.035921],[0.033758,-0.013654,0.999337]] 2025-10-28T22:19:10.237Z,1761689950.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488154,0.871180,0.052444],[-0.872695,0.486517,0.041293],[0.010459,-0.065925,0.997770]] 2025-10-28T22:19:10.639Z,1761689950.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492369,0.865255,0.094377],[-0.869477,0.483998,0.098774],[0.039786,-0.130692,0.990624]] 2025-10-28T22:19:11.045Z,1761689951.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487121,0.866011,0.112863],[-0.871507,0.473669,0.126941],[0.056473,-0.160196,0.985468]] 2025-10-28T22:19:11.447Z,1761689951.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500181,0.859296,0.106911],[-0.864969,0.490020,0.108212],[0.040598,-0.146600,0.988362]] 2025-10-28T22:19:11.851Z,1761689951.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540377,0.840436,0.040734],[-0.840299,0.536521,0.077742],[0.043483,-0.076238,0.996141]] 2025-10-28T22:19:12.255Z,1761689952.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530107,0.845163,-0.068451],[-0.842618,0.534089,0.068872],[0.094767,0.021169,0.995274]] 2025-10-28T22:19:12.264Z,1761689952.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:19:12.661Z,1761689952.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513302,0.852181,-0.101529],[-0.846861,0.522133,0.101013],[0.139093,0.034131,0.989691]] 2025-10-28T22:19:13.062Z,1761689953.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498139,0.862784,-0.086385],[-0.849339,0.505569,0.151735],[0.174588,-0.002215,0.984639]] 2025-10-28T22:19:13.466Z,1761689953.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489722,0.871835,-0.008792],[-0.854003,0.481688,0.196609],[0.175646,-0.088775,0.980443]] 2025-10-28T22:19:13.871Z,1761689953.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513805,0.856524,0.048689],[-0.842133,0.492711,0.219199],[0.163759,-0.153628,0.974465]] 2025-10-28T22:19:14.293Z,1761689954.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536655,0.843717,-0.011968],[-0.815652,0.522332,0.248758],[0.216133,-0.123736,0.968492]] 2025-10-28T22:19:15.087Z,1761689955.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532836,0.842833,0.075626],[-0.842641,0.520251,0.138902],[0.077727,-0.137738,0.987414]] 2025-10-28T22:19:15.488Z,1761689955.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518299,0.843341,0.141922],[-0.855060,0.508037,0.103783],[0.015423,-0.175143,0.984422]] 2025-10-28T22:19:15.891Z,1761689955.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515852,0.845241,0.139516],[-0.855112,0.498192,0.143488],[0.051776,-0.193320,0.979769]] 2025-10-28T22:19:16.295Z,1761689956.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516577,0.850070,0.102611],[-0.851643,0.497698,0.164319],[0.088614,-0.172271,0.981056]] 2025-10-28T22:19:16.699Z,1761689956.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506357,0.859761,0.066433],[-0.857811,0.494339,0.140674],[0.088105,-0.128218,0.987825]] 2025-10-28T22:19:17.158Z,1761689957.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536527,0.843712,0.017021],[-0.839878,0.531909,0.108065],[0.082122,-0.072275,0.993998]] 2025-10-28T22:19:17.509Z,1761689957.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567913,0.823088,0.001046],[-0.822559,0.567501,0.036594],[0.029526,-0.021642,0.999330]] 2025-10-28T22:19:17.911Z,1761689957.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545907,0.835393,0.064063],[-0.835242,0.548641,-0.036926],[-0.065995,-0.033350,0.997262]] 2025-10-28T22:19:18.314Z,1761689958.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548016,0.832505,0.081330],[-0.836468,0.545377,0.053713],[0.000361,-0.097465,0.995239]] 2025-10-28T22:19:18.719Z,1761689958.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554651,0.831648,0.026912],[-0.821759,0.542404,0.174674],[0.130670,-0.118998,0.984258]] 2025-10-28T22:19:19.163Z,1761689959.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561816,0.826766,0.028640],[-0.819577,0.551555,0.155181],[0.112502,-0.110656,0.987471]] 2025-10-28T22:19:19.526Z,1761689959.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580031,0.813540,0.041434],[-0.813629,0.576119,0.078070],[0.039642,-0.078995,0.996086]] 2025-10-28T22:19:19.931Z,1761689959.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570202,0.821445,0.009903],[-0.821099,0.569501,0.038276],[0.025802,-0.029956,0.999218]] 2025-10-28T22:19:20.337Z,1761689960.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536511,0.842839,0.042165],[-0.843509,0.534088,0.056948],[0.025478,-0.066119,0.997486]] 2025-10-28T22:19:20.738Z,1761689960.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540673,0.834656,0.104987],[-0.841223,0.535833,0.072298],[0.004089,-0.127407,0.991842]] 2025-10-28T22:19:21.123Z,1761689961.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:19:21.171Z,1761689961.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529902,0.835199,0.147130],[-0.846956,0.530033,0.041600],[-0.043240,-0.146657,0.988242]] 2025-10-28T22:19:21.547Z,1761689961.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533667,0.831921,0.152010],[-0.845445,0.529189,0.071986],[-0.020555,-0.166933,0.985754]] 2025-10-28T22:19:21.952Z,1761689961.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559251,0.819402,0.125774],[-0.828628,0.547998,0.114342],[0.024768,-0.168165,0.985448]] 2025-10-28T22:19:22.355Z,1761689962.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562030,0.822813,0.084267],[-0.824006,0.548175,0.143239],[0.071666,-0.149941,0.986094]] 2025-10-28T22:19:22.758Z,1761689962.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535856,0.842618,0.053417],[-0.840936,0.526997,0.122886],[0.075395,-0.110770,0.990982]] 2025-10-28T22:19:23.185Z,1761689963.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554402,0.830523,0.053563],[-0.832027,0.551621,0.058692],[0.019198,-0.077105,0.996838]] 2025-10-28T22:19:23.567Z,1761689963.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595059,0.803644,-0.007771],[-0.803524,0.595106,0.014059],[0.015923,-0.002122,0.999871]] 2025-10-28T22:19:23.971Z,1761689963.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595984,0.798018,-0.089279],[-0.798317,0.600823,0.041260],[0.086567,0.046682,0.995152]] 2025-10-28T22:19:24.375Z,1761689964.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588841,0.800962,-0.108289],[-0.799984,0.596676,0.063269],[0.115289,0.049374,0.992104]] 2025-10-28T22:19:24.780Z,1761689964.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572728,0.817423,-0.061656],[-0.805998,0.575245,0.139497],[0.149496,-0.030200,0.988301]] 2025-10-28T22:19:25.184Z,1761689965.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551719,0.833903,0.014561],[-0.815011,0.535348,0.221722],[0.177099,-0.134195,0.975001]] 2025-10-28T22:19:25.587Z,1761689965.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555722,0.825359,0.099776],[-0.821720,0.527072,0.216730],[0.126291,-0.202429,0.971119]] 2025-10-28T22:19:25.991Z,1761689965.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576048,0.809942,0.110283],[-0.815080,0.558957,0.152355],[0.061755,-0.177654,0.982153]] 2025-10-28T22:19:26.395Z,1761689966.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574286,0.815659,0.069971],[-0.816829,0.565203,0.115485],[0.054649,-0.123476,0.990842]] 2025-10-28T22:19:26.798Z,1761689966.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552007,0.832629,0.044914],[-0.833228,0.548739,0.067943],[0.031925,-0.074928,0.996678]] 2025-10-28T22:19:27.203Z,1761689967.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527639,0.848371,0.043166],[-0.849451,0.526614,0.033338],[0.005551,-0.054258,0.998511]] 2025-10-28T22:19:27.606Z,1761689967.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526992,0.847800,0.059288],[-0.849831,0.526351,0.027221],[-0.008128,-0.064730,0.997870]] 2025-10-28T22:19:28.014Z,1761689968.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557686,0.828800,0.045572],[-0.830051,0.556951,0.028659],[-0.001629,-0.053810,0.998550]] 2025-10-28T22:19:28.415Z,1761689968.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560845,0.827913,-0.003512],[-0.827760,0.560815,0.017302],[0.016294,-0.006797,0.999844]] 2025-10-28T22:19:28.818Z,1761689968.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551845,0.833939,-0.003447],[-0.833940,0.551852,0.001604],[0.003240,0.001989,0.999993]] 2025-10-28T22:19:29.222Z,1761689969.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574370,0.818176,0.026206],[-0.818582,0.573878,0.024247],[0.004799,-0.035378,0.999362]] 2025-10-28T22:19:29.658Z,1761689969.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545005,0.837262,0.044293],[-0.837586,0.541322,0.073623],[0.037665,-0.077224,0.996302]] 2025-10-28T22:19:29.724Z,1761689969.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:19:30.031Z,1761689970.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522400,0.850822,0.056574],[-0.846842,0.509903,0.151188],[0.099787,-0.126890,0.986885]] 2025-10-28T22:19:30.435Z,1761689970.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544775,0.836226,0.062816],[-0.830879,0.528125,0.175280],[0.113399,-0.147680,0.982513]] 2025-10-28T22:19:30.839Z,1761689970.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551198,0.829910,0.086201],[-0.833913,0.544510,0.089988],[0.027745,-0.121485,0.992205]] 2025-10-28T22:19:31.245Z,1761689971.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576584,0.814448,0.065003],[-0.817009,0.575401,0.037534],[-0.006833,-0.074749,0.997179]] 2025-10-28T22:19:31.646Z,1761689971.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570243,0.821476,-0.000344],[-0.820161,0.569353,0.056332],[0.046472,-0.031841,0.998412]] 2025-10-28T22:19:32.051Z,1761689972.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549823,0.834989,-0.022090],[-0.827953,0.548304,0.117716],[0.110403,-0.046434,0.992802]] 2025-10-28T22:19:32.455Z,1761689972.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561487,0.825328,0.059712],[-0.826056,0.554815,0.099056],[0.048624,-0.104944,0.993289]] 2025-10-28T22:19:32.861Z,1761689972.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560716,0.818998,0.121818],[-0.827838,0.557480,0.062445],[-0.016769,-0.135859,0.990586]] 2025-10-28T22:19:33.263Z,1761689973.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561620,0.822771,0.087351],[-0.827395,0.558521,0.058918],[-0.000311,-0.105363,0.994434]] 2025-10-28T22:19:33.667Z,1761689973.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541814,0.840469,0.007104],[-0.835978,0.538005,0.108132],[0.087059,-0.064526,0.994111]] 2025-10-28T22:19:34.071Z,1761689974.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547836,0.834615,-0.057388],[-0.821745,0.549714,0.150170],[0.156881,-0.035110,0.986993]] 2025-10-28T22:19:34.478Z,1761689974.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602648,0.796605,-0.047297],[-0.788047,0.603414,0.121954],[0.125689,-0.036223,0.991408]] 2025-10-28T22:19:34.879Z,1761689974.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589325,0.807806,-0.012037],[-0.806320,0.589041,0.053648],[0.050428,-0.021911,0.998487]] 2025-10-28T22:19:35.283Z,1761689975.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553253,0.826718,0.102216],[-0.831012,0.539254,0.136472],[0.057704,-0.160446,0.985356]] 2025-10-28T22:19:35.687Z,1761689975.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593213,0.767825,0.241956],[-0.804970,0.569855,0.165192],[-0.011042,-0.292762,0.956122]] 2025-10-28T22:19:36.092Z,1761689976.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621848,0.734439,0.271854],[-0.780022,0.611793,0.131433],[-0.069789,-0.293784,0.953321]] 2025-10-28T22:19:36.495Z,1761689976.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646060,0.743482,0.172745],[-0.762798,0.636989,0.111283],[-0.027300,-0.203664,0.978660]] 2025-10-28T22:19:36.899Z,1761689976.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675044,0.735945,0.051974],[-0.737261,0.670260,0.084838],[0.027600,-0.095588,0.995038]] 2025-10-28T22:19:37.303Z,1761689977.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673277,0.739226,-0.015557],[-0.739201,0.673432,0.008453],[0.016725,0.005809,0.999843]] 2025-10-28T22:19:37.709Z,1761689977.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656145,0.748712,-0.094355],[-0.747711,0.661922,0.052795],[0.101984,0.035909,0.994138]] 2025-10-28T22:19:38.112Z,1761689978.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644531,0.756576,-0.110335],[-0.740113,0.653589,0.158286],[0.191869,-0.020360,0.981209]] 2025-10-28T22:19:38.515Z,1761689978.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677786,0.734804,0.025855],[-0.732181,0.671318,0.115081],[0.067205,-0.096931,0.993019]] 2025-10-28T22:19:38.919Z,1761689978.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710564,0.692226,0.126185],[-0.699255,0.714668,0.017066],[-0.078367,-0.100362,0.991860]] 2025-10-28T22:19:39.325Z,1761689979.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744511,0.665285,0.055666],[-0.666736,0.745212,0.011026],[-0.034147,-0.045324,0.998389]] 2025-10-28T22:19:39.727Z,1761689979.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754262,0.652098,-0.076533],[-0.650673,0.757980,0.045725],[0.087827,0.015310,0.996018]] 2025-10-28T22:19:40.130Z,1761689980.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742968,0.664172,-0.082904],[-0.664616,0.746728,0.026144],[0.079271,0.035675,0.996215]] 2025-10-28T22:19:40.535Z,1761689980.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709779,0.704237,-0.016242],[-0.703190,0.709711,0.042820],[0.041682,-0.018972,0.998951]] 2025-10-28T22:19:40.940Z,1761689980.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695627,0.716007,0.058617],[-0.718046,0.690391,0.088152],[0.022649,-0.103411,0.994381]] 2025-10-28T22:19:41.343Z,1761689981.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704612,0.707013,0.060451],[-0.708506,0.696262,0.115058],[0.039257,-0.123901,0.991518]] 2025-10-28T22:19:41.748Z,1761689981.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731049,0.681391,0.035687],[-0.681477,0.726534,0.087956],[0.034004,-0.088621,0.995485]] 2025-10-28T22:19:42.150Z,1761689982.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736499,0.676237,0.016524],[-0.676383,0.736531,0.005187],[-0.008663,-0.014997,0.999850]] 2025-10-28T22:19:42.557Z,1761689982.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699529,0.714571,-0.006925],[-0.713625,0.698030,-0.059102],[-0.037399,0.046286,0.998228]] 2025-10-28T22:19:42.959Z,1761689982.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699597,0.713597,-0.036639],[-0.712729,0.700554,0.035233],[0.050810,0.001464,0.998707]] 2025-10-28T22:19:43.362Z,1761689983.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730132,0.680040,-0.066735],[-0.668667,0.731181,0.135124],[0.140685,-0.054035,0.988579]] 2025-10-28T22:19:43.767Z,1761689983.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752020,0.658936,-0.016397],[-0.656714,0.751153,0.067048],[0.056497,-0.039653,0.997615]] 2025-10-28T22:19:44.177Z,1761689984.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724439,0.688093,0.041440],[-0.689076,0.724513,0.015967],[-0.019037,-0.040123,0.999013]] 2025-10-28T22:19:44.575Z,1761689984.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744204,0.663849,0.073920],[-0.666471,0.745359,0.016026],[-0.044458,-0.061192,0.997135]] 2025-10-28T22:19:45.383Z,1761689985.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783245,0.616373,0.081311],[-0.614323,0.787392,-0.051187],[-0.095574,-0.009859,0.995373]] 2025-10-28T22:19:45.789Z,1761689985.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792250,0.610182,0.004153],[-0.610196,0.792229,0.005779],[0.000236,-0.007113,0.999975]] 2025-10-28T22:19:46.191Z,1761689986.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769157,0.639051,0.003483],[-0.638429,0.768144,0.048606],[0.028386,-0.039609,0.998812]] 2025-10-28T22:19:46.595Z,1761689986.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757013,0.647073,0.090708],[-0.653098,0.753554,0.074961],[-0.019848,-0.115988,0.993052]] 2025-10-28T22:19:46.999Z,1761689986.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748391,0.652157,0.120840],[-0.661778,0.746386,0.070412],[-0.044273,-0.132665,0.990172]] 2025-10-28T22:19:47.404Z,1761689987.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748412,0.653973,0.110450],[-0.661169,0.748796,0.046487],[-0.052303,-0.107817,0.992794]] 2025-10-28T22:19:47.816Z,1761689987.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771213,0.635628,0.034756],[-0.636545,0.770577,0.031976],[-0.006457,-0.046784,0.998884]] 2025-10-28T22:19:48.210Z,1761689988.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773588,0.631274,-0.055263],[-0.630829,0.775439,0.027381],[0.060138,0.013680,0.998096]] 2025-10-28T22:19:48.615Z,1761689988.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752244,0.649480,-0.110922],[-0.642189,0.760376,0.097062],[0.147382,-0.001782,0.989078]] 2025-10-28T22:19:49.019Z,1761689989.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729030,0.683273,-0.040658],[-0.670562,0.724862,0.157867],[0.137338,-0.087826,0.986623]] 2025-10-28T22:19:49.424Z,1761689989.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740657,0.667783,0.074117],[-0.668934,0.722577,0.174385],[0.062896,-0.178739,0.981884]] 2025-10-28T22:19:49.827Z,1761689989.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754047,0.650553,0.090521],[-0.655735,0.737700,0.160656],[0.037738,-0.180499,0.982851]] 2025-10-28T22:19:50.231Z,1761689990.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746642,0.664889,0.021180],[-0.664182,0.743309,0.079711],[0.037256,-0.073583,0.996593]] 2025-10-28T22:19:50.636Z,1761689990.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714881,0.699246,0.000394],[-0.698987,0.714600,0.027630],[0.019038,-0.020027,0.999618]] 2025-10-28T22:19:51.039Z,1761689991.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708651,0.705551,0.003483],[-0.705443,0.708436,0.021621],[0.012787,-0.017779,0.999760]] 2025-10-28T22:19:51.443Z,1761689991.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717438,0.696517,-0.012093],[-0.696364,0.717537,0.014765],[0.018961,-0.002172,0.999818]] 2025-10-28T22:19:51.846Z,1761689991.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722607,0.690688,-0.028070],[-0.690267,0.723150,0.024194],[0.037010,0.001893,0.999313]] 2025-10-28T22:19:52.252Z,1761689992.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714566,0.698860,-0.031470],[-0.695171,0.714392,0.079884],[0.078309,-0.035205,0.996307]] 2025-10-28T22:19:52.655Z,1761689992.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724051,0.689481,-0.019122],[-0.685725,0.722543,0.087821],[0.074368,-0.050475,0.995953]] 2025-10-28T22:19:53.058Z,1761689993.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711266,0.702922,0.000970],[-0.699966,0.708148,0.092600],[0.064404,-0.066543,0.995703]] 2025-10-28T22:19:53.463Z,1761689993.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684285,0.725158,0.076807],[-0.727634,0.672073,0.137354],[0.047984,-0.149877,0.987540]] 2025-10-28T22:19:53.874Z,1761689993.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730645,0.680988,0.049122],[-0.681270,0.722419,0.118241],[0.045035,-0.119858,0.991769]] 2025-10-28T22:19:54.278Z,1761689994.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723736,0.686065,-0.074302],[-0.679050,0.727203,0.100335],[0.122869,-0.022161,0.992176]] 2025-10-28T22:19:54.679Z,1761689994.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699353,0.708386,-0.095359],[-0.708275,0.704750,0.040911],[0.096186,0.038929,0.994602]] 2025-10-28T22:19:55.087Z,1761689995.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691019,0.722728,-0.012529],[-0.722740,0.691106,0.004412],[0.011848,0.006007,0.999912]] 2025-10-28T22:19:55.487Z,1761689995.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687918,0.721065,0.082665],[-0.724994,0.688021,0.031792],[-0.033951,-0.081802,0.996070]] 2025-10-28T22:19:55.886Z,1761689995.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690552,0.711556,0.129715],[-0.723178,0.682300,0.107141],[-0.012268,-0.167794,0.985746]] 2025-10-28T22:19:56.291Z,1761689996.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709710,0.701062,0.069448],[-0.694087,0.678939,0.239342],[0.120642,-0.218066,0.968449]] 2025-10-28T22:19:56.694Z,1761689996.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697892,0.716200,-0.002133],[-0.694174,0.677156,0.244094],[0.176265,-0.168871,0.969749]] 2025-10-28T22:19:57.121Z,1761689997.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689487,0.724114,0.016344],[-0.719562,0.682228,0.129596],[0.082692,-0.101116,0.991432]] 2025-10-28T22:19:57.503Z,1761689997.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729892,0.679389,0.075417],[-0.678497,0.733467,-0.040844],[-0.083065,-0.021358,0.996315]] 2025-10-28T22:19:57.907Z,1761689997.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765030,0.642045,0.050076],[-0.631637,0.763237,-0.136030],[-0.125557,0.072437,0.989438]] 2025-10-28T22:19:58.319Z,1761689998.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797192,0.598937,-0.075893],[-0.603701,0.791991,-0.091081],[0.005555,0.118425,0.992947]] 2025-10-28T22:19:58.717Z,1761689998.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772890,0.598442,-0.210968],[-0.618550,0.784721,-0.040103],[0.141552,0.161490,0.976670]] 2025-10-28T22:19:59.157Z,1761689999.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713230,0.673373,-0.194605],[-0.684373,0.728994,0.014231],[0.151448,0.123033,0.980778]] 2025-10-28T22:19:59.523Z,1761689999.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691433,0.717847,-0.081340],[-0.714576,0.696125,0.069217],[0.106311,0.010265,0.994280]] 2025-10-28T22:19:59.927Z,1761689999.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689241,0.724104,0.024895],[-0.723114,0.685338,0.086129],[0.045305,-0.077365,0.995973]] 2025-10-28T22:20:00.333Z,1761690000.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687516,0.719269,0.099873],[-0.725663,0.685642,0.057510],[-0.027112,-0.112013,0.993337]] 2025-10-28T22:20:00.568Z,1761690000.568 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2025-10-28T22:20:00.735Z,1761690000.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674892,0.728154,0.119632],[-0.736370,0.675057,0.045350],[-0.047737,-0.118699,0.991782]] 2025-10-28T22:20:01.166Z,1761690001.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672540,0.737685,0.059250],[-0.740010,0.671272,0.042171],[-0.008664,-0.072207,0.997352]] 2025-10-28T22:20:01.542Z,1761690001.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671360,0.739395,-0.050702],[-0.737099,0.673269,0.058257],[0.077211,-0.001739,0.997013]] 2025-10-28T22:20:01.572Z,1761690001.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:20:01.957Z,1761690001.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666243,0.738016,-0.107018],[-0.736354,0.673743,0.062071],[0.117912,0.037448,0.992318]] 2025-10-28T22:20:02.351Z,1761690002.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670034,0.739177,-0.068351],[-0.737610,0.673312,0.050823],[0.083589,0.016363,0.996366]] 2025-10-28T22:20:02.754Z,1761690002.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656363,0.754437,-0.003568],[-0.752790,0.655228,0.063111],[0.049951,-0.038738,0.998000]] 2025-10-28T22:20:03.171Z,1761690003.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636128,0.769971,0.049859],[-0.769894,0.629136,0.107008],[0.051025,-0.106457,0.993007]] 2025-10-28T22:20:03.565Z,1761690003.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634893,0.770452,0.057574],[-0.770227,0.625346,0.125268],[0.060510,-0.123877,0.990451]] 2025-10-28T22:20:03.966Z,1761690003.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635229,0.772290,-0.007242],[-0.763527,0.629377,0.144605],[0.116235,-0.086328,0.989463]] 2025-10-28T22:20:04.371Z,1761690004.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607026,0.786425,-0.114261],[-0.769675,0.617601,0.161773],[0.197790,-0.010256,0.980191]] 2025-10-28T22:20:04.775Z,1761690004.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593774,0.792874,-0.137052],[-0.775494,0.609331,0.165304],[0.214575,0.008130,0.976674]] 2025-10-28T22:20:05.179Z,1761690005.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598461,0.797623,-0.075106],[-0.784823,0.602513,0.145024],[0.160926,-0.027846,0.986574]] 2025-10-28T22:20:05.582Z,1761690005.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600131,0.799562,-0.023304],[-0.788019,0.595969,0.154424],[0.137360,-0.074311,0.987730]] 2025-10-28T22:20:05.987Z,1761690005.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578232,0.814957,-0.038630],[-0.791771,0.571945,0.214422],[0.196839,-0.093400,0.975977]] 2025-10-28T22:20:06.391Z,1761690006.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554390,0.827111,-0.092404],[-0.780381,0.555206,0.287667],[0.289235,-0.087369,0.953263]] 2025-10-28T22:20:06.796Z,1761690006.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555121,0.823137,-0.119522],[-0.765548,0.561809,0.313539],[0.325234,-0.082553,0.942023]] 2025-10-28T22:20:07.201Z,1761690007.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538849,0.833365,-0.123064],[-0.786918,0.550100,0.279554],[0.300668,-0.053796,0.952211]] 2025-10-28T22:20:07.603Z,1761690007.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528595,0.842105,-0.106990],[-0.791722,0.534539,0.295709],[0.306208,-0.071603,0.949268]] 2025-10-28T22:20:08.007Z,1761690008.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527029,0.841329,-0.120024],[-0.786078,0.536272,0.307399],[0.322989,-0.067659,0.943981]] 2025-10-28T22:20:08.411Z,1761690008.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506840,0.857176,-0.091443],[-0.822914,0.512701,0.244846],[0.256759,-0.048848,0.965240]] 2025-10-28T22:20:08.816Z,1761690008.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524884,0.850526,-0.033215],[-0.828598,0.519501,0.208674],[0.194738,-0.082008,0.977421]] 2025-10-28T22:20:09.218Z,1761690009.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512214,0.858388,-0.028408],[-0.839404,0.507339,0.194956],[0.181761,-0.076014,0.980400]] 2025-10-28T22:20:09.623Z,1761690009.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493381,0.869635,0.017601],[-0.853193,0.479918,0.204301],[0.169221,-0.115816,0.978750]] 2025-10-28T22:20:10.026Z,1761690010.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508018,0.858137,0.074288],[-0.850442,0.486039,0.201281],[0.136620,-0.165432,0.976713]] 2025-10-28T22:20:10.433Z,1761690010.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541522,0.836225,0.086501],[-0.839734,0.533140,0.103002],[0.040016,-0.128416,0.990913]] 2025-10-28T22:20:10.835Z,1761690010.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517568,0.852059,0.078219],[-0.854486,0.519455,-0.004505],[-0.044469,-0.064505,0.996926]] 2025-10-28T22:20:11.239Z,1761690011.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510290,0.857889,0.060251],[-0.859316,0.511429,-0.004136],[-0.034362,-0.049664,0.998175]] 2025-10-28T22:20:11.643Z,1761690011.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567223,0.821286,0.061210],[-0.823500,0.566535,0.029763],[-0.010234,-0.067289,0.997681]] 2025-10-28T22:20:12.049Z,1761690012.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540708,0.840986,0.019406],[-0.838456,0.536929,0.093266],[0.068015,-0.066701,0.995452]] 2025-10-28T22:20:12.451Z,1761690012.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509236,0.858756,0.056714],[-0.857008,0.499956,0.124822],[0.078837,-0.112168,0.990557]] 2025-10-28T22:20:12.854Z,1761690012.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537807,0.831748,0.137687],[-0.842946,0.527735,0.104584],[0.014325,-0.172309,0.984939]] 2025-10-28T22:20:13.259Z,1761690013.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526701,0.836304,0.152256],[-0.849935,0.521070,0.078082],[-0.014036,-0.170533,0.985252]] 2025-10-28T22:20:13.664Z,1761690013.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524603,0.837956,0.150405],[-0.850232,0.524715,0.042194],[-0.043563,-0.150014,0.987724]] 2025-10-28T22:20:14.066Z,1761690014.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566014,0.818679,0.096913],[-0.823670,0.566526,0.024823],[-0.034582,-0.093874,0.994983]] 2025-10-28T22:20:14.471Z,1761690014.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586488,0.809385,-0.030464],[-0.807175,0.587174,0.060788],[0.067088,-0.011062,0.997686]] 2025-10-28T22:20:14.875Z,1761690014.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512861,0.856350,-0.060318],[-0.853901,0.516111,0.066960],[0.088472,0.017165,0.995931]] 2025-10-28T22:20:15.282Z,1761690015.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477255,0.876497,0.063096],[-0.878628,0.474683,0.051857],[0.015502,-0.080187,0.996659]] 2025-10-28T22:20:15.683Z,1761690015.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483492,0.866743,0.122439],[-0.874339,0.471473,0.115082],[0.042020,-0.162694,0.985781]] 2025-10-28T22:20:16.086Z,1761690016.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480533,0.872691,0.086587],[-0.867726,0.458838,0.191102],[0.127043,-0.166965,0.977744]] 2025-10-28T22:20:16.495Z,1761690016.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490750,0.870757,0.030775],[-0.860769,0.479041,0.172036],[0.135059,-0.110916,0.984610]] 2025-10-28T22:20:16.898Z,1761690016.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480218,0.876997,0.016336],[-0.871565,0.474980,0.121530],[0.098822,-0.072599,0.992453]] 2025-10-28T22:20:17.299Z,1761690017.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453340,0.888521,0.070808],[-0.891301,0.451166,0.045080],[0.008108,-0.083548,0.996471]] 2025-10-28T22:20:17.702Z,1761690017.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479699,0.868672,0.123684],[-0.875860,0.482495,0.008240],[-0.052519,-0.112283,0.992287]] 2025-10-28T22:20:18.107Z,1761690018.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448703,0.887915,0.101348],[-0.893659,0.446595,0.043900],[-0.006282,-0.110268,0.993882]] 2025-10-28T22:20:18.513Z,1761690018.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432194,0.894593,0.113631],[-0.900440,0.421242,0.108460],[0.049162,-0.149194,0.987585]] 2025-10-28T22:20:18.914Z,1761690018.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468537,0.875161,0.120688],[-0.882293,0.456570,0.114467],[0.045075,-0.160114,0.986069]] 2025-10-28T22:20:19.319Z,1761690019.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480938,0.869383,0.113450],[-0.876754,0.476813,0.062860],[0.000555,-0.129699,0.991553]] 2025-10-28T22:20:19.723Z,1761690019.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454917,0.885710,0.092566],[-0.890005,0.448602,0.081528],[0.030685,-0.119473,0.992363]] 2025-10-28T22:20:20.129Z,1761690020.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425954,0.901403,0.077692],[-0.902492,0.417269,0.106744],[0.063801,-0.115584,0.991247]] 2025-10-28T22:20:20.531Z,1761690020.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448998,0.891551,0.059476],[-0.892413,0.444109,0.079792],[0.044725,-0.088903,0.995036]] 2025-10-28T22:20:20.934Z,1761690020.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457171,0.888024,0.049066],[-0.889376,0.456346,0.027523],[0.002050,-0.056221,0.998416]] 2025-10-28T22:20:21.339Z,1761690021.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446233,0.893313,0.053563],[-0.894178,0.447496,-0.013858],[-0.036349,-0.041711,0.998468]] 2025-10-28T22:20:21.746Z,1761690021.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451602,0.888902,0.076869],[-0.892216,0.450157,0.036180],[-0.002442,-0.084923,0.996385]] 2025-10-28T22:20:22.146Z,1761690022.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453912,0.889202,0.057304],[-0.884061,0.441385,0.153672],[0.111353,-0.120414,0.986459]] 2025-10-28T22:20:22.550Z,1761690022.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419716,0.907372,0.022672],[-0.884411,0.403223,0.235009],[0.204098,-0.118688,0.971729]] 2025-10-28T22:20:22.955Z,1761690022.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459288,0.886910,0.049448],[-0.876949,0.443856,0.184260],[0.141474,-0.127991,0.981633]] 2025-10-28T22:20:23.361Z,1761690023.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514754,0.850034,0.111675],[-0.857280,0.511849,0.055510],[-0.009975,-0.124311,0.992193]] 2025-10-28T22:20:23.762Z,1761690023.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476454,0.865512,0.154533],[-0.874725,0.484360,-0.015875],[-0.088590,-0.127610,0.987860]] 2025-10-28T22:20:24.167Z,1761690024.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459537,0.867001,0.192704],[-0.885403,0.464276,0.022563],[-0.069905,-0.180989,0.980998]] 2025-10-28T22:20:24.571Z,1761690024.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500226,0.844626,0.190737],[-0.865722,0.492243,0.090675],[-0.017302,-0.210483,0.977444]] 2025-10-28T22:20:24.977Z,1761690024.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502223,0.860060,0.089828],[-0.861417,0.488493,0.139051],[0.075712,-0.147215,0.986203]] 2025-10-28T22:20:25.379Z,1761690025.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521632,0.853099,-0.011014],[-0.836586,0.513983,0.189591],[0.167401,-0.089683,0.981801]] 2025-10-28T22:20:25.783Z,1761690025.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525520,0.850282,-0.029133],[-0.845288,0.525706,0.095504],[0.096521,-0.025563,0.995003]] 2025-10-28T22:20:26.187Z,1761690026.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510687,0.858699,0.042826],[-0.857831,0.512245,-0.041604],[-0.057663,-0.015491,0.998216]] 2025-10-28T22:20:26.593Z,1761690026.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529926,0.847345,0.034411],[-0.847559,0.530559,-0.012306],[-0.028685,-0.022644,0.999332]] 2025-10-28T22:20:26.995Z,1761690026.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569484,0.821746,-0.020539],[-0.817535,0.568813,0.089933],[0.085585,-0.034424,0.995736]] 2025-10-28T22:20:27.399Z,1761690027.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575205,0.816868,-0.043203],[-0.805304,0.574753,0.145415],[0.143615,-0.048852,0.988427]] 2025-10-28T22:20:27.803Z,1761690027.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541506,0.838189,-0.064887],[-0.818094,0.543152,0.188968],[0.193635,-0.049243,0.979837]] 2025-10-28T22:20:28.208Z,1761690028.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519067,0.854282,-0.027789],[-0.831007,0.511998,0.217453],[0.199994,-0.089780,0.975675]] 2025-10-28T22:20:28.611Z,1761690028.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495430,0.867106,0.051726],[-0.855845,0.477075,0.199823],[0.148591,-0.143268,0.978466]] 2025-10-28T22:20:29.015Z,1761690029.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502924,0.857402,0.109223],[-0.861884,0.487979,0.137956],[0.064985,-0.163519,0.984397]] 2025-10-28T22:20:29.420Z,1761690029.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523410,0.850883,0.045173],[-0.846142,0.512782,0.145251],[0.100428,-0.114249,0.988363]] 2025-10-28T22:20:29.686Z,1761690029.686 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.972324 2025-10-28T22:20:29.825Z,1761690029.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509377,0.857708,-0.069806],[-0.841246,0.513396,0.169497],[0.181217,-0.027614,0.983055]] 2025-10-28T22:20:30.227Z,1761690030.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494933,0.863115,-0.100369],[-0.853137,0.504607,0.132396],[0.164920,0.020102,0.986102]] 2025-10-28T22:20:30.631Z,1761690030.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478957,0.874621,-0.075097],[-0.856444,0.484342,0.178653],[0.192626,-0.021251,0.981042]] 2025-10-28T22:20:30.689Z,1761690030.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:20:31.037Z,1761690031.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461958,0.885691,-0.046329],[-0.859394,0.459928,0.223402],[0.219173,-0.063387,0.973625]] 2025-10-28T22:20:31.439Z,1761690031.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448443,0.893563,0.021057],[-0.882371,0.438823,0.169871],[0.142551,-0.094758,0.985241]] 2025-10-28T22:20:31.842Z,1761690031.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439721,0.895083,0.073974],[-0.897156,0.433907,0.082674],[0.041902,-0.102720,0.993827]] 2025-10-28T22:20:32.246Z,1761690032.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452770,0.886897,0.091721],[-0.891626,0.450208,0.048121],[0.001385,-0.103569,0.994621]] 2025-10-28T22:20:32.653Z,1761690032.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470391,0.881031,0.050175],[-0.881561,0.466588,0.071740],[0.039794,-0.077978,0.996161]] 2025-10-28T22:20:33.054Z,1761690033.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444804,0.895543,0.012325],[-0.892475,0.442042,0.089927],[0.075085,-0.051000,0.995872]] 2025-10-28T22:20:33.459Z,1761690033.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408254,0.911194,0.055267],[-0.912411,0.405383,0.056314],[0.028909,-0.073417,0.996882]] 2025-10-28T22:20:33.863Z,1761690033.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388825,0.914447,0.112259],[-0.921289,0.385060,0.054365],[0.006487,-0.124562,0.992191]] 2025-10-28T22:20:34.268Z,1761690034.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421553,0.897831,0.127250],[-0.906642,0.414655,0.077855],[0.017135,-0.148190,0.988810]] 2025-10-28T22:20:34.696Z,1761690034.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426160,0.897243,0.115513],[-0.904642,0.423123,0.050888],[-0.003217,-0.126184,0.992002]] 2025-10-28T22:20:35.075Z,1761690035.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410389,0.909463,0.066765],[-0.910708,0.404988,0.081214],[0.046822,-0.094133,0.994458]] 2025-10-28T22:20:35.479Z,1761690035.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412799,0.910247,0.032352],[-0.902117,0.403697,0.152358],[0.125623,-0.092079,0.987796]] 2025-10-28T22:20:35.885Z,1761690035.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418981,0.907097,0.040384],[-0.903094,0.411692,0.122196],[0.094218,-0.087668,0.991684]] 2025-10-28T22:20:36.287Z,1761690036.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407554,0.909638,0.080365],[-0.912989,0.404084,0.056270],[0.018711,-0.096305,0.995176]] 2025-10-28T22:20:36.691Z,1761690036.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408249,0.904315,0.124690],[-0.912868,0.404715,0.053638],[-0.001958,-0.135723,0.990745]] 2025-10-28T22:20:37.107Z,1761690037.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446618,0.890356,0.088313],[-0.893010,0.437479,0.105567],[0.055357,-0.126013,0.990483]] 2025-10-28T22:20:37.501Z,1761690037.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456324,0.888007,0.056670],[-0.887773,0.450043,0.096544],[0.060228,-0.094365,0.993714]] 2025-10-28T22:20:37.903Z,1761690037.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441232,0.896694,0.035428],[-0.892532,0.434396,0.121190],[0.093281,-0.085094,0.991997]] 2025-10-28T22:20:38.306Z,1761690038.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473264,0.879025,0.057763],[-0.873864,0.460180,0.156831],[0.111277,-0.124700,0.985935]] 2025-10-28T22:20:38.711Z,1761690038.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474193,0.873051,0.113681],[-0.880125,0.466716,0.086931],[0.022839,-0.141276,0.989707]] 2025-10-28T22:20:39.160Z,1761690039.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455881,0.875686,0.159206],[-0.889837,0.444601,0.102568],[0.019034,-0.188427,0.981903]] 2025-10-28T22:20:39.526Z,1761690039.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509928,0.853791,0.104949],[-0.859486,0.500661,0.103061],[0.035449,-0.142756,0.989123]] 2025-10-28T22:20:39.927Z,1761690039.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495852,0.866480,0.057823],[-0.868399,0.495024,0.028872],[-0.003607,-0.064530,0.997909]] 2025-10-28T22:20:40.332Z,1761690040.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477116,0.878141,0.035046],[-0.878562,0.477589,-0.006134],[-0.022124,-0.027864,0.999367]] 2025-10-28T22:20:40.736Z,1761690040.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492631,0.870238,-0.000672],[-0.870104,0.492568,0.017222],[0.015318,-0.007900,0.999851]] 2025-10-28T22:20:41.173Z,1761690041.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505428,0.862868,-0.000723],[-0.862759,0.505377,0.015546],[0.013780,-0.007234,0.999879]] 2025-10-28T22:20:41.539Z,1761690041.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493439,0.867880,0.057463],[-0.869779,0.492233,0.034513],[0.001668,-0.067011,0.997751]] 2025-10-28T22:20:41.943Z,1761690041.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530866,0.843722,0.079462],[-0.845710,0.521423,0.113541],[0.054364,-0.127477,0.990351]] 2025-10-28T22:20:42.348Z,1761690042.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557648,0.827754,0.062062],[-0.828726,0.550917,0.098513],[0.047354,-0.106368,0.993199]] 2025-10-28T22:20:42.753Z,1761690042.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540965,0.838748,0.062118],[-0.841003,0.538717,0.049989],[0.008464,-0.079284,0.996816]] 2025-10-28T22:20:43.170Z,1761690043.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525608,0.847289,0.076406],[-0.850641,0.524704,0.033097],[-0.012048,-0.082390,0.996527]] 2025-10-28T22:20:43.559Z,1761690043.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523452,0.850429,0.052612],[-0.850919,0.518568,0.083808],[0.043990,-0.088638,0.995092]] 2025-10-28T22:20:43.964Z,1761690043.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516954,0.855531,0.028728],[-0.848747,0.507914,0.147144],[0.111295,-0.100449,0.988698]] 2025-10-28T22:20:44.369Z,1761690044.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524132,0.851119,0.029716],[-0.843980,0.514435,0.151835],[0.113943,-0.104662,0.987959]] 2025-10-28T22:20:44.771Z,1761690044.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554161,0.832229,0.017352],[-0.826538,0.547660,0.130013],[0.098697,-0.086391,0.991360]] 2025-10-28T22:20:45.175Z,1761690045.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558968,0.828172,0.041053],[-0.829074,0.557379,0.044339],[0.013838,-0.058820,0.998173]] 2025-10-28T22:20:45.579Z,1761690045.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559636,0.826144,0.065526],[-0.827793,0.561023,-0.003407],[-0.039576,-0.052335,0.997845]] 2025-10-28T22:20:45.984Z,1761690045.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553539,0.830907,0.056473],[-0.832646,0.553545,0.016955],[-0.017172,-0.056407,0.998260]] 2025-10-28T22:20:46.387Z,1761690046.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577531,0.814637,0.053150],[-0.816218,0.577449,0.018437],[-0.015672,-0.054030,0.998416]] 2025-10-28T22:20:46.791Z,1761690046.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618730,0.784081,0.048888],[-0.785595,0.617812,0.033897],[-0.003625,-0.059379,0.998229]] 2025-10-28T22:20:47.195Z,1761690047.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633283,0.773903,-0.005093],[-0.768179,0.629372,0.117436],[0.094090,-0.070458,0.993067]] 2025-10-28T22:20:47.601Z,1761690047.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561807,0.827223,-0.008739],[-0.816864,0.556380,0.152229],[0.130789,-0.078385,0.988307]] 2025-10-28T22:20:48.002Z,1761690048.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551649,0.831667,0.063351],[-0.833008,0.545509,0.092291],[0.042197,-0.103684,0.993715]] 2025-10-28T22:20:48.407Z,1761690048.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563423,0.824342,0.054909],[-0.826136,0.562742,0.028629],[-0.007299,-0.061492,0.998081]] 2025-10-28T22:20:48.811Z,1761690048.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557223,0.830334,0.006931],[-0.830262,0.557005,0.020268],[0.012968,-0.017048,0.999771]] 2025-10-28T22:20:49.216Z,1761690049.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564504,0.824787,-0.032590],[-0.818937,0.564569,0.102976],[0.103332,-0.031442,0.994150]] 2025-10-28T22:20:49.623Z,1761690049.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551250,0.833858,-0.028361],[-0.815821,0.545826,0.191075],[0.174810,-0.082192,0.981166]] 2025-10-28T22:20:50.022Z,1761690050.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547019,0.836981,0.015289],[-0.823441,0.534702,0.189841],[0.150718,-0.116436,0.981696]] 2025-10-28T22:20:50.427Z,1761690050.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517242,0.853093,0.068510],[-0.852882,0.507152,0.124054],[0.071085,-0.122597,0.989908]] 2025-10-28T22:20:50.831Z,1761690050.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515369,0.852165,0.090607],[-0.856296,0.507890,0.093836],[0.033945,-0.125946,0.991456]] 2025-10-28T22:20:51.236Z,1761690051.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519810,0.852858,0.049293],[-0.853442,0.515878,0.074206],[0.037858,-0.080642,0.996024]] 2025-10-28T22:20:51.639Z,1761690051.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518388,0.854839,-0.022876],[-0.848743,0.517590,0.108327],[0.104442,-0.036740,0.993852]] 2025-10-28T22:20:52.043Z,1761690052.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532367,0.845074,-0.049343],[-0.836987,0.534201,0.118669],[0.126643,-0.021876,0.991707]] 2025-10-28T22:20:52.447Z,1761690052.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509784,0.860065,0.020220],[-0.859048,0.507631,0.065927],[0.046437,-0.050979,0.997620]] 2025-10-28T22:20:52.853Z,1761690052.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513637,0.851210,0.107791],[-0.856942,0.515194,0.015023],[-0.042746,-0.100087,0.994060]] 2025-10-28T22:20:53.255Z,1761690053.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530646,0.831535,0.164209],[-0.840635,0.541092,-0.023493],[-0.108387,-0.125574,0.986146]] 2025-10-28T22:20:53.279Z,1761690053.279 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -468, +22,A 2025-10-28T22:20:53.659Z,1761690053.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542768,0.833173,0.105949],[-0.839333,0.542642,0.032548],[-0.030374,-0.106593,0.993839]] 2025-10-28T22:20:54.063Z,1761690054.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573284,0.819356,0.001288],[-0.812941,0.568598,0.125793],[0.102337,-0.073163,0.992056]] 2025-10-28T22:20:54.469Z,1761690054.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554324,0.831973,-0.023378],[-0.822757,0.551992,0.135558],[0.125685,-0.055909,0.990494]] 2025-10-28T22:20:54.871Z,1761690054.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548362,0.836241,0.000203],[-0.831059,0.544937,0.111284],[0.092950,-0.061193,0.993789]] 2025-10-28T22:20:55.279Z,1761690055.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549611,0.835415,-0.003070],[-0.828050,0.545245,0.130543],[0.110732,-0.069205,0.991438]] 2025-10-28T22:20:55.680Z,1761690055.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545438,0.838132,0.005780],[-0.832180,0.540717,0.122888],[0.099871,-0.071838,0.992404]] 2025-10-28T22:20:56.085Z,1761690056.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552261,0.833641,0.007099],[-0.828671,0.547996,0.114039],[0.091178,-0.068862,0.993451]] 2025-10-28T22:20:56.487Z,1761690056.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521742,0.851424,-0.053496],[-0.836833,0.522973,0.161891],[0.165815,-0.039698,0.985357]] 2025-10-28T22:20:56.891Z,1761690056.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516959,0.854167,-0.056144],[-0.834408,0.517470,0.189706],[0.191093,-0.051223,0.980235]] 2025-10-28T22:20:57.295Z,1761690057.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539024,0.841911,0.025261],[-0.830809,0.526503,0.180416],[0.138594,-0.118235,0.983266]] 2025-10-28T22:20:57.701Z,1761690057.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529001,0.847430,0.044945],[-0.833335,0.508736,0.216195],[0.160345,-0.151821,0.975315]] 2025-10-28T22:20:58.103Z,1761690058.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523012,0.851894,0.027105],[-0.829497,0.501436,0.245961],[0.195942,-0.151124,0.968901]] 2025-10-28T22:20:58.507Z,1761690058.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509301,0.856417,0.084634],[-0.849527,0.484600,0.208484],[0.137536,-0.178080,0.974357]] 2025-10-28T22:20:58.915Z,1761690058.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481215,0.862792,0.154992],[-0.876587,0.474674,0.079245],[-0.005199,-0.173998,0.984732]] 2025-10-28T22:20:59.317Z,1761690059.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521429,0.842112,0.137695],[-0.846727,0.530617,-0.038714],[-0.105665,-0.096403,0.989718]] 2025-10-28T22:20:59.739Z,1761690059.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575160,0.818030,-0.004263],[-0.815209,0.572728,-0.086127],[-0.068013,0.053012,0.996275]] 2025-10-28T22:21:00.122Z,1761690060.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545664,0.818985,-0.177525],[-0.836666,0.544396,-0.060199],[0.047342,0.181377,0.982273]] 2025-10-28T22:21:00.531Z,1761690060.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496092,0.839391,-0.222070],[-0.862623,0.505594,-0.015983],[0.098861,0.199492,0.974900]] 2025-10-28T22:21:00.812Z,1761690060.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:21:00.933Z,1761690060.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465831,0.876734,-0.119745],[-0.880661,0.472538,0.033826],[0.086241,0.089697,0.992228]] 2025-10-28T22:21:01.334Z,1761690061.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451342,0.891285,0.043612],[-0.891908,0.449038,0.053525],[0.028123,-0.063056,0.997614]] 2025-10-28T22:21:01.740Z,1761690061.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416962,0.895558,0.155302],[-0.908924,0.410682,0.072097],[0.000787,-0.171219,0.985233]] 2025-10-28T22:21:01.816Z,1761690061.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:21:02.144Z,1761690062.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430085,0.880512,0.199312],[-0.902761,0.417740,0.102547],[0.007033,-0.224035,0.974556]] 2025-10-28T22:21:02.546Z,1761690062.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434346,0.885768,0.163581],[-0.900735,0.427998,0.074116],[-0.004363,-0.179535,0.983742]] 2025-10-28T22:21:02.951Z,1761690062.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419103,0.905265,0.069625],[-0.903455,0.408194,0.130942],[0.090116,-0.117781,0.988942]] 2025-10-28T22:21:03.354Z,1761690063.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393215,0.919433,0.005040],[-0.898624,0.383144,0.213720],[0.194570,-0.088567,0.976882]] 2025-10-28T22:21:03.761Z,1761690063.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381345,0.921443,0.074295],[-0.919760,0.370119,0.130589],[0.092832,-0.118133,0.988649]] 2025-10-28T22:21:04.163Z,1761690064.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383222,0.912432,0.143560],[-0.923071,0.383858,0.024355],[-0.032884,-0.141849,0.989342]] 2025-10-28T22:21:04.567Z,1761690064.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384502,0.914706,0.124381],[-0.921826,0.387602,-0.000782],[-0.048926,-0.114357,0.992234]] 2025-10-28T22:21:04.970Z,1761690064.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371740,0.926037,0.065299],[-0.928281,0.371567,0.015225],[-0.010164,-0.066275,0.997750]] 2025-10-28T22:21:05.377Z,1761690065.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379477,0.924395,0.038605],[-0.925057,0.378351,0.033459],[0.016323,-0.048408,0.998694]] 2025-10-28T22:21:05.779Z,1761690065.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381442,0.923816,0.032635],[-0.924148,0.380292,0.036444],[0.021256,-0.044061,0.998803]] 2025-10-28T22:21:06.183Z,1761690066.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394735,0.916745,0.061337],[-0.917730,0.390184,0.074351],[0.044228,-0.085639,0.995344]] 2025-10-28T22:21:06.587Z,1761690066.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411999,0.907218,0.084930],[-0.911175,0.409782,0.042878],[0.004097,-0.095052,0.995464]] 2025-10-28T22:21:06.993Z,1761690066.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417148,0.905629,0.076311],[-0.908605,0.417471,0.012427],[-0.020604,-0.074520,0.997007]] 2025-10-28T22:21:07.395Z,1761690067.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406581,0.911860,0.056600],[-0.912231,0.401778,0.080058],[0.050261,-0.084182,0.995182]] 2025-10-28T22:21:07.800Z,1761690067.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377110,0.923584,0.069140],[-0.922069,0.367377,0.121749],[0.087045,-0.109665,0.990150]] 2025-10-28T22:21:08.203Z,1761690068.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366274,0.924800,0.102898],[-0.927900,0.354735,0.114741],[0.069611,-0.137505,0.988052]] 2025-10-28T22:21:08.609Z,1761690068.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391795,0.916415,0.081735],[-0.913488,0.376868,0.153329],[0.109710,-0.134737,0.984789]] 2025-10-28T22:21:09.011Z,1761690069.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391860,0.916055,0.085373],[-0.918695,0.384618,0.089824],[0.049448,-0.113630,0.992292]] 2025-10-28T22:21:09.415Z,1761690069.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427123,0.889970,0.159745],[-0.900517,0.434610,-0.013511],[-0.081451,-0.138083,0.987066]] 2025-10-28T22:21:09.819Z,1761690069.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405600,0.900592,0.156277],[-0.909599,0.414534,-0.028110],[-0.090098,-0.130748,0.987313]] 2025-10-28T22:21:10.225Z,1761690070.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394502,0.907264,0.145740],[-0.918644,0.385693,0.085644],[0.021491,-0.167670,0.985609]] 2025-10-28T22:21:10.627Z,1761690070.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439979,0.884450,0.155459],[-0.895431,0.418988,0.150505],[0.067979,-0.205422,0.976310]] 2025-10-28T22:21:11.031Z,1761690071.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441205,0.884907,0.149254],[-0.896458,0.426955,0.118632],[0.041253,-0.186141,0.981657]] 2025-10-28T22:21:11.435Z,1761690071.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407466,0.905068,0.121753],[-0.913217,0.404186,0.051660],[-0.002455,-0.132236,0.991215]] 2025-10-28T22:21:11.488Z,1761690071.488 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2025-10-28T22:21:11.488Z,1761690071.488 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T22:21:11.488Z,1761690071.488 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:21:11.488Z,1761690071.488 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2025-10-28T22:21:11.840Z,1761690071.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429278,0.898655,0.090217],[-0.903166,0.427499,0.039190],[-0.003349,-0.098305,0.995151]] 2025-10-28T22:21:11.854Z,1761690071.854 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2025-10-28T22:21:11.854Z,1761690071.854 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2025-10-28T22:21:12.242Z,1761690072.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468864,0.882199,0.043486],[-0.882861,0.469578,-0.007342],[-0.026897,-0.034950,0.999027]] 2025-10-28T22:21:12.266Z,1761690072.266 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.354877 min 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:21:12.267Z,1761690072.267 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T22:21:12.647Z,1761690072.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483995,0.875065,0.003083],[-0.875036,0.484004,-0.007227],[-0.007816,0.000800,0.999969]] 2025-10-28T22:21:13.050Z,1761690073.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474163,0.879996,-0.027856],[-0.874793,0.474465,0.098083],[0.099530,-0.022139,0.994788]] 2025-10-28T22:21:13.457Z,1761690073.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444953,0.894346,-0.046506],[-0.858271,0.440681,0.263005],[0.255711,-0.077110,0.963673]] 2025-10-28T22:21:13.859Z,1761690073.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451922,0.892051,0.003384],[-0.849655,0.429282,0.306274],[0.271760,-0.141287,0.951937]] 2025-10-28T22:21:14.263Z,1761690074.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467535,0.881139,0.070748],[-0.867929,0.442396,0.225798],[0.167661,-0.166973,0.971602]] 2025-10-28T22:21:14.271Z,1761690074.271 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222113.00,A,3645.27277,N,12151.94041,W,1.555,148.47,281025,,,D*73 2025-10-28T22:21:14.274Z,1761690074.274 [NAL9602](INFO): GPS fix at 20251028T222113: (36.754546, -121.865673) 2025-10-28T22:21:14.304Z,1761690074.304 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T22:21:14.305Z,1761690074.305 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T22:21:14.666Z,1761690074.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463728,0.879903,0.103572],[-0.885163,0.455113,0.096741],[0.037985,-0.136540,0.989906]] 2025-10-28T22:21:15.073Z,1761690075.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482096,0.872607,0.078364],[-0.876113,0.480470,0.039680],[-0.003027,-0.087785,0.996135]] 2025-10-28T22:21:15.475Z,1761690075.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509238,0.860408,0.019378],[-0.858716,0.506479,0.078011],[0.057306,-0.056366,0.996764]] 2025-10-28T22:21:15.879Z,1761690075.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492427,0.869946,0.026655],[-0.869307,0.490102,0.064074],[0.042677,-0.054723,0.997589]] 2025-10-28T22:21:16.283Z,1761690076.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440747,0.894084,0.079719],[-0.897631,0.439083,0.038274],[-0.000783,-0.088428,0.996082]] 2025-10-28T22:21:16.688Z,1761690076.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454900,0.885770,0.092072],[-0.890200,0.449422,0.074592],[0.024692,-0.115894,0.992955]] 2025-10-28T22:21:17.118Z,1761690077.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501608,0.859624,0.097144],[-0.864978,0.500217,0.039957],[-0.014245,-0.104070,0.994468]] 2025-10-28T22:21:17.564Z,1761690077.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482748,0.872946,0.070140],[-0.875276,0.478270,0.071766],[0.029102,-0.096037,0.994952]] 2025-10-28T22:21:19.693Z,1761690079.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585386,0.810259,0.028328],[-0.800743,0.572331,0.176772],[0.127018,-0.126163,0.983844]] 2025-10-28T22:21:20.090Z,1761690080.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578409,0.815747,-0.000681],[-0.808683,0.573509,0.130843],[0.107126,-0.075130,0.991403]] 2025-10-28T22:21:20.496Z,1761690080.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577817,0.814306,-0.055072],[-0.799835,0.578395,0.160387],[0.162457,-0.048625,0.985517]] 2025-10-28T22:21:20.901Z,1761690080.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614702,0.782550,-0.098775],[-0.751338,0.619044,0.228639],[0.240067,-0.066331,0.968487]] 2025-10-28T22:21:21.302Z,1761690081.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655465,0.742923,-0.135760],[-0.704809,0.666322,0.243433],[0.271312,-0.063877,0.960369]] 2025-10-28T22:21:21.707Z,1761690081.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665796,0.735511,-0.125453],[-0.703201,0.674765,0.224056],[0.249447,-0.060957,0.966468]] 2025-10-28T22:21:22.112Z,1761690082.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663477,0.736752,-0.130361],[-0.698963,0.672497,0.243306],[0.266924,-0.070311,0.961149]] 2025-10-28T22:21:22.514Z,1761690082.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664796,0.738968,-0.109424],[-0.700545,0.667569,0.252167],[0.259391,-0.090983,0.961477]] 2025-10-28T22:21:22.920Z,1761690082.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716064,0.693882,-0.076027],[-0.665394,0.711437,0.226073],[0.210956,-0.111295,0.971139]] 2025-10-28T22:21:23.323Z,1761690083.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760164,0.638679,-0.119330],[-0.619136,0.767742,0.165057],[0.197033,-0.051589,0.979039]] 2025-10-28T22:21:23.728Z,1761690083.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753244,0.625337,-0.203903],[-0.613835,0.779696,0.123613],[0.236282,0.032052,0.971156]] 2025-10-28T22:21:24.131Z,1761690084.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731922,0.642225,-0.227675],[-0.622587,0.766109,0.159566],[0.276902,0.024957,0.960574]] 2025-10-28T22:21:24.534Z,1761690084.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733997,0.650574,-0.194939],[-0.614498,0.758404,0.217288],[0.289205,-0.039699,0.956444]] 2025-10-28T22:21:24.940Z,1761690084.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771286,0.622156,-0.134314],[-0.586488,0.776677,0.229793],[0.247285,-0.098462,0.963927]] 2025-10-28T22:21:25.343Z,1761690085.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793277,0.605771,-0.061273],[-0.588171,0.788440,0.180047],[0.157377,-0.106788,0.981748]] 2025-10-28T22:21:25.748Z,1761690085.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775559,0.630814,-0.024133],[-0.620280,0.768598,0.156557],[0.117307,-0.106450,0.987374]] 2025-10-28T22:21:26.150Z,1761690086.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775585,0.631236,-0.003068],[-0.619248,0.761781,0.190322],[0.122475,-0.145711,0.981717]] 2025-10-28T22:21:26.554Z,1761690086.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823274,0.564486,-0.059790],[-0.550092,0.819371,0.161339],[0.140064,-0.099936,0.985086]] 2025-10-28T22:21:26.959Z,1761690086.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844949,0.503848,-0.179436],[-0.512120,0.858914,0.000258],[0.154250,0.091674,0.983770]] 2025-10-28T22:21:27.364Z,1761690087.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844172,0.504308,-0.181788],[-0.527709,0.841428,-0.116281],[0.094320,0.194093,0.976438]] 2025-10-28T22:21:27.767Z,1761690087.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846721,0.523326,-0.095878],[-0.531375,0.840809,-0.103351],[0.026529,0.138456,0.990013]] 2025-10-28T22:21:28.171Z,1761690088.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840843,0.541255,-0.005126],[-0.541003,0.840677,0.024041],[0.017322,-0.017441,0.999698]] 2025-10-28T22:21:28.575Z,1761690088.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851880,0.521729,0.045818],[-0.522810,0.841906,0.133656],[0.031158,-0.137813,0.989968]] 2025-10-28T22:21:28.982Z,1761690088.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868212,0.493402,0.052548],[-0.494201,0.850386,0.180579],[0.044412,-0.182750,0.982156]] 2025-10-28T22:21:29.383Z,1761690089.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867207,0.492991,0.070081],[-0.497856,0.855713,0.141046],[0.009565,-0.157207,0.987519]] 2025-10-28T22:21:29.786Z,1761690089.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874061,0.482377,0.057697],[-0.485444,0.871856,0.064891],[-0.019002,-0.084728,0.996223]] 2025-10-28T22:21:30.191Z,1761690090.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878019,0.476752,-0.042303],[-0.477427,0.878644,-0.006962],[0.033850,0.026310,0.999081]] 2025-10-28T22:21:30.596Z,1761690090.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858341,0.497753,-0.124474],[-0.501669,0.865059,-0.000140],[0.107607,0.062565,0.992223]] 2025-10-28T22:21:31.000Z,1761690091.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851268,0.519275,-0.075467],[-0.520525,0.853839,0.003585],[0.066298,0.036231,0.997142]] 2025-10-28T22:21:31.403Z,1761690091.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847039,0.531467,0.008177],[-0.531384,0.846346,0.036449],[0.012451,-0.035219,0.999302]] 2025-10-28T22:21:31.807Z,1761690091.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847064,0.528575,0.055592],[-0.531443,0.840952,0.101821],[0.007070,-0.115793,0.993248]] 2025-10-28T22:21:31.812Z,1761690091.812 [NAL9602](INFO): SBD MO Status=1, MOMSN=3373, MT Status=0, MTMSN=0 2025-10-28T22:21:31.864Z,1761690091.864 [NAL9602](INFO): Sent 85 bytes from file Logs/20251028T162422/Courier0066.lzma 2025-10-28T22:21:31.864Z,1761690091.864 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:21:31.945Z,1761690091.945 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:21:32.213Z,1761690092.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846829,0.530028,0.044161],[-0.530918,0.837454,0.129601],[0.031710,-0.133196,0.990582]] 2025-10-28T22:21:32.905Z,1761690092.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853329,0.506936,-0.121840],[-0.497136,0.861554,0.102859],[0.157115,-0.027202,0.987206]] 2025-10-28T22:21:32.948Z,1761690092.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:21:33.294Z,1761690093.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827648,0.538653,-0.157644],[-0.534423,0.842162,0.071801],[0.171438,0.024823,0.984882]] 2025-10-28T22:21:35.434Z,1761690095.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808803,0.586345,-0.045139],[-0.585678,0.810053,0.028199],[0.053100,0.003630,0.998583]] 2025-10-28T22:21:35.831Z,1761690095.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770327,0.636719,-0.034440],[-0.634807,0.770867,0.052761],[0.060143,-0.018780,0.998013]] 2025-10-28T22:21:36.235Z,1761690096.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767310,0.641028,0.017864],[-0.640532,0.764779,0.069514],[0.030898,-0.064781,0.997421]] 2025-10-28T22:21:36.638Z,1761690096.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788440,0.613842,0.039500],[-0.614939,0.785071,0.074245],[0.014565,-0.082828,0.996457]] 2025-10-28T22:21:37.043Z,1761690097.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769516,0.631432,0.095597],[-0.637780,0.767547,0.064096],[-0.032903,-0.110293,0.993354]] 2025-10-28T22:21:37.447Z,1761690097.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739049,0.661017,0.129859],[-0.671757,0.737595,0.068526],[-0.050487,-0.137878,0.989162]] 2025-10-28T22:21:37.852Z,1761690097.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746590,0.661857,0.067445],[-0.665212,0.744155,0.061040],[-0.009789,-0.090437,0.995854]] 2025-10-28T22:21:38.257Z,1761690098.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749103,0.660650,-0.048840],[-0.656686,0.750268,0.076555],[0.087219,-0.025276,0.995868]] 2025-10-28T22:21:38.658Z,1761690098.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736964,0.672146,-0.071439],[-0.670266,0.740349,0.051251],[0.087338,0.010113,0.996127]] 2025-10-28T22:21:39.063Z,1761690099.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738459,0.673820,-0.025396],[-0.672884,0.738826,0.036930],[0.043647,-0.010183,0.998995]] 2025-10-28T22:21:39.467Z,1761690099.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698195,0.715869,0.007452],[-0.713579,0.695048,0.087825],[0.057691,-0.066637,0.996108]] 2025-10-28T22:21:39.872Z,1761690099.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690089,0.717463,0.094999],[-0.722124,0.673879,0.156281],[0.048108,-0.176448,0.983134]] 2025-10-28T22:21:40.275Z,1761690100.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701753,0.691808,0.170132],[-0.711349,0.693518,0.114090],[-0.039061,-0.201086,0.978795]] 2025-10-28T22:21:40.679Z,1761690100.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689719,0.702615,0.174984],[-0.717115,0.696273,0.030834],[-0.100172,-0.146751,0.984088]] 2025-10-28T22:21:41.087Z,1761690101.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700046,0.707500,0.096845],[-0.709906,0.704180,-0.012805],[-0.077256,-0.059787,0.995217]] 2025-10-28T22:21:41.488Z,1761690101.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712037,0.701903,-0.018281],[-0.702111,0.712008,-0.009185],[0.006569,0.019376,0.999791]] 2025-10-28T22:21:41.890Z,1761690101.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684333,0.723909,-0.087432],[-0.725458,0.688020,0.018409],[0.073481,0.050831,0.996000]] 2025-10-28T22:21:42.294Z,1761690102.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682687,0.729700,-0.038420],[-0.730354,0.683053,-0.004652],[0.022849,0.031236,0.999251]] 2025-10-28T22:21:42.701Z,1761690102.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663069,0.747655,-0.036753],[-0.747787,0.663815,0.012802],[0.033968,0.018995,0.999242]] 2025-10-28T22:21:43.135Z,1761690103.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614465,0.788722,0.018724],[-0.788477,0.613111,0.048981],[0.027153,-0.044860,0.998624]] 2025-10-28T22:21:43.507Z,1761690103.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618480,0.777085,0.116714],[-0.785755,0.613181,0.081225],[-0.008448,-0.141944,0.989839]] 2025-10-28T22:21:43.911Z,1761690103.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619518,0.776249,0.116768],[-0.784828,0.609554,0.111753],[0.015572,-0.160876,0.986852]] 2025-10-28T22:21:44.316Z,1761690104.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607595,0.791521,0.065739],[-0.789037,0.592075,0.163915],[0.090820,-0.151464,0.984282]] 2025-10-28T22:21:44.718Z,1761690104.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628543,0.773095,0.085196],[-0.776878,0.618781,0.116494],[0.037343,-0.139409,0.989531]] 2025-10-28T22:21:45.258Z,1761690105.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629971,0.772194,0.082781],[-0.776064,0.621906,0.104679],[0.029351,-0.130189,0.991055]] 2025-10-28T22:21:45.932Z,1761690105.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603701,0.796791,0.025878],[-0.789312,0.592845,0.159756],[0.111950,-0.116871,0.986817]] 2025-10-28T22:21:46.335Z,1761690106.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585352,0.810323,0.027204],[-0.802787,0.574556,0.159427],[0.113558,-0.115160,0.986835]] 2025-10-28T22:21:46.394Z,1761690106.394 [NAL9602](INFO): SBD MO Status=1, MOMSN=3374, MT Status=0, MTMSN=0 2025-10-28T22:21:46.447Z,1761690106.447 [NAL9602](INFO): Sent 312 bytes from file Logs/20251028T162422/Express0067.lzma 2025-10-28T22:21:46.447Z,1761690106.447 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:21:46.951Z,1761690106.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568980,0.818497,0.079526],[-0.819429,0.572447,-0.029007],[-0.069267,-0.048661,0.996411]] 2025-10-28T22:21:47.672Z,1761690107.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645668,0.760811,-0.065422],[-0.763530,0.644522,-0.040171],[0.011603,0.075889,0.997049]] 2025-10-28T22:21:48.051Z,1761690108.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579637,0.776210,-0.248030],[-0.798590,0.601646,0.016577],[0.162094,0.188465,0.968611]] 2025-10-28T22:21:48.454Z,1761690108.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501309,0.832054,-0.237436],[-0.855741,0.517366,0.006259],[0.128049,0.200045,0.971383]] 2025-10-28T22:21:48.858Z,1761690108.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474210,0.875419,-0.093623],[-0.879665,0.475499,-0.009461],[0.036235,0.086843,0.995563]] 2025-10-28T22:21:49.264Z,1761690109.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456867,0.886733,0.070551],[-0.889382,0.456818,0.017776],[-0.016466,-0.070868,0.997350]] 2025-10-28T22:21:49.667Z,1761690109.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434353,0.882033,0.182637],[-0.899270,0.436226,0.031947],[-0.051493,-0.178117,0.982661]] 2025-10-28T22:21:50.070Z,1761690110.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400566,0.886145,0.233010],[-0.914238,0.403458,0.037297],[-0.060959,-0.227967,0.971759]] 2025-10-28T22:21:50.474Z,1761690110.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388974,0.899766,0.197787],[-0.921230,0.378504,0.089836],[0.005968,-0.217151,0.976120]] 2025-10-28T22:21:50.880Z,1761690110.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407777,0.907216,0.103330],[-0.912978,0.403405,0.061119],[0.013764,-0.119261,0.992767]] 2025-10-28T22:21:51.283Z,1761690111.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412697,0.910385,0.029658],[-0.909489,0.413645,-0.041568],[-0.050111,-0.009818,0.998695]] 2025-10-28T22:21:51.688Z,1761690111.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398416,0.917204,0.000646],[-0.912638,0.396502,-0.099389],[-0.091416,0.039009,0.995048]] 2025-10-28T22:21:52.090Z,1761690112.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368417,0.929545,0.014672],[-0.925424,0.368197,-0.089563],[-0.088655,0.019419,0.995873]] 2025-10-28T22:21:52.495Z,1761690112.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354628,0.932604,0.067001],[-0.934370,0.356122,-0.011446],[-0.034534,-0.058544,0.997687]] 2025-10-28T22:21:52.899Z,1761690112.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394871,0.913887,0.094273],[-0.918620,0.391103,0.056347],[0.014624,-0.108851,0.993951]] 2025-10-28T22:21:53.302Z,1761690113.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411078,0.910163,0.051166],[-0.909898,0.406236,0.084007],[0.055674,-0.081089,0.995151]] 2025-10-28T22:21:53.708Z,1761690113.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389425,0.920263,0.038258],[-0.919538,0.386061,0.073535],[0.052902,-0.063816,0.996559]] 2025-10-28T22:21:54.111Z,1761690114.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381744,0.922911,0.050066],[-0.923568,0.378786,0.059523],[0.035970,-0.068962,0.996971]] 2025-10-28T22:21:54.517Z,1761690114.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388760,0.919106,0.064115],[-0.919953,0.383419,0.081703],[0.050511,-0.090745,0.994592]] 2025-10-28T22:21:54.919Z,1761690114.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398460,0.915179,0.060644],[-0.915047,0.392148,0.094389],[0.062601,-0.093102,0.993687]] 2025-10-28T22:21:55.323Z,1761690115.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374279,0.925424,0.059204],[-0.924868,0.367893,0.096305],[0.067342,-0.090801,0.993590]] 2025-10-28T22:21:55.728Z,1761690115.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349234,0.934428,0.069855],[-0.932161,0.338856,0.127482],[0.095452,-0.109637,0.989378]] 2025-10-28T22:21:56.133Z,1761690116.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358572,0.930166,0.078854],[-0.919329,0.337201,0.202807],[0.162054,-0.145214,0.976039]] 2025-10-28T22:21:56.535Z,1761690116.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373707,0.925629,0.059610],[-0.913065,0.355799,0.199299],[0.163268,-0.128907,0.978124]] 2025-10-28T22:21:56.938Z,1761690116.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337547,0.938358,0.074469],[-0.937540,0.328069,0.115717],[0.084153,-0.108878,0.990487]] 2025-10-28T22:21:57.343Z,1761690117.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308581,0.940094,0.144916],[-0.950525,0.310492,0.009821],[-0.035763,-0.140777,0.989395]] 2025-10-28T22:21:57.750Z,1761690117.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333109,0.931246,0.147715],[-0.934836,0.346617,-0.077062],[-0.122964,-0.112420,0.986023]] 2025-10-28T22:21:58.160Z,1761690118.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337637,0.939737,0.053816],[-0.937841,0.340735,-0.065990],[-0.080350,-0.028190,0.996368]] 2025-10-28T22:21:58.554Z,1761690118.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289521,0.957127,-0.009257],[-0.956938,0.289224,-0.024873],[-0.021129,0.016060,0.999648]] 2025-10-28T22:21:58.959Z,1761690118.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333745,0.942663,0.000444],[-0.942513,0.333684,0.018006],[0.016825,-0.006428,0.999838]] 2025-10-28T22:21:59.364Z,1761690119.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350563,0.934763,0.057651],[-0.935972,0.347544,0.056306],[0.032596,-0.073698,0.996748]] 2025-10-28T22:21:59.781Z,1761690119.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254302,0.957647,0.135065],[-0.966145,0.245271,0.080035],[0.043518,-0.150845,0.987599]] 2025-10-28T22:22:00.171Z,1761690120.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231839,0.951088,0.204161],[-0.971975,0.218098,0.087733],[0.038915,-0.218780,0.974998]] 2025-10-28T22:22:00.575Z,1761690120.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307212,0.935091,0.176709],[-0.951394,0.306020,0.034654],[-0.021672,-0.178766,0.983653]] 2025-10-28T22:22:00.981Z,1761690120.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327434,0.936065,0.128722],[-0.938761,0.337754,-0.068194],[-0.107311,-0.098510,0.989333]] 2025-10-28T22:22:01.383Z,1761690121.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293209,0.951825,0.089769],[-0.953416,0.298073,-0.046375],[-0.070899,-0.071989,0.994882]] 2025-10-28T22:22:01.786Z,1761690121.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288982,0.951772,0.103056],[-0.955163,0.279404,0.097968],[0.064449,-0.126746,0.989839]] 2025-10-28T22:22:02.191Z,1761690122.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323934,0.938545,0.119161],[-0.927953,0.290660,0.233281],[0.184310,-0.186144,0.965081]] 2025-10-28T22:22:02.596Z,1761690122.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341581,0.933712,0.107254],[-0.913678,0.303154,0.270723],[0.220263,-0.190470,0.956664]] 2025-10-28T22:22:02.998Z,1761690122.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350791,0.928534,0.121532],[-0.928269,0.327663,0.175939],[0.123544,-0.174532,0.976870]] 2025-10-28T22:22:03.068Z,1761690123.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:22:03.403Z,1761690123.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355244,0.925173,0.133632],[-0.934751,0.352582,0.043890],[-0.006510,-0.140505,0.990059]] 2025-10-28T22:22:03.807Z,1761690123.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337259,0.931868,0.133709],[-0.940328,0.340268,0.000369],[-0.045153,-0.125855,0.991021]] 2025-10-28T22:22:04.072Z,1761690124.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:22:04.212Z,1761690124.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342305,0.934524,0.097433],[-0.939477,0.338814,0.050878],[0.014535,-0.108952,0.993941]] 2025-10-28T22:22:04.615Z,1761690124.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382867,0.922756,0.043970],[-0.919852,0.376400,0.110435],[0.085354,-0.082728,0.992910]] 2025-10-28T22:22:05.019Z,1761690125.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418721,0.908032,-0.012266],[-0.902328,0.417537,0.107084],[0.102357,-0.033770,0.994174]] 2025-10-28T22:22:05.422Z,1761690125.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427823,0.903862,-0.000412],[-0.902917,0.427396,0.045542],[0.041340,-0.019112,0.998962]] 2025-10-28T22:22:05.828Z,1761690125.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401415,0.910951,0.095044],[-0.915424,0.402372,0.009717],[-0.029391,-0.090906,0.995426]] 2025-10-28T22:22:05.833Z,1761690125.833 [NAL9602](INFO): SBD MO Status=0, MOMSN=3375, MT Status=0, MTMSN=0 2025-10-28T22:22:05.917Z,1761690125.917 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T22:22:05.917Z,1761690125.917 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T22:22:05.918Z,1761690125.918 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:22:06.231Z,1761690126.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361971,0.902123,0.234843],[-0.928944,0.370079,0.010195],[-0.077713,-0.221847,0.971980]] 2025-10-28T22:22:06.634Z,1761690126.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411112,0.862232,0.295878],[-0.906995,0.419426,0.037970],[-0.091360,-0.283970,0.954471]] 2025-10-28T22:22:07.038Z,1761690127.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437108,0.875802,0.204715],[-0.898861,0.433320,0.065441],[-0.031394,-0.212615,0.976632]] 2025-10-28T22:22:07.443Z,1761690127.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417714,0.906724,0.058025],[-0.905709,0.410473,0.105844],[0.072154,-0.096766,0.992688]] 2025-10-28T22:22:07.848Z,1761690127.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439983,0.897381,-0.033498],[-0.893060,0.441164,0.088421],[0.094126,-0.008988,0.995520]] 2025-10-28T22:22:08.251Z,1761690128.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473089,0.878981,-0.059834],[-0.878125,0.475944,0.048718],[0.071299,0.029494,0.997019]] 2025-10-28T22:22:08.654Z,1761690128.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445374,0.894815,-0.030778],[-0.894676,0.446107,0.023317],[0.034595,0.017151,0.999254]] 2025-10-28T22:22:09.058Z,1761690129.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419697,0.905330,0.065056],[-0.907183,0.416061,0.062557],[0.029568,-0.085272,0.995919]] 2025-10-28T22:22:09.463Z,1761690129.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412951,0.900435,0.136705],[-0.908387,0.396398,0.133049],[0.065612,-0.179124,0.981636]] 2025-10-28T22:22:09.866Z,1761690129.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430905,0.891046,0.142681],[-0.894148,0.400265,0.200718],[0.121739,-0.214069,0.969203]] 2025-10-28T22:22:10.270Z,1761690130.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484116,0.871770,0.075161],[-0.857191,0.455263,0.240748],[0.175659,-0.180977,0.967673]] 2025-10-28T22:22:10.676Z,1761690130.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498362,0.866968,0.001117],[-0.851173,0.489037,0.190648],[0.164739,-0.095963,0.981658]] 2025-10-28T22:22:11.084Z,1761690131.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496985,0.866435,-0.047918],[-0.855037,0.498373,0.143305],[0.148045,-0.030249,0.988518]] 2025-10-28T22:22:11.483Z,1761690131.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486672,0.871620,-0.058557],[-0.861047,0.489924,0.136279],[0.147472,-0.015903,0.988938]] 2025-10-28T22:22:11.887Z,1761690131.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484666,0.874124,-0.031730],[-0.861824,0.483418,0.153510],[0.149526,-0.047055,0.987638]] 2025-10-28T22:22:12.291Z,1761690132.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511798,0.859030,-0.011412],[-0.832281,0.499067,0.241330],[0.213005,-0.114015,0.970376]] 2025-10-28T22:22:12.696Z,1761690132.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531915,0.844247,-0.065677],[-0.795375,0.524724,0.303386],[0.290595,-0.109138,0.950602]] 2025-10-28T22:22:13.129Z,1761690133.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539082,0.839266,-0.070878],[-0.812203,0.540283,0.220047],[0.222972,-0.061056,0.972911]] 2025-10-28T22:22:13.503Z,1761690133.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534167,0.845279,0.012993],[-0.842185,0.530752,0.095009],[0.073413,-0.061693,0.995392]] 2025-10-28T22:22:13.906Z,1761690133.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543108,0.836637,0.071221],[-0.839473,0.539226,0.067235],[0.017847,-0.096304,0.995192]] 2025-10-28T22:22:14.313Z,1761690134.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577946,0.815241,0.036898],[-0.813441,0.571860,0.106256],[0.065524,-0.091425,0.993654]] 2025-10-28T22:22:14.714Z,1761690134.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612318,0.790606,0.003031],[-0.784603,0.607188,0.125379],[0.097285,-0.079150,0.992104]] 2025-10-28T22:22:15.158Z,1761690135.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608099,0.793724,0.014727],[-0.791073,0.604306,0.094959],[0.066472,-0.069395,0.995372]] 2025-10-28T22:22:15.523Z,1761690135.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576327,0.815800,0.048129],[-0.815698,0.570665,0.094754],[0.049835,-0.093868,0.994337]] 2025-10-28T22:22:15.929Z,1761690135.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586685,0.803612,0.100044],[-0.809606,0.579232,0.095013],[0.018405,-0.136740,0.990436]] 2025-10-28T22:22:16.331Z,1761690136.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640665,0.758412,0.119832],[-0.767685,0.635633,0.081423],[-0.014417,-0.144158,0.989450]] 2025-10-28T22:22:16.735Z,1761690136.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640571,0.762548,0.090492],[-0.767656,0.638871,0.050480],[-0.019319,-0.101803,0.994617]] 2025-10-28T22:22:17.163Z,1761690137.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603636,0.793843,0.073731],[-0.797190,0.599768,0.069039],[0.010585,-0.100452,0.994886]] 2025-10-28T22:22:17.544Z,1761690137.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624265,0.778748,0.062013],[-0.781111,0.620930,0.065662],[0.012628,-0.089430,0.995913]] 2025-10-28T22:22:17.947Z,1761690137.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640915,0.764799,0.065649],[-0.767599,0.639057,0.048978],[-0.004495,-0.081783,0.996640]] 2025-10-28T22:22:18.351Z,1761690138.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643278,0.764559,0.040542],[-0.764803,0.639215,0.080506],[0.035637,-0.082794,0.995929]] 2025-10-28T22:22:18.755Z,1761690138.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673240,0.739421,-0.002245],[-0.735635,0.670094,0.099076],[0.074763,-0.065050,0.995077]] 2025-10-28T22:22:19.169Z,1761690139.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708064,0.705702,-0.025107],[-0.703256,0.707932,0.065287],[0.063847,-0.028571,0.997551]] 2025-10-28T22:22:19.562Z,1761690139.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678837,0.733355,-0.037023],[-0.727966,0.678739,0.096846],[0.096151,-0.038791,0.994611]] 2025-10-28T22:22:19.994Z,1761690139.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658273,0.751329,0.046710],[-0.743313,0.638933,0.198116],[0.119006,-0.165135,0.979065]] 2025-10-28T22:22:20.370Z,1761690140.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707005,0.692971,0.141192],[-0.705082,0.675217,0.216661],[0.054805,-0.252732,0.965983]] 2025-10-28T22:22:20.774Z,1761690140.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728413,0.667882,0.152801],[-0.685112,0.711974,0.153996],[-0.005939,-0.216858,0.976185]] 2025-10-28T22:22:21.178Z,1761690141.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732891,0.673970,0.092932],[-0.680345,0.725768,0.101933],[0.001253,-0.137932,0.990441]] 2025-10-28T22:22:21.584Z,1761690141.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734688,0.677113,0.041860],[-0.677849,0.735185,0.004868],[-0.027479,-0.031952,0.999112]] 2025-10-28T22:22:21.986Z,1761690141.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728234,0.683900,0.044223],[-0.680250,0.729172,-0.074624],[-0.083281,0.024261,0.996231]] 2025-10-28T22:22:22.390Z,1761690142.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735236,0.677345,-0.025116],[-0.677475,0.735533,0.004204],[0.021321,0.013925,0.999676]] 2025-10-28T22:22:22.794Z,1761690142.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740596,0.671593,-0.021930],[-0.663406,0.735976,0.135026],[0.106822,-0.085451,0.990599]] 2025-10-28T22:22:23.199Z,1761690143.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749033,0.656906,0.086162],[-0.661530,0.734398,0.151782],[0.036430,-0.170689,0.984651]] 2025-10-28T22:22:23.603Z,1761690143.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751431,0.654858,0.080704],[-0.659501,0.741683,0.122329],[0.020251,-0.145146,0.989203]] 2025-10-28T22:22:24.007Z,1761690144.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749082,0.662407,0.009605],[-0.661181,0.746632,0.073345],[0.041412,-0.061292,0.997260]] 2025-10-28T22:22:24.411Z,1761690144.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768271,0.633077,-0.094725],[-0.632756,0.773455,0.037242],[0.096843,0.031326,0.994807]] 2025-10-28T22:22:24.818Z,1761690144.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784339,0.601694,-0.150917],[-0.607517,0.794253,0.009262],[0.125439,0.084420,0.988503]] 2025-10-28T22:22:25.219Z,1761690145.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777532,0.618438,-0.113921],[-0.618689,0.784744,0.037440],[0.112553,0.041371,0.992784]] 2025-10-28T22:22:25.622Z,1761690145.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777337,0.627886,-0.038812],[-0.619659,0.774872,0.124883],[0.108486,-0.073026,0.991412]] 2025-10-28T22:22:26.026Z,1761690146.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778877,0.626891,-0.018925],[-0.605025,0.758975,0.240627],[0.165210,-0.175969,0.970433]] 2025-10-28T22:22:26.439Z,1761690146.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800449,0.596863,-0.055103],[-0.564258,0.781342,0.266677],[0.202224,-0.182369,0.962210]] 2025-10-28T22:22:26.839Z,1761690146.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798398,0.596043,-0.085402],[-0.575571,0.797126,0.182504],[0.176857,-0.096556,0.979489]] 2025-10-28T22:22:27.244Z,1761690147.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800076,0.585728,-0.129615],[-0.572564,0.810061,0.126383],[0.179022,-0.026903,0.983477]] 2025-10-28T22:22:27.647Z,1761690147.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812159,0.564243,-0.148415],[-0.560516,0.825187,0.069923],[0.161923,0.026400,0.986450]] 2025-10-28T22:22:28.051Z,1761690148.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820182,0.552112,-0.149912],[-0.551655,0.832663,0.048465],[0.151585,0.042949,0.987511]] 2025-10-28T22:22:28.451Z,1761690148.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833051,0.537022,-0.132792],[-0.534321,0.843270,0.058278],[0.143276,0.022405,0.989429]] 2025-10-28T22:22:28.854Z,1761690148.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838557,0.538202,-0.084624],[-0.532609,0.842515,0.080596],[0.114674,-0.022513,0.993148]] 2025-10-28T22:22:29.259Z,1761690149.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828558,0.559234,-0.027373],[-0.553137,0.825143,0.114794],[0.086783,-0.079972,0.993012]] 2025-10-28T22:22:29.664Z,1761690149.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823770,0.566923,-0.000668],[-0.560734,0.814950,0.146403],[0.083544,-0.120228,0.989225]] 2025-10-28T22:22:30.066Z,1761690150.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833933,0.551726,-0.012423],[-0.544596,0.826379,0.143221],[0.089285,-0.112671,0.989613]] 2025-10-28T22:22:30.471Z,1761690150.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842397,0.535169,-0.062946],[-0.529099,0.843609,0.091535],[0.102088,-0.043804,0.993810]] 2025-10-28T22:22:30.875Z,1761690150.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849970,0.518903,-0.091058],[-0.519408,0.854294,0.019930],[0.088132,0.030356,0.995646]] 2025-10-28T22:22:31.282Z,1761690151.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848682,0.523400,-0.076100],[-0.527449,0.848203,-0.048459],[0.039185,0.081265,0.995922]] 2025-10-28T22:22:31.683Z,1761690151.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844705,0.534743,-0.022879],[-0.535198,0.844361,-0.024838],[0.006036,0.033226,0.999430]] 2025-10-28T22:22:32.086Z,1761690152.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843108,0.536571,0.035494],[-0.537743,0.841219,0.056408],[0.000409,-0.066644,0.997777]] 2025-10-28T22:22:32.491Z,1761690152.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861092,0.505684,0.052950],[-0.508166,0.852457,0.122817],[0.016969,-0.132664,0.991016]] 2025-10-28T22:22:32.896Z,1761690152.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871329,0.490101,0.024241],[-0.489357,0.864231,0.116771],[0.036280,-0.113609,0.992863]] 2025-10-28T22:22:33.300Z,1761690153.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870168,0.492341,0.020209],[-0.492264,0.866739,0.080252],[0.021995,-0.079781,0.996570]] 2025-10-28T22:22:33.703Z,1761690153.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852789,0.520395,0.044050],[-0.522198,0.850906,0.057158],[-0.007737,-0.071747,0.997393]] 2025-10-28T22:22:34.107Z,1761690154.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847748,0.529409,0.032400],[-0.530369,0.845461,0.062490],[0.005690,-0.070160,0.997520]] 2025-10-28T22:22:34.208Z,1761690154.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:22:34.513Z,1761690154.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851131,0.520140,-0.070925],[-0.518313,0.854081,0.043565],[0.083235,-0.000319,0.996530]] 2025-10-28T22:22:34.915Z,1761690154.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850516,0.521577,-0.067679],[-0.524476,0.850708,-0.034954],[0.039344,0.065225,0.997095]] 2025-10-28T22:22:35.212Z,1761690155.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:22:35.319Z,1761690155.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845566,0.533419,-0.021962],[-0.533823,0.844224,-0.048161],[-0.007149,0.052447,0.998598]] 2025-10-28T22:22:35.722Z,1761690155.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851315,0.520916,-0.062520],[-0.521188,0.853340,0.013171],[0.060212,0.021372,0.997957]] 2025-10-28T22:22:36.128Z,1761690156.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855140,0.513220,-0.073084],[-0.508286,0.857795,0.076375],[0.101888,-0.028163,0.994397]] 2025-10-28T22:22:36.531Z,1761690156.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840899,0.541182,-0.003382],[-0.537204,0.835443,0.115959],[0.065580,-0.095693,0.993248]] 2025-10-28T22:22:36.539Z,1761690156.539 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:22:36.934Z,1761690156.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825028,0.564455,0.026825],[-0.561677,0.813906,0.148584],[0.062036,-0.137653,0.988536]] 2025-10-28T22:22:37.339Z,1761690157.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828560,0.559884,0.004349],[-0.552458,0.816258,0.168860],[0.090992,-0.142313,0.985630]] 2025-10-28T22:22:37.744Z,1761690157.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832814,0.552391,-0.035842],[-0.548410,0.832152,0.082275],[0.075274,-0.048864,0.995965]] 2025-10-28T22:22:38.146Z,1761690158.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827677,0.560960,-0.016573],[-0.561146,0.826801,-0.038943],[-0.008143,0.041532,0.999104]] 2025-10-28T22:22:38.552Z,1761690158.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837971,0.545704,-0.003452],[-0.542783,0.832796,-0.108800],[-0.056498,0.093045,0.994058]] 2025-10-28T22:22:38.955Z,1761690158.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847715,0.526536,-0.064343],[-0.530405,0.839757,-0.116095],[-0.007095,0.132544,0.991152]] 2025-10-28T22:22:39.359Z,1761690159.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831133,0.549540,-0.084997],[-0.555426,0.827786,-0.079199],[0.026836,0.113034,0.993229]] 2025-10-28T22:22:39.763Z,1761690159.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810412,0.585647,-0.015804],[-0.585721,0.810513,-0.000073],[0.012766,0.009316,0.999875]] 2025-10-28T22:22:40.166Z,1761690160.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817215,0.574241,0.049066],[-0.576328,0.813861,0.074006],[0.002565,-0.088757,0.996050]] 2025-10-28T22:22:40.571Z,1761690160.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824327,0.559319,0.087445],[-0.565592,0.820314,0.084803],[-0.024300,-0.119364,0.992553]] 2025-10-28T22:22:40.977Z,1761690160.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819218,0.569079,0.070938],[-0.573164,0.816599,0.068187],[-0.019124,-0.096519,0.995147]] 2025-10-28T22:22:41.378Z,1761690161.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806914,0.590646,0.005160],[-0.586529,0.800195,0.125189],[0.069814,-0.104043,0.992119]] 2025-10-28T22:22:41.782Z,1761690161.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788999,0.613249,-0.037507],[-0.600647,0.782747,0.162879],[0.129244,-0.105982,0.985933]] 2025-10-28T22:22:42.186Z,1761690162.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760048,0.649867,-0.000661],[-0.640264,0.748990,0.170514],[0.111307,-0.129175,0.985355]] 2025-10-28T22:22:42.592Z,1761690162.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763539,0.642067,0.068970],[-0.643056,0.746225,0.172124],[0.059048,-0.175775,0.982658]] 2025-10-28T22:22:42.994Z,1761690162.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794880,0.603511,0.062768],[-0.606252,0.785685,0.123117],[0.024987,-0.135916,0.990405]] 2025-10-28T22:22:43.399Z,1761690163.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784354,0.619323,-0.035036],[-0.615573,0.784087,0.079239],[0.076546,-0.040584,0.996240]] 2025-10-28T22:22:43.802Z,1761690163.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764718,0.638283,-0.088321],[-0.632710,0.769751,0.084627],[0.122002,-0.008834,0.992491]] 2025-10-28T22:22:44.208Z,1761690164.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755242,0.655442,-0.002326],[-0.652678,0.752373,0.089148],[0.060181,-0.065810,0.996016]] 2025-10-28T22:22:44.612Z,1761690164.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747123,0.662936,0.048193],[-0.662979,0.738052,0.125447],[0.047595,-0.125676,0.990929]] 2025-10-28T22:22:45.014Z,1761690165.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735361,0.677106,0.027781],[-0.672997,0.724861,0.147145],[0.079496,-0.126901,0.988725]] 2025-10-28T22:22:45.418Z,1761690165.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731462,0.679166,0.060795],[-0.680808,0.732404,0.009228],[-0.038259,-0.048139,0.998108]] 2025-10-28T22:22:45.825Z,1761690165.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751117,0.658620,0.045205],[-0.652640,0.751119,-0.099399],[-0.099421,0.045158,0.994020]] 2025-10-28T22:22:46.227Z,1761690166.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788104,0.612680,-0.059291],[-0.615495,0.783198,-0.088123],[-0.007554,0.105944,0.994343]] 2025-10-28T22:22:46.631Z,1761690166.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796434,0.571186,-0.198595],[-0.583161,0.812353,-0.002239],[0.160050,0.117596,0.980079]] 2025-10-28T22:22:47.034Z,1761690167.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756987,0.621820,-0.200775],[-0.627244,0.777611,0.043421],[0.183125,0.093066,0.978675]] 2025-10-28T22:22:47.440Z,1761690167.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712495,0.699817,-0.051049],[-0.697222,0.714281,0.060695],[0.078939,-0.007653,0.996850]] 2025-10-28T22:22:47.843Z,1761690167.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698315,0.711354,0.079569],[-0.715757,0.692884,0.087201],[0.006899,-0.117846,0.993008]] 2025-10-28T22:22:48.247Z,1761690168.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716563,0.689746,0.103864],[-0.697102,0.713317,0.072299],[-0.024220,-0.124210,0.991960]] 2025-10-28T22:22:48.651Z,1761690168.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725170,0.688474,0.011498],[-0.688562,0.725140,0.007376],[-0.003259,-0.013266,0.999907]] 2025-10-28T22:22:49.055Z,1761690169.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706629,0.696855,-0.122753],[-0.703494,0.710517,-0.016144],[0.075968,0.097764,0.992306]] 2025-10-28T22:22:49.459Z,1761690169.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682659,0.714461,-0.153369],[-0.725555,0.687672,-0.026026],[0.086873,0.129044,0.987826]] 2025-10-28T22:22:49.863Z,1761690169.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663066,0.747848,-0.032669],[-0.748422,0.661469,-0.048201],[-0.014437,0.056411,0.998303]] 2025-10-28T22:22:50.267Z,1761690170.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622820,0.775926,0.100169],[-0.781721,0.622381,0.039427],[-0.031751,-0.102860,0.994189]] 2025-10-28T22:22:50.674Z,1761690170.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605824,0.772108,0.191903],[-0.795035,0.578444,0.182543],[0.029938,-0.263159,0.964288]] 2025-10-28T22:22:51.078Z,1761690171.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612703,0.753888,0.237166],[-0.788813,0.564877,0.242255],[0.048664,-0.335510,0.940779]] 2025-10-28T22:22:51.479Z,1761690171.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608197,0.768629,0.198257],[-0.789807,0.560992,0.247977],[0.079382,-0.307403,0.948262]] 2025-10-28T22:22:51.882Z,1761690171.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622553,0.775869,0.102249],[-0.777500,0.598352,0.193569],[0.089003,-0.200005,0.975744]] 2025-10-28T22:22:52.288Z,1761690172.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639167,0.767589,0.047675],[-0.768825,0.636176,0.064714],[0.019344,-0.078017,0.996764]] 2025-10-28T22:22:52.690Z,1761690172.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617691,0.785331,0.041387],[-0.786235,0.617833,0.010808],[-0.017082,-0.039216,0.999085]] 2025-10-28T22:22:53.104Z,1761690173.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611408,0.788467,0.067082],[-0.790905,0.611622,0.019713],[-0.025486,-0.065108,0.997553]] 2025-10-28T22:22:53.499Z,1761690173.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606361,0.789796,0.092455],[-0.795123,0.603698,0.057689],[-0.010252,-0.108494,0.994044]] 2025-10-28T22:22:53.904Z,1761690173.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612859,0.786770,0.073469],[-0.789187,0.604738,0.107129],[0.039856,-0.123636,0.991527]] 2025-10-28T22:22:54.307Z,1761690174.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606575,0.795013,-0.004567],[-0.787555,0.601650,0.133324],[0.108742,-0.077275,0.991062]] 2025-10-28T22:22:54.711Z,1761690174.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615989,0.787582,-0.016498],[-0.783519,0.614711,0.090709],[0.081583,-0.042949,0.995741]] 2025-10-28T22:22:55.151Z,1761690175.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634537,0.771142,0.051987],[-0.772612,0.634681,0.015808],[-0.020805,-0.050197,0.998523]] 2025-10-28T22:22:55.521Z,1761690175.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626568,0.773768,0.093250],[-0.774853,0.631323,-0.032161],[-0.083756,-0.052104,0.995123]] 2025-10-28T22:22:55.923Z,1761690175.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616902,0.784395,0.064470],[-0.786738,0.616860,0.022941],[-0.021774,-0.064873,0.997656]] 2025-10-28T22:22:56.327Z,1761690176.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615942,0.784926,0.067123],[-0.784629,0.603612,0.141458],[0.070518,-0.139796,0.987666]] 2025-10-28T22:22:56.731Z,1761690176.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659350,0.737467,0.146287],[-0.751360,0.639416,0.163111],[0.026751,-0.217462,0.975702]] 2025-10-28T22:22:57.183Z,1761690177.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673759,0.719368,0.168992],[-0.738229,0.665370,0.110905],[-0.032661,-0.199479,0.979358]] 2025-10-28T22:22:57.539Z,1761690177.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655605,0.745838,0.117930],[-0.755104,0.647705,0.101471],[-0.000703,-0.155575,0.987824]] 2025-10-28T22:22:57.943Z,1761690177.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641771,0.762067,0.085933],[-0.766667,0.634799,0.096185],[0.018749,-0.127611,0.991647]] 2025-10-28T22:22:58.347Z,1761690178.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633350,0.768906,0.087472],[-0.773849,0.628527,0.078182],[0.005137,-0.117206,0.993094]] 2025-10-28T22:22:58.753Z,1761690178.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668576,0.743337,0.021370],[-0.743219,0.666947,0.052983],[0.025131,-0.051306,0.998367]] 2025-10-28T22:22:59.167Z,1761690179.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678781,0.733003,-0.044303],[-0.732664,0.680072,0.026551],[0.049592,0.014437,0.998665]] 2025-10-28T22:22:59.559Z,1761690179.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659045,0.750071,-0.055249],[-0.749246,0.661165,0.038624],[0.065499,0.015940,0.997725]] 2025-10-28T22:22:59.963Z,1761690179.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649005,0.760625,0.015536],[-0.759494,0.646582,0.071418],[0.044277,-0.058150,0.997325]] 2025-10-28T22:23:00.369Z,1761690180.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672047,0.734860,0.091290],[-0.740502,0.666375,0.087192],[0.003240,-0.126197,0.992000]] 2025-10-28T22:23:00.772Z,1761690180.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668329,0.736465,0.104670],[-0.743866,0.661833,0.092953],[-0.000818,-0.139984,0.990153]] 2025-10-28T22:23:01.174Z,1761690181.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688245,0.723125,0.058376],[-0.724884,0.682197,0.095657],[0.029349,-0.108151,0.993701]] 2025-10-28T22:23:01.579Z,1761690181.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683953,0.726743,-0.063662],[-0.718479,0.686155,0.113923],[0.126475,-0.032178,0.991448]] 2025-10-28T22:23:01.984Z,1761690181.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654874,0.750523,-0.088631],[-0.739193,0.660522,0.131545],[0.157270,-0.020630,0.987340]] 2025-10-28T22:23:02.386Z,1761690182.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664140,0.747458,-0.015029],[-0.740439,0.660415,0.124912],[0.103291,-0.071831,0.992054]] 2025-10-28T22:23:02.792Z,1761690182.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663962,0.746766,0.038661],[-0.742110,0.651710,0.156675],[0.091804,-0.132717,0.986893]] 2025-10-28T22:23:03.194Z,1761690183.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637784,0.766343,0.077135],[-0.765335,0.619301,0.175298],[0.086569,-0.170836,0.981489]] 2025-10-28T22:23:03.599Z,1761690183.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629591,0.770485,0.099841],[-0.775854,0.616758,0.132893],[0.040814,-0.161130,0.986089]] 2025-10-28T22:23:04.002Z,1761690184.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641837,0.764667,0.057700],[-0.766548,0.637694,0.075837],[0.021196,-0.092905,0.995449]] 2025-10-28T22:23:04.408Z,1761690184.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670700,0.740204,-0.047531],[-0.740995,0.671509,0.001448],[0.032989,0.034249,0.998869]] 2025-10-28T22:23:04.832Z,1761690184.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657611,0.744061,-0.117988],[-0.753298,0.651417,-0.090541],[0.009491,0.148421,0.988879]] 2025-10-28T22:23:05.214Z,1761690185.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645006,0.758455,-0.093344],[-0.764100,0.638370,-0.092925],[-0.010892,0.131262,0.991288]] 2025-10-28T22:23:05.333Z,1761690185.333 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:23:05.618Z,1761690185.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626666,0.778183,-0.041481],[-0.779068,0.626865,-0.009640],[0.018502,0.038358,0.999093]] 2025-10-28T22:23:06.023Z,1761690186.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626153,0.777643,0.056599],[-0.779608,0.623310,0.060802],[0.012004,-0.082196,0.996544]] 2025-10-28T22:23:06.336Z,1761690186.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:23:06.426Z,1761690186.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633076,0.768583,0.092172],[-0.772769,0.620547,0.133225],[0.045198,-0.155569,0.986790]] 2025-10-28T22:23:06.831Z,1761690186.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627426,0.775107,0.074475],[-0.774939,0.612192,0.157133],[0.076202,-0.156302,0.984765]] 2025-10-28T22:23:07.235Z,1761690187.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624810,0.774262,0.100650],[-0.780626,0.622011,0.061034],[-0.015350,-0.116705,0.993048]] 2025-10-28T22:23:07.641Z,1761690187.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634468,0.770174,0.065432],[-0.772339,0.635054,0.014100],[-0.030694,-0.059482,0.997757]] 2025-10-28T22:23:08.043Z,1761690188.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637061,0.769501,-0.044955],[-0.764526,0.638223,0.090401],[0.098255,-0.023221,0.994890]] 2025-10-28T22:23:08.446Z,1761690188.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614527,0.785670,-0.071263],[-0.774898,0.618097,0.132244],[0.147947,-0.026046,0.988652]] 2025-10-28T22:23:08.851Z,1761690188.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602222,0.798258,0.010598],[-0.795216,0.598650,0.096172],[0.070426,-0.066345,0.995308]] 2025-10-28T22:23:09.256Z,1761690189.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619789,0.782163,0.063892],[-0.784765,0.617965,0.047567],[-0.002278,-0.079622,0.996823]] 2025-10-28T22:23:09.659Z,1761690189.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636291,0.770458,0.039106],[-0.771445,0.635292,0.035734],[0.002688,-0.052906,0.998596]] 2025-10-28T22:23:10.063Z,1761690190.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646739,0.762710,-0.001288],[-0.762399,0.646522,0.027501],[0.021808,-0.016804,0.999621]] 2025-10-28T22:23:10.467Z,1761690190.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636926,0.770259,-0.032032],[-0.769151,0.637728,0.041334],[0.052266,-0.001689,0.998632]] 2025-10-28T22:23:10.874Z,1761690190.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585870,0.810392,-0.004676],[-0.808308,0.584759,0.068515],[0.058258,-0.036361,0.997639]] 2025-10-28T22:23:11.275Z,1761690191.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567717,0.819946,0.073390],[-0.820942,0.557257,0.124575],[0.061247,-0.130972,0.989492]] 2025-10-28T22:23:11.685Z,1761690191.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593974,0.783170,0.183953],[-0.804212,0.583992,0.110442],[-0.020932,-0.213537,0.976711]] 2025-10-28T22:23:12.087Z,1761690192.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600288,0.792536,0.107426],[-0.799713,0.593008,0.093808],[0.010642,-0.142222,0.989778]] 2025-10-28T22:23:12.494Z,1761690192.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600263,0.799553,-0.019987],[-0.792348,0.597887,0.121304],[0.108939,-0.056978,0.992414]] 2025-10-28T22:23:12.896Z,1761690192.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586210,0.805842,-0.083521],[-0.797494,0.592129,0.115703],[0.142694,-0.001219,0.989766]] 2025-10-28T22:23:13.298Z,1761690193.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559348,0.827396,-0.050453],[-0.821436,0.561428,0.100206],[0.111236,-0.014606,0.993687]] 2025-10-28T22:23:13.700Z,1761690193.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559619,0.827455,0.046300],[-0.825918,0.552222,0.113624],[0.068451,-0.101826,0.992444]] 2025-10-28T22:23:14.104Z,1761690194.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563372,0.819015,0.108746],[-0.824897,0.550191,0.129746],[0.046434,-0.162799,0.985566]] 2025-10-28T22:23:14.507Z,1761690194.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558678,0.825043,0.084752],[-0.826535,0.545381,0.139284],[0.068693,-0.147866,0.986619]] 2025-10-28T22:23:14.911Z,1761690194.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556462,0.826650,0.083668],[-0.829354,0.546534,0.116077],[0.050227,-0.133983,0.989710]] 2025-10-28T22:23:15.315Z,1761690195.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550803,0.822468,0.141998],[-0.832071,0.554431,0.016232],[-0.065377,-0.127093,0.989734]] 2025-10-28T22:23:15.720Z,1761690195.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522218,0.842132,0.134545],[-0.850874,0.525136,0.015671],[-0.057458,-0.122665,0.990784]] 2025-10-28T22:23:16.122Z,1761690196.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533282,0.839768,0.101979],[-0.845558,0.525545,0.093987],[0.025333,-0.136351,0.990337]] 2025-10-28T22:23:16.526Z,1761690196.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559512,0.824425,0.085261],[-0.827711,0.550472,0.108975],[0.042908,-0.131545,0.990381]] 2025-10-28T22:23:16.931Z,1761690196.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591462,0.802733,0.076108],[-0.806204,0.587043,0.073587],[0.014392,-0.104883,0.994380]] 2025-10-28T22:23:17.334Z,1761690197.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599887,0.795727,0.083391],[-0.799793,0.599217,0.035645],[-0.021606,-0.088078,0.995879]] 2025-10-28T22:23:17.739Z,1761690197.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572909,0.815042,0.086499],[-0.819498,0.571440,0.043353],[-0.014095,-0.095723,0.995308]] 2025-10-28T22:23:17.961Z,1761690197.961 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003349 2025-10-28T22:23:18.143Z,1761690198.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563448,0.820858,0.093371],[-0.826111,0.558694,0.073494],[0.008162,-0.118545,0.992915]] 2025-10-28T22:23:18.549Z,1761690198.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589651,0.804191,0.074754],[-0.807636,0.587785,0.047256],[-0.005937,-0.088239,0.996082]] 2025-10-28T22:23:18.950Z,1761690198.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612633,0.790344,-0.006036],[-0.788197,0.611499,0.069384],[0.058528,-0.037749,0.997572]] 2025-10-28T22:23:18.960Z,1761690198.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:23:19.354Z,1761690199.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600875,0.798485,-0.037019],[-0.793331,0.601385,0.094667],[0.097853,-0.027515,0.994820]] 2025-10-28T22:23:19.759Z,1761690199.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601240,0.798254,0.036072],[-0.798534,0.598575,0.063648],[0.029215,-0.067073,0.997320]] 2025-10-28T22:23:20.164Z,1761690200.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593009,0.801175,0.080363],[-0.805177,0.589362,0.065891],[0.005427,-0.103780,0.994585]] 2025-10-28T22:23:20.566Z,1761690200.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594788,0.802586,0.045641],[-0.801007,0.586908,0.118011],[0.067926,-0.106750,0.991963]] 2025-10-28T22:23:20.971Z,1761690200.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603944,0.795780,0.044555],[-0.794426,0.596520,0.114239],[0.064331,-0.104390,0.992454]] 2025-10-28T22:23:21.375Z,1761690201.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619450,0.783578,0.047816],[-0.784459,0.615511,0.075966],[0.030094,-0.084567,0.995963]] 2025-10-28T22:23:21.780Z,1761690201.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650244,0.759378,-0.022983],[-0.756278,0.649875,0.075536],[0.072296,-0.031735,0.996878]] 2025-10-28T22:23:22.183Z,1761690202.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643326,0.759740,-0.094481],[-0.753678,0.650160,0.096231],[0.134538,0.009301,0.990865]] 2025-10-28T22:23:22.586Z,1761690202.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614764,0.783614,-0.089519],[-0.775930,0.621244,0.109494],[0.141414,0.002147,0.989948]] 2025-10-28T22:23:22.991Z,1761690202.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629225,0.777054,-0.016230],[-0.768011,0.624837,0.140489],[0.119309,-0.075935,0.989949]] 2025-10-28T22:23:23.397Z,1761690203.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627844,0.777684,0.031934],[-0.770491,0.615179,0.167025],[0.110247,-0.129471,0.985435]] 2025-10-28T22:23:23.799Z,1761690203.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621791,0.782618,0.029744],[-0.772638,0.606765,0.186726],[0.128087,-0.139086,0.981962]] 2025-10-28T22:23:24.203Z,1761690204.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639008,0.768320,-0.036775],[-0.742019,0.628320,0.233714],[0.202674,-0.122058,0.971610]] 2025-10-28T22:23:24.608Z,1761690204.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644588,0.748947,-0.153576],[-0.709008,0.660744,0.246424],[0.286033,-0.049955,0.956917]] 2025-10-28T22:23:25.012Z,1761690205.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608031,0.769422,-0.195675],[-0.739814,0.638544,0.211983],[0.288052,0.015871,0.957483]] 2025-10-28T22:23:25.414Z,1761690205.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574314,0.811780,-0.105721],[-0.791511,0.583603,0.181435],[0.208984,-0.020522,0.977704]] 2025-10-28T22:23:25.819Z,1761690205.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577854,0.816043,-0.012608],[-0.803819,0.571736,0.164299],[0.141284,-0.084807,0.986330]] 2025-10-28T22:23:26.222Z,1761690206.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598640,0.799045,0.056190],[-0.798369,0.589490,0.122915],[0.065091,-0.118442,0.990825]] 2025-10-28T22:23:26.628Z,1761690206.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628459,0.774500,0.072039],[-0.775220,0.616048,0.139708],[0.063825,-0.143647,0.987569]] 2025-10-28T22:23:27.030Z,1761690207.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604322,0.796738,0.001760],[-0.781063,0.591993,0.198710],[0.157278,-0.121459,0.980057]] 2025-10-28T22:23:27.434Z,1761690207.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557480,0.829977,-0.018831],[-0.806687,0.546917,0.223915],[0.196143,-0.109638,0.974427]] 2025-10-28T22:23:27.839Z,1761690207.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581031,0.812999,0.037893],[-0.807133,0.569605,0.155202],[0.104595,-0.120762,0.987156]] 2025-10-28T22:23:28.245Z,1761690208.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586931,0.807701,0.055953],[-0.809564,0.584549,0.053923],[0.010846,-0.076946,0.996976]] 2025-10-28T22:23:28.646Z,1761690208.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533443,0.842070,0.079728],[-0.845699,0.532676,0.032389],[-0.015196,-0.084703,0.996290]] 2025-10-28T22:23:29.051Z,1761690209.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515019,0.844859,0.144807],[-0.857169,0.508424,0.082256],[-0.004129,-0.166487,0.986035]] 2025-10-28T22:23:29.454Z,1761690209.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550145,0.819962,0.158120],[-0.834679,0.534159,0.134104],[0.025499,-0.205756,0.978271]] 2025-10-28T22:23:29.862Z,1761690209.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558944,0.819641,0.125581],[-0.828892,0.548125,0.111791],[0.022795,-0.166578,0.985765]] 2025-10-28T22:23:30.262Z,1761690210.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541917,0.834658,0.098346],[-0.840308,0.540127,0.046325],[-0.014454,-0.107745,0.994073]] 2025-10-28T22:23:30.667Z,1761690210.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553774,0.830923,0.053861],[-0.832604,0.553370,0.023505],[-0.010275,-0.057861,0.998272]] 2025-10-28T22:23:31.071Z,1761690211.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595484,0.802598,-0.035131],[-0.800715,0.596501,0.055152],[0.065221,-0.004712,0.997860]] 2025-10-28T22:23:31.476Z,1761690211.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587440,0.800716,-0.117338],[-0.792473,0.598556,0.117122],[0.164015,0.024185,0.986161]] 2025-10-28T22:23:31.879Z,1761690211.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527746,0.845770,-0.078467],[-0.828376,0.532908,0.172634],[0.187824,-0.026106,0.981856]] 2025-10-28T22:23:32.282Z,1761690212.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485304,0.873324,0.042252],[-0.858707,0.466969,0.211098],[0.164626,-0.138728,0.976551]] 2025-10-28T22:23:32.686Z,1761690212.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504577,0.850506,0.148468],[-0.862230,0.487585,0.137183],[0.044284,-0.197233,0.979356]] 2025-10-28T22:23:33.107Z,1761690213.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506081,0.850856,0.141158],[-0.862331,0.502270,0.064107],[-0.016354,-0.154168,0.987909]] 2025-10-28T22:23:33.495Z,1761690213.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494733,0.864829,0.085501],[-0.868138,0.487323,0.094092],[0.039707,-0.120777,0.991885]] 2025-10-28T22:23:33.898Z,1761690213.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523006,0.851242,0.043043],[-0.848971,0.515801,0.114880],[0.075589,-0.096625,0.992446]] 2025-10-28T22:23:34.303Z,1761690214.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517966,0.855366,0.007721],[-0.854008,0.516586,0.061718],[0.048803,-0.038561,0.998064]] 2025-10-28T22:23:34.707Z,1761690214.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508045,0.860657,0.034064],[-0.861126,0.506665,0.041861],[0.018769,-0.050601,0.998543]] 2025-10-28T22:23:35.146Z,1761690215.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509015,0.860371,0.025815],[-0.859973,0.507041,0.057928],[0.036751,-0.051686,0.997987]] 2025-10-28T22:23:35.514Z,1761690215.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502798,0.863997,0.026532],[-0.863734,0.500964,0.054758],[0.034019,-0.050449,0.998147]] 2025-10-28T22:23:35.918Z,1761690215.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498721,0.862816,0.082616],[-0.866757,0.496791,0.043938],[-0.003132,-0.093521,0.995612]] 2025-10-28T22:23:36.325Z,1761690216.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480013,0.866962,0.134030],[-0.877261,0.474243,0.074203],[0.000768,-0.153198,0.988195]] 2025-10-28T22:23:36.727Z,1761690216.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510419,0.851076,0.123052],[-0.857154,0.492057,0.152208],[0.068992,-0.183164,0.980658]] 2025-10-28T22:23:37.160Z,1761690217.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532216,0.842489,0.083412],[-0.843705,0.519658,0.134602],[0.070056,-0.142012,0.987383]] 2025-10-28T22:23:37.535Z,1761690217.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533149,0.843934,0.059399],[-0.845094,0.527964,0.084082],[0.039599,-0.095026,0.994687]] 2025-10-28T22:23:37.941Z,1761690217.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517853,0.855016,0.027855],[-0.853784,0.514517,0.079529],[0.053667,-0.064966,0.996443]] 2025-10-28T22:23:38.344Z,1761690218.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515383,0.856618,0.024224],[-0.855930,0.513172,0.063550],[0.042007,-0.053486,0.997685]] 2025-10-28T22:23:38.747Z,1761690218.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535768,0.844309,0.009770],[-0.844365,0.535737,0.005831],[-0.000311,-0.011373,0.999935]] 2025-10-28T22:23:39.164Z,1761690219.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506402,0.862160,0.015399],[-0.861852,0.506633,-0.023118],[-0.027733,-0.001565,0.999614]] 2025-10-28T22:23:39.556Z,1761690219.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553651,0.831802,0.039697],[-0.832318,0.551203,0.058493],[0.026774,-0.065425,0.997498]] 2025-10-28T22:23:39.958Z,1761690219.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590753,0.806351,0.028429],[-0.804800,0.586373,0.091999],[0.057514,-0.077228,0.995353]] 2025-10-28T22:23:40.363Z,1761690220.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524623,0.850361,0.040703],[-0.848106,0.517876,0.111898],[0.074074,-0.093225,0.992886]] 2025-10-28T22:23:40.767Z,1761690220.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518002,0.846966,0.119679],[-0.855149,0.509519,0.095452],[0.019865,-0.151788,0.988213]] 2025-10-28T22:23:41.173Z,1761690221.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562913,0.814825,0.138523],[-0.825038,0.563979,0.035227],[-0.049420,-0.134117,0.989733]] 2025-10-28T22:23:41.574Z,1761690221.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582597,0.809904,0.068085],[-0.812743,0.579981,0.055412],[0.005391,-0.087619,0.996140]] 2025-10-28T22:23:41.979Z,1761690221.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553264,0.833006,0.000785],[-0.829818,0.551064,0.087925],[0.072809,-0.049297,0.996127]] 2025-10-28T22:23:42.384Z,1761690222.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533206,0.845051,0.039750],[-0.843918,0.528031,0.094794],[0.059116,-0.084091,0.994703]] 2025-10-28T22:23:42.789Z,1761690222.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532612,0.841530,0.090289],[-0.842825,0.517622,0.147355],[0.077268,-0.154581,0.984954]] 2025-10-28T22:23:43.191Z,1761690223.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582023,0.807408,0.096652],[-0.808122,0.561081,0.179238],[0.090489,-0.182427,0.979046]] 2025-10-28T22:23:43.595Z,1761690223.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594798,0.801163,0.065979],[-0.800487,0.582766,0.140014],[0.073724,-0.136095,0.987949]] 2025-10-28T22:23:43.999Z,1761690223.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543535,0.839383,-0.002471],[-0.823927,0.534085,0.189467],[0.160355,-0.100946,0.981884]] 2025-10-28T22:23:44.405Z,1761690224.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534721,0.844732,0.022383],[-0.828531,0.518889,0.210452],[0.166161,-0.131078,0.977348]] 2025-10-28T22:23:44.807Z,1761690224.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568037,0.815324,0.112163],[-0.822791,0.559500,0.099874],[0.018674,-0.149019,0.988658]] 2025-10-28T22:23:45.210Z,1761690225.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575512,0.805028,0.143932],[-0.814595,0.579863,0.013924],[-0.072252,-0.125260,0.989490]] 2025-10-28T22:23:45.616Z,1761690225.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606707,0.788657,0.099633],[-0.791342,0.611097,-0.018392],[-0.075390,-0.067685,0.994854]] 2025-10-28T22:23:46.018Z,1761690226.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614152,0.789149,0.007790],[-0.787811,0.613634,-0.052973],[-0.046584,0.026396,0.998566]] 2025-10-28T22:23:46.424Z,1761690226.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573690,0.819070,-0.002275],[-0.816307,0.571523,-0.083692],[-0.067249,0.049870,0.996489]] 2025-10-28T22:23:46.826Z,1761690226.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597597,0.801711,0.011758],[-0.799801,0.597079,-0.061763],[-0.056537,0.027506,0.998022]] 2025-10-28T22:23:47.231Z,1761690227.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599353,0.799662,-0.036292],[-0.799930,0.600009,0.010035],[0.029800,0.023016,0.999291]] 2025-10-28T22:23:47.635Z,1761690227.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581417,0.813193,-0.025908],[-0.811964,0.581972,0.044977],[0.051652,-0.005114,0.998652]] 2025-10-28T22:23:47.681Z,1761690227.681 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:23:48.038Z,1761690228.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592433,0.805152,0.027450],[-0.804506,0.589479,0.072699],[0.042352,-0.065153,0.996976]] 2025-10-28T22:23:48.444Z,1761690228.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585086,0.807572,0.074178],[-0.808574,0.573884,0.129863],[0.062304,-0.135959,0.988753]] 2025-10-28T22:23:48.849Z,1761690228.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578384,0.805063,0.131700],[-0.812757,0.554844,0.177688],[0.069977,-0.209812,0.975234]] 2025-10-28T22:23:49.250Z,1761690229.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589669,0.795459,0.139771],[-0.806023,0.568642,0.164232],[0.051160,-0.209501,0.976469]] 2025-10-28T22:23:49.655Z,1761690229.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566466,0.820367,0.078192],[-0.820029,0.551731,0.152138],[0.081668,-0.150300,0.985261]] 2025-10-28T22:23:50.060Z,1761690230.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556035,0.830188,0.040169],[-0.822358,0.542490,0.171558],[0.120634,-0.128425,0.984355]] 2025-10-28T22:23:50.067Z,1761690230.067 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:23:50.465Z,1761690230.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598527,0.799295,0.053788],[-0.798602,0.590012,0.118827],[0.063242,-0.114077,0.991457]] 2025-10-28T22:23:50.867Z,1761690230.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613496,0.788264,0.047557],[-0.789577,0.611234,0.054419],[0.013828,-0.070936,0.997385]] 2025-10-28T22:23:51.270Z,1761690231.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558179,0.829601,0.014096],[-0.824494,0.552680,0.121470],[0.092981,-0.079424,0.992495]] 2025-10-28T22:23:51.675Z,1761690231.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549423,0.833594,0.057065],[-0.825411,0.530887,0.191977],[0.129736,-0.152579,0.979739]] 2025-10-28T22:23:52.080Z,1761690232.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623096,0.767502,0.150642],[-0.781521,0.603247,0.159116],[0.031247,-0.216875,0.975699]] 2025-10-28T22:23:52.487Z,1761690232.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649702,0.741081,0.169368],[-0.759258,0.643616,0.096360],[-0.037598,-0.191199,0.980831]] 2025-10-28T22:23:52.887Z,1761690232.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639078,0.761811,0.105943],[-0.769070,0.634813,0.074452],[-0.010535,-0.129059,0.991581]] 2025-10-28T22:23:53.291Z,1761690233.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660706,0.748961,0.050241],[-0.750123,0.656271,0.081385],[0.027983,-0.091459,0.995416]] 2025-10-28T22:23:53.695Z,1761690233.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688859,0.723783,0.040142],[-0.724683,0.688940,0.013997],[-0.017525,-0.038732,0.999096]] 2025-10-28T22:23:54.100Z,1761690234.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697429,0.716597,0.009073],[-0.715979,0.697266,-0.034564],[-0.031094,0.017610,0.999361]] 2025-10-28T22:23:54.502Z,1761690234.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708279,0.704291,-0.048121],[-0.705184,0.709021,-0.002280],[0.032513,0.035548,0.998839]] 2025-10-28T22:23:54.907Z,1761690234.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723120,0.682662,-0.105216],[-0.675216,0.730733,0.100564],[0.145536,-0.001677,0.989352]] 2025-10-28T22:23:55.311Z,1761690235.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737208,0.668151,-0.100492],[-0.648412,0.741419,0.172801],[0.189964,-0.062229,0.979817]] 2025-10-28T22:23:55.716Z,1761690235.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744741,0.667107,-0.018135],[-0.660797,0.740952,0.119740],[0.093317,-0.077192,0.992640]] 2025-10-28T22:23:56.118Z,1761690236.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736789,0.670936,0.083592],[-0.675044,0.736950,0.034918],[-0.038176,-0.082156,0.995888]] 2025-10-28T22:23:56.268Z,1761690236.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:23:56.522Z,1761690236.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758354,0.647186,0.077778],[-0.650866,0.758338,0.036016],[-0.035673,-0.077936,0.996320]] 2025-10-28T22:23:56.932Z,1761690236.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779884,0.625620,0.019524],[-0.625330,0.777404,0.067863],[0.027278,-0.065134,0.997504]] 2025-10-28T22:23:57.339Z,1761690237.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764002,0.645159,0.008436],[-0.642471,0.759484,0.102050],[0.059431,-0.083386,0.994744]] 2025-10-28T22:23:57.739Z,1761690237.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769129,0.638751,0.020928],[-0.638050,0.765592,0.082226],[0.036499,-0.076596,0.996394]] 2025-10-28T22:23:58.143Z,1761690238.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769661,0.637736,0.030243],[-0.638340,0.767769,0.055253],[0.012018,-0.061831,0.998014]] 2025-10-28T22:23:58.547Z,1761690238.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773215,0.634077,-0.009223],[-0.633325,0.772874,0.039560],[0.032212,-0.024748,0.999175]] 2025-10-28T22:23:58.949Z,1761690238.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764947,0.641884,-0.053308],[-0.640387,0.766802,0.043819],[0.069003,0.000619,0.997616]] 2025-10-28T22:23:59.351Z,1761690239.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761330,0.644737,-0.068490],[-0.642405,0.764401,0.054831],[0.087705,0.002254,0.996144]] 2025-10-28T22:23:59.754Z,1761690239.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762086,0.645300,-0.053036],[-0.640473,0.763325,0.084437],[0.094971,-0.030380,0.995016]] 2025-10-28T22:24:00.159Z,1761690240.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758759,0.647925,-0.066914],[-0.634713,0.758527,0.147567],[0.146369,-0.069497,0.986786]] 2025-10-28T22:24:00.564Z,1761690240.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757080,0.647925,-0.083806],[-0.629624,0.757826,0.171097],[0.174368,-0.076768,0.981683]] 2025-10-28T22:24:00.967Z,1761690240.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758120,0.648855,-0.065130],[-0.635319,0.757422,0.150604],[0.147051,-0.072797,0.986446]] 2025-10-28T22:24:01.371Z,1761690241.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747298,0.660663,-0.071207],[-0.648809,0.748604,0.136522],[0.143501,-0.055822,0.988075]] 2025-10-28T22:24:01.775Z,1761690241.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750929,0.652356,-0.102648],[-0.639245,0.757070,0.134943],[0.165743,-0.035715,0.985522]] 2025-10-28T22:24:02.179Z,1761690242.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767845,0.621186,-0.156659],[-0.604603,0.783512,0.143404],[0.211824,-0.015395,0.977187]] 2025-10-28T22:24:02.583Z,1761690242.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773299,0.600719,-0.202843],[-0.591551,0.798703,0.110185],[0.228201,0.034786,0.972992]] 2025-10-28T22:24:02.994Z,1761690242.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766384,0.613342,-0.190964],[-0.607292,0.788673,0.095872],[0.209410,0.042496,0.976904]] 2025-10-28T22:24:03.399Z,1761690243.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728707,0.664618,-0.165131],[-0.637326,0.746391,0.191614],[0.250603,-0.034388,0.967479]] 2025-10-28T22:24:03.795Z,1761690243.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717338,0.687709,-0.111722],[-0.641705,0.714597,0.278505],[0.271367,-0.128090,0.953915]] 2025-10-28T22:24:04.199Z,1761690244.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756442,0.653065,-0.036073],[-0.627151,0.739873,0.243454],[0.185680,-0.161535,0.969241]] 2025-10-28T22:24:04.604Z,1761690244.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787314,0.615594,0.034372],[-0.615097,0.780405,0.112355],[0.042340,-0.109601,0.993074]] 2025-10-28T22:24:05.007Z,1761690245.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788414,0.615111,0.006551],[-0.614856,0.787672,0.039046],[0.018858,-0.034812,0.999216]] 2025-10-28T22:24:05.410Z,1761690245.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793196,0.606307,-0.056856],[-0.604744,0.795231,0.043504],[0.071590,-0.000124,0.997434]] 2025-10-28T22:24:05.814Z,1761690245.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802642,0.594292,-0.050819],[-0.590810,0.803848,0.069086],[0.081908,-0.025427,0.996315]] 2025-10-28T22:24:06.219Z,1761690246.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804441,0.593881,-0.013427],[-0.589566,0.800955,0.104326],[0.072712,-0.076007,0.994453]] 2025-10-28T22:24:06.624Z,1761690246.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797892,0.602294,0.024698],[-0.599907,0.789386,0.130313],[0.058990,-0.118792,0.991165]] 2025-10-28T22:24:07.027Z,1761690247.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805336,0.591476,0.039862],[-0.591506,0.797264,0.120379],[0.039421,-0.120524,0.991927]] 2025-10-28T22:24:07.430Z,1761690247.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810518,0.585623,-0.010292],[-0.584802,0.810112,0.041541],[0.032665,-0.027651,0.999084]] 2025-10-28T22:24:07.837Z,1761690247.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817218,0.570716,-0.080233],[-0.573251,0.819306,-0.010968],[0.059476,0.054957,0.996716]] 2025-10-28T22:24:08.239Z,1761690248.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810845,0.578425,-0.089195],[-0.584225,0.809020,-0.064558],[0.034818,0.104457,0.993920]] 2025-10-28T22:24:08.643Z,1761690248.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821584,0.569128,-0.033067],[-0.569460,0.816577,-0.094435],[-0.026744,0.096417,0.994982]] 2025-10-28T22:24:08.741Z,1761690248.741 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T222407 2025-10-28T22:24:09.047Z,1761690249.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842302,0.538420,-0.025144],[-0.538785,0.842376,-0.010638],[0.015453,0.022508,0.999627]] 2025-10-28T22:24:09.453Z,1761690249.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834331,0.546786,-0.070123],[-0.539120,0.835875,0.103257],[0.115074,-0.048345,0.992180]] 2025-10-28T22:24:09.884Z,1761690249.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820434,0.568093,-0.064487],[-0.552830,0.817003,0.163967],[0.145835,-0.098874,0.984356]] 2025-10-28T22:24:10.259Z,1761690250.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816640,0.577005,0.012778],[-0.573097,0.808093,0.136183],[0.068252,-0.118536,0.990601]] 2025-10-28T22:24:10.663Z,1761690250.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814943,0.574801,0.073974],[-0.578839,0.813580,0.055073],[-0.028528,-0.087700,0.995738]] 2025-10-28T22:24:11.068Z,1761690251.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825401,0.562906,0.043007],[-0.563638,0.825999,0.006208],[-0.032029,-0.029365,0.999056]] 2025-10-28T22:24:11.470Z,1761690251.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841289,0.537383,-0.058758],[-0.540165,0.839942,-0.052157],[0.021325,0.075618,0.996909]] 2025-10-28T22:24:11.874Z,1761690251.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839441,0.518904,-0.161482],[-0.535558,0.840343,-0.083671],[0.092283,0.156719,0.983322]] 2025-10-28T22:24:12.279Z,1761690252.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811273,0.561110,-0.164292],[-0.573832,0.818004,-0.039827],[0.112044,0.126587,0.985607]] 2025-10-28T22:24:12.684Z,1761690252.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796830,0.603176,-0.035218],[-0.602111,0.797568,0.036713],[0.050233,-0.008049,0.998705]] 2025-10-28T22:24:13.102Z,1761690253.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790203,0.603570,0.106220],[-0.612671,0.782156,0.113429],[-0.014618,-0.154710,0.987852]] 2025-10-28T22:24:13.491Z,1761690253.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796047,0.588438,0.141601],[-0.605077,0.779099,0.163969],[-0.013836,-0.216207,0.976250]] 2025-10-28T22:24:13.895Z,1761690253.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804284,0.585629,0.100828],[-0.594234,0.791570,0.142487],[0.003632,-0.174516,0.984648]] 2025-10-28T22:24:14.301Z,1761690254.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801555,0.596219,0.045091],[-0.597744,0.797201,0.084688],[0.014546,-0.094836,0.995387]] 2025-10-28T22:24:14.703Z,1761690254.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803254,0.595461,0.014477],[-0.595415,0.802055,0.046790],[0.016250,-0.046204,0.998800]] 2025-10-28T22:24:15.157Z,1761690255.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811294,0.584570,-0.008906],[-0.584267,0.811228,0.023254],[0.020819,-0.013662,0.999690]] 2025-10-28T22:24:15.510Z,1761690255.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802043,0.595989,-0.039029],[-0.592282,0.802075,0.076670],[0.076999,-0.038376,0.996292]] 2025-10-28T22:24:15.914Z,1761690255.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773388,0.633658,-0.018697],[-0.626920,0.768874,0.125715],[0.094036,-0.085505,0.991890]] 2025-10-28T22:24:16.318Z,1761690256.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776046,0.627420,0.064013],[-0.630131,0.767150,0.120067],[0.026225,-0.133514,0.990700]] 2025-10-28T22:24:16.424Z,1761690256.424 [DataOverHttps](INFO): Received command: run Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:16.520Z,1761690256.520 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:16.521Z,1761690256.521 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:16.521Z,1761690256.521 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:16.524Z,1761690256.524 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:16.723Z,1761690256.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784050,0.613675,0.093104],[-0.619404,0.783243,0.053564],[-0.040053,-0.099666,0.994215]] 2025-10-28T22:24:17.163Z,1761690257.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769429,0.636748,0.050314],[-0.638520,0.768816,0.034857],[-0.016486,-0.058947,0.998125]] 2025-10-28T22:24:17.531Z,1761690257.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753166,0.657717,0.012243],[-0.655944,0.749466,0.089658],[0.049794,-0.075558,0.995897]] 2025-10-28T22:24:17.934Z,1761690257.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784336,0.620154,-0.015022],[-0.614936,0.780469,0.112790],[0.081672,-0.079227,0.993505]] 2025-10-28T22:24:18.339Z,1761690258.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782726,0.618942,-0.065198],[-0.609597,0.783560,0.120106],[0.125425,-0.054266,0.990618]] 2025-10-28T22:24:18.429Z,1761690258.429 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:24:18.744Z,1761690258.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747300,0.663194,-0.041426],[-0.657622,0.747079,0.096988],[0.095270,-0.045236,0.994423]] 2025-10-28T22:24:19.172Z,1761690259.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735966,0.676980,0.007209],[-0.676717,0.735279,0.037667],[0.020199,-0.032600,0.999264]] 2025-10-28T22:24:19.552Z,1761690259.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751919,0.658722,0.026503],[-0.658623,0.752351,-0.013541],[-0.028859,-0.007274,0.999557]] 2025-10-28T22:24:19.955Z,1761690259.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769316,0.638537,0.020584],[-0.636496,0.768836,-0.061354],[-0.055003,0.034099,0.997904]] 2025-10-28T22:24:20.361Z,1761690260.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755029,0.655049,-0.029036],[-0.655436,0.752756,-0.061343],[-0.018326,0.065347,0.997694]] 2025-10-28T22:24:20.763Z,1761690260.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725200,0.687773,-0.032438],[-0.687911,0.725745,0.008481],[0.029375,0.016164,0.999438]] 2025-10-28T22:24:21.039Z,1761690261.039 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into: 0 Burn on Dropped weight due to communications timeout. 5 run_backseat_on_surface mission has been running for Restarting logs and run_backseat_on_surface mission. restart logs 2025-10-28T22:24:21.047Z,1761690261.047 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min 2025-10-28T22:24:21.047Z,1761690261.047 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-28T22:24:21.047Z,1761690261.047 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-28T22:24:21.061Z,1761690261.061 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-28T22:24:21.170Z,1761690261.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711382,0.700884,0.051937],[-0.702796,0.709042,0.057774],[0.003667,-0.077601,0.996978]] 2025-10-28T22:24:21.571Z,1761690261.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734094,0.670672,0.106328],[-0.677858,0.733035,0.056288],[-0.040192,-0.113395,0.992737]] 2025-10-28T22:24:21.977Z,1761690261.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743835,0.661679,0.094287],[-0.665217,0.746602,0.008493],[-0.064775,-0.069039,0.995509]] 2025-10-28T22:24:22.379Z,1761690262.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726113,0.684343,0.066591],[-0.684634,0.728557,-0.021945],[-0.063533,-0.029656,0.997539]] 2025-10-28T22:24:22.783Z,1761690262.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712715,0.700782,0.030686],[-0.700781,0.713265,-0.012591],[-0.030711,-0.012531,0.999450]] 2025-10-28T22:24:23.187Z,1761690263.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726343,0.686848,-0.025810],[-0.685090,0.726493,0.053485],[0.055487,-0.021166,0.998235]] 2025-10-28T22:24:23.593Z,1761690263.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726882,0.682168,-0.079301],[-0.674719,0.730889,0.102744],[0.128049,-0.021177,0.991542]] 2025-10-28T22:24:23.995Z,1761690263.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699102,0.714524,-0.026687],[-0.707824,0.696865,0.115605],[0.101200,-0.061930,0.992937]] 2025-10-28T22:24:24.399Z,1761690264.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694911,0.717051,0.054186],[-0.717963,0.687617,0.108223],[0.040343,-0.114109,0.992649]] 2025-10-28T22:24:24.803Z,1761690264.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706273,0.706876,0.038787],[-0.705235,0.697735,0.125734],[0.061815,-0.116157,0.991305]] 2025-10-28T22:24:25.207Z,1761690265.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701504,0.711896,-0.033110],[-0.705675,0.700364,0.107298],[0.099574,-0.051905,0.993675]] 2025-10-28T22:24:25.612Z,1761690265.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685214,0.727668,-0.031320],[-0.726314,0.685881,0.045120],[0.054314,-0.008168,0.998491]] 2025-10-28T22:24:26.015Z,1761690266.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668863,0.743295,-0.011610],[-0.742611,0.668797,0.035208],[0.033935,-0.014927,0.999313]] 2025-10-28T22:24:26.419Z,1761690266.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660020,0.750564,0.032054],[-0.750680,0.657259,0.067013],[0.029229,-0.068292,0.997237]] 2025-10-28T22:24:26.823Z,1761690266.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666536,0.738706,0.100214],[-0.745465,0.661109,0.084959],[-0.003493,-0.131334,0.991332]] 2025-10-28T22:24:27.228Z,1761690267.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676963,0.733029,0.066259],[-0.735311,0.669624,0.104507],[0.032238,-0.119469,0.992314]] 2025-10-28T22:24:27.630Z,1761690267.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647160,0.760930,0.046583],[-0.762256,0.644885,0.055586],[0.012256,-0.071481,0.997367]] 2025-10-28T22:24:28.035Z,1761690268.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613879,0.785608,0.077280],[-0.787462,0.616286,-0.009739],[-0.055277,-0.054876,0.996962]] 2025-10-28T22:24:28.438Z,1761690268.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612377,0.787774,0.066380],[-0.788400,0.614754,-0.022431],[-0.058478,-0.038598,0.997542]] 2025-10-28T22:24:28.535Z,1761690268.535 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois PeakPlanktivoreLMavgROIAvgProfiles = . PeakPlanktivoreLMavgROIDepthAvgProfiles = EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-28T22:24:28.569Z,1761690268.569 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool 2025-10-28T22:24:28.571Z,1761690268.571 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-28T22:24:28.605Z,1761690268.605 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectChlActive = 0 bool 2025-10-28T22:24:28.608Z,1761690268.608 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min 2025-10-28T22:24:28.610Z,1761690268.610 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool 2025-10-28T22:24:28.612Z,1761690268.612 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool 2025-10-28T22:24:28.614Z,1761690268.614 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool 2025-10-28T22:24:28.615Z,1761690268.615 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool 2025-10-28T22:24:28.618Z,1761690268.618 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count 2025-10-28T22:24:28.620Z,1761690268.620 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-28T22:24:28.622Z,1761690268.622 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-28T22:24:28.625Z,1761690268.625 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool 2025-10-28T22:24:28.626Z,1761690268.626 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool 2025-10-28T22:24:28.641Z,1761690268.641 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool 2025-10-28T22:24:28.643Z,1761690268.643 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool 2025-10-28T22:24:28.661Z,1761690268.661 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T22:24:28.668Z,1761690268.668 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool 2025-10-28T22:24:28.682Z,1761690268.682 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-28T22:24:28.688Z,1761690268.688 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T22:24:28.690Z,1761690268.690 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-28T22:24:28.697Z,1761690268.697 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T22:24:28.700Z,1761690268.700 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-28T22:24:28.714Z,1761690268.714 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T22:24:28.720Z,1761690268.720 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-28T22:24:28.722Z,1761690268.722 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-28T22:24:28.729Z,1761690268.729 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool 2025-10-28T22:24:28.731Z,1761690268.731 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool 2025-10-28T22:24:28.738Z,1761690268.738 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledRBRTridente = 0 bool 2025-10-28T22:24:28.745Z,1761690268.745 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 1 bool 2025-10-28T22:24:28.747Z,1761690268.747 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-28T22:24:28.754Z,1761690268.754 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-28T22:24:28.761Z,1761690268.761 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool 2025-10-28T22:24:28.763Z,1761690268.763 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count 2025-10-28T22:24:28.774Z,1761690268.774 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count 2025-10-28T22:24:28.776Z,1761690268.776 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ShallowBound = nan m 2025-10-28T22:24:28.782Z,1761690268.782 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DeepBound = nan m 2025-10-28T22:24:28.789Z,1761690268.789 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-28T22:24:28.797Z,1761690268.797 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalAscent = nan % 2025-10-28T22:24:28.799Z,1761690268.799 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalDescent = nan % 2025-10-28T22:24:28.807Z,1761690268.807 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-28T22:24:28.809Z,1761690268.809 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumberOfLayers = 1.000000 count 2025-10-28T22:24:28.811Z,1761690268.811 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool 2025-10-28T22:24:28.843Z,1761690268.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618182,0.784435,0.050120],[-0.784050,0.619895,-0.031552],[-0.055820,-0.019791,0.998245]] 2025-10-28T22:24:28.862Z,1761690268.862 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l 2025-10-28T22:24:28.868Z,1761690268.868 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l 2025-10-28T22:24:28.870Z,1761690268.870 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count 2025-10-28T22:24:28.877Z,1761690268.877 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-28T22:24:28.879Z,1761690268.879 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-28T22:24:28.893Z,1761690268.893 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-28T22:24:28.908Z,1761690268.908 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-28T22:24:28.910Z,1761690268.910 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.GoDown = 1 bool 2025-10-28T22:24:28.917Z,1761690268.917 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l 2025-10-28T22:24:28.919Z,1761690268.919 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m 2025-10-28T22:24:28.926Z,1761690268.926 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC 2025-10-28T22:24:28.932Z,1761690268.932 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg 2025-10-28T22:24:28.934Z,1761690268.934 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg 2025-10-28T22:24:28.941Z,1761690268.941 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlAvgProfiles = nan ug/l 2025-10-28T22:24:28.943Z,1761690268.943 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepthAvgProfiles = nan m 2025-10-28T22:24:28.950Z,1761690268.950 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChl = nan ug/l 2025-10-28T22:24:28.953Z,1761690268.953 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlDepth = nan m 2025-10-28T22:24:28.955Z,1761690268.955 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlTemperature = nan degC 2025-10-28T22:24:28.970Z,1761690268.970 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLatitude = nan arcdeg 2025-10-28T22:24:28.987Z,1761690268.987 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLongitude = nan arcdeg 2025-10-28T22:24:28.994Z,1761690268.994 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l 2025-10-28T22:24:29.009Z,1761690269.009 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m 2025-10-28T22:24:29.011Z,1761690269.011 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg 2025-10-28T22:24:29.018Z,1761690269.018 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg 2025-10-28T22:24:29.024Z,1761690269.024 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3 2025-10-28T22:24:29.027Z,1761690269.027 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m 2025-10-28T22:24:29.029Z,1761690269.029 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg 2025-10-28T22:24:29.031Z,1761690269.031 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg 2025-10-28T22:24:29.043Z,1761690269.043 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb 2025-10-28T22:24:29.054Z,1761690269.054 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m 2025-10-28T22:24:29.060Z,1761690269.060 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC 2025-10-28T22:24:29.062Z,1761690269.062 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg 2025-10-28T22:24:29.069Z,1761690269.069 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg 2025-10-28T22:24:29.071Z,1761690269.071 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu 2025-10-28T22:24:29.085Z,1761690269.085 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m 2025-10-28T22:24:29.087Z,1761690269.087 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC 2025-10-28T22:24:29.098Z,1761690269.098 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg 2025-10-28T22:24:29.113Z,1761690269.113 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg 2025-10-28T22:24:29.137Z,1761690269.137 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-28T22:24:29.153Z,1761690269.153 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-28T22:24:29.158Z,1761690269.158 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-28T22:24:29.168Z,1761690269.168 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T22:24:29.170Z,1761690269.170 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T22:24:29.178Z,1761690269.178 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s 2025-10-28T22:24:29.197Z,1761690269.197 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m 2025-10-28T22:24:29.208Z,1761690269.208 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-28T22:24:29.210Z,1761690269.210 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-28T22:24:29.217Z,1761690269.217 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-28T22:24:29.219Z,1761690269.219 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-28T22:24:29.226Z,1761690269.226 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-28T22:24:29.247Z,1761690269.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630662,0.775169,0.037119],[-0.776012,0.630421,0.019355],[-0.008398,-0.041011,0.999123]] 2025-10-28T22:24:29.265Z,1761690269.265 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-28T22:24:29.267Z,1761690269.267 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-28T22:24:29.274Z,1761690269.274 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-28T22:24:29.293Z,1761690269.293 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T22:24:29.304Z,1761690269.304 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T22:24:29.307Z,1761690269.307 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-28T22:24:29.318Z,1761690269.318 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-28T22:24:29.332Z,1761690269.332 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-28T22:24:29.335Z,1761690269.335 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-28T22:24:29.343Z,1761690269.343 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-28T22:24:29.371Z,1761690269.371 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-28T22:24:29.418Z,1761690269.418 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-28T22:24:29.429Z,1761690269.429 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-28T22:24:29.431Z,1761690269.431 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T22:24:29.442Z,1761690269.442 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T22:24:29.448Z,1761690269.448 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-28T22:24:29.451Z,1761690269.451 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-28T22:24:29.458Z,1761690269.458 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-28T22:24:29.468Z,1761690269.468 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-28T22:24:29.471Z,1761690269.471 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-28T22:24:29.473Z,1761690269.473 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-28T22:24:29.475Z,1761690269.475 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-28T22:24:29.487Z,1761690269.487 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T22:24:29.505Z,1761690269.505 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T22:24:29.507Z,1761690269.507 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T22:24:29.514Z,1761690269.514 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-28T22:24:29.517Z,1761690269.517 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-28T22:24:29.519Z,1761690269.519 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-28T22:24:29.538Z,1761690269.538 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-28T22:24:29.546Z,1761690269.546 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-28T22:24:29.560Z,1761690269.560 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l 2025-10-28T22:24:29.563Z,1761690269.563 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m 2025-10-28T22:24:29.580Z,1761690269.580 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg 2025-10-28T22:24:29.583Z,1761690269.583 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg 2025-10-28T22:24:29.593Z,1761690269.593 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m 2025-10-28T22:24:29.600Z,1761690269.600 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu 2025-10-28T22:24:29.602Z,1761690269.602 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m 2025-10-28T22:24:29.609Z,1761690269.609 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg 2025-10-28T22:24:29.611Z,1761690269.611 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg 2025-10-28T22:24:29.618Z,1761690269.618 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m 2025-10-28T22:24:29.629Z,1761690269.629 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu 2025-10-28T22:24:29.631Z,1761690269.631 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m 2025-10-28T22:24:29.651Z,1761690269.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622568,0.782269,0.021559],[-0.781225,0.619654,0.075603],[0.045783,-0.063910,0.996905]] 2025-10-28T22:24:29.670Z,1761690269.670 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg 2025-10-28T22:24:29.684Z,1761690269.684 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg 2025-10-28T22:24:29.686Z,1761690269.686 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m 2025-10-28T22:24:29.701Z,1761690269.701 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool 2025-10-28T22:24:29.703Z,1761690269.703 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l 2025-10-28T22:24:29.754Z,1761690269.754 [run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:29.790Z,1761690269.790 [run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T22:24:29.823Z,1761690269.823 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T22:24:29.892Z,1761690269.892 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T22:24:29.913Z,1761690269.913 [run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:29.928Z,1761690269.928 [run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:29.955Z,1761690269.955 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T22:24:29.982Z,1761690269.982 [run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.007Z,1761690270.007 [run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.056Z,1761690270.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616280,0.786858,0.032470],[-0.784257,0.609446,0.116261],[0.071692,-0.097114,0.992688]] 2025-10-28T22:24:30.078Z,1761690270.078 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T22:24:30.123Z,1761690270.123 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.157Z,1761690270.157 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T22:24:30.234Z,1761690270.234 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-28T22:24:30.259Z,1761690270.259 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.292Z,1761690270.292 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T22:24:30.335Z,1761690270.335 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.359Z,1761690270.359 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T22:24:30.405Z,1761690270.405 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-28T22:24:30.424Z,1761690270.424 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-28T22:24:30.459Z,1761690270.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574652,0.813214,0.091970],[-0.816267,0.561420,0.136073],[0.059023,-0.153267,0.986421]] 2025-10-28T22:24:30.481Z,1761690270.481 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-28T22:24:30.492Z,1761690270.492 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-28T22:24:30.493Z,1761690270.493 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-28T22:24:30.494Z,1761690270.494 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-28T22:24:30.550Z,1761690270.550 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-28T22:24:30.555Z,1761690270.555 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool 2025-10-28T22:24:30.557Z,1761690270.557 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-28T22:24:30.561Z,1761690270.561 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-28T22:24:30.561Z,1761690270.561 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-28T22:24:30.565Z,1761690270.565 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-28T22:24:30.697Z,1761690270.697 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-28T22:24:30.701Z,1761690270.701 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool 2025-10-28T22:24:30.702Z,1761690270.702 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool 2025-10-28T22:24:30.704Z,1761690270.704 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool 2025-10-28T22:24:30.706Z,1761690270.706 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool 2025-10-28T22:24:30.709Z,1761690270.709 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-28T22:24:30.715Z,1761690270.715 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-28T22:24:30.717Z,1761690270.717 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface. 2025-10-28T22:24:30.727Z,1761690270.727 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-10-28T22:24:30.760Z,1761690270.760 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-10-28T22:24:30.765Z,1761690270.765 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute. 2025-10-28T22:24:30.831Z,1761690270.831 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission run_backseat_on_surface { arguments { ElapsedSinceMissionStarted = 0 minute } # Power the science payload. insert id="Science" Insert/Science.tl # Power the Backseat payload. insert Insert/BackseatDriver.tl assign in sequence BackseatDriver:EnableBackseat = true insert Insert/PowerOnly.tl behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P2H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started ) syslog important "run_backseat_on_surface mission has been running for " + ElapsedSinceMissionStarted~minute } syslog important "Restarting logs and run_backseat_on_surface mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } 2025-10-28T22:24:30.833Z,1761690270.833 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/run_backseat_on_surface.tl 2025-10-28T22:24:30.862Z,1761690270.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553069,0.818403,0.155987],[-0.832798,0.537742,0.131456],[0.023703,-0.202610,0.978973]] 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock] Stopped 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock:SurfaceDefault] Stopped 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-10-28T22:24:30.880Z,1761690270.880 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T22:24:30.881Z,1761690270.881 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T22:24:30.881Z,1761690270.881 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:24:30.881Z,1761690270.881 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T22:24:30.881Z,1761690270.881 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:24:30.881Z,1761690270.881 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface 2025-10-28T22:24:30.881Z,1761690270.881 [run_backseat_on_surface] Running Loop=1 2025-10-28T22:24:30.881Z,1761690270.881 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface 2025-10-28T22:24:30.881Z,1761690270.881 [run_backseat_on_surface:Science] Running Loop=1 2025-10-28T22:24:30.881Z,1761690270.881 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:A] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:B] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:C] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:D] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:E] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:F] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:PeakDetectChl:A] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:EdgeDetectChl] Running Loop=1 2025-10-28T22:24:30.882Z,1761690270.882 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectChl 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:EdgeDetectChl:A] Running Loop=1 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T22:24:30.883Z,1761690270.883 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDetectNO3:A] Running Loop=1 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1 2025-10-28T22:24:30.884Z,1761690270.884 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:PeakDetectOil:A] Running Loop=1 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1 2025-10-28T22:24:30.885Z,1761690270.885 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-28T22:24:30.886Z,1761690270.886 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1 2025-10-28T22:24:30.887Z,1761690270.887 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T22:24:30.904Z,1761690270.904 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1 2025-10-28T22:24:30.904Z,1761690270.904 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T22:24:30.904Z,1761690270.904 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T22:24:30.904Z,1761690270.904 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T22:24:30.904Z,1761690270.904 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-28T22:24:30.905Z,1761690270.905 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-28T22:24:30.906Z,1761690270.906 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:BackseatDriver] Running Loop=1 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-28T22:24:30.907Z,1761690270.907 [run_backseat_on_surface:PowerOnly] Running Loop=1 2025-10-28T22:24:30.908Z,1761690270.908 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:A] Running Loop=1 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:B] Running Loop=1 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:C] Running Loop=1 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:D] Running Loop=1 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1 2025-10-28T22:24:30.910Z,1761690270.910 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:24:30.910Z,1761690270.911 [run_backseat_on_surface:E.GoToSurface] Running Loop=1 2025-10-28T22:24:30.911Z,1761690270.911 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T22:24:30.911Z,1761690270.911 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T22:24:30.911Z,1761690270.911 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T22:24:30.911Z,1761690270.911 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T22:24:30.920Z,1761690270.920 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T22:24:30.921Z,1761690270.921 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T22:24:30.921Z,1761690270.921 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T22:24:30.921Z,1761690270.921 [run_backseat_on_surface:C] Running Loop=1 2025-10-28T22:24:30.922Z,1761690270.922 [run_backseat_on_surface:PowerOnly] Running Loop=1 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:PowerOnly:D] Stopped 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:PowerOnly:C] Stopped 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:PowerOnly:B] Stopped 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:PowerOnly:A] Stopped 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:C] Stopped 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:BackseatDriver] Running Loop=1 2025-10-28T22:24:30.923Z,1761690270.923 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2025-10-28T22:24:30.963Z,1761690270.963 [run_backseat_on_surface:Science] Running Loop=1 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-28T22:24:30.973Z,1761690270.973 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-28T22:24:30.974Z,1761690270.974 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T22:24:30.975Z,1761690270.975 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T22:24:30.976Z,1761690270.976 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Stopped 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Stopped 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport 2025-10-28T22:24:30.980Z,1761690270.980 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectOil] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectOil:A] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDetectNO3:A] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped 2025-10-28T22:24:30.981Z,1761690270.981 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:EdgeDetectChl] Stopped 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectChl 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:EdgeDetectChl:A] Stopped 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:PeakDetectChl] Stopped 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:PeakDetectChl:A] Stopped 2025-10-28T22:24:30.982Z,1761690270.982 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1 2025-10-28T22:24:30.983Z,1761690270.983 [run_backseat_on_surface:Science:Read_Oil] Stopped 2025-10-28T22:24:30.983Z,1761690270.983 [run_backseat_on_surface:Science:F] Stopped 2025-10-28T22:24:30.983Z,1761690270.983 [run_backseat_on_surface:Science:E] Running Loop=1 2025-10-28T22:24:30.985Z,1761690270.985 [run_backseat_on_surface:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-10-28T22:24:30.985Z,1761690270.985 [run_backseat_on_surface:Science:D] Stopped 2025-10-28T22:24:30.986Z,1761690270.986 [run_backseat_on_surface:Science:C] Running Loop=1 2025-10-28T22:24:30.986Z,1761690270.986 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-10-28T22:24:30.986Z,1761690270.986 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-10-28T22:24:30.987Z,1761690270.987 [run_backseat_on_surface:Science:B] Running Loop=1 2025-10-28T22:24:30.987Z,1761690270.987 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-10-28T22:24:30.987Z,1761690270.987 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-10-28T22:24:30.988Z,1761690270.988 [run_backseat_on_surface:Science:A] Stopped 2025-10-28T22:24:31.142Z,1761690271.142 [BackseatComponent](INFO): Powering up 2025-10-28T22:24:31.143Z,1761690271.143 [BackseatComponent](INFO): Subscribing to LCM channels. 2025-10-28T22:24:31.267Z,1761690271.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583560,0.800876,0.134371],[-0.810792,0.583889,0.041105],[-0.045537,-0.132934,0.990078]] 2025-10-28T22:24:31.324Z,1761690271.324 [run_backseat_on_surface:CheckIn] Running Loop=1 2025-10-28T22:24:31.324Z,1761690271.324 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn 2025-10-28T22:24:31.324Z,1761690271.324 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1 2025-10-28T22:24:31.502Z,1761690271.502 [WetLabsBB2FL](INFO): Powering up 2025-10-28T22:24:31.671Z,1761690271.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626700,0.778839,0.025635],[-0.778857,0.627095,-0.011570],[-0.025086,-0.012715,0.999604]] 2025-10-28T22:24:31.692Z,1761690271.692 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T22:24:32.076Z,1761690272.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607941,0.783266,-0.130005],[-0.785985,0.616877,0.041125],[0.112409,0.077180,0.990660]] 2025-10-28T22:24:32.479Z,1761690272.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541946,0.825758,-0.156263],[-0.831962,0.553443,0.039237],[0.118883,0.108740,0.986936]] 2025-10-28T22:24:32.883Z,1761690272.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496897,0.867219,-0.032004],[-0.867774,0.496871,-0.009337],[0.007805,0.032411,0.999444]] 2025-10-28T22:24:33.287Z,1761690273.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471518,0.876079,0.100782],[-0.880788,0.473485,0.004933],[-0.043397,-0.091093,0.994896]] 2025-10-28T22:24:33.295Z,1761690273.295 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222432.00,A,3645.24899,N,12151.94297,W,0.622,143.36,281025,,,D*7A 2025-10-28T22:24:33.298Z,1761690273.298 [NAL9602](INFO): GPS fix at 20251028T222432: (36.754150, -121.865716) 2025-10-28T22:24:33.462Z,1761690273.462 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped 2025-10-28T22:24:33.462Z,1761690273.462 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T22:24:33.690Z,1761690273.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450024,0.875023,0.178361],[-0.892505,0.447462,0.056677],[-0.030216,-0.184694,0.982332]] 2025-10-28T22:24:33.730Z,1761690273.730 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-28T22:24:34.095Z,1761690274.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417935,0.887133,0.195769],[-0.908442,0.410000,0.081448],[-0.008010,-0.211885,0.977262]] 2025-10-28T22:24:34.502Z,1761690274.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411919,0.900305,0.140621],[-0.911030,0.403744,0.083759],[0.018634,-0.162611,0.986514]] 2025-10-28T22:24:34.909Z,1761690274.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443717,0.894878,0.048040],[-0.896166,0.443148,0.022488],[-0.001165,-0.053030,0.998592]] 2025-10-28T22:24:34.941Z,1761690274.941 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-28T22:24:35.306Z,1761690275.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438882,0.897731,-0.038231],[-0.897429,0.435820,-0.068435],[-0.044774,0.064344,0.996923]] 2025-10-28T22:24:36.123Z,1761690276.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348789,0.936237,0.042498],[-0.934818,0.344312,0.086974],[0.066796,-0.070063,0.995304]] 2025-10-28T22:24:36.520Z,1761690276.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340232,0.924819,0.170152],[-0.940309,0.333104,0.069717],[0.007798,-0.183715,0.982949]] 2025-10-28T22:24:36.922Z,1761690276.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339885,0.918386,0.202597],[-0.940274,0.327477,0.092970],[0.019037,-0.222096,0.974839]] 2025-10-28T22:24:37.326Z,1761690277.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311475,0.942537,0.120862],[-0.948978,0.301941,0.090954],[0.049234,-0.143025,0.988494]] 2025-10-28T22:24:37.730Z,1761690277.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329914,0.943858,0.017008],[-0.941489,0.327663,0.078965],[0.068959,-0.042064,0.996732]] 2025-10-28T22:24:38.136Z,1761690278.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388922,0.918582,-0.070339],[-0.918762,0.392361,0.043917],[0.067939,0.047545,0.996556]] 2025-10-28T22:24:38.538Z,1761690278.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346310,0.933288,-0.095096],[-0.936983,0.349099,0.013913],[0.046183,0.084285,0.995371]] 2025-10-28T22:24:38.943Z,1761690278.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233892,0.971956,0.024430],[-0.972232,0.233612,0.013775],[0.007681,-0.026973,0.999607]] 2025-10-28T22:24:39.347Z,1761690279.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173780,0.968787,0.176783],[-0.984740,0.172653,0.021860],[-0.009344,-0.177884,0.984007]] 2025-10-28T22:24:39.751Z,1761690279.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226916,0.949687,0.215881],[-0.972454,0.208804,0.103605],[0.053315,-0.233444,0.970908]] 2025-10-28T22:24:40.155Z,1761690280.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265207,0.952791,0.147833],[-0.963247,0.255031,0.084346],[0.042662,-0.164769,0.985409]] 2025-10-28T22:24:40.559Z,1761690280.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244745,0.966703,0.074740],[-0.969545,0.244725,0.009572],[-0.009037,-0.074806,0.997157]] 2025-10-28T22:24:40.985Z,1761690280.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222137,0.973699,-0.050646],[-0.969275,0.226160,0.096732],[0.105642,0.027602,0.994021]] 2025-10-28T22:24:41.782Z,1761690281.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202618,0.979208,0.009869],[-0.973544,0.200338,0.109889],[0.105627,-0.031874,0.993895]] 2025-10-28T22:24:42.177Z,1761690282.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195566,0.974166,0.112934],[-0.977802,0.184862,0.098634],[0.075209,-0.129717,0.988695]] 2025-10-28T22:24:42.586Z,1761690282.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173938,0.955108,0.239820],[-0.984425,0.162324,0.067518],[0.025558,-0.247829,0.968467]] 2025-10-28T22:24:43.002Z,1761690283.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151091,0.973223,0.173231],[-0.988232,0.152935,0.002733],[-0.023834,-0.171606,0.984877]] 2025-10-28T22:24:43.395Z,1761690283.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140816,0.985619,0.093415],[-0.988317,0.145501,-0.045371],[-0.058311,-0.085935,0.994593]] 2025-10-28T22:24:43.798Z,1761690283.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093845,0.994944,0.035767],[-0.995580,0.093652,0.007020],[0.003634,-0.036268,0.999335]] 2025-10-28T22:24:44.198Z,1761690284.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093673,0.991146,0.094096],[-0.994845,0.089494,0.047697],[0.038853,-0.098079,0.994420]] 2025-10-28T22:24:44.605Z,1761690284.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094460,0.985659,0.139834],[-0.995392,0.095838,-0.003141],[-0.016497,-0.138893,0.990170]] 2025-10-28T22:24:45.007Z,1761690285.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042732,0.981677,0.185699],[-0.998971,0.044814,-0.007025],[-0.015218,-0.185208,0.982582]] 2025-10-28T22:24:45.410Z,1761690285.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062815,0.971533,0.228425],[-0.996405,0.048014,0.069792],[0.056838,-0.231988,0.971057]] 2025-10-28T22:24:45.814Z,1761690285.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138761,0.972630,0.186376],[-0.986444,0.119101,0.112888],[0.087600,-0.199514,0.975972]] 2025-10-28T22:24:46.218Z,1761690286.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120278,0.985518,0.119534],[-0.991900,0.114347,0.055316],[0.040847,-0.125219,0.991288]] 2025-10-28T22:24:46.623Z,1761690286.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063068,0.993889,0.090593],[-0.997989,0.063392,-0.000698],[-0.006436,-0.090367,0.995888]] 2025-10-28T22:24:47.026Z,1761690287.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043477,0.994503,0.095260],[-0.999045,0.042873,0.008371],[0.004241,-0.095533,0.995417]] 2025-10-28T22:24:47.431Z,1761690287.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074269,0.994911,0.068088],[-0.996590,0.071586,0.041029],[0.035946,-0.070903,0.996835]] 2025-10-28T22:24:47.836Z,1761690287.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103272,0.994071,0.034026],[-0.993945,0.101847,0.041242],[0.037532,-0.038079,0.998570]] 2025-10-28T22:24:47.846Z,1761690287.846 [NAL9602](INFO): SBD MO Status=0, MOMSN=3376, MT Status=0, MTMSN=0 2025-10-28T22:24:47.847Z,1761690287.847 [NAL9602](INFO): No messages in MT queue 2025-10-28T22:24:48.239Z,1761690288.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109106,0.993906,-0.015691],[-0.993446,0.109570,0.032537],[0.034058,0.012038,0.999347]] 2025-10-28T22:24:48.642Z,1761690288.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096137,0.995277,0.013489],[-0.995024,0.095739,0.027592],[0.026170,-0.016074,0.999528]] 2025-10-28T22:24:49.046Z,1761690289.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063803,0.993552,0.093726],[-0.995722,0.057089,0.072655],[0.066836,-0.097961,0.992943]] 2025-10-28T22:24:49.458Z,1761690289.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071636,0.982827,0.170056],[-0.990598,0.050181,0.127271],[0.116552,-0.177574,0.977181]] 2025-10-28T22:24:49.854Z,1761690289.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082582,0.979706,0.182640],[-0.990556,0.060565,0.123008],[0.109450,-0.191073,0.975455]] 2025-10-28T22:24:50.258Z,1761690290.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086049,0.984948,0.149909],[-0.994511,0.075929,0.071985],[0.059519,-0.155280,0.986076]] 2025-10-28T22:24:50.663Z,1761690290.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094585,0.991084,0.093840],[-0.994868,0.090699,0.044846],[0.035935,-0.097600,0.994577]] 2025-10-28T22:24:51.068Z,1761690291.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091872,0.994495,0.050398],[-0.990480,0.086057,0.107443],[0.102514,-0.059789,0.992933]] 2025-10-28T22:24:51.477Z,1761690291.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087523,0.995353,0.040144],[-0.982944,0.079748,0.165712],[0.161741,-0.053962,0.985357]] 2025-10-28T22:24:51.874Z,1761690291.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110478,0.990592,0.080764],[-0.988470,0.101047,0.112764],[0.103542,-0.092290,0.990334]] 2025-10-28T22:24:52.279Z,1761690292.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072370,0.986390,0.147640],[-0.995487,0.062326,0.071567],[0.061391,-0.152153,0.986449]] 2025-10-28T22:24:52.682Z,1761690292.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067888,0.972398,0.223235],[-0.992259,0.042486,0.116693],[0.103988,-0.229429,0.967755]] 2025-10-28T22:24:53.093Z,1761690293.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100224,0.966394,0.236723],[-0.989474,0.071848,0.125613],[0.104383,-0.246821,0.963423]] 2025-10-28T22:24:53.493Z,1761690293.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125343,0.969522,0.210515],[-0.990683,0.110921,0.079020],[0.053261,-0.218459,0.974392]] 2025-10-28T22:24:53.896Z,1761690293.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143219,0.975937,0.164422],[-0.989547,0.144047,0.006940],[-0.016911,-0.163698,0.986366]] 2025-10-28T22:24:54.298Z,1761690294.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135578,0.984024,0.115394],[-0.988163,0.142739,-0.056206],[-0.071779,-0.106407,0.991728]] 2025-10-28T22:24:54.703Z,1761690294.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132644,0.985916,0.101859],[-0.989947,0.136870,-0.035649],[-0.049089,-0.096107,0.994160]] 2025-10-28T22:24:55.147Z,1761690295.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124075,0.986394,0.107849],[-0.992265,0.122904,0.017458],[0.003965,-0.109181,0.994014]] 2025-10-28T22:24:55.514Z,1761690295.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123343,0.985907,0.113023],[-0.991405,0.127428,-0.029635],[-0.043620,-0.108397,0.993150]] 2025-10-28T22:24:55.915Z,1761690295.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125898,0.981361,0.145191],[-0.987654,0.137743,-0.074603],[-0.093212,-0.134007,0.986587]] 2025-10-28T22:24:56.318Z,1761690296.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108944,0.979325,0.170454],[-0.991864,0.118455,-0.046629],[-0.065856,-0.163987,0.984262]] 2025-10-28T22:24:56.723Z,1761690296.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107937,0.981435,0.158537],[-0.994157,0.106445,0.017899],[0.000691,-0.159543,0.987191]] 2025-10-28T22:24:57.157Z,1761690297.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194624,0.974999,0.107228],[-0.980251,0.189426,0.056794],[0.035062,-0.116164,0.992611]] 2025-10-28T22:24:57.531Z,1761690297.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211521,0.976095,0.049968],[-0.977191,0.210217,0.030114],[0.018890,-0.055198,0.998297]] 2025-10-28T22:24:57.938Z,1761690297.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139834,0.989951,0.021070],[-0.990149,0.139954,-0.004318],[-0.007224,-0.020258,0.999769]] 2025-10-28T22:24:58.339Z,1761690298.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102304,0.991515,0.080195],[-0.994635,0.103203,-0.007137],[-0.015353,-0.079034,0.996754]] 2025-10-28T22:24:58.744Z,1761690298.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177271,0.974808,0.135371],[-0.984138,0.174614,0.031350],[0.006923,-0.138781,0.990299]] 2025-10-28T22:24:59.165Z,1761690299.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232839,0.965817,0.113949],[-0.972072,0.227591,0.057258],[0.029367,-0.124099,0.991835]] 2025-10-28T22:24:59.552Z,1761690299.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224621,0.970073,0.092211],[-0.972438,0.217080,0.085093],[0.062529,-0.108783,0.992097]] 2025-10-28T22:24:59.961Z,1761690299.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220645,0.968754,0.113276],[-0.973053,0.210661,0.093755],[0.066962,-0.130910,0.989130]] 2025-10-28T22:25:00.360Z,1761690300.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230447,0.963013,0.139646],[-0.972969,0.225820,0.048336],[0.015014,-0.147010,0.989021]] 2025-10-28T22:25:00.773Z,1761690300.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243471,0.957382,0.155374],[-0.969821,0.238155,0.052246],[0.013016,-0.163405,0.986473]] 2025-10-28T22:25:01.169Z,1761690301.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267702,0.957045,0.111358],[-0.961018,0.256928,0.102141],[0.069142,-0.134361,0.988517]] 2025-10-28T22:25:01.571Z,1761690301.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242284,0.968578,0.056173],[-0.963067,0.233088,0.134803],[0.117474,-0.086759,0.989279]] 2025-10-28T22:25:01.975Z,1761690301.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237916,0.968784,0.069664],[-0.966989,0.229515,0.110701],[0.091256,-0.093702,0.991409]] 2025-10-28T22:25:02.379Z,1761690302.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270772,0.955506,0.117011],[-0.962526,0.266828,0.048447],[0.015069,-0.125744,0.991948]] 2025-10-28T22:25:02.791Z,1761690302.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306434,0.942252,0.135130],[-0.951248,0.308347,0.007057],[-0.035018,-0.130705,0.990803]] 2025-10-28T22:25:03.187Z,1761690303.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316256,0.944525,0.088620],[-0.948669,0.314589,0.032562],[0.002877,-0.094369,0.995533]] 2025-10-28T22:25:03.590Z,1761690303.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307540,0.948609,0.074560],[-0.947269,0.297809,0.118280],[0.089997,-0.107005,0.990177]] 2025-10-28T22:25:03.995Z,1761690303.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298581,0.947215,0.116764],[-0.953903,0.292303,0.068029],[0.030307,-0.131694,0.990827]] 2025-10-28T22:25:04.399Z,1761690304.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271293,0.946711,0.173603],[-0.960988,0.276522,-0.006205],[-0.053880,-0.165147,0.984796]] 2025-10-28T22:25:04.812Z,1761690304.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284352,0.939646,0.190285],[-0.956157,0.292454,-0.015334],[-0.070058,-0.177581,0.981609]] 2025-10-28T22:25:05.207Z,1761690305.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311424,0.941132,0.131476],[-0.950031,0.311460,0.020824],[-0.021351,-0.131391,0.991101]] 2025-10-28T22:25:05.612Z,1761690305.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311375,0.948856,0.052135],[-0.949940,0.309310,0.044065],[0.025686,-0.063246,0.997667]] 2025-10-28T22:25:06.017Z,1761690306.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320604,0.946998,0.020210],[-0.947111,0.320183,0.021524],[0.013913,-0.026042,0.999564]] 2025-10-28T22:25:06.419Z,1761690306.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280098,0.959498,0.030152],[-0.959619,0.279006,0.035872],[0.026006,-0.038982,0.998901]] 2025-10-28T22:25:06.826Z,1761690306.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238877,0.965492,0.103748],[-0.970561,0.233998,0.057070],[0.030824,-0.114326,0.992965]] 2025-10-28T22:25:07.227Z,1761690307.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253738,0.953989,0.159755],[-0.966965,0.246004,0.066792],[0.024418,-0.171426,0.984894]] 2025-10-28T22:25:07.633Z,1761690307.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287017,0.944588,0.159295],[-0.957860,0.281059,0.059244],[0.011190,-0.169586,0.985452]] 2025-10-28T22:25:08.035Z,1761690308.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321141,0.933798,0.157762],[-0.946032,0.323970,0.008163],[-0.043487,-0.151870,0.987443]] 2025-10-28T22:25:08.445Z,1761690308.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334759,0.934649,0.119867],[-0.940346,0.339545,-0.021407],[-0.060708,-0.105550,0.992559]] 2025-10-28T22:25:08.852Z,1761690308.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317020,0.946160,0.065413],[-0.946905,0.311865,0.078177],[0.053568,-0.086724,0.994791]] 2025-10-28T22:25:09.247Z,1761690309.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309305,0.947149,0.085081],[-0.943520,0.294481,0.151829],[0.118750,-0.127237,0.984738]] 2025-10-28T22:25:09.651Z,1761690309.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301718,0.940723,0.154938],[-0.946433,0.275926,0.167718],[0.115025,-0.197242,0.973583]] 2025-10-28T22:25:10.055Z,1761690310.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337590,0.929423,0.149015],[-0.930794,0.306035,0.199911],[0.140198,-0.206190,0.968416]] 2025-10-28T22:25:10.462Z,1761690310.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338583,0.933692,0.116536],[-0.936200,0.321873,0.141168],[0.094297,-0.156898,0.983103]] 2025-10-28T22:25:10.863Z,1761690310.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345178,0.932880,0.102888],[-0.937859,0.338684,0.075588],[0.035668,-0.122585,0.991817]] 2025-10-28T22:25:11.267Z,1761690311.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400846,0.914612,0.052981],[-0.915782,0.398387,0.051300],[0.025812,-0.069082,0.997277]] 2025-10-28T22:25:11.670Z,1761690311.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420570,0.907175,0.012477],[-0.906962,0.420039,0.031408],[0.023252,-0.024525,0.999429]] 2025-10-28T22:25:12.076Z,1761690312.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365086,0.928800,0.063592],[-0.929501,0.367497,-0.031191],[-0.052340,-0.047721,0.997488]] 2025-10-28T22:25:12.167Z,1761690312.167 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20251028T162422/Courier0069.lzma 2025-10-28T22:25:12.479Z,1761690312.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351416,0.928165,0.122539],[-0.935569,0.353027,0.009028],[-0.034880,-0.117816,0.992423]] 2025-10-28T22:25:12.882Z,1761690312.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402732,0.907004,0.123092],[-0.913695,0.390360,0.113054],[0.054490,-0.157999,0.985935]] 2025-10-28T22:25:13.170Z,1761690313.170 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0069.lzma.bak 2025-10-28T22:25:13.170Z,1761690313.170 [DataOverHttps](INFO): SBD MOMSN=26263622 2025-10-28T22:25:13.286Z,1761690313.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426350,0.897872,0.109779],[-0.904555,0.422896,0.054208],[0.002247,-0.122413,0.992477]] 2025-10-28T22:25:13.693Z,1761690313.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399442,0.907130,0.132521],[-0.907926,0.411456,-0.079836],[-0.126949,-0.088430,0.987960]] 2025-10-28T22:25:14.100Z,1761690314.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424139,0.899783,0.102455],[-0.901856,0.429948,-0.042430],[-0.082228,-0.074404,0.993832]] 2025-10-28T22:25:14.509Z,1761690314.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450001,0.892550,0.029214],[-0.891629,0.447225,0.070616],[0.049963,-0.057825,0.997076]] 2025-10-28T22:25:14.970Z,1761690314.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455467,0.890138,0.014329],[-0.887007,0.452374,0.092611],[0.075955,-0.054891,0.995599]] 2025-10-28T22:25:15.308Z,1761690315.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421080,0.905925,0.044627],[-0.902989,0.414064,0.114726],[0.085455,-0.088607,0.992394]] 2025-10-28T22:25:15.711Z,1761690315.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415453,0.902249,0.115526],[-0.908262,0.404552,0.106764],[0.049592,-0.149284,0.987550]] 2025-10-28T22:25:16.119Z,1761690316.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448555,0.881857,0.145353],[-0.893753,0.442922,0.070885],[-0.001870,-0.161706,0.986837]] 2025-10-28T22:25:16.520Z,1761690316.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465081,0.880526,0.091509],[-0.884502,0.457890,0.089406],[0.036823,-0.122521,0.991783]] 2025-10-28T22:25:16.931Z,1761690316.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476231,0.878994,0.023958],[-0.875434,0.471392,0.106791],[0.082575,-0.071831,0.993993]] 2025-10-28T22:25:17.327Z,1761690317.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485278,0.874325,0.007792],[-0.871490,0.482945,0.085261],[0.070782,-0.048166,0.996328]] 2025-10-28T22:25:17.731Z,1761690317.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462767,0.883790,0.069011],[-0.885937,0.463805,0.001097],[-0.031038,-0.061647,0.997615]] 2025-10-28T22:25:18.138Z,1761690318.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479550,0.872709,0.091709],[-0.876506,0.481386,0.002380],[-0.042070,-0.081525,0.995783]] 2025-10-28T22:25:18.539Z,1761690318.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517193,0.854983,0.038928],[-0.855444,0.514969,0.054977],[0.026958,-0.061734,0.997729]] 2025-10-28T22:25:18.541Z,1761690318.541 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:25:18.948Z,1761690318.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499604,0.866021,0.020103],[-0.865194,0.497710,0.061026],[0.042844,-0.047882,0.997934]] 2025-10-28T22:25:19.347Z,1761690319.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479738,0.875531,0.057416],[-0.876353,0.474918,0.080366],[0.043095,-0.088871,0.995110]] 2025-10-28T22:25:19.752Z,1761690319.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479088,0.872515,0.095871],[-0.877694,0.474783,0.065068],[0.011255,-0.115319,0.993265]] 2025-10-28T22:25:20.154Z,1761690320.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454884,0.880159,0.135651],[-0.888168,0.459507,-0.003140],[-0.065097,-0.119053,0.990752]] 2025-10-28T22:25:20.558Z,1761690320.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457688,0.882795,0.105804],[-0.888364,0.458937,0.013662],[-0.036497,-0.100245,0.994293]] 2025-10-28T22:25:20.966Z,1761690320.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453597,0.888444,0.070125],[-0.889143,0.445790,0.103424],[0.060625,-0.109264,0.992162]] 2025-10-28T22:25:21.366Z,1761690321.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468872,0.882696,0.031724],[-0.880955,0.464747,0.089046],[0.063857,-0.069698,0.995522]] 2025-10-28T22:25:21.775Z,1761690321.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480567,0.876849,0.013789],[-0.875921,0.479175,0.056149],[0.042627,-0.039062,0.998327]] 2025-10-28T22:25:22.179Z,1761690322.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480548,0.876513,-0.028274],[-0.872175,0.481039,0.088949],[0.091566,-0.018084,0.995635]] 2025-10-28T22:25:22.583Z,1761690322.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464422,0.885398,-0.019584],[-0.877543,0.463055,0.124492],[0.119293,-0.040631,0.992027]] 2025-10-28T22:25:22.990Z,1761690322.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443404,0.892593,0.081667],[-0.892843,0.431826,0.127898],[0.078895,-0.129627,0.988419]] 2025-10-28T22:25:23.391Z,1761690323.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443764,0.875444,0.191497],[-0.896088,0.431119,0.105650],[0.009933,-0.218482,0.975790]] 2025-10-28T22:25:23.798Z,1761690323.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474186,0.863451,0.172045],[-0.880412,0.466102,0.087319],[-0.004795,-0.192876,0.981211]] 2025-10-28T22:25:24.199Z,1761690324.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464666,0.884553,0.040634],[-0.884501,0.461495,0.068417],[0.041766,-0.067732,0.996829]] 2025-10-28T22:25:24.603Z,1761690324.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454969,0.890313,-0.018622],[-0.888843,0.455297,0.051599],[0.054418,-0.006924,0.998494]] 2025-10-28T22:25:25.010Z,1761690325.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464278,0.885636,0.009702],[-0.885686,0.464280,0.002225],[-0.002534,-0.009626,0.999950]] 2025-10-28T22:25:25.417Z,1761690325.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448017,0.893049,0.041759],[-0.893927,0.446787,0.035711],[0.013234,-0.053328,0.998489]] 2025-10-28T22:25:25.815Z,1761690325.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414845,0.902752,0.113768],[-0.908781,0.404910,0.100823],[0.044952,-0.145216,0.988378]] 2025-10-28T22:25:26.221Z,1761690326.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432683,0.884870,0.172597],[-0.900843,0.416791,0.121517],[0.035590,-0.208062,0.977468]] 2025-10-28T22:25:26.627Z,1761690326.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464695,0.865919,0.185051],[-0.885391,0.451582,0.110254],[0.011906,-0.215077,0.976524]] 2025-10-28T22:25:27.033Z,1761690327.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434963,0.892967,0.115835],[-0.900447,0.431117,0.057738],[0.001620,-0.129417,0.991589]] 2025-10-28T22:25:27.841Z,1761690327.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476095,0.876823,0.067194],[-0.878572,0.477563,-0.006764],[-0.038020,-0.055815,0.997717]] 2025-10-28T22:25:28.244Z,1761690328.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455594,0.889267,0.040477],[-0.888647,0.451661,0.079434],[0.052356,-0.072159,0.996018]] 2025-10-28T22:25:28.645Z,1761690328.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444591,0.893085,0.068837],[-0.893656,0.437018,0.101952],[0.060968,-0.106844,0.992405]] 2025-10-28T22:25:29.047Z,1761690329.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471392,0.875180,0.108850],[-0.880625,0.460404,0.111929],[0.047843,-0.148619,0.987737]] 2025-10-28T22:25:29.451Z,1761690329.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468002,0.872339,0.141417],[-0.883022,0.455213,0.114248],[0.035288,-0.178343,0.983335]] 2025-10-28T22:25:29.855Z,1761690329.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453794,0.875151,0.167873],[-0.890790,0.440489,0.111636],[0.023752,-0.200200,0.979467]] 2025-10-28T22:25:30.259Z,1761690330.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493277,0.846063,0.202125],[-0.868852,0.490466,0.067381],[-0.042127,-0.208854,0.977039]] 2025-10-28T22:25:30.666Z,1761690330.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502137,0.854447,0.133336],[-0.864598,0.499260,0.056657],[-0.018159,-0.143731,0.989450]] 2025-10-28T22:25:31.067Z,1761690331.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488865,0.871955,0.026570],[-0.863774,0.479566,0.154631],[0.122089,-0.098544,0.987615]] 2025-10-28T22:25:31.471Z,1761690331.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499053,0.866570,0.001520],[-0.859151,0.494550,0.131449],[0.113159,-0.066906,0.991322]] 2025-10-28T22:25:31.875Z,1761690331.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526720,0.847306,0.068101],[-0.850038,0.525153,0.040623],[-0.001343,-0.079286,0.996851]] 2025-10-28T22:25:32.278Z,1761690332.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521987,0.846146,0.107546],[-0.852227,0.522582,0.024836],[-0.035187,-0.104618,0.993890]] 2025-10-28T22:25:32.683Z,1761690332.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534240,0.834910,0.132337],[-0.845256,0.529715,0.070316],[-0.011393,-0.149425,0.988707]] 2025-10-28T22:25:33.157Z,1761690333.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546193,0.832983,0.088393],[-0.836292,0.536230,0.114340],[0.047844,-0.136374,0.989501]] 2025-10-28T22:25:33.501Z,1761690333.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530055,0.843774,0.084186],[-0.846852,0.521664,0.103481],[0.043398,-0.126143,0.991062]] 2025-10-28T22:25:33.911Z,1761690333.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563590,0.820955,0.091647],[-0.825950,0.561808,0.046670],[-0.013174,-0.101999,0.994697]] 2025-10-28T22:25:34.306Z,1761690334.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621023,0.783727,0.010136],[-0.783303,0.620127,0.043343],[0.027683,-0.034856,0.999009]] 2025-10-28T22:25:34.711Z,1761690334.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615817,0.782043,-0.095806],[-0.779624,0.622402,0.069298],[0.113824,0.032018,0.992985]] 2025-10-28T22:25:35.164Z,1761690335.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577143,0.811027,-0.095610],[-0.810967,0.582970,0.049797],[0.096124,0.048796,0.994173]] 2025-10-28T22:25:35.531Z,1761690335.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541773,0.840426,0.012935],[-0.840440,0.541434,0.022597],[0.011988,-0.023113,0.999661]] 2025-10-28T22:25:35.935Z,1761690335.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564508,0.818913,0.103496],[-0.824787,0.564556,0.031660],[-0.032502,-0.103235,0.994126]] 2025-10-28T22:25:36.339Z,1761690336.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576361,0.808508,0.118842],[-0.817194,0.570548,0.081671],[-0.001774,-0.144189,0.989549]] 2025-10-28T22:25:36.745Z,1761690336.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575778,0.809575,0.114314],[-0.817535,0.571910,0.067487],[-0.010741,-0.132313,0.991150]] 2025-10-28T22:25:37.174Z,1761690337.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575132,0.814453,0.076746],[-0.817636,0.575322,0.021840],[-0.026366,-0.075311,0.996812]] 2025-10-28T22:25:37.551Z,1761690337.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573373,0.818103,0.044177],[-0.818169,0.574578,-0.021450],[-0.042931,-0.023845,0.998793]] 2025-10-28T22:25:37.955Z,1761690337.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577780,0.816096,0.012533],[-0.815765,0.577906,-0.023507],[-0.026427,0.003358,0.999645]] 2025-10-28T22:25:38.360Z,1761690338.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587840,0.808693,-0.021448],[-0.806984,0.588046,0.054579],[0.056750,-0.014775,0.998279]] 2025-10-28T22:25:38.765Z,1761690338.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579014,0.815008,-0.022444],[-0.809215,0.577825,0.106251],[0.099565,-0.043359,0.994086]] 2025-10-28T22:25:39.170Z,1761690339.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565851,0.822255,0.060907],[-0.824098,0.561700,0.073181],[0.025962,-0.091603,0.995457]] 2025-10-28T22:25:39.571Z,1761690339.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560875,0.817540,0.130570],[-0.827774,0.556531,0.071160],[-0.014490,-0.147994,0.988882]] 2025-10-28T22:25:39.985Z,1761690339.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559762,0.816816,0.139562],[-0.828609,0.550003,0.104420],[0.008533,-0.174093,0.984692]] 2025-10-28T22:25:40.382Z,1761690340.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574075,0.813318,0.094610],[-0.817802,0.563822,0.115349],[0.040473,-0.143592,0.988809]] 2025-10-28T22:25:40.789Z,1761690340.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580835,0.813689,0.023270],[-0.811366,0.576396,0.097229],[0.065701,-0.075354,0.994990]] 2025-10-28T22:25:41.188Z,1761690341.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569182,0.822188,-0.006292],[-0.819351,0.567822,0.079007],[0.068532,-0.039814,0.996854]] 2025-10-28T22:25:41.591Z,1761690341.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586114,0.810049,-0.017037],[-0.807688,0.585811,0.066817],[0.064105,-0.025402,0.997620]] 2025-10-28T22:25:41.995Z,1761690341.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552705,0.832811,0.030713],[-0.832993,0.553193,-0.009970],[-0.025294,-0.020073,0.999478]] 2025-10-28T22:25:42.405Z,1761690342.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539157,0.838642,0.077389],[-0.840810,0.541274,-0.007840],[-0.048464,-0.060842,0.996970]] 2025-10-28T22:25:42.803Z,1761690342.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568597,0.817497,0.091627],[-0.822037,0.568839,0.026015],[-0.030854,-0.090113,0.995454]] 2025-10-28T22:25:43.207Z,1761690343.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581753,0.811756,0.051133],[-0.813186,0.581795,0.015599],[-0.017086,-0.050655,0.998570]] 2025-10-28T22:25:43.611Z,1761690343.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565380,0.824696,-0.014891],[-0.821015,0.564408,0.085900],[0.079246,-0.036340,0.996192]] 2025-10-28T22:25:44.016Z,1761690344.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538409,0.842683,-0.001225],[-0.835256,0.533855,0.131703],[0.111638,-0.069887,0.991288]] 2025-10-28T22:25:44.419Z,1761690344.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528223,0.839158,0.129592],[-0.849079,0.523224,0.072815],[-0.006703,-0.148496,0.988890]] 2025-10-28T22:25:44.822Z,1761690344.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519388,0.831483,0.197159],[-0.852305,0.520723,0.049226],[-0.061735,-0.193608,0.979135]] 2025-10-28T22:25:45.241Z,1761690345.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510220,0.848324,0.141498],[-0.859555,0.497434,0.117154],[0.028999,-0.181399,0.982982]] 2025-10-28T22:25:45.631Z,1761690345.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523219,0.849318,0.070001],[-0.847002,0.509214,0.152607],[0.093967,-0.139138,0.985805]] 2025-10-28T22:25:46.035Z,1761690346.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525402,0.850114,0.035494],[-0.849049,0.521115,0.086913],[0.055390,-0.075800,0.995583]] 2025-10-28T22:25:46.439Z,1761690346.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535275,0.843347,0.047388],[-0.844635,0.534971,0.019955],[-0.008522,-0.050707,0.998677]] 2025-10-28T22:25:46.843Z,1761690346.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551094,0.831622,0.068561],[-0.833465,0.552564,-0.003006],[-0.040384,-0.055487,0.997642]] 2025-10-28T22:25:47.252Z,1761690347.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567437,0.823358,0.009838],[-0.822126,0.565838,0.062741],[0.046091,-0.043690,0.997981]] 2025-10-28T22:25:47.651Z,1761690347.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538966,0.840685,-0.052569],[-0.822332,0.538664,0.183332],[0.182441,-0.055580,0.981645]] 2025-10-28T22:25:48.055Z,1761690348.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508670,0.860178,-0.036722],[-0.836270,0.503774,0.216480],[0.204711,-0.079408,0.975596]] 2025-10-28T22:25:48.459Z,1761690348.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534915,0.842876,0.058542],[-0.840025,0.523109,0.143928],[0.090690,-0.126166,0.987855]] 2025-10-28T22:25:48.867Z,1761690348.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541457,0.836197,0.087176],[-0.839601,0.532447,0.107565],[0.043528,-0.131435,0.990369]] 2025-10-28T22:25:49.267Z,1761690349.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539469,0.841459,0.030329],[-0.831744,0.526942,0.174739],[0.131054,-0.119493,0.984148]] 2025-10-28T22:25:49.671Z,1761690349.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542177,0.839780,-0.028513],[-0.811690,0.532212,0.240646],[0.217264,-0.107329,0.970194]] 2025-10-28T22:25:50.075Z,1761690350.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529876,0.846606,-0.049893],[-0.807742,0.521729,0.274503],[0.258427,-0.105152,0.960291]] 2025-10-28T22:25:50.481Z,1761690350.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493700,0.869596,-0.007931],[-0.834796,0.476459,0.275865],[0.243670,-0.129574,0.961164]] 2025-10-28T22:25:50.890Z,1761690350.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482728,0.870844,0.092757],[-0.862280,0.454100,0.224202],[0.153124,-0.188211,0.970118]] 2025-10-28T22:25:51.287Z,1761690351.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472502,0.863835,0.174733],[-0.880332,0.453165,0.140206],[0.041932,-0.220071,0.974582]] 2025-10-28T22:25:51.691Z,1761690351.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502840,0.849919,0.157447],[-0.864379,0.494333,0.092105],[0.000451,-0.182408,0.983223]] 2025-10-28T22:25:52.096Z,1761690352.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517807,0.853543,0.057784],[-0.855427,0.515716,0.047764],[0.010968,-0.074163,0.997186]] 2025-10-28T22:25:52.499Z,1761690352.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491749,0.869741,-0.041641],[-0.867558,0.493475,0.061849],[0.074341,0.005712,0.997217]] 2025-10-28T22:25:52.903Z,1761690352.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493821,0.867831,-0.054855],[-0.864956,0.496712,0.071617],[0.089399,0.012081,0.995923]] 2025-10-28T22:25:53.307Z,1761690353.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489553,0.871111,0.038778],[-0.871798,0.489863,0.001729],[-0.017490,-0.034653,0.999246]] 2025-10-28T22:25:53.713Z,1761690353.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507473,0.851337,0.133029],[-0.854604,0.517006,-0.048544],[-0.110104,-0.089053,0.989923]] 2025-10-28T22:25:54.115Z,1761690354.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531995,0.839768,0.108497],[-0.842642,0.537654,-0.029703],[-0.083278,-0.075622,0.993653]] 2025-10-28T22:25:54.518Z,1761690354.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515490,0.856457,0.027408],[-0.856686,0.514392,0.038602],[0.018963,-0.043380,0.998879]] 2025-10-28T22:25:54.923Z,1761690354.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465607,0.883892,-0.044097],[-0.865698,0.465239,0.184714],[0.183783,-0.047829,0.981802]] 2025-10-28T22:25:55.327Z,1761690355.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475541,0.879592,0.013320],[-0.848957,0.454906,0.268948],[0.230506,-0.139204,0.963063]] 2025-10-28T22:25:55.732Z,1761690355.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507597,0.847484,0.155293],[-0.857014,0.478069,0.192295],[0.088726,-0.230696,0.968972]] 2025-10-28T22:25:56.134Z,1761690356.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515408,0.832824,0.201887],[-0.854907,0.515948,0.054151],[-0.059065,-0.200504,0.977911]] 2025-10-28T22:25:56.538Z,1761690356.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515695,0.848725,0.117149],[-0.856345,0.514913,0.039204],[-0.027048,-0.120537,0.992340]] 2025-10-28T22:25:56.942Z,1761690356.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522334,0.851801,0.040034],[-0.850441,0.516903,0.097784],[0.062599,-0.085123,0.994402]] 2025-10-28T22:25:57.347Z,1761690357.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524505,0.851162,-0.020416],[-0.841382,0.521849,0.140534],[0.130271,-0.056533,0.989865]] 2025-10-28T22:25:57.750Z,1761690357.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520962,0.852996,-0.031559],[-0.841423,0.519409,0.149068],[0.143547,-0.051104,0.988323]] 2025-10-28T22:25:58.154Z,1761690358.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521224,0.853158,0.021135],[-0.850434,0.517172,0.096413],[0.071325,-0.068227,0.995117]] 2025-10-28T22:25:58.558Z,1761690358.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530224,0.845097,0.068361],[-0.847849,0.528855,0.038261],[-0.003819,-0.078247,0.996927]] 2025-10-28T22:25:58.962Z,1761690358.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561653,0.826553,0.036818],[-0.825280,0.556514,0.095943],[0.058813,-0.084272,0.994706]] 2025-10-28T22:25:59.372Z,1761690359.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562604,0.823855,-0.068847],[-0.800296,0.563614,0.204608],[0.207371,-0.060015,0.976420]] 2025-10-28T22:25:59.774Z,1761690359.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506129,0.856275,-0.103085],[-0.816934,0.514296,0.260994],[0.276499,-0.047883,0.959821]] 2025-10-28T22:26:00.176Z,1761690360.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469833,0.881205,-0.052295],[-0.847014,0.466704,0.254471],[0.248647,-0.075264,0.965666]] 2025-10-28T22:26:00.578Z,1761690360.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496197,0.868190,-0.005940],[-0.840226,0.481915,0.248553],[0.218654,-0.118340,0.968600]] 2025-10-28T22:26:00.983Z,1761690360.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513542,0.857556,-0.029530],[-0.825478,0.503140,0.255805],[0.234225,-0.106990,0.966277]] 2025-10-28T22:26:01.388Z,1761690361.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480639,0.869900,-0.110722],[-0.839678,0.492949,0.227906],[0.252836,-0.016569,0.967367]] 2025-10-28T22:26:01.795Z,1761690361.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449575,0.887572,-0.100491],[-0.854741,0.460139,0.240188],[0.259424,-0.022089,0.965511]] 2025-10-28T22:26:02.194Z,1761690362.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440316,0.896836,-0.042515],[-0.858502,0.434413,0.272507],[0.262863,-0.083490,0.961214]] 2025-10-28T22:26:02.598Z,1761690362.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432148,0.901409,0.026651],[-0.869191,0.408463,0.278686],[0.240324,-0.143599,0.960012]] 2025-10-28T22:26:03.002Z,1761690363.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433440,0.899000,0.062678],[-0.872828,0.401476,0.277469],[0.224281,-0.174973,0.958688]] 2025-10-28T22:26:03.409Z,1761690363.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426375,0.903863,0.035152],[-0.874532,0.401988,0.271291],[0.231079,-0.146413,0.961855]] 2025-10-28T22:26:03.810Z,1761690363.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420945,0.906537,0.031568],[-0.884834,0.402709,0.234297],[0.199686,-0.126558,0.971652]] 2025-10-28T22:26:04.214Z,1761690364.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432701,0.901429,0.013998],[-0.890819,0.425118,0.160364],[0.138605,-0.081859,0.986959]] 2025-10-28T22:26:04.620Z,1761690364.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435190,0.900284,-0.009925],[-0.894020,0.433413,0.113496],[0.106481,-0.040519,0.993489]] 2025-10-28T22:26:05.025Z,1761690365.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388551,0.921427,-0.000363],[-0.914712,0.385767,0.120355],[0.111039,-0.046432,0.992731]] 2025-10-28T22:26:05.427Z,1761690365.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368764,0.928451,0.044627],[-0.916184,0.354949,0.186060],[0.156907,-0.109499,0.981524]] 2025-10-28T22:26:05.833Z,1761690365.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389820,0.918897,0.060565],[-0.893551,0.361521,0.266212],[0.222726,-0.157893,0.962010]] 2025-10-28T22:26:06.236Z,1761690366.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396863,0.915456,0.066640],[-0.904420,0.377625,0.198552],[0.156601,-0.139068,0.977822]] 2025-10-28T22:26:06.638Z,1761690366.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397684,0.913815,0.082394],[-0.916430,0.391226,0.084251],[0.044755,-0.109013,0.993032]] 2025-10-28T22:26:07.043Z,1761690367.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392917,0.916529,0.074771],[-0.919364,0.389787,0.053263],[0.019672,-0.089669,0.995777]] 2025-10-28T22:26:07.447Z,1761690367.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393799,0.913974,0.097842],[-0.919027,0.393534,0.022815],[-0.017651,-0.098904,0.994940]] 2025-10-28T22:26:07.862Z,1761690367.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408017,0.903402,0.131860],[-0.908054,0.416537,-0.043979],[-0.094656,-0.101792,0.990292]] 2025-10-28T22:26:08.254Z,1761690368.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427400,0.892879,0.141763],[-0.898759,0.436597,-0.040191],[-0.097779,-0.110233,0.989084]] 2025-10-28T22:26:08.659Z,1761690368.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399261,0.910206,0.110068],[-0.915067,0.388150,0.109507],[0.056951,-0.144442,0.987873]] 2025-10-28T22:26:09.063Z,1761690369.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375875,0.923273,0.079275],[-0.911305,0.352774,0.212306],[0.168050,-0.152044,0.973982]] 2025-10-28T22:26:09.469Z,1761690369.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417295,0.906326,0.066613],[-0.900955,0.403001,0.160840],[0.118928,-0.127133,0.984730]] 2025-10-28T22:26:09.888Z,1761690369.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398792,0.916760,0.022693],[-0.906670,0.390451,0.159679],[0.137527,-0.084254,0.986908]] 2025-10-28T22:26:10.279Z,1761690370.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418822,0.907127,0.041350],[-0.896616,0.405901,0.176985],[0.143764,-0.111200,0.983345]] 2025-10-28T22:26:10.685Z,1761690370.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426257,0.903495,0.044742],[-0.888148,0.408601,0.210331],[0.171751,-0.129393,0.976606]] 2025-10-28T22:26:11.094Z,1761690371.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431862,0.901186,0.036864],[-0.883738,0.414624,0.217012],[0.180284,-0.126297,0.975473]] 2025-10-28T22:26:11.491Z,1761690371.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451610,0.891317,0.040034],[-0.874255,0.433116,0.219291],[0.178119,-0.134034,0.974838]] 2025-10-28T22:26:11.895Z,1761690371.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458382,0.888484,0.021954],[-0.870276,0.443703,0.213885],[0.180292,-0.117147,0.976612]] 2025-10-28T22:26:12.295Z,1761690372.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455541,0.890212,-0.001926],[-0.866143,0.443722,0.230015],[0.205617,-0.103113,0.973185]] 2025-10-28T22:26:12.699Z,1761690372.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480906,0.876521,-0.020990],[-0.845089,0.469773,0.255220],[0.233566,-0.104999,0.966655]] 2025-10-28T22:26:13.138Z,1761690373.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491480,0.870328,-0.031229],[-0.840666,0.483484,0.243976],[0.227437,-0.093657,0.969278]] 2025-10-28T22:26:13.506Z,1761690373.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484455,0.874787,-0.007127],[-0.851439,0.473365,0.225781],[0.200883,-0.103312,0.974152]] 2025-10-28T22:26:13.915Z,1761690373.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533493,0.845513,0.022217],[-0.832392,0.520192,0.191113],[0.150031,-0.120451,0.981317]] 2025-10-28T22:26:14.316Z,1761690374.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552098,0.831892,-0.056063],[-0.814048,0.552354,0.179531],[0.180317,-0.053481,0.982154]] 2025-10-28T22:26:14.720Z,1761690374.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531338,0.843385,-0.079888],[-0.820729,0.535838,0.198194],[0.209961,-0.039742,0.976902]] 2025-10-28T22:26:15.158Z,1761690375.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551889,0.833087,0.037215],[-0.816280,0.530549,0.228483],[0.170601,-0.156475,0.972836]] 2025-10-28T22:26:15.529Z,1761690375.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549703,0.825110,0.130457],[-0.830594,0.523203,0.190716],[0.089106,-0.213194,0.972938]] 2025-10-28T22:26:15.933Z,1761690375.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558660,0.823206,0.101153],[-0.821665,0.532705,0.202713],[0.112990,-0.196361,0.974000]] 2025-10-28T22:26:16.340Z,1761690376.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575000,0.818143,0.004174],[-0.800766,0.561727,0.207936],[0.167776,-0.122905,0.978134]] 2025-10-28T22:26:16.740Z,1761690376.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571123,0.819918,-0.039412],[-0.810092,0.570730,0.134234],[0.132554,-0.044737,0.990166]] 2025-10-28T22:26:17.194Z,1761690377.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566347,0.822372,-0.054369],[-0.818422,0.568949,0.080509],[0.097142,-0.001099,0.995270]] 2025-10-28T22:26:17.546Z,1761690377.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561722,0.825348,-0.057178],[-0.821323,0.564623,0.081427],[0.099490,0.001222,0.995038]] 2025-10-28T22:26:17.953Z,1761690377.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608571,0.793499,0.000652],[-0.791744,0.607170,0.066978],[0.052751,-0.041277,0.997754]] 2025-10-28T22:26:18.366Z,1761690378.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709903,0.700316,0.074810],[-0.703469,0.710213,0.027016],[-0.034211,-0.071805,0.996832]] 2025-10-28T22:26:18.766Z,1761690378.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685613,0.718264,0.118458],[-0.725855,0.686897,0.036148],[-0.055405,-0.110767,0.992301]] 2025-10-28T22:26:19.167Z,1761690379.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627816,0.760950,0.163717],[-0.777519,0.603322,0.177388],[0.036209,-0.238660,0.970428]] 2025-10-28T22:26:19.566Z,1761690379.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634941,0.742802,0.212356],[-0.764330,0.563965,0.312637],[0.112466,-0.360816,0.925831]] 2025-10-28T22:26:19.998Z,1761690379.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657134,0.718079,0.229212],[-0.749200,0.588767,0.303403],[0.082915,-0.371102,0.924883]] 2025-10-28T22:26:20.378Z,1761690380.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672921,0.730003,0.119469],[-0.734029,0.638997,0.229967],[0.091536,-0.242443,0.965838]] 2025-10-28T22:26:20.783Z,1761690380.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715489,0.698464,-0.014948],[-0.691296,0.710913,0.129280],[0.100924,-0.082165,0.991495]] 2025-10-28T22:26:21.182Z,1761690381.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751573,0.648145,-0.122663],[-0.652874,0.757463,0.002148],[0.094305,0.078469,0.992446]] 2025-10-28T22:26:21.589Z,1761690381.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737004,0.656180,-0.162027],[-0.667440,0.744355,-0.021452],[0.106529,0.123953,0.986553]] 2025-10-28T22:26:21.993Z,1761690381.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714351,0.693243,-0.095481],[-0.692492,0.719943,0.046225],[0.100786,0.033099,0.994357]] 2025-10-28T22:26:22.394Z,1761690382.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736634,0.676252,0.007325],[-0.666625,0.724238,0.176325],[0.113935,-0.134770,0.984305]] 2025-10-28T22:26:22.801Z,1761690382.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764684,0.644074,0.020680],[-0.629147,0.739250,0.240174],[0.139402,-0.196668,0.970510]] 2025-10-28T22:26:23.204Z,1761690383.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774347,0.632163,-0.027518],[-0.615089,0.762214,0.201730],[0.148501,-0.139283,0.979055]] 2025-10-28T22:26:23.607Z,1761690383.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787988,0.610671,-0.078453],[-0.596669,0.788848,0.147327],[0.151856,-0.069281,0.985972]] 2025-10-28T22:26:24.010Z,1761690384.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794331,0.592793,-0.132794],[-0.588699,0.805092,0.072527],[0.149905,0.020565,0.988486]] 2025-10-28T22:26:24.414Z,1761690384.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792500,0.601254,-0.102158],[-0.596698,0.799054,0.073918],[0.126073,0.002377,0.992018]] 2025-10-28T22:26:24.827Z,1761690384.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793145,0.608143,-0.032910],[-0.599217,0.788883,0.136390],[0.108906,-0.088457,0.990108]] 2025-10-28T22:26:25.222Z,1761690385.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789846,0.613288,0.004670],[-0.600105,0.771252,0.212236],[0.126560,-0.170436,0.977207]] 2025-10-28T22:26:25.627Z,1761690385.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808917,0.586767,0.036831],[-0.582717,0.791864,0.182736],[0.078059,-0.169281,0.982472]] 2025-10-28T22:26:26.036Z,1761690386.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831808,0.553807,0.037326],[-0.554764,0.827264,0.088722],[0.018257,-0.094507,0.995357]] 2025-10-28T22:26:26.434Z,1761690386.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842537,0.536493,-0.048030],[-0.535857,0.843897,0.026361],[0.054675,0.003527,0.998498]] 2025-10-28T22:26:26.844Z,1761690386.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839601,0.520160,-0.156538],[-0.525795,0.850588,0.006285],[0.136418,0.077030,0.987652]] 2025-10-28T22:26:27.242Z,1761690387.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812834,0.567107,-0.133004],[-0.574285,0.818409,-0.020098],[0.097454,0.092719,0.990912]] 2025-10-28T22:26:27.649Z,1761690387.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798448,0.602044,-0.004973],[-0.602063,0.798433,-0.005008],[0.000956,0.006993,0.999975]] 2025-10-28T22:26:27.928Z,1761690387.928 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application. 2025-10-28T22:26:28.051Z,1761690388.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810719,0.581830,0.064864],[-0.584446,0.810804,0.031931],[-0.034014,-0.063797,0.997383]] 2025-10-28T22:26:28.454Z,1761690388.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831233,0.553465,0.052229],[-0.555503,0.830584,0.039318],[-0.021620,-0.061696,0.997861]] 2025-10-28T22:26:28.859Z,1761690388.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822882,0.566281,0.046815],[-0.567976,0.822120,0.039013],[-0.016396,-0.058693,0.998141]] 2025-10-28T22:26:29.262Z,1761690389.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806043,0.587489,0.071773],[-0.590108,0.807046,0.021202],[-0.045468,-0.059443,0.997196]] 2025-10-28T22:26:29.666Z,1761690389.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808047,0.587302,0.046227],[-0.588869,0.807497,0.034383],[-0.017135,-0.055004,0.998339]] 2025-10-28T22:26:30.072Z,1761690390.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803903,0.593906,-0.031870],[-0.590321,0.803291,0.079025],[0.072534,-0.044715,0.996363]] 2025-10-28T22:26:30.476Z,1761690390.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794507,0.606738,-0.025063],[-0.603554,0.793541,0.077559],[0.066947,-0.046494,0.996673]] 2025-10-28T22:26:30.858Z,1761690390.858 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message. 2025-10-28T22:26:30.858Z,1761690390.858 [DAT](INFO): Activating messaging. 2025-10-28T22:26:30.879Z,1761690390.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772255,0.632097,0.063837],[-0.635225,0.769903,0.061134],[-0.010505,-0.087762,0.996086]] 2025-10-28T22:26:30.945Z,1761690390.945 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2221 2025-10-28T22:26:30.946Z,1761690390.946 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2222 2025-10-28T22:26:30.956Z,1761690390.956 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2223 2025-10-28T22:26:31.283Z,1761690391.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758753,0.639583,0.123401],[-0.650039,0.755624,0.080507],[-0.041754,-0.141301,0.989086]] 2025-10-28T22:26:31.687Z,1761690391.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803078,0.595859,0.004293],[-0.592335,0.797502,0.114585],[0.064853,-0.094563,0.993404]] 2025-10-28T22:26:32.094Z,1761690392.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786376,0.595621,-0.163855],[-0.591303,0.802528,0.079432],[0.178809,0.034425,0.983281]] 2025-10-28T22:26:32.495Z,1761690392.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725209,0.662470,-0.187635],[-0.667641,0.743208,0.043562],[0.168310,0.093681,0.981272]] 2025-10-28T22:26:32.898Z,1761690392.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690464,0.720171,-0.067919],[-0.721871,0.692027,-0.000708],[0.046492,0.049518,0.997691]] 2025-10-28T22:26:33.707Z,1761690393.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670721,0.733570,0.109581],[-0.738191,0.674588,0.002394],[-0.072166,-0.082497,0.993975]] 2025-10-28T22:26:33.949Z,1761690393.949 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.931164 2025-10-28T22:26:34.111Z,1761690394.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702709,0.707862,0.071629],[-0.711202,0.701669,0.043042],[-0.019792,-0.081188,0.996502]] 2025-10-28T22:26:34.515Z,1761690394.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734242,0.678555,0.021272],[-0.678885,0.733981,0.019697],[-0.002248,-0.028904,0.999580]] 2025-10-28T22:26:34.919Z,1761690394.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702324,0.709409,-0.058984],[-0.708514,0.704643,0.038554],[0.068913,0.014713,0.997514]] 2025-10-28T22:26:35.330Z,1761690395.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642336,0.765046,-0.045922],[-0.755878,0.642265,0.127061],[0.126702,-0.046905,0.990831]] 2025-10-28T22:26:35.727Z,1761690395.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601954,0.792436,0.098475],[-0.796977,0.588506,0.135970],[0.049794,-0.160330,0.985807]] 2025-10-28T22:26:36.131Z,1761690396.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593098,0.780435,0.197878],[-0.803594,0.588983,0.085648],[-0.049704,-0.209811,0.976478]] 2025-10-28T22:26:36.877Z,1761690396.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681572,0.729722,-0.054447],[-0.730213,0.683076,0.014016],[0.047419,0.030205,0.998418]] 2025-10-28T22:26:37.278Z,1761690397.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622901,0.769675,-0.139978],[-0.776141,0.630432,0.012638],[0.097974,0.100771,0.990074]] 2025-10-28T22:26:39.426Z,1761690399.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564330,0.819225,0.101989],[-0.825351,0.557166,0.091439],[0.018084,-0.135778,0.990574]] 2025-10-28T22:26:39.804Z,1761690399.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574294,0.818649,-0.000892],[-0.818328,0.574099,0.027375],[0.022923,-0.014991,0.999625]] 2025-10-28T22:26:40.199Z,1761690400.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511597,0.850374,-0.123019],[-0.848123,0.522726,0.086289],[0.137683,0.060190,0.988646]] 2025-10-28T22:26:40.603Z,1761690400.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473923,0.876956,-0.079658],[-0.870137,0.480272,0.110455],[0.135121,0.016966,0.990684]] 2025-10-28T22:26:41.009Z,1761690401.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466022,0.881229,0.079120],[-0.883770,0.459371,0.089049],[0.042127,-0.111422,0.992880]] 2025-10-28T22:26:41.410Z,1761690401.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454267,0.872853,0.178240],[-0.890498,0.439148,0.119010],[0.025604,-0.212785,0.976763]] 2025-10-28T22:26:41.822Z,1761690401.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446134,0.876286,0.181897],[-0.890804,0.415212,0.184575],[0.086215,-0.244380,0.965839]] 2025-10-28T22:26:42.219Z,1761690402.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431228,0.892472,0.132423],[-0.899963,0.415050,0.133419],[0.064110,-0.176710,0.982173]] 2025-10-28T22:26:42.623Z,1761690402.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420910,0.904246,0.071930],[-0.906596,0.416700,0.066669],[0.030312,-0.093273,0.995179]] 2025-10-28T22:26:43.431Z,1761690403.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424770,0.903572,0.055923],[-0.904843,0.425710,-0.005534],[-0.028807,-0.048251,0.998420]] 2025-10-28T22:26:43.834Z,1761690403.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401301,0.910570,0.099097],[-0.914376,0.404594,-0.014838],[-0.053605,-0.084657,0.994967]] 2025-10-28T22:26:44.240Z,1761690404.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368766,0.920104,0.131987],[-0.929105,0.369118,0.022698],[-0.027834,-0.131000,0.990992]] 2025-10-28T22:26:44.643Z,1761690404.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347257,0.928492,0.131584],[-0.937014,0.337912,0.088430],[0.037642,-0.154004,0.987353]] 2025-10-28T22:26:45.047Z,1761690405.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383332,0.919810,0.083700],[-0.921199,0.374213,0.106570],[0.066703,-0.117956,0.990776]] 2025-10-28T22:26:45.913Z,1761690405.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394711,0.917705,0.044944],[-0.918772,0.393806,0.027845],[0.007854,-0.052284,0.998601]] 2025-10-28T22:26:46.259Z,1761690406.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355312,0.931893,0.072993],[-0.934621,0.352895,0.044135],[0.015370,-0.083903,0.996355]] 2025-10-28T22:26:46.662Z,1761690406.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331610,0.931111,0.151878],[-0.943131,0.323227,0.077640],[0.023200,-0.168987,0.985345]] 2025-10-28T22:26:47.068Z,1761690407.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320757,0.925545,0.201202],[-0.947002,0.309492,0.086029],[0.017353,-0.218133,0.975765]] 2025-10-28T22:26:47.470Z,1761690407.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364880,0.920021,0.142909],[-0.929683,0.351698,0.109534],[0.050512,-0.172827,0.983656]] 2025-10-28T22:26:47.492Z,1761690407.492 [NAL9602](INFO): SBD MO Status=1, MOMSN=3377, MT Status=0, MTMSN=0 2025-10-28T22:26:47.540Z,1761690407.540 [NAL9602](INFO): Sent 239 bytes from file Logs/20251028T162422/Express0070.lzma 2025-10-28T22:26:47.540Z,1761690407.540 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:26:47.875Z,1761690407.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380922,0.924541,0.011063],[-0.919858,0.377727,0.105756],[0.093597,-0.050461,0.994331]] 2025-10-28T22:26:48.629Z,1761690408.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353412,0.935338,-0.015545],[-0.931649,0.353421,0.084406],[0.084442,-0.015348,0.996310]] 2025-10-28T22:26:49.019Z,1761690409.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352936,0.934042,0.054787],[-0.935509,0.351273,0.037807],[0.016068,-0.064597,0.997782]] 2025-10-28T22:26:49.423Z,1761690409.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324845,0.934616,0.144807],[-0.943069,0.331656,-0.024995],[-0.071387,-0.128444,0.989144]] 2025-10-28T22:26:49.827Z,1761690409.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335261,0.920909,0.198813],[-0.940387,0.339920,0.011263],[-0.057209,-0.190737,0.979973]] 2025-10-28T22:26:50.236Z,1761690410.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361585,0.923178,0.130378],[-0.931969,0.353950,0.078445],[0.026272,-0.149873,0.988356]] 2025-10-28T22:26:50.634Z,1761690410.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368567,0.926597,0.074675],[-0.929063,0.364431,0.063494],[0.031619,-0.092779,0.995184]] 2025-10-28T22:26:51.039Z,1761690411.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370054,0.928973,0.008298],[-0.927889,0.369154,0.052406],[0.045621,-0.027092,0.998591]] 2025-10-28T22:26:51.444Z,1761690411.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379481,0.925199,0.001127],[-0.922924,0.378463,0.070548],[0.064844,-0.027812,0.997508]] 2025-10-28T22:26:51.847Z,1761690411.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362697,0.930399,0.053004],[-0.931429,0.360102,0.052597],[0.029849,-0.068446,0.997208]] 2025-10-28T22:26:52.250Z,1761690412.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342173,0.927741,0.149046],[-0.939177,0.342638,0.023362],[-0.029395,-0.147975,0.988554]] 2025-10-28T22:26:52.655Z,1761690412.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349289,0.920866,0.173215],[-0.936737,0.347674,0.040586],[-0.022848,-0.176434,0.984047]] 2025-10-28T22:26:53.059Z,1761690413.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338084,0.929072,0.150082],[-0.940972,0.330917,0.071177],[0.016464,-0.165287,0.986108]] 2025-10-28T22:26:53.462Z,1761690413.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343584,0.934337,0.094676],[-0.938591,0.338253,0.068057],[0.031564,-0.112245,0.993179]] 2025-10-28T22:26:53.866Z,1761690413.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344492,0.937994,0.038628],[-0.938442,0.342955,0.041322],[0.025512,-0.050485,0.998399]] 2025-10-28T22:26:54.285Z,1761690414.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345517,0.937273,0.046243],[-0.937226,0.347138,-0.033209],[-0.047179,-0.031866,0.998378]] 2025-10-28T22:26:54.674Z,1761690414.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349789,0.933442,0.079582],[-0.930967,0.355832,-0.081754],[-0.104630,-0.045492,0.993470]] 2025-10-28T22:26:55.082Z,1761690415.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330288,0.939539,0.090428],[-0.943879,0.328926,0.030006],[-0.001552,-0.095264,0.995451]] 2025-10-28T22:26:55.484Z,1761690415.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302252,0.945829,0.118540],[-0.949941,0.288553,0.119791],[0.079097,-0.148813,0.985697]] 2025-10-28T22:26:55.889Z,1761690415.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330306,0.931648,0.151425],[-0.942667,0.317502,0.102815],[0.047710,-0.176703,0.983107]] 2025-10-28T22:26:56.297Z,1761690416.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371249,0.919990,0.125665],[-0.927292,0.360347,0.101385],[0.047990,-0.154167,0.986879]] 2025-10-28T22:26:56.303Z,1761690416.303 [NAL9602](INFO): SBD MO Status=0, MOMSN=3378, MT Status=0, MTMSN=0 2025-10-28T22:26:56.385Z,1761690416.385 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped 2025-10-28T22:26:56.385Z,1761690416.385 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1 2025-10-28T22:26:56.386Z,1761690416.386 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:26:56.694Z,1761690416.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358302,0.932555,0.044275],[-0.931754,0.354204,0.079831],[0.058764,-0.069857,0.995825]] 2025-10-28T22:26:57.130Z,1761690417.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310343,0.950270,0.025981],[-0.949719,0.308739,0.052089],[0.041477,-0.040840,0.998304]] 2025-10-28T22:26:57.906Z,1761690417.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363517,0.930636,0.042092],[-0.928025,0.357809,0.103650],[0.081400,-0.076741,0.993723]] 2025-10-28T22:26:58.313Z,1761690418.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364182,0.928527,0.072167],[-0.927537,0.354625,0.117970],[0.083946,-0.109900,0.990391]] 2025-10-28T22:26:58.716Z,1761690418.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319865,0.943105,0.090773],[-0.944121,0.309231,0.114065],[0.079506,-0.122186,0.989318]] 2025-10-28T22:26:59.159Z,1761690419.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336774,0.936194,0.100615],[-0.936095,0.321371,0.142990],[0.101532,-0.142340,0.984597]] 2025-10-28T22:26:59.933Z,1761690419.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330839,0.941208,0.068355],[-0.942074,0.325172,0.082220],[0.055159,-0.091597,0.994267]] 2025-10-28T22:27:00.341Z,1761690420.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333096,0.939896,0.075111],[-0.942633,0.330078,0.049909],[0.022116,-0.087426,0.995925]] 2025-10-28T22:27:00.739Z,1761690420.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339561,0.938393,0.064163],[-0.940554,0.338215,0.031133],[0.007514,-0.070921,0.997454]] 2025-10-28T22:27:01.159Z,1761690421.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309351,0.949257,0.056678],[-0.950081,0.305976,0.061024],[0.040585,-0.072727,0.996526]] 2025-10-28T22:27:01.550Z,1761690421.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325344,0.943532,0.062435],[-0.937115,0.312899,0.154629],[0.126361,-0.108816,0.985998]] 2025-10-28T22:27:01.948Z,1761690421.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361750,0.925054,0.115811],[-0.927307,0.344227,0.147004],[0.096121,-0.160571,0.982333]] 2025-10-28T22:27:02.350Z,1761690422.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370591,0.915457,0.156850],[-0.928601,0.368656,0.042349],[-0.019055,-0.161345,0.986714]] 2025-10-28T22:27:02.757Z,1761690422.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360025,0.920168,0.153856],[-0.928848,0.368971,-0.033187],[-0.087306,-0.130961,0.987536]] 2025-10-28T22:27:03.167Z,1761690423.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351266,0.928795,0.118119],[-0.935196,0.354115,-0.003360],[-0.044949,-0.109284,0.992994]] 2025-10-28T22:27:03.563Z,1761690423.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337141,0.936055,0.100684],[-0.940939,0.331486,0.068926],[0.031143,-0.117975,0.992528]] 2025-10-28T22:27:03.967Z,1761690423.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383741,0.918475,0.095640],[-0.922246,0.375918,0.090263],[0.046952,-0.122842,0.991315]] 2025-10-28T22:27:04.371Z,1761690424.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427293,0.902584,0.052571],[-0.902896,0.422978,0.076610],[0.046911,-0.080201,0.995674]] 2025-10-28T22:27:04.785Z,1761690424.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414486,0.908504,0.053117],[-0.909951,0.412847,0.039320],[0.013794,-0.064631,0.997814]] 2025-10-28T22:27:05.074Z,1761690425.074 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:27:05.179Z,1761690425.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398170,0.913966,0.078273],[-0.916800,0.399345,0.000692],[-0.030625,-0.072037,0.996932]] 2025-10-28T22:27:05.583Z,1761690425.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408663,0.907851,0.093811],[-0.912642,0.405482,0.051660],[0.008861,-0.106728,0.994249]] 2025-10-28T22:27:05.987Z,1761690425.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446201,0.888576,0.106480],[-0.893580,0.435823,0.107577],[0.049184,-0.143149,0.988478]] 2025-10-28T22:27:06.076Z,1761690426.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:27:06.397Z,1761690426.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450884,0.884218,0.121910],[-0.891774,0.440442,0.103681],[0.037982,-0.155464,0.987111]] 2025-10-28T22:27:06.797Z,1761690426.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431661,0.892357,0.131785],[-0.902029,0.427591,0.059236],[-0.003490,-0.144444,0.989507]] 2025-10-28T22:27:07.198Z,1761690427.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416717,0.898193,0.139990],[-0.908830,0.408374,0.085191],[0.019350,-0.162728,0.986481]] 2025-10-28T22:27:07.602Z,1761690427.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434740,0.887053,0.155363],[-0.900320,0.424161,0.097528],[0.020613,-0.182276,0.983031]] 2025-10-28T22:27:08.008Z,1761690428.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493713,0.859142,0.134619],[-0.868783,0.494101,0.032886],[-0.038262,-0.133191,0.990352]] 2025-10-28T22:27:08.411Z,1761690428.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503176,0.863285,0.039403],[-0.863712,0.503885,-0.010089],[-0.028564,-0.028956,0.999172]] 2025-10-28T22:27:08.815Z,1761690428.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457985,0.888946,0.005007],[-0.887000,0.457342,-0.063796],[-0.059001,0.024777,0.997950]] 2025-10-28T22:27:09.219Z,1761690429.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459979,0.887892,0.008165],[-0.887067,0.459917,-0.039848],[-0.039136,0.011086,0.999172]] 2025-10-28T22:27:09.627Z,1761690429.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499178,0.866492,0.003688],[-0.865004,0.498062,0.060841],[0.050881,-0.033561,0.998141]] 2025-10-28T22:27:10.028Z,1761690430.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487713,0.872612,0.026138],[-0.867504,0.481068,0.126536],[0.097842,-0.084388,0.991618]] 2025-10-28T22:27:10.430Z,1761690430.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481747,0.870006,0.104923],[-0.875033,0.471123,0.111176],[0.047292,-0.145370,0.988246]] 2025-10-28T22:27:10.835Z,1761690430.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482286,0.860412,0.164594],[-0.875605,0.467732,0.120597],[0.026778,-0.202281,0.978961]] 2025-10-28T22:27:11.642Z,1761690431.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552362,0.827706,0.098996],[-0.831603,0.538912,0.134198],[0.057726,-0.156451,0.985997]] 2025-10-28T22:27:12.048Z,1761690432.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556039,0.828127,0.070895],[-0.831120,0.554785,0.038123],[-0.007760,-0.080120,0.996755]] 2025-10-28T22:27:12.454Z,1761690432.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550387,0.833994,0.039100],[-0.834708,0.548621,0.047725],[0.018351,-0.058904,0.998095]] 2025-10-28T22:27:12.854Z,1761690432.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547537,0.836316,0.027902],[-0.831280,0.539817,0.132555],[0.095795,-0.095773,0.990783]] 2025-10-28T22:27:13.265Z,1761690433.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565680,0.816144,0.117958],[-0.824624,0.559719,0.081915],[0.000831,-0.143609,0.989634]] 2025-10-28T22:27:13.664Z,1761690433.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588404,0.790796,0.168587],[-0.805000,0.592497,0.030378],[-0.075864,-0.153587,0.985219]] 2025-10-28T22:27:14.067Z,1761690434.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606734,0.788583,0.100051],[-0.794760,0.604200,0.057435],[-0.015159,-0.114364,0.993323]] 2025-10-28T22:27:14.471Z,1761690434.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606258,0.794369,-0.037802],[-0.790550,0.607150,0.079997],[0.086498,-0.018615,0.996078]] 2025-10-28T22:27:14.875Z,1761690434.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601367,0.790593,-0.115413],[-0.785542,0.611432,0.095261],[0.145879,0.033375,0.988739]] 2025-10-28T22:27:15.283Z,1761690435.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602234,0.793697,-0.085786],[-0.788239,0.608209,0.093597],[0.126464,0.011253,0.991907]] 2025-10-28T22:27:15.683Z,1761690435.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580184,0.814484,-0.001469],[-0.811034,0.577890,0.090924],[0.074905,-0.051561,0.995857]] 2025-10-28T22:27:16.087Z,1761690436.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586351,0.803848,0.100108],[-0.809283,0.575898,0.115768],[0.035408,-0.148896,0.988219]] 2025-10-28T22:27:16.494Z,1761690436.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599985,0.795725,0.082709],[-0.796802,0.585125,0.150783],[0.071587,-0.156370,0.985101]] 2025-10-28T22:27:16.894Z,1761690436.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627433,0.778563,-0.012963],[-0.768320,0.621712,0.152179],[0.126540,-0.085523,0.988268]] 2025-10-28T22:27:17.298Z,1761690437.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646770,0.762062,-0.030812],[-0.753340,0.644628,0.130128],[0.119029,-0.060951,0.991018]] 2025-10-28T22:27:17.703Z,1761690437.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599851,0.799864,-0.019922],[-0.793320,0.597812,0.115171],[0.104031,-0.053281,0.993146]] 2025-10-28T22:27:18.108Z,1761690438.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609039,0.793092,-0.008695],[-0.778101,0.599580,0.187248],[0.153718,-0.107276,0.982274]] 2025-10-28T22:27:18.512Z,1761690438.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649822,0.760087,-0.000211],[-0.751047,0.642136,0.153591],[0.116878,-0.099649,0.988134]] 2025-10-28T22:27:18.915Z,1761690438.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646771,0.755442,0.104856],[-0.761145,0.648066,0.025849],[-0.048427,-0.096529,0.994151]] 2025-10-28T22:27:19.319Z,1761690439.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618681,0.771570,0.148030],[-0.777018,0.628771,-0.029827],[-0.116091,-0.096569,0.988533]] 2025-10-28T22:27:19.724Z,1761690439.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632693,0.766056,0.113387],[-0.768868,0.638875,-0.026076],[-0.092416,-0.070681,0.993209]] 2025-10-28T22:27:20.126Z,1761690440.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679990,0.732772,0.025665],[-0.733221,0.679595,0.023193],[-0.000447,-0.034589,0.999402]] 2025-10-28T22:27:20.531Z,1761690440.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682683,0.729957,-0.033250],[-0.728293,0.683418,0.050299],[0.059440,-0.010122,0.998181]] 2025-10-28T22:27:20.934Z,1761690440.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683107,0.730283,-0.007146],[-0.729643,0.682864,0.036289],[0.031381,-0.019575,0.999316]] 2025-10-28T22:27:21.384Z,1761690441.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679090,0.733119,0.037059],[-0.733858,0.676870,0.057439],[0.017025,-0.066203,0.997661]] 2025-10-28T22:27:21.750Z,1761690441.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667408,0.740621,0.077766],[-0.742240,0.653103,0.150121],[0.060393,-0.157913,0.985604]] 2025-10-28T22:27:22.147Z,1761690442.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665633,0.737135,0.116465],[-0.740714,0.633551,0.223510],[0.090970,-0.235043,0.967719]] 2025-10-28T22:27:22.552Z,1761690442.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683073,0.718461,0.131244],[-0.729792,0.664418,0.161099],[0.028543,-0.205823,0.978173]] 2025-10-28T22:27:22.955Z,1761690442.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687885,0.721704,0.077190],[-0.725793,0.684868,0.064656],[-0.006202,-0.100500,0.994918]] 2025-10-28T22:27:23.360Z,1761690443.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690285,0.723483,-0.008868],[-0.723375,0.690338,0.012758],[0.015352,-0.002392,0.999879]] 2025-10-28T22:27:23.768Z,1761690443.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680665,0.732535,-0.009406],[-0.732564,0.680461,-0.017980],[-0.006771,0.019129,0.999794]] 2025-10-28T22:27:24.167Z,1761690444.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698360,0.715615,0.013727],[-0.715169,0.698438,-0.026772],[-0.028746,0.008879,0.999547]] 2025-10-28T22:27:24.573Z,1761690444.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719746,0.694122,0.012662],[-0.694212,0.719442,0.021752],[0.005989,-0.024446,0.999683]] 2025-10-28T22:27:24.981Z,1761690444.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719355,0.694271,0.022720],[-0.694518,0.718222,0.042448],[0.013153,-0.046315,0.998840]] 2025-10-28T22:27:25.379Z,1761690445.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691435,0.716359,0.093532],[-0.721588,0.691089,0.041309],[-0.035047,-0.096054,0.994759]] 2025-10-28T22:27:25.786Z,1761690445.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682806,0.722527,0.108312],[-0.729828,0.681361,0.055662],[-0.033582,-0.117056,0.992557]] 2025-10-28T22:27:26.188Z,1761690446.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703398,0.707414,0.069254],[-0.710763,0.699075,0.078167],[0.006883,-0.104206,0.994532]] 2025-10-28T22:27:26.591Z,1761690446.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691342,0.722374,0.014869],[-0.721781,0.689547,0.059633],[0.032824,-0.051958,0.998110]] 2025-10-28T22:27:26.998Z,1761690446.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693882,0.719370,-0.032172],[-0.719558,0.694394,0.007390],[0.027656,0.018022,0.999455]] 2025-10-28T22:27:27.001Z,1761690447.001 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:27:27.398Z,1761690447.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721005,0.690289,-0.060441],[-0.692143,0.721597,-0.015368],[0.033006,0.052914,0.998053]] 2025-10-28T22:27:27.805Z,1761690447.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727146,0.681409,-0.083309],[-0.678495,0.731833,0.063763],[0.104417,0.010160,0.994482]] 2025-10-28T22:27:28.206Z,1761690448.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697361,0.712644,-0.076324],[-0.697000,0.699126,0.159417],[0.166967,-0.057974,0.984257]] 2025-10-28T22:27:28.613Z,1761690448.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650483,0.758300,0.043044],[-0.757148,0.642933,0.115599],[0.059985,-0.107786,0.992363]] 2025-10-28T22:27:29.018Z,1761690449.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643775,0.750096,0.151359],[-0.761087,0.648168,0.024976],[-0.079372,-0.131276,0.988163]] 2025-10-28T22:27:29.420Z,1761690449.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666410,0.738080,0.105523],[-0.742862,0.669378,0.009444],[-0.063665,-0.084682,0.994372]] 2025-10-28T22:27:29.823Z,1761690449.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704546,0.709594,0.009580],[-0.709204,0.704514,-0.026252],[-0.025378,0.011701,0.999609]] 2025-10-28T22:27:30.230Z,1761690450.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684003,0.728071,-0.045299],[-0.729456,0.682175,-0.050301],[-0.005722,0.067450,0.997706]] 2025-10-28T22:27:30.632Z,1761690450.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641900,0.765636,-0.042016],[-0.766527,0.642148,-0.009091],[0.020020,0.038042,0.999076]] 2025-10-28T22:27:31.047Z,1761690451.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631906,0.773945,0.041274],[-0.775034,0.631279,0.028437],[-0.004046,-0.049958,0.998743]] 2025-10-28T22:27:31.438Z,1761690451.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643400,0.754931,0.126947],[-0.763573,0.644720,0.035953],[-0.054703,-0.120065,0.991258]] 2025-10-28T22:27:31.843Z,1761690451.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657689,0.742437,0.127406],[-0.751884,0.657331,0.050852],[-0.045994,-0.129239,0.990546]] 2025-10-28T22:27:32.254Z,1761690452.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643508,0.756908,0.113963],[-0.763344,0.645603,0.022430],[-0.056597,-0.101426,0.993232]] 2025-10-28T22:27:32.653Z,1761690452.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635295,0.764536,0.109016],[-0.768078,0.640207,-0.013803],[-0.080346,-0.074964,0.993944]] 2025-10-28T22:27:33.058Z,1761690453.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622407,0.777499,0.090029],[-0.781660,0.623369,0.020464],[-0.040211,-0.083109,0.995729]] 2025-10-28T22:27:33.459Z,1761690453.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619813,0.782317,0.061738],[-0.782479,0.610125,0.124399],[0.059651,-0.125413,0.990310]] 2025-10-28T22:27:33.863Z,1761690453.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622140,0.782164,0.034093],[-0.771240,0.604798,0.198512],[0.134650,-0.149796,0.979505]] 2025-10-28T22:27:34.328Z,1761690454.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613043,0.789440,0.031031],[-0.779918,0.598444,0.183286],[0.126123,-0.136564,0.982570]] 2025-10-28T22:27:34.675Z,1761690454.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594859,0.799684,0.081536],[-0.802333,0.584499,0.120924],[0.049044,-0.137352,0.989307]] 2025-10-28T22:27:35.082Z,1761690455.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594064,0.800139,0.082858],[-0.804347,0.592218,0.047998],[-0.010665,-0.095160,0.995405]] 2025-10-28T22:27:35.479Z,1761690455.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578926,0.813889,0.049296],[-0.815328,0.578514,0.023706],[-0.009225,-0.053916,0.998503]] 2025-10-28T22:27:35.884Z,1761690455.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591255,0.806414,0.010651],[-0.805014,0.589328,0.068153],[0.048683,-0.048870,0.997618]] 2025-10-28T22:27:36.204Z,1761690456.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:27:36.286Z,1761690456.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607761,0.792287,-0.053916],[-0.780338,0.608430,0.144517],[0.147303,-0.045759,0.988032]] 2025-10-28T22:27:36.691Z,1761690456.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607728,0.790164,-0.079418],[-0.781072,0.612798,0.120017],[0.143501,-0.010906,0.989590]] 2025-10-28T22:27:37.147Z,1761690457.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591360,0.804343,-0.057671],[-0.802494,0.594020,0.056065],[0.079353,0.013126,0.996760]] 2025-10-28T22:27:37.208Z,1761690457.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:27:37.500Z,1761690457.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579542,0.814929,-0.004555],[-0.812853,0.578448,0.068328],[0.058317,-0.035897,0.997652]] 2025-10-28T22:27:37.902Z,1761690457.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570728,0.819284,0.055160],[-0.817803,0.561076,0.128034],[0.073947,-0.118183,0.990235]] 2025-10-28T22:27:38.306Z,1761690458.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557321,0.821242,0.122294],[-0.830006,0.547151,0.108239],[0.021977,-0.161829,0.986574]] 2025-10-28T22:27:38.721Z,1761690458.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582790,0.803070,0.124238],[-0.812622,0.576152,0.087716],[-0.001138,-0.152079,0.988368]] 2025-10-28T22:27:39.163Z,1761690459.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614612,0.787475,-0.046217],[-0.775144,0.613778,0.149762],[0.146301,-0.056221,0.987641]] 2025-10-28T22:27:39.530Z,1761690459.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581191,0.790577,-0.192884],[-0.794174,0.602734,0.077461],[0.177496,0.108164,0.978159]] 2025-10-28T22:27:39.934Z,1761690459.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528607,0.841501,-0.111584],[-0.848659,0.526797,-0.047560],[0.018760,0.119837,0.992616]] 2025-10-28T22:27:40.338Z,1761690460.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495771,0.867138,0.047773],[-0.865140,0.497933,-0.059963],[-0.075784,-0.011602,0.997057]] 2025-10-28T22:27:40.751Z,1761690460.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520301,0.848068,0.100333],[-0.853261,0.521090,0.020256],[-0.035104,-0.096150,0.994748]] 2025-10-28T22:27:41.173Z,1761690461.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537339,0.840398,0.070695],[-0.842560,0.531272,0.088555],[0.036863,-0.107149,0.993559]] 2025-10-28T22:27:41.550Z,1761690461.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522909,0.852171,0.019260],[-0.847334,0.517218,0.120458],[0.092690,-0.079308,0.992532]] 2025-10-28T22:27:41.954Z,1761690461.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484141,0.874990,-0.000214],[-0.867223,0.479876,0.132829],[0.116327,-0.064122,0.991139]] 2025-10-28T22:27:42.359Z,1761690462.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468029,0.883415,0.022932],[-0.880126,0.463637,0.102078],[0.079545,-0.067959,0.994512]] 2025-10-28T22:27:42.768Z,1761690462.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467004,0.882503,0.055641],[-0.883700,0.463557,0.064720],[0.031323,-0.079395,0.996351]] 2025-10-28T22:27:43.167Z,1761690463.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460903,0.885159,0.063732],[-0.887142,0.457661,0.059370],[0.023384,-0.083903,0.996199]] 2025-10-28T22:27:43.579Z,1761690463.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446082,0.894724,-0.021906],[-0.884134,0.444339,0.144465],[0.138990,-0.045075,0.989267]] 2025-10-28T22:27:43.980Z,1761690463.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434659,0.898692,-0.058515],[-0.880206,0.437668,0.183534],[0.190550,-0.028270,0.981270]] 2025-10-28T22:27:44.384Z,1761690464.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422805,0.904837,-0.050058],[-0.884149,0.423994,0.196237],[0.198786,-0.038711,0.979278]] 2025-10-28T22:27:44.791Z,1761690464.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426765,0.904255,-0.013961],[-0.886639,0.421393,0.190523],[0.178164,-0.068930,0.981583]] 2025-10-28T22:27:45.191Z,1761690465.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432512,0.901614,0.005038],[-0.883525,0.422708,0.201747],[0.179768,-0.091709,0.979425]] 2025-10-28T22:27:45.592Z,1761690465.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417263,0.908729,0.010222],[-0.882899,0.402685,0.241524],[0.215364,-0.109804,0.970341]] 2025-10-28T22:27:45.995Z,1761690465.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415655,0.909326,0.018892],[-0.882519,0.398203,0.250190],[0.219981,-0.120665,0.968012]] 2025-10-28T22:27:46.400Z,1761690466.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407278,0.913304,0.000952],[-0.882244,0.393158,0.258983],[0.236156,-0.106318,0.965882]] 2025-10-28T22:27:46.803Z,1761690466.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388002,0.920451,-0.047156],[-0.866833,0.381827,0.320637],[0.313137,-0.083531,0.946027]] 2025-10-28T22:27:47.212Z,1761690467.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389788,0.918308,-0.069113],[-0.857496,0.389292,0.336382],[0.335807,-0.071853,0.939186]] 2025-10-28T22:27:47.611Z,1761690467.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418271,0.907118,-0.046755],[-0.865211,0.413560,0.283510],[0.276513,-0.078131,0.957829]] 2025-10-28T22:27:48.017Z,1761690468.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414923,0.909631,-0.020252],[-0.879804,0.406792,0.245898],[0.231915,-0.084211,0.969084]] 2025-10-28T22:27:48.418Z,1761690468.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399119,0.916898,-0.001535],[-0.889336,0.387528,0.242702],[0.223128,-0.095502,0.970100]] 2025-10-28T22:27:48.822Z,1761690468.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401878,0.915404,0.023007],[-0.887391,0.383136,0.256407],[0.225902,-0.123460,0.966295]] 2025-10-28T22:27:49.240Z,1761690469.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420407,0.907154,0.018185],[-0.879659,0.402589,0.253224],[0.222392,-0.122453,0.967237]] 2025-10-28T22:27:49.632Z,1761690469.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423341,0.905951,0.005911],[-0.890092,0.414697,0.189108],[0.168871,-0.085319,0.981938]] 2025-10-28T22:27:50.064Z,1761690470.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417471,0.908690,-0.001207],[-0.898491,0.412983,0.148856],[0.135762,-0.061058,0.988858]] 2025-10-28T22:27:50.438Z,1761690470.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433871,0.900970,0.003060],[-0.895130,0.430668,0.115183],[0.102458,-0.052714,0.993340]] 2025-10-28T22:27:50.844Z,1761690470.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449916,0.893046,0.006628],[-0.891952,0.448968,0.053383],[0.044698,-0.029930,0.998552]] 2025-10-28T22:27:51.255Z,1761690471.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434826,0.900394,0.014748],[-0.900003,0.433969,0.040812],[0.030347,-0.031019,0.999058]] 2025-10-28T22:27:51.336Z,1761690471.336 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003008 2025-10-28T22:27:51.651Z,1761690471.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439331,0.898005,0.023995],[-0.895402,0.435592,0.092271],[0.072408,-0.062023,0.995445]] 2025-10-28T22:27:52.055Z,1761690472.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472812,0.880653,0.029978],[-0.876935,0.466943,0.113796],[0.086217,-0.080093,0.993052]] 2025-10-28T22:27:52.336Z,1761690472.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:27:52.461Z,1761690472.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455156,0.888835,0.052974],[-0.889400,0.450998,0.074625],[0.042438,-0.081081,0.995804]] 2025-10-28T22:27:52.862Z,1761690472.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418797,0.905037,0.074276],[-0.907580,0.414450,0.067304],[0.030129,-0.095598,0.994964]] 2025-10-28T22:27:53.266Z,1761690473.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428711,0.899714,0.081983],[-0.901583,0.420246,0.102676],[0.057926,-0.117932,0.991331]] 2025-10-28T22:27:53.671Z,1761690473.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460944,0.885248,0.062184],[-0.883992,0.451869,0.119887],[0.078030,-0.110232,0.990838]] 2025-10-28T22:27:54.074Z,1761690474.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468082,0.881334,0.064418],[-0.883618,0.467698,0.021848],[-0.010873,-0.067148,0.997684]] 2025-10-28T22:27:54.478Z,1761690474.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442961,0.891575,0.094227],[-0.890699,0.449616,-0.067088],[-0.102180,-0.054210,0.993288]] 2025-10-28T22:27:54.882Z,1761690474.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468506,0.877985,0.098205],[-0.878680,0.474631,-0.051449],[-0.091783,-0.062187,0.993835]] 2025-10-28T22:27:55.295Z,1761690475.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492069,0.866717,0.081674],[-0.870297,0.492043,0.021835],[-0.021262,-0.081825,0.996420]] 2025-10-28T22:27:55.694Z,1761690475.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474891,0.874321,0.100205],[-0.878500,0.464232,0.112809],[0.052113,-0.141602,0.988551]] 2025-10-28T22:27:56.096Z,1761690476.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427822,0.896157,0.117774],[-0.897253,0.405342,0.175030],[0.109116,-0.180555,0.977494]] 2025-10-28T22:27:56.499Z,1761690476.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390752,0.912427,0.121609],[-0.911449,0.365044,0.189747],[0.128738,-0.184985,0.974273]] 2025-10-28T22:27:56.906Z,1761690476.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432455,0.897151,0.090013],[-0.897116,0.418123,0.142676],[0.090366,-0.142453,0.985668]] 2025-10-28T22:27:57.307Z,1761690477.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466481,0.884482,0.009338],[-0.882973,0.465007,0.064236],[0.052474,-0.038210,0.997891]] 2025-10-28T22:27:57.717Z,1761690477.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413089,0.910591,-0.013484],[-0.910544,0.413243,0.011815],[0.016331,0.007397,0.999839]] 2025-10-28T22:27:58.117Z,1761690478.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336125,0.941154,0.035346],[-0.939514,0.332444,0.082429],[0.065828,-0.060915,0.995970]] 2025-10-28T22:27:58.521Z,1761690478.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389370,0.916137,0.095313],[-0.906404,0.362708,0.216506],[0.163779,-0.170693,0.971617]] 2025-10-28T22:27:58.923Z,1761690478.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471563,0.874660,0.112243],[-0.876107,0.450209,0.172478],[0.100327,-0.179671,0.978597]] 2025-10-28T22:27:59.327Z,1761690479.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477429,0.873511,0.095078],[-0.878628,0.473537,0.061450],[0.008655,-0.112877,0.993571]] 2025-10-28T22:27:59.731Z,1761690479.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467965,0.881306,0.065632],[-0.883731,0.467105,0.028836],[-0.005244,-0.071495,0.997427]] 2025-10-28T22:28:00.137Z,1761690480.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475020,0.877860,0.060981],[-0.878969,0.470022,0.080582],[0.042077,-0.091879,0.994881]] 2025-10-28T22:28:00.585Z,1761690480.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469269,0.881947,0.044230],[-0.879189,0.461947,0.116750],[0.082536,-0.093673,0.992176]] 2025-10-28T22:28:00.944Z,1761690480.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470763,0.879553,0.069059],[-0.880810,0.464061,0.093923],[0.050562,-0.105043,0.993181]] 2025-10-28T22:28:01.346Z,1761690481.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504893,0.857718,0.096970],[-0.863153,0.500764,0.064828],[0.007046,-0.116431,0.993174]] 2025-10-28T22:28:01.756Z,1761690481.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507636,0.855300,0.103766],[-0.860148,0.510028,0.004004],[-0.049499,-0.091287,0.994594]] 2025-10-28T22:28:02.155Z,1761690482.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523071,0.847640,0.088901],[-0.846811,0.528681,-0.058365],[-0.096473,-0.044753,0.994329]] 2025-10-28T22:28:02.585Z,1761690482.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526298,0.850300,-0.000196],[-0.850028,0.526124,-0.025414],[-0.021506,0.013542,0.999677]] 2025-10-28T22:28:02.978Z,1761690482.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490399,0.868444,-0.072893],[-0.869157,0.493494,0.032075],[0.063828,0.047625,0.996824]] 2025-10-28T22:28:03.371Z,1761690483.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500549,0.864979,-0.035508],[-0.863065,0.501804,0.057549],[0.067596,0.001840,0.997711]] 2025-10-28T22:28:03.744Z,1761690483.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:28:03.779Z,1761690483.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492917,0.869708,0.025339],[-0.868263,0.489801,0.078829],[0.056147,-0.060857,0.996566]] 2025-10-28T22:28:04.184Z,1761690484.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474962,0.872005,0.118397],[-0.879829,0.467847,0.083786],[0.017670,-0.143964,0.989425]] 2025-10-28T22:28:04.597Z,1761690484.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484128,0.860924,0.156297],[-0.874922,0.473967,0.099329],[0.011435,-0.184836,0.982703]] 2025-10-28T22:28:05.001Z,1761690485.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458352,0.878809,0.132692],[-0.886031,0.440104,0.145801],[0.069733,-0.184398,0.980375]] 2025-10-28T22:28:05.390Z,1761690485.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453922,0.885329,0.100732],[-0.887671,0.439483,0.137457],[0.077425,-0.151811,0.985372]] 2025-10-28T22:28:05.798Z,1761690485.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468643,0.882498,0.039630],[-0.880818,0.463390,0.097107],[0.067332,-0.080415,0.994485]] 2025-10-28T22:28:06.205Z,1761690486.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455502,0.890197,-0.008188],[-0.887891,0.454950,0.068343],[0.064564,-0.023861,0.997628]] 2025-10-28T22:28:06.603Z,1761690486.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471195,0.882012,-0.005572],[-0.881682,0.471177,0.025087],[0.024752,-0.006908,0.999670]] 2025-10-28T22:28:07.008Z,1761690487.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461345,0.887172,0.009287],[-0.887193,0.461222,0.012766],[0.007042,-0.014129,0.999875]] 2025-10-28T22:28:07.411Z,1761690487.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412589,0.909206,0.055811],[-0.910873,0.411194,0.035063],[0.008931,-0.065303,0.997826]] 2025-10-28T22:28:07.819Z,1761690487.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443372,0.890877,0.098785],[-0.895402,0.435179,0.094200],[0.040931,-0.130218,0.990640]] 2025-10-28T22:28:08.219Z,1761690488.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494367,0.863814,0.097089],[-0.866136,0.480062,0.139098],[0.073546,-0.152857,0.985508]] 2025-10-28T22:28:08.623Z,1761690488.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475991,0.878232,0.046267],[-0.874681,0.467283,0.128761],[0.091462,-0.101758,0.990596]] 2025-10-28T22:28:09.027Z,1761690489.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406351,0.913331,0.026576],[-0.903378,0.397219,0.161635],[0.137070,-0.089689,0.986493]] 2025-10-28T22:28:09.431Z,1761690489.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455051,0.889612,0.038973],[-0.868745,0.433918,0.238741],[0.195476,-0.142497,0.970301]] 2025-10-28T22:28:09.835Z,1761690489.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533521,0.836445,0.125360],[-0.843059,0.514033,0.158181],[0.067870,-0.190078,0.979420]] 2025-10-28T22:28:10.238Z,1761690490.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510972,0.829445,0.225672],[-0.854241,0.519239,0.025760],[-0.095811,-0.205940,0.973863]] 2025-10-28T22:28:10.645Z,1761690490.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479837,0.845055,0.235879],[-0.874668,0.481789,0.053250],[-0.068645,-0.231868,0.970322]] 2025-10-28T22:28:11.046Z,1761690491.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510299,0.836486,0.199715],[-0.859899,0.492794,0.133145],[0.012955,-0.239679,0.970766]] 2025-10-28T22:28:11.450Z,1761690491.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559166,0.812152,0.166564],[-0.829056,0.547768,0.112322],[-0.000016,-0.200897,0.979612]] 2025-10-28T22:28:11.854Z,1761690491.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575112,0.804428,0.148801],[-0.812612,0.582727,-0.009537],[-0.094382,-0.115433,0.988821]] 2025-10-28T22:28:12.260Z,1761690492.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588287,0.799019,0.124445],[-0.788809,0.600898,-0.129238],[-0.178042,-0.022134,0.983774]] 2025-10-28T22:28:12.663Z,1761690492.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624828,0.778901,0.053894],[-0.766102,0.624946,-0.150099],[-0.150593,0.052498,0.987201]] 2025-10-28T22:28:13.066Z,1761690493.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629302,0.775506,-0.050678],[-0.777159,0.627817,-0.043243],[-0.001719,0.066598,0.997778]] 2025-10-28T22:28:13.473Z,1761690493.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597999,0.798364,-0.070801],[-0.796044,0.601895,0.063528],[0.093333,0.018371,0.995465]] 2025-10-28T22:28:13.882Z,1761690493.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611968,0.790869,0.004626],[-0.788755,0.609883,0.076873],[0.057976,-0.050693,0.997030]] 2025-10-28T22:28:14.279Z,1761690494.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621509,0.782128,0.044741],[-0.781648,0.615276,0.102285],[0.052472,-0.098543,0.993748]] 2025-10-28T22:28:14.689Z,1761690494.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623621,0.780732,0.039427],[-0.778272,0.615339,0.125099],[0.073407,-0.108699,0.991361]] 2025-10-28T22:28:15.097Z,1761690495.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613882,0.789341,0.009436],[-0.783902,0.608156,0.125077],[0.092990,-0.084179,0.992102]] 2025-10-28T22:28:15.493Z,1761690495.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617776,0.786353,0.000820],[-0.779259,0.612062,0.134670],[0.105396,-0.083835,0.990890]] 2025-10-28T22:28:15.894Z,1761690495.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623119,0.780680,-0.047550],[-0.773327,0.624063,0.111855],[0.116997,-0.032928,0.992586]] 2025-10-28T22:28:16.298Z,1761690496.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618567,0.782938,-0.066209],[-0.777688,0.622083,0.090628],[0.112144,-0.004570,0.993681]] 2025-10-28T22:28:16.703Z,1761690496.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624635,0.780167,-0.034212],[-0.775105,0.624726,0.094494],[0.095094,-0.032507,0.994937]] 2025-10-28T22:28:17.146Z,1761690497.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643765,0.764828,-0.024606],[-0.755259,0.640226,0.140337],[0.123087,-0.071760,0.989798]] 2025-10-28T22:28:17.511Z,1761690497.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619139,0.784903,-0.024394],[-0.770875,0.613410,0.171697],[0.149728,-0.087500,0.984848]] 2025-10-28T22:28:17.915Z,1761690497.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634241,0.772791,0.023063],[-0.765605,0.623631,0.157903],[0.107644,-0.117806,0.987185]] 2025-10-28T22:28:18.320Z,1761690498.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622594,0.782173,-0.024137],[-0.769696,0.617646,0.161500],[0.141229,-0.081971,0.986577]] 2025-10-28T22:28:18.723Z,1761690498.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569290,0.822081,-0.009559],[-0.808130,0.561690,0.177288],[0.151114,-0.093203,0.984113]] 2025-10-28T22:28:19.162Z,1761690499.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579603,0.809004,0.097842],[-0.811075,0.561091,0.165334],[0.078858,-0.175185,0.981372]] 2025-10-28T22:28:19.530Z,1761690499.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616661,0.777506,0.123342],[-0.786992,0.605021,0.120799],[0.019298,-0.171561,0.984984]] 2025-10-28T22:28:19.935Z,1761690499.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632596,0.769989,0.083301],[-0.774444,0.629967,0.058124],[-0.007722,-0.101281,0.994828]] 2025-10-28T22:28:20.340Z,1761690500.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632249,0.774639,0.013947],[-0.774732,0.631955,0.020552],[0.007106,-0.023800,0.999691]] 2025-10-28T22:28:20.742Z,1761690500.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616984,0.786243,-0.033956],[-0.786888,0.616984,-0.011728],[0.011729,0.033955,0.999355]] 2025-10-28T22:28:21.166Z,1761690501.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602684,0.797773,-0.018191],[-0.797892,0.602122,-0.028595],[-0.011860,0.031748,0.999426]] 2025-10-28T22:28:21.552Z,1761690501.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608260,0.793396,-0.023281],[-0.791855,0.608576,0.051009],[0.054638,-0.012592,0.998427]] 2025-10-28T22:28:21.954Z,1761690501.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615547,0.787937,0.016015],[-0.784322,0.610483,0.110225],[0.077073,-0.080409,0.993778]] 2025-10-28T22:28:22.358Z,1761690502.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619129,0.775448,0.123931],[-0.785218,0.613433,0.084448],[-0.010539,-0.149597,0.988691]] 2025-10-28T22:28:22.766Z,1761690502.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647116,0.744281,0.165186],[-0.758867,0.649633,0.045802],[-0.073221,-0.154993,0.985198]] 2025-10-28T22:28:23.177Z,1761690503.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661720,0.747223,0.061516],[-0.749751,0.659592,0.053028],[-0.000952,-0.081212,0.996696]] 2025-10-28T22:28:23.571Z,1761690503.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623127,0.779391,-0.065292],[-0.775141,0.626538,0.081283],[0.104259,-0.000039,0.994550]] 2025-10-28T22:28:23.975Z,1761690503.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605650,0.790462,-0.091424],[-0.784677,0.612366,0.096388],[0.132176,0.013361,0.991136]] 2025-10-28T22:28:24.379Z,1761690504.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620992,0.783571,-0.019634],[-0.781318,0.620816,0.064258],[0.062540,-0.024563,0.997740]] 2025-10-28T22:28:24.788Z,1761690504.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606870,0.790840,0.079254],[-0.793473,0.608599,0.002905],[-0.045937,-0.064649,0.996850]] 2025-10-28T22:28:25.190Z,1761690505.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580197,0.794685,0.178457],[-0.803216,0.594580,-0.036313],[-0.134964,-0.122271,0.983277]] 2025-10-28T22:28:25.591Z,1761690505.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609265,0.768602,0.195056],[-0.784915,0.619514,0.010570],[-0.112716,-0.159542,0.980735]] 2025-10-28T22:28:25.994Z,1761690505.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630925,0.771137,0.085330],[-0.775834,0.627648,0.064341],[-0.003942,-0.106796,0.994273]] 2025-10-28T22:28:26.401Z,1761690506.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632373,0.774316,-0.023229],[-0.768686,0.630929,0.105121],[0.096053,-0.048620,0.994188]] 2025-10-28T22:28:26.803Z,1761690506.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656934,0.753263,-0.032116],[-0.747231,0.656164,0.105331],[0.100415,-0.045198,0.993919]] 2025-10-28T22:28:27.206Z,1761690507.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635728,0.771797,-0.013375],[-0.765327,0.632468,0.119413],[0.100622,-0.065678,0.992755]] 2025-10-28T22:28:27.610Z,1761690507.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542975,0.838091,0.052750],[-0.834567,0.531591,0.144598],[0.093145,-0.122536,0.988083]] 2025-10-28T22:28:28.016Z,1761690508.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557432,0.819038,0.135816],[-0.829492,0.542578,0.132482],[0.034817,-0.186508,0.981836]] 2025-10-28T22:28:28.428Z,1761690508.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622236,0.778475,0.082455],[-0.782579,0.615915,0.090658],[0.019790,-0.120938,0.992463]] 2025-10-28T22:28:28.828Z,1761690508.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596376,0.801335,-0.046885],[-0.802193,0.597064,0.000865],[0.028686,0.037095,0.998900]] 2025-10-28T22:28:29.231Z,1761690509.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611879,0.789475,-0.048303],[-0.786765,0.613779,0.065385],[0.081267,-0.002005,0.996690]] 2025-10-28T22:28:29.636Z,1761690509.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584745,0.810680,-0.029524],[-0.803351,0.583747,0.117759],[0.112699,-0.045141,0.992603]] 2025-10-28T22:28:30.045Z,1761690510.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509393,0.858674,0.056546],[-0.855791,0.498601,0.137909],[0.090225,-0.118642,0.988829]] 2025-10-28T22:28:30.442Z,1761690510.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513716,0.844909,0.149079],[-0.855452,0.491144,0.164255],[0.065561,-0.211911,0.975087]] 2025-10-28T22:28:30.844Z,1761690510.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554118,0.819415,0.146670],[-0.832357,0.547854,0.083891],[-0.011612,-0.168567,0.985622]] 2025-10-28T22:28:31.197Z,1761690511.197 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:28:31.247Z,1761690511.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570221,0.811081,0.130368],[-0.810095,0.581527,-0.074654],[-0.136363,-0.063041,0.988651]] 2025-10-28T22:28:31.657Z,1761690511.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567483,0.819627,0.078575],[-0.811155,0.572889,-0.117580],[-0.141386,0.002989,0.989950]] 2025-10-28T22:28:32.058Z,1761690512.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563042,0.826363,0.010399],[-0.826402,0.562880,0.015025],[0.006562,-0.017053,0.999833]] 2025-10-28T22:28:32.460Z,1761690512.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537380,0.842816,0.029711],[-0.840999,0.532933,0.093286],[0.062789,-0.075117,0.995196]] 2025-10-28T22:28:32.863Z,1761690512.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547911,0.829077,0.111466],[-0.836419,0.540713,0.089624],[0.014034,-0.142339,0.989719]] 2025-10-28T22:28:33.268Z,1761690513.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574745,0.810017,0.116365],[-0.818141,0.565692,0.103140],[0.017718,-0.154482,0.987837]] 2025-10-28T22:28:33.676Z,1761690513.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572679,0.817762,0.057475],[-0.815517,0.561160,0.141532],[0.083487,-0.127924,0.988264]] 2025-10-28T22:28:34.078Z,1761690514.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525307,0.849827,0.042967],[-0.845042,0.515096,0.143458],[0.099782,-0.111669,0.988723]] 2025-10-28T22:28:34.480Z,1761690514.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508661,0.858092,0.070298],[-0.857912,0.498292,0.125269],[0.072463,-0.124029,0.989629]] 2025-10-28T22:28:34.883Z,1761690514.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554972,0.831529,0.023798],[-0.828542,0.549970,0.105130],[0.074330,-0.078062,0.994174]] 2025-10-28T22:28:35.288Z,1761690515.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545361,0.836968,-0.045455],[-0.833171,0.547222,0.079834],[0.091692,-0.005667,0.995771]] 2025-10-28T22:28:35.691Z,1761690515.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486153,0.872631,-0.046579],[-0.862529,0.487721,0.134804],[0.140352,-0.025360,0.989777]] 2025-10-28T22:28:36.099Z,1761690516.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492076,0.870520,0.007486],[-0.854314,0.481227,0.196390],[0.167359,-0.103034,0.980497]] 2025-10-28T22:28:36.499Z,1761690516.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497830,0.863391,0.081985],[-0.865305,0.488108,0.114011],[0.058418,-0.127700,0.990091]] 2025-10-28T22:28:36.903Z,1761690516.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505665,0.849166,0.152382],[-0.856441,0.515375,-0.029969],[-0.103982,-0.115352,0.987867]] 2025-10-28T22:28:37.307Z,1761690517.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531319,0.842335,0.090399],[-0.844534,0.535055,-0.021882],[-0.066800,-0.064718,0.995665]] 2025-10-28T22:28:37.711Z,1761690517.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517055,0.853578,-0.063702],[-0.853567,0.519736,0.036017],[0.063851,0.035751,0.997319]] 2025-10-28T22:28:38.119Z,1761690518.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510269,0.849029,-0.137020],[-0.855178,0.517792,0.023715],[0.091083,0.105075,0.990284]] 2025-10-28T22:28:38.519Z,1761690518.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496185,0.864119,-0.084249],[-0.866387,0.499100,0.016541],[0.056342,0.064784,0.996307]] 2025-10-28T22:28:38.923Z,1761690518.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442016,0.896443,0.031805],[-0.896118,0.439723,0.060134],[0.039921,-0.055082,0.997683]] 2025-10-28T22:28:39.327Z,1761690519.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409967,0.896258,0.169262],[-0.912022,0.400372,0.088986],[0.011987,-0.190852,0.981546]] 2025-10-28T22:28:39.731Z,1761690519.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406794,0.877102,0.255365],[-0.912511,0.403278,0.068482],[-0.042918,-0.260881,0.964416]] 2025-10-28T22:28:40.140Z,1761690520.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425439,0.873464,0.236774],[-0.902980,0.427126,0.046810],[-0.060245,-0.233717,0.970436]] 2025-10-28T22:28:40.539Z,1761690520.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448895,0.881839,0.144407],[-0.892553,0.450245,0.025057],[-0.042923,-0.140139,0.989201]] 2025-10-28T22:28:40.943Z,1761690520.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407670,0.911595,0.052922],[-0.912933,0.405694,0.044344],[0.018954,-0.066392,0.997614]] 2025-10-28T22:28:41.347Z,1761690521.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382013,0.923675,0.029839],[-0.920187,0.377184,0.104828],[0.085572,-0.067503,0.994043]] 2025-10-28T22:28:41.380Z,1761690521.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:28:41.751Z,1761690521.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400558,0.915896,0.026222],[-0.909367,0.393870,0.133862],[0.112275,-0.077465,0.990653]] 2025-10-28T22:28:42.163Z,1761690522.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406682,0.912948,0.033711],[-0.910151,0.401694,0.101328],[0.078966,-0.071890,0.994282]] 2025-10-28T22:28:42.558Z,1761690522.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416400,0.907269,0.058938],[-0.909163,0.415104,0.033326],[0.005770,-0.067461,0.997705]] 2025-10-28T22:28:42.967Z,1761690522.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409147,0.907697,0.093188],[-0.911647,0.410974,-0.000452],[-0.038708,-0.084769,0.995648]] 2025-10-28T22:28:43.367Z,1761690523.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419880,0.904100,0.079393],[-0.905608,0.411598,0.102283],[0.059797,-0.114845,0.991582]] 2025-10-28T22:28:43.775Z,1761690523.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441607,0.897029,0.017961],[-0.879126,0.428622,0.208376],[0.179221,-0.107810,0.977884]] 2025-10-28T22:28:44.175Z,1761690524.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412192,0.910726,0.026011],[-0.897049,0.400677,0.186442],[0.159375,-0.100183,0.982122]] 2025-10-28T22:28:44.579Z,1761690524.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406489,0.908201,0.099684],[-0.908518,0.390235,0.149374],[0.096761,-0.151284,0.983743]] 2025-10-28T22:28:44.983Z,1761690524.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438199,0.892157,0.109718],[-0.896456,0.424797,0.126151],[0.065938,-0.153637,0.985925]] 2025-10-28T22:28:45.386Z,1761690525.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394773,0.912936,0.103448],[-0.918588,0.389886,0.064698],[0.018732,-0.120568,0.992528]] 2025-10-28T22:28:45.793Z,1761690525.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370867,0.913510,0.167202],[-0.923672,0.381521,-0.035667],[-0.096373,-0.141212,0.985277]] 2025-10-28T22:28:46.202Z,1761690526.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373232,0.916156,0.146135],[-0.918561,0.387028,-0.080348],[-0.130170,-0.104246,0.985996]] 2025-10-28T22:28:46.605Z,1761690526.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385898,0.920710,0.058106],[-0.920994,0.388132,-0.033506],[-0.053403,-0.040585,0.997748]] 2025-10-28T22:28:47.007Z,1761690527.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384524,0.922914,0.019255],[-0.922903,0.384799,-0.013415],[-0.019790,-0.012612,0.999725]] 2025-10-28T22:28:47.411Z,1761690527.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359796,0.932386,0.034686],[-0.932427,0.360652,-0.022584],[-0.033566,-0.024217,0.999143]] 2025-10-28T22:28:47.816Z,1761690527.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362504,0.930685,0.049156],[-0.929917,0.357688,0.085525],[0.062015,-0.076714,0.995123]] 2025-10-28T22:28:48.218Z,1761690528.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362512,0.928783,0.077119],[-0.927150,0.350984,0.131163],[0.094754,-0.119049,0.988357]] 2025-10-28T22:28:48.627Z,1761690528.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330717,0.931071,0.154056],[-0.943399,0.321843,0.080098],[0.024995,-0.171826,0.984810]] 2025-10-28T22:28:49.026Z,1761690529.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344990,0.924270,0.163424],[-0.938422,0.336204,0.079567],[0.018598,-0.180811,0.983342]] 2025-10-28T22:28:49.431Z,1761690529.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349359,0.930557,0.109603],[-0.936932,0.345651,0.051802],[0.010321,-0.120788,0.992625]] 2025-10-28T22:28:49.835Z,1761690529.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319809,0.941644,0.105019],[-0.947456,0.317007,0.042819],[0.007028,-0.113194,0.993548]] 2025-10-28T22:28:50.243Z,1761690530.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305761,0.943984,0.124112],[-0.951600,0.298732,0.072224],[0.031102,-0.140188,0.989636]] 2025-10-28T22:28:50.649Z,1761690530.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300512,0.945755,0.123449],[-0.953062,0.292747,0.077279],[0.036947,-0.140877,0.989337]] 2025-10-28T22:28:51.046Z,1761690531.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305615,0.945040,0.116184],[-0.952147,0.303844,0.033093],[-0.004028,-0.120738,0.992676]] 2025-10-28T22:28:51.450Z,1761690531.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287645,0.951409,0.109918],[-0.956455,0.291299,-0.018421],[-0.049545,-0.099833,0.993770]] 2025-10-28T22:28:51.856Z,1761690531.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266247,0.959310,0.094006],[-0.962419,0.269983,-0.029316],[-0.053503,-0.082668,0.995140]] 2025-10-28T22:28:52.262Z,1761690532.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258572,0.962306,0.084310],[-0.965736,0.255508,0.045496],[0.022239,-0.093185,0.995400]] 2025-10-28T22:28:52.663Z,1761690532.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262323,0.961175,0.085611],[-0.955663,0.246467,0.161127],[0.133771,-0.124082,0.983214]] 2025-10-28T22:28:53.067Z,1761690533.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250892,0.963048,0.097940],[-0.948995,0.224743,0.221130],[0.190947,-0.148425,0.970314]] 2025-10-28T22:28:53.471Z,1761690533.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247403,0.965366,0.082826],[-0.962648,0.235199,0.134126],[0.110000,-0.112916,0.987497]] 2025-10-28T22:28:53.876Z,1761690533.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272983,0.957076,0.097401],[-0.960913,0.276122,-0.020094],[-0.046126,-0.088108,0.995042]] 2025-10-28T22:28:54.279Z,1761690534.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236840,0.969613,0.061300],[-0.968764,0.240464,-0.060607],[-0.073506,-0.045031,0.996278]] 2025-10-28T22:28:54.592Z,1761690534.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:28:54.684Z,1761690534.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217093,0.975749,0.028027],[-0.975961,0.216394,0.025964],[0.019269,-0.032990,0.999270]] 2025-10-28T22:28:55.098Z,1761690535.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305769,0.951010,0.045663],[-0.944815,0.297155,0.137921],[0.117596,-0.085315,0.989390]] 2025-10-28T22:28:55.198Z,1761690535.198 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -380, +211, 2025-10-28T22:28:55.492Z,1761690535.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319059,0.946900,0.039760],[-0.938872,0.310073,0.149578],[0.129307,-0.085054,0.987950]] 2025-10-28T22:28:55.898Z,1761690535.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271348,0.961012,0.053169],[-0.956594,0.263176,0.125163],[0.106290,-0.084824,0.990710]] 2025-10-28T22:28:56.299Z,1761690536.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286819,0.952350,0.103746],[-0.952122,0.271425,0.140684],[0.105821,-0.139130,0.984604]] 2025-10-28T22:28:56.703Z,1761690536.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327765,0.939121,0.103064],[-0.932468,0.304031,0.195110],[0.151897,-0.160054,0.975351]] 2025-10-28T22:28:57.158Z,1761690537.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307965,0.950737,0.035446],[-0.934449,0.295268,0.199051],[0.178780,-0.094423,0.979348]] 2025-10-28T22:28:57.512Z,1761690537.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277243,0.960505,0.023795],[-0.943990,0.267697,0.192928],[0.178938,-0.075950,0.980924]] 2025-10-28T22:28:57.916Z,1761690537.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284644,0.957046,0.055142],[-0.941851,0.268482,0.202077],[0.178593,-0.109455,0.977816]] 2025-10-28T22:28:58.319Z,1761690538.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337811,0.940413,0.038835],[-0.926028,0.324696,0.192471],[0.168393,-0.100981,0.980534]] 2025-10-28T22:28:58.723Z,1761690538.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351899,0.935893,-0.016467],[-0.915833,0.347886,0.200564],[0.193435,-0.055497,0.979542]] 2025-10-28T22:28:59.168Z,1761690539.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345558,0.937930,-0.029606],[-0.914362,0.343635,0.214144],[0.211026,-0.046928,0.976353]] 2025-10-28T22:28:59.531Z,1761690539.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341637,0.938902,0.041794],[-0.925434,0.328316,0.189157],[0.163878,-0.103301,0.981057]] 2025-10-28T22:28:59.935Z,1761690539.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331264,0.937584,0.105830],[-0.935726,0.312045,0.164453],[0.121165,-0.153506,0.980691]] 2025-10-28T22:29:00.346Z,1761690540.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294405,0.944500,0.145755],[-0.951001,0.274462,0.142365],[0.094459,-0.180526,0.979024]] 2025-10-28T22:29:00.749Z,1761690540.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309731,0.939284,0.147689],[-0.947845,0.292727,0.126098],[0.075209,-0.179043,0.980962]] 2025-10-28T22:29:01.169Z,1761690541.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409394,0.907185,0.097014],[-0.906548,0.392500,0.155287],[0.102796,-0.151521,0.983094]] 2025-10-28T22:29:01.555Z,1761690541.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431835,0.901951,0.001789],[-0.898976,0.430248,0.082033],[0.073219,-0.037033,0.996628]] 2025-10-28T22:29:01.961Z,1761690541.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360884,0.932458,-0.016869],[-0.931505,0.359516,-0.055192],[-0.045399,0.035631,0.998333]] 2025-10-28T22:29:02.362Z,1761690542.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320275,0.946344,0.043094],[-0.942985,0.322827,-0.081009],[-0.090574,-0.014692,0.995781]] 2025-10-28T22:29:02.771Z,1761690542.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324075,0.943825,0.064573],[-0.946021,0.322994,0.026827],[0.004464,-0.069781,0.997552]] 2025-10-28T22:29:03.171Z,1761690543.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389175,0.918194,0.073905],[-0.919626,0.382640,0.088736],[0.053198,-0.102499,0.993310]] 2025-10-28T22:29:03.576Z,1761690543.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436485,0.893903,0.102069],[-0.899226,0.429705,0.082137],[0.029563,-0.127635,0.991381]] 2025-10-28T22:29:03.979Z,1761690543.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424395,0.893111,0.149135],[-0.904986,0.412945,0.102356],[0.029831,-0.178405,0.983505]] 2025-10-28T22:29:04.382Z,1761690544.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434244,0.883357,0.176390],[-0.900346,0.419443,0.115952],[0.028441,-0.209163,0.977467]] 2025-10-28T22:29:04.791Z,1761690544.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429373,0.890370,0.151259],[-0.903123,0.422790,0.074950],[0.002783,-0.168788,0.985649]] 2025-10-28T22:29:05.194Z,1761690545.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440878,0.895021,0.067560],[-0.896113,0.434632,0.089872],[0.051074,-0.100164,0.993659]] 2025-10-28T22:29:05.280Z,1761690545.280 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-28T22:29:05.280Z,1761690545.280 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-28T22:29:05.280Z,1761690545.280 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-28T22:29:05.397Z,1761690545.397 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-28T22:29:05.600Z,1761690545.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449509,0.893090,-0.018187],[-0.883597,0.447536,0.137721],[0.131137,-0.045837,0.990304]] 2025-10-28T22:29:05.692Z,1761690545.692 [RDI_Pathfinder](INFO): Powering down 2025-10-28T22:29:05.999Z,1761690545.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459162,0.888288,-0.010722],[-0.885984,0.458785,0.067444],[0.064829,-0.021468,0.997665]] 2025-10-28T22:29:06.402Z,1761690546.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472323,0.880840,0.032127],[-0.881400,0.472270,0.009700],[-0.006629,-0.032898,0.999437]] 2025-10-28T22:29:06.530Z,1761690546.530 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-28T22:29:06.530Z,1761690546.530 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-28T22:29:06.808Z,1761690546.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463402,0.883625,0.066828],[-0.885943,0.463598,0.013483],[-0.019067,-0.065454,0.997673]] 2025-10-28T22:29:06.818Z,1761690546.818 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-28T22:29:07.211Z,1761690547.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486062,0.866477,0.113847],[-0.873357,0.486300,0.027565],[-0.031479,-0.112827,0.993116]] 2025-10-28T22:29:07.621Z,1761690547.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507471,0.849572,0.143881],[-0.861574,0.497806,0.099396],[0.012819,-0.174404,0.984591]] 2025-10-28T22:29:08.021Z,1761690548.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506469,0.847609,0.158266],[-0.858932,0.479839,0.178856],[0.075657,-0.226525,0.971062]] 2025-10-28T22:29:08.423Z,1761690548.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514153,0.842088,0.162896],[-0.853905,0.484720,0.189454],[0.080578,-0.236506,0.968283]] 2025-10-28T22:29:08.828Z,1761690548.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551633,0.825723,0.117823],[-0.832389,0.535980,0.140908],[0.053200,-0.175804,0.982987]] 2025-10-28T22:29:09.231Z,1761690549.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568476,0.822003,0.033864],[-0.822586,0.567229,0.040054],[0.013716,-0.050626,0.998623]] 2025-10-28T22:29:09.635Z,1761690549.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573347,0.818504,-0.036402],[-0.819181,0.573486,-0.007544],[0.014702,0.034145,0.999309]] 2025-10-28T22:29:10.039Z,1761690550.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588025,0.801999,-0.104997],[-0.801010,0.595425,0.062065],[0.112294,0.047608,0.992534]] 2025-10-28T22:29:10.443Z,1761690550.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598515,0.787747,-0.145720],[-0.769284,0.615911,0.169869],[0.223564,0.010431,0.974633]] 2025-10-28T22:29:10.848Z,1761690550.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603464,0.789437,-0.112343],[-0.760965,0.612249,0.214671],[0.238251,-0.044057,0.970204]] 2025-10-28T22:29:11.257Z,1761690551.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610897,0.791412,-0.021724],[-0.773199,0.602288,0.198527],[0.170201,-0.104482,0.979855]] 2025-10-28T22:29:11.655Z,1761690551.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622735,0.781536,0.037455],[-0.773926,0.608219,0.176375],[0.115063,-0.138822,0.983610]] 2025-10-28T22:29:12.059Z,1761690552.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626603,0.777947,0.046552],[-0.775182,0.615986,0.140193],[0.080387,-0.123931,0.989029]] 2025-10-28T22:29:12.476Z,1761690552.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633571,0.772715,0.038713],[-0.772978,0.630062,0.074342],[0.033054,-0.077025,0.996481]] 2025-10-28T22:29:13.277Z,1761690553.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677130,0.729206,-0.098762],[-0.730646,0.682200,0.027568],[0.087479,0.053493,0.994729]] 2025-10-28T22:29:13.682Z,1761690553.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696520,0.714140,-0.069743],[-0.715288,0.698739,0.011246],[0.056763,0.042053,0.997502]] 2025-10-28T22:29:14.087Z,1761690554.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687223,0.725429,-0.038439],[-0.721692,0.687813,0.077936],[0.082976,-0.025818,0.996217]] 2025-10-28T22:29:14.495Z,1761690554.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680133,0.732875,-0.017708],[-0.721508,0.673470,0.160822],[0.129789,-0.096604,0.986825]] 2025-10-28T22:29:14.888Z,1761690554.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686637,0.724451,0.060826],[-0.725273,0.676840,0.125962],[0.050084,-0.130606,0.990169]] 2025-10-28T22:29:15.291Z,1761690555.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671734,0.729664,0.127919],[-0.740544,0.665894,0.090442],[-0.019189,-0.155483,0.987652]] 2025-10-28T22:29:15.694Z,1761690555.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709446,0.699427,0.086538],[-0.704756,0.704463,0.083965],[-0.002236,-0.120556,0.992704]] 2025-10-28T22:29:16.107Z,1761690556.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723898,0.688690,-0.040959],[-0.686194,0.724883,0.060677],[0.071479,-0.015818,0.997317]] 2025-10-28T22:29:16.503Z,1761690556.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712141,0.687870,-0.140319],[-0.694831,0.719172,-0.000861],[0.100321,0.098112,0.990106]] 2025-10-28T22:29:16.907Z,1761690556.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727430,0.677954,-0.105947],[-0.683738,0.729167,-0.028595],[0.057866,0.093241,0.993961]] 2025-10-28T22:29:17.312Z,1761690557.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723394,0.690363,-0.009974],[-0.690421,0.723209,-0.016937],[-0.004479,0.019138,0.999807]] 2025-10-28T22:29:17.714Z,1761690557.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715665,0.697203,0.041615],[-0.697582,0.710555,0.092141],[0.034672,-0.094972,0.994876]] 2025-10-28T22:29:18.124Z,1761690558.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719814,0.693576,0.028638],[-0.681868,0.698727,0.216418],[0.130093,-0.175308,0.975881]] 2025-10-28T22:29:18.525Z,1761690558.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728544,0.684383,0.029031],[-0.673946,0.708562,0.209134],[0.122558,-0.171929,0.977456]] 2025-10-28T22:29:18.926Z,1761690558.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745013,0.666200,-0.033652],[-0.655147,0.740276,0.150909],[0.125447,-0.090382,0.987975]] 2025-10-28T22:29:19.351Z,1761690559.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734223,0.670654,-0.105542],[-0.663934,0.741770,0.094708],[0.141804,0.000536,0.989895]] 2025-10-28T22:29:19.735Z,1761690559.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711849,0.695428,-0.098237],[-0.692713,0.718268,0.065114],[0.115842,0.021698,0.993031]] 2025-10-28T22:29:20.175Z,1761690560.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731674,0.677786,-0.072516],[-0.675168,0.735240,0.059751],[0.093815,0.005242,0.995576]] 2025-10-28T22:29:20.543Z,1761690560.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747583,0.660319,-0.071407],[-0.659308,0.750794,0.040267],[0.080201,0.016976,0.996634]] 2025-10-28T22:29:20.947Z,1761690560.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752267,0.654392,-0.076580],[-0.653307,0.755930,0.041950],[0.085341,0.018473,0.996181]] 2025-10-28T22:29:21.354Z,1761690561.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741607,0.658396,-0.128584],[-0.651050,0.752598,0.098646],[0.161720,0.010558,0.986780]] 2025-10-28T22:29:21.560Z,1761690561.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:29:21.759Z,1761690561.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738149,0.658077,-0.148563],[-0.641446,0.752826,0.147647],[0.209006,-0.013690,0.977819]] 2025-10-28T22:29:22.159Z,1761690562.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738358,0.665684,-0.108132],[-0.645613,0.744038,0.172022],[0.194967,-0.057202,0.979140]] 2025-10-28T22:29:22.563Z,1761690562.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728961,0.684152,-0.023490],[-0.676441,0.725165,0.128698],[0.105083,-0.077926,0.991406]] 2025-10-28T22:29:22.967Z,1761690562.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736164,0.676774,0.006286],[-0.672847,0.730828,0.114749],[0.073065,-0.088704,0.993375]] 2025-10-28T22:29:23.372Z,1761690563.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742907,0.668753,-0.029298],[-0.662749,0.740979,0.108230],[0.094089,-0.060988,0.993694]] 2025-10-28T22:29:23.778Z,1761690563.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737966,0.672264,-0.058878],[-0.667826,0.740058,0.079516],[0.097029,-0.019360,0.995093]] 2025-10-28T22:29:24.178Z,1761690564.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729388,0.683610,-0.025913],[-0.681954,0.729576,0.051552],[0.054147,-0.019930,0.998334]] 2025-10-28T22:29:24.590Z,1761690564.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739249,0.672962,0.025142],[-0.672832,0.736500,0.069743],[0.028418,-0.068474,0.997248]] 2025-10-28T22:29:24.989Z,1761690564.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742481,0.669391,0.025238],[-0.668747,0.738535,0.085698],[0.038727,-0.080507,0.996001]] 2025-10-28T22:29:25.390Z,1761690565.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727999,0.685258,0.020967],[-0.685155,0.726133,0.057396],[0.024106,-0.056150,0.998131]] 2025-10-28T22:29:25.797Z,1761690565.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750262,0.659873,0.040921],[-0.660174,0.751075,-0.007586],[-0.035741,-0.021323,0.999134]] 2025-10-28T22:29:26.202Z,1761690566.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759524,0.650450,0.006119],[-0.649066,0.758461,-0.058735],[-0.042845,0.040639,0.998255]] 2025-10-28T22:29:26.607Z,1761690566.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733797,0.678972,-0.023233],[-0.679292,0.733799,-0.010053],[0.010223,0.023159,0.999680]] 2025-10-28T22:29:27.007Z,1761690567.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736307,0.676018,0.029171],[-0.674869,0.730565,0.104049],[0.049028,-0.096298,0.994144]] 2025-10-28T22:29:27.412Z,1761690567.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741612,0.667470,0.067056],[-0.667988,0.725582,0.165294],[0.061674,-0.167377,0.983962]] 2025-10-28T22:29:27.817Z,1761690567.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757265,0.650066,0.062962],[-0.652475,0.748764,0.116741],[0.028746,-0.129485,0.991165]] 2025-10-28T22:29:28.219Z,1761690568.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781303,0.624064,0.010448],[-0.623694,0.779980,0.051342],[0.023891,-0.046630,0.998626]] 2025-10-28T22:29:28.623Z,1761690568.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762620,0.646040,-0.032303],[-0.646784,0.762292,-0.024122],[0.009040,0.039289,0.999187]] 2025-10-28T22:29:29.032Z,1761690569.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752384,0.655779,-0.062228],[-0.657857,0.752881,-0.019880],[0.033813,0.055895,0.997864]] 2025-10-28T22:29:29.432Z,1761690569.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756143,0.650796,-0.068644],[-0.650303,0.758985,0.032377],[0.073170,0.020158,0.997116]] 2025-10-28T22:29:29.834Z,1761690569.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729927,0.683355,-0.015275],[-0.682288,0.729767,0.043844],[0.041108,-0.021581,0.998922]] 2025-10-28T22:29:30.240Z,1761690570.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737160,0.675201,0.026446],[-0.675148,0.734365,0.069879],[0.027761,-0.069367,0.997205]] 2025-10-28T22:29:30.642Z,1761690570.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788142,0.613228,0.052767],[-0.615456,0.786138,0.056576],[-0.006788,-0.077065,0.997003]] 2025-10-28T22:29:30.900Z,1761690570.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:29:31.047Z,1761690571.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802103,0.591268,0.083862],[-0.594141,0.804269,0.012202],[-0.060233,-0.059613,0.996403]] 2025-10-28T22:29:31.453Z,1761690571.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783469,0.613172,0.100974],[-0.617621,0.786283,0.017433],[-0.068705,-0.076022,0.994736]] 2025-10-28T22:29:31.864Z,1761690571.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778565,0.620374,0.094722],[-0.626191,0.777940,0.051907],[-0.041486,-0.099727,0.994150]] 2025-10-28T22:29:32.259Z,1761690572.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788268,0.615241,0.010590],[-0.612786,0.783326,0.104367],[0.055916,-0.088759,0.994482]] 2025-10-28T22:29:32.677Z,1761690572.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766427,0.639548,-0.059737],[-0.629472,0.766343,0.128383],[0.127886,-0.060793,0.989924]] 2025-10-28T22:29:33.073Z,1761690573.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758283,0.650979,-0.035133],[-0.646657,0.757899,0.086157],[0.082714,-0.042613,0.995662]] 2025-10-28T22:29:33.472Z,1761690573.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776786,0.629764,0.001229],[-0.629362,0.776218,0.037272],[0.022519,-0.029726,0.999304]] 2025-10-28T22:29:33.875Z,1761690573.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790345,0.610589,-0.050351],[-0.611424,0.791302,-0.001493],[0.038931,0.031966,0.998730]] 2025-10-28T22:29:34.281Z,1761690574.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766212,0.634307,-0.102826],[-0.640101,0.767476,-0.035378],[0.056476,0.092926,0.994070]] 2025-10-28T22:29:34.683Z,1761690574.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739268,0.667374,-0.089965],[-0.669384,0.742848,0.010043],[0.073533,0.052796,0.995894]] 2025-10-28T22:29:35.091Z,1761690575.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731190,0.677359,-0.080906],[-0.666549,0.734639,0.126566],[0.145167,-0.038616,0.988653]] 2025-10-28T22:29:35.494Z,1761690575.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724545,0.687514,-0.048565],[-0.665571,0.716240,0.209801],[0.179025,-0.119687,0.976537]] 2025-10-28T22:29:35.895Z,1761690575.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731163,0.682035,0.015144],[-0.673300,0.717869,0.177006],[0.109853,-0.139616,0.984093]] 2025-10-28T22:29:36.308Z,1761690576.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733662,0.679335,-0.015639],[-0.673010,0.729624,0.121269],[0.093793,-0.078445,0.992496]] 2025-10-28T22:29:36.703Z,1761690576.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722066,0.676650,-0.144107],[-0.669012,0.735989,0.103646],[0.176193,0.021570,0.984119]] 2025-10-28T22:29:37.109Z,1761690577.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710727,0.682863,-0.169010],[-0.678036,0.728985,0.094068],[0.187441,0.047738,0.981115]] 2025-10-28T22:29:37.512Z,1761690577.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686935,0.722186,-0.081045],[-0.714973,0.691586,0.102579],[0.130131,-0.012520,0.991418]] 2025-10-28T22:29:37.915Z,1761690577.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683780,0.729669,0.005220],[-0.720411,0.673932,0.163777],[0.115985,-0.115749,0.986484]] 2025-10-28T22:29:38.375Z,1761690578.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700838,0.711342,0.053096],[-0.708317,0.685190,0.169709],[0.084341,-0.156547,0.984063]] 2025-10-28T22:29:38.724Z,1761690578.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682981,0.728271,0.056207],[-0.729205,0.675341,0.110342],[0.042399,-0.116348,0.992303]] 2025-10-28T22:29:39.127Z,1761690579.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676276,0.736416,0.018512],[-0.736358,0.675090,0.045057],[0.020683,-0.044103,0.998813]] 2025-10-28T22:29:39.531Z,1761690579.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683203,0.730077,-0.014847],[-0.730157,0.682711,-0.027882],[-0.010220,0.029890,0.999501]] 2025-10-28T22:29:39.935Z,1761690579.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706822,0.707253,-0.014007],[-0.704636,0.702184,-0.102103],[-0.062377,0.082039,0.994675]] 2025-10-28T22:29:40.375Z,1761690580.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705164,0.709043,-0.001602],[-0.705397,0.701305,-0.102887],[-0.071828,0.073683,0.994692]] 2025-10-28T22:29:40.745Z,1761690580.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719387,0.694448,-0.015010],[-0.694481,0.718668,-0.034839],[-0.013407,0.035487,0.999280]] 2025-10-28T22:29:41.171Z,1761690581.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715003,0.699015,-0.012222],[-0.697407,0.714364,0.057521],[0.048939,-0.032604,0.998269]] 2025-10-28T22:29:41.555Z,1761690581.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670141,0.741762,0.026479],[-0.735712,0.659111,0.155886],[0.098177,-0.123947,0.987420]] 2025-10-28T22:29:41.954Z,1761690581.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687028,0.724869,0.050569],[-0.719744,0.669308,0.184378],[0.099804,-0.163070,0.981554]] 2025-10-28T22:29:42.024Z,1761690582.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:29:42.377Z,1761690582.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712969,0.698020,0.066660],[-0.700247,0.703833,0.119473],[0.036477,-0.131858,0.990597]] 2025-10-28T22:29:42.766Z,1761690582.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698232,0.713702,0.055690],[-0.715815,0.695083,0.066849],[0.009002,-0.086540,0.996208]] 2025-10-28T22:29:43.167Z,1761690583.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720393,0.693365,0.016717],[-0.692143,0.717163,0.081335],[0.044406,-0.070164,0.996547]] 2025-10-28T22:29:43.577Z,1761690583.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727894,0.685216,-0.025495],[-0.683748,0.728127,0.048154],[0.051560,-0.017619,0.998514]] 2025-10-28T22:29:43.976Z,1761690583.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734811,0.674226,-0.073968],[-0.673143,0.738291,0.042488],[0.083256,0.018571,0.996355]] 2025-10-28T22:29:44.383Z,1761690584.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742781,0.660457,-0.109879],[-0.655991,0.750731,0.077974],[0.133988,0.014163,0.990882]] 2025-10-28T22:29:44.788Z,1761690584.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730595,0.679055,-0.071521],[-0.671097,0.733430,0.108206],[0.125934,-0.031057,0.991552]] 2025-10-28T22:29:45.191Z,1761690585.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730231,0.682988,0.017040],[-0.678264,0.721736,0.138039],[0.081981,-0.112358,0.990280]] 2025-10-28T22:29:45.591Z,1761690585.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731424,0.679974,0.051509],[-0.678126,0.717316,0.160008],[0.071853,-0.151964,0.985771]] 2025-10-28T22:29:45.996Z,1761690585.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735801,0.676571,0.029131],[-0.672963,0.725718,0.143021],[0.075623,-0.124839,0.989291]] 2025-10-28T22:29:46.417Z,1761690586.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729009,0.684155,0.021862],[-0.680983,0.721654,0.124411],[0.069339,-0.105584,0.991990]] 2025-10-28T22:29:46.803Z,1761690586.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732498,0.679465,0.042127],[-0.679905,0.727049,0.095543],[0.034290,-0.098628,0.994533]] 2025-10-28T22:29:47.211Z,1761690587.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727313,0.686258,-0.008148],[-0.683828,0.725644,0.076290],[0.058267,-0.049915,0.997052]] 2025-10-28T22:29:47.611Z,1761690587.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698321,0.715785,0.000608],[-0.712229,0.694767,0.100138],[0.071255,-0.070362,0.994973]] 2025-10-28T22:29:48.017Z,1761690588.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720081,0.690631,0.067178],[-0.693873,0.715998,0.076729],[0.004893,-0.101864,0.994786]] 2025-10-28T22:29:48.420Z,1761690588.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730963,0.675463,0.097177],[-0.680806,0.731585,0.035867],[-0.046866,-0.092376,0.994621]] 2025-10-28T22:29:48.823Z,1761690588.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734486,0.676924,0.048003],[-0.676057,0.736021,-0.034924],[-0.058972,-0.006802,0.998236]] 2025-10-28T22:29:49.229Z,1761690589.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731592,0.681325,-0.023852],[-0.681741,0.731062,-0.027894],[-0.001568,0.036668,0.999326]] 2025-10-28T22:29:49.631Z,1761690589.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710299,0.703801,-0.011789],[-0.701549,0.709195,0.069787],[0.057477,-0.041299,0.997492]] 2025-10-28T22:29:50.038Z,1761690590.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716974,0.692828,0.077060],[-0.696392,0.706874,0.123966],[0.031415,-0.142545,0.989290]] 2025-10-28T22:29:50.438Z,1761690590.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742214,0.663863,0.091676],[-0.670046,0.732551,0.120028],[0.012525,-0.150514,0.988529]] 2025-10-28T22:29:50.842Z,1761690590.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722355,0.690213,0.042537],[-0.691046,0.718209,0.081427],[0.025651,-0.088214,0.995771]] 2025-10-28T22:29:51.251Z,1761690591.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690953,0.722174,0.032381],[-0.722766,0.689271,0.050143],[0.013893,-0.058050,0.998217]] 2025-10-28T22:29:51.688Z,1761690591.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712526,0.699890,0.049612],[-0.701344,0.712511,0.021095],[-0.020585,-0.049826,0.998546]] 2025-10-28T22:29:52.060Z,1761690592.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739123,0.673443,0.013102],[-0.673570,0.738949,0.016081],[0.001148,-0.020711,0.999785]] 2025-10-28T22:29:52.459Z,1761690592.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718727,0.692148,-0.066049],[-0.690073,0.721724,0.053984],[0.085034,0.006778,0.996355]] 2025-10-28T22:29:52.864Z,1761690592.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713357,0.699680,-0.039629],[-0.695416,0.713739,0.083501],[0.086709,-0.032008,0.995719]] 2025-10-28T22:29:52.988Z,1761690592.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:29:53.270Z,1761690593.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725755,0.683994,0.073699],[-0.687948,0.721993,0.073846],[-0.002699,-0.104295,0.994543]] 2025-10-28T22:29:53.671Z,1761690593.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720587,0.684329,0.111572],[-0.692175,0.719398,0.057971],[-0.040594,-0.119000,0.992064]] 2025-10-28T22:29:54.077Z,1761690594.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739727,0.669068,0.071776],[-0.672901,0.735066,0.082956],[0.002743,-0.109663,0.993965]] 2025-10-28T22:29:54.479Z,1761690594.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735890,0.676483,0.028917],[-0.675644,0.730837,0.096862],[0.044392,-0.090817,0.994878]] 2025-10-28T22:29:54.883Z,1761690594.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713557,0.700488,0.012335],[-0.698136,0.709466,0.096249],[0.058671,-0.077291,0.995281]] 2025-10-28T22:29:55.297Z,1761690595.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726840,0.682536,-0.076470],[-0.669062,0.728804,0.145602],[0.155111,-0.054666,0.986383]] 2025-10-28T22:29:55.691Z,1761690595.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704072,0.698749,-0.126618],[-0.682046,0.715039,0.153399],[0.197724,-0.021645,0.980019]] 2025-10-28T22:29:56.095Z,1761690596.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689691,0.723354,-0.032951],[-0.720359,0.690035,0.070246],[0.073550,-0.024711,0.996985]] 2025-10-28T22:29:56.499Z,1761690596.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646020,0.761757,0.048828],[-0.762854,0.642067,0.076176],[0.026677,-0.086460,0.995898]] 2025-10-28T22:29:56.905Z,1761690596.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629918,0.769403,0.105939],[-0.775842,0.617104,0.131347],[0.035683,-0.164930,0.985660]] 2025-10-28T22:29:57.310Z,1761690597.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670634,0.728616,0.139170],[-0.741146,0.665960,0.084848],[-0.030860,-0.160047,0.986627]] 2025-10-28T22:29:57.720Z,1761690597.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693358,0.710271,0.121532],[-0.711709,0.701402,-0.038806],[-0.112805,-0.059589,0.991829]] 2025-10-28T22:29:58.125Z,1761690598.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680189,0.732378,-0.031081],[-0.732916,0.680235,-0.010696],[0.013310,0.030055,0.999460]] 2025-10-28T22:29:58.532Z,1761690598.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675719,0.737007,0.014966],[-0.737097,0.675787,0.000736],[-0.009572,-0.011528,0.999888]] 2025-10-28T22:29:58.934Z,1761690598.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690228,0.714115,0.116726],[-0.715953,0.697375,-0.032853],[-0.104863,-0.060895,0.992621]] 2025-10-28T22:29:59.335Z,1761690599.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715189,0.692284,0.096165],[-0.694330,0.719485,-0.015722],[-0.080073,-0.055526,0.995241]] 2025-10-28T22:29:59.737Z,1761690599.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677010,0.735898,0.010556],[-0.735903,0.676678,0.023532],[0.010174,-0.023699,0.999667]] 2025-10-28T22:30:00.140Z,1761690600.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656832,0.754012,0.006119],[-0.753470,0.656002,0.044095],[0.029234,-0.033573,0.999009]] 2025-10-28T22:30:00.551Z,1761690600.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689843,0.723806,0.014895],[-0.723711,0.688921,0.040376],[0.018963,-0.038633,0.999074]] 2025-10-28T22:30:01.351Z,1761690601.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671253,0.739257,-0.054034],[-0.733536,0.672994,0.094886],[0.106509,-0.024056,0.994021]] 2025-10-28T22:30:01.760Z,1761690601.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674647,0.737850,0.020711],[-0.734882,0.668771,0.112668],[0.069281,-0.091231,0.993417]] 2025-10-28T22:30:02.159Z,1761690602.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661911,0.747723,0.052761],[-0.743452,0.645885,0.173526],[0.095672,-0.154084,0.983415]] 2025-10-28T22:30:02.176Z,1761690602.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:30:02.564Z,1761690602.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643773,0.762602,0.063201],[-0.753299,0.617062,0.227543],[0.134526,-0.194095,0.971715]] 2025-10-28T22:30:02.971Z,1761690602.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654084,0.752081,0.080925],[-0.750619,0.632114,0.192362],[0.093518,-0.186565,0.977981]] 2025-10-28T22:30:03.373Z,1761690603.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689165,0.724438,0.015517],[-0.719444,0.681548,0.133763],[0.086327,-0.103348,0.990892]] 2025-10-28T22:30:03.798Z,1761690603.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665600,0.738300,-0.109043],[-0.735215,0.673768,0.074135],[0.128204,0.030825,0.991269]] 2025-10-28T22:30:04.179Z,1761690604.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606916,0.786830,-0.112033],[-0.786710,0.614785,0.055912],[0.112870,0.054203,0.992130]] 2025-10-28T22:30:04.583Z,1761690604.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647055,0.762420,0.005897],[-0.761963,0.646354,0.040472],[0.027045,-0.030680,0.999163]] 2025-10-28T22:30:04.988Z,1761690604.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677619,0.733825,0.048306],[-0.735215,0.677499,0.021307],[-0.017091,-0.049954,0.998605]] 2025-10-28T22:30:05.398Z,1761690605.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645931,0.761170,0.058249],[-0.763276,0.645297,0.031641],[-0.013504,-0.064898,0.997801]] 2025-10-28T22:30:05.797Z,1761690605.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636844,0.764689,0.098386],[-0.770762,0.634571,0.056973],[-0.018867,-0.112115,0.993516]] 2025-10-28T22:30:06.199Z,1761690606.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636733,0.763645,0.106853],[-0.769514,0.638145,0.024875],[-0.049192,-0.098064,0.993964]] 2025-10-28T22:30:06.603Z,1761690606.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639703,0.766776,0.053246],[-0.768620,0.638328,0.041958],[-0.001817,-0.067767,0.997699]] 2025-10-28T22:30:07.009Z,1761690607.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658938,0.751222,-0.038289],[-0.743700,0.658279,0.116526],[0.112742,-0.048308,0.992449]] 2025-10-28T22:30:07.411Z,1761690607.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664413,0.747259,-0.012622],[-0.743418,0.662543,0.091468],[0.076713,-0.051389,0.995728]] 2025-10-28T22:30:07.815Z,1761690607.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669003,0.742922,0.022396],[-0.740408,0.663496,0.107556],[0.065046,-0.088538,0.993947]] 2025-10-28T22:30:08.219Z,1761690608.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670249,0.741198,0.037313],[-0.734094,0.654765,0.179968],[0.108960,-0.148015,0.982965]] 2025-10-28T22:30:08.623Z,1761690608.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657261,0.749934,0.074876],[-0.747505,0.635991,0.191706],[0.096147,-0.181971,0.978592]] 2025-10-28T22:30:09.036Z,1761690609.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645865,0.754912,0.113865],[-0.762333,0.629635,0.149695],[0.041313,-0.183486,0.982154]] 2025-10-28T22:30:09.435Z,1761690609.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670070,0.740861,0.046162],[-0.740048,0.661908,0.119192],[0.057749,-0.114029,0.991798]] 2025-10-28T22:30:09.836Z,1761690609.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681513,0.724123,-0.105761],[-0.721686,0.688984,0.066858],[0.121281,0.030761,0.992141]] 2025-10-28T22:30:10.238Z,1761690610.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675680,0.721266,-0.152421],[-0.730560,0.682807,-0.007472],[0.098685,0.116402,0.988287]] 2025-10-28T22:30:10.643Z,1761690610.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677318,0.724100,-0.130073],[-0.728596,0.684714,0.017760],[0.101923,0.082742,0.991345]] 2025-10-28T22:30:11.050Z,1761690611.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637029,0.766344,-0.083129],[-0.758772,0.642407,0.107601],[0.135862,-0.005469,0.990713]] 2025-10-28T22:30:11.424Z,1761690611.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:30:11.459Z,1761690611.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584553,0.805619,0.096314],[-0.807090,0.565212,0.170710],[0.083089,-0.177523,0.980603]] 2025-10-28T22:30:11.854Z,1761690611.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641300,0.724103,0.253787],[-0.765296,0.627461,0.143576],[-0.055277,-0.286298,0.956545]] 2025-10-28T22:30:12.259Z,1761690612.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678007,0.710600,0.188025],[-0.732136,0.675621,0.086675],[-0.065443,-0.196426,0.978332]] 2025-10-28T22:30:12.663Z,1761690612.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644820,0.764178,0.015442],[-0.762711,0.642003,0.078130],[0.049791,-0.062157,0.996824]] 2025-10-28T22:30:13.068Z,1761690613.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602111,0.797654,-0.034794],[-0.797713,0.602836,0.015579],[0.033401,0.018375,0.999273]] 2025-10-28T22:30:13.471Z,1761690613.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606905,0.794640,0.014628],[-0.794356,0.607080,-0.021269],[-0.025782,0.001288,0.999667]] 2025-10-28T22:30:13.875Z,1761690613.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599028,0.798035,0.065614],[-0.799060,0.601056,-0.015304],[-0.051651,-0.043262,0.997728]] 2025-10-28T22:30:14.279Z,1761690614.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587836,0.801623,0.108853],[-0.807425,0.589710,0.017534],[-0.050136,-0.098198,0.993903]] 2025-10-28T22:30:14.683Z,1761690614.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586206,0.804410,0.096365],[-0.810113,0.580711,0.080565],[0.008847,-0.125294,0.992080]] 2025-10-28T22:30:15.087Z,1761690615.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563521,0.825287,0.036690],[-0.818343,0.551605,0.161390],[0.112955,-0.120971,0.986208]] 2025-10-28T22:30:15.491Z,1761690615.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550950,0.834437,0.012968],[-0.827532,0.544249,0.137785],[0.107915,-0.086644,0.990377]] 2025-10-28T22:30:15.897Z,1761690615.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583613,0.810389,0.051627],[-0.811975,0.583146,0.025261],[-0.009635,-0.056663,0.998347]] 2025-10-28T22:30:16.311Z,1761690616.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588319,0.807658,0.039605],[-0.807592,0.589339,-0.021768],[-0.040922,-0.019178,0.998978]] 2025-10-28T22:30:16.703Z,1761690616.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547801,0.836590,-0.005556],[-0.836308,0.547770,0.023189],[0.022443,-0.008057,0.999716]] 2025-10-28T22:30:17.107Z,1761690617.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531261,0.846650,0.030747],[-0.845975,0.528181,0.073150],[0.045693,-0.064873,0.996847]] 2025-10-28T22:30:17.526Z,1761690617.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548684,0.833594,0.063776],[-0.833606,0.539694,0.117609],[0.063619,-0.117694,0.991010]] 2025-10-28T22:30:17.915Z,1761690617.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554813,0.831724,0.020442],[-0.819928,0.542449,0.182940],[0.141067,-0.118259,0.982911]] 2025-10-28T22:30:18.353Z,1761690618.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534249,0.845304,-0.006366],[-0.827596,0.524562,0.199801],[0.172232,-0.101475,0.979816]] 2025-10-28T22:30:18.722Z,1761690618.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507801,0.855742,0.099213],[-0.857975,0.492003,0.147688],[0.077570,-0.160119,0.984045]] 2025-10-28T22:30:19.128Z,1761690619.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513370,0.840774,0.171904],[-0.857593,0.509957,0.066923],[-0.031396,-0.181780,0.982838]] 2025-10-28T22:30:19.535Z,1761690619.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466151,0.874647,0.133026],[-0.884248,0.465444,0.038289],[-0.028427,-0.135476,0.990373]] 2025-10-28T22:30:19.934Z,1761690619.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475659,0.876011,0.079709],[-0.879571,0.474722,0.031537],[-0.010213,-0.085111,0.996319]] 2025-10-28T22:30:20.370Z,1761690620.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537824,0.841746,0.047003],[-0.842469,0.538695,-0.007305],[-0.031469,-0.035669,0.998868]] 2025-10-28T22:30:20.744Z,1761690620.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535366,0.844563,0.009776],[-0.843391,0.535176,-0.047733],[-0.045546,0.017309,0.998812]] 2025-10-28T22:30:20.804Z,1761690620.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:30:21.147Z,1761690621.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535462,0.844553,-0.003252],[-0.843042,0.534265,-0.061969],[-0.050599,0.035924,0.998073]] 2025-10-28T22:30:21.550Z,1761690621.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544717,0.838521,0.012886],[-0.837411,0.544692,-0.045317],[-0.045018,0.013894,0.998890]] 2025-10-28T22:30:21.955Z,1761690621.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527786,0.846274,0.072537],[-0.848415,0.529326,-0.002385],[-0.040414,-0.060282,0.997363]] 2025-10-28T22:30:22.378Z,1761690622.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546591,0.828374,0.122619],[-0.836994,0.544995,0.049208],[-0.026064,-0.129528,0.991233]] 2025-10-28T22:30:22.767Z,1761690622.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601429,0.791268,0.110353],[-0.798511,0.599806,0.051113],[-0.025747,-0.118859,0.992577]] 2025-10-28T22:30:23.167Z,1761690623.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613230,0.787486,0.061755],[-0.788973,0.614428,-0.000501],[-0.038338,-0.048416,0.998091]] 2025-10-28T22:30:23.571Z,1761690623.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588404,0.808190,-0.024696],[-0.807966,0.588870,0.020590],[0.031184,0.007838,0.999483]] 2025-10-28T22:30:23.976Z,1761690623.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559316,0.823708,-0.093117],[-0.813875,0.566994,0.126982],[0.157393,0.004763,0.987525]] 2025-10-28T22:30:24.382Z,1761690624.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557353,0.828839,-0.048829],[-0.817704,0.558159,0.140777],[0.143935,-0.038535,0.988837]] 2025-10-28T22:30:24.787Z,1761690624.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587614,0.805832,0.073109],[-0.808925,0.582961,0.076143],[0.018739,-0.103882,0.994413]] 2025-10-28T22:30:25.211Z,1761690625.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616240,0.779828,0.110071],[-0.787292,0.613621,0.060340],[-0.020486,-0.123842,0.992090]] 2025-10-28T22:30:25.598Z,1761690625.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602477,0.797064,0.041352],[-0.794605,0.594138,0.124912],[0.074994,-0.108115,0.991306]] 2025-10-28T22:30:25.999Z,1761690625.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572642,0.819127,0.033342],[-0.800848,0.550241,0.236385],[0.175284,-0.162066,0.971087]] 2025-10-28T22:30:26.399Z,1761690626.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566255,0.812116,0.140791],[-0.812612,0.521489,0.260214],[0.137903,-0.261756,0.955231]] 2025-10-28T22:30:26.803Z,1761690626.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561157,0.813594,0.152207],[-0.824005,0.531740,0.195624],[0.078224,-0.235195,0.968795]] 2025-10-28T22:30:27.206Z,1761690627.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575431,0.816404,0.048625],[-0.816657,0.570363,0.088082],[0.044177,-0.090395,0.994926]] 2025-10-28T22:30:27.610Z,1761690627.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606242,0.792451,-0.067022],[-0.794958,0.606238,-0.022721],[0.022626,0.067055,0.997493]] 2025-10-28T22:30:28.020Z,1761690628.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621510,0.771306,-0.137156],[-0.781477,0.622684,-0.039484],[0.054951,0.131724,0.989762]] 2025-10-28T22:30:28.425Z,1761690628.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603627,0.775895,-0.183363],[-0.778417,0.623272,0.074827],[0.172342,0.097565,0.980193]] 2025-10-28T22:30:28.822Z,1761690628.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592714,0.793466,-0.138208],[-0.775640,0.608563,0.167436],[0.216963,0.007958,0.976147]] 2025-10-28T22:30:29.226Z,1761690629.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591392,0.805604,-0.035463],[-0.789798,0.587542,0.176109],[0.162710,-0.076141,0.983732]] 2025-10-28T22:30:29.631Z,1761690629.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587035,0.808960,0.031221],[-0.800091,0.573854,0.174774],[0.123469,-0.127578,0.984113]] 2025-10-28T22:30:29.996Z,1761690629.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:30:30.037Z,1761690630.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574714,0.818074,0.021429],[-0.805114,0.560531,0.193897],[0.146610,-0.128688,0.980788]] 2025-10-28T22:30:30.444Z,1761690630.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569078,0.820206,-0.058411],[-0.797592,0.567872,0.203392],[0.199994,-0.069158,0.977353]] 2025-10-28T22:30:30.843Z,1761690630.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565380,0.818787,-0.099665],[-0.793747,0.572946,0.204204],[0.224302,-0.036344,0.973842]] 2025-10-28T22:30:31.246Z,1761690631.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582339,0.808749,-0.082497],[-0.789987,0.586919,0.177334],[0.191837,-0.038097,0.980687]] 2025-10-28T22:30:31.659Z,1761690631.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617352,0.785476,-0.043636],[-0.779215,0.618173,0.103371],[0.108170,-0.029815,0.993685]] 2025-10-28T22:30:32.054Z,1761690632.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622844,0.782244,-0.012634],[-0.781144,0.622700,0.045374],[0.043361,-0.018392,0.998890]] 2025-10-28T22:30:32.460Z,1761690632.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615675,0.787818,-0.016931],[-0.783082,0.614088,0.098382],[0.087904,-0.047313,0.995005]] 2025-10-28T22:30:32.863Z,1761690632.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602456,0.798144,-0.003434],[-0.784321,0.592809,0.182803],[0.147940,-0.107437,0.983144]] 2025-10-28T22:30:33.267Z,1761690633.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585836,0.810147,0.021395],[-0.793910,0.568392,0.215958],[0.162797,-0.143502,0.976168]] 2025-10-28T22:30:33.673Z,1761690633.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595604,0.802510,0.035108],[-0.793341,0.580821,0.182363],[0.125956,-0.136469,0.982604]] 2025-10-28T22:30:34.074Z,1761690634.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616912,0.785969,0.040894],[-0.784443,0.609841,0.112880],[0.063782,-0.101716,0.992767]] 2025-10-28T22:30:34.484Z,1761690634.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618479,0.783960,0.053767],[-0.785522,0.614982,0.068940],[0.020981,-0.084873,0.996171]] 2025-10-28T22:30:34.882Z,1761690634.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625879,0.773000,0.103668],[-0.778524,0.627164,0.023777],[-0.046638,-0.095590,0.994328]] 2025-10-28T22:30:35.289Z,1761690635.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604309,0.784619,0.138505],[-0.793054,0.609073,0.009818],[-0.076656,-0.115775,0.990313]] 2025-10-28T22:30:35.691Z,1761690635.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591252,0.802447,0.080622],[-0.806429,0.587049,0.071038],[0.009675,-0.107017,0.994210]] 2025-10-28T22:30:36.095Z,1761690636.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599967,0.798925,0.041930],[-0.798580,0.594912,0.091378],[0.048060,-0.088308,0.994933]] 2025-10-28T22:30:36.513Z,1761690636.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631849,0.772328,0.065389],[-0.774812,0.631636,0.026513],[-0.020826,-0.067416,0.997508]] 2025-10-28T22:30:36.904Z,1761690636.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653495,0.756284,0.031270],[-0.756846,0.653482,0.012079],[-0.011299,-0.031560,0.999438]] 2025-10-28T22:30:37.306Z,1761690637.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638964,0.768512,-0.033390],[-0.767641,0.639832,0.036645],[0.049527,0.002217,0.998770]] 2025-10-28T22:30:37.710Z,1761690637.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611180,0.790757,-0.034094],[-0.783639,0.610607,0.114316],[0.111214,-0.043150,0.992859]] 2025-10-28T22:30:38.115Z,1761690638.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631012,0.774876,0.037303],[-0.770179,0.619973,0.149859],[0.092996,-0.123293,0.988003]] 2025-10-28T22:30:38.522Z,1761690638.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671425,0.734918,0.095304],[-0.740163,0.658665,0.135345],[0.036694,-0.161415,0.986204]] 2025-10-28T22:30:38.923Z,1761690638.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682777,0.724199,0.096707],[-0.729926,0.670323,0.133698],[0.031999,-0.161875,0.986292]] 2025-10-28T22:30:39.327Z,1761690639.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674646,0.734739,0.070786],[-0.737082,0.665437,0.117914],[0.039533,-0.131725,0.990498]] 2025-10-28T22:30:39.731Z,1761690639.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678574,0.731513,0.066528],[-0.734424,0.674136,0.078498],[0.012573,-0.102127,0.994692]] 2025-10-28T22:30:40.135Z,1761690640.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662516,0.747531,0.047642],[-0.748780,0.659240,0.068784],[0.020011,-0.081244,0.996493]] 2025-10-28T22:30:40.541Z,1761690640.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648088,0.759703,0.053237],[-0.760982,0.643271,0.084312],[0.029806,-0.095154,0.995016]] 2025-10-28T22:30:40.943Z,1761690640.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659420,0.747802,0.077182],[-0.751687,0.657429,0.052487],[-0.011492,-0.092628,0.995634]] 2025-10-28T22:30:41.347Z,1761690641.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698488,0.714280,0.043800],[-0.715575,0.696434,0.054148],[0.008173,-0.069163,0.997572]] 2025-10-28T22:30:41.753Z,1761690641.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704000,0.709588,-0.029456],[-0.706768,0.704068,0.069048],[0.069735,-0.027791,0.997178]] 2025-10-28T22:30:42.155Z,1761690642.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676121,0.736646,-0.014587],[-0.735831,0.676119,0.037634],[0.037586,-0.014711,0.999185]] 2025-10-28T22:30:42.560Z,1761690642.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661425,0.748451,0.048353],[-0.749694,0.661646,0.013585],[-0.021825,-0.045235,0.998738]] 2025-10-28T22:30:42.963Z,1761690642.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623791,0.778395,0.070614],[-0.781282,0.623536,0.028305],[-0.021998,-0.072826,0.997102]] 2025-10-28T22:30:43.373Z,1761690643.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687012,0.725598,0.039008],[-0.726508,0.686938,0.017418],[-0.014158,-0.040306,0.999087]] 2025-10-28T22:30:43.781Z,1761690643.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656957,0.752162,-0.051575],[-0.753848,0.656344,-0.030417],[0.010972,0.058862,0.998206]] 2025-10-28T22:30:44.179Z,1761690644.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619394,0.782865,-0.058930],[-0.784439,0.620175,-0.006164],[0.031722,0.050045,0.998243]] 2025-10-28T22:30:44.584Z,1761690644.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645818,0.763463,-0.006601],[-0.763491,0.645782,-0.006880],[-0.000990,0.009483,0.999955]] 2025-10-28T22:30:44.992Z,1761690644.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651249,0.758668,-0.017241],[-0.757798,0.651371,0.038184],[0.040199,-0.011802,0.999122]] 2025-10-28T22:30:45.388Z,1761690645.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644881,0.763649,-0.031108],[-0.757469,0.644025,0.107110],[0.101828,-0.045510,0.993760]] 2025-10-28T22:30:45.793Z,1761690645.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640943,0.767112,0.027049],[-0.762517,0.632269,0.137124],[0.088087,-0.108514,0.990185]] 2025-10-28T22:30:46.195Z,1761690646.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629904,0.768720,0.110867],[-0.776614,0.621641,0.102146],[0.009603,-0.150443,0.988572]] 2025-10-28T22:30:46.601Z,1761690646.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618362,0.777672,0.113378],[-0.785672,0.608301,0.112645],[0.018633,-0.158734,0.987146]] 2025-10-28T22:30:47.006Z,1761690647.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629462,0.776260,0.034609],[-0.772473,0.620333,0.135912],[0.084034,-0.112285,0.990116]] 2025-10-28T22:30:47.406Z,1761690647.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647556,0.761487,0.028438],[-0.760981,0.644277,0.076259],[0.039748,-0.071022,0.996682]] 2025-10-28T22:30:47.810Z,1761690647.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631357,0.774204,0.044667],[-0.775482,0.630013,0.041363],[0.003883,-0.060753,0.998145]] 2025-10-28T22:30:48.215Z,1761690648.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650726,0.756540,0.064835],[-0.757500,0.640904,0.124242],[0.052441,-0.129960,0.990131]] 2025-10-28T22:30:48.621Z,1761690648.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664963,0.741458,0.089796],[-0.745298,0.650932,0.144286],[0.048531,-0.162870,0.985453]] 2025-10-28T22:30:49.023Z,1761690649.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657982,0.745275,0.107815],[-0.752970,0.649283,0.107089],[0.009808,-0.151644,0.988386]] 2025-10-28T22:30:49.427Z,1761690649.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655536,0.749874,0.089228],[-0.755066,0.652759,0.061485],[-0.012138,-0.107679,0.994112]] 2025-10-28T22:30:49.831Z,1761690649.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659452,0.751747,-0.000619],[-0.751700,0.659420,0.010646],[0.008411,-0.006555,0.999943]] 2025-10-28T22:30:50.239Z,1761690650.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672729,0.739326,-0.028869],[-0.739737,0.671288,-0.046489],[-0.014991,0.052630,0.998502]] 2025-10-28T22:30:50.640Z,1761690650.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669764,0.742493,0.010984],[-0.737815,0.667070,-0.103181],[-0.083939,0.061003,0.994602]] 2025-10-28T22:30:51.043Z,1761690651.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672947,0.737968,0.050461],[-0.736753,0.674786,-0.043113],[-0.065866,-0.008165,0.997795]] 2025-10-28T22:30:51.447Z,1761690651.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689108,0.719570,0.085727],[-0.724656,0.683935,0.084305],[0.002032,-0.120218,0.992745]] 2025-10-28T22:30:51.851Z,1761690651.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674670,0.727127,0.126909],[-0.737388,0.656316,0.159713],[0.032839,-0.201334,0.978972]] 2025-10-28T22:30:52.259Z,1761690652.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657174,0.733789,0.172268],[-0.753587,0.635051,0.169757],[0.015167,-0.241378,0.970313]] 2025-10-28T22:30:52.660Z,1761690652.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686220,0.713995,0.138973],[-0.727359,0.675424,0.121454],[-0.007148,-0.184427,0.982820]] 2025-10-28T22:30:53.063Z,1761690653.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723541,0.690090,-0.016265],[-0.686041,0.721505,0.093700],[0.076396,-0.056637,0.995468]] 2025-10-28T22:30:53.475Z,1761690653.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703443,0.695269,-0.147542],[-0.701379,0.712646,0.014240],[0.115046,0.093465,0.988953]] 2025-10-28T22:30:53.872Z,1761690653.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661664,0.740740,-0.116209],[-0.748100,0.662619,-0.035819],[0.050470,0.110636,0.992579]] 2025-10-28T22:30:54.278Z,1761690654.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645383,0.763004,-0.036127],[-0.762553,0.646323,0.027914],[0.044648,0.009533,0.998957]] 2025-10-28T22:30:54.679Z,1761690654.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658539,0.752056,0.027179],[-0.749895,0.652762,0.107515],[0.063116,-0.091184,0.993832]] 2025-10-28T22:30:55.083Z,1761690655.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675494,0.729510,0.107345],[-0.737249,0.670783,0.080713],[-0.013124,-0.133661,0.990940]] 2025-10-28T22:30:55.492Z,1761690655.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697085,0.709075,0.106230],[-0.716477,0.694495,0.065855],[-0.027080,-0.122018,0.992158]] 2025-10-28T22:30:55.890Z,1761690655.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674667,0.738084,-0.007475],[-0.725803,0.665215,0.175211],[0.134293,-0.112784,0.984502]] 2025-10-28T22:30:56.307Z,1761690656.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617862,0.786281,0.002846],[-0.769171,0.603658,0.209696],[0.163162,-0.131752,0.977763]] 2025-10-28T22:30:56.699Z,1761690656.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606205,0.787448,0.111543],[-0.794716,0.594351,0.123185],[0.030706,-0.163320,0.986095]] 2025-10-28T22:30:57.102Z,1761690657.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614500,0.782587,0.099736],[-0.788826,0.611421,0.062598],[-0.011992,-0.117141,0.993043]] 2025-10-28T22:30:57.184Z,1761690657.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:30:57.507Z,1761690657.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607340,0.794384,-0.009578],[-0.791850,0.606287,0.073411],[0.064123,-0.037001,0.997256]] 2025-10-28T22:30:57.910Z,1761690657.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589725,0.804165,-0.074452],[-0.794251,0.594200,0.126854],[0.146251,-0.015675,0.989123]] 2025-10-28T22:30:58.369Z,1761690658.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550539,0.831090,-0.078718],[-0.805237,0.553546,0.212557],[0.220228,-0.053635,0.973973]] 2025-10-28T22:30:58.720Z,1761690658.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533011,0.845987,0.014295],[-0.832053,0.521015,0.190346],[0.153582,-0.113351,0.981613]] 2025-10-28T22:30:59.122Z,1761690659.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553220,0.826620,0.103186],[-0.832851,0.546233,0.089379],[0.017519,-0.135385,0.990638]] 2025-10-28T22:30:59.527Z,1761690659.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561649,0.824685,0.066665],[-0.827232,0.558228,0.063781],[0.015385,-0.090971,0.995735]] 2025-10-28T22:30:59.931Z,1761690659.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510956,0.858734,-0.038719],[-0.853846,0.512223,0.092597],[0.099349,-0.014253,0.994951]] 2025-10-28T22:31:00.370Z,1761690660.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474333,0.877717,-0.067980],[-0.868019,0.479172,0.130143],[0.146803,-0.002723,0.989162]] 2025-10-28T22:31:00.739Z,1761690660.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487455,0.871434,-0.054681],[-0.858158,0.489701,0.154139],[0.161100,-0.028211,0.986535]] 2025-10-28T22:31:01.143Z,1761690661.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487120,0.871568,-0.055526],[-0.854757,0.488838,0.174439],[0.179178,-0.037511,0.983101]] 2025-10-28T22:31:01.547Z,1761690661.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450209,0.892885,-0.008205],[-0.879244,0.444896,0.170287],[0.155697,-0.069451,0.985360]] 2025-10-28T22:31:01.957Z,1761690661.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433370,0.894894,0.106561],[-0.898428,0.419706,0.129127],[0.070831,-0.151697,0.985886]] 2025-10-28T22:31:02.383Z,1761690662.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423795,0.893195,0.150335],[-0.905758,0.418076,0.069394],[-0.000870,-0.165576,0.986197]] 2025-10-28T22:31:02.764Z,1761690662.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413654,0.902414,0.120584],[-0.910303,0.407697,0.071642],[0.015489,-0.139403,0.990115]] 2025-10-28T22:31:03.163Z,1761690663.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434967,0.898450,0.059934],[-0.897100,0.426656,0.114791],[0.077563,-0.103697,0.991580]] 2025-10-28T22:31:03.571Z,1761690663.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438276,0.898723,-0.014498],[-0.891425,0.436672,0.121156],[0.115216,-0.040176,0.992528]] 2025-10-28T22:31:03.975Z,1761690663.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373378,0.927671,0.003868],[-0.925259,0.372099,0.073744],[0.066971,-0.031113,0.997270]] 2025-10-28T22:31:04.381Z,1761690664.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323526,0.941775,0.091601],[-0.946138,0.323249,0.018264],[-0.012409,-0.092576,0.995628]] 2025-10-28T22:31:04.785Z,1761690664.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344187,0.933357,0.101883],[-0.938661,0.339612,0.059826],[0.021238,-0.116225,0.992996]] 2025-10-28T22:31:05.183Z,1761690665.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356015,0.933599,0.040577],[-0.931374,0.350960,0.096796],[0.076128,-0.072253,0.994477]] 2025-10-28T22:31:05.586Z,1761690665.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326137,0.945322,0.000902],[-0.943347,0.325394,0.064919],[0.061076,-0.022024,0.997890]] 2025-10-28T22:31:05.990Z,1761690665.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299955,0.953190,0.038148],[-0.948699,0.293873,0.116653],[0.099982,-0.071182,0.992440]] 2025-10-28T22:31:06.396Z,1761690666.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345111,0.932426,0.107149],[-0.933707,0.329484,0.140109],[0.095337,-0.148399,0.984321]] 2025-10-28T22:31:06.799Z,1761690666.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342526,0.923401,0.173224],[-0.937316,0.323280,0.130110],[0.064144,-0.206931,0.976250]] 2025-10-28T22:31:07.203Z,1761690667.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321155,0.906338,0.274611],[-0.947009,0.305608,0.098878],[0.005693,-0.291815,0.956458]] 2025-10-28T22:31:07.606Z,1761690667.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298138,0.887729,0.350785],[-0.944975,0.326352,-0.022746],[-0.134672,-0.324702,0.936180]] 2025-10-28T22:31:08.012Z,1761690668.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287555,0.911382,0.294441],[-0.946102,0.318125,-0.060716],[-0.149004,-0.261112,0.953739]] 2025-10-28T22:31:08.415Z,1761690668.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290151,0.947688,0.133044],[-0.956520,0.282881,0.071048],[0.029695,-0.147874,0.988560]] 2025-10-28T22:31:08.818Z,1761690668.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310680,0.950509,0.003363],[-0.938123,0.306058,0.162030],[0.152981,-0.053494,0.986780]] 2025-10-28T22:31:09.224Z,1761690669.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333350,0.942730,-0.011764],[-0.936440,0.332522,0.111844],[0.109351,-0.026267,0.993656]] 2025-10-28T22:31:09.626Z,1761690669.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345347,0.937963,0.030992],[-0.938466,0.345011,0.015760],[0.004089,-0.034528,0.999395]] 2025-10-28T22:31:10.031Z,1761690670.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317195,0.941963,0.109964],[-0.948120,0.317584,0.014423],[-0.021337,-0.108834,0.993831]] 2025-10-28T22:31:10.439Z,1761690670.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319196,0.933633,0.162611],[-0.944215,0.298630,0.138847],[0.081072,-0.197860,0.976872]] 2025-10-28T22:31:10.840Z,1761690670.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353733,0.923990,0.145313],[-0.916883,0.311823,0.249183],[0.184930,-0.221379,0.957493]] 2025-10-28T22:31:11.243Z,1761690671.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364892,0.929023,0.061401],[-0.904399,0.338010,0.260408],[0.221171,-0.150552,0.963544]] 2025-10-28T22:31:11.647Z,1761690671.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378359,0.925656,-0.002145],[-0.907173,0.371263,0.197990],[0.184067,-0.072966,0.980202]] 2025-10-28T22:31:12.052Z,1761690672.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405781,0.913952,-0.005698],[-0.901509,0.401267,0.162069],[0.150410,-0.060628,0.986763]] 2025-10-28T22:31:12.463Z,1761690672.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408682,0.912443,-0.020680],[-0.899690,0.406572,0.158925],[0.153417,-0.046344,0.987074]] 2025-10-28T22:31:12.858Z,1761690672.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398846,0.917006,-0.004794],[-0.902386,0.393406,0.175873],[0.163163,-0.065820,0.984401]] 2025-10-28T22:31:13.263Z,1761690673.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413429,0.910482,0.009931],[-0.881970,0.397724,0.252872],[0.226286,-0.113303,0.967449]] 2025-10-28T22:31:13.667Z,1761690673.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441772,0.897124,-0.002370],[-0.862557,0.425474,0.273801],[0.246642,-0.118913,0.961784]] 2025-10-28T22:31:14.073Z,1761690674.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455224,0.890343,0.007824],[-0.864217,0.439718,0.244494],[0.214243,-0.118061,0.969619]] 2025-10-28T22:31:14.485Z,1761690674.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426146,0.903380,0.048003],[-0.885849,0.405937,0.224693],[0.183497,-0.138275,0.973247]] 2025-10-28T22:31:14.879Z,1761690674.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426435,0.899795,0.092312],[-0.888360,0.397426,0.229934],[0.170206,-0.180058,0.968818]] 2025-10-28T22:31:15.282Z,1761690675.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458656,0.883251,0.097482],[-0.873878,0.428433,0.229746],[0.161159,-0.190561,0.968356]] 2025-10-28T22:31:15.687Z,1761690675.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490767,0.869312,0.058682],[-0.862497,0.475165,0.174119],[0.123480,-0.136065,0.982975]] 2025-10-28T22:31:16.094Z,1761690676.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499265,0.866156,0.022522],[-0.865233,0.497020,0.065898],[0.045884,-0.052387,0.997572]] 2025-10-28T22:31:16.499Z,1761690676.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501994,0.864802,-0.010901],[-0.863444,0.501850,0.051104],[0.049665,-0.016242,0.998634]] 2025-10-28T22:31:16.898Z,1761690676.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499425,0.865838,-0.029986],[-0.853390,0.497621,0.155235],[0.149331,-0.051938,0.987422]] 2025-10-28T22:31:17.303Z,1761690677.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515248,0.856759,-0.021985],[-0.838610,0.509292,0.193273],[0.176785,-0.081146,0.980899]] 2025-10-28T22:31:17.707Z,1761690677.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513678,0.857039,0.040240],[-0.855016,0.507441,0.107010],[0.071293,-0.089375,0.993443]] 2025-10-28T22:31:18.114Z,1761690678.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498057,0.858245,0.123913],[-0.866972,0.495694,0.051449],[-0.017267,-0.133054,0.990958]] 2025-10-28T22:31:18.524Z,1761690678.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522190,0.838518,0.155582],[-0.852357,0.519211,0.062504],[-0.028369,-0.165250,0.985844]] 2025-10-28T22:31:18.918Z,1761690678.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551868,0.826633,0.110087],[-0.833800,0.549297,0.055226],[-0.014819,-0.122268,0.992387]] 2025-10-28T22:31:19.322Z,1761690679.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548853,0.831942,0.081449],[-0.835427,0.549262,0.019308],[-0.028673,-0.078642,0.996490]] 2025-10-28T22:31:19.726Z,1761690679.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536244,0.840805,0.074090],[-0.843238,0.537532,0.002984],[-0.037317,-0.064075,0.997247]] 2025-10-28T22:31:20.133Z,1761690680.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513816,0.850452,0.112804],[-0.857809,0.511214,0.053133],[-0.012480,-0.124065,0.992196]] 2025-10-28T22:31:20.534Z,1761690680.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557834,0.820395,0.125595],[-0.828512,0.541541,0.142479],[0.048874,-0.183537,0.981797]] 2025-10-28T22:31:20.944Z,1761690680.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577895,0.808977,0.107669],[-0.814138,0.562292,0.144934],[0.056707,-0.171414,0.983566]] 2025-10-28T22:31:21.343Z,1761690681.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587283,0.799838,0.123925],[-0.809374,0.581023,0.085591],[-0.003544,-0.150568,0.988593]] 2025-10-28T22:31:21.746Z,1761690681.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583049,0.807181,0.092266],[-0.812376,0.580630,0.053980],[-0.010001,-0.106428,0.994270]] 2025-10-28T22:31:22.150Z,1761690682.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586721,0.809275,0.028853],[-0.809077,0.584341,0.062766],[0.033935,-0.060171,0.997611]] 2025-10-28T22:31:22.555Z,1761690682.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607189,0.794507,-0.008896],[-0.792060,0.606130,0.072432],[0.062940,-0.036934,0.997334]] 2025-10-28T22:31:22.961Z,1761690682.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615860,0.787855,-0.000548],[-0.787166,0.615350,0.041409],[0.032962,-0.025071,0.999142]] 2025-10-28T22:31:23.362Z,1761690683.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621756,0.782313,0.037496],[-0.783201,0.621275,0.024756],[-0.003928,-0.044759,0.998990]] 2025-10-28T22:31:23.771Z,1761690683.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631083,0.771747,0.078358],[-0.775493,0.630094,0.039907],[-0.018575,-0.085951,0.996126]] 2025-10-28T22:31:24.171Z,1761690684.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673089,0.736757,0.064343],[-0.739489,0.669250,0.072535],[0.010379,-0.096403,0.995288]] 2025-10-28T22:31:24.579Z,1761690684.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675476,0.737299,0.011100],[-0.735858,0.673036,0.074403],[0.047387,-0.058426,0.997166]] 2025-10-28T22:31:24.978Z,1761690684.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644165,0.764708,-0.016543],[-0.757227,0.640618,0.127338],[0.107974,-0.069500,0.991721]] 2025-10-28T22:31:25.382Z,1761690685.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638716,0.768268,0.042483],[-0.764392,0.627241,0.149246],[0.088014,-0.127799,0.987887]] 2025-10-28T22:31:25.789Z,1761690685.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667209,0.729735,0.149397],[-0.744486,0.659761,0.102253],[-0.023948,-0.179448,0.983476]] 2025-10-28T22:31:26.192Z,1761690686.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689898,0.712299,0.129117],[-0.723583,0.683862,0.093593],[-0.021633,-0.157997,0.987203]] 2025-10-28T22:31:26.595Z,1761690686.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704546,0.709130,0.027387],[-0.707385,0.698679,0.107025],[0.056760,-0.094777,0.993879]] 2025-10-28T22:31:26.999Z,1761690686.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702796,0.711257,-0.013798],[-0.708671,0.701671,0.073778],[0.062157,-0.042073,0.997179]] 2025-10-28T22:31:27.403Z,1761690687.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687418,0.725489,0.033513],[-0.726248,0.686383,0.037971],[0.004545,-0.050441,0.998717]] 2025-10-28T22:31:27.808Z,1761690687.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674354,0.737370,0.039141],[-0.737431,0.669790,0.087046],[0.037969,-0.087564,0.995435]] 2025-10-28T22:31:28.210Z,1761690688.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687308,0.725490,0.035672],[-0.724434,0.681072,0.106477],[0.052953,-0.099025,0.993675]] 2025-10-28T22:31:28.444Z,1761690688.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:31:28.621Z,1761690688.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721598,0.692175,-0.013810],[-0.692220,0.721684,0.001955],[0.011320,0.008148,0.999903]] 2025-10-28T22:31:29.024Z,1761690689.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715910,0.696865,-0.043030],[-0.696419,0.717124,0.027091],[0.049737,0.010572,0.998706]] 2025-10-28T22:31:29.435Z,1761690689.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695627,0.717838,-0.028497],[-0.716723,0.696165,0.040786],[0.049117,-0.007947,0.998761]] 2025-10-28T22:31:29.831Z,1761690689.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677391,0.734817,0.034445],[-0.734892,0.673887,0.076220],[0.032796,-0.076944,0.996496]] 2025-10-28T22:31:30.234Z,1761690690.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698810,0.712354,0.064938],[-0.714408,0.690496,0.113302],[0.035872,-0.125569,0.991436]] 2025-10-28T22:31:30.635Z,1761690690.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719333,0.687413,0.100115],[-0.694475,0.715001,0.080491],[-0.016252,-0.127427,0.991715]] 2025-10-28T22:31:31.039Z,1761690691.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733753,0.671627,0.102590],[-0.677891,0.733825,0.044333],[-0.045508,-0.102075,0.993735]] 2025-10-28T22:31:31.446Z,1761690691.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736079,0.676302,0.028326],[-0.674341,0.729027,0.117404],[0.058750,-0.105520,0.992680]] 2025-10-28T22:31:31.848Z,1761690691.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701757,0.711556,0.035004],[-0.704547,0.685885,0.182140],[0.105594,-0.152480,0.982649]] 2025-10-28T22:31:32.250Z,1761690692.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681914,0.725358,0.094067],[-0.728899,0.663217,0.169852],[0.060817,-0.184390,0.980970]] 2025-10-28T22:31:32.654Z,1761690692.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675538,0.733595,0.074079],[-0.736807,0.667881,0.105118],[0.027638,-0.125593,0.991697]] 2025-10-28T22:31:33.058Z,1761690693.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695176,0.718577,0.019418],[-0.718703,0.694266,0.038221],[0.013984,-0.040526,0.999081]] 2025-10-28T22:31:33.463Z,1761690693.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710386,0.698631,-0.085239],[-0.700699,0.713416,0.007599],[0.066120,0.054328,0.996332]] 2025-10-28T22:31:33.867Z,1761690693.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691215,0.701181,-0.174836],[-0.710368,0.703696,0.013734],[0.132662,0.114705,0.984502]] 2025-10-28T22:31:34.271Z,1761690694.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652883,0.749988,-0.106125],[-0.754601,0.656163,-0.005200],[0.065736,0.083477,0.994339]] 2025-10-28T22:31:34.680Z,1761690694.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640699,0.767759,0.007124],[-0.766218,0.638764,0.069935],[0.049143,-0.050266,0.997526]] 2025-10-28T22:31:35.080Z,1761690695.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655142,0.749364,0.096135],[-0.753829,0.639903,0.149219],[0.050302,-0.170229,0.984120]] 2025-10-28T22:31:35.484Z,1761690695.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637755,0.756483,0.144922],[-0.770233,0.625623,0.123840],[0.003016,-0.190604,0.981662]] 2025-10-28T22:31:35.887Z,1761690695.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628930,0.766558,0.129753],[-0.777057,0.625174,0.073077],[-0.025100,-0.146786,0.988850]] 2025-10-28T22:31:36.295Z,1761690696.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663168,0.743726,0.084139],[-0.748342,0.660931,0.056155],[-0.013846,-0.100205,0.994870]] 2025-10-28T22:31:36.721Z,1761690696.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664353,0.746537,0.036301],[-0.747294,0.664346,0.013983],[-0.013677,-0.036417,0.999243]] 2025-10-28T22:31:37.098Z,1761690697.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647972,0.760678,0.038742],[-0.761400,0.645569,0.059256],[0.020064,-0.067894,0.997491]] 2025-10-28T22:31:37.502Z,1761690697.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659319,0.745976,0.093905],[-0.750486,0.645404,0.142214],[0.045481,-0.164239,0.985372]] 2025-10-28T22:31:37.912Z,1761690697.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664449,0.737436,0.121226],[-0.746593,0.647778,0.151603],[0.033270,-0.191239,0.980980]] 2025-10-28T22:31:38.338Z,1761690698.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651813,0.749438,0.116114],[-0.757792,0.637603,0.138612],[0.029846,-0.178339,0.983516]] 2025-10-28T22:31:38.714Z,1761690698.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658708,0.742189,0.123528],[-0.752091,0.644806,0.136325],[0.021527,-0.182703,0.982932]] 2025-10-28T22:31:39.119Z,1761690699.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661559,0.740853,0.116089],[-0.749875,0.652482,0.109335],[0.005255,-0.159384,0.987203]] 2025-10-28T22:31:39.524Z,1761690699.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647212,0.759718,0.062812],[-0.761219,0.639683,0.106538],[0.040759,-0.116766,0.992323]] 2025-10-28T22:31:39.932Z,1761690699.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654923,0.754495,0.042581],[-0.749560,0.641408,0.163569],[0.096100,-0.139043,0.985612]] 2025-10-28T22:31:40.366Z,1761690700.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649393,0.759177,0.044037],[-0.755299,0.637178,0.153388],[0.088389,-0.132870,0.987184]] 2025-10-28T22:31:40.735Z,1761690700.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643876,0.760807,0.081220],[-0.765119,0.640811,0.062884],[-0.004204,-0.102632,0.994711]] 2025-10-28T22:31:41.139Z,1761690701.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640640,0.766286,0.048860],[-0.767519,0.640918,0.011797],[-0.022275,-0.045059,0.998736]] 2025-10-28T22:31:41.545Z,1761690701.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621418,0.783369,-0.013139],[-0.783138,0.621555,0.019071],[0.023106,-0.001562,0.999732]] 2025-10-28T22:31:41.947Z,1761690701.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645197,0.763893,-0.013766],[-0.761283,0.644307,0.072916],[0.064569,-0.036566,0.997243]] 2025-10-28T22:31:42.372Z,1761690702.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662775,0.748794,0.006089],[-0.745509,0.659060,0.099282],[0.070329,-0.070341,0.995041]] 2025-10-28T22:31:42.757Z,1761690702.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664786,0.742291,0.084041],[-0.747020,0.661241,0.068716],[-0.004564,-0.108461,0.994090]] 2025-10-28T22:31:43.160Z,1761690703.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663511,0.741823,0.097226],[-0.748106,0.659493,0.073530],[-0.009574,-0.121523,0.992542]] 2025-10-28T22:31:43.563Z,1761690703.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652416,0.755320,0.062008],[-0.755359,0.641438,0.134123],[0.061532,-0.134342,0.989023]] 2025-10-28T22:31:43.967Z,1761690703.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649645,0.756230,0.077953],[-0.754989,0.629731,0.182841],[0.089181,-0.177635,0.980047]] 2025-10-28T22:31:44.378Z,1761690704.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631156,0.765249,0.126631],[-0.772751,0.606241,0.187959],[0.067067,-0.216485,0.973980]] 2025-10-28T22:31:44.793Z,1761690704.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641318,0.754281,0.140613],[-0.766999,0.625312,0.143869],[0.020590,-0.200116,0.979556]] 2025-10-28T22:31:45.181Z,1761690705.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691086,0.717547,0.086749],[-0.722717,0.687517,0.070708],[-0.008905,-0.111560,0.993718]] 2025-10-28T22:31:45.583Z,1761690705.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714130,0.698970,0.038205],[-0.697990,0.715151,-0.037000],[-0.053184,-0.000244,0.998585]] 2025-10-28T22:31:45.986Z,1761690705.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709763,0.704288,-0.014667],[-0.703887,0.708224,-0.054423],[-0.027941,0.048951,0.998410]] 2025-10-28T22:31:46.394Z,1761690706.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692286,0.717372,-0.078216],[-0.710315,0.696536,0.101437],[0.127248,-0.014666,0.991762]] 2025-10-28T22:31:46.797Z,1761690706.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689870,0.723798,-0.013965],[-0.705753,0.676717,0.209684],[0.161219,-0.134799,0.977670]] 2025-10-28T22:31:47.199Z,1761690707.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697898,0.708816,0.102557],[-0.713846,0.676846,0.179732],[0.057982,-0.198644,0.978355]] 2025-10-28T22:31:47.603Z,1761690707.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696350,0.695102,0.178688],[-0.715568,0.691602,0.098228],[-0.055303,-0.196265,0.978990]] 2025-10-28T22:31:48.007Z,1761690708.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704541,0.690572,0.163499],[-0.705027,0.707400,0.050212],[-0.080984,-0.150648,0.985265]] 2025-10-28T22:31:48.419Z,1761690708.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715675,0.696197,0.055841],[-0.698429,0.713117,0.060500],[0.002299,-0.082299,0.996605]] 2025-10-28T22:31:48.815Z,1761690708.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713970,0.698139,-0.053376],[-0.696973,0.715919,0.041095],[0.066903,0.007861,0.997728]] 2025-10-28T22:31:49.219Z,1761690709.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702027,0.710352,-0.050580],[-0.710982,0.703172,0.007346],[0.040785,0.030805,0.998693]] 2025-10-28T22:31:49.623Z,1761690709.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694353,0.719531,0.012205],[-0.719613,0.694363,0.004123],[-0.005508,-0.011646,0.999917]] 2025-10-28T22:31:50.028Z,1761690710.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722322,0.688936,0.060145],[-0.690645,0.723101,0.011598],[-0.035501,-0.049916,0.998122]] 2025-10-28T22:31:50.431Z,1761690710.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728600,0.678794,0.091549],[-0.682327,0.730971,0.010537],[-0.059767,-0.070144,0.995745]] 2025-10-28T22:31:50.834Z,1761690710.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721236,0.687384,0.085565],[-0.692653,0.714413,0.099225],[0.007077,-0.130831,0.991379]] 2025-10-28T22:31:51.239Z,1761690711.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723651,0.686379,0.072197],[-0.687804,0.708570,0.157655],[0.057054,-0.163744,0.984852]] 2025-10-28T22:31:51.648Z,1761690711.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712492,0.696299,0.086728],[-0.701035,0.701078,0.130536],[0.030089,-0.153805,0.987643]] 2025-10-28T22:31:52.046Z,1761690712.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712378,0.701427,0.022744],[-0.700304,0.708379,0.088173],[0.045736,-0.078740,0.995846]] 2025-10-28T22:31:52.451Z,1761690712.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734288,0.673202,-0.087294],[-0.671198,0.739234,0.055013],[0.101565,0.018196,0.994662]] 2025-10-28T22:31:52.855Z,1761690712.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740432,0.668264,-0.071995],[-0.671053,0.741055,-0.022903],[0.038047,0.065270,0.997142]] 2025-10-28T22:31:53.260Z,1761690713.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736207,0.676105,-0.029702],[-0.676756,0.735540,-0.031334],[0.000662,0.043169,0.999068]] 2025-10-28T22:31:53.664Z,1761690713.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733808,0.679339,0.004936],[-0.677491,0.731234,0.079394],[0.050326,-0.061604,0.996831]] 2025-10-28T22:31:53.816Z,1761690713.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:31:54.067Z,1761690714.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738371,0.674075,0.020759],[-0.665966,0.723946,0.179975],[0.106289,-0.146713,0.983452]] 2025-10-28T22:31:54.471Z,1761690714.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719205,0.692545,0.055909],[-0.685491,0.694142,0.219703],[0.113346,-0.196336,0.973963]] 2025-10-28T22:31:54.878Z,1761690714.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704020,0.702200,0.106167],[-0.709075,0.686691,0.160213],[0.039598,-0.188073,0.981356]] 2025-10-28T22:31:55.313Z,1761690715.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719917,0.687343,0.096333],[-0.693499,0.717953,0.060022],[-0.027907,-0.110018,0.993538]] 2025-10-28T22:31:55.683Z,1761690715.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737594,0.675240,0.002420],[-0.674846,0.737278,-0.031704],[-0.023192,0.021751,0.999494]] 2025-10-28T22:31:56.087Z,1761690716.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734259,0.675148,-0.070988],[-0.678538,0.726612,-0.107798],[-0.021199,0.127320,0.991635]] 2025-10-28T22:31:56.493Z,1761690716.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712165,0.698056,-0.074420],[-0.701854,0.705742,-0.096587],[-0.014902,0.121018,0.992538]] 2025-10-28T22:31:56.905Z,1761690716.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725489,0.687808,-0.024214],[-0.688082,0.725619,-0.004486],[0.014484,0.019915,0.999697]] 2025-10-28T22:31:56.941Z,1761690716.941 [run_backseat_on_surface:CheckIn:C.Wait](INFO): Done Waiting. 2025-10-28T22:31:56.941Z,1761690716.941 [run_backseat_on_surface:CheckIn:C.Wait] Stopped 2025-10-28T22:31:56.941Z,1761690716.941 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:31:56.942Z,1761690716.942 [run_backseat_on_surface:CheckIn:D] Running Loop=1 2025-10-28T22:31:57.299Z,1761690717.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724427,0.689321,0.006433],[-0.686173,0.720161,0.102643],[0.066121,-0.078772,0.994697]] 2025-10-28T22:31:57.344Z,1761690717.344 [run_backseat_on_surface:CheckIn:D] Stopped 2025-10-28T22:31:57.344Z,1761690717.344 [run_backseat_on_surface:CheckIn:E] Running Loop=1 2025-10-28T22:31:57.704Z,1761690717.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694841,0.712969,0.094187],[-0.716326,0.674517,0.178614],[0.063816,-0.191578,0.979401]] 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn:E](IMPORTANT): run_backseat_on_surface mission has been running for 7.441049 min 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn:E] Stopped 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn](INFO): Completed run_backseat_on_surface:CheckIn 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn] Stopped 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn](INFO): Running loop #2 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn] Running Loop=2 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn 2025-10-28T22:31:57.730Z,1761690717.730 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1 2025-10-28T22:31:58.108Z,1761690718.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707779,0.690166,0.150732],[-0.706053,0.684097,0.183029],[0.023205,-0.235969,0.971483]] 2025-10-28T22:31:58.511Z,1761690718.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684110,0.714754,0.145326],[-0.729227,0.674312,0.116320],[-0.014855,-0.185552,0.982522]] 2025-10-28T22:31:58.916Z,1761690718.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677665,0.731835,0.072033],[-0.735121,0.671619,0.092332],[0.019193,-0.115523,0.993119]] 2025-10-28T22:31:59.319Z,1761690719.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695390,0.718401,-0.018231],[-0.717454,0.695478,0.039615],[0.041139,-0.014469,0.999049]] 2025-10-28T22:31:59.741Z,1761690719.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717480,0.693365,-0.066839],[-0.695994,0.717502,-0.027980],[0.028557,0.066594,0.997371]] 2025-10-28T22:31:59.747Z,1761690719.747 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223158.00,A,3645.18976,N,12151.95136,W,0.194,148.03,281025,,,D*73 2025-10-28T22:31:59.750Z,1761690719.750 [NAL9602](INFO): GPS fix at 20251028T223158: (36.753163, -121.865856) 2025-10-28T22:31:59.842Z,1761690719.842 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped 2025-10-28T22:31:59.842Z,1761690719.842 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T22:32:00.138Z,1761690720.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721693,0.684740,-0.101445],[-0.690232,0.722939,-0.030659],[0.052345,0.092147,0.994369]] 2025-10-28T22:32:01.289Z,1761690721.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694708,0.715754,0.071255],[-0.716533,0.679968,0.155640],[0.062949,-0.159181,0.985240]] 2025-10-28T22:32:01.672Z,1761690721.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698423,0.707464,0.108168],[-0.715664,0.689223,0.113123],[0.005479,-0.156420,0.987675]] 2025-10-28T22:32:02.055Z,1761690722.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675621,0.728274,0.114686],[-0.737199,0.669165,0.093572],[-0.008598,-0.147766,0.988985]] 2025-10-28T22:32:02.459Z,1761690722.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705199,0.700979,0.106407],[-0.708638,0.701704,0.073783],[-0.022945,-0.127436,0.991581]] 2025-10-28T22:32:02.571Z,1761690722.571 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251028T162422/Courier0072.lzma 2025-10-28T22:32:02.879Z,1761690722.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728475,0.684222,0.034106],[-0.684887,0.728533,0.013033],[-0.015930,-0.032853,0.999333]] 2025-10-28T22:32:03.276Z,1761690723.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711203,0.702375,-0.029317],[-0.702394,0.711697,0.011369],[0.028850,0.012506,0.999506]] 2025-10-28T22:32:03.610Z,1761690723.610 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0072.lzma.bak 2025-10-28T22:32:03.611Z,1761690723.611 [DataOverHttps](INFO): SBD MOMSN=26263681 2025-10-28T22:32:03.679Z,1761690723.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718039,0.695176,-0.033908],[-0.694893,0.718793,0.021466],[0.039296,0.008149,0.999194]] 2025-10-28T22:32:04.093Z,1761690724.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722799,0.690266,-0.033076],[-0.689931,0.723526,0.022485],[0.039452,0.006568,0.999200]] 2025-10-28T22:32:04.495Z,1761690724.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714620,0.699212,-0.020496],[-0.698241,0.714781,0.039334],[0.042152,-0.013798,0.999016]] 2025-10-28T22:32:05.014Z,1761690725.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723833,0.689825,0.014358],[-0.686628,0.718119,0.113349],[0.067881,-0.091904,0.993452]] 2025-10-28T22:32:05.330Z,1761690725.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739951,0.672550,0.012236],[-0.664380,0.727875,0.169697],[0.105224,-0.133697,0.985420]] 2025-10-28T22:32:05.731Z,1761690725.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762807,0.646585,-0.007336],[-0.634574,0.750720,0.183672],[0.124267,-0.135451,0.982960]] 2025-10-28T22:32:06.135Z,1761690726.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754507,0.655862,-0.023750],[-0.646241,0.748776,0.147334],[0.114414,-0.095817,0.988802]] 2025-10-28T22:32:06.539Z,1761690726.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732124,0.680996,-0.015424],[-0.674288,0.727752,0.125350],[0.096588,-0.081371,0.991993]] 2025-10-28T22:32:06.964Z,1761690726.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753889,0.656165,-0.033141],[-0.647630,0.750678,0.130605],[0.110577,-0.076999,0.990880]] 2025-10-28T22:32:07.347Z,1761690727.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791144,0.609866,-0.046410],[-0.605959,0.791858,0.075996],[0.083098,-0.032001,0.996027]] 2025-10-28T22:32:07.752Z,1761690727.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796095,0.603448,-0.045642],[-0.604380,0.796646,-0.008967],[0.030950,0.034724,0.998918]] 2025-10-28T22:32:08.155Z,1761690728.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777435,0.627293,-0.045800],[-0.628021,0.778193,-0.001983],[0.034397,0.030305,0.998949]] 2025-10-28T22:32:08.560Z,1761690728.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754371,0.655677,-0.031825],[-0.651837,0.753927,0.081873],[0.077676,-0.041018,0.996135]] 2025-10-28T22:32:08.963Z,1761690728.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756787,0.653347,0.020281],[-0.649058,0.747421,0.141722],[0.077435,-0.120417,0.989699]] 2025-10-28T22:32:09.373Z,1761690729.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796473,0.601898,0.057883],[-0.604415,0.789668,0.105390],[0.017725,-0.118926,0.992745]] 2025-10-28T22:32:09.775Z,1761690729.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814613,0.577541,0.053410],[-0.579529,0.814216,0.034612],[-0.023498,-0.059149,0.997973]] 2025-10-28T22:32:10.193Z,1761690730.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807831,0.589414,0.000836],[-0.588788,0.806906,0.047232],[0.027165,-0.038647,0.998884]] 2025-10-28T22:32:10.579Z,1761690730.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803135,0.595603,-0.015213],[-0.592465,0.801080,0.085183],[0.062923,-0.059400,0.996249]] 2025-10-28T22:32:10.628Z,1761690730.628 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050502203037,35.0, +14.9, 0.0,1506.4, , 0.00, 711.30, 656.09, 672.33, 695.06 2025-10-28T22:32:10.983Z,1761690730.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801618,0.596661,0.037470],[-0.596955,0.795461,0.104339],[0.032449,-0.106008,0.993836]] 2025-10-28T22:32:11.391Z,1761690731.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801057,0.594127,0.072943],[-0.597886,0.788254,0.145557],[0.028982,-0.160211,0.986657]] 2025-10-28T22:32:11.794Z,1761690731.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818787,0.568567,0.079496],[-0.573426,0.803250,0.161161],[0.027776,-0.177542,0.983721]] 2025-10-28T22:32:12.197Z,1761690732.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838734,0.544368,-0.013763],[-0.539472,0.834101,0.115090],[0.074131,-0.089105,0.993260]] 2025-10-28T22:32:12.599Z,1761690732.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833566,0.540285,-0.115153],[-0.539609,0.840980,0.039683],[0.118282,0.029059,0.992555]] 2025-10-28T22:32:13.003Z,1761690733.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818047,0.553866,-0.155021],[-0.558197,0.829511,0.018105],[0.138619,0.071722,0.987745]] 2025-10-28T22:32:13.408Z,1761690733.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805162,0.587223,-0.082967],[-0.585163,0.809382,0.049859],[0.096430,0.008404,0.995304]] 2025-10-28T22:32:13.811Z,1761690733.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801868,0.596982,0.024896],[-0.596288,0.796891,0.096985],[0.038059,-0.092614,0.994974]] 2025-10-28T22:32:14.215Z,1761690734.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824286,0.564275,0.046327],[-0.565377,0.816028,0.120198],[0.030020,-0.125270,0.991668]] 2025-10-28T22:32:14.619Z,1761690734.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823348,0.567453,0.009755],[-0.565783,0.819332,0.092656],[0.044585,-0.081807,0.995650]] 2025-10-28T22:32:15.029Z,1761690735.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806919,0.589067,-0.043380],[-0.584961,0.807151,0.079544],[0.081871,-0.038810,0.995887]] 2025-10-28T22:32:15.427Z,1761690735.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796197,0.604465,-0.026329],[-0.601257,0.795329,0.077086],[0.067536,-0.045545,0.996677]] 2025-10-28T22:32:15.831Z,1761690735.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795883,0.605448,0.001478],[-0.605391,0.795769,0.015885],[0.008441,-0.013537,0.999873]] 2025-10-28T22:32:16.236Z,1761690736.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798222,0.602261,0.011155],[-0.601963,0.798229,-0.021719],[-0.021985,0.010622,0.999702]] 2025-10-28T22:32:16.507Z,1761690736.507 [NAL9602](INFO): SBD MO Status=0, MOMSN=3379, MT Status=0, MTMSN=0 2025-10-28T22:32:16.507Z,1761690736.507 [NAL9602](INFO): No messages in MT queue 2025-10-28T22:32:16.891Z,1761690736.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778965,0.627066,0.001187],[-0.626727,0.778479,0.034397],[0.020645,-0.027538,0.999408]] 2025-10-28T22:32:17.583Z,1761690737.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777719,0.624150,0.074766],[-0.628612,0.772275,0.091859],[-0.000406,-0.118439,0.992961]] 2025-10-28T22:32:18.010Z,1761690738.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766580,0.639407,0.059278],[-0.641543,0.758579,0.113932],[0.027881,-0.125368,0.991718]] 2025-10-28T22:32:18.432Z,1761690738.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768569,0.639753,0.004114],[-0.635433,0.762600,0.121105],[0.074340,-0.095692,0.992631]] 2025-10-28T22:32:18.911Z,1761690738.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771843,0.635205,0.027807],[-0.635367,0.768927,0.071137],[0.023805,-0.072575,0.997079]] 2025-10-28T22:32:19.266Z,1761690739.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780343,0.623334,0.050191],[-0.623888,0.781493,-0.005659],[-0.042751,-0.026897,0.998724]] 2025-10-28T22:32:19.672Z,1761690739.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786060,0.618095,-0.008282],[-0.618142,0.786048,-0.005358],[0.003199,0.009331,0.999951]] 2025-10-28T22:32:20.077Z,1761690740.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793549,0.605203,-0.063311],[-0.603443,0.796069,0.046157],[0.078334,0.001577,0.996926]] 2025-10-28T22:32:20.479Z,1761690740.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781140,0.621131,-0.063381],[-0.612317,0.781959,0.116654],[0.122019,-0.052314,0.991148]] 2025-10-28T22:32:20.886Z,1761690740.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756793,0.653163,-0.025342],[-0.636913,0.745574,0.196116],[0.146990,-0.132278,0.980253]] 2025-10-28T22:32:21.288Z,1761690741.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749427,0.660809,0.041109],[-0.652590,0.726773,0.214306],[0.111738,-0.187434,0.975901]] 2025-10-28T22:32:21.691Z,1761690741.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756098,0.644356,0.114547],[-0.654175,0.738956,0.161240],[0.019251,-0.196847,0.980245]] 2025-10-28T22:32:22.095Z,1761690742.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753655,0.649093,0.103361],[-0.656017,0.752566,0.057326],[-0.040576,-0.111011,0.992991]] 2025-10-28T22:32:22.499Z,1761690742.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749751,0.659467,0.054550],[-0.661217,0.749843,0.022946],[-0.025772,-0.053274,0.998247]] 2025-10-28T22:32:22.905Z,1761690742.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765739,0.643050,-0.011400],[-0.641543,0.764957,0.057130],[0.045458,-0.036433,0.998302]] 2025-10-28T22:32:23.309Z,1761690743.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743832,0.667063,-0.041729],[-0.662207,0.743996,0.089177],[0.090533,-0.038699,0.995141]] 2025-10-28T22:32:23.711Z,1761690743.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728522,0.682668,0.056743],[-0.684914,0.727377,0.042621],[-0.012178,-0.069914,0.997479]] 2025-10-28T22:32:24.114Z,1761690744.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715973,0.684288,0.138324],[-0.689184,0.724402,-0.016356],[-0.111395,-0.083620,0.990252]] 2025-10-28T22:32:24.518Z,1761690744.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701692,0.702905,0.116422],[-0.707834,0.706377,0.001420],[-0.081240,-0.083404,0.993199]] 2025-10-28T22:32:24.924Z,1761690744.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703215,0.709870,0.039662],[-0.710741,0.700447,0.064972],[0.018341,-0.073879,0.997099]] 2025-10-28T22:32:25.327Z,1761690745.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715357,0.698713,-0.007976],[-0.696183,0.713654,0.077636],[0.059937,-0.049985,0.996950]] 2025-10-28T22:32:25.731Z,1761690745.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715554,0.698527,-0.006467],[-0.698207,0.715458,0.025061],[0.022132,-0.013417,0.999665]] 2025-10-28T22:32:26.135Z,1761690746.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721260,0.692170,-0.026165],[-0.691442,0.721717,0.032137],[0.041128,-0.005087,0.999141]] 2025-10-28T22:32:26.541Z,1761690746.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725859,0.687529,-0.020796],[-0.685575,0.725588,0.059235],[0.055815,-0.028739,0.998027]] 2025-10-28T22:32:26.948Z,1761690746.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718594,0.693965,0.045122],[-0.695247,0.715405,0.069480],[0.015936,-0.081298,0.996562]] 2025-10-28T22:32:27.355Z,1761690747.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712324,0.697701,0.076211],[-0.701850,0.708279,0.075817],[-0.001081,-0.107495,0.994205]] 2025-10-28T22:32:27.751Z,1761690747.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709946,0.698476,0.090043],[-0.704137,0.701652,0.108977],[0.012939,-0.140770,0.989958]] 2025-10-28T22:32:28.159Z,1761690748.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725743,0.685086,0.062873],[-0.686385,0.714854,0.133643],[0.046612,-0.140146,0.989033]] 2025-10-28T22:32:28.566Z,1761690748.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714999,0.699122,-0.002243],[-0.693228,0.709380,0.127338],[0.090616,-0.089491,0.991857]] 2025-10-28T22:32:28.991Z,1761690748.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688865,0.723823,-0.039315],[-0.715857,0.687815,0.120248],[0.114080,-0.054690,0.991965]] 2025-10-28T22:32:29.382Z,1761690749.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704981,0.709155,0.010098],[-0.708101,0.702988,0.066338],[0.039945,-0.053917,0.997746]] 2025-10-28T22:32:29.803Z,1761690749.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686368,0.726234,0.038512],[-0.727155,0.686185,0.019893],[-0.011979,-0.041658,0.999060]] 2025-10-28T22:32:30.225Z,1761690750.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666861,0.745127,-0.009010],[-0.738933,0.662783,0.121232],[0.096305,-0.074187,0.992583]] 2025-10-28T22:32:30.603Z,1761690750.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696184,0.717616,-0.018830],[-0.701800,0.685890,0.192438],[0.151012,-0.120757,0.981129]] 2025-10-28T22:32:31.019Z,1761690751.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700429,0.713700,-0.005578],[-0.696252,0.684982,0.214555],[0.156949,-0.146397,0.976696]] 2025-10-28T22:32:31.403Z,1761690751.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664082,0.747512,0.014840],[-0.734051,0.648097,0.202827],[0.141998,-0.145587,0.979102]] 2025-10-28T22:32:31.807Z,1761690751.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670548,0.741647,0.018032],[-0.733874,0.659569,0.162473],[0.108604,-0.122179,0.986548]] 2025-10-28T22:32:32.211Z,1761690752.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690975,0.721711,-0.041080],[-0.713289,0.689933,0.123334],[0.117354,-0.055919,0.991515]] 2025-10-28T22:32:32.618Z,1761690752.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693133,0.708979,-0.130057],[-0.698579,0.705196,0.121187],[0.177635,0.006857,0.984073]] 2025-10-28T22:32:32.765Z,1761690752.765 [DataOverHttps](INFO): Sending 313 bytes from file Logs/20251028T162422/Express0074.lzma 2025-10-28T22:32:33.020Z,1761690753.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678424,0.716986,-0.160225],[-0.706137,0.696569,0.127131],[0.202759,0.026892,0.978859]] 2025-10-28T22:32:33.423Z,1761690753.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684293,0.725544,-0.072996],[-0.717790,0.687841,0.107945],[0.128528,-0.021470,0.991473]] 2025-10-28T22:32:33.764Z,1761690753.764 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0074.lzma.bak 2025-10-28T22:32:33.764Z,1761690753.764 [DataOverHttps](INFO): SBD MOMSN=26263684 2025-10-28T22:32:33.835Z,1761690753.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681932,0.730669,0.033050],[-0.729704,0.676551,0.099046],[0.050010,-0.091659,0.994534]] 2025-10-28T22:32:34.244Z,1761690754.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691875,0.721853,0.015411],[-0.716867,0.684238,0.133864],[0.086085,-0.103665,0.990880]] 2025-10-28T22:32:34.644Z,1761690754.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667622,0.742436,-0.055404],[-0.727503,0.666381,0.163323],[0.158178,-0.068731,0.985016]] 2025-10-28T22:32:35.039Z,1761690755.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643419,0.765510,-0.002601],[-0.756645,0.636476,0.149624],[0.116194,-0.094303,0.988739]] 2025-10-28T22:32:35.443Z,1761690755.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649993,0.758696,0.043471],[-0.758315,0.643802,0.102359],[0.049672,-0.099497,0.993797]] 2025-10-28T22:32:35.869Z,1761690755.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657606,0.750879,0.061112],[-0.753269,0.656631,0.037704],[-0.011817,-0.070828,0.997419]] 2025-10-28T22:32:35.948Z,1761690755.948 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped 2025-10-28T22:32:35.948Z,1761690755.948 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1 2025-10-28T22:32:35.948Z,1761690755.948 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:32:36.254Z,1761690756.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641348,0.766175,0.040618],[-0.766670,0.642022,-0.004908],[-0.029838,-0.027993,0.999163]] 2025-10-28T22:32:36.658Z,1761690756.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666547,0.743875,-0.048630],[-0.742200,0.668313,0.049977],[0.069677,0.002781,0.997566]] 2025-10-28T22:32:37.059Z,1761690757.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663415,0.735771,-0.136093],[-0.726944,0.676868,0.115764],[0.177293,0.022133,0.983909]] 2025-10-28T22:32:37.464Z,1761690757.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612795,0.786651,-0.075249],[-0.781539,0.617386,0.089622],[0.116958,0.003890,0.993129]] 2025-10-28T22:32:37.868Z,1761690757.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580481,0.813705,0.030417],[-0.812463,0.576296,0.088241],[0.054274,-0.075935,0.995635]] 2025-10-28T22:32:38.271Z,1761690758.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572981,0.813841,0.096721],[-0.817610,0.559465,0.136058],[0.056617,-0.157039,0.985968]] 2025-10-28T22:32:38.682Z,1761690758.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595847,0.800230,0.067814],[-0.795982,0.577243,0.182216],[0.106669,-0.162552,0.980917]] 2025-10-28T22:32:39.102Z,1761690759.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545320,0.833171,-0.091936],[-0.819158,0.552961,0.152365],[0.177784,-0.007777,0.984039]] 2025-10-28T22:32:39.889Z,1761690759.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530531,0.845967,-0.053638],[-0.832000,0.531792,0.158028],[0.162211,-0.039212,0.985977]] 2025-10-28T22:32:40.381Z,1761690760.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507155,0.861717,-0.015394],[-0.828502,0.492372,0.266748],[0.237441,-0.122528,0.963643]] 2025-10-28T22:32:40.423Z,1761690760.423 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -143, -14,A 2025-10-28T22:32:40.699Z,1761690760.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505968,0.862544,-0.003824],[-0.835684,0.491300,0.245474],[0.213610,-0.121006,0.969396]] 2025-10-28T22:32:41.103Z,1761690761.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496113,0.868202,-0.009837],[-0.846929,0.486391,0.214791],[0.191267,-0.098230,0.976610]] 2025-10-28T22:32:41.507Z,1761690761.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467298,0.883594,-0.029903],[-0.860978,0.462501,0.211682],[0.200871,-0.073173,0.976881]] 2025-10-28T22:32:41.913Z,1761690761.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458589,0.887452,-0.046112],[-0.855873,0.455042,0.245801],[0.239119,-0.073255,0.968223]] 2025-10-28T22:32:42.371Z,1761690762.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435118,0.899536,-0.038828],[-0.858725,0.427569,0.282446],[0.270672,-0.089555,0.958497]] 2025-10-28T22:32:42.715Z,1761690762.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428459,0.902844,0.035990],[-0.871940,0.402692,0.278495],[0.236945,-0.150704,0.959763]] 2025-10-28T22:32:43.119Z,1761690763.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445785,0.884165,0.139740],[-0.890792,0.422813,0.166491],[0.088121,-0.198699,0.976091]] 2025-10-28T22:32:43.524Z,1761690763.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415342,0.892829,0.174204],[-0.909508,0.404026,0.097761],[0.016901,-0.199045,0.979845]] 2025-10-28T22:32:43.927Z,1761690763.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399287,0.904771,0.148188],[-0.915437,0.384546,0.118745],[0.050452,-0.183070,0.981804]] 2025-10-28T22:32:44.367Z,1761690764.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452202,0.887858,0.084976],[-0.887652,0.438688,0.140100],[0.087111,-0.138782,0.986484]] 2025-10-28T22:32:44.738Z,1761690764.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479648,0.876957,-0.029719],[-0.863093,0.477628,0.164138],[0.158136,-0.053078,0.985990]] 2025-10-28T22:32:45.139Z,1761690765.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407892,0.906041,-0.112757],[-0.895645,0.421047,0.143314],[0.177324,0.042534,0.983233]] 2025-10-28T22:32:45.542Z,1761690765.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346906,0.937639,-0.022127],[-0.933720,0.347489,0.086126],[0.088444,-0.009217,0.996039]] 2025-10-28T22:32:45.947Z,1761690765.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357046,0.923918,0.137452],[-0.933980,0.350895,0.067483],[0.014117,-0.152472,0.988207]] 2025-10-28T22:32:46.372Z,1761690766.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420044,0.879106,0.225247],[-0.904955,0.424348,0.031406],[-0.067974,-0.217030,0.973795]] 2025-10-28T22:32:46.757Z,1761690766.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392442,0.891568,0.226045],[-0.914848,0.403775,-0.004280],[-0.095088,-0.205117,0.974107]] 2025-10-28T22:32:47.163Z,1761690767.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357357,0.921978,0.149176],[-0.933967,0.353038,0.055411],[-0.001577,-0.159127,0.987257]] 2025-10-28T22:32:47.562Z,1761690767.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359000,0.932405,0.041713],[-0.925567,0.349900,0.144553],[0.120186,-0.090503,0.988617]] 2025-10-28T22:32:47.573Z,1761690767.573 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:32:47.968Z,1761690767.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348724,0.937186,-0.008625],[-0.929696,0.347072,0.123313],[0.118560,-0.034983,0.992330]] 2025-10-28T22:32:48.378Z,1761690768.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338507,0.940748,0.020148],[-0.936404,0.334684,0.105522],[0.092526,-0.054587,0.994213]] 2025-10-28T22:32:48.779Z,1761690768.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332065,0.938333,0.096253],[-0.942803,0.327008,0.064719],[0.029253,-0.112238,0.993251]] 2025-10-28T22:32:49.179Z,1761690769.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343226,0.920125,0.188590],[-0.933259,0.356738,-0.042019],[-0.105940,-0.161581,0.981157]] 2025-10-28T22:32:49.584Z,1761690769.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349430,0.919052,0.182323],[-0.929118,0.365008,-0.059233],[-0.120988,-0.148702,0.981453]] 2025-10-28T22:32:49.987Z,1761690769.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328424,0.939325,0.099027],[-0.943049,0.320233,0.090051],[0.052876,-0.122962,0.991002]] 2025-10-28T22:32:50.392Z,1761690770.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322371,0.943034,0.082242],[-0.934498,0.303185,0.186529],[0.150968,-0.136987,0.979001]] 2025-10-28T22:32:50.795Z,1761690770.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335980,0.921852,0.193152],[-0.940908,0.319240,0.113042],[0.042547,-0.219718,0.974635]] 2025-10-28T22:32:51.200Z,1761690771.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336771,0.905239,0.259088],[-0.940299,0.337711,0.042290],[-0.049214,-0.257863,0.964927]] 2025-10-28T22:32:51.603Z,1761690771.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305581,0.923437,0.232128],[-0.949835,0.312683,0.006498],[-0.066582,-0.222469,0.972664]] 2025-10-28T22:32:52.007Z,1761690772.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304699,0.939622,0.155785],[-0.951109,0.308846,-0.002551],[-0.050511,-0.147391,0.987788]] 2025-10-28T22:32:52.412Z,1761690772.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357975,0.931669,0.062027],[-0.933730,0.357266,0.022557],[-0.001145,-0.065992,0.997820]] 2025-10-28T22:32:52.829Z,1761690772.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356172,0.932353,-0.062127],[-0.926873,0.360947,0.103075],[0.118526,0.020872,0.992732]] 2025-10-28T22:32:53.218Z,1761690773.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345331,0.933072,-0.100610],[-0.929956,0.354639,0.097019],[0.126206,0.060059,0.990184]] 2025-10-28T22:32:53.623Z,1761690773.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329673,0.944016,0.012248],[-0.943176,0.328752,0.048387],[0.041651,-0.027504,0.998754]] 2025-10-28T22:32:54.026Z,1761690774.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270060,0.941791,0.200243],[-0.962829,0.263024,0.061464],[0.005217,-0.209398,0.977817]] 2025-10-28T22:32:54.432Z,1761690774.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278752,0.904866,0.321737],[-0.958845,0.243395,0.146205],[0.053987,-0.349251,0.935473]] 2025-10-28T22:32:54.838Z,1761690774.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357845,0.888622,0.286876],[-0.933701,0.336492,0.122373],[0.012212,-0.311647,0.950119]] 2025-10-28T22:32:55.239Z,1761690775.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378077,0.911933,0.159484],[-0.923207,0.384211,-0.008348],[-0.068888,-0.144080,0.987165]] 2025-10-28T22:32:55.643Z,1761690775.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358644,0.932321,0.046387],[-0.932381,0.360186,-0.030534],[-0.045175,-0.032300,0.998457]] 2025-10-28T22:32:56.048Z,1761690776.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392053,0.919550,-0.026863],[-0.917307,0.392972,0.064192],[0.069584,-0.000525,0.997576]] 2025-10-28T22:32:56.092Z,1761690776.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:32:56.454Z,1761690776.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427851,0.901702,-0.062273],[-0.893317,0.432348,0.122721],[0.137581,0.003124,0.990486]] 2025-10-28T22:32:56.854Z,1761690776.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391602,0.920085,-0.009536],[-0.914441,0.390309,0.107033],[0.102202,-0.033194,0.994210]] 2025-10-28T22:32:57.260Z,1761690777.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357938,0.923357,0.138895],[-0.933601,0.356513,0.035873],[-0.016395,-0.142513,0.989657]] 2025-10-28T22:32:57.681Z,1761690777.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395748,0.892999,0.214325],[-0.908849,0.414334,-0.048172],[-0.131820,-0.175726,0.975574]] 2025-10-28T22:32:58.078Z,1761690778.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422671,0.892021,0.160148],[-0.894401,0.439086,-0.085149],[-0.146274,-0.107246,0.983414]] 2025-10-28T22:32:58.472Z,1761690778.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423538,0.905110,0.037316],[-0.905850,0.423493,0.009483],[-0.007220,-0.037819,0.999259]] 2025-10-28T22:32:58.881Z,1761690778.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438394,0.897302,-0.051575],[-0.892728,0.441373,0.090698],[0.104147,0.006281,0.994542]] 2025-10-28T22:32:59.279Z,1761690779.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432651,0.900198,-0.049562],[-0.895511,0.435455,0.091859],[0.104273,0.004640,0.994538]] 2025-10-28T22:32:59.683Z,1761690779.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419995,0.907003,0.030799],[-0.905453,0.416502,0.081741],[0.061311,-0.062218,0.996178]] 2025-10-28T22:33:00.087Z,1761690780.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392532,0.910649,0.128986],[-0.918912,0.382361,0.096957],[0.038975,-0.156585,0.986895]] 2025-10-28T22:33:00.494Z,1761690780.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399170,0.894856,0.199742],[-0.916522,0.383373,0.114071],[0.025501,-0.228602,0.973186]] 2025-10-28T22:33:00.522Z,1761690780.522 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -393, +21,A 2025-10-28T22:33:00.895Z,1761690780.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422527,0.893582,0.151602],[-0.906350,0.416367,0.071895],[0.001123,-0.167782,0.985823]] 2025-10-28T22:33:01.303Z,1761690781.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398281,0.915163,0.062048],[-0.917057,0.398713,0.005781],[-0.019449,-0.059204,0.998056]] 2025-10-28T22:33:01.703Z,1761690781.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415084,0.909748,-0.007998],[-0.908612,0.414979,0.047088],[0.046157,-0.012278,0.998859]] 2025-10-28T22:33:02.117Z,1761690782.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410820,0.911714,-0.002153],[-0.907964,0.409342,0.089674],[0.082639,-0.034885,0.995969]] 2025-10-28T22:33:02.514Z,1761690782.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394403,0.916789,0.062797],[-0.915335,0.385894,0.115100],[0.081289,-0.102876,0.991367]] 2025-10-28T22:33:02.914Z,1761690782.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413135,0.901581,0.128338],[-0.908010,0.397056,0.133658],[0.069546,-0.171751,0.982683]] 2025-10-28T22:33:03.325Z,1761690783.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436053,0.890250,0.131575],[-0.899379,0.426034,0.098041],[0.031226,-0.161087,0.986446]] 2025-10-28T22:33:03.723Z,1761690783.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430902,0.897361,0.095223],[-0.902395,0.428179,0.048436],[0.002692,-0.106799,0.994277]] 2025-10-28T22:33:04.127Z,1761690784.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416104,0.908113,0.046782],[-0.908224,0.412530,0.070347],[0.044584,-0.071760,0.996425]] 2025-10-28T22:33:04.936Z,1761690784.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401226,0.915169,0.038507],[-0.915839,0.401545,-0.000595],[-0.016007,-0.035028,0.999258]] 2025-10-28T22:33:05.366Z,1761690785.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415455,0.907425,0.063065],[-0.909599,0.414063,0.034364],[0.005070,-0.071640,0.997418]] 2025-10-28T22:33:05.743Z,1761690785.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463524,0.882420,0.080497],[-0.882980,0.452392,0.125253],[0.074110,-0.129135,0.988854]] 2025-10-28T22:33:05.768Z,1761690785.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:06.155Z,1761690786.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466554,0.877892,0.107856],[-0.882065,0.452774,0.130219],[0.065484,-0.155891,0.985601]] 2025-10-28T22:33:06.552Z,1761690786.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392945,0.906814,0.152585],[-0.919401,0.384323,0.083656],[0.017219,-0.173159,0.984743]] 2025-10-28T22:33:06.954Z,1761690786.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376154,0.906070,0.193763],[-0.926340,0.372282,0.057457],[-0.020074,-0.201104,0.979364]] 2025-10-28T22:33:07.359Z,1761690787.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432975,0.891550,0.132933],[-0.901336,0.430048,0.051499],[-0.011254,-0.142115,0.989786]] 2025-10-28T22:33:07.767Z,1761690787.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458542,0.888656,0.005488],[-0.888599,0.458415,0.015738],[0.011469,-0.012093,0.999861]] 2025-10-28T22:33:08.173Z,1761690788.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463047,0.882857,-0.078423],[-0.886169,0.462852,-0.021748],[0.017098,0.079566,0.996683]] 2025-10-28T22:33:08.571Z,1761690788.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436888,0.898188,-0.048851],[-0.899256,0.437422,0.000253],[0.021596,0.043819,0.998806]] 2025-10-28T22:33:08.975Z,1761690788.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442963,0.894382,0.062165],[-0.896277,0.440090,0.054848],[0.021697,-0.080013,0.996558]] 2025-10-28T22:33:09.380Z,1761690789.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449276,0.880090,0.153597],[-0.893020,0.437433,0.105680],[0.025819,-0.184645,0.982466]] 2025-10-28T22:33:09.793Z,1761690789.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439250,0.867550,0.233275],[-0.898363,0.423594,0.116243],[0.002033,-0.260625,0.965438]] 2025-10-28T22:33:10.186Z,1761690790.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446604,0.862197,0.239082],[-0.894525,0.436012,0.098584],[-0.019244,-0.257893,0.965982]] 2025-10-28T22:33:10.592Z,1761690790.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445525,0.878765,0.171115],[-0.895266,0.436736,0.088094],[0.002682,-0.192442,0.981305]] 2025-10-28T22:33:10.624Z,1761690790.624 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -29.11, -20. +20.11, 66.03, 4.00 2025-10-28T22:33:10.996Z,1761690790.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463384,0.880358,0.101218],[-0.884820,0.453384,0.107405],[0.048664,-0.139330,0.989049]] 2025-10-28T22:33:11.399Z,1761690791.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477783,0.875132,0.076599],[-0.878473,0.475667,0.045019],[0.002962,-0.088799,0.996045]] 2025-10-28T22:33:11.810Z,1761690791.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479399,0.872785,0.091780],[-0.876214,0.481888,-0.005758],[-0.049253,-0.077659,0.995763]] 2025-10-28T22:33:12.207Z,1761690792.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501524,0.862800,0.063639],[-0.864868,0.498150,0.062046],[0.021831,-0.086157,0.996042]] 2025-10-28T22:33:12.612Z,1761690792.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498717,0.865902,0.038670],[-0.865143,0.494561,0.083283],[0.052990,-0.074990,0.995775]] 2025-10-28T22:33:13.014Z,1761690793.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479027,0.874732,0.073333],[-0.877800,0.477329,0.040296],[0.000244,-0.083675,0.996493]] 2025-10-28T22:33:13.419Z,1761690793.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481127,0.868641,0.118231],[-0.876230,0.480682,0.034148],[-0.027169,-0.120027,0.992399]] 2025-10-28T22:33:13.823Z,1761690793.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479915,0.865513,0.143418],[-0.876299,0.480774,0.030908],[-0.042200,-0.140510,0.989180]] 2025-10-28T22:33:14.228Z,1761690794.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524685,0.847225,0.083161],[-0.850805,0.518554,0.085051],[0.028933,-0.115379,0.992900]] 2025-10-28T22:33:14.630Z,1761690794.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531475,0.846983,-0.012375],[-0.838550,0.528139,0.133802],[0.119864,-0.060735,0.990931]] 2025-10-28T22:33:15.035Z,1761690795.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481543,0.876163,-0.021331],[-0.868633,0.480359,0.121371],[0.116587,-0.039917,0.992378]] 2025-10-28T22:33:15.093Z,1761690795.093 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:15.438Z,1761690795.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462109,0.884422,0.065217],[-0.885685,0.456542,0.084445],[0.044911,-0.096785,0.994292]] 2025-10-28T22:33:15.842Z,1761690795.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469998,0.867663,0.162059],[-0.881528,0.470737,0.036253],[-0.044831,-0.159898,0.986115]] 2025-10-28T22:33:16.246Z,1761690796.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463788,0.874248,0.143498],[-0.885929,0.458659,0.069004],[-0.005490,-0.159132,0.987242]] 2025-10-28T22:33:16.655Z,1761690796.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490271,0.867560,0.083518],[-0.866693,0.475160,0.151874],[0.092075,-0.146844,0.984865]] 2025-10-28T22:33:17.054Z,1761690797.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530955,0.845931,0.049876],[-0.840810,0.518586,0.155263],[0.105477,-0.124374,0.986613]] 2025-10-28T22:33:17.459Z,1761690797.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502155,0.862228,0.066359],[-0.862737,0.494225,0.106897],[0.059373,-0.110930,0.992053]] 2025-10-28T22:33:17.863Z,1761690797.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489340,0.866893,0.095096],[-0.871717,0.483009,0.082537],[0.025619,-0.123285,0.992041]] 2025-10-28T22:33:18.274Z,1761690798.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497528,0.866699,0.036028],[-0.861033,0.488382,0.141792],[0.105295,-0.101567,0.989241]] 2025-10-28T22:33:18.671Z,1761690798.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502912,0.864239,0.013046],[-0.852729,0.493636,0.170809],[0.141180,-0.097027,0.985218]] 2025-10-28T22:33:19.075Z,1761690799.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516045,0.855200,0.048272],[-0.852602,0.507430,0.124837],[0.082266,-0.105578,0.991002]] 2025-10-28T22:33:19.481Z,1761690799.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515960,0.855608,0.041474],[-0.853831,0.509783,0.105331],[0.068979,-0.089759,0.993572]] 2025-10-28T22:33:19.883Z,1761690799.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495068,0.866736,0.060630],[-0.866245,0.486975,0.111691],[0.067281,-0.107815,0.991892]] 2025-10-28T22:33:20.296Z,1761690800.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501443,0.852771,0.146074],[-0.865032,0.490914,0.103555],[0.016599,-0.178285,0.983839]] 2025-10-28T22:33:21.095Z,1761690801.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552892,0.821506,0.139418],[-0.831977,0.553518,0.037838],[-0.046086,-0.136913,0.989510]] 2025-10-28T22:33:21.499Z,1761690801.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517406,0.854016,0.054285],[-0.851873,0.508006,0.127445],[0.081263,-0.112185,0.990359]] 2025-10-28T22:33:21.903Z,1761690801.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568306,0.819770,0.070757],[-0.812514,0.545544,0.205435],[0.129809,-0.174241,0.976110]] 2025-10-28T22:33:22.334Z,1761690802.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577929,0.804468,0.137220],[-0.811834,0.549588,0.197176],[0.083207,-0.225354,0.970717]] 2025-10-28T22:33:23.115Z,1761690803.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574495,0.796602,0.188099],[-0.818384,0.555041,0.148919],[0.014227,-0.239491,0.970794]] 2025-10-28T22:33:23.521Z,1761690803.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615183,0.781576,0.103383],[-0.787156,0.616237,0.025240],[-0.043982,-0.096905,0.994321]] 2025-10-28T22:33:23.923Z,1761690803.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656869,0.752078,-0.053878],[-0.753351,0.657597,-0.005350],[0.031406,0.044103,0.998533]] 2025-10-28T22:33:24.076Z,1761690804.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:25.136Z,1761690805.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600834,0.799151,-0.018864],[-0.799362,0.600784,-0.008837],[0.004271,0.020388,0.999783]] 2025-10-28T22:33:25.540Z,1761690805.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586973,0.808375,0.044643],[-0.809595,0.586364,0.027062],[-0.004301,-0.052027,0.998636]] 2025-10-28T22:33:25.949Z,1761690805.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617653,0.779830,0.101831],[-0.784387,0.601474,0.151545],[0.056931,-0.173477,0.983191]] 2025-10-28T22:33:26.378Z,1761690806.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614680,0.787285,0.048496],[-0.786968,0.607948,0.105269],[0.053394,-0.102872,0.993261]] 2025-10-28T22:33:26.763Z,1761690806.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589454,0.807384,0.025988],[-0.807796,0.589024,0.022716],[0.003033,-0.034383,0.999404]] 2025-10-28T22:33:27.160Z,1761690807.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554771,0.831361,0.032677],[-0.831636,0.552932,0.051449],[0.024704,-0.055718,0.998141]] 2025-10-28T22:33:27.565Z,1761690807.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567682,0.819004,0.083484],[-0.821887,0.557994,0.114652],[0.047317,-0.133700,0.989892]] 2025-10-28T22:33:27.963Z,1761690807.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577660,0.809461,0.105269],[-0.814004,0.561621,0.148258],[0.060887,-0.171332,0.983330]] 2025-10-28T22:33:28.374Z,1761690808.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588649,0.802828,0.094652],[-0.805529,0.572692,0.152143],[0.067938,-0.165803,0.983816]] 2025-10-28T22:33:28.779Z,1761690808.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611668,0.788625,0.062718],[-0.790783,0.607190,0.077346],[0.022915,-0.096906,0.995030]] 2025-10-28T22:33:29.176Z,1761690809.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600598,0.798672,0.037492],[-0.798806,0.601402,-0.014978],[-0.034510,-0.020953,0.999185]] 2025-10-28T22:33:29.589Z,1761690809.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567368,0.822137,0.046733],[-0.822885,0.568184,-0.005290],[-0.030901,-0.035454,0.998893]] 2025-10-28T22:33:29.983Z,1761690809.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543653,0.836014,0.074314],[-0.837621,0.534812,0.111207],[0.053227,-0.122705,0.991015]] 2025-10-28T22:33:30.417Z,1761690810.417 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -305, +410,A 2025-10-28T22:33:30.794Z,1761690810.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600516,0.792293,0.107943],[-0.799189,0.590311,0.113265],[0.026019,-0.154284,0.987684]] 2025-10-28T22:33:31.197Z,1761690811.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647374,0.753462,0.114901],[-0.760632,0.648263,0.034570],[-0.048439,-0.109777,0.992775]] 2025-10-28T22:33:31.602Z,1761690811.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628327,0.765217,0.140175],[-0.765894,0.640063,-0.061033],[-0.136425,-0.069011,0.988244]] 2025-10-28T22:33:32.003Z,1761690812.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627307,0.770683,0.111957],[-0.774160,0.632737,-0.017894],[-0.084630,-0.075448,0.993552]] 2025-10-28T22:33:32.407Z,1761690812.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650087,0.759739,0.013571],[-0.755594,0.644444,0.117342],[0.080404,-0.086537,0.992999]] 2025-10-28T22:33:32.813Z,1761690812.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660978,0.750392,-0.004533],[-0.741753,0.654260,0.147468],[0.113625,-0.094111,0.989056]] 2025-10-28T22:33:33.144Z,1761690813.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:33.215Z,1761690813.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648113,0.760488,0.040087],[-0.758196,0.639438,0.127509],[0.071336,-0.113034,0.991027]] 2025-10-28T22:33:33.623Z,1761690813.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646077,0.759669,0.074073],[-0.762574,0.638291,0.105190],[0.032630,-0.124447,0.991690]] 2025-10-28T22:33:34.024Z,1761690814.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655313,0.749482,0.094030],[-0.754950,0.653953,0.048949],[-0.024805,-0.103065,0.994365]] 2025-10-28T22:33:34.428Z,1761690814.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675283,0.734678,0.065129],[-0.737406,0.674305,0.039319],[-0.015030,-0.074578,0.997102]] 2025-10-28T22:33:34.830Z,1761690814.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686088,0.727505,-0.004546],[-0.725036,0.684248,0.078277],[0.060057,-0.050409,0.996921]] 2025-10-28T22:33:35.239Z,1761690815.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687480,0.725385,-0.034473],[-0.717115,0.685597,0.125307],[0.114530,-0.061425,0.991519]] 2025-10-28T22:33:35.639Z,1761690815.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686762,0.726465,-0.024633],[-0.717702,0.683068,0.135361],[0.115161,-0.075282,0.990490]] 2025-10-28T22:33:36.045Z,1761690816.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708783,0.705425,-0.001471],[-0.699248,0.702849,0.130596],[0.093159,-0.091536,0.991435]] 2025-10-28T22:33:36.447Z,1761690816.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695464,0.718181,0.023364],[-0.717727,0.692724,0.070719],[0.034604,-0.065952,0.997223]] 2025-10-28T22:33:36.851Z,1761690816.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677416,0.733909,0.049855],[-0.735552,0.675043,0.057268],[0.008376,-0.075465,0.997113]] 2025-10-28T22:33:37.271Z,1761690817.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694344,0.717408,0.056681],[-0.719314,0.689486,0.084829],[0.021777,-0.099672,0.994782]] 2025-10-28T22:33:37.678Z,1761690817.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708422,0.705783,0.002872],[-0.702051,0.704247,0.105644],[0.072539,-0.076857,0.994400]] 2025-10-28T22:33:38.072Z,1761690818.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715686,0.696292,-0.054518],[-0.689157,0.716709,0.106731],[0.113390,-0.038814,0.992792]] 2025-10-28T22:33:38.475Z,1761690818.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727951,0.684243,-0.043579],[-0.680270,0.728732,0.078627],[0.085557,-0.027591,0.995951]] 2025-10-28T22:33:38.879Z,1761690818.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723960,0.689808,0.006815],[-0.689238,0.722878,0.048979],[0.028860,-0.040155,0.998777]] 2025-10-28T22:33:39.289Z,1761690819.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718819,0.692147,0.065046],[-0.694954,0.717890,0.040900],[-0.018387,-0.074604,0.997044]] 2025-10-28T22:33:39.690Z,1761690819.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713006,0.687476,0.137836],[-0.697728,0.715094,0.042616],[-0.069268,-0.126557,0.989538]] 2025-10-28T22:33:40.091Z,1761690820.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736662,0.658661,0.153284],[-0.671247,0.739719,0.047353],[-0.082198,-0.137774,0.987047]] 2025-10-28T22:33:40.530Z,1761690820.530 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -34.34, .14, 0.00 2025-10-28T22:33:40.900Z,1761690820.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779513,0.624470,-0.048965],[-0.624092,0.780965,0.024533],[0.053560,0.011435,0.998499]] 2025-10-28T22:33:41.302Z,1761690821.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731987,0.668748,-0.130275],[-0.666910,0.742403,0.063792],[0.139377,0.040186,0.989424]] 2025-10-28T22:33:41.706Z,1761690821.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698270,0.714617,-0.041745],[-0.712539,0.699461,0.055154],[0.068613,-0.008767,0.997605]] 2025-10-28T22:33:42.110Z,1761690822.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703391,0.710089,0.031853],[-0.710746,0.702057,0.044235],[0.009048,-0.053754,0.998513]] 2025-10-28T22:33:42.400Z,1761690822.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:42.515Z,1761690822.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695745,0.718134,-0.014928],[-0.715773,0.694896,0.069204],[0.060071,-0.037463,0.997491]] 2025-10-28T22:33:42.918Z,1761690822.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655335,0.753022,-0.059116],[-0.745889,0.657492,0.106552],[0.119104,-0.025734,0.992548]] 2025-10-28T22:33:43.323Z,1761690823.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647423,0.761510,0.030741],[-0.761836,0.645523,0.053910],[0.021208,-0.058322,0.998072]] 2025-10-28T22:33:43.731Z,1761690823.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659048,0.747725,0.081018],[-0.750667,0.660613,0.009486],[-0.046429,-0.067069,0.996668]] 2025-10-28T22:33:44.130Z,1761690824.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671143,0.741003,0.021942],[-0.741036,0.669755,0.047891],[0.020792,-0.048402,0.998612]] 2025-10-28T22:33:44.535Z,1761690824.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663583,0.745050,-0.067517],[-0.740890,0.667005,0.078654],[0.103635,-0.002171,0.994613]] 2025-10-28T22:33:44.939Z,1761690824.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643349,0.758886,-0.100964],[-0.753543,0.650996,0.091526],[0.135185,0.017198,0.990671]] 2025-10-28T22:33:45.344Z,1761690825.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631897,0.774027,-0.039852],[-0.769265,0.632621,0.089569],[0.094540,-0.025941,0.995183]] 2025-10-28T22:33:45.754Z,1761690825.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598100,0.795557,0.096775],[-0.801384,0.594868,0.062579],[-0.007783,-0.114982,0.993337]] 2025-10-28T22:33:46.151Z,1761690826.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574935,0.798887,0.176717],[-0.817580,0.569339,0.086118],[-0.031813,-0.193993,0.980487]] 2025-10-28T22:33:46.555Z,1761690826.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587904,0.793173,0.158890],[-0.808212,0.567662,0.156693],[0.034089,-0.220537,0.974783]] 2025-10-28T22:33:46.961Z,1761690826.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600294,0.795575,0.081900],[-0.796692,0.585842,0.148565],[0.070214,-0.154431,0.985505]] 2025-10-28T22:33:47.363Z,1761690827.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592174,0.803859,0.056050],[-0.805810,0.590701,0.041744],[0.000448,-0.069886,0.997555]] 2025-10-28T22:33:47.778Z,1761690827.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569125,0.820021,0.060522],[-0.818984,0.571881,-0.047086],[-0.073223,-0.022768,0.997056]] 2025-10-28T22:33:48.171Z,1761690828.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548344,0.835396,0.037860],[-0.835072,0.549413,-0.028287],[-0.044432,-0.016105,0.998883]] 2025-10-28T22:33:48.575Z,1761690828.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547651,0.836349,0.024478],[-0.835760,0.545406,0.063545],[0.039795,-0.055258,0.997679]] 2025-10-28T22:33:48.979Z,1761690828.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557566,0.829310,0.036936],[-0.827357,0.551517,0.106347],[0.067824,-0.089855,0.993643]] 2025-10-28T22:33:49.382Z,1761690829.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553112,0.829957,0.072374],[-0.833016,0.549680,0.062733],[0.012283,-0.094987,0.995403]] 2025-10-28T22:33:49.797Z,1761690829.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512378,0.850087,0.121745],[-0.857412,0.514347,0.017078],[-0.048101,-0.113135,0.992415]] 2025-10-28T22:33:50.192Z,1761690830.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521690,0.843447,0.128204],[-0.852208,0.522209,0.032236],[-0.039760,-0.126074,0.991224]] 2025-10-28T22:33:50.215Z,1761690830.215 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:33:50.595Z,1761690830.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581176,0.809810,0.080269],[-0.813715,0.579529,0.044884],[-0.010171,-0.091401,0.995762]] 2025-10-28T22:33:50.999Z,1761690830.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594335,0.802410,0.053884],[-0.804146,0.593838,0.026550],[-0.010694,-0.059110,0.998194]] 2025-10-28T22:33:51.403Z,1761690831.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555914,0.828324,0.069558],[-0.831235,0.553669,0.049996],[0.002901,-0.085612,0.996324]] 2025-10-28T22:33:51.557Z,1761690831.557 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:33:51.806Z,1761690831.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545814,0.831714,0.101681],[-0.837848,0.540310,0.077949],[0.009892,-0.127739,0.991759]] 2025-10-28T22:33:52.211Z,1761690832.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591468,0.800073,0.100242],[-0.805516,0.580707,0.117995],[0.036193,-0.150537,0.987942]] 2025-10-28T22:33:52.615Z,1761690832.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615187,0.785122,0.071610],[-0.786143,0.604065,0.130709],[0.059365,-0.136707,0.988831]] 2025-10-28T22:33:53.018Z,1761690833.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571980,0.817287,0.069863],[-0.819979,0.567444,0.075116],[0.021748,-0.100252,0.994724]] 2025-10-28T22:33:53.423Z,1761690833.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577101,0.815015,0.052003],[-0.815862,0.572521,0.081169],[0.036381,-0.089270,0.995343]] 2025-10-28T22:33:53.827Z,1761690833.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596912,0.801383,-0.038493],[-0.792880,0.596552,0.124362],[0.122625,-0.043712,0.991490]] 2025-10-28T22:33:54.236Z,1761690834.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554777,0.829800,-0.060445],[-0.822323,0.557924,0.111830],[0.126521,-0.012336,0.991887]] 2025-10-28T22:33:54.635Z,1761690834.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537732,0.842954,0.016511],[-0.840823,0.534725,0.084176],[0.062128,-0.059147,0.996314]] 2025-10-28T22:33:55.039Z,1761690835.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580412,0.808890,0.093914],[-0.814319,0.576173,0.070067],[0.002566,-0.117144,0.993112]] 2025-10-28T22:33:55.443Z,1761690835.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592185,0.802560,0.072211],[-0.805802,0.589788,0.053225],[0.000128,-0.089707,0.995968]] 2025-10-28T22:33:55.853Z,1761690835.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569292,0.820302,0.054870],[-0.822003,0.569128,0.020098],[-0.014741,-0.056545,0.998291]] 2025-10-28T22:33:56.257Z,1761690836.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534697,0.840671,0.085850],[-0.844432,0.535411,0.016437],[-0.032147,-0.081283,0.996173]] 2025-10-28T22:33:56.655Z,1761690836.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534355,0.836310,0.122681],[-0.845226,0.527380,0.086385],[0.007545,-0.149854,0.988679]] 2025-10-28T22:33:57.059Z,1761690837.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559018,0.818115,0.134859],[-0.828646,0.545533,0.125458],[0.029069,-0.181884,0.982890]] 2025-10-28T22:33:57.465Z,1761690837.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556005,0.821394,0.127166],[-0.831080,0.551754,0.069807],[-0.012825,-0.144498,0.989422]] 2025-10-28T22:33:57.866Z,1761690837.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564713,0.822505,0.067704],[-0.825173,0.561367,0.062909],[0.013736,-0.091393,0.995720]] 2025-10-28T22:33:58.271Z,1761690838.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578459,0.813995,-0.052888],[-0.808824,0.580776,0.092209],[0.105774,-0.010562,0.994334]] 2025-10-28T22:33:58.675Z,1761690838.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539156,0.839677,-0.065212],[-0.839387,0.542068,0.039893],[0.068846,0.033229,0.997074]] 2025-10-28T22:33:59.081Z,1761690839.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520887,0.853580,0.008875],[-0.853620,0.520814,0.009271],[0.003291,-0.012404,0.999918]] 2025-10-28T22:33:59.484Z,1761690839.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544565,0.837426,0.046550],[-0.838713,0.543930,0.026476],[-0.003149,-0.053460,0.998565]] 2025-10-28T22:33:59.887Z,1761690839.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568509,0.822406,0.021111],[-0.821993,0.566802,0.055351],[0.033555,-0.048820,0.998244]] 2025-10-28T22:34:00.296Z,1761690840.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554749,0.831349,0.033356],[-0.831987,0.553937,0.030849],[0.007169,-0.044865,0.998967]] 2025-10-28T22:34:00.717Z,1761690840.717 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:34:01.099Z,1761690841.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517275,0.850259,0.097393],[-0.850518,0.498083,0.168917],[0.095113,-0.170211,0.980807]] 2025-10-28T22:34:01.504Z,1761690841.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540264,0.828535,0.147121],[-0.838022,0.513875,0.183444],[0.076389,-0.222399,0.971959]] 2025-10-28T22:34:01.907Z,1761690841.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535623,0.821986,0.193512],[-0.843665,0.530806,0.080468],[-0.036574,-0.206360,0.977792]] 2025-10-28T22:34:02.394Z,1761690842.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550162,0.823308,0.139592],[-0.830424,0.556997,-0.012264],[-0.087849,-0.109173,0.990133]] 2025-10-28T22:34:02.781Z,1761690842.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579834,0.814484,0.020212],[-0.814524,0.580070,-0.008355],[-0.018530,-0.011618,0.999761]] 2025-10-28T22:34:03.141Z,1761690843.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585247,0.806287,-0.085951],[-0.806528,0.589780,0.040887],[0.083659,0.045394,0.995460]] 2025-10-28T22:34:03.543Z,1761690843.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530762,0.843452,-0.082948],[-0.838087,0.536896,0.096710],[0.126105,0.018187,0.991850]] 2025-10-28T22:34:03.947Z,1761690843.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504519,0.862757,0.033337],[-0.857288,0.495988,0.138029],[0.102551,-0.098218,0.989867]] 2025-10-28T22:34:04.371Z,1761690844.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531432,0.835925,0.137144],[-0.845569,0.513741,0.145200],[0.050920,-0.193128,0.979851]] 2025-10-28T22:34:04.754Z,1761690844.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518440,0.844814,0.132321],[-0.854114,0.504114,0.127903],[0.041349,-0.179327,0.982920]] 2025-10-28T22:34:05.152Z,1761690845.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481417,0.872966,0.078539],[-0.873071,0.469700,0.130881],[0.077365,-0.131579,0.988282]] 2025-10-28T22:34:05.556Z,1761690845.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494028,0.869094,0.024735],[-0.866252,0.489578,0.099608],[0.074458,-0.070636,0.994719]] 2025-10-28T22:34:05.959Z,1761690845.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521177,0.852851,0.031929],[-0.853299,0.520021,0.038186],[0.015963,-0.047147,0.998760]] 2025-10-28T22:34:06.373Z,1761690846.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532294,0.844183,0.063396],[-0.845240,0.534152,-0.015868],[-0.047259,-0.045139,0.997862]] 2025-10-28T22:34:06.770Z,1761690846.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519202,0.851532,0.072957],[-0.853804,0.520595,-0.000089],[-0.038057,-0.062245,0.997335]] 2025-10-28T22:34:07.171Z,1761690847.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458761,0.882172,0.106352],[-0.888482,0.457007,0.041774],[-0.011751,-0.113656,0.993451]] 2025-10-28T22:34:07.575Z,1761690847.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462192,0.869058,0.176398],[-0.884890,0.464970,0.027795],[-0.057864,-0.168939,0.983926]] 2025-10-28T22:34:07.979Z,1761690847.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504349,0.851115,0.145722],[-0.857316,0.513716,-0.033249],[-0.103158,-0.108161,0.988767]] 2025-10-28T22:34:08.383Z,1761690848.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506723,0.861259,0.038272],[-0.859569,0.508137,-0.054206],[-0.066133,-0.005430,0.997796]] 2025-10-28T22:34:08.797Z,1761690848.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505166,0.862739,0.022116],[-0.862850,0.505412,-0.007047],[-0.017258,-0.015523,0.999731]] 2025-10-28T22:34:09.197Z,1761690849.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517772,0.850887,0.088902],[-0.853800,0.520518,-0.009318],[-0.054204,-0.071079,0.995997]] 2025-10-28T22:34:09.599Z,1761690849.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478286,0.860179,0.177014],[-0.876217,0.480961,0.030338],[-0.059041,-0.169613,0.983741]] 2025-10-28T22:34:10.003Z,1761690850.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481204,0.856331,0.187457],[-0.875588,0.459210,0.149906],[0.042287,-0.236271,0.970767]] 2025-10-28T22:34:10.422Z,1761690850.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512966,0.842113,0.166466],[-0.856153,0.487857,0.170286],[0.062188,-0.229872,0.971232]] 2025-10-28T22:34:10.808Z,1761690850.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538732,0.829600,0.146737],[-0.842327,0.533689,0.075240],[-0.015893,-0.164135,0.986310]] 2025-10-28T22:34:11.215Z,1761690851.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535199,0.844536,0.017948],[-0.843362,0.533006,0.068159],[0.047997,-0.051616,0.997513]] 2025-10-28T22:34:11.616Z,1761690851.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524525,0.849982,-0.049025],[-0.841163,0.526262,0.124469],[0.131596,-0.024049,0.991012]] 2025-10-28T22:34:11.709Z,1761690851.709 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:34:12.019Z,1761690852.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543603,0.839033,0.022815],[-0.835937,0.538751,0.104674],[0.075534,-0.075973,0.994245]] 2025-10-28T22:34:12.423Z,1761690852.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548403,0.831811,0.085705],[-0.834420,0.537633,0.121217],[0.054752,-0.137990,0.988919]] 2025-10-28T22:34:12.827Z,1761690852.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547168,0.835138,0.056130],[-0.830102,0.532818,0.164425],[0.107411,-0.136562,0.984791]] 2025-10-28T22:34:13.237Z,1761690853.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542922,0.838783,0.040981],[-0.834775,0.533719,0.135257],[0.091580,-0.107644,0.989963]] 2025-10-28T22:34:13.635Z,1761690853.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540668,0.835028,0.102010],[-0.840866,0.532846,0.094977],[0.024953,-0.137128,0.990239]] 2025-10-28T22:34:14.039Z,1761690854.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563079,0.813989,0.142702],[-0.826193,0.558372,0.075003],[-0.018629,-0.160132,0.986920]] 2025-10-28T22:34:14.443Z,1761690854.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566818,0.819001,0.089189],[-0.823377,0.559528,0.094757],[0.027702,-0.127146,0.991497]] 2025-10-28T22:34:14.848Z,1761690854.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529987,0.847891,0.013951],[-0.843511,0.525415,0.111478],[0.087191,-0.070850,0.993669]] 2025-10-28T22:34:15.251Z,1761690855.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547167,0.836630,0.025666],[-0.834229,0.542580,0.098325],[0.068336,-0.075212,0.994823]] 2025-10-28T22:34:15.655Z,1761690855.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622772,0.780344,0.056736],[-0.781981,0.623180,0.012345],[-0.025724,-0.052054,0.998313]] 2025-10-28T22:34:16.059Z,1761690856.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608150,0.789818,0.079631],[-0.788219,0.612709,-0.057433],[-0.094152,-0.027838,0.995169]] 2025-10-28T22:34:16.467Z,1761690856.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581605,0.809894,0.076206],[-0.813461,0.579516,0.049428],[-0.004131,-0.090738,0.995866]] 2025-10-28T22:34:16.867Z,1761690856.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600037,0.796806,0.071101],[-0.793574,0.581663,0.178629],[0.100976,-0.163608,0.981344]] 2025-10-28T22:34:17.271Z,1761690857.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630248,0.763211,0.142469],[-0.775641,0.610865,0.158823],[0.034186,-0.210603,0.976974]] 2025-10-28T22:34:17.675Z,1761690857.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638742,0.740963,0.207323],[-0.766506,0.636221,0.087705],[-0.066917,-0.214935,0.974333]] 2025-10-28T22:34:18.079Z,1761690858.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675390,0.720939,0.155226],[-0.734884,0.675531,0.060027],[-0.061584,-0.154614,0.986054]] 2025-10-28T22:34:18.483Z,1761690858.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699880,0.714069,0.016531],[-0.714172,0.699242,0.031916],[0.011231,-0.034144,0.999354]] 2025-10-28T22:34:18.887Z,1761690858.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678469,0.721996,-0.135653],[-0.726330,0.686946,0.023437],[0.110107,0.082628,0.990479]] 2025-10-28T22:34:19.291Z,1761690859.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667702,0.718335,-0.195368],[-0.722858,0.688347,0.060450],[0.177904,0.100861,0.978865]] 2025-10-28T22:34:19.699Z,1761690859.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679079,0.720913,-0.138332],[-0.713969,0.692447,0.103754],[0.170585,0.028308,0.984936]] 2025-10-28T22:34:20.099Z,1761690860.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643419,0.765458,0.009244],[-0.761655,0.638918,0.108005],[0.076767,-0.076533,0.994107]] 2025-10-28T22:34:20.907Z,1761690860.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638804,0.755678,0.144501],[-0.768553,0.635420,0.074615],[-0.035434,-0.158721,0.986687]] 2025-10-28T22:34:20.912Z,1761690860.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:34:21.312Z,1761690861.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656744,0.754095,-0.005246],[-0.751510,0.655039,0.078462],[0.062604,-0.047587,0.996903]] 2025-10-28T22:34:21.724Z,1761690861.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665350,0.742250,-0.079845],[-0.744934,0.667111,-0.006006],[0.048807,0.063475,0.996789]] 2025-10-28T22:34:22.119Z,1761690862.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629292,0.771881,-0.090504],[-0.776190,0.630067,-0.023349],[0.039001,0.084941,0.995622]] 2025-10-28T22:34:22.523Z,1761690862.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596523,0.801363,-0.044477],[-0.800135,0.598117,0.045179],[0.062807,0.008637,0.997988]] 2025-10-28T22:34:22.954Z,1761690862.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595352,0.801656,0.053883],[-0.801945,0.588764,0.101196],[0.049400,-0.103458,0.993406]] 2025-10-28T22:34:23.331Z,1761690863.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623273,0.774603,0.107335],[-0.781843,0.614460,0.105647],[0.015881,-0.149766,0.988594]] 2025-10-28T22:34:23.735Z,1761690863.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627300,0.769385,0.120588],[-0.777466,0.627675,0.039635],[-0.045195,-0.118616,0.991911]] 2025-10-28T22:34:24.138Z,1761690864.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645655,0.760774,0.065972],[-0.763152,0.645893,0.020527],[-0.026994,-0.063600,0.997610]] 2025-10-28T22:34:24.543Z,1761690864.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650736,0.759087,-0.018146],[-0.759164,0.650889,0.003648],[0.014580,0.011402,0.999829]] 2025-10-28T22:34:24.948Z,1761690864.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630527,0.775516,-0.031773],[-0.776123,0.630398,-0.015206],[0.008237,0.034248,0.999379]] 2025-10-28T22:34:25.351Z,1761690865.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610733,0.791686,0.015441],[-0.791685,0.610882,-0.007675],[-0.015508,-0.007537,0.999851]] 2025-10-28T22:34:25.758Z,1761690865.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584217,0.807082,0.085488],[-0.810683,0.585310,0.014289],[-0.038504,-0.077651,0.996237]] 2025-10-28T22:34:26.159Z,1761690866.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597983,0.790643,0.131530],[-0.801433,0.592076,0.084562],[-0.011017,-0.155979,0.987699]] 2025-10-28T22:34:26.567Z,1761690866.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611085,0.785111,0.100873],[-0.789679,0.595867,0.146119],[0.054613,-0.168948,0.984111]] 2025-10-28T22:34:26.967Z,1761690866.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623480,0.778857,0.068228],[-0.778540,0.610473,0.145595],[0.071746,-0.143894,0.986989]] 2025-10-28T22:34:27.371Z,1761690867.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595660,0.803110,-0.014260],[-0.795029,0.592012,0.132100],[0.114532,-0.067349,0.991134]] 2025-10-28T22:34:27.782Z,1761690867.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525517,0.850773,0.004199],[-0.848705,0.523882,0.072436],[0.059427,-0.041630,0.997364]] 2025-10-28T22:34:28.178Z,1761690868.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504425,0.860298,0.073780],[-0.863320,0.504016,0.025438],[-0.015302,-0.076527,0.996950]] 2025-10-28T22:34:28.586Z,1761690868.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522309,0.852689,0.010736],[-0.850971,0.520360,0.071226],[0.055147,-0.046338,0.997402]] 2025-10-28T22:34:28.987Z,1761690868.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515451,0.856863,-0.009819],[-0.856701,0.515544,0.016681],[0.019355,-0.000186,0.999813]] 2025-10-28T22:34:29.392Z,1761690869.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483473,0.874071,0.047478],[-0.873375,0.485317,-0.041023],[-0.058899,-0.021633,0.998030]] 2025-10-28T22:34:29.795Z,1761690869.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500517,0.862843,0.070601],[-0.865076,0.495313,0.079420],[0.033558,-0.100827,0.994338]] 2025-10-28T22:34:30.192Z,1761690870.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:34:30.206Z,1761690870.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509594,0.856973,0.076890],[-0.855107,0.494512,0.155722],[0.095427,-0.145104,0.984804]] 2025-10-28T22:34:30.607Z,1761690870.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489336,0.866203,0.101212],[-0.870332,0.477669,0.119814],[0.055438,-0.146717,0.987624]] 2025-10-28T22:34:31.010Z,1761690871.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469841,0.877350,0.097502],[-0.881221,0.459657,0.110292],[0.051948,-0.137741,0.989105]] 2025-10-28T22:34:31.410Z,1761690871.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441145,0.895582,0.057658],[-0.893799,0.432672,0.117973],[0.080707,-0.103578,0.991341]] 2025-10-28T22:34:31.815Z,1761690871.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449913,0.891933,0.045108],[-0.884485,0.438030,0.160673],[0.123551,-0.112186,0.985976]] 2025-10-28T22:34:32.234Z,1761690872.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470858,0.878347,0.082458],[-0.874444,0.452296,0.175434],[0.116796,-0.154709,0.981032]] 2025-10-28T22:34:32.633Z,1761690872.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450958,0.886041,0.107556],[-0.886723,0.431010,0.167188],[0.101777,-0.170767,0.980041]] 2025-10-28T22:34:33.028Z,1761690873.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458395,0.881746,0.111346],[-0.884865,0.441097,0.149827],[0.082995,-0.167206,0.982423]] 2025-10-28T22:34:33.431Z,1761690873.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495173,0.867418,0.048891],[-0.864542,0.486407,0.126396],[0.085857,-0.104856,0.990774]] 2025-10-28T22:34:33.835Z,1761690873.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437232,0.899115,-0.020496],[-0.896267,0.437505,0.072770],[0.074396,-0.013447,0.997138]] 2025-10-28T22:34:34.241Z,1761690874.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408920,0.912092,0.029529],[-0.910821,0.405920,0.075061],[0.056476,-0.057589,0.996742]] 2025-10-28T22:34:34.643Z,1761690874.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460612,0.883834,0.081696],[-0.887222,0.455769,0.071502],[0.025962,-0.105417,0.994089]] 2025-10-28T22:34:35.049Z,1761690875.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476387,0.877455,0.055928],[-0.877443,0.470393,0.093942],[0.056122,-0.093826,0.994006]] 2025-10-28T22:34:35.454Z,1761690875.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458019,0.887722,0.046560],[-0.887145,0.453137,0.087410],[0.056497,-0.081341,0.995084]] 2025-10-28T22:34:35.855Z,1761690875.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426322,0.900155,0.089278],[-0.904571,0.424224,0.042241],[0.000150,-0.098766,0.995111]] 2025-10-28T22:34:36.259Z,1761690876.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403726,0.910559,0.088814],[-0.912291,0.393384,0.113903],[0.068778,-0.127010,0.989514]] 2025-10-28T22:34:36.663Z,1761690876.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421585,0.901227,0.100278],[-0.893718,0.394251,0.214088],[0.153407,-0.179877,0.971654]] 2025-10-28T22:34:37.069Z,1761690877.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455849,0.870420,0.185933],[-0.886018,0.423889,0.187856],[0.084698,-0.250374,0.964437]] 2025-10-28T22:34:37.470Z,1761690877.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455932,0.864340,0.212232],[-0.889996,0.444322,0.102397],[-0.005793,-0.235571,0.971840]] 2025-10-28T22:34:37.875Z,1761690877.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435860,0.888597,0.142903],[-0.899153,0.436865,0.025948],[-0.039372,-0.139801,0.989396]] 2025-10-28T22:34:38.278Z,1761690878.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433977,0.899904,0.042852],[-0.900915,0.433692,0.016224],[-0.003984,-0.045647,0.998950]] 2025-10-28T22:34:38.689Z,1761690878.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459286,0.887167,-0.044632],[-0.883833,0.461431,0.076945],[0.088858,0.004107,0.996036]] 2025-10-28T22:34:39.088Z,1761690879.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470860,0.880034,-0.061901],[-0.871625,0.474900,0.121405],[0.136237,-0.003210,0.990671]] 2025-10-28T22:34:39.491Z,1761690879.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487048,0.873235,-0.015681],[-0.866192,0.485262,0.119298],[0.111784,-0.044521,0.992735]] 2025-10-28T22:34:39.894Z,1761690879.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492583,0.866330,0.082673],[-0.870263,0.490107,0.049374],[0.002256,-0.096268,0.995353]] 2025-10-28T22:34:40.310Z,1761690880.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490835,0.856178,0.161372],[-0.864400,0.501733,-0.032814],[-0.109060,-0.123384,0.986348]] 2025-10-28T22:34:40.564Z,1761690880.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:34:40.707Z,1761690880.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487532,0.864223,0.124222],[-0.871082,0.491134,0.001868],[-0.059395,-0.109118,0.992253]] 2025-10-28T22:34:41.108Z,1761690881.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491904,0.870062,0.031988],[-0.866174,0.485325,0.119171],[0.088162,-0.086328,0.992358]] 2025-10-28T22:34:41.511Z,1761690881.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510503,0.859815,0.010211],[-0.853433,0.505191,0.128196],[0.105067,-0.074158,0.991696]] 2025-10-28T22:34:41.914Z,1761690881.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538644,0.840617,0.056787],[-0.842325,0.535787,0.058498],[0.018748,-0.079343,0.996671]] 2025-10-28T22:34:42.353Z,1761690882.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545252,0.835366,0.069746],[-0.838261,0.543783,0.040233],[-0.004317,-0.080403,0.996753]] 2025-10-28T22:34:42.723Z,1761690882.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531511,0.846629,0.026754],[-0.843879,0.526525,0.103147],[0.073240,-0.077400,0.994306]] 2025-10-28T22:34:43.128Z,1761690883.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534205,0.845229,-0.014559],[-0.830696,0.528057,0.176350],[0.156744,-0.082113,0.984220]] 2025-10-28T22:34:43.535Z,1761690883.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531895,0.846783,0.006761],[-0.838757,0.525721,0.141787],[0.116508,-0.081087,0.989874]] 2025-10-28T22:34:43.937Z,1761690883.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533699,0.842132,0.077327],[-0.843559,0.523671,0.119065],[0.059774,-0.128774,0.989871]] 2025-10-28T22:34:44.376Z,1761690884.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570417,0.817542,0.079047],[-0.818157,0.557075,0.142430],[0.072407,-0.145917,0.986643]] 2025-10-28T22:34:44.743Z,1761690884.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575211,0.815819,0.059770],[-0.813369,0.562654,0.147823],[0.086967,-0.133644,0.987206]] 2025-10-28T22:34:45.147Z,1761690885.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553501,0.831504,0.047302],[-0.823634,0.538067,0.179196],[0.123550,-0.138145,0.982676]] 2025-10-28T22:34:45.551Z,1761690885.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543005,0.836112,0.077864],[-0.834665,0.527236,0.159239],[0.092089,-0.151458,0.984165]] 2025-10-28T22:34:45.955Z,1761690885.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509479,0.846558,0.154174],[-0.859288,0.509977,0.039335],[-0.045326,-0.152521,0.987260]] 2025-10-28T22:34:46.370Z,1761690886.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499646,0.857781,0.120686],[-0.865442,0.500264,0.027321],[-0.036939,-0.118097,0.992315]] 2025-10-28T22:34:46.781Z,1761690886.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552064,0.833777,0.006421],[-0.831462,0.549922,0.079099],[0.062420,-0.049007,0.996846]] 2025-10-28T22:34:47.172Z,1761690887.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572213,0.816728,-0.074344],[-0.816357,0.575910,0.043468],[0.078317,0.035818,0.996285]] 2025-10-28T22:34:47.570Z,1761690887.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557290,0.827973,-0.062358],[-0.828723,0.559302,0.020007],[0.051442,0.040527,0.997853]] 2025-10-28T22:34:47.976Z,1761690887.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580360,0.814248,-0.013537],[-0.810746,0.579269,0.084489],[0.076637,-0.038059,0.996332]] 2025-10-28T22:34:48.379Z,1761690888.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561713,0.826867,0.027721],[-0.814543,0.546852,0.193578],[0.144904,-0.131315,0.980693]] 2025-10-28T22:34:48.790Z,1761690888.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537998,0.838995,0.081513],[-0.831648,0.512522,0.213735],[0.137545,-0.182779,0.973485]] 2025-10-28T22:34:49.191Z,1761690889.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549603,0.815821,0.179923],[-0.835415,0.535602,0.123336],[0.004253,-0.218096,0.975918]] 2025-10-28T22:34:49.595Z,1761690889.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576580,0.794215,0.191778],[-0.813681,0.579431,0.046718],[-0.074018,-0.182982,0.980326]] 2025-10-28T22:34:49.994Z,1761690889.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620609,0.782319,0.053126],[-0.784118,0.619023,0.044369],[0.001825,-0.069193,0.997602]] 2025-10-28T22:34:50.399Z,1761690890.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603296,0.794692,-0.067068],[-0.795175,0.605834,0.025729],[0.061079,0.037809,0.997417]] 2025-10-28T22:34:51.208Z,1761690891.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572425,0.819674,0.021563],[-0.819823,0.572609,-0.003056],[-0.014852,-0.015928,0.999763]] 2025-10-28T22:34:51.615Z,1761690891.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582144,0.812787,0.022019],[-0.810399,0.577808,0.096910],[0.066044,-0.074260,0.995050]] 2025-10-28T22:34:52.015Z,1761690892.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567370,0.823451,-0.004434],[-0.812322,0.560569,0.160921],[0.134996,-0.087700,0.986957]] 2025-10-28T22:34:52.419Z,1761690892.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519324,0.854528,0.009195],[-0.838987,0.507775,0.195616],[0.162490,-0.109302,0.980638]] 2025-10-28T22:34:52.831Z,1761690892.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555273,0.829566,0.059103],[-0.822160,0.536821,0.189410],[0.125400,-0.153766,0.980118]] 2025-10-28T22:34:53.227Z,1761690893.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590589,0.802905,0.080919],[-0.804904,0.578933,0.130252],[0.057734,-0.142058,0.988173]] 2025-10-28T22:34:53.630Z,1761690893.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555036,0.825257,0.104342],[-0.831652,0.547970,0.089909],[0.017022,-0.136679,0.990469]] 2025-10-28T22:34:54.035Z,1761690894.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552657,0.820650,0.145273],[-0.832951,0.549676,0.063633],[-0.027632,-0.156172,0.987343]] 2025-10-28T22:34:54.446Z,1761690894.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566197,0.823363,0.038659],[-0.823963,0.564085,0.053788],[0.022480,-0.062308,0.997804]] 2025-10-28T22:34:54.859Z,1761690894.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539893,0.840032,-0.053491],[-0.818338,0.538705,0.200301],[0.197075,-0.064367,0.978273]] 2025-10-28T22:34:55.251Z,1761690895.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532739,0.846235,-0.008692],[-0.829235,0.524033,0.194317],[0.168993,-0.096313,0.980900]] 2025-10-28T22:34:55.662Z,1761690895.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566907,0.817469,0.101787],[-0.823777,0.562152,0.073326],[0.002722,-0.125418,0.992100]] 2025-10-28T22:34:56.058Z,1761690896.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573412,0.811501,0.112539],[-0.815658,0.578354,-0.014451],[-0.076814,-0.083507,0.993542]] 2025-10-28T22:34:56.459Z,1761690896.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548535,0.836120,0.003560],[-0.835852,0.548239,0.028024],[0.021480,-0.018348,0.999601]] 2025-10-28T22:34:56.866Z,1761690896.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531883,0.843331,-0.076767],[-0.827317,0.536838,0.165384],[0.180685,-0.024454,0.983237]] 2025-10-28T22:34:57.267Z,1761690897.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542479,0.838971,-0.042943],[-0.814869,0.537944,0.215882],[0.204219,-0.082118,0.975475]] 2025-10-28T22:34:57.684Z,1761690897.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560631,0.827556,0.029056],[-0.811352,0.541963,0.219052],[0.165530,-0.146382,0.975280]] 2025-10-28T22:34:58.075Z,1761690898.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581104,0.811895,0.056074],[-0.798986,0.556051,0.228972],[0.154721,-0.177860,0.971816]] 2025-10-28T22:34:58.479Z,1761690898.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584974,0.810825,0.019179],[-0.797311,0.570568,0.196842],[0.148662,-0.130439,0.980248]] 2025-10-28T22:34:58.886Z,1761690898.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589668,0.807641,0.002762],[-0.795471,0.580184,0.174964],[0.139706,-0.105368,0.984571]] 2025-10-28T22:34:59.288Z,1761690899.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581173,0.813252,-0.029314],[-0.795232,0.575206,0.191688],[0.172753,-0.088092,0.981018]] 2025-10-28T22:34:59.691Z,1761690899.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560040,0.828310,-0.016053],[-0.804709,0.548485,0.227173],[0.196974,-0.114308,0.973722]] 2025-10-28T22:35:00.095Z,1761690900.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559120,0.828659,0.026607],[-0.812243,0.541043,0.218024],[0.166272,-0.143513,0.975581]] 2025-10-28T22:35:00.499Z,1761690900.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578838,0.814603,0.036987],[-0.803936,0.562491,0.193108],[0.136502,-0.141513,0.980480]] 2025-10-28T22:35:00.911Z,1761690900.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598667,0.800997,-0.001036],[-0.790725,0.591196,0.158875],[0.127871,-0.094293,0.987298]] 2025-10-28T22:35:01.307Z,1761690901.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609260,0.790099,-0.067420],[-0.778301,0.612102,0.139924],[0.151822,-0.032777,0.987864]] 2025-10-28T22:35:01.711Z,1761690901.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611971,0.787903,-0.068552],[-0.782384,0.615790,0.093162],[0.115616,-0.003379,0.993288]] 2025-10-28T22:35:02.116Z,1761690902.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600757,0.798923,-0.028504],[-0.794961,0.600783,0.084243],[0.084428,-0.027950,0.996038]] 2025-10-28T22:35:02.520Z,1761690902.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568070,0.822908,0.010905],[-0.811204,0.557658,0.175969],[0.138725,-0.108808,0.984335]] 2025-10-28T22:35:02.922Z,1761690902.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569585,0.818489,0.075156],[-0.810515,0.544132,0.216761],[0.136522,-0.184379,0.973327]] 2025-10-28T22:35:03.327Z,1761690903.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617410,0.766790,0.175606],[-0.786573,0.598834,0.150664],[0.010368,-0.231149,0.972863]] 2025-10-28T22:35:03.732Z,1761690903.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638221,0.744226,0.196980],[-0.767457,0.635226,0.086584],[-0.060688,-0.206434,0.976577]] 2025-10-28T22:35:04.135Z,1761690904.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669121,0.733437,0.119780],[-0.743150,0.660842,0.104956],[-0.002177,-0.159243,0.987237]] 2025-10-28T22:35:04.539Z,1761690904.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664926,0.745613,0.043994],[-0.745676,0.659291,0.096453],[0.042912,-0.096940,0.994365]] 2025-10-28T22:35:04.943Z,1761690904.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645730,0.763334,0.018827],[-0.761283,0.641698,0.093124],[0.059003,-0.074465,0.995476]] 2025-10-28T22:35:05.346Z,1761690905.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654428,0.755318,0.034906],[-0.753786,0.648082,0.108613],[0.059416,-0.097391,0.993471]] 2025-10-28T22:35:05.752Z,1761690905.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651546,0.756809,0.052234],[-0.754731,0.639723,0.145379],[0.076609,-0.134144,0.987996]] 2025-10-28T22:35:06.161Z,1761690906.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648046,0.759129,0.061319],[-0.757994,0.635056,0.148828],[0.074039,-0.142927,0.986960]] 2025-10-28T22:35:06.559Z,1761690906.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668842,0.741557,0.052377],[-0.742304,0.662361,0.101307],[0.040433,-0.106638,0.993475]] 2025-10-28T22:35:06.962Z,1761690906.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706925,0.706642,-0.030248],[-0.705163,0.707468,0.047268],[0.054801,-0.012085,0.998424]] 2025-10-28T22:35:07.367Z,1761690907.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707852,0.695939,-0.120887],[-0.701996,0.712096,-0.011031],[0.078406,0.092670,0.992605]] 2025-10-28T22:35:07.778Z,1761690907.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704550,0.698848,-0.123374],[-0.705290,0.708806,-0.012680],[0.078586,0.095948,0.992279]] 2025-10-28T22:35:08.177Z,1761690908.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699178,0.711205,-0.073059],[-0.708478,0.702940,0.062719],[0.095963,0.007909,0.995353]] 2025-10-28T22:35:08.579Z,1761690908.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688316,0.725410,-0.001012],[-0.716751,0.680313,0.153108],[0.111755,-0.104661,0.988209]] 2025-10-28T22:35:08.986Z,1761690908.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705708,0.703199,0.086526],[-0.704029,0.682300,0.197002],[0.079495,-0.199943,0.976577]] 2025-10-28T22:35:09.388Z,1761690909.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723426,0.683906,0.094489],[-0.687622,0.701462,0.187424],[0.061900,-0.200560,0.977724]] 2025-10-28T22:35:09.792Z,1761690909.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713923,0.699185,0.038143],[-0.693175,0.697975,0.179831],[0.099112,-0.154826,0.982958]] 2025-10-28T22:35:10.194Z,1761690910.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741980,0.669081,0.042383],[-0.667823,0.732065,0.134508],[0.058970,-0.128107,0.990006]] 2025-10-28T22:35:10.598Z,1761690910.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746924,0.656121,0.107747],[-0.662947,0.747317,0.044933],[-0.051040,-0.104991,0.993162]] 2025-10-28T22:35:11.011Z,1761690911.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719207,0.682508,0.130090],[-0.687583,0.726062,-0.007910],[-0.099852,-0.083759,0.991471]] 2025-10-28T22:35:11.407Z,1761690911.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737172,0.673564,0.053747],[-0.675245,0.737270,0.021839],[-0.024917,-0.052392,0.998316]] 2025-10-28T22:35:11.712Z,1761690911.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:35:11.811Z,1761690911.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765174,0.643802,-0.005211],[-0.643578,0.765081,0.021413],[0.017773,-0.013031,0.999757]] 2025-10-28T22:35:12.215Z,1761690912.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760998,0.648743,0.003798],[-0.648575,0.760912,-0.019065],[-0.015258,0.012045,0.999811]] 2025-10-28T22:35:12.620Z,1761690912.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741573,0.668850,0.052051],[-0.668976,0.743077,-0.017525],[-0.050400,-0.021825,0.998491]] 2025-10-28T22:35:13.023Z,1761690913.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764182,0.642700,0.054425],[-0.644995,0.761801,0.060334],[-0.002684,-0.081210,0.996693]] 2025-10-28T22:35:13.427Z,1761690913.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782359,0.622738,-0.010549],[-0.618930,0.779243,0.098522],[0.069574,-0.070550,0.995079]] 2025-10-28T22:35:13.832Z,1761690913.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778432,0.627444,-0.018922],[-0.625923,0.778124,0.052373],[0.047585,-0.028925,0.998448]] 2025-10-28T22:35:14.235Z,1761690914.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765372,0.643373,-0.016630],[-0.642508,0.765329,0.038138],[0.037264,-0.018504,0.999134]] 2025-10-28T22:35:14.647Z,1761690914.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748673,0.662163,0.032061],[-0.662938,0.747887,0.034324],[-0.001249,-0.046952,0.998896]] 2025-10-28T22:35:15.043Z,1761690915.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751890,0.654831,0.076533],[-0.657684,0.753084,0.017814],[-0.045971,-0.063729,0.996908]] 2025-10-28T22:35:15.447Z,1761690915.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748199,0.651617,0.124880],[-0.659079,0.751587,0.027030],[-0.076245,-0.102529,0.991804]] 2025-10-28T22:35:15.851Z,1761690915.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771491,0.633837,0.055239],[-0.635434,0.771972,0.016785],[-0.032004,-0.048051,0.998332]] 2025-10-28T22:35:16.255Z,1761690916.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794937,0.605425,-0.039197],[-0.606400,0.794899,-0.020354],[0.018835,0.039949,0.999024]] 2025-10-28T22:35:16.664Z,1761690916.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786433,0.616589,-0.036626],[-0.617648,0.785574,-0.037206],[0.005831,0.051882,0.998636]] 2025-10-28T22:35:17.063Z,1761690917.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758612,0.651542,0.001123],[-0.651101,0.758032,0.038143],[0.024001,-0.029667,0.999272]] 2025-10-28T22:35:17.467Z,1761690917.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741729,0.667695,0.063418],[-0.670261,0.734501,0.106105],[0.024265,-0.121208,0.992330]] 2025-10-28T22:35:17.872Z,1761690917.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746204,0.659966,0.087322],[-0.665096,0.733401,0.140608],[0.028755,-0.163000,0.986207]] 2025-10-28T22:35:18.274Z,1761690918.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777218,0.626574,0.057765],[-0.627413,0.764725,0.146793],[0.047802,-0.150333,0.987479]] 2025-10-28T22:35:18.680Z,1761690918.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783670,0.621176,-0.001283],[-0.618332,0.780277,0.093983],[0.059381,-0.072859,0.995573]] 2025-10-28T22:35:19.083Z,1761690919.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776926,0.629362,-0.016986],[-0.628837,0.777033,0.027990],[0.030814,-0.011064,0.999464]] 2025-10-28T22:35:19.487Z,1761690919.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765731,0.642052,-0.037756],[-0.642564,0.766229,-0.001928],[0.027692,0.025737,0.999285]] 2025-10-28T22:35:19.890Z,1761690919.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744870,0.666337,-0.034106],[-0.666239,0.745570,0.015822],[0.035971,0.010937,0.999293]] 2025-10-28T22:35:20.304Z,1761690920.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756119,0.654406,-0.006038],[-0.653163,0.755193,0.055334],[0.040771,-0.037895,0.998450]] 2025-10-28T22:35:20.703Z,1761690920.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782010,0.622951,-0.019798],[-0.621046,0.781510,0.059538],[0.052562,-0.034264,0.998030]] 2025-10-28T22:35:20.866Z,1761690920.866 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:35:21.102Z,1761690921.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788478,0.613852,-0.038589],[-0.612053,0.789273,0.049395],[0.060779,-0.015328,0.998034]] 2025-10-28T22:35:21.507Z,1761690921.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783913,0.617488,-0.064726],[-0.614831,0.786563,0.057461],[0.086392,-0.005249,0.996247]] 2025-10-28T22:35:21.912Z,1761690921.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774470,0.629337,-0.064269],[-0.625311,0.776962,0.072915],[0.095823,-0.016282,0.995265]] 2025-10-28T22:35:22.347Z,1761690922.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757465,0.652022,-0.033368],[-0.645014,0.755274,0.116268],[0.101011,-0.066546,0.992657]] 2025-10-28T22:35:22.720Z,1761690922.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732946,0.680127,0.014754],[-0.672307,0.720865,0.168395],[0.103895,-0.133343,0.985609]] 2025-10-28T22:35:23.130Z,1761690923.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725045,0.683853,0.081576],[-0.687511,0.711733,0.144098],[0.040481,-0.160562,0.986195]] 2025-10-28T22:35:23.529Z,1761690923.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720383,0.683336,0.118743],[-0.690395,0.722871,0.028500],[-0.066361,-0.102511,0.992516]] 2025-10-28T22:35:23.931Z,1761690923.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725612,0.686717,0.043668],[-0.684497,0.726843,-0.056247],[-0.070365,0.010923,0.997461]] 2025-10-28T22:35:24.375Z,1761690924.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754920,0.651717,-0.073213],[-0.655623,0.752690,-0.060127],[0.015921,0.093391,0.995502]] 2025-10-28T22:35:24.744Z,1761690924.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748616,0.646219,-0.148238],[-0.655120,0.755365,-0.015530],[0.101938,0.108739,0.988830]] 2025-10-28T22:35:25.154Z,1761690925.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719039,0.687216,-0.103523],[-0.687357,0.725216,0.040033],[0.102588,0.042372,0.993821]] 2025-10-28T22:35:25.556Z,1761690925.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704039,0.710135,-0.006081],[-0.704630,0.699597,0.118576],[0.088459,-0.079197,0.992926]] 2025-10-28T22:35:25.959Z,1761690925.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703550,0.708862,0.050328],[-0.702729,0.683424,0.197747],[0.105780,-0.174492,0.978960]] 2025-10-28T22:35:26.371Z,1761690926.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694008,0.714537,0.088260],[-0.713479,0.666145,0.217252],[0.096441,-0.213746,0.972117]] 2025-10-28T22:35:26.773Z,1761690926.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711273,0.699307,0.071140],[-0.699283,0.693685,0.172641],[0.071380,-0.172542,0.982412]] 2025-10-28T22:35:27.172Z,1761690927.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732867,0.678044,-0.056238],[-0.671966,0.734289,0.096341],[0.106618,-0.032816,0.993758]] 2025-10-28T22:35:27.575Z,1761690927.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710046,0.683537,-0.169148],[-0.684996,0.726156,0.058974],[0.163139,0.073991,0.983825]] 2025-10-28T22:35:27.978Z,1761690927.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681389,0.709955,-0.177967],[-0.704423,0.702131,0.103926],[0.198739,0.054549,0.978533]] 2025-10-28T22:35:28.382Z,1761690928.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680609,0.726450,-0.095085],[-0.712607,0.686541,0.144405],[0.170183,-0.030525,0.984940]] 2025-10-28T22:35:28.795Z,1761690928.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667560,0.744219,0.022401],[-0.734712,0.653560,0.181815],[0.120670,-0.137831,0.983078]] 2025-10-28T22:35:29.190Z,1761690929.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633662,0.766643,0.103595],[-0.765511,0.602053,0.226992],[0.111652,-0.223139,0.968371]] 2025-10-28T22:35:29.595Z,1761690929.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627619,0.764124,0.149025],[-0.772163,0.586569,0.244340],[0.099292,-0.268424,0.958170]] 2025-10-28T22:35:29.999Z,1761690929.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650900,0.736285,0.184970],[-0.759007,0.636108,0.138838],[-0.015436,-0.230763,0.972888]] 2025-10-28T22:35:30.404Z,1761690930.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646814,0.746015,0.158404],[-0.754776,0.655942,-0.007216],[-0.109287,-0.114892,0.987348]] 2025-10-28T22:35:30.424Z,1761690930.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:35:31.210Z,1761690931.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694751,0.712570,-0.097804],[-0.716504,0.697542,-0.007613],[0.062798,0.075366,0.995177]] 2025-10-28T22:35:31.621Z,1761690931.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664897,0.730321,-0.156660],[-0.738802,0.673896,0.005954],[0.109920,0.111782,0.987635]] 2025-10-28T22:35:32.020Z,1761690932.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613972,0.786348,-0.068522],[-0.788339,0.615232,-0.003379],[0.039500,0.056093,0.997644]] 2025-10-28T22:35:32.422Z,1761690932.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576420,0.814395,0.067090],[-0.817029,0.575818,0.029945],[-0.014244,-0.072075,0.997297]] 2025-10-28T22:35:32.828Z,1761690932.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568166,0.810030,0.145050],[-0.822560,0.564201,0.071221],[-0.024146,-0.159777,0.986858]] 2025-10-28T22:35:33.233Z,1761690933.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587476,0.796647,0.142219],[-0.808969,0.582698,0.077662],[-0.021002,-0.160675,0.986784]] 2025-10-28T22:35:33.639Z,1761690933.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614512,0.786782,0.057864],[-0.788803,0.611582,0.061298],[0.012839,-0.083311,0.996441]] 2025-10-28T22:35:34.039Z,1761690934.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620999,0.780759,-0.069106],[-0.777036,0.624801,0.076412],[0.102837,0.006246,0.994679]] 2025-10-28T22:35:34.443Z,1761690934.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602949,0.787807,-0.125748],[-0.784183,0.614241,0.088117],[0.146659,0.045480,0.988141]] 2025-10-28T22:35:34.847Z,1761690934.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561384,0.826702,-0.037564],[-0.821695,0.562227,0.093374],[0.098312,-0.021553,0.994922]] 2025-10-28T22:35:35.251Z,1761690935.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532812,0.843075,0.073055],[-0.845197,0.525900,0.095242],[0.041877,-0.112492,0.992770]] 2025-10-28T22:35:35.655Z,1761690935.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539220,0.833032,0.123689],[-0.841286,0.526109,0.124288],[0.038462,-0.171076,0.984507]] 2025-10-28T22:35:36.060Z,1761690936.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530152,0.843212,0.089060],[-0.840984,0.509527,0.182010],[0.108095,-0.171391,0.979255]] 2025-10-28T22:35:36.463Z,1761690936.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522515,0.852583,0.008962],[-0.829739,0.506039,0.235493],[0.196242,-0.130485,0.971835]] 2025-10-28T22:35:36.867Z,1761690936.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542862,0.839752,-0.010830],[-0.815926,0.530425,0.230030],[0.198913,-0.116038,0.973123]] 2025-10-28T22:35:37.271Z,1761690937.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540344,0.841009,-0.027045],[-0.815893,0.531526,0.227595],[0.205785,-0.100913,0.973380]] 2025-10-28T22:35:37.679Z,1761690937.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510159,0.859400,-0.034197],[-0.830201,0.502436,0.241506],[0.224732,-0.094816,0.969797]] 2025-10-28T22:35:38.078Z,1761690938.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497160,0.867659,0.000284],[-0.844309,0.483705,0.230590],[0.199936,-0.114880,0.973051]] 2025-10-28T22:35:38.485Z,1761690938.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466945,0.884284,-0.002139],[-0.866412,0.457989,0.198936],[0.176895,-0.091039,0.980010]] 2025-10-28T22:35:38.893Z,1761690938.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472251,0.880880,0.032071],[-0.872811,0.462220,0.156697],[0.123207,-0.101993,0.987126]] 2025-10-28T22:35:39.297Z,1761690939.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495545,0.868477,0.013485],[-0.859144,0.487819,0.154609],[0.127696,-0.088201,0.987884]] 2025-10-28T22:35:39.708Z,1761690939.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488305,0.871967,0.035098],[-0.870157,0.483452,0.095401],[0.066218,-0.077126,0.994820]] 2025-10-28T22:35:39.816Z,1761690939.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:35:40.109Z,1761690940.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466105,0.874860,0.131780],[-0.877355,0.476255,-0.058558],[-0.113991,-0.088324,0.989548]] 2025-10-28T22:35:40.506Z,1761690940.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445541,0.874022,0.193853],[-0.872130,0.472636,-0.126511],[-0.202195,-0.112699,0.972839]] 2025-10-28T22:35:40.907Z,1761690940.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454541,0.879350,0.141903],[-0.886933,0.461511,-0.018904],[-0.082113,-0.117266,0.989700]] 2025-10-28T22:35:41.312Z,1761690941.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479875,0.871406,0.101844],[-0.877334,0.476310,0.058431],[0.002408,-0.117391,0.993083]] 2025-10-28T22:35:41.717Z,1761690941.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482476,0.865941,0.131770],[-0.875461,0.481551,0.040940],[-0.028003,-0.135112,0.990435]] 2025-10-28T22:35:42.124Z,1761690942.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501116,0.854471,0.136975],[-0.864915,0.499722,0.046902],[-0.028373,-0.141975,0.989463]] 2025-10-28T22:35:42.523Z,1761690942.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521995,0.847717,0.094329],[-0.852287,0.514033,0.096836],[0.033601,-0.130943,0.990820]] 2025-10-28T22:35:42.929Z,1761690942.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498423,0.864903,0.059308],[-0.863572,0.489307,0.121748],[0.076280,-0.111899,0.990788]] 2025-10-28T22:35:43.331Z,1761690943.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471140,0.877661,0.087962],[-0.879641,0.460128,0.120478],[0.065266,-0.134137,0.988811]] 2025-10-28T22:35:43.739Z,1761690943.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498889,0.858194,0.120885],[-0.864623,0.483276,0.137373],[0.059472,-0.173054,0.983115]] 2025-10-28T22:35:44.139Z,1761690944.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499051,0.862065,0.088271],[-0.864433,0.488077,0.120567],[0.060854,-0.136473,0.988773]] 2025-10-28T22:35:44.543Z,1761690944.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496238,0.866240,0.058102],[-0.866114,0.489323,0.102024],[0.059946,-0.100951,0.993084]] 2025-10-28T22:35:44.947Z,1761690944.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517993,0.855240,0.015708],[-0.850834,0.513259,0.112456],[0.088115,-0.071617,0.993533]] 2025-10-28T22:35:45.351Z,1761690945.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514881,0.857174,-0.012271],[-0.849252,0.511970,0.129068],[0.116916,-0.056034,0.991560]] 2025-10-28T22:35:45.758Z,1761690945.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483476,0.874797,0.031341],[-0.871615,0.477792,0.109555],[0.080864,-0.080285,0.993487]] 2025-10-28T22:35:46.159Z,1761690946.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496917,0.861387,0.105287],[-0.866929,0.487324,0.104638],[0.038825,-0.143272,0.988922]] 2025-10-28T22:35:46.565Z,1761690946.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546807,0.832431,0.089783],[-0.836172,0.537485,0.109205],[0.042649,-0.134788,0.989956]] 2025-10-28T22:35:46.967Z,1761690946.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533908,0.845454,0.012236],[-0.841321,0.529742,0.107479],[0.084386,-0.067679,0.994132]] 2025-10-28T22:35:47.371Z,1761690947.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489843,0.870947,-0.038788],[-0.859652,0.489938,0.144777],[0.145097,-0.037574,0.988704]] 2025-10-28T22:35:47.778Z,1761690947.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480629,0.876898,0.006748],[-0.867965,0.474608,0.146231],[0.125027,-0.076140,0.989227]] 2025-10-28T22:35:48.179Z,1761690948.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482662,0.868268,0.114669],[-0.875787,0.477624,0.069796],[0.005833,-0.134113,0.990949]] 2025-10-28T22:35:48.590Z,1761690948.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470309,0.862151,0.188429],[-0.880549,0.472644,0.035236],[-0.058681,-0.182492,0.981455]] 2025-10-28T22:35:48.986Z,1761690948.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465503,0.867320,0.176248],[-0.884918,0.459506,0.075988],[-0.015082,-0.191338,0.981408]] 2025-10-28T22:35:49.390Z,1761690949.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478216,0.870575,0.115797],[-0.877320,0.467500,0.108414],[0.040248,-0.153436,0.987339]] 2025-10-28T22:35:49.797Z,1761690949.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471889,0.877488,0.085652],[-0.881657,0.469540,0.047032],[0.001053,-0.097710,0.995214]] 2025-10-28T22:35:50.200Z,1761690950.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490239,0.869564,0.059357],[-0.871173,0.490970,0.002576],[-0.026903,-0.052972,0.998234]] 2025-10-28T22:35:50.608Z,1761690950.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485292,0.874139,0.019314],[-0.874351,0.485142,0.012140],[0.001242,-0.022779,0.999740]] 2025-10-28T22:35:51.006Z,1761690951.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439390,0.898296,0.000782],[-0.892824,0.436617,0.110594],[0.099005,-0.049292,0.993865]] 2025-10-28T22:35:51.036Z,1761690951.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:35:51.410Z,1761690951.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457590,0.886491,0.068886],[-0.878073,0.438327,0.191983],[0.139997,-0.148337,0.978978]] 2025-10-28T22:35:51.816Z,1761690951.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505181,0.847663,0.162049],[-0.861665,0.484929,0.149589],[0.048219,-0.215202,0.975379]] 2025-10-28T22:35:52.218Z,1761690952.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482888,0.843641,0.234710],[-0.872299,0.486960,0.044325],[-0.076900,-0.226141,0.971054]] 2025-10-28T22:35:52.622Z,1761690952.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489644,0.840611,0.231564],[-0.859862,0.509551,-0.031557],[-0.144521,-0.183661,0.972308]] 2025-10-28T22:35:53.027Z,1761690953.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530302,0.839349,0.119471],[-0.846145,0.532804,0.012593],[-0.053085,-0.107768,0.992758]] 2025-10-28T22:35:53.433Z,1761690953.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535083,0.842305,-0.064876],[-0.835519,0.538994,0.106743],[0.124878,-0.002911,0.992168]] 2025-10-28T22:35:53.834Z,1761690953.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495332,0.859418,-0.126674],[-0.843460,0.510695,0.166629],[0.207896,0.024308,0.977849]] 2025-10-28T22:35:54.238Z,1761690954.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480258,0.876550,-0.031820],[-0.857971,0.477000,0.190674],[0.182313,-0.064272,0.981138]] 2025-10-28T22:35:54.643Z,1761690954.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469011,0.877386,0.101104],[-0.880361,0.455275,0.133001],[0.070663,-0.151387,0.985946]] 2025-10-28T22:35:55.048Z,1761690955.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442900,0.878348,0.179847],[-0.896569,0.433490,0.090830],[0.001818,-0.201474,0.979492]] 2025-10-28T22:35:55.451Z,1761690955.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449583,0.875428,0.177484],[-0.891878,0.428987,0.143262],[0.049277,-0.222702,0.973640]] 2025-10-28T22:35:55.855Z,1761690955.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491869,0.866710,0.082935],[-0.864819,0.475320,0.161738],[0.100759,-0.151277,0.983343]] 2025-10-28T22:35:56.259Z,1761690956.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483111,0.875467,-0.012712],[-0.870900,0.481985,0.096037],[0.090204,-0.035326,0.995297]] 2025-10-28T22:35:56.663Z,1761690956.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467907,0.883465,-0.023489],[-0.881663,0.468460,0.056705],[0.061101,-0.005823,0.998115]] 2025-10-28T22:35:57.067Z,1761690957.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452054,0.891724,0.021779],[-0.889889,0.449180,0.079587],[0.061187,-0.055359,0.996590]] 2025-10-28T22:35:57.470Z,1761690957.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450299,0.880665,0.147172],[-0.891395,0.452898,0.017277],[-0.051439,-0.138968,0.988960]] 2025-10-28T22:35:57.890Z,1761690957.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471051,0.865996,0.167814],[-0.879274,0.476197,0.010719],[-0.070630,-0.152604,0.985760]] 2025-10-28T22:35:58.281Z,1761690958.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488519,0.869549,0.072343],[-0.872499,0.485880,0.051637],[0.009751,-0.088345,0.996042]] 2025-10-28T22:35:58.683Z,1761690958.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466013,0.884427,0.024928],[-0.884712,0.466137,0.000930],[-0.010798,-0.022488,0.999689]] 2025-10-28T22:35:59.095Z,1761690959.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418065,0.907143,0.048087],[-0.907217,0.419648,-0.029215],[-0.046682,-0.031412,0.998416]] 2025-10-28T22:35:59.491Z,1761690959.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397122,0.913400,0.089411],[-0.917749,0.395818,0.032630],[-0.005586,-0.095015,0.995460]] 2025-10-28T22:35:59.903Z,1761690959.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413362,0.901179,0.130413],[-0.909016,0.400048,0.116839],[0.053122,-0.166845,0.984551]] 2025-10-28T22:36:00.116Z,1761690960.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:36:00.317Z,1761690960.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449869,0.880791,0.147732],[-0.892320,0.436401,0.115408],[0.037180,-0.183743,0.982271]] 2025-10-28T22:36:00.704Z,1761690960.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439201,0.890559,0.118351],[-0.898384,0.434931,0.061163],[0.002995,-0.133187,0.991086]] 2025-10-28T22:36:01.118Z,1761690961.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390655,0.915058,0.100282],[-0.920536,0.388194,0.043796],[0.001147,-0.109422,0.993995]] 2025-10-28T22:36:01.511Z,1761690961.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397460,0.913678,0.084965],[-0.917222,0.392854,0.066110],[0.027024,-0.104208,0.994188]] 2025-10-28T22:36:01.918Z,1761690961.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412504,0.910399,0.031853],[-0.902959,0.404010,0.146426],[0.120437,-0.089164,0.988709]] 2025-10-28T22:36:02.379Z,1761690962.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401025,0.916007,-0.010452],[-0.894485,0.394013,0.211306],[0.197676,-0.075390,0.977364]] 2025-10-28T22:36:02.744Z,1761690962.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376448,0.925852,0.032945],[-0.918303,0.368205,0.145414],[0.122502,-0.084995,0.988822]] 2025-10-28T22:36:03.132Z,1761690963.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388944,0.912689,0.125387],[-0.920747,0.389657,0.019812],[-0.030776,-0.123155,0.991910]] 2025-10-28T22:36:03.538Z,1761690963.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402053,0.910001,0.101250],[-0.913216,0.406541,-0.027570],[-0.066251,-0.081379,0.994479]] 2025-10-28T22:36:03.947Z,1761690963.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383327,0.922930,0.035510],[-0.922843,0.381155,0.055504],[0.037691,-0.054047,0.997827]] 2025-10-28T22:36:04.373Z,1761690964.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394650,0.918816,0.005439],[-0.901109,0.385874,0.197745],[0.179593,-0.082941,0.980238]] 2025-10-28T22:36:04.753Z,1761690964.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375167,0.926956,0.001599],[-0.907473,0.366929,0.204587],[0.189057,-0.078205,0.978847]] 2025-10-28T22:36:05.157Z,1761690965.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366836,0.925525,0.093999],[-0.929804,0.361518,0.069061],[0.029936,-0.112735,0.993174]] 2025-10-28T22:36:05.561Z,1761690965.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357702,0.917341,0.174740],[-0.931171,0.364507,-0.007411],[-0.070492,-0.160062,0.984587]] 2025-10-28T22:36:05.963Z,1761690965.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370546,0.918847,0.135701],[-0.927976,0.372444,0.012079],[-0.039442,-0.130403,0.990676]] 2025-10-28T22:36:06.374Z,1761690966.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379074,0.923246,0.062605],[-0.925346,0.378649,0.018976],[-0.006186,-0.065125,0.997858]] 2025-10-28T22:36:06.774Z,1761690966.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352057,0.932986,0.074788],[-0.935041,0.354156,-0.016505],[-0.041885,-0.064119,0.997063]] 2025-10-28T22:36:07.175Z,1761690967.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321282,0.938264,0.128212],[-0.946346,0.323077,0.007116],[-0.034745,-0.123619,0.991721]] 2025-10-28T22:36:07.586Z,1761690967.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347186,0.924947,0.154713],[-0.937692,0.344856,0.042529],[-0.014017,-0.159839,0.987044]] 2025-10-28T22:36:07.984Z,1761690967.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357047,0.919635,0.163671],[-0.933586,0.357070,0.030302],[-0.030575,-0.163620,0.986049]] 2025-10-28T22:36:08.387Z,1761690968.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375491,0.913807,0.154797],[-0.923524,0.382983,-0.020657],[-0.078161,-0.135203,0.987730]] 2025-10-28T22:36:08.792Z,1761690968.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356086,0.930431,0.086611],[-0.930488,0.361578,-0.058762],[-0.085990,-0.059666,0.994508]] 2025-10-28T22:36:09.195Z,1761690969.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322134,0.944895,0.058337],[-0.938549,0.326821,-0.110966],[-0.123917,-0.019006,0.992111]] 2025-10-28T22:36:09.601Z,1761690969.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302301,0.948879,0.090789],[-0.942831,0.311668,-0.118039],[-0.140301,-0.049915,0.988850]] 2025-10-28T22:36:10.002Z,1761690970.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331975,0.938171,0.098118],[-0.942157,0.334871,-0.014202],[-0.046181,-0.087728,0.995073]] 2025-10-28T22:36:10.407Z,1761690970.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342495,0.934080,0.100959],[-0.939458,0.339259,0.048184],[0.010757,-0.111350,0.993723]] 2025-10-28T22:36:10.811Z,1761690970.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337547,0.931713,0.134065],[-0.940878,0.338261,0.018115],[-0.028471,-0.132254,0.990807]] 2025-10-28T22:36:11.214Z,1761690971.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341207,0.928730,0.145049],[-0.937292,0.347832,-0.022277],[-0.071142,-0.128352,0.989174]] 2025-10-28T22:36:11.256Z,1761690971.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:36:11.618Z,1761690971.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337996,0.932597,0.126573],[-0.941002,0.337236,0.028047],[-0.016529,-0.128585,0.991561]] 2025-10-28T22:36:12.026Z,1761690972.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354028,0.931568,0.082739],[-0.930224,0.341605,0.134122],[0.096680,-0.124449,0.987505]] 2025-10-28T22:36:12.427Z,1761690972.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352602,0.933616,0.063500],[-0.927962,0.340104,0.152366],[0.120655,-0.112651,0.986282]] 2025-10-28T22:36:12.831Z,1761690972.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345638,0.933707,0.093407],[-0.935770,0.335567,0.108299],[0.069775,-0.124840,0.989720]] 2025-10-28T22:36:13.234Z,1761690973.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357412,0.926663,0.116416],[-0.933542,0.350802,0.073732],[0.027486,-0.135032,0.990460]] 2025-10-28T22:36:13.638Z,1761690973.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392242,0.915600,0.088444],[-0.919151,0.386343,0.076815],[0.036163,-0.111423,0.993115]] 2025-10-28T22:36:14.049Z,1761690974.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367472,0.929460,0.032675],[-0.923037,0.360180,0.135180],[0.113876,-0.079835,0.990282]] 2025-10-28T22:36:14.449Z,1761690974.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378202,0.923547,0.063438],[-0.918735,0.366061,0.148075],[0.113532,-0.114285,0.986939]] 2025-10-28T22:36:14.850Z,1761690974.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410295,0.902197,0.133036],[-0.910607,0.413228,0.006045],[-0.049521,-0.123624,0.991093]] 2025-10-28T22:36:15.255Z,1761690975.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346693,0.920157,0.181975],[-0.934327,0.355884,-0.019476],[-0.082683,-0.163272,0.983110]] 2025-10-28T22:36:15.659Z,1761690975.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359211,0.901216,0.242441],[-0.932148,0.333809,0.140255],[0.045471,-0.276372,0.959974]] 2025-10-28T22:36:16.468Z,1761690976.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499680,0.801940,0.327433],[-0.865974,0.453650,0.210456],[0.020233,-0.388709,0.921139]] 2025-10-28T22:36:16.870Z,1761690976.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481231,0.838991,0.253991],[-0.876020,0.470770,0.104712],[-0.031719,-0.272892,0.961522]] 2025-10-28T22:36:17.680Z,1761690977.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514101,0.857694,0.007871],[-0.855141,0.513240,-0.072935],[-0.066596,0.030765,0.997306]] 2025-10-28T22:36:18.088Z,1761690978.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533026,0.844825,-0.046422],[-0.842725,0.525206,-0.118206],[-0.075482,0.102127,0.991903]] 2025-10-28T22:36:18.488Z,1761690978.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539400,0.841064,-0.040734],[-0.841123,0.535907,-0.072909],[-0.039491,0.073589,0.996506]] 2025-10-28T22:36:18.891Z,1761690978.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523662,0.851868,0.009937],[-0.851496,0.522991,0.037878],[0.027070,-0.028297,0.999233]] 2025-10-28T22:36:19.297Z,1761690979.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546721,0.835224,0.059130],[-0.833933,0.536814,0.128008],[0.075174,-0.119296,0.990009]] 2025-10-28T22:36:19.699Z,1761690979.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554231,0.829198,0.072513],[-0.822858,0.532692,0.197848],[0.125428,-0.169321,0.977547]] 2025-10-28T22:36:20.103Z,1761690980.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528861,0.845825,0.069902],[-0.838237,0.507663,0.199092],[0.132911,-0.163886,0.977485]] 2025-10-28T22:36:20.532Z,1761690980.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536313,0.841544,0.064591],[-0.840704,0.525864,0.129164],[0.074732,-0.123574,0.989517]] 2025-10-28T22:36:20.913Z,1761690980.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535727,0.844146,0.020360],[-0.843105,0.533425,0.068052],[0.046585,-0.053623,0.997474]] 2025-10-28T22:36:21.315Z,1761690981.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540021,0.841245,-0.026143],[-0.836196,0.539793,0.096957],[0.095676,-0.030498,0.994945]] 2025-10-28T22:36:21.718Z,1761690981.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538494,0.840619,-0.058172],[-0.821424,0.539080,0.186159],[0.187848,-0.052461,0.980796]] 2025-10-28T22:36:22.122Z,1761690982.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552903,0.833151,-0.012520],[-0.812063,0.542153,0.215927],[0.186687,-0.109219,0.976329]] 2025-10-28T22:36:22.529Z,1761690982.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560167,0.826753,0.051896],[-0.816241,0.540189,0.204811],[0.141294,-0.157088,0.977425]] 2025-10-28T22:36:22.931Z,1761690982.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543718,0.837271,0.057859],[-0.828295,0.524221,0.197785],[0.135269,-0.155464,0.978536]] 2025-10-28T22:36:23.341Z,1761690983.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581209,0.808781,0.089834],[-0.813591,0.575332,0.084035],[0.016282,-0.121930,0.992405]] 2025-10-28T22:36:23.744Z,1761690983.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561600,0.823197,0.083377],[-0.827152,0.561079,0.031780],[-0.020620,-0.086813,0.996011]] 2025-10-28T22:36:24.156Z,1761690984.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560637,0.826491,0.050985],[-0.828059,0.559735,0.031869],[-0.002199,-0.060085,0.998191]] 2025-10-28T22:36:24.562Z,1761690984.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602920,0.797719,0.011504],[-0.796596,0.601153,0.063640],[0.043851,-0.047534,0.997907]] 2025-10-28T22:36:24.953Z,1761690984.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633211,0.772999,0.038937],[-0.773844,0.633240,0.013138],[-0.014501,-0.038450,0.999155]] 2025-10-28T22:36:25.355Z,1761690985.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628761,0.768545,0.118313],[-0.769510,0.636865,-0.047511],[-0.111863,-0.061170,0.991839]] 2025-10-28T22:36:25.765Z,1761690985.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642497,0.760300,0.095617],[-0.765060,0.643515,0.023893],[-0.043365,-0.088504,0.995131]] 2025-10-28T22:36:26.163Z,1761690986.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621787,0.782374,0.035657],[-0.779725,0.614122,0.121995],[0.073549,-0.103658,0.991890]] 2025-10-28T22:36:26.570Z,1761690986.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626496,0.776391,0.068698],[-0.775888,0.612841,0.149745],[0.074160,-0.147116,0.986335]] 2025-10-28T22:36:26.971Z,1761690986.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672789,0.734780,0.086332],[-0.739261,0.663084,0.117523],[0.029108,-0.142891,0.989310]] 2025-10-28T22:36:27.376Z,1761690987.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674962,0.734753,0.067555],[-0.737789,0.673274,0.048680],[-0.009715,-0.082699,0.996527]] 2025-10-28T22:36:27.782Z,1761690987.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652386,0.756715,0.042122],[-0.757617,0.652629,0.009603],[-0.020223,-0.038178,0.999066]] 2025-10-28T22:36:28.182Z,1761690988.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671182,0.741262,0.006783],[-0.741179,0.670891,0.023647],[0.012978,-0.020899,0.999697]] 2025-10-28T22:36:28.461Z,1761690988.461 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T223627 2025-10-28T22:36:28.586Z,1761690988.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685046,0.728269,-0.018334],[-0.727940,0.685290,0.021932],[0.028537,-0.001678,0.999591]] 2025-10-28T22:36:28.992Z,1761690988.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686953,0.726242,-0.025839],[-0.726348,0.687294,0.006784],[0.022686,0.014107,0.999643]] 2025-10-28T22:36:29.394Z,1761690989.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681147,0.732127,0.005297],[-0.731907,0.680721,0.030519],[0.018738,-0.024665,0.999520]] 2025-10-28T22:36:29.798Z,1761690989.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709087,0.704152,0.036953],[-0.704962,0.706841,0.058340],[0.014961,-0.067419,0.997613]] 2025-10-28T22:36:30.210Z,1761690990.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699639,0.714471,0.006007],[-0.708454,0.692607,0.135601],[0.092722,-0.099127,0.990745]] 2025-10-28T22:36:30.607Z,1761690990.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683137,0.727938,0.058568],[-0.724694,0.665808,0.177535],[0.090239,-0.163724,0.982370]] 2025-10-28T22:36:31.011Z,1761690991.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675723,0.721056,0.153220],[-0.737073,0.657778,0.155086],[0.011041,-0.217730,0.975947]] 2025-10-28T22:36:31.415Z,1761690991.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680034,0.722851,0.122643],[-0.733053,0.667211,0.132150],[0.013696,-0.179770,0.983613]] 2025-10-28T22:36:31.819Z,1761690991.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724529,0.689233,-0.003963],[-0.681738,0.717473,0.143060],[0.101445,-0.100949,0.989706]] 2025-10-28T22:36:32.223Z,1761690992.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743749,0.663244,-0.083336],[-0.660603,0.748331,0.060038],[0.102183,0.010399,0.994711]] 2025-10-28T22:36:32.627Z,1761690992.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708365,0.703205,-0.061001],[-0.703788,0.710252,0.014986],[0.053864,0.032317,0.998025]] 2025-10-28T22:36:33.053Z,1761690993.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705592,0.708236,0.023284],[-0.707606,0.702448,0.076551],[0.037860,-0.070490,0.996794]] 2025-10-28T22:36:33.435Z,1761690993.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720933,0.687597,0.086403],[-0.691344,0.704966,0.158322],[0.047950,-0.173874,0.983600]] 2025-10-28T22:36:33.839Z,1761690993.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701338,0.702795,0.119182],[-0.712023,0.682731,0.164018],[0.033902,-0.199892,0.979231]] 2025-10-28T22:36:34.250Z,1761690994.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708771,0.694471,0.123906],[-0.705204,0.692990,0.149845],[0.018198,-0.193585,0.980915]] 2025-10-28T22:36:34.647Z,1761690994.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744484,0.662259,0.084590],[-0.666917,0.743579,0.048087],[-0.031054,-0.092215,0.995255]] 2025-10-28T22:36:35.055Z,1761690995.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744095,0.667832,-0.017962],[-0.668048,0.743560,-0.028818],[-0.005890,0.033443,0.999423]] 2025-10-28T22:36:35.455Z,1761690995.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721773,0.688120,-0.074396],[-0.690502,0.723271,-0.009252],[0.047442,0.058048,0.997186]] 2025-10-28T22:36:35.858Z,1761690995.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733288,0.679871,0.008006],[-0.679767,0.732826,0.029712],[0.014334,-0.027230,0.999526]] 2025-10-28T22:36:36.262Z,1761690996.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757520,0.649488,0.065791],[-0.652812,0.753628,0.076689],[0.000226,-0.101043,0.994882]] 2025-10-28T22:36:36.620Z,1761690996.620 [DataOverHttps](INFO): Received command: stop 2025-10-28T22:36:36.649Z,1761690996.649 [CommandExec](IMPORTANT): got command stop 2025-10-28T22:36:36.649Z,1761690996.649 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2025-10-28T22:36:36.667Z,1761690996.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775153,0.627158,0.076234],[-0.631474,0.765406,0.124072],[0.019463,-0.144314,0.989340]] 2025-10-28T22:36:36.740Z,1761690996.740 [MissionManager](INFO): MissionManager is completed. 2025-10-28T22:36:36.740Z,1761690996.740 [MissionManager](INFO): Uninitializing Mission run_backseat_on_surface 2025-10-28T22:36:36.740Z,1761690996.740 [run_backseat_on_surface] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface](DEBUG): Aggregate::uninitialize run_backseat_on_surface 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:B] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:C] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:E] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:OceanCurrent] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:OceanCurrent 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:Science:OceanCurrent:A.] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:BackseatDriver] Stopped 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::uninitialize run_backseat_on_surface:BackseatDriver 2025-10-28T22:36:36.741Z,1761690996.741 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:PowerOnly] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::uninitialize run_backseat_on_surface:PowerOnly 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:PowerOnly:E.Wait] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:E.GoToSurface] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:CheckIn] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:CheckIn:C.Wait] Stopped 2025-10-28T22:36:36.742Z,1761690996.742 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:36:37.071Z,1761690997.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739580,0.658600,0.138807],[-0.672593,0.730915,0.115675],[-0.025272,-0.178911,0.983541]] 2025-10-28T22:36:37.091Z,1761690997.091 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-28T22:36:37.091Z,1761690997.091 [DefaultWithUndock] Running Loop=1 2025-10-28T22:36:37.091Z,1761690997.091 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-28T22:36:37.091Z,1761690997.091 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-28T22:36:37.091Z,1761690997.091 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:36:37.474Z,1761690997.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721425,0.673921,0.159302],[-0.690640,0.717014,0.094376],[-0.050620,-0.178106,0.982709]] 2025-10-28T22:36:37.878Z,1761690997.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756825,0.647603,0.088464],[-0.652351,0.756830,0.040588],[-0.040667,-0.088428,0.995252]] 2025-10-28T22:36:38.069Z,1761690998.069 [BackseatComponent](INFO): Sent LCM shutdown request. 2025-10-28T22:36:38.069Z,1761690998.069 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2025-10-28T22:36:38.290Z,1761690998.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774306,0.632810,-0.001619],[-0.631838,0.772970,-0.057430],[-0.035091,0.045491,0.998348]] 2025-10-28T22:36:38.624Z,1761690998.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:36:38.687Z,1761690998.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765885,0.641359,-0.045585],[-0.642695,0.761523,-0.083815],[-0.019041,0.093490,0.995438]] 2025-10-28T22:36:39.091Z,1761690999.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778712,0.626091,-0.040218],[-0.627176,0.778498,-0.024335],[0.016073,0.044174,0.998895]] 2025-10-28T22:36:39.495Z,1761690999.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789550,0.613640,-0.007556],[-0.613253,0.789396,0.027840],[0.023048,-0.017348,0.999584]] 2025-10-28T22:36:39.901Z,1761690999.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759559,0.647210,0.064720],[-0.650394,0.754580,0.087156],[0.007572,-0.108293,0.994090]] 2025-10-28T22:36:40.332Z,1761691000.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743116,0.661381,0.101755],[-0.668679,0.728161,0.150497],[0.025442,-0.179878,0.983360]] 2025-10-28T22:36:40.706Z,1761691000.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754611,0.655079,0.037868],[-0.649532,0.737540,0.184776],[0.093113,-0.164031,0.982051]] 2025-10-28T22:36:41.111Z,1761691001.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778050,0.626716,0.043196],[-0.626800,0.769883,0.120008],[0.041955,-0.120447,0.991833]] 2025-10-28T22:36:41.520Z,1761691001.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783933,0.620237,0.027488],[-0.620846,0.783212,0.033600],[-0.000690,-0.043406,0.999057]] 2025-10-28T22:36:41.920Z,1761691001.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760435,0.648629,-0.031927],[-0.644930,0.760038,0.080052],[0.076190,-0.040284,0.996279]] 2025-10-28T22:36:42.365Z,1761691002.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761115,0.647279,0.041631],[-0.642604,0.743785,0.183967],[0.088114,-0.166772,0.982050]] 2025-10-28T22:36:42.728Z,1761691002.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798370,0.572760,0.185879],[-0.602167,0.759328,0.246608],[0.000105,-0.308815,0.951122]] 2025-10-28T22:36:43.132Z,1761691003.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807600,0.560787,0.182482],[-0.588160,0.788484,0.179893],[-0.043002,-0.252610,0.966612]] 2025-10-28T22:36:43.541Z,1761691003.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837654,0.537254,0.098456],[-0.544344,0.835984,0.069426],[-0.045009,-0.111749,0.992717]] 2025-10-28T22:36:43.941Z,1761691003.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870254,0.491867,-0.026941],[-0.492434,0.867215,-0.073804],[-0.012938,0.077494,0.996909]] 2025-10-28T22:36:44.369Z,1761691004.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839550,0.525350,-0.138431],[-0.541632,0.829218,-0.137955],[0.042314,0.190799,0.980717]] 2025-10-28T22:36:44.759Z,1761691004.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805932,0.580706,-0.115130],[-0.588835,0.806416,-0.054462],[0.061216,0.111685,0.991856]] 2025-10-28T22:36:45.162Z,1761691005.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834662,0.550522,0.016260],[-0.550759,0.834200,0.027845],[0.001765,-0.032197,0.999480]] 2025-10-28T22:36:45.566Z,1761691005.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856067,0.509452,0.087221],[-0.515597,0.853530,0.075133],[-0.036170,-0.109290,0.993352]] 2025-10-28T22:36:45.970Z,1761691005.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873823,0.483407,0.052440],[-0.486162,0.866607,0.112421],[0.008900,-0.123731,0.992276]] 2025-10-28T22:36:46.378Z,1761691006.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880188,0.474593,0.005605],[-0.473195,0.876556,0.087958],[0.036831,-0.080071,0.996108]] 2025-10-28T22:36:46.780Z,1761691006.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874030,0.484615,-0.034924],[-0.479730,0.872142,0.096058],[0.077009,-0.067203,0.994763]] 2025-10-28T22:36:47.182Z,1761691007.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851826,0.522956,-0.030148],[-0.515463,0.847082,0.129417],[0.093217,-0.094700,0.991132]] 2025-10-28T22:36:47.587Z,1761691007.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856233,0.516149,0.021320],[-0.514870,0.849293,0.116664],[0.042109,-0.110869,0.992943]] 2025-10-28T22:36:47.736Z,1761691007.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:36:47.990Z,1761691007.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868321,0.495709,0.017073],[-0.495582,0.865654,0.071009],[0.020421,-0.070120,0.997330]] 2025-10-28T22:36:48.396Z,1761691008.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862081,0.506134,-0.025387],[-0.505874,0.862454,0.016261],[0.030125,-0.001176,0.999545]] 2025-10-28T22:36:48.798Z,1761691008.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855001,0.516132,-0.050801],[-0.516267,0.856351,0.011442],[0.049409,0.016444,0.998643]] 2025-10-28T22:36:49.202Z,1761691009.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864820,0.497538,-0.067394],[-0.498560,0.866853,0.001906],[0.059370,0.031951,0.997725]] 2025-10-28T22:36:49.606Z,1761691009.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869683,0.493227,-0.019460],[-0.493602,0.869229,-0.028241],[0.002987,0.034166,0.999412]] 2025-10-28T22:36:50.017Z,1761691010.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879248,0.475240,0.032699],[-0.474744,0.879848,-0.022061],[-0.039254,0.003873,0.999222]] 2025-10-28T22:36:50.415Z,1761691010.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874556,0.484925,0.000316],[-0.484148,0.873118,0.057137],[0.027431,-0.050122,0.998366]] 2025-10-28T22:36:50.818Z,1761691010.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860223,0.509378,-0.023479],[-0.503681,0.855978,0.116644],[0.079513,-0.088514,0.992896]] 2025-10-28T22:36:51.223Z,1761691011.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856704,0.515804,0.002317],[-0.513313,0.852109,0.102077],[0.050678,-0.088639,0.994774]] 2025-10-28T22:36:51.627Z,1761691011.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870195,0.492547,0.012591],[-0.492630,0.869316,0.040072],[0.008792,-0.041073,0.999117]] 2025-10-28T22:36:52.036Z,1761691012.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887669,0.460419,-0.007585],[-0.459533,0.884663,-0.078746],[-0.029546,0.073386,0.996866]] 2025-10-28T22:36:52.435Z,1761691012.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908525,0.414686,-0.051156],[-0.417548,0.896582,-0.147633],[-0.015356,0.155489,0.987718]] 2025-10-28T22:36:52.839Z,1761691012.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912752,0.398459,-0.090076],[-0.407374,0.904262,-0.127894],[0.030491,0.153430,0.987689]] 2025-10-28T22:36:53.243Z,1761691013.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897264,0.421164,-0.132430],[-0.422392,0.906191,0.020066],[0.128458,0.037933,0.990989]] 2025-10-28T22:36:53.647Z,1761691013.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851534,0.509359,-0.124271],[-0.472007,0.847946,0.241239],[0.228253,-0.146766,0.962476]] 2025-10-28T22:36:54.051Z,1761691014.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835026,0.548768,0.039815],[-0.534009,0.790883,0.298895],[0.132534,-0.270847,0.953455]] 2025-10-28T22:36:54.454Z,1761691014.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830966,0.528859,0.172635],[-0.554894,0.810140,0.189119],[-0.039841,-0.252946,0.966660]] 2025-10-28T22:36:54.860Z,1761691014.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832419,0.540306,0.123077],[-0.549359,0.833748,0.055400],[-0.072682,-0.113729,0.990850]] 2025-10-28T22:36:55.262Z,1761691015.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839157,0.543319,-0.024916],[-0.543829,0.837498,-0.053352],[-0.008120,0.058321,0.998265]] 2025-10-28T22:36:55.666Z,1761691015.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846428,0.521086,-0.109673],[-0.532048,0.836079,-0.133778],[0.021986,0.171585,0.984924]] 2025-10-28T22:36:56.070Z,1761691016.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840219,0.529296,-0.117802],[-0.541346,0.831307,-0.125990],[0.031244,0.169631,0.985012]] 2025-10-28T22:36:56.244Z,1761691016.244 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2025-10-28T22:36:56.245Z,1761691016.245 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2025-10-28T22:36:56.245Z,1761691016.245 [LcmPublisher](INFO): Deactivating messaging. 2025-10-28T22:36:56.284Z,1761691016.284 [DAT](INFO): Deactivating messaging. 2025-10-28T22:36:56.474Z,1761691016.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819873,0.561207,-0.113375],[-0.564077,0.825683,0.008007],[0.098106,0.057388,0.993520]] 2025-10-28T22:36:56.488Z,1761691016.488 [WetLabsBB2FL](INFO): Powering down 2025-10-28T22:36:56.552Z,1761691016.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:36:56.878Z,1761691016.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817237,0.575044,-0.038051],[-0.567840,0.814754,0.117191],[0.098393,-0.074166,0.992380]] 2025-10-28T22:36:57.283Z,1761691017.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818381,0.563096,0.114786],[-0.571208,0.818962,0.054987],[-0.063042,-0.110567,0.991867]] 2025-10-28T22:36:57.689Z,1761691017.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815430,0.559205,0.149545],[-0.567577,0.823149,0.016791],[-0.113708,-0.098570,0.988612]] 2025-10-28T22:36:58.091Z,1761691018.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813238,0.581927,0.002180],[-0.581880,0.813113,0.016220],[0.007666,-0.014460,0.999866]] 2025-10-28T22:36:58.495Z,1761691018.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790223,0.604172,-0.102588],[-0.611020,0.789604,-0.056395],[0.046932,0.107248,0.993124]] 2025-10-28T22:36:58.899Z,1761691018.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785321,0.605590,-0.128577],[-0.617558,0.780895,-0.093944],[0.043514,0.153180,0.987240]] 2025-10-28T22:36:59.304Z,1761691019.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766125,0.631074,-0.121646],[-0.639955,0.766522,-0.053871],[0.059248,0.119120,0.991111]] 2025-10-28T22:36:59.706Z,1761691019.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766271,0.641342,-0.038849],[-0.641883,0.766800,-0.001914],[0.028562,0.026403,0.999243]] 2025-10-28T22:37:00.111Z,1761691020.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767031,0.641336,0.018753],[-0.641552,0.766242,0.035832],[0.008611,-0.039516,0.999182]] 2025-10-28T22:37:00.514Z,1761691020.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729285,0.678267,0.089985],[-0.683999,0.725990,0.071296],[-0.016970,-0.113545,0.993388]] 2025-10-28T22:37:00.919Z,1761691020.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699315,0.696514,0.160709],[-0.712694,0.696694,0.081760],[-0.055018,-0.171712,0.983610]] 2025-10-28T22:37:01.325Z,1761691021.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714752,0.691543,0.104392],[-0.699109,0.710614,0.079210],[-0.019405,-0.129597,0.991377]] 2025-10-28T22:37:01.726Z,1761691021.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737684,0.675091,0.008638],[-0.675048,0.737298,0.026506],[0.011525,-0.025384,0.999611]] 2025-10-28T22:37:02.130Z,1761691022.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729749,0.683475,0.018087],[-0.681803,0.729431,-0.055447],[-0.051090,0.028130,0.998298]] 2025-10-28T22:37:02.535Z,1761691022.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709370,0.703831,0.037629],[-0.702820,0.710368,-0.037699],[-0.053264,0.000296,0.998580]] 2025-10-28T22:37:02.941Z,1761691022.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723428,0.689742,0.030132],[-0.687868,0.716355,0.116928],[0.059065,-0.105316,0.992683]] 2025-10-28T22:37:03.343Z,1761691023.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687185,0.725591,0.035986],[-0.715187,0.666968,0.208952],[0.127612,-0.169325,0.977264]] 2025-10-28T22:37:03.747Z,1761691023.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667060,0.743924,0.040096],[-0.738718,0.653496,0.165045],[0.096578,-0.139714,0.985471]] 2025-10-28T22:37:04.152Z,1761691024.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676053,0.736387,-0.026185],[-0.734221,0.676214,0.060449],[0.062220,-0.021641,0.997828]] 2025-10-28T22:37:04.556Z,1761691024.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670123,0.732658,-0.118946],[-0.735646,0.676906,0.024950],[0.098795,0.070782,0.992587]] 2025-10-28T22:37:04.959Z,1761691024.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624034,0.761777,-0.174003],[-0.771327,0.636160,0.018841],[0.125047,0.122456,0.984565]] 2025-10-28T22:37:05.364Z,1761691025.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593065,0.798965,-0.099638],[-0.802145,0.596996,0.012596],[0.069548,0.072454,0.994944]] 2025-10-28T22:37:05.766Z,1761691025.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580467,0.813984,0.022089],[-0.813614,0.578677,0.056261],[0.033014,-0.050629,0.998172]] 2025-10-28T22:37:06.172Z,1761691026.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564237,0.822974,0.065953],[-0.820614,0.550250,0.154330],[0.090719,-0.141200,0.985816]] 2025-10-28T22:37:06.574Z,1761691026.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561031,0.823740,0.081833],[-0.822446,0.543456,0.168038],[0.093947,-0.161578,0.982378]] 2025-10-28T22:37:06.979Z,1761691026.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547552,0.833990,0.068176],[-0.835085,0.539461,0.107772],[0.053102,-0.115944,0.991835]] 2025-10-28T22:37:07.389Z,1761691027.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478220,0.878165,-0.011524],[-0.868805,0.474960,0.139968],[0.128388,-0.056923,0.990089]] 2025-10-28T22:37:07.403Z,1761691027.403 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-28T22:37:07.403Z,1761691027.403 [DefaultWithUndock:A.Wait] Stopped 2025-10-28T22:37:07.403Z,1761691027.403 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T22:37:07.404Z,1761691027.404 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T22:37:07.795Z,1761691027.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492938,0.870021,-0.008690],[-0.857244,0.487358,0.166179],[0.148815,-0.074466,0.986057]] 2025-10-28T22:37:07.809Z,1761691027.809 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T22:37:07.809Z,1761691027.809 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T22:37:07.810Z,1761691027.810 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.134955 m. 2025-10-28T22:37:07.811Z,1761691027.811 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-28T22:37:07.811Z,1761691027.811 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T22:37:08.195Z,1761691028.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493098,0.869961,-0.004590],[-0.864462,0.490560,0.109802],[0.097776,-0.050175,0.993943]] 2025-10-28T22:37:08.218Z,1761691028.218 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-28T22:37:08.599Z,1761691028.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493871,0.869022,0.029865],[-0.869391,0.492873,0.035139],[0.015817,-0.043318,0.998936]] 2025-10-28T22:37:08.645Z,1761691028.645 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-28T22:37:08.761Z,1761691028.761 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-28T22:37:09.001Z,1761691029.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503854,0.862375,0.049407],[-0.863734,0.503641,0.017581],[-0.009722,-0.051533,0.998624]] 2025-10-28T22:37:09.404Z,1761691029.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484425,0.874404,0.027378],[-0.873912,0.482243,0.060990],[0.040127,-0.053471,0.997763]] 2025-10-28T22:37:09.806Z,1761691029.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477293,0.876029,0.069028],[-0.877118,0.470161,0.098043],[0.053434,-0.107342,0.992785]] 2025-10-28T22:37:10.210Z,1761691030.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479000,0.865224,0.148144],[-0.877791,0.470872,0.088105],[0.006474,-0.172242,0.985033]] 2025-10-28T22:37:10.615Z,1761691030.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474943,0.862878,0.172830],[-0.879942,0.463096,0.106039],[0.011462,-0.202443,0.979227]] 2025-10-28T22:37:11.020Z,1761691031.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481863,0.862360,0.155379],[-0.876025,0.470124,0.107532],[0.019684,-0.187931,0.981985]] 2025-10-28T22:37:11.422Z,1761691031.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447861,0.891575,0.067189],[-0.889765,0.437034,0.131604],[0.087970,-0.118723,0.989023]] 2025-10-28T22:37:11.826Z,1761691031.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425073,0.904747,0.027300],[-0.894731,0.415420,0.163959],[0.137001,-0.094120,0.986089]] 2025-10-28T22:37:12.232Z,1761691032.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495875,0.865399,0.072057],[-0.867536,0.489992,0.085373],[0.038574,-0.104847,0.993740]] 2025-10-28T22:37:12.283Z,1761691032.283 [DockingStepper](INFO): Changing to mode: 1 2025-10-28T22:37:12.636Z,1761691032.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509030,0.848469,0.144876],[-0.855818,0.516884,-0.020176],[-0.092003,-0.113717,0.989244]] 2025-10-28T22:37:13.039Z,1761691033.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524124,0.840713,0.135998],[-0.849753,0.526880,0.017804],[-0.056687,-0.124896,0.990549]] 2025-10-28T22:37:13.443Z,1761691033.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530945,0.845955,0.049574],[-0.845523,0.524960,0.097511],[0.056465,-0.093688,0.993999]] 2025-10-28T22:37:13.847Z,1761691033.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546612,0.837046,0.023863],[-0.833940,0.541559,0.106101],[0.075889,-0.077896,0.994069]] 2025-10-28T22:37:14.253Z,1761691034.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517373,0.855161,0.032007],[-0.852104,0.511349,0.111534],[0.079013,-0.084978,0.993245]] 2025-10-28T22:37:14.655Z,1761691034.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479045,0.873158,0.090058],[-0.877440,0.473426,0.077250],[0.024816,-0.116026,0.992936]] 2025-10-28T22:37:15.059Z,1761691035.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528408,0.845338,0.078669],[-0.848724,0.528292,0.023995],[-0.021277,-0.079447,0.996612]] 2025-10-28T22:37:15.463Z,1761691035.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553749,0.832677,0.003321],[-0.832151,0.553532,-0.033576],[-0.029797,0.015829,0.999431]] 2025-10-28T22:37:15.868Z,1761691035.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545733,0.837076,-0.038464],[-0.837708,0.546118,-0.000607],[0.020497,0.032553,0.999260]] 2025-10-28T22:37:16.271Z,1761691036.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544720,0.838519,-0.012873],[-0.837727,0.544785,0.037729],[0.038649,-0.009767,0.999205]] 2025-10-28T22:37:16.674Z,1761691036.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542185,0.838343,0.056718],[-0.840244,0.541348,0.030546],[-0.005096,-0.064218,0.997923]] 2025-10-28T22:37:17.079Z,1761691037.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547023,0.833118,0.081729],[-0.837028,0.542927,0.067924],[0.012216,-0.105565,0.994337]] 2025-10-28T22:37:17.484Z,1761691037.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566299,0.816821,0.110037],[-0.823738,0.556445,0.108747],[0.027597,-0.152225,0.987961]] 2025-10-28T22:37:17.888Z,1761691037.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546524,0.820805,0.166105],[-0.837406,0.537516,0.099133],[-0.007915,-0.193276,0.981112]] 2025-10-28T22:37:18.310Z,1761691038.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550259,0.817454,0.170248],[-0.834502,0.545383,0.078513],[-0.028670,-0.185275,0.982268]] 2025-10-28T22:37:18.694Z,1761691038.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573236,0.808347,0.134075],[-0.817804,0.574593,0.032253],[-0.050967,-0.128135,0.990446]] 2025-10-28T22:37:19.099Z,1761691039.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601466,0.793287,0.094520],[-0.796307,0.604826,-0.008985],[-0.064296,-0.069863,0.995482]] 2025-10-28T22:37:19.504Z,1761691039.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627101,0.778886,-0.008997],[-0.778551,0.627111,0.024306],[0.024573,-0.008238,0.999664]] 2025-10-28T22:37:19.906Z,1761691039.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600445,0.794535,-0.090436],[-0.792230,0.606432,0.067902],[0.108794,0.030875,0.993585]] 2025-10-28T22:37:20.343Z,1761691040.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577866,0.814412,-0.052948],[-0.809047,0.580173,0.094033],[0.107301,-0.011501,0.994160]] 2025-10-28T22:37:20.715Z,1761691040.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595602,0.801948,0.046237],[-0.799905,0.586846,0.125550],[0.073551,-0.111763,0.991009]] 2025-10-28T22:37:21.121Z,1761691041.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603057,0.782134,0.156808],[-0.797457,0.595946,0.094401],[-0.019614,-0.181977,0.983107]] 2025-10-28T22:37:21.522Z,1761691041.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586373,0.792077,0.169650],[-0.808863,0.583826,0.069908],[-0.043674,-0.178216,0.983022]] 2025-10-28T22:37:21.926Z,1761691041.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590009,0.800798,0.103015],[-0.806647,0.579148,0.117935],[0.034781,-0.152679,0.987664]] 2025-10-28T22:37:22.362Z,1761691042.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578981,0.812289,0.070484],[-0.814921,0.573742,0.081997],[0.026166,-0.104914,0.994137]] 2025-10-28T22:37:22.735Z,1761691042.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563196,0.823136,0.072504],[-0.825057,0.565020,-0.005784],[-0.045728,-0.056562,0.997351]] 2025-10-28T22:37:23.140Z,1761691043.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580860,0.811980,0.057362],[-0.810948,0.583341,-0.045576],[-0.070468,-0.020044,0.997313]] 2025-10-28T22:37:23.542Z,1761691043.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616575,0.786537,-0.034555],[-0.785757,0.617520,0.035427],[0.049203,0.005308,0.998775]] 2025-10-28T22:37:23.946Z,1761691043.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596688,0.795941,-0.102186],[-0.788235,0.605210,0.111379],[0.150495,0.014088,0.988510]] 2025-10-28T22:37:24.366Z,1761691044.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576633,0.816425,-0.030743],[-0.812187,0.576907,0.086774],[0.088580,-0.025068,0.995754]] 2025-10-28T22:37:24.756Z,1761691044.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568279,0.820995,0.055010],[-0.821580,0.562449,0.093048],[0.045451,-0.098072,0.994141]] 2025-10-28T22:37:25.158Z,1761691045.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569098,0.815784,0.103073],[-0.821397,0.558237,0.116957],[0.037872,-0.151224,0.987774]] 2025-10-28T22:37:25.579Z,1761691045.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579146,0.802317,0.144491],[-0.815133,0.567260,0.117364],[0.012199,-0.185750,0.982521]] 2025-10-28T22:37:25.968Z,1761691045.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544960,0.824773,0.150888],[-0.838434,0.534584,0.106056],[0.006810,-0.184306,0.982845]] 2025-10-28T22:37:26.376Z,1761691046.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513901,0.846024,0.141946],[-0.857520,0.502032,0.112357],[0.023795,-0.179462,0.983477]] 2025-10-28T22:37:26.775Z,1761691046.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563230,0.817238,0.122043],[-0.826295,0.557599,0.079504],[-0.003077,-0.145623,0.989335]] 2025-10-28T22:37:27.182Z,1761691047.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600919,0.795488,0.078068],[-0.798403,0.602019,0.011225],[-0.038069,-0.069075,0.996885]] 2025-10-28T22:37:27.584Z,1761691047.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548087,0.835169,0.045764],[-0.834580,0.549690,-0.036309],[-0.055480,-0.018293,0.998292]] 2025-10-28T22:37:27.988Z,1761691047.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490175,0.869700,0.057883],[-0.871585,0.489702,0.023066],[-0.008285,-0.061757,0.998057]] 2025-10-28T22:37:28.180Z,1761691048.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:37:28.390Z,1761691048.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523201,0.846945,0.094581],[-0.852069,0.517869,0.076096],[0.015468,-0.120403,0.992605]] 2025-10-28T22:37:28.432Z,1761691048.432 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1995.40 m. Transitioning docking module to standby. 2025-10-28T22:37:28.794Z,1761691048.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558590,0.819200,0.129954],[-0.826215,0.563354,0.000121],[-0.073111,-0.107437,0.991520]] 2025-10-28T22:37:28.810Z,1761691048.810 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-28T22:37:29.199Z,1761691049.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578759,0.812413,0.070878],[-0.814993,0.579271,0.015197],[-0.028711,-0.066561,0.997369]] 2025-10-28T22:37:29.213Z,1761691049.213 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:LeaveDock] Stopped 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-28T22:37:29.214Z,1761691049.214 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T22:37:29.215Z,1761691049.215 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T22:37:29.215Z,1761691049.215 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T22:37:29.215Z,1761691049.215 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T22:37:29.216Z,1761691049.216 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T22:37:29.216Z,1761691049.216 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T22:37:29.217Z,1761691049.217 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T22:37:29.604Z,1761691049.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603155,0.797620,0.002374],[-0.793746,0.599927,0.100280],[0.078561,-0.062369,0.994956]] 2025-10-28T22:37:29.620Z,1761691049.620 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-28T22:37:29.620Z,1761691049.620 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:37:29.621Z,1761691049.621 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T22:37:30.006Z,1761691050.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641357,0.765040,0.058094],[-0.765768,0.633594,0.110260],[0.047546,-0.115203,0.992204]] 2025-10-28T22:37:30.410Z,1761691050.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640150,0.757934,0.125477],[-0.768105,0.628264,0.123687],[0.014914,-0.175558,0.984356]] 2025-10-28T22:37:30.815Z,1761691050.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584894,0.784799,0.204914],[-0.810593,0.556538,0.182223],[0.028966,-0.272682,0.961668]] 2025-10-28T22:37:31.220Z,1761691051.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572823,0.771632,0.276512],[-0.819595,0.534360,0.206696],[0.011736,-0.345028,0.938519]] 2025-10-28T22:37:31.622Z,1761691051.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621872,0.757316,0.199368],[-0.782629,0.610013,0.124003],[-0.027707,-0.233145,0.972047]] 2025-10-28T22:37:31.633Z,1761691051.633 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223730.00,A,3645.14738,N,12151.95545,W,0.952,129.86,281025,,,D*7B 2025-10-28T22:37:31.635Z,1761691051.635 [NAL9602](INFO): GPS fix at 20251028T223730: (36.752456, -121.865924) 2025-10-28T22:37:31.648Z,1761691051.648 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T22:37:31.648Z,1761691051.648 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T22:37:32.026Z,1761691052.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688117,0.725596,-0.002400],[-0.725599,0.688117,-0.001005],[0.000923,0.002433,0.999997]] 2025-10-28T22:37:32.431Z,1761691052.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649775,0.739290,-0.176754],[-0.756152,0.652407,-0.050977],[0.077629,0.166777,0.982934]] 2025-10-28T22:37:32.835Z,1761691052.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613943,0.780677,-0.116693],[-0.789297,0.608878,-0.079230],[0.009199,0.140748,0.990003]] 2025-10-28T22:37:33.239Z,1761691053.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598691,0.798273,0.065797],[-0.796799,0.601936,-0.052779],[-0.081737,-0.020829,0.996436]] 2025-10-28T22:37:33.644Z,1761691053.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575811,0.794955,0.191020],[-0.815865,0.573838,0.071241],[-0.052981,-0.196868,0.978998]] 2025-10-28T22:37:34.049Z,1761691054.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591487,0.787726,0.172136],[-0.803159,0.556723,0.212120],[0.071261,-0.263719,0.961964]] 2025-10-28T22:37:34.450Z,1761691054.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631706,0.764592,0.127851],[-0.768972,0.597167,0.228199],[0.098131,-0.242468,0.965184]] 2025-10-28T22:37:34.854Z,1761691054.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628628,0.769784,0.110723],[-0.775750,0.610565,0.159445],[0.055135,-0.186125,0.980978]] 2025-10-28T22:37:35.259Z,1761691055.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600591,0.793716,0.096467],[-0.793790,0.577439,0.190952],[0.095858,-0.191258,0.976848]] 2025-10-28T22:37:35.663Z,1761691055.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637164,0.751874,0.169433],[-0.768340,0.602359,0.216372],[0.060626,-0.268046,0.961497]] 2025-10-28T22:37:36.066Z,1761691056.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673221,0.714522,0.190347],[-0.739114,0.657899,0.144493],[-0.021985,-0.237964,0.971025]] 2025-10-28T22:37:36.470Z,1761691056.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667417,0.737099,0.106022],[-0.744236,0.665161,0.060609],[-0.025847,-0.119357,0.992515]] 2025-10-28T22:37:36.877Z,1761691056.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647006,0.760531,0.054556],[-0.761279,0.648349,-0.009846],[-0.042860,-0.035162,0.998462]] 2025-10-28T22:37:37.281Z,1761691057.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660900,0.750388,0.011405],[-0.750026,0.660953,-0.024537],[-0.025950,0.007663,0.999634]] 2025-10-28T22:37:37.682Z,1761691057.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695902,0.715501,-0.061475],[-0.714982,0.698317,0.033972],[0.067236,0.020312,0.997530]] 2025-10-28T22:37:38.086Z,1761691058.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708232,0.703311,-0.061327],[-0.704709,0.709494,-0.001680],[0.042330,0.044407,0.998116]] 2025-10-28T22:37:38.491Z,1761691058.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703471,0.710723,-0.000900],[-0.709364,0.702047,-0.062700],[-0.043931,0.044746,0.998032]] 2025-10-28T22:37:38.897Z,1761691058.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704792,0.709414,-0.000041],[-0.709413,0.704790,0.002166],[0.001566,-0.001497,0.999998]] 2025-10-28T22:37:39.298Z,1761691059.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704678,0.708460,-0.038906],[-0.700594,0.703432,0.119800],[0.112242,-0.057163,0.992035]] 2025-10-28T22:37:39.702Z,1761691059.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704259,0.709902,-0.007654],[-0.699460,0.695665,0.163725],[0.121553,-0.109951,0.986476]] 2025-10-28T22:37:40.107Z,1761691060.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711061,0.702436,0.031242],[-0.697775,0.699476,0.154413],[0.086612,-0.131598,0.987512]] 2025-10-28T22:37:40.513Z,1761691060.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699356,0.714200,0.028637],[-0.712051,0.692639,0.115037],[0.062324,-0.100842,0.992948]] 2025-10-28T22:37:40.915Z,1761691060.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699318,0.714092,-0.032046],[-0.704250,0.695971,0.140201],[0.122420,-0.075477,0.989604]] 2025-10-28T22:37:41.318Z,1761691061.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712918,0.697169,-0.075521],[-0.679898,0.713565,0.169008],[0.171716,-0.069142,0.982717]] 2025-10-28T22:37:41.722Z,1761691061.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716546,0.694932,-0.060257],[-0.684651,0.717207,0.129876],[0.133471,-0.051807,0.989698]] 2025-10-28T22:37:42.127Z,1761691062.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729999,0.679228,-0.075837],[-0.669953,0.733107,0.117116],[0.135145,-0.034687,0.990218]] 2025-10-28T22:37:42.530Z,1761691062.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729146,0.667242,-0.152099],[-0.643505,0.744111,0.179441],[0.232909,-0.032962,0.971940]] 2025-10-28T22:37:42.935Z,1761691062.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657882,0.726904,-0.196981],[-0.682419,0.686011,0.252374],[0.318583,-0.031608,0.947368]] 2025-10-28T22:37:43.339Z,1761691063.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611869,0.785075,-0.096298],[-0.744916,0.612897,0.263547],[0.265925,-0.089522,0.959828]] 2025-10-28T22:37:43.744Z,1761691063.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648883,0.758489,0.060377],[-0.752166,0.627442,0.201403],[0.114878,-0.176101,0.977646]] 2025-10-28T22:37:44.147Z,1761691064.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669293,0.739844,0.068389],[-0.742537,0.662793,0.096671],[0.026194,-0.115483,0.992964]] 2025-10-28T22:37:44.551Z,1761691064.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634408,0.772890,-0.012955],[-0.770802,0.633779,0.064712],[0.058226,-0.031068,0.997820]] 2025-10-28T22:37:44.955Z,1761691064.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608097,0.793013,-0.036719],[-0.788253,0.608643,0.090616],[0.094208,-0.026159,0.995209]] 2025-10-28T22:37:45.360Z,1761691065.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621660,0.782808,0.027390],[-0.781530,0.617545,0.088596],[0.052440,-0.076483,0.995691]] 2025-10-28T22:37:45.762Z,1761691065.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614722,0.787070,0.051368],[-0.787394,0.608558,0.098320],[0.046124,-0.100887,0.993828]] 2025-10-28T22:37:45.780Z,1761691065.780 [NAL9602](INFO): SBD MO Status=0, MOMSN=3380, MT Status=0, MTMSN=0 2025-10-28T22:37:45.780Z,1761691065.780 [NAL9602](INFO): No messages in MT queue 2025-10-28T22:37:46.166Z,1761691066.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592434,0.800872,0.087330],[-0.804115,0.581221,0.124825],[0.049210,-0.144173,0.988328]] 2025-10-28T22:37:46.570Z,1761691066.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575507,0.796609,0.184947],[-0.815829,0.574927,0.062301],[-0.056701,-0.186740,0.980772]] 2025-10-28T22:37:46.977Z,1761691066.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594639,0.779123,0.198422],[-0.792676,0.609397,-0.017331],[-0.134421,-0.146979,0.979963]] 2025-10-28T22:37:47.379Z,1761691067.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624909,0.775833,0.087022],[-0.776554,0.629187,-0.032966],[-0.080329,-0.046976,0.995661]] 2025-10-28T22:37:47.782Z,1761691067.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599959,0.798701,-0.046095],[-0.797993,0.601547,0.036728],[0.057063,0.014749,0.998262]] 2025-10-28T22:37:48.186Z,1761691068.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567730,0.820398,-0.068039],[-0.818127,0.571466,0.063991],[0.091380,0.019335,0.995628]] 2025-10-28T22:37:48.592Z,1761691068.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563594,0.826014,0.007983],[-0.824865,0.562240,0.059029],[0.044270,-0.039853,0.998224]] 2025-10-28T22:37:48.995Z,1761691068.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567561,0.821526,0.054497],[-0.821925,0.561482,0.095798],[0.048102,-0.099163,0.993908]] 2025-10-28T22:37:49.398Z,1761691069.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544212,0.834738,0.083944],[-0.837184,0.533857,0.118829],[0.054377,-0.134944,0.989360]] 2025-10-28T22:37:49.803Z,1761691069.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544999,0.834482,0.081332],[-0.835558,0.532535,0.135092],[0.069420,-0.141582,0.987489]] 2025-10-28T22:37:50.208Z,1761691070.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552073,0.832498,0.046509],[-0.828695,0.541680,0.140878],[0.092088,-0.116317,0.988934]] 2025-10-28T22:37:50.611Z,1761691070.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531440,0.847096,-0.000292],[-0.836605,0.524912,0.156716],[0.132907,-0.083041,0.987644]] 2025-10-28T22:37:51.015Z,1761691071.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522386,0.851814,-0.039060],[-0.833790,0.519855,0.185863],[0.178626,-0.064524,0.981799]] 2025-10-28T22:37:51.419Z,1761691071.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546609,0.835544,-0.055547],[-0.816842,0.546627,0.184305],[0.184358,-0.055370,0.981298]] 2025-10-28T22:37:51.824Z,1761691071.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555740,0.830915,-0.027073],[-0.819678,0.553081,0.149095],[0.138859,-0.060667,0.988452]] 2025-10-28T22:37:52.227Z,1761691072.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536455,0.843849,0.011557],[-0.836404,0.529798,0.140510],[0.112446,-0.085044,0.990012]] 2025-10-28T22:37:52.638Z,1761691072.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523243,0.850703,-0.050205],[-0.800120,0.510699,0.314633],[0.293299,-0.124459,0.947885]] 2025-10-28T22:37:53.040Z,1761691073.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519287,0.852142,-0.064768],[-0.784221,0.505269,0.360140],[0.339616,-0.136224,0.930647]] 2025-10-28T22:37:53.444Z,1761691073.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515751,0.854887,-0.056301],[-0.812017,0.508726,0.286052],[0.273184,-0.101814,0.956559]] 2025-10-28T22:37:53.848Z,1761691073.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506699,0.861501,-0.032748],[-0.845055,0.503830,0.178990],[0.170700,-0.063020,0.983306]] 2025-10-28T22:37:54.251Z,1761691074.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492234,0.870348,-0.014160],[-0.856677,0.487258,0.169360],[0.154302,-0.071234,0.985452]] 2025-10-28T22:37:54.652Z,1761691074.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504261,0.863524,-0.006867],[-0.841763,0.493298,0.219298],[0.192756,-0.104803,0.975634]] 2025-10-28T22:37:55.054Z,1761691075.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516965,0.854528,-0.050300],[-0.829930,0.514744,0.215070],[0.209675,-0.069438,0.975302]] 2025-10-28T22:37:55.458Z,1761691075.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522437,0.850036,-0.067073],[-0.833965,0.525777,0.167513],[0.177658,-0.031578,0.983585]] 2025-10-28T22:37:55.863Z,1761691075.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522602,0.850411,-0.060738],[-0.842385,0.526025,0.116980],[0.131431,-0.009968,0.991275]] 2025-10-28T22:37:56.268Z,1761691076.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486727,0.872030,-0.051571],[-0.861455,0.488940,0.137235],[0.144889,-0.022370,0.989195]] 2025-10-28T22:37:56.299Z,1761691076.299 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.748940 2025-10-28T22:37:56.670Z,1761691076.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468876,0.883207,-0.009999],[-0.860577,0.459353,0.220004],[0.198902,-0.094549,0.975448]] 2025-10-28T22:37:57.074Z,1761691077.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511300,0.858729,0.034010],[-0.834889,0.486943,0.256606],[0.203794,-0.159597,0.965918]] 2025-10-28T22:37:57.479Z,1761691077.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553850,0.830033,0.065532],[-0.823535,0.534517,0.189950],[0.122637,-0.159172,0.979604]] 2025-10-28T22:37:57.884Z,1761691077.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529567,0.845684,0.066161],[-0.846040,0.520917,0.113409],[0.061444,-0.116032,0.991343]] 2025-10-28T22:37:58.290Z,1761691078.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515848,0.855731,0.040311],[-0.851457,0.506947,0.134259],[0.094454,-0.103580,0.990126]] 2025-10-28T22:37:58.690Z,1761691078.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550831,0.834527,-0.012236],[-0.808985,0.537463,0.238069],[0.205251,-0.121237,0.971171]] 2025-10-28T22:37:59.094Z,1761691079.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582848,0.811079,-0.049394],[-0.782890,0.576794,0.233220],[0.217649,-0.097262,0.971169]] 2025-10-28T22:37:59.499Z,1761691079.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583733,0.811461,0.028048],[-0.807621,0.576717,0.123068],[0.083689,-0.094491,0.992002]] 2025-10-28T22:37:59.902Z,1761691079.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575553,0.808010,0.125931],[-0.817470,0.572620,0.062050],[-0.021974,-0.138658,0.990096]] 2025-10-28T22:38:00.347Z,1761691080.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563641,0.806622,0.177962],[-0.825073,0.560085,0.074558],[-0.039534,-0.188856,0.981209]] 2025-10-28T22:38:00.711Z,1761691080.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601140,0.782450,0.162489],[-0.798965,0.592760,0.101449],[-0.016938,-0.190807,0.981481]] 2025-10-28T22:38:01.116Z,1761691081.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623116,0.771603,0.127893],[-0.782031,0.617252,0.086185],[-0.012441,-0.153720,0.988036]] 2025-10-28T22:38:01.519Z,1761691081.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630178,0.770593,0.095192],[-0.776280,0.627857,0.056434],[-0.016280,-0.109459,0.993858]] 2025-10-28T22:38:01.923Z,1761691081.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660991,0.748517,0.053041],[-0.749672,0.661803,0.002943],[-0.032900,-0.041709,0.998588]] 2025-10-28T22:38:02.359Z,1761691082.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671210,0.740757,-0.027492],[-0.741172,0.671257,-0.008862],[0.011889,0.026325,0.999583]] 2025-10-28T22:38:02.732Z,1761691082.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672006,0.737810,-0.063597],[-0.734825,0.675005,0.066332],[0.091869,0.002157,0.995769]] 2025-10-28T22:38:03.134Z,1761691083.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672312,0.740074,0.016949],[-0.736890,0.666884,0.110720],[0.070638,-0.086928,0.993707]] 2025-10-28T22:38:03.539Z,1761691083.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667375,0.736365,0.111252],[-0.744347,0.654812,0.131028],[0.023636,-0.170255,0.985117]] 2025-10-28T22:38:03.944Z,1761691083.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697303,0.700163,0.153429],[-0.716776,0.680959,0.150086],[0.000605,-0.214630,0.976695]] 2025-10-28T22:38:04.368Z,1761691084.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706697,0.702064,0.087671],[-0.707216,0.697339,0.116468],[0.020631,-0.144310,0.989317]] 2025-10-28T22:38:04.750Z,1761691084.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698344,0.715245,0.027215],[-0.715733,0.697464,0.035652],[0.006518,-0.044376,0.998994]] 2025-10-28T22:38:05.156Z,1761691085.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710520,0.703229,-0.025110],[-0.703525,0.710656,-0.004575],[0.014627,0.020916,0.999674]] 2025-10-28T22:38:05.559Z,1761691085.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718541,0.688622,-0.097460],[-0.687574,0.724434,0.049364],[0.104596,0.031541,0.994015]] 2025-10-28T22:38:06.003Z,1761691086.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724302,0.684241,-0.084865],[-0.674484,0.728691,0.118665],[0.143035,-0.028709,0.989301]] 2025-10-28T22:38:06.390Z,1761691086.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716852,0.697224,-0.001019],[-0.685678,0.705245,0.180209],[0.126365,-0.128484,0.983628]] 2025-10-28T22:38:08.518Z,1761691088.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764481,0.632870,-0.122659],[-0.634046,0.772537,0.034240],[0.116428,0.051596,0.991858]] 2025-10-28T22:38:08.915Z,1761691088.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719514,0.687240,-0.100003],[-0.684503,0.726107,0.064996],[0.117280,0.021687,0.992862]] 2025-10-28T22:38:09.319Z,1761691089.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726332,0.686828,0.026638],[-0.686333,0.722616,0.082299],[0.037276,-0.078059,0.996252]] 2025-10-28T22:38:09.724Z,1761691089.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738695,0.667682,0.092363],[-0.674040,0.731641,0.101841],[0.000421,-0.137486,0.990504]] 2025-10-28T22:38:10.126Z,1761691090.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722668,0.681739,0.113946],[-0.691158,0.711015,0.129458],[0.007240,-0.172310,0.985016]] 2025-10-28T22:38:10.531Z,1761691090.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702068,0.704544,0.103525],[-0.710425,0.682972,0.169842],[0.048957,-0.192787,0.980018]] 2025-10-28T22:38:10.935Z,1761691090.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678164,0.732570,0.058601],[-0.725839,0.655170,0.209548],[0.115115,-0.184643,0.976041]] 2025-10-28T22:38:11.340Z,1761691091.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709063,0.704178,0.036923],[-0.697003,0.691981,0.188011],[0.106843,-0.159048,0.981473]] 2025-10-28T22:38:11.742Z,1761691091.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746090,0.665316,0.026551],[-0.664144,0.740743,0.101061],[0.047570,-0.093034,0.994526]] 2025-10-28T22:38:12.151Z,1761691092.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717027,0.696989,0.008840],[-0.696982,0.716731,0.022643],[0.009446,-0.022398,0.999704]] 2025-10-28T22:38:12.550Z,1761691092.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691694,0.721980,0.017456],[-0.722138,0.691734,0.004622],[-0.008738,-0.015803,0.999837]] 2025-10-28T22:38:12.956Z,1761691092.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694816,0.719187,0.001011],[-0.719165,0.694782,0.008945],[0.005731,-0.006942,0.999960]] 2025-10-28T22:38:13.359Z,1761691093.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710569,0.703453,-0.015657],[-0.703357,0.710737,0.011914],[0.019509,0.002547,0.999806]] 2025-10-28T22:38:13.763Z,1761691093.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707570,0.705929,0.031766],[-0.706124,0.708058,-0.006512],[-0.027089,-0.017823,0.999474]] 2025-10-28T22:38:14.167Z,1761691094.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694290,0.717137,0.060632],[-0.718289,0.695734,-0.003903],[-0.044983,-0.040841,0.998153]] 2025-10-28T22:38:14.172Z,1761691094.172 [NAL9602](INFO): SBD MO Status=1, MOMSN=3381, MT Status=0, MTMSN=0 2025-10-28T22:38:14.224Z,1761691094.224 [NAL9602](INFO): Sent 74 bytes from file Logs/20251028T162422/Courier0078.lzma 2025-10-28T22:38:14.224Z,1761691094.224 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:38:14.572Z,1761691094.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712315,0.698871,0.064708],[-0.701757,0.710761,0.048549],[-0.012062,-0.079991,0.996723]] 2025-10-28T22:38:15.342Z,1761691095.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711073,0.703040,0.010484],[-0.702975,0.710549,0.030775],[0.014187,-0.029253,0.999471]] 2025-10-28T22:38:15.743Z,1761691095.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692157,0.721652,-0.011700],[-0.721470,0.692250,0.016494],[0.020002,-0.002975,0.999795]] 2025-10-28T22:38:17.846Z,1761691097.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716221,0.687480,0.119995],[-0.697812,0.703195,0.136293],[0.009319,-0.181350,0.983374]] 2025-10-28T22:38:18.229Z,1761691098.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707714,0.706172,0.021474],[-0.703763,0.701976,0.109303],[0.062113,-0.092468,0.993777]] 2025-10-28T22:38:18.631Z,1761691098.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709782,0.704235,-0.016171],[-0.701474,0.708724,0.075130],[0.064370,-0.041983,0.997043]] 2025-10-28T22:38:19.034Z,1761691099.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732352,0.680771,0.014572],[-0.680926,0.732218,0.014049],[-0.001106,-0.020211,0.999795]] 2025-10-28T22:38:19.438Z,1761691099.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747706,0.662333,-0.047439],[-0.660923,0.749209,0.043218],[0.064166,-0.000961,0.997939]] 2025-10-28T22:38:19.844Z,1761691099.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709765,0.696369,-0.106318],[-0.688987,0.717682,0.101143],[0.146735,0.001464,0.989175]] 2025-10-28T22:38:20.247Z,1761691100.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668853,0.742530,-0.035858],[-0.735675,0.668070,0.111643],[0.106853,-0.048293,0.993101]] 2025-10-28T22:38:20.650Z,1761691100.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649705,0.759896,0.020999],[-0.755684,0.642608,0.126478],[0.082616,-0.098042,0.991747]] 2025-10-28T22:38:21.055Z,1761691101.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667775,0.743742,0.030392],[-0.740868,0.660134,0.123843],[0.072045,-0.105216,0.991836]] 2025-10-28T22:38:21.460Z,1761691101.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673180,0.736598,0.065206],[-0.739340,0.672141,0.040045],[-0.014330,-0.075167,0.997068]] 2025-10-28T22:38:21.871Z,1761691101.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687277,0.724167,0.056853],[-0.725911,0.687569,0.017366],[-0.026514,-0.053205,0.998232]] 2025-10-28T22:38:22.273Z,1761691102.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678995,0.732134,0.054279],[-0.734096,0.676258,0.061457],[0.008288,-0.081575,0.996633]] 2025-10-28T22:38:22.675Z,1761691102.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683360,0.728093,0.053840],[-0.730071,0.681879,0.045138],[-0.003848,-0.070152,0.997529]] 2025-10-28T22:38:23.080Z,1761691103.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682941,0.730471,-0.001726],[-0.729128,0.681825,0.059047],[0.044309,-0.039067,0.998254]] 2025-10-28T22:38:23.484Z,1761691103.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656964,0.751878,-0.055486],[-0.746442,0.659023,0.092265],[0.105939,-0.019198,0.994187]] 2025-10-28T22:38:23.884Z,1761691103.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668950,0.738700,-0.082630],[-0.733059,0.674034,0.091119],[0.123005,-0.000381,0.992406]] 2025-10-28T22:38:24.295Z,1761691104.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698281,0.713921,-0.052150],[-0.713220,0.700101,0.034292],[0.060992,0.013249,0.998050]] 2025-10-28T22:38:24.691Z,1761691104.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691783,0.721815,0.020485],[-0.722013,0.691870,0.003590],[-0.011582,-0.017274,0.999784]] 2025-10-28T22:38:25.097Z,1761691105.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698623,0.714571,0.036249],[-0.714559,0.694233,0.086292],[0.036496,-0.086188,0.995610]] 2025-10-28T22:38:25.498Z,1761691105.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678605,0.734252,0.019212],[-0.724418,0.664739,0.182594],[0.121299,-0.137827,0.983001]] 2025-10-28T22:38:25.902Z,1761691105.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656205,0.751373,0.069531],[-0.744865,0.630257,0.218978],[0.120712,-0.195486,0.973249]] 2025-10-28T22:38:26.369Z,1761691106.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644854,0.757175,0.104160],[-0.760378,0.621756,0.187735],[0.077386,-0.200263,0.976681]] 2025-10-28T22:38:26.712Z,1761691106.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665903,0.744646,0.045558],[-0.744272,0.658888,0.109200],[0.051298,-0.106624,0.992975]] 2025-10-28T22:38:27.114Z,1761691107.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686921,0.724583,-0.055841],[-0.724520,0.688796,0.025101],[0.056651,0.023215,0.998124]] 2025-10-28T22:38:27.420Z,1761691107.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:38:27.519Z,1761691107.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656906,0.746298,-0.107303],[-0.752681,0.657431,-0.035424],[0.044107,0.104035,0.993595]] 2025-10-28T22:38:27.923Z,1761691107.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625513,0.779787,-0.025802],[-0.780211,0.625246,-0.018367],[0.001810,0.031620,0.999498]] 2025-10-28T22:38:28.362Z,1761691108.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628791,0.776280,0.044846],[-0.777566,0.627994,0.031836],[-0.003449,-0.054889,0.998486]] 2025-10-28T22:38:28.440Z,1761691108.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:38:28.731Z,1761691108.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648871,0.757984,0.066538],[-0.760319,0.642482,0.095559],[0.029683,-0.112595,0.993197]] 2025-10-28T22:38:29.135Z,1761691109.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650435,0.756198,0.071410],[-0.759201,0.644347,0.091825],[0.023425,-0.113940,0.993211]] 2025-10-28T22:38:29.539Z,1761691109.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632360,0.770174,0.083378],[-0.774636,0.629730,0.058135],[-0.007732,-0.101349,0.994821]] 2025-10-28T22:38:29.944Z,1761691109.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653413,0.752007,0.086813],[-0.756730,0.651941,0.048301],[-0.020274,-0.097254,0.995053]] 2025-10-28T22:38:30.367Z,1761691110.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660214,0.750992,0.011348],[-0.750289,0.658753,0.055784],[0.034418,-0.045344,0.998378]] 2025-10-28T22:38:30.750Z,1761691110.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616966,0.784877,-0.057637],[-0.783048,0.619548,0.054732],[0.078667,0.011364,0.996836]] 2025-10-28T22:38:31.155Z,1761691111.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616285,0.784513,-0.068783],[-0.782362,0.619890,0.060384],[0.090010,0.016600,0.995802]] 2025-10-28T22:38:31.560Z,1761691111.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598931,0.795366,-0.093133],[-0.790551,0.605801,0.089635],[0.127713,0.019942,0.991611]] 2025-10-28T22:38:31.962Z,1761691111.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563830,0.825348,-0.029943],[-0.816107,0.562348,0.133170],[0.126750,-0.050649,0.990641]] 2025-10-28T22:38:32.371Z,1761691112.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579565,0.811969,0.069363],[-0.809037,0.563075,0.168542],[0.097794,-0.153798,0.983251]] 2025-10-28T22:38:32.771Z,1761691112.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588509,0.800753,0.111585],[-0.804146,0.565456,0.183327],[0.083703,-0.197620,0.976699]] 2025-10-28T22:38:33.176Z,1761691113.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574757,0.809134,0.122300],[-0.816778,0.558046,0.146484],[0.050276,-0.184084,0.981624]] 2025-10-28T22:38:33.579Z,1761691113.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577109,0.811956,0.087587],[-0.816195,0.569805,0.095645],[0.027752,-0.126686,0.991555]] 2025-10-28T22:38:33.983Z,1761691113.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546352,0.837495,0.010080],[-0.834957,0.543671,0.085252],[0.065918,-0.054994,0.996308]] 2025-10-28T22:38:34.387Z,1761691114.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497363,0.867543,-0.000019],[-0.860249,0.493184,0.129386],[0.112257,-0.064336,0.991594]] 2025-10-28T22:38:34.792Z,1761691114.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521276,0.850173,0.074008],[-0.849961,0.509463,0.134217],[0.076403,-0.132868,0.988185]] 2025-10-28T22:38:35.195Z,1761691115.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540641,0.822672,0.175835],[-0.840293,0.538083,0.066144],[-0.040199,-0.183513,0.982195]] 2025-10-28T22:38:35.209Z,1761691115.209 [NAL9602](INFO): SBD MO Status=1, MOMSN=3382, MT Status=0, MTMSN=0 2025-10-28T22:38:35.256Z,1761691115.256 [NAL9602](INFO): Sent 256 bytes from file Logs/20251028T162422/Express0079.lzma 2025-10-28T22:38:35.256Z,1761691115.256 [NAL9602](INFO): Packets left to send: 0 2025-10-28T22:38:35.624Z,1761691115.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554919,0.811001,0.185317],[-0.831422,0.548243,0.090370],[-0.028308,-0.204225,0.978515]] 2025-10-28T22:38:36.225Z,1761691116.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554924,0.817467,0.154294],[-0.831823,0.542710,0.116343],[0.011370,-0.192907,0.981151]] 2025-10-28T22:38:36.626Z,1761691116.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516752,0.847317,0.122563],[-0.856114,0.510406,0.080963],[0.006045,-0.146765,0.989153]] 2025-10-28T22:38:37.031Z,1761691117.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498002,0.864123,0.072705],[-0.866100,0.491458,0.091321],[0.043181,-0.108448,0.993164]] 2025-10-28T22:38:37.434Z,1761691117.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551032,0.834442,0.008351],[-0.827429,0.545047,0.135221],[0.108282,-0.081421,0.990780]] 2025-10-28T22:38:37.839Z,1761691117.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554160,0.832397,0.004771],[-0.829017,0.551375,0.093359],[0.075081,-0.055691,0.995621]] 2025-10-28T22:38:38.243Z,1761691118.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516990,0.849835,0.102483],[-0.855887,0.511335,0.077423],[0.013394,-0.127741,0.991717]] 2025-10-28T22:38:38.647Z,1761691118.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533378,0.828866,0.168787],[-0.845875,0.522244,0.108426],[0.001723,-0.200605,0.979671]] 2025-10-28T22:38:39.052Z,1761691119.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535864,0.835295,0.123014],[-0.842038,0.518055,0.150305],[0.061821,-0.184126,0.980957]] 2025-10-28T22:38:39.454Z,1761691119.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514823,0.856557,0.035606],[-0.843162,0.498387,0.201714],[0.155034,-0.133869,0.978797]] 2025-10-28T22:38:39.858Z,1761691119.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526940,0.849226,-0.033899],[-0.829823,0.522699,0.195397],[0.183655,-0.074832,0.980138]] 2025-10-28T22:38:40.263Z,1761691120.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559070,0.828001,-0.043063],[-0.821137,0.560129,0.109498],[0.114785,-0.025857,0.993054]] 2025-10-28T22:38:40.667Z,1761691120.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553787,0.831964,-0.034001],[-0.828232,0.554588,0.080395],[0.085742,-0.016361,0.996183]] 2025-10-28T22:38:41.071Z,1761691121.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522841,0.850869,-0.051576],[-0.837208,0.523946,0.156726],[0.160376,-0.038763,0.986295]] 2025-10-28T22:38:41.475Z,1761691121.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523806,0.850935,-0.039203],[-0.822987,0.517405,0.234490],[0.219819,-0.090564,0.971328]] 2025-10-28T22:38:41.879Z,1761691121.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552358,0.833564,0.008478],[-0.816245,0.538760,0.208523],[0.169249,-0.122100,0.977981]] 2025-10-28T22:38:42.298Z,1761691122.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574995,0.817187,0.039826],[-0.815827,0.569007,0.103236],[0.061702,-0.091851,0.993859]] 2025-10-28T22:38:42.691Z,1761691122.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584368,0.811051,-0.026649],[-0.801374,0.581941,0.138364],[0.127728,-0.059500,0.990023]] 2025-10-28T22:38:43.095Z,1761691123.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566817,0.821150,-0.066566],[-0.807288,0.569727,0.153940],[0.164333,-0.033518,0.985835]] 2025-10-28T22:38:43.501Z,1761691123.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540558,0.841289,0.005430],[-0.835868,0.536320,0.116989],[0.095509,-0.067778,0.993118]] 2025-10-28T22:38:43.905Z,1761691123.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562755,0.823624,0.070360],[-0.825341,0.555101,0.103319],[0.046040,-0.116214,0.992157]] 2025-10-28T22:38:44.338Z,1761691124.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570004,0.818292,0.074127],[-0.820866,0.563222,0.094656],[0.035707,-0.114802,0.992746]] 2025-10-28T22:38:44.707Z,1761691124.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544062,0.833465,0.096607],[-0.838775,0.543192,0.037413],[-0.021293,-0.101387,0.994619]] 2025-10-28T22:38:45.111Z,1761691125.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558696,0.823488,0.098624],[-0.828324,0.560008,0.016444],[-0.041689,-0.090880,0.994989]] 2025-10-28T22:38:45.517Z,1761691125.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563493,0.825381,0.034954],[-0.823675,0.558069,0.100592],[0.063520,-0.085473,0.994314]] 2025-10-28T22:38:45.919Z,1761691125.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502044,0.864815,-0.006815],[-0.854056,0.497008,0.153532],[0.136164,-0.071259,0.988120]] 2025-10-28T22:38:45.943Z,1761691125.943 [NAL9602](INFO): SBD MO Status=0, MOMSN=3383, MT Status=0, MTMSN=0 2025-10-28T22:38:46.021Z,1761691126.021 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-10-28T22:38:46.022Z,1761691126.022 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-10-28T22:38:46.022Z,1761691126.022 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:38:46.358Z,1761691126.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468871,0.880461,0.070344],[-0.880446,0.459529,0.116825],[0.070535,-0.116710,0.990658]] 2025-10-28T22:38:46.726Z,1761691126.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486989,0.860796,0.147893],[-0.873388,0.481089,0.075805],[-0.005897,-0.166085,0.986094]] 2025-10-28T22:38:47.132Z,1761691127.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485726,0.864997,0.125898],[-0.872905,0.472435,0.121829],[0.045903,-0.169073,0.984534]] 2025-10-28T22:38:47.535Z,1761691127.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481299,0.867409,0.126304],[-0.874054,0.464037,0.143871],[0.066186,-0.179642,0.981503]] 2025-10-28T22:38:47.939Z,1761691127.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473662,0.869366,0.140878],[-0.880513,0.470814,0.055051],[-0.018468,-0.150121,0.988495]] 2025-10-28T22:38:48.362Z,1761691128.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444788,0.887266,0.122156],[-0.893667,0.448702,-0.005129],[-0.059363,-0.106885,0.992498]] 2025-10-28T22:38:48.749Z,1761691128.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431406,0.900193,0.059504],[-0.902157,0.430559,0.027046],[-0.001274,-0.065349,0.997862]] 2025-10-28T22:38:49.151Z,1761691129.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432423,0.901542,0.015207],[-0.896985,0.428398,0.109054],[0.091802,-0.060798,0.993919]] 2025-10-28T22:38:49.554Z,1761691129.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454687,0.889120,0.052212],[-0.885740,0.445254,0.131198],[0.093403,-0.105901,0.989980]] 2025-10-28T22:38:49.959Z,1761691129.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435318,0.892061,0.121347],[-0.899962,0.427628,0.084873],[0.023821,-0.146155,0.988975]] 2025-10-28T22:38:50.370Z,1761691130.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404608,0.899416,0.165358],[-0.914490,0.397950,0.073101],[-0.000056,-0.180796,0.983521]] 2025-10-28T22:38:50.767Z,1761691130.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412589,0.898193,0.151723],[-0.910654,0.402706,0.092392],[0.021887,-0.176287,0.984095]] 2025-10-28T22:38:51.171Z,1761691131.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407299,0.906865,0.108181],[-0.913171,0.402426,0.064594],[0.015044,-0.125097,0.992030]] 2025-10-28T22:38:51.575Z,1761691131.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410288,0.909288,0.069702],[-0.911393,0.406152,0.066351],[0.032023,-0.090749,0.995359]] 2025-10-28T22:38:51.980Z,1761691131.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450120,0.892774,0.018595],[-0.891676,0.448252,0.063114],[0.048011,-0.044990,0.997833]] 2025-10-28T22:38:52.382Z,1761691132.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437765,0.898969,-0.014731],[-0.895601,0.437449,0.080855],[0.079130,-0.022202,0.996617]] 2025-10-28T22:38:52.786Z,1761691132.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389713,0.919968,0.042211],[-0.920932,0.389435,0.014964],[-0.002672,-0.044705,0.998997]] 2025-10-28T22:38:53.190Z,1761691133.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391135,0.912003,0.123550],[-0.914392,0.400322,-0.060250],[-0.104408,-0.089407,0.990508]] 2025-10-28T22:38:53.596Z,1761691133.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394609,0.912164,0.110638],[-0.917538,0.397610,-0.005573],[-0.049075,-0.099315,0.993845]] 2025-10-28T22:38:53.998Z,1761691133.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359178,0.930504,0.071782],[-0.931905,0.353434,0.081471],[0.050439,-0.096156,0.994087]] 2025-10-28T22:38:54.402Z,1761691134.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314451,0.945278,0.087007],[-0.942511,0.299975,0.147266],[0.113107,-0.128313,0.985263]] 2025-10-28T22:38:54.807Z,1761691134.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365916,0.916808,0.159901],[-0.925926,0.341359,0.161664],[0.093631,-0.207212,0.973805]] 2025-10-28T22:38:55.212Z,1761691135.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418523,0.884047,0.208085],[-0.908195,0.408503,0.091141],[-0.004431,-0.227126,0.973855]] 2025-10-28T22:38:55.641Z,1761691135.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404196,0.891645,0.203947],[-0.914109,0.401605,0.055847],[-0.032110,-0.209003,0.977388]] 2025-10-28T22:38:56.018Z,1761691136.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368466,0.915521,0.161415],[-0.929053,0.356465,0.098959],[0.033060,-0.186426,0.981913]] 2025-10-28T22:38:56.422Z,1761691136.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369642,0.918308,0.141684],[-0.927792,0.356462,0.110169],[0.050664,-0.172177,0.983762]] 2025-10-28T22:38:56.829Z,1761691136.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394953,0.911395,0.115633],[-0.913743,0.376639,0.152369],[0.095316,-0.165838,0.981536]] 2025-10-28T22:38:57.230Z,1761691137.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437106,0.898796,0.033225],[-0.883441,0.422121,0.203336],[0.168732,-0.118232,0.978545]] 2025-10-28T22:38:57.634Z,1761691137.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422628,0.906107,-0.018879],[-0.891797,0.419485,0.169498],[0.161503,-0.054799,0.985350]] 2025-10-28T22:38:58.039Z,1761691138.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375899,0.925957,0.036107],[-0.925354,0.373016,0.067670],[0.049191,-0.058849,0.997054]] 2025-10-28T22:38:58.445Z,1761691138.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386801,0.917755,0.090057],[-0.922125,0.385824,0.028731],[-0.008378,-0.094157,0.995522]] 2025-10-28T22:38:58.560Z,1761691138.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:38:58.847Z,1761691138.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404666,0.913984,0.029631],[-0.913614,0.402680,0.056200],[0.039434,-0.049814,0.997980]] 2025-10-28T22:38:59.250Z,1761691139.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401061,0.916038,-0.004850],[-0.915086,0.400876,0.043774],[0.042043,-0.013118,0.999030]] 2025-10-28T22:38:59.564Z,1761691139.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:38:59.655Z,1761691139.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390773,0.920384,0.013778],[-0.920203,0.390237,0.030693],[0.022873,-0.024673,0.999434]] 2025-10-28T22:39:00.060Z,1761691140.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409125,0.911336,0.045647],[-0.912367,0.407782,0.036061],[0.014249,-0.056400,0.998307]] 2025-10-28T22:39:00.462Z,1761691140.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425389,0.902856,0.062406],[-0.904571,0.422022,0.060407],[0.028203,-0.082147,0.996221]] 2025-10-28T22:39:00.867Z,1761691140.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403298,0.911518,0.080528],[-0.912400,0.393845,0.111413],[0.069840,-0.118407,0.990506]] 2025-10-28T22:39:01.271Z,1761691141.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383612,0.916140,0.116312],[-0.921005,0.370289,0.120978],[0.067764,-0.153533,0.985817]] 2025-10-28T22:39:01.677Z,1761691141.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382777,0.914592,0.130397],[-0.922814,0.371871,0.100630],[0.043544,-0.158851,0.986342]] 2025-10-28T22:39:02.079Z,1761691142.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373048,0.922495,0.099193],[-0.923965,0.359645,0.130172],[0.084409,-0.140211,0.986517]] 2025-10-28T22:39:02.483Z,1761691142.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381941,0.922205,0.060488],[-0.914738,0.367891,0.167063],[0.131814,-0.119139,0.984089]] 2025-10-28T22:39:02.886Z,1761691142.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411160,0.907833,0.082385],[-0.906290,0.397401,0.143913],[0.097909,-0.133836,0.986155]] 2025-10-28T22:39:03.292Z,1761691143.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395105,0.906850,0.146678],[-0.918502,0.392701,0.046251],[-0.015658,-0.152998,0.988102]] 2025-10-28T22:39:03.695Z,1761691143.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354338,0.914554,0.195025],[-0.930673,0.365207,-0.021686],[-0.091058,-0.173821,0.980558]] 2025-10-28T22:39:04.099Z,1761691144.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364727,0.916283,0.165529],[-0.930703,0.364043,0.035555],[-0.027682,-0.167026,0.985564]] 2025-10-28T22:39:04.503Z,1761691144.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397154,0.915273,0.067416],[-0.913493,0.387174,0.125003],[0.088310,-0.111230,0.989863]] 2025-10-28T22:39:04.908Z,1761691144.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408955,0.911722,0.038978],[-0.911484,0.406036,0.065813],[0.044176,-0.062442,0.997070]] 2025-10-28T22:39:05.310Z,1761691145.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400824,0.912980,0.076206],[-0.914046,0.404156,-0.034317],[-0.062130,-0.055901,0.996501]] 2025-10-28T22:39:05.714Z,1761691145.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401489,0.909739,0.105742],[-0.912526,0.407198,-0.038534],[-0.078114,-0.081021,0.993647]] 2025-10-28T22:39:06.119Z,1761691146.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430000,0.899115,0.081808],[-0.902822,0.427861,0.042984],[0.003645,-0.092341,0.995721]] 2025-10-28T22:39:06.523Z,1761691146.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449720,0.892583,0.032363],[-0.887632,0.442610,0.127306],[0.099307,-0.085978,0.991335]] 2025-10-28T22:39:06.926Z,1761691146.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431433,0.902086,0.010297],[-0.890290,0.423891,0.166433],[0.145772,-0.080972,0.985999]] 2025-10-28T22:39:07.222Z,1761691147.222 [DataOverHttps](IMPORTANT): SBD MTMSN=20251028T223906 2025-10-28T22:39:07.225Z,1761691147.225 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003569 2025-10-28T22:39:07.330Z,1761691147.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405498,0.911275,0.071758],[-0.909914,0.394896,0.126943],[0.087343,-0.116768,0.989311]] 2025-10-28T22:39:07.736Z,1761691147.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426459,0.893056,0.143471],[-0.904339,0.424038,0.048606],[-0.017429,-0.150475,0.988460]] 2025-10-28T22:39:08.139Z,1761691148.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431954,0.894865,0.112393],[-0.901858,0.429713,0.044718],[-0.008280,-0.120678,0.992657]] 2025-10-28T22:39:08.946Z,1761691148.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473806,0.878495,0.061272],[-0.875114,0.461923,0.144232],[0.098405,-0.121958,0.987645]] 2025-10-28T22:39:09.352Z,1761691149.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444539,0.885020,0.138294],[-0.894417,0.430102,0.122598],[0.049021,-0.178192,0.982774]] 2025-10-28T22:39:09.754Z,1761691149.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434451,0.876291,0.208245],[-0.900640,0.425227,0.089610],[-0.010027,-0.226485,0.973963]] 2025-10-28T22:39:10.158Z,1761691150.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462402,0.867090,0.185308],[-0.886581,0.455113,0.082743],[-0.012590,-0.202551,0.979191]] 2025-10-28T22:39:10.563Z,1761691150.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489174,0.866509,0.099349],[-0.872171,0.486657,0.049827],[-0.005173,-0.111024,0.993804]] 2025-10-28T22:39:10.969Z,1761691150.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510780,0.857249,0.065019],[-0.855965,0.514150,-0.054529],[-0.080174,-0.027802,0.996393]] 2025-10-28T22:39:11.370Z,1761691151.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531370,0.847135,0.002780],[-0.843959,0.529656,-0.084840],[-0.073344,0.042735,0.996391]] 2025-10-28T22:39:11.775Z,1761691151.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539388,0.840820,-0.045619],[-0.842019,0.539088,-0.019713],[0.008017,0.049045,0.998764]] 2025-10-28T22:39:12.179Z,1761691152.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509263,0.860555,-0.009785],[-0.857631,0.508412,0.077373],[0.071559,-0.031012,0.996954]] 2025-10-28T22:39:12.582Z,1761691152.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505378,0.858318,0.088792],[-0.858178,0.489197,0.155618],[0.090132,-0.154845,0.983819]] 2025-10-28T22:39:12.989Z,1761691152.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506591,0.844238,0.175008],[-0.859430,0.478241,0.180738],[0.068890,-0.241968,0.967836]] 2025-10-28T22:39:13.391Z,1761691153.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505781,0.846289,0.167273],[-0.862639,0.494753,0.105229],[0.006295,-0.197518,0.980279]] 2025-10-28T22:39:13.795Z,1761691153.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537978,0.837247,0.097964],[-0.838045,0.543748,-0.044937],[-0.090892,-0.057923,0.994175]] 2025-10-28T22:39:14.198Z,1761691154.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525838,0.850585,-0.000035],[-0.848824,0.524747,-0.064330],[-0.054700,0.033857,0.997929]] 2025-10-28T22:39:14.603Z,1761691154.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540663,0.841067,-0.017036],[-0.837733,0.540146,0.080285],[0.076727,-0.029136,0.996626]] 2025-10-28T22:39:15.009Z,1761691155.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556089,0.830068,0.041870],[-0.820692,0.540455,0.185398],[0.131264,-0.137461,0.981771]] 2025-10-28T22:39:15.411Z,1761691155.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552675,0.827401,0.099788],[-0.827642,0.530863,0.182188],[0.097769,-0.183280,0.978187]] 2025-10-28T22:39:15.814Z,1761691155.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553569,0.825608,0.109241],[-0.830654,0.537951,0.143605],[0.059795,-0.170237,0.983587]] 2025-10-28T22:39:16.218Z,1761691156.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542611,0.836984,0.070928],[-0.838787,0.535396,0.098930],[0.044829,-0.113174,0.992563]] 2025-10-28T22:39:16.624Z,1761691156.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573413,0.818769,0.028565],[-0.817890,0.570080,0.077881],[0.047483,-0.068021,0.996553]] 2025-10-28T22:39:16.634Z,1761691156.634 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:39:17.027Z,1761691157.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597131,0.801812,-0.023076],[-0.800237,0.597447,0.051753],[0.055283,-0.012437,0.998393]] 2025-10-28T22:39:17.096Z,1761691157.096 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 9 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.775 degree;set keepstation.Longitude -121.865 degree;run 2025-10-28T22:39:17.187Z,1761691157.187 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl 2025-10-28T22:39:17.195Z,1761691157.195 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl 2025-10-28T22:39:17.195Z,1761691157.195 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl 2025-10-28T22:39:17.199Z,1761691157.199 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl 2025-10-28T22:39:17.430Z,1761691157.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587206,0.808975,-0.027346],[-0.808918,0.587705,0.015993],[0.029010,0.012730,0.999498]] 2025-10-28T22:39:17.835Z,1761691157.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577388,0.816439,0.007097],[-0.816163,0.576910,0.032446],[0.022396,-0.024527,0.999448]] 2025-10-28T22:39:18.240Z,1761691158.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575649,0.817694,-0.002150],[-0.809425,0.570197,0.140382],[0.116016,-0.079070,0.990095]] 2025-10-28T22:39:18.425Z,1761691158.425 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into: 4 45 NaN NaN 30 15 4 0.75 200 10 10 45 2 0 0 1 2 3 NaN 0 Sinking to Timed out while trying to reach target sink depth at current depth of 2025-10-28T22:39:18.435Z,1761691158.435 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h 2025-10-28T22:39:18.437Z,1761691158.437 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min 2025-10-28T22:39:18.440Z,1761691158.440 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg 2025-10-28T22:39:18.462Z,1761691158.462 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg 2025-10-28T22:39:18.464Z,1761691158.464 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m 2025-10-28T22:39:18.466Z,1761691158.466 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m 2025-10-28T22:39:18.468Z,1761691158.468 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m 2025-10-28T22:39:18.470Z,1761691158.470 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s 2025-10-28T22:39:18.473Z,1761691158.473 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m 2025-10-28T22:39:18.475Z,1761691158.475 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool 2025-10-28T22:39:18.477Z,1761691158.477 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m 2025-10-28T22:39:18.479Z,1761691158.479 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min 2025-10-28T22:39:18.482Z,1761691158.482 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m 2025-10-28T22:39:18.484Z,1761691158.484 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km 2025-10-28T22:39:18.486Z,1761691158.486 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count 2025-10-28T22:39:18.489Z,1761691158.489 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count 2025-10-28T22:39:18.491Z,1761691158.491 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count 2025-10-28T22:39:18.513Z,1761691158.513 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count 2025-10-28T22:39:18.516Z,1761691158.516 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count 2025-10-28T22:39:18.522Z,1761691158.522 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool 2025-10-28T22:39:18.522Z,1761691158.522 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-10-28T22:39:18.523Z,1761691158.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-10-28T22:39:18.528Z,1761691158.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-10-28T22:39:18.642Z,1761691158.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577591,0.816324,-0.002137],[-0.802102,0.568011,0.184378],[0.151726,-0.104781,0.982853]] 2025-10-28T22:39:18.860Z,1761691158.860 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1500 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-10-28T22:39:18.868Z,1761691158.868 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h 2025-10-28T22:39:18.870Z,1761691158.870 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min 2025-10-28T22:39:18.872Z,1761691158.872 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-10-28T22:39:18.874Z,1761691158.874 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s 2025-10-28T22:39:18.877Z,1761691158.877 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-10-28T22:39:18.879Z,1761691158.879 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s 2025-10-28T22:39:18.881Z,1761691158.881 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min 2025-10-28T22:39:18.883Z,1761691158.883 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min 2025-10-28T22:39:18.889Z,1761691158.889 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-10-28T22:39:18.905Z,1761691158.905 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-28T22:39:18.905Z,1761691158.905 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-28T22:39:18.906Z,1761691158.906 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-28T22:39:19.013Z,1761691159.013 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-28T22:39:19.017Z,1761691159.017 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-28T22:39:19.019Z,1761691159.019 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-28T22:39:19.047Z,1761691159.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590345,0.806212,0.038923],[-0.803978,0.583067,0.116845],[0.071507,-0.100272,0.992387]] 2025-10-28T22:39:19.078Z,1761691159.078 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-28T22:39:19.084Z,1761691159.084 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-28T22:39:19.085Z,1761691159.085 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-28T22:39:19.095Z,1761691159.095 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-28T22:39:19.102Z,1761691159.102 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:39:19.109Z,1761691159.109 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-28T22:39:19.118Z,1761691159.118 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-28T22:39:19.118Z,1761691159.118 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-28T22:39:19.120Z,1761691159.120 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-28T22:39:19.169Z,1761691159.169 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-28T22:39:19.171Z,1761691159.171 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool 2025-10-28T22:39:19.178Z,1761691159.178 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-28T22:39:19.184Z,1761691159.184 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-28T22:39:19.184Z,1761691159.184 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-28T22:39:19.185Z,1761691159.185 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-28T22:39:19.323Z,1761691159.323 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-28T22:39:19.326Z,1761691159.326 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool 2025-10-28T22:39:19.328Z,1761691159.328 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool 2025-10-28T22:39:19.330Z,1761691159.330 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool 2025-10-28T22:39:19.332Z,1761691159.332 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool 2025-10-28T22:39:19.335Z,1761691159.335 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-28T22:39:19.369Z,1761691159.369 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-28T22:39:19.370Z,1761691159.370 [keepstation:H.Pitch](DEBUG): Construct. 2025-10-28T22:39:19.402Z,1761691159.402 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2025-10-28T22:39:19.405Z,1761691159.405 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct. 2025-10-28T22:39:19.409Z,1761691159.409 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct. 2025-10-28T22:39:19.421Z,1761691159.421 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-10-28T22:39:19.424Z,1761691159.424 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct. 2025-10-28T22:39:19.428Z,1761691159.428 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct. 2025-10-28T22:39:19.433Z,1761691159.433 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct. 2025-10-28T22:39:19.458Z,1761691159.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594665,0.803958,0.005039],[-0.801495,0.592327,0.082188],[0.063091,-0.052913,0.996604]] 2025-10-28T22:39:19.479Z,1761691159.479 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation. 2025-10-28T22:39:19.491Z,1761691159.491 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2025-10-28T22:39:19.518Z,1761691159.518 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait. 2025-10-28T22:39:19.565Z,1761691159.565 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission keepstation { """ Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius. """ arguments { MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 45 minute """ How often to surface for communications """ Latitude = NaN degree """ Latitude of waypoint to hold. If NaN, hold the latitude at start of mission. """ Longitude = NaN degree """ Longitude of waypoint to hold. If NaN, hold the longitude at start of mission. """ Depth = 30 meter """ Depth held during drift mode """ ApproachDepth = 15 meter """ Depth for initial approach to station. """ DepthDeadband = 4 meter """ How much vertical drift from the specified depth is allowed in drift mode """ Speed = 0.75 meter_per_second """ Vehicle transit speed. """ Radius = 200 meter """ Radius of circle around waypoint to hold. """ SinkOffSurface = false """ If true, use buoyancy only to decend to SinkDepth before driving to first target depth """ SinkDepth = 10 meter """ Initial depth to decend using only buoyancy before driving """ SinkDepthTimeout = 10 minute """ Max wait time for the vehicle to reach the target depth """ MaxDepth = 45 meter """ Maximum allowable depth during the mission. """ MinOffshore = 2 kilometer """ Minimum distance from the shoreline to maintain """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this mode when doing surface comms. """ SurfaceSink = 1 count """ Mission variable (don't change). The mission will run in this mode when sinking from the surface using only buoyancy. """ TransitToStation = 2 count """ Mission variable (don't change). The mission will run in this mode when performing the transit to station """ StationKeep = 3 count """ Mission variable (don't change). The mission will run in this mode when keeping station """ OnStation = false """ Mission variable (don't change). Determines last mode (Transit or StationKeep) to resume after needcomms """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" aggregate HandleNan { run in sequence break if ( not isNaN ( Latitude ) and not isNaN ( Longitude ) ) # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true aggregate SetOnStation { run in sequence break if ( not isNaN ( Latitude ) or not isNaN ( Longitude ) ) assign in sequence OnStation = true } # The "assigns" here mean we should only ever run these aggregates once # An initial NaN lat/lon should be set here during the initial surface NeedComms call # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon aggregate SetLat { run in sequence break if ( not isNaN ( Latitude ) ) assign in sequence Latitude = Universal:latitude_fix } aggregate SetLon { run in sequence break if ( not isNaN ( Longitude ) ) assign in sequence Longitude = Universal:longitude_fix } } aggregate setTransit { run in sequence break if ( SinkOffSurface or OnStation ) assign in sequence DiveMode = TransitToStation } aggregate setStation { run in sequence break if ( SinkOffSurface or not OnStation ) assign in sequence DiveMode = StationKeep } aggregate setSink { run in sequence break if ( not SinkOffSurface ) assign in sequence DiveMode = SurfaceSink } } call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveCmd { run when ( called ) aggregate SurfaceSink { run while ( DiveMode == SurfaceSink ) aggregate sink { run in sequence behavior Guidance:Buoyancy id="BuoyancyHold" { run in parallel set position = NaN cc } behavior Guidance:SetSpeed { run in parallel set speed = 0 m/s } syslog info "Sinking to " + SinkDepth~meter behavior Guidance:Pitch { run in sequence timeout duration=SinkDepthTimeout { syslog important "Timed out while trying to reach target sink depth at current depth of " + Universal:depth~meter } set depth = SinkDepth } # Once we've sunk, either resume transit or station keeping depths and speeds aggregate sinkToTransit { run in sequence break if ( OnStation ) assign in sequence DiveMode = TransitToStation } aggregate sinkToStation { run in sequence break if ( not OnStation ) assign in sequence DiveMode = StationKeep } } } aggregate TransitToStation { run while ( DiveMode == TransitToStation ) aggregate dive { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set depth = ApproachDepth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } } } aggregate StationKeep { run while ( DiveMode == StationKeep ) assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:KeepStation { run in parallel set latitude = Latitude set longitude = Longitude set radius = Radius set speed = Speed } } } aggregate TransitToStation { """ Need a separate aggregate for transit if we want to specify a different depth for the approach. """ run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude } assign in sequence DiveMode = StationKeep assign in sequence OnStation = true } call id="OnStation" priorityHere=false refId="NeedComms" aggregate KeepStation { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Wait { """ Due to the way the KeepStation behavior is currently implemented, we must run it in parallel and use a Wait to keep from completing the mission before the timeout expires. However, this new version of the mission uses a top-level timeout so that the entire mission will not run for longer then MissionTimeout. """ run in sequence set duration = MissionTimeout } } } 2025-10-28T22:39:19.566Z,1761691159.566 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation 2025-10-28T22:39:19.855Z,1761691159.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570011,0.817999,-0.077239],[-0.806206,0.574962,0.139466],[0.158493,-0.017227,0.987210]] 2025-10-28T22:39:20.259Z,1761691160.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554024,0.828488,-0.081639],[-0.809699,0.559046,0.178477],[0.193506,-0.032778,0.980551]] 2025-10-28T22:39:20.664Z,1761691160.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584127,0.811254,-0.025726],[-0.797850,0.579721,0.165405],[0.149099,-0.076092,0.985890]] 2025-10-28T22:39:21.067Z,1761691161.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598045,0.799804,-0.051531],[-0.780939,0.595982,0.186922],[0.180212,-0.071545,0.981022]] 2025-10-28T22:39:21.471Z,1761691161.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557803,0.817126,-0.145469],[-0.774871,0.575507,0.261469],[0.297372,-0.033128,0.954187]] 2025-10-28T22:39:21.875Z,1761691161.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520184,0.835498,-0.177062],[-0.778987,0.549146,0.302683],[0.350124,-0.019522,0.936500]] 2025-10-28T22:39:22.282Z,1761691162.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528580,0.839187,-0.127938],[-0.781192,0.539849,0.313531],[0.332178,-0.065782,0.940920]] 2025-10-28T22:39:22.683Z,1761691162.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559159,0.826295,-0.067660],[-0.787234,0.554773,0.269238],[0.260006,-0.097283,0.960694]] 2025-10-28T22:39:23.087Z,1761691163.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569902,0.821609,-0.013055],[-0.806713,0.562450,0.181284],[0.156287,-0.092782,0.983344]] 2025-10-28T22:39:23.491Z,1761691163.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569432,0.821756,0.021529],[-0.815519,0.561431,0.140446],[0.103325,-0.097532,0.989854]] 2025-10-28T22:39:23.895Z,1761691163.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570397,0.821187,-0.017275],[-0.808446,0.565015,0.164846],[0.145130,-0.080062,0.986168]] 2025-10-28T22:39:24.317Z,1761691164.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549980,0.831582,-0.077419],[-0.805912,0.552747,0.212075],[0.219151,-0.054244,0.974182]] 2025-10-28T22:39:24.705Z,1761691164.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541201,0.838879,-0.058174],[-0.812384,0.539461,0.221392],[0.217104,-0.072558,0.973448]] 2025-10-28T22:39:25.107Z,1761691165.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553814,0.832500,0.015297],[-0.822858,0.544407,0.162868],[0.127260,-0.102786,0.986529]] 2025-10-28T22:39:25.511Z,1761691165.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582500,0.803122,0.125257],[-0.809217,0.587498,-0.003703],[-0.076562,-0.099203,0.992117]] 2025-10-28T22:39:25.915Z,1761691165.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590200,0.783853,0.192971],[-0.776720,0.616537,-0.128794],[-0.219930,-0.073870,0.972715]] 2025-10-28T22:39:26.376Z,1761691166.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648799,0.759305,-0.050163],[-0.757013,0.650735,0.058952],[0.077405,-0.000274,0.997000]] 2025-10-28T22:39:27.128Z,1761691167.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608634,0.789887,-0.075125],[-0.783881,0.613253,0.097220],[0.122863,-0.000282,0.992424]] 2025-10-28T22:39:27.531Z,1761691167.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575880,0.817527,-0.003501],[-0.814201,0.573914,0.087745],[0.073744,-0.047680,0.996137]] 2025-10-28T22:39:27.941Z,1761691167.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595201,0.802999,0.030472],[-0.803088,0.593088,0.057416],[0.028033,-0.058645,0.997885]] 2025-10-28T22:39:28.375Z,1761691168.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624562,0.780515,-0.026784],[-0.776495,0.624283,0.085594],[0.083528,-0.032661,0.995970]] 2025-10-28T22:39:28.752Z,1761691168.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627547,0.771029,-0.108160],[-0.755840,0.636640,0.152952],[0.186789,-0.014233,0.982297]] 2025-10-28T22:39:29.152Z,1761691169.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593196,0.797906,-0.107076],[-0.777862,0.602343,0.179201],[0.207482,-0.023011,0.977968]] 2025-10-28T22:39:29.553Z,1761691169.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544108,0.838206,-0.036830],[-0.819062,0.540173,0.193263],[0.181889,-0.074990,0.980455]] 2025-10-28T22:39:29.955Z,1761691169.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523477,0.851407,0.032830],[-0.829993,0.500845,0.245491],[0.192570,-0.155757,0.968843]] 2025-10-28T22:39:30.370Z,1761691170.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540151,0.840195,0.048058],[-0.815058,0.508062,0.278486],[0.209566,-0.189594,0.959237]] 2025-10-28T22:39:30.762Z,1761691170.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556404,0.830725,-0.017619],[-0.795605,0.538757,0.277043],[0.239639,-0.140130,0.960696]] 2025-10-28T22:39:31.167Z,1761691171.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548987,0.831309,-0.086822],[-0.799476,0.552571,0.235593],[0.243826,-0.059926,0.967966]] 2025-10-28T22:39:31.571Z,1761691171.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523910,0.842637,-0.124422],[-0.823288,0.538418,0.179730],[0.218438,0.008273,0.975816]] 2025-10-28T22:39:31.976Z,1761691171.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490897,0.864282,-0.109710],[-0.842484,0.503002,0.192897],[0.221902,-0.002264,0.975066]] 2025-10-28T22:39:32.379Z,1761691172.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493270,0.867983,-0.057354],[-0.841347,0.492802,0.221993],[0.220950,-0.061248,0.973360]] 2025-10-28T22:39:32.782Z,1761691172.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501525,0.863232,-0.057472],[-0.829606,0.498706,0.251090],[0.245411,-0.078248,0.966256]] 2025-10-28T22:39:33.186Z,1761691173.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484024,0.874316,-0.035966],[-0.844035,0.477318,0.244484],[0.230924,-0.087979,0.968986]] 2025-10-28T22:39:33.592Z,1761691173.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464439,0.884626,0.041628],[-0.875195,0.451287,0.174279],[0.135385,-0.117375,0.983816]] 2025-10-28T22:39:33.994Z,1761691173.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449710,0.888541,0.090862],[-0.890172,0.437538,0.127098],[0.073177,-0.138040,0.987720]] 2025-10-28T22:39:34.398Z,1761691174.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429935,0.897728,0.096127],[-0.900241,0.418147,0.121325],[0.068721,-0.138699,0.987947]] 2025-10-28T22:39:34.803Z,1761691174.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438554,0.893772,0.094036],[-0.897215,0.429400,0.103060],[0.051733,-0.129568,0.990220]] 2025-10-28T22:39:35.207Z,1761691175.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449721,0.892622,0.031243],[-0.887432,0.442600,0.128723],[0.101073,-0.085616,0.991188]] 2025-10-28T22:39:35.611Z,1761691175.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445815,0.892963,-0.062185],[-0.876795,0.449617,0.170515],[0.180223,-0.021495,0.983391]] 2025-10-28T22:39:36.015Z,1761691176.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427136,0.898514,-0.101132],[-0.876463,0.438926,0.197881],[0.222189,0.004117,0.974995]] 2025-10-28T22:39:36.420Z,1761691176.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392239,0.915632,-0.088125],[-0.880485,0.401451,0.252158],[0.266262,-0.021313,0.963665]] 2025-10-28T22:39:36.823Z,1761691176.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378329,0.925665,-0.003379],[-0.894641,0.366581,0.255412],[0.237664,-0.093606,0.966826]] 2025-10-28T22:39:37.228Z,1761691177.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384138,0.914777,0.124987],[-0.915882,0.360457,0.176720],[0.116607,-0.182359,0.976293]] 2025-10-28T22:39:37.630Z,1761691177.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363823,0.915612,0.171137],[-0.929503,0.344948,0.130515],[0.060467,-0.206557,0.976564]] 2025-10-28T22:39:38.035Z,1761691178.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370972,0.912469,0.172570],[-0.928483,0.360981,0.087249],[0.017318,-0.192595,0.981125]] 2025-10-28T22:39:38.440Z,1761691178.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370035,0.919362,0.133596],[-0.928921,0.368230,0.038897],[-0.013433,-0.138494,0.990272]] 2025-10-28T22:39:38.844Z,1761691178.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368170,0.925029,0.093663],[-0.929732,0.365520,0.044655],[0.007072,-0.103522,0.994602]] 2025-10-28T22:39:39.246Z,1761691179.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410263,0.909885,0.061592],[-0.911300,0.406443,0.065853],[0.034885,-0.083146,0.995927]] 2025-10-28T22:39:39.651Z,1761691179.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372240,0.927297,0.039472],[-0.927528,0.370118,0.052006],[0.033616,-0.055970,0.997866]] 2025-10-28T22:39:39.863Z,1761691179.863 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 9 hour 2025-10-28T22:39:39.865Z,1761691179.865 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute 2025-10-28T22:39:39.865Z,1761691179.865 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.775 degree 2025-10-28T22:39:39.866Z,1761691179.866 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.865 degree 2025-10-28T22:39:39.867Z,1761691179.867 [CommandExec](IMPORTANT): got command run 2025-10-28T22:39:39.869Z,1761691179.869 [CommandExec](IMPORTANT): Running 2025-10-28T22:39:40.054Z,1761691180.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359171,0.930443,0.072614],[-0.933261,0.357710,0.032668],[0.004421,-0.079501,0.996825]] 2025-10-28T22:39:40.077Z,1761691180.077 [DefaultWithUndock] Stopped 2025-10-28T22:39:40.077Z,1761691180.077 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-28T22:39:40.077Z,1761691180.077 [DefaultWithUndock:SurfaceDefault] Stopped 2025-10-28T22:39:40.077Z,1761691180.077 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-10-28T22:39:40.078Z,1761691180.078 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T22:39:40.078Z,1761691180.078 [MissionManager](IMPORTANT): Started mission keepstation 2025-10-28T22:39:40.078Z,1761691180.078 [keepstation] Running Loop=1 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation](DEBUG): Aggregate::initialize keepstation 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes] Running Loop=1 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T22:39:40.079Z,1761691180.079 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:BackseatDriver] Running Loop=1 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:PowerOnly] Running Loop=1 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:PowerOnly:A] Running Loop=1 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:PowerOnly:B] Running Loop=1 2025-10-28T22:39:40.080Z,1761691180.080 [keepstation:PowerOnly:C] Running Loop=1 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:PowerOnly:D] Running Loop=1 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:PowerOnly:E.Wait] Running Loop=1 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:H.Pitch] Running Loop=1 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:H.Pitch](DEBUG): Initialize. 2025-10-28T22:39:40.081Z,1761691180.081 [keepstation:B] Running Loop=1 2025-10-28T22:39:40.082Z,1761691180.082 [keepstation:H.Pitch] Running Loop=1 2025-10-28T22:39:40.082Z,1761691180.082 [keepstation:PowerOnly] Running Loop=1 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:PowerOnly:D] Stopped 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:PowerOnly:C] Stopped 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:PowerOnly:B] Stopped 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:PowerOnly:A] Stopped 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:BackseatDriver] Running Loop=1 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:StandardEnvelopes] Running Loop=1 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-28T22:39:40.083Z,1761691180.083 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-28T22:39:40.084Z,1761691180.084 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-28T22:39:40.084Z,1761691180.084 [keepstation:B] Stopped 2025-10-28T22:39:40.085Z,1761691180.085 [keepstation:D] Running Loop=1 2025-10-28T22:39:40.459Z,1761691180.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349331,0.930483,0.110316],[-0.936339,0.342239,0.078364],[0.035162,-0.130668,0.990802]] 2025-10-28T22:39:40.505Z,1761691180.505 [keepstation:D] Stopped 2025-10-28T22:39:40.505Z,1761691180.505 [keepstation:E] Running Loop=1 2025-10-28T22:39:40.863Z,1761691180.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362505,0.920882,0.143410],[-0.928985,0.344706,0.134774],[0.074676,-0.182082,0.980444]] 2025-10-28T22:39:40.903Z,1761691180.903 [keepstation:E] Stopped 2025-10-28T22:39:40.903Z,1761691180.903 [keepstation:StartingMission] Running Loop=1 2025-10-28T22:39:40.903Z,1761691180.903 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission 2025-10-28T22:39:41.267Z,1761691181.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389841,0.910935,0.134987],[-0.920749,0.383084,0.073942],[0.015645,-0.153115,0.988085]] 2025-10-28T22:39:41.282Z,1761691181.282 [keepstation:SurfaceComms] Running Loop=1 2025-10-28T22:39:41.282Z,1761691181.282 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms 2025-10-28T22:39:41.282Z,1761691181.282 [keepstation:SurfaceComms:A] Running Loop=1 2025-10-28T22:39:41.283Z,1761691181.283 [keepstation:SurfaceComms:A] Stopped 2025-10-28T22:39:41.283Z,1761691181.283 [keepstation:SurfaceComms:B] Running Loop=1 2025-10-28T22:39:41.283Z,1761691181.283 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B 2025-10-28T22:39:41.672Z,1761691181.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377068,0.921733,0.090703],[-0.926102,0.376536,0.023572],[-0.012426,-0.092889,0.995599]] 2025-10-28T22:39:41.694Z,1761691181.694 [keepstation:NeedComms] Running Loop=1 2025-10-28T22:39:41.694Z,1761691181.694 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms 2025-10-28T22:39:41.694Z,1761691181.694 [keepstation:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T22:39:41.694Z,1761691181.694 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T22:39:41.695Z,1761691181.695 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T22:39:41.695Z,1761691181.695 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T22:39:41.695Z,1761691181.695 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T22:39:41.696Z,1761691181.696 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T22:39:41.696Z,1761691181.696 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T22:39:41.697Z,1761691181.697 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T22:39:41.697Z,1761691181.697 [keepstation:NeedComms:A] Running Loop=1 2025-10-28T22:39:41.698Z,1761691181.698 [keepstation:NeedComms:A](INFO): last time_fix was: 1761691050.000000 second since 1970/01/01T00:00:00Z 2025-10-28T22:39:41.698Z,1761691181.698 [keepstation:NeedComms:A] Stopped 2025-10-28T22:39:42.074Z,1761691182.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381339,0.923355,0.044678],[-0.923969,0.379166,0.050143],[0.029359,-0.060403,0.997742]] 2025-10-28T22:39:42.104Z,1761691182.104 [keepstation:NeedComms:C] Running Loop=1 2025-10-28T22:39:42.481Z,1761691182.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373285,0.927134,0.032886],[-0.925131,0.369366,0.087753],[0.069212,-0.063180,0.995599]] 2025-10-28T22:39:42.524Z,1761691182.524 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T22:39:42.882Z,1761691182.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368268,0.926214,0.080666],[-0.927909,0.360751,0.094043],[0.058003,-0.109483,0.992295]] 2025-10-28T22:39:43.288Z,1761691183.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348580,0.923578,0.159671],[-0.936997,0.339202,0.083537],[0.022992,-0.178731,0.983629]] 2025-10-28T22:39:43.690Z,1761691183.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372777,0.907129,0.195332],[-0.926701,0.353154,0.128484],[0.047569,-0.228910,0.972285]] 2025-10-28T22:39:44.095Z,1761691184.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413422,0.894099,0.172248],[-0.909046,0.394462,0.134295],[0.052128,-0.212102,0.975856]] 2025-10-28T22:39:44.120Z,1761691184.120 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223943.00,A,3645.13127,N,12151.95441,W,0.914,146.49,281025,,,D*73 2025-10-28T22:39:44.123Z,1761691184.123 [NAL9602](INFO): GPS fix at 20251028T223943: (36.752188, -121.865907) 2025-10-28T22:39:44.156Z,1761691184.156 [keepstation:NeedComms:C] Stopped 2025-10-28T22:39:44.156Z,1761691184.156 [keepstation:NeedComms:D] Running Loop=1 2025-10-28T22:39:44.500Z,1761691184.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389285,0.914046,0.113920],[-0.920882,0.383405,0.070544],[0.020803,-0.132369,0.990982]] 2025-10-28T22:39:44.567Z,1761691184.567 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-28T22:39:44.913Z,1761691184.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342971,0.934542,0.094879],[-0.939281,0.340008,0.046318],[0.011026,-0.105003,0.994411]] 2025-10-28T22:39:45.275Z,1761691185.275 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251028T162422/Courier0081.lzma 2025-10-28T22:39:45.307Z,1761691185.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363306,0.925932,0.103239],[-0.931357,0.358077,0.065989],[0.024134,-0.120127,0.992465]] 2025-10-28T22:39:45.574Z,1761691185.574 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Courier0081.lzma.bak 2025-10-28T22:39:45.574Z,1761691185.574 [DataOverHttps](INFO): SBD MOMSN=26263740 2025-10-28T22:39:45.710Z,1761691185.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393401,0.917091,0.064645],[-0.918315,0.388616,0.075336],[0.043968,-0.089002,0.995061]] 2025-10-28T22:39:46.115Z,1761691186.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420247,0.907259,0.016556],[-0.906401,0.418851,0.054780],[0.042765,-0.038028,0.998361]] 2025-10-28T22:39:46.521Z,1761691186.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422374,0.906417,0.002911],[-0.905938,0.422042,0.034002],[0.029592,-0.016999,0.999418]] 2025-10-28T22:39:46.923Z,1761691186.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397707,0.916232,0.048459],[-0.917473,0.396648,0.030216],[0.008464,-0.056477,0.998368]] 2025-10-28T22:39:47.327Z,1761691187.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413136,0.902631,0.120730],[-0.910608,0.407918,0.066305],[0.010601,-0.137331,0.990469]] 2025-10-28T22:39:47.731Z,1761691187.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420616,0.896491,0.139238],[-0.905807,0.406356,0.119953],[0.050956,-0.176576,0.982967]] 2025-10-28T22:39:48.136Z,1761691188.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383512,0.909289,0.161591],[-0.923050,0.371725,0.098990],[0.029943,-0.187121,0.981880]] 2025-10-28T22:39:48.539Z,1761691188.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388109,0.908119,0.157135],[-0.920485,0.390394,0.017340],[-0.045598,-0.151370,0.987425]] 2025-10-28T22:39:48.942Z,1761691188.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417603,0.906302,0.065002],[-0.907903,0.419061,-0.010043],[-0.036342,-0.054821,0.997835]] 2025-10-28T22:39:49.348Z,1761691189.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400429,0.915524,-0.038361],[-0.914878,0.401799,0.039450],[0.051531,0.019299,0.998485]] 2025-10-28T22:39:49.750Z,1761691189.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367861,0.927768,-0.062647],[-0.924041,0.372259,0.087018],[0.104054,0.025877,0.994235]] 2025-10-28T22:39:50.163Z,1761691190.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371943,0.928200,-0.010165],[-0.925578,0.371680,0.071828],[0.070449,-0.017308,0.997365]] 2025-10-28T22:39:50.962Z,1761691190.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339168,0.921847,0.187519],[-0.939267,0.320749,0.122057],[0.052371,-0.217528,0.974648]] 2025-10-28T22:39:51.366Z,1761691191.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338596,0.906583,0.251914],[-0.940746,0.331486,0.071508],[-0.018678,-0.261199,0.965104]] 2025-10-28T22:39:51.772Z,1761691191.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326833,0.911556,0.249490],[-0.942085,0.335246,0.009256],[-0.075204,-0.238066,0.968333]] 2025-10-28T22:39:52.176Z,1761691192.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367397,0.914972,0.166869],[-0.929746,0.366004,0.040168],[-0.024322,-0.169904,0.985160]] 2025-10-28T22:39:52.578Z,1761691192.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359061,0.933148,0.017598],[-0.929018,0.355537,0.102565],[0.089452,-0.053176,0.994571]] 2025-10-28T22:39:52.983Z,1761691192.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321976,0.945047,-0.056727],[-0.945107,0.324367,0.039484],[0.055715,0.040900,0.997609]] 2025-10-28T22:39:53.387Z,1761691193.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308758,0.950440,-0.036491],[-0.950942,0.307681,-0.032284],[-0.019456,0.044669,0.998812]] 2025-10-28T22:39:53.791Z,1761691193.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277007,0.960493,0.026851],[-0.960868,0.276889,0.008092],[0.000338,-0.028042,0.999607]] 2025-10-28T22:39:54.195Z,1761691194.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252749,0.963886,0.083914],[-0.964853,0.244649,0.095950],[0.071955,-0.105216,0.991843]] 2025-10-28T22:39:54.599Z,1761691194.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242637,0.961015,0.132579],[-0.964446,0.224201,0.139918],[0.104739,-0.161815,0.981247]] 2025-10-28T22:39:55.003Z,1761691195.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259982,0.952212,0.160316],[-0.959457,0.236020,0.154070],[0.108869,-0.193871,0.974967]] 2025-10-28T22:39:55.408Z,1761691195.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311396,0.942757,0.119341],[-0.944716,0.293552,0.146080],[0.102685,-0.158233,0.982048]] 2025-10-28T22:39:55.810Z,1761691195.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288143,0.955146,0.068337],[-0.954824,0.281162,0.096223],[0.072693,-0.092976,0.993011]] 2025-10-28T22:39:56.214Z,1761691196.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251239,0.967253,0.036058],[-0.965629,0.247905,0.078127],[0.066630,-0.054447,0.996291]] 2025-10-28T22:39:56.620Z,1761691196.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232762,0.972067,0.030130],[-0.964366,0.226689,0.136419],[0.125778,-0.060809,0.990193]] 2025-10-28T22:39:57.025Z,1761691197.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246125,0.967301,0.061251],[-0.965635,0.239275,0.101474],[0.083500,-0.084122,0.992951]] 2025-10-28T22:39:57.426Z,1761691197.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262509,0.961056,0.086379],[-0.964708,0.259476,0.044842],[0.020682,-0.095102,0.995253]] 2025-10-28T22:39:57.830Z,1761691197.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266992,0.958223,0.102590],[-0.963284,0.262238,0.057577],[0.028269,-0.114196,0.993056]] 2025-10-28T22:39:58.235Z,1761691198.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279155,0.954852,0.101636],[-0.959846,0.274417,0.058230],[0.027711,-0.113810,0.993116]] 2025-10-28T22:39:58.639Z,1761691198.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251893,0.963002,0.095796],[-0.967754,0.250777,0.023718],[-0.001183,-0.098681,0.995118]] 2025-10-28T22:39:59.042Z,1761691199.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248130,0.963417,0.101288],[-0.968224,0.250011,-0.006118],[-0.031217,-0.096552,0.994838]] 2025-10-28T22:39:59.446Z,1761691199.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230841,0.966446,0.112667],[-0.972851,0.227285,0.043622],[0.016551,-0.119678,0.992675]] 2025-10-28T22:39:59.853Z,1761691199.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221997,0.965642,0.135102],[-0.971083,0.206480,0.119845],[0.087831,-0.157801,0.983557]] 2025-10-28T22:40:00.254Z,1761691200.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253692,0.950931,0.177120],[-0.966851,0.243808,0.075866],[0.028960,-0.190495,0.981261]] 2025-10-28T22:40:00.658Z,1761691200.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250280,0.954189,0.163959],[-0.967837,0.251044,0.016385],[-0.025526,-0.162787,0.986331]] 2025-10-28T22:40:01.062Z,1761691201.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245584,0.959250,0.139740],[-0.967671,0.234047,0.093992],[0.057456,-0.158305,0.985717]] 2025-10-28T22:40:01.469Z,1761691201.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276986,0.956972,0.086505],[-0.950222,0.259435,0.172545],[0.142678,-0.129991,0.981196]] 2025-10-28T22:40:01.870Z,1761691201.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295069,0.953886,0.055092],[-0.950352,0.287035,0.120174],[0.098819,-0.087816,0.991223]] 2025-10-28T22:40:02.279Z,1761691202.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304140,0.949748,0.074019],[-0.952503,0.301924,0.039748],[0.015403,-0.082592,0.996464]] 2025-10-28T22:40:02.679Z,1761691202.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266358,0.954502,0.134087],[-0.962594,0.270586,-0.014025],[-0.049669,-0.125336,0.990870]] 2025-10-28T22:40:03.084Z,1761691203.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254360,0.948993,0.186318],[-0.966591,0.255772,0.016832],[-0.031681,-0.184375,0.982345]] 2025-10-28T22:40:03.487Z,1761691203.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333919,0.933527,0.130484],[-0.936600,0.313003,0.157511],[0.106199,-0.174807,0.978859]] 2025-10-28T22:40:03.890Z,1761691203.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373881,0.927416,0.010628],[-0.912765,0.365893,0.181613],[0.164542,-0.077602,0.983313]] 2025-10-28T22:40:04.311Z,1761691204.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371710,0.928186,-0.017386],[-0.927218,0.372116,0.042374],[0.045801,0.000369,0.998951]] 2025-10-28T22:40:04.699Z,1761691204.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330375,0.943757,0.013254],[-0.943490,0.330604,-0.022957],[-0.026048,-0.004921,0.999649]] 2025-10-28T22:40:05.102Z,1761691205.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310632,0.947499,0.075845],[-0.950530,0.309702,0.024032],[-0.000719,-0.079558,0.996830]] 2025-10-28T22:40:05.506Z,1761691205.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352677,0.925670,0.136942],[-0.934331,0.340309,0.105906],[0.051432,-0.165300,0.984901]] 2025-10-28T22:40:05.910Z,1761691205.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367289,0.916244,0.159988],[-0.930100,0.361149,0.066971],[0.003583,-0.173402,0.984845]] 2025-10-28T22:40:06.359Z,1761691206.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375809,0.916291,0.138489],[-0.924861,0.380255,-0.006157],[-0.058302,-0.125769,0.990345]] 2025-10-28T22:40:06.719Z,1761691206.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374726,0.926913,0.020318],[-0.927128,0.374546,0.012212],[0.003710,-0.023413,0.999719]] 2025-10-28T22:40:07.125Z,1761691207.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385013,0.921744,-0.046408],[-0.921085,0.386927,0.043469],[0.058024,0.026009,0.997976]] 2025-10-28T22:40:07.527Z,1761691207.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443086,0.896289,-0.018460],[-0.895858,0.443451,0.028109],[0.033380,0.004083,0.999434]] 2025-10-28T22:40:07.930Z,1761691207.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435590,0.899122,0.042907],[-0.899811,0.436232,-0.006482],[-0.024545,-0.035785,0.999058]] 2025-10-28T22:40:08.359Z,1761691208.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380001,0.915181,0.134323],[-0.921758,0.386782,-0.027592],[-0.077206,-0.113329,0.990553]] 2025-10-28T22:40:08.740Z,1761691208.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357443,0.920901,0.155484],[-0.933864,0.350377,0.071650],[0.011505,-0.170812,0.985237]] 2025-10-28T22:40:09.142Z,1761691209.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426182,0.893505,0.141481],[-0.897685,0.398351,0.188358],[0.111939,-0.207280,0.971856]] 2025-10-28T22:40:09.547Z,1761691209.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466036,0.874778,0.132564],[-0.881164,0.445395,0.158659],[0.079748,-0.190751,0.978394]] 2025-10-28T22:40:09.951Z,1761691209.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469514,0.874119,0.124391],[-0.882609,0.460897,0.092600],[0.023612,-0.153266,0.987903]] 2025-10-28T22:40:10.368Z,1761691210.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505429,0.858072,0.090851],[-0.862837,0.503495,0.044778],[-0.007320,-0.101022,0.994857]] 2025-10-28T22:40:10.759Z,1761691210.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513120,0.857601,0.035054],[-0.857642,0.510669,0.060553],[0.034030,-0.061135,0.997549]] 2025-10-28T22:40:11.163Z,1761691211.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480411,0.876025,0.042256],[-0.875102,0.475587,0.089515],[0.058321,-0.079982,0.995089]] 2025-10-28T22:40:11.567Z,1761691211.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486274,0.868943,0.092066],[-0.873505,0.480636,0.077316],[0.022933,-0.118017,0.992747]] 2025-10-28T22:40:11.973Z,1761691211.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531659,0.843454,0.076963],[-0.846723,0.527172,0.071760],[0.019953,-0.103319,0.994448]] 2025-10-28T22:40:12.375Z,1761691212.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543145,0.838990,0.033007],[-0.838796,0.540421,0.066078],[0.037601,-0.063576,0.997268]] 2025-10-28T22:40:12.469Z,1761691212.469 [NAL9602](INFO): SBD MO Status=0, MOMSN=3384, MT Status=0, MTMSN=0 2025-10-28T22:40:12.469Z,1761691212.469 [NAL9602](INFO): No messages in MT queue 2025-10-28T22:40:12.778Z,1761691212.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550694,0.834186,0.029476],[-0.832758,0.546653,0.087663],[0.057014,-0.072821,0.995714]] 2025-10-28T22:40:13.188Z,1761691213.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542227,0.837792,0.063991],[-0.838984,0.535699,0.095565],[0.045784,-0.105505,0.993364]] 2025-10-28T22:40:13.594Z,1761691213.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568972,0.811732,0.131765],[-0.822329,0.562909,0.083113],[-0.006706,-0.155644,0.987791]] 2025-10-28T22:40:13.998Z,1761691213.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603723,0.795002,0.059083],[-0.797038,0.600474,0.064514],[0.015812,-0.086040,0.996166]] 2025-10-28T22:40:14.399Z,1761691214.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590705,0.806806,-0.011504],[-0.804942,0.590210,0.061003],[0.056007,-0.026774,0.998071]] 2025-10-28T22:40:14.803Z,1761691214.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572656,0.819718,0.011274],[-0.816209,0.568811,0.101279],[0.076608,-0.067200,0.994794]] 2025-10-28T22:40:15.204Z,1761691215.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589117,0.803017,0.090026],[-0.806802,0.578365,0.120685],[0.044844,-0.143731,0.988600]] 2025-10-28T22:40:15.608Z,1761691215.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617081,0.775204,0.135168],[-0.786900,0.607917,0.105948],[-0.000039,-0.171742,0.985142]] 2025-10-28T22:40:16.011Z,1761691216.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617159,0.768883,0.167134],[-0.784673,0.617166,0.058273],[-0.058344,-0.167109,0.984211]] 2025-10-28T22:40:16.414Z,1761691216.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609891,0.770708,0.184505],[-0.790186,0.609134,0.067544],[-0.060332,-0.186988,0.980508]] 2025-10-28T22:40:16.819Z,1761691216.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621034,0.779085,0.085692],[-0.782122,0.608887,0.132442],[0.051007,-0.149272,0.987480]] 2025-10-28T22:40:17.222Z,1761691217.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627156,0.778724,0.016224],[-0.771660,0.618366,0.148875],[0.105900,-0.105888,0.988723]] 2025-10-28T22:40:17.626Z,1761691217.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623847,0.780068,0.048057],[-0.781332,0.623937,0.014950],[-0.018322,-0.046875,0.998733]] 2025-10-28T22:40:18.032Z,1761691218.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660071,0.750398,0.034765],[-0.747297,0.660649,-0.071342],[-0.076503,0.021111,0.996846]] 2025-10-28T22:40:18.435Z,1761691218.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661686,0.747380,-0.059950],[-0.749375,0.661841,-0.020083],[0.024668,0.058214,0.997999]] 2025-10-28T22:40:18.840Z,1761691218.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641379,0.764005,-0.070215],[-0.761406,0.645093,0.064155],[0.094310,0.012314,0.995467]] 2025-10-28T22:40:19.242Z,1761691219.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654019,0.756471,-0.003259],[-0.754290,0.652449,0.073187],[0.057491,-0.045408,0.997313]] 2025-10-28T22:40:19.647Z,1761691219.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648530,0.760231,0.038194],[-0.760979,0.646353,0.056028],[0.017908,-0.065401,0.997698]] 2025-10-28T22:40:20.053Z,1761691220.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647558,0.760573,0.046878],[-0.761769,0.644558,0.065205],[0.019377,-0.077934,0.996770]] 2025-10-28T22:40:20.456Z,1761691220.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632858,0.769540,0.085439],[-0.774133,0.630943,0.051271],[-0.014451,-0.098588,0.995023]] 2025-10-28T22:40:20.859Z,1761691220.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621482,0.775010,0.114539],[-0.780301,0.625401,0.002191],[-0.069935,-0.090737,0.993416]] 2025-10-28T22:40:21.263Z,1761691221.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639159,0.767901,0.042462],[-0.769074,0.638248,0.034136],[-0.000888,-0.054475,0.998515]] 2025-10-28T22:40:21.666Z,1761691221.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672654,0.739614,-0.022547],[-0.739323,0.673026,0.020916],[0.030644,0.002600,0.999527]] 2025-10-28T22:40:22.073Z,1761691222.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643210,0.761792,-0.077161],[-0.759384,0.647572,0.063142],[0.098068,0.017982,0.995017]] 2025-10-28T22:40:22.475Z,1761691222.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598644,0.799621,-0.047244],[-0.791240,0.599495,0.120605],[0.124761,-0.034818,0.991576]] 2025-10-28T22:40:22.878Z,1761691222.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599425,0.796206,0.082125],[-0.800382,0.595095,0.072461],[0.008821,-0.109166,0.993984]] 2025-10-28T22:40:23.283Z,1761691223.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604105,0.780608,0.160337],[-0.793771,0.607250,0.034279],[-0.070606,-0.147979,0.986467]] 2025-10-28T22:40:23.689Z,1761691223.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626436,0.773433,0.096847],[-0.779280,0.618665,0.099879],[0.017334,-0.138038,0.990275]] 2025-10-28T22:40:24.092Z,1761691224.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623210,0.781110,-0.038439],[-0.772988,0.622703,0.121373],[0.118741,-0.045928,0.991862]] 2025-10-28T22:40:24.495Z,1761691224.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578097,0.810824,-0.091474],[-0.804611,0.585096,0.101312],[0.135667,0.015033,0.990640]] 2025-10-28T22:40:24.898Z,1761691224.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574548,0.816426,-0.057814],[-0.809227,0.577226,0.109365],[0.122660,-0.016050,0.992319]] 2025-10-28T22:40:25.304Z,1761691225.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592001,0.805444,-0.028193],[-0.794121,0.588933,0.150100],[0.137501,-0.066471,0.988269]] 2025-10-28T22:40:25.725Z,1761691225.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566858,0.823561,0.020481],[-0.817102,0.558898,0.141343],[0.104958,-0.096857,0.989749]] 2025-10-28T22:40:26.110Z,1761691226.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585435,0.806681,0.080824],[-0.810253,0.578802,0.092073],[0.027492,-0.119391,0.992467]] 2025-10-28T22:40:26.514Z,1761691226.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573082,0.818103,0.047789],[-0.818526,0.568591,0.081971],[0.039888,-0.086092,0.995488]] 2025-10-28T22:40:26.921Z,1761691226.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562064,0.827093,-0.001224],[-0.816796,0.555299,0.156485],[0.130107,-0.086955,0.987680]] 2025-10-28T22:40:27.323Z,1761691227.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567053,0.819738,0.080498],[-0.814663,0.543738,0.201675],[0.121551,-0.179939,0.976139]] 2025-10-28T22:40:27.727Z,1761691227.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552283,0.816933,0.166146],[-0.830788,0.522820,0.190924],[0.069107,-0.243476,0.967442]] 2025-10-28T22:40:28.131Z,1761691228.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547563,0.819169,0.170694],[-0.836743,0.537502,0.104656],[-0.006017,-0.200133,0.979750]] 2025-10-28T22:40:28.542Z,1761691228.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538756,0.835356,0.109187],[-0.841011,0.540894,0.011548],[-0.049412,-0.098049,0.993954]] 2025-10-28T22:40:28.938Z,1761691228.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515684,0.855658,0.043808],[-0.856779,0.515015,0.026273],[-0.000081,-0.051083,0.998694]] 2025-10-28T22:40:29.342Z,1761691229.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545279,0.836914,0.047392],[-0.838101,0.543223,0.049961],[0.016068,-0.066962,0.997626]] 2025-10-28T22:40:29.747Z,1761691229.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603966,0.794735,0.060178],[-0.796669,0.599774,0.074762],[0.023323,-0.093096,0.995384]] 2025-10-28T22:40:30.150Z,1761691230.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589353,0.805587,0.060770],[-0.807052,0.583687,0.089318],[0.036483,-0.101684,0.994148]] 2025-10-28T22:40:30.554Z,1761691230.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552708,0.825975,0.110816],[-0.833232,0.545243,0.091837],[0.015433,-0.143095,0.989589]] 2025-10-28T22:40:30.958Z,1761691230.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562266,0.816242,0.132688],[-0.826750,0.558428,0.068136],[-0.018481,-0.148010,0.988813]] 2025-10-28T22:40:31.362Z,1761691231.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569741,0.813764,0.114820],[-0.820209,0.571799,0.017398],[-0.051496,-0.104089,0.993234]] 2025-10-28T22:40:31.767Z,1761691231.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557239,0.825139,0.092892],[-0.827389,0.561208,-0.021762],[-0.070088,-0.064732,0.995438]] 2025-10-28T22:40:32.171Z,1761691232.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553645,0.832627,0.014490],[-0.831960,0.552275,0.053239],[0.036326,-0.041531,0.998477]] 2025-10-28T22:40:32.574Z,1761691232.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563265,0.825921,-0.024250],[-0.817809,0.561443,0.126371],[0.117988,-0.051348,0.991687]] 2025-10-28T22:40:32.979Z,1761691232.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566192,0.824178,0.012571],[-0.820269,0.561874,0.107036],[0.081153,-0.070914,0.994176]] 2025-10-28T22:40:33.385Z,1761691233.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578676,0.812316,0.072634],[-0.815225,0.573600,0.079944],[0.023278,-0.105475,0.994149]] 2025-10-28T22:40:33.788Z,1761691233.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584189,0.802506,0.121273],[-0.810989,0.583063,0.048312],[-0.031939,-0.126574,0.991443]] 2025-10-28T22:40:34.191Z,1761691234.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593717,0.791070,0.147335],[-0.804175,0.589767,0.074012],[-0.028345,-0.162425,0.986314]] 2025-10-28T22:40:34.595Z,1761691234.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591294,0.795857,0.130318],[-0.806454,0.583860,0.093484],[-0.001687,-0.160372,0.987055]] 2025-10-28T22:40:35.001Z,1761691235.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597467,0.792313,0.123584],[-0.801877,0.591315,0.085679],[-0.005193,-0.150290,0.988628]] 2025-10-28T22:40:35.402Z,1761691235.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618687,0.783634,0.056068],[-0.784629,0.612704,0.094611],[0.039787,-0.102527,0.993934]] 2025-10-28T22:40:35.806Z,1761691235.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623255,0.781776,0.019461],[-0.781542,0.621814,0.050395],[0.027297,-0.046619,0.998540]] 2025-10-28T22:40:36.211Z,1761691236.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616036,0.784451,0.071671],[-0.783771,0.619504,-0.043798],[-0.078758,-0.029193,0.996466]] 2025-10-28T22:40:36.616Z,1761691236.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617956,0.779335,0.103767],[-0.774949,0.626035,-0.086796],[-0.132605,-0.026778,0.990807]] 2025-10-28T22:40:37.018Z,1761691237.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633266,0.772672,0.044188],[-0.773507,0.633781,0.002980],[-0.025703,-0.036066,0.999019]] 2025-10-28T22:40:37.422Z,1761691237.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612933,0.788088,-0.056839],[-0.777573,0.614402,0.133753],[0.140331,-0.037786,0.989383]] 2025-10-28T22:40:37.827Z,1761691237.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622288,0.782143,-0.031785],[-0.770776,0.619319,0.149492],[0.136610,-0.068528,0.988252]] 2025-10-28T22:40:38.232Z,1761691238.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638604,0.769275,0.020039],[-0.765287,0.632131,0.121431],[0.080747,-0.092882,0.992397]] 2025-10-28T22:40:38.634Z,1761691238.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619745,0.782491,0.060196],[-0.782191,0.609609,0.128662],[0.063981,-0.126822,0.989860]] 2025-10-28T22:40:39.039Z,1761691239.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627377,0.774677,0.079202],[-0.776289,0.614157,0.142075],[0.061420,-0.150618,0.986682]] 2025-10-28T22:40:39.443Z,1761691239.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645964,0.763345,0.005948],[-0.757131,0.639673,0.132552],[0.097378,-0.090127,0.991158]] 2025-10-28T22:40:39.847Z,1761691239.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647929,0.758253,-0.072389],[-0.752115,0.651909,0.096634],[0.120464,-0.008167,0.992684]] 2025-10-28T22:40:40.251Z,1761691240.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629175,0.771792,-0.092066],[-0.769728,0.635143,0.064131],[0.107971,0.030516,0.993686]] 2025-10-28T22:40:40.654Z,1761691240.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630679,0.774501,-0.048906],[-0.768118,0.631981,0.102933],[0.110629,-0.027352,0.993485]] 2025-10-28T22:40:41.058Z,1761691241.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642988,0.765827,-0.008668],[-0.754278,0.635173,0.166191],[0.132779,-0.100321,0.986056]] 2025-10-28T22:40:41.464Z,1761691241.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648787,0.760845,0.013797],[-0.748872,0.635147,0.189153],[0.135153,-0.133052,0.981851]] 2025-10-28T22:40:41.866Z,1761691241.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671425,0.739540,-0.047635],[-0.720229,0.666329,0.193069],[0.174523,-0.095323,0.980028]] 2025-10-28T22:40:42.271Z,1761691242.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674900,0.723058,-0.147299],[-0.699798,0.690484,0.183071],[0.234078,-0.020475,0.972002]] 2025-10-28T22:40:42.675Z,1761691242.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664318,0.715529,-0.216102],[-0.695154,0.697696,0.173151],[0.274668,0.035197,0.960895]] 2025-10-28T22:40:43.080Z,1761691243.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653904,0.718626,-0.236613],[-0.685451,0.695096,0.216792],[0.320261,0.020425,0.947109]] 2025-10-28T22:40:43.083Z,1761691243.083 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:40:43.483Z,1761691243.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653815,0.732874,-0.188203],[-0.687691,0.679298,0.256194],[0.315604,-0.038078,0.948127]] 2025-10-28T22:40:43.886Z,1761691243.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652058,0.752105,-0.095703],[-0.705608,0.648180,0.286322],[0.277377,-0.119169,0.953342]] 2025-10-28T22:40:44.302Z,1761691244.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674160,0.738474,-0.012789],[-0.703119,0.646993,0.294998],[0.226123,-0.189883,0.955412]] 2025-10-28T22:40:44.696Z,1761691244.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687492,0.726191,-0.001050],[-0.704435,0.667246,0.241980],[0.176424,-0.165620,0.970281]] 2025-10-28T22:40:45.098Z,1761691245.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694676,0.716041,-0.068631],[-0.693806,0.692163,0.198854],[0.189892,-0.090522,0.977623]] 2025-10-28T22:40:45.503Z,1761691245.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722117,0.672205,-0.163363],[-0.645688,0.739699,0.189561],[0.248263,-0.031404,0.968183]] 2025-10-28T22:40:45.825Z,1761691245.825 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251389 2025-10-28T22:40:45.907Z,1761691245.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709952,0.651672,-0.267004],[-0.646586,0.753409,0.119590],[0.279097,0.087738,0.956246]] 2025-10-28T22:40:46.345Z,1761691246.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685400,0.685229,-0.246349],[-0.689023,0.719742,0.084967],[0.235530,0.111504,0.965449]] 2025-10-28T22:40:46.714Z,1761691246.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691639,0.708078,-0.142343],[-0.700098,0.705712,0.108781],[0.177478,0.024417,0.983822]] 2025-10-28T22:40:47.118Z,1761691247.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703556,0.708371,-0.056749],[-0.694602,0.702351,0.155661],[0.150124,-0.070098,0.986179]] 2025-10-28T22:40:47.523Z,1761691247.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720458,0.693409,0.011145],[-0.682359,0.705925,0.189885],[0.123801,-0.144409,0.981743]] 2025-10-28T22:40:47.928Z,1761691247.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714063,0.699552,0.027201],[-0.694010,0.702232,0.158810],[0.091995,-0.132278,0.986934]] 2025-10-28T22:40:48.359Z,1761691248.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710586,0.703528,0.010761],[-0.699492,0.704692,0.118828],[0.076016,-0.091964,0.992857]] 2025-10-28T22:40:48.735Z,1761691248.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708442,0.704917,-0.034666],[-0.697405,0.706741,0.118928],[0.108335,-0.060077,0.992297]] 2025-10-28T22:40:49.139Z,1761691249.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703564,0.706655,-0.075074],[-0.699209,0.707247,0.104443],[0.126901,-0.020990,0.991693]] 2025-10-28T22:40:49.544Z,1761691249.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690622,0.723168,-0.008376],[-0.722312,0.690291,0.042010],[0.036162,-0.022963,0.999082]] 2025-10-28T22:40:49.947Z,1761691249.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711825,0.701644,0.031645],[-0.702320,0.710604,0.042281],[0.007179,-0.052322,0.998604]] 2025-10-28T22:40:49.961Z,1761691249.961 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file). 2025-10-28T22:40:50.364Z,1761691250.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731621,0.681688,-0.005654],[-0.679244,0.729653,0.078960],[0.057951,-0.053928,0.996862]] 2025-10-28T22:40:50.755Z,1761691250.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685116,0.728419,0.004610],[-0.725557,0.681835,0.093101],[0.064673,-0.067130,0.995646]] 2025-10-28T22:40:51.448Z,1761691251.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694479,0.716736,0.063156],[-0.716657,0.681240,0.149382],[0.064043,-0.149004,0.986761]] 2025-10-28T22:40:51.855Z,1761691251.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676686,0.734086,0.056698],[-0.731885,0.662263,0.160474],[0.080253,-0.150087,0.985410]] 2025-10-28T22:40:54.001Z,1761691254.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660491,0.750616,-0.018125],[-0.746252,0.658931,0.094438],[0.082829,-0.048850,0.995366]] 2025-10-28T22:40:54.369Z,1761691254.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674011,0.738605,0.013067],[-0.736953,0.671070,0.081032],[0.051081,-0.064246,0.996626]] 2025-10-28T22:40:54.771Z,1761691254.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652140,0.755078,0.067599],[-0.757633,0.652267,0.023236],[-0.026547,-0.066368,0.997442]] 2025-10-28T22:40:55.175Z,1761691255.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650335,0.751223,0.112820],[-0.753491,0.656781,-0.029846],[-0.096519,-0.065599,0.993167]] 2025-10-28T22:40:55.580Z,1761691255.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663929,0.747791,0.002665],[-0.747128,0.663182,0.044610],[0.031592,-0.031609,0.999001]] 2025-10-28T22:40:55.983Z,1761691255.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638132,0.759611,-0.125613],[-0.755999,0.649085,0.084584],[0.145784,0.040987,0.988467]] 2025-10-28T22:40:56.387Z,1761691256.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621081,0.779369,-0.082723],[-0.779254,0.625356,0.041143],[0.083797,0.038909,0.995723]] 2025-10-28T22:40:56.791Z,1761691256.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596826,0.802168,0.018001],[-0.801618,0.595145,0.056673],[0.034748,-0.048254,0.998230]] 2025-10-28T22:40:57.195Z,1761691257.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578301,0.806349,0.123971],[-0.815648,0.574614,0.067360],[-0.016920,-0.140071,0.989997]] 2025-10-28T22:40:57.598Z,1761691257.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552556,0.800600,0.231779],[-0.826256,0.562687,0.026171],[-0.109466,-0.205970,0.972416]] 2025-10-28T22:40:58.004Z,1761691258.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561957,0.799356,0.212683],[-0.823780,0.564081,0.056553],[-0.074764,-0.206985,0.975483]] 2025-10-28T22:40:58.406Z,1761691258.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593279,0.803035,0.056178],[-0.803767,0.587070,0.096474],[0.044491,-0.102390,0.993749]] 2025-10-28T22:40:58.589Z,1761691258.589 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003311 2025-10-28T22:40:58.810Z,1761691258.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562896,0.824387,-0.059449],[-0.822055,0.565872,0.063355],[0.085870,0.013208,0.996219]] 2025-10-28T22:40:59.215Z,1761691259.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544506,0.837379,-0.048052],[-0.836196,0.546425,0.046859],[0.065495,0.014666,0.997745]] 2025-10-28T22:40:59.627Z,1761691259.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569018,0.821983,-0.023703],[-0.820029,0.569346,0.058289],[0.061408,-0.013730,0.998018]] 2025-10-28T22:41:00.023Z,1761691260.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552884,0.833242,-0.005254],[-0.830626,0.551627,0.075947],[0.066181,-0.037625,0.997098]] 2025-10-28T22:41:00.427Z,1761691260.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517892,0.852851,0.066574],[-0.855161,0.514143,0.066003],[0.022062,-0.091114,0.995596]] 2025-10-28T22:41:00.831Z,1761691260.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495326,0.860261,0.120845],[-0.868523,0.487538,0.089299],[0.017904,-0.149189,0.988647]] 2025-10-28T22:41:01.249Z,1761691261.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510744,0.847382,0.145206],[-0.859727,0.502805,0.089754],[0.003045,-0.170679,0.985322]] 2025-10-28T22:41:01.658Z,1761691261.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508506,0.860460,0.032102],[-0.860159,0.505918,0.064603],[0.039348,-0.060464,0.997395]] 2025-10-28T22:41:02.068Z,1761691262.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500022,0.865992,0.006033],[-0.864530,0.498746,0.061962],[0.050650,-0.036199,0.998060]] 2025-10-28T22:41:02.453Z,1761691262.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497168,0.866467,0.045374],[-0.867580,0.497129,0.012951],[-0.011335,-0.045805,0.998886]] 2025-10-28T22:41:02.855Z,1761691262.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484302,0.872104,0.069898],[-0.874900,0.482862,0.037348],[-0.001180,-0.079241,0.996855]] 2025-10-28T22:41:03.256Z,1761691263.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476011,0.874336,0.094604],[-0.878977,0.469511,0.083426],[0.028525,-0.122866,0.992013]] 2025-10-28T22:41:03.659Z,1761691263.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437839,0.884553,0.160818],[-0.898944,0.433514,0.062969],[-0.014017,-0.172137,0.984973]] 2025-10-28T22:41:04.063Z,1761691264.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474501,0.866169,0.156844],[-0.879652,0.473182,0.048074],[-0.032576,-0.160780,0.986453]] 2025-10-28T22:41:04.467Z,1761691264.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513850,0.857827,0.009539],[-0.856262,0.512166,0.067090],[0.052666,-0.042642,0.997701]] 2025-10-28T22:41:04.871Z,1761691264.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418443,0.900396,-0.119128],[-0.895124,0.431049,0.113800],[0.153815,0.059015,0.986336]] 2025-10-28T22:41:05.276Z,1761691265.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377722,0.923408,-0.068146],[-0.917101,0.383243,0.109776],[0.127485,0.021031,0.991618]] 2025-10-28T22:41:05.678Z,1761691265.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414036,0.906986,0.077141],[-0.910236,0.413161,0.027738],[-0.006714,-0.081701,0.996634]] 2025-10-28T22:41:06.082Z,1761691266.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398857,0.901327,0.168890],[-0.916520,0.397864,0.041180],[-0.030078,-0.171216,0.984774]] 2025-10-28T22:41:06.412Z,1761691266.412 [DataOverHttps](INFO): Sending 347 bytes from file Logs/20251028T162422/Express0083.lzma 2025-10-28T22:41:06.488Z,1761691266.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378072,0.907899,0.181054],[-0.924982,0.362354,0.114488],[0.038338,-0.210757,0.976786]] 2025-10-28T22:41:06.891Z,1761691266.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397532,0.906465,0.142441],[-0.913114,0.375488,0.158842],[0.090500,-0.193209,0.976975]] 2025-10-28T22:41:07.294Z,1761691267.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404835,0.910452,0.084765],[-0.912142,0.395605,0.107207],[0.064074,-0.120719,0.990617]] 2025-10-28T22:41:07.414Z,1761691267.414 [DataOverHttps](INFO): Moved sent file to Logs/20251028T162422/Express0083.lzma.bak 2025-10-28T22:41:07.414Z,1761691267.414 [DataOverHttps](INFO): SBD MOMSN=26263746 2025-10-28T22:41:07.699Z,1761691267.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383765,0.922106,0.049440],[-0.922287,0.380075,0.070214],[0.045953,-0.072544,0.996306]] 2025-10-28T22:41:08.104Z,1761691268.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397096,0.917454,0.024358],[-0.912973,0.392166,0.112634],[0.093785,-0.066964,0.993338]] 2025-10-28T22:41:08.507Z,1761691268.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423361,0.905909,-0.009698],[-0.901750,0.422400,0.091794],[0.087254,-0.030117,0.995731]] 2025-10-28T22:41:08.911Z,1761691268.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396966,0.917706,0.015285],[-0.916018,0.395079,0.069449],[0.057695,-0.041570,0.997468]] 2025-10-28T22:41:09.315Z,1761691269.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396217,0.915316,0.072167],[-0.911188,0.382328,0.153495],[0.112905,-0.126575,0.985511]] 2025-10-28T22:41:09.339Z,1761691269.339 [keepstation:NeedComms:D] Stopped 2025-10-28T22:41:09.340Z,1761691269.340 [keepstation:NeedComms:E] Running Loop=1 2025-10-28T22:41:09.720Z,1761691269.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465321,0.881825,0.076555],[-0.866743,0.436399,0.241480],[0.179535,-0.178719,0.967381]] 2025-10-28T22:41:09.747Z,1761691269.747 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-10-28T22:41:10.122Z,1761691270.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482551,0.875845,0.006360],[-0.856508,0.470354,0.212512],[0.183135,-0.107995,0.977138]] 2025-10-28T22:41:10.527Z,1761691270.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477932,0.878210,-0.018108],[-0.866666,0.474807,0.153126],[0.143074,-0.057490,0.988041]] 2025-10-28T22:41:10.931Z,1761691270.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478756,0.877926,0.006187],[-0.872512,0.474997,0.114458],[0.097547,-0.060195,0.993409]] 2025-10-28T22:41:11.337Z,1761691271.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517137,0.855598,0.022835],[-0.853183,0.513186,0.093375],[0.068173,-0.067770,0.995369]] 2025-10-28T22:41:11.738Z,1761691271.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540438,0.841384,0.000064],[-0.837925,0.538210,0.090617],[0.076210,-0.049026,0.995886]] 2025-10-28T22:41:12.142Z,1761691272.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525576,0.850688,0.009972],[-0.848782,0.523530,0.074057],[0.057779,-0.047387,0.997204]] 2025-10-28T22:41:12.549Z,1761691272.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534205,0.843745,0.052152],[-0.844425,0.529708,0.079718],[0.039637,-0.086624,0.995452]] 2025-10-28T22:41:13.355Z,1761691273.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503045,0.858541,0.099261],[-0.862207,0.490618,0.126065],[0.059533,-0.149000,0.987043]] 2025-10-28T22:41:13.760Z,1761691273.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530020,0.834968,0.148011],[-0.847783,0.517950,0.113978],[0.018506,-0.185892,0.982396]] 2025-10-28T22:41:14.164Z,1761691274.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537384,0.835500,0.114708],[-0.843093,0.535515,0.049182],[-0.020336,-0.123139,0.992181]] 2025-10-28T22:41:14.567Z,1761691274.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516866,0.853597,0.064967],[-0.854980,0.518544,-0.011041],[-0.043113,-0.049839,0.997826]] 2025-10-28T22:41:14.971Z,1761691274.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524395,0.851139,0.023918],[-0.851460,0.524010,0.020714],[0.005097,-0.031228,0.999499]] 2025-10-28T22:41:15.375Z,1761691275.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568181,0.822776,-0.014505],[-0.819887,0.567518,0.075560],[0.070401,-0.031039,0.997036]] 2025-10-28T22:41:15.380Z,1761691275.380 [NAL9602](INFO): SBD MO Status=1, MOMSN=3385, MT Status=0, MTMSN=0 2025-10-28T22:41:15.428Z,1761691275.428 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0083.lzma 2025-10-28T22:41:15.428Z,1761691275.428 [NAL9602](INFO): Packets left to send: 1 2025-10-28T22:41:15.784Z,1761691275.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586331,0.809843,-0.019254],[-0.806569,0.585839,0.078991],[0.075250,-0.030785,0.996689]] 2025-10-28T22:41:16.183Z,1761691276.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585931,0.810223,0.014950],[-0.809134,0.583928,0.065809],[0.044590,-0.050656,0.997720]] 2025-10-28T22:41:16.586Z,1761691276.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569368,0.816637,0.094471],[-0.821998,0.567187,0.051161],[-0.011803,-0.106784,0.994212]] 2025-10-28T22:41:16.598Z,1761691276.598 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224115.00,A,3645.12062,N,12151.95464,W,0.544,183.58,281025,,,D*79 2025-10-28T22:41:16.617Z,1761691276.617 [NAL9602](INFO): GPS fix at 20251028T224115: (36.752010, -121.865911) 2025-10-28T22:41:16.669Z,1761691276.669 [keepstation:NeedComms:E] Stopped 2025-10-28T22:41:16.670Z,1761691276.670 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms 2025-10-28T22:41:16.670Z,1761691276.670 [keepstation:NeedComms] Stopped 2025-10-28T22:41:16.670Z,1761691276.670 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms 2025-10-28T22:41:16.670Z,1761691276.670 [keepstation:NeedComms:B.GoToSurface] Stopped 2025-10-28T22:41:16.670Z,1761691276.670 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T22:41:16.990Z,1761691276.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575833,0.807328,0.128989],[-0.816859,0.574696,0.049670],[-0.034030,-0.133967,0.990401]] 2025-10-28T22:41:17.039Z,1761691277.039 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B 2025-10-28T22:41:17.039Z,1761691277.039 [keepstation:SurfaceComms:B] Stopped 2025-10-28T22:41:17.039Z,1761691277.039 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B 2025-10-28T22:41:17.040Z,1761691277.040 [keepstation:SurfaceComms:HandleNan] Running Loop=1 2025-10-28T22:41:17.040Z,1761691277.040 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan 2025-10-28T22:41:17.040Z,1761691277.040 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1 2025-10-28T22:41:17.040Z,1761691277.040 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T22:41:17.040Z,1761691277.040 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1 2025-10-28T22:41:17.395Z,1761691277.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611894,0.784631,0.099697],[-0.790479,0.610963,0.043213],[-0.027005,-0.105251,0.994079]] 2025-10-28T22:41:17.429Z,1761691277.429 [keepstation:SurfaceComms:HandleNan] Stopped 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:setTransit] Running Loop=1 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit 2025-10-28T22:41:17.430Z,1761691277.430 [keepstation:SurfaceComms:setTransit:A] Running Loop=1 2025-10-28T22:41:17.801Z,1761691277.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636320,0.770652,0.034533],[-0.771358,0.635038,0.041638],[0.010159,-0.053132,0.998536]] 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setTransit:A] Stopped 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setTransit] Stopped 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setStation] Running Loop=1 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation 2025-10-28T22:41:17.843Z,1761691277.843 [keepstation:SurfaceComms:setStation:A] Running Loop=1 2025-10-28T22:41:18.203Z,1761691278.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626132,0.779021,-0.032941],[-0.776888,0.626899,0.058680],[0.066364,-0.011150,0.997733]] 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setStation] Stopped 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setStation:A] Stopped 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setSink] Running Loop=1 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink 2025-10-28T22:41:18.233Z,1761691278.233 [keepstation:SurfaceComms:setSink:A] Running Loop=1 2025-10-28T22:41:18.607Z,1761691278.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590357,0.807126,0.005161],[-0.806874,0.589983,0.029581],[0.020831,-0.021627,0.999549]] 2025-10-28T22:41:18.699Z,1761691278.699 [keepstation:SurfaceComms:setSink] Stopped 2025-10-28T22:41:18.699Z,1761691278.699 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink 2025-10-28T22:41:18.699Z,1761691278.699 [keepstation:SurfaceComms:setSink:A] Stopped 2025-10-28T22:41:18.699Z,1761691278.699 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms 2025-10-28T22:41:18.699Z,1761691278.699 [keepstation:SurfaceComms] Stopped 2025-10-28T22:41:18.700Z,1761691278.700 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms 2025-10-28T22:41:19.011Z,1761691279.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566347,0.820108,0.081698],[-0.823138,0.567805,0.006371],[-0.041163,-0.070857,0.996637]] 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:StartingMission] Stopped 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:TransitToStation] Running Loop=1 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:TransitToStation:Dive] Running Loop=1 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive 2025-10-28T22:41:19.038Z,1761691279.038 [keepstation:TransitToStation:Dive:A] Running Loop=1 2025-10-28T22:41:19.039Z,1761691279.039 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A 2025-10-28T22:41:19.039Z,1761691279.039 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1 2025-10-28T22:41:19.039Z,1761691279.039 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-28T22:41:19.060Z,1761691279.060 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T22:41:19.416Z,1761691279.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589557,0.803197,0.085421],[-0.807668,0.587484,0.050344],[-0.009747,-0.098672,0.995072]] 2025-10-28T22:41:19.442Z,1761691279.442 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T22:41:19.443Z,1761691279.443 [keepstation:TransitToStation:Dive] Running Loop=1 2025-10-28T22:41:19.443Z,1761691279.443 [keepstation:DiveCmd] Running Loop=1 2025-10-28T22:41:19.443Z,1761691279.443 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd 2025-10-28T22:41:19.443Z,1761691279.443 [keepstation:DiveCmd:SurfaceSink] Running Loop=1 2025-10-28T22:41:19.444Z,1761691279.444 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1 2025-10-28T22:41:19.448Z,1761691279.448 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize. 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation] Running Loop=1 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize. 2025-10-28T22:41:19.449Z,1761691279.449 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize. 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep] Running Loop=1 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep:A] Running Loop=1 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize. 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1 2025-10-28T22:41:19.450Z,1761691279.450 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent. 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep] Stopped 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep:A] Stopped 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent. 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:TransitToStation] Running Loop=1 2025-10-28T22:41:19.451Z,1761691279.451 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1 2025-10-28T22:41:19.457Z,1761691279.457 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1 2025-10-28T22:41:19.457Z,1761691279.457 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1 2025-10-28T22:41:19.457Z,1761691279.457 [keepstation:DiveCmd:SurfaceSink] Stopped 2025-10-28T22:41:19.457Z,1761691279.457 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink 2025-10-28T22:41:19.457Z,1761691279.457 [keepstation:DiveCmd:SurfaceSink:sink] Stopped 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize. 2025-10-28T22:41:19.458Z,1761691279.458 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped 2025-10-28T22:41:19.820Z,1761691279.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603918,0.796317,0.034101],[-0.796653,0.601723,0.057214],[0.025041,-0.061719,0.997779]] 2025-10-28T22:41:20.223Z,1761691280.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594986,0.802985,0.034717],[-0.803336,0.595497,-0.005798],[-0.025329,-0.024440,0.999380]] 2025-10-28T22:41:20.628Z,1761691280.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559148,0.828941,0.014519],[-0.828988,0.558765,0.023663],[0.011502,-0.025267,0.999615]] 2025-10-28T22:41:21.091Z,1761691281.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555150,0.830947,0.036545],[-0.819530,0.538962,0.194655],[0.142052,-0.138012,0.980191]] 2025-10-28T22:41:21.475Z,1761691281.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585436,0.794455,0.161572],[-0.803640,0.542404,0.244870],[0.106901,-0.273202,0.955998]] 2025-10-28T22:41:21.879Z,1761691281.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599687,0.763856,0.238537],[-0.800229,0.573542,0.175168],[-0.003008,-0.295930,0.955205]] 2025-10-28T22:41:22.293Z,1761691282.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613550,0.775766,0.147455],[-0.789448,0.606886,0.091988],[-0.018127,-0.172848,0.984782]] 2025-10-28T22:41:22.687Z,1761691282.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644203,0.764554,0.021435],[-0.764843,0.644093,0.012638],[-0.004144,-0.024536,0.999690]] 2025-10-28T22:41:23.092Z,1761691283.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638812,0.767414,-0.054719],[-0.769350,0.636780,-0.051100],[-0.004371,0.074741,0.997193]] 2025-10-28T22:41:23.495Z,1761691283.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604218,0.793016,-0.077756],[-0.793424,0.607771,0.033071],[0.073483,0.041712,0.996424]] 2025-10-28T22:41:23.899Z,1761691283.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631749,0.774537,-0.031398],[-0.765571,0.629767,0.131514],[0.121635,-0.059047,0.990817]] 2025-10-28T22:41:24.350Z,1761691284.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650285,0.757987,0.050840],[-0.757367,0.641613,0.121358],[0.059368,-0.117422,0.991306]] 2025-10-28T22:41:24.697Z,1761691284.697 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:41:24.708Z,1761691284.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647112,0.756584,0.093955],[-0.762186,0.639118,0.102956],[0.017847,-0.138235,0.990239]] 2025-10-28T22:41:25.112Z,1761691285.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662375,0.744253,0.085714],[-0.749150,0.657132,0.083373],[0.005725,-0.119437,0.992825]] 2025-10-28T22:41:25.516Z,1761691285.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674428,0.737463,0.035998],[-0.737635,0.670851,0.076502],[0.032268,-0.078149,0.996419]] 2025-10-28T22:41:25.919Z,1761691285.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662606,0.748383,-0.029582],[-0.745085,0.662674,0.075574],[0.076161,-0.028034,0.996701]] 2025-10-28T22:41:26.357Z,1761691286.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675747,0.736971,-0.015479],[-0.732561,0.673742,0.097085],[0.081978,-0.054266,0.995156]] 2025-10-28T22:41:26.743Z,1761691286.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693896,0.719560,0.027254],[-0.717371,0.687517,0.112692],[0.062351,-0.097747,0.993256]] 2025-10-28T22:41:27.131Z,1761691287.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671952,0.736872,0.074164],[-0.737289,0.656139,0.160895],[0.069897,-0.162794,0.984181]] 2025-10-28T22:41:27.535Z,1761691287.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686753,0.720772,0.094121],[-0.721835,0.660990,0.205051],[0.085582,-0.208759,0.974215]] 2025-10-28T22:41:27.939Z,1761691287.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709321,0.703248,0.048009],[-0.698883,0.692780,0.177816],[0.091790,-0.159681,0.982892]] 2025-10-28T22:41:28.363Z,1761691288.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697126,0.716666,0.020135],[-0.714599,0.692295,0.100375],[0.057996,-0.084363,0.994746]] 2025-10-28T22:41:28.747Z,1761691288.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704338,0.709862,-0.001678],[-0.707991,0.702650,0.070935],[0.051533,-0.048774,0.997480]] 2025-10-28T22:41:29.151Z,1761691289.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707403,0.706763,0.008120],[-0.705937,0.705912,0.057803],[0.035121,-0.046622,0.998295]] 2025-10-28T22:41:29.555Z,1761691289.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688022,0.721338,0.079355],[-0.724905,0.688241,0.028931],[-0.033746,-0.077430,0.996426]] 2025-10-28T22:41:29.961Z,1761691289.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716421,0.695879,0.049937],[-0.697637,0.713872,0.060739],[0.006618,-0.078352,0.996904]] 2025-10-28T22:41:30.371Z,1761691290.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714125,0.696558,-0.069519],[-0.692214,0.717460,0.078042],[0.104238,-0.007609,0.994523]] 2025-10-28T22:41:30.777Z,1761691290.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683740,0.726173,-0.071921],[-0.727150,0.686283,0.016399],[0.061266,0.041085,0.997276]] 2025-10-28T22:41:31.171Z,1761691291.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678705,0.734255,-0.015153],[-0.734411,0.678548,-0.014609],[-0.000445,0.021044,0.999778]] 2025-10-28T22:41:31.579Z,1761691291.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715273,0.697311,0.046270],[-0.698452,0.715523,0.013872],[-0.023434,-0.042240,0.998833]] 2025-10-28T22:41:31.982Z,1761691291.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716713,0.697356,-0.004028],[-0.693345,0.713186,0.103139],[0.074798,-0.071128,0.994659]] 2025-10-28T22:41:32.382Z,1761691292.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684087,0.729339,-0.009469],[-0.721320,0.678378,0.139645],[0.108272,-0.088699,0.990156]] 2025-10-28T22:41:32.787Z,1761691292.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688009,0.721499,0.077999],[-0.724448,0.676522,0.132261],[0.042658,-0.147503,0.988141]] 2025-10-28T22:41:33.193Z,1761691293.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704692,0.704074,0.087684],[-0.709388,0.701485,0.068462],[-0.013307,-0.110446,0.993793]] 2025-10-28T22:41:33.595Z,1761691293.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712995,0.700410,0.032621],[-0.701101,0.712803,0.019235],[-0.009780,-0.036585,0.999283]] 2025-10-28T22:41:33.980Z,1761691293.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:41:33.999Z,1761691293.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705236,0.706694,-0.056802],[-0.704537,0.707519,0.055178],[0.079183,0.001106,0.996860]] 2025-10-28T22:41:34.403Z,1761691294.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687545,0.723189,-0.065421],[-0.713732,0.689632,0.122457],[0.133676,-0.037501,0.990315]] 2025-10-28T22:41:34.807Z,1761691294.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689442,0.721814,0.060452],[-0.720873,0.675588,0.154671],[0.070803,-0.150214,0.986115]] 2025-10-28T22:41:35.212Z,1761691295.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692295,0.699144,0.178677],[-0.721514,0.674783,0.155196],[-0.012064,-0.236359,0.971591]] 2025-10-28T22:41:35.614Z,1761691295.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722344,0.675895,0.146240],[-0.691439,0.702397,0.168971],[0.011488,-0.223171,0.974712]] 2025-10-28T22:41:36.018Z,1761691296.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728382,0.684625,0.027352],[-0.681606,0.719946,0.130734],[0.069812,-0.113868,0.991040]] 2025-10-28T22:41:36.422Z,1761691296.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733311,0.677433,-0.057794],[-0.670479,0.734636,0.103769],[0.112754,-0.037346,0.992921]] 2025-10-28T22:41:36.828Z,1761691296.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759451,0.644726,-0.086956],[-0.640506,0.764413,0.073650],[0.113955,-0.000238,0.993486]] 2025-10-28T22:41:37.261Z,1761691297.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751108,0.651006,-0.109673],[-0.651369,0.757836,0.037453],[0.107496,0.043307,0.993262]] 2025-10-28T22:41:37.664Z,1761691297.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749028,0.661274,-0.040915],[-0.657374,0.749466,0.078484],[0.082563,-0.031890,0.996075]] 2025-10-28T22:41:38.066Z,1761691298.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755852,0.650383,0.075423],[-0.654705,0.749560,0.097577],[0.006928,-0.123134,0.992366]] 2025-10-28T22:41:38.530Z,1761691298.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800783,0.579651,0.150833],[-0.598666,0.766788,0.231592],[0.018586,-0.275753,0.961049]] 2025-10-28T22:41:38.927Z,1761691298.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815922,0.548945,0.181468],[-0.577660,0.787086,0.216343],[-0.024070,-0.281346,0.959304]] 2025-10-28T22:41:39.332Z,1761691299.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825858,0.550945,0.120071],[-0.563793,0.803105,0.192767],[0.009774,-0.226894,0.973871]] 2025-10-28T22:41:39.735Z,1761691299.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850530,0.525234,0.026993],[-0.521323,0.835196,0.175126],[0.069437,-0.163022,0.984176]] 2025-10-28T22:41:40.139Z,1761691300.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834069,0.551575,-0.009647],[-0.544408,0.825806,0.147192],[0.089154,-0.117516,0.989061]] 2025-10-28T22:41:40.599Z,1761691300.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823878,0.566767,0.000520],[-0.560020,0.813928,0.154595],[0.087196,-0.127658,0.987978]] 2025-10-28T22:41:40.995Z,1761691300.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856525,0.514590,0.039509],[-0.514441,0.845116,0.145363],[0.041413,-0.144832,0.988589]] 2025-10-28T22:41:41.466Z,1761691301.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860544,0.508366,0.032057],[-0.508912,0.855372,0.096677],[0.021727,-0.099509,0.994799]] 2025-10-28T22:41:41.855Z,1761691301.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890630,0.454543,-0.013004],[-0.452207,0.888335,0.079819],[0.047833,-0.065208,0.996725]] 2025-10-28T22:41:42.377Z,1761691302.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893228,0.430232,-0.130557],[-0.421686,0.902395,0.088676],[0.155965,-0.024154,0.987467]] 2025-10-28T22:41:42.883Z,1761691302.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858006,0.484713,-0.169939],[-0.466347,0.873805,0.137790],[0.215282,-0.038974,0.975774]] 2025-10-28T22:41:43.278Z,1761691303.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865008,0.501302,-0.021384],[-0.490463,0.853759,0.174764],[0.105866,-0.140684,0.984378]] 2025-10-28T22:41:43.689Z,1761691303.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906838,0.421259,-0.013615],[-0.418503,0.903797,0.089482],[0.050000,-0.075448,0.995895]] 2025-10-28T22:41:44.091Z,1761691304.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888593,0.445128,-0.110743],[-0.435378,0.894468,0.101848],[0.144392,-0.042286,0.988617]] 2025-10-28T22:41:44.498Z,1761691304.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859518,0.503815,-0.086013],[-0.492091,0.861216,0.127098],[0.138110,-0.066917,0.988154]] 2025-10-28T22:41:44.899Z,1761691304.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854430,0.518295,-0.036311],[-0.505872,0.845816,0.169378],[0.118501,-0.126353,0.984882]] 2025-10-28T22:41:45.302Z,1761691305.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853822,0.519010,-0.040209],[-0.507605,0.847206,0.156780],[0.115436,-0.113452,0.986815]] 2025-10-28T22:41:45.584Z,1761691305.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:41:45.703Z,1761691305.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839260,0.542506,0.036466],[-0.543626,0.835900,0.075776],[0.010627,-0.083420,0.996458]] 2025-10-28T22:41:46.108Z,1761691306.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860099,0.502588,0.087375],[-0.507438,0.860486,0.045509],[-0.052313,-0.083480,0.995135]] 2025-10-28T22:41:46.537Z,1761691306.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882372,0.469514,-0.031252],[-0.468354,0.882722,0.038031],[0.045443,-0.018921,0.998788]] 2025-10-28T22:41:46.941Z,1761691306.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850886,0.508602,-0.131596],[-0.513502,0.858080,-0.003882],[0.110946,0.070878,0.991296]] 2025-10-28T22:41:47.792Z,1761691307.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842386,0.537976,-0.031108],[-0.532984,0.840301,0.099107],[0.079457,-0.066906,0.994590]] 2025-10-28T22:41:48.178Z,1761691308.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837903,0.545280,0.024247],[-0.545027,0.833469,0.090968],[0.029394,-0.089438,0.995559]] 2025-10-28T22:41:48.235Z,1761691308.235 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T22:41:48.582Z,1761691308.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826813,0.562026,0.022526],[-0.561850,0.823337,0.080257],[0.026560,-0.079014,0.996520]] 2025-10-28T22:41:49.128Z,1761691309.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832319,0.553439,-0.030838],[-0.549910,0.831438,0.079433],[0.069601,-0.049156,0.996363]] 2025-10-28T22:41:49.524Z,1761691309.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838028,0.544960,-0.026992],[-0.539736,0.835213,0.105378],[0.079971,-0.073741,0.994066]] 2025-10-28T22:41:49.927Z,1761691309.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837029,0.547043,-0.011208],[-0.543058,0.833086,0.105144],[0.066855,-0.081922,0.994394]] 2025-10-28T22:41:50.409Z,1761691310.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856296,0.513950,-0.051106],[-0.508790,0.856416,0.087658],[0.088820,-0.049059,0.994839]] 2025-10-28T22:41:50.846Z,1761691310.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862839,0.489233,-0.127119],[-0.482390,0.872101,0.082096],[0.151025,-0.009515,0.988484]] 2025-10-28T22:41:51.195Z,1761691311.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847454,0.510368,-0.146104],[-0.506604,0.859743,0.064762],[0.158665,0.019134,0.987147]] 2025-10-28T22:41:51.604Z,1761691311.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847563,0.522055,-0.095367],[-0.513659,0.852167,0.099828],[0.133384,-0.035625,0.990424]] 2025-10-28T22:41:52.005Z,1761691312.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854651,0.505695,-0.117662],[-0.479233,0.855527,0.195983],[0.199771,-0.111110,0.973523]] 2025-10-28T22:41:52.446Z,1761691312.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839290,0.511730,-0.183641],[-0.473510,0.853986,0.215628],[0.267170,-0.094019,0.959052]] 2025-10-28T22:41:52.851Z,1761691312.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834265,0.527681,-0.159862],[-0.491515,0.843137,0.218023],[0.249832,-0.103314,0.962762]] 2025-10-28T22:41:53.251Z,1761691313.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844114,0.519069,-0.134309],[-0.483133,0.844997,0.229266],[0.232495,-0.128637,0.964053]] 2025-10-28T22:41:53.655Z,1761691313.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849014,0.505825,-0.152696],[-0.461740,0.850776,0.250952],[0.256848,-0.142556,0.955880]] 2025-10-28T22:41:54.109Z,1761691314.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846236,0.456048,-0.275507],[-0.408898,0.887388,0.212943],[0.341594,-0.067546,0.937417]] 2025-10-28T22:41:54.507Z,1761691314.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831484,0.446376,-0.330730],[-0.418003,0.894811,0.156804],[0.365935,0.007866,0.930607]] 2025-10-28T22:41:54.948Z,1761691314.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835444,0.437886,-0.332099],[-0.423894,0.898029,0.117719],[0.349782,0.042427,0.935870]] 2025-10-28T22:41:55.353Z,1761691315.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854308,0.427063,-0.296268],[-0.407216,0.904163,0.129093],[0.323005,0.010359,0.946341]] 2025-10-28T22:41:55.754Z,1761691315.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856851,0.412237,-0.309623],[-0.374649,0.910432,0.175360],[0.354180,-0.034258,0.934549]] 2025-10-28T22:41:56.196Z,1761691316.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825220,0.406465,-0.392170],[-0.368494,0.913662,0.171566],[0.428046,0.002932,0.903752]] 2025-10-28T22:41:56.217Z,1761691316.217 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:41:56.562Z,1761691316.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816363,0.406313,-0.410441],[-0.374356,0.913437,0.159659],[0.439784,0.023311,0.897801]] 2025-10-28T22:41:56.968Z,1761691316.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840093,0.408783,-0.356567],[-0.375965,0.912631,0.160482],[0.391016,-0.000763,0.920383]] 2025-10-28T22:41:57.377Z,1761691317.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857570,0.408087,-0.313112],[-0.366286,0.911873,0.185263],[0.361122,-0.044187,0.931471]] 2025-10-28T22:41:57.774Z,1761691317.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863402,0.394390,-0.314632],[-0.336952,0.914926,0.222204],[0.375499,-0.085835,0.922839]] 2025-10-28T22:41:58.178Z,1761691318.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854688,0.367166,-0.367011],[-0.317444,0.929016,0.190152],[0.410777,-0.046016,0.910574]] 2025-10-28T22:41:58.583Z,1761691318.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855732,0.341520,-0.388700],[-0.307929,0.939850,0.147857],[0.415816,-0.006834,0.909423]] 2025-10-28T22:41:58.988Z,1761691318.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857765,0.329032,-0.394941],[-0.301607,0.944299,0.131655],[0.416261,0.006188,0.909224]] 2025-10-28T22:41:59.391Z,1761691319.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863753,0.323438,-0.386418],[-0.292085,0.946221,0.139109],[0.410630,-0.007289,0.911773]] 2025-10-28T22:41:59.794Z,1761691319.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880439,0.311744,-0.357270],[-0.279774,0.949893,0.139389],[0.382822,-0.022769,0.923541]] 2025-10-28T22:42:00.228Z,1761691320.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894577,0.295797,-0.335017],[-0.261616,0.954361,0.144059],[0.362339,-0.041226,0.931134]] 2025-10-28T22:42:00.630Z,1761691320.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901257,0.280284,-0.330420],[-0.244903,0.958619,0.145165],[0.357434,-0.049911,0.932604]] 2025-10-28T22:42:01.060Z,1761691321.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908338,0.262822,-0.325342],[-0.228797,0.963427,0.139499],[0.350107,-0.052275,0.935250]] 2025-10-28T22:42:01.463Z,1761691321.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915143,0.235874,-0.326920],[-0.206579,0.970776,0.122144],[0.346177,-0.044244,0.937125]] 2025-10-28T22:42:01.866Z,1761691321.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919320,0.205081,-0.335845],[-0.184517,0.978475,0.092412],[0.347568,-0.022987,0.937373]] 2025-10-28T22:42:02.277Z,1761691322.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922084,0.178933,-0.343138],[-0.172945,0.983749,0.048246],[0.346194,0.014857,0.938045]] 2025-10-28T22:42:02.677Z,1761691322.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928083,0.153541,-0.339246],[-0.160735,0.986973,0.006974],[0.335898,0.048056,0.940672]] 2025-10-28T22:42:03.078Z,1761691323.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933325,0.146388,-0.327835],[-0.147399,0.988834,0.021910],[0.327382,0.027874,0.944481]] 2025-10-28T22:42:03.483Z,1761691323.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933898,0.135914,-0.330698],[-0.125648,0.990694,0.052332],[0.334733,-0.007321,0.942284]] 2025-10-28T22:42:03.888Z,1761691323.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932555,0.116525,-0.341705],[-0.108556,0.993185,0.042424],[0.344320,-0.002469,0.938849]] 2025-10-28T22:42:04.310Z,1761691324.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936194,0.097133,-0.337795],[-0.099766,0.994965,0.009603],[0.337027,0.024710,0.941171]] 2025-10-28T22:42:04.736Z,1761691324.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942282,0.085792,-0.323642],[-0.087810,0.996102,0.008390],[0.323101,0.020513,0.946142]] 2025-10-28T22:42:05.140Z,1761691325.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945524,0.075560,-0.316663],[-0.069557,0.997120,0.030237],[0.318036,-0.006564,0.948056]] 2025-10-28T22:42:05.542Z,1761691325.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947543,0.060566,-0.313838],[-0.050163,0.997894,0.041125],[0.315668,-0.023225,0.948585]] 2025-10-28T22:42:05.947Z,1761691325.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950778,0.044275,-0.306695],[-0.032237,0.998502,0.044209],[0.308193,-0.032146,0.950781]] 2025-10-28T22:42:06.363Z,1761691326.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954511,0.028292,-0.296829],[-0.014650,0.998736,0.048084],[0.297815,-0.041548,0.953719]] 2025-10-28T22:42:06.776Z,1761691326.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957231,0.015501,-0.288911],[0.000015,0.998561,0.053625],[0.289326,-0.051336,0.955853]] 2025-10-28T22:42:07.179Z,1761691327.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959587,0.006411,-0.281339],[0.009057,0.998519,0.053647],[0.281266,-0.054027,0.958108]] 2025-10-28T22:42:07.584Z,1761691327.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962333,-0.005309,-0.271822],[0.016814,0.999058,0.040013],[0.271354,-0.043076,0.961515]] 2025-10-28T22:42:08.004Z,1761691328.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964082,-0.016691,-0.265078],[0.024025,0.999412,0.024449],[0.264515,-0.029939,0.963917]] 2025-10-28T22:42:08.403Z,1761691328.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963731,-0.023728,-0.265818],[0.028964,0.999456,0.015792],[0.265299,-0.022919,0.963894]] 2025-10-28T22:42:08.807Z,1761691328.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963803,-0.036831,-0.264058],[0.040389,0.999152,0.008056],[0.263538,-0.018430,0.964473]] 2025-10-28T22:42:09.210Z,1761691329.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965845,-0.040546,-0.255927],[0.046393,0.998781,0.016849],[0.254932,-0.028147,0.966549]] 2025-10-28T22:42:09.616Z,1761691329.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968751,-0.042588,-0.244352],[0.052689,0.997999,0.034946],[0.242375,-0.046729,0.969057]] 2025-10-28T22:42:10.019Z,1761691330.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970393,-0.051331,-0.236016],[0.063595,0.996977,0.044645],[0.233011,-0.058333,0.970723]] 2025-10-28T22:42:10.422Z,1761691330.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969965,-0.068247,-0.233475],[0.078024,0.996409,0.032887],[0.230392,-0.050116,0.971806]] 2025-10-28T22:42:10.827Z,1761691330.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968050,-0.088859,-0.234485],[0.092374,0.995716,0.004025],[0.233123,-0.025557,0.972111]] 2025-10-28T22:42:11.233Z,1761691331.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965783,-0.108694,-0.235477],[0.105323,0.994075,-0.026886],[0.237004,0.001165,0.971508]] 2025-10-28T22:42:11.637Z,1761691331.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963865,-0.125398,-0.235031],[0.118315,0.991998,-0.044058],[0.238675,0.014658,0.970989]] 2025-10-28T22:42:12.039Z,1761691332.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961609,-0.141149,-0.235341],[0.135306,0.989960,-0.040879],[0.238749,0.007466,0.971053]] 2025-10-28T22:42:12.443Z,1761691332.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958115,-0.156967,-0.239535],[0.155367,0.987523,-0.025672],[0.240576,-0.012619,0.970548]] 2025-10-28T22:42:12.847Z,1761691332.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956232,-0.158581,-0.245910],[0.162294,0.986729,-0.005227],[0.243475,-0.034912,0.969279]] 2025-10-28T22:42:13.253Z,1761691333.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954882,-0.162202,-0.248780],[0.167997,0.985785,0.002094],[0.244904,-0.043794,0.968558]] 2025-10-28T22:42:13.654Z,1761691333.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954374,-0.167593,-0.247148],[0.172554,0.984999,-0.001611],[0.243710,-0.041109,0.968977]] 2025-10-28T22:42:14.058Z,1761691334.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953592,-0.175672,-0.244544],[0.178067,0.983939,-0.012462],[0.242806,-0.031661,0.969558]] 2025-10-28T22:42:14.464Z,1761691334.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951626,-0.186132,-0.244463],[0.186256,0.982236,-0.022823],[0.244368,-0.023814,0.969390]] 2025-10-28T22:42:14.867Z,1761691334.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949528,-0.192449,-0.247710],[0.192931,0.980953,-0.022568],[0.247335,-0.026362,0.968571]] 2025-10-28T22:42:15.272Z,1761691335.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948516,-0.192821,-0.251273],[0.196724,0.980410,-0.009741],[0.248229,-0.040192,0.967867]] 2025-10-28T22:42:15.675Z,1761691335.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949113,-0.189254,-0.251729],[0.198479,0.980037,0.011532],[0.244522,-0.060908,0.967729]] 2025-10-28T22:42:16.079Z,1761691336.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950174,-0.188058,-0.248603],[0.202806,0.978598,0.034864],[0.236726,-0.083545,0.967978]] 2025-10-28T22:42:16.485Z,1761691336.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950448,-0.190955,-0.245326],[0.209863,0.976286,0.053140],[0.229361,-0.101992,0.967983]] 2025-10-28T22:42:16.886Z,1761691336.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950146,-0.194641,-0.243593],[0.215687,0.974449,0.062675],[0.225170,-0.112090,0.967850]] 2025-10-28T22:42:17.291Z,1761691337.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948934,-0.201415,-0.242810],[0.222252,0.973052,0.061426],[0.223895,-0.112255,0.968127]] 2025-10-28T22:42:17.695Z,1761691337.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946968,-0.207945,-0.244969],[0.227966,0.972051,0.056105],[0.226455,-0.108974,0.967906]] 2025-10-28T22:42:18.101Z,1761691338.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945040,-0.213369,-0.247735],[0.231973,0.971529,0.048155],[0.230407,-0.102976,0.967630]] 2025-10-28T22:42:18.503Z,1761691338.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943555,-0.219198,-0.248309],[0.236260,0.970835,0.040752],[0.232134,-0.097117,0.967823]] 2025-10-28T22:42:18.907Z,1761691338.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942401,-0.224618,-0.247844],[0.240153,0.970142,0.033932],[0.232822,-0.091498,0.968205]] 2025-10-28T22:42:19.313Z,1761691339.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941076,-0.229074,-0.248798],[0.243191,0.969599,0.027135],[0.235018,-0.086042,0.968175]] 2025-10-28T22:42:19.716Z,1761691339.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939805,-0.231142,-0.251673],[0.243335,0.969775,0.018007],[0.239904,-0.078164,0.967645]] 2025-10-28T22:42:20.119Z,1761691340.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939273,-0.229519,-0.255123],[0.240188,0.970664,0.011037],[0.245106,-0.071645,0.966846]] 2025-10-28T22:42:20.529Z,1761691340.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942535,-0.215159,-0.255607],[0.228234,0.973351,0.022274],[0.244003,-0.079332,0.966524]] 2025-10-28T22:42:20.932Z,1761691340.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945258,-0.208378,-0.251131],[0.222533,0.974493,0.029022],[0.238677,-0.083318,0.967518]] 2025-10-28T22:42:21.338Z,1761691341.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946645,-0.205731,-0.248068],[0.221083,0.974613,0.035390],[0.234490,-0.088345,0.968096]] 2025-10-28T22:42:21.739Z,1761691341.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946386,-0.205739,-0.249050],[0.223488,0.973672,0.044906],[0.233254,-0.098158,0.967449]] 2025-10-28T22:42:22.181Z,1761691342.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944694,-0.205168,-0.255851],[0.227397,0.971938,0.060228],[0.236314,-0.115077,0.964838]] 2025-10-28T22:42:22.585Z,1761691342.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942314,-0.203749,-0.265576],[0.231204,0.969913,0.076241],[0.242052,-0.133245,0.961071]] 2025-10-28T22:42:22.986Z,1761691342.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940393,-0.203374,-0.272581],[0.233824,0.968646,0.083973],[0.246956,-0.142703,0.958461]] 2025-10-28T22:42:23.391Z,1761691343.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939440,-0.204082,-0.275323],[0.236315,0.967580,0.089126],[0.248208,-0.148791,0.957211]] 2025-10-28T22:42:23.795Z,1761691343.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938990,-0.206968,-0.274705],[0.240382,0.966140,0.093760],[0.245998,-0.154074,0.956946]] 2025-10-28T22:42:24.199Z,1761691344.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938165,-0.213124,-0.272810],[0.246937,0.964277,0.095880],[0.242630,-0.157318,0.957278]] 2025-10-28T22:42:24.605Z,1761691344.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936725,-0.220713,-0.271722],[0.254445,0.962364,0.095460],[0.240426,-0.158558,0.957630]] 2025-10-28T22:42:25.006Z,1761691345.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935092,-0.228508,-0.270900],[0.261201,0.960985,0.091010],[0.239534,-0.155862,0.958296]] 2025-10-28T22:42:25.410Z,1761691345.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933617,-0.236172,-0.269410],[0.267197,0.959935,0.084440],[0.238673,-0.150820,0.959316]] 2025-10-28T22:42:25.826Z,1761691345.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932851,-0.242129,-0.266762],[0.271373,0.959286,0.078271],[0.236949,-0.145407,0.960579]] 2025-10-28T22:42:26.220Z,1761691346.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932787,-0.245697,-0.263706],[0.274107,0.958661,0.076386],[0.234036,-0.143536,0.961574]] 2025-10-28T22:42:26.338Z,1761691346.338 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:42:26.623Z,1761691346.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933526,-0.245682,-0.261093],[0.275039,0.957930,0.081998],[0.229964,-0.148358,0.961825]] 2025-10-28T22:42:27.026Z,1761691347.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934168,-0.246098,-0.258389],[0.276734,0.956797,0.089208],[0.225272,-0.154841,0.961913]] 2025-10-28T22:42:27.340Z,1761691347.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:42:27.430Z,1761691347.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933971,-0.249288,-0.256035],[0.279987,0.955697,0.090833],[0.222048,-0.156522,0.962390]] 2025-10-28T22:42:27.836Z,1761691347.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932970,-0.255030,-0.254022],[0.283297,0.955597,0.081100],[0.222060,-0.147628,0.963792]] 2025-10-28T22:42:28.239Z,1761691348.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931949,-0.260724,-0.251981],[0.284546,0.956618,0.062581],[0.224733,-0.130022,0.965707]] 2025-10-28T22:42:28.644Z,1761691348.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931860,-0.263657,-0.249244],[0.282656,0.958252,0.043115],[0.227471,-0.110627,0.967480]] 2025-10-28T22:42:29.048Z,1761691349.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932824,-0.263104,-0.246202],[0.278577,0.959957,0.029632],[0.228547,-0.096228,0.968765]] 2025-10-28T22:42:29.450Z,1761691349.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934296,-0.259832,-0.244088],[0.273788,0.961478,0.024483],[0.228324,-0.089702,0.969444]] 2025-10-28T22:42:29.855Z,1761691349.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935593,-0.255383,-0.243815],[0.269496,0.962656,0.025810],[0.228118,-0.089855,0.969478]] 2025-10-28T22:42:30.259Z,1761691350.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936264,-0.251766,-0.244999],[0.266799,0.963295,0.029670],[0.228536,-0.093145,0.969069]] 2025-10-28T22:42:30.664Z,1761691350.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936091,-0.250855,-0.246589],[0.266912,0.963141,0.033437],[0.229112,-0.097117,0.968543]] 2025-10-28T22:42:31.066Z,1761691351.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936119,-0.248443,-0.248911],[0.266288,0.963054,0.040228],[0.229720,-0.103941,0.967691]] 2025-10-28T22:42:31.470Z,1761691351.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936707,-0.243159,-0.251901],[0.264447,0.962894,0.053882],[0.229452,-0.117086,0.966252]] 2025-10-28T22:42:31.875Z,1761691351.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937629,-0.237828,-0.253555],[0.262790,0.962376,0.069096],[0.227582,-0.131418,0.964850]] 2025-10-28T22:42:32.283Z,1761691352.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938408,-0.235506,-0.252840],[0.262414,0.961790,0.078091],[0.224789,-0.139630,0.964351]] 2025-10-28T22:42:32.682Z,1761691352.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938834,-0.236373,-0.250435],[0.263919,0.961026,0.082317],[0.221217,-0.143377,0.964627]] 2025-10-28T22:42:33.087Z,1761691353.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939039,-0.238767,-0.247377],[0.266679,0.959962,0.085759],[0.216996,-0.146501,0.965117]] 2025-10-28T22:42:33.491Z,1761691353.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939377,-0.240517,-0.244382],[0.269433,0.958592,0.092238],[0.212078,-0.152491,0.965282]] 2025-10-28T22:42:33.896Z,1761691353.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940067,-0.240497,-0.241734],[0.270606,0.957510,0.099737],[0.207476,-0.159174,0.965203]] 2025-10-28T22:42:34.329Z,1761691354.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941008,-0.239133,-0.239415],[0.269893,0.957176,0.104752],[0.204113,-0.163188,0.965250]] 2025-10-28T22:42:34.702Z,1761691354.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941905,-0.237604,-0.237403],[0.267853,0.957822,0.104081],[0.202659,-0.161623,0.965819]] 2025-10-28T22:42:35.107Z,1761691355.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942968,-0.234932,-0.235837],[0.263696,0.959566,0.098477],[0.203166,-0.155050,0.966790]] 2025-10-28T22:42:35.513Z,1761691355.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943989,-0.233735,-0.232923],[0.259969,0.961533,0.088717],[0.203227,-0.144301,0.968440]] 2025-10-28T22:42:35.916Z,1761691355.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943563,-0.239713,-0.228530],[0.263028,0.961691,0.077249],[0.201258,-0.132999,0.970467]] 2025-10-28T22:42:36.350Z,1761691356.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943083,-0.245519,-0.224309],[0.267462,0.960810,0.072856],[0.197631,-0.128704,0.971791]] 2025-10-28T22:42:36.723Z,1761691356.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942728,-0.250061,-0.220757],[0.271818,0.959507,0.073904],[0.193337,-0.129676,0.972525]] 2025-10-28T22:42:37.127Z,1761691357.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942273,-0.253049,-0.219289],[0.275776,0.957920,0.079599],[0.189918,-0.135479,0.972408]] 2025-10-28T22:42:37.532Z,1761691357.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941988,-0.253918,-0.219509],[0.277675,0.956938,0.084655],[0.188561,-0.140696,0.971931]] 2025-10-28T22:42:37.934Z,1761691357.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942129,-0.253103,-0.219844],[0.277078,0.957028,0.085593],[0.188733,-0.141554,0.971773]] 2025-10-28T22:42:38.357Z,1761691358.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942650,-0.251054,-0.219963],[0.274957,0.957665,0.085299],[0.189236,-0.140888,0.971772]] 2025-10-28T22:42:38.743Z,1761691358.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943252,-0.249133,-0.219563],[0.272555,0.958529,0.083285],[0.189708,-0.138402,0.972037]] 2025-10-28T22:42:39.148Z,1761691359.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943709,-0.248371,-0.218459],[0.270520,0.959579,0.077635],[0.190346,-0.132362,0.972753]] 2025-10-28T22:42:39.550Z,1761691359.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944031,-0.248273,-0.217178],[0.268439,0.960864,0.068413],[0.191693,-0.122883,0.973732]] 2025-10-28T22:42:39.955Z,1761691359.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944321,-0.247748,-0.216516],[0.266263,0.961998,0.060527],[0.193293,-0.114807,0.974401]] 2025-10-28T22:42:40.365Z,1761691360.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945057,-0.246814,-0.214361],[0.263275,0.963345,0.051514],[0.193789,-0.105119,0.975395]] 2025-10-28T22:42:40.765Z,1761691360.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946330,-0.245411,-0.210315],[0.259963,0.964609,0.044150],[0.192037,-0.096455,0.976636]] 2025-10-28T22:42:41.167Z,1761691361.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947978,-0.243323,-0.205259],[0.257036,0.965462,0.042610],[0.187802,-0.093152,0.977780]] 2025-10-28T22:42:41.570Z,1761691361.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949349,-0.242254,-0.200125],[0.256321,0.965436,0.047253],[0.181761,-0.096156,0.978630]] 2025-10-28T22:42:41.975Z,1761691361.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949724,-0.243989,-0.196200],[0.258885,0.964406,0.053844],[0.176079,-0.101931,0.979084]] 2025-10-28T22:42:42.380Z,1761691362.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949075,-0.247785,-0.194573],[0.263748,0.962691,0.060527],[0.172316,-0.108763,0.979019]] 2025-10-28T22:42:42.783Z,1761691362.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948048,-0.252044,-0.194108],[0.268707,0.961061,0.064484],[0.170297,-0.113292,0.978858]] 2025-10-28T22:42:43.186Z,1761691363.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947181,-0.255180,-0.194247],[0.272642,0.959655,0.068759],[0.168864,-0.118087,0.978540]] 2025-10-28T22:42:43.590Z,1761691363.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946406,-0.257087,-0.195505],[0.275950,0.958176,0.075831],[0.167833,-0.125717,0.977767]] 2025-10-28T22:42:43.995Z,1761691363.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945710,-0.258163,-0.197444],[0.278826,0.956596,0.084735],[0.166998,-0.135187,0.976645]] 2025-10-28T22:42:44.400Z,1761691364.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945191,-0.258905,-0.198954],[0.281133,0.955192,0.092586],[0.166068,-0.143444,0.975626]] 2025-10-28T22:42:44.803Z,1761691364.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944950,-0.259382,-0.199478],[0.282502,0.954315,0.097346],[0.165115,-0.148340,0.975055]] 2025-10-28T22:42:45.206Z,1761691365.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945236,-0.258842,-0.198823],[0.282044,0.954336,0.098458],[0.164259,-0.149143,0.975077]] 2025-10-28T22:42:45.611Z,1761691365.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946242,-0.256418,-0.197169],[0.279121,0.955330,0.097137],[0.163454,-0.146949,0.975545]] 2025-10-28T22:42:46.016Z,1761691366.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947804,-0.252673,-0.194481],[0.274380,0.957036,0.093794],[0.162427,-0.142260,0.976412]] 2025-10-28T22:42:46.418Z,1761691366.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949533,-0.248001,-0.192048],[0.269047,0.958703,0.092212],[0.161248,-0.139228,0.977044]] 2025-10-28T22:42:46.822Z,1761691366.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951204,-0.243127,-0.190000],[0.263673,0.960288,0.091236],[0.160273,-0.136882,0.977536]] 2025-10-28T22:42:47.227Z,1761691367.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952912,-0.237568,-0.188469],[0.258083,0.961666,0.092688],[0.159225,-0.136964,0.977695]] 2025-10-28T22:42:47.632Z,1761691367.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954439,-0.231759,-0.187972],[0.252774,0.962699,0.096520],[0.158591,-0.139637,0.977420]] 2025-10-28T22:42:48.034Z,1761691368.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955779,-0.226117,-0.188038],[0.247695,0.963640,0.100228],[0.158537,-0.142372,0.977034]] 2025-10-28T22:42:48.438Z,1761691368.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957105,-0.220553,-0.187899],[0.242705,0.964491,0.104171],[0.158251,-0.145306,0.976649]] 2025-10-28T22:42:48.843Z,1761691368.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958319,-0.215402,-0.187689],[0.237545,0.965734,0.104548],[0.158738,-0.144775,0.976649]] 2025-10-28T22:42:49.248Z,1761691369.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959406,-0.211831,-0.186193],[0.232953,0.967354,0.099797],[0.158974,-0.139120,0.977432]] 2025-10-28T22:42:49.651Z,1761691369.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960312,-0.209496,-0.184155],[0.229703,0.968510,0.096044],[0.158235,-0.134533,0.978193]] 2025-10-28T22:42:50.056Z,1761691370.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960955,-0.208920,-0.181435],[0.228262,0.969147,0.093010],[0.156406,-0.130793,0.978995]] 2025-10-28T22:42:50.459Z,1761691370.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961228,-0.210239,-0.178441],[0.228985,0.969100,0.091708],[0.153646,-0.129013,0.979668]] 2025-10-28T22:42:50.867Z,1761691370.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961169,-0.212319,-0.176280],[0.231210,0.968314,0.094396],[0.150652,-0.131488,0.979804]] 2025-10-28T22:42:51.267Z,1761691371.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960740,-0.215677,-0.174536],[0.234835,0.967127,0.097562],[0.147756,-0.134719,0.979806]] 2025-10-28T22:42:51.671Z,1761691371.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959974,-0.220681,-0.172482],[0.239370,0.966160,0.096103],[0.145437,-0.133543,0.980313]] 2025-10-28T22:42:52.076Z,1761691372.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958890,-0.226488,-0.170974],[0.244723,0.965010,0.094159],[0.143666,-0.132130,0.980766]] 2025-10-28T22:42:52.483Z,1761691372.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957594,-0.232028,-0.170813],[0.250512,0.963363,0.095786],[0.142330,-0.134515,0.980637]] 2025-10-28T22:42:52.882Z,1761691372.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956582,-0.235824,-0.171282],[0.255042,0.961718,0.100259],[0.141081,-0.139590,0.980107]] 2025-10-28T22:42:53.286Z,1761691373.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956297,-0.236844,-0.171468],[0.256918,0.960601,0.106012],[0.139604,-0.145432,0.979469]] 2025-10-28T22:42:53.691Z,1761691373.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956587,-0.236448,-0.170391],[0.256756,0.960332,0.108809],[0.137904,-0.147834,0.979351]] 2025-10-28T22:42:54.097Z,1761691374.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957238,-0.235202,-0.168447],[0.255255,0.960696,0.109128],[0.136160,-0.147458,0.979651]] 2025-10-28T22:42:54.500Z,1761691374.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958086,-0.234049,-0.165205],[0.252927,0.961866,0.104125],[0.134535,-0.141545,0.980747]] 2025-10-28T22:42:54.903Z,1761691374.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958241,-0.236142,-0.161278],[0.253451,0.962514,0.096586],[0.132424,-0.133429,0.982171]] 2025-10-28T22:42:55.308Z,1761691375.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957910,-0.240024,-0.157471],[0.256126,0.962330,0.091212],[0.129646,-0.127705,0.983302]] 2025-10-28T22:42:55.503Z,1761691375.503 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.289520 2025-10-28T22:42:55.713Z,1761691375.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957775,-0.242239,-0.154882],[0.257914,0.961926,0.090440],[0.127077,-0.126567,0.983785]] 2025-10-28T22:42:56.114Z,1761691376.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958121,-0.241888,-0.153282],[0.257744,0.961679,0.093493],[0.124793,-0.129085,0.983750]] 2025-10-28T22:42:56.504Z,1761691376.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:42:56.520Z,1761691376.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958750,-0.240320,-0.151806],[0.256316,0.961793,0.096210],[0.122885,-0.131151,0.983717]] 2025-10-28T22:42:56.922Z,1761691376.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959497,-0.238813,-0.149449],[0.254360,0.962417,0.095154],[0.121108,-0.129314,0.984180]] 2025-10-28T22:42:57.328Z,1761691377.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960334,-0.237353,-0.146363],[0.252050,0.963379,0.091497],[0.119286,-0.124758,0.984990]] 2025-10-28T22:42:57.730Z,1761691377.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961066,-0.236561,-0.142796],[0.250431,0.964097,0.088327],[0.116775,-0.120648,0.985803]] 2025-10-28T22:42:58.136Z,1761691378.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961337,-0.237698,-0.139036],[0.250882,0.964161,0.086326],[0.113533,-0.117870,0.986518]] 2025-10-28T22:42:58.539Z,1761691378.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961146,-0.240302,-0.135847],[0.253249,0.963430,0.087563],[0.109838,-0.118564,0.986853]] 2025-10-28T22:42:58.944Z,1761691378.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960419,-0.244447,-0.133569],[0.257468,0.962021,0.090694],[0.106326,-0.121494,0.986881]] 2025-10-28T22:42:59.347Z,1761691379.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959421,-0.249295,-0.131774],[0.262385,0.960433,0.093395],[0.103278,-0.124180,0.986870]] 2025-10-28T22:42:59.751Z,1761691379.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958143,-0.254453,-0.131204],[0.267868,0.958540,0.097196],[0.101033,-0.128273,0.986579]] 2025-10-28T22:43:00.156Z,1761691380.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956831,-0.259102,-0.131681],[0.272941,0.956742,0.100736],[0.099884,-0.132329,0.986160]] 2025-10-28T22:43:00.560Z,1761691380.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955900,-0.262266,-0.132184],[0.276483,0.955395,0.103816],[0.099060,-0.135785,0.985774]] 2025-10-28T22:43:00.963Z,1761691380.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956271,-0.261039,-0.131923],[0.275593,0.955240,0.107544],[0.097945,-0.139198,0.985409]] 2025-10-28T22:43:01.122Z,1761691381.122 [Radio_Surface](INFO): Powering down 2025-10-28T22:43:01.372Z,1761691381.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957392,-0.257787,-0.130178],[0.272277,0.955986,0.109348],[0.096260,-0.140134,0.985442]] 2025-10-28T22:43:01.777Z,1761691381.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960165,-0.251599,-0.121575],[0.264301,0.958941,0.102843],[0.090708,-0.130878,0.987240]] 2025-10-28T22:43:02.181Z,1761691382.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961511,-0.249358,-0.115398],[0.260991,0.960165,0.099833],[0.085907,-0.126108,0.988290]] 2025-10-28T22:43:02.585Z,1761691382.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962022,-0.250665,-0.108080],[0.261039,0.960573,0.095698],[0.079830,-0.120277,0.989525]] 2025-10-28T22:43:02.986Z,1761691382.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961673,-0.254858,-0.101153],[0.264222,0.959927,0.093420],[0.073291,-0.116566,0.990475]] 2025-10-28T22:43:03.387Z,1761691383.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960923,-0.259978,-0.095075],[0.268787,0.958415,0.095887],[0.066192,-0.117695,0.990841]] 2025-10-28T22:43:03.790Z,1761691383.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959983,-0.265255,-0.089844],[0.273768,0.956430,0.101449],[0.059020,-0.121985,0.990776]] 2025-10-28T22:43:04.198Z,1761691384.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958824,-0.270957,-0.085086],[0.279142,0.954315,0.106597],[0.052316,-0.125958,0.990655]] 2025-10-28T22:43:04.598Z,1761691384.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957435,-0.276814,-0.081806],[0.284837,0.951962,0.112413],[0.046759,-0.130930,0.990288]] 2025-10-28T22:43:05.002Z,1761691385.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956143,-0.281812,-0.079825],[0.289782,0.949813,0.117818],[0.042616,-0.135783,0.989822]] 2025-10-28T22:43:05.407Z,1761691385.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955759,-0.283592,-0.078100],[0.291461,0.948850,0.121386],[0.039681,-0.138778,0.989528]] 2025-10-28T22:43:05.813Z,1761691385.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956573,-0.281468,-0.075785],[0.289131,0.949220,0.124031],[0.037026,-0.140557,0.989380]] 2025-10-28T22:43:06.215Z,1761691386.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957932,-0.277753,-0.072243],[0.284895,0.950695,0.122528],[0.034649,-0.137955,0.989832]] 2025-10-28T22:43:06.618Z,1761691386.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959561,-0.273288,-0.067493],[0.279631,0.952966,0.116887],[0.032375,-0.131034,0.990849]] 2025-10-28T22:43:07.023Z,1761691387.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961356,-0.268150,-0.062368],[0.273709,0.955303,0.111710],[0.029626,-0.124464,0.991782]] 2025-10-28T22:43:07.427Z,1761691387.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962932,-0.263625,-0.057138],[0.268498,0.957078,0.109140],[0.025914,-0.120435,0.992383]] 2025-10-28T22:43:07.832Z,1761691387.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963826,-0.261499,-0.051557],[0.265700,0.957946,0.108363],[0.021052,-0.118142,0.992774]] 2025-10-28T22:43:08.235Z,1761691388.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963728,-0.262740,-0.046861],[0.266423,0.957450,0.110940],[0.015718,-0.119401,0.992722]] 2025-10-28T22:43:08.638Z,1761691388.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962969,-0.266117,-0.043274],[0.269399,0.956121,0.115141],[0.010734,-0.122535,0.992406]] 2025-10-28T22:43:09.043Z,1761691389.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961936,-0.270222,-0.040733],[0.273203,0.954362,0.120636],[0.006275,-0.127173,0.991861]] 2025-10-28T22:43:09.448Z,1761691389.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960807,-0.274529,-0.038521],[0.277207,0.952684,0.124698],[0.002465,-0.130489,0.991447]] 2025-10-28T22:43:09.850Z,1761691389.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959768,-0.278315,-0.037240],[0.280795,0.950990,0.129509],[-0.000630,-0.134755,0.990879]] 2025-10-28T22:43:10.254Z,1761691390.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959362,-0.279852,-0.036145],[0.282161,0.950051,0.133373],[-0.002985,-0.138152,0.990407]] 2025-10-28T22:43:10.659Z,1761691390.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959712,-0.278924,-0.033982],[0.280932,0.950087,0.135688],[-0.005560,-0.139768,0.990169]] 2025-10-28T22:43:11.065Z,1761691391.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960544,-0.276369,-0.031243],[0.278007,0.950713,0.137323],[-0.008248,-0.140590,0.990034]] 2025-10-28T22:43:11.467Z,1761691391.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961437,-0.273542,-0.028516],[0.274806,0.951364,0.139238],[-0.010959,-0.141705,0.989848]] 2025-10-28T22:43:11.871Z,1761691391.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962184,-0.271195,-0.025585],[0.272075,0.952209,0.138829],[-0.013288,-0.140540,0.989986]] 2025-10-28T22:43:12.279Z,1761691392.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962626,-0.269756,-0.024127],[0.270443,0.952640,0.139061],[-0.014529,-0.140388,0.989990]] 2025-10-28T22:43:12.739Z,1761691392.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963151,-0.267902,-0.023855],[0.268560,0.953082,0.139676],[-0.014684,-0.140935,0.989910]] 2025-10-28T22:43:13.139Z,1761691393.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964065,-0.264551,-0.024316],[0.265289,0.953785,0.141119],[-0.014141,-0.142499,0.989694]] 2025-10-28T22:43:13.543Z,1761691393.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965221,-0.260259,-0.024775],[0.261105,0.954904,0.141360],[-0.013132,-0.142912,0.989648]] 2025-10-28T22:43:13.946Z,1761691393.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966267,-0.256313,-0.025114],[0.257279,0.956293,0.138965],[-0.011603,-0.140739,0.989979]] 2025-10-28T22:43:14.363Z,1761691394.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967077,-0.253193,-0.025611],[0.254296,0.957568,0.135640],[-0.009819,-0.137687,0.990427]] 2025-10-28T22:43:14.754Z,1761691394.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967696,-0.250786,-0.025889],[0.251986,0.958741,0.131598],[-0.008182,-0.133870,0.990965]] 2025-10-28T22:43:15.159Z,1761691395.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968181,-0.248901,-0.025963],[0.250148,0.959585,0.128930],[-0.007177,-0.131322,0.991314]] 2025-10-28T22:43:15.563Z,1761691395.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968300,-0.248488,-0.025480],[0.249688,0.959923,0.127293],[-0.007172,-0.129620,0.991538]] 2025-10-28T22:43:15.969Z,1761691395.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967866,-0.250299,-0.024180],[0.251317,0.959524,0.127096],[-0.008611,-0.129089,0.991596]] 2025-10-28T22:43:16.371Z,1761691396.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966695,-0.254915,-0.022804],[0.255722,0.958440,0.126489],[-0.010388,-0.128108,0.991706]] 2025-10-28T22:43:16.775Z,1761691396.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965253,-0.260376,-0.022151],[0.261056,0.957044,0.126158],[-0.011649,-0.127557,0.991763]] 2025-10-28T22:43:17.179Z,1761691397.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963776,-0.265776,-0.022321],[0.266412,0.955346,0.127825],[-0.012649,-0.129141,0.991545]] 2025-10-28T22:43:17.584Z,1761691397.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962269,-0.271122,-0.023072],[0.271772,0.953473,0.130493],[-0.013381,-0.131839,0.991181]] 2025-10-28T22:43:17.987Z,1761691397.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960823,-0.276069,-0.024581],[0.276837,0.951626,0.133299],[-0.013407,-0.134882,0.990771]] 2025-10-28T22:43:18.391Z,1761691398.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959629,-0.279951,-0.027204],[0.280989,0.949857,0.137174],[-0.012562,-0.139281,0.990173]] 2025-10-28T22:43:18.795Z,1761691398.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958898,-0.282066,-0.030887],[0.283567,0.948652,0.140175],[-0.010237,-0.143172,0.989645]] 2025-10-28T22:43:19.200Z,1761691399.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959052,-0.281129,-0.034432],[0.283139,0.948571,0.141578],[-0.007140,-0.145530,0.989328]] 2025-10-28T22:43:19.603Z,1761691399.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959964,-0.277651,-0.037143],[0.280094,0.949443,0.141795],[-0.004104,-0.146522,0.989199]] 2025-10-28T22:43:20.006Z,1761691400.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961186,-0.273151,-0.038862],[0.275899,0.950914,0.140154],[-0.001329,-0.145436,0.989367]] 2025-10-28T22:43:20.411Z,1761691400.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962528,-0.268242,-0.039815],[0.271178,0.952841,0.136220],[0.001397,-0.141913,0.989878]] 2025-10-28T22:43:20.818Z,1761691400.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963943,-0.263115,-0.039814],[0.266085,0.955045,0.130722],[0.003629,-0.136603,0.990619]] 2025-10-28T22:43:21.218Z,1761691401.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965255,-0.258307,-0.039506],[0.261261,0.956926,0.126630],[0.005095,-0.132551,0.991163]] 2025-10-28T22:43:21.622Z,1761691401.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966092,-0.255247,-0.038935],[0.258135,0.958181,0.123513],[0.005781,-0.129375,0.991579]] 2025-10-28T22:43:22.026Z,1761691402.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966146,-0.255136,-0.038299],[0.257921,0.958709,0.119806],[0.006151,-0.125629,0.992058]] 2025-10-28T22:43:22.431Z,1761691402.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965643,-0.256962,-0.038783],[0.259789,0.958304,0.119010],[0.006585,-0.124996,0.992135]] 2025-10-28T22:43:22.837Z,1761691402.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964734,-0.260186,-0.039903],[0.263128,0.957399,0.118959],[0.007251,-0.125263,0.992097]] 2025-10-28T22:43:23.238Z,1761691403.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963668,-0.263871,-0.041416],[0.266986,0.956176,0.120192],[0.007886,-0.126883,0.991886]] 2025-10-28T22:43:23.642Z,1761691403.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962355,-0.268356,-0.043108],[0.271657,0.954772,0.120887],[0.008717,-0.128047,0.991730]] 2025-10-28T22:43:24.047Z,1761691404.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960974,-0.272910,-0.045275],[0.276462,0.953276,0.121790],[0.009922,-0.129554,0.991523]] 2025-10-28T22:43:24.450Z,1761691404.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959566,-0.277250,-0.048637],[0.281242,0.951484,0.124822],[0.011671,-0.133454,0.990986]] 2025-10-28T22:43:24.856Z,1761691404.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958183,-0.281095,-0.053587],[0.285795,0.949453,0.129847],[0.014379,-0.139733,0.990085]] 2025-10-28T22:43:25.258Z,1761691405.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956791,-0.284683,-0.059210],[0.290233,0.947426,0.134720],[0.017745,-0.146084,0.989113]] 2025-10-28T22:43:25.663Z,1761691405.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955464,-0.287733,-0.065558],[0.294284,0.945567,0.138922],[0.022017,-0.152028,0.988131]] 2025-10-28T22:43:26.068Z,1761691406.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954345,-0.289807,-0.072371],[0.297464,0.944135,0.141862],[0.027215,-0.156913,0.987237]] 2025-10-28T22:43:26.470Z,1761691406.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953877,-0.289656,-0.078854],[0.298406,0.943540,0.143827],[0.032741,-0.160724,0.986456]] 2025-10-28T22:43:26.624Z,1761691406.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:43:26.875Z,1761691406.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954092,-0.287336,-0.084532],[0.297028,0.943990,0.143727],[0.038499,-0.162237,0.986000]] 2025-10-28T22:43:27.279Z,1761691407.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954919,-0.283208,-0.089007],[0.293616,0.945255,0.142415],[0.043801,-0.162129,0.985797]] 2025-10-28T22:43:27.628Z,1761691407.628 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T22:43:27.628Z,1761691407.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:43:27.689Z,1761691407.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956073,-0.278163,-0.092469],[0.289095,0.946928,0.140541],[0.048468,-0.161100,0.985747]] 2025-10-28T22:43:28.087Z,1761691408.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957332,-0.272865,-0.095186],[0.284169,0.948747,0.138303],[0.052569,-0.159451,0.985805]] 2025-10-28T22:43:28.491Z,1761691408.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958782,-0.267151,-0.096787],[0.278562,0.950921,0.134731],[0.056043,-0.156139,0.986144]] 2025-10-28T22:43:28.895Z,1761691408.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960385,-0.260856,-0.098059],[0.272322,0.953184,0.131457],[0.059177,-0.152953,0.986460]] 2025-10-28T22:43:29.298Z,1761691409.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962057,-0.253972,-0.099719],[0.265714,0.955114,0.130972],[0.061980,-0.152500,0.986358]] 2025-10-28T22:43:29.704Z,1761691409.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963701,-0.247249,-0.100744],[0.259094,0.957145,0.129396],[0.064434,-0.150801,0.986462]] 2025-10-28T22:43:30.106Z,1761691410.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964875,-0.242188,-0.101787],[0.254084,0.958770,0.127286],[0.066763,-0.148678,0.986629]] 2025-10-28T22:43:30.511Z,1761691410.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965308,-0.239915,-0.103057],[0.251848,0.959676,0.124880],[0.068941,-0.146502,0.986805]] 2025-10-28T22:43:30.914Z,1761691410.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965064,-0.240015,-0.105093],[0.252106,0.959863,0.122907],[0.071375,-0.145108,0.986838]] 2025-10-28T22:43:31.322Z,1761691411.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964393,-0.241625,-0.107530],[0.253916,0.959639,0.120910],[0.073975,-0.143908,0.986822]] 2025-10-28T22:43:31.722Z,1761691411.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963318,-0.244461,-0.110711],[0.257109,0.958938,0.119722],[0.076898,-0.143795,0.986615]] 2025-10-28T22:43:32.127Z,1761691412.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961995,-0.247949,-0.114396],[0.261069,0.957944,0.119107],[0.080052,-0.144445,0.986269]] 2025-10-28T22:43:32.531Z,1761691412.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960523,-0.251767,-0.118361],[0.265443,0.956754,0.119005],[0.083281,-0.145725,0.985814]] 2025-10-28T22:43:32.936Z,1761691412.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958913,-0.255796,-0.122697],[0.270206,0.955267,0.120220],[0.086457,-0.148434,0.985136]] 2025-10-28T22:43:33.340Z,1761691413.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957305,-0.259746,-0.126882],[0.274855,0.953826,0.121120],[0.089563,-0.150823,0.984495]] 2025-10-28T22:43:33.743Z,1761691413.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955664,-0.263387,-0.131658],[0.279452,0.952171,0.123597],[0.092807,-0.154909,0.983560]] 2025-10-28T22:43:34.154Z,1761691414.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954053,-0.266834,-0.136319],[0.283818,0.950618,0.125592],[0.096075,-0.158511,0.982672]] 2025-10-28T22:43:34.577Z,1761691414.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952587,-0.269949,-0.140377],[0.287692,0.949302,0.126722],[0.099052,-0.161099,0.981955]] 2025-10-28T22:43:34.979Z,1761691414.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951459,-0.272083,-0.143860],[0.290372,0.948511,0.126537],[0.102024,-0.162168,0.981475]] 2025-10-28T22:43:35.385Z,1761691415.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951076,-0.271728,-0.147032],[0.290635,0.948314,0.127407],[0.104812,-0.163906,0.980892]] 2025-10-28T22:43:35.789Z,1761691415.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951846,-0.267547,-0.149695],[0.287151,0.949078,0.129599],[0.107398,-0.166343,0.980202]] 2025-10-28T22:43:36.190Z,1761691416.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952932,-0.262337,-0.151984],[0.282536,0.950225,0.131322],[0.109969,-0.168082,0.979620]] 2025-10-28T22:43:36.595Z,1761691416.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954067,-0.257104,-0.153799],[0.277762,0.951470,0.132487],[0.112273,-0.169121,0.979180]] 2025-10-28T22:43:36.999Z,1761691416.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955029,-0.252490,-0.155464],[0.273422,0.952755,0.132280],[0.114719,-0.168838,0.978945]] 2025-10-28T22:43:37.405Z,1761691417.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955754,-0.248603,-0.157263],[0.269651,0.954061,0.130596],[0.117572,-0.167224,0.978884]] 2025-10-28T22:43:37.815Z,1761691417.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957103,-0.240851,-0.161076],[0.261771,0.957090,0.124320],[0.124221,-0.161152,0.979081]] 2025-10-28T22:43:38.217Z,1761691418.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957871,-0.236207,-0.163369],[0.257024,0.958844,0.120650],[0.128147,-0.157557,0.979160]] 2025-10-28T22:43:38.619Z,1761691418.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958695,-0.231237,-0.165627],[0.251886,0.960691,0.116732],[0.132124,-0.153630,0.979255]] 2025-10-28T22:43:39.025Z,1761691419.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959260,-0.227533,-0.167477],[0.247832,0.962290,0.112146],[0.135644,-0.149083,0.979477]] 2025-10-28T22:43:39.427Z,1761691419.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959311,-0.225532,-0.169876],[0.245642,0.963294,0.108278],[0.139220,-0.145601,0.979499]] 2025-10-28T22:43:39.827Z,1761691419.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959092,-0.224932,-0.171894],[0.244685,0.964037,0.103744],[0.142377,-0.141560,0.979638]] 2025-10-28T22:43:40.231Z,1761691420.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958804,-0.224332,-0.174271],[0.244224,0.964300,0.102369],[0.145085,-0.140713,0.979362]] 2025-10-28T22:43:40.636Z,1761691420.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958386,-0.224226,-0.176692],[0.244561,0.964150,0.102980],[0.147266,-0.141906,0.978864]] 2025-10-28T22:43:41.039Z,1761691421.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957721,-0.225188,-0.179054],[0.246117,0.963582,0.104577],[0.148984,-0.144224,0.978265]] 2025-10-28T22:43:41.443Z,1761691421.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956727,-0.227801,-0.181055],[0.249175,0.962703,0.105425],[0.150286,-0.145977,0.977806]] 2025-10-28T22:43:41.846Z,1761691421.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955383,-0.231415,-0.183550],[0.253580,0.961273,0.107943],[0.151462,-0.149671,0.977066]] 2025-10-28T22:43:42.253Z,1761691422.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953818,-0.235724,-0.186185],[0.258343,0.959990,0.108062],[0.153263,-0.151171,0.976554]] 2025-10-28T22:43:42.655Z,1761691422.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952601,-0.238439,-0.188938],[0.261521,0.959119,0.108150],[0.155426,-0.152435,0.976015]] 2025-10-28T22:43:43.058Z,1761691423.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951611,-0.239829,-0.192144],[0.263603,0.958427,0.109235],[0.157959,-0.154599,0.975268]] 2025-10-28T22:43:43.464Z,1761691423.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950890,-0.240667,-0.194645],[0.264723,0.958204,0.108472],[0.160404,-0.154672,0.974857]] 2025-10-28T22:43:43.866Z,1761691423.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950219,-0.240886,-0.197632],[0.265352,0.958078,0.108054],[0.163318,-0.155117,0.974303]] 2025-10-28T22:43:44.276Z,1761691424.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949609,-0.240921,-0.200497],[0.265692,0.958086,0.107137],[0.166282,-0.155009,0.973819]] 2025-10-28T22:43:44.674Z,1761691424.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949141,-0.240373,-0.203352],[0.265478,0.958224,0.106439],[0.169272,-0.155011,0.973303]] 2025-10-28T22:43:45.080Z,1761691425.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948620,-0.240038,-0.206161],[0.265182,0.958560,0.104121],[0.172625,-0.153442,0.972963]] 2025-10-28T22:43:45.483Z,1761691425.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948025,-0.240010,-0.208909],[0.265238,0.958756,0.102156],[0.175774,-0.152257,0.972585]] 2025-10-28T22:43:45.889Z,1761691425.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947402,-0.240203,-0.211501],[0.265406,0.958961,0.099767],[0.178856,-0.150653,0.972273]] 2025-10-28T22:43:46.308Z,1761691426.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946747,-0.241244,-0.213242],[0.266214,0.959023,0.096976],[0.181109,-0.148580,0.972175]] 2025-10-28T22:43:46.695Z,1761691426.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946106,-0.242248,-0.214939],[0.267314,0.958814,0.096016],[0.182827,-0.148297,0.971896]] 2025-10-28T22:43:47.100Z,1761691427.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945654,-0.242552,-0.216582],[0.268052,0.958515,0.096939],[0.184084,-0.149726,0.971440]] 2025-10-28T22:43:47.503Z,1761691427.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945409,-0.241754,-0.218534],[0.268060,0.958239,0.099611],[0.185326,-0.152753,0.970732]] 2025-10-28T22:43:47.906Z,1761691427.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945492,-0.239748,-0.220376],[0.267037,0.958131,0.103328],[0.186376,-0.156545,0.969927]] 2025-10-28T22:43:48.342Z,1761691428.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945896,-0.236600,-0.222038],[0.264941,0.958245,0.107575],[0.187315,-0.160582,0.969086]] 2025-10-28T22:43:48.716Z,1761691428.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946349,-0.233036,-0.223868],[0.262431,0.958471,0.111642],[0.188555,-0.164403,0.968204]] 2025-10-28T22:43:49.119Z,1761691429.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946771,-0.230110,-0.225109],[0.259956,0.958980,0.113047],[0.189862,-0.165548,0.967753]] 2025-10-28T22:43:49.522Z,1761691429.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947095,-0.227795,-0.226100],[0.257523,0.959790,0.111734],[0.191556,-0.164049,0.967675]] 2025-10-28T22:43:49.927Z,1761691429.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947530,-0.225148,-0.226924],[0.254656,0.960744,0.110098],[0.193228,-0.162109,0.967669]] 2025-10-28T22:43:50.357Z,1761691430.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948198,-0.222058,-0.227179],[0.250960,0.962057,0.107082],[0.194781,-0.158548,0.967948]] 2025-10-28T22:43:50.403Z,1761691430.403 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:43:50.735Z,1761691430.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948849,-0.219256,-0.227184],[0.247458,0.963320,0.103820],[0.196087,-0.154728,0.968302]] 2025-10-28T22:43:51.138Z,1761691431.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948928,-0.219197,-0.226912],[0.246498,0.964012,0.099597],[0.196915,-0.150444,0.968809]] 2025-10-28T22:43:51.543Z,1761691431.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948534,-0.221320,-0.226495],[0.247496,0.964297,0.094219],[0.197556,-0.145426,0.969445]] 2025-10-28T22:43:51.949Z,1761691431.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947823,-0.224545,-0.226299],[0.249688,0.964225,0.089032],[0.198211,-0.140891,0.969981]] 2025-10-28T22:43:52.366Z,1761691432.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946983,-0.227807,-0.226557],[0.252606,0.963660,0.086888],[0.198530,-0.139511,0.970115]] 2025-10-28T22:43:52.754Z,1761691432.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946095,-0.230581,-0.227456],[0.255482,0.962936,0.086505],[0.199079,-0.139953,0.969939]] 2025-10-28T22:43:53.158Z,1761691433.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945212,-0.232827,-0.228834],[0.258329,0.962019,0.088237],[0.199599,-0.142517,0.969458]] 2025-10-28T22:43:53.564Z,1761691433.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944274,-0.234908,-0.230577],[0.261474,0.960822,0.091937],[0.199947,-0.147103,0.968701]] 2025-10-28T22:43:53.967Z,1761691433.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943283,-0.237179,-0.232299],[0.264786,0.959569,0.095477],[0.200262,-0.151571,0.967947]] 2025-10-28T22:43:54.372Z,1761691434.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942317,-0.238755,-0.234594],[0.267870,0.958166,0.100815],[0.200710,-0.157841,0.966851]] 2025-10-28T22:43:54.775Z,1761691434.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941512,-0.239920,-0.236628],[0.270147,0.957140,0.104422],[0.201433,-0.162239,0.965973]] 2025-10-28T22:43:55.180Z,1761691435.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940862,-0.240160,-0.238962],[0.271603,0.956298,0.108285],[0.202513,-0.166784,0.964972]] 2025-10-28T22:43:55.582Z,1761691435.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940331,-0.239596,-0.241601],[0.272095,0.955834,0.111112],[0.204308,-0.170221,0.963993]] 2025-10-28T22:43:55.987Z,1761691435.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939876,-0.239192,-0.243764],[0.271751,0.956105,0.109615],[0.206845,-0.169267,0.963620]] 2025-10-28T22:43:56.393Z,1761691436.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939454,-0.238603,-0.245955],[0.270677,0.956858,0.105625],[0.210142,-0.165804,0.963509]] 2025-10-28T22:43:56.797Z,1761691436.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939142,-0.237577,-0.248134],[0.268703,0.958049,0.099704],[0.214037,-0.160310,0.963581]] 2025-10-28T22:43:57.199Z,1761691437.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938978,-0.235834,-0.250404],[0.265831,0.959509,0.093150],[0.218297,-0.154031,0.963650]] 2025-10-28T22:43:57.603Z,1761691437.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938872,-0.233720,-0.252775],[0.262420,0.961110,0.086038],[0.222836,-0.147112,0.963692]] 2025-10-28T22:43:57.752Z,1761691437.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:43:58.007Z,1761691438.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938758,-0.231699,-0.255048],[0.259168,0.962556,0.079484],[0.227081,-0.140716,0.963656]] 2025-10-28T22:43:58.413Z,1761691438.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938482,-0.230576,-0.257071],[0.257018,0.963566,0.074035],[0.230635,-0.135553,0.963552]] 2025-10-28T22:43:58.756Z,1761691438.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:43:58.814Z,1761691438.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937952,-0.230680,-0.258906],[0.256308,0.964089,0.069556],[0.233564,-0.131600,0.963395]] 2025-10-28T22:43:59.218Z,1761691439.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937403,-0.230980,-0.260621],[0.256218,0.964298,0.066941],[0.235855,-0.129527,0.963117]] 2025-10-28T22:43:59.622Z,1761691439.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936925,-0.230439,-0.262810],[0.256405,0.964123,0.068723],[0.237545,-0.131774,0.962397]] 2025-10-28T22:44:00.028Z,1761691440.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936568,-0.229594,-0.264816],[0.256849,0.963701,0.072868],[0.238473,-0.136263,0.961542]] 2025-10-28T22:44:00.430Z,1761691440.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936227,-0.228749,-0.266746],[0.257988,0.962847,0.079794],[0.238583,-0.143522,0.960458]] 2025-10-28T22:44:00.834Z,1761691440.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935816,-0.228162,-0.268683],[0.259624,0.961731,0.087574],[0.238420,-0.151710,0.959239]] 2025-10-28T22:44:01.238Z,1761691441.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935565,-0.227321,-0.270265],[0.260774,0.960752,0.094618],[0.238149,-0.159000,0.958125]] 2025-10-28T22:44:01.644Z,1761691441.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935555,-0.225562,-0.271771],[0.261041,0.959935,0.101899],[0.237898,-0.166276,0.956952]] 2025-10-28T22:44:02.061Z,1761691442.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935683,-0.223744,-0.272828],[0.260909,0.959292,0.108100],[0.237535,-0.172331,0.955970]] 2025-10-28T22:44:02.450Z,1761691442.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935872,-0.222183,-0.273458],[0.260682,0.958770,0.113154],[0.237043,-0.177183,0.955205]] 2025-10-28T22:44:02.854Z,1761691442.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935883,-0.221429,-0.274028],[0.260841,0.958331,0.116464],[0.236821,-0.180474,0.954644]] 2025-10-28T22:44:03.260Z,1761691443.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935635,-0.222186,-0.274263],[0.261472,0.958252,0.115700],[0.237106,-0.179965,0.954669]] 2025-10-28T22:44:03.662Z,1761691443.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934992,-0.224437,-0.274624],[0.262606,0.958531,0.110713],[0.238388,-0.175633,0.955157]] 2025-10-28T22:44:04.066Z,1761691444.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933955,-0.227287,-0.275804],[0.264087,0.958866,0.104083],[0.240802,-0.170045,0.955562]] 2025-10-28T22:44:04.471Z,1761691444.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932716,-0.230396,-0.277414],[0.264962,0.959684,0.093819],[0.244614,-0.161011,0.956159]] 2025-10-28T22:44:04.875Z,1761691444.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931481,-0.232233,-0.280021],[0.264714,0.960676,0.083836],[0.249539,-0.152218,0.956326]] 2025-10-28T22:44:05.278Z,1761691445.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930647,-0.232083,-0.282904],[0.262465,0.962088,0.074152],[0.254969,-0.143261,0.956278]] 2025-10-28T22:44:05.682Z,1761691445.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930238,-0.230476,-0.285547],[0.259189,0.963522,0.066675],[0.259764,-0.136034,0.956043]] 2025-10-28T22:44:06.086Z,1761691446.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929687,-0.230857,-0.287033],[0.258104,0.964223,0.060474],[0.262803,-0.130306,0.956010]] 2025-10-28T22:44:06.495Z,1761691446.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928660,-0.233887,-0.287901],[0.259819,0.964098,0.054860],[0.264733,-0.125749,0.956088]] 2025-10-28T22:44:06.895Z,1761691446.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927703,-0.236728,-0.288664],[0.262125,0.963623,0.052163],[0.265815,-0.124058,0.956008]] 2025-10-28T22:44:07.299Z,1761691447.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926807,-0.238969,-0.289692],[0.264849,0.962828,0.053083],[0.266239,-0.125922,0.955647]] 2025-10-28T22:44:07.703Z,1761691447.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925962,-0.240055,-0.291492],[0.267666,0.961750,0.058238],[0.266362,-0.131949,0.954799]] 2025-10-28T22:44:08.107Z,1761691448.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925365,-0.239566,-0.293782],[0.269429,0.960813,0.065157],[0.266661,-0.139447,0.953649]] 2025-10-28T22:44:08.512Z,1761691448.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924934,-0.238125,-0.296300],[0.270097,0.960176,0.071481],[0.267479,-0.146145,0.952416]] 2025-10-28T22:44:08.915Z,1761691448.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924570,-0.236403,-0.298804],[0.270362,0.959649,0.077325],[0.268467,-0.152277,0.951177]] 2025-10-28T22:44:09.319Z,1761691449.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924379,-0.234843,-0.300620],[0.270283,0.959309,0.081686],[0.269204,-0.156761,0.950239]] 2025-10-28T22:44:09.723Z,1761691449.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924122,-0.233128,-0.302736],[0.270165,0.958943,0.086244],[0.270201,-0.161489,0.949164]] 2025-10-28T22:44:10.128Z,1761691450.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923956,-0.231285,-0.304651],[0.269620,0.958767,0.089838],[0.271311,-0.165147,0.948218]] 2025-10-28T22:44:10.530Z,1761691450.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923618,-0.230518,-0.306254],[0.269407,0.958731,0.090851],[0.272673,-0.166419,0.947604]] 2025-10-28T22:44:10.934Z,1761691450.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923438,-0.229484,-0.307569],[0.268798,0.958828,0.091631],[0.273878,-0.167289,0.947104]] 2025-10-28T22:44:11.339Z,1761691451.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923170,-0.229909,-0.308057],[0.268730,0.959042,0.089564],[0.274848,-0.165467,0.947143]] 2025-10-28T22:44:11.744Z,1761691451.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922849,-0.230935,-0.308252],[0.268790,0.959353,0.085984],[0.275866,-0.162206,0.947411]] 2025-10-28T22:44:12.147Z,1761691452.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922532,-0.231786,-0.308562],[0.268942,0.959549,0.083280],[0.276777,-0.159814,0.947552]] 2025-10-28T22:44:12.560Z,1761691452.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922346,-0.232601,-0.308505],[0.268766,0.959893,0.079813],[0.277567,-0.156531,0.947868]] 2025-10-28T22:44:12.963Z,1761691452.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922428,-0.233150,-0.307843],[0.268157,0.960359,0.076168],[0.277881,-0.152809,0.948384]] 2025-10-28T22:44:13.367Z,1761691453.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922676,-0.233152,-0.307098],[0.267387,0.960747,0.073955],[0.277801,-0.150351,0.948800]] 2025-10-28T22:44:13.773Z,1761691453.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923050,-0.232397,-0.306544],[0.266153,0.961183,0.072733],[0.277742,-0.148724,0.949073]] 2025-10-28T22:44:14.174Z,1761691454.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923591,-0.230775,-0.306142],[0.264472,0.961628,0.072986],[0.277551,-0.148375,0.949184]] 2025-10-28T22:44:14.578Z,1761691454.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924238,-0.228828,-0.305651],[0.262541,0.962111,0.073586],[0.277231,-0.148257,0.949296]] 2025-10-28T22:44:14.983Z,1761691454.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925104,-0.225424,-0.305560],[0.259977,0.962541,0.076992],[0.276758,-0.150664,0.949055]] 2025-10-28T22:44:15.387Z,1761691455.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926029,-0.221912,-0.305327],[0.257399,0.962920,0.080815],[0.276072,-0.153428,0.948812]] 2025-10-28T22:44:15.793Z,1761691455.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926896,-0.218788,-0.304952],[0.254890,0.963351,0.083576],[0.275491,-0.155196,0.948693]] 2025-10-28T22:44:16.194Z,1761691456.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927787,-0.215384,-0.304665],[0.252278,0.963742,0.086934],[0.274894,-0.157517,0.948484]] 2025-10-28T22:44:16.599Z,1761691456.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928669,-0.211657,-0.304590],[0.249563,0.964076,0.090970],[0.274393,-0.160495,0.948129]] 2025-10-28T22:44:17.003Z,1761691457.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929473,-0.208466,-0.304340],[0.246988,0.964481,0.093667],[0.274003,-0.162229,0.947947]] 2025-10-28T22:44:17.423Z,1761691457.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930179,-0.205631,-0.304111],[0.244764,0.964789,0.096294],[0.273602,-0.164006,0.947757]] 2025-10-28T22:44:17.828Z,1761691457.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930797,-0.202870,-0.304072],[0.242543,0.965123,0.098543],[0.273476,-0.165475,0.947539]] 2025-10-28T22:44:18.228Z,1761691458.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931420,-0.200429,-0.303785],[0.240353,0.965531,0.099903],[0.273291,-0.166068,0.947488]] 2025-10-28T22:44:18.630Z,1761691458.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932214,-0.197534,-0.303245],[0.238036,0.965820,0.102616],[0.272610,-0.167843,0.947371]] 2025-10-28T22:44:19.035Z,1761691459.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933124,-0.194998,-0.302083],[0.235559,0.966293,0.103879],[0.271645,-0.168090,0.947605]] 2025-10-28T22:44:19.439Z,1761691459.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934212,-0.192063,-0.300599],[0.232735,0.966792,0.105586],[0.270337,-0.168599,0.947888]] 2025-10-28T22:44:19.847Z,1761691459.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935296,-0.189518,-0.298838],[0.230037,0.967337,0.106495],[0.268894,-0.168348,0.948343]] 2025-10-28T22:44:20.246Z,1761691460.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936431,-0.186591,-0.297120],[0.227249,0.967779,0.108454],[0.267310,-0.169080,0.948661]] 2025-10-28T22:44:20.650Z,1761691460.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937608,-0.183151,-0.295544],[0.224163,0.968192,0.111156],[0.265785,-0.170471,0.948840]] 2025-10-28T22:44:21.062Z,1761691461.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939947,-0.177827,-0.291337],[0.218825,0.969020,0.114526],[0.261945,-0.171400,0.949740]] 2025-10-28T22:44:21.465Z,1761691461.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940983,-0.176297,-0.288913],[0.216761,0.969500,0.114389],[0.259934,-0.170264,0.950497]] 2025-10-28T22:44:21.869Z,1761691461.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941765,-0.176211,-0.286407],[0.215812,0.969884,0.112914],[0.257885,-0.168148,0.951431]] 2025-10-28T22:44:22.275Z,1761691462.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942346,-0.177370,-0.283767],[0.215628,0.970309,0.109571],[0.255907,-0.164442,0.952612]] 2025-10-28T22:44:22.674Z,1761691462.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942777,-0.178941,-0.281338],[0.216201,0.970439,0.107265],[0.253827,-0.161952,0.953595]] 2025-10-28T22:44:23.075Z,1761691463.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943062,-0.180677,-0.279266],[0.217345,0.970300,0.106205],[0.251783,-0.160855,0.954322]] 2025-10-28T22:44:23.479Z,1761691463.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943420,-0.181829,-0.277305],[0.218478,0.969924,0.107307],[0.249453,-0.161821,0.954771]] 2025-10-28T22:44:23.883Z,1761691463.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943767,-0.183148,-0.275248],[0.219717,0.969541,0.108237],[0.247041,-0.162627,0.955261]] 2025-10-28T22:44:24.306Z,1761691464.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944290,-0.183231,-0.273393],[0.220033,0.969225,0.110402],[0.244750,-0.164407,0.955546]] 2025-10-28T22:44:24.690Z,1761691464.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945142,-0.181228,-0.271777],[0.218997,0.968862,0.115530],[0.242377,-0.168710,0.955401]] 2025-10-28T22:44:25.094Z,1761691465.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946327,-0.177809,-0.269907],[0.216574,0.968718,0.121164],[0.239919,-0.173115,0.955233]] 2025-10-28T22:44:25.501Z,1761691465.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947742,-0.174174,-0.267298],[0.213197,0.969047,0.124478],[0.237343,-0.174960,0.955540]] 2025-10-28T22:44:25.922Z,1761691465.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949232,-0.170424,-0.264413],[0.209326,0.969628,0.126510],[0.234822,-0.175436,0.956076]] 2025-10-28T22:44:26.341Z,1761691466.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950726,-0.166409,-0.261588],[0.205072,0.970335,0.128042],[0.232521,-0.175378,0.956649]] 2025-10-28T22:44:26.710Z,1761691466.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952192,-0.162806,-0.258506],[0.200592,0.971396,0.127089],[0.230421,-0.172868,0.957613]] 2025-10-28T22:44:27.115Z,1761691467.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953796,-0.158902,-0.254996],[0.195524,0.972672,0.125221],[0.228130,-0.169293,0.958800]] 2025-10-28T22:44:27.521Z,1761691467.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955510,-0.154542,-0.251232],[0.189800,0.974133,0.122641],[0.225780,-0.164868,0.960126]] 2025-10-28T22:44:27.923Z,1761691467.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957264,-0.149549,-0.247549],[0.183793,0.975434,0.121444],[0.223306,-0.161752,0.961234]] 2025-10-28T22:44:28.355Z,1761691468.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959030,-0.144005,-0.243977],[0.177496,0.976622,0.121262],[0.220811,-0.159599,0.962170]] 2025-10-28T22:44:28.731Z,1761691468.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960667,-0.139477,-0.240133],[0.171987,0.977746,0.120137],[0.218033,-0.156712,0.963277]] 2025-10-28T22:44:28.876Z,1761691468.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:44:29.137Z,1761691469.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962075,-0.136237,-0.236329],[0.167694,0.978694,0.118480],[0.215152,-0.153617,0.964423]] 2025-10-28T22:44:29.539Z,1761691469.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963236,-0.134436,-0.232600],[0.165099,0.979223,0.117743],[0.211939,-0.151817,0.965419]] 2025-10-28T22:44:29.880Z,1761691469.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:44:29.944Z,1761691469.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964195,-0.133885,-0.228917],[0.163533,0.979718,0.115797],[0.208770,-0.149086,0.966534]] 2025-10-28T22:44:30.360Z,1761691470.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964938,-0.134374,-0.225474],[0.163047,0.980044,0.113705],[0.205695,-0.146481,0.967591]] 2025-10-28T22:44:30.752Z,1761691470.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965491,-0.135849,-0.222196],[0.163611,0.980187,0.111644],[0.202627,-0.144145,0.968589]] 2025-10-28T22:44:31.155Z,1761691471.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965973,-0.137079,-0.219327],[0.164416,0.980058,0.111595],[0.199656,-0.143859,0.969248]] 2025-10-28T22:44:31.558Z,1761691471.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966392,-0.138870,-0.216335],[0.165710,0.979881,0.111235],[0.196536,-0.143346,0.969962]] 2025-10-28T22:44:31.964Z,1761691471.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966763,-0.140685,-0.213488],[0.167264,0.979536,0.111945],[0.193370,-0.143933,0.970511]] 2025-10-28T22:44:32.368Z,1761691472.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967188,-0.141788,-0.210818],[0.168437,0.979066,0.114271],[0.190203,-0.146031,0.970823]] 2025-10-28T22:44:32.770Z,1761691472.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967683,-0.142170,-0.208272],[0.169070,0.978568,0.117557],[0.187095,-0.148971,0.970980]] 2025-10-28T22:44:33.174Z,1761691473.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968272,-0.141855,-0.205733],[0.169037,0.978139,0.121127],[0.184053,-0.152060,0.971083]] 2025-10-28T22:44:33.578Z,1761691473.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969065,-0.139832,-0.203373],[0.167433,0.977867,0.125465],[0.181328,-0.155635,0.971029]] 2025-10-28T22:44:33.985Z,1761691473.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969961,-0.137064,-0.200969],[0.164904,0.977838,0.128996],[0.178834,-0.158262,0.971067]] 2025-10-28T22:44:34.388Z,1761691474.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970933,-0.133653,-0.198561],[0.161959,0.977674,0.133878],[0.176234,-0.162146,0.970902]] 2025-10-28T22:44:34.790Z,1761691474.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972012,-0.129764,-0.195843],[0.157989,0.978015,0.136109],[0.173875,-0.163240,0.971144]] 2025-10-28T22:44:35.194Z,1761691475.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973048,-0.126201,-0.193004],[0.154168,0.978433,0.137478],[0.171491,-0.163528,0.971519]] 2025-10-28T22:44:35.599Z,1761691475.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974018,-0.122901,-0.190222],[0.150651,0.978762,0.139030],[0.169095,-0.164075,0.971847]] 2025-10-28T22:44:36.004Z,1761691476.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974889,-0.120292,-0.187406],[0.147441,0.979344,0.138371],[0.166890,-0.162528,0.972488]] 2025-10-28T22:44:36.406Z,1761691476.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975668,-0.118442,-0.184510],[0.144861,0.979926,0.136967],[0.164583,-0.160363,0.973240]] 2025-10-28T22:44:36.810Z,1761691476.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976296,-0.117166,-0.181982],[0.143040,0.980296,0.136233],[0.162434,-0.159035,0.973819]] 2025-10-28T22:44:37.215Z,1761691477.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976897,-0.116006,-0.179485],[0.141171,0.980814,0.134438],[0.160445,-0.156671,0.974531]] 2025-10-28T22:44:37.619Z,1761691477.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977440,-0.115028,-0.177145],[0.139540,0.981277,0.132755],[0.158558,-0.154479,0.975190]] 2025-10-28T22:44:38.023Z,1761691478.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978036,-0.113397,-0.174891],[0.137473,0.981629,0.132306],[0.156675,-0.153443,0.975658]] 2025-10-28T22:44:38.426Z,1761691478.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978587,-0.111898,-0.172760],[0.135567,0.981950,0.131895],[0.154883,-0.152491,0.976093]] 2025-10-28T22:44:38.831Z,1761691478.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979144,-0.110244,-0.170655],[0.133383,0.982416,0.130645],[0.153251,-0.150683,0.976631]] 2025-10-28T22:44:39.236Z,1761691479.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979673,-0.108554,-0.168694],[0.131323,0.982746,0.130246],[0.151644,-0.149752,0.977025]] 2025-10-28T22:44:39.638Z,1761691479.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980156,-0.107218,-0.166728],[0.129510,0.983134,0.129133],[0.150071,-0.148163,0.977510]] 2025-10-28T22:44:40.042Z,1761691480.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980578,-0.106589,-0.164639],[0.128271,0.983546,0.127212],[0.148371,-0.145860,0.978116]] 2025-10-28T22:44:40.446Z,1761691480.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980928,-0.106417,-0.162655],[0.127705,0.983703,0.126570],[0.146535,-0.144928,0.978531]] 2025-10-28T22:44:40.852Z,1761691480.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981259,-0.106901,-0.160320],[0.127673,0.983856,0.125404],[0.144326,-0.143522,0.979066]] 2025-10-28T22:44:41.255Z,1761691481.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981596,-0.107328,-0.157958],[0.127677,0.983924,0.124872],[0.142016,-0.142741,0.979518]] 2025-10-28T22:44:41.658Z,1761691481.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981883,-0.107744,-0.155874],[0.127933,0.983763,0.125874],[0.139781,-0.143535,0.979724]] 2025-10-28T22:44:42.063Z,1761691482.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982194,-0.107755,-0.153894],[0.128003,0.983432,0.128363],[0.137513,-0.145776,0.979714]] 2025-10-28T22:44:42.468Z,1761691482.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982350,-0.108611,-0.152292],[0.128746,0.983217,0.129264],[0.135697,-0.146589,0.979846]] 2025-10-28T22:44:42.871Z,1761691482.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982480,-0.109607,-0.150731],[0.129579,0.983041,0.129766],[0.133952,-0.147024,0.980021]] 2025-10-28T22:44:43.275Z,1761691483.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982538,-0.111166,-0.149201],[0.130907,0.982867,0.129756],[0.132220,-0.147021,0.980256]] 2025-10-28T22:44:43.678Z,1761691483.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982445,-0.113683,-0.147914],[0.133034,0.982775,0.128275],[0.130783,-0.145701,0.980646]] 2025-10-28T22:44:44.084Z,1761691484.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982202,-0.117109,-0.146849],[0.135844,0.982838,0.124801],[0.129713,-0.142529,0.981254]] 2025-10-28T22:44:44.487Z,1761691484.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981889,-0.120865,-0.145894],[0.139101,0.982730,0.122035],[0.128624,-0.140119,0.981745]] 2025-10-28T22:44:44.891Z,1761691484.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981397,-0.125655,-0.145157],[0.143336,0.982549,0.118540],[0.127729,-0.137141,0.982282]] 2025-10-28T22:44:45.295Z,1761691485.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980940,-0.129907,-0.144502],[0.147204,0.982252,0.116245],[0.126836,-0.135300,0.982653]] 2025-10-28T22:44:45.700Z,1761691485.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980503,-0.134145,-0.143593],[0.151128,0.981834,0.114723],[0.125595,-0.134187,0.982965]] 2025-10-28T22:44:46.102Z,1761691486.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980238,-0.137272,-0.142444],[0.154042,0.981437,0.114248],[0.124117,-0.133933,0.983187]] 2025-10-28T22:44:46.506Z,1761691486.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980330,-0.137761,-0.141334],[0.154507,0.981245,0.115264],[0.122805,-0.134833,0.983229]] 2025-10-28T22:44:46.910Z,1761691486.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980511,-0.137830,-0.140005],[0.154515,0.981128,0.116244],[0.121341,-0.135612,0.983303]] 2025-10-28T22:44:47.317Z,1761691487.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980923,-0.136687,-0.138226],[0.153402,0.981031,0.118515],[0.119405,-0.137458,0.983284]] 2025-10-28T22:44:47.718Z,1761691487.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981422,-0.135385,-0.135950],[0.151934,0.981105,0.119785],[0.117164,-0.138215,0.983448]] 2025-10-28T22:44:48.123Z,1761691488.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981961,-0.134084,-0.133320],[0.150386,0.981216,0.120823],[0.114615,-0.138693,0.983681]] 2025-10-28T22:44:48.526Z,1761691488.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982487,-0.132696,-0.130810],[0.148855,0.981224,0.122646],[0.112079,-0.139969,0.983792]] 2025-10-28T22:44:48.932Z,1761691488.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982884,-0.131917,-0.128593],[0.147959,0.981137,0.124409],[0.109756,-0.141306,0.983863]] 2025-10-28T22:44:49.335Z,1761691489.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983126,-0.132356,-0.126273],[0.148159,0.980998,0.125266],[0.107294,-0.141861,0.984055]] 2025-10-28T22:44:49.738Z,1761691489.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983227,-0.134129,-0.123588],[0.149507,0.980834,0.124945],[0.104460,-0.141327,0.984436]] 2025-10-28T22:44:50.142Z,1761691490.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983267,-0.136579,-0.120548],[0.151491,0.980561,0.124702],[0.101173,-0.140877,0.984844]] 2025-10-28T22:44:50.548Z,1761691490.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983128,-0.140103,-0.117600],[0.154595,0.980063,0.124805],[0.097770,-0.140880,0.985187]] 2025-10-28T22:44:50.951Z,1761691490.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982963,-0.143183,-0.115245],[0.157388,0.979541,0.125411],[0.094931,-0.141413,0.985389]] 2025-10-28T22:44:51.355Z,1761691491.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982708,-0.146392,-0.113376],[0.160409,0.978928,0.126372],[0.092487,-0.142373,0.985483]] 2025-10-28T22:44:51.758Z,1761691491.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982537,-0.148686,-0.111861],[0.162641,0.978326,0.128167],[0.090380,-0.144122,0.985424]] 2025-10-28T22:44:52.164Z,1761691492.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982303,-0.150942,-0.110894],[0.164846,0.977810,0.129281],[0.088919,-0.145274,0.985388]] 2025-10-28T22:44:52.566Z,1761691492.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982243,-0.151868,-0.110162],[0.165778,0.977477,0.130601],[0.087847,-0.146544,0.985296]] 2025-10-28T22:44:52.970Z,1761691492.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982242,-0.152543,-0.109227],[0.166314,0.977382,0.130627],[0.086830,-0.146473,0.985396]] 2025-10-28T22:44:53.375Z,1761691493.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982252,-0.153333,-0.108030],[0.166718,0.977625,0.128273],[0.085944,-0.144007,0.985838]] 2025-10-28T22:44:53.780Z,1761691493.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982225,-0.154454,-0.106671],[0.167344,0.977961,0.124857],[0.085035,-0.140489,0.986424]] 2025-10-28T22:44:54.182Z,1761691494.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982195,-0.155471,-0.105456],[0.167907,0.978272,0.121616],[0.084257,-0.137157,0.986959]] 2025-10-28T22:44:54.586Z,1761691494.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982080,-0.156957,-0.104320],[0.169010,0.978404,0.119000],[0.083389,-0.134499,0.987399]] 2025-10-28T22:44:54.992Z,1761691494.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981833,-0.159421,-0.102906],[0.170991,0.978468,0.115599],[0.082261,-0.131095,0.987951]] 2025-10-28T22:44:55.397Z,1761691495.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981535,-0.162192,-0.101405],[0.173383,0.978292,0.113507],[0.080793,-0.128992,0.988349]] 2025-10-28T22:44:55.799Z,1761691495.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981299,-0.164746,-0.099556],[0.175646,0.977949,0.112979],[0.078748,-0.128353,0.988597]] 2025-10-28T22:44:56.202Z,1761691496.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981096,-0.167278,-0.097303],[0.177861,0.977574,0.112760],[0.076258,-0.127935,0.988846]] 2025-10-28T22:44:56.606Z,1761691496.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980791,-0.170257,-0.095190],[0.180603,0.977000,0.113370],[0.073699,-0.128384,0.988982]] 2025-10-28T22:44:57.011Z,1761691497.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980424,-0.173336,-0.093399],[0.183633,0.976117,0.116083],[0.071047,-0.130961,0.988838]] 2025-10-28T22:44:57.417Z,1761691497.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980116,-0.176134,-0.091377],[0.186234,0.975482,0.117268],[0.068482,-0.131953,0.988888]] 2025-10-28T22:44:57.818Z,1761691497.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979902,-0.178427,-0.089198],[0.188349,0.974855,0.119094],[0.065706,-0.133501,0.988868]] 2025-10-28T22:44:58.223Z,1761691498.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979734,-0.180294,-0.087269],[0.190152,0.974108,0.122295],[0.062961,-0.136411,0.988650]] 2025-10-28T22:44:58.626Z,1761691498.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979679,-0.181634,-0.085075],[0.191353,0.973519,0.125082],[0.060102,-0.138820,0.988492]] 2025-10-28T22:44:59.032Z,1761691499.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979744,-0.182447,-0.082554],[0.191956,0.973075,0.127584],[0.057054,-0.140847,0.988386]] 2025-10-28T22:44:59.436Z,1761691499.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979815,-0.183213,-0.079978],[0.192485,0.972649,0.130009],[0.053971,-0.142779,0.988282]] 2025-10-28T22:44:59.838Z,1761691499.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979976,-0.183561,-0.077146],[0.192473,0.972529,0.130923],[0.050995,-0.143150,0.988386]] 2025-10-28T22:45:00.000Z,1761691500.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:45:00.243Z,1761691500.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980158,-0.183604,-0.074692],[0.192260,0.972305,0.132887],[0.048225,-0.144611,0.988313]] 2025-10-28T22:45:00.648Z,1761691500.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980365,-0.183466,-0.072285],[0.191890,0.972031,0.135404],[0.045421,-0.146616,0.988150]] 2025-10-28T22:45:01.004Z,1761691501.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:45:01.051Z,1761691501.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980621,-0.182883,-0.070253],[0.191092,0.971937,0.137192],[0.043191,-0.147958,0.988050]] 2025-10-28T22:45:01.458Z,1761691501.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980849,-0.182378,-0.068358],[0.190374,0.971865,0.138693],[0.041140,-0.149050,0.987973]] 2025-10-28T22:45:01.859Z,1761691501.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981089,-0.181697,-0.066712],[0.189464,0.972002,0.138982],[0.039591,-0.148993,0.988045]] 2025-10-28T22:45:02.262Z,1761691502.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981190,-0.181674,-0.065274],[0.189248,0.971966,0.139522],[0.038096,-0.149251,0.988065]] 2025-10-28T22:45:02.666Z,1761691502.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981346,-0.181353,-0.063811],[0.188728,0.972002,0.139981],[0.036639,-0.149412,0.988096]] 2025-10-28T22:45:03.072Z,1761691503.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981490,-0.181090,-0.062323],[0.188242,0.972109,0.139891],[0.035251,-0.149034,0.988204]] 2025-10-28T22:45:03.475Z,1761691503.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981611,-0.180832,-0.061144],[0.187830,0.972109,0.140444],[0.034042,-0.149346,0.988199]] 2025-10-28T22:45:03.878Z,1761691503.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981631,-0.181195,-0.059743],[0.187966,0.972141,0.140040],[0.032704,-0.148697,0.988342]] 2025-10-28T22:45:04.291Z,1761691504.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981684,-0.181324,-0.058466],[0.187921,0.972069,0.140595],[0.031340,-0.149007,0.988339]] 2025-10-28T22:45:04.689Z,1761691504.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981703,-0.181686,-0.057004],[0.188086,0.971921,0.141394],[0.029714,-0.149529,0.988311]] 2025-10-28T22:45:05.091Z,1761691505.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981723,-0.182037,-0.055515],[0.188240,0.971741,0.142423],[0.028020,-0.150270,0.988248]] 2025-10-28T22:45:05.497Z,1761691505.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981764,-0.182322,-0.053835],[0.188299,0.971571,0.143507],[0.026140,-0.151027,0.988184]] 2025-10-28T22:45:05.899Z,1761691505.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981802,-0.182644,-0.052022],[0.188367,0.971414,0.144474],[0.024147,-0.151644,0.988140]] 2025-10-28T22:45:06.713Z,1761691506.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981731,-0.184807,-0.045276],[0.189496,0.971114,0.145015],[0.017168,-0.150946,0.988393]] 2025-10-28T22:45:07.115Z,1761691507.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981796,-0.185162,-0.042328],[0.189411,0.971044,0.145592],[0.014144,-0.150959,0.988439]] 2025-10-28T22:45:07.519Z,1761691507.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981861,-0.185495,-0.039249],[0.189294,0.970838,0.147113],[0.010816,-0.151874,0.988341]] 2025-10-28T22:45:07.924Z,1761691507.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981936,-0.185699,-0.036285],[0.189055,0.970711,0.148253],[0.007692,-0.152435,0.988284]] 2025-10-28T22:45:08.353Z,1761691508.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982002,-0.185888,-0.033416],[0.188814,0.970450,0.150250],[0.004499,-0.153855,0.988083]] 2025-10-28T22:45:08.727Z,1761691508.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982110,-0.185733,-0.031039],[0.188302,0.970046,0.153472],[0.001605,-0.156571,0.987665]] 2025-10-28T22:45:09.131Z,1761691509.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982248,-0.185409,-0.028494],[0.187582,0.969870,0.155452],[-0.001186,-0.158037,0.987432]] 2025-10-28T22:45:09.536Z,1761691509.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982457,-0.184631,-0.026252],[0.186450,0.969615,0.158376],[-0.003787,-0.160492,0.987030]] 2025-10-28T22:45:09.938Z,1761691509.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982685,-0.183685,-0.024290],[0.185187,0.969467,0.160748],[-0.005979,-0.162463,0.986697]] 2025-10-28T22:45:10.360Z,1761691510.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982946,-0.182564,-0.022074],[0.183708,0.969475,0.162389],[-0.008246,-0.163674,0.986480]] 2025-10-28T22:45:10.746Z,1761691510.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983133,-0.181809,-0.019858],[0.182593,0.969537,0.163276],[-0.010432,-0.164148,0.986381]] 2025-10-28T22:45:11.151Z,1761691511.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983424,-0.180400,-0.018230],[0.180916,0.969571,0.164927],[-0.012077,-0.165491,0.986137]] 2025-10-28T22:45:11.556Z,1761691511.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983815,-0.178470,-0.015997],[0.178638,0.969921,0.165356],[-0.013995,-0.165538,0.986104]] 2025-10-28T22:45:11.959Z,1761691511.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984142,-0.176871,-0.013448],[0.176649,0.970374,0.164835],[-0.016105,-0.164596,0.986230]] 2025-10-28T22:45:12.365Z,1761691512.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984425,-0.175453,-0.011125],[0.174858,0.970598,0.165419],[-0.018226,-0.164788,0.986161]] 2025-10-28T22:45:12.767Z,1761691512.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984799,-0.173469,-0.008873],[0.172526,0.970973,0.165667],[-0.020122,-0.164679,0.986142]] 2025-10-28T22:45:13.172Z,1761691513.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985092,-0.171908,-0.006412],[0.170587,0.971351,0.165464],[-0.022216,-0.164091,0.986195]] 2025-10-28T22:45:13.574Z,1761691513.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985370,-0.170380,-0.004148],[0.168703,0.971640,0.165694],[-0.024200,-0.163970,0.986169]] 2025-10-28T22:45:13.978Z,1761691513.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985654,-0.168772,-0.001772],[0.166729,0.971980,0.165700],[-0.026243,-0.163618,0.986175]] 2025-10-28T22:45:14.382Z,1761691514.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985844,-0.167662,0.000655],[0.165225,0.972163,0.166132],[-0.028490,-0.163672,0.986103]] 2025-10-28T22:45:14.788Z,1761691514.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986004,-0.166698,0.002970],[0.163898,0.972399,0.166068],[-0.030571,-0.163257,0.986110]] 2025-10-28T22:45:15.190Z,1761691515.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986027,-0.166498,0.005450],[0.163289,0.972467,0.166268],[-0.032983,-0.163055,0.986066]] 2025-10-28T22:45:15.594Z,1761691515.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985976,-0.166699,0.007949],[0.163086,0.972524,0.166133],[-0.035425,-0.162507,0.986071]] 2025-10-28T22:45:15.998Z,1761691515.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985764,-0.167840,0.009968],[0.163904,0.972479,0.165588],[-0.037486,-0.161597,0.986145]] 2025-10-28T22:45:16.404Z,1761691516.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985532,-0.169096,0.011544],[0.164850,0.972155,0.166549],[-0.039385,-0.162237,0.985966]] 2025-10-28T22:45:16.806Z,1761691516.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985226,-0.170769,0.012920],[0.166251,0.971810,0.167167],[-0.041103,-0.162550,0.985844]] 2025-10-28T22:45:17.210Z,1761691517.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984839,-0.172863,0.014482],[0.168082,0.971571,0.166730],[-0.042892,-0.161768,0.985896]] 2025-10-28T22:45:17.614Z,1761691517.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984523,-0.174566,0.015560],[0.169512,0.971031,0.168415],[-0.044508,-0.163171,0.985593]] 2025-10-28T22:45:18.019Z,1761691518.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984342,-0.175517,0.016251],[0.170170,0.970285,0.172016],[-0.045959,-0.166557,0.984960]] 2025-10-28T22:45:18.423Z,1761691518.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984331,-0.175490,0.017228],[0.169868,0.969916,0.174381],[-0.047311,-0.168722,0.984528]] 2025-10-28T22:45:18.826Z,1761691518.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984568,-0.174032,0.018414],[0.168097,0.969729,0.177114],[-0.048681,-0.171285,0.984018]] 2025-10-28T22:45:19.230Z,1761691519.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984885,-0.172028,0.020173],[0.165772,0.969951,0.178085],[-0.050202,-0.172049,0.983808]] 2025-10-28T22:45:19.635Z,1761691519.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985380,-0.168955,0.021907],[0.162359,0.970222,0.179748],[-0.051624,-0.173563,0.983469]] 2025-10-28T22:45:20.038Z,1761691520.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985958,-0.165254,0.024020],[0.158307,0.970747,0.180526],[-0.053150,-0.174189,0.983277]] 2025-10-28T22:45:20.442Z,1761691520.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986546,-0.161327,0.026467],[0.154043,0.971533,0.179984],[-0.054750,-0.173486,0.983313]] 2025-10-28T22:45:20.846Z,1761691520.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987029,-0.157912,0.028935],[0.150289,0.972241,0.179332],[-0.056451,-0.172657,0.983363]] 2025-10-28T22:45:21.250Z,1761691521.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987493,-0.154482,0.031507],[0.146562,0.973109,0.177704],[-0.058112,-0.170864,0.983579]] 2025-10-28T22:45:21.655Z,1761691521.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987825,-0.151848,0.033821],[0.143587,0.973602,0.177432],[-0.059871,-0.170416,0.983552]] 2025-10-28T22:45:22.058Z,1761691522.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988093,-0.149606,0.035910],[0.141065,0.974101,0.176711],[-0.061417,-0.169542,0.983607]] 2025-10-28T22:45:22.464Z,1761691522.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988303,-0.147749,0.037778],[0.138939,0.974469,0.176370],[-0.062872,-0.169058,0.983599]] 2025-10-28T22:45:22.867Z,1761691522.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988312,-0.147285,0.039335],[0.138267,0.974700,0.175618],[-0.064205,-0.168126,0.983672]] 2025-10-28T22:45:23.271Z,1761691523.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988268,-0.147207,0.040711],[0.138041,0.974955,0.174375],[-0.065361,-0.166709,0.983837]] 2025-10-28T22:45:23.675Z,1761691523.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988142,-0.147632,0.042193],[0.138265,0.975062,0.173598],[-0.066770,-0.165705,0.983912]] 2025-10-28T22:45:24.081Z,1761691524.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987985,-0.148385,0.043222],[0.138872,0.975064,0.173102],[-0.067830,-0.165019,0.983955]] 2025-10-28T22:45:24.485Z,1761691524.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987810,-0.149288,0.044100],[0.139652,0.975038,0.172620],[-0.068769,-0.164357,0.984001]] 2025-10-28T22:45:24.887Z,1761691524.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987659,-0.149996,0.045072],[0.140192,0.974965,0.172595],[-0.069832,-0.164146,0.983961]] 2025-10-28T22:45:25.291Z,1761691525.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987551,-0.150513,0.045694],[0.140511,0.974698,0.173839],[-0.070703,-0.165255,0.983713]] 2025-10-28T22:45:25.694Z,1761691525.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987556,-0.150297,0.046306],[0.139941,0.974149,0.177343],[-0.071763,-0.168656,0.983059]] 2025-10-28T22:45:26.100Z,1761691526.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987542,-0.149923,0.047793],[0.139237,0.974046,0.178457],[-0.073307,-0.169579,0.982786]] 2025-10-28T22:45:26.503Z,1761691526.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987663,-0.148754,0.048926],[0.137697,0.973791,0.181024],[-0.074571,-0.172054,0.982261]] 2025-10-28T22:45:26.906Z,1761691526.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987959,-0.146316,0.050284],[0.134825,0.973624,0.184058],[-0.075888,-0.175063,0.981628]] 2025-10-28T22:45:27.310Z,1761691527.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988317,-0.143297,0.051909],[0.131335,0.973546,0.186974],[-0.077329,-0.177973,0.980992]] 2025-10-28T22:45:27.716Z,1761691527.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988686,-0.140164,0.053430],[0.127885,0.973785,0.188120],[-0.078397,-0.179159,0.980692]] 2025-10-28T22:45:28.119Z,1761691528.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988997,-0.137296,0.055087],[0.124725,0.974106,0.188576],[-0.079551,-0.179630,0.980512]] 2025-10-28T22:45:28.523Z,1761691528.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989221,-0.134959,0.056811],[0.122225,0.974688,0.187203],[-0.080638,-0.178241,0.980677]] 2025-10-28T22:45:28.926Z,1761691528.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989341,-0.133370,0.058448],[0.120353,0.974890,0.187362],[-0.081968,-0.178331,0.980551]] 2025-10-28T22:45:29.332Z,1761691529.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989392,-0.132389,0.059805],[0.119305,0.975386,0.185439],[-0.082883,-0.176337,0.980834]] 2025-10-28T22:45:29.734Z,1761691529.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989362,-0.131972,0.061211],[0.118798,0.975785,0.183659],[-0.083967,-0.174434,0.981082]] 2025-10-28T22:45:30.139Z,1761691530.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989160,-0.132760,0.062747],[0.119391,0.975895,0.182685],[-0.085488,-0.173214,0.981167]] 2025-10-28T22:45:30.542Z,1761691530.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988978,-0.133707,0.063597],[0.120167,0.975777,0.182807],[-0.086499,-0.173150,0.981090]] 2025-10-28T22:45:30.973Z,1761691530.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988612,-0.135954,0.064523],[0.122347,0.975767,0.181412],[-0.087623,-0.171451,0.981288]] 2025-10-28T22:45:31.134Z,1761691531.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:45:31.362Z,1761691531.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988320,-0.137812,0.065042],[0.123976,0.975321,0.182697],[-0.088614,-0.172499,0.981016]] 2025-10-28T22:45:31.755Z,1761691531.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988099,-0.139380,0.065060],[0.125308,0.974711,0.185033],[-0.089205,-0.174679,0.980576]] 2025-10-28T22:45:32.136Z,1761691532.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:45:32.159Z,1761691532.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987974,-0.140067,0.065493],[0.125761,0.974342,0.186658],[-0.089958,-0.176177,0.980239]] 2025-10-28T22:45:32.562Z,1761691532.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987966,-0.139923,0.065908],[0.125261,0.973812,0.189734],[-0.090731,-0.179195,0.979621]] 2025-10-28T22:45:32.968Z,1761691532.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988143,-0.138517,0.066234],[0.123491,0.973349,0.193238],[-0.091236,-0.182767,0.978914]] 2025-10-28T22:45:33.370Z,1761691533.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988513,-0.135482,0.066978],[0.120172,0.973355,0.195290],[-0.091651,-0.184998,0.978456]] 2025-10-28T22:45:33.775Z,1761691533.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988871,-0.132305,0.068048],[0.116770,0.973609,0.196087],[-0.092196,-0.185959,0.978223]] 2025-10-28T22:45:34.180Z,1761691534.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989297,-0.128323,0.069455],[0.112536,0.974002,0.196610],[-0.092879,-0.186689,0.978019]] 2025-10-28T22:45:34.583Z,1761691534.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989696,-0.124141,0.071352],[0.108213,0.974808,0.195038],[-0.093766,-0.185307,0.978197]] 2025-10-28T22:45:34.987Z,1761691534.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989988,-0.120461,0.073566],[0.104323,0.975536,0.193511],[-0.095077,-0.183899,0.978336]] 2025-10-28T22:45:35.391Z,1761691535.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990285,-0.116560,0.075827],[0.100240,0.976325,0.191681],[-0.096374,-0.182218,0.978524]] 2025-10-28T22:45:35.796Z,1761691535.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990530,-0.113084,0.077857],[0.096587,0.976983,0.190200],[-0.097574,-0.180879,0.978653]] 2025-10-28T22:45:36.603Z,1761691536.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990695,-0.108502,0.082161],[0.091725,0.978278,0.185897],[-0.100547,-0.176631,0.979128]] 2025-10-28T22:45:37.007Z,1761691537.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990785,-0.106239,0.084009],[0.089319,0.978787,0.184384],[-0.101815,-0.175182,0.979257]] 2025-10-28T22:45:37.412Z,1761691537.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990861,-0.104408,0.085407],[0.087310,0.979054,0.183932],[-0.102822,-0.174794,0.979221]] 2025-10-28T22:45:37.814Z,1761691537.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990923,-0.102632,0.086826],[0.085354,0.979313,0.183466],[-0.103860,-0.174390,0.979184]] 2025-10-28T22:45:38.219Z,1761691538.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990952,-0.101218,0.088141],[0.083788,0.979558,0.182882],[-0.104850,-0.173843,0.979176]] 2025-10-28T22:45:38.622Z,1761691538.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990940,-0.100274,0.089345],[0.082802,0.979914,0.181417],[-0.105741,-0.172376,0.979339]] 2025-10-28T22:45:39.029Z,1761691539.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990827,-0.100128,0.090757],[0.082769,0.980518,0.178141],[-0.106826,-0.168995,0.979811]] 2025-10-28T22:45:39.431Z,1761691539.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990652,-0.100731,0.091984],[0.083514,0.981039,0.174895],[-0.107857,-0.165578,0.980281]] 2025-10-28T22:45:39.834Z,1761691539.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990448,-0.101877,0.092918],[0.085041,0.981776,0.169952],[-0.108538,-0.160427,0.981062]] 2025-10-28T22:45:40.238Z,1761691540.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990171,-0.104165,0.093334],[0.087714,0.982267,0.165706],[-0.108939,-0.155891,0.981749]] 2025-10-28T22:45:40.644Z,1761691540.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989862,-0.107001,0.093403],[0.090954,0.982628,0.161767],[-0.109090,-0.151632,0.982399]] 2025-10-28T22:45:41.048Z,1761691541.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989550,-0.110358,0.092804],[0.094559,0.982554,0.160145],[-0.108858,-0.149696,0.982721]] 2025-10-28T22:45:41.451Z,1761691541.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989251,-0.113659,0.091999],[0.098237,0.982603,0.157612],[-0.108312,-0.146880,0.983206]] 2025-10-28T22:45:41.854Z,1761691541.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988922,-0.117260,0.091014],[0.101977,0.982246,0.157457],[-0.107862,-0.146432,0.983323]] 2025-10-28T22:45:42.259Z,1761691542.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988578,-0.121110,0.089703],[0.105954,0.981765,0.157832],[-0.107182,-0.146525,0.983383]] 2025-10-28T22:45:42.662Z,1761691542.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988258,-0.124741,0.088239],[0.109687,0.981222,0.158659],[-0.106373,-0.147118,0.983383]] 2025-10-28T22:45:43.069Z,1761691543.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987921,-0.128530,0.086558],[0.113443,0.980407,0.161034],[-0.105560,-0.149270,0.983146]] 2025-10-28T22:45:43.470Z,1761691543.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987644,-0.131545,0.085183],[0.116449,0.979756,0.162842],[-0.104879,-0.150911,0.982968]] 2025-10-28T22:45:43.874Z,1761691543.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987459,-0.133447,0.084361],[0.118226,0.979173,0.165056],[-0.104630,-0.153012,0.982670]] 2025-10-28T22:45:44.282Z,1761691544.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987464,-0.133863,0.083638],[0.118686,0.979015,0.165660],[-0.104058,-0.153656,0.982630]] 2025-10-28T22:45:44.685Z,1761691544.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987724,-0.132511,0.082715],[0.117303,0.978879,0.167438],[-0.103156,-0.155680,0.982406]] 2025-10-28T22:45:45.088Z,1761691545.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988132,-0.129665,0.082351],[0.114383,0.978966,0.168945],[-0.102525,-0.157521,0.982179]] 2025-10-28T22:45:45.491Z,1761691545.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988665,-0.125724,0.082061],[0.110385,0.979191,0.170291],[-0.101764,-0.159303,0.981971]] 2025-10-28T22:45:45.895Z,1761691545.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989232,-0.120861,0.082544],[0.105448,0.979664,0.170703],[-0.101497,-0.160161,0.981859]] 2025-10-28T22:45:46.703Z,1761691546.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990298,-0.110835,0.083816],[0.095120,0.980394,0.172570],[-0.101299,-0.162923,0.981425]] 2025-10-28T22:45:47.107Z,1761691547.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990865,-0.105152,0.084436],[0.089313,0.980804,0.173340],[-0.101042,-0.164216,0.981236]] 2025-10-28T22:45:47.510Z,1761691547.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991384,-0.099545,0.085135],[0.083748,0.981468,0.172358],[-0.100714,-0.163743,0.981348]] 2025-10-28T22:45:47.916Z,1761691547.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991866,-0.094090,0.085724],[0.078276,0.981963,0.172108],[-0.100372,-0.163998,0.981341]] 2025-10-28T22:45:48.357Z,1761691548.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992474,-0.086169,0.087006],[0.070719,0.983379,0.167228],[-0.099970,-0.159816,0.982072]] 2025-10-28T22:45:48.792Z,1761691548.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992653,-0.083925,0.087155],[0.068876,0.984179,0.163239],[-0.099476,-0.156037,0.982729]] 2025-10-28T22:45:49.195Z,1761691549.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992710,-0.083606,0.086818],[0.069252,0.985185,0.156890],[-0.098649,-0.149734,0.983793]] 2025-10-28T22:45:49.598Z,1761691549.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992712,-0.084452,0.085971],[0.070741,0.985901,0.151638],[-0.097565,-0.144451,0.984690]] 2025-10-28T22:45:50.004Z,1761691550.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992622,-0.086748,0.084719],[0.073684,0.986430,0.146722],[-0.096297,-0.139397,0.985543]] 2025-10-28T22:45:50.407Z,1761691550.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992509,-0.089488,0.083175],[0.076956,0.986686,0.143276],[-0.094889,-0.135802,0.986181]] 2025-10-28T22:45:50.811Z,1761691550.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992326,-0.092979,0.081507],[0.080949,0.986813,0.140169],[-0.093465,-0.132496,0.986767]] 2025-10-28T22:45:51.215Z,1761691551.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992132,-0.096505,0.079759],[0.084852,0.986732,0.138417],[-0.092059,-0.130560,0.987157]] 2025-10-28T22:45:51.620Z,1761691551.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991904,-0.100350,0.077825],[0.088965,0.986422,0.138043],[-0.090621,-0.130002,0.987364]] 2025-10-28T22:45:52.023Z,1761691552.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991625,-0.104347,0.076101],[0.093160,0.986028,0.138093],[-0.089447,-0.129847,0.987491]] 2025-10-28T22:45:52.426Z,1761691552.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991294,-0.108734,0.074246],[0.097639,0.985396,0.139502],[-0.088330,-0.131039,0.987434]] 2025-10-28T22:45:52.830Z,1761691552.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990917,-0.113171,0.072641],[0.102146,0.984755,0.140796],[-0.087468,-0.132098,0.987370]] 2025-10-28T22:45:53.236Z,1761691553.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990479,-0.117828,0.071186],[0.106851,0.984067,0.142111],[-0.086796,-0.133151,0.987288]] 2025-10-28T22:45:53.638Z,1761691553.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990033,-0.122280,0.069867],[0.111378,0.983442,0.142954],[-0.086191,-0.133748,0.987260]] 2025-10-28T22:45:54.043Z,1761691554.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989655,-0.126120,0.068382],[0.115327,0.982878,0.143702],[-0.085335,-0.134329,0.987256]] 2025-10-28T22:45:54.446Z,1761691554.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989442,-0.128738,0.066567],[0.118000,0.982263,0.145726],[-0.084147,-0.136333,0.987083]] 2025-10-28T22:45:54.851Z,1761691554.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989394,-0.130031,0.064748],[0.119374,0.981814,0.147615],[-0.082765,-0.138320,0.986923]] 2025-10-28T22:45:55.256Z,1761691555.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989426,-0.130703,0.062873],[0.120163,0.981462,0.149306],[-0.081222,-0.140172,0.986790]] 2025-10-28T22:45:55.658Z,1761691555.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989491,-0.131128,0.060935],[0.120688,0.981073,0.151429],[-0.079638,-0.142484,0.986588]] 2025-10-28T22:45:56.466Z,1761691556.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989545,-0.132292,0.057443],[0.122240,0.980677,0.152742],[-0.076539,-0.144123,0.986595]] 2025-10-28T22:45:56.872Z,1761691556.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989514,-0.133181,0.055909],[0.123477,0.980796,0.150973],[-0.074942,-0.142487,0.986956]] 2025-10-28T22:45:57.275Z,1761691557.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989453,-0.134332,0.054198],[0.124871,0.980636,0.150867],[-0.073415,-0.142508,0.987067]] 2025-10-28T22:45:57.679Z,1761691557.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989534,-0.134418,0.052479],[0.125116,0.980421,0.152056],[-0.071890,-0.143898,0.986978]] 2025-10-28T22:45:58.082Z,1761691558.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989762,-0.133325,0.050951],[0.124232,0.980486,0.152360],[-0.070270,-0.144470,0.987011]] 2025-10-28T22:45:58.488Z,1761691558.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990097,-0.131334,0.049591],[0.122445,0.980683,0.152542],[-0.068667,-0.144959,0.987052]] 2025-10-28T22:45:58.890Z,1761691558.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990607,-0.127815,0.048583],[0.119004,0.980871,0.154043],[-0.067343,-0.146814,0.986869]] 2025-10-28T22:45:59.296Z,1761691559.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991223,-0.123304,0.047668],[0.114537,0.981083,0.156069],[-0.066010,-0.149240,0.986595]] 2025-10-28T22:45:59.698Z,1761691559.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991875,-0.118224,0.046977],[0.109606,0.981629,0.156178],[-0.064578,-0.149760,0.986611]] 2025-10-28T22:46:00.102Z,1761691560.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992456,-0.113504,0.046347],[0.105116,0.982332,0.154837],[-0.063102,-0.148797,0.986852]] 2025-10-28T22:46:00.507Z,1761691560.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992921,-0.109501,0.046010],[0.101345,0.983081,0.152580],[-0.061939,-0.146837,0.987220]] 2025-10-28T22:46:00.912Z,1761691560.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993303,-0.106038,0.045883],[0.098149,0.983933,0.149138],[-0.060960,-0.143636,0.987751]] 2025-10-28T22:46:01.315Z,1761691561.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993550,-0.103767,0.045734],[0.096111,0.984603,0.146014],[-0.060181,-0.140676,0.988225]] 2025-10-28T22:46:01.718Z,1761691561.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993607,-0.103387,0.045339],[0.095940,0.984983,0.143541],[-0.059499,-0.138273,0.988605]] 2025-10-28T22:46:02.139Z,1761691562.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993436,-0.105276,0.044739],[0.098046,0.985139,0.141023],[-0.058920,-0.135711,0.988995]] 2025-10-28T22:46:02.260Z,1761691562.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:46:02.542Z,1761691562.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993097,-0.108892,0.043600],[0.101906,0.985035,0.138998],[-0.058083,-0.133595,0.989332]] 2025-10-28T22:46:02.947Z,1761691562.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992637,-0.113732,0.041681],[0.107001,0.984588,0.138340],[-0.056772,-0.132861,0.989507]] 2025-10-28T22:46:03.264Z,1761691563.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:46:03.352Z,1761691563.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992108,-0.119160,0.039025],[0.112723,0.983909,0.138624],[-0.054916,-0.133131,0.989576]] 2025-10-28T22:46:03.754Z,1761691563.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991552,-0.124703,0.035687],[0.118650,0.983171,0.138911],[-0.052409,-0.133503,0.989662]] 2025-10-28T22:46:04.159Z,1761691564.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990958,-0.130298,0.032018],[0.124645,0.982309,0.139761],[-0.049662,-0.134506,0.989668]] 2025-10-28T22:46:04.563Z,1761691564.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990460,-0.134929,0.027997],[0.129747,0.981555,0.140411],[-0.046426,-0.135439,0.989697]] 2025-10-28T22:46:04.968Z,1761691564.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990036,-0.138723,0.024177],[0.134021,0.980969,0.140494],[-0.043207,-0.135854,0.989786]] 2025-10-28T22:46:05.370Z,1761691565.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989792,-0.140943,0.021124],[0.136645,0.980638,0.140278],[-0.040486,-0.135960,0.989887]] 2025-10-28T22:46:05.775Z,1761691565.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989623,-0.142522,0.018253],[0.138651,0.980541,0.138981],[-0.037705,-0.135008,0.990127]] 2025-10-28T22:46:06.584Z,1761691566.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989327,-0.145067,0.013700],[0.141866,0.980405,0.136673],[-0.033258,-0.133271,0.990522]] 2025-10-28T22:46:06.986Z,1761691566.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989108,-0.146719,0.011757],[0.143790,0.980247,0.135792],[-0.031448,-0.132622,0.990668]] 2025-10-28T22:46:07.390Z,1761691567.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988805,-0.148913,0.009452],[0.146248,0.979780,0.136535],[-0.029592,-0.133624,0.990590]] 2025-10-28T22:46:07.795Z,1761691567.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988475,-0.151216,0.007096],[0.148811,0.979219,0.137790],[-0.027785,-0.135146,0.990436]] 2025-10-28T22:46:08.199Z,1761691568.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988199,-0.153102,0.004675],[0.150963,0.978652,0.139465],[-0.025928,-0.137114,0.990216]] 2025-10-28T22:46:08.602Z,1761691568.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987952,-0.154749,0.002046],[0.152889,0.977958,0.142207],[-0.024007,-0.140181,0.989835]] 2025-10-28T22:46:09.006Z,1761691569.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987858,-0.155359,-0.000829],[0.153839,0.977423,0.144835],[-0.021691,-0.143204,0.989455]] 2025-10-28T22:46:09.410Z,1761691569.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987991,-0.154469,-0.003571],[0.153293,0.977054,0.147873],[-0.019353,-0.146645,0.989000]] 2025-10-28T22:46:09.815Z,1761691569.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988381,-0.151877,-0.006069],[0.151056,0.977038,0.150263],[-0.016891,-0.149434,0.988627]] 2025-10-28T22:46:10.220Z,1761691570.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988924,-0.148189,-0.008306],[0.147717,0.977234,0.152297],[-0.014452,-0.151837,0.988300]] 2025-10-28T22:46:10.623Z,1761691570.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989618,-0.143379,-0.009987],[0.143220,0.977927,0.152140],[-0.012048,-0.151991,0.988308]] 2025-10-28T22:46:11.027Z,1761691571.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990399,-0.137765,-0.011456],[0.137899,0.978735,0.151864],[-0.009709,-0.151986,0.988335]] 2025-10-28T22:46:11.431Z,1761691571.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991176,-0.131954,-0.012550],[0.132335,0.979761,0.150187],[-0.007522,-0.150523,0.988578]] 2025-10-28T22:46:11.836Z,1761691571.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991947,-0.125988,-0.012983],[0.126529,0.981155,0.146033],[-0.005660,-0.146500,0.989195]] 2025-10-28T22:46:12.238Z,1761691572.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992532,-0.121244,-0.013386],[0.121908,0.982162,0.143169],[-0.004211,-0.143731,0.989608]] 2025-10-28T22:46:12.642Z,1761691572.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992826,-0.118783,-0.013693],[0.119531,0.983064,0.138919],[-0.003040,-0.139559,0.990209]] 2025-10-28T22:46:13.046Z,1761691573.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992834,-0.118659,-0.014168],[0.119487,0.983825,0.133458],[-0.001897,-0.134194,0.990953]] 2025-10-28T22:46:13.452Z,1761691573.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992587,-0.120610,-0.015003],[0.121538,0.984267,0.128248],[-0.000702,-0.129120,0.991629]] 2025-10-28T22:46:13.854Z,1761691573.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992252,-0.123153,-0.016400],[0.124238,0.984271,0.125603],[0.000673,-0.126668,0.991945]] 2025-10-28T22:46:14.258Z,1761691574.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991833,-0.126180,-0.018576],[0.127518,0.983784,0.126126],[0.002361,-0.127465,0.991840]] 2025-10-28T22:46:14.665Z,1761691574.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991346,-0.129553,-0.021218],[0.131212,0.982972,0.128649],[0.004190,-0.130319,0.991463]] 2025-10-28T22:46:15.066Z,1761691575.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990830,-0.132929,-0.024198],[0.134975,0.981900,0.132870],[0.006097,-0.134918,0.990838]] 2025-10-28T22:46:15.470Z,1761691575.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990292,-0.136310,-0.027230],[0.138781,0.980613,0.138338],[0.007845,-0.140774,0.990011]] 2025-10-28T22:46:15.875Z,1761691575.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989691,-0.140006,-0.030168],[0.142909,0.979238,0.143771],[0.009413,-0.146600,0.989151]] 2025-10-28T22:46:16.683Z,1761691576.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988227,-0.148766,-0.035711],[0.152503,0.976514,0.152196],[0.012231,-0.155851,0.987705]] 2025-10-28T22:46:17.086Z,1761691577.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987446,-0.153285,-0.038134],[0.157384,0.975311,0.154918],[0.013446,-0.158974,0.987191]] 2025-10-28T22:46:17.492Z,1761691577.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986780,-0.157011,-0.040147],[0.161417,0.974306,0.157072],[0.014454,-0.161476,0.986771]] 2025-10-28T22:46:17.897Z,1761691577.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986575,-0.157974,-0.041397],[0.162565,0.974155,0.156825],[0.015553,-0.161449,0.986759]] 2025-10-28T22:46:18.333Z,1761691578.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986930,-0.155531,-0.042192],[0.160290,0.974445,0.157365],[0.016638,-0.162071,0.986639]] 2025-10-28T22:46:18.702Z,1761691578.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987575,-0.151345,-0.042306],[0.156168,0.975187,0.156912],[0.017508,-0.161569,0.986706]] 2025-10-28T22:46:19.106Z,1761691579.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988292,-0.146584,-0.042341],[0.151449,0.976130,0.155670],[0.018512,-0.160260,0.986901]] 2025-10-28T22:46:19.512Z,1761691579.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988963,-0.142075,-0.042034],[0.146904,0.977171,0.153478],[0.019269,-0.157959,0.987258]] 2025-10-28T22:46:19.914Z,1761691579.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989443,-0.138939,-0.041200],[0.143568,0.978505,0.148043],[0.019745,-0.152395,0.988122]] 2025-10-28T22:46:20.352Z,1761691580.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989574,-0.138154,-0.040700],[0.142578,0.979655,0.141234],[0.020360,-0.145564,0.989139]] 2025-10-28T22:46:20.723Z,1761691580.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989466,-0.138976,-0.040538],[0.143247,0.980381,0.135397],[0.020925,-0.139778,0.989962]] 2025-10-28T22:46:21.130Z,1761691581.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989127,-0.141334,-0.040656],[0.145489,0.980759,0.130172],[0.021476,-0.134672,0.990657]] 2025-10-28T22:46:21.531Z,1761691581.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988672,-0.144290,-0.041317],[0.148438,0.980739,0.126957],[0.022202,-0.131652,0.991047]] 2025-10-28T22:46:21.935Z,1761691581.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988181,-0.147343,-0.042279],[0.151561,0.980438,0.125579],[0.022949,-0.130503,0.991182]] 2025-10-28T22:46:22.355Z,1761691582.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987641,-0.150599,-0.043422],[0.154939,0.979920,0.125501],[0.023650,-0.130677,0.991143]] 2025-10-28T22:46:22.744Z,1761691582.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987117,-0.153618,-0.044747],[0.158143,0.979229,0.126891],[0.024325,-0.132332,0.990907]] 2025-10-28T22:46:23.149Z,1761691583.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986600,-0.156509,-0.046112],[0.161295,0.978170,0.131026],[0.024599,-0.136708,0.990306]] 2025-10-28T22:46:23.550Z,1761691583.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986018,-0.159755,-0.047400],[0.164814,0.976915,0.135917],[0.024592,-0.141829,0.989586]] 2025-10-28T22:46:23.954Z,1761691583.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985368,-0.163488,-0.048182],[0.168700,0.975820,0.138983],[0.024295,-0.145078,0.989122]] 2025-10-28T22:46:24.365Z,1761691584.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984646,-0.167463,-0.049284],[0.172891,0.974534,0.142801],[0.024116,-0.149130,0.988524]] 2025-10-28T22:46:24.763Z,1761691584.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983996,-0.170825,-0.050699],[0.176535,0.973254,0.147011],[0.024229,-0.153609,0.987835]] 2025-10-28T22:46:25.167Z,1761691585.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983583,-0.172777,-0.052085],[0.178784,0.972202,0.151192],[0.024515,-0.158022,0.987131]] 2025-10-28T22:46:25.570Z,1761691585.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983529,-0.172704,-0.053325],[0.178969,0.971799,0.153548],[0.025303,-0.160562,0.986701]] 2025-10-28T22:46:25.976Z,1761691585.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983747,-0.171113,-0.054434],[0.177642,0.971645,0.156041],[0.026190,-0.163174,0.986250]] 2025-10-28T22:46:26.782Z,1761691586.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984734,-0.165220,-0.054776],[0.171885,0.972643,0.156274],[0.027458,-0.163303,0.986194]] 2025-10-28T22:46:27.188Z,1761691587.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985259,-0.162267,-0.054169],[0.168770,0.973745,0.152766],[0.027958,-0.159656,0.986777]] 2025-10-28T22:46:27.597Z,1761691587.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985645,-0.160134,-0.053493],[0.166464,0.974630,0.149619],[0.028177,-0.156376,0.987296]] 2025-10-28T22:46:28.002Z,1761691588.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985768,-0.159967,-0.051691],[0.165740,0.976244,0.139566],[0.028137,-0.146147,0.988863]] 2025-10-28T22:46:28.404Z,1761691588.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985460,-0.162014,-0.051192],[0.167547,0.976670,0.134330],[0.028234,-0.140954,0.989613]] 2025-10-28T22:46:28.807Z,1761691588.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984926,-0.165354,-0.050777],[0.170663,0.976779,0.129529],[0.028180,-0.136242,0.990275]] 2025-10-28T22:46:29.213Z,1761691589.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984371,-0.168684,-0.050591],[0.173870,0.976545,0.127000],[0.027982,-0.133812,0.990612]] 2025-10-28T22:46:29.612Z,1761691589.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983724,-0.172300,-0.050984],[0.177491,0.975983,0.126313],[0.027995,-0.133306,0.990679]] 2025-10-28T22:46:30.014Z,1761691590.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983052,-0.175814,-0.051942],[0.181138,0.975163,0.127460],[0.028243,-0.134708,0.990483]] 2025-10-28T22:46:30.418Z,1761691590.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982589,-0.178030,-0.053136],[0.183579,0.974336,0.130263],[0.028581,-0.137750,0.990055]] 2025-10-28T22:46:30.824Z,1761691590.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982246,-0.179533,-0.054418],[0.185334,0.973604,0.133217],[0.029065,-0.140937,0.989592]] 2025-10-28T22:46:31.227Z,1761691591.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982186,-0.179431,-0.055821],[0.185582,0.972865,0.138179],[0.029513,-0.146077,0.988833]] 2025-10-28T22:46:31.631Z,1761691591.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982387,-0.177945,-0.057012],[0.184399,0.972551,0.141917],[0.030193,-0.149930,0.988235]] 2025-10-28T22:46:32.035Z,1761691592.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982772,-0.175727,-0.057257],[0.182271,0.972807,0.142912],[0.030587,-0.150886,0.988078]] 2025-10-28T22:46:32.440Z,1761691592.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983252,-0.172992,-0.057359],[0.179635,0.973031,0.144712],[0.030778,-0.152592,0.987810]] 2025-10-28T22:46:32.843Z,1761691592.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983715,-0.170334,-0.057376],[0.177056,0.973276,0.146234],[0.030934,-0.154011,0.987585]] 2025-10-28T22:46:33.248Z,1761691593.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983928,-0.168979,-0.057716],[0.175749,0.973599,0.145660],[0.031579,-0.153463,0.987650]] 2025-10-28T22:46:33.384Z,1761691593.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:46:33.650Z,1761691593.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984036,-0.168353,-0.057707],[0.175020,0.974224,0.142324],[0.032259,-0.150152,0.988137]] 2025-10-28T22:46:34.056Z,1761691594.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983901,-0.168923,-0.058338],[0.175582,0.974544,0.139409],[0.033303,-0.147408,0.988515]] 2025-10-28T22:46:34.388Z,1761691594.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:46:34.458Z,1761691594.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983658,-0.169971,-0.059392],[0.176702,0.974643,0.137284],[0.034552,-0.145535,0.988750]] 2025-10-28T22:46:34.863Z,1761691594.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983295,-0.171529,-0.060893],[0.178416,0.974519,0.135939],[0.036024,-0.144532,0.988844]] 2025-10-28T22:46:35.268Z,1761691595.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982823,-0.173565,-0.062731],[0.180649,0.974298,0.134570],[0.037762,-0.143591,0.988916]] 2025-10-28T22:46:35.671Z,1761691595.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982359,-0.175412,-0.064814],[0.182794,0.973848,0.134929],[0.039451,-0.144396,0.988733]] 2025-10-28T22:46:36.478Z,1761691596.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981231,-0.179879,-0.069493],[0.187954,0.972701,0.136108],[0.043113,-0.146615,0.988254]] 2025-10-28T22:46:36.882Z,1761691596.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980811,-0.181279,-0.071740],[0.189753,0.972109,0.137831],[0.044753,-0.148799,0.987854]] 2025-10-28T22:46:37.287Z,1761691597.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980420,-0.182563,-0.073804],[0.191385,0.971633,0.138928],[0.046347,-0.150333,0.987548]] 2025-10-28T22:46:37.692Z,1761691597.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980059,-0.183652,-0.075870],[0.192853,0.971116,0.140502],[0.047875,-0.152332,0.987169]] 2025-10-28T22:46:38.094Z,1761691598.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979941,-0.183414,-0.077940],[0.193045,0.970758,0.142695],[0.049489,-0.154879,0.986693]] 2025-10-28T22:46:38.499Z,1761691598.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980015,-0.182228,-0.079777],[0.192312,0.970456,0.145711],[0.050867,-0.158141,0.986106]] 2025-10-28T22:46:38.902Z,1761691598.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980301,-0.179985,-0.081336],[0.190439,0.970539,0.147602],[0.052374,-0.160184,0.985697]] 2025-10-28T22:46:39.308Z,1761691599.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980717,-0.177208,-0.082408],[0.187859,0.971050,0.147552],[0.053875,-0.160188,0.985615]] 2025-10-28T22:46:39.710Z,1761691599.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981164,-0.174297,-0.083298],[0.185086,0.971674,0.146945],[0.055327,-0.159594,0.985631]] 2025-10-28T22:46:40.114Z,1761691600.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981621,-0.171258,-0.084203],[0.182159,0.972393,0.145845],[0.056901,-0.158503,0.985718]] 2025-10-28T22:46:40.519Z,1761691600.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982038,-0.168285,-0.085327],[0.179204,0.973409,0.142692],[0.059045,-0.155420,0.986082]] 2025-10-28T22:46:40.925Z,1761691600.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982331,-0.165964,-0.086500],[0.176867,0.974352,0.139130],[0.061191,-0.151970,0.986489]] 2025-10-28T22:46:41.327Z,1761691601.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982387,-0.165168,-0.087374],[0.175855,0.975318,0.133526],[0.063163,-0.146540,0.987186]] 2025-10-28T22:46:41.731Z,1761691601.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982037,-0.166666,-0.088467],[0.177127,0.975861,0.127757],[0.065039,-0.141132,0.987852]] 2025-10-28T22:46:42.136Z,1761691602.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981421,-0.169721,-0.089488],[0.179885,0.976163,0.121435],[0.066745,-0.135276,0.988557]] 2025-10-28T22:46:42.542Z,1761691602.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980700,-0.172965,-0.091160],[0.183179,0.975838,0.119104],[0.068357,-0.133504,0.988688]] 2025-10-28T22:46:42.942Z,1761691602.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979944,-0.176158,-0.093155],[0.186584,0.975261,0.118539],[0.069969,-0.133543,0.988570]] 2025-10-28T22:46:43.347Z,1761691603.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979189,-0.179228,-0.095215],[0.189977,0.974507,0.119353],[0.071397,-0.134957,0.988276]] 2025-10-28T22:46:43.751Z,1761691603.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978448,-0.181918,-0.097698],[0.193276,0.973380,0.123192],[0.072686,-0.139420,0.987562]] 2025-10-28T22:46:44.156Z,1761691604.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977805,-0.184182,-0.099868],[0.196099,0.972362,0.126719],[0.073768,-0.143491,0.986898]] 2025-10-28T22:46:44.558Z,1761691604.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977372,-0.185233,-0.102146],[0.197866,0.971320,0.131856],[0.074793,-0.149084,0.985992]] 2025-10-28T22:46:44.962Z,1761691604.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977218,-0.184669,-0.104606],[0.198162,0.970392,0.138096],[0.076006,-0.155679,0.984879]] 2025-10-28T22:46:45.367Z,1761691605.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977564,-0.181723,-0.106511],[0.195998,0.969981,0.143951],[0.077154,-0.161597,0.983836]] 2025-10-28T22:46:45.772Z,1761691605.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978150,-0.177632,-0.108022],[0.192529,0.970030,0.148241],[0.078452,-0.165799,0.983034]] 2025-10-28T22:46:46.588Z,1761691606.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979697,-0.167559,-0.110077],[0.183415,0.970790,0.154679],[0.080944,-0.171729,0.981813]] 2025-10-28T22:46:46.988Z,1761691606.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980640,-0.161964,-0.110061],[0.177963,0.971621,0.155824],[0.081700,-0.172394,0.981634]] 2025-10-28T22:46:47.391Z,1761691607.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981566,-0.156653,-0.109486],[0.172412,0.972981,0.153564],[0.082472,-0.169610,0.982054]] 2025-10-28T22:46:47.796Z,1761691607.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982337,-0.152043,-0.109072],[0.167650,0.974038,0.152126],[0.083111,-0.167725,0.982324]] 2025-10-28T22:46:48.198Z,1761691608.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982928,-0.148680,-0.108386],[0.163861,0.975296,0.148143],[0.083682,-0.163374,0.983009]] 2025-10-28T22:46:48.602Z,1761691608.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983279,-0.146927,-0.107592],[0.161654,0.976259,0.144176],[0.083854,-0.159158,0.983686]] 2025-10-28T22:46:49.007Z,1761691609.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983352,-0.146878,-0.106985],[0.161144,0.976966,0.139891],[0.083974,-0.154802,0.984370]] 2025-10-28T22:46:49.412Z,1761691609.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983090,-0.149051,-0.106382],[0.162676,0.977591,0.133616],[0.084083,-0.148663,0.985307]] 2025-10-28T22:46:49.814Z,1761691609.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982646,-0.152278,-0.105913],[0.165584,0.977471,0.130894],[0.083595,-0.146160,0.985723]] 2025-10-28T22:46:50.218Z,1761691610.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982142,-0.155472,-0.105954],[0.168580,0.977253,0.128677],[0.083538,-0.144241,0.986010]] 2025-10-28T22:46:50.622Z,1761691610.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981629,-0.158225,-0.106624],[0.171527,0.976568,0.129974],[0.083560,-0.145875,0.985768]] 2025-10-28T22:46:51.039Z,1761691611.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981190,-0.160404,-0.107413],[0.174082,0.975686,0.133165],[0.083442,-0.149358,0.985256]] 2025-10-28T22:46:51.430Z,1761691611.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980850,-0.161993,-0.108130],[0.176058,0.974863,0.136553],[0.083291,-0.152975,0.984714]] 2025-10-28T22:46:51.834Z,1761691611.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980651,-0.162609,-0.109003],[0.177161,0.974068,0.140732],[0.083292,-0.157321,0.984029]] 2025-10-28T22:46:52.239Z,1761691612.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980602,-0.162375,-0.109791],[0.177390,0.973446,0.144689],[0.083381,-0.161358,0.983367]] 2025-10-28T22:46:52.644Z,1761691612.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980755,-0.160928,-0.110556],[0.176469,0.972922,0.149269],[0.083540,-0.165906,0.982597]] 2025-10-28T22:46:53.048Z,1761691613.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981196,-0.157888,-0.111018],[0.173853,0.972810,0.153022],[0.083839,-0.169446,0.981967]] 2025-10-28T22:46:53.451Z,1761691613.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981878,-0.153576,-0.111040],[0.169896,0.972926,0.156685],[0.083971,-0.172711,0.981387]] 2025-10-28T22:46:53.854Z,1761691613.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982684,-0.148753,-0.110472],[0.165131,0.973533,0.158005],[0.084044,-0.173512,0.981239]] 2025-10-28T22:46:54.259Z,1761691614.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983504,-0.143734,-0.109819],[0.160127,0.974211,0.158974],[0.084137,-0.173937,0.981156]] 2025-10-28T22:46:54.662Z,1761691614.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984339,-0.138840,-0.108629],[0.155001,0.975172,0.158157],[0.083974,-0.172517,0.981420]] 2025-10-28T22:46:55.067Z,1761691615.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985145,-0.134158,-0.107200],[0.149833,0.976510,0.154851],[0.083908,-0.168613,0.982105]] 2025-10-28T22:46:55.470Z,1761691615.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985854,-0.129915,-0.105892],[0.145152,0.977683,0.151877],[0.083797,-0.165099,0.982711]] 2025-10-28T22:46:55.876Z,1761691615.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986437,-0.126495,-0.104596],[0.141212,0.978862,0.147951],[0.083670,-0.160715,0.983448]] 2025-10-28T22:46:56.682Z,1761691616.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987086,-0.122963,-0.102672],[0.136640,0.980822,0.138991],[0.083612,-0.151225,0.984957]] 2025-10-28T22:46:57.086Z,1761691617.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987025,-0.123988,-0.102027],[0.137167,0.981397,0.134332],[0.083474,-0.146583,0.985670]] 2025-10-28T22:46:57.492Z,1761691617.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986798,-0.126332,-0.101344],[0.139145,0.981524,0.131336],[0.082879,-0.143704,0.986144]] 2025-10-28T22:46:57.894Z,1761691617.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986380,-0.130073,-0.100678],[0.142571,0.981350,0.128939],[0.082029,-0.141537,0.986529]] 2025-10-28T22:46:58.328Z,1761691618.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985994,-0.133379,-0.100127],[0.145718,0.980988,0.128176],[0.081127,-0.140971,0.986684]] 2025-10-28T22:46:58.704Z,1761691618.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985619,-0.136534,-0.099565],[0.148877,0.980352,0.129402],[0.079941,-0.142364,0.986581]] 2025-10-28T22:46:59.109Z,1761691619.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985205,-0.139516,-0.099533],[0.152127,0.979370,0.133008],[0.078923,-0.146182,0.986105]] 2025-10-28T22:46:59.515Z,1761691619.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984856,-0.142329,-0.099002],[0.155047,0.978560,0.135575],[0.077583,-0.148872,0.985808]] 2025-10-28T22:46:59.915Z,1761691619.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984564,-0.144593,-0.098626],[0.157564,0.977573,0.139733],[0.076209,-0.153116,0.985265]] 2025-10-28T22:47:00.350Z,1761691620.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984379,-0.145981,-0.098428],[0.159318,0.976513,0.145050],[0.074942,-0.158466,0.984516]] 2025-10-28T22:47:00.724Z,1761691620.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984354,-0.146498,-0.097901],[0.160043,0.975801,0.148994],[0.073705,-0.162331,0.983980]] 2025-10-28T22:47:01.128Z,1761691621.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984509,-0.145890,-0.097250],[0.159633,0.975242,0.153037],[0.072515,-0.166190,0.983424]] 2025-10-28T22:47:01.531Z,1761691621.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984873,-0.143993,-0.096391],[0.157746,0.975258,0.154882],[0.071704,-0.167744,0.983219]] 2025-10-28T22:47:01.934Z,1761691621.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985346,-0.141403,-0.095390],[0.155176,0.975308,0.157146],[0.070814,-0.169645,0.982958]] 2025-10-28T22:47:02.356Z,1761691622.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986004,-0.137693,-0.094007],[0.151288,0.975873,0.157428],[0.070062,-0.169447,0.983046]] 2025-10-28T22:47:02.745Z,1761691622.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986662,-0.134079,-0.092308],[0.147288,0.976789,0.155531],[0.069312,-0.167052,0.983509]] 2025-10-28T22:47:03.154Z,1761691623.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987320,-0.130328,-0.090633],[0.143095,0.977860,0.152690],[0.068726,-0.163723,0.984109]] 2025-10-28T22:47:03.550Z,1761691623.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987905,-0.126843,-0.089192],[0.139201,0.978881,0.149715],[0.068318,-0.160320,0.984698]] 2025-10-28T22:47:03.954Z,1761691623.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988395,-0.124104,-0.087602],[0.136056,0.979712,0.147153],[0.067563,-0.157364,0.985227]] 2025-10-28T22:47:04.363Z,1761691624.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988695,-0.122960,-0.085809],[0.134343,0.980597,0.142765],[0.066590,-0.152679,0.986030]] 2025-10-28T22:47:04.528Z,1761691624.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:47:04.764Z,1761691624.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988865,-0.122539,-0.084437],[0.133507,0.981162,0.139632],[0.065736,-0.149350,0.986597]] 2025-10-28T22:47:05.166Z,1761691625.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988870,-0.123353,-0.083190],[0.133900,0.981596,0.136163],[0.064863,-0.145787,0.987187]] 2025-10-28T22:47:05.532Z,1761691625.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:47:05.571Z,1761691625.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988788,-0.124516,-0.082424],[0.134867,0.981625,0.134992],[0.064101,-0.144595,0.987412]] 2025-10-28T22:47:05.975Z,1761691625.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988788,-0.125236,-0.081332],[0.135485,0.981405,0.135974],[0.062790,-0.145468,0.987368]] 2025-10-28T22:47:06.378Z,1761691626.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988741,-0.126296,-0.080250],[0.136396,0.981241,0.136243],[0.061538,-0.145655,0.987420]] 2025-10-28T22:47:06.783Z,1761691626.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988680,-0.127211,-0.079551],[0.137318,0.980847,0.138139],[0.060454,-0.147499,0.987213]] 2025-10-28T22:47:07.186Z,1761691627.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988741,-0.127030,-0.079082],[0.137283,0.980348,0.141672],[0.059531,-0.150934,0.986750]] 2025-10-28T22:47:07.592Z,1761691627.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988876,-0.126185,-0.078750],[0.136621,0.979889,0.145439],[0.058814,-0.154580,0.986228]] 2025-10-28T22:47:07.996Z,1761691627.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989075,-0.124840,-0.078391],[0.135424,0.979570,0.148672],[0.058230,-0.157663,0.985775]] 2025-10-28T22:47:08.398Z,1761691628.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989149,-0.124420,-0.078126],[0.135015,0.979497,0.149519],[0.057921,-0.158445,0.985667]] 2025-10-28T22:47:08.802Z,1761691628.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989269,-0.123448,-0.078148],[0.134107,0.979492,0.150371],[0.057982,-0.159237,0.985536]] 2025-10-28T22:47:09.207Z,1761691629.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989195,-0.124141,-0.077983],[0.134636,0.979757,0.148152],[0.058013,-0.157051,0.985885]] 2025-10-28T22:47:09.611Z,1761691629.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988997,-0.125905,-0.077673],[0.136174,0.979955,0.145413],[0.057808,-0.154390,0.986317]] 2025-10-28T22:47:10.014Z,1761691630.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988619,-0.128874,-0.077612],[0.138923,0.980033,0.142251],[0.057730,-0.151414,0.986783]] 2025-10-28T22:47:10.418Z,1761691630.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988225,-0.132137,-0.077149],[0.141845,0.980213,0.138070],[0.057378,-0.147388,0.987413]] 2025-10-28T22:47:10.822Z,1761691630.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987807,-0.135404,-0.076828],[0.144921,0.980046,0.136042],[0.056875,-0.145517,0.987720]] 2025-10-28T22:47:11.228Z,1761691631.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987514,-0.137795,-0.076343],[0.147102,0.980013,0.133923],[0.056363,-0.143481,0.988047]] 2025-10-28T22:47:11.630Z,1761691631.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987447,-0.138525,-0.075885],[0.147743,0.979958,0.133624],[0.055854,-0.143158,0.988123]] 2025-10-28T22:47:12.075Z,1761691632.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987450,-0.139043,-0.074894],[0.148189,0.979707,0.134961],[0.054609,-0.144365,0.988016]] 2025-10-28T22:47:12.849Z,1761691632.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987676,-0.138483,-0.072928],[0.147445,0.979569,0.136767],[0.052498,-0.145834,0.987915]] 2025-10-28T22:47:13.251Z,1761691633.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987663,-0.139221,-0.071687],[0.147969,0.979560,0.136265],[0.051250,-0.145191,0.988075]] 2025-10-28T22:47:13.657Z,1761691633.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987516,-0.140811,-0.070597],[0.149359,0.979427,0.135702],[0.050036,-0.144552,0.988231]] 2025-10-28T22:47:14.062Z,1761691634.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987232,-0.143309,-0.069541],[0.151613,0.979276,0.134281],[0.048857,-0.143110,0.988500]] 2025-10-28T22:47:14.461Z,1761691634.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986860,-0.146368,-0.068437],[0.154424,0.979023,0.132918],[0.047546,-0.141740,0.988761]] 2025-10-28T22:47:14.862Z,1761691634.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986566,-0.148632,-0.067788],[0.156530,0.978825,0.131909],[0.046747,-0.140748,0.988941]] 2025-10-28T22:47:15.268Z,1761691635.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986309,-0.150728,-0.066901],[0.158453,0.978602,0.131262],[0.045685,-0.140065,0.989088]] 2025-10-28T22:47:15.671Z,1761691635.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986054,-0.152811,-0.065923],[0.160399,0.978236,0.131630],[0.044373,-0.140368,0.989105]] 2025-10-28T22:47:16.075Z,1761691636.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985999,-0.153573,-0.064973],[0.161140,0.977745,0.134342],[0.042896,-0.142931,0.988803]] 2025-10-28T22:47:16.478Z,1761691636.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986056,-0.153705,-0.063783],[0.161200,0.977405,0.136723],[0.041327,-0.145098,0.988554]] 2025-10-28T22:47:16.883Z,1761691636.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986351,-0.152361,-0.062426],[0.159808,0.977155,0.140103],[0.039654,-0.148167,0.988167]] 2025-10-28T22:47:17.286Z,1761691637.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986716,-0.150683,-0.060717],[0.158038,0.976890,0.143912],[0.037628,-0.151596,0.987726]] 2025-10-28T22:47:17.691Z,1761691637.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987174,-0.148330,-0.059048],[0.155603,0.976674,0.147974],[0.035722,-0.155264,0.987227]] 2025-10-28T22:47:18.095Z,1761691638.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987729,-0.145410,-0.056983],[0.152526,0.976570,0.151813],[0.033573,-0.158642,0.986765]] 2025-10-28T22:47:18.499Z,1761691638.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988292,-0.142460,-0.054627],[0.149277,0.976865,0.153139],[0.031547,-0.159501,0.986694]] 2025-10-28T22:47:18.905Z,1761691638.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988819,-0.139650,-0.052289],[0.146163,0.977147,0.154340],[0.029541,-0.160258,0.986633]] 2025-10-28T22:47:19.307Z,1761691639.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989276,-0.137339,-0.049703],[0.143453,0.977617,0.153904],[0.027453,-0.159383,0.986835]] 2025-10-28T22:47:19.711Z,1761691639.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989638,-0.135564,-0.047320],[0.141266,0.978254,0.151863],[0.025704,-0.156974,0.987268]] 2025-10-28T22:47:20.115Z,1761691640.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989898,-0.134518,-0.044796],[0.139741,0.979080,0.147899],[0.023964,-0.152664,0.987988]] 2025-10-28T22:47:20.518Z,1761691640.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989997,-0.134514,-0.042563],[0.139314,0.979694,0.144190],[0.022303,-0.148677,0.988634]] 2025-10-28T22:47:20.923Z,1761691640.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989970,-0.135341,-0.040529],[0.139752,0.980175,0.140452],[0.020716,-0.144707,0.989258]] 2025-10-28T22:47:21.326Z,1761691641.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989703,-0.137758,-0.038872],[0.141813,0.980550,0.135686],[0.019424,-0.139802,0.989989]] 2025-10-28T22:47:21.730Z,1761691641.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989239,-0.141323,-0.037867],[0.145153,0.980445,0.132887],[0.018346,-0.136954,0.990408]] 2025-10-28T22:47:22.135Z,1761691642.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988711,-0.145196,-0.036988],[0.148846,0.980093,0.131384],[0.017175,-0.135406,0.990641]] 2025-10-28T22:47:22.540Z,1761691642.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988139,-0.149234,-0.036190],[0.152719,0.979675,0.130056],[0.016046,-0.134041,0.990846]] 2025-10-28T22:47:22.944Z,1761691642.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987628,-0.152631,-0.035978],[0.156084,0.978919,0.131741],[0.015112,-0.135727,0.990631]] 2025-10-28T22:47:23.347Z,1761691643.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987151,-0.155670,-0.036060],[0.159147,0.978057,0.134447],[0.014340,-0.138458,0.990265]] 2025-10-28T22:47:23.751Z,1761691643.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986716,-0.158383,-0.036145],[0.161900,0.977078,0.138227],[0.013424,-0.142243,0.989741]] 2025-10-28T22:47:24.154Z,1761691644.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986386,-0.160429,-0.036123],[0.163982,0.976058,0.142900],[0.012333,-0.146879,0.989078]] 2025-10-28T22:47:24.560Z,1761691644.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986132,-0.161978,-0.036159],[0.165578,0.975064,0.147765],[0.011322,-0.151703,0.988361]] 2025-10-28T22:47:24.962Z,1761691644.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985970,-0.163032,-0.035838],[0.166611,0.974311,0.151519],[0.010215,-0.155364,0.987805]] 2025-10-28T22:47:25.366Z,1761691645.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985918,-0.163441,-0.035400],[0.166987,0.973608,0.155573],[0.009039,-0.159294,0.987190]] 2025-10-28T22:47:25.771Z,1761691645.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986034,-0.162867,-0.034812],[0.166355,0.973140,0.159138],[0.007958,-0.162706,0.986642]] 2025-10-28T22:47:26.579Z,1761691646.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986597,-0.159849,-0.032772],[0.163069,0.973055,0.163012],[0.005832,-0.166172,0.986080]] 2025-10-28T22:47:26.983Z,1761691646.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986968,-0.157753,-0.031746],[0.160838,0.973249,0.164067],[0.005015,-0.167035,0.985938]] 2025-10-28T22:47:27.386Z,1761691647.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987387,-0.155292,-0.030843],[0.158257,0.973772,0.163474],[0.004648,-0.166293,0.986065]] 2025-10-28T22:47:27.792Z,1761691647.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987632,-0.153953,-0.029680],[0.156735,0.974360,0.161422],[0.004068,-0.164077,0.986439]] 2025-10-28T22:47:28.195Z,1761691648.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987849,-0.152768,-0.028575],[0.155379,0.974892,0.159508],[0.003490,-0.162010,0.986783]] 2025-10-28T22:47:28.598Z,1761691648.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987954,-0.152262,-0.027614],[0.154717,0.975310,0.157584],[0.002938,-0.159958,0.987119]] 2025-10-28T22:47:29.003Z,1761691649.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987969,-0.152260,-0.027079],[0.154629,0.975424,0.156963],[0.002515,-0.159261,0.987233]] 2025-10-28T22:47:29.408Z,1761691649.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987890,-0.152876,-0.026486],[0.155139,0.975592,0.155408],[0.002082,-0.157635,0.987495]] 2025-10-28T22:47:29.810Z,1761691649.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987869,-0.153109,-0.025917],[0.155277,0.975861,0.153575],[0.001777,-0.155736,0.987797]] 2025-10-28T22:47:30.215Z,1761691650.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987789,-0.153746,-0.025199],[0.155793,0.976023,0.152010],[0.001224,-0.154080,0.988058]] 2025-10-28T22:47:30.619Z,1761691650.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987769,-0.154032,-0.024238],[0.155927,0.975977,0.152167],[0.000217,-0.154086,0.988057]] 2025-10-28T22:47:31.024Z,1761691651.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987933,-0.153109,-0.023369],[0.154881,0.976063,0.152689],[-0.000569,-0.154466,0.987998]] 2025-10-28T22:47:31.427Z,1761691651.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988073,-0.152385,-0.022161],[0.153980,0.976232,0.152516],[-0.001606,-0.154109,0.988052]] 2025-10-28T22:47:31.831Z,1761691651.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988289,-0.151129,-0.021065],[0.152568,0.976290,0.153562],[-0.002642,-0.154978,0.987914]] 2025-10-28T22:47:32.235Z,1761691652.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988718,-0.148470,-0.019852],[0.149744,0.976349,0.155945],[-0.003771,-0.157159,0.987566]] 2025-10-28T22:47:32.639Z,1761691652.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989004,-0.146727,-0.018481],[0.147802,0.976474,0.157014],[-0.004992,-0.158019,0.987423]] 2025-10-28T22:47:33.042Z,1761691653.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989202,-0.145607,-0.016697],[0.146408,0.976537,0.157924],[-0.006689,-0.158663,0.987310]] 2025-10-28T22:47:33.446Z,1761691653.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989328,-0.144914,-0.015156],[0.145476,0.976613,0.158316],[-0.008141,-0.158832,0.987272]] 2025-10-28T22:47:33.850Z,1761691653.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989257,-0.145556,-0.013600],[0.145879,0.976807,0.156737],[-0.009530,-0.157037,0.987547]] 2025-10-28T22:47:34.257Z,1761691654.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989071,-0.146879,-0.012870],[0.147071,0.976633,0.156712],[-0.010448,-0.156892,0.987561]] 2025-10-28T22:47:34.659Z,1761691654.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988775,-0.148883,-0.012594],[0.149001,0.976252,0.157262],[-0.011119,-0.157373,0.987477]] 2025-10-28T22:47:35.062Z,1761691655.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988411,-0.151254,-0.012869],[0.151395,0.976040,0.156286],[-0.011079,-0.156424,0.987628]] 2025-10-28T22:47:35.467Z,1761691655.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988032,-0.153668,-0.013363],[0.153868,0.975825,0.155212],[-0.010811,-0.155410,0.987791]] 2025-10-28T22:47:35.653Z,1761691655.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:47:35.872Z,1761691655.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987639,-0.156134,-0.013817],[0.156366,0.975302,0.156000],[-0.010881,-0.156232,0.987660]] 2025-10-28T22:47:36.279Z,1761691656.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987408,-0.157571,-0.014006],[0.157817,0.975104,0.155776],[-0.010888,-0.156025,0.987693]] 2025-10-28T22:47:36.656Z,1761691656.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:47:36.678Z,1761691656.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987360,-0.157846,-0.014309],[0.158126,0.974903,0.156716],[-0.010787,-0.156998,0.987540]] 2025-10-28T22:47:37.082Z,1761691657.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987532,-0.156787,-0.014121],[0.157039,0.974915,0.157729],[-0.010963,-0.157980,0.987381]] 2025-10-28T22:47:37.489Z,1761691657.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987791,-0.155159,-0.013949],[0.155390,0.974956,0.159103],[-0.011086,-0.159328,0.987163]] 2025-10-28T22:47:37.890Z,1761691657.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988137,-0.152965,-0.013681],[0.153169,0.975123,0.160234],[-0.011169,-0.160428,0.986984]] 2025-10-28T22:47:38.325Z,1761691658.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988577,-0.150144,-0.013123],[0.150301,0.975646,0.159765],[-0.011185,-0.159913,0.987068]] 2025-10-28T22:47:38.699Z,1761691658.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989051,-0.147069,-0.012206],[0.147124,0.976205,0.159304],[-0.011513,-0.159355,0.987154]] 2025-10-28T22:47:39.102Z,1761691659.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989485,-0.144205,-0.011135],[0.144138,0.976781,0.158506],[-0.011981,-0.158444,0.987295]] 2025-10-28T22:47:39.507Z,1761691659.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989771,-0.142328,-0.009836],[0.142091,0.977232,0.157569],[-0.012814,-0.157354,0.987459]] 2025-10-28T22:47:39.911Z,1761691659.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989898,-0.141542,-0.008244],[0.141103,0.977804,0.154883],[-0.013861,-0.154481,0.987898]] 2025-10-28T22:47:40.345Z,1761691660.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989792,-0.142346,-0.007010],[0.141729,0.977944,0.153419],[-0.014983,-0.152847,0.988136]] 2025-10-28T22:47:40.718Z,1761691660.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989467,-0.144624,-0.006158],[0.143863,0.977763,0.152586],[-0.016047,-0.151864,0.988271]] 2025-10-28T22:47:41.123Z,1761691661.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988940,-0.148211,-0.005623],[0.147356,0.977506,0.150894],[-0.016868,-0.150053,0.988534]] 2025-10-28T22:47:41.526Z,1761691661.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988386,-0.151852,-0.005783],[0.150966,0.976849,0.151574],[-0.017367,-0.150687,0.988429]] 2025-10-28T22:47:41.932Z,1761691661.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987829,-0.155420,-0.006153],[0.154541,0.976230,0.151964],[-0.017612,-0.151065,0.988367]] 2025-10-28T22:47:42.354Z,1761691662.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987309,-0.158656,-0.007059],[0.157833,0.975315,0.154433],[-0.017617,-0.153587,0.987978]] 2025-10-28T22:47:42.738Z,1761691662.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986943,-0.160869,-0.008016],[0.160105,0.974393,0.157877],[-0.017587,-0.157099,0.987426]] 2025-10-28T22:47:43.143Z,1761691663.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986798,-0.161696,-0.009184],[0.161029,0.973505,0.162350],[-0.017311,-0.161685,0.986691]] 2025-10-28T22:47:43.548Z,1761691663.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986943,-0.160750,-0.010112],[0.160156,0.972745,0.167685],[-0.017119,-0.167115,0.985789]] 2025-10-28T22:47:43.950Z,1761691663.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987305,-0.158487,-0.010551],[0.157912,0.972226,0.172745],[-0.017120,-0.172218,0.984910]] 2025-10-28T22:47:44.361Z,1761691664.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987800,-0.155390,-0.010244],[0.154769,0.972305,0.175126],[-0.017252,-0.174575,0.984493]] 2025-10-28T22:47:44.759Z,1761691664.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988369,-0.151784,-0.009416],[0.151057,0.972707,0.176133],[-0.017575,-0.175507,0.984321]] 2025-10-28T22:47:45.164Z,1761691665.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988949,-0.148048,-0.007812],[0.147156,0.973856,0.173062],[-0.018013,-0.172299,0.984880]] 2025-10-28T22:47:45.567Z,1761691665.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989499,-0.144405,-0.006262],[0.143349,0.974873,0.170511],[-0.018518,-0.169618,0.985336]] 2025-10-28T22:47:45.970Z,1761691665.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990066,-0.140517,-0.004951],[0.139362,0.976047,0.167066],[-0.018643,-0.166097,0.985933]] 2025-10-28T22:47:46.374Z,1761691666.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990605,-0.136697,-0.003893],[0.135493,0.977235,0.163259],[-0.018513,-0.162253,0.986576]] 2025-10-28T22:47:46.780Z,1761691666.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991033,-0.133585,-0.002836],[0.132333,0.978370,0.158998],[-0.018465,-0.157948,0.987275]] 2025-10-28T22:47:47.182Z,1761691667.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991283,-0.131734,-0.002042],[0.130453,0.979237,0.155165],[-0.018441,-0.154078,0.987886]] 2025-10-28T22:47:47.586Z,1761691667.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991211,-0.132285,-0.001565],[0.131018,0.979945,0.150142],[-0.018328,-0.149028,0.988663]] 2025-10-28T22:47:47.991Z,1761691667.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990998,-0.133870,-0.001458],[0.132641,0.980306,0.146308],[-0.018157,-0.145184,0.989238]] 2025-10-28T22:47:48.395Z,1761691668.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990635,-0.136533,-0.001017],[0.135243,0.980195,0.144664],[-0.018755,-0.143446,0.989480]] 2025-10-28T22:47:48.800Z,1761691668.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990197,-0.139676,-0.000653],[0.138322,0.979931,0.143534],[-0.019409,-0.142217,0.989645]] 2025-10-28T22:47:49.202Z,1761691669.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989736,-0.142906,-0.000541],[0.141511,0.979531,0.143154],[-0.019928,-0.141761,0.989700]] 2025-10-28T22:47:49.606Z,1761691669.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989255,-0.146199,-0.000642],[0.144752,0.978829,0.144710],[-0.020528,-0.143248,0.989474]] 2025-10-28T22:47:50.011Z,1761691670.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988763,-0.149493,-0.000777],[0.147992,0.978075,0.146519],[-0.021143,-0.144988,0.989208]] 2025-10-28T22:47:50.416Z,1761691670.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988295,-0.152552,-0.001105],[0.150991,0.977091,0.149981],[-0.021800,-0.148392,0.988688]] 2025-10-28T22:47:50.818Z,1761691670.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987936,-0.154858,-0.000897],[0.153182,0.976362,0.152491],[-0.022739,-0.150789,0.988304]] 2025-10-28T22:47:51.222Z,1761691671.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987582,-0.157101,-0.000700],[0.155320,0.975696,0.154576],[-0.023601,-0.152765,0.987981]] 2025-10-28T22:47:51.627Z,1761691671.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987365,-0.158463,-0.000627],[0.156542,0.974765,0.159148],[-0.024608,-0.157236,0.987254]] 2025-10-28T22:47:52.033Z,1761691672.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987308,-0.158819,-0.000254],[0.156774,0.974340,0.161503],[-0.025402,-0.159493,0.986872]] 2025-10-28T22:47:52.434Z,1761691672.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987339,-0.158622,0.000325],[0.156441,0.974100,0.163267],[-0.026215,-0.161149,0.986582]] 2025-10-28T22:47:52.838Z,1761691672.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987508,-0.157566,0.000834],[0.155230,0.973749,0.166486],[-0.027045,-0.164276,0.986043]] 2025-10-28T22:47:53.244Z,1761691673.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987809,-0.155663,0.001776],[0.153139,0.973716,0.168601],[-0.027974,-0.166273,0.985683]] 2025-10-28T22:47:53.648Z,1761691673.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988230,-0.152948,0.003013],[0.150186,0.973749,0.171047],[-0.029095,-0.168581,0.985258]] 2025-10-28T22:47:54.050Z,1761691674.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988710,-0.149784,0.004271],[0.146795,0.973912,0.173054],[-0.030080,-0.170473,0.984903]] 2025-10-28T22:47:54.454Z,1761691674.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989229,-0.146251,0.006047],[0.142955,0.974167,0.174823],[-0.031459,-0.172076,0.984581]] 2025-10-28T22:47:54.859Z,1761691674.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989744,-0.142614,0.008214],[0.138977,0.974618,0.175514],[-0.033037,-0.172572,0.984443]] 2025-10-28T22:47:55.265Z,1761691675.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990252,-0.138882,0.010599],[0.134921,0.975341,0.174663],[-0.034595,-0.171530,0.984571]] 2025-10-28T22:47:55.667Z,1761691675.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990744,-0.135104,0.013186],[0.130869,0.976433,0.171616],[-0.036061,-0.168301,0.985076]] 2025-10-28T22:47:56.071Z,1761691676.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991124,-0.132029,0.015557],[0.127528,0.977285,0.169267],[-0.037552,-0.165781,0.985447]] 2025-10-28T22:47:56.474Z,1761691676.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991392,-0.129728,0.017703],[0.125003,0.978041,0.166766],[-0.038948,-0.163117,0.985838]] 2025-10-28T22:47:56.880Z,1761691676.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991424,-0.129203,0.019634],[0.124323,0.978756,0.163037],[-0.040281,-0.159198,0.986425]] 2025-10-28T22:47:57.282Z,1761691677.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991310,-0.129831,0.021171],[0.124858,0.979307,0.159277],[-0.041412,-0.155249,0.987007]] 2025-10-28T22:47:57.686Z,1761691677.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991105,-0.131197,0.022324],[0.126132,0.979532,0.156870],[-0.042448,-0.152659,0.987367]] 2025-10-28T22:47:58.097Z,1761691678.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990679,-0.134042,0.024255],[0.128705,0.979393,0.155641],[-0.044618,-0.151069,0.987516]] 2025-10-28T22:47:58.502Z,1761691678.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990608,-0.134368,0.025341],[0.128813,0.979211,0.156696],[-0.045869,-0.151960,0.987322]] 2025-10-28T22:47:58.905Z,1761691678.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990670,-0.133705,0.026366],[0.127939,0.979113,0.158015],[-0.046943,-0.153167,0.987085]] 2025-10-28T22:47:59.307Z,1761691679.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990809,-0.132429,0.027562],[0.126428,0.979085,0.159399],[-0.048094,-0.154450,0.986829]] 2025-10-28T22:47:59.710Z,1761691679.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990911,-0.131408,0.028753],[0.125113,0.978854,0.161839],[-0.049412,-0.156771,0.986398]] 2025-10-28T22:48:00.112Z,1761691680.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990990,-0.130476,0.030230],[0.123973,0.979038,0.161604],[-0.050681,-0.156400,0.986393]] 2025-10-28T22:48:00.516Z,1761691680.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990897,-0.130832,0.031725],[0.124141,0.979176,0.160634],[-0.052080,-0.155234,0.986504]] 2025-10-28T22:48:00.918Z,1761691680.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990631,-0.132510,0.033047],[0.125662,0.979187,0.159376],[-0.053478,-0.153730,0.986665]] 2025-10-28T22:48:01.322Z,1761691681.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990188,-0.135583,0.033824],[0.128659,0.979029,0.157954],[-0.054531,-0.152053,0.986867]] 2025-10-28T22:48:01.727Z,1761691681.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989633,-0.139408,0.034528],[0.132419,0.978769,0.156451],[-0.055605,-0.150257,0.987082]] 2025-10-28T22:48:02.133Z,1761691682.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989026,-0.143420,0.035466],[0.136284,0.978343,0.155795],[-0.057042,-0.149252,0.987153]] 2025-10-28T22:48:02.535Z,1761691682.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988372,-0.147632,0.036414],[0.140299,0.977747,0.155972],[-0.058630,-0.149049,0.987090]] 2025-10-28T22:48:02.938Z,1761691682.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987724,-0.151733,0.037118],[0.144124,0.976856,0.158050],[-0.060240,-0.150761,0.986733]] 2025-10-28T22:48:03.342Z,1761691683.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987198,-0.155035,0.037475],[0.147101,0.975795,0.161820],[-0.061656,-0.154235,0.986109]] 2025-10-28T22:48:03.747Z,1761691683.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987021,-0.156031,0.037993],[0.147729,0.974968,0.166173],[-0.062970,-0.158404,0.985364]] 2025-10-28T22:48:04.151Z,1761691684.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987219,-0.154667,0.038422],[0.145989,0.974359,0.171206],[-0.063917,-0.163409,0.984486]] 2025-10-28T22:48:04.557Z,1761691684.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987681,-0.151597,0.038797],[0.142635,0.974139,0.175237],[-0.064359,-0.167544,0.983762]] 2025-10-28T22:48:04.959Z,1761691684.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988263,-0.147624,0.039285],[0.138283,0.973790,0.180585],[-0.064914,-0.173033,0.982774]] 2025-10-28T22:48:05.363Z,1761691685.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988884,-0.143126,0.040284],[0.133578,0.974164,0.182101],[-0.065306,-0.174696,0.982454]] 2025-10-28T22:48:05.766Z,1761691685.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989496,-0.138403,0.041738],[0.128758,0.975059,0.180779],[-0.065718,-0.173506,0.982638]] 2025-10-28T22:48:06.576Z,1761691686.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990584,-0.129225,0.045208],[0.119588,0.977499,0.173765],[-0.066646,-0.166723,0.983749]] 2025-10-28T22:48:06.784Z,1761691686.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:48:06.978Z,1761691686.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991125,-0.124315,0.047085],[0.114837,0.979111,0.167790],[-0.066961,-0.160893,0.984698]] 2025-10-28T22:48:07.382Z,1761691687.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991686,-0.119047,0.048861],[0.109754,0.980696,0.161833],[-0.067183,-0.155125,0.985608]] 2025-10-28T22:48:07.787Z,1761691687.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992222,-0.113892,0.050246],[0.104761,0.982002,0.157156],[-0.067240,-0.150670,0.986295]] 2025-10-28T22:48:07.788Z,1761691687.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:48:08.193Z,1761691688.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992583,-0.110059,0.051624],[0.101064,0.983090,0.152713],[-0.067558,-0.146363,0.986921]] 2025-10-28T22:48:08.595Z,1761691688.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992654,-0.108968,0.052575],[0.100135,0.983831,0.148493],[-0.067906,-0.142138,0.987515]] 2025-10-28T22:48:08.998Z,1761691688.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992356,-0.111535,0.052815],[0.102847,0.983987,0.145574],[-0.068205,-0.139030,0.987937]] 2025-10-28T22:48:09.402Z,1761691689.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991842,-0.115911,0.053042],[0.107203,0.983626,0.144873],[-0.068966,-0.138005,0.988027]] 2025-10-28T22:48:09.809Z,1761691689.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991218,-0.121415,0.052392],[0.112747,0.982996,0.144939],[-0.069099,-0.137760,0.988052]] 2025-10-28T22:48:10.210Z,1761691690.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990501,-0.127487,0.051527],[0.118870,0.982237,0.145194],[-0.069122,-0.137689,0.988061]] 2025-10-28T22:48:10.614Z,1761691690.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989680,-0.134049,0.050635],[0.125341,0.981093,0.147468],[-0.069446,-0.139600,0.987770]] 2025-10-28T22:48:11.019Z,1761691691.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988782,-0.140932,0.049477],[0.132153,0.979824,0.149936],[-0.069610,-0.141716,0.987457]] 2025-10-28T22:48:11.425Z,1761691691.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987920,-0.147257,0.048273],[0.138408,0.978556,0.152550],[-0.069702,-0.144026,0.987116]] 2025-10-28T22:48:11.828Z,1761691691.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987251,-0.152075,0.047007],[0.143123,0.977342,0.155944],[-0.069657,-0.147228,0.986647]] 2025-10-28T22:48:12.230Z,1761691692.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986991,-0.154155,0.045660],[0.145048,0.976285,0.160713],[-0.069351,-0.152000,0.985944]] 2025-10-28T22:48:12.635Z,1761691692.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987177,-0.153256,0.044657],[0.144031,0.975763,0.164747],[-0.068823,-0.156202,0.985324]] 2025-10-28T22:48:13.040Z,1761691693.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987620,-0.150619,0.043824],[0.141310,0.975553,0.168309],[-0.068103,-0.160032,0.984760]] 2025-10-28T22:48:13.442Z,1761691693.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988181,-0.146996,0.043485],[0.137711,0.975879,0.169400],[-0.067337,-0.161409,0.984588]] 2025-10-28T22:48:13.846Z,1761691693.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988859,-0.142347,0.043545],[0.133167,0.976653,0.168567],[-0.066523,-0.160890,0.984728]] 2025-10-28T22:48:14.250Z,1761691694.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989549,-0.137311,0.044026],[0.128207,0.977552,0.167199],[-0.065996,-0.159808,0.984940]] 2025-10-28T22:48:14.656Z,1761691694.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990243,-0.131932,0.044867],[0.123021,0.978882,0.163264],[-0.065459,-0.156151,0.985562]] 2025-10-28T22:48:15.059Z,1761691695.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990946,-0.126134,0.045996],[0.117368,0.980210,0.159417],[-0.065194,-0.152575,0.986139]] 2025-10-28T22:48:15.463Z,1761691695.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991538,-0.120923,0.047216],[0.112250,0.981349,0.156056],[-0.065206,-0.149435,0.986619]] 2025-10-28T22:48:15.867Z,1761691695.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992012,-0.116483,0.048407],[0.107916,0.982401,0.152455],[-0.065314,-0.146013,0.987124]] 2025-10-28T22:48:16.275Z,1761691696.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992310,-0.113485,0.049425],[0.104983,0.983147,0.149668],[-0.065577,-0.143328,0.987500]] 2025-10-28T22:48:16.676Z,1761691696.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992349,-0.112838,0.050101],[0.104386,0.983530,0.147551],[-0.065925,-0.141192,0.987785]] 2025-10-28T22:48:17.079Z,1761691697.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992132,-0.114572,0.050470],[0.106349,0.983972,0.143138],[-0.066061,-0.136644,0.988415]] 2025-10-28T22:48:17.483Z,1761691697.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991704,-0.118193,0.050534],[0.110121,0.983964,0.140316],[-0.066308,-0.133587,0.988816]] 2025-10-28T22:48:17.886Z,1761691697.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991136,-0.122927,0.050384],[0.114943,0.983634,0.138752],[-0.066615,-0.131730,0.989045]] 2025-10-28T22:48:18.314Z,1761691698.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990482,-0.128472,0.049402],[0.120668,0.983141,0.137381],[-0.066219,-0.130112,0.989285]] 2025-10-28T22:48:18.695Z,1761691698.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989778,-0.134345,0.047857],[0.126684,0.982353,0.137603],[-0.065499,-0.130133,0.989331]] 2025-10-28T22:48:19.099Z,1761691699.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989102,-0.139770,0.046282],[0.132113,0.981292,0.140043],[-0.064990,-0.132403,0.989063]] 2025-10-28T22:48:19.503Z,1761691699.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988690,-0.143206,0.044550],[0.135538,0.980345,0.143365],[-0.064205,-0.135705,0.988667]] 2025-10-28T22:48:19.908Z,1761691699.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988449,-0.145287,0.043123],[0.137663,0.979745,0.145425],[-0.063378,-0.137809,0.988429]] 2025-10-28T22:48:20.346Z,1761691700.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988534,-0.145123,0.041703],[0.137510,0.979322,0.148388],[-0.062376,-0.140952,0.988049]] 2025-10-28T22:48:20.793Z,1761691700.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988816,-0.143539,0.040494],[0.135968,0.979182,0.150718],[-0.061285,-0.143526,0.987747]] 2025-10-28T22:48:21.191Z,1761691701.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989212,-0.141076,0.039453],[0.133604,0.979315,0.151959],[-0.060075,-0.145049,0.987599]] 2025-10-28T22:48:21.628Z,1761691701.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989626,-0.138473,0.038273],[0.131186,0.979609,0.152174],[-0.058565,-0.145575,0.987612]] 2025-10-28T22:48:22.029Z,1761691702.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990097,-0.135443,0.036929],[0.128455,0.980164,0.150921],[-0.056637,-0.144683,0.987856]] 2025-10-28T22:48:22.433Z,1761691702.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990562,-0.132406,0.035445],[0.125761,0.980782,0.149168],[-0.054514,-0.143303,0.988176]] 2025-10-28T22:48:22.835Z,1761691702.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990949,-0.129835,0.034104],[0.123617,0.981643,0.145245],[-0.052336,-0.139714,0.988808]] 2025-10-28T22:48:23.241Z,1761691703.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991134,-0.128731,0.032890],[0.122839,0.982156,0.142408],[-0.050635,-0.137105,0.989262]] 2025-10-28T22:48:23.643Z,1761691703.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991174,-0.128738,0.031633],[0.123147,0.982486,0.139845],[-0.049082,-0.134715,0.989668]] 2025-10-28T22:48:24.047Z,1761691704.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991094,-0.129653,0.030372],[0.124380,0.982784,0.136620],[-0.047562,-0.131625,0.990158]] 2025-10-28T22:48:24.451Z,1761691704.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990864,-0.131653,0.029265],[0.126591,0.982745,0.134856],[-0.046514,-0.129919,0.990433]] 2025-10-28T22:48:24.857Z,1761691704.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990584,-0.134024,0.027945],[0.129199,0.982657,0.133015],[-0.045288,-0.128152,0.990720]] 2025-10-28T22:48:25.263Z,1761691705.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990257,-0.136762,0.026212],[0.132135,0.982259,0.133072],[-0.043946,-0.128312,0.990760]] 2025-10-28T22:48:25.664Z,1761691705.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989969,-0.139204,0.024170],[0.134772,0.981750,0.134177],[-0.042407,-0.129574,0.990663]] 2025-10-28T22:48:26.067Z,1761691706.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989781,-0.140922,0.021763],[0.136712,0.981222,0.136066],[-0.040529,-0.131700,0.990461]] 2025-10-28T22:48:26.472Z,1761691706.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989622,-0.142371,0.019490],[0.138369,0.980706,0.138094],[-0.038774,-0.133964,0.990227]] 2025-10-28T22:48:26.876Z,1761691706.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989590,-0.142912,0.016989],[0.139134,0.980188,0.140971],[-0.036799,-0.137140,0.989868]] 2025-10-28T22:48:27.279Z,1761691707.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989647,-0.142786,0.014497],[0.139279,0.979867,0.143044],[-0.034630,-0.139544,0.989610]] 2025-10-28T22:48:27.683Z,1761691707.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989805,-0.141909,0.012170],[0.138665,0.979631,0.145244],[-0.032533,-0.142076,0.989321]] 2025-10-28T22:48:28.087Z,1761691708.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990061,-0.140232,0.010672],[0.137201,0.979754,0.145801],[-0.030902,-0.142888,0.989256]] 2025-10-28T22:48:28.493Z,1761691708.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990375,-0.138106,0.009144],[0.135290,0.979895,0.146638],[-0.029212,-0.143990,0.989148]] 2025-10-28T22:48:28.896Z,1761691708.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990708,-0.135795,0.007520],[0.133230,0.980135,0.146920],[-0.027321,-0.144553,0.989120]] 2025-10-28T22:48:29.299Z,1761691709.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991037,-0.133443,0.006151],[0.131077,0.980282,0.147873],[-0.025763,-0.145742,0.988987]] 2025-10-28T22:48:29.703Z,1761691709.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991241,-0.131979,0.004799],[0.129869,0.980706,0.146113],[-0.023990,-0.144210,0.989256]] 2025-10-28T22:48:30.108Z,1761691710.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991294,-0.131617,0.003591],[0.129726,0.980990,0.144323],[-0.022518,-0.142601,0.989524]] 2025-10-28T22:48:30.511Z,1761691710.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991178,-0.132509,0.002571],[0.130792,0.981100,0.142608],[-0.021420,-0.141013,0.989776]] 2025-10-28T22:48:30.915Z,1761691710.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990935,-0.134336,0.001421],[0.132803,0.981117,0.140618],[-0.020284,-0.139154,0.990063]] 2025-10-28T22:48:31.319Z,1761691711.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990598,-0.136803,0.000224],[0.135459,0.981091,0.138242],[-0.019132,-0.136911,0.990399]] 2025-10-28T22:48:31.726Z,1761691711.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990361,-0.138508,-0.001070],[0.137345,0.980985,0.137134],[-0.017944,-0.135959,0.990552]] 2025-10-28T22:48:32.133Z,1761691712.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990251,-0.139273,-0.002441],[0.138298,0.980922,0.136626],[-0.016633,-0.135631,0.990620]] 2025-10-28T22:48:32.538Z,1761691712.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990396,-0.138167,-0.004983],[0.137534,0.980898,0.137562],[-0.014118,-0.136926,0.990481]] 2025-10-28T22:48:32.941Z,1761691712.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.137121,-0.005953],[0.136619,0.980896,0.138489],[-0.013151,-0.137992,0.990346]] 2025-10-28T22:48:33.345Z,1761691713.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990670,-0.136106,-0.006990],[0.135765,0.981105,0.137842],[-0.011903,-0.137505,0.990429]] 2025-10-28T22:48:33.747Z,1761691713.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990597,-0.136587,-0.007886],[0.136388,0.981328,0.135625],[-0.010786,-0.135425,0.990729]] 2025-10-28T22:48:34.149Z,1761691714.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990443,-0.137645,-0.008701],[0.137553,0.981245,0.135047],[-0.010051,-0.134953,0.990801]] 2025-10-28T22:48:34.551Z,1761691714.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990065,-0.140238,-0.010223],[0.140347,0.981159,0.132777],[-0.008590,-0.132893,0.991093]] 2025-10-28T22:48:34.955Z,1761691714.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989624,-0.143172,-0.012072],[0.143513,0.980913,0.131203],[-0.006943,-0.131574,0.991282]] 2025-10-28T22:48:35.359Z,1761691715.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989063,-0.146796,-0.014300],[0.147396,0.980305,0.131441],[-0.005276,-0.132111,0.991221]] 2025-10-28T22:48:35.763Z,1761691715.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988492,-0.150360,-0.016583],[0.151224,0.979469,0.133307],[-0.003802,-0.134281,0.990936]] 2025-10-28T22:48:36.170Z,1761691716.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988031,-0.153107,-0.018785],[0.154238,0.978703,0.135467],[-0.002356,-0.136743,0.990604]] 2025-10-28T22:48:36.571Z,1761691716.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987668,-0.155151,-0.021003],[0.156563,0.977883,0.138681],[-0.000978,-0.140259,0.990114]] 2025-10-28T22:48:36.975Z,1761691716.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987519,-0.155818,-0.022969],[0.157502,0.977315,0.141591],[0.000385,-0.143442,0.989659]] 2025-10-28T22:48:37.379Z,1761691717.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987558,-0.155255,-0.024997],[0.157246,0.976658,0.146330],[0.001695,-0.148440,0.988920]] 2025-10-28T22:48:37.785Z,1761691717.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987893,-0.152858,-0.026478],[0.155110,0.976262,0.151175],[0.002742,-0.153452,0.988152]] 2025-10-28T22:48:37.926Z,1761691717.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:48:38.187Z,1761691718.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988345,-0.149748,-0.027367],[0.152185,0.976259,0.154135],[0.003636,-0.156503,0.987671]] 2025-10-28T22:48:38.591Z,1761691718.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988853,-0.146270,-0.027851],[0.148832,0.976554,0.155537],[0.004447,-0.157948,0.987437]] 2025-10-28T22:48:38.928Z,1761691718.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:48:38.997Z,1761691718.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989402,-0.142583,-0.027452],[0.145125,0.977177,0.155126],[0.004707,-0.157465,0.987513]] 2025-10-28T22:48:39.401Z,1761691719.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989884,-0.139290,-0.026979],[0.141793,0.977862,0.153883],[0.004948,-0.156152,0.987721]] 2025-10-28T22:48:39.803Z,1761691719.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990316,-0.136302,-0.026366],[0.138730,0.978752,0.150991],[0.005225,-0.153186,0.988183]] 2025-10-28T22:48:40.207Z,1761691720.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990587,-0.134445,-0.025709],[0.136770,0.979731,0.146360],[0.005510,-0.148498,0.988897]] 2025-10-28T22:48:40.611Z,1761691720.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990688,-0.133753,-0.025465],[0.136026,0.980420,0.142382],[0.005923,-0.144520,0.989484]] 2025-10-28T22:48:41.017Z,1761691721.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990561,-0.134697,-0.025388],[0.136921,0.980987,0.137542],[0.006379,-0.139720,0.990171]] 2025-10-28T22:48:41.419Z,1761691721.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990166,-0.137504,-0.025788],[0.139723,0.981258,0.132704],[0.007057,-0.135002,0.990820]] 2025-10-28T22:48:41.823Z,1761691721.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989594,-0.141461,-0.026314],[0.143681,0.981311,0.128002],[0.007715,-0.130451,0.991425]] 2025-10-28T22:48:42.227Z,1761691722.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988890,-0.146080,-0.027525],[0.148413,0.980701,0.127275],[0.008401,-0.129946,0.991485]] 2025-10-28T22:48:42.633Z,1761691722.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988195,-0.150405,-0.029147],[0.152912,0.980017,0.127220],[0.009430,-0.130176,0.991446]] 2025-10-28T22:48:43.035Z,1761691723.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987628,-0.153802,-0.030607],[0.156478,0.979378,0.127804],[0.010319,-0.131012,0.991327]] 2025-10-28T22:48:43.439Z,1761691723.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987262,-0.155820,-0.032144],[0.158703,0.978762,0.129766],[0.011241,-0.133214,0.991024]] 2025-10-28T22:48:43.843Z,1761691723.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987196,-0.155908,-0.033724],[0.159049,0.978192,0.133578],[0.012162,-0.137231,0.990464]] 2025-10-28T22:48:44.248Z,1761691724.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987381,-0.154412,-0.035159],[0.157807,0.977963,0.136692],[0.013277,-0.140515,0.989989]] 2025-10-28T22:48:44.651Z,1761691724.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987619,-0.152612,-0.036313],[0.156218,0.977910,0.138881],[0.014316,-0.142834,0.989643]] 2025-10-28T22:48:45.055Z,1761691725.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987962,-0.150180,-0.037099],[0.153949,0.978017,0.140652],[0.015161,-0.144670,0.989364]] 2025-10-28T22:48:45.460Z,1761691725.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988396,-0.147171,-0.037607],[0.151080,0.978137,0.142906],[0.015753,-0.146929,0.989022]] 2025-10-28T22:48:45.865Z,1761691725.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988755,-0.144666,-0.037880],[0.148640,0.978522,0.142832],[0.016403,-0.146857,0.989022]] 2025-10-28T22:48:46.271Z,1761691726.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988994,-0.143030,-0.037861],[0.146995,0.978969,0.141461],[0.016832,-0.145470,0.989219]] 2025-10-28T22:48:46.671Z,1761691726.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989060,-0.142598,-0.037759],[0.146526,0.979272,0.139842],[0.017036,-0.143844,0.989454]] 2025-10-28T22:48:47.075Z,1761691727.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988945,-0.143420,-0.037656],[0.147319,0.979196,0.139540],[0.016860,-0.143545,0.989500]] 2025-10-28T22:48:47.481Z,1761691727.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988721,-0.144954,-0.037660],[0.148797,0.979318,0.137093],[0.017009,-0.141151,0.989842]] 2025-10-28T22:48:47.883Z,1761691727.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988340,-0.147451,-0.037982],[0.151293,0.979122,0.135756],[0.017171,-0.139920,0.990014]] 2025-10-28T22:48:48.302Z,1761691728.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988003,-0.149602,-0.038333],[0.153483,0.978696,0.136372],[0.017115,-0.140619,0.989916]] 2025-10-28T22:48:48.691Z,1761691728.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987635,-0.151921,-0.038681],[0.155830,0.978320,0.136405],[0.017120,-0.140746,0.989898]] 2025-10-28T22:48:49.097Z,1761691729.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987269,-0.154084,-0.039473],[0.158101,0.977824,0.137350],[0.017434,-0.141842,0.989736]] 2025-10-28T22:48:49.499Z,1761691729.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986951,-0.155857,-0.040453],[0.160005,0.977450,0.137805],[0.018063,-0.142479,0.989633]] 2025-10-28T22:48:49.903Z,1761691729.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986722,-0.156963,-0.041739],[0.161327,0.976914,0.140048],[0.018793,-0.144922,0.989265]] 2025-10-28T22:48:50.335Z,1761691730.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986598,-0.157361,-0.043161],[0.161971,0.976491,0.142233],[0.019764,-0.147317,0.988892]] 2025-10-28T22:48:50.713Z,1761691730.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986594,-0.156991,-0.044556],[0.161849,0.976254,0.143993],[0.020892,-0.149274,0.988575]] 2025-10-28T22:48:51.115Z,1761691731.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986661,-0.156112,-0.046151],[0.161258,0.976088,0.145766],[0.022292,-0.151264,0.988242]] 2025-10-28T22:48:51.520Z,1761691731.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986880,-0.154286,-0.047573],[0.159669,0.976332,0.145883],[0.023939,-0.151565,0.988157]] 2025-10-28T22:48:51.923Z,1761691731.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987197,-0.151751,-0.049123],[0.157421,0.976552,0.146852],[0.025686,-0.152705,0.987938]] 2025-10-28T22:48:52.351Z,1761691732.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987629,-0.148496,-0.050383],[0.154434,0.976816,0.148256],[0.027199,-0.154203,0.987665]] 2025-10-28T22:48:52.731Z,1761691732.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987956,-0.146082,-0.051027],[0.152097,0.977433,0.146597],[0.028461,-0.152592,0.987879]] 2025-10-28T22:48:53.135Z,1761691733.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988199,-0.144203,-0.051658],[0.150257,0.978105,0.143991],[0.029763,-0.150054,0.988230]] 2025-10-28T22:48:53.539Z,1761691733.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988307,-0.143186,-0.052406],[0.149265,0.978714,0.140847],[0.031123,-0.147022,0.988643]] 2025-10-28T22:48:53.945Z,1761691733.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988239,-0.143336,-0.053278],[0.149411,0.979261,0.136838],[0.032560,-0.143189,0.989160]] 2025-10-28T22:48:54.360Z,1761691734.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988042,-0.144331,-0.054237],[0.150374,0.979761,0.132122],[0.034070,-0.138697,0.989749]] 2025-10-28T22:48:54.751Z,1761691734.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987680,-0.146293,-0.055548],[0.152318,0.980139,0.126994],[0.035867,-0.133890,0.990347]] 2025-10-28T22:48:55.155Z,1761691735.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987234,-0.148691,-0.057105],[0.154815,0.980059,0.124569],[0.037444,-0.131820,0.990566]] 2025-10-28T22:48:55.560Z,1761691735.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986798,-0.150821,-0.059012],[0.157131,0.979855,0.123266],[0.039232,-0.130911,0.990618]] 2025-10-28T22:48:55.963Z,1761691735.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986491,-0.152054,-0.060957],[0.158653,0.979480,0.124289],[0.040807,-0.132281,0.990372]] 2025-10-28T22:48:56.367Z,1761691736.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986303,-0.152372,-0.063157],[0.159350,0.979105,0.126333],[0.042588,-0.134667,0.989975]] 2025-10-28T22:48:56.771Z,1761691736.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986244,-0.151829,-0.065347],[0.159222,0.978794,0.128882],[0.044393,-0.137514,0.989504]] 2025-10-28T22:48:57.176Z,1761691737.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986242,-0.150939,-0.067410],[0.158777,0.978426,0.132186],[0.046003,-0.141070,0.988930]] 2025-10-28T22:48:57.579Z,1761691737.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986308,-0.149662,-0.069263],[0.157878,0.978276,0.134354],[0.047650,-0.143450,0.988510]] 2025-10-28T22:48:57.983Z,1761691737.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986380,-0.148472,-0.070793],[0.156998,0.978195,0.135961],[0.049063,-0.145224,0.988182]] 2025-10-28T22:48:58.388Z,1761691738.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986373,-0.148049,-0.071763],[0.156721,0.978236,0.135985],[0.050069,-0.145378,0.988108]] 2025-10-28T22:48:58.792Z,1761691738.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986192,-0.148681,-0.072931],[0.157484,0.978204,0.135332],[0.051220,-0.144949,0.988113]] 2025-10-28T22:48:59.197Z,1761691739.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985801,-0.150633,-0.074207],[0.159525,0.978087,0.133779],[0.052430,-0.143717,0.988229]] 2025-10-28T22:48:59.599Z,1761691739.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985253,-0.153570,-0.075452],[0.162499,0.977898,0.131564],[0.053580,-0.141885,0.988432]] 2025-10-28T22:49:00.003Z,1761691740.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984580,-0.156990,-0.077178],[0.166070,0.977467,0.130303],[0.054983,-0.141111,0.988466]] 2025-10-28T22:49:00.408Z,1761691740.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983856,-0.160477,-0.079214],[0.169824,0.976813,0.130367],[0.056456,-0.141715,0.988296]] 2025-10-28T22:49:00.814Z,1761691740.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983135,-0.163760,-0.081413],[0.173436,0.976092,0.131010],[0.058012,-0.142920,0.988033]] 2025-10-28T22:49:01.215Z,1761691741.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982515,-0.166372,-0.083578],[0.176450,0.975307,0.132820],[0.059417,-0.145245,0.987610]] 2025-10-28T22:49:01.620Z,1761691741.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982146,-0.167389,-0.085854],[0.177958,0.974667,0.135484],[0.061000,-0.148343,0.987053]] 2025-10-28T22:49:02.025Z,1761691742.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982160,-0.166284,-0.087819],[0.177414,0.974190,0.139567],[0.062345,-0.152658,0.986311]] 2025-10-28T22:49:02.428Z,1761691742.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982424,-0.164107,-0.088951],[0.175614,0.974097,0.142461],[0.063269,-0.155578,0.985795]] 2025-10-28T22:49:02.847Z,1761691742.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982876,-0.160850,-0.089900],[0.172678,0.974298,0.144660],[0.064321,-0.157707,0.985389]] 2025-10-28T22:49:03.247Z,1761691743.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983401,-0.157687,-0.089761],[0.169544,0.974793,0.145026],[0.064630,-0.157837,0.985348]] 2025-10-28T22:49:03.651Z,1761691743.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983961,-0.154402,-0.089337],[0.166148,0.975541,0.143927],[0.064929,-0.156462,0.985547]] 2025-10-28T22:49:04.054Z,1761691744.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984548,-0.150957,-0.088750],[0.162412,0.976673,0.140470],[0.065475,-0.152714,0.986099]] 2025-10-28T22:49:04.460Z,1761691744.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985193,-0.146810,-0.088553],[0.158061,0.977825,0.137388],[0.066419,-0.149351,0.986551]] 2025-10-28T22:49:04.862Z,1761691744.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985913,-0.141818,-0.088673],[0.152852,0.979203,0.133411],[0.067909,-0.145085,0.987086]] 2025-10-28T22:49:05.267Z,1761691745.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986430,-0.137787,-0.089277],[0.148640,0.980414,0.129206],[0.069725,-0.140723,0.987591]] 2025-10-28T22:49:05.671Z,1761691745.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986304,-0.138388,-0.089738],[0.148952,0.981004,0.124277],[0.070835,-0.135941,0.988181]] 2025-10-28T22:49:06.075Z,1761691746.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985857,-0.141283,-0.090138],[0.151639,0.981021,0.120847],[0.071354,-0.132806,0.988570]] 2025-10-28T22:49:06.480Z,1761691746.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985310,-0.144760,-0.090598],[0.155022,0.980725,0.118937],[0.071635,-0.131235,0.988760]] 2025-10-28T22:49:06.882Z,1761691746.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984763,-0.148103,-0.091149],[0.158409,0.980207,0.118745],[0.071759,-0.131374,0.988732]] 2025-10-28T22:49:07.286Z,1761691747.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984127,-0.151667,-0.092148],[0.162239,0.979330,0.120799],[0.071922,-0.133831,0.988391]] 2025-10-28T22:49:07.690Z,1761691747.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983430,-0.155376,-0.093404],[0.166337,0.978235,0.124051],[0.072096,-0.137532,0.987870]] 2025-10-28T22:49:08.096Z,1761691748.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982641,-0.159499,-0.094744],[0.170857,0.977050,0.127207],[0.072280,-0.141187,0.987341]] 2025-10-28T22:49:08.499Z,1761691748.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981915,-0.163072,-0.096175],[0.174822,0.975976,0.130034],[0.072660,-0.144496,0.986834]] 2025-10-28T22:49:08.903Z,1761691748.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981550,-0.164350,-0.097716],[0.176601,0.975139,0.133848],[0.073289,-0.148635,0.986173]] 2025-10-28T22:49:09.048Z,1761691749.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:49:09.306Z,1761691749.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981544,-0.163786,-0.098714],[0.176399,0.974792,0.136613],[0.073851,-0.151505,0.985694]] 2025-10-28T22:49:09.712Z,1761691749.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981733,-0.162163,-0.099519],[0.175206,0.974450,0.140533],[0.074187,-0.155403,0.985062]] 2025-10-28T22:49:10.052Z,1761691750.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:49:10.115Z,1761691750.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982114,-0.159719,-0.099705],[0.172928,0.974629,0.142105],[0.074479,-0.156805,0.984817]] 2025-10-28T22:49:10.517Z,1761691750.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982498,-0.157423,-0.099578],[0.170630,0.975034,0.142107],[0.074721,-0.156611,0.984830]] 2025-10-28T22:49:11.324Z,1761691751.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983356,-0.152127,-0.099343],[0.165023,0.976584,0.138026],[0.076020,-0.152122,0.985434]] 2025-10-28T22:49:11.726Z,1761691751.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983802,-0.149179,-0.099395],[0.161896,0.977481,0.135356],[0.076965,-0.149255,0.985799]] 2025-10-28T22:49:12.131Z,1761691752.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984236,-0.146552,-0.099002],[0.159033,0.978290,0.132883],[0.077379,-0.146533,0.986175]] 2025-10-28T22:49:12.534Z,1761691752.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984533,-0.144933,-0.098430],[0.157162,0.978896,0.130625],[0.077421,-0.144074,0.986534]] 2025-10-28T22:49:12.940Z,1761691752.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984639,-0.144869,-0.097469],[0.156710,0.979391,0.127418],[0.077001,-0.140735,0.987048]] 2025-10-28T22:49:13.342Z,1761691753.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984633,-0.145743,-0.096216],[0.157204,0.979643,0.124845],[0.076062,-0.138052,0.987500]] 2025-10-28T22:49:13.746Z,1761691753.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984435,-0.147518,-0.095531],[0.158743,0.979613,0.123119],[0.075421,-0.136368,0.987783]] 2025-10-28T22:49:14.151Z,1761691754.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984216,-0.149504,-0.094696],[0.160678,0.979176,0.124088],[0.074172,-0.137345,0.987742]] 2025-10-28T22:49:14.555Z,1761691754.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984020,-0.151606,-0.093385],[0.162630,0.978779,0.124668],[0.072503,-0.137863,0.987794]] 2025-10-28T22:49:14.960Z,1761691754.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983616,-0.154646,-0.092645],[0.165618,0.978161,0.125589],[0.071200,-0.138875,0.987747]] 2025-10-28T22:49:15.363Z,1761691755.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983141,-0.157672,-0.092589],[0.168861,0.977163,0.128986],[0.070137,-0.142446,0.987314]] 2025-10-28T22:49:15.767Z,1761691755.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982676,-0.160740,-0.092253],[0.172027,0.976297,0.131345],[0.068954,-0.144940,0.987035]] 2025-10-28T22:49:16.183Z,1761691756.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981830,-0.165569,-0.092721],[0.177300,0.974542,0.137230],[0.067640,-0.151176,0.986190]] 2025-10-28T22:49:16.988Z,1761691756.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981531,-0.166812,-0.093656],[0.179073,0.973389,0.142993],[0.067310,-0.157124,0.985282]] 2025-10-28T22:49:17.387Z,1761691757.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981637,-0.166090,-0.093829],[0.178496,0.973253,0.144631],[0.067298,-0.158723,0.985027]] 2025-10-28T22:49:17.791Z,1761691757.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981949,-0.164249,-0.093798],[0.176803,0.973261,0.146642],[0.067204,-0.160579,0.984732]] 2025-10-28T22:49:18.197Z,1761691758.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982410,-0.161690,-0.093420],[0.174266,0.973586,0.147521],[0.067100,-0.161206,0.984637]] 2025-10-28T22:49:18.597Z,1761691758.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982913,-0.158908,-0.092905],[0.171306,0.974373,0.145777],[0.067359,-0.159201,0.984946]] 2025-10-28T22:49:18.999Z,1761691758.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983390,-0.156380,-0.092135],[0.168449,0.975364,0.142441],[0.067590,-0.155595,0.985506]] 2025-10-28T22:49:19.403Z,1761691759.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983742,-0.154706,-0.091208],[0.166474,0.976063,0.139956],[0.067372,-0.152865,0.985948]] 2025-10-28T22:49:19.808Z,1761691759.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983913,-0.154211,-0.090189],[0.165606,0.976673,0.136693],[0.067006,-0.149430,0.986499]] 2025-10-28T22:49:20.210Z,1761691760.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983801,-0.155705,-0.088835],[0.166521,0.977265,0.131238],[0.066381,-0.143905,0.987363]] 2025-10-28T22:49:20.615Z,1761691760.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983586,-0.157925,-0.087283],[0.168261,0.977451,0.127581],[0.065166,-0.140174,0.987980]] 2025-10-28T22:49:21.019Z,1761691761.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983284,-0.160694,-0.085619],[0.170585,0.977439,0.124557],[0.063672,-0.137080,0.988511]] 2025-10-28T22:49:21.424Z,1761691761.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982952,-0.163256,-0.084578],[0.172897,0.977214,0.123120],[0.062551,-0.135645,0.988781]] 2025-10-28T22:49:21.827Z,1761691761.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982609,-0.165863,-0.083480],[0.175281,0.976907,0.122185],[0.061286,-0.134693,0.988990]] 2025-10-28T22:49:22.231Z,1761691762.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982397,-0.167855,-0.081978],[0.177191,0.976284,0.124394],[0.059154,-0.136730,0.988841]] 2025-10-28T22:49:22.635Z,1761691762.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982267,-0.169396,-0.080354],[0.178613,0.975772,0.126356],[0.057003,-0.138468,0.988725]] 2025-10-28T22:49:23.040Z,1761691763.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982202,-0.170473,-0.078853],[0.179579,0.975349,0.128242],[0.055048,-0.140120,0.988603]] 2025-10-28T22:49:23.442Z,1761691763.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982246,-0.170869,-0.077439],[0.180045,0.974584,0.133301],[0.052693,-0.144876,0.988046]] 2025-10-28T22:49:23.846Z,1761691763.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982383,-0.170731,-0.075983],[0.179906,0.974048,0.137348],[0.050561,-0.148598,0.987604]] 2025-10-28T22:49:24.250Z,1761691764.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982557,-0.170406,-0.074458],[0.179504,0.973697,0.140331],[0.048586,-0.151248,0.987301]] 2025-10-28T22:49:24.657Z,1761691764.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982729,-0.169964,-0.073182],[0.179027,0.973314,0.143562],[0.046829,-0.154184,0.986932]] 2025-10-28T22:49:25.058Z,1761691765.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982919,-0.169415,-0.071889],[0.178389,0.973086,0.145877],[0.045240,-0.156210,0.986687]] 2025-10-28T22:49:25.462Z,1761691765.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983102,-0.168916,-0.070557],[0.177753,0.972981,0.147351],[0.043761,-0.157402,0.986565]] 2025-10-28T22:49:25.867Z,1761691765.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983483,-0.167259,-0.069173],[0.175937,0.973158,0.148356],[0.042502,-0.158076,0.986512]] 2025-10-28T22:49:26.275Z,1761691766.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983798,-0.166086,-0.067502],[0.174446,0.973668,0.146764],[0.041349,-0.156162,0.986866]] 2025-10-28T22:49:26.675Z,1761691766.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984150,-0.164659,-0.065842],[0.172729,0.974142,0.145643],[0.040158,-0.154707,0.987144]] 2025-10-28T22:49:27.078Z,1761691767.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984573,-0.162818,-0.064075],[0.170607,0.974613,0.144991],[0.038841,-0.153686,0.987356]] 2025-10-28T22:49:27.483Z,1761691767.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984934,-0.161340,-0.062242],[0.168788,0.975216,0.143051],[0.037620,-0.151401,0.987756]] 2025-10-28T22:49:27.888Z,1761691767.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985139,-0.160894,-0.060116],[0.167912,0.975815,0.139965],[0.036143,-0.147979,0.988330]] 2025-10-28T22:49:28.319Z,1761691768.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985232,-0.161043,-0.058162],[0.167720,0.976056,0.138509],[0.034463,-0.146218,0.988652]] 2025-10-28T22:49:28.695Z,1761691768.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985238,-0.161719,-0.056156],[0.168029,0.976292,0.136456],[0.032757,-0.143877,0.989053]] 2025-10-28T22:49:29.099Z,1761691769.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985034,-0.163364,-0.054961],[0.169448,0.976217,0.135233],[0.031562,-0.142522,0.989288]] 2025-10-28T22:49:29.503Z,1761691769.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984772,-0.165266,-0.053960],[0.171186,0.975932,0.135097],[0.030334,-0.142277,0.989362]] 2025-10-28T22:49:29.908Z,1761691769.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984478,-0.167339,-0.052914],[0.173118,0.975458,0.136055],[0.028848,-0.143104,0.989287]] 2025-10-28T22:49:30.345Z,1761691770.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984188,-0.169288,-0.052104],[0.174990,0.974841,0.138068],[0.027420,-0.145002,0.989051]] 2025-10-28T22:49:30.715Z,1761691770.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983939,-0.170946,-0.051388],[0.176579,0.974281,0.139989],[0.026136,-0.146815,0.988819]] 2025-10-28T22:49:31.119Z,1761691771.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983730,-0.172219,-0.051138],[0.177876,0.973633,0.142827],[0.025192,-0.149599,0.988426]] 2025-10-28T22:49:31.522Z,1761691771.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983543,-0.173294,-0.051108],[0.178951,0.973345,0.143445],[0.024887,-0.150230,0.988338]] 2025-10-28T22:49:31.927Z,1761691771.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983398,-0.174153,-0.050981],[0.179797,0.973099,0.144055],[0.024522,-0.150830,0.988256]] 2025-10-28T22:49:32.351Z,1761691772.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983257,-0.175030,-0.050706],[0.180619,0.972971,0.143886],[0.024152,-0.150636,0.988294]] 2025-10-28T22:49:32.737Z,1761691772.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983022,-0.176434,-0.050382],[0.181972,0.972641,0.144413],[0.023524,-0.151129,0.988234]] 2025-10-28T22:49:33.139Z,1761691773.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982774,-0.177911,-0.050031],[0.183383,0.972363,0.144504],[0.022939,-0.151189,0.988239]] 2025-10-28T22:49:33.543Z,1761691773.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982391,-0.180177,-0.049445],[0.185518,0.972074,0.143721],[0.022169,-0.150363,0.988382]] 2025-10-28T22:49:33.947Z,1761691773.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982001,-0.182455,-0.048831],[0.187662,0.971786,0.142877],[0.021385,-0.149469,0.988535]] 2025-10-28T22:49:34.362Z,1761691774.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981729,-0.184030,-0.048384],[0.189155,0.971491,0.142918],[0.020704,-0.149459,0.988551]] 2025-10-28T22:49:34.755Z,1761691774.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981493,-0.185387,-0.047990],[0.190450,0.971153,0.143493],[0.020004,-0.149977,0.988487]] 2025-10-28T22:49:35.177Z,1761691775.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981363,-0.186184,-0.047559],[0.191200,0.970806,0.144837],[0.019204,-0.151231,0.988312]] 2025-10-28T22:49:35.578Z,1761691775.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981337,-0.186505,-0.046837],[0.191432,0.970564,0.146149],[0.018200,-0.152388,0.988153]] 2025-10-28T22:49:35.982Z,1761691775.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981418,-0.186325,-0.045841],[0.191126,0.970419,0.147506],[0.017001,-0.153527,0.987998]] 2025-10-28T22:49:36.389Z,1761691776.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981844,-0.184487,-0.044123],[0.189090,0.970379,0.150362],[0.015076,-0.155975,0.987646]] 2025-10-28T22:49:36.791Z,1761691776.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982456,-0.181644,-0.042247],[0.186028,0.970503,0.153354],[0.013146,-0.158523,0.987268]] 2025-10-28T22:49:37.195Z,1761691777.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983114,-0.178533,-0.040165],[0.182650,0.970807,0.155475],[0.011235,-0.160185,0.987023]] 2025-10-28T22:49:37.598Z,1761691777.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983784,-0.175312,-0.037891],[0.179125,0.971135,0.157513],[0.009183,-0.161746,0.986790]] 2025-10-28T22:49:38.003Z,1761691778.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984491,-0.171869,-0.035192],[0.175300,0.971618,0.158836],[0.006894,-0.162542,0.986678]] 2025-10-28T22:49:38.408Z,1761691778.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985097,-0.168955,-0.032223],[0.171945,0.972098,0.159561],[0.004365,-0.162724,0.986662]] 2025-10-28T22:49:38.810Z,1761691778.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985644,-0.166363,-0.028782],[0.168825,0.972995,0.157413],[0.001817,-0.160013,0.987113]] 2025-10-28T22:49:39.214Z,1761691779.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986139,-0.163943,-0.025541],[0.165919,0.973711,0.156070],[-0.000717,-0.158145,0.987416]] 2025-10-28T22:49:39.619Z,1761691779.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986484,-0.162362,-0.022075],[0.163819,0.974410,0.153910],[-0.003479,-0.155446,0.987838]] 2025-10-28T22:49:40.025Z,1761691780.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986678,-0.161611,-0.018674],[0.162566,0.975039,0.151230],[-0.006232,-0.152251,0.988322]] 2025-10-28T22:49:40.176Z,1761691780.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:49:40.426Z,1761691780.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986784,-0.161272,-0.015764],[0.161802,0.975381,0.149839],[-0.008789,-0.150409,0.988585]] 2025-10-28T22:49:40.830Z,1761691780.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986617,-0.162551,-0.012805],[0.162648,0.975568,0.147692],[-0.011516,-0.147798,0.988951]] 2025-10-28T22:49:41.181Z,1761691781.181 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:49:41.234Z,1761691781.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986395,-0.164079,-0.010113],[0.163788,0.975654,0.145854],[-0.014065,-0.145527,0.989254]] 2025-10-28T22:49:41.639Z,1761691781.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986051,-0.166262,-0.007792],[0.165617,0.975417,0.145367],[-0.016569,-0.144630,0.989347]] 2025-10-28T22:49:42.042Z,1761691782.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985699,-0.168424,-0.005637],[0.167436,0.975034,0.145856],[-0.019069,-0.144714,0.989290]] 2025-10-28T22:49:42.447Z,1761691782.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985316,-0.170705,-0.003576],[0.169384,0.974626,0.146330],[-0.021494,-0.144787,0.989229]] 2025-10-28T22:49:42.851Z,1761691782.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984980,-0.172656,-0.001869],[0.171010,0.973980,0.148724],[-0.023858,-0.146810,0.988877]] 2025-10-28T22:49:43.257Z,1761691783.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984713,-0.174186,0.000036],[0.172197,0.973501,0.150477],[-0.026246,-0.148170,0.988613]] 2025-10-28T22:49:43.659Z,1761691783.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984518,-0.175278,0.001568],[0.172977,0.972961,0.153053],[-0.028352,-0.150412,0.988217]] 2025-10-28T22:49:44.062Z,1761691784.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984483,-0.175459,0.002781],[0.172852,0.972346,0.157053],[-0.030260,-0.154135,0.987586]] 2025-10-28T22:49:44.467Z,1761691784.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984413,-0.175818,0.004300],[0.172909,0.972016,0.159020],[-0.032138,-0.155798,0.987266]] 2025-10-28T22:49:44.871Z,1761691784.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984288,-0.176489,0.005351],[0.173352,0.971662,0.160690],[-0.033559,-0.157238,0.986990]] 2025-10-28T22:49:45.275Z,1761691785.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984182,-0.177043,0.006473],[0.173676,0.971387,0.162001],[-0.034969,-0.158314,0.986769]] 2025-10-28T22:49:45.678Z,1761691785.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984073,-0.177613,0.007284],[0.174052,0.971054,0.163585],[-0.036128,-0.159712,0.986502]] 2025-10-28T22:49:46.083Z,1761691786.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983915,-0.178461,0.007945],[0.174763,0.970833,0.164137],[-0.037005,-0.160108,0.986406]] 2025-10-28T22:49:46.487Z,1761691786.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983783,-0.179149,0.008788],[0.175296,0.970688,0.164427],[-0.037987,-0.160220,0.986350]] 2025-10-28T22:49:46.891Z,1761691786.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983856,-0.178689,0.009907],[0.174618,0.970618,0.165555],[-0.039198,-0.161153,0.986151]] 2025-10-28T22:49:47.294Z,1761691787.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984009,-0.177726,0.011839],[0.173384,0.970950,0.164905],[-0.040803,-0.160215,0.986238]] 2025-10-28T22:49:47.700Z,1761691787.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984295,-0.176021,0.013393],[0.171417,0.971159,0.165731],[-0.042178,-0.160832,0.986080]] 2025-10-28T22:49:48.102Z,1761691788.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984748,-0.173328,0.015110],[0.168399,0.971359,0.167643],[-0.043735,-0.162542,0.985732]] 2025-10-28T22:49:48.507Z,1761691788.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985145,-0.170775,0.018031],[0.165454,0.972043,0.166607],[-0.045979,-0.161149,0.985858]] 2025-10-28T22:49:48.910Z,1761691788.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985572,-0.167963,0.020891],[0.162263,0.972737,0.165690],[-0.048151,-0.159910,0.985957]] 2025-10-28T22:49:49.315Z,1761691789.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985935,-0.165439,0.023728],[0.159355,0.973340,0.164971],[-0.050388,-0.158870,0.986013]] 2025-10-28T22:49:49.720Z,1761691789.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986180,-0.163585,0.026263],[0.157162,0.973825,0.164213],[-0.052438,-0.157816,0.986075]] 2025-10-28T22:49:50.122Z,1761691790.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986369,-0.162040,0.028619],[0.155296,0.974217,0.163658],[-0.054400,-0.156982,0.986102]] 2025-10-28T22:49:50.527Z,1761691790.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986552,-0.160570,0.030542],[0.153612,0.974692,0.162413],[-0.055848,-0.155538,0.986250]] 2025-10-28T22:49:50.944Z,1761691790.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986594,-0.159988,0.032173],[0.152806,0.974885,0.162019],[-0.057286,-0.154931,0.986263]] 2025-10-28T22:49:51.346Z,1761691791.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986798,-0.158509,0.033230],[0.151066,0.974832,0.163957],[-0.058382,-0.156773,0.985908]] 2025-10-28T22:49:51.754Z,1761691791.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987113,-0.156255,0.034540],[0.148696,0.975371,0.162911],[-0.059145,-0.155675,0.986036]] 2025-10-28T22:49:52.154Z,1761691792.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987319,-0.154671,0.035764],[0.146882,0.975487,0.163860],[-0.060231,-0.156529,0.985835]] 2025-10-28T22:49:52.558Z,1761691792.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987630,-0.152450,0.036683],[0.144469,0.975643,0.165073],[-0.060955,-0.157732,0.985599]] 2025-10-28T22:49:52.963Z,1761691792.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987918,-0.150333,0.037642],[0.142160,0.975805,0.166120],[-0.061705,-0.158761,0.985387]] 2025-10-28T22:49:53.369Z,1761691793.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988109,-0.148791,0.038759],[0.140415,0.975939,0.166813],[-0.062646,-0.159387,0.985226]] 2025-10-28T22:49:53.775Z,1761691793.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988169,-0.148212,0.039426],[0.139797,0.976188,0.165874],[-0.063072,-0.158400,0.985358]] 2025-10-28T22:49:54.175Z,1761691794.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988013,-0.149132,0.039865],[0.140794,0.976458,0.163425],[-0.063299,-0.155853,0.985750]] 2025-10-28T22:49:54.579Z,1761691794.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987725,-0.150969,0.040094],[0.142717,0.976547,0.161205],[-0.063491,-0.153504,0.986106]] 2025-10-28T22:49:54.983Z,1761691794.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987268,-0.153847,0.040417],[0.145622,0.976395,0.159520],[-0.064005,-0.151603,0.986367]] 2025-10-28T22:49:55.388Z,1761691795.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986648,-0.157847,0.040112],[0.149762,0.976112,0.157406],[-0.064000,-0.149297,0.986719]] 2025-10-28T22:49:55.792Z,1761691795.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985965,-0.162154,0.039745],[0.154157,0.975624,0.156185],[-0.064103,-0.147866,0.986928]] 2025-10-28T22:49:56.227Z,1761691796.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985232,-0.166696,0.039121],[0.158842,0.975112,0.154679],[-0.063932,-0.146181,0.987190]] 2025-10-28T22:49:56.599Z,1761691796.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984552,-0.170883,0.038157],[0.163140,0.974434,0.154478],[-0.063579,-0.145867,0.987259]] 2025-10-28T22:49:57.004Z,1761691797.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983956,-0.174521,0.037055],[0.166798,0.973556,0.156099],[-0.063318,-0.147414,0.987046]] 2025-10-28T22:49:57.406Z,1761691797.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983459,-0.177508,0.036040],[0.169755,0.972669,0.158424],[-0.063176,-0.149686,0.986713]] 2025-10-28T22:49:57.812Z,1761691797.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983353,-0.178184,0.035591],[0.170295,0.972071,0.161483],[-0.063370,-0.152734,0.986233]] 2025-10-28T22:49:58.215Z,1761691798.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983665,-0.176564,0.035056],[0.168534,0.971741,0.165276],[-0.063247,-0.156668,0.985624]] 2025-10-28T22:49:58.620Z,1761691798.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984210,-0.173496,0.035059],[0.165295,0.971740,0.168522],[-0.063306,-0.160066,0.985074]] 2025-10-28T22:49:59.030Z,1761691799.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984933,-0.169265,0.035450],[0.160907,0.972075,0.170817],[-0.063373,-0.162539,0.984665]] 2025-10-28T22:49:59.433Z,1761691799.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986445,-0.159726,0.037589],[0.151207,0.973801,0.169849],[-0.063734,-0.161863,0.984753]] 2025-10-28T22:49:59.836Z,1761691799.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987096,-0.155324,0.038933],[0.146704,0.974652,0.168911],[-0.064182,-0.161020,0.984862]] 2025-10-28T22:50:00.241Z,1761691800.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987665,-0.151219,0.040627],[0.142593,0.975824,0.165634],[-0.064691,-0.157798,0.985350]] 2025-10-28T22:50:00.643Z,1761691800.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987960,-0.148738,0.042559],[0.140152,0.976969,0.160898],[-0.065511,-0.152996,0.986053]] 2025-10-28T22:50:01.044Z,1761691801.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988098,-0.147347,0.044183],[0.138866,0.977966,0.155880],[-0.066178,-0.147890,0.986787]] 2025-10-28T22:50:01.446Z,1761691801.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987917,-0.148190,0.045378],[0.139793,0.978457,0.151922],[-0.066914,-0.143743,0.987350]] 2025-10-28T22:50:01.851Z,1761691801.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987567,-0.150223,0.046315],[0.141856,0.978572,0.149245],[-0.067743,-0.140820,0.987715]] 2025-10-28T22:50:02.256Z,1761691802.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987180,-0.152587,0.046821],[0.144184,0.978358,0.148415],[-0.068454,-0.139762,0.987816]] 2025-10-28T22:50:02.658Z,1761691802.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986700,-0.155636,0.046902],[0.147290,0.978102,0.147044],[-0.068761,-0.138181,0.988017]] 2025-10-28T22:50:03.062Z,1761691803.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986219,-0.158783,0.046476],[0.150414,0.977507,0.147837],[-0.068904,-0.138809,0.987919]] 2025-10-28T22:50:03.466Z,1761691803.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985843,-0.161351,0.045596],[0.152947,0.976819,0.149773],[-0.068705,-0.140679,0.987669]] 2025-10-28T22:50:03.872Z,1761691803.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985633,-0.162923,0.044544],[0.154524,0.976281,0.151650],[-0.068195,-0.142588,0.987430]] 2025-10-28T22:50:04.292Z,1761691804.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985677,-0.162843,0.043850],[0.154447,0.976075,0.153048],[-0.067724,-0.144083,0.987245]] 2025-10-28T22:50:04.679Z,1761691804.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985921,-0.161620,0.042891],[0.153267,0.976009,0.154645],[-0.066856,-0.145894,0.987038]] 2025-10-28T22:50:05.082Z,1761691805.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986297,-0.159384,0.042600],[0.150992,0.976118,0.156191],[-0.066477,-0.147618,0.986808]] 2025-10-28T22:50:05.489Z,1761691805.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986762,-0.156394,0.042916],[0.147899,0.976382,0.157491],[-0.066533,-0.149059,0.986587]] 2025-10-28T22:50:05.894Z,1761691805.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987307,-0.152897,0.042976],[0.144407,0.976850,0.157831],[-0.066113,-0.149622,0.986530]] 2025-10-28T22:50:06.326Z,1761691806.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987794,-0.149666,0.043162],[0.141175,0.977304,0.157947],[-0.065822,-0.149926,0.986504]] 2025-10-28T22:50:06.698Z,1761691806.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988140,-0.147244,0.043577],[0.138805,0.977858,0.156611],[-0.065672,-0.148704,0.986699]] 2025-10-28T22:50:07.103Z,1761691807.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988285,-0.146117,0.044075],[0.137758,0.978345,0.154479],[-0.065692,-0.146597,0.987013]] 2025-10-28T22:50:07.509Z,1761691807.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988248,-0.146238,0.044495],[0.137952,0.978637,0.152440],[-0.065837,-0.144511,0.987311]] 2025-10-28T22:50:07.912Z,1761691807.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988058,-0.147438,0.044754],[0.139274,0.978846,0.149875],[-0.065904,-0.141852,0.987692]] 2025-10-28T22:50:08.347Z,1761691808.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987713,-0.149805,0.044513],[0.141762,0.978736,0.148257],[-0.065776,-0.140125,0.987947]] 2025-10-28T22:50:08.719Z,1761691808.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987282,-0.152717,0.044175],[0.144778,0.978483,0.147004],[-0.065675,-0.138739,0.988149]] 2025-10-28T22:50:09.123Z,1761691809.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986823,-0.156043,0.042787],[0.148242,0.977907,0.147382],[-0.064840,-0.139098,0.988154]] 2025-10-28T22:50:09.527Z,1761691809.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986391,-0.159127,0.041363],[0.151417,0.977234,0.148614],[-0.064069,-0.140329,0.988030]] 2025-10-28T22:50:09.931Z,1761691809.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985973,-0.162084,0.039829],[0.154480,0.976556,0.149914],[-0.063193,-0.141658,0.987897]] 2025-10-28T22:50:10.351Z,1761691810.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985683,-0.164238,0.038141],[0.156791,0.976033,0.150919],[-0.062013,-0.142778,0.987810]] 2025-10-28T22:50:10.741Z,1761691810.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985456,-0.165992,0.036385],[0.158740,0.975621,0.151540],[-0.060652,-0.143560,0.987781]] 2025-10-28T22:50:11.143Z,1761691811.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985363,-0.166939,0.034516],[0.159801,0.975068,0.153969],[-0.059359,-0.146200,0.987473]] 2025-10-28T22:50:11.304Z,1761691811.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:50:11.547Z,1761691811.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985449,-0.166731,0.033017],[0.159750,0.974899,0.155085],[-0.058045,-0.147554,0.987349]] 2025-10-28T22:50:11.951Z,1761691811.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985655,-0.165734,0.031883],[0.158885,0.974914,0.155881],[-0.056918,-0.148579,0.987261]] 2025-10-28T22:50:12.309Z,1761691812.309 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:50:12.362Z,1761691812.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986021,-0.163746,0.030817],[0.157050,0.975131,0.156380],[-0.055657,-0.149354,0.987216]] 2025-10-28T22:50:12.764Z,1761691812.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986636,-0.160131,0.030114],[0.153514,0.975503,0.157567],[-0.054607,-0.150839,0.987049]] 2025-10-28T22:50:13.166Z,1761691813.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987399,-0.155464,0.029570],[0.148932,0.976061,0.158507],[-0.053504,-0.152106,0.986915]] 2025-10-28T22:50:13.570Z,1761691813.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988169,-0.150516,0.029442],[0.144085,0.976864,0.158039],[-0.052549,-0.151927,0.986994]] 2025-10-28T22:50:13.975Z,1761691813.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988933,-0.145374,0.029643],[0.138974,0.977609,0.158009],[-0.051950,-0.152140,0.986993]] 2025-10-28T22:50:14.380Z,1761691814.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989615,-0.140517,0.030271],[0.134162,0.978544,0.156371],[-0.051594,-0.150686,0.987234]] 2025-10-28T22:50:14.783Z,1761691814.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990204,-0.136088,0.031231],[0.129779,0.979563,0.153666],[-0.051505,-0.148107,0.987629]] 2025-10-28T22:50:15.187Z,1761691815.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990665,-0.132502,0.032045],[0.126238,0.980404,0.151237],[-0.051456,-0.145780,0.987978]] 2025-10-28T22:50:15.590Z,1761691815.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990967,-0.130016,0.032862],[0.123774,0.981056,0.149027],[-0.051615,-0.143614,0.988287]] 2025-10-28T22:50:15.997Z,1761691815.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991030,-0.129355,0.033565],[0.123136,0.981474,0.146790],[-0.051931,-0.141340,0.988598]] 2025-10-28T22:50:16.803Z,1761691816.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990759,-0.131087,0.034836],[0.124817,0.981662,0.144085],[-0.053085,-0.138405,0.988952]] 2025-10-28T22:50:17.206Z,1761691817.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990423,-0.133550,0.035031],[0.127304,0.981542,0.142720],[-0.053445,-0.136893,0.989143]] 2025-10-28T22:50:17.611Z,1761691817.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989965,-0.136902,0.035029],[0.130717,0.981333,0.141062],[-0.053687,-0.135068,0.989381]] 2025-10-28T22:50:18.016Z,1761691818.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989381,-0.141234,0.034324],[0.135164,0.980884,0.139987],[-0.053439,-0.133861,0.989558]] 2025-10-28T22:50:18.419Z,1761691818.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988712,-0.146080,0.033314],[0.140122,0.980235,0.139663],[-0.053058,-0.133419,0.989639]] 2025-10-28T22:50:18.822Z,1761691818.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987952,-0.151344,0.032324],[0.145479,0.979469,0.139559],[-0.052781,-0.133175,0.989686]] 2025-10-28T22:50:19.226Z,1761691819.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987143,-0.156817,0.030935],[0.151037,0.978485,0.140556],[-0.052311,-0.134076,0.989589]] 2025-10-28T22:50:19.632Z,1761691819.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986368,-0.161987,0.028965],[0.156295,0.977293,0.143073],[-0.051483,-0.136595,0.989288]] 2025-10-28T22:50:20.034Z,1761691820.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985652,-0.166631,0.026921],[0.161074,0.976221,0.145077],[-0.050455,-0.138660,0.989054]] 2025-10-28T22:50:20.438Z,1761691820.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985156,-0.169877,0.024677],[0.164525,0.975418,0.146596],[-0.048974,-0.140360,0.988889]] 2025-10-28T22:50:20.842Z,1761691820.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984927,-0.171546,0.022178],[0.166420,0.974747,0.148902],[-0.047162,-0.142967,0.988603]] 2025-10-28T22:50:21.259Z,1761691821.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985011,-0.171385,0.019519],[0.166513,0.974292,0.151753],[-0.045025,-0.146228,0.988226]] 2025-10-28T22:50:21.651Z,1761691821.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985454,-0.169076,0.017119],[0.164453,0.974174,0.154726],[-0.042838,-0.149660,0.987809]] 2025-10-28T22:50:22.055Z,1761691822.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986081,-0.165552,0.015418],[0.161144,0.974417,0.156665],[-0.040959,-0.152000,0.987531]] 2025-10-28T22:50:22.458Z,1761691822.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986831,-0.161134,0.014180],[0.156947,0.975019,0.157180],[-0.039153,-0.152885,0.987468]] 2025-10-28T22:50:22.864Z,1761691822.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987643,-0.156162,0.013208],[0.152207,0.975873,0.156541],[-0.037335,-0.152596,0.987583]] 2025-10-28T22:50:23.266Z,1761691823.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988525,-0.150483,0.013128],[0.146733,0.977251,0.153131],[-0.035873,-0.149448,0.988119]] 2025-10-28T22:50:23.670Z,1761691823.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989384,-0.144729,0.013117],[0.141114,0.978376,0.151217],[-0.034719,-0.147761,0.988414]] 2025-10-28T22:50:24.074Z,1761691824.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990165,-0.139264,0.013377],[0.135756,0.979511,0.148756],[-0.033819,-0.145477,0.988783]] 2025-10-28T22:50:24.479Z,1761691824.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990627,-0.135912,0.013659],[0.132495,0.980388,0.145892],[-0.033220,-0.142714,0.989206]] 2025-10-28T22:50:24.884Z,1761691824.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990678,-0.135539,0.013608],[0.132259,0.980973,0.142124],[-0.032613,-0.139000,0.989755]] 2025-10-28T22:50:25.287Z,1761691825.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990357,-0.137892,0.013343],[0.134715,0.981027,0.139421],[-0.032314,-0.136279,0.990143]] 2025-10-28T22:50:25.691Z,1761691825.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989833,-0.141664,0.012741],[0.138576,0.980678,0.138088],[-0.032057,-0.134918,0.990338]] 2025-10-28T22:50:26.095Z,1761691826.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989225,-0.145983,0.011080],[0.143093,0.980088,0.137667],[-0.030956,-0.134598,0.990417]] 2025-10-28T22:50:26.500Z,1761691826.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988561,-0.150559,0.008840],[0.147887,0.979181,0.139047],[-0.029591,-0.136149,0.990246]] 2025-10-28T22:50:26.903Z,1761691826.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987898,-0.154987,0.006090],[0.152556,0.977994,0.142319],[-0.028014,-0.139668,0.989802]] 2025-10-28T22:50:27.306Z,1761691827.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987354,-0.158500,0.002992],[0.156369,0.976833,0.146100],[-0.026080,-0.143785,0.989265]] 2025-10-28T22:50:27.710Z,1761691827.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987093,-0.160148,-0.000105],[0.158340,0.975847,0.150500],[-0.024000,-0.148574,0.988610]] 2025-10-28T22:50:28.116Z,1761691828.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987079,-0.160208,-0.002770],[0.158709,0.975175,0.154419],[-0.022038,-0.152863,0.988002]] 2025-10-28T22:50:28.519Z,1761691828.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987240,-0.159166,-0.004774],[0.157947,0.974986,0.156384],[-0.020237,-0.155142,0.987685]] 2025-10-28T22:50:28.922Z,1761691828.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987570,-0.157056,-0.006259],[0.156083,0.975192,0.156969],[-0.018549,-0.155995,0.987584]] 2025-10-28T22:50:29.326Z,1761691829.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987922,-0.154761,-0.007732],[0.154051,0.975562,0.156677],[-0.016704,-0.155976,0.987620]] 2025-10-28T22:50:29.732Z,1761691829.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988305,-0.152227,-0.008973],[0.151773,0.976236,0.154690],[-0.014788,-0.154242,0.987922]] 2025-10-28T22:50:30.135Z,1761691830.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988703,-0.149559,-0.009924],[0.149316,0.976989,0.152307],[-0.013083,-0.152068,0.988283]] 2025-10-28T22:50:30.538Z,1761691830.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989044,-0.147244,-0.010574],[0.147155,0.977675,0.149988],[-0.011747,-0.149901,0.988631]] 2025-10-28T22:50:30.942Z,1761691830.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989406,-0.144753,-0.011094],[0.144788,0.978267,0.148425],[-0.010632,-0.148459,0.988862]] 2025-10-28T22:50:31.348Z,1761691831.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989660,-0.142985,-0.011365],[0.143101,0.978835,0.146304],[-0.009795,-0.146417,0.989174]] 2025-10-28T22:50:31.751Z,1761691831.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989814,-0.141889,-0.011619],[0.142069,0.979218,0.144738],[-0.009159,-0.144915,0.989402]] 2025-10-28T22:50:32.155Z,1761691832.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989830,-0.141764,-0.011787],[0.141976,0.979326,0.144093],[-0.008884,-0.144301,0.989494]] 2025-10-28T22:50:32.559Z,1761691832.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989679,-0.142797,-0.012007],[0.143036,0.979298,0.143232],[-0.008695,-0.143471,0.989616]] 2025-10-28T22:50:32.964Z,1761691832.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989399,-0.144671,-0.012676],[0.145000,0.979228,0.141728],[-0.008092,-0.142064,0.989825]] 2025-10-28T22:50:33.367Z,1761691833.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989163,-0.146156,-0.013973],[0.146652,0.978949,0.141955],[-0.007069,-0.142465,0.989775]] 2025-10-28T22:50:33.770Z,1761691833.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988859,-0.148077,-0.015227],[0.148731,0.978615,0.142096],[-0.006140,-0.142778,0.989736]] 2025-10-28T22:50:34.174Z,1761691834.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988569,-0.149813,-0.016973],[0.150693,0.978146,0.143253],[-0.004859,-0.144174,0.989541]] 2025-10-28T22:50:34.580Z,1761691834.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988288,-0.151461,-0.018620],[0.152558,0.977713,0.144234],[-0.003641,-0.145386,0.989368]] 2025-10-28T22:50:34.982Z,1761691834.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988067,-0.152668,-0.020412],[0.154010,0.977309,0.145425],[-0.002253,-0.146833,0.989159]] 2025-10-28T22:50:35.388Z,1761691835.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987913,-0.153433,-0.022069],[0.155010,0.977063,0.146015],[-0.000841,-0.147671,0.989036]] 2025-10-28T22:50:35.791Z,1761691835.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987746,-0.154303,-0.023400],[0.156067,0.977045,0.145006],[0.000488,-0.146881,0.989154]] 2025-10-28T22:50:36.196Z,1761691836.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987549,-0.155340,-0.024812],[0.157298,0.977020,0.143837],[0.001898,-0.145949,0.989290]] 2025-10-28T22:50:37.003Z,1761691837.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987257,-0.156663,-0.027953],[0.159060,0.976919,0.142578],[0.004971,-0.145208,0.989389]] 2025-10-28T22:50:37.409Z,1761691837.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987153,-0.157002,-0.029647],[0.159639,0.976873,0.142249],[0.006628,-0.145154,0.989387]] 2025-10-28T22:50:37.812Z,1761691837.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987099,-0.157026,-0.031283],[0.159902,0.976817,0.142336],[0.008207,-0.145502,0.989324]] 2025-10-28T22:50:38.215Z,1761691838.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987066,-0.156867,-0.033076],[0.160007,0.976774,0.142511],[0.009952,-0.145960,0.989240]] 2025-10-28T22:50:38.619Z,1761691838.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987120,-0.156169,-0.034731],[0.159565,0.976757,0.143122],[0.011573,-0.146821,0.989095]] 2025-10-28T22:50:39.023Z,1761691839.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987364,-0.154360,-0.035840],[0.157946,0.976933,0.143719],[0.012829,-0.147564,0.988969]] 2025-10-28T22:50:39.429Z,1761691839.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987731,-0.151750,-0.036874],[0.155534,0.977130,0.145004],[0.014027,-0.148960,0.988744]] 2025-10-28T22:50:39.830Z,1761691839.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988179,-0.148650,-0.037491],[0.152558,0.977620,0.144866],[0.015118,-0.148873,0.988741]] 2025-10-28T22:50:40.234Z,1761691840.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988714,-0.144971,-0.037782],[0.148969,0.978103,0.145338],[0.015885,-0.149326,0.988660]] 2025-10-28T22:50:40.638Z,1761691840.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989203,-0.141499,-0.038161],[0.145607,0.978464,0.146308],[0.016637,-0.150285,0.988503]] 2025-10-28T22:50:41.044Z,1761691841.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989659,-0.138395,-0.037705],[0.142444,0.979139,0.144900],[0.016865,-0.148773,0.988728]] 2025-10-28T22:50:41.447Z,1761691841.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989995,-0.136040,-0.037449],[0.140055,0.979658,0.143714],[0.017136,-0.147521,0.988910]] 2025-10-28T22:50:41.851Z,1761691841.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990193,-0.134657,-0.037220],[0.138631,0.980049,0.142428],[0.017298,-0.146191,0.989105]] 2025-10-28T22:50:42.254Z,1761691842.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990225,-0.134455,-0.037094],[0.138356,0.980548,0.139222],[0.017654,-0.142993,0.989566]] 2025-10-28T22:50:42.428Z,1761691842.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:50:42.660Z,1761691842.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990131,-0.135101,-0.037250],[0.138972,0.980824,0.136642],[0.018076,-0.140470,0.989920]] 2025-10-28T22:50:43.062Z,1761691843.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989936,-0.136414,-0.037649],[0.140308,0.980790,0.135515],[0.018440,-0.139433,0.990060]] 2025-10-28T22:50:43.432Z,1761691843.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:50:43.467Z,1761691843.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989564,-0.138920,-0.038262],[0.142854,0.980583,0.134349],[0.018855,-0.138413,0.990195]] 2025-10-28T22:50:43.875Z,1761691843.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989137,-0.141791,-0.038770],[0.145748,0.980307,0.133250],[0.019113,-0.137453,0.990324]] 2025-10-28T22:50:44.302Z,1761691844.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988219,-0.147476,-0.040905],[0.151675,0.979416,0.133189],[0.020420,-0.137824,0.990246]] 2025-10-28T22:50:44.683Z,1761691844.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987841,-0.149763,-0.041730],[0.154070,0.978945,0.133897],[0.020799,-0.138699,0.990116]] 2025-10-28T22:50:45.087Z,1761691845.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987550,-0.151477,-0.042425],[0.155892,0.978488,0.135126],[0.021043,-0.140057,0.989920]] 2025-10-28T22:50:45.493Z,1761691845.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987375,-0.152381,-0.043247],[0.156965,0.977919,0.137971],[0.021268,-0.143018,0.989492]] 2025-10-28T22:50:45.893Z,1761691845.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987369,-0.152192,-0.044040],[0.156971,0.977398,0.141611],[0.021493,-0.146735,0.988942]] 2025-10-28T22:50:46.338Z,1761691846.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987456,-0.151530,-0.044382],[0.156404,0.977242,0.143303],[0.021657,-0.148447,0.988683]] 2025-10-28T22:50:46.699Z,1761691846.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987608,-0.150521,-0.044425],[0.155443,0.977185,0.144731],[0.021627,-0.149843,0.988473]] 2025-10-28T22:50:47.103Z,1761691847.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987793,-0.149236,-0.044660],[0.154260,0.977012,0.147144],[0.021675,-0.152237,0.988106]] 2025-10-28T22:50:47.509Z,1761691847.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987927,-0.148268,-0.044915],[0.153348,0.977115,0.147413],[0.022030,-0.152521,0.988055]] 2025-10-28T22:50:47.911Z,1761691847.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987933,-0.148116,-0.045285],[0.153208,0.977438,0.145404],[0.022727,-0.150588,0.988335]] 2025-10-28T22:50:48.346Z,1761691848.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987820,-0.148693,-0.045846],[0.153826,0.977574,0.143829],[0.023431,-0.149130,0.988540]] 2025-10-28T22:50:48.719Z,1761691848.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987587,-0.149996,-0.046616],[0.155163,0.977762,0.141090],[0.024416,-0.146572,0.988899]] 2025-10-28T22:50:49.123Z,1761691849.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987116,-0.152902,-0.047144],[0.157995,0.978002,0.136199],[0.025282,-0.141893,0.989559]] 2025-10-28T22:50:49.528Z,1761691849.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986595,-0.156001,-0.047888],[0.161073,0.978018,0.132422],[0.026177,-0.138360,0.990036]] 2025-10-28T22:50:49.930Z,1761691849.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986168,-0.158522,-0.048417],[0.163585,0.977900,0.130194],[0.026708,-0.136314,0.990306]] 2025-10-28T22:50:50.351Z,1761691850.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985947,-0.159767,-0.048812],[0.164862,0.977741,0.129783],[0.026991,-0.136006,0.990340]] 2025-10-28T22:50:50.739Z,1761691850.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985827,-0.160407,-0.049142],[0.165547,0.977601,0.129963],[0.027194,-0.136257,0.990300]] 2025-10-28T22:50:51.144Z,1761691851.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986054,-0.158901,-0.049482],[0.164177,0.977457,0.132751],[0.027273,-0.139023,0.989914]] 2025-10-28T22:50:51.546Z,1761691851.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986443,-0.156440,-0.049575],[0.161830,0.977455,0.135617],[0.027241,-0.141801,0.989520]] 2025-10-28T22:50:51.951Z,1761691851.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987009,-0.152941,-0.049210],[0.158389,0.977622,0.138447],[0.026935,-0.144443,0.989146]] 2025-10-28T22:50:52.360Z,1761691852.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987650,-0.148985,-0.048491],[0.154425,0.977952,0.140583],[0.026477,-0.146335,0.988881]] 2025-10-28T22:50:52.758Z,1761691852.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988272,-0.145020,-0.047835],[0.150469,0.978203,0.143101],[0.026040,-0.148620,0.988551]] 2025-10-28T22:50:53.163Z,1761691853.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988784,-0.141679,-0.047245],[0.147084,0.978666,0.143452],[0.025913,-0.148792,0.988529]] 2025-10-28T22:50:53.566Z,1761691853.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989141,-0.139329,-0.046770],[0.144712,0.978881,0.144398],[0.025664,-0.149598,0.988414]] 2025-10-28T22:50:53.971Z,1761691853.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989249,-0.138756,-0.046184],[0.143970,0.979482,0.141025],[0.025669,-0.146158,0.988928]] 2025-10-28T22:50:54.376Z,1761691854.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989103,-0.139862,-0.045973],[0.144991,0.979569,0.139366],[0.025542,-0.144513,0.989173]] 2025-10-28T22:50:54.778Z,1761691854.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988806,-0.141748,-0.046577],[0.146900,0.979537,0.137577],[0.026123,-0.142879,0.989395]] 2025-10-28T22:50:55.182Z,1761691855.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988483,-0.143642,-0.047623],[0.148905,0.979344,0.136796],[0.026990,-0.142312,0.989454]] 2025-10-28T22:50:55.587Z,1761691855.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988058,-0.146251,-0.048497],[0.151578,0.979114,0.135496],[0.027668,-0.141229,0.989590]] 2025-10-28T22:50:55.992Z,1761691855.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987700,-0.148554,-0.048797],[0.153917,0.978677,0.136015],[0.027551,-0.141853,0.989504]] 2025-10-28T22:50:56.394Z,1761691856.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987517,-0.149583,-0.049349],[0.155029,0.978431,0.136521],[0.027864,-0.142467,0.989407]] 2025-10-28T22:50:56.798Z,1761691856.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987483,-0.149642,-0.049837],[0.155179,0.978301,0.137280],[0.028213,-0.143296,0.989278]] 2025-10-28T22:50:57.203Z,1761691857.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987492,-0.149484,-0.050137],[0.155098,0.978156,0.138405],[0.028353,-0.144450,0.989106]] 2025-10-28T22:50:57.608Z,1761691857.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987558,-0.149003,-0.050265],[0.154657,0.978144,0.138984],[0.028457,-0.145029,0.989018]] 2025-10-28T22:50:58.010Z,1761691858.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987521,-0.149247,-0.050283],[0.154875,0.978235,0.138094],[0.028578,-0.144158,0.989142]] 2025-10-28T22:50:58.415Z,1761691858.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987517,-0.149206,-0.050468],[0.154851,0.978291,0.137725],[0.028823,-0.143821,0.989184]] 2025-10-28T22:50:58.818Z,1761691858.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987345,-0.150351,-0.050440],[0.155933,0.978350,0.136078],[0.028889,-0.142221,0.989413]] 2025-10-28T22:50:59.224Z,1761691859.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987241,-0.151016,-0.050498],[0.156581,0.978336,0.135427],[0.028952,-0.141606,0.989500]] 2025-10-28T22:50:59.626Z,1761691859.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987016,-0.152492,-0.050450],[0.157987,0.978349,0.133692],[0.028971,-0.139927,0.989738]] 2025-10-28T22:51:00.030Z,1761691860.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986826,-0.153721,-0.050441],[0.159167,0.978328,0.132442],[0.028989,-0.138726,0.989906]] 2025-10-28T22:51:00.435Z,1761691860.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986556,-0.155428,-0.050488],[0.160842,0.978163,0.131630],[0.028926,-0.137981,0.990012]] 2025-10-28T22:51:00.839Z,1761691860.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986365,-0.156569,-0.050693],[0.161991,0.978021,0.131278],[0.029024,-0.137700,0.990049]] 2025-10-28T22:51:01.244Z,1761691861.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986205,-0.157389,-0.051269],[0.162899,0.977799,0.131803],[0.029386,-0.138337,0.989949]] 2025-10-28T22:51:01.646Z,1761691861.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986050,-0.158183,-0.051804],[0.163763,0.977646,0.131871],[0.029787,-0.138515,0.989912]] 2025-10-28T22:51:02.055Z,1761691862.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985869,-0.159096,-0.052441],[0.164770,0.977418,0.132304],[0.030208,-0.139075,0.989821]] 2025-10-28T22:51:02.858Z,1761691862.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985727,-0.159533,-0.053778],[0.165470,0.976953,0.134845],[0.031026,-0.141819,0.989406]] 2025-10-28T22:51:03.262Z,1761691863.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985772,-0.159002,-0.054521],[0.165081,0.976881,0.135836],[0.031662,-0.142904,0.989230]] 2025-10-28T22:51:03.666Z,1761691863.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985968,-0.157526,-0.055258],[0.163785,0.976837,0.137712],[0.032284,-0.144830,0.988930]] 2025-10-28T22:51:04.071Z,1761691864.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986229,-0.155613,-0.056016],[0.162068,0.976835,0.139741],[0.032973,-0.146895,0.988602]] 2025-10-28T22:51:04.475Z,1761691864.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986635,-0.152874,-0.056401],[0.159481,0.976966,0.141784],[0.033427,-0.148884,0.988290]] 2025-10-28T22:51:04.879Z,1761691864.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987069,-0.149873,-0.056849],[0.156648,0.977122,0.143855],[0.033988,-0.150900,0.987965]] 2025-10-28T22:51:05.282Z,1761691865.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987563,-0.146710,-0.056529],[0.153500,0.977485,0.144782],[0.034015,-0.151659,0.987847]] 2025-10-28T22:51:05.688Z,1761691865.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987990,-0.143986,-0.056065],[0.150746,0.977858,0.145150],[0.033924,-0.151858,0.987820]] 2025-10-28T22:51:06.091Z,1761691866.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988311,-0.141992,-0.055487],[0.148676,0.978213,0.144894],[0.033704,-0.151450,0.987890]] 2025-10-28T22:51:06.495Z,1761691866.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988400,-0.141613,-0.054869],[0.148132,0.978622,0.142671],[0.033492,-0.149144,0.988248]] 2025-10-28T22:51:06.900Z,1761691866.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988346,-0.142144,-0.054475],[0.148532,0.978848,0.140694],[0.033324,-0.147146,0.988553]] 2025-10-28T22:51:07.304Z,1761691867.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988098,-0.143915,-0.054314],[0.150209,0.978823,0.139076],[0.033148,-0.145579,0.988791]] 2025-10-28T22:51:07.707Z,1761691867.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987768,-0.146167,-0.054308],[0.152359,0.978829,0.136676],[0.033181,-0.143279,0.989126]] 2025-10-28T22:51:08.110Z,1761691868.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987383,-0.148570,-0.054792],[0.154770,0.978614,0.135501],[0.033489,-0.142271,0.989261]] 2025-10-28T22:51:08.515Z,1761691868.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987082,-0.150198,-0.055771],[0.156504,0.978412,0.134969],[0.034295,-0.141954,0.989279]] 2025-10-28T22:51:08.921Z,1761691868.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986869,-0.151318,-0.056496],[0.157687,0.978343,0.134091],[0.034982,-0.141239,0.989357]] 2025-10-28T22:51:09.323Z,1761691869.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986857,-0.151220,-0.056976],[0.157676,0.978273,0.134614],[0.035381,-0.141828,0.989259]] 2025-10-28T22:51:09.726Z,1761691869.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986685,-0.152153,-0.057460],[0.158566,0.978518,0.131758],[0.036178,-0.139115,0.989615]] 2025-10-28T22:51:10.130Z,1761691870.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986497,-0.153322,-0.057587],[0.159694,0.978514,0.130413],[0.036354,-0.137848,0.989786]] 2025-10-28T22:51:10.534Z,1761691870.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986295,-0.154596,-0.057630],[0.160973,0.978273,0.130648],[0.036181,-0.138134,0.989752]] 2025-10-28T22:51:10.939Z,1761691870.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986050,-0.156104,-0.057771],[0.162482,0.978044,0.130497],[0.036131,-0.138063,0.989764]] 2025-10-28T22:51:11.342Z,1761691871.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985813,-0.157505,-0.058011],[0.163905,0.977809,0.130480],[0.036172,-0.138138,0.989752]] 2025-10-28T22:51:11.748Z,1761691871.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985708,-0.158151,-0.058034],[0.164583,0.977568,0.131425],[0.035947,-0.139098,0.989626]] 2025-10-28T22:51:12.150Z,1761691872.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985633,-0.158444,-0.058510],[0.165053,0.977065,0.134543],[0.035850,-0.142267,0.989179]] 2025-10-28T22:51:12.555Z,1761691872.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985675,-0.157954,-0.059128],[0.164798,0.976564,0.138437],[0.035875,-0.146198,0.988605]] 2025-10-28T22:51:12.960Z,1761691872.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985821,-0.156807,-0.059743],[0.163908,0.976102,0.142683],[0.035941,-0.150452,0.987964]] 2025-10-28T22:51:13.363Z,1761691873.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986062,-0.155102,-0.060217],[0.162406,0.975895,0.145783],[0.036154,-0.153530,0.987482]] 2025-10-28T22:51:13.580Z,1761691873.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:51:13.766Z,1761691873.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986373,-0.152820,-0.060948],[0.160341,0.975911,0.147949],[0.036870,-0.155705,0.987115]] 2025-10-28T22:51:14.170Z,1761691874.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986798,-0.149799,-0.061565],[0.157501,0.976163,0.149329],[0.037728,-0.157054,0.986869]] 2025-10-28T22:51:14.574Z,1761691874.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987219,-0.147023,-0.061503],[0.154719,0.976709,0.148663],[0.038214,-0.156278,0.986974]] 2025-10-28T22:51:14.584Z,1761691874.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:51:14.979Z,1761691874.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987666,-0.143987,-0.061514],[0.151671,0.977367,0.147477],[0.038887,-0.154987,0.987151]] 2025-10-28T22:51:15.384Z,1761691875.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988142,-0.140740,-0.061384],[0.148350,0.978203,0.145295],[0.039597,-0.152678,0.987482]] 2025-10-28T22:51:15.787Z,1761691875.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988575,-0.137888,-0.060872],[0.145348,0.979021,0.142799],[0.039905,-0.150015,0.987878]] 2025-10-28T22:51:16.191Z,1761691876.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988904,-0.135886,-0.060028],[0.143058,0.980005,0.138292],[0.040036,-0.145345,0.988571]] 2025-10-28T22:51:16.595Z,1761691876.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989011,-0.135553,-0.059022],[0.142382,0.980796,0.133289],[0.039820,-0.140228,0.989318]] 2025-10-28T22:51:17.000Z,1761691877.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988850,-0.137049,-0.058252],[0.143641,0.981007,0.130354],[0.039281,-0.137267,0.989755]] 2025-10-28T22:51:17.402Z,1761691877.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988513,-0.139628,-0.057845],[0.146084,0.980847,0.128838],[0.038747,-0.135808,0.989977]] 2025-10-28T22:51:17.807Z,1761691877.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987996,-0.143379,-0.057501],[0.149689,0.980542,0.127005],[0.038172,-0.134088,0.990234]] 2025-10-28T22:51:18.211Z,1761691878.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987416,-0.147289,-0.057574],[0.153538,0.980085,0.125937],[0.037878,-0.133192,0.990366]] 2025-10-28T22:51:19.019Z,1761691879.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986176,-0.154910,-0.058824],[0.161392,0.978406,0.129132],[0.037550,-0.136841,0.989881]] 2025-10-28T22:51:19.423Z,1761691879.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985480,-0.158863,-0.059931],[0.165544,0.977440,0.131170],[0.037741,-0.139187,0.989547]] 2025-10-28T22:51:19.828Z,1761691879.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984813,-0.162464,-0.061227],[0.169348,0.976610,0.132489],[0.038271,-0.140846,0.989292]] 2025-10-28T22:51:20.230Z,1761691880.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984230,-0.165293,-0.062997],[0.172544,0.975563,0.136032],[0.038973,-0.144756,0.988699]] 2025-10-28T22:51:20.634Z,1761691880.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983891,-0.166722,-0.064514],[0.174334,0.974710,0.139818],[0.039572,-0.148813,0.988073]] 2025-10-28T22:51:21.038Z,1761691881.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983772,-0.166906,-0.065842],[0.174847,0.974151,0.143032],[0.040267,-0.152223,0.987526]] 2025-10-28T22:51:21.443Z,1761691881.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983867,-0.165839,-0.067109],[0.174144,0.973708,0.146854],[0.040990,-0.156171,0.986879]] 2025-10-28T22:51:21.848Z,1761691881.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984246,-0.163314,-0.067729],[0.171808,0.973889,0.148400],[0.041725,-0.157698,0.986605]] 2025-10-28T22:51:22.250Z,1761691882.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984798,-0.159878,-0.067905],[0.168498,0.974242,0.149872],[0.042194,-0.159036,0.986371]] 2025-10-28T22:51:22.655Z,1761691882.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985336,-0.156761,-0.067371],[0.165301,0.974892,0.149201],[0.042291,-0.158150,0.986509]] 2025-10-28T22:51:23.060Z,1761691883.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985930,-0.153377,-0.066467],[0.161712,0.975840,0.146922],[0.042327,-0.155603,0.986912]] 2025-10-28T22:51:23.464Z,1761691883.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986569,-0.149839,-0.065042],[0.157779,0.977216,0.141966],[0.042289,-0.150321,0.987732]] 2025-10-28T22:51:23.866Z,1761691883.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987248,-0.145843,-0.063812],[0.153484,0.978409,0.138415],[0.042247,-0.146444,0.988316]] 2025-10-28T22:51:24.274Z,1761691884.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987956,-0.141724,-0.062110],[0.148921,0.979876,0.132909],[0.042024,-0.140557,0.989180]] 2025-10-28T22:51:24.674Z,1761691884.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988642,-0.137588,-0.060469],[0.144421,0.981083,0.128916],[0.041588,-0.136184,0.989810]] 2025-10-28T22:51:25.081Z,1761691885.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989212,-0.134092,-0.058987],[0.140660,0.981912,0.126740],[0.040926,-0.133670,0.990180]] 2025-10-28T22:51:25.484Z,1761691885.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989585,-0.131986,-0.057461],[0.138257,0.982597,0.124047],[0.040088,-0.130699,0.990611]] 2025-10-28T22:51:25.887Z,1761691885.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989668,-0.131858,-0.056301],[0.137930,0.982797,0.122823],[0.039137,-0.129319,0.990830]] 2025-10-28T22:51:26.354Z,1761691886.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988990,-0.137347,-0.055091],[0.143254,0.981933,0.123639],[0.037114,-0.130170,0.990797]] 2025-10-28T22:51:26.362Z,1761691886.362 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050502394637,35.0, +13.9, 0.0,15 2025-10-28T22:51:27.098Z,1761691887.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988378,-0.141683,-0.055086],[0.147592,0.981174,0.124557],[0.036401,-0.131239,0.990682]] 2025-10-28T22:51:27.502Z,1761691887.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987628,-0.146615,-0.055625],[0.152616,0.980205,0.126120],[0.036033,-0.133049,0.990454]] 2025-10-28T22:51:27.906Z,1761691887.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986883,-0.151266,-0.056402],[0.157416,0.979158,0.128331],[0.035814,-0.135527,0.990126]] 2025-10-28T22:51:28.346Z,1761691888.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985775,-0.157524,-0.058596],[0.164119,0.977354,0.133582],[0.036226,-0.141299,0.989304]] 2025-10-28T22:51:29.119Z,1761691889.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985503,-0.158787,-0.059756],[0.165610,0.976826,0.135591],[0.036841,-0.143521,0.988961]] 2025-10-28T22:51:29.529Z,1761691889.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985572,-0.157831,-0.061132],[0.164861,0.976952,0.135596],[0.038322,-0.143718,0.988876]] 2025-10-28T22:51:29.932Z,1761691889.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985679,-0.157113,-0.061255],[0.164074,0.977414,0.133200],[0.038944,-0.141343,0.989194]] 2025-10-28T22:51:30.353Z,1761691890.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985713,-0.156982,-0.061047],[0.163804,0.977832,0.130429],[0.039219,-0.138566,0.989576]] 2025-10-28T22:51:30.739Z,1761691890.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985585,-0.157984,-0.060532],[0.164566,0.978244,0.126317],[0.039259,-0.134458,0.990141]] 2025-10-28T22:51:31.142Z,1761691891.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985268,-0.160103,-0.060113],[0.166449,0.978453,0.122167],[0.039258,-0.130373,0.990687]] 2025-10-28T22:51:31.549Z,1761691891.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984999,-0.161787,-0.060023],[0.168044,0.978389,0.120486],[0.039233,-0.128765,0.990899]] 2025-10-28T22:51:31.948Z,1761691891.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984790,-0.163174,-0.059683],[0.169348,0.978254,0.119750],[0.038845,-0.128036,0.991008]] 2025-10-28T22:51:32.357Z,1761691892.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984501,-0.164939,-0.059603],[0.171057,0.978063,0.118877],[0.038688,-0.127230,0.991118]] 2025-10-28T22:51:32.754Z,1761691892.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984381,-0.165625,-0.059684],[0.171771,0.977869,0.119444],[0.038580,-0.127831,0.991045]] 2025-10-28T22:51:33.161Z,1761691893.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984474,-0.164939,-0.060044],[0.171249,0.977603,0.122339],[0.038521,-0.130722,0.990670]] 2025-10-28T22:51:33.564Z,1761691893.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984616,-0.163971,-0.060381],[0.170374,0.977622,0.123405],[0.038795,-0.131794,0.990518]] 2025-10-28T22:51:33.966Z,1761691893.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984859,-0.162546,-0.060266],[0.169029,0.977578,0.125583],[0.038501,-0.133868,0.990251]] 2025-10-28T22:51:34.370Z,1761691894.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985215,-0.160335,-0.060360],[0.166948,0.977598,0.128179],[0.038457,-0.136361,0.989913]] 2025-10-28T22:51:34.775Z,1761691894.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985667,-0.157509,-0.060427],[0.164229,0.977805,0.130102],[0.038593,-0.138161,0.989658]] 2025-10-28T22:51:35.180Z,1761691895.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986174,-0.154265,-0.060534],[0.161100,0.978071,0.132003],[0.038843,-0.139929,0.989399]] 2025-10-28T22:51:35.582Z,1761691895.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986714,-0.150785,-0.060489],[0.157712,0.978385,0.133753],[0.039014,-0.141516,0.989167]] 2025-10-28T22:51:35.986Z,1761691895.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987227,-0.147717,-0.059692],[0.154537,0.978960,0.133253],[0.038752,-0.140776,0.989283]] 2025-10-28T22:51:36.391Z,1761691896.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987672,-0.144988,-0.059022],[0.151715,0.979473,0.132720],[0.038568,-0.140038,0.989395]] 2025-10-28T22:51:36.406Z,1761691896.406 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050502395637,35.0, 0.0,1503.2, 0 2025-10-28T22:51:36.795Z,1761691896.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988022,-0.142899,-0.058243],[0.149454,0.980101,0.130633],[0.038416,-0.137773,0.989719]] 2025-10-28T22:51:37.198Z,1761691897.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988227,-0.141818,-0.057397],[0.148135,0.980747,0.127246],[0.038247,-0.134250,0.990209]] 2025-10-28T22:51:37.602Z,1761691897.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988289,-0.141749,-0.056494],[0.147837,0.981159,0.124386],[0.037798,-0.131281,0.990624]] 2025-10-28T22:51:38.016Z,1761691898.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988176,-0.142789,-0.055848],[0.148674,0.981399,0.121458],[0.037467,-0.128325,0.991024]] 2025-10-28T22:51:38.420Z,1761691898.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987921,-0.144769,-0.055269],[0.150469,0.981443,0.118864],[0.037036,-0.125744,0.991371]] 2025-10-28T22:51:38.842Z,1761691898.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987513,-0.147768,-0.054608],[0.153298,0.981229,0.117005],[0.036294,-0.123916,0.991629]] 2025-10-28T22:51:39.244Z,1761691899.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987091,-0.150804,-0.053938],[0.156185,0.980930,0.115686],[0.035464,-0.122617,0.991820]] 2025-10-28T22:51:39.647Z,1761691899.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986511,-0.154795,-0.053247],[0.160017,0.980476,0.114286],[0.034517,-0.121265,0.992020]] 2025-10-28T22:51:40.051Z,1761691900.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985763,-0.159543,-0.053071],[0.164721,0.979675,0.114476],[0.033729,-0.121588,0.992007]] 2025-10-28T22:51:40.456Z,1761691900.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985038,-0.163894,-0.053279],[0.169103,0.978814,0.115447],[0.033229,-0.122729,0.991884]] 2025-10-28T22:51:40.861Z,1761691900.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984418,-0.167441,-0.053705],[0.172733,0.977991,0.117031],[0.032927,-0.124484,0.991675]] 2025-10-28T22:51:41.262Z,1761691901.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983958,-0.170033,-0.053998],[0.175409,0.977277,0.118999],[0.032537,-0.126562,0.991425]] 2025-10-28T22:51:41.666Z,1761691901.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983685,-0.171555,-0.054153],[0.176995,0.976784,0.120687],[0.032191,-0.128302,0.991212]] 2025-10-28T22:51:42.070Z,1761691902.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983542,-0.172250,-0.054541],[0.177817,0.976324,0.123178],[0.032032,-0.130849,0.990885]] 2025-10-28T22:51:42.477Z,1761691902.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983553,-0.172120,-0.054767],[0.177773,0.976110,0.124921],[0.031957,-0.132602,0.990654]] 2025-10-28T22:51:42.878Z,1761691902.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983706,-0.171118,-0.055152],[0.176863,0.976146,0.125927],[0.032288,-0.133629,0.990505]] 2025-10-28T22:51:43.282Z,1761691903.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983804,-0.170557,-0.055129],[0.176318,0.976189,0.126358],[0.032265,-0.134031,0.990452]] 2025-10-28T22:51:43.687Z,1761691903.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983895,-0.170049,-0.055085],[0.175816,0.976247,0.126612],[0.032246,-0.134258,0.990422]] 2025-10-28T22:51:44.093Z,1761691904.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983714,-0.171137,-0.054938],[0.176813,0.976314,0.124689],[0.032298,-0.132373,0.990674]] 2025-10-28T22:51:44.495Z,1761691904.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983454,-0.172687,-0.054753],[0.178296,0.976164,0.123750],[0.032078,-0.131464,0.990802]] 2025-10-28T22:51:44.709Z,1761691904.709 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:51:44.899Z,1761691904.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982954,-0.175572,-0.054556],[0.181095,0.975805,0.122516],[0.031725,-0.130307,0.990966]] 2025-10-28T22:51:45.303Z,1761691905.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982370,-0.178684,-0.054964],[0.184223,0.975275,0.122068],[0.031794,-0.130042,0.990999]] 2025-10-28T22:51:45.708Z,1761691905.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981855,-0.181416,-0.055217],[0.186953,0.974819,0.121557],[0.031774,-0.129674,0.991048]] 2025-10-28T22:51:45.712Z,1761691905.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:51:46.110Z,1761691906.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981517,-0.183162,-0.055467],[0.188749,0.974352,0.122521],[0.031603,-0.130726,0.990915]] 2025-10-28T22:51:46.514Z,1761691906.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981454,-0.183329,-0.056025],[0.189083,0.973913,0.125467],[0.031562,-0.133734,0.990515]] 2025-10-28T22:51:46.919Z,1761691906.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981694,-0.181886,-0.056518],[0.187832,0.973688,0.129042],[0.031560,-0.137296,0.990027]] 2025-10-28T22:51:47.324Z,1761691907.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982085,-0.179614,-0.056992],[0.185705,0.973841,0.130948],[0.031982,-0.139186,0.989750]] 2025-10-28T22:51:47.727Z,1761691907.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982679,-0.176214,-0.057364],[0.182472,0.974096,0.133570],[0.032341,-0.141723,0.989378]] 2025-10-28T22:51:48.131Z,1761691908.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983360,-0.172462,-0.057099],[0.178765,0.974575,0.135078],[0.032352,-0.143038,0.989188]] 2025-10-28T22:51:48.535Z,1761691908.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984033,-0.168869,-0.056229],[0.175065,0.975308,0.134632],[0.032105,-0.142326,0.989299]] 2025-10-28T22:51:48.941Z,1761691908.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984673,-0.165450,-0.055179],[0.171497,0.976072,0.133686],[0.031740,-0.141100,0.989486]] 2025-10-28T22:51:49.342Z,1761691909.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985286,-0.162251,-0.053725],[0.167996,0.977212,0.129746],[0.031449,-0.136862,0.990091]] 2025-10-28T22:51:49.746Z,1761691909.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985888,-0.159065,-0.052178],[0.164507,0.978304,0.125931],[0.031015,-0.132737,0.990666]] 2025-10-28T22:51:50.151Z,1761691910.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986414,-0.156238,-0.050770],[0.161421,0.979205,0.122885],[0.030515,-0.129411,0.991121]] 2025-10-28T22:51:50.556Z,1761691910.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986743,-0.154625,-0.049294],[0.159533,0.979910,0.119687],[0.029797,-0.125964,0.991587]] 2025-10-28T22:51:50.959Z,1761691910.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986612,-0.155905,-0.047847],[0.160530,0.980135,0.116469],[0.028738,-0.122591,0.992041]] 2025-10-28T22:51:51.362Z,1761691911.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986039,-0.159798,-0.046806],[0.164189,0.979872,0.113546],[0.027720,-0.119646,0.992430]] 2025-10-28T22:51:51.766Z,1761691911.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985210,-0.164937,-0.046449],[0.169223,0.979140,0.112464],[0.026930,-0.118661,0.992570]] 2025-10-28T22:51:52.172Z,1761691912.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984164,-0.170999,-0.046707],[0.175292,0.978013,0.112972],[0.026362,-0.119370,0.992500]] 2025-10-28T22:51:52.576Z,1761691912.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983004,-0.177326,-0.047523],[0.181732,0.976594,0.115052],[0.026009,-0.121733,0.992222]] 2025-10-28T22:51:52.979Z,1761691912.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981768,-0.183794,-0.048484],[0.188322,0.975134,0.116829],[0.025806,-0.123829,0.991968]] 2025-10-28T22:51:53.383Z,1761691913.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980471,-0.190316,-0.049570],[0.194968,0.973672,0.118113],[0.025786,-0.125470,0.991762]] 2025-10-28T22:51:53.787Z,1761691913.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979115,-0.196877,-0.050720],[0.201678,0.972071,0.120015],[0.025676,-0.127738,0.991476]] 2025-10-28T22:51:54.192Z,1761691914.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977818,-0.202947,-0.051814],[0.207895,0.970517,0.121968],[0.025533,-0.130034,0.991181]] 2025-10-28T22:51:54.594Z,1761691914.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976610,-0.208405,-0.052911],[0.213523,0.968960,0.124593],[0.025303,-0.132977,0.990796]] 2025-10-28T22:51:54.998Z,1761691914.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975624,-0.212719,-0.053931],[0.218006,0.967622,0.127204],[0.025126,-0.135860,0.990409]] 2025-10-28T22:51:55.404Z,1761691915.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974952,-0.215465,-0.055173],[0.220987,0.966491,0.130616],[0.025181,-0.139537,0.989897]] 2025-10-28T22:51:55.809Z,1761691915.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974669,-0.216588,-0.055767],[0.222238,0.965913,0.132751],[0.025114,-0.141782,0.989579]] 2025-10-28T22:51:56.211Z,1761691916.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974825,-0.215691,-0.056515],[0.221552,0.965547,0.136505],[0.025125,-0.145589,0.989026]] 2025-10-28T22:51:56.614Z,1761691916.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975258,-0.213569,-0.057100],[0.219661,0.965273,0.141408],[0.024917,-0.150452,0.988303]] 2025-10-28T22:51:57.019Z,1761691917.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975966,-0.210327,-0.057039],[0.216532,0.965466,0.144877],[0.024597,-0.153746,0.987804]] 2025-10-28T22:51:57.424Z,1761691917.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976803,-0.206434,-0.056928],[0.212743,0.965824,0.148072],[0.024415,-0.156748,0.987337]] 2025-10-28T22:51:57.827Z,1761691917.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977692,-0.202284,-0.056571],[0.208645,0.966334,0.150550],[0.024213,-0.158994,0.986983]] 2025-10-28T22:51:58.231Z,1761691918.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978636,-0.198015,-0.055334],[0.204273,0.966979,0.152395],[0.023330,-0.160442,0.986770]] 2025-10-28T22:51:58.635Z,1761691918.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979603,-0.193754,-0.053275],[0.199724,0.967986,0.152029],[0.022114,-0.159568,0.986939]] 2025-10-28T22:51:59.040Z,1761691919.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980586,-0.189318,-0.051086],[0.194979,0.969048,0.151425],[0.020837,-0.158446,0.987148]] 2025-10-28T22:51:59.443Z,1761691919.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981532,-0.185005,-0.048654],[0.190308,0.970170,0.150180],[0.019419,-0.156666,0.987461]] 2025-10-28T22:51:59.846Z,1761691919.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982435,-0.180810,-0.046143],[0.185745,0.971248,0.148916],[0.017891,-0.154871,0.987773]] 2025-10-28T22:52:00.251Z,1761691920.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983245,-0.177025,-0.043494],[0.181553,0.972417,0.146438],[0.016371,-0.151881,0.988263]] 2025-10-28T22:52:00.655Z,1761691920.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983666,-0.175234,-0.041164],[0.179399,0.973118,0.144422],[0.014750,-0.149447,0.988660]] 2025-10-28T22:52:01.058Z,1761691921.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983546,-0.176465,-0.038708],[0.180198,0.973565,0.140353],[0.012917,-0.145019,0.989345]] 2025-10-28T22:52:01.462Z,1761691921.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983025,-0.179730,-0.036856],[0.183125,0.973487,0.137068],[0.011244,-0.141491,0.989876]] 2025-10-28T22:52:01.584Z,1761691921.584 [RudderServo](ERROR): getPosition uart error serial timeout 2025-10-28T22:52:01.584Z,1761691921.584 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-10-28T22:52:01.584Z,1761691921.584 [RudderServo] Communications Fault, FailCount= 1 2025-10-28T22:52:01.584Z,1761691921.584 [RudderServo](ERROR): Communications Fault 2025-10-28T22:52:01.651Z,1761691921.651 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-10-28T22:52:01.867Z,1761691921.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982214,-0.184389,-0.035453],[0.187506,0.973151,0.133484],[0.009888,-0.137757,0.990417]] 2025-10-28T22:52:01.894Z,1761691921.894 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-10-28T22:52:01.894Z,1761691921.894 [RudderServo](INFO): Powering down 2025-10-28T22:52:02.276Z,1761691922.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981339,-0.189153,-0.034560],[0.192090,0.972460,0.131996],[0.008641,-0.136172,0.990648]] 2025-10-28T22:52:02.675Z,1761691922.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980281,-0.194714,-0.033708],[0.197469,0.971662,0.129922],[0.007455,-0.134016,0.990951]] 2025-10-28T22:52:02.725Z,1761691922.725 [RudderServo](DEBUG): Initializing EZServoServo. 2025-10-28T22:52:02.841Z,1761691922.841 [RudderServo](DEBUG): Initializing RudderServo. 2025-10-28T22:52:02.859Z,1761691922.859 [CBIT](INFO): Clearing failed state for component RudderServo 2025-10-28T22:52:02.859Z,1761691922.859 [RudderServo] No Fault, FailCount= 1 2025-10-28T22:52:03.079Z,1761691923.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979136,-0.200451,-0.033340],[0.203109,0.970455,0.130246],[0.006247,-0.134300,0.990921]] 2025-10-28T22:52:03.485Z,1761691923.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978076,-0.205551,-0.033413],[0.208184,0.969120,0.132156],[0.005216,-0.136215,0.990666]] 2025-10-28T22:52:03.886Z,1761691923.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977267,-0.209353,-0.033473],[0.211968,0.968030,0.134119],[0.004325,-0.138166,0.990400]] 2025-10-28T22:52:04.325Z,1761691924.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976829,-0.211363,-0.033625],[0.213988,0.967297,0.136179],[0.003742,-0.140219,0.990113]] 2025-10-28T22:52:04.694Z,1761691924.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976746,-0.211678,-0.034045],[0.214372,0.966723,0.139612],[0.003359,-0.143663,0.989621]] 2025-10-28T22:52:05.100Z,1761691925.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977052,-0.210224,-0.034281],[0.212980,0.966476,0.143401],[0.002986,-0.147411,0.989071]] 2025-10-28T22:52:05.503Z,1761691925.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977584,-0.207754,-0.034181],[0.210531,0.966547,0.146504],[0.002601,-0.150416,0.988619]] 2025-10-28T22:52:05.906Z,1761691925.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978112,-0.205350,-0.033605],[0.208073,0.966650,0.149306],[0.001824,-0.153030,0.988220]] 2025-10-28T22:52:06.357Z,1761691926.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978795,-0.202174,-0.032954],[0.204839,0.966919,0.152017],[0.001130,-0.155544,0.987828]] 2025-10-28T22:52:06.717Z,1761691926.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979550,-0.198696,-0.031649],[0.201201,0.967505,0.153141],[0.000192,-0.156377,0.987697]] 2025-10-28T22:52:07.119Z,1761691927.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980243,-0.195523,-0.029910],[0.197795,0.968082,0.153928],[-0.001142,-0.156802,0.987629]] 2025-10-28T22:52:07.523Z,1761691927.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980817,-0.192908,-0.027994],[0.194912,0.968701,0.153715],[-0.002535,-0.156223,0.987719]] 2025-10-28T22:52:07.927Z,1761691927.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981324,-0.190636,-0.025702],[0.192318,0.969522,0.151789],[-0.004018,-0.153897,0.988079]] 2025-10-28T22:52:08.350Z,1761691928.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981519,-0.189905,-0.023610],[0.191285,0.970005,0.149998],[-0.005583,-0.151743,0.988404]] 2025-10-28T22:52:08.735Z,1761691928.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981538,-0.189998,-0.022006],[0.191142,0.970194,0.148958],[-0.006951,-0.150414,0.988599]] 2025-10-28T22:52:09.139Z,1761691929.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981154,-0.192135,-0.020536],[0.193060,0.970292,0.145813],[-0.008090,-0.147030,0.989099]] 2025-10-28T22:52:09.543Z,1761691929.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980565,-0.195166,-0.020053],[0.195995,0.969846,0.144860],[-0.008823,-0.145975,0.989249]] 2025-10-28T22:52:09.948Z,1761691929.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979810,-0.198965,-0.019638],[0.199706,0.969302,0.143427],[-0.009502,-0.144453,0.989466]] 2025-10-28T22:52:10.357Z,1761691930.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978915,-0.203310,-0.019787],[0.204025,0.968395,0.143476],[-0.010008,-0.144488,0.989456]] 2025-10-28T22:52:10.754Z,1761691930.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978148,-0.206885,-0.020625],[0.207670,0.967421,0.144810],[-0.010006,-0.145929,0.989245]] 2025-10-28T22:52:11.158Z,1761691931.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977495,-0.209804,-0.022039],[0.210732,0.966259,0.148110],[-0.009779,-0.149421,0.988725]] 2025-10-28T22:52:11.563Z,1761691931.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977176,-0.211155,-0.023241],[0.212217,0.965439,0.151299],[-0.009510,-0.152778,0.988215]] 2025-10-28T22:52:11.974Z,1761691931.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977397,-0.209867,-0.025524],[0.211232,0.964411,0.159035],[-0.008760,-0.160832,0.986943]] 2025-10-28T22:52:12.375Z,1761691932.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977748,-0.208202,-0.025716],[0.209606,0.964506,0.160605],[-0.008635,-0.162421,0.986684]] 2025-10-28T22:52:12.779Z,1761691932.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978294,-0.205649,-0.025484],[0.207048,0.964998,0.160968],[-0.008511,-0.162751,0.986630]] 2025-10-28T22:52:13.184Z,1761691933.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978894,-0.202807,-0.025235],[0.204202,0.965582,0.161096],[-0.008305,-0.162849,0.986616]] 2025-10-28T22:52:13.587Z,1761691933.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979492,-0.199998,-0.024438],[0.201312,0.966397,0.159845],[-0.008352,-0.161486,0.986840]] 2025-10-28T22:52:13.988Z,1761691933.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980060,-0.197304,-0.023533],[0.198520,0.967201,0.158467],[-0.008505,-0.159979,0.987084]] 2025-10-28T22:52:14.390Z,1761691934.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980587,-0.194781,-0.022570],[0.195888,0.967957,0.157122],[-0.008758,-0.158492,0.987321]] 2025-10-28T22:52:14.795Z,1761691934.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981034,-0.192631,-0.021580],[0.193621,0.968611,0.155894],[-0.009127,-0.157116,0.987538]] 2025-10-28T22:52:15.200Z,1761691935.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981503,-0.190328,-0.020688],[0.191210,0.969138,0.155595],[-0.009565,-0.156672,0.987604]] 2025-10-28T22:52:15.602Z,1761691935.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981980,-0.187972,-0.019561],[0.188710,0.969675,0.155303],[-0.010225,-0.156196,0.987673]] 2025-10-28T22:52:15.832Z,1761691935.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:52:16.006Z,1761691936.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982485,-0.185393,-0.018757],[0.186024,0.969987,0.156588],[-0.010836,-0.157335,0.987486]] 2025-10-28T22:52:16.411Z,1761691936.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983010,-0.182701,-0.017642],[0.183193,0.970552,0.156428],[-0.011457,-0.157002,0.987532]] 2025-10-28T22:52:16.816Z,1761691936.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983465,-0.180372,-0.016214],[0.180674,0.971087,0.156036],[-0.012399,-0.156385,0.987618]] 2025-10-28T22:52:16.836Z,1761691936.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:52:17.218Z,1761691937.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983825,-0.178470,-0.015413],[0.178661,0.971335,0.156805],[-0.013013,-0.157022,0.987509]] 2025-10-28T22:52:17.622Z,1761691937.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983907,-0.178128,-0.014041],[0.178126,0.971630,0.155582],[-0.014071,-0.155579,0.987723]] 2025-10-28T22:52:18.027Z,1761691938.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983723,-0.179198,-0.013268],[0.179072,0.971557,0.154950],[-0.014877,-0.154804,0.987833]] 2025-10-28T22:52:18.432Z,1761691938.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983291,-0.181594,-0.012745],[0.181378,0.971343,0.153608],[-0.015515,-0.153353,0.988050]] 2025-10-28T22:52:18.835Z,1761691938.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982621,-0.185228,-0.012139],[0.184912,0.971028,0.151369],[-0.016250,-0.150983,0.988403]] 2025-10-28T22:52:19.239Z,1761691939.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981746,-0.189837,-0.011713],[0.189441,0.970497,0.149156],[-0.016948,-0.148653,0.988744]] 2025-10-28T22:52:19.643Z,1761691939.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980745,-0.194902,-0.012347],[0.194556,0.969607,0.148356],[-0.016944,-0.147902,0.988857]] 2025-10-28T22:52:20.049Z,1761691940.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979721,-0.199922,-0.013329],[0.199667,0.968593,0.148188],[-0.016715,-0.147844,0.988869]] 2025-10-28T22:52:20.451Z,1761691940.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978747,-0.204561,-0.014445],[0.204409,0.967518,0.148750],[-0.016453,-0.148542,0.988769]] 2025-10-28T22:52:20.855Z,1761691940.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977950,-0.208246,-0.015726],[0.208204,0.966338,0.151136],[-0.016277,-0.151077,0.988388]] 2025-10-28T22:52:21.258Z,1761691941.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977473,-0.210396,-0.016728],[0.210425,0.965328,0.154476],[-0.016353,-0.154517,0.987855]] 2025-10-28T22:52:21.664Z,1761691941.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977329,-0.211007,-0.017440],[0.211078,0.964582,0.158201],[-0.016559,-0.158296,0.987253]] 2025-10-28T22:52:22.067Z,1761691942.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977667,-0.209386,-0.018018],[0.209484,0.964063,0.163396],[-0.016842,-0.163521,0.986396]] 2025-10-28T22:52:22.470Z,1761691942.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978380,-0.206002,-0.018325],[0.206126,0.964054,0.167667],[-0.016874,-0.167819,0.985673]] 2025-10-28T22:52:22.876Z,1761691942.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979394,-0.201157,-0.017984],[0.201228,0.964403,0.171563],[-0.017168,-0.171647,0.985009]] 2025-10-28T22:52:23.279Z,1761691943.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980550,-0.195483,-0.017565],[0.195495,0.964812,0.175839],[-0.017427,-0.175853,0.984262]] 2025-10-28T22:52:23.683Z,1761691943.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981791,-0.189243,-0.016539],[0.189136,0.965674,0.178050],[-0.017723,-0.177936,0.983882]] 2025-10-28T22:52:24.086Z,1761691944.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983018,-0.182863,-0.015362],[0.182613,0.966550,0.180094],[-0.018084,-0.179841,0.983529]] 2025-10-28T22:52:24.491Z,1761691944.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984167,-0.176704,-0.013830],[0.176291,0.967811,0.179618],[-0.018354,-0.179212,0.983639]] 2025-10-28T22:52:24.896Z,1761691944.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985114,-0.171479,-0.012073],[0.170880,0.969174,0.177490],[-0.018735,-0.176911,0.984048]] 2025-10-28T22:52:25.298Z,1761691945.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985851,-0.167295,-0.010518],[0.166526,0.970282,0.175563],[-0.019166,-0.174830,0.984412]] 2025-10-28T22:52:25.702Z,1761691945.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986347,-0.164410,-0.009454],[0.163550,0.971237,0.173060],[-0.019271,-0.172244,0.984866]] 2025-10-28T22:52:26.108Z,1761691946.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986638,-0.162726,-0.008132],[0.161734,0.972139,0.169669],[-0.019704,-0.168717,0.985467]] 2025-10-28T22:52:26.512Z,1761691946.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986638,-0.162779,-0.007015],[0.161670,0.972758,0.166146],[-0.020221,-0.165060,0.986076]] 2025-10-28T22:52:26.547Z,1761691946.547 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -117, +661, +:BE, -117, +661, +187,A 2025-10-28T22:52:26.916Z,1761691946.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986404,-0.164227,-0.006092],[0.163006,0.973015,0.163312],[-0.020893,-0.162084,0.986556]] 2025-10-28T22:52:27.318Z,1761691947.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985968,-0.166848,-0.005403],[0.165554,0.973139,0.159976],[-0.021434,-0.158626,0.987106]] 2025-10-28T22:52:27.722Z,1761691947.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985397,-0.170205,-0.004808],[0.168815,0.972885,0.158105],[-0.022233,-0.156607,0.987411]] 2025-10-28T22:52:28.127Z,1761691948.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984777,-0.173769,-0.004350],[0.172302,0.972547,0.156413],[-0.022949,-0.154781,0.987682]] 2025-10-28T22:52:28.532Z,1761691948.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984172,-0.177164,-0.004306],[0.175673,0.972108,0.155389],[-0.023343,-0.153686,0.987844]] 2025-10-28T22:52:28.934Z,1761691948.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983570,-0.180483,-0.004117],[0.178950,0.971700,0.154193],[-0.023829,-0.152397,0.988032]] 2025-10-28T22:52:29.339Z,1761691949.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983178,-0.182602,-0.004176],[0.181021,0.971110,0.155488],[-0.024337,-0.153629,0.987829]] 2025-10-28T22:52:29.743Z,1761691949.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982890,-0.184132,-0.004795],[0.182530,0.970187,0.159439],[-0.024706,-0.157586,0.987196]] 2025-10-28T22:52:30.150Z,1761691950.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982689,-0.185199,-0.004913],[0.183546,0.969630,0.161644],[-0.025173,-0.159748,0.986837]] 2025-10-28T22:52:30.550Z,1761691950.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982616,-0.185583,-0.004989],[0.183906,0.969364,0.162826],[-0.025382,-0.160912,0.986642]] 2025-10-28T22:52:30.954Z,1761691950.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982695,-0.185151,-0.005360],[0.183465,0.968945,0.165788],[-0.025502,-0.163902,0.986147]] 2025-10-28T22:52:31.361Z,1761691951.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982866,-0.184231,-0.005763],[0.182574,0.968777,0.167743],[-0.025320,-0.165921,0.985814]] 2025-10-28T22:52:31.764Z,1761691951.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983177,-0.182558,-0.005945],[0.180911,0.968787,0.169479],[-0.025181,-0.167703,0.985516]] 2025-10-28T22:52:32.167Z,1761691952.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983579,-0.180381,-0.006002],[0.178732,0.968890,0.171191],[-0.025064,-0.169453,0.985219]] 2025-10-28T22:52:32.571Z,1761691952.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984046,-0.177819,-0.005871],[0.176170,0.969247,0.171826],[-0.024864,-0.170119,0.985110]] 2025-10-28T22:52:32.974Z,1761691952.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984561,-0.174952,-0.005619],[0.173298,0.969726,0.172046],[-0.024651,-0.170364,0.985073]] 2025-10-28T22:52:33.380Z,1761691953.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985048,-0.172197,-0.005412],[0.170545,0.970182,0.172225],[-0.024406,-0.170573,0.985043]] 2025-10-28T22:52:33.782Z,1761691953.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985598,-0.169030,-0.005024],[0.167360,0.970739,0.172208],[-0.024231,-0.170569,0.985048]] 2025-10-28T22:52:34.186Z,1761691954.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986058,-0.166350,-0.004236],[0.164628,0.971509,0.170492],[-0.024246,-0.168813,0.985350]] 2025-10-28T22:52:34.590Z,1761691954.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986422,-0.164192,-0.003613],[0.162408,0.971960,0.170052],[-0.024409,-0.168329,0.985429]] 2025-10-28T22:52:34.996Z,1761691954.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986643,-0.162877,-0.002468],[0.161030,0.972949,0.165646],[-0.024579,-0.163831,0.986182]] 2025-10-28T22:52:35.399Z,1761691955.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986685,-0.162631,-0.002051],[0.160753,0.973219,0.164328],[-0.024729,-0.162469,0.986404]] 2025-10-28T22:52:35.803Z,1761691955.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986563,-0.163372,-0.001617],[0.161458,0.973395,0.162586],[-0.024988,-0.160662,0.986693]] 2025-10-28T22:52:36.207Z,1761691956.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986369,-0.164543,-0.001482],[0.162621,0.973389,0.161455],[-0.025124,-0.159495,0.986879]] 2025-10-28T22:52:36.611Z,1761691956.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986070,-0.166328,-0.001401],[0.164411,0.973361,0.159807],[-0.025216,-0.157811,0.987147]] 2025-10-28T22:52:37.016Z,1761691957.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985826,-0.167767,-0.001210],[0.165835,0.973331,0.158513],[-0.025415,-0.156467,0.987356]] 2025-10-28T22:52:37.418Z,1761691957.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985721,-0.168381,-0.001107],[0.166438,0.973313,0.157988],[-0.025525,-0.155916,0.987440]] 2025-10-28T22:52:37.822Z,1761691957.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985780,-0.168039,-0.001001],[0.166075,0.973319,0.158333],[-0.025632,-0.156248,0.987385]] 2025-10-28T22:52:38.227Z,1761691958.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986091,-0.166207,-0.000662],[0.164190,0.973489,0.159254],[-0.025824,-0.157148,0.987237]] 2025-10-28T22:52:38.633Z,1761691958.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986415,-0.164273,-0.000202],[0.162185,0.973681,0.160131],[-0.026108,-0.157989,0.987096]] 2025-10-28T22:52:39.035Z,1761691959.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986890,-0.161396,0.000228],[0.159242,0.973952,0.161430],[-0.026276,-0.159278,0.986884]] 2025-10-28T22:52:39.438Z,1761691959.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987321,-0.158736,0.000962],[0.156523,0.974525,0.160627],[-0.026435,-0.158440,0.987015]] 2025-10-28T22:52:39.842Z,1761691959.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987691,-0.156410,0.001581],[0.154130,0.974913,0.160590],[-0.026660,-0.158370,0.987020]] 2025-10-28T22:52:40.248Z,1761691960.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987974,-0.154603,0.002179],[0.152270,0.975319,0.159897],[-0.026846,-0.157643,0.987131]] 2025-10-28T22:52:40.651Z,1761691960.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988181,-0.153267,0.002814],[0.150853,0.975552,0.159819],[-0.027240,-0.157506,0.987142]] 2025-10-28T22:52:41.054Z,1761691961.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988191,-0.153195,0.003182],[0.150796,0.975983,0.157218],[-0.027191,-0.154881,0.987559]] 2025-10-28T22:52:41.458Z,1761691961.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988176,-0.153276,0.003694],[0.150863,0.976346,0.154880],[-0.027346,-0.152492,0.987926]] 2025-10-28T22:52:41.865Z,1761691961.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988006,-0.154350,0.004477],[0.151830,0.976342,0.153959],[-0.028135,-0.151432,0.988067]] 2025-10-28T22:52:42.272Z,1761691962.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987862,-0.155255,0.004948],[0.152692,0.976415,0.152639],[-0.028530,-0.150030,0.988270]] 2025-10-28T22:52:42.671Z,1761691962.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987665,-0.156497,0.005082],[0.153928,0.976380,0.151618],[-0.028690,-0.148966,0.988426]] 2025-10-28T22:52:43.074Z,1761691963.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987656,-0.156563,0.004834],[0.153987,0.976132,0.153148],[-0.028696,-0.150513,0.988191]] 2025-10-28T22:52:43.480Z,1761691963.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987802,-0.155640,0.004743],[0.153041,0.976023,0.154781],[-0.028720,-0.152167,0.987937]] 2025-10-28T22:52:43.883Z,1761691963.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988079,-0.153882,0.004576],[0.151241,0.975814,0.157838],[-0.028754,-0.155264,0.987454]] 2025-10-28T22:52:44.317Z,1761691964.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988461,-0.151402,0.004725],[0.148728,0.975969,0.159264],[-0.028724,-0.156724,0.987225]] 2025-10-28T22:52:44.691Z,1761691964.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988963,-0.148081,0.004907],[0.145361,0.976142,0.161300],[-0.028675,-0.158807,0.986893]] 2025-10-28T22:52:45.095Z,1761691965.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989562,-0.144025,0.004808],[0.141325,0.976452,0.162998],[-0.028171,-0.160617,0.986615]] 2025-10-28T22:52:45.499Z,1761691965.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990199,-0.139577,0.004952],[0.136870,0.976830,0.164526],[-0.027801,-0.162236,0.986360]] 2025-10-28T22:52:45.902Z,1761691965.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990783,-0.135332,0.005807],[0.132592,0.977710,0.162795],[-0.027709,-0.160525,0.986643]] 2025-10-28T22:52:46.355Z,1761691966.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991247,-0.131857,0.006579],[0.129071,0.978367,0.161676],[-0.027755,-0.159412,0.986822]] 2025-10-28T22:52:46.712Z,1761691966.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991550,-0.129504,0.007632],[0.126698,0.979351,0.157544],[-0.027877,-0.155246,0.987482]] 2025-10-28T22:52:46.956Z,1761691966.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:52:47.130Z,1761691967.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991713,-0.128192,0.008522],[0.125388,0.980207,0.153209],[-0.027994,-0.150870,0.988157]] 2025-10-28T22:52:47.518Z,1761691967.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991583,-0.129122,0.009564],[0.126330,0.981030,0.147038],[-0.028368,-0.144592,0.989085]] 2025-10-28T22:52:47.923Z,1761691967.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991367,-0.130724,0.010180],[0.127958,0.981487,0.142515],[-0.028621,-0.139982,0.989740]] 2025-10-28T22:52:47.960Z,1761691967.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:52:48.347Z,1761691968.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991058,-0.132972,0.011042],[0.130210,0.981896,0.137569],[-0.029135,-0.134901,0.990431]] 2025-10-28T22:52:48.730Z,1761691968.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990618,-0.136172,0.011575],[0.133455,0.982133,0.132684],[-0.029436,-0.129894,0.991091]] 2025-10-28T22:52:49.135Z,1761691969.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990198,-0.139152,0.012068],[0.136394,0.981942,0.131096],[-0.030093,-0.128165,0.991296]] 2025-10-28T22:52:49.540Z,1761691969.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989702,-0.142652,0.011863],[0.139905,0.981504,0.130675],[-0.030284,-0.127670,0.991354]] 2025-10-28T22:52:49.942Z,1761691969.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989191,-0.146188,0.011380],[0.143450,0.980895,0.131407],[-0.030373,-0.128354,0.991263]] 2025-10-28T22:52:50.354Z,1761691970.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988696,-0.149561,0.010544],[0.146862,0.980211,0.132735],[-0.030187,-0.129686,0.991095]] 2025-10-28T22:52:50.751Z,1761691970.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988312,-0.152149,0.009525],[0.149483,0.979460,0.135325],[-0.029919,-0.132320,0.990755]] 2025-10-28T22:52:51.157Z,1761691971.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988145,-0.153283,0.008628],[0.150641,0.978892,0.138121],[-0.029618,-0.135184,0.990378]] 2025-10-28T22:52:51.559Z,1761691971.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988244,-0.152689,0.007759],[0.150060,0.978441,0.141895],[-0.029257,-0.139062,0.989851]] 2025-10-28T22:52:51.963Z,1761691971.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988618,-0.150286,0.006993],[0.147633,0.978016,0.147276],[-0.028973,-0.144567,0.989071]] 2025-10-28T22:52:52.367Z,1761691972.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989275,-0.145914,0.006668],[0.143225,0.977978,0.151808],[-0.028672,-0.149225,0.988387]] 2025-10-28T22:52:52.771Z,1761691972.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990010,-0.140820,0.007016],[0.138037,0.978181,0.155264],[-0.028728,-0.152744,0.987848]] 2025-10-28T22:52:53.176Z,1761691973.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990746,-0.135511,0.007689],[0.132640,0.978660,0.156943],[-0.028792,-0.154471,0.987578]] 2025-10-28T22:52:53.579Z,1761691973.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991483,-0.129916,0.009116],[0.126877,0.979337,0.157482],[-0.029387,-0.154985,0.987480]] 2025-10-28T22:52:53.983Z,1761691973.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992183,-0.124318,0.010877],[0.121105,0.980227,0.156486],[-0.030116,-0.153945,0.987620]] 2025-10-28T22:52:54.387Z,1761691974.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992826,-0.118870,0.012915],[0.115487,0.981297,0.154010],[-0.030980,-0.151413,0.987985]] 2025-10-28T22:52:54.792Z,1761691974.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993405,-0.113733,0.014573],[0.110263,0.982408,0.150718],[-0.031458,-0.148117,0.988469]] 2025-10-28T22:52:55.195Z,1761691975.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993823,-0.109813,0.016050],[0.106294,0.983433,0.146834],[-0.031908,-0.144221,0.989031]] 2025-10-28T22:52:55.599Z,1761691975.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993963,-0.108384,0.017057],[0.104877,0.984225,0.142486],[-0.032231,-0.139837,0.989650]] 2025-10-28T22:52:56.003Z,1761691976.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993781,-0.109915,0.017833],[0.106458,0.984796,0.137268],[-0.032650,-0.134516,0.990373]] 2025-10-28T22:52:56.410Z,1761691976.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993410,-0.113157,0.018217],[0.109763,0.985019,0.133003],[-0.032994,-0.130127,0.990948]] 2025-10-28T22:52:56.810Z,1761691976.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992838,-0.118036,0.018453],[0.114732,0.985088,0.128213],[-0.033312,-0.125177,0.991575]] 2025-10-28T22:52:57.214Z,1761691977.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992165,-0.123584,0.018346],[0.120350,0.984796,0.125274],[-0.033549,-0.122085,0.991953]] 2025-10-28T22:52:57.626Z,1761691977.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990670,-0.135134,0.017679],[0.131922,0.983410,0.124504],[-0.034211,-0.121010,0.992061]] 2025-10-28T22:52:58.028Z,1761691978.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989963,-0.140312,0.016912],[0.137093,0.982472,0.126310],[-0.034339,-0.122724,0.991847]] 2025-10-28T22:52:58.433Z,1761691978.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989394,-0.144383,0.015927],[0.141149,0.981501,0.129357],[-0.034310,-0.125737,0.991470]] 2025-10-28T22:52:58.836Z,1761691978.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989058,-0.146750,0.015117],[0.143464,0.980639,0.133290],[-0.034384,-0.129663,0.990962]] 2025-10-28T22:52:59.238Z,1761691979.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989084,-0.146655,0.014311],[0.143305,0.979977,0.138238],[-0.034297,-0.134678,0.990296]] 2025-10-28T22:52:59.639Z,1761691979.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989308,-0.145169,0.013989],[0.141765,0.979737,0.141483],[-0.034244,-0.137987,0.989842]] 2025-10-28T22:53:00.044Z,1761691980.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989670,-0.142681,0.013990],[0.139201,0.979686,0.144357],[-0.034303,-0.140919,0.989427]] 2025-10-28T22:53:00.447Z,1761691980.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990200,-0.138955,0.013996],[0.135454,0.979958,0.146060],[-0.034011,-0.142733,0.989177]] 2025-10-28T22:53:00.851Z,1761691980.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990759,-0.134876,0.014297],[0.131332,0.980338,0.147273],[-0.033879,-0.144034,0.988993]] 2025-10-28T22:53:01.255Z,1761691981.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991304,-0.130726,0.015044],[0.127096,0.980798,0.147924],[-0.034092,-0.144726,0.988884]] 2025-10-28T22:53:01.661Z,1761691981.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991834,-0.126509,0.016174],[0.122808,0.981552,0.146541],[-0.034414,-0.143358,0.989072]] 2025-10-28T22:53:02.062Z,1761691982.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992269,-0.122871,0.017459],[0.119067,0.982198,0.145291],[-0.035001,-0.142089,0.989235]] 2025-10-28T22:53:02.467Z,1761691982.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992617,-0.119836,0.018713],[0.115929,0.982752,0.144079],[-0.035656,-0.140846,0.989389]] 2025-10-28T22:53:02.870Z,1761691982.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992850,-0.117665,0.020100],[0.113693,0.983441,0.141133],[-0.036374,-0.137839,0.989787]] 2025-10-28T22:53:03.277Z,1761691983.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992942,-0.116694,0.021162],[0.112649,0.983809,0.139394],[-0.037086,-0.136027,0.990011]] 2025-10-28T22:53:03.680Z,1761691983.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992861,-0.117204,0.022154],[0.113113,0.984099,0.136949],[-0.037853,-0.133466,0.990330]] 2025-10-28T22:53:04.083Z,1761691984.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992574,-0.119468,0.022901],[0.115328,0.984090,0.135152],[-0.038683,-0.131507,0.990560]] 2025-10-28T22:53:04.487Z,1761691984.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992194,-0.122495,0.023385],[0.118324,0.983933,0.133699],[-0.039387,-0.129889,0.990746]] 2025-10-28T22:53:04.893Z,1761691984.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991601,-0.127229,0.023260],[0.123045,0.983388,0.133444],[-0.039851,-0.129461,0.990783]] 2025-10-28T22:53:05.295Z,1761691985.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990986,-0.132095,0.022291],[0.127926,0.982525,0.135202],[-0.039761,-0.131132,0.990567]] 2025-10-28T22:53:05.698Z,1761691985.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990391,-0.136711,0.020854],[0.132616,0.981639,0.137109],[-0.039215,-0.133026,0.990336]] 2025-10-28T22:53:06.102Z,1761691986.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989863,-0.140707,0.019316],[0.136721,0.980855,0.138674],[-0.038458,-0.134627,0.990150]] 2025-10-28T22:53:06.509Z,1761691986.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989442,-0.143855,0.017624],[0.140024,0.980226,0.139819],[-0.037389,-0.135875,0.990020]] 2025-10-28T22:53:06.910Z,1761691986.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989249,-0.145387,0.015764],[0.141718,0.979678,0.141938],[-0.036080,-0.138178,0.989750]] 2025-10-28T22:53:07.314Z,1761691987.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989212,-0.145798,0.014213],[0.142251,0.979229,0.144485],[-0.034983,-0.140904,0.989405]] 2025-10-28T22:53:07.719Z,1761691987.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989524,-0.143759,0.013261],[0.140335,0.979369,0.145404],[-0.033891,-0.142020,0.989283]] 2025-10-28T22:53:08.124Z,1761691988.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989927,-0.141035,0.012438],[0.137707,0.979523,0.146875],[-0.032898,-0.143683,0.989077]] 2025-10-28T22:53:08.527Z,1761691988.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990376,-0.137899,0.011833],[0.134684,0.979909,0.147099],[-0.031880,-0.144090,0.989051]] 2025-10-28T22:53:08.930Z,1761691988.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990856,-0.134433,0.011505],[0.131289,0.980306,0.147523],[-0.031111,-0.144663,0.988992]] 2025-10-28T22:53:09.334Z,1761691989.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991306,-0.131087,0.011380],[0.128033,0.980915,0.146334],[-0.030345,-0.143605,0.989170]] 2025-10-28T22:53:09.739Z,1761691989.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991602,-0.128835,0.011307],[0.125876,0.981492,0.144323],[-0.029692,-0.141687,0.989466]] 2025-10-28T22:53:10.144Z,1761691990.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991833,-0.127055,0.011116],[0.124200,0.981997,0.142326],[-0.028999,-0.139783,0.989757]] 2025-10-28T22:53:10.546Z,1761691990.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991965,-0.126014,0.011196],[0.123236,0.982504,0.139640],[-0.028597,-0.137139,0.990139]] 2025-10-28T22:53:10.951Z,1761691990.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991993,-0.125816,0.010957],[0.123104,0.982674,0.138556],[-0.028199,-0.136098,0.990294]] 2025-10-28T22:53:11.356Z,1761691991.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991987,-0.125889,0.010695],[0.123223,0.982716,0.138147],[-0.027901,-0.135722,0.990354]] 2025-10-28T22:53:11.759Z,1761691991.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991887,-0.126693,0.010439],[0.124061,0.982642,0.137929],[-0.027732,-0.135515,0.990387]] 2025-10-28T22:53:12.163Z,1761691992.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991818,-0.127285,0.009830],[0.124728,0.982553,0.137958],[-0.027219,-0.135603,0.990389]] 2025-10-28T22:53:12.566Z,1761691992.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991750,-0.127861,0.009169],[0.125385,0.982450,0.138098],[-0.026666,-0.135809,0.990376]] 2025-10-28T22:53:12.971Z,1761691992.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991712,-0.128203,0.008392],[0.125823,0.982360,0.138341],[-0.025980,-0.136139,0.990349]] 2025-10-28T22:53:13.376Z,1761691993.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991808,-0.127509,0.007649],[0.125248,0.982495,0.137898],[-0.025098,-0.135810,0.990417]] 2025-10-28T22:53:13.779Z,1761691993.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991898,-0.126839,0.007059],[0.124665,0.982571,0.137887],[-0.024425,-0.135890,0.990423]] 2025-10-28T22:53:14.183Z,1761691994.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992010,-0.125976,0.006764],[0.123877,0.982826,0.136776],[-0.023879,-0.134846,0.990579]] 2025-10-28T22:53:14.587Z,1761691994.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992061,-0.125595,0.006359],[0.123559,0.982898,0.136545],[-0.023399,-0.134675,0.990613]] 2025-10-28T22:53:14.990Z,1761691994.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992121,-0.125134,0.006093],[0.123130,0.982902,0.136901],[-0.023119,-0.135072,0.990566]] 2025-10-28T22:53:15.394Z,1761691995.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991952,-0.126486,0.005652],[0.124591,0.983087,0.134228],[-0.022534,-0.132444,0.990934]] 2025-10-28T22:53:15.800Z,1761691995.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991608,-0.129183,0.004974],[0.127421,0.983131,0.131218],[-0.021841,-0.129483,0.991341]] 2025-10-28T22:53:16.203Z,1761691996.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991133,-0.132800,0.004516],[0.131109,0.982910,0.129219],[-0.021599,-0.127481,0.991606]] 2025-10-28T22:53:16.607Z,1761691996.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990530,-0.137268,0.002955],[0.135733,0.982243,0.129523],[-0.020682,-0.127895,0.991572]] 2025-10-28T22:53:17.011Z,1761691997.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989863,-0.142016,0.001463],[0.140641,0.981611,0.129072],[-0.019767,-0.127558,0.991634]] 2025-10-28T22:53:17.416Z,1761691997.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989165,-0.146805,-0.000329],[0.145596,0.980728,0.130289],[-0.018805,-0.128925,0.991476]] 2025-10-28T22:53:17.821Z,1761691997.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988492,-0.151252,-0.002739],[0.150249,0.979513,0.134085],[-0.017598,-0.132953,0.990966]] 2025-10-28T22:53:18.084Z,1761691998.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:53:18.223Z,1761691998.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987959,-0.154626,-0.005304],[0.153875,0.978426,0.137859],[-0.016128,-0.137016,0.990438]] 2025-10-28T22:53:18.626Z,1761691998.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987702,-0.156148,-0.007952],[0.155678,0.977465,0.142574],[-0.014490,-0.142059,0.989752]] 2025-10-28T22:53:19.031Z,1761691999.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987819,-0.155278,-0.010061],[0.155055,0.976852,0.147371],[-0.013056,-0.147136,0.989030]] 2025-10-28T22:53:19.088Z,1761691999.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:53:19.434Z,1761691999.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988174,-0.152905,-0.011528],[0.152876,0.976566,0.151486],[-0.011905,-0.151457,0.988392]] 2025-10-28T22:53:19.838Z,1761691999.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988629,-0.149824,-0.012859],[0.150013,0.976709,0.153416],[-0.010426,-0.153600,0.988078]] 2025-10-28T22:53:20.242Z,1761692000.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989160,-0.146231,-0.013374],[0.146540,0.977190,0.153705],[-0.009407,-0.153999,0.988026]] 2025-10-28T22:53:20.648Z,1761692000.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989708,-0.142487,-0.013273],[0.142854,0.978240,0.150466],[-0.008456,-0.150814,0.988526]] 2025-10-28T22:53:21.050Z,1761692001.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990243,-0.138724,-0.013171],[0.139163,0.979630,0.144773],[-0.007180,-0.145193,0.989377]] 2025-10-28T22:53:21.455Z,1761692001.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990827,-0.134471,-0.013410],[0.135027,0.981111,0.138521],[-0.005470,-0.139061,0.990269]] 2025-10-28T22:53:21.859Z,1761692001.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991465,-0.129619,-0.013979],[0.130322,0.982449,0.133456],[-0.003564,-0.134139,0.990956]] 2025-10-28T22:53:22.267Z,1761692002.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992002,-0.125389,-0.014486],[0.126209,0.983672,0.128302],[-0.001838,-0.129104,0.991629]] 2025-10-28T22:53:22.667Z,1761692002.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992180,-0.123872,-0.015343],[0.124819,0.984287,0.124897],[-0.000369,-0.125836,0.992051]] 2025-10-28T22:53:23.072Z,1761692003.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991938,-0.125692,-0.016114],[0.126719,0.984478,0.121429],[0.000601,-0.122492,0.992469]] 2025-10-28T22:53:23.474Z,1761692003.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991460,-0.129290,-0.017041],[0.130401,0.984236,0.119475],[0.001325,-0.120677,0.992691]] 2025-10-28T22:53:23.878Z,1761692003.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990894,-0.133361,-0.018519],[0.134621,0.983654,0.119594],[0.002267,-0.120998,0.992650]] 2025-10-28T22:53:24.306Z,1761692004.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990279,-0.137594,-0.020370],[0.139054,0.982790,0.121608],[0.003287,-0.123258,0.992369]] 2025-10-28T22:53:24.687Z,1761692004.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989724,-0.141220,-0.022419],[0.142919,0.981891,0.124354],[0.004452,-0.126280,0.991985]] 2025-10-28T22:53:25.092Z,1761692005.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989227,-0.144316,-0.024532],[0.146282,0.980876,0.128388],[0.005534,-0.130594,0.991421]] 2025-10-28T22:53:25.497Z,1761692005.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988824,-0.146724,-0.026431],[0.148939,0.980063,0.131505],[0.006609,-0.133972,0.990963]] 2025-10-28T22:53:25.898Z,1761692005.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988606,-0.147818,-0.028409],[0.150310,0.979514,0.134015],[0.008017,-0.136759,0.990572]] 2025-10-28T22:53:26.335Z,1761692006.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988338,-0.149357,-0.029679],[0.152007,0.979280,0.133808],[0.009078,-0.136759,0.990563]] 2025-10-28T22:53:26.707Z,1761692006.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988143,-0.150401,-0.030881],[0.153205,0.979087,0.133850],[0.010104,-0.136994,0.990520]] 2025-10-28T22:53:27.113Z,1761692007.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987972,-0.151302,-0.031924],[0.154237,0.978976,0.133482],[0.011057,-0.136800,0.990537]] 2025-10-28T22:53:27.515Z,1761692007.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987823,-0.152037,-0.033036],[0.155116,0.978854,0.133357],[0.012063,-0.136858,0.990517]] 2025-10-28T22:53:27.919Z,1761692007.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987770,-0.152087,-0.034336],[0.155349,0.978768,0.133717],[0.013270,-0.137416,0.990425]] 2025-10-28T22:53:28.346Z,1761692008.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987722,-0.152135,-0.035488],[0.155562,0.978666,0.134215],[0.014312,-0.138088,0.990317]] 2025-10-28T22:53:28.728Z,1761692008.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987735,-0.151735,-0.036825],[0.155362,0.978600,0.134925],[0.015564,-0.138992,0.990171]] 2025-10-28T22:53:29.132Z,1761692009.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987730,-0.151483,-0.037989],[0.155270,0.978649,0.134671],[0.016778,-0.138917,0.990162]] 2025-10-28T22:53:29.534Z,1761692009.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987859,-0.150312,-0.039262],[0.154307,0.978650,0.135768],[0.018016,-0.140178,0.989962]] 2025-10-28T22:53:29.938Z,1761692009.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988045,-0.148757,-0.040479],[0.152955,0.978734,0.136693],[0.019284,-0.141250,0.989786]] 2025-10-28T22:53:30.353Z,1761692010.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988264,-0.146941,-0.041757],[0.151342,0.978951,0.136932],[0.020757,-0.141645,0.989700]] 2025-10-28T22:53:30.747Z,1761692010.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988574,-0.144525,-0.042821],[0.149126,0.979124,0.138122],[0.021965,-0.142930,0.989489]] 2025-10-28T22:53:31.152Z,1761692011.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989009,-0.141338,-0.043417],[0.146046,0.979639,0.137761],[0.023063,-0.142588,0.989513]] 2025-10-28T22:53:31.555Z,1761692011.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989434,-0.138176,-0.043895],[0.142965,0.980196,0.137031],[0.024091,-0.141859,0.989594]] 2025-10-28T22:53:31.960Z,1761692011.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989913,-0.134684,-0.043950],[0.139520,0.980653,0.137307],[0.024607,-0.142054,0.989553]] 2025-10-28T22:53:32.362Z,1761692012.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990362,-0.131487,-0.043529],[0.136284,0.981161,0.136930],[0.024705,-0.141542,0.989624]] 2025-10-28T22:53:32.767Z,1761692012.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990710,-0.129092,-0.042769],[0.133769,0.981701,0.135530],[0.024491,-0.139992,0.989850]] 2025-10-28T22:53:33.261Z,1761692013.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990965,-0.127460,-0.041749],[0.131964,0.982204,0.133643],[0.023972,-0.137944,0.990150]] 2025-10-28T22:53:33.576Z,1761692013.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991018,-0.127317,-0.040913],[0.131648,0.982584,0.131141],[0.023504,-0.135349,0.990519]] 2025-10-28T22:53:33.978Z,1761692013.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990849,-0.128826,-0.040266],[0.133005,0.982698,0.128900],[0.022964,-0.133076,0.990840]] 2025-10-28T22:53:34.382Z,1761692014.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990497,-0.131686,-0.039682],[0.135695,0.982725,0.125851],[0.022424,-0.130039,0.991255]] 2025-10-28T22:53:34.786Z,1761692014.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989986,-0.135450,-0.039752],[0.139419,0.982317,0.124965],[0.022122,-0.129256,0.991364]] 2025-10-28T22:53:35.193Z,1761692015.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989314,-0.140139,-0.040237],[0.144113,0.981755,0.124052],[0.022119,-0.128526,0.991459]] 2025-10-28T22:53:35.594Z,1761692015.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988503,-0.145456,-0.041295],[0.149528,0.980931,0.124157],[0.022448,-0.128904,0.991403]] 2025-10-28T22:53:35.999Z,1761692015.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987641,-0.150824,-0.042637],[0.155033,0.980053,0.124339],[0.023033,-0.129413,0.991323]] 2025-10-28T22:53:36.419Z,1761692016.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986754,-0.156025,-0.044424],[0.160463,0.978986,0.125852],[0.023855,-0.131313,0.991054]] 2025-10-28T22:53:36.809Z,1761692016.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985901,-0.160778,-0.046362],[0.165459,0.978021,0.126876],[0.024944,-0.132758,0.990835]] 2025-10-28T22:53:37.215Z,1761692017.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985224,-0.164384,-0.048083],[0.169291,0.977240,0.127838],[0.025974,-0.134089,0.990629]] 2025-10-28T22:53:37.614Z,1761692017.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984816,-0.166313,-0.049776],[0.171475,0.976649,0.129434],[0.027087,-0.136004,0.990338]] 2025-10-28T22:53:38.018Z,1761692018.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984683,-0.166574,-0.051493],[0.172055,0.976145,0.132433],[0.028205,-0.139264,0.989854]] 2025-10-28T22:53:38.424Z,1761692018.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984851,-0.165208,-0.052682],[0.170928,0.976063,0.134482],[0.029204,-0.141450,0.989515]] 2025-10-28T22:53:38.828Z,1761692018.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985174,-0.163018,-0.053446],[0.168919,0.976168,0.136246],[0.029962,-0.143254,0.989232]] 2025-10-28T22:53:39.231Z,1761692019.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985645,-0.159988,-0.053933],[0.166047,0.976382,0.138223],[0.030545,-0.145194,0.988932]] 2025-10-28T22:53:39.635Z,1761692019.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986158,-0.156837,-0.053796],[0.162922,0.976839,0.138716],[0.030794,-0.145560,0.988870]] 2025-10-28T22:53:40.038Z,1761692020.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986757,-0.153044,-0.053744],[0.159204,0.977240,0.140200],[0.031064,-0.146900,0.988663]] 2025-10-28T22:53:40.444Z,1761692020.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987387,-0.149177,-0.053031],[0.155253,0.977951,0.139676],[0.031025,-0.146147,0.988776]] 2025-10-28T22:53:40.846Z,1761692020.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988039,-0.145071,-0.052286],[0.151051,0.978725,0.138857],[0.031030,-0.145094,0.988931]] 2025-10-28T22:53:41.250Z,1761692021.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988693,-0.140849,-0.051466],[0.146671,0.979744,0.136342],[0.031220,-0.142349,0.989324]] 2025-10-28T22:53:41.655Z,1761692021.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989241,-0.137123,-0.050986],[0.142892,0.980386,0.135741],[0.031373,-0.141566,0.989432]] 2025-10-28T22:53:42.060Z,1761692022.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989495,-0.135483,-0.050442],[0.141122,0.980936,0.133601],[0.031379,-0.139316,0.989751]] 2025-10-28T22:53:42.462Z,1761692022.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989429,-0.135985,-0.050385],[0.141550,0.981136,0.131664],[0.031530,-0.137404,0.990013]] 2025-10-28T22:53:42.871Z,1761692022.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989209,-0.137372,-0.050933],[0.142996,0.980947,0.131509],[0.031896,-0.137373,0.990006]] 2025-10-28T22:53:43.276Z,1761692023.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988438,-0.142671,-0.051339],[0.148267,0.980330,0.130270],[0.031744,-0.136376,0.990148]] 2025-10-28T22:53:43.681Z,1761692023.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988020,-0.145421,-0.051660],[0.151051,0.979848,0.130693],[0.031614,-0.136931,0.990076]] 2025-10-28T22:53:44.083Z,1761692024.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987531,-0.148498,-0.052262],[0.154163,0.979458,0.129982],[0.031887,-0.136418,0.990138]] 2025-10-28T22:53:44.486Z,1761692024.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987109,-0.150983,-0.053113],[0.156745,0.979046,0.130000],[0.032372,-0.136649,0.990090]] 2025-10-28T22:53:44.887Z,1761692024.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986699,-0.153331,-0.053983],[0.159196,0.978637,0.130101],[0.032881,-0.136964,0.990030]] 2025-10-28T22:53:45.293Z,1761692025.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986271,-0.155799,-0.054746],[0.161780,0.978086,0.131052],[0.033128,-0.138110,0.989863]] 2025-10-28T22:53:45.694Z,1761692025.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985922,-0.157622,-0.055794],[0.163733,0.977763,0.131042],[0.033898,-0.138332,0.989806]] 2025-10-28T22:53:46.099Z,1761692026.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985613,-0.159154,-0.056889],[0.165412,0.977449,0.131273],[0.034714,-0.138795,0.989713]] 2025-10-28T22:53:46.503Z,1761692026.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985322,-0.160625,-0.057801],[0.166984,0.977237,0.130861],[0.035466,-0.138592,0.989714]] 2025-10-28T22:53:46.907Z,1761692026.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985141,-0.161383,-0.058751],[0.167889,0.977003,0.131447],[0.036186,-0.139358,0.989581]] 2025-10-28T22:53:47.312Z,1761692027.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985090,-0.161397,-0.059572],[0.167987,0.977095,0.130632],[0.037124,-0.138692,0.989640]] 2025-10-28T22:53:47.714Z,1761692027.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985238,-0.160252,-0.060203],[0.166987,0.977100,0.131873],[0.037692,-0.139979,0.989437]] 2025-10-28T22:53:48.119Z,1761692028.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985586,-0.157882,-0.060778],[0.164721,0.977469,0.131991],[0.038570,-0.140100,0.989386]] 2025-10-28T22:53:48.523Z,1761692028.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986090,-0.154631,-0.060951],[0.161565,0.977843,0.133114],[0.039017,-0.141110,0.989225]] 2025-10-28T22:53:48.929Z,1761692028.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986702,-0.150694,-0.060907],[0.157740,0.978175,0.135246],[0.039197,-0.143055,0.988938]] 2025-10-28T22:53:49.208Z,1761692029.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:53:49.330Z,1761692029.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987332,-0.146785,-0.060250],[0.153734,0.978940,0.134323],[0.039264,-0.141884,0.989104]] 2025-10-28T22:53:49.735Z,1761692029.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987970,-0.142852,-0.059230],[0.149644,0.979732,0.133158],[0.039008,-0.140420,0.989323]] 2025-10-28T22:53:50.139Z,1761692030.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988565,-0.139318,-0.057698],[0.145856,0.980544,0.131378],[0.038272,-0.138292,0.989652]] 2025-10-28T22:53:50.212Z,1761692030.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:53:50.544Z,1761692030.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989052,-0.136515,-0.056035],[0.142777,0.981238,0.129564],[0.037296,-0.136146,0.989986]] 2025-10-28T22:53:50.569Z,1761692030.569 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T22:53:50.947Z,1761692030.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989345,-0.135016,-0.054478],[0.141016,0.981713,0.127880],[0.036216,-0.134200,0.990292]] 2025-10-28T22:53:51.350Z,1761692031.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989353,-0.135616,-0.052803],[0.141277,0.982078,0.124757],[0.034938,-0.130888,0.990781]] 2025-10-28T22:53:51.754Z,1761692031.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988969,-0.138530,-0.052437],[0.144072,0.981854,0.123315],[0.034403,-0.129510,0.990981]] 2025-10-28T22:53:52.160Z,1761692032.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988276,-0.143403,-0.052407],[0.148875,0.981251,0.122406],[0.033871,-0.128773,0.991095]] 2025-10-28T22:53:52.562Z,1761692032.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987414,-0.149209,-0.052438],[0.154625,0.980427,0.121873],[0.033227,-0.128448,0.991159]] 2025-10-28T22:53:52.966Z,1761692032.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986399,-0.155613,-0.052934],[0.161067,0.979319,0.122438],[0.032786,-0.129298,0.991064]] 2025-10-28T22:53:53.370Z,1761692033.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985262,-0.162343,-0.053876],[0.167926,0.977953,0.124130],[0.032536,-0.131347,0.990802]] 2025-10-28T22:53:53.776Z,1761692033.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984126,-0.168696,-0.055108],[0.174488,0.976438,0.126974],[0.032390,-0.134575,0.990374]] 2025-10-28T22:53:54.179Z,1761692034.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983082,-0.174240,-0.056477],[0.180282,0.974954,0.130242],[0.032369,-0.138220,0.989872]] 2025-10-28T22:53:54.583Z,1761692034.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982390,-0.177630,-0.057950],[0.183960,0.973815,0.133581],[0.032705,-0.141889,0.989342]] 2025-10-28T22:53:54.987Z,1761692034.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982148,-0.178611,-0.059022],[0.185194,0.973130,0.136829],[0.032997,-0.145316,0.988835]] 2025-10-28T22:53:55.393Z,1761692035.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982289,-0.177579,-0.059782],[0.184378,0.972883,0.139653],[0.033361,-0.148202,0.988394]] 2025-10-28T22:53:55.795Z,1761692035.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982688,-0.175292,-0.059973],[0.182182,0.973124,0.140854],[0.033670,-0.149342,0.988212]] 2025-10-28T22:53:56.198Z,1761692036.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983204,-0.172455,-0.059749],[0.179358,0.973572,0.141378],[0.033789,-0.149720,0.988151]] 2025-10-28T22:53:56.602Z,1761692036.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983794,-0.169287,-0.059089],[0.176078,0.974355,0.140103],[0.033856,-0.148237,0.988372]] 2025-10-28T22:53:57.008Z,1761692037.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984513,-0.165525,-0.057758],[0.172065,0.975448,0.137457],[0.033588,-0.145267,0.988822]] 2025-10-28T22:53:57.410Z,1761692037.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985311,-0.161281,-0.056134],[0.167545,0.976567,0.135078],[0.033033,-0.142499,0.989244]] 2025-10-28T22:53:57.815Z,1761692037.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986139,-0.156787,-0.054288],[0.162780,0.977576,0.133596],[0.032124,-0.140581,0.989548]] 2025-10-28T22:53:58.218Z,1761692038.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986752,-0.153496,-0.052539],[0.159252,0.978243,0.132965],[0.030986,-0.139570,0.989727]] 2025-10-28T22:53:58.622Z,1761692038.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987055,-0.151962,-0.051286],[0.157520,0.978686,0.131760],[0.030170,-0.138133,0.989954]] 2025-10-28T22:53:59.026Z,1761692039.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987072,-0.152078,-0.050600],[0.157529,0.978734,0.131392],[0.029542,-0.137665,0.990038]] 2025-10-28T22:53:59.430Z,1761692039.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986910,-0.153308,-0.050060],[0.158674,0.978550,0.131384],[0.028844,-0.137607,0.990067]] 2025-10-28T22:53:59.836Z,1761692039.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986682,-0.154766,-0.050062],[0.160151,0.978164,0.132466],[0.028468,-0.138719,0.989922]] 2025-10-28T22:54:00.239Z,1761692040.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986476,-0.155940,-0.050477],[0.161433,0.977668,0.134551],[0.028368,-0.140880,0.989620]] 2025-10-28T22:54:00.643Z,1761692040.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986156,-0.157722,-0.051187],[0.163287,0.977415,0.134151],[0.028872,-0.140652,0.989638]] 2025-10-28T22:54:01.047Z,1761692041.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985925,-0.158982,-0.051733],[0.164657,0.976977,0.135659],[0.028975,-0.142268,0.989404]] 2025-10-28T22:54:01.456Z,1761692041.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985786,-0.159675,-0.052244],[0.165451,0.976680,0.136830],[0.029178,-0.143529,0.989216]] 2025-10-28T22:54:01.855Z,1761692041.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985687,-0.160235,-0.052401],[0.166039,0.976533,0.137168],[0.029192,-0.143905,0.989161]] 2025-10-28T22:54:02.258Z,1761692042.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985643,-0.160563,-0.052218],[0.166356,0.976393,0.137780],[0.028863,-0.144488,0.989085]] 2025-10-28T22:54:02.662Z,1761692042.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985671,-0.160451,-0.052031],[0.166242,0.976293,0.138622],[0.028556,-0.145285,0.988978]] 2025-10-28T22:54:03.067Z,1761692043.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985731,-0.160258,-0.051506],[0.165937,0.976529,0.137316],[0.028291,-0.143904,0.989187]] 2025-10-28T22:54:03.472Z,1761692043.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985747,-0.160410,-0.050709],[0.165942,0.976680,0.136231],[0.027674,-0.142704,0.989378]] 2025-10-28T22:54:03.874Z,1761692043.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985765,-0.160542,-0.049945],[0.165982,0.976582,0.136882],[0.026800,-0.143224,0.989327]] 2025-10-28T22:54:04.290Z,1761692044.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985675,-0.161331,-0.049167],[0.166610,0.976693,0.135320],[0.026190,-0.141573,0.989581]] 2025-10-28T22:54:04.683Z,1761692044.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985432,-0.163065,-0.048307],[0.168190,0.976517,0.134638],[0.025218,-0.140802,0.989717]] 2025-10-28T22:54:05.087Z,1761692045.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985138,-0.164885,-0.048125],[0.169969,0.976205,0.134668],[0.024775,-0.140847,0.989721]] 2025-10-28T22:54:05.491Z,1761692045.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984787,-0.167004,-0.048006],[0.172048,0.975865,0.134491],[0.024387,-0.140704,0.989751]] 2025-10-28T22:54:05.894Z,1761692045.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984441,-0.168970,-0.048214],[0.174041,0.975419,0.135158],[0.024191,-0.141447,0.989650]] 2025-10-28T22:54:06.323Z,1761692046.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984103,-0.170796,-0.048679],[0.175986,0.974669,0.138018],[0.023873,-0.144391,0.989233]] 2025-10-28T22:54:06.704Z,1761692046.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983832,-0.172212,-0.049170],[0.177511,0.974087,0.140157],[0.023759,-0.146619,0.988908]] 2025-10-28T22:54:07.106Z,1761692047.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983785,-0.172321,-0.049726],[0.177770,0.973623,0.143026],[0.023768,-0.149547,0.988469]] 2025-10-28T22:54:07.510Z,1761692047.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983889,-0.171598,-0.050171],[0.177219,0.973123,0.147051],[0.023589,-0.153574,0.987856]] 2025-10-28T22:54:07.915Z,1761692047.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984183,-0.169869,-0.050276],[0.175549,0.973272,0.148071],[0.023780,-0.154554,0.987698]] 2025-10-28T22:54:08.345Z,1761692048.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984628,-0.167134,-0.050726],[0.172949,0.973526,0.149451],[0.024404,-0.155927,0.987467]] 2025-10-28T22:54:08.722Z,1761692048.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985202,-0.163902,-0.050123],[0.169667,0.974057,0.149756],[0.024278,-0.156045,0.987452]] 2025-10-28T22:54:09.127Z,1761692049.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985844,-0.160311,-0.049117],[0.165908,0.975025,0.147649],[0.024220,-0.153708,0.987819]] 2025-10-28T22:54:09.530Z,1761692049.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986497,-0.156493,-0.048300],[0.161968,0.975926,0.146068],[0.024278,-0.151918,0.988095]] 2025-10-28T22:54:09.936Z,1761692049.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987172,-0.152486,-0.047313],[0.157795,0.976966,0.143662],[0.024317,-0.149285,0.988495]] 2025-10-28T22:54:10.352Z,1761692050.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987768,-0.148937,-0.046170],[0.154017,0.978137,0.139741],[0.024348,-0.145143,0.989111]] 2025-10-28T22:54:10.742Z,1761692050.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988087,-0.147230,-0.044804],[0.152023,0.979066,0.135349],[0.023939,-0.140548,0.989784]] 2025-10-28T22:54:11.147Z,1761692051.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988139,-0.147280,-0.043472],[0.151774,0.979758,0.130533],[0.023367,-0.135582,0.990490]] 2025-10-28T22:54:11.552Z,1761692051.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987966,-0.148743,-0.042412],[0.153008,0.979984,0.127360],[0.022620,-0.132316,0.990949]] 2025-10-28T22:54:11.955Z,1761692051.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987561,-0.151604,-0.041712],[0.155704,0.979850,0.125097],[0.021907,-0.130036,0.991267]] 2025-10-28T22:54:12.358Z,1761692052.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987071,-0.154853,-0.041365],[0.158890,0.979293,0.125454],[0.021082,-0.130404,0.991237]] 2025-10-28T22:54:12.762Z,1761692052.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986433,-0.158908,-0.041218],[0.162880,0.978723,0.124782],[0.020512,-0.129803,0.991328]] 2025-10-28T22:54:13.168Z,1761692053.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985740,-0.163081,-0.041497],[0.167097,0.977757,0.126769],[0.019901,-0.131896,0.991064]] 2025-10-28T22:54:13.571Z,1761692053.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985060,-0.166932,-0.042301],[0.171068,0.976780,0.128982],[0.019788,-0.134291,0.990744]] 2025-10-28T22:54:13.974Z,1761692053.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984462,-0.170156,-0.043382],[0.174471,0.975778,0.131972],[0.019875,-0.137490,0.990304]] 2025-10-28T22:54:14.379Z,1761692054.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984111,-0.171858,-0.044613],[0.176390,0.975021,0.134986],[0.020300,-0.140711,0.989843]] 2025-10-28T22:54:14.785Z,1761692054.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983990,-0.172216,-0.045886],[0.177003,0.974390,0.138684],[0.020827,-0.144585,0.989273]] 2025-10-28T22:54:15.187Z,1761692055.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984166,-0.170915,-0.046958],[0.175918,0.974276,0.140853],[0.021676,-0.146884,0.988916]] 2025-10-28T22:54:15.591Z,1761692055.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984454,-0.168971,-0.047944],[0.174207,0.974144,0.143856],[0.022397,-0.149971,0.988437]] 2025-10-28T22:54:15.994Z,1761692055.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984928,-0.166099,-0.048245],[0.171474,0.974225,0.146570],[0.022657,-0.152634,0.988023]] 2025-10-28T22:54:16.399Z,1761692056.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985385,-0.163448,-0.047973],[0.168845,0.974449,0.148124],[0.022537,-0.154060,0.987805]] 2025-10-28T22:54:16.805Z,1761692056.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985960,-0.160121,-0.047381],[0.165497,0.974804,0.149563],[0.022239,-0.155304,0.987616]] 2025-10-28T22:54:17.206Z,1761692057.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986673,-0.156160,-0.045729],[0.161317,0.975557,0.149219],[0.021310,-0.154608,0.987746]] 2025-10-28T22:54:17.611Z,1761692057.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987337,-0.152426,-0.043954],[0.157372,0.976034,0.150308],[0.019989,-0.155322,0.987662]] 2025-10-28T22:54:18.015Z,1761692058.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987959,-0.148996,-0.041680],[0.153600,0.976871,0.148762],[0.018551,-0.153373,0.987994]] 2025-10-28T22:54:18.421Z,1761692058.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988371,-0.146873,-0.039376],[0.151114,0.977555,0.146801],[0.016931,-0.151045,0.988382]] 2025-10-28T22:54:18.824Z,1761692058.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988571,-0.146045,-0.037404],[0.149968,0.978012,0.144918],[0.015417,-0.148871,0.988736]] 2025-10-28T22:54:19.226Z,1761692059.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988529,-0.146743,-0.035729],[0.150362,0.978451,0.141508],[0.014194,-0.145257,0.989292]] 2025-10-28T22:54:19.630Z,1761692059.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988322,-0.148429,-0.034470],[0.151809,0.978647,0.138576],[0.013165,-0.142191,0.989752]] 2025-10-28T22:54:20.036Z,1761692060.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987861,-0.151630,-0.033751],[0.154849,0.978489,0.136313],[0.012356,-0.139884,0.990091]] 2025-10-28T22:54:20.333Z,1761692060.333 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:54:20.438Z,1761692060.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987305,-0.155233,-0.033644],[0.158373,0.978268,0.133825],[0.012138,-0.137455,0.990434]] 2025-10-28T22:54:20.843Z,1761692060.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986740,-0.158822,-0.033450],[0.161878,0.977977,0.131744],[0.011790,-0.135412,0.990719]] 2025-10-28T22:54:21.246Z,1761692061.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986362,-0.161165,-0.033388],[0.164208,0.977399,0.133147],[0.011175,-0.136813,0.990534]] 2025-10-28T22:54:21.336Z,1761692061.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:54:21.652Z,1761692061.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986238,-0.161943,-0.033295],[0.164990,0.976946,0.135476],[0.010588,-0.139105,0.990221]] 2025-10-28T22:54:22.054Z,1761692062.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986368,-0.161227,-0.032926],[0.164245,0.976877,0.136873],[0.010098,-0.140415,0.990041]] 2025-10-28T22:54:22.458Z,1761692062.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986787,-0.158834,-0.031979],[0.161764,0.976957,0.139238],[0.009126,-0.142571,0.989742]] 2025-10-28T22:54:22.863Z,1761692062.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987436,-0.154948,-0.031013],[0.157814,0.977017,0.143294],[0.008097,-0.146388,0.989194]] 2025-10-28T22:54:23.268Z,1761692063.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988053,-0.151179,-0.029943],[0.153947,0.977253,0.145870],[0.007210,-0.148736,0.988851]] 2025-10-28T22:54:23.671Z,1761692063.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988749,-0.146918,-0.028103],[0.149471,0.977657,0.147801],[0.005761,-0.150339,0.988618]] 2025-10-28T22:54:24.075Z,1761692064.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989373,-0.143136,-0.025554],[0.145349,0.978287,0.147742],[0.003852,-0.149887,0.988696]] 2025-10-28T22:54:24.479Z,1761692064.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989873,-0.140056,-0.023146],[0.141937,0.979114,0.145566],[0.002275,-0.147377,0.989078]] 2025-10-28T22:54:24.885Z,1761692064.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990126,-0.138578,-0.021114],[0.140176,0.979553,0.144316],[0.000683,-0.145851,0.989306]] 2025-10-28T22:54:25.286Z,1761692065.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990178,-0.138469,-0.019330],[0.139810,0.980002,0.141599],[-0.000664,-0.142910,0.989735]] 2025-10-28T22:54:25.690Z,1761692065.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990078,-0.139350,-0.018072],[0.140506,0.980203,0.139498],[-0.001724,-0.140653,0.990057]] 2025-10-28T22:54:26.094Z,1761692066.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989806,-0.141369,-0.017292],[0.142402,0.980286,0.136972],[-0.002412,-0.138038,0.990424]] 2025-10-28T22:54:26.501Z,1761692066.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989490,-0.143583,-0.017125],[0.144576,0.980144,0.135707],[-0.002700,-0.136756,0.990601]] 2025-10-28T22:54:26.902Z,1761692066.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989136,-0.146000,-0.017135],[0.146971,0.979778,0.135777],[-0.003035,-0.136821,0.990591]] 2025-10-28T22:54:27.306Z,1761692067.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988879,-0.147768,-0.016809],[0.148679,0.979588,0.135282],[-0.003524,-0.136277,0.990665]] 2025-10-28T22:54:27.711Z,1761692067.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988766,-0.148536,-0.016681],[0.149423,0.979475,0.135280],[-0.003756,-0.136253,0.990667]] 2025-10-28T22:54:28.120Z,1761692068.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988842,-0.148023,-0.016739],[0.148907,0.979014,0.139133],[-0.004207,-0.140073,0.990132]] 2025-10-28T22:54:28.526Z,1761692068.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989218,-0.145632,-0.015478],[0.146352,0.979107,0.141174],[-0.005405,-0.141917,0.989864]] 2025-10-28T22:54:28.927Z,1761692068.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989443,-0.144175,-0.014679],[0.144790,0.979170,0.142347],[-0.006150,-0.142969,0.989708]] 2025-10-28T22:54:29.331Z,1761692069.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989779,-0.141932,-0.013896],[0.142446,0.979264,0.144053],[-0.006838,-0.144560,0.989472]] 2025-10-28T22:54:29.735Z,1761692069.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990050,-0.140139,-0.012699],[0.140506,0.979665,0.143228],[-0.007631,-0.143587,0.989608]] 2025-10-28T22:54:30.138Z,1761692070.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990163,-0.139443,-0.011556],[0.139669,0.980051,0.141399],[-0.008392,-0.141622,0.989885]] 2025-10-28T22:54:30.539Z,1761692070.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990159,-0.139542,-0.010604],[0.139639,0.980160,0.140665],[-0.009235,-0.140761,0.990000]] 2025-10-28T22:54:30.943Z,1761692070.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989980,-0.140857,-0.009917],[0.140852,0.980087,0.139962],[-0.009995,-0.139956,0.990107]] 2025-10-28T22:54:31.347Z,1761692071.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989729,-0.142652,-0.009363],[0.142562,0.979993,0.138888],[-0.010637,-0.138796,0.990264]] 2025-10-28T22:54:31.752Z,1761692071.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989460,-0.144523,-0.009038],[0.144374,0.979777,0.138538],[-0.011167,-0.138383,0.990316]] 2025-10-28T22:54:32.155Z,1761692072.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989254,-0.145937,-0.008893],[0.145747,0.979495,0.139093],[-0.011588,-0.138895,0.990239]] 2025-10-28T22:54:32.559Z,1761692072.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989088,-0.147061,-0.008849],[0.146847,0.979236,0.139759],[-0.011887,-0.139534,0.990146]] 2025-10-28T22:54:32.963Z,1761692072.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989078,-0.147136,-0.008643],[0.146874,0.979022,0.141223],[-0.012317,-0.140950,0.989940]] 2025-10-28T22:54:33.368Z,1761692073.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989204,-0.146300,-0.008457],[0.145985,0.978756,0.143964],[-0.012785,-0.143644,0.989547]] 2025-10-28T22:54:33.771Z,1761692073.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989440,-0.144703,-0.008369],[0.144376,0.978797,0.145299],[-0.012834,-0.144973,0.989352]] 2025-10-28T22:54:34.174Z,1761692074.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989777,-0.142382,-0.008245],[0.142041,0.978903,0.146881],[-0.012843,-0.146551,0.989120]] 2025-10-28T22:54:34.579Z,1761692074.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990201,-0.139440,-0.007589],[0.139017,0.979132,0.148242],[-0.013240,-0.147844,0.988922]] 2025-10-28T22:54:34.985Z,1761692074.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990675,-0.136082,-0.006665],[0.135545,0.979453,0.149330],[-0.013793,-0.148841,0.988765]] 2025-10-28T22:54:35.387Z,1761692075.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991138,-0.132723,-0.005525],[0.132047,0.979845,0.149892],[-0.014481,-0.149293,0.988687]] 2025-10-28T22:54:35.791Z,1761692075.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991592,-0.129337,-0.004117],[0.128518,0.980601,0.148003],[-0.015105,-0.147287,0.988978]] 2025-10-28T22:54:36.194Z,1761692076.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991997,-0.126223,-0.003099],[0.125300,0.981125,0.147287],[-0.015551,-0.146496,0.989089]] 2025-10-28T22:54:36.600Z,1761692076.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992392,-0.123099,-0.001978],[0.122084,0.981886,0.144899],[-0.015895,-0.144038,0.989444]] 2025-10-28T22:54:37.002Z,1761692077.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992669,-0.120860,-0.001063],[0.119776,0.982512,0.142564],[-0.016186,-0.141646,0.989785]] 2025-10-28T22:54:37.406Z,1761692077.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992743,-0.120252,-0.000050],[0.119112,0.983273,0.137795],[-0.016521,-0.136801,0.990461]] 2025-10-28T22:54:37.811Z,1761692077.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992590,-0.121510,0.000514],[0.120348,0.983671,0.133822],[-0.016767,-0.132768,0.991005]] 2025-10-28T22:54:38.218Z,1761692078.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992292,-0.123919,0.000827],[0.122756,0.983855,0.130233],[-0.016952,-0.129127,0.991483]] 2025-10-28T22:54:38.618Z,1761692078.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991868,-0.127271,0.000510],[0.126145,0.983607,0.128862],[-0.016902,-0.127750,0.991662]] 2025-10-28T22:54:39.022Z,1761692079.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991375,-0.131054,0.000189],[0.129950,0.983210,0.128105],[-0.016974,-0.126975,0.991761]] 2025-10-28T22:54:39.427Z,1761692079.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990840,-0.135041,-0.000336],[0.133951,0.982517,0.129297],[-0.017131,-0.128157,0.991606]] 2025-10-28T22:54:39.832Z,1761692079.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990334,-0.138701,-0.000593],[0.137577,0.981743,0.131348],[-0.017636,-0.130160,0.991336]] 2025-10-28T22:54:40.235Z,1761692080.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989879,-0.141912,-0.000729],[0.140698,0.980713,0.135671],[-0.018538,-0.134400,0.990754]] 2025-10-28T22:54:40.638Z,1761692080.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989603,-0.143827,-0.000658],[0.142504,0.979855,0.139916],[-0.019479,-0.138555,0.990163]] 2025-10-28T22:54:41.042Z,1761692081.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989564,-0.144091,-0.000453],[0.142646,0.979186,0.144384],[-0.020361,-0.142941,0.989522]] 2025-10-28T22:54:41.471Z,1761692081.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989716,-0.143045,-0.000119],[0.141465,0.978656,0.149062],[-0.021206,-0.147546,0.988828]] 2025-10-28T22:54:41.851Z,1761692081.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990052,-0.140698,0.000604],[0.138969,0.978541,0.152138],[-0.021996,-0.150541,0.988359]] 2025-10-28T22:54:42.255Z,1761692082.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990416,-0.138116,0.001076],[0.136266,0.978363,0.155681],[-0.022555,-0.154043,0.987807]] 2025-10-28T22:54:42.658Z,1761692082.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990828,-0.135124,0.001251],[0.133245,0.978504,0.157402],[-0.022493,-0.155791,0.987534]] 2025-10-28T22:54:43.064Z,1761692083.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991167,-0.132602,0.002104],[0.130641,0.978994,0.156536],[-0.022817,-0.154879,0.987670]] 2025-10-28T22:54:43.466Z,1761692083.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991449,-0.130464,0.002700],[0.128429,0.979227,0.156910],[-0.023115,-0.155221,0.987609]] 2025-10-28T22:54:43.870Z,1761692083.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991583,-0.129423,0.003523],[0.127329,0.979746,0.154550],[-0.023454,-0.152801,0.987979]] 2025-10-28T22:54:44.287Z,1761692084.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991704,-0.128474,0.004140],[0.126346,0.980191,0.152519],[-0.023653,-0.150731,0.988292]] 2025-10-28T22:54:44.680Z,1761692084.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991776,-0.127913,0.004416],[0.125782,0.980475,0.151153],[-0.023664,-0.149354,0.988501]] 2025-10-28T22:54:45.083Z,1761692085.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991810,-0.127639,0.004671],[0.125545,0.980960,0.148175],[-0.023495,-0.146375,0.988950]] 2025-10-28T22:54:45.487Z,1761692085.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991811,-0.127623,0.004817],[0.125562,0.981298,0.145906],[-0.023347,-0.144106,0.989287]] 2025-10-28T22:54:45.891Z,1761692085.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991853,-0.127303,0.004731],[0.125316,0.981697,0.143410],[-0.022901,-0.141649,0.989652]] 2025-10-28T22:54:46.327Z,1761692086.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991899,-0.126937,0.004745],[0.124973,0.981876,0.142484],[-0.022746,-0.140737,0.989786]] 2025-10-28T22:54:46.700Z,1761692086.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991948,-0.126544,0.004998],[0.124602,0.982261,0.140137],[-0.022643,-0.138386,0.990119]] 2025-10-28T22:54:47.102Z,1761692087.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991950,-0.126525,0.005142],[0.124622,0.982622,0.137559],[-0.022457,-0.135811,0.990480]] 2025-10-28T22:54:47.507Z,1761692087.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991971,-0.126346,0.005426],[0.124412,0.982684,0.137307],[-0.022680,-0.135529,0.990514]] 2025-10-28T22:54:47.910Z,1761692087.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991995,-0.126136,0.006017],[0.124130,0.982758,0.137038],[-0.023199,-0.135194,0.990547]] 2025-10-28T22:54:48.343Z,1761692088.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991986,-0.126165,0.006865],[0.124066,0.982894,0.136111],[-0.023920,-0.134168,0.990670]] 2025-10-28T22:54:48.719Z,1761692088.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991914,-0.126645,0.008185],[0.124380,0.982932,0.135553],[-0.025213,-0.133439,0.990736]] 2025-10-28T22:54:49.123Z,1761692089.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991885,-0.126826,0.008929],[0.124398,0.982604,0.137891],[-0.026262,-0.135661,0.990407]] 2025-10-28T22:54:49.527Z,1761692089.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991891,-0.126734,0.009530],[0.124174,0.982367,0.139773],[-0.027075,-0.137456,0.990138]] 2025-10-28T22:54:49.932Z,1761692089.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991781,-0.127531,0.010303],[0.124853,0.982264,0.139891],[-0.027961,-0.137455,0.990113]] 2025-10-28T22:54:50.350Z,1761692090.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991787,-0.127453,0.010732],[0.124631,0.981860,0.142895],[-0.028750,-0.140384,0.989680]] 2025-10-28T22:54:50.738Z,1761692090.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991798,-0.127352,0.010856],[0.124500,0.981810,0.143350],[-0.028914,-0.140823,0.989613]] 2025-10-28T22:54:51.143Z,1761692091.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991879,-0.126724,0.010789],[0.123850,0.981701,0.144653],[-0.028922,-0.142142,0.989424]] 2025-10-28T22:54:51.492Z,1761692091.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:54:51.552Z,1761692091.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991950,-0.126157,0.010911],[0.123246,0.981650,0.145513],[-0.029068,-0.142997,0.989296]] 2025-10-28T22:54:51.951Z,1761692091.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991911,-0.126488,0.010657],[0.123617,0.981642,0.145253],[-0.028834,-0.142761,0.989337]] 2025-10-28T22:54:52.356Z,1761692092.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991832,-0.127148,0.010163],[0.124385,0.981770,0.143719],[-0.028251,-0.141281,0.989566]] 2025-10-28T22:54:52.496Z,1761692092.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:54:52.759Z,1761692092.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991758,-0.127742,0.009924],[0.125025,0.981784,0.143070],[-0.028019,-0.140650,0.989663]] 2025-10-28T22:54:53.164Z,1761692093.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991740,-0.127903,0.009629],[0.125245,0.981851,0.142418],[-0.027670,-0.140036,0.989760]] 2025-10-28T22:54:53.566Z,1761692093.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991700,-0.128191,0.009867],[0.125542,0.982049,0.140777],[-0.027736,-0.138370,0.989992]] 2025-10-28T22:54:53.970Z,1761692093.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991727,-0.127957,0.010237],[0.125291,0.982238,0.139683],[-0.027928,-0.137245,0.990143]] 2025-10-28T22:54:54.376Z,1761692094.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991687,-0.128207,0.010933],[0.125466,0.982331,0.138868],[-0.028543,-0.136342,0.990251]] 2025-10-28T22:54:54.780Z,1761692094.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991675,-0.128209,0.011979],[0.125310,0.982279,0.139375],[-0.029636,-0.136714,0.990167]] 2025-10-28T22:54:55.183Z,1761692095.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991658,-0.128266,0.012710],[0.125254,0.982226,0.139795],[-0.030415,-0.137037,0.990099]] 2025-10-28T22:54:55.587Z,1761692095.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991782,-0.127287,0.012903],[0.124207,0.982120,0.141466],[-0.030679,-0.138701,0.989859]] 2025-10-28T22:54:55.991Z,1761692095.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991937,-0.126062,0.013009],[0.122945,0.982120,0.142565],[-0.030748,-0.139816,0.989700]] 2025-10-28T22:54:56.397Z,1761692096.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992133,-0.124491,0.013207],[0.121283,0.981957,0.145087],[-0.031031,-0.142344,0.989331]] 2025-10-28T22:54:56.798Z,1761692096.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992323,-0.122958,0.013266],[0.119706,0.981909,0.146712],[-0.031065,-0.143998,0.989090]] 2025-10-28T22:54:57.202Z,1761692097.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992568,-0.120988,0.013062],[0.117745,0.981945,0.148057],[-0.030739,-0.145418,0.988893]] 2025-10-28T22:54:57.606Z,1761692097.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992671,-0.120129,0.013172],[0.116901,0.982154,0.147334],[-0.030636,-0.144715,0.988999]] 2025-10-28T22:54:58.012Z,1761692098.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992698,-0.119909,0.013105],[0.116688,0.982153,0.147511],[-0.030559,-0.144905,0.988973]] 2025-10-28T22:54:58.415Z,1761692098.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992650,-0.120317,0.013023],[0.117121,0.982185,0.146950],[-0.030471,-0.144345,0.989058]] 2025-10-28T22:54:58.819Z,1761692098.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992505,-0.121523,0.012884],[0.118391,0.982307,0.145106],[-0.030290,-0.142493,0.989332]] 2025-10-28T22:54:59.223Z,1761692099.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992309,-0.123134,0.012696],[0.120099,0.982515,0.142269],[-0.029993,-0.139650,0.989747]] 2025-10-28T22:54:59.626Z,1761692099.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992163,-0.124321,0.012560],[0.121294,0.982378,0.142202],[-0.030017,-0.139564,0.989758]] 2025-10-28T22:55:00.030Z,1761692100.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992072,-0.125040,0.012560],[0.122010,0.982306,0.142090],[-0.030105,-0.139431,0.989774]] 2025-10-28T22:55:00.434Z,1761692100.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992125,-0.124604,0.012745],[0.121524,0.982230,0.143026],[-0.030340,-0.140351,0.989637]] 2025-10-28T22:55:00.838Z,1761692100.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992253,-0.123560,0.012898],[0.120431,0.982182,0.144271],[-0.030494,-0.141600,0.989454]] 2025-10-28T22:55:01.243Z,1761692101.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992447,-0.121972,0.013095],[0.118786,0.982166,0.145738],[-0.030638,-0.143082,0.989237]] 2025-10-28T22:55:01.648Z,1761692101.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992751,-0.119419,0.013617],[0.116134,0.982244,0.147340],[-0.030970,-0.144690,0.988992]] 2025-10-28T22:55:02.057Z,1761692102.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993091,-0.116467,0.014372],[0.113091,0.982534,0.147778],[-0.031333,-0.145131,0.988916]] 2025-10-28T22:55:02.455Z,1761692102.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993370,-0.113901,0.015552],[0.110389,0.982879,0.147520],[-0.032088,-0.144825,0.988937]] 2025-10-28T22:55:02.858Z,1761692102.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993629,-0.111471,0.016626],[0.107790,0.982992,0.148687],[-0.032917,-0.145948,0.988744]] 2025-10-28T22:55:03.263Z,1761692103.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993784,-0.109852,0.018060],[0.106026,0.983390,0.147316],[-0.033943,-0.144485,0.988925]] 2025-10-28T22:55:03.667Z,1761692103.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993833,-0.109205,0.019233],[0.105254,0.983632,0.146255],[-0.034890,-0.143328,0.989060]] 2025-10-28T22:55:04.070Z,1761692104.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993722,-0.110019,0.020296],[0.105983,0.983863,0.144158],[-0.035828,-0.141102,0.989346]] 2025-10-28T22:55:04.474Z,1761692104.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993459,-0.112226,0.021104],[0.108177,0.984103,0.140853],[-0.036576,-0.137648,0.989806]] 2025-10-28T22:55:04.880Z,1761692104.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993071,-0.115540,0.021462],[0.111540,0.984215,0.137402],[-0.036998,-0.134056,0.990283]] 2025-10-28T22:55:05.283Z,1761692105.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992540,-0.119999,0.021540],[0.116065,0.984115,0.134338],[-0.037318,-0.130836,0.990701]] 2025-10-28T22:55:05.686Z,1761692105.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991940,-0.124937,0.021096],[0.121054,0.983638,0.133423],[-0.037421,-0.129794,0.990835]] 2025-10-28T22:55:06.090Z,1761692106.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991386,-0.129337,0.020627],[0.125524,0.983245,0.132188],[-0.037379,-0.128461,0.991010]] 2025-10-28T22:55:06.500Z,1761692106.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990916,-0.133032,0.019690],[0.129305,0.982738,0.132314],[-0.036952,-0.128566,0.991012]] 2025-10-28T22:55:06.899Z,1761692106.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990609,-0.135449,0.018659],[0.131739,0.982062,0.134907],[-0.036598,-0.131182,0.990682]] 2025-10-28T22:55:07.303Z,1761692107.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990448,-0.136748,0.017708],[0.133086,0.981631,0.136705],[-0.036077,-0.133042,0.990454]] 2025-10-28T22:55:07.707Z,1761692107.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990417,-0.137095,0.016712],[0.133438,0.981088,0.140216],[-0.035619,-0.136642,0.989980]] 2025-10-28T22:55:08.112Z,1761692108.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990593,-0.135924,0.015840],[0.132272,0.980731,0.143770],[-0.035076,-0.140322,0.989484]] 2025-10-28T22:55:08.515Z,1761692108.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990898,-0.133753,0.015182],[0.130193,0.980916,0.144410],[-0.034207,-0.141119,0.989401]] 2025-10-28T22:55:08.918Z,1761692108.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991273,-0.131003,0.014726],[0.127498,0.981104,0.145531],[-0.033513,-0.142383,0.989244]] 2025-10-28T22:55:09.322Z,1761692109.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991646,-0.128160,0.014576],[0.124738,0.981606,0.144535],[-0.032832,-0.141509,0.989392]] 2025-10-28T22:55:09.727Z,1761692109.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991966,-0.125673,0.014475],[0.122345,0.982153,0.142857],[-0.032169,-0.139938,0.989638]] 2025-10-28T22:55:10.132Z,1761692110.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992275,-0.123198,0.014559],[0.119994,0.982944,0.139363],[-0.031480,-0.136539,0.990134]] 2025-10-28T22:55:10.535Z,1761692110.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992505,-0.121332,0.014587],[0.118268,0.983711,0.135370],[-0.030774,-0.132631,0.990688]] 2025-10-28T22:55:10.939Z,1761692110.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992728,-0.119499,0.014528],[0.116612,0.984590,0.130327],[-0.029878,-0.127685,0.991365]] 2025-10-28T22:55:11.342Z,1761692111.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992875,-0.118251,0.014672],[0.115512,0.985397,0.125099],[-0.029251,-0.122513,0.992036]] 2025-10-28T22:55:11.748Z,1761692111.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992940,-0.117724,0.014558],[0.115084,0.985798,0.122307],[-0.028750,-0.119768,0.992386]] 2025-10-28T22:55:12.151Z,1761692112.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992889,-0.118150,0.014590],[0.115550,0.985942,0.120690],[-0.028644,-0.118146,0.992583]] 2025-10-28T22:55:12.554Z,1761692112.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992630,-0.120276,0.014841],[0.117615,0.985629,0.121251],[-0.029211,-0.118612,0.992511]] 2025-10-28T22:55:12.958Z,1761692112.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992135,-0.124270,0.015024],[0.121536,0.985057,0.122032],[-0.029965,-0.119246,0.992412]] 2025-10-28T22:55:13.367Z,1761692113.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991473,-0.129496,0.014553],[0.126694,0.984053,0.124852],[-0.030489,-0.121944,0.992069]] 2025-10-28T22:55:13.776Z,1761692113.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989997,-0.140589,0.011842],[0.137771,0.981410,0.133617],[-0.030407,-0.130649,0.990962]] 2025-10-28T22:55:14.193Z,1761692114.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989401,-0.144892,0.009616],[0.142147,0.979932,0.139743],[-0.029671,-0.136895,0.990141]] 2025-10-28T22:55:14.579Z,1761692114.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988968,-0.147947,0.007340],[0.145332,0.978684,0.145108],[-0.028652,-0.142441,0.989389]] 2025-10-28T22:55:14.985Z,1761692114.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988767,-0.149361,0.005513],[0.146925,0.978088,0.147504],[-0.027423,-0.145037,0.989046]] 2025-10-28T22:55:15.385Z,1761692115.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988694,-0.149900,0.003822],[0.147645,0.977639,0.149746],[-0.026183,-0.147489,0.988717]] 2025-10-28T22:55:15.787Z,1761692115.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988764,-0.149467,0.002330],[0.147402,0.977461,0.151135],[-0.024868,-0.149094,0.988510]] 2025-10-28T22:55:16.190Z,1761692116.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988923,-0.148427,0.001244],[0.146580,0.977867,0.149300],[-0.023376,-0.147464,0.988791]] 2025-10-28T22:55:16.597Z,1761692116.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989150,-0.146905,0.000405],[0.145274,0.978567,0.145953],[-0.021838,-0.144310,0.989291]] 2025-10-28T22:55:16.999Z,1761692116.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989457,-0.144825,-0.000163],[0.143419,0.979694,0.140110],[-0.020132,-0.138656,0.990136]] 2025-10-28T22:55:17.403Z,1761692117.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989832,-0.142240,-0.000560],[0.141031,0.980895,0.133996],[-0.018510,-0.132713,0.990982]] 2025-10-28T22:55:17.807Z,1761692117.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990275,-0.139121,-0.000778],[0.138064,0.982033,0.128641],[-0.017133,-0.127498,0.991691]] 2025-10-28T22:55:18.212Z,1761692118.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990772,-0.135536,-0.000725],[0.134592,0.983208,0.123239],[-0.015991,-0.122199,0.992377]] 2025-10-28T22:55:18.615Z,1761692118.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991295,-0.131656,-0.000490],[0.130763,0.984123,0.120009],[-0.015318,-0.119029,0.992773]] 2025-10-28T22:55:19.020Z,1761692119.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991805,-0.127759,0.000182],[0.126837,0.984817,0.118520],[-0.015321,-0.117525,0.992952]] 2025-10-28T22:55:19.422Z,1761692119.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992208,-0.124586,0.001177],[0.123578,0.985293,0.118013],[-0.015862,-0.116948,0.993011]] 2025-10-28T22:55:19.826Z,1761692119.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992334,-0.123566,0.002312],[0.122398,0.985199,0.120004],[-0.017106,-0.118801,0.992771]] 2025-10-28T22:55:20.230Z,1761692120.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992106,-0.125382,0.002281],[0.124171,0.984740,0.121935],[-0.017534,-0.120689,0.992535]] 2025-10-28T22:55:20.636Z,1761692120.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991646,-0.128982,0.001635],[0.127793,0.984069,0.123599],[-0.017551,-0.122358,0.992331]] 2025-10-28T22:55:21.038Z,1761692121.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991065,-0.133380,0.000286],[0.132285,0.983199,0.125779],[-0.017058,-0.124617,0.992058]] 2025-10-28T22:55:21.442Z,1761692121.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990392,-0.138285,-0.001332],[0.137302,0.982112,0.128855],[-0.016510,-0.127800,0.991663]] 2025-10-28T22:55:21.847Z,1761692121.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989748,-0.142789,-0.003258],[0.141973,0.981088,0.131569],[-0.015590,-0.130682,0.991302]] 2025-10-28T22:55:22.252Z,1761692122.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989257,-0.146096,-0.005183],[0.145466,0.980236,0.134077],[-0.014508,-0.133391,0.990957]] 2025-10-28T22:55:22.620Z,1761692122.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:55:22.661Z,1761692122.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988978,-0.147892,-0.007102],[0.147453,0.979425,0.137784],[-0.013422,-0.137312,0.990437]] 2025-10-28T22:55:23.058Z,1761692123.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988959,-0.147934,-0.008725],[0.147681,0.978969,0.140751],[-0.012281,-0.140485,0.990007]] 2025-10-28T22:55:23.462Z,1761692123.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989118,-0.146813,-0.009611],[0.146682,0.978940,0.141988],[-0.011437,-0.141853,0.989822]] 2025-10-28T22:55:23.624Z,1761692123.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:55:23.866Z,1761692123.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989397,-0.144861,-0.010441],[0.144853,0.979017,0.143331],[-0.010541,-0.143324,0.989620]] 2025-10-28T22:55:24.312Z,1761692124.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989586,-0.143511,-0.011179],[0.143626,0.979229,0.143113],[-0.009591,-0.143228,0.989643]] 2025-10-28T22:55:24.688Z,1761692124.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989730,-0.142447,-0.011955],[0.142689,0.979456,0.142497],[-0.008589,-0.142739,0.989723]] 2025-10-28T22:55:25.090Z,1761692125.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989741,-0.142309,-0.012693],[0.142672,0.979729,0.140625],[-0.007577,-0.140994,0.989981]] 2025-10-28T22:55:25.495Z,1761692125.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989708,-0.142474,-0.013416],[0.142952,0.979965,0.138684],[-0.006611,-0.139175,0.990246]] 2025-10-28T22:55:25.900Z,1761692125.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989701,-0.142432,-0.014338],[0.143044,0.980115,0.137524],[-0.005535,-0.138158,0.990395]] 2025-10-28T22:55:26.332Z,1761692126.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989709,-0.142283,-0.015235],[0.143028,0.980342,0.135916],[-0.004403,-0.136697,0.990603]] 2025-10-28T22:55:26.706Z,1761692126.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989778,-0.141748,-0.015708],[0.142562,0.980360,0.136273],[-0.003917,-0.137119,0.990547]] 2025-10-28T22:55:27.110Z,1761692127.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989986,-0.140239,-0.016139],[0.141124,0.980477,0.136929],[-0.003379,-0.137835,0.990449]] 2025-10-28T22:55:27.514Z,1761692127.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990130,-0.139121,-0.016986],[0.140133,0.980574,0.137249],[-0.002438,-0.138274,0.990391]] 2025-10-28T22:55:27.921Z,1761692127.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990262,-0.138081,-0.017723],[0.139203,0.980580,0.138150],[-0.001697,-0.139272,0.990253]] 2025-10-28T22:55:28.346Z,1761692128.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990270,-0.137897,-0.018709],[0.139159,0.980728,0.137141],[-0.000563,-0.138410,0.990375]] 2025-10-28T22:55:28.727Z,1761692128.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990296,-0.137571,-0.019680],[0.138970,0.980826,0.136628],[0.000507,-0.138037,0.990427]] 2025-10-28T22:55:29.131Z,1761692129.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990257,-0.137694,-0.020783],[0.139243,0.980911,0.135736],[0.001697,-0.137308,0.990527]] 2025-10-28T22:55:29.536Z,1761692129.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990181,-0.138052,-0.021998],[0.139764,0.980889,0.135361],[0.002891,-0.137106,0.990552]] 2025-10-28T22:55:29.939Z,1761692129.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990036,-0.138879,-0.023265],[0.140758,0.980711,0.135620],[0.003981,-0.137544,0.990488]] 2025-10-28T22:55:30.350Z,1761692130.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989921,-0.139503,-0.024390],[0.141522,0.980827,0.133977],[0.005232,-0.136078,0.990684]] 2025-10-28T22:55:30.746Z,1761692130.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989823,-0.140037,-0.025294],[0.142168,0.980882,0.132888],[0.006201,-0.135131,0.990808]] 2025-10-28T22:55:31.152Z,1761692131.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989700,-0.140790,-0.025916],[0.142999,0.980737,0.133068],[0.006683,-0.135403,0.990768]] 2025-10-28T22:55:31.555Z,1761692131.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989681,-0.140787,-0.026646],[0.143091,0.980804,0.132468],[0.007484,-0.134914,0.990829]] 2025-10-28T22:55:31.959Z,1761692131.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989526,-0.141754,-0.027295],[0.144130,0.980750,0.131740],[0.008095,-0.134294,0.990908]] 2025-10-28T22:55:32.364Z,1761692132.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989319,-0.143051,-0.028022],[0.145509,0.980622,0.131178],[0.008714,-0.133854,0.990963]] 2025-10-28T22:55:32.766Z,1761692132.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989271,-0.143174,-0.029059],[0.145782,0.980412,0.132438],[0.009528,-0.135254,0.990765]] 2025-10-28T22:55:33.173Z,1761692133.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989101,-0.144176,-0.029868],[0.146888,0.980209,0.132721],[0.010142,-0.135661,0.990703]] 2025-10-28T22:55:33.574Z,1761692133.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988899,-0.145378,-0.030715],[0.148207,0.979846,0.133925],[0.010626,-0.136991,0.990515]] 2025-10-28T22:55:33.981Z,1761692133.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988643,-0.146856,-0.031927],[0.149846,0.979497,0.134657],[0.011497,-0.137912,0.990378]] 2025-10-28T22:55:34.382Z,1761692134.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988399,-0.148174,-0.033347],[0.151357,0.979160,0.135414],[0.012587,-0.138890,0.990228]] 2025-10-28T22:55:34.786Z,1761692134.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988212,-0.149045,-0.034974],[0.152444,0.979018,0.135218],[0.014087,-0.138956,0.990198]] 2025-10-28T22:55:35.190Z,1761692135.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988168,-0.148945,-0.036606],[0.152590,0.978832,0.136394],[0.015516,-0.140366,0.989978]] 2025-10-28T22:55:35.595Z,1761692135.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988173,-0.148554,-0.038015],[0.152432,0.978601,0.138223],[0.016668,-0.142383,0.989671]] 2025-10-28T22:55:36.001Z,1761692136.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988282,-0.147482,-0.039346],[0.151573,0.978633,0.138934],[0.018015,-0.143270,0.989520]] 2025-10-28T22:55:36.402Z,1761692136.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988510,-0.145708,-0.040223],[0.149947,0.978853,0.139149],[0.019098,-0.143582,0.989454]] 2025-10-28T22:55:36.807Z,1761692136.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988859,-0.143129,-0.040899],[0.147516,0.979043,0.140403],[0.019946,-0.144872,0.989249]] 2025-10-28T22:55:37.210Z,1761692137.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989172,-0.140895,-0.041083],[0.145295,0.979617,0.138710],[0.020702,-0.143177,0.989480]] 2025-10-28T22:55:37.616Z,1761692137.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989451,-0.138878,-0.041220],[0.143287,0.980107,0.137331],[0.021328,-0.141788,0.989667]] 2025-10-28T22:55:38.019Z,1761692138.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989693,-0.137217,-0.040988],[0.141567,0.980628,0.135382],[0.021618,-0.139789,0.989945]] 2025-10-28T22:55:38.422Z,1761692138.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989781,-0.136619,-0.040860],[0.140871,0.981259,0.131475],[0.022132,-0.135887,0.990477]] 2025-10-28T22:55:38.828Z,1761692138.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989616,-0.137816,-0.040837],[0.141973,0.981576,0.127874],[0.022462,-0.132343,0.990949]] 2025-10-28T22:55:39.232Z,1761692139.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989305,-0.139981,-0.041006],[0.144056,0.981764,0.124048],[0.022894,-0.128629,0.991429]] 2025-10-28T22:55:39.634Z,1761692139.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988745,-0.143744,-0.041493],[0.147789,0.981553,0.121297],[0.023292,-0.126064,0.991749]] 2025-10-28T22:55:40.039Z,1761692140.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988082,-0.147923,-0.042574],[0.152060,0.980970,0.120729],[0.023905,-0.125764,0.991772]] 2025-10-28T22:55:40.442Z,1761692140.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987447,-0.151729,-0.043892],[0.156024,0.980254,0.121485],[0.024593,-0.126808,0.991622]] 2025-10-28T22:55:40.848Z,1761692140.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986842,-0.155194,-0.045367],[0.159718,0.979330,0.124105],[0.025169,-0.129718,0.991232]] 2025-10-28T22:55:41.250Z,1761692141.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986366,-0.157712,-0.047011],[0.162524,0.978413,0.127651],[0.025864,-0.133551,0.990704]] 2025-10-28T22:55:41.654Z,1761692141.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986166,-0.158478,-0.048605],[0.163621,0.977625,0.132204],[0.026566,-0.138328,0.990030]] 2025-10-28T22:55:42.059Z,1761692142.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986236,-0.157587,-0.050060],[0.163084,0.977000,0.137385],[0.027258,-0.143658,0.989252]] 2025-10-28T22:55:42.463Z,1761692142.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986497,-0.155655,-0.050945],[0.161430,0.976612,0.142020],[0.027648,-0.148326,0.988552]] 2025-10-28T22:55:42.869Z,1761692142.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986793,-0.153504,-0.051737],[0.159480,0.976619,0.144157],[0.028399,-0.150504,0.988201]] 2025-10-28T22:55:43.270Z,1761692143.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987142,-0.150800,-0.053004],[0.157052,0.976730,0.146056],[0.029745,-0.152503,0.987855]] 2025-10-28T22:55:43.674Z,1761692143.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987497,-0.148521,-0.052825],[0.154753,0.977176,0.145531],[0.030005,-0.151886,0.987942]] 2025-10-28T22:55:44.079Z,1761692144.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987788,-0.146685,-0.052519],[0.152829,0.977775,0.143528],[0.030299,-0.149802,0.988252]] 2025-10-28T22:55:44.485Z,1761692144.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987973,-0.145496,-0.052347],[0.151517,0.978489,0.140006],[0.030851,-0.146254,0.988766]] 2025-10-28T22:55:44.886Z,1761692144.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988095,-0.144735,-0.052153],[0.150611,0.979185,0.136059],[0.031375,-0.142294,0.989327]] 2025-10-28T22:55:45.291Z,1761692145.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988124,-0.144478,-0.052316],[0.150298,0.979585,0.133505],[0.031959,-0.139783,0.989666]] 2025-10-28T22:55:45.696Z,1761692145.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988017,-0.145198,-0.052336],[0.150936,0.979812,0.131097],[0.032245,-0.137425,0.989987]] 2025-10-28T22:55:46.099Z,1761692146.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987894,-0.146159,-0.051997],[0.151745,0.980088,0.128065],[0.032243,-0.134405,0.990402]] 2025-10-28T22:55:46.529Z,1761692146.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987833,-0.146655,-0.051747],[0.152145,0.980260,0.126265],[0.032208,-0.132602,0.990646]] 2025-10-28T22:55:46.907Z,1761692146.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987726,-0.147365,-0.051779],[0.152847,0.980176,0.126067],[0.032175,-0.132434,0.990670]] 2025-10-28T22:55:47.310Z,1761692147.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987645,-0.147766,-0.052174],[0.153329,0.979975,0.127042],[0.032357,-0.133473,0.990524]] 2025-10-28T22:55:47.714Z,1761692147.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987674,-0.147473,-0.052463],[0.153158,0.979680,0.129497],[0.032300,-0.135936,0.990191]] 2025-10-28T22:55:48.119Z,1761692148.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987772,-0.146789,-0.052525],[0.152565,0.979459,0.131850],[0.032092,-0.138252,0.989877]] 2025-10-28T22:55:48.523Z,1761692148.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987808,-0.146467,-0.052757],[0.152346,0.979209,0.133944],[0.032042,-0.140348,0.989584]] 2025-10-28T22:55:48.929Z,1761692148.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987796,-0.146403,-0.053150],[0.152360,0.979111,0.134641],[0.032328,-0.141096,0.989468]] 2025-10-28T22:55:49.330Z,1761692149.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987832,-0.146062,-0.053418],[0.152094,0.979009,0.135676],[0.032479,-0.142150,0.989312]] 2025-10-28T22:55:49.735Z,1761692149.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987856,-0.145840,-0.053582],[0.151925,0.978918,0.136522],[0.032542,-0.143005,0.989187]] 2025-10-28T22:55:50.139Z,1761692150.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987804,-0.146099,-0.053844],[0.152235,0.978809,0.136957],[0.032694,-0.143484,0.989112]] 2025-10-28T22:55:50.544Z,1761692150.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987791,-0.146090,-0.054097],[0.152285,0.978700,0.137678],[0.032832,-0.144236,0.988999]] 2025-10-28T22:55:50.947Z,1761692150.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987816,-0.145810,-0.054394],[0.152078,0.978620,0.138475],[0.033040,-0.145060,0.988871]] 2025-10-28T22:55:51.351Z,1761692151.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987713,-0.146357,-0.054798],[0.152657,0.978622,0.137822],[0.033455,-0.144494,0.988940]] 2025-10-28T22:55:51.755Z,1761692151.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987664,-0.146531,-0.055208],[0.152887,0.978588,0.137805],[0.033834,-0.144546,0.988919]] 2025-10-28T22:55:52.160Z,1761692152.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987597,-0.146848,-0.055575],[0.153263,0.978499,0.138020],[0.034112,-0.144826,0.988869]] 2025-10-28T22:55:52.563Z,1761692152.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987561,-0.147151,-0.055401],[0.153499,0.978618,0.136912],[0.034070,-0.143713,0.989033]] 2025-10-28T22:55:52.967Z,1761692152.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987401,-0.148218,-0.055410],[0.154518,0.978616,0.135773],[0.034101,-0.142624,0.989189]] 2025-10-28T22:55:53.370Z,1761692153.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987169,-0.149734,-0.055473],[0.155982,0.978579,0.134361],[0.034167,-0.141289,0.989379]] 2025-10-28T22:55:53.756Z,1761692153.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:55:53.780Z,1761692153.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986825,-0.151713,-0.056209],[0.158003,0.978427,0.133096],[0.034804,-0.140224,0.989508]] 2025-10-28T22:55:54.178Z,1761692154.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986460,-0.153934,-0.056577],[0.160233,0.978156,0.132425],[0.034956,-0.139697,0.989577]] 2025-10-28T22:55:54.582Z,1761692154.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986274,-0.154992,-0.056935],[0.161397,0.977715,0.134255],[0.034858,-0.141602,0.989310]] 2025-10-28T22:55:54.760Z,1761692154.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:55:54.987Z,1761692154.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986176,-0.155397,-0.057518],[0.161957,0.977329,0.136377],[0.035021,-0.143807,0.988986]] 2025-10-28T22:55:55.392Z,1761692155.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986186,-0.155180,-0.057938],[0.161856,0.977137,0.137865],[0.035220,-0.145338,0.988755]] 2025-10-28T22:55:55.795Z,1761692155.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986319,-0.154154,-0.058402],[0.160956,0.977094,0.139212],[0.035604,-0.146707,0.988539]] 2025-10-28T22:55:56.199Z,1761692156.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986561,-0.152408,-0.058900],[0.159347,0.977169,0.140529],[0.036138,-0.148026,0.988323]] 2025-10-28T22:55:56.602Z,1761692156.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986921,-0.150076,-0.058851],[0.157079,0.977345,0.141855],[0.036228,-0.149244,0.988137]] 2025-10-28T22:55:57.008Z,1761692157.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987315,-0.147660,-0.058360],[0.154629,0.977673,0.142286],[0.036047,-0.149505,0.988104]] 2025-10-28T22:55:57.410Z,1761692157.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987731,-0.145083,-0.057773],[0.151974,0.978148,0.141886],[0.035925,-0.148925,0.988196]] 2025-10-28T22:55:57.820Z,1761692157.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988495,-0.140370,-0.056342],[0.146998,0.979293,0.139202],[0.035636,-0.145883,0.988660]] 2025-10-28T22:55:58.223Z,1761692158.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988786,-0.138750,-0.055239],[0.145179,0.979773,0.137721],[0.035013,-0.144197,0.988929]] 2025-10-28T22:55:58.629Z,1761692158.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989038,-0.137311,-0.054310],[0.143573,0.980198,0.136376],[0.034508,-0.142678,0.989167]] 2025-10-28T22:55:59.032Z,1761692159.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989206,-0.136322,-0.053729],[0.142471,0.980514,0.135255],[0.034244,-0.141450,0.989353]] 2025-10-28T22:55:59.433Z,1761692159.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989272,-0.136111,-0.053051],[0.142053,0.981023,0.131964],[0.034083,-0.138085,0.989834]] 2025-10-28T22:55:59.834Z,1761692159.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989168,-0.137053,-0.052573],[0.142847,0.981197,0.129800],[0.033795,-0.135904,0.990145]] 2025-10-28T22:56:00.238Z,1761692160.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988880,-0.139182,-0.052388],[0.144900,0.981031,0.128769],[0.033472,-0.134928,0.990290]] 2025-10-28T22:56:00.644Z,1761692160.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988417,-0.142445,-0.052355],[0.148069,0.980802,0.126898],[0.033274,-0.133181,0.990533]] 2025-10-28T22:56:01.046Z,1761692161.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987906,-0.145866,-0.052588],[0.151462,0.980410,0.125916],[0.033191,-0.132359,0.990646]] 2025-10-28T22:56:01.450Z,1761692161.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987419,-0.148940,-0.053113],[0.154610,0.979813,0.126736],[0.033165,-0.133353,0.990514]] 2025-10-28T22:56:01.854Z,1761692161.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986962,-0.151619,-0.054016],[0.157451,0.979122,0.128568],[0.033395,-0.135397,0.990228]] 2025-10-28T22:56:02.264Z,1761692162.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986593,-0.153728,-0.054786],[0.159706,0.978528,0.130292],[0.033580,-0.137295,0.989961]] 2025-10-28T22:56:02.662Z,1761692162.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986403,-0.154521,-0.055968],[0.160823,0.977690,0.135123],[0.033840,-0.142286,0.989247]] 2025-10-28T22:56:03.067Z,1761692163.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986364,-0.154373,-0.057055],[0.160973,0.977096,0.139182],[0.034262,-0.146469,0.988622]] 2025-10-28T22:56:03.471Z,1761692163.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986565,-0.152808,-0.057785],[0.159606,0.977013,0.141322],[0.034862,-0.148646,0.988276]] 2025-10-28T22:56:03.875Z,1761692163.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986975,-0.149947,-0.058285],[0.156911,0.977191,0.143096],[0.035499,-0.150378,0.987991]] 2025-10-28T22:56:04.301Z,1761692164.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987497,-0.146387,-0.058490],[0.153502,0.977391,0.145412],[0.035881,-0.152572,0.987641]] 2025-10-28T22:56:04.682Z,1761692164.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987990,-0.143254,-0.057906],[0.150306,0.977910,0.145258],[0.035818,-0.152217,0.987698]] 2025-10-28T22:56:05.086Z,1761692165.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988502,-0.139981,-0.057178],[0.146943,0.978468,0.144939],[0.035658,-0.151675,0.987787]] 2025-10-28T22:56:05.493Z,1761692165.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988944,-0.137318,-0.055972],[0.144006,0.979393,0.141604],[0.035373,-0.148099,0.988340]] 2025-10-28T22:56:05.894Z,1761692165.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989289,-0.135315,-0.054742],[0.141724,0.980196,0.138314],[0.034942,-0.144591,0.988874]] 2025-10-28T22:56:06.330Z,1761692166.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989447,-0.134612,-0.053607],[0.140753,0.980785,0.135091],[0.034392,-0.141211,0.989382]] 2025-10-28T22:56:06.702Z,1761692166.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989516,-0.134535,-0.052525],[0.140441,0.981163,0.132651],[0.033689,-0.138637,0.989770]] 2025-10-28T22:56:07.107Z,1761692167.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989425,-0.135560,-0.051582],[0.141243,0.981385,0.130132],[0.032981,-0.136041,0.990154]] 2025-10-28T22:56:07.510Z,1761692167.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989154,-0.137671,-0.051199],[0.143286,0.981083,0.130174],[0.032310,-0.136099,0.990168]] 2025-10-28T22:56:07.915Z,1761692167.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988764,-0.140493,-0.051071],[0.146076,0.980638,0.130428],[0.031758,-0.136422,0.990142]] 2025-10-28T22:56:08.342Z,1761692168.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988277,-0.143680,-0.051630],[0.149350,0.979989,0.131594],[0.031689,-0.137762,0.989958]] 2025-10-28T22:56:08.724Z,1761692168.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987736,-0.147052,-0.052467],[0.152860,0.979231,0.133194],[0.031790,-0.139581,0.989700]] 2025-10-28T22:56:09.126Z,1761692169.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987262,-0.149752,-0.053748],[0.155828,0.978296,0.136585],[0.032127,-0.143221,0.989169]] 2025-10-28T22:56:09.530Z,1761692169.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986906,-0.151620,-0.055022],[0.157935,0.977648,0.138784],[0.032750,-0.145657,0.988793]] 2025-10-28T22:56:09.935Z,1761692169.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986784,-0.152088,-0.055921],[0.158632,0.977099,0.141819],[0.033072,-0.148816,0.988312]] 2025-10-28T22:56:10.351Z,1761692170.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986895,-0.151076,-0.056698],[0.157878,0.976653,0.145684],[0.033365,-0.152726,0.987705]] 2025-10-28T22:56:10.743Z,1761692170.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987148,-0.149194,-0.057268],[0.156237,0.976325,0.149598],[0.033593,-0.156622,0.987087]] 2025-10-28T22:56:11.153Z,1761692171.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987539,-0.146531,-0.057410],[0.153655,0.976605,0.150444],[0.034022,-0.157391,0.986950]] 2025-10-28T22:56:11.550Z,1761692171.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987926,-0.144054,-0.057022],[0.151138,0.977021,0.150288],[0.034062,-0.157092,0.986996]] 2025-10-28T22:56:11.956Z,1761692171.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988379,-0.141167,-0.056379],[0.148094,0.977878,0.147728],[0.034278,-0.154361,0.987420]] 2025-10-28T22:56:12.359Z,1761692172.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988846,-0.138126,-0.055728],[0.144879,0.978813,0.144687],[0.034562,-0.151147,0.987907]] 2025-10-28T22:56:12.763Z,1761692172.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989343,-0.134803,-0.055042],[0.141377,0.979777,0.141599],[0.034841,-0.147871,0.988393]] 2025-10-28T22:56:13.167Z,1761692173.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989909,-0.130999,-0.054022],[0.137258,0.981174,0.135859],[0.035208,-0.141903,0.989254]] 2025-10-28T22:56:13.572Z,1761692173.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990462,-0.127116,-0.053171],[0.133121,0.982377,0.131203],[0.035556,-0.137030,0.989929]] 2025-10-28T22:56:13.974Z,1761692173.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990923,-0.123821,-0.052347],[0.129598,0.983371,0.127222],[0.035724,-0.132851,0.990492]] 2025-10-28T22:56:14.378Z,1761692174.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991182,-0.122119,-0.051434],[0.127658,0.984086,0.123602],[0.035521,-0.129078,0.990998]] 2025-10-28T22:56:14.782Z,1761692174.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991183,-0.122385,-0.050767],[0.127718,0.984495,0.120238],[0.035264,-0.125661,0.991446]] 2025-10-28T22:56:15.188Z,1761692175.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990984,-0.124093,-0.050504],[0.129306,0.984545,0.118116],[0.035066,-0.123582,0.991715]] 2025-10-28T22:56:15.590Z,1761692175.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990650,-0.126866,-0.050185],[0.131982,0.984324,0.116988],[0.034556,-0.122518,0.991865]] 2025-10-28T22:56:15.994Z,1761692175.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990216,-0.130033,-0.050629],[0.135236,0.983704,0.118478],[0.034398,-0.124165,0.991665]] 2025-10-28T22:56:16.399Z,1761692176.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989726,-0.133503,-0.051175],[0.138816,0.982976,0.120370],[0.034234,-0.126237,0.991409]] 2025-10-28T22:56:16.803Z,1761692176.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989196,-0.136995,-0.052179],[0.142590,0.981793,0.125502],[0.034036,-0.131587,0.990720]] 2025-10-28T22:56:17.206Z,1761692177.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988560,-0.141122,-0.053226],[0.147002,0.980470,0.130649],[0.033749,-0.136979,0.989999]] 2025-10-28T22:56:17.611Z,1761692177.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987843,-0.145671,-0.054281],[0.151804,0.979159,0.134922],[0.033495,-0.141522,0.989368]] 2025-10-28T22:56:18.014Z,1761692178.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987157,-0.149786,-0.055552],[0.156220,0.977820,0.139510],[0.033423,-0.146396,0.988661]] 2025-10-28T22:56:18.419Z,1761692178.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986690,-0.152397,-0.056733],[0.159096,0.976865,0.142909],[0.033642,-0.150033,0.988109]] 2025-10-28T22:56:18.824Z,1761692178.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986489,-0.153243,-0.057938],[0.160240,0.976150,0.146472],[0.034110,-0.153777,0.987517]] 2025-10-28T22:56:19.226Z,1761692179.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986531,-0.152636,-0.058819],[0.159873,0.975788,0.149260],[0.034612,-0.156653,0.987047]] 2025-10-28T22:56:19.631Z,1761692179.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986773,-0.150602,-0.059986],[0.158089,0.975892,0.150473],[0.035878,-0.157965,0.986793]] 2025-10-28T22:56:20.035Z,1761692180.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987188,-0.147588,-0.060644],[0.155264,0.976127,0.151885],[0.036780,-0.159354,0.986536]] 2025-10-28T22:56:20.439Z,1761692180.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987652,-0.144551,-0.060405],[0.152212,0.976653,0.151591],[0.037082,-0.158913,0.986596]] 2025-10-28T22:56:20.842Z,1761692180.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988179,-0.141103,-0.059942],[0.148663,0.977471,0.149834],[0.037450,-0.156974,0.986892]] 2025-10-28T22:56:21.246Z,1761692181.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988761,-0.137178,-0.059440],[0.144629,0.978367,0.147924],[0.037862,-0.154858,0.987211]] 2025-10-28T22:56:21.650Z,1761692181.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989330,-0.133198,-0.059033],[0.140520,0.979378,0.145168],[0.038479,-0.151914,0.987644]] 2025-10-28T22:56:22.056Z,1761692182.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989852,-0.129484,-0.058535],[0.136628,0.980448,0.141615],[0.039054,-0.148175,0.988190]] 2025-10-28T22:56:22.458Z,1761692182.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990284,-0.126276,-0.058238],[0.133289,0.981326,0.138686],[0.039637,-0.145101,0.988623]] 2025-10-28T22:56:22.862Z,1761692182.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990627,-0.123889,-0.057536],[0.130656,0.982259,0.134521],[0.039850,-0.140777,0.989239]] 2025-10-28T22:56:23.267Z,1761692183.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990839,-0.122464,-0.056922],[0.129050,0.982833,0.131854],[0.039797,-0.137992,0.989633]] 2025-10-28T22:56:23.673Z,1761692183.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990939,-0.121861,-0.056472],[0.128341,0.983087,0.130648],[0.039596,-0.136712,0.989819]] 2025-10-28T22:56:24.076Z,1761692184.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990945,-0.122220,-0.055584],[0.128571,0.983069,0.130556],[0.038687,-0.136520,0.989882]] 2025-10-28T22:56:24.478Z,1761692184.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990864,-0.123184,-0.054901],[0.129433,0.982962,0.130513],[0.037888,-0.136426,0.989925]] 2025-10-28T22:56:24.880Z,1761692184.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:56:24.884Z,1761692184.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990827,-0.123545,-0.054767],[0.129842,0.982663,0.132340],[0.037467,-0.138237,0.989690]] 2025-10-28T22:56:25.287Z,1761692185.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990764,-0.124105,-0.054625],[0.130425,0.982415,0.133602],[0.037084,-0.139493,0.989528]] 2025-10-28T22:56:25.694Z,1761692185.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990692,-0.124746,-0.054483],[0.131074,0.982211,0.134470],[0.036739,-0.140360,0.989419]] 2025-10-28T22:56:25.884Z,1761692185.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:56:26.094Z,1761692186.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990627,-0.125180,-0.054665],[0.131568,0.981998,0.135537],[0.036714,-0.141459,0.989263]] 2025-10-28T22:56:26.498Z,1761692186.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990532,-0.125830,-0.054891],[0.132238,0.981932,0.135361],[0.036867,-0.141339,0.989275]] 2025-10-28T22:56:26.904Z,1761692186.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990431,-0.126598,-0.054954],[0.132983,0.981927,0.134663],[0.036913,-0.140682,0.989366]] 2025-10-28T22:56:27.308Z,1761692187.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990192,-0.128345,-0.055200],[0.134717,0.981809,0.133798],[0.037024,-0.139922,0.989470]] 2025-10-28T22:56:27.712Z,1761692187.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989867,-0.130835,-0.055180],[0.137140,0.981632,0.132634],[0.036814,-0.138858,0.989628]] 2025-10-28T22:56:28.114Z,1761692188.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989378,-0.134297,-0.055635],[0.140504,0.981629,0.129086],[0.037277,-0.135532,0.990072]] 2025-10-28T22:56:28.518Z,1761692188.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988869,-0.137798,-0.056115],[0.143993,0.981299,0.127746],[0.037462,-0.134405,0.990218]] 2025-10-28T22:56:28.924Z,1761692188.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988361,-0.141044,-0.056998],[0.147311,0.980880,0.127178],[0.037971,-0.134094,0.990241]] 2025-10-28T22:56:29.327Z,1761692189.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987964,-0.143557,-0.057600],[0.149899,0.980443,0.127524],[0.038166,-0.134623,0.990162]] 2025-10-28T22:56:29.732Z,1761692189.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987665,-0.145328,-0.058296],[0.151834,0.979865,0.129656],[0.038279,-0.136908,0.989844]] 2025-10-28T22:56:30.135Z,1761692190.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987588,-0.145584,-0.058952],[0.152284,0.979429,0.132395],[0.038465,-0.139729,0.989442]] 2025-10-28T22:56:30.541Z,1761692190.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987640,-0.145114,-0.059244],[0.151933,0.979227,0.134282],[0.038527,-0.141624,0.989171]] 2025-10-28T22:56:30.943Z,1761692190.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987890,-0.143382,-0.059286],[0.150332,0.979078,0.137136],[0.038383,-0.144388,0.988777]] 2025-10-28T22:56:31.346Z,1761692191.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988292,-0.140650,-0.059129],[0.147702,0.979117,0.139690],[0.038247,-0.146788,0.988428]] 2025-10-28T22:56:31.751Z,1761692191.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988667,-0.138104,-0.058870],[0.145226,0.979174,0.141870],[0.038052,-0.148812,0.988133]] 2025-10-28T22:56:32.157Z,1761692192.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988981,-0.135817,-0.058904],[0.143053,0.979166,0.144115],[0.038103,-0.150954,0.987806]] 2025-10-28T22:56:32.558Z,1761692192.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989157,-0.134400,-0.059202],[0.141721,0.979263,0.144775],[0.038517,-0.151595,0.987692]] 2025-10-28T22:56:32.962Z,1761692192.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989279,-0.133401,-0.059418],[0.140787,0.979310,0.145365],[0.038797,-0.152172,0.987592]] 2025-10-28T22:56:33.367Z,1761692193.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989411,-0.132411,-0.059443],[0.139815,0.979435,0.145461],[0.038960,-0.152232,0.987577]] 2025-10-28T22:56:33.772Z,1761692193.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989464,-0.131949,-0.059586],[0.139370,0.979536,0.145211],[0.039207,-0.151985,0.987605]] 2025-10-28T22:56:34.175Z,1761692194.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989590,-0.131016,-0.059547],[0.138446,0.979642,0.145376],[0.039288,-0.152107,0.987583]] 2025-10-28T22:56:34.579Z,1761692194.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989775,-0.129677,-0.059405],[0.137056,0.979999,0.144286],[0.039506,-0.150952,0.987751]] 2025-10-28T22:56:34.982Z,1761692194.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990091,-0.127300,-0.059278],[0.134726,0.980163,0.145356],[0.039598,-0.151902,0.987602]] 2025-10-28T22:56:35.386Z,1761692195.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990415,-0.124989,-0.058793],[0.132346,0.980559,0.144874],[0.039543,-0.151267,0.987702]] 2025-10-28T22:56:35.793Z,1761692195.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990732,-0.122677,-0.058315],[0.129973,0.980917,0.144603],[0.039463,-0.150842,0.987770]] 2025-10-28T22:56:36.194Z,1761692196.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991126,-0.119852,-0.057481],[0.127039,0.981342,0.144323],[0.039111,-0.150345,0.987860]] 2025-10-28T22:56:36.599Z,1761692196.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991472,-0.117444,-0.056487],[0.124416,0.982007,0.142066],[0.038786,-0.147883,0.988244]] 2025-10-28T22:56:37.003Z,1761692197.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991760,-0.115387,-0.055661],[0.122152,0.982676,0.139382],[0.038614,-0.145033,0.988673]] 2025-10-28T22:56:37.407Z,1761692197.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991941,-0.114364,-0.054531],[0.120864,0.983239,0.136502],[0.038006,-0.141993,0.989138]] 2025-10-28T22:56:37.810Z,1761692197.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991993,-0.114353,-0.053599],[0.120605,0.983692,0.133433],[0.037467,-0.138829,0.989607]] 2025-10-28T22:56:38.214Z,1761692198.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991954,-0.115120,-0.052676],[0.121145,0.983964,0.130913],[0.036760,-0.136241,0.989993]] 2025-10-28T22:56:38.618Z,1761692198.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991782,-0.116891,-0.052003],[0.122747,0.983994,0.129186],[0.036070,-0.134508,0.990256]] 2025-10-28T22:56:39.024Z,1761692199.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991588,-0.118709,-0.051587],[0.124465,0.983886,0.128363],[0.035518,-0.133704,0.990385]] 2025-10-28T22:56:39.426Z,1761692199.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991296,-0.121359,-0.051022],[0.126967,0.983758,0.126882],[0.034795,-0.132256,0.990605]] 2025-10-28T22:56:39.830Z,1761692199.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991063,-0.123410,-0.050635],[0.128976,0.983402,0.127614],[0.034046,-0.133004,0.990531]] 2025-10-28T22:56:40.234Z,1761692200.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990841,-0.125230,-0.050507],[0.130824,0.982929,0.129367],[0.033444,-0.134790,0.990310]] 2025-10-28T22:56:40.640Z,1761692200.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990665,-0.126865,-0.049877],[0.132404,0.982545,0.130671],[0.032429,-0.136055,0.990170]] 2025-10-28T22:56:41.042Z,1761692201.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990503,-0.128281,-0.049477],[0.133789,0.982210,0.131773],[0.031693,-0.137141,0.990044]] 2025-10-28T22:56:41.446Z,1761692201.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990369,-0.129605,-0.048694],[0.135034,0.981870,0.133032],[0.030569,-0.138326,0.989915]] 2025-10-28T22:56:41.851Z,1761692201.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990226,-0.130954,-0.048001],[0.136310,0.981532,0.134215],[0.029539,-0.139447,0.989789]] 2025-10-28T22:56:42.256Z,1761692202.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990144,-0.131726,-0.047580],[0.137007,0.981480,0.133885],[0.029063,-0.139084,0.989854]] 2025-10-28T22:56:42.658Z,1761692202.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990075,-0.132398,-0.047132],[0.137615,0.981379,0.134004],[0.028512,-0.139160,0.989859]] 2025-10-28T22:56:43.069Z,1761692203.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990143,-0.132175,-0.046335],[0.137329,0.981191,0.135668],[0.027532,-0.140694,0.989670]] 2025-10-28T22:56:43.471Z,1761692203.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990214,-0.131779,-0.045937],[0.136892,0.981193,0.136090],[0.027139,-0.141047,0.989631]] 2025-10-28T22:56:43.877Z,1761692203.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990361,-0.130793,-0.045596],[0.135884,0.981246,0.136718],[0.026859,-0.141596,0.989560]] 2025-10-28T22:56:44.303Z,1761692204.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990493,-0.129912,-0.045230],[0.134961,0.981363,0.136791],[0.026616,-0.141595,0.989567]] 2025-10-28T22:56:44.682Z,1761692204.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990643,-0.128920,-0.044782],[0.133901,0.981579,0.136284],[0.026387,-0.141005,0.989657]] 2025-10-28T22:56:45.083Z,1761692205.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990824,-0.127672,-0.044365],[0.132582,0.981886,0.135359],[0.026280,-0.139999,0.989803]] 2025-10-28T22:56:45.489Z,1761692205.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991030,-0.126249,-0.043822],[0.131052,0.982315,0.133723],[0.026165,-0.138267,0.990049]] 2025-10-28T22:56:45.893Z,1761692205.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991153,-0.125609,-0.042866],[0.130229,0.982723,0.131514],[0.025606,-0.135933,0.990387]] 2025-10-28T22:56:46.327Z,1761692206.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991280,-0.124897,-0.042014],[0.129392,0.982912,0.130924],[0.024944,-0.135218,0.990502]] 2025-10-28T22:56:46.698Z,1761692206.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991389,-0.124344,-0.041075],[0.128689,0.983153,0.129802],[0.024243,-0.133970,0.990689]] 2025-10-28T22:56:47.103Z,1761692207.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991382,-0.124670,-0.040240],[0.128898,0.983137,0.129716],[0.023389,-0.133785,0.990734]] 2025-10-28T22:56:47.509Z,1761692207.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991280,-0.125697,-0.039540],[0.129808,0.983105,0.129049],[0.022651,-0.133056,0.990850]] 2025-10-28T22:56:47.911Z,1761692207.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991139,-0.127026,-0.038835],[0.131030,0.982954,0.128971],[0.021790,-0.132917,0.990888]] 2025-10-28T22:56:48.342Z,1761692208.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990973,-0.128407,-0.038536],[0.132362,0.982763,0.129065],[0.021299,-0.133000,0.990887]] 2025-10-28T22:56:48.718Z,1761692208.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990811,-0.129660,-0.038483],[0.133634,0.982367,0.130759],[0.020850,-0.134700,0.990667]] 2025-10-28T22:56:49.124Z,1761692209.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990609,-0.131166,-0.038579],[0.135181,0.981885,0.132773],[0.020465,-0.136741,0.990395]] 2025-10-28T22:56:49.526Z,1761692209.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990423,-0.132527,-0.038710],[0.136554,0.981655,0.133062],[0.020365,-0.137074,0.990351]] 2025-10-28T22:56:49.930Z,1761692209.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990330,-0.133113,-0.039078],[0.137231,0.981262,0.135247],[0.020343,-0.139302,0.990041]] 2025-10-28T22:56:50.347Z,1761692210.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990409,-0.132361,-0.039629],[0.136599,0.981111,0.136975],[0.020750,-0.141074,0.989782]] 2025-10-28T22:56:50.739Z,1761692210.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990623,-0.130779,-0.039546],[0.135030,0.981259,0.137470],[0.020827,-0.141521,0.989716]] 2025-10-28T22:56:51.185Z,1761692211.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990934,-0.128477,-0.039288],[0.132726,0.981495,0.138028],[0.020828,-0.141991,0.989649]] 2025-10-28T22:56:51.573Z,1761692211.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991290,-0.125966,-0.038417],[0.130113,0.981860,0.137922],[0.020346,-0.141719,0.989698]] 2025-10-28T22:56:51.950Z,1761692211.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991685,-0.123219,-0.037123],[0.127196,0.982334,0.137265],[0.019553,-0.140845,0.989839]] 2025-10-28T22:56:52.354Z,1761692212.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992050,-0.120715,-0.035554],[0.124477,0.982811,0.136336],[0.018486,-0.139678,0.990024]] 2025-10-28T22:56:52.760Z,1761692212.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992331,-0.118931,-0.033673],[0.122410,0.983367,0.134182],[0.017155,-0.137275,0.990384]] 2025-10-28T22:56:53.163Z,1761692213.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992480,-0.118246,-0.031640],[0.121407,0.983883,0.131278],[0.015607,-0.134132,0.990841]] 2025-10-28T22:56:53.566Z,1761692213.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992398,-0.119340,-0.030065],[0.122254,0.984015,0.129496],[0.014130,-0.132187,0.991124]] 2025-10-28T22:56:53.971Z,1761692213.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992137,-0.121745,-0.029015],[0.124487,0.983873,0.128443],[0.012909,-0.131046,0.991292]] 2025-10-28T22:56:54.376Z,1761692214.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991778,-0.124784,-0.028379],[0.127407,0.983611,0.127577],[0.011994,-0.130144,0.991423]] 2025-10-28T22:56:54.778Z,1761692214.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991367,-0.128140,-0.027767],[0.130663,0.983102,0.128208],[0.010869,-0.130729,0.991359]] 2025-10-28T22:56:55.183Z,1761692215.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990987,-0.131157,-0.027264],[0.133598,0.982578,0.129201],[0.009843,-0.131679,0.991243]] 2025-10-28T22:56:55.587Z,1761692215.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990614,-0.133999,-0.026975],[0.136389,0.982053,0.130272],[0.009034,-0.132728,0.991111]] 2025-10-28T22:56:55.992Z,1761692215.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990292,-0.136485,-0.026319],[0.138769,0.981658,0.130733],[0.007993,-0.133117,0.991068]] 2025-10-28T22:56:56.024Z,1761692216.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:56:56.395Z,1761692216.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990016,-0.138535,-0.025997],[0.140776,0.981061,0.133047],[0.007073,-0.135378,0.990769]] 2025-10-28T22:56:56.798Z,1761692216.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989813,-0.140126,-0.025213],[0.142255,0.980639,0.134577],[0.005867,-0.136793,0.990582]] 2025-10-28T22:56:57.028Z,1761692217.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:56:57.203Z,1761692217.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989737,-0.140742,-0.024742],[0.142812,0.980277,0.136609],[0.005027,-0.138741,0.990316]] 2025-10-28T22:56:57.608Z,1761692217.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989721,-0.140893,-0.024510],[0.142935,0.980070,0.137961],[0.004583,-0.140046,0.990134]] 2025-10-28T22:56:58.010Z,1761692218.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989832,-0.140236,-0.023789],[0.142189,0.980001,0.139212],[0.003791,-0.141179,0.989977]] 2025-10-28T22:56:58.414Z,1761692218.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989975,-0.139337,-0.023135],[0.141208,0.980041,0.139925],[0.003176,-0.141789,0.989892]] 2025-10-28T22:56:58.819Z,1761692218.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990172,-0.138054,-0.022382],[0.139834,0.980103,0.140870],[0.002489,-0.142616,0.989775]] 2025-10-28T22:56:59.225Z,1761692219.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990430,-0.136339,-0.021450],[0.138006,0.980267,0.141530],[0.001731,-0.143136,0.989702]] 2025-10-28T22:56:59.628Z,1761692219.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990564,-0.135503,-0.020560],[0.137050,0.980368,0.141761],[0.000948,-0.143241,0.989687]] 2025-10-28T22:57:00.031Z,1761692220.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990653,-0.135003,-0.019502],[0.136404,0.980523,0.141308],[0.000046,-0.142647,0.989774]] 2025-10-28T22:57:00.434Z,1761692220.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990707,-0.134778,-0.018313],[0.136014,0.980942,0.138756],[-0.000737,-0.139957,0.990157]] 2025-10-28T22:57:00.839Z,1761692220.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990677,-0.135107,-0.017446],[0.136220,0.981010,0.138070],[-0.001540,-0.139159,0.990269]] 2025-10-28T22:57:01.245Z,1761692221.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990520,-0.136348,-0.016697],[0.137348,0.981026,0.136832],[-0.002277,-0.137828,0.990454]] 2025-10-28T22:57:01.646Z,1761692221.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990306,-0.137973,-0.016051],[0.138872,0.980992,0.135534],[-0.002954,-0.136449,0.990643]] 2025-10-28T22:57:02.053Z,1761692222.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989996,-0.140198,-0.015914],[0.141059,0.980761,0.134944],[-0.003311,-0.135839,0.990725]] 2025-10-28T22:57:02.454Z,1761692222.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989776,-0.141755,-0.015768],[0.142582,0.980540,0.134949],[-0.003669,-0.135817,0.990727]] 2025-10-28T22:57:02.860Z,1761692222.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989568,-0.143233,-0.015459],[0.144003,0.980292,0.135245],[-0.004217,-0.136060,0.990692]] 2025-10-28T22:57:03.263Z,1761692223.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989480,-0.143872,-0.015155],[0.144589,0.980044,0.136407],[-0.004773,-0.137164,0.990537]] 2025-10-28T22:57:03.666Z,1761692223.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989477,-0.143952,-0.014619],[0.144588,0.979865,0.137689],[-0.005496,-0.138353,0.990368]] 2025-10-28T22:57:04.071Z,1761692224.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989599,-0.143142,-0.014315],[0.143730,0.979653,0.140079],[-0.006028,-0.140680,0.990037]] 2025-10-28T22:57:04.475Z,1761692224.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989816,-0.141680,-0.013858],[0.142212,0.979737,0.141040],[-0.006405,-0.141574,0.989907]] 2025-10-28T22:57:04.880Z,1761692224.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990085,-0.139838,-0.013275],[0.140299,0.979858,0.142107],[-0.006864,-0.142561,0.989762]] 2025-10-28T22:57:05.283Z,1761692225.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990348,-0.138011,-0.012823],[0.138419,0.979981,0.143096],[-0.007182,-0.143490,0.989626]] 2025-10-28T22:57:05.687Z,1761692225.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990612,-0.136163,-0.012125],[0.136492,0.980291,0.142826],[-0.007562,-0.143140,0.989674]] 2025-10-28T22:57:06.091Z,1761692226.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990815,-0.134731,-0.011548],[0.134997,0.980579,0.142270],[-0.007844,-0.142522,0.989761]] 2025-10-28T22:57:06.497Z,1761692226.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991038,-0.133157,-0.010622],[0.133323,0.981081,0.140372],[-0.008270,-0.140530,0.990042]] 2025-10-28T22:57:06.898Z,1761692226.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991230,-0.131804,-0.009514],[0.131840,0.981468,0.139062],[-0.008991,-0.139097,0.990238]] 2025-10-28T22:57:07.303Z,1761692227.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991372,-0.130813,-0.008281],[0.130700,0.981785,0.137900],[-0.009909,-0.137792,0.990412]] 2025-10-28T22:57:07.707Z,1761692227.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991500,-0.129910,-0.007129],[0.129654,0.982015,0.137247],[-0.010829,-0.137005,0.990511]] 2025-10-28T22:57:08.112Z,1761692228.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991562,-0.129504,-0.005851],[0.129091,0.982255,0.136052],[-0.011872,-0.135660,0.990684]] 2025-10-28T22:57:08.514Z,1761692228.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991495,-0.130056,-0.004718],[0.129513,0.982496,0.133899],[-0.012779,-0.133371,0.990984]] 2025-10-28T22:57:08.918Z,1761692228.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991415,-0.130702,-0.003743],[0.130042,0.982615,0.132504],[-0.013641,-0.131853,0.991175]] 2025-10-28T22:57:09.322Z,1761692229.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991221,-0.132188,-0.002668],[0.131388,0.982564,0.131546],[-0.014767,-0.130742,0.991306]] 2025-10-28T22:57:09.728Z,1761692229.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990924,-0.134414,-0.001429],[0.133453,0.982455,0.130280],[-0.016108,-0.129288,0.991476]] 2025-10-28T22:57:10.130Z,1761692230.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990570,-0.137004,-0.000559],[0.135916,0.982176,0.129831],[-0.017238,-0.128683,0.991536]] 2025-10-28T22:57:10.534Z,1761692230.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990153,-0.139990,0.000287],[0.138762,0.981736,0.130153],[-0.018501,-0.128831,0.991494]] 2025-10-28T22:57:10.939Z,1761692230.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989677,-0.143308,0.001198],[0.141905,0.981085,0.131665],[-0.020044,-0.130136,0.991293]] 2025-10-28T22:57:11.344Z,1761692231.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989172,-0.146748,0.002125],[0.145140,0.980273,0.134165],[-0.021771,-0.132404,0.990957]] 2025-10-28T22:57:11.748Z,1761692231.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988637,-0.150289,0.003283],[0.148440,0.979457,0.136494],[-0.023729,-0.134455,0.990636]] 2025-10-28T22:57:12.150Z,1761692232.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988088,-0.153822,0.004620],[0.151719,0.978731,0.138083],[-0.025761,-0.135737,0.990410]] 2025-10-28T22:57:12.554Z,1761692232.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987596,-0.156891,0.006341],[0.154476,0.978049,0.139851],[-0.028143,-0.137137,0.990152]] 2025-10-28T22:57:12.959Z,1761692232.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987173,-0.159451,0.007991],[0.156712,0.977342,0.142283],[-0.030497,-0.139206,0.989794]] 2025-10-28T22:57:13.364Z,1761692233.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986878,-0.161184,0.009533],[0.158152,0.976840,0.144123],[-0.032543,-0.140725,0.989514]] 2025-10-28T22:57:13.766Z,1761692233.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986724,-0.162056,0.010639],[0.158779,0.976389,0.146469],[-0.034124,-0.142835,0.989158]] 2025-10-28T22:57:14.170Z,1761692234.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986695,-0.162159,0.011715],[0.158672,0.976170,0.148038],[-0.035442,-0.144210,0.988912]] 2025-10-28T22:57:14.575Z,1761692234.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986760,-0.161688,0.012711],[0.158008,0.976054,0.149505],[-0.036580,-0.145517,0.988679]] 2025-10-28T22:57:14.979Z,1761692234.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986928,-0.160585,0.013648],[0.156734,0.976073,0.150718],[-0.037524,-0.146609,0.988483]] 2025-10-28T22:57:15.382Z,1761692235.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987272,-0.158432,0.013918],[0.154547,0.976348,0.151192],[-0.037542,-0.147116,0.988406]] 2025-10-28T22:57:15.787Z,1761692235.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987652,-0.155960,0.014810],[0.151961,0.976713,0.151460],[-0.038087,-0.147339,0.988352]] 2025-10-28T22:57:16.191Z,1761692236.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988159,-0.152558,0.016382],[0.148392,0.977366,0.150782],[-0.039014,-0.146565,0.988431]] 2025-10-28T22:57:16.602Z,1761692236.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988743,-0.148523,0.018117],[0.144143,0.977990,0.150859],[-0.040124,-0.146549,0.988389]] 2025-10-28T22:57:16.999Z,1761692236.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989355,-0.144067,0.020535],[0.139433,0.978863,0.149620],[-0.041656,-0.145164,0.988530]] 2025-10-28T22:57:17.403Z,1761692237.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989951,-0.139503,0.023162],[0.134581,0.979696,0.148604],[-0.043422,-0.143993,0.988626]] 2025-10-28T22:57:17.806Z,1761692237.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990430,-0.135519,0.026147],[0.130297,0.980566,0.146676],[-0.045517,-0.141866,0.988839]] 2025-10-28T22:57:18.213Z,1761692238.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990826,-0.132004,0.028965],[0.126447,0.981162,0.146057],[-0.047700,-0.141054,0.988852]] 2025-10-28T22:57:18.614Z,1761692238.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991158,-0.128809,0.031828],[0.122963,0.981849,0.144403],[-0.049851,-0.139212,0.989007]] 2025-10-28T22:57:19.018Z,1761692239.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991291,-0.127118,0.034402],[0.121007,0.982313,0.142891],[-0.051958,-0.137483,0.989140]] 2025-10-28T22:57:19.422Z,1761692239.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991299,-0.126432,0.036628],[0.120110,0.982658,0.141268],[-0.053853,-0.135640,0.989294]] 2025-10-28T22:57:19.827Z,1761692239.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991175,-0.126943,0.038170],[0.120427,0.982671,0.140908],[-0.055396,-0.135068,0.989287]] 2025-10-28T22:57:20.232Z,1761692240.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990814,-0.129229,0.039837],[0.122612,0.982753,0.138431],[-0.057039,-0.132275,0.989570]] 2025-10-28T22:57:20.634Z,1761692240.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990360,-0.132221,0.041276],[0.125490,0.982627,0.136734],[-0.058638,-0.130236,0.989748]] 2025-10-28T22:57:21.038Z,1761692241.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989781,-0.136067,0.042653],[0.129247,0.982412,0.134766],[-0.060240,-0.127876,0.989959]] 2025-10-28T22:57:21.443Z,1761692241.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989151,-0.140317,0.043495],[0.133346,0.981839,0.134949],[-0.061641,-0.127685,0.989897]] 2025-10-28T22:57:21.848Z,1761692241.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988515,-0.144582,0.043978],[0.137363,0.980947,0.137386],[-0.063004,-0.129767,0.989541]] 2025-10-28T22:57:22.250Z,1761692242.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987860,-0.148878,0.044364],[0.141439,0.980068,0.139508],[-0.064250,-0.131539,0.989227]] 2025-10-28T22:57:22.654Z,1761692242.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987202,-0.152968,0.045079],[0.145295,0.979272,0.141121],[-0.065732,-0.132765,0.988966]] 2025-10-28T22:57:23.058Z,1761692243.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986595,-0.156614,0.045846],[0.148611,0.978348,0.144052],[-0.067413,-0.135307,0.988508]] 2025-10-28T22:57:23.464Z,1761692243.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986086,-0.159490,0.046884],[0.151241,0.977771,0.145221],[-0.069003,-0.136110,0.988288]] 2025-10-28T22:57:23.866Z,1761692243.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985705,-0.161546,0.047843],[0.153130,0.977439,0.145482],[-0.070265,-0.136076,0.988203]] 2025-10-28T22:57:24.283Z,1761692244.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985306,-0.163632,0.048950],[0.155117,0.977267,0.144526],[-0.071486,-0.134810,0.988289]] 2025-10-28T22:57:25.083Z,1761692245.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984300,-0.169113,0.050547],[0.160397,0.976531,0.143734],[-0.073668,-0.133370,0.988325]] 2025-10-28T22:57:25.483Z,1761692245.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983647,-0.172693,0.051148],[0.163979,0.976149,0.142280],[-0.074499,-0.131566,0.988504]] 2025-10-28T22:57:25.886Z,1761692245.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983049,-0.176324,0.050237],[0.167716,0.975541,0.142092],[-0.074063,-0.131258,0.988578]] 2025-10-28T22:57:26.323Z,1761692246.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982155,-0.182022,0.047331],[0.173434,0.973898,0.146437],[-0.072750,-0.135615,0.988087]] 2025-10-28T22:57:26.363Z,1761692246.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -191.58, +457.00 2025-10-28T22:57:27.099Z,1761692247.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982107,-0.182768,0.045416],[0.174117,0.973104,0.150837],[-0.071763,-0.140230,0.987515]] 2025-10-28T22:57:27.165Z,1761692247.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:57:27.503Z,1761692247.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982362,-0.181809,0.043701],[0.173110,0.972624,0.155035],[-0.070692,-0.144735,0.986942]] 2025-10-28T22:57:27.907Z,1761692247.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982993,-0.178709,0.042272],[0.169913,0.972413,0.159821],[-0.069667,-0.149921,0.986240]] 2025-10-28T22:57:28.168Z,1761692248.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:57:28.343Z,1761692248.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984865,-0.168473,0.040718],[0.159475,0.972831,0.167834],[-0.067887,-0.158800,0.984974]] 2025-10-28T22:57:28.719Z,1761692248.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985961,-0.161806,0.041220],[0.152792,0.973859,0.168090],[-0.067341,-0.159432,0.984910]] 2025-10-28T22:57:29.123Z,1761692249.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986993,-0.155107,0.042270],[0.146059,0.975020,0.167339],[-0.067169,-0.158988,0.984993]] 2025-10-28T22:57:29.527Z,1761692249.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987935,-0.148572,0.043708],[0.139418,0.976103,0.166688],[-0.067429,-0.158584,0.985040]] 2025-10-28T22:57:29.932Z,1761692249.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988824,-0.141917,0.045673],[0.132758,0.977589,0.163385],[-0.067836,-0.155496,0.985505]] 2025-10-28T22:57:30.347Z,1761692250.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989622,-0.135421,0.048054],[0.126347,0.979339,0.157896],[-0.068444,-0.150186,0.986286]] 2025-10-28T22:57:30.735Z,1761692250.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990322,-0.129349,0.050318],[0.120324,0.980837,0.153234],[-0.069175,-0.145696,0.986908]] 2025-10-28T22:57:31.139Z,1761692251.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990891,-0.123866,0.052843],[0.114966,0.982427,0.147037],[-0.070128,-0.139622,0.987719]] 2025-10-28T22:57:31.544Z,1761692251.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991300,-0.119525,0.055115],[0.110805,0.983839,0.140651],[-0.071036,-0.133321,0.988524]] 2025-10-28T22:57:31.946Z,1761692251.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991371,-0.118054,0.056989],[0.109485,0.984736,0.135309],[-0.072093,-0.127902,0.989163]] 2025-10-28T22:57:32.755Z,1761692252.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990740,-0.122818,0.057876],[0.114695,0.985208,0.127319],[-0.072657,-0.119502,0.990172]] 2025-10-28T22:57:33.159Z,1761692253.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990278,-0.126981,0.056790],[0.118964,0.984700,0.127329],[-0.072089,-0.119335,0.990233]] 2025-10-28T22:57:33.564Z,1761692253.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989854,-0.131165,0.054638],[0.123118,0.983704,0.131027],[-0.070934,-0.122971,0.989872]] 2025-10-28T22:57:33.966Z,1761692253.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989447,-0.135285,0.051885],[0.127167,0.982439,0.136538],[-0.069446,-0.128499,0.989275]] 2025-10-28T22:57:34.371Z,1761692254.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989050,-0.139148,0.049177],[0.130941,0.981091,0.142529],[-0.068080,-0.134529,0.988568]] 2025-10-28T22:57:34.776Z,1761692254.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988610,-0.143079,0.046683],[0.134750,0.979633,0.148871],[-0.067032,-0.140885,0.987754]] 2025-10-28T22:57:35.180Z,1761692255.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988119,-0.147052,0.044692],[0.138627,0.978302,0.153974],[-0.066365,-0.145949,0.987064]] 2025-10-28T22:57:35.582Z,1761692255.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987485,-0.151599,0.043495],[0.143005,0.976960,0.158427],[-0.066511,-0.150224,0.986412]] 2025-10-28T22:57:35.986Z,1761692255.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986694,-0.156739,0.043224],[0.147998,0.975896,0.160383],[-0.067320,-0.151852,0.986108]] 2025-10-28T22:57:36.391Z,1761692256.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985784,-0.162193,0.043846],[0.153256,0.974984,0.160993],[-0.068861,-0.151985,0.985981]] 2025-10-28T22:57:36.797Z,1761692256.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985099,-0.166109,0.044585],[0.157005,0.974361,0.161151],[-0.070210,-0.151750,0.985922]] 2025-10-28T22:57:37.199Z,1761692257.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984955,-0.166832,0.045070],[0.157616,0.974193,0.161570],[-0.070862,-0.152035,0.985832]] 2025-10-28T22:57:37.603Z,1761692257.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985601,-0.162906,0.045315],[0.153484,0.974360,0.164514],[-0.070953,-0.155190,0.985333]] 2025-10-28T22:57:38.007Z,1761692258.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986373,-0.158023,0.045787],[0.148586,0.975125,0.164478],[-0.070640,-0.155434,0.985317]] 2025-10-28T22:57:38.413Z,1761692258.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987204,-0.152621,0.046214],[0.143269,0.976134,0.163204],[-0.070020,-0.154495,0.985509]] 2025-10-28T22:57:38.816Z,1761692258.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988043,-0.147016,0.046449],[0.137812,0.977207,0.161476],[-0.069130,-0.153144,0.985783]] 2025-10-28T22:57:39.220Z,1761692259.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988833,-0.141537,0.046660],[0.132549,0.978377,0.158772],[-0.068124,-0.150815,0.986212]] 2025-10-28T22:57:39.623Z,1761692259.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989482,-0.136853,0.046869],[0.128081,0.979439,0.155869],[-0.067236,-0.148227,0.986665]] 2025-10-28T22:57:40.029Z,1761692260.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989986,-0.133178,0.046809],[0.124612,0.980261,0.153493],[-0.066327,-0.146123,0.987040]] 2025-10-28T22:57:40.430Z,1761692260.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990259,-0.131161,0.046734],[0.122851,0.981008,0.150104],[-0.065534,-0.142900,0.987565]] 2025-10-28T22:57:40.835Z,1761692260.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990436,-0.129932,0.046413],[0.121798,0.981413,0.148300],[-0.064819,-0.141229,0.987853]] 2025-10-28T22:57:41.238Z,1761692261.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990567,-0.129141,0.045814],[0.121165,0.981642,0.147301],[-0.063995,-0.140361,0.988030]] 2025-10-28T22:57:41.646Z,1761692261.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990627,-0.128884,0.045249],[0.120981,0.981645,0.147435],[-0.063420,-0.140579,0.988036]] 2025-10-28T22:57:42.048Z,1761692262.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990652,-0.128933,0.044544],[0.121061,0.981473,0.148511],[-0.062866,-0.141730,0.987907]] 2025-10-28T22:57:42.450Z,1761692262.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990705,-0.128806,0.043738],[0.120987,0.981332,0.149497],[-0.062178,-0.142816,0.987794]] 2025-10-28T22:57:42.855Z,1761692262.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990802,-0.128229,0.043228],[0.120435,0.981267,0.150368],[-0.061700,-0.143779,0.987685]] 2025-10-28T22:57:43.258Z,1761692263.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990892,-0.127592,0.043055],[0.119844,0.981377,0.150122],[-0.061408,-0.143595,0.987729]] 2025-10-28T22:57:43.664Z,1761692263.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990945,-0.127178,0.043060],[0.119414,0.981383,0.150423],[-0.061389,-0.143919,0.987684]] 2025-10-28T22:57:44.067Z,1761692264.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990928,-0.127144,0.043542],[0.119303,0.981377,0.150552],[-0.061873,-0.143992,0.987643]] 2025-10-28T22:57:44.471Z,1761692264.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990995,-0.126622,0.043536],[0.118783,0.981430,0.150615],[-0.061799,-0.144088,0.987633]] 2025-10-28T22:57:44.876Z,1761692264.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990960,-0.126925,0.043454],[0.119118,0.981444,0.150261],[-0.061720,-0.143727,0.987691]] 2025-10-28T22:57:45.281Z,1761692265.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990930,-0.127434,0.042635],[0.119849,0.981626,0.148480],[-0.060773,-0.142023,0.987996]] 2025-10-28T22:57:45.682Z,1761692265.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990847,-0.128547,0.041203],[0.121318,0.981852,0.145769],[-0.059193,-0.139436,0.988460]] 2025-10-28T22:57:46.086Z,1761692266.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990768,-0.129751,0.039284],[0.122850,0.981840,0.144558],[-0.057328,-0.138397,0.988716]] 2025-10-28T22:57:46.491Z,1761692266.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990676,-0.131022,0.037336],[0.124472,0.981876,0.142922],[-0.055386,-0.136942,0.989029]] 2025-10-28T22:57:46.897Z,1761692266.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990604,-0.132080,0.035470],[0.125863,0.981930,0.141322],[-0.053495,-0.135529,0.989328]] 2025-10-28T22:57:47.298Z,1761692267.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990436,-0.133826,0.033586],[0.127957,0.981951,0.139280],[-0.051619,-0.133651,0.989683]] 2025-10-28T22:57:47.703Z,1761692267.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990238,-0.135727,0.031742],[0.130159,0.981860,0.137875],[-0.049880,-0.132398,0.989941]] 2025-10-28T22:57:48.107Z,1761692268.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989978,-0.138052,0.029739],[0.132776,0.981642,0.136928],[-0.048096,-0.131607,0.990134]] 2025-10-28T22:57:48.511Z,1761692268.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989682,-0.140618,0.027501],[0.135579,0.981147,0.137725],[-0.046349,-0.132575,0.990089]] 2025-10-28T22:57:48.915Z,1761692268.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989346,-0.143440,0.024896],[0.138654,0.980504,0.139235],[-0.044382,-0.134300,0.989946]] 2025-10-28T22:57:49.318Z,1761692269.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988983,-0.146340,0.022302],[0.141800,0.979797,0.141037],[-0.042491,-0.136321,0.989753]] 2025-10-28T22:57:49.723Z,1761692269.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988601,-0.149295,0.019496],[0.145012,0.978975,0.143452],[-0.040503,-0.138990,0.989465]] 2025-10-28T22:57:50.127Z,1761692270.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988325,-0.151443,0.016689],[0.147434,0.978247,0.145931],[-0.038426,-0.141767,0.989154]] 2025-10-28T22:57:50.530Z,1761692270.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988227,-0.152355,0.014001],[0.148647,0.977767,0.147904],[-0.036223,-0.144081,0.988903]] 2025-10-28T22:57:50.935Z,1761692270.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988295,-0.152126,0.011436],[0.148695,0.977334,0.150688],[-0.034100,-0.147224,0.988515]] 2025-10-28T22:57:51.339Z,1761692271.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988669,-0.149847,0.008960],[0.146668,0.976965,0.155008],[-0.031981,-0.151938,0.987873]] 2025-10-28T22:57:51.743Z,1761692271.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989296,-0.145765,0.006842],[0.142861,0.977012,0.158233],[-0.029749,-0.155562,0.987378]] 2025-10-28T22:57:52.147Z,1761692272.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990043,-0.140673,0.005139],[0.138009,0.977188,0.161419],[-0.027729,-0.159103,0.986873]] 2025-10-28T22:57:52.550Z,1761692272.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990890,-0.134616,0.003993],[0.132131,0.977482,0.164532],[-0.026052,-0.162505,0.986364]] 2025-10-28T22:57:52.955Z,1761692272.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991742,-0.128204,0.003428],[0.125896,0.978286,0.164640],[-0.024461,-0.162849,0.986348]] 2025-10-28T22:57:53.360Z,1761692273.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992641,-0.121048,0.003348],[0.118904,0.979549,0.162314],[-0.022927,-0.160722,0.986733]] 2025-10-28T22:57:53.762Z,1761692273.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993478,-0.113970,0.003479],[0.111945,0.980715,0.160205],[-0.021671,-0.158771,0.987078]] 2025-10-28T22:57:54.166Z,1761692274.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994246,-0.107060,0.003549],[0.105152,0.981777,0.158293],[-0.020431,-0.157009,0.987386]] 2025-10-28T22:57:54.571Z,1761692274.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994885,-0.100949,0.003610],[0.099177,0.982956,0.154793],[-0.019175,-0.153643,0.987940]] 2025-10-28T22:57:54.976Z,1761692274.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995308,-0.096699,0.003375],[0.095087,0.983978,0.150817],[-0.017905,-0.149788,0.988556]] 2025-10-28T22:57:55.378Z,1761692275.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995380,-0.095979,0.002638],[0.094555,0.984650,0.146710],[-0.016678,-0.145783,0.989176]] 2025-10-28T22:57:55.783Z,1761692275.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995166,-0.098201,0.001391],[0.096995,0.984969,0.142930],[-0.015406,-0.142104,0.989732]] 2025-10-28T22:57:56.186Z,1761692276.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994757,-0.102269,-0.000106],[0.101294,0.985132,0.138759],[-0.014087,-0.138042,0.990326]] 2025-10-28T22:57:56.593Z,1761692276.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994221,-0.107342,-0.001721],[0.106584,0.985027,0.135507],[-0.012850,-0.134907,0.990775]] 2025-10-28T22:57:56.995Z,1761692276.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993630,-0.112624,-0.003980],[0.112150,0.984741,0.133069],[-0.011067,-0.132668,0.991099]] 2025-10-28T22:57:57.399Z,1761692277.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993056,-0.117476,-0.006262],[0.117267,0.984233,0.132416],[-0.009392,-0.132231,0.991174]] 2025-10-28T22:57:57.803Z,1761692277.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992647,-0.120738,-0.008585],[0.120797,0.983619,0.133796],[-0.007710,-0.133849,0.990972]] 2025-10-28T22:57:58.207Z,1761692278.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992443,-0.122251,-0.010578],[0.122558,0.983269,0.134765],[-0.006074,-0.135043,0.990821]] 2025-10-28T22:57:58.289Z,1761692278.289 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:57:58.612Z,1761692278.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992487,-0.121735,-0.012290],[0.122269,0.983064,0.136512],[-0.004536,-0.136989,0.990562]] 2025-10-28T22:57:59.014Z,1761692279.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992637,-0.120366,-0.013576],[0.121086,0.983053,0.137642],[-0.003222,-0.138272,0.990389]] 2025-10-28T22:57:59.292Z,1761692279.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:57:59.418Z,1761692279.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992728,-0.119491,-0.014618],[0.120365,0.983225,0.137047],[-0.002003,-0.137809,0.990457]] 2025-10-28T22:57:59.822Z,1761692279.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992673,-0.119831,-0.015532],[0.120829,0.983256,0.136408],[-0.001074,-0.137285,0.990531]] 2025-10-28T22:58:00.228Z,1761692280.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992479,-0.121331,-0.016238],[0.122412,0.983386,0.134041],[-0.000295,-0.135020,0.990843]] 2025-10-28T22:58:00.630Z,1761692280.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992121,-0.124095,-0.017211],[0.125281,0.983333,0.131759],[0.000574,-0.132877,0.991132]] 2025-10-28T22:58:01.035Z,1761692281.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991669,-0.127472,-0.018541],[0.128804,0.983029,0.130625],[0.001575,-0.131924,0.991259]] 2025-10-28T22:58:01.439Z,1761692281.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991183,-0.130993,-0.019945],[0.132479,0.982570,0.130402],[0.002516,-0.131894,0.991261]] 2025-10-28T22:58:01.844Z,1761692281.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990644,-0.134767,-0.021488],[0.136430,0.981767,0.132366],[0.003258,-0.134059,0.990968]] 2025-10-28T22:58:02.247Z,1761692282.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990153,-0.138052,-0.023225],[0.139936,0.980738,0.136277],[0.003965,-0.138185,0.990398]] 2025-10-28T22:58:02.651Z,1761692282.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989911,-0.139528,-0.024651],[0.141606,0.980185,0.138514],[0.004836,-0.140607,0.990054]] 2025-10-28T22:58:03.055Z,1761692283.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990047,-0.138295,-0.026103],[0.140620,0.979609,0.143499],[0.005725,-0.145741,0.989306]] 2025-10-28T22:58:03.460Z,1761692283.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990459,-0.135133,-0.027016],[0.137660,0.979252,0.148709],[0.006360,-0.151009,0.988512]] 2025-10-28T22:58:03.863Z,1761692283.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990970,-0.131162,-0.027839],[0.133874,0.979477,0.150673],[0.007505,-0.153040,0.988192]] 2025-10-28T22:58:04.270Z,1761692284.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991528,-0.126779,-0.028287],[0.129614,0.979976,0.151155],[0.008557,-0.153541,0.988105]] 2025-10-28T22:58:04.671Z,1761692284.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992116,-0.121987,-0.028728],[0.124930,0.980824,0.149589],[0.009929,-0.151999,0.988331]] 2025-10-28T22:58:05.076Z,1761692285.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992734,-0.116710,-0.029287],[0.119774,0.981787,0.147472],[0.011542,-0.149909,0.988632]] 2025-10-28T22:58:05.478Z,1761692285.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993319,-0.111387,-0.030174],[0.114607,0.982790,0.144878],[0.013517,-0.147368,0.988989]] 2025-10-28T22:58:05.882Z,1761692285.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993790,-0.106892,-0.030922],[0.110231,0.983659,0.142350],[0.015200,-0.144874,0.989333]] 2025-10-28T22:58:06.332Z,1761692286.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994095,-0.103781,-0.031688],[0.107216,0.984395,0.139540],[0.016712,-0.142113,0.989709]] 2025-10-28T22:58:06.692Z,1761692286.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994301,-0.101513,-0.032577],[0.105066,0.984864,0.137853],[0.018090,-0.140490,0.989917]] 2025-10-28T22:58:07.094Z,1761692287.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994398,-0.100183,-0.033690],[0.103871,0.985234,0.136108],[0.019557,-0.138845,0.990121]] 2025-10-28T22:58:07.498Z,1761692287.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994419,-0.099534,-0.034990],[0.103394,0.985381,0.135404],[0.021001,-0.138266,0.990172]] 2025-10-28T22:58:07.902Z,1761692287.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994343,-0.099795,-0.036374],[0.103827,0.985437,0.134662],[0.022406,-0.137677,0.990224]] 2025-10-28T22:58:08.340Z,1761692288.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994149,-0.101138,-0.037929],[0.105354,0.985380,0.133887],[0.023833,-0.137100,0.990270]] 2025-10-28T22:58:08.712Z,1761692288.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993839,-0.103440,-0.039794],[0.107849,0.985333,0.132242],[0.025531,-0.135719,0.990418]] 2025-10-28T22:58:09.114Z,1761692289.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993380,-0.106908,-0.042034],[0.111562,0.985070,0.131115],[0.027389,-0.134936,0.990476]] 2025-10-28T22:58:09.518Z,1761692289.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992804,-0.111081,-0.044740],[0.116032,0.984704,0.129976],[0.029618,-0.134232,0.990507]] 2025-10-28T22:58:09.923Z,1761692289.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992159,-0.115424,-0.047944],[0.120741,0.984259,0.129061],[0.032293,-0.133838,0.990477]] 2025-10-28T22:58:10.347Z,1761692290.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991453,-0.119881,-0.051465],[0.125659,0.983560,0.129694],[0.035071,-0.135053,0.990218]] 2025-10-28T22:58:10.730Z,1761692290.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990716,-0.124255,-0.055151],[0.130556,0.982723,0.131190],[0.037897,-0.137172,0.989822]] 2025-10-28T22:58:11.134Z,1761692291.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990004,-0.128347,-0.058468],[0.135149,0.981849,0.133071],[0.040327,-0.139642,0.989380]] 2025-10-28T22:58:11.539Z,1761692291.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989405,-0.131363,-0.061815],[0.138745,0.980922,0.136171],[0.042748,-0.143305,0.988755]] 2025-10-28T22:58:11.944Z,1761692291.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988967,-0.133290,-0.064631],[0.141170,0.980237,0.138585],[0.044882,-0.146180,0.988239]] 2025-10-28T22:58:12.354Z,1761692292.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988905,-0.132446,-0.067273],[0.140975,0.979500,0.143891],[0.046836,-0.151779,0.987304]] 2025-10-28T22:58:12.751Z,1761692292.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989231,-0.128934,-0.069274],[0.138002,0.979320,0.147942],[0.048767,-0.155909,0.986567]] 2025-10-28T22:58:13.155Z,1761692293.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989749,-0.124215,-0.070481],[0.133689,0.979413,0.151253],[0.050242,-0.159125,0.985979]] 2025-10-28T22:58:13.564Z,1761692293.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990309,-0.119187,-0.071294],[0.128823,0.980121,0.150886],[0.051893,-0.158608,0.985977]] 2025-10-28T22:58:13.970Z,1761692293.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991487,-0.108061,-0.072638],[0.117755,0.982240,0.146078],[0.055563,-0.153388,0.986603]] 2025-10-28T22:58:14.373Z,1761692294.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991962,-0.103144,-0.073296],[0.112788,0.983323,0.142673],[0.057358,-0.149794,0.987052]] 2025-10-28T22:58:14.775Z,1761692294.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992254,-0.099832,-0.073926],[0.109327,0.984367,0.138094],[0.058984,-0.145107,0.987656]] 2025-10-28T22:58:15.180Z,1761692295.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992281,-0.098978,-0.074711],[0.108257,0.985243,0.132575],[0.060486,-0.139640,0.988353]] 2025-10-28T22:58:15.582Z,1761692295.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992153,-0.099673,-0.075480],[0.108756,0.985826,0.127749],[0.061678,-0.134956,0.988930]] 2025-10-28T22:58:15.983Z,1761692295.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991963,-0.100867,-0.076391],[0.109897,0.986041,0.125086],[0.062707,-0.132476,0.989201]] 2025-10-28T22:58:16.388Z,1761692296.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991687,-0.102513,-0.077772],[0.111734,0.985802,0.125337],[0.063819,-0.132985,0.989061]] 2025-10-28T22:58:16.791Z,1761692296.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991353,-0.104895,-0.078846],[0.114312,0.985378,0.126344],[0.064440,-0.134264,0.988848]] 2025-10-28T22:58:17.197Z,1761692297.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990970,-0.107482,-0.080158],[0.117195,0.984775,0.128389],[0.065138,-0.136624,0.988479]] 2025-10-28T22:58:17.599Z,1761692297.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990561,-0.110088,-0.081667],[0.120125,0.984161,0.130369],[0.066021,-0.138949,0.988096]] 2025-10-28T22:58:18.003Z,1761692298.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990248,-0.111792,-0.083132],[0.122128,0.983710,0.131903],[0.067032,-0.140770,0.987770]] 2025-10-28T22:58:18.407Z,1761692298.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989955,-0.113162,-0.084756],[0.123904,0.983125,0.134587],[0.068096,-0.143737,0.987270]] 2025-10-28T22:58:18.812Z,1761692298.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989770,-0.113534,-0.086398],[0.124722,0.982606,0.137589],[0.069274,-0.146957,0.986714]] 2025-10-28T22:58:19.214Z,1761692299.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989667,-0.113125,-0.088098],[0.124668,0.982416,0.138987],[0.070826,-0.148534,0.986368]] 2025-10-28T22:58:19.619Z,1761692299.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989586,-0.112245,-0.090113],[0.124330,0.982005,0.142155],[0.072535,-0.151879,0.985734]] 2025-10-28T22:58:20.023Z,1761692300.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989596,-0.111251,-0.091224],[0.123576,0.981980,0.142984],[0.073673,-0.152769,0.985512]] 2025-10-28T22:58:20.428Z,1761692300.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989637,-0.110055,-0.092234],[0.122564,0.982069,0.143245],[0.074815,-0.153065,0.985380]] 2025-10-28T22:58:20.830Z,1761692300.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989724,-0.108387,-0.093267],[0.121061,0.982266,0.143168],[0.076096,-0.152988,0.985294]] 2025-10-28T22:58:21.234Z,1761692301.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989887,-0.106323,-0.093911],[0.119154,0.982421,0.143703],[0.076982,-0.153439,0.985155]] 2025-10-28T22:58:21.640Z,1761692301.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990051,-0.104285,-0.094467],[0.117100,0.982884,0.142220],[0.078018,-0.151867,0.985317]] 2025-10-28T22:58:22.050Z,1761692302.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990212,-0.102547,-0.094679],[0.115269,0.983349,0.140492],[0.078695,-0.150031,0.985544]] 2025-10-28T22:58:22.448Z,1761692302.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990406,-0.100843,-0.094480],[0.113340,0.983940,0.137897],[0.079057,-0.147282,0.985930]] 2025-10-28T22:58:22.850Z,1761692302.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990547,-0.100010,-0.093886],[0.112171,0.984512,0.134735],[0.078957,-0.143993,0.986424]] 2025-10-28T22:58:23.254Z,1761692303.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990635,-0.099531,-0.093471],[0.111593,0.984649,0.134216],[0.078678,-0.143390,0.986534]] 2025-10-28T22:58:23.659Z,1761692303.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990689,-0.099885,-0.092516],[0.111598,0.985007,0.131559],[0.077988,-0.140658,0.986982]] 2025-10-28T22:58:24.064Z,1761692304.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990570,-0.101259,-0.092286],[0.112828,0.985041,0.130242],[0.077718,-0.139427,0.987178]] 2025-10-28T22:58:24.467Z,1761692304.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990351,-0.103310,-0.092368],[0.114740,0.985052,0.128480],[0.077714,-0.137839,0.987401]] 2025-10-28T22:58:24.871Z,1761692304.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990150,-0.105220,-0.092365],[0.116628,0.984850,0.128329],[0.077463,-0.137837,0.987421]] 2025-10-28T22:58:25.275Z,1761692305.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989957,-0.106909,-0.092501],[0.118410,0.984497,0.129404],[0.077232,-0.139058,0.987268]] 2025-10-28T22:58:25.681Z,1761692305.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989774,-0.108046,-0.093136],[0.119817,0.984011,0.131778],[0.077409,-0.141590,0.986894]] 2025-10-28T22:58:26.083Z,1761692306.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989684,-0.108438,-0.093635],[0.120432,0.983672,0.133735],[0.077604,-0.143632,0.986584]] 2025-10-28T22:58:26.487Z,1761692306.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989644,-0.107953,-0.094609],[0.120222,0.983473,0.135380],[0.078430,-0.145352,0.986266]] 2025-10-28T22:58:26.890Z,1761692306.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989733,-0.106590,-0.095224],[0.119044,0.983466,0.136467],[0.079104,-0.146401,0.986057]] 2025-10-28T22:58:27.295Z,1761692307.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989971,-0.103933,-0.095680],[0.116601,0.983536,0.138060],[0.079756,-0.147832,0.985791]] 2025-10-28T22:58:27.701Z,1761692307.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990332,-0.100329,-0.095792],[0.113131,0.983778,0.139222],[0.080270,-0.148713,0.985617]] 2025-10-28T22:58:28.103Z,1761692308.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990710,-0.096843,-0.095475],[0.109600,0.984215,0.138954],[0.080511,-0.148128,0.985686]] 2025-10-28T22:58:28.507Z,1761692308.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991032,-0.093983,-0.094988],[0.106564,0.984757,0.137471],[0.080620,-0.146361,0.985941]] 2025-10-28T22:58:28.911Z,1761692308.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991288,-0.091888,-0.094370],[0.104279,0.985193,0.136089],[0.080467,-0.144744,0.986192]] 2025-10-28T22:58:29.316Z,1761692309.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991420,-0.091210,-0.093635],[0.103286,0.985655,0.133478],[0.080117,-0.142004,0.986619]] 2025-10-28T22:58:29.413Z,1761692309.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:58:29.719Z,1761692309.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991406,-0.091897,-0.093112],[0.103683,0.985964,0.130861],[0.079780,-0.139391,0.987018]] 2025-10-28T22:58:30.122Z,1761692310.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991233,-0.094178,-0.092672],[0.105722,0.986023,0.128771],[0.079250,-0.137440,0.987335]] 2025-10-28T22:58:30.416Z,1761692310.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:58:30.527Z,1761692310.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991036,-0.096525,-0.092365],[0.107965,0.985860,0.128152],[0.078689,-0.136975,0.987444]] 2025-10-28T22:58:30.932Z,1761692310.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990815,-0.099247,-0.091845],[0.110577,0.985610,0.127849],[0.077835,-0.136831,0.987532]] 2025-10-28T22:58:31.334Z,1761692311.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990526,-0.102022,-0.091925],[0.113529,0.984973,0.130153],[0.077265,-0.139356,0.987223]] 2025-10-28T22:58:31.739Z,1761692311.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990230,-0.104610,-0.092198],[0.116412,0.984170,0.133630],[0.076759,-0.143058,0.986733]] 2025-10-28T22:58:32.143Z,1761692312.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989972,-0.106684,-0.092597],[0.118687,0.983624,0.135637],[0.076611,-0.145266,0.986422]] 2025-10-28T22:58:32.546Z,1761692312.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989847,-0.107411,-0.093093],[0.119690,0.983130,0.138311],[0.076666,-0.148049,0.986004]] 2025-10-28T22:58:32.951Z,1761692312.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989940,-0.106149,-0.093549],[0.118809,0.982682,0.142199],[0.076835,-0.151883,0.985408]] 2025-10-28T22:58:33.354Z,1761692313.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990283,-0.103108,-0.093317],[0.115829,0.982898,0.143158],[0.076961,-0.152576,0.985291]] 2025-10-28T22:58:33.761Z,1761692313.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990686,-0.099606,-0.092846],[0.112247,0.983377,0.142726],[0.077086,-0.151818,0.985398]] 2025-10-28T22:58:34.163Z,1761692314.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991124,-0.095555,-0.092421],[0.108069,0.984014,0.141553],[0.077418,-0.150284,0.985607]] 2025-10-28T22:58:34.566Z,1761692314.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991508,-0.091845,-0.092072],[0.104021,0.985010,0.137602],[0.078053,-0.146011,0.986199]] 2025-10-28T22:58:34.971Z,1761692314.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991766,-0.089231,-0.091855],[0.100910,0.986162,0.131536],[0.078847,-0.139722,0.987047]] 2025-10-28T22:58:35.375Z,1761692315.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991798,-0.089281,-0.091465],[0.100370,0.987088,0.124836],[0.079138,-0.132993,0.987952]] 2025-10-28T22:58:35.781Z,1761692315.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991615,-0.091352,-0.091401],[0.101962,0.987635,0.119084],[0.079392,-0.127405,0.988668]] 2025-10-28T22:58:36.182Z,1761692316.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991397,-0.094044,-0.091036],[0.104386,0.987695,0.116457],[0.078964,-0.124958,0.989015]] 2025-10-28T22:58:36.587Z,1761692316.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991110,-0.097018,-0.091037],[0.107287,0.987476,0.115675],[0.078674,-0.124413,0.989107]] 2025-10-28T22:58:36.991Z,1761692316.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990817,-0.100041,-0.090957],[0.110364,0.987025,0.116621],[0.078110,-0.125588,0.989003]] 2025-10-28T22:58:37.397Z,1761692317.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990557,-0.102432,-0.091134],[0.113091,0.986223,0.120726],[0.077512,-0.129892,0.988494]] 2025-10-28T22:58:37.798Z,1761692317.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990486,-0.103075,-0.091176],[0.114113,0.985504,0.125536],[0.076915,-0.134746,0.987890]] 2025-10-28T22:58:38.202Z,1761692318.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990564,-0.102269,-0.091241],[0.113731,0.984860,0.130830],[0.076480,-0.139972,0.987197]] 2025-10-28T22:58:38.607Z,1761692318.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990779,-0.100545,-0.090818],[0.112258,0.984503,0.134732],[0.075864,-0.143684,0.986712]] 2025-10-28T22:58:39.012Z,1761692319.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991099,-0.097975,-0.090126],[0.109874,0.984282,0.138265],[0.075163,-0.146937,0.986286]] 2025-10-28T22:58:39.414Z,1761692319.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991330,-0.096114,-0.089592],[0.108027,0.984337,0.139324],[0.074798,-0.147794,0.986186]] 2025-10-28T22:58:39.819Z,1761692319.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991460,-0.095061,-0.089279],[0.106887,0.984551,0.138692],[0.074716,-0.147050,0.986303]] 2025-10-28T22:58:40.222Z,1761692320.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991457,-0.095552,-0.088790],[0.107081,0.984940,0.135747],[0.074481,-0.144095,0.986757]] 2025-10-28T22:58:40.628Z,1761692320.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991377,-0.096979,-0.088133],[0.108123,0.985335,0.132005],[0.074039,-0.140396,0.987323]] 2025-10-28T22:58:41.030Z,1761692321.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991201,-0.099241,-0.087585],[0.110044,0.985566,0.128644],[0.073554,-0.137150,0.987816]] 2025-10-28T22:58:41.435Z,1761692321.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991025,-0.101224,-0.087307],[0.111862,0.985564,0.127085],[0.073183,-0.135711,0.988042]] 2025-10-28T22:58:41.841Z,1761692321.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990777,-0.103794,-0.087104],[0.114250,0.985533,0.125183],[0.072851,-0.133980,0.988303]] 2025-10-28T22:58:42.244Z,1761692322.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990638,-0.105636,-0.086472],[0.116061,0.985211,0.126056],[0.071877,-0.134911,0.988247]] 2025-10-28T22:58:42.646Z,1761692322.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990532,-0.107212,-0.085742],[0.117552,0.984991,0.126387],[0.070905,-0.135269,0.988269]] 2025-10-28T22:58:43.051Z,1761692323.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990473,-0.108107,-0.085301],[0.118521,0.984623,0.128338],[0.070115,-0.137225,0.988055]] 2025-10-28T22:58:43.454Z,1761692323.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990492,-0.108337,-0.084791],[0.118786,0.984393,0.129844],[0.069401,-0.138682,0.987902]] 2025-10-28T22:58:43.861Z,1761692323.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990584,-0.107850,-0.084336],[0.118358,0.984217,0.131562],[0.068815,-0.140305,0.987714]] 2025-10-28T22:58:44.266Z,1761692324.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990714,-0.106842,-0.084083],[0.117431,0.984114,0.133155],[0.068520,-0.141793,0.987522]] 2025-10-28T22:58:44.667Z,1761692324.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990917,-0.105164,-0.083813],[0.115833,0.984093,0.134697],[0.068314,-0.143182,0.987336]] 2025-10-28T22:58:45.071Z,1761692325.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991086,-0.103738,-0.083591],[0.114467,0.984090,0.135881],[0.068165,-0.144238,0.987192]] 2025-10-28T22:58:45.476Z,1761692325.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991345,-0.101660,-0.083070],[0.112356,0.984278,0.136284],[0.067909,-0.144438,0.987181]] 2025-10-28T22:58:45.879Z,1761692325.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991561,-0.100213,-0.082248],[0.110712,0.984640,0.135007],[0.067455,-0.142973,0.987425]] 2025-10-28T22:58:46.306Z,1761692326.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991650,-0.099981,-0.081455],[0.110251,0.984928,0.133275],[0.066902,-0.141142,0.987726]] 2025-10-28T22:58:46.698Z,1761692326.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991666,-0.100598,-0.080483],[0.110551,0.985244,0.130660],[0.066151,-0.138469,0.988155]] 2025-10-28T22:58:47.091Z,1761692327.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991632,-0.101696,-0.079521],[0.111328,0.985515,0.127928],[0.065359,-0.135711,0.988590]] 2025-10-28T22:58:47.495Z,1761692327.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991468,-0.103983,-0.078606],[0.113212,0.985817,0.123887],[0.064609,-0.131729,0.989178]] 2025-10-28T22:58:47.900Z,1761692327.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991237,-0.106847,-0.077671],[0.115769,0.985846,0.121268],[0.063615,-0.129197,0.989576]] 2025-10-28T22:58:48.330Z,1761692328.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990949,-0.109918,-0.077058],[0.118666,0.985649,0.120061],[0.062755,-0.128118,0.989771]] 2025-10-28T22:58:48.708Z,1761692328.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.113868,-0.076630],[0.122523,0.985211,0.119783],[0.061857,-0.128038,0.989838]] 2025-10-28T22:58:49.110Z,1761692329.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990140,-0.117473,-0.076302],[0.126072,0.984751,0.119878],[0.061056,-0.128316,0.989852]] 2025-10-28T22:58:49.515Z,1761692329.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989764,-0.120580,-0.076333],[0.129277,0.984113,0.121695],[0.060446,-0.130317,0.989628]] 2025-10-28T22:58:49.919Z,1761692329.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989440,-0.123141,-0.076452],[0.131961,0.983505,0.123710],[0.059957,-0.132492,0.989369]] 2025-10-28T22:58:50.344Z,1761692330.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989252,-0.124349,-0.076926],[0.133442,0.982849,0.127281],[0.059780,-0.136178,0.988879]] 2025-10-28T22:58:50.726Z,1761692330.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989209,-0.124427,-0.077347],[0.133800,0.982317,0.130962],[0.059684,-0.139898,0.988365]] 2025-10-28T22:58:51.130Z,1761692331.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989340,-0.123371,-0.077363],[0.132997,0.981880,0.134994],[0.059306,-0.143845,0.987822]] 2025-10-28T22:58:51.535Z,1761692331.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989687,-0.120929,-0.076782],[0.130776,0.981503,0.139818],[0.058454,-0.148417,0.987196]] 2025-10-28T22:58:51.940Z,1761692331.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990097,-0.118274,-0.075628],[0.128117,0.981495,0.142316],[0.057396,-0.150595,0.986928]] 2025-10-28T22:58:52.349Z,1761692332.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990585,-0.115232,-0.073916],[0.124964,0.981592,0.144433],[0.055912,-0.152310,0.986750]] 2025-10-28T22:58:52.747Z,1761692332.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991062,-0.112496,-0.071695],[0.121880,0.982069,0.143823],[0.054230,-0.151275,0.987003]] 2025-10-28T22:58:53.151Z,1761692333.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991466,-0.110480,-0.069209],[0.119408,0.982639,0.141994],[0.052320,-0.149046,0.987445]] 2025-10-28T22:58:53.557Z,1761692333.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991792,-0.109146,-0.066595],[0.117535,0.983318,0.138823],[0.050332,-0.145511,0.988076]] 2025-10-28T22:58:53.958Z,1761692333.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991987,-0.108999,-0.063879],[0.116786,0.984001,0.134551],[0.048191,-0.140933,0.988846]] 2025-10-28T22:58:54.362Z,1761692334.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992034,-0.109986,-0.061421],[0.117200,0.984582,0.129855],[0.046192,-0.136019,0.989629]] 2025-10-28T22:58:54.767Z,1761692334.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991933,-0.112228,-0.058935],[0.118871,0.985011,0.124992],[0.044024,-0.130989,0.990406]] 2025-10-28T22:58:55.174Z,1761692335.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991719,-0.115162,-0.056842],[0.121329,0.985244,0.120724],[0.042101,-0.126621,0.991057]] 2025-10-28T22:58:55.574Z,1761692335.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991416,-0.118621,-0.054988],[0.124404,0.985239,0.117592],[0.040228,-0.123423,0.991538]] 2025-10-28T22:58:55.979Z,1761692335.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991066,-0.121930,-0.054050],[0.127520,0.985011,0.116157],[0.039076,-0.122012,0.991759]] 2025-10-28T22:58:56.382Z,1761692336.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990676,-0.125518,-0.052978],[0.130934,0.984628,0.115602],[0.037653,-0.121461,0.991882]] 2025-10-28T22:58:56.788Z,1761692336.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990239,-0.129292,-0.052055],[0.134652,0.983870,0.117766],[0.035989,-0.123626,0.991676]] 2025-10-28T22:58:57.192Z,1761692337.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989819,-0.132827,-0.051132],[0.138140,0.983072,0.120362],[0.034279,-0.126200,0.991412]] 2025-10-28T22:58:57.195Z,1761692337.195 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.196Z,1761692337.196 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:58:57.197Z,1761692337.197 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.198Z,1761692337.198 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T22:58:57.198Z,1761692337.198 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:58:57.199Z,1761692337.199 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.200Z,1761692337.200 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.201Z,1761692337.201 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T22:58:57.202Z,1761692337.202 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.202Z,1761692337.202 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T22:58:57.203Z,1761692337.203 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T22:58:57.204Z,1761692337.204 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-28T22:58:57.215Z,1761692337.215 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62. 2025-10-28T22:58:57.595Z,1761692337.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989479,-0.135685,-0.050215],[0.140978,0.982232,0.123875],[0.032514,-0.129651,0.991026]] 2025-10-28T22:58:57.998Z,1761692337.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989154,-0.138322,-0.049415],[0.143583,0.981484,0.126780],[0.030964,-0.132500,0.990699]] 2025-10-28T22:58:58.404Z,1761692338.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988982,-0.139861,-0.048519],[0.145087,0.980844,0.129983],[0.029410,-0.135590,0.990328]] 2025-10-28T22:58:58.813Z,1761692338.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989030,-0.139789,-0.047739],[0.145015,0.980358,0.133672],[0.028116,-0.139128,0.989875]] 2025-10-28T22:58:59.217Z,1761692339.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989403,-0.137728,-0.045965],[0.142883,0.979841,0.139624],[0.025808,-0.144712,0.989137]] 2025-10-28T22:58:59.619Z,1761692339.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989705,-0.135927,-0.044804],[0.140999,0.979732,0.142287],[0.024555,-0.147140,0.988811]] 2025-10-28T22:59:00.025Z,1761692340.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990005,-0.134139,-0.043555],[0.139045,0.980008,0.142303],[0.023595,-0.146937,0.988864]] 2025-10-28T22:59:00.427Z,1761692340.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990306,-0.132299,-0.042308],[0.137047,0.980250,0.142577],[0.022610,-0.146994,0.988879]] 2025-10-28T22:59:00.548Z,1761692340.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:59:00.829Z,1761692340.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990625,-0.130318,-0.040985],[0.134876,0.980652,0.141880],[0.021703,-0.146078,0.989035]] 2025-10-28T22:59:01.231Z,1761692341.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990880,-0.128883,-0.039317],[0.133142,0.981368,0.138526],[0.020731,-0.142497,0.989578]] 2025-10-28T22:59:01.552Z,1761692341.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:59:01.638Z,1761692341.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991103,-0.127605,-0.037835],[0.131613,0.981942,0.135899],[0.019810,-0.139670,0.990000]] 2025-10-28T22:59:02.041Z,1761692342.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991225,-0.127172,-0.036058],[0.130868,0.982548,0.132184],[0.018619,-0.135743,0.990569]] 2025-10-28T22:59:02.442Z,1761692342.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991242,-0.127533,-0.034274],[0.130934,0.982920,0.129326],[0.017195,-0.132681,0.991010]] 2025-10-28T22:59:02.846Z,1761692342.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991265,-0.127782,-0.032656],[0.130935,0.983181,0.127322],[0.015837,-0.130486,0.991324]] 2025-10-28T22:59:03.252Z,1761692343.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991201,-0.128590,-0.031402],[0.131559,0.983213,0.126431],[0.014618,-0.129449,0.991478]] 2025-10-28T22:59:03.654Z,1761692343.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991094,-0.129632,-0.030447],[0.132475,0.983042,0.126799],[0.013494,-0.129704,0.991461]] 2025-10-28T22:59:04.058Z,1761692344.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990918,-0.131231,-0.029309],[0.133931,0.982650,0.128306],[0.011963,-0.131066,0.991301]] 2025-10-28T22:59:04.463Z,1761692344.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990712,-0.133070,-0.027956],[0.135579,0.982401,0.128481],[0.010367,-0.131078,0.991318]] 2025-10-28T22:59:04.868Z,1761692344.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990343,-0.136013,-0.026849],[0.138350,0.982037,0.128307],[0.008915,-0.130782,0.991371]] 2025-10-28T22:59:05.270Z,1761692345.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989912,-0.139247,-0.026171],[0.141481,0.981391,0.129823],[0.007607,-0.132216,0.991192]] 2025-10-28T22:59:05.674Z,1761692345.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989431,-0.142769,-0.025379],[0.144877,0.980687,0.131391],[0.006130,-0.133679,0.991006]] 2025-10-28T22:59:06.078Z,1761692346.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988874,-0.146679,-0.024782],[0.148683,0.979854,0.133339],[0.004725,-0.135540,0.990761]] 2025-10-28T22:59:06.484Z,1761692346.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988362,-0.150169,-0.024298],[0.152079,0.979220,0.134168],[0.003646,-0.136301,0.990661]] 2025-10-28T22:59:06.888Z,1761692346.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987915,-0.153151,-0.023842],[0.154975,0.978536,0.135827],[0.002528,-0.137881,0.990446]] 2025-10-28T22:59:07.290Z,1761692347.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987554,-0.155443,-0.023958],[0.157269,0.977669,0.139395],[0.001755,-0.141428,0.989947]] 2025-10-28T22:59:07.694Z,1761692347.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987299,-0.157103,-0.023633],[0.158867,0.977188,0.140945],[0.000951,-0.142910,0.989735]] 2025-10-28T22:59:08.099Z,1761692348.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987160,-0.157990,-0.023538],[0.159733,0.976847,0.142319],[0.000508,-0.144251,0.989541]] 2025-10-28T22:59:08.502Z,1761692348.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987211,-0.157659,-0.023614],[0.159417,0.976709,0.143618],[0.000421,-0.145545,0.989352]] 2025-10-28T22:59:08.907Z,1761692348.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987424,-0.156338,-0.023510],[0.158096,0.976691,0.145188],[0.000264,-0.147079,0.989125]] 2025-10-28T22:59:09.312Z,1761692349.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987630,-0.155091,-0.023104],[0.156802,0.976781,0.145989],[-0.000074,-0.147805,0.989016]] 2025-10-28T22:59:09.716Z,1761692349.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987847,-0.153830,-0.022220],[0.155425,0.977003,0.145973],[-0.000745,-0.147652,0.989039]] 2025-10-28T22:59:10.119Z,1761692350.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988089,-0.152394,-0.021376],[0.153881,0.977385,0.145049],[-0.001212,-0.146610,0.989194]] 2025-10-28T22:59:10.522Z,1761692350.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988369,-0.150704,-0.020366],[0.152066,0.978044,0.142499],[-0.001557,-0.143939,0.989585]] 2025-10-28T22:59:10.926Z,1761692350.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988616,-0.149196,-0.019447],[0.150446,0.978601,0.140379],[-0.001913,-0.141706,0.989907]] 2025-10-28T22:59:11.334Z,1761692351.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988871,-0.147642,-0.018326],[0.148754,0.979122,0.138540],[-0.002511,-0.139724,0.990187]] 2025-10-28T22:59:11.735Z,1761692351.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989096,-0.146283,-0.017019],[0.147230,0.979533,0.137255],[-0.003408,-0.138265,0.990390]] 2025-10-28T22:59:12.139Z,1761692352.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989240,-0.145488,-0.015397],[0.146226,0.979894,0.135744],[-0.004662,-0.136535,0.990624]] 2025-10-28T22:59:12.542Z,1761692352.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989269,-0.145468,-0.013634],[0.145982,0.980277,0.133219],[-0.006014,-0.133780,0.990993]] 2025-10-28T22:59:12.948Z,1761692352.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989137,-0.146488,-0.012227],[0.146814,0.980321,0.131968],[-0.007345,-0.132329,0.991179]] 2025-10-28T22:59:13.351Z,1761692353.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988783,-0.148961,-0.010938],[0.149117,0.980309,0.129456],[-0.008562,-0.129635,0.991525]] 2025-10-28T22:59:13.754Z,1761692353.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988355,-0.151854,-0.009771],[0.151840,0.979978,0.128789],[-0.009982,-0.128773,0.991624]] 2025-10-28T22:59:14.165Z,1761692354.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987622,-0.156612,-0.008681],[0.156433,0.979426,0.127486],[-0.011464,-0.127266,0.991802]] 2025-10-28T22:59:14.564Z,1761692354.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986731,-0.162134,-0.008640],[0.161912,0.978620,0.126837],[-0.012109,-0.126552,0.991886]] 2025-10-28T22:59:14.967Z,1761692354.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985809,-0.167622,-0.009098],[0.167390,0.977467,0.128605],[-0.012664,-0.128303,0.991654]] 2025-10-28T22:59:15.372Z,1761692355.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984865,-0.173055,-0.009631],[0.172815,0.976211,0.130946],[-0.013259,-0.130629,0.991343]] 2025-10-28T22:59:15.775Z,1761692355.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983962,-0.178070,-0.010508],[0.177849,0.974785,0.134774],[-0.013756,-0.134481,0.990821]] 2025-10-28T22:59:16.180Z,1761692356.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983212,-0.182109,-0.011390],[0.181899,0.973347,0.139673],[-0.014349,-0.139400,0.990132]] 2025-10-28T22:59:16.583Z,1761692356.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982685,-0.184859,-0.012517],[0.184705,0.972058,0.144869],[-0.014613,-0.144673,0.989372]] 2025-10-28T22:59:16.987Z,1761692356.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982642,-0.185035,-0.013300],[0.184917,0.971228,0.150076],[-0.014852,-0.149930,0.988585]] 2025-10-28T22:59:17.392Z,1761692357.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982818,-0.184086,-0.013423],[0.183954,0.970954,0.153002],[-0.015132,-0.152843,0.988135]] 2025-10-28T22:59:17.795Z,1761692357.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983158,-0.182227,-0.013882],[0.182160,0.971000,0.154844],[-0.014738,-0.154765,0.987841]] 2025-10-28T22:59:18.200Z,1761692358.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983552,-0.180133,-0.013337],[0.179997,0.971289,0.155563],[-0.015068,-0.155405,0.987736]] 2025-10-28T22:59:18.602Z,1761692358.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984046,-0.177473,-0.012480],[0.177246,0.971884,0.155005],[-0.015380,-0.154744,0.987835]] 2025-10-28T22:59:19.007Z,1761692359.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984586,-0.174533,-0.011379],[0.174193,0.972653,0.153634],[-0.015746,-0.153248,0.988062]] 2025-10-28T22:59:19.412Z,1761692359.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985165,-0.171304,-0.010193],[0.170869,0.973700,0.150707],[-0.015892,-0.150213,0.988526]] 2025-10-28T22:59:19.816Z,1761692359.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985772,-0.167838,-0.009193],[0.167333,0.974679,0.148327],[-0.015935,-0.147755,0.988896]] 2025-10-28T22:59:20.219Z,1761692360.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986346,-0.164502,-0.007773],[0.163869,0.975665,0.145685],[-0.016382,-0.144970,0.989300]] 2025-10-28T22:59:20.623Z,1761692360.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986812,-0.161744,-0.006427],[0.160977,0.976418,0.143854],[-0.016992,-0.142992,0.989578]] 2025-10-28T22:59:21.027Z,1761692361.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987057,-0.160291,-0.005014],[0.159373,0.976964,0.141924],[-0.017851,-0.140886,0.989865]] 2025-10-28T22:59:21.433Z,1761692361.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987075,-0.160218,-0.003752],[0.159168,0.977339,0.139551],[-0.018692,-0.138344,0.990208]] 2025-10-28T22:59:21.834Z,1761692361.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986930,-0.161128,-0.002497],[0.159936,0.977493,0.137580],[-0.019727,-0.136181,0.990487]] 2025-10-28T22:59:22.238Z,1761692362.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986573,-0.163311,-0.001805],[0.162004,0.977157,0.137548],[-0.020699,-0.135993,0.990493]] 2025-10-28T22:59:22.642Z,1761692362.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986135,-0.165938,-0.001461],[0.164548,0.976658,0.138069],[-0.021484,-0.136395,0.990422]] 2025-10-28T22:59:23.048Z,1761692363.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985580,-0.169204,-0.001350],[0.167738,0.975928,0.139389],[-0.022267,-0.137605,0.990237]] 2025-10-28T22:59:23.450Z,1761692363.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984908,-0.173073,-0.001611],[0.171551,0.974927,0.141729],[-0.022959,-0.139866,0.989904]] 2025-10-28T22:59:23.854Z,1761692363.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984239,-0.176836,-0.001723],[0.175206,0.973751,0.145302],[-0.024017,-0.143314,0.989386]] 2025-10-28T22:59:24.263Z,1761692364.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983578,-0.180470,-0.002154],[0.178774,0.972557,0.148907],[-0.024779,-0.146846,0.988849]] 2025-10-28T22:59:24.666Z,1761692364.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983043,-0.183353,-0.002976],[0.181650,0.971435,0.152702],[-0.025107,-0.150654,0.988268]] 2025-10-28T22:59:25.066Z,1761692365.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982630,-0.185534,-0.003843],[0.183860,0.970542,0.155702],[-0.025158,-0.153704,0.987797]] 2025-10-28T22:59:25.470Z,1761692365.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982400,-0.186735,-0.004536],[0.185088,0.969891,0.158285],[-0.025158,-0.156339,0.987383]] 2025-10-28T22:59:25.874Z,1761692365.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982348,-0.186988,-0.005207],[0.185397,0.969528,0.160139],[-0.024895,-0.158277,0.987081]] 2025-10-28T22:59:26.302Z,1761692366.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982485,-0.186243,-0.006094],[0.184776,0.969467,0.161217],[-0.024117,-0.159519,0.986900]] 2025-10-28T22:59:26.683Z,1761692366.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982777,-0.184684,-0.006472],[0.183290,0.969701,0.161508],[-0.023552,-0.159912,0.986850]] 2025-10-28T22:59:27.086Z,1761692367.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983240,-0.182195,-0.006665],[0.180889,0.970321,0.160487],[-0.022773,-0.159003,0.987015]] 2025-10-28T22:59:27.491Z,1761692367.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983824,-0.179015,-0.006664],[0.177787,0.971162,0.158859],[-0.021966,-0.157474,0.987279]] 2025-10-28T22:59:27.895Z,1761692367.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984464,-0.175469,-0.006361],[0.174298,0.972236,0.156132],[-0.021212,-0.154815,0.987716]] 2025-10-28T22:59:28.333Z,1761692368.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985170,-0.171478,-0.005876],[0.170338,0.973361,0.153474],[-0.020598,-0.152199,0.988135]] 2025-10-28T22:59:28.703Z,1761692368.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985860,-0.167492,-0.005050],[0.166322,0.974411,0.151196],[-0.020403,-0.149898,0.988491]] 2025-10-28T22:59:29.106Z,1761692369.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986516,-0.163619,-0.003917],[0.162362,0.975362,0.149355],[-0.020616,-0.147977,0.988776]] 2025-10-28T22:59:29.511Z,1761692369.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987111,-0.160021,-0.002385],[0.158622,0.976283,0.147346],[-0.021250,-0.145825,0.989082]] 2025-10-28T22:59:29.917Z,1761692369.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987601,-0.156987,-0.000254],[0.155346,0.977046,0.145767],[-0.022635,-0.143999,0.989319]] 2025-10-28T22:59:30.343Z,1761692370.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988017,-0.154331,0.002056],[0.152384,0.977492,0.145909],[-0.024528,-0.143847,0.989296]] 2025-10-28T22:59:30.723Z,1761692370.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988244,-0.152810,0.004668],[0.150489,0.977703,0.146459],[-0.026945,-0.144035,0.989206]] 2025-10-28T22:59:31.127Z,1761692371.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988345,-0.152057,0.007207],[0.149329,0.977632,0.148110],[-0.029567,-0.145308,0.988945]] 2025-10-28T22:59:31.534Z,1761692371.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988248,-0.152563,0.009517],[0.149447,0.977394,0.149552],[-0.032118,-0.146372,0.988708]] 2025-10-28T22:59:31.686Z,1761692371.686 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T22:59:31.934Z,1761692371.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987930,-0.154473,0.011487],[0.151001,0.976945,0.150920],[-0.034535,-0.147364,0.988479]] 2025-10-28T22:59:32.347Z,1761692372.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987507,-0.156991,0.013536],[0.153186,0.976594,0.150993],[-0.036924,-0.147033,0.988442]] 2025-10-28T22:59:32.688Z,1761692372.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T22:59:32.743Z,1761692372.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986916,-0.160541,0.014931],[0.156478,0.976015,0.151360],[-0.038872,-0.147043,0.988366]] 2025-10-28T22:59:33.156Z,1761692373.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986155,-0.165063,0.015906],[0.160845,0.975451,0.150414],[-0.040343,-0.145773,0.988495]] 2025-10-28T22:59:33.550Z,1761692373.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985341,-0.169803,0.016461],[0.165418,0.974558,0.151239],[-0.041723,-0.146299,0.988360]] 2025-10-28T22:59:33.954Z,1761692373.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984518,-0.174456,0.017014],[0.169917,0.973705,0.151746],[-0.043040,-0.146505,0.988273]] 2025-10-28T22:59:34.358Z,1761692374.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983783,-0.178531,0.017279],[0.173838,0.972765,0.153325],[-0.044181,-0.147835,0.988025]] 2025-10-28T22:59:34.765Z,1761692374.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983259,-0.181371,0.017473],[0.176583,0.972148,0.154097],[-0.044935,-0.148432,0.987901]] 2025-10-28T22:59:35.166Z,1761692375.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983049,-0.182504,0.017534],[0.177562,0.971511,0.156966],[-0.045682,-0.151192,0.987448]] 2025-10-28T22:59:35.570Z,1761692375.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983135,-0.182015,0.017790],[0.176964,0.971355,0.158600],[-0.046148,-0.152777,0.987183]] 2025-10-28T22:59:35.975Z,1761692375.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983456,-0.180230,0.018183],[0.175039,0.971352,0.160737],[-0.046632,-0.154896,0.986830]] 2025-10-28T22:59:36.378Z,1761692376.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983895,-0.177676,0.019523],[0.172341,0.971941,0.160093],[-0.047420,-0.154150,0.986909]] 2025-10-28T22:59:36.785Z,1761692376.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984427,-0.174535,0.021023],[0.169050,0.972666,0.159196],[-0.048233,-0.153163,0.987023]] 2025-10-28T22:59:37.186Z,1761692377.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985020,-0.170922,0.022813],[0.165215,0.973355,0.159010],[-0.049383,-0.152859,0.987013]] 2025-10-28T22:59:37.590Z,1761692377.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985652,-0.166968,0.024737],[0.161051,0.974172,0.158279],[-0.050526,-0.152024,0.987085]] 2025-10-28T22:59:37.995Z,1761692377.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986336,-0.162505,0.027087],[0.156421,0.975352,0.155629],[-0.051710,-0.149266,0.987444]] 2025-10-28T22:59:38.400Z,1761692378.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987030,-0.157804,0.029494],[0.151514,0.976424,0.153755],[-0.053062,-0.147292,0.987669]] 2025-10-28T22:59:38.802Z,1761692378.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987711,-0.152973,0.032040],[0.146373,0.977247,0.153501],[-0.054792,-0.146925,0.987629]] 2025-10-28T22:59:39.206Z,1761692379.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988252,-0.148727,0.035175],[0.141772,0.978091,0.152439],[-0.057076,-0.145661,0.987687]] 2025-10-28T22:59:39.611Z,1761692379.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988592,-0.145704,0.038161],[0.138449,0.978837,0.150697],[-0.059311,-0.143694,0.987843]] 2025-10-28T22:59:40.014Z,1761692380.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988642,-0.144736,0.040490],[0.137215,0.979158,0.149736],[-0.061318,-0.142479,0.987897]] 2025-10-28T22:59:40.418Z,1761692380.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988300,-0.146550,0.042269],[0.138877,0.979207,0.147876],[-0.063062,-0.140276,0.988102]] 2025-10-28T22:59:40.824Z,1761692380.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987710,-0.150131,0.043471],[0.142302,0.978820,0.147176],[-0.064646,-0.139181,0.988155]] 2025-10-28T22:59:41.227Z,1761692381.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986916,-0.154992,0.044444],[0.147067,0.978302,0.145935],[-0.066099,-0.137489,0.988295]] 2025-10-28T22:59:41.632Z,1761692381.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986028,-0.160420,0.044886],[0.152463,0.977641,0.144821],[-0.067114,-0.135954,0.988439]] 2025-10-28T22:59:42.035Z,1761692382.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985115,-0.166092,0.044304],[0.158167,0.976738,0.144794],[-0.067323,-0.135631,0.988469]] 2025-10-28T22:59:42.439Z,1761692382.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984380,-0.170590,0.043530],[0.162633,0.975786,0.146259],[-0.067426,-0.136895,0.988288]] 2025-10-28T22:59:42.844Z,1761692382.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983901,-0.173604,0.042441],[0.165565,0.974835,0.149283],[-0.067289,-0.139852,0.987883]] 2025-10-28T22:59:43.248Z,1761692383.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983681,-0.175075,0.041481],[0.166948,0.974120,0.152379],[-0.067085,-0.142967,0.987451]] 2025-10-28T22:59:43.650Z,1761692383.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983788,-0.174592,0.040980],[0.166401,0.973886,0.154458],[-0.066877,-0.145134,0.987149]] 2025-10-28T22:59:44.054Z,1761692384.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984206,-0.172319,0.040552],[0.164017,0.973823,0.157376],[-0.066609,-0.148239,0.986706]] 2025-10-28T22:59:44.465Z,1761692384.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985419,-0.165209,0.040695],[0.156615,0.974192,0.162545],[-0.066498,-0.153801,0.985862]] 2025-10-28T22:59:44.870Z,1761692384.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986197,-0.160232,0.041728],[0.151531,0.974986,0.162605],[-0.066739,-0.154037,0.985808]] 2025-10-28T22:59:45.271Z,1761692385.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986962,-0.155150,0.042830],[0.146387,0.975896,0.161857],[-0.066910,-0.153477,0.985884]] 2025-10-28T22:59:45.675Z,1761692385.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987680,-0.150146,0.044093],[0.141357,0.976911,0.160198],[-0.067128,-0.151991,0.986100]] 2025-10-28T22:59:46.078Z,1761692386.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988286,-0.145691,0.045429],[0.136890,0.977886,0.158116],[-0.067461,-0.150045,0.986375]] 2025-10-28T22:59:46.481Z,1761692386.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988782,-0.141852,0.046774],[0.133103,0.978907,0.154998],[-0.067774,-0.147033,0.986807]] 2025-10-28T22:59:46.883Z,1761692386.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989047,-0.139518,0.048183],[0.130867,0.979843,0.150935],[-0.068269,-0.142976,0.987369]] 2025-10-28T22:59:47.287Z,1761692387.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989112,-0.138695,0.049214],[0.130124,0.980423,0.147780],[-0.068747,-0.139767,0.987795]] 2025-10-28T22:59:47.691Z,1761692387.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988973,-0.139430,0.049922],[0.130948,0.980727,0.145008],[-0.069178,-0.136871,0.988170]] 2025-10-28T22:59:48.096Z,1761692388.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988706,-0.141155,0.050348],[0.132656,0.980614,0.144220],[-0.069729,-0.135913,0.988264]] 2025-10-28T22:59:48.499Z,1761692388.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988338,-0.143686,0.050414],[0.135362,0.980666,0.141317],[-0.069745,-0.132845,0.988680]] 2025-10-28T22:59:48.903Z,1761692388.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987892,-0.146690,0.050506],[0.138484,0.980541,0.139149],[-0.069935,-0.130469,0.988983]] 2025-10-28T22:59:49.307Z,1761692389.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987422,-0.150035,0.049871],[0.141890,0.980058,0.139114],[-0.069748,-0.130288,0.989020]] 2025-10-28T22:59:49.712Z,1761692389.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986994,-0.152941,0.049517],[0.144898,0.979773,0.138022],[-0.069624,-0.129052,0.989191]] 2025-10-28T22:59:50.117Z,1761692390.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986659,-0.155417,0.048475],[0.147448,0.979306,0.138629],[-0.069018,-0.129632,0.989157]] 2025-10-28T22:59:50.518Z,1761692390.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986302,-0.157910,0.047675],[0.150053,0.978964,0.138253],[-0.068504,-0.129206,0.989249]] 2025-10-28T22:59:50.923Z,1761692390.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986141,-0.159244,0.046552],[0.151451,0.978602,0.139290],[-0.067736,-0.130309,0.989157]] 2025-10-28T22:59:51.328Z,1761692391.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986108,-0.159550,0.046198],[0.151773,0.978492,0.139706],[-0.067494,-0.130754,0.989115]] 2025-10-28T22:59:51.751Z,1761692391.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986338,-0.158328,0.045499],[0.150479,0.978325,0.142255],[-0.067036,-0.133465,0.988784]] 2025-10-28T22:59:52.135Z,1761692392.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986593,-0.156694,0.045613],[0.148802,0.978492,0.142871],[-0.067019,-0.134168,0.988690]] 2025-10-28T22:59:52.539Z,1761692392.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986945,-0.154382,0.045884],[0.146360,0.978616,0.144534],[-0.067216,-0.135931,0.988435]] 2025-10-28T22:59:52.944Z,1761692392.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987331,-0.151822,0.046129],[0.143699,0.978817,0.145837],[-0.067293,-0.137361,0.988233]] 2025-10-28T22:59:53.343Z,1761692393.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987763,-0.148914,0.046357],[0.140817,0.979307,0.145353],[-0.067043,-0.137046,0.988293]] 2025-10-28T22:59:53.747Z,1761692393.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988056,-0.146885,0.046585],[0.138700,0.979448,0.146439],[-0.067137,-0.138229,0.988122]] 2025-10-28T22:59:54.157Z,1761692394.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988312,-0.145168,0.046536],[0.136943,0.979555,0.147372],[-0.066978,-0.139277,0.987986]] 2025-10-28T22:59:54.557Z,1761692394.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988517,-0.143825,0.046358],[0.135590,0.979639,0.148060],[-0.066708,-0.140074,0.987891]] 2025-10-28T22:59:54.959Z,1761692394.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988760,-0.142262,0.045990],[0.134061,0.979779,0.148526],[-0.066190,-0.140691,0.987839]] 2025-10-28T22:59:55.362Z,1761692395.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988950,-0.141110,0.045452],[0.133067,0.980077,0.147452],[-0.065353,-0.139775,0.988024]] 2025-10-28T22:59:55.766Z,1761692395.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989108,-0.140240,0.044694],[0.132298,0.980152,0.147648],[-0.064513,-0.140127,0.988030]] 2025-10-28T22:59:56.172Z,1761692396.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989302,-0.139133,0.043848],[0.131304,0.980246,0.147906],[-0.063560,-0.140567,0.988029]] 2025-10-28T22:59:56.575Z,1761692396.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989430,-0.138479,0.043031],[0.130890,0.980583,0.146033],[-0.062418,-0.138857,0.988343]] 2025-10-28T22:59:56.978Z,1761692396.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989584,-0.137679,0.042039],[0.130343,0.980912,0.144299],[-0.061103,-0.137317,0.988641]] 2025-10-28T22:59:57.383Z,1761692397.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989700,-0.137059,0.041328],[0.129882,0.981109,0.143376],[-0.060198,-0.136531,0.988805]] 2025-10-28T22:59:57.787Z,1761692397.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989855,-0.136164,0.040568],[0.129227,0.981505,0.141237],[-0.059049,-0.134561,0.989144]] 2025-10-28T22:59:58.190Z,1761692398.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990020,-0.135168,0.039867],[0.128396,0.981765,0.140183],[-0.058089,-0.133665,0.989323]] 2025-10-28T22:59:58.594Z,1761692398.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990130,-0.134498,0.039397],[0.127831,0.981928,0.139561],[-0.057456,-0.133148,0.989429]] 2025-10-28T22:59:58.998Z,1761692398.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990306,-0.133340,0.038918],[0.126742,0.982057,0.139644],[-0.056840,-0.133358,0.989437]] 2025-10-28T22:59:59.403Z,1761692399.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990398,-0.132721,0.038681],[0.126121,0.982041,0.140317],[-0.056610,-0.134091,0.989351]] 2025-10-28T22:59:59.809Z,1761692399.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990562,-0.131603,0.038312],[0.124957,0.981924,0.142162],[-0.056328,-0.136033,0.989102]] 2025-10-28T23:00:00.210Z,1761692400.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990627,-0.131152,0.038163],[0.124509,0.981927,0.142540],[-0.056168,-0.136453,0.989053]] 2025-10-28T23:00:00.614Z,1761692400.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990641,-0.131105,0.037984],[0.124494,0.981948,0.142407],[-0.055969,-0.136346,0.989079]] 2025-10-28T23:00:01.019Z,1761692401.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990651,-0.131154,0.037536],[0.124590,0.981900,0.142654],[-0.055566,-0.136644,0.989061]] 2025-10-28T23:00:01.424Z,1761692401.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990568,-0.131878,0.037181],[0.125370,0.981837,0.142405],[-0.055286,-0.136400,0.989110]] 2025-10-28T23:00:01.827Z,1761692401.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990514,-0.132503,0.036412],[0.126113,0.981790,0.142071],[-0.054574,-0.136131,0.989187]] 2025-10-28T23:00:02.230Z,1761692402.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990451,-0.133236,0.035428],[0.126964,0.981653,0.142261],[-0.053732,-0.136404,0.989195]] 2025-10-28T23:00:02.635Z,1761692402.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990491,-0.133171,0.034529],[0.126990,0.981561,0.142866],[-0.052918,-0.137123,0.989139]] 2025-10-28T23:00:02.808Z,1761692402.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:00:03.040Z,1761692403.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.133061,0.033656],[0.127024,0.981619,0.142436],[-0.051990,-0.136813,0.989232]] 2025-10-28T23:00:03.442Z,1761692403.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990659,-0.132354,0.032807],[0.126415,0.981629,0.142910],[-0.051119,-0.137428,0.989192]] 2025-10-28T23:00:03.813Z,1761692403.813 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:00:03.847Z,1761692403.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990824,-0.131382,0.031714],[0.125616,0.981769,0.142652],[-0.049878,-0.137359,0.989265]] 2025-10-28T23:00:04.250Z,1761692404.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990940,-0.130855,0.030252],[0.125365,0.982009,0.141218],[-0.048187,-0.136146,0.989516]] 2025-10-28T23:00:04.656Z,1761692404.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990955,-0.131072,0.028761],[0.125837,0.982112,0.140078],[-0.046607,-0.135192,0.989723]] 2025-10-28T23:00:05.058Z,1761692405.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990932,-0.131529,0.027453],[0.126475,0.982056,0.139892],[-0.045360,-0.135152,0.989786]] 2025-10-28T23:00:05.462Z,1761692405.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990941,-0.131811,0.025731],[0.127026,0.982106,0.139038],[-0.043597,-0.134510,0.989953]] 2025-10-28T23:00:05.866Z,1761692405.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990948,-0.132074,0.024035],[0.127524,0.982071,0.138831],[-0.041940,-0.134509,0.990024]] 2025-10-28T23:00:06.285Z,1761692406.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991048,-0.131728,0.021719],[0.127395,0.981740,0.141269],[-0.039932,-0.137237,0.989733]] 2025-10-28T23:00:06.675Z,1761692406.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991177,-0.131040,0.019931],[0.126917,0.981645,0.142358],[-0.038220,-0.138573,0.989614]] 2025-10-28T23:00:07.079Z,1761692407.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991409,-0.129543,0.018060],[0.125600,0.981440,0.144916],[-0.036498,-0.141403,0.989279]] 2025-10-28T23:00:07.483Z,1761692407.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991638,-0.127994,0.016451],[0.124233,0.981353,0.146671],[-0.034917,-0.143401,0.989049]] 2025-10-28T23:00:07.888Z,1761692407.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991944,-0.125775,0.015079],[0.122190,0.981413,0.147980],[-0.033411,-0.144945,0.988875]] 2025-10-28T23:00:08.327Z,1761692408.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992183,-0.124048,0.013617],[0.120674,0.981506,0.148606],[-0.031799,-0.145801,0.988803]] 2025-10-28T23:00:08.695Z,1761692408.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992329,-0.123027,0.012104],[0.119881,0.981585,0.148729],[-0.030179,-0.146137,0.988804]] 2025-10-28T23:00:09.098Z,1761692409.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,-0.122743,0.010584],[0.119857,0.981769,0.147523],[-0.028498,-0.145131,0.989002]] 2025-10-28T23:00:09.504Z,1761692409.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992283,-0.123663,0.009016],[0.121055,0.981950,0.145325],[-0.026825,-0.143112,0.989343]] 2025-10-28T23:00:09.906Z,1761692409.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992139,-0.124911,0.007600],[0.122560,0.982148,0.142705],[-0.025289,-0.140652,0.989736]] 2025-10-28T23:00:10.339Z,1761692410.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992022,-0.125896,0.006481],[0.123723,0.982182,0.141463],[-0.024175,-0.139532,0.989922]] 2025-10-28T23:00:10.715Z,1761692410.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991889,-0.126998,0.005168],[0.125021,0.982163,0.140444],[-0.022912,-0.138659,0.990075]] 2025-10-28T23:00:11.120Z,1761692411.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991850,-0.127354,0.003762],[0.125576,0.982144,0.140087],[-0.021535,-0.138473,0.990132]] 2025-10-28T23:00:11.522Z,1761692411.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991858,-0.127331,0.002014],[0.125786,0.982045,0.140590],[-0.019879,-0.139192,0.990066]] 2025-10-28T23:00:11.926Z,1761692411.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991907,-0.126967,0.000531],[0.125629,0.982050,0.140694],[-0.018385,-0.139488,0.990053]] 2025-10-28T23:00:12.345Z,1761692412.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992030,-0.125999,-0.000966],[0.124872,0.982076,0.141187],[-0.016841,-0.140183,0.989982]] 2025-10-28T23:00:12.736Z,1761692412.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992198,-0.124651,-0.002339],[0.123720,0.982122,0.141876],[-0.015388,-0.141059,0.989882]] 2025-10-28T23:00:13.138Z,1761692413.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992416,-0.122874,-0.003645],[0.122129,0.982164,0.142960],[-0.013986,-0.142321,0.989722]] 2025-10-28T23:00:13.543Z,1761692413.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992649,-0.120932,-0.004767],[0.120356,0.982251,0.143866],[-0.012716,-0.143382,0.989586]] 2025-10-28T23:00:13.947Z,1761692413.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992772,-0.119853,-0.006266],[0.119502,0.982343,0.143948],[-0.011097,-0.143657,0.989565]] 2025-10-28T23:00:14.354Z,1761692414.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992859,-0.119051,-0.007605],[0.118897,0.982350,0.144405],[-0.009721,-0.144278,0.989489]] 2025-10-28T23:00:14.755Z,1761692414.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992862,-0.118925,-0.009081],[0.118987,0.982350,0.144327],[-0.008243,-0.144377,0.989488]] 2025-10-28T23:00:15.159Z,1761692415.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992705,-0.120112,-0.010459],[0.120366,0.982320,0.143387],[-0.006948,-0.143600,0.989611]] 2025-10-28T23:00:15.562Z,1761692415.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992574,-0.121065,-0.011858],[0.121515,0.982287,0.142640],[-0.005621,-0.143022,0.989704]] 2025-10-28T23:00:15.967Z,1761692415.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992396,-0.122373,-0.013203],[0.123005,0.982223,0.141805],[-0.004385,-0.142351,0.989807]] 2025-10-28T23:00:16.373Z,1761692416.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992122,-0.124431,-0.014519],[0.125232,0.982047,0.141067],[-0.003295,-0.141774,0.989894]] 2025-10-28T23:00:16.774Z,1761692416.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991868,-0.126270,-0.015911],[0.127252,0.981914,0.140189],[-0.002078,-0.141073,0.989997]] 2025-10-28T23:00:17.178Z,1761692417.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991662,-0.127696,-0.017316],[0.128862,0.981794,0.139552],[-0.000819,-0.140620,0.990063]] 2025-10-28T23:00:17.583Z,1761692417.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991457,-0.129125,-0.018417],[0.130431,0.981607,0.139411],[0.000077,-0.140622,0.990063]] 2025-10-28T23:00:17.986Z,1761692417.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991329,-0.129998,-0.019163],[0.131401,0.981358,0.140253],[0.000573,-0.141555,0.989930]] 2025-10-28T23:00:18.391Z,1761692418.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991204,-0.130793,-0.020200],[0.132337,0.981092,0.141229],[0.001346,-0.142660,0.989771]] 2025-10-28T23:00:18.794Z,1761692418.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991192,-0.130726,-0.021180],[0.132413,0.980884,0.142595],[0.002134,-0.144144,0.989554]] 2025-10-28T23:00:19.202Z,1761692419.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991265,-0.129982,-0.022330],[0.131847,0.980780,0.143827],[0.003206,-0.145515,0.989351]] 2025-10-28T23:00:19.602Z,1761692419.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991333,-0.129182,-0.023907],[0.131289,0.980745,0.144574],[0.004770,-0.146459,0.989205]] 2025-10-28T23:00:20.007Z,1761692420.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991550,-0.127356,-0.024673],[0.129596,0.980945,0.144750],[0.005768,-0.146724,0.989161]] 2025-10-28T23:00:20.411Z,1761692420.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991721,-0.125842,-0.025540],[0.128223,0.981181,0.144370],[0.006892,-0.146450,0.989194]] 2025-10-28T23:00:20.815Z,1761692420.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991949,-0.123803,-0.026645],[0.126373,0.981326,0.145017],[0.008194,-0.147217,0.989070]] 2025-10-28T23:00:21.220Z,1761692421.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992233,-0.121320,-0.027469],[0.124047,0.981466,0.146071],[0.009239,-0.148344,0.988893]] 2025-10-28T23:00:21.622Z,1761692421.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992504,-0.119027,-0.027726],[0.121806,0.981910,0.144966],[0.009969,-0.147256,0.989048]] 2025-10-28T23:00:22.026Z,1761692422.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992802,-0.116485,-0.027837],[0.119303,0.982293,0.144455],[0.010518,-0.146736,0.989120]] 2025-10-28T23:00:22.431Z,1761692422.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993073,-0.114098,-0.028068],[0.116961,0.982743,0.143304],[0.011233,-0.145594,0.989281]] 2025-10-28T23:00:22.836Z,1761692422.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993301,-0.112109,-0.028013],[0.114962,0.983274,0.141265],[0.011707,-0.143539,0.989575]] 2025-10-28T23:00:23.239Z,1761692423.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993443,-0.110857,-0.027962],[0.113704,0.983547,0.140379],[0.011940,-0.142638,0.989703]] 2025-10-28T23:00:23.643Z,1761692423.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993436,-0.111027,-0.027525],[0.113770,0.984026,0.136927],[0.011883,-0.139159,0.990199]] 2025-10-28T23:00:24.047Z,1761692424.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993306,-0.112219,-0.027378],[0.114912,0.984104,0.135404],[0.011747,-0.137644,0.990412]] 2025-10-28T23:00:24.452Z,1761692424.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993012,-0.114721,-0.027668],[0.117411,0.984031,0.133779],[0.011879,-0.136093,0.990625]] 2025-10-28T23:00:24.855Z,1761692424.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992592,-0.118197,-0.028128],[0.120901,0.983799,0.132374],[0.012026,-0.134794,0.990801]] 2025-10-28T23:00:25.261Z,1761692425.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992128,-0.121840,-0.028928],[0.124617,0.983365,0.132148],[0.012346,-0.134713,0.990808]] 2025-10-28T23:00:25.663Z,1761692425.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991629,-0.125635,-0.029781],[0.128490,0.982906,0.131858],[0.012706,-0.134580,0.990821]] 2025-10-28T23:00:26.068Z,1761692426.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991127,-0.129309,-0.030765],[0.132270,0.982351,0.132255],[0.013120,-0.135151,0.990738]] 2025-10-28T23:00:26.471Z,1761692426.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990727,-0.132093,-0.031806],[0.135193,0.981715,0.134010],[0.013523,-0.137068,0.990469]] 2025-10-28T23:00:26.875Z,1761692426.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990486,-0.133656,-0.032775],[0.136909,0.981152,0.136367],[0.013931,-0.139556,0.990116]] 2025-10-28T23:00:27.279Z,1761692427.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990326,-0.134613,-0.033666],[0.138010,0.980722,0.138339],[0.014395,-0.141647,0.989813]] 2025-10-28T23:00:27.684Z,1761692427.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990265,-0.134863,-0.034445],[0.138397,0.980392,0.140276],[0.014851,-0.143677,0.989513]] 2025-10-28T23:00:28.087Z,1761692428.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990266,-0.134557,-0.035607],[0.138273,0.980312,0.140955],[0.015940,-0.144507,0.989375]] 2025-10-28T23:00:28.491Z,1761692428.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990294,-0.134046,-0.036735],[0.137940,0.980276,0.141536],[0.017038,-0.145230,0.989251]] 2025-10-28T23:00:28.894Z,1761692428.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990368,-0.133213,-0.037756],[0.137268,0.980342,0.141727],[0.018134,-0.145544,0.989186]] 2025-10-28T23:00:29.299Z,1761692429.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990415,-0.132654,-0.038495],[0.136821,0.980409,0.141695],[0.018944,-0.145604,0.989162]] 2025-10-28T23:00:29.704Z,1761692429.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990372,-0.132803,-0.039063],[0.137014,0.980653,0.139809],[0.019741,-0.143815,0.989408]] 2025-10-28T23:00:30.112Z,1761692430.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990327,-0.133024,-0.039456],[0.137246,0.980920,0.137692],[0.020387,-0.141775,0.989689]] 2025-10-28T23:00:30.517Z,1761692430.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990463,-0.131876,-0.039895],[0.136139,0.981287,0.136168],[0.021191,-0.140301,0.989882]] 2025-10-28T23:00:30.919Z,1761692430.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990528,-0.131343,-0.040047],[0.135613,0.981486,0.135260],[0.021540,-0.139410,0.990000]] 2025-10-28T23:00:31.324Z,1761692431.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990684,-0.130178,-0.039993],[0.134454,0.981625,0.135403],[0.021631,-0.139519,0.989983]] 2025-10-28T23:00:31.727Z,1761692431.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990793,-0.129357,-0.039945],[0.133621,0.981818,0.134831],[0.021778,-0.138927,0.990063]] 2025-10-28T23:00:32.128Z,1761692432.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990887,-0.128651,-0.039898],[0.132919,0.981892,0.134985],[0.021810,-0.139058,0.990044]] 2025-10-28T23:00:32.531Z,1761692432.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990931,-0.128328,-0.039836],[0.132588,0.981944,0.134933],[0.021801,-0.138991,0.990054]] 2025-10-28T23:00:32.937Z,1761692432.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990943,-0.128274,-0.039714],[0.132528,0.981892,0.135370],[0.021630,-0.139407,0.989999]] 2025-10-28T23:00:33.339Z,1761692433.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990959,-0.128159,-0.039702],[0.132408,0.981929,0.135219],[0.021655,-0.139253,0.990020]] 2025-10-28T23:00:33.744Z,1761692433.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990980,-0.127950,-0.039835],[0.132220,0.981955,0.135210],[0.021816,-0.139258,0.990016]] 2025-10-28T23:00:33.932Z,1761692433.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:00:34.146Z,1761692434.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991075,-0.127150,-0.040042],[0.131465,0.982001,0.135610],[0.022079,-0.139664,0.989953]] 2025-10-28T23:00:34.552Z,1761692434.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991310,-0.125249,-0.040208],[0.129631,0.982080,0.136805],[0.022352,-0.140828,0.989782]] 2025-10-28T23:00:34.936Z,1761692434.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:00:34.955Z,1761692434.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991511,-0.123615,-0.040313],[0.128051,0.982141,0.137846],[0.022554,-0.141838,0.989633]] 2025-10-28T23:00:35.358Z,1761692435.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991650,-0.122520,-0.040244],[0.126953,0.982306,0.137689],[0.022662,-0.141649,0.989658]] 2025-10-28T23:00:35.764Z,1761692435.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991768,-0.121563,-0.040244],[0.126015,0.982369,0.138096],[0.022747,-0.142030,0.989601]] 2025-10-28T23:00:36.168Z,1761692436.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991783,-0.121545,-0.039911],[0.125930,0.982504,0.137215],[0.022535,-0.141114,0.989737]] 2025-10-28T23:00:36.570Z,1761692436.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991625,-0.122912,-0.039666],[0.127198,0.982654,0.134949],[0.022391,-0.138864,0.990058]] 2025-10-28T23:00:36.975Z,1761692436.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991339,-0.125130,-0.039873],[0.129379,0.982646,0.132920],[0.022548,-0.136927,0.990324]] 2025-10-28T23:00:37.379Z,1761692437.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990940,-0.128233,-0.039928],[0.132412,0.982538,0.130714],[0.022469,-0.134816,0.990616]] 2025-10-28T23:00:37.784Z,1761692437.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990408,-0.132222,-0.040116],[0.136340,0.982317,0.128315],[0.022440,-0.132554,0.990922]] 2025-10-28T23:00:38.187Z,1761692438.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989727,-0.136971,-0.040973],[0.141157,0.981669,0.128066],[0.022681,-0.132534,0.990919]] 2025-10-28T23:00:38.591Z,1761692438.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989004,-0.141783,-0.042055],[0.146070,0.980976,0.127867],[0.023126,-0.132604,0.990899]] 2025-10-28T23:00:38.994Z,1761692438.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988297,-0.146307,-0.043175],[0.150687,0.980379,0.127088],[0.023734,-0.132106,0.990951]] 2025-10-28T23:00:39.400Z,1761692439.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987656,-0.150193,-0.044462],[0.154713,0.979747,0.127118],[0.024469,-0.132428,0.990891]] 2025-10-28T23:00:39.803Z,1761692439.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987162,-0.152924,-0.046103],[0.157693,0.979003,0.129177],[0.025380,-0.134789,0.990549]] 2025-10-28T23:00:40.207Z,1761692440.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986861,-0.154451,-0.047436],[0.159451,0.978400,0.131560],[0.026092,-0.137395,0.990173]] 2025-10-28T23:00:40.611Z,1761692440.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986711,-0.155155,-0.048254],[0.160290,0.978121,0.132611],[0.026623,-0.138583,0.989993]] 2025-10-28T23:00:41.015Z,1761692441.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986769,-0.154566,-0.048957],[0.159890,0.977752,0.135776],[0.026881,-0.141808,0.989529]] 2025-10-28T23:00:41.418Z,1761692441.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986987,-0.153087,-0.049197],[0.158521,0.977659,0.138036],[0.026966,-0.144038,0.989205]] 2025-10-28T23:00:41.823Z,1761692441.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987386,-0.150486,-0.049213],[0.156011,0.977730,0.140374],[0.026992,-0.146281,0.988875]] 2025-10-28T23:00:42.226Z,1761692442.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987911,-0.147110,-0.048901],[0.152695,0.977868,0.143032],[0.026778,-0.148770,0.988509]] 2025-10-28T23:00:42.631Z,1761692442.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988516,-0.143021,-0.048799],[0.148744,0.977866,0.147149],[0.026673,-0.152718,0.987910]] 2025-10-28T23:00:43.036Z,1761692443.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989240,-0.138141,-0.048172],[0.143897,0.978160,0.149992],[0.026400,-0.155310,0.987513]] 2025-10-28T23:00:43.438Z,1761692443.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989951,-0.133227,-0.047414],[0.138995,0.978438,0.152772],[0.026038,-0.157827,0.987123]] 2025-10-28T23:00:43.843Z,1761692443.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990658,-0.128204,-0.046473],[0.133903,0.979016,0.153617],[0.025804,-0.158405,0.987037]] 2025-10-28T23:00:44.247Z,1761692444.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991268,-0.123772,-0.045473],[0.129368,0.979605,0.153746],[0.025516,-0.158286,0.987064]] 2025-10-28T23:00:44.652Z,1761692444.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991809,-0.119749,-0.044445],[0.125205,0.980299,0.152764],[0.025276,-0.157078,0.987263]] 2025-10-28T23:00:45.054Z,1761692445.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992253,-0.116385,-0.043454],[0.121652,0.981191,0.149883],[0.025193,-0.154008,0.987748]] 2025-10-28T23:00:45.458Z,1761692445.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992492,-0.114452,-0.043140],[0.119577,0.982113,0.145447],[0.025722,-0.149513,0.988425]] 2025-10-28T23:00:45.863Z,1761692445.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992491,-0.114528,-0.042950],[0.119476,0.982946,0.139796],[0.026207,-0.143878,0.989248]] 2025-10-28T23:00:46.282Z,1761692446.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992321,-0.115949,-0.043060],[0.120761,0.983512,0.134613],[0.026742,-0.138779,0.989962]] 2025-10-28T23:00:46.671Z,1761692446.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992034,-0.118392,-0.043035],[0.123035,0.983946,0.129280],[0.027038,-0.133545,0.990674]] 2025-10-28T23:00:47.075Z,1761692447.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991632,-0.121645,-0.043230],[0.126189,0.984016,0.125653],[0.027254,-0.130056,0.991132]] 2025-10-28T23:00:47.479Z,1761692447.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991191,-0.124995,-0.043788],[0.129489,0.984023,0.122197],[0.027814,-0.126791,0.991539]] 2025-10-28T23:00:47.885Z,1761692447.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990764,-0.128034,-0.044656],[0.132605,0.983656,0.121803],[0.028331,-0.126599,0.991549]] 2025-10-28T23:00:48.318Z,1761692448.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990365,-0.130763,-0.045586],[0.135455,0.983171,0.122583],[0.028790,-0.127577,0.991411]] 2025-10-28T23:00:48.691Z,1761692448.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989990,-0.133306,-0.046351],[0.138130,0.982576,0.124358],[0.028966,-0.129515,0.991154]] 2025-10-28T23:00:49.094Z,1761692449.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989642,-0.135718,-0.046796],[0.140655,0.981895,0.126880],[0.028729,-0.132148,0.990814]] 2025-10-28T23:00:49.500Z,1761692449.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989358,-0.137677,-0.047065],[0.142744,0.981089,0.130720],[0.028178,-0.136047,0.990302]] 2025-10-28T23:00:49.902Z,1761692449.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989243,-0.138380,-0.047431],[0.143638,0.980259,0.135870],[0.027693,-0.141221,0.989591]] 2025-10-28T23:00:50.331Z,1761692450.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989454,-0.136810,-0.047589],[0.142257,0.979691,0.141311],[0.027290,-0.146591,0.988821]] 2025-10-28T23:00:50.711Z,1761692450.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989932,-0.133325,-0.047533],[0.138931,0.979465,0.146103],[0.027078,-0.151236,0.988127]] 2025-10-28T23:00:51.116Z,1761692451.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990422,-0.129584,-0.047668],[0.135346,0.979449,0.149538],[0.027311,-0.154557,0.987606]] 2025-10-28T23:00:51.518Z,1761692451.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990835,-0.126258,-0.048019],[0.132154,0.979650,0.151068],[0.027968,-0.156029,0.987356]] 2025-10-28T23:00:51.922Z,1761692451.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991183,-0.123601,-0.047737],[0.129432,0.980287,0.149280],[0.028345,-0.154142,0.987642]] 2025-10-28T23:00:52.342Z,1761692452.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991373,-0.122131,-0.047582],[0.127865,0.980955,0.146214],[0.028819,-0.151037,0.988108]] 2025-10-28T23:00:52.732Z,1761692452.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991363,-0.122268,-0.047428],[0.127837,0.981662,0.141410],[0.029268,-0.146251,0.988814]] 2025-10-28T23:00:53.134Z,1761692453.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991291,-0.122868,-0.047388],[0.128340,0.982004,0.138556],[0.029511,-0.143431,0.989220]] 2025-10-28T23:00:53.538Z,1761692453.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991213,-0.123529,-0.047296],[0.128872,0.982447,0.134868],[0.029806,-0.139778,0.989734]] 2025-10-28T23:00:53.943Z,1761692453.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991049,-0.124909,-0.047111],[0.130107,0.982770,0.131283],[0.029901,-0.136237,0.990225]] 2025-10-28T23:00:54.351Z,1761692454.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990826,-0.126606,-0.047268],[0.131767,0.982739,0.129855],[0.030012,-0.134892,0.990406]] 2025-10-28T23:00:54.750Z,1761692454.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990608,-0.128315,-0.047228],[0.133476,0.982423,0.130498],[0.029653,-0.135576,0.990323]] 2025-10-28T23:00:55.155Z,1761692455.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990388,-0.130129,-0.046894],[0.135259,0.982044,0.131512],[0.028938,-0.136590,0.990205]] 2025-10-28T23:00:55.558Z,1761692455.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990176,-0.131807,-0.046678],[0.136942,0.981587,0.133171],[0.028265,-0.138255,0.989993]] 2025-10-28T23:00:55.964Z,1761692455.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989963,-0.133360,-0.046785],[0.138570,0.980999,0.135795],[0.027786,-0.140915,0.989632]] 2025-10-28T23:00:56.366Z,1761692456.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989807,-0.134352,-0.047246],[0.139709,0.980384,0.139024],[0.027641,-0.144208,0.989161]] 2025-10-28T23:00:56.794Z,1761692456.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989776,-0.134354,-0.047874],[0.139880,0.979967,0.141766],[0.027869,-0.147013,0.988742]] 2025-10-28T23:00:57.175Z,1761692457.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989880,-0.133333,-0.048577],[0.139054,0.979674,0.144581],[0.028313,-0.149873,0.988300]] 2025-10-28T23:00:57.579Z,1761692457.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990040,-0.131828,-0.049414],[0.137769,0.979452,0.147284],[0.028982,-0.152625,0.987859]] 2025-10-28T23:00:57.984Z,1761692457.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990351,-0.129127,-0.050299],[0.135308,0.979424,0.149736],[0.029929,-0.155098,0.987446]] 2025-10-28T23:00:58.387Z,1761692458.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990786,-0.125396,-0.051182],[0.131780,0.979784,0.150526],[0.031272,-0.155884,0.987280]] 2025-10-28T23:00:58.790Z,1761692458.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991345,-0.120921,-0.051119],[0.127302,0.980575,0.149221],[0.032082,-0.154437,0.987482]] 2025-10-28T23:00:59.195Z,1761692459.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991967,-0.115742,-0.051035],[0.122130,0.981395,0.148147],[0.032939,-0.153190,0.987648]] 2025-10-28T23:00:59.600Z,1761692459.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992599,-0.110489,-0.050383],[0.116760,0.982377,0.145953],[0.033368,-0.150756,0.988008]] 2025-10-28T23:01:00.003Z,1761692460.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993153,-0.105902,-0.049320],[0.111946,0.983430,0.142593],[0.033402,-0.147138,0.988552]] 2025-10-28T23:01:00.407Z,1761692460.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993596,-0.102095,-0.048401],[0.107932,0.984346,0.139331],[0.033418,-0.143663,0.989062]] 2025-10-28T23:01:00.812Z,1761692460.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993876,-0.099904,-0.047228],[0.105437,0.985268,0.134647],[0.033081,-0.138802,0.989767]] 2025-10-28T23:01:01.216Z,1761692461.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994062,-0.098527,-0.046192],[0.103779,0.986053,0.130116],[0.032727,-0.134137,0.990422]] 2025-10-28T23:01:01.618Z,1761692461.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994135,-0.098328,-0.045019],[0.103297,0.986618,0.126151],[0.032012,-0.130062,0.990989]] 2025-10-28T23:01:02.022Z,1761692462.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994121,-0.098959,-0.043941],[0.103706,0.986884,0.123715],[0.031122,-0.127545,0.991344]] 2025-10-28T23:01:02.428Z,1761692462.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994010,-0.100557,-0.042803],[0.105119,0.986856,0.122741],[0.029898,-0.126506,0.991515]] 2025-10-28T23:01:02.830Z,1761692462.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993785,-0.102967,-0.042308],[0.107447,0.986611,0.122696],[0.029108,-0.126479,0.991542]] 2025-10-28T23:01:03.235Z,1761692463.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993469,-0.105907,-0.042456],[0.110414,0.986158,0.123699],[0.028768,-0.127579,0.991411]] 2025-10-28T23:01:03.640Z,1761692463.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993107,-0.109008,-0.043070],[0.113663,0.985384,0.126880],[0.028610,-0.130900,0.990983]] 2025-10-28T23:01:04.042Z,1761692464.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992660,-0.112614,-0.044086],[0.117455,0.984578,0.129653],[0.028805,-0.133880,0.990579]] 2025-10-28T23:01:04.446Z,1761692464.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992201,-0.116149,-0.045243],[0.121193,0.983782,0.132232],[0.029151,-0.136684,0.990186]] 2025-10-28T23:01:04.851Z,1761692464.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991759,-0.119353,-0.046560],[0.124654,0.982881,0.135671],[0.029570,-0.140357,0.989659]] 2025-10-28T23:01:05.064Z,1761692465.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:01:05.257Z,1761692465.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991311,-0.122519,-0.047875],[0.128061,0.982055,0.138447],[0.030053,-0.143375,0.989212]] 2025-10-28T23:01:05.658Z,1761692465.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990864,-0.125490,-0.049395],[0.131337,0.981099,0.142110],[0.030628,-0.147299,0.988618]] 2025-10-28T23:01:06.063Z,1761692466.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990412,-0.128422,-0.050905],[0.134592,0.980062,0.146159],[0.031120,-0.151609,0.987951]] 2025-10-28T23:01:06.068Z,1761692466.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:01:06.467Z,1761692466.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990044,-0.130865,-0.051832],[0.137193,0.979506,0.147465],[0.031472,-0.153108,0.987708]] 2025-10-28T23:01:06.873Z,1761692466.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989800,-0.132429,-0.052525],[0.138882,0.979102,0.148566],[0.031753,-0.154345,0.987507]] 2025-10-28T23:01:07.275Z,1761692467.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989887,-0.131613,-0.052927],[0.138189,0.978954,0.150174],[0.032048,-0.155969,0.987242]] 2025-10-28T23:01:07.678Z,1761692467.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990362,-0.127799,-0.053389],[0.134563,0.979120,0.152371],[0.032801,-0.158086,0.986880]] 2025-10-28T23:01:08.083Z,1761692468.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991056,-0.122571,-0.052767],[0.129317,0.979724,0.153026],[0.032940,-0.158481,0.986812]] 2025-10-28T23:01:08.488Z,1761692468.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991775,-0.117089,-0.051701],[0.123730,0.980440,0.153066],[0.032767,-0.158204,0.986863]] 2025-10-28T23:01:08.890Z,1761692468.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992451,-0.111760,-0.050497],[0.118222,0.981354,0.151554],[0.032618,-0.156380,0.987158]] 2025-10-28T23:01:09.294Z,1761692469.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993068,-0.106616,-0.049496],[0.112891,0.982388,0.148891],[0.032750,-0.153446,0.987614]] 2025-10-28T23:01:09.700Z,1761692469.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993618,-0.101838,-0.048498],[0.107913,0.983387,0.145964],[0.032827,-0.150266,0.988100]] 2025-10-28T23:01:10.103Z,1761692470.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994062,-0.097908,-0.047481],[0.103743,0.984404,0.142075],[0.032831,-0.146157,0.988716]] 2025-10-28T23:01:10.507Z,1761692470.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994375,-0.095099,-0.046636],[0.100748,0.985106,0.139342],[0.032690,-0.143256,0.989146]] 2025-10-28T23:01:10.910Z,1761692470.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994574,-0.093421,-0.045779],[0.098858,0.985746,0.136133],[0.032409,-0.139920,0.989632]] 2025-10-28T23:01:11.315Z,1761692471.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994640,-0.093145,-0.044889],[0.098340,0.986305,0.132406],[0.031942,-0.136110,0.990179]] 2025-10-28T23:01:11.720Z,1761692471.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994554,-0.094462,-0.044035],[0.099429,0.986621,0.129200],[0.031241,-0.132875,0.990640]] 2025-10-28T23:01:12.123Z,1761692472.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994396,-0.096512,-0.043157],[0.101299,0.986633,0.127644],[0.030261,-0.131300,0.990881]] 2025-10-28T23:01:12.526Z,1761692472.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994070,-0.099921,-0.042910],[0.104600,0.986496,0.126030],[0.029738,-0.129772,0.991098]] 2025-10-28T23:01:12.931Z,1761692472.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993614,-0.104344,-0.042940],[0.108947,0.986222,0.124488],[0.029359,-0.128371,0.991292]] 2025-10-28T23:01:13.337Z,1761692473.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993118,-0.108809,-0.043323],[0.113412,0.985787,0.123945],[0.029221,-0.128005,0.991343]] 2025-10-28T23:01:13.739Z,1761692473.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992566,-0.113392,-0.044226],[0.118124,0.985037,0.125498],[0.029334,-0.129789,0.991108]] 2025-10-28T23:01:14.144Z,1761692474.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991992,-0.117897,-0.045302],[0.122797,0.984197,0.127582],[0.029545,-0.132123,0.990793]] 2025-10-28T23:01:14.547Z,1761692474.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991420,-0.122240,-0.046290],[0.127234,0.983647,0.127477],[0.029951,-0.132273,0.990761]] 2025-10-28T23:01:14.952Z,1761692474.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990922,-0.125853,-0.047274],[0.130941,0.983194,0.127217],[0.030469,-0.132252,0.990748]] 2025-10-28T23:01:15.363Z,1761692475.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990568,-0.128267,-0.048193],[0.133470,0.982805,0.127594],[0.030998,-0.132822,0.990655]] 2025-10-28T23:01:15.765Z,1761692475.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990361,-0.129620,-0.048822],[0.134919,0.982509,0.128343],[0.031332,-0.133693,0.990527]] 2025-10-28T23:01:16.168Z,1761692476.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990417,-0.129278,-0.048597],[0.134555,0.982539,0.128501],[0.031136,-0.133808,0.990518]] 2025-10-28T23:01:16.573Z,1761692476.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990383,-0.129675,-0.048231],[0.134890,0.982537,0.128163],[0.030769,-0.133436,0.990580]] 2025-10-28T23:01:16.624Z,1761692476.624 [keepstation:SurfaceComms] Running Loop=1 2025-10-28T23:01:16.624Z,1761692476.624 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms 2025-10-28T23:01:16.625Z,1761692476.625 [keepstation:SurfaceComms:A] Running Loop=1 2025-10-28T23:01:16.625Z,1761692476.625 [keepstation:SurfaceComms:A] Stopped 2025-10-28T23:01:16.625Z,1761692476.625 [keepstation:SurfaceComms:B] Running Loop=1 2025-10-28T23:01:16.625Z,1761692476.625 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B 2025-10-28T23:01:16.978Z,1761692476.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990402,-0.129719,-0.047721],[0.134863,0.982549,0.128100],[0.030271,-0.133306,0.990613]] 2025-10-28T23:01:16.993Z,1761692476.993 [keepstation:TransitToStation:Dive] Stopped 2025-10-28T23:01:16.993Z,1761692476.993 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive 2025-10-28T23:01:16.993Z,1761692476.993 [keepstation:TransitToStation:Dive:A] Stopped 2025-10-28T23:01:16.993Z,1761692476.993 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A 2025-10-28T23:01:16.993Z,1761692476.993 [keepstation:DiveCmd:TransitToStation] Stopped 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive] Stopped 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped 2025-10-28T23:01:16.994Z,1761692476.994 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize. 2025-10-28T23:01:16.996Z,1761692476.996 [keepstation:NeedComms] Running Loop=1 2025-10-28T23:01:16.996Z,1761692476.996 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms 2025-10-28T23:01:16.996Z,1761692476.996 [keepstation:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T23:01:16.996Z,1761692476.996 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T23:01:16.997Z,1761692476.997 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T23:01:16.997Z,1761692476.997 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T23:01:16.997Z,1761692476.997 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T23:01:16.998Z,1761692476.998 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T23:01:16.998Z,1761692476.998 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T23:01:16.998Z,1761692476.998 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T23:01:16.999Z,1761692476.999 [keepstation:NeedComms:A] Running Loop=1 2025-10-28T23:01:17.000Z,1761692477.000 [keepstation:NeedComms:A](INFO): last time_fix was: 1761691275.000000 second since 1970/01/01T00:00:00Z 2025-10-28T23:01:17.001Z,1761692477.001 [keepstation:NeedComms:A] Stopped 2025-10-28T23:01:17.377Z,1761692477.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990387,-0.129957,-0.047386],[0.135038,0.982597,0.127546],[0.029986,-0.132719,0.990700]] 2025-10-28T23:01:17.779Z,1761692477.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990329,-0.130449,-0.047249],[0.135512,0.982512,0.127700],[0.029764,-0.132868,0.990687]] 2025-10-28T23:01:18.184Z,1761692478.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990254,-0.131168,-0.046827],[0.136166,0.982432,0.127617],[0.029265,-0.132749,0.990718]] 2025-10-28T23:01:18.587Z,1761692478.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990277,-0.131085,-0.046575],[0.136109,0.982177,0.129624],[0.028753,-0.134703,0.990469]] 2025-10-28T23:01:18.990Z,1761692478.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990409,-0.130161,-0.046349],[0.135279,0.981747,0.133686],[0.028103,-0.138673,0.989939]] 2025-10-28T23:01:19.394Z,1761692479.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990674,-0.128923,-0.044083],[0.133827,0.981474,0.137113],[0.025590,-0.141734,0.989574]] 2025-10-28T23:01:19.799Z,1761692479.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991043,-0.127914,-0.038372],[0.132068,0.981373,0.139515],[0.019811,-0.143333,0.989476]] 2025-10-28T23:01:20.205Z,1761692480.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991538,-0.126466,-0.029318],[0.129380,0.981228,0.143011],[0.010681,-0.145594,0.989287]] 2025-10-28T23:01:20.606Z,1761692480.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992077,-0.124381,-0.017660],[0.125625,0.981242,0.146231],[-0.000859,-0.147291,0.989093]] 2025-10-28T23:01:21.010Z,1761692481.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992554,-0.121736,-0.004111],[0.120971,0.981252,0.150036],[-0.014231,-0.149416,0.988672]] 2025-10-28T23:01:21.415Z,1761692481.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992888,-0.118538,0.011068],[0.115446,0.981348,0.153712],[-0.029082,-0.151341,0.988054]] 2025-10-28T23:01:21.825Z,1761692481.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992919,-0.115699,0.026937],[0.110117,0.981491,0.156680],[-0.044566,-0.152605,0.987282]] 2025-10-28T23:01:22.222Z,1761692482.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992635,-0.113027,0.043595],[0.104848,0.981823,0.158209],[-0.060684,-0.152473,0.986443]] 2025-10-28T23:01:22.626Z,1761692482.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991961,-0.111068,0.060641],[0.100283,0.982237,0.158601],[-0.077179,-0.151245,0.985479]] 2025-10-28T23:01:23.031Z,1761692483.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990817,-0.110449,0.077986],[0.097087,0.982628,0.158168],[-0.094101,-0.149144,0.984328]] 2025-10-28T23:01:23.436Z,1761692483.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989248,-0.111322,0.094846],[0.095471,0.982844,0.157808],[-0.110786,-0.147056,0.982904]] 2025-10-28T23:01:23.839Z,1761692483.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987211,-0.113728,0.111715],[0.095335,0.982817,0.158059],[-0.127771,-0.145388,0.981090]] 2025-10-28T23:01:24.243Z,1761692484.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984804,-0.117202,0.128161],[0.096278,0.982609,0.158778],[-0.144541,-0.144026,0.978961]] 2025-10-28T23:01:24.647Z,1761692484.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982074,-0.121620,0.144010],[0.098069,0.982127,0.160650],[-0.160974,-0.143648,0.976449]] 2025-10-28T23:01:25.052Z,1761692485.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979095,-0.126377,0.159379],[0.100098,0.981481,0.163328],[-0.177068,-0.143960,0.973613]] 2025-10-28T23:01:25.455Z,1761692485.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976032,-0.130508,0.174151],[0.101295,0.980702,0.167224],[-0.192615,-0.145575,0.970416]] 2025-10-28T23:01:25.858Z,1761692485.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972832,-0.133622,0.189058],[0.101382,0.980042,0.170994],[-0.208133,-0.147181,0.966963]] 2025-10-28T23:01:26.267Z,1761692486.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969458,-0.135979,0.204108],[0.100377,0.979318,0.175669],[-0.223774,-0.149816,0.963058]] 2025-10-28T23:01:26.671Z,1761692486.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965949,-0.137104,0.219421],[0.097976,0.978732,0.180237],[-0.239465,-0.152601,0.958837]] 2025-10-28T23:01:27.071Z,1761692487.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962144,-0.137734,0.235176],[0.094885,0.978202,0.184708],[-0.255490,-0.155401,0.954241]] 2025-10-28T23:01:27.475Z,1761692487.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958335,-0.138013,0.250091],[0.091753,0.977866,0.188043],[-0.270508,-0.157261,0.949786]] 2025-10-28T23:01:27.879Z,1761692487.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954462,-0.138985,0.263978],[0.089659,0.977581,0.190518],[-0.284539,-0.158174,0.945525]] 2025-10-28T23:01:28.319Z,1761692488.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950597,-0.141009,0.276553],[0.089375,0.977476,0.191187],[-0.297283,-0.157025,0.941789]] 2025-10-28T23:01:28.689Z,1761692488.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946857,-0.143413,0.287915],[0.089623,0.977283,0.192055],[-0.308918,-0.156045,0.938200]] 2025-10-28T23:01:29.090Z,1761692489.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943203,-0.146695,0.298074],[0.090998,0.976995,0.192872],[-0.319510,-0.154794,0.934854]] 2025-10-28T23:01:29.495Z,1761692489.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939502,-0.151060,0.307437],[0.093673,0.976599,0.193599],[-0.329487,-0.153088,0.931666]] 2025-10-28T23:01:29.900Z,1761692489.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935950,-0.156063,0.315662],[0.096794,0.975917,0.195494],[-0.338569,-0.152419,0.928515]] 2025-10-28T23:01:30.339Z,1761692490.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932471,-0.161398,0.323186],[0.100268,0.975126,0.197677],[-0.347052,-0.151923,0.925459]] 2025-10-28T23:01:30.707Z,1761692490.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929108,-0.166497,0.330207],[0.103296,0.974218,0.200574],[-0.355088,-0.152246,0.922352]] 2025-10-28T23:01:31.162Z,1761692491.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926048,-0.171071,0.336406],[0.106259,0.973493,0.202537],[-0.362137,-0.151813,0.919679]] 2025-10-28T23:01:31.556Z,1761692491.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923382,-0.174773,0.341790],[0.108016,0.972667,0.205553],[-0.368373,-0.152886,0.917021]] 2025-10-28T23:01:31.958Z,1761692491.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921158,-0.177232,0.346491],[0.108313,0.971865,0.209158],[-0.373812,-0.155138,0.914438]] 2025-10-28T23:01:32.364Z,1761692492.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918982,-0.178704,0.351479],[0.107416,0.971149,0.212913],[-0.379387,-0.157909,0.911664]] 2025-10-28T23:01:32.766Z,1761692492.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916823,-0.178854,0.356998],[0.104837,0.970528,0.216991],[-0.385286,-0.161516,0.908552]] 2025-10-28T23:01:33.171Z,1761692493.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914745,-0.177800,0.362806],[0.100642,0.969934,0.221584],[-0.391295,-0.166179,0.905137]] 2025-10-28T23:01:33.575Z,1761692493.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912727,-0.175304,0.369049],[0.094978,0.969565,0.225660],[-0.397376,-0.170915,0.901599]] 2025-10-28T23:01:33.979Z,1761692493.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910612,-0.172463,0.375556],[0.088661,0.969127,0.230068],[-0.403640,-0.176206,0.897790]] 2025-10-28T23:01:34.384Z,1761692494.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908666,-0.169160,0.381720],[0.082615,0.969019,0.232761],[-0.409268,-0.179966,0.894490]] 2025-10-28T23:01:34.787Z,1761692494.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906911,-0.166605,0.386982],[0.078073,0.969042,0.234229],[-0.414025,-0.182212,0.891842]] 2025-10-28T23:01:35.191Z,1761692495.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905497,-0.166381,0.390374],[0.076626,0.968917,0.235221],[-0.417377,-0.183080,0.890100]] 2025-10-28T23:01:35.595Z,1761692495.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904340,-0.168821,0.392007],[0.078802,0.968702,0.235386],[-0.419476,-0.181978,0.889339]] 2025-10-28T23:01:36.001Z,1761692496.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903442,-0.173472,0.392046],[0.084994,0.968801,0.232811],[-0.420200,-0.177009,0.890000]] 2025-10-28T23:01:36.192Z,1761692496.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:01:36.403Z,1761692496.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902781,-0.180358,0.390459],[0.093832,0.968552,0.230439],[-0.419741,-0.171398,0.891314]] 2025-10-28T23:01:36.834Z,1761692496.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902494,-0.188310,0.387355],[0.103680,0.967896,0.228973],[-0.418037,-0.166486,0.893044]] 2025-10-28T23:01:37.200Z,1761692497.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:01:37.213Z,1761692497.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902609,-0.196656,0.382914],[0.113853,0.966930,0.228217],[-0.415131,-0.162395,0.895150]] 2025-10-28T23:01:37.616Z,1761692497.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903028,-0.205756,0.377101],[0.123842,0.965254,0.230106],[-0.411344,-0.161091,0.897132]] 2025-10-28T23:01:38.018Z,1761692498.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903596,-0.215215,0.370401],[0.133233,0.962948,0.234480],[-0.407141,-0.162526,0.898789]] 2025-10-28T23:01:38.422Z,1761692498.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904684,-0.222259,0.363520],[0.139267,0.960556,0.240702],[-0.402680,-0.167133,0.899953]] 2025-10-28T23:01:38.826Z,1761692498.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906535,-0.224397,0.357548],[0.139346,0.958603,0.248320],[-0.398469,-0.175288,0.900276]] 2025-10-28T23:01:39.232Z,1761692499.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908816,-0.223189,0.352478],[0.135101,0.956787,0.257500],[-0.394718,-0.186400,0.899696]] 2025-10-28T23:01:39.634Z,1761692499.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911078,-0.220413,0.348361],[0.128906,0.955005,0.267114],[-0.391561,-0.198455,0.898496]] 2025-10-28T23:01:40.038Z,1761692500.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913275,-0.216388,0.345116],[0.122064,0.953681,0.274943],[-0.388625,-0.208972,0.897386]] 2025-10-28T23:01:40.443Z,1761692500.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915025,-0.212523,0.342876],[0.115709,0.952527,0.281609],[-0.386447,-0.218006,0.896176]] 2025-10-28T23:01:40.847Z,1761692500.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916385,-0.209456,0.341127],[0.111530,0.952032,0.284951],[-0.384448,-0.223078,0.895788]] 2025-10-28T23:01:41.252Z,1761692501.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917489,-0.207960,0.339068],[0.110686,0.952253,0.284538],[-0.382052,-0.223531,0.896700]] 2025-10-28T23:01:41.654Z,1761692501.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918267,-0.209459,0.336025],[0.113915,0.952499,0.282434],[-0.379222,-0.221071,0.898509]] 2025-10-28T23:01:42.059Z,1761692502.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918949,-0.212927,0.331956],[0.119663,0.952584,0.279758],[-0.375784,-0.217360,0.900856]] 2025-10-28T23:01:42.463Z,1761692502.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919727,-0.218010,0.326457],[0.127071,0.952176,0.277873],[-0.371423,-0.214084,0.903445]] 2025-10-28T23:01:42.868Z,1761692502.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920627,-0.223348,0.320253],[0.134896,0.951668,0.275919],[-0.366401,-0.210817,0.906260]] 2025-10-28T23:01:43.270Z,1761692503.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921824,-0.229014,0.312719],[0.142426,0.950480,0.276229],[-0.360493,-0.210096,0.908793]] 2025-10-28T23:01:43.675Z,1761692503.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923199,-0.234375,0.304585],[0.149132,0.948893,0.278141],[-0.354208,-0.211356,0.910970]] 2025-10-28T23:01:44.079Z,1761692504.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924959,-0.237643,0.296609],[0.153786,0.947687,0.279711],[-0.347564,-0.213107,0.913118]] 2025-10-28T23:01:44.483Z,1761692504.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926763,-0.240114,0.288887],[0.157202,0.946365,0.282278],[-0.341172,-0.216192,0.914802]] 2025-10-28T23:01:44.897Z,1761692504.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928435,-0.242091,0.281781],[0.160032,0.945153,0.284738],[-0.335258,-0.219267,0.916255]] 2025-10-28T23:01:45.299Z,1761692505.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929698,-0.244903,0.275106],[0.164021,0.944053,0.286112],[-0.329784,-0.220875,0.917854]] 2025-10-28T23:01:45.716Z,1761692505.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930676,-0.248674,0.268336],[0.169365,0.942996,0.286485],[-0.324281,-0.221178,0.919740]] 2025-10-28T23:01:46.120Z,1761692506.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931561,-0.253237,0.260895],[0.175674,0.941738,0.286826],[-0.318330,-0.221363,0.921773]] 2025-10-28T23:01:46.523Z,1761692506.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932675,-0.257656,0.252449],[0.181425,0.939959,0.289072],[-0.311773,-0.223810,0.923421]] 2025-10-28T23:01:46.927Z,1761692506.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934216,-0.260540,0.243637],[0.185563,0.938290,0.291853],[-0.304641,-0.227444,0.924912]] 2025-10-28T23:01:47.330Z,1761692507.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936366,-0.260962,0.234771],[0.186691,0.936610,0.296495],[-0.297263,-0.233798,0.925729]] 2025-10-28T23:01:47.736Z,1761692507.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938899,-0.258975,0.226718],[0.185137,0.935274,0.301640],[-0.290161,-0.241236,0.926073]] 2025-10-28T23:01:48.139Z,1761692508.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941506,-0.255940,0.219230],[0.181845,0.933544,0.308914],[-0.283724,-0.250979,0.925479]] 2025-10-28T23:01:48.543Z,1761692508.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944034,-0.251693,0.213188],[0.177501,0.932409,0.314812],[-0.278015,-0.259352,0.924902]] 2025-10-28T23:01:48.987Z,1761692508.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946419,-0.246659,0.208447],[0.172344,0.931638,0.319920],[-0.273108,-0.266854,0.924230]] 2025-10-28T23:01:49.387Z,1761692509.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948947,-0.240407,0.204214],[0.165914,0.931026,0.325059],[-0.268276,-0.274582,0.923381]] 2025-10-28T23:01:49.791Z,1761692509.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951490,-0.232621,0.201379],[0.158383,0.931444,0.327609],[-0.263782,-0.279822,0.923103]] 2025-10-28T23:01:50.202Z,1761692510.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956307,-0.215097,0.198018],[0.139352,0.930755,0.338048],[-0.257019,-0.295683,0.920061]] 2025-10-28T23:01:50.603Z,1761692510.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958105,-0.205870,0.199129],[0.129891,0.931948,0.338529],[-0.255270,-0.298481,0.919645]] 2025-10-28T23:01:51.009Z,1761692511.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959490,-0.196530,0.201880],[0.121364,0.934955,0.333362],[-0.254265,-0.295356,0.920931]] 2025-10-28T23:01:51.411Z,1761692511.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960529,-0.187066,0.205890],[0.113395,0.939145,0.324266],[-0.254020,-0.288120,0.923288]] 2025-10-28T23:01:51.856Z,1761692511.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961202,-0.177991,0.210735],[0.106315,0.943987,0.312387],[-0.254533,-0.277863,0.926286]] 2025-10-28T23:01:52.265Z,1761692512.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961538,-0.169645,0.216020],[0.100406,0.949129,0.298450],[-0.255662,-0.265282,0.929657]] 2025-10-28T23:01:52.778Z,1761692512.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961421,-0.162185,0.222185],[0.096647,0.955365,0.279171],[-0.257545,-0.246927,0.934183]] 2025-10-28T23:01:53.217Z,1761692513.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960822,-0.157591,0.228005],[0.095779,0.960734,0.260416],[-0.260092,-0.228375,0.938188]] 2025-10-28T23:01:53.620Z,1761692513.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959855,-0.157391,0.232177],[0.096938,0.962869,0.251963],[-0.263213,-0.219342,0.939472]] 2025-10-28T23:01:54.022Z,1761692514.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958839,-0.160275,0.234390],[0.099246,0.962570,0.252207],[-0.266040,-0.218564,0.938857]] 2025-10-28T23:01:54.426Z,1761692514.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957973,-0.165049,0.234621],[0.102464,0.960819,0.257541],[-0.267935,-0.222677,0.937350]] 2025-10-28T23:01:54.830Z,1761692514.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957274,-0.170234,0.233765],[0.105328,0.958094,0.266388],[-0.269317,-0.230384,0.935089]] 2025-10-28T23:01:55.237Z,1761692515.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956707,-0.172977,0.234073],[0.106547,0.956551,0.271398],[-0.270849,-0.234709,0.933570]] 2025-10-28T23:01:55.638Z,1761692515.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956235,-0.174083,0.235180],[0.105462,0.954791,0.277942],[-0.272933,-0.240976,0.931364]] 2025-10-28T23:01:56.043Z,1761692516.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955764,-0.174065,0.237100],[0.102385,0.952564,0.286598],[-0.275740,-0.249645,0.928248]] 2025-10-28T23:01:56.446Z,1761692516.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955190,-0.173961,0.239478],[0.097594,0.948920,0.300045],[-0.279442,-0.263228,0.923376]] 2025-10-28T23:01:56.851Z,1761692516.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954521,-0.172492,0.243180],[0.090246,0.944541,0.315748],[-0.284157,-0.279442,0.917151]] 2025-10-28T23:01:57.255Z,1761692517.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953961,-0.167785,0.248609],[0.078835,0.940013,0.331905],[-0.289384,-0.297026,0.909963]] 2025-10-28T23:01:57.658Z,1761692517.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953640,-0.156541,0.257032],[0.062777,0.938756,0.338817],[-0.294329,-0.306974,0.905062]] 2025-10-28T23:01:58.064Z,1761692518.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953188,-0.143004,0.266426],[0.046832,0.940286,0.337148],[-0.298730,-0.308888,0.902966]] 2025-10-28T23:01:58.466Z,1761692518.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952601,-0.130552,0.274785],[0.034308,0.943580,0.329363],[-0.302281,-0.304325,0.903334]] 2025-10-28T23:01:58.871Z,1761692518.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951640,-0.122141,0.281891],[0.026829,0.947106,0.319798],[-0.306041,-0.296770,0.904581]] 2025-10-28T23:01:59.276Z,1761692519.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950416,-0.116477,0.288346],[0.022214,0.950268,0.310639],[-0.310188,-0.288831,0.905737]] 2025-10-28T23:01:59.679Z,1761692519.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949061,-0.109423,0.295481],[0.016966,0.954150,0.298849],[-0.314634,-0.278613,0.907403]] 2025-10-28T23:02:00.541Z,1761692520.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944284,-0.088602,0.316983],[0.003289,0.965577,0.260097],[-0.329116,-0.244563,0.912070]] 2025-10-28T23:02:01.031Z,1761692521.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937280,-0.071031,0.341264],[-0.008154,0.974282,0.225184],[-0.348482,-0.213843,0.912596]] 2025-10-28T23:02:01.552Z,1761692521.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933664,-0.065367,0.352134],[-0.011468,0.977243,0.211811],[-0.357966,-0.201798,0.911667]] 2025-10-28T23:02:01.955Z,1761692521.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930270,-0.063700,0.361304],[-0.012339,0.978822,0.204342],[-0.366669,-0.194551,0.909782]] 2025-10-28T23:02:02.358Z,1761692522.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927729,-0.067255,0.367145],[-0.011132,0.978210,0.207321],[-0.373088,-0.196425,0.906765]] 2025-10-28T23:02:02.764Z,1761692522.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926377,-0.071461,0.369754],[-0.011180,0.976180,0.216673],[-0.376430,-0.204855,0.903512]] 2025-10-28T23:02:03.166Z,1761692523.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926097,-0.074918,0.369773],[-0.014727,0.972161,0.233850],[-0.376998,-0.222013,0.899212]] 2025-10-28T23:02:03.570Z,1761692523.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925980,-0.075967,0.369852],[-0.022093,0.966971,0.253928],[-0.376926,-0.243303,0.893717]] 2025-10-28T23:02:03.975Z,1761692523.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924970,-0.077660,0.372020],[-0.029973,0.960942,0.275122],[-0.378856,-0.265630,0.886515]] 2025-10-28T23:02:04.393Z,1761692524.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922797,-0.084268,0.375959],[-0.033318,0.954680,0.295762],[-0.383844,-0.285455,0.878168]] 2025-10-28T23:02:04.796Z,1761692524.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920093,-0.092279,0.380674],[-0.030833,0.951775,0.305243],[-0.390484,-0.292590,0.872877]] 2025-10-28T23:02:05.198Z,1761692525.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918645,-0.095197,0.383444],[-0.028487,0.952050,0.304612],[-0.394056,-0.290754,0.871884]] 2025-10-28T23:02:05.602Z,1761692525.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918451,-0.100166,0.382643],[-0.025421,0.950454,0.309823],[-0.394718,-0.294284,0.870399]] 2025-10-28T23:02:06.007Z,1761692526.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918795,-0.101836,0.381373],[-0.026807,0.947820,0.317676],[-0.393824,-0.302103,0.868123]] 2025-10-28T23:02:06.412Z,1761692526.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918684,-0.094173,0.383602],[-0.037378,0.946078,0.321776],[-0.393220,-0.309949,0.865627]] 2025-10-28T23:02:06.905Z,1761692526.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918858,-0.082660,0.385832],[-0.048589,0.946667,0.318528],[-0.391585,-0.311429,0.865837]] 2025-10-28T23:02:07.297Z,1761692527.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920766,-0.065393,0.384596],[-0.061436,0.949244,0.308484],[-0.385248,-0.307669,0.870014]] 2025-10-28T23:02:07.320Z,1761692527.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:02:07.699Z,1761692527.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923378,-0.044592,0.381294],[-0.077638,0.951015,0.299237],[-0.375960,-0.305912,0.874684]] 2025-10-28T23:02:08.326Z,1761692528.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:02:08.507Z,1761692528.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924544,-0.024282,0.380300],[-0.098283,0.949012,0.299528],[-0.368183,-0.314304,0.875017]] 2025-10-28T23:02:08.912Z,1761692528.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923545,-0.020034,0.382966],[-0.104844,0.947398,0.302398],[-0.368880,-0.319430,0.872864]] 2025-10-28T23:02:09.314Z,1761692529.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923161,-0.015060,0.384118],[-0.112255,0.945119,0.306838],[-0.367658,-0.326380,0.870806]] 2025-10-28T23:02:09.718Z,1761692529.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921491,-0.007481,0.388329],[-0.123945,0.941876,0.312262],[-0.368093,-0.335878,0.867002]] 2025-10-28T23:02:10.122Z,1761692530.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918927,0.001307,0.394425],[-0.134753,0.940865,0.310829],[-0.370694,-0.338779,0.864763]] 2025-10-28T23:02:10.541Z,1761692530.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918376,0.012075,0.395524],[-0.137959,0.946591,0.291432],[-0.370881,-0.322211,0.870992]] 2025-10-28T23:02:10.930Z,1761692530.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922189,0.023200,0.386043],[-0.137180,0.952916,0.270430],[-0.361593,-0.302345,0.881951]] 2025-10-28T23:02:11.335Z,1761692531.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927508,0.035340,0.372129],[-0.142245,0.953993,0.263938],[-0.345681,-0.297738,0.889863]] 2025-10-28T23:02:11.738Z,1761692531.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928368,0.040730,0.369423],[-0.151641,0.948990,0.276447],[-0.339319,-0.312664,0.887188]] 2025-10-28T23:02:12.148Z,1761692532.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924853,0.037145,0.378506],[-0.157234,0.943530,0.291597],[-0.346301,-0.329199,0.878467]] 2025-10-28T23:02:12.547Z,1761692532.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924430,0.037794,0.379474],[-0.154386,0.946977,0.281780],[-0.348704,-0.319072,0.881249]] 2025-10-28T23:02:12.950Z,1761692532.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928969,0.044554,0.367467],[-0.147358,0.955188,0.256712],[-0.339563,-0.292627,0.893905]] 2025-10-28T23:02:13.355Z,1761692533.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932984,0.058780,0.355085],[-0.153188,0.957605,0.243982],[-0.325690,-0.282026,0.902434]] 2025-10-28T23:02:14.212Z,1761692534.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928003,0.059657,0.367766],[-0.161336,0.954094,0.252339],[-0.335829,-0.293505,0.895027]] 2025-10-28T23:02:14.645Z,1761692534.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936629,0.076809,0.341798],[-0.142087,0.975106,0.170233],[-0.320214,-0.208010,0.924226]] 2025-10-28T23:02:15.042Z,1761692535.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946117,0.092401,0.310362],[-0.140311,0.980759,0.135736],[-0.291848,-0.171970,0.940878]] 2025-10-28T23:02:15.446Z,1761692535.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949029,0.092010,0.301460],[-0.147013,0.975249,0.165154],[-0.278803,-0.201055,0.939067]] 2025-10-28T23:02:15.851Z,1761692535.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949252,0.082834,0.303414],[-0.156925,0.960777,0.228654],[-0.272573,-0.264663,0.925017]] 2025-10-28T23:02:16.261Z,1761692536.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951105,0.071065,0.300579],[-0.152370,0.954465,0.256474],[-0.268666,-0.289734,0.918625]] 2025-10-28T23:02:16.327Z,1761692536.327 [keepstation:NeedComms:C] Running Loop=1 2025-10-28T23:02:16.688Z,1761692536.688 [Radio_Surface](INFO): Powering up 2025-10-28T23:02:16.980Z,1761692536.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960699,0.081368,0.265399],[-0.150410,0.956147,0.251315],[-0.233312,-0.281356,0.930808]] 2025-10-28T23:02:17.502Z,1761692537.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941245,0.045497,0.334647],[-0.156239,0.937134,0.312039],[-0.299412,-0.345990,0.889181]] 2025-10-28T23:02:17.899Z,1761692537.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963978,0.094139,0.248766],[-0.155067,0.958791,0.238064],[-0.216103,-0.268064,0.938851]] 2025-10-28T23:02:18.338Z,1761692538.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978957,0.138230,0.150115],[-0.170242,0.958831,0.227292],[-0.112516,-0.248065,0.962187]] 2025-10-28T23:02:18.707Z,1761692538.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980945,0.181630,0.068968],[-0.192431,0.957217,0.216116],[-0.026764,-0.225269,0.973929]] 2025-10-28T23:02:19.113Z,1761692539.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980244,0.195742,0.028390],[-0.197732,0.973276,0.116776],[-0.004773,-0.120083,0.992752]] 2025-10-28T23:02:19.514Z,1761692539.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980869,0.194057,0.015441],[-0.194249,0.980878,0.012067],[-0.012804,-0.014836,0.999808]] 2025-10-28T23:02:19.918Z,1761692539.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984459,0.175473,-0.007031],[-0.175582,0.984253,-0.020404],[0.003340,0.021322,0.999767]] 2025-10-28T23:02:20.341Z,1761692540.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981617,0.169922,-0.086918],[-0.168292,0.985399,0.025800],[0.090033,-0.010699,0.995881]] 2025-10-28T23:02:20.728Z,1761692540.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970685,0.217846,-0.101561],[-0.210939,0.974654,0.074525],[0.115222,-0.050917,0.992034]] 2025-10-28T23:02:21.130Z,1761692541.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972402,0.232959,-0.012790],[-0.230454,0.967605,0.103113],[0.036396,-0.097320,0.994587]] 2025-10-28T23:02:21.534Z,1761692541.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982456,0.186421,-0.005273],[-0.185844,0.980994,0.055784],[0.015572,-0.053825,0.998429]] 2025-10-28T23:02:21.939Z,1761692541.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980676,0.188763,-0.051421],[-0.187857,0.981951,0.021954],[0.054637,-0.011870,0.998436]] 2025-10-28T23:02:21.940Z,1761692541.940 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T23:02:21.941Z,1761692541.941 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T23:02:22.350Z,1761692542.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977066,0.212603,-0.011913],[-0.212631,0.977132,-0.001078],[0.011411,0.003587,0.999928]] 2025-10-28T23:02:22.747Z,1761692542.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980286,0.197584,-0.000029],[-0.197581,0.980269,-0.005885],[-0.001134,0.005775,0.999983]] 2025-10-28T23:02:23.151Z,1761692543.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977830,0.208617,-0.018116],[-0.208452,0.977975,0.010579],[0.019924,-0.006568,0.999780]] 2025-10-28T23:02:23.555Z,1761692543.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974962,0.221861,0.015093],[-0.222372,0.972958,0.062483],[-0.000822,-0.064274,0.997932]] 2025-10-28T23:02:23.961Z,1761692543.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972972,0.229557,0.025069],[-0.230917,0.967884,0.099385],[-0.001449,-0.102487,0.994733]] 2025-10-28T23:02:24.363Z,1761692544.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974085,0.224521,-0.027356],[-0.221876,0.972015,0.077194],[0.043922,-0.069124,0.996641]] 2025-10-28T23:02:24.766Z,1761692544.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965079,0.255199,-0.059119],[-0.252971,0.966533,0.042654],[0.068026,-0.026209,0.997339]] 2025-10-28T23:02:25.171Z,1761692545.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954299,0.288683,-0.077304],[-0.286733,0.957353,0.035484],[0.084251,-0.011696,0.996376]] 2025-10-28T23:02:25.574Z,1761692545.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946064,0.319877,-0.051395],[-0.318377,0.947305,0.035346],[0.059993,-0.017076,0.998053]] 2025-10-28T23:02:25.978Z,1761692545.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950119,0.307296,0.053323],[-0.307682,0.951489,-0.001024],[-0.051051,-0.015433,0.998577]] 2025-10-28T23:02:26.383Z,1761692546.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958097,0.286182,0.012255],[-0.285492,0.957523,-0.040551],[-0.023340,0.035353,0.999102]] 2025-10-28T23:02:26.787Z,1761692546.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939078,0.332841,-0.085727],[-0.337420,0.940248,-0.045629],[0.065418,0.071776,0.995273]] 2025-10-28T23:02:27.193Z,1761692547.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928544,0.362513,-0.079943],[-0.364358,0.931212,-0.009328],[0.071062,0.037789,0.996756]] 2025-10-28T23:02:27.595Z,1761692547.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913008,0.405147,-0.047664],[-0.402310,0.913585,0.059243],[0.067547,-0.034913,0.997105]] 2025-10-28T23:02:27.999Z,1761692547.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898583,0.438699,0.009560],[-0.438274,0.896218,0.068624],[0.021538,-0.065854,0.997597]] 2025-10-28T23:02:28.402Z,1761692548.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914137,0.402998,0.044109],[-0.402660,0.915197,-0.016702],[-0.047099,-0.002493,0.998887]] 2025-10-28T23:02:28.809Z,1761692548.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916822,0.399009,-0.015172],[-0.398820,0.913209,-0.083612],[-0.019507,0.082708,0.996383]] 2025-10-28T23:02:29.211Z,1761692549.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908219,0.408769,-0.089702],[-0.416445,0.903955,-0.097150],[0.041374,0.125589,0.991219]] 2025-10-28T23:02:29.615Z,1761692549.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904280,0.418669,-0.083628],[-0.422824,0.905347,-0.039581],[0.059141,0.071152,0.995711]] 2025-10-28T23:02:30.021Z,1761692550.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893171,0.443595,-0.073949],[-0.439824,0.895934,0.062110],[0.093805,-0.022951,0.995326]] 2025-10-28T23:02:30.425Z,1761692550.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894829,0.443965,-0.046656],[-0.434785,0.890450,0.134393],[0.101211,-0.099973,0.989829]] 2025-10-28T23:02:30.827Z,1761692550.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891292,0.453136,0.016284],[-0.451211,0.882812,0.130583],[0.044796,-0.123735,0.991304]] 2025-10-28T23:02:31.231Z,1761692551.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891796,0.450357,0.043349],[-0.452433,0.888108,0.081040],[-0.002001,-0.091883,0.995768]] 2025-10-28T23:02:31.635Z,1761692551.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894826,0.442709,-0.057407],[-0.438931,0.895968,0.067691],[0.081402,-0.035374,0.996053]] 2025-10-28T23:02:32.442Z,1761692552.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881101,0.472185,-0.026517],[-0.472371,0.881399,-0.000877],[0.022957,0.013298,0.999648]] 2025-10-28T23:02:32.846Z,1761692552.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875907,0.480826,0.039903],[-0.480870,0.876744,-0.009132],[-0.039375,-0.011190,0.999162]] 2025-10-28T23:02:33.251Z,1761692553.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876353,0.481257,0.019925],[-0.481627,0.876076,0.022942],[-0.006415,-0.029701,0.999538]] 2025-10-28T23:02:33.655Z,1761692553.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879881,0.474924,0.016050],[-0.474868,0.877520,0.066778],[0.017630,-0.066378,0.997639]] 2025-10-28T23:02:34.061Z,1761692554.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877375,0.476270,0.058137],[-0.479417,0.875076,0.066343],[-0.019277,-0.086080,0.996102]] 2025-10-28T23:02:34.462Z,1761692554.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877034,0.477818,0.050011],[-0.480054,0.875698,0.051972],[-0.018961,-0.069589,0.997396]] 2025-10-28T23:02:34.866Z,1761692554.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883052,0.469274,0.000804],[-0.468898,0.882273,0.041573],[0.018800,-0.037088,0.999135]] 2025-10-28T23:02:35.271Z,1761692555.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886512,0.462563,-0.011518],[-0.462589,0.886573,0.000463],[0.010426,0.004918,0.999934]] 2025-10-28T23:02:35.677Z,1761692555.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887521,0.459475,-0.034479],[-0.459623,0.888105,0.003995],[0.032456,0.012302,0.999397]] 2025-10-28T23:02:36.080Z,1761692556.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887200,0.457580,-0.059135],[-0.456904,0.889157,0.025283],[0.064149,0.004588,0.997930]] 2025-10-28T23:02:36.483Z,1761692556.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884059,0.467217,-0.012159],[-0.467109,0.884134,0.010759],[0.015777,-0.003832,0.999868]] 2025-10-28T23:02:36.887Z,1761692556.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875710,0.481586,0.034747],[-0.482710,0.874865,0.040019],[-0.011126,-0.051817,0.998595]] 2025-10-28T23:02:37.292Z,1761692557.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882340,0.469143,0.037174],[-0.469743,0.873153,0.130176],[0.028612,-0.132322,0.990794]] 2025-10-28T23:02:37.695Z,1761692557.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909340,0.415754,0.015775],[-0.414560,0.902213,0.118959],[0.035226,-0.114714,0.992774]] 2025-10-28T23:02:38.099Z,1761692558.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929559,0.367963,-0.022879],[-0.365902,0.928388,0.064905],[0.045123,-0.051961,0.997629]] 2025-10-28T23:02:38.444Z,1761692558.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:02:38.505Z,1761692558.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930552,0.360413,-0.064611],[-0.356774,0.932169,0.061434],[0.082370,-0.034116,0.996018]] 2025-10-28T23:02:38.909Z,1761692558.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912989,0.407544,-0.018926],[-0.404774,0.910639,0.083028],[0.051073,-0.068143,0.996367]] 2025-10-28T23:02:39.311Z,1761692559.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900802,0.432966,0.033107],[-0.433542,0.892465,0.124687],[0.024439,-0.126671,0.991644]] 2025-10-28T23:02:39.450Z,1761692559.450 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T23:02:39.451Z,1761692559.451 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:02:39.716Z,1761692559.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911685,0.410726,-0.011587],[-0.404660,0.902397,0.148085],[0.071278,-0.130319,0.988907]] 2025-10-28T23:02:40.121Z,1761692560.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918518,0.395104,-0.014726],[-0.393264,0.916819,0.069186],[0.040837,-0.057758,0.997495]] 2025-10-28T23:02:40.525Z,1761692560.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921959,0.386876,0.017842],[-0.387139,0.921903,0.014791],[-0.010726,-0.020544,0.999731]] 2025-10-28T23:02:40.927Z,1761692560.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925938,0.377222,0.018515],[-0.377187,0.926121,-0.005445],[-0.019201,-0.001942,0.999814]] 2025-10-28T23:02:41.331Z,1761692561.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939806,0.340628,-0.027164],[-0.341012,0.939996,-0.010882],[0.021828,0.019490,0.999572]] 2025-10-28T23:02:41.735Z,1761692561.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935503,0.337915,-0.103183],[-0.336452,0.941163,0.031805],[0.107860,0.004962,0.994154]] 2025-10-28T23:02:42.152Z,1761692562.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905659,0.393857,-0.157031],[-0.386946,0.919152,0.073701],[0.173363,-0.005985,0.984840]] 2025-10-28T23:02:42.543Z,1761692562.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883172,0.457485,-0.103514],[-0.441500,0.885322,0.145886],[0.158384,-0.083141,0.983871]] 2025-10-28T23:02:42.947Z,1761692562.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885123,0.463626,0.040089],[-0.465008,0.877843,0.114713],[0.017993,-0.120177,0.992589]] 2025-10-28T23:02:43.350Z,1761692563.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905590,0.416114,0.082199],[-0.417022,0.908872,-0.006611],[-0.077460,-0.028292,0.996594]] 2025-10-28T23:02:43.755Z,1761692563.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930442,0.365602,0.024760],[-0.359495,0.923815,-0.131640],[-0.071001,0.113582,0.990988]] 2025-10-28T23:02:44.159Z,1761692564.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920085,0.381426,-0.089209],[-0.391660,0.899740,-0.192535],[0.006827,0.212088,0.977227]] 2025-10-28T23:02:44.562Z,1761692564.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893581,0.436702,-0.103942],[-0.446929,0.887159,-0.114902],[0.042035,0.149129,0.987924]] 2025-10-28T23:02:44.966Z,1761692564.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884431,0.466556,0.010375],[-0.466567,0.884485,-0.001546],[-0.009898,-0.003474,0.999945]] 2025-10-28T23:02:45.371Z,1761692565.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879700,0.471443,0.062209],[-0.475021,0.877255,0.069131],[-0.021982,-0.090366,0.995666]] 2025-10-28T23:02:45.777Z,1761692565.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884293,0.461530,0.070829],[-0.466933,0.873832,0.135614],[0.000697,-0.152995,0.988227]] 2025-10-28T23:02:46.178Z,1761692566.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874106,0.480973,0.067847],[-0.485243,0.858383,0.166487],[0.021837,-0.178450,0.983707]] 2025-10-28T23:02:46.583Z,1761692566.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867524,0.497020,0.019336],[-0.495985,0.861485,0.108820],[0.037428,-0.103995,0.993873]] 2025-10-28T23:02:46.986Z,1761692566.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862204,0.506517,-0.006744],[-0.506403,0.862190,0.013551],[0.012678,-0.008268,0.999885]] 2025-10-28T23:02:47.392Z,1761692567.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861790,0.506280,-0.031583],[-0.507135,0.861306,-0.031090],[0.011462,0.042810,0.999017]] 2025-10-28T23:02:47.795Z,1761692567.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867989,0.489164,-0.085519],[-0.491639,0.870749,-0.009335],[0.069899,0.050147,0.996293]] 2025-10-28T23:02:48.199Z,1761692568.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863021,0.499401,-0.076116],[-0.501301,0.865245,-0.006946],[0.062391,0.044151,0.997075]] 2025-10-28T23:02:48.603Z,1761692568.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855568,0.514131,-0.060597],[-0.513742,0.857636,0.023038],[0.063814,0.011420,0.997896]] 2025-10-28T23:02:49.009Z,1761692569.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842143,0.536446,-0.054956],[-0.531990,0.843145,0.078059],[0.088211,-0.036501,0.995433]] 2025-10-28T23:02:49.411Z,1761692569.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839074,0.543809,0.015064],[-0.541923,0.833097,0.110766],[0.047686,-0.101104,0.993732]] 2025-10-28T23:02:49.815Z,1761692569.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839362,0.540743,0.055400],[-0.543286,0.831235,0.117851],[0.017676,-0.129017,0.991485]] 2025-10-28T23:02:50.219Z,1761692570.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824888,0.565239,0.008043],[-0.562487,0.819290,0.111229],[0.056282,-0.096276,0.993762]] 2025-10-28T23:02:50.623Z,1761692570.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848057,0.529084,0.029482],[-0.529885,0.846228,0.055864],[0.004608,-0.062997,0.998003]] 2025-10-28T23:02:51.026Z,1761692571.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866032,0.497688,0.047907],[-0.497338,0.867330,-0.019820],[-0.051416,-0.006662,0.998655]] 2025-10-28T23:02:51.430Z,1761692571.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866691,0.497842,-0.031630],[-0.497806,0.867236,0.009585],[0.032203,0.007438,0.999454]] 2025-10-28T23:02:51.835Z,1761692571.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864575,0.501934,-0.023924],[-0.500056,0.864082,0.057499],[0.049533,-0.037749,0.998059]] 2025-10-28T23:02:52.642Z,1761692572.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880501,0.473554,-0.021554],[-0.465287,0.872042,0.151826],[0.090694,-0.123654,0.988172]] 2025-10-28T23:02:53.046Z,1761692573.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861801,0.507216,0.005600],[-0.500593,0.848661,0.170826],[0.081893,-0.150022,0.985285]] 2025-10-28T23:02:53.451Z,1761692573.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848797,0.525442,0.058776],[-0.528463,0.839666,0.125251],[0.016460,-0.137374,0.990383]] 2025-10-28T23:02:53.857Z,1761692573.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868370,0.492984,0.053863],[-0.494256,0.869224,0.012681],[-0.040567,-0.037634,0.998468]] 2025-10-28T23:02:54.281Z,1761692574.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876967,0.480390,-0.012390],[-0.479251,0.872411,-0.096004],[-0.035310,0.090130,0.995304]] 2025-10-28T23:02:54.668Z,1761692574.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886311,0.446796,-0.121763],[-0.457704,0.885165,-0.083607],[0.070425,0.129833,0.989032]] 2025-10-28T23:02:55.073Z,1761692575.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875838,0.477994,-0.066555],[-0.477304,0.878325,0.026931],[0.071330,0.008180,0.997419]] 2025-10-28T23:02:55.477Z,1761692575.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874064,0.485567,0.015396],[-0.485224,0.871011,0.076797],[0.023880,-0.074596,0.996928]] 2025-10-28T23:02:55.881Z,1761692575.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874442,0.483144,0.043849],[-0.484053,0.862915,0.145157],[0.032294,-0.148156,0.988437]] 2025-10-28T23:02:56.316Z,1761692576.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885222,0.465104,-0.007822],[-0.457661,0.873819,0.164277],[0.083241,-0.141841,0.986383]] 2025-10-28T23:02:56.686Z,1761692576.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873767,0.476641,-0.096665],[-0.468338,0.878212,0.096973],[0.131114,-0.039459,0.990582]] 2025-10-28T23:02:57.087Z,1761692577.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855330,0.499654,-0.136954],[-0.501096,0.864994,0.026245],[0.131577,0.046179,0.990230]] 2025-10-28T23:02:57.493Z,1761692577.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869495,0.478408,-0.122897],[-0.480538,0.876868,0.013632],[0.114286,0.047203,0.992326]] 2025-10-28T23:02:57.894Z,1761692577.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882902,0.458973,-0.099135],[-0.463547,0.885626,-0.028132],[0.074884,0.070791,0.994676]] 2025-10-28T23:02:58.330Z,1761692578.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877230,0.472806,-0.083205],[-0.475421,0.879650,-0.013810],[0.066661,0.051672,0.996437]] 2025-10-28T23:02:58.703Z,1761692578.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870570,0.491889,-0.012378],[-0.490749,0.869827,0.050668],[0.035690,-0.038035,0.998639]] 2025-10-28T23:02:59.109Z,1761692579.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872222,0.488137,0.030832],[-0.487926,0.863997,0.124247],[0.034011,-0.123414,0.991772]] 2025-10-28T23:02:59.510Z,1761692579.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867324,0.493252,0.066729],[-0.497354,0.853505,0.155463],[0.019729,-0.168024,0.985585]] 2025-10-28T23:02:59.915Z,1761692579.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871122,0.487299,0.060715],[-0.490623,0.858402,0.149782],[0.020870,-0.160266,0.986853]] 2025-10-28T23:03:00.341Z,1761692580.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876121,0.481072,0.031334],[-0.482080,0.873807,0.063722],[0.003275,-0.070933,0.997476]] 2025-10-28T23:03:00.724Z,1761692580.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872472,0.487112,-0.038902],[-0.487630,0.873038,-0.004533],[0.031755,0.022925,0.999233]] 2025-10-28T23:03:01.126Z,1761692581.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868731,0.493531,-0.041645],[-0.493236,0.869713,0.017789],[0.044998,0.005087,0.998974]] 2025-10-28T23:03:01.531Z,1761692581.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878436,0.477462,-0.019491],[-0.477479,0.878634,0.004052],[0.019060,0.005748,0.999802]] 2025-10-28T23:03:01.939Z,1761692581.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884773,0.465508,0.021891],[-0.462892,0.883294,-0.074315],[-0.053931,0.055618,0.996995]] 2025-10-28T23:03:02.348Z,1761692582.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904424,0.426602,0.005185],[-0.425036,0.902022,-0.075498],[-0.036885,0.066078,0.997133]] 2025-10-28T23:03:02.743Z,1761692582.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875181,0.468688,-0.119961],[-0.468122,0.882985,0.034619],[0.122149,0.025858,0.992175]] 2025-10-28T23:03:03.147Z,1761692583.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834682,0.536620,-0.123876],[-0.522047,0.842578,0.132397],[0.175422,-0.045840,0.983425]] 2025-10-28T23:03:03.550Z,1761692583.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848291,0.529530,0.000566],[-0.524699,0.840406,0.135680],[0.071371,-0.115393,0.990753]] 2025-10-28T23:03:03.956Z,1761692583.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865856,0.488541,0.107800],[-0.496396,0.865773,0.063469],[-0.062323,-0.108466,0.992145]] 2025-10-28T23:03:04.358Z,1761692584.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851105,0.504687,0.144604],[-0.512315,0.858592,0.018767],[-0.114684,-0.090055,0.989312]] 2025-10-28T23:03:04.762Z,1761692584.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863750,0.491440,0.111453],[-0.497952,0.866321,0.039134],[-0.077322,-0.089300,0.992999]] 2025-10-28T23:03:05.167Z,1761692585.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863763,0.503706,0.013901],[-0.503883,0.863193,0.031621],[0.003928,-0.034317,0.999403]] 2025-10-28T23:03:05.574Z,1761692585.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853774,0.520589,-0.007548],[-0.520411,0.853737,0.017511],[0.015560,-0.011022,0.999818]] 2025-10-28T23:03:05.974Z,1761692585.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833382,0.550345,0.050950],[-0.551634,0.833953,0.014915],[-0.034282,-0.040535,0.998590]] 2025-10-28T23:03:06.379Z,1761692586.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825326,0.552959,0.114340],[-0.560688,0.826513,0.050045],[-0.066831,-0.105413,0.992180]] 2025-10-28T23:03:06.782Z,1761692586.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827758,0.550743,0.107228],[-0.559789,0.823608,0.091143],[-0.038117,-0.135469,0.990048]] 2025-10-28T23:03:07.188Z,1761692587.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832373,0.553860,0.019849],[-0.552021,0.825362,0.118533],[0.049268,-0.109621,0.992752]] 2025-10-28T23:03:07.592Z,1761692587.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822251,0.568590,-0.024676],[-0.562786,0.818780,0.113454],[0.084713,-0.079400,0.993237]] 2025-10-28T23:03:07.994Z,1761692587.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810221,0.585876,-0.017060],[-0.584513,0.809808,0.050562],[0.043438,-0.030995,0.998575]] 2025-10-28T23:03:08.399Z,1761692588.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799277,0.600309,-0.028009],[-0.600145,0.799753,0.014869],[0.031326,0.004925,0.999497]] 2025-10-28T23:03:08.805Z,1761692588.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798019,0.601078,-0.043244],[-0.599982,0.799184,0.036427],[0.056455,-0.003124,0.998400]] 2025-10-28T23:03:09.206Z,1761692589.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806511,0.589863,-0.040024],[-0.586480,0.806765,0.071913],[0.074708,-0.034525,0.996608]] 2025-10-28T23:03:09.222Z,1761692589.222 [NAL9602](INFO): SBD MO Status=2, MOMSN=3386, MT Status=2, MTMSN=0 2025-10-28T23:03:09.223Z,1761692589.223 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T23:03:09.580Z,1761692589.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:03:09.611Z,1761692589.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812819,0.580002,-0.054061],[-0.576210,0.814169,0.071491],[0.085480,-0.026959,0.995975]] 2025-10-28T23:03:10.015Z,1761692590.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797683,0.600176,-0.059092],[-0.600142,0.799636,0.020303],[0.059437,0.019268,0.998046]] 2025-10-28T23:03:10.419Z,1761692590.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804613,0.593414,-0.021391],[-0.593794,0.804233,-0.024853],[0.002455,0.032698,0.999462]] 2025-10-28T23:03:10.584Z,1761692590.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:03:10.825Z,1761692590.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820619,0.567146,-0.070220],[-0.565639,0.823599,0.041684],[0.081474,0.005512,0.996660]] 2025-10-28T23:03:11.226Z,1761692591.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779617,0.600275,-0.178515],[-0.588179,0.799716,0.120413],[0.215042,0.011123,0.976542]] 2025-10-28T23:03:11.631Z,1761692591.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767835,0.630810,-0.111839],[-0.612571,0.774025,0.160131],[0.187579,-0.054445,0.980740]] 2025-10-28T23:03:12.441Z,1761692592.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751585,0.658330,-0.041479],[-0.631409,0.736198,0.243587],[0.190897,-0.156886,0.968992]] 2025-10-28T23:03:12.842Z,1761692592.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760777,0.648394,-0.028345],[-0.637061,0.754398,0.158231],[0.123980,-0.102321,0.986995]] 2025-10-28T23:03:13.246Z,1761692593.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756107,0.650707,0.069880],[-0.652632,0.757647,0.006485],[-0.048725,-0.050509,0.997534]] 2025-10-28T23:03:13.653Z,1761692593.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761366,0.643462,0.079238],[-0.640747,0.765457,-0.059312],[-0.098819,-0.005613,0.995090]] 2025-10-28T23:03:14.057Z,1761692594.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794637,0.607060,-0.005456],[-0.606983,0.794308,-0.025405],[-0.011088,0.023499,0.999662]] 2025-10-28T23:03:14.459Z,1761692594.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787198,0.615531,-0.037963],[-0.616198,0.787549,-0.008143],[0.024886,0.029803,0.999246]] 2025-10-28T23:03:14.863Z,1761692594.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718225,0.695328,-0.025899],[-0.692703,0.718036,0.067726],[0.065688,-0.030702,0.997368]] 2025-10-28T23:03:15.267Z,1761692595.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669397,0.742893,-0.004267],[-0.731714,0.660295,0.169129],[0.128462,-0.110092,0.985585]] 2025-10-28T23:03:15.675Z,1761692595.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717980,0.693705,0.057259],[-0.693164,0.705065,0.149687],[0.063467,-0.147162,0.987074]] 2025-10-28T23:03:16.075Z,1761692596.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738642,0.662473,0.124647],[-0.672083,0.738021,0.060246],[-0.052081,-0.128273,0.990370]] 2025-10-28T23:03:16.478Z,1761692596.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756594,0.650194,0.069381],[-0.653735,0.754419,0.059008],[-0.013976,-0.090001,0.995844]] 2025-10-28T23:03:16.490Z,1761692596.490 [NAL9602](INFO): SBD MO Status=0, MOMSN=3386, MT Status=0, MTMSN=0 2025-10-28T23:03:16.491Z,1761692596.491 [NAL9602](INFO): No messages in MT queue 2025-10-28T23:03:16.906Z,1761692596.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756994,0.651912,-0.044404],[-0.643934,0.755816,0.118704],[0.110946,-0.061265,0.991936]] 2025-10-28T23:03:17.289Z,1761692597.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743993,0.665521,-0.059639],[-0.652870,0.743038,0.147157],[0.142250,-0.070548,0.987314]] 2025-10-28T23:03:17.693Z,1761692597.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753718,0.657159,-0.007153],[-0.649863,0.746882,0.140871],[0.097917,-0.101529,0.990002]] 2025-10-28T23:03:17.704Z,1761692597.704 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230316.00,A,3645.50020,N,12151.94647,W,0.214,146.72,281025,,,A*79 2025-10-28T23:03:17.706Z,1761692597.706 [NAL9602](INFO): GPS fix at 20251028T230316: (36.758337, -121.865775) 2025-10-28T23:03:17.720Z,1761692597.720 [UniversalFixResidualReporter](INFO): Fix residual: 1.3 %DT, over the last 753.9 m. Residual distance 9.9 m at bearing 97.2 degrees. Fix at (36.7583, -121.8658) with 703.6 m made good. 2025-10-28T23:03:17.722Z,1761692597.722 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T23:03:17.725Z,1761692597.725 [keepstation:NeedComms:C] Stopped 2025-10-28T23:03:17.725Z,1761692597.725 [keepstation:NeedComms:D] Running Loop=1 2025-10-28T23:03:18.095Z,1761692598.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762060,0.646325,0.039100],[-0.647029,0.757789,0.084319],[0.024868,-0.089555,0.995671]] 2025-10-28T23:03:18.501Z,1761692598.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745934,0.662347,0.069850],[-0.665909,0.743611,0.060062],[-0.012159,-0.091317,0.995748]] 2025-10-28T23:03:18.902Z,1761692598.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742283,0.662060,0.103409],[-0.669179,0.740427,0.062983],[-0.034869,-0.115950,0.992643]] 2025-10-28T23:03:19.306Z,1761692599.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778225,0.615700,0.123609],[-0.621337,0.783489,0.009264],[-0.091143,-0.084012,0.992288]] 2025-10-28T23:03:19.713Z,1761692599.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781136,0.624348,0.004033],[-0.623957,0.780848,-0.030886],[-0.022433,0.021609,0.999515]] 2025-10-28T23:03:20.117Z,1761692600.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726774,0.682333,-0.078870],[-0.686703,0.724366,-0.061105],[0.015437,0.098570,0.995010]] 2025-10-28T23:03:20.518Z,1761692600.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732669,0.678078,-0.058359],[-0.680407,0.727815,-0.085626],[-0.015586,0.102443,0.994617]] 2025-10-28T23:03:20.923Z,1761692600.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766768,0.641919,0.002593],[-0.639872,0.764632,-0.076823],[-0.051297,0.057246,0.997041]] 2025-10-28T23:03:21.326Z,1761692601.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783201,0.620910,0.032681],[-0.621591,0.783153,0.017224],[-0.014900,-0.033804,0.999317]] 2025-10-28T23:03:21.815Z,1761692601.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794990,0.606447,0.014589],[-0.601742,0.785321,0.145524],[0.076796,-0.124469,0.989247]] 2025-10-28T23:03:24.406Z,1761692604.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774530,0.628927,-0.067489],[-0.629612,0.756298,-0.177770],[-0.060763,0.180180,0.981755]] 2025-10-28T23:03:24.784Z,1761692604.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789097,0.614069,-0.015663],[-0.612439,0.784522,-0.097177],[-0.047385,0.086275,0.995144]] 2025-10-28T23:03:25.186Z,1761692605.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783036,0.621899,0.009853],[-0.621155,0.781089,0.063776],[0.031966,-0.056059,0.997916]] 2025-10-28T23:03:25.590Z,1761692605.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783240,0.612180,0.108496],[-0.621704,0.772433,0.129735],[-0.004385,-0.169066,0.985595]] 2025-10-28T23:03:25.996Z,1761692605.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784115,0.599081,0.162065],[-0.619915,0.768455,0.158690],[-0.029471,-0.224897,0.973937]] 2025-10-28T23:03:26.398Z,1761692606.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794867,0.597975,0.103014],[-0.606429,0.788673,0.101185],[-0.020738,-0.142899,0.989520]] 2025-10-28T23:03:26.802Z,1761692606.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793466,0.608539,-0.009593],[-0.608075,0.793327,0.029605],[0.025626,-0.017657,0.999516]] 2025-10-28T23:03:27.207Z,1761692607.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795141,0.597648,-0.102799],[-0.601722,0.798626,-0.011251],[0.075373,0.070803,0.994639]] 2025-10-28T23:03:27.610Z,1761692607.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805121,0.574230,-0.148460],[-0.584595,0.810563,-0.035162],[0.100145,0.115099,0.988293]] 2025-10-28T23:03:28.014Z,1761692608.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809042,0.571819,-0.135923],[-0.579622,0.814553,-0.023262],[0.097415,0.097604,0.990446]] 2025-10-28T23:03:28.419Z,1761692608.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792533,0.609348,-0.024221],[-0.606247,0.791554,0.076855],[0.066004,-0.046226,0.996748]] 2025-10-28T23:03:28.824Z,1761692608.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795564,0.600465,0.080744],[-0.604960,0.779982,0.160163],[0.033193,-0.176267,0.983783]] 2025-10-28T23:03:29.226Z,1761692609.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798503,0.597633,0.072294],[-0.599257,0.777695,0.189951],[0.057298,-0.194999,0.979128]] 2025-10-28T23:03:29.630Z,1761692609.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812846,0.582467,0.003697],[-0.576521,0.803611,0.147761],[0.083095,-0.122239,0.989016]] 2025-10-28T23:03:30.035Z,1761692610.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831401,0.554648,-0.033743],[-0.552937,0.831799,0.048699],[0.055079,-0.021831,0.998243]] 2025-10-28T23:03:30.440Z,1761692610.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821619,0.569154,-0.031729],[-0.569749,0.821701,-0.013942],[0.018136,0.029533,0.999399]] 2025-10-28T23:03:30.843Z,1761692610.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803863,0.594770,-0.007284],[-0.594178,0.803508,0.036434],[0.027523,-0.024960,0.999310]] 2025-10-28T23:03:31.246Z,1761692611.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806198,0.591119,0.024943],[-0.589749,0.799526,0.113822],[0.047340,-0.106473,0.993188]] 2025-10-28T23:03:31.650Z,1761692611.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831214,0.554720,0.037004],[-0.555084,0.824356,0.110989],[0.031063,-0.112796,0.993132]] 2025-10-28T23:03:32.458Z,1761692612.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849393,0.527670,0.009783],[-0.527053,0.847147,0.067504],[0.027332,-0.062493,0.997671]] 2025-10-28T23:03:32.862Z,1761692612.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815806,0.577279,0.034764],[-0.578322,0.814512,0.045967],[-0.001780,-0.057605,0.998338]] 2025-10-28T23:03:33.267Z,1761692613.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813430,0.581662,0.001139],[-0.581161,0.812644,0.043139],[0.024167,-0.035753,0.999068]] 2025-10-28T23:03:33.672Z,1761692613.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821630,0.568128,-0.046407],[-0.568385,0.822716,0.008750],[0.043150,0.019188,0.998884]] 2025-10-28T23:03:34.075Z,1761692614.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831199,0.554202,-0.044372],[-0.555772,0.830403,-0.039355],[0.015036,0.057372,0.998240]] 2025-10-28T23:03:34.084Z,1761692614.084 [NAL9602](INFO): SBD MO Status=1, MOMSN=3387, MT Status=0, MTMSN=0 2025-10-28T23:03:34.144Z,1761692614.144 [NAL9602](INFO): Sent 94 bytes from file Logs/20251028T162422/Courier0087.lzma 2025-10-28T23:03:34.144Z,1761692614.144 [NAL9602](INFO): Packets left to send: 0 2025-10-28T23:03:34.478Z,1761692614.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838459,0.544948,0.004285],[-0.544436,0.837965,-0.037456],[-0.024002,0.029073,0.999289]] 2025-10-28T23:03:35.322Z,1761692615.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843768,0.536051,-0.026545],[-0.530342,0.840335,0.112136],[0.082418,-0.080538,0.993338]] 2025-10-28T23:03:35.722Z,1761692615.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830653,0.556782,0.002922],[-0.551328,0.821761,0.144036],[0.077795,-0.121255,0.989568]] 2025-10-28T23:03:37.826Z,1761692617.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828822,0.551789,0.092641],[-0.549842,0.833906,-0.047697],[-0.103572,-0.011406,0.994557]] 2025-10-28T23:03:38.223Z,1761692618.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845569,0.531713,0.047898],[-0.531888,0.846755,-0.010077],[-0.045916,-0.016956,0.998801]] 2025-10-28T23:03:38.629Z,1761692618.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844508,0.534746,0.029204],[-0.535200,0.844662,0.010335],[-0.019141,-0.024358,0.999520]] 2025-10-28T23:03:39.030Z,1761692619.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831082,0.553127,0.057906],[-0.555681,0.830143,0.045632],[-0.022830,-0.070101,0.997279]] 2025-10-28T23:03:39.434Z,1761692619.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844140,0.532611,0.061255],[-0.535568,0.832552,0.141503],[0.024368,-0.152255,0.988041]] 2025-10-28T23:03:39.839Z,1761692619.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848273,0.526214,0.059423],[-0.526763,0.826951,0.196654],[0.054342,-0.198118,0.978671]] 2025-10-28T23:03:40.243Z,1761692620.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841684,0.532866,0.087305],[-0.539937,0.828756,0.147074],[0.006016,-0.170929,0.985265]] 2025-10-28T23:03:40.649Z,1761692620.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851689,0.520727,0.058896],[-0.523939,0.848397,0.075568],[-0.010617,-0.095218,0.995400]] 2025-10-28T23:03:40.704Z,1761692620.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:03:41.050Z,1761692621.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860363,0.509008,-0.026194],[-0.507651,0.860385,0.045024],[0.045454,-0.025439,0.998642]] 2025-10-28T23:03:41.454Z,1761692621.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844784,0.528077,-0.086458],[-0.527579,0.848962,0.030385],[0.089446,0.019945,0.995792]] 2025-10-28T23:03:41.708Z,1761692621.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:03:41.859Z,1761692621.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833505,0.544508,-0.093700],[-0.541248,0.838755,0.059509],[0.110995,0.001114,0.993820]] 2025-10-28T23:03:42.667Z,1761692622.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831104,0.555599,-0.023988],[-0.544056,0.821258,0.171871],[0.115191,-0.129792,0.984827]] 2025-10-28T23:03:43.071Z,1761692623.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807727,0.588324,-0.038114],[-0.571920,0.797619,0.191601],[0.143124,-0.132964,0.980733]] 2025-10-28T23:03:43.475Z,1761692623.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794565,0.606057,0.036889],[-0.605518,0.786439,0.121906],[0.044871,-0.119200,0.991856]] 2025-10-28T23:03:43.880Z,1761692623.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802005,0.594523,0.057713],[-0.597148,0.800329,0.053747],[-0.014235,-0.077568,0.996885]] 2025-10-28T23:03:44.318Z,1761692624.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809953,0.586211,-0.018245],[-0.586250,0.810122,0.003717],[0.016960,0.007685,0.999827]] 2025-10-28T23:03:44.332Z,1761692624.332 [NAL9602](INFO): SBD MO Status=1, MOMSN=3388, MT Status=0, MTMSN=0 2025-10-28T23:03:44.400Z,1761692624.400 [NAL9602](INFO): Sent 332 bytes from file Logs/20251028T162422/Express0089.lzma 2025-10-28T23:03:44.400Z,1761692624.400 [NAL9602](INFO): Packets left to send: 1 2025-10-28T23:03:44.687Z,1761692624.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789169,0.612103,-0.050421],[-0.614055,0.787982,-0.044946],[0.012219,0.066431,0.997716]] 2025-10-28T23:03:45.502Z,1761692625.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777082,0.629399,0.000613],[-0.629247,0.776914,-0.021283],[-0.013872,0.016153,0.999773]] 2025-10-28T23:03:45.898Z,1761692625.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751705,0.658716,0.032147],[-0.659110,0.752043,0.002280],[-0.022674,-0.022903,0.999481]] 2025-10-28T23:03:48.148Z,1761692628.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713920,0.698862,-0.043707],[-0.686806,0.711034,0.150758],[0.136436,-0.077611,0.987604]] 2025-10-28T23:03:48.544Z,1761692628.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719335,0.691688,0.064233],[-0.694641,0.716975,0.058483],[-0.005602,-0.086688,0.996220]] 2025-10-28T23:03:48.946Z,1761692628.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734431,0.676421,0.055371],[-0.678456,0.733851,0.034072],[-0.017587,-0.062591,0.997884]] 2025-10-28T23:03:49.350Z,1761692629.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710771,0.703077,-0.022046],[-0.697773,0.708680,0.104332],[0.088977,-0.058773,0.994298]] 2025-10-28T23:03:49.755Z,1761692629.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719030,0.693146,0.050442],[-0.691242,0.705760,0.155203],[0.071978,-0.146464,0.986594]] 2025-10-28T23:03:50.159Z,1761692630.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704210,0.689931,0.167581],[-0.709990,0.684835,0.164057],[-0.001577,-0.234512,0.972112]] 2025-10-28T23:03:50.562Z,1761692630.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649212,0.727873,0.220735],[-0.759786,0.634083,0.143747],[-0.035334,-0.261034,0.964683]] 2025-10-28T23:03:50.597Z,1761692630.597 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T23:03:50.966Z,1761692630.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676317,0.722650,0.142730],[-0.735563,0.672886,0.078556],[-0.039273,-0.158115,0.986639]] 2025-10-28T23:03:51.371Z,1761692631.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694776,0.718664,0.028418],[-0.717826,0.695347,-0.034917],[-0.044854,0.003860,0.998986]] 2025-10-28T23:03:51.777Z,1761692631.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710845,0.703324,-0.005878],[-0.696467,0.702700,-0.145419],[-0.098146,0.107464,0.989353]] 2025-10-28T23:03:52.582Z,1761692632.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713134,0.692303,-0.110259],[-0.692520,0.720141,0.042589],[0.108887,0.045985,0.992990]] 2025-10-28T23:03:52.587Z,1761692632.587 [NAL9602](INFO): SBD MO Status=1, MOMSN=3389, MT Status=0, MTMSN=0 2025-10-28T23:03:52.648Z,1761692632.648 [NAL9602](INFO): Sent 172 bytes from file Logs/20251028T162422/Express0089.lzma 2025-10-28T23:03:52.648Z,1761692632.648 [NAL9602](INFO): Packets left to send: 0 2025-10-28T23:03:52.986Z,1761692632.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628311,0.777908,0.009173],[-0.773714,0.623607,0.111715],[0.081184,-0.077290,0.993698]] 2025-10-28T23:03:53.579Z,1761692633.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610597,0.778650,0.144486],[-0.791797,0.603729,0.092570],[-0.015150,-0.170926,0.985167]] 2025-10-28T23:03:53.978Z,1761692633.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563408,0.821335,0.089332],[-0.825947,0.557384,0.084468],[0.019585,-0.121373,0.992414]] 2025-10-28T23:03:54.383Z,1761692634.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571277,0.818897,0.055236],[-0.819389,0.565147,0.095969],[0.047372,-0.100085,0.993851]] 2025-10-28T23:03:54.788Z,1761692634.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595009,0.803703,-0.005074],[-0.799863,0.592760,0.094101],[0.078637,-0.051933,0.995550]] 2025-10-28T23:03:55.190Z,1761692635.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560069,0.827545,-0.038619],[-0.825909,0.561393,0.052089],[0.064787,0.002722,0.997895]] 2025-10-28T23:03:55.595Z,1761692635.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519434,0.854360,0.016031],[-0.853297,0.517606,0.063002],[0.045529,-0.046404,0.997885]] 2025-10-28T23:03:55.999Z,1761692635.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491520,0.866217,0.089864],[-0.870507,0.485729,0.079280],[0.025024,-0.117195,0.992794]] 2025-10-28T23:03:56.405Z,1761692636.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467976,0.867141,0.170482],[-0.882240,0.469647,0.032947],[-0.051496,-0.165824,0.984810]] 2025-10-28T23:03:56.807Z,1761692636.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461786,0.872195,0.161335],[-0.886705,0.458555,0.059003],[-0.022519,-0.170304,0.985134]] 2025-10-28T23:03:57.211Z,1761692637.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467624,0.878092,0.101398],[-0.881358,0.454446,0.129182],[0.067354,-0.149776,0.986423]] 2025-10-28T23:03:57.615Z,1761692637.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483102,0.872378,0.074624],[-0.875126,0.478408,0.072669],[0.027694,-0.100412,0.994560]] 2025-10-28T23:03:58.020Z,1761692638.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450016,0.887793,0.096481],[-0.891152,0.453431,-0.015758],[-0.057737,-0.078887,0.995210]] 2025-10-28T23:03:58.423Z,1761692638.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430913,0.895671,0.109940],[-0.900378,0.434886,-0.013924],[-0.060283,-0.092987,0.993841]] 2025-10-28T23:03:58.826Z,1761692638.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451721,0.888153,0.084449],[-0.892111,0.450653,0.032395],[-0.009286,-0.089971,0.995901]] 2025-10-28T23:03:59.231Z,1761692639.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442879,0.894142,0.066092],[-0.896351,0.439888,0.055256],[0.020333,-0.083713,0.996282]] 2025-10-28T23:03:59.637Z,1761692639.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426160,0.899929,0.092282],[-0.903213,0.417522,0.099407],[0.050929,-0.125714,0.990758]] 2025-10-28T23:04:00.038Z,1761692640.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450900,0.883126,0.129530],[-0.887264,0.427667,0.172808],[0.097216,-0.192846,0.976401]] 2025-10-28T23:04:00.443Z,1761692640.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478030,0.859935,0.178882],[-0.876635,0.454405,0.158203],[0.054759,-0.232440,0.971068]] 2025-10-28T23:04:00.847Z,1761692640.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435103,0.874323,0.215046],[-0.900220,0.426945,0.085565],[-0.017002,-0.230818,0.972848]] 2025-10-28T23:04:00.851Z,1761692640.851 [NAL9602](INFO): SBD MO Status=0, MOMSN=3390, MT Status=0, MTMSN=0 2025-10-28T23:04:00.941Z,1761692640.941 [keepstation:NeedComms:D] Stopped 2025-10-28T23:04:00.942Z,1761692640.942 [keepstation:NeedComms:E] Running Loop=1 2025-10-28T23:04:01.253Z,1761692641.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415591,0.878553,0.235433],[-0.909517,0.403651,0.099218],[-0.007864,-0.255364,0.966813]] 2025-10-28T23:04:01.654Z,1761692641.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439225,0.878663,0.187171],[-0.898057,0.423867,0.117604],[0.023999,-0.219745,0.975262]] 2025-10-28T23:04:02.472Z,1761692642.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433363,0.900274,-0.041264],[-0.893353,0.435167,0.112030],[0.118814,-0.011686,0.992848]] 2025-10-28T23:04:03.195Z,1761692643.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423801,0.905725,-0.007320],[-0.900063,0.422029,0.108524],[0.101382,-0.039404,0.994067]] 2025-10-28T23:04:03.559Z,1761692643.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447350,0.892114,0.063321],[-0.892996,0.441641,0.086667],[0.049351,-0.095316,0.994223]] 2025-10-28T23:04:03.571Z,1761692643.571 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230402.00,A,3645.49480,N,12151.94495,W,0.855,128.88,281025,,,A*72 2025-10-28T23:04:03.575Z,1761692643.575 [NAL9602](INFO): GPS fix at 20251028T230402: (36.758247, -121.865749) 2025-10-28T23:04:03.617Z,1761692643.617 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T23:04:03.620Z,1761692643.620 [keepstation:NeedComms:E] Stopped 2025-10-28T23:04:03.621Z,1761692643.621 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms 2025-10-28T23:04:03.621Z,1761692643.621 [keepstation:NeedComms] Stopped 2025-10-28T23:04:03.621Z,1761692643.621 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms 2025-10-28T23:04:03.621Z,1761692643.621 [keepstation:NeedComms:B.GoToSurface] Stopped 2025-10-28T23:04:03.621Z,1761692643.621 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T23:04:03.963Z,1761692643.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449111,0.884506,0.126285],[-0.893474,0.444292,0.065647],[0.001958,-0.142315,0.989819]] 2025-10-28T23:04:04.022Z,1761692644.022 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B 2025-10-28T23:04:04.022Z,1761692644.022 [keepstation:SurfaceComms:B] Stopped 2025-10-28T23:04:04.022Z,1761692644.022 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B 2025-10-28T23:04:04.022Z,1761692644.022 [keepstation:SurfaceComms:HandleNan] Running Loop=1 2025-10-28T23:04:04.022Z,1761692644.022 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan 2025-10-28T23:04:04.023Z,1761692644.023 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1 2025-10-28T23:04:04.023Z,1761692644.023 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T23:04:04.023Z,1761692644.023 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1 2025-10-28T23:04:04.368Z,1761692644.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457102,0.878773,0.137169],[-0.887779,0.441456,0.130252],[0.053907,-0.181314,0.981947]] 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:HandleNan] Stopped 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:setTransit] Running Loop=1 2025-10-28T23:04:04.403Z,1761692644.403 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit 2025-10-28T23:04:04.404Z,1761692644.404 [keepstation:SurfaceComms:setTransit:A] Running Loop=1 2025-10-28T23:04:04.771Z,1761692644.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463649,0.879480,0.107449],[-0.881466,0.445584,0.156435],[0.089704,-0.167244,0.981826]] 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setTransit:A] Stopped 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setTransit] Stopped 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setStation] Running Loop=1 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation 2025-10-28T23:04:04.815Z,1761692644.815 [keepstation:SurfaceComms:setStation:A] Running Loop=1 2025-10-28T23:04:05.175Z,1761692645.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434469,0.898680,0.060097],[-0.897738,0.426686,0.109572],[0.072827,-0.101557,0.992160]] 2025-10-28T23:04:05.191Z,1761692645.191 [keepstation:TransitToStation:Dive] Running Loop=1 2025-10-28T23:04:05.191Z,1761692645.191 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive 2025-10-28T23:04:05.191Z,1761692645.191 [keepstation:TransitToStation:Dive:A] Running Loop=1 2025-10-28T23:04:05.191Z,1761692645.191 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A 2025-10-28T23:04:05.191Z,1761692645.191 [keepstation:DiveCmd:TransitToStation] Running Loop=1 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1 2025-10-28T23:04:05.192Z,1761692645.192 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize. 2025-10-28T23:04:05.193Z,1761692645.193 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1 2025-10-28T23:04:05.193Z,1761692645.193 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize. 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setStation] Stopped 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setStation:A] Stopped 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setSink] Running Loop=1 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink 2025-10-28T23:04:05.194Z,1761692645.194 [keepstation:SurfaceComms:setSink:A] Running Loop=1 2025-10-28T23:04:05.580Z,1761692645.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442948,0.895949,0.032737],[-0.895736,0.440699,0.058672],[0.038140,-0.055312,0.997740]] 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms:setSink] Stopped 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms:setSink:A] Stopped 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms] Stopped 2025-10-28T23:04:05.601Z,1761692645.601 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms 2025-10-28T23:04:05.983Z,1761692645.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460861,0.887233,0.020618],[-0.887104,0.461215,-0.018075],[-0.025546,-0.009960,0.999624]] 2025-10-28T23:04:06.386Z,1761692646.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428006,0.903098,0.035003],[-0.902093,0.429251,-0.044396],[-0.055120,-0.012574,0.998401]] 2025-10-28T23:04:06.790Z,1761692646.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445015,0.892351,0.075306],[-0.894907,0.446253,0.000431],[-0.033221,-0.067584,0.997160]] 2025-10-28T23:04:07.194Z,1761692647.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494089,0.864235,0.094732],[-0.867845,0.496800,-0.005901],[-0.052162,-0.079297,0.995485]] 2025-10-28T23:04:07.599Z,1761692647.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476657,0.871538,0.114976],[-0.876925,0.480571,-0.007340],[-0.061651,-0.097327,0.993341]] 2025-10-28T23:04:08.003Z,1761692648.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468379,0.878784,0.091434],[-0.880717,0.456136,0.127583],[0.070412,-0.140285,0.987604]] 2025-10-28T23:04:08.409Z,1761692648.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450669,0.891185,0.051829],[-0.867713,0.423682,0.259939],[0.209695,-0.162119,0.964233]] 2025-10-28T23:04:08.810Z,1761692648.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451520,0.888223,0.084788],[-0.882432,0.430461,0.189781],[0.132070,-0.160509,0.978159]] 2025-10-28T23:04:09.214Z,1761692649.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478826,0.873722,0.085644],[-0.877118,0.471968,0.088942],[0.037289,-0.117708,0.992348]] 2025-10-28T23:04:09.618Z,1761692649.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469692,0.882466,0.025340],[-0.881977,0.467783,0.057406],[0.038805,-0.049313,0.998029]] 2025-10-28T23:04:10.024Z,1761692650.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455123,0.890371,-0.010114],[-0.885854,0.453905,0.096084],[0.090141,-0.034770,0.995322]] 2025-10-28T23:04:10.428Z,1761692650.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476707,0.879026,-0.007992],[-0.871793,0.473912,0.124033],[0.112816,-0.052161,0.992246]] 2025-10-28T23:04:10.830Z,1761692650.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465612,0.884988,-0.001116],[-0.877583,0.461878,0.128522],[0.114256,-0.058862,0.991706]] 2025-10-28T23:04:11.234Z,1761692651.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474815,0.879911,0.017521],[-0.873352,0.468630,0.132826],[0.108665,-0.078370,0.990984]] 2025-10-28T23:04:11.640Z,1761692651.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496110,0.867400,0.038632],[-0.862011,0.486724,0.141548],[0.103976,-0.103525,0.989177]] 2025-10-28T23:04:11.865Z,1761692651.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:04:12.446Z,1761692652.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468296,0.881473,0.060865],[-0.859547,0.438526,0.262437],[0.204640,-0.175215,0.963028]] 2025-10-28T23:04:12.850Z,1761692652.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489686,0.867920,0.083208],[-0.855675,0.460056,0.236998],[0.167415,-0.187253,0.967940]] 2025-10-28T23:04:12.868Z,1761692652.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:04:13.254Z,1761692653.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478584,0.876671,0.049046],[-0.865714,0.461800,0.193083],[0.146620,-0.134866,0.979956]] 2025-10-28T23:04:13.661Z,1761692653.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475873,0.878483,0.042582],[-0.869358,0.462489,0.174129],[0.133276,-0.119882,0.983802]] 2025-10-28T23:04:14.063Z,1761692654.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495569,0.868257,0.023270],[-0.862251,0.488563,0.133524],[0.104564,-0.086235,0.990772]] 2025-10-28T23:04:14.466Z,1761692654.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497068,0.867603,0.013727],[-0.862051,0.491960,0.121836],[0.098952,-0.072394,0.992455]] 2025-10-28T23:04:14.871Z,1761692654.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498634,0.866407,0.026509],[-0.861388,0.491865,0.126803],[0.096825,-0.086063,0.991574]] 2025-10-28T23:04:15.277Z,1761692655.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500873,0.863024,0.065698],[-0.859563,0.487099,0.154554],[0.101382,-0.133884,0.985797]] 2025-10-28T23:04:15.683Z,1761692655.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515736,0.854209,0.065898],[-0.848631,0.498775,0.176208],[0.117650,-0.146800,0.982145]] 2025-10-28T23:04:16.083Z,1761692656.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514823,0.856323,0.040840],[-0.845507,0.499293,0.189274],[0.141689,-0.131974,0.981075]] 2025-10-28T23:04:16.488Z,1761692656.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500792,0.865376,0.018203],[-0.846821,0.485484,0.217256],[0.179171,-0.124215,0.975945]] 2025-10-28T23:04:16.893Z,1761692656.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497398,0.865973,0.051820],[-0.860118,0.484485,0.159596],[0.113100,-0.123954,0.985821]] 2025-10-28T23:04:17.297Z,1761692657.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525839,0.847132,0.076554],[-0.849193,0.517702,0.104196],[0.048636,-0.119799,0.991606]] 2025-10-28T23:04:17.699Z,1761692657.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536312,0.840924,0.072228],[-0.843853,0.532538,0.065696],[0.016781,-0.096183,0.995222]] 2025-10-28T23:04:18.103Z,1761692658.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504585,0.858775,0.088882],[-0.862913,0.504963,0.019837],[-0.027847,-0.086707,0.995845]] 2025-10-28T23:04:18.507Z,1761692658.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515619,0.842928,0.153654],[-0.856815,0.507741,0.089818],[-0.002307,-0.177965,0.984034]] 2025-10-28T23:04:18.913Z,1761692658.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564411,0.800155,0.202956],[-0.824938,0.537699,0.174234],[0.030285,-0.265766,0.963562]] 2025-10-28T23:04:19.314Z,1761692659.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556826,0.804513,0.206650],[-0.830608,0.541084,0.131599],[-0.005942,-0.244922,0.969525]] 2025-10-28T23:04:19.719Z,1761692659.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566872,0.808589,0.157608],[-0.823761,0.558366,0.098208],[-0.008593,-0.185503,0.982606]] 2025-10-28T23:04:20.123Z,1761692660.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574748,0.812712,0.095733],[-0.818066,0.567641,0.092479],[0.020817,-0.131468,0.991102]] 2025-10-28T23:04:20.528Z,1761692660.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579300,0.814736,0.024832],[-0.809124,0.571089,0.138476],[0.098641,-0.100312,0.990054]] 2025-10-28T23:04:20.930Z,1761692660.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575462,0.816107,0.053027],[-0.810680,0.560678,0.168636],[0.107894,-0.140032,0.984251]] 2025-10-28T23:04:21.334Z,1761692661.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571117,0.815305,0.095411],[-0.814030,0.547548,0.193771],[0.105741,-0.188333,0.976396]] 2025-10-28T23:04:21.740Z,1761692661.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591825,0.797175,0.119390],[-0.803353,0.571187,0.168431],[0.066075,-0.195594,0.978456]] 2025-10-28T23:04:22.145Z,1761692662.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624742,0.773448,0.107126],[-0.780789,0.617364,0.096078],[0.008175,-0.143667,0.989592]] 2025-10-28T23:04:22.546Z,1761692662.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647339,0.762085,0.013360],[-0.761442,0.645811,0.055991],[0.034042,-0.046418,0.998342]] 2025-10-28T23:04:22.951Z,1761692662.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639869,0.768301,-0.016759],[-0.768425,0.639939,-0.001528],[0.009551,0.013856,0.999858]] 2025-10-28T23:04:23.354Z,1761692663.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646535,0.762777,-0.012814],[-0.761471,0.646268,0.049994],[0.046415,-0.022565,0.998667]] 2025-10-28T23:04:23.760Z,1761692663.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672420,0.739551,-0.030275],[-0.724176,0.665796,0.179678],[0.153038,-0.098894,0.983260]] 2025-10-28T23:04:24.165Z,1761692664.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682349,0.730829,0.016989],[-0.722607,0.670790,0.166971],[0.110631,-0.126209,0.985815]] 2025-10-28T23:04:24.566Z,1761692664.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672943,0.735873,0.075084],[-0.739105,0.664884,0.107948],[0.029514,-0.128138,0.991317]] 2025-10-28T23:04:24.970Z,1761692664.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691753,0.719732,0.058860],[-0.720514,0.682446,0.122993],[0.048354,-0.127490,0.990660]] 2025-10-28T23:04:25.375Z,1761692665.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716927,0.696762,0.023198],[-0.696458,0.714340,0.068298],[0.031017,-0.065121,0.997395]] 2025-10-28T23:04:25.781Z,1761692665.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731413,0.681780,0.014519],[-0.681931,0.731307,0.012649],[-0.001994,-0.019152,0.999815]] 2025-10-28T23:04:26.183Z,1761692666.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734229,0.678701,0.016506],[-0.678747,0.733323,0.039236],[0.014525,-0.040012,0.999094]] 2025-10-28T23:04:26.587Z,1761692666.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728992,0.682901,0.047091],[-0.683189,0.721556,0.112295],[0.042708,-0.114034,0.992559]] 2025-10-28T23:04:26.991Z,1761692666.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740196,0.664803,0.100731],[-0.672306,0.729362,0.126631],[0.010715,-0.161453,0.986822]] 2025-10-28T23:04:27.396Z,1761692667.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773572,0.624868,0.105483],[-0.632087,0.772728,0.057947],[-0.045300,-0.111501,0.992731]] 2025-10-28T23:04:27.800Z,1761692667.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806412,0.590056,0.039164],[-0.590370,0.807122,-0.004228],[-0.034105,-0.019711,0.999224]] 2025-10-28T23:04:28.202Z,1761692668.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811515,0.581605,-0.056386],[-0.582761,0.812627,-0.005176],[0.042810,0.037060,0.998396]] 2025-10-28T23:04:28.607Z,1761692668.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786094,0.606065,-0.121412],[-0.605730,0.794457,0.043922],[0.123077,0.039016,0.991630]] 2025-10-28T23:04:29.011Z,1761692669.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783260,0.617332,-0.073511],[-0.611080,0.786243,0.091672],[0.114389,-0.026882,0.993072]] 2025-10-28T23:04:29.416Z,1761692669.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800737,0.599008,0.002993],[-0.591829,0.790349,0.158386],[0.092509,-0.128597,0.987373]] 2025-10-28T23:04:29.819Z,1761692669.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803954,0.594691,0.000332],[-0.582345,0.787150,0.203149],[0.120550,-0.163516,0.979148]] 2025-10-28T23:04:30.222Z,1761692670.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808240,0.585882,-0.059073],[-0.562067,0.797495,0.219279],[0.175582,-0.144027,0.973872]] 2025-10-28T23:04:30.628Z,1761692670.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797158,0.592022,-0.118531],[-0.559117,0.797931,0.225156],[0.227876,-0.113212,0.967086]] 2025-10-28T23:04:31.030Z,1761692671.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795508,0.589024,-0.142188],[-0.554108,0.802107,0.222685],[0.245217,-0.098360,0.964466]] 2025-10-28T23:04:31.434Z,1761692671.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812261,0.570685,-0.120624],[-0.547309,0.817187,0.180718],[0.201705,-0.080771,0.976110]] 2025-10-28T23:04:31.839Z,1761692671.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837066,0.538158,-0.098521],[-0.517827,0.837440,0.174786],[0.176568,-0.095291,0.979665]] 2025-10-28T23:04:32.243Z,1761692672.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849901,0.504673,-0.151571],[-0.484601,0.861547,0.151324],[0.206954,-0.055159,0.976794]] 2025-10-28T23:04:32.647Z,1761692672.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835394,0.529166,-0.148664],[-0.515943,0.848194,0.119872],[0.189528,-0.023438,0.981596]] 2025-10-28T23:04:33.051Z,1761692673.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833117,0.547933,-0.075401],[-0.536015,0.833468,0.134238],[0.136398,-0.071420,0.988076]] 2025-10-28T23:04:33.455Z,1761692673.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840757,0.537800,-0.062431],[-0.522089,0.835874,0.169521],[0.143353,-0.109932,0.983547]] 2025-10-28T23:04:33.869Z,1761692673.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848523,0.523813,-0.075023],[-0.506910,0.845314,0.168778],[0.151826,-0.105182,0.982795]] 2025-10-28T23:04:34.290Z,1761692674.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849408,0.520793,-0.085323],[-0.506073,0.849672,0.148149],[0.149652,-0.082659,0.985277]] 2025-10-28T23:04:34.782Z,1761692674.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864429,0.484906,-0.132771],[-0.469246,0.872971,0.133152],[0.180471,-0.052798,0.982162]] 2025-10-28T23:04:35.221Z,1761692675.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867844,0.472984,-0.152097],[-0.459906,0.880587,0.114251],[0.187973,-0.029202,0.981740]] 2025-10-28T23:04:35.224Z,1761692675.224 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T23:04:35.624Z,1761692675.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866091,0.469658,-0.171196],[-0.455751,0.882573,0.115571],[0.205371,-0.022072,0.978435]] 2025-10-28T23:04:36.026Z,1761692676.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864959,0.470116,-0.175606],[-0.450145,0.881491,0.142625],[0.221845,-0.044317,0.974074]] 2025-10-28T23:04:36.431Z,1761692676.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852524,0.485452,-0.193752],[-0.457315,0.872263,0.173260],[0.253112,-0.059103,0.965630]] 2025-10-28T23:04:36.836Z,1761692676.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859569,0.479806,-0.175864],[-0.440455,0.870119,0.221117],[0.259116,-0.112605,0.959260]] 2025-10-28T23:04:37.242Z,1761692677.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862930,0.457738,-0.214072],[-0.408566,0.881293,0.237480],[0.297364,-0.117466,0.947511]] 2025-10-28T23:04:37.642Z,1761692677.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855329,0.449416,-0.257754],[-0.404502,0.890155,0.209766],[0.323713,-0.075157,0.943166]] 2025-10-28T23:04:38.046Z,1761692678.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861598,0.435479,-0.260781],[-0.393077,0.897487,0.200021],[0.321153,-0.069831,0.944449]] 2025-10-28T23:04:38.451Z,1761692678.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865635,0.437303,-0.243807],[-0.392437,0.895015,0.211995],[0.310917,-0.087832,0.946370]] 2025-10-28T23:04:38.856Z,1761692678.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868155,0.436578,-0.236024],[-0.388463,0.893745,0.224314],[0.308876,-0.103053,0.945503]] 2025-10-28T23:04:39.258Z,1761692679.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877512,0.426394,-0.219455],[-0.376432,0.895974,0.235647],[0.297104,-0.124173,0.946737]] 2025-10-28T23:04:39.663Z,1761692679.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884577,0.388368,-0.258250],[-0.322861,0.909500,0.261860],[0.336577,-0.148257,0.929912]] 2025-10-28T23:04:40.067Z,1761692680.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876765,0.376482,-0.299241],[-0.316288,0.920128,0.230923],[0.362278,-0.107819,0.925813]] 2025-10-28T23:04:40.472Z,1761692680.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890897,0.370307,-0.263011],[-0.332991,0.926310,0.176259],[0.308900,-0.069449,0.948556]] 2025-10-28T23:04:40.874Z,1761692680.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910037,0.334458,-0.244889],[-0.295462,0.937718,0.182719],[0.290749,-0.093926,0.952178]] 2025-10-28T23:04:41.278Z,1761692681.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909747,0.295809,-0.291302],[-0.258288,0.952608,0.160705],[0.325035,-0.070962,0.943036]] 2025-10-28T23:04:41.682Z,1761692681.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899605,0.267972,-0.344821],[-0.254210,0.963366,0.085453],[0.355088,0.010784,0.934771]] 2025-10-28T23:04:42.491Z,1761692682.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900788,0.246156,-0.357753],[-0.229926,0.969225,0.087955],[0.368394,0.003028,0.929665]] 2025-10-28T23:04:42.895Z,1761692682.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913602,0.233901,-0.332599],[-0.209141,0.971798,0.108940],[0.348700,-0.029968,0.936755]] 2025-10-28T23:04:42.988Z,1761692682.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:04:43.299Z,1761692683.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922642,0.227994,-0.311048],[-0.195006,0.971638,0.133764],[0.332724,-0.062759,0.940934]] 2025-10-28T23:04:43.705Z,1761692683.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926279,0.214860,-0.309585],[-0.175912,0.973064,0.149003],[0.333261,-0.083559,0.939125]] 2025-10-28T23:04:43.992Z,1761692683.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:04:44.106Z,1761692684.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928785,0.177924,-0.325117],[-0.144290,0.981610,0.124993],[0.341377,-0.069180,0.937377]] 2025-10-28T23:04:44.535Z,1761692684.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922479,0.124074,-0.365564],[-0.109379,0.992143,0.060727],[0.370227,-0.016034,0.928803]] 2025-10-28T23:04:44.935Z,1761692684.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906287,0.082924,-0.414447],[-0.104209,0.994133,-0.028968],[0.409614,0.069443,0.909612]] 2025-10-28T23:04:45.339Z,1761692685.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904213,0.083029,-0.418933],[-0.132696,0.986989,-0.090796],[0.405944,0.137689,0.903466]] 2025-10-28T23:04:46.148Z,1761692686.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933861,0.169265,-0.315046],[-0.143491,0.984229,0.103461],[0.327589,-0.051412,0.943420]] 2025-10-28T23:04:46.559Z,1761692686.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935067,0.164156,-0.314171],[-0.115357,0.978982,0.168186],[0.335176,-0.121023,0.934350]] 2025-10-28T23:04:46.958Z,1761692686.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926785,0.140655,-0.348260],[-0.090814,0.983637,0.155598],[0.364447,-0.112579,0.924394]] 2025-10-28T23:04:47.363Z,1761692687.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920857,0.123781,-0.369731],[-0.089501,0.990054,0.108546],[0.379490,-0.066864,0.922777]] 2025-10-28T23:04:47.767Z,1761692687.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920451,0.116706,-0.373028],[-0.099856,0.992925,0.064252],[0.377888,-0.021891,0.925593]] 2025-10-28T23:04:48.172Z,1761692688.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928133,0.115485,-0.353882],[-0.101660,0.993157,0.057478],[0.358098,-0.017371,0.933522]] 2025-10-28T23:04:48.575Z,1761692688.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937460,0.116809,-0.327908],[-0.087744,0.990894,0.102130],[0.336852,-0.066971,0.939173]] 2025-10-28T23:04:48.979Z,1761692688.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940262,0.109952,-0.322207],[-0.066027,0.987336,0.144248],[0.333987,-0.114357,0.935615]] 2025-10-28T23:04:49.382Z,1761692689.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937063,0.098765,-0.334901],[-0.058399,0.989982,0.128554],[0.344242,-0.100905,0.933443]] 2025-10-28T23:04:49.788Z,1761692689.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941765,0.084127,-0.325579],[-0.060886,0.994857,0.080947],[0.330714,-0.056410,0.942043]] 2025-10-28T23:04:50.190Z,1761692690.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951156,0.079556,-0.298283],[-0.062542,0.995846,0.066173],[0.302308,-0.044286,0.952181]] 2025-10-28T23:04:50.595Z,1761692690.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957915,0.079127,-0.275929],[-0.055218,0.994098,0.093380],[0.281689,-0.074214,0.956631]] 2025-10-28T23:04:51.039Z,1761692691.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961181,0.076558,-0.265084],[-0.045328,0.991496,0.121991],[0.272169,-0.105240,0.956477]] 2025-10-28T23:04:51.438Z,1761692691.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963972,0.067685,-0.257249],[-0.036188,0.991464,0.125258],[0.263531,-0.111436,0.958193]] 2025-10-28T23:04:51.843Z,1761692691.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964919,0.051618,-0.257423],[-0.024488,0.993903,0.107504],[0.261402,-0.097429,0.960300]] 2025-10-28T23:04:52.652Z,1761692692.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961186,0.034438,-0.273744],[-0.015297,0.997305,0.071753],[0.275477,-0.064780,0.959122]] 2025-10-28T23:04:53.055Z,1761692693.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960982,0.032125,-0.274738],[-0.015343,0.997895,0.063015],[0.276183,-0.056341,0.959452]] 2025-10-28T23:04:53.459Z,1761692693.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961923,0.032296,-0.271405],[-0.017297,0.998197,0.057479],[0.272772,-0.050596,0.960747]] 2025-10-28T23:04:53.863Z,1761692693.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963464,0.034854,-0.265560],[-0.019971,0.998085,0.058542],[0.267092,-0.051100,0.962315]] 2025-10-28T23:04:54.287Z,1761692694.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965016,0.037215,-0.259536],[-0.020263,0.997501,0.067689],[0.261406,-0.060062,0.963358]] 2025-10-28T23:04:54.673Z,1761692694.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965588,0.039081,-0.257123],[-0.018052,0.996332,0.083646],[0.259449,-0.076127,0.962752]] 2025-10-28T23:04:55.075Z,1761692695.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964784,0.042825,-0.259535],[-0.016676,0.994631,0.102132],[0.262515,-0.094207,0.960318]] 2025-10-28T23:04:55.479Z,1761692695.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963608,0.046909,-0.263171],[-0.014576,0.992239,0.123490],[0.266921,-0.115160,0.956813]] 2025-10-28T23:04:55.883Z,1761692695.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963928,0.052128,-0.261008],[-0.012679,0.988513,0.150601],[0.265861,-0.141859,0.953517]] 2025-10-28T23:04:56.322Z,1761692696.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965977,0.053873,-0.252955],[-0.009510,0.984802,0.173420],[0.258453,-0.165114,0.951808]] 2025-10-28T23:04:56.690Z,1761692696.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967808,0.047549,-0.247155],[-0.003503,0.984442,0.175675],[0.251663,-0.169154,0.952918]] 2025-10-28T23:04:57.094Z,1761692697.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968275,0.035178,-0.247398],[0.002767,0.988471,0.151383],[0.249871,-0.147265,0.957015]] 2025-10-28T23:04:57.499Z,1761692697.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967951,0.026335,-0.249756],[0.002847,0.993272,0.115767],[0.251124,-0.112768,0.961364]] 2025-10-28T23:04:57.904Z,1761692697.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968579,0.019094,-0.247970],[0.003644,0.995852,0.090915],[0.248678,-0.088962,0.964492]] 2025-10-28T23:04:58.337Z,1761692698.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971086,0.016275,-0.238173],[0.005372,0.995931,0.089955],[0.238668,-0.088634,0.967048]] 2025-10-28T23:04:58.710Z,1761692698.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973376,0.015206,-0.228708],[0.009121,0.994437,0.104934],[0.229031,-0.104226,0.967823]] 2025-10-28T23:04:59.115Z,1761692699.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974683,0.008587,-0.223426],[0.016132,0.993957,0.108576],[0.223008,-0.109431,0.968655]] 2025-10-28T23:04:59.519Z,1761692699.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975151,-0.001319,-0.221538],[0.021915,0.995652,0.090537],[0.220455,-0.093142,0.970940]] 2025-10-28T23:04:59.922Z,1761692699.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975389,-0.009839,-0.220271],[0.023874,0.997843,0.061145],[0.219194,-0.064898,0.973520]] 2025-10-28T23:05:00.344Z,1761692700.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976009,-0.013934,-0.217283],[0.023431,0.998876,0.041193],[0.216465,-0.045296,0.975239]] 2025-10-28T23:05:00.730Z,1761692700.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976894,-0.014951,-0.213203],[0.024031,0.998908,0.040061],[0.212371,-0.044259,0.976186]] 2025-10-28T23:05:01.135Z,1761692701.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977831,-0.016208,-0.208768],[0.027502,0.998304,0.051309],[0.207582,-0.055913,0.976618]] 2025-10-28T23:05:01.540Z,1761692701.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978645,-0.019723,-0.204611],[0.034025,0.997198,0.066618],[0.202724,-0.072158,0.976574]] 2025-10-28T23:05:01.957Z,1761692701.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979324,-0.023762,-0.200900],[0.041039,0.995764,0.082275],[0.198094,-0.088818,0.976151]] 2025-10-28T23:05:02.750Z,1761692702.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979307,-0.030726,-0.200036],[0.054655,0.991835,0.115222],[0.194863,-0.123771,0.972990]] 2025-10-28T23:05:03.156Z,1761692703.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978613,-0.030417,-0.203451],[0.057514,0.990024,0.128629],[0.197509,-0.137579,0.970599]] 2025-10-28T23:05:03.558Z,1761692703.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978218,-0.027768,-0.205716],[0.056386,0.989295,0.134592],[0.199776,-0.143260,0.969312]] 2025-10-28T23:05:03.962Z,1761692703.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978650,-0.025150,-0.203990],[0.053589,0.989379,0.135117],[0.198426,-0.143163,0.969604]] 2025-10-28T23:05:04.369Z,1761692704.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979430,-0.024381,-0.200304],[0.051970,0.989664,0.133656],[0.194975,-0.141316,0.970574]] 2025-10-28T23:05:04.772Z,1761692704.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980029,-0.027621,-0.196927],[0.054716,0.989537,0.133505],[0.191179,-0.141614,0.971286]] 2025-10-28T23:05:05.175Z,1761692705.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979711,-0.033969,-0.197514],[0.061125,0.989221,0.133062],[0.190865,-0.142435,0.971227]] 2025-10-28T23:05:05.579Z,1761692705.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978285,-0.041496,-0.203069],[0.068311,0.989564,0.126874],[0.195685,-0.137991,0.970910]] 2025-10-28T23:05:05.983Z,1761692705.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976071,-0.049286,-0.211792],[0.074350,0.990917,0.112055],[0.204345,-0.125121,0.970870]] 2025-10-28T23:05:06.388Z,1761692706.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973258,-0.055887,-0.222813],[0.077655,0.992895,0.090160],[0.216191,-0.105052,0.970683]] 2025-10-28T23:05:06.790Z,1761692706.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970158,-0.059628,-0.235026],[0.079391,0.993978,0.075534],[0.229107,-0.091939,0.969050]] 2025-10-28T23:05:07.194Z,1761692707.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967750,-0.061544,-0.244278],[0.080804,0.994296,0.069611],[0.238601,-0.087105,0.967203]] 2025-10-28T23:05:07.598Z,1761692707.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966743,-0.063461,-0.247749],[0.083496,0.993961,0.071209],[0.241734,-0.089526,0.966204]] 2025-10-28T23:05:08.005Z,1761692708.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967140,-0.065497,-0.245664],[0.087319,0.993043,0.079005],[0.238780,-0.097860,0.966130]] 2025-10-28T23:05:08.410Z,1761692708.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967838,-0.063767,-0.243359],[0.089202,0.991476,0.094962],[0.235229,-0.113616,0.965276]] 2025-10-28T23:05:08.816Z,1761692708.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968000,-0.062382,-0.243074],[0.092594,0.989051,0.114910],[0.233245,-0.133740,0.963177]] 2025-10-28T23:05:09.220Z,1761692709.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967037,-0.062169,-0.246932],[0.092427,0.989299,0.112892],[0.237271,-0.131993,0.962434]] 2025-10-28T23:05:09.625Z,1761692709.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966018,-0.059828,-0.251457],[0.089437,0.990118,0.108015],[0.242510,-0.126834,0.961822]] 2025-10-28T23:05:10.027Z,1761692710.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965541,-0.058565,-0.253577],[0.087492,0.990686,0.104335],[0.245105,-0.122926,0.961672]] 2025-10-28T23:05:10.428Z,1761692710.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965540,-0.056839,-0.253973],[0.086028,0.990708,0.105337],[0.245626,-0.123556,0.961458]] 2025-10-28T23:05:10.830Z,1761692710.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965362,-0.058590,-0.254249],[0.087821,0.990568,0.105180],[0.245689,-0.123865,0.961402]] 2025-10-28T23:05:11.236Z,1761692711.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964662,-0.063709,-0.255673],[0.092872,0.990268,0.103653],[0.246581,-0.123735,0.961191]] 2025-10-28T23:05:11.638Z,1761692711.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963409,-0.070901,-0.258489],[0.099330,0.990155,0.098619],[0.248952,-0.120686,0.960967]] 2025-10-28T23:05:12.043Z,1761692712.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961944,-0.078618,-0.261692],[0.105871,0.990142,0.091708],[0.251903,-0.115924,0.960784]] 2025-10-28T23:05:12.447Z,1761692712.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961137,-0.084038,-0.262972],[0.110877,0.989848,0.088921],[0.252829,-0.114623,0.960697]] 2025-10-28T23:05:12.852Z,1761692712.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961099,-0.084825,-0.262858],[0.112399,0.989425,0.091677],[0.252301,-0.117656,0.960469]] 2025-10-28T23:05:13.264Z,1761692713.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961351,-0.082464,-0.262686],[0.111420,0.988999,0.097290],[0.251774,-0.122799,0.959964]] 2025-10-28T23:05:13.662Z,1761692713.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961340,-0.080412,-0.263362],[0.110178,0.988843,0.100255],[0.252362,-0.125395,0.959473]] 2025-10-28T23:05:14.067Z,1761692714.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961034,-0.079435,-0.264771],[0.108824,0.989196,0.098222],[0.254108,-0.123208,0.959296]] 2025-10-28T23:05:14.112Z,1761692714.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:05:14.471Z,1761692714.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960753,-0.078922,-0.265941],[0.107830,0.989534,0.095894],[0.255590,-0.120807,0.959208]] 2025-10-28T23:05:14.876Z,1761692714.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960773,-0.080030,-0.265538],[0.107943,0.989870,0.092228],[0.255467,-0.117274,0.959679]] 2025-10-28T23:05:15.116Z,1761692715.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:05:15.278Z,1761692715.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961199,-0.082820,-0.263131],[0.109875,0.989880,0.089804],[0.253031,-0.115231,0.960571]] 2025-10-28T23:05:15.682Z,1761692715.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961714,-0.086266,-0.260124],[0.113880,0.989132,0.093000],[0.249274,-0.119062,0.961086]] 2025-10-28T23:05:16.087Z,1761692716.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961654,-0.090239,-0.258995],[0.119290,0.987941,0.098707],[0.246965,-0.125818,0.960822]] 2025-10-28T23:05:16.492Z,1761692716.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961140,-0.090854,-0.260683],[0.122426,0.986636,0.107523],[0.247430,-0.135259,0.959418]] 2025-10-28T23:05:16.894Z,1761692716.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960926,-0.089052,-0.262088],[0.122430,0.985921,0.113885],[0.248256,-0.141523,0.958301]] 2025-10-28T23:05:17.298Z,1761692717.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961029,-0.087823,-0.262128],[0.121738,0.985754,0.116058],[0.248201,-0.143446,0.958029]] 2025-10-28T23:05:17.702Z,1761692717.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961702,-0.085970,-0.260265],[0.120273,0.985600,0.118858],[0.246299,-0.145609,0.958193]] 2025-10-28T23:05:18.108Z,1761692718.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963053,-0.080962,-0.256853],[0.116538,0.985105,0.126439],[0.242790,-0.151701,0.958144]] 2025-10-28T23:05:18.512Z,1761692718.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964603,-0.074895,-0.252847],[0.111880,0.984480,0.135210],[0.238796,-0.158713,0.958012]] 2025-10-28T23:05:18.914Z,1761692718.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965824,-0.069416,-0.249733],[0.107134,0.984230,0.140758],[0.236024,-0.162702,0.958030]] 2025-10-28T23:05:19.318Z,1761692719.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966348,-0.064567,-0.249002],[0.101935,0.984859,0.140219],[0.236178,-0.160883,0.958299]] 2025-10-28T23:05:19.727Z,1761692719.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966672,-0.058038,-0.249355],[0.095144,0.985650,0.139434],[0.237684,-0.158512,0.958322]] 2025-10-28T23:05:20.127Z,1761692720.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967245,-0.053076,-0.248234],[0.089185,0.986609,0.136560],[0.237661,-0.154226,0.959026]] 2025-10-28T23:05:20.530Z,1761692720.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968314,-0.049491,-0.244783],[0.084213,0.987467,0.133482],[0.235109,-0.149866,0.960346]] 2025-10-28T23:05:20.934Z,1761692720.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969611,-0.046348,-0.240223],[0.080047,0.987948,0.132483],[0.231188,-0.147686,0.961635]] 2025-10-28T23:05:21.339Z,1761692721.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970870,-0.043047,-0.235706],[0.075527,0.988561,0.130552],[0.227390,-0.144551,0.963015]] 2025-10-28T23:05:21.745Z,1761692721.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971944,-0.040494,-0.231699],[0.071672,0.989210,0.127773],[0.224025,-0.140795,0.964360]] 2025-10-28T23:05:22.147Z,1761692722.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972838,-0.041770,-0.227685],[0.070786,0.990150,0.120800],[0.220397,-0.133635,0.966213]] 2025-10-28T23:05:22.550Z,1761692722.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973669,-0.044411,-0.223600],[0.071562,0.990805,0.114827],[0.216445,-0.127805,0.967893]] 2025-10-28T23:05:22.955Z,1761692722.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974432,-0.047382,-0.219631],[0.073521,0.990939,0.112408],[0.212315,-0.125681,0.969086]] 2025-10-28T23:05:23.360Z,1761692723.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975058,-0.050793,-0.216060],[0.076777,0.990553,0.113621],[0.208247,-0.127376,0.969747]] 2025-10-28T23:05:23.764Z,1761692723.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975359,-0.055619,-0.213496],[0.081268,0.990231,0.113305],[0.205109,-0.127863,0.970351]] 2025-10-28T23:05:24.167Z,1761692724.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975407,-0.059509,-0.212224],[0.085149,0.989849,0.113796],[0.203297,-0.129068,0.970573]] 2025-10-28T23:05:24.570Z,1761692724.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975656,-0.058180,-0.211447],[0.084926,0.989172,0.119696],[0.202193,-0.134739,0.970033]] 2025-10-28T23:05:24.976Z,1761692724.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976033,-0.054793,-0.210612],[0.082761,0.988526,0.126361],[0.201272,-0.140763,0.969369]] 2025-10-28T23:05:25.378Z,1761692725.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976390,-0.051415,-0.209807],[0.079797,0.988411,0.129135],[0.200736,-0.142828,0.969178]] 2025-10-28T23:05:25.785Z,1761692725.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976760,-0.048916,-0.208677],[0.076680,0.988921,0.127103],[0.200148,-0.140150,0.969690]] 2025-10-28T23:05:26.187Z,1761692726.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977190,-0.046558,-0.207200],[0.073281,0.989669,0.123225],[0.199323,-0.135598,0.970507]] 2025-10-28T23:05:26.591Z,1761692726.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977632,-0.044885,-0.205478],[0.070179,0.990588,0.117515],[0.198270,-0.129307,0.971581]] 2025-10-28T23:05:27.023Z,1761692727.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978139,-0.044779,-0.203076],[0.068148,0.991638,0.109586],[0.196471,-0.121030,0.973011]] 2025-10-28T23:05:27.399Z,1761692727.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978639,-0.046407,-0.200282],[0.068008,0.992420,0.102358],[0.194014,-0.113793,0.974377]] 2025-10-28T23:05:27.805Z,1761692727.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979077,-0.048748,-0.197567],[0.069808,0.992427,0.101071],[0.191144,-0.112748,0.975065]] 2025-10-28T23:05:28.207Z,1761692728.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979573,-0.049431,-0.194918],[0.070724,0.992077,0.103838],[0.188240,-0.115502,0.975308]] 2025-10-28T23:05:28.610Z,1761692728.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980030,-0.049182,-0.192674],[0.071185,0.991491,0.108992],[0.185674,-0.120531,0.975191]] 2025-10-28T23:05:29.014Z,1761692729.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980442,-0.048595,-0.190716],[0.071655,0.990668,0.115943],[0.183302,-0.127341,0.974774]] 2025-10-28T23:05:29.420Z,1761692729.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980782,-0.048216,-0.189055],[0.072354,0.989775,0.122926],[0.181195,-0.134243,0.974242]] 2025-10-28T23:05:29.824Z,1761692729.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981134,-0.047395,-0.187430],[0.072572,0.988876,0.129836],[0.179192,-0.140989,0.973659]] 2025-10-28T23:05:30.226Z,1761692730.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981407,-0.047184,-0.186047],[0.072816,0.988378,0.133440],[0.177588,-0.144506,0.973437]] 2025-10-28T23:05:30.632Z,1761692730.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981595,-0.047175,-0.185054],[0.072994,0.988113,0.135296],[0.176471,-0.146314,0.973370]] 2025-10-28T23:05:31.035Z,1761692731.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981735,-0.045720,-0.184678],[0.071987,0.987794,0.138137],[0.176108,-0.148908,0.973043]] 2025-10-28T23:05:31.439Z,1761692731.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981959,-0.043068,-0.184123],[0.069811,0.987498,0.141330],[0.175734,-0.151634,0.972689]] 2025-10-28T23:05:31.845Z,1761692731.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982311,-0.041053,-0.182701],[0.067931,0.987333,0.143384],[0.174501,-0.153259,0.972657]] 2025-10-28T23:05:32.246Z,1761692732.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982704,-0.041012,-0.180583],[0.067166,0.987702,0.141187],[0.172572,-0.150874,0.973373]] 2025-10-28T23:05:32.651Z,1761692732.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983103,-0.041523,-0.178284],[0.066989,0.987983,0.139293],[0.170358,-0.148883,0.974070]] 2025-10-28T23:05:33.056Z,1761692733.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983421,-0.042514,-0.176283],[0.067835,0.987797,0.140197],[0.168171,-0.149831,0.974304]] 2025-10-28T23:05:33.459Z,1761692733.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983627,-0.042790,-0.175065],[0.068479,0.987286,0.143444],[0.166702,-0.153084,0.974051]] 2025-10-28T23:05:33.862Z,1761692733.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983781,-0.041090,-0.174606],[0.067453,0.986708,0.147845],[0.166210,-0.157225,0.973475]] 2025-10-28T23:05:34.277Z,1761692734.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983984,-0.036933,-0.174388],[0.064023,0.986247,0.152373],[0.166362,-0.161097,0.972816]] 2025-10-28T23:05:34.672Z,1761692734.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984238,-0.031658,-0.173992],[0.059144,0.986120,0.155141],[0.166665,-0.162986,0.972450]] 2025-10-28T23:05:35.074Z,1761692735.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984678,-0.026161,-0.172407],[0.053425,0.986398,0.155453],[0.165996,-0.162282,0.972682]] 2025-10-28T23:05:35.478Z,1761692735.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985233,-0.020718,-0.169958],[0.047602,0.986662,0.155667],[0.164466,-0.161459,0.973078]] 2025-10-28T23:05:35.882Z,1761692735.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985740,-0.016189,-0.167495],[0.042198,0.987338,0.152913],[0.162899,-0.157800,0.973942]] 2025-10-28T23:05:36.319Z,1761692736.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986217,-0.012276,-0.165000],[0.037225,0.988140,0.148978],[0.161214,-0.153067,0.974977]] 2025-10-28T23:05:36.691Z,1761692736.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986672,-0.008180,-0.162517],[0.032418,0.988597,0.147054],[0.159461,-0.150362,0.975686]] 2025-10-28T23:05:37.095Z,1761692737.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987155,-0.003606,-0.159724],[0.027041,0.989092,0.144794],[0.157460,-0.147253,0.976485]] 2025-10-28T23:05:37.499Z,1761692737.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987700,0.000908,-0.156355],[0.021667,0.989541,0.142617],[0.154849,-0.144250,0.977350]] 2025-10-28T23:05:37.904Z,1761692737.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988219,0.004944,-0.152965],[0.017112,0.989642,0.142535],[0.152085,-0.143473,0.977898]] 2025-10-28T23:05:38.334Z,1761692738.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988587,0.006349,-0.150519],[0.015354,0.989663,0.142591],[0.149868,-0.143275,0.978270]] 2025-10-28T23:05:38.710Z,1761692738.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988742,0.003276,-0.149592],[0.017694,0.990186,0.138633],[0.148578,-0.139719,0.978981]] 2025-10-28T23:05:39.115Z,1761692739.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988723,-0.002871,-0.149730],[0.022759,0.991084,0.131282],[0.148018,-0.133209,0.979972]] 2025-10-28T23:05:39.519Z,1761692739.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988689,-0.008945,-0.149713],[0.028331,0.991388,0.127859],[0.147280,-0.130654,0.980427]] 2025-10-28T23:05:39.922Z,1761692739.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988628,-0.015005,-0.149633],[0.033967,0.991577,0.124985],[0.146497,-0.128646,0.980810]] 2025-10-28T23:05:40.344Z,1761692740.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988633,-0.021698,-0.148773],[0.040190,0.991661,0.122444],[0.144875,-0.127032,0.981261]] 2025-10-28T23:05:40.730Z,1761692740.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988545,-0.029645,-0.147989],[0.047595,0.991720,0.119272],[0.143228,-0.124949,0.981771]] 2025-10-28T23:05:41.135Z,1761692741.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988292,-0.037742,-0.147832],[0.055337,0.991615,0.116777],[0.142185,-0.123591,0.982094]] 2025-10-28T23:05:41.540Z,1761692741.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988004,-0.044288,-0.147939],[0.061564,0.991535,0.114320],[0.141623,-0.122056,0.982367]] 2025-10-28T23:05:41.942Z,1761692741.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988016,-0.044349,-0.147844],[0.061693,0.991462,0.114876],[0.141487,-0.122620,0.982317]] 2025-10-28T23:05:42.347Z,1761692742.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988448,-0.041389,-0.145801],[0.058674,0.991477,0.116325],[0.139744,-0.123536,0.982451]] 2025-10-28T23:05:42.750Z,1761692742.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988966,-0.037828,-0.143232],[0.054902,0.991590,0.117199],[0.137594,-0.123770,0.982725]] 2025-10-28T23:05:43.162Z,1761692743.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989474,-0.034386,-0.140568],[0.051006,0.991892,0.116396],[0.135426,-0.122340,0.983205]] 2025-10-28T23:05:43.559Z,1761692743.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989864,-0.032944,-0.138145],[0.048685,0.992496,0.112167],[0.133414,-0.117756,0.984040]] 2025-10-28T23:05:43.962Z,1761692743.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990077,-0.035383,-0.136001],[0.050423,0.992785,0.108789],[0.131171,-0.114567,0.984718]] 2025-10-28T23:05:44.367Z,1761692744.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990150,-0.039202,-0.134412],[0.054088,0.992574,0.108951],[0.129143,-0.115148,0.984918]] 2025-10-28T23:05:44.770Z,1761692744.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990209,-0.042812,-0.132863],[0.057663,0.992254,0.110029],[0.127124,-0.116613,0.985008]] 2025-10-28T23:05:45.174Z,1761692745.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990309,-0.045317,-0.131280],[0.060124,0.991987,0.111115],[0.125193,-0.117931,0.985098]] 2025-10-28T23:05:45.237Z,1761692745.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:05:45.578Z,1761692745.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990341,-0.047763,-0.130170],[0.062647,0.991645,0.112763],[0.123697,-0.119828,0.985059]] 2025-10-28T23:05:45.983Z,1761692745.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990385,-0.050117,-0.128940],[0.065206,0.991153,0.115599],[0.122006,-0.122895,0.984892]] 2025-10-28T23:05:46.240Z,1761692746.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:05:46.388Z,1761692746.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990410,-0.052334,-0.127865],[0.067535,0.990762,0.117602],[0.120529,-0.125109,0.984795]] 2025-10-28T23:05:46.791Z,1761692746.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990385,-0.054210,-0.127277],[0.069716,0.990236,0.120716],[0.119490,-0.128428,0.984494]] 2025-10-28T23:05:47.195Z,1761692747.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990457,-0.054010,-0.126795],[0.070198,0.989430,0.126890],[0.118602,-0.134580,0.983779]] 2025-10-28T23:05:47.264Z,1761692747.264 [Radio_Surface](INFO): Powering down 2025-10-28T23:05:47.599Z,1761692747.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990630,-0.052449,-0.126103],[0.069340,0.988617,0.133525],[0.117664,-0.141018,0.982990]] 2025-10-28T23:05:48.004Z,1761692748.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990994,-0.050583,-0.123984],[0.067709,0.988105,0.138073],[0.115525,-0.145224,0.982631]] 2025-10-28T23:05:48.406Z,1761692748.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991472,-0.048502,-0.120955],[0.065549,0.987808,0.141205],[0.112632,-0.147929,0.982563]] 2025-10-28T23:05:48.811Z,1761692748.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992073,-0.046361,-0.116799],[0.062745,0.988054,0.140756],[0.108878,-0.146968,0.983131]] 2025-10-28T23:05:49.214Z,1761692749.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992808,-0.043921,-0.111368],[0.058952,0.989023,0.135489],[0.104195,-0.141080,0.984500]] 2025-10-28T23:05:49.620Z,1761692749.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993629,-0.041353,-0.104836],[0.054700,0.990288,0.127820],[0.098532,-0.132741,0.986241]] 2025-10-28T23:05:50.023Z,1761692750.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994413,-0.040268,-0.097577],[0.051736,0.991665,0.118003],[0.092012,-0.122392,0.988208]] 2025-10-28T23:05:50.427Z,1761692750.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995001,-0.042232,-0.090496],[0.052188,0.992489,0.110644],[0.085143,-0.114814,0.989731]] 2025-10-28T23:05:50.830Z,1761692750.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995385,-0.046228,-0.084095],[0.055174,0.992686,0.107376],[0.078517,-0.111521,0.990655]] 2025-10-28T23:05:51.235Z,1761692751.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995693,-0.050634,-0.077663],[0.058858,0.992457,0.107539],[0.071632,-0.111647,0.991163]] 2025-10-28T23:05:51.638Z,1761692751.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995954,-0.054344,-0.071569],[0.062155,0.991777,0.111873],[0.064901,-0.115869,0.991142]] 2025-10-28T23:05:52.070Z,1761692752.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996448,-0.058392,-0.060680],[0.065529,0.990217,0.123194],[0.052893,-0.126733,0.990526]] 2025-10-28T23:05:52.867Z,1761692752.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996872,-0.061238,-0.049966],[0.067144,0.989671,0.126664],[0.041693,-0.129623,0.990686]] 2025-10-28T23:05:53.271Z,1761692753.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996970,-0.063848,-0.044425],[0.068982,0.989665,0.125716],[0.035939,-0.128399,0.991071]] 2025-10-28T23:05:53.671Z,1761692753.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996970,-0.067061,-0.039410],[0.071431,0.989883,0.122590],[0.030791,-0.125034,0.991675]] 2025-10-28T23:05:54.075Z,1761692754.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996827,-0.071588,-0.034810],[0.075193,0.990327,0.116616],[0.026125,-0.118863,0.992567]] 2025-10-28T23:05:54.477Z,1761692754.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996563,-0.077166,-0.030136],[0.080009,0.990857,0.108628],[0.021478,-0.110665,0.993626]] 2025-10-28T23:05:54.879Z,1761692754.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996255,-0.082487,-0.025911],[0.084737,0.991059,0.103065],[0.017178,-0.104875,0.994337]] 2025-10-28T23:05:55.284Z,1761692755.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996011,-0.086507,-0.021900],[0.088298,0.990888,0.101707],[0.012902,-0.103235,0.994573]] 2025-10-28T23:05:55.686Z,1761692755.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995754,-0.090269,-0.018043],[0.091669,0.990275,0.104654],[0.008421,-0.105864,0.994345]] 2025-10-28T23:05:56.092Z,1761692756.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995591,-0.092776,-0.013824],[0.093729,0.989732,0.107911],[0.003671,-0.108731,0.994064]] 2025-10-28T23:05:56.495Z,1761692756.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995583,-0.093378,-0.009702],[0.093876,0.989159,0.112919],[-0.000947,-0.113331,0.993557]] 2025-10-28T23:05:56.898Z,1761692756.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995659,-0.092905,-0.005711],[0.092922,0.988512,0.119205],[-0.005429,-0.119218,0.992853]] 2025-10-28T23:05:57.303Z,1761692757.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995812,-0.091417,-0.001537],[0.090905,0.988159,0.123605],[-0.009781,-0.123227,0.992330]] 2025-10-28T23:05:57.707Z,1761692757.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996013,-0.089158,0.002928],[0.088114,0.988414,0.123590],[-0.013913,-0.122839,0.992329]] 2025-10-28T23:05:58.110Z,1761692758.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996192,-0.086884,0.007246],[0.085343,0.988762,0.122743],[-0.017829,-0.121658,0.992412]] 2025-10-28T23:05:58.515Z,1761692758.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996301,-0.085137,0.011673],[0.083097,0.989098,0.121575],[-0.021897,-0.120155,0.992514]] 2025-10-28T23:05:58.918Z,1761692758.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996324,-0.084231,0.015575],[0.081822,0.989640,0.117972],[-0.025350,-0.116265,0.992895]] 2025-10-28T23:05:59.323Z,1761692759.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996117,-0.086074,0.018507],[0.083437,0.990022,0.113552],[-0.028096,-0.111567,0.993360]] 2025-10-28T23:05:59.729Z,1761692759.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995644,-0.091038,0.020120],[0.088406,0.990384,0.106418],[-0.029615,-0.104176,0.994118]] 2025-10-28T23:06:00.130Z,1761692760.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995041,-0.097301,0.020643],[0.094781,0.990470,0.099933],[-0.030169,-0.097481,0.994780]] 2025-10-28T23:06:00.534Z,1761692760.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994399,-0.103733,0.020266],[0.101368,0.990298,0.095049],[-0.029929,-0.092463,0.995266]] 2025-10-28T23:06:00.940Z,1761692760.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993725,-0.110220,0.019058],[0.107924,0.989555,0.095569],[-0.029392,-0.092912,0.995240]] 2025-10-28T23:06:01.344Z,1761692761.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993005,-0.116736,0.017711],[0.114415,0.988409,0.099784],[-0.029154,-0.097059,0.994852]] 2025-10-28T23:06:01.746Z,1761692761.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992319,-0.122576,0.016698],[0.120193,0.987246,0.104395],[-0.029281,-0.101587,0.994396]] 2025-10-28T23:06:02.150Z,1761692762.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991613,-0.128339,0.015281],[0.125921,0.985975,0.109534],[-0.029124,-0.106692,0.993866]] 2025-10-28T23:06:02.557Z,1761692762.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991077,-0.132569,0.013832],[0.130139,0.984860,0.114519],[-0.028804,-0.111697,0.993325]] 2025-10-28T23:06:02.979Z,1761692762.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990772,-0.135020,0.011828],[0.132600,0.983673,0.121676],[-0.028063,-0.118985,0.992499]] 2025-10-28T23:06:03.384Z,1761692763.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990658,-0.136031,0.009662],[0.133727,0.982881,0.126733],[-0.026736,-0.124257,0.991890]] 2025-10-28T23:06:03.786Z,1761692763.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990641,-0.136307,0.007107],[0.134217,0.982274,0.130853],[-0.024817,-0.128675,0.991376]] 2025-10-28T23:06:04.191Z,1761692764.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990579,-0.136870,0.004443],[0.135074,0.981891,0.132836],[-0.022544,-0.130985,0.991128]] 2025-10-28T23:06:04.595Z,1761692764.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990475,-0.137687,0.001227],[0.136267,0.981464,0.134757],[-0.019759,-0.133307,0.990878]] 2025-10-28T23:06:04.999Z,1761692764.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990301,-0.138919,-0.002299],[0.137944,0.981105,0.135662],[-0.016590,-0.134664,0.990752]] 2025-10-28T23:06:05.404Z,1761692765.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990111,-0.140158,-0.005948],[0.139661,0.980839,0.135833],[-0.013204,-0.135320,0.990714]] 2025-10-28T23:06:05.806Z,1761692765.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990152,-0.139656,-0.009807],[0.139678,0.980703,0.136788],[-0.009485,-0.136811,0.990552]] 2025-10-28T23:06:06.210Z,1761692766.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990370,-0.137811,-0.013214],[0.138308,0.980672,0.138398],[-0.006114,-0.138893,0.990288]] 2025-10-28T23:06:06.614Z,1761692766.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990766,-0.134663,-0.015751],[0.135544,0.981071,0.138301],[-0.003171,-0.139159,0.990265]] 2025-10-28T23:06:07.020Z,1761692767.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991201,-0.131199,-0.017520],[0.132361,0.981728,0.136714],[-0.000737,-0.137830,0.990456]] 2025-10-28T23:06:07.422Z,1761692767.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991561,-0.128291,-0.018655],[0.129636,0.982397,0.134499],[0.001072,-0.135782,0.990738]] 2025-10-28T23:06:07.827Z,1761692767.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991829,-0.126059,-0.019597],[0.127545,0.983088,0.131415],[0.002700,-0.132841,0.991134]] 2025-10-28T23:06:08.231Z,1761692768.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992021,-0.124366,-0.020673],[0.125986,0.983995,0.126024],[0.004669,-0.127623,0.991812]] 2025-10-28T23:06:08.636Z,1761692768.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992196,-0.122707,-0.022130],[0.124475,0.985123,0.118481],[0.007263,-0.120311,0.992710]] 2025-10-28T23:06:09.038Z,1761692769.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992202,-0.122205,-0.024536],[0.124206,0.985860,0.112489],[0.010442,-0.114660,0.993350]] 2025-10-28T23:06:09.442Z,1761692769.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991893,-0.123972,-0.027912],[0.126293,0.986045,0.108470],[0.014076,-0.111116,0.993708]] 2025-10-28T23:06:09.848Z,1761692769.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991353,-0.127228,-0.032139],[0.129954,0.985854,0.105847],[0.018218,-0.109108,0.993863]] 2025-10-28T23:06:10.260Z,1761692770.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990736,-0.130542,-0.037425],[0.133809,0.985429,0.104995],[0.023173,-0.109031,0.993768]] 2025-10-28T23:06:10.676Z,1761692770.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990087,-0.133586,-0.043395],[0.137603,0.984485,0.108880],[0.028177,-0.113772,0.993107]] 2025-10-28T23:06:11.075Z,1761692771.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989412,-0.136495,-0.049316],[0.141415,0.983114,0.116139],[0.032631,-0.121883,0.992008]] 2025-10-28T23:06:11.479Z,1761692771.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988644,-0.139979,-0.054669],[0.145894,0.981260,0.125872],[0.036024,-0.132419,0.990539]] 2025-10-28T23:06:11.883Z,1761692771.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987639,-0.145078,-0.059346],[0.151943,0.979115,0.135085],[0.038509,-0.142433,0.989055]] 2025-10-28T23:06:12.324Z,1761692772.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986260,-0.152399,-0.063758],[0.160102,0.976902,0.141529],[0.040717,-0.149792,0.987879]] 2025-10-28T23:06:12.691Z,1761692772.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984638,-0.160617,-0.068491],[0.169146,0.974743,0.145825],[0.043339,-0.155170,0.986937]] 2025-10-28T23:06:13.095Z,1761692773.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983717,-0.163976,-0.073568],[0.173345,0.973754,0.147491],[0.047452,-0.157842,0.986323]] 2025-10-28T23:06:13.499Z,1761692773.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983443,-0.163703,-0.077729],[0.173565,0.974204,0.144226],[0.052114,-0.155329,0.986487]] 2025-10-28T23:06:13.904Z,1761692773.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983401,-0.162066,-0.081598],[0.172212,0.975291,0.138387],[0.057154,-0.150142,0.987011]] 2025-10-28T23:06:14.335Z,1761692774.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983507,-0.159580,-0.085138],[0.169809,0.976755,0.130825],[0.062282,-0.143125,0.987743]] 2025-10-28T23:06:14.710Z,1761692774.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983670,-0.156936,-0.088117],[0.167134,0.978146,0.123681],[0.066781,-0.136388,0.988402]] 2025-10-28T23:06:15.114Z,1761692775.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983394,-0.157393,-0.090356],[0.167292,0.979166,0.115095],[0.070359,-0.128300,0.989236]] 2025-10-28T23:06:15.520Z,1761692775.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982703,-0.160218,-0.092875],[0.169860,0.979602,0.107367],[0.073778,-0.121286,0.989872]] 2025-10-28T23:06:15.924Z,1761692775.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981897,-0.163422,-0.095765],[0.173132,0.979414,0.103792],[0.076831,-0.118493,0.989978]] 2025-10-28T23:06:16.341Z,1761692776.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981071,-0.166569,-0.098767],[0.176595,0.978843,0.103349],[0.079463,-0.118835,0.989729]] 2025-10-28T23:06:16.360Z,1761692776.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:06:16.730Z,1761692776.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980214,-0.169551,-0.102140],[0.180200,0.977897,0.106048],[0.081902,-0.122355,0.989101]] 2025-10-28T23:06:17.134Z,1761692777.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979371,-0.172491,-0.105259],[0.183823,0.976830,0.109603],[0.083915,-0.126691,0.988386]] 2025-10-28T23:06:17.364Z,1761692777.364 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T23:06:17.364Z,1761692777.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:06:17.541Z,1761692777.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978421,-0.175763,-0.108629],[0.187776,0.975744,0.112532],[0.086215,-0.130501,0.987692]] 2025-10-28T23:06:17.943Z,1761692777.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977551,-0.178310,-0.112244],[0.191025,0.974815,0.115085],[0.088896,-0.133943,0.986994]] 2025-10-28T23:06:18.347Z,1761692778.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976999,-0.178675,-0.116396],[0.192421,0.973937,0.120087],[0.091906,-0.139722,0.985916]] 2025-10-28T23:06:18.751Z,1761692778.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976687,-0.177841,-0.120228],[0.192492,0.973459,0.123794],[0.095021,-0.144051,0.984998]] 2025-10-28T23:06:19.162Z,1761692779.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976573,-0.176070,-0.123712],[0.191393,0.973474,0.125366],[0.098358,-0.146107,0.984367]] 2025-10-28T23:06:19.558Z,1761692779.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976627,-0.173504,-0.126867],[0.189367,0.973790,0.125992],[0.101682,-0.147071,0.983886]] 2025-10-28T23:06:19.962Z,1761692779.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976692,-0.171065,-0.129650],[0.187245,0.974327,0.125007],[0.104937,-0.146369,0.983648]] 2025-10-28T23:06:20.367Z,1761692780.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976736,-0.168972,-0.132045],[0.185364,0.974858,0.123658],[0.107831,-0.145258,0.983500]] 2025-10-28T23:06:20.771Z,1761692780.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976782,-0.167198,-0.133950],[0.183639,0.975449,0.121558],[0.110337,-0.143334,0.983504]] 2025-10-28T23:06:21.176Z,1761692781.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976841,-0.165534,-0.135573],[0.182049,0.975926,0.120112],[0.112427,-0.142011,0.983460]] 2025-10-28T23:06:21.578Z,1761692781.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976811,-0.164780,-0.136700],[0.181153,0.976414,0.117473],[0.114119,-0.139512,0.983622]] 2025-10-28T23:06:21.982Z,1761692781.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976565,-0.165168,-0.137983],[0.181228,0.976897,0.113262],[0.116088,-0.135614,0.983937]] 2025-10-28T23:06:22.388Z,1761692782.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976011,-0.166879,-0.139837],[0.182672,0.977124,0.108899],[0.118465,-0.131830,0.984168]] 2025-10-28T23:06:22.792Z,1761692782.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975168,-0.169941,-0.142012],[0.185501,0.977063,0.104579],[0.120982,-0.128326,0.984325]] 2025-10-28T23:06:23.195Z,1761692783.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974292,-0.172889,-0.144444],[0.188348,0.976877,0.101174],[0.123612,-0.125778,0.984327]] 2025-10-28T23:06:23.598Z,1761692783.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973355,-0.175866,-0.147140],[0.191599,0.976310,0.100545],[0.125972,-0.126058,0.983992]] 2025-10-28T23:06:24.003Z,1761692784.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972325,-0.179029,-0.150112],[0.195390,0.975371,0.102342],[0.128093,-0.128840,0.983358]] 2025-10-28T23:06:24.409Z,1761692784.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971250,-0.182414,-0.152969],[0.199696,0.974067,0.106368],[0.129599,-0.133857,0.982490]] 2025-10-28T23:06:24.811Z,1761692784.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970106,-0.186168,-0.155676],[0.204480,0.972533,0.111207],[0.130697,-0.139715,0.981528]] 2025-10-28T23:06:25.215Z,1761692785.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968864,-0.190656,-0.157963],[0.209764,0.971012,0.114606],[0.131534,-0.144173,0.980772]] 2025-10-28T23:06:25.619Z,1761692785.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967616,-0.195419,-0.159782],[0.215013,0.969682,0.116129],[0.132244,-0.146724,0.980298]] 2025-10-28T23:06:26.024Z,1761692786.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966644,-0.198516,-0.161834],[0.218806,0.968494,0.118924],[0.133127,-0.150367,0.979626]] 2025-10-28T23:06:26.426Z,1761692786.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966104,-0.198813,-0.164670],[0.220259,0.967512,0.124120],[0.134644,-0.156183,0.978508]] 2025-10-28T23:06:26.830Z,1761692786.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965995,-0.196689,-0.167833],[0.219318,0.967093,0.128957],[0.136945,-0.161381,0.977344]] 2025-10-28T23:06:27.234Z,1761692787.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966292,-0.192577,-0.170860],[0.216048,0.967504,0.131373],[0.140008,-0.163859,0.976498]] 2025-10-28T23:06:27.640Z,1761692787.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966768,-0.187546,-0.173740],[0.211676,0.968301,0.132616],[0.143361,-0.164986,0.975821]] 2025-10-28T23:06:28.042Z,1761692788.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967461,-0.182137,-0.175628],[0.206490,0.969499,0.132039],[0.146222,-0.164008,0.975562]] 2025-10-28T23:06:28.447Z,1761692788.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968148,-0.177096,-0.176992],[0.201520,0.970675,0.131071],[0.148590,-0.162564,0.975446]] 2025-10-28T23:06:28.851Z,1761692788.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968663,-0.173134,-0.178094],[0.197596,0.971600,0.130193],[0.150495,-0.161304,0.975363]] 2025-10-28T23:06:29.256Z,1761692789.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968977,-0.170719,-0.178715],[0.194966,0.972396,0.128199],[0.151896,-0.159065,0.975513]] 2025-10-28T23:06:29.660Z,1761692789.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969116,-0.169573,-0.179051],[0.193459,0.973040,0.125568],[0.152931,-0.156329,0.975794]] 2025-10-28T23:06:30.063Z,1761692790.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969048,-0.169917,-0.179095],[0.193250,0.973535,0.121996],[0.153627,-0.152831,0.976239]] 2025-10-28T23:06:30.466Z,1761692790.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968758,-0.171505,-0.179151],[0.194274,0.973787,0.118308],[0.154164,-0.149416,0.976682]] 2025-10-28T23:06:31.276Z,1761692791.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967443,-0.178139,-0.179777],[0.200207,0.973210,0.113044],[0.154824,-0.145356,0.977190]] 2025-10-28T23:06:31.679Z,1761692791.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966685,-0.180626,-0.181366],[0.202842,0.972741,0.112384],[0.156122,-0.145429,0.976973]] 2025-10-28T23:06:32.090Z,1761692792.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966050,-0.181783,-0.183583],[0.204520,0.972261,0.113494],[0.157860,-0.147187,0.976430]] 2025-10-28T23:06:32.487Z,1761692792.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965683,-0.181431,-0.185848],[0.204855,0.971942,0.115603],[0.159660,-0.149708,0.975754]] 2025-10-28T23:06:32.892Z,1761692792.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965512,-0.179831,-0.188278],[0.204293,0.971569,0.119660],[0.161406,-0.153997,0.974799]] 2025-10-28T23:06:33.294Z,1761692793.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965470,-0.177896,-0.190317],[0.203039,0.971559,0.121858],[0.163226,-0.156292,0.974131]] 2025-10-28T23:06:33.704Z,1761692793.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965394,-0.176147,-0.192320],[0.201784,0.971685,0.122927],[0.165221,-0.157480,0.973603]] 2025-10-28T23:06:34.109Z,1761692794.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965200,-0.174703,-0.194597],[0.200676,0.971933,0.122783],[0.167684,-0.157561,0.973168]] 2025-10-28T23:06:34.513Z,1761692794.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964728,-0.175912,-0.195842],[0.201688,0.972019,0.120423],[0.169178,-0.155674,0.973213]] 2025-10-28T23:06:34.917Z,1761692794.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964179,-0.177848,-0.196797],[0.203349,0.971983,0.117889],[0.170317,-0.153685,0.973331]] 2025-10-28T23:06:35.319Z,1761692795.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963607,-0.179420,-0.198165],[0.204899,0.971832,0.116447],[0.171690,-0.152813,0.973227]] 2025-10-28T23:06:35.722Z,1761692795.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962983,-0.181437,-0.199362],[0.206830,0.971618,0.114800],[0.172875,-0.151784,0.973178]] 2025-10-28T23:06:36.125Z,1761692796.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962326,-0.183485,-0.200654],[0.208836,0.971363,0.113321],[0.174115,-0.150955,0.973086]] 2025-10-28T23:06:36.528Z,1761692796.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961735,-0.185453,-0.201674],[0.210835,0.971026,0.112499],[0.174968,-0.150715,0.972970]] 2025-10-28T23:06:36.930Z,1761692796.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961095,-0.188310,-0.202080],[0.213299,0.970796,0.109810],[0.175501,-0.148641,0.973193]] 2025-10-28T23:06:37.334Z,1761692797.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960486,-0.191095,-0.202359],[0.215782,0.970479,0.107740],[0.175797,-0.147148,0.973367]] 2025-10-28T23:06:37.739Z,1761692797.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959647,-0.194521,-0.203077],[0.218909,0.970048,0.105284],[0.176514,-0.145491,0.973486]] 2025-10-28T23:06:38.144Z,1761692798.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958683,-0.198472,-0.203804],[0.222531,0.969509,0.102628],[0.177221,-0.143741,0.973618]] 2025-10-28T23:06:38.546Z,1761692798.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957809,-0.201399,-0.205037],[0.225739,0.968730,0.102976],[0.177886,-0.144916,0.973322]] 2025-10-28T23:06:38.950Z,1761692798.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957071,-0.203376,-0.206529],[0.228326,0.967912,0.104947],[0.178558,-0.147598,0.972796]] 2025-10-28T23:06:39.355Z,1761692799.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956579,-0.203719,-0.208459],[0.229756,0.967104,0.109191],[0.179358,-0.152345,0.971917]] 2025-10-28T23:06:39.761Z,1761692799.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956421,-0.202407,-0.210450],[0.229680,0.966541,0.114213],[0.180291,-0.157572,0.970910]] 2025-10-28T23:06:40.162Z,1761692800.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956578,-0.199340,-0.212653],[0.228093,0.966173,0.120344],[0.181470,-0.163623,0.969689]] 2025-10-28T23:06:40.566Z,1761692800.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956858,-0.196116,-0.214386],[0.225855,0.966214,0.124174],[0.182790,-0.167237,0.968824]] 2025-10-28T23:06:40.970Z,1761692800.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957004,-0.194028,-0.215631],[0.223815,0.966789,0.123397],[0.184527,-0.166353,0.968647]] 2025-10-28T23:06:41.376Z,1761692801.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957038,-0.192623,-0.216738],[0.221832,0.967739,0.119467],[0.186734,-0.162414,0.968892]] 2025-10-28T23:06:41.778Z,1761692801.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957089,-0.191495,-0.217510],[0.219520,0.969069,0.112768],[0.189187,-0.155676,0.969522]] 2025-10-28T23:06:42.182Z,1761692802.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957149,-0.190023,-0.218533],[0.216820,0.970463,0.105790],[0.191976,-0.148640,0.970078]] 2025-10-28T23:06:42.586Z,1761692802.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957267,-0.187944,-0.219811],[0.213443,0.971981,0.098467],[0.195145,-0.141176,0.970560]] 2025-10-28T23:06:42.991Z,1761692802.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957312,-0.185126,-0.221996],[0.210008,0.973163,0.094081],[0.198622,-0.136685,0.970498]] 2025-10-28T23:06:43.396Z,1761692803.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957122,-0.183290,-0.224325],[0.207584,0.974087,0.089793],[0.202054,-0.132509,0.970369]] 2025-10-28T23:06:43.798Z,1761692803.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956526,-0.183390,-0.226772],[0.207362,0.974420,0.086644],[0.205081,-0.129901,0.970086]] 2025-10-28T23:06:44.202Z,1761692804.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955751,-0.184274,-0.229309],[0.208533,0.974202,0.086283],[0.207494,-0.130283,0.969522]] 2025-10-28T23:06:44.606Z,1761692804.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955089,-0.184380,-0.231968],[0.209525,0.973774,0.088677],[0.209534,-0.133298,0.968673]] 2025-10-28T23:06:45.012Z,1761692805.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954635,-0.183139,-0.234803],[0.210248,0.972929,0.095947],[0.210875,-0.140961,0.967296]] 2025-10-28T23:06:45.414Z,1761692805.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954233,-0.181199,-0.237920],[0.211115,0.971615,0.106745],[0.211824,-0.152088,0.965401]] 2025-10-28T23:06:45.819Z,1761692805.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953788,-0.179553,-0.240934],[0.212400,0.970042,0.117920],[0.212543,-0.163645,0.963351]] 2025-10-28T23:06:46.223Z,1761692806.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953246,-0.178516,-0.243832],[0.214189,0.968312,0.128432],[0.213178,-0.174653,0.961276]] 2025-10-28T23:06:46.629Z,1761692806.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952653,-0.177788,-0.246664],[0.215960,0.966700,0.137300],[0.214040,-0.184069,0.959325]] 2025-10-28T23:06:47.031Z,1761692807.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952134,-0.177283,-0.249022],[0.217118,0.965662,0.142677],[0.215177,-0.189915,0.957931]] 2025-10-28T23:06:47.435Z,1761692807.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951855,-0.176108,-0.250914],[0.216706,0.965493,0.144437],[0.216820,-0.191858,0.957173]] 2025-10-28T23:06:47.484Z,1761692807.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:06:47.839Z,1761692807.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951814,-0.174476,-0.252208],[0.215233,0.965875,0.144086],[0.218461,-0.191427,0.956886]] 2025-10-28T23:06:48.244Z,1761692808.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951894,-0.173413,-0.252638],[0.213289,0.966915,0.139937],[0.220012,-0.187090,0.957388]] 2025-10-28T23:06:48.488Z,1761692808.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:06:48.646Z,1761692808.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951910,-0.172972,-0.252880],[0.211278,0.968341,0.132955],[0.221877,-0.179990,0.958319]] 2025-10-28T23:06:49.050Z,1761692809.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951908,-0.172273,-0.253365],[0.208778,0.969958,0.124876],[0.224240,-0.171768,0.959277]] 2025-10-28T23:06:49.454Z,1761692809.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951911,-0.170890,-0.254288],[0.205470,0.971751,0.116112],[0.227263,-0.162777,0.960133]] 2025-10-28T23:06:49.859Z,1761692809.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952028,-0.168006,-0.255766],[0.201274,0.973359,0.109820],[0.230502,-0.156031,0.960481]] 2025-10-28T23:06:50.276Z,1761692810.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952054,-0.164912,-0.257678],[0.197505,0.974551,0.106025],[0.233635,-0.151834,0.960396]] 2025-10-28T23:06:50.666Z,1761692810.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951867,-0.163587,-0.259206],[0.195374,0.975424,0.101863],[0.236172,-0.147602,0.960435]] 2025-10-28T23:06:51.070Z,1761692811.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951528,-0.163643,-0.260413],[0.194812,0.975873,0.098591],[0.237996,-0.144544,0.960450]] 2025-10-28T23:06:51.476Z,1761692811.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951142,-0.164420,-0.261335],[0.195181,0.976028,0.096299],[0.239237,-0.142602,0.960433]] 2025-10-28T23:06:51.880Z,1761692811.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950760,-0.165103,-0.262291],[0.195858,0.975959,0.095620],[0.240198,-0.142283,0.960240]] 2025-10-28T23:06:52.313Z,1761692812.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950459,-0.165382,-0.263206],[0.196510,0.975740,0.096521],[0.240857,-0.143462,0.959899]] 2025-10-28T23:06:52.686Z,1761692812.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950219,-0.164875,-0.264387],[0.196986,0.975318,0.099757],[0.241414,-0.146871,0.959243]] 2025-10-28T23:06:53.091Z,1761692813.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950131,-0.163868,-0.265326],[0.197061,0.974906,0.103566],[0.241697,-0.150687,0.958580]] 2025-10-28T23:06:53.497Z,1761692813.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950168,-0.162114,-0.266269],[0.196570,0.974508,0.108136],[0.241951,-0.155088,0.957814]] 2025-10-28T23:06:53.898Z,1761692813.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950277,-0.159357,-0.267544],[0.195472,0.974047,0.114117],[0.242415,-0.160740,0.956764]] 2025-10-28T23:06:54.333Z,1761692814.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950416,-0.156442,-0.268767],[0.194017,0.973716,0.119312],[0.243037,-0.165541,0.955787]] 2025-10-28T23:06:54.706Z,1761692814.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950585,-0.153100,-0.270090],[0.191879,0.973627,0.123419],[0.244071,-0.169145,0.954892]] 2025-10-28T23:06:55.112Z,1761692815.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950646,-0.150151,-0.271525],[0.189880,0.973639,0.126384],[0.245391,-0.171704,0.954097]] 2025-10-28T23:06:55.515Z,1761692815.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950559,-0.148070,-0.272970],[0.188287,0.973811,0.127437],[0.246952,-0.172534,0.953544]] 2025-10-28T23:06:55.918Z,1761692815.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950327,-0.147208,-0.274243],[0.187680,0.973908,0.127590],[0.248305,-0.172722,0.953159]] 2025-10-28T23:06:56.339Z,1761692816.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950126,-0.146599,-0.275264],[0.187059,0.974121,0.126876],[0.249541,-0.172038,0.952960]] 2025-10-28T23:06:56.728Z,1761692816.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949932,-0.146421,-0.276026],[0.186512,0.974474,0.124954],[0.250684,-0.170180,0.952993]] 2025-10-28T23:06:57.130Z,1761692817.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949687,-0.146672,-0.276735],[0.186214,0.974861,0.122357],[0.251832,-0.167732,0.953125]] 2025-10-28T23:06:57.536Z,1761692817.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949578,-0.146818,-0.277029],[0.185864,0.975187,0.120268],[0.252498,-0.165694,0.953305]] 2025-10-28T23:06:57.939Z,1761692817.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949561,-0.147247,-0.276862],[0.185828,0.975401,0.118579],[0.252591,-0.164047,0.953565]] 2025-10-28T23:06:58.346Z,1761692818.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949695,-0.147013,-0.276524],[0.185322,0.975592,0.117800],[0.252457,-0.163120,0.953760]] 2025-10-28T23:06:58.748Z,1761692818.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949958,-0.145976,-0.276170],[0.184305,0.975734,0.118218],[0.252211,-0.163202,0.953811]] 2025-10-28T23:06:59.151Z,1761692819.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950265,-0.144538,-0.275872],[0.183124,0.975795,0.119537],[0.251917,-0.164111,0.953732]] 2025-10-28T23:06:59.556Z,1761692819.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950607,-0.143081,-0.275452],[0.181829,0.975909,0.120580],[0.251563,-0.164709,0.953723]] 2025-10-28T23:06:59.958Z,1761692819.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950986,-0.141101,-0.275166],[0.180344,0.975902,0.122849],[0.251200,-0.166452,0.953516]] 2025-10-28T23:07:00.363Z,1761692820.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951275,-0.139175,-0.275148],[0.178791,0.975982,0.124468],[0.251217,-0.167597,0.953311]] 2025-10-28T23:07:00.766Z,1761692820.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951324,-0.137159,-0.275988],[0.177210,0.976108,0.125737],[0.252148,-0.168525,0.952901]] 2025-10-28T23:07:01.170Z,1761692821.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951244,-0.134896,-0.277377],[0.175272,0.976394,0.126235],[0.253801,-0.168696,0.952432]] 2025-10-28T23:07:01.575Z,1761692821.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951238,-0.132733,-0.278440],[0.173336,0.976695,0.126577],[0.255150,-0.168668,0.952076]] 2025-10-28T23:07:01.980Z,1761692821.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951274,-0.131154,-0.279065],[0.171314,0.977297,0.124666],[0.256379,-0.166400,0.952146]] 2025-10-28T23:07:02.382Z,1761692822.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951389,-0.129425,-0.279477],[0.169105,0.977919,0.122795],[0.257413,-0.164086,0.952268]] 2025-10-28T23:07:02.786Z,1761692822.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951595,-0.127708,-0.279568],[0.166797,0.978572,0.120726],[0.258160,-0.161514,0.952506]] 2025-10-28T23:07:03.191Z,1761692823.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951899,-0.125717,-0.279435],[0.164253,0.979216,0.118986],[0.258669,-0.159161,0.952764]] 2025-10-28T23:07:03.596Z,1761692823.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952257,-0.123813,-0.279066],[0.161843,0.979790,0.117554],[0.258871,-0.157107,0.953049]] 2025-10-28T23:07:03.999Z,1761692823.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952655,-0.122240,-0.278400],[0.160001,0.980141,0.117145],[0.258551,-0.156143,0.953295]] 2025-10-28T23:07:04.403Z,1761692824.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953037,-0.120593,-0.277807],[0.158262,0.980399,0.117350],[0.258210,-0.155805,0.953442]] 2025-10-28T23:07:04.808Z,1761692824.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953588,-0.118605,-0.276771],[0.156150,0.980690,0.117744],[0.257462,-0.155497,0.953695]] 2025-10-28T23:07:05.213Z,1761692825.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954124,-0.117045,-0.275588],[0.154515,0.980875,0.118364],[0.256463,-0.155516,0.953961]] 2025-10-28T23:07:05.614Z,1761692825.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954689,-0.115225,-0.274395],[0.152815,0.980974,0.119744],[0.255376,-0.156250,0.954133]] 2025-10-28T23:07:06.018Z,1761692826.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955233,-0.114014,-0.273003],[0.151535,0.981081,0.120489],[0.254101,-0.156464,0.954438]] 2025-10-28T23:07:06.423Z,1761692826.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955771,-0.112734,-0.271647],[0.150517,0.980992,0.122471],[0.252677,-0.157942,0.954572]] 2025-10-28T23:07:06.829Z,1761692826.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956267,-0.111641,-0.270350],[0.149768,0.980823,0.124720],[0.251242,-0.159755,0.954649]] 2025-10-28T23:07:07.230Z,1761692827.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956677,-0.110573,-0.269338],[0.149175,0.980582,0.127301],[0.250032,-0.161965,0.954595]] 2025-10-28T23:07:07.635Z,1761692827.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957091,-0.109640,-0.268245],[0.148416,0.980504,0.128783],[0.248896,-0.163069,0.954704]] 2025-10-28T23:07:08.038Z,1761692828.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957502,-0.108253,-0.267340],[0.147613,0.980228,0.131768],[0.247790,-0.165631,0.954550]] 2025-10-28T23:07:08.444Z,1761692828.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958004,-0.106150,-0.266382],[0.145979,0.980112,0.134430],[0.246815,-0.167671,0.954447]] 2025-10-28T23:07:08.846Z,1761692828.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958597,-0.103008,-0.265484],[0.143430,0.980044,0.137630],[0.246009,-0.170010,0.954241]] 2025-10-28T23:07:09.250Z,1761692829.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959331,-0.099260,-0.264257],[0.139879,0.980280,0.139589],[0.245191,-0.170876,0.954297]] 2025-10-28T23:07:09.654Z,1761692829.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960228,-0.093812,-0.262986],[0.135119,0.980363,0.143639],[0.244347,-0.173460,0.954047]] 2025-10-28T23:07:10.060Z,1761692830.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961213,-0.088541,-0.261207],[0.129792,0.980861,0.145140],[0.243357,-0.173413,0.954309]] 2025-10-28T23:07:10.464Z,1761692830.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962143,-0.083966,-0.259289],[0.124842,0.981462,0.145422],[0.242271,-0.172287,0.954789]] 2025-10-28T23:07:10.867Z,1761692830.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963083,-0.079786,-0.257108],[0.119993,0.982175,0.144684],[0.240981,-0.170194,0.955490]] 2025-10-28T23:07:11.271Z,1761692831.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963945,-0.076410,-0.254894],[0.115891,0.982819,0.143652],[0.239538,-0.168012,0.956239]] 2025-10-28T23:07:11.674Z,1761692831.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964775,-0.074117,-0.252419],[0.112609,0.983494,0.141626],[0.237756,-0.165062,0.957197]] 2025-10-28T23:07:12.080Z,1761692832.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965537,-0.072692,-0.249907],[0.110174,0.984085,0.139419],[0.235795,-0.162148,0.958180]] 2025-10-28T23:07:12.483Z,1761692832.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966238,-0.071048,-0.247662],[0.107818,0.984516,0.138213],[0.234008,-0.160249,0.958937]] 2025-10-28T23:07:12.886Z,1761692832.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967006,-0.069937,-0.244964],[0.106211,0.984701,0.138139],[0.231555,-0.159599,0.959641]] 2025-10-28T23:07:13.291Z,1761692833.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967770,-0.068616,-0.242308],[0.104596,0.984769,0.138887],[0.229087,-0.159755,0.960207]] 2025-10-28T23:07:13.696Z,1761692833.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968532,-0.067717,-0.239499],[0.103226,0.984902,0.138968],[0.226472,-0.159317,0.960900]] 2025-10-28T23:07:14.098Z,1761692834.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969195,-0.067013,-0.237003],[0.102243,0.984912,0.139626],[0.224070,-0.159557,0.961423]] 2025-10-28T23:07:14.503Z,1761692834.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969835,-0.065984,-0.234664],[0.100980,0.984933,0.140390],[0.221865,-0.159852,0.961885]] 2025-10-28T23:07:14.906Z,1761692834.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970402,-0.064987,-0.232586],[0.099860,0.984896,0.141449],[0.219881,-0.160489,0.962235]] 2025-10-28T23:07:15.310Z,1761692835.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970897,-0.064079,-0.230766],[0.098726,0.984950,0.141870],[0.218202,-0.160524,0.962611]] 2025-10-28T23:07:15.714Z,1761692835.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971315,-0.063766,-0.229086],[0.097899,0.985177,0.140864],[0.216708,-0.159251,0.963160]] 2025-10-28T23:07:16.118Z,1761692836.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971655,-0.063532,-0.227709],[0.097198,0.985395,0.139821],[0.215500,-0.157990,0.963638]] 2025-10-28T23:07:16.524Z,1761692836.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971955,-0.063761,-0.226360],[0.096911,0.985610,0.138495],[0.214272,-0.156548,0.964148]] 2025-10-28T23:07:16.928Z,1761692836.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972259,-0.063660,-0.225079],[0.096425,0.985767,0.137712],[0.213108,-0.155595,0.964559]] 2025-10-28T23:07:17.330Z,1761692837.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972626,-0.064083,-0.223365],[0.096119,0.986085,0.135637],[0.211565,-0.153394,0.965251]] 2025-10-28T23:07:17.734Z,1761692837.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973041,-0.064716,-0.221368],[0.096180,0.986242,0.134444],[0.209622,-0.152111,0.965878]] 2025-10-28T23:07:18.138Z,1761692838.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973536,-0.065389,-0.218979],[0.096085,0.986501,0.132600],[0.207353,-0.150131,0.966677]] 2025-10-28T23:07:18.542Z,1761692838.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974047,-0.066362,-0.216401],[0.096267,0.986735,0.130717],[0.204855,-0.148157,0.967514]] 2025-10-28T23:07:18.608Z,1761692838.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:07:18.946Z,1761692838.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974585,-0.067408,-0.213635],[0.096427,0.987016,0.128457],[0.202202,-0.145793,0.968431]] 2025-10-28T23:07:19.357Z,1761692839.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975595,-0.070768,-0.207862],[0.097994,0.987463,0.123747],[0.196499,-0.141096,0.970299]] 2025-10-28T23:07:19.612Z,1761692839.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:07:19.759Z,1761692839.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976082,-0.072527,-0.204950],[0.099043,0.987548,0.122223],[0.193534,-0.139598,0.971111]] 2025-10-28T23:07:20.163Z,1761692840.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976481,-0.075181,-0.202072],[0.100710,0.987753,0.119172],[0.190638,-0.136720,0.972093]] 2025-10-28T23:07:20.567Z,1761692840.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976857,-0.077430,-0.199387],[0.102529,0.987612,0.118789],[0.187719,-0.136483,0.972694]] 2025-10-28T23:07:20.970Z,1761692840.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977202,-0.080094,-0.196624],[0.104810,0.987385,0.118688],[0.184638,-0.136590,0.973269]] 2025-10-28T23:07:21.370Z,1761692841.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977480,-0.082876,-0.194074],[0.107315,0.987079,0.118992],[0.181705,-0.137139,0.973743]] 2025-10-28T23:07:21.774Z,1761692841.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977749,-0.085604,-0.191515],[0.109877,0.986683,0.119929],[0.178699,-0.138303,0.974135]] 2025-10-28T23:07:22.179Z,1761692842.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978037,-0.087958,-0.188963],[0.112485,0.985980,0.123250],[0.175473,-0.141799,0.974219]] 2025-10-28T23:07:22.585Z,1761692842.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978289,-0.090238,-0.186567],[0.115013,0.985272,0.126536],[0.172400,-0.145247,0.974259]] 2025-10-28T23:07:22.991Z,1761692842.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978526,-0.092029,-0.184439],[0.117140,0.984540,0.130227],[0.169603,-0.149036,0.974178]] 2025-10-28T23:07:23.390Z,1761692843.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978811,-0.092815,-0.182520],[0.118311,0.983873,0.134152],[0.167125,-0.152904,0.974007]] 2025-10-28T23:07:23.795Z,1761692843.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979215,-0.092393,-0.180556],[0.118093,0.983479,0.137198],[0.164897,-0.155668,0.973949]] 2025-10-28T23:07:24.200Z,1761692844.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979691,-0.091071,-0.178638],[0.116797,0.983348,0.139226],[0.162984,-0.157263,0.974015]] 2025-10-28T23:07:24.602Z,1761692844.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980195,-0.089723,-0.176546],[0.115050,0.983603,0.138882],[0.161190,-0.156443,0.974445]] 2025-10-28T23:07:25.007Z,1761692845.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980721,-0.088013,-0.174470],[0.112852,0.983985,0.137975],[0.159532,-0.155005,0.974948]] 2025-10-28T23:07:25.410Z,1761692845.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981316,-0.086140,-0.172040],[0.110199,0.984619,0.135579],[0.157715,-0.152005,0.975715]] 2025-10-28T23:07:25.815Z,1761692845.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981950,-0.084594,-0.169171],[0.107612,0.985408,0.131875],[0.155546,-0.147699,0.976724]] 2025-10-28T23:07:26.218Z,1761692846.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982476,-0.084819,-0.165971],[0.106490,0.986253,0.126353],[0.152972,-0.141813,0.978002]] 2025-10-28T23:07:26.623Z,1761692846.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982908,-0.086097,-0.162722],[0.106522,0.986887,0.121272],[0.150147,-0.136533,0.979191]] 2025-10-28T23:07:27.028Z,1761692847.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983237,-0.088337,-0.159506],[0.107766,0.987200,0.117570],[0.147078,-0.132788,0.980171]] 2025-10-28T23:07:27.430Z,1761692847.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983484,-0.091367,-0.156243],[0.109906,0.987331,0.114447],[0.143806,-0.129729,0.981066]] 2025-10-28T23:07:27.834Z,1761692847.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983636,-0.095002,-0.153085],[0.112837,0.987240,0.112361],[0.140457,-0.127796,0.981804]] 2025-10-28T23:07:28.238Z,1761692848.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983747,-0.098659,-0.150028],[0.116046,0.986918,0.111920],[0.137023,-0.127511,0.982327]] 2025-10-28T23:07:28.643Z,1761692848.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983800,-0.102446,-0.147112],[0.119601,0.986379,0.112925],[0.133540,-0.128691,0.982652]] 2025-10-28T23:07:29.047Z,1761692849.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983828,-0.106031,-0.144361],[0.123030,0.985785,0.114415],[0.130178,-0.130326,0.982888]] 2025-10-28T23:07:29.452Z,1761692849.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983897,-0.109072,-0.141595],[0.126046,0.985099,0.117018],[0.126722,-0.132981,0.982984]] 2025-10-28T23:07:29.854Z,1761692849.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983960,-0.111528,-0.139230],[0.128680,0.984282,0.120958],[0.123552,-0.136934,0.982845]] 2025-10-28T23:07:30.262Z,1761692850.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984059,-0.113704,-0.136745],[0.130784,0.983728,0.123188],[0.120513,-0.139108,0.982917]] 2025-10-28T23:07:30.663Z,1761692850.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984214,-0.114808,-0.134693],[0.131976,0.983169,0.126340],[0.117921,-0.142122,0.982800]] 2025-10-28T23:07:31.067Z,1761692851.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984363,-0.115784,-0.132754],[0.133034,0.982625,0.129423],[0.115462,-0.145060,0.982663]] 2025-10-28T23:07:31.472Z,1761692851.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984515,-0.116929,-0.130605],[0.134097,0.982208,0.131475],[0.112908,-0.146953,0.982678]] 2025-10-28T23:07:31.874Z,1761692851.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984638,-0.118285,-0.128439],[0.135227,0.981933,0.132371],[0.110461,-0.147706,0.982843]] 2025-10-28T23:07:32.319Z,1761692852.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984648,-0.120645,-0.126148],[0.137100,0.981840,0.131124],[0.108038,-0.146406,0.983307]] 2025-10-28T23:07:32.685Z,1761692852.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984637,-0.123058,-0.123883],[0.139068,0.981689,0.130182],[0.105595,-0.145410,0.983720]] 2025-10-28T23:07:33.086Z,1761692853.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984516,-0.126422,-0.121429],[0.141864,0.981536,0.128305],[0.102967,-0.143544,0.984273]] 2025-10-28T23:07:33.491Z,1761692853.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984403,-0.130205,-0.118312],[0.144997,0.981316,0.126473],[0.099634,-0.141656,0.984889]] 2025-10-28T23:07:33.894Z,1761692853.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984251,-0.134101,-0.115183],[0.148339,0.980937,0.125529],[0.096154,-0.140638,0.985381]] 2025-10-28T23:07:34.334Z,1761692854.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984070,-0.138129,-0.111919],[0.151866,0.980429,0.125281],[0.092424,-0.140282,0.985789]] 2025-10-28T23:07:34.703Z,1761692854.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983903,-0.141836,-0.108706],[0.155121,0.979896,0.125468],[0.088725,-0.140311,0.986124]] 2025-10-28T23:07:35.106Z,1761692855.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983844,-0.144645,-0.105496],[0.157618,0.979264,0.127270],[0.084899,-0.141842,0.986242]] 2025-10-28T23:07:35.511Z,1761692855.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983885,-0.146641,-0.102309],[0.159395,0.978585,0.130251],[0.081018,-0.144460,0.986188]] 2025-10-28T23:07:35.916Z,1761692855.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984135,-0.147098,-0.099202],[0.159673,0.978066,0.133757],[0.077351,-0.147475,0.986037]] 2025-10-28T23:07:36.340Z,1761692856.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984548,-0.146401,-0.096085],[0.158764,0.977764,0.137009],[0.073890,-0.150147,0.985899]] 2025-10-28T23:07:36.723Z,1761692856.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985109,-0.144633,-0.092962],[0.156824,0.977508,0.141012],[0.070476,-0.153490,0.985634]] 2025-10-28T23:07:37.140Z,1761692857.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985754,-0.142324,-0.089628],[0.154166,0.977618,0.143167],[0.067245,-0.154945,0.985632]] 2025-10-28T23:07:37.532Z,1761692857.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986485,-0.139186,-0.086451],[0.150756,0.977707,0.146156],[0.064181,-0.157214,0.985477]] 2025-10-28T23:07:37.935Z,1761692857.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987272,-0.135653,-0.083021],[0.146808,0.978082,0.147662],[0.061171,-0.157970,0.985547]] 2025-10-28T23:07:38.344Z,1761692858.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988049,-0.132099,-0.079429],[0.142645,0.978883,0.146425],[0.058409,-0.156005,0.986028]] 2025-10-28T23:07:38.743Z,1761692858.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988747,-0.128777,-0.076134],[0.138798,0.979544,0.145701],[0.055814,-0.154628,0.986395]] 2025-10-28T23:07:39.149Z,1761692859.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989272,-0.126482,-0.073097],[0.135966,0.980180,0.144084],[0.053425,-0.152477,0.986862]] 2025-10-28T23:07:39.551Z,1761692859.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989690,-0.124873,-0.070141],[0.133833,0.980722,0.142384],[0.051008,-0.150303,0.987323]] 2025-10-28T23:07:39.960Z,1761692859.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989954,-0.124582,-0.066862],[0.132947,0.981149,0.140257],[0.048128,-0.147737,0.987855]] 2025-10-28T23:07:40.362Z,1761692860.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990119,-0.125194,-0.063181],[0.132912,0.981458,0.138109],[0.044719,-0.145142,0.988400]] 2025-10-28T23:07:40.767Z,1761692860.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990130,-0.126925,-0.059438],[0.134002,0.981585,0.136139],[0.041064,-0.142760,0.988905]] 2025-10-28T23:07:41.172Z,1761692861.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990078,-0.129087,-0.055516],[0.135577,0.981397,0.135934],[0.036936,-0.142112,0.989161]] 2025-10-28T23:07:41.574Z,1761692861.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989918,-0.131929,-0.051544],[0.137819,0.981130,0.135607],[0.032681,-0.141343,0.989421]] 2025-10-28T23:07:41.978Z,1761692861.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989698,-0.134961,-0.047776],[0.140299,0.980740,0.135886],[0.028516,-0.141189,0.989572]] 2025-10-28T23:07:42.382Z,1761692862.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989402,-0.138359,-0.044055],[0.143155,0.980249,0.136452],[0.024305,-0.141313,0.989667]] 2025-10-28T23:07:42.789Z,1761692862.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989147,-0.141260,-0.040420],[0.145561,0.979585,0.138652],[0.020009,-0.143031,0.989516]] 2025-10-28T23:07:43.190Z,1761692863.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988974,-0.143477,-0.036668],[0.147237,0.979180,0.139744],[0.015855,-0.143602,0.989509]] 2025-10-28T23:07:43.594Z,1761692863.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988822,-0.145317,-0.033366],[0.148607,0.978718,0.141516],[0.012091,-0.144893,0.989374]] 2025-10-28T23:07:43.999Z,1761692863.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988842,-0.145854,-0.030286],[0.148721,0.978229,0.144742],[0.008516,-0.147631,0.989006]] 2025-10-28T23:07:44.404Z,1761692864.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988993,-0.145455,-0.027108],[0.147872,0.977987,0.147229],[0.005096,-0.149617,0.988731]] 2025-10-28T23:07:44.808Z,1761692864.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989187,-0.144730,-0.023711],[0.146650,0.978020,0.148228],[0.001736,-0.150102,0.988669]] 2025-10-28T23:07:45.211Z,1761692865.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989510,-0.142981,-0.020630],[0.144455,0.978060,0.150103],[-0.001285,-0.151509,0.988455]] 2025-10-28T23:07:45.614Z,1761692865.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989898,-0.140740,-0.017141],[0.141705,0.978176,0.151960],[-0.004620,-0.152854,0.988238]] 2025-10-28T23:07:46.020Z,1761692866.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990261,-0.138569,-0.013493],[0.138997,0.978456,0.152654],[-0.007951,-0.153043,0.988188]] 2025-10-28T23:07:46.424Z,1761692866.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990606,-0.136383,-0.010015],[0.136302,0.978794,0.152915],[-0.011053,-0.152844,0.988189]] 2025-10-28T23:07:46.826Z,1761692866.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990939,-0.134157,-0.006432],[0.133549,0.979093,0.153434],[-0.014287,-0.152903,0.988138]] 2025-10-28T23:07:47.231Z,1761692867.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991103,-0.133066,-0.002782],[0.131938,0.979522,0.152084],[-0.017513,-0.151098,0.988364]] 2025-10-28T23:07:47.636Z,1761692867.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991206,-0.132324,0.000906],[0.130670,0.979856,0.151019],[-0.020871,-0.149572,0.988530]] 2025-10-28T23:07:48.038Z,1761692868.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991120,-0.132901,0.004213],[0.130772,0.979994,0.150033],[-0.024068,-0.148149,0.988672]] 2025-10-28T23:07:48.443Z,1761692868.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990925,-0.134195,0.007670],[0.131579,0.980101,0.148622],[-0.027462,-0.146264,0.988864]] 2025-10-28T23:07:48.847Z,1761692868.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990593,-0.136403,0.010943],[0.133323,0.980051,0.147397],[-0.030830,-0.144552,0.989017]] 2025-10-28T23:07:49.251Z,1761692869.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990212,-0.138926,0.013418],[0.135445,0.979682,0.147912],[-0.033694,-0.144647,0.988910]] 2025-10-28T23:07:49.656Z,1761692869.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989760,-0.141863,0.015808],[0.138000,0.979304,0.148055],[-0.036484,-0.144358,0.988853]] 2025-10-28T23:07:49.740Z,1761692869.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:07:50.059Z,1761692870.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989383,-0.144194,0.018150],[0.139959,0.978990,0.148293],[-0.039152,-0.144179,0.988777]] 2025-10-28T23:07:50.464Z,1761692870.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988970,-0.146705,0.020391],[0.142072,0.978511,0.149439],[-0.041876,-0.144894,0.988561]] 2025-10-28T23:07:50.745Z,1761692870.745 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:07:50.866Z,1761692870.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988626,-0.148732,0.022287],[0.143723,0.977994,0.151232],[-0.044289,-0.146309,0.988247]] 2025-10-28T23:07:51.272Z,1761692871.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988367,-0.150153,0.024167],[0.144793,0.977635,0.152529],[-0.046529,-0.147255,0.988004]] 2025-10-28T23:07:51.674Z,1761692871.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988269,-0.150520,0.025861],[0.144845,0.977430,0.153789],[-0.048426,-0.148239,0.987765]] 2025-10-28T23:07:52.078Z,1761692872.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988285,-0.150099,0.027634],[0.144044,0.977170,0.156174],[-0.050445,-0.150364,0.987343]] 2025-10-28T23:07:52.485Z,1761692872.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988466,-0.148576,0.029330],[0.142082,0.976843,0.159972],[-0.052419,-0.153960,0.986686]] 2025-10-28T23:07:52.888Z,1761692872.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988719,-0.146397,0.031667],[0.139433,0.976821,0.162416],[-0.054711,-0.156169,0.986214]] 2025-10-28T23:07:53.290Z,1761692873.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989047,-0.143648,0.033921],[0.136223,0.976863,0.164868],[-0.056819,-0.158441,0.985732]] 2025-10-28T23:07:53.694Z,1761692873.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989362,-0.140815,0.036517],[0.132904,0.977010,0.166696],[-0.059151,-0.160070,0.985332]] 2025-10-28T23:07:54.098Z,1761692874.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989695,-0.137715,0.039222],[0.129215,0.976969,0.169807],[-0.061703,-0.162989,0.984697]] 2025-10-28T23:07:54.503Z,1761692874.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990047,-0.134142,0.042582],[0.125105,0.977415,0.170319],[-0.064468,-0.163296,0.984468]] 2025-10-28T23:07:54.908Z,1761692874.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990296,-0.131183,0.045869],[0.121611,0.977766,0.170833],[-0.067260,-0.163597,0.984232]] 2025-10-28T23:07:55.310Z,1761692875.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990441,-0.128878,0.049174],[0.118866,0.978284,0.169800],[-0.069989,-0.162332,0.984251]] 2025-10-28T23:07:55.715Z,1761692875.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990563,-0.126686,0.052298],[0.116269,0.978778,0.168747],[-0.072566,-0.161074,0.984271]] 2025-10-28T23:07:56.119Z,1761692876.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990554,-0.125511,0.055222],[0.114747,0.979205,0.167302],[-0.075072,-0.159385,0.984358]] 2025-10-28T23:07:56.524Z,1761692876.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990438,-0.125178,0.058001],[0.114103,0.979562,0.165644],[-0.077551,-0.157442,0.984478]] 2025-10-28T23:07:56.926Z,1761692876.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990172,-0.126048,0.060585],[0.114732,0.979853,0.163476],[-0.079970,-0.154918,0.984685]] 2025-10-28T23:07:57.330Z,1761692877.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989768,-0.128133,0.062774],[0.116562,0.979850,0.162195],[-0.082292,-0.153218,0.984760]] 2025-10-28T23:07:57.735Z,1761692877.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989290,-0.130973,0.064436],[0.119160,0.979619,0.161703],[-0.084301,-0.152293,0.984734]] 2025-10-28T23:07:58.140Z,1761692878.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988708,-0.134591,0.065898],[0.122693,0.979506,0.159730],[-0.086046,-0.149841,0.984959]] 2025-10-28T23:07:58.542Z,1761692878.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988072,-0.138775,0.066746],[0.126758,0.979077,0.159189],[-0.087441,-0.148830,0.984989]] 2025-10-28T23:07:58.946Z,1761692878.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987364,-0.143478,0.067281],[0.131182,0.978211,0.160916],[-0.088903,-0.150057,0.984672]] 2025-10-28T23:07:59.352Z,1761692879.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986655,-0.148038,0.067800],[0.135581,0.977537,0.161367],[-0.090165,-0.150022,0.984563]] 2025-10-28T23:07:59.754Z,1761692879.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985932,-0.152785,0.067788],[0.139973,0.976353,0.164752],[-0.091357,-0.152946,0.984003]] 2025-10-28T23:08:00.160Z,1761692880.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985294,-0.156917,0.067615],[0.143819,0.975297,0.167664],[-0.092254,-0.155474,0.983523]] 2025-10-28T23:08:00.564Z,1761692880.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984799,-0.160089,0.067397],[0.146691,0.974314,0.170861],[-0.093019,-0.158377,0.982987]] 2025-10-28T23:08:00.966Z,1761692880.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984576,-0.161513,0.067256],[0.147827,0.973590,0.173980],[-0.093580,-0.161355,0.982450]] 2025-10-28T23:08:01.371Z,1761692881.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984645,-0.161027,0.067413],[0.146902,0.972940,0.178348],[-0.094308,-0.165706,0.981655]] 2025-10-28T23:08:01.774Z,1761692881.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984996,-0.158555,0.068136],[0.144119,0.972935,0.180631],[-0.094932,-0.168101,0.981188]] 2025-10-28T23:08:02.183Z,1761692882.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985434,-0.155181,0.069562],[0.140439,0.973272,0.181712],[-0.095901,-0.169296,0.980888]] 2025-10-28T23:08:02.582Z,1761692882.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985993,-0.150784,0.071285],[0.135803,0.973931,0.181702],[-0.096825,-0.169477,0.980766]] 2025-10-28T23:08:02.987Z,1761692882.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986575,-0.145908,0.073357],[0.130737,0.974820,0.180648],[-0.097868,-0.168632,0.980808]] 2025-10-28T23:08:03.391Z,1761692883.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987110,-0.140848,0.075995],[0.125570,0.976009,0.177871],[-0.099224,-0.166036,0.981115]] 2025-10-28T23:08:03.801Z,1761692883.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987560,-0.136065,0.078815],[0.120707,0.977216,0.174580],[-0.100773,-0.162895,0.981484]] 2025-10-28T23:08:04.207Z,1761692884.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987969,-0.129133,0.085095],[0.113710,0.979510,0.166226],[-0.104817,-0.154550,0.982409]] 2025-10-28T23:08:04.607Z,1761692884.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987929,-0.127310,0.088253],[0.111780,0.980300,0.162838],[-0.107245,-0.151007,0.982698]] 2025-10-28T23:08:05.012Z,1761692885.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987792,-0.126375,0.091086],[0.110851,0.981040,0.158976],[-0.109449,-0.146938,0.983072]] 2025-10-28T23:08:05.417Z,1761692885.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987478,-0.126889,0.093736],[0.111388,0.981567,0.155303],[-0.111714,-0.142917,0.983410]] 2025-10-28T23:08:05.818Z,1761692885.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987102,-0.128713,0.095200],[0.113214,0.981664,0.153355],[-0.113193,-0.140599,0.983575]] 2025-10-28T23:08:06.218Z,1761692886.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986617,-0.131528,0.096368],[0.116100,0.981664,0.151184],[-0.114486,-0.137973,0.983797]] 2025-10-28T23:08:06.622Z,1761692886.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986087,-0.135005,0.096987],[0.119685,0.981508,0.149390],[-0.115362,-0.135703,0.984010]] 2025-10-28T23:08:07.028Z,1761692887.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985515,-0.138925,0.097265],[0.123781,0.981297,0.147425],[-0.115927,-0.133250,0.984279]] 2025-10-28T23:08:07.430Z,1761692887.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984880,-0.143368,0.097247],[0.128205,0.980725,0.147448],[-0.116512,-0.132751,0.984277]] 2025-10-28T23:08:07.835Z,1761692887.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984345,-0.147482,0.096504],[0.132272,0.980022,0.148530],[-0.116482,-0.133440,0.984188]] 2025-10-28T23:08:08.239Z,1761692888.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983936,-0.150912,0.095372],[0.135625,0.979285,0.150355],[-0.116086,-0.135005,0.984021]] 2025-10-28T23:08:08.642Z,1761692888.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983663,-0.153347,0.094293],[0.138009,0.978706,0.151947],[-0.115586,-0.136451,0.983881]] 2025-10-28T23:08:09.048Z,1761692889.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983608,-0.154569,0.092861],[0.139166,0.978198,0.154146],[-0.114663,-0.138697,0.983675]] 2025-10-28T23:08:09.450Z,1761692889.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983807,-0.153799,0.092035],[0.138360,0.978099,0.155495],[-0.113934,-0.140243,0.983540]] 2025-10-28T23:08:09.854Z,1761692889.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984124,-0.151946,0.091721],[0.136396,0.978143,0.156946],[-0.113564,-0.141944,0.983339]] 2025-10-28T23:08:10.262Z,1761692890.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984586,-0.148820,0.091887],[0.133083,0.978345,0.158523],[-0.113488,-0.143851,0.983070]] 2025-10-28T23:08:10.664Z,1761692890.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985105,-0.144958,0.092490],[0.129040,0.978721,0.159545],[-0.113649,-0.145233,0.982848]] 2025-10-28T23:08:11.067Z,1761692891.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985574,-0.141188,0.093325],[0.125138,0.979181,0.159826],[-0.113947,-0.145842,0.982724]] 2025-10-28T23:08:11.471Z,1761692891.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986008,-0.137246,0.094617],[0.121097,0.979781,0.159264],[-0.114562,-0.145578,0.982692]] 2025-10-28T23:08:11.875Z,1761692891.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986286,-0.134070,0.096261],[0.117923,0.980477,0.157351],[-0.115477,-0.143841,0.982840]] 2025-10-28T23:08:12.310Z,1761692892.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986391,-0.132124,0.097859],[0.115949,0.980972,0.155723],[-0.116572,-0.142257,0.982941]] 2025-10-28T23:08:12.682Z,1761692892.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986358,-0.131036,0.099637],[0.114957,0.981542,0.152838],[-0.117825,-0.139299,0.983216]] 2025-10-28T23:08:13.086Z,1761692893.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986150,-0.131450,0.101136],[0.115461,0.981869,0.150339],[-0.119064,-0.136579,0.983448]] 2025-10-28T23:08:13.493Z,1761692893.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985771,-0.133271,0.102442],[0.117277,0.981881,0.148846],[-0.120422,-0.134714,0.983540]] 2025-10-28T23:08:13.895Z,1761692893.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985231,-0.136279,0.103675],[0.120156,0.981595,0.148440],[-0.121996,-0.133790,0.983472]] 2025-10-28T23:08:14.333Z,1761692894.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984605,-0.140033,0.104614],[0.123830,0.981211,0.147956],[-0.123367,-0.132724,0.983445]] 2025-10-28T23:08:14.703Z,1761692894.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983933,-0.144498,0.104859],[0.128056,0.980439,0.149471],[-0.124407,-0.133642,0.983190]] 2025-10-28T23:08:15.107Z,1761692895.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983216,-0.149438,0.104666],[0.132798,0.979558,0.151098],[-0.125107,-0.134663,0.982962]] 2025-10-28T23:08:15.511Z,1761692895.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982480,-0.154227,0.104627],[0.137513,0.978834,0.151570],[-0.125789,-0.134527,0.982894]] 2025-10-28T23:08:15.916Z,1761692895.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981762,-0.158963,0.104279],[0.142053,0.977910,0.153339],[-0.126350,-0.135729,0.982656]] 2025-10-28T23:08:16.337Z,1761692896.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981278,-0.162439,0.103479],[0.145324,0.977059,0.155679],[-0.126393,-0.137726,0.982373]] 2025-10-28T23:08:16.724Z,1761692896.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980941,-0.164923,0.102740],[0.147703,0.976457,0.157215],[-0.126250,-0.139043,0.982206]] 2025-10-28T23:08:17.127Z,1761692897.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980800,-0.166266,0.101918],[0.148796,0.975834,0.160021],[-0.126061,-0.141784,0.981838]] 2025-10-28T23:08:17.531Z,1761692897.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980953,-0.166025,0.100833],[0.148306,0.975381,0.163207],[-0.125447,-0.145145,0.981426]] 2025-10-28T23:08:17.936Z,1761692897.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981257,-0.164468,0.100427],[0.146683,0.975450,0.164262],[-0.124977,-0.146452,0.981291]] 2025-10-28T23:08:18.346Z,1761692898.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981767,-0.161615,0.100071],[0.143980,0.975958,0.163633],[-0.124111,-0.146242,0.981433]] 2025-10-28T23:08:18.743Z,1761692898.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982397,-0.157936,0.099758],[0.140513,0.976655,0.162483],[-0.123091,-0.145605,0.981656]] 2025-10-28T23:08:19.147Z,1761692899.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983068,-0.153649,0.099845],[0.136444,0.977504,0.160838],[-0.122312,-0.144491,0.981918]] 2025-10-28T23:08:19.550Z,1761692899.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983715,-0.149279,0.100101],[0.132201,0.978271,0.159715],[-0.121768,-0.143880,0.982075]] 2025-10-28T23:08:19.957Z,1761692899.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984358,-0.144483,0.100817],[0.127685,0.979338,0.156824],[-0.121392,-0.141498,0.982467]] 2025-10-28T23:08:20.358Z,1761692900.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984920,-0.140066,0.101562],[0.123395,0.980161,0.155107],[-0.121272,-0.140235,0.982663]] 2025-10-28T23:08:20.762Z,1761692900.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985384,-0.136113,0.102425],[0.119571,0.980930,0.153228],[-0.121328,-0.138741,0.982869]] 2025-10-28T23:08:20.864Z,1761692900.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:08:21.166Z,1761692901.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985702,-0.133053,0.103387],[0.116685,0.981647,0.150844],[-0.121560,-0.136624,0.983136]] 2025-10-28T23:08:21.572Z,1761692901.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985902,-0.131254,0.103777],[0.115179,0.982244,0.148088],[-0.121372,-0.134047,0.983514]] 2025-10-28T23:08:21.868Z,1761692901.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:08:21.974Z,1761692901.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985867,-0.131205,0.104173],[0.115657,0.982885,0.143388],[-0.121203,-0.129313,0.984169]] 2025-10-28T23:08:22.378Z,1761692902.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985545,-0.133647,0.104118],[0.118510,0.983027,0.140049],[-0.121068,-0.125686,0.984655]] 2025-10-28T23:08:22.782Z,1761692902.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985032,-0.137583,0.103838],[0.122985,0.983063,0.135873],[-0.120773,-0.121069,0.985270]] 2025-10-28T23:08:23.188Z,1761692903.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984332,-0.142947,0.103232],[0.128767,0.982719,0.132975],[-0.120456,-0.117598,0.985729]] 2025-10-28T23:08:23.590Z,1761692903.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983578,-0.148814,0.102117],[0.135093,0.982240,0.130207],[-0.119680,-0.114273,0.986214]] 2025-10-28T23:08:23.994Z,1761692903.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982790,-0.154837,0.100742],[0.141552,0.981642,0.127834],[-0.118686,-0.111374,0.986666]] 2025-10-28T23:08:24.399Z,1761692904.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982094,-0.160103,0.099287],[0.147130,0.980989,0.126541],[-0.117660,-0.109667,0.986980]] 2025-10-28T23:08:24.803Z,1761692904.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981489,-0.164699,0.097738],[0.151961,0.980328,0.125959],[-0.116560,-0.108775,0.987209]] 2025-10-28T23:08:25.208Z,1761692905.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981096,-0.167926,0.096181],[0.155354,0.979795,0.125966],[-0.115391,-0.108643,0.987361]] 2025-10-28T23:08:25.610Z,1761692905.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980926,-0.169816,0.094590],[0.157287,0.979341,0.127090],[-0.114218,-0.109789,0.987371]] 2025-10-28T23:08:26.014Z,1761692906.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980963,-0.170355,0.093230],[0.157732,0.978992,0.129214],[-0.113283,-0.112049,0.987224]] 2025-10-28T23:08:26.420Z,1761692906.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981109,-0.169777,0.092741],[0.157049,0.978913,0.130636],[-0.112964,-0.113603,0.987083]] 2025-10-28T23:08:26.823Z,1761692906.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981253,-0.168996,0.092641],[0.156146,0.978900,0.131810],[-0.112961,-0.114873,0.986937]] 2025-10-28T23:08:27.226Z,1761692907.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981444,-0.168051,0.092343],[0.155054,0.978855,0.133422],[-0.112812,-0.116628,0.986748]] 2025-10-28T23:08:27.631Z,1761692907.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981574,-0.167353,0.092222],[0.154253,0.978839,0.134460],[-0.112773,-0.117757,0.986618]] 2025-10-28T23:08:28.036Z,1761692908.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981587,-0.167255,0.092263],[0.154148,0.978851,0.134494],[-0.112806,-0.117796,0.986610]] 2025-10-28T23:08:28.438Z,1761692908.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981398,-0.168344,0.092298],[0.155355,0.978811,0.133397],[-0.112799,-0.116577,0.986756]] 2025-10-28T23:08:28.843Z,1761692908.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981069,-0.170105,0.092561],[0.157205,0.978662,0.132314],[-0.113093,-0.115259,0.986877]] 2025-10-28T23:08:29.246Z,1761692909.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980914,-0.171259,0.092082],[0.158410,0.978467,0.132321],[-0.112760,-0.115209,0.986921]] 2025-10-28T23:08:29.651Z,1761692909.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980641,-0.172962,0.091805],[0.160147,0.978190,0.132277],[-0.112681,-0.115014,0.986952]] 2025-10-28T23:08:30.056Z,1761692910.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980319,-0.174939,0.091494],[0.162163,0.977867,0.132210],[-0.112598,-0.114771,0.986990]] 2025-10-28T23:08:30.459Z,1761692910.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979982,-0.177034,0.091068],[0.164164,0.977370,0.133408],[-0.112625,-0.115787,0.986868]] 2025-10-28T23:08:30.863Z,1761692910.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979632,-0.179270,0.090463],[0.166459,0.976974,0.133464],[-0.112306,-0.115687,0.986916]] 2025-10-28T23:08:31.267Z,1761692911.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979520,-0.180597,0.089024],[0.167748,0.976506,0.135266],[-0.111361,-0.117563,0.986802]] 2025-10-28T23:08:31.671Z,1761692911.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979297,-0.182378,0.087839],[0.169457,0.975953,0.137116],[-0.110733,-0.119392,0.986653]] 2025-10-28T23:08:32.077Z,1761692912.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979338,-0.183092,0.085877],[0.170106,0.975456,0.139822],[-0.109369,-0.122325,0.986446]] 2025-10-28T23:08:32.478Z,1761692912.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979333,-0.183620,0.084793],[0.170613,0.975168,0.141207],[-0.108616,-0.123822,0.986342]] 2025-10-28T23:08:32.883Z,1761692912.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979423,-0.184004,0.082907],[0.171019,0.974811,0.143164],[-0.107161,-0.126039,0.986220]] 2025-10-28T23:08:33.288Z,1761692913.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979514,-0.184094,0.081615],[0.171104,0.974564,0.144736],[-0.106185,-0.127807,0.986099]] 2025-10-28T23:08:33.690Z,1761692913.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979784,-0.183219,0.080339],[0.170166,0.974401,0.146920],[-0.105201,-0.130279,0.985880]] 2025-10-28T23:08:34.095Z,1761692914.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980106,-0.181982,0.079209],[0.168891,0.974345,0.148755],[-0.104248,-0.132418,0.985697]] 2025-10-28T23:08:34.498Z,1761692914.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980383,-0.180630,0.078876],[0.167616,0.974601,0.148515],[-0.103699,-0.132381,0.985759]] 2025-10-28T23:08:34.902Z,1761692914.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980644,-0.179401,0.078442],[0.166427,0.974768,0.148757],[-0.103150,-0.132822,0.985758]] 2025-10-28T23:08:35.307Z,1761692915.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980838,-0.178484,0.078106],[0.165359,0.974654,0.150687],[-0.103021,-0.134884,0.985491]] 2025-10-28T23:08:35.711Z,1761692915.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980968,-0.177930,0.077731],[0.164833,0.974704,0.150939],[-0.102621,-0.135254,0.985482]] 2025-10-28T23:08:36.114Z,1761692916.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981118,-0.176915,0.078161],[0.163859,0.975006,0.150045],[-0.102752,-0.134404,0.985585]] 2025-10-28T23:08:36.518Z,1761692916.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981108,-0.177022,0.078037],[0.164018,0.975031,0.149708],[-0.102590,-0.134081,0.985646]] 2025-10-28T23:08:36.923Z,1761692916.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981024,-0.177826,0.077269],[0.164927,0.974889,0.149637],[-0.101938,-0.134054,0.985717]] 2025-10-28T23:08:37.327Z,1761692917.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980812,-0.179139,0.076923],[0.166366,0.974772,0.148798],[-0.101638,-0.133146,0.985871]] 2025-10-28T23:08:37.731Z,1761692917.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980556,-0.180832,0.076224],[0.168163,0.974495,0.148599],[-0.101151,-0.132891,0.985956]] 2025-10-28T23:08:38.134Z,1761692918.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980169,-0.183224,0.075486],[0.170691,0.974133,0.148086],[-0.100667,-0.132264,0.986089]] 2025-10-28T23:08:38.538Z,1761692918.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979596,-0.186553,0.074767],[0.174196,0.973663,0.147093],[-0.100238,-0.131068,0.986293]] 2025-10-28T23:08:38.944Z,1761692918.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979137,-0.189574,0.073156],[0.177403,0.973071,0.147180],[-0.099087,-0.131132,0.986401]] 2025-10-28T23:08:39.349Z,1761692919.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978673,-0.192715,0.071136],[0.180762,0.972407,0.147482],[-0.097595,-0.131478,0.986503]] 2025-10-28T23:08:39.751Z,1761692919.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978434,-0.194640,0.069152],[0.182821,0.971841,0.148670],[-0.096142,-0.132821,0.986466]] 2025-10-28T23:08:40.155Z,1761692920.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978215,-0.196165,0.067933],[0.184528,0.971563,0.148373],[-0.095107,-0.132606,0.986595]] 2025-10-28T23:08:40.561Z,1761692920.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978053,-0.197416,0.066633],[0.185812,0.971108,0.149746],[-0.094270,-0.134078,0.986477]] 2025-10-28T23:08:40.963Z,1761692920.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978069,-0.197681,0.065592],[0.186110,0.970877,0.150864],[-0.093505,-0.135348,0.986376]] 2025-10-28T23:08:41.367Z,1761692921.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978168,-0.197474,0.064736],[0.186008,0.970875,0.151006],[-0.092670,-0.135668,0.986411]] 2025-10-28T23:08:41.771Z,1761692921.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978146,-0.197725,0.064305],[0.186372,0.970899,0.150402],[-0.092172,-0.135131,0.986531]] 2025-10-28T23:08:42.176Z,1761692922.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978078,-0.198269,0.063660],[0.186957,0.970715,0.150862],[-0.091707,-0.135653,0.986503]] 2025-10-28T23:08:42.579Z,1761692922.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977978,-0.199090,0.062623],[0.187838,0.970417,0.151685],[-0.090970,-0.136581,0.986443]] 2025-10-28T23:08:42.983Z,1761692922.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977853,-0.200160,0.061155],[0.188949,0.969939,0.153352],[-0.090011,-0.138401,0.986277]] 2025-10-28T23:08:43.388Z,1761692923.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977768,-0.201170,0.059170],[0.190023,0.969365,0.155637],[-0.088667,-0.140934,0.986041]] 2025-10-28T23:08:43.793Z,1761692923.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977865,-0.201425,0.056644],[0.190361,0.968794,0.158749],[-0.086852,-0.144453,0.985693]] 2025-10-28T23:08:44.195Z,1761692924.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978154,-0.200772,0.053906],[0.189763,0.968235,0.162823],[-0.084884,-0.149037,0.985182]] 2025-10-28T23:08:44.599Z,1761692924.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978710,-0.198733,0.051305],[0.187729,0.967805,0.167666],[-0.082974,-0.154465,0.984508]] 2025-10-28T23:08:45.002Z,1761692925.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979414,-0.195812,0.049044],[0.184863,0.967652,0.171686],[-0.081076,-0.159085,0.983930]] 2025-10-28T23:08:45.408Z,1761692925.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980228,-0.192153,0.047220],[0.181276,0.967741,0.174978],[-0.079319,-0.162958,0.983439]] 2025-10-28T23:08:45.812Z,1761692925.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981063,-0.188186,0.045845],[0.177360,0.967946,0.177831],[-0.077841,-0.166333,0.982992]] 2025-10-28T23:08:46.215Z,1761692926.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981931,-0.183725,0.045348],[0.173123,0.968903,0.176792],[-0.076419,-0.165747,0.983203]] 2025-10-28T23:08:46.619Z,1761692926.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982716,-0.179585,0.044934],[0.169263,0.969956,0.174743],[-0.074965,-0.164117,0.983588]] 2025-10-28T23:08:47.023Z,1761692927.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983444,-0.175668,0.044478],[0.165681,0.971070,0.171968],[-0.073400,-0.161752,0.984098]] 2025-10-28T23:08:47.429Z,1761692927.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984011,-0.172570,0.044064],[0.163005,0.972278,0.167646],[-0.071773,-0.157783,0.984862]] 2025-10-28T23:08:47.830Z,1761692927.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984333,-0.170927,0.043272],[0.161807,0.973193,0.163444],[-0.070049,-0.153882,0.985603]] 2025-10-28T23:08:48.234Z,1761692928.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984348,-0.171022,0.042553],[0.162380,0.973966,0.158185],[-0.068499,-0.148799,0.986492]] 2025-10-28T23:08:48.640Z,1761692928.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984015,-0.173196,0.041455],[0.165063,0.974377,0.152788],[-0.066855,-0.143503,0.987389]] 2025-10-28T23:08:49.042Z,1761692929.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983508,-0.176424,0.039837],[0.168681,0.974198,0.149948],[-0.065263,-0.140755,0.987891]] 2025-10-28T23:08:49.463Z,1761692929.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982172,-0.184730,0.034838],[0.177640,0.972672,0.149512],[-0.061506,-0.140658,0.988146]] 2025-10-28T23:08:49.855Z,1761692929.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981590,-0.188336,0.031800],[0.181578,0.971786,0.150538],[-0.059254,-0.141993,0.988093]] 2025-10-28T23:08:50.263Z,1761692930.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981199,-0.190841,0.028785],[0.184361,0.970919,0.152731],[-0.057095,-0.144552,0.987849]] 2025-10-28T23:08:50.663Z,1761692930.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981078,-0.191919,0.025538],[0.185717,0.970135,0.156034],[-0.054721,-0.148339,0.987421]] 2025-10-28T23:08:51.066Z,1761692931.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981106,-0.192120,0.022840],[0.186186,0.969647,0.158492],[-0.052597,-0.151245,0.987096]] 2025-10-28T23:08:51.467Z,1761692931.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981337,-0.191213,0.020376],[0.185551,0.969404,0.160709],[-0.050482,-0.153929,0.986792]] 2025-10-28T23:08:51.872Z,1761692931.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981620,-0.189997,0.017974],[0.184596,0.969159,0.163264],[-0.048439,-0.156946,0.986419]] 2025-10-28T23:08:51.988Z,1761692931.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:08:52.305Z,1761692932.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981963,-0.188369,0.016289],[0.183237,0.969356,0.163623],[-0.046611,-0.157687,0.986389]] 2025-10-28T23:08:52.679Z,1761692932.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982214,-0.187196,0.014605],[0.182331,0.969478,0.163912],[-0.044843,-0.158334,0.986367]] 2025-10-28T23:08:52.992Z,1761692932.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:08:53.083Z,1761692933.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982443,-0.186108,0.013009],[0.181502,0.969599,0.164118],[-0.043157,-0.158876,0.986355]] 2025-10-28T23:08:53.488Z,1761692933.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982645,-0.185148,0.011386],[0.180839,0.969830,0.163486],[-0.041312,-0.158590,0.986480]] 2025-10-28T23:08:53.891Z,1761692933.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982805,-0.184383,0.009860],[0.180349,0.970014,0.162931],[-0.039606,-0.158351,0.986588]] 2025-10-28T23:08:54.327Z,1761692934.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982843,-0.184257,0.008370],[0.180546,0.970348,0.160711],[-0.037734,-0.156443,0.986966]] 2025-10-28T23:08:54.699Z,1761692934.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982990,-0.183549,0.006335],[0.180149,0.970345,0.161173],[-0.035730,-0.157290,0.986906]] 2025-10-28T23:08:55.105Z,1761692935.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983260,-0.182159,0.004245],[0.179060,0.970318,0.162542],[-0.033727,-0.159061,0.986692]] 2025-10-28T23:08:55.506Z,1761692935.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983661,-0.180016,0.002357],[0.177231,0.970580,0.162984],[-0.031627,-0.159903,0.986626]] 2025-10-28T23:08:55.910Z,1761692935.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984227,-0.176908,0.000555],[0.174382,0.970692,0.165372],[-0.029794,-0.162667,0.986231]] 2025-10-28T23:08:56.336Z,1761692936.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984850,-0.173406,-0.000752],[0.171121,0.971152,0.166075],[-0.028068,-0.163688,0.986113]] 2025-10-28T23:08:56.719Z,1761692936.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985486,-0.169749,-0.001759],[0.167697,0.971855,0.165455],[-0.026376,-0.163348,0.986216]] 2025-10-28T23:08:57.124Z,1761692937.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986085,-0.166230,-0.002048],[0.164310,0.972676,0.164025],[-0.025274,-0.162079,0.986454]] 2025-10-28T23:08:57.526Z,1761692937.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986485,-0.163835,-0.002289],[0.162005,0.973183,0.163308],[-0.024528,-0.161472,0.986573]] 2025-10-28T23:08:57.930Z,1761692937.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986758,-0.162189,-0.001882],[0.160381,0.973896,0.160634],[-0.024220,-0.158809,0.987012]] 2025-10-28T23:08:58.343Z,1761692938.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986802,-0.161918,-0.001904],[0.160142,0.974103,0.159618],[-0.023991,-0.157816,0.987177]] 2025-10-28T23:08:58.740Z,1761692938.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986807,-0.161892,-0.001881],[0.160170,0.974479,0.157276],[-0.023629,-0.155502,0.987553]] 2025-10-28T23:08:59.143Z,1761692939.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986699,-0.162536,-0.002839],[0.160964,0.974415,0.156861],[-0.022729,-0.155231,0.987617]] 2025-10-28T23:08:59.547Z,1761692939.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986571,-0.163270,-0.004549],[0.161960,0.974297,0.156568],[-0.021131,-0.155202,0.987657]] 2025-10-28T23:08:59.950Z,1761692939.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986321,-0.164679,-0.007225],[0.163741,0.973769,0.157994],[-0.018983,-0.157015,0.987414]] 2025-10-28T23:09:00.355Z,1761692940.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986155,-0.165497,-0.010445],[0.165042,0.973424,0.158764],[-0.016107,-0.158289,0.987261]] 2025-10-28T23:09:00.758Z,1761692940.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986108,-0.165520,-0.013931],[0.165602,0.973136,0.159945],[-0.012917,-0.160030,0.987028]] 2025-10-28T23:09:01.162Z,1761692941.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986062,-0.165416,-0.017869],[0.166126,0.972974,0.160388],[-0.009144,-0.161121,0.986892]] 2025-10-28T23:09:01.566Z,1761692941.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986144,-0.164441,-0.021883],[0.165808,0.972884,0.161261],[-0.005228,-0.162655,0.986669]] 2025-10-28T23:09:01.972Z,1761692941.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986220,-0.163417,-0.025785],[0.165434,0.972938,0.161321],[-0.001276,-0.163363,0.986565]] 2025-10-28T23:09:02.374Z,1761692942.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986388,-0.161823,-0.029191],[0.164416,0.973232,0.160583],[0.002424,-0.163197,0.986591]] 2025-10-28T23:09:02.778Z,1761692942.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986529,-0.160488,-0.031689],[0.163505,0.973484,0.159983],[0.005174,-0.163010,0.986611]] 2025-10-28T23:09:03.184Z,1761692943.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986756,-0.158670,-0.033722],[0.162038,0.973824,0.159409],[0.007546,-0.162762,0.986637]] 2025-10-28T23:09:03.586Z,1761692943.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986965,-0.156979,-0.035474],[0.160650,0.974130,0.158939],[0.009606,-0.162566,0.986651]] 2025-10-28T23:09:03.990Z,1761692943.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987224,-0.155017,-0.036850],[0.158927,0.974562,0.158023],[0.011416,-0.161861,0.986748]] 2025-10-28T23:09:04.395Z,1761692944.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987515,-0.152754,-0.038478],[0.156962,0.974820,0.158392],[0.013314,-0.162454,0.986626]] 2025-10-28T23:09:04.800Z,1761692944.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987774,-0.150682,-0.039973],[0.155164,0.975059,0.158692],[0.015064,-0.162954,0.986519]] 2025-10-28T23:09:05.203Z,1761692945.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988018,-0.148643,-0.041537],[0.153403,0.975375,0.158465],[0.016959,-0.162938,0.986490]] 2025-10-28T23:09:05.607Z,1761692945.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988176,-0.147111,-0.043204],[0.152159,0.975599,0.158287],[0.018864,-0.162990,0.986447]] 2025-10-28T23:09:06.011Z,1761692946.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988219,-0.146250,-0.045104],[0.151594,0.975877,0.157109],[0.021039,-0.162096,0.986551]] 2025-10-28T23:09:06.416Z,1761692946.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988206,-0.145706,-0.047106],[0.151335,0.976237,0.155112],[0.023386,-0.160411,0.986773]] 2025-10-28T23:09:06.818Z,1761692946.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988023,-0.146228,-0.049270],[0.152153,0.976385,0.153366],[0.025680,-0.159026,0.986940]] 2025-10-28T23:09:07.242Z,1761692947.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987794,-0.146958,-0.051632],[0.153211,0.976444,0.151931],[0.028088,-0.157987,0.987042]] 2025-10-28T23:09:07.626Z,1761692947.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987596,-0.147354,-0.054226],[0.154035,0.976209,0.152607],[0.030448,-0.159067,0.986798]] 2025-10-28T23:09:08.030Z,1761692948.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987345,-0.148137,-0.056623],[0.155163,0.976163,0.151759],[0.032792,-0.158625,0.986794]] 2025-10-28T23:09:08.434Z,1761692948.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987188,-0.148218,-0.059083],[0.155664,0.975952,0.152600],[0.035044,-0.159842,0.986520]] 2025-10-28T23:09:08.840Z,1761692948.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987004,-0.148354,-0.061757],[0.156282,0.975629,0.154025],[0.037402,-0.161675,0.986135]] 2025-10-28T23:09:09.243Z,1761692949.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986795,-0.148664,-0.064296],[0.157041,0.975347,0.155034],[0.039663,-0.163084,0.985815]] 2025-10-28T23:09:09.649Z,1761692949.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986646,-0.148626,-0.066633],[0.157424,0.975142,0.155936],[0.041800,-0.164343,0.985517]] 2025-10-28T23:09:10.050Z,1761692950.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986506,-0.148566,-0.068800],[0.157779,0.974881,0.157202],[0.043717,-0.165936,0.985167]] 2025-10-28T23:09:10.454Z,1761692950.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986469,-0.147920,-0.070701],[0.157547,0.974603,0.159149],[0.045364,-0.168134,0.984720]] 2025-10-28T23:09:10.861Z,1761692950.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986498,-0.146949,-0.072296],[0.156886,0.974610,0.159758],[0.046984,-0.168943,0.984505]] 2025-10-28T23:09:11.263Z,1761692951.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986765,-0.144494,-0.073598],[0.154736,0.974772,0.160859],[0.048498,-0.170118,0.984230]] 2025-10-28T23:09:11.667Z,1761692951.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987050,-0.142150,-0.074338],[0.152627,0.974838,0.162465],[0.049373,-0.171708,0.983910]] 2025-10-28T23:09:12.072Z,1761692952.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987484,-0.138677,-0.075121],[0.149395,0.975133,0.163696],[0.050552,-0.172870,0.983647]] 2025-10-28T23:09:12.475Z,1761692952.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988002,-0.134578,-0.075771],[0.145458,0.975736,0.163651],[0.051909,-0.172709,0.983604]] 2025-10-28T23:09:12.882Z,1761692952.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988559,-0.130104,-0.076313],[0.141076,0.976553,0.162606],[0.053368,-0.171512,0.983736]] 2025-10-28T23:09:13.283Z,1761692953.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989136,-0.125173,-0.077079],[0.136209,0.977622,0.160320],[0.055286,-0.169077,0.984051]] 2025-10-28T23:09:13.686Z,1761692953.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989708,-0.120082,-0.077839],[0.131093,0.978913,0.156664],[0.057385,-0.165256,0.984580]] 2025-10-28T23:09:14.091Z,1761692954.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990197,-0.115419,-0.078660],[0.126349,0.980241,0.152196],[0.059539,-0.160643,0.985215]] 2025-10-28T23:09:14.497Z,1761692954.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990406,-0.112989,-0.079559],[0.123860,0.981124,0.148506],[0.061278,-0.156936,0.985706]] 2025-10-28T23:09:14.900Z,1761692954.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990272,-0.113651,-0.080281],[0.124349,0.981725,0.144063],[0.062441,-0.152644,0.986307]] 2025-10-28T23:09:15.303Z,1761692955.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989971,-0.115615,-0.081187],[0.126232,0.981946,0.140883],[0.063433,-0.149719,0.986692]] 2025-10-28T23:09:15.707Z,1761692955.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989536,-0.118489,-0.082334],[0.129146,0.981806,0.139204],[0.064342,-0.148381,0.986835]] 2025-10-28T23:09:16.112Z,1761692956.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989073,-0.121417,-0.083623],[0.132217,0.981453,0.138812],[0.065218,-0.148352,0.986782]] 2025-10-28T23:09:16.515Z,1761692956.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988552,-0.124478,-0.085267],[0.135660,0.980646,0.141171],[0.066044,-0.151122,0.986306]] 2025-10-28T23:09:16.918Z,1761692956.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988009,-0.127525,-0.087035],[0.139229,0.979550,0.145251],[0.066732,-0.155628,0.985559]] 2025-10-28T23:09:17.322Z,1761692957.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987486,-0.130315,-0.088818],[0.142565,0.978433,0.149479],[0.067423,-0.160271,0.984768]] 2025-10-28T23:09:17.728Z,1761692957.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987055,-0.132390,-0.090532],[0.145160,0.977467,0.153254],[0.068203,-0.164411,0.984031]] 2025-10-28T23:09:18.130Z,1761692958.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986922,-0.132380,-0.091982],[0.145705,0.976675,0.157718],[0.068958,-0.169058,0.983191]] 2025-10-28T23:09:18.534Z,1761692958.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987128,-0.130116,-0.092992],[0.143919,0.976293,0.161679],[0.069750,-0.172981,0.982452]] 2025-10-28T23:09:18.939Z,1761692958.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987463,-0.127158,-0.093528],[0.141265,0.976265,0.164167],[0.070433,-0.175321,0.981989]] 2025-10-28T23:09:19.343Z,1761692959.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987906,-0.123198,-0.094146],[0.137661,0.976309,0.166944],[0.071348,-0.177885,0.981461]] 2025-10-28T23:09:19.748Z,1761692959.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988415,-0.118962,-0.094254],[0.133546,0.976760,0.167645],[0.072120,-0.178290,0.981332]] 2025-10-28T23:09:20.150Z,1761692960.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988960,-0.114674,-0.093855],[0.129122,0.977620,0.166094],[0.072708,-0.176379,0.981633]] 2025-10-28T23:09:20.554Z,1761692960.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989492,-0.110348,-0.093425],[0.124521,0.978775,0.162772],[0.073480,-0.172695,0.982231]] 2025-10-28T23:09:20.960Z,1761692960.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989997,-0.105979,-0.093138],[0.119833,0.980048,0.158575],[0.074474,-0.168150,0.982944]] 2025-10-28T23:09:21.362Z,1761692961.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990348,-0.102729,-0.093050],[0.116355,0.980979,0.155375],[0.075319,-0.164702,0.983464]] 2025-10-28T23:09:21.766Z,1761692961.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990425,-0.101890,-0.093150],[0.115133,0.981947,0.150085],[0.076176,-0.159372,0.984275]] 2025-10-28T23:09:22.171Z,1761692962.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990279,-0.103200,-0.093258],[0.116068,0.982575,0.145172],[0.076651,-0.154585,0.985002]] 2025-10-28T23:09:22.576Z,1761692962.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989997,-0.105435,-0.093755],[0.118092,0.982841,0.141699],[0.077206,-0.151353,0.985460]] 2025-10-28T23:09:22.978Z,1761692962.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989713,-0.107483,-0.094419],[0.120088,0.982850,0.139948],[0.077758,-0.149847,0.985647]] 2025-10-28T23:09:23.113Z,1761692963.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:09:23.383Z,1761692963.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989508,-0.108680,-0.095199],[0.121493,0.982501,0.141178],[0.078190,-0.151263,0.985396]] 2025-10-28T23:09:23.787Z,1761692963.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989427,-0.108649,-0.096075],[0.121872,0.981953,0.144625],[0.078627,-0.154805,0.984811]] 2025-10-28T23:09:24.116Z,1761692964.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:09:24.192Z,1761692964.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989619,-0.106432,-0.096572],[0.120151,0.981416,0.149619],[0.078854,-0.159669,0.984016]] 2025-10-28T23:09:24.594Z,1761692964.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990041,-0.102446,-0.096558],[0.116694,0.980869,0.155818],[0.078748,-0.165534,0.983055]] 2025-10-28T23:09:24.998Z,1761692964.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990499,-0.098162,-0.096316],[0.112755,0.980635,0.160127],[0.078732,-0.169465,0.982386]] 2025-10-28T23:09:25.403Z,1761692965.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991054,-0.093205,-0.095528],[0.107921,0.980752,0.162721],[0.078523,-0.171574,0.982037]] 2025-10-28T23:09:25.810Z,1761692965.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991555,-0.088390,-0.094898],[0.103211,0.980916,0.164775],[0.078522,-0.173178,0.981755]] 2025-10-28T23:09:26.210Z,1761692966.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991996,-0.084121,-0.094171],[0.098832,0.981430,0.164401],[0.078592,-0.172392,0.981888]] 2025-10-28T23:09:26.614Z,1761692966.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992334,-0.080708,-0.093587],[0.095232,0.982039,0.162884],[0.078760,-0.170547,0.982197]] 2025-10-28T23:09:27.018Z,1761692967.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992537,-0.078473,-0.093345],[0.092670,0.982912,0.159048],[0.079269,-0.166511,0.982848]] 2025-10-28T23:09:27.424Z,1761692967.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992593,-0.077668,-0.093423],[0.091595,0.983587,0.155458],[0.079816,-0.162863,0.983415]] 2025-10-28T23:09:27.827Z,1761692967.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992515,-0.078245,-0.093768],[0.091876,0.984226,0.151191],[0.080459,-0.158674,0.984047]] 2025-10-28T23:09:28.231Z,1761692968.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992304,-0.080409,-0.094170],[0.093620,0.984916,0.145516],[0.081049,-0.153213,0.984864]] 2025-10-28T23:09:28.635Z,1761692968.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992042,-0.083074,-0.094609],[0.096012,0.985253,0.141625],[0.081449,-0.149582,0.985389]] 2025-10-28T23:09:29.040Z,1761692969.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991745,-0.085928,-0.095178],[0.098797,0.985210,0.139998],[0.081741,-0.148246,0.985567]] 2025-10-28T23:09:29.443Z,1761692969.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991474,-0.088615,-0.095535],[0.101516,0.984941,0.139949],[0.081695,-0.148454,0.985539]] 2025-10-28T23:09:29.846Z,1761692969.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991239,-0.090834,-0.095892],[0.103874,0.984523,0.141156],[0.081587,-0.149880,0.985332]] 2025-10-28T23:09:30.254Z,1761692970.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991105,-0.092261,-0.095908],[0.105553,0.983887,0.144310],[0.081048,-0.153150,0.984874]] 2025-10-28T23:09:30.656Z,1761692970.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991166,-0.091651,-0.095862],[0.105360,0.983145,0.149418],[0.080552,-0.158198,0.984116]] 2025-10-28T23:09:31.059Z,1761692971.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991379,-0.089606,-0.095591],[0.103751,0.982440,0.155073],[0.080017,-0.163654,0.983267]] 2025-10-28T23:09:31.462Z,1761692971.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991719,-0.086427,-0.094989],[0.100796,0.982166,0.158712],[0.079578,-0.166973,0.982745]] 2025-10-28T23:09:31.866Z,1761692971.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992177,-0.082305,-0.093866],[0.096785,0.982042,0.161946],[0.078851,-0.169764,0.982325]] 2025-10-28T23:09:32.306Z,1761692972.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993026,-0.073919,-0.091845],[0.088200,0.982725,0.162705],[0.078231,-0.169671,0.982391]] 2025-10-28T23:09:33.078Z,1761692973.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993413,-0.069802,-0.090876],[0.083872,0.983288,0.161587],[0.078078,-0.168145,0.982665]] 2025-10-28T23:09:33.483Z,1761692973.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993714,-0.066155,-0.090314],[0.079958,0.984042,0.158961],[0.078356,-0.165183,0.983145]] 2025-10-28T23:09:33.888Z,1761692973.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993948,-0.063042,-0.089964],[0.076602,0.984739,0.156275],[0.078740,-0.162221,0.983608]] 2025-10-28T23:09:34.331Z,1761692974.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994117,-0.060115,-0.090092],[0.072858,0.986658,0.145593],[0.080137,-0.151301,0.985234]] 2025-10-28T23:09:35.105Z,1761692975.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993901,-0.063144,-0.090411],[0.075215,0.987708,0.137023],[0.080647,-0.142987,0.986433]] 2025-10-28T23:09:35.509Z,1761692975.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993707,-0.066180,-0.090372],[0.078047,0.987792,0.134820],[0.080346,-0.141025,0.986740]] 2025-10-28T23:09:35.914Z,1761692975.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993496,-0.068808,-0.090724],[0.080715,0.987567,0.134897],[0.080314,-0.141342,0.986698]] 2025-10-28T23:09:36.337Z,1761692976.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993342,-0.070841,-0.090849],[0.082941,0.987066,0.137192],[0.079955,-0.143813,0.986370]] 2025-10-28T23:09:36.715Z,1761692976.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993222,-0.072555,-0.090806],[0.084864,0.986508,0.140001],[0.079423,-0.146759,0.985979]] 2025-10-28T23:09:37.119Z,1761692977.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993136,-0.073519,-0.090972],[0.086045,0.986051,0.142474],[0.079228,-0.149324,0.985609]] 2025-10-28T23:09:37.525Z,1761692977.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993101,-0.073595,-0.091292],[0.086514,0.985382,0.146760],[0.079156,-0.153645,0.984950]] 2025-10-28T23:09:37.927Z,1761692977.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993193,-0.072458,-0.091198],[0.085573,0.985087,0.149268],[0.079022,-0.156056,0.984582]] 2025-10-28T23:09:38.341Z,1761692978.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993246,-0.071198,-0.091617],[0.084439,0.985092,0.149879],[0.079580,-0.156602,0.984451]] 2025-10-28T23:09:38.735Z,1761692978.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993389,-0.069394,-0.091451],[0.082668,0.985156,0.150442],[0.079654,-0.157007,0.984380]] 2025-10-28T23:09:39.140Z,1761692979.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993502,-0.067770,-0.091444],[0.081066,0.985272,0.150555],[0.079894,-0.156990,0.984363]] 2025-10-28T23:09:39.542Z,1761692979.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993618,-0.066399,-0.091180],[0.079667,0.985382,0.150584],[0.079848,-0.156887,0.984383]] 2025-10-28T23:09:39.946Z,1761692979.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993726,-0.065263,-0.090822],[0.078464,0.985517,0.150333],[0.079696,-0.156516,0.984455]] 2025-10-28T23:09:40.352Z,1761692980.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993883,-0.063603,-0.090283],[0.076674,0.985768,0.149606],[0.079482,-0.155613,0.984615]] 2025-10-28T23:09:40.757Z,1761692980.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994013,-0.062596,-0.089554],[0.075422,0.986126,0.147877],[0.079055,-0.153746,0.984943]] 2025-10-28T23:09:41.160Z,1761692981.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994192,-0.060395,-0.089072],[0.073202,0.986221,0.148358],[0.078884,-0.154016,0.984914]] 2025-10-28T23:09:41.562Z,1761692981.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994364,-0.059006,-0.088084],[0.071514,0.986641,0.146372],[0.078270,-0.151846,0.985300]] 2025-10-28T23:09:41.967Z,1761692981.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994517,-0.057919,-0.087075],[0.070207,0.986874,0.145432],[0.077509,-0.150748,0.985529]] 2025-10-28T23:09:42.373Z,1761692982.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994637,-0.057255,-0.086134],[0.069228,0.987275,0.143161],[0.076841,-0.148356,0.985944]] 2025-10-28T23:09:42.774Z,1761692982.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994704,-0.057251,-0.085357],[0.068835,0.987808,0.139629],[0.076323,-0.144766,0.986518]] 2025-10-28T23:09:43.178Z,1761692983.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994717,-0.057957,-0.084734],[0.069253,0.988132,0.137110],[0.075782,-0.142254,0.986925]] 2025-10-28T23:09:43.582Z,1761692983.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994729,-0.059023,-0.083844],[0.070071,0.988282,0.135608],[0.074857,-0.140768,0.987208]] 2025-10-28T23:09:43.988Z,1761692983.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994707,-0.061025,-0.082662],[0.071810,0.988309,0.134497],[0.073488,-0.139721,0.987460]] 2025-10-28T23:09:44.391Z,1761692984.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994617,-0.063597,-0.081804],[0.074130,0.988348,0.132941],[0.072396,-0.138289,0.987742]] 2025-10-28T23:09:44.795Z,1761692984.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994557,-0.065795,-0.080797],[0.076206,0.988130,0.133383],[0.071062,-0.138814,0.987766]] 2025-10-28T23:09:45.199Z,1761692985.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994559,-0.067287,-0.079529],[0.077604,0.987843,0.134701],[0.069499,-0.140140,0.987690]] 2025-10-28T23:09:45.603Z,1761692985.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994600,-0.068207,-0.078226],[0.078476,0.987489,0.136771],[0.067918,-0.142172,0.987509]] 2025-10-28T23:09:46.007Z,1761692986.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994695,-0.068281,-0.076941],[0.078552,0.987096,0.139536],[0.066420,-0.144840,0.987223]] 2025-10-28T23:09:46.410Z,1761692986.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994796,-0.067905,-0.075954],[0.078118,0.986957,0.140762],[0.065405,-0.145962,0.987126]] 2025-10-28T23:09:46.815Z,1761692986.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994900,-0.067105,-0.075306],[0.077338,0.986780,0.142420],[0.064753,-0.147518,0.986938]] 2025-10-28T23:09:47.221Z,1761692987.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994993,-0.066715,-0.074412],[0.076909,0.986610,0.143828],[0.063820,-0.148831,0.986801]] 2025-10-28T23:09:47.622Z,1761692987.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995058,-0.066825,-0.073440],[0.076759,0.986881,0.142032],[0.062985,-0.146967,0.987134]] 2025-10-28T23:09:48.026Z,1761692988.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995085,-0.067234,-0.072702],[0.076943,0.987120,0.140262],[0.062335,-0.145167,0.987442]] 2025-10-28T23:09:48.433Z,1761692988.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995066,-0.068158,-0.072094],[0.077618,0.987414,0.137800],[0.061794,-0.142716,0.987833]] 2025-10-28T23:09:48.835Z,1761692988.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995040,-0.069350,-0.071315],[0.078519,0.987725,0.135037],[0.061074,-0.139967,0.988271]] 2025-10-28T23:09:49.239Z,1761692989.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994977,-0.071034,-0.070528],[0.079908,0.987994,0.132223],[0.060289,-0.137195,0.988708]] 2025-10-28T23:09:49.643Z,1761692989.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994929,-0.072398,-0.069813],[0.081087,0.988067,0.130951],[0.059499,-0.135948,0.988928]] 2025-10-28T23:09:50.049Z,1761692990.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994827,-0.074542,-0.069008],[0.082986,0.988178,0.128906],[0.058583,-0.133965,0.989253]] 2025-10-28T23:09:50.451Z,1761692990.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994694,-0.076880,-0.068359],[0.085141,0.988174,0.127529],[0.057746,-0.132673,0.989476]] 2025-10-28T23:09:50.855Z,1761692990.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994600,-0.078687,-0.067666],[0.086854,0.988000,0.127721],[0.056804,-0.132909,0.989499]] 2025-10-28T23:09:51.259Z,1761692991.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994492,-0.080282,-0.067377],[0.088499,0.987628,0.129454],[0.056151,-0.134703,0.989294]] 2025-10-28T23:09:51.663Z,1761692991.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994466,-0.080862,-0.067077],[0.089158,0.987277,0.131665],[0.055577,-0.136916,0.989022]] 2025-10-28T23:09:52.068Z,1761692992.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994489,-0.080741,-0.066878],[0.089163,0.986911,0.134378],[0.055152,-0.139601,0.988671]] 2025-10-28T23:09:52.471Z,1761692992.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994609,-0.079649,-0.066394],[0.088193,0.986545,0.137665],[0.054536,-0.142779,0.988251]] 2025-10-28T23:09:52.875Z,1761692992.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994850,-0.076998,-0.065909],[0.085668,0.986321,0.140822],[0.054164,-0.145743,0.987839]] 2025-10-28T23:09:53.278Z,1761692993.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995171,-0.073493,-0.065069],[0.082197,0.986282,0.143148],[0.053656,-0.147805,0.987560]] 2025-10-28T23:09:53.684Z,1761692993.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995513,-0.069762,-0.063928],[0.078426,0.986328,0.144935],[0.052943,-0.149299,0.987374]] 2025-10-28T23:09:54.086Z,1761692994.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995876,-0.065833,-0.062429],[0.074343,0.986548,0.145586],[0.052005,-0.149626,0.987374]] 2025-10-28T23:09:54.236Z,1761692994.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:09:54.491Z,1761692994.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996202,-0.062360,-0.060769],[0.070568,0.987069,0.143926],[0.051008,-0.147668,0.987721]] 2025-10-28T23:09:54.895Z,1761692994.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996464,-0.059533,-0.059294],[0.067416,0.987669,0.141300],[0.050151,-0.144798,0.988189]] 2025-10-28T23:09:55.240Z,1761692995.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:09:55.302Z,1761692995.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996628,-0.058340,-0.057700],[0.065833,0.988258,0.137883],[0.048979,-0.141216,0.988766]] 2025-10-28T23:09:55.702Z,1761692995.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996694,-0.058549,-0.056326],[0.065731,0.988592,0.135520],[0.047749,-0.138775,0.989172]] 2025-10-28T23:09:56.106Z,1761692996.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996640,-0.060197,-0.055544],[0.067136,0.988845,0.132959],[0.046921,-0.136242,0.989564]] 2025-10-28T23:09:56.510Z,1761692996.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996455,-0.063391,-0.055306],[0.070163,0.988946,0.130622],[0.046414,-0.134039,0.989888]] 2025-10-28T23:09:56.916Z,1761692996.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996209,-0.067393,-0.055009],[0.074062,0.988756,0.129911],[0.045636,-0.133493,0.989999]] 2025-10-28T23:09:57.318Z,1761692997.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995862,-0.072302,-0.055062],[0.078910,0.988471,0.129224],[0.045084,-0.133034,0.990086]] 2025-10-28T23:09:57.722Z,1761692997.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995452,-0.077560,-0.055324],[0.084072,0.988310,0.127181],[0.044813,-0.131253,0.990336]] 2025-10-28T23:09:58.126Z,1761692998.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995011,-0.082585,-0.055971],[0.089141,0.987879,0.127076],[0.044799,-0.131431,0.990313]] 2025-10-28T23:09:58.533Z,1761692998.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994601,-0.087008,-0.056558],[0.093599,0.987498,0.126832],[0.044815,-0.131441,0.990311]] 2025-10-28T23:09:58.934Z,1761692998.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994297,-0.090109,-0.057046],[0.096752,0.987164,0.127070],[0.044863,-0.131865,0.990252]] 2025-10-28T23:09:59.338Z,1761692999.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994234,-0.090883,-0.056914],[0.097540,0.986980,0.127888],[0.044550,-0.132702,0.990154]] 2025-10-28T23:09:59.742Z,1761692999.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994294,-0.090544,-0.056397],[0.097143,0.986999,0.128050],[0.044069,-0.132798,0.990163]] 2025-10-28T23:10:00.146Z,1761693000.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994453,-0.089056,-0.055962],[0.095641,0.987047,0.128804],[0.043767,-0.133442,0.990090]] 2025-10-28T23:10:00.552Z,1761693000.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994659,-0.087108,-0.055369],[0.093666,0.987123,0.129670],[0.043361,-0.134164,0.990010]] 2025-10-28T23:10:00.950Z,1761693000.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994917,-0.084418,-0.054893],[0.090987,0.987208,0.130926],[0.043138,-0.135256,0.989871]] 2025-10-28T23:10:01.354Z,1761693001.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995217,-0.081425,-0.053974],[0.087863,0.987584,0.130226],[0.042700,-0.134346,0.990014]] 2025-10-28T23:10:01.760Z,1761693001.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995512,-0.078622,-0.052670],[0.084873,0.987950,0.129430],[0.041860,-0.133319,0.990189]] 2025-10-28T23:10:02.162Z,1761693002.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995798,-0.076043,-0.051036],[0.082112,0.988130,0.129836],[0.040557,-0.133481,0.990221]] 2025-10-28T23:10:02.567Z,1761693002.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996053,-0.073978,-0.049049],[0.079759,0.988447,0.128881],[0.038948,-0.132284,0.990446]] 2025-10-28T23:10:02.970Z,1761693002.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996272,-0.072303,-0.047059],[0.077824,0.988634,0.128631],[0.037224,-0.131814,0.990575]] 2025-10-28T23:10:03.376Z,1761693003.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996414,-0.071483,-0.045275],[0.076755,0.988791,0.128063],[0.035613,-0.131079,0.990732]] 2025-10-28T23:10:03.778Z,1761693003.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996507,-0.071208,-0.043619],[0.076214,0.989026,0.126567],[0.034128,-0.129450,0.990999]] 2025-10-28T23:10:04.182Z,1761693004.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996512,-0.072044,-0.042116],[0.076782,0.989239,0.124539],[0.032690,-0.127339,0.991320]] 2025-10-28T23:10:04.586Z,1761693004.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996466,-0.073408,-0.040834],[0.077909,0.989404,0.122513],[0.031408,-0.125261,0.991627]] 2025-10-28T23:10:04.991Z,1761693004.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996361,-0.075403,-0.039744],[0.079710,0.989430,0.121138],[0.030190,-0.123865,0.991840]] 2025-10-28T23:10:05.397Z,1761693005.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996235,-0.077737,-0.038367],[0.081869,0.989204,0.121544],[0.028504,-0.124228,0.991844]] 2025-10-28T23:10:05.799Z,1761693005.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996061,-0.080528,-0.037114],[0.084491,0.988953,0.121788],[0.026896,-0.124444,0.991862]] 2025-10-28T23:10:06.202Z,1761693006.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995834,-0.083830,-0.035884],[0.087601,0.988759,0.121172],[0.025323,-0.123811,0.991983]] 2025-10-28T23:10:06.606Z,1761693006.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995602,-0.086993,-0.034762],[0.090599,0.988509,0.121002],[0.023836,-0.123619,0.992043]] 2025-10-28T23:10:07.012Z,1761693007.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995393,-0.089787,-0.033617],[0.093234,0.988244,0.121167],[0.022343,-0.123743,0.992063]] 2025-10-28T23:10:07.415Z,1761693007.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995281,-0.091436,-0.032472],[0.094748,0.987989,0.122071],[0.020921,-0.124572,0.991990]] 2025-10-28T23:10:07.819Z,1761693007.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995257,-0.092124,-0.031254],[0.095297,0.987829,0.122930],[0.019548,-0.125325,0.991923]] 2025-10-28T23:10:08.222Z,1761693008.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995217,-0.092855,-0.030333],[0.095899,0.987827,0.122477],[0.018591,-0.124800,0.992008]] 2025-10-28T23:10:08.628Z,1761693008.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995277,-0.092591,-0.029180],[0.095496,0.987841,0.122684],[0.017466,-0.124891,0.992017]] 2025-10-28T23:10:09.030Z,1761693009.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995360,-0.092001,-0.028197],[0.094792,0.987873,0.122971],[0.016541,-0.125074,0.992010]] 2025-10-28T23:10:09.435Z,1761693009.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995462,-0.091199,-0.027181],[0.093875,0.987917,0.123319],[0.015606,-0.125310,0.991995]] 2025-10-28T23:10:09.839Z,1761693009.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995571,-0.090384,-0.025871],[0.092905,0.987980,0.123546],[0.014393,-0.125402,0.992002]] 2025-10-28T23:10:10.244Z,1761693010.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995630,-0.090100,-0.024549],[0.092453,0.988065,0.123209],[0.013155,-0.124940,0.992077]] 2025-10-28T23:10:10.646Z,1761693010.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995693,-0.089698,-0.023459],[0.091914,0.988161,0.122841],[0.012162,-0.124468,0.992149]] 2025-10-28T23:10:11.050Z,1761693011.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995763,-0.089253,-0.022143],[0.091307,0.988234,0.122706],[0.010931,-0.124208,0.992196]] 2025-10-28T23:10:11.455Z,1761693011.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995887,-0.088162,-0.020903],[0.090070,0.988353,0.122663],[0.009846,-0.124041,0.992228]] 2025-10-28T23:10:11.861Z,1761693011.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996009,-0.087074,-0.019607],[0.088830,0.988456,0.122733],[0.008694,-0.123985,0.992246]] 2025-10-28T23:10:12.332Z,1761693012.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996141,-0.085805,-0.018452],[0.087429,0.988556,0.122937],[0.007693,-0.124076,0.992243]] 2025-10-28T23:10:12.334Z,1761693012.334 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2025-10-28T23:10:12.666Z,1761693012.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996307,-0.084120,-0.017234],[0.085608,0.988663,0.123353],[0.006662,-0.124372,0.992213]] 2025-10-28T23:10:13.070Z,1761693013.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996453,-0.082622,-0.015960],[0.083965,0.988772,0.123615],[0.005568,-0.124516,0.992202]] 2025-10-28T23:10:13.474Z,1761693013.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996534,-0.081879,-0.014701],[0.083064,0.989027,0.122170],[0.004537,-0.122967,0.992400]] 2025-10-28T23:10:13.879Z,1761693013.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996602,-0.081247,-0.013563],[0.082292,0.989256,0.120829],[0.003600,-0.121534,0.992581]] 2025-10-28T23:10:14.311Z,1761693014.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996645,-0.080858,-0.012664],[0.081794,0.989459,0.119504],[0.002868,-0.120139,0.992753]] 2025-10-28T23:10:14.688Z,1761693014.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996699,-0.080375,-0.011448],[0.081167,0.989519,0.119432],[0.001729,-0.119967,0.992776]] 2025-10-28T23:10:15.091Z,1761693015.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996672,-0.080864,-0.010316],[0.081517,0.989553,0.118912],[0.000593,-0.119357,0.992851]] 2025-10-28T23:10:15.495Z,1761693015.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996566,-0.082252,-0.009550],[0.082804,0.989579,0.117801],[-0.000239,-0.118187,0.992991]] 2025-10-28T23:10:15.900Z,1761693015.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996417,-0.084105,-0.008923],[0.084572,0.989586,0.116479],[-0.000966,-0.116816,0.993153]] 2025-10-28T23:10:16.330Z,1761693016.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996265,-0.085929,-0.008457],[0.086330,0.989558,0.115418],[-0.001549,-0.115717,0.993281]] 2025-10-28T23:10:16.707Z,1761693016.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996163,-0.087145,-0.008045],[0.087491,0.989475,0.115257],[-0.002083,-0.115518,0.993303]] 2025-10-28T23:10:17.111Z,1761693017.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996094,-0.087938,-0.007934],[0.088264,0.989325,0.115952],[-0.002347,-0.116200,0.993223]] 2025-10-28T23:10:17.514Z,1761693017.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996031,-0.088700,-0.007327],[0.088947,0.989168,0.116771],[-0.003109,-0.116959,0.993132]] 2025-10-28T23:10:17.920Z,1761693017.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995959,-0.089560,-0.006704],[0.089725,0.988958,0.117948],[-0.003933,-0.118073,0.992997]] 2025-10-28T23:10:18.339Z,1761693018.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995880,-0.090478,-0.006036],[0.090550,0.988700,0.119472],[-0.004841,-0.119526,0.992819]] 2025-10-28T23:10:18.727Z,1761693018.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995768,-0.091748,-0.005325],[0.091721,0.988496,0.120265],[-0.005770,-0.120244,0.992728]] 2025-10-28T23:10:19.131Z,1761693019.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995587,-0.093727,-0.004768],[0.093627,0.988466,0.119031],[-0.006444,-0.118952,0.992879]] 2025-10-28T23:10:19.536Z,1761693019.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995386,-0.095862,-0.004171],[0.095682,0.988387,0.118054],[-0.007194,-0.117909,0.992998]] 2025-10-28T23:10:19.939Z,1761693019.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995137,-0.098417,-0.004082],[0.098204,0.988054,0.118765],[-0.007655,-0.118589,0.992914]] 2025-10-28T23:10:20.349Z,1761693020.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994789,-0.101877,-0.003908],[0.101632,0.987902,0.117130],[-0.008072,-0.116917,0.993109]] 2025-10-28T23:10:20.752Z,1761693020.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993936,-0.109869,-0.004458],[0.109637,0.987105,0.116632],[-0.008414,-0.116414,0.993165]] 2025-10-28T23:10:21.161Z,1761693021.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993556,-0.113244,-0.004766],[0.113032,0.986819,0.115813],[-0.008411,-0.115605,0.993260]] 2025-10-28T23:10:21.562Z,1761693021.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993272,-0.115686,-0.005285],[0.115512,0.986453,0.116481],[-0.008262,-0.116308,0.993179]] 2025-10-28T23:10:21.964Z,1761693021.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993149,-0.116720,-0.005651],[0.116570,0.986178,0.117749],[-0.008171,-0.117601,0.993027]] 2025-10-28T23:10:22.365Z,1761693022.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993200,-0.116283,-0.005663],[0.116123,0.986013,0.119553],[-0.008318,-0.119398,0.992812]] 2025-10-28T23:10:22.379Z,1761693022.379 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -150, +681, 2025-10-28T23:10:22.767Z,1761693022.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993395,-0.114626,-0.005268],[0.114413,0.985959,0.121632],[-0.008749,-0.121431,0.992561]] 2025-10-28T23:10:23.172Z,1761693023.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993712,-0.111855,-0.005052],[0.111622,0.986079,0.123242],[-0.008804,-0.123031,0.992364]] 2025-10-28T23:10:23.574Z,1761693023.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994110,-0.108287,-0.004365],[0.107983,0.986286,0.124820],[-0.009212,-0.124557,0.992170]] 2025-10-28T23:10:23.979Z,1761693023.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994556,-0.104148,-0.003431],[0.103744,0.986528,0.126493],[-0.009789,-0.126161,0.991961]] 2025-10-28T23:10:24.383Z,1761693024.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994989,-0.099960,-0.002153],[0.099427,0.986962,0.126572],[-0.010527,-0.126152,0.991955]] 2025-10-28T23:10:24.788Z,1761693024.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995400,-0.095799,-0.000823],[0.095136,0.987425,0.126258],[-0.011283,-0.125756,0.991997]] 2025-10-28T23:10:25.191Z,1761693025.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995738,-0.092226,0.000540],[0.091444,0.988027,0.124262],[-0.011994,-0.123683,0.992249]] 2025-10-28T23:10:25.376Z,1761693025.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:10:25.595Z,1761693025.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995978,-0.089583,0.001884],[0.088693,0.988639,0.121350],[-0.012734,-0.120695,0.992608]] 2025-10-28T23:10:25.999Z,1761693025.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996148,-0.087640,0.002975],[0.086648,0.988953,0.120264],[-0.013482,-0.119543,0.992737]] 2025-10-28T23:10:26.380Z,1761693026.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:10:26.404Z,1761693026.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996199,-0.087012,0.003955],[0.085934,0.989240,0.118402],[-0.014215,-0.117612,0.992958]] 2025-10-28T23:10:26.808Z,1761693026.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996185,-0.087134,0.004785],[0.085985,0.989455,0.116558],[-0.014890,-0.115702,0.993172]] 2025-10-28T23:10:27.211Z,1761693027.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996051,-0.088599,0.005621],[0.087353,0.989406,0.115953],[-0.015835,-0.115004,0.993239]] 2025-10-28T23:10:27.614Z,1761693027.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995789,-0.091475,0.005987],[0.090174,0.989190,0.115635],[-0.016500,-0.114608,0.993274]] 2025-10-28T23:10:28.019Z,1761693028.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995457,-0.095014,0.006175],[0.093683,0.988968,0.114745],[-0.017009,-0.113645,0.993376]] 2025-10-28T23:10:28.422Z,1761693028.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995033,-0.099372,0.005849],[0.098060,0.988614,0.114134],[-0.017125,-0.112994,0.993448]] 2025-10-28T23:10:28.827Z,1761693028.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994543,-0.104190,0.005437],[0.102880,0.988037,0.114881],[-0.017341,-0.113695,0.993364]] 2025-10-28T23:10:29.231Z,1761693029.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994000,-0.109273,0.004848],[0.107983,0.987393,0.115738],[-0.017434,-0.114520,0.993268]] 2025-10-28T23:10:29.636Z,1761693029.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993402,-0.114612,0.004172],[0.113339,0.986630,0.117114],[-0.017539,-0.115868,0.993110]] 2025-10-28T23:10:30.039Z,1761693030.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992784,-0.119869,0.003321],[0.118641,0.985890,0.118091],[-0.017430,-0.116845,0.992997]] 2025-10-28T23:10:30.442Z,1761693030.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992164,-0.124919,0.002390],[0.123736,0.985061,0.119771],[-0.017316,-0.118536,0.992799]] 2025-10-28T23:10:30.847Z,1761693030.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991569,-0.129571,0.001557],[0.128433,0.984317,0.120937],[-0.017203,-0.119717,0.992659]] 2025-10-28T23:10:31.252Z,1761693031.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991125,-0.132927,0.000869],[0.131833,0.983759,0.121813],[-0.017047,-0.120617,0.992553]] 2025-10-28T23:10:31.655Z,1761693031.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990896,-0.134630,0.000099],[0.133578,0.983244,0.124051],[-0.016798,-0.122908,0.992276]] 2025-10-28T23:10:32.058Z,1761693032.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990829,-0.135119,-0.000716],[0.134124,0.982867,0.126423],[-0.016379,-0.125360,0.991976]] 2025-10-28T23:10:32.462Z,1761693032.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991052,-0.133469,-0.001242],[0.132522,0.982829,0.128392],[-0.015915,-0.127408,0.991723]] 2025-10-28T23:10:32.867Z,1761693032.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991458,-0.130417,-0.001661],[0.129511,0.982901,0.130891],[-0.015438,-0.129988,0.991395]] 2025-10-28T23:10:33.272Z,1761693033.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991987,-0.126331,-0.001707],[0.125451,0.983294,0.131890],[-0.014983,-0.131047,0.991263]] 2025-10-28T23:10:33.674Z,1761693033.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992579,-0.121589,-0.001724],[0.120736,0.983731,0.133025],[-0.014478,-0.132246,0.991111]] 2025-10-28T23:10:34.078Z,1761693034.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993226,-0.116195,-0.001191],[0.115318,0.984364,0.133152],[-0.014299,-0.132387,0.991095]] 2025-10-28T23:10:34.483Z,1761693034.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993839,-0.110830,-0.000050],[0.109873,0.985197,0.131584],[-0.014534,-0.130779,0.991305]] 2025-10-28T23:10:34.889Z,1761693034.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994355,-0.106092,0.001455],[0.105038,0.986227,0.127761],[-0.014989,-0.126887,0.991804]] 2025-10-28T23:10:35.290Z,1761693035.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994738,-0.102416,0.002862],[0.101262,0.987010,0.124728],[-0.015599,-0.123782,0.992187]] 2025-10-28T23:10:35.695Z,1761693035.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994931,-0.100477,0.004153],[0.099215,0.987494,0.122521],[-0.016411,-0.121488,0.992457]] 2025-10-28T23:10:36.098Z,1761693036.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994898,-0.100758,0.005168],[0.099416,0.987795,0.119905],[-0.017186,-0.118779,0.992772]] 2025-10-28T23:10:36.504Z,1761693036.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994699,-0.102652,0.006040],[0.101208,0.987715,0.119061],[-0.018188,-0.117818,0.992869]] 2025-10-28T23:10:36.907Z,1761693036.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994275,-0.106664,0.006333],[0.105186,0.987477,0.117583],[-0.018796,-0.116243,0.993043]] 2025-10-28T23:10:37.312Z,1761693037.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993778,-0.111228,0.005770],[0.109756,0.986803,0.119057],[-0.018937,-0.117683,0.992871]] 2025-10-28T23:10:37.716Z,1761693037.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993222,-0.116119,0.005147],[0.114656,0.986057,0.120603],[-0.019080,-0.119195,0.992687]] 2025-10-28T23:10:38.121Z,1761693038.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992579,-0.121528,0.004128],[0.120102,0.985111,0.123012],[-0.019016,-0.121604,0.992397]] 2025-10-28T23:10:38.523Z,1761693038.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991916,-0.126868,0.002848],[0.125511,0.984124,0.125485],[-0.018723,-0.124113,0.992091]] 2025-10-28T23:10:38.927Z,1761693038.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991286,-0.131715,0.001461],[0.130437,0.983090,0.128534],[-0.018366,-0.127224,0.991704]] 2025-10-28T23:10:39.332Z,1761693039.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990860,-0.134892,-0.000048],[0.133736,0.982318,0.131019],[-0.017626,-0.129828,0.991380]] 2025-10-28T23:10:39.736Z,1761693039.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990801,-0.135326,-0.001046],[0.134281,0.982134,0.131842],[-0.016815,-0.130770,0.991270]] 2025-10-28T23:10:40.139Z,1761693040.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991057,-0.133427,-0.002004],[0.132492,0.982100,0.133889],[-0.015896,-0.132957,0.990994]] 2025-10-28T23:10:40.543Z,1761693040.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991517,-0.129953,-0.002556],[0.129105,0.982391,0.135057],[-0.015040,-0.134241,0.990835]] 2025-10-28T23:10:40.946Z,1761693040.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992094,-0.125459,-0.003012],[0.124687,0.982702,0.136931],[-0.014220,-0.136224,0.990576]] 2025-10-28T23:10:41.354Z,1761693041.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992746,-0.120190,-0.003227],[0.119467,0.983038,0.139156],[-0.013553,-0.138532,0.990265]] 2025-10-28T23:10:41.755Z,1761693041.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993415,-0.114541,-0.002769],[0.113823,0.983850,0.138139],[-0.013098,-0.137545,0.990409]] 2025-10-28T23:10:42.162Z,1761693042.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993893,-0.110332,-0.001902],[0.109560,0.984592,0.136289],[-0.013164,-0.135665,0.990667]] 2025-10-28T23:10:42.562Z,1761693042.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994038,-0.109024,-0.001259],[0.108217,0.985144,0.133343],[-0.013297,-0.132684,0.991069]] 2025-10-28T23:10:42.968Z,1761693042.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993833,-0.110882,-0.000760],[0.110059,0.985578,0.128538],[-0.013503,-0.127829,0.991704]] 2025-10-28T23:10:43.371Z,1761693043.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993381,-0.114861,-0.000741],[0.114053,0.985591,0.124907],[-0.013617,-0.124165,0.992168]] 2025-10-28T23:10:43.775Z,1761693043.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992862,-0.119263,-0.001056],[0.118499,0.985418,0.122100],[-0.013521,-0.121354,0.992517]] 2025-10-28T23:10:44.178Z,1761693044.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992200,-0.124641,-0.002009],[0.123965,0.984868,0.121109],[-0.013117,-0.120413,0.992637]] 2025-10-28T23:10:44.584Z,1761693044.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991442,-0.130503,-0.003491],[0.129941,0.983889,0.122794],[-0.012590,-0.122197,0.992426]] 2025-10-28T23:10:44.987Z,1761693044.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990662,-0.136228,-0.005486],[0.135834,0.982742,0.125566],[-0.011715,-0.125139,0.992070]] 2025-10-28T23:10:45.392Z,1761693045.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989915,-0.141443,-0.007930],[0.141271,0.981440,0.129687],[-0.010560,-0.129499,0.991523]] 2025-10-28T23:10:45.796Z,1761693045.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989519,-0.144027,-0.010386],[0.144112,0.980424,0.134165],[-0.009141,-0.134255,0.990905]] 2025-10-28T23:10:46.201Z,1761693046.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989590,-0.143391,-0.012254],[0.143699,0.979884,0.138485],[-0.007850,-0.138804,0.990289]] 2025-10-28T23:10:46.602Z,1761693046.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990050,-0.140068,-0.013461],[0.140554,0.979833,0.142029],[-0.006704,-0.142508,0.989771]] 2025-10-28T23:10:47.006Z,1761693047.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990613,-0.136005,-0.013751],[0.136561,0.980079,0.144206],[-0.006135,-0.144730,0.989452]] 2025-10-28T23:10:47.412Z,1761693047.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991338,-0.130578,-0.014074],[0.131238,0.980802,0.144236],[-0.005030,-0.144834,0.989443]] 2025-10-28T23:10:47.816Z,1761693047.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992083,-0.124840,-0.013674],[0.125502,0.981529,0.144395],[-0.004605,-0.144968,0.989426]] 2025-10-28T23:10:48.218Z,1761693048.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992798,-0.119099,-0.012913],[0.119715,0.982327,0.143886],[-0.004452,-0.144395,0.989510]] 2025-10-28T23:10:48.622Z,1761693048.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993372,-0.114344,-0.011738],[0.114842,0.982980,0.143395],[-0.004858,-0.143793,0.989596]] 2025-10-28T23:10:49.027Z,1761693049.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993743,-0.111174,-0.010713],[0.111565,0.983545,0.142100],[-0.005261,-0.142406,0.989794]] 2025-10-28T23:10:49.431Z,1761693049.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993803,-0.110710,-0.009991],[0.111022,0.984075,0.138816],[-0.005537,-0.139065,0.990268]] 2025-10-28T23:10:49.836Z,1761693049.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993651,-0.112089,-0.009724],[0.112365,0.984293,0.136169],[-0.005692,-0.136397,0.990638]] 2025-10-28T23:10:50.239Z,1761693050.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993309,-0.115073,-0.009734],[0.115337,0.984260,0.133901],[-0.005828,-0.134127,0.990947]] 2025-10-28T23:10:50.643Z,1761693050.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992905,-0.118473,-0.010206],[0.118769,0.983845,0.133952],[-0.005828,-0.134213,0.990935]] 2025-10-28T23:10:51.048Z,1761693051.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992443,-0.122228,-0.010848],[0.122578,0.983412,0.133696],[-0.005674,-0.134015,0.990963]] 2025-10-28T23:10:51.452Z,1761693051.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991937,-0.126172,-0.011931],[0.126619,0.982609,0.135818],[-0.005413,-0.136233,0.990662]] 2025-10-28T23:10:51.855Z,1761693051.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991423,-0.130024,-0.013210],[0.130604,0.981932,0.136936],[-0.004833,-0.137487,0.990492]] 2025-10-28T23:10:52.263Z,1761693052.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990999,-0.133061,-0.014712],[0.133814,0.981320,0.138221],[-0.003955,-0.138945,0.990292]] 2025-10-28T23:10:52.663Z,1761693052.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990787,-0.134445,-0.016276],[0.135397,0.980912,0.139565],[-0.002798,-0.140483,0.990079]] 2025-10-28T23:10:53.068Z,1761693053.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990756,-0.134486,-0.017755],[0.135645,0.980730,0.140605],[-0.001496,-0.141714,0.989906]] 2025-10-28T23:10:53.471Z,1761693053.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990925,-0.133127,-0.018573],[0.134415,0.980736,0.141734],[-0.000653,-0.142944,0.989731]] 2025-10-28T23:10:53.875Z,1761693053.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991197,-0.131025,-0.019008],[0.132396,0.980877,0.142659],[-0.000047,-0.143919,0.989589]] 2025-10-28T23:10:54.307Z,1761693054.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991506,-0.128601,-0.019427],[0.130058,0.981140,0.142998],[0.000671,-0.144310,0.989532]] 2025-10-28T23:10:54.684Z,1761693054.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991769,-0.126493,-0.019820],[0.128029,0.981440,0.142772],[0.001393,-0.144135,0.989557]] 2025-10-28T23:10:55.086Z,1761693055.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991979,-0.124834,-0.019855],[0.126390,0.981832,0.141535],[0.001826,-0.142909,0.989734]] 2025-10-28T23:10:55.491Z,1761693055.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992032,-0.124463,-0.019553],[0.125976,0.982206,0.139292],[0.001868,-0.140645,0.990058]] 2025-10-28T23:10:55.894Z,1761693055.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992040,-0.124445,-0.019236],[0.125911,0.982448,0.137631],[0.001771,-0.138958,0.990297]] 2025-10-28T23:10:56.327Z,1761693056.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991873,-0.125799,-0.019067],[0.127224,0.982578,0.135476],[0.001693,-0.136800,0.990597]] 2025-10-28T23:10:56.500Z,1761693056.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:10:56.703Z,1761693056.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991687,-0.127205,-0.019380],[0.128659,0.982476,0.134863],[0.001885,-0.136235,0.990675]] 2025-10-28T23:10:57.106Z,1761693057.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991558,-0.128101,-0.020065],[0.129643,0.982180,0.136073],[0.002276,-0.137525,0.990496]] 2025-10-28T23:10:57.504Z,1761693057.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:10:57.513Z,1761693057.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991423,-0.129023,-0.020817],[0.130666,0.981713,0.138438],[0.002575,-0.139971,0.990152]] 2025-10-28T23:10:57.916Z,1761693057.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991401,-0.129077,-0.021525],[0.130823,0.981485,0.139900],[0.003069,-0.141513,0.989932]] 2025-10-28T23:10:58.337Z,1761693058.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991536,-0.127872,-0.022459],[0.129773,0.981230,0.142644],[0.003797,-0.144352,0.989519]] 2025-10-28T23:10:58.723Z,1761693058.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991745,-0.126072,-0.023416],[0.128142,0.981100,0.144990],[0.004694,-0.146794,0.989156]] 2025-10-28T23:10:59.126Z,1761693059.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992012,-0.123822,-0.024098],[0.126026,0.981117,0.146718],[0.005476,-0.148583,0.988885]] 2025-10-28T23:10:59.531Z,1761693059.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992305,-0.121298,-0.024857],[0.123654,0.981185,0.148279],[0.006404,-0.150211,0.988633]] 2025-10-28T23:10:59.936Z,1761693059.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992640,-0.118449,-0.025199],[0.120895,0.981373,0.149304],[0.007044,-0.151252,0.988470]] 2025-10-28T23:11:00.342Z,1761693060.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992880,-0.116419,-0.025231],[0.118887,0.981732,0.148553],[0.007476,-0.150495,0.988582]] 2025-10-28T23:11:00.742Z,1761693060.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993066,-0.114864,-0.025025],[0.117312,0.982050,0.147702],[0.007610,-0.149613,0.988715]] 2025-10-28T23:11:01.147Z,1761693061.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993145,-0.114221,-0.024849],[0.116637,0.982374,0.146069],[0.007727,-0.147966,0.988962]] 2025-10-28T23:11:01.552Z,1761693061.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993096,-0.114650,-0.024825],[0.117043,0.982602,0.144204],[0.007860,-0.146114,0.989237]] 2025-10-28T23:11:01.955Z,1761693061.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992956,-0.115891,-0.024635],[0.118222,0.982848,0.141543],[0.007809,-0.143458,0.989626]] 2025-10-28T23:11:02.358Z,1761693062.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992748,-0.117629,-0.024800],[0.119958,0.982804,0.140376],[0.007861,-0.142333,0.989788]] 2025-10-28T23:11:02.763Z,1761693062.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992510,-0.119544,-0.025174],[0.121897,0.982735,0.139185],[0.008100,-0.141211,0.989946]] 2025-10-28T23:11:03.168Z,1761693063.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992206,-0.121975,-0.025492],[0.124341,0.982562,0.138243],[0.008185,-0.140335,0.990070]] 2025-10-28T23:11:03.571Z,1761693063.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991878,-0.124595,-0.025580],[0.126937,0.982423,0.136867],[0.008077,-0.139002,0.990259]] 2025-10-28T23:11:03.975Z,1761693063.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991572,-0.126880,-0.026180],[0.129278,0.982213,0.136182],[0.008435,-0.138419,0.990338]] 2025-10-28T23:11:04.380Z,1761693064.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991405,-0.127954,-0.027270],[0.130510,0.981782,0.138099],[0.009103,-0.140471,0.990043]] 2025-10-28T23:11:04.783Z,1761693064.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991345,-0.128255,-0.028039],[0.130939,0.981411,0.140310],[0.009523,-0.142767,0.989711]] 2025-10-28T23:11:05.186Z,1761693065.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991451,-0.127285,-0.028696],[0.130103,0.981084,0.143341],[0.009908,-0.145849,0.989257]] 2025-10-28T23:11:05.590Z,1761693065.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991680,-0.125435,-0.028925],[0.128342,0.980799,0.146842],[0.009950,-0.149333,0.988737]] 2025-10-28T23:11:06.001Z,1761693066.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992435,-0.119334,-0.028850],[0.122351,0.980780,0.151989],[0.010158,-0.154369,0.987961]] 2025-10-28T23:11:06.405Z,1761693066.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992897,-0.115537,-0.028421],[0.118550,0.980971,0.153762],[0.010115,-0.156039,0.987699]] 2025-10-28T23:11:06.807Z,1761693066.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993354,-0.111836,-0.027223],[0.114700,0.981537,0.153066],[0.009602,-0.155171,0.987841]] 2025-10-28T23:11:07.211Z,1761693067.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993672,-0.109260,-0.026042],[0.111958,0.982086,0.151565],[0.009015,-0.153521,0.988104]] 2025-10-28T23:11:07.614Z,1761693067.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993784,-0.108444,-0.025147],[0.110981,0.982777,0.147756],[0.008690,-0.149629,0.988704]] 2025-10-28T23:11:08.017Z,1761693068.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993697,-0.109377,-0.024545],[0.111789,0.983141,0.144694],[0.008305,-0.146526,0.989172]] 2025-10-28T23:11:08.419Z,1761693068.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993434,-0.111808,-0.024239],[0.114125,0.983333,0.141535],[0.008010,-0.143372,0.989636]] 2025-10-28T23:11:08.823Z,1761693068.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993040,-0.115272,-0.024177],[0.117510,0.983556,0.137143],[0.007971,-0.139029,0.990256]] 2025-10-28T23:11:09.227Z,1761693069.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992650,-0.118523,-0.024474],[0.120753,0.983478,0.134870],[0.008085,-0.136834,0.990561]] 2025-10-28T23:11:09.632Z,1761693069.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992221,-0.121970,-0.024917],[0.124226,0.983095,0.134509],[0.008090,-0.136558,0.990599]] 2025-10-28T23:11:10.034Z,1761693070.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991926,-0.124277,-0.025252],[0.126567,0.982625,0.135756],[0.007942,-0.137856,0.990420]] 2025-10-28T23:11:10.438Z,1761693070.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991772,-0.125482,-0.025346],[0.127787,0.982250,0.137313],[0.007666,-0.139422,0.990203]] 2025-10-28T23:11:10.843Z,1761693070.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991874,-0.124648,-0.025457],[0.126997,0.981974,0.139994],[0.007548,-0.142089,0.989825]] 2025-10-28T23:11:11.248Z,1761693071.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992112,-0.122733,-0.025513],[0.125124,0.981936,0.141936],[0.007632,-0.144009,0.989547]] 2025-10-28T23:11:11.650Z,1761693071.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992496,-0.119596,-0.025463],[0.122032,0.981966,0.144396],[0.007735,-0.146420,0.989192]] 2025-10-28T23:11:12.054Z,1761693072.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992929,-0.115965,-0.025374],[0.118446,0.982054,0.146765],[0.007899,-0.148732,0.988846]] 2025-10-28T23:11:12.458Z,1761693072.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993386,-0.112075,-0.024962],[0.114557,0.982134,0.149299],[0.007784,-0.151171,0.988477]] 2025-10-28T23:11:12.866Z,1761693072.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993769,-0.108912,-0.023696],[0.111229,0.982718,0.147967],[0.007171,-0.149681,0.988708]] 2025-10-28T23:11:13.267Z,1761693073.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994029,-0.106715,-0.022759],[0.108903,0.983258,0.146096],[0.006788,-0.147702,0.989009]] 2025-10-28T23:11:13.671Z,1761693073.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994117,-0.106060,-0.021961],[0.108120,0.983778,0.143149],[0.006423,-0.144681,0.989457]] 2025-10-28T23:11:14.074Z,1761693074.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993994,-0.107319,-0.021402],[0.109263,0.984181,0.139459],[0.006097,-0.140960,0.989996]] 2025-10-28T23:11:14.479Z,1761693074.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993749,-0.109625,-0.021089],[0.111483,0.984403,0.136097],[0.005841,-0.137597,0.990471]] 2025-10-28T23:11:14.885Z,1761693074.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993285,-0.113766,-0.021013],[0.115556,0.984376,0.132855],[0.005570,-0.134391,0.990913]] 2025-10-28T23:11:15.286Z,1761693075.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992780,-0.118045,-0.021314],[0.119834,0.983938,0.132307],[0.005354,-0.133906,0.990980]] 2025-10-28T23:11:15.690Z,1761693075.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992223,-0.122514,-0.021987],[0.124355,0.983331,0.132652],[0.005369,-0.134354,0.990919]] 2025-10-28T23:11:16.094Z,1761693076.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991691,-0.126590,-0.022899],[0.128521,0.982713,0.133258],[0.005634,-0.135094,0.990817]] 2025-10-28T23:11:16.500Z,1761693076.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991267,-0.129669,-0.023977],[0.131731,0.981984,0.135477],[0.005978,-0.137452,0.990490]] 2025-10-28T23:11:16.903Z,1761693076.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991030,-0.131244,-0.025193],[0.133484,0.981236,0.139131],[0.006460,-0.141246,0.989954]] 2025-10-28T23:11:17.306Z,1761693077.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991013,-0.131186,-0.026129],[0.133581,0.980772,0.142275],[0.006963,-0.144487,0.989482]] 2025-10-28T23:11:17.711Z,1761693077.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991173,-0.129789,-0.027022],[0.132346,0.980613,0.144506],[0.007743,-0.146807,0.989135]] 2025-10-28T23:11:18.115Z,1761693078.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991471,-0.127362,-0.027625],[0.130064,0.980381,0.148108],[0.008220,-0.150438,0.988585]] 2025-10-28T23:11:18.518Z,1761693078.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991738,-0.125276,-0.027616],[0.128015,0.980383,0.149872],[0.008299,-0.152169,0.988320]] 2025-10-28T23:11:18.923Z,1761693078.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992044,-0.122844,-0.027544],[0.125613,0.980458,0.151403],[0.008407,-0.153658,0.988088]] 2025-10-28T23:11:19.326Z,1761693079.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992297,-0.120773,-0.027594],[0.123586,0.980506,0.152759],[0.008607,-0.154992,0.987878]] 2025-10-28T23:11:19.733Z,1761693079.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992509,-0.119044,-0.027461],[0.121861,0.980645,0.153246],[0.008686,-0.155445,0.987806]] 2025-10-28T23:11:20.135Z,1761693080.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992703,-0.117495,-0.027108],[0.120272,0.980900,0.152871],[0.008629,-0.155016,0.987874]] 2025-10-28T23:11:20.538Z,1761693080.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992821,-0.116654,-0.026406],[0.119312,0.981399,0.150405],[0.008369,-0.152475,0.988272]] 2025-10-28T23:11:20.943Z,1761693080.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992916,-0.115964,-0.025896],[0.118543,0.981664,0.149274],[0.008111,-0.151287,0.988457]] 2025-10-28T23:11:21.347Z,1761693081.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993053,-0.114909,-0.025324],[0.117409,0.981876,0.148776],[0.007769,-0.150716,0.988547]] 2025-10-28T23:11:21.752Z,1761693081.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993294,-0.112939,-0.024731],[0.115374,0.982085,0.148992],[0.007460,-0.150847,0.988529]] 2025-10-28T23:11:22.154Z,1761693082.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993502,-0.111274,-0.023932],[0.113594,0.982578,0.147097],[0.007147,-0.148860,0.988833]] 2025-10-28T23:11:22.559Z,1761693082.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993720,-0.109448,-0.023292],[0.111691,0.982827,0.146889],[0.006816,-0.148568,0.988879]] 2025-10-28T23:11:22.965Z,1761693082.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993933,-0.107607,-0.022747],[0.109780,0.983240,0.145560],[0.006702,-0.147174,0.989088]] 2025-10-28T23:11:23.366Z,1761693083.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994136,-0.105871,-0.022039],[0.107947,0.983714,0.143716],[0.006465,-0.145252,0.989374]] 2025-10-28T23:11:23.770Z,1761693083.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994269,-0.104711,-0.021574],[0.106720,0.984120,0.141836],[0.006380,-0.143326,0.989655]] 2025-10-28T23:11:24.175Z,1761693084.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994333,-0.104161,-0.021266],[0.106129,0.984233,0.141499],[0.006192,-0.142954,0.989710]] 2025-10-28T23:11:24.581Z,1761693084.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994262,-0.104875,-0.021059],[0.106800,0.984322,0.140371],[0.006007,-0.141815,0.989875]] 2025-10-28T23:11:24.983Z,1761693084.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994120,-0.106230,-0.021009],[0.108124,0.984420,0.138663],[0.005951,-0.140119,0.990117]] 2025-10-28T23:11:25.386Z,1761693085.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993912,-0.108197,-0.020784],[0.110034,0.984370,0.137505],[0.005581,-0.138954,0.990283]] 2025-10-28T23:11:25.791Z,1761693085.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993702,-0.110147,-0.020603],[0.111936,0.984255,0.136790],[0.005212,-0.138234,0.990386]] 2025-10-28T23:11:26.196Z,1761693086.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993519,-0.111739,-0.020853],[0.113547,0.984092,0.136639],[0.005253,-0.138122,0.990401]] 2025-10-28T23:11:26.598Z,1761693086.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993342,-0.113191,-0.021449],[0.115078,0.983648,0.138539],[0.005416,-0.140085,0.990125]] 2025-10-28T23:11:27.003Z,1761693087.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993131,-0.114950,-0.021863],[0.116886,0.983229,0.139996],[0.005403,-0.141590,0.989911]] 2025-10-28T23:11:27.407Z,1761693087.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992871,-0.117115,-0.022179],[0.119073,0.982992,0.139812],[0.005428,-0.141456,0.989930]] 2025-10-28T23:11:27.626Z,1761693087.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:11:27.811Z,1761693087.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992549,-0.119759,-0.022438],[0.121727,0.982678,0.139735],[0.005315,-0.141425,0.989935]] 2025-10-28T23:11:28.214Z,1761693088.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992125,-0.123143,-0.022899],[0.125142,0.982264,0.139632],[0.005298,-0.141398,0.989939]] 2025-10-28T23:11:28.618Z,1761693088.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991691,-0.126463,-0.023589],[0.128534,0.981609,0.141147],[0.005305,-0.143007,0.989707]] 2025-10-28T23:11:28.628Z,1761693088.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:11:29.022Z,1761693089.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991206,-0.130054,-0.024415],[0.132211,0.981021,0.141839],[0.005505,-0.143820,0.989589]] 2025-10-28T23:11:29.428Z,1761693089.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990783,-0.133055,-0.025417],[0.135335,0.980360,0.143453],[0.005831,-0.145570,0.989331]] 2025-10-28T23:11:29.830Z,1761693089.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990465,-0.135199,-0.026452],[0.137621,0.979732,0.145552],[0.006237,-0.147805,0.988997]] 2025-10-28T23:11:30.234Z,1761693090.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990359,-0.135780,-0.027428],[0.138357,0.979266,0.147971],[0.006768,-0.150340,0.988611]] 2025-10-28T23:11:30.640Z,1761693090.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990400,-0.135358,-0.028039],[0.138052,0.978899,0.150662],[0.007054,-0.153087,0.988188]] 2025-10-28T23:11:31.044Z,1761693091.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990600,-0.133778,-0.028561],[0.136576,0.978972,0.151531],[0.007689,-0.154007,0.988040]] 2025-10-28T23:11:31.446Z,1761693091.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990852,-0.131920,-0.028465],[0.134725,0.979250,0.151392],[0.007902,-0.153842,0.988064]] 2025-10-28T23:11:31.850Z,1761693091.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991200,-0.129391,-0.027931],[0.132130,0.979853,0.149768],[0.007989,-0.152140,0.988327]] 2025-10-28T23:11:32.258Z,1761693092.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991645,-0.126105,-0.027154],[0.128731,0.980900,0.145821],[0.008247,-0.148098,0.988938]] 2025-10-28T23:11:32.661Z,1761693092.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992126,-0.122375,-0.026667],[0.124942,0.981857,0.142638],[0.008728,-0.144846,0.989416]] 2025-10-28T23:11:33.062Z,1761693093.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992674,-0.117977,-0.026082],[0.120481,0.982801,0.139951],[0.009123,-0.142068,0.989815]] 2025-10-28T23:11:33.466Z,1761693093.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993308,-0.112685,-0.025330],[0.115103,0.983913,0.136625],[0.009527,-0.138626,0.990299]] 2025-10-28T23:11:33.871Z,1761693093.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993960,-0.106909,-0.024767],[0.109284,0.984840,0.134708],[0.009990,-0.136601,0.990576]] 2025-10-28T23:11:34.309Z,1761693094.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994483,-0.102123,-0.023986],[0.104427,0.985477,0.133900],[0.009964,-0.135666,0.990705]] 2025-10-28T23:11:34.679Z,1761693094.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994746,-0.099694,-0.023287],[0.101917,0.985863,0.132991],[0.009699,-0.134665,0.990844]] 2025-10-28T23:11:35.083Z,1761693095.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994705,-0.100192,-0.022870],[0.102362,0.985705,0.133819],[0.009136,-0.135451,0.990742]] 2025-10-28T23:11:35.487Z,1761693095.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994557,-0.101642,-0.022918],[0.103818,0.985360,0.135230],[0.008837,-0.136873,0.990549]] 2025-10-28T23:11:35.892Z,1761693095.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994352,-0.103642,-0.022871],[0.105805,0.984953,0.136647],[0.008364,-0.138295,0.990356]] 2025-10-28T23:11:36.328Z,1761693096.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994170,-0.105286,-0.023248],[0.107513,0.984319,0.139845],[0.008160,-0.141530,0.989900]] 2025-10-28T23:11:36.698Z,1761693096.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994067,-0.106205,-0.023488],[0.108482,0.983770,0.142924],[0.007927,-0.144624,0.989455]] 2025-10-28T23:11:37.105Z,1761693097.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993950,-0.107252,-0.023683],[0.109569,0.983223,0.145831],[0.007645,-0.147544,0.989026]] 2025-10-28T23:11:37.508Z,1761693097.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993874,-0.107861,-0.024081],[0.110245,0.982879,0.147635],[0.007745,-0.149385,0.988749]] 2025-10-28T23:11:37.910Z,1761693097.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993814,-0.108282,-0.024681],[0.110751,0.982815,0.147680],[0.008266,-0.149499,0.988727]] 2025-10-28T23:11:38.334Z,1761693098.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993865,-0.107728,-0.025045],[0.110265,0.982745,0.148509],[0.008614,-0.150359,0.988594]] 2025-10-28T23:11:38.718Z,1761693098.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993789,-0.108369,-0.025291],[0.110924,0.982869,0.147191],[0.008907,-0.149082,0.988785]] 2025-10-28T23:11:39.125Z,1761693099.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993683,-0.109228,-0.025778],[0.111836,0.982923,0.146131],[0.009376,-0.148091,0.988929]] 2025-10-28T23:11:39.527Z,1761693099.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993595,-0.109926,-0.026168],[0.112578,0.982937,0.145470],[0.009730,-0.147485,0.989017]] 2025-10-28T23:11:39.931Z,1761693099.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993517,-0.110500,-0.026701],[0.113207,0.983109,0.143805],[0.010360,-0.145896,0.989246]] 2025-10-28T23:11:40.343Z,1761693100.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993395,-0.111581,-0.026768],[0.114281,0.983057,0.143316],[0.010323,-0.145428,0.989315]] 2025-10-28T23:11:40.741Z,1761693100.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993220,-0.113161,-0.026615],[0.115813,0.983014,0.142378],[0.010051,-0.144495,0.989455]] 2025-10-28T23:11:41.143Z,1761693101.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993107,-0.114149,-0.026627],[0.116793,0.982895,0.142400],[0.009917,-0.144528,0.989451]] 2025-10-28T23:11:41.547Z,1761693101.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993034,-0.114765,-0.026691],[0.117415,0.982779,0.142687],[0.009856,-0.144827,0.989408]] 2025-10-28T23:11:41.951Z,1761693101.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993106,-0.114294,-0.026016],[0.116870,0.982555,0.144662],[0.009028,-0.146705,0.989139]] 2025-10-28T23:11:42.371Z,1761693102.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993170,-0.113942,-0.025129],[0.116402,0.982413,0.145998],[0.008052,-0.147926,0.988966]] 2025-10-28T23:11:42.758Z,1761693102.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993268,-0.113246,-0.024360],[0.115615,0.982194,0.148081],[0.007156,-0.149900,0.988675]] 2025-10-28T23:11:43.162Z,1761693103.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993362,-0.112630,-0.023370],[0.114860,0.982222,0.148484],[0.006230,-0.150183,0.988639]] 2025-10-28T23:11:43.566Z,1761693103.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993422,-0.112235,-0.022736],[0.114374,0.982299,0.148348],[0.005684,-0.149972,0.988674]] 2025-10-28T23:11:43.971Z,1761693103.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993499,-0.111618,-0.022381],[0.113710,0.982369,0.148398],[0.005423,-0.149979,0.988674]] 2025-10-28T23:11:44.377Z,1761693104.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993572,-0.111019,-0.022130],[0.113074,0.982621,0.147206],[0.005403,-0.148762,0.988858]] 2025-10-28T23:11:44.779Z,1761693104.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993693,-0.109982,-0.021868],[0.112000,0.983023,0.145330],[0.005513,-0.146863,0.989142]] 2025-10-28T23:11:45.183Z,1761693105.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993813,-0.108973,-0.021479],[0.110932,0.983468,0.143127],[0.005527,-0.144624,0.989471]] 2025-10-28T23:11:45.587Z,1761693105.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993940,-0.107909,-0.020946],[0.109792,0.983859,0.141305],[0.005360,-0.142748,0.989745]] 2025-10-28T23:11:45.992Z,1761693105.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994013,-0.107384,-0.020154],[0.109150,0.984232,0.139190],[0.004890,-0.140556,0.990061]] 2025-10-28T23:11:46.395Z,1761693106.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994081,-0.106913,-0.019312],[0.108553,0.984686,0.136420],[0.004431,-0.137709,0.990463]] 2025-10-28T23:11:46.798Z,1761693106.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994150,-0.106457,-0.018243],[0.107952,0.984803,0.136046],[0.003483,-0.137219,0.990535]] 2025-10-28T23:11:47.203Z,1761693107.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994181,-0.106344,-0.017184],[0.107695,0.984887,0.135646],[0.002499,-0.136707,0.990608]] 2025-10-28T23:11:47.608Z,1761693107.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994251,-0.105867,-0.016006],[0.107060,0.985024,0.135151],[0.001458,-0.136088,0.990696]] 2025-10-28T23:11:48.011Z,1761693108.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994351,-0.105068,-0.015039],[0.106137,0.985101,0.135317],[0.000597,-0.136148,0.990688]] 2025-10-28T23:11:48.415Z,1761693108.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994450,-0.104200,-0.014550],[0.105211,0.985007,0.136716],[0.000086,-0.137488,0.990503]] 2025-10-28T23:11:48.818Z,1761693108.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994588,-0.102966,-0.013865],[0.103894,0.984998,0.137787],[-0.000531,-0.138481,0.990365]] 2025-10-28T23:11:49.224Z,1761693109.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994688,-0.102100,-0.013114],[0.102931,0.984950,0.138850],[-0.001260,-0.139462,0.990227]] 2025-10-28T23:11:49.626Z,1761693109.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994743,-0.101633,-0.012552],[0.102389,0.984888,0.139688],[-0.001834,-0.140239,0.990116]] 2025-10-28T23:11:50.031Z,1761693110.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994728,-0.101846,-0.012024],[0.102524,0.984816,0.140095],[-0.002427,-0.140589,0.990065]] 2025-10-28T23:11:50.436Z,1761693110.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994659,-0.102561,-0.011558],[0.103167,0.984737,0.140181],[-0.002995,-0.140624,0.990059]] 2025-10-28T23:11:50.840Z,1761693110.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994531,-0.103849,-0.011111],[0.104379,0.984591,0.140303],[-0.003630,-0.140696,0.990046]] 2025-10-28T23:11:51.247Z,1761693111.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994302,-0.106056,-0.010780],[0.106521,0.984482,0.139460],[-0.004178,-0.139814,0.990169]] 2025-10-28T23:11:51.653Z,1761693111.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993758,-0.111127,-0.009799],[0.111388,0.983561,0.142126],[-0.006156,-0.142330,0.989800]] 2025-10-28T23:11:52.061Z,1761693112.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993547,-0.113024,-0.009492],[0.113203,0.982940,0.144959],[-0.007054,-0.145098,0.989392]] 2025-10-28T23:11:52.461Z,1761693112.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993292,-0.115262,-0.009303],[0.115378,0.982477,0.146380],[-0.007732,-0.146471,0.989185]] 2025-10-28T23:11:52.862Z,1761693112.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993165,-0.116350,-0.009299],[0.116430,0.981904,0.149362],[-0.008248,-0.149424,0.988739]] 2025-10-28T23:11:53.263Z,1761693113.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993090,-0.116998,-0.009111],[0.117044,0.981866,0.149133],[-0.008502,-0.149169,0.988775]] 2025-10-28T23:11:53.667Z,1761693113.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993047,-0.117381,-0.008881],[0.117392,0.981892,0.148682],[-0.008732,-0.148691,0.988845]] 2025-10-28T23:11:54.073Z,1761693114.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993034,-0.117507,-0.008688],[0.117485,0.981834,0.148993],[-0.008978,-0.148976,0.988800]] 2025-10-28T23:11:54.475Z,1761693114.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993079,-0.117166,-0.008100],[0.117054,0.981781,0.149682],[-0.009585,-0.149594,0.988701]] 2025-10-28T23:11:54.878Z,1761693114.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993117,-0.116920,-0.006886],[0.116638,0.981958,0.148840],[-0.010641,-0.148619,0.988837]] 2025-10-28T23:11:55.283Z,1761693115.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993224,-0.116032,-0.006484],[0.115689,0.981908,0.149909],[-0.011027,-0.149643,0.988679]] 2025-10-28T23:11:55.687Z,1761693115.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993350,-0.114985,-0.005798],[0.114536,0.981859,0.151113],[-0.011683,-0.150772,0.988500]] 2025-10-28T23:11:56.092Z,1761693116.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993479,-0.113905,-0.004906],[0.113327,0.981904,0.151729],[-0.012466,-0.151296,0.988410]] 2025-10-28T23:11:56.497Z,1761693116.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993654,-0.112416,-0.003710],[0.111676,0.982112,0.151603],[-0.013399,-0.151055,0.988434]] 2025-10-28T23:11:56.899Z,1761693116.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993876,-0.110475,-0.002338],[0.109566,0.982513,0.150546],[-0.014334,-0.149881,0.988600]] 2025-10-28T23:11:57.304Z,1761693117.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994174,-0.107775,-0.001379],[0.106755,0.982846,0.150389],[-0.014853,-0.149660,0.988626]] 2025-10-28T23:11:57.709Z,1761693117.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994508,-0.104663,-0.000516],[0.103545,0.983142,0.150697],[-0.015265,-0.149923,0.988580]] 2025-10-28T23:11:58.110Z,1761693118.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994838,-0.101479,0.000535],[0.100248,0.983563,0.150179],[-0.015766,-0.149350,0.988659]] 2025-10-28T23:11:58.514Z,1761693118.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995145,-0.098409,0.001637],[0.097059,0.983981,0.149539],[-0.016327,-0.148654,0.988755]] 2025-10-28T23:11:58.752Z,1761693118.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:11:58.918Z,1761693118.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995399,-0.095770,0.002894],[0.094307,0.984629,0.147008],[-0.016929,-0.146059,0.989131]] 2025-10-28T23:11:59.322Z,1761693119.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995585,-0.093770,0.004094],[0.092219,0.985375,0.143293],[-0.017471,-0.142283,0.989672]] 2025-10-28T23:11:59.726Z,1761693119.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995619,-0.093375,0.004984],[0.091746,0.985772,0.140841],[-0.018064,-0.139767,0.990020]] 2025-10-28T23:11:59.756Z,1761693119.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:12:00.131Z,1761693120.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995565,-0.093913,0.005624],[0.092251,0.986189,0.137555],[-0.018465,-0.136426,0.990478]] 2025-10-28T23:12:00.535Z,1761693120.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995287,-0.096781,0.006040],[0.095115,0.986479,0.133460],[-0.018875,-0.132256,0.991036]] 2025-10-28T23:12:00.940Z,1761693120.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994856,-0.101109,0.006186],[0.099451,0.986508,0.130046],[-0.019252,-0.128762,0.991489]] 2025-10-28T23:12:01.343Z,1761693121.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994318,-0.106254,0.006410],[0.104569,0.986265,0.127853],[-0.019906,-0.126456,0.991772]] 2025-10-28T23:12:01.746Z,1761693121.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993683,-0.112065,0.005884],[0.110405,0.985665,0.127572],[-0.020096,-0.126116,0.991812]] 2025-10-28T23:12:02.160Z,1761693122.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993020,-0.117832,0.005267],[0.116183,0.984868,0.128596],[-0.020341,-0.127087,0.991683]] 2025-10-28T23:12:02.556Z,1761693122.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992355,-0.123340,0.004352],[0.121731,0.984000,0.130095],[-0.020328,-0.128571,0.991492]] 2025-10-28T23:12:02.958Z,1761693122.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991760,-0.128066,0.003420],[0.126474,0.982988,0.133184],[-0.020418,-0.131654,0.991085]] 2025-10-28T23:12:03.363Z,1761693123.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991336,-0.131323,0.002725],[0.129716,0.982047,0.136958],[-0.020662,-0.135418,0.990573]] 2025-10-28T23:12:03.767Z,1761693123.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991169,-0.132585,0.002152],[0.130965,0.981338,0.140795],[-0.020780,-0.139270,0.990036]] 2025-10-28T23:12:04.170Z,1761693124.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991126,-0.132912,0.001897],[0.131282,0.981005,0.142808],[-0.020842,-0.141292,0.989749]] 2025-10-28T23:12:04.574Z,1761693124.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991311,-0.131525,0.001968],[0.129823,0.980674,0.146370],[-0.021182,-0.144843,0.989228]] 2025-10-28T23:12:04.979Z,1761693124.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991571,-0.129545,0.002390],[0.127736,0.980477,0.149492],[-0.021710,-0.147926,0.988760]] 2025-10-28T23:12:05.384Z,1761693125.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991892,-0.127046,0.003115],[0.125117,0.980540,0.151288],[-0.022275,-0.149671,0.988485]] 2025-10-28T23:12:05.788Z,1761693125.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992128,-0.125171,0.003904],[0.123132,0.980704,0.151846],[-0.022836,-0.150170,0.988396]] 2025-10-28T23:12:06.191Z,1761693126.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992321,-0.123606,0.004619],[0.121454,0.980758,0.152851],[-0.023424,-0.151116,0.988238]] 2025-10-28T23:12:06.594Z,1761693126.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992404,-0.122911,0.005145],[0.120690,0.980866,0.152758],[-0.023822,-0.150977,0.988250]] 2025-10-28T23:12:07.000Z,1761693127.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992461,-0.122434,0.005521],[0.120203,0.981192,0.151040],[-0.023909,-0.149238,0.988512]] 2025-10-28T23:12:07.403Z,1761693127.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992540,-0.121787,0.005736],[0.119530,0.981261,0.151128],[-0.024034,-0.149315,0.988498]] 2025-10-28T23:12:07.806Z,1761693127.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992685,-0.120582,0.005958],[0.118302,0.981389,0.151259],[-0.024087,-0.149448,0.988476]] 2025-10-28T23:12:08.211Z,1761693128.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992923,-0.118611,0.005870],[0.116342,0.981464,0.152291],[-0.023825,-0.150530,0.988318]] 2025-10-28T23:12:08.615Z,1761693128.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993314,-0.115291,0.005971],[0.113013,0.981644,0.153633],[-0.023574,-0.151931,0.988110]] 2025-10-28T23:12:09.020Z,1761693129.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993707,-0.111822,0.006435],[0.109524,0.982104,0.153220],[-0.023453,-0.151551,0.988171]] 2025-10-28T23:12:09.422Z,1761693129.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994140,-0.107873,0.007057],[0.105524,0.982527,0.153315],[-0.023473,-0.151672,0.988152]] 2025-10-28T23:12:09.826Z,1761693129.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994522,-0.104207,0.008164],[0.101763,0.983116,0.152078],[-0.023874,-0.150414,0.988335]] 2025-10-28T23:12:10.231Z,1761693130.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994783,-0.101603,0.009191],[0.099080,0.983673,0.150235],[-0.024306,-0.148540,0.988608]] 2025-10-28T23:12:10.636Z,1761693130.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994879,-0.100554,0.010243],[0.097987,0.984380,0.146266],[-0.024791,-0.144514,0.989192]] 2025-10-28T23:12:11.038Z,1761693131.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994830,-0.100936,0.011226],[0.098358,0.985108,0.141027],[-0.025293,-0.139194,0.989942]] 2025-10-28T23:12:11.442Z,1761693131.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994588,-0.103201,0.012035],[0.100593,0.985441,0.137068],[-0.026005,-0.135116,0.990488]] 2025-10-28T23:12:11.846Z,1761693131.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994250,-0.106323,0.012714],[0.103723,0.985762,0.132345],[-0.026604,-0.130265,0.991122]] 2025-10-28T23:12:12.255Z,1761693132.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993893,-0.109491,0.013720],[0.106793,0.985717,0.130221],[-0.027783,-0.127960,0.991390]] 2025-10-28T23:12:12.654Z,1761693132.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993416,-0.113631,0.014598],[0.110845,0.985533,0.128210],[-0.028955,-0.125748,0.991640]] 2025-10-28T23:12:13.058Z,1761693133.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992849,-0.118519,0.014310],[0.115722,0.984933,0.128510],[-0.029326,-0.125935,0.991605]] 2025-10-28T23:12:13.463Z,1761693133.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992293,-0.123111,0.014098],[0.120295,0.984346,0.128813],[-0.029735,-0.126125,0.991569]] 2025-10-28T23:12:13.870Z,1761693133.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991752,-0.127447,0.013637],[0.124609,0.983613,0.130298],[-0.030020,-0.127524,0.991381]] 2025-10-28T23:12:14.294Z,1761693134.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991287,-0.131092,0.012809],[0.128220,0.982659,0.133941],[-0.030146,-0.131131,0.990907]] 2025-10-28T23:12:14.675Z,1761693134.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990963,-0.133591,0.012106],[0.130677,0.981822,0.137656],[-0.030276,-0.134830,0.990406]] 2025-10-28T23:12:15.079Z,1761693135.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990828,-0.134643,0.011490],[0.131693,0.981175,0.141251],[-0.030292,-0.138442,0.989907]] 2025-10-28T23:12:15.485Z,1761693135.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990825,-0.134693,0.011095],[0.131707,0.980739,0.144237],[-0.030309,-0.141452,0.989481]] 2025-10-28T23:12:15.890Z,1761693135.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990961,-0.133719,0.010787],[0.130680,0.980354,0.147746],[-0.030331,-0.145001,0.988967]] 2025-10-28T23:12:16.326Z,1761693136.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991206,-0.131907,0.010576],[0.128853,0.980272,0.149878],[-0.030138,-0.147197,0.988648]] 2025-10-28T23:12:16.694Z,1761693136.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991410,-0.130374,0.010382],[0.127371,0.980492,0.149709],[-0.029698,-0.147101,0.988676]] 2025-10-28T23:12:17.099Z,1761693137.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991628,-0.128708,0.010378],[0.125769,0.980931,0.148175],[-0.029251,-0.145629,0.988907]] 2025-10-28T23:12:17.505Z,1761693137.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991810,-0.127288,0.010498],[0.124430,0.981525,0.145345],[-0.028805,-0.142849,0.989325]] 2025-10-28T23:12:17.908Z,1761693137.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991879,-0.126719,0.010913],[0.123920,0.982154,0.141485],[-0.028647,-0.138984,0.989880]] 2025-10-28T23:12:18.331Z,1761693138.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991861,-0.126851,0.010995],[0.124121,0.982531,0.138657],[-0.028392,-0.136164,0.990279]] 2025-10-28T23:12:18.715Z,1761693138.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991828,-0.127090,0.011228],[0.124396,0.982836,0.136231],[-0.028349,-0.133721,0.990614]] 2025-10-28T23:12:19.120Z,1761693139.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991786,-0.127396,0.011465],[0.124698,0.982948,0.135145],[-0.028487,-0.132605,0.990759]] 2025-10-28T23:12:19.523Z,1761693139.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991797,-0.127289,0.011679],[0.124567,0.982976,0.135060],[-0.028672,-0.132497,0.990769]] 2025-10-28T23:12:19.928Z,1761693139.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991752,-0.127628,0.011779],[0.124887,0.982922,0.135158],[-0.028828,-0.132572,0.990754]] 2025-10-28T23:12:20.339Z,1761693140.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991786,-0.127340,0.012060],[0.124548,0.982889,0.135707],[-0.029135,-0.133090,0.990676]] 2025-10-28T23:12:20.737Z,1761693140.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991847,-0.126824,0.012432],[0.123940,0.982749,0.137270],[-0.029626,-0.134610,0.990456]] 2025-10-28T23:12:21.138Z,1761693141.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991980,-0.125742,0.012811],[0.122781,0.982727,0.138464],[-0.030000,-0.135780,0.990285]] 2025-10-28T23:12:21.542Z,1761693141.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992126,-0.124522,0.013402],[0.121455,0.982721,0.139673],[-0.030563,-0.136946,0.990107]] 2025-10-28T23:12:21.947Z,1761693141.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992276,-0.123202,0.014486],[0.120049,0.983120,0.138073],[-0.031253,-0.135267,0.990316]] 2025-10-28T23:12:22.351Z,1761693142.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992428,-0.121857,0.015380],[0.118653,0.983535,0.136309],[-0.031737,-0.133452,0.990547]] 2025-10-28T23:12:22.756Z,1761693142.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992550,-0.120759,0.016196],[0.117476,0.983764,0.135675],[-0.032317,-0.132762,0.990621]] 2025-10-28T23:12:23.159Z,1761693143.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992577,-0.120429,0.016971],[0.117079,0.983949,0.134675],[-0.032917,-0.131689,0.990744]] 2025-10-28T23:12:23.562Z,1761693143.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992415,-0.121629,0.017872],[0.118251,0.984208,0.131723],[-0.033611,-0.128610,0.991126]] 2025-10-28T23:12:23.967Z,1761693143.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992118,-0.123938,0.018459],[0.120507,0.984093,0.130537],[-0.034344,-0.127283,0.991272]] 2025-10-28T23:12:24.372Z,1761693144.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991684,-0.127332,0.018672],[0.123878,0.983794,0.129628],[-0.034876,-0.126237,0.991387]] 2025-10-28T23:12:24.774Z,1761693144.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991103,-0.131849,0.018163],[0.128468,0.983373,0.128345],[-0.034784,-0.124870,0.991563]] 2025-10-28T23:12:25.179Z,1761693145.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990402,-0.137244,0.016368],[0.134034,0.982586,0.128686],[-0.033744,-0.125257,0.991550]] 2025-10-28T23:12:25.582Z,1761693145.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989622,-0.143028,0.013860],[0.140013,0.981450,0.130967],[-0.032335,-0.127667,0.991290]] 2025-10-28T23:12:25.988Z,1761693145.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988843,-0.148560,0.010936],[0.145780,0.980200,0.133999],[-0.030626,-0.130909,0.990921]] 2025-10-28T23:12:26.391Z,1761693146.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988123,-0.153471,0.007663],[0.151016,0.979114,0.136126],[-0.028394,-0.133352,0.990662]] 2025-10-28T23:12:26.794Z,1761693146.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987603,-0.156919,0.004168],[0.154841,0.978198,0.138396],[-0.025794,-0.136035,0.990368]] 2025-10-28T23:12:27.199Z,1761693147.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987399,-0.158247,0.001100],[0.156512,0.977551,0.141058],[-0.023397,-0.139108,0.990001]] 2025-10-28T23:12:27.605Z,1761693147.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987446,-0.157951,-0.001370],[0.156500,0.977129,0.143970],[-0.021401,-0.142377,0.989581]] 2025-10-28T23:12:28.006Z,1761693148.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987776,-0.155846,-0.003398],[0.154650,0.976991,0.146873],[-0.019570,-0.145603,0.989150]] 2025-10-28T23:12:28.410Z,1761693148.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988289,-0.152528,-0.004553],[0.151488,0.977089,0.149493],[-0.018353,-0.148432,0.988752]] 2025-10-28T23:12:28.814Z,1761693148.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988895,-0.148530,-0.005084],[0.147570,0.977296,0.152039],[-0.017613,-0.151101,0.988361]] 2025-10-28T23:12:29.221Z,1761693149.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989540,-0.144172,-0.004970],[0.143209,0.977610,0.154176],[-0.017369,-0.153275,0.988031]] 2025-10-28T23:12:29.622Z,1761693149.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990180,-0.139728,-0.004425],[0.138682,0.977792,0.157128],[-0.017628,-0.156199,0.987568]] 2025-10-28T23:12:29.876Z,1761693149.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:12:30.026Z,1761693150.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990812,-0.135199,-0.003635],[0.134032,0.977954,0.160132],[-0.018095,-0.159148,0.987089]] 2025-10-28T23:12:30.431Z,1761693150.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991341,-0.131289,-0.002531],[0.129999,0.978509,0.160066],[-0.018538,-0.159009,0.987103]] 2025-10-28T23:12:30.836Z,1761693150.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991740,-0.128260,-0.001361],[0.126872,0.979341,0.157463],[-0.018863,-0.156335,0.987524]] 2025-10-28T23:12:30.880Z,1761693150.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:12:31.239Z,1761693151.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991993,-0.126294,-0.000304],[0.124828,0.980112,0.154265],[-0.019185,-0.153068,0.988029]] 2025-10-28T23:12:31.643Z,1761693151.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992184,-0.124783,0.000403],[0.123310,0.980953,0.150084],[-0.019124,-0.148861,0.988673]] 2025-10-28T23:12:32.047Z,1761693152.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992314,-0.123737,0.001228],[0.122245,0.981796,0.145370],[-0.019193,-0.144103,0.989377]] 2025-10-28T23:12:32.452Z,1761693152.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992351,-0.123431,0.001876],[0.121941,0.982516,0.140686],[-0.019209,-0.139381,0.990053]] 2025-10-28T23:12:32.855Z,1761693152.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992302,-0.123821,0.002345],[0.122322,0.982899,0.137650],[-0.019349,-0.136303,0.990478]] 2025-10-28T23:12:33.259Z,1761693153.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992214,-0.124523,0.002537],[0.123053,0.983242,0.134514],[-0.019244,-0.133155,0.990908]] 2025-10-28T23:12:33.663Z,1761693153.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991947,-0.126631,0.002318],[0.125246,0.983489,0.130627],[-0.018821,-0.129284,0.991429]] 2025-10-28T23:12:34.069Z,1761693154.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991531,-0.129857,0.001819],[0.128568,0.983475,0.127467],[-0.018341,-0.126154,0.991841]] 2025-10-28T23:12:34.471Z,1761693154.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991062,-0.133400,0.000696],[0.132240,0.983107,0.126545],[-0.017565,-0.125322,0.991961]] 2025-10-28T23:12:34.875Z,1761693154.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990522,-0.137352,-0.000914],[0.136350,0.982448,0.127299],[-0.016587,-0.126217,0.991864]] 2025-10-28T23:12:35.279Z,1761693155.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989933,-0.141509,-0.002831],[0.140660,0.981373,0.130847],[-0.015737,-0.129928,0.991398]] 2025-10-28T23:12:35.684Z,1761693155.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989341,-0.145535,-0.004849],[0.144843,0.980120,0.135594],[-0.014981,-0.134851,0.990753]] 2025-10-28T23:12:36.087Z,1761693156.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988805,-0.149040,-0.007142],[0.148564,0.978940,0.140020],[-0.013877,-0.139514,0.990123]] 2025-10-28T23:12:36.495Z,1761693156.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988425,-0.151412,-0.009456],[0.151193,0.978038,0.143466],[-0.012474,-0.143235,0.989610]] 2025-10-28T23:12:36.901Z,1761693156.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988461,-0.150823,-0.014016],[0.151205,0.976966,0.150581],[-0.009018,-0.150962,0.988498]] 2025-10-28T23:12:37.305Z,1761693157.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988822,-0.148267,-0.015734],[0.148915,0.976822,0.153766],[-0.007429,-0.154390,0.987982]] 2025-10-28T23:12:37.709Z,1761693157.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989277,-0.145087,-0.016780],[0.145920,0.976921,0.155987],[-0.006239,-0.156763,0.987617]] 2025-10-28T23:12:38.111Z,1761693158.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989837,-0.141135,-0.017432],[0.142113,0.977263,0.157358],[-0.005173,-0.158236,0.987388]] 2025-10-28T23:12:38.512Z,1761693158.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990335,-0.137619,-0.017245],[0.138622,0.978110,0.155193],[-0.004490,-0.156084,0.987734]] 2025-10-28T23:12:38.916Z,1761693158.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990723,-0.134892,-0.016485],[0.135830,0.979127,0.151195],[-0.004254,-0.152031,0.988366]] 2025-10-28T23:12:39.320Z,1761693159.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990943,-0.133396,-0.015430],[0.134210,0.979961,0.147188],[-0.004513,-0.147926,0.988988]] 2025-10-28T23:12:39.723Z,1761693159.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990967,-0.133342,-0.014317],[0.134017,0.980689,0.142438],[-0.004953,-0.143070,0.989700]] 2025-10-28T23:12:40.127Z,1761693160.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990779,-0.134826,-0.013340],[0.135370,0.981075,0.138444],[-0.005579,-0.138973,0.990280]] 2025-10-28T23:12:40.531Z,1761693160.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990436,-0.137399,-0.012562],[0.137832,0.981220,0.134943],[-0.006215,-0.135384,0.990774]] 2025-10-28T23:12:40.937Z,1761693160.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989901,-0.141258,-0.011929],[0.141581,0.980903,0.133359],[-0.007137,-0.133701,0.990996]] 2025-10-28T23:12:41.338Z,1761693161.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989378,-0.144860,-0.012099],[0.145178,0.980467,0.132691],[-0.007359,-0.133038,0.991084]] 2025-10-28T23:12:41.742Z,1761693161.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988881,-0.148156,-0.012812],[0.148526,0.979722,0.134477],[-0.007371,-0.134885,0.990834]] 2025-10-28T23:12:42.147Z,1761693162.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988586,-0.150015,-0.013931],[0.150494,0.978921,0.138079],[-0.007077,-0.138600,0.990323]] 2025-10-28T23:12:42.552Z,1761693162.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988529,-0.150259,-0.015253],[0.150885,0.978072,0.143555],[-0.006652,-0.144210,0.989525]] 2025-10-28T23:12:42.955Z,1761693162.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988779,-0.148453,-0.016673],[0.149269,0.977403,0.149671],[-0.005923,-0.150480,0.988595]] 2025-10-28T23:12:43.359Z,1761693163.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989263,-0.145107,-0.017426],[0.146051,0.977173,0.154281],[-0.005359,-0.155170,0.987873]] 2025-10-28T23:12:43.763Z,1761693163.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989927,-0.140471,-0.017701],[0.141496,0.977192,0.158353],[-0.004947,-0.159263,0.987224]] 2025-10-28T23:12:44.168Z,1761693164.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990663,-0.135239,-0.017219],[0.136249,0.977763,0.159424],[-0.004725,-0.160281,0.987060]] 2025-10-28T23:12:44.570Z,1761693164.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991415,-0.129728,-0.016321],[0.130667,0.978562,0.159191],[-0.004680,-0.159957,0.987113]] 2025-10-28T23:12:44.974Z,1761693164.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992105,-0.124475,-0.015279],[0.125320,0.979418,0.158224],[-0.004730,-0.158890,0.987285]] 2025-10-28T23:12:45.379Z,1761693165.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992687,-0.119888,-0.014138],[0.120624,0.980450,0.155457],[-0.004776,-0.156026,0.987741]] 2025-10-28T23:12:45.783Z,1761693165.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993063,-0.116852,-0.013084],[0.117488,0.981641,0.150260],[-0.004714,-0.150755,0.988560]] 2025-10-28T23:12:46.187Z,1761693166.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993218,-0.115574,-0.012644],[0.116175,0.982324,0.146776],[-0.004543,-0.147250,0.989089]] 2025-10-28T23:12:46.591Z,1761693166.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993017,-0.117316,-0.012437],[0.117889,0.982806,0.142107],[-0.004448,-0.142581,0.989773]] 2025-10-28T23:12:46.995Z,1761693166.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992630,-0.120535,-0.012530],[0.121105,0.982912,0.138629],[-0.004394,-0.139124,0.990265]] 2025-10-28T23:12:47.421Z,1761693167.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992128,-0.124572,-0.012795],[0.125157,0.982970,0.134553],[-0.004185,-0.135096,0.990824]] 2025-10-28T23:12:47.802Z,1761693167.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991562,-0.128971,-0.013046],[0.129562,0.982784,0.131718],[-0.004166,-0.132297,0.991201]] 2025-10-28T23:12:48.206Z,1761693168.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990884,-0.134030,-0.013589],[0.134654,0.982278,0.130374],[-0.004126,-0.131015,0.991372]] 2025-10-28T23:12:48.610Z,1761693168.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990160,-0.139223,-0.014148],[0.139881,0.981730,0.128991],[-0.004069,-0.129700,0.991545]] 2025-10-28T23:12:49.016Z,1761693169.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989426,-0.144243,-0.015174],[0.144990,0.980922,0.129498],[-0.003795,-0.130329,0.991463]] 2025-10-28T23:12:49.419Z,1761693169.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988704,-0.149014,-0.016095],[0.149837,0.980098,0.130215],[-0.003629,-0.131156,0.991355]] 2025-10-28T23:12:49.822Z,1761693169.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988015,-0.153446,-0.016727],[0.154310,0.979308,0.130936],[-0.003710,-0.131948,0.991250]] 2025-10-28T23:12:50.227Z,1761693170.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987463,-0.156907,-0.017234],[0.157803,0.978585,0.132175],[-0.003875,-0.133238,0.991077]] 2025-10-28T23:12:50.632Z,1761693170.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987122,-0.158984,-0.017744],[0.159921,0.977943,0.134364],[-0.004010,-0.135471,0.990773]] 2025-10-28T23:12:51.035Z,1761693171.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987206,-0.158414,-0.018161],[0.159396,0.977436,0.138606],[-0.004206,-0.139727,0.990181]] 2025-10-28T23:12:51.439Z,1761693171.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987552,-0.156189,-0.018616],[0.157234,0.976957,0.144334],[-0.004357,-0.145465,0.989354]] 2025-10-28T23:12:51.843Z,1761693171.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988097,-0.152685,-0.018749],[0.153766,0.976743,0.149429],[-0.004502,-0.150533,0.988595]] 2025-10-28T23:12:52.252Z,1761693172.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988696,-0.148763,-0.018725],[0.149871,0.976825,0.152810],[-0.004441,-0.153889,0.988078]] 2025-10-28T23:12:52.653Z,1761693172.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989278,-0.144863,-0.018559],[0.145984,0.977082,0.154919],[-0.004308,-0.155967,0.987753]] 2025-10-28T23:12:53.055Z,1761693173.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989820,-0.141154,-0.018210],[0.142264,0.977569,0.155303],[-0.004120,-0.156312,0.987699]] 2025-10-28T23:12:53.461Z,1761693173.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990212,-0.138421,-0.017879],[0.139513,0.977953,0.155383],[-0.004023,-0.156357,0.987692]] 2025-10-28T23:12:53.863Z,1761693173.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990557,-0.135979,-0.017485],[0.137039,0.978302,0.155389],[-0.004024,-0.156317,0.987699]] 2025-10-28T23:12:54.287Z,1761693174.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990880,-0.133645,-0.017224],[0.134693,0.978627,0.155393],[-0.003912,-0.156296,0.987703]] 2025-10-28T23:12:54.671Z,1761693174.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991212,-0.131196,-0.016940],[0.132230,0.978908,0.155738],[-0.003849,-0.156609,0.987653]] 2025-10-28T23:12:55.074Z,1761693175.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991504,-0.128976,-0.016889],[0.130031,0.979281,0.155247],[-0.003484,-0.156124,0.987731]] 2025-10-28T23:12:55.481Z,1761693175.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991796,-0.126591,-0.017780],[0.127813,0.979499,0.155711],[-0.002296,-0.156706,0.987643]] 2025-10-28T23:12:55.884Z,1761693175.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992009,-0.124870,-0.018066],[0.126161,0.979995,0.153924],[-0.001516,-0.154973,0.987918]] 2025-10-28T23:12:56.322Z,1761693176.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992124,-0.123901,-0.018413],[0.125259,0.980331,0.152520],[-0.000847,-0.153625,0.988129]] 2025-10-28T23:12:56.690Z,1761693176.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992159,-0.123559,-0.018802],[0.124981,0.980900,0.149045],[0.000027,-0.150226,0.988652]] 2025-10-28T23:12:57.096Z,1761693177.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992087,-0.124048,-0.019380],[0.125548,0.981433,0.145007],[0.001032,-0.146292,0.989241]] 2025-10-28T23:12:57.501Z,1761693177.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991874,-0.125631,-0.020094],[0.127213,0.981671,0.141914],[0.001897,-0.143317,0.989675]] 2025-10-28T23:12:57.902Z,1761693177.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991673,-0.127113,-0.020665],[0.128758,0.981709,0.140245],[0.002460,-0.141738,0.989901]] 2025-10-28T23:12:58.333Z,1761693178.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991407,-0.129055,-0.021370],[0.130778,0.981579,0.139284],[0.003001,-0.140882,0.990022]] 2025-10-28T23:12:58.711Z,1761693178.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991198,-0.130546,-0.022023],[0.132347,0.981348,0.139431],[0.003410,-0.141119,0.989987]] 2025-10-28T23:12:59.114Z,1761693179.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991085,-0.131302,-0.022597],[0.133182,0.981014,0.140973],[0.003657,-0.142726,0.989755]] 2025-10-28T23:12:59.519Z,1761693179.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991134,-0.130869,-0.022954],[0.132819,0.980515,0.144738],[0.003565,-0.146503,0.989204]] 2025-10-28T23:12:59.922Z,1761693179.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991432,-0.128590,-0.022977],[0.130580,0.980312,0.148113],[0.003478,-0.149844,0.988703]] 2025-10-28T23:13:00.338Z,1761693180.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991897,-0.124995,-0.022744],[0.127008,0.980006,0.153155],[0.003146,-0.154803,0.987940]] 2025-10-28T23:13:00.732Z,1761693180.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992464,-0.120500,-0.022242],[0.122501,0.980015,0.156730],[0.002911,-0.158273,0.987391]] 2025-10-28T23:13:01.016Z,1761693181.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:13:01.134Z,1761693181.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992935,-0.116676,-0.021609],[0.118632,0.980050,0.159466],[0.002572,-0.160903,0.986967]] 2025-10-28T23:13:01.538Z,1761693181.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993277,-0.113857,-0.020932],[0.115739,0.980510,0.158757],[0.002448,-0.160112,0.987096]] 2025-10-28T23:13:01.943Z,1761693181.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993294,-0.113776,-0.020534],[0.115591,0.980887,0.156524],[0.002333,-0.157848,0.987461]] 2025-10-28T23:13:02.021Z,1761693182.021 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:13:02.348Z,1761693182.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993068,-0.115702,-0.020731],[0.117518,0.981030,0.154176],[0.002499,-0.155543,0.987826]] 2025-10-28T23:13:02.751Z,1761693182.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992631,-0.119300,-0.021256],[0.121148,0.980960,0.151790],[0.002743,-0.153247,0.988184]] 2025-10-28T23:13:03.155Z,1761693183.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992117,-0.123380,-0.021920],[0.125274,0.980855,0.149096],[0.003105,-0.150667,0.988580]] 2025-10-28T23:13:03.559Z,1761693183.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991547,-0.127570,-0.023652],[0.129678,0.980261,0.149236],[0.004147,-0.151042,0.988519]] 2025-10-28T23:13:03.964Z,1761693183.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990941,-0.131808,-0.025751],[0.134190,0.979532,0.150037],[0.005448,-0.152133,0.988345]] 2025-10-28T23:13:04.367Z,1761693184.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990343,-0.135777,-0.028024],[0.138464,0.978817,0.150815],[0.006953,-0.153239,0.988165]] 2025-10-28T23:13:04.770Z,1761693184.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989808,-0.139128,-0.030386],[0.142161,0.977884,0.153404],[0.008372,-0.156160,0.987696]] 2025-10-28T23:13:05.175Z,1761693185.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989461,-0.141140,-0.032357],[0.144468,0.977380,0.154456],[0.009825,-0.157503,0.987470]] 2025-10-28T23:13:05.579Z,1761693185.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989473,-0.140703,-0.033851],[0.144291,0.977131,0.156188],[0.011101,-0.159428,0.987147]] 2025-10-28T23:13:05.984Z,1761693185.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989821,-0.137982,-0.034857],[0.141777,0.977350,0.157118],[0.012388,-0.160460,0.986965]] 2025-10-28T23:13:06.386Z,1761693186.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990486,-0.133041,-0.035165],[0.136969,0.977774,0.158734],[0.013265,-0.162040,0.986695]] 2025-10-28T23:13:06.791Z,1761693186.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991231,-0.127653,-0.034151],[0.131454,0.978904,0.156417],[0.013464,-0.159535,0.987100]] 2025-10-28T23:13:07.195Z,1761693187.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992004,-0.121800,-0.033050],[0.125473,0.979994,0.154494],[0.013571,-0.157405,0.987441]] 2025-10-28T23:13:07.600Z,1761693187.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992721,-0.116145,-0.031851],[0.119662,0.981126,0.151895],[0.013608,-0.154600,0.987883]] 2025-10-28T23:13:08.003Z,1761693188.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993345,-0.111045,-0.030575],[0.114357,0.982508,0.146968],[0.013720,-0.149486,0.988669]] 2025-10-28T23:13:08.406Z,1761693188.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993793,-0.107240,-0.029596],[0.110391,0.983570,0.142845],[0.013791,-0.145226,0.989302]] 2025-10-28T23:13:08.811Z,1761693188.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994057,-0.105010,-0.028702],[0.107997,0.984430,0.138686],[0.013691,-0.140961,0.989920]] 2025-10-28T23:13:09.216Z,1761693189.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994024,-0.105438,-0.028275],[0.108313,0.984890,0.135132],[0.013600,-0.137387,0.990424]] 2025-10-28T23:13:09.618Z,1761693189.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993821,-0.107418,-0.027959],[0.110205,0.984949,0.133153],[0.013235,-0.135411,0.990701]] 2025-10-28T23:13:10.022Z,1761693190.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993422,-0.111076,-0.027851],[0.113789,0.984819,0.131087],[0.012868,-0.133393,0.990980]] 2025-10-28T23:13:10.428Z,1761693190.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992942,-0.115026,-0.028906],[0.117853,0.984271,0.131611],[0.013312,-0.134089,0.990880]] 2025-10-28T23:13:10.832Z,1761693190.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992385,-0.119358,-0.030433],[0.122379,0.983469,0.133463],[0.014000,-0.136171,0.990586]] 2025-10-28T23:13:11.234Z,1761693191.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991825,-0.123525,-0.032025],[0.126766,0.982541,0.136178],[0.014645,-0.139124,0.990167]] 2025-10-28T23:13:11.639Z,1761693191.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991268,-0.127517,-0.033590],[0.130995,0.981466,0.139875],[0.015131,-0.143054,0.989599]] 2025-10-28T23:13:12.049Z,1761693192.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990821,-0.130541,-0.035102],[0.134250,0.980635,0.142591],[0.015809,-0.145995,0.989159]] 2025-10-28T23:13:12.455Z,1761693192.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990564,-0.132120,-0.036441],[0.136049,0.980039,0.144962],[0.016561,-0.148551,0.988766]] 2025-10-28T23:13:12.850Z,1761693192.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990485,-0.132377,-0.037619],[0.136544,0.979418,0.148651],[0.017167,-0.152373,0.988174]] 2025-10-28T23:13:13.254Z,1761693193.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990656,-0.130848,-0.038462],[0.135212,0.979171,0.151466],[0.017842,-0.155251,0.987714]] 2025-10-28T23:13:13.659Z,1761693193.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991001,-0.128072,-0.038923],[0.132593,0.979084,0.154318],[0.018345,-0.158090,0.987254]] 2025-10-28T23:13:14.063Z,1761693194.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991397,-0.124887,-0.039175],[0.129521,0.979202,0.156163],[0.018858,-0.159894,0.986954]] 2025-10-28T23:13:14.466Z,1761693194.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991905,-0.120898,-0.038836],[0.125524,0.979747,0.156010],[0.019188,-0.159622,0.986992]] 2025-10-28T23:13:14.870Z,1761693194.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992389,-0.116970,-0.038495],[0.121600,0.980160,0.156526],[0.019422,-0.160016,0.986923]] 2025-10-28T23:13:15.274Z,1761693195.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992864,-0.113063,-0.037923],[0.117640,0.980725,0.156011],[0.019553,-0.159359,0.987027]] 2025-10-28T23:13:15.680Z,1761693195.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993291,-0.109510,-0.037152],[0.113974,0.981421,0.154347],[0.019559,-0.157546,0.987318]] 2025-10-28T23:13:16.083Z,1761693196.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993633,-0.106543,-0.036621],[0.110934,0.981972,0.153054],[0.019654,-0.156142,0.987539]] 2025-10-28T23:13:16.487Z,1761693196.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993868,-0.104546,-0.035998],[0.108815,0.982584,0.150626],[0.019624,-0.153620,0.987935]] 2025-10-28T23:13:16.893Z,1761693196.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993902,-0.104319,-0.035713],[0.108467,0.983228,0.146619],[0.019819,-0.149599,0.988548]] 2025-10-28T23:13:17.297Z,1761693197.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993733,-0.105925,-0.035694],[0.109968,0.983686,0.142369],[0.020032,-0.145402,0.989170]] 2025-10-28T23:13:17.699Z,1761693197.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993460,-0.108426,-0.035776],[0.112410,0.983736,0.140101],[0.020003,-0.143206,0.989491]] 2025-10-28T23:13:18.103Z,1761693198.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993025,-0.112318,-0.035870],[0.116229,0.983628,0.137717],[0.019815,-0.140925,0.989822]] 2025-10-28T23:13:18.507Z,1761693198.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992495,-0.116575,-0.036928],[0.120575,0.983252,0.136663],[0.020378,-0.140090,0.989929]] 2025-10-28T23:13:18.913Z,1761693198.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991945,-0.120663,-0.038535],[0.124887,0.982471,0.138395],[0.021161,-0.142093,0.989627]] 2025-10-28T23:13:19.314Z,1761693199.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991443,-0.124202,-0.040188],[0.128686,0.981607,0.141020],[0.021934,-0.144985,0.989191]] 2025-10-28T23:13:19.718Z,1761693199.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991076,-0.126548,-0.041878],[0.131336,0.980745,0.144532],[0.022781,-0.148742,0.988614]] 2025-10-28T23:13:20.122Z,1761693200.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990895,-0.127481,-0.043319],[0.132565,0.980017,0.148300],[0.023548,-0.152692,0.987993]] 2025-10-28T23:13:20.527Z,1761693200.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991091,-0.125567,-0.044391],[0.130946,0.979557,0.152711],[0.024309,-0.157163,0.987273]] 2025-10-28T23:13:20.934Z,1761693200.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991474,-0.122362,-0.044798],[0.127918,0.979482,0.155728],[0.024824,-0.160131,0.986784]] 2025-10-28T23:13:21.334Z,1761693201.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992069,-0.117506,-0.044630],[0.123137,0.979826,0.157409],[0.025233,-0.161656,0.986524]] 2025-10-28T23:13:21.739Z,1761693201.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992656,-0.112691,-0.043981],[0.118274,0.980442,0.157302],[0.025395,-0.161349,0.986571]] 2025-10-28T23:13:22.148Z,1761693202.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993632,-0.104333,-0.042548],[0.109664,0.982194,0.152541],[0.025875,-0.156235,0.987381]] 2025-10-28T23:13:22.553Z,1761693202.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993864,-0.102392,-0.041834],[0.107537,0.982996,0.148843],[0.025882,-0.152428,0.987976]] 2025-10-28T23:13:22.959Z,1761693202.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993894,-0.102222,-0.041545],[0.107224,0.983610,0.144963],[0.026046,-0.148532,0.988564]] 2025-10-28T23:13:23.359Z,1761693203.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993790,-0.103255,-0.041471],[0.108138,0.984050,0.141248],[0.026225,-0.144855,0.989105]] 2025-10-28T23:13:23.762Z,1761693203.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993627,-0.104766,-0.041590],[0.109609,0.984113,0.139667],[0.026297,-0.143336,0.989325]] 2025-10-28T23:13:24.164Z,1761693204.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993418,-0.106546,-0.042053],[0.111420,0.984007,0.138978],[0.026573,-0.142749,0.989402]] 2025-10-28T23:13:24.566Z,1761693204.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993313,-0.107307,-0.042598],[0.112274,0.983792,0.139816],[0.026904,-0.143664,0.989261]] 2025-10-28T23:13:24.971Z,1761693204.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993239,-0.107896,-0.042841],[0.112905,0.983655,0.140270],[0.027006,-0.144159,0.989186]] 2025-10-28T23:13:25.374Z,1761693205.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993259,-0.107669,-0.042931],[0.112754,0.983351,0.142501],[0.026874,-0.146381,0.988863]] 2025-10-28T23:13:25.780Z,1761693205.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993344,-0.106852,-0.043025],[0.111972,0.983374,0.142963],[0.027034,-0.146829,0.988792]] 2025-10-28T23:13:26.182Z,1761693206.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993368,-0.106575,-0.043142],[0.111713,0.983412,0.142902],[0.027197,-0.146774,0.988796]] 2025-10-28T23:13:26.586Z,1761693206.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993367,-0.106632,-0.043031],[0.111748,0.983435,0.142715],[0.027100,-0.146577,0.988828]] 2025-10-28T23:13:26.991Z,1761693206.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993290,-0.107404,-0.042882],[0.112474,0.983439,0.142120],[0.026908,-0.145989,0.988920]] 2025-10-28T23:13:27.396Z,1761693207.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993151,-0.108659,-0.042949],[0.113699,0.983444,0.141104],[0.026905,-0.145020,0.989063]] 2025-10-28T23:13:27.798Z,1761693207.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993019,-0.109903,-0.042835],[0.114900,0.983382,0.140561],[0.026675,-0.144501,0.989145]] 2025-10-28T23:13:28.202Z,1761693208.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992912,-0.110712,-0.043218],[0.115798,0.983054,0.142108],[0.026753,-0.146105,0.988907]] 2025-10-28T23:13:28.606Z,1761693208.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992822,-0.111435,-0.043439],[0.116536,0.983021,0.141738],[0.026907,-0.145782,0.988951]] 2025-10-28T23:13:29.012Z,1761693209.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992757,-0.111768,-0.044059],[0.117020,0.982633,0.144013],[0.027197,-0.148125,0.988595]] 2025-10-28T23:13:29.414Z,1761693209.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992726,-0.111803,-0.044675],[0.117206,0.982292,0.146169],[0.027542,-0.150342,0.988250]] 2025-10-28T23:13:29.819Z,1761693209.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992727,-0.111661,-0.044991],[0.117120,0.982266,0.146413],[0.027844,-0.150617,0.988200]] 2025-10-28T23:13:30.223Z,1761693210.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992753,-0.111310,-0.045297],[0.116821,0.982291,0.146481],[0.028190,-0.150711,0.988176]] 2025-10-28T23:13:30.629Z,1761693210.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992787,-0.110903,-0.045556],[0.116453,0.982355,0.146349],[0.028522,-0.150598,0.988183]] 2025-10-28T23:13:31.032Z,1761693211.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992900,-0.109760,-0.045843],[0.115382,0.982399,0.146896],[0.028913,-0.151143,0.988089]] 2025-10-28T23:13:31.435Z,1761693211.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993098,-0.107797,-0.046219],[0.113534,0.982423,0.148170],[0.029435,-0.152395,0.987881]] 2025-10-28T23:13:31.839Z,1761693211.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993336,-0.105586,-0.046213],[0.111346,0.982675,0.148165],[0.029768,-0.152323,0.987882]] 2025-10-28T23:13:32.140Z,1761693212.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:13:32.243Z,1761693212.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993557,-0.103403,-0.046402],[0.109228,0.982847,0.148597],[0.030241,-0.152708,0.987809]] 2025-10-28T23:13:32.646Z,1761693212.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993761,-0.101457,-0.046324],[0.107268,0.983177,0.147839],[0.030546,-0.151885,0.987926]] 2025-10-28T23:13:33.051Z,1761693213.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993970,-0.099525,-0.046031],[0.105252,0.983686,0.145888],[0.030761,-0.149854,0.988230]] 2025-10-28T23:13:33.144Z,1761693213.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:13:33.455Z,1761693213.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994126,-0.098125,-0.045649],[0.103761,0.984074,0.144334],[0.030759,-0.148223,0.988475]] 2025-10-28T23:13:33.859Z,1761693213.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994156,-0.097973,-0.045324],[0.103509,0.984348,0.142634],[0.030640,-0.146492,0.988737]] 2025-10-28T23:13:34.284Z,1761693214.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994200,-0.097631,-0.045108],[0.103136,0.984399,0.142557],[0.030486,-0.146382,0.988758]] 2025-10-28T23:13:34.666Z,1761693214.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994158,-0.098102,-0.045018],[0.103541,0.984582,0.140991],[0.030492,-0.144829,0.988987]] 2025-10-28T23:13:35.071Z,1761693215.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994094,-0.098638,-0.045254],[0.104093,0.984584,0.140564],[0.030691,-0.144445,0.989037]] 2025-10-28T23:13:35.476Z,1761693215.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994033,-0.099155,-0.045459],[0.104629,0.984555,0.140373],[0.030838,-0.144292,0.989055]] 2025-10-28T23:13:35.878Z,1761693215.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994033,-0.099203,-0.045357],[0.104669,0.984520,0.140584],[0.030709,-0.144493,0.989029]] 2025-10-28T23:13:36.317Z,1761693216.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994054,-0.099041,-0.045249],[0.104500,0.984505,0.140820],[0.030601,-0.144711,0.989001]] 2025-10-28T23:13:36.687Z,1761693216.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994108,-0.098549,-0.045132],[0.104011,0.984481,0.141346],[0.030502,-0.145208,0.988931]] 2025-10-28T23:13:37.094Z,1761693217.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994190,-0.097688,-0.045199],[0.103191,0.984463,0.142070],[0.030618,-0.145908,0.988824]] 2025-10-28T23:13:37.495Z,1761693217.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994194,-0.097609,-0.045291],[0.103112,0.984537,0.141616],[0.030767,-0.145463,0.988885]] 2025-10-28T23:13:37.898Z,1761693217.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994150,-0.098040,-0.045310],[0.103533,0.984535,0.141321],[0.030755,-0.145185,0.988926]] 2025-10-28T23:13:38.331Z,1761693218.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994072,-0.098820,-0.045342],[0.104293,0.984532,0.140784],[0.030728,-0.144678,0.989002]] 2025-10-28T23:13:38.707Z,1761693218.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993980,-0.099638,-0.045565],[0.105125,0.984492,0.140440],[0.030865,-0.144384,0.989040]] 2025-10-28T23:13:39.113Z,1761693219.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993800,-0.101287,-0.045849],[0.106775,0.984427,0.139652],[0.030990,-0.143682,0.989139]] 2025-10-28T23:13:39.514Z,1761693219.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993692,-0.102277,-0.045996],[0.107802,0.984199,0.140470],[0.030902,-0.144542,0.989016]] 2025-10-28T23:13:39.918Z,1761693219.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993560,-0.103459,-0.046197],[0.109034,0.983915,0.141505],[0.030814,-0.145630,0.988859]] 2025-10-28T23:13:40.337Z,1761693220.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993492,-0.104102,-0.046231],[0.109736,0.983557,0.143437],[0.030539,-0.147577,0.988579]] 2025-10-28T23:13:40.728Z,1761693220.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993444,-0.104492,-0.046381],[0.110213,0.983176,0.145667],[0.030380,-0.149824,0.988246]] 2025-10-28T23:13:41.131Z,1761693221.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993475,-0.104206,-0.046355],[0.109979,0.982944,0.147396],[0.030205,-0.151533,0.987991]] 2025-10-28T23:13:41.534Z,1761693221.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993496,-0.104057,-0.046241],[0.109819,0.982940,0.147543],[0.030099,-0.151662,0.987974]] 2025-10-28T23:13:41.938Z,1761693221.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993620,-0.102921,-0.046106],[0.108678,0.983044,0.147693],[0.030123,-0.151761,0.987958]] 2025-10-28T23:13:42.345Z,1761693222.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993758,-0.101651,-0.045965],[0.107387,0.983253,0.147247],[0.030227,-0.151264,0.988031]] 2025-10-28T23:13:42.747Z,1761693222.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993882,-0.100495,-0.045815],[0.106166,0.983649,0.145478],[0.030447,-0.149452,0.988300]] 2025-10-28T23:13:43.152Z,1761693223.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993995,-0.099502,-0.045534],[0.105074,0.984086,0.143295],[0.030552,-0.147219,0.988632]] 2025-10-28T23:13:43.555Z,1761693223.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994092,-0.098642,-0.045284],[0.104143,0.984386,0.141910],[0.030578,-0.145788,0.988843]] 2025-10-28T23:13:43.959Z,1761693223.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994167,-0.098123,-0.044767],[0.103467,0.984859,0.139094],[0.030441,-0.142914,0.989267]] 2025-10-28T23:13:44.365Z,1761693224.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994120,-0.098703,-0.044524],[0.103935,0.985140,0.136737],[0.030366,-0.140560,0.989606]] 2025-10-28T23:13:44.767Z,1761693224.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994071,-0.099488,-0.043885],[0.104548,0.985416,0.134259],[0.029888,-0.138051,0.989974]] 2025-10-28T23:13:45.171Z,1761693225.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994053,-0.099876,-0.043390],[0.104859,0.985415,0.134024],[0.029372,-0.137777,0.990028]] 2025-10-28T23:13:45.575Z,1761693225.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994075,-0.099778,-0.043121],[0.104722,0.985434,0.133989],[0.029124,-0.137711,0.990044]] 2025-10-28T23:13:45.980Z,1761693225.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994143,-0.099211,-0.042864],[0.104169,0.985285,0.135511],[0.028789,-0.139182,0.989848]] 2025-10-28T23:13:46.383Z,1761693226.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994271,-0.097939,-0.042818],[0.102966,0.985112,0.137669],[0.028697,-0.141289,0.989552]] 2025-10-28T23:13:46.786Z,1761693226.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994459,-0.096025,-0.042787],[0.101130,0.984988,0.139899],[0.028711,-0.143451,0.989241]] 2025-10-28T23:13:47.191Z,1761693227.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994684,-0.093625,-0.042882],[0.098835,0.984884,0.142248],[0.028916,-0.145730,0.988902]] 2025-10-28T23:13:47.596Z,1761693227.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994867,-0.091602,-0.043006],[0.096899,0.984837,0.143897],[0.029173,-0.147325,0.988658]] 2025-10-28T23:13:47.998Z,1761693227.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994998,-0.090169,-0.043001],[0.095489,0.984930,0.144206],[0.029351,-0.147591,0.988613]] 2025-10-28T23:13:48.403Z,1761693228.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994971,-0.090396,-0.043146],[0.095689,0.985136,0.142655],[0.029609,-0.146066,0.988832]] 2025-10-28T23:13:48.808Z,1761693228.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994807,-0.092086,-0.043346],[0.097320,0.985316,0.140291],[0.029791,-0.143781,0.989161]] 2025-10-28T23:13:49.211Z,1761693229.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994584,-0.094443,-0.043391],[0.099611,0.985322,0.138628],[0.029662,-0.142200,0.989393]] 2025-10-28T23:13:49.614Z,1761693229.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994241,-0.097911,-0.043573],[0.103004,0.985296,0.136315],[0.029585,-0.140018,0.989707]] 2025-10-28T23:13:50.019Z,1761693230.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993791,-0.102041,-0.044339],[0.107172,0.985003,0.135213],[0.029877,-0.139125,0.989824]] 2025-10-28T23:13:50.423Z,1761693230.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993345,-0.105902,-0.045285],[0.111124,0.984593,0.135010],[0.030289,-0.139143,0.989809]] 2025-10-28T23:13:50.828Z,1761693230.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992927,-0.109394,-0.046149],[0.114744,0.984007,0.136252],[0.030506,-0.140583,0.989599]] 2025-10-28T23:13:50.834Z,1761693230.834 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T23:13:51.231Z,1761693231.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992671,-0.111431,-0.046772],[0.116903,0.983514,0.137962],[0.030628,-0.142419,0.989332]] 2025-10-28T23:13:51.634Z,1761693231.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992596,-0.111946,-0.047126],[0.117561,0.982994,0.141077],[0.030531,-0.145573,0.988876]] 2025-10-28T23:13:52.050Z,1761693232.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992688,-0.111139,-0.047112],[0.116814,0.982832,0.142814],[0.030431,-0.147273,0.988628]] 2025-10-28T23:13:52.471Z,1761693232.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992906,-0.109244,-0.046938],[0.115002,0.982612,0.145766],[0.030198,-0.150130,0.988205]] 2025-10-28T23:13:52.846Z,1761693232.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993211,-0.106551,-0.046670],[0.112340,0.982712,0.147166],[0.030182,-0.151409,0.988010]] 2025-10-28T23:13:53.251Z,1761693233.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993577,-0.103475,-0.045800],[0.109144,0.983169,0.146513],[0.029869,-0.150570,0.988148]] 2025-10-28T23:13:53.655Z,1761693233.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993937,-0.100361,-0.044910],[0.105920,0.983567,0.146207],[0.029499,-0.150078,0.988234]] 2025-10-28T23:13:54.058Z,1761693234.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994283,-0.097245,-0.044109],[0.102679,0.984097,0.144946],[0.029312,-0.148646,0.988456]] 2025-10-28T23:13:54.464Z,1761693234.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994575,-0.094339,-0.043826],[0.099776,0.984319,0.145469],[0.029415,-0.149052,0.988392]] 2025-10-28T23:13:54.866Z,1761693234.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994873,-0.091278,-0.043551],[0.096687,0.984718,0.144851],[0.029663,-0.148319,0.988495]] 2025-10-28T23:13:55.270Z,1761693235.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995105,-0.088856,-0.043261],[0.094175,0.985307,0.142481],[0.029965,-0.145858,0.988852]] 2025-10-28T23:13:55.674Z,1761693235.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995346,-0.086155,-0.043177],[0.091509,0.985458,0.143174],[0.030214,-0.146459,0.988755]] 2025-10-28T23:13:56.079Z,1761693236.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995470,-0.084905,-0.042786],[0.090172,0.985788,0.141744],[0.030143,-0.144960,0.988978]] 2025-10-28T23:13:56.485Z,1761693236.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995571,-0.084080,-0.042067],[0.089166,0.986282,0.138915],[0.029810,-0.142050,0.989411]] 2025-10-28T23:13:56.887Z,1761693236.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995625,-0.083747,-0.041451],[0.088700,0.986548,0.137312],[0.029394,-0.140388,0.989660]] 2025-10-28T23:13:57.291Z,1761693237.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995601,-0.084279,-0.040928],[0.089116,0.986689,0.136028],[0.028919,-0.139077,0.989859]] 2025-10-28T23:13:57.695Z,1761693237.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995482,-0.085899,-0.040456],[0.090599,0.986829,0.134015],[0.028412,-0.137075,0.990153]] 2025-10-28T23:13:58.100Z,1761693238.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995298,-0.088132,-0.040181],[0.092731,0.986837,0.132487],[0.027975,-0.135590,0.990370]] 2025-10-28T23:13:58.502Z,1761693238.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995010,-0.091402,-0.040015],[0.095888,0.986837,0.130227],[0.027585,-0.133414,0.990676]] 2025-10-28T23:13:58.906Z,1761693238.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994652,-0.095280,-0.039856],[0.099695,0.986547,0.129562],[0.026976,-0.132842,0.990770]] 2025-10-28T23:13:59.311Z,1761693239.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994235,-0.099532,-0.039870],[0.103897,0.986197,0.128919],[0.026488,-0.132318,0.990853]] 2025-10-28T23:13:59.716Z,1761693239.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993802,-0.103632,-0.040228],[0.108038,0.985618,0.129944],[0.026183,-0.133485,0.990705]] 2025-10-28T23:14:00.118Z,1761693240.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993324,-0.107905,-0.040801],[0.112363,0.985081,0.130349],[0.026127,-0.134063,0.990628]] 2025-10-28T23:14:00.523Z,1761693240.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992845,-0.111995,-0.041432],[0.116562,0.984303,0.132514],[0.025941,-0.136395,0.990315]] 2025-10-28T23:14:00.926Z,1761693240.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992489,-0.114890,-0.042012],[0.119552,0.983733,0.134074],[0.025924,-0.138090,0.990080]] 2025-10-28T23:14:01.331Z,1761693241.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992299,-0.116450,-0.042225],[0.121154,0.983396,0.135107],[0.025791,-0.139182,0.989931]] 2025-10-28T23:14:01.734Z,1761693241.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992298,-0.116320,-0.042605],[0.121148,0.983028,0.137766],[0.025857,-0.141866,0.989548]] 2025-10-28T23:14:02.138Z,1761693242.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992482,-0.114805,-0.042405],[0.119687,0.982842,0.140344],[0.025565,-0.144365,0.989194]] 2025-10-28T23:14:02.542Z,1761693242.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992754,-0.112406,-0.042478],[0.117352,0.982954,0.141524],[0.025846,-0.145483,0.989023]] 2025-10-28T23:14:02.947Z,1761693242.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993120,-0.109385,-0.041813],[0.114286,0.983191,0.142389],[0.025535,-0.146188,0.988927]] 2025-10-28T23:14:03.272Z,1761693243.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:14:03.350Z,1761693243.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993517,-0.106124,-0.040760],[0.110902,0.983587,0.142329],[0.024986,-0.145926,0.988980]] 2025-10-28T23:14:03.755Z,1761693243.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993896,-0.103025,-0.039460],[0.107620,0.984099,0.141304],[0.024275,-0.144688,0.989180]] 2025-10-28T23:14:04.158Z,1761693244.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994208,-0.100363,-0.038437],[0.104779,0.984741,0.138948],[0.023905,-0.142170,0.989554]] 2025-10-28T23:14:04.277Z,1761693244.277 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:14:04.563Z,1761693244.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994432,-0.098527,-0.037384],[0.102775,0.985165,0.137430],[0.023289,-0.140507,0.989806]] 2025-10-28T23:14:04.968Z,1761693244.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994564,-0.097495,-0.036572],[0.101580,0.985645,0.134855],[0.022899,-0.137837,0.990190]] 2025-10-28T23:14:05.370Z,1761693245.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994656,-0.096688,-0.036209],[0.100725,0.985761,0.134646],[0.022674,-0.137574,0.990232]] 2025-10-28T23:14:05.775Z,1761693245.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994594,-0.097499,-0.035746],[0.101417,0.985981,0.132497],[0.022326,-0.135406,0.990539]] 2025-10-28T23:14:06.181Z,1761693246.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994483,-0.098624,-0.035742],[0.102510,0.985996,0.131546],[0.022268,-0.134484,0.990666]] 2025-10-28T23:14:06.583Z,1761693246.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994282,-0.100591,-0.035843],[0.104425,0.986085,0.129349],[0.022333,-0.132352,0.990951]] 2025-10-28T23:14:06.988Z,1761693246.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994039,-0.102878,-0.036092],[0.106689,0.986058,0.127699],[0.022451,-0.130788,0.991156]] 2025-10-28T23:14:07.397Z,1761693247.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993769,-0.105292,-0.036553],[0.109126,0.985891,0.126923],[0.022674,-0.130121,0.991239]] 2025-10-28T23:14:07.802Z,1761693247.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993259,-0.109517,-0.037977],[0.113528,0.985257,0.127987],[0.023400,-0.131435,0.991049]] 2025-10-28T23:14:08.203Z,1761693248.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993119,-0.110625,-0.038420],[0.114715,0.984956,0.129237],[0.023545,-0.132755,0.990869]] 2025-10-28T23:14:08.607Z,1761693248.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993058,-0.111191,-0.038371],[0.115290,0.984781,0.130058],[0.023326,-0.133579,0.990764]] 2025-10-28T23:14:09.011Z,1761693249.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993078,-0.110991,-0.038442],[0.115159,0.984466,0.132532],[0.023135,-0.136041,0.990433]] 2025-10-28T23:14:09.411Z,1761693249.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993303,-0.109002,-0.038304],[0.113235,0.984295,0.135426],[0.022940,-0.138856,0.990047]] 2025-10-28T23:14:09.814Z,1761693249.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993534,-0.107032,-0.037883],[0.111237,0.984452,0.135947],[0.022743,-0.139281,0.989992]] 2025-10-28T23:14:10.219Z,1761693250.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993727,-0.105422,-0.037326],[0.109580,0.984540,0.136650],[0.022343,-0.139883,0.989916]] 2025-10-28T23:14:10.624Z,1761693250.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993870,-0.104163,-0.037050],[0.108303,0.984623,0.137067],[0.022203,-0.140240,0.989869]] 2025-10-28T23:14:11.026Z,1761693251.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993861,-0.104329,-0.036825],[0.108384,0.984940,0.134708],[0.022216,-0.137873,0.990201]] 2025-10-28T23:14:11.430Z,1761693251.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993728,-0.105720,-0.036453],[0.109665,0.985079,0.132642],[0.021886,-0.135807,0.990493]] 2025-10-28T23:14:11.835Z,1761693251.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993501,-0.107933,-0.036151],[0.111779,0.985080,0.130852],[0.021488,-0.134043,0.990743]] 2025-10-28T23:14:12.240Z,1761693252.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993221,-0.110377,-0.036450],[0.114224,0.984918,0.129957],[0.021556,-0.133240,0.990849]] 2025-10-28T23:14:12.643Z,1761693252.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992941,-0.112625,-0.037201],[0.116568,0.984556,0.130618],[0.021915,-0.134033,0.990735]] 2025-10-28T23:14:13.046Z,1761693253.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992706,-0.114443,-0.037906],[0.118483,0.984223,0.131406],[0.022270,-0.134939,0.990604]] 2025-10-28T23:14:13.450Z,1761693253.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992520,-0.115756,-0.038782],[0.119951,0.983765,0.133481],[0.022701,-0.137135,0.990292]] 2025-10-28T23:14:13.856Z,1761693253.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992420,-0.116323,-0.039649],[0.120688,0.983351,0.135850],[0.023186,-0.139605,0.989936]] 2025-10-28T23:14:14.274Z,1761693254.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992383,-0.116418,-0.040287],[0.120914,0.983072,0.137657],[0.023579,-0.141479,0.989660]] 2025-10-28T23:14:14.662Z,1761693254.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992373,-0.116347,-0.040736],[0.120903,0.983101,0.137460],[0.024054,-0.141336,0.989669]] 2025-10-28T23:14:15.066Z,1761693255.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992405,-0.115932,-0.041124],[0.120542,0.983167,0.137301],[0.024514,-0.141215,0.989675]] 2025-10-28T23:14:15.472Z,1761693255.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992483,-0.115205,-0.041305],[0.119854,0.983215,0.137560],[0.024764,-0.141477,0.989632]] 2025-10-28T23:14:15.874Z,1761693255.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992479,-0.115137,-0.041570],[0.119817,0.983261,0.137264],[0.025070,-0.141212,0.989662]] 2025-10-28T23:14:16.312Z,1761693256.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992411,-0.115652,-0.041777],[0.120339,0.983293,0.136578],[0.025283,-0.140569,0.989748]] 2025-10-28T23:14:16.683Z,1761693256.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,-0.115908,-0.041741],[0.120573,0.983344,0.135999],[0.025282,-0.139996,0.989829]] 2025-10-28T23:14:17.088Z,1761693257.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,-0.115918,-0.041733],[0.120572,0.983396,0.135624],[0.025319,-0.139623,0.989881]] 2025-10-28T23:14:17.503Z,1761693257.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992375,-0.116089,-0.041413],[0.120673,0.983511,0.134702],[0.025093,-0.138672,0.990020]] 2025-10-28T23:14:17.895Z,1761693257.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992472,-0.115425,-0.040935],[0.119965,0.983506,0.135370],[0.024635,-0.139262,0.989949]] 2025-10-28T23:14:18.327Z,1761693258.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992598,-0.114610,-0.040173],[0.119038,0.983695,0.134811],[0.024068,-0.138595,0.990057]] 2025-10-28T23:14:18.705Z,1761693258.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992755,-0.113550,-0.039286],[0.117864,0.983839,0.134789],[0.023346,-0.138443,0.990095]] 2025-10-28T23:14:19.106Z,1761693259.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992953,-0.112068,-0.038525],[0.116302,0.983957,0.135287],[0.022745,-0.138814,0.990057]] 2025-10-28T23:14:19.510Z,1761693259.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993149,-0.110850,-0.036965],[0.114869,0.984183,0.134865],[0.021430,-0.138187,0.990174]] 2025-10-28T23:14:19.916Z,1761693259.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993232,-0.110711,-0.035113],[0.114445,0.984438,0.133358],[0.019802,-0.136474,0.990446]] 2025-10-28T23:14:20.335Z,1761693260.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993218,-0.111211,-0.033906],[0.114760,0.984517,0.132500],[0.018645,-0.135492,0.990603]] 2025-10-28T23:14:20.723Z,1761693260.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993056,-0.112916,-0.033000],[0.116298,0.984559,0.130839],[0.017716,-0.133769,0.990854]] 2025-10-28T23:14:21.126Z,1761693261.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992794,-0.115455,-0.032099],[0.118663,0.984519,0.129003],[0.016708,-0.131882,0.991125]] 2025-10-28T23:14:21.530Z,1761693261.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992454,-0.118443,-0.031711],[0.121585,0.984085,0.129588],[0.015858,-0.132466,0.991061]] 2025-10-28T23:14:21.936Z,1761693261.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992062,-0.121801,-0.031277],[0.124884,0.983433,0.131391],[0.014755,-0.134254,0.990837]] 2025-10-28T23:14:22.341Z,1761693262.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991617,-0.125516,-0.030674],[0.128502,0.982799,0.132636],[0.013498,-0.135466,0.990690]] 2025-10-28T23:14:22.742Z,1761693262.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991130,-0.129434,-0.030125],[0.132336,0.982024,0.134597],[0.012162,-0.137390,0.990442]] 2025-10-28T23:14:23.147Z,1761693263.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990710,-0.132756,-0.029472],[0.135562,0.981279,0.136800],[0.010759,-0.139524,0.990160]] 2025-10-28T23:14:23.551Z,1761693263.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990510,-0.134382,-0.028842],[0.137107,0.980749,0.139046],[0.009601,-0.141681,0.989866]] 2025-10-28T23:14:23.955Z,1761693263.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990464,-0.134892,-0.028038],[0.137510,0.980490,0.140466],[0.008544,-0.142982,0.989688]] 2025-10-28T23:14:24.359Z,1761693264.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990595,-0.134146,-0.026967],[0.136625,0.980502,0.141244],[0.007494,-0.143600,0.989608]] 2025-10-28T23:14:24.763Z,1761693264.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990919,-0.131855,-0.026360],[0.134288,0.980438,0.143900],[0.006870,-0.146133,0.989241]] 2025-10-28T23:14:25.169Z,1761693265.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991300,-0.129144,-0.025407],[0.131465,0.980862,0.143622],[0.006373,-0.145713,0.989306]] 2025-10-28T23:14:25.571Z,1761693265.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991651,-0.126657,-0.024231],[0.128821,0.981513,0.141555],[0.005854,-0.143495,0.989634]] 2025-10-28T23:14:25.975Z,1761693265.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992086,-0.123414,-0.023116],[0.125447,0.982073,0.140695],[0.005338,-0.142481,0.989783]] 2025-10-28T23:14:26.379Z,1761693266.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992469,-0.120529,-0.021857],[0.122406,0.982631,0.139475],[0.004667,-0.141100,0.989984]] 2025-10-28T23:14:26.784Z,1761693266.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992778,-0.118242,-0.020285],[0.119912,0.983271,0.137109],[0.003733,-0.138551,0.990348]] 2025-10-28T23:14:27.188Z,1761693267.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992967,-0.116850,-0.019013],[0.118353,0.983663,0.135647],[0.002852,-0.136943,0.990575]] 2025-10-28T23:14:27.591Z,1761693267.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993097,-0.115975,-0.017559],[0.117284,0.983973,0.134319],[0.001700,-0.135451,0.990783]] 2025-10-28T23:14:27.995Z,1761693267.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993030,-0.116763,-0.016059],[0.117862,0.983999,0.133617],[0.000200,-0.134579,0.990903]] 2025-10-28T23:14:28.399Z,1761693268.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992906,-0.117990,-0.014705],[0.118897,0.983980,0.132841],[-0.001204,-0.133647,0.991028]] 2025-10-28T23:14:28.805Z,1761693268.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992683,-0.119972,-0.013681],[0.120725,0.983787,0.132624],[-0.002452,-0.133305,0.991072]] 2025-10-28T23:14:29.206Z,1761693269.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992355,-0.122755,-0.012781],[0.123362,0.983458,0.132637],[-0.003712,-0.133199,0.991082]] 2025-10-28T23:14:29.610Z,1761693269.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991953,-0.126020,-0.012195],[0.126508,0.982719,0.135127],[-0.005044,-0.135582,0.990753]] 2025-10-28T23:14:30.015Z,1761693270.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991497,-0.129607,-0.011669],[0.129984,0.982113,0.136227],[-0.006196,-0.136585,0.990609]] 2025-10-28T23:14:30.419Z,1761693270.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990986,-0.133482,-0.011398],[0.133773,0.981384,0.137802],[-0.007208,-0.138085,0.990394]] 2025-10-28T23:14:30.823Z,1761693270.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990446,-0.137437,-0.011306],[0.137670,0.980721,0.138687],[-0.007972,-0.138918,0.990272]] 2025-10-28T23:14:31.226Z,1761693271.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989963,-0.140845,-0.011636],[0.141085,0.980126,0.139454],[-0.008237,-0.139696,0.990160]] 2025-10-28T23:14:31.630Z,1761693271.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989512,-0.143964,-0.011846],[0.144209,0.979775,0.138726],[-0.008366,-0.138979,0.990260]] 2025-10-28T23:14:32.034Z,1761693272.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989184,-0.146173,-0.012196],[0.146453,0.979600,0.137607],[-0.008167,-0.137905,0.990412]] 2025-10-28T23:14:32.438Z,1761693272.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988978,-0.147549,-0.012336],[0.147840,0.979475,0.137013],[-0.008133,-0.137326,0.990492]] 2025-10-28T23:14:32.844Z,1761693272.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988892,-0.148117,-0.012408],[0.148415,0.979429,0.136717],[-0.008097,-0.137040,0.990532]] 2025-10-28T23:14:33.248Z,1761693273.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988752,-0.149011,-0.012818],[0.149351,0.979190,0.137406],[-0.007924,-0.137775,0.990432]] 2025-10-28T23:14:33.650Z,1761693273.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988806,-0.148640,-0.013016],[0.149004,0.979114,0.138321],[-0.007816,-0.138712,0.990302]] 2025-10-28T23:14:34.054Z,1761693274.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988917,-0.147878,-0.013236],[0.148271,0.979056,0.139515],[-0.007672,-0.139931,0.990132]] 2025-10-28T23:14:34.396Z,1761693274.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:14:34.460Z,1761693274.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989337,-0.145043,-0.013227],[0.145444,0.979123,0.142001],[-0.007646,-0.142410,0.989778]] 2025-10-28T23:14:34.863Z,1761693274.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989860,-0.141453,-0.012956],[0.141836,0.979343,0.144118],[-0.007698,-0.144495,0.989476]] 2025-10-28T23:14:35.266Z,1761693275.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990507,-0.136920,-0.012188],[0.137228,0.979767,0.145687],[-0.008006,-0.145977,0.989256]] 2025-10-28T23:14:35.400Z,1761693275.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:14:35.670Z,1761693275.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991204,-0.131852,-0.011362],[0.132075,0.980136,0.147949],[-0.008372,-0.148149,0.988930]] 2025-10-28T23:14:36.077Z,1761693276.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991846,-0.127063,-0.009831],[0.127111,0.980766,0.148126],[-0.009180,-0.148168,0.988920]] 2025-10-28T23:14:36.479Z,1761693276.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992400,-0.122785,-0.008078],[0.122642,0.981642,0.146075],[-0.010006,-0.145956,0.989241]] 2025-10-28T23:14:36.883Z,1761693276.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992770,-0.119875,-0.006207],[0.119528,0.982502,0.142837],[-0.011024,-0.142546,0.989727]] 2025-10-28T23:14:37.286Z,1761693277.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993030,-0.117768,-0.004692],[0.117256,0.983118,0.140463],[-0.011930,-0.140035,0.990075]] 2025-10-28T23:14:37.692Z,1761693277.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993061,-0.117550,-0.003411],[0.116900,0.983589,0.137428],[-0.012800,-0.136873,0.990506]] 2025-10-28T23:14:38.094Z,1761693278.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992877,-0.119122,-0.002477],[0.118364,0.983752,0.134992],[-0.013644,-0.134324,0.990844]] 2025-10-28T23:14:38.499Z,1761693278.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992516,-0.122096,-0.001950],[0.121266,0.983641,0.133206],[-0.014345,-0.132446,0.991086]] 2025-10-28T23:14:38.903Z,1761693278.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992033,-0.125966,-0.001991],[0.125118,0.983256,0.132489],[-0.014731,-0.131682,0.991183]] 2025-10-28T23:14:39.308Z,1761693279.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991486,-0.130185,-0.002572],[0.129367,0.982626,0.133077],[-0.014797,-0.132277,0.991102]] 2025-10-28T23:14:39.712Z,1761693279.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990890,-0.134636,-0.003275],[0.133864,0.981956,0.133574],[-0.014768,-0.132795,0.991033]] 2025-10-28T23:14:40.114Z,1761693280.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990295,-0.138923,-0.003909],[0.138193,0.981328,0.133783],[-0.014749,-0.133025,0.991003]] 2025-10-28T23:14:40.519Z,1761693280.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989656,-0.143381,-0.004718],[0.142701,0.980520,0.134968],[-0.014726,-0.134245,0.990839]] 2025-10-28T23:14:40.923Z,1761693280.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989057,-0.147434,-0.005468],[0.146800,0.979756,0.136115],[-0.014710,-0.135428,0.990678]] 2025-10-28T23:14:41.328Z,1761693281.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988514,-0.151010,-0.006069],[0.150419,0.979154,0.136498],[-0.014670,-0.135843,0.990622]] 2025-10-28T23:14:41.730Z,1761693281.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988026,-0.154147,-0.006631],[0.153598,0.978624,0.136760],[-0.014592,-0.136141,0.990582]] 2025-10-28T23:14:42.135Z,1761693282.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987800,-0.155554,-0.007414],[0.155071,0.978120,0.138690],[-0.014322,-0.138147,0.990308]] 2025-10-28T23:14:42.543Z,1761693282.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987792,-0.155586,-0.007802],[0.155134,0.977885,0.140267],[-0.014194,-0.139765,0.990083]] 2025-10-28T23:14:42.944Z,1761693282.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987994,-0.154272,-0.008254],[0.153875,0.977867,0.141767],[-0.013799,-0.141335,0.989866]] 2025-10-28T23:14:43.347Z,1761693283.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988461,-0.151226,-0.008646],[0.150883,0.977978,0.144200],[-0.013351,-0.143841,0.989511]] 2025-10-28T23:14:43.751Z,1761693283.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989007,-0.147607,-0.008831],[0.147304,0.978240,0.146110],[-0.012928,-0.145805,0.989229]] 2025-10-28T23:14:44.155Z,1761693284.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989652,-0.143236,-0.008550],[0.142937,0.978846,0.146387],[-0.012599,-0.146094,0.989190]] 2025-10-28T23:14:44.560Z,1761693284.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990223,-0.139270,-0.007909],[0.138929,0.979525,0.145704],[-0.012545,-0.145379,0.989297]] 2025-10-28T23:14:44.962Z,1761693284.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990739,-0.135579,-0.007315],[0.135193,0.980058,0.145634],[-0.012576,-0.145274,0.989312]] 2025-10-28T23:14:45.367Z,1761693285.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991134,-0.132703,-0.006565],[0.132251,0.980605,0.144650],[-0.012758,-0.144236,0.989461]] 2025-10-28T23:14:45.770Z,1761693285.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991403,-0.130733,-0.005461],[0.130183,0.981319,0.141654],[-0.013160,-0.141147,0.989901]] 2025-10-28T23:14:46.174Z,1761693286.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991512,-0.129935,-0.004624],[0.129293,0.981613,0.140423],[-0.013707,-0.139828,0.990081]] 2025-10-28T23:14:46.578Z,1761693286.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991510,-0.129970,-0.003912],[0.129249,0.981827,0.138962],[-0.014219,-0.138288,0.990290]] 2025-10-28T23:14:46.982Z,1761693286.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991390,-0.130897,-0.003415],[0.130129,0.982002,0.136886],[-0.014565,-0.136152,0.990581]] 2025-10-28T23:14:47.387Z,1761693287.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991306,-0.131539,-0.003170],[0.130720,0.981814,0.137673],[-0.014997,-0.136890,0.990473]] 2025-10-28T23:14:47.791Z,1761693287.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991256,-0.131923,-0.002966],[0.131044,0.981514,0.139493],[-0.015491,-0.138662,0.990219]] 2025-10-28T23:14:48.195Z,1761693288.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991228,-0.132134,-0.002929],[0.131225,0.981290,0.140889],[-0.015742,-0.140038,0.990021]] 2025-10-28T23:14:48.600Z,1761693288.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991278,-0.131743,-0.003293],[0.130861,0.981074,0.142717],[-0.015571,-0.141904,0.989758]] 2025-10-28T23:14:49.002Z,1761693289.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991310,-0.131498,-0.003482],[0.130645,0.981102,0.142728],[-0.015353,-0.141943,0.989756]] 2025-10-28T23:14:49.406Z,1761693289.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991454,-0.130406,-0.003625],[0.129560,0.981014,0.144314],[-0.015264,-0.143550,0.989525]] 2025-10-28T23:14:49.811Z,1761693289.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991664,-0.128793,-0.003971],[0.127990,0.980978,0.145946],[-0.014901,-0.145238,0.989285]] 2025-10-28T23:14:50.216Z,1761693290.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991873,-0.127165,-0.004076],[0.126384,0.981083,0.146643],[-0.014649,-0.145966,0.989181]] 2025-10-28T23:14:50.618Z,1761693290.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992151,-0.124986,-0.003876],[0.124189,0.981255,0.147365],[-0.014615,-0.146690,0.989074]] 2025-10-28T23:14:51.023Z,1761693291.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992303,-0.123792,-0.003288],[0.122934,0.981540,0.146514],[-0.014910,-0.145790,0.989203]] 2025-10-28T23:14:51.427Z,1761693291.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992316,-0.123701,-0.002719],[0.122803,0.981948,0.143865],[-0.015126,-0.143093,0.989594]] 2025-10-28T23:14:51.832Z,1761693291.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992213,-0.124527,-0.002349],[0.123586,0.982031,0.142627],[-0.015454,-0.141807,0.989774]] 2025-10-28T23:14:52.235Z,1761693292.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991975,-0.126418,-0.002173],[0.125454,0.981976,0.141369],[-0.015738,-0.140507,0.989955]] 2025-10-28T23:14:52.643Z,1761693292.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991713,-0.128453,-0.002303],[0.127508,0.981906,0.140007],[-0.015723,-0.139140,0.990148]] 2025-10-28T23:14:53.048Z,1761693293.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991038,-0.133543,-0.003273],[0.132708,0.981443,0.138410],[-0.015271,-0.137604,0.990370]] 2025-10-28T23:14:53.453Z,1761693293.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990800,-0.135276,-0.003987],[0.134525,0.981228,0.138180],[-0.014780,-0.137445,0.990399]] 2025-10-28T23:14:53.857Z,1761693293.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990820,-0.135097,-0.004916],[0.134453,0.981010,0.139794],[-0.014063,-0.139172,0.990168]] 2025-10-28T23:14:54.277Z,1761693294.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990991,-0.133795,-0.005903],[0.133274,0.980873,0.141867],[-0.013191,-0.141376,0.989868]] 2025-10-28T23:14:54.660Z,1761693294.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991275,-0.131666,-0.006145],[0.131179,0.980911,0.143544],[-0.012872,-0.143098,0.989625]] 2025-10-28T23:14:55.064Z,1761693295.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991671,-0.128654,-0.006062],[0.128179,0.981211,0.144208],[-0.012605,-0.143784,0.989529]] 2025-10-28T23:14:55.468Z,1761693295.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992155,-0.124882,-0.005708],[0.124382,0.981542,0.145277],[-0.012540,-0.144847,0.989375]] 2025-10-28T23:14:55.871Z,1761693295.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992531,-0.121906,-0.004637],[0.121297,0.982088,0.144190],[-0.013024,-0.143675,0.989539]] 2025-10-28T23:14:56.309Z,1761693296.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992763,-0.120025,-0.003954],[0.119336,0.982312,0.144300],[-0.013436,-0.143728,0.989526]] 2025-10-28T23:14:56.678Z,1761693296.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992809,-0.119673,-0.002973],[0.118888,0.982785,0.141418],[-0.014002,-0.140754,0.989946]] 2025-10-28T23:14:57.084Z,1761693297.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992694,-0.120624,-0.002898],[0.119842,0.982898,0.139822],[-0.014018,-0.139148,0.990172]] 2025-10-28T23:14:57.487Z,1761693297.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992450,-0.122615,-0.003065],[0.121859,0.982876,0.138222],[-0.013936,-0.137552,0.990396]] 2025-10-28T23:14:57.891Z,1761693297.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992178,-0.124793,-0.003051],[0.124023,0.982694,0.137591],[-0.014172,-0.136893,0.990484]] 2025-10-28T23:14:58.325Z,1761693298.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991900,-0.126975,-0.003311],[0.126227,0.982486,0.137066],[-0.014151,-0.136374,0.990556]] 2025-10-28T23:14:58.700Z,1761693298.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991698,-0.128533,-0.003690],[0.127817,0.982227,0.137452],[-0.014043,-0.136783,0.990502]] 2025-10-28T23:14:59.102Z,1761693299.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991673,-0.128710,-0.004273],[0.128051,0.981988,0.138935],[-0.013686,-0.138325,0.990292]] 2025-10-28T23:14:59.507Z,1761693299.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991840,-0.127411,-0.004463],[0.126779,0.982025,0.139835],[-0.013433,-0.139259,0.990165]] 2025-10-28T23:14:59.912Z,1761693299.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992133,-0.125104,-0.004505],[0.124480,0.982099,0.141372],[-0.013262,-0.140820,0.989946]] 2025-10-28T23:15:00.334Z,1761693300.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992448,-0.122588,-0.004430],[0.121960,0.982204,0.142829],[-0.013158,-0.142291,0.989738]] 2025-10-28T23:15:00.719Z,1761693300.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992784,-0.119852,-0.003922],[0.119173,0.982473,0.143331],[-0.013326,-0.142764,0.989667]] 2025-10-28T23:15:01.122Z,1761693301.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993033,-0.117790,-0.003187],[0.117045,0.982912,0.142070],[-0.013602,-0.141453,0.989852]] 2025-10-28T23:15:01.529Z,1761693301.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993148,-0.116847,-0.002097],[0.115973,0.983195,0.140987],[-0.014412,-0.140264,0.990009]] 2025-10-28T23:15:01.930Z,1761693301.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993084,-0.117401,-0.001226],[0.116437,0.983483,0.138580],[-0.015064,-0.137764,0.990350]] 2025-10-28T23:15:02.340Z,1761693302.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992921,-0.118773,-0.000516],[0.117719,0.983517,0.137245],[-0.015794,-0.136334,0.990537]] 2025-10-28T23:15:02.738Z,1761693302.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992661,-0.120932,-0.000103],[0.119822,0.983438,0.135989],[-0.016344,-0.135004,0.990710]] 2025-10-28T23:15:03.144Z,1761693303.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992301,-0.123850,0.000134],[0.122704,0.983268,0.134641],[-0.016807,-0.133588,0.990894]] 2025-10-28T23:15:03.547Z,1761693303.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992025,-0.126043,-0.000168],[0.124900,0.982850,0.135668],[-0.016935,-0.134607,0.990754]] 2025-10-28T23:15:03.951Z,1761693303.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991882,-0.127158,-0.000940],[0.126072,0.982390,0.137895],[-0.016611,-0.136894,0.990446]] 2025-10-28T23:15:04.356Z,1761693304.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991969,-0.126469,-0.001516],[0.125403,0.981906,0.141897],[-0.016457,-0.140948,0.989880]] 2025-10-28T23:15:04.759Z,1761693304.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992209,-0.124572,-0.001711],[0.123491,0.981601,0.145638],[-0.016463,-0.144714,0.989336]] 2025-10-28T23:15:05.165Z,1761693305.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992584,-0.121546,-0.001664],[0.120429,0.981420,0.149370],[-0.016522,-0.148463,0.988780]] 2025-10-28T23:15:05.520Z,1761693305.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:15:05.567Z,1761693305.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992983,-0.118249,-0.001460],[0.117113,0.981580,0.150945],[-0.016416,-0.150057,0.988541]] 2025-10-28T23:15:05.970Z,1761693305.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993371,-0.114942,-0.001212],[0.113787,0.981784,0.152160],[-0.016300,-0.151289,0.988355]] 2025-10-28T23:15:06.376Z,1761693306.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993700,-0.112068,-0.000670],[0.110848,0.981969,0.153135],[-0.016503,-0.152245,0.988205]] 2025-10-28T23:15:06.524Z,1761693306.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:15:06.780Z,1761693306.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993735,-0.111758,0.000347],[0.110436,0.982448,0.150332],[-0.017142,-0.149352,0.988636]] 2025-10-28T23:15:07.182Z,1761693307.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993581,-0.113117,0.000920],[0.111757,0.982836,0.146776],[-0.017507,-0.145732,0.989169]] 2025-10-28T23:15:07.587Z,1761693307.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993269,-0.115823,0.001462],[0.114419,0.983045,0.143289],[-0.018033,-0.142157,0.989680]] 2025-10-28T23:15:07.991Z,1761693307.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992890,-0.119018,0.001913],[0.117562,0.983008,0.140976],[-0.018659,-0.139748,0.990011]] 2025-10-28T23:15:08.396Z,1761693308.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992430,-0.122798,0.001831],[0.121346,0.982775,0.139385],[-0.018915,-0.138108,0.990237]] 2025-10-28T23:15:08.798Z,1761693308.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991843,-0.127451,0.001650],[0.126018,0.982469,0.137386],[-0.019131,-0.136057,0.990516]] 2025-10-28T23:15:09.202Z,1761693309.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991237,-0.132089,0.001533],[0.130667,0.982140,0.135378],[-0.019388,-0.133992,0.990793]] 2025-10-28T23:15:09.607Z,1761693309.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990727,-0.135865,0.000747],[0.134492,0.981466,0.136516],[-0.019281,-0.135150,0.990638]] 2025-10-28T23:15:10.012Z,1761693310.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990407,-0.138179,0.000028],[0.136841,0.980849,0.138602],[-0.019180,-0.137269,0.990348]] 2025-10-28T23:15:10.414Z,1761693310.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990394,-0.138270,-0.000878],[0.136974,0.980201,0.142985],[-0.018910,-0.141732,0.989724]] 2025-10-28T23:15:10.818Z,1761693310.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990622,-0.136621,-0.001382],[0.135370,0.980078,0.145337],[-0.018502,-0.144161,0.989381]] 2025-10-28T23:15:11.223Z,1761693311.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991031,-0.133625,-0.001609],[0.132370,0.979926,0.149072],[-0.018343,-0.147948,0.988825]] 2025-10-28T23:15:11.629Z,1761693311.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991529,-0.129878,-0.001698],[0.128637,0.980080,0.151314],[-0.017988,-0.150250,0.988484]] 2025-10-28T23:15:12.030Z,1761693312.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992130,-0.125203,-0.001530],[0.123962,0.980430,0.152941],[-0.017648,-0.151927,0.988234]] 2025-10-28T23:15:12.434Z,1761693312.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992741,-0.120270,-0.000710],[0.118974,0.981139,0.152355],[-0.017627,-0.151333,0.988326]] 2025-10-28T23:15:12.838Z,1761693312.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993239,-0.116090,0.000329],[0.114694,0.981724,0.151867],[-0.017953,-0.150803,0.988401]] 2025-10-28T23:15:13.244Z,1761693313.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993606,-0.112893,0.001609],[0.111387,0.982481,0.149410],[-0.018448,-0.148276,0.988774]] 2025-10-28T23:15:13.647Z,1761693313.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993769,-0.111420,0.002810],[0.109803,0.983049,0.146825],[-0.019121,-0.145601,0.989159]] 2025-10-28T23:15:14.050Z,1761693314.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993776,-0.111329,0.003944],[0.109612,0.983540,0.143644],[-0.019871,-0.142318,0.989622]] 2025-10-28T23:15:14.455Z,1761693314.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993614,-0.112737,0.004651],[0.110962,0.983783,0.140923],[-0.020463,-0.139507,0.990010]] 2025-10-28T23:15:14.860Z,1761693314.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993387,-0.114719,0.004791],[0.112934,0.983758,0.139521],[-0.020719,-0.138057,0.990208]] 2025-10-28T23:15:15.262Z,1761693315.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993093,-0.117234,0.004818],[0.115443,0.983618,0.138450],[-0.020970,-0.136937,0.990358]] 2025-10-28T23:15:15.666Z,1761693315.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992806,-0.119641,0.004813],[0.117805,0.983185,0.139535],[-0.021426,-0.137964,0.990205]] 2025-10-28T23:15:16.070Z,1761693316.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992547,-0.121773,0.004701],[0.119883,0.982613,0.141772],[-0.021883,-0.140152,0.989888]] 2025-10-28T23:15:16.476Z,1761693316.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992314,-0.123669,0.004417],[0.121784,0.982283,0.142442],[-0.021954,-0.140809,0.989793]] 2025-10-28T23:15:16.878Z,1761693316.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992122,-0.125202,0.004214],[0.123311,0.981961,0.143339],[-0.022085,-0.141690,0.989665]] 2025-10-28T23:15:17.282Z,1761693317.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992016,-0.126054,0.003874],[0.124176,0.981677,0.144536],[-0.022023,-0.142901,0.989492]] 2025-10-28T23:15:17.687Z,1761693317.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991970,-0.126427,0.003550],[0.124552,0.981365,0.146320],[-0.021983,-0.144702,0.989231]] 2025-10-28T23:15:18.092Z,1761693318.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991944,-0.126619,0.003916],[0.124679,0.981284,0.146757],[-0.022425,-0.145087,0.989165]] 2025-10-28T23:15:18.495Z,1761693318.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991943,-0.126617,0.004076],[0.124641,0.981203,0.147328],[-0.022654,-0.145633,0.989079]] 2025-10-28T23:15:18.899Z,1761693318.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991951,-0.126545,0.004438],[0.124508,0.981164,0.147700],[-0.023045,-0.145959,0.989022]] 2025-10-28T23:15:19.303Z,1761693319.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991992,-0.126217,0.004696],[0.124134,0.981138,0.148186],[-0.023311,-0.146416,0.988948]] 2025-10-28T23:15:19.707Z,1761693319.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992041,-0.125819,0.004879],[0.123702,0.981117,0.148687],[-0.023494,-0.146900,0.988872]] 2025-10-28T23:15:20.112Z,1761693320.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992202,-0.124541,0.004863],[0.122427,0.981186,0.149282],[-0.023364,-0.147523,0.988783]] 2025-10-28T23:15:20.514Z,1761693320.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992408,-0.122892,0.004853],[0.120779,0.981268,0.150084],[-0.023206,-0.148358,0.988661]] 2025-10-28T23:15:20.919Z,1761693320.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992713,-0.120401,0.004896],[0.118285,0.981407,0.151157],[-0.023005,-0.149477,0.988498]] 2025-10-28T23:15:21.323Z,1761693321.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993100,-0.117144,0.005404],[0.114963,0.981631,0.152262],[-0.023142,-0.150590,0.988325]] 2025-10-28T23:15:21.728Z,1761693321.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993514,-0.113549,0.006054],[0.111298,0.981964,0.152838],[-0.023299,-0.151173,0.988233]] 2025-10-28T23:15:22.131Z,1761693322.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993872,-0.110301,0.007254],[0.107946,0.982593,0.151190],[-0.023804,-0.149480,0.988478]] 2025-10-28T23:15:22.536Z,1761693322.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994212,-0.107099,0.008546],[0.104594,0.982999,0.150907],[-0.024563,-0.149140,0.988511]] 2025-10-28T23:15:22.939Z,1761693322.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994436,-0.104875,0.009928],[0.102237,0.983530,0.149049],[-0.025396,-0.147205,0.988780]] 2025-10-28T23:15:23.344Z,1761693323.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994496,-0.104169,0.011241],[0.101434,0.984107,0.145754],[-0.026246,-0.143811,0.989257]] 2025-10-28T23:15:23.747Z,1761693323.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994369,-0.105253,0.012334],[0.102424,0.984404,0.143032],[-0.027196,-0.140963,0.989641]] 2025-10-28T23:15:24.150Z,1761693324.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994082,-0.107846,0.013032],[0.104985,0.984606,0.139748],[-0.027903,-0.137553,0.990101]] 2025-10-28T23:15:24.555Z,1761693324.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993677,-0.111449,0.013586],[0.108581,0.984712,0.136209],[-0.028558,-0.133872,0.990587]] 2025-10-28T23:15:24.959Z,1761693324.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993212,-0.115485,0.013886],[0.112592,0.984501,0.134466],[-0.029200,-0.131989,0.990821]] 2025-10-28T23:15:25.362Z,1761693325.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992579,-0.120831,0.013683],[0.117900,0.983798,0.135062],[-0.029781,-0.132447,0.990743]] 2025-10-28T23:15:25.767Z,1761693325.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991927,-0.126111,0.013310],[0.123153,0.983022,0.136020],[-0.030238,-0.133283,0.990617]] 2025-10-28T23:15:26.172Z,1761693326.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991231,-0.131490,0.013069],[0.128469,0.982128,0.137552],[-0.030923,-0.134667,0.990408]] 2025-10-28T23:15:26.577Z,1761693326.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990560,-0.136489,0.012751],[0.133430,0.981312,0.138648],[-0.031437,-0.135638,0.990260]] 2025-10-28T23:15:26.978Z,1761693326.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989999,-0.140536,0.012315],[0.137411,0.980375,0.141365],[-0.031940,-0.138259,0.989881]] 2025-10-28T23:15:27.382Z,1761693327.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989639,-0.143074,0.012058],[0.139895,0.979734,0.143356],[-0.032325,-0.140184,0.989598]] 2025-10-28T23:15:27.788Z,1761693327.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989435,-0.144505,0.011645],[0.141306,0.979241,0.145323],[-0.032404,-0.142142,0.989316]] 2025-10-28T23:15:28.193Z,1761693328.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989478,-0.144270,0.010885],[0.141093,0.978859,0.148078],[-0.032018,-0.144984,0.988916]] 2025-10-28T23:15:28.594Z,1761693328.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989711,-0.142733,0.009996],[0.139629,0.978717,0.150386],[-0.031248,-0.147443,0.988577]] 2025-10-28T23:15:28.998Z,1761693328.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990048,-0.140385,0.009842],[0.137288,0.978847,0.151694],[-0.030929,-0.148833,0.988378]] 2025-10-28T23:15:29.403Z,1761693329.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990482,-0.137307,0.009627],[0.134243,0.979095,0.152813],[-0.030408,-0.150066,0.988208]] 2025-10-28T23:15:29.809Z,1761693329.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990986,-0.133626,0.009521],[0.130570,0.979330,0.154482],[-0.029967,-0.151846,0.987950]] 2025-10-28T23:15:30.210Z,1761693330.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991605,-0.128973,0.009269],[0.126003,0.979890,0.154719],[-0.029037,-0.152252,0.987915]] 2025-10-28T23:15:31.019Z,1761693331.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992936,-0.118280,0.009379],[0.115387,0.981012,0.155888],[-0.027639,-0.153705,0.987730]] 2025-10-28T23:15:31.424Z,1761693331.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993579,-0.112687,0.010110],[0.109767,0.981755,0.155271],[-0.027422,-0.153164,0.987820]] 2025-10-28T23:15:31.828Z,1761693331.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994150,-0.107424,0.011218],[0.104455,0.982669,0.153134],[-0.027474,-0.151067,0.988142]] 2025-10-28T23:15:32.230Z,1761693332.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994533,-0.103691,0.012356],[0.100670,0.983486,0.150400],[-0.027747,-0.148333,0.988548]] 2025-10-28T23:15:32.635Z,1761693332.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994685,-0.102114,0.013179],[0.099082,0.984142,0.147132],[-0.027994,-0.145044,0.989029]] 2025-10-28T23:15:33.040Z,1761693333.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994549,-0.103361,0.013723],[0.100357,0.984625,0.142973],[-0.028290,-0.140817,0.989631]] 2025-10-28T23:15:33.442Z,1761693333.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994273,-0.106015,0.013494],[0.103071,0.984614,0.141107],[-0.028246,-0.138908,0.989902]] 2025-10-28T23:15:33.847Z,1761693333.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993855,-0.109935,0.012887],[0.107091,0.984462,0.139158],[-0.027985,-0.136923,0.990186]] 2025-10-28T23:15:34.254Z,1761693334.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993220,-0.115599,0.012269],[0.112887,0.984313,0.135592],[-0.027751,-0.133287,0.990689]] 2025-10-28T23:15:35.058Z,1761693335.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991636,-0.128734,0.009303],[0.126366,0.983017,0.133076],[-0.026276,-0.130787,0.991062]] 2025-10-28T23:15:35.462Z,1761693335.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990768,-0.135367,0.007434],[0.133190,0.982134,0.132937],[-0.025297,-0.130720,0.991097]] 2025-10-28T23:15:35.867Z,1761693335.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989973,-0.141145,0.005610],[0.139152,0.981286,0.133092],[-0.024290,-0.130977,0.991088]] 2025-10-28T23:15:36.303Z,1761693336.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988697,-0.149916,0.001949],[0.148293,0.979743,0.134585],[-0.022086,-0.132774,0.990900]] 2025-10-28T23:15:36.644Z,1761693336.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:15:37.079Z,1761693337.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988325,-0.152362,0.000408],[0.150893,0.979161,0.135927],[-0.021110,-0.134278,0.990719]] 2025-10-28T23:15:37.485Z,1761693337.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988113,-0.153724,-0.000935],[0.152390,0.978704,0.137534],[-0.020227,-0.136042,0.990497]] 2025-10-28T23:15:37.648Z,1761693337.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:15:37.896Z,1761693337.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988099,-0.153798,-0.002433],[0.152612,0.978260,0.140417],[-0.019216,-0.139118,0.990089]] 2025-10-28T23:15:38.329Z,1761693338.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988768,-0.149385,-0.004669],[0.148388,0.977480,0.150048],[-0.017851,-0.149055,0.988668]] 2025-10-28T23:15:38.699Z,1761693338.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989445,-0.144807,-0.005495],[0.143878,0.977165,0.156357],[-0.017272,-0.155497,0.987685]] 2025-10-28T23:15:39.103Z,1761693339.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990174,-0.139726,-0.005597],[0.138798,0.977148,0.160985],[-0.017025,-0.160180,0.986941]] 2025-10-28T23:15:39.509Z,1761693339.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990887,-0.134605,-0.005041],[0.133592,0.977259,0.164676],[-0.017240,-0.163849,0.986335]] 2025-10-28T23:15:39.909Z,1761693339.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991565,-0.129552,-0.003874],[0.128386,0.977671,0.166365],[-0.017765,-0.165459,0.986057]] 2025-10-28T23:15:40.329Z,1761693340.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992062,-0.125715,-0.002804],[0.124417,0.978103,0.166838],[-0.018232,-0.165863,0.985980]] 2025-10-28T23:15:40.717Z,1761693340.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992398,-0.123056,-0.001876],[0.121661,0.978624,0.165815],[-0.018568,-0.164783,0.986155]] 2025-10-28T23:15:41.119Z,1761693341.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992496,-0.122276,-0.001023],[0.120811,0.979252,0.162698],[-0.018893,-0.161601,0.986675]] 2025-10-28T23:15:41.522Z,1761693341.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992414,-0.122942,-0.000553],[0.121448,0.979641,0.159856],[-0.019111,-0.158711,0.987140]] 2025-10-28T23:15:41.927Z,1761693341.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992194,-0.124707,-0.000500],[0.123231,0.979819,0.157381],[-0.019137,-0.156214,0.987538]] 2025-10-28T23:15:42.339Z,1761693342.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991910,-0.126937,-0.001104],[0.125569,0.979868,0.155210],[-0.018620,-0.154093,0.987881]] 2025-10-28T23:15:42.734Z,1761693342.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991729,-0.128329,-0.002116],[0.127116,0.979808,0.154333],[-0.017732,-0.153326,0.988017]] 2025-10-28T23:15:43.138Z,1761693343.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991639,-0.129011,-0.002829],[0.127906,0.979766,0.153944],[-0.017089,-0.153019,0.988076]] 2025-10-28T23:15:43.542Z,1761693343.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991611,-0.129211,-0.003415],[0.128192,0.979730,0.153933],[-0.016544,-0.153079,0.988075]] 2025-10-28T23:15:43.948Z,1761693343.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991662,-0.128813,-0.003790],[0.127873,0.979923,0.152968],[-0.015990,-0.152177,0.988224]] 2025-10-28T23:15:44.351Z,1761693344.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991733,-0.128251,-0.004228],[0.127412,0.980262,0.151170],[-0.015243,-0.150459,0.988499]] 2025-10-28T23:15:44.755Z,1761693344.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991777,-0.127893,-0.004677],[0.127154,0.980594,0.149225],[-0.014498,-0.148592,0.988792]] 2025-10-28T23:15:45.159Z,1761693345.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991874,-0.127128,-0.004898],[0.126463,0.981025,0.146958],[-0.013878,-0.146384,0.989130]] 2025-10-28T23:15:45.564Z,1761693345.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991997,-0.126161,-0.005072],[0.125566,0.981508,0.144483],[-0.013250,-0.143963,0.989494]] 2025-10-28T23:15:45.966Z,1761693345.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992084,-0.125473,-0.005126],[0.124902,0.981692,0.143807],[-0.013012,-0.143308,0.989593]] 2025-10-28T23:15:46.370Z,1761693346.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992149,-0.124964,-0.004942],[0.124388,0.981934,0.142596],[-0.012966,-0.142091,0.989769]] 2025-10-28T23:15:46.774Z,1761693346.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992273,-0.123983,-0.004737],[0.123380,0.981978,0.143165],[-0.013098,-0.142644,0.989688]] 2025-10-28T23:15:47.179Z,1761693347.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992429,-0.122733,-0.004536],[0.122090,0.981870,0.145004],[-0.013343,-0.144460,0.989421]] 2025-10-28T23:15:47.588Z,1761693347.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992573,-0.121575,-0.004174],[0.120885,0.981948,0.145485],[-0.013588,-0.144909,0.989352]] 2025-10-28T23:15:47.986Z,1761693347.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992643,-0.121017,-0.003762],[0.120258,0.981860,0.146593],[-0.014046,-0.145967,0.989190]] 2025-10-28T23:15:48.390Z,1761693348.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992713,-0.120449,-0.003646],[0.119654,0.981677,0.148298],[-0.014283,-0.147654,0.988936]] 2025-10-28T23:15:48.794Z,1761693348.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992670,-0.120800,-0.003659],[0.119983,0.981427,0.149686],[-0.014491,-0.149028,0.988727]] 2025-10-28T23:15:49.200Z,1761693349.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992547,-0.121791,-0.004121],[0.121011,0.981073,0.151169],[-0.014368,-0.150541,0.988499]] 2025-10-28T23:15:49.602Z,1761693349.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992292,-0.123825,-0.004926],[0.123144,0.980819,0.151098],[-0.013878,-0.150540,0.988506]] 2025-10-28T23:15:50.006Z,1761693350.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991967,-0.126342,-0.006313],[0.125815,0.980193,0.152943],[-0.013135,-0.152509,0.988215]] 2025-10-28T23:15:50.411Z,1761693350.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991545,-0.129534,-0.007682],[0.129196,0.979976,0.151513],[-0.012098,-0.151224,0.988425]] 2025-10-28T23:15:50.816Z,1761693350.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991069,-0.133009,-0.009505],[0.132911,0.979544,0.151091],[-0.010786,-0.151005,0.988474]] 2025-10-28T23:15:51.218Z,1761693351.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990611,-0.136205,-0.011780],[0.136405,0.978918,0.152032],[-0.009176,-0.152211,0.988305]] 2025-10-28T23:15:51.622Z,1761693351.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990175,-0.139100,-0.014319],[0.139644,0.978283,0.153174],[-0.007299,-0.153668,0.988096]] 2025-10-28T23:15:52.026Z,1761693352.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989816,-0.141364,-0.016746],[0.142247,0.977679,0.154624],[-0.005486,-0.155432,0.987831]] 2025-10-28T23:15:52.433Z,1761693352.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989639,-0.142297,-0.019142],[0.143533,0.977129,0.156900],[-0.003623,-0.158022,0.987429]] 2025-10-28T23:15:52.834Z,1761693352.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989733,-0.141379,-0.021003],[0.142917,0.976810,0.159425],[-0.002024,-0.160790,0.986987]] 2025-10-28T23:15:53.238Z,1761693353.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990051,-0.138965,-0.022084],[0.140706,0.976738,0.161819],[-0.000916,-0.163316,0.986573]] 2025-10-28T23:15:53.642Z,1761693353.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990498,-0.135636,-0.022721],[0.137526,0.977066,0.162571],[0.000150,-0.164151,0.986435]] 2025-10-28T23:15:54.048Z,1761693354.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990996,-0.131861,-0.023227],[0.133883,0.977824,0.161048],[0.001476,-0.162707,0.986673]] 2025-10-28T23:15:54.450Z,1761693354.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991503,-0.127942,-0.023524],[0.130060,0.978624,0.159306],[0.002639,-0.161012,0.986949]] 2025-10-28T23:15:54.854Z,1761693354.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992071,-0.123492,-0.023358],[0.125625,0.979938,0.154726],[0.003782,-0.156434,0.987681]] 2025-10-28T23:15:55.258Z,1761693355.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992650,-0.118792,-0.023120],[0.120931,0.981024,0.151550],[0.004678,-0.153232,0.988179]] 2025-10-28T23:15:55.663Z,1761693355.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993244,-0.113826,-0.022573],[0.115919,0.982209,0.147745],[0.005355,-0.149363,0.988768]] 2025-10-28T23:15:56.068Z,1761693356.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993807,-0.108949,-0.021836],[0.110965,0.983342,0.143965],[0.005787,-0.145496,0.989342]] 2025-10-28T23:15:56.471Z,1761693356.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994227,-0.105155,-0.021315],[0.107131,0.983877,0.143212],[0.005911,-0.144668,0.989463]] 2025-10-28T23:15:56.875Z,1761693356.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994470,-0.102974,-0.020642],[0.104871,0.984230,0.142453],[0.005647,-0.143830,0.989586]] 2025-10-28T23:15:57.279Z,1761693357.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994573,-0.102063,-0.020204],[0.103897,0.984547,0.140969],[0.005505,-0.142303,0.989808]] 2025-10-28T23:15:57.685Z,1761693357.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994494,-0.102864,-0.020017],[0.104654,0.984728,0.139134],[0.005399,-0.140462,0.990071]] 2025-10-28T23:15:58.087Z,1761693358.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994301,-0.104698,-0.020113],[0.106481,0.984605,0.138617],[0.005290,-0.139968,0.990142]] 2025-10-28T23:15:58.491Z,1761693358.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993986,-0.107616,-0.020269],[0.109385,0.984492,0.137153],[0.005195,-0.138545,0.990342]] 2025-10-28T23:15:58.894Z,1761693358.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993549,-0.111476,-0.020803],[0.113285,0.983969,0.137736],[0.005115,-0.139204,0.990250]] 2025-10-28T23:15:59.300Z,1761693359.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992974,-0.116272,-0.021971],[0.118208,0.983125,0.139613],[0.005367,-0.141229,0.989962]] 2025-10-28T23:15:59.703Z,1761693359.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992317,-0.121493,-0.023379],[0.123587,0.982196,0.141485],[0.005774,-0.143287,0.989664]] 2025-10-28T23:16:00.107Z,1761693360.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991585,-0.126978,-0.025223],[0.129294,0.981171,0.143479],[0.006529,-0.145533,0.989332]] 2025-10-28T23:16:00.511Z,1761693360.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990866,-0.132078,-0.027198],[0.134639,0.980263,0.144767],[0.007541,-0.147106,0.989092]] 2025-10-28T23:16:00.916Z,1761693360.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990238,-0.136309,-0.029136],[0.139127,0.979342,0.146739],[0.008532,-0.149360,0.988746]] 2025-10-28T23:16:01.318Z,1761693361.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989891,-0.138377,-0.031091],[0.141481,0.978761,0.148356],[0.009901,-0.151255,0.988445]] 2025-10-28T23:16:01.722Z,1761693361.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989764,-0.138960,-0.032505],[0.142281,0.978516,0.149204],[0.011074,-0.152301,0.988272]] 2025-10-28T23:16:02.127Z,1761693362.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989813,-0.138279,-0.033889],[0.141841,0.978299,0.151039],[0.012268,-0.154307,0.987947]] 2025-10-28T23:16:02.533Z,1761693362.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990029,-0.136582,-0.034458],[0.140263,0.978404,0.151832],[0.012976,-0.155151,0.987806]] 2025-10-28T23:16:02.934Z,1761693362.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990337,-0.134208,-0.034937],[0.138006,0.978555,0.152919],[0.013665,-0.156263,0.987621]] 2025-10-28T23:16:03.338Z,1761693363.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990735,-0.131149,-0.035261],[0.135045,0.978854,0.153649],[0.014364,-0.156987,0.987496]] 2025-10-28T23:16:03.745Z,1761693363.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991203,-0.127527,-0.035390],[0.131520,0.978980,0.155885],[0.014766,-0.159168,0.987141]] 2025-10-28T23:16:04.147Z,1761693364.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991755,-0.123258,-0.035072],[0.127248,0.979601,0.155529],[0.015187,-0.158710,0.987208]] 2025-10-28T23:16:04.551Z,1761693364.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992306,-0.118922,-0.034437],[0.122868,0.980126,0.155742],[0.015231,-0.158775,0.987197]] 2025-10-28T23:16:04.954Z,1761693364.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992851,-0.114517,-0.033661],[0.118396,0.980642,0.155962],[0.015149,-0.158832,0.987189]] 2025-10-28T23:16:05.359Z,1761693365.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993359,-0.110349,-0.032577],[0.114091,0.981327,0.154855],[0.014881,-0.157543,0.987400]] 2025-10-28T23:16:05.762Z,1761693365.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993758,-0.107093,-0.031235],[0.110649,0.981874,0.153883],[0.014189,-0.156379,0.987595]] 2025-10-28T23:16:06.166Z,1761693366.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994019,-0.104985,-0.030064],[0.108357,0.982422,0.152007],[0.013577,-0.154355,0.987922]] 2025-10-28T23:16:06.571Z,1761693366.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994128,-0.104238,-0.029045],[0.107422,0.982998,0.148917],[0.013029,-0.151163,0.988423]] 2025-10-28T23:16:06.976Z,1761693366.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994079,-0.104837,-0.028578],[0.107925,0.983160,0.147473],[0.012636,-0.149684,0.988653]] 2025-10-28T23:16:07.380Z,1761693367.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993867,-0.106837,-0.028543],[0.109869,0.983281,0.145217],[0.012551,-0.147463,0.988988]] 2025-10-28T23:16:07.776Z,1761693367.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:16:07.783Z,1761693367.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993505,-0.110057,-0.028892],[0.113086,0.983154,0.143593],[0.012602,-0.145928,0.989215]] 2025-10-28T23:16:08.188Z,1761693368.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993071,-0.113621,-0.030004],[0.116778,0.982699,0.143755],[0.013151,-0.146263,0.989158]] 2025-10-28T23:16:08.590Z,1761693368.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992609,-0.117163,-0.031638],[0.120548,0.981976,0.145572],[0.014012,-0.148310,0.988842]] 2025-10-28T23:16:08.780Z,1761693368.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:16:08.994Z,1761693368.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992107,-0.120807,-0.033605],[0.124488,0.981065,0.148371],[0.015045,-0.151384,0.988361]] 2025-10-28T23:16:09.399Z,1761693369.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991696,-0.123552,-0.035690],[0.127563,0.980263,0.151035],[0.016325,-0.154334,0.987884]] 2025-10-28T23:16:09.804Z,1761693369.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991388,-0.125399,-0.037748],[0.129766,0.979469,0.154276],[0.017627,-0.157846,0.987306]] 2025-10-28T23:16:10.206Z,1761693370.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991263,-0.125778,-0.039709],[0.130516,0.978830,0.157661],[0.019038,-0.161466,0.986695]] 2025-10-28T23:16:10.611Z,1761693370.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991345,-0.124727,-0.040961],[0.129720,0.978626,0.159576],[0.020182,-0.163508,0.986336]] 2025-10-28T23:16:11.014Z,1761693371.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991600,-0.122480,-0.041565],[0.127622,0.978736,0.160585],[0.021012,-0.164541,0.986146]] 2025-10-28T23:16:11.421Z,1761693371.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992026,-0.118834,-0.041997],[0.124121,0.978994,0.161758],[0.021892,-0.165681,0.985936]] 2025-10-28T23:16:11.822Z,1761693371.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992472,-0.115101,-0.041860],[0.120395,0.979594,0.160935],[0.022482,-0.164763,0.986077]] 2025-10-28T23:16:12.226Z,1761693372.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992853,-0.111937,-0.041399],[0.117160,0.980247,0.159342],[0.022744,-0.163054,0.986355]] 2025-10-28T23:16:12.630Z,1761693372.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993160,-0.109352,-0.040934],[0.114470,0.980993,0.156683],[0.023023,-0.160297,0.986800]] 2025-10-28T23:16:13.036Z,1761693373.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993361,-0.107731,-0.040354],[0.112707,0.981665,0.153722],[0.023053,-0.157249,0.987290]] 2025-10-28T23:16:13.439Z,1761693373.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993464,-0.106973,-0.039815],[0.111777,0.982411,0.149584],[0.023114,-0.153056,0.987947]] 2025-10-28T23:16:13.843Z,1761693373.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993475,-0.107069,-0.039290],[0.111697,0.983041,0.145445],[0.023051,-0.148885,0.988586]] 2025-10-28T23:16:14.251Z,1761693374.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993336,-0.108512,-0.038851],[0.112988,0.983345,0.142359],[0.022756,-0.145800,0.989052]] 2025-10-28T23:16:14.651Z,1761693374.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993184,-0.109966,-0.038627],[0.114334,0.983576,0.139666],[0.022634,-0.143130,0.989445]] 2025-10-28T23:16:15.055Z,1761693375.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992941,-0.112189,-0.038505],[0.116479,0.983568,0.137935],[0.022398,-0.141446,0.989693]] 2025-10-28T23:16:15.459Z,1761693375.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992674,-0.114500,-0.038584],[0.118768,0.983367,0.137414],[0.022209,-0.140990,0.989762]] 2025-10-28T23:16:15.862Z,1761693375.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992413,-0.116627,-0.038927],[0.120954,0.982912,0.138762],[0.022079,-0.142417,0.989560]] 2025-10-28T23:16:16.285Z,1761693376.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992206,-0.118222,-0.039387],[0.122651,0.982367,0.141112],[0.022010,-0.144843,0.989210]] 2025-10-28T23:16:16.672Z,1761693376.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992014,-0.119619,-0.039998],[0.124160,0.981942,0.142740],[0.022201,-0.146566,0.988952]] 2025-10-28T23:16:17.074Z,1761693377.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991868,-0.120571,-0.040760],[0.125275,0.981408,0.145410],[0.022470,-0.149333,0.988532]] 2025-10-28T23:16:17.479Z,1761693377.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991864,-0.120253,-0.041774],[0.125206,0.980819,0.149393],[0.023008,-0.153408,0.987895]] 2025-10-28T23:16:17.883Z,1761693377.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991957,-0.119151,-0.042712],[0.124349,0.980367,0.153029],[0.023640,-0.157109,0.987298]] 2025-10-28T23:16:18.319Z,1761693378.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992055,-0.117997,-0.043619],[0.123387,0.980257,0.154508],[0.024526,-0.158662,0.987028]] 2025-10-28T23:16:18.691Z,1761693378.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992282,-0.115813,-0.044320],[0.121391,0.980196,0.156463],[0.025321,-0.160635,0.986689]] 2025-10-28T23:16:19.095Z,1761693379.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992561,-0.113187,-0.044844],[0.118900,0.980383,0.157201],[0.026171,-0.161364,0.986548]] 2025-10-28T23:16:19.499Z,1761693379.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992865,-0.110398,-0.045064],[0.116184,0.980690,0.157316],[0.026827,-0.161430,0.986520]] 2025-10-28T23:16:19.904Z,1761693379.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993199,-0.107371,-0.045027],[0.113185,0.981063,0.157177],[0.027298,-0.161204,0.986544]] 2025-10-28T23:16:20.330Z,1761693380.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993488,-0.104681,-0.044993],[0.110482,0.981599,0.155747],[0.027862,-0.159704,0.986772]] 2025-10-28T23:16:20.711Z,1761693380.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993722,-0.102559,-0.044712],[0.108276,0.982201,0.153485],[0.028175,-0.157362,0.987139]] 2025-10-28T23:16:21.114Z,1761693381.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993861,-0.101350,-0.044368],[0.106945,0.982791,0.150612],[0.028340,-0.154432,0.987597]] 2025-10-28T23:16:21.520Z,1761693381.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993807,-0.101846,-0.044446],[0.107315,0.983442,0.146035],[0.028837,-0.149900,0.988281]] 2025-10-28T23:16:21.922Z,1761693381.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993715,-0.102802,-0.044310],[0.108200,0.983549,0.144652],[0.028710,-0.148537,0.988490]] 2025-10-28T23:16:22.337Z,1761693382.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993435,-0.105284,-0.044745],[0.110646,0.983651,0.142088],[0.029054,-0.146106,0.988842]] 2025-10-28T23:16:22.730Z,1761693382.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993100,-0.108239,-0.045130],[0.113582,0.983544,0.140499],[0.029180,-0.144655,0.989052]] 2025-10-28T23:16:23.137Z,1761693383.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992745,-0.111071,-0.046046],[0.116525,0.983175,0.140672],[0.029646,-0.145017,0.988985]] 2025-10-28T23:16:23.543Z,1761693383.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992421,-0.113460,-0.047201],[0.119164,0.982361,0.144109],[0.030018,-0.148642,0.988435]] 2025-10-28T23:16:23.949Z,1761693383.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991963,-0.116568,-0.049200],[0.122714,0.981092,0.149664],[0.030823,-0.154499,0.987512]] 2025-10-28T23:16:24.351Z,1761693384.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992004,-0.115939,-0.049873],[0.122310,0.980585,0.153275],[0.031134,-0.158149,0.986924]] 2025-10-28T23:16:24.756Z,1761693384.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992240,-0.113690,-0.050341],[0.120270,0.980307,0.156629],[0.031542,-0.161468,0.986374]] 2025-10-28T23:16:25.158Z,1761693385.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992533,-0.110871,-0.050844],[0.117621,0.980357,0.158320],[0.032292,-0.163118,0.986078]] 2025-10-28T23:16:25.559Z,1761693385.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992923,-0.107081,-0.051356],[0.114023,0.980488,0.160134],[0.033207,-0.164857,0.985758]] 2025-10-28T23:16:25.962Z,1761693385.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993362,-0.103157,-0.050891],[0.110069,0.980952,0.160059],[0.033411,-0.164598,0.985795]] 2025-10-28T23:16:26.368Z,1761693386.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993748,-0.099652,-0.050341],[0.106479,0.981523,0.158983],[0.033568,-0.163349,0.985997]] 2025-10-28T23:16:26.770Z,1761693386.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994066,-0.096782,-0.049658],[0.103439,0.982293,0.156205],[0.033661,-0.160415,0.986476]] 2025-10-28T23:16:27.175Z,1761693387.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994322,-0.094363,-0.049194],[0.100916,0.982824,0.154510],[0.033769,-0.158597,0.986766]] 2025-10-28T23:16:27.603Z,1761693387.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994492,-0.092702,-0.048900],[0.099156,0.983328,0.152428],[0.033954,-0.156437,0.987104]] 2025-10-28T23:16:27.983Z,1761693387.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994607,-0.091582,-0.048678],[0.097918,0.983877,0.149660],[0.034188,-0.153619,0.987539]] 2025-10-28T23:16:28.388Z,1761693388.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994643,-0.091206,-0.048657],[0.097503,0.984097,0.148478],[0.034341,-0.152426,0.987718]] 2025-10-28T23:16:28.791Z,1761693388.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994583,-0.091891,-0.048593],[0.098089,0.984389,0.146141],[0.034406,-0.150116,0.988070]] 2025-10-28T23:16:29.195Z,1761693389.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994469,-0.093315,-0.048199],[0.099394,0.984452,0.144831],[0.033935,-0.148821,0.988282]] 2025-10-28T23:16:29.599Z,1761693389.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994283,-0.095257,-0.048252],[0.101269,0.984502,0.143181],[0.033865,-0.147248,0.988520]] 2025-10-28T23:16:30.004Z,1761693390.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994113,-0.096997,-0.048285],[0.103008,0.984271,0.143526],[0.033604,-0.147655,0.988468]] 2025-10-28T23:16:30.407Z,1761693390.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993965,-0.098542,-0.048206],[0.104552,0.983997,0.144288],[0.033216,-0.148457,0.988361]] 2025-10-28T23:16:30.811Z,1761693390.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993800,-0.100240,-0.048107],[0.106238,0.983727,0.144896],[0.032799,-0.149109,0.988277]] 2025-10-28T23:16:31.214Z,1761693391.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993614,-0.101897,-0.048462],[0.107992,0.983263,0.146739],[0.032698,-0.151035,0.987987]] 2025-10-28T23:16:31.620Z,1761693391.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993461,-0.103303,-0.048611],[0.109460,0.982856,0.148367],[0.032451,-0.152718,0.987737]] 2025-10-28T23:16:32.022Z,1761693392.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993260,-0.105064,-0.048942],[0.111296,0.982450,0.149683],[0.032356,-0.154121,0.987522]] 2025-10-28T23:16:32.426Z,1761693392.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993015,-0.107152,-0.049386],[0.113445,0.982133,0.150150],[0.032415,-0.154703,0.987429]] 2025-10-28T23:16:32.832Z,1761693392.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992737,-0.109446,-0.049940],[0.115794,0.981887,0.149966],[0.032622,-0.154659,0.987429]] 2025-10-28T23:16:33.236Z,1761693393.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992476,-0.111638,-0.050278],[0.118052,0.981442,0.151113],[0.032475,-0.155912,0.987237]] 2025-10-28T23:16:33.639Z,1761693393.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992333,-0.112792,-0.050522],[0.119258,0.981175,0.151902],[0.032437,-0.156762,0.987104]] 2025-10-28T23:16:34.043Z,1761693394.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992297,-0.112997,-0.050779],[0.119571,0.980805,0.154024],[0.032400,-0.158909,0.986761]] 2025-10-28T23:16:34.447Z,1761693394.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992427,-0.111737,-0.051027],[0.118488,0.980342,0.157764],[0.032396,-0.162615,0.986158]] 2025-10-28T23:16:34.853Z,1761693394.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992734,-0.109176,-0.050591],[0.116035,0.979893,0.162313],[0.031853,-0.167004,0.985442]] 2025-10-28T23:16:35.256Z,1761693395.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993174,-0.105559,-0.049635],[0.112406,0.979788,0.165472],[0.031164,-0.169921,0.984965]] 2025-10-28T23:16:35.658Z,1761693395.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993631,-0.101764,-0.048392],[0.108480,0.980068,0.166431],[0.030491,-0.170620,0.984865]] 2025-10-28T23:16:36.062Z,1761693396.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994096,-0.097811,-0.046972],[0.104297,0.980757,0.165041],[0.029925,-0.168966,0.985168]] 2025-10-28T23:16:36.468Z,1761693396.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994546,-0.093736,-0.045738],[0.099992,0.981628,0.162504],[0.029665,-0.166192,0.985647]] 2025-10-28T23:16:36.874Z,1761693396.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995001,-0.089310,-0.044681],[0.095289,0.982956,0.157217],[0.029879,-0.160688,0.986553]] 2025-10-28T23:16:37.275Z,1761693397.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995471,-0.084419,-0.043709],[0.090164,0.984150,0.152704],[0.030125,-0.155954,0.987305]] 2025-10-28T23:16:37.678Z,1761693397.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995910,-0.079531,-0.042871],[0.085100,0.985107,0.149406],[0.030350,-0.152443,0.987846]] 2025-10-28T23:16:38.082Z,1761693398.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996275,-0.075323,-0.041978],[0.080637,0.986278,0.144061],[0.030551,-0.146909,0.988678]] 2025-10-28T23:16:38.488Z,1761693398.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996530,-0.072303,-0.041243],[0.077440,0.987000,0.140835],[0.030524,-0.143540,0.989174]] 2025-10-28T23:16:38.892Z,1761693398.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996595,-0.071710,-0.040696],[0.076690,0.987452,0.138049],[0.030286,-0.140700,0.989589]] 2025-10-28T23:16:38.900Z,1761693398.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:16:39.295Z,1761693399.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996502,-0.073169,-0.040367],[0.078000,0.987755,0.135116],[0.029986,-0.137792,0.990007]] 2025-10-28T23:16:39.699Z,1761693399.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996290,-0.076221,-0.039953],[0.080909,0.987790,0.133135],[0.029318,-0.135874,0.990292]] 2025-10-28T23:16:39.904Z,1761693399.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:16:40.104Z,1761693400.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995977,-0.080047,-0.040274],[0.084750,0.987451,0.133258],[0.029101,-0.136135,0.990263]] 2025-10-28T23:16:40.507Z,1761693400.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995632,-0.083970,-0.040821],[0.088797,0.986710,0.136086],[0.028851,-0.139116,0.989856]] 2025-10-28T23:16:40.911Z,1761693400.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995270,-0.087858,-0.041454],[0.092839,0.985857,0.139525],[0.028610,-0.142714,0.989350]] 2025-10-28T23:16:41.314Z,1761693401.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994910,-0.091485,-0.042248],[0.096664,0.984898,0.143637],[0.028469,-0.146990,0.988728]] 2025-10-28T23:16:41.719Z,1761693401.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994520,-0.095239,-0.043114],[0.100660,0.983712,0.148923],[0.028228,-0.152447,0.987908]] 2025-10-28T23:16:42.124Z,1761693402.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994137,-0.098688,-0.044188],[0.104406,0.982410,0.154825],[0.028132,-0.158531,0.986953]] 2025-10-28T23:16:42.526Z,1761693402.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993764,-0.101881,-0.045314],[0.107857,0.981387,0.158890],[0.028282,-0.162786,0.986256]] 2025-10-28T23:16:42.931Z,1761693402.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993453,-0.104310,-0.046598],[0.110565,0.980526,0.162306],[0.028761,-0.166395,0.985640]] 2025-10-28T23:16:43.335Z,1761693403.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993256,-0.105671,-0.047718],[0.112134,0.980137,0.163576],[0.029485,-0.167824,0.985376]] 2025-10-28T23:16:43.741Z,1761693403.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993324,-0.104397,-0.049072],[0.111150,0.980006,0.165030],[0.030862,-0.169383,0.985067]] 2025-10-28T23:16:44.142Z,1761693404.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993610,-0.101281,-0.049805],[0.108202,0.980325,0.165092],[0.032104,-0.169426,0.985020]] 2025-10-28T23:16:44.546Z,1761693404.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993976,-0.097782,-0.049495],[0.104679,0.980800,0.164541],[0.032455,-0.168731,0.985128]] 2025-10-28T23:16:44.951Z,1761693404.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994346,-0.094269,-0.048876],[0.101026,0.981598,0.162045],[0.032701,-0.166066,0.985572]] 2025-10-28T23:16:45.356Z,1761693405.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994709,-0.090788,-0.048087],[0.097395,0.982277,0.160145],[0.032696,-0.163981,0.985922]] 2025-10-28T23:16:45.758Z,1761693405.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995054,-0.087426,-0.047167],[0.093867,0.982901,0.158412],[0.032511,-0.162056,0.986246]] 2025-10-28T23:16:46.172Z,1761693406.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995298,-0.085225,-0.046019],[0.091421,0.983560,0.155731],[0.031991,-0.159206,0.986727]] 2025-10-28T23:16:46.574Z,1761693406.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995449,-0.084037,-0.044938],[0.089997,0.984070,0.153316],[0.031338,-0.156662,0.987155]] 2025-10-28T23:16:46.979Z,1761693406.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995526,-0.083551,-0.044129],[0.089360,0.984277,0.152358],[0.030706,-0.155620,0.987340]] 2025-10-28T23:16:47.385Z,1761693407.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995570,-0.083252,-0.043700],[0.088977,0.984419,0.151663],[0.030393,-0.154879,0.987466]] 2025-10-28T23:16:47.786Z,1761693407.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995636,-0.082865,-0.042934],[0.088444,0.984629,0.150612],[0.029794,-0.153752,0.987660]] 2025-10-28T23:16:48.190Z,1761693408.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995761,-0.081412,-0.042808],[0.087004,0.984670,0.151178],[0.029844,-0.154262,0.987579]] 2025-10-28T23:16:48.595Z,1761693408.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995964,-0.079196,-0.042231],[0.084756,0.984700,0.152256],[0.029527,-0.155221,0.987438]] 2025-10-28T23:16:48.000Z,1761693409.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996148,-0.077371,-0.041258],[0.082808,0.984830,0.152485],[0.028835,-0.155314,0.987444]] 2025-10-28T23:16:49.403Z,1761693409.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996348,-0.075341,-0.040191],[0.080651,0.984921,0.153056],[0.028053,-0.155739,0.987400]] 2025-10-28T23:16:49.807Z,1761693409.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996480,-0.074246,-0.038924],[0.079363,0.985073,0.152753],[0.027002,-0.155304,0.987498]] 2025-10-28T23:16:50.211Z,1761693410.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996477,-0.074902,-0.037728],[0.079753,0.985468,0.149976],[0.025946,-0.152457,0.987970]] 2025-10-28T23:16:50.616Z,1761693410.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996413,-0.076143,-0.036916],[0.080762,0.985942,0.146272],[0.025260,-0.148729,0.988555]] 2025-10-28T23:16:51.019Z,1761693411.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996280,-0.078086,-0.036452],[0.082566,0.986083,0.144302],[0.024677,-0.146775,0.988862]] 2025-10-28T23:16:51.423Z,1761693411.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996090,-0.080758,-0.035828],[0.085050,0.986293,0.141396],[0.023918,-0.143890,0.989305]] 2025-10-28T23:16:51.826Z,1761693411.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995839,-0.084033,-0.035271],[0.088160,0.986341,0.139137],[0.023097,-0.141667,0.989645]] 2025-10-28T23:16:52.231Z,1761693412.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995581,-0.087107,-0.035080],[0.091175,0.986081,0.139038],[0.022480,-0.141622,0.989666]] 2025-10-28T23:16:52.650Z,1761693412.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995300,-0.090328,-0.034913],[0.094343,0.985774,0.139103],[0.021852,-0.141743,0.989662]] 2025-10-28T23:16:53.038Z,1761693413.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995031,-0.093220,-0.034976],[0.097248,0.985283,0.140568],[0.021357,-0.143271,0.989453]] 2025-10-28T23:16:53.443Z,1761693413.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994792,-0.095687,-0.035106],[0.099769,0.984629,0.143358],[0.020849,-0.146114,0.989048]] 2025-10-28T23:16:53.847Z,1761693413.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994602,-0.097646,-0.035099],[0.101742,0.984177,0.145069],[0.020378,-0.147857,0.988799]] 2025-10-28T23:16:54.259Z,1761693414.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994456,-0.099117,-0.035118],[0.103238,0.983750,0.146897],[0.019988,-0.149708,0.988528]] 2025-10-28T23:16:54.655Z,1761693414.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994354,-0.100172,-0.035012],[0.104289,0.983465,0.148059],[0.019602,-0.150874,0.988359]] 2025-10-28T23:16:55.059Z,1761693415.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994298,-0.100666,-0.035172],[0.104852,0.983010,0.150657],[0.019409,-0.153486,0.987960]] 2025-10-28T23:16:55.463Z,1761693415.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994259,-0.101195,-0.034764],[0.105308,0.982995,0.150438],[0.018949,-0.153236,0.988008]] 2025-10-28T23:16:55.868Z,1761693415.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994246,-0.101377,-0.034621],[0.105457,0.983053,0.149950],[0.018832,-0.152738,0.988087]] 2025-10-28T23:16:56.301Z,1761693416.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994243,-0.101438,-0.034507],[0.105503,0.983030,0.150073],[0.018698,-0.152850,0.988072]] 2025-10-28T23:16:56.675Z,1761693416.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994272,-0.101185,-0.034422],[0.105234,0.983101,0.149794],[0.018683,-0.152559,0.988118]] 2025-10-28T23:16:57.078Z,1761693417.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994332,-0.100641,-0.034276],[0.104681,0.983095,0.150220],[0.018579,-0.152957,0.988058]] 2025-10-28T23:16:57.485Z,1761693417.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994449,-0.099583,-0.033977],[0.103592,0.983200,0.150291],[0.018440,-0.152976,0.988058]] 2025-10-28T23:16:57.886Z,1761693417.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994579,-0.098466,-0.033433],[0.102398,0.983368,0.150004],[0.018106,-0.152614,0.988120]] 2025-10-28T23:16:58.328Z,1761693418.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994819,-0.096195,-0.032879],[0.100067,0.983620,0.149926],[0.017918,-0.152440,0.988150]] 2025-10-28T23:16:58.695Z,1761693418.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995069,-0.093784,-0.032272],[0.097605,0.983747,0.150718],[0.017613,-0.153125,0.988050]] 2025-10-28T23:16:59.100Z,1761693419.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995430,-0.090176,-0.031427],[0.093921,0.983993,0.151452],[0.017267,-0.153711,0.987965]] 2025-10-28T23:16:59.503Z,1761693419.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995762,-0.086679,-0.030748],[0.090377,0.984177,0.152406],[0.017051,-0.154539,0.987840]] 2025-10-28T23:16:59.906Z,1761693419.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996081,-0.083201,-0.030011],[0.086851,0.984264,0.153887],[0.016735,-0.155890,0.987633]] 2025-10-28T23:17:00.333Z,1761693420.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996380,-0.079711,-0.029545],[0.083348,0.984397,0.154967],[0.016731,-0.156868,0.987478]] 2025-10-28T23:17:00.716Z,1761693420.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996624,-0.076868,-0.028826],[0.080434,0.984559,0.155478],[0.016430,-0.157271,0.987419]] 2025-10-28T23:17:01.120Z,1761693421.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996814,-0.074635,-0.028138],[0.078121,0.984741,0.155505],[0.016103,-0.157208,0.987434]] 2025-10-28T23:17:01.522Z,1761693421.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996895,-0.073750,-0.027576],[0.077126,0.985138,0.153477],[0.015847,-0.155127,0.987767]] 2025-10-28T23:17:01.927Z,1761693421.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996868,-0.074170,-0.027437],[0.077475,0.985541,0.150687],[0.015864,-0.152341,0.988201]] 2025-10-28T23:17:02.339Z,1761693422.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996792,-0.075396,-0.026849],[0.078571,0.985715,0.148974],[0.015234,-0.150605,0.988477]] 2025-10-28T23:17:02.735Z,1761693422.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996635,-0.077618,-0.026332],[0.080659,0.985861,0.146873],[0.014560,-0.148503,0.988805]] 2025-10-28T23:17:03.139Z,1761693423.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996407,-0.080348,-0.026784],[0.083413,0.985777,0.145894],[0.014680,-0.147604,0.988938]] 2025-10-28T23:17:03.545Z,1761693423.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996181,-0.082820,-0.027632],[0.085982,0.985572,0.145789],[0.015160,-0.147608,0.988930]] 2025-10-28T23:17:03.947Z,1761693423.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995953,-0.085235,-0.028520],[0.088523,0.985146,0.147143],[0.015555,-0.149073,0.988704]] 2025-10-28T23:17:04.352Z,1761693424.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995721,-0.087655,-0.029258],[0.091073,0.984489,0.149958],[0.015660,-0.151981,0.988259]] 2025-10-28T23:17:04.754Z,1761693424.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995480,-0.090179,-0.029782],[0.093693,0.983801,0.152833],[0.015518,-0.154933,0.987803]] 2025-10-28T23:17:05.159Z,1761693425.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995226,-0.092858,-0.030055],[0.096420,0.983162,0.155225],[0.015135,-0.157382,0.987422]] 2025-10-28T23:17:05.564Z,1761693425.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995031,-0.094775,-0.030497],[0.098428,0.982507,0.158090],[0.014980,-0.160306,0.986954]] 2025-10-28T23:17:05.966Z,1761693425.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994989,-0.095187,-0.030608],[0.098872,0.982250,0.159400],[0.014892,-0.161628,0.986739]] 2025-10-28T23:17:06.372Z,1761693426.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995193,-0.093109,-0.030343],[0.096783,0.982408,0.159709],[0.014938,-0.161878,0.986698]] 2025-10-28T23:17:06.781Z,1761693426.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995489,-0.090034,-0.029920],[0.093683,0.982657,0.160030],[0.014993,-0.162111,0.986659]] 2025-10-28T23:17:07.189Z,1761693427.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995745,-0.087427,-0.029143],[0.090948,0.983298,0.157652],[0.014873,-0.159632,0.987065]] 2025-10-28T23:17:07.595Z,1761693427.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996100,-0.084080,-0.026743],[0.087171,0.984672,0.151067],[0.013632,-0.152809,0.988162]] 2025-10-28T23:17:07.995Z,1761693427.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996217,-0.083108,-0.025397],[0.085955,0.985367,0.147185],[0.012794,-0.148811,0.988783]] 2025-10-28T23:17:08.399Z,1761693428.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996209,-0.083524,-0.024328],[0.086196,0.985494,0.146192],[0.011764,-0.147735,0.988957]] 2025-10-28T23:17:08.804Z,1761693428.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996169,-0.084296,-0.023250],[0.086786,0.985642,0.144837],[0.010707,-0.146300,0.989182]] 2025-10-28T23:17:09.208Z,1761693429.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996162,-0.084671,-0.022199],[0.087004,0.985597,0.145011],[0.009601,-0.146386,0.989181]] 2025-10-28T23:17:09.607Z,1761693429.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996193,-0.084603,-0.021018],[0.086783,0.985301,0.147141],[0.008260,-0.148405,0.988892]] 2025-10-28T23:17:10.011Z,1761693430.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996270,-0.083903,-0.020178],[0.085984,0.985001,0.149598],[0.007323,-0.150775,0.988541]] 2025-10-28T23:17:10.032Z,1761693430.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:17:10.415Z,1761693430.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996417,-0.082395,-0.019095],[0.084344,0.984800,0.151836],[0.006294,-0.152903,0.988221]] 2025-10-28T23:17:10.820Z,1761693430.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996622,-0.080124,-0.018013],[0.081956,0.984389,0.155763],[0.005252,-0.156713,0.987630]] 2025-10-28T23:17:11.036Z,1761693431.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:17:11.222Z,1761693431.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996838,-0.077653,-0.016850],[0.079342,0.984295,0.157697],[0.004340,-0.158536,0.987344]] 2025-10-28T23:17:11.626Z,1761693431.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997024,-0.075434,-0.015884],[0.076998,0.984466,0.157792],[0.003734,-0.158545,0.987345]] 2025-10-28T23:17:12.032Z,1761693432.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997108,-0.074412,-0.015428],[0.075913,0.984686,0.156943],[0.003514,-0.157660,0.987487]] 2025-10-28T23:17:12.439Z,1761693432.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997120,-0.074433,-0.014535],[0.075788,0.985001,0.155013],[0.002779,-0.155668,0.987806]] 2025-10-28T23:17:12.839Z,1761693432.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997076,-0.075185,-0.013650],[0.076389,0.985363,0.152396],[0.001993,-0.152993,0.988225]] 2025-10-28T23:17:13.244Z,1761693433.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996992,-0.076452,-0.012734],[0.077498,0.985621,0.150151],[0.001071,-0.150687,0.988581]] 2025-10-28T23:17:13.649Z,1761693433.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996886,-0.077979,-0.011750],[0.078859,0.985890,0.147657],[0.000070,-0.148123,0.988969]] 2025-10-28T23:17:14.052Z,1761693434.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996766,-0.079644,-0.010660],[0.080345,0.985836,0.147215],[-0.001216,-0.147596,0.989047]] 2025-10-28T23:17:14.455Z,1761693434.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996691,-0.080694,-0.009739],[0.081248,0.985787,0.147050],[-0.002265,-0.147355,0.989081]] 2025-10-28T23:17:14.858Z,1761693434.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996680,-0.080941,-0.008779],[0.081346,0.985574,0.148413],[-0.003360,-0.148635,0.988886]] 2025-10-28T23:17:15.262Z,1761693435.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996692,-0.080892,-0.007787],[0.081146,0.985458,0.149293],[-0.004402,-0.149431,0.988762]] 2025-10-28T23:17:15.666Z,1761693435.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996775,-0.079970,-0.006619],[0.080057,0.985443,0.149978],[-0.005471,-0.150024,0.988667]] 2025-10-28T23:17:16.073Z,1761693436.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996856,-0.079024,-0.005835],[0.078995,0.985308,0.151421],[-0.006216,-0.151405,0.988452]] 2025-10-28T23:17:16.475Z,1761693436.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996904,-0.078488,-0.004744],[0.078304,0.985432,0.150971],[-0.007175,-0.150875,0.988527]] 2025-10-28T23:17:16.878Z,1761693436.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996887,-0.078755,-0.003670],[0.078415,0.985599,0.149821],[-0.008182,-0.149643,0.988706]] 2025-10-28T23:17:17.282Z,1761693437.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996872,-0.078988,-0.002668],[0.078503,0.985718,0.148986],[-0.009138,-0.148729,0.988836]] 2025-10-28T23:17:17.690Z,1761693437.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996809,-0.079800,-0.002068],[0.079229,0.985846,0.147753],[-0.009752,-0.147445,0.989022]] 2025-10-28T23:17:18.090Z,1761693438.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996802,-0.079883,-0.002059],[0.079297,0.985646,0.149042],[-0.009877,-0.148728,0.988829]] 2025-10-28T23:17:18.495Z,1761693438.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996833,-0.079506,-0.001674],[0.078853,0.985489,0.150312],[-0.010301,-0.149968,0.988637]] 2025-10-28T23:17:18.899Z,1761693438.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996866,-0.079094,-0.001307],[0.078370,0.985225,0.152281],[-0.010756,-0.151906,0.988336]] 2025-10-28T23:17:19.304Z,1761693439.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996934,-0.078244,-0.000858],[0.077442,0.985023,0.154056],[-0.011208,-0.153650,0.988062]] 2025-10-28T23:17:19.707Z,1761693439.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997097,-0.076143,0.000002],[0.075193,0.984663,0.157431],[-0.011989,-0.156974,0.987530]] 2025-10-28T23:17:20.110Z,1761693440.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997266,-0.073891,0.000927],[0.072798,0.984521,0.159434],[-0.012693,-0.158930,0.987208]] 2025-10-28T23:17:20.514Z,1761693440.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997531,-0.070204,0.001997],[0.068944,0.984250,0.162781],[-0.013394,-0.162242,0.986660]] 2025-10-28T23:17:20.920Z,1761693440.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997795,-0.066309,0.002805],[0.064957,0.984378,0.163647],[-0.013612,-0.163104,0.986515]] 2025-10-28T23:17:21.323Z,1761693441.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998058,-0.062180,0.003727],[0.060734,0.984656,0.163597],[-0.013842,-0.163053,0.986520]] 2025-10-28T23:17:21.726Z,1761693441.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998284,-0.058363,0.004793],[0.056799,0.984948,0.163252],[-0.014249,-0.162699,0.986573]] 2025-10-28T23:17:22.130Z,1761693442.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998463,-0.055115,0.005886],[0.053441,0.985398,0.161661],[-0.014710,-0.161097,0.986829]] 2025-10-28T23:17:22.536Z,1761693442.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998563,-0.053158,0.006737],[0.051429,0.986101,0.157990],[-0.015041,-0.157417,0.987418]] 2025-10-28T23:17:22.938Z,1761693442.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998569,-0.052976,0.007322],[0.051231,0.986861,0.153233],[-0.015344,-0.152638,0.988163]] 2025-10-28T23:17:23.343Z,1761693443.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998530,-0.053632,0.007787],[0.051859,0.987314,0.150071],[-0.015737,-0.149447,0.988644]] 2025-10-28T23:17:23.747Z,1761693443.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998410,-0.055766,0.008192],[0.053984,0.987885,0.145496],[-0.016206,-0.144822,0.989325]] 2025-10-28T23:17:24.151Z,1761693444.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998233,-0.058848,0.008189],[0.057104,0.988322,0.141275],[-0.016407,-0.140558,0.989936]] 2025-10-28T23:17:24.556Z,1761693444.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998018,-0.062432,0.007913],[0.060727,0.988397,0.139224],[-0.016514,-0.138467,0.990229]] 2025-10-28T23:17:24.959Z,1761693444.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997807,-0.065751,0.007611],[0.064069,0.988300,0.138411],[-0.016622,-0.137620,0.990346]] 2025-10-28T23:17:25.363Z,1761693445.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997595,-0.068894,0.007584],[0.067211,0.988296,0.136942],[-0.016930,-0.136103,0.990550]] 2025-10-28T23:17:25.767Z,1761693445.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997403,-0.071649,0.007364],[0.069975,0.988143,0.136662],[-0.017068,-0.135791,0.990590]] 2025-10-28T23:17:26.172Z,1761693446.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997229,-0.074048,0.007193],[0.072337,0.987667,0.138855],[-0.017387,-0.137950,0.990287]] 2025-10-28T23:17:26.575Z,1761693446.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997094,-0.075844,0.007214],[0.074050,0.987043,0.142350],[-0.017917,-0.141402,0.989790]] 2025-10-28T23:17:26.978Z,1761693446.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997018,-0.076792,0.007561],[0.074871,0.986448,0.145995],[-0.018670,-0.144994,0.989256]] 2025-10-28T23:17:27.382Z,1761693447.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997019,-0.076728,0.008140],[0.074650,0.985901,0.149753],[-0.019515,-0.148698,0.988690]] 2025-10-28T23:17:27.788Z,1761693447.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997115,-0.075390,0.008788],[0.073135,0.985288,0.154463],[-0.020303,-0.153375,0.987960]] 2025-10-28T23:17:28.190Z,1761693448.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997285,-0.072984,0.009808],[0.070550,0.985103,0.156827],[-0.021108,-0.155710,0.987577]] 2025-10-28T23:17:28.594Z,1761693448.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997465,-0.070332,0.010828],[0.067700,0.984777,0.160095],[-0.021923,-0.158956,0.987042]] 2025-10-28T23:17:28.998Z,1761693448.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997644,-0.067619,0.011567],[0.064855,0.984617,0.162246],[-0.022360,-0.161113,0.986683]] 2025-10-28T23:17:29.402Z,1761693449.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997821,-0.064766,0.012620],[0.061856,0.984718,0.162799],[-0.022971,-0.161664,0.986578]] 2025-10-28T23:17:29.807Z,1761693449.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997957,-0.062444,0.013474],[0.059495,0.985331,0.159947],[-0.023264,-0.158819,0.987034]] 2025-10-28T23:17:30.210Z,1761693450.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998057,-0.060737,0.013908],[0.057788,0.985762,0.157907],[-0.023301,-0.156796,0.987356]] 2025-10-28T23:17:30.616Z,1761693450.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998125,-0.059510,0.014290],[0.056604,0.986415,0.154213],[-0.023273,-0.153115,0.987934]] 2025-10-28T23:17:31.019Z,1761693451.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998149,-0.059125,0.014267],[0.056311,0.986986,0.150624],[-0.022987,-0.149541,0.988488]] 2025-10-28T23:17:31.423Z,1761693451.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998142,-0.059321,0.013928],[0.056628,0.987448,0.147445],[-0.022499,-0.146382,0.988972]] 2025-10-28T23:17:31.827Z,1761693451.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998118,-0.059811,0.013551],[0.057237,0.987867,0.144369],[-0.022021,-0.143322,0.989431]] 2025-10-28T23:17:32.233Z,1761693452.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998060,-0.060815,0.013312],[0.058329,0.988227,0.141439],[-0.021757,-0.140388,0.989857]] 2025-10-28T23:17:32.634Z,1761693452.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997997,-0.061851,0.013255],[0.059411,0.988467,0.139295],[-0.021718,-0.138228,0.990162]] 2025-10-28T23:17:32.714Z,1761693452.714 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T23:17:33.039Z,1761693453.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997930,-0.062800,0.013848],[0.060302,0.988623,0.137802],[-0.022345,-0.136682,0.990363]] 2025-10-28T23:17:33.443Z,1761693453.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997847,-0.064094,0.013935],[0.061560,0.988474,0.138312],[-0.022639,-0.137156,0.990291]] 2025-10-28T23:17:33.849Z,1761693453.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997795,-0.064792,0.014400],[0.062147,0.988190,0.140066],[-0.023305,-0.138862,0.990037]] 2025-10-28T23:17:34.254Z,1761693454.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997777,-0.064982,0.014813],[0.062210,0.987782,0.142885],[-0.023917,-0.141646,0.989628]] 2025-10-28T23:17:34.655Z,1761693454.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997789,-0.064632,0.015496],[0.061693,0.987383,0.145839],[-0.024726,-0.144561,0.989187]] 2025-10-28T23:17:35.059Z,1761693455.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997838,-0.063786,0.015820],[0.060761,0.987161,0.147724],[-0.025039,-0.146443,0.988902]] 2025-10-28T23:17:35.464Z,1761693455.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997878,-0.063100,0.016049],[0.059979,0.986791,0.150485],[-0.025333,-0.149203,0.988482]] 2025-10-28T23:17:35.871Z,1761693455.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997947,-0.061983,0.016093],[0.058869,0.986871,0.150403],[-0.025204,-0.149147,0.988494]] 2025-10-28T23:17:36.299Z,1761693456.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997968,-0.061633,0.016176],[0.058526,0.986980,0.149817],[-0.025200,-0.148565,0.988581]] 2025-10-28T23:17:36.675Z,1761693456.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997971,-0.061558,0.016234],[0.058466,0.987118,0.148930],[-0.025192,-0.147679,0.988714]] 2025-10-28T23:17:37.079Z,1761693457.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997889,-0.062834,0.016398],[0.059746,0.987287,0.147290],[-0.025444,-0.146000,0.988957]] 2025-10-28T23:17:37.485Z,1761693457.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997793,-0.064316,0.016514],[0.061227,0.987375,0.146086],[-0.025701,-0.144753,0.989134]] 2025-10-28T23:17:37.887Z,1761693457.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997670,-0.066211,0.016445],[0.063152,0.987481,0.144545],[-0.025810,-0.143170,0.989362]] 2025-10-28T23:17:38.325Z,1761693458.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997535,-0.068244,0.016314],[0.065194,0.987406,0.144148],[-0.025945,-0.142729,0.989422]] 2025-10-28T23:17:38.695Z,1761693458.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997385,-0.070430,0.016236],[0.067348,0.987146,0.144941],[-0.026236,-0.143469,0.989307]] 2025-10-28T23:17:39.100Z,1761693459.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997241,-0.072423,0.016257],[0.069260,0.986696,0.147086],[-0.026694,-0.145554,0.988990]] 2025-10-28T23:17:39.503Z,1761693459.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997122,-0.073983,0.016542],[0.070717,0.986354,0.148673],[-0.027316,-0.147076,0.988748]] 2025-10-28T23:17:39.908Z,1761693459.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997058,-0.074812,0.016672],[0.071465,0.986006,0.150612],[-0.027706,-0.148977,0.988452]] 2025-10-28T23:17:40.330Z,1761693460.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997087,-0.074424,0.016693],[0.071027,0.985761,0.152412],[-0.027798,-0.150782,0.988176]] 2025-10-28T23:17:40.716Z,1761693460.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997140,-0.073707,0.016684],[0.070264,0.985509,0.154387],[-0.027822,-0.152773,0.987870]] 2025-10-28T23:17:41.119Z,1761693461.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997280,-0.071883,0.016304],[0.068496,0.985500,0.155235],[-0.027227,-0.153696,0.987743]] 2025-10-28T23:17:41.165Z,1761693461.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:17:41.522Z,1761693461.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997458,-0.069488,0.015760],[0.066205,0.985612,0.155518],[-0.026340,-0.154080,0.987707]] 2025-10-28T23:17:41.929Z,1761693461.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997601,-0.067463,0.015518],[0.064270,0.985908,0.154452],[-0.025720,-0.153084,0.987878]] 2025-10-28T23:17:42.168Z,1761693462.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:17:42.341Z,1761693462.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,-0.065639,0.015505],[0.062470,0.986029,0.154416],[-0.025424,-0.153096,0.987884]] 2025-10-28T23:17:42.734Z,1761693462.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997810,-0.064263,0.015653],[0.061105,0.986220,0.153740],[-0.025317,-0.152447,0.987987]] 2025-10-28T23:17:43.140Z,1761693463.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997835,-0.063887,0.015627],[0.060800,0.986622,0.151261],[-0.025081,-0.149984,0.988370]] 2025-10-28T23:17:43.543Z,1761693463.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997868,-0.063357,0.015633],[0.060336,0.987016,0.148860],[-0.024861,-0.147600,0.988735]] 2025-10-28T23:17:43.946Z,1761693463.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997876,-0.063100,0.016154],[0.060024,0.987148,0.148107],[-0.025292,-0.146823,0.988839]] 2025-10-28T23:17:44.350Z,1761693464.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997836,-0.063611,0.016632],[0.060488,0.987283,0.147018],[-0.025773,-0.145694,0.988994]] 2025-10-28T23:17:44.755Z,1761693464.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997803,-0.064066,0.016898],[0.060901,0.987267,0.146955],[-0.026097,-0.145602,0.988999]] 2025-10-28T23:17:45.160Z,1761693465.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997806,-0.063920,0.017232],[0.060706,0.987266,0.147042],[-0.026412,-0.145673,0.988980]] 2025-10-28T23:17:45.563Z,1761693465.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997796,-0.063932,0.017750],[0.060655,0.987342,0.146552],[-0.026895,-0.145153,0.989044]] 2025-10-28T23:17:45.967Z,1761693465.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997822,-0.063486,0.017919],[0.060189,0.987368,0.146565],[-0.026998,-0.145168,0.989039]] 2025-10-28T23:17:46.371Z,1761693466.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997895,-0.062249,0.018193],[0.058874,0.987169,0.148430],[-0.027200,-0.147046,0.988756]] 2025-10-28T23:17:46.777Z,1761693466.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997941,-0.061468,0.018312],[0.058053,0.987045,0.149574],[-0.027268,-0.148203,0.988581]] 2025-10-28T23:17:47.179Z,1761693467.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997981,-0.060810,0.018310],[0.057391,0.987024,0.149963],[-0.027192,-0.148610,0.988522]] 2025-10-28T23:17:47.583Z,1761693467.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997996,-0.060475,0.018612],[0.057005,0.986994,0.150309],[-0.027459,-0.148947,0.988464]] 2025-10-28T23:17:47.987Z,1761693467.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998016,-0.060104,0.018743],[0.056628,0.987067,0.149970],[-0.027514,-0.148611,0.988513]] 2025-10-28T23:17:48.392Z,1761693468.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997980,-0.060609,0.019033],[0.057105,0.987153,0.149222],[-0.027833,-0.147834,0.988620]] 2025-10-28T23:17:48.795Z,1761693468.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997926,-0.061366,0.019455],[0.057815,0.987235,0.148408],[-0.028313,-0.146976,0.988735]] 2025-10-28T23:17:49.200Z,1761693469.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997842,-0.062567,0.019933],[0.058964,0.987323,0.147368],[-0.028900,-0.145875,0.988881]] 2025-10-28T23:17:49.602Z,1761693469.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997702,-0.064608,0.020421],[0.060952,0.987399,0.146044],[-0.029599,-0.144464,0.989067]] 2025-10-28T23:17:50.007Z,1761693470.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997537,-0.067015,0.020734],[0.063317,0.987387,0.145116],[-0.030197,-0.143446,0.989197]] 2025-10-28T23:17:50.413Z,1761693470.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997323,-0.070045,0.020980],[0.066328,0.987413,0.143581],[-0.030773,-0.141805,0.989416]] 2025-10-28T23:17:50.815Z,1761693470.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997149,-0.072447,0.021124],[0.068669,0.987171,0.144144],[-0.031296,-0.142283,0.989331]] 2025-10-28T23:17:51.219Z,1761693471.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997001,-0.074467,0.021081],[0.070680,0.987056,0.143958],[-0.031528,-0.142036,0.989359]] 2025-10-28T23:17:51.623Z,1761693471.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996908,-0.075740,0.020908],[0.071868,0.986525,0.146982],[-0.031759,-0.145025,0.988918]] 2025-10-28T23:17:52.028Z,1761693472.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996887,-0.076087,0.020676],[0.072178,0.986189,0.149071],[-0.031733,-0.147115,0.988610]] 2025-10-28T23:17:52.431Z,1761693472.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996894,-0.076133,0.020152],[0.072229,0.985837,0.151356],[-0.031390,-0.149430,0.988274]] 2025-10-28T23:17:52.840Z,1761693472.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996975,-0.075188,0.019677],[0.071316,0.985659,0.152936],[-0.030894,-0.151070,0.988040]] 2025-10-28T23:17:53.246Z,1761693473.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997195,-0.072443,0.018800],[0.068713,0.985730,0.153673],[-0.029664,-0.151950,0.987943]] 2025-10-28T23:17:53.649Z,1761693473.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997255,-0.071861,0.017863],[0.068330,0.986027,0.151928],[-0.028531,-0.150291,0.988230]] 2025-10-28T23:17:54.051Z,1761693474.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997282,-0.071622,0.017293],[0.068238,0.986350,0.149860],[-0.027790,-0.148273,0.988556]] 2025-10-28T23:17:54.455Z,1761693474.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997309,-0.071327,0.016957],[0.068024,0.986515,0.148867],[-0.027347,-0.147313,0.988712]] 2025-10-28T23:17:54.857Z,1761693474.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997359,-0.070692,0.016639],[0.067421,0.986437,0.149657],[-0.026993,-0.148140,0.988598]] 2025-10-28T23:17:55.260Z,1761693475.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997430,-0.069644,0.016833],[0.066353,0.986492,0.149769],[-0.027036,-0.148267,0.988578]] 2025-10-28T23:17:55.662Z,1761693475.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997573,-0.067538,0.016924],[0.064204,0.986340,0.151695],[-0.026938,-0.150241,0.988282]] 2025-10-28T23:17:56.066Z,1761693476.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997727,-0.065145,0.017263],[0.061734,0.986199,0.153627],[-0.027033,-0.152212,0.987978]] 2025-10-28T23:17:56.473Z,1761693476.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997886,-0.062683,0.017177],[0.059291,0.986215,0.154480],[-0.026623,-0.153135,0.987847]] 2025-10-28T23:17:56.876Z,1761693476.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998070,-0.059769,0.016837],[0.056435,0.986218,0.155530],[-0.025901,-0.154279,0.987688]] 2025-10-28T23:17:57.279Z,1761693477.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998214,-0.057224,0.017143],[0.053866,0.986319,0.155797],[-0.025824,-0.154595,0.987640]] 2025-10-28T23:17:57.683Z,1761693477.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998274,-0.056135,0.017241],[0.052823,0.986660,0.153988],[-0.025655,-0.152812,0.987922]] 2025-10-28T23:17:58.087Z,1761693478.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998242,-0.056775,0.017034],[0.053579,0.987171,0.150406],[-0.025354,-0.149229,0.988478]] 2025-10-28T23:17:58.491Z,1761693478.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998157,-0.058462,0.016256],[0.055446,0.987566,0.147101],[-0.024654,-0.145928,0.988988]] 2025-10-28T23:17:58.894Z,1761693478.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998040,-0.060679,0.015285],[0.057878,0.988018,0.143074],[-0.023783,-0.141909,0.989594]] 2025-10-28T23:17:59.299Z,1761693479.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997885,-0.063394,0.014358],[0.060777,0.988333,0.139656],[-0.023044,-0.138488,0.990096]] 2025-10-28T23:17:59.703Z,1761693479.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997686,-0.066662,0.013356],[0.064214,0.988487,0.137005],[-0.022336,-0.135830,0.990480]] 2025-10-28T23:18:00.108Z,1761693480.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997513,-0.069387,0.012361],[0.067114,0.988708,0.133989],[-0.021519,-0.132826,0.990906]] 2025-10-28T23:18:00.511Z,1761693480.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997337,-0.072011,0.011538],[0.069843,0.988640,0.133089],[-0.020991,-0.131929,0.991037]] 2025-10-28T23:18:00.914Z,1761693480.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997203,-0.073965,0.010759],[0.071857,0.988320,0.134387],[-0.020574,-0.133238,0.990871]] 2025-10-28T23:18:01.319Z,1761693481.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997111,-0.075250,0.010373],[0.073162,0.988097,0.135319],[-0.020432,-0.134169,0.990748]] 2025-10-28T23:18:01.724Z,1761693481.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997000,-0.076731,0.010212],[0.074643,0.987932,0.135713],[-0.020502,-0.134544,0.990696]] 2025-10-28T23:18:02.126Z,1761693482.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996917,-0.077815,0.010093],[0.075707,0.987677,0.136976],[-0.020628,-0.135789,0.990523]] 2025-10-28T23:18:02.531Z,1761693482.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996838,-0.078855,0.009820],[0.076713,0.987184,0.139938],[-0.020729,-0.138742,0.990112]] 2025-10-28T23:18:02.934Z,1761693482.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996792,-0.079498,0.009310],[0.077380,0.986852,0.141900],[-0.020469,-0.140724,0.989837]] 2025-10-28T23:18:03.341Z,1761693483.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996745,-0.080122,0.008915],[0.078008,0.986486,0.144083],[-0.020338,-0.142919,0.989525]] 2025-10-28T23:18:03.742Z,1761693483.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996801,-0.079473,0.008472],[0.077352,0.985964,0.147956],[-0.020111,-0.146828,0.988958]] 2025-10-28T23:18:04.146Z,1761693484.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996846,-0.078965,0.007935],[0.076873,0.985588,0.150687],[-0.019719,-0.149602,0.988550]] 2025-10-28T23:18:04.550Z,1761693484.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996981,-0.077309,0.007265],[0.075313,0.985516,0.151943],[-0.018907,-0.150937,0.988363]] 2025-10-28T23:18:04.956Z,1761693484.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997135,-0.075344,0.006689],[0.073451,0.985601,0.152304],[-0.018068,-0.151376,0.988311]] 2025-10-28T23:18:05.359Z,1761693485.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997247,-0.073882,0.006260],[0.072075,0.985740,0.152059],[-0.017405,-0.151189,0.988352]] 2025-10-28T23:18:05.763Z,1761693485.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997277,-0.073516,0.005787],[0.071835,0.986211,0.149089],[-0.016667,-0.148268,0.988807]] 2025-10-28T23:18:06.167Z,1761693486.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997233,-0.074153,0.005289],[0.072598,0.986695,0.145476],[-0.016006,-0.144689,0.989348]] 2025-10-28T23:18:06.572Z,1761693486.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997140,-0.075422,0.004922],[0.073962,0.987109,0.141937],[-0.015563,-0.141167,0.989863]] 2025-10-28T23:18:06.974Z,1761693486.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996945,-0.077988,0.004229],[0.076654,0.987394,0.138485],[-0.014976,-0.137738,0.990355]] 2025-10-28T23:18:07.380Z,1761693487.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996743,-0.080574,0.003372],[0.079367,0.987503,0.136159],[-0.014300,-0.135448,0.990681]] 2025-10-28T23:18:07.783Z,1761693487.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996522,-0.083299,0.002393],[0.082228,0.987555,0.134064],[-0.013531,-0.133400,0.990970]] 2025-10-28T23:18:08.188Z,1761693488.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996319,-0.085700,0.001727],[0.084692,0.987309,0.134346],[-0.013218,-0.133705,0.990933]] 2025-10-28T23:18:08.593Z,1761693488.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996211,-0.086966,0.001113],[0.086008,0.986977,0.135938],[-0.012921,-0.135327,0.990717]] 2025-10-28T23:18:08.995Z,1761693488.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996165,-0.087495,0.000620],[0.086567,0.986587,0.138395],[-0.012721,-0.137811,0.990377]] 2025-10-28T23:18:09.400Z,1761693489.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996317,-0.085745,0.000444],[0.084799,0.986071,0.143086],[-0.012706,-0.142522,0.989710]] 2025-10-28T23:18:09.803Z,1761693489.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996568,-0.082773,0.000527],[0.081793,0.985703,0.147307],[-0.012713,-0.146758,0.989091]] 2025-10-28T23:18:10.208Z,1761693490.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996835,-0.079492,0.000587],[0.078502,0.985532,0.150213],[-0.012519,-0.149691,0.988654]] 2025-10-28T23:18:10.610Z,1761693490.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997121,-0.075827,0.000382],[0.074889,0.985542,0.151980],[-0.011901,-0.151513,0.988384]] 2025-10-28T23:18:11.015Z,1761693491.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997358,-0.072639,0.000789],[0.071667,0.985673,0.152686],[-0.011868,-0.152226,0.988275]] 2025-10-28T23:18:11.418Z,1761693491.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997470,-0.071074,0.001134],[0.070090,0.986070,0.150841],[-0.011839,-0.150380,0.988557]] 2025-10-28T23:18:11.824Z,1761693491.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997458,-0.071246,0.000915],[0.070329,0.986522,0.147741],[-0.011429,-0.147301,0.989026]] 2025-10-28T23:18:12.227Z,1761693492.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997364,-0.072562,0.000439],[0.071739,0.986929,0.144304],[-0.010904,-0.143893,0.989533]] 2025-10-28T23:18:12.301Z,1761693492.301 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:18:12.631Z,1761693492.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997133,-0.075665,-0.000286],[0.074974,0.987495,0.138680],[-0.010211,-0.138304,0.990337]] 2025-10-28T23:18:13.035Z,1761693493.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996809,-0.079802,-0.001687],[0.079307,0.987791,0.134089],[-0.009035,-0.133795,0.990968]] 2025-10-28T23:18:13.304Z,1761693493.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:18:13.440Z,1761693493.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996443,-0.084192,-0.003529],[0.083924,0.987771,0.131401],[-0.007577,-0.131229,0.991323]] 2025-10-28T23:18:13.842Z,1761693493.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996072,-0.088358,-0.005772],[0.088356,0.987552,0.130132],[-0.005798,-0.130130,0.991480]] 2025-10-28T23:18:14.250Z,1761693494.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995705,-0.092211,-0.008296],[0.092502,0.987086,0.130785],[-0.003871,-0.130991,0.991376]] 2025-10-28T23:18:14.651Z,1761693494.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995331,-0.095908,-0.010836],[0.096496,0.986399,0.133062],[-0.002073,-0.133487,0.991048]] 2025-10-28T23:18:15.056Z,1761693495.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994939,-0.099624,-0.013128],[0.100483,0.985511,0.136641],[-0.000675,-0.137269,0.990534]] 2025-10-28T23:18:15.458Z,1761693495.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994535,-0.103307,-0.015071],[0.104400,0.984471,0.141129],[0.000258,-0.141931,0.989876]] 2025-10-28T23:18:15.863Z,1761693495.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994162,-0.106645,-0.016415],[0.107899,0.983482,0.145328],[0.000645,-0.146251,0.989247]] 2025-10-28T23:18:16.286Z,1761693496.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993889,-0.108989,-0.017501],[0.110383,0.982362,0.150931],[0.000743,-0.151941,0.988389]] 2025-10-28T23:18:16.671Z,1761693496.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993826,-0.109456,-0.018141],[0.110946,0.981641,0.155150],[0.000826,-0.156205,0.987724]] 2025-10-28T23:18:17.123Z,1761693497.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993996,-0.107790,-0.018800],[0.109410,0.981171,0.159165],[0.001290,-0.160266,0.987073]] 2025-10-28T23:18:17.478Z,1761693497.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994286,-0.104990,-0.019274],[0.106729,0.980857,0.162874],[0.001805,-0.164000,0.986459]] 2025-10-28T23:18:17.882Z,1761693497.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994686,-0.101111,-0.019410],[0.102927,0.981136,0.163643],[0.002497,-0.164771,0.986329]] 2025-10-28T23:18:18.316Z,1761693498.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995093,-0.097057,-0.019250],[0.098896,0.981821,0.162008],[0.003176,-0.163117,0.986602]] 2025-10-28T23:18:18.690Z,1761693498.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995507,-0.092745,-0.019060],[0.094601,0.982680,0.159344],[0.003951,-0.160431,0.987039]] 2025-10-28T23:18:19.095Z,1761693499.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995917,-0.088292,-0.018794],[0.090142,0.983812,0.154883],[0.004815,-0.155945,0.987754]] 2025-10-28T23:18:19.499Z,1761693499.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996256,-0.084414,-0.018643],[0.086257,0.984990,0.149514],[0.005742,-0.150562,0.988584]] 2025-10-28T23:18:19.904Z,1761693499.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996543,-0.080975,-0.018591],[0.082808,0.986215,0.143258],[0.006734,-0.144302,0.989511]] 2025-10-28T23:18:20.330Z,1761693500.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996729,-0.078595,-0.018802],[0.080436,0.987302,0.136982],[0.007797,-0.138046,0.990395]] 2025-10-28T23:18:20.711Z,1761693500.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996804,-0.077514,-0.019333],[0.079395,0.988068,0.131975],[0.008872,-0.133088,0.991065]] 2025-10-28T23:18:21.114Z,1761693501.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996752,-0.077995,-0.020059],[0.079916,0.988707,0.126777],[0.009945,-0.127968,0.991728]] 2025-10-28T23:18:21.520Z,1761693501.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996621,-0.079393,-0.021076],[0.081408,0.988882,0.124436],[0.010962,-0.125731,0.992004]] 2025-10-28T23:18:21.924Z,1761693501.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996436,-0.081244,-0.022680],[0.083455,0.988624,0.125131],[0.012255,-0.126578,0.991881]] 2025-10-28T23:18:22.334Z,1761693502.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996218,-0.083279,-0.024779],[0.085792,0.987954,0.128790],[0.013755,-0.130429,0.991362]] 2025-10-28T23:18:22.731Z,1761693502.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995991,-0.085173,-0.027342],[0.088113,0.986839,0.135593],[0.015434,-0.137458,0.990387]] 2025-10-28T23:18:23.135Z,1761693503.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995776,-0.086813,-0.029898],[0.090243,0.985404,0.144347],[0.016931,-0.146435,0.989075]] 2025-10-28T23:18:23.539Z,1761693503.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995548,-0.088519,-0.032374],[0.092487,0.983651,0.154524],[0.018167,-0.156830,0.987458]] 2025-10-28T23:18:23.943Z,1761693503.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995321,-0.090249,-0.034522],[0.094706,0.982027,0.163258],[0.019168,-0.165764,0.985979]] 2025-10-28T23:18:24.347Z,1761693504.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995044,-0.092545,-0.036369],[0.097480,0.980060,0.173148],[0.019620,-0.175835,0.984224]] 2025-10-28T23:18:24.751Z,1761693504.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994699,-0.095683,-0.037658],[0.100943,0.978419,0.180298],[0.019594,-0.183144,0.982891]] 2025-10-28T23:18:25.156Z,1761693505.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994330,-0.099258,-0.038152],[0.104590,0.977650,0.182377],[0.019197,-0.185333,0.982488]] 2025-10-28T23:18:25.559Z,1761693505.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994052,-0.101957,-0.038270],[0.107254,0.977484,0.181719],[0.018881,-0.184743,0.982606]] 2025-10-28T23:18:25.963Z,1761693505.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994224,-0.100441,-0.037812],[0.105652,0.977909,0.180363],[0.018861,-0.183316,0.982873]] 2025-10-28T23:18:26.367Z,1761693506.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994673,-0.096265,-0.036851],[0.101302,0.979010,0.176855],[0.019053,-0.179646,0.983547]] 2025-10-28T23:18:26.771Z,1761693506.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995116,-0.091988,-0.035812],[0.096809,0.980343,0.171916],[0.019294,-0.174544,0.984460]] 2025-10-28T23:18:27.174Z,1761693507.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995484,-0.088298,-0.034856],[0.092888,0.981764,0.165866],[0.019574,-0.168355,0.985532]] 2025-10-28T23:18:27.580Z,1761693507.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995720,-0.085899,-0.034108],[0.090288,0.982915,0.160391],[0.019748,-0.162784,0.986464]] 2025-10-28T23:18:27.983Z,1761693507.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995856,-0.084537,-0.033530],[0.088723,0.984081,0.153991],[0.019978,-0.156327,0.987503]] 2025-10-28T23:18:28.386Z,1761693508.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995832,-0.084948,-0.033212],[0.088928,0.985206,0.146499],[0.020276,-0.148841,0.988653]] 2025-10-28T23:18:28.792Z,1761693508.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995738,-0.086095,-0.033076],[0.089916,0.986013,0.140331],[0.020532,-0.142707,0.989552]] 2025-10-28T23:18:29.196Z,1761693509.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995643,-0.087172,-0.033103],[0.090902,0.986485,0.136323],[0.020772,-0.138738,0.990111]] 2025-10-28T23:18:29.599Z,1761693509.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995516,-0.088549,-0.033283],[0.092237,0.986717,0.133723],[0.021000,-0.136194,0.990460]] 2025-10-28T23:18:30.003Z,1761693510.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995390,-0.089793,-0.033718],[0.093527,0.986611,0.133610],[0.021269,-0.136147,0.990460]] 2025-10-28T23:18:30.407Z,1761693510.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995299,-0.090658,-0.034075],[0.094475,0.986257,0.135540],[0.021319,-0.138122,0.990186]] 2025-10-28T23:18:30.813Z,1761693510.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995231,-0.091262,-0.034444],[0.095187,0.985788,0.138422],[0.021322,-0.141041,0.989774]] 2025-10-28T23:18:31.216Z,1761693511.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995234,-0.091176,-0.034581],[0.095229,0.985057,0.143507],[0.020980,-0.146116,0.989045]] 2025-10-28T23:18:31.619Z,1761693511.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995228,-0.091181,-0.034751],[0.095324,0.984601,0.146540],[0.020854,-0.149153,0.988594]] 2025-10-28T23:18:32.023Z,1761693512.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995221,-0.091256,-0.034740],[0.095449,0.984215,0.149030],[0.020592,-0.151633,0.988222]] 2025-10-28T23:18:32.427Z,1761693512.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995189,-0.091481,-0.035064],[0.095781,0.983748,0.151874],[0.020601,-0.154502,0.987778]] 2025-10-28T23:18:32.834Z,1761693512.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995056,-0.092729,-0.035562],[0.097120,0.983404,0.153246],[0.020761,-0.155942,0.987548]] 2025-10-28T23:18:33.235Z,1761693513.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994871,-0.094499,-0.036065],[0.098988,0.982918,0.155156],[0.020787,-0.157930,0.987231]] 2025-10-28T23:18:33.638Z,1761693513.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994612,-0.096986,-0.036618],[0.101521,0.982750,0.154583],[0.020994,-0.157467,0.987301]] 2025-10-28T23:18:34.043Z,1761693514.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994307,-0.099769,-0.037402],[0.104383,0.982526,0.154100],[0.021374,-0.157127,0.987347]] 2025-10-28T23:18:34.449Z,1761693514.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993985,-0.102572,-0.038365],[0.107315,0.982135,0.154577],[0.021824,-0.157765,0.987236]] 2025-10-28T23:18:34.854Z,1761693514.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993696,-0.104912,-0.039510],[0.109830,0.981710,0.155510],[0.022473,-0.158869,0.987044]] 2025-10-28T23:18:35.255Z,1761693515.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993503,-0.106338,-0.040549],[0.111433,0.981331,0.156759],[0.023123,-0.160259,0.986804]] 2025-10-28T23:18:35.659Z,1761693515.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993462,-0.106411,-0.041360],[0.111659,0.981146,0.157749],[0.023794,-0.161335,0.986613]] 2025-10-28T23:18:36.063Z,1761693516.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993592,-0.104871,-0.042150],[0.110304,0.981053,0.159271],[0.024649,-0.162900,0.986335]] 2025-10-28T23:18:36.545Z,1761693516.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994065,-0.100336,-0.042054],[0.105870,0.981164,0.161585],[0.025049,-0.165078,0.985962]] 2025-10-28T23:18:36.948Z,1761693516.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994444,-0.096618,-0.041789],[0.102128,0.981741,0.160482],[0.025520,-0.163858,0.986154]] 2025-10-28T23:18:37.350Z,1761693517.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994802,-0.092902,-0.041686],[0.098401,0.982371,0.158948],[0.026184,-0.162223,0.986407]] 2025-10-28T23:18:37.755Z,1761693517.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995149,-0.089058,-0.041791],[0.094631,0.982690,0.159268],[0.026883,-0.162450,0.986350]] 2025-10-28T23:18:38.167Z,1761693518.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995466,-0.085206,-0.042271],[0.090874,0.983222,0.158165],[0.028086,-0.161290,0.986507]] 2025-10-28T23:18:38.563Z,1761693518.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995739,-0.081794,-0.042592],[0.087538,0.983620,0.157571],[0.029006,-0.160628,0.986589]] 2025-10-28T23:18:38.969Z,1761693518.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996036,-0.077922,-0.042892],[0.083788,0.983810,0.158423],[0.029853,-0.161389,0.986439]] 2025-10-28T23:18:39.371Z,1761693519.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996301,-0.074147,-0.043425],[0.080106,0.984314,0.157191],[0.031089,-0.160088,0.986613]] 2025-10-28T23:18:39.774Z,1761693519.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996516,-0.070767,-0.044124],[0.076848,0.984726,0.156237],[0.032394,-0.159084,0.986733]] 2025-10-28T23:18:40.179Z,1761693520.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996624,-0.068786,-0.044820],[0.074933,0.985188,0.154237],[0.033547,-0.157074,0.987017]] 2025-10-28T23:18:40.584Z,1761693520.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996649,-0.067746,-0.045836],[0.073967,0.985695,0.151440],[0.034921,-0.154323,0.987403]] 2025-10-28T23:18:40.987Z,1761693520.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996534,-0.068551,-0.047122],[0.074795,0.986321,0.146891],[0.036408,-0.149907,0.988030]] 2025-10-28T23:18:41.391Z,1761693521.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996314,-0.070536,-0.048826],[0.076913,0.986549,0.144242],[0.037995,-0.147466,0.988337]] 2025-10-28T23:18:41.794Z,1761693521.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996021,-0.073476,-0.050429],[0.079906,0.986876,0.140321],[0.039457,-0.143792,0.988821]] 2025-10-28T23:18:42.200Z,1761693522.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995659,-0.076938,-0.052372],[0.083497,0.986986,0.137433],[0.041117,-0.141209,0.989126]] 2025-10-28T23:18:42.602Z,1761693522.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995293,-0.080388,-0.054125],[0.087052,0.987043,0.134792],[0.042588,-0.138869,0.989395]] 2025-10-28T23:18:43.006Z,1761693523.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994931,-0.083724,-0.055700],[0.090526,0.986898,0.133557],[0.043789,-0.137922,0.989475]] 2025-10-28T23:18:43.411Z,1761693523.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994572,-0.086836,-0.057325],[0.093887,0.986433,0.134666],[0.044854,-0.139318,0.989231]] 2025-10-28T23:18:43.424Z,1761693523.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:18:43.816Z,1761693523.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994255,-0.089397,-0.058870],[0.096779,0.985752,0.137574],[0.045733,-0.142481,0.988740]] 2025-10-28T23:18:44.218Z,1761693524.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994017,-0.091076,-0.060303],[0.098758,0.985228,0.139903],[0.046670,-0.145021,0.988327]] 2025-10-28T23:18:44.428Z,1761693524.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:18:44.622Z,1761693524.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993959,-0.090736,-0.061746],[0.098833,0.984619,0.144073],[0.047724,-0.149305,0.987639]] 2025-10-28T23:18:45.026Z,1761693525.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993938,-0.089774,-0.063467],[0.098279,0.984261,0.146876],[0.049282,-0.152223,0.987117]] 2025-10-28T23:18:45.434Z,1761693525.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993958,-0.088485,-0.064953],[0.097362,0.983962,0.149461],[0.050686,-0.154881,0.986632]] 2025-10-28T23:18:45.835Z,1761693525.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994003,-0.086787,-0.066530],[0.096111,0.983552,0.152935],[0.052163,-0.158412,0.985994]] 2025-10-28T23:18:46.239Z,1761693526.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994070,-0.084799,-0.068080],[0.094486,0.983433,0.154702],[0.053833,-0.160217,0.985613]] 2025-10-28T23:18:46.642Z,1761693526.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994121,-0.083099,-0.069415],[0.093086,0.983377,0.155901],[0.055306,-0.161446,0.985331]] 2025-10-28T23:18:47.054Z,1761693527.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994204,-0.081349,-0.070285],[0.091519,0.983464,0.156280],[0.056409,-0.161807,0.985209]] 2025-10-28T23:18:47.453Z,1761693527.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994264,-0.079560,-0.071480],[0.089921,0.983668,0.155920],[0.057907,-0.161454,0.985180]] 2025-10-28T23:18:47.854Z,1761693527.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994272,-0.078498,-0.072534],[0.089034,0.983770,0.155789],[0.059128,-0.161355,0.985124]] 2025-10-28T23:18:48.269Z,1761693528.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994202,-0.078247,-0.073758],[0.088902,0.983994,0.154441],[0.060493,-0.160103,0.985245]] 2025-10-28T23:18:48.665Z,1761693528.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994067,-0.079029,-0.074739],[0.089655,0.984368,0.151595],[0.061591,-0.157397,0.985613]] 2025-10-28T23:18:49.068Z,1761693529.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993965,-0.079636,-0.075449],[0.090235,0.984639,0.149477],[0.062386,-0.155383,0.985882]] 2025-10-28T23:18:49.473Z,1761693529.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993878,-0.080179,-0.076006],[0.090772,0.984798,0.148097],[0.062976,-0.154089,0.986048]] 2025-10-28T23:18:49.874Z,1761693529.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993795,-0.080522,-0.076726],[0.091091,0.985075,0.146046],[0.063821,-0.152129,0.986298]] 2025-10-28T23:18:50.311Z,1761693530.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993744,-0.080493,-0.077417],[0.091142,0.985130,0.145642],[0.064542,-0.151787,0.986304]] 2025-10-28T23:18:50.682Z,1761693530.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993772,-0.079475,-0.078107],[0.090256,0.985170,0.145924],[0.065351,-0.152064,0.986208]] 2025-10-28T23:18:51.086Z,1761693531.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993884,-0.077408,-0.078755],[0.088426,0.985071,0.147706],[0.066145,-0.153766,0.985891]] 2025-10-28T23:18:51.492Z,1761693531.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993998,-0.075117,-0.079536],[0.086373,0.985038,0.149132],[0.067144,-0.155107,0.985613]] 2025-10-28T23:18:51.896Z,1761693531.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994081,-0.073059,-0.080404],[0.084522,0.985081,0.149902],[0.068253,-0.155810,0.985426]] 2025-10-28T23:18:52.326Z,1761693532.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994169,-0.070956,-0.081201],[0.082620,0.985118,0.150721],[0.069298,-0.156551,0.985236]] 2025-10-28T23:18:52.702Z,1761693532.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994220,-0.069680,-0.081676],[0.081369,0.985355,0.149846],[0.070039,-0.155626,0.985330]] 2025-10-28T23:18:53.106Z,1761693533.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994238,-0.068613,-0.082358],[0.080429,0.985409,0.149999],[0.070864,-0.155759,0.985250]] 2025-10-28T23:18:53.512Z,1761693533.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994138,-0.069335,-0.082959],[0.081099,0.985646,0.148071],[0.071501,-0.153931,0.985491]] 2025-10-28T23:18:53.916Z,1761693533.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993981,-0.070761,-0.083638],[0.082438,0.985901,0.145610],[0.072155,-0.151628,0.985800]] 2025-10-28T23:18:54.333Z,1761693534.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993840,-0.072078,-0.084177],[0.083742,0.985963,0.144448],[0.072584,-0.150607,0.985925]] 2025-10-28T23:18:54.723Z,1761693534.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993613,-0.074416,-0.084829],[0.085964,0.986155,0.141807],[0.073102,-0.148194,0.986253]] 2025-10-28T23:18:55.127Z,1761693535.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993404,-0.076675,-0.085265],[0.088144,0.986208,0.140085],[0.073348,-0.146677,0.986461]] 2025-10-28T23:18:55.533Z,1761693535.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993180,-0.078791,-0.085937],[0.090310,0.986075,0.139643],[0.073738,-0.146451,0.986466]] 2025-10-28T23:18:55.934Z,1761693535.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993019,-0.080333,-0.086374],[0.091875,0.985989,0.139231],[0.073979,-0.146195,0.986486]] 2025-10-28T23:18:56.339Z,1761693536.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992852,-0.081249,-0.087431],[0.093055,0.985664,0.140739],[0.074742,-0.147868,0.986179]] 2025-10-28T23:18:56.742Z,1761693536.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992729,-0.082204,-0.087929],[0.094111,0.985499,0.141189],[0.075048,-0.148438,0.986070]] 2025-10-28T23:18:57.148Z,1761693537.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992635,-0.082562,-0.088649],[0.094662,0.985281,0.142337],[0.075592,-0.149680,0.985841]] 2025-10-28T23:18:57.550Z,1761693537.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992533,-0.083322,-0.089086],[0.095477,0.985212,0.142271],[0.075915,-0.149714,0.985811]] 2025-10-28T23:18:57.954Z,1761693537.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992437,-0.083974,-0.089542],[0.096222,0.985086,0.142642],[0.076229,-0.150179,0.985716]] 2025-10-28T23:18:58.359Z,1761693538.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992369,-0.084385,-0.089910],[0.096750,0.984914,0.143472],[0.076447,-0.151076,0.985562]] 2025-10-28T23:18:58.763Z,1761693538.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992198,-0.086090,-0.090175],[0.098397,0.984911,0.142367],[0.076558,-0.150129,0.985698]] 2025-10-28T23:18:59.166Z,1761693539.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992035,-0.087462,-0.090649],[0.099815,0.984796,0.142172],[0.076836,-0.150087,0.985682]] 2025-10-28T23:18:59.571Z,1761693539.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991839,-0.088906,-0.091385],[0.101325,0.984707,0.141726],[0.077387,-0.149829,0.985679]] 2025-10-28T23:18:59.975Z,1761693539.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991768,-0.089292,-0.091776],[0.101899,0.984405,0.143401],[0.077541,-0.151573,0.985400]] 2025-10-28T23:19:00.380Z,1761693540.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991746,-0.089157,-0.092149],[0.101959,0.984144,0.145139],[0.077748,-0.153336,0.985111]] 2025-10-28T23:19:00.785Z,1761693540.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991838,-0.088012,-0.092259],[0.101034,0.983873,0.147599],[0.077780,-0.155715,0.984735]] 2025-10-28T23:19:01.187Z,1761693541.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992025,-0.085980,-0.092157],[0.099188,0.983707,0.149938],[0.077763,-0.157884,0.984391]] 2025-10-28T23:19:01.591Z,1761693541.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992338,-0.082810,-0.091690],[0.096224,0.983507,0.153152],[0.077495,-0.160801,0.983940]] 2025-10-28T23:19:01.995Z,1761693541.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992662,-0.079436,-0.091170],[0.093044,0.983315,0.156317],[0.077232,-0.163652,0.983490]] 2025-10-28T23:19:02.399Z,1761693542.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993011,-0.075937,-0.090353],[0.089554,0.983416,0.157714],[0.076878,-0.164703,0.983343]] 2025-10-28T23:19:02.803Z,1761693542.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993329,-0.072643,-0.089557],[0.086184,0.983666,0.158032],[0.076615,-0.164696,0.983364]] 2025-10-28T23:19:03.207Z,1761693543.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993615,-0.069509,-0.088869],[0.082871,0.984147,0.156801],[0.076561,-0.163164,0.983624]] 2025-10-28T23:19:03.612Z,1761693543.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993887,-0.066483,-0.088140],[0.079668,0.984588,0.155689],[0.076431,-0.161759,0.983866]] 2025-10-28T23:19:04.014Z,1761693544.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994081,-0.064448,-0.087466],[0.077294,0.985278,0.152492],[0.076351,-0.158350,0.984427]] 2025-10-28T23:19:04.419Z,1761693544.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994186,-0.063622,-0.086866],[0.076139,0.985846,0.149364],[0.076133,-0.155110,0.984959]] 2025-10-28T23:19:04.823Z,1761693544.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994269,-0.063685,-0.085866],[0.075733,0.986486,0.145289],[0.075453,-0.150960,0.985656]] 2025-10-28T23:19:05.226Z,1761693545.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994299,-0.064641,-0.084803],[0.076257,0.986954,0.141796],[0.074531,-0.147454,0.986257]] 2025-10-28T23:19:05.630Z,1761693545.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994321,-0.065793,-0.083654],[0.077043,0.987253,0.139268],[0.073424,-0.144922,0.986715]] 2025-10-28T23:19:06.034Z,1761693546.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994343,-0.066894,-0.082511],[0.077932,0.987255,0.138757],[0.072178,-0.144402,0.986883]] 2025-10-28T23:19:06.440Z,1761693546.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994407,-0.067462,-0.081259],[0.078298,0.987256,0.138548],[0.070877,-0.144136,0.987016]] 2025-10-28T23:19:06.843Z,1761693546.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994434,-0.068449,-0.080099],[0.079157,0.987094,0.139214],[0.069536,-0.144779,0.987018]] 2025-10-28T23:19:07.247Z,1761693547.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994491,-0.068671,-0.079195],[0.079376,0.986810,0.141085],[0.068462,-0.146594,0.986825]] 2025-10-28T23:19:07.650Z,1761693547.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994566,-0.068773,-0.078163],[0.079410,0.986628,0.142333],[0.067329,-0.147766,0.986728]] 2025-10-28T23:19:08.056Z,1761693548.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994639,-0.068745,-0.077247],[0.079339,0.986434,0.143713],[0.066319,-0.149071,0.986600]] 2025-10-28T23:19:08.460Z,1761693548.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994737,-0.068358,-0.076325],[0.078885,0.986322,0.144731],[0.065388,-0.149990,0.986523]] 2025-10-28T23:19:08.863Z,1761693548.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994849,-0.067496,-0.075634],[0.078079,0.986041,0.147060],[0.064652,-0.152208,0.986232]] 2025-10-28T23:19:09.266Z,1761693549.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995004,-0.066140,-0.074789],[0.076719,0.985884,0.148816],[0.063890,-0.153810,0.986033]] 2025-10-28T23:19:09.670Z,1761693549.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995192,-0.064490,-0.073721],[0.075047,0.985711,0.150804],[0.062942,-0.155612,0.985811]] 2025-10-28T23:19:10.076Z,1761693550.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995411,-0.062498,-0.072468],[0.072982,0.985612,0.152458],[0.061897,-0.157047,0.985650]] 2025-10-28T23:19:10.478Z,1761693550.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995623,-0.060231,-0.071463],[0.070635,0.985642,0.153364],[0.061200,-0.157740,0.985582]] 2025-10-28T23:19:10.883Z,1761693550.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995799,-0.058587,-0.070365],[0.068798,0.985863,0.152776],[0.060419,-0.156975,0.985753]] 2025-10-28T23:19:11.287Z,1761693551.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995937,-0.057663,-0.069170],[0.067661,0.986030,0.152209],[0.059427,-0.156270,0.985925]] 2025-10-28T23:19:11.692Z,1761693551.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996007,-0.057872,-0.067982],[0.067578,0.986303,0.150462],[0.058343,-0.154455,0.986276]] 2025-10-28T23:19:12.094Z,1761693552.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996041,-0.058519,-0.066914],[0.067996,0.986424,0.149483],[0.057258,-0.153441,0.986498]] 2025-10-28T23:19:12.499Z,1761693552.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996035,-0.059981,-0.065708],[0.069136,0.986670,0.147319],[0.055996,-0.151277,0.986904]] 2025-10-28T23:19:12.903Z,1761693552.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995995,-0.061659,-0.064744],[0.070700,0.986429,0.148189],[0.054728,-0.152173,0.986837]] 2025-10-28T23:19:13.306Z,1761693553.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995956,-0.063151,-0.063907],[0.072051,0.986328,0.148208],[0.053673,-0.152214,0.986889]] 2025-10-28T23:19:13.710Z,1761693553.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995922,-0.064349,-0.063229],[0.073143,0.986221,0.148387],[0.052809,-0.152407,0.986906]] 2025-10-28T23:19:14.115Z,1761693554.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995949,-0.064320,-0.062844],[0.073167,0.985898,0.150508],[0.052277,-0.154496,0.986609]] 2025-10-28T23:19:14.521Z,1761693554.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996029,-0.063393,-0.062514],[0.072315,0.985622,0.152706],[0.051935,-0.156620,0.986292]] 2025-10-28T23:19:14.548Z,1761693554.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:19:14.931Z,1761693554.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996202,-0.061116,-0.062022],[0.070136,0.985326,0.155607],[0.051602,-0.159366,0.985870]] 2025-10-28T23:19:15.332Z,1761693555.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996656,-0.054786,-0.060626],[0.063741,0.985493,0.157293],[0.051129,-0.160631,0.985689]] 2025-10-28T23:19:15.553Z,1761693555.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:19:15.735Z,1761693555.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996913,-0.050975,-0.059714],[0.059811,0.985782,0.157021],[0.050861,-0.160108,0.985788]] 2025-10-28T23:19:16.141Z,1761693556.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997173,-0.047069,-0.058572],[0.055679,0.986294,0.155319],[0.050459,-0.158142,0.986126]] 2025-10-28T23:19:16.543Z,1761693556.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997407,-0.043402,-0.057398],[0.051764,0.986823,0.153299],[0.049988,-0.155873,0.986511]] 2025-10-28T23:19:16.945Z,1761693556.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997588,-0.040425,-0.056430],[0.048536,0.987387,0.150704],[0.049626,-0.153079,0.986967]] 2025-10-28T23:19:17.364Z,1761693557.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997710,-0.038618,-0.055530],[0.046397,0.988134,0.146420],[0.049217,-0.148662,0.987663]] 2025-10-28T23:19:18.188Z,1761693558.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997808,-0.039164,-0.053333],[0.046352,0.988922,0.141013],[0.047220,-0.143176,0.988570]] 2025-10-28T23:19:18.591Z,1761693558.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997795,-0.041330,-0.051926],[0.048142,0.989310,0.137651],[0.045682,-0.139847,0.989119]] 2025-10-28T23:19:18.997Z,1761693558.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997685,-0.044893,-0.051075],[0.051473,0.989396,0.135815],[0.044437,-0.138130,0.989417]] 2025-10-28T23:19:19.398Z,1761693559.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997555,-0.048765,-0.050067],[0.055086,0.989474,0.133818],[0.043014,-0.136248,0.989740]] 2025-10-28T23:19:19.802Z,1761693559.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997434,-0.052805,-0.048346],[0.058801,0.989448,0.132417],[0.040843,-0.134920,0.990014]] 2025-10-28T23:19:20.206Z,1761693560.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997321,-0.056747,-0.046166],[0.062395,0.989301,0.131872],[0.038188,-0.134400,0.990191]] 2025-10-28T23:19:20.612Z,1761693560.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997203,-0.060404,-0.044029],[0.065795,0.988858,0.133535],[0.035472,-0.136059,0.990066]] 2025-10-28T23:19:21.015Z,1761693561.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997069,-0.063765,-0.042281],[0.069002,0.988175,0.136926],[0.033050,-0.139442,0.989679]] 2025-10-28T23:19:21.419Z,1761693561.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996989,-0.066126,-0.040500],[0.071124,0.987893,0.137872],[0.030893,-0.140337,0.989622]] 2025-10-28T23:19:21.823Z,1761693561.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997008,-0.066920,-0.038696],[0.071712,0.987589,0.139731],[0.028865,-0.142087,0.989433]] 2025-10-28T23:19:22.229Z,1761693562.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997121,-0.066241,-0.036894],[0.070867,0.987207,0.142830],[0.026961,-0.145033,0.989059]] 2025-10-28T23:19:22.631Z,1761693562.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997296,-0.064636,-0.034982],[0.069043,0.987096,0.144478],[0.025192,-0.146502,0.988889]] 2025-10-28T23:19:23.034Z,1761693563.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997514,-0.062281,-0.032960],[0.066439,0.987129,0.145474],[0.023476,-0.147302,0.988813]] 2025-10-28T23:19:23.439Z,1761693563.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997739,-0.059521,-0.031220],[0.063433,0.987454,0.144603],[0.022221,-0.146257,0.988997]] 2025-10-28T23:19:23.844Z,1761693563.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997962,-0.056630,-0.029399],[0.060256,0.987987,0.142306],[0.020987,-0.143787,0.989386]] 2025-10-28T23:19:24.251Z,1761693564.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998135,-0.054294,-0.027891],[0.057687,0.988422,0.140334],[0.019949,-0.141681,0.989711]] 2025-10-28T23:19:24.650Z,1761693564.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998259,-0.052724,-0.026430],[0.055849,0.989088,0.136330],[0.018953,-0.137568,0.990311]] 2025-10-28T23:19:25.055Z,1761693565.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998340,-0.051901,-0.024951],[0.054786,0.989482,0.133883],[0.017740,-0.135028,0.990683]] 2025-10-28T23:19:25.460Z,1761693565.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998379,-0.051812,-0.023543],[0.054461,0.989882,0.131023],[0.016517,-0.132093,0.991100]] 2025-10-28T23:19:25.862Z,1761693565.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998376,-0.052548,-0.021999],[0.054949,0.990180,0.128550],[0.015028,-0.129550,0.991459]] 2025-10-28T23:19:26.294Z,1761693566.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998395,-0.052850,-0.020347],[0.055019,0.990327,0.127376],[0.013418,-0.128291,0.991646]] 2025-10-28T23:19:26.671Z,1761693566.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998415,-0.053088,-0.018676],[0.055038,0.990355,0.127149],[0.011746,-0.127975,0.991708]] 2025-10-28T23:19:27.077Z,1761693567.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998417,-0.053616,-0.017001],[0.055345,0.990357,0.127007],[0.010027,-0.127747,0.991756]] 2025-10-28T23:19:27.478Z,1761693567.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998440,-0.053768,-0.015024],[0.055252,0.990228,0.128045],[0.007993,-0.128675,0.991655]] 2025-10-28T23:19:28.326Z,1761693568.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998434,-0.054721,-0.011636],[0.055767,0.990069,0.129045],[0.004459,-0.129492,0.991570]] 2025-10-28T23:19:28.692Z,1761693568.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998411,-0.055421,-0.010183],[0.056272,0.990076,0.128779],[0.002944,-0.129147,0.991621]] 2025-10-28T23:19:29.095Z,1761693569.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998363,-0.056610,-0.008203],[0.057196,0.989926,0.129517],[0.000788,-0.129775,0.991543]] 2025-10-28T23:19:29.499Z,1761693569.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998285,-0.058111,-0.007051],[0.058535,0.989915,0.129006],[-0.000516,-0.129197,0.991619]] 2025-10-28T23:19:29.903Z,1761693569.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998176,-0.060095,-0.005688],[0.060327,0.989858,0.128614],[-0.002099,-0.128723,0.991678]] 2025-10-28T23:19:30.330Z,1761693570.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998025,-0.062622,-0.005035],[0.062753,0.989877,0.127305],[-0.002988,-0.127369,0.991851]] 2025-10-28T23:19:30.712Z,1761693570.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997880,-0.064923,-0.004480],[0.064969,0.989880,0.126161],[-0.003756,-0.126184,0.992000]] 2025-10-28T23:19:31.115Z,1761693571.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997753,-0.066880,-0.004017],[0.066856,0.989869,0.125259],[-0.004401,-0.125246,0.992116]] 2025-10-28T23:19:31.519Z,1761693571.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997677,-0.068007,-0.003934],[0.067962,0.989752,0.125589],[-0.004647,-0.125564,0.992075]] 2025-10-28T23:19:31.922Z,1761693571.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997674,-0.068043,-0.003962],[0.067989,0.989429,0.128094],[-0.004796,-0.128066,0.991754]] 2025-10-28T23:19:32.338Z,1761693572.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997705,-0.067620,-0.003506],[0.067505,0.989298,0.129352],[-0.005278,-0.129292,0.991592]] 2025-10-28T23:19:32.730Z,1761693572.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997743,-0.067092,-0.002664],[0.066869,0.989261,0.129969],[-0.006085,-0.129854,0.991515]] 2025-10-28T23:19:33.136Z,1761693573.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997855,-0.065433,-0.001840],[0.065108,0.989208,0.131257],[-0.006768,-0.131096,0.991347]] 2025-10-28T23:19:33.538Z,1761693573.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997991,-0.063349,-0.000745],[0.062889,0.989184,0.132512],[-0.007658,-0.132293,0.991181]] 2025-10-28T23:19:33.942Z,1761693573.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998126,-0.061190,0.000337],[0.060597,0.989190,0.133536],[-0.008505,-0.133265,0.991044]] 2025-10-28T23:19:34.348Z,1761693574.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998241,-0.059251,0.001974],[0.058466,0.989430,0.132700],[-0.009816,-0.132351,0.991154]] 2025-10-28T23:19:34.751Z,1761693574.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998342,-0.057468,0.003345],[0.056516,0.989528,0.132815],[-0.010943,-0.132406,0.991135]] 2025-10-28T23:19:35.156Z,1761693575.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998410,-0.056159,0.004837],[0.055025,0.989658,0.132473],[-0.012226,-0.131996,0.991175]] 2025-10-28T23:19:35.558Z,1761693575.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998468,-0.054965,0.006363],[0.053646,0.989791,0.132043],[-0.013556,-0.131499,0.991224]] 2025-10-28T23:19:35.963Z,1761693575.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,-0.053862,0.007321],[0.052422,0.989816,0.132352],[-0.014375,-0.131773,0.991176]] 2025-10-28T23:19:36.368Z,1761693576.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998566,-0.052848,0.008592],[0.051269,0.990036,0.131148],[-0.015437,-0.130519,0.991326]] 2025-10-28T23:19:36.772Z,1761693576.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998583,-0.052346,0.009575],[0.050677,0.990342,0.129048],[-0.016238,-0.128380,0.991592]] 2025-10-28T23:19:37.175Z,1761693577.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998564,-0.052581,0.010306],[0.050852,0.990605,0.126949],[-0.016884,-0.126242,0.991856]] 2025-10-28T23:19:37.578Z,1761693577.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,-0.052881,0.010604],[0.051143,0.990826,0.125096],[-0.017122,-0.124372,0.992088]] 2025-10-28T23:19:38.390Z,1761693578.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998416,-0.055127,0.011249],[0.053353,0.991132,0.121699],[-0.017858,-0.120906,0.992503]] 2025-10-28T23:19:38.790Z,1761693578.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998289,-0.057391,0.011215],[0.055628,0.991160,0.120445],[-0.018028,-0.119615,0.992657]] 2025-10-28T23:19:39.195Z,1761693579.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998151,-0.059730,0.011307],[0.057954,0.991129,0.119605],[-0.018351,-0.118728,0.992757]] 2025-10-28T23:19:39.599Z,1761693579.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997985,-0.062411,0.011404],[0.060612,0.991008,0.119285],[-0.018746,-0.118353,0.992795]] 2025-10-28T23:19:40.005Z,1761693580.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997790,-0.065464,0.011351],[0.063634,0.990720,0.120105],[-0.019108,-0.119118,0.992696]] 2025-10-28T23:19:40.407Z,1761693580.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997575,-0.068660,0.011354],[0.066787,0.990389,0.121118],[-0.019561,-0.120066,0.992573]] 2025-10-28T23:19:40.811Z,1761693580.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997363,-0.071688,0.011266],[0.069754,0.989881,0.123574],[-0.020011,-0.122462,0.992271]] 2025-10-28T23:19:41.215Z,1761693581.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997173,-0.074309,0.011175],[0.072332,0.989480,0.125289],[-0.020368,-0.124127,0.992057]] 2025-10-28T23:19:41.621Z,1761693581.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997004,-0.076533,0.011222],[0.074500,0.989119,0.126857],[-0.020809,-0.125641,0.991858]] 2025-10-28T23:19:42.022Z,1761693582.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996843,-0.078597,0.011286],[0.076484,0.988634,0.129430],[-0.021331,-0.128158,0.991524]] 2025-10-28T23:19:42.426Z,1761693582.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996790,-0.079245,0.011406],[0.077042,0.988168,0.132620],[-0.021780,-0.131316,0.991101]] 2025-10-28T23:19:42.830Z,1761693582.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996770,-0.079421,0.011908],[0.077136,0.988077,0.133245],[-0.022348,-0.131896,0.991012]] 2025-10-28T23:19:43.236Z,1761693583.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996845,-0.078445,0.012106],[0.076108,0.987949,0.134771],[-0.022532,-0.133425,0.990803]] 2025-10-28T23:19:43.638Z,1761693583.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996971,-0.076812,0.012168],[0.074449,0.987878,0.136212],[-0.022483,-0.134894,0.990605]] 2025-10-28T23:19:44.043Z,1761693584.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997123,-0.074734,0.012667],[0.072295,0.987875,0.137393],[-0.022781,-0.136082,0.990436]] 2025-10-28T23:19:44.447Z,1761693584.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997261,-0.072755,0.013290],[0.070228,0.987892,0.138340],[-0.023194,-0.137028,0.990296]] 2025-10-28T23:19:44.852Z,1761693584.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997359,-0.071214,0.014301],[0.068578,0.988095,0.137715],[-0.023938,-0.136371,0.990369]] 2025-10-28T23:19:45.254Z,1761693585.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997425,-0.070080,0.015227],[0.067381,0.988469,0.135606],[-0.024554,-0.134231,0.990646]] 2025-10-28T23:19:45.659Z,1761693585.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997434,-0.069759,0.016107],[0.067002,0.988802,0.133347],[-0.025229,-0.131925,0.990939]] 2025-10-28T23:19:45.672Z,1761693585.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:19:46.063Z,1761693586.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997372,-0.070497,0.016710],[0.067708,0.989026,0.131312],[-0.025784,-0.129836,0.991200]] 2025-10-28T23:19:46.469Z,1761693586.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997301,-0.071353,0.017291],[0.068499,0.989061,0.130634],[-0.026423,-0.129097,0.991280]] 2025-10-28T23:19:46.676Z,1761693586.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:19:46.871Z,1761693586.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997173,-0.073113,0.017350],[0.070274,0.989121,0.129236],[-0.026610,-0.127651,0.991462]] 2025-10-28T23:19:47.275Z,1761693587.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996998,-0.075462,0.017349],[0.072619,0.989022,0.128693],[-0.026870,-0.127047,0.991533]] 2025-10-28T23:19:47.679Z,1761693587.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996862,-0.077270,0.017164],[0.074456,0.988982,0.127950],[-0.026862,-0.126270,0.991632]] 2025-10-28T23:19:48.487Z,1761693588.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996724,-0.079173,0.016501],[0.076406,0.988726,0.128778],[-0.026510,-0.127095,0.991536]] 2025-10-28T23:19:48.890Z,1761693588.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996738,-0.079129,0.015901],[0.076371,0.988391,0.131343],[-0.026109,-0.129700,0.991209]] 2025-10-28T23:19:49.295Z,1761693589.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996816,-0.078176,0.015671],[0.075392,0.988138,0.133788],[-0.025944,-0.132181,0.990886]] 2025-10-28T23:19:49.701Z,1761693589.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996941,-0.076507,0.015967],[0.073670,0.988122,0.134862],[-0.026095,-0.133273,0.990736]] 2025-10-28T23:19:50.103Z,1761693590.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997097,-0.074380,0.016309],[0.071480,0.988092,0.136254],[-0.026249,-0.134693,0.990540]] 2025-10-28T23:19:50.507Z,1761693590.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997215,-0.072655,0.016824],[0.069673,0.988077,0.137296],[-0.026598,-0.135741,0.990387]] 2025-10-28T23:19:50.911Z,1761693590.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997310,-0.071213,0.017366],[0.068209,0.988374,0.135885],[-0.026841,-0.134335,0.990572]] 2025-10-28T23:19:51.316Z,1761693591.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997378,-0.070053,0.018142],[0.066961,0.988492,0.135646],[-0.027436,-0.134076,0.990591]] 2025-10-28T23:19:51.720Z,1761693591.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997415,-0.069297,0.018991],[0.066123,0.988668,0.134772],[-0.028115,-0.133167,0.990695]] 2025-10-28T23:19:52.123Z,1761693592.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997402,-0.069209,0.019977],[0.065942,0.988854,0.133488],[-0.028993,-0.131824,0.990849]] 2025-10-28T23:19:52.526Z,1761693592.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997369,-0.069421,0.020890],[0.066054,0.988945,0.132757],[-0.029875,-0.131028,0.990928]] 2025-10-28T23:19:52.931Z,1761693592.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997225,-0.071274,0.021524],[0.067840,0.988961,0.131737],[-0.030675,-0.129911,0.991051]] 2025-10-28T23:19:53.336Z,1761693593.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997016,-0.073992,0.022019],[0.070468,0.988766,0.131822],[-0.031525,-0.129877,0.991029]] 2025-10-28T23:19:53.739Z,1761693593.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996730,-0.077637,0.022392],[0.074075,0.988669,0.130564],[-0.032275,-0.128478,0.991187]] 2025-10-28T23:19:54.142Z,1761693594.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996352,-0.082296,0.022592],[0.078730,0.988538,0.128820],[-0.032934,-0.126572,0.991411]] 2025-10-28T23:19:54.547Z,1761693594.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995926,-0.087437,0.022063],[0.083903,0.988131,0.128673],[-0.033052,-0.126298,0.991442]] 2025-10-28T23:19:54.952Z,1761693594.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995494,-0.092457,0.021043],[0.088954,0.987457,0.130448],[-0.032840,-0.127989,0.991232]] 2025-10-28T23:19:55.355Z,1761693595.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995081,-0.097014,0.020063],[0.093555,0.986855,0.131778],[-0.032584,-0.129253,0.991076]] 2025-10-28T23:19:55.759Z,1761693595.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994709,-0.100954,0.019009],[0.097519,0.986139,0.134240],[-0.032298,-0.131676,0.990767]] 2025-10-28T23:19:56.163Z,1761693596.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994468,-0.103476,0.018035],[0.100043,0.985441,0.137470],[-0.031997,-0.134905,0.990342]] 2025-10-28T23:19:56.571Z,1761693596.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994381,-0.104443,0.017257],[0.100975,0.984758,0.141618],[-0.031785,-0.139080,0.989771]] 2025-10-28T23:19:56.977Z,1761693596.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994644,-0.101972,0.016867],[0.098376,0.984066,0.148112],[-0.031702,-0.145660,0.988827]] 2025-10-28T23:19:57.379Z,1761693597.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994877,-0.099674,0.016892],[0.095977,0.983722,0.151922],[-0.031760,-0.149523,0.988248]] 2025-10-28T23:19:58.189Z,1761693598.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995429,-0.093760,0.018170],[0.089930,0.984255,0.152169],[-0.032152,-0.149839,0.988187]] 2025-10-28T23:19:58.589Z,1761693598.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995654,-0.091200,0.018885],[0.087362,0.984820,0.149994],[-0.032278,-0.147692,0.988507]] 2025-10-28T23:19:58.991Z,1761693598.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995843,-0.088999,0.019414],[0.085212,0.985489,0.146802],[-0.032197,-0.144538,0.988975]] 2025-10-28T23:19:59.395Z,1761693599.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995992,-0.087199,0.019887],[0.083434,0.985965,0.144607],[-0.032218,-0.142368,0.989289]] 2025-10-28T23:19:59.801Z,1761693599.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996092,-0.085970,0.020254],[0.082239,0.986396,0.142333],[-0.032215,-0.140112,0.989612]] 2025-10-28T23:20:00.203Z,1761693600.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996138,-0.085353,0.020582],[0.081651,0.986749,0.140209],[-0.032276,-0.137987,0.989908]] 2025-10-28T23:20:00.607Z,1761693600.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996081,-0.085933,0.020909],[0.082285,0.987139,0.137063],[-0.032418,-0.134805,0.990342]] 2025-10-28T23:20:01.013Z,1761693601.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996011,-0.086631,0.021404],[0.082965,0.987313,0.135391],[-0.032861,-0.133075,0.990561]] 2025-10-28T23:20:01.416Z,1761693601.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995896,-0.087752,0.022142],[0.083977,0.987221,0.135436],[-0.033744,-0.133021,0.990539]] 2025-10-28T23:20:01.820Z,1761693601.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995762,-0.089118,0.022695],[0.085265,0.987143,0.135201],[-0.034452,-0.132693,0.990558]] 2025-10-28T23:20:02.223Z,1761693602.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995570,-0.091119,0.023206],[0.087208,0.987075,0.134454],[-0.035157,-0.131835,0.990648]] 2025-10-28T23:20:02.630Z,1761693602.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995393,-0.092982,0.023406],[0.088983,0.986745,0.135705],[-0.035714,-0.132997,0.990473]] 2025-10-28T23:20:03.030Z,1761693603.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995229,-0.094707,0.023458],[0.090618,0.986334,0.137599],[-0.036169,-0.134817,0.990210]] 2025-10-28T23:20:03.434Z,1761693603.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995034,-0.096670,0.023712],[0.092454,0.985882,0.139604],[-0.036873,-0.136719,0.989923]] 2025-10-28T23:20:03.839Z,1761693603.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994885,-0.098159,0.023849],[0.093825,0.985428,0.141876],[-0.037428,-0.138912,0.989597]] 2025-10-28T23:20:04.248Z,1761693604.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994747,-0.099575,0.023717],[0.095219,0.985192,0.142582],[-0.037564,-0.139575,0.989499]] 2025-10-28T23:20:04.647Z,1761693604.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994623,-0.100875,0.023448],[0.096552,0.985093,0.142367],[-0.037459,-0.139338,0.989536]] 2025-10-28T23:20:05.050Z,1761693605.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994506,-0.102074,0.023196],[0.097775,0.984975,0.142356],[-0.037378,-0.139306,0.989544]] 2025-10-28T23:20:05.454Z,1761693605.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994364,-0.103485,0.023039],[0.099203,0.984861,0.142150],[-0.037401,-0.139064,0.989577]] 2025-10-28T23:20:05.860Z,1761693605.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994202,-0.105080,0.022819],[0.100817,0.984713,0.142040],[-0.037396,-0.138916,0.989598]] 2025-10-28T23:20:06.278Z,1761693606.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994017,-0.106901,0.022436],[0.102678,0.984535,0.141947],[-0.037264,-0.138794,0.989620]] 2025-10-28T23:20:06.667Z,1761693606.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993790,-0.109044,0.022138],[0.104853,0.984353,0.141615],[-0.037234,-0.138414,0.989674]] 2025-10-28T23:20:07.071Z,1761693607.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993584,-0.110976,0.021779],[0.106830,0.984190,0.141269],[-0.037112,-0.138036,0.989732]] 2025-10-28T23:20:07.475Z,1761693607.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993462,-0.112144,0.021375],[0.108031,0.984011,0.141602],[-0.036913,-0.138367,0.989693]] 2025-10-28T23:20:07.880Z,1761693607.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993362,-0.113049,0.021268],[0.108916,0.983812,0.142306],[-0.037012,-0.139045,0.989594]] 2025-10-28T23:20:08.319Z,1761693608.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993359,-0.113151,0.020865],[0.109012,0.983561,0.143958],[-0.036811,-0.140728,0.989364]] 2025-10-28T23:20:08.686Z,1761693608.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993268,-0.113958,0.020806],[0.109784,0.983342,0.144865],[-0.036968,-0.141605,0.989233]] 2025-10-28T23:20:09.090Z,1761693609.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993219,-0.114337,0.021069],[0.110089,0.983175,0.145762],[-0.037380,-0.142455,0.989095]] 2025-10-28T23:20:09.497Z,1761693609.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993211,-0.114443,0.020833],[0.110197,0.983042,0.146575],[-0.037254,-0.143285,0.988980]] 2025-10-28T23:20:09.899Z,1761693609.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993214,-0.114468,0.020572],[0.110221,0.982890,0.147575],[-0.037112,-0.144306,0.988837]] 2025-10-28T23:20:10.327Z,1761693610.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993229,-0.114428,0.020046],[0.110228,0.982769,0.148374],[-0.036679,-0.145160,0.988728]] 2025-10-28T23:20:10.707Z,1761693610.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993288,-0.114022,0.019450],[0.109875,0.982650,0.149419],[-0.036150,-0.146279,0.988583]] 2025-10-28T23:20:11.113Z,1761693611.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993397,-0.113136,0.019058],[0.109021,0.982597,0.150390],[-0.035741,-0.147320,0.988443]] 2025-10-28T23:20:11.515Z,1761693611.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993542,-0.111892,0.018804],[0.107804,0.982633,0.151034],[-0.035377,-0.148032,0.988350]] 2025-10-28T23:20:11.918Z,1761693611.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993740,-0.110205,0.018303],[0.106169,0.982629,0.152211],[-0.034759,-0.149315,0.988178]] 2025-10-28T23:20:12.333Z,1761693612.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993980,-0.108083,0.017945],[0.104086,0.982680,0.153318],[-0.034205,-0.150527,0.988014]] 2025-10-28T23:20:12.728Z,1761693612.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994108,-0.106777,0.018639],[0.102754,0.983100,0.151513],[-0.034503,-0.148705,0.988279]] 2025-10-28T23:20:13.131Z,1761693613.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994156,-0.106298,0.018821],[0.102281,0.983275,0.150693],[-0.034525,-0.147887,0.988401]] 2025-10-28T23:20:13.534Z,1761693613.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994161,-0.106245,0.018865],[0.102313,0.983666,0.148096],[-0.034292,-0.145301,0.988793]] 2025-10-28T23:20:13.938Z,1761693613.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994127,-0.106558,0.018873],[0.102700,0.983968,0.145807],[-0.034107,-0.143012,0.989133]] 2025-10-28T23:20:14.343Z,1761693614.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994000,-0.107749,0.018832],[0.104047,0.984509,0.141122],[-0.033746,-0.138316,0.989813]] 2025-10-28T23:20:14.746Z,1761693614.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993742,-0.110207,0.018209],[0.106683,0.984712,0.137696],[-0.033106,-0.134892,0.990307]] 2025-10-28T23:20:15.151Z,1761693615.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993386,-0.113462,0.017637],[0.110128,0.984929,0.133369],[-0.032504,-0.130545,0.990909]] 2025-10-28T23:20:15.555Z,1761693615.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992880,-0.117862,0.017255],[0.114655,0.984877,0.129889],[-0.032303,-0.126986,0.991378]] 2025-10-28T23:20:15.959Z,1761693615.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992372,-0.122208,0.016216],[0.119106,0.984382,0.129639],[-0.031806,-0.126719,0.991429]] 2025-10-28T23:20:16.364Z,1761693616.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991857,-0.126501,0.014715],[0.123544,0.983793,0.129956],[-0.030916,-0.127080,0.991411]] 2025-10-28T23:20:16.767Z,1761693616.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991367,-0.130439,0.013345],[0.127591,0.983133,0.131035],[-0.030212,-0.128201,0.991288]] 2025-10-28T23:20:16.796Z,1761693616.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:20:17.170Z,1761693617.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991002,-0.133305,0.012058],[0.130488,0.982248,0.134765],[-0.029809,-0.131979,0.990804]] 2025-10-28T23:20:17.575Z,1761693617.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990818,-0.134772,0.010801],[0.131978,0.981435,0.139168],[-0.029357,-0.136465,0.990210]] 2025-10-28T23:20:17.800Z,1761693617.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:20:17.980Z,1761693617.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990838,-0.134717,0.009587],[0.131965,0.980810,0.143520],[-0.028737,-0.140940,0.989601]] 2025-10-28T23:20:18.382Z,1761693618.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990934,-0.134075,0.008640],[0.131354,0.980321,0.147365],[-0.028228,-0.144894,0.989045]] 2025-10-28T23:20:18.786Z,1761693618.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991187,-0.132225,0.008030],[0.129509,0.979999,0.151092],[-0.027848,-0.148720,0.988487]] 2025-10-28T23:20:19.191Z,1761693619.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991461,-0.130181,0.007610],[0.127483,0.979890,0.153502],[-0.027440,-0.151221,0.988119]] 2025-10-28T23:20:19.597Z,1761693619.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991744,-0.128013,0.007576],[0.125299,0.979906,0.155190],[-0.027290,-0.152959,0.987856]] 2025-10-28T23:20:19.999Z,1761693619.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992084,-0.125361,0.007381],[0.122666,0.979987,0.156774],[-0.026886,-0.154628,0.987607]] 2025-10-28T23:20:20.403Z,1761693620.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992401,-0.122818,0.007506],[0.120168,0.980497,0.155516],[-0.026460,-0.153433,0.987805]] 2025-10-28T23:20:20.808Z,1761693620.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992688,-0.120467,0.007643],[0.117847,0.980910,0.154683],[-0.026131,-0.152651,0.987935]] 2025-10-28T23:20:21.211Z,1761693621.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992973,-0.118061,0.008088],[0.115420,0.981309,0.153981],[-0.026116,-0.151966,0.988041]] 2025-10-28T23:20:21.616Z,1761693621.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993181,-0.116281,0.008339],[0.113632,0.981568,0.153661],[-0.026053,-0.151665,0.988088]] 2025-10-28T23:20:22.018Z,1761693622.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993270,-0.115479,0.008861],[0.112842,0.982138,0.150568],[-0.026090,-0.148555,0.988560]] 2025-10-28T23:20:22.422Z,1761693622.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993204,-0.116027,0.009189],[0.113378,0.982325,0.148942],[-0.026307,-0.146888,0.988803]] 2025-10-28T23:20:22.827Z,1761693622.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993021,-0.117561,0.009420],[0.114911,0.982424,0.147100],[-0.026547,-0.144991,0.989077]] 2025-10-28T23:20:23.233Z,1761693623.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992674,-0.120456,0.009380],[0.117842,0.982412,0.144848],[-0.026663,-0.142682,0.989409]] 2025-10-28T23:20:23.634Z,1761693623.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992204,-0.124301,0.008929],[0.121766,0.982227,0.142840],[-0.026526,-0.140639,0.989706]] 2025-10-28T23:20:24.039Z,1761693624.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991648,-0.128695,0.008531],[0.126188,0.981757,0.142229],[-0.026679,-0.139965,0.989797]] 2025-10-28T23:20:24.443Z,1761693624.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991063,-0.133182,0.007494],[0.130748,0.981014,0.143237],[-0.026428,-0.140977,0.989660]] 2025-10-28T23:20:24.848Z,1761693624.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990555,-0.136975,0.006275],[0.134647,0.980332,0.144291],[-0.025915,-0.142083,0.989515]] 2025-10-28T23:20:25.251Z,1761693625.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990243,-0.139266,0.004828],[0.137063,0.979660,0.146558],[-0.025140,-0.144467,0.989190]] 2025-10-28T23:20:25.654Z,1761693625.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990166,-0.139859,0.003398],[0.137797,0.979184,0.149034],[-0.024171,-0.147100,0.988826]] 2025-10-28T23:20:26.058Z,1761693626.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990333,-0.138700,0.001848],[0.136849,0.979123,0.150298],[-0.022655,-0.148592,0.988639]] 2025-10-28T23:20:26.463Z,1761693626.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990697,-0.136085,0.000729],[0.134395,0.979208,0.151954],[-0.021393,-0.150443,0.988387]] 2025-10-28T23:20:26.868Z,1761693626.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991176,-0.132550,-0.000108],[0.131008,0.979521,0.152890],[-0.020160,-0.151555,0.988243]] 2025-10-28T23:20:27.271Z,1761693627.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991728,-0.128357,-0.000650],[0.126968,0.980232,0.151740],[-0.018840,-0.150568,0.988420]] 2025-10-28T23:20:27.675Z,1761693627.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992258,-0.124189,-0.000947],[0.122914,0.980915,0.150656],[-0.017781,-0.149606,0.988586]] 2025-10-28T23:20:28.487Z,1761693628.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992855,-0.119325,-0.001044],[0.118168,0.981935,0.147781],[-0.016609,-0.146848,0.989020]] 2025-10-28T23:20:28.887Z,1761693628.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992949,-0.118538,-0.000893],[0.117381,0.982151,0.146976],[-0.016545,-0.146044,0.989140]] 2025-10-28T23:20:29.291Z,1761693629.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992911,-0.118862,-0.000816],[0.117695,0.982156,0.146690],[-0.016634,-0.145746,0.989182]] 2025-10-28T23:20:29.695Z,1761693629.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992799,-0.119792,-0.000921],[0.118625,0.981995,0.147019],[-0.016708,-0.146070,0.989133]] 2025-10-28T23:20:30.100Z,1761693630.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992719,-0.120449,-0.000836],[0.119245,0.981770,0.148017],[-0.017008,-0.147039,0.988984]] 2025-10-28T23:20:30.503Z,1761693630.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992637,-0.121122,-0.000793],[0.119890,0.981565,0.148853],[-0.017251,-0.147852,0.988859]] 2025-10-28T23:20:30.907Z,1761693630.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992616,-0.121292,-0.001023],[0.120076,0.981400,0.149787],[-0.017164,-0.148804,0.988718]] 2025-10-28T23:20:31.312Z,1761693631.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992647,-0.121041,-0.001350],[0.119841,0.981108,0.151875],[-0.017059,-0.150920,0.988399]] 2025-10-28T23:20:31.716Z,1761693631.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992642,-0.121077,-0.001608],[0.119901,0.980976,0.152674],[-0.016908,-0.151743,0.988275]] 2025-10-28T23:20:32.118Z,1761693632.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992580,-0.121578,-0.001970],[0.120455,0.980937,0.152489],[-0.016607,-0.151595,0.988303]] 2025-10-28T23:20:32.522Z,1761693632.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992498,-0.122231,-0.002596],[0.121201,0.980911,0.152066],[-0.016041,-0.151240,0.988367]] 2025-10-28T23:20:32.926Z,1761693632.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992500,-0.122192,-0.003496],[0.121301,0.980921,0.151922],[-0.015135,-0.151207,0.988386]] 2025-10-28T23:20:33.333Z,1761693633.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992500,-0.122161,-0.004525],[0.121441,0.981061,0.150904],[-0.013995,-0.150322,0.988538]] 2025-10-28T23:20:33.734Z,1761693633.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992481,-0.122266,-0.005657],[0.121718,0.981053,0.150731],[-0.012879,-0.150286,0.988559]] 2025-10-28T23:20:34.138Z,1761693634.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992605,-0.121188,-0.007004],[0.120832,0.980864,0.152662],[-0.011631,-0.152380,0.988254]] 2025-10-28T23:20:34.543Z,1761693634.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992838,-0.119199,-0.007993],[0.119002,0.980865,0.154085],[-0.010527,-0.153933,0.988025]] 2025-10-28T23:20:34.947Z,1761693634.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993054,-0.117322,-0.008955],[0.117290,0.980979,0.154673],[-0.009362,-0.154649,0.987925]] 2025-10-28T23:20:35.351Z,1761693635.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993358,-0.114665,-0.009527],[0.114750,0.981204,0.155151],[-0.008442,-0.155213,0.987845]] 2025-10-28T23:20:35.754Z,1761693635.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993575,-0.112704,-0.010331],[0.112937,0.981399,0.155244],[-0.007358,-0.155413,0.987822]] 2025-10-28T23:20:36.158Z,1761693636.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993770,-0.110898,-0.011084],[0.111275,0.981705,0.154510],[-0.006253,-0.154781,0.987929]] 2025-10-28T23:20:36.562Z,1761693636.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993934,-0.109367,-0.011600],[0.109846,0.981982,0.153771],[-0.005426,-0.154112,0.988038]] 2025-10-28T23:20:36.966Z,1761693636.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994085,-0.107933,-0.012078],[0.108510,0.982347,0.152378],[-0.004582,-0.152788,0.988248]] 2025-10-28T23:20:37.370Z,1761693637.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994204,-0.106772,-0.012587],[0.107447,0.982739,0.150596],[-0.003709,-0.151076,0.988515]] 2025-10-28T23:20:37.775Z,1761693637.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994311,-0.105749,-0.012751],[0.106467,0.983121,0.148786],[-0.003198,-0.149297,0.988787]] 2025-10-28T23:20:38.584Z,1761693638.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994534,-0.103563,-0.013284],[0.104386,0.983450,0.148084],[-0.002272,-0.148662,0.988886]] 2025-10-28T23:20:38.987Z,1761693638.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994561,-0.103285,-0.013402],[0.104130,0.983543,0.147647],[-0.002068,-0.148240,0.988949]] 2025-10-28T23:20:39.391Z,1761693639.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994576,-0.103138,-0.013474],[0.103997,0.983675,0.146863],[-0.001893,-0.147468,0.989065]] 2025-10-28T23:20:39.795Z,1761693639.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994436,-0.104439,-0.013774],[0.105330,0.983716,0.145630],[-0.001660,-0.146270,0.989243]] 2025-10-28T23:20:40.198Z,1761693640.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994257,-0.106081,-0.014152],[0.107011,0.983723,0.144351],[-0.001391,-0.145036,0.989425]] 2025-10-28T23:20:40.602Z,1761693640.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994028,-0.108050,-0.015299],[0.109126,0.983460,0.144564],[-0.000574,-0.145370,0.989377]] 2025-10-28T23:20:41.007Z,1761693641.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993726,-0.110591,-0.016671],[0.111840,0.983001,0.145603],[0.000285,-0.146554,0.989203]] 2025-10-28T23:20:41.414Z,1761693641.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993446,-0.112829,-0.018299],[0.114294,0.982565,0.146637],[0.001435,-0.147768,0.989021]] 2025-10-28T23:20:41.816Z,1761693641.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993279,-0.114018,-0.019910],[0.115715,0.982081,0.148752],[0.002593,-0.150056,0.988674]] 2025-10-28T23:20:42.223Z,1761693642.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993214,-0.114341,-0.021257],[0.116243,0.981750,0.150513],[0.003659,-0.151963,0.988379]] 2025-10-28T23:20:42.629Z,1761693642.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993619,-0.110404,-0.023075],[0.112658,0.981346,0.155781],[0.005446,-0.157387,0.987522]] 2025-10-28T23:20:43.033Z,1761693643.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993874,-0.107950,-0.023708],[0.110342,0.981423,0.156951],[0.006325,-0.158606,0.987322]] 2025-10-28T23:20:43.439Z,1761693643.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994200,-0.104800,-0.024170],[0.107313,0.981568,0.158138],[0.007152,-0.159815,0.987121]] 2025-10-28T23:20:43.838Z,1761693643.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994552,-0.101348,-0.024393],[0.103946,0.981823,0.158806],[0.007855,-0.160477,0.987008]] 2025-10-28T23:20:44.240Z,1761693644.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994851,-0.098363,-0.024417],[0.100998,0.982230,0.158191],[0.008423,-0.159842,0.987107]] 2025-10-28T23:20:44.645Z,1761693644.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995042,-0.096346,-0.024674],[0.099035,0.982635,0.156912],[0.009128,-0.158578,0.987304]] 2025-10-28T23:20:45.047Z,1761693645.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995241,-0.094228,-0.024845],[0.096968,0.982884,0.156643],[0.009660,-0.158307,0.987343]] 2025-10-28T23:20:45.451Z,1761693645.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995415,-0.092373,-0.024812],[0.095111,0.983379,0.154660],[0.010114,-0.156311,0.987656]] 2025-10-28T23:20:45.855Z,1761693645.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995536,-0.091055,-0.024856],[0.093799,0.983755,0.153061],[0.010515,-0.154709,0.987904]] 2025-10-28T23:20:46.273Z,1761693646.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995558,-0.090831,-0.024772],[0.093526,0.984326,0.149515],[0.010803,-0.151168,0.988449]] 2025-10-28T23:20:46.664Z,1761693646.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995524,-0.091153,-0.024958],[0.093846,0.984662,0.147086],[0.011168,-0.148770,0.988809]] 2025-10-28T23:20:47.067Z,1761693647.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995422,-0.092231,-0.025080],[0.094895,0.985011,0.144042],[0.011419,-0.145762,0.989254]] 2025-10-28T23:20:47.471Z,1761693647.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995261,-0.093843,-0.025488],[0.096520,0.985217,0.141530],[0.011829,-0.143320,0.989606]] 2025-10-28T23:20:47.875Z,1761693647.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995070,-0.095805,-0.025639],[0.098467,0.985239,0.140027],[0.011845,-0.141861,0.989816]] 2025-10-28T23:20:47.928Z,1761693647.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:20:48.312Z,1761693648.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994827,-0.098154,-0.026159],[0.100865,0.985014,0.139904],[0.012035,-0.141818,0.989820]] 2025-10-28T23:20:48.682Z,1761693648.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994634,-0.099910,-0.026857],[0.102726,0.984544,0.141843],[0.012270,-0.143841,0.989525]] 2025-10-28T23:20:48.932Z,1761693648.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:20:49.086Z,1761693649.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994474,-0.101276,-0.027649],[0.104208,0.984210,0.143081],[0.012722,-0.145171,0.989325]] 2025-10-28T23:20:49.491Z,1761693649.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994443,-0.101298,-0.028650],[0.104422,0.983693,0.146440],[0.013349,-0.148618,0.988805]] 2025-10-28T23:20:49.896Z,1761693649.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994441,-0.101044,-0.029612],[0.104364,0.983170,0.149949],[0.013962,-0.152206,0.988250]] 2025-10-28T23:20:50.325Z,1761693650.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994667,-0.098595,-0.030278],[0.102099,0.982843,0.153609],[0.014614,-0.155881,0.987668]] 2025-10-28T23:20:50.702Z,1761693650.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994980,-0.095269,-0.030640],[0.098910,0.982757,0.156223],[0.015228,-0.158470,0.987246]] 2025-10-28T23:20:51.107Z,1761693651.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995387,-0.090770,-0.031075],[0.094569,0.982851,0.158304],[0.016173,-0.160513,0.986901]] 2025-10-28T23:20:51.513Z,1761693651.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995833,-0.085932,-0.030523],[0.089699,0.983340,0.158101],[0.016429,-0.160180,0.986951]] 2025-10-28T23:20:51.916Z,1761693651.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996248,-0.081245,-0.029816],[0.084950,0.983841,0.157606],[0.016529,-0.159548,0.987052]] 2025-10-28T23:20:52.333Z,1761693652.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996627,-0.076745,-0.029079],[0.080360,0.984500,0.155892],[0.016664,-0.157703,0.987346]] 2025-10-28T23:20:52.722Z,1761693652.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996926,-0.073112,-0.028166],[0.076588,0.985163,0.153583],[0.016519,-0.155268,0.987734]] 2025-10-28T23:20:53.126Z,1761693653.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997102,-0.070974,-0.027383],[0.074292,0.985925,0.149778],[0.016368,-0.151378,0.988340]] 2025-10-28T23:20:53.533Z,1761693653.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997136,-0.070726,-0.026774],[0.073904,0.986420,0.146675],[0.016036,-0.148234,0.988822]] 2025-10-28T23:20:53.934Z,1761693653.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997060,-0.071867,-0.026570],[0.074939,0.986928,0.142680],[0.015969,-0.144252,0.989412]] 2025-10-28T23:20:54.339Z,1761693654.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996849,-0.074733,-0.026584],[0.077739,0.987062,0.140231],[0.015760,-0.141856,0.989762]] 2025-10-28T23:20:54.743Z,1761693654.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996538,-0.078750,-0.026667],[0.081696,0.987035,0.138160],[0.015441,-0.139860,0.990051]] 2025-10-28T23:20:55.149Z,1761693655.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996187,-0.082927,-0.027100],[0.085879,0.986813,0.137202],[0.015364,-0.139006,0.990172]] 2025-10-28T23:20:55.552Z,1761693655.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995793,-0.087289,-0.027891],[0.090323,0.986299,0.138042],[0.015459,-0.139981,0.990034]] 2025-10-28T23:20:55.955Z,1761693655.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995396,-0.091425,-0.028790],[0.094591,0.985493,0.140909],[0.015490,-0.142984,0.989604]] 2025-10-28T23:20:56.359Z,1761693656.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994988,-0.095441,-0.029848],[0.098786,0.984464,0.145164],[0.015530,-0.147385,0.988957]] 2025-10-28T23:20:56.764Z,1761693656.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994630,-0.098766,-0.030921],[0.102305,0.983450,0.149532],[0.015640,-0.151892,0.988273]] 2025-10-28T23:20:57.166Z,1761693657.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994342,-0.101281,-0.032041],[0.105049,0.982329,0.154898],[0.015787,-0.157388,0.987411]] 2025-10-28T23:20:57.571Z,1761693657.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994221,-0.102183,-0.032905],[0.106145,0.981547,0.159054],[0.016045,-0.161628,0.986721]] 2025-10-28T23:20:57.975Z,1761693657.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994250,-0.101755,-0.033374],[0.105859,0.980976,0.162728],[0.016181,-0.165325,0.986106]] 2025-10-28T23:20:58.381Z,1761693658.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994418,-0.100177,-0.033124],[0.104271,0.981047,0.163322],[0.016135,-0.165864,0.986017]] 2025-10-28T23:20:58.782Z,1761693658.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994645,-0.098061,-0.032632],[0.102078,0.981518,0.161869],[0.016156,-0.164334,0.986273]] 2025-10-28T23:20:59.187Z,1761693659.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994920,-0.095410,-0.032102],[0.099307,0.982460,0.157831],[0.016480,-0.160218,0.986944]] 2025-10-28T23:20:59.591Z,1761693659.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995239,-0.092148,-0.031760],[0.095964,0.983425,0.153836],[0.017057,-0.156152,0.987586]] 2025-10-28T23:20:59.997Z,1761693659.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995607,-0.088022,-0.031916],[0.091816,0.984615,0.148668],[0.018339,-0.150945,0.988372]] 2025-10-28T23:21:00.399Z,1761693660.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996037,-0.082940,-0.032101],[0.086708,0.985899,0.143125],[0.019778,-0.145341,0.989184]] 2025-10-28T23:21:00.803Z,1761693660.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996451,-0.077681,-0.032422],[0.081472,0.986870,0.139466],[0.021163,-0.141613,0.989696]] 2025-10-28T23:21:01.207Z,1761693661.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996739,-0.073864,-0.032482],[0.077611,0.987741,0.135441],[0.022080,-0.137520,0.990253]] 2025-10-28T23:21:01.613Z,1761693661.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996846,-0.072559,-0.032151],[0.076185,0.988380,0.131535],[0.022233,-0.133569,0.990790]] 2025-10-28T23:21:02.016Z,1761693662.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996805,-0.073308,-0.031720],[0.076820,0.988632,0.129252],[0.021884,-0.131276,0.991104]] 2025-10-28T23:21:02.418Z,1761693662.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996685,-0.075091,-0.031319],[0.078518,0.988606,0.128422],[0.021319,-0.130455,0.991225]] 2025-10-28T23:21:02.861Z,1761693662.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996514,-0.077199,-0.031608],[0.080687,0.988187,0.130288],[0.021177,-0.132385,0.990972]] 2025-10-28T23:21:03.227Z,1761693663.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996357,-0.079040,-0.032020],[0.082632,0.987623,0.133311],[0.021087,-0.135471,0.990557]] 2025-10-28T23:21:03.632Z,1761693663.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996227,-0.080450,-0.032561],[0.084164,0.987100,0.136198],[0.021183,-0.138425,0.990146]] 2025-10-28T23:21:04.034Z,1761693664.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996120,-0.081479,-0.033266],[0.085390,0.986301,0.141137],[0.021311,-0.143430,0.989431]] 2025-10-28T23:21:04.438Z,1761693664.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996060,-0.081861,-0.034120],[0.085978,0.985675,0.145096],[0.021753,-0.147458,0.988829]] 2025-10-28T23:21:04.843Z,1761693664.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996035,-0.081834,-0.034894],[0.086134,0.985205,0.148164],[0.022253,-0.150582,0.988347]] 2025-10-28T23:21:05.248Z,1761693665.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995952,-0.082530,-0.035601],[0.086968,0.984885,0.149796],[0.022700,-0.152286,0.988076]] 2025-10-28T23:21:05.651Z,1761693665.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995828,-0.083726,-0.036297],[0.088269,0.984687,0.150334],[0.023154,-0.152911,0.987969]] 2025-10-28T23:21:06.055Z,1761693666.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995633,-0.085615,-0.037217],[0.090272,0.984544,0.150082],[0.023793,-0.152786,0.987973]] 2025-10-28T23:21:06.459Z,1761693666.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995418,-0.087603,-0.038325],[0.092370,0.984570,0.148624],[0.024713,-0.151483,0.988151]] 2025-10-28T23:21:06.864Z,1761693666.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995191,-0.089729,-0.039295],[0.094649,0.984190,0.149707],[0.025241,-0.152706,0.987949]] 2025-10-28T23:21:07.266Z,1761693667.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994955,-0.091845,-0.040360],[0.096873,0.984150,0.148541],[0.026078,-0.151701,0.988082]] 2025-10-28T23:21:07.670Z,1761693667.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994812,-0.093104,-0.041003],[0.098252,0.983814,0.149857],[0.026387,-0.153108,0.987857]] 2025-10-28T23:21:08.075Z,1761693668.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994787,-0.093074,-0.041661],[0.098360,0.983592,0.151235],[0.026901,-0.154545,0.987619]] 2025-10-28T23:21:08.479Z,1761693668.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994869,-0.092116,-0.041843],[0.097428,0.983760,0.150747],[0.027277,-0.154050,0.987686]] 2025-10-28T23:21:08.882Z,1761693668.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995067,-0.089834,-0.042086],[0.095266,0.983656,0.152790],[0.027672,-0.156045,0.987362]] 2025-10-28T23:21:09.286Z,1761693669.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995350,-0.086911,-0.041520],[0.092295,0.983902,0.153031],[0.027551,-0.156151,0.987349]] 2025-10-28T23:21:09.691Z,1761693669.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995665,-0.083537,-0.040892],[0.088871,0.984166,0.153360],[0.027433,-0.156329,0.987324]] 2025-10-28T23:21:10.096Z,1761693670.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996017,-0.079731,-0.039909],[0.084944,0.984570,0.152988],[0.027096,-0.155769,0.987422]] 2025-10-28T23:21:10.499Z,1761693670.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996377,-0.075705,-0.038761],[0.080746,0.985154,0.151501],[0.026716,-0.154081,0.987697]] 2025-10-28T23:21:10.902Z,1761693670.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996696,-0.071841,-0.037897],[0.076755,0.985681,0.150140],[0.026568,-0.152553,0.987938]] 2025-10-28T23:21:11.307Z,1761693671.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996993,-0.067990,-0.037184],[0.072790,0.986256,0.148327],[0.026589,-0.150588,0.988239]] 2025-10-28T23:21:11.712Z,1761693671.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997220,-0.064816,-0.036748],[0.069521,0.986842,0.145976],[0.026803,-0.148125,0.988605]] 2025-10-28T23:21:12.115Z,1761693672.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997295,-0.063879,-0.036370],[0.068437,0.987465,0.142228],[0.026829,-0.144332,0.989165]] 2025-10-28T23:21:12.518Z,1761693672.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997204,-0.065366,-0.036227],[0.069812,0.987774,0.139390],[0.026673,-0.141529,0.989575]] 2025-10-28T23:21:12.923Z,1761693672.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996975,-0.068576,-0.036575],[0.072965,0.987939,0.136574],[0.026768,-0.138829,0.989954]] 2025-10-28T23:21:13.328Z,1761693673.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996686,-0.072623,-0.036644],[0.076917,0.987987,0.134033],[0.026470,-0.136407,0.990299]] 2025-10-28T23:21:13.731Z,1761693673.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996335,-0.077012,-0.037218],[0.081334,0.987696,0.133575],[0.026473,-0.136113,0.990340]] 2025-10-28T23:21:14.135Z,1761693674.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995970,-0.081387,-0.037694],[0.085736,0.987320,0.133595],[0.026343,-0.136288,0.990319]] 2025-10-28T23:21:14.943Z,1761693674.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995407,-0.087437,-0.038971],[0.092058,0.985978,0.139184],[0.026255,-0.142132,0.989499]] 2025-10-28T23:21:15.348Z,1761693675.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995351,-0.087850,-0.039471],[0.092695,0.985075,0.145033],[0.026141,-0.148017,0.988639]] 2025-10-28T23:21:15.751Z,1761693675.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995488,-0.086258,-0.039542],[0.091246,0.984553,0.149429],[0.026041,-0.152363,0.987981]] 2025-10-28T23:21:16.155Z,1761693676.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995707,-0.083668,-0.039591],[0.088777,0.984289,0.152626],[0.026199,-0.155485,0.987491]] 2025-10-28T23:21:16.559Z,1761693676.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995958,-0.080430,-0.039989],[0.085709,0.984155,0.155220],[0.026871,-0.158020,0.987070]] 2025-10-28T23:21:16.964Z,1761693676.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996224,-0.077175,-0.039771],[0.082468,0.984379,0.155551],[0.027145,-0.158243,0.987027]] 2025-10-28T23:21:17.367Z,1761693677.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996491,-0.073717,-0.039639],[0.078996,0.984850,0.154368],[0.027659,-0.156957,0.987218]] 2025-10-28T23:21:17.770Z,1761693677.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996738,-0.070303,-0.039620],[0.075568,0.985399,0.152572],[0.028315,-0.155068,0.987498]] 2025-10-28T23:21:18.175Z,1761693678.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996940,-0.067381,-0.039637],[0.072591,0.986098,0.149467],[0.029015,-0.151887,0.987972]] 2025-10-28T23:21:18.580Z,1761693678.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997045,-0.065738,-0.039742],[0.070869,0.986789,0.145686],[0.029640,-0.148072,0.988532]] 2025-10-28T23:21:18.982Z,1761693678.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997041,-0.065751,-0.039813],[0.070771,0.987383,0.141655],[0.029996,-0.144054,0.989115]] 2025-10-28T23:21:19.064Z,1761693679.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:21:19.386Z,1761693679.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996900,-0.067827,-0.039873],[0.072728,0.987742,0.138114],[0.030016,-0.140586,0.989613]] 2025-10-28T23:21:19.790Z,1761693679.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996723,-0.070534,-0.039615],[0.075321,0.987792,0.136362],[0.029513,-0.138899,0.989867]] 2025-10-28T23:21:20.069Z,1761693680.069 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:21:20.195Z,1761693680.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996492,-0.073898,-0.039291],[0.078565,0.987751,0.134817],[0.028847,-0.137431,0.990091]] 2025-10-28T23:21:20.600Z,1761693680.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996251,-0.076900,-0.039638],[0.081586,0.987521,0.134704],[0.028784,-0.137433,0.990093]] 2025-10-28T23:21:21.002Z,1761693681.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996038,-0.079510,-0.039837],[0.084206,0.987271,0.134924],[0.028602,-0.137744,0.990055]] 2025-10-28T23:21:21.406Z,1761693681.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995811,-0.082096,-0.040248],[0.086885,0.986756,0.136977],[0.028470,-0.139900,0.989756]] 2025-10-28T23:21:21.811Z,1761693681.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995659,-0.083709,-0.040702],[0.088605,0.986330,0.138932],[0.028516,-0.141935,0.989465]] 2025-10-28T23:21:22.214Z,1761693682.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995509,-0.085327,-0.041005],[0.090292,0.985972,0.140378],[0.028452,-0.143450,0.989248]] 2025-10-28T23:21:22.618Z,1761693682.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995380,-0.086621,-0.041424],[0.091696,0.985535,0.142524],[0.028479,-0.145664,0.988924]] 2025-10-28T23:21:23.024Z,1761693683.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995262,-0.087589,-0.042204],[0.092841,0.985061,0.145033],[0.028871,-0.148264,0.988526]] 2025-10-28T23:21:23.428Z,1761693683.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995196,-0.087944,-0.043024],[0.093337,0.984903,0.145790],[0.029553,-0.149106,0.988380]] 2025-10-28T23:21:23.832Z,1761693683.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995172,-0.087814,-0.043843],[0.093374,0.984690,0.147198],[0.030245,-0.150581,0.988135]] 2025-10-28T23:21:24.234Z,1761693684.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995259,-0.086603,-0.044269],[0.092335,0.984326,0.150252],[0.030563,-0.153627,0.987656]] 2025-10-28T23:21:24.639Z,1761693684.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995389,-0.084695,-0.045026],[0.090609,0.984271,0.151658],[0.031473,-0.155038,0.987407]] 2025-10-28T23:21:25.045Z,1761693685.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995616,-0.081861,-0.045255],[0.087911,0.984188,0.153770],[0.031952,-0.157074,0.987070]] 2025-10-28T23:21:25.447Z,1761693685.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995871,-0.079031,-0.044659],[0.085058,0.984254,0.154950],[0.031710,-0.158109,0.986912]] 2025-10-28T23:21:25.851Z,1761693685.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996140,-0.076078,-0.043778],[0.081998,0.984522,0.154897],[0.031316,-0.157889,0.986960]] 2025-10-28T23:21:26.267Z,1761693686.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996408,-0.073101,-0.042745],[0.078805,0.985221,0.152082],[0.030996,-0.154904,0.987443]] 2025-10-28T23:21:26.660Z,1761693686.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996674,-0.070099,-0.041551],[0.075560,0.985927,0.149127],[0.030512,-0.151770,0.987945]] 2025-10-28T23:21:27.066Z,1761693687.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996923,-0.067094,-0.040537],[0.072319,0.986730,0.145375],[0.030246,-0.147859,0.988546]] 2025-10-28T23:21:27.471Z,1761693687.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997135,-0.064425,-0.039638],[0.069413,0.987567,0.141044],[0.030058,-0.143391,0.989209]] 2025-10-28T23:21:27.885Z,1761693687.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997309,-0.062681,-0.038033],[0.067190,0.988971,0.131992],[0.029341,-0.134192,0.990521]] 2025-10-28T23:21:28.307Z,1761693688.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997255,-0.063859,-0.037476],[0.068209,0.989245,0.129392],[0.028810,-0.131593,0.990885]] 2025-10-28T23:21:28.685Z,1761693688.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997114,-0.066289,-0.036994],[0.070497,0.989354,0.127317],[0.028161,-0.129558,0.991172]] 2025-10-28T23:21:29.091Z,1761693689.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996861,-0.069883,-0.037200],[0.074089,0.989094,0.127294],[0.027899,-0.129650,0.991167]] 2025-10-28T23:21:29.489Z,1761693689.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996521,-0.074366,-0.037625],[0.078619,0.988622,0.128237],[0.027660,-0.130749,0.991030]] 2025-10-28T23:21:29.891Z,1761693689.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996143,-0.078984,-0.038212],[0.083322,0.988022,0.129883],[0.027496,-0.132566,0.990793]] 2025-10-28T23:21:30.324Z,1761693690.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995762,-0.083317,-0.038947],[0.087810,0.987190,0.133208],[0.027350,-0.136064,0.990322]] 2025-10-28T23:21:30.699Z,1761693690.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995441,-0.086653,-0.039844],[0.091343,0.986361,0.136928],[0.027435,-0.139943,0.989779]] 2025-10-28T23:21:31.103Z,1761693691.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995237,-0.088542,-0.040797],[0.093482,0.985493,0.141649],[0.027663,-0.144788,0.989076]] 2025-10-28T23:21:31.508Z,1761693691.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995148,-0.089159,-0.041607],[0.094315,0.984878,0.145329],[0.028021,-0.148548,0.988508]] 2025-10-28T23:21:31.912Z,1761693691.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995152,-0.088802,-0.042276],[0.094155,0.984406,0.148593],[0.028422,-0.151853,0.987994]] 2025-10-28T23:21:32.333Z,1761693692.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995242,-0.087531,-0.042801],[0.093053,0.984124,0.151135],[0.028893,-0.154399,0.987586]] 2025-10-28T23:21:32.718Z,1761693692.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995412,-0.085411,-0.043118],[0.091062,0.984020,0.153010],[0.029360,-0.156234,0.987284]] 2025-10-28T23:21:33.124Z,1761693693.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995635,-0.082765,-0.043130],[0.088508,0.983941,0.155006],[0.029608,-0.158147,0.986972]] 2025-10-28T23:21:33.528Z,1761693693.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995824,-0.080603,-0.042873],[0.086287,0.984361,0.153582],[0.029824,-0.156640,0.987205]] 2025-10-28T23:21:33.930Z,1761693693.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995983,-0.078803,-0.042520],[0.084373,0.984931,0.150969],[0.029983,-0.153950,0.987624]] 2025-10-28T23:21:34.338Z,1761693694.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996068,-0.077995,-0.042017],[0.083414,0.985433,0.148200],[0.029846,-0.151123,0.988064]] 2025-10-28T23:21:34.739Z,1761693694.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996098,-0.077975,-0.041327],[0.083216,0.985822,0.145707],[0.029379,-0.148578,0.988464]] 2025-10-28T23:21:35.146Z,1761693695.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996120,-0.078099,-0.040557],[0.083156,0.986170,0.143363],[0.028800,-0.146179,0.988839]] 2025-10-28T23:21:35.546Z,1761693695.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996153,-0.078121,-0.039712],[0.082991,0.986506,0.141135],[0.028150,-0.143888,0.989193]] 2025-10-28T23:21:35.950Z,1761693695.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996180,-0.077954,-0.039347],[0.082768,0.986550,0.140957],[0.027830,-0.143675,0.989234]] 2025-10-28T23:21:36.355Z,1761693696.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996299,-0.076546,-0.039098],[0.081390,0.986399,0.142805],[0.027635,-0.145459,0.988978]] 2025-10-28T23:21:36.759Z,1761693696.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996472,-0.074504,-0.038625],[0.079352,0.986284,0.144728],[0.027312,-0.147283,0.988717]] 2025-10-28T23:21:37.165Z,1761693697.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996691,-0.072179,-0.037371],[0.076865,0.986485,0.144700],[0.026421,-0.147094,0.988770]] 2025-10-28T23:21:37.567Z,1761693697.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996926,-0.069468,-0.036243],[0.074034,0.986597,0.145413],[0.025656,-0.147649,0.988707]] 2025-10-28T23:21:37.971Z,1761693697.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997159,-0.066374,-0.035621],[0.070928,0.986553,0.147252],[0.025369,-0.149360,0.988457]] 2025-10-28T23:21:38.376Z,1761693698.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997374,-0.063536,-0.034755],[0.067978,0.986837,0.146738],[0.024974,-0.148715,0.988565]] 2025-10-28T23:21:38.780Z,1761693698.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997536,-0.061446,-0.033868],[0.065742,0.987208,0.145254],[0.024509,-0.147123,0.988815]] 2025-10-28T23:21:39.184Z,1761693699.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997595,-0.060974,-0.032974],[0.065078,0.987645,0.142559],[0.023874,-0.144362,0.989237]] 2025-10-28T23:21:39.587Z,1761693699.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997603,-0.061225,-0.032240],[0.065121,0.988242,0.138339],[0.023392,-0.140107,0.989860]] 2025-10-28T23:21:39.991Z,1761693699.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997495,-0.063298,-0.031590],[0.066968,0.988817,0.133254],[0.022802,-0.135036,0.990578]] 2025-10-28T23:21:40.396Z,1761693700.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997316,-0.066446,-0.030741],[0.069945,0.988786,0.131944],[0.021630,-0.133740,0.990780]] 2025-10-28T23:21:40.799Z,1761693700.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997020,-0.070888,-0.030433],[0.074280,0.988647,0.130615],[0.020828,-0.132486,0.990966]] 2025-10-28T23:21:41.203Z,1761693701.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996685,-0.075405,-0.030548],[0.078779,0.988263,0.130882],[0.020320,-0.132854,0.990927]] 2025-10-28T23:21:41.607Z,1761693701.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996349,-0.079627,-0.030797],[0.083058,0.987517,0.133834],[0.019756,-0.135904,0.990525]] 2025-10-28T23:21:42.013Z,1761693702.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996094,-0.082674,-0.031024],[0.086156,0.986923,0.136236],[0.019355,-0.138377,0.990191]] 2025-10-28T23:21:42.414Z,1761693702.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995926,-0.084469,-0.031565],[0.088083,0.986229,0.139974],[0.019307,-0.142185,0.989652]] 2025-10-28T23:21:42.818Z,1761693702.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995875,-0.084824,-0.032202],[0.088629,0.985421,0.145228],[0.019414,-0.147483,0.988874]] 2025-10-28T23:21:43.222Z,1761693703.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995948,-0.083868,-0.032467],[0.087790,0.984991,0.148611],[0.019516,-0.150859,0.988363]] 2025-10-28T23:21:43.627Z,1761693703.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996061,-0.082407,-0.032724],[0.086430,0.984769,0.150866],[0.019793,-0.153100,0.988012]] 2025-10-28T23:21:44.030Z,1761693704.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996237,-0.080213,-0.032826],[0.084309,0.984701,0.152497],[0.020092,-0.154691,0.987759]] 2025-10-28T23:21:44.434Z,1761693704.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996406,-0.078172,-0.032619],[0.082269,0.984796,0.153000],[0.020163,-0.155133,0.987688]] 2025-10-28T23:21:44.838Z,1761693704.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996520,-0.076792,-0.032413],[0.080846,0.985123,0.151648],[0.020285,-0.153741,0.987903]] 2025-10-28T23:21:45.244Z,1761693705.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996587,-0.076125,-0.031919],[0.080062,0.985556,0.149227],[0.020098,-0.151273,0.988288]] 2025-10-28T23:21:45.647Z,1761693705.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996608,-0.076071,-0.031400],[0.079862,0.986081,0.145832],[0.019869,-0.147845,0.988811]] 2025-10-28T23:21:46.050Z,1761693706.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996571,-0.076753,-0.030920],[0.080444,0.986198,0.144713],[0.019386,-0.146704,0.988990]] 2025-10-28T23:21:46.454Z,1761693706.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996556,-0.077068,-0.030605],[0.080712,0.986156,0.144849],[0.019018,-0.146820,0.988980]] 2025-10-28T23:21:46.859Z,1761693706.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996596,-0.076719,-0.030164],[0.080320,0.986051,0.145782],[0.018559,-0.147709,0.988857]] 2025-10-28T23:21:47.264Z,1761693707.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996749,-0.074781,-0.029975],[0.078406,0.985953,0.147474],[0.018526,-0.149345,0.988612]] 2025-10-28T23:21:47.667Z,1761693707.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996955,-0.072165,-0.029549],[0.075782,0.985937,0.148945],[0.018385,-0.150731,0.988404]] 2025-10-28T23:21:48.071Z,1761693708.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997172,-0.069389,-0.028857],[0.072949,0.986012,0.149863],[0.018054,-0.151544,0.988286]] 2025-10-28T23:21:48.476Z,1761693708.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997384,-0.066607,-0.028069],[0.070052,0.986444,0.148397],[0.017804,-0.149975,0.988530]] 2025-10-28T23:21:48.880Z,1761693708.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997578,-0.063960,-0.027343],[0.067287,0.986960,0.146225],[0.017633,-0.147711,0.988873]] 2025-10-28T23:21:49.282Z,1761693709.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997718,-0.062002,-0.026749],[0.065201,0.987605,0.142778],[0.017565,-0.144196,0.989393]] 2025-10-28T23:21:49.687Z,1761693709.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997780,-0.061160,-0.026342],[0.064240,0.988228,0.138846],[0.017540,-0.140230,0.989964]] 2025-10-28T23:21:50.091Z,1761693710.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997700,-0.062461,-0.026336],[0.065452,0.988744,0.134542],[0.017636,-0.135956,0.990558]] 2025-10-28T23:21:50.205Z,1761693710.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:21:50.898Z,1761693710.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997198,-0.069498,-0.027687],[0.072511,0.988966,0.129183],[0.018403,-0.130828,0.991234]] 2025-10-28T23:21:51.208Z,1761693711.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:21:51.303Z,1761693711.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996864,-0.073663,-0.028914],[0.076795,0.988686,0.128848],[0.019096,-0.130664,0.991243]] 2025-10-28T23:21:51.707Z,1761693711.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996531,-0.077577,-0.030129],[0.080894,0.987980,0.131726],[0.019548,-0.133707,0.990828]] 2025-10-28T23:21:52.182Z,1761693712.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996210,-0.081306,-0.030916],[0.084787,0.987027,0.136339],[0.019430,-0.138443,0.990180]] 2025-10-28T23:21:52.515Z,1761693712.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996009,-0.083751,-0.030859],[0.087285,0.986195,0.140714],[0.018648,-0.142846,0.989569]] 2025-10-28T23:21:52.918Z,1761693712.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995973,-0.084386,-0.030280],[0.087943,0.985227,0.146951],[0.017432,-0.149022,0.988680]] 2025-10-28T23:21:53.322Z,1761693713.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996184,-0.082221,-0.029277],[0.085769,0.984345,0.153975],[0.016159,-0.155898,0.987641]] 2025-10-28T23:21:53.728Z,1761693713.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996513,-0.078668,-0.027819],[0.082101,0.983931,0.158556],[0.014899,-0.160287,0.986958]] 2025-10-28T23:21:54.131Z,1761693714.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996833,-0.075178,-0.025926],[0.078390,0.983783,0.161327],[0.013377,-0.162849,0.986560]] 2025-10-28T23:21:54.534Z,1761693714.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997139,-0.071761,-0.023734],[0.074623,0.984580,0.158220],[0.012014,-0.159538,0.987119]] 2025-10-28T23:21:54.938Z,1761693714.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997404,-0.068633,-0.021770],[0.071177,0.985472,0.154206],[0.010871,-0.155355,0.987799]] 2025-10-28T23:21:55.344Z,1761693715.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997661,-0.065399,-0.019865],[0.067637,0.986494,0.149181],[0.009840,-0.150176,0.988610]] 2025-10-28T23:21:55.746Z,1761693715.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997876,-0.062565,-0.018121],[0.064524,0.987518,0.143682],[0.008905,-0.144546,0.989458]] 2025-10-28T23:21:56.150Z,1761693716.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998029,-0.060526,-0.016564],[0.062239,0.988441,0.138242],[0.008005,-0.139001,0.990260]] 2025-10-28T23:21:56.555Z,1761693716.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998059,-0.060404,-0.015184],[0.061895,0.989085,0.133712],[0.006942,-0.134393,0.990904]] 2025-10-28T23:21:56.959Z,1761693716.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997975,-0.062083,-0.013876],[0.063370,0.989317,0.131286],[0.005578,-0.131899,0.991247]] 2025-10-28T23:21:57.364Z,1761693717.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997794,-0.065150,-0.012713],[0.066253,0.989274,0.130180],[0.004095,-0.130735,0.991409]] 2025-10-28T23:21:57.766Z,1761693717.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997570,-0.068603,-0.012146],[0.069601,0.989074,0.129956],[0.003098,-0.130485,0.991445]] 2025-10-28T23:21:58.170Z,1761693718.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997326,-0.072128,-0.011774],[0.073052,0.988541,0.132098],[0.002111,-0.132605,0.991167]] 2025-10-28T23:21:58.575Z,1761693718.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997089,-0.075365,-0.011567],[0.076236,0.988035,0.134071],[0.001324,-0.134562,0.990904]] 2025-10-28T23:21:58.979Z,1761693718.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996899,-0.077884,-0.011232],[0.078689,0.987240,0.138438],[0.000307,-0.138893,0.990307]] 2025-10-28T23:21:59.382Z,1761693719.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996815,-0.079002,-0.010920],[0.079752,0.986487,0.143121],[-0.000535,-0.143536,0.989645]] 2025-10-28T23:21:59.786Z,1761693719.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996750,-0.079878,-0.010481],[0.080553,0.986074,0.145494],[-0.001287,-0.145865,0.989304]] 2025-10-28T23:22:00.190Z,1761693720.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996759,-0.079813,-0.010065],[0.080421,0.985550,0.149078],[-0.001979,-0.149404,0.988774]] 2025-10-28T23:22:00.597Z,1761693720.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996800,-0.079389,-0.009356],[0.079891,0.985320,0.150868],[-0.002758,-0.151133,0.988510]] 2025-10-28T23:22:00.998Z,1761693720.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996872,-0.078534,-0.008917],[0.078973,0.985053,0.153082],[-0.003239,-0.153307,0.988173]] 2025-10-28T23:22:01.402Z,1761693721.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996968,-0.077377,-0.008168],[0.077717,0.985280,0.152258],[-0.003734,-0.152431,0.988307]] 2025-10-28T23:22:01.807Z,1761693721.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997059,-0.076295,-0.007274],[0.076517,0.985545,0.151152],[-0.004363,-0.151264,0.988484]] 2025-10-28T23:22:02.212Z,1761693722.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997192,-0.074636,-0.006176],[0.074721,0.985979,0.149205],[-0.005047,-0.149247,0.988787]] 2025-10-28T23:22:02.614Z,1761693722.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997371,-0.072285,-0.005081],[0.072237,0.986269,0.148508],[-0.005724,-0.148485,0.988898]] 2025-10-28T23:22:03.019Z,1761693723.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997585,-0.069361,-0.003718],[0.069154,0.986730,0.146904],[-0.006521,-0.146807,0.989144]] 2025-10-28T23:22:03.423Z,1761693723.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997824,-0.065907,-0.001850],[0.065473,0.987166,0.145656],[-0.007773,-0.145460,0.989334]] 2025-10-28T23:22:03.829Z,1761693723.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998069,-0.062120,0.000043],[0.061462,0.987595,0.144494],[-0.009018,-0.144212,0.989506]] 2025-10-28T23:22:04.231Z,1761693724.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998292,-0.058391,0.002142],[0.057491,0.988133,0.142436],[-0.010434,-0.142070,0.989802]] 2025-10-28T23:22:04.634Z,1761693724.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998451,-0.055463,0.004297],[0.054312,0.988611,0.140348],[-0.012032,-0.139898,0.990093]] 2025-10-28T23:22:05.038Z,1761693725.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998516,-0.054124,0.006089],[0.052771,0.989055,0.137785],[-0.013480,-0.137259,0.990443]] 2025-10-28T23:22:05.443Z,1761693725.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998471,-0.054751,0.007594],[0.053229,0.989420,0.134959],[-0.014903,-0.134348,0.990822]] 2025-10-28T23:22:05.848Z,1761693725.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998327,-0.057267,0.008020],[0.055684,0.989453,0.133726],[-0.015593,-0.133055,0.990986]] 2025-10-28T23:22:06.254Z,1761693726.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998093,-0.061145,0.008403],[0.059508,0.989484,0.131834],[-0.016375,-0.131082,0.991236]] 2025-10-28T23:22:06.654Z,1761693726.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997812,-0.065535,0.008737],[0.063808,0.989156,0.132284],[-0.017312,-0.131437,0.991173]] 2025-10-28T23:22:07.060Z,1761693727.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997494,-0.070213,0.008652],[0.068438,0.988708,0.133311],[-0.017915,-0.132385,0.991036]] 2025-10-28T23:22:07.462Z,1761693727.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997177,-0.074599,0.008548],[0.072770,0.988190,0.134853],[-0.018507,-0.133850,0.990829]] 2025-10-28T23:22:07.866Z,1761693727.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996913,-0.078062,0.008453],[0.076203,0.987840,0.135520],[-0.018929,-0.134458,0.990738]] 2025-10-28T23:22:08.299Z,1761693728.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996721,-0.080484,0.008368],[0.078586,0.987452,0.136978],[-0.019288,-0.135871,0.990539]] 2025-10-28T23:22:08.677Z,1761693728.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996650,-0.081357,0.008366],[0.079416,0.987133,0.138785],[-0.019549,-0.137656,0.990287]] 2025-10-28T23:22:09.079Z,1761693729.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996699,-0.080720,0.008726],[0.078717,0.987061,0.139693],[-0.019889,-0.138545,0.990156]] 2025-10-28T23:22:09.483Z,1761693729.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996727,-0.080345,0.008965],[0.078304,0.987045,0.140036],[-0.020100,-0.138876,0.990106]] 2025-10-28T23:22:09.886Z,1761693729.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996790,-0.079510,0.009379],[0.077404,0.987000,0.140850],[-0.020457,-0.139672,0.989986]] 2025-10-28T23:22:10.325Z,1761693730.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996943,-0.077433,0.010398],[0.075204,0.987166,0.140879],[-0.021173,-0.139666,0.989972]] 2025-10-28T23:22:11.098Z,1761693731.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997051,-0.075930,0.011135],[0.073588,0.987124,0.142022],[-0.021776,-0.140783,0.989801]] 2025-10-28T23:22:11.503Z,1761693731.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997154,-0.074429,0.011969],[0.071976,0.987186,0.142420],[-0.022416,-0.141153,0.989734]] 2025-10-28T23:22:11.907Z,1761693731.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997258,-0.072873,0.012919],[0.070340,0.987542,0.140760],[-0.023016,-0.139465,0.989959]] 2025-10-28T23:22:12.333Z,1761693732.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997364,-0.071097,0.014488],[0.068351,0.987613,0.141239],[-0.024350,-0.139877,0.989869]] 2025-10-28T23:22:13.125Z,1761693733.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997315,-0.071463,0.016020],[0.068535,0.987801,0.139832],[-0.025817,-0.138359,0.990046]] 2025-10-28T23:22:13.527Z,1761693733.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997165,-0.073404,0.016560],[0.070425,0.987890,0.138250],[-0.026508,-0.136692,0.990259]] 2025-10-28T23:22:13.933Z,1761693733.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996974,-0.075844,0.017055],[0.072823,0.987957,0.136517],[-0.027203,-0.134862,0.990491]] 2025-10-28T23:22:14.336Z,1761693734.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996739,-0.078771,0.017493],[0.075714,0.987981,0.134766],[-0.027899,-0.133002,0.990723]] 2025-10-28T23:22:14.738Z,1761693734.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996473,-0.082062,0.017539],[0.078985,0.987796,0.134241],[-0.028341,-0.132382,0.990793]] 2025-10-28T23:22:15.139Z,1761693735.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996182,-0.085663,0.016827],[0.082647,0.987491,0.134282],[-0.028120,-0.132379,0.990800]] 2025-10-28T23:22:15.543Z,1761693735.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995877,-0.089293,0.015984],[0.086341,0.987095,0.134869],[-0.027820,-0.132933,0.990735]] 2025-10-28T23:22:15.946Z,1761693735.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995567,-0.092794,0.015322],[0.089876,0.986665,0.135699],[-0.027710,-0.133720,0.990632]] 2025-10-28T23:22:16.351Z,1761693736.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995284,-0.095871,0.014771],[0.092957,0.986173,0.137194],[-0.027720,-0.135174,0.990434]] 2025-10-28T23:22:16.756Z,1761693736.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995129,-0.097542,0.014290],[0.094607,0.985660,0.139730],[-0.027715,-0.137697,0.990087]] 2025-10-28T23:22:17.160Z,1761693737.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995174,-0.097098,0.014203],[0.094095,0.985279,0.142729],[-0.027853,-0.140704,0.989660]] 2025-10-28T23:22:17.563Z,1761693737.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995336,-0.095374,0.014488],[0.092276,0.985074,0.145307],[-0.028130,-0.143293,0.989281]] 2025-10-28T23:22:17.967Z,1761693737.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995636,-0.092131,0.014894],[0.088933,0.984991,0.147930],[-0.028300,-0.145959,0.988886]] 2025-10-28T23:22:18.370Z,1761693738.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995958,-0.088507,0.015272],[0.085254,0.985111,0.149289],[-0.028258,-0.147384,0.988676]] 2025-10-28T23:22:18.776Z,1761693738.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996258,-0.084889,0.016216],[0.081555,0.985524,0.148630],[-0.028599,-0.146751,0.988760]] 2025-10-28T23:22:19.179Z,1761693739.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996491,-0.081937,0.017110],[0.078551,0.986011,0.147010],[-0.028916,-0.145150,0.988987]] 2025-10-28T23:22:19.582Z,1761693739.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996673,-0.079542,0.017761],[0.076141,0.986472,0.145176],[-0.029069,-0.143340,0.989246]] 2025-10-28T23:22:19.986Z,1761693739.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996742,-0.078523,0.018402],[0.075109,0.986887,0.142873],[-0.029380,-0.141025,0.989570]] 2025-10-28T23:22:20.392Z,1761693740.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996720,-0.078662,0.019019],[0.075226,0.987196,0.140661],[-0.029840,-0.138769,0.989875]] 2025-10-28T23:22:20.795Z,1761693740.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996624,-0.079673,0.019808],[0.076142,0.987233,0.139903],[-0.030702,-0.137922,0.989967]] 2025-10-28T23:22:21.198Z,1761693741.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996494,-0.081196,0.020175],[0.077628,0.987243,0.139018],[-0.031205,-0.136964,0.990084]] 2025-10-28T23:22:21.337Z,1761693741.337 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:22:21.602Z,1761693741.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996381,-0.082573,0.020187],[0.078975,0.987071,0.139477],[-0.031443,-0.137378,0.990020]] 2025-10-28T23:22:22.007Z,1761693742.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996210,-0.084493,0.020660],[0.080821,0.986954,0.139248],[-0.032156,-0.137050,0.990042]] 2025-10-28T23:22:22.340Z,1761693742.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:22:22.412Z,1761693742.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996135,-0.085299,0.020953],[0.081504,0.986574,0.141522],[-0.032743,-0.139267,0.989713]] 2025-10-28T23:22:22.814Z,1761693742.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996113,-0.085524,0.021085],[0.081625,0.986205,0.144007],[-0.033110,-0.141726,0.989352]] 2025-10-28T23:22:23.218Z,1761693743.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996089,-0.085729,0.021389],[0.081740,0.985998,0.145352],[-0.033551,-0.143036,0.989149]] 2025-10-28T23:22:23.622Z,1761693743.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996096,-0.085581,0.021662],[0.081478,0.985690,0.147569],[-0.033981,-0.145228,0.988815]] 2025-10-28T23:22:24.028Z,1761693744.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996124,-0.085189,0.021916],[0.080986,0.985439,0.149505],[-0.034334,-0.147151,0.988518]] 2025-10-28T23:22:24.430Z,1761693744.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996159,-0.084869,0.021553],[0.080726,0.985474,0.149415],[-0.033921,-0.147101,0.988540]] 2025-10-28T23:22:24.834Z,1761693744.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996091,-0.085684,0.021478],[0.081567,0.985508,0.148734],[-0.033910,-0.146400,0.988644]] 2025-10-28T23:22:25.239Z,1761693745.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996014,-0.086551,0.021564],[0.082425,0.985496,0.148335],[-0.034090,-0.145966,0.988702]] 2025-10-28T23:22:25.643Z,1761693745.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995915,-0.087708,0.021471],[0.083671,0.985770,0.145793],[-0.033953,-0.143401,0.989082]] 2025-10-28T23:22:26.046Z,1761693746.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995739,-0.089778,0.021076],[0.085873,0.985991,0.142992],[-0.033619,-0.140573,0.989499]] 2025-10-28T23:22:26.451Z,1761693746.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995493,-0.092493,0.020940],[0.088677,0.986151,0.140152],[-0.033613,-0.137663,0.989909]] 2025-10-28T23:22:26.854Z,1761693746.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995258,-0.095097,0.020449],[0.091364,0.986073,0.138970],[-0.033380,-0.136443,0.990085]] 2025-10-28T23:22:27.258Z,1761693747.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995054,-0.097397,0.019525],[0.093756,0.985793,0.139364],[-0.032822,-0.136844,0.990049]] 2025-10-28T23:22:27.663Z,1761693747.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994938,-0.098705,0.018854],[0.095077,0.985375,0.141407],[-0.032536,-0.138899,0.989772]] 2025-10-28T23:22:28.067Z,1761693748.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994985,-0.098283,0.018573],[0.094567,0.984840,0.145419],[-0.032584,-0.142934,0.989196]] 2025-10-28T23:22:28.471Z,1761693748.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995095,-0.097226,0.018257],[0.093436,0.984352,0.149405],[-0.032498,-0.146966,0.988607]] 2025-10-28T23:22:28.875Z,1761693748.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995267,-0.095420,0.018397],[0.091500,0.983937,0.153286],[-0.032728,-0.150877,0.988011]] 2025-10-28T23:22:29.278Z,1761693749.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995495,-0.092872,0.019080],[0.088776,0.983705,0.156341],[-0.033289,-0.153943,0.987519]] 2025-10-28T23:22:29.683Z,1761693749.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995718,-0.090440,0.019161],[0.086322,0.983743,0.157475],[-0.033091,-0.155147,0.987337]] 2025-10-28T23:22:30.087Z,1761693750.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995952,-0.087727,0.019582],[0.083556,0.983883,0.158092],[-0.033135,-0.155816,0.987230]] 2025-10-28T23:22:30.493Z,1761693750.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996132,-0.085584,0.019907],[0.081381,0.984036,0.158271],[-0.033135,-0.156039,0.987195]] 2025-10-28T23:22:30.895Z,1761693750.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996250,-0.084097,0.020341],[0.079883,0.984339,0.157146],[-0.033238,-0.154932,0.987366]] 2025-10-28T23:22:31.299Z,1761693751.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996308,-0.083336,0.020612],[0.079161,0.984736,0.155014],[-0.033215,-0.152810,0.987697]] 2025-10-28T23:22:31.702Z,1761693751.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996373,-0.082508,0.020811],[0.078330,0.984886,0.154480],[-0.033242,-0.152290,0.987777]] 2025-10-28T23:22:32.108Z,1761693752.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996385,-0.082306,0.021036],[0.078177,0.985271,0.152086],[-0.033243,-0.149892,0.988143]] 2025-10-28T23:22:32.513Z,1761693752.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996418,-0.081784,0.021505],[0.077638,0.985525,0.150706],[-0.033519,-0.148496,0.988345]] 2025-10-28T23:22:32.932Z,1761693752.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996461,-0.081042,0.022290],[0.076819,0.985735,0.149754],[-0.034108,-0.147511,0.988472]] 2025-10-28T23:22:33.318Z,1761693753.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996525,-0.080092,0.022893],[0.075831,0.985986,0.148599],[-0.034474,-0.146347,0.988633]] 2025-10-28T23:22:33.725Z,1761693753.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996574,-0.079323,0.023418],[0.075089,0.986448,0.145881],[-0.034672,-0.143623,0.989025]] 2025-10-28T23:22:34.126Z,1761693754.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996517,-0.079818,0.024157],[0.075511,0.986571,0.144832],[-0.035393,-0.142503,0.989161]] 2025-10-28T23:22:34.530Z,1761693754.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996377,-0.081250,0.025120],[0.076827,0.986611,0.143860],[-0.036473,-0.141409,0.989279]] 2025-10-28T23:22:34.935Z,1761693754.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996160,-0.083707,0.025657],[0.079241,0.986641,0.142338],[-0.037229,-0.139758,0.989486]] 2025-10-28T23:22:35.340Z,1761693755.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995916,-0.086683,0.025227],[0.082302,0.986595,0.140911],[-0.037103,-0.138259,0.989701]] 2025-10-28T23:22:35.742Z,1761693755.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995640,-0.089965,0.024651],[0.085633,0.986313,0.140900],[-0.036990,-0.138175,0.989717]] 2025-10-28T23:22:36.146Z,1761693756.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995334,-0.093453,0.024026],[0.089091,0.985682,0.143157],[-0.037061,-0.140349,0.989408]] 2025-10-28T23:22:36.551Z,1761693756.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995054,-0.096574,0.023263],[0.092235,0.985180,0.144610],[-0.036884,-0.141749,0.989215]] 2025-10-28T23:22:36.954Z,1761693756.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994812,-0.099258,0.022313],[0.094901,0.984420,0.148027],[-0.036658,-0.145141,0.988732]] 2025-10-28T23:22:37.359Z,1761693757.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994689,-0.100669,0.021427],[0.096258,0.983585,0.152630],[-0.036440,-0.149757,0.988051]] 2025-10-28T23:22:37.762Z,1761693757.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994809,-0.099640,0.020649],[0.095212,0.983059,0.156621],[-0.035905,-0.153842,0.987443]] 2025-10-28T23:22:38.167Z,1761693758.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995069,-0.097087,0.020282],[0.092677,0.982992,0.158548],[-0.035330,-0.155887,0.987143]] 2025-10-28T23:22:38.571Z,1761693758.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995422,-0.093416,0.020206],[0.089017,0.983121,0.159841],[-0.034797,-0.157310,0.986936]] 2025-10-28T23:22:38.975Z,1761693758.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995809,-0.089000,0.021063],[0.084504,0.983441,0.160324],[-0.034983,-0.157873,0.986840]] 2025-10-28T23:22:39.379Z,1761693759.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996147,-0.084864,0.022128],[0.080280,0.983929,0.159495],[-0.035308,-0.157104,0.986951]] 2025-10-28T23:22:39.784Z,1761693759.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996380,-0.081791,0.023188],[0.077177,0.984616,0.156766],[-0.035653,-0.154409,0.987363]] 2025-10-28T23:22:40.187Z,1761693760.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996508,-0.079956,0.024059],[0.075317,0.985139,0.154364],[-0.036043,-0.152013,0.987721]] 2025-10-28T23:22:40.591Z,1761693760.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996549,-0.079061,0.025282],[0.074376,0.985748,0.150893],[-0.036851,-0.148492,0.988227]] 2025-10-28T23:22:40.997Z,1761693760.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996491,-0.079464,0.026280],[0.074731,0.986134,0.148172],[-0.037690,-0.145688,0.988612]] 2025-10-28T23:22:41.399Z,1761693761.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996384,-0.080459,0.027299],[0.075674,0.986468,0.145443],[-0.038632,-0.142851,0.988990]] 2025-10-28T23:22:41.802Z,1761693761.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996250,-0.081843,0.028071],[0.076979,0.986532,0.144324],[-0.039505,-0.141622,0.989132]] 2025-10-28T23:22:42.206Z,1761693762.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996089,-0.083557,0.028705],[0.078619,0.986523,0.143494],[-0.040308,-0.140676,0.989235]] 2025-10-28T23:22:42.611Z,1761693762.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995898,-0.085738,0.028912],[0.080776,0.986438,0.142881],[-0.040770,-0.139960,0.989318]] 2025-10-28T23:22:43.015Z,1761693763.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995727,-0.087774,0.028696],[0.082802,0.986198,0.143374],[-0.040885,-0.140386,0.989252]] 2025-10-28T23:22:43.418Z,1761693763.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995538,-0.090119,0.027975],[0.085172,0.985804,0.144696],[-0.040618,-0.141668,0.989081]] 2025-10-28T23:22:43.822Z,1761693763.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995387,-0.092090,0.026913],[0.087241,0.985503,0.145508],[-0.039923,-0.142488,0.988991]] 2025-10-28T23:22:44.227Z,1761693764.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995188,-0.094557,0.025693],[0.089843,0.985213,0.145887],[-0.039108,-0.142876,0.988968]] 2025-10-28T23:22:44.633Z,1761693764.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995035,-0.096580,0.024033],[0.092014,0.984746,0.147681],[-0.037929,-0.144736,0.988743]] 2025-10-28T23:22:45.034Z,1761693765.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994908,-0.098254,0.022466],[0.093811,0.984223,0.150017],[-0.036851,-0.147145,0.988428]] 2025-10-28T23:22:45.440Z,1761693765.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994860,-0.099056,0.021033],[0.094763,0.983906,0.151486],[-0.035700,-0.148714,0.988236]] 2025-10-28T23:22:45.842Z,1761693765.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994962,-0.098329,0.019562],[0.094161,0.983510,0.154407],[-0.034422,-0.151787,0.987814]] 2025-10-28T23:22:46.251Z,1761693766.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995151,-0.096634,0.018327],[0.092608,0.983349,0.156360],[-0.033131,-0.153905,0.987530]] 2025-10-28T23:22:46.650Z,1761693766.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995349,-0.094584,0.018302],[0.090560,0.983412,0.157162],[-0.032863,-0.154773,0.987403]] 2025-10-28T23:22:47.055Z,1761693767.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995613,-0.091755,0.018327],[0.087749,0.983608,0.157530],[-0.032481,-0.155230,0.987344]] 2025-10-28T23:22:47.459Z,1761693767.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995877,-0.088821,0.018426],[0.084853,0.983950,0.156980],[-0.032073,-0.154769,0.987430]] 2025-10-28T23:22:47.864Z,1761693767.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996110,-0.086150,0.018533],[0.082220,0.984284,0.156283],[-0.031705,-0.154151,0.987538]] 2025-10-28T23:22:48.299Z,1761693768.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996314,-0.083658,0.018973],[0.079675,0.984421,0.156741],[-0.031791,-0.154652,0.987457]] 2025-10-28T23:22:48.670Z,1761693768.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996430,-0.082253,0.019017],[0.078333,0.984794,0.155063],[-0.031482,-0.153020,0.987722]] 2025-10-28T23:22:49.074Z,1761693769.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996439,-0.082142,0.019025],[0.078268,0.985025,0.153622],[-0.031359,-0.151586,0.987946]] 2025-10-28T23:22:49.481Z,1761693769.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996361,-0.083082,0.019002],[0.079252,0.985197,0.152005],[-0.031350,-0.149946,0.988197]] 2025-10-28T23:22:49.882Z,1761693769.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996194,-0.085152,0.018643],[0.081414,0.985319,0.150064],[-0.031148,-0.147975,0.988501]] 2025-10-28T23:22:50.319Z,1761693770.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995973,-0.087778,0.018229],[0.084139,0.985413,0.147925],[-0.030948,-0.145795,0.988831]] 2025-10-28T23:22:50.691Z,1761693770.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995722,-0.090803,0.017117],[0.087316,0.985237,0.147257],[-0.030235,-0.145133,0.988950]] 2025-10-28T23:22:51.096Z,1761693771.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995499,-0.093473,0.015604],[0.090166,0.984924,0.147633],[-0.029169,-0.145562,0.988919]] 2025-10-28T23:22:51.501Z,1761693771.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995341,-0.095404,0.013964],[0.092254,0.984403,0.149800],[-0.028038,-0.147814,0.988618]] 2025-10-28T23:22:51.902Z,1761693771.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995250,-0.096520,0.012734],[0.093493,0.984024,0.151510],[-0.027154,-0.149600,0.988374]] 2025-10-28T23:22:52.327Z,1761693772.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995272,-0.096406,0.011813],[0.093453,0.983647,0.153966],[-0.026463,-0.152134,0.988006]] 2025-10-28T23:22:52.461Z,1761693772.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:22:52.710Z,1761693772.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995390,-0.095241,0.011333],[0.092312,0.983385,0.156309],[-0.026031,-0.154542,0.987643]] 2025-10-28T23:22:53.114Z,1761693773.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995495,-0.094142,0.011309],[0.091199,0.983296,0.157520],[-0.025949,-0.155779,0.987451]] 2025-10-28T23:22:53.464Z,1761693773.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:22:53.518Z,1761693773.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995661,-0.092353,0.011389],[0.089380,0.983215,0.159058],[-0.025887,-0.157350,0.987204]] 2025-10-28T23:22:53.922Z,1761693773.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995827,-0.090579,0.011156],[0.087657,0.983323,0.159348],[-0.025403,-0.157706,0.987159]] 2025-10-28T23:22:54.336Z,1761693774.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995972,-0.088983,0.011000],[0.086096,0.983405,0.159692],[-0.025027,-0.158102,0.987105]] 2025-10-28T23:22:54.732Z,1761693774.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996112,-0.087342,0.011486],[0.084418,0.983664,0.158994],[-0.025185,-0.157406,0.987213]] 2025-10-28T23:22:55.135Z,1761693775.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996174,-0.086600,0.011724],[0.083677,0.983917,0.157816],[-0.025203,-0.156231,0.987399]] 2025-10-28T23:22:55.538Z,1761693775.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996231,-0.086007,0.011223],[0.083185,0.984061,0.157179],[-0.024563,-0.155653,0.987506]] 2025-10-28T23:22:55.943Z,1761693775.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996187,-0.086641,0.010222],[0.084044,0.984495,0.153969],[-0.023404,-0.152523,0.988023]] 2025-10-28T23:22:56.347Z,1761693776.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996129,-0.087429,0.009093],[0.085040,0.984712,0.152019],[-0.022245,-0.150657,0.988336]] 2025-10-28T23:22:56.750Z,1761693776.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995968,-0.089391,0.007594],[0.087258,0.984907,0.149481],[-0.020842,-0.148216,0.988735]] 2025-10-28T23:22:57.159Z,1761693777.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995793,-0.091440,0.005921],[0.089580,0.985060,0.147077],[-0.019281,-0.145928,0.989107]] 2025-10-28T23:22:57.559Z,1761693777.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995602,-0.093589,0.004174],[0.091993,0.985106,0.145270],[-0.017707,-0.144248,0.989383]] 2025-10-28T23:22:57.963Z,1761693777.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995416,-0.095616,0.002104],[0.094303,0.984938,0.144925],[-0.015929,-0.144063,0.989440]] 2025-10-28T23:22:58.374Z,1761693778.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995169,-0.098166,-0.001465],[0.097292,0.984092,0.148650],[-0.013151,-0.148074,0.988889]] 2025-10-28T23:22:58.775Z,1761693778.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995168,-0.098157,-0.002496],[0.097382,0.983422,0.152961],[-0.012559,-0.152465,0.988229]] 2025-10-28T23:22:59.180Z,1761693779.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995307,-0.096717,-0.003079],[0.096000,0.982942,0.156875],[-0.012146,-0.156434,0.987614]] 2025-10-28T23:22:59.585Z,1761693779.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995583,-0.093832,-0.003278],[0.093137,0.982583,0.160800],[-0.011867,-0.160395,0.986982]] 2025-10-28T23:22:59.986Z,1761693779.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995909,-0.090298,-0.003460],[0.089627,0.982177,0.165213],[-0.011520,-0.164847,0.986252]] 2025-10-28T23:23:00.388Z,1761693780.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996229,-0.086688,-0.003530],[0.086062,0.982257,0.166627],[-0.010978,-0.166302,0.986014]] 2025-10-28T23:23:00.791Z,1761693780.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996488,-0.083644,-0.003883],[0.083114,0.982409,0.167226],[-0.010173,-0.166961,0.985911]] 2025-10-28T23:23:01.196Z,1761693781.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996611,-0.082180,-0.003519],[0.081628,0.982831,0.165470],[-0.010140,-0.165196,0.986209]] 2025-10-28T23:23:01.599Z,1761693781.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996606,-0.082243,-0.003515],[0.081731,0.983494,0.161429],[-0.009819,-0.161169,0.986878]] 2025-10-28T23:23:02.003Z,1761693782.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996506,-0.083444,-0.003693],[0.083001,0.984327,0.155596],[-0.009349,-0.155359,0.987814]] 2025-10-28T23:23:02.407Z,1761693782.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996247,-0.086438,-0.004447],[0.086130,0.985017,0.149407],[-0.008534,-0.149230,0.988766]] 2025-10-28T23:23:02.812Z,1761693782.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995900,-0.090277,-0.005803],[0.090171,0.985487,0.143825],[-0.007266,-0.143758,0.989586]] 2025-10-28T23:23:03.214Z,1761693783.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995497,-0.094485,-0.007668],[0.094622,0.985525,0.140664],[-0.005734,-0.140756,0.990028]] 2025-10-28T23:23:03.618Z,1761693783.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995098,-0.098410,-0.009729],[0.098808,0.985448,0.138311],[-0.004024,-0.138594,0.990341]] 2025-10-28T23:23:04.022Z,1761693784.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994708,-0.102047,-0.011959],[0.102718,0.985011,0.138574],[-0.002361,-0.139069,0.990280]] 2025-10-28T23:23:04.427Z,1761693784.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994376,-0.104976,-0.014024],[0.105905,0.984452,0.140140],[-0.000905,-0.140837,0.990032]] 2025-10-28T23:23:04.832Z,1761693784.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994151,-0.106834,-0.015791],[0.107995,0.983755,0.143401],[0.000214,-0.144268,0.989539]] 2025-10-28T23:23:05.235Z,1761693785.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994135,-0.106750,-0.017329],[0.108141,0.983000,0.148378],[0.001195,-0.149382,0.988779]] 2025-10-28T23:23:05.638Z,1761693785.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994361,-0.104440,-0.018394],[0.106029,0.982334,0.154198],[0.001965,-0.155279,0.987869]] 2025-10-28T23:23:06.042Z,1761693786.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994805,-0.100026,-0.018894],[0.101764,0.981822,0.160215],[0.002524,-0.161305,0.986901]] 2025-10-28T23:23:06.448Z,1761693786.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995333,-0.094612,-0.018980],[0.096446,0.981756,0.163868],[0.003130,-0.164934,0.986300]] 2025-10-28T23:23:06.851Z,1761693786.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995820,-0.089487,-0.018288],[0.091285,0.981856,0.166207],[0.003082,-0.167182,0.985921]] 2025-10-28T23:23:07.254Z,1761693787.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996272,-0.084424,-0.017762],[0.086205,0.982291,0.166351],[0.003404,-0.167261,0.985907]] 2025-10-28T23:23:07.658Z,1761693787.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996580,-0.080789,-0.017372],[0.082551,0.982824,0.165050],[0.003740,-0.165919,0.986132]] 2025-10-28T23:23:08.064Z,1761693788.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996692,-0.079371,-0.017475],[0.081156,0.983476,0.161830],[0.004342,-0.162713,0.986664]] 2025-10-28T23:23:08.467Z,1761693788.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996663,-0.079749,-0.017414],[0.081500,0.984121,0.157680],[0.004562,-0.158573,0.987337]] 2025-10-28T23:23:08.870Z,1761693788.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996569,-0.080839,-0.017732],[0.082607,0.984696,0.153461],[0.005055,-0.154399,0.987996]] 2025-10-28T23:23:09.274Z,1761693789.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996407,-0.082754,-0.018028],[0.084528,0.985021,0.150296],[0.005320,-0.151280,0.988477]] 2025-10-28T23:23:09.679Z,1761693789.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996227,-0.084865,-0.018132],[0.086625,0.984994,0.149275],[0.005192,-0.150283,0.988630]] 2025-10-28T23:23:10.082Z,1761693790.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996111,-0.086115,-0.018641],[0.087942,0.984741,0.150174],[0.005424,-0.151229,0.988484]] 2025-10-28T23:23:10.487Z,1761693790.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996089,-0.086234,-0.019273],[0.088172,0.984287,0.152985],[0.005778,-0.154086,0.988041]] 2025-10-28T23:23:10.891Z,1761693790.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996169,-0.085230,-0.019574],[0.087247,0.983866,0.156194],[0.005946,-0.157303,0.987532]] 2025-10-28T23:23:11.296Z,1761693791.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996257,-0.084098,-0.019967],[0.086195,0.983836,0.156959],[0.006444,-0.158093,0.987403]] 2025-10-28T23:23:11.699Z,1761693791.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996393,-0.082353,-0.020491],[0.084557,0.983927,0.157279],[0.007209,-0.158445,0.987342]] 2025-10-28T23:23:12.103Z,1761693792.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996478,-0.081253,-0.020710],[0.083507,0.983998,0.157399],[0.007589,-0.158574,0.987318]] 2025-10-28T23:23:12.507Z,1761693792.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996438,-0.081603,-0.021244],[0.083926,0.984182,0.156019],[0.008177,-0.157246,0.987526]] 2025-10-28T23:23:12.911Z,1761693792.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996330,-0.082829,-0.021599],[0.085181,0.984297,0.154609],[0.008454,-0.155881,0.987740]] 2025-10-28T23:23:13.314Z,1761693793.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996112,-0.085270,-0.022128],[0.087650,0.984525,0.151752],[0.008846,-0.153102,0.988171]] 2025-10-28T23:23:13.718Z,1761693793.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995812,-0.088520,-0.022843],[0.090941,0.984714,0.148555],[0.009344,-0.150010,0.988640]] 2025-10-28T23:23:14.122Z,1761693794.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995489,-0.091756,-0.024145],[0.094322,0.984613,0.147107],[0.010276,-0.148721,0.988826]] 2025-10-28T23:23:14.527Z,1761693794.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995187,-0.094634,-0.025425],[0.097351,0.984420,0.146422],[0.011173,-0.148192,0.988896]] 2025-10-28T23:23:14.932Z,1761693794.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994933,-0.096909,-0.026785],[0.099812,0.984070,0.147120],[0.012101,-0.149048,0.988756]] 2025-10-28T23:23:15.335Z,1761693795.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994722,-0.098646,-0.028234],[0.101791,0.983347,0.150556],[0.012912,-0.152635,0.988198]] 2025-10-28T23:23:15.738Z,1761693795.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994628,-0.099252,-0.029388],[0.102619,0.982673,0.154347],[0.013559,-0.156533,0.987580]] 2025-10-28T23:23:16.143Z,1761693796.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994661,-0.098589,-0.030476],[0.102199,0.982025,0.158692],[0.014283,-0.160959,0.986858]] 2025-10-28T23:23:16.549Z,1761693796.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994827,-0.096626,-0.031335],[0.100481,0.981324,0.164034],[0.014900,-0.166334,0.985957]] 2025-10-28T23:23:16.951Z,1761693796.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995147,-0.093205,-0.031555],[0.097206,0.980968,0.168084],[0.015288,-0.170336,0.985268]] 2025-10-28T23:23:17.354Z,1761693797.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995559,-0.088790,-0.031281],[0.092860,0.980825,0.171344],[0.015467,-0.173488,0.984714]] 2025-10-28T23:23:17.759Z,1761693797.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995968,-0.084241,-0.030847],[0.088339,0.980842,0.173626],[0.015630,-0.175651,0.984329]] 2025-10-28T23:23:18.164Z,1761693798.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996341,-0.079939,-0.030225],[0.083998,0.981166,0.173947],[0.015751,-0.175849,0.984291]] 2025-10-28T23:23:18.567Z,1761693798.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996638,-0.076291,-0.029884],[0.080333,0.981606,0.173197],[0.016121,-0.175015,0.984434]] 2025-10-28T23:23:18.971Z,1761693798.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996856,-0.073416,-0.029796],[0.077436,0.982366,0.170176],[0.016777,-0.171948,0.984963]] 2025-10-28T23:23:19.374Z,1761693799.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996932,-0.072132,-0.030381],[0.076193,0.983199,0.165873],[0.017906,-0.167679,0.985679]] 2025-10-28T23:23:19.780Z,1761693799.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996989,-0.070969,-0.031260],[0.075122,0.983900,0.162164],[0.019248,-0.164024,0.986269]] 2025-10-28T23:23:20.182Z,1761693800.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996949,-0.070927,-0.032602],[0.075216,0.984547,0.158143],[0.020882,-0.160112,0.986878]] 2025-10-28T23:23:20.586Z,1761693800.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996852,-0.071502,-0.034255],[0.075949,0.985180,0.153790],[0.022751,-0.155907,0.987510]] 2025-10-28T23:23:20.991Z,1761693800.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996702,-0.072775,-0.035908],[0.077351,0.985781,0.149171],[0.024542,-0.151457,0.988159]] 2025-10-28T23:23:21.396Z,1761693801.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996529,-0.074327,-0.037503],[0.079043,0.986135,0.145914],[0.026138,-0.148372,0.988586]] 2025-10-28T23:23:21.803Z,1761693801.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996337,-0.076072,-0.039066],[0.080937,0.986321,0.143598],[0.027608,-0.146234,0.988865]] 2025-10-28T23:23:22.203Z,1761693802.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996155,-0.077521,-0.040815],[0.082621,0.986217,0.143352],[0.029139,-0.146173,0.988830]] 2025-10-28T23:23:22.607Z,1761693802.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995968,-0.079172,-0.042178],[0.084460,0.986036,0.143527],[0.030225,-0.146511,0.988747]] 2025-10-28T23:23:23.014Z,1761693803.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995760,-0.080925,-0.043750],[0.086445,0.985781,0.144097],[0.031467,-0.147268,0.988596]] 2025-10-28T23:23:23.414Z,1761693803.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995566,-0.082388,-0.045397],[0.088209,0.985302,0.146285],[0.032677,-0.149641,0.988200]] 2025-10-28T23:23:23.608Z,1761693803.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:23:23.819Z,1761693803.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995408,-0.083363,-0.047045],[0.089520,0.984753,0.149154],[0.033894,-0.152680,0.987694]] 2025-10-28T23:23:24.222Z,1761693804.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995280,-0.083904,-0.048761],[0.090457,0.984071,0.153042],[0.035144,-0.156730,0.987016]] 2025-10-28T23:23:24.616Z,1761693804.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:23:24.628Z,1761693804.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995175,-0.083942,-0.050797],[0.090990,0.983280,0.157736],[0.036707,-0.161597,0.986174]] 2025-10-28T23:23:25.030Z,1761693805.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995166,-0.082927,-0.052612],[0.090439,0.982673,0.161783],[0.038285,-0.165759,0.985423]] 2025-10-28T23:23:25.434Z,1761693805.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995147,-0.082115,-0.054221],[0.089985,0.982384,0.163783],[0.039817,-0.167867,0.985005]] 2025-10-28T23:23:25.841Z,1761693805.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995136,-0.081098,-0.055920],[0.089356,0.982089,0.165879],[0.041466,-0.170069,0.984559]] 2025-10-28T23:23:26.247Z,1761693806.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995147,-0.080218,-0.056992],[0.088678,0.982122,0.166053],[0.042653,-0.170301,0.984469]] 2025-10-28T23:23:26.646Z,1761693806.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995135,-0.079647,-0.057981],[0.088267,0.982221,0.165682],[0.043754,-0.169994,0.984473]] 2025-10-28T23:23:27.051Z,1761693807.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995103,-0.079210,-0.059127],[0.087982,0.982426,0.164615],[0.045049,-0.169011,0.984584]] 2025-10-28T23:23:27.455Z,1761693807.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995004,-0.079461,-0.060446],[0.088340,0.982792,0.162220],[0.046516,-0.166749,0.984902]] 2025-10-28T23:23:27.861Z,1761693807.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994879,-0.080196,-0.061523],[0.089129,0.983122,0.159773],[0.047671,-0.164438,0.985235]] 2025-10-28T23:23:28.286Z,1761693808.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994737,-0.081053,-0.062682],[0.090077,0.983329,0.157956],[0.048834,-0.162771,0.985455]] 2025-10-28T23:23:28.666Z,1761693808.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994619,-0.081734,-0.063667],[0.090855,0.983435,0.156845],[0.049793,-0.161785,0.985569]] 2025-10-28T23:23:29.071Z,1761693809.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994487,-0.082393,-0.064856],[0.091628,0.983582,0.155471],[0.050982,-0.160557,0.985709]] 2025-10-28T23:23:29.477Z,1761693809.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994367,-0.082515,-0.066525],[0.092064,0.983408,0.156311],[0.052523,-0.161555,0.985465]] 2025-10-28T23:23:29.879Z,1761693809.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994315,-0.081964,-0.067968],[0.091790,0.983323,0.157002],[0.053966,-0.162348,0.985257]] 2025-10-28T23:23:30.315Z,1761693810.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994351,-0.080543,-0.069123],[0.090577,0.983424,0.157079],[0.055326,-0.162453,0.985164]] 2025-10-28T23:23:30.686Z,1761693810.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994464,-0.078218,-0.070165],[0.088490,0.983496,0.157816],[0.056663,-0.163151,0.984973]] 2025-10-28T23:23:31.092Z,1761693811.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994631,-0.075337,-0.070944],[0.085815,0.983607,0.158598],[0.057833,-0.163835,0.984791]] 2025-10-28T23:23:31.495Z,1761693811.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994835,-0.072427,-0.071114],[0.082917,0.983983,0.157802],[0.058545,-0.162884,0.984907]] 2025-10-28T23:23:31.898Z,1761693811.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995003,-0.069682,-0.071512],[0.080184,0.984430,0.156420],[0.059499,-0.161373,0.985098]] 2025-10-28T23:23:32.324Z,1761693812.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995184,-0.066971,-0.071586],[0.077442,0.984835,0.155251],[0.060103,-0.160047,0.985278]] 2025-10-28T23:23:32.709Z,1761693812.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995314,-0.065052,-0.071545],[0.075398,0.985347,0.152993],[0.060544,-0.157671,0.985634]] 2025-10-28T23:23:33.111Z,1761693813.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995388,-0.063848,-0.071593],[0.074095,0.985744,0.151060],[0.060928,-0.155668,0.985929]] 2025-10-28T23:23:33.515Z,1761693813.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995412,-0.063398,-0.071665],[0.073548,0.986059,0.149258],[0.061203,-0.153844,0.986198]] 2025-10-28T23:23:33.919Z,1761693813.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995331,-0.064287,-0.071988],[0.074303,0.986426,0.146431],[0.061598,-0.151096,0.986598]] 2025-10-28T23:23:34.333Z,1761693814.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995147,-0.066421,-0.072600],[0.076376,0.986583,0.144291],[0.062042,-0.149136,0.986869]] 2025-10-28T23:23:34.728Z,1761693814.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994928,-0.068949,-0.073244],[0.078897,0.986574,0.142997],[0.062401,-0.148050,0.987009]] 2025-10-28T23:23:35.130Z,1761693815.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994685,-0.071453,-0.074136],[0.081450,0.986509,0.142010],[0.062989,-0.147294,0.987085]] 2025-10-28T23:23:35.535Z,1761693815.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994438,-0.073859,-0.075090],[0.083965,0.986325,0.141821],[0.063588,-0.147337,0.987040]] 2025-10-28T23:23:35.939Z,1761693815.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994193,-0.075964,-0.076228],[0.086401,0.985715,0.144570],[0.064157,-0.150316,0.986554]] 2025-10-28T23:23:36.342Z,1761693816.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993946,-0.077860,-0.077515],[0.088712,0.984978,0.148149],[0.064816,-0.154129,0.985923]] 2025-10-28T23:23:36.746Z,1761693816.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993713,-0.079568,-0.078761],[0.090757,0.984427,0.150552],[0.065555,-0.156754,0.985460]] 2025-10-28T23:23:37.151Z,1761693817.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993564,-0.080222,-0.079965],[0.091853,0.983733,0.154375],[0.066280,-0.160727,0.984771]] 2025-10-28T23:23:37.555Z,1761693817.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993520,-0.079706,-0.081027],[0.091853,0.982940,0.159347],[0.066944,-0.165757,0.983892]] 2025-10-28T23:23:37.983Z,1761693817.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993617,-0.078012,-0.081480],[0.090360,0.982823,0.160916],[0.067527,-0.167251,0.983599]] 2025-10-28T23:23:38.362Z,1761693818.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993787,-0.075585,-0.081703],[0.088139,0.982686,0.162970],[0.067971,-0.169158,0.983242]] 2025-10-28T23:23:38.766Z,1761693818.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993918,-0.073253,-0.082222],[0.085981,0.982736,0.163824],[0.068802,-0.169897,0.983057]] 2025-10-28T23:23:39.171Z,1761693819.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994170,-0.070111,-0.081922],[0.082883,0.982859,0.164677],[0.068973,-0.170507,0.982939]] 2025-10-28T23:23:39.577Z,1761693819.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994426,-0.066614,-0.081725],[0.079419,0.983081,0.165061],[0.069347,-0.170632,0.982892]] 2025-10-28T23:23:39.978Z,1761693819.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994611,-0.064140,-0.081460],[0.076751,0.983707,0.162572],[0.069705,-0.167948,0.983328]] 2025-10-28T23:23:40.383Z,1761693820.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994751,-0.062243,-0.081222],[0.074607,0.984398,0.159357],[0.070035,-0.164580,0.983874]] 2025-10-28T23:23:40.787Z,1761693820.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994794,-0.061652,-0.081140],[0.073788,0.984956,0.156260],[0.070286,-0.161433,0.984378]] 2025-10-28T23:23:41.192Z,1761693821.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994788,-0.061744,-0.081144],[0.073648,0.985475,0.153017],[0.070517,-0.158195,0.984887]] 2025-10-28T23:23:41.594Z,1761693821.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994717,-0.062409,-0.081501],[0.074201,0.985781,0.150766],[0.070933,-0.156017,0.985204]] 2025-10-28T23:23:41.998Z,1761693821.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994594,-0.063453,-0.082197],[0.075209,0.985990,0.148887],[0.071598,-0.154264,0.985432]] 2025-10-28T23:23:42.403Z,1761693822.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994476,-0.064381,-0.082904],[0.076124,0.986154,0.147329],[0.072271,-0.152826,0.985607]] 2025-10-28T23:23:42.807Z,1761693822.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994403,-0.064868,-0.083399],[0.076601,0.986284,0.146209],[0.072771,-0.151779,0.985732]] 2025-10-28T23:23:43.211Z,1761693823.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994387,-0.064520,-0.083860],[0.076351,0.986252,0.146551],[0.073251,-0.152131,0.985642]] 2025-10-28T23:23:43.622Z,1761693823.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994561,-0.061153,-0.084314],[0.073218,0.986218,0.148367],[0.074079,-0.153733,0.985332]] 2025-10-28T23:23:44.024Z,1761693824.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994666,-0.059603,-0.084186],[0.071692,0.986268,0.148782],[0.074162,-0.154024,0.985280]] 2025-10-28T23:23:44.428Z,1761693824.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994794,-0.058054,-0.083758],[0.070110,0.986342,0.149044],[0.073962,-0.154140,0.985277]] 2025-10-28T23:23:44.831Z,1761693824.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994931,-0.056546,-0.083159],[0.068529,0.986438,0.149146],[0.073598,-0.154089,0.985312]] 2025-10-28T23:23:45.237Z,1761693825.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995098,-0.055390,-0.081931],[0.067216,0.986482,0.149451],[0.072545,-0.154226,0.985369]] 2025-10-28T23:23:45.635Z,1761693825.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995261,-0.054586,-0.080471],[0.066136,0.986672,0.148676],[0.071283,-0.153293,0.985606]] 2025-10-28T23:23:46.039Z,1761693826.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995311,-0.055111,-0.079495],[0.066413,0.986848,0.147375],[0.070327,-0.151963,0.985881]] 2025-10-28T23:23:46.443Z,1761693826.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995421,-0.055639,-0.077730],[0.066637,0.986898,0.146940],[0.068536,-0.151447,0.986087]] 2025-10-28T23:23:46.847Z,1761693826.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995465,-0.056638,-0.076425],[0.067442,0.986815,0.147131],[0.067084,-0.151618,0.986160]] 2025-10-28T23:23:47.251Z,1761693827.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995518,-0.057770,-0.074876],[0.068326,0.986758,0.147104],[0.065386,-0.151561,0.986283]] 2025-10-28T23:23:47.655Z,1761693827.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995506,-0.059282,-0.073849],[0.069663,0.986676,0.147030],[0.064149,-0.151514,0.986371]] 2025-10-28T23:23:48.059Z,1761693828.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995478,-0.060685,-0.073075],[0.071060,0.986285,0.148969],[0.063033,-0.153488,0.986138]] 2025-10-28T23:23:48.465Z,1761693828.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995465,-0.061657,-0.072439],[0.072055,0.985899,0.151032],[0.062106,-0.155567,0.985871]] 2025-10-28T23:23:48.866Z,1761693828.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995466,-0.062409,-0.071778],[0.072843,0.985478,0.153384],[0.061163,-0.157917,0.985556]] 2025-10-28T23:23:49.270Z,1761693829.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995485,-0.062695,-0.071263],[0.073149,0.985190,0.155078],[0.060485,-0.159591,0.985328]] 2025-10-28T23:23:49.675Z,1761693829.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995572,-0.062082,-0.070584],[0.072550,0.984930,0.156999],[0.059774,-0.161425,0.985073]] 2025-10-28T23:23:50.078Z,1761693830.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995719,-0.060516,-0.069872],[0.071030,0.984652,0.159421],[0.059153,-0.163702,0.984735]] 2025-10-28T23:23:50.483Z,1761693830.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995947,-0.057945,-0.068791],[0.068422,0.984530,0.161302],[0.058380,-0.165355,0.984505]] 2025-10-28T23:23:50.887Z,1761693830.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996187,-0.054885,-0.067813],[0.065231,0.984759,0.161229],[0.057930,-0.165038,0.984584]] 2025-10-28T23:23:50.911Z,1761693830.911 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T23:23:51.292Z,1761693831.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996452,-0.051463,-0.066592],[0.061638,0.985010,0.161106],[0.057303,-0.164639,0.984688]] 2025-10-28T23:23:51.695Z,1761693831.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996724,-0.047634,-0.065363],[0.057689,0.985140,0.161774],[0.056685,-0.165014,0.984661]] 2025-10-28T23:23:52.098Z,1761693832.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996962,-0.044232,-0.064111],[0.054044,0.985566,0.160434],[0.056090,-0.163412,0.984962]] 2025-10-28T23:23:52.503Z,1761693832.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997172,-0.041310,-0.062784],[0.050770,0.986221,0.157448],[0.055415,-0.160190,0.985529]] 2025-10-28T23:23:52.908Z,1761693832.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997326,-0.039272,-0.061638],[0.048442,0.986705,0.155132],[0.054726,-0.157703,0.985969]] 2025-10-28T23:23:53.310Z,1761693833.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997423,-0.038202,-0.060729],[0.047033,0.987358,0.151366],[0.054179,-0.153832,0.986611]] 2025-10-28T23:23:53.714Z,1761693833.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997491,-0.037975,-0.059751],[0.046497,0.987832,0.148413],[0.053388,-0.150818,0.987119]] 2025-10-28T23:23:54.118Z,1761693834.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997524,-0.038432,-0.058893],[0.046681,0.988214,0.145790],[0.052595,-0.148178,0.987561]] 2025-10-28T23:23:54.523Z,1761693834.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997523,-0.039319,-0.058328],[0.047394,0.988405,0.144254],[0.051980,-0.146662,0.987820]] 2025-10-28T23:23:54.736Z,1761693834.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:23:54.928Z,1761693834.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997525,-0.040441,-0.057513],[0.048326,0.988528,0.143100],[0.051066,-0.145526,0.988036]] 2025-10-28T23:23:55.330Z,1761693835.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997562,-0.040560,-0.056786],[0.048368,0.988442,0.143680],[0.050302,-0.146076,0.987994]] 2025-10-28T23:23:55.734Z,1761693835.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997638,-0.039641,-0.056093],[0.047476,0.988134,0.146073],[0.049637,-0.148391,0.987682]] 2025-10-28T23:23:55.740Z,1761693835.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:23:56.139Z,1761693836.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997750,-0.038040,-0.055209],[0.045836,0.987980,0.147626],[0.048930,-0.149825,0.987501]] 2025-10-28T23:23:56.544Z,1761693836.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997888,-0.035720,-0.054252],[0.043476,0.987840,0.149275],[0.048261,-0.151318,0.987306]] 2025-10-28T23:23:56.947Z,1761693836.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998007,-0.033588,-0.053415],[0.041337,0.987620,0.151318],[0.047671,-0.153225,0.987041]] 2025-10-28T23:23:57.351Z,1761693837.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998144,-0.031173,-0.052319],[0.038884,0.987382,0.153511],[0.046873,-0.155260,0.986761]] 2025-10-28T23:23:57.755Z,1761693837.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998279,-0.029241,-0.050835],[0.036750,0.987433,0.153705],[0.045702,-0.155309,0.986808]] 2025-10-28T23:23:58.161Z,1761693838.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998376,-0.028258,-0.049466],[0.035549,0.987531,0.153356],[0.044516,-0.154865,0.986932]] 2025-10-28T23:23:58.562Z,1761693838.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998464,-0.028146,-0.047727],[0.035141,0.987645,0.152714],[0.042839,-0.154157,0.987117]] 2025-10-28T23:23:58.966Z,1761693838.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998541,-0.028546,-0.045841],[0.035170,0.987921,0.150912],[0.040980,-0.152304,0.987484]] 2025-10-28T23:23:59.372Z,1761693839.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998597,-0.029529,-0.043948],[0.035828,0.988001,0.150232],[0.038985,-0.151596,0.987673]] 2025-10-28T23:23:59.777Z,1761693839.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998639,-0.030965,-0.041958],[0.036925,0.988047,0.149663],[0.036822,-0.151008,0.987846]] 2025-10-28T23:24:00.179Z,1761693840.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998683,-0.032176,-0.039959],[0.037777,0.988202,0.148421],[0.034712,-0.149735,0.988117]] 2025-10-28T23:24:00.582Z,1761693840.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998715,-0.033530,-0.037988],[0.038761,0.988437,0.146596],[0.032634,-0.147880,0.988467]] 2025-10-28T23:24:00.988Z,1761693840.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998747,-0.034758,-0.036016],[0.039654,0.988549,0.145597],[0.030543,-0.146842,0.988688]] 2025-10-28T23:24:01.392Z,1761693841.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998754,-0.036275,-0.034277],[0.040864,0.988677,0.144388],[0.028651,-0.145609,0.988927]] 2025-10-28T23:24:01.794Z,1761693841.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.037289,-0.032709],[0.041633,0.988681,0.144140],[0.026964,-0.145324,0.989017]] 2025-10-28T23:24:02.198Z,1761693842.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,-0.038334,-0.031006],[0.042402,0.988747,0.143464],[0.025158,-0.144604,0.989170]] 2025-10-28T23:24:02.604Z,1761693842.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998799,-0.039171,-0.029422],[0.043012,0.988653,0.143928],[0.023450,-0.145021,0.989151]] 2025-10-28T23:24:03.030Z,1761693843.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,-0.040033,-0.027622],[0.043587,0.988749,0.143091],[0.021583,-0.144126,0.989324]] 2025-10-28T23:24:03.411Z,1761693843.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998837,-0.040507,-0.026156],[0.043849,0.988707,0.143301],[0.020056,-0.144281,0.989333]] 2025-10-28T23:24:03.814Z,1761693843.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998878,-0.040490,-0.024581],[0.043623,0.988575,0.144277],[0.018459,-0.145188,0.989232]] 2025-10-28T23:24:03.839Z,1761693843.839 [keepstation:SurfaceComms] Running Loop=1 2025-10-28T23:24:03.839Z,1761693843.839 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms 2025-10-28T23:24:03.840Z,1761693843.840 [keepstation:SurfaceComms:A] Running Loop=1 2025-10-28T23:24:03.841Z,1761693843.841 [keepstation:SurfaceComms:A] Stopped 2025-10-28T23:24:03.841Z,1761693843.841 [keepstation:SurfaceComms:B] Running Loop=1 2025-10-28T23:24:03.842Z,1761693843.842 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B 2025-10-28T23:24:04.218Z,1761693844.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998957,-0.039495,-0.022913],[0.042424,0.988383,0.145946],[0.016882,-0.146766,0.989027]] 2025-10-28T23:24:04.261Z,1761693844.261 [keepstation:TransitToStation:Dive] Stopped 2025-10-28T23:24:04.262Z,1761693844.262 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive 2025-10-28T23:24:04.262Z,1761693844.262 [keepstation:TransitToStation:Dive:A] Stopped 2025-10-28T23:24:04.263Z,1761693844.263 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A 2025-10-28T23:24:04.264Z,1761693844.264 [keepstation:DiveCmd:TransitToStation] Stopped 2025-10-28T23:24:04.264Z,1761693844.264 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation 2025-10-28T23:24:04.265Z,1761693844.265 [keepstation:DiveCmd:TransitToStation:dive] Stopped 2025-10-28T23:24:04.265Z,1761693844.265 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T23:24:04.265Z,1761693844.265 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped 2025-10-28T23:24:04.266Z,1761693844.266 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T23:24:04.266Z,1761693844.266 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped 2025-10-28T23:24:04.266Z,1761693844.266 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped 2025-10-28T23:24:04.266Z,1761693844.266 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize. 2025-10-28T23:24:04.272Z,1761693844.272 [keepstation:NeedComms] Running Loop=1 2025-10-28T23:24:04.288Z,1761693844.288 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms 2025-10-28T23:24:04.289Z,1761693844.289 [keepstation:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T23:24:04.289Z,1761693844.289 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T23:24:04.290Z,1761693844.290 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T23:24:04.291Z,1761693844.291 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T23:24:04.297Z,1761693844.297 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T23:24:04.298Z,1761693844.298 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T23:24:04.299Z,1761693844.299 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T23:24:04.300Z,1761693844.300 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T23:24:04.305Z,1761693844.305 [keepstation:NeedComms:A] Running Loop=1 2025-10-28T23:24:04.314Z,1761693844.314 [keepstation:NeedComms:A](INFO): last time_fix was: 1761692642.000000 second since 1970/01/01T00:00:00Z 2025-10-28T23:24:04.314Z,1761693844.314 [keepstation:NeedComms:A] Stopped 2025-10-28T23:24:04.622Z,1761693844.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999068,-0.037628,-0.021164],[0.040357,0.988117,0.148313],[0.015332,-0.149029,0.988714]] 2025-10-28T23:24:05.027Z,1761693845.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999193,-0.035248,-0.019252],[0.037745,0.987930,0.150235],[0.013724,-0.150840,0.988463]] 2025-10-28T23:24:05.431Z,1761693845.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999338,-0.032176,-0.016977],[0.034362,0.988087,0.150010],[0.011948,-0.150494,0.988539]] 2025-10-28T23:24:05.834Z,1761693845.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999465,-0.029234,-0.014654],[0.031112,0.988070,0.150827],[0.010070,-0.151202,0.988452]] 2025-10-28T23:24:06.242Z,1761693846.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999581,-0.026213,-0.012292],[0.027761,0.988306,0.149934],[0.008218,-0.150212,0.988620]] 2025-10-28T23:24:06.644Z,1761693846.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999655,-0.024580,-0.009283],[0.025679,0.988783,0.147137],[0.005562,-0.147324,0.989073]] 2025-10-28T23:24:07.047Z,1761693847.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999716,-0.023567,-0.003576],[0.023836,0.989276,0.144098],[0.000142,-0.144142,0.989557]] 2025-10-28T23:24:07.451Z,1761693847.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999712,-0.023333,0.005568],[0.022321,0.989842,0.140408],[-0.008787,-0.140243,0.990078]] 2025-10-28T23:24:07.854Z,1761693847.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999563,-0.024378,0.016710],[0.021856,0.990288,0.137304],[-0.019895,-0.136878,0.990388]] 2025-10-28T23:24:08.275Z,1761693848.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999220,-0.026243,0.029506],[0.021999,0.990472,0.135946],[-0.032792,-0.135191,0.990277]] 2025-10-28T23:24:08.664Z,1761693848.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998657,-0.028703,0.043125],[0.022600,0.990468,0.135876],[-0.046614,-0.134718,0.989787]] 2025-10-28T23:24:09.067Z,1761693849.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997845,-0.031991,0.057290],[0.023904,0.990331,0.136652],[-0.061108,-0.134988,0.988961]] 2025-10-28T23:24:09.471Z,1761693849.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996763,-0.035614,0.072078],[0.025328,0.989984,0.138889],[-0.076302,-0.136614,0.987681]] 2025-10-28T23:24:09.875Z,1761693849.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995445,-0.039296,0.086864],[0.026723,0.989587,0.141433],[-0.091518,-0.138467,0.986130]] 2025-10-28T23:24:10.319Z,1761693850.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993890,-0.042397,0.101912],[0.027308,0.989035,0.145136],[-0.106948,-0.141466,0.984149]] 2025-10-28T23:24:10.683Z,1761693850.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992136,-0.044343,0.117043],[0.026745,0.988649,0.147846],[-0.122270,-0.143553,0.982060]] 2025-10-28T23:24:11.087Z,1761693851.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990191,-0.044964,0.132286],[0.024769,0.988296,0.150524],[-0.137506,-0.145770,0.979716]] 2025-10-28T23:24:11.491Z,1761693851.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987961,-0.044052,0.148298],[0.021036,0.987951,0.153334],[-0.153266,-0.148369,0.976983]] 2025-10-28T23:24:11.897Z,1761693851.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985472,-0.042212,0.164507],[0.016324,0.987678,0.155646],[-0.169050,-0.150699,0.974018]] 2025-10-28T23:24:12.327Z,1761693852.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982703,-0.039749,0.180872],[0.011242,0.987696,0.155979],[-0.184847,-0.151248,0.971059]] 2025-10-28T23:24:12.702Z,1761693852.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979733,-0.036198,0.197009],[0.005126,0.987745,0.155994],[-0.200242,-0.151822,0.967912]] 2025-10-28T23:24:13.107Z,1761693853.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976431,-0.033577,0.213204],[0.000135,0.987920,0.154965],[-0.215831,-0.151284,0.964640]] 2025-10-28T23:24:13.512Z,1761693853.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972867,-0.031014,0.229276],[-0.004526,0.988234,0.152879],[-0.231320,-0.149769,0.961281]] 2025-10-28T23:24:14.352Z,1761693854.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964893,-0.031040,0.260803],[-0.008658,0.988693,0.149703],[-0.262501,-0.146705,0.953714]] 2025-10-28T23:24:14.836Z,1761693854.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960660,-0.034367,0.275593],[-0.007499,0.988743,0.149439],[-0.277626,-0.145626,0.949588]] 2025-10-28T23:24:15.238Z,1761693855.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956532,-0.039006,0.289007],[-0.004546,0.988900,0.148513],[-0.291592,-0.143372,0.945737]] 2025-10-28T23:24:15.704Z,1761693855.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949016,-0.052265,0.310864],[0.005458,0.988736,0.149570],[-0.315180,-0.140248,0.938612]] 2025-10-28T23:24:16.115Z,1761693856.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945571,-0.060420,0.319758],[0.011829,0.988344,0.151774],[-0.325201,-0.139730,0.935265]] 2025-10-28T23:24:16.515Z,1761693856.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942180,-0.069020,0.327922],[0.018447,0.987758,0.154899],[-0.334599,-0.139893,0.931919]] 2025-10-28T23:24:16.918Z,1761693856.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938756,-0.077822,0.335679],[0.024555,0.986795,0.160103],[-0.343706,-0.142055,0.928271]] 2025-10-28T23:24:17.323Z,1761693857.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935219,-0.084840,0.343755],[0.029078,0.985992,0.164238],[-0.352874,-0.143603,0.924586]] 2025-10-28T23:24:17.769Z,1761693857.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931613,-0.088639,0.352478],[0.030749,0.985550,0.166569],[-0.362149,-0.144340,0.920877]] 2025-10-28T23:24:18.221Z,1761693858.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927936,-0.090876,0.361491],[0.030321,0.985013,0.169791],[-0.371503,-0.146595,0.916785]] 2025-10-28T23:24:18.793Z,1761693858.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924277,-0.091637,0.370560],[0.028535,0.984628,0.172319],[-0.380655,-0.148697,0.912683]] 2025-10-28T23:24:19.196Z,1761693859.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920846,-0.091818,0.378963],[0.026754,0.984468,0.173516],[-0.389009,-0.149643,0.908999]] 2025-10-28T23:24:19.598Z,1761693859.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917669,-0.092531,0.386421],[0.024544,0.983850,0.177304],[-0.396586,-0.153222,0.905120]] 2025-10-28T23:24:20.002Z,1761693860.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914733,-0.092352,0.393362],[0.022272,0.983574,0.179126],[-0.403444,-0.155092,0.901765]] 2025-10-28T23:24:20.406Z,1761693860.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912144,-0.092378,0.399323],[0.020422,0.983303,0.180827],[-0.409360,-0.156785,0.898801]] 2025-10-28T23:24:20.812Z,1761693860.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909785,-0.092745,0.404585],[0.018217,0.982700,0.184305],[-0.414679,-0.160307,0.895736]] 2025-10-28T23:24:21.217Z,1761693861.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907660,-0.092280,0.409436],[0.015699,0.982312,0.186595],[-0.419412,-0.162937,0.893054]] 2025-10-28T23:24:21.618Z,1761693861.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905708,-0.091923,0.413814],[0.013306,0.981889,0.188991],[-0.423692,-0.165664,0.890528]] 2025-10-28T23:24:22.022Z,1761693862.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903928,-0.090778,0.417941],[0.010311,0.981556,0.190896],[-0.427561,-0.168246,0.888192]] 2025-10-28T23:24:22.428Z,1761693862.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902604,-0.089894,0.420982],[0.008081,0.981319,0.192220],[-0.430397,-0.170097,0.886468]] 2025-10-28T23:24:22.832Z,1761693862.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901480,-0.089713,0.423420],[0.006663,0.981043,0.193676],[-0.432769,-0.171774,0.884989]] 2025-10-28T23:24:23.235Z,1761693863.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900634,-0.090640,0.425020],[0.007129,0.980957,0.194095],[-0.434519,-0.171778,0.884130]] 2025-10-28T23:24:23.638Z,1761693863.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900107,-0.092813,0.425667],[0.009077,0.980828,0.194667],[-0.435574,-0.171357,0.883692]] 2025-10-28T23:24:24.109Z,1761693864.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899785,-0.104587,0.423614],[0.019866,0.979661,0.199673],[-0.435882,-0.171247,0.883562]] 2025-10-28T23:24:24.510Z,1761693864.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900229,-0.111767,0.420829],[0.026802,0.978885,0.202647],[-0.434592,-0.171150,0.884216]] 2025-10-28T23:24:24.916Z,1761693864.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901199,-0.120262,0.416387],[0.034832,0.977721,0.207000],[-0.432005,-0.172044,0.885309]] 2025-10-28T23:24:25.318Z,1761693865.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902519,-0.129303,0.410780],[0.043300,0.976273,0.212171],[-0.428467,-0.173702,0.886704]] 2025-10-28T23:24:25.723Z,1761693865.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904173,-0.138120,0.404221],[0.051773,0.974740,0.217257],[-0.424018,-0.175510,0.888485]] 2025-10-28T23:24:25.860Z,1761693865.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:24:26.127Z,1761693866.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905995,-0.145933,0.397336],[0.059474,0.973266,0.221848],[-0.419089,-0.177362,0.890453]] 2025-10-28T23:24:26.533Z,1761693866.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908190,-0.152498,0.389790],[0.066287,0.971916,0.225799],[-0.413277,-0.179231,0.892793]] 2025-10-28T23:24:26.866Z,1761693866.866 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:24:26.934Z,1761693866.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910554,-0.158021,0.381997],[0.072298,0.970688,0.229211],[-0.407020,-0.181091,0.895288]] 2025-10-28T23:24:27.339Z,1761693867.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913029,-0.162223,0.374249],[0.077127,0.969621,0.232134],[-0.400538,-0.183080,0.897804]] 2025-10-28T23:24:27.743Z,1761693867.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915792,-0.165019,0.366188],[0.080087,0.968418,0.236120],[-0.393587,-0.186910,0.900086]] 2025-10-28T23:24:28.148Z,1761693868.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918583,-0.167666,0.357902],[0.081750,0.966577,0.242994],[-0.386681,-0.193952,0.901588]] 2025-10-28T23:24:28.550Z,1761693868.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921416,-0.169022,0.349892],[0.081502,0.964477,0.251280],[-0.379935,-0.203016,0.902460]] 2025-10-28T23:24:28.954Z,1761693868.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924360,-0.168779,0.342158],[0.079644,0.962430,0.259585],[-0.373116,-0.212700,0.903074]] 2025-10-28T23:24:29.359Z,1761693869.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927206,-0.167734,0.334895],[0.077275,0.960552,0.267149],[-0.366494,-0.221823,0.903591]] 2025-10-28T23:24:29.765Z,1761693869.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929850,-0.166258,0.328233],[0.075417,0.959268,0.272244],[-0.360126,-0.228392,0.904514]] 2025-10-28T23:24:30.267Z,1761693870.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932482,-0.164294,0.321692],[0.075062,0.959270,0.272336],[-0.353332,-0.229802,0.906834]] 2025-10-28T23:24:30.662Z,1761693870.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934930,-0.161987,0.315699],[0.076753,0.960974,0.265779],[-0.346431,-0.224253,0.910877]] 2025-10-28T23:24:31.068Z,1761693871.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937091,-0.159665,0.310430],[0.079776,0.963687,0.254839],[-0.339847,-0.214043,0.915800]] 2025-10-28T23:24:31.470Z,1761693871.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939133,-0.157041,0.305561],[0.082862,0.966694,0.242151],[-0.333411,-0.202093,0.920867]] 2025-10-28T23:24:31.875Z,1761693871.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941059,-0.154910,0.300683],[0.085982,0.969318,0.230283],[-0.327131,-0.190857,0.925505]] 2025-10-28T23:24:32.331Z,1761693872.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942816,-0.153336,0.295950],[0.088800,0.971362,0.220385],[-0.321267,-0.181502,0.929432]] 2025-10-28T23:24:32.798Z,1761693872.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944455,-0.153395,0.290646],[0.092605,0.972767,0.212480],[-0.315324,-0.173763,0.932940]] 2025-10-28T23:24:33.198Z,1761693873.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945962,-0.155190,0.284732],[0.096953,0.973238,0.208345],[-0.309445,-0.169481,0.935692]] 2025-10-28T23:24:33.602Z,1761693873.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947418,-0.157875,0.278343],[0.101752,0.973308,0.205715],[-0.303390,-0.166576,0.938193]] 2025-10-28T23:24:34.006Z,1761693874.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948786,-0.161325,0.271623],[0.106471,0.972774,0.205851],[-0.297436,-0.166388,0.940131]] 2025-10-28T23:24:34.415Z,1761693874.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950069,-0.164299,0.265281],[0.110095,0.971978,0.207697],[-0.291972,-0.168120,0.941535]] 2025-10-28T23:24:34.814Z,1761693874.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950943,-0.167116,0.260346],[0.113179,0.971135,0.209971],[-0.287921,-0.170205,0.942407]] 2025-10-28T23:24:35.219Z,1761693875.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951547,-0.170055,0.256203],[0.116251,0.970273,0.212262],[-0.284683,-0.172194,0.943030]] 2025-10-28T23:24:35.622Z,1761693875.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951606,-0.174713,0.252826],[0.121145,0.969322,0.213866],[-0.282435,-0.172888,0.943579]] 2025-10-28T23:24:36.028Z,1761693876.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951256,-0.180352,0.250170],[0.127907,0.968842,0.212097],[-0.280627,-0.169760,0.944685]] 2025-10-28T23:24:36.431Z,1761693876.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950676,-0.186716,0.247696],[0.135744,0.968443,0.209026],[-0.278908,-0.165093,0.946020]] 2025-10-28T23:24:36.834Z,1761693876.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950103,-0.193429,0.244722],[0.143776,0.967775,0.206737],[-0.276825,-0.161237,0.947297]] 2025-10-28T23:24:37.238Z,1761693877.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949592,-0.200552,0.240945],[0.151472,0.966445,0.207461],[-0.274467,-0.160507,0.948106]] 2025-10-28T23:24:37.643Z,1761693877.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949142,-0.207780,0.236552],[0.158317,0.964392,0.211859],[-0.272149,-0.163634,0.948240]] 2025-10-28T23:24:38.452Z,1761693878.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949423,-0.219061,0.224964],[0.166361,0.958553,0.231301],[-0.266309,-0.182177,0.946515]] 2025-10-28T23:24:38.933Z,1761693878.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952056,-0.215277,0.217361],[0.158355,0.954699,0.251939],[-0.261751,-0.205440,0.943017]] 2025-10-28T23:24:39.376Z,1761693879.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953693,-0.209702,0.215627],[0.149333,0.952404,0.265754],[-0.261093,-0.221248,0.939617]] 2025-10-28T23:24:39.779Z,1761693879.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955163,-0.202642,0.215870],[0.138660,0.950350,0.278583],[-0.261605,-0.236160,0.935837]] 2025-10-28T23:24:40.186Z,1761693880.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956296,-0.195138,0.217761],[0.127590,0.948571,0.289714],[-0.263096,-0.249268,0.932012]] 2025-10-28T23:24:40.587Z,1761693880.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956861,-0.187539,0.221915],[0.116799,0.947636,0.297226],[-0.266036,-0.258484,0.928661]] 2025-10-28T23:24:40.991Z,1761693880.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956969,-0.179244,0.228214],[0.106441,0.948430,0.298580],[-0.269964,-0.261441,0.926697]] 2025-10-28T23:24:41.395Z,1761693881.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956810,-0.171036,0.235079],[0.097578,0.950654,0.294508],[-0.273850,-0.258849,0.926285]] 2025-10-28T23:24:41.800Z,1761693881.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956379,-0.165189,0.240939],[0.092074,0.953185,0.288030],[-0.277239,-0.253282,0.926815]] 2025-10-28T23:24:42.203Z,1761693882.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955451,-0.162266,0.246544],[0.090445,0.956094,0.278755],[-0.280951,-0.244038,0.928177]] 2025-10-28T23:24:42.607Z,1761693882.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954269,-0.160273,0.252357],[0.090746,0.959608,0.266303],[-0.284845,-0.231224,0.930268]] 2025-10-28T23:24:43.031Z,1761693883.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952964,-0.159911,0.257465],[0.091776,0.961854,0.257710],[-0.288854,-0.221959,0.931288]] 2025-10-28T23:24:43.415Z,1761693883.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951557,-0.159721,0.262734],[0.093120,0.964064,0.248816],[-0.293034,-0.212297,0.932235]] 2025-10-28T23:24:43.820Z,1761693883.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950034,-0.161488,0.267128],[0.095219,0.964916,0.244684],[-0.297269,-0.207022,0.932080]] 2025-10-28T23:24:44.222Z,1761693884.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948393,-0.165220,0.270653],[0.098093,0.964530,0.245069],[-0.301543,-0.205873,0.930961]] 2025-10-28T23:24:44.626Z,1761693884.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946805,-0.169114,0.273788],[0.101555,0.964328,0.244454],[-0.305362,-0.203646,0.930205]] 2025-10-28T23:24:45.031Z,1761693885.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945440,-0.172718,0.276245],[0.104596,0.963938,0.244712],[-0.308549,-0.202466,0.929411]] 2025-10-28T23:24:45.436Z,1761693885.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944134,-0.178345,0.277135],[0.107337,0.961476,0.253067],[-0.311592,-0.209182,0.926905]] 2025-10-28T23:24:45.838Z,1761693885.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942607,-0.184086,0.278574],[0.109266,0.958419,0.263617],[-0.315519,-0.218049,0.923527]] 2025-10-28T23:24:46.246Z,1761693886.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941246,-0.185986,0.281895],[0.107286,0.956128,0.272597],[-0.320227,-0.226338,0.919905]] 2025-10-28T23:24:46.649Z,1761693886.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940125,-0.183015,0.287524],[0.101852,0.955911,0.275429],[-0.325255,-0.229652,0.917316]] 2025-10-28T23:24:47.055Z,1761693887.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938695,-0.180222,0.293890],[0.098137,0.956897,0.273345],[-0.330485,-0.227746,0.915921]] 2025-10-28T23:24:47.454Z,1761693887.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937146,-0.179205,0.299403],[0.096901,0.957953,0.270068],[-0.335212,-0.224080,0.915107]] 2025-10-28T23:24:47.858Z,1761693887.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935826,-0.180105,0.302973],[0.095965,0.957311,0.272666],[-0.339148,-0.226093,0.913160]] 2025-10-28T23:24:48.296Z,1761693888.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934909,-0.181091,0.305208],[0.093796,0.955516,0.279628],[-0.342269,-0.232799,0.910306]] 2025-10-28T23:24:48.775Z,1761693888.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934073,-0.180329,0.308203],[0.089432,0.953748,0.286995],[-0.345702,-0.240511,0.906998]] 2025-10-28T23:24:49.174Z,1761693889.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932941,-0.176096,0.314023],[0.083125,0.954008,0.288026],[-0.350301,-0.242608,0.904672]] 2025-10-28T23:24:49.584Z,1761693889.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931513,-0.169610,0.321738],[0.076056,0.955889,0.283712],[-0.355666,-0.239811,0.903323]] 2025-10-28T23:24:49.987Z,1761693889.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929755,-0.161781,0.330729],[0.069011,0.958942,0.275076],[-0.361652,-0.232929,0.902747]] 2025-10-28T23:24:50.393Z,1761693890.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927809,-0.153244,0.340127],[0.061927,0.962351,0.264660],[-0.367879,-0.224491,0.902368]] 2025-10-28T23:24:50.795Z,1761693890.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925733,-0.145961,0.348875],[0.054676,0.964480,0.258434],[-0.374204,-0.220166,0.900832]] 2025-10-28T23:24:51.198Z,1761693891.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923350,-0.140426,0.357358],[0.049486,0.966482,0.251921],[-0.380756,-0.214927,0.899350]] 2025-10-28T23:24:52.073Z,1761693892.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918103,-0.140599,0.370565],[0.052152,0.969690,0.238707],[-0.392895,-0.199832,0.897608]] 2025-10-28T23:24:52.477Z,1761693892.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915979,-0.144793,0.374189],[0.058880,0.971026,0.231607],[-0.396882,-0.190115,0.897965]] 2025-10-28T23:24:52.879Z,1761693892.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915540,-0.146321,0.374669],[0.063923,0.972577,0.223625],[-0.397115,-0.180788,0.899786]] 2025-10-28T23:24:53.282Z,1761693893.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916351,-0.147097,0.372375],[0.065043,0.972402,0.224062],[-0.395057,-0.181099,0.900629]] 2025-10-28T23:24:53.687Z,1761693893.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916484,-0.151818,0.370147],[0.063658,0.968752,0.239723],[-0.394975,-0.196139,0.897510]] 2025-10-28T23:24:54.099Z,1761693894.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913294,-0.156372,0.376088],[0.049697,0.959249,0.278157],[-0.404258,-0.235349,0.883847]] 2025-10-28T23:24:54.503Z,1761693894.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911832,-0.150540,0.381970],[0.036337,0.956292,0.290146],[-0.408953,-0.250684,0.877448]] 2025-10-28T23:24:54.903Z,1761693894.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909810,-0.144740,0.388967],[0.026059,0.955289,0.294524],[-0.414205,-0.257825,0.872904]] 2025-10-28T23:24:55.307Z,1761693895.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907783,-0.142926,0.394337],[0.024118,0.956384,0.291115],[-0.418746,-0.254758,0.871637]] 2025-10-28T23:24:55.776Z,1761693895.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907043,-0.147417,0.394387],[0.032219,0.958257,0.284086],[-0.419803,-0.244972,0.873930]] 2025-10-28T23:24:56.179Z,1761693896.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909586,-0.150241,0.387404],[0.039299,0.959268,0.279750],[-0.413654,-0.239232,0.878441]] 2025-10-28T23:24:56.584Z,1761693896.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913977,-0.148555,0.377593],[0.039643,0.958811,0.281264],[-0.403824,-0.242099,0.882221]] 2025-10-28T23:24:56.988Z,1761693896.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:24:56.993Z,1761693896.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916209,-0.149337,0.371832],[0.036432,0.955158,0.293846],[-0.399041,-0.255678,0.880565]] 2025-10-28T23:24:57.395Z,1761693897.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916681,-0.152748,0.369274],[0.034008,0.950532,0.308760],[-0.398169,-0.270477,0.876529]] 2025-10-28T23:24:57.798Z,1761693897.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918127,-0.151217,0.366301],[0.028098,0.946848,0.320452],[-0.395289,-0.283923,0.873576]] 2025-10-28T23:24:57.992Z,1761693897.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:24:58.205Z,1761693898.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920001,-0.149832,0.362143],[0.028039,0.946831,0.320506],[-0.390911,-0.284712,0.875288]] 2025-10-28T23:24:58.606Z,1761693898.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924685,-0.141217,0.353574],[0.026290,0.950135,0.310730],[-0.379823,-0.278032,0.882288]] 2025-10-28T23:24:59.011Z,1761693899.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927597,-0.136530,0.347739],[0.025328,0.951668,0.306082],[-0.372722,-0.275114,0.886223]] 2025-10-28T23:24:59.414Z,1761693899.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926859,-0.147103,0.345387],[0.033734,0.948944,0.313636],[-0.373890,-0.279046,0.884500]] 2025-10-28T23:24:59.820Z,1761693899.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930000,-0.156792,0.332439],[0.043699,0.945202,0.323547],[-0.364952,-0.286372,0.885890]] 2025-10-28T23:25:00.222Z,1761693900.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936847,-0.149548,0.316153],[0.039653,0.943559,0.328822],[-0.347484,-0.295520,0.889901]] 2025-10-28T23:25:00.627Z,1761693900.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936601,-0.140605,0.320950],[0.029784,0.944590,0.326898],[-0.349130,-0.296614,0.888892]] 2025-10-28T23:25:01.032Z,1761693901.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932041,-0.134317,0.336539],[0.026491,0.951533,0.306402],[-0.361383,-0.276664,0.890426]] 2025-10-28T23:25:01.435Z,1761693901.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928166,-0.129637,0.348858],[0.029450,0.960016,0.278392],[-0.370999,-0.248120,0.894872]] 2025-10-28T23:25:01.839Z,1761693901.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929092,-0.141905,0.341542],[0.045853,0.960535,0.274352],[-0.366995,-0.239238,0.898933]] 2025-10-28T23:25:02.247Z,1761693902.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942731,-0.156571,0.294522],[0.062092,0.949926,0.306244],[-0.327723,-0.270418,0.905247]] 2025-10-28T23:25:02.323Z,1761693902.323 [keepstation:NeedComms:C] Running Loop=1 2025-10-28T23:25:02.831Z,1761693902.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955960,-0.146865,0.254110],[0.054858,0.939949,0.336877],[-0.288325,-0.308101,0.906610]] 2025-10-28T23:25:02.984Z,1761693902.984 [Radio_Surface](INFO): Powering up 2025-10-28T23:25:03.238Z,1761693903.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963843,-0.115451,0.240164],[0.034891,0.948190,0.315783],[-0.264178,-0.295986,0.917934]] 2025-10-28T23:25:04.042Z,1761693904.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962565,-0.081293,0.258574],[-0.011593,0.940745,0.338915],[-0.270804,-0.329226,0.904586]] 2025-10-28T23:25:04.445Z,1761693904.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960388,-0.116447,0.253171],[0.029684,0.946086,0.322553],[-0.277082,-0.302261,0.912066]] 2025-10-28T23:25:04.847Z,1761693904.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980740,-0.092415,0.172068],[0.057798,0.978841,0.196291],[-0.186568,-0.182565,0.965330]] 2025-10-28T23:25:05.255Z,1761693905.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998499,-0.043103,0.033796],[0.038795,0.992119,0.119145],[-0.038666,-0.117655,0.992301]] 2025-10-28T23:25:05.654Z,1761693905.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999584,-0.025277,-0.013874],[0.026085,0.997763,0.061546],[0.012287,-0.061883,0.998008]] 2025-10-28T23:25:06.058Z,1761693906.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998226,-0.017427,-0.056938],[0.017824,0.999820,0.006467],[0.056815,-0.007470,0.998357]] 2025-10-28T23:25:06.462Z,1761693906.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988384,-0.002538,-0.151958],[-0.002906,0.999362,-0.035595],[0.151952,0.035623,0.987746]] 2025-10-28T23:25:06.868Z,1761693906.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979657,0.005288,-0.200609],[-0.006799,0.999953,-0.006847],[0.200564,0.008071,0.979647]] 2025-10-28T23:25:07.271Z,1761693907.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974265,0.058516,-0.217678],[-0.045967,0.997000,0.062274],[0.220669,-0.050666,0.974032]] 2025-10-28T23:25:07.675Z,1761693907.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969642,0.139587,-0.200774],[-0.112515,0.983667,0.140497],[0.217106,-0.113642,0.969510]] 2025-10-28T23:25:08.078Z,1761693908.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970630,0.145374,-0.191686],[-0.113292,0.979104,0.168878],[0.212231,-0.142202,0.966818]] 2025-10-28T23:25:08.236Z,1761693908.236 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T23:25:08.237Z,1761693908.237 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T23:25:08.484Z,1761693908.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959858,0.127249,-0.249959],[-0.092558,0.984947,0.145987],[0.264773,-0.116991,0.957188]] 2025-10-28T23:25:08.886Z,1761693908.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943347,0.178745,-0.279547],[-0.146869,0.980408,0.131264],[0.297533,-0.082771,0.951117]] 2025-10-28T23:25:09.291Z,1761693909.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939655,0.252225,-0.231150],[-0.212210,0.959652,0.184484],[0.268355,-0.124299,0.955267]] 2025-10-28T23:25:09.695Z,1761693909.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944271,0.284413,-0.165713],[-0.235897,0.935811,0.261935],[0.229574,-0.208246,0.950752]] 2025-10-28T23:25:10.101Z,1761693910.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947101,0.269979,-0.173524],[-0.212802,0.933018,0.290161],[0.240238,-0.237885,0.941114]] 2025-10-28T23:25:10.503Z,1761693910.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944018,0.237923,-0.228521],[-0.193412,0.960336,0.200864],[0.267247,-0.145421,0.952592]] 2025-10-28T23:25:10.906Z,1761693910.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938035,0.217032,-0.270161],[-0.196572,0.975278,0.100959],[0.285394,-0.041597,0.957507]] 2025-10-28T23:25:11.318Z,1761693911.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928439,0.235971,-0.286911],[-0.213003,0.970923,0.109264],[0.304352,-0.040333,0.951706]] 2025-10-28T23:25:11.721Z,1761693911.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933314,0.251905,-0.255869],[-0.221734,0.964845,0.141093],[0.282417,-0.074949,0.956360]] 2025-10-28T23:25:12.125Z,1761693912.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934628,0.257412,-0.245376],[-0.216229,0.959123,0.182558],[0.282338,-0.117567,0.952084]] 2025-10-28T23:25:12.527Z,1761693912.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933879,0.254262,-0.251437],[-0.208263,0.958322,0.195564],[0.290682,-0.130268,0.947910]] 2025-10-28T23:25:12.929Z,1761693912.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925397,0.248836,-0.285868],[-0.198203,0.960650,0.194593],[0.323041,-0.123416,0.938303]] 2025-10-28T23:25:13.333Z,1761693913.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912320,0.241049,-0.331011],[-0.193588,0.966230,0.170070],[0.360828,-0.091078,0.928175]] 2025-10-28T23:25:13.735Z,1761693913.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909874,0.241793,-0.337143],[-0.207084,0.968830,0.135956],[0.359507,-0.053887,0.931585]] 2025-10-28T23:25:14.138Z,1761693914.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917685,0.243938,-0.313605],[-0.216945,0.968923,0.118842],[0.332849,-0.041024,0.942087]] 2025-10-28T23:25:14.543Z,1761693914.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927318,0.241705,-0.285762],[-0.217588,0.969379,0.113837],[0.304527,-0.043384,0.951515]] 2025-10-28T23:25:14.946Z,1761693914.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935890,0.238473,-0.259306],[-0.206728,0.967761,0.143885],[0.285259,-0.081055,0.955017]] 2025-10-28T23:25:15.350Z,1761693915.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936634,0.222112,-0.270894],[-0.178941,0.968151,0.175108],[0.301160,-0.115538,0.946548]] 2025-10-28T23:25:15.754Z,1761693915.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927721,0.204875,-0.312025],[-0.165494,0.975020,0.148145],[0.334582,-0.085800,0.938453]] 2025-10-28T23:25:16.159Z,1761693916.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922774,0.190090,-0.335193],[-0.167383,0.981239,0.095668],[0.347090,-0.032174,0.937280]] 2025-10-28T23:25:16.564Z,1761693916.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919434,0.197473,-0.340068],[-0.181276,0.980246,0.079102],[0.348971,-0.011083,0.937068]] 2025-10-28T23:25:16.966Z,1761693916.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920691,0.220562,-0.321994],[-0.197169,0.974840,0.103981],[0.336827,-0.032247,0.941014]] 2025-10-28T23:25:17.370Z,1761693917.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925744,0.235016,-0.296253],[-0.197224,0.968501,0.152015],[0.322647,-0.082298,0.942935]] 2025-10-28T23:25:17.829Z,1761693917.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927428,0.235405,-0.290623],[-0.188172,0.965246,0.181361],[0.323216,-0.113513,0.939493]] 2025-10-28T23:25:18.233Z,1761693918.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931591,0.224900,-0.285583],[-0.177635,0.967094,0.182141],[0.317149,-0.118951,0.940886]] 2025-10-28T23:25:18.635Z,1761693918.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933886,0.215400,-0.285410],[-0.168094,0.968963,0.181262],[0.315596,-0.121302,0.941108]] 2025-10-28T23:25:19.040Z,1761693919.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930816,0.207737,-0.300709],[-0.162816,0.972299,0.167707],[0.327218,-0.107144,0.938855]] 2025-10-28T23:25:19.443Z,1761693919.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929591,0.199233,-0.310107],[-0.165650,0.977394,0.131381],[0.329272,-0.070762,0.941580]] 2025-10-28T23:25:19.849Z,1761693919.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932836,0.188450,-0.307088],[-0.167746,0.981459,0.092729],[0.318869,-0.034989,0.947153]] 2025-10-28T23:25:20.267Z,1761693920.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935185,0.180460,-0.304734],[-0.165755,0.983410,0.073687],[0.312976,-0.018400,0.949583]] 2025-10-28T23:25:21.155Z,1761693921.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941097,0.188185,-0.280933],[-0.168770,0.981352,0.092005],[0.293008,-0.039172,0.955307]] 2025-10-28T23:25:21.561Z,1761693921.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947899,0.201966,-0.246369],[-0.177075,0.976909,0.119551],[0.264825,-0.069696,0.961775]] 2025-10-28T23:25:21.963Z,1761693921.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954480,0.205150,-0.216522],[-0.177938,0.974223,0.138665],[0.239388,-0.093825,0.966380]] 2025-10-28T23:25:22.367Z,1761693922.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958694,0.199291,-0.202950],[-0.171229,0.974100,0.147683],[0.227125,-0.106832,0.967988]] 2025-10-28T23:25:22.771Z,1761693922.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960956,0.194939,-0.196375],[-0.168002,0.974958,0.145712],[0.219863,-0.107031,0.969642]] 2025-10-28T23:25:23.176Z,1761693923.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964746,0.191623,-0.180402],[-0.168041,0.976055,0.138123],[0.202550,-0.102939,0.973847]] 2025-10-28T23:25:23.595Z,1761693923.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969023,0.184730,-0.163919],[-0.163551,0.977316,0.134549],[0.185056,-0.103572,0.977255]] 2025-10-28T23:25:23.986Z,1761693923.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970950,0.177497,-0.160472],[-0.156145,0.978163,0.137171],[0.181315,-0.108129,0.977462]] 2025-10-28T23:25:24.387Z,1761693924.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969790,0.182121,-0.162297],[-0.160566,0.977420,0.137363],[0.183649,-0.107154,0.977134]] 2025-10-28T23:25:24.793Z,1761693924.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969644,0.199968,-0.140726],[-0.180602,0.973664,0.139145],[0.164845,-0.109505,0.980222]] 2025-10-28T23:25:25.195Z,1761693925.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972686,0.213708,-0.090609],[-0.198074,0.967687,0.156043],[0.121029,-0.133834,0.983586]] 2025-10-28T23:25:25.599Z,1761693925.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977075,0.208812,-0.041507],[-0.199081,0.965223,0.169442],[0.075445,-0.157294,0.984666]] 2025-10-28T23:25:26.003Z,1761693926.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981316,0.191878,-0.014226],[-0.187347,0.969747,0.156501],[0.043825,-0.150912,0.987575]] 2025-10-28T23:25:26.826Z,1761693926.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984527,0.175158,-0.005090],[-0.173912,0.980257,0.094082],[0.021468,-0.091741,0.995551]] 2025-10-28T23:25:27.232Z,1761693927.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983758,0.179240,0.009612],[-0.179439,0.980647,0.078315],[0.004612,-0.078768,0.996882]] 2025-10-28T23:25:27.630Z,1761693927.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981369,0.185758,0.049088],[-0.189467,0.978051,0.086714],[-0.031903,-0.094399,0.995023]] 2025-10-28T23:25:28.090Z,1761693928.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978080,0.181381,0.102272],[-0.192500,0.974885,0.111998],[-0.079389,-0.129230,0.988432]] 2025-10-28T23:25:28.112Z,1761693928.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:25:28.492Z,1761693928.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976677,0.164552,0.137931],[-0.181890,0.975437,0.124249],[-0.114098,-0.146440,0.982617]] 2025-10-28T23:25:28.898Z,1761693928.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977952,0.151171,0.144074],[-0.166997,0.980362,0.104892],[-0.125388,-0.126640,0.983992]] 2025-10-28T23:25:29.117Z,1761693929.117 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T23:25:29.117Z,1761693929.117 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:25:29.298Z,1761693929.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978632,0.150247,0.140376],[-0.160873,0.984655,0.067634],[-0.128060,-0.088772,0.987786]] 2025-10-28T23:25:29.754Z,1761693929.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972819,0.144203,0.181185],[-0.152145,0.987883,0.030653],[-0.174569,-0.057386,0.982971]] 2025-10-28T23:25:30.159Z,1761693930.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968215,0.133298,0.211640],[-0.144064,0.988905,0.036221],[-0.204464,-0.065559,0.976676]] 2025-10-28T23:25:30.558Z,1761693930.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966563,0.119538,0.226862],[-0.134727,0.989484,0.052635],[-0.218184,-0.081440,0.972504]] 2025-10-28T23:25:30.962Z,1761693930.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967301,0.109293,0.228877],[-0.129941,0.988517,0.077134],[-0.217819,-0.104352,0.970395]] 2025-10-28T23:25:31.366Z,1761693931.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963828,0.109943,0.242792],[-0.136419,0.986083,0.095024],[-0.228966,-0.124708,0.965413]] 2025-10-28T23:25:31.773Z,1761693931.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954754,0.109587,0.276470],[-0.139623,0.985983,0.091344],[-0.262585,-0.125813,0.956672]] 2025-10-28T23:25:32.176Z,1761693932.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948908,0.098619,0.299746],[-0.126119,0.989268,0.073777],[-0.289253,-0.107811,0.951162]] 2025-10-28T23:25:32.628Z,1761693932.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950956,0.082450,0.298135],[-0.105680,0.992426,0.062631],[-0.290713,-0.091066,0.952467]] 2025-10-28T23:25:33.030Z,1761693933.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953502,0.074246,0.292098],[-0.099552,0.992371,0.072729],[-0.284469,-0.098426,0.953619]] 2025-10-28T23:25:33.512Z,1761693933.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950780,0.069201,0.302041],[-0.106573,0.988308,0.109042],[-0.290964,-0.135865,0.947038]] 2025-10-28T23:25:34.332Z,1761693934.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935097,0.071832,0.347036],[-0.130063,0.980471,0.147511],[-0.329663,-0.183074,0.926179]] 2025-10-28T23:25:34.723Z,1761693934.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924584,0.084102,0.371580],[-0.138766,0.982673,0.122872],[-0.354808,-0.165168,0.920234]] 2025-10-28T23:25:35.127Z,1761693935.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922491,0.089555,0.375487],[-0.138204,0.984860,0.104646],[-0.360431,-0.148429,0.920901]] 2025-10-28T23:25:35.531Z,1761693935.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927053,0.074177,0.367519],[-0.121069,0.986947,0.106195],[-0.354845,-0.142943,0.923933]] 2025-10-28T23:25:35.957Z,1761693935.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923306,0.053200,0.380364],[-0.106277,0.987079,0.119921],[-0.369069,-0.151148,0.917029]] 2025-10-28T23:25:36.469Z,1761693936.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910768,0.050115,0.409866],[-0.118926,0.982384,0.144148],[-0.395421,-0.180029,0.900684]] 2025-10-28T23:25:36.872Z,1761693936.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901131,0.081262,0.425864],[-0.144754,0.982302,0.118862],[-0.408668,-0.168756,0.896946]] 2025-10-28T23:25:37.274Z,1761693937.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912066,0.085080,0.401120],[-0.121063,0.990503,0.065180],[-0.391765,-0.108009,0.913704]] 2025-10-28T23:25:37.678Z,1761693937.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946274,0.055849,0.318506],[-0.082573,0.994051,0.071017],[-0.312645,-0.093501,0.945257]] 2025-10-28T23:25:38.108Z,1761693938.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972027,0.057811,0.227643],[-0.079313,0.993093,0.086463],[-0.221072,-0.102099,0.969898]] 2025-10-28T23:25:38.490Z,1761693938.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983920,0.082650,0.158338],[-0.091807,0.994449,0.051409],[-0.153210,-0.065119,0.986046]] 2025-10-28T23:25:38.891Z,1761693938.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983738,0.101781,0.147985],[-0.105382,0.994292,0.016676],[-0.145443,-0.032000,0.988849]] 2025-10-28T23:25:39.294Z,1761693939.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988453,0.074213,0.132110],[-0.079028,0.996372,0.031574],[-0.129288,-0.041649,0.990732]] 2025-10-28T23:25:39.698Z,1761693939.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995236,0.054664,0.080732],[-0.062303,0.993492,0.095354],[-0.074994,-0.099930,0.992164]] 2025-10-28T23:25:40.104Z,1761693940.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997518,0.048395,0.051140],[-0.054748,0.989846,0.131180],[-0.044272,-0.133654,0.990039]] 2025-10-28T23:25:40.508Z,1761693940.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997150,0.069714,0.028836],[-0.072868,0.988991,0.128792],[-0.019540,-0.130526,0.991252]] 2025-10-28T23:25:40.916Z,1761693940.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997649,0.050961,0.045816],[-0.056273,0.990770,0.123321],[-0.039109,-0.125610,0.991309]] 2025-10-28T23:25:41.319Z,1761693941.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997265,0.065069,-0.035065],[-0.062483,0.995561,0.070386],[0.039489,-0.068003,0.996903]] 2025-10-28T23:25:41.723Z,1761693941.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992002,0.113941,-0.054313],[-0.116922,0.991601,-0.055289],[0.047557,0.061198,0.996992]] 2025-10-28T23:25:42.128Z,1761693942.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995408,0.089630,-0.033604],[-0.092352,0.991571,-0.090879],[0.025176,0.093565,0.995295]] 2025-10-28T23:25:42.530Z,1761693942.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993163,0.063790,-0.097767],[-0.065894,0.997656,-0.018446],[0.096362,0.024763,0.995038]] 2025-10-28T23:25:42.934Z,1761693942.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992983,0.096946,-0.067716],[-0.092780,0.993743,0.062186],[0.073321,-0.055467,0.995765]] 2025-10-28T23:25:43.339Z,1761693943.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994587,0.103838,-0.003726],[-0.103115,0.990801,0.087643],[0.012792,-0.086784,0.996145]] 2025-10-28T23:25:43.761Z,1761693943.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995304,0.095971,-0.012663],[-0.095600,0.995046,0.027264],[0.015216,-0.025925,0.999548]] 2025-10-28T23:25:44.168Z,1761693944.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992045,0.124132,0.020932],[-0.125101,0.990667,0.054124],[-0.014019,-0.056312,0.998315]] 2025-10-28T23:25:44.555Z,1761693944.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995258,0.093888,-0.025434],[-0.091053,0.991209,0.095986],[0.034222,-0.093215,0.995058]] 2025-10-28T23:25:44.963Z,1761693944.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997233,0.073794,-0.009043],[-0.072650,0.993082,0.092249],[0.015788,-0.091337,0.995695]] 2025-10-28T23:25:45.369Z,1761693945.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996015,0.087044,-0.019418],[-0.086995,0.996203,0.003350],[0.019636,-0.001647,0.999806]] 2025-10-28T23:25:45.765Z,1761693945.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990836,0.105837,-0.083921],[-0.113951,0.988576,-0.098653],[0.072521,0.107312,0.991577]] 2025-10-28T23:25:46.167Z,1761693946.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983231,0.137828,-0.119412],[-0.146529,0.986908,-0.067400],[0.108559,0.083767,0.990554]] 2025-10-28T23:25:46.571Z,1761693946.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973000,0.205286,-0.105493],[-0.200590,0.978215,0.053463],[0.114170,-0.030859,0.992982]] 2025-10-28T23:25:46.976Z,1761693946.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981322,0.191861,0.014035],[-0.192099,0.973417,0.124728],[0.010268,-0.125094,0.992092]] 2025-10-28T23:25:47.378Z,1761693947.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989727,0.140207,0.027954],[-0.141519,0.988551,0.052347],[-0.020295,-0.055765,0.998238]] 2025-10-28T23:25:47.782Z,1761693947.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986196,0.160965,-0.038821],[-0.161515,0.986804,-0.011464],[0.036464,0.017576,0.999180]] 2025-10-28T23:25:48.187Z,1761693948.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977829,0.208639,-0.017869],[-0.209014,0.977653,-0.022528],[0.012770,0.025763,0.999586]] 2025-10-28T23:25:48.592Z,1761693948.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973776,0.227431,-0.006004],[-0.227453,0.973783,-0.003358],[0.005082,0.004635,0.999976]] 2025-10-28T23:25:48.994Z,1761693948.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970577,0.239428,-0.025581],[-0.238814,0.970746,0.024889],[0.030791,-0.018048,0.999363]] 2025-10-28T23:25:49.398Z,1761693949.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969319,0.245565,-0.010913],[-0.245151,0.969018,0.030079],[0.017961,-0.026481,0.999488]] 2025-10-28T23:25:49.802Z,1761693949.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964423,0.263498,-0.021359],[-0.262937,0.964466,0.025858],[0.027414,-0.019322,0.999437]] 2025-10-28T23:25:49.807Z,1761693949.807 [NAL9602](INFO): SBD MO Status=0, MOMSN=3391, MT Status=0, MTMSN=0 2025-10-28T23:25:49.807Z,1761693949.807 [NAL9602](INFO): No messages in MT queue 2025-10-28T23:25:50.208Z,1761693950.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966488,0.256712,0.000102],[-0.256596,0.966040,0.030428],[0.007713,-0.029434,0.999537]] 2025-10-28T23:25:50.612Z,1761693950.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973603,0.226611,0.027289],[-0.226784,0.973939,0.003364],[-0.025816,-0.009464,0.999622]] 2025-10-28T23:25:51.014Z,1761693951.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973814,0.209884,-0.087380],[-0.211019,0.977474,-0.003860],[0.084601,0.022198,0.996168]] 2025-10-28T23:25:51.020Z,1761693951.020 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232550.00,A,3645.88631,N,12151.93103,W,0.486,317.53,281025,,,A*74 2025-10-28T23:25:51.034Z,1761693951.034 [NAL9602](INFO): GPS fix at 20251028T232550: (36.764772, -121.865517) 2025-10-28T23:25:51.047Z,1761693951.047 [UniversalFixResidualReporter](INFO): Fix residual: 1.2 %DT, over the last 757.3 m. Residual distance 8.7 m at bearing 85.0 degrees. Fix at (36.7648, -121.8655) with 725.9 m made good. 2025-10-28T23:25:51.049Z,1761693951.049 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T23:25:51.052Z,1761693951.052 [keepstation:NeedComms:C] Stopped 2025-10-28T23:25:51.052Z,1761693951.052 [keepstation:NeedComms:D] Running Loop=1 2025-10-28T23:25:51.418Z,1761693951.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955199,0.277808,-0.102066],[-0.280513,0.959764,-0.012885],[0.094379,0.040938,0.994694]] 2025-10-28T23:25:51.867Z,1761693951.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939790,0.341717,-0.004923],[-0.341731,0.939470,-0.024829],[-0.003859,0.025016,0.999680]] 2025-10-28T23:25:52.323Z,1761693952.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950386,0.310523,0.018491],[-0.310551,0.950556,-0.001419],[-0.018018,-0.004393,0.999828]] 2025-10-28T23:25:52.671Z,1761693952.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958466,0.285204,0.000853],[-0.285205,0.958455,0.004750],[0.000537,-0.004796,0.999988]] 2025-10-28T23:25:53.099Z,1761693953.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950702,0.309661,0.016594],[-0.309633,0.950846,-0.004303],[-0.017111,-0.001047,0.999853]] 2025-10-28T23:25:53.480Z,1761693953.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943594,0.331095,0.002551],[-0.331088,0.943596,-0.002741],[-0.003315,0.001741,0.999993]] 2025-10-28T23:25:53.882Z,1761693953.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945750,0.324215,0.021022],[-0.324743,0.945306,0.030619],[-0.009945,-0.035784,0.999310]] 2025-10-28T23:25:54.316Z,1761693954.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950951,0.309343,0.000334],[-0.308599,0.948589,0.070331],[0.021439,-0.066984,0.997524]] 2025-10-28T23:25:54.690Z,1761693954.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940169,0.339199,-0.032036],[-0.334693,0.937069,0.099412],[0.063740,-0.082741,0.994531]] 2025-10-28T23:25:55.120Z,1761693955.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919226,0.393075,0.022716],[-0.393386,0.914480,0.094734],[0.016464,-0.096018,0.995243]] 2025-10-28T23:25:55.522Z,1761693955.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926913,0.373024,0.041052],[-0.375086,0.924365,0.069710],[-0.011944,-0.080013,0.996722]] 2025-10-28T23:25:57.650Z,1761693957.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928523,0.370624,-0.021968],[-0.369698,0.928408,0.037190],[0.034179,-0.026411,0.999067]] 2025-10-28T23:25:58.031Z,1761693958.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922808,0.382733,-0.044060],[-0.381443,0.923729,0.035020],[0.054103,-0.015510,0.998415]] 2025-10-28T23:25:58.435Z,1761693958.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921151,0.381069,-0.079169],[-0.374526,0.923214,0.086057],[0.105884,-0.049620,0.993140]] 2025-10-28T23:25:58.840Z,1761693958.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915504,0.396336,-0.069063],[-0.386146,0.913849,0.125586],[0.112888,-0.088306,0.989676]] 2025-10-28T23:25:59.236Z,1761693959.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:25:59.244Z,1761693959.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915586,0.399164,-0.048685],[-0.392303,0.913250,0.109877],[0.088320,-0.081503,0.992752]] 2025-10-28T23:25:59.646Z,1761693959.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918581,0.395226,-0.002396],[-0.393592,0.915301,0.085489],[0.035980,-0.077586,0.996336]] 2025-10-28T23:26:00.051Z,1761693960.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922135,0.385896,0.027427],[-0.386496,0.922041,0.021474],[-0.017002,-0.030402,0.999393]] 2025-10-28T23:26:00.244Z,1761693960.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:26:00.457Z,1761693960.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918919,0.390930,-0.052553],[-0.391927,0.919944,-0.009808],[0.044511,0.029610,0.998570]] 2025-10-28T23:26:00.858Z,1761693960.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912430,0.399255,-0.089817],[-0.401689,0.915721,-0.010092],[0.078218,0.045287,0.995907]] 2025-10-28T23:26:01.263Z,1761693961.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922523,0.385401,-0.020410],[-0.385028,0.922688,0.019976],[0.026531,-0.010569,0.999592]] 2025-10-28T23:26:01.667Z,1761693961.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921506,0.388356,0.002477],[-0.387265,0.918399,0.081047],[0.029200,-0.075644,0.996707]] 2025-10-28T23:26:01.672Z,1761693961.672 [NAL9602](INFO): SBD MO Status=1, MOMSN=3392, MT Status=0, MTMSN=0 2025-10-28T23:26:01.720Z,1761693961.720 [NAL9602](INFO): Sent 83 bytes from file Logs/20251028T162422/Courier0093.lzma 2025-10-28T23:26:01.720Z,1761693961.720 [NAL9602](INFO): Packets left to send: 0 2025-10-28T23:26:02.073Z,1761693962.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906110,0.422774,-0.015062],[-0.417370,0.899205,0.131275],[0.069043,-0.112663,0.991232]] 2025-10-28T23:26:02.834Z,1761693962.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861725,0.506648,0.027160],[-0.506251,0.855020,0.112478],[0.033764,-0.110674,0.993283]] 2025-10-28T23:26:03.223Z,1761693963.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855582,0.515210,0.050380],[-0.516876,0.855597,0.028150],[-0.028602,-0.050125,0.998333]] 2025-10-28T23:26:05.482Z,1761693965.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849926,0.526360,-0.023892],[-0.526889,0.849341,-0.031735],[0.003588,0.039561,0.999211]] 2025-10-28T23:26:05.881Z,1761693965.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832949,0.550648,0.054605],[-0.552681,0.823034,0.130990],[0.027188,-0.139287,0.989879]] 2025-10-28T23:26:06.317Z,1761693966.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829632,0.552246,0.082070],[-0.558301,0.821456,0.116232],[-0.003228,-0.142250,0.989826]] 2025-10-28T23:26:06.686Z,1761693966.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857505,0.509667,0.070169],[-0.513963,0.854728,0.072672],[-0.022937,-0.098381,0.994884]] 2025-10-28T23:26:07.090Z,1761693967.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870929,0.489783,0.039944],[-0.491328,0.866428,0.088879],[0.008923,-0.097033,0.995241]] 2025-10-28T23:26:07.495Z,1761693967.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859357,0.511343,0.005825],[-0.505766,0.848191,0.157391],[0.075540,-0.138201,0.987519]] 2025-10-28T23:26:07.899Z,1761693967.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867387,0.495834,0.042298],[-0.495847,0.853943,0.157854],[0.042150,-0.157894,0.986556]] 2025-10-28T23:26:08.326Z,1761693968.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863109,0.503370,0.040770],[-0.503440,0.851225,0.148206],[0.039898,-0.148443,0.988116]] 2025-10-28T23:26:08.707Z,1761693968.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842206,0.539010,0.012543],[-0.531987,0.827003,0.181813],[0.087626,-0.159797,0.983253]] 2025-10-28T23:26:09.111Z,1761693969.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854066,0.518415,0.042630],[-0.519095,0.844187,0.133746],[0.033349,-0.136357,0.990098]] 2025-10-28T23:26:09.515Z,1761693969.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883661,0.461367,0.079266],[-0.464011,0.885649,0.017903],[-0.061942,-0.052600,0.996693]] 2025-10-28T23:26:09.918Z,1761693969.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913356,0.403883,-0.051569],[-0.407124,0.907644,-0.102141],[0.005553,0.114286,0.993432]] 2025-10-28T23:26:10.330Z,1761693970.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877954,0.440186,-0.188237],[-0.468611,0.870626,-0.149714],[0.097982,0.219652,0.970645]] 2025-10-28T23:26:10.335Z,1761693970.335 [NAL9602](INFO): SBD MO Status=1, MOMSN=3393, MT Status=0, MTMSN=0 2025-10-28T23:26:10.384Z,1761693970.384 [NAL9602](INFO): Sent 193 bytes from file Logs/20251028T162422/Express0094.lzma 2025-10-28T23:26:10.384Z,1761693970.384 [NAL9602](INFO): Packets left to send: 0 2025-10-28T23:26:10.727Z,1761693970.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859040,0.490960,-0.144943],[-0.506613,0.855983,-0.103131],[0.073436,0.162024,0.984051]] 2025-10-28T23:26:11.519Z,1761693971.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856225,0.513064,0.060358],[-0.516602,0.850455,0.099241],[-0.000414,-0.116153,0.993231]] 2025-10-28T23:26:11.919Z,1761693971.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872197,0.480987,0.089017],[-0.488080,0.867803,0.093247],[-0.032398,-0.124777,0.991656]] 2025-10-28T23:26:12.332Z,1761693972.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879682,0.468595,0.081112],[-0.473280,0.879324,0.052878],[-0.046545,-0.084905,0.995301]] 2025-10-28T23:26:12.727Z,1761693972.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874058,0.485099,0.026484],[-0.485690,0.873789,0.024448],[-0.011282,-0.034232,0.999350]] 2025-10-28T23:26:13.130Z,1761693973.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865457,0.499070,-0.043755],[-0.498315,0.866560,0.027504],[0.051643,-0.001999,0.998664]] 2025-10-28T23:26:13.535Z,1761693973.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875494,0.480580,-0.050525],[-0.478676,0.876811,0.045513],[0.066174,-0.015661,0.997685]] 2025-10-28T23:26:13.941Z,1761693973.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876815,0.479816,-0.031182],[-0.478199,0.876958,0.047661],[0.050214,-0.026879,0.998377]] 2025-10-28T23:26:14.343Z,1761693974.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862329,0.505741,-0.024790],[-0.504411,0.862279,0.045224],[0.044247,-0.026493,0.998669]] 2025-10-28T23:26:14.746Z,1761693974.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869532,0.493801,0.008663],[-0.493708,0.868642,0.041392],[0.012914,-0.040269,0.999105]] 2025-10-28T23:26:15.199Z,1761693975.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871543,0.490319,-0.000093],[-0.489981,0.870948,0.036994],[0.018220,-0.032196,0.999315]] 2025-10-28T23:26:15.557Z,1761693975.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884814,0.465753,-0.013360],[-0.465689,0.884915,0.007735],[0.015425,-0.000622,0.999881]] 2025-10-28T23:26:15.958Z,1761693975.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880018,0.474940,-0.000591],[-0.474836,0.879850,0.019864],[0.009954,-0.017200,0.999803]] 2025-10-28T23:26:16.362Z,1761693976.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852149,0.522965,-0.018686],[-0.519408,0.849620,0.091437],[0.063694,-0.068212,0.995636]] 2025-10-28T23:26:16.766Z,1761693976.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838083,0.545476,0.008596],[-0.542723,0.832046,0.114675],[0.055400,-0.100772,0.993366]] 2025-10-28T23:26:17.172Z,1761693977.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865798,0.498454,0.044019],[-0.499369,0.866302,0.012285],[-0.032011,-0.032618,0.998955]] 2025-10-28T23:26:17.574Z,1761693977.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891619,0.452538,0.014976],[-0.448095,0.886648,-0.114308],[-0.065007,0.095208,0.993333]] 2025-10-28T23:26:17.979Z,1761693977.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890390,0.446607,-0.088029],[-0.455050,0.878251,-0.146986],[0.011667,0.170932,0.985214]] 2025-10-28T23:26:18.383Z,1761693978.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871351,0.476584,-0.116681],[-0.487654,0.867452,-0.098595],[0.054227,0.142811,0.988263]] 2025-10-28T23:26:18.788Z,1761693978.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860078,0.509674,-0.022337],[-0.510151,0.859530,-0.030896],[0.003453,0.037968,0.999273]] 2025-10-28T23:26:19.191Z,1761693979.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862910,0.504059,0.036211],[-0.505357,0.860809,0.060182],[-0.000836,-0.070232,0.997530]] 2025-10-28T23:26:19.594Z,1761693979.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866367,0.499062,0.018574],[-0.494212,0.851410,0.175658],[0.071850,-0.161364,0.984276]] 2025-10-28T23:26:19.998Z,1761693979.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873300,0.484622,0.049892],[-0.484993,0.855103,0.183252],[0.046146,-0.184231,0.981799]] 2025-10-28T23:26:20.006Z,1761693980.006 [NAL9602](INFO): SBD MO Status=0, MOMSN=3394, MT Status=0, MTMSN=0 2025-10-28T23:26:20.093Z,1761693980.093 [keepstation:NeedComms:D] Stopped 2025-10-28T23:26:20.094Z,1761693980.094 [keepstation:NeedComms:E] Running Loop=1 2025-10-28T23:26:20.404Z,1761693980.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860881,0.498052,0.104057],[-0.508409,0.850104,0.137270],[-0.020092,-0.171077,0.985053]] 2025-10-28T23:26:20.806Z,1761693980.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840678,0.537511,0.065900],[-0.541127,0.829075,0.140768],[0.021029,-0.154001,0.987847]] 2025-10-28T23:26:21.210Z,1761693981.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839591,0.540455,0.054720],[-0.543016,0.832258,0.111714],[0.014835,-0.123508,0.992233]] 2025-10-28T23:26:21.615Z,1761693981.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845778,0.529658,0.064197],[-0.533105,0.843784,0.061866],[-0.021401,-0.086549,0.996018]] 2025-10-28T23:26:22.019Z,1761693982.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868505,0.495302,-0.019367],[-0.495362,0.868685,0.001885],[0.017758,0.007956,0.999811]] 2025-10-28T23:26:22.424Z,1761693982.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883452,0.454067,-0.115482],[-0.461614,0.885741,-0.048742],[0.080155,0.096369,0.992113]] 2025-10-28T23:26:22.429Z,1761693982.429 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232621.00,A,3645.88498,N,12151.92977,W,0.855,128.16,281025,,,D*72 2025-10-28T23:26:22.431Z,1761693982.431 [NAL9602](INFO): GPS fix at 20251028T232621: (36.764750, -121.865496) 2025-10-28T23:26:22.463Z,1761693982.463 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998 2025-10-28T23:26:22.466Z,1761693982.466 [keepstation:NeedComms:E] Stopped 2025-10-28T23:26:22.467Z,1761693982.467 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms 2025-10-28T23:26:22.467Z,1761693982.467 [keepstation:NeedComms] Stopped 2025-10-28T23:26:22.467Z,1761693982.467 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms 2025-10-28T23:26:22.467Z,1761693982.467 [keepstation:NeedComms:B.GoToSurface] Stopped 2025-10-28T23:26:22.467Z,1761693982.467 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T23:26:22.826Z,1761693982.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842637,0.525832,-0.116032],[-0.531679,0.846590,-0.024556],[0.085319,0.082384,0.992942]] 2025-10-28T23:26:22.863Z,1761693982.863 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B 2025-10-28T23:26:22.863Z,1761693982.863 [keepstation:SurfaceComms:B] Stopped 2025-10-28T23:26:22.863Z,1761693982.863 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B 2025-10-28T23:26:22.863Z,1761693982.863 [keepstation:SurfaceComms:HandleNan] Running Loop=1 2025-10-28T23:26:22.864Z,1761693982.864 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan 2025-10-28T23:26:22.864Z,1761693982.864 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1 2025-10-28T23:26:22.864Z,1761693982.864 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T23:26:22.864Z,1761693982.864 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1 2025-10-28T23:26:23.230Z,1761693983.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810674,0.585444,-0.007941],[-0.585069,0.810525,0.027257],[0.022394,-0.017451,0.999597]] 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:HandleNan] Stopped 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:setTransit] Running Loop=1 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit 2025-10-28T23:26:23.255Z,1761693983.255 [keepstation:SurfaceComms:setTransit:A] Running Loop=1 2025-10-28T23:26:23.634Z,1761693983.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841401,0.535667,0.071445],[-0.539854,0.839156,0.066139],[-0.024524,-0.094219,0.995249]] 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setTransit:A] Stopped 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setTransit] Stopped 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setStation] Running Loop=1 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation 2025-10-28T23:26:23.657Z,1761693983.657 [keepstation:SurfaceComms:setStation:A] Running Loop=1 2025-10-28T23:26:24.040Z,1761693984.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863129,0.500023,0.070604],[-0.504906,0.856957,0.103411],[-0.008797,-0.124905,0.992130]] 2025-10-28T23:26:24.066Z,1761693984.066 [keepstation:TransitToStation:Dive] Running Loop=1 2025-10-28T23:26:24.066Z,1761693984.066 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive 2025-10-28T23:26:24.066Z,1761693984.066 [keepstation:TransitToStation:Dive:A] Running Loop=1 2025-10-28T23:26:24.066Z,1761693984.066 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation] Running Loop=1 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1 2025-10-28T23:26:24.067Z,1761693984.067 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize. 2025-10-28T23:26:24.068Z,1761693984.068 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1 2025-10-28T23:26:24.068Z,1761693984.068 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize. 2025-10-28T23:26:24.069Z,1761693984.069 [keepstation:SurfaceComms:setStation] Stopped 2025-10-28T23:26:24.069Z,1761693984.069 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation 2025-10-28T23:26:24.069Z,1761693984.069 [keepstation:SurfaceComms:setStation:A] Stopped 2025-10-28T23:26:24.069Z,1761693984.069 [keepstation:SurfaceComms:setSink] Running Loop=1 2025-10-28T23:26:24.069Z,1761693984.069 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink 2025-10-28T23:26:24.070Z,1761693984.070 [keepstation:SurfaceComms:setSink:A] Running Loop=1 2025-10-28T23:26:24.443Z,1761693984.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845243,0.530797,0.061805],[-0.534326,0.837794,0.112232],[0.007793,-0.127887,0.991758]] 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms:setSink] Stopped 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms:setSink:A] Stopped 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms] Stopped 2025-10-28T23:26:24.492Z,1761693984.492 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms 2025-10-28T23:26:24.847Z,1761693984.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827183,0.561187,0.028940],[-0.558756,0.815946,0.148405],[0.059670,-0.138928,0.988503]] 2025-10-28T23:26:25.251Z,1761693985.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827867,0.560923,-0.001458],[-0.552751,0.816242,0.167977],[0.095412,-0.138257,0.985790]] 2025-10-28T23:26:25.657Z,1761693985.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826170,0.563210,0.015396],[-0.561403,0.820594,0.107012],[0.047636,-0.097054,0.994138]] 2025-10-28T23:26:26.058Z,1761693986.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807085,0.590339,0.010663],[-0.590092,0.805868,0.048665],[0.020136,-0.045569,0.998758]] 2025-10-28T23:26:26.462Z,1761693986.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798638,0.601752,-0.008485],[-0.601403,0.798536,0.025582],[0.022169,-0.015328,0.999637]] 2025-10-28T23:26:26.866Z,1761693986.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810759,0.585008,-0.020872],[-0.584635,0.811011,0.021523],[0.029519,-0.005247,0.999550]] 2025-10-28T23:26:27.274Z,1761693987.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815324,0.578494,-0.024329],[-0.578649,0.815577,0.000841],[0.020329,0.013392,0.999704]] 2025-10-28T23:26:28.078Z,1761693988.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811942,0.578627,-0.077078],[-0.575550,0.815582,0.059740],[0.097431,-0.004143,0.995234]] 2025-10-28T23:26:28.483Z,1761693988.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799895,0.599173,-0.034068],[-0.594971,0.799161,0.085745],[0.078602,-0.048317,0.995735]] 2025-10-28T23:26:28.889Z,1761693988.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796800,0.604242,0.001408],[-0.600711,0.791888,0.109819],[0.065242,-0.088349,0.993951]] 2025-10-28T23:26:29.291Z,1761693989.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810818,0.584709,0.026236],[-0.584380,0.806224,0.092215],[0.032767,-0.090101,0.995393]] 2025-10-28T23:26:29.717Z,1761693989.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794768,0.605538,0.040838],[-0.606524,0.794868,0.017716],[-0.021734,-0.038850,0.999009]] 2025-10-28T23:26:30.115Z,1761693990.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806532,0.591163,0.005768],[-0.590932,0.805851,0.037472],[0.017504,-0.033631,0.999281]] 2025-10-28T23:26:30.364Z,1761693990.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:26:30.548Z,1761693990.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826007,0.560390,-0.060625],[-0.554442,0.827157,0.091681],[0.101524,-0.042116,0.993941]] 2025-10-28T23:26:30.981Z,1761693990.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803161,0.593561,-0.051170],[-0.590266,0.804451,0.066670],[0.080737,-0.023343,0.996462]] 2025-10-28T23:26:31.372Z,1761693991.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:26:31.387Z,1761693991.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776893,0.629593,-0.007036],[-0.628360,0.775985,0.054877],[0.040010,-0.038213,0.998468]] 2025-10-28T23:26:32.195Z,1761693992.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765819,0.638748,0.074309],[-0.642550,0.755509,0.127807],[0.025496,-0.145624,0.989011]] 2025-10-28T23:26:32.615Z,1761693992.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781122,0.619847,-0.075087],[-0.605182,0.781203,0.153220],[0.153631,-0.074242,0.985335]] 2025-10-28T23:26:33.050Z,1761693993.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789481,0.611414,-0.053779],[-0.605790,0.790301,0.091883],[0.098680,-0.039961,0.994317]] 2025-10-28T23:26:33.449Z,1761693993.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770590,0.637271,0.008831],[-0.636393,0.768628,0.064924],[0.034586,-0.055649,0.997851]] 2025-10-28T23:26:33.852Z,1761693993.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769196,0.638991,-0.005269],[-0.630623,0.760404,0.155244],[0.103207,-0.116090,0.987862]] 2025-10-28T23:26:34.278Z,1761693994.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780084,0.615512,-0.112313],[-0.587141,0.782172,0.208499],[0.216182,-0.096703,0.971552]] 2025-10-28T23:26:34.738Z,1761693994.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774920,0.606538,-0.177795],[-0.575759,0.793445,0.197348],[0.260770,-0.050561,0.964076]] 2025-10-28T23:26:35.142Z,1761693995.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773124,0.620875,-0.129590],[-0.596248,0.781129,0.185271],[0.216256,-0.065970,0.974105]] 2025-10-28T23:26:35.543Z,1761693995.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768001,0.636621,-0.069919],[-0.617213,0.764853,0.184519],[0.170947,-0.098556,0.980339]] 2025-10-28T23:26:35.947Z,1761693995.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783541,0.621158,-0.015055],[-0.613175,0.776932,0.142804],[0.100400,-0.102662,0.989636]] 2025-10-28T23:26:36.351Z,1761693996.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809296,0.584718,0.056083],[-0.587400,0.805351,0.079825],[0.001508,-0.097545,0.995230]] 2025-10-28T23:26:36.757Z,1761693996.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815806,0.576424,0.046855],[-0.578281,0.812068,0.078330],[0.007102,-0.090997,0.995826]] 2025-10-28T23:26:37.159Z,1761693997.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811833,0.582816,-0.035398],[-0.572347,0.806315,0.149248],[0.115526,-0.100904,0.988166]] 2025-10-28T23:26:37.563Z,1761693997.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804918,0.587471,-0.083574],[-0.569757,0.804511,0.167747],[0.165782,-0.087405,0.982281]] 2025-10-28T23:26:37.967Z,1761693997.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791978,0.610408,-0.013185],[-0.603891,0.786338,0.130343],[0.089930,-0.095266,0.991381]] 2025-10-28T23:26:38.396Z,1761693998.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801758,0.590637,0.091283],[-0.595820,0.801866,0.044829],[-0.046719,-0.090331,0.994815]] 2025-10-28T23:26:38.799Z,1761693998.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820281,0.560102,0.115864],[-0.561265,0.827245,-0.025433],[-0.110093,-0.044168,0.992939]] 2025-10-28T23:26:39.207Z,1761693999.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829535,0.555930,0.053046],[-0.555341,0.831196,-0.026622],[-0.058892,-0.007375,0.998237]] 2025-10-28T23:26:39.607Z,1761693999.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834414,0.549176,0.046470],[-0.550012,0.835131,0.006542],[-0.035215,-0.031018,0.998898]] 2025-10-28T23:26:40.012Z,1761694000.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841609,0.532237,0.091743],[-0.536880,0.842937,0.034888],[-0.058765,-0.078617,0.995171]] 2025-10-28T23:26:40.415Z,1761694000.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838179,0.537338,0.093395],[-0.545097,0.831004,0.110911],[-0.018015,-0.143873,0.989432]] 2025-10-28T23:26:40.820Z,1761694000.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839965,0.533703,0.098084],[-0.542231,0.818472,0.189972],[0.021110,-0.212753,0.976878]] 2025-10-28T23:26:41.223Z,1761694001.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847032,0.518577,0.116680],[-0.531541,0.826713,0.184420],[-0.000825,-0.218229,0.975897]] 2025-10-28T23:26:41.626Z,1761694001.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848713,0.507656,0.148231],[-0.524955,0.842660,0.119779],[-0.064102,-0.179472,0.981672]] 2025-10-28T23:26:42.031Z,1761694002.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874006,0.480535,0.072109],[-0.483020,0.875354,0.021129],[-0.052968,-0.053297,0.997173]] 2025-10-28T23:26:42.437Z,1761694002.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883458,0.466038,-0.048059],[-0.467844,0.883016,-0.037493],[0.024964,0.055608,0.998141]] 2025-10-28T23:26:42.840Z,1761694002.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852536,0.518058,-0.069263],[-0.521361,0.852270,-0.042639],[0.036941,0.072462,0.996687]] 2025-10-28T23:26:43.243Z,1761694003.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854184,0.517089,-0.054668],[-0.517348,0.855712,0.010392],[0.052154,0.019406,0.998450]] 2025-10-28T23:26:43.647Z,1761694003.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866619,0.497556,-0.037536],[-0.496359,0.867327,0.037042],[0.050986,-0.013470,0.998609]] 2025-10-28T23:26:44.059Z,1761694004.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850631,0.525119,0.026014],[-0.525716,0.850178,0.028634],[-0.007080,-0.038033,0.999251]] 2025-10-28T23:26:44.459Z,1761694004.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867052,0.497109,0.033222],[-0.498211,0.865457,0.052632],[-0.002588,-0.062186,0.998061]] 2025-10-28T23:26:44.863Z,1761694004.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871068,0.490731,0.020560],[-0.490928,0.868600,0.067265],[0.015150,-0.068686,0.997523]] 2025-10-28T23:26:45.267Z,1761694005.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881629,0.471433,-0.021958],[-0.468737,0.880104,0.075520],[0.054928,-0.056288,0.996903]] 2025-10-28T23:26:45.672Z,1761694005.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869784,0.486751,-0.080929],[-0.483411,0.873467,0.058044],[0.098942,-0.011364,0.995028]] 2025-10-28T23:26:46.076Z,1761694006.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863959,0.498832,-0.068852],[-0.497460,0.866696,0.037036],[0.078148,0.002254,0.996939]] 2025-10-28T23:26:46.479Z,1761694006.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863122,0.501520,-0.059142],[-0.495941,0.863891,0.087942],[0.095197,-0.046573,0.994368]] 2025-10-28T23:26:46.883Z,1761694006.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874224,0.484230,-0.035414],[-0.480892,0.873628,0.074274],[0.066904,-0.047902,0.996609]] 2025-10-28T23:26:47.287Z,1761694007.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881196,0.472643,-0.010136],[-0.469461,0.877386,0.098992],[0.055681,-0.082473,0.995037]] 2025-10-28T23:26:47.899Z,1761694007.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901107,0.431667,0.040867],[-0.432234,0.886808,0.163539],[0.034353,-0.165031,0.985690]] 2025-10-28T23:26:48.327Z,1761694008.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898564,0.437635,0.032528],[-0.437076,0.885840,0.155730],[0.039338,-0.154151,0.987264]] 2025-10-28T23:26:48.724Z,1761694008.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886588,0.458467,0.061400],[-0.462029,0.871377,0.165019],[0.022154,-0.174673,0.984377]] 2025-10-28T23:26:49.103Z,1761694009.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903083,0.424245,0.066763],[-0.429224,0.896824,0.107118],[-0.014431,-0.125393,0.992002]] 2025-10-28T23:26:49.507Z,1761694009.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914125,0.405231,0.012765],[-0.405400,0.913995,0.016246],[-0.005084,-0.020026,0.999786]] 2025-10-28T23:26:49.911Z,1761694009.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928015,0.370061,-0.042939],[-0.372208,0.925890,-0.064723],[0.015806,0.076047,0.996979]] 2025-10-28T23:26:50.331Z,1761694010.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933680,0.347988,-0.084534],[-0.356065,0.927298,-0.115480],[0.038203,0.137921,0.989706]] 2025-10-28T23:26:50.780Z,1761694010.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927102,0.368473,-0.068628],[-0.372385,0.926327,-0.056997],[0.042570,0.078398,0.996013]] 2025-10-28T23:26:51.183Z,1761694011.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918302,0.394761,-0.029743],[-0.389527,0.914417,0.110046],[0.070639,-0.089469,0.993481]] 2025-10-28T23:26:51.589Z,1761694011.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933541,0.357049,0.031896],[-0.354961,0.908313,0.221293],[0.050041,-0.217908,0.974686]] 2025-10-28T23:26:51.991Z,1761694011.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948520,0.305014,0.085297],[-0.316278,0.926378,0.204433],[-0.016662,-0.220887,0.975157]] 2025-10-28T23:26:52.394Z,1761694012.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962320,0.270783,0.024820],[-0.271885,0.956748,0.103498],[0.004279,-0.106346,0.994320]] 2025-10-28T23:26:52.799Z,1761694012.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957303,0.277337,-0.081575],[-0.277010,0.960742,0.015526],[0.082678,0.007734,0.996546]] 2025-10-28T23:26:53.206Z,1761694013.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952059,0.300000,-0.059867],[-0.299976,0.953898,0.009602],[0.059988,0.008817,0.998160]] 2025-10-28T23:26:53.644Z,1761694013.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948299,0.317263,-0.008514],[-0.316842,0.947917,0.032622],[0.018420,-0.028238,0.999431]] 2025-10-28T23:26:54.046Z,1761694014.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949411,0.313024,0.025202],[-0.314019,0.947158,0.065448],[-0.003383,-0.070051,0.997538]] 2025-10-28T23:26:54.490Z,1761694014.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959605,0.273666,0.065304],[-0.278686,0.956424,0.087104],[-0.038621,-0.101785,0.994056]] 2025-10-28T23:26:54.494Z,1761694014.494 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T23:26:54.894Z,1761694014.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963710,0.264291,0.037591],[-0.266673,0.959534,0.090447],[-0.012166,-0.097189,0.995192]] 2025-10-28T23:26:55.304Z,1761694015.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964569,0.263018,-0.020705],[-0.260499,0.961880,0.083232],[0.041807,-0.074889,0.996315]] 2025-10-28T23:26:55.716Z,1761694015.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955180,0.295959,-0.006373],[-0.293848,0.950536,0.100676],[0.035853,-0.094291,0.994899]] 2025-10-28T23:26:56.110Z,1761694016.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956420,0.291752,0.011884],[-0.290451,0.946399,0.141304],[0.029979,-0.138598,0.989895]] 2025-10-28T23:26:56.511Z,1761694016.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959213,0.282476,-0.010874],[-0.278713,0.951460,0.130550],[0.047223,-0.122195,0.991382]] 2025-10-28T23:26:56.917Z,1761694016.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957349,0.286792,-0.035115],[-0.284119,0.956512,0.066037],[0.052526,-0.053243,0.997199]] 2025-10-28T23:26:57.320Z,1761694017.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956916,0.282326,-0.067851],[-0.281443,0.959316,0.022438],[0.071425,-0.002375,0.997443]] 2025-10-28T23:26:57.723Z,1761694017.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955876,0.290605,-0.043017],[-0.290212,0.956841,0.015251],[0.045593,-0.002094,0.998958]] 2025-10-28T23:26:58.126Z,1761694018.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961123,0.276108,-0.002686],[-0.276028,0.961005,0.016650],[0.007179,-0.015261,0.999858]] 2025-10-28T23:26:58.531Z,1761694018.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969786,0.234575,-0.067004],[-0.231615,0.971569,0.049077],[0.076612,-0.032075,0.996545]] 2025-10-28T23:26:58.936Z,1761694018.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958221,0.238273,-0.158236],[-0.232993,0.971119,0.051397],[0.165913,-0.012382,0.986063]] 2025-10-28T23:26:59.339Z,1761694019.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946072,0.305078,-0.108972],[-0.299088,0.951797,0.068032],[0.124474,-0.031771,0.991714]] 2025-10-28T23:26:59.742Z,1761694019.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954827,0.287374,-0.075647],[-0.277281,0.953140,0.120991],[0.106872,-0.094550,0.989767]] 2025-10-28T23:27:00.147Z,1761694020.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954071,0.260783,-0.147449],[-0.242790,0.961409,0.129406],[0.175506,-0.087663,0.980568]] 2025-10-28T23:27:00.553Z,1761694020.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947195,0.286260,-0.144489],[-0.281343,0.958096,0.053834],[0.153845,-0.010340,0.988041]] 2025-10-28T23:27:00.955Z,1761694020.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953054,0.282341,-0.109414],[-0.282584,0.959146,0.013605],[0.108785,0.017953,0.993903]] 2025-10-28T23:27:01.359Z,1761694021.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954443,0.242612,-0.173716],[-0.237103,0.970086,0.052110],[0.181162,-0.008548,0.983416]] 2025-10-28T23:27:01.500Z,1761694021.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:27:01.763Z,1761694021.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929433,0.277087,-0.243674],[-0.271007,0.960778,0.058832],[0.250418,0.011357,0.968071]] 2025-10-28T23:27:02.167Z,1761694022.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916788,0.343404,-0.203895],[-0.329016,0.938821,0.101801],[0.226380,-0.026245,0.973686]] 2025-10-28T23:27:02.504Z,1761694022.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:27:02.572Z,1761694022.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917538,0.371772,-0.141098],[-0.338974,0.916770,0.211257],[0.207894,-0.146008,0.967193]] 2025-10-28T23:27:03.379Z,1761694023.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925741,0.353280,-0.134896],[-0.317632,0.919997,0.229598],[0.205216,-0.169701,0.963892]] 2025-10-28T23:27:03.792Z,1761694023.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929533,0.338064,-0.147247],[-0.324679,0.939666,0.107760],[0.174793,-0.052358,0.983212]] 2025-10-28T23:27:04.198Z,1761694024.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928825,0.322436,-0.182535],[-0.321954,0.946176,0.033103],[0.183384,0.028021,0.982642]] 2025-10-28T23:27:04.613Z,1761694024.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914458,0.329197,-0.235364],[-0.337416,0.941339,0.005661],[0.223421,0.074239,0.971891]] 2025-10-28T23:27:05.003Z,1761694025.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909043,0.338774,-0.242637],[-0.344166,0.938670,0.021165],[0.234927,0.064268,0.969886]] 2025-10-28T23:27:05.406Z,1761694025.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901781,0.378967,-0.207787],[-0.366303,0.925330,0.097913],[0.229378,-0.012183,0.973261]] 2025-10-28T23:27:05.812Z,1761694025.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911841,0.389418,-0.129995],[-0.364771,0.913785,0.178713],[0.188381,-0.115540,0.975276]] 2025-10-28T23:27:06.218Z,1761694026.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921483,0.354577,-0.158570],[-0.328286,0.929163,0.169954],[0.207599,-0.104554,0.972610]] 2025-10-28T23:27:07.023Z,1761694027.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878761,0.371788,-0.299253],[-0.360688,0.927966,0.093724],[0.312542,0.025576,0.949560]] 2025-10-28T23:27:07.427Z,1761694027.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877574,0.399083,-0.265700],[-0.381717,0.916914,0.116446],[0.290096,-0.000768,0.956997]] 2025-10-28T23:27:07.877Z,1761694027.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884578,0.412044,-0.218495],[-0.366072,0.903682,0.222147],[0.288985,-0.116522,0.950216]] 2025-10-28T23:27:08.319Z,1761694028.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876814,0.429083,-0.216990],[-0.379695,0.894755,0.235044],[0.295006,-0.123700,0.947454]] 2025-10-28T23:27:08.749Z,1761694028.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886076,0.417661,-0.201067],[-0.374378,0.900585,0.220881],[0.273332,-0.120442,0.954350]] 2025-10-28T23:27:09.152Z,1761694029.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881149,0.401267,-0.250122],[-0.353513,0.910363,0.215098],[0.314014,-0.101112,0.944019]] 2025-10-28T23:27:09.554Z,1761694029.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874344,0.397409,-0.278549],[-0.355057,0.915105,0.191092],[0.330843,-0.068180,0.941220]] 2025-10-28T23:27:09.959Z,1761694029.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881949,0.394693,-0.257650],[-0.362405,0.917345,0.164747],[0.301378,-0.051925,0.952090]] 2025-10-28T23:27:10.504Z,1761694030.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884169,0.390207,-0.256873],[-0.348011,0.916971,0.195069],[0.311662,-0.083079,0.946554]] 2025-10-28T23:27:10.902Z,1761694030.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885625,0.375021,-0.273914],[-0.319986,0.920237,0.225328],[0.336568,-0.111908,0.934986]] 2025-10-28T23:27:11.711Z,1761694031.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881575,0.340977,-0.326436],[-0.292015,0.937269,0.190402],[0.370881,-0.072530,0.925844]] 2025-10-28T23:27:12.117Z,1761694032.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894555,0.331911,-0.299343],[-0.283138,0.939032,0.195069],[0.345838,-0.089745,0.933992]] 2025-10-28T23:27:12.519Z,1761694032.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904211,0.316795,-0.286431],[-0.279030,0.945937,0.165365],[0.323332,-0.069602,0.943722]] 2025-10-28T23:27:12.936Z,1761694032.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902898,0.291453,-0.315958],[-0.257072,0.955221,0.146515],[0.344512,-0.051064,0.937392]] 2025-10-28T23:27:13.339Z,1761694033.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903838,0.256344,-0.342586],[-0.226633,0.965944,0.124856],[0.362925,-0.035208,0.931153]] 2025-10-28T23:27:13.743Z,1761694033.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908473,0.235133,-0.345527],[-0.211722,0.971717,0.104590],[0.360348,-0.021862,0.932562]] 2025-10-28T23:27:14.148Z,1761694034.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915907,0.224901,-0.332467],[-0.203355,0.974114,0.098733],[0.346066,-0.022822,0.937932]] 2025-10-28T23:27:14.551Z,1761694034.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926186,0.207192,-0.315040],[-0.188579,0.978033,0.088819],[0.326522,-0.022853,0.944913]] 2025-10-28T23:27:14.955Z,1761694034.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936935,0.175653,-0.302156],[-0.160600,0.984229,0.074169],[0.310418,-0.020965,0.950369]] 2025-10-28T23:27:15.359Z,1761694035.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941703,0.138314,-0.306698],[-0.131178,0.990388,0.043865],[0.309817,-0.001075,0.950795]] 2025-10-28T23:27:15.764Z,1761694035.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933384,0.105180,-0.343121],[-0.113347,0.993548,-0.003775],[0.340510,0.042415,0.939284]] 2025-10-28T23:27:16.170Z,1761694036.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921114,0.087020,-0.379441],[-0.113876,0.992292,-0.048869],[0.372264,0.088223,0.923924]] 2025-10-28T23:27:16.572Z,1761694036.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918923,0.098428,-0.381960],[-0.125337,0.991040,-0.046156],[0.373994,0.090287,0.923026]] 2025-10-28T23:27:16.975Z,1761694036.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926184,0.131122,-0.353540],[-0.130857,0.991092,0.024768],[0.353638,0.023324,0.935091]] 2025-10-28T23:27:17.379Z,1761694037.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935999,0.151838,-0.317570],[-0.123166,0.986424,0.108616],[0.329751,-0.062551,0.941993]] 2025-10-28T23:27:17.784Z,1761694037.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938095,0.146349,-0.313942],[-0.105446,0.983999,0.143621],[0.329937,-0.101626,0.938517]] 2025-10-28T23:27:18.189Z,1761694038.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930908,0.131725,-0.340674],[-0.097471,0.988472,0.115860],[0.352009,-0.074649,0.933015]] 2025-10-28T23:27:18.591Z,1761694038.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925073,0.115841,-0.361692],[-0.094981,0.992650,0.074996],[0.367721,-0.035023,0.929277]] 2025-10-28T23:27:18.995Z,1761694038.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922882,0.112151,-0.368390],[-0.094550,0.993360,0.065548],[0.373295,-0.025662,0.927358]] 2025-10-28T23:27:19.400Z,1761694039.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924628,0.120738,-0.361226],[-0.093554,0.991365,0.091890],[0.369202,-0.051170,0.927939]] 2025-10-28T23:27:19.802Z,1761694039.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928118,0.130172,-0.348787],[-0.087577,0.986928,0.135292],[0.361839,-0.095022,0.927385]] 2025-10-28T23:27:20.208Z,1761694040.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928578,0.129754,-0.347718],[-0.078141,0.984245,0.158605],[0.362819,-0.120106,0.924087]] 2025-10-28T23:27:20.611Z,1761694040.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925961,0.113351,-0.360205],[-0.064056,0.987209,0.145995],[0.372147,-0.112112,0.921378]] 2025-10-28T23:27:21.016Z,1761694041.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922984,0.090064,-0.374150],[-0.050964,0.992272,0.113133],[0.381448,-0.085352,0.920442]] 2025-10-28T23:27:21.419Z,1761694041.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923562,0.070416,-0.376928],[-0.043047,0.995820,0.080561],[0.381025,-0.058178,0.922732]] 2025-10-28T23:27:21.822Z,1761694041.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928716,0.059741,-0.365948],[-0.039062,0.997207,0.063660],[0.368729,-0.044828,0.928456]] 2025-10-28T23:27:22.227Z,1761694042.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935518,0.056560,-0.348722],[-0.033845,0.996909,0.070894],[0.351654,-0.054520,0.934541]] 2025-10-28T23:27:22.631Z,1761694042.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941069,0.055700,-0.333597],[-0.026083,0.995360,0.092615],[0.337207,-0.078456,0.938156]] 2025-10-28T23:27:23.034Z,1761694043.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944653,0.046229,-0.324796],[-0.012483,0.994370,0.105225],[0.327832,-0.095347,0.939912]] 2025-10-28T23:27:23.439Z,1761694043.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945332,0.027210,-0.324973],[0.004015,0.995466,0.095030],[0.326085,-0.091139,0.940937]] 2025-10-28T23:27:23.844Z,1761694043.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943550,0.006881,-0.331158],[0.014662,0.997936,0.062513],[0.330905,-0.063840,0.941502]] 2025-10-28T23:27:24.259Z,1761694044.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941608,-0.003510,-0.336692],[0.013170,0.999564,0.026412],[0.336453,-0.029304,0.941244]] 2025-10-28T23:27:24.651Z,1761694044.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941252,-0.009478,-0.337572],[0.010519,0.999944,0.001254],[0.337541,-0.004731,0.941299]] 2025-10-28T23:27:25.059Z,1761694045.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942239,-0.013301,-0.334678],[0.013478,0.999908,-0.001791],[0.334671,-0.002823,0.942331]] 2025-10-28T23:27:25.464Z,1761694045.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945679,-0.014512,-0.324778],[0.028028,0.998923,0.036978],[0.323891,-0.044072,0.945067]] 2025-10-28T23:27:25.869Z,1761694045.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946793,-0.011155,-0.321649],[0.033077,0.997480,0.062773],[0.320138,-0.070073,0.944776]] 2025-10-28T23:27:26.304Z,1761694046.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947288,-0.008844,-0.320260],[0.037308,0.995863,0.082851],[0.318203,-0.090432,0.943700]] 2025-10-28T23:27:26.674Z,1761694046.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947504,-0.007445,-0.319659],[0.039609,0.994762,0.094235],[0.317283,-0.101950,0.942835]] 2025-10-28T23:27:27.076Z,1761694047.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946936,-0.008124,-0.321318],[0.040633,0.994686,0.094599],[0.318842,-0.102636,0.942234]] 2025-10-28T23:27:27.481Z,1761694047.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945282,-0.007336,-0.326171],[0.037513,0.995560,0.086326],[0.324089,-0.093838,0.941361]] 2025-10-28T23:27:27.883Z,1761694047.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943506,-0.004553,-0.331325],[0.031296,0.996660,0.075424],[0.329875,-0.081532,0.940497]] 2025-10-28T23:27:28.320Z,1761694048.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943257,-0.000002,-0.332062],[0.025196,0.997118,0.071565],[0.331105,-0.075871,0.940539]] 2025-10-28T23:27:28.691Z,1761694048.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944802,0.002306,-0.327635],[0.024223,0.996747,0.076867],[0.326746,-0.080560,0.941672]] 2025-10-28T23:27:29.096Z,1761694049.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946188,-0.002757,-0.323606],[0.031821,0.995911,0.084555],[0.322049,-0.090303,0.942406]] 2025-10-28T23:27:29.499Z,1761694049.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946467,-0.007125,-0.322723],[0.039474,0.994808,0.093804],[0.320379,-0.101521,0.941834]] 2025-10-28T23:27:29.903Z,1761694049.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945474,-0.010028,-0.325543],[0.045493,0.993793,0.101513],[0.322505,-0.110788,0.940062]] 2025-10-28T23:27:30.324Z,1761694050.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943936,-0.008491,-0.330019],[0.047494,0.992763,0.110301],[0.326694,-0.119791,0.937508]] 2025-10-28T23:27:30.711Z,1761694050.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943082,-0.003621,-0.332539],[0.046862,0.991410,0.122106],[0.329241,-0.130739,0.935151]] 2025-10-28T23:27:31.116Z,1761694051.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943332,0.002171,-0.331843],[0.045728,0.989589,0.136465],[0.328684,-0.143906,0.933412]] 2025-10-28T23:27:31.519Z,1761694051.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943852,0.005464,-0.330323],[0.046072,0.987916,0.147986],[0.327140,-0.154896,0.932195]] 2025-10-28T23:27:31.923Z,1761694051.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943576,0.002401,-0.331148],[0.050095,0.987432,0.149898],[0.327346,-0.158029,0.931596]] 2025-10-28T23:27:32.334Z,1761694052.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942436,-0.004591,-0.334356],[0.055145,0.988349,0.141866],[0.329809,-0.152138,0.931708]] 2025-10-28T23:27:32.625Z,1761694052.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:27:32.756Z,1761694052.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941200,-0.011424,-0.337655],[0.058612,0.989795,0.129890],[0.332726,-0.142043,0.932265]] 2025-10-28T23:27:33.159Z,1761694053.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940322,-0.017089,-0.339857],[0.059271,0.991696,0.114129],[0.335084,-0.127461,0.933527]] 2025-10-28T23:27:33.565Z,1761694053.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939986,-0.022541,-0.340467],[0.058113,0.993813,0.094645],[0.336227,-0.108751,0.935481]] 2025-10-28T23:27:33.628Z,1761694053.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:27:33.967Z,1761694053.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940338,-0.025459,-0.339288],[0.054937,0.995473,0.077561],[0.335777,-0.091573,0.937480]] 2025-10-28T23:27:34.371Z,1761694054.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941402,-0.024065,-0.336428],[0.050330,0.996307,0.069569],[0.333511,-0.082425,0.939136]] 2025-10-28T23:27:34.776Z,1761694054.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942893,-0.022755,-0.332317],[0.047460,0.996663,0.066414],[0.329696,-0.078394,0.940827]] 2025-10-28T23:27:35.180Z,1761694055.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944597,-0.021308,-0.327539],[0.047277,0.996318,0.071526],[0.324809,-0.083048,0.942126]] 2025-10-28T23:27:35.592Z,1761694055.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946272,-0.015896,-0.322981],[0.047384,0.994826,0.089866],[0.319882,-0.100342,0.942129]] 2025-10-28T23:27:35.995Z,1761694055.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947238,-0.008807,-0.320409],[0.049197,0.991772,0.118183],[0.316732,-0.127710,0.939878]] 2025-10-28T23:27:36.399Z,1761694056.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947364,-0.002877,-0.320145],[0.051539,0.988288,0.143632],[0.315982,-0.152571,0.936417]] 2025-10-28T23:27:36.804Z,1761694056.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947123,0.002993,-0.320858],[0.051832,0.985397,0.162192],[0.316658,-0.170247,0.933137]] 2025-10-28T23:27:37.207Z,1761694057.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947013,0.008755,-0.321075],[0.047764,0.984675,0.167731],[0.317624,-0.174179,0.932082]] 2025-10-28T23:27:37.611Z,1761694057.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947357,0.013066,-0.319913],[0.040843,0.986073,0.161223],[0.317564,-0.165802,0.933629]] 2025-10-28T23:27:38.015Z,1761694058.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947830,0.013780,-0.318480],[0.037116,0.987500,0.153187],[0.316609,-0.157016,0.935470]] 2025-10-28T23:27:38.420Z,1761694058.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948704,0.014003,-0.315857],[0.034390,0.988521,0.147120],[0.314291,-0.150436,0.937331]] 2025-10-28T23:27:38.822Z,1761694058.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950229,0.012580,-0.311297],[0.033282,0.989368,0.141575],[0.309768,-0.144889,0.939708]] 2025-10-28T23:27:39.226Z,1761694059.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952183,0.011255,-0.305320],[0.031847,0.990221,0.135822],[0.303863,-0.139051,0.942514]] 2025-10-28T23:27:39.631Z,1761694059.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954254,0.012075,-0.298752],[0.030245,0.990161,0.136626],[0.297462,-0.139412,0.944500]] 2025-10-28T23:27:40.036Z,1761694060.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955904,0.012692,-0.293405],[0.029704,0.989764,0.139592],[0.292173,-0.142151,0.945742]] 2025-10-28T23:27:40.439Z,1761694060.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956708,0.013217,-0.290749],[0.027683,0.990307,0.136108],[0.289730,-0.138264,0.947069]] 2025-10-28T23:27:40.843Z,1761694060.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956926,0.016727,-0.289849],[0.021639,0.991453,0.128656],[0.289524,-0.129386,0.948386]] 2025-10-28T23:27:41.247Z,1761694061.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957605,0.023789,-0.287100],[0.012533,0.992201,0.124016],[0.287811,-0.122357,0.949839]] 2025-10-28T23:27:41.652Z,1761694061.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959007,0.033087,-0.281444],[0.003279,0.991799,0.127768],[0.283363,-0.123454,0.951033]] 2025-10-28T23:27:42.056Z,1761694062.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960410,0.043569,-0.275162],[-0.005671,0.990548,0.137050],[0.278532,-0.130063,0.951579]] 2025-10-28T23:27:42.458Z,1761694062.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961398,0.052233,-0.270157],[-0.012876,0.989282,0.145451],[0.274859,-0.136358,0.951766]] 2025-10-28T23:27:42.862Z,1761694062.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961941,0.059050,-0.266799],[-0.017521,0.987691,0.155433],[0.272693,-0.144843,0.951136]] 2025-10-28T23:27:43.267Z,1761694063.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962334,0.061317,-0.264866],[-0.019340,0.987206,0.158273],[0.271182,-0.147189,0.951207]] 2025-10-28T23:27:43.673Z,1761694063.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962779,0.058528,-0.263878],[-0.019185,0.988610,0.149275],[0.269609,-0.138656,0.952935]] 2025-10-28T23:27:44.075Z,1761694064.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963299,0.055777,-0.262573],[-0.018334,0.989561,0.142946],[0.267805,-0.132885,0.954265]] 2025-10-28T23:27:44.478Z,1761694064.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963910,0.053365,-0.260825],[-0.016281,0.989686,0.142324],[0.265731,-0.132941,0.954837]] 2025-10-28T23:27:44.883Z,1761694064.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964693,0.049788,-0.258627],[-0.013544,0.990048,0.140073],[0.263027,-0.131625,0.955768]] 2025-10-28T23:27:45.288Z,1761694065.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965663,0.045777,-0.255732],[-0.010238,0.990295,0.138606],[0.259595,-0.131228,0.956760]] 2025-10-28T23:27:45.691Z,1761694065.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966905,0.042326,-0.251603],[-0.007166,0.990260,0.139048],[0.255038,-0.132643,0.957790]] 2025-10-28T23:27:46.094Z,1761694066.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968237,0.039526,-0.246889],[-0.004600,0.990074,0.140469],[0.249990,-0.134872,0.958809]] 2025-10-28T23:27:46.499Z,1761694066.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969512,0.037558,-0.242148],[-0.002904,0.989876,0.141908],[0.245026,-0.136878,0.959805]] 2025-10-28T23:27:46.904Z,1761694066.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970674,0.035652,-0.237742],[-0.002001,0.990106,0.140307],[0.240392,-0.135716,0.961141]] 2025-10-28T23:27:47.306Z,1761694067.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971687,0.033841,-0.233834],[-0.001445,0.990522,0.137347],[0.236266,-0.133121,0.962527]] 2025-10-28T23:27:47.711Z,1761694067.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972481,0.032906,-0.230646],[-0.001725,0.990966,0.134105],[0.232975,-0.130017,0.963752]] 2025-10-28T23:27:48.115Z,1761694068.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973124,0.033689,-0.227805],[-0.002857,0.990931,0.134339],[0.230265,-0.130078,0.964395]] 2025-10-28T23:27:48.520Z,1761694068.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973585,0.037393,-0.225242],[-0.005901,0.990290,0.138891],[0.228249,-0.133893,0.964352]] 2025-10-28T23:27:48.924Z,1761694068.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973947,0.042344,-0.222787],[-0.010058,0.989511,0.144105],[0.226553,-0.138110,0.964157]] 2025-10-28T23:27:49.327Z,1761694069.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974240,0.046958,-0.220570],[-0.014316,0.988986,0.147317],[0.225059,-0.140364,0.964182]] 2025-10-28T23:27:49.730Z,1761694069.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974497,0.051283,-0.218460],[-0.018098,0.988326,0.151274],[0.223668,-0.143462,0.964049]] 2025-10-28T23:27:50.136Z,1761694070.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974728,0.055084,-0.216498],[-0.021650,0.987854,0.153868],[0.222344,-0.145292,0.964082]] 2025-10-28T23:27:50.540Z,1761694070.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974853,0.057182,-0.215386],[-0.024483,0.988150,0.151529],[0.221498,-0.142445,0.964701]] 2025-10-28T23:27:50.942Z,1761694070.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974950,0.056995,-0.214996],[-0.025970,0.989170,0.144459],[0.220901,-0.135257,0.965872]] 2025-10-28T23:27:51.347Z,1761694071.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975184,0.055952,-0.214210],[-0.026165,0.989884,0.139443],[0.219845,-0.130378,0.966783]] 2025-10-28T23:27:51.752Z,1761694071.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975577,0.055188,-0.212614],[-0.026469,0.990406,0.135626],[0.218059,-0.126686,0.967678]] 2025-10-28T23:27:52.163Z,1761694072.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976184,0.054518,-0.209982],[-0.026953,0.990888,0.131963],[0.215263,-0.123161,0.968759]] 2025-10-28T23:27:52.559Z,1761694072.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977025,0.053417,-0.206323],[-0.026729,0.991149,0.130034],[0.211443,-0.121532,0.969805]] 2025-10-28T23:27:52.963Z,1761694072.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977955,0.052895,-0.202007],[-0.027001,0.991296,0.128854],[0.207065,-0.120559,0.970871]] 2025-10-28T23:27:53.368Z,1761694073.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978934,0.052314,-0.197359],[-0.027042,0.991323,0.128636],[0.202376,-0.120589,0.971855]] 2025-10-28T23:27:53.773Z,1761694073.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979904,0.053235,-0.192237],[-0.027880,0.990821,0.132271],[0.197514,-0.124254,0.972394]] 2025-10-28T23:27:54.175Z,1761694074.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980704,0.055614,-0.187420],[-0.029687,0.989931,0.138406],[0.193231,-0.130171,0.972480]] 2025-10-28T23:27:54.579Z,1761694074.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981305,0.058952,-0.183205],[-0.032048,0.988694,0.146485],[0.189769,-0.137875,0.972100]] 2025-10-28T23:27:54.983Z,1761694074.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981845,0.061864,-0.179313],[-0.034508,0.987801,0.151847],[0.186519,-0.142902,0.972003]] 2025-10-28T23:27:55.389Z,1761694075.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982361,0.063931,-0.175725],[-0.036905,0.987541,0.152972],[0.183316,-0.143789,0.972481]] 2025-10-28T23:27:55.791Z,1761694075.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982795,0.065349,-0.172755],[-0.039196,0.987805,0.150681],[0.180495,-0.141317,0.973371]] 2025-10-28T23:27:56.194Z,1761694076.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983061,0.066909,-0.170631],[-0.041846,0.988331,0.146463],[0.178440,-0.136842,0.974389]] 2025-10-28T23:27:56.598Z,1761694076.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983170,0.068434,-0.169394],[-0.044657,0.989088,0.140393],[0.177153,-0.130466,0.975498]] 2025-10-28T23:27:57.004Z,1761694077.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983182,0.068212,-0.169412],[-0.046074,0.990267,0.131332],[0.176721,-0.121318,0.976756]] 2025-10-28T23:27:57.407Z,1761694077.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983215,0.066810,-0.169781],[-0.045953,0.991226,0.123935],[0.176571,-0.114053,0.977658]] 2025-10-28T23:27:57.810Z,1761694077.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983292,0.063981,-0.170420],[-0.044503,0.992280,0.115758],[0.176511,-0.106240,0.978548]] 2025-10-28T23:27:58.219Z,1761694078.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983465,0.061007,-0.170515],[-0.042165,0.992811,0.112018],[0.176123,-0.102976,0.978967]] 2025-10-28T23:27:58.620Z,1761694078.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983730,0.058667,-0.169804],[-0.039824,0.992874,0.112319],[0.175184,-0.103729,0.979056]] 2025-10-28T23:27:59.023Z,1761694079.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984168,0.056939,-0.167841],[-0.037311,0.992329,0.117862],[0.173264,-0.109734,0.978743]] 2025-10-28T23:27:59.428Z,1761694079.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984774,0.055112,-0.164875],[-0.033984,0.991150,0.128324],[0.170488,-0.120767,0.977931]] 2025-10-28T23:27:59.830Z,1761694079.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985405,0.053201,-0.161698],[-0.030871,0.990007,0.137597],[0.167403,-0.130597,0.977200]] 2025-10-28T23:28:00.235Z,1761694080.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986079,0.048942,-0.158912],[-0.026106,0.989417,0.142729],[0.164216,-0.136594,0.976921]] 2025-10-28T23:28:00.641Z,1761694080.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986777,0.042596,-0.156388],[-0.019738,0.989249,0.144903],[0.160879,-0.139900,0.977009]] 2025-10-28T23:28:01.042Z,1761694081.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987380,0.038738,-0.153556],[-0.015956,0.989022,0.146902],[0.157561,-0.142598,0.977159]] 2025-10-28T23:28:01.447Z,1761694081.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987821,0.039742,-0.150435],[-0.016936,0.988549,0.149948],[0.154672,-0.145574,0.977182]] 2025-10-28T23:28:01.851Z,1761694081.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988210,0.041639,-0.147334],[-0.019074,0.988293,0.151373],[0.151912,-0.146778,0.977435]] 2025-10-28T23:28:02.270Z,1761694082.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988562,0.043001,-0.144558],[-0.020707,0.988114,0.152323],[0.149390,-0.147587,0.977702]] 2025-10-28T23:28:02.669Z,1761694082.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988895,0.043337,-0.142158],[-0.021698,0.988391,0.150375],[0.147024,-0.145620,0.978355]] 2025-10-28T23:28:03.063Z,1761694083.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989374,0.041678,-0.139292],[-0.021360,0.989304,0.144299],[0.143816,-0.139791,0.979681]] 2025-10-28T23:28:03.468Z,1761694083.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989938,0.036240,-0.136783],[-0.017925,0.990976,0.132832],[0.140363,-0.129044,0.981655]] 2025-10-28T23:28:03.748Z,1761694083.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:28:03.871Z,1761694083.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990600,0.030110,-0.133437],[-0.013659,0.992371,0.122525],[0.136109,-0.119550,0.983454]] 2025-10-28T23:28:04.311Z,1761694084.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991692,0.021871,-0.126760],[-0.007873,0.993912,0.109898],[0.128391,-0.107987,0.985827]] 2025-10-28T23:28:04.752Z,1761694084.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:28:05.083Z,1761694085.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992049,0.020389,-0.124192],[-0.007223,0.994388,0.105552],[0.125647,-0.103816,0.986628]] 2025-10-28T23:28:05.487Z,1761694085.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992357,0.019316,-0.121879],[-0.006558,0.994533,0.104216],[0.123225,-0.102621,0.987059]] 2025-10-28T23:28:05.890Z,1761694085.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992663,0.019961,-0.119254],[-0.007139,0.994234,0.106992],[0.120702,-0.105356,0.987082]] 2025-10-28T23:28:06.324Z,1761694086.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993327,0.022751,-0.113065],[-0.010018,0.993665,0.111936],[0.114895,-0.110056,0.987262]] 2025-10-28T23:28:07.109Z,1761694087.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994298,0.022255,-0.104290],[-0.010498,0.993658,0.111955],[0.106121,-0.110222,0.988226]] 2025-10-28T23:28:07.511Z,1761694087.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994889,0.018771,-0.099216],[-0.008027,0.994162,0.107601],[0.100656,-0.106255,0.989231]] 2025-10-28T23:28:07.917Z,1761694087.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995512,0.014048,-0.093589],[-0.004199,0.994505,0.104608],[0.094545,-0.103745,0.990100]] 2025-10-28T23:28:08.330Z,1761694088.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996130,0.008084,-0.087521],[0.001094,0.994544,0.104315],[0.087886,-0.104007,0.990686]] 2025-10-28T23:28:08.720Z,1761694088.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996707,0.000868,-0.081086],[0.007617,0.994519,0.104274],[0.080732,-0.104548,0.991238]] 2025-10-28T23:28:09.123Z,1761694089.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997198,-0.006937,-0.074486],[0.014807,0.994294,0.105640],[0.073328,-0.106447,0.991611]] 2025-10-28T23:28:09.528Z,1761694089.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997568,-0.015302,-0.068002],[0.022461,0.994136,0.105778],[0.065985,-0.107048,0.992062]] 2025-10-28T23:28:09.930Z,1761694089.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997838,-0.023239,-0.061484],[0.029383,0.994452,0.101004],[0.058796,-0.102592,0.992984]] 2025-10-28T23:28:10.334Z,1761694090.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998051,-0.029048,-0.055229],[0.034328,0.994672,0.097202],[0.052111,-0.098909,0.993731]] 2025-10-28T23:28:10.739Z,1761694090.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998329,-0.031020,-0.048753],[0.035732,0.994449,0.098964],[0.045412,-0.100541,0.993896]] 2025-10-28T23:28:11.144Z,1761694091.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998649,-0.030320,-0.042208],[0.034542,0.994062,0.103188],[0.038828,-0.104507,0.993766]] 2025-10-28T23:28:11.547Z,1761694091.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998941,-0.028950,-0.035746],[0.032676,0.993561,0.108487],[0.032375,-0.109541,0.993455]] 2025-10-28T23:28:11.951Z,1761694091.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999218,-0.026614,-0.029248],[0.029774,0.993087,0.113546],[0.026024,-0.114328,0.993102]] 2025-10-28T23:28:12.355Z,1761694092.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999451,-0.024022,-0.022808],[0.026511,0.992896,0.115995],[0.019859,-0.116536,0.992988]] 2025-10-28T23:28:12.760Z,1761694092.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,-0.021318,-0.016801],[0.023116,0.993056,0.115346],[0.014225,-0.115692,0.993183]] 2025-10-28T23:28:13.163Z,1761694093.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999741,-0.019913,-0.011059],[0.021044,0.993270,0.113895],[0.008717,-0.114099,0.993431]] 2025-10-28T23:28:13.566Z,1761694093.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999771,-0.020614,-0.005694],[0.021121,0.993506,0.111799],[0.003352,-0.111893,0.993715]] 2025-10-28T23:28:13.972Z,1761694093.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999734,-0.023059,-0.000225],[0.022951,0.994027,0.106697],[-0.002236,-0.106674,0.994292]] 2025-10-28T23:28:14.375Z,1761694094.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999610,-0.027434,0.005145],[0.026774,0.994512,0.101134],[-0.007891,-0.100957,0.994860]] 2025-10-28T23:28:14.780Z,1761694094.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999391,-0.033327,0.010341],[0.032145,0.994589,0.098789],[-0.013577,-0.098397,0.995055]] 2025-10-28T23:28:15.183Z,1761694095.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999116,-0.039174,0.015231],[0.037490,0.994438,0.098429],[-0.019002,-0.097771,0.995028]] 2025-10-28T23:28:15.321Z,1761694095.321 [Radio_Surface](INFO): Powering down 2025-10-28T23:28:15.586Z,1761694095.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.045599,0.019526],[0.043396,0.993904,0.101347],[-0.024028,-0.100375,0.994659]] 2025-10-28T23:28:15.990Z,1761694095.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998340,-0.052755,0.023114],[0.050056,0.993222,0.104906],[-0.028491,-0.103575,0.994214]] 2025-10-28T23:28:16.394Z,1761694096.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997831,-0.060487,0.025977],[0.057334,0.992436,0.108550],[-0.032346,-0.106825,0.993752]] 2025-10-28T23:28:16.799Z,1761694096.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997395,-0.066529,0.027875],[0.063001,0.991650,0.112519],[-0.035128,-0.110470,0.993258]] 2025-10-28T23:28:17.203Z,1761694097.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997103,-0.070263,0.029135],[0.066421,0.990949,0.116653],[-0.037068,-0.114380,0.992745]] 2025-10-28T23:28:17.610Z,1761694097.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996988,-0.071246,0.030645],[0.067105,0.990539,0.119707],[-0.038884,-0.117290,0.992336]] 2025-10-28T23:28:18.011Z,1761694098.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996977,-0.070655,0.032333],[0.066292,0.990507,0.120421],[-0.040535,-0.117913,0.992196]] 2025-10-28T23:28:18.411Z,1761694098.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997040,-0.069050,0.033807],[0.064508,0.990584,0.120760],[-0.041827,-0.118222,0.992106]] 2025-10-28T23:28:18.815Z,1761694098.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997113,-0.067083,0.035582],[0.062420,0.990929,0.119009],[-0.043243,-0.116444,0.992255]] 2025-10-28T23:28:19.218Z,1761694099.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997115,-0.065769,0.037908],[0.060892,0.991153,0.117930],[-0.045328,-0.115282,0.992298]] 2025-10-28T23:28:19.622Z,1761694099.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997091,-0.064802,0.040133],[0.059696,0.991279,0.117483],[-0.047396,-0.114746,0.992264]] 2025-10-28T23:28:20.027Z,1761694100.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997098,-0.063209,0.042420],[0.057837,0.991359,0.117737],[-0.049496,-0.114942,0.992138]] 2025-10-28T23:28:20.432Z,1761694100.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997133,-0.061196,0.044501],[0.055573,0.991437,0.118172],[-0.051352,-0.115360,0.991995]] 2025-10-28T23:28:20.834Z,1761694100.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997187,-0.059009,0.046212],[0.053123,0.991398,0.119613],[-0.052872,-0.116822,0.991744]] 2025-10-28T23:28:21.238Z,1761694101.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997277,-0.056667,0.047196],[0.050852,0.991896,0.116434],[-0.053411,-0.113717,0.992076]] 2025-10-28T23:28:21.643Z,1761694101.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997394,-0.054261,0.047539],[0.048745,0.992694,0.110370],[-0.053181,-0.107765,0.992753]] 2025-10-28T23:28:22.047Z,1761694102.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997434,-0.053687,0.047365],[0.048486,0.993304,0.104860],[-0.052678,-0.102294,0.993358]] 2025-10-28T23:28:22.452Z,1761694102.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997455,-0.053486,0.047152],[0.048523,0.993728,0.100748],[-0.052244,-0.098203,0.993794]] 2025-10-28T23:28:22.855Z,1761694102.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997370,-0.055098,0.047090],[0.050250,0.993859,0.098584],[-0.052233,-0.095958,0.994014]] 2025-10-28T23:28:23.259Z,1761694103.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997102,-0.060087,0.046668],[0.055318,0.993696,0.097508],[-0.052233,-0.094643,0.994140]] 2025-10-28T23:28:23.663Z,1761694103.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996708,-0.067350,0.045140],[0.062636,0.993137,0.098768],[-0.051482,-0.095616,0.994086]] 2025-10-28T23:28:24.068Z,1761694104.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996250,-0.075319,0.042577],[0.070707,0.992367,0.101040],[-0.049862,-0.097650,0.993971]] 2025-10-28T23:28:24.470Z,1761694104.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995879,-0.081593,0.039590],[0.077162,0.991700,0.102844],[-0.047653,-0.099365,0.993909]] 2025-10-28T23:28:24.874Z,1761694104.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995524,-0.087259,0.036311],[0.082917,0.990739,0.107525],[-0.045357,-0.104033,0.993539]] 2025-10-28T23:28:25.279Z,1761694105.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995041,-0.093813,0.033063],[0.089534,0.989536,0.113145],[-0.043331,-0.109623,0.993028]] 2025-10-28T23:28:25.684Z,1761694105.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994496,-0.100338,0.030161],[0.096221,0.988572,0.116047],[-0.041460,-0.112506,0.992786]] 2025-10-28T23:28:26.087Z,1761694106.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993812,-0.107720,0.027086],[0.103719,0.987252,0.120727],[-0.039745,-0.117171,0.992316]] 2025-10-28T23:28:26.491Z,1761694106.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993043,-0.115347,0.023684],[0.111468,0.985658,0.126700],[-0.037959,-0.123178,0.991658]] 2025-10-28T23:28:26.895Z,1761694106.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992515,-0.120482,0.019939],[0.116860,0.984419,0.131388],[-0.035459,-0.128075,0.991130]] 2025-10-28T23:28:27.300Z,1761694107.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992826,-0.118382,0.016796],[0.115064,0.984147,0.134963],[-0.032507,-0.132062,0.990708]] 2025-10-28T23:28:27.702Z,1761694107.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993464,-0.113200,0.014640],[0.110246,0.984849,0.133856],[-0.029570,-0.131368,0.990893]] 2025-10-28T23:28:28.106Z,1761694108.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994133,-0.107347,0.013299],[0.104734,0.986004,0.129720],[-0.027038,-0.127566,0.991461]] 2025-10-28T23:28:28.510Z,1761694108.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994643,-0.102676,0.011953],[0.100427,0.987242,0.123559],[-0.024487,-0.121697,0.992265]] 2025-10-28T23:28:28.917Z,1761694108.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994706,-0.102214,0.010583],[0.100306,0.988155,0.116141],[-0.022329,-0.114464,0.993176]] 2025-10-28T23:28:29.318Z,1761694109.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994403,-0.105276,0.008904],[0.103646,0.988400,0.111005],[-0.020487,-0.109461,0.993780]] 2025-10-28T23:28:29.722Z,1761694109.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993988,-0.109286,0.006657],[0.107840,0.987723,0.113018],[-0.018927,-0.111621,0.993571]] 2025-10-28T23:28:30.127Z,1761694110.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993666,-0.112293,0.004323],[0.111056,0.987147,0.114924],[-0.017172,-0.113716,0.993365]] 2025-10-28T23:28:30.530Z,1761694110.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993570,-0.113201,0.002047],[0.112188,0.986795,0.116834],[-0.015246,-0.115853,0.993149]] 2025-10-28T23:28:30.931Z,1761694110.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993929,-0.110027,0.000155],[0.109258,0.987148,0.116629],[-0.012985,-0.115904,0.993176]] 2025-10-28T23:28:31.334Z,1761694111.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994540,-0.104347,-0.001688],[0.103858,0.988039,0.113987],[-0.010226,-0.113540,0.993481]] 2025-10-28T23:28:31.739Z,1761694111.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995286,-0.096892,-0.004094],[0.096709,0.988505,0.116216],[-0.007214,-0.116064,0.993216]] 2025-10-28T23:28:32.145Z,1761694112.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996026,-0.088784,-0.007066],[0.088979,0.988460,0.122596],[-0.003900,-0.122738,0.992431]] 2025-10-28T23:28:32.546Z,1761694112.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996638,-0.081237,-0.010664],[0.081934,0.987790,0.132508],[-0.000231,-0.132936,0.991125]] 2025-10-28T23:28:32.950Z,1761694112.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997075,-0.075043,-0.014458],[0.076340,0.986802,0.142809],[0.003550,-0.143495,0.989645]] 2025-10-28T23:28:33.355Z,1761694113.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997348,-0.070495,-0.018090],[0.072393,0.986498,0.146904],[0.007490,-0.147824,0.988985]] 2025-10-28T23:28:33.761Z,1761694113.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997438,-0.068202,-0.021585],[0.070623,0.986869,0.145263],[0.011394,-0.146415,0.989158]] 2025-10-28T23:28:34.163Z,1761694114.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997331,-0.068676,-0.024774],[0.071462,0.987750,0.138720],[0.014944,-0.140120,0.990022]] 2025-10-28T23:28:34.567Z,1761694114.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997034,-0.071797,-0.027708],[0.074827,0.988559,0.130966],[0.017988,-0.132651,0.991000]] 2025-10-28T23:28:34.872Z,1761694114.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:28:34.970Z,1761694114.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996610,-0.076442,-0.030425],[0.079636,0.989165,0.123335],[0.020668,-0.125340,0.991899]] 2025-10-28T23:28:35.375Z,1761694115.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996198,-0.080725,-0.032766],[0.084024,0.989635,0.116460],[0.023025,-0.118770,0.992655]] 2025-10-28T23:28:35.781Z,1761694115.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995717,-0.085359,-0.035526],[0.088806,0.989887,0.110618],[0.025724,-0.113300,0.993228]] 2025-10-28T23:28:35.876Z,1761694115.876 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-28T23:28:35.876Z,1761694115.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:28:36.182Z,1761694116.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995225,-0.089586,-0.038744],[0.093325,0.989661,0.108915],[0.028586,-0.112011,0.993296]] 2025-10-28T23:28:36.586Z,1761694116.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994712,-0.093287,-0.042958],[0.097532,0.989077,0.110515],[0.032179,-0.114120,0.992946]] 2025-10-28T23:28:36.993Z,1761694116.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994160,-0.096678,-0.047950],[0.101620,0.988218,0.114450],[0.036321,-0.118654,0.992271]] 2025-10-28T23:28:37.394Z,1761694117.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993491,-0.100483,-0.053663],[0.106300,0.987111,0.119633],[0.040950,-0.124559,0.991367]] 2025-10-28T23:28:37.798Z,1761694117.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992795,-0.103924,-0.059641],[0.110633,0.986200,0.123168],[0.046017,-0.128879,0.990592]] 2025-10-28T23:28:38.202Z,1761694118.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992089,-0.107134,-0.065438],[0.114501,0.985932,0.121770],[0.051472,-0.128300,0.990399]] 2025-10-28T23:28:38.608Z,1761694118.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991303,-0.110595,-0.071321],[0.118447,0.986002,0.117351],[0.057344,-0.124778,0.990526]] 2025-10-28T23:28:39.011Z,1761694119.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990495,-0.113945,-0.077050],[0.122170,0.986151,0.112160],[0.063202,-0.120507,0.990698]] 2025-10-28T23:28:39.414Z,1761694119.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989628,-0.117235,-0.083019],[0.125963,0.986012,0.109149],[0.069062,-0.118474,0.990552]] 2025-10-28T23:28:39.819Z,1761694119.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988785,-0.119953,-0.088965],[0.128849,0.986394,0.102099],[0.075507,-0.112417,0.990788]] 2025-10-28T23:28:40.224Z,1761694120.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988069,-0.121570,-0.094549],[0.130531,0.986864,0.095192],[0.081734,-0.106398,0.990959]] 2025-10-28T23:28:40.626Z,1761694120.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987575,-0.121491,-0.099680],[0.130945,0.986873,0.094529],[0.086887,-0.106407,0.990519]] 2025-10-28T23:28:41.031Z,1761694121.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987288,-0.120393,-0.103774],[0.130426,0.986796,0.096030],[0.090842,-0.108344,0.989954]] 2025-10-28T23:28:41.434Z,1761694121.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987118,-0.119546,-0.106333],[0.129834,0.986901,0.095754],[0.093493,-0.108326,0.989709]] 2025-10-28T23:28:41.840Z,1761694121.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986932,-0.119528,-0.108066],[0.129799,0.987113,0.093600],[0.095486,-0.106404,0.989728]] 2025-10-28T23:28:42.248Z,1761694122.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986777,-0.119536,-0.109460],[0.130028,0.987013,0.094328],[0.096763,-0.107314,0.989505]] 2025-10-28T23:28:42.646Z,1761694122.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986736,-0.118617,-0.110828],[0.129858,0.986437,0.100397],[0.097416,-0.113458,0.988755]] 2025-10-28T23:28:43.051Z,1761694123.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986948,-0.116139,-0.111556],[0.128127,0.985959,0.107091],[0.097553,-0.119987,0.987971]] 2025-10-28T23:28:43.455Z,1761694123.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987544,-0.110406,-0.112107],[0.123556,0.985290,0.118054],[0.097424,-0.130435,0.986659]] 2025-10-28T23:28:43.861Z,1761694123.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988556,-0.100668,-0.112352],[0.115418,0.984291,0.133606],[0.097137,-0.145044,0.984645]] 2025-10-28T23:28:44.305Z,1761694124.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989697,-0.088539,-0.112522],[0.105322,0.982562,0.153226],[0.096993,-0.163499,0.981764]] 2025-10-28T23:28:44.663Z,1761694124.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990629,-0.076787,-0.112953],[0.095746,0.980193,0.173363],[0.097403,-0.182554,0.978359]] 2025-10-28T23:28:45.069Z,1761694125.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991204,-0.067581,-0.113789],[0.087827,0.979077,0.183560],[0.099003,-0.191939,0.976400]] 2025-10-28T23:28:45.471Z,1761694125.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991498,-0.061282,-0.114788],[0.081499,0.980159,0.180682],[0.101438,-0.188501,0.976820]] 2025-10-28T23:28:45.875Z,1761694125.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991583,-0.056527,-0.116481],[0.076205,0.982127,0.172103],[0.104671,-0.179531,0.978168]] 2025-10-28T23:28:46.320Z,1761694126.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991559,-0.051925,-0.118806],[0.071170,0.983895,0.163968],[0.108379,-0.171039,0.979285]] 2025-10-28T23:28:46.684Z,1761694126.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991470,-0.047039,-0.121551],[0.065841,0.985619,0.155627],[0.112483,-0.162303,0.980309]] 2025-10-28T23:28:47.088Z,1761694127.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991247,-0.043025,-0.124810],[0.061743,0.986723,0.150220],[0.116689,-0.156611,0.980743]] 2025-10-28T23:28:47.491Z,1761694127.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990786,-0.043515,-0.128257],[0.061883,0.987800,0.142901],[0.120474,-0.149521,0.981392]] 2025-10-28T23:28:47.895Z,1761694127.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990189,-0.046890,-0.131633],[0.065078,0.988366,0.137465],[0.123655,-0.144682,0.981721]] 2025-10-28T23:28:48.324Z,1761694128.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989542,-0.051207,-0.134848],[0.069204,0.988784,0.132354],[0.126558,-0.140302,0.981987]] 2025-10-28T23:28:48.702Z,1761694128.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988927,-0.054769,-0.137925],[0.072662,0.989079,0.128230],[0.129396,-0.136832,0.982107]] 2025-10-28T23:28:49.107Z,1761694129.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988451,-0.057226,-0.140318],[0.074893,0.989446,0.124047],[0.131739,-0.133123,0.982305]] 2025-10-28T23:28:49.511Z,1761694129.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988042,-0.059200,-0.142364],[0.076721,0.989694,0.120915],[0.133738,-0.130391,0.982401]] 2025-10-28T23:28:49.916Z,1761694129.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987830,-0.059127,-0.143861],[0.076747,0.989781,0.120183],[0.135284,-0.129761,0.982273]] 2025-10-28T23:28:50.329Z,1761694130.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987726,-0.058080,-0.144995],[0.075710,0.989980,0.119193],[0.136619,-0.128707,0.982227]] 2025-10-28T23:28:50.722Z,1761694130.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987622,-0.057366,-0.145988],[0.074879,0.990252,0.117449],[0.137827,-0.126927,0.982290]] 2025-10-28T23:28:51.127Z,1761694131.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987466,-0.057332,-0.147054],[0.074911,0.990311,0.116932],[0.138925,-0.126482,0.982192]] 2025-10-28T23:28:51.531Z,1761694131.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987199,-0.058481,-0.148385],[0.076117,0.990316,0.116105],[0.140158,-0.125913,0.982090]] 2025-10-28T23:28:51.937Z,1761694131.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986783,-0.060434,-0.150356],[0.078266,0.990201,0.115652],[0.141894,-0.125891,0.981844]] 2025-10-28T23:28:52.339Z,1761694132.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986210,-0.062613,-0.153201],[0.081537,0.989355,0.120534],[0.144023,-0.131364,0.980816]] 2025-10-28T23:28:52.742Z,1761694132.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985556,-0.064964,-0.156396],[0.084962,0.988540,0.124783],[0.146497,-0.136268,0.979780]] 2025-10-28T23:28:53.147Z,1761694133.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984889,-0.067399,-0.159533],[0.087868,0.988266,0.124938],[0.149241,-0.137068,0.979255]] 2025-10-28T23:28:53.559Z,1761694133.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984096,-0.064898,-0.165357],[0.088120,0.986614,0.137214],[0.154239,-0.149603,0.976642]] 2025-10-28T23:28:53.963Z,1761694133.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984016,-0.060036,-0.167657],[0.085335,0.985295,0.148025],[0.156305,-0.159966,0.974669]] 2025-10-28T23:28:54.364Z,1761694134.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984017,-0.055134,-0.169323],[0.081479,0.984889,0.152823],[0.158339,-0.164177,0.973640]] 2025-10-28T23:28:54.767Z,1761694134.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984089,-0.050289,-0.170410],[0.076826,0.985250,0.152909],[0.160207,-0.163568,0.973437]] 2025-10-28T23:28:55.171Z,1761694135.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984183,-0.045167,-0.171303],[0.071396,0.986075,0.150192],[0.162134,-0.160047,0.973703]] 2025-10-28T23:28:55.571Z,1761694135.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984272,-0.039116,-0.172276],[0.064942,0.987013,0.146930],[0.164291,-0.155807,0.974029]] 2025-10-28T23:28:55.975Z,1761694135.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984296,-0.033567,-0.173308],[0.059091,0.987769,0.144295],[0.166344,-0.152270,0.974240]] 2025-10-28T23:28:56.379Z,1761694136.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984195,-0.029845,-0.174554],[0.055135,0.988346,0.141886],[0.168285,-0.149268,0.974371]] 2025-10-28T23:28:56.784Z,1761694136.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983945,-0.028221,-0.176226],[0.053487,0.988661,0.140316],[0.170268,-0.147489,0.974298]] 2025-10-28T23:28:57.187Z,1761694137.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983483,-0.027661,-0.178873],[0.053161,0.988810,0.139383],[0.173016,-0.146590,0.973949]] 2025-10-28T23:28:57.591Z,1761694137.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982832,-0.028689,-0.182259],[0.054500,0.988899,0.138231],[0.176270,-0.145790,0.973485]] 2025-10-28T23:28:57.995Z,1761694137.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982112,-0.030512,-0.185808],[0.056555,0.989021,0.136521],[0.179602,-0.144588,0.973056]] 2025-10-28T23:28:58.399Z,1761694138.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981340,-0.033597,-0.189325],[0.059460,0.989380,0.132632],[0.182858,-0.141414,0.972916]] 2025-10-28T23:28:58.803Z,1761694138.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980539,-0.036509,-0.192898],[0.062510,0.989479,0.130478],[0.186104,-0.139997,0.972505]] 2025-10-28T23:28:59.206Z,1761694139.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979798,-0.038237,-0.196300],[0.064546,0.989485,0.129433],[0.189287,-0.139489,0.971964]] 2025-10-28T23:28:59.610Z,1761694139.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979108,-0.039013,-0.199564],[0.065848,0.989371,0.129649],[0.192385,-0.140082,0.971270]] 2025-10-28T23:29:00.016Z,1761694140.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978459,-0.038946,-0.202736],[0.066610,0.989080,0.131472],[0.195402,-0.142144,0.970368]] 2025-10-28T23:29:00.419Z,1761694140.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977940,-0.037337,-0.205521],[0.065720,0.988927,0.133057],[0.198277,-0.143629,0.969565]] 2025-10-28T23:29:00.822Z,1761694140.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977446,-0.036667,-0.207979],[0.065274,0.989045,0.132399],[0.200846,-0.142989,0.969131]] 2025-10-28T23:29:01.227Z,1761694141.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976952,-0.036500,-0.210315],[0.065354,0.989103,0.131922],[0.203208,-0.142627,0.968692]] 2025-10-28T23:29:01.632Z,1761694141.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976483,-0.036121,-0.212546],[0.065405,0.989036,0.132403],[0.205433,-0.143191,0.968139]] 2025-10-28T23:29:02.035Z,1761694142.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976043,-0.036044,-0.214573],[0.065639,0.989015,0.132442],[0.207442,-0.143353,0.967687]] 2025-10-28T23:29:02.439Z,1761694142.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975540,-0.037865,-0.216536],[0.067603,0.988992,0.131626],[0.209169,-0.143045,0.967361]] 2025-10-28T23:29:02.842Z,1761694142.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975078,-0.039826,-0.218261],[0.069611,0.988999,0.130523],[0.210661,-0.142463,0.967123]] 2025-10-28T23:29:03.281Z,1761694143.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974619,-0.042146,-0.219868],[0.071940,0.988991,0.129313],[0.211997,-0.141848,0.966921]] 2025-10-28T23:29:03.653Z,1761694143.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974218,-0.044188,-0.221238],[0.073859,0.989060,0.127695],[0.213175,-0.140743,0.966823]] 2025-10-28T23:29:04.055Z,1761694144.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973925,-0.044995,-0.222363],[0.074836,0.988991,0.127653],[0.214171,-0.140965,0.966571]] 2025-10-28T23:29:04.458Z,1761694144.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973736,-0.043572,-0.223471],[0.074141,0.988701,0.130279],[0.215269,-0.143426,0.965965]] 2025-10-28T23:29:04.863Z,1761694144.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973664,-0.041104,-0.224253],[0.072464,0.988402,0.133458],[0.216167,-0.146193,0.965349]] 2025-10-28T23:29:05.268Z,1761694145.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973697,-0.036854,-0.224848],[0.069487,0.987852,0.138996],[0.216994,-0.150964,0.964429]] 2025-10-28T23:29:05.671Z,1761694145.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973787,-0.031944,-0.225209],[0.065614,0.987451,0.143648],[0.217794,-0.154659,0.963663]] 2025-10-28T23:29:06.008Z,1761694146.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:29:06.075Z,1761694146.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973805,-0.027843,-0.225674],[0.062041,0.987352,0.145898],[0.218757,-0.156077,0.963216]] 2025-10-28T23:29:06.479Z,1761694146.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973815,-0.024229,-0.226048],[0.058390,0.987607,0.145684],[0.219716,-0.155068,0.963161]] 2025-10-28T23:29:06.885Z,1761694146.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973674,-0.021989,-0.226882],[0.055770,0.988066,0.143580],[0.221018,-0.152453,0.963280]] 2025-10-28T23:29:07.012Z,1761694147.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:29:07.286Z,1761694147.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973439,-0.021079,-0.227974],[0.054433,0.988508,0.141029],[0.222381,-0.149692,0.963400]] 2025-10-28T23:29:07.690Z,1761694147.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973118,-0.021415,-0.229311],[0.054074,0.989080,0.137104],[0.223871,-0.145818,0.963649]] 2025-10-28T23:29:08.095Z,1761694148.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972767,-0.022890,-0.230653],[0.054858,0.989576,0.133156],[0.225201,-0.142183,0.963882]] 2025-10-28T23:29:08.501Z,1761694148.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972397,-0.024553,-0.232039],[0.056047,0.989912,0.130125],[0.226503,-0.139538,0.963963]] 2025-10-28T23:29:08.532Z,1761694148.532 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 593.76, 732.20, 575.30 2025-10-28T23:29:08.903Z,1761694148.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971942,-0.026673,-0.233705],[0.057866,0.990130,0.127651],[0.227994,-0.137593,0.963892]] 2025-10-28T23:29:09.306Z,1761694149.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971523,-0.028180,-0.235265],[0.059666,0.990003,0.127808],[0.229311,-0.138205,0.963491]] 2025-10-28T23:29:09.710Z,1761694149.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971134,-0.028935,-0.236773],[0.060910,0.989790,0.128866],[0.230626,-0.139568,0.962981]] 2025-10-28T23:29:10.116Z,1761694150.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970836,-0.028539,-0.238039],[0.061213,0.989487,0.131027],[0.231797,-0.141777,0.962377]] 2025-10-28T23:29:10.520Z,1761694150.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970673,-0.027846,-0.238785],[0.060974,0.989306,0.132495],[0.232542,-0.143169,0.961991]] 2025-10-28T23:29:10.922Z,1761694150.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970619,-0.026092,-0.239204],[0.059933,0.988988,0.135313],[0.233039,-0.145674,0.961495]] 2025-10-28T23:29:11.327Z,1761694151.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970770,-0.022878,-0.238918],[0.057571,0.988581,0.139262],[0.233004,-0.148946,0.961002]] 2025-10-28T23:29:11.732Z,1761694151.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970981,-0.019445,-0.238364],[0.054489,0.988463,0.141323],[0.232866,-0.150210,0.960838]] 2025-10-28T23:29:12.135Z,1761694152.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971213,-0.015785,-0.237691],[0.050987,0.988453,0.142691],[0.232694,-0.150702,0.960803]] 2025-10-28T23:29:12.540Z,1761694152.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971413,-0.011982,-0.237093],[0.047136,0.988576,0.143162],[0.232669,-0.150245,0.960881]] 2025-10-28T23:29:12.943Z,1761694152.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971489,-0.008935,-0.236918],[0.043920,0.988776,0.142807],[0.232983,-0.149140,0.960977]] 2025-10-28T23:29:13.349Z,1761694153.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971489,-0.006878,-0.236985],[0.041251,0.989236,0.140393],[0.233469,-0.146166,0.961316]] 2025-10-28T23:29:13.751Z,1761694153.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971393,-0.005443,-0.237414],[0.039230,0.989679,0.137825],[0.234214,-0.143197,0.961581]] 2025-10-28T23:29:14.154Z,1761694154.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971210,-0.005467,-0.238160],[0.038480,0.990208,0.134189],[0.235095,-0.139490,0.961911]] 2025-10-28T23:29:14.559Z,1761694154.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970902,-0.007484,-0.239360],[0.039224,0.990983,0.128119],[0.236243,-0.133779,0.962441]] 2025-10-28T23:29:14.964Z,1761694154.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970506,-0.010700,-0.240839],[0.041531,0.991499,0.123308],[0.237473,-0.129674,0.962700]] 2025-10-28T23:29:15.366Z,1761694155.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970150,-0.014631,-0.242063],[0.044281,0.992084,0.117509],[0.238428,-0.124720,0.963118]] 2025-10-28T23:29:15.771Z,1761694155.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969762,-0.018442,-0.243354],[0.047082,0.992547,0.112403],[0.239467,-0.120462,0.963403]] 2025-10-28T23:29:16.175Z,1761694156.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969487,-0.021677,-0.244182],[0.049902,0.992678,0.110003],[0.240009,-0.118832,0.963470]] 2025-10-28T23:29:16.581Z,1761694156.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969308,-0.024147,-0.244661],[0.052322,0.992628,0.109322],[0.240218,-0.118768,0.963426]] 2025-10-28T23:29:16.985Z,1761694156.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969257,-0.025937,-0.244679],[0.054486,0.992366,0.110643],[0.239941,-0.120573,0.963271]] 2025-10-28T23:29:17.387Z,1761694157.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969263,-0.026712,-0.244571],[0.056145,0.991872,0.114179],[0.239533,-0.124401,0.962885]] 2025-10-28T23:29:17.791Z,1761694157.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969369,-0.025645,-0.244268],[0.056226,0.991294,0.119057],[0.239088,-0.129145,0.962371]] 2025-10-28T23:29:18.194Z,1761694158.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969481,-0.022693,-0.244115],[0.054652,0.990656,0.124953],[0.238999,-0.134481,0.961662]] 2025-10-28T23:29:18.598Z,1761694158.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969580,-0.018672,-0.244063],[0.051973,0.990055,0.130728],[0.239195,-0.139436,0.960908]] 2025-10-28T23:29:19.002Z,1761694159.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969574,-0.015473,-0.244310],[0.049503,0.989775,0.133774],[0.239742,-0.141798,0.960425]] 2025-10-28T23:29:19.407Z,1761694159.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969539,-0.012920,-0.244596],[0.047590,0.989514,0.136371],[0.240269,-0.143857,0.959987]] 2025-10-28T23:29:19.812Z,1761694159.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969448,-0.011646,-0.245018],[0.046532,0.989466,0.137082],[0.240841,-0.144295,0.959778]] 2025-10-28T23:29:20.214Z,1761694160.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969227,-0.012128,-0.245871],[0.046549,0.989796,0.134675],[0.241729,-0.141976,0.959901]] 2025-10-28T23:29:20.619Z,1761694160.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968928,-0.014045,-0.246943],[0.047645,0.990287,0.130620],[0.242710,-0.138327,0.960186]] 2025-10-28T23:29:21.023Z,1761694161.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968528,-0.018126,-0.248246],[0.050432,0.990949,0.124402],[0.243744,-0.133007,0.960676]] 2025-10-28T23:29:21.427Z,1761694161.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968084,-0.024031,-0.249471],[0.055101,0.991445,0.118322],[0.244494,-0.128291,0.961127]] 2025-10-28T23:29:21.832Z,1761694161.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967545,-0.031063,-0.250782],[0.060945,0.991806,0.112283],[0.245239,-0.123923,0.961510]] 2025-10-28T23:29:22.234Z,1761694162.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966963,-0.038754,-0.251953],[0.067499,0.992023,0.106465],[0.245817,-0.119955,0.961865]] 2025-10-28T23:29:22.638Z,1761694162.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966393,-0.046220,-0.252880],[0.074049,0.992060,0.101659],[0.246173,-0.116968,0.962142]] 2025-10-28T23:29:23.042Z,1761694163.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965798,-0.053421,-0.253734],[0.080786,0.991835,0.098679],[0.246390,-0.115802,0.962227]] 2025-10-28T23:29:23.448Z,1761694163.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965182,-0.059812,-0.254649],[0.087106,0.991438,0.097284],[0.246650,-0.116078,0.962128]] 2025-10-28T23:29:23.850Z,1761694163.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964559,-0.066059,-0.255464],[0.093291,0.991002,0.095981],[0.246824,-0.116412,0.962043]] 2025-10-28T23:29:24.267Z,1761694164.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963919,-0.071923,-0.256296],[0.099372,0.990429,0.095795],[0.246953,-0.117807,0.961840]] 2025-10-28T23:29:24.658Z,1761694164.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963317,-0.077078,-0.257060],[0.104878,0.989818,0.096232],[0.247025,-0.119662,0.961592]] 2025-10-28T23:29:25.064Z,1761694165.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962760,-0.081417,-0.257807],[0.109544,0.989271,0.096664],[0.247171,-0.121305,0.961349]] 2025-10-28T23:29:25.466Z,1761694165.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962244,-0.085005,-0.258573],[0.113559,0.988730,0.097555],[0.247366,-0.123235,0.961053]] 2025-10-28T23:29:25.875Z,1761694165.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961714,-0.088696,-0.259307],[0.117399,0.988301,0.097358],[0.247638,-0.124073,0.960875]] 2025-10-28T23:29:26.313Z,1761694166.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961171,-0.091847,-0.260219],[0.120435,0.988058,0.096105],[0.248284,-0.123713,0.960755]] 2025-10-28T23:29:26.683Z,1761694166.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960692,-0.094262,-0.261125],[0.122652,0.987929,0.094617],[0.249054,-0.122926,0.960657]] 2025-10-28T23:29:27.088Z,1761694167.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960311,-0.096046,-0.261874],[0.123922,0.988012,0.092064],[0.249892,-0.120862,0.960701]] 2025-10-28T23:29:27.491Z,1761694167.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960039,-0.097639,-0.262283],[0.124659,0.988254,0.088397],[0.250571,-0.117560,0.960934]] 2025-10-28T23:29:27.895Z,1761694167.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959816,-0.099252,-0.262492],[0.125354,0.988499,0.084596],[0.251077,-0.114101,0.961219]] 2025-10-28T23:29:28.325Z,1761694168.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959554,-0.102194,-0.262320],[0.127044,0.988702,0.079548],[0.251228,-0.109656,0.961697]] 2025-10-28T23:29:28.342Z,1761694168.342 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050503174837,35.0, +14.7, 0.0,1506.:RA, 0.00, 659.56, 581.11, 717.67, 2025-10-28T23:29:28.704Z,1761694168.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959163,-0.105805,-0.262321],[0.129810,0.988631,0.075887],[0.251309,-0.106840,0.961992]] 2025-10-28T23:29:29.107Z,1761694169.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958728,-0.109306,-0.262476],[0.132912,0.988370,0.073881],[0.251348,-0.105718,0.962106]] 2025-10-28T23:29:29.511Z,1761694169.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958378,-0.111907,-0.262657],[0.135899,0.987882,0.074974],[0.251084,-0.107548,0.961972]] 2025-10-28T23:29:29.915Z,1761694169.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958066,-0.114358,-0.262739],[0.139209,0.987191,0.077940],[0.250460,-0.111247,0.961714]] 2025-10-28T23:29:30.329Z,1761694170.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957785,-0.117289,-0.262471],[0.143028,0.986387,0.081145],[0.249381,-0.115260,0.961522]] 2025-10-28T23:29:30.724Z,1761694170.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957523,-0.120658,-0.261898],[0.147426,0.985413,0.085016],[0.247819,-0.120015,0.961344]] 2025-10-28T23:29:31.127Z,1761694171.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957215,-0.125083,-0.260945],[0.152723,0.984307,0.088405],[0.245793,-0.124475,0.961297]] 2025-10-28T23:29:31.530Z,1761694171.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956749,-0.130275,-0.260113],[0.158763,0.983057,0.091610],[0.243772,-0.128944,0.961222]] 2025-10-28T23:29:31.934Z,1761694171.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956025,-0.136402,-0.259635],[0.165491,0.981760,0.093593],[0.242133,-0.132444,0.961161]] 2025-10-28T23:29:32.340Z,1761694172.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955165,-0.142553,-0.259496],[0.171879,0.980627,0.093956],[0.241075,-0.134345,0.961163]] 2025-10-28T23:29:32.773Z,1761694172.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954438,-0.147170,-0.259594],[0.176704,0.979742,0.094244],[0.240465,-0.135822,0.961108]] 2025-10-28T23:29:33.171Z,1761694173.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954019,-0.150129,-0.259441],[0.179691,0.979209,0.094130],[0.239916,-0.136421,0.961161]] 2025-10-28T23:29:33.574Z,1761694173.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953906,-0.151925,-0.258809],[0.181291,0.978973,0.093519],[0.239159,-0.136128,0.961391]] 2025-10-28T23:29:33.978Z,1761694173.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954073,-0.152658,-0.257762],[0.181550,0.979055,0.092146],[0.238296,-0.134711,0.961804]] 2025-10-28T23:29:34.384Z,1761694174.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954430,-0.152119,-0.256754],[0.180627,0.979311,0.091231],[0.237564,-0.133450,0.962161]] 2025-10-28T23:29:34.787Z,1761694174.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954971,-0.150415,-0.255747],[0.178706,0.979675,0.091114],[0.236844,-0.132715,0.962441]] 2025-10-28T23:29:35.190Z,1761694175.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955667,-0.147263,-0.254980],[0.175855,0.980003,0.093106],[0.236170,-0.133818,0.962453]] 2025-10-28T23:29:35.600Z,1761694175.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956498,-0.143625,-0.253937],[0.172368,0.980469,0.094710],[0.235375,-0.134361,0.962573]] 2025-10-28T23:29:36.005Z,1761694176.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958022,-0.139174,-0.250647],[0.167599,0.981191,0.095782],[0.232603,-0.133770,0.963328]] 2025-10-28T23:29:36.409Z,1761694176.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958484,-0.138753,-0.249110],[0.166858,0.981355,0.095401],[0.231228,-0.133006,0.963765]] 2025-10-28T23:29:36.811Z,1761694176.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958914,-0.138986,-0.247321],[0.166687,0.981448,0.094739],[0.229565,-0.132072,0.964291]] 2025-10-28T23:29:37.168Z,1761694177.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:29:37.215Z,1761694177.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959156,-0.140240,-0.245669],[0.167475,0.981420,0.093626],[0.227974,-0.130945,0.964822]] 2025-10-28T23:29:37.616Z,1761694177.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959674,-0.140225,-0.243646],[0.167643,0.981201,0.095607],[0.225659,-0.132597,0.965140]] 2025-10-28T23:29:38.020Z,1761694178.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960189,-0.139798,-0.241856],[0.167826,0.980797,0.099361],[0.223321,-0.135995,0.965211]] 2025-10-28T23:29:38.173Z,1761694178.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:29:38.422Z,1761694178.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960762,-0.139438,-0.239778],[0.167995,0.980391,0.103010],[0.220712,-0.139250,0.965347]] 2025-10-28T23:29:38.448Z,1761694178.448 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +14, +574, 2025-10-28T23:29:38.827Z,1761694178.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961370,-0.138556,-0.237845],[0.167798,0.979957,0.107368],[0.218201,-0.143130,0.965351]] 2025-10-28T23:29:39.230Z,1761694179.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962063,-0.137550,-0.235616],[0.167080,0.979760,0.110244],[0.215683,-0.145428,0.965573]] 2025-10-28T23:29:39.636Z,1761694179.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962795,-0.136171,-0.233415],[0.165905,0.979669,0.112802],[0.213309,-0.147329,0.965812]] 2025-10-28T23:29:40.038Z,1761694180.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963512,-0.134439,-0.231455],[0.164424,0.979608,0.115471],[0.211211,-0.149314,0.965968]] 2025-10-28T23:29:40.442Z,1761694180.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964293,-0.133149,-0.228934],[0.162912,0.979753,0.116374],[0.208804,-0.149515,0.966461]] 2025-10-28T23:29:40.847Z,1761694180.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965108,-0.132175,-0.226046],[0.161587,0.979908,0.116921],[0.206051,-0.149367,0.967074]] 2025-10-28T23:29:41.252Z,1761694181.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965975,-0.131434,-0.222748],[0.160200,0.980203,0.116352],[0.203046,-0.148077,0.967908]] 2025-10-28T23:29:41.654Z,1761694181.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966869,-0.129889,-0.219756],[0.158529,0.980267,0.118088],[0.200081,-0.149014,0.968381]] 2025-10-28T23:29:42.059Z,1761694182.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967765,-0.128199,-0.216784],[0.156755,0.980313,0.120061],[0.197124,-0.150173,0.968809]] 2025-10-28T23:29:42.463Z,1761694182.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968558,-0.127022,-0.213919],[0.155186,0.980519,0.120416],[0.194456,-0.149827,0.969401]] 2025-10-28T23:29:42.868Z,1761694182.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969301,-0.126090,-0.211085],[0.153758,0.980771,0.120199],[0.191871,-0.148965,0.970049]] 2025-10-28T23:29:43.297Z,1761694183.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969958,-0.125880,-0.208172],[0.152893,0.981032,0.119167],[0.189222,-0.147415,0.970806]] 2025-10-28T23:29:43.675Z,1761694183.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970495,-0.125916,-0.205633],[0.152501,0.981117,0.118966],[0.186770,-0.146815,0.971371]] 2025-10-28T23:29:44.079Z,1761694184.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971071,-0.125408,-0.203207],[0.151784,0.981122,0.119841],[0.184342,-0.147217,0.971774]] 2025-10-28T23:29:44.486Z,1761694184.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971510,-0.125699,-0.200917],[0.151623,0.981215,0.119278],[0.182149,-0.146344,0.972319]] 2025-10-28T23:29:44.887Z,1761694184.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971950,-0.126024,-0.198573],[0.151492,0.981303,0.118723],[0.179898,-0.145475,0.972869]] 2025-10-28T23:29:45.290Z,1761694185.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972475,-0.125847,-0.196100],[0.150936,0.981391,0.118697],[0.177513,-0.145029,0.973373]] 2025-10-28T23:29:45.695Z,1761694185.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973053,-0.125379,-0.193513],[0.150123,0.981484,0.118959],[0.175015,-0.144805,0.973859]] 2025-10-28T23:29:46.100Z,1761694186.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973687,-0.124245,-0.191040],[0.148949,0.981429,0.120878],[0.172473,-0.146153,0.974111]] 2025-10-28T23:29:46.504Z,1761694186.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974445,-0.122165,-0.188500],[0.147036,0.981313,0.124121],[0.169815,-0.148665,0.974198]] 2025-10-28T23:29:46.907Z,1761694186.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975268,-0.119550,-0.185901],[0.144568,0.981259,0.127397],[0.167187,-0.151121,0.974274]] 2025-10-28T23:29:47.311Z,1761694187.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976272,-0.115509,-0.183169],[0.140732,0.981308,0.131259],[0.164584,-0.153922,0.974279]] 2025-10-28T23:29:47.715Z,1761694187.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977331,-0.110822,-0.180395],[0.136196,0.981449,0.134940],[0.162094,-0.156450,0.974294]] 2025-10-28T23:29:48.121Z,1761694188.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978376,-0.105802,-0.177725],[0.131248,0.981681,0.138115],[0.159857,-0.158454,0.974340]] 2025-10-28T23:29:48.522Z,1761694188.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979333,-0.101092,-0.175175],[0.126396,0.982068,0.139883],[0.157893,-0.159134,0.974549]] 2025-10-28T23:29:48.926Z,1761694188.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980203,-0.097012,-0.172600],[0.122013,0.982507,0.140686],[0.155933,-0.158960,0.974893]] 2025-10-28T23:29:49.331Z,1761694189.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980930,-0.093830,-0.170215],[0.118272,0.983112,0.139653],[0.154237,-0.157121,0.975461]] 2025-10-28T23:29:49.736Z,1761694189.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981516,-0.091669,-0.167997],[0.115507,0.983659,0.138105],[0.152592,-0.154957,0.976066]] 2025-10-28T23:29:50.138Z,1761694190.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981902,-0.090749,-0.166233],[0.113916,0.984195,0.135589],[0.151301,-0.152072,0.976720]] 2025-10-28T23:29:50.542Z,1761694190.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982233,-0.090541,-0.164381],[0.113002,0.984670,0.132872],[0.149831,-0.149087,0.977407]] 2025-10-28T23:29:50.946Z,1761694190.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982503,-0.090792,-0.162618],[0.112649,0.985007,0.130655],[0.148318,-0.146688,0.978000]] 2025-10-28T23:29:51.352Z,1761694191.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982693,-0.091720,-0.160941],[0.112831,0.985420,0.127348],[0.146914,-0.143303,0.978714]] 2025-10-28T23:29:51.754Z,1761694191.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982813,-0.092707,-0.159637],[0.113385,0.985568,0.125700],[0.145679,-0.141640,0.979140]] 2025-10-28T23:29:52.162Z,1761694192.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983033,-0.093409,-0.157866],[0.113485,0.985853,0.123346],[0.144111,-0.139168,0.979727]] 2025-10-28T23:29:52.564Z,1761694192.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983277,-0.093658,-0.156190],[0.113383,0.985962,0.122569],[0.142518,-0.138229,0.980093]] 2025-10-28T23:29:52.969Z,1761694192.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983585,-0.093346,-0.154423],[0.112778,0.986068,0.122270],[0.140858,-0.137679,0.980410]] 2025-10-28T23:29:53.370Z,1761694193.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983988,-0.092558,-0.152318],[0.111668,0.986217,0.122095],[0.138918,-0.137149,0.980761]] 2025-10-28T23:29:53.774Z,1761694193.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984645,-0.090774,-0.149110],[0.109549,0.986350,0.122937],[0.135915,-0.137384,0.981149]] 2025-10-28T23:29:54.180Z,1761694194.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985339,-0.088753,-0.145706],[0.107198,0.986470,0.124040],[0.132726,-0.137841,0.981521]] 2025-10-28T23:29:54.585Z,1761694194.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985998,-0.087195,-0.142144],[0.105187,0.986640,0.124407],[0.129398,-0.137617,0.981997]] 2025-10-28T23:29:54.987Z,1761694194.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986637,-0.085415,-0.138750],[0.102871,0.986943,0.123937],[0.126352,-0.136554,0.982542]] 2025-10-28T23:29:55.391Z,1761694195.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987189,-0.084352,-0.135437],[0.101164,0.987303,0.122467],[0.123387,-0.134599,0.983188]] 2025-10-28T23:29:55.796Z,1761694195.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987687,-0.083486,-0.132301],[0.099767,0.987549,0.121632],[0.120499,-0.133334,0.983719]] 2025-10-28T23:29:56.200Z,1761694196.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988187,-0.082570,-0.129107],[0.098238,0.987887,0.120116],[0.117625,-0.131381,0.984329]] 2025-10-28T23:29:56.603Z,1761694196.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988613,-0.081864,-0.126263],[0.097044,0.988120,0.119170],[0.115007,-0.130066,0.984813]] 2025-10-28T23:29:57.007Z,1761694197.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988973,-0.081824,-0.123441],[0.096343,0.988490,0.116643],[0.112476,-0.127249,0.985473]] 2025-10-28T23:29:57.412Z,1761694197.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989315,-0.081624,-0.120806],[0.095651,0.988717,0.115276],[0.110033,-0.125600,0.985960]] 2025-10-28T23:29:57.817Z,1761694197.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989720,-0.080767,-0.118030],[0.094344,0.988948,0.114373],[0.107488,-0.124333,0.986401]] 2025-10-28T23:29:58.219Z,1761694198.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990111,-0.079740,-0.115420],[0.092979,0.989089,0.114274],[0.105049,-0.123876,0.986722]] 2025-10-28T23:29:58.623Z,1761694198.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990565,-0.078331,-0.112451],[0.091198,0.989257,0.114254],[0.102293,-0.123432,0.987067]] 2025-10-28T23:29:59.028Z,1761694199.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991006,-0.077157,-0.109330],[0.089605,0.989439,0.113935],[0.099385,-0.122707,0.987454]] 2025-10-28T23:29:59.433Z,1761694199.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991503,-0.075293,-0.106076],[0.087437,0.989519,0.114921],[0.096311,-0.123219,0.987695]] 2025-10-28T23:29:59.834Z,1761694199.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991959,-0.073361,-0.103124],[0.085180,0.989670,0.115315],[0.093599,-0.123172,0.987962]] 2025-10-28T23:30:00.242Z,1761694200.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992436,-0.070618,-0.100415],[0.082231,0.989762,0.116656],[0.091149,-0.124031,0.988083]] 2025-10-28T23:30:00.642Z,1761694200.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992888,-0.067931,-0.097770],[0.079220,0.990009,0.116643],[0.088870,-0.123559,0.988350]] 2025-10-28T23:30:01.048Z,1761694201.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993352,-0.064422,-0.095400],[0.075488,0.990218,0.117342],[0.086907,-0.123763,0.988499]] 2025-10-28T23:30:01.453Z,1761694201.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993824,-0.060162,-0.093240],[0.070964,0.990564,0.117247],[0.085306,-0.123140,0.988716]] 2025-10-28T23:30:01.854Z,1761694201.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994272,-0.056012,-0.091024],[0.066468,0.990996,0.116224],[0.083694,-0.121608,0.989043]] 2025-10-28T23:30:02.294Z,1761694202.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994639,-0.051782,-0.089512],[0.062131,0.991187,0.116997],[0.082664,-0.121931,0.989090]] 2025-10-28T23:30:02.663Z,1761694202.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995008,-0.046817,-0.088136],[0.056948,0.991594,0.116181],[0.081956,-0.120620,0.989310]] 2025-10-28T23:30:03.068Z,1761694203.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995302,-0.043617,-0.086442],[0.053433,0.991961,0.114706],[0.080744,-0.118786,0.989631]] 2025-10-28T23:30:03.471Z,1761694203.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995589,-0.041861,-0.083969],[0.051209,0.992336,0.112461],[0.078618,-0.116265,0.990102]] 2025-10-28T23:30:03.874Z,1761694203.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995810,-0.042075,-0.081192],[0.050851,0.992714,0.109241],[0.076005,-0.112912,0.990694]] 2025-10-28T23:30:04.318Z,1761694204.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995979,-0.043180,-0.078500],[0.051359,0.993108,0.105348],[0.073410,-0.108956,0.991332]] 2025-10-28T23:30:04.684Z,1761694204.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996128,-0.044363,-0.075895],[0.052081,0.993323,0.102941],[0.070821,-0.106495,0.991788]] 2025-10-28T23:30:05.086Z,1761694205.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996244,-0.045685,-0.073552],[0.053048,0.993422,0.101482],[0.068432,-0.105003,0.992115]] 2025-10-28T23:30:05.492Z,1761694205.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996346,-0.047894,-0.070721],[0.054928,0.993358,0.101113],[0.065408,-0.104628,0.992358]] 2025-10-28T23:30:05.895Z,1761694205.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996425,-0.050013,-0.068081],[0.056677,0.993396,0.099764],[0.062641,-0.103266,0.992679]] 2025-10-28T23:30:06.323Z,1761694206.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996509,-0.052917,-0.064578],[0.059216,0.993236,0.099880],[0.058855,-0.103356,0.992902]] 2025-10-28T23:30:06.702Z,1761694206.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996563,-0.055984,-0.061062],[0.061978,0.992940,0.101140],[0.054968,-0.104577,0.992997]] 2025-10-28T23:30:07.107Z,1761694207.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996587,-0.059112,-0.057620],[0.064744,0.992742,0.101354],[0.051211,-0.104738,0.993180]] 2025-10-28T23:30:07.511Z,1761694207.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996586,-0.062200,-0.054290],[0.067510,0.992472,0.102182],[0.047525,-0.105498,0.993283]] 2025-10-28T23:30:07.916Z,1761694207.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996589,-0.064545,-0.051431],[0.069565,0.992279,0.102676],[0.044406,-0.105904,0.993384]] 2025-10-28T23:30:08.313Z,1761694208.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:30:08.348Z,1761694208.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996614,-0.066293,-0.048639],[0.071038,0.992101,0.103393],[0.041400,-0.106498,0.993451]] 2025-10-28T23:30:08.723Z,1761694208.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996610,-0.068168,-0.046065],[0.072610,0.992041,0.102869],[0.038686,-0.105865,0.993628]] 2025-10-28T23:30:09.129Z,1761694209.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996572,-0.070309,-0.043607],[0.074488,0.991880,0.103077],[0.036006,-0.105972,0.993717]] 2025-10-28T23:30:09.316Z,1761694209.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:30:09.531Z,1761694209.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996532,-0.072338,-0.041113],[0.076243,0.991748,0.103070],[0.033318,-0.105847,0.993824]] 2025-10-28T23:30:09.935Z,1761694209.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996506,-0.073954,-0.038827],[0.077614,0.991623,0.103246],[0.030866,-0.105899,0.993898]] 2025-10-28T23:30:10.339Z,1761694210.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996445,-0.075851,-0.036648],[0.079260,0.991534,0.102849],[0.028537,-0.105389,0.994022]] 2025-10-28T23:30:10.744Z,1761694210.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996427,-0.077101,-0.034466],[0.080299,0.991351,0.103802],[0.026165,-0.106199,0.994001]] 2025-10-28T23:30:11.147Z,1761694211.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996438,-0.077812,-0.032508],[0.080843,0.991110,0.105670],[0.023996,-0.107922,0.993870]] 2025-10-28T23:30:11.551Z,1761694211.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996460,-0.078389,-0.030378],[0.081219,0.990925,0.107099],[0.021707,-0.109188,0.993784]] 2025-10-28T23:30:11.955Z,1761694211.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996506,-0.078593,-0.028255],[0.081203,0.990849,0.107813],[0.019523,-0.109731,0.993770]] 2025-10-28T23:30:12.359Z,1761694212.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996574,-0.078588,-0.025776],[0.080945,0.990757,0.108849],[0.016984,-0.110562,0.993724]] 2025-10-28T23:30:12.765Z,1761694212.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996612,-0.078838,-0.023421],[0.080935,0.990749,0.108934],[0.014616,-0.110461,0.993773]] 2025-10-28T23:30:13.167Z,1761694213.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996632,-0.079193,-0.021275],[0.081047,0.990772,0.108635],[0.012475,-0.109994,0.993854]] 2025-10-28T23:30:13.571Z,1761694213.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996659,-0.079404,-0.019122],[0.081014,0.990837,0.108069],[0.010366,-0.109257,0.993959]] 2025-10-28T23:30:13.975Z,1761694213.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996648,-0.080025,-0.016994],[0.081386,0.990974,0.106522],[0.008316,-0.107548,0.994165]] 2025-10-28T23:30:14.380Z,1761694214.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996623,-0.080720,-0.015096],[0.081869,0.990996,0.105943],[0.006408,-0.106821,0.994258]] 2025-10-28T23:30:14.782Z,1761694214.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996586,-0.081476,-0.013343],[0.082433,0.990968,0.105774],[0.004605,-0.106513,0.994301]] 2025-10-28T23:30:15.187Z,1761694215.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996512,-0.082666,-0.011392],[0.083404,0.991102,0.103737],[0.002715,-0.104325,0.994539]] 2025-10-28T23:30:15.591Z,1761694215.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996434,-0.083832,-0.009600],[0.084375,0.991141,0.102568],[0.000916,-0.103012,0.994680]] 2025-10-28T23:30:15.996Z,1761694215.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996318,-0.085357,-0.008061],[0.085733,0.990993,0.102876],[-0.000793,-0.103189,0.994662]] 2025-10-28T23:30:16.399Z,1761694216.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996149,-0.087428,-0.006611],[0.087640,0.990661,0.104448],[-0.002582,-0.104625,0.994508]] 2025-10-28T23:30:16.802Z,1761694216.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995933,-0.089966,-0.004954],[0.089986,0.990339,0.105506],[-0.004586,-0.105522,0.994406]] 2025-10-28T23:30:17.207Z,1761694217.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995616,-0.093470,-0.003381],[0.093298,0.989937,0.106395],[-0.006598,-0.106244,0.994318]] 2025-10-28T23:30:17.611Z,1761694217.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995205,-0.097792,-0.002044],[0.097434,0.989291,0.108674],[-0.008605,-0.108352,0.994075]] 2025-10-28T23:30:18.016Z,1761694218.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994692,-0.102897,-0.000813],[0.102373,0.988775,0.108827],[-0.010394,-0.108333,0.994060]] 2025-10-28T23:30:18.418Z,1761694218.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994142,-0.108083,0.000203],[0.107434,0.988379,0.107544],[-0.011824,-0.106892,0.994200]] 2025-10-28T23:30:18.822Z,1761694218.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993523,-0.113628,0.000836],[0.112887,0.987831,0.106984],[-0.012982,-0.106197,0.994260]] 2025-10-28T23:30:19.227Z,1761694219.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992852,-0.119347,0.001349],[0.118541,0.987338,0.105413],[-0.013913,-0.104500,0.994428]] 2025-10-28T23:30:19.633Z,1761694219.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992144,-0.125093,0.001361],[0.124258,0.986667,0.105107],[-0.014491,-0.104112,0.994460]] 2025-10-28T23:30:20.034Z,1761694220.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991500,-0.130103,0.001188],[0.129247,0.985943,0.105883],[-0.014947,-0.104829,0.994378]] 2025-10-28T23:30:20.439Z,1761694220.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991009,-0.133794,0.000737],[0.132948,0.985329,0.107011],[-0.015044,-0.105951,0.994258]] 2025-10-28T23:30:20.842Z,1761694220.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990746,-0.135731,0.000337],[0.134890,0.984881,0.108689],[-0.015084,-0.107638,0.994076]] 2025-10-28T23:30:21.253Z,1761694221.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990922,-0.134439,0.000559],[0.133562,0.984915,0.110013],[-0.015340,-0.108940,0.993930]] 2025-10-28T23:30:21.657Z,1761694221.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991454,-0.130447,0.001572],[0.129448,0.985216,0.112221],[-0.016188,-0.111059,0.993682]] 2025-10-28T23:30:22.059Z,1761694222.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992095,-0.125461,0.002711],[0.124326,0.985600,0.114613],[-0.017051,-0.113370,0.993407]] 2025-10-28T23:30:22.462Z,1761694222.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992743,-0.120188,0.004032],[0.118927,0.986192,0.115249],[-0.017827,-0.113933,0.993328]] 2025-10-28T23:30:22.866Z,1761694222.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993337,-0.115101,0.005832],[0.113652,0.986715,0.116087],[-0.019116,-0.114650,0.993222]] 2025-10-28T23:30:23.267Z,1761694223.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993881,-0.110181,0.007845],[0.108498,0.987087,0.117844],[-0.020728,-0.116272,0.993001]] 2025-10-28T23:30:23.671Z,1761694223.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994289,-0.106224,0.010288],[0.104305,0.987650,0.116912],[-0.022580,-0.115171,0.993089]] 2025-10-28T23:30:24.075Z,1761694224.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994507,-0.103882,0.012816],[0.101745,0.988189,0.114592],[-0.024568,-0.112658,0.993330]] 2025-10-28T23:30:24.481Z,1761694224.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.103663,0.015002],[0.101330,0.988440,0.112773],[-0.026519,-0.110633,0.993508]] 2025-10-28T23:30:24.883Z,1761694224.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994300,-0.105316,0.016624],[0.102823,0.988401,0.111758],[-0.028201,-0.109412,0.993596]] 2025-10-28T23:30:25.286Z,1761694225.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993845,-0.109171,0.018817],[0.106562,0.988533,0.106995],[-0.030282,-0.104331,0.994081]] 2025-10-28T23:30:25.691Z,1761694225.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993183,-0.114696,0.020774],[0.111985,0.988360,0.102973],[-0.032342,-0.099945,0.994467]] 2025-10-28T23:30:26.096Z,1761694226.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992415,-0.120902,0.022272],[0.118101,0.987915,0.100375],[-0.034138,-0.096983,0.994700]] 2025-10-28T23:30:26.499Z,1761694226.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991612,-0.127083,0.023555],[0.124171,0.987286,0.099240],[-0.035867,-0.095482,0.994785]] 2025-10-28T23:30:26.902Z,1761694226.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990778,-0.133225,0.024697],[0.130224,0.986630,0.097999],[-0.037422,-0.093879,0.994880]] 2025-10-28T23:30:27.306Z,1761694227.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989995,-0.138735,0.025736],[0.135608,0.985890,0.098137],[-0.038988,-0.093665,0.994840]] 2025-10-28T23:30:27.711Z,1761694227.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989348,-0.143075,0.026845],[0.139798,0.985233,0.098858],[-0.040592,-0.094052,0.994739]] 2025-10-28T23:30:28.116Z,1761694228.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988762,-0.146870,0.027896],[0.143526,0.984811,0.097706],[-0.041822,-0.092604,0.994824]] 2025-10-28T23:30:28.519Z,1761694228.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988276,-0.149906,0.028968],[0.146428,0.984332,0.098236],[-0.043241,-0.092842,0.994741]] 2025-10-28T23:30:28.923Z,1761694228.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987910,-0.152115,0.029928],[0.148486,0.983902,0.099439],[-0.044573,-0.093793,0.994594]] 2025-10-28T23:30:29.327Z,1761694229.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987821,-0.152439,0.031182],[0.148633,0.983752,0.100694],[-0.046025,-0.094833,0.994429]] 2025-10-28T23:30:29.733Z,1761694229.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987904,-0.151657,0.032340],[0.147713,0.983825,0.101341],[-0.047186,-0.095338,0.994326]] 2025-10-28T23:30:30.135Z,1761694230.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988098,-0.150131,0.033510],[0.146020,0.983944,0.102631],[-0.048380,-0.096517,0.994155]] 2025-10-28T23:30:30.539Z,1761694230.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988417,-0.147755,0.034649],[0.143456,0.984136,0.104383],[-0.049522,-0.098203,0.993933]] 2025-10-28T23:30:30.944Z,1761694230.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988783,-0.144966,0.035946],[0.140450,0.984357,0.106375],[-0.050804,-0.100134,0.993676]] 2025-10-28T23:30:31.348Z,1761694231.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989192,-0.141702,0.037669],[0.136951,0.984690,0.107845],[-0.052374,-0.101521,0.993454]] 2025-10-28T23:30:31.751Z,1761694231.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989563,-0.138422,0.040049],[0.133402,0.985094,0.108599],[-0.054484,-0.102123,0.993279]] 2025-10-28T23:30:32.154Z,1761694232.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989795,-0.136064,0.042333],[0.130800,0.985403,0.108960],[-0.056541,-0.102310,0.993144]] 2025-10-28T23:30:32.558Z,1761694232.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989914,-0.134474,0.044580],[0.128996,0.985658,0.108801],[-0.058572,-0.101953,0.993063]] 2025-10-28T23:30:32.965Z,1761694232.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989804,-0.134429,0.047074],[0.128844,0.985940,0.106407],[-0.060716,-0.099257,0.993208]] 2025-10-28T23:30:33.367Z,1761694233.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989556,-0.135651,0.048752],[0.129938,0.985871,0.105712],[-0.062403,-0.098273,0.993201]] 2025-10-28T23:30:33.770Z,1761694233.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989152,-0.138009,0.050324],[0.132205,0.985689,0.104591],[-0.064038,-0.096803,0.993241]] 2025-10-28T23:30:34.174Z,1761694234.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988586,-0.141497,0.051739],[0.135660,0.985405,0.102826],[-0.065533,-0.094634,0.993353]] 2025-10-28T23:30:34.580Z,1761694234.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987892,-0.145930,0.052659],[0.140051,0.984881,0.101957],[-0.066741,-0.093347,0.993394]] 2025-10-28T23:30:34.984Z,1761694234.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987188,-0.150548,0.052861],[0.144596,0.984164,0.102534],[-0.067460,-0.093576,0.993324]] 2025-10-28T23:30:35.387Z,1761694235.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986471,-0.155124,0.053033],[0.149012,0.983305,0.104433],[-0.068348,-0.095117,0.993117]] 2025-10-28T23:30:35.791Z,1761694235.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985763,-0.159474,0.053286],[0.153107,0.982340,0.107545],[-0.069495,-0.097855,0.992771]] 2025-10-28T23:30:36.196Z,1761694236.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985211,-0.162699,0.053743],[0.156027,0.981491,0.111046],[-0.070815,-0.101018,0.992361]] 2025-10-28T23:30:36.599Z,1761694236.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984904,-0.164209,0.054772],[0.157248,0.981015,0.113499],[-0.072370,-0.103173,0.992027]] 2025-10-28T23:30:37.003Z,1761694237.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984892,-0.163816,0.056143],[0.156504,0.980802,0.116335],[-0.074123,-0.105791,0.991622]] 2025-10-28T23:30:37.407Z,1761694237.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985077,-0.162222,0.057519],[0.154539,0.980749,0.119367],[-0.075775,-0.108697,0.991183]] 2025-10-28T23:30:37.812Z,1761694237.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985318,-0.160085,0.059342],[0.152160,0.981039,0.120038],[-0.077433,-0.109246,0.990994]] 2025-10-28T23:30:38.214Z,1761694238.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985543,-0.157953,0.061282],[0.149792,0.981354,0.120445],[-0.079164,-0.109524,0.990827]] 2025-10-28T23:30:38.618Z,1761694238.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985747,-0.155891,0.063246],[0.147503,0.981670,0.120692],[-0.080902,-0.109643,0.990673]] 2025-10-28T23:30:39.022Z,1761694239.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985780,-0.154815,0.065353],[0.146373,0.982093,0.118606],[-0.082545,-0.107353,0.990788]] 2025-10-28T23:30:39.428Z,1761694239.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985723,-0.154581,0.066739],[0.146007,0.982171,0.118411],[-0.083853,-0.106976,0.990719]] 2025-10-28T23:30:39.436Z,1761694239.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:30:39.831Z,1761694239.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985625,-0.154737,0.067820],[0.146096,0.982228,0.117835],[-0.084848,-0.106233,0.990715]] 2025-10-28T23:30:40.239Z,1761694240.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985414,-0.155519,0.069090],[0.146797,0.982202,0.117172],[-0.086083,-0.105320,0.990705]] 2025-10-28T23:30:40.440Z,1761694240.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:30:40.639Z,1761694240.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985071,-0.157151,0.070270],[0.148409,0.982108,0.115929],[-0.087231,-0.103770,0.990769]] 2025-10-28T23:30:41.045Z,1761694241.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984693,-0.158959,0.071492],[0.150131,0.981909,0.115396],[-0.088542,-0.102896,0.990743]] 2025-10-28T23:30:41.447Z,1761694241.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984378,-0.160932,0.071416],[0.152074,0.981567,0.115760],[-0.088729,-0.103091,0.990707]] 2025-10-28T23:30:41.851Z,1761694241.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984066,-0.162825,0.071430],[0.153923,0.981230,0.116167],[-0.089004,-0.103322,0.990658]] 2025-10-28T23:30:42.267Z,1761694242.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983718,-0.165016,0.071196],[0.156001,0.980729,0.117621],[-0.089233,-0.104599,0.990503]] 2025-10-28T23:30:42.661Z,1761694242.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983421,-0.166791,0.071155],[0.157547,0.980174,0.120155],[-0.089785,-0.106953,0.990202]] 2025-10-28T23:30:43.064Z,1761694243.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983044,-0.168931,0.071326],[0.159547,0.979697,0.121404],[-0.090386,-0.107966,0.990037]] 2025-10-28T23:30:43.467Z,1761694243.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982644,-0.171306,0.071172],[0.161717,0.979048,0.123743],[-0.090879,-0.110085,0.989759]] 2025-10-28T23:30:43.871Z,1761694243.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982284,-0.173329,0.071246],[0.163508,0.978452,0.126083],[-0.091565,-0.112200,0.989458]] 2025-10-28T23:30:44.309Z,1761694244.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981916,-0.175360,0.071339],[0.165342,0.977895,0.127999],[-0.092208,-0.113889,0.989205]] 2025-10-28T23:30:44.678Z,1761694244.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981654,-0.176735,0.071554],[0.166478,0.977408,0.130227],[-0.092953,-0.115925,0.988899]] 2025-10-28T23:30:45.083Z,1761694245.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981349,-0.178293,0.071873],[0.167888,0.977019,0.131329],[-0.093636,-0.116813,0.988730]] 2025-10-28T23:30:45.488Z,1761694245.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981047,-0.179772,0.072316],[0.169173,0.976605,0.132751],[-0.094489,-0.118001,0.988508]] 2025-10-28T23:30:45.892Z,1761694245.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980711,-0.181460,0.072658],[0.170783,0.976284,0.133051],[-0.095078,-0.118076,0.988442]] 2025-10-28T23:30:46.321Z,1761694246.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980409,-0.182893,0.073132],[0.172168,0.976061,0.132899],[-0.095688,-0.117704,0.988428]] 2025-10-28T23:30:46.698Z,1761694246.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980091,-0.184333,0.073773],[0.173507,0.975797,0.133100],[-0.096523,-0.117650,0.988353]] 2025-10-28T23:30:47.105Z,1761694247.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979895,-0.185227,0.074145],[0.174316,0.975602,0.133473],[-0.097059,-0.117865,0.988275]] 2025-10-28T23:30:47.509Z,1761694247.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979818,-0.185694,0.073985],[0.174578,0.975243,0.135730],[-0.097357,-0.120075,0.987980]] 2025-10-28T23:30:47.910Z,1761694247.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979929,-0.185070,0.074084],[0.173756,0.975123,0.137640],[-0.097714,-0.122005,0.987708]] 2025-10-28T23:30:48.351Z,1761694248.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980143,-0.183691,0.074683],[0.172187,0.975224,0.138886],[-0.098345,-0.123268,0.987488]] 2025-10-28T23:30:48.719Z,1761694248.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980553,-0.181452,0.074778],[0.169703,0.975307,0.141343],[-0.098578,-0.125904,0.987132]] 2025-10-28T23:30:49.123Z,1761694249.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981102,-0.178419,0.074866],[0.166399,0.975472,0.144104],[-0.098740,-0.128924,0.986726]] 2025-10-28T23:30:49.527Z,1761694249.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981702,-0.174879,0.075354],[0.162630,0.975832,0.145960],[-0.099058,-0.131035,0.986417]] 2025-10-28T23:30:49.931Z,1761694249.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982352,-0.170686,0.076492],[0.158377,0.976628,0.145310],[-0.099506,-0.130631,0.986425]] 2025-10-28T23:30:50.336Z,1761694250.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982887,-0.167240,0.077231],[0.154666,0.976946,0.147154],[-0.100061,-0.132690,0.986094]] 2025-10-28T23:30:50.740Z,1761694250.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983348,-0.164067,0.078162],[0.151173,0.977174,0.149254],[-0.100866,-0.134953,0.985705]] 2025-10-28T23:30:51.143Z,1761694251.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983542,-0.162092,0.079824],[0.148997,0.977526,0.149142],[-0.102204,-0.134794,0.985589]] 2025-10-28T23:30:51.547Z,1761694251.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983546,-0.161200,0.081556],[0.148092,0.977977,0.147073],[-0.103468,-0.132575,0.985758]] 2025-10-28T23:30:51.951Z,1761694251.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983223,-0.162416,0.083032],[0.149279,0.978042,0.145431],[-0.104830,-0.130596,0.985878]] 2025-10-28T23:30:52.356Z,1761694252.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982691,-0.165102,0.084019],[0.151908,0.977758,0.144616],[-0.106026,-0.129350,0.985914]] 2025-10-28T23:30:52.758Z,1761694252.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981983,-0.168831,0.084890],[0.155614,0.977322,0.143615],[-0.107212,-0.127817,0.985986]] 2025-10-28T23:30:53.163Z,1761694253.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981128,-0.173321,0.085716],[0.160013,0.976660,0.143283],[-0.108549,-0.126863,0.985963]] 2025-10-28T23:30:53.567Z,1761694253.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980253,-0.178140,0.085856],[0.164716,0.975775,0.143983],[-0.109425,-0.126998,0.985849]] 2025-10-28T23:30:53.972Z,1761694253.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979351,-0.183168,0.085564],[0.169647,0.974783,0.144977],[-0.109961,-0.127468,0.985728]] 2025-10-28T23:30:54.374Z,1761694254.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978502,-0.187968,0.084868],[0.174322,0.973700,0.146700],[-0.110211,-0.128752,0.985534]] 2025-10-28T23:30:54.778Z,1761694254.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977801,-0.192125,0.083621],[0.178260,0.972493,0.149934],[-0.110127,-0.131699,0.985153]] 2025-10-28T23:30:55.182Z,1761694255.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977553,-0.194016,0.082145],[0.179967,0.971660,0.153261],[-0.109552,-0.135037,0.984766]] 2025-10-28T23:30:55.588Z,1761694255.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977782,-0.193514,0.080589],[0.179077,0.970943,0.158748],[-0.108967,-0.140789,0.984025]] 2025-10-28T23:30:55.990Z,1761694255.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978437,-0.190618,0.079540],[0.175794,0.970701,0.163820],[-0.108436,-0.146305,0.983278]] 2025-10-28T23:30:56.394Z,1761694256.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979321,-0.186136,0.079267],[0.171073,0.971056,0.166689],[-0.108000,-0.149681,0.982818]] 2025-10-28T23:30:56.799Z,1761694256.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980372,-0.180632,0.079018],[0.165269,0.971450,0.170211],[-0.107507,-0.153811,0.982234]] 2025-10-28T23:30:57.203Z,1761694257.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981455,-0.174621,0.079080],[0.159055,0.972083,0.172499],[-0.106995,-0.156722,0.981830]] 2025-10-28T23:30:57.608Z,1761694257.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982479,-0.168397,0.079857],[0.152690,0.972978,0.173205],[-0.106867,-0.157977,0.981643]] 2025-10-28T23:30:58.011Z,1761694258.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983426,-0.162171,0.081074],[0.146247,0.973831,0.173971],[-0.107165,-0.159231,0.981408]] 2025-10-28T23:30:58.415Z,1761694258.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984216,-0.156293,0.083017],[0.140280,0.974979,0.172447],[-0.107892,-0.158080,0.981514]] 2025-10-28T23:30:58.819Z,1761694258.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984784,-0.151587,0.084980],[0.135560,0.976049,0.170150],[-0.108737,-0.156041,0.981747]] 2025-10-28T23:30:59.224Z,1761694259.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985126,-0.148483,0.086489],[0.132489,0.976849,0.167966],[-0.109427,-0.154009,0.981991]] 2025-10-28T23:30:59.626Z,1761694259.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985181,-0.147262,0.087930],[0.131493,0.977648,0.164055],[-0.110124,-0.150061,0.982525]] 2025-10-28T23:31:00.031Z,1761694260.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984935,-0.148352,0.088853],[0.132840,0.978061,0.160466],[-0.110709,-0.146245,0.983034]] 2025-10-28T23:31:00.841Z,1761694260.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984165,-0.153232,0.089098],[0.138466,0.978439,0.153248],[-0.110660,-0.138484,0.984163]] 2025-10-28T23:31:01.243Z,1761694261.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983664,-0.156714,0.088578],[0.142150,0.978118,0.151916],[-0.110447,-0.136843,0.984416]] 2025-10-28T23:31:01.646Z,1761694261.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983153,-0.160692,0.087117],[0.146036,0.977165,0.154347],[-0.109930,-0.139024,0.984169]] 2025-10-28T23:31:02.055Z,1761694262.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982744,-0.163839,0.085857],[0.149341,0.976665,0.154350],[-0.109142,-0.138864,0.984279]] 2025-10-28T23:31:02.456Z,1761694262.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982493,-0.166264,0.084050],[0.151796,0.975984,0.156249],[-0.108010,-0.140755,0.984135]] 2025-10-28T23:31:02.858Z,1761694262.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982474,-0.167413,0.081962],[0.152768,0.975133,0.160553],[-0.106802,-0.145218,0.983618]] 2025-10-28T23:31:03.263Z,1761694263.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982780,-0.166672,0.079780],[0.151769,0.974374,0.166017],[-0.105406,-0.151050,0.982890]] 2025-10-28T23:31:03.667Z,1761694263.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983373,-0.163840,0.078316],[0.148808,0.974215,0.169592],[-0.104083,-0.155119,0.982398]] 2025-10-28T23:31:04.073Z,1761694264.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984045,-0.160188,0.077435],[0.145010,0.974254,0.172628],[-0.103095,-0.158645,0.981939]] 2025-10-28T23:31:04.475Z,1761694264.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984821,-0.155620,0.076883],[0.140259,0.974405,0.175676],[-0.102254,-0.162226,0.981441]] 2025-10-28T23:31:04.878Z,1761694264.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985612,-0.150545,0.076845],[0.135117,0.974909,0.176908],[-0.101550,-0.163980,0.981223]] 2025-10-28T23:31:05.282Z,1761694265.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986280,-0.145977,0.077088],[0.130634,0.975652,0.176175],[-0.100929,-0.163688,0.981336]] 2025-10-28T23:31:05.688Z,1761694265.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986799,-0.142254,0.077400],[0.127031,0.976359,0.174888],[-0.100448,-0.162748,0.981541]] 2025-10-28T23:31:06.091Z,1761694266.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987177,-0.139509,0.077583],[0.124570,0.977173,0.172089],[-0.099820,-0.160217,0.982022]] 2025-10-28T23:31:06.502Z,1761694266.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987308,-0.138756,0.077263],[0.124601,0.978409,0.164893],[-0.098475,-0.153173,0.983281]] 2025-10-28T23:31:06.903Z,1761694266.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987243,-0.139490,0.076769],[0.125789,0.978900,0.161036],[-0.097612,-0.149325,0.983958]] 2025-10-28T23:31:07.308Z,1761694267.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987151,-0.140715,0.075711],[0.127322,0.978968,0.159409],[-0.096550,-0.147721,0.984305]] 2025-10-28T23:31:07.713Z,1761694267.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987076,-0.141820,0.074613],[0.128645,0.978900,0.158760],[-0.095554,-0.147110,0.984494]] 2025-10-28T23:31:08.114Z,1761694268.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987157,-0.141998,0.073200],[0.128942,0.978710,0.159687],[-0.094317,-0.148198,0.984450]] 2025-10-28T23:31:08.516Z,1761694268.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987349,-0.141160,0.072215],[0.128191,0.978692,0.160400],[-0.093318,-0.149114,0.984407]] 2025-10-28T23:31:08.919Z,1761694268.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987558,-0.140060,0.071495],[0.127129,0.978693,0.161240],[-0.092555,-0.150145,0.984322]] 2025-10-28T23:31:09.324Z,1761694269.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987787,-0.138678,0.071023],[0.125706,0.978654,0.162589],[-0.092055,-0.151676,0.984134]] 2025-10-28T23:31:09.727Z,1761694269.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988019,-0.137203,0.070663],[0.124168,0.978615,0.163997],[-0.091653,-0.153258,0.983927]] 2025-10-28T23:31:10.131Z,1761694270.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988243,-0.135769,0.070303],[0.122732,0.978667,0.164768],[-0.091174,-0.154202,0.983824]] 2025-10-28T23:31:10.537Z,1761694270.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988366,-0.135065,0.069934],[0.121982,0.978559,0.165962],[-0.090851,-0.155500,0.983649]] 2025-10-28T23:31:10.560Z,1761694270.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:31:10.941Z,1761694270.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988363,-0.135184,0.069735],[0.122094,0.978477,0.166361],[-0.090723,-0.155911,0.983596]] 2025-10-28T23:31:11.343Z,1761694271.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988284,-0.135783,0.069702],[0.122723,0.978454,0.166030],[-0.090745,-0.155531,0.983654]] 2025-10-28T23:31:11.564Z,1761694271.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:31:11.747Z,1761694271.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988229,-0.136284,0.069496],[0.123267,0.978416,0.165854],[-0.090600,-0.155335,0.983698]] 2025-10-28T23:31:12.151Z,1761694272.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988206,-0.136620,0.069164],[0.123731,0.978503,0.164993],[-0.090219,-0.154490,0.983867]] 2025-10-28T23:31:12.557Z,1761694272.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988317,-0.136495,0.067815],[0.123634,0.978172,0.167016],[-0.089132,-0.156680,0.983619]] 2025-10-28T23:31:12.959Z,1761694272.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988575,-0.135400,0.066227],[0.122679,0.978058,0.168381],[-0.087573,-0.158332,0.983495]] 2025-10-28T23:31:13.379Z,1761694273.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988841,-0.134299,0.064471],[0.121798,0.978026,0.169206],[-0.085778,-0.159465,0.983470]] 2025-10-28T23:31:13.767Z,1761694273.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989220,-0.132373,0.062617],[0.120030,0.977917,0.171089],[-0.083882,-0.161729,0.983264]] 2025-10-28T23:31:14.173Z,1761694274.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989679,-0.129829,0.060655],[0.117689,0.977890,0.172862],[-0.081757,-0.163939,0.983077]] 2025-10-28T23:31:14.579Z,1761694274.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990128,-0.127256,0.058760],[0.115363,0.977957,0.174045],[-0.079613,-0.165548,0.982983]] 2025-10-28T23:31:14.979Z,1761694274.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990615,-0.124210,0.057046],[0.112539,0.978056,0.175332],[-0.077572,-0.167266,0.982855]] 2025-10-28T23:31:15.383Z,1761694275.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991091,-0.120970,0.055727],[0.109644,0.978576,0.174265],[-0.075614,-0.166602,0.983121]] 2025-10-28T23:31:15.789Z,1761694275.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991432,-0.118624,0.054697],[0.107617,0.979074,0.172721],[-0.074041,-0.165355,0.983451]] 2025-10-28T23:31:16.192Z,1761694276.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991712,-0.116828,0.053472],[0.106104,0.979377,0.171939],[-0.072457,-0.164841,0.983655]] 2025-10-28T23:31:16.595Z,1761694276.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991889,-0.115926,0.052133],[0.105497,0.979592,0.171084],[-0.070902,-0.164197,0.983876]] 2025-10-28T23:31:16.998Z,1761694276.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991913,-0.116419,0.050550],[0.106273,0.979578,0.170685],[-0.069389,-0.163932,0.984028]] 2025-10-28T23:31:17.404Z,1761694277.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991975,-0.116799,0.048418],[0.106920,0.979307,0.171829],[-0.067486,-0.165274,0.983936]] 2025-10-28T23:31:17.809Z,1761694277.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992009,-0.117328,0.046396],[0.107721,0.979071,0.172676],[-0.065684,-0.166298,0.983885]] 2025-10-28T23:31:18.211Z,1761694278.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992054,-0.117684,0.044488],[0.108509,0.979300,0.170871],[-0.063676,-0.164685,0.984289]] 2025-10-28T23:31:18.615Z,1761694278.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992180,-0.117451,0.042236],[0.108748,0.979547,0.169299],[-0.061256,-0.163382,0.984659]] 2025-10-28T23:31:19.019Z,1761694279.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992405,-0.116313,0.040040],[0.107945,0.979520,0.169966],[-0.058989,-0.164353,0.984636]] 2025-10-28T23:31:19.424Z,1761694279.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992673,-0.114773,0.037782],[0.106747,0.979496,0.170858],[-0.056617,-0.165573,0.984571]] 2025-10-28T23:31:19.826Z,1761694279.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993005,-0.112511,0.035819],[0.104836,0.979686,0.170952],[-0.054325,-0.166001,0.984628]] 2025-10-28T23:31:20.230Z,1761694280.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993322,-0.110159,0.034293],[0.102806,0.980024,0.170247],[-0.052362,-0.165585,0.984805]] 2025-10-28T23:31:20.635Z,1761694280.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993586,-0.108134,0.033074],[0.101140,0.980628,0.167747],[-0.050572,-0.163326,0.985275]] 2025-10-28T23:31:21.041Z,1761694281.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993865,-0.105950,0.031748],[0.099252,0.980994,0.166734],[-0.048810,-0.162560,0.985491]] 2025-10-28T23:31:21.443Z,1761694281.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994184,-0.103246,0.030621],[0.096856,0.981551,0.164855],[-0.047077,-0.160930,0.985842]] 2025-10-28T23:31:21.847Z,1761694281.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994474,-0.100833,0.029242],[0.094714,0.981825,0.164466],[-0.045294,-0.160787,0.985949]] 2025-10-28T23:31:22.260Z,1761694282.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994708,-0.098919,0.027769],[0.093078,0.982041,0.164112],[-0.043504,-0.160659,0.986051]] 2025-10-28T23:31:22.656Z,1761694282.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994858,-0.097753,0.026480],[0.092202,0.982390,0.162506],[-0.041899,-0.159229,0.986352]] 2025-10-28T23:31:23.059Z,1761694283.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994951,-0.097194,0.025033],[0.091867,0.982361,0.162869],[-0.040421,-0.159747,0.986330]] 2025-10-28T23:31:23.462Z,1761694283.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994899,-0.098158,0.023249],[0.093125,0.982334,0.162318],[-0.038771,-0.159325,0.986465]] 2025-10-28T23:31:23.867Z,1761694283.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994825,-0.099263,0.021667],[0.094455,0.982145,0.162693],[-0.037429,-0.159804,0.986439]] 2025-10-28T23:31:24.299Z,1761694284.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994665,-0.101197,0.020033],[0.096705,0.982290,0.160483],[-0.035918,-0.157689,0.986835]] 2025-10-28T23:31:24.676Z,1761694284.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.103067,0.018662],[0.098876,0.982567,0.157436],[-0.034563,-0.154725,0.987353]] 2025-10-28T23:31:25.078Z,1761694285.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994331,-0.104949,0.017071],[0.101008,0.982472,0.156673],[-0.033214,-0.154060,0.987503]] 2025-10-28T23:31:25.483Z,1761694285.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994260,-0.105861,0.015537],[0.102138,0.982319,0.156898],[-0.031872,-0.154411,0.987493]] 2025-10-28T23:31:25.886Z,1761694285.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994290,-0.105799,0.013932],[0.102334,0.982350,0.156576],[-0.030252,-0.154256,0.987568]] 2025-10-28T23:31:26.318Z,1761694286.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994364,-0.105287,0.012421],[0.102066,0.982402,0.156427],[-0.028672,-0.154278,0.987611]] 2025-10-28T23:31:26.694Z,1761694286.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.104175,0.010940],[0.101177,0.982382,0.157129],[-0.027117,-0.155158,0.987518]] 2025-10-28T23:31:27.099Z,1761694287.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994641,-0.102996,0.009054],[0.100262,0.982198,0.158856],[-0.025254,-0.157096,0.987260]] 2025-10-28T23:31:27.503Z,1761694287.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994826,-0.101327,0.007380],[0.098817,0.981939,0.161339],[-0.023594,-0.159775,0.986871]] 2025-10-28T23:31:27.908Z,1761694287.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995052,-0.099197,0.005561],[0.096953,0.981719,0.163791],[-0.021707,-0.162441,0.986479]] 2025-10-28T23:31:28.326Z,1761694288.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995299,-0.096782,0.003641],[0.094814,0.981352,0.167205],[-0.019756,-0.166074,0.985915]] 2025-10-28T23:31:28.715Z,1761694288.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995564,-0.094062,0.002096],[0.092352,0.981232,0.169278],[-0.017980,-0.168334,0.985566]] 2025-10-28T23:31:29.118Z,1761694289.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995845,-0.091057,0.000831],[0.089581,0.981266,0.170563],[-0.016346,-0.169780,0.985346]] 2025-10-28T23:31:29.524Z,1761694289.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996086,-0.088385,0.000349],[0.087019,0.981362,0.171336],[-0.015486,-0.170636,0.985213]] 2025-10-28T23:31:29.927Z,1761694289.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996315,-0.085764,-0.000400],[0.084578,0.981750,0.170334],[-0.014216,-0.169740,0.985386]] 2025-10-28T23:31:30.331Z,1761694290.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996527,-0.083266,-0.001031],[0.082245,0.982211,0.168811],[-0.013043,-0.168310,0.985648]] 2025-10-28T23:31:30.734Z,1761694290.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996599,-0.082386,-0.001602],[0.081518,0.982877,0.165250],[-0.012040,-0.164818,0.986250]] 2025-10-28T23:31:31.141Z,1761694291.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996626,-0.082057,-0.001994],[0.081300,0.983500,0.161608],[-0.011300,-0.161225,0.986853]] 2025-10-28T23:31:31.542Z,1761694291.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996566,-0.082769,-0.002338],[0.082098,0.984024,0.157976],[-0.010775,-0.157626,0.987440]] 2025-10-28T23:31:31.947Z,1761694291.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996493,-0.083640,-0.002610],[0.083046,0.984618,0.153722],[-0.010287,-0.153399,0.988111]] 2025-10-28T23:31:32.351Z,1761694292.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996367,-0.085116,-0.002741],[0.084534,0.984628,0.152847],[-0.010311,-0.152524,0.988246]] 2025-10-28T23:31:32.767Z,1761694292.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996314,-0.085733,-0.002858],[0.085163,0.984598,0.152691],[-0.010277,-0.152371,0.988270]] 2025-10-28T23:31:33.159Z,1761694293.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996297,-0.085935,-0.002840],[0.085363,0.984628,0.152385],[-0.010298,-0.152063,0.988317]] 2025-10-28T23:31:33.562Z,1761694293.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996384,-0.084910,-0.002990],[0.084367,0.984625,0.152957],[-0.010043,-0.152656,0.988228]] 2025-10-28T23:31:33.969Z,1761694293.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996507,-0.083446,-0.003299],[0.082951,0.984485,0.154624],[-0.009655,-0.154357,0.987968]] 2025-10-28T23:31:34.371Z,1761694294.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996648,-0.081742,-0.003269],[0.081253,0.984461,0.155676],[-0.009507,-0.155420,0.987803]] 2025-10-28T23:31:34.775Z,1761694294.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996787,-0.080023,-0.003469],[0.079585,0.984584,0.155756],[-0.009048,-0.155531,0.987789]] 2025-10-28T23:31:35.179Z,1761694295.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996888,-0.078759,-0.003511],[0.078350,0.984809,0.154961],[-0.008747,-0.154754,0.987914]] 2025-10-28T23:31:35.583Z,1761694295.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996955,-0.077899,-0.003595],[0.077511,0.984822,0.155299],[-0.008557,-0.155105,0.987861]] 2025-10-28T23:31:35.987Z,1761694295.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996994,-0.077392,-0.003615],[0.077011,0.984822,0.155547],[-0.008478,-0.155358,0.987822]] 2025-10-28T23:31:36.390Z,1761694296.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996964,-0.077779,-0.003695],[0.077416,0.984976,0.154368],[-0.008367,-0.154185,0.988007]] 2025-10-28T23:31:36.794Z,1761694296.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996883,-0.078780,-0.004355],[0.078506,0.984883,0.154409],[-0.007875,-0.154269,0.987997]] 2025-10-28T23:31:37.199Z,1761694297.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996739,-0.080539,-0.004913],[0.080335,0.984839,0.153745],[-0.007544,-0.153639,0.988098]] 2025-10-28T23:31:37.604Z,1761694297.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996627,-0.081866,-0.005647],[0.081750,0.984525,0.155009],[-0.007131,-0.154948,0.987897]] 2025-10-28T23:31:38.008Z,1761694298.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996530,-0.082984,-0.006453],[0.082972,0.984224,0.156266],[-0.006617,-0.156259,0.987694]] 2025-10-28T23:31:38.410Z,1761694298.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996431,-0.084093,-0.007355],[0.084205,0.984040,0.156761],[-0.005945,-0.156821,0.987609]] 2025-10-28T23:31:38.814Z,1761694298.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996332,-0.085212,-0.007889],[0.085386,0.983744,0.157976],[-0.005701,-0.158070,0.987411]] 2025-10-28T23:31:39.218Z,1761694299.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996325,-0.085241,-0.008453],[0.085491,0.983357,0.160314],[-0.005353,-0.160447,0.987030]] 2025-10-28T23:31:39.623Z,1761694299.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996342,-0.085012,-0.008723],[0.085301,0.983119,0.161866],[-0.005184,-0.162018,0.986774]] 2025-10-28T23:31:40.028Z,1761694300.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996401,-0.084294,-0.008941],[0.084619,0.982866,0.163750],[-0.005016,-0.163917,0.986461]] 2025-10-28T23:31:40.432Z,1761694300.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996482,-0.083323,-0.009038],[0.083676,0.982924,0.163886],[-0.004772,-0.164065,0.986438]] 2025-10-28T23:31:40.835Z,1761694300.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996621,-0.081613,-0.009219],[0.082016,0.982942,0.164618],[-0.004373,-0.164818,0.986314]] 2025-10-28T23:31:41.239Z,1761694301.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996792,-0.079430,-0.009854],[0.079966,0.983075,0.164829],[-0.003405,-0.165088,0.986273]] 2025-10-28T23:31:41.643Z,1761694301.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997038,-0.076071,-0.011356],[0.076901,0.983225,0.165394],[-0.001417,-0.165778,0.986162]] 2025-10-28T23:31:41.684Z,1761694301.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:31:42.049Z,1761694302.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997263,-0.072824,-0.012794],[0.073937,0.983679,0.164042],[0.000639,-0.164539,0.986370]] 2025-10-28T23:31:42.451Z,1761694302.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997499,-0.069193,-0.014394],[0.070613,0.984210,0.162310],[0.002937,-0.162921,0.986635]] 2025-10-28T23:31:42.688Z,1761694302.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:31:42.855Z,1761694302.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997755,-0.064988,-0.016192],[0.066746,0.984823,0.160216],[0.005534,-0.160937,0.986949]] 2025-10-28T23:31:43.259Z,1761694303.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997999,-0.060661,-0.017851],[0.062715,0.985611,0.156963],[0.008072,-0.157768,0.987443]] 2025-10-28T23:31:43.663Z,1761694303.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998195,-0.056864,-0.019306],[0.059159,0.986387,0.153432],[0.010318,-0.154298,0.987971]] 2025-10-28T23:31:44.067Z,1761694304.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998318,-0.054222,-0.020539],[0.056700,0.987006,0.150347],[0.012120,-0.151259,0.988420]] 2025-10-28T23:31:44.471Z,1761694304.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998342,-0.053351,-0.021624],[0.055943,0.987724,0.145845],[0.013577,-0.146813,0.989071]] 2025-10-28T23:31:44.875Z,1761694304.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998276,-0.054058,-0.022884],[0.056808,0.987857,0.144610],[0.014788,-0.145661,0.989224]] 2025-10-28T23:31:45.279Z,1761694305.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998187,-0.055129,-0.024147],[0.058055,0.987767,0.144727],[0.015872,-0.145867,0.989177]] 2025-10-28T23:31:45.684Z,1761694305.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998060,-0.056829,-0.025433],[0.059930,0.987610,0.145032],[0.016876,-0.146275,0.989100]] 2025-10-28T23:31:46.087Z,1761694306.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997934,-0.058335,-0.026913],[0.061657,0.987340,0.146145],[0.018046,-0.147503,0.988897]] 2025-10-28T23:31:46.491Z,1761694306.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997797,-0.059890,-0.028550],[0.063468,0.986993,0.147701],[0.019333,-0.149188,0.988620]] 2025-10-28T23:31:46.894Z,1761694306.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997709,-0.060430,-0.030411],[0.064326,0.986606,0.149905],[0.020945,-0.151518,0.988233]] 2025-10-28T23:31:47.300Z,1761694307.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997600,-0.061125,-0.032529],[0.065376,0.986263,0.151694],[0.022810,-0.153457,0.987892]] 2025-10-28T23:31:47.702Z,1761694307.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997481,-0.061922,-0.034606],[0.066507,0.986046,0.152611],[0.024673,-0.154528,0.987680]] 2025-10-28T23:31:48.107Z,1761694308.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997286,-0.063806,-0.036745],[0.068726,0.985744,0.153577],[0.026422,-0.155685,0.987453]] 2025-10-28T23:31:48.510Z,1761694308.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997056,-0.066085,-0.038878],[0.071304,0.985601,0.153320],[0.028186,-0.155641,0.987411]] 2025-10-28T23:31:48.915Z,1761694308.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996768,-0.069114,-0.040960],[0.074624,0.985350,0.153349],[0.029761,-0.155910,0.987323]] 2025-10-28T23:31:49.318Z,1761694309.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996446,-0.072203,-0.043375],[0.078095,0.984889,0.154581],[0.031558,-0.157419,0.987028]] 2025-10-28T23:31:49.723Z,1761694309.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996124,-0.075089,-0.045819],[0.081341,0.984589,0.154815],[0.033488,-0.157942,0.986880]] 2025-10-28T23:31:50.126Z,1761694310.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995915,-0.076388,-0.048159],[0.083030,0.984292,0.155807],[0.035500,-0.159169,0.986613]] 2025-10-28T23:31:50.531Z,1761694310.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995844,-0.075964,-0.050245],[0.083011,0.984017,0.157546],[0.037474,-0.161062,0.986233]] 2025-10-28T23:31:50.936Z,1761694310.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995905,-0.073873,-0.052110],[0.081348,0.983741,0.160110],[0.039435,-0.163694,0.985723]] 2025-10-28T23:31:51.338Z,1761694311.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996022,-0.071537,-0.053126],[0.079255,0.983725,0.161255],[0.040725,-0.164824,0.985482]] 2025-10-28T23:31:51.748Z,1761694311.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996213,-0.068093,-0.054071],[0.076088,0.983673,0.163087],[0.042083,-0.166583,0.985129]] 2025-10-28T23:31:52.154Z,1761694312.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996593,-0.060394,-0.056161],[0.068827,0.984234,0.162930],[0.045435,-0.166240,0.985038]] 2025-10-28T23:31:52.557Z,1761694312.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996746,-0.056528,-0.057466],[0.065116,0.984860,0.160659],[0.047514,-0.163878,0.985336]] 2025-10-28T23:31:52.959Z,1761694312.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996876,-0.052622,-0.058895],[0.061470,0.985162,0.160239],[0.049589,-0.163359,0.985320]] 2025-10-28T23:31:53.363Z,1761694313.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996953,-0.049268,-0.060477],[0.058273,0.985790,0.157550],[0.051856,-0.160594,0.985657]] 2025-10-28T23:31:53.765Z,1761694313.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996996,-0.046622,-0.061848],[0.055678,0.986522,0.153867],[0.053841,-0.156849,0.986154]] 2025-10-28T23:31:54.170Z,1761694314.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996982,-0.045233,-0.063098],[0.054306,0.987128,0.150427],[0.055481,-0.153399,0.986606]] 2025-10-28T23:31:54.571Z,1761694314.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996954,-0.044221,-0.064249],[0.053368,0.987479,0.148448],[0.056880,-0.151425,0.986831]] 2025-10-28T23:31:54.975Z,1761694314.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996906,-0.043720,-0.065329],[0.052911,0.987821,0.146322],[0.058136,-0.149326,0.987077]] 2025-10-28T23:31:55.379Z,1761694315.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996860,-0.043472,-0.066181],[0.052698,0.988063,0.144755],[0.059098,-0.147788,0.987252]] 2025-10-28T23:31:55.784Z,1761694315.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996806,-0.043385,-0.067054],[0.052652,0.988281,0.143280],[0.060052,-0.146353,0.987408]] 2025-10-28T23:31:56.188Z,1761694316.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996698,-0.044329,-0.068034],[0.053599,0.988540,0.141121],[0.060998,-0.144301,0.987652]] 2025-10-28T23:31:56.591Z,1761694316.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996527,-0.046169,-0.069304],[0.055489,0.988707,0.139211],[0.062094,-0.142573,0.987835]] 2025-10-28T23:31:56.995Z,1761694316.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996332,-0.048555,-0.070459],[0.057937,0.988753,0.137879],[0.062971,-0.141455,0.987940]] 2025-10-28T23:31:57.400Z,1761694317.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996056,-0.051831,-0.072020],[0.061356,0.988661,0.137060],[0.064099,-0.140938,0.987941]] 2025-10-28T23:31:57.803Z,1761694317.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995746,-0.055411,-0.073613],[0.065120,0.988454,0.136812],[0.065182,-0.141023,0.987858]] 2025-10-28T23:31:58.208Z,1761694318.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995422,-0.059094,-0.075125],[0.069037,0.988091,0.137512],[0.066104,-0.142069,0.987647]] 2025-10-28T23:31:58.613Z,1761694318.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995091,-0.062586,-0.076664],[0.072949,0.987342,0.140837],[0.066879,-0.145738,0.987060]] 2025-10-28T23:31:59.015Z,1761694319.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994767,-0.065822,-0.078147],[0.076518,0.986776,0.142889],[0.067708,-0.148121,0.986649]] 2025-10-28T23:31:59.419Z,1761694319.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994474,-0.068366,-0.079677],[0.079479,0.986105,0.145878],[0.068597,-0.151405,0.986089]] 2025-10-28T23:31:59.822Z,1761694319.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994253,-0.069885,-0.081097],[0.081634,0.985000,0.152020],[0.069257,-0.157767,0.985045]] 2025-10-28T23:32:00.228Z,1761694320.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994161,-0.069847,-0.082255],[0.082134,0.984181,0.156979],[0.069989,-0.162818,0.984171]] 2025-10-28T23:32:00.686Z,1761694320.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994197,-0.068312,-0.083098],[0.081035,0.983638,0.160900],[0.070747,-0.166700,0.983466]] 2025-10-28T23:32:01.087Z,1761694321.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994366,-0.065593,-0.083272],[0.078582,0.983364,0.163769],[0.071145,-0.169390,0.982978]] 2025-10-28T23:32:01.492Z,1761694321.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994627,-0.062031,-0.082882],[0.075140,0.983294,0.165793],[0.071213,-0.171130,0.982671]] 2025-10-28T23:32:01.894Z,1761694321.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994913,-0.058386,-0.082088],[0.071351,0.983690,0.165114],[0.071108,-0.170131,0.982852]] 2025-10-28T23:32:02.321Z,1761694322.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995187,-0.055024,-0.081084],[0.067562,0.984631,0.161048],[0.070976,-0.165751,0.983610]] 2025-10-28T23:32:02.703Z,1761694322.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995453,-0.051859,-0.079897],[0.063858,0.985720,0.155816],[0.070676,-0.160210,0.984550]] 2025-10-28T23:32:03.106Z,1761694323.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995706,-0.048400,-0.078913],[0.059763,0.987080,0.148665],[0.070698,-0.152742,0.985734]] 2025-10-28T23:32:03.511Z,1761694323.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995903,-0.044592,-0.078669],[0.055618,0.988006,0.144051],[0.071302,-0.147836,0.986438]] 2025-10-28T23:32:03.916Z,1761694323.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996026,-0.041085,-0.079023],[0.051910,0.988759,0.140218],[0.072374,-0.143763,0.986962]] 2025-10-28T23:32:04.328Z,1761694324.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996032,-0.039480,-0.079758],[0.050145,0.989372,0.136483],[0.073522,-0.139941,0.987426]] 2025-10-28T23:32:04.722Z,1761694324.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995934,-0.041017,-0.080204],[0.051419,0.989881,0.132260],[0.073967,-0.135846,0.987965]] 2025-10-28T23:32:05.126Z,1761694325.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995783,-0.043641,-0.080693],[0.053964,0.989974,0.130534],[0.074187,-0.134338,0.988155]] 2025-10-28T23:32:05.531Z,1761694325.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995604,-0.046778,-0.081146],[0.057122,0.989836,0.130241],[0.074229,-0.134303,0.988156]] 2025-10-28T23:32:05.936Z,1761694325.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995395,-0.050280,-0.081619],[0.060705,0.989557,0.130738],[0.074193,-0.135090,0.988052]] 2025-10-28T23:32:06.339Z,1761694326.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995227,-0.053091,-0.081880],[0.063646,0.989175,0.132217],[0.073974,-0.136797,0.987833]] 2025-10-28T23:32:06.743Z,1761694326.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995075,-0.055210,-0.082326],[0.066048,0.988594,0.135350],[0.073914,-0.140121,0.987372]] 2025-10-28T23:32:07.147Z,1761694327.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994968,-0.056539,-0.082715],[0.067736,0.987900,0.139517],[0.073826,-0.144417,0.986759]] 2025-10-28T23:32:07.552Z,1761694327.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994963,-0.055965,-0.083161],[0.067618,0.987166,0.144673],[0.073997,-0.149568,0.985979]] 2025-10-28T23:32:07.954Z,1761694327.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995013,-0.054755,-0.083369],[0.066746,0.986640,0.148614],[0.074118,-0.153437,0.985375]] 2025-10-28T23:32:08.358Z,1761694328.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995098,-0.052824,-0.083599],[0.065133,0.986211,0.152135],[0.074410,-0.156835,0.984818]] 2025-10-28T23:32:08.763Z,1761694328.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995204,-0.050265,-0.083916],[0.062779,0.986096,0.153863],[0.075015,-0.158393,0.984522]] 2025-10-28T23:32:09.168Z,1761694329.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995231,-0.049209,-0.084221],[0.061633,0.986466,0.151939],[0.075605,-0.156405,0.984795]] 2025-10-28T23:32:09.570Z,1761694329.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995239,-0.048839,-0.084350],[0.061130,0.986809,0.149903],[0.075917,-0.154346,0.985096]] 2025-10-28T23:32:09.975Z,1761694329.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995162,-0.049499,-0.084873],[0.061625,0.987246,0.146792],[0.076524,-0.151312,0.985520]] 2025-10-28T23:32:10.379Z,1761694330.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995040,-0.051282,-0.085243],[0.063208,0.987603,0.143687],[0.076817,-0.148362,0.985945]] 2025-10-28T23:32:10.443Z,1761694330.443 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T23:32:10.793Z,1761694330.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994927,-0.053231,-0.085363],[0.065048,0.987693,0.142238],[0.076741,-0.147069,0.986145]] 2025-10-28T23:32:11.196Z,1761694331.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994778,-0.055442,-0.085688],[0.067176,0.987760,0.140773],[0.076835,-0.145794,0.986327]] 2025-10-28T23:32:11.598Z,1761694331.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994626,-0.057336,-0.086209],[0.069100,0.987690,0.140336],[0.077102,-0.145539,0.986344]] 2025-10-28T23:32:12.003Z,1761694332.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994551,-0.058454,-0.086320],[0.070335,0.987404,0.141723],[0.076949,-0.147022,0.986136]] 2025-10-28T23:32:12.406Z,1761694332.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994554,-0.058611,-0.086177],[0.070625,0.987095,0.143720],[0.076641,-0.149024,0.985859]] 2025-10-28T23:32:12.812Z,1761694332.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994658,-0.057675,-0.085609],[0.069900,0.986594,0.147469],[0.075956,-0.152666,0.985355]] 2025-10-28T23:32:12.824Z,1761694332.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:32:13.215Z,1761694333.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994838,-0.055953,-0.084652],[0.068269,0.986266,0.150395],[0.075074,-0.155397,0.984995]] 2025-10-28T23:32:13.618Z,1761694333.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995066,-0.053720,-0.083419],[0.065986,0.986168,0.152048],[0.074097,-0.156803,0.984846]] 2025-10-28T23:32:13.829Z,1761694333.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:32:14.023Z,1761694334.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995324,-0.051371,-0.081803],[0.063450,0.986238,0.152675],[0.072834,-0.157151,0.984885]] 2025-10-28T23:32:14.427Z,1761694334.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995584,-0.049055,-0.080039],[0.060835,0.986492,0.152096],[0.071497,-0.156294,0.985119]] 2025-10-28T23:32:14.833Z,1761694334.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995843,-0.046350,-0.078416],[0.057899,0.986669,0.152091],[0.070321,-0.155998,0.985251]] 2025-10-28T23:32:15.235Z,1761694335.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996095,-0.043729,-0.076692],[0.054822,0.987302,0.149096],[0.069198,-0.152718,0.985844]] 2025-10-28T23:32:15.639Z,1761694335.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996320,-0.041169,-0.075182],[0.051903,0.987787,0.146909],[0.068216,-0.150270,0.986289]] 2025-10-28T23:32:16.042Z,1761694336.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996538,-0.038482,-0.073697],[0.048803,0.988402,0.143802],[0.067309,-0.146901,0.986859]] 2025-10-28T23:32:16.448Z,1761694336.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996689,-0.036681,-0.072567],[0.046596,0.989049,0.140040],[0.066636,-0.142958,0.987483]] 2025-10-28T23:32:16.851Z,1761694336.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996775,-0.036013,-0.071711],[0.045659,0.989409,0.137784],[0.065990,-0.140614,0.987863]] 2025-10-28T23:32:17.254Z,1761694337.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996798,-0.036815,-0.070975],[0.046092,0.989929,0.133853],[0.065332,-0.136696,0.988456]] 2025-10-28T23:32:17.659Z,1761694337.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996777,-0.038956,-0.070133],[0.047848,0.990366,0.129946],[0.064395,-0.132882,0.989038]] 2025-10-28T23:32:18.064Z,1761694338.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996706,-0.041467,-0.069699],[0.050222,0.990376,0.128966],[0.063680,-0.132042,0.989196]] 2025-10-28T23:32:18.466Z,1761694338.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996652,-0.043987,-0.068926],[0.052692,0.990106,0.130049],[0.062524,-0.133245,0.989109]] 2025-10-28T23:32:18.871Z,1761694338.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996593,-0.046389,-0.068189],[0.055133,0.989645,0.132528],[0.061335,-0.135836,0.988831]] 2025-10-28T23:32:19.274Z,1761694339.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996560,-0.048386,-0.067279],[0.057159,0.989157,0.135280],[0.060004,-0.138661,0.988521]] 2025-10-28T23:32:19.680Z,1761694339.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996567,-0.049378,-0.066450],[0.058317,0.988416,0.140121],[0.058761,-0.143515,0.987902]] 2025-10-28T23:32:20.082Z,1761694340.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996631,-0.049440,-0.065435],[0.058386,0.988037,0.142738],[0.057595,-0.146077,0.987595]] 2025-10-28T23:32:20.487Z,1761694340.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996688,-0.049617,-0.064426],[0.058536,0.987713,0.144904],[0.056444,-0.148195,0.987346]] 2025-10-28T23:32:20.892Z,1761694340.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996726,-0.049971,-0.063569],[0.058814,0.987554,0.145868],[0.055489,-0.149129,0.987260]] 2025-10-28T23:32:21.296Z,1761694341.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996642,-0.051419,-0.063729],[0.060230,0.987583,0.145097],[0.055477,-0.148448,0.987363]] 2025-10-28T23:32:21.701Z,1761694341.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996599,-0.052920,-0.063162],[0.061649,0.987450,0.145402],[0.054675,-0.148801,0.987355]] 2025-10-28T23:32:22.103Z,1761694342.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996478,-0.055303,-0.063026],[0.063931,0.987463,0.144327],[0.054254,-0.147848,0.987521]] 2025-10-28T23:32:22.507Z,1761694342.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996376,-0.057644,-0.062555],[0.066249,0.987126,0.145582],[0.053358,-0.149198,0.987367]] 2025-10-28T23:32:22.917Z,1761694342.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996268,-0.059853,-0.062190],[0.068400,0.986931,0.145904],[0.052645,-0.149613,0.987342]] 2025-10-28T23:32:23.321Z,1761694343.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996190,-0.061547,-0.061792],[0.070176,0.986359,0.148899],[0.051784,-0.152668,0.986920]] 2025-10-28T23:32:23.723Z,1761694343.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996214,-0.061873,-0.061069],[0.070525,0.985928,0.151567],[0.050832,-0.155300,0.986559]] 2025-10-28T23:32:24.126Z,1761694344.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996317,-0.061244,-0.060017],[0.069804,0.985781,0.152849],[0.049802,-0.156475,0.986425]] 2025-10-28T23:32:24.531Z,1761694344.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996502,-0.059507,-0.058672],[0.067982,0.985568,0.155027],[0.048600,-0.158473,0.986166]] 2025-10-28T23:32:24.936Z,1761694344.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996756,-0.056919,-0.056901],[0.065277,0.985302,0.157857],[0.047079,-0.161060,0.985821]] 2025-10-28T23:32:25.340Z,1761694345.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997029,-0.054112,-0.054819],[0.062119,0.985667,0.156853],[0.045545,-0.159792,0.986099]] 2025-10-28T23:32:25.743Z,1761694345.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997308,-0.050899,-0.052786],[0.058593,0.985970,0.156302],[0.044090,-0.158974,0.986298]] 2025-10-28T23:32:26.151Z,1761694346.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997590,-0.047249,-0.050804],[0.054530,0.986706,0.153092],[0.042895,-0.155493,0.986905]] 2025-10-28T23:32:26.551Z,1761694346.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997863,-0.043490,-0.048756],[0.050308,0.987604,0.148683],[0.041685,-0.150818,0.987682]] 2025-10-28T23:32:26.956Z,1761694346.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998115,-0.039820,-0.046691],[0.046138,0.988625,0.143153],[0.040459,-0.145038,0.988599]] 2025-10-28T23:32:27.359Z,1761694347.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998336,-0.036813,-0.044393],[0.042704,0.989223,0.140049],[0.038759,-0.141712,0.989149]] 2025-10-28T23:32:27.763Z,1761694347.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998447,-0.036051,-0.042474],[0.041583,0.989623,0.137538],[0.037075,-0.139091,0.989585]] 2025-10-28T23:32:28.167Z,1761694348.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998521,-0.036252,-0.040517],[0.041458,0.989831,0.136075],[0.035172,-0.137553,0.989870]] 2025-10-28T23:32:28.570Z,1761694348.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998516,-0.037865,-0.039153],[0.042839,0.989892,0.135199],[0.033638,-0.136676,0.990045]] 2025-10-28T23:32:28.975Z,1761694348.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998506,-0.039907,-0.037338],[0.044637,0.989716,0.135906],[0.031531,-0.137370,0.990018]] 2025-10-28T23:32:29.379Z,1761694349.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998475,-0.042318,-0.035439],[0.046817,0.989379,0.137615],[0.029239,-0.139064,0.989852]] 2025-10-28T23:32:29.789Z,1761694349.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998439,-0.044445,-0.033838],[0.048777,0.988902,0.140332],[0.027226,-0.141764,0.989526]] 2025-10-28T23:32:30.194Z,1761694350.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998415,-0.047309,-0.030498],[0.051291,0.987844,0.146741],[0.023185,-0.148072,0.988705]] 2025-10-28T23:32:30.595Z,1761694350.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998414,-0.048179,-0.029133],[0.052030,0.987247,0.150451],[0.021513,-0.151728,0.988188]] 2025-10-28T23:32:30.999Z,1761694350.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998412,-0.048916,-0.027939],[0.052597,0.987075,0.151380],[0.020173,-0.152609,0.988081]] 2025-10-28T23:32:31.404Z,1761694351.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998412,-0.049614,-0.026689],[0.053095,0.987057,0.151326],[0.018836,-0.152503,0.988124]] 2025-10-28T23:32:31.807Z,1761694351.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998432,-0.049822,-0.025520],[0.053119,0.987081,0.151160],[0.017659,-0.152279,0.988180]] 2025-10-28T23:32:32.207Z,1761694352.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998489,-0.049346,-0.024175],[0.052421,0.987327,0.149789],[0.016477,-0.150830,0.988422]] 2025-10-28T23:32:32.611Z,1761694352.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998510,-0.049656,-0.022613],[0.052437,0.987873,0.146138],[0.015083,-0.147106,0.989006]] 2025-10-28T23:32:33.015Z,1761694353.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998525,-0.050103,-0.020896],[0.052591,0.988245,0.143545],[0.013459,-0.144432,0.989423]] 2025-10-28T23:32:33.447Z,1761694353.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998564,-0.050099,-0.018958],[0.052283,0.988570,0.141405],[0.011657,-0.142194,0.989770]] 2025-10-28T23:32:33.823Z,1761694353.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998598,-0.050046,-0.017225],[0.051980,0.988635,0.141064],[0.009969,-0.141761,0.989851]] 2025-10-28T23:32:34.227Z,1761694354.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998627,-0.050084,-0.015380],[0.051749,0.988779,0.140139],[0.008189,-0.140742,0.990012]] 2025-10-28T23:32:34.631Z,1761694354.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998636,-0.050393,-0.013696],[0.051816,0.988813,0.139872],[0.006494,-0.140390,0.990075]] 2025-10-28T23:32:35.037Z,1761694355.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998633,-0.050860,-0.012092],[0.052050,0.988901,0.139159],[0.004880,-0.139598,0.990196]] 2025-10-28T23:32:35.439Z,1761694355.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998596,-0.051852,-0.010846],[0.052855,0.988944,0.138548],[0.003542,-0.138927,0.990296]] 2025-10-28T23:32:35.843Z,1761694355.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998554,-0.052850,-0.009808],[0.053701,0.988875,0.138714],[0.002368,-0.139041,0.990284]] 2025-10-28T23:32:36.255Z,1761694356.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998487,-0.054305,-0.008648],[0.054980,0.988888,0.138119],[0.001052,-0.138386,0.990378]] 2025-10-28T23:32:36.652Z,1761694356.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998440,-0.055292,-0.007711],[0.055827,0.988821,0.138263],[-0.000020,-0.138478,0.990365]] 2025-10-28T23:32:37.055Z,1761694357.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998421,-0.055787,-0.006635],[0.056166,0.988530,0.140192],[-0.001262,-0.140343,0.990102]] 2025-10-28T23:32:37.459Z,1761694357.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998389,-0.056453,-0.005688],[0.056685,0.988056,0.143293],[-0.002470,-0.143384,0.989664]] 2025-10-28T23:32:37.863Z,1761694357.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998385,-0.056571,-0.005177],[0.056727,0.987986,0.143754],[-0.003017,-0.143816,0.989600]] 2025-10-28T23:32:38.299Z,1761694358.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998411,-0.056162,-0.004619],[0.056242,0.987983,0.143964],[-0.003522,-0.143995,0.989572]] 2025-10-28T23:32:38.672Z,1761694358.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998442,-0.055662,-0.003971],[0.055650,0.987909,0.144701],[-0.004131,-0.144697,0.989467]] 2025-10-28T23:32:39.074Z,1761694359.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998494,-0.054774,-0.003110],[0.054638,0.987706,0.146465],[-0.004951,-0.146414,0.989211]] 2025-10-28T23:32:39.478Z,1761694359.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998547,-0.053828,-0.002404],[0.053598,0.987725,0.146717],[-0.005523,-0.146633,0.989176]] 2025-10-28T23:32:39.883Z,1761694359.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998541,-0.053982,-0.001638],[0.053640,0.987760,0.146469],[-0.006288,-0.146344,0.989214]] 2025-10-28T23:32:40.317Z,1761694360.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998539,-0.054030,-0.001010],[0.053599,0.987849,0.145879],[-0.006884,-0.145720,0.989302]] 2025-10-28T23:32:40.690Z,1761694360.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998551,-0.053814,-0.000252],[0.053272,0.987802,0.146318],[-0.007625,-0.146120,0.989238]] 2025-10-28T23:32:41.094Z,1761694361.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998589,-0.053101,0.000620],[0.052432,0.987731,0.147102],[-0.008424,-0.146862,0.989121]] 2025-10-28T23:32:41.499Z,1761694361.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998648,-0.051975,0.001348],[0.051205,0.987693,0.147786],[-0.009013,-0.147517,0.989018]] 2025-10-28T23:32:41.904Z,1761694361.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998735,-0.050239,0.002222],[0.049358,0.987757,0.147986],[-0.009629,-0.147689,0.988987]] 2025-10-28T23:32:42.324Z,1761694362.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998806,-0.048717,0.003519],[0.047672,0.987997,0.146935],[-0.010635,-0.146592,0.989140]] 2025-10-28T23:32:42.710Z,1761694362.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998901,-0.046612,0.004962],[0.045392,0.988280,0.145747],[-0.011698,-0.145362,0.989309]] 2025-10-28T23:32:43.115Z,1761694363.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998977,-0.044776,0.006281],[0.043409,0.988653,0.143808],[-0.012649,-0.143388,0.989586]] 2025-10-28T23:32:43.521Z,1761694363.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999028,-0.043404,0.007696],[0.041878,0.989023,0.141701],[-0.013762,-0.141241,0.989880]] 2025-10-28T23:32:43.923Z,1761694363.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999019,-0.043344,0.009059],[0.041656,0.989322,0.139664],[-0.015016,-0.139149,0.990158]] 2025-10-28T23:32:43.948Z,1761694363.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:32:44.330Z,1761694364.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998963,-0.044351,0.010317],[0.042493,0.989404,0.138830],[-0.016365,-0.138248,0.990262]] 2025-10-28T23:32:44.730Z,1761694364.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998846,-0.046639,0.011497],[0.044610,0.989420,0.138053],[-0.017814,-0.137381,0.990358]] 2025-10-28T23:32:44.952Z,1761694364.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:32:45.136Z,1761694365.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998728,-0.048910,0.012286],[0.046753,0.989337,0.137933],[-0.018901,-0.137183,0.990365]] 2025-10-28T23:32:45.540Z,1761694365.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998605,-0.051226,0.012827],[0.048958,0.989127,0.138675],[-0.019791,-0.137854,0.990255]] 2025-10-28T23:32:45.943Z,1761694365.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998452,-0.053998,0.013336],[0.051593,0.988716,0.140635],[-0.020780,-0.139729,0.989972]] 2025-10-28T23:32:46.348Z,1761694366.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998317,-0.056337,0.013778],[0.053792,0.988232,0.143195],[-0.021683,-0.142213,0.989599]] 2025-10-28T23:32:46.751Z,1761694366.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998184,-0.058597,0.013974],[0.055937,0.987690,0.146079],[-0.022361,-0.145032,0.989174]] 2025-10-28T23:32:47.157Z,1761694367.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998105,-0.059917,0.013982],[0.057200,0.987351,0.147870],[-0.022666,-0.146791,0.988908]] 2025-10-28T23:32:47.559Z,1761694367.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998085,-0.060311,0.013777],[0.057554,0.986892,0.150773],[-0.022689,-0.149691,0.988472]] 2025-10-28T23:32:47.963Z,1761694367.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998089,-0.060294,0.013513],[0.057545,0.986678,0.152170],[-0.022508,-0.151102,0.988262]] 2025-10-28T23:32:48.369Z,1761694368.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998118,-0.059829,0.013458],[0.057085,0.986650,0.152520],[-0.022404,-0.151465,0.988209]] 2025-10-28T23:32:48.770Z,1761694368.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998200,-0.058383,0.013722],[0.055592,0.986575,0.153557],[-0.022503,-0.152517,0.988045]] 2025-10-28T23:32:49.174Z,1761694369.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998285,-0.056807,0.014138],[0.053987,0.986772,0.152860],[-0.022635,-0.151835,0.988147]] 2025-10-28T23:32:49.579Z,1761694369.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998372,-0.055092,0.014762],[0.052215,0.986988,0.152080],[-0.022949,-0.151061,0.988258]] 2025-10-28T23:32:49.984Z,1761694369.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998454,-0.053334,0.015656],[0.050389,0.987386,0.150102],[-0.023464,-0.149081,0.988547]] 2025-10-28T23:32:50.388Z,1761694370.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998499,-0.052140,0.016758],[0.049087,0.987717,0.148344],[-0.024287,-0.147298,0.988794]] 2025-10-28T23:32:50.791Z,1761694370.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998531,-0.051259,0.017552],[0.048142,0.988019,0.146629],[-0.024858,-0.145569,0.989036]] 2025-10-28T23:32:51.194Z,1761694371.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998538,-0.050784,0.018496],[0.047587,0.988346,0.144594],[-0.025624,-0.143503,0.989318]] 2025-10-28T23:32:51.599Z,1761694371.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998488,-0.051575,0.019001],[0.048379,0.988755,0.141506],[-0.026086,-0.140373,0.989755]] 2025-10-28T23:32:52.005Z,1761694372.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998427,-0.052565,0.019516],[0.049335,0.988957,0.139752],[-0.026647,-0.138569,0.989994]] 2025-10-28T23:32:52.406Z,1761694372.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998356,-0.053859,0.019590],[0.050668,0.989208,0.137478],[-0.026783,-0.136260,0.990311]] 2025-10-28T23:32:52.811Z,1761694372.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998257,-0.055586,0.019819],[0.052346,0.989110,0.137556],[-0.027249,-0.136279,0.990296]] 2025-10-28T23:32:53.215Z,1761694373.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998182,-0.056899,0.019905],[0.053613,0.988934,0.138332],[-0.027556,-0.137013,0.990186]] 2025-10-28T23:32:53.620Z,1761694373.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998125,-0.057795,0.020166],[0.054403,0.988580,0.140536],[-0.028058,-0.139175,0.989870]] 2025-10-28T23:32:54.022Z,1761694374.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998105,-0.057999,0.020577],[0.054446,0.988071,0.144052],[-0.028686,-0.142658,0.989356]] 2025-10-28T23:32:54.426Z,1761694374.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998109,-0.057732,0.021103],[0.053992,0.987522,0.147936],[-0.029380,-0.146517,0.988772]] 2025-10-28T23:32:54.832Z,1761694374.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998160,-0.056644,0.021621],[0.052742,0.987098,0.151179],[-0.029905,-0.149761,0.988270]] 2025-10-28T23:32:55.236Z,1761694375.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998218,-0.055385,0.022210],[0.051313,0.986695,0.154271],[-0.030459,-0.152857,0.987779]] 2025-10-28T23:32:55.638Z,1761694375.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998319,-0.053301,0.022765],[0.049070,0.986310,0.157433],[-0.030844,-0.156052,0.987267]] 2025-10-28T23:32:56.043Z,1761694376.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998455,-0.050592,0.022961],[0.046305,0.986147,0.159280],[-0.030701,-0.157971,0.986966]] 2025-10-28T23:32:56.447Z,1761694376.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998571,-0.047786,0.023928],[0.043413,0.986442,0.158262],[-0.031166,-0.156997,0.987107]] 2025-10-28T23:32:56.852Z,1761694376.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998674,-0.045030,0.024956],[0.040583,0.986830,0.156590],[-0.031678,-0.155370,0.987348]] 2025-10-28T23:32:57.254Z,1761694377.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998783,-0.042001,0.025841],[0.037584,0.987583,0.152537],[-0.031927,-0.151380,0.987960]] 2025-10-28T23:32:57.658Z,1761694377.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998862,-0.039517,0.026713],[0.035095,0.988140,0.149490],[-0.032304,-0.148382,0.988402]] 2025-10-28T23:32:58.063Z,1761694378.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998919,-0.037467,0.027532],[0.033102,0.988911,0.144775],[-0.032651,-0.143707,0.989082]] 2025-10-28T23:32:58.471Z,1761694378.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998939,-0.036434,0.028162],[0.032120,0.989515,0.140817],[-0.032997,-0.139763,0.989635]] 2025-10-28T23:32:58.870Z,1761694378.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998905,-0.036893,0.028775],[0.032615,0.990019,0.137111],[-0.033546,-0.136022,0.990138]] 2025-10-28T23:32:59.274Z,1761694379.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998844,-0.038011,0.029429],[0.033726,0.990345,0.134458],[-0.034256,-0.133310,0.990482]] 2025-10-28T23:32:59.679Z,1761694379.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998744,-0.040171,0.029955],[0.035853,0.990484,0.132878],[-0.035008,-0.131637,0.990680]] 2025-10-28T23:33:00.083Z,1761694380.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998621,-0.042796,0.030414],[0.038449,0.990581,0.131420],[-0.035751,-0.130069,0.990860]] 2025-10-28T23:33:00.489Z,1761694380.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998435,-0.046658,0.030825],[0.042171,0.990232,0.132903],[-0.036725,-0.131395,0.990650]] 2025-10-28T23:33:00.891Z,1761694380.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998203,-0.051296,0.030981],[0.046626,0.989584,0.136194],[-0.037644,-0.134504,0.990198]] 2025-10-28T23:33:01.294Z,1761694381.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997961,-0.055620,0.031300],[0.050766,0.989011,0.138855],[-0.038679,-0.136983,0.989818]] 2025-10-28T23:33:01.700Z,1761694381.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,-0.059650,0.031462],[0.054635,0.988439,0.141436],[-0.039534,-0.139396,0.989447]] 2025-10-28T23:33:02.102Z,1761694382.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997560,-0.062454,0.031193],[0.057270,0.987637,0.145923],[-0.039921,-0.143781,0.988804]] 2025-10-28T23:33:02.507Z,1761694382.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997504,-0.063548,0.030787],[0.058254,0.986996,0.149817],[-0.039907,-0.147650,0.988234]] 2025-10-28T23:33:02.911Z,1761694382.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997510,-0.063698,0.030267],[0.058356,0.986515,0.152911],[-0.039599,-0.150764,0.987776]] 2025-10-28T23:33:03.315Z,1761694383.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997602,-0.062493,0.029741],[0.057076,0.985923,0.157160],[-0.039144,-0.155085,0.987125]] 2025-10-28T23:33:03.720Z,1761694383.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997730,-0.060655,0.029249],[0.055281,0.985797,0.158583],[-0.038452,-0.156606,0.986912]] 2025-10-28T23:33:04.123Z,1761694384.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997926,-0.057471,0.028985],[0.052107,0.985674,0.160413],[-0.037789,-0.158570,0.986624]] 2025-10-28T23:33:04.526Z,1761694384.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998147,-0.053477,0.029020],[0.048125,0.985740,0.161244],[-0.037229,-0.159549,0.986488]] 2025-10-28T23:33:04.931Z,1761694384.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998347,-0.049599,0.029044],[0.044355,0.986197,0.159523],[-0.036555,-0.157971,0.986767]] 2025-10-28T23:33:05.337Z,1761694385.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998509,-0.046128,0.029201],[0.040954,0.986578,0.158072],[-0.036101,-0.156641,0.986996]] 2025-10-28T23:33:05.739Z,1761694385.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998636,-0.043039,0.029562],[0.037895,0.986919,0.156698],[-0.035919,-0.155364,0.987204]] 2025-10-28T23:33:06.157Z,1761694386.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.040474,0.030243],[0.035329,0.987335,0.154666],[-0.036120,-0.153400,0.987504]] 2025-10-28T23:33:06.547Z,1761694386.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998775,-0.038611,0.030933],[0.033459,0.987728,0.152556],[-0.036444,-0.151334,0.987811]] 2025-10-28T23:33:06.953Z,1761694386.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998794,-0.037330,0.031878],[0.032114,0.988038,0.150830],[-0.037127,-0.149625,0.988046]] 2025-10-28T23:33:07.355Z,1761694387.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998812,-0.036249,0.032570],[0.030992,0.988278,0.149483],[-0.037607,-0.148296,0.988228]] 2025-10-28T23:33:07.759Z,1761694387.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998799,-0.035592,0.033673],[0.030161,0.988237,0.149925],[-0.038613,-0.148729,0.988124]] 2025-10-28T23:33:08.163Z,1761694388.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998791,-0.035036,0.034471],[0.029481,0.988216,0.150199],[-0.039327,-0.149001,0.988055]] 2025-10-28T23:33:08.569Z,1761694388.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998786,-0.034720,0.034940],[0.029096,0.988216,0.150273],[-0.039746,-0.149074,0.988027]] 2025-10-28T23:33:08.971Z,1761694388.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998783,-0.034263,0.035492],[0.028506,0.988028,0.151618],[-0.040261,-0.150422,0.987802]] 2025-10-28T23:33:09.375Z,1761694389.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998798,-0.033620,0.035660],[0.027840,0.988028,0.151740],[-0.040335,-0.150565,0.987777]] 2025-10-28T23:33:09.779Z,1761694389.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998832,-0.032416,0.035829],[0.026613,0.988022,0.151999],[-0.040327,-0.150868,0.987731]] 2025-10-28T23:33:10.184Z,1761694390.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998851,-0.031337,0.036269],[0.025480,0.988056,0.151973],[-0.040598,-0.150874,0.987719]] 2025-10-28T23:33:10.586Z,1761694390.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998860,-0.030204,0.036967],[0.024295,0.988238,0.150984],[-0.041093,-0.149914,0.987845]] 2025-10-28T23:33:10.990Z,1761694390.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998858,-0.029321,0.037734],[0.023410,0.988633,0.148515],[-0.041660,-0.147461,0.988190]] 2025-10-28T23:33:11.394Z,1761694391.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998821,-0.029574,0.038503],[0.023562,0.988681,0.148171],[-0.042449,-0.147089,0.988212]] 2025-10-28T23:33:11.802Z,1761694391.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998787,-0.029575,0.039364],[0.023437,0.988687,0.148154],[-0.043300,-0.147051,0.988181]] 2025-10-28T23:33:12.202Z,1761694392.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998722,-0.030677,0.040157],[0.024434,0.988739,0.147640],[-0.044234,-0.146471,0.988226]] 2025-10-28T23:33:12.606Z,1761694392.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998628,-0.033046,0.040631],[0.026765,0.988858,0.146434],[-0.045017,-0.145146,0.988386]] 2025-10-28T23:33:13.010Z,1761694393.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998504,-0.036352,0.040837],[0.030113,0.989096,0.144162],[-0.045633,-0.142717,0.988711]] 2025-10-28T23:33:13.416Z,1761694393.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998342,-0.040878,0.040524],[0.034644,0.988957,0.144100],[-0.045967,-0.142457,0.988733]] 2025-10-28T23:33:13.819Z,1761694393.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998181,-0.045259,0.039838],[0.039129,0.988934,0.143102],[-0.045873,-0.141283,0.988906]] 2025-10-28T23:33:14.222Z,1761694394.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997977,-0.050312,0.038867],[0.044199,0.988491,0.144676],[-0.045699,-0.142665,0.988715]] 2025-10-28T23:33:14.626Z,1761694394.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997759,-0.055307,0.037669],[0.049223,0.987949,0.146744],[-0.045331,-0.144561,0.988457]] 2025-10-28T23:33:15.034Z,1761694395.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997551,-0.059660,0.036516],[0.053599,0.987390,0.148954],[-0.044942,-0.146632,0.988170]] 2025-10-28T23:33:15.072Z,1761694395.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:33:15.444Z,1761694395.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997414,-0.063125,0.034364],[0.057027,0.986083,0.156168],[-0.043743,-0.153804,0.987133]] 2025-10-28T23:33:15.843Z,1761694395.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997563,-0.061087,0.033711],[0.054964,0.985650,0.159602],[-0.042977,-0.157360,0.986606]] 2025-10-28T23:33:16.077Z,1761694396.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:33:16.248Z,1761694396.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997811,-0.056910,0.033667],[0.050720,0.985404,0.162498],[-0.042423,-0.160435,0.986134]] 2025-10-28T23:33:16.653Z,1761694396.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998075,-0.051806,0.034098],[0.045528,0.985337,0.164432],[-0.042117,-0.162563,0.985799]] 2025-10-28T23:33:17.054Z,1761694397.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998331,-0.045708,0.035292],[0.039316,0.985616,0.164366],[-0.042298,-0.162704,0.985768]] 2025-10-28T23:33:17.455Z,1761694397.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998535,-0.039544,0.036923],[0.033017,0.986051,0.163136],[-0.042859,-0.161678,0.985912]] 2025-10-28T23:33:17.859Z,1761694397.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998695,-0.033377,0.038663],[0.026755,0.986647,0.160663],[-0.043509,-0.159419,0.986252]] 2025-10-28T23:33:18.295Z,1761694398.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,-0.027207,0.040339],[0.020526,0.987283,0.157639],[-0.044115,-0.156624,0.986673]] 2025-10-28T23:33:18.667Z,1761694398.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998880,-0.021950,0.041920],[0.015180,0.987722,0.155479],[-0.044818,-0.154669,0.986949]] 2025-10-28T23:33:19.071Z,1761694399.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998891,-0.018079,0.043464],[0.011306,0.988424,0.151296],[-0.045697,-0.150637,0.987532]] 2025-10-28T23:33:19.472Z,1761694399.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998867,-0.016737,0.044548],[0.010034,0.989140,0.146632],[-0.046519,-0.146019,0.988187]] 2025-10-28T23:33:19.876Z,1761694399.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998842,-0.017075,0.044980],[0.010468,0.989635,0.143224],[-0.046959,-0.142587,0.988668]] 2025-10-28T23:33:20.326Z,1761694400.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998813,-0.019163,0.044782],[0.012692,0.989992,0.140554],[-0.047028,-0.139819,0.989060]] 2025-10-28T23:33:20.718Z,1761694400.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998768,-0.022286,0.044331],[0.015894,0.990074,0.139645],[-0.047003,-0.138769,0.989209]] 2025-10-28T23:33:21.125Z,1761694401.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998726,-0.026411,0.042997],[0.020153,0.989951,0.139968],[-0.046262,-0.138923,0.989222]] 2025-10-28T23:33:21.526Z,1761694401.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998662,-0.030665,0.041632],[0.024472,0.989585,0.141852],[-0.045548,-0.140643,0.989012]] 2025-10-28T23:33:21.930Z,1761694401.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998569,-0.035159,0.040298],[0.029002,0.989105,0.144328],[-0.044933,-0.142952,0.988709]] 2025-10-28T23:33:22.335Z,1761694402.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998473,-0.038992,0.039131],[0.032812,0.988484,0.147724],[-0.044440,-0.146215,0.988254]] 2025-10-28T23:33:22.740Z,1761694402.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998402,-0.042094,0.037692],[0.035885,0.987657,0.152464],[-0.043645,-0.150868,0.987590]] 2025-10-28T23:33:23.147Z,1761694403.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998365,-0.044122,0.036332],[0.037927,0.986969,0.156380],[-0.042758,-0.154747,0.987028]] 2025-10-28T23:33:23.951Z,1761694403.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998360,-0.045819,0.034321],[0.039751,0.986257,0.160364],[-0.041197,-0.158737,0.986461]] 2025-10-28T23:33:24.355Z,1761694404.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998413,-0.045059,0.033782],[0.039077,0.986250,0.160576],[-0.040553,-0.159001,0.986445]] 2025-10-28T23:33:24.760Z,1761694404.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998488,-0.043771,0.033248],[0.037903,0.986347,0.160258],[-0.039809,-0.158756,0.986515]] 2025-10-28T23:33:25.164Z,1761694405.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998559,-0.042640,0.032587],[0.036931,0.986552,0.159220],[-0.038938,-0.157787,0.986705]] 2025-10-28T23:33:25.567Z,1761694405.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998649,-0.040818,0.032163],[0.035239,0.986782,0.158176],[-0.038194,-0.156829,0.986887]] 2025-10-28T23:33:25.971Z,1761694405.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998738,-0.038628,0.032089],[0.033151,0.987126,0.156471],[-0.037720,-0.155210,0.987161]] 2025-10-28T23:33:26.377Z,1761694406.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998827,-0.036288,0.032066],[0.030890,0.987402,0.155190],[-0.037293,-0.154018,0.987364]] 2025-10-28T23:33:26.779Z,1761694406.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998899,-0.034067,0.032253],[0.028758,0.987846,0.152753],[-0.037065,-0.151657,0.987738]] 2025-10-28T23:33:27.183Z,1761694407.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998948,-0.032152,0.032707],[0.026897,0.988312,0.150055],[-0.037149,-0.149017,0.988136]] 2025-10-28T23:33:27.587Z,1761694407.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998987,-0.030464,0.033115],[0.025226,0.988601,0.148432],[-0.037260,-0.147446,0.988368]] 2025-10-28T23:33:27.992Z,1761694407.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999009,-0.029397,0.033431],[0.024166,0.988792,0.147329],[-0.037388,-0.146375,0.988522]] 2025-10-28T23:33:28.394Z,1761694408.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998996,-0.029704,0.033535],[0.024486,0.988906,0.146514],[-0.037515,-0.145546,0.988640]] 2025-10-28T23:33:28.799Z,1761694408.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998960,-0.031104,0.033353],[0.025969,0.989144,0.144637],[-0.037490,-0.143620,0.988923]] 2025-10-28T23:33:29.202Z,1761694409.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998895,-0.033223,0.033228],[0.028147,0.989319,0.143026],[-0.037625,-0.141933,0.989161]] 2025-10-28T23:33:29.607Z,1761694409.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998828,-0.035693,0.032690],[0.030693,0.989335,0.142389],[-0.037423,-0.141218,0.989271]] 2025-10-28T23:33:30.013Z,1761694410.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.038142,0.031724],[0.033215,0.989096,0.143478],[-0.036850,-0.142248,0.989145]] 2025-10-28T23:33:30.415Z,1761694410.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998738,-0.039549,0.030962],[0.034614,0.988638,0.146277],[-0.036395,-0.145021,0.988759]] 2025-10-28T23:33:30.819Z,1761694410.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998725,-0.040455,0.030196],[0.035494,0.988080,0.149794],[-0.035896,-0.148531,0.988256]] 2025-10-28T23:33:31.224Z,1761694411.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998755,-0.040306,0.029394],[0.035292,0.987333,0.154687],[-0.035257,-0.153457,0.987526]] 2025-10-28T23:33:31.627Z,1761694411.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998789,-0.039890,0.028813],[0.034878,0.986931,0.157325],[-0.034712,-0.156129,0.987126]] 2025-10-28T23:33:32.030Z,1761694412.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998863,-0.038278,0.028419],[0.033263,0.986595,0.159761],[-0.034154,-0.158634,0.986747]] 2025-10-28T23:33:32.435Z,1761694412.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998956,-0.036101,0.027991],[0.031164,0.986585,0.160246],[-0.033401,-0.159206,0.986680]] 2025-10-28T23:33:32.839Z,1761694412.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999031,-0.034120,0.027817],[0.029242,0.986676,0.160047],[-0.032907,-0.159078,0.986717]] 2025-10-28T23:33:33.244Z,1761694413.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999081,-0.032729,0.027692],[0.027960,0.987068,0.157847],[-0.032500,-0.156927,0.987075]] 2025-10-28T23:33:33.647Z,1761694413.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999125,-0.031309,0.027720],[0.026625,0.987458,0.155622],[-0.032245,-0.154748,0.987428]] 2025-10-28T23:33:34.050Z,1761694414.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999169,-0.029894,0.027699],[0.025320,0.987926,0.152845],[-0.031934,-0.152017,0.987862]] 2025-10-28T23:33:34.454Z,1761694414.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999212,-0.028358,0.027769],[0.023870,0.988341,0.150375],[-0.031709,-0.149594,0.988239]] 2025-10-28T23:33:34.860Z,1761694414.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999230,-0.027512,0.027956],[0.023051,0.988574,0.148962],[-0.031735,-0.148203,0.988448]] 2025-10-28T23:33:35.262Z,1761694415.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999225,-0.027099,0.028560],[0.022559,0.988611,0.148791],[-0.032267,-0.148031,0.988456]] 2025-10-28T23:33:35.666Z,1761694415.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999199,-0.027869,0.028713],[0.023348,0.988822,0.147263],[-0.032496,-0.146475,0.988681]] 2025-10-28T23:33:36.071Z,1761694416.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999155,-0.029192,0.028918],[0.024668,0.988969,0.146055],[-0.032863,-0.145218,0.988854]] 2025-10-28T23:33:36.476Z,1761694416.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999098,-0.031196,0.028802],[0.026727,0.989176,0.144280],[-0.032991,-0.143380,0.989118]] 2025-10-28T23:33:36.879Z,1761694416.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999026,-0.034095,0.028024],[0.029757,0.989303,0.142809],[-0.032594,-0.141836,0.989353]] 2025-10-28T23:33:37.283Z,1761694417.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998939,-0.037638,0.026540],[0.033392,0.988806,0.145422],[-0.031716,-0.144382,0.989014]] 2025-10-28T23:33:37.687Z,1761694417.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998872,-0.040464,0.024857],[0.036386,0.988477,0.146932],[-0.030516,-0.145862,0.988834]] 2025-10-28T23:33:38.091Z,1761694418.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998803,-0.043060,0.023187],[0.039169,0.988216,0.147968],[-0.029286,-0.146882,0.988720]] 2025-10-28T23:33:38.508Z,1761694418.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.045787,0.021344],[0.042060,0.987683,0.150706],[-0.027982,-0.149616,0.988348]] 2025-10-28T23:33:38.898Z,1761694418.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998659,-0.048002,0.019381],[0.044416,0.986839,0.155484],[-0.026589,-0.154414,0.987648]] 2025-10-28T23:33:39.302Z,1761694419.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998647,-0.048865,0.017783],[0.045392,0.986015,0.160356],[-0.025370,-0.159331,0.986899]] 2025-10-28T23:33:39.707Z,1761694419.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998741,-0.047303,0.016721],[0.043931,0.985494,0.163924],[-0.024233,-0.162983,0.986331]] 2025-10-28T23:33:40.113Z,1761694420.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998896,-0.044044,0.016330],[0.040709,0.985134,0.166896],[-0.023438,-0.166047,0.985839]] 2025-10-28T23:33:40.516Z,1761694420.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999096,-0.039451,0.015810],[0.036246,0.985159,0.167774],[-0.022194,-0.167049,0.985699]] 2025-10-28T23:33:40.919Z,1761694420.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999272,-0.034600,0.016041],[0.031429,0.985359,0.167567],[-0.021604,-0.166941,0.985730]] 2025-10-28T23:33:41.322Z,1761694421.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999428,-0.029681,0.016187],[0.026594,0.985828,0.165638],[-0.020874,-0.165113,0.986054]] 2025-10-28T23:33:41.728Z,1761694421.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999558,-0.024782,0.016434],[0.021822,0.986757,0.160730],[-0.020200,-0.160300,0.986862]] 2025-10-28T23:33:42.130Z,1761694422.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999661,-0.020056,0.016576],[0.017229,0.987624,0.155891],[-0.019497,-0.155552,0.987635]] 2025-10-28T23:33:42.535Z,1761694422.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999729,-0.016355,0.016553],[0.013655,0.988321,0.151772],[-0.018842,-0.151504,0.988277]] 2025-10-28T23:33:42.939Z,1761694422.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999775,-0.013658,0.016224],[0.011143,0.989207,0.146099],[-0.018044,-0.145885,0.989137]] 2025-10-28T23:33:43.344Z,1761694423.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,-0.012691,0.015622],[0.010348,0.989833,0.141858],[-0.017263,-0.141667,0.989764]] 2025-10-28T23:33:43.747Z,1761694423.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999801,-0.013093,0.015039],[0.010863,0.990124,0.139772],[-0.016721,-0.139581,0.990070]] 2025-10-28T23:33:44.151Z,1761694424.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999791,-0.014695,0.014209],[0.012607,0.990455,0.137257],[-0.016091,-0.137050,0.990433]] 2025-10-28T23:33:44.556Z,1761694424.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999761,-0.017361,0.013293],[0.015437,0.990960,0.133264],[-0.015486,-0.133027,0.990991]] 2025-10-28T23:33:44.960Z,1761694424.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999708,-0.020883,0.012155],[0.019093,0.991027,0.132292],[-0.014809,-0.132022,0.991136]] 2025-10-28T23:33:45.363Z,1761694425.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999646,-0.024383,0.010681],[0.022773,0.991107,0.131104],[-0.013783,-0.130814,0.991311]] 2025-10-28T23:33:45.767Z,1761694425.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999572,-0.027783,0.009136],[0.026356,0.991113,0.130387],[-0.012678,-0.130090,0.991421]] 2025-10-28T23:33:46.170Z,1761694426.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999488,-0.031139,0.007361],[0.029883,0.990646,0.133143],[-0.011438,-0.132855,0.991070]] 2025-10-28T23:33:46.212Z,1761694426.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:33:46.577Z,1761694426.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999387,-0.034523,0.005742],[0.033410,0.989979,0.137205],[-0.010421,-0.136929,0.990526]] 2025-10-28T23:33:46.980Z,1761694426.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999269,-0.037986,0.004291],[0.036988,0.989112,0.142444],[-0.009655,-0.142181,0.989794]] 2025-10-28T23:33:47.216Z,1761694427.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:33:47.383Z,1761694427.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999141,-0.041313,0.003110],[0.040397,0.988140,0.148149],[-0.009194,-0.147896,0.988960]] 2025-10-28T23:33:47.786Z,1761694427.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998992,-0.044842,0.002263],[0.043963,0.987163,0.153547],[-0.009119,-0.153293,0.988139]] 2025-10-28T23:33:48.191Z,1761694428.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998814,-0.048661,0.001655],[0.047780,0.986137,0.158906],[-0.009364,-0.158639,0.987292]] 2025-10-28T23:33:48.597Z,1761694428.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998635,-0.052224,0.000985],[0.051367,0.985316,0.162828],[-0.009474,-0.162555,0.986654]] 2025-10-28T23:33:48.999Z,1761694428.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998513,-0.054505,0.000150],[0.053727,0.984714,0.165685],[-0.009179,-0.165430,0.986179]] 2025-10-28T23:33:49.403Z,1761694429.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998526,-0.054269,-0.000748],[0.053631,0.984481,0.167094],[-0.008332,-0.166888,0.985941]] 2025-10-28T23:33:49.808Z,1761694429.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998702,-0.050909,-0.001542],[0.050446,0.984547,0.167699],[-0.007020,-0.167559,0.985837]] 2025-10-28T23:33:50.212Z,1761694430.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998930,-0.046230,-0.001511],[0.045829,0.984792,0.167583],[-0.006259,-0.167473,0.985857]] 2025-10-28T23:33:50.615Z,1761694430.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999140,-0.041436,-0.001187],[0.041066,0.985504,0.164605],[-0.005651,-0.164512,0.986359]] 2025-10-28T23:33:51.018Z,1761694431.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999315,-0.037000,-0.000748],[0.036634,0.986157,0.161717],[-0.005246,-0.161634,0.986837]] 2025-10-28T23:33:51.032Z,1761694431.032 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T23:33:51.424Z,1761694431.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999467,-0.032627,-0.000374],[0.032286,0.987236,0.155956],[-0.004719,-0.155885,0.987764]] 2025-10-28T23:33:51.827Z,1761694431.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999595,-0.028467,-0.000219],[0.028175,0.988186,0.150647],[-0.004072,-0.150593,0.988588]] 2025-10-28T23:33:52.231Z,1761694432.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999666,-0.025844,-0.000267],[0.025608,0.989046,0.145372],[-0.003493,-0.145331,0.989377]] 2025-10-28T23:33:52.635Z,1761694432.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999688,-0.024979,-0.000754],[0.024836,0.989723,0.140825],[-0.002771,-0.140800,0.990034]] 2025-10-28T23:33:53.048Z,1761694433.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999654,-0.026254,-0.001375],[0.026199,0.990444,0.135406],[-0.002193,-0.135395,0.990789]] 2025-10-28T23:33:53.452Z,1761694433.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999588,-0.028610,-0.002175],[0.028648,0.991002,0.130743],[-0.001585,-0.130752,0.991414]] 2025-10-28T23:33:53.886Z,1761694433.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999403,-0.034273,-0.004403],[0.034555,0.991284,0.127129],[0.000007,-0.127205,0.991876]] 2025-10-28T23:33:54.317Z,1761694434.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999278,-0.037528,-0.005890],[0.037975,0.990808,0.129835],[0.000964,-0.129965,0.991518]] 2025-10-28T23:33:54.691Z,1761694434.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999118,-0.041328,-0.007387],[0.041941,0.990375,0.131899],[0.001865,-0.132093,0.991236]] 2025-10-28T23:33:55.095Z,1761694435.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998940,-0.045127,-0.009072],[0.045939,0.989815,0.134743],[0.002899,-0.135017,0.990839]] 2025-10-28T23:33:55.498Z,1761694435.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998778,-0.048200,-0.010965],[0.049260,0.988983,0.139591],[0.004116,-0.139960,0.990149]] 2025-10-28T23:33:55.900Z,1761694435.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998644,-0.050481,-0.012704],[0.051775,0.988509,0.142020],[0.005388,-0.142486,0.989782]] 2025-10-28T23:33:56.322Z,1761694436.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998511,-0.052667,-0.014226],[0.054157,0.988357,0.142188],[0.006571,-0.142747,0.989737]] 2025-10-28T23:33:56.706Z,1761694436.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998377,-0.054618,-0.016158],[0.056370,0.988137,0.142857],[0.008163,-0.143536,0.989612]] 2025-10-28T23:33:57.111Z,1761694437.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998218,-0.056741,-0.018464],[0.058811,0.987872,0.143699],[0.010086,-0.144529,0.989449]] 2025-10-28T23:33:57.516Z,1761694437.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998052,-0.058732,-0.021027],[0.061145,0.987804,0.143194],[0.012361,-0.144201,0.989471]] 2025-10-28T23:33:57.920Z,1761694437.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997882,-0.060586,-0.023676],[0.063334,0.987946,0.141248],[0.014833,-0.142448,0.989691]] 2025-10-28T23:33:58.726Z,1761694438.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997572,-0.063308,-0.029028],[0.066764,0.987919,0.139849],[0.019824,-0.141448,0.989747]] 2025-10-28T23:33:59.131Z,1761694439.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997431,-0.064167,-0.031843],[0.068085,0.987386,0.142945],[0.022269,-0.144745,0.989218]] 2025-10-28T23:33:59.536Z,1761694439.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997344,-0.064284,-0.034226],[0.068620,0.986910,0.145942],[0.024397,-0.147903,0.988701]] 2025-10-28T23:33:59.938Z,1761694439.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997315,-0.063661,-0.036189],[0.068378,0.986459,0.149076],[0.026208,-0.151150,0.988163]] 2025-10-28T23:34:00.747Z,1761694440.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997257,-0.062655,-0.039405],[0.067940,0.986126,0.151460],[0.029369,-0.153722,0.987678]] 2025-10-28T23:34:01.153Z,1761694441.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997231,-0.061972,-0.041105],[0.067551,0.986033,0.152235],[0.031096,-0.154591,0.987489]] 2025-10-28T23:34:01.555Z,1761694441.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997195,-0.061547,-0.042588],[0.067376,0.985973,0.152702],[0.032593,-0.155143,0.987354]] 2025-10-28T23:34:01.959Z,1761694441.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997146,-0.061474,-0.043818],[0.067470,0.986078,0.151980],[0.033865,-0.154502,0.987412]] 2025-10-28T23:34:02.363Z,1761694442.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997085,-0.061068,-0.045733],[0.067410,0.985890,0.153220],[0.035730,-0.155857,0.987133]] 2025-10-28T23:34:02.768Z,1761694442.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997024,-0.060832,-0.047349],[0.067410,0.985965,0.152735],[0.037393,-0.155472,0.987132]] 2025-10-28T23:34:03.170Z,1761694443.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997000,-0.059954,-0.048951],[0.066786,0.986032,0.152582],[0.039119,-0.155394,0.987078]] 2025-10-28T23:34:03.978Z,1761694443.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997031,-0.056723,-0.052074],[0.064152,0.985934,0.154330],[0.042587,-0.157212,0.986646]] 2025-10-28T23:34:04.384Z,1761694444.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997087,-0.054408,-0.053449],[0.062070,0.986100,0.154120],[0.044321,-0.156989,0.986605]] 2025-10-28T23:34:04.787Z,1761694444.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997191,-0.051489,-0.054387],[0.059368,0.986139,0.154935],[0.045656,-0.157728,0.986426]] 2025-10-28T23:34:05.191Z,1761694445.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997304,-0.048318,-0.055227],[0.056351,0.986365,0.154623],[0.047003,-0.157318,0.986429]] 2025-10-28T23:34:05.595Z,1761694445.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997397,-0.045350,-0.056057],[0.053516,0.986616,0.154026],[0.048321,-0.156625,0.986475]] 2025-10-28T23:34:06.000Z,1761694446.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997491,-0.042454,-0.056647],[0.050682,0.986961,0.152774],[0.049422,-0.155262,0.986636]] 2025-10-28T23:34:06.403Z,1761694446.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997567,-0.039965,-0.057119],[0.048210,0.987332,0.151166],[0.050354,-0.153552,0.986857]] 2025-10-28T23:34:06.807Z,1761694446.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997592,-0.038379,-0.057775],[0.046590,0.987852,0.148252],[0.051383,-0.150587,0.987261]] 2025-10-28T23:34:07.211Z,1761694447.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997588,-0.037512,-0.058404],[0.045760,0.988077,0.147003],[0.052193,-0.149321,0.987410]] 2025-10-28T23:34:07.617Z,1761694447.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997523,-0.038226,-0.059043],[0.046351,0.988633,0.143027],[0.052904,-0.145409,0.987956]] 2025-10-28T23:34:08.018Z,1761694448.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997394,-0.040036,-0.060021],[0.048069,0.989125,0.138998],[0.053803,-0.141521,0.988472]] 2025-10-28T23:34:08.422Z,1761694448.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997241,-0.042868,-0.060596],[0.050861,0.989237,0.137200],[0.054062,-0.139904,0.988688]] 2025-10-28T23:34:08.827Z,1761694448.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997033,-0.046395,-0.061428],[0.054399,0.989242,0.135795],[0.054467,-0.138734,0.988831]] 2025-10-28T23:34:09.231Z,1761694449.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996770,-0.049821,-0.062988],[0.057989,0.989103,0.135324],[0.055560,-0.138540,0.988797]] 2025-10-28T23:34:09.637Z,1761694449.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996485,-0.053268,-0.064656],[0.061712,0.988710,0.136547],[0.056653,-0.140057,0.988521]] 2025-10-28T23:34:10.041Z,1761694450.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996177,-0.056730,-0.066432],[0.065495,0.988236,0.138204],[0.057810,-0.142026,0.988173]] 2025-10-28T23:34:10.443Z,1761694450.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995864,-0.060048,-0.068182],[0.069115,0.987804,0.139526],[0.058973,-0.143661,0.987868]] 2025-10-28T23:34:10.864Z,1761694450.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995568,-0.063085,-0.069749],[0.072482,0.987260,0.141651],[0.059924,-0.146078,0.987456]] 2025-10-28T23:34:11.267Z,1761694451.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995290,-0.065673,-0.071304],[0.075320,0.986948,0.142342],[0.061025,-0.147042,0.987246]] 2025-10-28T23:34:11.672Z,1761694451.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995048,-0.067531,-0.072939],[0.077510,0.986533,0.144028],[0.062230,-0.148968,0.986882]] 2025-10-28T23:34:12.074Z,1761694452.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994894,-0.068330,-0.074277],[0.078708,0.985967,0.147224],[0.063175,-0.152319,0.986310]] 2025-10-28T23:34:12.479Z,1761694452.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994821,-0.068264,-0.075312],[0.078926,0.985662,0.149132],[0.064052,-0.154304,0.985945]] 2025-10-28T23:34:12.882Z,1761694452.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994830,-0.067075,-0.076255],[0.078091,0.985271,0.152126],[0.064928,-0.157294,0.985415]] 2025-10-28T23:34:13.288Z,1761694453.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994820,-0.065926,-0.077378],[0.077199,0.985183,0.153149],[0.066135,-0.158329,0.985169]] 2025-10-28T23:34:13.690Z,1761694453.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994823,-0.064628,-0.078418],[0.076112,0.985193,0.153628],[0.067328,-0.158801,0.985012]] 2025-10-28T23:34:14.094Z,1761694454.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994854,-0.063420,-0.079013],[0.074970,0.985372,0.153043],[0.068152,-0.158180,0.985056]] 2025-10-28T23:34:14.499Z,1761694454.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994877,-0.062354,-0.079570],[0.073982,0.985493,0.152743],[0.068891,-0.157848,0.985057]] 2025-10-28T23:34:14.904Z,1761694454.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994871,-0.061984,-0.079937],[0.073575,0.985740,0.151335],[0.069417,-0.156441,0.985245]] 2025-10-28T23:34:15.306Z,1761694455.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994900,-0.061169,-0.080204],[0.072676,0.986093,0.149459],[0.069947,-0.154525,0.985510]] 2025-10-28T23:34:15.710Z,1761694455.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994905,-0.060439,-0.080691],[0.072011,0.986178,0.149224],[0.070556,-0.154274,0.985506]] 2025-10-28T23:34:16.114Z,1761694456.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994991,-0.058890,-0.080777],[0.070590,0.986068,0.150621],[0.070782,-0.155568,0.985286]] 2025-10-28T23:34:16.519Z,1761694456.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995143,-0.056562,-0.080565],[0.068294,0.986135,0.151238],[0.070894,-0.156006,0.985209]] 2025-10-28T23:34:16.923Z,1761694456.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995300,-0.054672,-0.079932],[0.066252,0.986423,0.150269],[0.070632,-0.154859,0.985409]] 2025-10-28T23:34:17.326Z,1761694457.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995424,-0.053056,-0.079475],[0.064519,0.986665,0.149428],[0.070488,-0.153872,0.985573]] 2025-10-28T23:34:17.336Z,1761694457.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:34:17.731Z,1761694457.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995517,-0.051485,-0.079345],[0.062857,0.986952,0.148237],[0.070678,-0.152560,0.985764]] 2025-10-28T23:34:18.137Z,1761694458.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995578,-0.050349,-0.079309],[0.061557,0.987383,0.145896],[0.070963,-0.150133,0.986116]] 2025-10-28T23:34:18.341Z,1761694458.341 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:34:18.555Z,1761694458.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995584,-0.049681,-0.079648],[0.060845,0.987631,0.144508],[0.071484,-0.148716,0.986293]] 2025-10-28T23:34:18.943Z,1761694458.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995529,-0.050235,-0.079985],[0.061186,0.988123,0.140956],[0.071954,-0.145220,0.986780]] 2025-10-28T23:34:19.347Z,1761694459.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995384,-0.052029,-0.080648],[0.062789,0.988550,0.137212],[0.072585,-0.141642,0.987253]] 2025-10-28T23:34:19.752Z,1761694459.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995191,-0.054490,-0.081400],[0.065118,0.988812,0.134206],[0.073177,-0.138861,0.987605]] 2025-10-28T23:34:20.155Z,1761694460.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994974,-0.057521,-0.081969],[0.068031,0.988939,0.131804],[0.073481,-0.136718,0.987881]] 2025-10-28T23:34:20.963Z,1761694460.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994484,-0.063829,-0.083228],[0.074286,0.988821,0.129288],[0.074045,-0.134758,0.988108]] 2025-10-28T23:34:21.369Z,1761694461.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994275,-0.066708,-0.083467],[0.077321,0.988340,0.131173],[0.073744,-0.136876,0.987839]] 2025-10-28T23:34:21.770Z,1761694461.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994082,-0.069834,-0.083216],[0.080607,0.987689,0.134060],[0.072829,-0.139975,0.987473]] 2025-10-28T23:34:22.174Z,1761694462.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993915,-0.072701,-0.082744],[0.083669,0.986905,0.137908],[0.071634,-0.143992,0.986983]] 2025-10-28T23:34:22.578Z,1761694462.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993819,-0.074436,-0.082359],[0.085661,0.986092,0.142424],[0.070612,-0.148599,0.986373]] 2025-10-28T23:34:22.983Z,1761694462.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993863,-0.074023,-0.082202],[0.085732,0.985036,0.149513],[0.069905,-0.155643,0.985337]] 2025-10-28T23:34:23.388Z,1761694463.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994083,-0.071429,-0.081832],[0.083608,0.984107,0.156662],[0.069341,-0.162577,0.984256]] 2025-10-28T23:34:23.791Z,1761694463.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994393,-0.067936,-0.081042],[0.080331,0.983667,0.161078],[0.068775,-0.166685,0.983609]] 2025-10-28T23:34:24.195Z,1761694464.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994709,-0.064211,-0.080191],[0.076627,0.983671,0.162847],[0.068425,-0.168130,0.983387]] 2025-10-28T23:34:24.599Z,1761694464.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994986,-0.060607,-0.079559],[0.072916,0.984048,0.162272],[0.068455,-0.167259,0.983534]] 2025-10-28T23:34:25.005Z,1761694465.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995223,-0.057372,-0.078992],[0.069606,0.984325,0.162047],[0.068456,-0.166771,0.983616]] 2025-10-28T23:34:25.406Z,1761694465.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995396,-0.055211,-0.078354],[0.067117,0.985071,0.158528],[0.068432,-0.163057,0.984241]] 2025-10-28T23:34:25.811Z,1761694465.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995461,-0.054933,-0.077719],[0.066454,0.985768,0.154418],[0.068130,-0.158882,0.984944]] 2025-10-28T23:34:26.214Z,1761694466.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995467,-0.055785,-0.077029],[0.066913,0.986357,0.150410],[0.067587,-0.154883,0.985618]] 2025-10-28T23:34:26.619Z,1761694466.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995413,-0.057559,-0.076416],[0.068346,0.986769,0.147024],[0.066943,-0.151573,0.986177]] 2025-10-28T23:34:27.018Z,1761694467.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995382,-0.059391,-0.075414],[0.069749,0.987242,0.143135],[0.065951,-0.147734,0.986826]] 2025-10-28T23:34:27.423Z,1761694467.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995330,-0.061010,-0.074802],[0.071153,0.987386,0.141445],[0.065229,-0.146107,0.987116]] 2025-10-28T23:34:27.827Z,1761694467.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995342,-0.061901,-0.073907],[0.071850,0.987456,0.140597],[0.064277,-0.145252,0.987305]] 2025-10-28T23:34:28.237Z,1761694468.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995508,-0.061364,-0.072092],[0.071031,0.987566,0.140246],[0.062590,-0.144737,0.987489]] 2025-10-28T23:34:28.634Z,1761694468.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995744,-0.059393,-0.070471],[0.068905,0.987569,0.141281],[0.061204,-0.145536,0.987458]] 2025-10-28T23:34:29.039Z,1761694469.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995972,-0.057103,-0.069131],[0.066550,0.987465,0.143122],[0.060092,-0.147146,0.987288]] 2025-10-28T23:34:29.443Z,1761694469.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996200,-0.054401,-0.068022],[0.063894,0.987186,0.146225],[0.059195,-0.150015,0.986910]] 2025-10-28T23:34:29.848Z,1761694469.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996412,-0.051942,-0.066818],[0.061435,0.986940,0.148914],[0.058211,-0.152485,0.986590]] 2025-10-28T23:34:30.270Z,1761694470.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996544,-0.050546,-0.065923],[0.059951,0.986937,0.149539],[0.057503,-0.152974,0.986556]] 2025-10-28T23:34:30.654Z,1761694470.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996577,-0.050594,-0.065374],[0.059862,0.987079,0.148629],[0.057010,-0.152034,0.986730]] 2025-10-28T23:34:31.059Z,1761694471.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996555,-0.051450,-0.065053],[0.060628,0.987120,0.148048],[0.056598,-0.151482,0.986838]] 2025-10-28T23:34:31.464Z,1761694471.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996542,-0.052331,-0.064540],[0.061419,0.987078,0.148004],[0.055961,-0.151456,0.986879]] 2025-10-28T23:34:31.867Z,1761694471.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996511,-0.053271,-0.064251],[0.062302,0.987036,0.147912],[0.055538,-0.151399,0.986911]] 2025-10-28T23:34:32.304Z,1761694472.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996478,-0.054276,-0.063918],[0.063358,0.986666,0.149919],[0.054928,-0.153441,0.986630]] 2025-10-28T23:34:32.675Z,1761694472.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996493,-0.054703,-0.063326],[0.063701,0.986613,0.150123],[0.054266,-0.153630,0.986637]] 2025-10-28T23:34:33.080Z,1761694473.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996565,-0.054503,-0.062353],[0.063390,0.986526,0.150824],[0.053293,-0.154259,0.986592]] 2025-10-28T23:34:33.483Z,1761694473.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996752,-0.052677,-0.060922],[0.061495,0.986259,0.153334],[0.052008,-0.156582,0.986295]] 2025-10-28T23:34:33.886Z,1761694473.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997018,-0.049724,-0.059012],[0.058430,0.985964,0.156398],[0.050407,-0.159380,0.985930]] 2025-10-28T23:34:34.315Z,1761694474.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997361,-0.045595,-0.056503],[0.054067,0.985821,0.158852],[0.048459,-0.161488,0.985684]] 2025-10-28T23:34:34.695Z,1761694474.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997711,-0.040872,-0.053877],[0.049009,0.985966,0.159589],[0.046598,-0.161864,0.985712]] 2025-10-28T23:34:35.100Z,1761694475.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998067,-0.035605,-0.050945],[0.043413,0.985924,0.161459],[0.044479,-0.163359,0.985564]] 2025-10-28T23:34:35.503Z,1761694475.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998393,-0.030682,-0.047649],[0.037953,0.986371,0.160099],[0.042088,-0.161650,0.985950]] 2025-10-28T23:34:35.906Z,1761694475.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998672,-0.026133,-0.044405],[0.032861,0.986848,0.158275],[0.039685,-0.159524,0.986396]] 2025-10-28T23:34:36.329Z,1761694476.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999034,-0.020692,-0.038757],[0.026293,0.988320,0.150110],[0.035198,-0.150984,0.987909]] 2025-10-28T23:34:37.118Z,1761694477.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999133,-0.020566,-0.036204],[0.025648,0.988948,0.146027],[0.032800,-0.146829,0.988618]] 2025-10-28T23:34:37.527Z,1761694477.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999186,-0.021833,-0.033908],[0.026407,0.989671,0.140905],[0.030481,-0.141686,0.989442]] 2025-10-28T23:34:37.934Z,1761694477.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999201,-0.026085,-0.030281],[0.030034,0.989937,0.138287],[0.026369,-0.139086,0.989929]] 2025-10-28T23:34:38.338Z,1761694478.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999174,-0.028754,-0.028720],[0.032461,0.989857,0.138312],[0.024452,-0.139130,0.989972]] 2025-10-28T23:34:38.741Z,1761694478.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999128,-0.031574,-0.027334],[0.035078,0.989676,0.138967],[0.022664,-0.139804,0.989920]] 2025-10-28T23:34:39.143Z,1761694479.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999065,-0.034329,-0.026270],[0.037676,0.989454,0.139861],[0.021192,-0.140720,0.989823]] 2025-10-28T23:34:39.544Z,1761694479.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998986,-0.037165,-0.025418],[0.040391,0.989169,0.141111],[0.019898,-0.141995,0.989667]] 2025-10-28T23:34:39.946Z,1761694479.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998922,-0.039429,-0.024512],[0.042581,0.988482,0.145224],[0.018503,-0.146111,0.989095]] 2025-10-28T23:34:40.352Z,1761694480.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998888,-0.040841,-0.023568],[0.043917,0.987769,0.149609],[0.017169,-0.150477,0.988464]] 2025-10-28T23:34:40.755Z,1761694480.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998901,-0.041307,-0.022169],[0.044248,0.986952,0.154817],[0.015485,-0.155628,0.987694]] 2025-10-28T23:34:41.159Z,1761694481.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998968,-0.040564,-0.020454],[0.043312,0.986266,0.159387],[0.013708,-0.160108,0.987004]] 2025-10-28T23:34:41.563Z,1761694481.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999119,-0.037721,-0.018407],[0.040230,0.985678,0.163767],[0.011966,-0.164363,0.986327]] 2025-10-28T23:34:41.968Z,1761694481.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999326,-0.033181,-0.015690],[0.035336,0.985353,0.166824],[0.009925,-0.167266,0.985862]] 2025-10-28T23:34:42.370Z,1761694482.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999546,-0.027481,-0.012314],[0.029156,0.985456,0.167410],[0.007534,-0.167693,0.985810]] 2025-10-28T23:34:42.774Z,1761694482.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999732,-0.021400,-0.008790],[0.022570,0.985622,0.167452],[0.005080,-0.167606,0.985841]] 2025-10-28T23:34:43.178Z,1761694483.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999871,-0.015172,-0.005270],[0.015837,0.985983,0.166094],[0.002676,-0.166156,0.986096]] 2025-10-28T23:34:43.582Z,1761694483.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,-0.009106,-0.002032],[0.009316,0.986581,0.163008],[0.000520,-0.163020,0.986623]] 2025-10-28T23:34:43.986Z,1761694483.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,-0.003653,0.000948],[0.003456,0.987275,0.158984],[-0.001516,-0.158980,0.987281]] 2025-10-28T23:34:44.390Z,1761694484.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999994,0.000307,0.003562],[-0.000855,0.987962,0.154693],[-0.003472,-0.154696,0.987956]] 2025-10-28T23:34:44.797Z,1761694484.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999978,0.003126,0.005786],[-0.003954,0.988799,0.149203],[-0.005255,-0.149223,0.988790]] 2025-10-28T23:34:45.199Z,1761694485.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,0.003839,0.007514],[-0.004891,0.989353,0.145454],[-0.006875,-0.145485,0.989336]] 2025-10-28T23:34:45.602Z,1761694485.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,0.001868,0.008443],[-0.003055,0.989750,0.142777],[-0.008090,-0.142797,0.989719]] 2025-10-28T23:34:46.007Z,1761694486.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999959,-0.001120,0.008973],[-0.000156,0.990023,0.140906],[-0.009041,-0.140902,0.989982]] 2025-10-28T23:34:46.412Z,1761694486.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999945,-0.004590,0.009442],[0.003219,0.990085,0.140432],[-0.009993,-0.140394,0.990045]] 2025-10-28T23:34:46.814Z,1761694486.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999918,-0.007887,0.010081],[0.006397,0.990118,0.140093],[-0.011086,-0.140017,0.990087]] 2025-10-28T23:34:47.218Z,1761694487.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999889,-0.010752,0.010273],[0.009208,0.990115,0.139959],[-0.011676,-0.139849,0.990104]] 2025-10-28T23:34:47.623Z,1761694487.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999855,-0.013292,0.010666],[0.011636,0.989714,0.142584],[-0.012451,-0.142439,0.989725]] 2025-10-28T23:34:48.027Z,1761694488.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999821,-0.015427,0.010992],[0.013666,0.989282,0.145378],[-0.013117,-0.145201,0.989315]] 2025-10-28T23:34:48.430Z,1761694488.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,-0.016127,0.011320],[0.014274,0.988877,0.148050],[-0.013581,-0.147860,0.988915]] 2025-10-28T23:34:48.472Z,1761694488.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:34:48.834Z,1761694488.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999814,-0.015491,0.011448],[0.013551,0.988062,0.153457],[-0.013688,-0.153274,0.988089]] 2025-10-28T23:34:49.238Z,1761694489.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999831,-0.013994,0.011949],[0.011937,0.987429,0.157614],[-0.014005,-0.157444,0.987429]] 2025-10-28T23:34:49.476Z,1761694489.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:34:49.643Z,1761694489.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999857,-0.010991,0.012872],[0.008777,0.986932,0.160898],[-0.014472,-0.160762,0.986887]] 2025-10-28T23:34:50.048Z,1761694490.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999878,-0.007011,0.013925],[0.004635,0.986472,0.163864],[-0.014885,-0.163780,0.986385]] 2025-10-28T23:34:50.450Z,1761694490.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999880,-0.003256,0.015168],[0.000719,0.986404,0.164336],[-0.015497,-0.164305,0.986288]] 2025-10-28T23:34:50.855Z,1761694490.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999876,0.000225,0.015740],[-0.002829,0.986191,0.165590],[-0.015485,-0.165614,0.986069]] 2025-10-28T23:34:51.259Z,1761694491.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999846,0.004190,0.017020],[-0.006948,0.986206,0.165379],[-0.016092,-0.165472,0.986083]] 2025-10-28T23:34:51.664Z,1761694491.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999804,0.007428,0.018350],[-0.010341,0.986382,0.164146],[-0.016881,-0.164304,0.986265]] 2025-10-28T23:34:52.066Z,1761694492.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999747,0.010672,0.019790],[-0.013730,0.986784,0.161461],[-0.017805,-0.161691,0.986681]] 2025-10-28T23:34:52.471Z,1761694492.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999691,0.013347,0.020957],[-0.016499,0.987260,0.158259],[-0.018578,-0.158556,0.987175]] 2025-10-28T23:34:52.875Z,1761694492.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999640,0.015284,0.022040],[-0.018475,0.988094,0.152735],[-0.019443,-0.153087,0.988021]] 2025-10-28T23:34:53.280Z,1761694493.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999612,0.016000,0.022794],[-0.019206,0.988772,0.148191],[-0.020167,-0.148571,0.988696]] 2025-10-28T23:34:54.087Z,1761694494.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999628,0.013336,0.023786],[-0.016562,0.989863,0.141055],[-0.021664,-0.141397,0.989716]] 2025-10-28T23:34:54.493Z,1761694494.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999648,0.010781,0.024240],[-0.014017,0.990392,0.137577],[-0.022524,-0.137868,0.990194]] 2025-10-28T23:34:54.897Z,1761694494.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999653,0.007864,0.025139],[-0.011188,0.990789,0.134952],[-0.023846,-0.135187,0.990533]] 2025-10-28T23:34:55.298Z,1761694495.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999649,0.004245,0.026144],[-0.007684,0.991099,0.132908],[-0.025347,-0.133062,0.990784]] 2025-10-28T23:34:55.703Z,1761694495.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999647,-0.000163,0.026562],[-0.003378,0.991083,0.133205],[-0.026347,-0.133248,0.990732]] 2025-10-28T23:34:56.106Z,1761694496.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999622,-0.004606,0.027112],[0.000934,0.990988,0.133945],[-0.027485,-0.133869,0.990618]] 2025-10-28T23:34:56.513Z,1761694496.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999574,-0.008841,0.027821],[0.004948,0.990557,0.137012],[-0.028770,-0.136816,0.990179]] 2025-10-28T23:34:56.916Z,1761694496.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999521,-0.011381,0.028784],[0.007173,0.989798,0.142298],[-0.030110,-0.142023,0.989405]] 2025-10-28T23:34:57.318Z,1761694497.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999487,-0.012282,0.029584],[0.007843,0.989296,0.145713],[-0.031057,-0.145406,0.988884]] 2025-10-28T23:34:57.723Z,1761694497.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999461,-0.011639,0.030697],[0.006994,0.989067,0.147298],[-0.032076,-0.147004,0.988616]] 2025-10-28T23:34:58.127Z,1761694498.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999454,-0.009129,0.031755],[0.004241,0.988568,0.150719],[-0.032768,-0.150502,0.988066]] 2025-10-28T23:34:58.532Z,1761694498.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999444,-0.004939,0.032974],[-0.000204,0.988044,0.154173],[-0.033342,-0.154094,0.987494]] 2025-10-28T23:34:58.934Z,1761694498.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999419,-0.000212,0.034071],[-0.005189,0.987367,0.158366],[-0.033674,-0.158451,0.986792]] 2025-10-28T23:34:59.338Z,1761694499.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999395,0.004623,0.034462],[-0.010117,0.986904,0.160993],[-0.033267,-0.161244,0.986354]] 2025-10-28T23:34:59.744Z,1761694499.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999332,0.009700,0.035231],[-0.015274,0.986738,0.161598],[-0.033196,-0.162028,0.986228]] 2025-10-28T23:35:00.152Z,1761694500.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999240,0.014284,0.036260],[-0.019953,0.986725,0.161167],[-0.033476,-0.161768,0.986261]] 2025-10-28T23:35:00.551Z,1761694500.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999139,0.018195,0.037297],[-0.023935,0.986869,0.159738],[-0.033901,-0.160493,0.986455]] 2025-10-28T23:35:00.955Z,1761694500.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999019,0.021930,0.038465],[-0.027689,0.987330,0.156243],[-0.034552,-0.157155,0.986969]] 2025-10-28T23:35:01.359Z,1761694501.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998909,0.024727,0.039616],[-0.030512,0.987785,0.152808],[-0.035354,-0.153850,0.987462]] 2025-10-28T23:35:01.766Z,1761694501.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998837,0.026164,0.040493],[-0.032021,0.987933,0.151537],[-0.036039,-0.152657,0.987622]] 2025-10-28T23:35:02.167Z,1761694502.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998790,0.027063,0.041057],[-0.032918,0.988233,0.149375],[-0.036531,-0.150546,0.987928]] 2025-10-28T23:35:02.571Z,1761694502.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998778,0.026634,0.041638],[-0.032457,0.988736,0.146111],[-0.037278,-0.147284,0.988392]] 2025-10-28T23:35:02.975Z,1761694502.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998789,0.025594,0.042014],[-0.031343,0.989307,0.142439],[-0.037919,-0.143583,0.988911]] 2025-10-28T23:35:03.380Z,1761694503.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998827,0.023917,0.042104],[-0.029590,0.989746,0.139738],[-0.038331,-0.140820,0.989293]] 2025-10-28T23:35:04.186Z,1761694504.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998995,0.016412,0.041719],[-0.021877,0.990724,0.134117],[-0.039131,-0.134895,0.990087]] 2025-10-28T23:35:04.591Z,1761694504.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999086,0.011306,0.041226],[-0.016631,0.991218,0.131189],[-0.039381,-0.131754,0.990500]] 2025-10-28T23:35:04.995Z,1761694504.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999142,0.005968,0.040974],[-0.011196,0.991635,0.128590],[-0.039864,-0.128939,0.990851]] 2025-10-28T23:35:05.400Z,1761694505.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999171,0.000135,0.040718],[-0.005383,0.991654,0.128814],[-0.040361,-0.128926,0.990832]] 2025-10-28T23:35:05.802Z,1761694505.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999161,-0.005859,0.040525],[0.000538,0.991504,0.130078],[-0.040942,-0.129947,0.990675]] 2025-10-28T23:35:06.206Z,1761694506.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999109,-0.012127,0.040423],[0.006722,0.991326,0.131251],[-0.041664,-0.130863,0.990525]] 2025-10-28T23:35:06.612Z,1761694506.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999022,-0.017692,0.040522],[0.012186,0.991135,0.132302],[-0.042503,-0.131679,0.990381]] 2025-10-28T23:35:07.016Z,1761694507.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998948,-0.021538,0.040494],[0.015908,0.990781,0.134537],[-0.043018,-0.133751,0.990081]] 2025-10-28T23:35:07.418Z,1761694507.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998914,-0.022970,0.040543],[0.017246,0.990519,0.136288],[-0.043289,-0.135441,0.989839]] 2025-10-28T23:35:07.822Z,1761694507.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998904,-0.023526,0.040452],[0.017675,0.990082,0.139372],[-0.043330,-0.138504,0.989413]] 2025-10-28T23:35:08.227Z,1761694508.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998914,-0.022295,0.040908],[0.016183,0.989434,0.144077],[-0.043688,-0.143259,0.988721]] 2025-10-28T23:35:08.633Z,1761694508.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998940,-0.020033,0.041441],[0.013708,0.988945,0.147649],[-0.043941,-0.146924,0.988171]] 2025-10-28T23:35:09.034Z,1761694509.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998980,-0.016863,0.041894],[0.010407,0.988662,0.149794],[-0.043945,-0.149206,0.987829]] 2025-10-28T23:35:09.438Z,1761694509.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,-0.013191,0.042532],[0.006642,0.988576,0.150580],[-0.044033,-0.150148,0.987683]] 2025-10-28T23:35:09.843Z,1761694509.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999011,-0.009213,0.043489],[0.002544,0.988533,0.150986],[-0.044382,-0.150726,0.987579]] 2025-10-28T23:35:10.261Z,1761694510.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998976,-0.005074,0.044960],[-0.001719,0.988716,0.149792],[-0.045212,-0.149716,0.987695]] 2025-10-28T23:35:10.651Z,1761694510.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998918,-0.001137,0.046492],[-0.005820,0.988786,0.149224],[-0.046141,-0.149333,0.987710]] 2025-10-28T23:35:11.055Z,1761694511.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998853,0.002805,0.047809],[-0.009837,0.989013,0.147499],[-0.046870,-0.147800,0.987906]] 2025-10-28T23:35:11.458Z,1761694511.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,0.005923,0.048948],[-0.013043,0.989132,0.146449],[-0.047549,-0.146909,0.988006]] 2025-10-28T23:35:11.864Z,1761694511.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998741,0.007950,0.049536],[-0.015124,0.989142,0.146180],[-0.047836,-0.146745,0.988017]] 2025-10-28T23:35:12.301Z,1761694512.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998724,0.009352,0.049629],[-0.016445,0.989368,0.144502],[-0.047750,-0.145134,0.988259]] 2025-10-28T23:35:12.671Z,1761694512.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998734,0.009145,0.049465],[-0.016027,0.989940,0.140578],[-0.047682,-0.141193,0.988833]] 2025-10-28T23:35:13.075Z,1761694513.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998759,0.007800,0.049199],[-0.014456,0.990545,0.136424],[-0.047669,-0.136966,0.989428]] 2025-10-28T23:35:13.481Z,1761694513.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,0.006246,0.048906],[-0.012783,0.990829,0.134518],[-0.047617,-0.134980,0.989704]] 2025-10-28T23:35:14.317Z,1761694514.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998848,0.001463,0.047962],[-0.007941,0.990793,0.135150],[-0.047323,-0.135375,0.989664]] 2025-10-28T23:35:14.691Z,1761694514.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998870,-0.001444,0.047497],[-0.005158,0.990336,0.138591],[-0.047238,-0.138680,0.989210]] 2025-10-28T23:35:15.096Z,1761694515.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998887,-0.003815,0.047021],[-0.002827,0.990093,0.140383],[-0.047090,-0.140360,0.988980]] 2025-10-28T23:35:15.499Z,1761694515.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998907,-0.005082,0.046466],[-0.001629,0.989685,0.143249],[-0.046715,-0.143168,0.988595]] 2025-10-28T23:35:15.902Z,1761694515.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998928,-0.005606,0.045951],[-0.001176,0.989245,0.146264],[-0.046277,-0.146161,0.988178]] 2025-10-28T23:35:16.321Z,1761694516.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998964,-0.005817,0.045138],[-0.000989,0.988791,0.149302],[-0.045500,-0.149192,0.987761]] 2025-10-28T23:35:16.713Z,1761694516.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998997,-0.005499,0.044430],[-0.001295,0.988465,0.151442],[-0.044750,-0.151348,0.987467]] 2025-10-28T23:35:17.114Z,1761694517.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999030,-0.005290,0.043719],[-0.001436,0.988318,0.152401],[-0.044015,-0.152315,0.987351]] 2025-10-28T23:35:17.518Z,1761694517.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999070,-0.005066,0.042822],[-0.001480,0.988459,0.151478],[-0.043095,-0.151401,0.987533]] 2025-10-28T23:35:17.924Z,1761694517.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999117,-0.005039,0.041709],[-0.001272,0.988699,0.149905],[-0.041993,-0.149826,0.987820]] 2025-10-28T23:35:18.329Z,1761694518.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999164,-0.006249,0.040413],[0.000283,0.989285,0.145996],[-0.040892,-0.145862,0.988459]] 2025-10-28T23:35:18.732Z,1761694518.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999180,-0.007960,0.039695],[0.002189,0.989670,0.143344],[-0.040426,-0.143140,0.988876]] 2025-10-28T23:35:19.134Z,1761694519.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999185,-0.010097,0.039086],[0.004471,0.989938,0.141430],[-0.040121,-0.141140,0.989176]] 2025-10-28T23:35:19.538Z,1761694519.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999167,-0.013029,0.038671],[0.007536,0.990272,0.138940],[-0.040106,-0.138533,0.989545]] 2025-10-28T23:35:19.596Z,1761694519.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:35:19.943Z,1761694519.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999126,-0.016848,0.038245],[0.011437,0.990433,0.137521],[-0.040196,-0.136963,0.989760]] 2025-10-28T23:35:20.348Z,1761694520.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999050,-0.020910,0.038246],[0.015551,0.990669,0.135402],[-0.040721,-0.134678,0.990052]] 2025-10-28T23:35:20.601Z,1761694520.601 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:35:20.751Z,1761694520.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998945,-0.025439,0.038242],[0.020062,0.990650,0.134945],[-0.041317,-0.134035,0.990115]] 2025-10-28T23:35:21.156Z,1761694521.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998833,-0.029616,0.038148],[0.024163,0.990382,0.136235],[-0.041816,-0.135154,0.989942]] 2025-10-28T23:35:21.559Z,1761694521.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998743,-0.032833,0.037868],[0.027290,0.989974,0.138588],[-0.042039,-0.137380,0.989626]] 2025-10-28T23:35:21.963Z,1761694521.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.033548,0.037776],[0.027904,0.989599,0.141118],[-0.042117,-0.139884,0.989272]] 2025-10-28T23:35:22.366Z,1761694522.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998749,-0.032935,0.037631],[0.027190,0.989188,0.144112],[-0.041970,-0.142908,0.988846]] 2025-10-28T23:35:22.771Z,1761694522.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998824,-0.030740,0.037498],[0.024870,0.988669,0.148040],[-0.041624,-0.146933,0.988270]] 2025-10-28T23:35:23.182Z,1761694523.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999037,-0.023405,0.037102],[0.017650,0.988758,0.148481],[-0.040160,-0.147683,0.988219]] 2025-10-28T23:35:23.989Z,1761694523.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999240,-0.014934,0.036021],[0.009458,0.988994,0.147655],[-0.037829,-0.147202,0.988383]] 2025-10-28T23:35:24.391Z,1761694524.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999306,-0.011513,0.035421],[0.006220,0.989258,0.146045],[-0.036722,-0.145723,0.988644]] 2025-10-28T23:35:24.794Z,1761694524.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999349,-0.009588,0.034794],[0.004497,0.989633,0.143549],[-0.035809,-0.143299,0.989031]] 2025-10-28T23:35:25.196Z,1761694525.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,-0.009506,0.034181],[0.004635,0.990161,0.139857],[-0.035174,-0.139610,0.989582]] 2025-10-28T23:35:25.600Z,1761694525.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999383,-0.010905,0.033395],[0.006279,0.990741,0.135623],[-0.034565,-0.135330,0.990197]] 2025-10-28T23:35:26.002Z,1761694526.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,-0.012814,0.032641],[0.008309,0.990866,0.134596],[-0.034067,-0.134242,0.990363]] 2025-10-28T23:35:26.406Z,1761694526.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999374,-0.015391,0.031845],[0.010992,0.990928,0.133946],[-0.033618,-0.133512,0.990477]] 2025-10-28T23:35:26.810Z,1761694526.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999361,-0.017910,0.030922],[0.013564,0.990691,0.135449],[-0.033060,-0.134943,0.990302]] 2025-10-28T23:35:27.216Z,1761694527.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999342,-0.020046,0.030222],[0.015761,0.990601,0.135874],[-0.032661,-0.135308,0.990265]] 2025-10-28T23:35:27.618Z,1761694527.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999312,-0.022650,0.029373],[0.018399,0.990302,0.137705],[-0.032207,-0.137070,0.990038]] 2025-10-28T23:35:28.023Z,1761694528.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,-0.025136,0.028544],[0.020834,0.989631,0.142112],[-0.031821,-0.141414,0.989439]] 2025-10-28T23:35:28.426Z,1761694528.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.026581,0.027813],[0.022217,0.988902,0.146901],[-0.031409,-0.146175,0.988760]] 2025-10-28T23:35:28.832Z,1761694528.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999280,-0.026310,0.027325],[0.021847,0.988074,0.152419],[-0.031010,-0.151712,0.987938]] 2025-10-28T23:35:29.234Z,1761694529.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999331,-0.024401,0.027252],[0.019836,0.987440,0.156742],[-0.030735,-0.156096,0.987264]] 2025-10-28T23:35:29.639Z,1761694529.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999386,-0.021760,0.027456],[0.017131,0.987161,0.158806],[-0.030559,-0.158239,0.986928]] 2025-10-28T23:35:30.042Z,1761694530.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999445,-0.018421,0.027744],[0.013770,0.987122,0.159375],[-0.030323,-0.158905,0.986828]] 2025-10-28T23:35:30.448Z,1761694530.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999490,-0.015635,0.027856],[0.011014,0.987228,0.158933],[-0.029985,-0.158545,0.986896]] 2025-10-28T23:35:30.853Z,1761694530.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999526,-0.012674,0.028062],[0.008118,0.987583,0.156887],[-0.029702,-0.156585,0.987218]] 2025-10-28T23:35:31.256Z,1761694531.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999546,-0.010949,0.028079],[0.006526,0.988202,0.153014],[-0.029423,-0.152762,0.987825]] 2025-10-28T23:35:31.660Z,1761694531.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999558,-0.010667,0.027760],[0.006399,0.988739,0.149511],[-0.029042,-0.149267,0.988370]] 2025-10-28T23:35:32.062Z,1761694532.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999571,-0.011808,0.026791],[0.007816,0.989475,0.144496],[-0.028215,-0.144225,0.989143]] 2025-10-28T23:35:32.468Z,1761694532.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999560,-0.014893,0.025647],[0.011147,0.990026,0.140445],[-0.027483,-0.140097,0.989756]] 2025-10-28T23:35:32.873Z,1761694532.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999524,-0.019183,0.024180],[0.015684,0.990392,0.137399],[-0.026584,-0.136954,0.990221]] 2025-10-28T23:35:33.276Z,1761694533.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999470,-0.023647,0.022357],[0.020406,0.990574,0.135450],[-0.025350,-0.134922,0.990532]] 2025-10-28T23:35:34.084Z,1761694534.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999297,-0.032505,0.018676],[0.029759,0.990790,0.132093],[-0.022798,-0.131445,0.991061]] 2025-10-28T23:35:34.487Z,1761694534.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999197,-0.036308,0.016918],[0.033742,0.990538,0.133022],[-0.021588,-0.132345,0.990969]] 2025-10-28T23:35:34.891Z,1761694534.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999135,-0.038599,0.015492],[0.036148,0.990104,0.135601],[-0.020573,-0.134924,0.990642]] 2025-10-28T23:35:35.296Z,1761694535.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999136,-0.038924,0.014584],[0.036495,0.989416,0.140442],[-0.019896,-0.139789,0.989981]] 2025-10-28T23:35:35.700Z,1761694535.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999198,-0.037318,0.014507],[0.034838,0.988916,0.144330],[-0.019732,-0.143709,0.989423]] 2025-10-28T23:35:36.104Z,1761694536.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999320,-0.033808,0.014735],[0.031204,0.988073,0.150791],[-0.019657,-0.150228,0.988456]] 2025-10-28T23:35:36.507Z,1761694536.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999456,-0.029129,0.015436],[0.026355,0.987301,0.156662],[-0.019803,-0.156170,0.987532]] 2025-10-28T23:35:36.910Z,1761694536.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999587,-0.023679,0.016272],[0.020750,0.986711,0.161156],[-0.019871,-0.160751,0.986795]] 2025-10-28T23:35:37.315Z,1761694537.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999677,-0.018652,0.017257],[0.015549,0.986146,0.165148],[-0.020098,-0.164826,0.986118]] 2025-10-28T23:35:37.720Z,1761694537.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999735,-0.014337,0.017987],[0.011127,0.985835,0.167349],[-0.020132,-0.167104,0.985734]] 2025-10-28T23:35:38.122Z,1761694538.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999767,-0.011261,0.018392],[0.008034,0.985936,0.166932],[-0.020013,-0.166745,0.985797]] 2025-10-28T23:35:38.527Z,1761694538.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999787,-0.009878,0.018099],[0.006728,0.986021,0.166486],[-0.019490,-0.166329,0.985878]] 2025-10-28T23:35:38.930Z,1761694538.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999798,-0.010691,0.017007],[0.007789,0.986703,0.162348],[-0.018517,-0.162182,0.986587]] 2025-10-28T23:35:39.336Z,1761694539.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999800,-0.012733,0.015393],[0.010134,0.987319,0.158425],[-0.017215,-0.158238,0.987251]] 2025-10-28T23:35:39.739Z,1761694539.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999793,-0.015584,0.013116],[0.013350,0.987691,0.155845],[-0.015383,-0.155638,0.987694]] 2025-10-28T23:35:40.143Z,1761694540.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999765,-0.018719,0.010913],[0.016830,0.988081,0.153010],[-0.013647,-0.152791,0.988164]] 2025-10-28T23:35:40.547Z,1761694540.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999722,-0.021910,0.008674],[0.020361,0.988465,0.150075],[-0.011862,-0.149857,0.988636]] 2025-10-28T23:35:40.952Z,1761694540.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999680,-0.024309,0.006929],[0.022993,0.988384,0.150225],[-0.010500,-0.150018,0.988627]] 2025-10-28T23:35:41.355Z,1761694541.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999663,-0.025380,0.005440],[0.024267,0.988212,0.151156],[-0.009212,-0.150973,0.988495]] 2025-10-28T23:35:41.759Z,1761694541.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999678,-0.024966,0.004487],[0.023975,0.987725,0.154351],[-0.008285,-0.154194,0.988006]] 2025-10-28T23:35:42.162Z,1761694542.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999706,-0.023958,0.003787],[0.023065,0.987289,0.157250],[-0.007506,-0.157116,0.987552]] 2025-10-28T23:35:42.567Z,1761694542.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999752,-0.022038,0.003127],[0.021252,0.986850,0.160237],[-0.006617,-0.160131,0.987074]] 2025-10-28T23:35:42.970Z,1761694542.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999803,-0.019629,0.003079],[0.018876,0.986741,0.161201],[-0.006202,-0.161111,0.986917]] 2025-10-28T23:35:43.374Z,1761694543.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999860,-0.016528,0.002652],[0.015880,0.986670,0.161954],[-0.005293,-0.161889,0.986795]] 2025-10-28T23:35:44.184Z,1761694544.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.008426,0.002266],[0.007940,0.986421,0.164043],[-0.003618,-0.164019,0.986450]] 2025-10-28T23:35:44.586Z,1761694544.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999988,-0.004587,0.001684],[0.004251,0.986579,0.163229],[-0.002410,-0.163220,0.986587]] 2025-10-28T23:35:44.990Z,1761694544.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,-0.001398,0.000948],[0.001226,0.986819,0.161825],[-0.001162,-0.161823,0.986819]] 2025-10-28T23:35:45.395Z,1761694545.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[1.000000,0.000368,0.000108],[-0.000380,0.986998,0.160730],[-0.000047,-0.160730,0.986998]] 2025-10-28T23:35:45.800Z,1761694545.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,0.000980,-0.000624],[-0.000869,0.987521,0.157483],[0.000770,-0.157482,0.987521]] 2025-10-28T23:35:46.203Z,1761694546.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,0.000257,-0.001495],[-0.000024,0.988102,0.153803],[0.001517,-0.153803,0.988100]] 2025-10-28T23:35:46.606Z,1761694546.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,-0.001012,-0.002284],[0.001344,0.988621,0.150420],[0.002105,-0.150423,0.988619]] 2025-10-28T23:35:47.011Z,1761694547.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999990,-0.003278,-0.002983],[0.003686,0.988813,0.149117],[0.002461,-0.149126,0.988815]] 2025-10-28T23:35:47.416Z,1761694547.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999976,-0.006238,-0.003005],[0.006613,0.989021,0.147624],[0.002051,-0.147640,0.989039]] 2025-10-28T23:35:47.819Z,1761694547.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999950,-0.009357,-0.003544],[0.009775,0.989184,0.146353],[0.002136,-0.146381,0.989226]] 2025-10-28T23:35:48.223Z,1761694548.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999914,-0.012341,-0.004358],[0.012846,0.989187,0.146098],[0.002508,-0.146142,0.989260]] 2025-10-28T23:35:48.630Z,1761694548.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999867,-0.015450,-0.005246],[0.016059,0.988763,0.148630],[0.002890,-0.148694,0.988879]] 2025-10-28T23:35:49.031Z,1761694549.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999822,-0.017872,-0.005963],[0.018571,0.988208,0.151985],[0.003177,-0.152069,0.988365]] 2025-10-28T23:35:49.434Z,1761694549.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999780,-0.019806,-0.006828],[0.020616,0.988094,0.152465],[0.003727,-0.152573,0.988285]] 2025-10-28T23:35:49.839Z,1761694549.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999741,-0.021437,-0.007665],[0.022351,0.988238,0.151281],[0.004331,-0.151413,0.988461]] 2025-10-28T23:35:50.248Z,1761694550.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999698,-0.022983,-0.008710],[0.024037,0.988203,0.151252],[0.005131,-0.151416,0.988457]] 2025-10-28T23:35:50.647Z,1761694550.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999666,-0.023900,-0.009824],[0.025109,0.988260,0.150704],[0.006107,-0.150901,0.988530]] 2025-10-28T23:35:50.720Z,1761694550.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:35:51.051Z,1761694551.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999605,-0.025752,-0.011236],[0.027128,0.988718,0.147310],[0.007316,-0.147556,0.989027]] 2025-10-28T23:35:51.455Z,1761694551.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999528,-0.027988,-0.012684],[0.029522,0.989181,0.143701],[0.008525,-0.144007,0.989540]] 2025-10-28T23:35:51.724Z,1761694551.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:35:51.859Z,1761694551.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999473,-0.029653,-0.013222],[0.031237,0.989297,0.142535],[0.008854,-0.142873,0.989701]] 2025-10-28T23:35:52.294Z,1761694552.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999435,-0.030606,-0.013894],[0.032270,0.989347,0.141955],[0.009402,-0.142323,0.989776]] 2025-10-28T23:35:52.666Z,1761694552.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999409,-0.031020,-0.014816],[0.032825,0.989143,0.143246],[0.010212,-0.143648,0.989576]] 2025-10-28T23:35:53.071Z,1761694553.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999425,-0.030223,-0.015384],[0.032148,0.988768,0.145960],[0.010800,-0.146371,0.989171]] 2025-10-28T23:35:53.474Z,1761694553.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999502,-0.027408,-0.015651],[0.029449,0.988244,0.150019],[0.011356,-0.150405,0.988559]] 2025-10-28T23:35:54.315Z,1761694554.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999677,-0.020327,-0.015238],[0.022465,0.987404,0.156619],[0.011862,-0.156910,0.987542]] 2025-10-28T23:35:54.686Z,1761694554.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999762,-0.015808,-0.015059],[0.018004,0.987098,0.159103],[0.012350,-0.159336,0.987147]] 2025-10-28T23:35:55.091Z,1761694555.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999842,-0.011056,-0.013954],[0.013149,0.986998,0.160192],[0.012001,-0.160351,0.986987]] 2025-10-28T23:35:55.497Z,1761694555.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999895,-0.006327,-0.013036],[0.008339,0.986988,0.160579],[0.011851,-0.160671,0.986937]] 2025-10-28T23:35:55.898Z,1761694555.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999925,-0.002130,-0.012060],[0.004027,0.987193,0.159478],[0.011566,-0.159515,0.987128]] 2025-10-28T23:35:56.319Z,1761694556.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999937,0.001426,-0.011112],[0.000343,0.987494,0.157656],[0.011198,-0.157650,0.987432]] 2025-10-28T23:35:56.707Z,1761694556.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999938,0.003907,-0.010378],[-0.002263,0.988069,0.153994],[0.010856,-0.153961,0.988017]] 2025-10-28T23:35:57.126Z,1761694557.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999939,0.004834,-0.009928],[-0.003274,0.988455,0.151481],[0.010546,-0.151439,0.988410]] 2025-10-28T23:35:57.515Z,1761694557.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999944,0.004108,-0.009796],[-0.002619,0.989080,0.147357],[0.010294,-0.147323,0.989035]] 2025-10-28T23:35:57.918Z,1761694557.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999948,0.002180,-0.009980],[-0.000706,0.989372,0.145405],[0.010191,-0.145390,0.989322]] 2025-10-28T23:35:58.326Z,1761694558.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999943,-0.001034,-0.010669],[0.002551,0.989694,0.143176],[0.010411,-0.143195,0.989640]] 2025-10-28T23:35:58.729Z,1761694558.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999929,-0.004450,-0.011080],[0.005999,0.989568,0.143943],[0.010324,-0.143999,0.989524]] 2025-10-28T23:35:59.131Z,1761694559.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999902,-0.008057,-0.011475],[0.009631,0.989468,0.144434],[0.010190,-0.144530,0.989448]] 2025-10-28T23:35:59.535Z,1761694559.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999855,-0.012117,-0.011970],[0.013742,0.989102,0.146592],[0.010063,-0.146736,0.989125]] 2025-10-28T23:35:59.939Z,1761694559.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999793,-0.016019,-0.012580],[0.017709,0.988775,0.148360],[0.010062,-0.148552,0.988853]] 2025-10-28T23:36:00.344Z,1761694560.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999721,-0.019511,-0.013278],[0.021266,0.988720,0.148259],[0.010236,-0.148500,0.988859]] 2025-10-28T23:36:00.746Z,1761694560.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999640,-0.022999,-0.013815],[0.024793,0.988670,0.148047],[0.010253,-0.148336,0.988884]] 2025-10-28T23:36:01.151Z,1761694561.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999565,-0.025824,-0.014209],[0.027650,0.988525,0.148506],[0.010211,-0.148834,0.988809]] 2025-10-28T23:36:01.555Z,1761694561.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999495,-0.028192,-0.014676],[0.030037,0.988802,0.146179],[0.010391,-0.146546,0.989149]] 2025-10-28T23:36:01.960Z,1761694561.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999418,-0.030689,-0.014898],[0.032519,0.989008,0.144243],[0.010307,-0.144644,0.989430]] 2025-10-28T23:36:02.364Z,1761694562.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999350,-0.032718,-0.015119],[0.034527,0.989395,0.141087],[0.010342,-0.141518,0.989882]] 2025-10-28T23:36:02.767Z,1761694562.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999291,-0.034346,-0.015438],[0.036158,0.989682,0.138647],[0.010517,-0.139107,0.990222]] 2025-10-28T23:36:03.171Z,1761694563.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.035207,-0.015487],[0.036999,0.989899,0.136865],[0.010512,-0.137337,0.990469]] 2025-10-28T23:36:03.575Z,1761694563.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999254,-0.035361,-0.015510],[0.037151,0.989934,0.136566],[0.010525,-0.137040,0.990510]] 2025-10-28T23:36:03.980Z,1761694563.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999295,-0.034023,-0.015899],[0.035919,0.989476,0.140168],[0.010963,-0.140641,0.990000]] 2025-10-28T23:36:04.382Z,1761694564.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999381,-0.031348,-0.015954],[0.033331,0.988900,0.144799],[0.011237,-0.145241,0.989332]] 2025-10-28T23:36:04.787Z,1761694564.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999514,-0.027140,-0.015364],[0.029153,0.988081,0.151150],[0.011079,-0.151524,0.988391]] 2025-10-28T23:36:05.191Z,1761694565.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999649,-0.022063,-0.014685],[0.024097,0.987310,0.156966],[0.011036,-0.157265,0.987495]] 2025-10-28T23:36:05.597Z,1761694565.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999749,-0.017239,-0.014339],[0.019338,0.986573,0.162174],[0.011350,-0.162411,0.986658]] 2025-10-28T23:36:05.998Z,1761694565.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999813,-0.012778,-0.014513],[0.014992,0.986261,0.164512],[0.012211,-0.164699,0.986268]] 2025-10-28T23:36:06.403Z,1761694566.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999850,-0.008538,-0.015085],[0.010926,0.986041,0.166143],[0.013455,-0.166283,0.985986]] 2025-10-28T23:36:06.806Z,1761694566.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999867,-0.005775,-0.015266],[0.008232,0.986060,0.166186],[0.014093,-0.166289,0.985976]] 2025-10-28T23:36:07.213Z,1761694567.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999866,-0.003891,-0.015923],[0.006449,0.986448,0.163947],[0.015069,-0.164028,0.986341]] 2025-10-28T23:36:07.616Z,1761694567.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999852,-0.003134,-0.016940],[0.005834,0.986814,0.161755],[0.016210,-0.161830,0.986686]] 2025-10-28T23:36:08.019Z,1761694568.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999825,-0.003647,-0.018337],[0.006478,0.987616,0.156757],[0.017538,-0.156849,0.987467]] 2025-10-28T23:36:08.430Z,1761694568.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999732,-0.007569,-0.021867],[0.010726,0.988920,0.148060],[0.020504,-0.148255,0.988737]] 2025-10-28T23:36:08.835Z,1761694568.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999659,-0.010516,-0.023881],[0.013859,0.989412,0.144472],[0.022109,-0.144754,0.989221]] 2025-10-28T23:36:09.235Z,1761694569.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999563,-0.013850,-0.026131],[0.017486,0.989350,0.144504],[0.023851,-0.144898,0.989159]] 2025-10-28T23:36:09.639Z,1761694569.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999437,-0.017426,-0.028685],[0.021427,0.989101,0.145672],[0.025834,-0.146204,0.988917]] 2025-10-28T23:36:10.042Z,1761694570.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999292,-0.020925,-0.031282],[0.025331,0.988683,0.147866],[0.027834,-0.148553,0.988513]] 2025-10-28T23:36:10.445Z,1761694570.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999134,-0.024015,-0.033987],[0.028904,0.988023,0.151575],[0.029940,-0.152426,0.987861]] 2025-10-28T23:36:10.848Z,1761694570.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999003,-0.025705,-0.036496],[0.031108,0.987241,0.156167],[0.032016,-0.157146,0.987056]] 2025-10-28T23:36:11.251Z,1761694571.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998903,-0.026330,-0.038713],[0.032177,0.986731,0.159146],[0.034009,-0.160217,0.986496]] 2025-10-28T23:36:11.655Z,1761694571.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998845,-0.025325,-0.040820],[0.031617,0.986329,0.161729],[0.036166,-0.162833,0.985991]] 2025-10-28T23:36:12.060Z,1761694572.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998851,-0.022105,-0.042525],[0.028851,0.985835,0.165217],[0.038270,-0.166254,0.985340]] 2025-10-28T23:36:12.463Z,1761694572.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998880,-0.017781,-0.043836],[0.024947,0.985340,0.168769],[0.040193,-0.169673,0.984680]] 2025-10-28T23:36:12.867Z,1761694572.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998924,-0.012876,-0.044561],[0.020371,0.984870,0.172093],[0.041671,-0.172816,0.984072]] 2025-10-28T23:36:13.270Z,1761694573.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998948,-0.007933,-0.045158],[0.015662,0.984715,0.173467],[0.043092,-0.173992,0.983804]] 2025-10-28T23:36:14.080Z,1761694574.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998905,0.000652,-0.046782],[0.007242,0.985697,0.168370],[0.046223,-0.168524,0.984613]] 2025-10-28T23:36:14.483Z,1761694574.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998844,0.002827,-0.047988],[0.005021,0.986674,0.162631],[0.047809,-0.162684,0.985519]] 2025-10-28T23:36:14.888Z,1761694574.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998775,0.002540,-0.049410],[0.005218,0.987703,0.156252],[0.049199,-0.156318,0.986481]] 2025-10-28T23:36:15.290Z,1761694575.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998688,0.000567,-0.051211],[0.007154,0.988588,0.150472],[0.050712,-0.150640,0.987287]] 2025-10-28T23:36:15.696Z,1761694575.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998578,-0.002526,-0.053241],[0.010351,0.989052,0.147204],[0.052286,-0.147546,0.987672]] 2025-10-28T23:36:16.098Z,1761694576.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998458,-0.006009,-0.055183],[0.014030,0.989166,0.146132],[0.053707,-0.146680,0.987725]] 2025-10-28T23:36:16.503Z,1761694576.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998313,-0.010115,-0.057179],[0.018300,0.989337,0.144488],[0.055108,-0.145291,0.987853]] 2025-10-28T23:36:16.907Z,1761694576.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998131,-0.014413,-0.059385],[0.022856,0.989309,0.144035],[0.056674,-0.145124,0.987789]] 2025-10-28T23:36:17.313Z,1761694577.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997948,-0.017798,-0.061499],[0.026589,0.989041,0.145229],[0.058240,-0.146566,0.987485]] 2025-10-28T23:36:17.715Z,1761694577.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997805,-0.019998,-0.063131],[0.029008,0.988976,0.145209],[0.059531,-0.146721,0.987385]] 2025-10-28T23:36:18.118Z,1761694578.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997714,-0.020375,-0.064435],[0.029704,0.988644,0.147311],[0.060702,-0.148888,0.986989]] 2025-10-28T23:36:18.523Z,1761694578.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997681,-0.018884,-0.065384],[0.028447,0.988491,0.148580],[0.061826,-0.150095,0.986737]] 2025-10-28T23:36:18.929Z,1761694578.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997696,-0.016571,-0.065790],[0.026200,0.988592,0.148320],[0.062582,-0.149702,0.986749]] 2025-10-28T23:36:19.330Z,1761694579.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997715,-0.013319,-0.066230],[0.023117,0.988499,0.149451],[0.063478,-0.150641,0.986548]] 2025-10-28T23:36:19.735Z,1761694579.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997746,-0.010629,-0.066261],[0.020379,0.988738,0.148259],[0.063939,-0.149276,0.986726]] 2025-10-28T23:36:20.139Z,1761694580.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997761,-0.008204,-0.066376],[0.017895,0.989010,0.146759],[0.064442,-0.147618,0.986943]] 2025-10-28T23:36:20.544Z,1761694580.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997772,-0.007174,-0.066325],[0.016670,0.989472,0.143760],[0.064595,-0.144545,0.987387]] 2025-10-28T23:36:20.948Z,1761694580.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997757,-0.006948,-0.066571],[0.016357,0.989753,0.141851],[0.064904,-0.142622,0.987647]] 2025-10-28T23:36:21.350Z,1761694581.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997696,-0.008349,-0.067328],[0.017591,0.990294,0.137869],[0.065524,-0.138736,0.988159]] 2025-10-28T23:36:21.756Z,1761694581.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997626,-0.010822,-0.068005],[0.020001,0.990536,0.135788],[0.065892,-0.136826,0.988401]] 2025-10-28T23:36:21.845Z,1761694581.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:36:22.161Z,1761694582.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997526,-0.014100,-0.068873],[0.023307,0.990605,0.134756],[0.066326,-0.136028,0.988482]] 2025-10-28T23:36:22.562Z,1761694582.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997395,-0.017193,-0.070061],[0.026539,0.990525,0.134744],[0.067081,-0.136253,0.988400]] 2025-10-28T23:36:22.848Z,1761694582.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:36:22.967Z,1761694582.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997253,-0.020123,-0.071291],[0.029683,0.990306,0.135694],[0.067869,-0.137437,0.988183]] 2025-10-28T23:36:23.370Z,1761694583.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997098,-0.022824,-0.072622],[0.032639,0.990036,0.136981],[0.068772,-0.138954,0.987908]] 2025-10-28T23:36:23.776Z,1761694583.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996983,-0.024292,-0.073719],[0.034506,0.989463,0.140616],[0.069526,-0.142735,0.987316]] 2025-10-28T23:36:24.178Z,1761694584.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996934,-0.024726,-0.074245],[0.035342,0.988762,0.145262],[0.069818,-0.147441,0.986604]] 2025-10-28T23:36:24.583Z,1761694584.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996929,-0.024469,-0.074395],[0.035388,0.988173,0.149204],[0.069864,-0.151378,0.986004]] 2025-10-28T23:36:24.989Z,1761694584.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996979,-0.022981,-0.074188],[0.034079,0.987795,0.151986],[0.069790,-0.154055,0.985595]] 2025-10-28T23:36:25.394Z,1761694585.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997072,-0.020919,-0.073548],[0.032179,0.987324,0.155423],[0.069364,-0.157334,0.985106]] 2025-10-28T23:36:25.795Z,1761694585.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997165,-0.018938,-0.072824],[0.030184,0.987205,0.156574],[0.068927,-0.158329,0.984978]] 2025-10-28T23:36:26.199Z,1761694586.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997265,-0.017066,-0.071908],[0.028123,0.987406,0.155689],[0.068345,-0.157286,0.985185]] 2025-10-28T23:36:26.603Z,1761694586.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997366,-0.015297,-0.070899],[0.026057,0.987817,0.153426],[0.067689,-0.154869,0.985613]] 2025-10-28T23:36:27.009Z,1761694587.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997448,-0.014899,-0.069823],[0.025218,0.988464,0.149341],[0.066792,-0.150721,0.986317]] 2025-10-28T23:36:27.410Z,1761694587.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997539,-0.014557,-0.068593],[0.024293,0.989380,0.143310],[0.065779,-0.144624,0.987298]] 2025-10-28T23:36:27.815Z,1761694587.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997620,-0.015630,-0.067164],[0.024617,0.990520,0.135143],[0.064415,-0.136474,0.988547]] 2025-10-28T23:36:28.218Z,1761694588.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997660,-0.017061,-0.066213],[0.025445,0.991457,0.127929],[0.063465,-0.129315,0.989571]] 2025-10-28T23:36:28.648Z,1761694588.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997636,-0.019819,-0.065795],[0.027976,0.991703,0.125466],[0.062762,-0.127010,0.989914]] 2025-10-28T23:36:29.027Z,1761694589.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997623,-0.021566,-0.065442],[0.029768,0.991447,0.127069],[0.062141,-0.128715,0.989733]] 2025-10-28T23:36:29.431Z,1761694589.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997639,-0.021900,-0.065089],[0.030217,0.991096,0.129672],[0.061669,-0.131333,0.989418]] 2025-10-28T23:36:29.835Z,1761694589.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997687,-0.021017,-0.064638],[0.029532,0.990576,0.133742],[0.061218,-0.135342,0.988906]] 2025-10-28T23:36:30.243Z,1761694590.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997720,-0.019976,-0.064471],[0.028723,0.990053,0.137731],[0.061078,-0.139269,0.988369]] 2025-10-28T23:36:30.645Z,1761694590.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997759,-0.018073,-0.064429],[0.027082,0.989522,0.141822],[0.061191,-0.143249,0.987793]] 2025-10-28T23:36:31.047Z,1761694591.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997801,-0.015772,-0.064380],[0.025048,0.988978,0.145926],[0.061369,-0.147217,0.987199]] 2025-10-28T23:36:31.450Z,1761694591.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997820,-0.013088,-0.064684],[0.022790,0.988178,0.151609],[0.061935,-0.152753,0.986322]] 2025-10-28T23:36:31.855Z,1761694591.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997853,-0.009536,-0.064789],[0.019748,0.987102,0.158868],[0.062439,-0.159807,0.985172]] 2025-10-28T23:36:32.291Z,1761694592.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997898,-0.006695,-0.064463],[0.017057,0.986713,0.161575],[0.062525,-0.162335,0.984753]] 2025-10-28T23:36:32.663Z,1761694592.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997913,-0.005807,-0.064305],[0.016121,0.986815,0.161049],[0.062522,-0.161750,0.984849]] 2025-10-28T23:36:33.067Z,1761694593.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997929,-0.006416,-0.064000],[0.016607,0.986977,0.160000],[0.062140,-0.160731,0.985040]] 2025-10-28T23:36:33.471Z,1761694593.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997937,-0.007220,-0.063796],[0.017364,0.986977,0.159921],[0.061811,-0.160699,0.985066]] 2025-10-28T23:36:33.876Z,1761694593.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997964,-0.008196,-0.063251],[0.018085,0.987370,0.157394],[0.061162,-0.158218,0.985508]] 2025-10-28T23:36:34.314Z,1761694594.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998012,-0.009371,-0.062319],[0.018926,0.987805,0.154543],[0.060111,-0.155415,0.986019]] 2025-10-28T23:36:34.683Z,1761694594.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998071,-0.010043,-0.061267],[0.019333,0.988041,0.152974],[0.058998,-0.153863,0.986329]] 2025-10-28T23:36:35.088Z,1761694595.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998166,-0.010396,-0.059629],[0.019379,0.988173,0.152112],[0.057342,-0.152988,0.986563]] 2025-10-28T23:36:35.493Z,1761694595.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998299,-0.010552,-0.057347],[0.019131,0.988321,0.151178],[0.055082,-0.152018,0.986842]] 2025-10-28T23:36:35.894Z,1761694595.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998445,-0.010205,-0.054803],[0.018364,0.988437,0.150516],[0.052633,-0.151288,0.987087]] 2025-10-28T23:36:36.318Z,1761694596.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998607,-0.009506,-0.051906],[0.017315,0.988207,0.152144],[0.049847,-0.152830,0.986994]] 2025-10-28T23:36:36.703Z,1761694596.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998773,-0.008321,-0.048824],[0.015698,0.988143,0.152731],[0.046975,-0.153310,0.987061]] 2025-10-28T23:36:37.108Z,1761694597.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998928,-0.007055,-0.045748],[0.013978,0.988152,0.152838],[0.044128,-0.153314,0.987192]] 2025-10-28T23:36:37.510Z,1761694597.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999064,-0.005843,-0.042866],[0.012264,0.988442,0.151099],[0.041488,-0.151484,0.987589]] 2025-10-28T23:36:37.915Z,1761694597.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999194,-0.004387,-0.039911],[0.010343,0.988590,0.150277],[0.038797,-0.150568,0.987838]] 2025-10-28T23:36:38.325Z,1761694598.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999304,-0.002777,-0.037210],[0.008300,0.988784,0.149121],[0.036379,-0.149326,0.988119]] 2025-10-28T23:36:38.724Z,1761694598.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999399,-0.001091,-0.034648],[0.006181,0.989095,0.147149],[0.034109,-0.147275,0.988507]] 2025-10-28T23:36:39.126Z,1761694599.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999475,0.000534,-0.032397],[0.004218,0.989210,0.146445],[0.032125,-0.146504,0.988688]] 2025-10-28T23:36:39.530Z,1761694599.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999536,0.002023,-0.030403],[0.002436,0.989290,0.145941],[0.030373,-0.145947,0.988826]] 2025-10-28T23:36:39.935Z,1761694599.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999591,0.002528,-0.028487],[0.001669,0.989231,0.146350],[0.028551,-0.146338,0.988823]] 2025-10-28T23:36:40.340Z,1761694600.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999615,0.003117,-0.027587],[0.000963,0.989187,0.146655],[0.027746,-0.146625,0.988803]] 2025-10-28T23:36:40.742Z,1761694600.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999650,0.003273,-0.026234],[0.000657,0.988922,0.148434],[0.026429,-0.148399,0.988574]] 2025-10-28T23:36:41.147Z,1761694601.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,0.002996,-0.025449],[0.000808,0.988962,0.148165],[0.025612,-0.148137,0.988635]] 2025-10-28T23:36:41.551Z,1761694601.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999701,0.001832,-0.024401],[0.001775,0.989139,0.146975],[0.024405,-0.146974,0.988839]] 2025-10-28T23:36:41.955Z,1761694601.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999727,0.000757,-0.023360],[0.002670,0.989232,0.146333],[0.023219,-0.146356,0.988959]] 2025-10-28T23:36:42.360Z,1761694602.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999758,-0.000963,-0.021967],[0.004128,0.989494,0.144512],[0.021597,-0.144568,0.989259]] 2025-10-28T23:36:42.763Z,1761694602.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999782,-0.002660,-0.020705],[0.005601,0.989660,0.143327],[0.020109,-0.143411,0.989459]] 2025-10-28T23:36:43.167Z,1761694603.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999813,-0.003802,-0.018937],[0.006492,0.989539,0.144123],[0.018191,-0.144219,0.989379]] 2025-10-28T23:36:43.571Z,1761694603.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999830,-0.004505,-0.017883],[0.007030,0.989593,0.143726],[0.017049,-0.143827,0.989456]] 2025-10-28T23:36:44.379Z,1761694604.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999897,-0.004155,-0.013719],[0.006159,0.988752,0.149435],[0.012943,-0.149504,0.988676]] 2025-10-28T23:36:44.782Z,1761694604.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999929,-0.002928,-0.011521],[0.004646,0.988356,0.152090],[0.010941,-0.152132,0.988300]] 2025-10-28T23:36:45.188Z,1761694605.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999952,-0.001279,-0.009745],[0.002771,0.987954,0.154721],[0.009430,-0.154740,0.987910]] 2025-10-28T23:36:45.592Z,1761694605.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,0.000014,-0.008437],[0.001298,0.987842,0.155457],[0.008336,-0.155462,0.987807]] 2025-10-28T23:36:45.994Z,1761694605.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999974,0.001832,-0.006913],[-0.000729,0.987710,0.156299],[0.007114,-0.156290,0.987686]] 2025-10-28T23:36:46.400Z,1761694606.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999980,0.003574,-0.005309],[-0.002705,0.987845,0.155421],[0.005800,-0.155404,0.987834]] 2025-10-28T23:36:46.803Z,1761694606.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,0.004312,-0.003709],[-0.003695,0.988247,0.152819],[0.004325,-0.152803,0.988247]] 2025-10-28T23:36:47.208Z,1761694607.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999987,0.004388,-0.002532],[-0.003957,0.988585,0.150615],[0.003164,-0.150603,0.988589]] 2025-10-28T23:36:47.611Z,1761694607.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999989,0.004484,-0.001410],[-0.004223,0.988774,0.149362],[0.002064,-0.149354,0.988782]] 2025-10-28T23:36:48.015Z,1761694608.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,0.003817,-0.000517],[-0.003698,0.988858,0.148816],[0.001080,-0.148813,0.988865]] 2025-10-28T23:36:48.420Z,1761694608.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,0.003200,0.000207],[-0.003196,0.989001,0.147872],[0.000269,-0.147872,0.989006]] 2025-10-28T23:36:48.825Z,1761694608.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,0.002026,0.000812],[-0.002123,0.989232,0.146343],[-0.000507,-0.146345,0.989234]] 2025-10-28T23:36:49.226Z,1761694609.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,0.001004,0.001354],[-0.001192,0.989182,0.146685],[-0.001192,-0.146686,0.989182]] 2025-10-28T23:36:49.630Z,1761694609.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,0.000504,0.002152],[-0.000821,0.988664,0.150145],[-0.002052,-0.150146,0.988662]] 2025-10-28T23:36:50.034Z,1761694610.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,0.001104,0.003446],[-0.001620,0.988158,0.153433],[-0.003236,-0.153437,0.988153]] 2025-10-28T23:36:50.440Z,1761694610.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999986,0.002169,0.004742],[-0.002878,0.987893,0.155109],[-0.004348,-0.155121,0.987886]] 2025-10-28T23:36:50.844Z,1761694610.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999971,0.004259,0.006247],[-0.005182,0.987723,0.156131],[-0.005505,-0.156159,0.987717]] 2025-10-28T23:36:51.246Z,1761694611.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999945,0.006257,0.008366],[-0.007489,0.987655,0.156463],[-0.007284,-0.156517,0.987648]] 2025-10-28T23:36:51.650Z,1761694611.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999912,0.008206,0.010456],[-0.009722,0.987974,0.154316],[-0.009064,-0.154404,0.987966]] 2025-10-28T23:36:52.056Z,1761694612.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999873,0.010039,0.012399],[-0.011775,0.988767,0.149001],[-0.010764,-0.149129,0.988759]] 2025-10-28T23:36:52.461Z,1761694612.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999847,0.010762,0.013795],[-0.012634,0.989528,0.143785],[-0.012103,-0.143937,0.989513]] 2025-10-28T23:36:52.863Z,1761694612.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999839,0.009718,0.015105],[-0.011754,0.989916,0.141171],[-0.013580,-0.141325,0.989870]] 2025-10-28T23:36:52.971Z,1761694612.971 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:36:53.266Z,1761694613.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999828,0.008958,0.016264],[-0.011139,0.990180,0.139357],[-0.014855,-0.139514,0.990109]] 2025-10-28T23:36:53.972Z,1761694613.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:36:54.081Z,1761694614.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999816,0.002810,0.018957],[-0.005353,0.990763,0.135498],[-0.018401,-0.135575,0.990596]] 2025-10-28T23:36:54.487Z,1761694614.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999812,-0.000190,0.019394],[-0.002453,0.990687,0.136140],[-0.019239,-0.136162,0.990500]] 2025-10-28T23:36:54.887Z,1761694614.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999796,-0.003519,0.019893],[0.000745,0.990464,0.137769],[-0.020188,-0.137726,0.990265]] 2025-10-28T23:36:55.291Z,1761694615.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999772,-0.006343,0.020374],[0.003453,0.990310,0.138834],[-0.021057,-0.138732,0.990106]] 2025-10-28T23:36:55.694Z,1761694615.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999739,-0.008873,0.021071],[0.005862,0.990290,0.138892],[-0.022099,-0.138732,0.990083]] 2025-10-28T23:36:56.095Z,1761694616.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999707,-0.010011,0.022061],[0.006756,0.989710,0.142929],[-0.023265,-0.142738,0.989487]] 2025-10-28T23:36:56.499Z,1761694616.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999682,-0.009872,0.023188],[0.006323,0.988903,0.148430],[-0.024396,-0.148236,0.988651]] 2025-10-28T23:36:56.903Z,1761694616.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999658,-0.008728,0.024650],[0.004872,0.988312,0.152365],[-0.025691,-0.152193,0.988017]] 2025-10-28T23:36:57.308Z,1761694617.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999631,-0.006213,0.026461],[0.002050,0.987988,0.154517],[-0.027103,-0.154406,0.987636]] 2025-10-28T23:36:57.711Z,1761694617.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999585,-0.002611,0.028695],[-0.001830,0.988119,0.153677],[-0.028755,-0.153666,0.987704]] 2025-10-28T23:36:58.114Z,1761694618.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999523,0.001312,0.030852],[-0.006003,0.988296,0.152433],[-0.030291,-0.152546,0.987832]] 2025-10-28T23:36:58.519Z,1761694618.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999437,0.005352,0.033121],[-0.010278,0.988575,0.150381],[-0.031937,-0.150637,0.988073]] 2025-10-28T23:36:58.923Z,1761694618.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999331,0.009208,0.035392],[-0.014335,0.988962,0.147474],[-0.033643,-0.147883,0.988432]] 2025-10-28T23:36:59.327Z,1761694619.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999237,0.011551,0.037310],[-0.016826,0.989389,0.144310],[-0.035247,-0.144828,0.988829]] 2025-10-28T23:36:59.731Z,1761694619.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999197,0.011587,0.038355],[-0.016890,0.989869,0.140974],[-0.036333,-0.141509,0.989270]] 2025-10-28T23:37:00.135Z,1761694620.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999195,0.009992,0.038846],[-0.015325,0.990100,0.139522],[-0.037067,-0.140005,0.989457]] 2025-10-28T23:37:00.538Z,1761694620.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999206,0.007539,0.039120],[-0.012883,0.990321,0.138193],[-0.037699,-0.138588,0.989632]] 2025-10-28T23:37:00.943Z,1761694620.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999242,0.004114,0.038716],[-0.009326,0.990744,0.135424],[-0.037801,-0.135683,0.990031]] 2025-10-28T23:37:01.346Z,1761694621.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999287,-0.000094,0.037750],[-0.004942,0.991067,0.133273],[-0.037426,-0.133365,0.990360]] 2025-10-28T23:37:01.752Z,1761694621.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999310,-0.004511,0.036870],[-0.000442,0.991087,0.133217],[-0.037142,-0.133141,0.990401]] 2025-10-28T23:37:02.155Z,1761694622.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999312,-0.009039,0.035977],[0.004149,0.991005,0.133758],[-0.036862,-0.133517,0.990361]] 2025-10-28T23:37:02.559Z,1761694622.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999299,-0.012253,0.035383],[0.007371,0.990824,0.134961],[-0.036712,-0.134606,0.990219]] 2025-10-28T23:37:02.962Z,1761694622.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999281,-0.013886,0.035285],[0.008917,0.990493,0.137272],[-0.036855,-0.136858,0.989905]] 2025-10-28T23:37:03.367Z,1761694623.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999272,-0.013688,0.035603],[0.008539,0.989981,0.140944],[-0.037175,-0.140538,0.989377]] 2025-10-28T23:37:03.772Z,1761694623.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999282,-0.011381,0.036130],[0.006035,0.989449,0.144757],[-0.037396,-0.144435,0.988807]] 2025-10-28T23:37:04.174Z,1761694624.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999286,-0.007444,0.037028],[0.001848,0.988849,0.148907],[-0.037724,-0.148732,0.988158]] 2025-10-28T23:37:04.579Z,1761694624.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999281,-0.002943,0.037798],[-0.002794,0.988553,0.150851],[-0.037809,-0.150848,0.987834]] 2025-10-28T23:37:04.984Z,1761694624.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999239,0.002679,0.038914],[-0.008489,0.988661,0.149926],[-0.038071,-0.150143,0.987931]] 2025-10-28T23:37:05.386Z,1761694625.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999162,0.008515,0.040043],[-0.014476,0.988423,0.151034],[-0.038293,-0.151487,0.987717]] 2025-10-28T23:37:05.435Z,1761694625.435 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-28T23:37:05.792Z,1761694625.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999042,0.014389,0.041335],[-0.020495,0.988269,0.151341],[-0.038673,-0.152043,0.987617]] 2025-10-28T23:37:06.195Z,1761694626.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998903,0.019409,0.042609],[-0.025607,0.988336,0.150121],[-0.039198,-0.151048,0.987749]] 2025-10-28T23:37:06.598Z,1761694626.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998789,0.022549,0.043738],[-0.028759,0.988717,0.147008],[-0.039930,-0.148088,0.988168]] 2025-10-28T23:37:07.003Z,1761694627.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998725,0.023783,0.044520],[-0.029956,0.989184,0.143586],[-0.040624,-0.144737,0.988636]] 2025-10-28T23:37:07.407Z,1761694627.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998706,0.023564,0.045074],[-0.029589,0.989982,0.138059],[-0.041370,-0.139214,0.989398]] 2025-10-28T23:37:07.811Z,1761694627.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998743,0.021410,0.045328],[-0.027210,0.990947,0.131467],[-0.042103,-0.132536,0.990284]] 2025-10-28T23:37:08.216Z,1761694628.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998809,0.018020,0.045349],[-0.023647,0.991650,0.126775],[-0.042685,-0.127696,0.990894]] 2025-10-28T23:37:08.619Z,1761694628.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998884,0.013392,0.045291],[-0.018915,0.992128,0.123789],[-0.043277,-0.124508,0.991274]] 2025-10-28T23:37:09.023Z,1761694629.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998951,0.008542,0.044987],[-0.013982,0.992429,0.122023],[-0.043604,-0.122524,0.991507]] 2025-10-28T23:37:09.427Z,1761694629.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998999,0.003385,0.044603],[-0.008850,0.992378,0.122910],[-0.043847,-0.123181,0.991415]] 2025-10-28T23:37:09.833Z,1761694629.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999022,-0.002488,0.044155],[-0.003173,0.991812,0.127666],[-0.044111,-0.127681,0.990834]] 2025-10-28T23:37:10.238Z,1761694630.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,-0.008722,0.043662],[0.002880,0.991232,0.132103],[-0.044432,-0.131847,0.990274]] 2025-10-28T23:37:10.639Z,1761694630.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998953,-0.015005,0.043215],[0.008966,0.990572,0.136700],[-0.044859,-0.136169,0.989670]] 2025-10-28T23:37:11.043Z,1761694631.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998869,-0.020685,0.042817],[0.014462,0.989924,0.140856],[-0.045299,-0.140077,0.989104]] 2025-10-28T23:37:11.448Z,1761694631.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.026090,0.042186],[0.019780,0.989435,0.143623],[-0.045488,-0.142612,0.988733]] 2025-10-28T23:37:11.852Z,1761694631.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998678,-0.029852,0.041853],[0.023547,0.989329,0.143784],[-0.045699,-0.142608,0.988724]] 2025-10-28T23:37:12.282Z,1761694632.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998645,-0.030813,0.041936],[0.024520,0.989408,0.143073],[-0.045900,-0.141851,0.988823]] 2025-10-28T23:37:12.660Z,1761694632.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998657,-0.030054,0.042205],[0.023700,0.989336,0.143708],[-0.046074,-0.142515,0.988720]] 2025-10-28T23:37:13.065Z,1761694633.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998698,-0.027820,0.042764],[0.021354,0.989224,0.144844],[-0.046333,-0.143743,0.988530]] 2025-10-28T23:37:13.467Z,1761694633.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998741,-0.024847,0.043570],[0.018259,0.989178,0.145578],[-0.046716,-0.144599,0.988387]] 2025-10-28T23:37:13.872Z,1761694633.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998785,-0.020860,0.044653],[0.014047,0.988921,0.147777],[-0.047241,-0.146971,0.988012]] 2025-10-28T23:37:14.309Z,1761694634.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998796,-0.016158,0.046318],[0.009088,0.988799,0.148977],[-0.048206,-0.148376,0.987755]] 2025-10-28T23:37:14.679Z,1761694634.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.011488,0.048251],[0.004165,0.988796,0.149214],[-0.049425,-0.148830,0.987627]] 2025-10-28T23:37:15.085Z,1761694635.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998732,-0.006608,0.049909],[-0.000892,0.988872,0.148764],[-0.050337,-0.148620,0.987612]] 2025-10-28T23:37:15.487Z,1761694635.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998675,-0.001767,0.051435],[-0.005903,0.988880,0.148596],[-0.051126,-0.148702,0.987559]] 2025-10-28T23:37:15.891Z,1761694635.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998592,0.002874,0.052968],[-0.010667,0.989013,0.147441],[-0.051963,-0.147798,0.987652]] 2025-10-28T23:37:16.316Z,1761694636.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,0.006865,0.053906],[-0.014703,0.989117,0.146395],[-0.052314,-0.146971,0.987756]] 2025-10-28T23:37:16.700Z,1761694636.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998490,0.008798,0.054218],[-0.016560,0.989378,0.144417],[-0.052372,-0.145097,0.988030]] 2025-10-28T23:37:17.102Z,1761694637.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998544,0.007668,0.053390],[-0.015123,0.989941,0.140669],[-0.051774,-0.141272,0.988616]] 2025-10-28T23:37:17.507Z,1761694637.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998657,0.003668,0.051679],[-0.010638,0.990755,0.135247],[-0.050705,-0.135616,0.989463]] 2025-10-28T23:37:17.911Z,1761694637.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998768,-0.002240,0.049580],[-0.004228,0.991510,0.129965],[-0.049451,-0.130014,0.990278]] 2025-10-28T23:37:18.325Z,1761694638.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998839,-0.008989,0.047331],[0.002952,0.992013,0.126103],[-0.048087,-0.125817,0.990887]] 2025-10-28T23:37:18.723Z,1761694638.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.016312,0.044881],[0.010618,0.992190,0.124286],[-0.046558,-0.123668,0.991231]] 2025-10-28T23:37:19.123Z,1761694639.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998819,-0.023932,0.042272],[0.018566,0.992226,0.123055],[-0.044889,-0.122125,0.991499]] 2025-10-28T23:37:19.527Z,1761694639.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.031195,0.039736],[0.026033,0.991893,0.124383],[-0.043294,-0.123190,0.991438]] 2025-10-28T23:37:19.932Z,1761694639.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998613,-0.036615,0.037846],[0.031551,0.991440,0.126694],[-0.042161,-0.125325,0.991220]] 2025-10-28T23:37:20.335Z,1761694640.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998512,-0.040713,0.036274],[0.035658,0.990806,0.130506],[-0.041254,-0.129018,0.990784]] 2025-10-28T23:37:20.739Z,1761694640.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998500,-0.042043,0.035076],[0.036984,0.990272,0.134142],[-0.040374,-0.132644,0.990341]] 2025-10-28T23:37:21.143Z,1761694641.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998539,-0.041559,0.034533],[0.036420,0.989758,0.138028],[-0.039915,-0.136569,0.989826]] 2025-10-28T23:37:21.547Z,1761694641.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998640,-0.039201,0.034367],[0.033930,0.989222,0.142440],[-0.039581,-0.141080,0.989207]] 2025-10-28T23:37:21.953Z,1761694641.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998734,-0.035755,0.035393],[0.030283,0.989026,0.144603],[-0.040175,-0.143348,0.988857]] 2025-10-28T23:37:22.355Z,1761694642.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998854,-0.031447,0.036084],[0.025817,0.988790,0.147065],[-0.040304,-0.145965,0.988468]] 2025-10-28T23:37:22.759Z,1761694642.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998960,-0.026962,0.036775],[0.021200,0.988620,0.148933],[-0.040372,-0.147999,0.988163]] 2025-10-28T23:37:23.163Z,1761694643.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999024,-0.023586,0.037345],[0.017860,0.988997,0.146851],[-0.040397,-0.146040,0.988454]] 2025-10-28T23:37:23.568Z,1761694643.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999062,-0.021286,0.037710],[0.015650,0.989468,0.143902],[-0.040376,-0.143177,0.988873]] 2025-10-28T23:37:23.971Z,1761694643.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999055,-0.021443,0.037796],[0.015919,0.989909,0.140809],[-0.040434,-0.140075,0.989315]] 2025-10-28T23:37:24.093Z,1761694644.093 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:37:24.375Z,1761694644.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999014,-0.023988,0.037362],[0.018609,0.990231,0.138193],[-0.040312,-0.137361,0.989700]] 2025-10-28T23:37:24.779Z,1761694644.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998958,-0.027880,0.036122],[0.022777,0.990626,0.134691],[-0.039539,-0.133728,0.990229]] 2025-10-28T23:37:25.096Z,1761694645.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:37:25.184Z,1761694645.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998844,-0.032740,0.035190],[0.027780,0.990697,0.133224],[-0.039224,-0.132092,0.990461]] 2025-10-28T23:37:25.587Z,1761694645.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998706,-0.038098,0.033679],[0.033291,0.990519,0.133279],[-0.038437,-0.131985,0.990506]] 2025-10-28T23:37:25.991Z,1761694645.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,-0.043341,0.032096],[0.038673,0.990227,0.133998],[-0.037590,-0.132562,0.990462]] 2025-10-28T23:37:26.395Z,1761694646.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998397,-0.047596,0.030619],[0.043072,0.989984,0.134446],[-0.036711,-0.132911,0.990448]] 2025-10-28T23:37:26.799Z,1761694646.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998307,-0.050325,0.029168],[0.045841,0.989364,0.138051],[-0.035805,-0.136481,0.989995]] 2025-10-28T23:37:27.204Z,1761694647.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998348,-0.050222,0.027893],[0.045743,0.988676,0.142924],[-0.034755,-0.141412,0.989340]] 2025-10-28T23:37:27.607Z,1761694647.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998470,-0.048259,0.026979],[0.043795,0.988194,0.146813],[-0.033745,-0.145407,0.988796]] 2025-10-28T23:37:28.011Z,1761694648.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998638,-0.045028,0.026372],[0.040560,0.987760,0.150619],[-0.032831,-0.149344,0.988240]] 2025-10-28T23:37:28.415Z,1761694648.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998815,-0.040900,0.026362],[0.036449,0.987781,0.151529],[-0.032237,-0.150388,0.988101]] 2025-10-28T23:37:28.821Z,1761694648.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998978,-0.036438,0.026731],[0.031998,0.988017,0.150994],[-0.031912,-0.149984,0.988173]] 2025-10-28T23:37:29.223Z,1761694649.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999108,-0.032177,0.027338],[0.027699,0.988182,0.150760],[-0.031866,-0.149868,0.988192]] 2025-10-28T23:37:29.627Z,1761694649.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999202,-0.028527,0.027963],[0.024026,0.988418,0.149845],[-0.031914,-0.149054,0.988314]] 2025-10-28T23:37:30.031Z,1761694650.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999259,-0.026222,0.028191],[0.021755,0.988676,0.148483],[-0.031765,-0.147759,0.988513]] 2025-10-28T23:37:30.434Z,1761694650.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999266,-0.026334,0.027825],[0.021963,0.988875,0.147119],[-0.031389,-0.146399,0.988727]] 2025-10-28T23:37:30.839Z,1761694650.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999225,-0.028308,0.027351],[0.024049,0.989122,0.145119],[-0.031162,-0.144349,0.989036]] 2025-10-28T23:37:31.243Z,1761694651.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999161,-0.031060,0.026694],[0.026978,0.989555,0.141613],[-0.030814,-0.140774,0.989562]] 2025-10-28T23:37:31.647Z,1761694651.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999084,-0.034154,0.025772],[0.030306,0.990074,0.137240],[-0.030203,-0.136333,0.990203]] 2025-10-28T23:37:32.050Z,1761694652.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998981,-0.037510,0.025087],[0.033795,0.990280,0.134922],[-0.029904,-0.133937,0.990539]] 2025-10-28T23:37:32.455Z,1761694652.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998881,-0.040471,0.024469],[0.036856,0.990369,0.133458],[-0.029635,-0.132407,0.990752]] 2025-10-28T23:37:32.858Z,1761694652.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998824,-0.042611,0.023140],[0.039132,0.990177,0.134230],[-0.028632,-0.133166,0.990680]] 2025-10-28T23:37:33.263Z,1761694653.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998785,-0.043934,0.022306],[0.040484,0.989779,0.136746],[-0.028086,-0.135677,0.990355]] 2025-10-28T23:37:33.668Z,1761694653.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998799,-0.043916,0.021705],[0.040426,0.989172,0.141085],[-0.027666,-0.140038,0.989759]] 2025-10-28T23:37:34.071Z,1761694654.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998863,-0.042456,0.021695],[0.038833,0.988458,0.146435],[-0.027661,-0.145426,0.988982]] 2025-10-28T23:37:34.474Z,1761694654.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998909,-0.041344,0.021728],[0.037618,0.987913,0.150375],[-0.027682,-0.149394,0.988390]] 2025-10-28T23:37:34.879Z,1761694654.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998957,-0.040004,0.022016],[0.036174,0.987556,0.153051],[-0.027865,-0.152095,0.987973]] 2025-10-28T23:37:35.284Z,1761694655.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998997,-0.039031,0.021948],[0.035173,0.987314,0.154835],[-0.027713,-0.153908,0.987696]] 2025-10-28T23:37:35.687Z,1761694655.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999011,-0.038796,0.021745],[0.034960,0.987254,0.155267],[-0.027491,-0.154353,0.987633]] 2025-10-28T23:37:36.091Z,1761694656.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998981,-0.039726,0.021440],[0.035942,0.987312,0.154670],[-0.027312,-0.153741,0.987734]] 2025-10-28T23:37:36.495Z,1761694656.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998932,-0.041302,0.020697],[0.037563,0.986954,0.156561],[-0.026894,-0.155616,0.987451]] 2025-10-28T23:37:36.900Z,1761694656.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998872,-0.043232,0.019663],[0.039605,0.986722,0.157515],[-0.026212,-0.156558,0.987321]] 2025-10-28T23:37:37.303Z,1761694657.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998809,-0.045232,0.018307],[0.041779,0.986541,0.158087],[-0.025211,-0.157134,0.987255]] 2025-10-28T23:37:37.707Z,1761694657.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998756,-0.046912,0.016900],[0.043654,0.986422,0.158322],[-0.024098,-0.157387,0.987243]] 2025-10-28T23:37:38.111Z,1761694658.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998710,-0.048389,0.015407],[0.045364,0.986462,0.157590],[-0.022824,-0.156688,0.987384]] 2025-10-28T23:37:38.517Z,1761694658.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998670,-0.049644,0.013899],[0.046895,0.986792,0.155056],[-0.021413,-0.154198,0.987808]] 2025-10-28T23:37:38.919Z,1761694658.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998657,-0.050298,0.012429],[0.047811,0.987078,0.152941],[-0.019961,-0.152142,0.988157]] 2025-10-28T23:37:39.330Z,1761694659.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998700,-0.049925,0.010310],[0.047810,0.987464,0.150427],[-0.017690,-0.149738,0.988567]] 2025-10-28T23:37:39.731Z,1761694659.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.049588,0.009670],[0.047590,0.987627,0.149427],[-0.016960,-0.148776,0.988725]] 2025-10-28T23:37:40.137Z,1761694660.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998753,-0.049064,0.009183],[0.047163,0.987808,0.148363],[-0.016350,-0.147745,0.988890]] 2025-10-28T23:37:40.540Z,1761694660.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998796,-0.048192,0.009181],[0.046295,0.987803,0.148670],[-0.016234,-0.148066,0.988844]] 2025-10-28T23:37:40.941Z,1761694660.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998863,-0.046754,0.009331],[0.044829,0.987674,0.149966],[-0.016228,-0.149377,0.988647]] 2025-10-28T23:37:41.344Z,1761694661.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998925,-0.045429,0.009260],[0.043517,0.987613,0.150755],[-0.015994,-0.150189,0.988528]] 2025-10-28T23:37:41.748Z,1761694661.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998937,-0.045191,0.009138],[0.043331,0.987918,0.148799],[-0.015752,-0.148245,0.988825]] 2025-10-28T23:37:42.160Z,1761694662.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998925,-0.045550,0.008607],[0.043788,0.988122,0.147301],[-0.015214,-0.146766,0.989054]] 2025-10-28T23:37:42.555Z,1761694662.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998875,-0.046741,0.007993],[0.045078,0.988272,0.145901],[-0.014719,-0.145377,0.989267]] 2025-10-28T23:37:42.958Z,1761694662.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998782,-0.048848,0.006952],[0.047353,0.988586,0.143020],[-0.013859,-0.142517,0.989695]] 2025-10-28T23:37:43.365Z,1761694663.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998650,-0.051608,0.005873],[0.050243,0.988488,0.142712],[-0.013170,-0.142224,0.989747]] 2025-10-28T23:37:43.767Z,1761694663.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998501,-0.054560,0.004436],[0.053355,0.988156,0.143878],[-0.012234,-0.143426,0.989586]] 2025-10-28T23:37:44.171Z,1761694664.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998388,-0.056677,0.003120],[0.055626,0.987857,0.145064],[-0.011304,-0.144657,0.989417]] 2025-10-28T23:37:44.574Z,1761694664.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998271,-0.058752,0.001994],[0.057832,0.987582,0.146071],[-0.010551,-0.145703,0.989272]] 2025-10-28T23:37:44.979Z,1761694664.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998191,-0.060108,0.001134],[0.059278,0.987207,0.148012],[-0.010017,-0.147677,0.988985]] 2025-10-28T23:37:45.385Z,1761694665.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998193,-0.060086,0.000085],[0.059378,0.986646,0.151672],[-0.009198,-0.151393,0.988431]] 2025-10-28T23:37:45.787Z,1761694665.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998252,-0.059089,-0.000714],[0.058486,0.986183,0.154990],[-0.008454,-0.154760,0.987916]] 2025-10-28T23:37:46.191Z,1761694666.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998305,-0.058182,-0.001698],[0.057730,0.985989,0.156502],[-0.007431,-0.156335,0.987676]] 2025-10-28T23:37:46.596Z,1761694666.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998388,-0.056691,-0.002685],[0.056406,0.985912,0.157469],[-0.006280,-0.157366,0.987520]] 2025-10-28T23:37:46.999Z,1761694666.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998408,-0.056275,-0.003856],[0.056188,0.986174,0.155895],[-0.004971,-0.155863,0.987766]] 2025-10-28T23:37:47.403Z,1761694667.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998416,-0.056024,-0.005248],[0.056162,0.986379,0.154604],[-0.003485,-0.154653,0.987963]] 2025-10-28T23:37:47.807Z,1761694667.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998384,-0.056417,-0.006871],[0.056805,0.986665,0.152533],[-0.001826,-0.152676,0.988275]] 2025-10-28T23:37:48.212Z,1761694668.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998322,-0.057287,-0.008468],[0.057909,0.987012,0.149849],[-0.000226,-0.150088,0.988673]] 2025-10-28T23:37:48.614Z,1761694668.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998204,-0.059088,-0.009884],[0.059899,0.987399,0.146476],[0.001104,-0.146805,0.989165]] 2025-10-28T23:37:49.019Z,1761694669.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998064,-0.061185,-0.011205],[0.062164,0.987435,0.145288],[0.002175,-0.145703,0.989326]] 2025-10-28T23:37:49.423Z,1761694669.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997912,-0.063377,-0.012412],[0.064506,0.987424,0.144336],[0.003108,-0.144835,0.989451]] 2025-10-28T23:37:49.829Z,1761694669.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997786,-0.065111,-0.013572],[0.066384,0.987540,0.142679],[0.004113,-0.143264,0.989676]] 2025-10-28T23:37:50.237Z,1761694670.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997666,-0.066742,-0.014418],[0.068112,0.987618,0.141320],[0.004807,-0.141972,0.989859]] 2025-10-28T23:37:50.635Z,1761694670.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997561,-0.068073,-0.015445],[0.069571,0.987645,0.140419],[0.005695,-0.141151,0.989972]] 2025-10-28T23:37:51.038Z,1761694671.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997534,-0.068289,-0.016192],[0.069898,0.987442,0.141676],[0.006313,-0.142459,0.989781]] 2025-10-28T23:37:51.443Z,1761694671.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997541,-0.068087,-0.016636],[0.069764,0.987400,0.142034],[0.006755,-0.142846,0.989722]] 2025-10-28T23:37:51.849Z,1761694671.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997612,-0.067005,-0.016776],[0.068725,0.987222,0.143771],[0.006929,-0.144581,0.989469]] 2025-10-28T23:37:52.274Z,1761694672.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997722,-0.065287,-0.016982],[0.067083,0.986761,0.147658],[0.007117,-0.148461,0.988893]] 2025-10-28T23:37:52.655Z,1761694672.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997849,-0.063339,-0.016893],[0.065169,0.986356,0.151180],[0.007087,-0.151956,0.988362]] 2025-10-28T23:37:53.059Z,1761694673.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997997,-0.060969,-0.016848],[0.062840,0.986067,0.154025],[0.007223,-0.154775,0.987923]] 2025-10-28T23:37:53.464Z,1761694673.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998125,-0.058812,-0.016982],[0.060759,0.985609,0.157742],[0.007461,-0.158478,0.987334]] 2025-10-28T23:37:53.867Z,1761694673.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998219,-0.057149,-0.017092],[0.059153,0.985318,0.160157],[0.007688,-0.160883,0.986944]] 2025-10-28T23:37:54.302Z,1761694674.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998276,-0.056144,-0.017139],[0.058164,0.985461,0.159639],[0.007927,-0.160361,0.987027]] 2025-10-28T23:37:54.674Z,1761694674.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998268,-0.056136,-0.017573],[0.058208,0.985793,0.157556],[0.008479,-0.158307,0.987354]] 2025-10-28T23:37:55.078Z,1761694675.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998229,-0.056416,-0.018862],[0.058687,0.985798,0.157348],[0.009718,-0.158177,0.987363]] 2025-10-28T23:37:55.224Z,1761694675.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:37:55.483Z,1761694675.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998160,-0.057386,-0.019601],[0.059738,0.986084,0.155145],[0.010425,-0.156030,0.987697]] 2025-10-28T23:37:55.886Z,1761694675.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998030,-0.059260,-0.020581],[0.061715,0.986341,0.152716],[0.011250,-0.153686,0.988056]] 2025-10-28T23:37:56.228Z,1761694676.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:37:56.317Z,1761694676.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997847,-0.061906,-0.021677],[0.064466,0.986576,0.150042],[0.012097,-0.151116,0.988442]] 2025-10-28T23:37:56.696Z,1761694676.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997679,-0.064309,-0.022384],[0.066913,0.986836,0.147233],[0.012621,-0.148389,0.988849]] 2025-10-28T23:37:57.098Z,1761694677.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997548,-0.066207,-0.022668],[0.068830,0.986738,0.147008],[0.012635,-0.148208,0.988876]] 2025-10-28T23:37:57.503Z,1761694677.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997415,-0.068122,-0.022841],[0.070743,0.986679,0.146495],[0.012557,-0.147732,0.988948]] 2025-10-28T23:37:57.907Z,1761694677.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997293,-0.069670,-0.023502],[0.072368,0.986608,0.146178],[0.013003,-0.147483,0.988979]] 2025-10-28T23:37:58.323Z,1761694678.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997279,-0.069599,-0.024313],[0.072451,0.986241,0.148593],[0.013636,-0.149950,0.988600]] 2025-10-28T23:37:58.733Z,1761694678.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997287,-0.069500,-0.024271],[0.072369,0.986004,0.150199],[0.013492,-0.151548,0.988358]] 2025-10-28T23:37:59.121Z,1761694679.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997348,-0.068646,-0.024163],[0.071528,0.985846,0.151631],[0.013412,-0.152958,0.988142]] 2025-10-28T23:37:59.522Z,1761694679.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997449,-0.067127,-0.024271],[0.070091,0.985415,0.155066],[0.013508,-0.156372,0.987606]] 2025-10-28T23:37:59.926Z,1761694679.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997617,-0.064656,-0.024074],[0.067649,0.985235,0.157274],[0.013550,-0.158527,0.987262]] 2025-10-28T23:38:00.331Z,1761694680.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997775,-0.062221,-0.023955],[0.065241,0.985210,0.158444],[0.013742,-0.159655,0.987077]] 2025-10-28T23:38:00.736Z,1761694680.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997944,-0.059526,-0.023754],[0.062591,0.984889,0.161480],[0.013783,-0.162635,0.986590]] 2025-10-28T23:38:01.139Z,1761694681.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998088,-0.057095,-0.023666],[0.060211,0.984651,0.163822],[0.013949,-0.164933,0.986206]] 2025-10-28T23:38:01.543Z,1761694681.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998223,-0.054507,-0.024083],[0.057752,0.984514,0.165523],[0.014688,-0.166619,0.985912]] 2025-10-28T23:38:01.947Z,1761694681.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998317,-0.052489,-0.024648],[0.055868,0.984494,0.166284],[0.015538,-0.167381,0.985770]] 2025-10-28T23:38:02.352Z,1761694682.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998359,-0.051529,-0.024978],[0.054976,0.984543,0.166291],[0.016023,-0.167392,0.985760]] 2025-10-28T23:38:02.755Z,1761694682.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998362,-0.051398,-0.025145],[0.054831,0.984999,0.163615],[0.016358,-0.164726,0.986204]] 2025-10-28T23:38:03.159Z,1761694683.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998324,-0.052016,-0.025366],[0.055432,0.985418,0.160870],[0.016628,-0.162006,0.986650]] 2025-10-28T23:38:03.563Z,1761694683.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998236,-0.053569,-0.025604],[0.056951,0.985821,0.157841],[0.016785,-0.159021,0.987132]] 2025-10-28T23:38:03.968Z,1761694683.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998120,-0.055622,-0.025762],[0.058981,0.985916,0.156498],[0.016695,-0.157723,0.987342]] 2025-10-28T23:38:04.371Z,1761694684.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997971,-0.058173,-0.025861],[0.061481,0.986104,0.154334],[0.016523,-0.155611,0.987680]] 2025-10-28T23:38:04.776Z,1761694684.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997804,-0.060911,-0.026036],[0.064181,0.986232,0.152406],[0.016394,-0.153743,0.987975]] 2025-10-28T23:38:05.178Z,1761694685.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997626,-0.063623,-0.026338],[0.066902,0.986109,0.152030],[0.016299,-0.153432,0.988025]] 2025-10-28T23:38:05.584Z,1761694685.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997469,-0.065883,-0.026750],[0.069204,0.985912,0.152276],[0.016341,-0.153742,0.987976]] 2025-10-28T23:38:05.987Z,1761694685.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997329,-0.067840,-0.027061],[0.071193,0.985702,0.152719],[0.016314,-0.154238,0.987899]] 2025-10-28T23:38:06.390Z,1761694686.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997205,-0.069423,-0.027599],[0.072883,0.985182,0.155256],[0.016412,-0.156834,0.987489]] 2025-10-28T23:38:06.795Z,1761694686.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997121,-0.070432,-0.028076],[0.073974,0.984919,0.156402],[0.016637,-0.158029,0.987294]] 2025-10-28T23:38:07.199Z,1761694687.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997079,-0.070864,-0.028483],[0.074515,0.984409,0.159330],[0.016748,-0.160987,0.986814]] 2025-10-28T23:38:07.602Z,1761694687.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997115,-0.070202,-0.028858],[0.073949,0.984191,0.160931],[0.017104,-0.162600,0.986544]] 2025-10-28T23:38:08.006Z,1761694688.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997221,-0.068633,-0.028986],[0.072474,0.983815,0.163876],[0.017270,-0.165521,0.986055]] 2025-10-28T23:38:08.410Z,1761694688.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997387,-0.066186,-0.028940],[0.070074,0.983782,0.165113],[0.017543,-0.166710,0.985850]] 2025-10-28T23:38:08.817Z,1761694688.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997583,-0.063221,-0.028839],[0.067145,0.983870,0.165803],[0.017891,-0.167338,0.985737]] 2025-10-28T23:38:09.219Z,1761694689.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997823,-0.059408,-0.028651],[0.063352,0.984126,0.165776],[0.018348,-0.167230,0.985747]] 2025-10-28T23:38:09.623Z,1761694689.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998105,-0.054654,-0.028265],[0.058603,0.984388,0.165970],[0.018753,-0.167311,0.985726]] 2025-10-28T23:38:10.026Z,1761694690.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998359,-0.050286,-0.027400],[0.054125,0.984865,0.164657],[0.018705,-0.165870,0.985970]] 2025-10-28T23:38:10.431Z,1761694690.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998572,-0.046453,-0.026368],[0.050138,0.985392,0.162756],[0.018422,-0.163846,0.986314]] 2025-10-28T23:38:10.837Z,1761694690.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998738,-0.043346,-0.025357],[0.046862,0.985943,0.160374],[0.018049,-0.161360,0.986731]] 2025-10-28T23:38:11.238Z,1761694691.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998831,-0.041859,-0.024196],[0.045114,0.986872,0.155075],[0.017387,-0.155985,0.987606]] 2025-10-28T23:38:11.642Z,1761694691.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998830,-0.042320,-0.023397],[0.045349,0.987746,0.149334],[0.016790,-0.150220,0.988510]] 2025-10-28T23:38:12.047Z,1761694692.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998748,-0.044430,-0.023010],[0.047296,0.988386,0.144414],[0.016327,-0.145322,0.989250]] 2025-10-28T23:38:12.452Z,1761694692.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998613,-0.047465,-0.022777],[0.050199,0.988845,0.140231],[0.015867,-0.141180,0.989857]] 2025-10-28T23:38:12.856Z,1761694692.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998443,-0.050961,-0.022676],[0.053610,0.988997,0.137882],[0.015400,-0.138883,0.990189]] 2025-10-28T23:38:13.259Z,1761694693.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998255,-0.054498,-0.022744],[0.057137,0.988679,0.138738],[0.014926,-0.139796,0.990068]] 2025-10-28T23:38:13.664Z,1761694693.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998048,-0.058052,-0.023021],[0.060739,0.988038,0.141747],[0.014517,-0.142868,0.989635]] 2025-10-28T23:38:14.066Z,1761694694.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997850,-0.061160,-0.023570],[0.063968,0.987091,0.146830],[0.014285,-0.148022,0.988881]] 2025-10-28T23:38:14.471Z,1761694694.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997676,-0.063723,-0.024132],[0.066658,0.986171,0.151732],[0.014129,-0.152987,0.988127]] 2025-10-28T23:38:14.876Z,1761694694.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997589,-0.064810,-0.024803],[0.067902,0.985383,0.156238],[0.014315,-0.157545,0.987408]] 2025-10-28T23:38:15.279Z,1761694695.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997653,-0.063659,-0.025208],[0.066884,0.984861,0.159922],[0.014646,-0.161233,0.986808]] 2025-10-28T23:38:15.685Z,1761694695.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997861,-0.060303,-0.025231],[0.063623,0.984553,0.163121],[0.015005,-0.164377,0.986283]] 2025-10-28T23:38:16.087Z,1761694696.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998080,-0.056493,-0.025398],[0.059916,0.984526,0.164681],[0.015701,-0.165886,0.986020]] 2025-10-28T23:38:16.492Z,1761694696.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998293,-0.052875,-0.024814],[0.056241,0.984842,0.164083],[0.015762,-0.165198,0.986134]] 2025-10-28T23:38:16.896Z,1761694696.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998465,-0.049837,-0.024144],[0.053091,0.985449,0.161468],[0.015745,-0.162502,0.986583]] 2025-10-28T23:38:17.300Z,1761694697.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998533,-0.048690,-0.023705],[0.051829,0.986122,0.157728],[0.015696,-0.158725,0.987198]] 2025-10-28T23:38:17.703Z,1761694697.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998529,-0.049004,-0.023212],[0.051997,0.986766,0.153589],[0.015378,-0.154570,0.987862]] 2025-10-28T23:38:18.106Z,1761694698.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998501,-0.049765,-0.022786],[0.052636,0.987215,0.150454],[0.015008,-0.151428,0.988354]] 2025-10-28T23:38:18.511Z,1761694698.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998450,-0.051052,-0.022165],[0.053795,0.987353,0.149130],[0.014271,-0.150092,0.988569]] 2025-10-28T23:38:18.916Z,1761694698.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998408,-0.052012,-0.021833],[0.054674,0.987526,0.147656],[0.013881,-0.148614,0.988798]] 2025-10-28T23:38:19.318Z,1761694699.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998410,-0.052196,-0.021302],[0.054806,0.987198,0.149785],[0.013211,-0.150715,0.988489]] 2025-10-28T23:38:19.723Z,1761694699.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998449,-0.051648,-0.020796],[0.054228,0.986749,0.152924],[0.012622,-0.153814,0.988019]] 2025-10-28T23:38:20.126Z,1761694700.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998559,-0.049756,-0.020103],[0.052287,0.986399,0.155827],[0.012076,-0.156654,0.987580]] 2025-10-28T23:38:20.532Z,1761694700.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998670,-0.047819,-0.019278],[0.050280,0.986017,0.158880],[0.011411,-0.159638,0.987110]] 2025-10-28T23:38:20.935Z,1761694700.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998783,-0.045720,-0.018508],[0.048122,0.985579,0.162231],[0.010823,-0.162924,0.986579]] 2025-10-28T23:38:21.339Z,1761694701.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998913,-0.043147,-0.017654],[0.045479,0.985140,0.165620],[0.010246,-0.166243,0.986032]] 2025-10-28T23:38:21.743Z,1761694701.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999032,-0.040704,-0.016692],[0.042923,0.985045,0.166863],[0.009650,-0.167418,0.985839]] 2025-10-28T23:38:22.147Z,1761694702.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999115,-0.038932,-0.015942],[0.041054,0.985030,0.167421],[0.009186,-0.167927,0.985757]] 2025-10-28T23:38:22.552Z,1761694702.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999171,-0.037480,-0.015873],[0.039613,0.985057,0.167611],[0.009354,-0.168101,0.985725]] 2025-10-28T23:38:22.954Z,1761694702.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999203,-0.036621,-0.015875],[0.038746,0.985450,0.165489],[0.009584,-0.165972,0.986084]] 2025-10-28T23:38:23.360Z,1761694703.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999220,-0.035956,-0.016335],[0.038145,0.985815,0.163443],[0.010226,-0.163939,0.986417]] 2025-10-28T23:38:23.773Z,1761694703.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999211,-0.035943,-0.016884],[0.038205,0.986084,0.161798],[0.010834,-0.162315,0.986679]] 2025-10-28T23:38:24.166Z,1761694704.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999192,-0.036259,-0.017367],[0.038573,0.986392,0.159825],[0.011335,-0.160365,0.986993]] 2025-10-28T23:38:24.577Z,1761694704.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999116,-0.037579,-0.018867],[0.040058,0.987051,0.155323],[0.012786,-0.155942,0.987684]] 2025-10-28T23:38:24.979Z,1761694704.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999096,-0.037747,-0.019556],[0.040326,0.987105,0.154910],[0.013456,-0.155558,0.987735]] 2025-10-28T23:38:25.384Z,1761694705.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999074,-0.038034,-0.020117],[0.040711,0.986939,0.155863],[0.013926,-0.156537,0.987574]] 2025-10-28T23:38:25.790Z,1761694705.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999059,-0.038232,-0.020491],[0.040986,0.986699,0.157305],[0.014204,-0.157997,0.987337]] 2025-10-28T23:38:26.190Z,1761694706.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999051,-0.038533,-0.020320],[0.041290,0.986291,0.159768],[0.013885,-0.160455,0.986946]] 2025-10-28T23:38:26.357Z,1761694706.357 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:38:26.591Z,1761694706.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999085,-0.037974,-0.019663],[0.040681,0.985725,0.163372],[0.013178,-0.164023,0.986369]] 2025-10-28T23:38:26.997Z,1761694706.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999147,-0.036688,-0.018951],[0.039363,0.984883,0.168687],[0.012476,-0.169290,0.985487]] 2025-10-28T23:38:27.360Z,1761694707.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:38:27.398Z,1761694707.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.034954,-0.018217],[0.037562,0.984503,0.171297],[0.011947,-0.171848,0.985051]] 2025-10-28T23:38:27.802Z,1761694707.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999298,-0.033104,-0.017547],[0.035644,0.984287,0.172941],[0.011546,-0.173445,0.984776]] 2025-10-28T23:38:28.207Z,1761694708.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999378,-0.030671,-0.017433],[0.033249,0.984048,0.174766],[0.011795,-0.175237,0.984456]] 2025-10-28T23:38:28.612Z,1761694708.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999427,-0.028622,-0.018089],[0.031346,0.984109,0.174774],[0.012799,-0.175241,0.984442]] 2025-10-28T23:38:29.014Z,1761694709.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999467,-0.026917,-0.018456],[0.029726,0.984240,0.174320],[0.013473,-0.174775,0.984516]] 2025-10-28T23:38:29.418Z,1761694709.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999478,-0.026302,-0.018762],[0.029144,0.984633,0.172186],[0.013945,-0.172643,0.984886]] 2025-10-28T23:38:29.823Z,1761694709.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999462,-0.026417,-0.019461],[0.029325,0.985239,0.168653],[0.014718,-0.169133,0.985483]] 2025-10-28T23:38:30.229Z,1761694710.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999452,-0.026217,-0.020199],[0.029191,0.985908,0.164722],[0.015595,-0.165222,0.986133]] 2025-10-28T23:38:30.631Z,1761694710.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999463,-0.025548,-0.020529],[0.028561,0.986169,0.163266],[0.016074,-0.163765,0.986368]] 2025-10-28T23:38:31.035Z,1761694711.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999479,-0.024784,-0.020690],[0.027818,0.986347,0.162316],[0.016385,-0.162807,0.986522]] 2025-10-28T23:38:31.438Z,1761694711.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999486,-0.024127,-0.021125],[0.027214,0.986621,0.160742],[0.016964,-0.161234,0.986770]] 2025-10-28T23:38:31.844Z,1761694711.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999507,-0.023342,-0.021004],[0.026393,0.986893,0.159205],[0.017013,-0.159681,0.987022]] 2025-10-28T23:38:32.263Z,1761694712.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999519,-0.023041,-0.020751],[0.026041,0.987046,0.158307],[0.016835,-0.158771,0.987172]] 2025-10-28T23:38:32.650Z,1761694712.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999533,-0.022756,-0.020389],[0.025681,0.987246,0.157115],[0.016554,-0.157566,0.987370]] 2025-10-28T23:38:33.055Z,1761694713.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999544,-0.022741,-0.019860],[0.025560,0.987479,0.155666],[0.016072,-0.156103,0.987610]] 2025-10-28T23:38:33.460Z,1761694713.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,-0.023336,-0.019536],[0.026079,0.987637,0.154576],[0.015687,-0.155014,0.987788]] 2025-10-28T23:38:33.863Z,1761694713.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999536,-0.024080,-0.018676],[0.026684,0.987593,0.154753],[0.014718,-0.155179,0.987777]] 2025-10-28T23:38:34.302Z,1761694714.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999535,-0.024753,-0.017797],[0.027215,0.987546,0.154958],[0.013740,-0.155370,0.987761]] 2025-10-28T23:38:34.671Z,1761694714.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999533,-0.025325,-0.017089],[0.027672,0.987514,0.155084],[0.012949,-0.155485,0.987753]] 2025-10-28T23:38:35.075Z,1761694715.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999529,-0.025908,-0.016473],[0.028162,0.987374,0.155882],[0.012227,-0.156273,0.987638]] 2025-10-28T23:38:35.481Z,1761694715.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999514,-0.026616,-0.016239],[0.028811,0.987535,0.154742],[0.011918,-0.155135,0.987821]] 2025-10-28T23:38:35.882Z,1761694715.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999484,-0.027740,-0.016188],[0.029896,0.987729,0.153286],[0.011737,-0.153691,0.988049]] 2025-10-28T23:38:36.315Z,1761694716.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999457,-0.028941,-0.015768],[0.031029,0.987551,0.154210],[0.011109,-0.154616,0.987912]] 2025-10-28T23:38:36.691Z,1761694716.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999428,-0.030093,-0.015409],[0.032113,0.987502,0.154302],[0.010573,-0.154709,0.987904]] 2025-10-28T23:38:37.096Z,1761694717.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999389,-0.031469,-0.015212],[0.033441,0.987482,0.154147],[0.010170,-0.154561,0.987931]] 2025-10-28T23:38:37.499Z,1761694717.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999361,-0.032258,-0.015425],[0.034257,0.987394,0.154532],[0.010246,-0.154962,0.987867]] 2025-10-28T23:38:37.903Z,1761694717.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999341,-0.032829,-0.015511],[0.034843,0.987240,0.155382],[0.010212,-0.155820,0.987733]] 2025-10-28T23:38:38.319Z,1761694718.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999350,-0.032516,-0.015567],[0.034575,0.986755,0.158491],[0.010207,-0.158926,0.987238]] 2025-10-28T23:38:38.712Z,1761694718.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999393,-0.031324,-0.015261],[0.033377,0.986349,0.161253],[0.010002,-0.161664,0.986795]] 2025-10-28T23:38:39.115Z,1761694719.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999467,-0.029117,-0.014754],[0.031152,0.985840,0.164769],[0.009747,-0.165141,0.986222]] 2025-10-28T23:38:39.518Z,1761694719.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999568,-0.025941,-0.013779],[0.027883,0.985506,0.167331],[0.009238,-0.167643,0.985804]] 2025-10-28T23:38:39.923Z,1761694719.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999683,-0.021863,-0.012504],[0.023666,0.985270,0.169362],[0.008617,-0.169604,0.985475]] 2025-10-28T23:38:40.328Z,1761694720.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999779,-0.017630,-0.011412],[0.019334,0.984852,0.172317],[0.008201,-0.172500,0.984975]] 2025-10-28T23:38:40.730Z,1761694720.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999862,-0.013202,-0.010036],[0.014749,0.984605,0.174170],[0.007582,-0.174294,0.984664]] 2025-10-28T23:38:41.134Z,1761694721.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999913,-0.009669,-0.008986],[0.011070,0.985045,0.171940],[0.007189,-0.172024,0.985066]] 2025-10-28T23:38:41.538Z,1761694721.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999943,-0.006764,-0.008202],[0.008063,0.985342,0.170400],[0.006929,-0.170456,0.985341]] 2025-10-28T23:38:41.944Z,1761694721.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999959,-0.004672,-0.007823],[0.005925,0.985654,0.168676],[0.006923,-0.168716,0.985640]] 2025-10-28T23:38:42.346Z,1761694722.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999965,-0.003608,-0.007552],[0.004812,0.986104,0.166060],[0.006848,-0.166090,0.986087]] 2025-10-28T23:38:42.751Z,1761694722.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999966,-0.003365,-0.007591],[0.004569,0.986327,0.164735],[0.006933,-0.164764,0.986309]] 2025-10-28T23:38:43.156Z,1761694723.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999965,-0.003613,-0.007483],[0.004788,0.986535,0.163480],[0.006792,-0.163510,0.986518]] 2025-10-28T23:38:43.561Z,1761694723.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999961,-0.004732,-0.007514],[0.005888,0.986744,0.162177],[0.006647,-0.162215,0.986733]] 2025-10-28T23:38:43.963Z,1761694723.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,-0.005352,-0.007732],[0.006530,0.986875,0.161351],[0.006767,-0.161395,0.986867]] 2025-10-28T23:38:44.367Z,1761694724.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999946,-0.006455,-0.008141],[0.007684,0.986879,0.161282],[0.006993,-0.161335,0.986875]] 2025-10-28T23:38:44.771Z,1761694724.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999943,-0.006586,-0.008367],[0.007845,0.986982,0.160642],[0.007200,-0.160699,0.986977]] 2025-10-28T23:38:45.176Z,1761694725.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999946,-0.006156,-0.008433],[0.007430,0.987006,0.160509],[0.007335,-0.160563,0.986998]] 2025-10-28T23:38:45.578Z,1761694725.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999955,-0.004526,-0.008284],[0.005807,0.986799,0.161847],[0.007442,-0.161888,0.986781]] 2025-10-28T23:38:45.983Z,1761694725.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999960,-0.003315,-0.008314],[0.004616,0.986830,0.161696],[0.007668,-0.161728,0.986806]] 2025-10-28T23:38:46.387Z,1761694726.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.002850,-0.008284],[0.004144,0.987007,0.160621],[0.007719,-0.160649,0.986981]] 2025-10-28T23:38:46.793Z,1761694726.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.002624,-0.008318],[0.003900,0.987534,0.157357],[0.007801,-0.157384,0.987507]] 2025-10-28T23:38:47.194Z,1761694727.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999966,-0.002414,-0.007931],[0.003625,0.987685,0.156413],[0.007455,-0.156437,0.987660]] 2025-10-28T23:38:47.598Z,1761694727.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,-0.002747,-0.008006],[0.003940,0.988219,0.152993],[0.007492,-0.153019,0.988195]] 2025-10-28T23:38:48.003Z,1761694728.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999959,-0.004316,-0.007991],[0.005473,0.988534,0.150900],[0.007248,-0.150938,0.988517]] 2025-10-28T23:38:48.409Z,1761694728.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999947,-0.006376,-0.008037],[0.007507,0.988704,0.149696],[0.006992,-0.149749,0.988699]] 2025-10-28T23:38:48.811Z,1761694728.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999930,-0.008481,-0.008229],[0.009619,0.988662,0.149848],[0.006865,-0.149917,0.988675]] 2025-10-28T23:38:49.214Z,1761694729.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999905,-0.010828,-0.008549],[0.011995,0.988449,0.151079],[0.006814,-0.151167,0.988485]] 2025-10-28T23:38:49.618Z,1761694729.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999871,-0.013398,-0.008839],[0.014600,0.987944,0.154124],[0.006668,-0.154233,0.988012]] 2025-10-28T23:38:50.024Z,1761694730.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999828,-0.016071,-0.009261],[0.017318,0.987626,0.155870],[0.006642,-0.156004,0.987734]] 2025-10-28T23:38:50.431Z,1761694730.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999785,-0.018258,-0.009790],[0.019588,0.986959,0.159778],[0.006745,-0.159935,0.987104]] 2025-10-28T23:38:50.831Z,1761694730.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999748,-0.019865,-0.010493],[0.021307,0.986480,0.162492],[0.007123,-0.162674,0.986654]] 2025-10-28T23:38:51.235Z,1761694731.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999723,-0.020666,-0.011283],[0.022249,0.985973,0.165412],[0.007706,-0.165618,0.986160]] 2025-10-28T23:38:51.640Z,1761694731.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999735,-0.019839,-0.011688],[0.021535,0.985274,0.169619],[0.008151,-0.169826,0.985440]] 2025-10-28T23:38:52.042Z,1761694732.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999775,-0.017581,-0.011874],[0.019350,0.985143,0.170645],[0.008697,-0.170836,0.985261]] 2025-10-28T23:38:52.448Z,1761694732.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999833,-0.013757,-0.012053],[0.015623,0.985015,0.171761],[0.009509,-0.171921,0.985065]] 2025-10-28T23:38:52.851Z,1761694732.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999888,-0.009162,-0.011834],[0.011060,0.985050,0.171910],[0.010082,-0.172022,0.985041]] 2025-10-28T23:38:53.255Z,1761694733.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,-0.004428,-0.011488],[0.006309,0.985547,0.169282],[0.010573,-0.169342,0.985501]] 2025-10-28T23:38:53.661Z,1761694733.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999935,-0.000088,-0.011385],[0.001972,0.986191,0.165599],[0.011213,-0.165611,0.986127]] 2025-10-28T23:38:54.062Z,1761694734.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999933,0.002882,-0.011248],[-0.001034,0.986948,0.161038],[0.011565,-0.161016,0.986884]] 2025-10-28T23:38:54.467Z,1761694734.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999928,0.004453,-0.011137],[-0.002632,0.987367,0.158430],[0.011701,-0.158389,0.987307]] 2025-10-28T23:38:54.870Z,1761694734.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999930,0.005008,-0.010761],[-0.003289,0.988040,0.154160],[0.011404,-0.154114,0.987987]] 2025-10-28T23:38:55.276Z,1761694735.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999930,0.005511,-0.010512],[-0.003864,0.988577,0.150668],[0.011222,-0.150616,0.988529]] 2025-10-28T23:38:55.678Z,1761694735.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999933,0.005449,-0.010166],[-0.003887,0.989011,0.147793],[0.010860,-0.147744,0.988966]] 2025-10-28T23:38:56.083Z,1761694736.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999944,0.004469,-0.009564],[-0.003028,0.989323,0.145711],[0.010113,-0.145674,0.989281]] 2025-10-28T23:38:56.490Z,1761694736.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,0.003690,-0.008601],[-0.002396,0.989312,0.145796],[0.009047,-0.145769,0.989277]] 2025-10-28T23:38:56.892Z,1761694736.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999965,0.003405,-0.007582],[-0.002250,0.989072,0.147416],[0.008001,-0.147393,0.989046]] 2025-10-28T23:38:57.295Z,1761694737.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999972,0.003553,-0.006638],[-0.002520,0.988747,0.149579],[0.007095,-0.149558,0.988727]] 2025-10-28T23:38:57.484Z,1761694737.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:38:57.698Z,1761694737.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999980,0.002434,-0.005921],[-0.001521,0.988742,0.149621],[0.006219,-0.149609,0.988726]] 2025-10-28T23:38:58.102Z,1761694738.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999986,0.000575,-0.005177],[0.000207,0.988729,0.149719],[0.005204,-0.149718,0.988715]] 2025-10-28T23:38:58.488Z,1761694738.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:38:58.510Z,1761694738.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999986,-0.002264,-0.004841],[0.002961,0.988811,0.149141],[0.004449,-0.149154,0.988804]] 2025-10-28T23:38:58.910Z,1761694738.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999971,-0.006017,-0.004601],[0.006634,0.988868,0.148646],[0.003655,-0.148673,0.988880]] 2025-10-28T23:38:59.314Z,1761694739.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999937,-0.010053,-0.004898],[0.010665,0.989031,0.147324],[0.003363,-0.147367,0.989076]] 2025-10-28T23:38:59.719Z,1761694739.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999884,-0.014067,-0.005784],[0.014766,0.988967,0.147400],[0.003646,-0.147469,0.989060]] 2025-10-28T23:39:00.123Z,1761694740.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999815,-0.017924,-0.006918],[0.018751,0.988778,0.148211],[0.004184,-0.148314,0.988932]] 2025-10-28T23:39:00.528Z,1761694740.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999740,-0.021251,-0.008320],[0.022259,0.988444,0.149940],[0.005038,-0.150086,0.988660]] 2025-10-28T23:39:00.930Z,1761694740.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999688,-0.022992,-0.009791],[0.024212,0.988111,0.151825],[0.006184,-0.152015,0.988359]] 2025-10-28T23:39:01.334Z,1761694741.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999696,-0.022138,-0.010889],[0.023555,0.987725,0.154416],[0.007337,-0.154625,0.987946]] 2025-10-28T23:39:01.738Z,1761694741.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999751,-0.019355,-0.011097],[0.020845,0.987633,0.155389],[0.007952,-0.155581,0.987791]] 2025-10-28T23:39:02.149Z,1761694742.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999826,-0.015199,-0.010801],[0.016712,0.987363,0.157593],[0.008269,-0.157746,0.987445]] 2025-10-28T23:39:02.547Z,1761694742.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999894,-0.010186,-0.010368],[0.011702,0.987285,0.158528],[0.008622,-0.158633,0.987300]] 2025-10-28T23:39:02.961Z,1761694742.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999937,-0.005693,-0.009654],[0.007147,0.987400,0.158084],[0.008632,-0.158143,0.987378]] 2025-10-28T23:39:03.355Z,1761694743.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.001811,-0.008529],[0.003132,0.987511,0.157517],[0.008138,-0.157538,0.987479]] 2025-10-28T23:39:03.790Z,1761694743.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999974,0.000876,-0.007202],[0.000263,0.987659,0.156621],[0.007250,-0.156619,0.987633]] 2025-10-28T23:39:04.163Z,1761694744.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999980,0.002120,-0.005912],[-0.001184,0.988065,0.154030],[0.006168,-0.154020,0.988049]] 2025-10-28T23:39:04.567Z,1761694744.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999987,0.001837,-0.004811],[-0.001088,0.988476,0.151373],[0.005034,-0.151366,0.988465]] 2025-10-28T23:39:04.970Z,1761694744.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999990,0.000752,-0.004335],[-0.000094,0.988710,0.149844],[0.004399,-0.149842,0.988700]] 2025-10-28T23:39:05.375Z,1761694745.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999991,-0.001153,-0.004127],[0.001751,0.989005,0.147875],[0.003911,-0.147880,0.988998]] 2025-10-28T23:39:05.781Z,1761694745.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,-0.004094,-0.003859],[0.004623,0.988867,0.148732],[0.003207,-0.148748,0.988870]] 2025-10-28T23:39:06.182Z,1761694746.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999970,-0.006594,-0.004015],[0.007116,0.988933,0.148193],[0.002993,-0.148217,0.988950]] 2025-10-28T23:39:06.588Z,1761694746.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999950,-0.009179,-0.004059],[0.009678,0.988980,0.147734],[0.002658,-0.147766,0.989019]] 2025-10-28T23:39:06.991Z,1761694746.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,-0.011578,-0.004326],[0.012087,0.989162,0.146332],[0.002585,-0.146373,0.989226]] 2025-10-28T23:39:07.396Z,1761694747.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999886,-0.014448,-0.004446],[0.014939,0.989362,0.144703],[0.002308,-0.144753,0.989465]] 2025-10-28T23:39:07.799Z,1761694747.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999836,-0.017498,-0.004739],[0.017996,0.989548,0.143074],[0.002186,-0.143135,0.989701]] 2025-10-28T23:39:08.202Z,1761694748.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999783,-0.020164,-0.005204],[0.020698,0.989715,0.141550],[0.002297,-0.141627,0.989917]] 2025-10-28T23:39:08.607Z,1761694748.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999730,-0.022513,-0.005762],[0.023103,0.989611,0.141901],[0.002508,-0.141996,0.989864]] 2025-10-28T23:39:09.013Z,1761694749.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999683,-0.024411,-0.006162],[0.025042,0.989392,0.143098],[0.002604,-0.143207,0.989689]] 2025-10-28T23:39:09.415Z,1761694749.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999647,-0.025744,-0.006517],[0.026416,0.989165,0.144408],[0.002729,-0.144529,0.989497]] 2025-10-28T23:39:09.824Z,1761694749.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,-0.026264,-0.006758],[0.026970,0.988899,0.146122],[0.002845,-0.146251,0.989243]] 2025-10-28T23:39:10.234Z,1761694750.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999659,-0.025167,-0.006995],[0.025936,0.988111,0.151537],[0.003099,-0.151667,0.988427]] 2025-10-28T23:39:10.633Z,1761694750.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999695,-0.023563,-0.007370],[0.024412,0.988008,0.152461],[0.003689,-0.152595,0.988282]] 2025-10-28T23:39:11.035Z,1761694751.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999740,-0.021548,-0.007474],[0.022442,0.987836,0.153870],[0.004068,-0.153998,0.988063]] 2025-10-28T23:39:11.438Z,1761694751.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999779,-0.019471,-0.007948],[0.020458,0.988042,0.152820],[0.004877,-0.152949,0.988222]] 2025-10-28T23:39:11.840Z,1761694751.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999799,-0.018087,-0.008637],[0.019178,0.988490,0.150063],[0.005823,-0.150199,0.988639]] 2025-10-28T23:39:12.257Z,1761694752.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999800,-0.017762,-0.009200],[0.018923,0.988935,0.147141],[0.006484,-0.147286,0.989073]] 2025-10-28T23:39:12.646Z,1761694752.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999786,-0.018323,-0.009620],[0.019517,0.989403,0.143880],[0.006881,-0.144037,0.989548]] 2025-10-28T23:39:13.051Z,1761694753.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999760,-0.019555,-0.009883],[0.020747,0.989919,0.140109],[0.007043,-0.140281,0.990087]] 2025-10-28T23:39:13.455Z,1761694753.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999703,-0.022068,-0.010318],[0.023272,0.990352,0.136609],[0.007203,-0.136808,0.990571]] 2025-10-28T23:39:13.861Z,1761694753.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999647,-0.024595,-0.010035],[0.025727,0.990468,0.135320],[0.006612,-0.135530,0.990751]] 2025-10-28T23:39:14.295Z,1761694754.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999573,-0.027323,-0.010329],[0.028471,0.990373,0.135462],[0.006528,-0.135698,0.990729]] 2025-10-28T23:39:14.666Z,1761694754.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999513,-0.029298,-0.010740],[0.030506,0.989855,0.138768],[0.006566,-0.139028,0.990267]] 2025-10-28T23:39:15.070Z,1761694755.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999490,-0.030025,-0.010864],[0.031255,0.989585,0.140519],[0.006532,-0.140787,0.990018]] 2025-10-28T23:39:15.475Z,1761694755.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999502,-0.029588,-0.010975],[0.030864,0.989020,0.144523],[0.006578,-0.144790,0.989441]] 2025-10-28T23:39:15.880Z,1761694755.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999574,-0.027172,-0.010641],[0.028463,0.988236,0.150263],[0.006433,-0.150502,0.988589]] 2025-10-28T23:39:16.312Z,1761694756.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999669,-0.023800,-0.009782],[0.025022,0.987784,0.153806],[0.006002,-0.154000,0.988053]] 2025-10-28T23:39:16.686Z,1761694756.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999761,-0.020030,-0.008756],[0.021152,0.987511,0.156123],[0.005520,-0.156271,0.987699]] 2025-10-28T23:39:17.091Z,1761694757.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999836,-0.016444,-0.007585],[0.017427,0.987599,0.156024],[0.004925,-0.156131,0.987724]] 2025-10-28T23:39:17.497Z,1761694757.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999879,-0.014007,-0.006787],[0.014889,0.987832,0.154811],[0.004536,-0.154894,0.987921]] 2025-10-28T23:39:17.899Z,1761694757.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999887,-0.013707,-0.006184],[0.014484,0.988415,0.151079],[0.004042,-0.151152,0.988502]] 2025-10-28T23:39:18.317Z,1761694758.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999870,-0.015030,-0.005874],[0.015730,0.989018,0.146958],[0.003600,-0.147031,0.989125]] 2025-10-28T23:39:18.707Z,1761694758.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999818,-0.018033,-0.006225],[0.018736,0.989610,0.142549],[0.003589,-0.142639,0.989768]] 2025-10-28T23:39:19.110Z,1761694759.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999738,-0.021948,-0.006550],[0.022649,0.989873,0.140138],[0.003407,-0.140250,0.990110]] 2025-10-28T23:39:19.514Z,1761694759.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999628,-0.026323,-0.007181],[0.027063,0.990011,0.138365],[0.003467,-0.138508,0.990355]] 2025-10-28T23:39:19.919Z,1761694759.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,-0.030585,-0.008325],[0.031446,0.989783,0.139069],[0.003987,-0.139261,0.990248]] 2025-10-28T23:39:20.327Z,1761694760.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999357,-0.034557,-0.009605],[0.035573,0.989177,0.142352],[0.004581,-0.142602,0.989769]] 2025-10-28T23:39:20.728Z,1761694760.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999220,-0.037946,-0.010929],[0.039149,0.988155,0.148384],[0.005169,-0.148696,0.988869]] 2025-10-28T23:39:21.130Z,1761694761.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999073,-0.041293,-0.012190],[0.042687,0.986936,0.155354],[0.005615,-0.155730,0.987784]] 2025-10-28T23:39:21.535Z,1761694761.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998935,-0.044217,-0.013150],[0.045763,0.985781,0.161681],[0.005814,-0.162111,0.986755]] 2025-10-28T23:39:21.940Z,1761694761.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998831,-0.046283,-0.013922],[0.047961,0.984764,0.167150],[0.005973,-0.167623,0.985833]] 2025-10-28T23:39:22.342Z,1761694762.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,-0.046493,-0.014330],[0.048251,0.984341,0.169544],[0.006223,-0.170034,0.985418]] 2025-10-28T23:39:22.747Z,1761694762.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998897,-0.044652,-0.014543],[0.046477,0.984345,0.170016],[0.006724,-0.170504,0.985334]] 2025-10-28T23:39:23.150Z,1761694763.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999076,-0.040592,-0.014119],[0.042396,0.984697,0.169042],[0.007041,-0.169484,0.985508]] 2025-10-28T23:39:23.556Z,1761694763.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999291,-0.035256,-0.013213],[0.036949,0.985728,0.164243],[0.007234,-0.164615,0.986331]] 2025-10-28T23:39:23.959Z,1761694763.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,-0.029229,-0.012202],[0.030799,0.986804,0.158965],[0.007395,-0.159261,0.987209]] 2025-10-28T23:39:24.362Z,1761694764.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999675,-0.022894,-0.011181],[0.024339,0.987868,0.153376],[0.007534,-0.153598,0.988105]] 2025-10-28T23:39:24.767Z,1761694764.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999799,-0.017285,-0.010144],[0.018607,0.988600,0.149413],[0.007446,-0.149572,0.988723]] 2025-10-28T23:39:25.172Z,1761694765.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999862,-0.013796,-0.009252],[0.014991,0.989353,0.144760],[0.007156,-0.144879,0.989424]] 2025-10-28T23:39:25.574Z,1761694765.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999878,-0.013115,-0.008460],[0.014173,0.990016,0.140240],[0.006536,-0.140343,0.990081]] 2025-10-28T23:39:25.979Z,1761694765.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999861,-0.014610,-0.008070],[0.015583,0.990342,0.137768],[0.005979,-0.137875,0.990432]] 2025-10-28T23:39:26.383Z,1761694766.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999811,-0.017710,-0.008026],[0.018645,0.990347,0.137352],[0.005516,-0.137476,0.990490]] 2025-10-28T23:39:26.787Z,1761694766.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999739,-0.021440,-0.007878],[0.022322,0.990197,0.137882],[0.004845,-0.138022,0.990417]] 2025-10-28T23:39:27.193Z,1761694767.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999629,-0.026030,-0.007987],[0.026892,0.989792,0.139960],[0.004262,-0.140123,0.990125]] 2025-10-28T23:39:27.595Z,1761694767.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999492,-0.030672,-0.008617],[0.031584,0.989410,0.141672],[0.004180,-0.141872,0.989876]] 2025-10-28T23:39:27.999Z,1761694767.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999343,-0.034919,-0.009714],[0.035943,0.989285,0.141501],[0.004669,-0.141757,0.989891]] 2025-10-28T23:39:28.402Z,1761694768.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999209,-0.038303,-0.010688],[0.039435,0.989045,0.142248],[0.005123,-0.142557,0.989773]] 2025-10-28T23:39:28.609Z,1761694768.609 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:39:28.828Z,1761694768.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999133,-0.039997,-0.011577],[0.041250,0.988696,0.144147],[0.005680,-0.144499,0.989489]] 2025-10-28T23:39:29.231Z,1761694769.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999083,-0.040990,-0.012344],[0.042355,0.988380,0.145984],[0.006217,-0.146373,0.989210]] 2025-10-28T23:39:29.612Z,1761694769.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:39:29.639Z,1761694769.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999019,-0.042266,-0.013211],[0.043751,0.988170,0.146988],[0.006842,-0.147422,0.989050]] 2025-10-28T23:39:30.039Z,1761694770.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998957,-0.043407,-0.014200],[0.045025,0.988100,0.147074],[0.007647,-0.147560,0.989024]] 2025-10-28T23:39:30.442Z,1761694770.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998888,-0.044417,-0.015810],[0.046266,0.987984,0.147472],[0.009070,-0.148040,0.988940]] 2025-10-28T23:39:30.847Z,1761694770.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998813,-0.045435,-0.017557],[0.047541,0.987798,0.148307],[0.010605,-0.148965,0.988786]] 2025-10-28T23:39:31.253Z,1761694771.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998753,-0.046051,-0.019298],[0.048409,0.987760,0.148280],[0.012234,-0.149029,0.988757]] 2025-10-28T23:39:31.654Z,1761694771.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998711,-0.046139,-0.021172],[0.048818,0.987294,0.151218],[0.013926,-0.152057,0.988274]] 2025-10-28T23:39:32.058Z,1761694772.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998712,-0.045231,-0.022991],[0.048241,0.986893,0.153998],[0.015724,-0.154909,0.987804]] 2025-10-28T23:39:32.463Z,1761694772.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998733,-0.044005,-0.024423],[0.047259,0.986865,0.154479],[0.017304,-0.155438,0.987694]] 2025-10-28T23:39:32.868Z,1761694772.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998800,-0.041650,-0.025782],[0.045173,0.986722,0.156008],[0.018942,-0.156986,0.987419]] 2025-10-28T23:39:33.270Z,1761694773.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998883,-0.038735,-0.027067],[0.042505,0.986769,0.156460],[0.020648,-0.157435,0.987313]] 2025-10-28T23:39:33.675Z,1761694773.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998950,-0.036000,-0.028346],[0.040002,0.986891,0.156349],[0.022346,-0.157319,0.987295]] 2025-10-28T23:39:34.079Z,1761694774.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998990,-0.033684,-0.029746],[0.037933,0.986983,0.156287],[0.024094,-0.157258,0.987264]] 2025-10-28T23:39:34.485Z,1761694774.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999024,-0.031694,-0.030755],[0.036105,0.987181,0.155468],[0.025434,-0.156426,0.987362]] 2025-10-28T23:39:34.887Z,1761694774.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998996,-0.030855,-0.032472],[0.035463,0.987666,0.152509],[0.027366,-0.153508,0.987769]] 2025-10-28T23:39:35.291Z,1761694775.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998947,-0.030736,-0.034047],[0.035531,0.987955,0.150609],[0.029008,-0.151661,0.988007]] 2025-10-28T23:39:35.695Z,1761694775.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998856,-0.031750,-0.035757],[0.036703,0.988353,0.147686],[0.030651,-0.148830,0.988388]] 2025-10-28T23:39:36.100Z,1761694776.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998752,-0.032941,-0.037548],[0.038114,0.988456,0.146639],[0.032284,-0.147887,0.988477]] 2025-10-28T23:39:36.503Z,1761694776.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998645,-0.034088,-0.039317],[0.039526,0.988340,0.147046],[0.033846,-0.148401,0.988348]] 2025-10-28T23:39:36.907Z,1761694776.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998552,-0.034793,-0.041018],[0.040533,0.988062,0.148630],[0.035357,-0.150077,0.988042]] 2025-10-28T23:39:37.310Z,1761694777.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998483,-0.035024,-0.042495],[0.041045,0.987791,0.150279],[0.036713,-0.151795,0.987730]] 2025-10-28T23:39:37.716Z,1761694777.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998451,-0.034062,-0.043989],[0.040450,0.987302,0.153621],[0.038198,-0.155162,0.987150]] 2025-10-28T23:39:38.118Z,1761694778.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998449,-0.032603,-0.045131],[0.039285,0.986953,0.156141],[0.039451,-0.157671,0.986703]] 2025-10-28T23:39:38.523Z,1761694778.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998470,-0.030378,-0.046213],[0.037310,0.986823,0.157441],[0.040821,-0.158924,0.986446]] 2025-10-28T23:39:38.926Z,1761694778.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998514,-0.027497,-0.047042],[0.034646,0.986730,0.158632],[0.042056,-0.160026,0.986216]] 2025-10-28T23:39:39.331Z,1761694779.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998549,-0.025093,-0.047637],[0.032407,0.986654,0.159576],[0.042997,-0.160888,0.986036]] 2025-10-28T23:39:39.736Z,1761694779.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998572,-0.022361,-0.048520],[0.029810,0.986878,0.158689],[0.044335,-0.159909,0.986136]] 2025-10-28T23:39:40.138Z,1761694780.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998581,-0.019772,-0.049453],[0.027370,0.987056,0.158025],[0.045688,-0.159154,0.986196]] 2025-10-28T23:39:40.543Z,1761694780.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998568,-0.018451,-0.050212],[0.026154,0.987195,0.157356],[0.046665,-0.158444,0.986265]] 2025-10-28T23:39:40.947Z,1761694780.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,-0.017590,-0.050984],[0.025340,0.987497,0.155588],[0.047610,-0.156653,0.986506]] 2025-10-28T23:39:41.352Z,1761694781.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998495,-0.018062,-0.051790],[0.025857,0.987727,0.154034],[0.048372,-0.155142,0.986707]] 2025-10-28T23:39:41.754Z,1761694781.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998428,-0.019615,-0.052514],[0.027435,0.987905,0.152616],[0.048885,-0.153817,0.986889]] 2025-10-28T23:39:42.159Z,1761694782.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998332,-0.022198,-0.053300],[0.030013,0.988134,0.150635],[0.049323,-0.151983,0.987152]] 2025-10-28T23:39:42.562Z,1761694782.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998212,-0.025225,-0.054189],[0.033080,0.988232,0.149345],[0.049785,-0.150870,0.987299]] 2025-10-28T23:39:42.968Z,1761694782.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998084,-0.028110,-0.055121],[0.036069,0.988151,0.149184],[0.050274,-0.150887,0.987272]] 2025-10-28T23:39:43.370Z,1761694783.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997964,-0.030491,-0.056017],[0.038582,0.987997,0.149575],[0.050784,-0.151432,0.987162]] 2025-10-28T23:39:43.775Z,1761694783.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997837,-0.032552,-0.057104],[0.040830,0.987784,0.150384],[0.051511,-0.152390,0.986977]] 2025-10-28T23:39:44.179Z,1761694784.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997727,-0.034016,-0.058166],[0.042539,0.987432,0.152212],[0.052258,-0.154340,0.986635]] 2025-10-28T23:39:44.584Z,1761694784.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997669,-0.034093,-0.059107],[0.042934,0.986916,0.155417],[0.053035,-0.157593,0.986079]] 2025-10-28T23:39:44.986Z,1761694784.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997642,-0.033132,-0.060112],[0.042280,0.986546,0.157924],[0.054071,-0.160093,0.985620]] 2025-10-28T23:39:45.390Z,1761694785.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997643,-0.030864,-0.061283],[0.040282,0.986464,0.158955],[0.055548,-0.161049,0.985382]] 2025-10-28T23:39:45.795Z,1761694785.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997698,-0.027394,-0.062040],[0.037057,0.986358,0.160391],[0.056799,-0.162321,0.985102]] 2025-10-28T23:39:46.199Z,1761694786.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997801,-0.022909,-0.062190],[0.032593,0.986663,0.159477],[0.057707,-0.161153,0.985241]] 2025-10-28T23:39:46.604Z,1761694786.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997916,-0.018387,-0.061857],[0.027979,0.987047,0.157974],[0.058151,-0.159376,0.985504]] 2025-10-28T23:39:47.007Z,1761694787.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998016,-0.014045,-0.061378],[0.023554,0.987306,0.157072],[0.058393,-0.158206,0.985678]] 2025-10-28T23:39:47.411Z,1761694787.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998091,-0.010453,-0.060867],[0.019891,0.987464,0.156588],[0.058467,-0.157499,0.985787]] 2025-10-28T23:39:47.815Z,1761694787.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998140,-0.008318,-0.060385],[0.017554,0.987902,0.154084],[0.058373,-0.154857,0.986211]] 2025-10-28T23:39:48.220Z,1761694788.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998151,-0.007618,-0.060298],[0.016624,0.988499,0.150310],[0.058459,-0.151035,0.986798]] 2025-10-28T23:39:48.623Z,1761694788.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998153,-0.008444,-0.060159],[0.017195,0.989065,0.146475],[0.058265,-0.147239,0.987383]] 2025-10-28T23:39:49.027Z,1761694789.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998116,-0.010274,-0.060481],[0.018900,0.989421,0.143836],[0.058364,-0.144708,0.987752]] 2025-10-28T23:39:49.431Z,1761694789.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998063,-0.012998,-0.060837],[0.021523,0.989683,0.141648],[0.058368,-0.142683,0.988046]] 2025-10-28T23:39:49.836Z,1761694789.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998017,-0.016082,-0.060855],[0.024512,0.989787,0.140431],[0.057976,-0.141645,0.988218]] 2025-10-28T23:39:50.247Z,1761694790.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997962,-0.019078,-0.060901],[0.027565,0.989523,0.141720],[0.057559,-0.143110,0.988032]] 2025-10-28T23:39:50.642Z,1761694790.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997898,-0.021644,-0.061075],[0.030308,0.989009,0.144715],[0.057272,-0.146262,0.987587]] 2025-10-28T23:39:51.047Z,1761694791.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997852,-0.023301,-0.061224],[0.032142,0.988517,0.147651],[0.057080,-0.149302,0.987143]] 2025-10-28T23:39:51.453Z,1761694791.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997866,-0.023035,-0.061101],[0.032126,0.987820,0.152246],[0.056849,-0.153884,0.986452]] 2025-10-28T23:39:51.855Z,1761694791.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997946,-0.020852,-0.060566],[0.030107,0.987272,0.156167],[0.056538,-0.157670,0.985872]] 2025-10-28T23:39:52.295Z,1761694792.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998224,-0.012381,-0.058266],[0.021720,0.986470,0.162499],[0.055466,-0.163476,0.984987]] 2025-10-28T23:39:53.074Z,1761694793.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998461,-0.003426,-0.055361],[0.012361,0.986734,0.161873],[0.054072,-0.162308,0.985257]] 2025-10-28T23:39:53.479Z,1761694793.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998518,-0.001220,-0.054411],[0.009805,0.987425,0.157785],[0.053534,-0.158085,0.985973]] 2025-10-28T23:39:53.879Z,1761694793.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998560,-0.000340,-0.053639],[0.008628,0.987978,0.154353],[0.052942,-0.154594,0.986559]] 2025-10-28T23:39:54.313Z,1761694794.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998577,-0.000819,-0.053321],[0.008855,0.988546,0.150660],[0.052587,-0.150918,0.987147]] 2025-10-28T23:39:54.687Z,1761694794.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998581,-0.002307,-0.053204],[0.010139,0.989025,0.147402],[0.052280,-0.147732,0.987645]] 2025-10-28T23:39:55.087Z,1761694795.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998574,-0.004338,-0.053217],[0.012065,0.989245,0.145769],[0.052012,-0.146203,0.987886]] 2025-10-28T23:39:55.492Z,1761694795.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998552,-0.007014,-0.053340],[0.014641,0.989474,0.143965],[0.051769,-0.144537,0.988144]] 2025-10-28T23:39:55.895Z,1761694795.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998542,-0.008715,-0.053263],[0.016347,0.989357,0.144589],[0.051436,-0.145249,0.988057]] 2025-10-28T23:39:56.318Z,1761694796.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998548,-0.009102,-0.053086],[0.016834,0.988982,0.147078],[0.051162,-0.147758,0.987699]] 2025-10-28T23:39:56.703Z,1761694796.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998581,-0.008057,-0.052638],[0.015909,0.988481,0.150508],[0.050819,-0.151132,0.987207]] 2025-10-28T23:39:57.107Z,1761694797.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998620,-0.006021,-0.052179],[0.014011,0.987947,0.154156],[0.050622,-0.154675,0.986668]] 2025-10-28T23:39:57.512Z,1761694797.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998631,-0.003673,-0.052173],[0.011752,0.987781,0.155402],[0.050965,-0.155803,0.986473]] 2025-10-28T23:39:57.917Z,1761694797.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998631,-0.001131,-0.052292],[0.009299,0.987678,0.156223],[0.051471,-0.156496,0.986337]] 2025-10-28T23:39:58.323Z,1761694798.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998652,-0.000017,-0.051899],[0.008105,0.987780,0.155643],[0.051262,-0.155853,0.986449]] 2025-10-28T23:39:58.723Z,1761694798.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998683,-0.000417,-0.051298],[0.008247,0.988264,0.152532],[0.050633,-0.152755,0.986966]] 2025-10-28T23:39:59.127Z,1761694799.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998712,-0.001992,-0.050690],[0.009522,0.988831,0.148736],[0.049827,-0.149028,0.987577]] 2025-10-28T23:39:59.129Z,1761694799.129 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.130Z,1761694799.130 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T23:39:59.131Z,1761694799.131 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.131Z,1761694799.131 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-28T23:39:59.132Z,1761694799.132 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T23:39:59.133Z,1761694799.133 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.134Z,1761694799.134 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.135Z,1761694799.135 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-28T23:39:59.135Z,1761694799.135 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.136Z,1761694799.136 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-28T23:39:59.137Z,1761694799.137 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-28T23:39:59.138Z,1761694799.138 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1. 2025-10-28T23:39:59.143Z,1761694799.143 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62. 2025-10-28T23:39:59.533Z,1761694799.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998733,-0.004204,-0.050140],[0.011424,0.989424,0.144598],[0.049002,-0.144988,0.988219]] 2025-10-28T23:39:59.733Z,1761694799.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:39:59.934Z,1761694799.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998744,-0.006991,-0.049622],[0.013990,0.989747,0.142146],[0.048119,-0.142662,0.988601]] 2025-10-28T23:40:00.338Z,1761694800.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998772,-0.009269,-0.048676],[0.016078,0.989819,0.141419],[0.046869,-0.142028,0.988752]] 2025-10-28T23:40:00.736Z,1761694800.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:40:00.744Z,1761694800.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,-0.011364,-0.047293],[0.018011,0.989616,0.142601],[0.045181,-0.143284,0.988650]] 2025-10-28T23:40:01.149Z,1761694801.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998858,-0.013377,-0.045865],[0.019878,0.989328,0.144345],[0.043445,-0.145092,0.988464]] 2025-10-28T23:40:01.550Z,1761694801.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998917,-0.014640,-0.044161],[0.021026,0.988792,0.147813],[0.041502,-0.148582,0.988029]] 2025-10-28T23:40:01.955Z,1761694801.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998999,-0.014622,-0.042275],[0.020875,0.988237,0.151500],[0.039563,-0.152231,0.987553]] 2025-10-28T23:40:02.360Z,1761694802.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999112,-0.012731,-0.040154],[0.018829,0.987679,0.155357],[0.037681,-0.155975,0.987042]] 2025-10-28T23:40:02.765Z,1761694802.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999232,-0.009519,-0.038014],[0.015413,0.987334,0.157903],[0.036029,-0.158368,0.986723]] 2025-10-28T23:40:03.166Z,1761694803.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999353,-0.005088,-0.035615],[0.010764,0.986888,0.161050],[0.034328,-0.161329,0.986303]] 2025-10-28T23:40:03.570Z,1761694803.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999444,-0.000238,-0.033331],[0.005610,0.986910,0.161175],[0.032856,-0.161272,0.986363]] 2025-10-28T23:40:03.975Z,1761694803.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999503,0.004555,-0.031180],[0.000470,0.987233,0.159284],[0.031508,-0.159220,0.986740]] 2025-10-28T23:40:04.380Z,1761694804.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999542,0.009212,-0.028827],[-0.004589,0.987665,0.156513],[0.029913,-0.156309,0.987255]] 2025-10-28T23:40:04.782Z,1761694804.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999557,0.013149,-0.026685],[-0.008913,0.988173,0.153081],[0.028382,-0.152775,0.987853]] 2025-10-28T23:40:05.186Z,1761694805.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999576,0.014965,-0.024980],[-0.011105,0.988917,0.148053],[0.026919,-0.147713,0.988664]] 2025-10-28T23:40:05.590Z,1761694805.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999618,0.014149,-0.023743],[-0.010612,0.989667,0.142989],[0.025521,-0.142683,0.989439]] 2025-10-28T23:40:05.996Z,1761694805.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999667,0.013037,-0.022270],[-0.009805,0.990176,0.139484],[0.023869,-0.139219,0.989974]] 2025-10-28T23:40:06.398Z,1761694806.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999711,0.011368,-0.021166],[-0.008363,0.990539,0.136975],[0.022523,-0.136758,0.990348]] 2025-10-28T23:40:06.802Z,1761694806.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999751,0.009188,-0.020316],[-0.006346,0.990723,0.135746],[0.021375,-0.135583,0.990535]] 2025-10-28T23:40:07.207Z,1761694807.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999790,0.006927,-0.019303],[-0.004247,0.990756,0.135590],[0.020064,-0.135480,0.990577]] 2025-10-28T23:40:07.612Z,1761694807.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999822,0.004182,-0.018401],[-0.001658,0.990830,0.135105],[0.018797,-0.135051,0.990660]] 2025-10-28T23:40:08.014Z,1761694808.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999850,0.001289,-0.017291],[0.001063,0.990800,0.135333],[0.017306,-0.135331,0.990649]] 2025-10-28T23:40:08.419Z,1761694808.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999870,-0.001630,-0.016069],[0.003832,0.990428,0.137977],[0.015690,-0.138021,0.990305]] 2025-10-28T23:40:08.847Z,1761694808.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999883,-0.003763,-0.014845],[0.005823,0.989947,0.141316],[0.014164,-0.141386,0.989853]] 2025-10-28T23:40:09.228Z,1761694809.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999903,-0.003619,-0.013475],[0.005543,0.989333,0.145565],[0.012804,-0.145626,0.989257]] 2025-10-28T23:40:09.631Z,1761694809.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,-0.001783,-0.012204],[0.003589,0.988742,0.149587],[0.011800,-0.149619,0.988673]] 2025-10-28T23:40:10.034Z,1761694810.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999939,0.001403,-0.010919],[0.000283,0.988241,0.152907],[0.011006,-0.152901,0.988180]] 2025-10-28T23:40:10.439Z,1761694810.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999942,0.005048,-0.009518],[-0.003511,0.987880,0.155178],[0.010186,-0.155135,0.987841]] 2025-10-28T23:40:10.844Z,1761694810.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999921,0.009282,-0.008485],[-0.007847,0.987749,0.155855],[0.009828,-0.155776,0.987744]] 2025-10-28T23:40:11.246Z,1761694811.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999893,0.012807,-0.006994],[-0.011572,0.987922,0.154519],[0.008889,-0.154422,0.987965]] 2025-10-28T23:40:11.651Z,1761694811.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999864,0.015470,-0.005635],[-0.014444,0.988452,0.150846],[0.007904,-0.150744,0.988541]] 2025-10-28T23:40:12.054Z,1761694812.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999855,0.016398,-0.004621],[-0.015536,0.988909,0.147709],[0.006992,-0.147615,0.989020]] 2025-10-28T23:40:12.459Z,1761694812.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999869,0.015733,-0.003713],[-0.015031,0.989371,0.144633],[0.005949,-0.144558,0.989478]] 2025-10-28T23:40:12.864Z,1761694812.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999886,0.014863,-0.002749],[-0.014334,0.990105,0.139594],[0.004796,-0.139538,0.990205]] 2025-10-28T23:40:13.266Z,1761694813.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999912,0.013152,-0.001760],[-0.012789,0.990572,0.136393],[0.003537,-0.136358,0.990653]] 2025-10-28T23:40:13.671Z,1761694813.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999935,0.011398,-0.000884],[-0.011176,0.990833,0.134628],[0.002410,-0.134609,0.990896]] 2025-10-28T23:40:14.075Z,1761694814.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,0.008683,-0.000149],[-0.008586,0.991040,0.133293],[0.001305,-0.133286,0.991077]] 2025-10-28T23:40:14.480Z,1761694814.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,0.005697,0.000508],[-0.005714,0.991038,0.133461],[0.000257,-0.133462,0.991054]] 2025-10-28T23:40:14.883Z,1761694814.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,0.002019,0.000882],[-0.002119,0.990968,0.134085],[-0.000603,-0.134087,0.990969]] 2025-10-28T23:40:15.286Z,1761694815.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,-0.002119,0.001459],[0.001901,0.990697,0.136074],[-0.001734,-0.136071,0.990698]] 2025-10-28T23:40:15.691Z,1761694815.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999976,-0.006647,0.001775],[0.006336,0.990295,0.138839],[-0.002681,-0.138824,0.990313]] 2025-10-28T23:40:16.096Z,1761694816.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999947,-0.010062,0.002179],[0.009651,0.989852,0.141776],[-0.003584,-0.141748,0.989896]] 2025-10-28T23:40:16.499Z,1761694816.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999917,-0.012584,0.002704],[0.012060,0.989394,0.144757],[-0.004497,-0.144712,0.989464]] 2025-10-28T23:40:16.902Z,1761694816.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999898,-0.013887,0.003213],[0.013258,0.988886,0.148080],[-0.005234,-0.148023,0.988970]] 2025-10-28T23:40:17.307Z,1761694817.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999906,-0.013142,0.004026],[0.012383,0.988452,0.151025],[-0.005964,-0.150961,0.988522]] 2025-10-28T23:40:17.710Z,1761694817.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999921,-0.011451,0.005136],[0.010530,0.988158,0.153076],[-0.006828,-0.153010,0.988201]] 2025-10-28T23:40:18.114Z,1761694818.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999951,-0.007589,0.006298],[0.006527,0.988016,0.154215],[-0.007393,-0.154166,0.988017]] 2025-10-28T23:40:18.519Z,1761694818.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,-0.002854,0.007953],[0.001596,0.988073,0.153975],[-0.008297,-0.153957,0.988043]] 2025-10-28T23:40:18.924Z,1761694818.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999950,0.002132,0.009770],[-0.003598,0.988274,0.152650],[-0.009330,-0.152677,0.988232]] 2025-10-28T23:40:19.329Z,1761694819.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999908,0.006839,0.011748],[-0.008518,0.988734,0.149443],[-0.010594,-0.149529,0.988701]] 2025-10-28T23:40:19.731Z,1761694819.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999848,0.010612,0.013851],[-0.012530,0.989104,0.146685],[-0.012144,-0.146836,0.989086]] 2025-10-28T23:40:20.135Z,1761694820.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999804,0.012062,0.015709],[-0.014181,0.989673,0.142638],[-0.013826,-0.142832,0.989650]] 2025-10-28T23:40:20.539Z,1761694820.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999771,0.012544,0.017366],[-0.014854,0.990040,0.140000],[-0.015437,-0.140226,0.989999]] 2025-10-28T23:40:20.946Z,1761694820.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999744,0.012823,0.018661],[-0.015263,0.990443,0.137076],[-0.016725,-0.137325,0.990385]] 2025-10-28T23:40:21.346Z,1761694821.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999735,0.012111,0.019556],[-0.014638,0.990777,0.134708],[-0.017745,-0.134958,0.990692]] 2025-10-28T23:40:21.750Z,1761694821.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999731,0.011203,0.020286],[-0.013799,0.991057,0.132722],[-0.018617,-0.132966,0.990946]] 2025-10-28T23:40:22.162Z,1761694822.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999728,0.010267,0.020958],[-0.012949,0.991149,0.132125],[-0.019416,-0.132360,0.991012]] 2025-10-28T23:40:22.560Z,1761694822.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999738,0.008403,0.021308],[-0.011107,0.991432,0.130150],[-0.020032,-0.130353,0.991265]] 2025-10-28T23:40:22.963Z,1761694822.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999749,0.005974,0.021613],[-0.008703,0.991676,0.128462],[-0.020666,-0.128618,0.991479]] 2025-10-28T23:40:23.367Z,1761694823.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999765,0.003066,0.021446],[-0.005813,0.991600,0.129208],[-0.020870,-0.129302,0.991386]] 2025-10-28T23:40:23.771Z,1761694823.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999778,-0.000006,0.021062],[-0.002717,0.991610,0.129238],[-0.020886,-0.129266,0.991390]] 2025-10-28T23:40:24.175Z,1761694824.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999771,-0.003567,0.021084],[0.000814,0.991623,0.129162],[-0.021368,-0.129115,0.991399]] 2025-10-28T23:40:24.580Z,1761694824.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999755,-0.007391,0.020844],[0.004616,0.991485,0.130140],[-0.021629,-0.130012,0.991276]] 2025-10-28T23:40:24.983Z,1761694824.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999722,-0.011496,0.020602],[0.008694,0.991309,0.131270],[-0.021932,-0.131054,0.991133]] 2025-10-28T23:40:25.387Z,1761694825.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,-0.015556,0.020324],[0.012697,0.990909,0.133934],[-0.022223,-0.133632,0.990782]] 2025-10-28T23:40:25.791Z,1761694825.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999620,-0.018605,0.020322],[0.015672,0.990581,0.136030],[-0.022661,-0.135660,0.990496]] 2025-10-28T23:40:26.194Z,1761694826.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999560,-0.021462,0.020463],[0.018428,0.990209,0.138372],[-0.023232,-0.137934,0.990169]] 2025-10-28T23:40:26.598Z,1761694826.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999496,-0.024112,0.020648],[0.020970,0.989813,0.140818],[-0.023833,-0.140314,0.989820]] 2025-10-28T23:40:27.004Z,1761694827.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999468,-0.024972,0.020992],[0.021696,0.989345,0.143962],[-0.024364,-0.143430,0.989361]] 2025-10-28T23:40:27.408Z,1761694827.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999481,-0.024083,0.021400],[0.020709,0.989087,0.145871],[-0.024679,-0.145352,0.989072]] 2025-10-28T23:40:27.810Z,1761694827.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999510,-0.022363,0.021915],[0.018886,0.988848,0.147723],[-0.024974,-0.147237,0.988786]] 2025-10-28T23:40:28.214Z,1761694828.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999561,-0.019361,0.022410],[0.015783,0.988548,0.150077],[-0.025059,-0.149657,0.988420]] 2025-10-28T23:40:28.618Z,1761694828.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999619,-0.015558,0.022792],[0.011952,0.988530,0.150549],[-0.024873,-0.150220,0.988340]] 2025-10-28T23:40:29.024Z,1761694829.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999664,-0.011207,0.023367],[0.007589,0.988728,0.149533],[-0.024779,-0.149306,0.988481]] 2025-10-28T23:40:29.426Z,1761694829.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999687,-0.007256,0.023945],[0.003648,0.989069,0.147408],[-0.024753,-0.147274,0.988786]] 2025-10-28T23:40:29.830Z,1761694829.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999693,-0.003577,0.024514],[-0.000047,0.989248,0.146247],[-0.024773,-0.146203,0.988944]] 2025-10-28T23:40:30.239Z,1761694830.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999681,-0.000076,0.025243],[-0.003552,0.989621,0.143661],[-0.024992,-0.143704,0.989305]] 2025-10-28T23:40:30.640Z,1761694830.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999661,0.002622,0.025889],[-0.006258,0.989937,0.141368],[-0.025258,-0.141482,0.989619]] 2025-10-28T23:40:30.857Z,1761694830.857 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:40:31.044Z,1761694831.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999640,0.004314,0.026481],[-0.007977,0.990143,0.139836],[-0.025616,-0.139997,0.989821]] 2025-10-28T23:40:31.446Z,1761694831.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999619,0.005148,0.027124],[-0.008848,0.990380,0.138091],[-0.026152,-0.138278,0.990048]] 2025-10-28T23:40:31.850Z,1761694831.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999595,0.005170,0.027977],[-0.008905,0.990797,0.135062],[-0.027022,-0.135256,0.990442]] 2025-10-28T23:40:31.860Z,1761694831.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:40:32.277Z,1761694832.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999575,0.004124,0.028872],[-0.007906,0.991197,0.132157],[-0.028073,-0.132329,0.990808]] 2025-10-28T23:40:32.658Z,1761694832.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999554,0.002261,0.029766],[-0.006106,0.991533,0.129713],[-0.029221,-0.129837,0.991105]] 2025-10-28T23:40:33.062Z,1761694833.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999539,-0.000195,0.030357],[-0.003687,0.991797,0.127771],[-0.030133,-0.127824,0.991339]] 2025-10-28T23:40:33.467Z,1761694833.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999523,-0.003435,0.030699],[-0.000453,0.992062,0.125752],[-0.030887,-0.125706,0.991587]] 2025-10-28T23:40:33.877Z,1761694833.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999508,-0.007280,0.030510],[0.003378,0.992020,0.126039],[-0.031184,-0.125874,0.991556]] 2025-10-28T23:40:34.308Z,1761694834.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999477,-0.011613,0.030170],[0.007658,0.991739,0.128041],[-0.031408,-0.127743,0.991310]] 2025-10-28T23:40:34.678Z,1761694834.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999429,-0.016115,0.029692],[0.012105,0.991360,0.130609],[-0.031540,-0.130175,0.990989]] 2025-10-28T23:40:35.082Z,1761694835.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,-0.019471,0.029147],[0.015440,0.991047,0.132617],[-0.031468,-0.132085,0.990739]] 2025-10-28T23:40:35.488Z,1761694835.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999359,-0.021539,0.028605],[0.017472,0.990623,0.135499],[-0.031255,-0.134912,0.990364]] 2025-10-28T23:40:35.893Z,1761694835.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999354,-0.022351,0.028134],[0.018223,0.990085,0.139285],[-0.030968,-0.138682,0.989853]] 2025-10-28T23:40:36.323Z,1761694836.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999361,-0.021170,0.028790],[0.016780,0.989295,0.144960],[-0.031551,-0.144384,0.989019]] 2025-10-28T23:40:37.102Z,1761694837.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999360,-0.019935,0.029714],[0.015413,0.989266,0.145312],[-0.032291,-0.144761,0.988940]] 2025-10-28T23:40:37.508Z,1761694837.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999357,-0.018702,0.030586],[0.014057,0.989245,0.145591],[-0.032980,-0.145067,0.988872]] 2025-10-28T23:40:37.911Z,1761694837.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999360,-0.017157,0.031388],[0.012400,0.989220,0.145911],[-0.033553,-0.145428,0.988800]] 2025-10-28T23:40:38.327Z,1761694838.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999308,-0.017693,0.032718],[0.012862,0.989727,0.142390],[-0.034901,-0.141871,0.989270]] 2025-10-28T23:40:38.723Z,1761694838.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999274,-0.018866,0.033100],[0.014009,0.989872,0.141272],[-0.035430,-0.140706,0.989417]] 2025-10-28T23:40:39.130Z,1761694839.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999228,-0.020342,0.033595],[0.015446,0.990020,0.140078],[-0.036109,-0.139451,0.989570]] 2025-10-28T23:40:39.531Z,1761694839.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999188,-0.021705,0.033954],[0.016781,0.990134,0.139115],[-0.036639,-0.138432,0.989694]] 2025-10-28T23:40:39.935Z,1761694839.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999160,-0.022524,0.034239],[0.017497,0.989911,0.140602],[-0.037061,-0.139885,0.989474]] 2025-10-28T23:40:40.337Z,1761694840.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999150,-0.022951,0.034256],[0.017922,0.989922,0.140479],[-0.037134,-0.139745,0.989491]] 2025-10-28T23:40:40.740Z,1761694840.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999177,-0.022084,0.034029],[0.017025,0.989669,0.142357],[-0.036822,-0.141660,0.989230]] 2025-10-28T23:40:41.143Z,1761694841.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999205,-0.020574,0.034157],[0.015458,0.989486,0.143799],[-0.036757,-0.143157,0.989017]] 2025-10-28T23:40:41.546Z,1761694841.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999232,-0.018898,0.034316],[0.013687,0.989161,0.146194],[-0.036707,-0.145612,0.988661]] 2025-10-28T23:40:41.950Z,1761694841.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999256,-0.016743,0.034740],[0.011495,0.989202,0.146108],[-0.036811,-0.145600,0.988658]] 2025-10-28T23:40:42.356Z,1761694842.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999263,-0.015092,0.035296],[0.009771,0.989185,0.146347],[-0.037123,-0.145894,0.988603]] 2025-10-28T23:40:42.758Z,1761694842.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999273,-0.013451,0.035663],[0.008141,0.989391,0.145046],[-0.037236,-0.144650,0.988782]] 2025-10-28T23:40:43.162Z,1761694843.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.012772,0.036267],[0.007425,0.989560,0.143930],[-0.037727,-0.143555,0.988923]] 2025-10-28T23:40:43.567Z,1761694843.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999240,-0.012507,0.036912],[0.007148,0.989855,0.141901],[-0.038312,-0.141529,0.989192]] 2025-10-28T23:40:43.971Z,1761694843.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999209,-0.013391,0.037431],[0.008036,0.990161,0.139700],[-0.038933,-0.139289,0.989486]] 2025-10-28T23:40:44.376Z,1761694844.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999177,-0.014942,0.037711],[0.009587,0.990334,0.138371],[-0.039414,-0.137896,0.989662]] 2025-10-28T23:40:44.778Z,1761694844.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999133,-0.017145,0.037929],[0.011807,0.990537,0.136735],[-0.039915,-0.136168,0.989881]] 2025-10-28T23:40:45.183Z,1761694845.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999077,-0.019965,0.038037],[0.014651,0.990713,0.135180],[-0.040383,-0.134498,0.990091]] 2025-10-28T23:40:45.586Z,1761694845.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999012,-0.023100,0.037961],[0.017736,0.990546,0.136027],[-0.040744,-0.135219,0.989978]] 2025-10-28T23:40:45.990Z,1761694845.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998941,-0.026462,0.037649],[0.021003,0.990117,0.138660],[-0.040946,-0.137723,0.989624]] 2025-10-28T23:40:46.394Z,1761694846.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998884,-0.029195,0.037131],[0.023750,0.989942,0.139466],[-0.040829,-0.138428,0.989531]] 2025-10-28T23:40:46.798Z,1761694846.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998823,-0.031616,0.036784],[0.026124,0.989635,0.141212],[-0.040868,-0.140085,0.989296]] 2025-10-28T23:40:47.203Z,1761694847.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998813,-0.032439,0.036333],[0.026842,0.989046,0.145149],[-0.040643,-0.144001,0.988743]] 2025-10-28T23:40:47.607Z,1761694847.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998842,-0.031713,0.036186],[0.026085,0.988852,0.146598],[-0.040431,-0.145484,0.988534]] 2025-10-28T23:40:48.010Z,1761694848.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998908,-0.029499,0.036236],[0.023766,0.988468,0.149552],[-0.040230,-0.148527,0.988090]] 2025-10-28T23:40:48.414Z,1761694848.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998990,-0.025964,0.036667],[0.020119,0.988233,0.151630],[-0.040172,-0.150740,0.987757]] 2025-10-28T23:40:48.818Z,1761694848.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999062,-0.022059,0.037267],[0.016115,0.988115,0.152872],[-0.040196,-0.152128,0.987543]] 2025-10-28T23:40:49.224Z,1761694849.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999091,-0.018723,0.038295],[0.012713,0.988366,0.151560],[-0.040687,-0.150935,0.987706]] 2025-10-28T23:40:49.626Z,1761694849.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999098,-0.015709,0.039455],[0.009632,0.988681,0.149722],[-0.041360,-0.149207,0.987941]] 2025-10-28T23:40:50.030Z,1761694850.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999089,-0.013140,0.040594],[0.007075,0.989245,0.146098],[-0.042077,-0.145678,0.988437]] 2025-10-28T23:40:50.435Z,1761694850.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999067,-0.011548,0.041603],[0.005543,0.989900,0.141658],[-0.042818,-0.141295,0.989041]] 2025-10-28T23:40:50.841Z,1761694850.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999035,-0.010873,0.042542],[0.004869,0.990313,0.138771],[-0.043639,-0.138430,0.989410]] 2025-10-28T23:40:51.243Z,1761694851.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,-0.011663,0.042967],[0.005734,0.990747,0.135600],[-0.044150,-0.135219,0.989832]] 2025-10-28T23:40:51.647Z,1761694851.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998984,-0.014514,0.042663],[0.008766,0.991219,0.131938],[-0.044204,-0.131430,0.990339]] 2025-10-28T23:40:52.051Z,1761694852.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998965,-0.018074,0.041737],[0.012504,0.991427,0.130060],[-0.043730,-0.129403,0.990627]] 2025-10-28T23:40:52.455Z,1761694852.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998946,-0.021713,0.040451],[0.016270,0.991336,0.130340],[-0.042931,-0.129544,0.990644]] 2025-10-28T23:40:52.860Z,1761694852.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998928,-0.024797,0.039084],[0.019432,0.991044,0.132113],[-0.042010,-0.131212,0.990464]] 2025-10-28T23:40:53.263Z,1761694853.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998916,-0.027381,0.037641],[0.022036,0.990502,0.135720],[-0.041000,-0.134743,0.990032]] 2025-10-28T23:40:53.666Z,1761694853.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998886,-0.030467,0.036035],[0.025119,0.989758,0.140527],[-0.039947,-0.139465,0.989421]] 2025-10-28T23:40:54.071Z,1761694854.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998837,-0.033670,0.034503],[0.028308,0.988944,0.145561],[-0.039022,-0.144415,0.988747]] 2025-10-28T23:40:54.476Z,1761694854.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998776,-0.036754,0.033091],[0.031336,0.987959,0.151512],[-0.038261,-0.150290,0.987901]] 2025-10-28T23:40:54.878Z,1761694854.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998691,-0.039977,0.031895],[0.034465,0.986876,0.157759],[-0.037783,-0.156453,0.986962]] 2025-10-28T23:40:55.282Z,1761694855.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998609,-0.042672,0.030973],[0.037110,0.986082,0.162067],[-0.037457,-0.160692,0.986294]] 2025-10-28T23:40:55.687Z,1761694855.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998582,-0.043716,0.030365],[0.038092,0.985395,0.165966],[-0.037177,-0.164574,0.985664]] 2025-10-28T23:40:56.092Z,1761694856.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998666,-0.042072,0.029948],[0.036439,0.985003,0.168644],[-0.036594,-0.167328,0.985222]] 2025-10-28T23:40:56.495Z,1761694856.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998829,-0.038341,0.029509],[0.032762,0.984791,0.170627],[-0.035602,-0.169460,0.984894]] 2025-10-28T23:40:56.899Z,1761694856.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999017,-0.033027,0.029579],[0.027504,0.984922,0.170796],[-0.034774,-0.169815,0.984862]] 2025-10-28T23:40:57.303Z,1761694857.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999188,-0.027238,0.029672],[0.021853,0.985427,0.168691],[-0.033834,-0.167906,0.985222]] 2025-10-28T23:40:57.708Z,1761694857.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999316,-0.021835,0.029842],[0.016618,0.986144,0.165056],[-0.033033,-0.164448,0.985833]] 2025-10-28T23:40:58.110Z,1761694858.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999411,-0.016977,0.029816],[0.011984,0.986996,0.160299],[-0.032150,-0.159847,0.986618]] 2025-10-28T23:40:58.516Z,1761694858.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999472,-0.013350,0.029617],[0.008628,0.988004,0.154189],[-0.031320,-0.153852,0.987597]] 2025-10-28T23:40:58.918Z,1761694858.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999509,-0.011681,0.029058],[0.007228,0.988826,0.148899],[-0.030472,-0.148616,0.988425]] 2025-10-28T23:40:59.323Z,1761694859.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999520,-0.012020,0.028547],[0.007801,0.989611,0.143561],[-0.029976,-0.143269,0.989230]] 2025-10-28T23:40:59.727Z,1761694859.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999519,-0.013553,0.027906],[0.009547,0.990249,0.138980],[-0.029518,-0.138646,0.989902]] 2025-10-28T23:41:00.130Z,1761694860.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999505,-0.015738,0.027243],[0.011922,0.990782,0.134939],[-0.029116,-0.134547,0.990479]] 2025-10-28T23:41:00.536Z,1761694860.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999467,-0.019221,0.026374],[0.015568,0.991084,0.132326],[-0.028682,-0.131845,0.990855]] 2025-10-28T23:41:00.939Z,1761694860.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,-0.022777,0.025810],[0.019199,0.991162,0.131258],[-0.028571,-0.130685,0.991012]] 2025-10-28T23:41:01.343Z,1761694861.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.026218,0.025551],[0.022662,0.991163,0.130702],[-0.028751,-0.130035,0.991092]] 2025-10-28T23:41:01.747Z,1761694861.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999241,-0.029577,0.025344],[0.025952,0.990774,0.133016],[-0.029044,-0.132257,0.990790]] 2025-10-28T23:41:01.988Z,1761694861.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:41:02.151Z,1761694862.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999106,-0.033706,0.025503],[0.029940,0.990275,0.135864],[-0.029835,-0.134979,0.990399]] 2025-10-28T23:41:02.556Z,1761694862.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998942,-0.038111,0.025748],[0.034231,0.989947,0.137235],[-0.030720,-0.136208,0.990204]] 2025-10-28T23:41:02.960Z,1761694862.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998762,-0.042325,0.026152],[0.038339,0.989743,0.137619],[-0.031708,-0.136446,0.990140]] 2025-10-28T23:41:02.992Z,1761694862.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:41:03.363Z,1761694863.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998615,-0.045549,0.026351],[0.041435,0.989307,0.139835],[-0.032438,-0.138549,0.989824]] 2025-10-28T23:41:03.766Z,1761694863.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998598,-0.045763,0.026607],[0.041553,0.989054,0.141583],[-0.032795,-0.140279,0.989569]] 2025-10-28T23:41:04.171Z,1761694864.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998655,-0.044310,0.026919],[0.040025,0.988918,0.142964],[-0.032955,-0.141694,0.989362]] 2025-10-28T23:41:04.579Z,1761694864.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998769,-0.041698,0.026860],[0.037364,0.988657,0.145470],[-0.032621,-0.144288,0.988998]] 2025-10-28T23:41:04.979Z,1761694864.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998924,-0.038068,0.026484],[0.033787,0.988612,0.146644],[-0.031765,-0.145591,0.988835]] 2025-10-28T23:41:05.388Z,1761694865.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999096,-0.033851,0.025722],[0.029747,0.988847,0.145932],[-0.030376,-0.145035,0.988960]] 2025-10-28T23:41:05.791Z,1761694865.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999256,-0.029832,0.024457],[0.025968,0.989033,0.145396],[-0.028526,-0.144653,0.989071]] 2025-10-28T23:41:06.196Z,1761694866.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999386,-0.026426,0.023005],[0.022813,0.989141,0.145187],[-0.026592,-0.144573,0.989137]] 2025-10-28T23:41:06.599Z,1761694866.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,-0.023633,0.021273],[0.020281,0.989086,0.145936],[-0.024490,-0.145431,0.989065]] 2025-10-28T23:41:07.002Z,1761694867.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999592,-0.020721,0.019663],[0.017637,0.989163,0.145762],[-0.022471,-0.145355,0.989124]] 2025-10-28T23:41:07.407Z,1761694867.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999660,-0.018637,0.018251],[0.015814,0.989426,0.144174],[-0.020745,-0.143837,0.989384]] 2025-10-28T23:41:07.812Z,1761694867.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999704,-0.017482,0.016922],[0.014884,0.989600,0.143073],[-0.019247,-0.142779,0.989567]] 2025-10-28T23:41:08.214Z,1761694868.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999730,-0.016960,0.015905],[0.014533,0.989768,0.141947],[-0.018150,-0.141677,0.989746]] 2025-10-28T23:41:08.619Z,1761694868.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999746,-0.016669,0.015166],[0.014340,0.989691,0.142501],[-0.017385,-0.142247,0.989678]] 2025-10-28T23:41:09.023Z,1761694869.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999745,-0.017253,0.014546],[0.015035,0.989924,0.140796],[-0.016829,-0.140541,0.989932]] 2025-10-28T23:41:09.428Z,1761694869.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999739,-0.018243,0.013761],[0.016118,0.989839,0.141277],[-0.016199,-0.141019,0.989874]] 2025-10-28T23:41:09.830Z,1761694869.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999702,-0.020383,0.013425],[0.018302,0.989953,0.140204],[-0.016148,-0.139917,0.990032]] 2025-10-28T23:41:10.238Z,1761694870.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999661,-0.022847,0.012492],[0.020869,0.989882,0.140352],[-0.015572,-0.140044,0.990023]] 2025-10-28T23:41:10.639Z,1761694870.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999596,-0.025880,0.011745],[0.023995,0.989963,0.139274],[-0.015232,-0.138936,0.990184]] 2025-10-28T23:41:11.044Z,1761694871.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999515,-0.029140,0.010942],[0.027362,0.990134,0.137427],[-0.014839,-0.137061,0.990451]] 2025-10-28T23:41:11.447Z,1761694871.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999435,-0.032164,0.009708],[0.030527,0.990047,0.137384],[-0.014031,-0.137010,0.990470]] 2025-10-28T23:41:11.851Z,1761694871.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999344,-0.035202,0.008561],[0.033683,0.989838,0.138150],[-0.013337,-0.137771,0.990374]] 2025-10-28T23:41:12.278Z,1761694872.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999278,-0.037282,0.007367],[0.035895,0.989609,0.139229],[-0.012481,-0.138864,0.990233]] 2025-10-28T23:41:12.659Z,1761694872.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.038886,0.006360],[0.037590,0.989152,0.142007],[-0.011813,-0.141658,0.989845]] 2025-10-28T23:41:13.063Z,1761694873.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999246,-0.038411,0.005669],[0.037196,0.988878,0.143999],[-0.011137,-0.143680,0.989562]] 2025-10-28T23:41:13.468Z,1761694873.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999317,-0.036615,0.004969],[0.035493,0.988583,0.146438],[-0.010274,-0.146162,0.989207]] 2025-10-28T23:41:13.900Z,1761694873.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999409,-0.034056,0.004558],[0.032990,0.988165,0.149805],[-0.009606,-0.149566,0.988705]] 2025-10-28T23:41:14.307Z,1761694874.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999527,-0.030426,0.004584],[0.029375,0.987922,0.152143],[-0.009157,-0.151936,0.988348]] 2025-10-28T23:41:14.678Z,1761694874.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999661,-0.025624,0.004655],[0.024604,0.987813,0.153686],[-0.008536,-0.153519,0.988109]] 2025-10-28T23:41:15.084Z,1761694875.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999788,-0.020038,0.004843],[0.019054,0.987896,0.153942],[-0.007869,-0.153817,0.988068]] 2025-10-28T23:41:15.487Z,1761694875.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999877,-0.014899,0.004964],[0.013972,0.988287,0.151963],[-0.007170,-0.151875,0.988374]] 2025-10-28T23:41:15.890Z,1761694875.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999940,-0.009845,0.004909],[0.009010,0.988937,0.148061],[-0.006312,-0.148008,0.988966]] 2025-10-28T23:41:16.314Z,1761694876.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999978,-0.004780,0.004620],[0.004063,0.989508,0.144422],[-0.005262,-0.144400,0.989505]] 2025-10-28T23:41:16.700Z,1761694876.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999992,-0.000588,0.003948],[0.000027,0.990049,0.140726],[-0.003991,-0.140725,0.990041]] 2025-10-28T23:41:17.102Z,1761694877.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,-0.000772,0.002641],[0.000410,0.990891,0.134667],[-0.002721,-0.134665,0.990887]] 2025-10-28T23:41:17.507Z,1761694877.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999992,-0.003777,0.001071],[0.003608,0.991746,0.128166],[-0.001546,-0.128161,0.991752]] 2025-10-28T23:41:17.911Z,1761694877.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999966,-0.008211,-0.000682],[0.008233,0.992415,0.122657],[-0.000330,-0.122659,0.992449]] 2025-10-28T23:41:18.321Z,1761694878.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999905,-0.013511,-0.002605],[0.013725,0.992807,0.118935],[0.000979,-0.118959,0.992899]] 2025-10-28T23:41:18.721Z,1761694878.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,-0.019144,-0.004532],[0.019544,0.992899,0.117344],[0.002254,-0.117410,0.993081]] 2025-10-28T23:41:19.122Z,1761694879.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,-0.024820,-0.006335],[0.025399,0.992533,0.119302],[0.003327,-0.119423,0.992838]] 2025-10-28T23:41:19.526Z,1761694879.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999486,-0.031082,-0.007819],[0.031807,0.991948,0.122587],[0.003945,-0.122773,0.992427]] 2025-10-28T23:41:19.930Z,1761694879.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999285,-0.036810,-0.008623],[0.037604,0.991290,0.126216],[0.003902,-0.126450,0.991965]] 2025-10-28T23:41:20.336Z,1761694880.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999033,-0.042946,-0.009452],[0.043808,0.990635,0.129315],[0.003810,-0.129604,0.991559]] 2025-10-28T23:41:20.739Z,1761694880.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998735,-0.049187,-0.010416],[0.050131,0.990040,0.131557],[0.003841,-0.131913,0.991254]] 2025-10-28T23:41:21.143Z,1761694881.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998534,-0.052912,-0.011400],[0.053964,0.989510,0.134009],[0.004189,-0.134428,0.990915]] 2025-10-28T23:41:21.546Z,1761694881.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998510,-0.053167,-0.012270],[0.054345,0.989168,0.136355],[0.004888,-0.136819,0.990584]] 2025-10-28T23:41:21.951Z,1761694881.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998598,-0.051255,-0.013252],[0.052603,0.988863,0.139225],[0.005969,-0.139726,0.990172]] 2025-10-28T23:41:22.354Z,1761694882.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998733,-0.048371,-0.013850],[0.049835,0.988913,0.139883],[0.006930,-0.140396,0.990071]] 2025-10-28T23:41:22.758Z,1761694882.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998826,-0.046166,-0.014673],[0.047763,0.989100,0.139285],[0.008083,-0.139822,0.990144]] 2025-10-28T23:41:23.166Z,1761694883.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998885,-0.044518,-0.015686],[0.046271,0.989189,0.139157],[0.009321,-0.139727,0.990146]] 2025-10-28T23:41:23.574Z,1761694883.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998915,-0.043391,-0.016931],[0.045316,0.989410,0.137892],[0.010768,-0.138510,0.990302]] 2025-10-28T23:41:23.978Z,1761694883.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998900,-0.043484,-0.017525],[0.045487,0.989431,0.137686],[0.011353,-0.138332,0.990321]] 2025-10-28T23:41:24.380Z,1761694884.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998853,-0.044214,-0.018361],[0.046314,0.989530,0.136697],[0.012124,-0.137390,0.990443]] 2025-10-28T23:41:24.783Z,1761694884.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998839,-0.044283,-0.018966],[0.046461,0.989576,0.136313],[0.012732,-0.137036,0.990484]] 2025-10-28T23:41:25.185Z,1761694885.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998883,-0.043112,-0.019341],[0.045360,0.989538,0.136958],[0.013234,-0.137683,0.990388]] 2025-10-28T23:41:25.588Z,1761694885.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998958,-0.041376,-0.019266],[0.043634,0.989585,0.137181],[0.013389,-0.137879,0.990359]] 2025-10-28T23:41:25.990Z,1761694885.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999063,-0.039052,-0.018655],[0.041271,0.989434,0.138989],[0.013030,-0.139628,0.990118]] 2025-10-28T23:41:26.394Z,1761694886.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999171,-0.036775,-0.017489],[0.038855,0.989513,0.139119],[0.012189,-0.139683,0.990121]] 2025-10-28T23:41:26.798Z,1761694886.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999267,-0.034717,-0.016130],[0.036611,0.989793,0.137728],[0.011183,-0.138218,0.990339]] 2025-10-28T23:41:27.204Z,1761694887.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999314,-0.034002,-0.014703],[0.035671,0.990303,0.134269],[0.009995,-0.134701,0.990836]] 2025-10-28T23:41:27.607Z,1761694887.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999317,-0.034495,-0.013220],[0.035916,0.990970,0.129186],[0.008644,-0.129573,0.991532]] 2025-10-28T23:41:28.011Z,1761694888.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999286,-0.035909,-0.011767],[0.037108,0.991324,0.126096],[0.007136,-0.126442,0.991948]] 2025-10-28T23:41:28.414Z,1761694888.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999214,-0.038133,-0.010808],[0.039177,0.991571,0.123497],[0.006007,-0.123823,0.992286]] 2025-10-28T23:41:28.820Z,1761694888.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999082,-0.041573,-0.010291],[0.042519,0.991611,0.122062],[0.005130,-0.122388,0.992469]] 2025-10-28T23:41:29.222Z,1761694889.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998909,-0.045602,-0.010067],[0.046496,0.991290,0.123219],[0.004361,-0.123553,0.992328]] 2025-10-28T23:41:29.626Z,1761694889.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998677,-0.050349,-0.010440],[0.051258,0.990898,0.124476],[0.004078,-0.124847,0.992168]] 2025-10-28T23:41:30.032Z,1761694890.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998403,-0.055337,-0.011395],[0.056331,0.990491,0.125519],[0.004341,-0.125961,0.992026]] 2025-10-28T23:41:30.437Z,1761694890.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998078,-0.060541,-0.013250],[0.061735,0.990002,0.126825],[0.005440,-0.127399,0.991837]] 2025-10-28T23:41:30.840Z,1761694890.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997739,-0.065271,-0.016047],[0.066794,0.989497,0.128193],[0.007512,-0.128974,0.991619]] 2025-10-28T23:41:31.243Z,1761694891.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997441,-0.068804,-0.019442],[0.070738,0.989196,0.128400],[0.010398,-0.129447,0.991532]] 2025-10-28T23:41:31.646Z,1761694891.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997138,-0.071935,-0.023254],[0.074357,0.988741,0.129856],[0.013651,-0.131213,0.991260]] 2025-10-28T23:41:32.055Z,1761694892.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996852,-0.074533,-0.027041],[0.077458,0.988301,0.131384],[0.016932,-0.133065,0.990963]] 2025-10-28T23:41:32.455Z,1761694892.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996617,-0.075989,-0.031311],[0.079502,0.987939,0.132876],[0.020836,-0.134916,0.990638]] 2025-10-28T23:41:32.858Z,1761694892.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996388,-0.077249,-0.035274],[0.081329,0.987561,0.134572],[0.024439,-0.136954,0.990276]] 2025-10-28T23:41:33.112Z,1761694893.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:41:33.263Z,1761694893.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996299,-0.076726,-0.038755],[0.081363,0.987192,0.137229],[0.027730,-0.139874,0.989781]] 2025-10-28T23:41:33.667Z,1761694893.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996319,-0.074746,-0.041963],[0.079980,0.986724,0.141351],[0.030840,-0.144187,0.989070]] 2025-10-28T23:41:34.073Z,1761694894.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996475,-0.071109,-0.044518],[0.076913,0.986252,0.146255],[0.033506,-0.149163,0.988245]] 2025-10-28T23:41:34.116Z,1761694894.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:41:34.475Z,1761694894.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996700,-0.066686,-0.046287],[0.072924,0.986042,0.149676],[0.035659,-0.152557,0.987651]] 2025-10-28T23:41:34.879Z,1761694894.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996996,-0.061343,-0.047285],[0.067856,0.986140,0.151407],[0.037342,-0.154160,0.987340]] 2025-10-28T23:41:35.282Z,1761694895.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997266,-0.056404,-0.047741],[0.063074,0.986329,0.152242],[0.038501,-0.154837,0.987190]] 2025-10-28T23:41:35.688Z,1761694895.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997525,-0.051443,-0.047936],[0.058230,0.986499,0.153066],[0.039415,-0.155479,0.987053]] 2025-10-28T23:41:36.090Z,1761694896.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997748,-0.046982,-0.047870],[0.053770,0.986894,0.152149],[0.040094,-0.154380,0.987198]] 2025-10-28T23:41:36.495Z,1761694896.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997862,-0.044391,-0.047961],[0.051108,0.987456,0.149391],[0.040728,-0.151523,0.987614]] 2025-10-28T23:41:36.898Z,1761694896.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997914,-0.043050,-0.048104],[0.049738,0.987762,0.147825],[0.041151,-0.149909,0.987843]] 2025-10-28T23:41:37.304Z,1761694897.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997874,-0.043327,-0.048690],[0.049938,0.988320,0.143978],[0.041883,-0.146103,0.988382]] 2025-10-28T23:41:37.707Z,1761694897.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997744,-0.045290,-0.049566],[0.051860,0.988721,0.140504],[0.042644,-0.142757,0.988839]] 2025-10-28T23:41:38.111Z,1761694898.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997592,-0.047449,-0.050581],[0.054008,0.989044,0.137387],[0.043508,-0.139788,0.989225]] 2025-10-28T23:41:38.515Z,1761694898.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997452,-0.049362,-0.051511],[0.055960,0.989168,0.135704],[0.044254,-0.138240,0.989409]] 2025-10-28T23:41:38.922Z,1761694898.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997278,-0.051645,-0.052633],[0.058285,0.989316,0.133626],[0.045169,-0.136330,0.989633]] 2025-10-28T23:41:39.322Z,1761694899.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997005,-0.054887,-0.054484],[0.061698,0.989272,0.132417],[0.046631,-0.135382,0.989695]] 2025-10-28T23:41:39.727Z,1761694899.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996705,-0.058049,-0.056643],[0.065023,0.989343,0.130274],[0.048478,-0.133528,0.989859]] 2025-10-28T23:41:40.130Z,1761694900.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996401,-0.061368,-0.058476],[0.068394,0.989554,0.126908],[0.050077,-0.130451,0.990189]] 2025-10-28T23:41:40.535Z,1761694900.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996098,-0.064422,-0.060322],[0.071646,0.989379,0.126474],[0.051534,-0.130302,0.990134]] 2025-10-28T23:41:40.940Z,1761694900.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995826,-0.067043,-0.061938],[0.074458,0.989179,0.126417],[0.052792,-0.130501,0.990042]] 2025-10-28T23:41:41.343Z,1761694901.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995593,-0.069269,-0.063222],[0.076981,0.988646,0.129050],[0.053565,-0.133348,0.989621]] 2025-10-28T23:41:41.746Z,1761694901.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995414,-0.070529,-0.064626],[0.078667,0.987917,0.133536],[0.054427,-0.138008,0.988935]] 2025-10-28T23:41:42.153Z,1761694902.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995352,-0.070098,-0.066041],[0.078791,0.987034,0.139844],[0.055382,-0.144397,0.987969]] 2025-10-28T23:41:42.556Z,1761694902.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995398,-0.068193,-0.067327],[0.077390,0.986386,0.145096],[0.056516,-0.149638,0.987124]] 2025-10-28T23:41:42.958Z,1761694902.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995509,-0.065343,-0.068495],[0.075004,0.985899,0.149588],[0.057755,-0.154054,0.986373]] 2025-10-28T23:41:43.362Z,1761694903.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995680,-0.061444,-0.069614],[0.071519,0.985641,0.152958],[0.059216,-0.157276,0.985778]] 2025-10-28T23:41:43.767Z,1761694903.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995813,-0.057507,-0.071063],[0.067998,0.985517,0.155349],[0.061100,-0.159531,0.985300]] 2025-10-28T23:41:44.173Z,1761694904.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995939,-0.053181,-0.072650],[0.063996,0.985725,0.155728],[0.063331,-0.159745,0.985125]] 2025-10-28T23:41:44.575Z,1761694904.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996003,-0.049482,-0.074363],[0.060498,0.986208,0.154060],[0.065715,-0.157944,0.985259]] 2025-10-28T23:41:44.979Z,1761694904.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996018,-0.046318,-0.076180],[0.057490,0.986753,0.151702],[0.068144,-0.155477,0.985486]] 2025-10-28T23:41:45.382Z,1761694905.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995929,-0.045072,-0.078057],[0.056216,0.987532,0.147039],[0.070457,-0.150829,0.986046]] 2025-10-28T23:41:45.788Z,1761694905.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995757,-0.045676,-0.079883],[0.056712,0.988262,0.141856],[0.072466,-0.145784,0.986659]] 2025-10-28T23:41:46.190Z,1761694906.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995566,-0.047431,-0.081234],[0.058330,0.988777,0.137539],[0.073799,-0.141668,0.987159]] 2025-10-28T23:41:46.594Z,1761694906.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995349,-0.049905,-0.082404],[0.060647,0.989195,0.133476],[0.074852,-0.137852,0.987620]] 2025-10-28T23:41:46.999Z,1761694906.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995131,-0.053208,-0.082964],[0.063732,0.989482,0.129858],[0.075182,-0.134513,0.988056]] 2025-10-28T23:41:47.403Z,1761694907.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994888,-0.056816,-0.083487],[0.067278,0.989440,0.128380],[0.075311,-0.133340,0.988205]] 2025-10-28T23:41:47.808Z,1761694907.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994667,-0.060043,-0.083865],[0.070486,0.989304,0.127705],[0.075301,-0.132935,0.988260]] 2025-10-28T23:41:48.211Z,1761694908.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994486,-0.062394,-0.084286],[0.072935,0.989037,0.128401],[0.075351,-0.133841,0.988134]] 2025-10-28T23:41:48.614Z,1761694908.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994319,-0.064110,-0.084966],[0.074936,0.988540,0.131049],[0.075591,-0.136672,0.987728]] 2025-10-28T23:41:49.018Z,1761694909.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994171,-0.065503,-0.085640],[0.076663,0.987972,0.134290],[0.075813,-0.140072,0.987235]] 2025-10-28T23:41:49.424Z,1761694909.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994060,-0.066037,-0.086515],[0.077584,0.987426,0.137734],[0.076331,-0.143628,0.986684]] 2025-10-28T23:41:49.827Z,1761694909.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993987,-0.066261,-0.087175],[0.078134,0.986963,0.140709],[0.076715,-0.146674,0.986206]] 2025-10-28T23:41:50.235Z,1761694910.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993928,-0.066328,-0.087798],[0.078448,0.986653,0.142697],[0.077161,-0.148718,0.985865]] 2025-10-28T23:41:50.635Z,1761694910.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993880,-0.066278,-0.088369],[0.078680,0.986269,0.145201],[0.077532,-0.151265,0.985448]] 2025-10-28T23:41:51.040Z,1761694911.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993869,-0.066053,-0.088661],[0.078554,0.986181,0.145861],[0.077802,-0.151932,0.985324]] 2025-10-28T23:41:51.443Z,1761694911.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993821,-0.066459,-0.088904],[0.078953,0.986226,0.145344],[0.078019,-0.151465,0.985379]] 2025-10-28T23:41:51.846Z,1761694911.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993860,-0.065990,-0.088816],[0.078490,0.986234,0.145537],[0.077989,-0.151614,0.985358]] 2025-10-28T23:41:52.270Z,1761694912.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993909,-0.065461,-0.088652],[0.077932,0.986291,0.145452],[0.077916,-0.151475,0.985385]] 2025-10-28T23:41:52.656Z,1761694912.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994111,-0.063683,-0.087684],[0.076108,0.986270,0.146558],[0.077147,-0.152369,0.985308]] 2025-10-28T23:41:53.058Z,1761694913.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994342,-0.061753,-0.086431],[0.074055,0.986321,0.147266],[0.076155,-0.152834,0.985313]] 2025-10-28T23:41:53.462Z,1761694913.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994620,-0.059104,-0.085075],[0.071281,0.986406,0.148064],[0.075168,-0.153331,0.985312]] 2025-10-28T23:41:53.867Z,1761694913.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994807,-0.057688,-0.083852],[0.069610,0.986679,0.147032],[0.074253,-0.152105,0.985571]] 2025-10-28T23:41:54.301Z,1761694914.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994905,-0.057534,-0.082785],[0.069193,0.986910,0.145672],[0.073320,-0.150658,0.985863]] 2025-10-28T23:41:54.674Z,1761694914.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994948,-0.058258,-0.081761],[0.069533,0.987330,0.142636],[0.072416,-0.147601,0.986392]] 2025-10-28T23:41:55.079Z,1761694915.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994899,-0.060014,-0.081079],[0.070936,0.987699,0.139354],[0.071718,-0.144395,0.986918]] 2025-10-28T23:41:55.485Z,1761694915.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994748,-0.063484,-0.080294],[0.073917,0.988159,0.134457],[0.070807,-0.139686,0.987661]] 2025-10-28T23:41:55.886Z,1761694915.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994528,-0.067305,-0.079896],[0.077439,0.988302,0.131389],[0.070119,-0.136857,0.988106]] 2025-10-28T23:41:56.313Z,1761694916.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994259,-0.071642,-0.079478],[0.081541,0.988254,0.129250],[0.069285,-0.134989,0.988422]] 2025-10-28T23:41:56.695Z,1761694916.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993996,-0.075780,-0.078927],[0.085373,0.988317,0.126260],[0.068437,-0.132240,0.988852]] 2025-10-28T23:41:57.100Z,1761694917.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993718,-0.079902,-0.078364],[0.089189,0.988362,0.123233],[0.067605,-0.129448,0.989279]] 2025-10-28T23:41:57.503Z,1761694917.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993402,-0.084290,-0.077770],[0.093407,0.988100,0.122205],[0.066544,-0.128663,0.989453]] 2025-10-28T23:41:57.907Z,1761694917.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993106,-0.088240,-0.077158],[0.097349,0.987545,0.123605],[0.065290,-0.130264,0.989327]] 2025-10-28T23:41:58.321Z,1761694918.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992857,-0.091675,-0.076365],[0.100912,0.986691,0.127502],[0.063660,-0.134297,0.988894]] 2025-10-28T23:41:58.715Z,1761694918.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992703,-0.094073,-0.075438],[0.103402,0.985951,0.131180],[0.062038,-0.138024,0.988484]] 2025-10-28T23:41:59.120Z,1761694919.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992676,-0.095161,-0.074419],[0.104507,0.985473,0.133874],[0.060598,-0.140670,0.988200]] 2025-10-28T23:41:59.524Z,1761694919.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992777,-0.094754,-0.073596],[0.104286,0.984810,0.138827],[0.059324,-0.145500,0.987578]] 2025-10-28T23:41:59.926Z,1761694919.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992976,-0.093237,-0.072838],[0.102857,0.984511,0.141978],[0.058473,-0.148473,0.987186]] 2025-10-28T23:42:00.330Z,1761694920.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993186,-0.091527,-0.072146],[0.101218,0.984285,0.144700],[0.057768,-0.151017,0.986842]] 2025-10-28T23:42:00.736Z,1761694920.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993448,-0.088968,-0.071739],[0.098837,0.983975,0.148404],[0.057386,-0.154522,0.986321]] 2025-10-28T23:42:01.139Z,1761694921.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993649,-0.086832,-0.071570],[0.096780,0.983959,0.149864],[0.057409,-0.155839,0.986113]] 2025-10-28T23:42:01.543Z,1761694921.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993770,-0.085569,-0.071413],[0.095528,0.984020,0.150266],[0.057414,-0.156152,0.986063]] 2025-10-28T23:42:01.946Z,1761694921.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993940,-0.084017,-0.070879],[0.093949,0.984060,0.150993],[0.057064,-0.156737,0.985990]] 2025-10-28T23:42:02.352Z,1761694922.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994165,-0.081745,-0.070381],[0.091707,0.984042,0.152480],[0.056793,-0.158045,0.985797]] 2025-10-28T23:42:02.754Z,1761694922.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994333,-0.080360,-0.069593],[0.090260,0.984045,0.153327],[0.056161,-0.158740,0.985722]] 2025-10-28T23:42:03.158Z,1761694923.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994624,-0.077520,-0.068651],[0.087418,0.983970,0.155437],[0.055501,-0.160603,0.985457]] 2025-10-28T23:42:03.563Z,1761694923.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994926,-0.074720,-0.067376],[0.084563,0.983874,0.157611],[0.054513,-0.162509,0.985200]] 2025-10-28T23:42:03.971Z,1761694923.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995169,-0.072336,-0.066385],[0.082110,0.983890,0.158805],[0.053829,-0.163489,0.985076]] 2025-10-28T23:42:04.245Z,1761694924.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:42:04.370Z,1761694924.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995379,-0.070371,-0.065336],[0.080040,0.983925,0.159644],[0.053052,-0.164136,0.985010]] 2025-10-28T23:42:04.774Z,1761694924.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995580,-0.069130,-0.063574],[0.078428,0.984349,0.157816],[0.051669,-0.162104,0.985420]] 2025-10-28T23:42:05.179Z,1761694925.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995690,-0.068727,-0.062270],[0.077779,0.984521,0.157062],[0.050512,-0.161228,0.985624]] 2025-10-28T23:42:05.248Z,1761694925.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:42:05.585Z,1761694925.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995691,-0.069218,-0.061705],[0.078127,0.984636,0.156169],[0.049948,-0.160316,0.985801]] 2025-10-28T23:42:05.986Z,1761694925.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995591,-0.071408,-0.060825],[0.080009,0.984938,0.153284],[0.048963,-0.157475,0.986308]] 2025-10-28T23:42:06.391Z,1761694926.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995433,-0.074119,-0.060161],[0.082482,0.985064,0.151148],[0.048059,-0.155420,0.986679]] 2025-10-28T23:42:06.794Z,1761694926.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995179,-0.077662,-0.059896],[0.085836,0.985130,0.148834],[0.047447,-0.153257,0.987047]] 2025-10-28T23:42:07.199Z,1761694927.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994890,-0.080729,-0.060629],[0.089008,0.984775,0.149320],[0.047651,-0.153953,0.986928]] 2025-10-28T23:42:07.606Z,1761694927.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994624,-0.083239,-0.061593],[0.091764,0.984140,0.151818],[0.047979,-0.156654,0.986488]] 2025-10-28T23:42:08.006Z,1761694928.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994409,-0.084910,-0.062784],[0.093758,0.983465,0.154937],[0.048590,-0.159958,0.985927]] 2025-10-28T23:42:08.411Z,1761694928.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994264,-0.085953,-0.063651],[0.095057,0.982933,0.157504],[0.049027,-0.162651,0.985465]] 2025-10-28T23:42:08.821Z,1761694928.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994325,-0.084841,-0.064185],[0.094279,0.982248,0.162176],[0.049287,-0.167307,0.984672]] 2025-10-28T23:42:09.223Z,1761694929.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994653,-0.081434,-0.063506],[0.091076,0.981618,0.167725],[0.048680,-0.172612,0.983786]] 2025-10-28T23:42:09.630Z,1761694929.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995122,-0.077004,-0.061670],[0.086571,0.981363,0.171556],[0.047310,-0.176058,0.983242]] 2025-10-28T23:42:10.031Z,1761694930.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995670,-0.071741,-0.059112],[0.081042,0.981407,0.173989],[0.045531,-0.178026,0.982972]] 2025-10-28T23:42:10.436Z,1761694930.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996271,-0.065871,-0.055729],[0.074673,0.981834,0.174429],[0.043227,-0.177940,0.983092]] 2025-10-28T23:42:10.835Z,1761694930.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996857,-0.059838,-0.051917],[0.068021,0.982441,0.173732],[0.040610,-0.176718,0.983423]] 2025-10-28T23:42:11.239Z,1761694931.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997384,-0.054072,-0.047966],[0.061612,0.982991,0.173010],[0.037795,-0.175513,0.983751]] 2025-10-28T23:42:11.644Z,1761694931.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997821,-0.049207,-0.043955],[0.056022,0.983778,0.170418],[0.034856,-0.172509,0.984391]] 2025-10-28T23:42:12.051Z,1761694932.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998132,-0.046053,-0.040146],[0.052142,0.984590,0.166927],[0.031840,-0.168708,0.985152]] 2025-10-28T23:42:12.451Z,1761694932.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998325,-0.044569,-0.036896],[0.050026,0.985289,0.163407],[0.029070,-0.164980,0.985868]] 2025-10-28T23:42:12.854Z,1761694932.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998392,-0.045429,-0.033893],[0.050225,0.986229,0.157576],[0.026268,-0.159025,0.986925]] 2025-10-28T23:42:13.259Z,1761694933.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998371,-0.047682,-0.031325],[0.051931,0.986872,0.152927],[0.023622,-0.154304,0.987741]] 2025-10-28T23:42:13.665Z,1761694933.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998296,-0.050616,-0.029031],[0.054428,0.987089,0.150640],[0.021032,-0.151963,0.988162]] 2025-10-28T23:42:14.068Z,1761694934.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998157,-0.054047,-0.027580],[0.057575,0.987109,0.149333],[0.019153,-0.150646,0.988402]] 2025-10-28T23:42:14.470Z,1761694934.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997996,-0.057616,-0.026151],[0.060894,0.986869,0.149605],[0.017188,-0.150897,0.988400]] 2025-10-28T23:42:14.874Z,1761694934.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997808,-0.061210,-0.025131],[0.064307,0.986526,0.150435],[0.015585,-0.151722,0.988300]] 2025-10-28T23:42:15.279Z,1761694935.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997588,-0.065081,-0.024126],[0.067992,0.986166,0.151176],[0.013953,-0.152452,0.988212]] 2025-10-28T23:42:15.684Z,1761694935.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997375,-0.068571,-0.023281],[0.071351,0.985464,0.154172],[0.012371,-0.155428,0.987770]] 2025-10-28T23:42:16.086Z,1761694936.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997224,-0.071011,-0.022405],[0.073661,0.984788,0.157372],[0.010889,-0.158585,0.987285]] 2025-10-28T23:42:16.491Z,1761694936.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997204,-0.071491,-0.021733],[0.074084,0.983853,0.162925],[0.009734,-0.164080,0.986399]] 2025-10-28T23:42:16.894Z,1761694936.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997362,-0.069488,-0.021005],[0.072030,0.983251,0.167417],[0.009020,-0.168488,0.985662]] 2025-10-28T23:42:17.301Z,1761694937.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997656,-0.065450,-0.019990],[0.067898,0.983164,0.169642],[0.008550,-0.170602,0.985303]] 2025-10-28T23:42:17.702Z,1761694937.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998018,-0.060007,-0.018978],[0.062388,0.982991,0.172733],[0.008290,-0.173575,0.984786]] 2025-10-28T23:42:18.106Z,1761694938.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998376,-0.054042,-0.018005],[0.056361,0.982999,0.174745],[0.008255,-0.175476,0.984449]] 2025-10-28T23:42:18.510Z,1761694938.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998733,-0.047583,-0.016410],[0.049705,0.983719,0.172701],[0.007926,-0.173298,0.984838]] 2025-10-28T23:42:18.939Z,1761694938.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999021,-0.041728,-0.014707],[0.043639,0.984111,0.172111],[0.007292,-0.172584,0.984968]] 2025-10-28T23:42:19.319Z,1761694939.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999258,-0.036239,-0.013053],[0.037934,0.984674,0.170232],[0.006684,-0.170601,0.985317]] 2025-10-28T23:42:19.723Z,1761694939.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999430,-0.031807,-0.011314],[0.033253,0.985343,0.167314],[0.005827,-0.167595,0.985839]] 2025-10-28T23:42:20.126Z,1761694940.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999515,-0.029604,-0.009610],[0.030775,0.986163,0.162896],[0.004655,-0.163112,0.986596]] 2025-10-28T23:42:20.531Z,1761694940.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999530,-0.029519,-0.008230],[0.030458,0.986558,0.160551],[0.003380,-0.160726,0.986993]] 2025-10-28T23:42:20.936Z,1761694940.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,-0.030957,-0.007257],[0.031713,0.987014,0.157472],[0.002288,-0.157622,0.987497]] 2025-10-28T23:42:21.338Z,1761694941.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999408,-0.033767,-0.006623],[0.034386,0.987253,0.155399],[0.001292,-0.155534,0.987830]] 2025-10-28T23:42:21.742Z,1761694941.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999331,-0.036038,-0.006285],[0.036577,0.987169,0.155435],[0.000603,-0.155561,0.987826]] 2025-10-28T23:42:22.147Z,1761694942.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999258,-0.038065,-0.005890],[0.038517,0.986798,0.157310],[-0.000175,-0.157420,0.987532]] 2025-10-28T23:42:22.553Z,1761694942.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999184,-0.040005,-0.005649],[0.040391,0.985974,0.161936],[-0.000909,-0.162032,0.986785]] 2025-10-28T23:42:22.955Z,1761694942.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999110,-0.041870,-0.005022],[0.042121,0.985155,0.166417],[-0.002020,-0.166480,0.986043]] 2025-10-28T23:42:23.358Z,1761694943.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999053,-0.043328,-0.003984],[0.043370,0.984289,0.171153],[-0.003494,-0.171164,0.985236]] 2025-10-28T23:42:23.762Z,1761694943.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999016,-0.044268,-0.002546],[0.044021,0.983269,0.176763],[-0.005322,-0.176701,0.984250]] 2025-10-28T23:42:24.168Z,1761694944.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999055,-0.043453,-0.000899],[0.042889,0.982331,0.182169],[-0.007032,-0.182036,0.983267]] 2025-10-28T23:42:24.570Z,1761694944.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999182,-0.040431,0.001063],[0.039523,0.981654,0.186531],[-0.008585,-0.186336,0.982449]] 2025-10-28T23:42:24.974Z,1761694944.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999362,-0.035533,0.003707],[0.034184,0.981229,0.189793],[-0.010381,-0.189545,0.981817]] 2025-10-28T23:42:25.379Z,1761694945.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999541,-0.029598,0.006511],[0.027828,0.981474,0.189564],[-0.012001,-0.189295,0.981847]] 2025-10-28T23:42:25.785Z,1761694945.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999689,-0.022999,0.009689],[0.020735,0.981494,0.190367],[-0.013888,-0.190107,0.981665]] 2025-10-28T23:42:26.219Z,1761694946.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999788,-0.016077,0.012891],[0.013349,0.981851,0.189182],[-0.015698,-0.188970,0.981857]] 2025-10-28T23:42:26.591Z,1761694946.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999832,-0.009087,0.015924],[0.005964,0.982493,0.186203],[-0.017337,-0.186077,0.982382]] 2025-10-28T23:42:26.994Z,1761694946.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999819,-0.002354,0.018885],[-0.001129,0.983241,0.182305],[-0.018998,-0.182293,0.983061]] 2025-10-28T23:42:27.398Z,1761694947.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999755,0.003537,0.021859],[-0.007373,0.984001,0.178013],[-0.020879,-0.178131,0.983785]] 2025-10-28T23:42:27.802Z,1761694947.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999665,0.008145,0.024585],[-0.012262,0.984968,0.172300],[-0.022812,-0.172543,0.984738]] 2025-10-28T23:42:28.206Z,1761694948.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999587,0.010617,0.026706],[-0.014902,0.986049,0.165786],[-0.024573,-0.166115,0.985800]] 2025-10-28T23:42:28.611Z,1761694948.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,0.011134,0.028327],[-0.015504,0.987143,0.159089],[-0.026192,-0.159454,0.986858]] 2025-10-28T23:42:29.017Z,1761694949.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999518,0.009834,0.029458],[-0.014236,0.988102,0.153142],[-0.027602,-0.153488,0.987765]] 2025-10-28T23:42:29.419Z,1761694949.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999521,0.007047,0.030121],[-0.011440,0.988882,0.148264],[-0.028741,-0.148537,0.988489]] 2025-10-28T23:42:29.823Z,1761694949.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999536,0.002880,0.030317],[-0.007250,0.989402,0.145023],[-0.029578,-0.145176,0.988964]] 2025-10-28T23:42:30.229Z,1761694950.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999549,-0.002132,0.029969],[-0.002219,0.989512,0.144433],[-0.029963,-0.144435,0.989061]] 2025-10-28T23:42:30.632Z,1761694950.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,-0.007679,0.029429],[0.003343,0.989478,0.144647],[-0.030230,-0.144482,0.989046]] 2025-10-28T23:42:31.034Z,1761694951.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,-0.013641,0.028743],[0.009334,0.989391,0.144977],[-0.030416,-0.144635,0.989017]] 2025-10-28T23:42:31.438Z,1761694951.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999412,-0.019527,0.028186],[0.015197,0.989106,0.146419],[-0.030738,-0.145905,0.988821]] 2025-10-28T23:42:31.842Z,1761694951.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999318,-0.024450,0.027670],[0.020087,0.988749,0.148230],[-0.030983,-0.147573,0.988566]] 2025-10-28T23:42:32.262Z,1761694952.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999237,-0.028043,0.027174],[0.023665,0.988426,0.149846],[-0.031061,-0.149089,0.988336]] 2025-10-28T23:42:32.651Z,1761694952.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999221,-0.028705,0.027067],[0.024301,0.988244,0.150943],[-0.031082,-0.150168,0.988172]] 2025-10-28T23:42:33.056Z,1761694953.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999214,-0.028940,0.027072],[0.024462,0.987892,0.153205],[-0.031178,-0.152422,0.987824]] 2025-10-28T23:42:33.458Z,1761694953.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999237,-0.027800,0.027435],[0.023236,0.987711,0.154552],[-0.031394,-0.153797,0.987604]] 2025-10-28T23:42:33.863Z,1761694953.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999261,-0.026414,0.027936],[0.021779,0.987698,0.154848],[-0.031682,-0.154125,0.987543]] 2025-10-28T23:42:34.297Z,1761694954.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999268,-0.025444,0.028566],[0.020659,0.987409,0.156832],[-0.032197,-0.156127,0.987212]] 2025-10-28T23:42:34.670Z,1761694954.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999284,-0.023848,0.029384],[0.018931,0.987336,0.157507],[-0.032768,-0.156837,0.987081]] 2025-10-28T23:42:35.075Z,1761694955.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999283,-0.022476,0.030481],[0.017401,0.987350,0.157598],[-0.033637,-0.156955,0.987033]] 2025-10-28T23:42:35.368Z,1761694955.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:42:35.479Z,1761694955.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999265,-0.020850,0.032170],[0.015549,0.987471,0.157034],[-0.035042,-0.156418,0.987069]] 2025-10-28T23:42:35.882Z,1761694955.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999268,-0.018762,0.033327],[0.013284,0.987417,0.157577],[-0.035864,-0.157019,0.986944]] 2025-10-28T23:42:36.312Z,1761694956.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999252,-0.016291,0.035085],[0.010556,0.987406,0.157857],[-0.037214,-0.157368,0.986839]] 2025-10-28T23:42:36.372Z,1761694956.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:42:36.690Z,1761694956.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999216,-0.013477,0.037214],[0.007403,0.987287,0.158777],[-0.038881,-0.158377,0.986613]] 2025-10-28T23:42:37.095Z,1761694957.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999170,-0.010693,0.039298],[0.004308,0.987256,0.159083],[-0.040498,-0.158781,0.986483]] 2025-10-28T23:42:37.499Z,1761694957.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999123,-0.008653,0.040967],[0.002121,0.987615,0.156882],[-0.041817,-0.156658,0.986767]] 2025-10-28T23:42:37.903Z,1761694957.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999086,-0.007105,0.042145],[0.000574,0.988229,0.152984],[-0.042736,-0.152820,0.987330]] 2025-10-28T23:42:38.317Z,1761694958.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999055,-0.006268,0.043006],[-0.000255,0.988681,0.150033],[-0.043459,-0.149902,0.987745]] 2025-10-28T23:42:38.713Z,1761694958.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999041,-0.006281,0.043332],[-0.000124,0.989246,0.146264],[-0.043785,-0.146129,0.988296]] 2025-10-28T23:42:39.116Z,1761694959.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999039,-0.006667,0.043314],[0.000426,0.989791,0.142528],[-0.043822,-0.142372,0.988843]] 2025-10-28T23:42:39.519Z,1761694959.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999042,-0.007513,0.043110],[0.001384,0.990082,0.140483],[-0.043738,-0.140289,0.989144]] 2025-10-28T23:42:39.923Z,1761694959.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999049,-0.008904,0.042683],[0.002837,0.990126,0.140148],[-0.043510,-0.139894,0.989210]] 2025-10-28T23:42:40.329Z,1761694960.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999054,-0.010913,0.042091],[0.004829,0.989851,0.142030],[-0.043214,-0.141693,0.988967]] 2025-10-28T23:42:40.731Z,1761694960.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999044,-0.013350,0.041635],[0.007155,0.989329,0.145524],[-0.043133,-0.145087,0.988478]] 2025-10-28T23:42:41.135Z,1761694961.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999012,-0.016008,0.041451],[0.009688,0.988877,0.148420],[-0.043366,-0.147872,0.988055]] 2025-10-28T23:42:41.539Z,1761694961.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998956,-0.019095,0.041496],[0.012553,0.988216,0.152551],[-0.043920,-0.151871,0.987424]] 2025-10-28T23:42:41.944Z,1761694961.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998913,-0.020977,0.041634],[0.014228,0.987617,0.156236],[-0.044396,-0.155474,0.986842]] 2025-10-28T23:42:42.346Z,1761694962.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998897,-0.021158,0.041919],[0.014248,0.987213,0.158771],[-0.044742,-0.157998,0.986425]] 2025-10-28T23:42:42.750Z,1761694962.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998904,-0.019598,0.042517],[0.012492,0.986815,0.161372],[-0.045119,-0.160664,0.985977]] 2025-10-28T23:42:43.154Z,1761694963.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998931,-0.016852,0.043040],[0.009598,0.986499,0.163486],[-0.045214,-0.162898,0.985606]] 2025-10-28T23:42:43.559Z,1761694963.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998964,-0.013446,0.043484],[0.006116,0.986358,0.164502],[-0.045103,-0.164065,0.985418]] 2025-10-28T23:42:43.975Z,1761694963.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998980,-0.009036,0.044250],[0.001615,0.986300,0.164955],[-0.045134,-0.164715,0.985308]] 2025-10-28T23:42:44.366Z,1761694964.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998979,-0.004631,0.044945],[-0.002746,0.986671,0.162704],[-0.045099,-0.162661,0.985651]] 2025-10-28T23:42:44.770Z,1761694964.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998945,-0.001098,0.045919],[-0.006270,0.987095,0.160011],[-0.045502,-0.160130,0.986047]] 2025-10-28T23:42:45.175Z,1761694965.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998918,0.001214,0.046491],[-0.008380,0.987997,0.154249],[-0.045745,-0.154472,0.986938]] 2025-10-28T23:42:45.578Z,1761694965.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998915,0.002001,0.046526],[-0.008927,0.988778,0.149125],[-0.045705,-0.149379,0.987723]] 2025-10-28T23:42:45.983Z,1761694965.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998935,0.001339,0.046132],[-0.008003,0.989463,0.144563],[-0.045452,-0.144778,0.988420]] 2025-10-28T23:42:46.386Z,1761694966.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998966,-0.000743,0.045468],[-0.005687,0.989974,0.141136],[-0.045117,-0.141249,0.988946]] 2025-10-28T23:42:46.791Z,1761694966.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999017,-0.003791,0.044162],[-0.002393,0.990270,0.139138],[-0.044260,-0.139107,0.989288]] 2025-10-28T23:42:47.196Z,1761694967.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999060,-0.007305,0.042723],[0.001330,0.990396,0.138252],[-0.043323,-0.138066,0.989475]] 2025-10-28T23:42:47.599Z,1761694967.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999083,-0.010800,0.041426],[0.004949,0.990307,0.138808],[-0.042524,-0.138475,0.989452]] 2025-10-28T23:42:48.002Z,1761694968.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999090,-0.014057,0.040273],[0.008244,0.989974,0.141010],[-0.041851,-0.140550,0.989189]] 2025-10-28T23:42:48.407Z,1761694968.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999080,-0.017302,0.039248],[0.011427,0.989331,0.145235],[-0.041343,-0.144653,0.988618]] 2025-10-28T23:42:48.813Z,1761694968.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999067,-0.019395,0.038579],[0.013382,0.988532,0.150419],[-0.041054,-0.149763,0.987869]] 2025-10-28T23:42:49.214Z,1761694969.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999078,-0.019544,0.038213],[0.013338,0.987607,0.156379],[-0.040796,-0.155725,0.986958]] 2025-10-28T23:42:49.619Z,1761694969.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999120,-0.016878,0.038408],[0.010479,0.986886,0.161077],[-0.040623,-0.160533,0.986194]] 2025-10-28T23:42:50.023Z,1761694970.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999159,-0.012599,0.039022],[0.005992,0.986271,0.165023],[-0.040565,-0.164651,0.985517]] 2025-10-28T23:42:50.427Z,1761694970.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999174,-0.007215,0.039986],[0.000439,0.985968,0.166935],[-0.040629,-0.166780,0.985157]] 2025-10-28T23:42:50.830Z,1761694970.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999153,-0.001231,0.041136],[-0.005613,0.986137,0.165838],[-0.040770,-0.165929,0.985295]] 2025-10-28T23:42:51.235Z,1761694971.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999087,0.003786,0.042546],[-0.010751,0.986284,0.164707],[-0.041338,-0.165014,0.985424]] 2025-10-28T23:42:51.640Z,1761694971.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999000,0.008120,0.043957],[-0.015141,0.986704,0.161820],[-0.042058,-0.162324,0.985841]] 2025-10-28T23:42:52.044Z,1761694972.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998924,0.010804,0.045100],[-0.017776,0.987409,0.157189],[-0.042833,-0.157821,0.986538]] 2025-10-28T23:42:52.447Z,1761694972.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998879,0.011882,0.045814],[-0.018802,0.987938,0.153706],[-0.043435,-0.154396,0.987054]] 2025-10-28T23:42:52.850Z,1761694972.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998868,0.011701,0.046113],[-0.018486,0.988577,0.149576],[-0.043836,-0.150259,0.987674]] 2025-10-28T23:42:53.254Z,1761694973.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998903,0.009612,0.045835],[-0.016236,0.989089,0.146424],[-0.043927,-0.147008,0.988159]] 2025-10-28T23:42:53.661Z,1761694973.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998947,0.006321,0.045433],[-0.012781,0.989591,0.143337],[-0.044054,-0.143766,0.988631]] 2025-10-28T23:42:54.067Z,1761694974.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999004,0.002202,0.044564],[-0.008416,0.990153,0.139734],[-0.043818,-0.139970,0.989186]] 2025-10-28T23:42:54.474Z,1761694974.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999099,-0.006575,0.041921],[0.000711,0.990377,0.138392],[-0.042428,-0.138238,0.989490]] 2025-10-28T23:42:54.876Z,1761694974.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999121,-0.010381,0.040607],[0.004686,0.990435,0.137902],[-0.041650,-0.137591,0.989613]] 2025-10-28T23:42:55.281Z,1761694975.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999128,-0.013853,0.039376],[0.008227,0.990172,0.139614],[-0.040923,-0.139168,0.989423]] 2025-10-28T23:42:55.682Z,1761694975.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999117,-0.017451,0.038214],[0.011868,0.989834,0.141735],[-0.040299,-0.141156,0.989167]] 2025-10-28T23:42:56.084Z,1761694976.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999073,-0.021278,0.037414],[0.015674,0.989430,0.144162],[-0.040086,-0.143442,0.988846]] 2025-10-28T23:42:56.487Z,1761694976.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999029,-0.024408,0.036692],[0.018803,0.989107,0.145990],[-0.039856,-0.145158,0.988605]] 2025-10-28T23:42:56.892Z,1761694976.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999017,-0.025768,0.036062],[0.020105,0.988571,0.149408],[-0.039500,-0.148537,0.988118]] 2025-10-28T23:42:57.294Z,1761694977.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999071,-0.024657,0.035340],[0.018970,0.988035,0.153058],[-0.038691,-0.152245,0.987585]] 2025-10-28T23:42:57.698Z,1761694977.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999145,-0.022441,0.034729],[0.016789,0.987737,0.155224],[-0.037786,-0.154508,0.987269]] 2025-10-28T23:42:58.102Z,1761694978.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999217,-0.019196,0.034607],[0.013520,0.987450,0.157350],[-0.037194,-0.156759,0.986936]] 2025-10-28T23:42:58.509Z,1761694978.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999259,-0.016113,0.034964],[0.010401,0.987418,0.157791],[-0.037067,-0.157310,0.986853]] 2025-10-28T23:42:58.912Z,1761694978.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999301,-0.013852,0.034720],[0.008226,0.987526,0.157241],[-0.036465,-0.156846,0.986950]] 2025-10-28T23:42:59.314Z,1761694979.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.012067,0.034555],[0.006495,0.987572,0.157034],[-0.036021,-0.156704,0.986988]] 2025-10-28T23:42:59.719Z,1761694979.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999372,-0.009383,0.034175],[0.003901,0.987579,0.157078],[-0.035224,-0.156846,0.986995]] 2025-10-28T23:43:00.124Z,1761694980.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999403,-0.007224,0.033779],[0.001866,0.987753,0.156016],[-0.034493,-0.155860,0.987177]] 2025-10-28T23:43:00.529Z,1761694980.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999431,-0.003914,0.033512],[-0.001369,0.987725,0.156197],[-0.033712,-0.156154,0.987157]] 2025-10-28T23:43:00.932Z,1761694980.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999447,-0.001041,0.033227],[-0.004112,0.987963,0.154638],[-0.032988,-0.154689,0.987412]] 2025-10-28T23:43:01.335Z,1761694981.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999446,0.002656,0.033170],[-0.007741,0.988018,0.154143],[-0.032363,-0.154314,0.987492]] 2025-10-28T23:43:01.740Z,1761694981.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999441,0.005731,0.032931],[-0.010692,0.988248,0.152488],[-0.031670,-0.152755,0.987757]] 2025-10-28T23:43:02.143Z,1761694982.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999429,0.008307,0.032753],[-0.013107,0.988724,0.149176],[-0.031145,-0.149521,0.988268]] 2025-10-28T23:43:02.547Z,1761694982.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999425,0.009402,0.032571],[-0.014089,0.989063,0.146818],[-0.030835,-0.147192,0.988627]] 2025-10-28T23:43:02.950Z,1761694982.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999452,0.008713,0.031944],[-0.013215,0.989551,0.143576],[-0.030359,-0.143919,0.989124]] 2025-10-28T23:43:03.356Z,1761694983.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999501,0.006458,0.030914],[-0.010719,0.990132,0.139727],[-0.029707,-0.139989,0.989707]] 2025-10-28T23:43:03.760Z,1761694983.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999547,0.003918,0.029839],[-0.007940,0.990692,0.135893],[-0.029028,-0.136069,0.990274]] 2025-10-28T23:43:04.162Z,1761694984.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999593,0.000761,0.028515],[-0.004542,0.991137,0.132765],[-0.028161,-0.132840,0.990737]] 2025-10-28T23:43:04.567Z,1761694984.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999635,-0.002674,0.026896],[-0.000842,0.991529,0.129881],[-0.027015,-0.129856,0.991165]] 2025-10-28T23:43:04.972Z,1761694984.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999669,-0.006011,0.025025],[0.002713,0.991535,0.129812],[-0.025593,-0.129701,0.991223]] 2025-10-28T23:43:05.375Z,1761694985.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999691,-0.009167,0.023092],[0.006067,0.991378,0.130893],[-0.024092,-0.130713,0.991127]] 2025-10-28T23:43:05.778Z,1761694985.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999701,-0.012268,0.021142],[0.009319,0.990889,0.134356],[-0.022598,-0.134118,0.990708]] 2025-10-28T23:43:06.199Z,1761694986.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999696,-0.014895,0.019664],[0.012047,0.990389,0.137783],[-0.021527,-0.137504,0.990267]] 2025-10-28T23:43:06.492Z,1761694986.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:43:06.589Z,1761694986.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999693,-0.016412,0.018536],[0.013632,0.989876,0.141278],[-0.020667,-0.140982,0.989796]] 2025-10-28T23:43:06.990Z,1761694986.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,-0.018268,0.017954],[0.015492,0.989436,0.144140],[-0.020397,-0.143815,0.989394]] 2025-10-28T23:43:07.394Z,1761694987.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999649,-0.019791,0.017585],[0.016979,0.988885,0.147706],[-0.020313,-0.147356,0.988875]] 2025-10-28T23:43:07.496Z,1761694987.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:43:07.799Z,1761694987.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999673,-0.018921,0.017170],[0.016124,0.988474,0.150532],[-0.019821,-0.150206,0.988456]] 2025-10-28T23:43:08.204Z,1761694988.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999737,-0.015403,0.016981],[0.012656,0.988388,0.151423],[-0.019116,-0.151168,0.988323]] 2025-10-28T23:43:08.606Z,1761694988.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999796,-0.011009,0.016956],[0.008311,0.988392,0.151700],[-0.018429,-0.151528,0.988281]] 2025-10-28T23:43:09.010Z,1761694989.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999830,-0.006974,0.017044],[0.004321,0.988525,0.150996],[-0.017901,-0.150896,0.988388]] 2025-10-28T23:43:09.414Z,1761694989.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999851,-0.003298,0.016935],[0.000757,0.988994,0.147953],[-0.017237,-0.147918,0.988849]] 2025-10-28T23:43:09.819Z,1761694989.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999865,-0.001002,0.016427],[-0.001374,0.989578,0.143994],[-0.016400,-0.143997,0.989442]] 2025-10-28T23:43:10.222Z,1761694990.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999876,-0.000048,0.015721],[-0.002171,0.989994,0.141090],[-0.015570,-0.141106,0.989872]] 2025-10-28T23:43:10.628Z,1761694990.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999893,-0.000977,0.014592],[-0.001029,0.990598,0.136799],[-0.014588,-0.136799,0.990491]] 2025-10-28T23:43:11.031Z,1761694991.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999906,-0.002463,0.013473],[0.000640,0.991024,0.133679],[-0.013682,-0.133658,0.990933]] 2025-10-28T23:43:11.435Z,1761694991.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999913,-0.003985,0.012539],[0.002307,0.991371,0.131064],[-0.012953,-0.131024,0.991295]] 2025-10-28T23:43:11.840Z,1761694991.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999914,-0.005266,0.012012],[0.003660,0.991507,0.129998],[-0.012595,-0.129943,0.991441]] 2025-10-28T23:43:12.261Z,1761694992.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999916,-0.006198,0.011392],[0.004680,0.991667,0.128741],[-0.012095,-0.128677,0.991613]] 2025-10-28T23:43:12.648Z,1761694992.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999920,-0.007304,0.010321],[0.005908,0.991587,0.129310],[-0.011178,-0.129239,0.991551]] 2025-10-28T23:43:13.051Z,1761694993.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999922,-0.008106,0.009515],[0.006816,0.991682,0.128529],[-0.010477,-0.128454,0.991660]] 2025-10-28T23:43:13.456Z,1761694993.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999927,-0.008597,0.008544],[0.007416,0.991521,0.129735],[-0.009587,-0.129662,0.991512]] 2025-10-28T23:43:13.858Z,1761694993.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999931,-0.008878,0.007689],[0.007796,0.991371,0.130856],[-0.008784,-0.130787,0.991372]] 2025-10-28T23:43:14.298Z,1761694994.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999929,-0.009863,0.006698],[0.008894,0.991226,0.131879],[-0.007940,-0.131810,0.991243]] 2025-10-28T23:43:14.668Z,1761694994.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999923,-0.010736,0.006230],[0.009820,0.991211,0.131925],[-0.007591,-0.131854,0.991240]] 2025-10-28T23:43:15.072Z,1761694995.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999906,-0.012699,0.005157],[0.011907,0.991179,0.131997],[-0.006788,-0.131923,0.991237]] 2025-10-28T23:43:15.474Z,1761694995.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999881,-0.014873,0.004100],[0.014205,0.991213,0.131509],[-0.006020,-0.131436,0.991306]] 2025-10-28T23:43:15.878Z,1761694995.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999842,-0.017410,0.003673],[0.016784,0.991361,0.130084],[-0.005906,-0.130002,0.991496]] 2025-10-28T23:43:16.308Z,1761694996.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999793,-0.020190,0.002469],[0.019694,0.991220,0.130750],[-0.005087,-0.130674,0.991412]] 2025-10-28T23:43:16.689Z,1761694996.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999777,-0.021074,0.001586],[0.020673,0.990804,0.133718],[-0.004390,-0.133655,0.991018]] 2025-10-28T23:43:17.090Z,1761694997.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999782,-0.020859,0.001077],[0.020520,0.990533,0.135735],[-0.003899,-0.135683,0.990745]] 2025-10-28T23:43:17.495Z,1761694997.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999809,-0.019545,0.000756],[0.019251,0.990153,0.138659],[-0.003459,-0.138618,0.990340]] 2025-10-28T23:43:17.899Z,1761694997.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999856,-0.016932,0.000817],[0.016642,0.989615,0.142779],[-0.003226,-0.142745,0.989754]] 2025-10-28T23:43:18.318Z,1761694998.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999911,-0.013316,0.001210],[0.012997,0.989203,0.145977],[-0.003140,-0.145948,0.989287]] 2025-10-28T23:43:18.707Z,1761694998.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,-0.009293,0.001122],[0.009025,0.988981,0.147764],[-0.002483,-0.147747,0.989022]] 2025-10-28T23:43:19.111Z,1761694999.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,-0.005377,0.001754],[0.005057,0.988924,0.148336],[-0.002532,-0.148325,0.988935]] 2025-10-28T23:43:19.514Z,1761694999.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,-0.002048,0.002260],[0.001694,0.989150,0.146902],[-0.002537,-0.146897,0.989149]] 2025-10-28T23:43:19.920Z,1761694999.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,0.000621,0.002370],[-0.000957,0.989485,0.144631],[-0.002255,-0.144633,0.989483]] 2025-10-28T23:43:20.327Z,1761695000.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,0.001284,0.002228],[-0.001584,0.990080,0.140499],[-0.002025,-0.140502,0.990078]] 2025-10-28T23:43:20.726Z,1761695000.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,-0.000597,0.001853],[0.000339,0.990629,0.136583],[-0.001917,-0.136582,0.990627]] 2025-10-28T23:43:21.131Z,1761695001.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999991,-0.004004,0.001059],[0.003827,0.991077,0.133232],[-0.001583,-0.133227,0.991084]] 2025-10-28T23:43:21.940Z,1761695001.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999929,-0.011896,-0.000691],[0.011885,0.991507,0.129511],[-0.000855,-0.129510,0.991578]] 2025-10-28T23:43:22.342Z,1761695002.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999866,-0.016200,-0.002348],[0.016367,0.991481,0.129223],[0.000235,-0.129244,0.991613]] 2025-10-28T23:43:22.746Z,1761695002.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999790,-0.020074,-0.004053],[0.020429,0.991471,0.128720],[0.001434,-0.128776,0.991673]] 2025-10-28T23:43:23.151Z,1761695003.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999711,-0.023329,-0.005773],[0.023878,0.991411,0.128586],[0.002724,-0.128686,0.991682]] 2025-10-28T23:43:23.557Z,1761695003.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,-0.026077,-0.007439],[0.026822,0.991181,0.129773],[0.003989,-0.129925,0.991516]] 2025-10-28T23:43:23.959Z,1761695003.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999583,-0.027372,-0.009183],[0.028345,0.990862,0.131866],[0.005490,-0.132072,0.991225]] 2025-10-28T23:43:24.362Z,1761695004.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999513,-0.028982,-0.011554],[0.030261,0.990681,0.132796],[0.007598,-0.133081,0.991076]] 2025-10-28T23:43:24.767Z,1761695004.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999428,-0.030761,-0.014063],[0.032360,0.990601,0.132897],[0.009843,-0.133276,0.991030]] 2025-10-28T23:43:25.173Z,1761695005.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999331,-0.032470,-0.016848],[0.034413,0.990653,0.131992],[0.012404,-0.132484,0.991108]] 2025-10-28T23:43:25.574Z,1761695005.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.033983,-0.019955],[0.036321,0.990621,0.131723],[0.015292,-0.132345,0.991086]] 2025-10-28T23:43:25.979Z,1761695005.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999107,-0.035513,-0.022872],[0.038209,0.990661,0.130887],[0.018010,-0.131644,0.991133]] 2025-10-28T23:43:26.383Z,1761695006.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998992,-0.036684,-0.025883],[0.039784,0.990487,0.131728],[0.020805,-0.132625,0.990948]] 2025-10-28T23:43:26.788Z,1761695006.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998885,-0.037366,-0.028844],[0.040879,0.990301,0.132785],[0.023603,-0.133817,0.990725]] 2025-10-28T23:43:27.191Z,1761695007.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998804,-0.037257,-0.031668],[0.041204,0.990013,0.134822],[0.026329,-0.135966,0.990364]] 2025-10-28T23:43:27.595Z,1761695007.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998724,-0.037077,-0.034290],[0.041399,0.989925,0.135405],[0.028924,-0.136652,0.990197]] 2025-10-28T23:43:27.998Z,1761695007.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998666,-0.036504,-0.036516],[0.041127,0.989972,0.135146],[0.031216,-0.136467,0.990153]] 2025-10-28T23:43:28.403Z,1761695008.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998618,-0.035887,-0.038392],[0.040738,0.990128,0.134114],[0.033200,-0.135493,0.990222]] 2025-10-28T23:43:28.809Z,1761695008.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998598,-0.035102,-0.039618],[0.040079,0.990336,0.132773],[0.034574,-0.134175,0.990354]] 2025-10-28T23:43:29.210Z,1761695009.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998584,-0.034615,-0.040390],[0.039628,0.990621,0.130765],[0.035484,-0.132181,0.990590]] 2025-10-28T23:43:29.614Z,1761695009.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998561,-0.034253,-0.041276],[0.039330,0.990831,0.129252],[0.036470,-0.130690,0.990752]] 2025-10-28T23:43:30.019Z,1761695010.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998516,-0.034569,-0.042068],[0.039691,0.991011,0.127754],[0.037274,-0.129234,0.990913]] 2025-10-28T23:43:30.422Z,1761695010.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998434,-0.035851,-0.042948],[0.041002,0.991212,0.125769],[0.038061,-0.127333,0.991129]] 2025-10-28T23:43:30.828Z,1761695010.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998314,-0.038058,-0.043824],[0.043211,0.991419,0.123372],[0.038753,-0.125058,0.991392]] 2025-10-28T23:43:31.230Z,1761695011.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998160,-0.040703,-0.044942],[0.045927,0.991456,0.122091],[0.039589,-0.123931,0.991501]] 2025-10-28T23:43:31.635Z,1761695011.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997944,-0.044177,-0.046438],[0.049466,0.991574,0.119723],[0.040758,-0.121774,0.991721]] 2025-10-28T23:43:32.038Z,1761695012.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997696,-0.047682,-0.048257],[0.053148,0.991449,0.119179],[0.042162,-0.121469,0.991699]] 2025-10-28T23:43:32.442Z,1761695012.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997413,-0.051506,-0.050147],[0.057251,0.991020,0.120834],[0.043473,-0.123393,0.991405]] 2025-10-28T23:43:32.847Z,1761695012.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997136,-0.054790,-0.052128],[0.060911,0.990387,0.124193],[0.044822,-0.127012,0.990888]] 2025-10-28T23:43:33.251Z,1761695013.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996879,-0.057563,-0.054025],[0.064018,0.989891,0.126559],[0.046193,-0.129623,0.990487]] 2025-10-28T23:43:33.656Z,1761695013.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996666,-0.059632,-0.055694],[0.066381,0.989491,0.128457],[0.047449,-0.131726,0.990150]] 2025-10-28T23:43:34.058Z,1761695014.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996525,-0.060661,-0.057077],[0.067661,0.989205,0.129984],[0.048576,-0.133394,0.989872]] 2025-10-28T23:43:34.463Z,1761695014.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996438,-0.061365,-0.057835],[0.068443,0.989199,0.129619],[0.049257,-0.133116,0.989876]] 2025-10-28T23:43:34.868Z,1761695014.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996329,-0.062095,-0.058937],[0.069358,0.989020,0.130495],[0.050187,-0.134103,0.989696]] 2025-10-28T23:43:35.273Z,1761695015.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996219,-0.062798,-0.060028],[0.070219,0.988919,0.130795],[0.051149,-0.134516,0.989590]] 2025-10-28T23:43:35.674Z,1761695015.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996045,-0.064410,-0.061207],[0.071938,0.988896,0.130040],[0.052152,-0.133929,0.989618]] 2025-10-28T23:43:36.079Z,1761695016.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995853,-0.066187,-0.062415],[0.073852,0.988789,0.129779],[0.053125,-0.133850,0.989577]] 2025-10-28T23:43:36.483Z,1761695016.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995655,-0.067832,-0.063792],[0.075661,0.988672,0.129623],[0.054277,-0.133887,0.989509]] 2025-10-28T23:43:36.890Z,1761695016.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995448,-0.069674,-0.065035],[0.077680,0.988463,0.130023],[0.055225,-0.134483,0.989376]] 2025-10-28T23:43:37.291Z,1761695017.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995261,-0.070812,-0.066642],[0.079014,0.988386,0.129803],[0.056677,-0.134454,0.989298]] 2025-10-28T23:43:37.624Z,1761695017.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:43:37.694Z,1761695017.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995130,-0.071289,-0.068073],[0.079695,0.988301,0.130036],[0.058006,-0.134828,0.989170]] 2025-10-28T23:43:38.098Z,1761695018.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995082,-0.070630,-0.069454],[0.079285,0.988206,0.131003],[0.059382,-0.135865,0.988946]] 2025-10-28T23:43:38.505Z,1761695018.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995118,-0.068908,-0.070651],[0.077854,0.988069,0.132884],[0.060651,-0.137736,0.988610]] 2025-10-28T23:43:38.628Z,1761695018.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:43:38.907Z,1761695018.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995244,-0.066106,-0.071546],[0.075281,0.988085,0.134245],[0.061819,-0.138993,0.988362]] 2025-10-28T23:43:39.315Z,1761695019.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995381,-0.062723,-0.072678],[0.072107,0.988263,0.134675],[0.063377,-0.139293,0.988221]] 2025-10-28T23:43:39.720Z,1761695019.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995666,-0.055624,-0.074531],[0.065379,0.988607,0.135580],[0.066141,-0.139866,0.987959]] 2025-10-28T23:43:40.124Z,1761695020.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995763,-0.052608,-0.075427],[0.062494,0.988825,0.135352],[0.067463,-0.139492,0.987922]] 2025-10-28T23:43:40.529Z,1761695020.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995837,-0.050358,-0.075981],[0.060355,0.988922,0.135609],[0.068310,-0.139631,0.987845]] 2025-10-28T23:43:40.931Z,1761695020.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995892,-0.048668,-0.076365],[0.058661,0.989160,0.134617],[0.068986,-0.138543,0.987951]] 2025-10-28T23:43:41.332Z,1761695021.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995930,-0.047134,-0.076821],[0.057128,0.989390,0.133577],[0.069710,-0.137422,0.988056]] 2025-10-28T23:43:41.735Z,1761695021.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995959,-0.045770,-0.077266],[0.055777,0.989577,0.132762],[0.070384,-0.136535,0.988132]] 2025-10-28T23:43:42.140Z,1761695022.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995978,-0.044670,-0.077674],[0.054796,0.989526,0.133552],[0.070895,-0.137272,0.987993]] 2025-10-28T23:43:42.542Z,1761695022.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996016,-0.043189,-0.078024],[0.053473,0.989410,0.134939],[0.071370,-0.138573,0.987777]] 2025-10-28T23:43:42.947Z,1761695022.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996054,-0.041730,-0.078326],[0.052044,0.989527,0.134640],[0.071887,-0.138185,0.987794]] 2025-10-28T23:43:43.351Z,1761695023.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996088,-0.040823,-0.078377],[0.051055,0.989755,0.133337],[0.072131,-0.136817,0.987967]] 2025-10-28T23:43:43.756Z,1761695023.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996123,-0.040094,-0.078303],[0.050243,0.989939,0.132277],[0.072212,-0.135698,0.988115]] 2025-10-28T23:43:44.159Z,1761695024.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996078,-0.041209,-0.078290],[0.051322,0.989933,0.131904],[0.072066,-0.135404,0.988166]] 2025-10-28T23:43:44.563Z,1761695024.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996013,-0.042943,-0.078188],[0.052925,0.990042,0.130444],[0.071808,-0.134062,0.988368]] 2025-10-28T23:43:44.967Z,1761695024.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995906,-0.045620,-0.078036],[0.055409,0.990190,0.128270],[0.071419,-0.132069,0.988664]] 2025-10-28T23:43:45.371Z,1761695025.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995779,-0.048596,-0.077869],[0.058260,0.990180,0.127077],[0.070929,-0.131077,0.988832]] 2025-10-28T23:43:45.774Z,1761695025.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995629,-0.051835,-0.077693],[0.061454,0.989994,0.127027],[0.070332,-0.131246,0.988852]] 2025-10-28T23:43:46.178Z,1761695026.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995429,-0.055682,-0.077593],[0.065359,0.989572,0.128355],[0.069637,-0.132840,0.988688]] 2025-10-28T23:43:46.583Z,1761695026.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995239,-0.059049,-0.077545],[0.068799,0.989154,0.129777],[0.069041,-0.134494,0.988506]] 2025-10-28T23:43:47.005Z,1761695027.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995013,-0.062142,-0.078016],[0.072065,0.988681,0.131591],[0.068956,-0.136557,0.988229]] 2025-10-28T23:43:47.408Z,1761695027.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994784,-0.065138,-0.078494],[0.075259,0.988151,0.133766],[0.068850,-0.138976,0.987900]] 2025-10-28T23:43:47.810Z,1761695027.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994631,-0.066974,-0.078888],[0.077364,0.987542,0.137021],[0.068728,-0.142388,0.987422]] 2025-10-28T23:43:48.214Z,1761695028.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994595,-0.067437,-0.078955],[0.078058,0.987034,0.140256],[0.068472,-0.145661,0.986962]] 2025-10-28T23:43:48.618Z,1761695028.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994714,-0.066330,-0.078384],[0.077072,0.986704,0.143090],[0.067851,-0.148375,0.986601]] 2025-10-28T23:43:49.029Z,1761695029.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994957,-0.063914,-0.077305],[0.074664,0.986566,0.145301],[0.066980,-0.150340,0.986363]] 2025-10-28T23:43:49.426Z,1761695029.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995267,-0.060561,-0.076006],[0.071250,0.986584,0.146885],[0.066091,-0.151605,0.986229]] 2025-10-28T23:43:49.830Z,1761695029.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995670,-0.056264,-0.074003],[0.066734,0.986788,0.147633],[0.064719,-0.151933,0.986270]] 2025-10-28T23:43:50.239Z,1761695030.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996069,-0.051941,-0.071761],[0.062091,0.987132,0.147361],[0.063184,-0.151238,0.986476]] 2025-10-28T23:43:50.640Z,1761695030.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996449,-0.047543,-0.069495],[0.057235,0.987791,0.144886],[0.061758,-0.148349,0.987005]] 2025-10-28T23:43:51.043Z,1761695031.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996796,-0.043480,-0.067139],[0.052753,0.988290,0.143177],[0.060128,-0.146260,0.987417]] 2025-10-28T23:43:51.054Z,1761695031.054 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-28T23:43:51.446Z,1761695031.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997117,-0.039400,-0.064853],[0.048068,0.989259,0.138044],[0.058717,-0.140763,0.988301]] 2025-10-28T23:43:51.851Z,1761695031.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997381,-0.035422,-0.063062],[0.043630,0.990026,0.133957],[0.057688,-0.136357,0.988979]] 2025-10-28T23:43:52.291Z,1761695032.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997611,-0.031109,-0.061675],[0.038978,0.990643,0.130794],[0.057029,-0.132886,0.989489]] 2025-10-28T23:43:52.659Z,1761695032.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997807,-0.026497,-0.060659],[0.034101,0.991190,0.127981],[0.056733,-0.129769,0.989920]] 2025-10-28T23:43:53.063Z,1761695033.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997924,-0.023161,-0.060101],[0.030660,0.991425,0.127033],[0.056643,-0.128612,0.990076]] 2025-10-28T23:43:53.467Z,1761695033.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997939,-0.023571,-0.059693],[0.030870,0.991743,0.124473],[0.056266,-0.126059,0.990426]] 2025-10-28T23:43:53.872Z,1761695033.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997876,-0.026241,-0.059623],[0.033444,0.991815,0.123222],[0.055901,-0.124954,0.990586]] 2025-10-28T23:43:54.309Z,1761695034.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997781,-0.030226,-0.059324],[0.037356,0.991700,0.123026],[0.055113,-0.124970,0.990629]] 2025-10-28T23:43:54.678Z,1761695034.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997685,-0.034029,-0.058872],[0.041120,0.991460,0.123761],[0.054157,-0.125895,0.990564]] 2025-10-28T23:43:55.083Z,1761695035.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997546,-0.038310,-0.058598],[0.045440,0.991036,0.125630],[0.053260,-0.127984,0.990345]] 2025-10-28T23:43:55.489Z,1761695035.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997392,-0.042393,-0.058416],[0.049685,0.990315,0.129647],[0.052354,-0.132211,0.989838]] 2025-10-28T23:43:55.890Z,1761695035.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997213,-0.046530,-0.058326],[0.053912,0.989761,0.132158],[0.051579,-0.134934,0.989511]] 2025-10-28T23:43:56.317Z,1761695036.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997085,-0.049352,-0.058193],[0.056821,0.989269,0.134603],[0.050926,-0.137517,0.989189]] 2025-10-28T23:43:56.699Z,1761695036.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996999,-0.051429,-0.057871],[0.058918,0.988926,0.136211],[0.050225,-0.139212,0.988988]] 2025-10-28T23:43:57.104Z,1761695037.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996929,-0.053048,-0.057615],[0.060589,0.988549,0.138199],[0.049624,-0.141266,0.988727]] 2025-10-28T23:43:57.507Z,1761695037.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996946,-0.053119,-0.057248],[0.060762,0.988100,0.141305],[0.049061,-0.144352,0.988309]] 2025-10-28T23:43:57.910Z,1761695037.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996991,-0.052774,-0.056772],[0.060433,0.987880,0.142973],[0.048539,-0.145974,0.988097]] 2025-10-28T23:43:58.321Z,1761695038.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997048,-0.052484,-0.056044],[0.060084,0.987766,0.143904],[0.047806,-0.146846,0.988003]] 2025-10-28T23:43:58.720Z,1761695038.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997131,-0.051827,-0.055172],[0.059307,0.987807,0.143941],[0.047039,-0.146800,0.988047]] 2025-10-28T23:43:59.124Z,1761695039.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997220,-0.050860,-0.054455],[0.058275,0.987770,0.144618],[0.046434,-0.147389,0.987988]] 2025-10-28T23:43:59.527Z,1761695039.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997295,-0.050136,-0.053754],[0.057432,0.987890,0.144137],[0.045876,-0.146834,0.988097]] 2025-10-28T23:43:59.930Z,1761695039.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997373,-0.049426,-0.052957],[0.056588,0.988015,0.143612],[0.045224,-0.146231,0.988216]] 2025-10-28T23:44:00.335Z,1761695040.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997433,-0.048899,-0.052305],[0.055896,0.988288,0.141991],[0.044749,-0.144550,0.988485]] 2025-10-28T23:44:00.740Z,1761695040.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997478,-0.048544,-0.051786],[0.055448,0.988381,0.141519],[0.044314,-0.144034,0.988580]] 2025-10-28T23:44:01.143Z,1761695041.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997509,-0.048297,-0.051418],[0.055111,0.988529,0.140616],[0.044037,-0.143099,0.988728]] 2025-10-28T23:44:01.547Z,1761695041.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997538,-0.048169,-0.050972],[0.054893,0.988629,0.139996],[0.043649,-0.142449,0.988839]] 2025-10-28T23:44:01.951Z,1761695041.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997576,-0.048009,-0.050364],[0.054602,0.988792,0.138956],[0.043128,-0.141369,0.989017]] 2025-10-28T23:44:02.358Z,1761695042.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997599,-0.048325,-0.049608],[0.054774,0.988893,0.138170],[0.042380,-0.140556,0.989165]] 2025-10-28T23:44:02.758Z,1761695042.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997592,-0.049291,-0.048787],[0.055560,0.989033,0.136845],[0.041507,-0.139226,0.989390]] 2025-10-28T23:44:03.163Z,1761695043.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997590,-0.050098,-0.047994],[0.056225,0.989080,0.136231],[0.040645,-0.138601,0.989514]] 2025-10-28T23:44:03.567Z,1761695043.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997583,-0.051463,-0.046689],[0.057341,0.989211,0.134807],[0.039248,-0.137158,0.989771]] 2025-10-28T23:44:03.972Z,1761695043.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997565,-0.053030,-0.045306],[0.058664,0.989278,0.133743],[0.037728,-0.136075,0.989980]] 2025-10-28T23:44:04.376Z,1761695044.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997534,-0.054419,-0.044312],[0.059916,0.989166,0.134018],[0.036539,-0.136343,0.989988]] 2025-10-28T23:44:04.778Z,1761695044.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997515,-0.055989,-0.042770],[0.061303,0.988921,0.135194],[0.034727,-0.137480,0.989896]] 2025-10-28T23:44:05.183Z,1761695045.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997525,-0.057073,-0.041060],[0.062175,0.988735,0.136155],[0.032826,-0.138371,0.989836]] 2025-10-28T23:44:05.589Z,1761695045.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997534,-0.057988,-0.039534],[0.062925,0.988448,0.137883],[0.031082,-0.140030,0.989659]] 2025-10-28T23:44:05.991Z,1761695045.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997565,-0.058591,-0.037839],[0.063348,0.988115,0.140059],[0.029183,-0.142114,0.989420]] 2025-10-28T23:44:06.396Z,1761695046.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997612,-0.058946,-0.036004],[0.063457,0.988012,0.140729],[0.027277,-0.142677,0.989393]] 2025-10-28T23:44:06.798Z,1761695046.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997636,-0.059624,-0.034160],[0.063870,0.987960,0.140910],[0.025347,-0.142759,0.989433]] 2025-10-28T23:44:07.203Z,1761695047.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997662,-0.060289,-0.032181],[0.064244,0.987953,0.140787],[0.023305,-0.142525,0.989517]] 2025-10-28T23:44:07.609Z,1761695047.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997666,-0.061167,-0.030362],[0.064870,0.987801,0.141567],[0.021332,-0.143206,0.989463]] 2025-10-28T23:44:08.010Z,1761695048.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997661,-0.062072,-0.028637],[0.065500,0.987896,0.140611],[0.019562,-0.142157,0.989651]] 2025-10-28T23:44:08.415Z,1761695048.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997614,-0.063537,-0.027016],[0.066696,0.988015,0.139202],[0.017848,-0.140672,0.989895]] 2025-10-28T23:44:08.749Z,1761695048.749 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:44:08.819Z,1761695048.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997527,-0.065419,-0.025712],[0.068340,0.988203,0.137054],[0.016443,-0.138473,0.990230]] 2025-10-28T23:44:09.223Z,1761695049.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997432,-0.067258,-0.024597],[0.069983,0.988314,0.135419],[0.015202,-0.136793,0.990483]] 2025-10-28T23:44:09.626Z,1761695049.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997309,-0.069266,-0.024025],[0.071881,0.988303,0.134501],[0.014427,-0.135866,0.990622]] 2025-10-28T23:44:09.752Z,1761695049.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:44:10.030Z,1761695050.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997227,-0.070731,-0.023119],[0.073222,0.988079,0.135419],[0.013265,-0.136736,0.990519]] 2025-10-28T23:44:10.435Z,1761695050.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997203,-0.071385,-0.022144],[0.073747,0.987922,0.136281],[0.012148,-0.137532,0.990423]] 2025-10-28T23:44:10.840Z,1761695050.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997242,-0.071094,-0.021313],[0.073369,0.987641,0.138497],[0.011203,-0.139679,0.990133]] 2025-10-28T23:44:11.242Z,1761695051.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997330,-0.070153,-0.020285],[0.072329,0.987235,0.141897],[0.010071,-0.142986,0.989674]] 2025-10-28T23:44:11.646Z,1761695051.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997445,-0.068760,-0.019367],[0.070831,0.987153,0.143217],[0.009270,-0.144222,0.989502]] 2025-10-28T23:44:12.051Z,1761695052.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997628,-0.066356,-0.018322],[0.068316,0.987078,0.144948],[0.008467,-0.145856,0.989270]] 2025-10-28T23:44:12.457Z,1761695052.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997834,-0.063431,-0.017419],[0.065304,0.987045,0.146555],[0.007897,-0.147375,0.989049]] 2025-10-28T23:44:12.858Z,1761695052.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998050,-0.060279,-0.016187],[0.062017,0.986993,0.148319],[0.007036,-0.149034,0.988807]] 2025-10-28T23:44:13.262Z,1761695053.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998255,-0.057244,-0.014464],[0.058761,0.987122,0.148786],[0.005761,-0.149376,0.988764]] 2025-10-28T23:44:13.667Z,1761695053.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998375,-0.055529,-0.012771],[0.056804,0.987526,0.146851],[0.004457,-0.147338,0.989076]] 2025-10-28T23:44:14.074Z,1761695054.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998422,-0.055025,-0.011184],[0.056065,0.987903,0.144583],[0.003093,-0.144982,0.989429]] 2025-10-28T23:44:14.475Z,1761695054.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998397,-0.055732,-0.009904],[0.056572,0.988373,0.141135],[0.001923,-0.141469,0.989941]] 2025-10-28T23:44:14.879Z,1761695054.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998285,-0.057836,-0.009036],[0.058530,0.988678,0.138169],[0.000942,-0.138461,0.990367]] 2025-10-28T23:44:15.284Z,1761695055.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998129,-0.060601,-0.008129],[0.061143,0.988798,0.136159],[-0.000213,-0.136401,0.990654]] 2025-10-28T23:44:15.688Z,1761695055.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997924,-0.063906,-0.007995],[0.064399,0.988649,0.135744],[-0.000770,-0.135977,0.990712]] 2025-10-28T23:44:16.090Z,1761695056.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997674,-0.067711,-0.007879],[0.068152,0.988335,0.136192],[-0.001434,-0.136412,0.990651]] 2025-10-28T23:44:16.495Z,1761695056.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997404,-0.071585,-0.007761],[0.071970,0.987813,0.138009],[-0.002213,-0.138209,0.990401]] 2025-10-28T23:44:16.899Z,1761695056.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997118,-0.075479,-0.007648],[0.075801,0.987052,0.141360],[-0.003121,-0.141532,0.989929]] 2025-10-28T23:44:17.304Z,1761695057.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996881,-0.078590,-0.007131],[0.078792,0.986255,0.145234],[-0.004381,-0.145343,0.989372]] 2025-10-28T23:44:17.706Z,1761695057.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996758,-0.080183,-0.006604],[0.080260,0.985296,0.150831],[-0.005587,-0.150872,0.988537]] 2025-10-28T23:44:18.110Z,1761695058.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996823,-0.079410,-0.006092],[0.079395,0.984776,0.154634],[-0.006280,-0.154626,0.987953]] 2025-10-28T23:44:18.515Z,1761695058.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996988,-0.077367,-0.005410],[0.077260,0.984688,0.156269],[-0.006763,-0.156216,0.987700]] 2025-10-28T23:44:18.919Z,1761695058.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997239,-0.074109,-0.004797],[0.073935,0.984681,0.157913],[-0.006979,-0.157832,0.987441]] 2025-10-28T23:44:19.324Z,1761695059.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997520,-0.070297,-0.003534],[0.069980,0.985134,0.156891],[-0.007548,-0.156749,0.987610]] 2025-10-28T23:44:19.726Z,1761695059.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997804,-0.066213,-0.001933],[0.065709,0.985678,0.155308],[-0.008378,-0.155093,0.987864]] 2025-10-28T23:44:20.130Z,1761695060.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998068,-0.062135,-0.000474],[0.061467,0.986175,0.153886],[-0.009095,-0.153618,0.988088]] 2025-10-28T23:44:20.534Z,1761695060.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998283,-0.058566,0.001176],[0.057716,0.986821,0.151175],[-0.010014,-0.150847,0.988506]] 2025-10-28T23:44:20.940Z,1761695060.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998450,-0.055587,0.002615],[0.054587,0.987451,0.148194],[-0.010820,-0.147822,0.988955]] 2025-10-28T23:44:21.342Z,1761695061.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998562,-0.053471,0.003921],[0.052332,0.987968,0.145534],[-0.011656,-0.145120,0.989345]] 2025-10-28T23:44:21.746Z,1761695061.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998652,-0.051666,0.005076],[0.050408,0.988403,0.143241],[-0.012418,-0.142792,0.989675]] 2025-10-28T23:44:22.158Z,1761695062.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998696,-0.050698,0.005976],[0.049337,0.988629,0.142050],[-0.013109,-0.141570,0.989841]] 2025-10-28T23:44:22.557Z,1761695062.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,-0.050052,0.006925],[0.048589,0.988922,0.140258],[-0.013868,-0.139742,0.990091]] 2025-10-28T23:44:22.963Z,1761695062.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998717,-0.050012,0.007894],[0.048425,0.989039,0.139487],[-0.014783,-0.138926,0.990193]] 2025-10-28T23:44:23.368Z,1761695063.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998634,-0.051353,0.009603],[0.049481,0.988696,0.141533],[-0.016763,-0.140865,0.989887]] 2025-10-28T23:44:23.772Z,1761695063.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998555,-0.052661,0.010667],[0.050606,0.988483,0.142617],[-0.018054,-0.141871,0.989721]] 2025-10-28T23:44:24.177Z,1761695064.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998430,-0.054778,0.011668],[0.052533,0.988181,0.144009],[-0.019419,-0.143170,0.989508]] 2025-10-28T23:44:24.579Z,1761695064.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998275,-0.057400,0.012308],[0.054993,0.987739,0.146105],[-0.020543,-0.145177,0.989192]] 2025-10-28T23:44:24.979Z,1761695064.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998093,-0.060439,0.012537],[0.057921,0.987256,0.148227],[-0.021336,-0.147219,0.988874]] 2025-10-28T23:44:25.383Z,1761695065.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997897,-0.063561,0.012679],[0.060937,0.986725,0.150536],[-0.022079,-0.149447,0.988523]] 2025-10-28T23:44:25.789Z,1761695065.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997710,-0.066435,0.012691],[0.063743,0.986321,0.152014],[-0.022617,-0.150857,0.988297]] 2025-10-28T23:44:26.191Z,1761695066.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997519,-0.069291,0.012411],[0.066564,0.985836,0.153940],[-0.022902,-0.152732,0.988002]] 2025-10-28T23:44:26.596Z,1761695066.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997383,-0.071224,0.012395],[0.068453,0.985546,0.154964],[-0.023253,-0.153710,0.987842]] 2025-10-28T23:44:26.999Z,1761695066.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997361,-0.071489,0.012672],[0.068653,0.985408,0.155752],[-0.023621,-0.154471,0.987715]] 2025-10-28T23:44:27.404Z,1761695067.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997375,-0.071199,0.013178],[0.068281,0.985387,0.156044],[-0.024096,-0.154734,0.987662]] 2025-10-28T23:44:27.807Z,1761695067.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997429,-0.070400,0.013379],[0.067473,0.985522,0.155541],[-0.024136,-0.154239,0.987739]] 2025-10-28T23:44:28.210Z,1761695068.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997522,-0.069015,0.013688],[0.066090,0.985828,0.154192],[-0.024136,-0.152905,0.987946]] 2025-10-28T23:44:28.616Z,1761695068.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997613,-0.067623,0.013993],[0.064698,0.986110,0.152973],[-0.024143,-0.151703,0.988131]] 2025-10-28T23:44:29.020Z,1761695069.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997775,-0.065042,0.014641],[0.062057,0.986332,0.152635],[-0.024368,-0.151386,0.988174]] 2025-10-28T23:44:29.422Z,1761695069.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997925,-0.062516,0.015403],[0.059458,0.986579,0.152076],[-0.024703,-0.150845,0.988249]] 2025-10-28T23:44:29.826Z,1761695069.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998066,-0.059941,0.016492],[0.056717,0.986556,0.153267],[-0.025458,-0.152035,0.988047]] 2025-10-28T23:44:30.235Z,1761695070.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998199,-0.057410,0.017408],[0.054099,0.986835,0.152416],[-0.025929,-0.151200,0.988163]] 2025-10-28T23:44:30.637Z,1761695070.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998320,-0.055000,0.018229],[0.051567,0.986824,0.153362],[-0.026424,-0.152164,0.988002]] 2025-10-28T23:44:31.038Z,1761695071.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998457,-0.052162,0.019046],[0.048607,0.986804,0.154450],[-0.026851,-0.153286,0.987817]] 2025-10-28T23:44:31.442Z,1761695071.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998609,-0.048731,0.020149],[0.045016,0.986796,0.155585],[-0.027464,-0.154461,0.987617]] 2025-10-28T23:44:31.847Z,1761695071.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998710,-0.046088,0.021318],[0.042238,0.987006,0.155030],[-0.028186,-0.153930,0.987680]] 2025-10-28T23:44:32.279Z,1761695072.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998789,-0.043687,0.022616],[0.039664,0.987104,0.155085],[-0.029100,-0.154000,0.987642]] 2025-10-28T23:44:32.655Z,1761695072.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998817,-0.042395,0.023816],[0.038221,0.987260,0.154458],[-0.030061,-0.153365,0.987712]] 2025-10-28T23:44:33.059Z,1761695073.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998812,-0.041875,0.024915],[0.037546,0.987321,0.154230],[-0.031058,-0.153112,0.987721]] 2025-10-28T23:44:33.462Z,1761695073.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998751,-0.042818,0.025760],[0.038424,0.987648,0.151906],[-0.031946,-0.150727,0.988059]] 2025-10-28T23:44:33.867Z,1761695073.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998667,-0.044530,0.026098],[0.040145,0.987946,0.149500],[-0.032441,-0.148253,0.988417]] 2025-10-28T23:44:34.302Z,1761695074.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998537,-0.047109,0.026546],[0.042693,0.988125,0.147604],[-0.033184,-0.146255,0.988690]] 2025-10-28T23:44:34.674Z,1761695074.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998378,-0.050458,0.026383],[0.046068,0.988133,0.146530],[-0.033464,-0.145076,0.988854]] 2025-10-28T23:44:35.078Z,1761695075.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998218,-0.053819,0.025765],[0.049501,0.988037,0.146054],[-0.033317,-0.144518,0.988941]] 2025-10-28T23:44:35.483Z,1761695075.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998047,-0.057177,0.025150],[0.052903,0.987819,0.146340],[-0.033211,-0.144723,0.988915]] 2025-10-28T23:44:35.886Z,1761695075.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997880,-0.060337,0.024378],[0.056109,0.987488,0.147377],[-0.032966,-0.145697,0.988780]] 2025-10-28T23:44:36.311Z,1761695076.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997731,-0.062993,0.023757],[0.058766,0.987055,0.149226],[-0.032850,-0.147491,0.988518]] 2025-10-28T23:44:36.695Z,1761695076.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997622,-0.064934,0.023117],[0.060702,0.986575,0.151608],[-0.032652,-0.149845,0.988170]] 2025-10-28T23:44:37.100Z,1761695077.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997594,-0.065531,0.022611],[0.061305,0.986239,0.153537],[-0.032362,-0.151782,0.987884]] 2025-10-28T23:44:37.503Z,1761695077.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997606,-0.065391,0.022478],[0.061131,0.985984,0.155238],[-0.032314,-0.153493,0.987621]] 2025-10-28T23:44:37.907Z,1761695077.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997692,-0.064077,0.022456],[0.059753,0.985661,0.157805],[-0.032245,-0.156100,0.987215]] 2025-10-28T23:44:38.319Z,1761695078.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997775,-0.062533,0.023138],[0.058104,0.985678,0.158311],[-0.032707,-0.156614,0.987118]] 2025-10-28T23:44:38.716Z,1761695078.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997929,-0.059819,0.023671],[0.055305,0.985677,0.159319],[-0.032862,-0.157680,0.986943]] 2025-10-28T23:44:39.119Z,1761695079.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998087,-0.056905,0.024184],[0.052311,0.985671,0.160365],[-0.032963,-0.158794,0.986761]] 2025-10-28T23:44:39.522Z,1761695079.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998278,-0.053014,0.025107],[0.048333,0.985926,0.160044],[-0.033238,-0.158555,0.986791]] 2025-10-28T23:44:39.872Z,1761695079.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:44:39.927Z,1761695079.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998472,-0.048707,0.026090],[0.043946,0.986237,0.159388],[-0.033494,-0.157998,0.986871]] 2025-10-28T23:44:40.332Z,1761695080.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998635,-0.044589,0.027213],[0.039762,0.986702,0.157602],[-0.033878,-0.156305,0.987128]] 2025-10-28T23:44:40.734Z,1761695080.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998766,-0.040938,0.028121],[0.036076,0.987138,0.155745],[-0.034135,-0.154538,0.987397]] 2025-10-28T23:44:40.877Z,1761695080.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:44:41.138Z,1761695081.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998890,-0.037148,0.028947],[0.032295,0.987686,0.153077],[-0.034277,-0.151972,0.987790]] 2025-10-28T23:44:41.544Z,1761695081.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998968,-0.034243,0.029855],[0.029408,0.988317,0.149550],[-0.034627,-0.148517,0.988303]] 2025-10-28T23:44:41.947Z,1761695081.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999009,-0.032351,0.030564],[0.027544,0.988850,0.146347],[-0.034958,-0.145360,0.988761]] 2025-10-28T23:44:42.351Z,1761695082.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999031,-0.031418,0.030832],[0.026694,0.989336,0.143187],[-0.035002,-0.142225,0.989215]] 2025-10-28T23:44:42.755Z,1761695082.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999022,-0.031545,0.030986],[0.026892,0.989711,0.140530],[-0.035100,-0.139560,0.989591]] 2025-10-28T23:44:43.159Z,1761695083.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998978,-0.032884,0.030998],[0.028320,0.990080,0.137622],[-0.035216,-0.136604,0.990000]] 2025-10-28T23:44:43.564Z,1761695083.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998888,-0.035334,0.031204],[0.030789,0.990268,0.135723],[-0.035696,-0.134611,0.990255]] 2025-10-28T23:44:43.966Z,1761695083.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998775,-0.038703,0.030814],[0.034260,0.990449,0.133552],[-0.035689,-0.132332,0.990563]] 2025-10-28T23:44:44.370Z,1761695084.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998666,-0.042484,0.029335],[0.038247,0.990463,0.132364],[-0.034679,-0.131065,0.990767]] 2025-10-28T23:44:44.775Z,1761695084.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998538,-0.046442,0.027661],[0.042382,0.990255,0.132657],[-0.033552,-0.131291,0.990776]] 2025-10-28T23:44:45.180Z,1761695085.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998417,-0.049906,0.025942],[0.046041,0.990085,0.132712],[-0.032308,-0.131308,0.990815]] 2025-10-28T23:44:45.582Z,1761695085.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998311,-0.052818,0.024197],[0.049099,0.989682,0.134604],[-0.031057,-0.133189,0.990604]] 2025-10-28T23:44:45.987Z,1761695085.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998293,-0.053805,0.022712],[0.050198,0.989277,0.137151],[-0.029848,-0.135777,0.990290]] 2025-10-28T23:44:46.391Z,1761695086.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998361,-0.053060,0.021446],[0.049559,0.988951,0.139711],[-0.028622,-0.138419,0.989960]] 2025-10-28T23:44:46.796Z,1761695086.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998463,-0.051562,0.020321],[0.048172,0.988722,0.141806],[-0.027404,-0.140610,0.989686]] 2025-10-28T23:44:47.199Z,1761695087.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998576,-0.049379,0.020209],[0.045995,0.988656,0.142982],[-0.027040,-0.141849,0.989519]] 2025-10-28T23:44:47.603Z,1761695087.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998710,-0.046691,0.019980],[0.043339,0.988627,0.144011],[-0.026476,-0.142959,0.989374]] 2025-10-28T23:44:48.007Z,1761695088.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.043583,0.019545],[0.040326,0.988764,0.143944],[-0.025599,-0.142991,0.989393]] 2025-10-28T23:44:48.412Z,1761695088.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998994,-0.040506,0.019223],[0.037351,0.989026,0.142943],[-0.024802,-0.142081,0.989544]] 2025-10-28T23:44:48.814Z,1761695088.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999090,-0.038035,0.019287],[0.034877,0.989006,0.143702],[-0.024540,-0.142898,0.989433]] 2025-10-28T23:44:49.219Z,1761695089.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999196,-0.035319,0.018983],[0.032261,0.989272,0.142477],[-0.023812,-0.141750,0.989616]] 2025-10-28T23:44:49.622Z,1761695089.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,-0.032942,0.019034],[0.029900,0.989342,0.142505],[-0.023526,-0.141833,0.989611]] 2025-10-28T23:44:50.029Z,1761695090.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999349,-0.030544,0.019196],[0.027490,0.989329,0.143084],[-0.023361,-0.142463,0.989524]] 2025-10-28T23:44:50.430Z,1761695090.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999429,-0.027611,0.019452],[0.024548,0.989393,0.143177],[-0.023199,-0.142618,0.989506]] 2025-10-28T23:44:50.834Z,1761695090.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999499,-0.024580,0.019916],[0.021492,0.989539,0.142653],[-0.023214,-0.142154,0.989572]] 2025-10-28T23:44:51.240Z,1761695091.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999561,-0.021698,0.020166],[0.018615,0.989668,0.142161],[-0.023042,-0.141723,0.989638]] 2025-10-28T23:44:51.642Z,1761695091.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999602,-0.019338,0.020529],[0.016249,0.989847,0.141207],[-0.023051,-0.140817,0.989767]] 2025-10-28T23:44:52.048Z,1761695092.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999628,-0.017775,0.020663],[0.014697,0.989960,0.140579],[-0.022955,-0.140223,0.989854]] 2025-10-28T23:44:52.451Z,1761695092.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999638,-0.017080,0.020809],[0.014028,0.990214,0.138854],[-0.022977,-0.138512,0.990094]] 2025-10-28T23:44:52.856Z,1761695092.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999643,-0.016929,0.020666],[0.013930,0.990399,0.137531],[-0.022796,-0.137194,0.990282]] 2025-10-28T23:44:53.258Z,1761695093.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999646,-0.017162,0.020332],[0.014240,0.990600,0.136045],[-0.022476,-0.135707,0.990494]] 2025-10-28T23:44:53.662Z,1761695093.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999621,-0.018936,0.019969],[0.016105,0.990924,0.133457],[-0.022314,-0.133085,0.990853]] 2025-10-28T23:44:54.081Z,1761695094.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999592,-0.020987,0.019352],[0.018263,0.991145,0.131522],[-0.021941,-0.131114,0.991124]] 2025-10-28T23:44:54.472Z,1761695094.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999554,-0.023390,0.018571],[0.020807,0.991449,0.128824],[-0.021425,-0.128380,0.991494]] 2025-10-28T23:44:54.874Z,1761695094.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999535,-0.024728,0.017860],[0.022245,0.991540,0.127880],[-0.020871,-0.127423,0.991629]] 2025-10-28T23:44:55.278Z,1761695095.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999516,-0.025999,0.017074],[0.023650,0.991779,0.125760],[-0.020203,-0.125295,0.991914]] 2025-10-28T23:44:55.683Z,1761695095.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999487,-0.027520,0.016410],[0.025275,0.991951,0.124076],[-0.019692,-0.123597,0.992137]] 2025-10-28T23:44:56.089Z,1761695096.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999471,-0.028389,0.015853],[0.026228,0.992064,0.122970],[-0.019218,-0.122490,0.992284]] 2025-10-28T23:44:56.491Z,1761695096.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999452,-0.028918,0.016092],[0.026741,0.992157,0.122104],[-0.019496,-0.121607,0.992387]] 2025-10-28T23:44:56.894Z,1761695096.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999442,-0.029067,0.016484],[0.026851,0.992215,0.121608],[-0.019891,-0.121097,0.992441]] 2025-10-28T23:44:57.299Z,1761695097.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999422,-0.029813,0.016318],[0.027599,0.992117,0.122238],[-0.019834,-0.121717,0.992367]] 2025-10-28T23:44:57.704Z,1761695097.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999383,-0.031009,0.016508],[0.028779,0.992177,0.121476],[-0.020145,-0.120926,0.992457]] 2025-10-28T23:44:58.107Z,1761695098.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999349,-0.032399,0.015875],[0.030202,0.991929,0.123147],[-0.019737,-0.122588,0.992261]] 2025-10-28T23:44:58.510Z,1761695098.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999315,-0.033975,0.014667],[0.031905,0.991806,0.123702],[-0.018749,-0.123149,0.992211]] 2025-10-28T23:44:58.915Z,1761695098.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999283,-0.035424,0.013384],[0.033499,0.991741,0.123807],[-0.017659,-0.123270,0.992216]] 2025-10-28T23:44:59.319Z,1761695099.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999261,-0.036568,0.011822],[0.034789,0.991412,0.126062],[-0.016330,-0.125558,0.991952]] 2025-10-28T23:44:59.724Z,1761695099.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999259,-0.037173,0.009940],[0.035602,0.991175,0.127688],[-0.014599,-0.127240,0.991765]] 2025-10-28T23:45:00.126Z,1761695100.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999229,-0.038446,0.007923],[0.037121,0.991112,0.127746],[-0.012764,-0.127353,0.991775]] 2025-10-28T23:45:00.530Z,1761695100.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999192,-0.039730,0.006055],[0.038615,0.990848,0.129343],[-0.011139,-0.129005,0.991581]] 2025-10-28T23:45:00.935Z,1761695100.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999155,-0.040878,0.004383],[0.039936,0.990355,0.132673],[-0.009764,-0.132386,0.991150]] 2025-10-28T23:45:01.340Z,1761695101.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999130,-0.041614,0.002852],[0.040846,0.989965,0.135282],[-0.008453,-0.135048,0.990803]] 2025-10-28T23:45:01.742Z,1761695101.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999141,-0.041412,0.001661],[0.040791,0.989667,0.137459],[-0.007336,-0.137273,0.990506]] 2025-10-28T23:45:02.147Z,1761695102.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999156,-0.041076,0.000468],[0.040602,0.989227,0.140644],[-0.006240,-0.140506,0.990060]] 2025-10-28T23:45:02.553Z,1761695102.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999268,-0.038242,-0.000258],[0.037891,0.989142,0.141995],[-0.005175,-0.141901,0.989867]] 2025-10-28T23:45:02.954Z,1761695102.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999358,-0.035825,-0.000960],[0.035599,0.989247,0.141857],[-0.004132,-0.141801,0.989887]] 2025-10-28T23:45:03.359Z,1761695103.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999424,-0.033894,-0.001690],[0.033800,0.989758,0.138696],[-0.003029,-0.138674,0.990333]] 2025-10-28T23:45:03.762Z,1761695103.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999493,-0.031766,-0.002356],[0.031791,0.990187,0.136085],[-0.001990,-0.136091,0.990694]] 2025-10-28T23:45:04.168Z,1761695104.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999551,-0.029820,-0.003055],[0.029960,0.990477,0.134378],[-0.000982,-0.134409,0.990925]] 2025-10-28T23:45:04.571Z,1761695104.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999581,-0.028688,-0.003733],[0.028929,0.990635,0.133440],[-0.000130,-0.133492,0.991050]] 2025-10-28T23:45:04.974Z,1761695104.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999603,-0.027877,-0.004167],[0.028184,0.990480,0.134741],[0.000371,-0.134805,0.990872]] 2025-10-28T23:45:05.379Z,1761695105.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999589,-0.028285,-0.004743],[0.028667,0.990398,0.135237],[0.000872,-0.135318,0.990802]] 2025-10-28T23:45:05.785Z,1761695105.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999548,-0.029567,-0.005399],[0.030024,0.990496,0.134224],[0.001379,-0.134326,0.990936]] 2025-10-28T23:45:06.186Z,1761695106.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999481,-0.031604,-0.006196],[0.032146,0.990708,0.132155],[0.001962,-0.132286,0.991210]] 2025-10-28T23:45:06.591Z,1761695106.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999401,-0.033798,-0.007429],[0.034486,0.990549,0.132755],[0.002872,-0.132932,0.991121]] 2025-10-28T23:45:06.995Z,1761695106.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999292,-0.036669,-0.008396],[0.037460,0.990423,0.132886],[0.003442,-0.133106,0.991096]] 2025-10-28T23:45:07.398Z,1761695107.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999178,-0.039436,-0.009395],[0.040340,0.990167,0.133945],[0.004020,-0.134214,0.990944]] 2025-10-28T23:45:07.803Z,1761695107.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999031,-0.042725,-0.010528],[0.043754,0.989932,0.134612],[0.004671,-0.134943,0.990842]] 2025-10-28T23:45:08.209Z,1761695108.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998893,-0.045544,-0.011730],[0.046719,0.989579,0.136202],[0.005404,-0.136599,0.990612]] 2025-10-28T23:45:08.617Z,1761695108.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998672,-0.049748,-0.013401],[0.051120,0.989189,0.137445],[0.006419,-0.137947,0.990419]] 2025-10-28T23:45:09.022Z,1761695109.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998590,-0.051207,-0.014005],[0.052654,0.988980,0.138369],[0.006765,-0.138911,0.990282]] 2025-10-28T23:45:09.423Z,1761695109.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998500,-0.052780,-0.014551],[0.054298,0.988713,0.139638],[0.007016,-0.140218,0.990096]] 2025-10-28T23:45:09.827Z,1761695109.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998446,-0.053582,-0.015290],[0.055217,0.988263,0.142431],[0.007479,-0.143054,0.989687]] 2025-10-28T23:45:10.232Z,1761695110.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998384,-0.054461,-0.016260],[0.056261,0.987584,0.146670],[0.008070,-0.147347,0.989052]] 2025-10-28T23:45:10.633Z,1761695110.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998324,-0.055300,-0.017083],[0.057205,0.987642,0.145915],[0.008803,-0.146647,0.989150]] 2025-10-28T23:45:11.014Z,1761695111.014 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:45:11.035Z,1761695111.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998227,-0.056724,-0.018029],[0.058739,0.987753,0.144550],[0.009609,-0.145352,0.989333]] 2025-10-28T23:45:11.438Z,1761695111.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998096,-0.058532,-0.019431],[0.060721,0.987791,0.143461],[0.010797,-0.144368,0.989465]] 2025-10-28T23:45:11.843Z,1761695111.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997952,-0.060615,-0.020443],[0.062907,0.987918,0.141638],[0.011610,-0.142634,0.989707]] 2025-10-28T23:45:12.017Z,1761695112.017 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:45:12.270Z,1761695112.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997782,-0.063219,-0.020858],[0.065504,0.988226,0.138268],[0.011871,-0.139328,0.990175]] 2025-10-28T23:45:12.651Z,1761695112.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997620,-0.065750,-0.020769],[0.067951,0.988618,0.134231],[0.011706,-0.135323,0.990732]] 2025-10-28T23:45:13.055Z,1761695113.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997518,-0.067323,-0.020644],[0.069461,0.988888,0.131439],[0.011565,-0.132547,0.991109]] 2025-10-28T23:45:13.459Z,1761695113.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997457,-0.068250,-0.020538],[0.070342,0.989097,0.129381],[0.011484,-0.130496,0.991382]] 2025-10-28T23:45:13.863Z,1761695113.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997360,-0.069579,-0.020770],[0.071712,0.988751,0.131256],[0.011403,-0.132399,0.991131]] 2025-10-28T23:45:14.298Z,1761695114.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997359,-0.069488,-0.021137],[0.071789,0.987312,0.141635],[0.011027,-0.142778,0.989693]] 2025-10-28T23:45:14.670Z,1761695114.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997486,-0.067618,-0.021220],[0.070065,0.985908,0.151908],[0.010649,-0.153013,0.988167]] 2025-10-28T23:45:15.074Z,1761695115.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997670,-0.064905,-0.021002],[0.067428,0.984947,0.159161],[0.010355,-0.160206,0.987029]] 2025-10-28T23:45:15.479Z,1761695115.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997882,-0.061579,-0.020957],[0.064174,0.984619,0.162504],[0.010628,-0.163504,0.986485]] 2025-10-28T23:45:15.885Z,1761695115.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998079,-0.058394,-0.020719],[0.060956,0.985349,0.159286],[0.011114,-0.160243,0.987015]] 2025-10-28T23:45:16.312Z,1761695116.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998241,-0.055532,-0.020775],[0.058057,0.986606,0.152440],[0.012031,-0.153378,0.988094]] 2025-10-28T23:45:16.690Z,1761695116.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998369,-0.053012,-0.021181],[0.055592,0.987186,0.149576],[0.012980,-0.150509,0.988523]] 2025-10-28T23:45:17.094Z,1761695117.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998475,-0.050729,-0.021761],[0.053434,0.987164,0.150503],[0.013847,-0.151436,0.988370]] 2025-10-28T23:45:17.499Z,1761695117.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998518,-0.049556,-0.022514],[0.052385,0.987265,0.150210],[0.014783,-0.151166,0.988398]] 2025-10-28T23:45:17.902Z,1761695117.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998464,-0.050128,-0.023615],[0.053080,0.987569,0.147950],[0.015905,-0.148976,0.988713]] 2025-10-28T23:45:18.317Z,1761695118.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998336,-0.052145,-0.024638],[0.055147,0.988155,0.143205],[0.016879,-0.144325,0.989386]] 2025-10-28T23:45:18.711Z,1761695118.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998113,-0.055676,-0.025887],[0.058741,0.988599,0.138640],[0.017873,-0.139899,0.990004]] 2025-10-28T23:45:19.119Z,1761695119.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997880,-0.059189,-0.027045],[0.062309,0.988920,0.134742],[0.018770,-0.136141,0.990512]] 2025-10-28T23:45:19.519Z,1761695119.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997617,-0.062907,-0.028342],[0.066164,0.988718,0.134388],[0.019569,-0.135943,0.990523]] 2025-10-28T23:45:19.922Z,1761695119.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997348,-0.066453,-0.029679],[0.069889,0.988268,0.135800],[0.020306,-0.137514,0.990292]] 2025-10-28T23:45:20.328Z,1761695120.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997118,-0.069254,-0.030988],[0.072917,0.987580,0.139174],[0.020965,-0.141033,0.989783]] 2025-10-28T23:45:20.730Z,1761695120.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996984,-0.070622,-0.032193],[0.074522,0.986943,0.142795],[0.021688,-0.144763,0.989229]] 2025-10-28T23:45:21.134Z,1761695121.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996920,-0.070990,-0.033331],[0.075147,0.986272,0.147037],[0.022436,-0.149089,0.988569]] 2025-10-28T23:45:21.540Z,1761695121.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996965,-0.069997,-0.034072],[0.074356,0.985821,0.150425],[0.023059,-0.152502,0.988034]] 2025-10-28T23:45:21.944Z,1761695121.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997047,-0.068555,-0.034590],[0.073084,0.985434,0.153554],[0.023560,-0.155629,0.987535]] 2025-10-28T23:45:22.347Z,1761695122.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997137,-0.066958,-0.035141],[0.071624,0.985327,0.154918],[0.024253,-0.156992,0.987302]] 2025-10-28T23:45:22.751Z,1761695122.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997258,-0.065027,-0.035320],[0.069779,0.985245,0.156281],[0.024637,-0.158318,0.987081]] 2025-10-28T23:45:23.155Z,1761695123.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997309,-0.064117,-0.035547],[0.068867,0.985610,0.154369],[0.025137,-0.156402,0.987374]] 2025-10-28T23:45:23.561Z,1761695123.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997285,-0.064256,-0.035972],[0.068996,0.986049,0.151480],[0.025737,-0.153551,0.987806]] 2025-10-28T23:45:23.963Z,1761695123.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997231,-0.064962,-0.036212],[0.069699,0.986187,0.150260],[0.025951,-0.152368,0.987983]] 2025-10-28T23:45:24.367Z,1761695124.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997136,-0.066228,-0.036507],[0.070966,0.986271,0.149106],[0.026131,-0.151269,0.988147]] 2025-10-28T23:45:24.770Z,1761695124.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997034,-0.067539,-0.036905],[0.072296,0.986323,0.148125],[0.026396,-0.150354,0.988280]] 2025-10-28T23:45:25.176Z,1761695125.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996974,-0.068157,-0.037378],[0.072963,0.986358,0.147559],[0.026811,-0.149840,0.988347]] 2025-10-28T23:45:25.580Z,1761695125.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996969,-0.067998,-0.037798],[0.072866,0.986379,0.147466],[0.027256,-0.149773,0.988345]] 2025-10-28T23:45:25.983Z,1761695125.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997023,-0.066989,-0.038186],[0.071933,0.986409,0.147725],[0.027771,-0.150032,0.988291]] 2025-10-28T23:45:26.386Z,1761695126.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997179,-0.064537,-0.038334],[0.069568,0.986382,0.149034],[0.028194,-0.151280,0.988089]] 2025-10-28T23:45:26.792Z,1761695126.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997378,-0.061335,-0.038411],[0.066461,0.986340,0.150720],[0.028642,-0.152878,0.987830]] 2025-10-28T23:45:27.194Z,1761695127.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997607,-0.057578,-0.038286],[0.062789,0.986249,0.152873],[0.028957,-0.154911,0.987504]] 2025-10-28T23:45:27.599Z,1761695127.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997823,-0.054045,-0.037787],[0.059258,0.986267,0.154163],[0.028936,-0.156067,0.987323]] 2025-10-28T23:45:28.002Z,1761695128.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997993,-0.051423,-0.036968],[0.056522,0.986512,0.153620],[0.028570,-0.155401,0.987438]] 2025-10-28T23:45:28.408Z,1761695128.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998107,-0.049468,-0.036532],[0.054463,0.986942,0.151592],[0.028556,-0.153295,0.987768]] 2025-10-28T23:45:28.810Z,1761695128.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998145,-0.048697,-0.036551],[0.053615,0.987449,0.148557],[0.028858,-0.150241,0.988228]] 2025-10-28T23:45:29.214Z,1761695129.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998127,-0.049091,-0.036504],[0.053921,0.987825,0.145925],[0.028896,-0.147620,0.988622]] 2025-10-28T23:45:29.620Z,1761695129.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998034,-0.050794,-0.036726],[0.055599,0.987939,0.144519],[0.028942,-0.146276,0.988820]] 2025-10-28T23:45:30.024Z,1761695130.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997931,-0.052586,-0.036999],[0.057369,0.988055,0.143029],[0.029035,-0.144855,0.989027]] 2025-10-28T23:45:30.426Z,1761695130.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997844,-0.054166,-0.037064],[0.058924,0.988049,0.142432],[0.028906,-0.144309,0.989110]] 2025-10-28T23:45:30.830Z,1761695130.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997776,-0.055559,-0.036838],[0.060276,0.987944,0.142596],[0.028471,-0.144499,0.989095]] 2025-10-28T23:45:31.234Z,1761695131.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997712,-0.056572,-0.037024],[0.061376,0.987525,0.145010],[0.028358,-0.146951,0.988737]] 2025-10-28T23:45:31.641Z,1761695131.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997663,-0.057270,-0.037272],[0.062138,0.987297,0.146228],[0.028424,-0.148202,0.988548]] 2025-10-28T23:45:32.042Z,1761695132.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997653,-0.057193,-0.037649],[0.062180,0.986975,0.148372],[0.028672,-0.150365,0.988215]] 2025-10-28T23:45:32.446Z,1761695132.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997677,-0.056274,-0.038387],[0.061435,0.986753,0.150147],[0.029429,-0.152157,0.987918]] 2025-10-28T23:45:32.851Z,1761695132.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997746,-0.054566,-0.039067],[0.059863,0.986781,0.150596],[0.030333,-0.152595,0.987823]] 2025-10-28T23:45:33.257Z,1761695133.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997776,-0.053577,-0.039654],[0.058952,0.986944,0.149891],[0.031105,-0.151895,0.987907]] 2025-10-28T23:45:33.659Z,1761695133.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997763,-0.053428,-0.040188],[0.058797,0.987371,0.147109],[0.031820,-0.149142,0.988304]] 2025-10-28T23:45:34.063Z,1761695134.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997729,-0.053817,-0.040509],[0.059099,0.987943,0.143092],[0.032320,-0.145161,0.988880]] 2025-10-28T23:45:34.467Z,1761695134.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997676,-0.054626,-0.040732],[0.059841,0.988298,0.140309],[0.032591,-0.142421,0.989269]] 2025-10-28T23:45:34.872Z,1761695134.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997641,-0.055441,-0.040477],[0.060522,0.988644,0.137552],[0.032392,-0.139678,0.989667]] 2025-10-28T23:45:35.274Z,1761695135.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997610,-0.056281,-0.040093],[0.061266,0.988744,0.136496],[0.031959,-0.138626,0.989829]] 2025-10-28T23:45:35.678Z,1761695135.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997547,-0.057505,-0.039926],[0.062421,0.988823,0.135395],[0.031694,-0.137556,0.989987]] 2025-10-28T23:45:36.083Z,1761695136.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997540,-0.057712,-0.039780],[0.062657,0.988589,0.136987],[0.031420,-0.139142,0.989774]] 2025-10-28T23:45:36.488Z,1761695136.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997578,-0.057150,-0.039647],[0.062121,0.988451,0.138223],[0.031289,-0.140351,0.989607]] 2025-10-28T23:45:36.890Z,1761695136.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997621,-0.056446,-0.039572],[0.061444,0.988353,0.139225],[0.031252,-0.141325,0.989470]] 2025-10-28T23:45:37.294Z,1761695137.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997700,-0.055052,-0.039539],[0.060111,0.988203,0.140863],[0.031318,-0.142916,0.989239]] 2025-10-28T23:45:37.698Z,1761695137.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997782,-0.053654,-0.039410],[0.058729,0.988188,0.141545],[0.031350,-0.143546,0.989147]] 2025-10-28T23:45:38.103Z,1761695138.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997880,-0.051658,-0.039587],[0.056838,0.988028,0.143424],[0.031704,-0.145370,0.988869]] 2025-10-28T23:45:38.509Z,1761695138.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997977,-0.049747,-0.039580],[0.054957,0.988077,0.143817],[0.031954,-0.145701,0.988813]] 2025-10-28T23:45:38.910Z,1761695138.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998073,-0.047888,-0.039450],[0.053121,0.988071,0.144545],[0.032058,-0.146363,0.988711]] 2025-10-28T23:45:39.315Z,1761695139.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998156,-0.046269,-0.039300],[0.051519,0.988059,0.145207],[0.032113,-0.146964,0.988620]] 2025-10-28T23:45:39.719Z,1761695139.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998247,-0.044598,-0.038898],[0.049796,0.988188,0.144927],[0.031975,-0.146610,0.988677]] 2025-10-28T23:45:40.124Z,1761695140.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998307,-0.043373,-0.038760],[0.048559,0.988266,0.144816],[0.032024,-0.146453,0.988699]] 2025-10-28T23:45:40.527Z,1761695140.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998364,-0.042302,-0.038465],[0.047458,0.988309,0.144889],[0.031886,-0.146478,0.988700]] 2025-10-28T23:45:40.931Z,1761695140.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998406,-0.041743,-0.037990],[0.046787,0.988561,0.143379],[0.031570,-0.144928,0.988938]] 2025-10-28T23:45:41.335Z,1761695141.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998448,-0.040407,-0.038321],[0.045506,0.988650,0.143181],[0.032100,-0.144702,0.988954]] 2025-10-28T23:45:41.741Z,1761695141.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998499,-0.039331,-0.038107],[0.044399,0.988747,0.142854],[0.032059,-0.144332,0.989010]] 2025-10-28T23:45:42.142Z,1761695142.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998526,-0.039070,-0.037676],[0.044005,0.989093,0.140568],[0.031773,-0.142019,0.989354]] 2025-10-28T23:45:42.144Z,1761695142.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:45:42.546Z,1761695142.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998557,-0.038634,-0.037298],[0.043489,0.989252,0.139607],[0.031503,-0.141027,0.989504]] 2025-10-28T23:45:42.951Z,1761695142.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998616,-0.037097,-0.037291],[0.041991,0.989204,0.140404],[0.031680,-0.141775,0.989392]] 2025-10-28T23:45:43.148Z,1761695143.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:45:43.355Z,1761695143.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998678,-0.035611,-0.037063],[0.040438,0.989477,0.138924],[0.031726,-0.140239,0.989609]] 2025-10-28T23:45:43.760Z,1761695143.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998752,-0.033794,-0.036788],[0.038549,0.989775,0.137331],[0.031770,-0.138578,0.989842]] 2025-10-28T23:45:44.163Z,1761695144.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998811,-0.032438,-0.036382],[0.037100,0.990041,0.135802],[0.031614,-0.136990,0.990068]] 2025-10-28T23:45:44.567Z,1761695144.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998866,-0.030908,-0.036219],[0.035510,0.990315,0.134220],[0.031719,-0.135354,0.990289]] 2025-10-28T23:45:44.970Z,1761695144.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998906,-0.029926,-0.035940],[0.034424,0.990671,0.131860],[0.031659,-0.132952,0.990617]] 2025-10-28T23:45:45.376Z,1761695145.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998918,-0.029622,-0.035846],[0.034037,0.990984,0.129581],[0.031684,-0.130661,0.990921]] 2025-10-28T23:45:45.778Z,1761695145.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998928,-0.029392,-0.035756],[0.033731,0.991262,0.127524],[0.031696,-0.128594,0.991191]] 2025-10-28T23:45:46.183Z,1761695146.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998909,-0.029923,-0.035856],[0.034226,0.991421,0.126146],[0.031774,-0.127236,0.991363]] 2025-10-28T23:45:46.586Z,1761695146.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998889,-0.030430,-0.035994],[0.034744,0.991415,0.126050],[0.031850,-0.127160,0.991371]] 2025-10-28T23:45:46.992Z,1761695146.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998860,-0.031231,-0.036110],[0.035588,0.991250,0.127109],[0.031824,-0.128249,0.991231]] 2025-10-28T23:45:47.394Z,1761695147.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998824,-0.032177,-0.036280],[0.036631,0.990882,0.129655],[0.031777,-0.130832,0.990895]] 2025-10-28T23:45:47.798Z,1761695147.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998777,-0.033392,-0.036472],[0.037939,0.990511,0.132093],[0.031715,-0.133315,0.990566]] 2025-10-28T23:45:48.202Z,1761695148.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998732,-0.034531,-0.036641],[0.039143,0.990244,0.133732],[0.031665,-0.134997,0.990340]] 2025-10-28T23:45:48.606Z,1761695148.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998661,-0.035832,-0.037318],[0.040597,0.989886,0.135929],[0.032070,-0.137262,0.990016]] 2025-10-28T23:45:49.011Z,1761695149.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998598,-0.036815,-0.038039],[0.041757,0.989471,0.138576],[0.032537,-0.139970,0.989621]] 2025-10-28T23:45:49.415Z,1761695149.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998573,-0.036700,-0.038808],[0.041787,0.989320,0.139639],[0.033268,-0.141061,0.989442]] 2025-10-28T23:45:49.819Z,1761695149.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998574,-0.035843,-0.039555],[0.041114,0.989054,0.141710],[0.034043,-0.143134,0.989118]] 2025-10-28T23:45:50.222Z,1761695150.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998628,-0.033980,-0.039844],[0.039353,0.988950,0.142930],[0.034547,-0.144302,0.988930]] 2025-10-28T23:45:50.626Z,1761695150.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998738,-0.030990,-0.039529],[0.036354,0.989038,0.143116],[0.034660,-0.144372,0.988916]] 2025-10-28T23:45:51.031Z,1761695151.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998880,-0.027193,-0.038710],[0.032558,0.988818,0.145527],[0.034320,-0.146624,0.988597]] 2025-10-28T23:45:51.434Z,1761695151.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999046,-0.022393,-0.037502],[0.027669,0.988801,0.146650],[0.033799,-0.147548,0.988477]] 2025-10-28T23:45:51.838Z,1761695151.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999188,-0.017568,-0.036249],[0.022815,0.988445,0.149855],[0.033197,-0.150560,0.988043]] 2025-10-28T23:45:52.252Z,1761695152.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999311,-0.012955,-0.034786],[0.018078,0.988328,0.151266],[0.032420,-0.151791,0.987881]] 2025-10-28T23:45:52.647Z,1761695152.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999409,-0.008988,-0.033166],[0.013922,0.988329,0.151695],[0.031416,-0.152067,0.987871]] 2025-10-28T23:45:53.053Z,1761695153.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999471,-0.006001,-0.031967],[0.010729,0.988650,0.149853],[0.030705,-0.150117,0.988191]] 2025-10-28T23:45:53.454Z,1761695153.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,-0.004274,-0.031395],[0.008856,0.989052,0.147298],[0.030422,-0.147503,0.988594]] 2025-10-28T23:45:53.865Z,1761695153.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999483,-0.004458,-0.031843],[0.008815,0.990389,0.138029],[0.030922,-0.138239,0.989916]] 2025-10-28T23:45:54.294Z,1761695154.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999436,-0.006801,-0.032900],[0.011095,0.991166,0.132162],[0.031710,-0.132453,0.990682]] 2025-10-28T23:45:54.673Z,1761695154.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,-0.009681,-0.034158],[0.013925,0.991895,0.126295],[0.032659,-0.126691,0.991404]] 2025-10-28T23:45:55.079Z,1761695155.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999298,-0.012092,-0.035444],[0.016392,0.992190,0.123656],[0.033672,-0.124150,0.991692]] 2025-10-28T23:45:55.477Z,1761695155.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.013221,-0.036109],[0.017649,0.991975,0.125197],[0.034164,-0.125741,0.991475]] 2025-10-28T23:45:55.879Z,1761695155.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999238,-0.013727,-0.036535],[0.018314,0.991562,0.128332],[0.034465,-0.128903,0.991058]] 2025-10-28T23:45:56.309Z,1761695156.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999236,-0.013456,-0.036696],[0.018185,0.991117,0.131741],[0.034597,-0.132307,0.990605]] 2025-10-28T23:45:56.686Z,1761695156.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999280,-0.010697,-0.036392],[0.015560,0.990575,0.136082],[0.034593,-0.136550,0.990029]] 2025-10-28T23:45:57.091Z,1761695157.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999339,-0.006540,-0.035767],[0.011517,0.989975,0.140772],[0.034488,-0.141090,0.989396]] 2025-10-28T23:45:57.495Z,1761695157.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999399,-0.001730,-0.034634],[0.006767,0.989283,0.145855],[0.034011,-0.146002,0.988700]] 2025-10-28T23:45:57.900Z,1761695157.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999433,0.003703,-0.033478],[0.001350,0.988737,0.149658],[0.033655,-0.149618,0.988171]] 2025-10-28T23:45:58.315Z,1761695158.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999431,0.008786,-0.032559],[-0.003723,0.988312,0.152400],[0.033517,-0.152192,0.987783]] 2025-10-28T23:45:58.706Z,1761695158.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999416,0.013257,-0.031494],[-0.008356,0.988508,0.150938],[0.033133,-0.150587,0.988041]] 2025-10-28T23:45:59.135Z,1761695159.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999379,0.016602,-0.031094],[-0.011825,0.988921,0.147972],[0.033207,-0.147513,0.988503]] 2025-10-28T23:45:59.517Z,1761695159.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,0.017624,-0.030812],[-0.013021,0.989542,0.143656],[0.033021,-0.143165,0.989148]] 2025-10-28T23:45:59.919Z,1761695159.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999369,0.018041,-0.030597],[-0.013585,0.990051,0.140050],[0.032819,-0.139546,0.989672]] 2025-10-28T23:46:00.323Z,1761695160.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999383,0.016810,-0.030833],[-0.012509,0.990807,0.134707],[0.032814,-0.134239,0.990406]] 2025-10-28T23:46:00.727Z,1761695160.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999412,0.014149,-0.031223],[-0.009895,0.991144,0.132425],[0.032820,-0.132038,0.990701]] 2025-10-28T23:46:01.134Z,1761695161.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999435,0.011107,-0.031724],[-0.006830,0.991240,0.131893],[0.032911,-0.131601,0.990756]] 2025-10-28T23:46:01.535Z,1761695161.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999449,0.007067,-0.032444],[-0.002760,0.991391,0.130907],[0.033090,-0.130746,0.990864]] 2025-10-28T23:46:01.938Z,1761695161.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999451,0.002936,-0.033001],[0.001431,0.991311,0.131532],[0.033101,-0.131507,0.990762]] 2025-10-28T23:46:02.343Z,1761695162.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999434,-0.000912,-0.033622],[0.005228,0.991693,0.128523],[0.033225,-0.128626,0.991136]] 2025-10-28T23:46:02.749Z,1761695162.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999402,-0.004214,-0.034326],[0.008552,0.991836,0.127231],[0.033509,-0.127448,0.991279]] 2025-10-28T23:46:03.152Z,1761695163.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999368,-0.006296,-0.034987],[0.010612,0.992154,0.124570],[0.033928,-0.124863,0.991594]] 2025-10-28T23:46:03.554Z,1761695163.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999347,-0.007105,-0.035422],[0.011399,0.992399,0.122535],[0.034282,-0.122859,0.991832]] 2025-10-28T23:46:03.959Z,1761695163.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999372,-0.006094,-0.034903],[0.010340,0.992379,0.122785],[0.033889,-0.123068,0.991819]] 2025-10-28T23:46:04.362Z,1761695164.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999391,-0.003891,-0.034663],[0.008170,0.992225,0.124190],[0.033911,-0.124398,0.991653]] 2025-10-28T23:46:04.766Z,1761695164.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,-0.002270,-0.034359],[0.006549,0.992143,0.124941],[0.033805,-0.125092,0.991569]] 2025-10-28T23:46:05.171Z,1761695165.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999430,-0.000402,-0.033757],[0.004658,0.992008,0.126087],[0.033437,-0.126172,0.991445]] 2025-10-28T23:46:05.575Z,1761695165.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999452,0.001242,-0.033069],[0.003000,0.991779,0.127926],[0.032956,-0.127955,0.991232]] 2025-10-28T23:46:05.981Z,1761695165.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999476,0.001852,-0.032316],[0.002320,0.991698,0.128571],[0.032286,-0.128579,0.991174]] 2025-10-28T23:46:06.383Z,1761695166.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999509,0.001527,-0.031293],[0.002526,0.991634,0.129058],[0.031228,-0.129074,0.991143]] 2025-10-28T23:46:06.786Z,1761695166.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999532,0.000516,-0.030577],[0.003435,0.991634,0.129034],[0.030388,-0.129079,0.991169]] 2025-10-28T23:46:07.190Z,1761695167.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999543,-0.001659,-0.030171],[0.005520,0.991715,0.128340],[0.029708,-0.128448,0.991271]] 2025-10-28T23:46:07.596Z,1761695167.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999541,-0.004481,-0.029960],[0.008269,0.991798,0.127552],[0.029143,-0.127741,0.991379]] 2025-10-28T23:46:07.998Z,1761695167.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999516,-0.007975,-0.030063],[0.011785,0.991608,0.128744],[0.028784,-0.129036,0.991222]] 2025-10-28T23:46:08.402Z,1761695168.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999488,-0.010997,-0.030052],[0.014767,0.991630,0.128265],[0.028390,-0.128643,0.991284]] 2025-10-28T23:46:08.806Z,1761695168.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999470,-0.012618,-0.030008],[0.016393,0.991498,0.129087],[0.028124,-0.129511,0.991179]] 2025-10-28T23:46:09.212Z,1761695169.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999473,-0.012387,-0.029993],[0.016191,0.991365,0.130127],[0.028122,-0.130544,0.991044]] 2025-10-28T23:46:09.615Z,1761695169.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999501,-0.011141,-0.029554],[0.014936,0.991209,0.131458],[0.027829,-0.131834,0.990881]] 2025-10-28T23:46:10.018Z,1761695170.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999544,-0.009506,-0.028674],[0.013197,0.991240,0.131409],[0.027174,-0.131727,0.990914]] 2025-10-28T23:46:10.422Z,1761695170.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999589,-0.007847,-0.027589],[0.011410,0.991256,0.131457],[0.026316,-0.131718,0.990938]] 2025-10-28T23:46:10.827Z,1761695170.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999638,-0.005744,-0.026281],[0.009165,0.991214,0.131953],[0.025293,-0.132146,0.990908]] 2025-10-28T23:46:11.232Z,1761695171.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999684,-0.004479,-0.024719],[0.007662,0.991455,0.130220],[0.023924,-0.130368,0.991177]] 2025-10-28T23:46:11.635Z,1761695171.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999726,-0.003831,-0.023095],[0.006780,0.991625,0.128969],[0.022408,-0.129090,0.991380]] 2025-10-28T23:46:12.038Z,1761695172.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999761,-0.003763,-0.021542],[0.006509,0.991645,0.128831],[0.020877,-0.128941,0.991433]] 2025-10-28T23:46:12.847Z,1761695172.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999792,-0.004779,-0.019838],[0.007248,0.991960,0.126346],[0.019075,-0.126463,0.991788]] 2025-10-28T23:46:13.250Z,1761695173.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999794,-0.005509,-0.019516],[0.007890,0.992233,0.124139],[0.018681,-0.124267,0.992073]] 2025-10-28T23:46:13.286Z,1761695173.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:46:13.655Z,1761695173.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999788,-0.006830,-0.019414],[0.009161,0.992408,0.122648],[0.018429,-0.122800,0.992260]] 2025-10-28T23:46:14.058Z,1761695174.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999776,-0.008105,-0.019558],[0.010448,0.992367,0.122874],[0.018413,-0.123051,0.992230]] 2025-10-28T23:46:14.289Z,1761695174.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:46:14.464Z,1761695174.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999752,-0.009627,-0.020057],[0.012017,0.992377,0.122651],[0.018724,-0.122861,0.992247]] 2025-10-28T23:46:14.866Z,1761695174.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999730,-0.011307,-0.020275],[0.013692,0.992480,0.121639],[0.018747,-0.121884,0.992367]] 2025-10-28T23:46:15.270Z,1761695175.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999713,-0.013343,-0.019907],[0.015658,0.992522,0.121060],[0.018143,-0.121337,0.992445]] 2025-10-28T23:46:15.675Z,1761695175.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999680,-0.015748,-0.019784],[0.018014,0.992594,0.120138],[0.017746,-0.120456,0.992560]] 2025-10-28T23:46:16.081Z,1761695176.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999625,-0.019019,-0.019694],[0.021215,0.992776,0.118093],[0.017306,-0.118467,0.992807]] 2025-10-28T23:46:16.483Z,1761695176.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999562,-0.021985,-0.019804],[0.024187,0.992619,0.118839],[0.017045,-0.119266,0.992716]] 2025-10-28T23:46:16.887Z,1761695176.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999491,-0.024959,-0.019859],[0.027176,0.992327,0.120621],[0.016696,-0.121100,0.992500]] 2025-10-28T23:46:17.290Z,1761695177.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999406,-0.028190,-0.019837],[0.030393,0.992148,0.121322],[0.016261,-0.121853,0.992415]] 2025-10-28T23:46:17.696Z,1761695177.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999340,-0.030519,-0.019700],[0.032727,0.991779,0.123711],[0.015762,-0.124274,0.992123]] 2025-10-28T23:46:18.099Z,1761695178.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999304,-0.031682,-0.019710],[0.033945,0.991231,0.127707],[0.015491,-0.128288,0.991616]] 2025-10-28T23:46:18.503Z,1761695178.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.032819,-0.020038],[0.035194,0.990523,0.132758],[0.015491,-0.133365,0.990946]] 2025-10-28T23:46:18.907Z,1761695178.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999205,-0.034175,-0.020528],[0.036633,0.990229,0.134554],[0.015729,-0.135199,0.990694]] 2025-10-28T23:46:19.313Z,1761695179.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999144,-0.035625,-0.021032],[0.038150,0.990063,0.135354],[0.016001,-0.136040,0.990574]] 2025-10-28T23:46:19.715Z,1761695179.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999123,-0.035900,-0.021566],[0.038521,0.989834,0.136913],[0.016431,-0.137623,0.990348]] 2025-10-28T23:46:20.118Z,1761695180.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999109,-0.035964,-0.022102],[0.038684,0.989625,0.138367],[0.016896,-0.139098,0.990134]] 2025-10-28T23:46:20.522Z,1761695180.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999137,-0.034892,-0.022531],[0.037705,0.989477,0.139690],[0.017420,-0.140419,0.989939]] 2025-10-28T23:46:20.927Z,1761695180.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999166,-0.033851,-0.022815],[0.036719,0.989472,0.139990],[0.017836,-0.140711,0.989890]] 2025-10-28T23:46:21.333Z,1761695181.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999201,-0.032745,-0.022929],[0.035622,0.989650,0.139008],[0.018140,-0.139714,0.990026]] 2025-10-28T23:46:21.734Z,1761695181.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999241,-0.031359,-0.023094],[0.034251,0.989857,0.137874],[0.018536,-0.138560,0.990181]] 2025-10-28T23:46:22.139Z,1761695182.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999302,-0.029663,-0.022722],[0.032495,0.990098,0.136562],[0.018446,-0.137205,0.990371]] 2025-10-28T23:46:22.542Z,1761695182.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,-0.028035,-0.021784],[0.030736,0.990283,0.135626],[0.017770,-0.136210,0.990521]] 2025-10-28T23:46:22.595Z,1761695182.595 [keepstation:SurfaceComms] Running Loop=1 2025-10-28T23:46:22.595Z,1761695182.595 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms 2025-10-28T23:46:22.595Z,1761695182.595 [keepstation:SurfaceComms:A] Running Loop=1 2025-10-28T23:46:22.595Z,1761695182.595 [keepstation:SurfaceComms:A] Stopped 2025-10-28T23:46:22.595Z,1761695182.595 [keepstation:SurfaceComms:B] Running Loop=1 2025-10-28T23:46:22.596Z,1761695182.596 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B 2025-10-28T23:46:22.948Z,1761695182.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999446,-0.026337,-0.020363],[0.028839,0.990516,0.134340],[0.016632,-0.134853,0.990726]] 2025-10-28T23:46:22.963Z,1761695182.963 [keepstation:TransitToStation:Dive] Stopped 2025-10-28T23:46:22.963Z,1761695182.963 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive 2025-10-28T23:46:22.963Z,1761695182.963 [keepstation:TransitToStation:Dive:A] Stopped 2025-10-28T23:46:22.963Z,1761695182.963 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation] Stopped 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive] Stopped 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped 2025-10-28T23:46:22.964Z,1761695182.964 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize. 2025-10-28T23:46:22.966Z,1761695182.966 [keepstation:NeedComms] Running Loop=1 2025-10-28T23:46:22.966Z,1761695182.966 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms 2025-10-28T23:46:22.966Z,1761695182.966 [keepstation:NeedComms:B.GoToSurface] Running Loop=1 2025-10-28T23:46:22.966Z,1761695182.966 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T23:46:22.967Z,1761695182.967 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-10-28T23:46:22.967Z,1761695182.967 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-10-28T23:46:22.967Z,1761695182.967 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-10-28T23:46:22.968Z,1761695182.968 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds. 2025-10-28T23:46:22.968Z,1761695182.968 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T23:46:22.969Z,1761695182.969 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T23:46:22.969Z,1761695182.969 [keepstation:NeedComms:A] Running Loop=1 2025-10-28T23:46:22.971Z,1761695182.971 [keepstation:NeedComms:A](INFO): last time_fix was: 1761693981.000000 second since 1970/01/01T00:00:00Z 2025-10-28T23:46:22.971Z,1761695182.971 [keepstation:NeedComms:A] Stopped 2025-10-28T23:46:23.350Z,1761695183.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999532,-0.024269,-0.018604],[0.026545,0.990644,0.133869],[0.015181,-0.134300,0.990825]] 2025-10-28T23:46:23.754Z,1761695183.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999599,-0.022935,-0.016623],[0.024939,0.990857,0.132593],[0.013430,-0.132955,0.991031]] 2025-10-28T23:46:24.164Z,1761695184.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,-0.021066,-0.014559],[0.022817,0.990851,0.133021],[0.011624,-0.133309,0.991006]] 2025-10-28T23:46:24.564Z,1761695184.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999737,-0.019373,-0.012268],[0.020845,0.990728,0.134248],[0.009553,-0.134468,0.990872]] 2025-10-28T23:46:24.966Z,1761695184.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999785,-0.018152,-0.010064],[0.019338,0.990794,0.133992],[0.007539,-0.134158,0.990931]] 2025-10-28T23:46:25.370Z,1761695185.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999828,-0.017041,-0.007269],[0.017867,0.990669,0.135118],[0.004899,-0.135224,0.990803]] 2025-10-28T23:46:25.775Z,1761695185.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999849,-0.017256,-0.002164],[0.017390,0.990870,0.133697],[-0.000163,-0.133714,0.991020]] 2025-10-28T23:46:26.179Z,1761695186.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999814,-0.018201,0.006372],[0.017196,0.991022,0.132591],[-0.008728,-0.132457,0.991150]] 2025-10-28T23:46:26.583Z,1761695186.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999646,-0.020148,0.017395],[0.017679,0.991092,0.132000],[-0.019900,-0.131646,0.991097]] 2025-10-28T23:46:26.987Z,1761695186.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999263,-0.023570,0.030296],[0.019348,0.990956,0.132789],[-0.033152,-0.132105,0.990681]] 2025-10-28T23:46:27.391Z,1761695187.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998625,-0.027644,0.044532],[0.021361,0.990499,0.135852],[-0.047864,-0.134714,0.989728]] 2025-10-28T23:46:27.795Z,1761695187.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997708,-0.031938,0.059661],[0.023389,0.990034,0.138871],[-0.063501,-0.137158,0.988512]] 2025-10-28T23:46:28.200Z,1761695188.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996515,-0.036019,0.075236],[0.024993,0.989456,0.142659],[-0.079581,-0.140282,0.986908]] 2025-10-28T23:46:28.602Z,1761695188.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995007,-0.039394,0.091699],[0.025827,0.989140,0.144692],[-0.096403,-0.141601,0.985219]] 2025-10-28T23:46:29.007Z,1761695189.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993230,-0.041854,0.108362],[0.025534,0.988683,0.147830],[-0.113323,-0.144062,0.983058]] 2025-10-28T23:46:29.816Z,1761695189.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988749,-0.043362,0.143165],[0.021318,0.988141,0.152060],[-0.148061,-0.147297,0.977948]] 2025-10-28T23:46:30.218Z,1761695190.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986068,-0.042781,0.160745],[0.017916,0.988055,0.153059],[-0.165373,-0.148047,0.975056]] 2025-10-28T23:46:30.623Z,1761695190.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983061,-0.041855,0.178437],[0.013961,0.987847,0.154801],[-0.182748,-0.149688,0.971698]] 2025-10-28T23:46:31.026Z,1761695191.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979776,-0.040945,0.195866],[0.009854,0.987526,0.157147],[-0.199857,-0.152039,0.967957]] 2025-10-28T23:46:31.432Z,1761695191.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976237,-0.040685,0.212853],[0.006715,0.987426,0.157940],[-0.216602,-0.152758,0.964235]] 2025-10-28T23:46:31.834Z,1761695191.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972675,-0.041014,0.228519],[0.004423,0.987368,0.158381],[-0.232129,-0.153042,0.960570]] 2025-10-28T23:46:32.250Z,1761695192.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969109,-0.041559,0.243107],[0.002970,0.987596,0.156991],[-0.246616,-0.151419,0.957211]] 2025-10-28T23:46:32.643Z,1761695192.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965598,-0.044122,0.256270],[0.004018,0.987914,0.154950],[-0.260010,-0.148589,0.954105]] 2025-10-28T23:46:33.049Z,1761695193.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962057,-0.046758,0.268812],[0.004714,0.987908,0.154971],[-0.272808,-0.147824,0.950644]] 2025-10-28T23:46:33.854Z,1761695193.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954911,-0.052197,0.292267],[0.006423,0.987825,0.155434],[-0.296822,-0.146548,0.943621]] 2025-10-28T23:46:34.307Z,1761695194.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951020,-0.055089,0.304182],[0.006687,0.987429,0.157921],[-0.309058,-0.148152,0.939433]] 2025-10-28T23:46:34.667Z,1761695194.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947074,-0.057396,0.315843],[0.005900,0.986832,0.161638],[-0.320962,-0.151220,0.934942]] 2025-10-28T23:46:35.067Z,1761695195.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943090,-0.059251,0.327216],[0.004438,0.986153,0.165776],[-0.332508,-0.154889,0.930295]] 2025-10-28T23:46:35.471Z,1761695195.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939114,-0.060691,0.338204],[0.001790,0.985128,0.171812],[-0.343602,-0.160745,0.925256]] 2025-10-28T23:46:35.893Z,1761695195.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935463,-0.060354,0.348233],[-0.002555,0.984130,0.177430],[-0.353415,-0.166869,0.920463]] 2025-10-28T23:46:36.316Z,1761695196.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928076,-0.059160,0.367662],[-0.012688,0.981704,0.189992],[-0.372175,-0.180992,0.910345]] 2025-10-28T23:46:37.110Z,1761695197.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924258,-0.057631,0.377394],[-0.017929,0.980897,0.193700],[-0.381348,-0.185795,0.905568]] 2025-10-28T23:46:37.516Z,1761695197.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916323,-0.055421,0.396585],[-0.024998,0.980528,0.194784],[-0.399658,-0.188399,0.897095]] 2025-10-28T23:46:37.915Z,1761695197.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912456,-0.055872,0.405341],[-0.025298,0.981035,0.192173],[-0.408391,-0.185604,0.893738]] 2025-10-28T23:46:38.322Z,1761695198.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909150,-0.057875,0.412427],[-0.023538,0.981574,0.189629],[-0.415803,-0.182109,0.891036]] 2025-10-28T23:46:38.730Z,1761695198.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906549,-0.062125,0.417505],[-0.018800,0.982185,0.186972],[-0.421682,-0.177349,0.889231]] 2025-10-28T23:46:39.134Z,1761695199.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904436,-0.067899,0.421171],[-0.012427,0.982641,0.185102],[-0.426429,-0.172647,0.887892]] 2025-10-28T23:46:39.534Z,1761695199.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902796,-0.074357,0.423592],[-0.005196,0.982982,0.183627],[-0.430038,-0.167979,0.887046]] 2025-10-28T23:46:39.938Z,1761695199.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901489,-0.081324,0.425093],[0.002060,0.982983,0.183683],[-0.432798,-0.164713,0.886316]] 2025-10-28T23:46:40.343Z,1761695200.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900504,-0.089482,0.425541],[0.008853,0.982168,0.187796],[-0.434757,-0.165344,0.885239]] 2025-10-28T23:46:40.748Z,1761695200.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900022,-0.096177,0.425101],[0.013665,0.981096,0.193037],[-0.435631,-0.167928,0.884322]] 2025-10-28T23:46:41.151Z,1761695201.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900139,-0.100005,0.423968],[0.015618,0.980073,0.198021],[-0.435323,-0.171625,0.883764]] 2025-10-28T23:46:41.554Z,1761695201.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900607,-0.101972,0.422503],[0.014781,0.978712,0.204706],[-0.434383,-0.178114,0.882942]] 2025-10-28T23:46:41.958Z,1761695201.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901206,-0.102564,0.421079],[0.012882,0.977504,0.210523],[-0.433199,-0.184300,0.882254]] 2025-10-28T23:46:42.364Z,1761695202.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901992,-0.102199,0.419483],[0.010014,0.976271,0.216318],[-0.431637,-0.190917,0.881612]] 2025-10-28T23:46:42.766Z,1761695202.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902853,-0.100475,0.418045],[0.006754,0.975506,0.219872],[-0.429897,-0.195688,0.881417]] 2025-10-28T23:46:43.170Z,1761695203.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903697,-0.097846,0.416844],[0.003465,0.975179,0.221390],[-0.428159,-0.198625,0.881605]] 2025-10-28T23:46:43.575Z,1761695203.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904413,-0.095510,0.415830],[0.000683,0.974945,0.222447],[-0.426657,-0.200900,0.881818]] 2025-10-28T23:46:43.979Z,1761695203.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905005,-0.093172,0.415072],[-0.001713,0.974914,0.222576],[-0.425397,-0.202144,0.882143]] 2025-10-28T23:46:44.382Z,1761695204.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905515,-0.091087,0.414421],[-0.003492,0.975054,0.221939],[-0.424299,-0.202417,0.882609]] 2025-10-28T23:46:44.432Z,1761695204.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:46:44.787Z,1761695204.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905944,-0.090119,0.413696],[-0.003715,0.975356,0.220605],[-0.423382,-0.201392,0.883283]] 2025-10-28T23:46:45.192Z,1761695205.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906404,-0.088848,0.412962],[-0.002871,0.976311,0.216353],[-0.422402,-0.197289,0.884677]] 2025-10-28T23:46:45.436Z,1761695205.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:46:45.594Z,1761695205.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906983,-0.088999,0.411657],[-0.000454,0.977211,0.212270],[-0.421167,-0.192712,0.886273]] 2025-10-28T23:46:45.998Z,1761695205.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907712,-0.090368,0.409748],[0.003388,0.978079,0.208205],[-0.419581,-0.187602,0.888120]] 2025-10-28T23:46:46.403Z,1761695206.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908494,-0.092881,0.407446],[0.007910,0.978635,0.205453],[-0.417824,-0.183430,0.889818]] 2025-10-28T23:46:46.808Z,1761695206.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909423,-0.095237,0.404821],[0.012490,0.979241,0.202314],[-0.415685,-0.178932,0.891734]] 2025-10-28T23:46:47.211Z,1761695207.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910437,-0.098630,0.401718],[0.018041,0.979701,0.199650],[-0.413255,-0.174521,0.893735]] 2025-10-28T23:46:47.615Z,1761695207.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911647,-0.102910,0.397882],[0.024375,0.979976,0.197616],[-0.410251,-0.170458,0.895901]] 2025-10-28T23:46:48.018Z,1761695208.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913002,-0.108637,0.393224],[0.031937,0.979967,0.196584],[-0.406703,-0.166923,0.898181]] 2025-10-28T23:46:48.424Z,1761695208.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914553,-0.115801,0.387534],[0.040681,0.979616,0.196719],[-0.402415,-0.164145,0.900621]] 2025-10-28T23:46:48.826Z,1761695208.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916208,-0.124396,0.380905],[0.050789,0.978976,0.197549],[-0.397472,-0.161650,0.903264]] 2025-10-28T23:46:49.230Z,1761695209.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917993,-0.134308,0.373163],[0.062090,0.977980,0.199248],[-0.391707,-0.159738,0.906118]] 2025-10-28T23:46:49.635Z,1761695209.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919956,-0.144758,0.364317],[0.074277,0.976857,0.200584],[-0.384921,-0.157468,0.909417]] 2025-10-28T23:46:50.040Z,1761695210.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922027,-0.154986,0.354748],[0.086713,0.975761,0.200924],[-0.377290,-0.154496,0.913117]] 2025-10-28T23:46:50.443Z,1761695210.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924274,-0.164025,0.344693],[0.098897,0.975038,0.198795],[-0.368697,-0.149652,0.917424]] 2025-10-28T23:46:50.847Z,1761695210.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926771,-0.172748,0.333549],[0.109833,0.973792,0.199163],[-0.359212,-0.147944,0.921455]] 2025-10-28T23:46:51.251Z,1761695211.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929613,-0.180638,0.321231],[0.118700,0.971948,0.203047],[-0.348898,-0.150625,0.924977]] 2025-10-28T23:46:51.655Z,1761695211.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932980,-0.186933,0.307577],[0.124144,0.969243,0.212500],[-0.337840,-0.160074,0.927492]] 2025-10-28T23:46:52.060Z,1761695212.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936926,-0.189814,0.293495],[0.125816,0.966558,0.223464],[-0.326097,-0.172443,0.929475]] 2025-10-28T23:46:52.509Z,1761695212.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941222,-0.189558,0.279587],[0.123866,0.963726,0.236408],[-0.314258,-0.187881,0.930560]] 2025-10-28T23:46:52.964Z,1761695212.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945539,-0.185843,0.267243],[0.119497,0.961854,0.246086],[-0.302782,-0.200749,0.931677]] 2025-10-28T23:46:53.415Z,1761695213.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949490,-0.179902,0.257108],[0.113608,0.960836,0.252760],[-0.292510,-0.210783,0.932742]] 2025-10-28T23:46:53.815Z,1761695213.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952907,-0.172829,0.249196],[0.106829,0.960345,0.257535],[-0.283823,-0.218785,0.933583]] 2025-10-28T23:46:54.218Z,1761695214.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955965,-0.164807,0.242837],[0.099699,0.960596,0.259452],[-0.276028,-0.223817,0.934727]] 2025-10-28T23:46:54.624Z,1761695214.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958842,-0.155554,0.237539],[0.092160,0.961787,0.257823],[-0.268567,-0.225320,0.936538]] 2025-10-28T23:46:55.026Z,1761695215.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961579,-0.144293,0.233549],[0.083650,0.964276,0.251347],[-0.261473,-0.222154,0.939297]] 2025-10-28T23:46:55.472Z,1761695215.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963979,-0.133700,0.229930],[0.074090,0.965239,0.250647],[-0.255449,-0.224583,0.940377]] 2025-10-28T23:46:55.875Z,1761695215.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965998,-0.123692,0.227041],[0.063882,0.965096,0.253984],[-0.250533,-0.230845,0.940183]] 2025-10-28T23:46:56.344Z,1761695216.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968474,-0.106017,0.225429],[0.045489,0.964970,0.258388],[-0.244925,-0.239988,0.939371]] 2025-10-28T23:46:56.735Z,1761695216.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968614,-0.103089,0.226185],[0.043175,0.965889,0.255333],[-0.244791,-0.237554,0.940024]] 2025-10-28T23:46:57.139Z,1761695217.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968293,-0.104127,0.227080],[0.045948,0.967717,0.247816],[-0.245554,-0.229525,0.941818]] 2025-10-28T23:46:57.545Z,1761695217.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967698,-0.107708,0.227947],[0.051868,0.969860,0.238077],[-0.246720,-0.218563,0.944118]] 2025-10-28T23:46:57.945Z,1761695217.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966859,-0.113458,0.228716],[0.059557,0.971347,0.230083],[-0.248267,-0.208836,0.945913]] 2025-10-28T23:46:58.347Z,1761695218.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965819,-0.120895,0.229300],[0.068654,0.972293,0.223456],[-0.249962,-0.200076,0.947359]] 2025-10-28T23:46:58.751Z,1761695218.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964680,-0.128610,0.229897],[0.078331,0.973292,0.215795],[-0.251511,-0.190165,0.948989]] 2025-10-28T23:46:59.180Z,1761695219.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963494,-0.136858,0.230105],[0.088020,0.973620,0.210517],[-0.252846,-0.182578,0.950123]] 2025-10-28T23:46:59.559Z,1761695219.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962207,-0.146105,0.229805],[0.097839,0.973016,0.208967],[-0.254135,-0.178586,0.950538]] 2025-10-28T23:46:59.962Z,1761695219.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960945,-0.155429,0.228966],[0.107476,0.972038,0.208783],[-0.255015,-0.176020,0.950781]] 2025-10-28T23:47:00.366Z,1761695220.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959806,-0.164868,0.227138],[0.116553,0.970337,0.211807],[-0.255321,-0.176820,0.950550]] 2025-10-28T23:47:00.772Z,1761695220.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958838,-0.172808,0.225317],[0.124473,0.968987,0.213473],[-0.255219,-0.176640,0.950611]] 2025-10-28T23:47:01.174Z,1761695221.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958094,-0.179997,0.222839],[0.130327,0.966649,0.220465],[-0.255090,-0.182184,0.949599]] 2025-10-28T23:47:01.579Z,1761695221.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957836,-0.183353,0.221206],[0.132237,0.964842,0.227139],[-0.255076,-0.188310,0.948407]] 2025-10-28T23:47:01.983Z,1761695221.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957984,-0.182777,0.221041],[0.129906,0.963575,0.233767],[-0.255717,-0.195231,0.946834]] 2025-10-28T23:47:02.388Z,1761695222.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958025,-0.179768,0.223320],[0.124623,0.962664,0.240305],[-0.258182,-0.202388,0.944659]] 2025-10-28T23:47:02.790Z,1761695222.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957581,-0.174638,0.229217],[0.118440,0.963667,0.239410],[-0.262699,-0.202106,0.943474]] 2025-10-28T23:47:03.194Z,1761695223.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956622,-0.168873,0.237393],[0.112679,0.965914,0.233055],[-0.268658,-0.196196,0.943043]] 2025-10-28T23:47:03.598Z,1761695223.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955169,-0.165445,0.245520],[0.108786,0.967406,0.228672],[-0.275350,-0.191711,0.942035]] 2025-10-28T23:47:04.003Z,1761695224.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953475,-0.163247,0.253448],[0.106398,0.968821,0.223751],[-0.282073,-0.186374,0.941116]] 2025-10-28T23:47:04.408Z,1761695224.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951730,-0.161755,0.260856],[0.105187,0.970287,0.217895],[-0.288351,-0.179938,0.940466]] 2025-10-28T23:47:04.811Z,1761695224.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950090,-0.158295,0.268833],[0.104006,0.973129,0.205432],[-0.294129,-0.167219,0.941024]] 2025-10-28T23:47:05.214Z,1761695225.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948574,-0.153256,0.276983],[0.102029,0.976316,0.190783],[-0.299662,-0.152711,0.941744]] 2025-10-28T23:47:05.619Z,1761695225.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946725,-0.150563,0.284679],[0.102908,0.979071,0.175586],[-0.305157,-0.136936,0.942405]] 2025-10-28T23:47:06.024Z,1761695226.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943962,-0.156238,0.290734],[0.111082,0.979865,0.165906],[-0.310800,-0.124314,0.942311]] 2025-10-28T23:47:06.426Z,1761695226.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941120,-0.166980,0.293956],[0.121694,0.978546,0.166246],[-0.315409,-0.120685,0.941250]] 2025-10-28T23:47:06.830Z,1761695226.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938721,-0.179030,0.294536],[0.132502,0.976298,0.171132],[-0.318193,-0.121619,0.940193]] 2025-10-28T23:47:07.235Z,1761695227.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936884,-0.188409,0.294534],[0.142329,0.974950,0.170926],[-0.319360,-0.118217,0.940231]] 2025-10-28T23:47:07.640Z,1761695227.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934891,-0.197759,0.294736],[0.150796,0.973032,0.174558],[-0.321308,-0.118748,0.939500]] 2025-10-28T23:47:08.042Z,1761695228.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932195,-0.207035,0.296899],[0.157094,0.970397,0.183441],[-0.326088,-0.124361,0.937124]] 2025-10-28T23:47:08.447Z,1761695228.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929454,-0.211681,0.302171],[0.157792,0.968418,0.193052],[-0.333493,-0.131752,0.933501]] 2025-10-28T23:47:08.851Z,1761695228.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927003,-0.212285,0.309193],[0.155401,0.967704,0.198492],[-0.341344,-0.135954,0.930054]] 2025-10-28T23:47:09.272Z,1761695229.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924455,-0.213726,0.315760],[0.153607,0.966714,0.204618],[-0.348981,-0.140657,0.926514]] 2025-10-28T23:47:09.677Z,1761695229.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922156,-0.214837,0.321671],[0.151699,0.965824,0.210168],[-0.355830,-0.145010,0.923232]] 2025-10-28T23:47:10.080Z,1761695230.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919933,-0.216964,0.326574],[0.151312,0.964868,0.214789],[-0.361702,-0.148176,0.920443]] 2025-10-28T23:47:10.484Z,1761695230.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916631,-0.223318,0.331537],[0.156237,0.963569,0.217080],[-0.367937,-0.147184,0.918128]] 2025-10-28T23:47:10.887Z,1761695230.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912315,-0.234259,0.335865],[0.167423,0.961902,0.216134],[-0.373700,-0.140950,0.916778]] 2025-10-28T23:47:11.291Z,1761695231.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909352,-0.244837,0.336354],[0.179210,0.960162,0.214412],[-0.375451,-0.134698,0.917002]] 2025-10-28T23:47:11.696Z,1761695231.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908866,-0.252105,0.332273],[0.185578,0.957878,0.219156],[-0.373527,-0.137521,0.917369]] 2025-10-28T23:47:12.098Z,1761695232.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908996,-0.259413,0.326238],[0.186698,0.953212,0.237764],[-0.372653,-0.155218,0.914897]] 2025-10-28T23:47:12.543Z,1761695232.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908100,-0.267864,0.321874],[0.186040,0.946698,0.262969],[-0.375157,-0.178921,0.909530]] 2025-10-28T23:47:12.943Z,1761695232.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907602,-0.269831,0.321637],[0.181259,0.942874,0.279526],[-0.378687,-0.195398,0.904663]] 2025-10-28T23:47:13.346Z,1761695233.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908094,-0.263971,0.325091],[0.173118,0.943505,0.282538],[-0.381307,-0.200292,0.902490]] 2025-10-28T23:47:13.752Z,1761695233.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906043,-0.264502,0.330340],[0.173547,0.944181,0.280006],[-0.385963,-0.196368,0.901372]] 2025-10-28T23:47:14.157Z,1761695234.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902886,-0.268754,0.335511],[0.173750,0.942035,0.287021],[-0.393202,-0.200853,0.897246]] 2025-10-28T23:47:14.559Z,1761695234.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899329,-0.276820,0.338493],[0.176322,0.937951,0.298594],[-0.400147,-0.208851,0.892336]] 2025-10-28T23:47:14.963Z,1761695234.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897158,-0.287056,0.335719],[0.182542,0.933052,0.309987],[-0.402227,-0.216825,0.889495]] 2025-10-28T23:47:15.368Z,1761695235.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897245,-0.298286,0.325540],[0.190185,0.926485,0.324737],[-0.398473,-0.229456,0.888014]] 2025-10-28T23:47:15.556Z,1761695235.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:47:15.772Z,1761695235.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899995,-0.304395,0.312013],[0.193803,0.920578,0.339081],[-0.390447,-0.244703,0.887509]] 2025-10-28T23:47:16.225Z,1761695236.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904874,-0.297685,0.304280],[0.187899,0.920725,0.341993],[-0.381964,-0.252287,0.889075]] 2025-10-28T23:47:16.560Z,1761695236.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:47:16.627Z,1761695236.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908751,-0.283555,0.306216],[0.176600,0.926079,0.333452],[-0.378132,-0.248947,0.891651]] 2025-10-28T23:47:17.034Z,1761695237.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909231,-0.274295,0.313146],[0.168632,0.930430,0.325366],[-0.380607,-0.243026,0.892231]] 2025-10-28T23:47:17.434Z,1761695237.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909414,-0.272982,0.313764],[0.167820,0.931152,0.323716],[-0.380531,-0.241736,0.892614]] 2025-10-28T23:47:17.839Z,1761695237.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912080,-0.275491,0.303668],[0.168871,0.927304,0.334050],[-0.373621,-0.253400,0.892298]] 2025-10-28T23:47:18.257Z,1761695238.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916825,-0.278255,0.286368],[0.168361,0.919719,0.354642],[-0.362059,-0.276931,0.890069]] 2025-10-28T23:47:18.647Z,1761695238.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919603,-0.283146,0.272321],[0.166341,0.908634,0.383035],[-0.355895,-0.306942,0.882681]] 2025-10-28T23:47:19.057Z,1761695239.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918592,-0.293977,0.264131],[0.168880,0.896234,0.410177],[-0.357306,-0.332179,0.872920]] 2025-10-28T23:47:19.455Z,1761695239.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923042,-0.291834,0.250653],[0.168899,0.892826,0.417535],[-0.345640,-0.343068,0.873406]] 2025-10-28T23:47:19.859Z,1761695239.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934491,-0.259925,0.243241],[0.146120,0.903139,0.403719],[-0.324617,-0.341729,0.881955]] 2025-10-28T23:47:19.877Z,1761695239.877 [keepstation:NeedComms:C] Running Loop=1 2025-10-28T23:47:20.303Z,1761695240.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942845,-0.220584,0.249773],[0.116906,0.920861,0.371951],[-0.312052,-0.321493,0.894017]] 2025-10-28T23:47:20.436Z,1761695240.436 [Radio_Surface](INFO): Powering up 2025-10-28T23:47:20.668Z,1761695240.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943783,-0.204178,0.259971],[0.106554,0.932370,0.345445],[-0.312921,-0.298324,0.901711]] 2025-10-28T23:47:21.072Z,1761695241.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935405,-0.224032,0.273546],[0.116707,0.925921,0.359235],[-0.333762,-0.304105,0.892257]] 2025-10-28T23:47:21.475Z,1761695241.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936553,-0.229598,0.264864],[0.131865,0.930889,0.340673],[-0.324777,-0.284132,0.902103]] 2025-10-28T23:47:21.880Z,1761695241.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951733,-0.189103,0.241751],[0.111463,0.946828,0.301816],[-0.285971,-0.260302,0.922206]] 2025-10-28T23:47:22.313Z,1761695242.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965528,-0.173037,0.194460],[0.124059,0.962656,0.240628],[-0.228836,-0.208209,0.950938]] 2025-10-28T23:47:22.687Z,1761695242.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975119,-0.184676,0.122630],[0.158456,0.967508,0.197029],[-0.155032,-0.172695,0.972698]] 2025-10-28T23:47:23.092Z,1761695243.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985540,-0.165124,0.038024],[0.155969,0.971722,0.177285],[-0.066223,-0.168791,0.983425]] 2025-10-28T23:47:23.496Z,1761695243.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987678,-0.156371,-0.006266],[0.155461,0.975756,0.154054],[-0.017976,-0.153130,0.988043]] 2025-10-28T23:47:23.901Z,1761695243.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985939,-0.158898,-0.051733],[0.162346,0.984164,0.071163],[0.039606,-0.078561,0.996122]] 2025-10-28T23:47:24.317Z,1761695244.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990875,-0.121381,-0.058596],[0.121831,0.992542,0.004159],[0.057654,-0.011260,0.998273]] 2025-10-28T23:47:24.706Z,1761695244.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991807,-0.116625,-0.052133],[0.118553,0.992311,0.035550],[0.047586,-0.041439,0.998007]] 2025-10-28T23:47:25.111Z,1761695245.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988265,-0.120783,-0.093510],[0.127999,0.988900,0.075446],[0.083359,-0.086530,0.992756]] 2025-10-28T23:47:25.516Z,1761695245.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993908,-0.068549,-0.086304],[0.077399,0.991587,0.103757],[0.078466,-0.109805,0.990851]] 2025-10-28T23:47:25.688Z,1761695245.688 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-28T23:47:25.689Z,1761695245.689 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0 2025-10-28T23:47:25.919Z,1761695245.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996831,-0.064383,-0.046716],[0.069034,0.991974,0.105935],[0.039521,-0.108825,0.993275]] 2025-10-28T23:47:26.323Z,1761695246.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995520,-0.086219,-0.038805],[0.088247,0.994634,0.053992],[0.033942,-0.057175,0.997787]] 2025-10-28T23:47:26.726Z,1761695246.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995783,-0.065618,-0.064111],[0.066722,0.997655,0.015234],[0.062961,-0.019447,0.997827]] 2025-10-28T23:47:27.132Z,1761695247.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998706,-0.039254,-0.032334],[0.039415,0.999213,0.004375],[0.032137,-0.005644,0.999468]] 2025-10-28T23:47:27.534Z,1761695247.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998103,-0.060496,-0.011432],[0.060606,0.998116,0.009527],[0.010835,-0.010202,0.999889]] 2025-10-28T23:47:27.938Z,1761695247.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996101,-0.053342,-0.070273],[0.053700,0.998552,0.003212],[0.070000,-0.006973,0.997523]] 2025-10-28T23:47:28.342Z,1761695248.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996234,0.006685,-0.086451],[-0.003375,0.999257,0.038385],[0.086644,-0.037948,0.995516]] 2025-10-28T23:47:28.748Z,1761695248.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998335,0.042698,-0.038771],[-0.040146,0.997118,0.064374],[0.041408,-0.062711,0.997172]] 2025-10-28T23:47:29.151Z,1761695249.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998544,0.052308,0.013147],[-0.052485,0.998531,0.013479],[-0.012423,-0.014149,0.999823]] 2025-10-28T23:47:29.555Z,1761695249.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998820,0.048204,-0.005838],[-0.048460,0.997170,-0.057480],[0.003051,0.057695,0.998330]] 2025-10-28T23:47:30.370Z,1761695250.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997678,0.059334,0.033438],[-0.060616,0.997411,0.038702],[-0.031055,-0.040639,0.998691]] 2025-10-28T23:47:30.773Z,1761695250.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996261,0.086384,-0.001196],[-0.085913,0.992091,0.091508],[0.009091,-0.091063,0.995804]] 2025-10-28T23:47:31.175Z,1761695251.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992498,0.121392,-0.014566],[-0.119361,0.987842,0.099607],[0.026480,-0.097121,0.994920]] 2025-10-28T23:47:31.579Z,1761695251.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991406,0.130740,-0.004529],[-0.130113,0.989062,0.069472],[0.013562,-0.068286,0.997574]] 2025-10-28T23:47:31.983Z,1761695251.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993056,0.111387,-0.037846],[-0.112009,0.993598,-0.014729],[0.035963,0.018866,0.999175]] 2025-10-28T23:47:32.384Z,1761695252.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993804,0.078335,-0.078853],[-0.087282,0.989257,-0.117269],[0.068820,0.123425,0.989965]] 2025-10-28T23:47:32.787Z,1761695252.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972508,0.135424,-0.189444],[-0.163762,0.976093,-0.142912],[0.165561,0.170007,0.971436]] 2025-10-28T23:47:33.191Z,1761695253.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961225,0.232800,-0.147818],[-0.248700,0.963410,-0.099946],[0.119142,0.132833,0.983951]] 2025-10-28T23:47:33.594Z,1761695253.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964997,0.254718,-0.062445],[-0.254082,0.967014,0.018059],[0.064985,-0.001561,0.997885]] 2025-10-28T23:47:33.000Z,1761695254.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954147,0.298921,-0.015827],[-0.296874,0.951736,0.077873],[0.038341,-0.069604,0.996838]] 2025-10-28T23:47:34.402Z,1761695254.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947879,0.316006,0.040810],[-0.317811,0.946835,0.049996],[-0.022842,-0.060360,0.997915]] 2025-10-28T23:47:34.806Z,1761695254.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955299,0.295527,0.008196],[-0.295632,0.954696,0.034010],[0.002227,-0.034913,0.999388]] 2025-10-28T23:47:35.212Z,1761695255.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942835,0.326539,-0.066595],[-0.327268,0.944931,-0.000042],[0.062914,0.021834,0.997780]] 2025-10-28T23:47:35.616Z,1761695255.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926097,0.366008,-0.091560],[-0.369909,0.928601,-0.029449],[0.074245,0.061141,0.995364]] 2025-10-28T23:47:36.019Z,1761695256.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912055,0.399132,-0.094067],[-0.403190,0.914681,-0.028206],[0.074783,0.063652,0.995166]] 2025-10-28T23:47:36.423Z,1761695256.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900544,0.434086,0.024267],[-0.430991,0.898675,-0.081421],[-0.057152,0.062865,0.996384]] 2025-10-28T23:47:36.827Z,1761695256.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916517,0.396304,0.054225],[-0.387205,0.913026,-0.128280],[-0.100347,0.096574,0.990255]] 2025-10-28T23:47:37.233Z,1761695257.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911630,0.395137,-0.113126],[-0.407114,0.905923,-0.116451],[0.056469,0.152215,0.986733]] 2025-10-28T23:47:37.635Z,1761695257.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875573,0.451640,-0.171442],[-0.472913,0.873788,-0.113347],[0.098612,0.180320,0.978652]] 2025-10-28T23:47:38.038Z,1761695258.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856209,0.509379,-0.086249],[-0.515356,0.853825,-0.073417],[0.036244,0.107309,0.993565]] 2025-10-28T23:47:38.443Z,1761695258.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834402,0.551154,0.001798],[-0.550940,0.834160,-0.025322],[-0.015456,0.020139,0.999678]] 2025-10-28T23:47:38.847Z,1761695258.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814586,0.579936,-0.011118],[-0.577526,0.812686,0.077500],[0.053980,-0.056709,0.996930]] 2025-10-28T23:47:39.250Z,1761695259.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784183,0.620500,0.006003],[-0.618049,0.780148,0.096868],[0.055424,-0.079673,0.995279]] 2025-10-28T23:47:39.655Z,1761695259.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772102,0.633667,0.048212],[-0.635437,0.768749,0.072420],[0.008827,-0.086551,0.996208]] 2025-10-28T23:47:40.060Z,1761695260.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766252,0.642430,0.011905],[-0.641937,0.764598,0.057505],[0.027840,-0.051706,0.998274]] 2025-10-28T23:47:40.464Z,1761695260.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750427,0.659978,-0.035887],[-0.656623,0.750616,0.073629],[0.075531,-0.031689,0.996640]] 2025-10-28T23:47:40.867Z,1761695260.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746849,0.661395,-0.069089],[-0.650351,0.748133,0.131687],[0.138785,-0.053418,0.988881]] 2025-10-28T23:47:41.271Z,1761695261.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739111,0.668377,-0.083582],[-0.655371,0.742229,0.139946],[0.155574,-0.048658,0.986625]] 2025-10-28T23:47:41.675Z,1761695261.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739883,0.671715,-0.037048],[-0.668459,0.740263,0.071929],[0.075741,-0.028454,0.996721]] 2025-10-28T23:47:42.081Z,1761695262.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734073,0.677921,-0.039502],[-0.675603,0.734959,0.058272],[0.068537,-0.016088,0.997519]] 2025-10-28T23:47:42.483Z,1761695262.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711882,0.696814,-0.087597],[-0.685094,0.716459,0.131657],[0.154500,-0.033712,0.987417]] 2025-10-28T23:47:42.887Z,1761695262.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729289,0.682974,-0.041034],[-0.668790,0.724234,0.167945],[0.144420,-0.095037,0.984942]] 2025-10-28T23:47:43.292Z,1761695263.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731641,0.681658,0.006557],[-0.671085,0.718536,0.182625],[0.119776,-0.138016,0.983161]] 2025-10-28T23:47:43.698Z,1761695263.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721792,0.691385,0.031680],[-0.687562,0.711058,0.147154],[0.079213,-0.127997,0.988606]] 2025-10-28T23:47:44.099Z,1761695264.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711800,0.697978,0.078538],[-0.702379,0.707707,0.076255],[-0.002357,-0.109442,0.993990]] 2025-10-28T23:47:44.503Z,1761695264.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716631,0.690804,0.096069],[-0.696905,0.714700,0.059395],[-0.027630,-0.109515,0.993601]] 2025-10-28T23:47:44.907Z,1761695264.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748612,0.661872,0.038802],[-0.662816,0.748521,0.019776],[-0.015955,-0.040523,0.999051]] 2025-10-28T23:47:45.311Z,1761695265.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761482,0.648181,0.002550],[-0.646828,0.760135,-0.061706],[-0.041935,0.045339,0.998091]] 2025-10-28T23:47:45.716Z,1761695265.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751697,0.659429,-0.010264],[-0.659391,0.751178,-0.030575],[-0.012452,0.029751,0.999480]] 2025-10-28T23:47:46.118Z,1761695266.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743698,0.666575,-0.050900],[-0.660061,0.744231,0.102171],[0.105986,-0.042387,0.993464]] 2025-10-28T23:47:46.522Z,1761695266.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747977,0.660363,-0.066715],[-0.645311,0.747055,0.159633],[0.155255,-0.076350,0.984919]] 2025-10-28T23:47:46.701Z,1761695266.701 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:47:46.927Z,1761695266.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763377,0.645686,-0.018583],[-0.637065,0.757318,0.143586],[0.106785,-0.097772,0.989463]] 2025-10-28T23:47:47.332Z,1761695267.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764655,0.644410,0.006207],[-0.641069,0.759636,0.109473],[0.065830,-0.087688,0.993970]] 2025-10-28T23:47:47.704Z,1761695267.704 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-28T23:47:47.704Z,1761695267.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:47:47.734Z,1761695267.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778647,0.627187,-0.018570],[-0.623341,0.776580,0.091482],[0.071797,-0.059657,0.995634]] 2025-10-28T23:47:48.138Z,1761695268.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805623,0.590664,-0.045691],[-0.589039,0.806866,0.044727],[0.063285,-0.009120,0.997954]] 2025-10-28T23:47:48.543Z,1761695268.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822293,0.561099,-0.094880],[-0.562031,0.826895,0.019136],[0.089193,0.037590,0.995305]] 2025-10-28T23:47:48.949Z,1761695268.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820026,0.538734,-0.193193],[-0.535034,0.841454,0.075459],[0.203215,0.041486,0.978255]] 2025-10-28T23:47:49.350Z,1761695269.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800291,0.560457,-0.213127],[-0.549352,0.827780,0.113988],[0.240307,0.025858,0.970352]] 2025-10-28T23:47:49.754Z,1761695269.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793640,0.595364,-0.125204],[-0.584034,0.803207,0.117311],[0.170408,-0.019980,0.985171]] 2025-10-28T23:47:50.159Z,1761695270.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795518,0.603862,-0.050021],[-0.591567,0.791878,0.151585],[0.131147,-0.090997,0.987178]] 2025-10-28T23:47:50.565Z,1761695270.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815537,0.575943,-0.056479],[-0.553457,0.804745,0.214641],[0.169073,-0.143789,0.975059]] 2025-10-28T23:47:50.967Z,1761695270.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804711,0.574669,-0.148985],[-0.531349,0.809119,0.250987],[0.264781,-0.122809,0.956456]] 2025-10-28T23:47:51.370Z,1761695271.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790117,0.578332,-0.203096],[-0.537217,0.812915,0.224871],[0.295149,-0.068568,0.952988]] 2025-10-28T23:47:51.775Z,1761695271.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802565,0.574257,-0.161612],[-0.546384,0.816323,0.187302],[0.239487,-0.062020,0.968917]] 2025-10-28T23:47:52.180Z,1761695272.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817196,0.561390,-0.130507],[-0.538902,0.824539,0.172394],[0.204388,-0.070549,0.976344]] 2025-10-28T23:47:52.583Z,1761695272.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808925,0.554546,-0.195240],[-0.525647,0.830945,0.182278],[0.263316,-0.044822,0.963668]] 2025-10-28T23:47:52.987Z,1761695272.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795070,0.556318,-0.241609],[-0.527658,0.830867,0.176737],[0.299067,-0.013031,0.954143]] 2025-10-28T23:47:53.391Z,1761695273.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803732,0.561600,-0.196518],[-0.531668,0.826161,0.186514],[0.267102,-0.045425,0.962597]] 2025-10-28T23:47:53.796Z,1761695273.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808950,0.556747,-0.188765],[-0.513337,0.825462,0.234731],[0.286504,-0.092986,0.953556]] 2025-10-28T23:47:54.229Z,1761695274.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806737,0.549477,-0.217373],[-0.501361,0.831181,0.240364],[0.312750,-0.084928,0.946031]] 2025-10-28T23:47:54.603Z,1761695274.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804396,0.554474,-0.213319],[-0.520739,0.830893,0.196080],[0.285967,-0.046642,0.957104]] 2025-10-28T23:47:55.006Z,1761695275.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807432,0.546191,-0.223000],[-0.515870,0.837043,0.182310],[0.286237,-0.032163,0.957619]] 2025-10-28T23:47:55.015Z,1761695275.015 [NAL9602](INFO): SBD MO Status=2, MOMSN=3395, MT Status=2, MTMSN=0 2025-10-28T23:47:55.015Z,1761695275.015 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T23:47:55.413Z,1761695275.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822514,0.526099,-0.216081],[-0.493230,0.848990,0.189578],[0.283187,-0.049353,0.957794]] 2025-10-28T23:47:55.815Z,1761695275.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841032,0.489394,-0.230562],[-0.461019,0.871364,0.167887],[0.283066,-0.034905,0.958465]] 2025-10-28T23:47:56.218Z,1761695276.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832120,0.499427,-0.241141],[-0.478048,0.866341,0.144652],[0.281153,-0.005091,0.959649]] 2025-10-28T23:47:56.623Z,1761695276.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831562,0.526489,-0.176959],[-0.507276,0.849651,0.144101],[0.226221,-0.030062,0.973612]] 2025-10-28T23:47:57.028Z,1761695277.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842007,0.533531,-0.079802],[-0.517479,0.840605,0.159993],[0.152443,-0.093420,0.983887]] 2025-10-28T23:47:57.430Z,1761695277.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854088,0.516189,-0.063890],[-0.497147,0.846279,0.191461],[0.152899,-0.131762,0.979419]] 2025-10-28T23:47:57.835Z,1761695277.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858193,0.496261,-0.131260],[-0.471718,0.863260,0.179621],[0.202451,-0.092232,0.974939]] 2025-10-28T23:47:58.249Z,1761695278.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858290,0.489219,-0.154927],[-0.472623,0.871210,0.132739],[0.199912,-0.040707,0.978968]] 2025-10-28T23:47:58.643Z,1761695278.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855136,0.495683,-0.151791],[-0.484212,0.868305,0.107633],[0.185153,-0.018542,0.982535]] 2025-10-28T23:47:59.047Z,1761695279.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852506,0.496723,-0.162790],[-0.476843,0.866593,0.147095],[0.214138,-0.047775,0.975634]] 2025-10-28T23:47:59.450Z,1761695279.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854372,0.496218,-0.154322],[-0.472502,0.865406,0.166779],[0.216310,-0.069574,0.973843]] 2025-10-28T23:47:59.854Z,1761695279.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864557,0.490781,-0.108050],[-0.472150,0.866916,0.159784],[0.172089,-0.087127,0.981221]] 2025-10-28T23:48:00.293Z,1761695280.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867453,0.483384,-0.117756],[-0.467623,0.872970,0.138748],[0.169866,-0.065292,0.983302]] 2025-10-28T23:48:00.662Z,1761695280.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874249,0.469003,-0.125400],[-0.460817,0.882957,0.089641],[0.152765,-0.020582,0.988048]] 2025-10-28T23:48:01.066Z,1761695281.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888579,0.451768,-0.079575],[-0.447123,0.891742,0.069830],[0.102507,-0.026469,0.994380]] 2025-10-28T23:48:01.471Z,1761695281.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896700,0.438102,-0.063211],[-0.429202,0.895487,0.117852],[0.108236,-0.078548,0.991017]] 2025-10-28T23:48:01.874Z,1761695281.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867872,0.488928,-0.088021],[-0.465481,0.862216,0.199777],[0.173570,-0.132409,0.975880]] 2025-10-28T23:48:02.307Z,1761695282.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838615,0.543530,-0.036042],[-0.524417,0.823481,0.216486],[0.147347,-0.162648,0.975620]] 2025-10-28T23:48:02.683Z,1761695282.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854335,0.518572,0.034558],[-0.516595,0.840031,0.165762],[0.056930,-0.159469,0.985560]] 2025-10-28T23:48:03.089Z,1761695283.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880720,0.471056,0.049385],[-0.473455,0.878478,0.064162],[-0.013160,-0.079891,0.996717]] 2025-10-28T23:48:03.492Z,1761695283.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878223,0.478251,-0.000042],[-0.478162,0.878059,-0.019329],[-0.009207,0.016996,0.999813]] 2025-10-28T23:48:03.895Z,1761695283.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871566,0.482779,-0.085425],[-0.485845,0.873852,-0.018359],[0.065785,0.057504,0.996175]] 2025-10-28T23:48:04.313Z,1761695284.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858442,0.504533,-0.092320],[-0.505482,0.862715,0.014528],[0.086976,0.034195,0.995623]] 2025-10-28T23:48:04.705Z,1761695284.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852339,0.522472,-0.023276],[-0.522341,0.852654,0.011884],[0.026056,0.002029,0.999658]] 2025-10-28T23:48:05.107Z,1761695285.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849743,0.526842,-0.019333],[-0.525731,0.849544,0.043380],[0.039278,-0.026698,0.998872]] 2025-10-28T23:48:05.510Z,1761695285.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842801,0.538040,-0.014112],[-0.535034,0.840367,0.086729],[0.058523,-0.065545,0.996132]] 2025-10-28T23:48:05.914Z,1761695285.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840085,0.542365,-0.009892],[-0.540039,0.837923,0.079018],[0.051146,-0.061039,0.996824]] 2025-10-28T23:48:06.322Z,1761695286.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847075,0.531289,-0.013992],[-0.530544,0.846857,0.036829],[0.031416,-0.023773,0.999224]] 2025-10-28T23:48:06.724Z,1761695286.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855002,0.518113,-0.023055],[-0.517964,0.855311,0.012491],[0.026191,0.001262,0.999656]] 2025-10-28T23:48:07.127Z,1761695287.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847901,0.529891,-0.016693],[-0.528564,0.847376,0.050734],[0.041029,-0.034194,0.998573]] 2025-10-28T23:48:07.530Z,1761695287.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844310,0.535767,0.009739],[-0.533207,0.838193,0.114552],[0.053210,-0.101910,0.993370]] 2025-10-28T23:48:07.936Z,1761695287.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840574,0.541008,0.027310],[-0.537568,0.826894,0.165126],[0.066752,-0.153481,0.985894]] 2025-10-28T23:48:08.338Z,1761695288.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832068,0.552603,0.047882],[-0.551898,0.816190,0.171005],[0.055417,-0.168714,0.984106]] 2025-10-28T23:48:08.744Z,1761695288.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839643,0.542675,0.022437],[-0.540435,0.830634,0.134081],[0.054125,-0.124706,0.990716]] 2025-10-28T23:48:09.147Z,1761695289.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848104,0.524049,-0.078054],[-0.518857,0.851304,0.077897],[0.107270,-0.025566,0.993901]] 2025-10-28T23:48:09.955Z,1761695289.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814267,0.573195,-0.091747],[-0.571274,0.819319,0.048608],[0.103032,0.012833,0.994595]] 2025-10-28T23:48:10.358Z,1761695290.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818323,0.574434,-0.019292],[-0.570595,0.815971,0.092799],[0.069049,-0.064932,0.995498]] 2025-10-28T23:48:10.763Z,1761695290.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827456,0.560151,-0.039343],[-0.545608,0.818583,0.179538],[0.132774,-0.127094,0.982964]] 2025-10-28T23:48:11.168Z,1761695291.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808194,0.582837,-0.084399],[-0.553778,0.800890,0.227828],[0.200381,-0.137391,0.970037]] 2025-10-28T23:48:11.570Z,1761695291.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804435,0.589266,-0.075165],[-0.562516,0.796294,0.222468],[0.190946,-0.136679,0.972038]] 2025-10-28T23:48:11.974Z,1761695291.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814897,0.573166,-0.086158],[-0.558563,0.816278,0.147298],[0.154755,-0.071908,0.985332]] 2025-10-28T23:48:12.378Z,1761695292.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808587,0.570551,-0.143727],[-0.566633,0.820909,0.070960],[0.158473,0.024063,0.987070]] 2025-10-28T23:48:12.785Z,1761695292.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782026,0.586236,-0.211574],[-0.587720,0.806632,0.062695],[0.207416,0.075317,0.975349]] 2025-10-28T23:48:13.188Z,1761695293.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769644,0.600316,-0.217413],[-0.587255,0.799229,0.127926],[0.250558,0.029219,0.967660]] 2025-10-28T23:48:13.590Z,1761695293.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772363,0.616784,-0.151768],[-0.584742,0.783747,0.209326],[0.248057,-0.072930,0.965996]] 2025-10-28T23:48:13.995Z,1761695293.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779887,0.619373,-0.090294],[-0.584820,0.772467,0.247547],[0.223073,-0.140253,0.964659]] 2025-10-28T23:48:14.398Z,1761695294.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785030,0.613675,-0.084444],[-0.584418,0.778909,0.227501],[0.205386,-0.129245,0.970109]] 2025-10-28T23:48:14.805Z,1761695294.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795037,0.597805,-0.102692],[-0.576450,0.797342,0.178747],[0.188737,-0.082914,0.978521]] 2025-10-28T23:48:15.206Z,1761695295.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792684,0.584378,-0.173649],[-0.564872,0.811187,0.151311],[0.229285,-0.021852,0.973114]] 2025-10-28T23:48:15.615Z,1761695295.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764148,0.600772,-0.234843],[-0.579295,0.799299,0.159809],[0.283718,0.013925,0.958807]] 2025-10-28T23:48:16.021Z,1761695296.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774388,0.620698,-0.122710],[-0.589842,0.778386,0.214946],[0.228933,-0.094072,0.968886]] 2025-10-28T23:48:16.425Z,1761695296.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775467,0.622268,-0.106923],[-0.595023,0.776891,0.205886],[0.211183,-0.096036,0.972717]] 2025-10-28T23:48:16.830Z,1761695296.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767093,0.638010,-0.067163],[-0.621548,0.765039,0.168505],[0.158891,-0.087514,0.983410]] 2025-10-28T23:48:17.230Z,1761695297.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781460,0.621883,-0.050813],[-0.610888,0.779132,0.140598],[0.127026,-0.078831,0.988762]] 2025-10-28T23:48:17.631Z,1761695297.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771331,0.626166,-0.113861],[-0.616002,0.779492,0.113729],[0.159967,-0.017584,0.986966]] 2025-10-28T23:48:17.824Z,1761695297.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:48:18.037Z,1761695298.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746797,0.657908,-0.097218],[-0.650419,0.753016,0.099613],[0.138743,-0.011158,0.990265]] 2025-10-28T23:48:18.439Z,1761695298.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737753,0.674965,0.011943],[-0.672595,0.733420,0.098545],[0.057755,-0.080735,0.995061]] 2025-10-28T23:48:18.836Z,1761695298.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:48:18.844Z,1761695298.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754351,0.649943,0.092344],[-0.656435,0.748273,0.095813],[-0.006825,-0.132894,0.991107]] 2025-10-28T23:48:19.256Z,1761695299.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768968,0.637082,0.053067],[-0.638906,0.762988,0.098230],[0.022091,-0.109440,0.993748]] 2025-10-28T23:48:19.652Z,1761695299.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727755,0.685838,0.000027],[-0.683298,0.725056,0.086006],[0.058967,-0.062609,0.996295]] 2025-10-28T23:48:20.055Z,1761695300.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703455,0.710065,-0.030955],[-0.709750,0.704107,0.022117],[0.037500,0.006412,0.999276]] 2025-10-28T23:48:20.458Z,1761695300.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694091,0.719164,-0.032257],[-0.719600,0.694383,-0.002849],[0.020350,0.025190,0.999476]] 2025-10-28T23:48:20.863Z,1761695300.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691711,0.721830,-0.022321],[-0.721406,0.692070,0.024760],[0.033320,-0.001024,0.999444]] 2025-10-28T23:48:21.268Z,1761695301.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690703,0.721804,-0.043925],[-0.718244,0.691816,0.074269],[0.083996,-0.019749,0.996270]] 2025-10-28T23:48:21.670Z,1761695301.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682038,0.730732,-0.029221],[-0.725342,0.681023,0.100427],[0.093286,-0.047300,0.994515]] 2025-10-28T23:48:21.675Z,1761695301.675 [NAL9602](INFO): SBD MO Status=2, MOMSN=3395, MT Status=2, MTMSN=0 2025-10-28T23:48:21.675Z,1761695301.675 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-10-28T23:48:22.075Z,1761695302.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670869,0.741518,0.009307],[-0.738611,0.667012,0.097718],[0.066252,-0.072430,0.995171]] 2025-10-28T23:48:22.479Z,1761695302.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668526,0.743520,0.015863],[-0.739523,0.662375,0.119852],[0.078605,-0.091855,0.992665]] 2025-10-28T23:48:22.884Z,1761695302.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679714,0.733129,-0.022602],[-0.724175,0.675666,0.138007],[0.116448,-0.077437,0.990173]] 2025-10-28T23:48:23.286Z,1761695303.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664769,0.744304,-0.063984],[-0.734196,0.666751,0.128061],[0.137978,-0.038154,0.989700]] 2025-10-28T23:48:23.690Z,1761695303.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635611,0.769345,-0.064088],[-0.759645,0.638070,0.125722],[0.137617,-0.031226,0.989993]] 2025-10-28T23:48:24.094Z,1761695304.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641875,0.764717,-0.056605],[-0.752945,0.642524,0.142254],[0.145154,-0.048689,0.988210]] 2025-10-28T23:48:24.500Z,1761695304.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661309,0.747433,-0.063362],[-0.732323,0.661604,0.161194],[0.162402,-0.060198,0.984887]] 2025-10-28T23:48:24.903Z,1761695304.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660251,0.743532,-0.105964],[-0.731954,0.668640,0.131011],[0.168262,-0.008939,0.985702]] 2025-10-28T23:48:25.307Z,1761695305.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605613,0.792355,-0.073528],[-0.788405,0.609982,0.079614],[0.107934,0.009754,0.994110]] 2025-10-28T23:48:25.711Z,1761695305.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590587,0.805332,0.051459],[-0.806553,0.587017,0.069882],[0.026071,-0.082775,0.996227]] 2025-10-28T23:48:26.117Z,1761695306.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608770,0.790282,0.069659],[-0.792599,0.602037,0.096634],[0.034431,-0.114039,0.992879]] 2025-10-28T23:48:26.519Z,1761695306.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593093,0.804978,0.015862],[-0.799978,0.586954,0.124580],[0.090974,-0.086577,0.992083]] 2025-10-28T23:48:26.923Z,1761695306.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567298,0.823510,-0.001882],[-0.820764,0.565590,0.080335],[0.067221,-0.044030,0.996766]] 2025-10-28T23:48:27.327Z,1761695307.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557129,0.830174,-0.020485],[-0.828797,0.557411,0.048884],[0.052001,-0.010257,0.998594]] 2025-10-28T23:48:27.732Z,1761695307.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563110,0.826376,-0.003209],[-0.826072,0.563001,0.025185],[0.022619,-0.011532,0.999678]] 2025-10-28T23:48:28.134Z,1761695308.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520386,0.852440,0.050439],[-0.852081,0.522238,-0.034999],[-0.056176,-0.024766,0.998114]] 2025-10-28T23:48:28.539Z,1761695308.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511635,0.856290,0.070686],[-0.853950,0.515866,-0.068194],[-0.094858,-0.025472,0.995165]] 2025-10-28T23:48:28.943Z,1761695308.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533115,0.846026,0.005375],[-0.846007,0.533141,-0.005848],[-0.007813,-0.001430,0.999968]] 2025-10-28T23:48:29.750Z,1761695309.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491894,0.870395,0.021297],[-0.870623,0.491518,0.020647],[0.007504,-0.028698,0.999560]] 2025-10-28T23:48:30.154Z,1761695310.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498490,0.865292,0.052712],[-0.866757,0.496399,0.048169],[0.015514,-0.069700,0.997447]] 2025-10-28T23:48:30.558Z,1761695310.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474611,0.878016,0.061908],[-0.879153,0.469453,0.081885],[0.042833,-0.093290,0.994717]] 2025-10-28T23:48:30.964Z,1761695310.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422804,0.899105,0.113347],[-0.906146,0.417841,0.065635],[0.011652,-0.130460,0.991385]] 2025-10-28T23:48:31.366Z,1761695311.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407432,0.901462,0.146173],[-0.911248,0.411857,-0.000016],[-0.060217,-0.133193,0.989259]] 2025-10-28T23:48:31.770Z,1761695311.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412647,0.907286,0.080963],[-0.910837,0.411956,0.025844],[-0.009905,-0.084409,0.996382]] 2025-10-28T23:48:32.175Z,1761695312.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415169,0.909720,-0.006693],[-0.907232,0.414558,0.071224],[0.067569,-0.023498,0.997438]] 2025-10-28T23:48:32.580Z,1761695312.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401152,0.914750,-0.048068],[-0.911001,0.403889,0.083375],[0.095682,0.010344,0.995358]] 2025-10-28T23:48:32.983Z,1761695312.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328798,0.943969,-0.028538],[-0.937440,0.329888,0.111267],[0.114447,-0.009831,0.993381]] 2025-10-28T23:48:33.387Z,1761695313.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291735,0.955259,0.048696],[-0.954500,0.287457,0.079363],[0.061814,-0.069633,0.995656]] 2025-10-28T23:48:33.791Z,1761695313.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303019,0.947155,0.105248],[-0.952826,0.299100,0.051595],[0.017389,-0.115917,0.993107]] 2025-10-28T23:48:34.194Z,1761695314.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318144,0.944023,0.087210],[-0.946863,0.311814,0.078883],[0.047274,-0.107672,0.993062]] 2025-10-28T23:48:34.599Z,1761695314.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295813,0.953497,0.057772],[-0.953536,0.291126,0.077551],[0.057126,-0.078028,0.995313]] 2025-10-28T23:48:35.002Z,1761695315.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266094,0.962657,0.049847],[-0.962981,0.263157,0.058447],[0.043147,-0.063554,0.997045]] 2025-10-28T23:48:35.407Z,1761695315.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235141,0.969129,0.074148],[-0.967652,0.226241,0.111647],[0.091425,-0.098002,0.990978]] 2025-10-28T23:48:35.813Z,1761695315.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204859,0.968226,0.143424],[-0.969315,0.180346,0.167043],[0.135869,-0.173243,0.975462]] 2025-10-28T23:48:36.214Z,1761695316.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170890,0.965736,0.195323],[-0.985046,0.163043,0.055691],[0.021936,-0.201919,0.979157]] 2025-10-28T23:48:36.619Z,1761695316.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168440,0.977846,0.124282],[-0.984179,0.173865,-0.034099],[-0.054952,-0.116572,0.991661]] 2025-10-28T23:48:37.023Z,1761695317.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207516,0.976923,-0.050593],[-0.978015,0.206102,-0.031767],[-0.020607,0.056073,0.998214]] 2025-10-28T23:48:37.429Z,1761695317.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195560,0.969022,-0.150843],[-0.978848,0.183442,-0.090584],[-0.060107,0.165367,0.984399]] 2025-10-28T23:48:37.831Z,1761695317.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135631,0.981614,-0.134307],[-0.988879,0.125776,-0.079362],[-0.061010,0.143578,0.987757]] 2025-10-28T23:48:38.241Z,1761695318.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121298,0.992522,-0.013686],[-0.987692,0.122056,0.097810],[0.098749,0.001653,0.995111]] 2025-10-28T23:48:38.638Z,1761695318.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169200,0.975431,0.141086],[-0.976582,0.146627,0.157444],[0.132889,-0.164421,0.977398]] 2025-10-28T23:48:39.044Z,1761695319.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196561,0.945376,0.260052],[-0.979701,0.200017,0.013380],[-0.039366,-0.257403,0.965502]] 2025-10-28T23:48:39.850Z,1761695319.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213553,0.956789,0.197357],[-0.975536,0.198059,0.095401],[0.052190,-0.212902,0.975679]] 2025-10-28T23:48:39.858Z,1761695319.858 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=3395, MT Status=1, MTMSN=47 2025-10-28T23:48:39.859Z,1761695319.859 [NAL9602](INFO): Data available in MT queue 2025-10-28T23:48:40.296Z,1761695320.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215721,0.965843,0.143568],[-0.970406,0.195714,0.141449],[0.108519,-0.169833,0.979480]] 2025-10-28T23:48:40.400Z,1761695320.400 [NAL9602](INFO): Received command: stop 2025-10-28T23:48:40.497Z,1761695320.497 [CommandExec](IMPORTANT): got command stop 2025-10-28T23:48:40.497Z,1761695320.497 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2025-10-28T23:48:40.659Z,1761695320.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223430,0.971801,0.075380],[-0.959530,0.205689,0.192340],[0.171412,-0.115304,0.978429]] 2025-10-28T23:48:40.677Z,1761695320.677 [MissionManager](INFO): MissionManager is completed. 2025-10-28T23:48:40.677Z,1761695320.677 [MissionManager](INFO): Uninitializing Mission keepstation 2025-10-28T23:48:40.677Z,1761695320.677 [keepstation] Stopped 2025-10-28T23:48:40.677Z,1761695320.677 [keepstation](DEBUG): Aggregate::uninitialize keepstation 2025-10-28T23:48:40.677Z,1761695320.677 [keepstation:NeedComms] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:NeedComms:B.GoToSurface] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:NeedComms:C] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-28T23:48:40.678Z,1761695320.678 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:BackseatDriver] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:BackseatDriver:A.BackseatDriver] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:PowerOnly] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:PowerOnly:E.Wait] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:H.Pitch] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:SurfaceComms] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:SurfaceComms:B] Stopped 2025-10-28T23:48:40.679Z,1761695320.679 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:DiveCmd] Stopped 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:TransitToStation] Stopped 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped 2025-10-28T23:48:40.680Z,1761695320.680 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-28T23:48:41.062Z,1761695321.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253018,0.967461,0.000548],[-0.948200,0.247868,0.198692],[0.192091,-0.050792,0.980062]] 2025-10-28T23:48:41.105Z,1761695321.105 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-28T23:48:41.105Z,1761695321.105 [DefaultWithUndock] Running Loop=1 2025-10-28T23:48:41.105Z,1761695321.105 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-28T23:48:41.106Z,1761695321.106 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-28T23:48:41.106Z,1761695321.106 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-28T23:48:41.466Z,1761695321.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292322,0.955947,-0.026698],[-0.943709,0.292873,0.153748],[0.154794,-0.019749,0.987749]] 2025-10-28T23:48:41.471Z,1761695321.471 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234840.00,A,3646.27149,N,12151.90925,W,1.477,152.43,281025,,,A*72 2025-10-28T23:48:41.474Z,1761695321.474 [NAL9602](INFO): GPS fix at 20251028T234840: (36.771192, -121.865154) 2025-10-28T23:48:41.504Z,1761695321.504 [UniversalFixResidualReporter](INFO): Fix residual: 0.2 %DT, over the last 770.8 m. Residual distance 1.2 m at bearing 113.9 degrees. Fix at (36.7712, -121.8652) with 716.9 m made good. 2025-10-28T23:48:41.871Z,1761695321.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289559,0.956376,-0.038735],[-0.943708,0.292016,0.155379],[0.159912,-0.008437,0.987095]] 2025-10-28T23:48:42.307Z,1761695322.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300130,0.953896,0.002059],[-0.933455,0.293252,0.206553],[0.196427,-0.063915,0.978433]] 2025-10-28T23:48:42.678Z,1761695322.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347091,0.936460,0.050697],[-0.917819,0.328080,0.223542],[0.192705,-0.124120,0.973375]] 2025-10-28T23:48:43.082Z,1761695323.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376580,0.924681,0.056147],[-0.915712,0.362383,0.173639],[0.140214,-0.116803,0.983207]] 2025-10-28T23:48:43.487Z,1761695323.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382565,0.923794,0.015757],[-0.914518,0.376186,0.148797],[0.131530,-0.071334,0.988742]] 2025-10-28T23:48:43.892Z,1761695323.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388153,0.919717,-0.058810],[-0.896086,0.391550,0.209089],[0.215329,-0.028460,0.976127]] 2025-10-28T23:48:44.317Z,1761695324.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385290,0.917789,-0.095991],[-0.875755,0.396454,0.275459],[0.290869,-0.022067,0.956508]] 2025-10-28T23:48:44.326Z,1761695324.326 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 4.80, 0.00, 0.00 2025-10-28T23:48:44.698Z,1761695324.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411203,0.908755,-0.071244],[-0.867784,0.414191,0.274585],[0.279039,-0.051086,0.958920]] 2025-10-28T23:48:45.103Z,1761695325.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437365,0.898686,-0.032795],[-0.859528,0.428474,0.278607],[0.264432,-0.093665,0.959845]] 2025-10-28T23:48:45.509Z,1761695325.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419386,0.907200,-0.033216],[-0.862904,0.409740,0.295820],[0.281977,-0.095401,0.954666]] 2025-10-28T23:48:45.911Z,1761695325.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403179,0.914606,-0.030700],[-0.864290,0.391595,0.315685],[0.300749,-0.100744,0.948367]] 2025-10-28T23:48:46.319Z,1761695326.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426403,0.904164,-0.025834],[-0.850201,0.410376,0.329773],[0.308770,-0.118652,0.943707]] 2025-10-28T23:48:46.719Z,1761695326.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443042,0.893997,-0.066955],[-0.840800,0.440269,0.314990],[0.311078,-0.083257,0.946730]] 2025-10-28T23:48:47.124Z,1761695327.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458663,0.881704,-0.110575],[-0.817849,0.467519,0.335482],[0.347492,-0.063440,0.935534]] 2025-10-28T23:48:47.526Z,1761695327.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463306,0.870393,-0.166622],[-0.800231,0.491684,0.343332],[0.380759,-0.025731,0.924316]] 2025-10-28T23:48:47.931Z,1761695327.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467750,0.870468,-0.153282],[-0.825685,0.492219,0.275616],[0.315363,-0.002357,0.948968]] 2025-10-28T23:48:48.336Z,1761695328.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481461,0.874195,-0.063078],[-0.846968,0.482564,0.223108],[0.225479,-0.053992,0.972751]] 2025-10-28T23:48:48.740Z,1761695328.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474551,0.880190,-0.008195],[-0.848896,0.460101,0.260159],[0.232759,-0.116502,0.965531]] 2025-10-28T23:48:48.968Z,1761695328.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:48:49.143Z,1761695329.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468418,0.883498,-0.003939],[-0.852999,0.453400,0.258499],[0.230169,-0.117725,0.966004]] 2025-10-28T23:48:49.547Z,1761695329.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482737,0.875681,-0.012152],[-0.842578,0.468183,0.266209],[0.238804,-0.118271,0.963839]] 2025-10-28T23:48:49.951Z,1761695329.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488790,0.871177,-0.046215],[-0.831824,0.481369,0.276320],[0.262969,-0.096620,0.959954]] 2025-10-28T23:48:49.973Z,1761695329.973 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:48:50.357Z,1761695330.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511186,0.859363,-0.013574],[-0.843993,0.504902,0.180967],[0.162369,-0.081051,0.983396]] 2025-10-28T23:48:50.758Z,1761695330.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534475,0.844982,0.018499],[-0.843891,0.532319,0.066963],[0.046736,-0.051401,0.997584]] 2025-10-28T23:48:51.162Z,1761695331.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523581,0.851969,-0.003517],[-0.849530,0.522386,0.073560],[0.064508,-0.035527,0.997285]] 2025-10-28T23:48:51.567Z,1761695331.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487097,0.873221,0.014903],[-0.869649,0.483394,0.100202],[0.080294,-0.061768,0.994856]] 2025-10-28T23:48:51.973Z,1761695331.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482812,0.872430,0.075884],[-0.873451,0.473509,0.113454],[0.063049,-0.121058,0.990641]] 2025-10-28T23:48:52.374Z,1761695332.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486050,0.862184,0.142806],[-0.873835,0.481890,0.064767],[-0.012975,-0.156268,0.987629]] 2025-10-28T23:48:52.778Z,1761695332.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491903,0.862977,0.115333],[-0.868917,0.494951,0.002532],[-0.054900,-0.101460,0.993324]] 2025-10-28T23:48:53.182Z,1761695333.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511498,0.858623,0.033712],[-0.856537,0.512605,-0.059837],[-0.068659,0.001731,0.997639]] 2025-10-28T23:48:53.588Z,1761695333.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551392,0.832642,-0.051702],[-0.833792,0.547988,-0.067090],[-0.027530,0.080102,0.996406]] 2025-10-28T23:48:53.992Z,1761695333.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518583,0.848572,-0.104864],[-0.854980,0.515933,-0.053134],[0.009015,0.117211,0.993066]] 2025-10-28T23:48:54.395Z,1761695334.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481774,0.874350,-0.058356],[-0.875402,0.483221,0.012995],[0.039561,0.044824,0.998211]] 2025-10-28T23:48:54.800Z,1761695334.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482020,0.875146,0.042150],[-0.874768,0.477986,0.079441],[0.049375,-0.075163,0.995948]] 2025-10-28T23:48:55.203Z,1761695335.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463411,0.876710,0.128960],[-0.886123,0.459455,0.060722],[-0.006016,-0.142414,0.989789]] 2025-10-28T23:48:55.607Z,1761695335.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453736,0.873642,0.175708],[-0.890293,0.452982,0.046745],[-0.038754,-0.177641,0.983332]] 2025-10-28T23:48:56.011Z,1761695336.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480367,0.867962,0.126055],[-0.876971,0.473197,0.083700],[0.013000,-0.150753,0.988486]] 2025-10-28T23:48:56.416Z,1761695336.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491582,0.870700,-0.015103],[-0.858910,0.487639,0.156464],[0.143598,-0.063943,0.987568]] 2025-10-28T23:48:56.818Z,1761695336.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482451,0.871024,-0.092509],[-0.850710,0.491100,0.187386],[0.208649,-0.011706,0.977921]] 2025-10-28T23:48:57.223Z,1761695337.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464713,0.885088,-0.025709],[-0.876230,0.463856,0.130606],[0.127523,-0.038167,0.991101]] 2025-10-28T23:48:57.627Z,1761695337.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382800,0.919339,0.090991],[-0.923820,0.380457,0.042525],[0.004477,-0.100338,0.994943]] 2025-10-28T23:48:58.033Z,1761695338.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398626,0.905013,0.148488],[-0.916767,0.397669,0.037391],[-0.025210,-0.151034,0.988207]] 2025-10-28T23:48:58.434Z,1761695338.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425219,0.902903,0.062894],[-0.905062,0.424733,0.021568],[-0.007239,-0.066094,0.997787]] 2025-10-28T23:48:58.838Z,1761695338.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367243,0.930024,-0.013722],[-0.930024,0.367380,0.009314],[0.013704,0.009341,0.999862]] 2025-10-28T23:48:59.242Z,1761695339.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350255,0.936376,-0.022837],[-0.935947,0.350834,0.030319],[0.036402,0.010755,0.999279]] 2025-10-28T23:49:00.051Z,1761695340.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372359,0.925122,0.074147],[-0.926171,0.375535,-0.034365],[-0.059637,-0.055876,0.996655]] 2025-10-28T23:49:00.454Z,1761695340.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382507,0.919980,0.085583],[-0.923052,0.384580,-0.008553],[-0.040782,-0.075727,0.996294]] 2025-10-28T23:49:00.863Z,1761695340.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355336,0.930727,0.086511],[-0.934486,0.355865,0.009751],[-0.021711,-0.084308,0.996203]] 2025-10-28T23:49:01.270Z,1761695341.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312970,0.941096,0.128013],[-0.949121,0.314859,0.005734],[-0.034910,-0.123295,0.991756]] 2025-10-28T23:49:01.671Z,1761695341.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333075,0.932768,0.137862],[-0.938365,0.342233,-0.048441],[-0.092366,-0.113230,0.989266]] 2025-10-28T23:49:02.075Z,1761695342.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339717,0.936316,0.088911],[-0.938799,0.343303,-0.028283],[-0.057005,-0.073861,0.995638]] 2025-10-28T23:49:02.479Z,1761695342.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327572,0.944347,0.030092],[-0.944635,0.326698,0.030556],[0.019024,-0.038435,0.999080]] 2025-10-28T23:49:02.882Z,1761695342.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334645,0.942343,0.001438],[-0.940015,0.333710,0.070779],[0.066218,-0.025037,0.997491]] 2025-10-28T23:49:03.283Z,1761695343.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340131,0.940350,0.007266],[-0.937911,0.338669,0.075002],[0.068068,-0.032326,0.997157]] 2025-10-28T23:49:03.687Z,1761695343.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299583,0.953612,0.029552],[-0.952985,0.297622,0.056923],[0.045487,-0.045215,0.997941]] 2025-10-28T23:49:04.091Z,1761695344.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284822,0.956303,0.066035],[-0.951906,0.274052,0.137004],[0.112920,-0.101881,0.988367]] 2025-10-28T23:49:04.495Z,1761695344.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286057,0.952438,0.105036],[-0.953021,0.271398,0.134516],[0.099612,-0.138581,0.985329]] 2025-10-28T23:49:04.898Z,1761695344.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288506,0.951264,0.108908],[-0.957430,0.287766,0.022797],[-0.009654,-0.110848,0.993790]] 2025-10-28T23:49:05.302Z,1761695345.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297397,0.951822,0.074762],[-0.954674,0.297475,0.010344],[-0.012395,-0.074450,0.997148]] 2025-10-28T23:49:05.709Z,1761695345.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310012,0.950247,0.030366],[-0.945660,0.304906,0.112960],[0.098081,-0.063735,0.993135]] 2025-10-28T23:49:06.110Z,1761695346.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286588,0.957719,0.025345],[-0.952795,0.282146,0.112142],[0.100250,-0.056287,0.993369]] 2025-10-28T23:49:06.514Z,1761695346.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264698,0.961503,0.073805],[-0.963767,0.261149,0.054344],[0.032978,-0.085516,0.995791]] 2025-10-28T23:49:06.919Z,1761695346.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292692,0.952230,0.087119],[-0.956199,0.291100,0.030732],[0.003903,-0.092298,0.995724]] 2025-10-28T23:49:07.324Z,1761695347.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291543,0.954995,0.054658],[-0.955925,0.288797,0.052942],[0.034774,-0.067683,0.997101]] 2025-10-28T23:49:07.726Z,1761695347.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260702,0.964046,0.051479],[-0.964896,0.258434,0.046768],[0.031782,-0.061864,0.997578]] 2025-10-28T23:49:08.130Z,1761695348.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241940,0.965232,0.098958],[-0.969302,0.245036,-0.020251],[-0.043795,-0.091021,0.994886]] 2025-10-28T23:49:08.534Z,1761695348.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243509,0.963448,0.111675],[-0.968458,0.247803,-0.026129],[-0.052847,-0.101790,0.993401]] 2025-10-28T23:49:08.940Z,1761695348.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246878,0.966319,0.072651],[-0.967989,0.242412,0.065069],[0.045266,-0.086390,0.995233]] 2025-10-28T23:49:09.342Z,1761695349.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274606,0.961523,0.008050],[-0.956481,0.272287,0.104894],[0.098666,-0.036504,0.994451]] 2025-10-28T23:49:09.747Z,1761695349.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243622,0.969864,0.003576],[-0.968280,0.243010,0.058143],[0.055521,-0.017628,0.998302]] 2025-10-28T23:49:10.151Z,1761695350.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194674,0.979401,0.053633],[-0.980683,0.195408,-0.008740],[-0.019040,-0.050896,0.998522]] 2025-10-28T23:49:10.554Z,1761695350.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203688,0.974034,0.098843],[-0.974777,0.211172,-0.072221],[-0.091218,-0.081639,0.992479]] 2025-10-28T23:49:10.958Z,1761695350.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207702,0.973601,0.094663],[-0.978191,0.206831,0.019031],[-0.001051,-0.096551,0.995328]] 2025-10-28T23:49:11.363Z,1761695351.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220494,0.971760,0.084051],[-0.965813,0.205472,0.158073],[0.136339,-0.116032,0.983844]] 2025-10-28T23:49:11.376Z,1761695351.376 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:A.Wait] Stopped 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T23:49:11.377Z,1761695351.377 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T23:49:11.767Z,1761695351.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221041,0.967963,0.119113],[-0.967693,0.202493,0.150223],[0.121291,-0.148470,0.981451]] 2025-10-28T23:49:11.782Z,1761695351.782 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-28T23:49:11.783Z,1761695351.783 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-28T23:49:11.783Z,1761695351.783 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.196758 m. 2025-10-28T23:49:11.784Z,1761695351.784 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-28T23:49:11.784Z,1761695351.784 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-28T23:49:12.172Z,1761695352.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261268,0.951911,0.160015],[-0.964166,0.249446,0.090338],[0.046079,-0.177883,0.982972]] 2025-10-28T23:49:12.193Z,1761695352.193 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-28T23:49:12.574Z,1761695352.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259391,0.957730,0.124376],[-0.965761,0.256598,0.038259],[0.004727,-0.130042,0.991497]] 2025-10-28T23:49:12.622Z,1761695352.622 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-28T23:49:12.737Z,1761695352.737 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-28T23:49:12.978Z,1761695352.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233488,0.965366,0.116411],[-0.971202,0.225692,0.076355],[0.047437,-0.130886,0.990262]] 2025-10-28T23:49:13.383Z,1761695353.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262647,0.956306,0.128435],[-0.963394,0.252492,0.090110],[0.053744,-0.147401,0.987616]] 2025-10-28T23:49:13.789Z,1761695353.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270193,0.957787,0.098178],[-0.961523,0.263163,0.078862],[0.049696,-0.115709,0.992039]] 2025-10-28T23:49:13.792Z,1761695353.792 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-28T23:49:14.191Z,1761695354.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270872,0.959010,0.083229],[-0.962274,0.272064,-0.003103],[-0.025619,-0.079248,0.996526]] 2025-10-28T23:49:14.595Z,1761695354.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262598,0.961347,0.082791],[-0.961210,0.268130,-0.064671],[-0.084370,-0.062597,0.994466]] 2025-10-28T23:49:14.999Z,1761695354.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272344,0.959763,0.068443],[-0.962172,0.271109,0.026909],[0.007271,-0.073182,0.997292]] 2025-10-28T23:49:15.406Z,1761695355.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333893,0.940437,0.063983],[-0.939348,0.326327,0.105525],[0.078360,-0.095336,0.992356]] 2025-10-28T23:49:15.808Z,1761695355.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355836,0.927824,0.111909],[-0.934531,0.352529,0.048741],[0.005772,-0.121926,0.992522]] 2025-10-28T23:49:16.211Z,1761695356.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286219,0.933337,0.216704],[-0.957514,0.286943,0.028811],[-0.035291,-0.215743,0.975812]] 2025-10-28T23:49:16.280Z,1761695356.280 [DockingStepper](INFO): Changing to mode: 1 2025-10-28T23:49:16.615Z,1761695356.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268724,0.912735,0.307738],[-0.963215,0.255373,0.083679],[-0.002211,-0.318904,0.947784]] 2025-10-28T23:49:17.020Z,1761695357.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333569,0.904650,0.265218],[-0.941195,0.303554,0.148345],[0.053692,-0.299105,0.952708]] 2025-10-28T23:49:17.422Z,1761695357.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415155,0.897489,0.148860],[-0.908253,0.399499,0.124410],[0.052188,-0.186852,0.981001]] 2025-10-28T23:49:17.826Z,1761695357.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447475,0.892555,0.055777],[-0.894246,0.447243,0.017285],[-0.009518,-0.057613,0.998294]] 2025-10-28T23:49:18.234Z,1761695358.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418376,0.908085,0.018537],[-0.908204,0.418509,-0.003814],[-0.011221,-0.015239,0.999821]] 2025-10-28T23:49:18.636Z,1761695358.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423566,0.905299,0.032017],[-0.904378,0.420581,0.072197],[0.051894,-0.059536,0.996876]] 2025-10-28T23:49:19.039Z,1761695359.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446537,0.891532,0.075993],[-0.891983,0.436848,0.116321],[0.070506,-0.119726,0.990300]] 2025-10-28T23:49:19.442Z,1761695359.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454910,0.880631,0.132460],[-0.888940,0.440139,0.126740],[0.053310,-0.175404,0.983052]] 2025-10-28T23:49:19.847Z,1761695359.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487836,0.858736,0.156810],[-0.872759,0.476191,0.107397],[0.017554,-0.189249,0.981772]] 2025-10-28T23:49:20.092Z,1761695360.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:49:20.282Z,1761695360.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499062,0.854990,0.141169],[-0.866515,0.494135,0.070585],[-0.009407,-0.157551,0.987466]] 2025-10-28T23:49:20.654Z,1761695360.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521714,0.849271,0.080956],[-0.852811,0.521726,0.022697],[-0.022961,-0.080882,0.996459]] 2025-10-28T23:49:21.058Z,1761695361.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550134,0.834480,0.031547],[-0.834917,0.550375,0.001253],[-0.016317,-0.027028,0.999502]] 2025-10-28T23:49:21.097Z,1761695361.097 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:49:21.462Z,1761695361.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548311,0.835987,-0.021929],[-0.835036,0.548738,0.040022],[0.045491,-0.003633,0.998958]] 2025-10-28T23:49:21.869Z,1761695361.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554739,0.831679,-0.023962],[-0.823052,0.552748,0.130595],[0.121858,-0.052724,0.991146]] 2025-10-28T23:49:22.304Z,1761695362.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573584,0.818669,0.027991],[-0.816366,0.568489,0.101812],[0.067438,-0.081248,0.994410]] 2025-10-28T23:49:22.674Z,1761695362.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563762,0.821327,0.087150],[-0.825879,0.561833,0.047622],[-0.009851,-0.098823,0.995056]] 2025-10-28T23:49:23.078Z,1761695363.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563811,0.814758,0.135227],[-0.823319,0.567404,0.014047],[-0.065284,-0.119255,0.990715]] 2025-10-28T23:49:23.485Z,1761695363.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610372,0.788108,0.079571],[-0.790803,0.612058,0.003972],[-0.045572,-0.065349,0.996821]] 2025-10-28T23:49:23.888Z,1761695363.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623811,0.781464,-0.013179],[-0.781455,0.623330,-0.028082],[-0.013731,0.027816,0.999519]] 2025-10-28T23:49:24.325Z,1761695364.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613230,0.788747,-0.042746],[-0.789750,0.613281,-0.013458],[0.015600,0.042011,0.998995]] 2025-10-28T23:49:24.695Z,1761695364.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611866,0.790917,0.008419],[-0.790589,0.611215,0.037222],[0.024293,-0.029431,0.999272]] 2025-10-28T23:49:25.099Z,1761695365.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621221,0.780363,0.071540],[-0.783613,0.617911,0.064318],[0.005986,-0.096015,0.995362]] 2025-10-28T23:49:25.503Z,1761695365.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613108,0.779728,0.126975],[-0.789990,0.604379,0.103158],[0.003694,-0.163556,0.986527]] 2025-10-28T23:49:25.908Z,1761695365.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633129,0.763650,0.126436],[-0.773985,0.622518,0.115837],[0.009750,-0.171199,0.985188]] 2025-10-28T23:49:26.317Z,1761695366.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653429,0.752244,0.084613],[-0.756928,0.650690,0.060518],[-0.009533,-0.103590,0.994574]] 2025-10-28T23:49:26.716Z,1761695366.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648330,0.760960,0.024655],[-0.761352,0.648127,0.016567],[-0.003372,-0.029512,0.999559]] 2025-10-28T23:49:27.119Z,1761695367.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630861,0.775859,-0.007528],[-0.775893,0.630802,-0.008843],[-0.002112,0.011420,0.999933]] 2025-10-28T23:49:27.522Z,1761695367.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634378,0.772961,-0.009849],[-0.773003,0.634401,-0.000876],[0.005571,0.008169,0.999951]] 2025-10-28T23:49:27.929Z,1761695367.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641360,0.767091,-0.015138],[-0.766059,0.641342,0.042823],[0.042558,-0.015869,0.998968]] 2025-10-28T23:49:28.332Z,1761695368.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650071,0.759873,-0.000266],[-0.757361,0.647950,0.081026],[0.061742,-0.052471,0.996712]] 2025-10-28T23:49:28.734Z,1761695368.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654456,0.753434,0.063443],[-0.756037,0.651007,0.067804],[0.009784,-0.092340,0.995679]] 2025-10-28T23:49:29.140Z,1761695369.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679496,0.727676,0.093660],[-0.732316,0.680463,0.026149],[-0.044704,-0.086356,0.995261]] 2025-10-28T23:49:29.948Z,1761695369.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665585,0.746234,-0.011498],[-0.745966,0.665664,0.020655],[0.023067,-0.005170,0.999721]] 2025-10-28T23:49:30.351Z,1761695370.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668100,0.744069,0.002069],[-0.743101,0.667083,0.052920],[0.037996,-0.036894,0.998597]] 2025-10-28T23:49:30.754Z,1761695370.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679414,0.733537,0.017866],[-0.732777,0.677050,0.068129],[0.037879,-0.059380,0.997517]] 2025-10-28T23:49:31.159Z,1761695371.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671169,0.740882,0.025041],[-0.739194,0.666328,0.097978],[0.055905,-0.084270,0.994873]] 2025-10-28T23:49:31.564Z,1761695371.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660926,0.748489,0.054231],[-0.749350,0.654317,0.101708],[0.040643,-0.107859,0.993335]] 2025-10-28T23:49:31.972Z,1761695371.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688173,0.718970,0.097475],[-0.724604,0.687895,0.041825],[-0.036981,-0.099413,0.994359]] 2025-10-28T23:49:32.371Z,1761695372.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682659,0.728622,0.055552],[-0.729773,0.683689,0.000631],[-0.037521,-0.040971,0.998456]] 2025-10-28T23:49:32.413Z,1761695372.413 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1995.40 m. Transitioning docking module to standby. 2025-10-28T23:49:32.775Z,1761695372.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676683,0.736039,-0.018607],[-0.735232,0.676854,0.036083],[0.039153,-0.010736,0.999176]] 2025-10-28T23:49:32.796Z,1761695372.796 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-28T23:49:33.179Z,1761695373.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675244,0.737211,-0.023779],[-0.736721,0.675663,0.026860],[0.035867,-0.000619,0.999356]] 2025-10-28T23:49:33.193Z,1761695373.193 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:LeaveDock] Stopped 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-28T23:49:33.194Z,1761695373.194 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-28T23:49:33.195Z,1761695373.195 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-28T23:49:33.195Z,1761695373.195 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-28T23:49:33.195Z,1761695373.195 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-28T23:49:33.195Z,1761695373.195 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-28T23:49:33.196Z,1761695373.196 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-28T23:49:33.196Z,1761695373.196 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-28T23:49:33.197Z,1761695373.197 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-28T23:49:33.584Z,1761695373.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674196,0.738043,-0.027410],[-0.736819,0.674692,0.043457],[0.050566,-0.009103,0.998679]] 2025-10-28T23:49:33.598Z,1761695373.598 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-28T23:49:33.598Z,1761695373.598 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-28T23:49:33.599Z,1761695373.599 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-28T23:49:33.987Z,1761695373.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673916,0.738537,-0.020016],[-0.732999,0.671762,0.106998],[0.092468,-0.057436,0.994058]] 2025-10-28T23:49:34.390Z,1761695374.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682571,0.730099,0.032442],[-0.728288,0.675843,0.113280],[0.060780,-0.100949,0.993033]] 2025-10-28T23:49:34.794Z,1761695374.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682276,0.726994,0.077329],[-0.731047,0.677191,0.083563],[0.008384,-0.113544,0.993498]] 2025-10-28T23:49:35.201Z,1761695375.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696471,0.714285,0.068745],[-0.717494,0.694706,0.050856],[-0.011432,-0.084744,0.996337]] 2025-10-28T23:49:35.603Z,1761695375.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706008,0.708025,0.015898],[-0.708203,0.705844,0.015219],[-0.000447,-0.022004,0.999758]] 2025-10-28T23:49:35.607Z,1761695375.607 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234934.00,A,3646.26421,N,12151.90721,W,0.661,167.94,281025,,,D*7D 2025-10-28T23:49:35.610Z,1761695375.610 [NAL9602](INFO): GPS fix at 20251028T234934: (36.771070, -121.865120) 2025-10-28T23:49:35.638Z,1761695375.638 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-28T23:49:35.638Z,1761695375.638 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-28T23:49:36.007Z,1761695376.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686600,0.726823,0.017597],[-0.726065,0.686732,-0.035058],[-0.037565,0.011294,0.999230]] 2025-10-28T23:49:36.411Z,1761695376.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687853,0.724453,0.045010],[-0.723304,0.689310,-0.041026],[-0.060748,-0.004336,0.998144]] 2025-10-28T23:49:36.814Z,1761695376.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706508,0.707704,0.001224],[-0.707610,0.706383,0.017631],[0.011613,-0.013322,0.999844]] 2025-10-28T23:49:37.218Z,1761695377.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690432,0.722686,-0.032085],[-0.720273,0.690891,0.062268],[0.067167,-0.019882,0.997544]] 2025-10-28T23:49:37.622Z,1761695377.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680217,0.732736,0.020079],[-0.732628,0.678721,0.050938],[0.023696,-0.049359,0.998500]] 2025-10-28T23:49:38.029Z,1761695378.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680305,0.730076,0.064599],[-0.732927,0.677861,0.057638],[-0.001709,-0.086558,0.996245]] 2025-10-28T23:49:38.430Z,1761695378.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657012,0.752017,0.052976],[-0.753556,0.653046,0.075387],[0.022096,-0.089451,0.995746]] 2025-10-28T23:49:38.835Z,1761695378.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648796,0.760253,0.032863],[-0.759230,0.643803,0.095328],[0.051316,-0.086799,0.994903]] 2025-10-28T23:49:39.239Z,1761695379.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655323,0.755331,0.005191],[-0.751575,0.651348,0.104313],[0.075409,-0.072260,0.994531]] 2025-10-28T23:49:39.643Z,1761695379.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659323,0.750643,-0.042761],[-0.744986,0.659911,0.097535],[0.101432,-0.032451,0.994313]] 2025-10-28T23:49:40.048Z,1761695380.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662290,0.747427,-0.052209],[-0.745375,0.664341,0.055379],[0.076077,0.002238,0.997099]] 2025-10-28T23:49:40.450Z,1761695380.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652137,0.757680,-0.025266],[-0.757877,0.652392,0.002555],[0.018419,0.017482,0.999677]] 2025-10-28T23:49:40.854Z,1761695380.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629209,0.777074,0.015871],[-0.777027,0.629382,-0.010351],[-0.018032,-0.005819,0.999820]] 2025-10-28T23:49:41.259Z,1761695381.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645078,0.760876,0.070302],[-0.763086,0.646253,0.007572],[-0.039672,-0.058531,0.997497]] 2025-10-28T23:49:41.662Z,1761695381.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654501,0.751104,0.086438],[-0.755940,0.652152,0.057029],[-0.013536,-0.102668,0.994624]] 2025-10-28T23:49:42.066Z,1761695382.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642910,0.761944,0.078156],[-0.765620,0.636328,0.094404],[0.022197,-0.120531,0.992461]] 2025-10-28T23:49:42.471Z,1761695382.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659501,0.746180,0.090956],[-0.751632,0.652921,0.093511],[0.010389,-0.130036,0.991455]] 2025-10-28T23:49:42.875Z,1761695382.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668934,0.735841,0.105197],[-0.742631,0.667688,0.051893],[-0.032054,-0.112835,0.993097]] 2025-10-28T23:49:43.278Z,1761695383.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652816,0.752663,0.085616],[-0.757239,0.651456,0.046847],[-0.020515,-0.095414,0.995226]] 2025-10-28T23:49:43.683Z,1761695383.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634874,0.771103,0.048327],[-0.772593,0.633130,0.047400],[0.005953,-0.067430,0.997706]] 2025-10-28T23:49:44.087Z,1761695384.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641095,0.766977,0.027275],[-0.767088,0.639267,0.053981],[0.023966,-0.055529,0.998169]] 2025-10-28T23:49:44.492Z,1761695384.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646652,0.762768,0.005130],[-0.760867,0.644534,0.075221],[0.054070,-0.052545,0.997154]] 2025-10-28T23:49:44.896Z,1761695384.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654260,0.756022,0.019333],[-0.755850,0.652832,0.050017],[0.025193,-0.047337,0.998561]] 2025-10-28T23:49:45.299Z,1761695385.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660081,0.746382,0.084890],[-0.747947,0.663514,-0.018021],[-0.069776,-0.051598,0.996227]] 2025-10-28T23:49:45.703Z,1761695385.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664119,0.744172,0.071791],[-0.746462,0.665379,0.008118],[-0.041727,-0.058981,0.997387]] 2025-10-28T23:49:46.109Z,1761695386.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663654,0.747682,0.023126],[-0.746967,0.660731,0.073988],[0.040040,-0.066377,0.996991]] 2025-10-28T23:49:46.603Z,1761695386.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658567,0.752338,0.016637],[-0.748278,0.652348,0.120510],[0.079811,-0.091813,0.992573]] 2025-10-28T23:49:46.999Z,1761695386.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668240,0.743596,0.022812],[-0.740302,0.661623,0.119198],[0.073543,-0.096540,0.992608]] 2025-10-28T23:49:49.148Z,1761695389.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612252,0.777474,-0.143815],[-0.789387,0.611395,-0.055349],[0.044895,0.147413,0.988056]] 2025-10-28T23:49:49.545Z,1761695389.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664547,0.746460,-0.034290],[-0.746579,0.661314,-0.072682],[-0.031578,0.073901,0.996765]] 2025-10-28T23:49:49.954Z,1761695389.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639343,0.764423,0.083056],[-0.766996,0.641650,-0.001437],[-0.054391,-0.062785,0.996544]] 2025-10-28T23:49:50.392Z,1761695390.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628312,0.756923,0.179699],[-0.777910,0.613926,0.133980],[-0.008910,-0.223971,0.974555]] 2025-10-28T23:49:50.775Z,1761695390.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655249,0.732812,0.183400],[-0.753074,0.614586,0.234870],[0.059400,-0.292012,0.954568]] 2025-10-28T23:49:51.164Z,1761695391.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646575,0.740642,0.182731],[-0.761970,0.615521,0.201335],[0.036642,-0.269413,0.962327]] 2025-10-28T23:49:51.224Z,1761695391.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-28T23:49:51.566Z,1761695391.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646864,0.752388,0.124413],[-0.762377,0.641996,0.081378],[-0.018645,-0.147490,0.988888]] 2025-10-28T23:49:51.973Z,1761695391.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628639,0.777208,-0.027580],[-0.775284,0.629086,0.056438],[0.061215,-0.014096,0.998025]] 2025-10-28T23:49:52.228Z,1761695392.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-28T23:49:52.373Z,1761695392.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579023,0.805763,-0.124417],[-0.808282,0.587303,0.041898],[0.106830,0.076304,0.991345]] 2025-10-28T23:49:52.779Z,1761695392.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573622,0.812395,-0.104747],[-0.817520,0.575791,-0.011247],[0.051176,0.092084,0.994435]] 2025-10-28T23:49:53.189Z,1761695393.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582932,0.810666,-0.054874],[-0.812405,0.582656,-0.022565],[0.013680,0.057734,0.998238]] 2025-10-28T23:49:53.195Z,1761695393.195 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=3396, MT Status=1, MTMSN=48 2025-10-28T23:49:53.247Z,1761695393.247 [NAL9602](INFO): Sent 97 bytes from file Logs/20251028T162422/Courier0096.lzma 2025-10-28T23:49:53.248Z,1761695393.248 [NAL9602](INFO): Packets left to send: 0 2025-10-28T23:49:53.593Z,1761695393.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571107,0.820154,0.034422],[-0.820876,0.570574,0.024656],[0.000582,-0.042338,0.999103]] 2025-10-28T23:49:53.728Z,1761695393.728 [NAL9602](INFO): Received command: schedule clear;schedule resume;restart logs